id	sid	tid	token	lemma	pos
alkej-360	1	1	microsoft	microsoft	PROPN
alkej-360	1	2	word	word	PROPN
alkej-360	1	3	\307\315\343\317	\307\315\343\317	VERB
alkej-360	1	4	\325\310\307\315	\325\310\307\315	PROPN
alkej-360	1	5	\346\344\346\3216473	\346\344\346\3216473	PROPN
alkej-360	1	6	)	)	PUNCT
alkej-360	1	7	al	al	PROPN
alkej-360	1	8	-	-	PUNCT
alkej-360	1	9	khwarizmi	khwarizmi	PROPN
alkej-360	1	10	engineering	engineering	PROPN
alkej-360	1	11	journal	journal	PROPN
alkej-360	1	12	al	al	PROPN
alkej-360	1	13	-	-	PUNCT
alkej-360	1	14	khwarizmi	khwarizmi	PROPN
alkej-360	1	15	engineering	engineering	NOUN
alkej-360	1	16	journal	journal	PROPN
alkej-360	1	17	,	,	PUNCT
alkej-360	1	18	vol	vol	NOUN
alkej-360	1	19	.	.	PROPN
alkej-360	1	20	13	13	NUM
alkej-360	1	21	,	,	PUNCT
alkej-360	1	22	no	no	INTJ
alkej-360	1	23	.	.	NOUN
alkej-360	1	24	3	3	NUM
alkej-360	1	25	,	,	PUNCT
alkej-360	1	26	p.p	p.p	PROPN
alkej-360	1	27	.	.	NOUN
alkej-360	1	28	6473	6473	NUM
alkej-360	1	29	(	(	PUNCT
alkej-360	1	30	2017	2017	NUM
alkej-360	1	31	)	)	PUNCT
alkej-360	1	32	a	a	DET
alkej-360	1	33	cognitive	cognitive	ADJ
alkej-360	1	34	hybrid	hybrid	ADJ
alkej-360	1	35	tuning	tuning	NOUN
alkej-360	1	36	control	control	NOUN
alkej-360	1	37	algorithm	algorithm	NOUN
alkej-360	1	38	design	design	NOUN
alkej-360	1	39	for	for	ADP
alkej-360	1	40	nonlinear	nonlinear	ADJ
alkej-360	1	41	path	path	NOUN
alkej-360	1	42	-	-	PUNCT
alkej-360	1	43	tracking	track	VERB
alkej-360	1	44	controller	controller	NOUN
alkej-360	1	45	for	for	ADP
alkej-360	1	46	wheeled	wheel	VERB
alkej-360	1	47	mobile	mobile	NOUN
alkej-360	1	48	robot	robot	NOUN
alkej-360	1	49	ahmed	ahmed	PROPN
alkej-360	1	50	s.	s.	PROPN
alkej-360	1	51	al	al	PROPN
alkej-360	1	52	-	-	PUNCT
alkej-360	1	53	araji	araji	NOUN
alkej-360	1	54	*	*	PUNCT
alkej-360	1	55	noor	noor	PROPN
alkej-360	1	56	q.	q.	PROPN
alkej-360	1	57	yousif	yousif	PROPN
alkej-360	1	58	*	*	PROPN
alkej-360	1	59	*	*	PUNCT
alkej-360	1	60	*	*	PUNCT
alkej-360	1	61	,	,	PUNCT
alkej-360	1	62	*	*	PUNCT
alkej-360	1	63	*	*	NOUN
alkej-360	1	64	department	department	NOUN
alkej-360	1	65	of	of	ADP
alkej-360	1	66	control	control	NOUN
alkej-360	1	67	and	and	CCONJ
alkej-360	1	68	systems	system	NOUN
alkej-360	1	69	engineering/	engineering/	NUM
alkej-360	1	70	university	university	NOUN
alkej-360	1	71	of	of	ADP
alkej-360	1	72	technology	technology	NOUN
alkej-360	1	73	*	*	PUNCT
alkej-360	1	74	email:ahmedalaraji76@gmail.com	email:ahmedalaraji76@gmail.com	X
alkej-360	1	75	(	(	PUNCT
alkej-360	1	76	received	receive	VERB
alkej-360	1	77	13	13	NUM
alkej-360	1	78	december	december	PROPN
alkej-360	1	79	2016	2016	NUM
alkej-360	1	80	;	;	PUNCT
alkej-360	1	81	accepted	accept	VERB
alkej-360	1	82	7	7	NUM
alkej-360	1	83	march	march	NOUN
alkej-360	1	84	2017	2017	NUM
alkej-360	1	85	)	)	PUNCT
alkej-360	2	1	https://doi.org/10.22153/kej.2017.03.004	https://doi.org/10.22153/kej.2017.03.004	PROPN
alkej-360	2	2	abstract	abstract	ADJ
alkej-360	2	3	this	this	DET
alkej-360	2	4	research	research	NOUN
alkej-360	2	5	presents	present	VERB
alkej-360	2	6	a	a	DET
alkej-360	2	7	on	on	ADP
alkej-360	2	8	-	-	PUNCT
alkej-360	2	9	line	line	NOUN
alkej-360	2	10	cognitive	cognitive	ADJ
alkej-360	2	11	tuning	tuning	NOUN
alkej-360	2	12	control	control	NOUN
alkej-360	2	13	algorithm	algorithm	NOUN
alkej-360	2	14	for	for	ADP
alkej-360	2	15	the	the	DET
alkej-360	2	16	nonlinear	nonlinear	ADJ
alkej-360	2	17	controller	controller	NOUN
alkej-360	2	18	of	of	ADP
alkej-360	2	19	path	path	NOUN
alkej-360	2	20	-	-	PUNCT
alkej-360	2	21	tracking	tracking	NOUN
alkej-360	2	22	for	for	ADP
alkej-360	2	23	dynamic	dynamic	ADJ
alkej-360	2	24	wheeled	wheel	VERB
alkej-360	2	25	mobile	mobile	ADJ
alkej-360	2	26	robot	robot	NOUN
alkej-360	2	27	to	to	PART
alkej-360	2	28	stabilize	stabilize	VERB
alkej-360	2	29	and	and	CCONJ
alkej-360	2	30	follow	follow	VERB
alkej-360	2	31	a	a	DET
alkej-360	2	32	continuous	continuous	ADJ
alkej-360	2	33	reference	reference	NOUN
alkej-360	2	34	path	path	NOUN
alkej-360	2	35	with	with	ADP
alkej-360	2	36	minimum	minimum	ADJ
alkej-360	2	37	tracking	tracking	NOUN
alkej-360	2	38	pose	pose	NOUN
alkej-360	2	39	error	error	NOUN
alkej-360	2	40	.	.	PUNCT
alkej-360	3	1	the	the	DET
alkej-360	3	2	goal	goal	NOUN
alkej-360	3	3	of	of	ADP
alkej-360	3	4	the	the	DET
alkej-360	3	5	proposed	propose	VERB
alkej-360	3	6	structure	structure	NOUN
alkej-360	3	7	of	of	ADP
alkej-360	3	8	a	a	DET
alkej-360	3	9	hybrid	hybrid	NOUN
alkej-360	3	10	(	(	PUNCT
alkej-360	3	11	bees	bee	NOUN
alkej-360	3	12	-	-	PUNCT
alkej-360	3	13	pso	pso	NOUN
alkej-360	3	14	)	)	PUNCT
alkej-360	3	15	algorithm	algorithm	NOUN
alkej-360	3	16	is	be	AUX
alkej-360	3	17	to	to	PART
alkej-360	3	18	find	find	VERB
alkej-360	3	19	and	and	CCONJ
alkej-360	3	20	tune	tune	VERB
alkej-360	3	21	the	the	DET
alkej-360	3	22	values	value	NOUN
alkej-360	3	23	of	of	ADP
alkej-360	3	24	the	the	DET
alkej-360	3	25	control	control	NOUN
alkej-360	3	26	gains	gain	NOUN
alkej-360	3	27	of	of	ADP
alkej-360	3	28	the	the	DET
alkej-360	3	29	nonlinear	nonlinear	ADJ
alkej-360	3	30	(	(	PUNCT
alkej-360	3	31	neural	neural	ADJ
alkej-360	3	32	and	and	CCONJ
alkej-360	3	33	back	back	ADV
alkej-360	3	34	-	-	PUNCT
alkej-360	3	35	stepping	step	VERB
alkej-360	3	36	method	method	NOUN
alkej-360	3	37	)	)	PUNCT
alkej-360	3	38	controllers	controller	NOUN
alkej-360	3	39	as	as	ADP
alkej-360	3	40	a	a	DET
alkej-360	3	41	simple	simple	ADJ
alkej-360	3	42	on	on	ADP
alkej-360	3	43	-	-	PUNCT
alkej-360	3	44	line	line	NOUN
alkej-360	3	45	with	with	ADP
alkej-360	3	46	fast	fast	ADJ
alkej-360	3	47	tuning	tuning	NOUN
alkej-360	3	48	techniques	technique	NOUN
alkej-360	3	49	in	in	ADP
alkej-360	3	50	order	order	NOUN
alkej-360	3	51	to	to	PART
alkej-360	3	52	obtain	obtain	VERB
alkej-360	3	53	the	the	DET
alkej-360	3	54	best	good	ADJ
alkej-360	3	55	torques	torque	NOUN
alkej-360	3	56	actions	action	NOUN
alkej-360	3	57	of	of	ADP
alkej-360	3	58	the	the	DET
alkej-360	3	59	wheels	wheel	NOUN
alkej-360	3	60	for	for	ADP
alkej-360	3	61	the	the	DET
alkej-360	3	62	cart	cart	NOUN
alkej-360	3	63	mobile	mobile	PROPN
alkej-360	3	64	robot	robot	NOUN
alkej-360	3	65	from	from	ADP
alkej-360	3	66	the	the	DET
alkej-360	3	67	proposed	propose	VERB
alkej-360	3	68	two	two	NUM
alkej-360	3	69	controllers	controller	NOUN
alkej-360	3	70	.	.	PUNCT
alkej-360	4	1	simulation	simulation	NOUN
alkej-360	4	2	results	result	NOUN
alkej-360	4	3	(	(	PUNCT
alkej-360	4	4	matlab	matlab	PROPN
alkej-360	4	5	package	package	NOUN
alkej-360	4	6	2012a	2012a	NUM
alkej-360	4	7	)	)	PUNCT
alkej-360	4	8	show	show	VERB
alkej-360	4	9	that	that	SCONJ
alkej-360	4	10	the	the	DET
alkej-360	4	11	nonlinear	nonlinear	ADJ
alkej-360	4	12	neural	neural	ADJ
alkej-360	4	13	controller	controller	NOUN
alkej-360	4	14	with	with	ADP
alkej-360	4	15	hybrid	hybrid	ADJ
alkej-360	4	16	bees	bee	NOUN
alkej-360	4	17	-	-	PUNCT
alkej-360	4	18	pso	pso	ADJ
alkej-360	4	19	cognitive	cognitive	ADJ
alkej-360	4	20	algorithm	algorithm	NOUN
alkej-360	4	21	is	be	AUX
alkej-360	4	22	more	more	ADV
alkej-360	4	23	accurate	accurate	ADJ
alkej-360	4	24	in	in	ADP
alkej-360	4	25	terms	term	NOUN
alkej-360	4	26	of	of	ADP
alkej-360	4	27	fast	fast	ADJ
alkej-360	4	28	on	on	ADP
alkej-360	4	29	-	-	PUNCT
alkej-360	4	30	line	line	NOUN
alkej-360	4	31	finding	finding	NOUN
alkej-360	4	32	and	and	CCONJ
alkej-360	4	33	tuning	tune	VERB
alkej-360	4	34	parameters	parameter	NOUN
alkej-360	4	35	of	of	ADP
alkej-360	4	36	the	the	DET
alkej-360	4	37	controller	controller	NOUN
alkej-360	4	38	lead	lead	VERB
alkej-360	4	39	to	to	ADP
alkej-360	4	40	obtaining	obtain	VERB
alkej-360	4	41	smoothness	smoothness	ADJ
alkej-360	4	42	with	with	ADP
alkej-360	4	43	small	small	ADJ
alkej-360	4	44	spikes	spike	NOUN
alkej-360	4	45	control	control	NOUN
alkej-360	4	46	action	action	NOUN
alkej-360	4	47	as	as	ADV
alkej-360	4	48	well	well	ADV
alkej-360	4	49	as	as	ADP
alkej-360	4	50	minimizing	minimize	VERB
alkej-360	4	51	tracking	tracking	NOUN
alkej-360	4	52	pose	pose	NOUN
alkej-360	4	53	error	error	NOUN
alkej-360	4	54	of	of	ADP
alkej-360	4	55	the	the	DET
alkej-360	4	56	wheeled	wheel	VERB
alkej-360	4	57	mobile	mobile	ADJ
alkej-360	4	58	robot	robot	NOUN
alkej-360	4	59	than	than	ADP
alkej-360	4	60	the	the	DET
alkej-360	4	61	performance	performance	NOUN
alkej-360	4	62	of	of	ADP
alkej-360	4	63	nonlinear	nonlinear	ADJ
alkej-360	4	64	back	back	ADV
alkej-360	4	65	-	-	PUNCT
alkej-360	4	66	stepping	step	VERB
alkej-360	4	67	technique	technique	NOUN
alkej-360	4	68	.	.	PUNCT
alkej-360	5	1	keywords	keyword	NOUN
alkej-360	5	2	:	:	PUNCT
alkej-360	5	3	bees	bee	NOUN
alkej-360	5	4	algorithm	algorithm	NOUN
alkej-360	5	5	,	,	PUNCT
alkej-360	5	6	nonlinear	nonlinear	ADJ
alkej-360	5	7	controller	controller	NOUN
alkej-360	5	8	,	,	PUNCT
alkej-360	5	9	matlab	matlab	PROPN
alkej-360	5	10	package	package	NOUN
alkej-360	5	11	,	,	PUNCT
alkej-360	5	12	particle	particle	NOUN
alkej-360	5	13	swarm	swarm	NOUN
alkej-360	5	14	optimization	optimization	NOUN
alkej-360	5	15	,	,	PUNCT
alkej-360	5	16	wheeled	wheel	VERB
alkej-360	5	17	mobile	mobile	ADJ
alkej-360	5	18	robots	robot	NOUN
alkej-360	5	19	.	.	PUNCT
alkej-360	6	1	1	1	X
alkej-360	6	2	.	.	X
alkej-360	6	3	introduction	introduction	NOUN
alkej-360	6	4	in	in	ADP
alkej-360	6	5	general	general	ADJ
alkej-360	6	6	,	,	PUNCT
alkej-360	6	7	a	a	DET
alkej-360	6	8	wheeled	wheel	VERB
alkej-360	6	9	mobile	mobile	ADJ
alkej-360	6	10	robot	robot	NOUN
alkej-360	6	11	system	system	NOUN
alkej-360	6	12	considers	consider	VERB
alkej-360	6	13	a	a	DET
alkej-360	6	14	multi	multi	ADJ
alkej-360	6	15	-	-	ADJ
alkej-360	6	16	input	input	ADJ
alkej-360	6	17	multi	multi	ADJ
alkej-360	6	18	-	-	ADJ
alkej-360	6	19	output	output	ADJ
alkej-360	6	20	nonlinear	nonlinear	ADJ
alkej-360	6	21	dynamic	dynamic	ADJ
alkej-360	6	22	and	and	CCONJ
alkej-360	6	23	time	time	NOUN
alkej-360	6	24	variant	variant	NOUN
alkej-360	6	25	system	system	NOUN
alkej-360	6	26	and	and	CCONJ
alkej-360	6	27	the	the	DET
alkej-360	6	28	one	one	NUM
alkej-360	6	29	of	of	ADP
alkej-360	6	30	fundamental	fundamental	ADJ
alkej-360	6	31	problems	problem	NOUN
alkej-360	6	32	in	in	ADP
alkej-360	6	33	the	the	DET
alkej-360	6	34	control	control	NOUN
alkej-360	6	35	engineering	engineering	NOUN
alkej-360	6	36	is	be	AUX
alkej-360	6	37	the	the	DET
alkej-360	6	38	motion	motion	NOUN
alkej-360	6	39	control	control	NOUN
alkej-360	6	40	design	design	NOUN
alkej-360	6	41	to	to	PART
alkej-360	6	42	track	track	VERB
alkej-360	6	43	the	the	DET
alkej-360	6	44	desired	desire	VERB
alkej-360	6	45	path	path	NOUN
alkej-360	7	1	[	[	X
alkej-360	7	2	1	1	X
alkej-360	7	3	]	]	PUNCT
alkej-360	7	4	because	because	SCONJ
alkej-360	7	5	the	the	DET
alkej-360	7	6	mobile	mobile	NOUN
alkej-360	7	7	robot	robot	NOUN
alkej-360	7	8	has	have	VERB
alkej-360	7	9	many	many	ADJ
alkej-360	7	10	applications	application	NOUN
alkej-360	7	11	in	in	ADP
alkej-360	7	12	various	various	ADJ
alkej-360	7	13	directions	direction	NOUN
alkej-360	7	14	life	life	NOUN
alkej-360	7	15	such	such	ADJ
alkej-360	7	16	as	as	ADP
alkej-360	7	17	:	:	PUNCT
alkej-360	7	18	science	science	NOUN
alkej-360	7	19	;	;	PUNCT
alkej-360	7	20	education	education	NOUN
alkej-360	7	21	;	;	PUNCT
alkej-360	7	22	industry	industry	NOUN
alkej-360	7	23	;	;	PUNCT
alkej-360	7	24	entertainment	entertainment	NOUN
alkej-360	7	25	;	;	PUNCT
alkej-360	7	26	security	security	NOUN
alkej-360	7	27	and	and	CCONJ
alkej-360	7	28	military	military	NOUN
alkej-360	7	29	therefore	therefore	ADV
alkej-360	7	30	the	the	DET
alkej-360	7	31	mobile	mobile	ADJ
alkej-360	7	32	robot	robot	NOUN
alkej-360	7	33	is	be	AUX
alkej-360	7	34	still	still	ADV
alkej-360	7	35	active	active	ADJ
alkej-360	7	36	region	region	NOUN
alkej-360	7	37	of	of	ADP
alkej-360	7	38	research	research	NOUN
alkej-360	7	39	[	[	X
alkej-360	7	40	2	2	NUM
alkej-360	7	41	]	]	PUNCT
alkej-360	7	42	.	.	PUNCT
alkej-360	8	1	in	in	ADP
alkej-360	8	2	the	the	DET
alkej-360	8	3	recent	recent	ADJ
alkej-360	8	4	years	year	NOUN
alkej-360	8	5	,	,	PUNCT
alkej-360	8	6	different	different	ADJ
alkej-360	8	7	types	type	NOUN
alkej-360	8	8	of	of	ADP
alkej-360	8	9	control	control	NOUN
alkej-360	8	10	algorithms	algorithm	NOUN
alkej-360	8	11	and	and	CCONJ
alkej-360	8	12	controllers	controller	NOUN
alkej-360	8	13	that	that	SCONJ
alkej-360	8	14	they	they	PRON
alkej-360	8	15	are	be	AUX
alkej-360	8	16	based	base	VERB
alkej-360	8	17	on	on	ADP
alkej-360	8	18	mathematical	mathematical	ADJ
alkej-360	8	19	model	model	NOUN
alkej-360	8	20	of	of	ADP
alkej-360	8	21	the	the	DET
alkej-360	8	22	wheeled	wheel	VERB
alkej-360	8	23	mobile	mobile	ADJ
alkej-360	8	24	robot	robot	NOUN
alkej-360	8	25	and	and	CCONJ
alkej-360	8	26	they	they	PRON
alkej-360	8	27	are	be	AUX
alkej-360	8	28	proposed	propose	VERB
alkej-360	8	29	to	to	PART
alkej-360	8	30	solve	solve	VERB
alkej-360	8	31	the	the	DET
alkej-360	8	32	motion	motion	NOUN
alkej-360	8	33	control	control	NOUN
alkej-360	8	34	of	of	ADP
alkej-360	8	35	the	the	DET
alkej-360	8	36	robot	robot	NOUN
alkej-360	8	37	’s	’s	PART
alkej-360	8	38	wheels	wheel	NOUN
alkej-360	8	39	in	in	ADP
alkej-360	8	40	order	order	NOUN
alkej-360	8	41	to	to	PART
alkej-360	8	42	follow	follow	VERB
alkej-360	8	43	the	the	DET
alkej-360	8	44	desired	desire	VERB
alkej-360	8	45	trajectory	trajectory	NOUN
alkej-360	8	46	with	with	ADP
alkej-360	8	47	high	high	ADJ
alkej-360	8	48	performance	performance	NOUN
alkej-360	8	49	of	of	ADP
alkej-360	8	50	the	the	DET
alkej-360	8	51	controllers	controller	NOUN
alkej-360	8	52	in	in	ADP
alkej-360	8	53	terms	term	NOUN
alkej-360	8	54	of	of	ADP
alkej-360	8	55	generating	generate	VERB
alkej-360	8	56	optimal	optimal	ADJ
alkej-360	8	57	action	action	NOUN
alkej-360	8	58	that	that	PRON
alkej-360	8	59	lead	lead	VERB
alkej-360	8	60	to	to	ADP
alkej-360	8	61	minimizing	minimize	VERB
alkej-360	8	62	tracking	tracking	NOUN
alkej-360	8	63	pose	pose	NOUN
alkej-360	8	64	error	error	NOUN
alkej-360	8	65	during	during	ADP
alkej-360	8	66	tracking	track	VERB
alkej-360	8	67	reference	reference	NOUN
alkej-360	8	68	path	path	NOUN
alkej-360	8	69	,	,	PUNCT
alkej-360	8	70	such	such	ADJ
alkej-360	8	71	as	as	ADP
alkej-360	8	72	nonlinear	nonlinear	ADJ
alkej-360	8	73	neural	neural	ADJ
alkej-360	8	74	pid	pid	NOUN
alkej-360	8	75	controllers	controller	NOUN
alkej-360	8	76	[	[	X
alkej-360	8	77	3	3	NUM
alkej-360	8	78	and	and	CCONJ
alkej-360	8	79	4	4	NUM
alkej-360	8	80	]	]	PUNCT
alkej-360	8	81	,	,	PUNCT
alkej-360	8	82	fuzzy	fuzzy	ADJ
alkej-360	8	83	logic	logic	NOUN
alkej-360	8	84	and	and	CCONJ
alkej-360	8	85	pid	pid	NOUN
alkej-360	8	86	controllers	controller	NOUN
alkej-360	9	1	[	[	X
alkej-360	9	2	5	5	NUM
alkej-360	9	3	and	and	CCONJ
alkej-360	9	4	6	6	NUM
alkej-360	9	5	]	]	X
alkej-360	9	6	,	,	PUNCT
alkej-360	9	7	neural	neural	ADJ
alkej-360	9	8	networks	network	NOUN
alkej-360	9	9	controllers	controller	NOUN
alkej-360	9	10	[	[	X
alkej-360	9	11	7	7	NUM
alkej-360	9	12	and	and	CCONJ
alkej-360	9	13	8	8	NUM
alkej-360	9	14	]	]	PUNCT
alkej-360	9	15	,	,	PUNCT
alkej-360	9	16	back	back	ADV
alkej-360	9	17	-	-	PUNCT
alkej-360	9	18	stepping	step	VERB
alkej-360	9	19	controllers	controller	NOUN
alkej-360	10	1	[	[	X
alkej-360	10	2	9	9	NUM
alkej-360	10	3	and	and	CCONJ
alkej-360	10	4	10	10	NUM
alkej-360	10	5	]	]	PUNCT
alkej-360	10	6	,	,	PUNCT
alkej-360	10	7	adaptive	adaptive	ADJ
alkej-360	10	8	sliding	slide	VERB
alkej-360	10	9	mode	mode	NOUN
alkej-360	10	10	controllers	controller	NOUN
alkej-360	10	11	[	[	X
alkej-360	10	12	11	11	NUM
alkej-360	10	13	and	and	CCONJ
alkej-360	10	14	12	12	NUM
alkej-360	10	15	]	]	PUNCT
alkej-360	10	16	and	and	CCONJ
alkej-360	10	17	neural	neural	ADJ
alkej-360	10	18	predictive	predictive	ADJ
alkej-360	10	19	controllers	controller	NOUN
alkej-360	10	20	[	[	X
alkej-360	10	21	13	13	NUM
alkej-360	10	22	and	and	CCONJ
alkej-360	10	23	14	14	NUM
alkej-360	10	24	]	]	PUNCT
alkej-360	10	25	.	.	PUNCT
alkej-360	11	1	the	the	DET
alkej-360	11	2	motivation	motivation	NOUN
alkej-360	11	3	for	for	ADP
alkej-360	11	4	this	this	DET
alkej-360	11	5	research	research	NOUN
alkej-360	11	6	is	be	AUX
alkej-360	11	7	taken	take	VERB
alkej-360	11	8	from	from	ADP
alkej-360	11	9	[	[	X
alkej-360	11	10	2	2	NUM
alkej-360	11	11	,	,	PUNCT
alkej-360	11	12	3	3	NUM
alkej-360	11	13	,	,	PUNCT
alkej-360	11	14	4	4	NUM
alkej-360	11	15	and	and	CCONJ
alkej-360	11	16	10	10	NUM
alkej-360	11	17	]	]	PUNCT
alkej-360	11	18	which	which	PRON
alkej-360	11	19	are	be	AUX
alkej-360	11	20	focusing	focus	VERB
alkej-360	11	21	on	on	ADP
alkej-360	11	22	the	the	DET
alkej-360	11	23	problems	problem	NOUN
alkej-360	11	24	of	of	ADP
alkej-360	11	25	the	the	DET
alkej-360	11	26	mobile	mobile	ADJ
alkej-360	11	27	robot	robot	NOUN
alkej-360	11	28	in	in	ADP
alkej-360	11	29	terms	term	NOUN
alkej-360	11	30	of	of	ADP
alkej-360	11	31	tracking	tracking	NOUN
alkej-360	11	32	and	and	CCONJ
alkej-360	11	33	stabilizing	stabilize	VERB
alkej-360	11	34	the	the	DET
alkej-360	11	35	mobile	mobile	ADJ
alkej-360	11	36	robot	robot	NOUN
alkej-360	11	37	on	on	ADP
alkej-360	11	38	the	the	DET
alkej-360	11	39	desired	desire	VERB
alkej-360	11	40	path	path	NOUN
alkej-360	11	41	as	as	ADV
alkej-360	11	42	well	well	ADV
alkej-360	11	43	as	as	ADP
alkej-360	11	44	how	how	SCONJ
alkej-360	11	45	can	can	AUX
alkej-360	11	46	generate	generate	VERB
alkej-360	11	47	best	good	ADJ
alkej-360	11	48	torque	torque	NOUN
alkej-360	11	49	control	control	NOUN
alkej-360	11	50	action	action	NOUN
alkej-360	11	51	without	without	ADP
alkej-360	11	52	saturation	saturation	NOUN
alkej-360	11	53	state	state	NOUN
alkej-360	11	54	and	and	CCONJ
alkej-360	11	55	no	no	DET
alkej-360	11	56	spike	spike	ADJ
alkej-360	11	57	action	action	NOUN
alkej-360	11	58	?	?	PUNCT
alkej-360	12	1	the	the	DET
alkej-360	12	2	main	main	ADJ
alkej-360	12	3	core	core	NOUN
alkej-360	12	4	of	of	ADP
alkej-360	12	5	the	the	DET
alkej-360	12	6	contribution	contribution	NOUN
alkej-360	12	7	of	of	ADP
alkej-360	12	8	this	this	DET
alkej-360	12	9	research	research	NOUN
alkej-360	12	10	is	be	AUX
alkej-360	12	11	described	describe	VERB
alkej-360	12	12	as	as	SCONJ
alkej-360	12	13	follows	follow	VERB
alkej-360	12	14	:	:	PUNCT
alkej-360	12	15	•	•	ADP
alkej-360	12	16	using	use	VERB
alkej-360	12	17	a	a	DET
alkej-360	12	18	different	different	ADJ
alkej-360	12	19	types	type	NOUN
alkej-360	12	20	of	of	ADP
alkej-360	12	21	controllers	controller	NOUN
alkej-360	12	22	with	with	ADP
alkej-360	12	23	high	high	ADJ
alkej-360	12	24	computational	computational	ADJ
alkej-360	12	25	accuracy	accuracy	NOUN
alkej-360	12	26	that	that	PRON
alkej-360	12	27	have	have	AUX
alkej-360	12	28	been	be	AUX
alkej-360	12	29	derived	derive	VERB
alkej-360	12	30	of	of	ADP
alkej-360	12	31	the	the	DET
alkej-360	12	32	control	control	NOUN
alkej-360	12	33	laws	law	NOUN
alkej-360	12	34	in	in	ADP
alkej-360	12	35	order	order	NOUN
alkej-360	12	36	to	to	PART
alkej-360	12	37	generate	generate	VERB
alkej-360	12	38	best	good	ADJ
alkej-360	12	39	torque	torque	NOUN
alkej-360	12	40	action	action	NOUN
alkej-360	12	41	and	and	CCONJ
alkej-360	12	42	lead	lead	VERB
alkej-360	12	43	to	to	ADP
alkej-360	12	44	minimizing	minimize	VERB
alkej-360	12	45	tracking	tracking	NOUN
alkej-360	12	46	pose	pose	NOUN
alkej-360	12	47	error	error	NOUN
alkej-360	12	48	of	of	ADP
alkej-360	12	49	the	the	DET
alkej-360	12	50	wheeled	wheel	VERB
alkej-360	12	51	mobile	mobile	ADJ
alkej-360	12	52	robot	robot	NOUN
alkej-360	12	53	.	.	PUNCT
alkej-360	13	1	•	•	NUM
alkej-360	13	2	cognitive	cognitive	ADJ
alkej-360	13	3	hybrid	hybrid	ADJ
alkej-360	13	4	bees	bee	NOUN
alkej-360	13	5	-	-	PUNCT
alkej-360	13	6	pso	pso	ADJ
alkej-360	13	7	optimization	optimization	NOUN
alkej-360	13	8	algorithm	algorithm	NOUN
alkej-360	13	9	proposed	propose	VERB
alkej-360	13	10	to	to	PART
alkej-360	13	11	show	show	VERB
alkej-360	13	12	the	the	DET
alkej-360	13	13	ability	ability	NOUN
alkej-360	13	14	in	in	ADP
alkej-360	13	15	the	the	DET
alkej-360	13	16	fast	fast	ADJ
alkej-360	13	17	search	search	NOUN
alkej-360	13	18	in	in	ADP
alkej-360	13	19	local	local	ADJ
alkej-360	13	20	(	(	PUNCT
alkej-360	13	21	pso	pso	NOUN
alkej-360	13	22	)	)	PUNCT
alkej-360	13	23	and	and	CCONJ
alkej-360	13	24	global	global	ADJ
alkej-360	13	25	(	(	PUNCT
alkej-360	13	26	bees	bee	NOUN
alkej-360	13	27	)	)	PUNCT
alkej-360	13	28	ahmed	ahmed	PROPN
alkej-360	13	29	s.	s.	PROPN
alkej-360	13	30	al	al	PROPN
alkej-360	13	31	-	-	PROPN
alkej-360	13	32	araji	araji	PROPN
alkej-360	13	33	al	al	PROPN
alkej-360	13	34	-	-	PUNCT
alkej-360	13	35	khwarizmi	khwarizmi	PROPN
alkej-360	13	36	engineering	engineering	NOUN
alkej-360	13	37	journal	journal	PROPN
alkej-360	13	38	,	,	PUNCT
alkej-360	13	39	vol	vol	NOUN
alkej-360	13	40	.	.	PROPN
alkej-360	13	41	13	13	NUM
alkej-360	13	42	,	,	PUNCT
alkej-360	13	43	no	no	INTJ
alkej-360	13	44	.	.	NOUN
alkej-360	13	45	3	3	NUM
alkej-360	13	46	,	,	PUNCT
alkej-360	13	47	p.p	p.p	PROPN
alkej-360	13	48	.	.	NOUN
alkej-360	13	49	6473	6473	NUM
alkej-360	13	50	(	(	PUNCT
alkej-360	13	51	2017	2017	NUM
alkej-360	13	52	)	)	PUNCT
alkej-360	13	53	65	65	NUM
alkej-360	13	54	regions	region	NOUN
alkej-360	13	55	in	in	ADP
alkej-360	13	56	order	order	NOUN
alkej-360	13	57	to	to	PART
alkej-360	13	58	find	find	VERB
alkej-360	13	59	and	and	CCONJ
alkej-360	13	60	tune	tune	NOUN
alkej-360	13	61	on	on	ADP
alkej-360	13	62	-	-	PUNCT
alkej-360	13	63	line	line	NOUN
alkej-360	13	64	the	the	DET
alkej-360	13	65	best	good	ADJ
alkej-360	13	66	parameters	parameter	NOUN
alkej-360	13	67	of	of	ADP
alkej-360	13	68	the	the	DET
alkej-360	13	69	two	two	NUM
alkej-360	13	70	types	type	NOUN
alkej-360	13	71	of	of	ADP
alkej-360	13	72	controllers	controller	NOUN
alkej-360	13	73	.	.	PUNCT
alkej-360	14	1	•	•	NUM
alkej-360	14	2	adding	add	VERB
alkej-360	14	3	a	a	DET
alkej-360	14	4	dynamic	dynamic	ADJ
alkej-360	14	5	disturbance	disturbance	NOUN
alkej-360	14	6	to	to	PART
alkej-360	14	7	investigate	investigate	VERB
alkej-360	14	8	the	the	DET
alkej-360	14	9	robustness	robustness	NOUN
alkej-360	14	10	performance	performance	NOUN
alkej-360	14	11	of	of	ADP
alkej-360	14	12	the	the	DET
alkej-360	14	13	proposed	propose	VERB
alkej-360	14	14	controllers	controller	NOUN
alkej-360	14	15	.	.	PUNCT
alkej-360	15	1	•	•	NOUN
alkej-360	15	2	changing	change	VERB
alkej-360	15	3	the	the	DET
alkej-360	15	4	initial	initial	ADJ
alkej-360	15	5	pose	pose	NOUN
alkej-360	15	6	state	state	NOUN
alkej-360	15	7	to	to	PART
alkej-360	15	8	verify	verify	VERB
alkej-360	15	9	the	the	DET
alkej-360	15	10	adaptation	adaptation	NOUN
alkej-360	15	11	performance	performance	NOUN
alkej-360	15	12	of	of	ADP
alkej-360	15	13	the	the	DET
alkej-360	15	14	proposed	propose	VERB
alkej-360	15	15	controllers	controller	NOUN
alkej-360	15	16	.	.	PUNCT
alkej-360	16	1	•	•	NUM
alkej-360	16	2	tracking	track	VERB
alkej-360	16	3	a	a	DET
alkej-360	16	4	variable	variable	ADJ
alkej-360	16	5	radius	radius	NOUN
alkej-360	16	6	continuous	continuous	ADJ
alkej-360	16	7	trajectory	trajectory	NOUN
alkej-360	16	8	to	to	PART
alkej-360	16	9	validate	validate	VERB
alkej-360	16	10	the	the	DET
alkej-360	16	11	capability	capability	NOUN
alkej-360	16	12	of	of	ADP
alkej-360	16	13	the	the	DET
alkej-360	16	14	proposed	propose	VERB
alkej-360	16	15	controllers	controller	NOUN
alkej-360	16	16	.	.	PUNCT
alkej-360	17	1	the	the	DET
alkej-360	17	2	organization	organization	NOUN
alkej-360	17	3	of	of	ADP
alkej-360	17	4	this	this	DET
alkej-360	17	5	paper	paper	NOUN
alkej-360	17	6	can	can	AUX
alkej-360	17	7	be	be	AUX
alkej-360	17	8	described	describe	VERB
alkej-360	17	9	as	as	SCONJ
alkej-360	17	10	follows	follow	VERB
alkej-360	17	11	:	:	PUNCT
alkej-360	17	12	in	in	ADP
alkej-360	17	13	section	section	NOUN
alkej-360	17	14	two	two	NUM
alkej-360	17	15	,	,	PUNCT
alkej-360	17	16	is	be	AUX
alkej-360	17	17	a	a	DET
alkej-360	17	18	description	description	NOUN
alkej-360	17	19	of	of	ADP
alkej-360	17	20	the	the	DET
alkej-360	17	21	dynamic	dynamic	ADJ
alkej-360	17	22	wheeled	wheel	VERB
alkej-360	17	23	mobile	mobile	PROPN
alkej-360	17	24	robot	robot	NOUN
alkej-360	17	25	model	model	PROPN
alkej-360	17	26	.	.	PUNCT
alkej-360	18	1	section	section	NOUN
alkej-360	18	2	three	three	NUM
alkej-360	18	3	is	be	AUX
alkej-360	18	4	deriving	derive	VERB
alkej-360	18	5	the	the	DET
alkej-360	18	6	different	different	ADJ
alkej-360	18	7	types	type	NOUN
alkej-360	18	8	of	of	ADP
alkej-360	18	9	the	the	DET
alkej-360	18	10	proposed	propose	VERB
alkej-360	18	11	nonlinear	nonlinear	ADJ
alkej-360	18	12	controllers	controller	NOUN
alkej-360	18	13	.	.	PUNCT
alkej-360	19	1	in	in	ADP
alkej-360	19	2	section	section	NOUN
alkej-360	19	3	four	four	NUM
alkej-360	19	4	,	,	PUNCT
alkej-360	19	5	the	the	DET
alkej-360	19	6	proposed	propose	VERB
alkej-360	19	7	of	of	ADP
alkej-360	19	8	a	a	DET
alkej-360	19	9	cognitive	cognitive	ADJ
alkej-360	19	10	hybrid	hybrid	ADJ
alkej-360	19	11	bees	bee	NOUN
alkej-360	19	12	-	-	PUNCT
alkej-360	19	13	pso	pso	ADJ
alkej-360	19	14	optimization	optimization	NOUN
alkej-360	19	15	algorithms	algorithm	NOUN
alkej-360	19	16	is	be	AUX
alkej-360	19	17	explained	explain	VERB
alkej-360	19	18	.	.	PUNCT
alkej-360	20	1	section	section	NOUN
alkej-360	20	2	five	five	NUM
alkej-360	20	3	is	be	AUX
alkej-360	20	4	presented	present	VERB
alkej-360	20	5	the	the	DET
alkej-360	20	6	performance	performance	NOUN
alkej-360	20	7	of	of	ADP
alkej-360	20	8	the	the	DET
alkej-360	20	9	proposed	propose	VERB
alkej-360	20	10	controllers	controller	NOUN
alkej-360	20	11	through	through	ADP
alkej-360	20	12	simulation	simulation	NOUN
alkej-360	20	13	results	result	NOUN
alkej-360	20	14	.	.	PUNCT
alkej-360	21	1	in	in	ADP
alkej-360	21	2	section	section	NOUN
alkej-360	21	3	five	five	NUM
alkej-360	21	4	,	,	PUNCT
alkej-360	21	5	the	the	DET
alkej-360	21	6	conclusions	conclusion	NOUN
alkej-360	21	7	are	be	AUX
alkej-360	21	8	drawn	draw	VERB
alkej-360	21	9	.	.	PUNCT
alkej-360	22	1	2	2	X
alkej-360	22	2	.	.	X
alkej-360	22	3	model	model	NOUN
alkej-360	22	4	of	of	ADP
alkej-360	22	5	a	a	DET
alkej-360	22	6	dynamic	dynamic	ADJ
alkej-360	22	7	wheeled	wheel	VERB
alkej-360	22	8	mobile	mobile	ADJ
alkej-360	22	9	robot	robot	NOUN
alkej-360	22	10	fig.1	fig.1	PROPN
alkej-360	22	11	shows	show	VERB
alkej-360	22	12	the	the	DET
alkej-360	22	13	schematic	schematic	ADJ
alkej-360	22	14	diagram	diagram	NOUN
alkej-360	22	15	of	of	ADP
alkej-360	22	16	the	the	DET
alkej-360	22	17	cart	cart	NOUN
alkej-360	22	18	wheeled	wheel	VERB
alkej-360	22	19	mobile	mobile	ADJ
alkej-360	22	20	robot	robot	NOUN
alkej-360	22	21	that	that	PRON
alkej-360	22	22	it	it	PRON
alkej-360	22	23	consists	consist	VERB
alkej-360	22	24	of	of	ADP
alkej-360	22	25	a	a	DET
alkej-360	22	26	two	two	NUM
alkej-360	22	27	dc	dc	PROPN
alkej-360	22	28	motors	motor	NOUN
alkej-360	22	29	which	which	PRON
alkej-360	22	30	is	be	AUX
alkej-360	22	31	driving	drive	VERB
alkej-360	22	32	the	the	DET
alkej-360	22	33	two	two	NUM
alkej-360	22	34	wheels	wheel	NOUN
alkej-360	22	35	with	with	ADP
alkej-360	22	36	one	one	NUM
alkej-360	22	37	an	an	DET
alkej-360	22	38	omni	omni	ADJ
alkej-360	22	39	-	-	PUNCT
alkej-360	22	40	directional	directional	ADJ
alkej-360	22	41	castor	castor	NOUN
alkej-360	22	42	wheel	wheel	NOUN
alkej-360	22	43	that	that	PRON
alkej-360	22	44	will	will	AUX
alkej-360	22	45	stabilize	stabilize	VERB
alkej-360	22	46	the	the	DET
alkej-360	22	47	platform	platform	NOUN
alkej-360	22	48	of	of	ADP
alkej-360	22	49	the	the	DET
alkej-360	22	50	mobile	mobile	ADJ
alkej-360	22	51	robot	robot	NOUN
alkej-360	22	52	[	[	X
alkej-360	22	53	12	12	NUM
alkej-360	22	54	and	and	CCONJ
alkej-360	22	55	13	13	NUM
alkej-360	22	56	]	]	PUNCT
alkej-360	22	57	.	.	PUNCT
alkej-360	23	1	the	the	DET
alkej-360	23	2	motion	motion	NOUN
alkej-360	23	3	and	and	CCONJ
alkej-360	23	4	orientation	orientation	NOUN
alkej-360	23	5	of	of	ADP
alkej-360	23	6	the	the	DET
alkej-360	23	7	mobile	mobile	ADJ
alkej-360	23	8	robot	robot	NOUN
alkej-360	23	9	depends	depend	VERB
alkej-360	23	10	on	on	ADP
alkej-360	23	11	a	a	DET
alkej-360	23	12	two	two	NUM
alkej-360	23	13	independent	independent	ADJ
alkej-360	23	14	actuators	actuator	NOUN
alkej-360	23	15	(	(	PUNCT
alkej-360	23	16	dc	dc	PROPN
alkej-360	23	17	motors	motors	PROPN
alkej-360	23	18	)	)	PUNCT
alkej-360	23	19	for	for	ADP
alkej-360	23	20	left	left	ADJ
alkej-360	23	21	and	and	CCONJ
alkej-360	23	22	right	right	ADJ
alkej-360	23	23	wheels	wheel	NOUN
alkej-360	23	24	.	.	PUNCT
alkej-360	24	1	r	r	NOUN
alkej-360	24	2	is	be	AUX
alkej-360	24	3	the	the	DET
alkej-360	24	4	radius	radius	NOUN
alkej-360	24	5	of	of	ADP
alkej-360	24	6	the	the	DET
alkej-360	24	7	same	same	ADJ
alkej-360	24	8	of	of	ADP
alkej-360	24	9	the	the	DET
alkej-360	24	10	two	two	NUM
alkej-360	24	11	wheels	wheel	NOUN
alkej-360	24	12	and	and	CCONJ
alkej-360	24	13	the	the	DET
alkej-360	24	14	distance	distance	NOUN
alkej-360	24	15	between	between	ADP
alkej-360	24	16	these	these	DET
alkej-360	24	17	wheels	wheel	NOUN
alkej-360	24	18	is	be	AUX
alkej-360	24	19	l	l	NOUN
alkej-360	24	20	and	and	CCONJ
alkej-360	24	21	c	c	PROPN
alkej-360	24	22	is	be	AUX
alkej-360	24	23	the	the	DET
alkej-360	24	24	center	center	NOUN
alkej-360	24	25	of	of	ADP
alkej-360	24	26	gravity	gravity	NOUN
alkej-360	24	27	of	of	ADP
alkej-360	24	28	the	the	DET
alkej-360	24	29	mobile	mobile	NOUN
alkej-360	24	30	robot	robot	NOUN
alkej-360	24	31	.	.	PUNCT
alkej-360	25	1	fig	fig	NOUN
alkej-360	25	2	.	.	PUNCT
alkej-360	26	1	1	1	X
alkej-360	26	2	.	.	X
alkej-360	26	3	mobile	mobile	ADJ
alkej-360	26	4	robot	robot	NOUN
alkej-360	26	5	platform	platform	NOUN
alkej-360	26	6	model	model	NOUN
alkej-360	26	7	.	.	PUNCT
alkej-360	27	1	in	in	ADP
alkej-360	27	2	general	general	ADJ
alkej-360	27	3	,	,	PUNCT
alkej-360	27	4	the	the	DET
alkej-360	27	5	global	global	ADJ
alkej-360	27	6	coordinate	coordinate	NOUN
alkej-360	27	7	frame	frame	NOUN
alkej-360	27	8	is	be	AUX
alkej-360	27	9	defined	define	VERB
alkej-360	27	10	as	as	ADP
alkej-360	27	11	[	[	PUNCT
alkej-360	27	12	]	]	X
alkej-360	27	13	yxo	yxo	NOUN
alkej-360	27	14	,	,	PUNCT
alkej-360	27	15	,	,	PUNCT
alkej-360	27	16	while	while	SCONJ
alkej-360	27	17	the	the	DET
alkej-360	27	18	pose	pose	NOUN
alkej-360	27	19	vector	vector	NOUN
alkej-360	27	20	of	of	ADP
alkej-360	27	21	the	the	DET
alkej-360	27	22	mobile	mobile	ADJ
alkej-360	27	23	robot	robot	NOUN
alkej-360	27	24	in	in	ADP
alkej-360	27	25	the	the	DET
alkej-360	27	26	surface	surface	NOUN
alkej-360	27	27	is	be	AUX
alkej-360	27	28	defined	define	VERB
alkej-360	27	29	as	as	ADP
alkej-360	27	30	:	:	PUNCT
alkej-360	27	31	tyxq	tyxq	NOUN
alkej-360	27	32	)	)	PUNCT
alkej-360	27	33	,	,	PUNCT
alkej-360	27	34	,	,	PUNCT
alkej-360	27	35	(	(	PUNCT
alkej-360	27	36	θ=	θ=	X
alkej-360	27	37	…	…	PUNCT
alkej-360	27	38	(	(	PUNCT
alkej-360	27	39	1	1	X
alkej-360	27	40	)	)	PUNCT
alkej-360	27	41	the	the	DET
alkej-360	27	42	position	position	NOUN
alkej-360	27	43	coordinates	coordinate	NOUN
alkej-360	27	44	(	(	PUNCT
alkej-360	27	45	x	x	X
alkej-360	27	46	,	,	PUNCT
alkej-360	27	47	y	y	NOUN
alkej-360	27	48	)	)	PUNCT
alkej-360	27	49	are	be	AUX
alkej-360	27	50	at	at	ADP
alkej-360	27	51	point	point	NOUN
alkej-360	27	52	cwhile	cwhile	ADV
alkej-360	27	53	θ	θ	PROPN
alkej-360	27	54	is	be	AUX
alkej-360	27	55	orientation	orientation	NOUN
alkej-360	27	56	angle	angle	NOUN
alkej-360	27	57	that	that	PRON
alkej-360	27	58	is	be	AUX
alkej-360	27	59	measured	measure	VERB
alkej-360	27	60	with	with	ADP
alkej-360	27	61	respect	respect	NOUN
alkej-360	27	62	to	to	ADP
alkej-360	27	63	global	global	ADJ
alkej-360	27	64	frame	frame	NOUN
alkej-360	27	65	in	in	ADP
alkej-360	27	66	the	the	DET
alkej-360	27	67	x	x	NOUN
alkej-360	27	68	-	-	NOUN
alkej-360	27	69	axis	axis	NOUN
alkej-360	27	70	therefore	therefore	ADV
alkej-360	27	71	the	the	DET
alkej-360	27	72	configuration	configuration	NOUN
alkej-360	27	73	of	of	ADP
alkej-360	27	74	mobile	mobile	NOUN
alkej-360	27	75	robot	robot	NOUN
alkej-360	27	76	can	can	AUX
alkej-360	27	77	be	be	AUX
alkej-360	27	78	described	describe	VERB
alkej-360	27	79	by	by	ADP
alkej-360	27	80	these	these	DET
alkej-360	27	81	three	three	NUM
alkej-360	27	82	generalized	generalized	ADJ
alkej-360	27	83	coordinates	coordinate	NOUN
alkej-360	27	84	.	.	PUNCT
alkej-360	28	1	to	to	PART
alkej-360	28	2	investigate	investigate	VERB
alkej-360	28	3	the	the	DET
alkej-360	28	4	motion	motion	NOUN
alkej-360	28	5	and	and	CCONJ
alkej-360	28	6	orientation	orientation	NOUN
alkej-360	28	7	of	of	ADP
alkej-360	28	8	the	the	DET
alkej-360	28	9	wheeled	wheel	VERB
alkej-360	28	10	mobile	mobile	PROPN
alkej-360	28	11	robot	robot	NOUN
alkej-360	28	12	,	,	PUNCT
alkej-360	28	13	two	two	NUM
alkej-360	28	14	conditions	condition	NOUN
alkej-360	28	15	should	should	AUX
alkej-360	28	16	be	be	AUX
alkej-360	28	17	achieved	achieve	VERB
alkej-360	28	18	;	;	PUNCT
alkej-360	28	19	the	the	DET
alkej-360	28	20	first	first	ADJ
alkej-360	28	21	is	be	AUX
alkej-360	28	22	pure	pure	ADJ
alkej-360	28	23	-	-	PUNCT
alkej-360	28	24	rolling	rolling	NOUN
alkej-360	28	25	and	and	CCONJ
alkej-360	28	26	the	the	DET
alkej-360	28	27	second	second	NOUN
alkej-360	28	28	is	be	AUX
alkej-360	28	29	without	without	ADP
alkej-360	28	30	-	-	PUNCT
alkej-360	28	31	slipping	slip	VERB
alkej-360	28	32	in	in	ADP
alkej-360	28	33	order	order	NOUN
alkej-360	28	34	to	to	PART
alkej-360	28	35	make	make	VERB
alkej-360	28	36	the	the	DET
alkej-360	28	37	mobile	mobile	ADJ
alkej-360	28	38	robot	robot	NOUN
alkej-360	28	39	’s	’s	PART
alkej-360	28	40	lateral	lateral	ADJ
alkej-360	28	41	velocity	velocity	NOUN
alkej-360	28	42	is	be	AUX
alkej-360	28	43	equal	equal	ADJ
alkej-360	28	44	to	to	ADP
alkej-360	28	45	zero	zero	NUM
alkej-360	28	46	as	as	ADP
alkej-360	28	47	equation	equation	NOUN
alkej-360	28	48	(	(	PUNCT
alkej-360	28	49	2	2	NUM
alkej-360	28	50	)	)	PUNCT
alkej-360	29	1	[	[	X
alkej-360	29	2	3	3	NUM
alkej-360	29	3	and	and	CCONJ
alkej-360	29	4	4	4	NUM
alkej-360	29	5	]	]	PUNCT
alkej-360	29	6	.	.	PUNCT
alkej-360	30	1	0)(cos)()(sin	0)(cos)()(sin	PROPN
alkej-360	30	2	)	)	PUNCT
alkej-360	30	3	(	(	PUNCT
alkej-360	31	1	=	=	PUNCT
alkej-360	31	2	+	+	NOUN
alkej-360	31	3	−	−	NOUN
alkej-360	31	4	••	••	NOUN
alkej-360	31	5	ttyttx	ttyttx	NOUN
alkej-360	31	6	θθ	θθ	PRON
alkej-360	31	7	…	…	PUNCT
alkej-360	31	8	(	(	PUNCT
alkej-360	31	9	2	2	NUM
alkej-360	31	10	)	)	PUNCT
alkej-360	31	11	then	then	ADV
alkej-360	31	12	,	,	PUNCT
alkej-360	31	13	the	the	DET
alkej-360	31	14	equations	equation	NOUN
alkej-360	31	15	of	of	ADP
alkej-360	31	16	the	the	DET
alkej-360	31	17	kinematics	kinematic	NOUN
alkej-360	31	18	wheeled	wheel	VERB
alkej-360	31	19	mobile	mobile	ADJ
alkej-360	31	20	robot	robot	NOUN
alkej-360	31	21	in	in	ADP
alkej-360	31	22	the	the	DET
alkej-360	31	23	world	world	NOUN
alkej-360	31	24	frame	frame	NOUN
alkej-360	31	25	can	can	AUX
alkej-360	31	26	be	be	AUX
alkej-360	31	27	represented	represent	VERB
alkej-360	31	28	as	as	SCONJ
alkej-360	31	29	follows	follow	VERB
alkej-360	31	30	[	[	X
alkej-360	31	31	7	7	NUM
alkej-360	31	32	and	and	CCONJ
alkej-360	31	33	10	10	NUM
alkej-360	31	34	]	]	PRON
alkej-360	31	35	:	:	PUNCT
alkej-360	31	36	)	)	PUNCT
alkej-360	31	37	(	(	PUNCT
alkej-360	31	38	cos	cos	NOUN
alkej-360	31	39	)	)	PUNCT
alkej-360	31	40	2	2	NUM
alkej-360	31	41	)	)	PUNCT
alkej-360	31	42	(	(	PUNCT
alkej-360	31	43	)	)	PUNCT
alkej-360	31	44	(	(	PUNCT
alkej-360	31	45	(	(	PUNCT
alkej-360	31	46	)	)	PUNCT
alkej-360	31	47	(	(	PUNCT
alkej-360	31	48	t	t	PROPN
alkej-360	31	49	twltwrr	twltwrr	PROPN
alkej-360	31	50	tx	tx	PROPN
alkej-360	31	51	θ	θ	PROPN
alkej-360	32	1	+	+	CCONJ
alkej-360	33	1	=	=	SYM
alkej-360	33	2	&	&	CCONJ
alkej-360	33	3	…	…	PUNCT
alkej-360	33	4	(	(	PUNCT
alkej-360	33	5	3	3	NUM
alkej-360	33	6	)	)	PUNCT
alkej-360	33	7	)	)	PUNCT
alkej-360	34	1	(	(	PUNCT
alkej-360	34	2	sin	sin	NOUN
alkej-360	34	3	2	2	NUM
alkej-360	34	4	)	)	PUNCT
alkej-360	34	5	)	)	PUNCT
alkej-360	34	6	(	(	PUNCT
alkej-360	34	7	)	)	PUNCT
alkej-360	34	8	(	(	PUNCT
alkej-360	34	9	(	(	PUNCT
alkej-360	34	10	)	)	PUNCT
alkej-360	34	11	(	(	PUNCT
alkej-360	34	12	t	t	NOUN
alkej-360	34	13	twltwrr	twltwrr	VERB
alkej-360	34	14	ty	ty	INTJ
alkej-360	34	15	θ	θ	X
alkej-360	34	16	−	−	PROPN
alkej-360	35	1	=	=	SYM
alkej-360	35	2	&	&	CCONJ
alkej-360	35	3	…	…	PUNCT
alkej-360	35	4	(	(	PUNCT
alkej-360	35	5	4	4	NUM
alkej-360	35	6	)	)	PUNCT
alkej-360	35	7	l	l	NOUN
alkej-360	35	8	twltwrr	twltwrr	NOUN
alkej-360	35	9	t	t	PROPN
alkej-360	35	10	)	)	PUNCT
alkej-360	35	11	)	)	PUNCT
alkej-360	35	12	(	(	PUNCT
alkej-360	35	13	)	)	PUNCT
alkej-360	35	14	(	(	PUNCT
alkej-360	35	15	(	(	PUNCT
alkej-360	35	16	)	)	PUNCT
alkej-360	35	17	(	(	PUNCT
alkej-360	35	18	−	−	PROPN
alkej-360	35	19	=	=	SYM
alkej-360	35	20	θ	θ	PROPN
alkej-360	35	21	&	&	CCONJ
alkej-360	35	22	…	…	PUNCT
alkej-360	35	23	(	(	PUNCT
alkej-360	35	24	5	5	NUM
alkej-360	35	25	)	)	PUNCT
alkej-360	35	26	where	where	SCONJ
alkej-360	35	27	wr(t	wr(t	NOUN
alkej-360	35	28	)	)	PUNCT
alkej-360	35	29	and	and	CCONJ
alkej-360	35	30	wl(t	wl(t	PROPN
alkej-360	35	31	)	)	PUNCT
alkej-360	35	32	are	be	AUX
alkej-360	35	33	the	the	DET
alkej-360	35	34	right	right	NOUN
alkej-360	35	35	and	and	CCONJ
alkej-360	35	36	left	leave	VERB
alkej-360	35	37	angular	angular	ADJ
alkej-360	35	38	velocities	velocity	NOUN
alkej-360	35	39	respectively	respectively	ADV
alkej-360	35	40	.	.	PUNCT
alkej-360	36	1	based	base	VERB
alkej-360	36	2	on	on	ADP
alkej-360	36	3	euler	euler	PROPN
alkej-360	36	4	lagrange	lagrange	PROPN
alkej-360	36	5	formulation	formulation	NOUN
alkej-360	36	6	[	[	X
alkej-360	36	7	9	9	NUM
alkej-360	36	8	and13	and13	PROPN
alkej-360	36	9	]	]	PUNCT
alkej-360	36	10	,	,	PUNCT
alkej-360	36	11	the	the	DET
alkej-360	36	12	dynamic	dynamic	ADJ
alkej-360	36	13	model	model	NOUN
alkej-360	36	14	of	of	ADP
alkej-360	36	15	the	the	DET
alkej-360	36	16	mobile	mobile	NOUN
alkej-360	36	17	robot	robot	NOUN
alkej-360	36	18	can	can	AUX
alkej-360	36	19	be	be	AUX
alkej-360	36	20	described	describe	VERB
alkej-360	36	21	as	as	SCONJ
alkej-360	36	22	follows	follow	VERB
alkej-360	36	23	:	:	PUNCT
alkej-360	36	24	λθ	λθ	PART
alkej-360	36	25	θ	θ	PROPN
alkej-360	36	26	τ	τ	PROPN
alkej-360	36	27	τ	τ	PROPN
alkej-360	36	28	θθ	θθ	VERB
alkej-360	36	29	θθ	θθ	PRON
alkej-360	36	30	τ	τ	X
alkej-360	36	31	θ	θ	PROPN
alkej-360	37	1			PROPN
alkej-360	37	2			PROPN
alkej-360	37	3			PROPN
alkej-360	37	4			PROPN
alkej-360	37	5			PROPN
alkej-360	37	6			ADJ
alkej-360	37	7			ADJ
alkej-360	37	8			ADJ
alkej-360	37	9			NOUN
alkej-360	37	10	−	−	VERB
alkej-360	38	1	+	+	ADJ
alkej-360	38	2			PROPN
alkej-360	38	3			PROPN
alkej-360	38	4			PROPN
alkej-360	38	5			ADJ
alkej-360	38	6			NUM
alkej-360	38	7			NOUN
alkej-360	38	8			PROPN
alkej-360	38	9			PROPN
alkej-360	38	10			PROPN
alkej-360	38	11			PROPN
alkej-360	38	12			PROPN
alkej-360	38	13			PROPN
alkej-360	38	14			ADJ
alkej-360	38	15			ADJ
alkej-360	38	16			ADJ
alkej-360	38	17			ADJ
alkej-360	38	18			NUM
alkej-360	38	19			VERB
alkej-360	39	1	−	−	PROPN
alkej-360	39	2	=	=	PROPN
alkej-360	39	3	+	+	PROPN
alkej-360	39	4			PROPN
alkej-360	39	5			PROPN
alkej-360	39	6			PROPN
alkej-360	39	7			PROPN
alkej-360	39	8			PROPN
alkej-360	39	9			PROPN
alkej-360	39	10			ADJ
alkej-360	39	11			ADJ
alkej-360	39	12			ADJ
alkej-360	39	13			ADJ
alkej-360	39	14			NUM
alkej-360	39	15			NOUN
alkej-360	39	16			PROPN
alkej-360	39	17			PROPN
alkej-360	39	18			PROPN
alkej-360	39	19			PROPN
alkej-360	39	20			PROPN
alkej-360	39	21			ADJ
alkej-360	39	22			ADJ
alkej-360	39	23			ADJ
alkej-360	39	24			NUM
alkej-360	39	25			PROPN
alkej-360	39	26	••	••	NOUN
alkej-360	39	27	••	••	NOUN
alkej-360	39	28	••	••	NOUN
alkej-360	39	29	0	0	PUNCT
alkej-360	39	30	cos	cos	PROPN
alkej-360	39	31	sin	sin	PROPN
alkej-360	39	32	22	22	NUM
alkej-360	39	33	sinsin	sinsin	NOUN
alkej-360	39	34	coscos	coscos	PROPN
alkej-360	39	35	1	1	NUM
alkej-360	39	36	00	00	NUM
alkej-360	39	37	00	00	NUM
alkej-360	39	38	00	00	NUM
alkej-360	40	1	r	r	NOUN
alkej-360	40	2	l	l	NOUN
alkej-360	40	3	llr	llr	NOUN
alkej-360	40	4	dy	dy	X
alkej-360	40	5	x	x	PROPN
alkej-360	40	6	i	i	PRON
alkej-360	40	7	m	m	VERB
alkej-360	40	8	m	m	VERB
alkej-360	40	9	..	..	PUNCT
alkej-360	40	10	(	(	PUNCT
alkej-360	40	11	6	6	NUM
alkej-360	40	12	)	)	PUNCT
alkej-360	40	13	where	where	SCONJ
alkej-360	40	14	lτ	lτ	NOUN
alkej-360	40	15	is	be	AUX
alkej-360	40	16	the	the	DET
alkej-360	40	17	torque	torque	NOUN
alkej-360	40	18	of	of	ADP
alkej-360	40	19	the	the	DET
alkej-360	40	20	left	left	ADJ
alkej-360	40	21	wheel	wheel	NOUN
alkej-360	40	22	.	.	PUNCT
alkej-360	41	1	rτ	rτ	NOUN
alkej-360	41	2	is	be	AUX
alkej-360	41	3	the	the	DET
alkej-360	41	4	torque	torque	NOUN
alkej-360	41	5	of	of	ADP
alkej-360	41	6	the	the	DET
alkej-360	41	7	right	right	ADJ
alkej-360	41	8	wheel	wheel	NOUN
alkej-360	41	9	.	.	PUNCT
alkej-360	42	1	m	m	PROPN
alkej-360	42	2	is	be	AUX
alkej-360	42	3	the	the	DET
alkej-360	42	4	mobile	mobile	ADJ
alkej-360	42	5	robot	robot	NOUN
alkej-360	42	6	’s	’s	PART
alkej-360	42	7	mass	mass	PROPN
alkej-360	42	8	.	.	PUNCT
alkej-360	43	1	i	i	PRON
alkej-360	43	2	is	be	AUX
alkej-360	43	3	the	the	DET
alkej-360	43	4	mobile	mobile	ADJ
alkej-360	43	5	robot	robot	NOUN
alkej-360	43	6	’s	’s	PART
alkej-360	43	7	inertia	inertia	NOUN
alkej-360	43	8	.	.	PUNCT
alkej-360	44	1	λ	λ	NOUN
alkej-360	44	2	is	be	AUX
alkej-360	44	3	the	the	DET
alkej-360	44	4	constraint	constraint	NOUN
alkej-360	44	5	forces	force	NOUN
alkej-360	44	6	.	.	PUNCT
alkej-360	45	1	dτ	dτ	PROPN
alkej-360	45	2	is	be	AUX
alkej-360	45	3	bounded	bound	VERB
alkej-360	45	4	dynamic	dynamic	ADJ
alkej-360	45	5	disturbances	disturbance	NOUN
alkej-360	45	6	.	.	PUNCT
alkej-360	46	1	the	the	DET
alkej-360	46	2	pose	pose	NOUN
alkej-360	46	3	equations	equation	NOUN
alkej-360	46	4	of	of	ADP
alkej-360	46	5	the	the	DET
alkej-360	46	6	mobile	mobile	ADJ
alkej-360	46	7	robot	robot	NOUN
alkej-360	46	8	in	in	ADP
alkej-360	46	9	the	the	DET
alkej-360	46	10	simulation	simulation	NOUN
alkej-360	46	11	can	can	AUX
alkej-360	46	12	be	be	AUX
alkej-360	46	13	described	describe	VERB
alkej-360	46	14	as	as	ADP
alkej-360	46	15	follows	follow	VERB
alkej-360	46	16	:	:	PUNCT
alkej-360	46	17	�	�	PROPN
alkej-360	46	18	�	�	PROPN
alkej-360	46	19	�	�	PROPN
alkej-360	46	20	�	�	PROPN
alkej-360	46	21	=	=	SYM
alkej-360	46	22	�	�	PROPN
alkej-360	46	23	�	�	PROPN
alkej-360	46	24	�	�	PROPN
alkej-360	46	25	�	�	PROPN
alkej-360	46	26	�	�	PROPN
alkej-360	46	27	�	�	PROPN
alkej-360	46	28	�	�	PROPN
alkej-360	46	29	�	�	PROPN
alkej-360	46	30	�	�	PROPN
alkej-360	46	31	�	�	PROPN
alkej-360	46	32	…	…	PUNCT
alkej-360	46	33	(	(	PUNCT
alkej-360	46	34	7	7	NUM
alkej-360	46	35	)	)	PUNCT
alkej-360	46	36	�	�	PROPN
alkej-360	46	37	�	�	PROPN
alkej-360	46	38	�	�	PROPN
alkej-360	46	39	�	�	PROPN
alkej-360	46	40	=	=	SYM
alkej-360	46	41	�	�	PROPN
alkej-360	46	42	.	.	PROPN
alkej-360	46	43	�	�	PROPN
alkej-360	46	44	�	�	PROPN
alkej-360	46	45	�	�	PROPN
alkej-360	46	46	�	�	PROPN
alkej-360	46	47	�	�	PROPN
alkej-360	46	48	�	�	PROPN
alkej-360	46	49	�	�	PROPN
alkej-360	46	50	�	�	PROPN
alkej-360	46	51	�	�	PROPN
alkej-360	46	52	�	�	PROPN
alkej-360	46	53	�	�	PROPN
alkej-360	46	54	�	�	PROPN
alkej-360	46	55	�	�	PROPN
alkej-360	46	56	�	�	PROPN
alkej-360	46	57	�	�	PROPN
alkej-360	46	58	…	…	PUNCT
alkej-360	46	59	(	(	PUNCT
alkej-360	46	60	8)	8)	NUM
alkej-360	46	61	�	�	PROPN
alkej-360	46	62	�	�	PROPN
alkej-360	46	63	�	�	PROPN
alkej-360	46	64	�	�	PROPN
alkej-360	46	65	�	�	PROPN
alkej-360	46	66	�	�	PROPN
alkej-360	46	67	�	�	PROPN
alkej-360	46	68	�	�	PROPN
alkej-360	46	69	�	�	PROPN
alkej-360	46	70	=	=	SYM
alkej-360	46	71	�	�	PROPN
alkej-360	46	72	�	�	PROPN
alkej-360	46	73	�	�	PROPN
alkej-360	46	74	�	�	PROPN
alkej-360	46	75	�	�	PROPN
alkej-360	46	76	…	…	PUNCT
alkej-360	46	77	(	(	PUNCT
alkej-360	46	78	9	9	NUM
alkej-360	46	79	)	)	PUNCT
alkej-360	46	80	�	�	PROPN
alkej-360	46	81	�	�	PROPN
alkej-360	46	82	�	�	PROPN
alkej-360	46	83	�	�	PROPN
alkej-360	46	84	�	�	PROPN
alkej-360	46	85	�	�	PROPN
alkej-360	46	86	�	�	PROPN
alkej-360	46	87	�	�	PROPN
alkej-360	46	88	=	=	SYM
alkej-360	46	89	�	�	PROPN
alkej-360	46	90	�	�	PROPN
alkej-360	46	91	�	�	PROPN
alkej-360	46	92	�	�	PROPN
alkej-360	46	93	�	�	PROPN
alkej-360	46	94	�	�	PROPN
alkej-360	46	95	…	…	PUNCT
alkej-360	46	96	(	(	PUNCT
alkej-360	46	97	10	10	NUM
alkej-360	46	98	)	)	PUNCT
alkej-360	46	99	�	�	PROPN
alkej-360	46	100	�	�	PROPN
alkej-360	46	101	�	�	PROPN
alkej-360	46	102	�	�	PROPN
alkej-360	46	103	�	�	PROPN
alkej-360	46	104	�	�	PROPN
alkej-360	46	105	�	�	PROPN
alkej-360	46	106	=	=	SYM
alkej-360	46	107	�	�	PROPN
alkej-360	46	108	�	�	PROPN
alkej-360	46	109	�	�	PROPN
alkej-360	46	110	�	�	PROPN
alkej-360	46	111	�	�	PROPN
alkej-360	46	112	�	�	PROPN
alkej-360	46	113	�	�	PROPN
alkej-360	46	114	�	�	PROPN
alkej-360	46	115	�	�	PROPN
alkej-360	46	116	×	×	NOUN
alkej-360	46	117	∆	∆	PROPN
alkej-360	46	118	!	!	PUNCT
alkej-360	47	1	…	…	PUNCT
alkej-360	47	2	(	(	PUNCT
alkej-360	47	3	11	11	NUM
alkej-360	47	4	)	)	PUNCT
alkej-360	47	5	�	�	PROPN
alkej-360	47	6	�	�	PROPN
alkej-360	47	7	�	�	PROPN
alkej-360	47	8	�	�	PROPN
alkej-360	47	9	�	�	PROPN
alkej-360	47	10	�	�	PROPN
alkej-360	47	11	=	=	SYM
alkej-360	47	12	�	�	PROPN
alkej-360	47	13	�	�	PROPN
alkej-360	47	14	�	�	PROPN
alkej-360	47	15	�	�	PROPN
alkej-360	47	16	�	�	PROPN
alkej-360	47	17	�	�	PROPN
alkej-360	47	18	�	�	PROPN
alkej-360	47	19	�	�	PROPN
alkej-360	47	20	×	×	NOUN
alkej-360	47	21	∆	∆	PROPN
alkej-360	47	22	!	!	PUNCT
alkej-360	48	1	…	…	PUNCT
alkej-360	48	2	(	(	PUNCT
alkej-360	48	3	12	12	NUM
alkej-360	48	4	)	)	PUNCT
alkej-360	48	5	"	"	PUNCT
alkej-360	48	6	#	#	SYM
alkej-360	48	7	�	�	PROPN
alkej-360	48	8	�	�	PROPN
alkej-360	48	9	�	�	PROPN
alkej-360	48	10	=	=	SYM
alkej-360	48	11	�	�	PROPN
alkej-360	48	12	.	.	PUNCT
alkej-360	48	13	�	�	PROPN
alkej-360	48	14	$%	$%	PROPN
alkej-360	48	15	&	&	CCONJ
alkej-360	48	16	�	�	PROPN
alkej-360	48	17	'	'	PART
alkej-360	48	18	(	(	PUNCT
alkej-360	48	19	�	�	PROPN
alkej-360	48	20	�	�	PROPN
alkej-360	48	21	�	�	PROPN
alkej-360	48	22	&	&	CCONJ
alkej-360	48	23	�	�	PROPN
alkej-360	48	24	(	(	PUNCT
alkej-360	48	25	)	)	PUNCT
alkej-360	48	26	�	�	PROPN
alkej-360	48	27	�	�	PROPN
alkej-360	48	28	�	�	PROPN
alkej-360	48	29	�	�	PROPN
alkej-360	48	30	*	*	PUNCT
alkej-360	48	31	�	�	PROPN
alkej-360	48	32	…	…	PUNCT
alkej-360	48	33	(	(	PUNCT
alkej-360	48	34	13	13	NUM
alkej-360	48	35	)	)	PUNCT
alkej-360	48	36	ahmed	ahmed	PROPN
alkej-360	48	37	s.	s.	PROPN
alkej-360	48	38	al	al	PROPN
alkej-360	48	39	-	-	PROPN
alkej-360	48	40	araji	araji	PROPN
alkej-360	48	41	al	al	PROPN
alkej-360	48	42	-	-	PUNCT
alkej-360	48	43	khwarizmi	khwarizmi	PROPN
alkej-360	48	44	engineering	engineering	NOUN
alkej-360	48	45	journal	journal	PROPN
alkej-360	48	46	,	,	PUNCT
alkej-360	48	47	vol	vol	NOUN
alkej-360	48	48	.	.	PROPN
alkej-360	48	49	13	13	NUM
alkej-360	48	50	,	,	PUNCT
alkej-360	48	51	no	no	INTJ
alkej-360	48	52	.	.	NOUN
alkej-360	48	53	3	3	NUM
alkej-360	48	54	,	,	PUNCT
alkej-360	48	55	p.p	p.p	PROPN
alkej-360	48	56	.	.	NOUN
alkej-360	48	57	6473	6473	NUM
alkej-360	48	58	(	(	PUNCT
alkej-360	48	59	2017	2017	NUM
alkej-360	48	60	)	)	PUNCT
alkej-360	48	61	66	66	NUM
alkej-360	48	62	"	"	PUNCT
alkej-360	48	63	+	+	ADJ
alkej-360	48	64	�	�	PROPN
alkej-360	48	65	�	�	PROPN
alkej-360	48	66	�	�	PROPN
alkej-360	48	67	=	=	SYM
alkej-360	48	68	�	�	PROPN
alkej-360	48	69	.	.	PUNCT
alkej-360	48	70	�	�	PROPN
alkej-360	48	71	$%	$%	PROPN
alkej-360	48	72	&	&	CCONJ
alkej-360	48	73	�	�	PROPN
alkej-360	48	74	'	'	PART
alkej-360	48	75	(	(	PUNCT
alkej-360	48	76	�	�	PROPN
alkej-360	48	77	�	�	PROPN
alkej-360	48	78	�	�	PROPN
alkej-360	48	79	�	�	PROPN
alkej-360	48	80	&	&	CCONJ
alkej-360	48	81	�	�	PROPN
alkej-360	48	82	(	(	PUNCT
alkej-360	48	83	)	)	PUNCT
alkej-360	48	84	�	�	PROPN
alkej-360	48	85	�	�	PROPN
alkej-360	48	86	�	�	PROPN
alkej-360	48	87	�	�	PROPN
alkej-360	48	88	*	*	PUNCT
alkej-360	48	89	�	�	PROPN
alkej-360	48	90	…	…	PUNCT
alkej-360	48	91	(	(	PUNCT
alkej-360	48	92	14	14	NUM
alkej-360	48	93	)	)	PUNCT
alkej-360	48	94	)	)	PUNCT
alkej-360	48	95	1()(cos)]()([5.0	1()(cos)]()([5.0	X
alkej-360	48	96	)	)	PUNCT
alkej-360	48	97	(	(	PUNCT
alkej-360	48	98	−+∆+=	−+∆+=	NOUN
alkej-360	48	99	kxtkkwlkwrrkx	kxtkkwlkwrrkx	PROPN
alkej-360	48	100	θ	θ	PROPN
alkej-360	48	101	...	...	PUNCT
alkej-360	48	102	(	(	PUNCT
alkej-360	48	103	15	15	NUM
alkej-360	48	104	)	)	PUNCT
alkej-360	48	105	)	)	PUNCT
alkej-360	48	106	1()(sin)]()([5.0	1()(sin)]()([5.0	X
alkej-360	48	107	)	)	PUNCT
alkej-360	48	108	(	(	PUNCT
alkej-360	48	109	−+∆+=	−+∆+=	NOUN
alkej-360	48	110	kytkkwlkwrrky	kytkkwlkwrrky	PROPN
alkej-360	48	111	θ	θ	PROPN
alkej-360	48	112	...	...	PUNCT
alkej-360	48	113	(	(	PUNCT
alkej-360	48	114	16	16	NUM
alkej-360	48	115	)	)	PUNCT
alkej-360	48	116	)	)	PUNCT
alkej-360	48	117	1	1	NUM
alkej-360	48	118	(	(	PUNCT
alkej-360	48	119	)	)	PUNCT
alkej-360	48	120	]	]	X
alkej-360	48	121	(	(	PUNCT
alkej-360	48	122	)	)	PUNCT
alkej-360	48	123	(	(	PUNCT
alkej-360	48	124	[	[	X
alkej-360	48	125	)	)	PUNCT
alkej-360	48	126	(	(	PUNCT
alkej-360	48	127	−+∆−=	−+∆−=	PROPN
alkej-360	48	128	ktkwlkwr	ktkwlkwr	PROPN
alkej-360	48	129	l	l	PROPN
alkej-360	48	130	r	r	NOUN
alkej-360	48	131	k	k	X
alkej-360	48	132	θθ	θθ	NOUN
alkej-360	48	133	…	…	PUNCT
alkej-360	48	134	(	(	PUNCT
alkej-360	48	135	17	17	NUM
alkej-360	48	136	)	)	PUNCT
alkej-360	48	137	where	where	SCONJ
alkej-360	48	138	�	�	PROPN
alkej-360	48	139	is	be	AUX
alkej-360	48	140	total	total	ADJ
alkej-360	48	141	linear	linear	ADJ
alkej-360	48	142	force	force	NOUN
alkej-360	48	143	;	;	PUNCT
alkej-360	48	144	�	�	PROPN
alkej-360	48	145	is	be	AUX
alkej-360	48	146	total	total	ADJ
alkej-360	48	147	angular	angular	ADJ
alkej-360	48	148	torque	torque	NOUN
alkej-360	48	149	;	;	PUNCT
alkej-360	48	150	�	�	PROPN
alkej-360	48	151	�	�	PROPN
alkej-360	48	152	�	�	PROPN
alkej-360	48	153	�	�	PROPN
alkej-360	48	154	�	�	PROPN
alkej-360	48	155	�	�	PROPN
alkej-360	48	156	is	be	AUX
alkej-360	48	157	linear	linear	ADJ
alkej-360	48	158	acceleration	acceleration	NOUN
alkej-360	48	159	;	;	PUNCT
alkej-360	48	160	�	�	PROPN
alkej-360	48	161	�	�	PROPN
alkej-360	48	162	�	�	PROPN
alkej-360	48	163	�	�	PROPN
alkej-360	48	164	�	�	PROPN
alkej-360	48	165	is	be	AUX
alkej-360	48	166	angular	angular	ADJ
alkej-360	48	167	acceleration	acceleration	NOUN
alkej-360	48	168	;	;	PUNCT
alkej-360	48	169	�	�	PROPN
alkej-360	48	170	�	�	PROPN
alkej-360	48	171	�	�	PROPN
alkej-360	48	172	�	�	PROPN
alkej-360	48	173	is	be	AUX
alkej-360	48	174	linear	linear	ADJ
alkej-360	48	175	velocity	velocity	NOUN
alkej-360	48	176	;	;	PUNCT
alkej-360	48	177	�	�	PROPN
alkej-360	48	178	�	�	PROPN
alkej-360	48	179	�	�	PROPN
alkej-360	48	180	is	be	AUX
alkej-360	48	181	angular	angular	ADJ
alkej-360	48	182	velocity	velocity	NOUN
alkej-360	48	183	;	;	PUNCT
alkej-360	48	184	"	"	PUNCT
alkej-360	48	185	+	+	CCONJ
alkej-360	48	186	is	be	AUX
alkej-360	48	187	angular	angular	ADJ
alkej-360	48	188	velocity	velocity	NOUN
alkej-360	48	189	of	of	ADP
alkej-360	48	190	the	the	DET
alkej-360	48	191	left	left	ADJ
alkej-360	48	192	wheel	wheel	NOUN
alkej-360	48	193	;	;	PUNCT
alkej-360	48	194	"	"	PUNCT
alkej-360	48	195	#	#	NOUN
alkej-360	48	196	is	be	AUX
alkej-360	48	197	angular	angular	ADJ
alkej-360	48	198	velocity	velocity	NOUN
alkej-360	48	199	of	of	ADP
alkej-360	48	200	the	the	DET
alkej-360	48	201	right	right	ADJ
alkej-360	48	202	wheel	wheel	NOUN
alkej-360	48	203	;	;	PUNCT
alkej-360	48	204	)	)	PUNCT
alkej-360	48	205	(	(	PUNCT
alkej-360	48	206	)	)	PUNCT
alkej-360	48	207	,	,	PUNCT
alkej-360	48	208	(	(	PUNCT
alkej-360	48	209	)	)	PUNCT
alkej-360	48	210	,	,	PUNCT
alkej-360	48	211	(	(	PUNCT
alkej-360	48	212	kkykx	kkykx	NOUN
alkej-360	48	213	θ	θ	PROPN
alkej-360	48	214	are	be	AUX
alkej-360	48	215	the	the	DET
alkej-360	48	216	pose	pose	NOUN
alkej-360	48	217	of	of	ADP
alkej-360	48	218	the	the	DET
alkej-360	48	219	mobile	mobile	ADJ
alkej-360	48	220	robot	robot	NOUN
alkej-360	48	221	at	at	ADP
alkej-360	48	222	each	each	DET
alkej-360	48	223	step	step	NOUN
alkej-360	48	224	kth	kth	NOUN
alkej-360	48	225	of	of	ADP
alkej-360	48	226	the	the	DET
alkej-360	48	227	movement	movement	NOUN
alkej-360	48	228	and	and	CCONJ
alkej-360	48	229	t∆	t∆	PROPN
alkej-360	48	230	is	be	AUX
alkej-360	48	231	the	the	DET
alkej-360	48	232	sampling	sampling	NOUN
alkej-360	48	233	time	time	NOUN
alkej-360	48	234	.	.	PUNCT
alkej-360	49	1	3	3	X
alkej-360	49	2	.	.	X
alkej-360	49	3	nonlinear	nonlinear	ADJ
alkej-360	49	4	controller	controller	NOUN
alkej-360	49	5	methodology	methodology	NOUN
alkej-360	49	6	in	in	ADP
alkej-360	49	7	general	general	ADJ
alkej-360	49	8	,	,	PUNCT
alkej-360	49	9	a	a	DET
alkej-360	49	10	feedback	feedback	NOUN
alkej-360	49	11	control	control	NOUN
alkej-360	49	12	signal	signal	NOUN
alkej-360	49	13	based	base	VERB
alkej-360	49	14	on	on	ADP
alkej-360	49	15	different	different	ADJ
alkej-360	49	16	types	type	NOUN
alkej-360	49	17	of	of	ADP
alkej-360	49	18	the	the	DET
alkej-360	49	19	nonlinear	nonlinear	ADJ
alkej-360	49	20	controllers	controller	NOUN
alkej-360	49	21	are	be	AUX
alkej-360	49	22	very	very	ADV
alkej-360	49	23	important	important	ADJ
alkej-360	49	24	in	in	ADP
alkej-360	49	25	the	the	DET
alkej-360	49	26	structure	structure	NOUN
alkej-360	49	27	of	of	ADP
alkej-360	49	28	the	the	DET
alkej-360	49	29	proposed	propose	VERB
alkej-360	49	30	controller	controller	NOUN
alkej-360	49	31	in	in	ADP
alkej-360	49	32	terms	term	NOUN
alkej-360	49	33	of	of	ADP
alkej-360	49	34	stabilizing	stabilize	VERB
alkej-360	49	35	and	and	CCONJ
alkej-360	49	36	minimizing	minimize	VERB
alkej-360	49	37	the	the	DET
alkej-360	49	38	tracking	tracking	NOUN
alkej-360	49	39	pose	pose	NOUN
alkej-360	49	40	error	error	NOUN
alkej-360	49	41	of	of	ADP
alkej-360	49	42	the	the	DET
alkej-360	49	43	wheeled	wheel	VERB
alkej-360	49	44	mobile	mobile	ADJ
alkej-360	49	45	robot	robot	NOUN
alkej-360	49	46	during	during	ADP
alkej-360	49	47	the	the	DET
alkej-360	49	48	mobile	mobile	NOUN
alkej-360	49	49	robot	robot	NOUN
alkej-360	49	50	’s	’s	PART
alkej-360	49	51	pose	pose	NOUN
alkej-360	49	52	is	be	AUX
alkej-360	49	53	drifted	drift	VERB
alkej-360	49	54	from	from	ADP
alkej-360	49	55	the	the	DET
alkej-360	49	56	reference	reference	NOUN
alkej-360	49	57	path	path	NOUN
alkej-360	49	58	.	.	PUNCT
alkej-360	50	1	block	block	NOUN
alkej-360	50	2	diagram	diagram	NOUN
alkej-360	50	3	of	of	ADP
alkej-360	50	4	the	the	DET
alkej-360	50	5	proposed	propose	VERB
alkej-360	50	6	structure	structure	NOUN
alkej-360	50	7	of	of	ADP
alkej-360	50	8	the	the	DET
alkej-360	50	9	nonlinear	nonlinear	ADJ
alkej-360	50	10	trajectory	trajectory	NOUN
alkej-360	50	11	tracking	tracking	NOUN
alkej-360	50	12	controllers	controller	NOUN
alkej-360	50	13	for	for	ADP
alkej-360	50	14	wheeled	wheeled	ADJ
alkej-360	50	15	mobile	mobile	NOUN
alkej-360	50	16	robot	robot	NOUN
alkej-360	50	17	can	can	AUX
alkej-360	50	18	be	be	AUX
alkej-360	50	19	shown	show	VERB
alkej-360	50	20	in	in	ADP
alkej-360	50	21	fig	fig	NOUN
alkej-360	50	22	.	.	PUNCT
alkej-360	51	1	2	2	X
alkej-360	51	2	.	.	X
alkej-360	51	3	the	the	DET
alkej-360	51	4	first	first	ADJ
alkej-360	51	5	structure	structure	NOUN
alkej-360	51	6	of	of	ADP
alkej-360	51	7	the	the	DET
alkej-360	51	8	nonlinear	nonlinear	ADJ
alkej-360	51	9	controller	controller	NOUN
alkej-360	51	10	equation	equation	NOUN
alkej-360	51	11	is	be	AUX
alkej-360	51	12	neural	neural	ADJ
alkej-360	51	13	network	network	NOUN
alkej-360	51	14	that	that	PRON
alkej-360	51	15	it	it	PRON
alkej-360	51	16	performed	perform	VERB
alkej-360	51	17	as	as	ADP
alkej-360	51	18	a	a	DET
alkej-360	51	19	nonlinear	nonlinear	ADJ
alkej-360	51	20	pid	pid	NOUN
alkej-360	51	21	controller	controller	NOUN
alkej-360	51	22	[	[	X
alkej-360	51	23	3	3	NUM
alkej-360	51	24	and	and	CCONJ
alkej-360	51	25	4	4	NUM
alkej-360	51	26	]	]	PUNCT
alkej-360	51	27	.	.	PUNCT
alkej-360	52	1	the	the	DET
alkej-360	52	2	nonlinear	nonlinear	ADJ
alkej-360	52	3	neural	neural	ADJ
alkej-360	52	4	control	control	NOUN
alkej-360	52	5	structure	structure	NOUN
alkej-360	52	6	has	have	AUX
alkej-360	52	7	strong	strong	ADJ
alkej-360	52	8	of	of	ADP
alkej-360	52	9	adaptation	adaptation	NOUN
alkej-360	52	10	performance	performance	NOUN
alkej-360	52	11	,	,	PUNCT
alkej-360	52	12	high	high	ADJ
alkej-360	52	13	dynamic	dynamic	ADJ
alkej-360	52	14	characteristic	characteristic	NOUN
alkej-360	52	15	and	and	CCONJ
alkej-360	52	16	good	good	ADJ
alkej-360	52	17	robustness	robustness	NOUN
alkej-360	52	18	performance	performance	NOUN
alkej-360	52	19	because	because	SCONJ
alkej-360	52	20	the	the	DET
alkej-360	52	21	proposed	propose	VERB
alkej-360	52	22	structure	structure	NOUN
alkej-360	52	23	is	be	AUX
alkej-360	52	24	built	build	VERB
alkej-360	52	25	on	on	ADP
alkej-360	52	26	a	a	DET
alkej-360	52	27	traditional	traditional	ADJ
alkej-360	52	28	pid	pid	NOUN
alkej-360	52	29	controller	controller	NOUN
alkej-360	52	30	and	and	CCONJ
alkej-360	52	31	employed	employ	VERB
alkej-360	52	32	the	the	DET
alkej-360	52	33	theory	theory	NOUN
alkej-360	52	34	of	of	ADP
alkej-360	52	35	the	the	DET
alkej-360	52	36	neural	neural	ADJ
alkej-360	52	37	network	network	NOUN
alkej-360	52	38	technique	technique	NOUN
alkej-360	52	39	.	.	PUNCT
alkej-360	53	1	the	the	DET
alkej-360	53	2	structure	structure	NOUN
alkej-360	53	3	of	of	ADP
alkej-360	53	4	the	the	DET
alkej-360	53	5	proposed	propose	VERB
alkej-360	53	6	nonlinear	nonlinear	ADJ
alkej-360	53	7	neural	neural	ADJ
alkej-360	53	8	controller	controller	NOUN
alkej-360	53	9	can	can	AUX
alkej-360	53	10	be	be	AUX
alkej-360	53	11	shown	show	VERB
alkej-360	53	12	in	in	ADP
alkej-360	53	13	fig	fig	NOUN
alkej-360	53	14	.	.	PUNCT
alkej-360	54	1	3	3	X
alkej-360	54	2	.	.	X
alkej-360	54	3	the	the	DET
alkej-360	54	4	proposed	propose	VERB
alkej-360	54	5	control	control	NOUN
alkej-360	54	6	law	law	NOUN
alkej-360	54	7	of	of	ADP
alkej-360	54	8	the	the	DET
alkej-360	54	9	nonlinear	nonlinear	ADJ
alkej-360	54	10	neural	neural	ADJ
alkej-360	54	11	controller	controller	NOUN
alkej-360	54	12	for	for	ADP
alkej-360	54	13	the	the	DET
alkej-360	54	14	right	right	NOUN
alkej-360	54	15	and	and	CCONJ
alkej-360	54	16	left	leave	VERB
alkej-360	54	17	torques	torque	NOUN
alkej-360	54	18	as	as	SCONJ
alkej-360	54	19	follows	follow	VERB
alkej-360	54	20	:	:	PUNCT
alkej-360	54	21	yxrr	yxrr	PROPN
alkej-360	54	22	obobkbk	obobkbk	PROPN
alkej-360	54	23	12111	12111	NUM
alkej-360	54	24	)	)	PUNCT
alkej-360	54	25	1	1	NUM
alkej-360	54	26	(	(	PUNCT
alkej-360	54	27	)	)	PUNCT
alkej-360	54	28	(	(	PUNCT
alkej-360	54	29	+	+	ADJ
alkej-360	54	30	+	+	NOUN
alkej-360	54	31	−=	−=	VERB
alkej-360	54	32	ττ	ττ	X
alkej-360	54	33	(	(	PUNCT
alkej-360	54	34	18	18	NUM
alkej-360	54	35	)	)	PUNCT
alkej-360	54	36	θττ	θττ	PROPN
alkej-360	54	37	obobkbk	obobkbk	PROPN
alkej-360	54	38	yll	yll	PROPN
alkej-360	54	39	141315	141315	NUM
alkej-360	54	40	)	)	PUNCT
alkej-360	54	41	1	1	NUM
alkej-360	54	42	(	(	PUNCT
alkej-360	54	43	)	)	PUNCT
alkej-360	54	44	(	(	PUNCT
alkej-360	54	45	+	+	ADJ
alkej-360	54	46	+	+	NOUN
alkej-360	54	47	−=	−=	X
alkej-360	54	48	…	…	PUNCT
alkej-360	54	49	(	(	PUNCT
alkej-360	54	50	19	19	NUM
alkej-360	54	51	)	)	PUNCT
alkej-360	54	52	the	the	DET
alkej-360	54	53	outputs	output	NOUN
alkej-360	55	1	yx	yx	PROPN
alkej-360	55	2	oo	oo	INTJ
alkej-360	55	3	,	,	PUNCT
alkej-360	55	4	and	and	CCONJ
alkej-360	55	5	θo	θo	PRON
alkej-360	55	6	of	of	ADP
alkej-360	55	7	the	the	DET
alkej-360	55	8	neural	neural	ADJ
alkej-360	55	9	networks	network	NOUN
alkej-360	55	10	.	.	PUNCT
alkej-360	56	1	sigmoid	sigmoid	NOUN
alkej-360	56	2	function	function	NOUN
alkej-360	56	3	is	be	AUX
alkej-360	56	4	used	use	VERB
alkej-360	56	5	as	as	ADP
alkej-360	56	6	nonlinear	nonlinear	ADJ
alkej-360	56	7	relationship	relationship	NOUN
alkej-360	56	8	as	as	ADP
alkej-360	56	9	equation	equation	NOUN
alkej-360	56	10	(	(	PUNCT
alkej-360	56	11	20	20	NUM
alkej-360	56	12	)	)	PUNCT
alkej-360	57	1	[	[	X
alkej-360	57	2	3	3	NUM
alkej-360	57	3	and	and	CCONJ
alkej-360	57	4	4	4	NUM
alkej-360	57	5	]	]	PUNCT
alkej-360	57	6	:	:	PUNCT
alkej-360	57	7	1	1	NUM
alkej-360	57	8	1	1	NUM
alkej-360	57	9	2	2	NUM
alkej-360	57	10	−	−	NOUN
alkej-360	57	11	+	+	CCONJ
alkej-360	57	12	=	=	SYM
alkej-360	57	13	−	−	PROPN
alkej-360	57	14	γ	γ	PROPN
alkej-360	57	15	γ	γ	PROPN
alkej-360	57	16	net	net	NOUN
alkej-360	57	17	e	e	X
alkej-360	57	18	o	o	X
alkej-360	57	19	…	…	PUNCT
alkej-360	57	20	(	(	PUNCT
alkej-360	57	21	20	20	NUM
alkej-360	57	22	)	)	PUNCT
alkej-360	57	23	where	where	SCONJ
alkej-360	57	24	.	.	PUNCT
alkej-360	57	25	,	,	PUNCT
alkej-360	57	26	,	,	PUNCT
alkej-360	57	27	θγ	θγ	PROPN
alkej-360	57	28	yx=	yx=	PROPN
alkej-360	57	29	γnet	γnet	PROPN
alkej-360	57	30	is	be	AUX
alkej-360	57	31	calculated	calculate	VERB
alkej-360	57	32	from	from	ADP
alkej-360	57	33	these	these	DET
alkej-360	57	34	equations	equation	NOUN
alkej-360	57	35	:	:	PUNCT
alkej-360	57	36	)	)	PUNCT
alkej-360	58	1	]	]	X
alkej-360	58	2	1	1	NUM
alkej-360	58	3	(	(	PUNCT
alkej-360	58	4	)	)	PUNCT
alkej-360	58	5	(	(	PUNCT
alkej-360	58	6	[	[	X
alkej-360	58	7	)	)	PUNCT
alkej-360	58	8	]	]	PUNCT
alkej-360	58	9	(	(	PUNCT
alkej-360	58	10	[	[	X
alkej-360	58	11	)	)	PUNCT
alkej-360	58	12	(	(	PUNCT
alkej-360	58	13	32	32	NUM
alkej-360	58	14	−++=	−++=	ADP
alkej-360	58	15	kekebkebknet	kekebkebknet	NOUN
alkej-360	58	16	xxxx	xxxx	NOUN
alkej-360	58	17	)	)	PUNCT
alkej-360	58	18	]	]	X
alkej-360	58	19	1()([4	1()([4	NUM
alkej-360	58	20	−−+	−−+	PROPN
alkej-360	58	21	kekeb	kekeb	NOUN
alkej-360	58	22	xx	xx	X
alkej-360	58	23	…	…	PUNCT
alkej-360	58	24	(	(	PUNCT
alkej-360	58	25	21	21	NUM
alkej-360	58	26	)	)	PUNCT
alkej-360	58	27	)	)	PUNCT
alkej-360	59	1	]	]	PUNCT
alkej-360	59	2	1	1	NUM
alkej-360	59	3	(	(	PUNCT
alkej-360	59	4	)	)	PUNCT
alkej-360	59	5	(	(	PUNCT
alkej-360	59	6	[	[	X
alkej-360	59	7	)	)	PUNCT
alkej-360	59	8	]	]	PUNCT
alkej-360	59	9	(	(	PUNCT
alkej-360	59	10	[	[	X
alkej-360	59	11	)	)	PUNCT
alkej-360	59	12	(	(	PUNCT
alkej-360	59	13	65	65	NUM
alkej-360	59	14	−++=	−++=	ADP
alkej-360	59	15	kekebkebknet	kekebkebknet	PROPN
alkej-360	59	16	yyyy	yyyy	PROPN
alkej-360	59	17	)	)	PUNCT
alkej-360	59	18	]	]	PUNCT
alkej-360	59	19	1()([7	1()([7	NUM
alkej-360	59	20	−−+	−−+	PROPN
alkej-360	59	21	kekeb	kekeb	VERB
alkej-360	59	22	yy	yy	PROPN
alkej-360	59	23	…	…	PUNCT
alkej-360	59	24	(	(	PUNCT
alkej-360	59	25	22	22	NUM
alkej-360	59	26	)	)	PUNCT
alkej-360	59	27	)	)	PUNCT
alkej-360	60	1	]	]	PUNCT
alkej-360	60	2	1	1	NUM
alkej-360	60	3	(	(	PUNCT
alkej-360	60	4	)	)	PUNCT
alkej-360	60	5	(	(	PUNCT
alkej-360	60	6	[	[	X
alkej-360	60	7	)	)	PUNCT
alkej-360	60	8	]	]	PUNCT
alkej-360	60	9	(	(	PUNCT
alkej-360	60	10	[	[	X
alkej-360	60	11	)	)	PUNCT
alkej-360	60	12	(	(	PUNCT
alkej-360	60	13	98	98	NUM
alkej-360	60	14	−++=	−++=	ADP
alkej-360	60	15	kekebkebknet	kekebkebknet	NOUN
alkej-360	60	16	θθθθ	θθθθ	NOUN
alkej-360	60	17	)	)	PUNCT
alkej-360	61	1	]	]	PUNCT
alkej-360	61	2	1()([10	1()([10	NUM
alkej-360	61	3	−−+	−−+	PROPN
alkej-360	61	4	kekeb	kekeb	NOUN
alkej-360	61	5	θθ	θθ	PRON
alkej-360	61	6	…	…	PUNCT
alkej-360	61	7	(	(	PUNCT
alkej-360	61	8	23	23	NUM
alkej-360	61	9	)	)	PUNCT
alkej-360	61	10	where	where	SCONJ
alkej-360	61	11	)	)	PUNCT
alkej-360	61	12	(	(	PUNCT
alkej-360	61	13	keγ	keγ	NOUN
alkej-360	61	14	is	be	AUX
alkej-360	61	15	the	the	DET
alkej-360	61	16	input	input	NOUN
alkej-360	61	17	error	error	NOUN
alkej-360	61	18	signal	signal	NOUN
alkej-360	61	19	.	.	PUNCT
alkej-360	62	1	the	the	DET
alkej-360	62	2	control	control	NOUN
alkej-360	62	3	parameters	parameter	NOUN
alkej-360	62	4	b1	b1	PROPN
alkej-360	62	5	,	,	PUNCT
alkej-360	62	6	b2	b2	NOUN
alkej-360	62	7	,	,	PUNCT
alkej-360	62	8	…	…	PUNCT
alkej-360	62	9	and	and	CCONJ
alkej-360	62	10	b15	b15	NOUN
alkej-360	62	11	are	be	AUX
alkej-360	62	12	on	on	ADP
alkej-360	62	13	-	-	PUNCT
alkej-360	62	14	line	line	NOUN
alkej-360	62	15	updated	update	VERB
alkej-360	62	16	by	by	ADP
alkej-360	62	17	using	use	VERB
alkej-360	62	18	cognitive	cognitive	ADJ
alkej-360	62	19	hybrid	hybrid	ADJ
alkej-360	62	20	beespso	beespso	NOUN
alkej-360	62	21	optimization	optimization	NOUN
alkej-360	62	22	algorithm	algorithm	NOUN
alkej-360	62	23	.	.	PUNCT
alkej-360	63	1	fig	fig	NOUN
alkej-360	63	2	.	.	PUNCT
alkej-360	64	1	2	2	X
alkej-360	64	2	.	.	X
alkej-360	64	3	the	the	DET
alkej-360	64	4	proposed	propose	VERB
alkej-360	64	5	structure	structure	NOUN
alkej-360	64	6	of	of	ADP
alkej-360	64	7	nonlinear	nonlinear	ADJ
alkej-360	64	8	trajectory	trajectory	NOUN
alkej-360	64	9	tracking	tracking	NOUN
alkej-360	64	10	controllers	controller	NOUN
alkej-360	64	11	for	for	ADP
alkej-360	64	12	mobile	mobile	NOUN
alkej-360	64	13	robot	robot	NOUN
alkej-360	64	14	.	.	PUNCT
alkej-360	65	1	nonlinear	nonlinear	ADJ
alkej-360	65	2	controller	controller	PROPN
alkej-360	65	3	equations	equation	NOUN
alkej-360	65	4	cognitive	cognitive	ADJ
alkej-360	65	5	hybrid	hybrid	ADJ
alkej-360	65	6	beespso	beespso	NOUN
alkej-360	65	7	algorithm	algorithm	NOUN
alkej-360	65	8	)	)	PUNCT
alkej-360	65	9	2	2	NUM
alkej-360	65	10	(	(	PUNCT
alkej-360	65	11	)	)	PUNCT
alkej-360	65	12	1	1	NUM
alkej-360	65	13	(	(	PUNCT
alkej-360	65	14	)	)	PUNCT
alkej-360	65	15	(	(	PUNCT
alkej-360	65	16	−	−	PROPN
alkej-360	65	17	−	−	PROPN
alkej-360	65	18	ke	ke	NOUN
alkej-360	65	19	ke	ke	NOUN
alkej-360	65	20	ke	ke	PROPN
alkej-360	65	21	γ	γ	PROPN
alkej-360	65	22	γ	γ	X
alkej-360	65	23	γ	γ	X
alkej-360	65	24			PROPN
alkej-360	65	25			PROPN
alkej-360	65	26			PROPN
alkej-360	65	27			ADJ
alkej-360	65	28			NUM
alkej-360	65	29			NOUN
alkej-360	65	30	)	)	PUNCT
alkej-360	65	31	(	(	PUNCT
alkej-360	65	32	)	)	PUNCT
alkej-360	65	33	(	(	PUNCT
alkej-360	66	1	k	k	NOUN
alkej-360	66	2	k	k	PROPN
alkej-360	66	3	l	l	NOUN
alkej-360	66	4	r	r	NOUN
alkej-360	66	5	τ	τ	X
alkej-360	66	6	τ	τ	PROPN
alkej-360	66	7	+	+	CCONJ
alkej-360	66	8	dynamic	dynamic	ADJ
alkej-360	66	9	disturbances	disturbance	NOUN
alkej-360	66	10	[	[	PUNCT
alkej-360	66	11	]	]	X
alkej-360	66	12	)	)	PUNCT
alkej-360	66	13	1()1	1()1	NUM
alkej-360	66	14	(	(	PUNCT
alkej-360	66	15	−−	−−	NOUN
alkej-360	66	16	kk	kk	X
alkej-360	66	17	lr	lr	X
alkej-360	66	18	ττ	ττ	PROPN
alkej-360	66	19	∆	∆	PROPN
alkej-360	66	20	)	)	PUNCT
alkej-360	66	21	1	1	NUM
alkej-360	66	22	(	(	PUNCT
alkej-360	66	23	)	)	PUNCT
alkej-360	66	24	1	1	NUM
alkej-360	66	25	(	(	PUNCT
alkej-360	66	26	)	)	PUNCT
alkej-360	66	27	1	1	NUM
alkej-360	66	28	(	(	PUNCT
alkej-360	66	29	+	+	X
alkej-360	66	30	+	+	PUNCT
alkej-360	66	31	+	+	CCONJ
alkej-360	66	32	k	k	PROPN
alkej-360	66	33	ky	ky	PROPN
alkej-360	66	34	kx	kx	PROPN
alkej-360	66	35	θ	θ	PROPN
alkej-360	66	36	rotation	rotation	NOUN
alkej-360	66	37	matrix	matrix	NOUN
alkej-360	66	38	)	)	PUNCT
alkej-360	66	39	1	1	NUM
alkej-360	66	40	(	(	PUNCT
alkej-360	66	41	)	)	PUNCT
alkej-360	66	42	1	1	NUM
alkej-360	66	43	(	(	PUNCT
alkej-360	66	44	)	)	PUNCT
alkej-360	66	45	1	1	NUM
alkej-360	66	46	(	(	PUNCT
alkej-360	66	47	+	+	X
alkej-360	67	1	+	+	PUNCT
alkej-360	67	2	+	+	CCONJ
alkej-360	67	3	k	k	PROPN
alkej-360	67	4	ky	ky	PROPN
alkej-360	67	5	kx	kx	PROPN
alkej-360	67	6	r	r	NOUN
alkej-360	67	7	r	r	NOUN
alkej-360	67	8	r	r	NOUN
alkej-360	67	9	θ	θ	PROPN
alkej-360	67	10	reference	reference	NOUN
alkej-360	67	11	velocities	velocity	NOUN
alkej-360	67	12	eqs	eqs	X
alkej-360	67	13	.	.	PUNCT
alkej-360	68	1	parameters	parameter	NOUN
alkej-360	68	2	ahmed	ahme	VERB
alkej-360	68	3	s.	s.	PROPN
alkej-360	68	4	al	al	PROPN
alkej-360	68	5	-	-	PROPN
alkej-360	68	6	araji	araji	PROPN
alkej-360	68	7	al	al	PROPN
alkej-360	68	8	-	-	PUNCT
alkej-360	68	9	khwarizmi	khwarizmi	PROPN
alkej-360	68	10	engineering	engineering	NOUN
alkej-360	68	11	journal	journal	PROPN
alkej-360	68	12	,	,	PUNCT
alkej-360	68	13	vol	vol	NOUN
alkej-360	68	14	.	.	PROPN
alkej-360	68	15	13	13	NUM
alkej-360	68	16	,	,	PUNCT
alkej-360	68	17	no	no	INTJ
alkej-360	68	18	.	.	NOUN
alkej-360	68	19	3	3	NUM
alkej-360	68	20	,	,	PUNCT
alkej-360	68	21	p.p	p.p	PROPN
alkej-360	68	22	.	.	NOUN
alkej-360	68	23	6473	6473	NUM
alkej-360	68	24	(	(	PUNCT
alkej-360	68	25	2017	2017	NUM
alkej-360	68	26	)	)	PUNCT
alkej-360	68	27	67	67	NUM
alkej-360	68	28	fig	fig	NOUN
alkej-360	68	29	.	.	PUNCT
alkej-360	69	1	3	3	X
alkej-360	69	2	.	.	X
alkej-360	69	3	the	the	DET
alkej-360	69	4	structure	structure	NOUN
alkej-360	69	5	of	of	ADP
alkej-360	69	6	nonlinear	nonlinear	ADJ
alkej-360	69	7	neural	neural	ADJ
alkej-360	69	8	controller	controller	NOUN
alkej-360	69	9	[	[	X
alkej-360	69	10	3	3	NUM
alkej-360	69	11	and	and	CCONJ
alkej-360	69	12	4	4	NUM
alkej-360	69	13	]	]	PUNCT
alkej-360	69	14	.	.	PUNCT
alkej-360	70	1	the	the	DET
alkej-360	70	2	second	second	ADJ
alkej-360	70	3	structure	structure	NOUN
alkej-360	70	4	of	of	ADP
alkej-360	70	5	the	the	DET
alkej-360	70	6	nonlinear	nonlinear	ADJ
alkej-360	70	7	controller	controller	NOUN
alkej-360	70	8	equation	equation	NOUN
alkej-360	70	9	is	be	AUX
alkej-360	70	10	back	back	ADV
alkej-360	70	11	-	-	PUNCT
alkej-360	70	12	stepping	step	VERB
alkej-360	70	13	technique	technique	NOUN
alkej-360	70	14	based	base	VERB
alkej-360	70	15	on	on	ADP
alkej-360	70	16	lyapounov	lyapounov	NOUN
alkej-360	70	17	method	method	NOUN
alkej-360	70	18	[	[	X
alkej-360	70	19	10	10	NUM
alkej-360	70	20	]	]	PUNCT
alkej-360	70	21	.	.	PUNCT
alkej-360	71	1	the	the	DET
alkej-360	71	2	nonlinear	nonlinear	ADJ
alkej-360	71	3	back	back	ADV
alkej-360	71	4	-	-	PUNCT
alkej-360	71	5	steeping	steep	VERB
alkej-360	71	6	controller	controller	NOUN
alkej-360	71	7	method	method	NOUN
alkej-360	71	8	structure	structure	NOUN
alkej-360	71	9	can	can	AUX
alkej-360	71	10	be	be	AUX
alkej-360	71	11	shown	show	VERB
alkej-360	71	12	in	in	ADP
alkej-360	71	13	fig	fig	NOUN
alkej-360	71	14	.	.	PUNCT
alkej-360	72	1	4	4	X
alkej-360	72	2	.	.	PUNCT
alkej-360	72	3	based	base	VERB
alkej-360	72	4	on	on	ADP
alkej-360	72	5	back	back	ADV
alkej-360	72	6	-	-	PUNCT
alkej-360	72	7	stepping	step	VERB
alkej-360	72	8	technique	technique	NOUN
alkej-360	72	9	in	in	ADP
alkej-360	72	10	[	[	X
alkej-360	72	11	9	9	NUM
alkej-360	72	12	and	and	CCONJ
alkej-360	72	13	10	10	NUM
alkej-360	72	14	]	]	PUNCT
alkej-360	72	15	,	,	PUNCT
alkej-360	72	16	the	the	DET
alkej-360	72	17	nonlinear	nonlinear	ADJ
alkej-360	72	18	angular	angular	ADJ
alkej-360	72	19	velocity	velocity	NOUN
alkej-360	72	20	control	control	NOUN
alkej-360	72	21	law	law	NOUN
alkej-360	72	22	can	can	AUX
alkej-360	72	23	be	be	AUX
alkej-360	72	24	described	describe	VERB
alkej-360	72	25	by	by	ADP
alkej-360	72	26	eq	eq	PROPN
alkej-360	72	27	.	.	PUNCT
alkej-360	73	1	(	(	PUNCT
alkej-360	73	2	24	24	NUM
alkej-360	73	3	)	)	PUNCT
alkej-360	73	4	and	and	CCONJ
alkej-360	73	5	applying	apply	VERB
alkej-360	73	6	the	the	DET
alkej-360	73	7	proposed	propose	VERB
alkej-360	73	8	hybrid	hybrid	ADJ
alkej-360	73	9	bees	bee	NOUN
alkej-360	73	10	-	-	PUNCT
alkej-360	73	11	pso	pso	ADJ
alkej-360	73	12	tuning	tuning	NOUN
alkej-360	73	13	algorithm	algorithm	NOUN
alkej-360	73	14	for	for	ADP
alkej-360	73	15	finding	find	VERB
alkej-360	73	16	and	and	CCONJ
alkej-360	73	17	tuning	tune	VERB
alkej-360	73	18	the	the	DET
alkej-360	73	19	best	good	ADJ
alkej-360	73	20	value	value	NOUN
alkej-360	73	21	of	of	ADP
alkej-360	73	22	the	the	DET
alkej-360	73	23	parameters	parameter	NOUN
alkej-360	73	24	(	(	PUNCT
alkej-360	73	25	b1	b1	NOUN
alkej-360	73	26	,	,	PUNCT
alkej-360	73	27	b2	b2	NOUN
alkej-360	73	28	and	and	CCONJ
alkej-360	73	29	b3	b3	NOUN
alkej-360	73	30	)	)	PUNCT
alkej-360	73	31	then	then	ADV
alkej-360	73	32	solving	solve	VERB
alkej-360	73	33	equations	equation	NOUN
alkej-360	73	34	(	(	PUNCT
alkej-360	73	35	7	7	NUM
alkej-360	73	36	to	to	PART
alkej-360	73	37	14	14	NUM
alkej-360	73	38	)	)	PUNCT
alkej-360	73	39	to	to	PART
alkej-360	73	40	find	find	VERB
alkej-360	73	41	the	the	DET
alkej-360	73	42	right	right	NOUN
alkej-360	73	43	and	and	CCONJ
alkej-360	73	44	left	leave	VERB
alkej-360	73	45	torques	torque	NOUN
alkej-360	73	46	control	control	NOUN
alkej-360	73	47	action	action	NOUN
alkej-360	73	48	for	for	ADP
alkej-360	73	49	wheeled	wheeled	ADJ
alkej-360	73	50	mobile	mobile	ADJ
alkej-360	73	51	robot	robot	NOUN
alkej-360	73	52	.	.	PUNCT
alkej-360	74	1			PROPN
alkej-360	74	2			PROPN
alkej-360	74	3			PROPN
alkej-360	74	4			PROPN
alkej-360	74	5			PROPN
alkej-360	74	6			PROPN
alkej-360	74	7			PROPN
alkej-360	74	8			PROPN
alkej-360	74	9			ADJ
alkej-360	74	10			ADJ
alkej-360	74	11			ADJ
alkej-360	74	12			ADJ
alkej-360	74	13			ADJ
alkej-360	74	14			ADJ
alkej-360	74	15			NUM
alkej-360	74	16			PROPN
alkej-360	74	17	+	+	PROPN
alkej-360	74	18	+	+	NOUN
alkej-360	74	19	−+	−+	NOUN
alkej-360	74	20	+	+	ADJ
alkej-360	74	21	+	+	ADJ
alkej-360	74	22	+	+	ADJ
alkej-360	74	23	+	+	VERB
alkej-360	74	24	=	=	ADJ
alkej-360	74	25			PROPN
alkej-360	74	26			PROPN
alkej-360	74	27			PROPN
alkej-360	74	28			ADJ
alkej-360	74	29			NUM
alkej-360	74	30			NOUN
alkej-360	74	31	r	r	NOUN
alkej-360	74	32	evbevbw	evbevbw	PROPN
alkej-360	74	33	l	l	PROPN
alkej-360	74	34	ebev	ebev	ADJ
alkej-360	74	35	r	r	NOUN
alkej-360	74	36	evbevbw	evbevbw	PROPN
alkej-360	74	37	l	l	PROPN
alkej-360	74	38	ebev	ebev	PROPN
alkej-360	74	39	w	w	PROPN
alkej-360	74	40	w	w	PROPN
alkej-360	74	41	ryrrxr	ryrrxr	PROPN
alkej-360	74	42	ryrrxr	ryrrxr	NOUN
alkej-360	74	43	l	l	NOUN
alkej-360	74	44	r	r	NOUN
alkej-360	74	45	)	)	PUNCT
alkej-360	74	46	)	)	PUNCT
alkej-360	74	47	sin	sin	NOUN
alkej-360	74	48	(	(	PUNCT
alkej-360	74	49	2	2	NUM
alkej-360	74	50	cos	cos	PROPN
alkej-360	74	51	(	(	PUNCT
alkej-360	74	52	)	)	PUNCT
alkej-360	74	53	)	)	PUNCT
alkej-360	74	54	sin	sin	NOUN
alkej-360	74	55	(	(	PUNCT
alkej-360	74	56	2	2	NUM
alkej-360	74	57	cos	cos	PROPN
alkej-360	74	58	(	(	PUNCT
alkej-360	74	59	321	321	NUM
alkej-360	74	60	321	321	NUM
alkej-360	74	61	θθ	θθ	NUM
alkej-360	74	62	θθ	θθ	NOUN
alkej-360	74	63	(	(	PUNCT
alkej-360	74	64	24	24	NUM
alkej-360	74	65	)	)	PUNCT
alkej-360	74	66	4	4	NUM
alkej-360	74	67	.	.	X
alkej-360	74	68	cognitive	cognitive	ADJ
alkej-360	74	69	hybrid	hybrid	ADJ
alkej-360	74	70	bees	bee	NOUN
alkej-360	74	71	-	-	PUNCT
alkej-360	74	72	pso	pso	NOUN
alkej-360	74	73	algorithm	algorithm	NOUN
alkej-360	74	74	the	the	DET
alkej-360	74	75	purpose	purpose	NOUN
alkej-360	74	76	of	of	ADP
alkej-360	74	77	the	the	DET
alkej-360	74	78	on	on	ADP
alkej-360	74	79	-	-	PUNCT
alkej-360	74	80	line	line	NOUN
alkej-360	74	81	cognitive	cognitive	ADJ
alkej-360	74	82	hybrid	hybrid	ADJ
alkej-360	74	83	bees	bee	NOUN
alkej-360	74	84	-	-	PUNCT
alkej-360	74	85	pso	pso	NOUN
alkej-360	74	86	algorithm	algorithm	NOUN
alkej-360	74	87	is	be	AUX
alkej-360	74	88	to	to	PART
alkej-360	74	89	find	find	VERB
alkej-360	74	90	and	and	CCONJ
alkej-360	74	91	tune	tune	VERB
alkej-360	74	92	the	the	DET
alkej-360	74	93	optimal	optimal	ADJ
alkej-360	74	94	gains	gain	NOUN
alkej-360	74	95	control	control	NOUN
alkej-360	74	96	for	for	SCONJ
alkej-360	74	97	the	the	DET
alkej-360	74	98	proposed	propose	VERB
alkej-360	74	99	controller	controller	NOUN
alkej-360	74	100	to	to	PART
alkej-360	74	101	generate	generate	VERB
alkej-360	74	102	the	the	DET
alkej-360	74	103	best	good	ADJ
alkej-360	74	104	and	and	CCONJ
alkej-360	74	105	smoothness	smoothness	ADJ
alkej-360	74	106	torque	torque	NOUN
alkej-360	74	107	signal	signal	NOUN
alkej-360	74	108	that	that	PRON
alkej-360	74	109	will	will	AUX
alkej-360	74	110	lead	lead	VERB
alkej-360	74	111	to	to	ADP
alkej-360	74	112	minimizing	minimize	VERB
alkej-360	74	113	the	the	DET
alkej-360	74	114	tracking	tracking	NOUN
alkej-360	74	115	pose	pose	NOUN
alkej-360	74	116	error	error	NOUN
alkej-360	74	117	of	of	ADP
alkej-360	74	118	the	the	DET
alkej-360	74	119	wheeled	wheel	VERB
alkej-360	74	120	mobile	mobile	ADJ
alkej-360	74	121	robot	robot	NOUN
alkej-360	74	122	during	during	ADP
alkej-360	74	123	dynamic	dynamic	ADJ
alkej-360	74	124	disturbance	disturbance	NOUN
alkej-360	74	125	has	have	AUX
alkej-360	74	126	been	be	AUX
alkej-360	74	127	added	add	VERB
alkej-360	74	128	.	.	PUNCT
alkej-360	75	1	in	in	ADP
alkej-360	75	2	general	general	ADJ
alkej-360	75	3	,	,	PUNCT
alkej-360	75	4	bees	bee	NOUN
alkej-360	75	5	algorithm	algorithm	NOUN
alkej-360	75	6	mimics	mimic	VERB
alkej-360	75	7	the	the	DET
alkej-360	75	8	food	food	NOUN
alkej-360	75	9	foraging	forage	VERB
alkej-360	75	10	behavior	behavior	NOUN
alkej-360	75	11	of	of	ADP
alkej-360	75	12	swarms	swarm	NOUN
alkej-360	75	13	of	of	ADP
alkej-360	75	14	honey	honey	NOUN
alkej-360	75	15	bees	bee	NOUN
alkej-360	75	16	and	and	CCONJ
alkej-360	75	17	this	this	DET
alkej-360	75	18	algorithm	algorithm	NOUN
alkej-360	75	19	carries	carry	VERB
alkej-360	75	20	out	out	ADP
alkej-360	75	21	by	by	ADP
alkej-360	75	22	using	use	VERB
alkej-360	75	23	local	local	ADJ
alkej-360	75	24	(	(	PUNCT
alkej-360	75	25	neighborhood	neighborhood	NOUN
alkej-360	75	26	)	)	PUNCT
alkej-360	75	27	search	search	NOUN
alkej-360	75	28	that	that	PRON
alkej-360	75	29	has	have	VERB
alkej-360	75	30	two	two	NUM
alkej-360	75	31	types	type	NOUN
alkej-360	75	32	of	of	ADP
alkej-360	75	33	bees	bee	NOUN
alkej-360	75	34	(	(	PUNCT
alkej-360	75	35	selected	select	VERB
alkej-360	75	36	and	and	CCONJ
alkej-360	75	37	recruit	recruit	NOUN
alkej-360	75	38	bees	bee	NOUN
alkej-360	75	39	)	)	PUNCT
alkej-360	75	40	and	and	CCONJ
alkej-360	75	41	global	global	ADJ
alkej-360	75	42	(	(	PUNCT
alkej-360	75	43	random	random	ADJ
alkej-360	75	44	)	)	PUNCT
alkej-360	75	45	search	search	NOUN
alkej-360	75	46	that	that	PRON
alkej-360	75	47	has	have	VERB
alkej-360	75	48	also	also	ADV
alkej-360	75	49	two	two	NUM
alkej-360	75	50	types	type	NOUN
alkej-360	75	51	of	of	ADP
alkej-360	75	52	bess	bess	PROPN
alkej-360	75	53	(	(	PUNCT
alkej-360	75	54	scout	scout	NOUN
alkej-360	75	55	and	and	CCONJ
alkej-360	75	56	fittest	fit	ADJ
alkej-360	75	57	bees	bee	NOUN
alkej-360	75	58	)	)	PUNCT
alkej-360	76	1	[	[	X
alkej-360	76	2	15	15	NUM
alkej-360	76	3	and	and	CCONJ
alkej-360	76	4	16	16	NUM
alkej-360	76	5	]	]	PUNCT
alkej-360	76	6	while	while	SCONJ
alkej-360	76	7	the	the	DET
alkej-360	76	8	particle	particle	NOUN
alkej-360	76	9	swarm	swarm	NOUN
alkej-360	76	10	optimization	optimization	NOUN
alkej-360	76	11	(	(	PUNCT
alkej-360	76	12	pso	pso	NOUN
alkej-360	76	13	)	)	PUNCT
alkej-360	76	14	is	be	AUX
alkej-360	76	15	considered	consider	VERB
alkej-360	76	16	one	one	NUM
alkej-360	76	17	of	of	ADP
alkej-360	76	18	the	the	DET
alkej-360	76	19	algorithms	algorithms	NOUN
alkej-360	76	20	types	type	NOUN
alkej-360	76	21	that	that	PRON
alkej-360	76	22	has	have	VERB
alkej-360	76	23	a	a	DET
alkej-360	76	24	capability	capability	NOUN
alkej-360	76	25	to	to	PART
alkej-360	76	26	search	search	VERB
alkej-360	76	27	for	for	ADP
alkej-360	76	28	the	the	DET
alkej-360	76	29	optimal	optimal	ADJ
alkej-360	76	30	solution	solution	NOUN
alkej-360	76	31	by	by	ADP
alkej-360	76	32	simulating	simulate	VERB
alkej-360	76	33	the	the	DET
alkej-360	76	34	movement	movement	NOUN
alkej-360	76	35	and	and	CCONJ
alkej-360	76	36	flocking	flocking	NOUN
alkej-360	76	37	of	of	ADP
alkej-360	76	38	birds	bird	NOUN
alkej-360	76	39	.	.	PUNCT
alkej-360	77	1	in	in	ADP
alkej-360	77	2	pso	pso	NOUN
alkej-360	77	3	algorithm	algorithm	NOUN
alkej-360	77	4	,	,	PUNCT
alkej-360	77	5	the	the	DET
alkej-360	77	6	particles	particle	NOUN
alkej-360	77	7	that	that	PRON
alkej-360	77	8	have	have	VERB
alkej-360	77	9	a	a	DET
alkej-360	77	10	position	position	NOUN
alkej-360	77	11	and	and	CCONJ
alkej-360	77	12	velocity	velocity	NOUN
alkej-360	77	13	are	be	AUX
alkej-360	77	14	a	a	DET
alkej-360	77	15	population	population	NOUN
alkej-360	77	16	of	of	ADP
alkej-360	77	17	individual	individual	NOUN
alkej-360	77	18	in	in	ADP
alkej-360	77	19	order	order	NOUN
alkej-360	77	20	to	to	PART
alkej-360	77	21	move	move	VERB
alkej-360	77	22	around	around	ADP
alkej-360	77	23	the	the	DET
alkej-360	77	24	search	search	NOUN
alkej-360	77	25	space	space	NOUN
alkej-360	77	26	to	to	PART
alkej-360	77	27	find	find	VERB
alkej-360	77	28	best	good	ADJ
alkej-360	77	29	or	or	CCONJ
alkej-360	77	30	optimal	optimal	ADJ
alkej-360	77	31	solution	solution	NOUN
alkej-360	77	32	through	through	ADP
alkej-360	77	33	evaluation	evaluation	NOUN
alkej-360	77	34	each	each	DET
alkej-360	77	35	particle	particle	NOUN
alkej-360	77	36	by	by	ADP
alkej-360	77	37	using	use	VERB
alkej-360	77	38	a	a	DET
alkej-360	77	39	fitness	fitness	NOUN
alkej-360	77	40	function	function	NOUN
alkej-360	77	41	[	[	X
alkej-360	77	42	3	3	NUM
alkej-360	77	43	and	and	CCONJ
alkej-360	77	44	4	4	NUM
alkej-360	77	45	]	]	PUNCT
alkej-360	77	46	.	.	PUNCT
alkej-360	78	1	4.1	4.1	NUM
alkej-360	78	2	.	.	PUNCT
alkej-360	78	3	hybrid	hybrid	ADJ
alkej-360	78	4	bee	bee	NOUN
alkej-360	78	5	-	-	PUNCT
alkej-360	78	6	pso	pso	NOUN
alkej-360	78	7	(	(	PUNCT
alkej-360	78	8	hbpso	hbpso	NOUN
alkej-360	78	9	)	)	PUNCT
alkej-360	78	10	algorithm	algorithm	NOUN
alkej-360	78	11	in	in	ADP
alkej-360	78	12	this	this	DET
alkej-360	78	13	work	work	NOUN
alkej-360	78	14	,	,	PUNCT
alkej-360	78	15	the	the	DET
alkej-360	78	16	proposed	propose	VERB
alkej-360	78	17	on	on	ADP
alkej-360	78	18	-	-	PUNCT
alkej-360	78	19	line	line	NOUN
alkej-360	78	20	optimization	optimization	NOUN
alkej-360	78	21	algorithm	algorithm	NOUN
alkej-360	78	22	is	be	AUX
alkej-360	78	23	a	a	DET
alkej-360	78	24	hybrid	hybrid	ADJ
alkej-360	78	25	tuning	tuning	NOUN
alkej-360	78	26	control	control	NOUN
alkej-360	78	27	algorithm	algorithm	NOUN
alkej-360	78	28	which	which	PRON
alkej-360	78	29	consists	consist	VERB
alkej-360	78	30	of	of	ADP
alkej-360	78	31	bees	bee	NOUN
alkej-360	78	32	algorithm	algorithm	NOUN
alkej-360	78	33	[	[	X
alkej-360	78	34	15	15	NUM
alkej-360	78	35	and	and	CCONJ
alkej-360	78	36	16	16	NUM
alkej-360	78	37	]	]	PUNCT
alkej-360	78	38	and	and	CCONJ
alkej-360	78	39	pso	pso	NOUN
alkej-360	78	40	algorithm	algorithm	NOUN
alkej-360	78	41	[	[	X
alkej-360	78	42	3	3	NUM
alkej-360	78	43	and	and	CCONJ
alkej-360	78	44	4	4	NUM
alkej-360	78	45	]	]	PUNCT
alkej-360	78	46	.	.	PUNCT
alkej-360	79	1	the	the	DET
alkej-360	79	2	main	main	ADJ
alkej-360	79	3	advantages	advantage	NOUN
alkej-360	79	4	for	for	ADP
alkej-360	79	5	this	this	DET
alkej-360	79	6	proposed	propose	VERB
alkej-360	79	7	optimization	optimization	NOUN
alkej-360	79	8	algorithm	algorithm	NOUN
alkej-360	79	9	are	be	AUX
alkej-360	79	10	to	to	PART
alkej-360	79	11	solve	solve	VERB
alkej-360	79	12	the	the	DET
alkej-360	79	13	problem	problem	NOUN
alkej-360	79	14	of	of	ADP
alkej-360	79	15	local	local	ADJ
alkej-360	79	16	search	search	NOUN
alkej-360	79	17	of	of	ADP
alkej-360	79	18	the	the	DET
alkej-360	79	19	bees	bee	NOUN
alkej-360	79	20	algorithm	algorithm	NOUN
alkej-360	79	21	using	use	VERB
alkej-360	79	22	pso	pso	NOUN
alkej-360	79	23	algorithm	algorithm	NOUN
alkej-360	79	24	which	which	PRON
alkej-360	79	25	has	have	VERB
alkej-360	79	26	the	the	DET
alkej-360	79	27	high	high	ADJ
alkej-360	79	28	ability	ability	NOUN
alkej-360	79	29	for	for	ADP
alkej-360	79	30	local	local	ADJ
alkej-360	79	31	search	search	NOUN
alkej-360	79	32	through	through	ADP
alkej-360	79	33	generating	generate	VERB
alkej-360	79	34	population	population	NOUN
alkej-360	79	35	(	(	PUNCT
alkej-360	79	36	recruit	recruit	NOUN
alkej-360	79	37	bees	bee	NOUN
alkej-360	79	38	)	)	PUNCT
alkej-360	79	39	as	as	ADP
alkej-360	79	40	particles	particle	NOUN
alkej-360	79	41	and	and	CCONJ
alkej-360	79	42	this	this	PRON
alkej-360	79	43	will	will	AUX
alkej-360	79	44	speed	speed	VERB
alkej-360	79	45	up	up	ADP
alkej-360	79	46	the	the	DET
alkej-360	79	47	process	process	NOUN
alkej-360	79	48	of	of	ADP
alkej-360	79	49	optimization	optimization	NOUN
alkej-360	79	50	while	while	SCONJ
alkej-360	79	51	the	the	DET
alkej-360	79	52	problem	problem	NOUN
alkej-360	79	53	of	of	ADP
alkej-360	79	54	the	the	DET
alkej-360	79	55	global	global	ADJ
alkej-360	79	56	search	search	NOUN
alkej-360	79	57	in	in	ADP
alkej-360	79	58	the	the	DET
alkej-360	79	59	pso	pso	NOUN
alkej-360	79	60	algorithm	algorithm	NOUN
alkej-360	79	61	is	be	AUX
alkej-360	79	62	solved	solve	VERB
alkej-360	79	63	by	by	ADP
alkej-360	79	64	using	use	VERB
alkej-360	79	65	bees	bee	NOUN
alkej-360	79	66	algorithm	algorithm	NOUN
alkej-360	79	67	which	which	PRON
alkej-360	79	68	has	have	VERB
alkej-360	79	69	the	the	DET
alkej-360	79	70	capability	capability	NOUN
alkej-360	79	71	of	of	ADP
alkej-360	79	72	combining	combine	VERB
alkej-360	79	73	the	the	DET
alkej-360	79	74	(	(	PUNCT
alkej-360	79	75	fittest	fit	ADJ
alkej-360	79	76	bees	bee	NOUN
alkej-360	79	77	)	)	PUNCT
alkej-360	79	78	and	and	CCONJ
alkej-360	79	79	a	a	DET
alkej-360	79	80	new	new	ADJ
alkej-360	79	81	population	population	NOUN
alkej-360	79	82	of	of	ADP
alkej-360	79	83	(	(	PUNCT
alkej-360	79	84	scout	scout	NOUN
alkej-360	79	85	bees	bee	NOUN
alkej-360	79	86	)	)	PUNCT
alkej-360	79	87	generating	generate	VERB
alkej-360	79	88	in	in	ADP
alkej-360	79	89	the	the	DET
alkej-360	79	90	global	global	ADJ
alkej-360	79	91	search	search	NOUN
alkej-360	79	92	.	.	PUNCT
alkej-360	80	1	the	the	DET
alkej-360	80	2	proposed	propose	VERB
alkej-360	80	3	on	on	ADP
alkej-360	80	4	-	-	PUNCT
alkej-360	80	5	line	line	NOUN
alkej-360	80	6	hbpso	hbpso	NOUN
alkej-360	80	7	algorithm	algorithm	NOUN
alkej-360	80	8	is	be	AUX
alkej-360	80	9	applied	apply	VERB
alkej-360	80	10	as	as	ADP
alkej-360	80	11	a	a	DET
alkej-360	80	12	powerful	powerful	ADJ
alkej-360	80	13	optimization	optimization	NOUN
alkej-360	80	14	algorithm	algorithm	NOUN
alkej-360	80	15	to	to	ADP
alkej-360	80	16	h	h	PROPN
alkej-360	80	17	)	)	PUNCT
alkej-360	81	1	(	(	PUNCT
alkej-360	81	2	ke	ke	NOUN
alkej-360	81	3	x	x	PROPN
alkej-360	81	4	+	+	NUM
alkej-360	81	5	)	)	PUNCT
alkej-360	81	6	(	(	PUNCT
alkej-360	81	7	krτ	krτ	NOUN
alkej-360	81	8	)	)	PUNCT
alkej-360	81	9	1	1	NUM
alkej-360	81	10	(	(	PUNCT
alkej-360	81	11	−krτ	−krτ	NOUN
alkej-360	81	12	ox	ox	NOUN
alkej-360	81	13	+	+	X
alkej-360	82	1	+	+	CCONJ
alkej-360	82	2	+1	+1	ADJ
alkej-360	82	3	+1	+1	NOUN
alkej-360	83	1	+	+	CCONJ
alkej-360	83	2	+1	+1	ADJ
alkej-360	83	3	)	)	PUNCT
alkej-360	83	4	1	1	NUM
alkej-360	83	5	(	(	PUNCT
alkej-360	83	6	−ke	−ke	NOUN
alkej-360	83	7	x	x	NOUN
alkej-360	83	8	b1	b1	NOUN
alkej-360	83	9	h	h	NOUN
alkej-360	83	10	)	)	PUNCT
alkej-360	83	11	(	(	PUNCT
alkej-360	83	12	key	key	ADJ
alkej-360	83	13	oy	oy	NOUN
alkej-360	83	14	+	+	CCONJ
alkej-360	83	15	+	+	CCONJ
alkej-360	83	16	+1	+1	ADJ
alkej-360	83	17	+1	+1	ADJ
alkej-360	83	18	+1	+1	INTJ
alkej-360	83	19	-1	-1	PUNCT
alkej-360	84	1	+	+	CCONJ
alkej-360	84	2	+1	+1	ADJ
alkej-360	84	3	)	)	PUNCT
alkej-360	84	4	1	1	NUM
alkej-360	84	5	(	(	PUNCT
alkej-360	84	6	−key	−key	PROPN
alkej-360	84	7	h	h	NOUN
alkej-360	84	8	)	)	PUNCT
alkej-360	84	9	(	(	PUNCT
alkej-360	84	10	keθ	keθ	VERB
alkej-360	84	11	+	+	X
alkej-360	84	12	)	)	PUNCT
alkej-360	84	13	(	(	PUNCT
alkej-360	84	14	klτ	klτ	X
alkej-360	84	15	)	)	PUNCT
alkej-360	84	16	1	1	NUM
alkej-360	84	17	(	(	PUNCT
alkej-360	84	18	−klτ	−klτ	ADP
alkej-360	84	19	o	o	PROPN
alkej-360	85	1	+	+	PROPN
alkej-360	85	2	+	+	CCONJ
alkej-360	85	3	-1	-1	NOUN
alkej-360	86	1	+1	+1	INTJ
alkej-360	86	2	+1	+1	NOUN
alkej-360	87	1	+1	+1	NOUN
alkej-360	88	1	+	+	CCONJ
alkej-360	88	2	+1	+1	PROPN
alkej-360	88	3	-1	-1	PUNCT
alkej-360	88	4	)	)	PUNCT
alkej-360	88	5	1	1	NUM
alkej-360	88	6	(	(	PUNCT
alkej-360	88	7	−keθ	−keθ	NOUN
alkej-360	88	8	-1	-1	ADP
alkej-360	88	9	+1	+1	PROPN
alkej-360	88	10	b15	b15	NOUN
alkej-360	88	11	b11	b11	NOUN
alkej-360	88	12	b12	b12	NOUN
alkej-360	88	13	b13	b13	NOUN
alkej-360	88	14	b14	b14	NOUN
alkej-360	88	15	b2	b2	NOUN
alkej-360	88	16	b3	b3	PROPN
alkej-360	88	17	b4	b4	PROPN
alkej-360	88	18	b5	b5	PROPN
alkej-360	88	19	b6	b6	PROPN
alkej-360	88	20	b7	b7	PROPN
alkej-360	88	21	b8	b8	PROPN
alkej-360	88	22	b9	b9	PROPN
alkej-360	88	23	b10	b10	PROPN
alkej-360	88	24	fig	fig	PROPN
alkej-360	88	25	.	.	PUNCT
alkej-360	89	1	4	4	X
alkej-360	89	2	.	.	X
alkej-360	89	3	the	the	DET
alkej-360	89	4	nonlinear	nonlinear	ADJ
alkej-360	89	5	back	back	ADV
alkej-360	89	6	stepping	step	VERB
alkej-360	89	7	controller	controller	NOUN
alkej-360	89	8	structure	structure	NOUN
alkej-360	89	9	[	[	X
alkej-360	89	10	10	10	NUM
alkej-360	89	11	]	]	PUNCT
alkej-360	89	12	.	.	PUNCT
alkej-360	89	13	)	)	PUNCT
alkej-360	90	1	,	,	PUNCT
alkej-360	90	2	,	,	PUNCT
alkej-360	90	3	,	,	PUNCT
alkej-360	90	4	,	,	PUNCT
alkej-360	90	5	,	,	PUNCT
alkej-360	90	6	(	(	PUNCT
alkej-360	90	7	3,2,1blrwvqfv	3,2,1blrwvqfv	NUM
alkej-360	90	8	rrecc	rrecc	NOUN
alkej-360	90	9	=	=	PUNCT
alkej-360	91	1			PROPN
alkej-360	91	2			PROPN
alkej-360	91	3			PROPN
alkej-360	91	4			PROPN
alkej-360	91	5			PROPN
alkej-360	91	6			ADJ
alkej-360	91	7			ADJ
alkej-360	91	8			ADJ
alkej-360	91	9			NUM
alkej-360	91	10			NOUN
alkej-360	91	11	θe	θe	ADP
alkej-360	91	12	ey	ey	INTJ
alkej-360	91	13	ex	ex	X
alkej-360	91	14	[	[	PUNCT
alkej-360	91	15	]	]	X
alkej-360	91	16	321	321	NUM
alkej-360	91	17	bbb	bbb	NOUN
alkej-360	91	18	[	[	PUNCT
alkej-360	91	19	]	]	X
alkej-360	91	20	rr	rr	X
alkej-360	91	21	wv	wv	PROPN
alkej-360	91	22			PROPN
alkej-360	91	23			PROPN
alkej-360	91	24			PROPN
alkej-360	91	25			ADJ
alkej-360	91	26			NUM
alkej-360	91	27			NOUN
alkej-360	91	28	l	l	NOUN
alkej-360	91	29	r	r	NOUN
alkej-360	91	30	w	w	PROPN
alkej-360	91	31	w	w	PROPN
alkej-360	91	32	t	t	PROPN
alkej-360	91	33	velocity	velocity	NOUN
alkej-360	91	34	∂	∂	NOUN
alkej-360	91	35	∂	∂	NOUN
alkej-360	91	36	[	[	PUNCT
alkej-360	91	37	]	]	X
alkej-360	91	38	lr	lr	X
alkej-360	91	39			PROPN
alkej-360	91	40			PROPN
alkej-360	91	41			PROPN
alkej-360	91	42			ADJ
alkej-360	91	43			NUM
alkej-360	91	44			PROPN
alkej-360	91	45	ang	ang	PROPN
alkej-360	91	46	lin	lin	PROPN
alkej-360	91	47	acc	acc	PROPN
alkej-360	91	48	acc	acc	PROPN
alkej-360	91	49	(	(	PUNCT
alkej-360	91	50	)	)	PUNCT
alkej-360	92	1	i	i	PRON
alkej-360	92	2	m	m	VERB
alkej-360	92	3			PROPN
alkej-360	92	4			PROPN
alkej-360	92	5			PROPN
alkej-360	92	6			ADJ
alkej-360	92	7			NUM
alkej-360	92	8			NOUN
alkej-360	92	9	l	l	NOUN
alkej-360	92	10	r	r	NOUN
alkej-360	92	11	τ	τ	PROPN
alkej-360	92	12	τ	τ	PROPN
alkej-360	92	13	ahmed	ahmed	PROPN
alkej-360	92	14	s.	s.	PROPN
alkej-360	92	15	al	al	PROPN
alkej-360	92	16	-	-	PROPN
alkej-360	92	17	araji	araji	PROPN
alkej-360	92	18	al	al	PROPN
alkej-360	92	19	-	-	PUNCT
alkej-360	92	20	khwarizmi	khwarizmi	PROPN
alkej-360	92	21	engineering	engineering	NOUN
alkej-360	92	22	journal	journal	PROPN
alkej-360	92	23	,	,	PUNCT
alkej-360	92	24	vol	vol	NOUN
alkej-360	92	25	.	.	PROPN
alkej-360	92	26	13	13	NUM
alkej-360	92	27	,	,	PUNCT
alkej-360	92	28	no	no	INTJ
alkej-360	92	29	.	.	NOUN
alkej-360	92	30	3	3	NUM
alkej-360	92	31	,	,	PUNCT
alkej-360	92	32	p.p	p.p	PROPN
alkej-360	92	33	.	.	NOUN
alkej-360	92	34	6473	6473	NUM
alkej-360	92	35	(	(	PUNCT
alkej-360	92	36	2017	2017	NUM
alkej-360	92	37	)	)	PUNCT
alkej-360	92	38	68	68	NUM
alkej-360	92	39	find	find	VERB
alkej-360	92	40	and	and	CCONJ
alkej-360	92	41	tune	tune	VERB
alkej-360	92	42	the	the	DET
alkej-360	92	43	optimal	optimal	ADJ
alkej-360	92	44	stable	stable	ADJ
alkej-360	92	45	parameters	parameter	NOUN
alkej-360	92	46	of	of	ADP
alkej-360	92	47	the	the	DET
alkej-360	92	48	nonlinear	nonlinear	ADJ
alkej-360	92	49	neural	neural	ADJ
alkej-360	92	50	controller	controller	NOUN
alkej-360	92	51	in	in	ADP
alkej-360	92	52	order	order	NOUN
alkej-360	92	53	to	to	PART
alkej-360	92	54	enhance	enhance	VERB
alkej-360	92	55	the	the	DET
alkej-360	92	56	performance	performance	NOUN
alkej-360	92	57	characteristics	characteristic	NOUN
alkej-360	92	58	of	of	ADP
alkej-360	92	59	the	the	DET
alkej-360	92	60	system	system	NOUN
alkej-360	92	61	by	by	ADP
alkej-360	92	62	reducing	reduce	VERB
alkej-360	92	63	the	the	DET
alkej-360	92	64	processing	processing	NOUN
alkej-360	92	65	time	time	NOUN
alkej-360	92	66	as	as	ADV
alkej-360	92	67	well	well	ADV
alkej-360	92	68	as	as	ADP
alkej-360	92	69	improve	improve	VERB
alkej-360	92	70	the	the	DET
alkej-360	92	71	response	response	NOUN
alkej-360	92	72	accuracy	accuracy	NOUN
alkej-360	92	73	through	through	ADP
alkej-360	92	74	minimizing	minimize	VERB
alkej-360	92	75	the	the	DET
alkej-360	92	76	tracking	tracking	NOUN
alkej-360	92	77	error	error	NOUN
alkej-360	92	78	for	for	ADP
alkej-360	92	79	mobile	mobile	NOUN
alkej-360	92	80	robot	robot	NOUN
alkej-360	92	81	.	.	PUNCT
alkej-360	93	1	the	the	DET
alkej-360	93	2	proposed	propose	VERB
alkej-360	93	3	hbpso	hbpso	NOUN
alkej-360	93	4	algorithm	algorithm	PROPN
alkej-360	93	5	’s	’s	PART
alkej-360	93	6	steps	step	NOUN
alkej-360	93	7	can	can	AUX
alkej-360	93	8	be	be	AUX
alkej-360	93	9	described	describe	VERB
alkej-360	93	10	as	as	SCONJ
alkej-360	93	11	follows	follow	VERB
alkej-360	93	12	:	:	PUNCT
alkej-360	93	13	1	1	X
alkej-360	93	14	.	.	X
alkej-360	93	15	scout	scout	NOUN
alkej-360	93	16	bees	bee	NOUN
alkej-360	93	17	(	(	PUNCT
alkej-360	93	18	n	n	CCONJ
alkej-360	93	19	)	)	PUNCT
alkej-360	93	20	are	be	AUX
alkej-360	93	21	generated	generate	VERB
alkej-360	93	22	in	in	ADP
alkej-360	93	23	the	the	DET
alkej-360	93	24	global	global	ADJ
alkej-360	93	25	(	(	PUNCT
alkej-360	93	26	random	random	ADJ
alkej-360	93	27	)	)	PUNCT
alkej-360	93	28	search	search	NOUN
alkej-360	93	29	as	as	ADP
alkej-360	93	30	the	the	DET
alkej-360	93	31	initial	initial	ADJ
alkej-360	93	32	population	population	NOUN
alkej-360	93	33	with	with	ADP
alkej-360	93	34	randomly	randomly	ADV
alkej-360	93	35	fifteen	fifteen	NUM
alkej-360	93	36	values	value	NOUN
alkej-360	93	37	of	of	ADP
alkej-360	93	38	the	the	DET
alkej-360	93	39	controller	controller	NOUN
alkej-360	93	40	’s	’s	PART
alkej-360	93	41	parameters	parameter	NOUN
alkej-360	93	42	in	in	ADP
alkej-360	93	43	the	the	DET
alkej-360	93	44	nonlinear	nonlinear	ADJ
alkej-360	93	45	neural	neural	ADJ
alkej-360	93	46	controller	controller	NOUN
alkej-360	93	47	while	while	SCONJ
alkej-360	93	48	only	only	ADV
alkej-360	93	49	three	three	NUM
alkej-360	93	50	control	control	NOUN
alkej-360	93	51	parameters	parameter	NOUN
alkej-360	93	52	in	in	ADP
alkej-360	93	53	the	the	DET
alkej-360	93	54	nonlinear	nonlinear	ADJ
alkej-360	93	55	back	back	ADV
alkej-360	93	56	-	-	PUNCT
alkej-360	93	57	stepping	step	VERB
alkej-360	93	58	controller	controller	NOUN
alkej-360	93	59	.	.	PUNCT
alkej-360	94	1	2	2	X
alkej-360	94	2	.	.	NUM
alkej-360	94	3	calculated	calculate	VERB
alkej-360	94	4	the	the	DET
alkej-360	94	5	fitness	fitness	NOUN
alkej-360	94	6	of	of	ADP
alkej-360	94	7	the	the	DET
alkej-360	94	8	(	(	PUNCT
alkej-360	94	9	n	n	CCONJ
alkej-360	94	10	)	)	PUNCT
alkej-360	94	11	scout	scout	NOUN
alkej-360	94	12	bees	bee	NOUN
alkej-360	94	13	by	by	ADP
alkej-360	94	14	using	use	VERB
alkej-360	94	15	the	the	DET
alkej-360	94	16	fitness	fitness	NOUN
alkej-360	94	17	equation	equation	NOUN
alkej-360	94	18	(	(	PUNCT
alkej-360	94	19	25	25	NUM
alkej-360	94	20	)	)	PUNCT
alkej-360	95	1	[	[	X
alkej-360	95	2	3	3	NUM
alkej-360	95	3	]	]	SYM
alkej-360	95	4	based	base	VERB
alkej-360	95	5	cost	cost	NOUN
alkej-360	95	6	function	function	NOUN
alkej-360	95	7	.	.	PUNCT
alkej-360	96	1	-.!/011	-.!/011	PUNCT
alkej-360	96	2	=	=	SYM
alkej-360	96	3	2	2	NUM
alkej-360	96	4	3	3	NUM
alkej-360	96	5	4567	4567	NUM
alkej-360	96	6	�	�	PROPN
alkej-360	96	7	8	8	NUM
alkej-360	96	8	�	�	NUM
alkej-360	96	9	97	97	NUM
alkej-360	96	10	�	�	SYM
alkej-360	96	11	5	5	NUM
alkej-360	96	12	�	�	PROPN
alkej-360	96	13	...	...	PUNCT
alkej-360	96	14	(	(	PUNCT
alkej-360	96	15	25	25	NUM
alkej-360	96	16	)	)	PUNCT
alkej-360	96	17	where	where	SCONJ
alkej-360	96	18	:	:	PUNCT
alkej-360	96	19	:	:	PUNCT
alkej-360	96	20	>	>	X
alkej-360	96	21	0	0	PUNCT
alkej-360	97	1	to	to	PART
alkej-360	97	2	avoid	avoid	VERB
alkej-360	97	3	division	division	NOUN
alkej-360	97	4	by	by	ADP
alkej-360	97	5	zero	zero	NUM
alkej-360	97	6	.	.	PUNCT
alkej-360	98	1	the	the	DET
alkej-360	98	2	proposed	propose	VERB
alkej-360	98	3	cost	cost	NOUN
alkej-360	98	4	function	function	NOUN
alkej-360	98	5	is	be	AUX
alkej-360	98	6	a	a	DET
alkej-360	98	7	mean	mean	ADJ
alkej-360	98	8	square	square	ADJ
alkej-360	98	9	error	error	NOUN
alkej-360	98	10	as	as	ADP
alkej-360	98	11	equation	equation	NOUN
alkej-360	98	12	(	(	PUNCT
alkej-360	98	13	26	26	NUM
alkej-360	98	14	)	)	PUNCT
alkej-360	98	15	.	.	PUNCT
alkej-360	99	1	=	=	PUNCT
alkej-360	99	2	>	>	PUNCT
alkej-360	99	3	?	?	PUNCT
alkej-360	100	1	=	=	SYM
alkej-360	100	2	2	2	X
alkej-360	100	3	@	@	ADP
alkej-360	100	4	∑	∑	PROPN
alkej-360	100	5	�	�	PROPN
alkej-360	100	6	�	�	PROPN
alkej-360	100	7	b	b	NOUN
alkej-360	100	8	�	�	PROPN
alkej-360	100	9	cd	cd	PROPN
alkej-360	100	10	−	−	PROPN
alkej-360	100	11	b	b	PROPN
alkej-360	100	12	�	�	PROPN
alkej-360	100	13	%+	%+	PROPN
alkej-360	100	14	�	�	PROPN
alkej-360	100	15	g	g	PROPN
alkej-360	100	16	�	�	PROPN
alkej-360	100	17	cd	cd	PROPN
alkej-360	100	18	−	−	PROPN
alkej-360	100	19	g	g	PROPN
alkej-360	100	20	�	�	PROPN
alkej-360	100	21	%	%	NOUN
alkej-360	100	22	�	�	PROPN
alkej-360	100	23	h	h	PROPN
alkej-360	100	24	�	�	PROPN
alkej-360	100	25	cd	cd	PROPN
alkej-360	100	26	−	−	PROPN
alkej-360	100	27	h	h	PROPN
alkej-360	100	28	�	�	PROPN
alkej-360	100	29	%@	%@	NOUN
alkej-360	100	30	�	�	PROPN
alkej-360	100	31	i2	i2	PROPN
alkej-360	100	32	+	+	CCONJ
alkej-360	100	33	�	�	PROPN
alkej-360	100	34	�	�	PROPN
alkej-360	100	35	+	+	PROPN
alkej-360	100	36	./	./	PROPN
alkej-360	100	37	�	�	PROPN
alkej-360	100	38	cd	cd	PROPN
alkej-360	100	39	−	−	PROPN
alkej-360	100	40	�	�	PROPN
alkej-360	100	41	+	+	PROPN
alkej-360	100	42	./	./	PROPN
alkej-360	100	43	�	�	PROPN
alkej-360	100	44	%	%	NOUN
alkej-360	100	45	+	+	SYM
alkej-360	100	46	�	�	PROPN
alkej-360	100	47	j	j	PROPN
alkej-360	100	48	�	�	PROPN
alkej-360	100	49	cd	cd	PROPN
alkej-360	100	50	−	−	PROPN
alkej-360	100	51	j	j	PROPN
alkej-360	100	52	�	�	PROPN
alkej-360	100	53	%	%	PROPN
alkej-360	100	54	�	�	PROPN
alkej-360	100	55	…	…	PUNCT
alkej-360	100	56	(	(	PUNCT
alkej-360	100	57	26	26	NUM
alkej-360	100	58	)	)	PUNCT
alkej-360	100	59	k	k	NOUN
alkej-360	100	60	:	:	PUNCT
alkej-360	100	61	is	be	AUX
alkej-360	100	62	the	the	DET
alkej-360	100	63	number	number	NOUN
alkej-360	100	64	of	of	ADP
alkej-360	100	65	iteration	iteration	NOUN
alkej-360	100	66	.	.	PUNCT
alkej-360	101	1	3	3	X
alkej-360	101	2	.	.	X
alkej-360	101	3	in	in	ADP
alkej-360	101	4	the	the	DET
alkej-360	101	5	local	local	ADJ
alkej-360	101	6	search	search	NOUN
alkej-360	101	7	,	,	PUNCT
alkej-360	101	8	chosen	choose	VERB
alkej-360	101	9	the	the	DET
alkej-360	101	10	number	number	NOUN
alkej-360	101	11	of	of	ADP
alkej-360	101	12	particles	particle	NOUN
alkej-360	101	13	depends	depend	VERB
alkej-360	101	14	on	on	ADP
alkej-360	101	15	the	the	DET
alkej-360	101	16	number	number	NOUN
alkej-360	101	17	of	of	ADP
alkej-360	101	18	the	the	DET
alkej-360	101	19	highest	high	ADJ
alkej-360	101	20	fitness	fitness	NOUN
alkej-360	101	21	for	for	ADP
alkej-360	101	22	the	the	DET
alkej-360	101	23	scout	scout	NOUN
alkej-360	101	24	bees	bee	NOUN
alkej-360	101	25	(	(	PUNCT
alkej-360	101	26	population	population	NOUN
alkej-360	101	27	)	)	PUNCT
alkej-360	101	28	as	as	ADP
alkej-360	101	29	(	(	PUNCT
alkej-360	101	30	m	m	NOUN
alkej-360	101	31	)	)	PUNCT
alkej-360	101	32	selected	select	VERB
alkej-360	101	33	bees	bee	NOUN
alkej-360	101	34	.	.	PUNCT
alkej-360	102	1	4	4	X
alkej-360	102	2	.	.	X
alkej-360	102	3	the	the	DET
alkej-360	102	4	size	size	NOUN
alkej-360	102	5	of	of	ADP
alkej-360	102	6	(	(	PUNCT
alkej-360	102	7	patch	patch	ADJ
alkej-360	102	8	size	size	NOUN
alkej-360	102	9	)	)	PUNCT
alkej-360	102	10	of	of	ADP
alkej-360	102	11	the	the	DET
alkej-360	102	12	local	local	ADJ
alkej-360	102	13	search	search	NOUN
alkej-360	102	14	is	be	AUX
alkej-360	102	15	determined	determine	VERB
alkej-360	102	16	by	by	ADP
alkej-360	102	17	applying	apply	VERB
alkej-360	102	18	the	the	DET
alkej-360	102	19	proposed	propose	VERB
alkej-360	102	20	equations	equation	NOUN
alkej-360	102	21	(	(	PUNCT
alkej-360	102	22	27	27	NUM
alkej-360	102	23	)	)	PUNCT
alkej-360	102	24	.	.	PUNCT
alkej-360	103	1	∆l̅	∆l̅	PROPN
alkej-360	103	2	=	=	PUNCT
alkej-360	103	3	0.025	0.025	NUM
alkej-360	103	4	×	×	NOUN
alkej-360	103	5	l̅5pq	l̅5pq	ADJ
alkej-360	103	6	×	×	NOUN
alkej-360	103	7	#	#	SYM
alkej-360	103	8	r	r	NOUN
alkej-360	103	9	/	/	SYM
alkej-360	103	10	stu	stu	PROPN
alkej-360	103	11	�	�	PROPN
alkej-360	103	12	0,1	0,1	NUM
alkej-360	103	13	�	�	NOUN
alkej-360	103	14	…	…	PUNCT
alkej-360	103	15	(	(	PUNCT
alkej-360	103	16	27	27	NUM
alkej-360	103	17	)	)	PUNCT
alkej-360	103	18	l̅	l̅	PROPN
alkej-360	103	19	�	�	PROPN
alkej-360	103	20	cx	cx	PROPN
alkej-360	103	21	=	=	PUNCT
alkej-360	103	22	l̅5pq	l̅5pq	PROPN
alkej-360	103	23	+	+	CCONJ
alkej-360	103	24	∆l̅	∆l̅	PROPN
alkej-360	103	25	…	…	PUNCT
alkej-360	103	26	(	(	PUNCT
alkej-360	103	27	28	28	NUM
alkej-360	103	28	)	)	PUNCT
alkej-360	103	29	where	where	SCONJ
alkej-360	103	30	l̅	l̅	NOUN
alkej-360	103	31	:	:	PUNCT
alkej-360	103	32	is	be	AUX
alkej-360	103	33	the	the	DET
alkej-360	103	34	vector	vector	NOUN
alkej-360	103	35	of	of	ADP
alkej-360	103	36	the	the	DET
alkej-360	103	37	fifteen	fifteen	ADJ
alkej-360	103	38	parameters	parameter	NOUN
alkej-360	103	39	of	of	ADP
alkej-360	103	40	the	the	DET
alkej-360	103	41	proposed	propose	VERB
alkej-360	103	42	controller	controller	NOUN
alkej-360	103	43	.	.	PUNCT
alkej-360	104	1	5	5	X
alkej-360	104	2	.	.	X
alkej-360	104	3	particles	particle	NOUN
alkej-360	104	4	are	be	AUX
alkej-360	104	5	generated	generate	VERB
alkej-360	104	6	by	by	ADP
alkej-360	104	7	using	use	VERB
alkej-360	104	8	equations	equation	NOUN
alkej-360	104	9	(	(	PUNCT
alkej-360	104	10	28	28	NUM
alkej-360	104	11	)	)	PUNCT
alkej-360	104	12	to	to	PART
alkej-360	104	13	search	search	VERB
alkej-360	104	14	and	and	CCONJ
alkej-360	104	15	find	find	VERB
alkej-360	104	16	the	the	DET
alkej-360	104	17	best	good	ADJ
alkej-360	104	18	controller	controller	NOUN
alkej-360	104	19	’s	’s	PART
alkej-360	104	20	parameters	parameter	NOUN
alkej-360	104	21	.	.	PUNCT
alkej-360	105	1	6	6	X
alkej-360	105	2	.	.	NUM
alkej-360	105	3	evaluated	evaluate	VERB
alkej-360	105	4	the	the	DET
alkej-360	105	5	proposed	propose	VERB
alkej-360	105	6	cost	cost	NOUN
alkej-360	105	7	function	function	NOUN
alkej-360	105	8	of	of	ADP
alkej-360	105	9	each	each	DET
alkej-360	105	10	particle	particle	NOUN
alkej-360	105	11	using	use	VERB
alkej-360	105	12	the	the	DET
alkej-360	105	13	mean	mean	ADJ
alkej-360	105	14	square	square	ADJ
alkej-360	105	15	error	error	NOUN
alkej-360	105	16	equation	equation	NOUN
alkej-360	105	17	(	(	PUNCT
alkej-360	105	18	26	26	NUM
alkej-360	105	19	)	)	PUNCT
alkej-360	105	20	.	.	PUNCT
alkej-360	106	1	7	7	X
alkej-360	106	2	.	.	X
alkej-360	106	3	set	set	VERB
alkej-360	106	4	to	to	PART
alkej-360	106	5	pbest	pbest	VERB
alkej-360	106	6	for	for	ADP
alkej-360	106	7	each	each	DET
alkej-360	106	8	particle	particle	NOUN
alkej-360	106	9	in	in	ADP
alkej-360	106	10	the	the	DET
alkej-360	106	11	current	current	ADJ
alkej-360	106	12	searching	searching	NOUN
alkej-360	106	13	point	point	NOUN
alkej-360	106	14	.	.	PUNCT
alkej-360	107	1	when	when	SCONJ
alkej-360	107	2	the	the	DET
alkej-360	107	3	search	search	NOUN
alkej-360	107	4	is	be	AUX
alkej-360	107	5	finding	find	VERB
alkej-360	107	6	the	the	DET
alkej-360	107	7	best	good	ADJ
alkej-360	107	8	value	value	NOUN
alkej-360	107	9	of	of	ADP
alkej-360	107	10	pbest	pbest	NOUN
alkej-360	107	11	then	then	ADV
alkej-360	107	12	sets	set	VERB
alkej-360	107	13	the	the	DET
alkej-360	107	14	pbest	pb	ADJ
alkej-360	107	15	to	to	PART
alkej-360	107	16	gbest	gbest	VERB
alkej-360	107	17	and	and	CCONJ
alkej-360	107	18	store	store	VERB
alkej-360	107	19	the	the	DET
alkej-360	107	20	number	number	NOUN
alkej-360	107	21	of	of	ADP
alkej-360	107	22	the	the	DET
alkej-360	107	23	particle	particle	NOUN
alkej-360	107	24	with	with	ADP
alkej-360	107	25	the	the	DET
alkej-360	107	26	best	good	ADJ
alkej-360	107	27	value	value	NOUN
alkej-360	107	28	.	.	PUNCT
alkej-360	108	1	8	8	X
alkej-360	108	2	.	.	PUNCT
alkej-360	109	1	the	the	DET
alkej-360	109	2	pbest	pb	ADJ
alkej-360	109	3	value	value	NOUN
alkej-360	109	4	is	be	AUX
alkej-360	109	5	replaced	replace	VERB
alkej-360	109	6	by	by	ADP
alkej-360	109	7	the	the	DET
alkej-360	109	8	current	current	ADJ
alkej-360	109	9	value	value	NOUN
alkej-360	109	10	if	if	SCONJ
alkej-360	109	11	the	the	DET
alkej-360	109	12	value	value	NOUN
alkej-360	109	13	is	be	AUX
alkej-360	109	14	better	well	ADJ
alkej-360	109	15	than	than	ADP
alkej-360	109	16	the	the	DET
alkej-360	109	17	current	current	ADJ
alkej-360	109	18	pbest	pbest	NOUN
alkej-360	109	19	of	of	ADP
alkej-360	109	20	the	the	DET
alkej-360	109	21	particle	particle	NOUN
alkej-360	109	22	and	and	CCONJ
alkej-360	109	23	if	if	SCONJ
alkej-360	109	24	the	the	DET
alkej-360	109	25	best	good	ADJ
alkej-360	109	26	value	value	NOUN
alkej-360	109	27	of	of	ADP
alkej-360	109	28	pbest	pbest	NOUN
alkej-360	109	29	is	be	AUX
alkej-360	109	30	better	well	ADJ
alkej-360	109	31	than	than	ADP
alkej-360	109	32	the	the	DET
alkej-360	109	33	current	current	ADJ
alkej-360	109	34	gbest	gbest	NOUN
alkej-360	109	35	,	,	PUNCT
alkej-360	109	36	gbest	gb	ADJ
alkej-360	109	37	is	be	AUX
alkej-360	109	38	replaced	replace	VERB
alkej-360	109	39	by	by	ADP
alkej-360	109	40	the	the	DET
alkej-360	109	41	best	good	ADJ
alkej-360	109	42	value	value	NOUN
alkej-360	109	43	and	and	CCONJ
alkej-360	109	44	the	the	DET
alkej-360	109	45	particle	particle	NOUN
alkej-360	109	46	number	number	NOUN
alkej-360	109	47	with	with	ADP
alkej-360	109	48	the	the	DET
alkej-360	109	49	best	good	ADJ
alkej-360	109	50	value	value	NOUN
alkej-360	109	51	is	be	AUX
alkej-360	109	52	stored	store	VERB
alkej-360	109	53	.	.	PUNCT
alkej-360	110	1	9	9	X
alkej-360	110	2	.	.	X
alkej-360	110	3	each	each	DET
alkej-360	110	4	particle	particle	NOUN
alkej-360	110	5	is	be	AUX
alkej-360	110	6	update	update	NOUN
alkej-360	110	7	by	by	ADP
alkej-360	110	8	using	use	VERB
alkej-360	110	9	eqs	eqs	PROPN
alkej-360	110	10	.	.	PUNCT
alkej-360	111	1	(	(	PUNCT
alkej-360	111	2	29	29	NUM
alkej-360	111	3	and	and	CCONJ
alkej-360	111	4	30	30	NUM
alkej-360	111	5	)	)	PUNCT
alkej-360	111	6	.	.	PUNCT
alkej-360	111	7	)	)	PUNCT
alkej-360	112	1	(	(	PUNCT
alkej-360	112	2	)	)	PUNCT
alkej-360	112	3	(	(	PUNCT
alkej-360	112	4	)	)	PUNCT
alkej-360	112	5	(	(	PUNCT
alkej-360	112	6	)	)	PUNCT
alkej-360	112	7	(	(	PUNCT
alkej-360	112	8	22	22	NUM
alkej-360	112	9	)	)	PUNCT
alkej-360	112	10	(	(	PUNCT
alkej-360	112	11	)	)	PUNCT
alkej-360	112	12	(	(	PUNCT
alkej-360	112	13	11	11	NUM
alkej-360	112	14	)	)	PUNCT
alkej-360	112	15	(	(	PUNCT
alkej-360	112	16	)	)	PUNCT
alkej-360	112	17	1	1	NUM
alkej-360	112	18	(	(	PUNCT
alkej-360	112	19	k	k	NOUN
alkej-360	112	20	m	m	VERB
alkej-360	112	21	kk	kk	INTJ
alkej-360	112	22	m	m	VERB
alkej-360	112	23	k	k	NOUN
alkej-360	112	24	m	m	VERB
alkej-360	112	25	k	k	NOUN
alkej-360	112	26	m	m	VERB
alkej-360	112	27	k	k	NOUN
alkej-360	112	28	m	m	VERB
alkej-360	112	29	bgbestrcbpbestrcbb	bgbestrcbpbestrcbb	NOUN
alkej-360	112	30	−+−+ω∆=∆	−+−+ω∆=∆	PROPN
alkej-360	112	31	+	+	X
alkej-360	113	1	…	…	PUNCT
alkej-360	114	1	(	(	PUNCT
alkej-360	114	2	29	29	NUM
alkej-360	114	3	)	)	PUNCT
alkej-360	114	4	)	)	PUNCT
alkej-360	115	1	1()()1	1()()1	PROPN
alkej-360	115	2	(	(	PUNCT
alkej-360	115	3	+	+	NOUN
alkej-360	115	4	+	+	NUM
alkej-360	115	5	∆+=	∆+=	SYM
alkej-360	116	1	k	k	NOUN
alkej-360	116	2	m	m	VERB
alkej-360	116	3	k	k	NOUN
alkej-360	116	4	m	m	VERB
alkej-360	116	5	k	k	PROPN
alkej-360	116	6	m	m	VERB
alkej-360	116	7	bbb	bbb	NOUN
alkej-360	116	8	…	…	PUNCT
alkej-360	116	9	(	(	PUNCT
alkej-360	116	10	30	30	NUM
alkej-360	116	11	)	)	PUNCT
alkej-360	116	12	where	where	SCONJ
alkej-360	116	13	popm	popm	NOUN
alkej-360	116	14	,	,	PUNCT
alkej-360	116	15	.....	.....	PUNCT
alkej-360	116	16	3,2,1=	3,2,1=	NUM
alkej-360	116	17	;	;	PUNCT
alkej-360	116	18	)	)	PUNCT
alkej-360	116	19	(	(	PUNCT
alkej-360	116	20	k	k	X
alkej-360	116	21	mb	mb	PROPN
alkej-360	116	22	is	be	AUX
alkej-360	116	23	the	the	DET
alkej-360	116	24	particle	particle	NOUN
alkej-360	116	25	’s	’s	PART
alkej-360	116	26	weight	weight	NOUN
alkej-360	116	27	m	m	NOUN
alkej-360	116	28	at	at	ADP
alkej-360	116	29	kth	kth	PROPN
alkej-360	116	30	iteration;ω	iteration;ω	PROPN
alkej-360	116	31	:	:	PUNCT
alkej-360	116	32	is	be	AUX
alkej-360	116	33	the	the	DET
alkej-360	116	34	inertia	inertia	NOUN
alkej-360	116	35	weight	weight	NOUN
alkej-360	116	36	factor	factor	NOUN
alkej-360	116	37	;	;	PUNCT
alkej-360	116	38	c1	c1	PROPN
alkej-360	116	39	and	and	CCONJ
alkej-360	116	40	c2	c2	PROPN
alkej-360	116	41	are	be	AUX
alkej-360	116	42	the	the	DET
alkej-360	116	43	positive	positive	ADJ
alkej-360	116	44	values	value	NOUN
alkej-360	116	45	;	;	PUNCT
alkej-360	116	46	r1	r1	PROPN
alkej-360	116	47	and	and	CCONJ
alkej-360	116	48	r2	r2	PROPN
alkej-360	116	49	are	be	AUX
alkej-360	116	50	random	random	ADJ
alkej-360	116	51	numbers	number	NOUN
alkej-360	116	52	between	between	ADP
alkej-360	116	53	0	0	NUM
alkej-360	116	54	and	and	CCONJ
alkej-360	116	55	1	1	NUM
alkej-360	116	56	;	;	PUNCT
alkej-360	116	57	m	m	PRON
alkej-360	116	58	pbest	pb	ADJ
alkej-360	116	59	is	be	AUX
alkej-360	116	60	best	well	ADV
alkej-360	116	61	previous	previous	ADJ
alkej-360	116	62	weight	weight	NOUN
alkej-360	116	63	of	of	ADP
alkej-360	116	64	mth	mth	NOUN
alkej-360	116	65	;	;	PUNCT
alkej-360	116	66	particle	particle	NOUN
alkej-360	116	67	and	and	CCONJ
alkej-360	116	68	gbest	gbest	NOUN
alkej-360	116	69	is	be	AUX
alkej-360	116	70	best	good	ADJ
alkej-360	116	71	particle	particle	NOUN
alkej-360	116	72	among	among	ADP
alkej-360	116	73	all	all	DET
alkej-360	116	74	the	the	DET
alkej-360	116	75	particle	particle	NOUN
alkej-360	116	76	in	in	ADP
alkej-360	116	77	the	the	DET
alkej-360	116	78	population	population	NOUN
alkej-360	116	79	.	.	PUNCT
alkej-360	117	1	10	10	NUM
alkej-360	117	2	.	.	X
alkej-360	117	3	return	return	NOUN
alkej-360	117	4	to	to	PART
alkej-360	117	5	step	step	VERB
alkej-360	117	6	six	six	NUM
alkej-360	117	7	if	if	SCONJ
alkej-360	117	8	the	the	DET
alkej-360	117	9	current	current	ADJ
alkej-360	117	10	iteration	iteration	NOUN
alkej-360	117	11	number	number	NOUN
alkej-360	117	12	did	do	AUX
alkej-360	117	13	not	not	PART
alkej-360	117	14	reach	reach	VERB
alkej-360	117	15	to	to	ADP
alkej-360	117	16	the	the	DET
alkej-360	117	17	predefined	predefine	VERB
alkej-360	117	18	maximum	maximum	ADJ
alkej-360	117	19	iteration	iteration	NOUN
alkej-360	117	20	number	number	NOUN
alkej-360	117	21	otherwise	otherwise	ADV
alkej-360	117	22	pick	pick	VERB
alkej-360	117	23	out	out	ADP
alkej-360	117	24	the	the	DET
alkej-360	117	25	highest	high	ADJ
alkej-360	117	26	fitness	fitness	NOUN
alkej-360	117	27	for	for	ADP
alkej-360	117	28	the	the	DET
alkej-360	117	29	particles	particle	NOUN
alkej-360	117	30	as	as	ADP
alkej-360	117	31	fittest	fit	ADJ
alkej-360	117	32	bees	bee	NOUN
alkej-360	117	33	(	(	PUNCT
alkej-360	117	34	m	m	NOUN
alkej-360	117	35	)	)	PUNCT
alkej-360	117	36	.	.	PUNCT
alkej-360	118	1	11	11	NUM
alkej-360	118	2	.	.	X
alkej-360	118	3	return	return	VERB
alkej-360	118	4	to	to	ADP
alkej-360	118	5	global	global	ADJ
alkej-360	118	6	search	search	NOUN
alkej-360	118	7	by	by	ADP
alkej-360	118	8	assign	assign	VERB
alkej-360	118	9	the	the	DET
alkej-360	118	10	(	(	PUNCT
alkej-360	118	11	n	n	CCONJ
alkej-360	118	12	-	-	PUNCT
alkej-360	118	13	m	m	NOUN
alkej-360	118	14	)	)	PUNCT
alkej-360	118	15	remaining	remain	VERB
alkej-360	118	16	bees	bee	NOUN
alkej-360	118	17	to	to	ADP
alkej-360	118	18	random	random	ADJ
alkej-360	118	19	search	search	NOUN
alkej-360	118	20	and	and	CCONJ
alkej-360	118	21	generating	generate	VERB
alkej-360	118	22	a	a	DET
alkej-360	118	23	new	new	ADJ
alkej-360	118	24	population	population	NOUN
alkej-360	118	25	of	of	ADP
alkej-360	118	26	scout	scout	NOUN
alkej-360	118	27	bees	bee	NOUN
alkej-360	118	28	.	.	PUNCT
alkej-360	119	1	in	in	ADP
alkej-360	119	2	general	general	ADJ
alkej-360	119	3	,	,	PUNCT
alkej-360	119	4	the	the	DET
alkej-360	119	5	steps	step	NOUN
alkej-360	119	6	of	of	ADP
alkej-360	119	7	the	the	DET
alkej-360	119	8	on	on	ADP
alkej-360	119	9	-	-	PUNCT
alkej-360	119	10	line	line	NOUN
alkej-360	119	11	cognitive	cognitive	ADJ
alkej-360	119	12	hybrid	hybrid	ADJ
alkej-360	119	13	bees	bee	NOUN
alkej-360	119	14	-	-	PUNCT
alkej-360	119	15	pso	pso	ADJ
alkej-360	119	16	optimization	optimization	NOUN
alkej-360	119	17	algorithm	algorithm	NOUN
alkej-360	119	18	for	for	ADP
alkej-360	119	19	finding	find	VERB
alkej-360	119	20	and	and	CCONJ
alkej-360	119	21	tuning	tune	VERB
alkej-360	119	22	control	control	NOUN
alkej-360	119	23	parameters	parameter	NOUN
alkej-360	119	24	are	be	AUX
alkej-360	119	25	repeated	repeat	VERB
alkej-360	119	26	at	at	ADP
alkej-360	119	27	0.1	0.1	NUM
alkej-360	119	28	second	second	ADJ
alkej-360	119	29	(	(	PUNCT
alkej-360	119	30	sampling	sample	VERB
alkej-360	119	31	time	time	NOUN
alkej-360	119	32	)	)	PUNCT
alkej-360	119	33	for	for	ADP
alkej-360	119	34	each	each	DET
alkej-360	119	35	kth	kth	PROPN
alkej-360	119	36	sample	sample	NOUN
alkej-360	119	37	based	base	VERB
alkej-360	119	38	on	on	ADP
alkej-360	119	39	shannon	shannon	PROPN
alkej-360	119	40	theorem	theorem	PROPN
alkej-360	119	41	.	.	PROPN
alkej-360	119	42	5	5	NUM
alkej-360	119	43	.	.	X
alkej-360	119	44	simulation	simulation	NOUN
alkej-360	119	45	results	result	VERB
alkej-360	119	46	matlab	matlab	PROPN
alkej-360	119	47	package	package	NOUN
alkej-360	119	48	used	use	VERB
alkej-360	119	49	to	to	PART
alkej-360	119	50	verify	verify	VERB
alkej-360	119	51	the	the	DET
alkej-360	119	52	proposed	propose	VERB
alkej-360	119	53	nonlinear	nonlinear	ADJ
alkej-360	119	54	controllers	controller	NOUN
alkej-360	119	55	of	of	ADP
alkej-360	119	56	the	the	DET
alkej-360	119	57	trajectory	trajectory	NOUN
alkej-360	119	58	tracking	tracking	NOUN
alkej-360	119	59	for	for	ADP
alkej-360	119	60	the	the	DET
alkej-360	119	61	dynamic	dynamic	ADJ
alkej-360	119	62	model	model	NOUN
alkej-360	119	63	of	of	ADP
alkej-360	119	64	the	the	DET
alkej-360	119	65	wheeled	wheel	VERB
alkej-360	119	66	mobile	mobile	ADJ
alkej-360	119	67	robot	robot	NOUN
alkej-360	119	68	.	.	PUNCT
alkej-360	120	1	the	the	DET
alkej-360	120	2	eddie	eddie	PROPN
alkej-360	120	3	mobile	mobile	PROPN
alkej-360	120	4	robot	robot	NOUN
alkej-360	120	5	platform	platform	NOUN
alkej-360	120	6	specifications	specification	NOUN
alkej-360	120	7	are	be	AUX
alkej-360	120	8	picked	pick	VERB
alkej-360	120	9	from	from	ADP
alkej-360	120	10	[	[	X
alkej-360	120	11	17	17	NUM
alkej-360	120	12	]	]	SYM
alkej-360	120	13	:	:	PUNCT
alkej-360	120	14	m=12	m=12	NOUN
alkej-360	120	15	kg	kg	PROPN
alkej-360	120	16	is	be	AUX
alkej-360	120	17	the	the	DET
alkej-360	120	18	mobile	mobile	ADJ
alkej-360	120	19	robot	robot	NOUN
alkej-360	120	20	’s	’s	PART
alkej-360	120	21	mass	mass	NOUN
alkej-360	120	22	;	;	PUNCT
alkej-360	120	23	i=1.536kg.m2	i=1.536kg.m2	PROPN
alkej-360	120	24	is	be	AUX
alkej-360	120	25	the	the	DET
alkej-360	120	26	mobile	mobile	ADJ
alkej-360	120	27	robot	robot	NOUN
alkej-360	120	28	’s	’s	PART
alkej-360	120	29	inertia	inertia	NOUN
alkej-360	120	30	;	;	PUNCT
alkej-360	120	31	r=0.075	r=0.075	VERB
alkej-360	120	32	m	m	VERB
alkej-360	120	33	is	be	AUX
alkej-360	120	34	the	the	DET
alkej-360	120	35	radius	radius	NOUN
alkej-360	120	36	of	of	ADP
alkej-360	120	37	wheel	wheel	NOUN
alkej-360	120	38	and	and	CCONJ
alkej-360	120	39	l=0.39	l=0.39	NOUN
alkej-360	120	40	m	m	VERB
alkej-360	120	41	is	be	AUX
alkej-360	120	42	the	the	DET
alkej-360	120	43	distance	distance	NOUN
alkej-360	120	44	between	between	ADP
alkej-360	120	45	wheels	wheel	NOUN
alkej-360	120	46	.	.	PUNCT
alkej-360	121	1	the	the	DET
alkej-360	121	2	matlab	matlab	PROPN
alkej-360	121	3	simulation	simulation	NOUN
alkej-360	121	4	is	be	AUX
alkej-360	121	5	carried	carry	VERB
alkej-360	121	6	out	out	ADP
alkej-360	121	7	online	online	ADJ
alkej-360	121	8	cognitive	cognitive	ADJ
alkej-360	121	9	tuning	tuning	NOUN
alkej-360	121	10	control	control	NOUN
alkej-360	121	11	algorithm	algorithm	NOUN
alkej-360	121	12	with	with	ADP
alkej-360	121	13	proposed	propose	VERB
alkej-360	121	14	controllers	controller	NOUN
alkej-360	121	15	as	as	SCONJ
alkej-360	121	16	shown	show	VERB
alkej-360	121	17	in	in	ADP
alkej-360	121	18	figure	figure	NOUN
alkej-360	121	19	(	(	PUNCT
alkej-360	121	20	2	2	NUM
alkej-360	121	21	)	)	PUNCT
alkej-360	121	22	to	to	PART
alkej-360	121	23	track	track	VERB
alkej-360	121	24	a	a	DET
alkej-360	121	25	reference	reference	NOUN
alkej-360	121	26	pose	pose	VERB
alkej-360	121	27	with	with	ADP
alkej-360	121	28	continuous	continuous	ADJ
alkej-360	121	29	variable	variable	ADJ
alkej-360	121	30	radius	radius	NOUN
alkej-360	121	31	path	path	NOUN
alkej-360	121	32	and	and	CCONJ
alkej-360	121	33	0.1	0.1	NUM
alkej-360	121	34	sec	sec	PROPN
alkej-360	121	35	is	be	AUX
alkej-360	121	36	sampling	sample	VERB
alkej-360	121	37	time	time	NOUN
alkej-360	121	38	.	.	PUNCT
alkej-360	122	1	in	in	ADP
alkej-360	122	2	this	this	DET
alkej-360	122	3	paper	paper	NOUN
alkej-360	122	4	,	,	PUNCT
alkej-360	122	5	two	two	NUM
alkej-360	122	6	types	type	NOUN
alkej-360	122	7	of	of	ADP
alkej-360	122	8	the	the	DET
alkej-360	122	9	nonlinear	nonlinear	ADJ
alkej-360	122	10	controllers	controller	NOUN
alkej-360	122	11	are	be	AUX
alkej-360	122	12	used	use	VERB
alkej-360	122	13	(	(	PUNCT
alkej-360	122	14	neural	neural	ADJ
alkej-360	122	15	network	network	NOUN
alkej-360	122	16	and	and	CCONJ
alkej-360	122	17	back	back	ADV
alkej-360	122	18	-	-	PUNCT
alkej-360	122	19	stepping	step	VERB
alkej-360	122	20	technique	technique	NOUN
alkej-360	122	21	)	)	PUNCT
alkej-360	122	22	with	with	ADP
alkej-360	122	23	hybrid	hybrid	ADJ
alkej-360	122	24	bees	bee	NOUN
alkej-360	122	25	-	-	PUNCT
alkej-360	122	26	pso	pso	NOUN
alkej-360	122	27	tuning	tuning	NOUN
alkej-360	122	28	control	control	NOUN
alkej-360	122	29	parameters	parameter	NOUN
alkej-360	122	30	to	to	PART
alkej-360	122	31	show	show	VERB
alkej-360	122	32	which	which	PRON
alkej-360	122	33	of	of	ADP
alkej-360	122	34	them	they	PRON
alkej-360	122	35	is	be	AUX
alkej-360	122	36	batter	batter	NOUN
alkej-360	122	37	in	in	ADP
alkej-360	122	38	term	term	NOUN
alkej-360	122	39	of	of	ADP
alkej-360	122	40	generating	generate	VERB
alkej-360	122	41	optimal	optimal	ADJ
alkej-360	122	42	and	and	CCONJ
alkej-360	122	43	smoothness	smoothness	ADJ
alkej-360	122	44	torque	torque	NOUN
alkej-360	122	45	control	control	NOUN
alkej-360	122	46	action	action	NOUN
alkej-360	122	47	and	and	CCONJ
alkej-360	122	48	minimizing	minimize	VERB
alkej-360	122	49	the	the	DET
alkej-360	122	50	tracking	tracking	NOUN
alkej-360	122	51	error	error	NOUN
alkej-360	122	52	with	with	ADP
alkej-360	122	53	minimum	minimum	ADJ
alkej-360	122	54	number	number	NOUN
alkej-360	122	55	of	of	ADP
alkej-360	122	56	iteration	iteration	NOUN
alkej-360	122	57	.	.	PUNCT
alkej-360	123	1	the	the	DET
alkej-360	123	2	parameters	parameter	NOUN
alkej-360	123	3	of	of	ADP
alkej-360	123	4	the	the	DET
alkej-360	123	5	optimization	optimization	NOUN
alkej-360	123	6	hybrid	hybrid	ADJ
alkej-360	123	7	bees	bee	NOUN
alkej-360	123	8	-	-	PUNCT
alkej-360	123	9	pso	pso	NOUN
alkej-360	123	10	algorithm	algorithm	NOUN
alkej-360	123	11	that	that	PRON
alkej-360	123	12	will	will	AUX
alkej-360	123	13	define	define	VERB
alkej-360	123	14	as	as	SCONJ
alkej-360	123	15	follows	follow	VERB
alkej-360	123	16	:	:	PUNCT
alkej-360	123	17	the	the	DET
alkej-360	123	18	scout	scout	NOUN
alkej-360	123	19	bees	bee	NOUN
alkej-360	123	20	(	(	PUNCT
alkej-360	123	21	n	n	CCONJ
alkej-360	123	22	)	)	PUNCT
alkej-360	123	23	is	be	AUX
alkej-360	123	24	equal	equal	ADJ
alkej-360	123	25	to	to	ADP
alkej-360	123	26	10	10	NUM
alkej-360	123	27	at	at	ADP
alkej-360	123	28	the	the	DET
alkej-360	123	29	global	global	ADJ
alkej-360	123	30	search	search	NOUN
alkej-360	123	31	;	;	PUNCT
alkej-360	123	32	the	the	DET
alkej-360	123	33	selected	select	VERB
alkej-360	123	34	bees	bee	NOUN
alkej-360	123	35	is	be	AUX
alkej-360	123	36	equal	equal	ADJ
alkej-360	123	37	to	to	ADP
alkej-360	123	38	5	5	NUM
alkej-360	123	39	;	;	PUNCT
alkej-360	123	40	the	the	DET
alkej-360	123	41	particle	particle	NOUN
alkej-360	123	42	is	be	AUX
alkej-360	123	43	equal	equal	ADJ
alkej-360	123	44	to	to	ADP
alkej-360	123	45	40	40	NUM
alkej-360	123	46	in	in	ADP
alkej-360	123	47	the	the	DET
alkej-360	123	48	local	local	ADJ
alkej-360	123	49	search	search	NOUN
alkej-360	123	50	;	;	PUNCT
alkej-360	123	51	the	the	DET
alkej-360	123	52	fittest	fit	ADJ
alkej-360	123	53	bees	bee	NOUN
alkej-360	123	54	ahmed	ahme	VERB
alkej-360	123	55	s.	s.	PROPN
alkej-360	123	56	al	al	PROPN
alkej-360	123	57	-	-	PROPN
alkej-360	123	58	araji	araji	PROPN
alkej-360	123	59	al	al	PROPN
alkej-360	123	60	-	-	PUNCT
alkej-360	123	61	khwarizmi	khwarizmi	PROPN
alkej-360	123	62	engineering	engineering	NOUN
alkej-360	123	63	journal	journal	PROPN
alkej-360	123	64	,	,	PUNCT
alkej-360	123	65	vol	vol	NOUN
alkej-360	123	66	.	.	PROPN
alkej-360	123	67	13	13	NUM
alkej-360	123	68	,	,	PUNCT
alkej-360	123	69	no	no	INTJ
alkej-360	123	70	.	.	NOUN
alkej-360	123	71	3	3	NUM
alkej-360	123	72	,	,	PUNCT
alkej-360	123	73	p.p	p.p	PROPN
alkej-360	123	74	.	.	NOUN
alkej-360	123	75	6473	6473	NUM
alkej-360	123	76	(	(	PUNCT
alkej-360	123	77	2017	2017	NUM
alkej-360	123	78	)	)	PUNCT
alkej-360	123	79	69	69	NUM
alkej-360	123	80	is	be	AUX
alkej-360	123	81	equal	equal	ADJ
alkej-360	123	82	to	to	ADP
alkej-360	123	83	5	5	NUM
alkej-360	123	84	;	;	PUNCT
alkej-360	123	85	the	the	DET
alkej-360	123	86	iteration	iteration	NOUN
alkej-360	123	87	number	number	NOUN
alkej-360	123	88	(	(	PUNCT
alkej-360	123	89	n	n	CCONJ
alkej-360	123	90	)	)	PUNCT
alkej-360	123	91	in	in	ADP
alkej-360	123	92	the	the	DET
alkej-360	123	93	global	global	ADJ
alkej-360	123	94	search	search	NOUN
alkej-360	123	95	is	be	AUX
alkej-360	123	96	equal	equal	ADJ
alkej-360	123	97	to	to	ADP
alkej-360	123	98	3and	3and	NUM
alkej-360	123	99	the	the	DET
alkej-360	123	100	iteration	iteration	NOUN
alkej-360	123	101	number	number	NOUN
alkej-360	123	102	(	(	PUNCT
alkej-360	123	103	p	p	NOUN
alkej-360	123	104	)	)	PUNCT
alkej-360	123	105	in	in	ADP
alkej-360	123	106	the	the	DET
alkej-360	123	107	local	local	ADJ
alkej-360	123	108	search	search	NOUN
alkej-360	123	109	is	be	AUX
alkej-360	123	110	equal	equal	ADJ
alkej-360	123	111	to	to	ADP
alkej-360	123	112	3	3	NUM
alkej-360	123	113	.	.	PUNCT
alkej-360	123	114	case	case	NOUN
alkej-360	123	115	study	study	VERB
alkej-360	123	116	the	the	DET
alkej-360	123	117	reference	reference	NOUN
alkej-360	123	118	pose	pose	VERB
alkej-360	123	119	trajectory	trajectory	NOUN
alkej-360	123	120	for	for	ADP
alkej-360	123	121	wheeled	wheel	VERB
alkej-360	123	122	mobile	mobile	NOUN
alkej-360	123	123	robot	robot	NOUN
alkej-360	123	124	can	can	AUX
alkej-360	123	125	be	be	AUX
alkej-360	123	126	described	describe	VERB
alkej-360	123	127	in	in	ADP
alkej-360	123	128	below	below	ADP
alkej-360	123	129	equations	equation	NOUN
alkej-360	123	130	(	(	PUNCT
alkej-360	123	131	31	31	NUM
alkej-360	123	132	,	,	PUNCT
alkej-360	123	133	32	32	NUM
alkej-360	123	134	and	and	CCONJ
alkej-360	123	135	33	33	NUM
alkej-360	123	136	):	):	PUNCT
alkej-360	123	137	)	)	PUNCT
alkej-360	123	138	20	20	NUM
alkej-360	123	139	2	2	NUM
alkej-360	123	140	sin	sin	NOUN
alkej-360	123	141	(	(	PUNCT
alkej-360	123	142	)	)	PUNCT
alkej-360	123	143	(	(	PUNCT
alkej-360	123	144	t	t	PROPN
alkej-360	123	145	txr	txr	PROPN
alkej-360	123	146	π	π	PROPN
alkej-360	123	147	=	=	SYM
alkej-360	123	148	…	…	PUNCT
alkej-360	123	149	(	(	PUNCT
alkej-360	123	150	31	31	NUM
alkej-360	123	151	)	)	PUNCT
alkej-360	123	152	)	)	PUNCT
alkej-360	123	153	40	40	NUM
alkej-360	123	154	2	2	NUM
alkej-360	123	155	sin	sin	NOUN
alkej-360	123	156	(	(	PUNCT
alkej-360	123	157	)	)	PUNCT
alkej-360	123	158	(	(	PUNCT
alkej-360	123	159	t	t	PROPN
alkej-360	123	160	tyr	tyr	PROPN
alkej-360	123	161	π	π	PROPN
alkej-360	123	162	=	=	SYM
alkej-360	123	163	…	…	PUNCT
alkej-360	123	164	(	(	PUNCT
alkej-360	123	165	32	32	NUM
alkej-360	123	166	)	)	PUNCT
alkej-360	123	167	)	)	PUNCT
alkej-360	123	168	)	)	PUNCT
alkej-360	123	169	(	(	PUNCT
alkej-360	123	170	)	)	PUNCT
alkej-360	123	171	)	)	PUNCT
alkej-360	123	172	(	(	PUNCT
alkej-360	123	173	(	(	PUNCT
alkej-360	123	174	)	)	PUNCT
alkej-360	123	175	)	)	PUNCT
alkej-360	123	176	(	(	PUNCT
alkej-360	123	177	(	(	PUNCT
alkej-360	123	178	)	)	PUNCT
alkej-360	123	179	(	(	PUNCT
alkej-360	123	180	(	(	PUNCT
alkej-360	123	181	tan2	tan2	PROPN
alkej-360	123	182	)	)	PUNCT
alkej-360	123	183	(	(	PUNCT
alkej-360	123	184	22	22	NUM
alkej-360	123	185	1	1	NUM
alkej-360	123	186	txtytx	txtytx	NOUN
alkej-360	123	187	ty	ty	INTJ
alkej-360	123	188	t	t	NOUN
alkej-360	123	189	rrr	rrr	NOUN
alkej-360	123	190	r	r	NOUN
alkej-360	123	191	r	r	NOUN
alkej-360	123	192	∆+∆−∆	∆+∆−∆	NOUN
alkej-360	123	193	∆	∆	PUNCT
alkej-360	123	194	=	=	SYM
alkej-360	123	195	−θ	−θ	X
alkej-360	123	196	…	…	PUNCT
alkej-360	123	197	(	(	PUNCT
alkej-360	123	198	33	33	NUM
alkej-360	123	199	)	)	PUNCT
alkej-360	123	200	the	the	DET
alkej-360	123	201	mobile	mobile	NOUN
alkej-360	123	202	robot	robot	NOUN
alkej-360	123	203	has	have	VERB
alkej-360	123	204	initial	initial	ADJ
alkej-360	123	205	pose	pose	NOUN
alkej-360	123	206	as	as	ADP
alkej-360	123	207	]	]	SYM
alkej-360	123	208	4/,0,1.0[)0	4/,0,1.0[)0	NUM
alkej-360	123	209	(	(	PUNCT
alkej-360	123	210	π−=q	π−=q	NOUN
alkej-360	123	211	.	.	PUNCT
alkej-360	124	1	after	after	ADP
alkej-360	124	2	applying	apply	VERB
alkej-360	124	3	the	the	DET
alkej-360	124	4	structure	structure	NOUN
alkej-360	124	5	of	of	ADP
alkej-360	124	6	the	the	DET
alkej-360	124	7	cognitive	cognitive	ADJ
alkej-360	124	8	hybrid	hybrid	ADJ
alkej-360	124	9	bees	bee	NOUN
alkej-360	124	10	-	-	PUNCT
alkej-360	124	11	pso	pso	NOUN
alkej-360	124	12	tuning	tuning	NOUN
alkej-360	124	13	control	control	NOUN
alkej-360	124	14	algorithm	algorithm	NOUN
alkej-360	124	15	with	with	ADP
alkej-360	124	16	two	two	NUM
alkej-360	124	17	different	different	ADJ
alkej-360	124	18	types	type	NOUN
alkej-360	124	19	of	of	ADP
alkej-360	124	20	the	the	DET
alkej-360	124	21	nonlinear	nonlinear	ADJ
alkej-360	124	22	controllers	controller	NOUN
alkej-360	124	23	and	and	CCONJ
alkej-360	124	24	adding	add	VERB
alkej-360	124	25	small	small	ADJ
alkej-360	124	26	values	value	NOUN
alkej-360	124	27	of	of	ADP
alkej-360	124	28	the	the	DET
alkej-360	124	29	dynamic	dynamic	ADJ
alkej-360	124	30	disturbances	disturbance	NOUN
alkej-360	124	31	as	as	ADP
alkej-360	124	32	the	the	DET
alkej-360	124	33	term	term	NOUN
alkej-360	124	34	that	that	PRON
alkej-360	124	35	taken	take	VERB
alkej-360	124	36	from	from	ADP
alkej-360	124	37	[	[	X
alkej-360	124	38	14	14	NUM
alkej-360	124	39	]	]	PUNCT
alkej-360	124	40	[	[	PUNCT
alkej-360	124	41	]	]	X
alkej-360	124	42	tttd	tttd	NOUN
alkej-360	124	43	)	)	PUNCT
alkej-360	124	44	2sin(01.0)2sin(01.0	2sin(01.0)2sin(01.0	PROPN
alkej-360	124	45	=	=	NOUN
alkej-360	124	46	τ	τ	X
alkej-360	124	47	to	to	PART
alkej-360	124	48	show	show	VERB
alkej-360	124	49	the	the	DET
alkej-360	124	50	controller	controller	NOUN
alkej-360	124	51	ability	ability	NOUN
alkej-360	124	52	of	of	ADP
alkej-360	124	53	robustness	robustness	NOUN
alkej-360	124	54	through	through	ADP
alkej-360	124	55	the	the	DET
alkej-360	124	56	online	online	ADJ
alkej-360	124	57	adaptation	adaptation	NOUN
alkej-360	124	58	the	the	DET
alkej-360	124	59	parameters	parameter	NOUN
alkej-360	124	60	of	of	ADP
alkej-360	124	61	these	these	DET
alkej-360	124	62	controllers	controller	NOUN
alkej-360	124	63	.	.	PUNCT
alkej-360	125	1	the	the	DET
alkej-360	125	2	trajectory	trajectory	NOUN
alkej-360	125	3	tracking	tracking	NOUN
alkej-360	125	4	for	for	ADP
alkej-360	125	5	mobile	mobile	NOUN
alkej-360	125	6	robot	robot	NOUN
alkej-360	125	7	model	model	NOUN
alkej-360	125	8	can	can	AUX
alkej-360	125	9	be	be	AUX
alkej-360	125	10	shown	show	VERB
alkej-360	125	11	in	in	ADP
alkej-360	125	12	fig	fig	NOUN
alkej-360	125	13	.	.	PUNCT
alkej-360	126	1	5	5	NUM
alkej-360	126	2	which	which	PRON
alkej-360	126	3	it	it	PRON
alkej-360	126	4	is	be	AUX
alkej-360	126	5	clearly	clearly	ADV
alkej-360	126	6	,	,	PUNCT
alkej-360	126	7	the	the	DET
alkej-360	126	8	excellent	excellent	ADJ
alkej-360	126	9	tracking	tracking	NOUN
alkej-360	126	10	performance	performance	NOUN
alkej-360	126	11	depends	depend	VERB
alkej-360	126	12	on	on	ADP
alkej-360	126	13	mse	mse	NOUN
alkej-360	126	14	of	of	ADP
alkej-360	126	15	the	the	DET
alkej-360	126	16	mobile	mobile	NOUN
alkej-360	126	17	robot	robot	NOUN
alkej-360	126	18	pose	pose	VERB
alkej-360	126	19	when	when	SCONJ
alkej-360	126	20	was	be	AUX
alkej-360	126	21	applying	apply	VERB
alkej-360	126	22	the	the	DET
alkej-360	126	23	nonlinear	nonlinear	ADJ
alkej-360	126	24	neural	neural	ADJ
alkej-360	126	25	controller	controller	NOUN
alkej-360	126	26	than	than	ADP
alkej-360	126	27	nonlinear	nonlinear	ADJ
alkej-360	126	28	backstepping	backstepping	NOUN
alkej-360	126	29	controller	controller	NOUN
alkej-360	126	30	because	because	SCONJ
alkej-360	126	31	the	the	DET
alkej-360	126	32	cognitive	cognitive	ADJ
alkej-360	126	33	hybrid	hybrid	ADJ
alkej-360	126	34	bees	bee	NOUN
alkej-360	126	35	-	-	PUNCT
alkej-360	126	36	pso	pso	NOUN
alkej-360	126	37	tuning	tuning	NOUN
alkej-360	126	38	control	control	NOUN
alkej-360	126	39	algorithm	algorithm	NOUN
alkej-360	126	40	was	be	AUX
alkej-360	126	41	found	find	VERB
alkej-360	126	42	and	and	CCONJ
alkej-360	126	43	tuned	tune	VERB
alkej-360	126	44	fifteen	fifteen	NUM
alkej-360	126	45	parameters	parameter	NOUN
alkej-360	126	46	of	of	ADP
alkej-360	126	47	the	the	DET
alkej-360	126	48	nonlinear	nonlinear	ADJ
alkej-360	126	49	neural	neural	ADJ
alkej-360	126	50	controller	controller	NOUN
alkej-360	126	51	that	that	PRON
alkej-360	126	52	covered	cover	VERB
alkej-360	126	53	the	the	DET
alkej-360	126	54	nonlinear	nonlinear	ADJ
alkej-360	126	55	operation	operation	NOUN
alkej-360	126	56	regions	region	NOUN
alkej-360	126	57	while	while	SCONJ
alkej-360	126	58	in	in	ADP
alkej-360	126	59	the	the	DET
alkej-360	126	60	nonlinear	nonlinear	ADJ
alkej-360	126	61	back	back	ADV
alkej-360	126	62	-	-	PUNCT
alkej-360	126	63	stepping	step	VERB
alkej-360	126	64	controller	controller	NOUN
alkej-360	126	65	has	have	VERB
alkej-360	126	66	three	three	NUM
alkej-360	126	67	parameters	parameter	NOUN
alkej-360	126	68	only	only	ADV
alkej-360	126	69	and	and	CCONJ
alkej-360	126	70	could	could	AUX
alkej-360	126	71	not	not	PART
alkej-360	126	72	cover	cover	VERB
alkej-360	126	73	these	these	DET
alkej-360	126	74	regions	region	NOUN
alkej-360	126	75	especially	especially	ADV
alkej-360	126	76	when	when	SCONJ
alkej-360	126	77	adding	add	VERB
alkej-360	126	78	a	a	DET
alkej-360	126	79	bounded	bounded	ADJ
alkej-360	126	80	dynamic	dynamic	ADJ
alkej-360	126	81	disturbances	disturbance	NOUN
alkej-360	126	82	.	.	PUNCT
alkej-360	127	1	this	this	DET
alkej-360	127	2	proposed	propose	VERB
alkej-360	127	3	control	control	NOUN
alkej-360	127	4	algorithm	algorithm	PROPN
alkej-360	127	5	has	have	VERB
alkej-360	127	6	a	a	DET
alkej-360	127	7	capability	capability	NOUN
alkej-360	127	8	of	of	ADP
alkej-360	127	9	perfect	perfect	ADJ
alkej-360	127	10	search	search	NOUN
alkej-360	127	11	in	in	ADP
alkej-360	127	12	two	two	NUM
alkej-360	127	13	search	search	NOUN
alkej-360	127	14	space	space	NOUN
alkej-360	127	15	(	(	PUNCT
alkej-360	127	16	local	local	ADJ
alkej-360	127	17	and	and	CCONJ
alkej-360	127	18	global	global	ADJ
alkej-360	127	19	)	)	PUNCT
alkej-360	127	20	with	with	ADP
alkej-360	127	21	minimum	minimum	ADJ
alkej-360	127	22	number	number	NOUN
alkej-360	127	23	of	of	ADP
alkej-360	127	24	iteration	iteration	NOUN
alkej-360	127	25	in	in	ADP
alkej-360	127	26	both	both	DET
alkej-360	127	27	search	search	NOUN
alkej-360	127	28	space	space	NOUN
alkej-360	127	29	.	.	PUNCT
alkej-360	128	1	fig	fig	NOUN
alkej-360	128	2	.	.	PUNCT
alkej-360	129	1	5	5	X
alkej-360	129	2	.	.	X
alkej-360	130	1	the	the	DET
alkej-360	130	2	desired	desire	VERB
alkej-360	130	3	and	and	CCONJ
alkej-360	130	4	actual	actual	ADJ
alkej-360	130	5	trajectory	trajectory	NOUN
alkej-360	130	6	for	for	ADP
alkej-360	130	7	mobile	mobile	NOUN
alkej-360	130	8	robot	robot	NOUN
alkej-360	130	9	.	.	PUNCT
alkej-360	131	1	in	in	ADP
alkej-360	131	2	fig	fig	NOUN
alkej-360	131	3	.	.	PUNCT
alkej-360	132	1	6	6	NUM
alkej-360	132	2	demonstrates	demonstrate	VERB
alkej-360	132	3	the	the	DET
alkej-360	132	4	orientation	orientation	NOUN
alkej-360	132	5	tracking	tracking	NOUN
alkej-360	132	6	performance	performance	NOUN
alkej-360	132	7	of	of	ADP
alkej-360	132	8	the	the	DET
alkej-360	132	9	mobile	mobile	ADJ
alkej-360	132	10	robot	robot	NOUN
alkej-360	132	11	with	with	ADP
alkej-360	132	12	two	two	NUM
alkej-360	132	13	types	type	NOUN
alkej-360	132	14	of	of	ADP
alkej-360	132	15	controllers	controller	NOUN
alkej-360	132	16	.	.	PUNCT
alkej-360	133	1	fig	fig	NOUN
alkej-360	133	2	.	.	PUNCT
alkej-360	134	1	6	6	NUM
alkej-360	134	2	.	.	PUNCT
alkej-360	135	1	the	the	DET
alkej-360	135	2	desired	desire	VERB
alkej-360	135	3	and	and	CCONJ
alkej-360	135	4	actual	actual	ADJ
alkej-360	135	5	orientation	orientation	NOUN
alkej-360	135	6	for	for	ADP
alkej-360	135	7	mobile	mobile	NOUN
alkej-360	135	8	robot	robot	NOUN
alkej-360	135	9	.	.	PUNCT
alkej-360	136	1	in	in	ADP
alkej-360	136	2	this	this	DET
alkej-360	136	3	on	on	ADP
alkej-360	136	4	-	-	PUNCT
alkej-360	136	5	line	line	NOUN
alkej-360	136	6	tuning	tuning	NOUN
alkej-360	136	7	control	control	NOUN
alkej-360	136	8	algorithm	algorithm	NOUN
alkej-360	136	9	,	,	PUNCT
alkej-360	136	10	the	the	DET
alkej-360	136	11	proposed	propose	VERB
alkej-360	136	12	mean	mean	ADJ
alkej-360	136	13	square	square	ADJ
alkej-360	136	14	error	error	NOUN
alkej-360	136	15	(	(	PUNCT
alkej-360	136	16	mse	mse	NOUN
alkej-360	136	17	)	)	PUNCT
alkej-360	136	18	clearly	clearly	ADV
alkej-360	136	19	improved	improve	VERB
alkej-360	136	20	the	the	DET
alkej-360	136	21	performance	performance	NOUN
alkej-360	136	22	of	of	ADP
alkej-360	136	23	these	these	DET
alkej-360	136	24	controllers	controller	NOUN
alkej-360	136	25	by	by	ADP
alkej-360	136	26	showing	show	VERB
alkej-360	136	27	the	the	DET
alkej-360	136	28	pose	pose	NOUN
alkej-360	136	29	error	error	NOUN
alkej-360	136	30	convergence	convergence	NOUN
alkej-360	136	31	for	for	ADP
alkej-360	136	32	the	the	DET
alkej-360	136	33	mobile	mobile	ADJ
alkej-360	136	34	robot	robot	NOUN
alkej-360	136	35	motion	motion	NOUN
alkej-360	136	36	at	at	ADP
alkej-360	136	37	200	200	NUM
alkej-360	136	38	steps	step	NOUN
alkej-360	136	39	,	,	PUNCT
alkej-360	136	40	as	as	SCONJ
alkej-360	136	41	shown	show	VERB
alkej-360	136	42	in	in	ADP
alkej-360	136	43	figs	fig	NOUN
alkej-360	136	44	.	.	PUNCT
alkej-360	137	1	7	7	NUM
alkej-360	137	2	and	and	CCONJ
alkej-360	137	3	8	8	NUM
alkej-360	137	4	.	.	PUNCT
alkej-360	137	5	-1.2	-1.2	NOUN
alkej-360	137	6	-1	-1	PUNCT
alkej-360	137	7	-0.5	-0.5	X
alkej-360	137	8	0	0	NUM
alkej-360	137	9	0.5	0.5	NUM
alkej-360	137	10	1	1	NUM
alkej-360	137	11	1.2	1.2	NUM
alkej-360	137	12	-1.2	-1.2	NOUN
alkej-360	137	13	-0.5	-0.5	X
alkej-360	137	14	0	0	NUM
alkej-360	137	15	0.5	0.5	NUM
alkej-360	137	16	1.2	1.2	NUM
alkej-360	137	17	x	x	NOUN
alkej-360	137	18	-	-	NOUN
alkej-360	137	19	axis	axis	ADJ
alkej-360	137	20	(	(	PUNCT
alkej-360	137	21	meter	meter	NOUN
alkej-360	137	22	)	)	PUNCT
alkej-360	137	23	y	y	PROPN
alkej-360	137	24	-a	-a	PUNCT
alkej-360	137	25	x	x	PROPN
alkej-360	137	26	is	be	AUX
alkej-360	137	27	(	(	PUNCT
alkej-360	137	28	m	m	NOUN
alkej-360	137	29	e	e	NOUN
alkej-360	137	30	te	te	ADP
alkej-360	137	31	r	r	NOUN
alkej-360	137	32	)	)	PUNCT
alkej-360	137	33	actual	actual	ADJ
alkej-360	137	34	path	path	NOUN
alkej-360	137	35	based	base	VERB
alkej-360	137	36	back	back	ADV
alkej-360	137	37	stepping	step	VERB
alkej-360	137	38	actual	actual	ADJ
alkej-360	137	39	path	path	NOUN
alkej-360	137	40	based	base	VERB
alkej-360	137	41	neural	neural	ADJ
alkej-360	137	42	desired	desire	VERB
alkej-360	137	43	path	path	NOUN
alkej-360	137	44	20	20	NUM
alkej-360	137	45	40	40	NUM
alkej-360	137	46	60	60	NUM
alkej-360	137	47	80	80	NUM
alkej-360	137	48	100	100	NUM
alkej-360	137	49	120	120	NUM
alkej-360	137	50	140	140	NUM
alkej-360	137	51	160	160	NUM
alkej-360	137	52	180	180	NUM
alkej-360	137	53	200	200	NUM
alkej-360	137	54	-4	-4	CCONJ
alkej-360	137	55	-3	-3	INTJ
alkej-360	138	1	-2	-2	INTJ
alkej-360	138	2	-1	-1	SYM
alkej-360	138	3	0	0	NUM
alkej-360	138	4	1	1	NUM
alkej-360	138	5	2	2	NUM
alkej-360	138	6	3	3	NUM
alkej-360	138	7	4	4	NUM
alkej-360	138	8	samples	sample	NOUN
alkej-360	138	9	(	(	PUNCT
alkej-360	138	10	sampling	sample	VERB
alkej-360	138	11	time	time	NOUN
alkej-360	138	12	0.1	0.1	NUM
alkej-360	138	13	sec	sec	PROPN
alkej-360	138	14	)	)	PUNCT
alkej-360	138	15	o	o	NOUN
alkej-360	138	16	r	r	NOUN
alkej-360	138	17	ie	ie	X
alkej-360	138	18	n	n	X
alkej-360	138	19	ta	ta	X
alkej-360	138	20	ti	ti	X
alkej-360	138	21	o	o	NOUN
alkej-360	138	22	n	n	PROPN
alkej-360	138	23	(	(	PUNCT
alkej-360	138	24	r	r	NOUN
alkej-360	138	25	a	a	DET
alkej-360	138	26	d	d	NOUN
alkej-360	138	27	)	)	PUNCT
alkej-360	138	28	orientation	orientation	NOUN
alkej-360	138	29	based	base	VERB
alkej-360	138	30	back	back	ADP
alkej-360	138	31	-stepping	-steppe	VERB
alkej-360	138	32	orientation	orientation	NOUN
alkej-360	138	33	based	base	VERB
alkej-360	138	34	neural	neural	ADJ
alkej-360	138	35	desried	desrie	VERB
alkej-360	138	36	orientation	orientation	NOUN
alkej-360	138	37	ahmed	ahme	VERB
alkej-360	138	38	s.	s.	PROPN
alkej-360	138	39	al	al	PROPN
alkej-360	138	40	-	-	PROPN
alkej-360	138	41	araji	araji	PROPN
alkej-360	138	42	al	al	PROPN
alkej-360	138	43	-	-	PUNCT
alkej-360	138	44	khwarizmi	khwarizmi	PROPN
alkej-360	138	45	engineering	engineering	NOUN
alkej-360	138	46	journal	journal	PROPN
alkej-360	138	47	,	,	PUNCT
alkej-360	138	48	vol	vol	NOUN
alkej-360	138	49	.	.	PROPN
alkej-360	138	50	13	13	NUM
alkej-360	138	51	,	,	PUNCT
alkej-360	138	52	no	no	INTJ
alkej-360	138	53	.	.	NOUN
alkej-360	138	54	3	3	NUM
alkej-360	138	55	,	,	PUNCT
alkej-360	138	56	p.p	p.p	PROPN
alkej-360	138	57	.	.	NOUN
alkej-360	138	58	6473	6473	NUM
alkej-360	138	59	(	(	PUNCT
alkej-360	138	60	2017	2017	NUM
alkej-360	138	61	)	)	PUNCT
alkej-360	138	62	70	70	NUM
alkej-360	138	63	fig	fig	NOUN
alkej-360	138	64	.	.	PUNCT
alkej-360	139	1	7	7	X
alkej-360	139	2	.	.	X
alkej-360	139	3	on	on	ADP
alkej-360	139	4	-	-	PUNCT
alkej-360	139	5	line	line	NOUN
alkej-360	139	6	performance	performance	NOUN
alkej-360	139	7	index	index	NOUN
alkej-360	139	8	for	for	ADP
alkej-360	139	9	nonlinear	nonlinear	ADJ
alkej-360	139	10	neural	neural	ADJ
alkej-360	139	11	controller	controller	NOUN
alkej-360	139	12	.	.	PUNCT
alkej-360	140	1	fig	fig	NOUN
alkej-360	140	2	.	.	PUNCT
alkej-360	141	1	8	8	NUM
alkej-360	141	2	.	.	X
alkej-360	141	3	on	on	ADP
alkej-360	141	4	-	-	PUNCT
alkej-360	141	5	line	line	NOUN
alkej-360	141	6	performance	performance	NOUN
alkej-360	141	7	index	index	NOUN
alkej-360	141	8	for	for	ADP
alkej-360	141	9	nonlinear	nonlinear	ADJ
alkej-360	141	10	back	back	ADV
alkej-360	141	11	-	-	PUNCT
alkej-360	141	12	stepping	step	VERB
alkej-360	141	13	controller	controller	NOUN
alkej-360	141	14	.	.	PUNCT
alkej-360	142	1	fig	fig	NOUN
alkej-360	142	2	.	.	PUNCT
alkej-360	143	1	9	9	NUM
alkej-360	143	2	shows	show	VERB
alkej-360	143	3	the	the	DET
alkej-360	143	4	effectiveness	effectiveness	NOUN
alkej-360	143	5	of	of	ADP
alkej-360	143	6	the	the	DET
alkej-360	143	7	nonlinear	nonlinear	ADJ
alkej-360	143	8	neural	neural	ADJ
alkej-360	143	9	controller	controller	NOUN
alkej-360	143	10	response	response	NOUN
alkej-360	143	11	through	through	ADP
alkej-360	143	12	generating	generate	VERB
alkej-360	143	13	best	good	ADJ
alkej-360	143	14	torque	torque	NOUN
alkej-360	143	15	control	control	NOUN
alkej-360	143	16	action	action	NOUN
alkej-360	143	17	without	without	ADP
alkej-360	143	18	saturation	saturation	NOUN
alkej-360	143	19	control	control	NOUN
alkej-360	143	20	action	action	NOUN
alkej-360	143	21	state	state	NOUN
alkej-360	143	22	to	to	PART
alkej-360	143	23	track	track	VERB
alkej-360	143	24	the	the	DET
alkej-360	143	25	desired	desire	VERB
alkej-360	143	26	path	path	NOUN
alkej-360	143	27	in	in	ADP
alkej-360	143	28	minimum	minimum	ADJ
alkej-360	143	29	time	time	NOUN
alkej-360	143	30	while	while	SCONJ
alkej-360	143	31	the	the	DET
alkej-360	143	32	torque	torque	NOUN
alkej-360	143	33	control	control	NOUN
alkej-360	143	34	action	action	NOUN
alkej-360	143	35	for	for	ADP
alkej-360	143	36	the	the	DET
alkej-360	143	37	nonlinear	nonlinear	ADJ
alkej-360	143	38	back	back	ADV
alkej-360	143	39	-	-	PUNCT
alkej-360	143	40	stepping	step	VERB
alkej-360	143	41	controller	controller	NOUN
alkej-360	143	42	can	can	AUX
alkej-360	143	43	be	be	AUX
alkej-360	143	44	shown	show	VERB
alkej-360	143	45	in	in	ADP
alkej-360	143	46	fig	fig	NOUN
alkej-360	143	47	.	.	PUNCT
alkej-360	144	1	10	10	NUM
alkej-360	144	2	which	which	PRON
alkej-360	144	3	has	have	VERB
alkej-360	144	4	non	non	ADJ
alkej-360	144	5	smoothens	smoothen	NOUN
alkej-360	144	6	and	and	CCONJ
alkej-360	144	7	not	not	PART
alkej-360	144	8	high	high	ADJ
alkej-360	144	9	spikes	spike	NOUN
alkej-360	144	10	and	and	CCONJ
alkej-360	144	11	reach	reach	VERB
alkej-360	144	12	to	to	ADP
alkej-360	144	13	the	the	DET
alkej-360	144	14	maximum	maximum	ADJ
alkej-360	144	15	saturation	saturation	NOUN
alkej-360	144	16	torque	torque	NOUN
alkej-360	144	17	action	action	NOUN
alkej-360	144	18	value	value	NOUN
alkej-360	144	19	in	in	ADP
alkej-360	144	20	data	datum	NOUN
alkej-360	144	21	sheet	sheet	NOUN
alkej-360	144	22	of	of	ADP
alkej-360	144	23	motor	motor	NOUN
alkej-360	145	1	[	[	X
alkej-360	145	2	17	17	NUM
alkej-360	145	3	]	]	X
alkej-360	145	4	is	be	AUX
alkej-360	145	5	3	3	NUM
alkej-360	145	6	n.m	n.m	NOUN
alkej-360	145	7	only	only	ADV
alkej-360	145	8	at	at	ADP
alkej-360	145	9	starting	start	VERB
alkej-360	145	10	and	and	CCONJ
alkej-360	145	11	for	for	ADP
alkej-360	145	12	very	very	ADV
alkej-360	145	13	short	short	ADJ
alkej-360	145	14	time	time	NOUN
alkej-360	145	15	.	.	PUNCT
alkej-360	146	1	fig	fig	NOUN
alkej-360	146	2	.	.	PUNCT
alkej-360	147	1	9	9	X
alkej-360	147	2	.	.	PUNCT
alkej-360	147	3	torque	torque	NOUN
alkej-360	147	4	control	control	PROPN
alkej-360	147	5	action	action	NOUN
alkej-360	147	6	for	for	ADP
alkej-360	147	7	nonlinear	nonlinear	ADJ
alkej-360	147	8	neural	neural	ADJ
alkej-360	147	9	controller	controller	NOUN
alkej-360	147	10	.	.	PUNCT
alkej-360	148	1	fig	fig	NOUN
alkej-360	148	2	.	.	PUNCT
alkej-360	149	1	10	10	NUM
alkej-360	149	2	.	.	PUNCT
alkej-360	149	3	torque	torque	NOUN
alkej-360	149	4	control	control	PROPN
alkej-360	149	5	action	action	NOUN
alkej-360	149	6	for	for	ADP
alkej-360	149	7	nonlinear	nonlinear	ADJ
alkej-360	149	8	backstepping	backstepping	NOUN
alkej-360	149	9	controller	controller	NOUN
alkej-360	149	10	.	.	PUNCT
alkej-360	150	1	the	the	DET
alkej-360	150	2	response	response	NOUN
alkej-360	150	3	of	of	ADP
alkej-360	150	4	angular	angular	ADJ
alkej-360	150	5	velocity	velocity	NOUN
alkej-360	150	6	of	of	ADP
alkej-360	150	7	the	the	DET
alkej-360	150	8	left	left	ADJ
alkej-360	150	9	and	and	CCONJ
alkej-360	150	10	right	right	ADJ
alkej-360	150	11	wheels	wheel	NOUN
alkej-360	150	12	of	of	ADP
alkej-360	150	13	the	the	DET
alkej-360	150	14	platform	platform	NOUN
alkej-360	150	15	eddie	eddie	PROPN
alkej-360	150	16	wheeled	wheel	VERB
alkej-360	150	17	mobile	mobile	ADJ
alkej-360	150	18	robot	robot	NOUN
alkej-360	150	19	can	can	AUX
alkej-360	150	20	be	be	AUX
alkej-360	150	21	shown	show	VERB
alkej-360	150	22	in	in	ADP
alkej-360	150	23	fig	fig	NOUN
alkej-360	150	24	.	.	PUNCT
alkej-360	151	1	11	11	NUM
alkej-360	151	2	have	have	VERB
alkej-360	151	3	smoothness	smoothness	ADJ
alkej-360	151	4	response	response	NOUN
alkej-360	151	5	which	which	PRON
alkej-360	151	6	are	be	AUX
alkej-360	151	7	generated	generate	VERB
alkej-360	151	8	from	from	ADP
alkej-360	151	9	nonlinear	nonlinear	ADJ
alkej-360	151	10	neural	neural	ADJ
alkej-360	151	11	controller	controller	NOUN
alkej-360	151	12	while	while	SCONJ
alkej-360	151	13	the	the	DET
alkej-360	151	14	angular	angular	ADJ
alkej-360	151	15	velocities	velocity	NOUN
alkej-360	151	16	of	of	ADP
alkej-360	151	17	the	the	DET
alkej-360	151	18	left	left	NOUN
alkej-360	151	19	and	and	CCONJ
alkej-360	151	20	right	right	ADJ
alkej-360	151	21	as	as	SCONJ
alkej-360	151	22	shown	show	VERB
alkej-360	151	23	in	in	ADP
alkej-360	151	24	fig	fig	NOUN
alkej-360	151	25	.	.	PUNCT
alkej-360	152	1	12	12	NUM
alkej-360	152	2	have	have	VERB
alkej-360	152	3	small	small	ADJ
alkej-360	152	4	spikes	spike	NOUN
alkej-360	152	5	response	response	NOUN
alkej-360	152	6	that	that	PRON
alkej-360	152	7	are	be	AUX
alkej-360	152	8	generated	generate	VERB
alkej-360	152	9	from	from	ADP
alkej-360	152	10	the	the	DET
alkej-360	152	11	nonlinear	nonlinear	ADJ
alkej-360	152	12	back	back	ADV
alkej-360	152	13	-	-	PUNCT
alkej-360	152	14	stepping	step	VERB
alkej-360	152	15	controller	controller	NOUN
alkej-360	152	16	.	.	PUNCT
alkej-360	153	1	it	it	PRON
alkej-360	153	2	is	be	AUX
alkej-360	153	3	clear	clear	ADJ
alkej-360	153	4	,	,	PUNCT
alkej-360	153	5	that	that	SCONJ
alkej-360	153	6	the	the	DET
alkej-360	153	7	response	response	NOUN
alkej-360	153	8	between	between	ADP
alkej-360	153	9	(	(	PUNCT
alkej-360	153	10	60	60	NUM
alkej-360	153	11	to	to	PART
alkej-360	153	12	80	80	NUM
alkej-360	153	13	)	)	PUNCT
alkej-360	153	14	samples	sample	NOUN
alkej-360	153	15	and	and	CCONJ
alkej-360	153	16	between	between	ADP
alkej-360	153	17	(	(	PUNCT
alkej-360	153	18	120	120	NUM
alkej-360	153	19	to	to	PART
alkej-360	153	20	140	140	NUM
alkej-360	153	21	)	)	PUNCT
alkej-360	153	22	samples	sample	NOUN
alkej-360	153	23	of	of	ADP
alkej-360	153	24	the	the	DET
alkej-360	153	25	torque	torque	NOUN
alkej-360	153	26	and	and	CCONJ
alkej-360	153	27	angular	angular	ADJ
alkej-360	153	28	velocity	velocity	NOUN
alkej-360	153	29	as	as	SCONJ
alkej-360	153	30	shown	show	VERB
alkej-360	153	31	in	in	ADP
alkej-360	153	32	figs	fig	NOUN
alkej-360	153	33	.	.	PUNCT
alkej-360	154	1	9	9	NUM
alkej-360	154	2	and	and	CCONJ
alkej-360	154	3	11	11	NUM
alkej-360	154	4	respectively	respectively	ADV
alkej-360	154	5	are	be	AUX
alkej-360	154	6	non	non	ADJ
alkej-360	154	7	-	-	ADJ
alkej-360	154	8	smooth	smooth	ADJ
alkej-360	154	9	and	and	CCONJ
alkej-360	154	10	have	have	VERB
alkej-360	154	11	spikes	spike	NOUN
alkej-360	154	12	because	because	SCONJ
alkej-360	154	13	in	in	ADP
alkej-360	154	14	this	this	DET
alkej-360	154	15	region	region	NOUN
alkej-360	154	16	the	the	DET
alkej-360	154	17	orientation	orientation	NOUN
alkej-360	154	18	in	in	ADP
alkej-360	154	19	fig	fig	NOUN
alkej-360	154	20	.	.	PUNCT
alkej-360	155	1	6	6	NUM
alkej-360	155	2	is	be	AUX
alkej-360	155	3	changing	change	VERB
alkej-360	155	4	between	between	ADP
alkej-360	155	5	-180o	-180o	PROPN
alkej-360	155	6	to	to	ADP
alkej-360	155	7	180o	180o	PROPN
alkej-360	155	8	that	that	PRON
alkej-360	155	9	needs	need	VERB
alkej-360	155	10	to	to	PART
alkej-360	155	11	add	add	VERB
alkej-360	155	12	2pi	2pi	NOUN
alkej-360	155	13	for	for	ADP
alkej-360	155	14	correcting	correct	VERB
alkej-360	155	15	the	the	DET
alkej-360	155	16	orientation	orientation	NOUN
alkej-360	155	17	and	and	CCONJ
alkej-360	155	18	this	this	DET
alkej-360	155	19	big	big	ADJ
alkej-360	155	20	change	change	NOUN
alkej-360	155	21	will	will	AUX
alkej-360	155	22	lead	lead	VERB
alkej-360	155	23	to	to	ADP
alkej-360	155	24	small	small	ADJ
alkej-360	155	25	spikes	spike	NOUN
alkej-360	155	26	and	and	CCONJ
alkej-360	155	27	nonsmooth	nonsmooth	ADJ
alkej-360	155	28	response	response	NOUN
alkej-360	155	29	in	in	ADP
alkej-360	155	30	this	this	DET
alkej-360	155	31	region	region	NOUN
alkej-360	155	32	.	.	PUNCT
alkej-360	156	1	figs	fig	NOUN
alkej-360	156	2	.	.	PUNCT
alkej-360	157	1	13	13	NUM
alkej-360	157	2	-	-	PUNCT
alkej-360	157	3	a	a	DET
alkej-360	157	4	,	,	PUNCT
alkej-360	157	5	b	b	NOUN
alkej-360	157	6	,	,	PUNCT
alkej-360	157	7	c	c	PROPN
alkej-360	157	8	show	show	VERB
alkej-360	157	9	the	the	DET
alkej-360	157	10	robustness	robustness	NOUN
alkej-360	157	11	and	and	CCONJ
alkej-360	157	12	adaptation	adaptation	NOUN
alkej-360	157	13	performance	performance	NOUN
alkej-360	157	14	of	of	ADP
alkej-360	157	15	the	the	DET
alkej-360	157	16	proposed	propose	VERB
alkej-360	157	17	controller	controller	NOUN
alkej-360	157	18	in	in	ADP
alkej-360	157	19	terms	term	NOUN
alkej-360	157	20	of	of	ADP
alkej-360	157	21	keeping	keep	VERB
alkej-360	157	22	on	on	ADP
alkej-360	157	23	minimum	minimum	ADJ
alkej-360	157	24	tracking	tracking	NOUN
alkej-360	157	25	pose	pose	NOUN
alkej-360	157	26	error	error	NOUN
alkej-360	157	27	for	for	ADP
alkej-360	157	28	the	the	DET
alkej-360	157	29	wheeled	wheel	VERB
alkej-360	157	30	mobile	mobile	ADJ
alkej-360	157	31	robot	robot	NOUN
alkej-360	157	32	and	and	CCONJ
alkej-360	157	33	stabilizing	stabilize	VERB
alkej-360	157	34	the	the	DET
alkej-360	157	35	pose	pose	NOUN
alkej-360	157	36	of	of	ADP
alkej-360	157	37	the	the	DET
alkej-360	157	38	mobile	mobile	NOUN
alkej-360	157	39	robot	robot	NOUN
alkej-360	157	40	when	when	SCONJ
alkej-360	157	41	the	the	DET
alkej-360	157	42	mobile	mobile	ADJ
alkej-360	157	43	robot	robot	NOUN
alkej-360	157	44	tries	try	VERB
alkej-360	157	45	to	to	PART
alkej-360	157	46	drift	drift	VERB
alkej-360	157	47	from	from	ADP
alkej-360	157	48	the	the	DET
alkej-360	157	49	desired	desire	VERB
alkej-360	157	50	path	path	NOUN
alkej-360	157	51	because	because	SCONJ
alkej-360	157	52	the	the	DET
alkej-360	157	53	effect	effect	NOUN
alkej-360	157	54	of	of	ADP
alkej-360	157	55	the	the	DET
alkej-360	157	56	bounded	bounded	ADJ
alkej-360	157	57	dynamic	dynamic	ADJ
alkej-360	157	58	disturbances	disturbance	NOUN
alkej-360	157	59	to	to	ADP
alkej-360	157	60	the	the	DET
alkej-360	157	61	system	system	NOUN
alkej-360	157	62	.	.	PUNCT
alkej-360	158	1	fig	fig	NOUN
alkej-360	158	2	.	.	PUNCT
alkej-360	159	1	11	11	NUM
alkej-360	159	2	.	.	PUNCT
alkej-360	160	1	angular	angular	ADJ
alkej-360	160	2	velocities	velocity	NOUN
alkej-360	160	3	of	of	ADP
alkej-360	160	4	the	the	DET
alkej-360	160	5	left	left	ADJ
alkej-360	160	6	and	and	CCONJ
alkej-360	160	7	right	right	ADJ
alkej-360	160	8	wheels	wheel	NOUN
alkej-360	160	9	for	for	ADP
alkej-360	160	10	nonlinear	nonlinear	ADJ
alkej-360	160	11	neural	neural	ADJ
alkej-360	160	12	controller	controller	NOUN
alkej-360	160	13	.	.	PUNCT
alkej-360	161	1	20	20	NUM
alkej-360	161	2	40	40	NUM
alkej-360	161	3	60	60	NUM
alkej-360	161	4	80	80	NUM
alkej-360	161	5	100	100	NUM
alkej-360	161	6	120	120	NUM
alkej-360	161	7	140	140	NUM
alkej-360	161	8	160	160	NUM
alkej-360	161	9	180	180	NUM
alkej-360	161	10	200	200	NUM
alkej-360	161	11	0	0	NUM
alkej-360	161	12	0.005	0.005	NUM
alkej-360	161	13	0.01	0.01	NUM
alkej-360	161	14	0.015	0.015	NUM
alkej-360	161	15	0.02	0.02	NUM
alkej-360	161	16	0.025	0.025	NUM
alkej-360	161	17	samples	sample	NOUN
alkej-360	161	18	(	(	PUNCT
alkej-360	161	19	sampling	sample	VERB
alkej-360	161	20	time	time	NOUN
alkej-360	161	21	0.1	0.1	NUM
alkej-360	161	22	sec	sec	PROPN
alkej-360	161	23	)	)	PUNCT
alkej-360	161	24	p	p	NOUN
alkej-360	161	25	e	e	NOUN
alkej-360	161	26	r	r	NOUN
alkej-360	161	27	fo	fo	INTJ
alkej-360	161	28	r	r	NOUN
alkej-360	161	29	m	m	VERB
alkej-360	161	30	a	a	PRON
alkej-360	161	31	n	n	NOUN
alkej-360	161	32	c	c	NOUN
alkej-360	161	33	e	e	NOUN
alkej-360	161	34	in	in	ADP
alkej-360	161	35	d	d	PROPN
alkej-360	161	36	e	e	X
alkej-360	161	37	x	x	X
alkej-360	161	38	(	(	PUNCT
alkej-360	161	39	m	m	PROPN
alkej-360	161	40	s	s	NOUN
alkej-360	161	41	e	e	NOUN
alkej-360	161	42	)	)	PUNCT
alkej-360	161	43	20	20	NUM
alkej-360	161	44	40	40	NUM
alkej-360	161	45	60	60	NUM
alkej-360	161	46	80	80	NUM
alkej-360	161	47	100	100	NUM
alkej-360	161	48	120	120	NUM
alkej-360	161	49	140	140	NUM
alkej-360	161	50	160	160	NUM
alkej-360	161	51	180	180	NUM
alkej-360	161	52	200	200	NUM
alkej-360	161	53	0	0	NUM
alkej-360	161	54	0.2	0.2	NUM
alkej-360	161	55	0.4	0.4	NUM
alkej-360	161	56	0.6	0.6	NUM
alkej-360	161	57	0.8	0.8	NUM
alkej-360	161	58	1	1	NUM
alkej-360	161	59	1.2	1.2	NUM
alkej-360	161	60	1.4	1.4	NUM
alkej-360	161	61	1.6	1.6	NUM
alkej-360	161	62	1.8	1.8	NUM
alkej-360	161	63	samples	sample	NOUN
alkej-360	161	64	(	(	PUNCT
alkej-360	161	65	sampling	sample	VERB
alkej-360	161	66	time	time	NOUN
alkej-360	161	67	0.1	0.1	NUM
alkej-360	161	68	sec	sec	PROPN
alkej-360	161	69	)	)	PUNCT
alkej-360	161	70	p	p	X
alkej-360	161	71	e	e	NOUN
alkej-360	161	72	rf	rf	NOUN
alkej-360	161	73	o	o	NOUN
alkej-360	161	74	r	r	NOUN
alkej-360	161	75	m	m	PROPN
alkej-360	161	76	a	a	PRON
alkej-360	161	77	n	n	NUM
alkej-360	161	78	ce	ce	NOUN
alkej-360	162	1	i	i	NOUN
alkej-360	162	2	n	n	VERB
alkej-360	162	3	d	d	X
alkej-360	162	4	e	e	X
alkej-360	162	5	x	x	X
alkej-360	162	6	(	(	PUNCT
alkej-360	162	7	m	m	PROPN
alkej-360	162	8	s	s	NOUN
alkej-360	162	9	e	e	NOUN
alkej-360	162	10	)	)	PUNCT
alkej-360	162	11	20	20	NUM
alkej-360	162	12	40	40	NUM
alkej-360	162	13	60	60	NUM
alkej-360	162	14	80	80	NUM
alkej-360	162	15	100	100	NUM
alkej-360	162	16	120	120	NUM
alkej-360	162	17	140	140	NUM
alkej-360	162	18	160	160	NUM
alkej-360	162	19	180	180	NUM
alkej-360	162	20	200	200	NUM
alkej-360	162	21	-2	-2	NOUN
alkej-360	162	22	-1.5	-1.5	NUM
alkej-360	162	23	-1	-1	PROPN
alkej-360	163	1	-0.5	-0.5	X
alkej-360	163	2	0	0	NUM
alkej-360	163	3	0.5	0.5	NUM
alkej-360	163	4	1	1	NUM
alkej-360	163	5	1.5	1.5	NUM
alkej-360	163	6	2	2	NUM
alkej-360	163	7	2.5	2.5	NUM
alkej-360	163	8	samples	sample	NOUN
alkej-360	163	9	(	(	PUNCT
alkej-360	163	10	sampling	sample	VERB
alkej-360	163	11	time	time	NOUN
alkej-360	163	12	0.1	0.1	NUM
alkej-360	163	13	sec	sec	PROPN
alkej-360	163	14	)	)	PUNCT
alkej-360	163	15	l	l	NOUN
alkej-360	163	16	e	e	NOUN
alkej-360	163	17	ft	ft	PART
alkej-360	163	18	a	a	DET
alkej-360	163	19	n	n	NOUN
alkej-360	163	20	d	d	NOUN
alkej-360	163	21	r	r	NOUN
alkej-360	163	22	ig	ig	PROPN
alkej-360	163	23	h	h	NOUN
alkej-360	164	1	t	t	NOUN
alkej-360	164	2	t	t	PROPN
alkej-360	164	3	o	o	X
alkej-360	164	4	rq	rq	VERB
alkej-360	164	5	u	u	NOUN
alkej-360	164	6	e	e	X
alkej-360	164	7	c	c	NOUN
alkej-360	164	8	o	o	X
alkej-360	164	9	n	n	PRON
alkej-360	164	10	tr	tr	NOUN
alkej-360	164	11	o	o	PROPN
alkej-360	164	12	l	l	NOUN
alkej-360	164	13	a	a	DET
alkej-360	164	14	ct	ct	X
alkej-360	164	15	io	io	X
alkej-360	164	16	n	n	PROPN
alkej-360	164	17	(	(	PUNCT
alkej-360	164	18	n	n	ADV
alkej-360	164	19	.m	.m	NOUN
alkej-360	164	20	)	)	PUNCT
alkej-360	165	1	the	the	DET
alkej-360	165	2	torque	torque	NOUN
alkej-360	165	3	of	of	ADP
alkej-360	165	4	left	left	ADJ
alkej-360	165	5	wheel	wheel	VERB
alkej-360	165	6	the	the	DET
alkej-360	165	7	torque	torque	NOUN
alkej-360	165	8	of	of	ADP
alkej-360	165	9	right	right	ADJ
alkej-360	165	10	wheel	wheel	NOUN
alkej-360	165	11	20	20	NUM
alkej-360	165	12	40	40	NUM
alkej-360	165	13	60	60	NUM
alkej-360	165	14	80	80	NUM
alkej-360	165	15	100	100	NUM
alkej-360	165	16	120	120	NUM
alkej-360	165	17	140	140	NUM
alkej-360	165	18	160	160	NUM
alkej-360	165	19	180	180	NUM
alkej-360	165	20	200	200	NUM
alkej-360	165	21	-4	-4	CCONJ
alkej-360	165	22	-3	-3	INTJ
alkej-360	165	23	-2	-2	INTJ
alkej-360	165	24	-1	-1	SYM
alkej-360	165	25	0	0	NUM
alkej-360	165	26	1	1	NUM
alkej-360	165	27	2	2	NUM
alkej-360	165	28	3	3	NUM
alkej-360	165	29	4	4	NUM
alkej-360	165	30	samples	sample	NOUN
alkej-360	165	31	(	(	PUNCT
alkej-360	165	32	sampling	sample	VERB
alkej-360	165	33	time	time	NOUN
alkej-360	165	34	0.1	0.1	NUM
alkej-360	165	35	sec	sec	PROPN
alkej-360	165	36	)	)	PUNCT
alkej-360	165	37	l	l	NOUN
alkej-360	165	38	ef	ef	PROPN
alkej-360	165	39	t	t	PROPN
alkej-360	165	40	a	a	PRON
alkej-360	165	41	n	n	NOUN
alkej-360	166	1	d	d	NOUN
alkej-360	166	2	r	r	NOUN
alkej-360	166	3	ig	ig	PROPN
alkej-360	166	4	h	h	NOUN
alkej-360	166	5	t	t	NOUN
alkej-360	166	6	t	t	X
alkej-360	166	7	o	o	NOUN
alkej-360	166	8	r	r	NOUN
alkej-360	166	9	q	q	X
alkej-360	166	10	u	u	NOUN
alkej-360	166	11	e	e	NOUN
alkej-360	166	12	c	c	NOUN
alkej-360	166	13	o	o	X
alkej-360	166	14	n	n	PRON
alkej-360	166	15	tr	tr	NOUN
alkej-360	166	16	o	o	PROPN
alkej-360	166	17	l	l	NOUN
alkej-360	166	18	a	a	DET
alkej-360	166	19	c	c	NOUN
alkej-360	166	20	ti	ti	NOUN
alkej-360	166	21	o	o	NOUN
alkej-360	166	22	n	n	PROPN
alkej-360	166	23	(	(	PUNCT
alkej-360	166	24	n	n	ADV
alkej-360	166	25	.m	.m	NOUN
alkej-360	166	26	)	)	PUNCT
alkej-360	167	1	the	the	DET
alkej-360	167	2	torque	torque	NOUN
alkej-360	167	3	of	of	ADP
alkej-360	167	4	right	right	ADJ
alkej-360	167	5	wheel	wheel	NOUN
alkej-360	167	6	the	the	DET
alkej-360	167	7	torque	torque	NOUN
alkej-360	167	8	of	of	ADP
alkej-360	167	9	left	left	ADJ
alkej-360	167	10	wheel	wheel	NOUN
alkej-360	167	11	20	20	NUM
alkej-360	167	12	40	40	NUM
alkej-360	167	13	60	60	NUM
alkej-360	167	14	80	80	NUM
alkej-360	167	15	100	100	NUM
alkej-360	167	16	120	120	NUM
alkej-360	167	17	140	140	NUM
alkej-360	167	18	160	160	NUM
alkej-360	167	19	180	180	NUM
alkej-360	167	20	200	200	NUM
alkej-360	167	21	-2	-2	NOUN
alkej-360	167	22	0	0	NUM
alkej-360	167	23	2	2	NUM
alkej-360	167	24	4	4	NUM
alkej-360	167	25	6	6	NUM
alkej-360	167	26	8	8	NUM
alkej-360	167	27	10	10	NUM
alkej-360	167	28	12	12	NUM
alkej-360	167	29	l	l	NOUN
alkej-360	167	30	e	e	NOUN
alkej-360	167	31	ft	ft	PART
alkej-360	167	32	a	a	DET
alkej-360	167	33	n	n	NOUN
alkej-360	167	34	d	d	NOUN
alkej-360	167	35	r	r	NOUN
alkej-360	167	36	ig	ig	PROPN
alkej-360	167	37	h	h	NOUN
alkej-360	168	1	t	t	PROPN
alkej-360	168	2	w	w	NOUN
alkej-360	168	3	h	h	PROPN
alkej-360	168	4	e	e	X
alkej-360	168	5	e	e	X
alkej-360	168	6	l	l	X
alkej-360	168	7	a	a	X
alkej-360	168	8	n	n	NOUN
alkej-360	168	9	g	g	NOUN
alkej-360	168	10	u	u	NOUN
alkej-360	168	11	la	la	PROPN
alkej-360	168	12	r	r	NOUN
alkej-360	168	13	v	v	NOUN
alkej-360	168	14	e	e	X
alkej-360	168	15	lo	lo	NOUN
alkej-360	168	16	c	c	VERB
alkej-360	168	17	it	it	PRON
alkej-360	168	18	y	y	INTJ
alkej-360	168	19	(	(	PUNCT
alkej-360	168	20	r	r	NOUN
alkej-360	168	21	a	a	PROPN
alkej-360	168	22	d	d	NOUN
alkej-360	168	23	/s	/s	PUNCT
alkej-360	168	24	ec	ec	PROPN
alkej-360	168	25	)	)	PUNCT
alkej-360	169	1	the	the	DET
alkej-360	169	2	angular	angular	ADJ
alkej-360	169	3	velocity	velocity	NOUN
alkej-360	169	4	of	of	ADP
alkej-360	169	5	left	left	ADJ
alkej-360	169	6	wheel	wheel	NOUN
alkej-360	169	7	the	the	DET
alkej-360	169	8	angular	angular	ADJ
alkej-360	169	9	velocity	velocity	NOUN
alkej-360	169	10	of	of	ADP
alkej-360	169	11	right	right	ADJ
alkej-360	169	12	wheel	wheel	NOUN
alkej-360	169	13	ahmed	ahmed	PROPN
alkej-360	169	14	s.	s.	PROPN
alkej-360	169	15	al	al	PROPN
alkej-360	169	16	-	-	PROPN
alkej-360	169	17	araji	araji	PROPN
alkej-360	169	18	al	al	PROPN
alkej-360	169	19	-	-	PUNCT
alkej-360	169	20	khwarizmi	khwarizmi	PROPN
alkej-360	169	21	engineering	engineering	NOUN
alkej-360	169	22	journal	journal	PROPN
alkej-360	169	23	,	,	PUNCT
alkej-360	169	24	vol	vol	NOUN
alkej-360	169	25	.	.	PROPN
alkej-360	169	26	13	13	NUM
alkej-360	169	27	,	,	PUNCT
alkej-360	169	28	no	no	INTJ
alkej-360	169	29	.	.	NOUN
alkej-360	169	30	3	3	NUM
alkej-360	169	31	,	,	PUNCT
alkej-360	169	32	p.p	p.p	PROPN
alkej-360	169	33	.	.	NOUN
alkej-360	169	34	6473	6473	NUM
alkej-360	169	35	(	(	PUNCT
alkej-360	169	36	2017	2017	NUM
alkej-360	169	37	)	)	PUNCT
alkej-360	169	38	71	71	NUM
alkej-360	169	39	fig	fig	NOUN
alkej-360	169	40	.	.	PUNCT
alkej-360	170	1	12	12	NUM
alkej-360	170	2	.	.	PUNCT
alkej-360	171	1	angular	angular	ADJ
alkej-360	171	2	velocities	velocity	NOUN
alkej-360	171	3	of	of	ADP
alkej-360	171	4	the	the	DET
alkej-360	171	5	left	left	ADJ
alkej-360	171	6	and	and	CCONJ
alkej-360	171	7	right	right	ADJ
alkej-360	171	8	wheels	wheel	NOUN
alkej-360	171	9	for	for	ADP
alkej-360	171	10	nonlinear	nonlinear	ADJ
alkej-360	171	11	back	back	ADV
alkej-360	171	12	-	-	PUNCT
alkej-360	171	13	stepping	step	VERB
alkej-360	171	14	controller	controller	NOUN
alkej-360	171	15	.	.	PUNCT
alkej-360	172	1	fig	fig	NOUN
alkej-360	172	2	.	.	PUNCT
alkej-360	173	1	13	13	NUM
alkej-360	173	2	.	.	X
alkej-360	173	3	pose	pose	VERB
alkej-360	173	4	error	error	NOUN
alkej-360	173	5	of	of	ADP
alkej-360	173	6	the	the	DET
alkej-360	173	7	mobile	mobile	ADJ
alkej-360	173	8	robot	robot	NOUN
alkej-360	173	9	:	:	PUNCT
alkej-360	173	10	a	a	X
alkej-360	173	11	)	)	PUNCT
alkej-360	173	12	error	error	NOUN
alkej-360	173	13	in	in	ADP
alkej-360	173	14	x	x	NOUN
alkej-360	173	15	-	-	NOUN
alkej-360	173	16	axis	axis	ADJ
alkej-360	173	17	;	;	PUNCT
alkej-360	173	18	b	b	X
alkej-360	173	19	)	)	PUNCT
alkej-360	173	20	error	error	NOUN
alkej-360	173	21	in	in	ADP
alkej-360	173	22	y	y	NOUN
alkej-360	173	23	-	-	PUNCT
alkej-360	173	24	axis	axis	ADJ
alkej-360	173	25	;	;	PUNCT
alkej-360	173	26	c	c	X
alkej-360	173	27	)	)	PUNCT
alkej-360	173	28	orientation	orientation	NOUN
alkej-360	173	29	error	error	NOUN
alkej-360	173	30	.	.	PUNCT
alkej-360	174	1	6	6	X
alkej-360	174	2	.	.	PUNCT
alkej-360	174	3	conclusions	conclusion	NOUN
alkej-360	174	4	the	the	DET
alkej-360	174	5	simulation	simulation	NOUN
alkej-360	174	6	results	result	VERB
alkej-360	174	7	on	on	ADP
alkej-360	174	8	the	the	DET
alkej-360	174	9	on	on	ADP
alkej-360	174	10	-	-	PUNCT
alkej-360	174	11	line	line	NOUN
alkej-360	174	12	cognitive	cognitive	ADJ
alkej-360	174	13	hybrid	hybrid	ADJ
alkej-360	174	14	bees	bee	NOUN
alkej-360	174	15	-	-	PUNCT
alkej-360	174	16	pso	pso	ADJ
alkej-360	174	17	tuning	tuning	NOUN
alkej-360	174	18	algorithm	algorithm	NOUN
alkej-360	174	19	of	of	ADP
alkej-360	174	20	different	different	ADJ
alkej-360	174	21	types	type	NOUN
alkej-360	174	22	of	of	ADP
alkej-360	174	23	nonlinear	nonlinear	ADJ
alkej-360	174	24	controllers	controller	NOUN
alkej-360	174	25	are	be	AUX
alkej-360	174	26	presented	present	VERB
alkej-360	174	27	in	in	ADP
alkej-360	174	28	this	this	DET
alkej-360	174	29	paper	paper	NOUN
alkej-360	174	30	for	for	ADP
alkej-360	174	31	the	the	DET
alkej-360	174	32	dynamic	dynamic	ADJ
alkej-360	174	33	wheeled	wheel	VERB
alkej-360	174	34	mobile	mobile	PROPN
alkej-360	174	35	robot	robot	NOUN
alkej-360	174	36	model	model	NOUN
alkej-360	174	37	which	which	PRON
alkej-360	174	38	shows	show	VERB
alkej-360	174	39	preciously	preciously	ADV
alkej-360	174	40	and	and	CCONJ
alkej-360	174	41	that	that	SCONJ
alkej-360	174	42	the	the	DET
alkej-360	174	43	proposed	propose	VERB
alkej-360	174	44	hybrid	hybrid	ADJ
alkej-360	174	45	bees	bee	NOUN
alkej-360	174	46	-	-	PUNCT
alkej-360	174	47	pso	pso	NOUN
alkej-360	174	48	tuning	tuning	NOUN
alkej-360	174	49	control	control	NOUN
alkej-360	174	50	algorithm	algorithm	NOUN
alkej-360	174	51	was	be	AUX
alkej-360	174	52	better	well	ADJ
alkej-360	174	53	than	than	ADP
alkej-360	174	54	the	the	DET
alkej-360	174	55	results	result	NOUN
alkej-360	174	56	in	in	ADP
alkej-360	174	57	[	[	X
alkej-360	174	58	3	3	NUM
alkej-360	174	59	and	and	CCONJ
alkej-360	174	60	4	4	NUM
alkej-360	174	61	]	]	PUNCT
alkej-360	174	62	in	in	ADP
alkej-360	174	63	terms	term	NOUN
alkej-360	174	64	of	of	ADP
alkej-360	174	65	the	the	DET
alkej-360	174	66	following	follow	VERB
alkej-360	174	67	capabilities	capability	NOUN
alkej-360	174	68	:	:	PUNCT
alkej-360	174	69	•	•	ADP
alkej-360	174	70	fast	fast	ADJ
alkej-360	174	71	and	and	CCONJ
alkej-360	174	72	stable	stable	ADJ
alkej-360	174	73	on	on	ADP
alkej-360	174	74	-	-	PUNCT
alkej-360	174	75	line	line	NOUN
alkej-360	174	76	finding	finding	NOUN
alkej-360	174	77	and	and	CCONJ
alkej-360	174	78	tuning	tune	VERB
alkej-360	174	79	the	the	DET
alkej-360	174	80	parameters	parameter	NOUN
alkej-360	174	81	of	of	ADP
alkej-360	174	82	the	the	DET
alkej-360	174	83	controller	controller	NOUN
alkej-360	174	84	with	with	ADP
alkej-360	174	85	minimum	minimum	ADJ
alkej-360	174	86	number	number	NOUN
alkej-360	174	87	of	of	ADP
alkej-360	174	88	iteration	iteration	NOUN
alkej-360	174	89	in	in	ADP
alkej-360	174	90	the	the	DET
alkej-360	174	91	local	local	ADJ
alkej-360	174	92	and	and	CCONJ
alkej-360	174	93	global	global	ADJ
alkej-360	174	94	search	search	NOUN
alkej-360	174	95	.	.	PUNCT
alkej-360	175	1	•	•	PUNCT
alkej-360	175	2	obtaining	obtain	VERB
alkej-360	175	3	best	good	ADJ
alkej-360	175	4	torque	torque	NOUN
alkej-360	175	5	control	control	NOUN
alkej-360	175	6	action	action	NOUN
alkej-360	175	7	,	,	PUNCT
alkej-360	175	8	with	with	ADP
alkej-360	175	9	small	small	ADJ
alkej-360	175	10	spikes	spike	NOUN
alkej-360	175	11	as	as	ADV
alkej-360	175	12	well	well	ADV
alkej-360	175	13	as	as	ADP
alkej-360	175	14	no	no	DET
alkej-360	175	15	saturation	saturation	NOUN
alkej-360	175	16	torque	torque	NOUN
alkej-360	175	17	action	action	NOUN
alkej-360	175	18	state	state	NOUN
alkej-360	175	19	for	for	ADP
alkej-360	175	20	the	the	DET
alkej-360	175	21	nonlinear	nonlinear	ADJ
alkej-360	175	22	neural	neural	ADJ
alkej-360	175	23	controller	controller	NOUN
alkej-360	175	24	.	.	PUNCT
alkej-360	176	1	•	•	NUM
alkej-360	176	2	minimizing	minimize	VERB
alkej-360	176	3	the	the	DET
alkej-360	176	4	pose	pose	NOUN
alkej-360	176	5	error	error	NOUN
alkej-360	176	6	and	and	CCONJ
alkej-360	176	7	no	no	DET
alkej-360	176	8	oscillation	oscillation	NOUN
alkej-360	176	9	output	output	NOUN
alkej-360	176	10	for	for	ADP
alkej-360	176	11	the	the	DET
alkej-360	176	12	wheeled	wheel	VERB
alkej-360	176	13	mobile	mobile	ADJ
alkej-360	176	14	robot	robot	NOUN
alkej-360	176	15	during	during	ADP
alkej-360	176	16	motion	motion	NOUN
alkej-360	176	17	in	in	ADP
alkej-360	176	18	the	the	DET
alkej-360	176	19	reference	reference	NOUN
alkej-360	176	20	path	path	NOUN
alkej-360	176	21	.	.	PUNCT
alkej-360	177	1	•	•	NUM
alkej-360	177	2	strong	strong	ADJ
alkej-360	177	3	adaptability	adaptability	NOUN
alkej-360	177	4	and	and	CCONJ
alkej-360	177	5	robustness	robustness	NOUN
alkej-360	177	6	performance	performance	NOUN
alkej-360	177	7	when	when	SCONJ
alkej-360	177	8	dynamic	dynamic	ADJ
alkej-360	177	9	disturbances	disturbance	NOUN
alkej-360	177	10	have	have	AUX
alkej-360	177	11	been	be	AUX
alkej-360	177	12	added	add	VERB
alkej-360	177	13	to	to	ADP
alkej-360	177	14	the	the	DET
alkej-360	177	15	mobile	mobile	NOUN
alkej-360	177	16	robot	robot	NOUN
alkej-360	177	17	.	.	PUNCT
alkej-360	178	1	7	7	X
alkej-360	178	2	.	.	NUM
alkej-360	178	3	references	reference	NOUN
alkej-360	178	4	[	[	X
alkej-360	178	5	1	1	NUM
alkej-360	178	6	]	]	X
alkej-360	178	7	leenaa	leenaa	ADJ
alkej-360	178	8	n.	n.	NOUN
alkej-360	178	9	and	and	CCONJ
alkej-360	178	10	sajub	sajub	PROPN
alkej-360	178	11	k.k	k.k	PROPN
alkej-360	178	12	.	.	PROPN
alkej-360	178	13	,	,	PUNCT
alkej-360	178	14	modelling	modelling	NOUN
alkej-360	178	15	and	and	CCONJ
alkej-360	178	16	trajectory	trajectory	NOUN
alkej-360	178	17	tracking	tracking	NOUN
alkej-360	178	18	of	of	ADP
alkej-360	178	19	wheeled	wheel	VERB
alkej-360	178	20	mobile	mobile	ADJ
alkej-360	178	21	robots	robot	NOUN
alkej-360	178	22	.	.	PUNCT
alkej-360	179	1	international	international	ADJ
alkej-360	179	2	conference	conference	NOUN
alkej-360	179	3	on	on	ADP
alkej-360	179	4	emerging	emerge	VERB
alkej-360	179	5	trends	trend	NOUN
alkej-360	179	6	in	in	ADP
alkej-360	179	7	engineering	engineering	NOUN
alkej-360	179	8	,	,	PUNCT
alkej-360	179	9	science	science	NOUN
alkej-360	179	10	and	and	CCONJ
alkej-360	179	11	technology	technology	NOUN
alkej-360	179	12	(	(	PUNCT
alkej-360	179	13	icetest	icetest	NOUN
alkej-360	179	14	2015	2015	NUM
alkej-360	179	15	)	)	PUNCT
alkej-360	179	16	,	,	PUNCT
alkej-360	179	17	vol	vol	NOUN
alkej-360	179	18	.	.	PROPN
alkej-360	179	19	24	24	NUM
alkej-360	179	20	,	,	PUNCT
alkej-360	179	21	pages	page	NOUN
alkej-360	179	22	538–545	538–545	NUM
alkej-360	179	23	.	.	NOUN
alkej-360	179	24	2016	2016	NUM
alkej-360	179	25	.	.	PUNCT
alkej-360	180	1	[	[	X
alkej-360	180	2	2	2	NUM
alkej-360	180	3	]	]	PUNCT
alkej-360	180	4	asif	asif	PROPN
alkej-360	180	5	m.	m.	NOUN
alkej-360	180	6	,	,	PUNCT
alkej-360	180	7	khan	khan	PROPN
alkej-360	180	8	m.	m.	PROPN
alkej-360	180	9	j.	j.	PROPN
alkej-360	180	10	,	,	PUNCT
alkej-360	180	11	rehan	rehan	PROPN
alkej-360	180	12	m.	m.	NOUN
alkej-360	180	13	and	and	CCONJ
alkej-360	180	14	safwan	safwan	PROPN
alkej-360	180	15	,	,	PUNCT
alkej-360	180	16	m.	m.	NOUN
alkej-360	180	17	,	,	PUNCT
alkej-360	180	18	feedforward	feedforward	NOUN
alkej-360	180	19	and	and	CCONJ
alkej-360	180	20	feedback	feedback	NOUN
alkej-360	180	21	kinematics	kinematic	NOUN
alkej-360	180	22	controller	controller	NOUN
alkej-360	180	23	for	for	ADP
alkej-360	180	24	wheeled	wheel	VERB
alkej-360	180	25	mobile	mobile	NOUN
alkej-360	180	26	robot	robot	NOUN
alkej-360	180	27	trajectory	trajectory	NOUN
alkej-360	180	28	tracking	tracking	NOUN
alkej-360	180	29	.	.	PUNCT
alkej-360	181	1	journal	journal	PROPN
alkej-360	181	2	of	of	ADP
alkej-360	181	3	automation	automation	NOUN
alkej-360	181	4	and	and	CCONJ
alkej-360	181	5	control	control	PROPN
alkej-360	181	6	engineering	engineering	NOUN
alkej-360	181	7	,	,	PUNCT
alkej-360	181	8	vol	vol	NOUN
alkej-360	181	9	.	.	PROPN
alkej-360	181	10	3	3	NUM
alkej-360	181	11	,	,	PUNCT
alkej-360	181	12	no.3	no.3	VERB
alkej-360	181	13	,	,	PUNCT
alkej-360	181	14	pp.178–182	pp.178–182	NOUN
alkej-360	181	15	.	.	PROPN
alkej-360	181	16	2015	2015	NUM
alkej-360	181	17	.	.	PUNCT
alkej-360	182	1	[	[	X
alkej-360	182	2	3	3	X
alkej-360	182	3	]	]	X
alkej-360	182	4	ahmed	ahmed	PROPN
alkej-360	182	5	al	al	PROPN
alkej-360	182	6	-	-	PUNCT
alkej-360	182	7	araji	araji	ADJ
alkej-360	182	8	,	,	PUNCT
alkej-360	182	9	comparative	comparative	ADJ
alkej-360	182	10	study	study	NOUN
alkej-360	182	11	of	of	ADP
alkej-360	182	12	various	various	ADJ
alkej-360	182	13	intelligent	intelligent	ADJ
alkej-360	182	14	algorithms	algorithm	NOUN
alkej-360	182	15	based	base	VERB
alkej-360	182	16	nonlinear	nonlinear	PROPN
alkej-360	182	17	pid	pid	PROPN
alkej-360	182	18	neural	neural	ADJ
alkej-360	182	19	trajectory	trajectory	NOUN
alkej-360	182	20	tracking	track	VERB
alkej-360	182	21	controller	controller	NOUN
alkej-360	182	22	for	for	ADP
alkej-360	182	23	the	the	DET
alkej-360	182	24	differential	differential	ADJ
alkej-360	182	25	wheeled	wheel	VERB
alkej-360	182	26	mobile	mobile	PROPN
alkej-360	182	27	robot	robot	NOUN
alkej-360	182	28	model	model	PROPN
alkej-360	182	29	.	.	PUNCT
alkej-360	183	1	journal	journal	PROPN
alkej-360	183	2	of	of	ADP
alkej-360	183	3	engineering	engineering	NOUN
alkej-360	183	4	vol	vol	NOUN
alkej-360	183	5	.	.	PROPN
alkej-360	183	6	20	20	NUM
alkej-360	183	7	,	,	PUNCT
alkej-360	183	8	no	no	INTJ
alkej-360	183	9	.	.	NOUN
alkej-360	183	10	5	5	NUM
alkej-360	183	11	,	,	PUNCT
alkej-360	183	12	pp	pp	ADJ
alkej-360	183	13	.	.	PUNCT
alkej-360	184	1	44	44	NUM
alkej-360	184	2	-	-	SYM
alkej-360	184	3	60	60	NUM
alkej-360	184	4	.	.	PUNCT
alkej-360	184	5	2014	2014	NUM
alkej-360	185	1	[	[	X
alkej-360	185	2	4	4	NUM
alkej-360	185	3	]	]	PUNCT
alkej-360	185	4	khulood	khulood	PROPN
alkej-360	185	5	e.	e.	PROPN
alkej-360	185	6	dagher	dagher	PROPN
alkej-360	185	7	and	and	CCONJ
alkej-360	185	8	ahmed	ahmed	PROPN
alkej-360	185	9	al	al	PROPN
alkej-360	185	10	-	-	PUNCT
alkej-360	185	11	araji	araji	NOUN
alkej-360	185	12	,	,	PUNCT
alkej-360	185	13	design	design	NOUN
alkej-360	185	14	of	of	ADP
alkej-360	185	15	a	a	DET
alkej-360	185	16	nonlinear	nonlinear	ADJ
alkej-360	185	17	pid	pid	NOUN
alkej-360	185	18	neural	neural	ADJ
alkej-360	185	19	trajectory	trajectory	NOUN
alkej-360	185	20	tracking	track	VERB
alkej-360	185	21	controller	controller	NOUN
alkej-360	185	22	for	for	ADP
alkej-360	185	23	mobile	mobile	NOUN
alkej-360	185	24	robot	robot	NOUN
alkej-360	185	25	based	base	VERB
alkej-360	185	26	on	on	ADP
alkej-360	185	27	optimization	optimization	NOUN
alkej-360	185	28	algorithm	algorithm	NOUN
alkej-360	185	29	.	.	PUNCT
alkej-360	186	1	engineering	engineering	NOUN
alkej-360	186	2	&	&	CCONJ
alkej-360	186	3	technology	technology	PROPN
alkej-360	186	4	journal	journal	PROPN
alkej-360	186	5	.	.	PUNCT
alkej-360	187	1	vol	vol	NOUN
alkej-360	187	2	.	.	PROPN
alkej-360	188	1	32	32	NUM
alkej-360	188	2	,	,	PUNCT
alkej-360	188	3	no	no	INTJ
alkej-360	188	4	.	.	NOUN
alkej-360	188	5	4	4	NUM
alkej-360	188	6	,	,	PUNCT
alkej-360	188	7	pp	pp	ADV
alkej-360	188	8	973986	973986	NUM
alkej-360	188	9	.	.	PUNCT
alkej-360	189	1	2014	2014	NUM
alkej-360	189	2	.	.	PUNCT
alkej-360	190	1	[	[	X
alkej-360	190	2	5	5	X
alkej-360	190	3	]	]	X
alkej-360	190	4	safwan	safwan	PROPN
alkej-360	190	5	m.	m.	NOUN
alkej-360	190	6	,	,	PUNCT
alkej-360	190	7	uddin	uddin	PROPN
alkej-360	190	8	v.	v.	CCONJ
alkej-360	190	9	and	and	CCONJ
alkej-360	190	10	asif	asif	PROPN
alkej-360	190	11	m.	m.	NOUN
alkej-360	190	12	,	,	PUNCT
alkej-360	190	13	nonholonomic	nonholonomic	PROPN
alkej-360	190	14	mobile	mobile	PROPN
alkej-360	190	15	robot	robot	NOUN
alkej-360	190	16	trajectory	trajectory	NOUN
alkej-360	190	17	tracking	tracking	NOUN
alkej-360	190	18	using	use	VERB
alkej-360	190	19	hybrid	hybrid	ADJ
alkej-360	190	20	controller	controller	NOUN
alkej-360	190	21	,	,	PUNCT
alkej-360	190	22	mehran	mehran	PROPN
alkej-360	190	23	university	university	PROPN
alkej-360	190	24	research	research	PROPN
alkej-360	190	25	journal	journal	NOUN
alkej-360	190	26	of	of	ADP
alkej-360	190	27	engineering	engineering	NOUN
alkej-360	190	28	and	and	CCONJ
alkej-360	190	29	technology	technology	NOUN
alkej-360	190	30	,	,	PUNCT
alkej-360	190	31	vol	vol	NOUN
alkej-360	190	32	.	.	PROPN
alkej-360	190	33	35	35	NUM
alkej-360	190	34	,	,	PUNCT
alkej-360	190	35	no	no	INTJ
alkej-360	190	36	.	.	NOUN
alkej-360	190	37	2	2	NUM
alkej-360	190	38	,	,	PUNCT
alkej-360	190	39	2016	2016	NUM
alkej-360	190	40	.	.	PUNCT
alkej-360	191	1	[	[	X
alkej-360	191	2	6	6	NUM
alkej-360	191	3	]	]	X
alkej-360	191	4	martinez	martinez	PROPN
alkej-360	191	5	-	-	PROPN
alkej-360	191	6	soto	soto	PROPN
alkej-360	191	7	r.	r.	PROPN
alkej-360	191	8	,	,	PUNCT
alkej-360	191	9	castillo	castillo	PROPN
alkej-360	191	10	o.	o.	PROPN
alkej-360	191	11	,	,	PUNCT
alkej-360	191	12	aguilar	aguilar	PROPN
alkej-360	191	13	l.	l.	PROPN
alkej-360	191	14	and	and	CCONJ
alkej-360	191	15	baruch	baruch	PROPN
alkej-360	191	16	,	,	PUNCT
alkej-360	191	17	i	i	PRON
alkej-360	191	18	,	,	PUNCT
alkej-360	191	19	bio	bio	ADJ
alkej-360	191	20	-	-	PUNCT
alkej-360	191	21	inspired	inspired	ADJ
alkej-360	191	22	optimization	optimization	NOUN
alkej-360	191	23	of	of	ADP
alkej-360	191	24	fuzzy	fuzzy	ADJ
alkej-360	191	25	logic	logic	NOUN
alkej-360	191	26	controllers	controller	NOUN
alkej-360	191	27	for	for	ADP
alkej-360	191	28	autonomous	autonomous	ADJ
alkej-360	191	29	mobile	mobile	ADJ
alkej-360	191	30	robots	robot	NOUN
alkej-360	191	31	,	,	PUNCT
alkej-360	191	32	fuzzy	fuzzy	ADJ
alkej-360	191	33	information	information	NOUN
alkej-360	191	34	processing	processing	NOUN
alkej-360	191	35	society	society	NOUN
alkej-360	191	36	(	(	PUNCT
alkej-360	191	37	nafips-2012	nafips-2012	NOUN
alkej-360	191	38	)	)	PUNCT
alkej-360	191	39	,	,	PUNCT
alkej-360	191	40	annual	annual	ADJ
alkej-360	191	41	meeting	meeting	NOUN
alkej-360	191	42	of	of	ADP
alkej-360	191	43	the	the	DET
alkej-360	191	44	north	north	NOUN
alkej-360	191	45	american	american	PROPN
alkej-360	191	46	,	,	PUNCT
alkej-360	191	47	pp	pp	X
alkej-360	191	48	.	.	PUNCT
alkej-360	192	1	1–6	1–6	NUM
alkej-360	192	2	,	,	PUNCT
alkej-360	192	3	2012	2012	NUM
alkej-360	192	4	.	.	PUNCT
alkej-360	193	1	20	20	NUM
alkej-360	193	2	40	40	NUM
alkej-360	193	3	60	60	NUM
alkej-360	193	4	80	80	NUM
alkej-360	193	5	100	100	NUM
alkej-360	193	6	120	120	NUM
alkej-360	193	7	140	140	NUM
alkej-360	193	8	160	160	NUM
alkej-360	193	9	180	180	NUM
alkej-360	193	10	200	200	NUM
alkej-360	193	11	-2	-2	NOUN
alkej-360	193	12	0	0	NUM
alkej-360	193	13	2	2	NUM
alkej-360	193	14	4	4	NUM
alkej-360	193	15	6	6	NUM
alkej-360	193	16	8	8	NUM
alkej-360	193	17	10	10	NUM
alkej-360	193	18	12	12	NUM
alkej-360	193	19	samples	sample	NOUN
alkej-360	193	20	(	(	PUNCT
alkej-360	193	21	sampling	sample	VERB
alkej-360	193	22	time	time	NOUN
alkej-360	193	23	0.1	0.1	NUM
alkej-360	193	24	sec	sec	PROPN
alkej-360	193	25	)	)	PUNCT
alkej-360	193	26	l	l	NOUN
alkej-360	193	27	e	e	NOUN
alkej-360	193	28	ft	ft	PART
alkej-360	193	29	a	a	DET
alkej-360	193	30	n	n	NOUN
alkej-360	194	1	d	d	NOUN
alkej-360	194	2	r	r	NOUN
alkej-360	194	3	ig	ig	PROPN
alkej-360	194	4	h	h	NOUN
alkej-360	194	5	w	w	NOUN
alkej-360	194	6	h	h	PROPN
alkej-360	194	7	e	e	PROPN
alkej-360	194	8	el	el	PROPN
alkej-360	194	9	a	a	PROPN
alkej-360	194	10	n	n	NOUN
alkej-360	194	11	g	g	NOUN
alkej-360	194	12	u	u	NOUN
alkej-360	194	13	la	la	PROPN
alkej-360	194	14	r	r	NOUN
alkej-360	194	15	v	v	NOUN
alkej-360	194	16	e	e	X
alkej-360	194	17	lo	lo	NOUN
alkej-360	194	18	c	c	VERB
alkej-360	195	1	it	it	PRON
alkej-360	195	2	y	y	INTJ
alkej-360	195	3	(	(	PUNCT
alkej-360	195	4	r	r	NOUN
alkej-360	195	5	a	a	PROPN
alkej-360	195	6	d	d	NOUN
alkej-360	195	7	/s	/s	X
alkej-360	195	8	e	e	PROPN
alkej-360	195	9	c	c	NOUN
alkej-360	195	10	)	)	PUNCT
alkej-360	195	11	the	the	DET
alkej-360	195	12	angular	angular	ADJ
alkej-360	195	13	velocity	velocity	NOUN
alkej-360	195	14	of	of	ADP
alkej-360	195	15	left	left	ADJ
alkej-360	195	16	wheel	wheel	NOUN
alkej-360	195	17	the	the	DET
alkej-360	195	18	angular	angular	ADJ
alkej-360	195	19	velocity	velocity	NOUN
alkej-360	195	20	of	of	ADP
alkej-360	195	21	right	right	ADJ
alkej-360	195	22	wheel	wheel	NOUN
alkej-360	195	23	20	20	NUM
alkej-360	195	24	40	40	NUM
alkej-360	195	25	60	60	NUM
alkej-360	195	26	80	80	NUM
alkej-360	195	27	100	100	NUM
alkej-360	195	28	120	120	NUM
alkej-360	195	29	140	140	NUM
alkej-360	195	30	160	160	NUM
alkej-360	195	31	180	180	NUM
alkej-360	195	32	200	200	NUM
alkej-360	195	33	-0.2	-0.2	NOUN
alkej-360	195	34	0	0	NUM
alkej-360	195	35	0.2	0.2	NUM
alkej-360	195	36	0.4	0.4	NUM
alkej-360	195	37	0.6	0.6	NUM
alkej-360	195	38	0.8	0.8	NUM
alkej-360	195	39	1	1	NUM
alkej-360	195	40	1.2	1.2	NUM
alkej-360	195	41	1.4	1.4	NUM
alkej-360	195	42	1.6	1.6	NUM
alkej-360	195	43	1.8	1.8	NUM
alkej-360	195	44	samples	sample	NOUN
alkej-360	195	45	(	(	PUNCT
alkej-360	195	46	sampling	sample	VERB
alkej-360	195	47	time	time	NOUN
alkej-360	195	48	0.1	0.1	NUM
alkej-360	195	49	sec	sec	PROPN
alkej-360	195	50	)	)	PUNCT
alkej-360	195	51	20	20	NUM
alkej-360	195	52	40	40	NUM
alkej-360	195	53	60	60	NUM
alkej-360	195	54	80	80	NUM
alkej-360	195	55	100	100	NUM
alkej-360	195	56	120	120	NUM
alkej-360	195	57	140	140	NUM
alkej-360	195	58	160	160	NUM
alkej-360	195	59	180	180	NUM
alkej-360	195	60	200	200	NUM
alkej-360	195	61	0	0	NUM
alkej-360	195	62	0.5	0.5	NUM
alkej-360	195	63	1	1	NUM
alkej-360	195	64	1.5	1.5	NUM
alkej-360	195	65	samples	sample	NOUN
alkej-360	195	66	(	(	PUNCT
alkej-360	195	67	sampling	sample	VERB
alkej-360	195	68	time	time	NOUN
alkej-360	195	69	0.1	0.1	NUM
alkej-360	195	70	sec	sec	PROPN
alkej-360	195	71	)	)	PUNCT
alkej-360	195	72	20	20	NUM
alkej-360	195	73	40	40	NUM
alkej-360	195	74	60	60	NUM
alkej-360	195	75	80	80	NUM
alkej-360	195	76	100	100	NUM
alkej-360	195	77	120	120	NUM
alkej-360	195	78	140	140	NUM
alkej-360	195	79	160	160	NUM
alkej-360	195	80	180	180	NUM
alkej-360	195	81	200	200	NUM
alkej-360	195	82	0	0	NUM
alkej-360	195	83	0.2	0.2	NUM
alkej-360	195	84	0.4	0.4	NUM
alkej-360	195	85	0.6	0.6	NUM
alkej-360	195	86	0.8	0.8	NUM
alkej-360	195	87	1	1	NUM
alkej-360	195	88	1.2	1.2	NUM
alkej-360	195	89	samples	sample	NOUN
alkej-360	195	90	(	(	PUNCT
alkej-360	195	91	sampling	sample	VERB
alkej-360	195	92	time	time	NOUN
alkej-360	195	93	0.1	0.1	NUM
alkej-360	195	94	sec	sec	PROPN
alkej-360	195	95	)	)	PUNCT
alkej-360	195	96	ahmed	ahmed	PROPN
alkej-360	195	97	s.	s.	PROPN
alkej-360	195	98	al	al	PROPN
alkej-360	195	99	-	-	PROPN
alkej-360	195	100	araji	araji	PROPN
alkej-360	195	101	al	al	PROPN
alkej-360	195	102	-	-	PUNCT
alkej-360	195	103	khwarizmi	khwarizmi	PROPN
alkej-360	195	104	engineering	engineering	NOUN
alkej-360	195	105	journal	journal	PROPN
alkej-360	195	106	,	,	PUNCT
alkej-360	195	107	vol	vol	NOUN
alkej-360	195	108	.	.	PROPN
alkej-360	195	109	13	13	NUM
alkej-360	195	110	,	,	PUNCT
alkej-360	195	111	no	no	INTJ
alkej-360	195	112	.	.	NOUN
alkej-360	195	113	3	3	NUM
alkej-360	195	114	,	,	PUNCT
alkej-360	195	115	p.p	p.p	PROPN
alkej-360	195	116	.	.	NOUN
alkej-360	195	117	6473	6473	NUM
alkej-360	195	118	(	(	PUNCT
alkej-360	195	119	2017	2017	NUM
alkej-360	195	120	)	)	PUNCT
alkej-360	195	121	72	72	NUM
alkej-360	196	1	[	[	X
alkej-360	196	2	7	7	NUM
alkej-360	196	3	]	]	PUNCT
alkej-360	196	4	abdallan	abdallan	NOUN
alkej-360	196	5	ty	ty	INTJ
alkej-360	196	6	and	and	CCONJ
alkej-360	196	7	hamzah	hamzah	PROPN
alkej-360	196	8	mi	mi	PROPN
alkej-360	196	9	,	,	PUNCT
alkej-360	196	10	trajectory	trajectory	NOUN
alkej-360	196	11	tracking	tracking	NOUN
alkej-360	196	12	control	control	NOUN
alkej-360	196	13	for	for	ADP
alkej-360	196	14	mobile	mobile	NOUN
alkej-360	196	15	robot	robot	NOUN
alkej-360	196	16	using	use	VERB
alkej-360	196	17	wavelet	wavelet	NOUN
alkej-360	196	18	network	network	NOUN
alkej-360	196	19	,	,	PUNCT
alkej-360	196	20	international	international	ADJ
alkej-360	196	21	journal	journal	NOUN
alkej-360	196	22	of	of	ADP
alkej-360	196	23	computer	computer	NOUN
alkej-360	196	24	applications	application	NOUN
alkej-360	196	25	,	,	PUNCT
alkej-360	196	26	vol	vol	NOUN
alkej-360	196	27	.	.	PROPN
alkej-360	197	1	74	74	NUM
alkej-360	197	2	,	,	PUNCT
alkej-360	197	3	no	no	INTJ
alkej-360	197	4	.	.	NOUN
alkej-360	197	5	3	3	NUM
alkej-360	197	6	,	,	PUNCT
alkej-360	197	7	pp	pp	ADJ
alkej-360	197	8	.	.	PUNCT
alkej-360	198	1	327	327	NUM
alkej-360	198	2	,	,	PUNCT
alkej-360	198	3	2013	2013	NUM
alkej-360	198	4	.	.	PUNCT
alkej-360	199	1	[	[	X
alkej-360	199	2	8	8	NUM
alkej-360	199	3	]	]	X
alkej-360	199	4	ye	ye	PROPN
alkej-360	199	5	j.	j.	PROPN
alkej-360	199	6	,	,	PUNCT
alkej-360	199	7	tracking	track	VERB
alkej-360	199	8	control	control	NOUN
alkej-360	199	9	for	for	ADP
alkej-360	199	10	nonholonomic	nonholonomic	ADJ
alkej-360	199	11	mobile	mobile	ADJ
alkej-360	199	12	robots	robot	NOUN
alkej-360	199	13	:	:	PUNCT
alkej-360	199	14	integrating	integrate	VERB
alkej-360	199	15	the	the	DET
alkej-360	199	16	analog	analog	ADJ
alkej-360	199	17	neural	neural	ADJ
alkej-360	199	18	network	network	NOUN
alkej-360	199	19	into	into	ADP
alkej-360	199	20	the	the	DET
alkej-360	199	21	backstepping	backstepping	NOUN
alkej-360	199	22	technique	technique	NOUN
alkej-360	199	23	,	,	PUNCT
alkej-360	199	24	neurocomputing	neurocomputing	NOUN
alkej-360	199	25	,	,	PUNCT
alkej-360	199	26	vol	vol	NOUN
alkej-360	199	27	.	.	PROPN
alkej-360	199	28	71	71	NUM
alkej-360	199	29	,	,	PUNCT
alkej-360	199	30	no	no	INTJ
alkej-360	199	31	.	.	NOUN
alkej-360	199	32	16–18	16–18	NUM
alkej-360	199	33	,	,	PUNCT
alkej-360	199	34	pp	pp	ADJ
alkej-360	199	35	.	.	PUNCT
alkej-360	200	1	3373–3378	3373–3378	NUM
alkej-360	200	2	,	,	PUNCT
alkej-360	200	3	2008	2008	NUM
alkej-360	200	4	.	.	PUNCT
alkej-360	201	1	[	[	X
alkej-360	201	2	9	9	NUM
alkej-360	201	3	]	]	X
alkej-360	201	4	hou	hou	PROPN
alkej-360	201	5	z.-g	z.-g	PROPN
alkej-360	201	6	,	,	PUNCT
alkej-360	201	7	zou	zou	PROPN
alkej-360	201	8	a.-m	a.-m	PROPN
alkej-360	201	9	.	.	PUNCT
alkej-360	202	1	,	,	PUNCT
alkej-360	202	2	cheng	cheng	PROPN
alkej-360	202	3	l.	l.	PROPN
alkej-360	202	4	and	and	CCONJ
alkej-360	202	5	tan	tan	PROPN
alkej-360	202	6	m.	m.	NOUN
alkej-360	202	7	,	,	PUNCT
alkej-360	202	8	adaptive	adaptive	ADJ
alkej-360	202	9	control	control	NOUN
alkej-360	202	10	of	of	ADP
alkej-360	202	11	an	an	DET
alkej-360	202	12	electrically	electrically	ADV
alkej-360	202	13	driven	drive	VERB
alkej-360	202	14	nonholonomic	nonholonomic	ADJ
alkej-360	202	15	mobile	mobile	ADJ
alkej-360	202	16	robot	robot	NOUN
alkej-360	202	17	via	via	ADP
alkej-360	202	18	backstepping	backstepping	NOUN
alkej-360	202	19	and	and	CCONJ
alkej-360	202	20	fuzzy	fuzzy	ADJ
alkej-360	202	21	approach	approach	NOUN
alkej-360	202	22	,	,	PUNCT
alkej-360	202	23	ieee	ieee	NOUN
alkej-360	202	24	transactions	transaction	NOUN
alkej-360	202	25	on	on	ADP
alkej-360	202	26	control	control	NOUN
alkej-360	202	27	systems	system	NOUN
alkej-360	202	28	technology	technology	NOUN
alkej-360	202	29	,	,	PUNCT
alkej-360	202	30	vol.17	vol.17	ADJ
alkej-360	202	31	,	,	PUNCT
alkej-360	202	32	no.4,pp	no.4,pp	NOUN
alkej-360	202	33	.	.	PUNCT
alkej-360	203	1	803–815	803–815	NUM
alkej-360	203	2	,	,	PUNCT
alkej-360	203	3	2009	2009	NUM
alkej-360	203	4	.	.	PUNCT
alkej-360	204	1	[	[	X
alkej-360	204	2	10	10	NUM
alkej-360	204	3	]	]	PUNCT
alkej-360	204	4	ahmed	ahmed	PROPN
alkej-360	204	5	al	al	PROPN
alkej-360	204	6	-	-	PUNCT
alkej-360	204	7	araji	araji	NOUN
alkej-360	204	8	,	,	PUNCT
alkej-360	204	9	development	development	NOUN
alkej-360	204	10	of	of	ADP
alkej-360	204	11	kinematic	kinematic	ADJ
alkej-360	204	12	path	path	NOUN
alkej-360	204	13	-	-	PUNCT
alkej-360	204	14	tracking	track	VERB
alkej-360	204	15	controller	controller	NOUN
alkej-360	204	16	design	design	NOUN
alkej-360	204	17	for	for	ADP
alkej-360	204	18	real	real	ADJ
alkej-360	204	19	mobile	mobile	ADJ
alkej-360	204	20	robot	robot	NOUN
alkej-360	204	21	via	via	ADP
alkej-360	204	22	back	back	ADV
alkej-360	204	23	-	-	PUNCT
alkej-360	204	24	stepping	step	VERB
alkej-360	204	25	slice	slice	NOUN
alkej-360	204	26	genetic	genetic	ADJ
alkej-360	204	27	robust	robust	ADJ
alkej-360	204	28	algorithm	algorithm	NOUN
alkej-360	204	29	technique	technique	NOUN
alkej-360	204	30	.	.	PUNCT
alkej-360	205	1	arabian	arabian	ADJ
alkej-360	205	2	journal	journal	PROPN
alkej-360	205	3	for	for	ADP
alkej-360	205	4	science	science	NOUN
alkej-360	205	5	and	and	CCONJ
alkej-360	205	6	engineering	engineering	NOUN
alkej-360	205	7	39	39	NUM
alkej-360	205	8	(	(	PUNCT
alkej-360	205	9	12	12	NUM
alkej-360	205	10	)	)	PUNCT
alkej-360	205	11	,	,	PUNCT
alkej-360	205	12	8825	8825	NUM
alkej-360	205	13	-	-	SYM
alkej-360	205	14	8835	8835	NUM
alkej-360	205	15	,	,	PUNCT
alkej-360	205	16	2014	2014	NUM
alkej-360	205	17	.	.	PUNCT
alkej-360	206	1	[	[	X
alkej-360	206	2	11	11	NUM
alkej-360	206	3	]	]	X
alkej-360	206	4	koubaa	koubaa	PROPN
alkej-360	206	5	y.	y.	PROPN
alkej-360	206	6	,	,	PUNCT
alkej-360	206	7	boukattaya	boukattaya	NOUN
alkej-360	206	8	m.	m.	NOUN
alkej-360	206	9	and	and	CCONJ
alkej-360	206	10	dammak	dammak	PROPN
alkej-360	206	11	t.	t.	PROPN
alkej-360	206	12	,	,	PUNCT
alkej-360	206	13	adaptive	adaptive	ADJ
alkej-360	206	14	sliding	sliding	ADJ
alkej-360	206	15	-	-	PUNCT
alkej-360	206	16	mode	mode	NOUN
alkej-360	206	17	dynamic	dynamic	ADJ
alkej-360	206	18	control	control	NOUN
alkej-360	206	19	for	for	ADP
alkej-360	206	20	path	path	NOUN
alkej-360	206	21	tracking	tracking	NOUN
alkej-360	206	22	of	of	ADP
alkej-360	206	23	nonholonomic	nonholonomic	ADJ
alkej-360	206	24	wheeled	wheel	VERB
alkej-360	206	25	mobile	mobile	ADJ
alkej-360	206	26	robot	robot	NOUN
alkej-360	206	27	.	.	PUNCT
alkej-360	207	1	journal	journal	PROPN
alkej-360	207	2	of	of	ADP
alkej-360	207	3	automation	automation	NOUN
alkej-360	207	4	and	and	CCONJ
alkej-360	207	5	systems	system	NOUN
alkej-360	207	6	engineering	engineering	NOUN
alkej-360	207	7	vol	vol	NOUN
alkej-360	207	8	.	.	PUNCT
alkej-360	208	1	9,no	9,no	PROPN
alkej-360	208	2	.	.	PROPN
alkej-360	208	3	2	2	NUM
alkej-360	208	4	,	,	PUNCT
alkej-360	208	5	pp	pp	ADJ
alkej-360	208	6	.	.	PUNCT
alkej-360	209	1	119131	119131	NUM
alkej-360	209	2	,	,	PUNCT
alkej-360	209	3	2015	2015	NUM
alkej-360	209	4	.	.	PUNCT
alkej-360	210	1	[	[	X
alkej-360	210	2	12	12	NUM
alkej-360	210	3	]	]	X
alkej-360	210	4	aicha	aicha	PROPN
alkej-360	210	5	b.	b.	PROPN
alkej-360	210	6	,	,	PUNCT
alkej-360	210	7	atallah	atallah	PROPN
alkej-360	210	8	b.1	b.1	PROPN
alkej-360	210	9	and	and	CCONJ
alkej-360	210	10	farès	farès	PROPN
alkej-360	210	11	b.	b.	PROPN
alkej-360	210	12	,	,	PUNCT
alkej-360	210	13	integral	integral	ADJ
alkej-360	210	14	sliding	slide	VERB
alkej-360	210	15	mode	mode	NOUN
alkej-360	210	16	control	control	NOUN
alkej-360	210	17	for	for	ADP
alkej-360	210	18	trajectory	trajectory	NOUN
alkej-360	210	19	tracking	tracking	NOUN
alkej-360	210	20	of	of	ADP
alkej-360	210	21	wheeled	wheel	VERB
alkej-360	210	22	mobile	mobile	ADJ
alkej-360	210	23	robot	robot	NOUN
alkej-360	210	24	in	in	ADP
alkej-360	210	25	presence	presence	NOUN
alkej-360	210	26	of	of	ADP
alkej-360	210	27	uncertainties	uncertainty	NOUN
alkej-360	210	28	,	,	PUNCT
alkej-360	210	29	journal	journal	NOUN
alkej-360	210	30	of	of	ADP
alkej-360	210	31	control	control	PROPN
alkej-360	210	32	science	science	NOUN
alkej-360	210	33	and	and	CCONJ
alkej-360	210	34	engineering	engineering	NOUN
alkej-360	210	35	,	,	PUNCT
alkej-360	210	36	vol.2016	vol.2016	X
alkej-360	210	37	,	,	PUNCT
alkej-360	210	38	article	article	NOUN
alkej-360	210	39	i	i	PROPN
alkej-360	210	40	d	d	PROPN
alkej-360	210	41	7915375	7915375	NUM
alkej-360	210	42	,	,	PUNCT
alkej-360	210	43	2016	2016	NUM
alkej-360	210	44	.	.	PUNCT
alkej-360	211	1	[	[	X
alkej-360	211	2	13	13	NUM
alkej-360	211	3	]	]	PUNCT
alkej-360	211	4	ahmed	ahmed	PROPN
alkej-360	211	5	al	al	PROPN
alkej-360	211	6	-	-	PUNCT
alkej-360	211	7	araji	araji	NOUN
alkej-360	211	8	,	,	PUNCT
alkej-360	211	9	maysam	maysam	NOUN
alkej-360	211	10	abbod	abbod	NOUN
alkej-360	211	11	,	,	PUNCT
alkej-360	211	12	and	and	CCONJ
alkej-360	211	13	hamed	hamed	PROPN
alkej-360	211	14	al	al	PROPN
alkej-360	211	15	-	-	PUNCT
alkej-360	211	16	raweshidy	raweshidy	ADJ
alkej-360	211	17	,	,	PUNCT
alkej-360	211	18	neural	neural	ADJ
alkej-360	211	19	autopilot	autopilot	NOUN
alkej-360	211	20	predictive	predictive	ADJ
alkej-360	211	21	controller	controller	NOUN
alkej-360	211	22	for	for	ADP
alkej-360	211	23	nonholonomic	nonholonomic	ADJ
alkej-360	211	24	wheeled	wheel	VERB
alkej-360	211	25	mobile	mobile	NOUN
alkej-360	211	26	robot	robot	NOUN
alkej-360	211	27	based	base	VERB
alkej-360	211	28	on	on	ADP
alkej-360	211	29	a	a	DET
alkej-360	211	30	pre	pre	ADJ
alkej-360	211	31	-	-	ADJ
alkej-360	211	32	assigned	assign	VERB
alkej-360	211	33	posture	posture	NOUN
alkej-360	211	34	identifier	identifier	NOUN
alkej-360	211	35	in	in	ADP
alkej-360	211	36	the	the	DET
alkej-360	211	37	presence	presence	NOUN
alkej-360	211	38	of	of	ADP
alkej-360	211	39	disturbances	disturbance	NOUN
alkej-360	211	40	.	.	PUNCT
alkej-360	212	1	2nd	2nd	ADJ
alkej-360	212	2	international	international	ADJ
alkej-360	212	3	conference	conference	NOUN
alkej-360	212	4	on	on	ADP
alkej-360	212	5	control	control	NOUN
alkej-360	212	6	,	,	PUNCT
alkej-360	212	7	instrumentation	instrumentation	NOUN
alkej-360	212	8	and	and	CCONJ
alkej-360	212	9	automation	automation	NOUN
alkej-360	212	10	(	(	PUNCT
alkej-360	212	11	iccia),pp	iccia),pp	PROPN
alkej-360	212	12	.	.	PUNCT
alkej-360	213	1	326	326	NUM
alkej-360	213	2	-	-	SYM
alkej-360	213	3	331	331	NUM
alkej-360	213	4	,	,	PUNCT
alkej-360	213	5	2011	2011	NUM
alkej-360	213	6	.	.	PUNCT
alkej-360	214	1	[	[	X
alkej-360	214	2	14	14	NUM
alkej-360	214	3	]	]	X
alkej-360	214	4	ahmed	ahmed	PROPN
alkej-360	214	5	s.	s.	PROPN
alkej-360	214	6	al	al	PROPN
alkej-360	214	7	-	-	PUNCT
alkej-360	214	8	araji	araji	NOUN
alkej-360	214	9	,	,	PUNCT
alkej-360	214	10	maysam	maysam	PROPN
alkej-360	214	11	f.	f.	PROPN
alkej-360	214	12	abbod	abbod	PROPN
alkej-360	214	13	and	and	CCONJ
alkej-360	214	14	hamed	hamed	PROPN
alkej-360	214	15	s.	s.	PROPN
alkej-360	214	16	al	al	PROPN
alkej-360	214	17	-	-	PUNCT
alkej-360	214	18	raweshidy	raweshidy	ADJ
alkej-360	214	19	,	,	PUNCT
alkej-360	214	20	design	design	NOUN
alkej-360	214	21	of	of	ADP
alkej-360	214	22	a	a	DET
alkej-360	214	23	neural	neural	ADJ
alkej-360	214	24	predictive	predictive	ADJ
alkej-360	214	25	controller	controller	NOUN
alkej-360	214	26	for	for	ADP
alkej-360	214	27	nonholonomic	nonholonomic	ADJ
alkej-360	214	28	mobile	mobile	ADJ
alkej-360	214	29	robot	robot	NOUN
alkej-360	214	30	based	base	VERB
alkej-360	214	31	on	on	ADP
alkej-360	214	32	posture	posture	NOUN
alkej-360	214	33	identifier	identifier	NOUN
alkej-360	214	34	,	,	PUNCT
alkej-360	214	35	proceedings	proceeding	NOUN
alkej-360	214	36	of	of	ADP
alkej-360	214	37	the	the	DET
alkej-360	214	38	iasted	iasted	ADJ
alkej-360	214	39	international	international	ADJ
alkej-360	214	40	conference	conference	NOUN
alkej-360	214	41	intelligent	intelligent	ADJ
alkej-360	214	42	systems	system	NOUN
alkej-360	214	43	and	and	CCONJ
alkej-360	214	44	control	control	NOUN
alkej-360	214	45	(	(	PUNCT
alkej-360	214	46	isc	isc	PROPN
alkej-360	214	47	)	)	PUNCT
alkej-360	214	48	.	.	PUNCT
alkej-360	215	1	cambridge	cambridge	PROPN
alkej-360	215	2	,	,	PUNCT
alkej-360	215	3	united	united	PROPN
alkej-360	215	4	kingdom	kingdom	PROPN
alkej-360	215	5	,	,	PUNCT
alkej-360	215	6	july	july	PROPN
alkej-360	215	7	11	11	NUM
alkej-360	215	8	13	13	NUM
alkej-360	215	9	,	,	PUNCT
alkej-360	215	10	2011	2011	NUM
alkej-360	215	11	,	,	PUNCT
alkej-360	215	12	pp	pp	ADJ
alkej-360	215	13	.	.	PUNCT
alkej-360	216	1	198	198	NUM
alkej-360	216	2	-	-	SYM
alkej-360	216	3	207	207	NUM
alkej-360	216	4	,	,	PUNCT
alkej-360	216	5	2011	2011	NUM
alkej-360	216	6	.	.	PUNCT
alkej-360	217	1	[	[	X
alkej-360	217	2	15	15	NUM
alkej-360	217	3	]	]	X
alkej-360	217	4	d.t	d.t	PROPN
alkej-360	217	5	.	.	PUNCT
alkej-360	217	6	pham	pham	PROPN
alkej-360	217	7	,	,	PUNCT
alkej-360	217	8	a.	a.	NOUN
alkej-360	217	9	ghanbarzadeh	ghanbarzadeh	PROPN
alkej-360	217	10	,	,	PUNCT
alkej-360	217	11	e.	e.	PROPN
alkej-360	217	12	koc	koc	PROPN
alkej-360	217	13	,	,	PUNCT
alkej-360	217	14	s.	s.	PROPN
alkej-360	217	15	otri	otri	PROPN
alkej-360	217	16	,	,	PUNCT
alkej-360	217	17	s.	s.	PROPN
alkej-360	217	18	rahim	rahim	PROPN
alkej-360	217	19	and	and	CCONJ
alkej-360	217	20	m	m	PROPN
alkej-360	217	21	.	.	PUNCT
alkej-360	218	1	zaidi	zaidi	PROPN
alkej-360	218	2	,	,	PUNCT
alkej-360	218	3	the	the	DET
alkej-360	218	4	bees	bee	NOUN
alkej-360	218	5	algorithm	algorithm	NOUN
alkej-360	218	6	.	.	PUNCT
alkej-360	219	1	technical	technical	ADJ
alkej-360	219	2	note	note	NOUN
alkej-360	219	3	,	,	PUNCT
alkej-360	219	4	manufacturing	manufacture	VERB
alkej-360	219	5	engineering	engineering	NOUN
alkej-360	219	6	centre	centre	NOUN
alkej-360	219	7	,	,	PUNCT
alkej-360	219	8	cardiff	cardiff	PROPN
alkej-360	219	9	university	university	NOUN
alkej-360	219	10	,	,	PUNCT
alkej-360	219	11	uk	uk	PROPN
alkej-360	219	12	,	,	PUNCT
alkej-360	219	13	2005	2005	NUM
alkej-360	219	14	.	.	PUNCT
alkej-360	220	1	[	[	X
alkej-360	220	2	16	16	NUM
alkej-360	220	3	]	]	X
alkej-360	220	4	d.t	d.t	PROPN
alkej-360	220	5	.	.	PROPN
alkej-360	220	6	pham	pham	PROPN
alkej-360	220	7	,	,	PUNCT
alkej-360	220	8	e.	e.	PROPN
alkej-360	220	9	kog	kog	PROPN
alkej-360	220	10	,	,	PUNCT
alkej-360	220	11	a.	a.	NOUN
alkej-360	220	12	ghanbarzadeh	ghanbarzadeh	PROPN
alkej-360	220	13	,	,	PUNCT
alkej-360	220	14	s.	s.	PROPN
alkej-360	220	15	otri	otri	PROPN
alkej-360	220	16	,	,	PUNCT
alkej-360	220	17	s.	s.	PROPN
alkej-360	220	18	rahim	rahim	PROPN
alkej-360	220	19	,	,	PUNCT
alkej-360	220	20	m.	m.	NOUN
alkej-360	220	21	zaidi	zaidi	PROPN
alkej-360	220	22	,	,	PUNCT
alkej-360	220	23	the	the	DET
alkej-360	220	24	bees	bee	NOUN
alkej-360	220	25	algorithm	algorithm	VERB
alkej-360	220	26	–	–	PUNCT
alkej-360	220	27	a	a	DET
alkej-360	220	28	novel	novel	ADJ
alkej-360	220	29	tool	tool	NOUN
alkej-360	220	30	for	for	ADP
alkej-360	220	31	complex	complex	ADJ
alkej-360	220	32	optimisation	optimisation	NOUN
alkej-360	220	33	problems	problem	NOUN
alkej-360	220	34	,	,	PUNCT
alkej-360	220	35	iproms	iprom	VERB
alkej-360	220	36	2006	2006	NUM
alkej-360	220	37	proceeding	proceed	VERB
alkej-360	220	38	2nd	2nd	ADJ
alkej-360	220	39	international	international	ADJ
alkej-360	220	40	virtual	virtual	ADJ
alkej-360	220	41	conference	conference	NOUN
alkej-360	220	42	on	on	ADP
alkej-360	220	43	intelligent	intelligent	ADJ
alkej-360	220	44	production	production	NOUN
alkej-360	220	45	machines	machine	NOUN
alkej-360	220	46	and	and	CCONJ
alkej-360	220	47	systems	system	NOUN
alkej-360	220	48	,	,	PUNCT
alkej-360	220	49	oxford	oxford	PROPN
alkej-360	220	50	,	,	PUNCT
alkej-360	220	51	elsevier	elsevier	NOUN
alkej-360	220	52	,	,	PUNCT
alkej-360	220	53	2006	2006	NUM
alkej-360	220	54	.	.	PUNCT
alkej-360	221	1	[	[	X
alkej-360	221	2	17	17	NUM
alkej-360	221	3	]	]	PUNCT
alkej-360	221	4	internet	internet	NOUN
alkej-360	221	5	websitehttp://parallax.com/.	websitehttp://parallax.com/.	PROPN
alkej-360	221	6	robotics	robotic	NOUN
alkej-360	221	7	with	with	ADP
alkej-360	221	8	the	the	DET
alkej-360	221	9	eddie	eddie	PROPN
alkej-360	221	10	mobile	mobile	PROPN
alkej-360	221	11	robot	robot	NOUN
alkej-360	221	12	text	text	NOUN
alkej-360	221	13	manual	manual	NOUN
alkej-360	221	14	.	.	PUNCT
alkej-360	221	15	accessed	access	VERB
alkej-360	221	16	sept	sept	PROPN
alkej-360	221	17	.	.	PROPN
alkej-360	221	18	2016	2016	NUM
alkej-360	221	19	.	.	PUNCT
alkej-360	222	1	)	)	PUNCT
alkej-360	223	1	2017	2017	NUM
alkej-360	223	2	(	(	PUNCT
alkej-360	223	3	64	64	NUM
alkej-360	223	4	-	-	SYM
alkej-360	223	5	73	73	NUM
alkej-360	223	6	،	،	PROPN
alkej-360	223	7	صفحة	صفحة	PROPN
alkej-360	223	8	3د	3د	PROPN
alkej-360	223	9	،	،	PROPN
alkej-360	223	10	العد13دجلة	العد13دجلة	PROPN
alkej-360	223	11	الخوارزمي	الخوارزمي	PROPN
alkej-360	223	12	الهندسية	الهندسية	PROPN
alkej-360	223	13	المجلم	المجلم	PROPN
alkej-360	224	1	احمد	احمد	PROPN
alkej-360	224	2	صباح	صباح	PROPN
alkej-360	224	3	االعرجي	االعرجي	PROPN
alkej-360	224	4	73	73	NUM
alkej-360	224	5	خوارزمية	خوارزمية	ADJ
alkej-360	224	6	هجينة	هجينة	NOUN
alkej-360	224	7	مدركة	مدركة	NOUN
alkej-360	224	8	لتنغيم	لتنغيم	NOUN
alkej-360	224	9	مسيطر	مسيطر	PROPN
alkej-360	225	1	الخطي	الخطي	ADJ
alkej-360	225	2	لتتابع	لتتابع	PROPN
alkej-360	225	3	مسار	مسار	PROPN
alkej-360	225	4	لعجلة	لعجلة	NOUN
alkej-360	225	5	اإلنسان	اإلنسان	NOUN
alkej-360	225	6	آلي	آلي	X
alkej-360	225	7	متنقل	متنقل	ADJ
alkej-360	225	8	تصميم	تصميم	NOUN
alkej-360	225	9	*	*	PUNCT
alkej-360	225	10	*	*	PROPN
alkej-360	225	11	نور	نور	PROPN
alkej-360	225	12	قاسم	قاسم	PROPN
alkej-360	225	13	يوسف	يوسف	PROPN
alkej-360	225	14	*	*	PUNCT
alkej-360	225	15	أحمد	أحمد	ADJ
alkej-360	225	16	صباح	صباح	ADJ
alkej-360	225	17	االعرجي	االعرجي	ADJ
alkej-360	225	18	الجامعة	الجامعة	NOUN
alkej-360	225	19	التكنولوجية	التكنولوجية	NOUN
alkej-360	225	20	/قسم	/قسم	PROPN
alkej-360	225	21	هندسة	هندسة	NOUN
alkej-360	225	22	السيطرة	السيطرة	PROPN
alkej-360	226	1	والنظم	والنظم	PROPN
alkej-360	226	2	*	*	PROPN
alkej-360	226	3	*	*	NOUN
alkej-360	226	4	،	،	X
alkej-360	226	5	*	*	PUNCT
alkej-360	226	6	ahmedalaraji76@gmail.com	ahmedalaraji76@gmail.com	NOUN
alkej-360	226	7	:	:	PUNCT
alkej-360	226	8	البريد	البريد	VERB
alkej-360	226	9	االلكتروني	االلكتروني	PROPN
alkej-360	226	10	*	*	PROPN
alkej-360	226	11	الخالصة	الخالصة	PROPN
alkej-360	226	12	بشكل	بشكل	NOUN
alkej-360	226	13	حي	حي	PROPN
alkej-360	226	14	ومتصل	ومتصل	PROPN
alkej-360	226	15	للمسيطر	للمسيطر	PROPN
alkej-360	226	16	الالخطي	الالخطي	PROPN
alkej-360	226	17	لتتابع	لتتابع	PROPN
alkej-360	226	18	مسار	مسار	PROPN
alkej-360	226	19	عجلة	عجلة	VERB
alkej-360	226	20	اإلنسان	اإلنسان	NOUN
alkej-360	226	21	اآللي	اآللي	NOUN
alkej-360	226	22	الحركي	الحركي	PROPN
alkej-360	226	23	لتباع	لتباع	PROPN
alkej-360	226	24	المسار	المسار	NOUN
alkej-360	226	25	ان	ان	ADP
alkej-360	226	26	هذا	هذا	NOUN
alkej-360	226	27	البحث	البحث	NOUN
alkej-360	226	28	يقدم	يقدم	ADJ
alkej-360	226	29	خوارزمية	خوارزمية	ADJ
alkej-360	226	30	تنغيم	تنغيم	PROPN
alkej-360	226	31	المسيطر	المسيطر	PROPN
alkej-360	226	32	المدركة	المدركة	PROPN
alkej-360	227	1	يطر	يطر	VERB
alkej-360	227	2	(	(	PUNCT
alkej-360	227	3	العصبي	العصبي	PROPN
alkej-360	227	4	المستمر	المستمر	NOUN
alkej-360	227	5	المرغوب.ان	المرغوب.ان	X
alkej-360	227	6	الهيكلية	الهيكلية	PROPN
alkej-360	227	7	المقترحة	المقترحة	PROPN
alkej-360	227	8	لخوارزمية	لخوارزمية	ADJ
alkej-360	227	9	االمثلية	االمثلية	NOUN
alkej-360	227	10	هي	هي	NOUN
alkej-360	227	11	الهجينة	الهجينة	NOUN
alkej-360	227	12	(	(	PUNCT
alkej-360	227	13	النحل	النحل	PROPN
alkej-360	227	14	مع	مع	ADP
alkej-360	227	15	حشد	حشد	PROPN
alkej-360	227	16	الجسيمات	الجسيمات	VERB
alkej-360	227	17	االمثلية	االمثلية	PROPN
alkej-360	227	18	)	)	PUNCT
alkej-360	227	19	اليجاد	اليجاد	PROPN
alkej-360	227	20	وتنغم	وتنغم	NOUN
alkej-360	227	21	قيم	قيم	VERB
alkej-360	227	22	كسب	كسب	NOUN
alkej-360	227	23	المس	المس	ADJ
alkej-360	227	24	وبساطة	وبساطة	NOUN
alkej-360	227	25	تقنية	تقنية	PROPN
alkej-360	227	26	التنغيم	التنغيم	PROPN
alkej-360	227	27	وبشكل	وبشكل	VERB
alkej-360	227	28	حي	حي	ADP
alkej-360	227	29	ومتصل.وطريقة	ومتصل.وطريقة	PROPN
alkej-360	227	30	الخطوة	الخطوة	NOUN
alkej-360	227	31	الراجعة	الراجعة	PROPN
alkej-360	227	32	)	)	PUNCT
alkej-360	227	33	وتتميز	وتتميز	PROPN
alkej-360	227	34	بسرعة	بسرعة	VERB
alkej-360	227	35	لقد	لقد	PROPN
alkej-360	227	36	تم	تم	X
alkej-360	228	1	إثبات	إثبات	NOUN
alkej-360	229	1	من	من	INTJ
alkej-360	229	2	ان	ان	ADV
alkej-360	229	3	افضل	افضل	PROPN
alkej-360	229	4	عزم	عزم	PROPN
alkej-360	229	5	مسيطر	مسيطر	PROPN
alkej-360	229	6	لعجلة	لعجلة	NOUN
alkej-360	229	7	اليمين	اليمين	NOUN
alkej-360	229	8	واليسار	واليسار	NOUN
alkej-360	229	9	لعربة	لعربة	NOUN
alkej-360	229	10	اإلنسان	اإلنسان	NOUN
alkej-360	229	11	اآللي	اآللي	NOUN
alkej-360	229	12	تم	تم	NOUN
alkej-360	229	13	توليدها	توليدها	PROPN
alkej-360	229	14	بشكل	بشكل	NOUN
alkej-360	229	15	حي	حي	INTJ
alkej-360	229	16	ومتصل	ومتصل	INTJ
alkej-360	230	1	من	من	PRON
alkej-360	230	2	خالل	خالل	PROPN
alkej-360	230	3	المسيطرين	المسيطرين	PROPN
alkej-360	230	4	المقترحين	المقترحين	PROPN
alkej-360	230	5	.	.	PUNCT
alkej-360	231	1	ر	ر	X
alkej-360	231	2	دقة	دقة	VERB
alkej-360	231	3	من	من	INTJ
alkej-360	231	4	حيث	حيث	PROPN
alkej-360	231	5	ايجاد	ايجاد	PROPN
alkej-360	231	6	وتنغيم	وتنغيم	PROPN
alkej-360	231	7	عناصر	عناصر	PROPN
alkej-360	231	8	المسيطر	المسيطر	PROPN
alkej-360	231	9	بشكل	بشكل	NOUN
alkej-360	231	10	خالل	خالل	PROPN
alkej-360	231	11	نتائج	نتائج	PROPN
alkej-360	231	12	المحاكاة	المحاكاة	PROPN
alkej-360	232	1	أن	أن	PROPN
alkej-360	232	2	المسيطر	المسيطر	PROPN
alkej-360	232	3	العصبي	العصبي	PROPN
alkej-360	232	4	الالخطي	الالخطي	PROPN
alkej-360	232	5	المقترح	المقترح	NOUN
alkej-360	232	6	مع	مع	X
alkej-360	232	7	الخوارزمية	الخوارزمية	ADJ
alkej-360	232	8	الهجينة	الهجينة	NOUN
alkej-360	232	9	المدركة	المدركة	PROPN
alkej-360	232	10	هي	هي	PROPN
alkej-360	232	11	اكث	اكث	PROPN
alkej-360	233	1	تقليل	تقليل	PROPN
alkej-360	233	2	الخطأ	الخطأ	PROPN
alkej-360	233	3	ألتتابعي	ألتتابعي	PROPN
alkej-360	233	4	لعجلة	لعجلة	ADJ
alkej-360	233	5	اإلنسان	اإلنسان	NOUN
alkej-360	233	6	اآللي	اآللي	NOUN
alkej-360	233	7	مقارنة	مقارنة	NOUN
alkej-360	233	8	مع	مع	PROPN
alkej-360	233	9	أداء	أداء	PROPN
alkej-360	233	10	المسيطرة	المسيطرة	PROPN
alkej-360	233	11	ذات	ذات	PROPN
alkej-360	234	1	تقنية	تقنية	PROPN
alkej-360	234	2	الخطوة	الخطوة	PROPN
alkej-360	234	3	فضالعنحي	فضالعنحي	PROPN
alkej-360	234	4	ومتصل	ومتصل	PROPN
alkej-360	234	5	ويؤدي	ويؤدي	PROPN
alkej-360	234	6	الى	الى	VERB
alkej-360	234	7	الحصول	الحصول	PROPN
alkej-360	234	8	على	على	PROPN
alkej-360	234	9	فعل	فعل	PROPN
alkej-360	235	1	سيطرة	سيطرة	PROPN
alkej-360	235	2	ناعم	ناعم	PROPN
alkej-360	235	3	الراجعة	الراجعة	VERB
alkej-360	235	4	.	.	PUNCT