id	sid	tid	token	lemma	pos
alkej-361	1	1	4d6963726f736f667420576f7264202d20c7cde3cf20e6ddd1c7d320e6e4e6d132372d203337	4d6963726f736f667420576f7264202d20c7cde3cf20e6ddd1c7d320e6e4e6d132372d203337	X
alkej-361	1	2	>	>	X
alkej-361	1	3	al	al	PROPN
alkej-361	1	4	-	-	PUNCT
alkej-361	1	5	khwarizmi	khwarizmi	PROPN
alkej-361	1	6	engineering	engineering	PROPN
alkej-361	1	7	journal	journal	PROPN
alkej-361	1	8	al	al	PROPN
alkej-361	1	9	-	-	PUNCT
alkej-361	1	10	khwarizmi	khwarizmi	PROPN
alkej-361	1	11	engineering	engineering	NOUN
alkej-361	1	12	journal	journal	PROPN
alkej-361	1	13	,	,	PUNCT
alkej-361	1	14	vol	vol	NOUN
alkej-361	1	15	.	.	PROPN
alkej-361	1	16	13	13	NUM
alkej-361	1	17	,	,	PUNCT
alkej-361	1	18	no	no	INTJ
alkej-361	1	19	.	.	NOUN
alkej-361	1	20	3	3	NUM
alkej-361	1	21	,	,	PUNCT
alkej-361	1	22	p.p	p.p	PROPN
alkej-361	1	23	.	.	NOUN
alkej-361	1	24	2737	2737	NUM
alkej-361	1	25	(	(	PUNCT
alkej-361	1	26	2017	2017	NUM
alkej-361	1	27	)	)	PUNCT
alkej-361	1	28	robot	robot	NOUN
alkej-361	1	29	arm	arm	NOUN
alkej-361	1	30	path	path	NOUN
alkej-361	1	31	planning	planning	NOUN
alkej-361	1	32	using	use	VERB
alkej-361	1	33	modified	modify	VERB
alkej-361	1	34	particle	particle	NOUN
alkej-361	1	35	swarm	swarm	NOUN
alkej-361	1	36	optimization	optimization	NOUN
alkej-361	1	37	based	base	VERB
alkej-361	1	38	on	on	ADP
alkej-361	1	39	d	d	PROPN
alkej-361	1	40	*	*	PUNCT
alkej-361	1	41	algorithm	algorithm	PROPN
alkej-361	1	42	ahmed	ahme	VERB
alkej-361	1	43	t.	t.	PROPN
alkej-361	1	44	sadiq	sadiq	PROPN
alkej-361	1	45	*	*	PROPN
alkej-361	1	46	firas	firas	PROPN
alkej-361	1	47	a.	a.	PROPN
alkej-361	1	48	raheem	raheem	PROPN
alkej-361	2	1	*	*	PUNCT
alkej-361	2	2	*	*	PUNCT
alkej-361	2	3	noor	noor	PROPN
alkej-361	2	4	alhuda	alhuda	PROPN
alkej-361	2	5	f.	f.	PROPN
alkej-361	2	6	abbas	abbas	PROPN
alkej-361	3	1	*	*	PUNCT
alkej-361	4	1	*	*	PUNCT
alkej-361	4	2	*	*	PUNCT
alkej-361	4	3	*	*	PUNCT
alkej-361	4	4	,	,	PUNCT
alkej-361	4	5	*	*	PUNCT
alkej-361	4	6	*	*	PUNCT
alkej-361	4	7	*	*	PUNCT
alkej-361	4	8	department	department	NOUN
alkej-361	4	9	of	of	ADP
alkej-361	4	10	computer	computer	NOUN
alkej-361	4	11	science/	science/	PROPN
alkej-361	4	12	university	university	NOUN
alkej-361	4	13	of	of	ADP
alkej-361	4	14	technology	technology	NOUN
alkej-361	4	15	*	*	PUNCT
alkej-361	4	16	*	*	PUNCT
alkej-361	4	17	department	department	NOUN
alkej-361	4	18	of	of	ADP
alkej-361	4	19	control	control	NOUN
alkej-361	4	20	and	and	CCONJ
alkej-361	4	21	system	system	NOUN
alkej-361	4	22	engineering/	engineering/	NUM
alkej-361	4	23	university	university	NOUN
alkej-361	4	24	of	of	ADP
alkej-361	4	25	technology	technology	NOUN
alkej-361	4	26	email	email	NOUN
alkej-361	4	27	:	:	PUNCT
alkej-361	4	28	drahmed_tark@yahoo.com	drahmed_tark@yahoo.com	NOUN
alkej-361	4	29	email	email	NOUN
alkej-361	4	30	:	:	PUNCT
alkej-361	4	31	dr.firas7010@yahoo.com	dr.firas7010@yahoo.com	PROPN
alkej-361	4	32	email	email	NOUN
alkej-361	4	33	:	:	PUNCT
alkej-361	4	34	nooralhudafabbas92@yahoo.com	nooralhudafabbas92@yahoo.com	X
alkej-361	4	35	(	(	PUNCT
alkej-361	4	36	received	receive	VERB
alkej-361	4	37	6	6	NUM
alkej-361	4	38	september	september	PROPN
alkej-361	4	39	2016	2016	NUM
alkej-361	4	40	;	;	PUNCT
alkej-361	4	41	accepted	accept	VERB
alkej-361	4	42	7	7	NUM
alkej-361	4	43	february	february	NOUN
alkej-361	4	44	2017	2017	NUM
alkej-361	4	45	)	)	PUNCT
alkej-361	5	1	https://doi.org/10.22153/kej.2017.02.001	https://doi.org/10.22153/kej.2017.02.001	PRON
alkej-361	6	1	abstract	abstract	ADJ
alkej-361	6	2	much	much	ADJ
alkej-361	6	3	attention	attention	NOUN
alkej-361	6	4	has	have	AUX
alkej-361	6	5	been	be	AUX
alkej-361	6	6	paid	pay	VERB
alkej-361	6	7	for	for	ADP
alkej-361	6	8	the	the	DET
alkej-361	6	9	use	use	NOUN
alkej-361	6	10	of	of	ADP
alkej-361	6	11	robot	robot	NOUN
alkej-361	6	12	arm	arm	NOUN
alkej-361	6	13	in	in	ADP
alkej-361	6	14	various	various	ADJ
alkej-361	6	15	applications	application	NOUN
alkej-361	6	16	.	.	PUNCT
alkej-361	7	1	therefore	therefore	ADV
alkej-361	7	2	,	,	PUNCT
alkej-361	7	3	the	the	DET
alkej-361	7	4	optimal	optimal	ADJ
alkej-361	7	5	path	path	NOUN
alkej-361	7	6	finding	finding	NOUN
alkej-361	7	7	has	have	VERB
alkej-361	7	8	a	a	DET
alkej-361	7	9	significant	significant	ADJ
alkej-361	7	10	role	role	NOUN
alkej-361	7	11	to	to	PART
alkej-361	7	12	upgrade	upgrade	VERB
alkej-361	7	13	and	and	CCONJ
alkej-361	7	14	guide	guide	VERB
alkej-361	7	15	the	the	DET
alkej-361	7	16	arm	arm	NOUN
alkej-361	7	17	movement	movement	NOUN
alkej-361	7	18	.	.	PUNCT
alkej-361	8	1	the	the	DET
alkej-361	8	2	essential	essential	ADJ
alkej-361	8	3	function	function	NOUN
alkej-361	8	4	of	of	ADP
alkej-361	8	5	path	path	NOUN
alkej-361	8	6	planning	planning	NOUN
alkej-361	8	7	is	be	AUX
alkej-361	8	8	to	to	PART
alkej-361	8	9	create	create	VERB
alkej-361	8	10	a	a	DET
alkej-361	8	11	path	path	NOUN
alkej-361	8	12	that	that	PRON
alkej-361	8	13	satisfies	satisfy	VERB
alkej-361	8	14	the	the	DET
alkej-361	8	15	aims	aim	NOUN
alkej-361	8	16	of	of	ADP
alkej-361	8	17	motion	motion	NOUN
alkej-361	8	18	including	include	VERB
alkej-361	8	19	,	,	PUNCT
alkej-361	8	20	averting	avert	VERB
alkej-361	8	21	obstacles	obstacle	NOUN
alkej-361	8	22	collision	collision	NOUN
alkej-361	8	23	,	,	PUNCT
alkej-361	8	24	reducing	reduce	VERB
alkej-361	8	25	time	time	NOUN
alkej-361	8	26	interval	interval	NOUN
alkej-361	8	27	,	,	PUNCT
alkej-361	8	28	decreasing	decrease	VERB
alkej-361	8	29	the	the	DET
alkej-361	8	30	path	path	NOUN
alkej-361	8	31	traveling	travel	VERB
alkej-361	8	32	cost	cost	NOUN
alkej-361	8	33	and	and	CCONJ
alkej-361	8	34	satisfying	satisfy	VERB
alkej-361	8	35	the	the	DET
alkej-361	8	36	kinematics	kinematics	NOUN
alkej-361	8	37	constraints	constraint	NOUN
alkej-361	8	38	.	.	PUNCT
alkej-361	9	1	in	in	ADP
alkej-361	9	2	this	this	DET
alkej-361	9	3	paper	paper	NOUN
alkej-361	9	4	,	,	PUNCT
alkej-361	9	5	the	the	DET
alkej-361	9	6	free	free	ADJ
alkej-361	9	7	cartesian	cartesian	ADJ
alkej-361	9	8	space	space	NOUN
alkej-361	9	9	map	map	NOUN
alkej-361	9	10	of	of	ADP
alkej-361	9	11	2	2	NUM
alkej-361	9	12	-	-	PUNCT
alkej-361	9	13	dof	dof	NOUN
alkej-361	9	14	arm	arm	NOUN
alkej-361	9	15	is	be	AUX
alkej-361	9	16	constructed	construct	VERB
alkej-361	9	17	to	to	PART
alkej-361	9	18	attain	attain	VERB
alkej-361	9	19	the	the	DET
alkej-361	9	20	joints	joint	NOUN
alkej-361	9	21	variable	variable	NOUN
alkej-361	9	22	at	at	ADP
alkej-361	9	23	each	each	DET
alkej-361	9	24	point	point	NOUN
alkej-361	9	25	without	without	ADP
alkej-361	9	26	collision	collision	NOUN
alkej-361	9	27	.	.	PUNCT
alkej-361	10	1	the	the	DET
alkej-361	10	2	d*algorithm	d*algorithm	PROPN
alkej-361	10	3	and	and	CCONJ
alkej-361	10	4	euclidean	euclidean	ADJ
alkej-361	10	5	distance	distance	NOUN
alkej-361	10	6	are	be	AUX
alkej-361	10	7	applied	apply	VERB
alkej-361	10	8	to	to	PART
alkej-361	10	9	obtain	obtain	VERB
alkej-361	10	10	the	the	DET
alkej-361	10	11	exact	exact	ADJ
alkej-361	10	12	and	and	CCONJ
alkej-361	10	13	estimated	estimated	ADJ
alkej-361	10	14	distances	distance	NOUN
alkej-361	10	15	to	to	ADP
alkej-361	10	16	the	the	DET
alkej-361	10	17	goal	goal	NOUN
alkej-361	10	18	respectively	respectively	ADV
alkej-361	10	19	.	.	PUNCT
alkej-361	11	1	the	the	DET
alkej-361	11	2	modified	modify	VERB
alkej-361	11	3	particle	particle	NOUN
alkej-361	11	4	swarm	swarm	NOUN
alkej-361	11	5	optimization	optimization	NOUN
alkej-361	11	6	algorithm	algorithm	NOUN
alkej-361	11	7	is	be	AUX
alkej-361	11	8	proposed	propose	VERB
alkej-361	11	9	to	to	PART
alkej-361	11	10	find	find	VERB
alkej-361	11	11	an	an	DET
alkej-361	11	12	optimal	optimal	ADJ
alkej-361	11	13	path	path	NOUN
alkej-361	11	14	based	base	VERB
alkej-361	11	15	on	on	ADP
alkej-361	11	16	the	the	DET
alkej-361	11	17	local	local	ADJ
alkej-361	11	18	search	search	NOUN
alkej-361	11	19	,	,	PUNCT
alkej-361	11	20	d	d	X
alkej-361	11	21	*	*	PUNCT
alkej-361	11	22	and	and	CCONJ
alkej-361	11	23	euclidean	euclidean	ADJ
alkej-361	11	24	distances	distance	NOUN
alkej-361	11	25	.	.	PUNCT
alkej-361	12	1	the	the	DET
alkej-361	12	2	quintic	quintic	ADJ
alkej-361	12	3	polynomial	polynomial	ADJ
alkej-361	12	4	equation	equation	NOUN
alkej-361	12	5	is	be	AUX
alkej-361	12	6	utilized	utilize	VERB
alkej-361	12	7	to	to	PART
alkej-361	12	8	provide	provide	VERB
alkej-361	12	9	a	a	DET
alkej-361	12	10	smooth	smooth	ADJ
alkej-361	12	11	trajectory	trajectory	NOUN
alkej-361	12	12	path	path	NOUN
alkej-361	12	13	.	.	PUNCT
alkej-361	13	1	according	accord	VERB
alkej-361	13	2	to	to	ADP
alkej-361	13	3	the	the	DET
alkej-361	13	4	observe	observe	NOUN
alkej-361	13	5	results	result	NOUN
alkej-361	13	6	,	,	PUNCT
alkej-361	13	7	the	the	DET
alkej-361	13	8	modified	modify	VERB
alkej-361	13	9	pso	pso	NOUN
alkej-361	13	10	algorithm	algorithm	NOUN
alkej-361	13	11	is	be	AUX
alkej-361	13	12	efficiently	efficiently	ADV
alkej-361	13	13	performs	perform	VERB
alkej-361	13	14	to	to	PART
alkej-361	13	15	find	find	VERB
alkej-361	13	16	an	an	DET
alkej-361	13	17	optimal	optimal	ADJ
alkej-361	13	18	path	path	NOUN
alkej-361	13	19	even	even	ADV
alkej-361	13	20	in	in	ADP
alkej-361	13	21	difficult	difficult	ADJ
alkej-361	13	22	environments	environment	NOUN
alkej-361	13	23	.	.	PUNCT
alkej-361	14	1	keywords	keyword	NOUN
alkej-361	14	2	:	:	PUNCT
alkej-361	15	1	d	d	X
alkej-361	15	2	*	*	PUNCT
alkej-361	15	3	,	,	PUNCT
alkej-361	15	4	free	free	ADJ
alkej-361	15	5	cartesian	cartesian	ADJ
alkej-361	15	6	space	space	NOUN
alkej-361	15	7	,	,	PUNCT
alkej-361	15	8	path	path	NOUN
alkej-361	15	9	planning	planning	NOUN
alkej-361	15	10	,	,	PUNCT
alkej-361	15	11	particle	particle	NOUN
alkej-361	15	12	swarm	swarm	NOUN
alkej-361	15	13	optimization	optimization	NOUN
alkej-361	15	14	(	(	PUNCT
alkej-361	15	15	pso	pso	NOUN
alkej-361	15	16	)	)	PUNCT
alkej-361	15	17	,	,	PUNCT
alkej-361	15	18	robot	robot	NOUN
alkej-361	15	19	arm	arm	NOUN
alkej-361	15	20	.	.	PUNCT
alkej-361	16	1	1	1	X
alkej-361	16	2	.	.	X
alkej-361	16	3	introduction	introduction	NOUN
alkej-361	16	4	a	a	DET
alkej-361	16	5	robot	robot	NOUN
alkej-361	16	6	arm	arm	NOUN
alkej-361	16	7	is	be	AUX
alkej-361	16	8	spontaneously	spontaneously	ADV
alkej-361	16	9	controlled	control	VERB
alkej-361	16	10	manipulator	manipulator	NOUN
alkej-361	16	11	which	which	PRON
alkej-361	16	12	possesses	possess	VERB
alkej-361	16	13	programming	programming	NOUN
alkej-361	16	14	capacity	capacity	NOUN
alkej-361	16	15	into	into	ADP
alkej-361	16	16	three	three	NUM
alkej-361	16	17	or	or	CCONJ
alkej-361	16	18	more	more	ADJ
alkej-361	16	19	axes	axis	NOUN
alkej-361	16	20	with	with	ADP
alkej-361	16	21	multipurpose	multipurpose	NOUN
alkej-361	16	22	uses	use	NOUN
alkej-361	16	23	in	in	ADP
alkej-361	16	24	various	various	ADJ
alkej-361	16	25	automation	automation	NOUN
alkej-361	16	26	implementations	implementation	NOUN
alkej-361	16	27	.	.	PUNCT
alkej-361	17	1	the	the	DET
alkej-361	17	2	main	main	ADJ
alkej-361	17	3	issue	issue	NOUN
alkej-361	17	4	for	for	ADP
alkej-361	17	5	attaining	attain	VERB
alkej-361	17	6	autonomous	autonomous	ADJ
alkej-361	17	7	robots	robot	NOUN
alkej-361	17	8	arm	arm	NOUN
alkej-361	17	9	is	be	AUX
alkej-361	17	10	the	the	DET
alkej-361	17	11	planning	planning	NOUN
alkej-361	17	12	for	for	ADP
alkej-361	17	13	a	a	DET
alkej-361	17	14	collision	collision	NOUN
alkej-361	17	15	-	-	PUNCT
alkej-361	17	16	free	free	ADJ
alkej-361	17	17	path	path	NOUN
alkej-361	17	18	.	.	PUNCT
alkej-361	18	1	however	however	ADV
alkej-361	18	2	,	,	PUNCT
alkej-361	18	3	in	in	ADP
alkej-361	18	4	environments	environment	NOUN
alkej-361	18	5	that	that	PRON
alkej-361	18	6	comprise	comprise	VERB
alkej-361	18	7	static	static	ADJ
alkej-361	18	8	or	or	CCONJ
alkej-361	18	9	moving	move	VERB
alkej-361	18	10	obstacles	obstacle	NOUN
alkej-361	18	11	including	include	VERB
alkej-361	18	12	human	human	ADJ
alkej-361	18	13	workers	worker	NOUN
alkej-361	18	14	and	and	CCONJ
alkej-361	18	15	other	other	ADJ
alkej-361	18	16	robots	robot	NOUN
alkej-361	18	17	,	,	PUNCT
alkej-361	18	18	path	path	NOUN
alkej-361	18	19	planning	planning	NOUN
alkej-361	18	20	concerns	concern	NOUN
alkej-361	18	21	in	in	ADP
alkej-361	18	22	finding	find	VERB
alkej-361	18	23	the	the	DET
alkej-361	18	24	possible	possible	ADJ
alkej-361	18	25	path	path	NOUN
alkej-361	18	26	from	from	ADP
alkej-361	18	27	the	the	DET
alkej-361	18	28	initial	initial	NOUN
alkej-361	18	29	to	to	ADP
alkej-361	18	30	the	the	DET
alkej-361	18	31	target	target	NOUN
alkej-361	18	32	configurations	configuration	NOUN
alkej-361	18	33	,	,	PUNCT
alkej-361	18	34	providing	provide	VERB
alkej-361	18	35	that	that	SCONJ
alkej-361	18	36	no	no	DET
alkej-361	18	37	point	point	NOUN
alkej-361	18	38	in	in	ADP
alkej-361	18	39	the	the	DET
alkej-361	18	40	motion	motion	NOUN
alkej-361	18	41	trajectory	trajectory	NOUN
alkej-361	18	42	nor	nor	CCONJ
alkej-361	18	43	on	on	ADP
alkej-361	18	44	the	the	DET
alkej-361	18	45	links	link	NOUN
alkej-361	18	46	of	of	ADP
alkej-361	18	47	the	the	DET
alkej-361	18	48	arm	arm	NOUN
alkej-361	18	49	collides	collide	VERB
alkej-361	18	50	with	with	ADP
alkej-361	18	51	any	any	DET
alkej-361	18	52	obstacle	obstacle	NOUN
alkej-361	18	53	,	,	PUNCT
alkej-361	18	54	and	and	CCONJ
alkej-361	18	55	ensures	ensure	VERB
alkej-361	18	56	the	the	DET
alkej-361	18	57	shortest	short	ADJ
alkej-361	18	58	path	path	NOUN
alkej-361	18	59	[	[	X
alkej-361	18	60	1,2	1,2	NUM
alkej-361	18	61	]	]	PUNCT
alkej-361	18	62	.	.	PUNCT
alkej-361	19	1	with	with	ADP
alkej-361	19	2	ideal	ideal	ADJ
alkej-361	19	3	system	system	NOUN
alkej-361	19	4	of	of	ADP
alkej-361	19	5	path	path	NOUN
alkej-361	19	6	planning	planning	NOUN
alkej-361	19	7	,	,	PUNCT
alkej-361	19	8	navigation	navigation	NOUN
alkej-361	19	9	of	of	ADP
alkej-361	19	10	robot	robot	NOUN
alkej-361	19	11	arm	arm	NOUN
alkej-361	19	12	can	can	AUX
alkej-361	19	13	be	be	AUX
alkej-361	19	14	achieved	achieve	VERB
alkej-361	19	15	on	on	ADP
alkej-361	19	16	its	its	PRON
alkej-361	19	17	own	own	ADJ
alkej-361	19	18	with	with	ADP
alkej-361	19	19	no	no	DET
alkej-361	19	20	human	human	ADJ
alkej-361	19	21	interference	interference	NOUN
alkej-361	19	22	[	[	X
alkej-361	19	23	3	3	NUM
alkej-361	19	24	]	]	PUNCT
alkej-361	19	25	.	.	PUNCT
alkej-361	20	1	the	the	DET
alkej-361	20	2	path	path	NOUN
alkej-361	20	3	can	can	AUX
alkej-361	20	4	be	be	AUX
alkej-361	20	5	constructed	construct	VERB
alkej-361	20	6	either	either	CCONJ
alkej-361	20	7	in	in	ADP
alkej-361	20	8	the	the	DET
alkej-361	20	9	joint	joint	ADJ
alkej-361	20	10	space	space	NOUN
alkej-361	20	11	or	or	CCONJ
alkej-361	20	12	cartesian	cartesian	ADJ
alkej-361	20	13	space	space	NOUN
alkej-361	20	14	.	.	PUNCT
alkej-361	21	1	in	in	ADP
alkej-361	21	2	the	the	DET
alkej-361	21	3	joint	joint	ADJ
alkej-361	21	4	space	space	NOUN
alkej-361	21	5	,	,	PUNCT
alkej-361	21	6	the	the	DET
alkej-361	21	7	path	path	NOUN
alkej-361	21	8	is	be	AUX
alkej-361	21	9	particularly	particularly	ADV
alkej-361	21	10	identified	identify	VERB
alkej-361	21	11	for	for	ADP
alkej-361	21	12	each	each	DET
alkej-361	21	13	distinct	distinct	ADJ
alkej-361	21	14	joint	joint	NOUN
alkej-361	21	15	,	,	PUNCT
alkej-361	21	16	however	however	ADV
alkej-361	21	17	,	,	PUNCT
alkej-361	21	18	the	the	DET
alkej-361	21	19	end	end	NOUN
alkej-361	21	20	-	-	PUNCT
alkej-361	21	21	effector	effector	NOUN
alkej-361	21	22	cartesian	cartesian	ADJ
alkej-361	21	23	position	position	NOUN
alkej-361	21	24	is	be	AUX
alkej-361	21	25	only	only	ADV
alkej-361	21	26	predicted	predict	VERB
alkej-361	21	27	at	at	ADP
alkej-361	21	28	the	the	DET
alkej-361	21	29	start	start	NOUN
alkej-361	21	30	and	and	CCONJ
alkej-361	21	31	target	target	VERB
alkej-361	21	32	positions	position	NOUN
alkej-361	21	33	.	.	PUNCT
alkej-361	22	1	moreover	moreover	ADV
alkej-361	22	2	,	,	PUNCT
alkej-361	22	3	the	the	DET
alkej-361	22	4	cartesian	cartesian	ADJ
alkej-361	22	5	path	path	NOUN
alkej-361	22	6	has	have	VERB
alkej-361	22	7	the	the	DET
alkej-361	22	8	characteristic	characteristic	NOUN
alkej-361	22	9	of	of	ADP
alkej-361	22	10	being	be	AUX
alkej-361	22	11	easily	easily	ADV
alkej-361	22	12	specified	specify	VERB
alkej-361	22	13	,	,	PUNCT
alkej-361	22	14	and	and	CCONJ
alkej-361	22	15	the	the	DET
alkej-361	22	16	manipulator	manipulator	NOUN
alkej-361	22	17	motion	motion	NOUN
alkej-361	22	18	is	be	AUX
alkej-361	22	19	entirely	entirely	ADV
alkej-361	22	20	identified	identify	VERB
alkej-361	22	21	[	[	PUNCT
alkej-361	22	22	4	4	NUM
alkej-361	22	23	]	]	PUNCT
alkej-361	22	24	.	.	PUNCT
alkej-361	23	1	depending	depend	VERB
alkej-361	23	2	on	on	ADP
alkej-361	23	3	the	the	DET
alkej-361	23	4	availability	availability	NOUN
alkej-361	23	5	of	of	ADP
alkej-361	23	6	information	information	NOUN
alkej-361	23	7	related	relate	VERB
alkej-361	23	8	to	to	ADP
alkej-361	23	9	the	the	DET
alkej-361	23	10	robot	robot	NOUN
alkej-361	23	11	arm	arm	PROPN
alkej-361	23	12	environment	environment	PROPN
alkej-361	23	13	,	,	PUNCT
alkej-361	23	14	the	the	DET
alkej-361	23	15	path	path	NOUN
alkej-361	23	16	planning	planning	NOUN
alkej-361	23	17	is	be	AUX
alkej-361	23	18	subdivided	subdivide	VERB
alkej-361	23	19	into	into	ADP
alkej-361	23	20	global	global	ADJ
alkej-361	23	21	and	and	CCONJ
alkej-361	23	22	local	local	ADJ
alkej-361	23	23	path	path	NOUN
alkej-361	23	24	planning	planning	NOUN
alkej-361	23	25	.	.	PUNCT
alkej-361	24	1	the	the	DET
alkej-361	24	2	global	global	ADJ
alkej-361	24	3	path	path	PROPN
alkej-361	24	4	planning	planning	NOUN
alkej-361	24	5	has	have	VERB
alkej-361	24	6	the	the	DET
alkej-361	24	7	whole	whole	ADJ
alkej-361	24	8	required	require	VERB
alkej-361	24	9	information	information	NOUN
alkej-361	24	10	,	,	PUNCT
alkej-361	24	11	in	in	ADP
alkej-361	24	12	contrast	contrast	NOUN
alkej-361	24	13	,	,	PUNCT
alkej-361	24	14	the	the	DET
alkej-361	24	15	local	local	ADJ
alkej-361	24	16	path	path	NOUN
alkej-361	24	17	planning	planning	NOUN
alkej-361	24	18	has	have	AUX
alkej-361	24	19	partially	partially	ADV
alkej-361	24	20	or	or	CCONJ
alkej-361	24	21	entirely	entirely	ADV
alkej-361	24	22	anonymous	anonymous	ADJ
alkej-361	24	23	information	information	NOUN
alkej-361	24	24	[	[	X
alkej-361	24	25	3	3	NUM
alkej-361	24	26	]	]	PUNCT
alkej-361	24	27	.	.	PUNCT
alkej-361	25	1	motion	motion	NOUN
alkej-361	25	2	planning	planning	NOUN
alkej-361	25	3	possesses	possess	VERB
alkej-361	25	4	many	many	ADJ
alkej-361	25	5	algorithms	algorithm	NOUN
alkej-361	25	6	that	that	PRON
alkej-361	25	7	can	can	AUX
alkej-361	25	8	be	be	AUX
alkej-361	25	9	categorized	categorize	VERB
alkej-361	25	10	into	into	ADP
alkej-361	25	11	classical	classical	ADJ
alkej-361	25	12	and	and	CCONJ
alkej-361	25	13	heuristic	heuristic	ADJ
alkej-361	25	14	.	.	PUNCT
alkej-361	26	1	artificial	artificial	ADJ
alkej-361	26	2	potential	potential	ADJ
alkej-361	26	3	field	field	NOUN
alkej-361	26	4	,	,	PUNCT
alkej-361	26	5	visibility	visibility	NOUN
alkej-361	26	6	graph	graph	NOUN
alkej-361	26	7	,	,	PUNCT
alkej-361	26	8	and	and	CCONJ
alkej-361	26	9	cell	cell	NOUN
alkej-361	26	10	decomposition	decomposition	NOUN
alkej-361	26	11	and	and	CCONJ
alkej-361	26	12	many	many	ADJ
alkej-361	26	13	others	other	NOUN
alkej-361	26	14	are	be	AUX
alkej-361	26	15	various	various	ADJ
alkej-361	26	16	forms	form	NOUN
alkej-361	26	17	of	of	ADP
alkej-361	26	18	the	the	DET
alkej-361	26	19	classical	classical	ADJ
alkej-361	26	20	approaches	approach	NOUN
alkej-361	26	21	.	.	PUNCT
alkej-361	27	1	each	each	DET
alkej-361	27	2	one	one	NOUN
alkej-361	27	3	faced	face	VERB
alkej-361	27	4	the	the	DET
alkej-361	27	5	problems	problem	NOUN
alkej-361	27	6	of	of	ADP
alkej-361	27	7	local	local	ADJ
alkej-361	27	8	minimum	minimum	ADJ
alkej-361	27	9	stacking	stacking	NOUN
alkej-361	27	10	and	and	CCONJ
alkej-361	27	11	has	have	AUX
alkej-361	27	12	ahmed	ahme	VERB
alkej-361	27	13	t.	t.	PROPN
alkej-361	27	14	sadiq	sadiq	PROPN
alkej-361	27	15	al	al	PROPN
alkej-361	27	16	-	-	PUNCT
alkej-361	27	17	khwarizmi	khwarizmi	PROPN
alkej-361	27	18	engineering	engineering	NOUN
alkej-361	27	19	journal	journal	PROPN
alkej-361	27	20	,	,	PUNCT
alkej-361	27	21	vol	vol	NOUN
alkej-361	27	22	.	.	PROPN
alkej-361	28	1	13	13	NUM
alkej-361	28	2	,	,	PUNCT
alkej-361	28	3	no	no	INTJ
alkej-361	28	4	.	.	NOUN
alkej-361	28	5	3	3	NUM
alkej-361	28	6	,	,	PUNCT
alkej-361	28	7	p.p	p.p	PROPN
alkej-361	28	8	.	.	NOUN
alkej-361	28	9	2737	2737	NUM
alkej-361	28	10	(	(	PUNCT
alkej-361	28	11	2017	2017	NUM
alkej-361	28	12	)	)	PUNCT
alkej-361	28	13	28	28	NUM
alkej-361	28	14	elevated	elevated	ADJ
alkej-361	28	15	account	account	NOUN
alkej-361	28	16	of	of	ADP
alkej-361	28	17	cost	cost	NOUN
alkej-361	28	18	and	and	CCONJ
alkej-361	28	19	time	time	NOUN
alkej-361	28	20	.	.	PUNCT
alkej-361	29	1	on	on	ADP
alkej-361	29	2	the	the	DET
alkej-361	29	3	other	other	ADJ
alkej-361	29	4	hand	hand	NOUN
alkej-361	29	5	,	,	PUNCT
alkej-361	29	6	the	the	DET
alkej-361	29	7	heuristic	heuristic	ADJ
alkej-361	29	8	techniques	technique	NOUN
alkej-361	29	9	are	be	AUX
alkej-361	29	10	mainly	mainly	ADV
alkej-361	29	11	utilized	utilize	VERB
alkej-361	29	12	for	for	ADP
alkej-361	29	13	their	their	PRON
alkej-361	29	14	ability	ability	NOUN
alkej-361	29	15	to	to	PART
alkej-361	29	16	solve	solve	VERB
alkej-361	29	17	the	the	DET
alkej-361	29	18	problem	problem	NOUN
alkej-361	29	19	of	of	ADP
alkej-361	29	20	path	path	NOUN
alkej-361	29	21	planning	planning	NOUN
alkej-361	29	22	,	,	PUNCT
alkej-361	29	23	and	and	CCONJ
alkej-361	29	24	offer	offer	VERB
alkej-361	29	25	many	many	ADJ
alkej-361	29	26	advantages	advantage	NOUN
alkej-361	29	27	such	such	ADJ
alkej-361	29	28	as	as	ADP
alkej-361	29	29	easiness	easiness	NOUN
alkej-361	29	30	in	in	ADP
alkej-361	29	31	implementation	implementation	NOUN
alkej-361	29	32	and	and	CCONJ
alkej-361	29	33	swift	swift	ADJ
alkej-361	29	34	generation	generation	NOUN
alkej-361	29	35	of	of	ADP
alkej-361	29	36	various	various	ADJ
alkej-361	29	37	approved	approve	VERB
alkej-361	29	38	solutions	solution	NOUN
alkej-361	29	39	[	[	X
alkej-361	29	40	3	3	NUM
alkej-361	29	41	,	,	PUNCT
alkej-361	29	42	5	5	NUM
alkej-361	29	43	]	]	PUNCT
alkej-361	29	44	.	.	PUNCT
alkej-361	30	1	particle	particle	NOUN
alkej-361	30	2	swarm	swarm	NOUN
alkej-361	30	3	optimization	optimization	NOUN
alkej-361	30	4	is	be	AUX
alkej-361	30	5	a	a	DET
alkej-361	30	6	heuristic	heuristic	ADJ
alkej-361	30	7	technique	technique	NOUN
alkej-361	30	8	.	.	PUNCT
alkej-361	31	1	simplicity	simplicity	NOUN
alkej-361	31	2	,	,	PUNCT
alkej-361	31	3	rapid	rapid	ADJ
alkej-361	31	4	convergence	convergence	NOUN
alkej-361	31	5	,	,	PUNCT
alkej-361	31	6	power	power	NOUN
alkej-361	31	7	and	and	CCONJ
alkej-361	31	8	impose	impose	VERB
alkej-361	31	9	few	few	ADJ
alkej-361	31	10	tuned	tune	VERB
alkej-361	31	11	parameters	parameter	NOUN
alkej-361	31	12	are	be	AUX
alkej-361	31	13	the	the	DET
alkej-361	31	14	main	main	ADJ
alkej-361	31	15	features	feature	NOUN
alkej-361	31	16	that	that	PRON
alkej-361	31	17	differentiated	differentiate	VERB
alkej-361	31	18	it	it	PRON
alkej-361	31	19	on	on	ADP
alkej-361	31	20	the	the	DET
alkej-361	31	21	other	other	ADJ
alkej-361	31	22	complex	complex	ADJ
alkej-361	31	23	optimization	optimization	NOUN
alkej-361	31	24	algorithms	algorithm	NOUN
alkej-361	31	25	[	[	X
alkej-361	31	26	5	5	NUM
alkej-361	31	27	]	]	PUNCT
alkej-361	31	28	.	.	PUNCT
alkej-361	32	1	in	in	ADP
alkej-361	32	2	this	this	DET
alkej-361	32	3	paper	paper	NOUN
alkej-361	32	4	,	,	PUNCT
alkej-361	32	5	the	the	DET
alkej-361	32	6	modified	modify	VERB
alkej-361	32	7	pso	pso	NOUN
alkej-361	32	8	algorithm	algorithm	NOUN
alkej-361	32	9	is	be	AUX
alkej-361	32	10	proposed	propose	VERB
alkej-361	32	11	depending	depend	VERB
alkej-361	32	12	on	on	ADP
alkej-361	32	13	cost	cost	NOUN
alkej-361	32	14	of	of	ADP
alkej-361	32	15	d	d	NOUN
alkej-361	32	16	*	*	PUNCT
alkej-361	32	17	and	and	CCONJ
alkej-361	32	18	euclidean	euclidean	ADJ
alkej-361	32	19	distance	distance	NOUN
alkej-361	32	20	to	to	PART
alkej-361	32	21	find	find	VERB
alkej-361	32	22	an	an	DET
alkej-361	32	23	optimal	optimal	ADJ
alkej-361	32	24	path	path	NOUN
alkej-361	32	25	of	of	ADP
alkej-361	32	26	two	two	NUM
alkej-361	32	27	links	link	NOUN
alkej-361	32	28	arm	arm	VERB
alkej-361	32	29	that	that	PRON
alkej-361	32	30	moved	move	VERB
alkej-361	32	31	in	in	ADP
alkej-361	32	32	2d	2d	NOUN
alkej-361	32	33	.	.	PUNCT
alkej-361	33	1	2	2	X
alkej-361	33	2	.	.	X
alkej-361	33	3	a	a	DET
alkej-361	33	4	review	review	NOUN
alkej-361	33	5	of	of	ADP
alkej-361	33	6	previous	previous	ADJ
alkej-361	33	7	researches	research	NOUN
alkej-361	33	8	in	in	ADP
alkej-361	33	9	order	order	NOUN
alkej-361	33	10	to	to	PART
alkej-361	33	11	solve	solve	VERB
alkej-361	33	12	robot	robot	NOUN
alkej-361	33	13	navigation	navigation	NOUN
alkej-361	33	14	problem	problem	NOUN
alkej-361	33	15	,	,	PUNCT
alkej-361	33	16	numerous	numerous	ADJ
alkej-361	33	17	methods	method	NOUN
alkej-361	33	18	have	have	AUX
alkej-361	33	19	been	be	AUX
alkej-361	33	20	proposed	propose	VERB
alkej-361	33	21	by	by	ADP
alkej-361	33	22	many	many	ADJ
alkej-361	33	23	researchers	researcher	NOUN
alkej-361	33	24	.	.	PUNCT
alkej-361	34	1	recently	recently	ADV
alkej-361	34	2	,	,	PUNCT
alkej-361	34	3	a	a	DET
alkej-361	34	4	series	series	NOUN
alkej-361	34	5	of	of	ADP
alkej-361	34	6	intelligent	intelligent	ADJ
alkej-361	34	7	ideas	idea	NOUN
alkej-361	34	8	are	be	AUX
alkej-361	34	9	used	use	VERB
alkej-361	34	10	,	,	PUNCT
alkej-361	34	11	such	such	ADJ
alkej-361	34	12	as	as	ADP
alkej-361	34	13	genetic	genetic	ADJ
alkej-361	34	14	algorithm	algorithm	NOUN
alkej-361	34	15	,	,	PUNCT
alkej-361	34	16	ant	ant	ADJ
alkej-361	34	17	colony	colony	NOUN
alkej-361	34	18	optimization	optimization	NOUN
alkej-361	34	19	and	and	CCONJ
alkej-361	34	20	particle	particle	NOUN
alkej-361	34	21	swarm	swarm	NOUN
alkej-361	34	22	optimization	optimization	NOUN
alkej-361	34	23	due	due	ADP
alkej-361	34	24	to	to	ADP
alkej-361	34	25	their	their	PRON
alkej-361	34	26	ability	ability	NOUN
alkej-361	34	27	for	for	ADP
alkej-361	34	28	simultaneous	simultaneous	ADJ
alkej-361	34	29	calculations	calculation	NOUN
alkej-361	34	30	and	and	CCONJ
alkej-361	34	31	efficient	efficient	ADJ
alkej-361	34	32	solving	solve	VERB
alkej-361	34	33	the	the	DET
alkej-361	34	34	navigation	navigation	NOUN
alkej-361	34	35	problems	problem	NOUN
alkej-361	34	36	.	.	PUNCT
alkej-361	35	1	guo	guo	PROPN
alkej-361	35	2	et	et	PROPN
alkej-361	35	3	al	al	PROPN
alkej-361	36	1	[	[	X
alkej-361	36	2	6	6	NUM
alkej-361	36	3	]	]	PUNCT
alkej-361	36	4	proposed	propose	VERB
alkej-361	36	5	the	the	DET
alkej-361	36	6	cultural	cultural	ADJ
alkej-361	36	7	based	base	VERB
alkej-361	36	8	pso	pso	NOUN
alkej-361	36	9	(	(	PUNCT
alkej-361	36	10	cbpso	cbpso	NOUN
alkej-361	36	11	)	)	PUNCT
alkej-361	36	12	algorithm	algorithm	NOUN
alkej-361	36	13	which	which	PRON
alkej-361	36	14	is	be	AUX
alkej-361	36	15	to	to	PART
alkej-361	36	16	find	find	VERB
alkej-361	36	17	the	the	DET
alkej-361	36	18	collision	collision	NOUN
alkej-361	36	19	-	-	PUNCT
alkej-361	36	20	free	free	ADJ
alkej-361	36	21	trajectory	trajectory	NOUN
alkej-361	36	22	for	for	ADP
alkej-361	36	23	redundant	redundant	ADJ
alkej-361	36	24	robot	robot	NOUN
alkej-361	36	25	manipulators	manipulator	NOUN
alkej-361	36	26	in	in	ADP
alkej-361	36	27	the	the	DET
alkej-361	36	28	presence	presence	NOUN
alkej-361	36	29	of	of	ADP
alkej-361	36	30	fixed	fix	VERB
alkej-361	36	31	obstacles	obstacle	NOUN
alkej-361	36	32	.	.	PUNCT
alkej-361	37	1	the	the	DET
alkej-361	37	2	authors	author	NOUN
alkej-361	37	3	used	use	VERB
alkej-361	37	4	quadrinomial	quadrinomial	ADJ
alkej-361	37	5	and	and	CCONJ
alkej-361	37	6	quintic	quintic	ADJ
alkej-361	37	7	polynomials	polynomial	NOUN
alkej-361	37	8	to	to	PART
alkej-361	37	9	describe	describe	VERB
alkej-361	37	10	the	the	DET
alkej-361	37	11	segment	segment	NOUN
alkej-361	37	12	of	of	ADP
alkej-361	37	13	the	the	DET
alkej-361	37	14	trajectory	trajectory	NOUN
alkej-361	37	15	.	.	PUNCT
alkej-361	38	1	rokbani	rokbani	PROPN
alkej-361	38	2	and	and	CCONJ
alkej-361	38	3	alimi	alimi	PROPN
alkej-361	38	4	[	[	X
alkej-361	38	5	7	7	NUM
alkej-361	38	6	]	]	PUNCT
alkej-361	38	7	applied	apply	VERB
alkej-361	38	8	the	the	DET
alkej-361	38	9	inverse	inverse	NOUN
alkej-361	38	10	kinematics	kinematic	NOUN
alkej-361	38	11	pso	pso	NOUN
alkej-361	38	12	(	(	PUNCT
alkej-361	38	13	ik	ik	ADJ
alkej-361	38	14	-	-	NOUN
alkej-361	38	15	pso	pso	NOUN
alkej-361	38	16	)	)	PUNCT
alkej-361	38	17	to	to	PART
alkej-361	38	18	find	find	VERB
alkej-361	38	19	the	the	DET
alkej-361	38	20	inverse	inverse	ADJ
alkej-361	38	21	kinematics	kinematic	NOUN
alkej-361	38	22	of	of	ADP
alkej-361	38	23	robot	robot	NOUN
alkej-361	38	24	manipulator	manipulator	NOUN
alkej-361	38	25	.	.	PUNCT
alkej-361	39	1	the	the	DET
alkej-361	39	2	objective	objective	NOUN
alkej-361	39	3	is	be	AUX
alkej-361	39	4	to	to	PART
alkej-361	39	5	generate	generate	VERB
alkej-361	39	6	the	the	DET
alkej-361	39	7	trajectory	trajectory	NOUN
alkej-361	39	8	path	path	NOUN
alkej-361	39	9	by	by	ADP
alkej-361	39	10	forward	forward	ADJ
alkej-361	39	11	kinematics	kinematic	NOUN
alkej-361	39	12	depending	depend	VERB
alkej-361	39	13	on	on	ADP
alkej-361	39	14	the	the	DET
alkej-361	39	15	joint	joint	ADJ
alkej-361	39	16	variables	variable	NOUN
alkej-361	39	17	that	that	PRON
alkej-361	39	18	obtained	obtain	VERB
alkej-361	39	19	from	from	ADP
alkej-361	39	20	ikpso	ikpso	NOUN
alkej-361	39	21	.	.	PUNCT
alkej-361	40	1	kim	kim	PROPN
alkej-361	40	2	and	and	CCONJ
alkej-361	40	3	lee	lee	PROPN
alkej-361	41	1	[	[	X
alkej-361	41	2	8	8	NUM
alkej-361	41	3	]	]	PUNCT
alkej-361	41	4	proposed	propose	VERB
alkej-361	41	5	the	the	DET
alkej-361	41	6	pso	pso	NOUN
alkej-361	41	7	algorithm	algorithm	NOUN
alkej-361	41	8	based	base	VERB
alkej-361	41	9	on	on	ADP
alkej-361	41	10	a	a	DET
alkej-361	41	11	normalized	normalize	VERB
alkej-361	41	12	step	step	NOUN
alkej-361	41	13	cost	cost	NOUN
alkej-361	41	14	(	(	PUNCT
alkej-361	41	15	nsc	nsc	PROPN
alkej-361	41	16	)	)	PUNCT
alkej-361	41	17	for	for	ADP
alkej-361	41	18	trajectory	trajectory	NOUN
alkej-361	41	19	optimization	optimization	NOUN
alkej-361	41	20	.	.	PUNCT
alkej-361	42	1	a	a	DET
alkej-361	42	2	nsc	nsc	PROPN
alkej-361	42	3	approach	approach	NOUN
alkej-361	42	4	was	be	AUX
alkej-361	42	5	considered	consider	VERB
alkej-361	42	6	as	as	ADP
alkej-361	42	7	new	new	ADJ
alkej-361	42	8	method	method	NOUN
alkej-361	42	9	for	for	ADP
alkej-361	42	10	initializing	initialize	VERB
alkej-361	42	11	the	the	DET
alkej-361	42	12	particles	particle	NOUN
alkej-361	42	13	in	in	ADP
alkej-361	42	14	pso	pso	NOUN
alkej-361	42	15	.the	.the	PRON
alkej-361	42	16	optimal	optimal	ADJ
alkej-361	42	17	trajectory	trajectory	NOUN
alkej-361	42	18	is	be	AUX
alkej-361	42	19	the	the	DET
alkej-361	42	20	one	one	NOUN
alkej-361	42	21	that	that	PRON
alkej-361	42	22	had	have	VERB
alkej-361	42	23	a	a	DET
alkej-361	42	24	lower	low	ADJ
alkej-361	42	25	cost	cost	NOUN
alkej-361	42	26	and	and	CCONJ
alkej-361	42	27	converged	converge	VERB
alkej-361	42	28	faster	fast	ADV
alkej-361	42	29	,	,	PUNCT
alkej-361	42	30	without	without	ADP
alkej-361	42	31	any	any	DET
alkej-361	42	32	collision	collision	NOUN
alkej-361	42	33	with	with	ADP
alkej-361	42	34	the	the	DET
alkej-361	42	35	obstacle	obstacle	NOUN
alkej-361	42	36	in	in	ADP
alkej-361	42	37	the	the	DET
alkej-361	42	38	workspace	workspace	NOUN
alkej-361	42	39	.	.	PUNCT
alkej-361	43	1	3	3	X
alkej-361	43	2	.	.	X
alkej-361	43	3	kinematics	kinematic	NOUN
alkej-361	43	4	modeling	modeling	NOUN
alkej-361	43	5	of	of	ADP
alkej-361	43	6	two	two	NUM
alkej-361	43	7	-	-	PUNCT
alkej-361	43	8	link	link	NOUN
alkej-361	43	9	robot	robot	NOUN
alkej-361	43	10	arm	arm	NOUN
alkej-361	43	11	kinematics	kinematic	NOUN
alkej-361	43	12	is	be	AUX
alkej-361	43	13	geometry	geometry	NOUN
alkej-361	43	14	of	of	ADP
alkej-361	43	15	motion	motion	NOUN
alkej-361	43	16	.	.	PUNCT
alkej-361	44	1	kinematic	kinematic	ADJ
alkej-361	44	2	problems	problem	NOUN
alkej-361	44	3	can	can	AUX
alkej-361	44	4	be	be	AUX
alkej-361	44	5	classified	classify	VERB
alkej-361	44	6	into	into	ADP
alkej-361	44	7	two	two	NUM
alkej-361	44	8	types	type	NOUN
alkej-361	44	9	,	,	PUNCT
alkej-361	44	10	one	one	NUM
alkej-361	44	11	of	of	ADP
alkej-361	44	12	them	they	PRON
alkej-361	44	13	is	be	AUX
alkej-361	44	14	the	the	DET
alkej-361	44	15	forward	forward	ADJ
alkej-361	44	16	kinematic	kinematic	ADJ
alkej-361	44	17	problem	problem	NOUN
alkej-361	44	18	which	which	PRON
alkej-361	44	19	is	be	AUX
alkej-361	44	20	to	to	PART
alkej-361	44	21	allocate	allocate	VERB
alkej-361	44	22	the	the	DET
alkej-361	44	23	position	position	NOUN
alkej-361	44	24	of	of	ADP
alkej-361	44	25	end	end	NOUN
alkej-361	44	26	effector	effector	NOUN
alkej-361	44	27	and	and	CCONJ
alkej-361	44	28	its	its	PRON
alkej-361	44	29	orientation	orientation	NOUN
alkej-361	44	30	through	through	ADP
alkej-361	44	31	the	the	DET
alkej-361	44	32	provision	provision	NOUN
alkej-361	44	33	of	of	ADP
alkej-361	44	34	the	the	DET
alkej-361	44	35	values	value	NOUN
alkej-361	44	36	for	for	ADP
alkej-361	44	37	the	the	DET
alkej-361	44	38	robots	robot	NOUN
alkej-361	44	39	'	'	PART
alkej-361	44	40	joint	joint	ADJ
alkej-361	44	41	variables	variable	NOUN
alkej-361	44	42	,	,	PUNCT
alkej-361	44	43	while	while	SCONJ
alkej-361	44	44	the	the	DET
alkej-361	44	45	second	second	ADJ
alkej-361	44	46	problem	problem	NOUN
alkej-361	44	47	is	be	AUX
alkej-361	44	48	inverse	inverse	NOUN
alkej-361	44	49	kinematic	kinematic	NOUN
alkej-361	44	50	which	which	PRON
alkej-361	44	51	is	be	AUX
alkej-361	44	52	specified	specify	VERB
alkej-361	44	53	all	all	DET
alkej-361	44	54	possible	possible	ADJ
alkej-361	44	55	sets	set	NOUN
alkej-361	44	56	of	of	ADP
alkej-361	44	57	joint	joint	ADJ
alkej-361	44	58	angles	angle	NOUN
alkej-361	44	59	and	and	CCONJ
alkej-361	44	60	link	link	NOUN
alkej-361	44	61	geometries	geometry	NOUN
alkej-361	44	62	through	through	ADP
alkej-361	44	63	provision	provision	NOUN
alkej-361	44	64	the	the	DET
alkej-361	44	65	value	value	NOUN
alkej-361	44	66	of	of	ADP
alkej-361	44	67	end	end	NOUN
alkej-361	44	68	effector	effector	NOUN
alkej-361	44	69	position	position	NOUN
alkej-361	44	70	and	and	CCONJ
alkej-361	44	71	orientation	orientation	NOUN
alkej-361	44	72	.	.	PUNCT
alkej-361	45	1	the	the	DET
alkej-361	45	2	general	general	ADJ
alkej-361	45	3	purpose	purpose	NOUN
alkej-361	45	4	of	of	ADP
alkej-361	45	5	using	use	VERB
alkej-361	45	6	inverse	inverse	NOUN
alkej-361	45	7	kinematics	kinematic	NOUN
alkej-361	45	8	is	be	AUX
alkej-361	45	9	to	to	PART
alkej-361	45	10	obtain	obtain	VERB
alkej-361	45	11	joint	joint	ADJ
alkej-361	45	12	space	space	NOUN
alkej-361	45	13	through	through	ADP
alkej-361	45	14	a	a	DET
alkej-361	45	15	given	give	VERB
alkej-361	45	16	cartesian	cartesian	ADJ
alkej-361	45	17	space	space	NOUN
alkej-361	45	18	(	(	PUNCT
alkej-361	45	19	position	position	NOUN
alkej-361	45	20	and	and	CCONJ
alkej-361	45	21	orientation	orientation	NOUN
alkej-361	45	22	of	of	ADP
alkej-361	45	23	a	a	DET
alkej-361	45	24	manipulator	manipulator	NOUN
alkej-361	45	25	end	end	NOUN
alkej-361	45	26	-	-	PUNCT
alkej-361	45	27	effector	effector	NOUN
alkej-361	45	28	)	)	PUNCT
alkej-361	46	1	[	[	X
alkej-361	46	2	9	9	NUM
alkej-361	46	3	,	,	PUNCT
alkej-361	46	4	10	10	NUM
alkej-361	46	5	]	]	PUNCT
alkej-361	46	6	.	.	PUNCT
alkej-361	47	1	in	in	ADP
alkej-361	47	2	2	2	NUM
alkej-361	47	3	-	-	PUNCT
alkej-361	47	4	dof	dof	NOUN
alkej-361	47	5	planner	planner	NOUN
alkej-361	47	6	manipulator	manipulator	NOUN
alkej-361	47	7	,	,	PUNCT
alkej-361	47	8	the	the	DET
alkej-361	47	9	geometric	geometric	ADJ
alkej-361	47	10	solution	solution	NOUN
alkej-361	47	11	approach	approach	NOUN
alkej-361	47	12	of	of	ADP
alkej-361	47	13	inverse	inverse	NOUN
alkej-361	47	14	kinematics	kinematic	NOUN
alkej-361	47	15	is	be	AUX
alkej-361	47	16	used	use	VERB
alkej-361	47	17	for	for	ADP
alkej-361	47	18	obtaining	obtain	VERB
alkej-361	47	19	the	the	DET
alkej-361	47	20	joint	joint	ADJ
alkej-361	47	21	variables	variable	NOUN
alkej-361	47	22	for	for	ADP
alkej-361	47	23	all	all	DET
alkej-361	47	24	the	the	DET
alkej-361	47	25	points	point	NOUN
alkej-361	47	26	in	in	ADP
alkej-361	47	27	cartesian	cartesian	ADJ
alkej-361	47	28	space	space	NOUN
alkej-361	47	29	regardless	regardless	ADV
alkej-361	47	30	their	their	PRON
alkej-361	47	31	orientation	orientation	NOUN
alkej-361	47	32	[	[	X
alkej-361	47	33	11	11	NUM
alkej-361	47	34	,	,	PUNCT
alkej-361	47	35	12	12	NUM
alkej-361	47	36	]	]	PUNCT
alkej-361	47	37	.	.	PUNCT
alkej-361	48	1	consider	consider	VERB
alkej-361	48	2	the	the	DET
alkej-361	48	3	diagram	diagram	NOUN
alkej-361	48	4	of	of	ADP
alkej-361	48	5	fig	fig	NOUN
alkej-361	48	6	.	.	PUNCT
alkej-361	49	1	(	(	PUNCT
alkej-361	49	2	1	1	NUM
alkej-361	49	3	)	)	PUNCT
alkej-361	49	4	.	.	PUNCT
alkej-361	50	1	the	the	DET
alkej-361	50	2	following	follow	VERB
alkej-361	50	3	equations	equation	NOUN
alkej-361	50	4	are	be	AUX
alkej-361	50	5	used	use	VERB
alkej-361	50	6	to	to	PART
alkej-361	50	7	compute	compute	VERB
alkej-361	50	8	�	�	PROPN
alkej-361	50	9	�	�	PROPN
alkej-361	50	10	and	and	CCONJ
alkej-361	50	11	�	�	PROPN
alkej-361	50	12	�	�	PROPN
alkej-361	51	1	[	[	X
alkej-361	51	2	11	11	NUM
alkej-361	51	3	,	,	PUNCT
alkej-361	51	4	12	12	NUM
alkej-361	51	5	,	,	PUNCT
alkej-361	51	6	13	13	NUM
alkej-361	51	7	]	]	PUNCT
alkej-361	51	8	.	.	PUNCT
alkej-361	52	1	fig	fig	NOUN
alkej-361	52	2	.	.	PUNCT
alkej-361	53	1	1	1	NUM
alkej-361	53	2	.	.	X
alkej-361	53	3	two	two	NUM
alkej-361	53	4	-	-	PUNCT
alkej-361	53	5	link	link	NOUN
alkej-361	53	6	arm	arm	NOUN
alkej-361	53	7	.	.	PUNCT
alkej-361	54	1	cos	cos	PROPN
alkej-361	54	2	�	�	PROPN
alkej-361	54	3	�	�	PROPN
alkej-361	54	4	=	=	SYM
alkej-361	54	5	�	�	PROPN
alkej-361	54	6	�	�	PROPN
alkej-361	54	7	�	�	PROPN
alkej-361	54	8	�	�	PROPN
alkej-361	54	9	�	�	PROPN
alkej-361	54	10	�	�	PROPN
alkej-361	54	11	�	�	PROPN
alkej-361	54	12	�	�	PROPN
alkej-361	54	13	�	�	PROPN
alkej-361	54	14	�	�	PROPN
alkej-361	54	15	�	�	PROPN
alkej-361	54	16	�	�	PROPN
alkej-361	54	17	�	�	PROPN
alkej-361	54	18	�	�	PROPN
alkej-361	54	19	�	�	PROPN
alkej-361	54	20	�	�	PROPN
alkej-361	54	21	=	=	SYM
alkej-361	54	22	�	�	PROPN
alkej-361	54	23	…	…	PUNCT
alkej-361	54	24	(	(	PUNCT
alkej-361	54	25	1	1	NUM
alkej-361	54	26	)	)	PUNCT
alkej-361	54	27	since	since	SCONJ
alkej-361	54	28	,	,	PUNCT
alkej-361	54	29	the	the	DET
alkej-361	54	30	sin	sin	NOUN
alkej-361	54	31	�	�	PROPN
alkej-361	54	32	�	�	PROPN
alkej-361	54	33	is	be	AUX
alkej-361	54	34	sin	sin	NOUN
alkej-361	54	35	�	�	PROPN
alkej-361	54	36	�	�	PROPN
alkej-361	54	37	=	=	SYM
alkej-361	54	38	√1	√1	PROPN
alkej-361	54	39	−	−	PROPN
alkej-361	54	40	�	�	PROPN
alkej-361	54	41	�	�	PROPN
alkej-361	54	42	�	�	PROPN
alkej-361	54	43	�	�	PROPN
alkej-361	54	44	…	…	PUNCT
alkej-361	54	45	(	(	PUNCT
alkej-361	54	46	2	2	X
alkej-361	54	47	)	)	PUNCT
alkej-361	54	48	the	the	DET
alkej-361	54	49	two	two	NUM
alkej-361	54	50	possible	possible	ADJ
alkej-361	54	51	solutions	solution	NOUN
alkej-361	54	52	for	for	ADP
alkej-361	54	53	�	�	PROPN
alkej-361	54	54	�	�	PROPN
alkej-361	54	55	can	can	AUX
alkej-361	54	56	be	be	AUX
alkej-361	54	57	obtained	obtain	VERB
alkej-361	54	58	by	by	ADP
alkej-361	54	59	writing	write	VERB
alkej-361	54	60	as	as	ADP
alkej-361	54	61	:	:	PUNCT
alkej-361	54	62	�	�	PROPN
alkej-361	54	63	�	�	PROPN
alkej-361	54	64	=	=	SYM
alkej-361	54	65	tan	tan	PROPN
alkej-361	54	66	�	�	PROPN
alkej-361	54	67	�	�	PROPN
alkej-361	54	68	(	(	PUNCT
alkej-361	54	69	√	√	NUM
alkej-361	54	70	�	�	PROPN
alkej-361	54	71	�	�	PROPN
alkej-361	54	72	�	�	PROPN
alkej-361	54	73	�	�	PROPN
alkej-361	54	74	�	�	PROPN
alkej-361	54	75	�	�	PROPN
alkej-361	54	76	�	�	PROPN
alkej-361	54	77	)	)	PUNCT
alkej-361	54	78	...	...	PUNCT
alkej-361	55	1	(	(	PUNCT
alkej-361	55	2	3	3	X
alkej-361	55	3	)	)	PUNCT
alkej-361	55	4	finally	finally	ADV
alkej-361	55	5	,	,	PUNCT
alkej-361	55	6	�	�	PROPN
alkej-361	55	7	�	�	PROPN
alkej-361	55	8	can	can	AUX
alkej-361	55	9	be	be	AUX
alkej-361	55	10	found	find	VERB
alkej-361	55	11	by	by	ADP
alkej-361	55	12	the	the	DET
alkej-361	55	13	following	follow	VERB
alkej-361	55	14	equation	equation	NOUN
alkej-361	55	15	:	:	PUNCT
alkej-361	55	16	�	�	PROPN
alkej-361	55	17	�	�	PROPN
alkej-361	55	18	=	=	SYM
alkej-361	55	19	tan	tan	PROPN
alkej-361	55	20	�	�	PROPN
alkej-361	55	21	�	�	PROPN
alkej-361	55	22	�	�	PROPN
alkej-361	55	23	�	�	PROPN
alkej-361	55	24	!	!	PUNCT
alkej-361	55	25	"	"	PUNCT
alkej-361	56	1	−	−	PROPN
alkej-361	56	2	tan	tan	PROPN
alkej-361	56	3	�	�	PROPN
alkej-361	56	4	�	�	PROPN
alkej-361	56	5	�	�	PROPN
alkej-361	56	6	�	�	PROPN
alkej-361	56	7	#	#	SYM
alkej-361	56	8	$	$	NUM
alkej-361	56	9	%	%	NOUN
alkej-361	56	10	&	&	CCONJ
alkej-361	56	11	�	�	PROPN
alkej-361	56	12	�	�	PROPN
alkej-361	56	13	�	�	PROPN
alkej-361	56	14	�	�	PROPN
alkej-361	56	15	�	�	PROPN
alkej-361	56	16	�	�	PROPN
alkej-361	56	17	'	'	PUNCT
alkej-361	56	18	(	(	PUNCT
alkej-361	56	19	#	#	PROPN
alkej-361	56	20	&	&	CCONJ
alkej-361	56	21	�	�	PROPN
alkej-361	56	22	…	…	PUNCT
alkej-361	56	23	(	(	PUNCT
alkej-361	56	24	4	4	X
alkej-361	56	25	)	)	PUNCT
alkej-361	56	26	where	where	SCONJ
alkej-361	56	27	)	)	PUNCT
alkej-361	56	28	�	�	PROPN
alkej-361	56	29	and	and	CCONJ
alkej-361	56	30	)	)	PUNCT
alkej-361	56	31	�	�	PROPN
alkej-361	56	32	are	be	AUX
alkej-361	56	33	length	length	NOUN
alkej-361	56	34	of	of	ADP
alkej-361	56	35	first	first	ADJ
alkej-361	56	36	and	and	CCONJ
alkej-361	56	37	second	second	ADJ
alkej-361	56	38	links	link	NOUN
alkej-361	56	39	respectively	respectively	ADV
alkej-361	56	40	[	[	X
alkej-361	56	41	11	11	NUM
alkej-361	56	42	,	,	PUNCT
alkej-361	56	43	12	12	NUM
alkej-361	56	44	,	,	PUNCT
alkej-361	56	45	13	13	NUM
alkej-361	56	46	]	]	PUNCT
alkej-361	56	47	.	.	PUNCT
alkej-361	57	1	the	the	DET
alkej-361	57	2	main	main	ADJ
alkej-361	57	3	advantage	advantage	NOUN
alkej-361	57	4	of	of	ADP
alkej-361	57	5	this	this	DET
alkej-361	57	6	approach	approach	NOUN
alkej-361	57	7	is	be	AUX
alkej-361	57	8	to	to	PART
alkej-361	57	9	recapture	recapture	VERB
alkej-361	57	10	both	both	PRON
alkej-361	57	11	of	of	ADP
alkej-361	57	12	the	the	DET
alkej-361	57	13	elbow	elbow	NOUN
alkej-361	57	14	-	-	PUNCT
alkej-361	57	15	up	up	NOUN
alkej-361	57	16	and	and	CCONJ
alkej-361	57	17	elbow	elbow	VERB
alkej-361	57	18	-	-	PUNCT
alkej-361	57	19	down	down	ADP
alkej-361	57	20	solutions	solution	NOUN
alkej-361	57	21	by	by	ADP
alkej-361	57	22	choosing	choose	VERB
alkej-361	57	23	the	the	DET
alkej-361	57	24	negative	negative	ADJ
alkej-361	57	25	and	and	CCONJ
alkej-361	57	26	positive	positive	ADJ
alkej-361	57	27	signs	sign	NOUN
alkej-361	57	28	in	in	ADP
alkej-361	57	29	the	the	DET
alkej-361	57	30	equation	equation	NOUN
alkej-361	57	31	[	[	X
alkej-361	57	32	13	13	NUM
alkej-361	57	33	,	,	PUNCT
alkej-361	57	34	14	14	NUM
alkej-361	57	35	,	,	PUNCT
alkej-361	57	36	and	and	CCONJ
alkej-361	57	37	15	15	NUM
alkej-361	57	38	]	]	PUNCT
alkej-361	57	39	.	.	PUNCT
alkej-361	58	1	the	the	DET
alkej-361	58	2	inverse	inverse	NOUN
alkej-361	58	3	kinematics	kinematic	NOUN
alkej-361	58	4	can	can	AUX
alkej-361	58	5	be	be	AUX
alkej-361	58	6	considered	consider	VERB
alkej-361	58	7	as	as	ADP
alkej-361	58	8	the	the	DET
alkej-361	58	9	first	first	ADJ
alkej-361	58	10	step	step	NOUN
alkej-361	58	11	for	for	ADP
alkej-361	58	12	generate	generate	VERB
alkej-361	58	13	the	the	DET
alkej-361	58	14	free	free	ADJ
alkej-361	58	15	cartesian	cartesian	ADJ
alkej-361	58	16	space	space	NOUN
alkej-361	58	17	on	on	ADP
alkej-361	58	18	it	it	PRON
alkej-361	58	19	the	the	DET
alkej-361	58	20	path	path	NOUN
alkej-361	58	21	planning	planning	NOUN
alkej-361	58	22	algorithm	algorithm	NOUN
alkej-361	58	23	is	be	AUX
alkej-361	58	24	searching	search	VERB
alkej-361	58	25	to	to	PART
alkej-361	58	26	find	find	VERB
alkej-361	58	27	optimal	optimal	ADJ
alkej-361	58	28	path	path	NOUN
alkej-361	58	29	.	.	PUNCT
alkej-361	59	1	ahmed	ahmed	PROPN
alkej-361	59	2	t.	t.	PROPN
alkej-361	59	3	sadiq	sadiq	PROPN
alkej-361	59	4	al	al	PROPN
alkej-361	59	5	-	-	PUNCT
alkej-361	59	6	khwarizmi	khwarizmi	PROPN
alkej-361	59	7	engineering	engineering	NOUN
alkej-361	59	8	journal	journal	PROPN
alkej-361	59	9	,	,	PUNCT
alkej-361	59	10	vol	vol	NOUN
alkej-361	59	11	.	.	PROPN
alkej-361	59	12	13	13	NUM
alkej-361	59	13	,	,	PUNCT
alkej-361	59	14	no	no	INTJ
alkej-361	59	15	.	.	NOUN
alkej-361	59	16	3	3	NUM
alkej-361	59	17	,	,	PUNCT
alkej-361	59	18	p.p	p.p	PROPN
alkej-361	59	19	.	.	NOUN
alkej-361	59	20	2737	2737	NUM
alkej-361	59	21	(	(	PUNCT
alkej-361	59	22	2017	2017	NUM
alkej-361	59	23	)	)	PUNCT
alkej-361	59	24	29	29	NUM
alkej-361	59	25	4	4	NUM
alkej-361	59	26	.	.	PUNCT
alkej-361	60	1	free	free	ADJ
alkej-361	60	2	cartesian	cartesian	ADJ
alkej-361	60	3	space	space	NOUN
alkej-361	60	4	analysis	analysis	NOUN
alkej-361	60	5	in	in	ADP
alkej-361	60	6	this	this	DET
alkej-361	60	7	paper	paper	NOUN
alkej-361	60	8	,	,	PUNCT
alkej-361	60	9	workspace	workspace	NOUN
alkej-361	60	10	space	space	NOUN
alkej-361	60	11	has	have	AUX
alkej-361	60	12	been	be	AUX
alkej-361	60	13	compiled	compile	VERB
alkej-361	60	14	and	and	CCONJ
alkej-361	60	15	analyzed	analyze	VERB
alkej-361	60	16	based	base	VERB
alkej-361	60	17	on	on	ADP
alkej-361	60	18	the	the	DET
alkej-361	60	19	inverse	inverse	NOUN
alkej-361	60	20	kinematics	kinematic	NOUN
alkej-361	60	21	result	result	VERB
alkej-361	60	22	.	.	PUNCT
alkej-361	61	1	the	the	DET
alkej-361	61	2	free	free	ADJ
alkej-361	61	3	cartesian	cartesian	ADJ
alkej-361	61	4	space	space	NOUN
alkej-361	61	5	of	of	ADP
alkej-361	61	6	twolink	twolink	NOUN
alkej-361	61	7	arm	arm	NOUN
alkej-361	61	8	can	can	AUX
alkej-361	61	9	be	be	AUX
alkej-361	61	10	defined	define	VERB
alkej-361	61	11	as	as	ADP
alkej-361	61	12	space	space	NOUN
alkej-361	61	13	with	with	ADP
alkej-361	61	14	set	set	NOUN
alkej-361	61	15	of	of	ADP
alkej-361	61	16	all	all	DET
alkej-361	61	17	points	point	NOUN
alkej-361	61	18	that	that	PRON
alkej-361	61	19	can	can	AUX
alkej-361	61	20	be	be	AUX
alkej-361	61	21	reached	reach	VERB
alkej-361	61	22	by	by	ADP
alkej-361	61	23	specific	specific	ADJ
alkej-361	61	24	end	end	NOUN
alkej-361	61	25	-	-	PUNCT
alkej-361	61	26	effector	effector	NOUN
alkej-361	61	27	configurations	configuration	NOUN
alkej-361	61	28	.	.	PUNCT
alkej-361	62	1	these	these	DET
alkej-361	62	2	points	point	NOUN
alkej-361	62	3	associated	associate	VERB
alkej-361	62	4	with	with	ADP
alkej-361	62	5	joint	joint	ADJ
alkej-361	62	6	angle	angle	NOUN
alkej-361	62	7	(	(	PUNCT
alkej-361	62	8	�	�	PROPN
alkej-361	62	9	�	�	PROPN
alkej-361	62	10	and	and	CCONJ
alkej-361	62	11	�	�	PROPN
alkej-361	62	12	�	�	PROPN
alkej-361	62	13	)	)	PUNCT
alkej-361	62	14	which	which	PRON
alkej-361	62	15	has	have	AUX
alkej-361	62	16	been	be	AUX
alkej-361	62	17	obtained	obtain	VERB
alkej-361	62	18	from	from	ADP
alkej-361	62	19	inverse	inverse	NOUN
alkej-361	62	20	kinematics	kinematic	NOUN
alkej-361	62	21	.	.	PUNCT
alkej-361	63	1	in	in	ADP
alkej-361	63	2	environment	environment	NOUN
alkej-361	63	3	contains	contain	VERB
alkej-361	63	4	many	many	ADJ
alkej-361	63	5	obstacles	obstacle	NOUN
alkej-361	63	6	,	,	PUNCT
alkej-361	63	7	the	the	DET
alkej-361	63	8	shape	shape	NOUN
alkej-361	63	9	and	and	CCONJ
alkej-361	63	10	volume	volume	NOUN
alkej-361	63	11	of	of	ADP
alkej-361	63	12	free	free	ADJ
alkej-361	63	13	cartesian	cartesian	ADJ
alkej-361	63	14	space	space	NOUN
alkej-361	63	15	are	be	AUX
alkej-361	63	16	varied	varied	ADJ
alkej-361	63	17	according	accord	VERB
alkej-361	63	18	to	to	ADP
alkej-361	63	19	the	the	DET
alkej-361	63	20	shape	shape	NOUN
alkej-361	63	21	,	,	PUNCT
alkej-361	63	22	size	size	NOUN
alkej-361	63	23	,	,	PUNCT
alkej-361	63	24	position	position	NOUN
alkej-361	63	25	,	,	PUNCT
alkej-361	63	26	and	and	CCONJ
alkej-361	63	27	number	number	NOUN
alkej-361	63	28	of	of	ADP
alkej-361	63	29	obstacles	obstacle	NOUN
alkej-361	63	30	in	in	ADP
alkej-361	63	31	addition	addition	NOUN
alkej-361	63	32	to	to	ADP
alkej-361	63	33	mechanical	mechanical	ADJ
alkej-361	63	34	limits	limit	NOUN
alkej-361	63	35	of	of	ADP
alkej-361	63	36	joints	joint	NOUN
alkej-361	63	37	(	(	PUNCT
alkej-361	63	38	for	for	ADP
alkej-361	63	39	the	the	DET
alkej-361	63	40	proposed	propose	VERB
alkej-361	63	41	method	method	NOUN
alkej-361	63	42	,	,	PUNCT
alkej-361	63	43	modeling	modeling	NOUN
alkej-361	63	44	and	and	CCONJ
alkej-361	63	45	simulation	simulation	NOUN
alkej-361	63	46	as	as	ADP
alkej-361	63	47	in	in	ADP
alkej-361	63	48	table	table	NOUN
alkej-361	63	49	1	1	NUM
alkej-361	63	50	)	)	PUNCT
alkej-361	63	51	.	.	PUNCT
alkej-361	64	1	these	these	DET
alkej-361	64	2	constraints	constraint	VERB
alkej-361	64	3	influence	influence	NOUN
alkej-361	64	4	and	and	CCONJ
alkej-361	64	5	restrict	restrict	VERB
alkej-361	64	6	motion	motion	NOUN
alkej-361	64	7	of	of	ADP
alkej-361	64	8	manipulator	manipulator	NOUN
alkej-361	64	9	as	as	ADV
alkej-361	64	10	well	well	ADV
alkej-361	64	11	as	as	ADP
alkej-361	64	12	separate	separate	VERB
alkej-361	64	13	the	the	DET
alkej-361	64	14	workspace	workspace	NOUN
alkej-361	64	15	into	into	ADP
alkej-361	64	16	reachable	reachable	ADJ
alkej-361	64	17	area	area	NOUN
alkej-361	64	18	and	and	CCONJ
alkej-361	64	19	unreachable	unreachable	ADJ
alkej-361	64	20	area	area	NOUN
alkej-361	64	21	.	.	PUNCT
alkej-361	65	1	table	table	NOUN
alkej-361	65	2	1	1	NUM
alkej-361	65	3	,	,	PUNCT
alkej-361	65	4	range	range	NOUN
alkej-361	65	5	of	of	ADP
alkej-361	65	6	two	two	NUM
alkej-361	65	7	joints	joint	NOUN
alkej-361	65	8	for	for	ADP
alkej-361	65	9	arm	arm	NOUN
alkej-361	65	10	's	's	PART
alkej-361	65	11	links	link	NOUN
alkej-361	65	12	.	.	PUNCT
alkej-361	66	1	link	link	NOUN
alkej-361	66	2	number	number	NOUN
alkej-361	66	3	range	range	NOUN
alkej-361	66	4	of	of	ADP
alkej-361	66	5	arm	arm	NOUN
alkej-361	66	6	's	's	PART
alkej-361	66	7	joint	joint	NOUN
alkej-361	66	8	in	in	ADP
alkej-361	66	9	degree	degree	NOUN
alkej-361	66	10	joint	joint	ADJ
alkej-361	66	11	1	1	NUM
alkej-361	66	12	0	0	NUM
alkej-361	66	13	≤	≤	NUM
alkej-361	66	14	�	�	PROPN
alkej-361	66	15	�	�	PROPN
alkej-361	66	16	≤	≤	NOUN
alkej-361	66	17	360	360	NUM
alkej-361	66	18	joint	joint	ADJ
alkej-361	66	19	2	2	NUM
alkej-361	66	20	-90	-90	PUNCT
alkej-361	66	21	≤	≤	NUM
alkej-361	66	22	�	�	PROPN
alkej-361	66	23	�	�	PROPN
alkej-361	66	24	≤	≤	NUM
alkej-361	66	25	90	90	NUM
alkej-361	66	26	computation	computation	NOUN
alkej-361	66	27	of	of	ADP
alkej-361	66	28	the	the	DET
alkej-361	66	29	free	free	ADJ
alkej-361	66	30	cartesian	cartesian	ADJ
alkej-361	66	31	space	space	NOUN
alkej-361	66	32	has	have	AUX
alkej-361	66	33	been	be	AUX
alkej-361	66	34	done	do	VERB
alkej-361	66	35	by	by	ADP
alkej-361	66	36	analyzing	analyze	VERB
alkej-361	66	37	points	point	NOUN
alkej-361	66	38	in	in	ADP
alkej-361	66	39	environment	environment	NOUN
alkej-361	66	40	and	and	CCONJ
alkej-361	66	41	finding	find	VERB
alkej-361	66	42	all	all	DET
alkej-361	66	43	possible	possible	ADJ
alkej-361	66	44	solution	solution	NOUN
alkej-361	66	45	of	of	ADP
alkej-361	66	46	point	point	NOUN
alkej-361	66	47	's	's	PART
alkej-361	66	48	configuration	configuration	NOUN
alkej-361	66	49	after	after	ADP
alkej-361	66	50	checking	check	VERB
alkej-361	66	51	both	both	DET
alkej-361	66	52	limitation	limitation	NOUN
alkej-361	66	53	of	of	ADP
alkej-361	66	54	joint	joint	NOUN
alkej-361	66	55	and	and	CCONJ
alkej-361	66	56	collision	collision	VERB
alkej-361	66	57	with	with	ADP
alkej-361	66	58	obstacles	obstacle	NOUN
alkej-361	66	59	.	.	PUNCT
alkej-361	67	1	the	the	DET
alkej-361	67	2	checking	checking	NOUN
alkej-361	67	3	function	function	NOUN
alkej-361	67	4	is	be	AUX
alkej-361	67	5	varied	varied	ADJ
alkej-361	67	6	according	accord	VERB
alkej-361	67	7	to	to	ADP
alkej-361	67	8	shape	shape	NOUN
alkej-361	67	9	of	of	ADP
alkej-361	67	10	the	the	DET
alkej-361	67	11	obstacle	obstacle	NOUN
alkej-361	67	12	(	(	PUNCT
alkej-361	67	13	polygon	polygon	PROPN
alkej-361	67	14	,	,	PUNCT
alkej-361	67	15	circle	circle	PROPN
alkej-361	67	16	)	)	PUNCT
alkej-361	67	17	.	.	PUNCT
alkej-361	68	1	in	in	ADP
alkej-361	68	2	polygon	polygon	PROPN
alkej-361	68	3	obstacle	obstacle	NOUN
alkej-361	68	4	it	it	PRON
alkej-361	68	5	is	be	AUX
alkej-361	68	6	dependent	dependent	ADJ
alkej-361	68	7	on	on	ADP
alkej-361	68	8	vertices	vertex	NOUN
alkej-361	68	9	positions	position	NOUN
alkej-361	68	10	of	of	ADP
alkej-361	68	11	obstacle	obstacle	NOUN
alkej-361	68	12	but	but	CCONJ
alkej-361	68	13	in	in	ADP
alkej-361	68	14	circle	circle	NOUN
alkej-361	68	15	obstacle	obstacle	NOUN
alkej-361	68	16	it	it	PRON
alkej-361	68	17	is	be	AUX
alkej-361	68	18	depending	depend	VERB
alkej-361	68	19	on	on	ADP
alkej-361	68	20	center	center	ADJ
alkej-361	68	21	point	point	NOUN
alkej-361	68	22	as	as	ADV
alkej-361	68	23	well	well	ADV
alkej-361	68	24	as	as	ADP
alkej-361	68	25	radius	radius	NOUN
alkej-361	68	26	.	.	PUNCT
alkej-361	69	1	moreover	moreover	ADV
alkej-361	69	2	,	,	PUNCT
alkej-361	69	3	there	there	PRON
alkej-361	69	4	are	be	VERB
alkej-361	69	5	three	three	NUM
alkej-361	69	6	possible	possible	ADJ
alkej-361	69	7	cases	case	NOUN
alkej-361	69	8	for	for	ADP
alkej-361	69	9	each	each	DET
alkej-361	69	10	coordinates	coordinate	NOUN
alkej-361	69	11	point	point	VERB
alkej-361	69	12	in	in	ADP
alkej-361	69	13	cartesian	cartesian	ADJ
alkej-361	69	14	space	space	NOUN
alkej-361	69	15	.	.	PUNCT
alkej-361	70	1	in	in	ADP
alkej-361	70	2	the	the	DET
alkej-361	70	3	first	first	ADJ
alkej-361	70	4	case	case	NOUN
alkej-361	70	5	,	,	PUNCT
alkej-361	70	6	the	the	DET
alkej-361	70	7	point	point	NOUN
alkej-361	70	8	has	have	VERB
alkej-361	70	9	two	two	NUM
alkej-361	70	10	solutions	solution	NOUN
alkej-361	70	11	(	(	PUNCT
alkej-361	70	12	elbow	elbow	VERB
alkej-361	70	13	up	up	ADP
alkej-361	70	14	and	and	CCONJ
alkej-361	70	15	elbow	elbow	VERB
alkej-361	70	16	down	down	ADP
alkej-361	70	17	configurations	configuration	NOUN
alkej-361	70	18	)	)	PUNCT
alkej-361	70	19	as	as	SCONJ
alkej-361	70	20	shown	show	VERB
alkej-361	70	21	in	in	ADP
alkej-361	70	22	fig	fig	NOUN
alkej-361	70	23	.	.	PUNCT
alkej-361	71	1	(	(	PUNCT
alkej-361	71	2	2	2	NUM
alkej-361	71	3	)	)	PUNCT
alkej-361	71	4	.	.	PUNCT
alkej-361	72	1	but	but	CCONJ
alkej-361	72	2	in	in	ADP
alkej-361	72	3	the	the	DET
alkej-361	72	4	second	second	ADJ
alkej-361	72	5	case	case	NOUN
alkej-361	72	6	,	,	PUNCT
alkej-361	72	7	the	the	DET
alkej-361	72	8	point	point	NOUN
alkej-361	72	9	has	have	VERB
alkej-361	72	10	just	just	ADV
alkej-361	72	11	one	one	NUM
alkej-361	72	12	solution	solution	NOUN
alkej-361	72	13	either	either	CCONJ
alkej-361	72	14	the	the	DET
alkej-361	72	15	manipulator	manipulator	NOUN
alkej-361	72	16	is	be	AUX
alkej-361	72	17	fully	fully	ADV
alkej-361	72	18	extended	extended	ADJ
alkej-361	72	19	to	to	PART
alkej-361	72	20	reach	reach	VERB
alkej-361	72	21	a	a	DET
alkej-361	72	22	point	point	NOUN
alkej-361	72	23	at	at	ADP
alkej-361	72	24	the	the	DET
alkej-361	72	25	border	border	NOUN
alkej-361	72	26	of	of	ADP
alkej-361	72	27	manipulator	manipulator	NOUN
alkej-361	72	28	's	's	PART
alkej-361	72	29	reachable	reachable	ADJ
alkej-361	72	30	workspace	workspace	NOUN
alkej-361	72	31	,	,	PUNCT
alkej-361	72	32	or	or	CCONJ
alkej-361	72	33	point	point	NOUN
alkej-361	72	34	has	have	VERB
alkej-361	72	35	one	one	NUM
alkej-361	72	36	configurations	configuration	NOUN
alkej-361	72	37	(	(	PUNCT
alkej-361	72	38	elbow	elbow	VERB
alkej-361	72	39	up	up	ADP
alkej-361	72	40	or	or	CCONJ
alkej-361	72	41	elbow	elbow	VERB
alkej-361	72	42	down	down	ADP
alkej-361	72	43	)	)	PUNCT
alkej-361	72	44	due	due	ADP
alkej-361	72	45	to	to	ADP
alkej-361	72	46	the	the	DET
alkej-361	72	47	other	other	ADJ
alkej-361	72	48	configuration	configuration	NOUN
alkej-361	72	49	collide	collide	VERB
alkej-361	72	50	the	the	DET
alkej-361	72	51	obstacle	obstacle	NOUN
alkej-361	72	52	at	at	ADP
alkej-361	72	53	any	any	DET
alkej-361	72	54	part	part	NOUN
alkej-361	72	55	of	of	ADP
alkej-361	72	56	manipulator	manipulator	NOUN
alkej-361	72	57	links	link	NOUN
alkej-361	72	58	.	.	PUNCT
alkej-361	73	1	while	while	SCONJ
alkej-361	73	2	the	the	PRON
alkej-361	73	3	in	in	ADP
alkej-361	73	4	the	the	DET
alkej-361	73	5	third	third	ADJ
alkej-361	73	6	case	case	NOUN
alkej-361	73	7	,	,	PUNCT
alkej-361	73	8	the	the	DET
alkej-361	73	9	point	point	NOUN
alkej-361	73	10	has	have	VERB
alkej-361	73	11	no	no	DET
alkej-361	73	12	solution	solution	NOUN
alkej-361	73	13	when	when	SCONJ
alkej-361	73	14	coordinates	coordinate	NOUN
alkej-361	73	15	point	point	VERB
alkej-361	73	16	are	be	AUX
alkej-361	73	17	out	out	ADP
alkej-361	73	18	of	of	ADP
alkej-361	73	19	reach	reach	NOUN
alkej-361	73	20	of	of	ADP
alkej-361	73	21	manipulator	manipulator	NOUN
alkej-361	73	22	or	or	CCONJ
alkej-361	73	23	in	in	ADP
alkej-361	73	24	obstacles	obstacle	NOUN
alkej-361	73	25	area	area	NOUN
alkej-361	73	26	,	,	PUNCT
alkej-361	73	27	or	or	CCONJ
alkej-361	73	28	the	the	DET
alkej-361	73	29	two	two	NUM
alkej-361	73	30	configurations	configuration	NOUN
alkej-361	73	31	collide	collide	VERB
alkej-361	73	32	with	with	ADP
alkej-361	73	33	obstacle	obstacle	NOUN
alkej-361	73	34	at	at	ADP
alkej-361	73	35	any	any	DET
alkej-361	73	36	part	part	NOUN
alkej-361	73	37	of	of	ADP
alkej-361	73	38	arm	arm	NOUN
alkej-361	73	39	links	link	NOUN
alkej-361	73	40	.	.	PUNCT
alkej-361	74	1	fig	fig	NOUN
alkej-361	74	2	.	.	PUNCT
alkej-361	75	1	2	2	NUM
alkej-361	75	2	.	.	X
alkej-361	75	3	two	two	NUM
alkej-361	75	4	-	-	PUNCT
alkej-361	75	5	link	link	NOUN
alkej-361	75	6	arm	arm	NOUN
alkej-361	75	7	elbow	elbow	VERB
alkej-361	75	8	up	up	ADP
alkej-361	75	9	and	and	CCONJ
alkej-361	75	10	elbow	elbow	VERB
alkej-361	75	11	down	down	ADP
alkej-361	75	12	configurations	configuration	NOUN
alkej-361	75	13	.	.	PUNCT
alkej-361	76	1	the	the	DET
alkej-361	76	2	results	result	NOUN
alkej-361	76	3	of	of	ADP
alkej-361	76	4	analysis	analysis	NOUN
alkej-361	76	5	points	point	NOUN
alkej-361	76	6	have	have	AUX
alkej-361	76	7	been	be	AUX
alkej-361	76	8	formed	form	VERB
alkej-361	76	9	as	as	ADP
alkej-361	76	10	three	three	NUM
alkej-361	76	11	spaces	space	NOUN
alkej-361	76	12	,	,	PUNCT
alkej-361	76	13	the	the	DET
alkej-361	76	14	first	first	ADJ
alkej-361	76	15	space	space	NOUN
alkej-361	76	16	is	be	AUX
alkej-361	76	17	representing	represent	VERB
alkej-361	76	18	all	all	DET
alkej-361	76	19	points	point	NOUN
alkej-361	76	20	that	that	PRON
alkej-361	76	21	reachable	reachable	VERB
alkej-361	76	22	in	in	ADP
alkej-361	76	23	elbow	elbow	NOUN
alkej-361	76	24	up	up	ADP
alkej-361	76	25	solution	solution	NOUN
alkej-361	76	26	(	(	PUNCT
alkej-361	76	27	free	free	PROPN
alkej-361	76	28	elbow	elbow	VERB
alkej-361	76	29	up	up	ADP
alkej-361	76	30	space	space	NOUN
alkej-361	76	31	)	)	PUNCT
alkej-361	76	32	,	,	PUNCT
alkej-361	76	33	and	and	CCONJ
alkej-361	76	34	the	the	DET
alkej-361	76	35	second	second	ADJ
alkej-361	76	36	space	space	NOUN
alkej-361	76	37	is	be	AUX
alkej-361	76	38	representing	represent	VERB
alkej-361	76	39	all	all	DET
alkej-361	76	40	points	point	NOUN
alkej-361	76	41	that	that	PRON
alkej-361	76	42	have	have	AUX
alkej-361	76	43	elbow	elbow	VERB
alkej-361	76	44	down	down	ADP
alkej-361	76	45	solution	solution	NOUN
alkej-361	76	46	(	(	PUNCT
alkej-361	76	47	free	free	PROPN
alkej-361	76	48	elbow	elbow	VERB
alkej-361	76	49	down	down	ADP
alkej-361	76	50	space	space	NOUN
alkej-361	76	51	)	)	PUNCT
alkej-361	76	52	,	,	PUNCT
alkej-361	76	53	and	and	CCONJ
alkej-361	76	54	the	the	DET
alkej-361	76	55	third	third	ADJ
alkej-361	76	56	space	space	NOUN
alkej-361	76	57	is	be	AUX
alkej-361	76	58	unreachable	unreachable	ADJ
alkej-361	76	59	space	space	NOUN
alkej-361	76	60	which	which	PRON
alkej-361	76	61	including	include	VERB
alkej-361	76	62	points	point	NOUN
alkej-361	76	63	outside	outside	ADP
alkej-361	76	64	the	the	DET
alkej-361	76	65	manipulator	manipulator	NOUN
alkej-361	76	66	reachable	reachable	ADJ
alkej-361	76	67	workspace	workspace	NOUN
alkej-361	76	68	and	and	CCONJ
alkej-361	76	69	points	point	NOUN
alkej-361	76	70	that	that	PRON
alkej-361	76	71	collide	collide	VERB
alkej-361	76	72	with	with	ADP
alkej-361	76	73	obstacle	obstacle	NOUN
alkej-361	76	74	and	and	CCONJ
alkej-361	76	75	points	point	NOUN
alkej-361	76	76	in	in	ADP
alkej-361	76	77	obstacle	obstacle	NOUN
alkej-361	76	78	area	area	NOUN
alkej-361	76	79	.	.	PUNCT
alkej-361	77	1	moreover	moreover	ADV
alkej-361	77	2	,	,	PUNCT
alkej-361	77	3	the	the	DET
alkej-361	77	4	free	free	ADJ
alkej-361	77	5	cartesian	cartesian	ADJ
alkej-361	77	6	space	space	NOUN
alkej-361	77	7	is	be	AUX
alkej-361	77	8	comprising	comprise	VERB
alkej-361	77	9	of	of	ADP
alkej-361	77	10	all	all	DET
alkej-361	77	11	points	point	NOUN
alkej-361	77	12	have	have	VERB
alkej-361	77	13	at	at	ADV
alkej-361	77	14	least	least	ADV
alkej-361	77	15	one	one	NUM
alkej-361	77	16	solution	solution	NOUN
alkej-361	77	17	(	(	PUNCT
alkej-361	77	18	elbow	elbow	VERB
alkej-361	77	19	up	up	ADP
alkej-361	77	20	solution	solution	NOUN
alkej-361	77	21	space	space	NOUN
alkej-361	77	22	and	and	CCONJ
alkej-361	77	23	elbow	elbow	VERB
alkej-361	77	24	down	down	ADP
alkej-361	77	25	solution	solution	NOUN
alkej-361	77	26	)	)	PUNCT
alkej-361	77	27	.	.	PUNCT
alkej-361	78	1	the	the	DET
alkej-361	78	2	length	length	NOUN
alkej-361	78	3	of	of	ADP
alkej-361	78	4	link	link	NOUN
alkej-361	78	5	of	of	ADP
alkej-361	78	6	arm	arm	NOUN
alkej-361	78	7	is	be	AUX
alkej-361	78	8	also	also	ADV
alkej-361	78	9	can	can	AUX
alkej-361	78	10	be	be	AUX
alkej-361	78	11	considered	consider	VERB
alkej-361	78	12	as	as	ADP
alkej-361	78	13	major	major	ADJ
alkej-361	78	14	factor	factor	NOUN
alkej-361	78	15	to	to	PART
alkej-361	78	16	construct	construct	VERB
alkej-361	78	17	the	the	DET
alkej-361	78	18	free	free	ADJ
alkej-361	78	19	cartesian	cartesian	ADJ
alkej-361	78	20	space	space	NOUN
alkej-361	78	21	.	.	PUNCT
alkej-361	79	1	5	5	X
alkej-361	79	2	.	.	X
alkej-361	79	3	particle	particle	NOUN
alkej-361	79	4	swarm	swarm	NOUN
alkej-361	79	5	optimization	optimization	NOUN
alkej-361	79	6	pso	pso	NOUN
alkej-361	79	7	is	be	AUX
alkej-361	79	8	technique	technique	NOUN
alkej-361	79	9	of	of	ADP
alkej-361	79	10	stochastic	stochastic	ADJ
alkej-361	79	11	optimization	optimization	NOUN
alkej-361	79	12	,	,	PUNCT
alkej-361	79	13	which	which	PRON
alkej-361	79	14	operates	operate	VERB
alkej-361	79	15	on	on	ADP
alkej-361	79	16	a	a	DET
alkej-361	79	17	principle	principle	NOUN
alkej-361	79	18	that	that	PRON
alkej-361	79	19	simulates	simulate	VERB
alkej-361	79	20	the	the	DET
alkej-361	79	21	social	social	ADJ
alkej-361	79	22	behavior	behavior	NOUN
alkej-361	79	23	of	of	ADP
alkej-361	79	24	the	the	DET
alkej-361	79	25	bird	bird	NOUN
alkej-361	79	26	flocking	flocking	NOUN
alkej-361	79	27	.	.	PUNCT
alkej-361	80	1	this	this	DET
alkej-361	80	2	technique	technique	NOUN
alkej-361	80	3	are	be	AUX
alkej-361	80	4	used	use	VERB
alkej-361	80	5	in	in	ADP
alkej-361	80	6	many	many	ADJ
alkej-361	80	7	applications	application	NOUN
alkej-361	80	8	and	and	CCONJ
alkej-361	80	9	fields	field	NOUN
alkej-361	80	10	to	to	PART
alkej-361	80	11	recognize	recognize	VERB
alkej-361	80	12	the	the	DET
alkej-361	80	13	parameters	parameter	NOUN
alkej-361	80	14	required	require	VERB
alkej-361	80	15	for	for	ADP
alkej-361	80	16	minimizing	minimize	VERB
alkej-361	80	17	or	or	CCONJ
alkej-361	80	18	maximizing	maximize	VERB
alkej-361	80	19	[	[	X
alkej-361	80	20	16	16	NUM
alkej-361	80	21	,	,	PUNCT
alkej-361	80	22	17	17	NUM
alkej-361	80	23	]	]	PUNCT
alkej-361	80	24	.	.	PUNCT
alkej-361	81	1	in	in	ADP
alkej-361	81	2	a	a	DET
alkej-361	81	3	pso	pso	NOUN
alkej-361	81	4	system	system	NOUN
alkej-361	81	5	,	,	PUNCT
alkej-361	81	6	the	the	DET
alkej-361	81	7	individuals	individual	NOUN
alkej-361	81	8	'	'	PART
alkej-361	81	9	swarm	swarm	NOUN
alkej-361	81	10	that	that	PRON
alkej-361	81	11	are	be	AUX
alkej-361	81	12	flying	fly	VERB
alkej-361	81	13	through	through	ADP
alkej-361	81	14	the	the	DET
alkej-361	81	15	search	search	NOUN
alkej-361	81	16	space	space	NOUN
alkej-361	81	17	called	call	VERB
alkej-361	81	18	particles	particle	NOUN
alkej-361	81	19	and	and	CCONJ
alkej-361	81	20	each	each	DET
alkej-361	81	21	particle	particle	NOUN
alkej-361	81	22	is	be	AUX
alkej-361	81	23	considered	consider	VERB
alkej-361	81	24	as	as	ADP
alkej-361	81	25	a	a	DET
alkej-361	81	26	candidate	candidate	NOUN
alkej-361	81	27	optimal	optimal	ADJ
alkej-361	81	28	solution	solution	NOUN
alkej-361	81	29	for	for	ADP
alkej-361	81	30	the	the	DET
alkej-361	81	31	problem	problem	NOUN
alkej-361	81	32	.	.	PUNCT
alkej-361	82	1	the	the	DET
alkej-361	82	2	best	good	ADJ
alkej-361	82	3	position	position	NOUN
alkej-361	82	4	visited	visit	VERB
alkej-361	82	5	by	by	ADP
alkej-361	82	6	a	a	DET
alkej-361	82	7	particle	particle	NOUN
alkej-361	82	8	is	be	AUX
alkej-361	82	9	influencing	influence	VERB
alkej-361	82	10	the	the	DET
alkej-361	82	11	particle	particle	NOUN
alkej-361	82	12	position	position	NOUN
alkej-361	82	13	and	and	CCONJ
alkej-361	82	14	the	the	DET
alkej-361	82	15	position	position	NOUN
alkej-361	82	16	of	of	ADP
alkej-361	82	17	the	the	DET
alkej-361	82	18	best	good	ADJ
alkej-361	82	19	particle	particle	NOUN
alkej-361	82	20	in	in	ADP
alkej-361	82	21	its	its	PRON
alkej-361	82	22	neighborhood	neighborhood	NOUN
alkej-361	82	23	i.e.	i.e.	X
alkej-361	82	24	its	its	PRON
alkej-361	82	25	own	own	ADJ
alkej-361	82	26	and	and	CCONJ
alkej-361	82	27	neighboring	neighboring	NOUN
alkej-361	82	28	particles	particle	NOUN
alkej-361	82	29	experiences	experience	NOUN
alkej-361	82	30	respectively	respectively	ADV
alkej-361	82	31	[	[	X
alkej-361	82	32	16	16	NUM
alkej-361	82	33	,	,	PUNCT
alkej-361	82	34	17	17	NUM
alkej-361	82	35	]	]	PUNCT
alkej-361	82	36	.	.	PUNCT
alkej-361	83	1	various	various	ADJ
alkej-361	83	2	pso	pso	NOUN
alkej-361	83	3	models	model	NOUN
alkej-361	83	4	have	have	AUX
alkej-361	83	5	been	be	AUX
alkej-361	83	6	evolved	evolve	VERB
alkej-361	83	7	depending	depend	VERB
alkej-361	83	8	on	on	ADP
alkej-361	83	9	the	the	DET
alkej-361	83	10	topology	topology	NOUN
alkej-361	83	11	of	of	ADP
alkej-361	83	12	neighborhood	neighborhood	NOUN
alkej-361	83	13	,	,	PUNCT
alkej-361	83	14	namely	namely	ADV
alkej-361	83	15	:	:	PUNCT
alkej-361	83	16	local	local	ADJ
alkej-361	83	17	best	good	ADJ
alkej-361	83	18	(	(	PUNCT
alkej-361	83	19	lbest	lb	ADJ
alkej-361	83	20	)	)	PUNCT
alkej-361	83	21	and	and	CCONJ
alkej-361	83	22	global	global	ADJ
alkej-361	83	23	best	good	ADJ
alkej-361	83	24	(	(	PUNCT
alkej-361	83	25	gbest	gbest	NOUN
alkej-361	83	26	)	)	PUNCT
alkej-361	83	27	.	.	PUNCT
alkej-361	84	1	when	when	SCONJ
alkej-361	84	2	the	the	DET
alkej-361	84	3	whole	whole	ADJ
alkej-361	84	4	swarm	swarm	NOUN
alkej-361	84	5	represents	represent	VERB
alkej-361	84	6	the	the	DET
alkej-361	84	7	ahmed	ahmed	PROPN
alkej-361	84	8	t.	t.	PROPN
alkej-361	84	9	sadiq	sadiq	PROPN
alkej-361	84	10	al	al	PROPN
alkej-361	84	11	-	-	PUNCT
alkej-361	84	12	khwarizmi	khwarizmi	PROPN
alkej-361	84	13	engineering	engineering	NOUN
alkej-361	84	14	journal	journal	PROPN
alkej-361	84	15	,	,	PUNCT
alkej-361	84	16	vol	vol	NOUN
alkej-361	84	17	.	.	PROPN
alkej-361	84	18	13	13	NUM
alkej-361	84	19	,	,	PUNCT
alkej-361	84	20	no	no	INTJ
alkej-361	84	21	.	.	NOUN
alkej-361	84	22	3	3	NUM
alkej-361	84	23	,	,	PUNCT
alkej-361	84	24	p.p	p.p	PROPN
alkej-361	84	25	.	.	NOUN
alkej-361	84	26	2737	2737	NUM
alkej-361	84	27	(	(	PUNCT
alkej-361	84	28	2017	2017	NUM
alkej-361	84	29	)	)	PUNCT
alkej-361	84	30	30	30	NUM
alkej-361	84	31	neighborhood	neighborhood	NOUN
alkej-361	84	32	of	of	ADP
alkej-361	84	33	a	a	DET
alkej-361	84	34	particle	particle	NOUN
alkej-361	84	35	,	,	PUNCT
alkej-361	84	36	the	the	DET
alkej-361	84	37	global	global	ADJ
alkej-361	84	38	best	good	ADJ
alkej-361	84	39	position	position	NOUN
alkej-361	84	40	of	of	ADP
alkej-361	84	41	the	the	DET
alkej-361	84	42	particle	particle	NOUN
alkej-361	84	43	is	be	AUX
alkej-361	84	44	considered	consider	VERB
alkej-361	84	45	as	as	ADP
alkej-361	84	46	the	the	DET
alkej-361	84	47	best	good	ADJ
alkej-361	84	48	position	position	NOUN
alkej-361	84	49	in	in	ADP
alkej-361	84	50	the	the	DET
alkej-361	84	51	neighborhood	neighborhood	NOUN
alkej-361	84	52	,	,	PUNCT
alkej-361	84	53	in	in	ADP
alkej-361	84	54	this	this	DET
alkej-361	84	55	case	case	NOUN
alkej-361	84	56	the	the	DET
alkej-361	84	57	gbest	gb	ADJ
alkej-361	84	58	pso	pso	NOUN
alkej-361	84	59	is	be	AUX
alkej-361	84	60	the	the	DET
alkej-361	84	61	resulting	result	VERB
alkej-361	84	62	algorithm	algorithm	NOUN
alkej-361	84	63	.	.	PUNCT
alkej-361	85	1	while	while	SCONJ
alkej-361	85	2	the	the	DET
alkej-361	85	3	lbest	lb	ADJ
alkej-361	85	4	pso	pso	NOUN
alkej-361	85	5	algorithm	algorithm	NOUN
alkej-361	85	6	can	can	AUX
alkej-361	85	7	commonly	commonly	ADV
alkej-361	85	8	be	be	AUX
alkej-361	85	9	assigned	assign	VERB
alkej-361	85	10	when	when	SCONJ
alkej-361	85	11	smaller	small	ADJ
alkej-361	85	12	neighborhoods	neighborhood	NOUN
alkej-361	85	13	are	be	AUX
alkej-361	85	14	used	use	VERB
alkej-361	85	15	,	,	PUNCT
alkej-361	85	16	and	and	CCONJ
alkej-361	85	17	the	the	DET
alkej-361	85	18	best	good	ADJ
alkej-361	85	19	particle	particle	NOUN
alkej-361	85	20	is	be	AUX
alkej-361	85	21	tracked	track	VERB
alkej-361	85	22	by	by	ADP
alkej-361	85	23	each	each	DET
alkej-361	85	24	particle	particle	NOUN
alkej-361	85	25	which	which	PRON
alkej-361	85	26	is	be	AUX
alkej-361	85	27	gained	gain	VERB
alkej-361	85	28	by	by	ADP
alkej-361	85	29	the	the	DET
alkej-361	85	30	particle	particle	NOUN
alkej-361	85	31	local	local	ADJ
alkej-361	85	32	topological	topological	ADJ
alkej-361	85	33	neighborhood	neighborhood	NOUN
alkej-361	85	34	.	.	PUNCT
alkej-361	86	1	the	the	DET
alkej-361	86	2	fitness	fitness	NOUN
alkej-361	86	3	function	function	NOUN
alkej-361	86	4	is	be	AUX
alkej-361	86	5	used	use	VERB
alkej-361	86	6	to	to	PART
alkej-361	86	7	measure	measure	VERB
alkej-361	86	8	the	the	DET
alkej-361	86	9	performance	performance	NOUN
alkej-361	86	10	or	or	CCONJ
alkej-361	86	11	the	the	DET
alkej-361	86	12	activity	activity	NOUN
alkej-361	86	13	of	of	ADP
alkej-361	86	14	each	each	DET
alkej-361	86	15	particle	particle	NOUN
alkej-361	86	16	.	.	PUNCT
alkej-361	87	1	this	this	DET
alkej-361	87	2	function	function	NOUN
alkej-361	87	3	is	be	AUX
alkej-361	87	4	differed	differ	VERB
alkej-361	87	5	according	accord	VERB
alkej-361	87	6	to	to	ADP
alkej-361	87	7	the	the	DET
alkej-361	87	8	optimization	optimization	NOUN
alkej-361	87	9	problem	problem	NOUN
alkej-361	87	10	.	.	PUNCT
alkej-361	88	1	each	each	DET
alkej-361	88	2	particle	particle	NOUN
alkej-361	88	3	in	in	ADP
alkej-361	88	4	the	the	DET
alkej-361	88	5	swarm	swarm	NOUN
alkej-361	88	6	has	have	VERB
alkej-361	88	7	characteristics	characteristic	NOUN
alkej-361	88	8	as	as	SCONJ
alkej-361	88	9	follows	follow	VERB
alkej-361	88	10	:	:	PUNCT
alkej-361	88	11	(	(	PUNCT
alkej-361	88	12	*	*	PUNCT
alkej-361	88	13	+	+	ADJ
alkej-361	88	14	,	,	PUNCT
alkej-361	88	15	-	-	PUNCT
alkej-361	88	16	.	.	PUNCT
alkej-361	88	17	)	)	PUNCT
alkej-361	88	18	is	be	AUX
alkej-361	88	19	referred	refer	VERB
alkej-361	88	20	to	to	ADP
alkej-361	88	21	the	the	DET
alkej-361	88	22	particle	particle	NOUN
alkej-361	88	23	current	current	ADJ
alkej-361	88	24	position	position	NOUN
alkej-361	88	25	,	,	PUNCT
alkej-361	88	26	(	(	PUNCT
alkej-361	88	27	/0)-	/0)-	NOUN
alkej-361	88	28	.	.	PUNCT
alkej-361	88	29	)	)	PUNCT
alkej-361	88	30	is	be	AUX
alkej-361	88	31	referred	refer	VERB
alkej-361	88	32	to	to	ADP
alkej-361	88	33	the	the	DET
alkej-361	88	34	particle	particle	NOUN
alkej-361	88	35	current	current	ADJ
alkej-361	88	36	velocity	velocity	NOUN
alkej-361	88	37	and	and	CCONJ
alkej-361	88	38	(	(	PUNCT
alkej-361	88	39	*	*	PROPN
alkej-361	88	40	10,2-	10,2-	NUM
alkej-361	88	41	.	.	PUNCT
alkej-361	88	42	)	)	PUNCT
alkej-361	88	43	is	be	AUX
alkej-361	88	44	referred	refer	VERB
alkej-361	88	45	to	to	ADP
alkej-361	88	46	the	the	DET
alkej-361	88	47	particle	particle	NOUN
alkej-361	88	48	personal	personal	ADJ
alkej-361	88	49	best	good	ADJ
alkej-361	88	50	position	position	NOUN
alkej-361	88	51	.	.	PUNCT
alkej-361	89	1	the	the	DET
alkej-361	89	2	best	good	ADJ
alkej-361	89	3	position	position	NOUN
alkej-361	89	4	reached	reach	VERB
alkej-361	89	5	by	by	ADP
alkej-361	89	6	the	the	DET
alkej-361	89	7	particle	particle	NOUN
alkej-361	89	8	i	i	PRON
alkej-361	89	9	is	be	AUX
alkej-361	89	10	referred	refer	VERB
alkej-361	89	11	as	as	ADP
alkej-361	89	12	the	the	DET
alkej-361	89	13	personal	personal	ADJ
alkej-361	89	14	best	good	ADJ
alkej-361	89	15	position	position	NOUN
alkej-361	89	16	of	of	ADP
alkej-361	89	17	particle	particle	NOUN
alkej-361	89	18	i	i	PRON
alkej-361	89	19	,	,	PUNCT
alkej-361	89	20	while	while	SCONJ
alkej-361	89	21	the	the	DET
alkej-361	89	22	best	good	ADJ
alkej-361	89	23	position	position	NOUN
alkej-361	89	24	reached	reach	VERB
alkej-361	89	25	by	by	ADP
alkej-361	89	26	all	all	DET
alkej-361	89	27	particles	particle	NOUN
alkej-361	89	28	is	be	AUX
alkej-361	89	29	referred	refer	VERB
alkej-361	89	30	as	as	ADP
alkej-361	89	31	the	the	DET
alkej-361	89	32	global	global	ADJ
alkej-361	89	33	best	good	ADJ
alkej-361	89	34	position	position	NOUN
alkej-361	89	35	of	of	ADP
alkej-361	89	36	particles	particle	NOUN
alkej-361	89	37	(	(	PUNCT
alkej-361	89	38	310,2-	310,2-	NUM
alkej-361	89	39	.	.	PUNCT
alkej-361	89	40	)	)	PUNCT
alkej-361	90	1	[	[	X
alkej-361	90	2	17	17	NUM
alkej-361	90	3	,	,	PUNCT
alkej-361	90	4	18	18	NUM
alkej-361	90	5	,	,	PUNCT
alkej-361	90	6	19	19	NUM
alkej-361	90	7	]	]	PUNCT
alkej-361	90	8	.	.	PUNCT
alkej-361	91	1	the	the	DET
alkej-361	91	2	pso	pso	NOUN
alkej-361	91	3	algorithm	algorithm	NOUN
alkej-361	91	4	run	run	VERB
alkej-361	91	5	on	on	ADP
alkej-361	91	6	the	the	DET
alkej-361	91	7	following	follow	VERB
alkej-361	91	8	principle	principle	NOUN
alkej-361	91	9	:	:	PUNCT
alkej-361	91	10	at	at	ADP
alkej-361	91	11	first	first	ADV
alkej-361	91	12	the	the	DET
alkej-361	91	13	particles	particle	NOUN
alkej-361	91	14	are	be	AUX
alkej-361	91	15	initialized	initialize	VERB
alkej-361	91	16	with	with	ADP
alkej-361	91	17	randomly	randomly	ADV
alkej-361	91	18	distributed	distribute	VERB
alkej-361	91	19	position	position	NOUN
alkej-361	91	20	within	within	ADP
alkej-361	91	21	the	the	DET
alkej-361	91	22	workspace	workspace	NOUN
alkej-361	91	23	.	.	PUNCT
alkej-361	92	1	furthermore	furthermore	ADV
alkej-361	92	2	the	the	DET
alkej-361	92	3	velocity	velocity	NOUN
alkej-361	92	4	of	of	ADP
alkej-361	92	5	these	these	DET
alkej-361	92	6	particles	particle	NOUN
alkej-361	92	7	is	be	AUX
alkej-361	92	8	also	also	ADV
alkej-361	92	9	assigned	assign	VERB
alkej-361	92	10	randomly	randomly	ADV
alkej-361	92	11	.	.	PUNCT
alkej-361	93	1	each	each	DET
alkej-361	93	2	particle	particle	NOUN
alkej-361	93	3	has	have	VERB
alkej-361	93	4	a	a	DET
alkej-361	93	5	memory	memory	NOUN
alkej-361	93	6	that	that	PRON
alkej-361	93	7	stores	store	VERB
alkej-361	93	8	all	all	DET
alkej-361	93	9	the	the	DET
alkej-361	93	10	best	good	ADJ
alkej-361	93	11	previously	previously	ADV
alkej-361	93	12	visited	visit	VERB
alkej-361	93	13	positions	position	NOUN
alkej-361	93	14	in	in	ADP
alkej-361	93	15	addition	addition	NOUN
alkej-361	93	16	to	to	ADP
alkej-361	93	17	the	the	DET
alkej-361	93	18	fitness	fitness	NOUN
alkej-361	93	19	function	function	NOUN
alkej-361	93	20	in	in	ADP
alkej-361	93	21	that	that	DET
alkej-361	93	22	position	position	NOUN
alkej-361	93	23	which	which	PRON
alkej-361	93	24	is	be	AUX
alkej-361	93	25	improved	improve	VERB
alkej-361	93	26	over	over	ADP
alkej-361	93	27	time	time	NOUN
alkej-361	93	28	.	.	PUNCT
alkej-361	94	1	at	at	ADP
alkej-361	94	2	each	each	DET
alkej-361	94	3	iteration	iteration	NOUN
alkej-361	94	4	of	of	ADP
alkej-361	94	5	pso	pso	NOUN
alkej-361	94	6	algorithm	algorithm	NOUN
alkej-361	94	7	,	,	PUNCT
alkej-361	94	8	*	*	PUNCT
alkej-361	94	9	+	+	ADJ
alkej-361	94	10	,	,	PUNCT
alkej-361	94	11	-	-	PUNCT
alkej-361	94	12	.	.	PUNCT
alkej-361	95	1	and	and	CCONJ
alkej-361	95	2	/0)-	/0)-	NOUN
alkej-361	95	3	.	.	PUNCT
alkej-361	96	1	vector	vector	NOUN
alkej-361	96	2	of	of	ADP
alkej-361	96	3	particle	particle	NOUN
alkej-361	96	4	is	be	AUX
alkej-361	96	5	modified	modify	VERB
alkej-361	96	6	over	over	ADP
alkej-361	96	7	each	each	DET
alkej-361	96	8	dimension	dimension	NOUN
alkej-361	96	9	j	j	PROPN
alkej-361	96	10	by	by	ADP
alkej-361	96	11	using	use	VERB
alkej-361	96	12	the	the	DET
alkej-361	96	13	equations	equation	NOUN
alkej-361	96	14	(	(	PUNCT
alkej-361	96	15	5	5	NUM
alkej-361	96	16	and	and	CCONJ
alkej-361	96	17	6	6	NUM
alkej-361	96	18	)	)	PUNCT
alkej-361	96	19	in	in	ADP
alkej-361	96	20	order	order	NOUN
alkej-361	96	21	to	to	PART
alkej-361	96	22	guide	guide	VERB
alkej-361	96	23	these	these	DET
alkej-361	96	24	particles	particle	NOUN
alkej-361	96	25	toward	toward	ADP
alkej-361	96	26	either	either	CCONJ
alkej-361	96	27	the	the	DET
alkej-361	96	28	personal	personal	ADJ
alkej-361	96	29	best	good	ADJ
alkej-361	96	30	vector	vector	NOUN
alkej-361	96	31	or	or	CCONJ
alkej-361	96	32	the	the	DET
alkej-361	96	33	swarm	swarm	NOUN
alkej-361	96	34	’s	’s	PART
alkej-361	96	35	best	good	ADJ
alkej-361	96	36	vector	vector	NOUN
alkej-361	96	37	[	[	X
alkej-361	96	38	2	2	NUM
alkej-361	96	39	,	,	PUNCT
alkej-361	96	40	17	17	NUM
alkej-361	96	41	]	]	PUNCT
alkej-361	96	42	.	.	PUNCT
alkej-361	97	1	/0)-.4	/0)-.4	PUNCT
alkej-361	97	2	�	�	PROPN
alkej-361	97	3	�	�	PROPN
alkej-361	97	4	=	=	SYM
alkej-361	97	5	5	5	NUM
alkej-361	97	6	×	×	NOUN
alkej-361	97	7	/0)-.4	/0)-.4	PUNCT
alkej-361	98	1	+	+	CCONJ
alkej-361	98	2	8	8	NUM
alkej-361	98	3	�	�	NOUN
alkej-361	98	4	×	×	NOUN
alkej-361	98	5	9	9	NUM
alkej-361	98	6	�	�	PROPN
alkej-361	98	7	×	×	PROPN
alkej-361	98	8	�	�	PROPN
alkej-361	98	9	*	*	PROPN
alkej-361	98	10	10,2-	10,2-	PROPN
alkej-361	98	11	.	.	PUNCT
alkej-361	99	1	−	−	PUNCT
alkej-361	100	1	*	*	PUNCT
alkej-361	100	2	+	+	ADJ
alkej-361	100	3	,	,	PUNCT
alkej-361	100	4	-	-	PUNCT
alkej-361	100	5	.	.	PUNCT
alkej-361	100	6	"	"	PUNCT
alkej-361	101	1	+	+	CCONJ
alkej-361	101	2	8	8	NUM
alkej-361	101	3	�	�	NOUN
alkej-361	101	4	×	×	NOUN
alkej-361	101	5	9	9	NUM
alkej-361	101	6	�	�	PROPN
alkej-361	101	7	×	×	PROPN
alkej-361	101	8	�	�	PROPN
alkej-361	101	9	310,2-	310,2-	NUM
alkej-361	101	10	.	.	PUNCT
alkej-361	102	1	−	−	PROPN
alkej-361	103	1	*	*	PUNCT
alkej-361	103	2	+	+	ADJ
alkej-361	103	3	,	,	PUNCT
alkej-361	103	4	-	-	PUNCT
alkej-361	103	5	.	.	PUNCT
alkej-361	103	6	"	"	PUNCT
alkej-361	104	1	…	…	PUNCT
alkej-361	104	2	(	(	PUNCT
alkej-361	104	3	5	5	NUM
alkej-361	104	4	)	)	PUNCT
alkej-361	104	5	*	*	PUNCT
alkej-361	104	6	+	+	PROPN
alkej-361	104	7	,	,	PUNCT
alkej-361	104	8	-.4	-.4	PROPN
alkej-361	104	9	�	�	PROPN
alkej-361	104	10	�	�	PROPN
alkej-361	104	11	=	=	PUNCT
alkej-361	105	1	*	*	PUNCT
alkej-361	105	2	+	+	PROPN
alkej-361	105	3	,	,	PUNCT
alkej-361	105	4	-.4	-.4	PROPN
alkej-361	105	5	+	+	NUM
alkej-361	105	6	/0)-.4	/0)-.4	SYM
alkej-361	105	7	�	�	PROPN
alkej-361	105	8	�	�	PROPN
alkej-361	105	9	…	…	PUNCT
alkej-361	105	10	(	(	PUNCT
alkej-361	105	11	6	6	NUM
alkej-361	105	12	)	)	PUNCT
alkej-361	105	13	where	where	SCONJ
alkej-361	105	14	8	8	NUM
alkej-361	105	15	�	�	NOUN
alkej-361	105	16	and	and	CCONJ
alkej-361	105	17	8	8	NUM
alkej-361	105	18	�	�	NOUN
alkej-361	105	19	are	be	AUX
alkej-361	105	20	the	the	DET
alkej-361	105	21	cognitive	cognitive	ADJ
alkej-361	105	22	coefficients	coefficient	NOUN
alkej-361	105	23	(	(	PUNCT
alkej-361	105	24	8	8	NUM
alkej-361	105	25	�	�	NOUN
alkej-361	105	26	+8	+8	NOUN
alkej-361	105	27	�	�	PROPN
alkej-361	105	28	<=4	<=4	NOUN
alkej-361	105	29	)	)	PUNCT
alkej-361	105	30	,	,	PUNCT
alkej-361	105	31	*	*	PUNCT
alkej-361	105	32	10,2-	10,2-	NUM
alkej-361	105	33	.	.	PUNCT
alkej-361	106	1	is	be	AUX
alkej-361	106	2	the	the	DET
alkej-361	106	3	personal	personal	ADJ
alkej-361	106	4	best	good	ADJ
alkej-361	106	5	vector	vector	NOUN
alkej-361	106	6	,	,	PUNCT
alkej-361	106	7	and	and	CCONJ
alkej-361	107	1	310,2-	310,2-	NUM
alkej-361	107	2	.	.	PUNCT
alkej-361	107	3	is	be	AUX
alkej-361	107	4	the	the	DET
alkej-361	107	5	swarm	swarm	NOUN
alkej-361	107	6	’s	’s	PART
alkej-361	107	7	best	good	ADJ
alkej-361	107	8	vector	vector	NOUN
alkej-361	107	9	.	.	PUNCT
alkej-361	108	1	9	9	NUM
alkej-361	108	2	�	�	PROPN
alkej-361	108	3	and	and	CCONJ
alkej-361	108	4	9	9	NUM
alkej-361	108	5	�	�	NOUN
alkej-361	108	6	are	be	AUX
alkej-361	108	7	random	random	ADJ
alkej-361	108	8	real	real	ADJ
alkej-361	108	9	numbers	number	NOUN
alkej-361	108	10	between	between	ADP
alkej-361	108	11	0	0	NUM
alkej-361	108	12	and	and	CCONJ
alkej-361	108	13	1	1	NUM
alkej-361	108	14	,	,	PUNCT
alkej-361	108	15	while	while	SCONJ
alkej-361	108	16	the	the	DET
alkej-361	108	17	inertia	inertia	NOUN
alkej-361	108	18	weight	weight	NOUN
alkej-361	108	19	5	5	NUM
alkej-361	108	20	controls	control	VERB
alkej-361	108	21	the	the	DET
alkej-361	108	22	particle	particle	NOUN
alkej-361	108	23	momentum	momentum	NOUN
alkej-361	108	24	,	,	PUNCT
alkej-361	108	25	it	it	PRON
alkej-361	108	26	is	be	AUX
alkej-361	108	27	decreases	decrease	NOUN
alkej-361	108	28	from	from	ADP
alkej-361	108	29	(	(	PUNCT
alkej-361	108	30	5	5	NUM
alkej-361	108	31	:	:	PUNCT
alkej-361	108	32	;	;	PUNCT
alkej-361	108	33	<	<	X
alkej-361	108	34	=	=	PUNCT
alkej-361	108	35	0.9	0.9	NUM
alkej-361	108	36	to	to	ADP
alkej-361	108	37	5:-=	5:-=	NUM
alkej-361	108	38	=	=	SYM
alkej-361	108	39	0.4	0.4	NUM
alkej-361	108	40	)	)	PUNCT
alkej-361	108	41	over	over	ADP
alkej-361	108	42	the	the	DET
alkej-361	108	43	whole	whole	ADJ
alkej-361	108	44	run	run	NOUN
alkej-361	108	45	according	accord	VERB
alkej-361	108	46	to	to	ADP
alkej-361	108	47	next	next	ADJ
alkej-361	108	48	equation	equation	NOUN
alkej-361	108	49	[	[	X
alkej-361	108	50	2	2	NUM
alkej-361	108	51	,	,	PUNCT
alkej-361	108	52	17	17	NUM
alkej-361	108	53	]	]	PUNCT
alkej-361	108	54	:	:	PUNCT
alkej-361	108	55	5	5	NUM
alkej-361	108	56	=	=	SYM
alkej-361	108	57	5	5	NUM
alkej-361	108	58	:	:	PUNCT
alkej-361	108	59	;	;	PUNCT
alkej-361	108	60	<	<	X
alkej-361	108	61	−	−	X
alkej-361	108	62	>	>	X
alkej-361	108	63	?	?	PUNCT
alkej-361	108	64	@	@	ADP
alkej-361	108	65	�	�	PROPN
alkej-361	108	66	>	>	PROPN
alkej-361	108	67	?	?	PUNCT
alkej-361	108	68	ab	ab	PROPN
alkej-361	108	69	$	$	SYM
alkej-361	108	70	cdefc$(%?@	cdefc$(%?@	PROPN
alkej-361	108	71	∗	∗	NOUN
alkej-361	108	72	h20ij2h+k_kmn	h20ij2h+k_kmn	NOUN
alkej-361	108	73	…	…	PUNCT
alkej-361	108	74	(	(	PUNCT
alkej-361	108	75	7	7	X
alkej-361	108	76	)	)	PUNCT
alkej-361	108	77	if	if	SCONJ
alkej-361	108	78	the	the	DET
alkej-361	108	79	value	value	NOUN
alkej-361	108	80	of	of	ADP
alkej-361	108	81	/0)-	/0)-	PRON
alkej-361	108	82	.	.	PUNCT
alkej-361	109	1	is	be	AUX
alkej-361	109	2	less	less	ADJ
alkej-361	109	3	than	than	ADP
alkej-361	109	4	/0):-=or	/0):-=or	PUNCT
alkej-361	109	5	greater	great	ADJ
alkej-361	109	6	than	than	ADP
alkej-361	109	7	/0	/0	NOUN
alkej-361	109	8	):	):	PUNCT
alkej-361	109	9	;	;	PUNCT
alkej-361	109	10	<	<	X
alkej-361	109	11	then	then	ADV
alkej-361	109	12	the	the	DET
alkej-361	109	13	corresponding	corresponding	ADJ
alkej-361	109	14	value	value	NOUN
alkej-361	109	15	is	be	AUX
alkej-361	109	16	replaced	replace	VERB
alkej-361	109	17	by	by	ADP
alkej-361	109	18	/0):-=	/0):-=	NOUN
alkej-361	109	19	or	or	CCONJ
alkej-361	109	20	/0	/0	NOUN
alkej-361	109	21	):	):	PUNCT
alkej-361	109	22	;	;	PUNCT
alkej-361	109	23	<	<	X
alkej-361	109	24	,	,	PUNCT
alkej-361	109	25	respectively	respectively	ADV
alkej-361	109	26	.	.	PUNCT
alkej-361	110	1	where	where	SCONJ
alkej-361	110	2	/0	/0	NOUN
alkej-361	110	3	):	):	PUNCT
alkej-361	110	4	;	;	PUNCT
alkej-361	110	5	<	<	X
alkej-361	110	6	is	be	AUX
alkej-361	110	7	maximum	maximum	ADJ
alkej-361	110	8	velocity	velocity	NOUN
alkej-361	110	9	parameter	parameter	NOUN
alkej-361	111	1	[	[	X
alkej-361	111	2	2	2	NUM
alkej-361	111	3	,	,	PUNCT
alkej-361	111	4	20	20	NUM
alkej-361	111	5	,	,	PUNCT
alkej-361	111	6	17	17	NUM
alkej-361	111	7	,	,	PUNCT
alkej-361	111	8	18	18	NUM
alkej-361	111	9	]	]	PUNCT
alkej-361	111	10	.	.	PUNCT
alkej-361	112	1	6	6	NUM
alkej-361	112	2	.	.	X
alkej-361	112	3	d	d	X
alkej-361	112	4	*	*	PUNCT
alkej-361	112	5	algorithm	algorithm	NOUN
alkej-361	112	6	the	the	DET
alkej-361	112	7	d	d	X
alkej-361	112	8	*	*	AUX
alkej-361	112	9	also	also	ADV
alkej-361	112	10	called	call	VERB
alkej-361	112	11	"	"	PUNCT
alkej-361	112	12	dynamic	dynamic	ADJ
alkej-361	112	13	a	a	PRON
alkej-361	112	14	*	*	NOUN
alkej-361	112	15	"	"	PUNCT
alkej-361	112	16	algorithm	algorithm	NOUN
alkej-361	112	17	is	be	AUX
alkej-361	112	18	used	use	VERB
alkej-361	112	19	to	to	PART
alkej-361	112	20	analyzed	analyze	VERB
alkej-361	112	21	the	the	DET
alkej-361	112	22	environment	environment	NOUN
alkej-361	112	23	.	.	PUNCT
alkej-361	113	1	the	the	DET
alkej-361	113	2	arcs	arcs	NOUN
alkej-361	113	3	cost	cost	NOUN
alkej-361	113	4	is	be	AUX
alkej-361	113	5	dynamically	dynamically	ADV
alkej-361	113	6	changed	change	VERB
alkej-361	113	7	at	at	ADP
alkej-361	113	8	algorithm	algorithm	NOUN
alkej-361	113	9	runs	run	NOUN
alkej-361	113	10	.	.	PUNCT
alkej-361	114	1	each	each	DET
alkej-361	114	2	node	node	VERB
alkej-361	114	3	to	to	PART
alkej-361	114	4	be	be	AUX
alkej-361	114	5	assessed	assess	VERB
alkej-361	114	6	by	by	ADP
alkej-361	114	7	d*algorithm	d*algorithm	PROPN
alkej-361	114	8	is	be	AUX
alkej-361	114	9	preserved	preserve	VERB
alkej-361	114	10	in	in	ADP
alkej-361	114	11	an	an	DET
alkej-361	114	12	open	open	ADJ
alkej-361	114	13	list	list	NOUN
alkej-361	114	14	with	with	ADP
alkej-361	114	15	one	one	NUM
alkej-361	114	16	of	of	ADP
alkej-361	114	17	varied	varied	ADJ
alkej-361	114	18	conditions	condition	NOUN
alkej-361	114	19	(	(	PUNCT
alkej-361	114	20	new	new	ADJ
alkej-361	114	21	,	,	PUNCT
alkej-361	114	22	open	open	ADJ
alkej-361	114	23	,	,	PUNCT
alkej-361	114	24	closed	closed	ADJ
alkej-361	114	25	,	,	PUNCT
alkej-361	114	26	raise	raise	VERB
alkej-361	114	27	,	,	PUNCT
alkej-361	114	28	lower	low	ADJ
alkej-361	114	29	)	)	PUNCT
alkej-361	114	30	.	.	PUNCT
alkej-361	115	1	d	d	X
alkej-361	115	2	*	*	PUNCT
alkej-361	115	3	algorithm	algorithm	NOUN
alkej-361	115	4	is	be	AUX
alkej-361	115	5	working	work	VERB
alkej-361	115	6	by	by	ADP
alkej-361	115	7	backward	backward	ADJ
alkej-361	115	8	searching	searching	NOUN
alkej-361	115	9	that	that	PRON
alkej-361	115	10	begins	begin	VERB
alkej-361	115	11	from	from	ADP
alkej-361	115	12	the	the	DET
alkej-361	115	13	goal	goal	NOUN
alkej-361	115	14	point	point	NOUN
alkej-361	115	15	until	until	ADP
alkej-361	115	16	reaching	reach	VERB
alkej-361	115	17	the	the	DET
alkej-361	115	18	start	start	NOUN
alkej-361	115	19	point	point	NOUN
alkej-361	115	20	via	via	ADP
alkej-361	115	21	repeatedly	repeatedly	ADV
alkej-361	115	22	choosing	choose	VERB
alkej-361	115	23	a	a	DET
alkej-361	115	24	node	node	NOUN
alkej-361	115	25	from	from	ADP
alkej-361	115	26	open	open	ADJ
alkej-361	115	27	list	list	NOUN
alkej-361	115	28	for	for	ADP
alkej-361	115	29	evaluation	evaluation	NOUN
alkej-361	115	30	and	and	CCONJ
alkej-361	115	31	computing	compute	VERB
alkej-361	115	32	its	its	PRON
alkej-361	115	33	cost	cost	NOUN
alkej-361	115	34	to	to	ADP
alkej-361	115	35	the	the	DET
alkej-361	115	36	goal	goal	NOUN
alkej-361	115	37	.	.	PUNCT
alkej-361	116	1	then	then	ADV
alkej-361	116	2	this	this	DET
alkej-361	116	3	node	node	NOUN
alkej-361	116	4	is	be	AUX
alkej-361	116	5	expanded	expand	VERB
alkej-361	116	6	to	to	ADP
alkej-361	116	7	the	the	DET
alkej-361	116	8	eight	eight	NUM
alkej-361	116	9	neighboring	neighboring	NOUN
alkej-361	116	10	nodes	node	NOUN
alkej-361	116	11	in	in	ADP
alkej-361	116	12	order	order	NOUN
alkej-361	116	13	to	to	PART
alkej-361	116	14	transmit	transmit	VERB
alkej-361	116	15	its	its	PRON
alkej-361	116	16	changes	change	NOUN
alkej-361	116	17	to	to	ADP
alkej-361	116	18	these	these	DET
alkej-361	116	19	nodes	node	NOUN
alkej-361	116	20	and	and	CCONJ
alkej-361	116	21	they	they	PRON
alkej-361	116	22	eventually	eventually	ADV
alkej-361	116	23	placed	place	VERB
alkej-361	116	24	in	in	ADP
alkej-361	116	25	the	the	DET
alkej-361	116	26	open	open	ADJ
alkej-361	116	27	list	list	NOUN
alkej-361	116	28	with	with	ADP
alkej-361	116	29	a	a	DET
alkej-361	116	30	minimum	minimum	ADJ
alkej-361	116	31	cost	cost	NOUN
alkej-361	116	32	.	.	PUNCT
alkej-361	117	1	nevertheless	nevertheless	ADV
alkej-361	117	2	,	,	PUNCT
alkej-361	117	3	in	in	ADP
alkej-361	117	4	the	the	DET
alkej-361	117	5	robot	robot	NOUN
alkej-361	117	6	arm	arm	NOUN
alkej-361	117	7	environment	environment	NOUN
alkej-361	117	8	,	,	PUNCT
alkej-361	117	9	only	only	ADV
alkej-361	117	10	nodes	node	NOUN
alkej-361	117	11	belong	belong	VERB
alkej-361	117	12	to	to	ADP
alkej-361	117	13	free	free	ADJ
alkej-361	117	14	cartesian	cartesian	ADJ
alkej-361	117	15	space	space	NOUN
alkej-361	117	16	are	be	AUX
alkej-361	117	17	evaluated	evaluate	VERB
alkej-361	117	18	to	to	PART
alkej-361	117	19	place	place	VERB
alkej-361	117	20	them	they	PRON
alkej-361	117	21	in	in	ADP
alkej-361	117	22	open	open	ADJ
alkej-361	117	23	list	list	NOUN
alkej-361	117	24	.	.	PUNCT
alkej-361	118	1	while	while	SCONJ
alkej-361	118	2	,	,	PUNCT
alkej-361	118	3	the	the	DET
alkej-361	118	4	rest	rest	NOUN
alkej-361	118	5	is	be	AUX
alkej-361	118	6	ignored	ignore	VERB
alkej-361	118	7	.	.	PUNCT
alkej-361	119	1	moreover	moreover	ADV
alkej-361	119	2	,	,	PUNCT
alkej-361	119	3	every	every	DET
alkej-361	119	4	expanded	expand	VERB
alkej-361	119	5	node	node	NOUN
alkej-361	119	6	possesses	possess	VERB
alkej-361	119	7	a	a	DET
alkej-361	119	8	backpointer	backpointer	NOUN
alkej-361	119	9	and	and	CCONJ
alkej-361	119	10	precise	precise	ADJ
alkej-361	119	11	cost	cost	NOUN
alkej-361	119	12	to	to	ADP
alkej-361	119	13	the	the	DET
alkej-361	119	14	goal	goal	NOUN
alkej-361	119	15	according	accord	VERB
alkej-361	119	16	to	to	ADP
alkej-361	119	17	an	an	DET
alkej-361	119	18	equation	equation	NOUN
alkej-361	119	19	(	(	PUNCT
alkej-361	119	20	8)	8)	NUM
alkej-361	119	21	.	.	PUNCT
alkej-361	119	22	o	o	X
alkej-361	120	1	=	=	PUNCT
alkej-361	120	2	3	3	NUM
alkej-361	120	3	+	+	CCONJ
alkej-361	120	4	ℎ	ℎ	NOUN
alkej-361	120	5	…	…	PUNCT
alkej-361	120	6	(	(	PUNCT
alkej-361	120	7	8)	8)	NUM
alkej-361	120	8	where	where	SCONJ
alkej-361	120	9	the	the	DET
alkej-361	120	10	f	f	PROPN
alkej-361	120	11	is	be	AUX
alkej-361	120	12	objective	objective	ADJ
alkej-361	120	13	function	function	NOUN
alkej-361	120	14	and	and	CCONJ
alkej-361	120	15	3	3	NUM
alkej-361	120	16	is	be	AUX
alkej-361	120	17	the	the	DET
alkej-361	120	18	estimated	estimate	VERB
alkej-361	120	19	cost	cost	NOUN
alkej-361	120	20	from	from	ADP
alkej-361	120	21	star	star	NOUN
alkej-361	120	22	point	point	NOUN
alkej-361	120	23	while	while	SCONJ
alkej-361	120	24	ℎ	ℎ	NOUN
alkej-361	120	25	is	be	AUX
alkej-361	120	26	the	the	DET
alkej-361	120	27	cost	cost	NOUN
alkej-361	120	28	to	to	ADP
alkej-361	120	29	the	the	DET
alkej-361	120	30	goal	goal	NOUN
alkej-361	120	31	.	.	PUNCT
alkej-361	121	1	this	this	DET
alkej-361	121	2	algorithm	algorithm	NOUN
alkej-361	121	3	uses	use	VERB
alkej-361	121	4	the	the	DET
alkej-361	121	5	heuristic	heuristic	ADJ
alkej-361	121	6	function	function	NOUN
alkej-361	121	7	for	for	ADP
alkej-361	121	8	increasing	increase	VERB
alkej-361	121	9	and	and	CCONJ
alkej-361	121	10	reducing	reduce	VERB
alkej-361	121	11	the	the	DET
alkej-361	121	12	propagate	propagate	ADJ
alkej-361	121	13	cost	cost	NOUN
alkej-361	121	14	and	and	CCONJ
alkej-361	121	15	focus	focus	VERB
alkej-361	121	16	cost	cost	NOUN
alkej-361	121	17	respectively	respectively	ADV
alkej-361	121	18	[	[	X
alkej-361	121	19	21	21	NUM
alkej-361	121	20	]	]	SYM
alkej-361	121	21	.	.	PUNCT
alkej-361	122	1	7	7	X
alkej-361	122	2	.	.	NUM
alkej-361	122	3	proposed	propose	VERB
alkej-361	122	4	methodology	methodology	NOUN
alkej-361	122	5	to	to	PART
alkej-361	122	6	solve	solve	VERB
alkej-361	122	7	the	the	DET
alkej-361	122	8	path	path	NOUN
alkej-361	122	9	planning	planning	NOUN
alkej-361	122	10	problems	problem	NOUN
alkej-361	122	11	for	for	ADP
alkej-361	122	12	twolink	twolink	NOUN
alkej-361	122	13	arm	arm	NOUN
alkej-361	122	14	,	,	PUNCT
alkej-361	122	15	the	the	DET
alkej-361	122	16	modified	modify	VERB
alkej-361	122	17	lbest	lb	ADJ
alkej-361	122	18	pso	pso	NOUN
alkej-361	122	19	algorithm	algorithm	NOUN
alkej-361	122	20	is	be	AUX
alkej-361	122	21	proposed	propose	VERB
alkej-361	122	22	to	to	PART
alkej-361	122	23	generating	generate	VERB
alkej-361	122	24	the	the	DET
alkej-361	122	25	collision	collision	NOUN
alkej-361	122	26	free	free	ADJ
alkej-361	122	27	path	path	NOUN
alkej-361	122	28	.	.	PUNCT
alkej-361	123	1	the	the	DET
alkej-361	123	2	lbest	lb	ADJ
alkej-361	123	3	pso	pso	NOUN
alkej-361	123	4	algorithm	algorithm	NOUN
alkej-361	123	5	is	be	AUX
alkej-361	123	6	locally	locally	ADV
alkej-361	123	7	searching	search	VERB
alkej-361	123	8	through	through	ADP
alkej-361	123	9	work	work	NOUN
alkej-361	123	10	space	space	NOUN
alkej-361	123	11	(	(	PUNCT
alkej-361	123	12	free	free	ADJ
alkej-361	123	13	cartesian	cartesian	ADJ
alkej-361	123	14	space	space	NOUN
alkej-361	123	15	)	)	PUNCT
alkej-361	123	16	depending	depend	VERB
alkej-361	123	17	on	on	ADP
alkej-361	123	18	d	d	PROPN
alkej-361	123	19	*	*	PUNCT
alkej-361	123	20	and	and	CCONJ
alkej-361	123	21	euclidean	euclidean	ADJ
alkej-361	123	22	distance	distance	NOUN
alkej-361	123	23	costs	cost	NOUN
alkej-361	123	24	to	to	PART
alkej-361	123	25	find	find	VERB
alkej-361	123	26	arm	arm	NOUN
alkej-361	123	27	optimal	optimal	ADJ
alkej-361	123	28	path	path	NOUN
alkej-361	123	29	from	from	ADP
alkej-361	123	30	its	its	PRON
alkej-361	123	31	start	start	NOUN
alkej-361	123	32	to	to	ADP
alkej-361	123	33	goal	goal	NOUN
alkej-361	123	34	configurations	configuration	NOUN
alkej-361	123	35	according	accord	VERB
alkej-361	123	36	to	to	ADP
alkej-361	123	37	several	several	ADJ
alkej-361	123	38	steps	step	NOUN
alkej-361	123	39	.	.	PUNCT
alkej-361	124	1	in	in	ADP
alkej-361	124	2	the	the	DET
alkej-361	124	3	premier	premier	ADJ
alkej-361	124	4	step	step	NOUN
alkej-361	124	5	the	the	DET
alkej-361	124	6	start	start	NOUN
alkej-361	124	7	node	node	NOUN
alkej-361	124	8	with	with	ADP
alkej-361	124	9	initial	initial	ADJ
alkej-361	124	10	velocity	velocity	NOUN
alkej-361	124	11	equal	equal	ADJ
alkej-361	124	12	to	to	ADP
alkej-361	124	13	zero	zero	NUM
alkej-361	124	14	is	be	AUX
alkej-361	124	15	considered	consider	VERB
alkej-361	124	16	as	as	ADP
alkej-361	124	17	current	current	ADJ
alkej-361	124	18	position	position	NOUN
alkej-361	124	19	and	and	CCONJ
alkej-361	124	20	its	its	PRON
alkej-361	124	21	eight	eight	NUM
alkej-361	124	22	neighborhood	neighborhood	NOUN
alkej-361	124	23	nodes	node	NOUN
alkej-361	124	24	(	(	PUNCT
alkej-361	124	25	particles	particle	NOUN
alkej-361	124	26	)	)	PUNCT
alkej-361	124	27	are	be	AUX
alkej-361	124	28	determined	determine	VERB
alkej-361	124	29	to	to	PART
alkej-361	124	30	be	be	AUX
alkej-361	124	31	tested	test	VERB
alkej-361	124	32	by	by	ADP
alkej-361	124	33	lbest	lb	ADJ
alkej-361	124	34	pso	pso	NOUN
alkej-361	124	35	algorithm	algorithm	NOUN
alkej-361	124	36	.	.	PUNCT
alkej-361	125	1	in	in	ADP
alkej-361	125	2	which	which	PRON
alkej-361	125	3	only	only	ADV
alkej-361	125	4	the	the	DET
alkej-361	125	5	nodes	node	NOUN
alkej-361	125	6	belonging	belong	VERB
alkej-361	125	7	to	to	ADP
alkej-361	125	8	free	free	ADJ
alkej-361	125	9	cartesian	cartesian	ADJ
alkej-361	125	10	space	space	NOUN
alkej-361	125	11	are	be	AUX
alkej-361	125	12	tested	test	VERB
alkej-361	125	13	by	by	ADP
alkej-361	125	14	applying	apply	VERB
alkej-361	125	15	the	the	DET
alkej-361	125	16	velocity	velocity	NOUN
alkej-361	125	17	equation	equation	NOUN
alkej-361	125	18	(	(	PUNCT
alkej-361	125	19	5	5	NUM
alkej-361	125	20	)	)	PUNCT
alkej-361	125	21	,	,	PUNCT
alkej-361	125	22	where	where	SCONJ
alkej-361	125	23	310,2-	310,2-	NUM
alkej-361	125	24	.	.	PUNCT
alkej-361	126	1	indicate	indicate	VERB
alkej-361	126	2	to	to	ADP
alkej-361	126	3	the	the	DET
alkej-361	126	4	minimum	minimum	ADJ
alkej-361	126	5	d	d	NOUN
alkej-361	126	6	*	*	PUNCT
alkej-361	126	7	cost	cost	NOUN
alkej-361	126	8	(	(	PUNCT
alkej-361	126	9	at	at	ADP
alkej-361	126	10	eight	eight	NUM
alkej-361	126	11	tested	test	VERB
alkej-361	126	12	neighborhood	neighborhood	NOUN
alkej-361	126	13	nodes	node	NOUN
alkej-361	126	14	)	)	PUNCT
alkej-361	126	15	,	,	PUNCT
alkej-361	126	16	*	*	PUNCT
alkej-361	126	17	+	+	ADJ
alkej-361	126	18	,	,	PUNCT
alkej-361	126	19	-	-	PUNCT
alkej-361	126	20	.	.	PUNCT
alkej-361	126	21	indicate	indicate	VERB
alkej-361	126	22	to	to	ADP
alkej-361	126	23	the	the	DET
alkej-361	126	24	d	d	PROPN
alkej-361	126	25	*	*	PUNCT
alkej-361	126	26	cost	cost	NOUN
alkej-361	126	27	at	at	ADP
alkej-361	126	28	tested	test	VERB
alkej-361	126	29	node	node	NOUN
alkej-361	126	30	,	,	PUNCT
alkej-361	126	31	and	and	CCONJ
alkej-361	126	32	*	*	PUNCT
alkej-361	126	33	10,2-	10,2-	NUM
alkej-361	126	34	.	.	PUNCT
alkej-361	127	1	indicate	indicate	VERB
alkej-361	127	2	to	to	ADP
alkej-361	127	3	the	the	DET
alkej-361	127	4	euclidean	euclidean	ADJ
alkej-361	127	5	distance	distance	NOUN
alkej-361	127	6	(	(	PUNCT
alkej-361	127	7	s	s	X
alkej-361	127	8	)	)	PUNCT
alkej-361	127	9	from	from	ADP
alkej-361	127	10	tested	test	VERB
alkej-361	127	11	node	node	NOUN
alkej-361	127	12	to	to	ADP
alkej-361	127	13	the	the	DET
alkej-361	127	14	goal	goal	NOUN
alkej-361	127	15	node	node	NOUN
alkej-361	127	16	that	that	PRON
alkej-361	127	17	is	be	AUX
alkej-361	127	18	depending	depend	VERB
alkej-361	127	19	solely	solely	ADV
alkej-361	127	20	on	on	ADP
alkej-361	127	21	the	the	DET
alkej-361	127	22	direct	direct	ADJ
alkej-361	127	23	orientation	orientation	NOUN
alkej-361	127	24	to	to	ADP
alkej-361	127	25	the	the	DET
alkej-361	127	26	goal	goal	NOUN
alkej-361	127	27	and	and	CCONJ
alkej-361	127	28	can	can	AUX
alkej-361	127	29	be	be	AUX
alkej-361	127	30	computed	compute	VERB
alkej-361	127	31	for	for	ADP
alkej-361	127	32	every	every	DET
alkej-361	127	33	point	point	NOUN
alkej-361	127	34	in	in	ADP
alkej-361	127	35	the	the	DET
alkej-361	127	36	free	free	ADJ
alkej-361	127	37	cartesian	cartesian	ADJ
alkej-361	127	38	space	space	NOUN
alkej-361	127	39	according	accord	VERB
alkej-361	127	40	to	to	ADP
alkej-361	127	41	following	follow	VERB
alkej-361	127	42	equation	equation	NOUN
alkej-361	127	43	(	(	PUNCT
alkej-361	127	44	9	9	NUM
alkej-361	127	45	)	)	PUNCT
alkej-361	127	46	.	.	PUNCT
alkej-361	128	1	ahmed	ahmed	PROPN
alkej-361	128	2	t.	t.	PROPN
alkej-361	128	3	sadiq	sadiq	PROPN
alkej-361	128	4	al	al	PROPN
alkej-361	128	5	-	-	PUNCT
alkej-361	128	6	khwarizmi	khwarizmi	PROPN
alkej-361	128	7	engineering	engineering	NOUN
alkej-361	128	8	journal	journal	PROPN
alkej-361	128	9	,	,	PUNCT
alkej-361	128	10	vol	vol	NOUN
alkej-361	128	11	.	.	PROPN
alkej-361	128	12	13	13	NUM
alkej-361	128	13	,	,	PUNCT
alkej-361	128	14	no	no	INTJ
alkej-361	128	15	.	.	NOUN
alkej-361	128	16	3	3	NUM
alkej-361	128	17	,	,	PUNCT
alkej-361	128	18	p.p	p.p	PROPN
alkej-361	128	19	.	.	NOUN
alkej-361	128	20	2737	2737	NUM
alkej-361	128	21	(	(	PUNCT
alkej-361	128	22	2017	2017	NUM
alkej-361	128	23	)	)	PUNCT
alkej-361	128	24	31	31	NUM
alkej-361	128	25	s	s	PROPN
alkej-361	128	26	=	=	SYM
alkej-361	128	27	t	t	PROPN
alkej-361	128	28	(	(	PUNCT
alkej-361	128	29	−	−	PROPN
alkej-361	128	30	u	u	NOUN
alkej-361	128	31	)	)	PUNCT
alkej-361	128	32	�	�	PROPN
alkej-361	128	33	+	+	CCONJ
alkej-361	128	34	(	(	PUNCT
alkej-361	128	35	�	�	PROPN
alkej-361	128	36	−	−	PROPN
alkej-361	128	37	�	�	PROPN
alkej-361	128	38	u	u	NOUN
alkej-361	128	39	)	)	PUNCT
alkej-361	128	40	�	�	PROPN
alkej-361	128	41	…	…	PUNCT
alkej-361	128	42	(	(	PUNCT
alkej-361	128	43	9	9	NUM
alkej-361	128	44	)	)	PUNCT
alkej-361	128	45	where	where	SCONJ
alkej-361	128	46	the	the	PRON
alkej-361	128	47	(	(	PUNCT
alkej-361	128	48	,	,	PUNCT
alkej-361	128	49	�	�	PROPN
alkej-361	128	50	)	)	PUNCT
alkej-361	128	51	represent	represent	VERB
alkej-361	128	52	the	the	DET
alkej-361	128	53	x	x	PROPN
alkej-361	128	54	-	-	ADJ
alkej-361	128	55	y	y	ADJ
alkej-361	128	56	coordinate	coordinate	NOUN
alkej-361	128	57	of	of	ADP
alkej-361	128	58	the	the	DET
alkej-361	128	59	free	free	ADJ
alkej-361	128	60	cartesian	cartesian	ADJ
alkej-361	128	61	point	point	NOUN
alkej-361	128	62	and	and	CCONJ
alkej-361	128	63	(	(	PUNCT
alkej-361	128	64	u	u	NOUN
alkej-361	128	65	,	,	PUNCT
alkej-361	128	66	�	�	PROPN
alkej-361	128	67	u	u	NOUN
alkej-361	128	68	)	)	PUNCT
alkej-361	128	69	represent	represent	VERB
alkej-361	128	70	the	the	DET
alkej-361	128	71	x	x	PROPN
alkej-361	128	72	-	-	NOUN
alkej-361	128	73	y	y	ADJ
alkej-361	128	74	coordinate	coordinate	NOUN
alkej-361	128	75	to	to	ADP
alkej-361	128	76	the	the	DET
alkej-361	128	77	goal	goal	NOUN
alkej-361	128	78	point	point	NOUN
alkej-361	128	79	.	.	PUNCT
alkej-361	129	1	the	the	DET
alkej-361	129	2	coefficients	coefficient	NOUN
alkej-361	129	3	9	9	NUM
alkej-361	129	4	�	�	NOUN
alkej-361	129	5	and	and	CCONJ
alkej-361	129	6	9	9	NUM
alkej-361	129	7	�	�	NOUN
alkej-361	129	8	have	have	VERB
alkej-361	129	9	significant	significant	ADJ
alkej-361	129	10	role	role	NOUN
alkej-361	129	11	to	to	PART
alkej-361	129	12	guide	guide	VERB
alkej-361	129	13	the	the	DET
alkej-361	129	14	solution	solution	NOUN
alkej-361	129	15	either	either	CCONJ
alkej-361	129	16	toward	toward	ADP
alkej-361	129	17	the	the	DET
alkej-361	129	18	node	node	NOUN
alkej-361	129	19	with	with	ADP
alkej-361	129	20	minimum	minimum	ADJ
alkej-361	129	21	d	d	NOUN
alkej-361	129	22	*	*	NOUN
alkej-361	129	23	cost	cost	NOUN
alkej-361	129	24	or	or	CCONJ
alkej-361	129	25	toward	toward	ADP
alkej-361	129	26	the	the	DET
alkej-361	129	27	node	node	NOUN
alkej-361	129	28	with	with	ADP
alkej-361	129	29	minimum	minimum	ADJ
alkej-361	129	30	euclidean	euclidean	ADJ
alkej-361	129	31	distance	distance	NOUN
alkej-361	129	32	.	.	PUNCT
alkej-361	130	1	then	then	ADV
alkej-361	130	2	only	only	ADV
alkej-361	130	3	one	one	NUM
alkej-361	130	4	particle	particle	NOUN
alkej-361	130	5	with	with	ADP
alkej-361	130	6	minimum	minimum	ADJ
alkej-361	130	7	cost	cost	NOUN
alkej-361	130	8	and	and	CCONJ
alkej-361	130	9	high	high	ADJ
alkej-361	130	10	probability	probability	NOUN
alkej-361	130	11	is	be	AUX
alkej-361	130	12	selected	select	VERB
alkej-361	130	13	to	to	PART
alkej-361	130	14	be	be	AUX
alkej-361	130	15	at	at	ADP
alkej-361	130	16	the	the	DET
alkej-361	130	17	current	current	ADJ
alkej-361	130	18	node	node	NOUN
alkej-361	130	19	in	in	ADP
alkej-361	130	20	the	the	DET
alkej-361	130	21	proposed	propose	VERB
alkej-361	130	22	path	path	NOUN
alkej-361	130	23	.	.	PUNCT
alkej-361	131	1	in	in	ADP
alkej-361	131	2	case	case	NOUN
alkej-361	131	3	of	of	ADP
alkej-361	131	4	the	the	DET
alkej-361	131	5	current	current	ADJ
alkej-361	131	6	node	node	NOUN
alkej-361	131	7	does	do	AUX
alkej-361	131	8	not	not	PART
alkej-361	131	9	possess	possess	VERB
alkej-361	131	10	tested	test	VERB
alkej-361	131	11	neighborhood	neighborhood	NOUN
alkej-361	131	12	nodes	node	NOUN
alkej-361	131	13	belong	belong	VERB
alkej-361	131	14	to	to	ADP
alkej-361	131	15	the	the	DET
alkej-361	131	16	free	free	ADJ
alkej-361	131	17	cartesian	cartesian	ADJ
alkej-361	131	18	space	space	NOUN
alkej-361	131	19	,	,	PUNCT
alkej-361	131	20	then	then	ADV
alkej-361	131	21	the	the	DET
alkej-361	131	22	node	node	NOUN
alkej-361	131	23	is	be	AUX
alkej-361	131	24	considered	consider	VERB
alkej-361	131	25	as	as	ADP
alkej-361	131	26	dead	dead	ADJ
alkej-361	131	27	point	point	NOUN
alkej-361	131	28	and	and	CCONJ
alkej-361	131	29	pso	pso	NOUN
alkej-361	131	30	algorithm	algorithm	NOUN
alkej-361	131	31	has	have	VERB
alkej-361	131	32	to	to	PART
alkej-361	131	33	be	be	AUX
alkej-361	131	34	returned	return	VERB
alkej-361	131	35	to	to	ADP
alkej-361	131	36	the	the	DET
alkej-361	131	37	last	last	ADJ
alkej-361	131	38	node	node	NOUN
alkej-361	131	39	in	in	ADP
alkej-361	131	40	the	the	DET
alkej-361	131	41	path	path	NOUN
alkej-361	131	42	for	for	ADP
alkej-361	131	43	selecting	select	VERB
alkej-361	131	44	another	another	DET
alkej-361	131	45	node	node	NOUN
alkej-361	131	46	.	.	PUNCT
alkej-361	132	1	while	while	SCONJ
alkej-361	132	2	in	in	ADP
alkej-361	132	3	the	the	DET
alkej-361	132	4	next	next	ADJ
alkej-361	132	5	step	step	NOUN
alkej-361	132	6	the	the	DET
alkej-361	132	7	new	new	ADJ
alkej-361	132	8	velocity	velocity	NOUN
alkej-361	132	9	for	for	ADP
alkej-361	132	10	each	each	DET
alkej-361	132	11	particle	particle	NOUN
alkej-361	132	12	(	(	PUNCT
alkej-361	132	13	potential	potential	ADJ
alkej-361	132	14	solution	solution	NOUN
alkej-361	132	15	)	)	PUNCT
alkej-361	132	16	is	be	AUX
alkej-361	132	17	set	set	VERB
alkej-361	132	18	depending	depend	VERB
alkej-361	132	19	on	on	ADP
alkej-361	132	20	its	its	PRON
alkej-361	132	21	prior	prior	ADJ
alkej-361	132	22	velocity	velocity	NOUN
alkej-361	132	23	/0)-.4	/0)-.4	PUNCT
alkej-361	132	24	.	.	PUNCT
alkej-361	133	1	the	the	DET
alkej-361	133	2	lbest	lb	ADJ
alkej-361	133	3	pso	pso	NOUN
alkej-361	133	4	repeatedly	repeatedly	ADV
alkej-361	133	5	generate	generate	VERB
alkej-361	133	6	and	and	CCONJ
alkej-361	133	7	test	test	VERB
alkej-361	133	8	eight	eight	NUM
alkej-361	133	9	neighborhood	neighborhood	NOUN
alkej-361	133	10	nodes	node	NOUN
alkej-361	133	11	for	for	ADP
alkej-361	133	12	current	current	ADJ
alkej-361	133	13	node	node	NOUN
alkej-361	133	14	until	until	ADP
alkej-361	133	15	reaching	reach	VERB
alkej-361	133	16	the	the	DET
alkej-361	133	17	goal	goal	NOUN
alkej-361	133	18	point	point	NOUN
alkej-361	133	19	and	and	CCONJ
alkej-361	133	20	the	the	DET
alkej-361	133	21	proposed	propose	VERB
alkej-361	133	22	path	path	NOUN
alkej-361	133	23	is	be	AUX
alkej-361	133	24	considered	consider	VERB
alkej-361	133	25	as	as	ADP
alkej-361	133	26	the	the	DET
alkej-361	133	27	candidate	candidate	NOUN
alkej-361	133	28	optimal	optimal	ADJ
alkej-361	133	29	path	path	NOUN
alkej-361	133	30	.	.	PUNCT
alkej-361	134	1	this	this	DET
alkej-361	134	2	process	process	NOUN
alkej-361	134	3	is	be	AUX
alkej-361	134	4	iterated	iterate	VERB
alkej-361	134	5	until	until	SCONJ
alkej-361	134	6	a	a	DET
alkej-361	134	7	specific	specific	ADJ
alkej-361	134	8	number	number	NOUN
alkej-361	134	9	of	of	ADP
alkej-361	134	10	iterations	iteration	NOUN
alkej-361	134	11	are	be	AUX
alkej-361	134	12	achieved	achieve	VERB
alkej-361	134	13	or	or	CCONJ
alkej-361	134	14	minimum	minimum	ADJ
alkej-361	134	15	cost	cost	NOUN
alkej-361	134	16	is	be	AUX
alkej-361	134	17	obtained	obtain	VERB
alkej-361	134	18	.	.	PUNCT
alkej-361	135	1	finally	finally	ADV
alkej-361	135	2	the	the	DET
alkej-361	135	3	optimal	optimal	ADJ
alkej-361	135	4	path	path	NOUN
alkej-361	135	5	is	be	AUX
alkej-361	135	6	formed	form	VERB
alkej-361	135	7	from	from	ADP
alkej-361	135	8	entire	entire	ADJ
alkej-361	135	9	iterations	iteration	NOUN
alkej-361	135	10	via	via	ADP
alkej-361	135	11	selecting	select	VERB
alkej-361	135	12	the	the	DET
alkej-361	135	13	best	good	ADJ
alkej-361	135	14	candidate	candidate	NOUN
alkej-361	135	15	solution	solution	NOUN
alkej-361	135	16	with	with	ADP
alkej-361	135	17	the	the	DET
alkej-361	135	18	minimum	minimum	ADJ
alkej-361	135	19	cost	cost	NOUN
alkej-361	135	20	function	function	NOUN
alkej-361	135	21	which	which	PRON
alkej-361	135	22	can	can	AUX
alkej-361	135	23	be	be	AUX
alkej-361	135	24	calculated	calculate	VERB
alkej-361	135	25	by	by	ADP
alkej-361	135	26	the	the	DET
alkej-361	135	27	following	follow	VERB
alkej-361	135	28	equation	equation	NOUN
alkej-361	135	29	:	:	PUNCT
alkej-361	135	30	cost=∑	cost=∑	NOUN
alkej-361	135	31	x	x	ADP
alkej-361	135	32	(	(	PUNCT
alkej-361	135	33	−	−	PROPN
alkej-361	135	34	-	-	PUNCT
alkej-361	135	35	�	�	NOUN
alkej-361	135	36	�	�	PROPN
alkej-361	135	37	)	)	PUNCT
alkej-361	135	38	�	�	PROPN
alkej-361	135	39	+	+	CCONJ
alkej-361	135	40	(	(	PUNCT
alkej-361	135	41	�	�	PROPN
alkej-361	135	42	−	−	PROPN
alkej-361	135	43	�	�	PROPN
alkej-361	135	44	-	-	PUNCT
alkej-361	135	45	�	�	NOUN
alkej-361	135	46	�	�	PROPN
alkej-361	135	47	)	)	PUNCT
alkej-361	135	48	�	�	PROPN
alkej-361	135	49	:-y	:-y	PROPN
alkej-361	135	50	�	�	PROPN
alkej-361	135	51	...	...	PUNCT
alkej-361	135	52	(	(	PUNCT
alkej-361	135	53	10	10	NUM
alkej-361	135	54	)	)	PUNCT
alkej-361	135	55	where	where	SCONJ
alkej-361	135	56	,	,	PUNCT
alkej-361	135	57	m	m	PROPN
alkej-361	135	58	is	be	AUX
alkej-361	135	59	the	the	DET
alkej-361	135	60	number	number	NOUN
alkej-361	135	61	of	of	ADP
alkej-361	135	62	particles	particle	NOUN
alkej-361	135	63	which	which	PRON
alkej-361	135	64	is	be	AUX
alkej-361	135	65	equal	equal	ADJ
alkej-361	135	66	to	to	ADP
alkej-361	135	67	the	the	DET
alkej-361	135	68	number	number	NOUN
alkej-361	135	69	of	of	ADP
alkej-361	135	70	nodes	node	NOUN
alkej-361	135	71	along	along	ADP
alkej-361	135	72	the	the	DET
alkej-361	135	73	path	path	NOUN
alkej-361	135	74	,	,	PUNCT
alkej-361	135	75	(	(	PUNCT
alkej-361	135	76	,	,	PUNCT
alkej-361	135	77	�	�	PROPN
alkej-361	135	78	-	-	PUNCT
alkej-361	135	79	)	)	PUNCT
alkej-361	135	80	represents	represent	VERB
alkej-361	135	81	the	the	DET
alkej-361	135	82	current	current	ADJ
alkej-361	135	83	position	position	NOUN
alkej-361	135	84	of	of	ADP
alkej-361	135	85	ith	ith	PROPN
alkej-361	135	86	particle	particle	NOUN
alkej-361	135	87	.	.	PUNCT
alkej-361	136	1	depending	depend	VERB
alkej-361	136	2	on	on	ADP
alkej-361	136	3	the	the	DET
alkej-361	136	4	number	number	NOUN
alkej-361	136	5	of	of	ADP
alkej-361	136	6	the	the	DET
alkej-361	136	7	grid	grid	NOUN
alkej-361	136	8	,	,	PUNCT
alkej-361	136	9	the	the	DET
alkej-361	136	10	optimal	optimal	ADJ
alkej-361	136	11	path	path	NOUN
alkej-361	136	12	may	may	AUX
alkej-361	136	13	be	be	AUX
alkej-361	136	14	more	more	ADJ
alkej-361	136	15	than	than	ADP
alkej-361	136	16	one	one	NUM
alkej-361	136	17	path	path	NOUN
alkej-361	136	18	.	.	PUNCT
alkej-361	137	1	each	each	DET
alkej-361	137	2	path	path	NOUN
alkej-361	137	3	has	have	VERB
alkej-361	137	4	the	the	DET
alkej-361	137	5	same	same	ADJ
alkej-361	137	6	cost	cost	NOUN
alkej-361	137	7	but	but	CCONJ
alkej-361	137	8	with	with	ADP
alkej-361	137	9	differences	difference	NOUN
alkej-361	137	10	in	in	ADP
alkej-361	137	11	some	some	DET
alkej-361	137	12	points	point	NOUN
alkej-361	137	13	.	.	PUNCT
alkej-361	138	1	all	all	DET
alkej-361	138	2	process	process	NOUN
alkej-361	138	3	is	be	AUX
alkej-361	138	4	done	do	VERB
alkej-361	138	5	as	as	ADP
alkej-361	138	6	in	in	ADP
alkej-361	138	7	the	the	DET
alkej-361	138	8	flowchart	flowchart	NOUN
alkej-361	138	9	shown	show	VERB
alkej-361	138	10	in	in	ADP
alkej-361	138	11	figure	figure	NOUN
alkej-361	138	12	(	(	PUNCT
alkej-361	138	13	3	3	NUM
alkej-361	138	14	)	)	PUNCT
alkej-361	138	15	.	.	PUNCT
alkej-361	139	1	8	8	X
alkej-361	139	2	.	.	X
alkej-361	139	3	path	path	NOUN
alkej-361	139	4	smoothing	smooth	VERB
alkej-361	139	5	using	use	VERB
alkej-361	139	6	quintic	quintic	ADJ
alkej-361	139	7	polynomial	polynomial	ADJ
alkej-361	139	8	equation	equation	NOUN
alkej-361	139	9	trajectory	trajectory	NOUN
alkej-361	139	10	can	can	AUX
alkej-361	139	11	be	be	AUX
alkej-361	139	12	defined	define	VERB
alkej-361	139	13	as	as	ADP
alkej-361	139	14	path	path	NOUN
alkej-361	139	15	which	which	PRON
alkej-361	139	16	be	be	AUX
alkej-361	139	17	followed	follow	VERB
alkej-361	139	18	by	by	ADP
alkej-361	139	19	a	a	DET
alkej-361	139	20	moving	move	VERB
alkej-361	139	21	manipulator	manipulator	NOUN
alkej-361	139	22	through	through	ADP
alkej-361	139	23	work	work	NOUN
alkej-361	139	24	space	space	NOUN
alkej-361	139	25	at	at	ADP
alkej-361	139	26	specific	specific	ADJ
alkej-361	139	27	time	time	NOUN
alkej-361	139	28	.	.	PUNCT
alkej-361	140	1	amount	amount	NOUN
alkej-361	140	2	of	of	ADP
alkej-361	140	3	time	time	NOUN
alkej-361	140	4	on	on	ADP
alkej-361	140	5	which	which	PRON
alkej-361	140	6	trajectory	trajectory	NOUN
alkej-361	140	7	is	be	AUX
alkej-361	140	8	carried	carry	VERB
alkej-361	140	9	out	out	ADP
alkej-361	140	10	can	can	AUX
alkej-361	140	11	be	be	AUX
alkej-361	140	12	determined	determine	VERB
alkej-361	140	13	as	as	ADP
alkej-361	140	14	(	(	PUNCT
alkej-361	140	15	2z	2z	NUM
alkej-361	140	16	2	2	NUM
alkej-361	140	17	[	[	NOUN
alkej-361	140	18	)	)	PUNCT
alkej-361	140	19	.	.	PUNCT
alkej-361	141	1	since	since	SCONJ
alkej-361	141	2	the	the	DET
alkej-361	141	3	velocities	velocity	NOUN
alkej-361	141	4	and	and	CCONJ
alkej-361	141	5	accelerations	acceleration	NOUN
alkej-361	141	6	are	be	AUX
alkej-361	141	7	also	also	ADV
alkej-361	141	8	parameterized	parameterized	ADJ
alkej-361	141	9	by	by	ADP
alkej-361	141	10	time	time	NOUN
alkej-361	141	11	,	,	PUNCT
alkej-361	141	12	they	they	PRON
alkej-361	141	13	can	can	AUX
alkej-361	141	14	be	be	AUX
alkej-361	141	15	calculated	calculate	VERB
alkej-361	141	16	along	along	ADP
alkej-361	141	17	the	the	DET
alkej-361	141	18	trajectories	trajectory	NOUN
alkej-361	141	19	by	by	ADP
alkej-361	141	20	differentiation	differentiation	NOUN
alkej-361	141	21	with	with	ADP
alkej-361	141	22	respect	respect	NOUN
alkej-361	141	23	to	to	ADP
alkej-361	141	24	time	time	NOUN
alkej-361	141	25	.	.	PUNCT
alkej-361	142	1	the	the	DET
alkej-361	142	2	set	set	NOUN
alkej-361	142	3	of	of	ADP
alkej-361	142	4	quintic	quintic	ADJ
alkej-361	142	5	polynomial	polynomial	ADJ
alkej-361	142	6	trajectory	trajectory	NOUN
alkej-361	142	7	equations	equation	NOUN
alkej-361	142	8	includes	include	VERB
alkej-361	142	9	a	a	DET
alkej-361	142	10	fifth	fifth	ADJ
alkej-361	142	11	order	order	NOUN
alkej-361	142	12	polynomial	polynomial	ADJ
alkej-361	142	13	position	position	NOUN
alkej-361	142	14	equation	equation	NOUN
alkej-361	142	15	,	,	PUNCT
alkej-361	142	16	the	the	DET
alkej-361	142	17	first	first	ADJ
alkej-361	142	18	derivative	derivative	NOUN
alkej-361	142	19	is	be	AUX
alkej-361	142	20	a	a	DET
alkej-361	142	21	fourth	fourth	ADJ
alkej-361	142	22	order	order	NOUN
alkej-361	142	23	velocity	velocity	NOUN
alkej-361	142	24	equation	equation	NOUN
alkej-361	142	25	and	and	CCONJ
alkej-361	142	26	the	the	DET
alkej-361	142	27	second	second	ADJ
alkej-361	142	28	derivative	derivative	NOUN
alkej-361	142	29	is	be	AUX
alkej-361	142	30	a	a	DET
alkej-361	142	31	third	third	ADJ
alkej-361	142	32	order	order	NOUN
alkej-361	142	33	polynomial	polynomial	ADJ
alkej-361	142	34	acceleration	acceleration	NOUN
alkej-361	142	35	equation	equation	NOUN
alkej-361	142	36	.	.	PUNCT
alkej-361	143	1	the	the	DET
alkej-361	143	2	trajectory	trajectory	NOUN
alkej-361	143	3	has	have	VERB
alkej-361	143	4	six	six	NUM
alkej-361	143	5	constraints	constraint	NOUN
alkej-361	143	6	which	which	PRON
alkej-361	143	7	is	be	AUX
alkej-361	143	8	as	as	ADV
alkej-361	143	9	initial	initial	ADJ
alkej-361	143	10	and	and	CCONJ
alkej-361	143	11	final	final	ADJ
alkej-361	143	12	for	for	ADP
alkej-361	143	13	each	each	DET
alkej-361	143	14	one	one	NUM
alkej-361	143	15	of	of	ADP
alkej-361	143	16	configurations	configuration	NOUN
alkej-361	143	17	,	,	PUNCT
alkej-361	143	18	velocities	velocity	NOUN
alkej-361	143	19	and	and	CCONJ
alkej-361	143	20	accelerations	acceleration	NOUN
alkej-361	143	21	[	[	X
alkej-361	143	22	14	14	NUM
alkej-361	143	23	]	]	PUNCT
alkej-361	143	24	.	.	PUNCT
alkej-361	144	1	\(2	\(2	NOUN
alkej-361	144	2	)	)	PUNCT
alkej-361	145	1	=	=	SYM
alkej-361	145	2	j	j	PROPN
alkej-361	145	3	[	[	PUNCT
alkej-361	145	4	+	+	NUM
alkej-361	145	5	j	j	NOUN
alkej-361	145	6	�	�	PROPN
alkej-361	145	7	2	2	NUM
alkej-361	145	8	+	+	CCONJ
alkej-361	145	9	j	j	PROPN
alkej-361	145	10	�	�	PROPN
alkej-361	145	11	2	2	NUM
alkej-361	145	12	�	�	PROPN
alkej-361	145	13	+	+	CCONJ
alkej-361	145	14	j]2	j]2	PROPN
alkej-361	145	15	]	]	X
alkej-361	145	16	+	+	CCONJ
alkej-361	145	17	j^2^	j^2^	PROPN
alkej-361	145	18	+	+	CCONJ
alkej-361	145	19	j_2	j_2	PROPN
alkej-361	145	20	_	_	PRON
alkej-361	145	21	…	…	PUNCT
alkej-361	145	22	(	(	PUNCT
alkej-361	145	23	11	11	NUM
alkej-361	145	24	)	)	PUNCT
alkej-361	145	25	according	accord	VERB
alkej-361	145	26	to	to	ADP
alkej-361	145	27	equation	equation	NOUN
alkej-361	145	28	(	(	PUNCT
alkej-361	145	29	11	11	NUM
alkej-361	145	30	)	)	PUNCT
alkej-361	145	31	at	at	ADP
alkej-361	145	32	time	time	NOUN
alkej-361	145	33	2	2	NUM
alkej-361	145	34	[	[	NOUN
alkej-361	145	35	,	,	PUNCT
alkej-361	145	36	the	the	DET
alkej-361	145	37	initial	initial	ADJ
alkej-361	145	38	position	position	NOUN
alkej-361	145	39	,	,	PUNCT
alkej-361	145	40	velocity	velocity	NOUN
alkej-361	145	41	and	and	CCONJ
alkej-361	145	42	acceleration	acceleration	NOUN
alkej-361	145	43	equations	equation	NOUN
alkej-361	145	44	are	be	AUX
alkej-361	145	45	:	:	PUNCT
alkej-361	145	46	\(2	\(2	NOUN
alkej-361	145	47	[	[	NOUN
alkej-361	145	48	)	)	PUNCT
alkej-361	145	49	=	=	SYM
alkej-361	145	50	\	\	ADJ
alkej-361	145	51	`	`	PUNCT
alkej-361	145	52	…	…	PUNCT
alkej-361	145	53	(	(	PUNCT
alkej-361	145	54	12	12	NUM
alkej-361	145	55	)	)	PUNCT
alkej-361	145	56	\a	\a	VERB
alkej-361	145	57	(	(	PUNCT
alkej-361	145	58	2	2	NUM
alkej-361	145	59	[	[	NOUN
alkej-361	145	60	)	)	PUNCT
alkej-361	145	61	=	=	SYM
alkej-361	145	62	/	/	SYM
alkej-361	145	63	`	`	PUNCT
alkej-361	145	64	…	…	PUNCT
alkej-361	145	65	(	(	PUNCT
alkej-361	145	66	13	13	NUM
alkej-361	145	67	)	)	PUNCT
alkej-361	145	68	\b	\b	NOUN
alkej-361	145	69	(	(	PUNCT
alkej-361	145	70	2	2	NUM
alkej-361	145	71	[	[	NOUN
alkej-361	145	72	)	)	PUNCT
alkej-361	145	73	=	=	SYM
alkej-361	145	74	j	j	NOUN
alkej-361	145	75	`	`	PUNCT
alkej-361	145	76	…	…	PUNCT
alkej-361	145	77	(	(	PUNCT
alkej-361	145	78	14	14	NUM
alkej-361	145	79	)	)	PUNCT
alkej-361	145	80	where	where	SCONJ
alkej-361	145	81	(	(	PUNCT
alkej-361	145	82	\	\	PROPN
alkej-361	145	83	`	`	PUNCT
alkej-361	145	84	,	,	PUNCT
alkej-361	145	85	/	/	SYM
alkej-361	145	86	`	`	PUNCT
alkej-361	145	87	,	,	PUNCT
alkej-361	145	88	j	j	PROPN
alkej-361	145	89	`	`	PUNCT
alkej-361	145	90	)	)	PUNCT
alkej-361	145	91	representing	represent	VERB
alkej-361	145	92	the	the	DET
alkej-361	145	93	initial	initial	ADJ
alkej-361	145	94	position	position	NOUN
alkej-361	145	95	,	,	PUNCT
alkej-361	145	96	velocity	velocity	NOUN
alkej-361	145	97	and	and	CCONJ
alkej-361	145	98	acceleration	acceleration	NOUN
alkej-361	145	99	respectively	respectively	ADV
alkej-361	145	100	[	[	X
alkej-361	145	101	14	14	NUM
alkej-361	145	102	]	]	PUNCT
alkej-361	145	103	.	.	PUNCT
alkej-361	146	1	while	while	SCONJ
alkej-361	146	2	at	at	ADP
alkej-361	146	3	time	time	NOUN
alkej-361	146	4	tc	tc	ADP
alkej-361	146	5	the	the	DET
alkej-361	146	6	final	final	ADJ
alkej-361	146	7	position	position	NOUN
alkej-361	146	8	,	,	PUNCT
alkej-361	146	9	velocity	velocity	NOUN
alkej-361	146	10	and	and	CCONJ
alkej-361	146	11	acceleration	acceleration	NOUN
alkej-361	146	12	equations	equation	NOUN
alkej-361	146	13	are	be	AUX
alkej-361	146	14	:	:	PUNCT
alkej-361	146	15	\	\	ADJ
alkej-361	146	16	�	�	NOUN
alkej-361	146	17	2z	2z	NUM
alkej-361	146	18	"	"	PUNCT
alkej-361	146	19	=	=	SYM
alkej-361	146	20	\u	\u	NOUN
alkej-361	146	21	…	…	PUNCT
alkej-361	146	22	(	(	PUNCT
alkej-361	146	23	15	15	NUM
alkej-361	146	24	)	)	PUNCT
alkej-361	146	25	\a	\a	VERB
alkej-361	146	26	(	(	PUNCT
alkej-361	146	27	2z	2z	NUM
alkej-361	146	28	)	)	PUNCT
alkej-361	146	29	=	=	SYM
alkej-361	147	1	/u	/u	PUNCT
alkej-361	147	2	…	…	PUNCT
alkej-361	147	3	(	(	PUNCT
alkej-361	147	4	16	16	NUM
alkej-361	147	5	)	)	PUNCT
alkej-361	147	6	\b	\b	NOUN
alkej-361	147	7	(	(	PUNCT
alkej-361	147	8	2z	2z	NUM
alkej-361	147	9	)	)	PUNCT
alkej-361	147	10	=	=	SYM
alkej-361	147	11	ju	ju	NOUN
alkej-361	147	12	…	…	PUNCT
alkej-361	147	13	(	(	PUNCT
alkej-361	147	14	17	17	NUM
alkej-361	147	15	)	)	PUNCT
alkej-361	147	16	where	where	SCONJ
alkej-361	147	17	(	(	PUNCT
alkej-361	147	18	\u	\u	NOUN
alkej-361	147	19	,	,	PUNCT
alkej-361	147	20	/u	/u	PRON
alkej-361	147	21	,	,	PUNCT
alkej-361	147	22	ju	ju	PROPN
alkej-361	147	23	)	)	PUNCT
alkej-361	147	24	represent	represent	VERB
alkej-361	147	25	the	the	DET
alkej-361	147	26	target	target	NOUN
alkej-361	147	27	position	position	NOUN
alkej-361	147	28	,	,	PUNCT
alkej-361	147	29	velocity	velocity	NOUN
alkej-361	147	30	and	and	CCONJ
alkej-361	147	31	acceleration	acceleration	NOUN
alkej-361	147	32	respectively	respectively	ADV
alkej-361	147	33	[	[	X
alkej-361	147	34	14	14	NUM
alkej-361	147	35	]	]	PUNCT
alkej-361	147	36	.	.	PUNCT
alkej-361	148	1	depending	depend	VERB
alkej-361	148	2	on	on	ADP
alkej-361	148	3	appropriate	appropriate	ADJ
alkej-361	148	4	number	number	NOUN
alkej-361	148	5	of	of	ADP
alkej-361	148	6	derivatives	derivative	NOUN
alkej-361	148	7	for	for	ADP
alkej-361	148	8	equation	equation	NOUN
alkej-361	148	9	(	(	PUNCT
alkej-361	148	10	11	11	NUM
alkej-361	148	11	)	)	PUNCT
alkej-361	148	12	,	,	PUNCT
alkej-361	148	13	the	the	DET
alkej-361	148	14	following	follow	VERB
alkej-361	148	15	equations	equation	NOUN
alkej-361	148	16	are	be	AUX
alkej-361	148	17	obtained	obtain	VERB
alkej-361	148	18	:	:	PUNCT
alkej-361	148	19	q	q	X
alkej-361	148	20	[	[	PUNCT
alkej-361	148	21	=	=	X
alkej-361	148	22	a	a	X
alkej-361	148	23	[	[	PUNCT
alkej-361	148	24	+	+	CCONJ
alkej-361	148	25	a	a	DET
alkej-361	148	26	�	�	PROPN
alkej-361	148	27	t	t	PROPN
alkej-361	148	28	[	[	PUNCT
alkej-361	148	29	+	+	CCONJ
alkej-361	148	30	a	a	DET
alkej-361	148	31	�	�	PROPN
alkej-361	148	32	t	t	PROPN
alkej-361	148	33	[	[	X
alkej-361	148	34	�	�	PROPN
alkej-361	148	35	+	+	CCONJ
alkej-361	148	36	a]t	a]t	ADJ
alkej-361	148	37	[	[	X
alkej-361	148	38	]	]	X
alkej-361	148	39	+	+	NUM
alkej-361	148	40	a^t[̂	a^t[̂	NOUN
alkej-361	148	41	+	+	CCONJ
alkej-361	148	42	a_t	a_t	PROPN
alkej-361	149	1	[	[	X
alkej-361	149	2	_	_	X
alkej-361	149	3	…	…	PUNCT
alkej-361	149	4	(	(	PUNCT
alkej-361	149	5	18	18	NUM
alkej-361	149	6	)	)	PUNCT
alkej-361	149	7	v	v	NOUN
alkej-361	149	8	[	[	PUNCT
alkej-361	149	9	=	=	X
alkej-361	149	10	a	a	DET
alkej-361	149	11	�	�	PROPN
alkej-361	149	12	+	+	NUM
alkej-361	149	13	2a	2a	NUM
alkej-361	149	14	�	�	PROPN
alkej-361	149	15	t	t	PROPN
alkej-361	149	16	[	[	PUNCT
alkej-361	149	17	+	+	NUM
alkej-361	149	18	3a]t	3a]t	PROPN
alkej-361	149	19	[	[	X
alkej-361	149	20	�	�	X
alkej-361	149	21	+	+	CCONJ
alkej-361	149	22	4a^t	4a^t	NUM
alkej-361	149	23	[	[	X
alkej-361	149	24	]	]	X
alkej-361	150	1	+	+	NUM
alkej-361	150	2	5a_t[̂	5a_t[̂	NUM
alkej-361	150	3	…	…	PUNCT
alkej-361	150	4	(	(	PUNCT
alkej-361	150	5	19	19	NUM
alkej-361	150	6	)	)	PUNCT
alkej-361	150	7	α	α	NOUN
alkej-361	150	8	[	[	X
alkej-361	150	9	=	=	SYM
alkej-361	150	10	2	2	NUM
alkej-361	150	11	a	a	DET
alkej-361	150	12	�	�	PROPN
alkej-361	150	13	+	+	CCONJ
alkej-361	150	14	6a]t	6a]t	PROPN
alkej-361	150	15	[	[	PUNCT
alkej-361	150	16	+	+	NOUN
alkej-361	150	17	12a^t	12a^t	NUM
alkej-361	150	18	[	[	X
alkej-361	150	19	�	�	X
alkej-361	150	20	+	+	X
alkej-361	150	21	20a_t	20a_t	NUM
alkej-361	151	1	[	[	X
alkej-361	151	2	]	]	X
alkej-361	151	3	…	…	PUNCT
alkej-361	151	4	(	(	PUNCT
alkej-361	151	5	20	20	NUM
alkej-361	151	6	)	)	PUNCT
alkej-361	151	7	qc	qc	NOUN
alkej-361	152	1	=	=	SYM
alkej-361	152	2	a	a	PROPN
alkej-361	152	3	[	[	PUNCT
alkej-361	152	4	+	+	CCONJ
alkej-361	152	5	a	a	DET
alkej-361	152	6	�	�	NOUN
alkej-361	152	7	tc	tc	NOUN
alkej-361	152	8	+	+	NOUN
alkej-361	152	9	a	a	DET
alkej-361	152	10	�	�	PROPN
alkej-361	152	11	tc	tc	NOUN
alkej-361	152	12	�	�	PROPN
alkej-361	152	13	+	+	CCONJ
alkej-361	152	14	a]tc	a]tc	PROPN
alkej-361	152	15	]	]	X
alkej-361	152	16	+	+	CCONJ
alkej-361	152	17	a^t	a^t	ADV
alkej-361	152	18	ĉ	ĉ	VERB
alkej-361	152	19	+	+	CCONJ
alkej-361	152	20	a_tc	a_tc	NOUN
alkej-361	152	21	_	_	PUNCT
alkej-361	152	22	…	…	PUNCT
alkej-361	152	23	(	(	PUNCT
alkej-361	152	24	21	21	NUM
alkej-361	152	25	)	)	PUNCT
alkej-361	152	26	vc	vc	NOUN
alkej-361	152	27	=	=	SYM
alkej-361	152	28	a	a	DET
alkej-361	152	29	�	�	PROPN
alkej-361	152	30	+	+	NUM
alkej-361	152	31	2a	2a	NUM
alkej-361	152	32	�	�	NOUN
alkej-361	152	33	tc	tc	NOUN
alkej-361	152	34	+	+	NOUN
alkej-361	152	35	3a]tc	3a]tc	NUM
alkej-361	152	36	�	�	NOUN
alkej-361	152	37	+	+	CCONJ
alkej-361	152	38	4a^tc	4a^tc	NUM
alkej-361	152	39	]	]	X
alkej-361	153	1	+	+	CCONJ
alkej-361	153	2	5a_t	5a_t	NUM
alkej-361	153	3	ĉ	ĉ	X
alkej-361	153	4	...	...	PUNCT
alkej-361	154	1	(	(	PUNCT
alkej-361	154	2	22	22	NUM
alkej-361	154	3	)	)	PUNCT
alkej-361	154	4	αc	αc	NOUN
alkej-361	154	5	=	=	NOUN
alkej-361	154	6	2	2	NUM
alkej-361	154	7	a	a	DET
alkej-361	154	8	�	�	NOUN
alkej-361	154	9	+	+	CCONJ
alkej-361	155	1	6a]tc	6a]tc	ADP
alkej-361	155	2	+	+	SYM
alkej-361	155	3	12a^tc	12a^tc	NUM
alkej-361	155	4	�	�	NOUN
alkej-361	155	5	+	+	CCONJ
alkej-361	155	6	20a_tc	20a_tc	NUM
alkej-361	155	7	]	]	PUNCT
alkej-361	155	8	…	…	PUNCT
alkej-361	155	9	(	(	PUNCT
alkej-361	155	10	23	23	NUM
alkej-361	155	11	)	)	PUNCT
alkej-361	155	12	according	accord	VERB
alkej-361	155	13	to	to	ADP
alkej-361	155	14	quintic	quintic	ADJ
alkej-361	155	15	polynomial	polynomial	ADJ
alkej-361	155	16	trajectory	trajectory	NOUN
alkej-361	155	17	planning	planning	NOUN
alkej-361	155	18	,	,	PUNCT
alkej-361	155	19	the	the	DET
alkej-361	155	20	optimal	optimal	ADJ
alkej-361	155	21	path	path	NOUN
alkej-361	155	22	that	that	PRON
alkej-361	155	23	is	be	AUX
alkej-361	155	24	generated	generate	VERB
alkej-361	155	25	by	by	ADP
alkej-361	155	26	lbest	lbest	ADJ
alkej-361	155	27	pso	pso	NOUN
alkej-361	155	28	is	be	AUX
alkej-361	155	29	smoothed	smooth	VERB
alkej-361	155	30	by	by	ADP
alkej-361	155	31	randomly	randomly	ADV
alkej-361	155	32	selected	select	VERB
alkej-361	155	33	of	of	ADP
alkej-361	155	34	via	via	ADP
alkej-361	155	35	points	point	NOUN
alkej-361	155	36	from	from	ADP
alkej-361	155	37	this	this	DET
alkej-361	155	38	path	path	NOUN
alkej-361	155	39	as	as	ADV
alkej-361	155	40	well	well	ADV
alkej-361	155	41	as	as	ADP
alkej-361	155	42	start	start	VERB
alkej-361	155	43	and	and	CCONJ
alkej-361	155	44	goal	goal	NOUN
alkej-361	155	45	points	point	NOUN
alkej-361	155	46	.	.	PUNCT
alkej-361	156	1	these	these	PRON
alkej-361	156	2	via	via	ADP
alkej-361	156	3	points	point	NOUN
alkej-361	156	4	are	be	AUX
alkej-361	156	5	connecting	connect	VERB
alkej-361	156	6	depending	depend	VERB
alkej-361	156	7	on	on	ADP
alkej-361	156	8	equations	equation	NOUN
alkej-361	156	9	(	(	PUNCT
alkej-361	156	10	14	14	NUM
alkej-361	156	11	,	,	PUNCT
alkej-361	156	12	18	18	NUM
alkej-361	156	13	,	,	PUNCT
alkej-361	156	14	19	19	NUM
alkej-361	156	15	,	,	PUNCT
alkej-361	156	16	20	20	NUM
alkej-361	156	17	and	and	CCONJ
alkej-361	156	18	21	21	NUM
alkej-361	156	19	)	)	PUNCT
alkej-361	156	20	at	at	ADP
alkej-361	156	21	(	(	PUNCT
alkej-361	156	22	2z2	2z2	NUM
alkej-361	156	23	[	[	NOUN
alkej-361	156	24	)	)	PUNCT
alkej-361	156	25	.	.	PUNCT
alkej-361	157	1	the	the	DET
alkej-361	157	2	result	result	NOUN
alkej-361	157	3	from	from	ADP
alkej-361	157	4	this	this	DET
alkej-361	157	5	stage	stage	NOUN
alkej-361	157	6	is	be	AUX
alkej-361	157	7	the	the	DET
alkej-361	157	8	optimal	optimal	ADJ
alkej-361	157	9	smoothing	smoothing	NOUN
alkej-361	157	10	path	path	NOUN
alkej-361	157	11	from	from	ADP
alkej-361	157	12	\	\	PROPN
alkej-361	157	13	`	`	PUNCT
alkej-361	157	14	to	to	PART
alkej-361	157	15	\u	\u	X
alkej-361	157	16	.	.	PUNCT
alkej-361	158	1	9	9	NUM
alkej-361	158	2	.	.	NOUN
alkej-361	158	3	results	result	NOUN
alkej-361	158	4	and	and	CCONJ
alkej-361	158	5	discussion	discussion	NOUN
alkej-361	158	6	in	in	ADP
alkej-361	158	7	this	this	DET
alkej-361	158	8	paper	paper	NOUN
alkej-361	158	9	,	,	PUNCT
alkej-361	158	10	the	the	DET
alkej-361	158	11	proposed	propose	VERB
alkej-361	158	12	method	method	NOUN
alkej-361	158	13	was	be	AUX
alkej-361	158	14	tested	test	VERB
alkej-361	158	15	by	by	ADP
alkej-361	158	16	using	use	VERB
alkej-361	158	17	matlab	matlab	PROPN
alkej-361	158	18	program	program	NOUN
alkej-361	158	19	(	(	PUNCT
alkej-361	158	20	2015a	2015a	NUM
alkej-361	158	21	)	)	PUNCT
alkej-361	158	22	with	with	ADP
alkej-361	158	23	a	a	DET
alkej-361	158	24	difficult	difficult	ADJ
alkej-361	158	25	proposed	propose	VERB
alkej-361	158	26	map	map	NOUN
alkej-361	158	27	and	and	CCONJ
alkej-361	158	28	has	have	VERB
alkej-361	158	29	a	a	DET
alkej-361	158	30	limited	limited	ADJ
alkej-361	158	31	from	from	ADP
alkej-361	158	32	(	(	PUNCT
alkej-361	158	33	-50	-50	PUNCT
alkej-361	158	34	to	to	ADP
alkej-361	158	35	50	50	NUM
alkej-361	158	36	)	)	PUNCT
alkej-361	158	37	cm	cm	NOUN
alkej-361	158	38	for	for	ADP
alkej-361	158	39	both	both	DET
alkej-361	158	40	x	x	ADJ
alkej-361	158	41	-	-	ADJ
alkej-361	158	42	y	y	PROPN
alkej-361	158	43	dimensions	dimension	NOUN
alkej-361	158	44	.	.	PUNCT
alkej-361	159	1	the	the	DET
alkej-361	159	2	length	length	NOUN
alkej-361	159	3	of	of	ADP
alkej-361	159	4	ahmed	ahmed	PROPN
alkej-361	159	5	t.	t.	PROPN
alkej-361	159	6	sadiq	sadiq	PROPN
alkej-361	159	7	al	al	PROPN
alkej-361	159	8	-	-	PUNCT
alkej-361	159	9	khwarizmi	khwarizmi	PROPN
alkej-361	159	10	engineering	engineering	NOUN
alkej-361	159	11	journal	journal	PROPN
alkej-361	159	12	,	,	PUNCT
alkej-361	159	13	vol	vol	NOUN
alkej-361	159	14	.	.	PROPN
alkej-361	159	15	13	13	NUM
alkej-361	159	16	,	,	PUNCT
alkej-361	159	17	no	no	INTJ
alkej-361	159	18	.	.	NOUN
alkej-361	159	19	3	3	NUM
alkej-361	159	20	,	,	PUNCT
alkej-361	159	21	p.p	p.p	PROPN
alkej-361	159	22	.	.	NOUN
alkej-361	159	23	2737	2737	NUM
alkej-361	159	24	(	(	PUNCT
alkej-361	159	25	2017	2017	NUM
alkej-361	159	26	)	)	PUNCT
alkej-361	159	27	32	32	NUM
alkej-361	159	28	start	start	NOUN
alkej-361	159	29	calculate	calculate	VERB
alkej-361	159	30	the	the	DET
alkej-361	159	31	inverse	inverse	NOUN
alkej-361	159	32	kinematic	kinematic	NOUN
alkej-361	159	33	to	to	PART
alkej-361	159	34	obtain	obtain	VERB
alkej-361	159	35	free	free	ADJ
alkej-361	159	36	cartesian	cartesian	ADJ
alkej-361	159	37	space	space	NOUN
alkej-361	159	38	initialize	initialize	NOUN
alkej-361	159	39	the	the	DET
alkej-361	159	40	start	start	NOUN
alkej-361	159	41	point	point	NOUN
alkej-361	159	42	(	(	PUNCT
alkej-361	159	43	current	current	ADJ
alkej-361	159	44	point	point	NOUN
alkej-361	159	45	)	)	PUNCT
alkej-361	159	46	with	with	SCONJ
alkej-361	159	47	zero	zero	NUM
alkej-361	159	48	velocity	velocity	NOUN
alkej-361	159	49	determine	determine	VERB
alkej-361	159	50	the	the	DET
alkej-361	159	51	eight	eight	NUM
alkej-361	159	52	neighborhood	neighborhood	NOUN
alkej-361	159	53	nodes	node	NOUN
alkej-361	159	54	as	as	ADP
alkej-361	159	55	population	population	NOUN
alkej-361	159	56	generation	generation	NOUN
alkej-361	159	57	)	)	PUNCT
alkej-361	159	58	particles	particle	NOUN
alkej-361	159	59	(	(	PUNCT
alkej-361	159	60	for	for	ADP
alkej-361	159	61	current	current	ADJ
alkej-361	159	62	point	point	NOUN
alkej-361	159	63	and	and	CCONJ
alkej-361	159	64	ignored	ignore	VERB
alkej-361	159	65	node	node	NOUN
alkej-361	159	66	out	out	ADP
alkej-361	159	67	of	of	ADP
alkej-361	159	68	free	free	ADJ
alkej-361	159	69	cartesian	cartesian	ADJ
alkej-361	159	70	space	space	NOUN
alkej-361	159	71	apply	apply	VERB
alkej-361	159	72	velocity	velocity	NOUN
alkej-361	159	73	equation(5	equation(5	NOUN
alkej-361	159	74	)	)	PUNCT
alkej-361	159	75	to	to	ADP
alkej-361	159	76	the	the	DET
alkej-361	159	77	each	each	DET
alkej-361	159	78	particles	particle	NOUN
alkej-361	159	79	positions	position	NOUN
alkej-361	159	80	update	update	VERB
alkej-361	159	81	the	the	DET
alkej-361	159	82	position	position	NOUN
alkej-361	159	83	equation(6	equation(6	NOUN
alkej-361	159	84	)	)	PUNCT
alkej-361	159	85	by	by	ADP
alkej-361	159	86	selecting	select	VERB
alkej-361	159	87	the	the	DET
alkej-361	159	88	particle	particle	NOUN
alkej-361	159	89	with	with	ADP
alkej-361	159	90	the	the	DET
alkej-361	159	91	minimum	minimum	ADJ
alkej-361	159	92	cost	cost	NOUN
alkej-361	159	93	fitness	fitness	NOUN
alkej-361	159	94	is	be	AUX
alkej-361	159	95	each	each	PRON
alkej-361	159	96	to	to	ADP
alkej-361	159	97	goal	goal	NOUN
alkej-361	159	98	?	?	PUNCT
alkej-361	160	1	evaluate	evaluate	VERB
alkej-361	160	2	the	the	DET
alkej-361	160	3	cost	cost	NOUN
alkej-361	160	4	fitness	fitness	NOUN
alkej-361	160	5	function	function	NOUN
alkej-361	160	6	to	to	PART
alkej-361	160	7	candidate	candidate	VERB
alkej-361	160	8	optimal	optimal	ADJ
alkej-361	160	9	path	path	NOUN
alkej-361	160	10	is	be	AUX
alkej-361	160	11	max	max	PROPN
alkej-361	160	12	iteration	iteration	NOUN
alkej-361	160	13	achieved	achieve	VERB
alkej-361	160	14	?	?	PUNCT
alkej-361	161	1	selecting	select	VERB
alkej-361	161	2	the	the	DET
alkej-361	161	3	individual	individual	ADJ
alkej-361	161	4	optimal	optimal	ADJ
alkej-361	161	5	path	path	NOUN
alkej-361	161	6	with	with	ADP
alkej-361	161	7	minimum	minimum	ADJ
alkej-361	161	8	cost	cost	NOUN
alkej-361	161	9	fitness	fitness	NOUN
alkej-361	161	10	function	function	NOUN
alkej-361	161	11	generating	generate	VERB
alkej-361	161	12	smoothing	smoothing	NOUN
alkej-361	161	13	trajectory	trajectory	NOUN
alkej-361	161	14	path	path	NOUN
alkej-361	161	15	end	end	NOUN
alkej-361	162	1	no	no	INTJ
alkej-361	162	2	yes	yes	INTJ
alkej-361	162	3	yes	yes	INTJ
alkej-361	162	4	no	no	DET
alkej-361	162	5	fig	fig	NOUN
alkej-361	162	6	.	.	PUNCT
alkej-361	163	1	3	3	X
alkej-361	163	2	.	.	X
alkej-361	163	3	flowchart	flowchart	NOUN
alkej-361	163	4	of	of	ADP
alkej-361	163	5	modified	modify	VERB
alkej-361	163	6	pso	pso	NOUN
alkej-361	163	7	.	.	PUNCT
alkej-361	164	1	the	the	DET
alkej-361	164	2	robot	robot	NOUN
alkej-361	164	3	links	link	NOUN
alkej-361	164	4	for	for	ADP
alkej-361	164	5	both	both	CCONJ
alkej-361	164	6	link1	link1	NOUN
alkej-361	164	7	and	and	CCONJ
alkej-361	164	8	link	link	NOUN
alkej-361	164	9	2	2	NUM
alkej-361	164	10	is	be	AUX
alkej-361	164	11	proposed	propose	VERB
alkej-361	164	12	equal	equal	ADJ
alkej-361	164	13	to	to	ADP
alkej-361	164	14	25	25	NUM
alkej-361	164	15	cm	cm	NOUN
alkej-361	164	16	.	.	PUNCT
alkej-361	165	1	initially	initially	ADV
alkej-361	165	2	,	,	PUNCT
alkej-361	165	3	the	the	DET
alkej-361	165	4	proposed	propose	VERB
alkej-361	165	5	environment	environment	NOUN
alkej-361	165	6	was	be	AUX
alkej-361	165	7	analyzed	analyze	VERB
alkej-361	165	8	and	and	CCONJ
alkej-361	165	9	its	its	PRON
alkej-361	165	10	elbow	elbow	NOUN
alkej-361	165	11	up	up	ADP
alkej-361	165	12	and	and	CCONJ
alkej-361	165	13	elbow	elbow	VERB
alkej-361	165	14	down	down	ADP
alkej-361	165	15	solutions	solution	NOUN
alkej-361	165	16	are	be	AUX
alkej-361	165	17	computed	compute	VERB
alkej-361	165	18	by	by	ADP
alkej-361	165	19	using	use	VERB
alkej-361	165	20	inverse	inverse	NOUN
alkej-361	165	21	kinematics	kinematic	NOUN
alkej-361	165	22	equations	equation	NOUN
alkej-361	165	23	(	(	PUNCT
alkej-361	165	24	1	1	NUM
alkej-361	165	25	,	,	PUNCT
alkej-361	165	26	2	2	NUM
alkej-361	165	27	,	,	PUNCT
alkej-361	165	28	3	3	NUM
alkej-361	165	29	,	,	PUNCT
alkej-361	165	30	and	and	CCONJ
alkej-361	165	31	4	4	NUM
alkej-361	165	32	)	)	PUNCT
alkej-361	165	33	.	.	PUNCT
alkej-361	166	1	the	the	DET
alkej-361	166	2	free	free	PROPN
alkej-361	166	3	elbow	elbow	NOUN
alkej-361	166	4	down	down	ADP
alkej-361	166	5	space	space	NOUN
alkej-361	166	6	is	be	AUX
alkej-361	166	7	constructed	construct	VERB
alkej-361	166	8	by	by	ADP
alkej-361	166	9	using	use	VERB
alkej-361	166	10	the	the	DET
alkej-361	166	11	solution	solution	NOUN
alkej-361	166	12	of	of	ADP
alkej-361	166	13	inverse	inverse	ADJ
alkej-361	166	14	kinematics	kinematic	NOUN
alkej-361	166	15	with	with	ADP
alkej-361	166	16	the	the	DET
alkej-361	166	17	negative	negative	ADJ
alkej-361	166	18	sign	sign	NOUN
alkej-361	166	19	of	of	ADP
alkej-361	166	20	equations	equation	NOUN
alkej-361	166	21	(	(	PUNCT
alkej-361	166	22	3	3	NUM
alkej-361	166	23	,	,	PUNCT
alkej-361	166	24	4	4	NUM
alkej-361	166	25	)	)	PUNCT
alkej-361	166	26	and	and	CCONJ
alkej-361	166	27	ensuring	ensure	VERB
alkej-361	166	28	no	no	DET
alkej-361	166	29	collision	collision	NOUN
alkej-361	166	30	with	with	ADP
alkej-361	166	31	obstacles	obstacle	NOUN
alkej-361	166	32	,	,	PUNCT
alkej-361	166	33	as	as	SCONJ
alkej-361	166	34	shown	show	VERB
alkej-361	166	35	in	in	ADP
alkej-361	166	36	figure	figure	NOUN
alkej-361	166	37	(	(	PUNCT
alkej-361	166	38	4	4	NUM
alkej-361	166	39	,	,	PUNCT
alkej-361	166	40	a	a	PRON
alkej-361	166	41	)	)	PUNCT
alkej-361	166	42	.	.	PUNCT
alkej-361	167	1	while	while	SCONJ
alkej-361	167	2	the	the	DET
alkej-361	167	3	free	free	ADJ
alkej-361	167	4	elbow	elbow	NOUN
alkej-361	167	5	up	up	ADP
alkej-361	167	6	space	space	NOUN
alkej-361	167	7	is	be	AUX
alkej-361	167	8	constructed	construct	VERB
alkej-361	167	9	by	by	ADP
alkej-361	167	10	using	use	VERB
alkej-361	167	11	the	the	DET
alkej-361	167	12	solution	solution	NOUN
alkej-361	167	13	of	of	ADP
alkej-361	167	14	inverse	inverse	ADJ
alkej-361	167	15	kinematics	kinematic	NOUN
alkej-361	167	16	with	with	ADP
alkej-361	167	17	the	the	DET
alkej-361	167	18	positive	positive	ADJ
alkej-361	167	19	sign	sign	NOUN
alkej-361	167	20	of	of	ADP
alkej-361	167	21	equations	equation	NOUN
alkej-361	167	22	(	(	PUNCT
alkej-361	167	23	3	3	NUM
alkej-361	167	24	,	,	PUNCT
alkej-361	167	25	4	4	NUM
alkej-361	167	26	)	)	PUNCT
alkej-361	167	27	and	and	CCONJ
alkej-361	167	28	ensuring	ensure	VERB
alkej-361	167	29	no	no	DET
alkej-361	167	30	collision	collision	NOUN
alkej-361	167	31	with	with	ADP
alkej-361	167	32	obstacles	obstacle	NOUN
alkej-361	167	33	,	,	PUNCT
alkej-361	167	34	as	as	SCONJ
alkej-361	167	35	shown	show	VERB
alkej-361	167	36	in	in	ADP
alkej-361	167	37	figure	figure	NOUN
alkej-361	167	38	(	(	PUNCT
alkej-361	167	39	4	4	NUM
alkej-361	167	40	,	,	PUNCT
alkej-361	167	41	b	b	NOUN
alkej-361	167	42	)	)	PUNCT
alkej-361	167	43	.	.	PUNCT
alkej-361	168	1	ultimately	ultimately	ADV
alkej-361	168	2	the	the	DET
alkej-361	168	3	free	free	ADJ
alkej-361	168	4	cartesian	cartesian	ADJ
alkej-361	168	5	space	space	NOUN
alkej-361	168	6	map	map	NOUN
alkej-361	168	7	is	be	AUX
alkej-361	168	8	constructed	construct	VERB
alkej-361	168	9	by	by	ADP
alkej-361	168	10	all	all	DET
alkej-361	168	11	the	the	DET
alkej-361	168	12	reachable	reachable	ADJ
alkej-361	168	13	points	point	NOUN
alkej-361	168	14	in	in	ADP
alkej-361	168	15	elbow	elbow	NOUN
alkej-361	168	16	up	up	ADP
alkej-361	168	17	and	and	CCONJ
alkej-361	168	18	elbow	elbow	VERB
alkej-361	168	19	down	down	ADP
alkej-361	168	20	configurations	configuration	NOUN
alkej-361	168	21	figure	figure	NOUN
alkej-361	168	22	(	(	PUNCT
alkej-361	168	23	5	5	NUM
alkej-361	168	24	)	)	PUNCT
alkej-361	168	25	.	.	PUNCT
alkej-361	169	1	(	(	PUNCT
alkej-361	169	2	a	a	X
alkej-361	169	3	)	)	PUNCT
alkej-361	169	4	(	(	PUNCT
alkej-361	169	5	b	b	X
alkej-361	169	6	)	)	PUNCT
alkej-361	169	7	fig	fig	NOUN
alkej-361	169	8	.	.	PUNCT
alkej-361	170	1	4	4	X
alkej-361	170	2	.	.	X
alkej-361	170	3	(	(	PUNCT
alkej-361	170	4	a	a	X
alkej-361	170	5	):	):	PUNCT
alkej-361	170	6	two	two	NUM
alkej-361	170	7	-	-	PUNCT
alkej-361	170	8	link	link	NOUN
alkej-361	170	9	robot	robot	NOUN
alkej-361	170	10	manipulator	manipulator	NOUN
alkej-361	170	11	elbow	elbow	VERB
alkej-361	170	12	down	down	ADP
alkej-361	170	13	configuration	configuration	NOUN
alkej-361	170	14	solution	solution	NOUN
alkej-361	170	15	,	,	PUNCT
alkej-361	170	16	(	(	PUNCT
alkej-361	170	17	b	b	X
alkej-361	170	18	):	):	PUNCT
alkej-361	170	19	two	two	NUM
alkej-361	170	20	-	-	PUNCT
alkej-361	170	21	link	link	NOUN
alkej-361	170	22	robot	robot	NOUN
alkej-361	170	23	manipulator	manipulator	NOUN
alkej-361	170	24	elbow	elbow	VERB
alkej-361	170	25	up	up	ADP
alkej-361	170	26	configuration	configuration	NOUN
alkej-361	170	27	solution	solution	NOUN
alkej-361	170	28	.	.	PUNCT
alkej-361	171	1	ahmed	ahmed	PROPN
alkej-361	171	2	t.	t.	PROPN
alkej-361	171	3	sadiq	sadiq	PROPN
alkej-361	171	4	al	al	PROPN
alkej-361	171	5	-	-	PUNCT
alkej-361	171	6	khwarizmi	khwarizmi	PROPN
alkej-361	171	7	engineering	engineering	NOUN
alkej-361	171	8	journal	journal	PROPN
alkej-361	171	9	,	,	PUNCT
alkej-361	171	10	vol	vol	NOUN
alkej-361	171	11	.	.	PROPN
alkej-361	171	12	13	13	NUM
alkej-361	171	13	,	,	PUNCT
alkej-361	171	14	no	no	INTJ
alkej-361	171	15	.	.	NOUN
alkej-361	171	16	3	3	NUM
alkej-361	171	17	,	,	PUNCT
alkej-361	171	18	p.p	p.p	PROPN
alkej-361	171	19	.	.	NOUN
alkej-361	171	20	2737	2737	NUM
alkej-361	171	21	(	(	PUNCT
alkej-361	171	22	2017	2017	NUM
alkej-361	171	23	)	)	PUNCT
alkej-361	171	24	33	33	NUM
alkej-361	171	25	fig	fig	NOUN
alkej-361	171	26	.	.	PUNCT
alkej-361	172	1	5	5	NUM
alkej-361	172	2	.	.	X
alkej-361	172	3	two	two	NUM
alkej-361	172	4	-	-	PUNCT
alkej-361	172	5	link	link	NOUN
alkej-361	172	6	robot	robot	NOUN
alkej-361	172	7	manipulator	manipulator	NOUN
alkej-361	172	8	free	free	ADJ
alkej-361	172	9	cartesian	cartesian	ADJ
alkej-361	172	10	space	space	NOUN
alkej-361	172	11	.	.	PUNCT
alkej-361	173	1	in	in	ADP
alkej-361	173	2	figures	figure	NOUN
alkej-361	173	3	(	(	PUNCT
alkej-361	173	4	4	4	NUM
alkej-361	173	5	,	,	PUNCT
alkej-361	173	6	5	5	NUM
alkej-361	173	7	)	)	PUNCT
alkej-361	173	8	,	,	PUNCT
alkej-361	173	9	the	the	DET
alkej-361	173	10	small	small	ADJ
alkej-361	173	11	dots	dot	NOUN
alkej-361	173	12	denoted	denote	VERB
alkej-361	173	13	the	the	DET
alkej-361	173	14	free	free	ADJ
alkej-361	173	15	cartesian	cartesian	ADJ
alkej-361	173	16	space	space	NOUN
alkej-361	173	17	reachable	reachable	ADJ
alkej-361	173	18	points	point	NOUN
alkej-361	173	19	while	while	SCONJ
alkej-361	173	20	the	the	DET
alkej-361	173	21	black	black	ADJ
alkej-361	173	22	big	big	ADJ
alkej-361	173	23	circles	circle	NOUN
alkej-361	173	24	referred	refer	VERB
alkej-361	173	25	to	to	ADP
alkej-361	173	26	the	the	DET
alkej-361	173	27	proposed	propose	VERB
alkej-361	173	28	obstacles	obstacle	NOUN
alkej-361	173	29	with	with	ADP
alkej-361	173	30	5	5	NUM
alkej-361	173	31	cm	cm	NOUN
alkej-361	173	32	radius	radius	NOUN
alkej-361	173	33	,	,	PUNCT
alkej-361	173	34	and	and	CCONJ
alkej-361	173	35	the	the	DET
alkej-361	173	36	white	white	ADJ
alkej-361	173	37	space	space	NOUN
alkej-361	173	38	denoted	denote	VERB
alkej-361	173	39	either	either	CCONJ
alkej-361	173	40	unreachable	unreachable	ADJ
alkej-361	173	41	points	point	NOUN
alkej-361	173	42	due	due	ADP
alkej-361	173	43	to	to	ADP
alkej-361	173	44	the	the	DET
alkej-361	173	45	collision	collision	NOUN
alkej-361	173	46	with	with	ADP
alkej-361	173	47	the	the	DET
alkej-361	173	48	obstacle	obstacle	NOUN
alkej-361	173	49	or	or	CCONJ
alkej-361	173	50	due	due	ADP
alkej-361	173	51	to	to	ADP
alkej-361	173	52	robot	robot	NOUN
alkej-361	173	53	joints	joint	NOUN
alkej-361	173	54	limit	limit	NOUN
alkej-361	173	55	.	.	PUNCT
alkej-361	174	1	it	it	PRON
alkej-361	174	2	is	be	AUX
alkej-361	174	3	a	a	DET
alkej-361	174	4	crucial	crucial	ADJ
alkej-361	174	5	that	that	SCONJ
alkej-361	174	6	the	the	DET
alkej-361	174	7	start	start	NOUN
alkej-361	174	8	and	and	CCONJ
alkej-361	174	9	goal	goal	NOUN
alkej-361	174	10	task	task	NOUN
alkej-361	174	11	are	be	AUX
alkej-361	174	12	part	part	NOUN
alkej-361	174	13	of	of	ADP
alkej-361	174	14	free	free	ADJ
alkej-361	174	15	cartesian	cartesian	ADJ
alkej-361	174	16	space	space	NOUN
alkej-361	174	17	,	,	PUNCT
alkej-361	174	18	otherwise	otherwise	ADV
alkej-361	174	19	no	no	DET
alkej-361	174	20	path	path	NOUN
alkej-361	174	21	can	can	AUX
alkej-361	174	22	be	be	AUX
alkej-361	174	23	planned	plan	VERB
alkej-361	174	24	by	by	ADP
alkej-361	174	25	the	the	DET
alkej-361	174	26	arm	arm	NOUN
alkej-361	174	27	,	,	PUNCT
alkej-361	174	28	therefore	therefore	ADV
alkej-361	174	29	,	,	PUNCT
alkej-361	174	30	it	it	PRON
alkej-361	174	31	is	be	AUX
alkej-361	174	32	of	of	ADP
alkej-361	174	33	importance	importance	NOUN
alkej-361	174	34	to	to	PART
alkej-361	174	35	check	check	VERB
alkej-361	174	36	the	the	DET
alkej-361	174	37	initial	initial	ADJ
alkej-361	174	38	and	and	CCONJ
alkej-361	174	39	target	target	NOUN
alkej-361	174	40	configurations	configuration	NOUN
alkej-361	174	41	for	for	ADP
alkej-361	174	42	the	the	DET
alkej-361	174	43	arm	arm	NOUN
alkej-361	174	44	offline	offline	NOUN
alkej-361	174	45	before	before	ADP
alkej-361	174	46	running	run	VERB
alkej-361	174	47	the	the	DET
alkej-361	174	48	algorithm	algorithm	NOUN
alkej-361	174	49	.	.	PUNCT
alkej-361	175	1	once	once	SCONJ
alkej-361	175	2	the	the	DET
alkej-361	175	3	cost	cost	NOUN
alkej-361	175	4	functions	function	NOUN
alkej-361	175	5	for	for	ADP
alkej-361	175	6	each	each	DET
alkej-361	175	7	point	point	NOUN
alkej-361	175	8	in	in	ADP
alkej-361	175	9	free	free	ADJ
alkej-361	175	10	cartesian	cartesian	ADJ
alkej-361	175	11	space	space	NOUN
alkej-361	175	12	were	be	AUX
alkej-361	175	13	computed	compute	VERB
alkej-361	175	14	by	by	ADP
alkej-361	175	15	d	d	PROPN
alkej-361	175	16	*	*	NOUN
alkej-361	175	17	algorithm	algorithm	NOUN
alkej-361	175	18	and	and	CCONJ
alkej-361	175	19	euclidean	euclidean	ADJ
alkej-361	175	20	distance	distance	NOUN
alkej-361	175	21	,	,	PUNCT
alkej-361	175	22	the	the	DET
alkej-361	175	23	modified	modify	VERB
alkej-361	175	24	algorithm	algorithm	NOUN
alkej-361	175	25	was	be	AUX
alkej-361	175	26	run	run	VERB
alkej-361	175	27	with	with	ADP
alkej-361	175	28	the	the	DET
alkej-361	175	29	following	follow	VERB
alkej-361	175	30	proposed	propose	VERB
alkej-361	175	31	parameters	parameter	NOUN
alkej-361	175	32	:	:	PUNCT
alkej-361	175	33	initial	initial	ADJ
alkej-361	175	34	velocity	velocity	NOUN
alkej-361	175	35	=	=	SYM
alkej-361	175	36	0	0	NUM
alkej-361	175	37	,	,	PUNCT
alkej-361	175	38	the	the	DET
alkej-361	175	39	coefficients	coefficient	NOUN
alkej-361	175	40	8	8	NUM
alkej-361	175	41	�	�	NOUN
alkej-361	175	42	=	=	SYM
alkej-361	175	43	3	3	NUM
alkej-361	175	44	,	,	PUNCT
alkej-361	175	45	8	8	NUM
alkej-361	175	46	�	�	NOUN
alkej-361	175	47	=	=	SYM
alkej-361	175	48	1	1	NUM
alkej-361	175	49	in	in	ADP
alkej-361	175	50	order	order	NOUN
alkej-361	175	51	to	to	PART
alkej-361	175	52	guide	guide	VERB
alkej-361	175	53	lbest	lb	ADJ
alkej-361	175	54	pso	pso	NOUN
alkej-361	175	55	toward	toward	ADP
alkej-361	175	56	the	the	DET
alkej-361	175	57	high	high	ADJ
alkej-361	175	58	probability	probability	NOUN
alkej-361	175	59	of	of	ADP
alkej-361	175	60	d	d	PROPN
alkej-361	175	61	*	*	NOUN
alkej-361	175	62	value	value	NOUN
alkej-361	175	63	,	,	PUNCT
alkej-361	175	64	initial	initial	ADJ
alkej-361	175	65	5	5	NUM
alkej-361	175	66	=	=	SYM
alkej-361	175	67	0.4	0.4	NUM
alkej-361	175	68	and	and	CCONJ
alkej-361	175	69	max	max	PROPN
alkej-361	175	70	iteration	iteration	NOUN
alkej-361	175	71	number	number	NOUN
alkej-361	175	72	=	=	SYM
alkej-361	175	73	300	300	NUM
alkej-361	175	74	.	.	PUNCT
alkej-361	176	1	in	in	ADP
alkej-361	176	2	this	this	DET
alkej-361	176	3	proposed	propose	VERB
alkej-361	176	4	method	method	NOUN
alkej-361	176	5	,	,	PUNCT
alkej-361	176	6	one	one	NUM
alkej-361	176	7	or	or	CCONJ
alkej-361	176	8	more	more	ADV
alkej-361	176	9	optimal	optimal	ADJ
alkej-361	176	10	path	path	NOUN
alkej-361	176	11	may	may	AUX
alkej-361	176	12	be	be	AUX
alkej-361	176	13	presented	present	VERB
alkej-361	176	14	.	.	PUNCT
alkej-361	177	1	moreover	moreover	ADV
alkej-361	177	2	,	,	PUNCT
alkej-361	177	3	these	these	DET
alkej-361	177	4	paths	path	NOUN
alkej-361	177	5	have	have	VERB
alkej-361	177	6	the	the	DET
alkej-361	177	7	same	same	ADJ
alkej-361	177	8	cost	cost	NOUN
alkej-361	177	9	with	with	ADP
alkej-361	177	10	difference	difference	NOUN
alkej-361	177	11	in	in	ADP
alkej-361	177	12	some	some	DET
alkej-361	177	13	middle	middle	ADJ
alkej-361	177	14	points	point	NOUN
alkej-361	177	15	.	.	PUNCT
alkej-361	178	1	the	the	DET
alkej-361	178	2	optimal	optimal	ADJ
alkej-361	178	3	path	path	NOUN
alkej-361	178	4	from	from	ADP
alkej-361	178	5	the	the	DET
alkej-361	178	6	start	start	NOUN
alkej-361	178	7	point	point	NOUN
alkej-361	178	8	(	(	PUNCT
alkej-361	178	9	40	40	NUM
alkej-361	178	10	,	,	PUNCT
alkej-361	178	11	10	10	NUM
alkej-361	178	12	)	)	PUNCT
alkej-361	178	13	to	to	ADP
alkej-361	178	14	the	the	DET
alkej-361	178	15	goal	goal	NOUN
alkej-361	178	16	point	point	NOUN
alkej-361	178	17	(	(	PUNCT
alkej-361	178	18	-45,-15	-45,-15	NOUN
alkej-361	178	19	)	)	PUNCT
alkej-361	178	20	with	with	ADP
alkej-361	178	21	a	a	DET
alkej-361	178	22	cost	cost	NOUN
alkej-361	178	23	fitness	fitness	NOUN
alkej-361	178	24	of	of	ADP
alkej-361	178	25	92.6232	92.6232	NUM
alkej-361	178	26	and	and	CCONJ
alkej-361	178	27	executed	execute	VERB
alkej-361	178	28	for	for	ADP
alkej-361	178	29	78s	78s	NUM
alkej-361	178	30	is	be	AUX
alkej-361	178	31	shown	show	VERB
alkej-361	178	32	in	in	ADP
alkej-361	178	33	the	the	DET
alkej-361	178	34	figure	figure	NOUN
alkej-361	178	35	(	(	PUNCT
alkej-361	178	36	6	6	NUM
alkej-361	178	37	)	)	PUNCT
alkej-361	178	38	.	.	PUNCT
alkej-361	179	1	figure	figure	NOUN
alkej-361	179	2	(	(	PUNCT
alkej-361	179	3	7	7	NUM
alkej-361	179	4	)	)	PUNCT
alkej-361	179	5	illustrates	illustrate	VERB
alkej-361	179	6	the	the	DET
alkej-361	179	7	smooth	smooth	ADJ
alkej-361	179	8	trajectory	trajectory	NOUN
alkej-361	179	9	path	path	NOUN
alkej-361	179	10	that	that	PRON
alkej-361	179	11	is	be	AUX
alkej-361	179	12	computed	compute	VERB
alkej-361	179	13	by	by	ADP
alkej-361	179	14	using	use	VERB
alkej-361	179	15	the	the	DET
alkej-361	179	16	quintic	quintic	ADJ
alkej-361	179	17	polynomial	polynomial	ADJ
alkej-361	179	18	trajectory	trajectory	NOUN
alkej-361	179	19	equations	equation	NOUN
alkej-361	179	20	from	from	ADP
alkej-361	179	21	2	2	NUM
alkej-361	179	22	[	[	PUNCT
alkej-361	179	23	=	=	SYM
alkej-361	179	24	0	0	NUM
alkej-361	179	25	sec	sec	PROPN
alkej-361	179	26	and	and	CCONJ
alkej-361	179	27	2z	2z	NUM
alkej-361	179	28	=	=	SYM
alkej-361	180	1	10	10	NUM
alkej-361	180	2	sec	sec	PROPN
alkej-361	180	3	.	.	PROPN
alkej-361	180	4	figure	figure	NOUN
alkej-361	180	5	(	(	PUNCT
alkej-361	180	6	8)	8)	NUM
alkej-361	180	7	demonstrates	demonstrate	VERB
alkej-361	180	8	the	the	DET
alkej-361	180	9	arm	arm	NOUN
alkej-361	180	10	tracking	tracking	NOUN
alkej-361	180	11	for	for	ADP
alkej-361	180	12	the	the	DET
alkej-361	180	13	optimal	optimal	ADJ
alkej-361	180	14	path	path	NOUN
alkej-361	180	15	where	where	SCONJ
alkej-361	180	16	the	the	DET
alkej-361	180	17	red	red	ADJ
alkej-361	180	18	and	and	CCONJ
alkej-361	180	19	green	green	ADJ
alkej-361	180	20	links	link	NOUN
alkej-361	180	21	represent	represent	VERB
alkej-361	180	22	the	the	DET
alkej-361	180	23	link1	link1	PROPN
alkej-361	180	24	and	and	CCONJ
alkej-361	180	25	link2	link2	PROPN
alkej-361	180	26	of	of	ADP
alkej-361	180	27	the	the	DET
alkej-361	180	28	arm	arm	NOUN
alkej-361	180	29	respectively	respectively	ADV
alkej-361	180	30	.	.	PUNCT
alkej-361	180	31	-50	-50	PUNCT
alkej-361	181	1	-40	-40	PUNCT
alkej-361	181	2	-30	-30	NUM
alkej-361	181	3	-20	-20	NUM
alkej-361	181	4	-10	-10	PUNCT
alkej-361	181	5	100	100	NUM
alkej-361	181	6	4020	4020	NUM
alkej-361	181	7	30	30	NUM
alkej-361	181	8	50	50	NUM
alkej-361	181	9	x	x	NOUN
alkej-361	181	10	,	,	PUNCT
alkej-361	181	11	cm	cm	NOUN
alkej-361	181	12	y	y	PROPN
alkej-361	181	13	,	,	PUNCT
alkej-361	181	14	c	c	PROPN
alkej-361	181	15	m	m	VERB
alkej-361	181	16	two	two	NUM
alkej-361	181	17	-	-	PUNCT
alkej-361	181	18	link	link	NOUN
alkej-361	181	19	robot	robot	NOUN
alkej-361	181	20	arm	arm	NOUN
alkej-361	181	21	path	path	NOUN
alkej-361	181	22	planning	planning	NOUN
alkej-361	181	23	using	use	VERB
alkej-361	181	24	pso	pso	NOUN
alkej-361	181	25	algorithm	algorithm	NOUN
alkej-361	181	26	-50	-50	PUNCT
alkej-361	181	27	-40	-40	PROPN
alkej-361	181	28	-30	-30	NUM
alkej-361	181	29	-20	-20	NUM
alkej-361	181	30	-10	-10	PUNCT
alkej-361	182	1	10	10	NUM
alkej-361	182	2	0	0	NUM
alkej-361	182	3	40	40	NUM
alkej-361	182	4	20	20	NUM
alkej-361	182	5	30	30	NUM
alkej-361	182	6	50	50	NUM
alkej-361	182	7	fig	fig	NOUN
alkej-361	182	8	.	.	PUNCT
alkej-361	183	1	6	6	X
alkej-361	183	2	.	.	X
alkej-361	183	3	pso	pso	VERB
alkej-361	183	4	optimal	optimal	ADJ
alkej-361	183	5	path	path	NOUN
alkej-361	183	6	solution	solution	NOUN
alkej-361	183	7	.	.	PUNCT
alkej-361	184	1	-50	-50	PUNCT
alkej-361	185	1	-40	-40	PUNCT
alkej-361	185	2	-30	-30	NUM
alkej-361	185	3	-20	-20	NUM
alkej-361	185	4	-10	-10	PUNCT
alkej-361	185	5	100	100	NUM
alkej-361	185	6	4020	4020	NUM
alkej-361	185	7	30	30	NUM
alkej-361	185	8	50	50	NUM
alkej-361	185	9	-50	-50	PUNCT
alkej-361	185	10	-40	-40	PUNCT
alkej-361	185	11	-30	-30	NUM
alkej-361	185	12	-20	-20	NUM
alkej-361	185	13	-10	-10	PUNCT
alkej-361	186	1	10	10	NUM
alkej-361	186	2	0	0	NUM
alkej-361	186	3	40	40	NUM
alkej-361	186	4	20	20	NUM
alkej-361	186	5	30	30	NUM
alkej-361	186	6	50	50	NUM
alkej-361	186	7	two	two	NUM
alkej-361	186	8	-	-	PUNCT
alkej-361	186	9	link	link	NOUN
alkej-361	186	10	robot	robot	NOUN
alkej-361	186	11	arm	arm	NOUN
alkej-361	186	12	path	path	NOUN
alkej-361	186	13	planning	planning	NOUN
alkej-361	186	14	using	use	VERB
alkej-361	186	15	pso	pso	NOUN
alkej-361	186	16	algorithm	algorithm	NOUN
alkej-361	186	17	x	x	NOUN
alkej-361	186	18	,	,	PUNCT
alkej-361	186	19	cm	cm	NOUN
alkej-361	186	20	y	y	PROPN
alkej-361	186	21	,	,	PUNCT
alkej-361	186	22	c	c	PROPN
alkej-361	186	23	m	m	NOUN
alkej-361	186	24	fig	fig	NOUN
alkej-361	186	25	.	.	PUNCT
alkej-361	187	1	7	7	X
alkej-361	187	2	.	.	X
alkej-361	187	3	quantic	quantic	ADJ
alkej-361	187	4	polynomial	polynomial	ADJ
alkej-361	187	5	trajectory	trajectory	NOUN
alkej-361	187	6	path	path	NOUN
alkej-361	187	7	optimal	optimal	ADJ
alkej-361	187	8	solution	solution	NOUN
alkej-361	187	9	.	.	PUNCT
alkej-361	188	1	two	two	NUM
alkej-361	188	2	-	-	PUNCT
alkej-361	188	3	link	link	NOUN
alkej-361	188	4	robot	robot	NOUN
alkej-361	188	5	arm	arm	NOUN
alkej-361	188	6	path	path	NOUN
alkej-361	188	7	planning	planning	NOUN
alkej-361	188	8	using	use	VERB
alkej-361	188	9	pso	pso	NOUN
alkej-361	188	10	algorithm	algorithm	NOUN
alkej-361	188	11	x	x	NOUN
alkej-361	188	12	,	,	PUNCT
alkej-361	188	13	cm	cm	PROPN
alkej-361	188	14	-50	-50	PUNCT
alkej-361	188	15	-40	-40	PROPN
alkej-361	188	16	-30	-30	PROPN
alkej-361	188	17	-20	-20	NUM
alkej-361	188	18	-10	-10	PUNCT
alkej-361	189	1	10	10	NUM
alkej-361	189	2	0	0	NUM
alkej-361	189	3	40	40	NUM
alkej-361	189	4	20	20	NUM
alkej-361	189	5	30	30	NUM
alkej-361	189	6	50	50	NUM
alkej-361	189	7	-50	-50	PUNCT
alkej-361	189	8	-40	-40	PUNCT
alkej-361	189	9	-30	-30	NUM
alkej-361	189	10	-20	-20	NUM
alkej-361	189	11	-10	-10	PUNCT
alkej-361	189	12	100	100	NUM
alkej-361	189	13	4020	4020	NUM
alkej-361	189	14	30	30	NUM
alkej-361	189	15	50	50	NUM
alkej-361	189	16	y	y	NOUN
alkej-361	189	17	,	,	PUNCT
alkej-361	189	18	c	c	PROPN
alkej-361	189	19	m	m	NOUN
alkej-361	189	20	fig	fig	NOUN
alkej-361	189	21	.	.	PUNCT
alkej-361	190	1	8	8	NUM
alkej-361	190	2	.	.	X
alkej-361	190	3	two	two	NUM
alkej-361	190	4	-	-	PUNCT
alkej-361	190	5	link	link	NOUN
alkej-361	190	6	robot	robot	NOUN
alkej-361	190	7	manipulator	manipulator	NOUN
alkej-361	190	8	optimal	optimal	ADJ
alkej-361	190	9	path	path	NOUN
alkej-361	190	10	.	.	PUNCT
alkej-361	191	1	ahmed	ahmed	PROPN
alkej-361	191	2	t.	t.	PROPN
alkej-361	191	3	sadiq	sadiq	PROPN
alkej-361	191	4	al	al	PROPN
alkej-361	191	5	-	-	PUNCT
alkej-361	191	6	khwarizmi	khwarizmi	PROPN
alkej-361	191	7	engineering	engineering	NOUN
alkej-361	191	8	journal	journal	PROPN
alkej-361	191	9	,	,	PUNCT
alkej-361	191	10	vol	vol	NOUN
alkej-361	191	11	.	.	PROPN
alkej-361	191	12	13	13	NUM
alkej-361	191	13	,	,	PUNCT
alkej-361	191	14	no	no	INTJ
alkej-361	191	15	.	.	NOUN
alkej-361	191	16	3	3	NUM
alkej-361	191	17	,	,	PUNCT
alkej-361	191	18	p.p	p.p	PROPN
alkej-361	191	19	.	.	NOUN
alkej-361	191	20	2737	2737	NUM
alkej-361	191	21	(	(	PUNCT
alkej-361	191	22	2017	2017	NUM
alkej-361	191	23	)	)	PUNCT
alkej-361	191	24	34	34	NUM
alkej-361	191	25	the	the	DET
alkej-361	191	26	next	next	ADJ
alkej-361	191	27	figures	figure	NOUN
alkej-361	191	28	(	(	PUNCT
alkej-361	191	29	9	9	NUM
alkej-361	191	30	,	,	PUNCT
alkej-361	191	31	10	10	NUM
alkej-361	191	32	,	,	PUNCT
alkej-361	191	33	11	11	NUM
alkej-361	191	34	,	,	PUNCT
alkej-361	191	35	and	and	CCONJ
alkej-361	191	36	12	12	NUM
alkej-361	191	37	)	)	PUNCT
alkej-361	191	38	show	show	VERB
alkej-361	191	39	the	the	DET
alkej-361	191	40	results	result	NOUN
alkej-361	191	41	of	of	ADP
alkej-361	191	42	changing	change	VERB
alkej-361	191	43	the	the	DET
alkej-361	191	44	x	x	NOUN
alkej-361	191	45	,	,	PUNCT
alkej-361	191	46	y	y	PROPN
alkej-361	191	47	,	,	PUNCT
alkej-361	191	48	theta	theta	NOUN
alkej-361	191	49	1	1	NUM
alkej-361	191	50	of	of	ADP
alkej-361	191	51	first	first	ADJ
alkej-361	191	52	link	link	NOUN
alkej-361	191	53	and	and	CCONJ
alkej-361	191	54	theta	theta	PROPN
alkej-361	191	55	2of	2of	NOUN
alkej-361	191	56	second	second	ADJ
alkej-361	191	57	link	link	NOUN
alkej-361	191	58	of	of	ADP
alkej-361	191	59	the	the	DET
alkej-361	191	60	optimal	optimal	ADJ
alkej-361	191	61	smoothing	smoothing	NOUN
alkej-361	191	62	path	path	NOUN
alkej-361	191	63	during	during	ADP
alkej-361	191	64	10s	10	NOUN
alkej-361	191	65	.	.	NOUN
alkej-361	191	66	1	1	NUM
alkej-361	191	67	2	2	NUM
alkej-361	191	68	3	3	NUM
alkej-361	191	69	4	4	NUM
alkej-361	191	70	5	5	NUM
alkej-361	191	71	6	6	NUM
alkej-361	191	72	7	7	NUM
alkej-361	191	73	8	8	NUM
alkej-361	191	74	9	9	NUM
alkej-361	191	75	10	10	NUM
alkej-361	191	76	time	time	NOUN
alkej-361	191	77	(	(	PUNCT
alkej-361	191	78	s	s	NOUN
alkej-361	191	79	)	)	PUNCT
alkej-361	191	80	-50	-50	PUNCT
alkej-361	191	81	-40	-40	PROPN
alkej-361	191	82	-30	-30	NUM
alkej-361	191	83	-20	-20	NUM
alkej-361	191	84	-10	-10	PUNCT
alkej-361	192	1	10	10	NUM
alkej-361	192	2	0	0	NUM
alkej-361	192	3	40	40	NUM
alkej-361	192	4	20	20	NUM
alkej-361	192	5	30	30	NUM
alkej-361	192	6	x	x	NOUN
alkej-361	192	7	,	,	PUNCT
alkej-361	192	8	c	c	PROPN
alkej-361	192	9	m	m	VERB
alkej-361	192	10	two	two	NUM
alkej-361	192	11	-	-	PUNCT
alkej-361	192	12	link	link	NOUN
alkej-361	192	13	robot	robot	NOUN
alkej-361	192	14	arm	arm	NOUN
alkej-361	192	15	path	path	NOUN
alkej-361	192	16	planning	planning	NOUN
alkej-361	192	17	using	use	VERB
alkej-361	192	18	pso	pso	NOUN
alkej-361	192	19	algorithm	algorithm	NOUN
alkej-361	192	20	fig	fig	NOUN
alkej-361	192	21	.	.	PUNCT
alkej-361	193	1	9	9	X
alkej-361	193	2	.	.	X
alkej-361	193	3	the	the	DET
alkej-361	193	4	change	change	NOUN
alkej-361	193	5	of	of	ADP
alkej-361	193	6	x	x	PUNCT
alkej-361	193	7	coordinate	coordinate	NOUN
alkej-361	193	8	of	of	ADP
alkej-361	193	9	optimal	optimal	ADJ
alkej-361	193	10	path	path	NOUN
alkej-361	193	11	.	.	PUNCT
alkej-361	194	1	1	1	NUM
alkej-361	194	2	2	2	NUM
alkej-361	194	3	3	3	NUM
alkej-361	194	4	4	4	NUM
alkej-361	194	5	6	6	NUM
alkej-361	194	6	7	7	NUM
alkej-361	194	7	8	8	NUM
alkej-361	194	8	9	9	NUM
alkej-361	194	9	10	10	NUM
alkej-361	194	10	time	time	NOUN
alkej-361	194	11	(	(	PUNCT
alkej-361	194	12	s	s	NOUN
alkej-361	194	13	)	)	PUNCT
alkej-361	194	14	5	5	NUM
alkej-361	194	15	10	10	NUM
alkej-361	194	16	5	5	NUM
alkej-361	194	17	0	0	NUM
alkej-361	194	18	-5	-5	NOUN
alkej-361	194	19	-10	-10	PUNCT
alkej-361	194	20	-15	-15	PUNCT
alkej-361	194	21	y	y	PROPN
alkej-361	194	22	,	,	PUNCT
alkej-361	194	23	c	c	PROPN
alkej-361	194	24	m	m	VERB
alkej-361	194	25	two	two	NUM
alkej-361	194	26	-	-	PUNCT
alkej-361	194	27	link	link	NOUN
alkej-361	194	28	robot	robot	NOUN
alkej-361	194	29	arm	arm	NOUN
alkej-361	194	30	path	path	NOUN
alkej-361	194	31	planning	planning	NOUN
alkej-361	194	32	using	use	VERB
alkej-361	194	33	pso	pso	NOUN
alkej-361	194	34	algorithm	algorithm	NOUN
alkej-361	194	35	fig	fig	NOUN
alkej-361	194	36	.	.	PUNCT
alkej-361	195	1	10	10	NUM
alkej-361	195	2	.	.	PUNCT
alkej-361	196	1	the	the	DET
alkej-361	196	2	change	change	NOUN
alkej-361	196	3	of	of	ADP
alkej-361	196	4	y	y	PROPN
alkej-361	196	5	coordinate	coordinate	NOUN
alkej-361	196	6	of	of	ADP
alkej-361	196	7	optimal	optimal	ADJ
alkej-361	196	8	path	path	NOUN
alkej-361	196	9	.	.	PUNCT
alkej-361	197	1	1	1	NUM
alkej-361	197	2	2	2	NUM
alkej-361	197	3	3	3	NUM
alkej-361	197	4	4	4	NUM
alkej-361	197	5	5	5	NUM
alkej-361	197	6	6	6	NUM
alkej-361	197	7	7	7	NUM
alkej-361	197	8	8	8	NUM
alkej-361	197	9	9	9	NUM
alkej-361	197	10	10	10	NUM
alkej-361	197	11	-4	-4	INTJ
alkej-361	197	12	-3.5	-3.5	PROPN
alkej-361	197	13	-3	-3	PUNCT
alkej-361	197	14	-2.5	-2.5	INTJ
alkej-361	198	1	-2	-2	INTJ
alkej-361	198	2	-1.5	-1.5	NUM
alkej-361	198	3	-1	-1	PROPN
alkej-361	199	1	-0.5	-0.5	X
alkej-361	199	2	0	0	NUM
alkej-361	199	3	two	two	NUM
alkej-361	199	4	-	-	PUNCT
alkej-361	199	5	link	link	NOUN
alkej-361	199	6	robot	robot	NOUN
alkej-361	199	7	arm	arm	NOUN
alkej-361	199	8	path	path	NOUN
alkej-361	199	9	planning	planning	NOUN
alkej-361	199	10	using	use	VERB
alkej-361	199	11	pso	pso	NOUN
alkej-361	199	12	algorithm	algorithm	NOUN
alkej-361	199	13	time	time	NOUN
alkej-361	199	14	(	(	PUNCT
alkej-361	199	15	s	s	NOUN
alkej-361	199	16	)	)	PUNCT
alkej-361	200	1	t	t	NOUN
alkej-361	200	2	h	h	NOUN
alkej-361	200	3	e	e	NOUN
alkej-361	200	4	ta	ta	ADP
alkej-361	200	5	1	1	NUM
alkej-361	200	6	(	(	PUNCT
alkej-361	200	7	“	"	PUNCT
alkej-361	200	8	ra	ra	PROPN
alkej-361	200	9	d	d	NOUN
alkej-361	200	10	”	"	PUNCT
alkej-361	200	11	)	)	PUNCT
alkej-361	200	12	fig	fig	NOUN
alkej-361	200	13	.	.	PUNCT
alkej-361	201	1	11	11	NUM
alkej-361	201	2	.	.	PUNCT
alkej-361	202	1	the	the	DET
alkej-361	202	2	change	change	NOUN
alkej-361	202	3	of	of	ADP
alkej-361	202	4	theta	theta	NOUN
alkej-361	202	5	1	1	NUM
alkej-361	202	6	of	of	ADP
alkej-361	202	7	optimal	optimal	ADJ
alkej-361	202	8	path	path	NOUN
alkej-361	202	9	.	.	PUNCT
alkej-361	203	1	1	1	NUM
alkej-361	203	2	2	2	NUM
alkej-361	203	3	3	3	NUM
alkej-361	203	4	4	4	NUM
alkej-361	203	5	5	5	NUM
alkej-361	203	6	6	6	NUM
alkej-361	203	7	7	7	NUM
alkej-361	203	8	8	8	NUM
alkej-361	203	9	9	9	NUM
alkej-361	203	10	10	10	NUM
alkej-361	203	11	time	time	NOUN
alkej-361	203	12	(	(	PUNCT
alkej-361	203	13	s	s	NOUN
alkej-361	203	14	)	)	PUNCT
alkej-361	203	15	0.5	0.5	NUM
alkej-361	203	16	1	1	NUM
alkej-361	203	17	2	2	NUM
alkej-361	203	18	1.5	1.5	NUM
alkej-361	203	19	2.5	2.5	NUM
alkej-361	203	20	3	3	NUM
alkej-361	203	21	t	t	NOUN
alkej-361	203	22	h	h	NOUN
alkej-361	203	23	e	e	NOUN
alkej-361	203	24	ta	ta	ADP
alkej-361	203	25	2	2	NUM
alkej-361	203	26	(	(	PUNCT
alkej-361	203	27	“	"	PUNCT
alkej-361	203	28	ra	ra	PROPN
alkej-361	203	29	d	d	PROPN
alkej-361	203	30	”	"	PUNCT
alkej-361	203	31	)	)	PUNCT
alkej-361	203	32	two	two	NUM
alkej-361	203	33	-	-	PUNCT
alkej-361	203	34	link	link	NOUN
alkej-361	203	35	robot	robot	NOUN
alkej-361	203	36	arm	arm	NOUN
alkej-361	203	37	path	path	NOUN
alkej-361	203	38	planning	planning	NOUN
alkej-361	203	39	using	use	VERB
alkej-361	203	40	pso	pso	NOUN
alkej-361	203	41	algorithm	algorithm	NOUN
alkej-361	203	42	fig	fig	NOUN
alkej-361	203	43	.	.	PUNCT
alkej-361	204	1	12	12	NUM
alkej-361	204	2	.	.	PUNCT
alkej-361	205	1	the	the	DET
alkej-361	205	2	change	change	NOUN
alkej-361	205	3	of	of	ADP
alkej-361	205	4	theta	theta	NOUN
alkej-361	205	5	2	2	NUM
alkej-361	205	6	in	in	ADP
alkej-361	205	7	optimal	optimal	ADJ
alkej-361	205	8	path	path	NOUN
alkej-361	205	9	.	.	PUNCT
alkej-361	206	1	another	another	DET
alkej-361	206	2	task	task	NOUN
alkej-361	206	3	was	be	AUX
alkej-361	206	4	tested	test	VERB
alkej-361	206	5	by	by	ADP
alkej-361	206	6	the	the	DET
alkej-361	206	7	same	same	ADJ
alkej-361	206	8	proposed	propose	VERB
alkej-361	206	9	mapping	mapping	NOUN
alkej-361	206	10	but	but	CCONJ
alkej-361	206	11	different	different	ADJ
alkej-361	206	12	in	in	ADP
alkej-361	206	13	the	the	DET
alkej-361	206	14	start	start	NOUN
alkej-361	206	15	and	and	CCONJ
alkej-361	206	16	goal	goal	NOUN
alkej-361	206	17	points	point	NOUN
alkej-361	206	18	.	.	PUNCT
alkej-361	207	1	the	the	DET
alkej-361	207	2	path	path	NOUN
alkej-361	207	3	is	be	AUX
alkej-361	207	4	from	from	ADP
alkej-361	207	5	the	the	DET
alkej-361	207	6	start	start	NOUN
alkej-361	207	7	point	point	NOUN
alkej-361	207	8	(	(	PUNCT
alkej-361	207	9	30	30	NUM
alkej-361	207	10	,	,	PUNCT
alkej-361	207	11	-30	-30	NUM
alkej-361	207	12	)	)	PUNCT
alkej-361	207	13	to	to	ADP
alkej-361	207	14	the	the	DET
alkej-361	207	15	goal	goal	NOUN
alkej-361	207	16	point	point	NOUN
alkej-361	207	17	(	(	PUNCT
alkej-361	207	18	15	15	NUM
alkej-361	207	19	,	,	PUNCT
alkej-361	207	20	45	45	NUM
alkej-361	207	21	)	)	PUNCT
alkej-361	207	22	,	,	PUNCT
alkej-361	207	23	where	where	SCONJ
alkej-361	207	24	its	its	PRON
alkej-361	207	25	cost	cost	NOUN
alkej-361	207	26	fitness	fitness	NOUN
alkej-361	207	27	is	be	AUX
alkej-361	207	28	82.8733	82.8733	NUM
alkej-361	207	29	and	and	CCONJ
alkej-361	207	30	executed	execute	VERB
alkej-361	207	31	for	for	ADP
alkej-361	207	32	49s	49s	NUM
alkej-361	207	33	,	,	PUNCT
alkej-361	207	34	as	as	SCONJ
alkej-361	207	35	shown	show	VERB
alkej-361	207	36	in	in	ADP
alkej-361	207	37	figure	figure	NOUN
alkej-361	207	38	(	(	PUNCT
alkej-361	207	39	13	13	NUM
alkej-361	207	40	,	,	PUNCT
alkej-361	207	41	15	15	NUM
alkej-361	207	42	)	)	PUNCT
alkej-361	207	43	,	,	PUNCT
alkej-361	207	44	and	and	CCONJ
alkej-361	207	45	smoothing	smooth	VERB
alkej-361	207	46	path	path	NOUN
alkej-361	207	47	shows	show	NOUN
alkej-361	207	48	in	in	ADP
alkej-361	207	49	figure	figure	NOUN
alkej-361	207	50	(	(	PUNCT
alkej-361	207	51	14	14	NUM
alkej-361	207	52	)	)	PUNCT
alkej-361	207	53	.	.	PUNCT
alkej-361	208	1	-50	-50	PUNCT
alkej-361	209	1	-40	-40	PUNCT
alkej-361	209	2	-30	-30	NUM
alkej-361	209	3	-20	-20	NUM
alkej-361	209	4	-10	-10	PUNCT
alkej-361	209	5	100	100	NUM
alkej-361	209	6	4020	4020	NUM
alkej-361	209	7	30	30	NUM
alkej-361	209	8	50	50	NUM
alkej-361	209	9	y	y	NOUN
alkej-361	209	10	,	,	PUNCT
alkej-361	210	1	c	c	PROPN
alkej-361	210	2	m	m	VERB
alkej-361	210	3	two	two	NUM
alkej-361	210	4	-	-	PUNCT
alkej-361	210	5	link	link	NOUN
alkej-361	210	6	robot	robot	NOUN
alkej-361	210	7	arm	arm	NOUN
alkej-361	210	8	path	path	NOUN
alkej-361	210	9	planning	planning	NOUN
alkej-361	210	10	using	use	VERB
alkej-361	210	11	pso	pso	NOUN
alkej-361	210	12	algorithm	algorithm	NOUN
alkej-361	210	13	x	x	NOUN
alkej-361	210	14	,	,	PUNCT
alkej-361	210	15	cm	cm	PROPN
alkej-361	210	16	-50	-50	PUNCT
alkej-361	210	17	-40	-40	PROPN
alkej-361	210	18	-30	-30	PROPN
alkej-361	210	19	-20	-20	NUM
alkej-361	210	20	-10	-10	PUNCT
alkej-361	211	1	10	10	NUM
alkej-361	211	2	0	0	NUM
alkej-361	211	3	40	40	NUM
alkej-361	211	4	20	20	NUM
alkej-361	211	5	30	30	NUM
alkej-361	211	6	50	50	NUM
alkej-361	211	7	s	s	NOUN
alkej-361	211	8	fig	fig	NOUN
alkej-361	211	9	.	.	PUNCT
alkej-361	212	1	13	13	NUM
alkej-361	212	2	.	.	X
alkej-361	212	3	pso	pso	VERB
alkej-361	212	4	optimal	optimal	ADJ
alkej-361	212	5	path	path	NOUN
alkej-361	212	6	solution	solution	NOUN
alkej-361	212	7	.	.	PUNCT
alkej-361	212	8	-50	-50	PUNCT
alkej-361	213	1	-40	-40	PUNCT
alkej-361	213	2	-30	-30	NUM
alkej-361	213	3	-20	-20	NUM
alkej-361	213	4	-10	-10	PUNCT
alkej-361	213	5	100	100	NUM
alkej-361	213	6	4020	4020	NUM
alkej-361	213	7	30	30	NUM
alkej-361	213	8	50	50	NUM
alkej-361	213	9	y	y	NOUN
alkej-361	213	10	,	,	PUNCT
alkej-361	214	1	c	c	PROPN
alkej-361	214	2	m	m	VERB
alkej-361	214	3	two	two	NUM
alkej-361	214	4	-	-	PUNCT
alkej-361	214	5	link	link	NOUN
alkej-361	214	6	robot	robot	NOUN
alkej-361	214	7	arm	arm	NOUN
alkej-361	214	8	path	path	NOUN
alkej-361	214	9	planning	planning	NOUN
alkej-361	214	10	using	use	VERB
alkej-361	214	11	pso	pso	NOUN
alkej-361	214	12	algorithm	algorithm	NOUN
alkej-361	214	13	x	x	NOUN
alkej-361	214	14	,	,	PUNCT
alkej-361	214	15	cm	cm	PROPN
alkej-361	214	16	-50	-50	PUNCT
alkej-361	214	17	-40	-40	PROPN
alkej-361	214	18	-30	-30	PROPN
alkej-361	214	19	-20	-20	NUM
alkej-361	214	20	-10	-10	PUNCT
alkej-361	215	1	10	10	NUM
alkej-361	215	2	0	0	NUM
alkej-361	215	3	40	40	NUM
alkej-361	215	4	20	20	NUM
alkej-361	215	5	30	30	NUM
alkej-361	215	6	50	50	NUM
alkej-361	215	7	fig	fig	NOUN
alkej-361	215	8	.	.	PUNCT
alkej-361	216	1	14	14	NUM
alkej-361	216	2	.	.	PUNCT
alkej-361	217	1	trajectory	trajectory	NOUN
alkej-361	217	2	path	path	NOUN
alkej-361	217	3	optimal	optimal	ADJ
alkej-361	217	4	solution	solution	NOUN
alkej-361	217	5	.	.	PUNCT
alkej-361	218	1	ahmed	ahmed	PROPN
alkej-361	218	2	t.	t.	PROPN
alkej-361	218	3	sadiq	sadiq	PROPN
alkej-361	218	4	al	al	PROPN
alkej-361	218	5	-	-	PUNCT
alkej-361	218	6	khwarizmi	khwarizmi	PROPN
alkej-361	218	7	engineering	engineering	NOUN
alkej-361	218	8	journal	journal	PROPN
alkej-361	218	9	,	,	PUNCT
alkej-361	218	10	vol	vol	NOUN
alkej-361	218	11	.	.	PROPN
alkej-361	218	12	13	13	NUM
alkej-361	218	13	,	,	PUNCT
alkej-361	218	14	no	no	INTJ
alkej-361	218	15	.	.	NOUN
alkej-361	218	16	3	3	NUM
alkej-361	218	17	,	,	PUNCT
alkej-361	218	18	p.p	p.p	PROPN
alkej-361	218	19	.	.	NOUN
alkej-361	218	20	2737	2737	NUM
alkej-361	218	21	(	(	PUNCT
alkej-361	218	22	2017	2017	NUM
alkej-361	218	23	)	)	PUNCT
alkej-361	218	24	35	35	NUM
alkej-361	218	25	-50	-50	PUNCT
alkej-361	218	26	-40	-40	PUNCT
alkej-361	218	27	-30	-30	NUM
alkej-361	218	28	-20	-20	NUM
alkej-361	218	29	-10	-10	PUNCT
alkej-361	218	30	100	100	NUM
alkej-361	218	31	4020	4020	NUM
alkej-361	218	32	30	30	NUM
alkej-361	218	33	50	50	NUM
alkej-361	218	34	y	y	NOUN
alkej-361	218	35	,	,	PUNCT
alkej-361	218	36	c	c	NOUN
alkej-361	218	37	m	m	VERB
alkej-361	218	38	x	x	NOUN
alkej-361	218	39	,	,	PUNCT
alkej-361	218	40	cm	cm	PROPN
alkej-361	218	41	two	two	NUM
alkej-361	218	42	-	-	PUNCT
alkej-361	218	43	link	link	NOUN
alkej-361	218	44	robot	robot	NOUN
alkej-361	218	45	arm	arm	NOUN
alkej-361	218	46	path	path	NOUN
alkej-361	218	47	planning	planning	NOUN
alkej-361	218	48	using	use	VERB
alkej-361	218	49	pso	pso	NOUN
alkej-361	218	50	algorithm	algorithm	NOUN
alkej-361	218	51	-50	-50	PUNCT
alkej-361	218	52	-40	-40	PROPN
alkej-361	218	53	-30	-30	NUM
alkej-361	218	54	-20	-20	NUM
alkej-361	218	55	-10	-10	PUNCT
alkej-361	219	1	10	10	NUM
alkej-361	219	2	0	0	NUM
alkej-361	219	3	40	40	NUM
alkej-361	219	4	20	20	NUM
alkej-361	219	5	30	30	NUM
alkej-361	219	6	50	50	NUM
alkej-361	219	7	fig	fig	NOUN
alkej-361	219	8	.	.	PUNCT
alkej-361	220	1	15	15	NUM
alkej-361	220	2	.	.	X
alkej-361	220	3	two	two	NUM
alkej-361	220	4	-	-	PUNCT
alkej-361	220	5	link	link	NOUN
alkej-361	220	6	robot	robot	NOUN
alkej-361	220	7	manipulator	manipulator	NOUN
alkej-361	220	8	optimal	optimal	ADJ
alkej-361	220	9	path	path	NOUN
alkej-361	220	10	,	,	PUNCT
alkej-361	220	11	where	where	SCONJ
alkej-361	220	12	the	the	DET
alkej-361	220	13	red	red	ADJ
alkej-361	220	14	line	line	NOUN
alkej-361	220	15	denoted	denote	VERB
alkej-361	220	16	the	the	DET
alkej-361	220	17	link	link	NOUN
alkej-361	220	18	1	1	NUM
alkej-361	220	19	of	of	ADP
alkej-361	220	20	arm	arm	NOUN
alkej-361	220	21	while	while	SCONJ
alkej-361	220	22	the	the	DET
alkej-361	220	23	green	green	ADJ
alkej-361	220	24	line	line	NOUN
alkej-361	220	25	denoted	denote	VERB
alkej-361	220	26	the	the	DET
alkej-361	220	27	kink2	kink2	NOUN
alkej-361	220	28	of	of	ADP
alkej-361	220	29	arm	arm	NOUN
alkej-361	220	30	.	.	PUNCT
alkej-361	221	1	figures	figure	NOUN
alkej-361	221	2	(	(	PUNCT
alkej-361	221	3	16	16	NUM
alkej-361	221	4	,	,	PUNCT
alkej-361	221	5	17	17	NUM
alkej-361	221	6	,	,	PUNCT
alkej-361	221	7	18	18	NUM
alkej-361	221	8	,	,	PUNCT
alkej-361	221	9	and	and	CCONJ
alkej-361	221	10	19	19	NUM
alkej-361	221	11	)	)	PUNCT
alkej-361	221	12	clarifies	clarify	VERB
alkej-361	221	13	the	the	DET
alkej-361	221	14	results	result	NOUN
alkej-361	221	15	of	of	ADP
alkej-361	221	16	changing	change	VERB
alkej-361	221	17	the	the	DET
alkej-361	221	18	x	x	NOUN
alkej-361	221	19	,	,	PUNCT
alkej-361	221	20	y	y	PROPN
alkej-361	221	21	,	,	PUNCT
alkej-361	221	22	theta	theta	NOUN
alkej-361	221	23	1	1	NUM
alkej-361	221	24	of	of	ADP
alkej-361	221	25	first	first	ADJ
alkej-361	221	26	link	link	NOUN
alkej-361	221	27	and	and	CCONJ
alkej-361	221	28	theta	theta	PROPN
alkej-361	221	29	2of	2of	NOUN
alkej-361	221	30	second	second	ADJ
alkej-361	221	31	link	link	NOUN
alkej-361	221	32	of	of	ADP
alkej-361	221	33	the	the	DET
alkej-361	221	34	optimal	optimal	ADJ
alkej-361	221	35	smoothing	smoothing	NOUN
alkej-361	221	36	path	path	NOUN
alkej-361	221	37	during	during	ADP
alkej-361	221	38	10s	10	NOUN
alkej-361	221	39	.	.	NOUN
alkej-361	221	40	1	1	NUM
alkej-361	221	41	2	2	NUM
alkej-361	221	42	3	3	NUM
alkej-361	221	43	4	4	NUM
alkej-361	221	44	5	5	NUM
alkej-361	221	45	6	6	NUM
alkej-361	221	46	7	7	NUM
alkej-361	221	47	8	8	NUM
alkej-361	221	48	9	9	NUM
alkej-361	221	49	10	10	NUM
alkej-361	221	50	time	time	NOUN
alkej-361	221	51	(	(	PUNCT
alkej-361	221	52	s	s	NOUN
alkej-361	221	53	)	)	PUNCT
alkej-361	221	54	5	5	NUM
alkej-361	221	55	10	10	NUM
alkej-361	221	56	20	20	NUM
alkej-361	221	57	15	15	NUM
alkej-361	221	58	25	25	NUM
alkej-361	221	59	30	30	NUM
alkej-361	221	60	x	x	NOUN
alkej-361	221	61	,	,	PUNCT
alkej-361	221	62	c	c	PROPN
alkej-361	221	63	m	m	VERB
alkej-361	221	64	two	two	NUM
alkej-361	221	65	-	-	PUNCT
alkej-361	221	66	link	link	NOUN
alkej-361	221	67	robot	robot	NOUN
alkej-361	221	68	arm	arm	NOUN
alkej-361	221	69	path	path	NOUN
alkej-361	221	70	planning	planning	NOUN
alkej-361	221	71	using	use	VERB
alkej-361	221	72	pso	pso	NOUN
alkej-361	221	73	algorithm	algorithm	NOUN
alkej-361	221	74	fig	fig	NOUN
alkej-361	221	75	.	.	PUNCT
alkej-361	222	1	16	16	NUM
alkej-361	222	2	.	.	PUNCT
alkej-361	223	1	the	the	DET
alkej-361	223	2	change	change	NOUN
alkej-361	223	3	of	of	ADP
alkej-361	223	4	x	x	PUNCT
alkej-361	223	5	coordinate	coordinate	NOUN
alkej-361	223	6	of	of	ADP
alkej-361	223	7	optimal	optimal	ADJ
alkej-361	223	8	path	path	NOUN
alkej-361	223	9	.	.	PUNCT
alkej-361	224	1	1	1	NUM
alkej-361	224	2	2	2	NUM
alkej-361	224	3	3	3	NUM
alkej-361	224	4	4	4	NUM
alkej-361	224	5	5	5	NUM
alkej-361	224	6	6	6	NUM
alkej-361	224	7	7	7	NUM
alkej-361	224	8	8	8	NUM
alkej-361	224	9	9	9	NUM
alkej-361	224	10	10	10	NUM
alkej-361	224	11	time	time	NOUN
alkej-361	224	12	(	(	PUNCT
alkej-361	224	13	s	s	NOUN
alkej-361	224	14	)	)	PUNCT
alkej-361	224	15	-30	-30	NUM
alkej-361	224	16	-20	-20	NUM
alkej-361	224	17	-10	-10	PUNCT
alkej-361	224	18	0	0	NUM
alkej-361	224	19	20	20	NUM
alkej-361	224	20	10	10	NUM
alkej-361	224	21	50	50	NUM
alkej-361	224	22	30	30	NUM
alkej-361	224	23	40	40	NUM
alkej-361	224	24	y	y	PROPN
alkej-361	224	25	,	,	PUNCT
alkej-361	224	26	cm	cm	PROPN
alkej-361	224	27	two	two	NUM
alkej-361	224	28	-	-	PUNCT
alkej-361	224	29	link	link	NOUN
alkej-361	224	30	robot	robot	NOUN
alkej-361	224	31	arm	arm	NOUN
alkej-361	224	32	path	path	NOUN
alkej-361	224	33	planning	planning	NOUN
alkej-361	224	34	using	use	VERB
alkej-361	224	35	pso	pso	NOUN
alkej-361	224	36	algorithm	algorithm	NOUN
alkej-361	224	37	fig	fig	NOUN
alkej-361	224	38	.	.	PUNCT
alkej-361	225	1	17	17	NUM
alkej-361	225	2	.	.	PUNCT
alkej-361	226	1	the	the	DET
alkej-361	226	2	change	change	NOUN
alkej-361	226	3	of	of	ADP
alkej-361	226	4	y	y	PROPN
alkej-361	226	5	coordinate	coordinate	NOUN
alkej-361	226	6	of	of	ADP
alkej-361	226	7	optimal	optimal	ADJ
alkej-361	226	8	path	path	NOUN
alkej-361	226	9	.	.	PUNCT
alkej-361	227	1	1	1	NUM
alkej-361	227	2	2	2	NUM
alkej-361	227	3	3	3	NUM
alkej-361	227	4	4	4	NUM
alkej-361	227	5	5	5	NUM
alkej-361	227	6	6	6	NUM
alkej-361	227	7	7	7	NUM
alkej-361	227	8	8	8	NUM
alkej-361	227	9	9	9	NUM
alkej-361	227	10	10	10	NUM
alkej-361	227	11	two	two	NUM
alkej-361	227	12	-	-	PUNCT
alkej-361	227	13	link	link	NOUN
alkej-361	227	14	robot	robot	NOUN
alkej-361	227	15	arm	arm	NOUN
alkej-361	227	16	path	path	NOUN
alkej-361	227	17	planning	planning	NOUN
alkej-361	227	18	using	use	VERB
alkej-361	227	19	pso	pso	NOUN
alkej-361	227	20	algorithm	algorithm	NOUN
alkej-361	227	21	time	time	NOUN
alkej-361	227	22	(	(	PUNCT
alkej-361	227	23	s	s	NOUN
alkej-361	227	24	)	)	PUNCT
alkej-361	227	25	t	t	NOUN
alkej-361	227	26	h	h	NOUN
alkej-361	228	1	e	e	NOUN
alkej-361	228	2	ta	ta	ADP
alkej-361	228	3	1	1	NUM
alkej-361	228	4	(	(	PUNCT
alkej-361	228	5	“	"	PUNCT
alkej-361	228	6	ra	ra	PROPN
alkej-361	228	7	d	d	NOUN
alkej-361	228	8	”	"	PUNCT
alkej-361	228	9	)	)	PUNCT
alkej-361	228	10	2.5	2.5	NUM
alkej-361	228	11	2	2	NUM
alkej-361	228	12	1.5	1.5	NUM
alkej-361	228	13	1	1	NUM
alkej-361	228	14	0.5	0.5	NUM
alkej-361	228	15	0	0	NUM
alkej-361	228	16	-0.5	-0.5	NUM
alkej-361	228	17	fig	fig	NOUN
alkej-361	228	18	.	.	PUNCT
alkej-361	229	1	18	18	NUM
alkej-361	229	2	.	.	PUNCT
alkej-361	230	1	the	the	DET
alkej-361	230	2	change	change	NOUN
alkej-361	230	3	of	of	ADP
alkej-361	230	4	theta	theta	NOUN
alkej-361	230	5	1	1	NUM
alkej-361	230	6	of	of	ADP
alkej-361	230	7	optimal	optimal	ADJ
alkej-361	230	8	path	path	NOUN
alkej-361	230	9	.	.	PUNCT
alkej-361	231	1	1	1	NUM
alkej-361	231	2	2	2	NUM
alkej-361	231	3	3	3	NUM
alkej-361	231	4	4	4	NUM
alkej-361	231	5	5	5	NUM
alkej-361	231	6	6	6	NUM
alkej-361	231	7	7	7	NUM
alkej-361	231	8	8	8	NUM
alkej-361	231	9	9	9	NUM
alkej-361	231	10	10	10	NUM
alkej-361	231	11	time	time	NOUN
alkej-361	231	12	(	(	PUNCT
alkej-361	231	13	s	s	NOUN
alkej-361	231	14	)	)	PUNCT
alkej-361	231	15	-3	-3	PUNCT
alkej-361	231	16	-2.5	-2.5	PROPN
alkej-361	231	17	-1.5	-1.5	PUNCT
alkej-361	231	18	-2	-2	NOUN
alkej-361	231	19	-1	-1	INTJ
alkej-361	231	20	-0.5	-0.5	PROPN
alkej-361	231	21	t	t	PROPN
alkej-361	231	22	h	h	NOUN
alkej-361	231	23	e	e	NOUN
alkej-361	231	24	ta	ta	ADP
alkej-361	231	25	2	2	NUM
alkej-361	231	26	(	(	PUNCT
alkej-361	231	27	“	"	PUNCT
alkej-361	231	28	ra	ra	PROPN
alkej-361	231	29	d	d	PROPN
alkej-361	231	30	”	"	PUNCT
alkej-361	231	31	)	)	PUNCT
alkej-361	231	32	two	two	NUM
alkej-361	231	33	-	-	PUNCT
alkej-361	231	34	link	link	NOUN
alkej-361	231	35	robot	robot	NOUN
alkej-361	231	36	arm	arm	NOUN
alkej-361	231	37	path	path	NOUN
alkej-361	231	38	planning	planning	NOUN
alkej-361	231	39	using	use	VERB
alkej-361	231	40	pso	pso	NOUN
alkej-361	231	41	algorithm	algorithm	NOUN
alkej-361	231	42	fig	fig	NOUN
alkej-361	231	43	.	.	PUNCT
alkej-361	232	1	19	19	NUM
alkej-361	232	2	.	.	PUNCT
alkej-361	233	1	the	the	DET
alkej-361	233	2	change	change	NOUN
alkej-361	233	3	of	of	ADP
alkej-361	233	4	theta	theta	NOUN
alkej-361	233	5	2	2	NUM
alkej-361	233	6	of	of	ADP
alkej-361	233	7	optimal	optimal	ADJ
alkej-361	233	8	path	path	NOUN
alkej-361	233	9	.	.	PUNCT
alkej-361	234	1	10	10	NUM
alkej-361	234	2	.	.	PUNCT
alkej-361	234	3	conclusion	conclusion	NOUN
alkej-361	234	4	for	for	ADP
alkej-361	234	5	solving	solve	VERB
alkej-361	234	6	the	the	DET
alkej-361	234	7	path	path	NOUN
alkej-361	234	8	planning	planning	NOUN
alkej-361	234	9	problem	problem	NOUN
alkej-361	234	10	and	and	CCONJ
alkej-361	234	11	to	to	PART
alkej-361	234	12	find	find	VERB
alkej-361	234	13	the	the	DET
alkej-361	234	14	optimal	optimal	ADJ
alkej-361	234	15	path	path	NOUN
alkej-361	234	16	of	of	ADP
alkej-361	234	17	the	the	DET
alkej-361	234	18	robot	robot	NOUN
alkej-361	234	19	arm	arm	NOUN
alkej-361	234	20	,	,	PUNCT
alkej-361	234	21	the	the	DET
alkej-361	234	22	modified	modify	VERB
alkej-361	234	23	pso	pso	NOUN
alkej-361	234	24	algorithm	algorithm	NOUN
alkej-361	234	25	is	be	AUX
alkej-361	234	26	proposed	propose	VERB
alkej-361	234	27	.	.	PUNCT
alkej-361	235	1	the	the	DET
alkej-361	235	2	free	free	ADJ
alkej-361	235	3	cartesian	cartesian	ADJ
alkej-361	235	4	space	space	NOUN
alkej-361	235	5	with	with	ADP
alkej-361	235	6	free	free	ADJ
alkej-361	235	7	elbow	elbow	NOUN
alkej-361	235	8	up	up	ADP
alkej-361	235	9	solution	solution	NOUN
alkej-361	235	10	space	space	NOUN
alkej-361	235	11	and	and	CCONJ
alkej-361	235	12	free	free	ADJ
alkej-361	235	13	elbow	elbow	VERB
alkej-361	235	14	down	down	ADP
alkej-361	235	15	solution	solution	NOUN
alkej-361	235	16	space	space	NOUN
alkej-361	235	17	are	be	AUX
alkej-361	235	18	initially	initially	ADV
alkej-361	235	19	constructed	construct	VERB
alkej-361	235	20	by	by	ADP
alkej-361	235	21	using	use	VERB
alkej-361	235	22	the	the	DET
alkej-361	235	23	inverse	inverse	NOUN
alkej-361	235	24	kinematics	kinematic	NOUN
alkej-361	235	25	.	.	PUNCT
alkej-361	236	1	in	in	ADP
alkej-361	236	2	this	this	DET
alkej-361	236	3	paper	paper	NOUN
alkej-361	236	4	pso	pso	NOUN
alkej-361	236	5	is	be	AUX
alkej-361	236	6	proposed	propose	VERB
alkej-361	236	7	to	to	PART
alkej-361	236	8	find	find	VERB
alkej-361	236	9	the	the	DET
alkej-361	236	10	shortest	short	ADJ
alkej-361	236	11	path	path	NOUN
alkej-361	236	12	depending	depend	VERB
alkej-361	236	13	on	on	ADP
alkej-361	236	14	the	the	DET
alkej-361	236	15	costs	cost	NOUN
alkej-361	236	16	of	of	ADP
alkej-361	236	17	d	d	NOUN
alkej-361	236	18	*	*	PUNCT
alkej-361	236	19	and	and	CCONJ
alkej-361	236	20	euclidean	euclidean	ADJ
alkej-361	236	21	distance	distance	NOUN
alkej-361	236	22	.	.	PUNCT
alkej-361	237	1	the	the	DET
alkej-361	237	2	modified	modify	VERB
alkej-361	237	3	algorithm	algorithm	NOUN
alkej-361	237	4	efficiently	efficiently	ADV
alkej-361	237	5	finds	find	VERB
alkej-361	237	6	the	the	DET
alkej-361	237	7	optimal	optimal	ADJ
alkej-361	237	8	path	path	NOUN
alkej-361	237	9	by	by	ADP
alkej-361	237	10	locally	locally	ADV
alkej-361	237	11	searching	search	VERB
alkej-361	237	12	and	and	CCONJ
alkej-361	237	13	computing	compute	VERB
alkej-361	237	14	the	the	DET
alkej-361	237	15	probability	probability	NOUN
alkej-361	237	16	to	to	ADP
alkej-361	237	17	all	all	DET
alkej-361	237	18	possible	possible	ADJ
alkej-361	237	19	solutions	solution	NOUN
alkej-361	237	20	of	of	ADP
alkej-361	237	21	robot	robot	NOUN
alkej-361	237	22	arm	arm	NOUN
alkej-361	237	23	end	end	VERB
alkej-361	237	24	effector	effector	NOUN
alkej-361	237	25	position	position	NOUN
alkej-361	237	26	and	and	CCONJ
alkej-361	237	27	takes	take	VERB
alkej-361	237	28	the	the	DET
alkej-361	237	29	best	good	ADJ
alkej-361	237	30	one	one	NOUN
alkej-361	237	31	to	to	PART
alkej-361	237	32	form	form	VERB
alkej-361	237	33	the	the	DET
alkej-361	237	34	path	path	NOUN
alkej-361	237	35	.	.	PUNCT
alkej-361	238	1	more	more	ADV
alkej-361	238	2	specifically	specifically	ADV
alkej-361	238	3	,	,	PUNCT
alkej-361	238	4	(	(	PUNCT
alkej-361	238	5	8)	8)	NUM
alkej-361	238	6	and	and	CCONJ
alkej-361	238	7	(	(	PUNCT
alkej-361	238	8	9	9	NUM
alkej-361	238	9	)	)	PUNCT
alkej-361	238	10	equations	equation	NOUN
alkej-361	238	11	are	be	AUX
alkej-361	238	12	playing	play	VERB
alkej-361	238	13	an	an	DET
alkej-361	238	14	important	important	ADJ
alkej-361	238	15	role	role	NOUN
alkej-361	238	16	in	in	ADP
alkej-361	238	17	providing	provide	VERB
alkej-361	238	18	high	high	ADJ
alkej-361	238	19	diversity	diversity	NOUN
alkej-361	238	20	to	to	ADP
alkej-361	238	21	the	the	DET
alkej-361	238	22	possible	possible	ADJ
alkej-361	238	23	solutions	solution	NOUN
alkej-361	238	24	.	.	PUNCT
alkej-361	239	1	finally	finally	ADV
alkej-361	239	2	,	,	PUNCT
alkej-361	239	3	the	the	DET
alkej-361	239	4	quintic	quintic	ADJ
alkej-361	239	5	polynomial	polynomial	ADJ
alkej-361	239	6	equation	equation	NOUN
alkej-361	239	7	is	be	AUX
alkej-361	239	8	integrated	integrate	VERB
alkej-361	239	9	with	with	ADP
alkej-361	239	10	pso	pso	NOUN
alkej-361	239	11	for	for	ADP
alkej-361	239	12	smoothing	smooth	VERB
alkej-361	239	13	the	the	DET
alkej-361	239	14	path	path	NOUN
alkej-361	239	15	at	at	ADP
alkej-361	239	16	specific	specific	ADJ
alkej-361	239	17	time	time	NOUN
alkej-361	239	18	.	.	PUNCT
alkej-361	240	1	ahmed	ahmed	PROPN
alkej-361	240	2	t.	t.	PROPN
alkej-361	240	3	sadiq	sadiq	PROPN
alkej-361	240	4	al	al	PROPN
alkej-361	240	5	-	-	PUNCT
alkej-361	240	6	khwarizmi	khwarizmi	PROPN
alkej-361	240	7	engineering	engineering	NOUN
alkej-361	240	8	journal	journal	PROPN
alkej-361	240	9	,	,	PUNCT
alkej-361	240	10	vol	vol	NOUN
alkej-361	240	11	.	.	PROPN
alkej-361	240	12	13	13	NUM
alkej-361	240	13	,	,	PUNCT
alkej-361	240	14	no	no	INTJ
alkej-361	240	15	.	.	NOUN
alkej-361	240	16	3	3	NUM
alkej-361	240	17	,	,	PUNCT
alkej-361	240	18	p.p	p.p	PROPN
alkej-361	240	19	.	.	NOUN
alkej-361	240	20	2737	2737	NUM
alkej-361	240	21	(	(	PUNCT
alkej-361	240	22	2017	2017	NUM
alkej-361	240	23	)	)	PUNCT
alkej-361	240	24	36	36	NUM
alkej-361	240	25	by	by	ADP
alkej-361	240	26	comparison	comparison	NOUN
alkej-361	240	27	with	with	ADP
alkej-361	240	28	reference	reference	NOUN
alkej-361	240	29	[	[	X
alkej-361	240	30	6	6	NUM
alkej-361	240	31	]	]	PUNCT
alkej-361	240	32	that	that	SCONJ
alkej-361	240	33	based	base	VERB
alkej-361	240	34	on	on	ADP
alkej-361	240	35	cbpso	cbpso	ADJ
alkej-361	240	36	algorithm	algorithm	NOUN
alkej-361	240	37	to	to	PART
alkej-361	240	38	find	find	VERB
alkej-361	240	39	the	the	DET
alkej-361	240	40	near	near	ADV
alkej-361	240	41	-	-	PUNCT
alkej-361	240	42	optimal	optimal	ADJ
alkej-361	240	43	path	path	NOUN
alkej-361	240	44	for	for	ADP
alkej-361	240	45	the	the	DET
alkej-361	240	46	robot	robot	NOUN
alkej-361	240	47	manipulator	manipulator	NOUN
alkej-361	240	48	in	in	ADP
alkej-361	240	49	the	the	DET
alkej-361	240	50	joint	joint	ADJ
alkej-361	240	51	space	space	NOUN
alkej-361	240	52	,	,	PUNCT
alkej-361	240	53	the	the	DET
alkej-361	240	54	results	result	NOUN
alkej-361	240	55	from	from	ADP
alkej-361	240	56	the	the	DET
alkej-361	240	57	table	table	NOUN
alkej-361	240	58	below	below	ADP
alkej-361	240	59	clearly	clearly	ADV
alkej-361	240	60	confirm	confirm	VERB
alkej-361	240	61	that	that	SCONJ
alkej-361	240	62	the	the	DET
alkej-361	240	63	proposed	propose	VERB
alkej-361	240	64	algorithm	algorithm	NOUN
alkej-361	240	65	of	of	ADP
alkej-361	240	66	modified	modify	VERB
alkej-361	240	67	pso	pso	NOUN
alkej-361	240	68	based	base	VERB
alkej-361	240	69	on	on	ADP
alkej-361	240	70	d	d	PROPN
alkej-361	240	71	*	*	PUNCT
alkej-361	240	72	algorithm	algorithm	NOUN
alkej-361	240	73	has	have	VERB
alkej-361	240	74	better	well	ADJ
alkej-361	240	75	performance	performance	NOUN
alkej-361	240	76	in	in	ADP
alkej-361	240	77	any	any	DET
alkej-361	240	78	two	two	NUM
alkej-361	240	79	-	-	PUNCT
alkej-361	240	80	link	link	NOUN
alkej-361	240	81	robot	robot	NOUN
alkej-361	240	82	environment	environment	NOUN
alkej-361	240	83	.	.	PUNCT
alkej-361	241	1	the	the	DET
alkej-361	241	2	proposed	propose	VERB
alkej-361	241	3	method	method	NOUN
alkej-361	241	4	has	have	VERB
alkej-361	241	5	the	the	DET
alkej-361	241	6	ability	ability	NOUN
alkej-361	241	7	for	for	ADP
alkej-361	241	8	finding	find	VERB
alkej-361	241	9	the	the	DET
alkej-361	241	10	optimal	optimal	ADJ
alkej-361	241	11	shortest	short	ADJ
alkej-361	241	12	path	path	NOUN
alkej-361	241	13	solution	solution	NOUN
alkej-361	241	14	in	in	ADP
alkej-361	241	15	many	many	ADJ
alkej-361	241	16	easy	easy	ADJ
alkej-361	241	17	and	and	CCONJ
alkej-361	241	18	difficult	difficult	ADJ
alkej-361	241	19	environments	environment	NOUN
alkej-361	241	20	.	.	PUNCT
alkej-361	242	1	table	table	NOUN
alkej-361	242	2	(	(	PUNCT
alkej-361	242	3	2	2	NUM
alkej-361	242	4	)	)	PUNCT
alkej-361	242	5	shows	show	VERB
alkej-361	242	6	test	test	NOUN
alkej-361	242	7	data	datum	NOUN
alkej-361	242	8	of	of	ADP
alkej-361	242	9	computation	computation	NOUN
alkej-361	242	10	time	time	NOUN
alkej-361	242	11	(	(	PUNCT
alkej-361	242	12	s	s	NOUN
alkej-361	242	13	)	)	PUNCT
alkej-361	242	14	generated	generate	VERB
alkej-361	242	15	by	by	ADP
alkej-361	242	16	cbpso	cbpso	NOUN
alkej-361	242	17	and	and	CCONJ
alkej-361	242	18	d	d	X
alkej-361	242	19	*	*	PUNCT
alkej-361	242	20	based	base	VERB
alkej-361	242	21	pso	pso	NOUN
alkej-361	242	22	algorithms	algorithm	NOUN
alkej-361	242	23	,	,	PUNCT
alkej-361	242	24	corresponding	correspond	VERB
alkej-361	242	25	to	to	ADP
alkej-361	242	26	the	the	DET
alkej-361	242	27	different	different	ADJ
alkej-361	242	28	number	number	NOUN
alkej-361	242	29	of	of	ADP
alkej-361	242	30	obstacles	obstacle	NOUN
alkej-361	242	31	existence	existence	NOUN
alkej-361	242	32	workspace	workspace	NOUN
alkej-361	242	33	types	type	NOUN
alkej-361	242	34	of	of	ADP
alkej-361	242	35	the	the	DET
alkej-361	242	36	workspace	workspace	NOUN
alkej-361	242	37	and	and	CCONJ
alkej-361	242	38	optimality	optimality	NOUN
alkej-361	242	39	of	of	ADP
alkej-361	242	40	the	the	DET
alkej-361	242	41	generated	generate	VERB
alkej-361	242	42	path	path	NOUN
alkej-361	242	43	.	.	PUNCT
alkej-361	243	1	table	table	NOUN
alkej-361	243	2	2	2	NUM
alkej-361	243	3	,	,	PUNCT
alkej-361	243	4	the	the	DET
alkej-361	243	5	comparison	comparison	NOUN
alkej-361	243	6	of	of	ADP
alkej-361	243	7	different	different	ADJ
alkej-361	243	8	algorithms	algorithm	NOUN
alkej-361	243	9	.	.	PUNCT
alkej-361	244	1	cbpso	cbpso	NOUN
alkej-361	244	2	algorithm	algorithm	NOUN
alkej-361	245	1	d	d	X
alkej-361	245	2	*	*	PUNCT
alkej-361	245	3	based	base	VERB
alkej-361	245	4	pso	pso	NOUN
alkej-361	245	5	computation	computation	NOUN
alkej-361	245	6	time(s	time(s	NOUN
alkej-361	245	7	)	)	PUNCT
alkej-361	245	8	64.65	64.65	NUM
alkej-361	245	9	63.5	63.5	NUM
alkej-361	245	10	number	number	NOUN
alkej-361	245	11	of	of	ADP
alkej-361	245	12	obstacles	obstacle	NOUN
alkej-361	245	13	less	less	ADJ
alkej-361	245	14	than	than	ADP
alkej-361	245	15	4	4	NUM
alkej-361	245	16	more	more	ADJ
alkej-361	245	17	than	than	ADP
alkej-361	245	18	4	4	NUM
alkej-361	245	19	workspace	workspace	NOUN
alkej-361	245	20	joint	joint	ADJ
alkej-361	245	21	space	space	NOUN
alkej-361	245	22	cartesian	cartesian	ADJ
alkej-361	245	23	space	space	NOUN
alkej-361	245	24	optimality	optimality	NOUN
alkej-361	245	25	of	of	ADP
alkej-361	245	26	the	the	DET
alkej-361	245	27	path	path	NOUN
alkej-361	245	28	near	near	ADV
alkej-361	245	29	to	to	ADP
alkej-361	245	30	optimal	optimal	ADJ
alkej-361	245	31	optimal	optimal	ADJ
alkej-361	245	32	shortest	short	ADJ
alkej-361	245	33	path	path	NOUN
alkej-361	245	34	in	in	ADP
alkej-361	245	35	contrast	contrast	NOUN
alkej-361	245	36	,	,	PUNCT
alkej-361	245	37	it	it	PRON
alkej-361	245	38	is	be	AUX
alkej-361	245	39	possible	possible	ADJ
alkej-361	245	40	to	to	PART
alkej-361	245	41	observe	observe	VERB
alkej-361	245	42	some	some	DET
alkej-361	245	43	ambiguity	ambiguity	NOUN
alkej-361	245	44	in	in	ADP
alkej-361	245	45	the	the	DET
alkej-361	245	46	performance	performance	NOUN
alkej-361	245	47	of	of	ADP
alkej-361	245	48	the	the	DET
alkej-361	245	49	proposed	propose	VERB
alkej-361	245	50	algorithm	algorithm	NOUN
alkej-361	245	51	in	in	ADP
alkej-361	245	52	online	online	ADJ
alkej-361	245	53	path	path	NOUN
alkej-361	245	54	planning	planning	NOUN
alkej-361	245	55	process	process	NOUN
alkej-361	245	56	with	with	ADP
alkej-361	245	57	static	static	ADJ
alkej-361	245	58	and	and	CCONJ
alkej-361	245	59	dynamic	dynamic	ADJ
alkej-361	245	60	obstacles	obstacle	NOUN
alkej-361	245	61	.	.	PUNCT
alkej-361	246	1	11	11	NUM
alkej-361	246	2	.	.	PUNCT
alkej-361	247	1	reference	reference	NOUN
alkej-361	247	2	[	[	X
alkej-361	247	3	1	1	X
alkej-361	247	4	]	]	X
alkej-361	247	5	kelly	kelly	PROPN
alkej-361	247	6	r.	r.	PROPN
alkej-361	247	7	,	,	PUNCT
alkej-361	247	8	santibanez	santibanez	VERB
alkej-361	247	9	v.	v.	ADV
alkej-361	247	10	and	and	CCONJ
alkej-361	247	11	loria	loria	PROPN
alkej-361	247	12	a.	a.	PROPN
alkej-361	247	13	(	(	PUNCT
alkej-361	247	14	2005	2005	NUM
alkej-361	247	15	)	)	PUNCT
alkej-361	247	16	,	,	PUNCT
alkej-361	247	17	"	"	PUNCT
alkej-361	247	18	control	control	NOUN
alkej-361	247	19	of	of	ADP
alkej-361	247	20	robot	robot	NOUN
alkej-361	247	21	manipulators	manipulator	NOUN
alkej-361	247	22	in	in	ADP
alkej-361	247	23	joint	joint	ADJ
alkej-361	247	24	space	space	NOUN
alkej-361	247	25	"	"	PUNCT
alkej-361	247	26	,	,	PUNCT
alkej-361	247	27	springer	springer	NOUN
alkej-361	247	28	,	,	PUNCT
alkej-361	247	29	heidelberg	heidelberg	PROPN
alkej-361	247	30	,	,	PUNCT
alkej-361	247	31	new	new	PROPN
alkej-361	247	32	york	york	PROPN
alkej-361	247	33	,	,	PUNCT
alkej-361	247	34	hong	hong	PROPN
alkej-361	247	35	kong	kong	PROPN
alkej-361	247	36	,	,	PUNCT
alkej-361	247	37	london	london	PROPN
alkej-361	247	38	,	,	PUNCT
alkej-361	247	39	milan	milan	PROPN
alkej-361	247	40	,	,	PUNCT
alkej-361	247	41	paris	paris	PROPN
alkej-361	247	42	,	,	PUNCT
alkej-361	247	43	tokyo	tokyo	PROPN
alkej-361	247	44	.	.	PUNCT
alkej-361	248	1	[	[	X
alkej-361	248	2	2	2	NUM
alkej-361	248	3	]	]	PUNCT
alkej-361	248	4	rakibul	rakibul	PROPN
alkej-361	248	5	islam	islam	PROPN
alkej-361	248	6	and	and	CCONJ
alkej-361	248	7	tajmiruzzaman	tajmiruzzaman	ADJ
alkej-361	248	8	(	(	PUNCT
alkej-361	248	9	2014	2014	NUM
alkej-361	248	10	)	)	PUNCT
alkej-361	248	11	,	,	PUNCT
alkej-361	248	12	"	"	PUNCT
alkej-361	248	13	autonomous	autonomous	ADJ
alkej-361	248	14	robot	robot	NOUN
alkej-361	248	15	path	path	NOUN
alkej-361	248	16	planning	planning	NOUN
alkej-361	248	17	using	use	VERB
alkej-361	248	18	particle	particle	NOUN
alkej-361	248	19	swarm	swarm	NOUN
alkej-361	248	20	optimization	optimization	NOUN
alkej-361	248	21	in	in	ADP
alkej-361	248	22	dynamic	dynamic	ADJ
alkej-361	248	23	environment	environment	NOUN
alkej-361	248	24	with	with	ADP
alkej-361	248	25	mobile	mobile	ADJ
alkej-361	248	26	obstacles	obstacle	NOUN
alkej-361	248	27	&	&	CCONJ
alkej-361	248	28	multiple	multiple	ADJ
alkej-361	248	29	target	target	PROPN
alkej-361	248	30	"	"	PUNCT
alkej-361	248	31	,	,	PUNCT
alkej-361	248	32	icmiee	icmiee	PROPN
alkej-361	248	33	,	,	PUNCT
alkej-361	248	34	bangladesh	bangladesh	NOUN
alkej-361	248	35	.	.	PUNCT
alkej-361	249	1	[	[	X
alkej-361	249	2	3	3	X
alkej-361	249	3	]	]	X
alkej-361	249	4	ahmed	ahmed	PROPN
alkej-361	249	5	t.	t.	PROPN
alkej-361	249	6	sadiq	sadiq	PROPN
alkej-361	249	7	,	,	PUNCT
alkej-361	250	1	a.	a.	NOUN
alkej-361	250	2	h.	h.	PROPN
alkej-361	250	3	h.(2013),"swarm	h.(2013),"swarm	PROPN
alkej-361	250	4	robot	robot	NOUN
alkej-361	250	5	path	path	NOUN
alkej-361	250	6	planning	planning	NOUN
alkej-361	250	7	using	use	VERB
alkej-361	250	8	hybrid	hybrid	ADJ
alkej-361	250	9	pso	pso	NOUN
alkej-361	250	10	with	with	ADP
alkej-361	250	11	d	d	PROPN
alkej-361	250	12	*	*	PUNCT
alkej-361	250	13	algorithms	algorithm	NOUN
alkej-361	250	14	in	in	ADP
alkej-361	250	15	dynamic	dynamic	ADJ
alkej-361	250	16	environment	environment	NOUN
alkej-361	250	17	"	"	PUNCT
alkej-361	250	18	,	,	PUNCT
alkej-361	250	19	iraq	iraq	PROPN
alkej-361	250	20	.	.	PUNCT
alkej-361	251	1	[	[	X
alkej-361	251	2	4	4	NUM
alkej-361	251	3	]	]	X
alkej-361	251	4	ata	ata	X
alkej-361	251	5	,	,	PUNCT
alkej-361	251	6	a.	a.	NOUN
alkej-361	251	7	a.	a.	PROPN
alkej-361	251	8	(	(	PUNCT
alkej-361	251	9	2007),"optimal	2007),"optimal	ADJ
alkej-361	251	10	trajectory	trajectory	NOUN
alkej-361	251	11	planning	planning	NOUN
alkej-361	251	12	of	of	ADP
alkej-361	251	13	manipulators",journal	manipulators",journal	ADJ
alkej-361	251	14	of	of	ADP
alkej-361	251	15	engineering	engineering	NOUN
alkej-361	251	16	science	science	NOUN
alkej-361	251	17	and	and	CCONJ
alkej-361	251	18	technology	technology	NOUN
alkej-361	251	19	,	,	PUNCT
alkej-361	251	20	vol	vol	NOUN
alkej-361	251	21	.	.	PROPN
alkej-361	252	1	2	2	NUM
alkej-361	252	2	.	.	PUNCT
alkej-361	253	1	[	[	X
alkej-361	253	2	5	5	X
alkej-361	253	3	]	]	PUNCT
alkej-361	253	4	shahab	shahab	PROPN
alkej-361	253	5	a.	a.	PROPN
alkej-361	253	6	,	,	PUNCT
alkej-361	253	7	m.	m.	PROPN
alkej-361	253	8	usman	usman	PROPN
alkej-361	253	9	rafique	rafique	PROPN
alkej-361	253	10	,	,	PUNCT
alkej-361	253	11	and	and	CCONJ
alkej-361	253	12	m.	m.	PROPN
alkej-361	253	13	umer	umer	PROPN
alkej-361	253	14	khan	khan	PROPN
alkej-361	253	15	(	(	PUNCT
alkej-361	253	16	2015	2015	NUM
alkej-361	253	17	)	)	PUNCT
alkej-361	253	18	,	,	PUNCT
alkej-361	253	19	"	"	PUNCT
alkej-361	253	20	mobile	mobile	ADJ
alkej-361	253	21	robot	robot	NOUN
alkej-361	253	22	path	path	NOUN
alkej-361	253	23	planning	planning	NOUN
alkej-361	253	24	in	in	ADP
alkej-361	253	25	static	static	ADJ
alkej-361	253	26	environments	environment	NOUN
alkej-361	253	27	using	use	VERB
alkej-361	253	28	particle	particle	NOUN
alkej-361	253	29	swarm	swarm	NOUN
alkej-361	253	30	optimization	optimization	NOUN
alkej-361	253	31	"	"	PUNCT
alkej-361	253	32	,	,	PUNCT
alkej-361	253	33	international	international	ADJ
alkej-361	253	34	journal	journal	NOUN
alkej-361	253	35	of	of	ADP
alkej-361	253	36	computer	computer	NOUN
alkej-361	253	37	science	science	NOUN
alkej-361	253	38	and	and	CCONJ
alkej-361	253	39	electronics	electronic	NOUN
alkej-361	253	40	engineering	engineering	NOUN
alkej-361	253	41	(	(	PUNCT
alkej-361	253	42	ijcsee	ijcsee	NOUN
alkej-361	253	43	)	)	PUNCT
alkej-361	253	44	,	,	PUNCT
alkej-361	253	45	vol	vol	NOUN
alkej-361	253	46	.	.	PROPN
alkej-361	254	1	3	3	X
alkej-361	254	2	.	.	PUNCT
alkej-361	255	1	[	[	X
alkej-361	255	2	6	6	NUM
alkej-361	255	3	]	]	X
alkej-361	255	4	chao	chao	PROPN
alkej-361	255	5	and	and	CCONJ
alkej-361	255	6	liu	liu	PROPN
alkej-361	255	7	(	(	PUNCT
alkej-361	255	8	2012	2012	NUM
alkej-361	255	9	)	)	PUNCT
alkej-361	255	10	,	,	PUNCT
alkej-361	255	11	"	"	PUNCT
alkej-361	255	12	modelling	modelling	NOUN
alkej-361	255	13	and	and	CCONJ
alkej-361	255	14	optimization	optimization	NOUN
alkej-361	255	15	approach	approach	NOUN
alkej-361	255	16	for	for	ADP
alkej-361	255	17	trajectory	trajectory	NOUN
alkej-361	255	18	planning	planning	NOUN
alkej-361	255	19	of	of	ADP
alkej-361	255	20	three	three	NUM
alkej-361	255	21	freedom	freedom	NOUN
alkej-361	255	22	planar	planar	ADJ
alkej-361	255	23	manipulators	manipulator	NOUN
alkej-361	255	24	"	"	PUNCT
alkej-361	255	25	,	,	PUNCT
alkej-361	255	26	journal	journal	NOUN
alkej-361	255	27	of	of	ADP
alkej-361	255	28	pure	pure	ADJ
alkej-361	255	29	and	and	CCONJ
alkej-361	255	30	applied	applied	ADJ
alkej-361	255	31	mathematics	mathematic	NOUN
alkej-361	255	32	:	:	PUNCT
alkej-361	255	33	vol	vol	NOUN
alkej-361	255	34	.	.	PROPN
alkej-361	255	35	7	7	NUM
alkej-361	255	36	,	,	PUNCT
alkej-361	255	37	no.1	no.1	NUM
alkej-361	255	38	,	,	PUNCT
alkej-361	255	39	pp	pp	ADJ
alkej-361	255	40	.	.	PUNCT
alkej-361	256	1	1	1	NUM
alkej-361	256	2	-	-	SYM
alkej-361	256	3	20	20	NUM
alkej-361	256	4	.	.	PUNCT
alkej-361	257	1	[	[	X
alkej-361	257	2	7	7	NUM
alkej-361	257	3	]	]	X
alkej-361	257	4	rokbani	rokbani	PROPN
alkej-361	257	5	and	and	CCONJ
alkej-361	257	6	alimi	alimi	PROPN
alkej-361	257	7	(	(	PUNCT
alkej-361	257	8	2013	2013	NUM
alkej-361	257	9	)	)	PUNCT
alkej-361	257	10	,	,	PUNCT
alkej-361	257	11	"	"	PUNCT
alkej-361	257	12	inverse	inverse	ADJ
alkej-361	257	13	kinematics	kinematic	NOUN
alkej-361	257	14	using	use	VERB
alkej-361	257	15	particle	particle	NOUN
alkej-361	257	16	swarm	swarm	NOUN
alkej-361	257	17	optimization	optimization	NOUN
alkej-361	257	18	,	,	PUNCT
alkej-361	257	19	a	a	DET
alkej-361	257	20	statistical	statistical	ADJ
alkej-361	257	21	analysis	analysis	NOUN
alkej-361	257	22	"	"	PUNCT
alkej-361	257	23	,	,	PUNCT
alkej-361	257	24	procedia	procedia	PROPN
alkej-361	257	25	engineering	engineering	NOUN
alkej-361	257	26	,	,	PUNCT
alkej-361	257	27	vol	vol	NOUN
alkej-361	257	28	.	.	PROPN
alkej-361	257	29	64	64	NUM
alkej-361	257	30	.	.	PUNCT
alkej-361	258	1	[	[	X
alkej-361	258	2	8	8	NUM
alkej-361	258	3	]	]	X
alkej-361	258	4	kim	kim	PROPN
alkej-361	258	5	and	and	CCONJ
alkej-361	258	6	lee	lee	PROPN
alkej-361	258	7	(	(	PUNCT
alkej-361	258	8	2015	2015	NUM
alkej-361	258	9	)	)	PUNCT
alkej-361	258	10	,	,	PUNCT
alkej-361	258	11	"	"	PUNCT
alkej-361	258	12	trajectory	trajectory	NOUN
alkej-361	258	13	optimization	optimization	NOUN
alkej-361	258	14	with	with	ADP
alkej-361	258	15	particle	particle	NOUN
alkej-361	258	16	swarm	swarm	NOUN
alkej-361	258	17	optimization	optimization	NOUN
alkej-361	258	18	for	for	ADP
alkej-361	258	19	manipulator	manipulator	NOUN
alkej-361	258	20	motion	motion	NOUN
alkej-361	258	21	planning	planning	NOUN
alkej-361	258	22	"	"	PUNCT
alkej-361	258	23	,	,	PUNCT
alkej-361	258	24	ieee	ieee	NOUN
alkej-361	258	25	transaction	transaction	NOUN
alkej-361	258	26	on	on	ADP
alkej-361	258	27	industrial	industrial	ADJ
alkej-361	258	28	informatics	informatic	NOUN
alkej-361	258	29	.	.	PUNCT
alkej-361	259	1	[	[	X
alkej-361	259	2	9	9	NUM
alkej-361	259	3	]	]	SYM
alkej-361	259	4	craig	craig	PROPN
alkej-361	259	5	,	,	PUNCT
alkej-361	259	6	j.	j.	PROPN
alkej-361	259	7	j.	j.	PROPN
alkej-361	259	8	(	(	PUNCT
alkej-361	259	9	1989	1989	NUM
alkej-361	259	10	)	)	PUNCT
alkej-361	259	11	,	,	PUNCT
alkej-361	259	12	"	"	PUNCT
alkej-361	259	13	introduction	introduction	NOUN
alkej-361	259	14	to	to	ADP
alkej-361	259	15	robotics	robotic	NOUN
alkej-361	259	16	"	"	PUNCT
alkej-361	259	17	,	,	PUNCT
alkej-361	259	18	addison	addison	PROPN
alkej-361	259	19	-	-	PUNCT
alkej-361	259	20	wesley	wesley	PROPN
alkej-361	259	21	.	.	PUNCT
alkej-361	260	1	[	[	X
alkej-361	260	2	10	10	NUM
alkej-361	260	3	]	]	PUNCT
alkej-361	260	4	wesam	wesam	NOUN
alkej-361	260	5	mohammed	mohammed	PROPN
alkej-361	260	6	(	(	PUNCT
alkej-361	260	7	2011	2011	NUM
alkej-361	260	8	)	)	PUNCT
alkej-361	260	9	,	,	PUNCT
alkej-361	260	10	"	"	PUNCT
alkej-361	260	11	solution	solution	NOUN
alkej-361	260	12	of	of	ADP
alkej-361	260	13	inverse	inverse	ADJ
alkej-361	260	14	kinematics	kinematic	NOUN
alkej-361	260	15	for	for	ADP
alkej-361	260	16	scara	scara	NOUN
alkej-361	260	17	manipulator	manipulator	NOUN
alkej-361	260	18	using	use	VERB
alkej-361	260	19	adaptive	adaptive	ADJ
alkej-361	260	20	neuro	neuro	NOUN
alkej-361	260	21	-	-	PUNCT
alkej-361	260	22	fuzzy	fuzzy	ADJ
alkej-361	260	23	network	network	NOUN
alkej-361	260	24	"	"	PUNCT
alkej-361	260	25	,	,	PUNCT
alkej-361	260	26	ijsc	ijsc	NOUN
alkej-361	260	27	,	,	PUNCT
alkej-361	260	28	vol.2	vol.2	PROPN
alkej-361	260	29	,	,	PUNCT
alkej-361	260	30	no.4	no.4	PROPN
alkej-361	260	31	.	.	PUNCT
alkej-361	261	1	[	[	X
alkej-361	261	2	11	11	NUM
alkej-361	261	3	]	]	PUNCT
alkej-361	261	4	cubero	cubero	PROPN
alkej-361	261	5	s	s	PROPN
alkej-361	261	6	(	(	PUNCT
alkej-361	261	7	2006	2006	NUM
alkej-361	261	8	)	)	PUNCT
alkej-361	261	9	,	,	PUNCT
alkej-361	261	10	"	"	PUNCT
alkej-361	261	11	industrial	industrial	ADJ
alkej-361	261	12	robotics	robotic	NOUN
alkej-361	261	13	theory	theory	NOUN
alkej-361	261	14	modelling	model	VERB
alkej-361	261	15	control	control	NOUN
alkej-361	261	16	"	"	PUNCT
alkej-361	261	17	,	,	PUNCT
alkej-361	261	18	isbn	isbn	ADJ
alkej-361	261	19	.	.	PUNCT
alkej-361	262	1	[	[	X
alkej-361	262	2	12	12	NUM
alkej-361	262	3	]	]	X
alkej-361	262	4	richard	richard	PROPN
alkej-361	262	5	m.	m.	PROPN
alkej-361	262	6	,	,	PUNCT
alkej-361	262	7	zexiang	zexiang	PROPN
alkej-361	262	8	li	li	PROPN
alkej-361	262	9	and	and	CCONJ
alkej-361	262	10	s.	s.	PROPN
alkej-361	262	11	shankar	shankar	PROPN
alkej-361	262	12	(	(	PUNCT
alkej-361	262	13	1994),"mathematical	1994),"mathematical	ADJ
alkej-361	262	14	introduction	introduction	NOUN
alkej-361	262	15	to	to	ADP
alkej-361	262	16	robotic	robotic	ADJ
alkej-361	262	17	manipulation	manipulation	NOUN
alkej-361	262	18	"	"	PUNCT
alkej-361	262	19	.	.	PUNCT
alkej-361	263	1	[	[	X
alkej-361	263	2	13	13	NUM
alkej-361	263	3	]	]	PUNCT
alkej-361	263	4	m.	m.	NOUN
alkej-361	263	5	o’malley	o’malley	PROPN
alkej-361	263	6	(	(	PUNCT
alkej-361	263	7	2011	2011	NUM
alkej-361	263	8	)	)	PUNCT
alkej-361	263	9	,	,	PUNCT
alkej-361	263	10	"	"	PUNCT
alkej-361	263	11	introduction	introduction	NOUN
alkej-361	263	12	to	to	ADP
alkej-361	263	13	robotics	robotic	NOUN
alkej-361	263	14	,	,	PUNCT
alkej-361	263	15	inverse	inverse	NOUN
alkej-361	263	16	manipulator	manipulator	NOUN
alkej-361	263	17	kinematics	kinematic	NOUN
alkej-361	263	18	"	"	PUNCT
alkej-361	263	19	,	,	PUNCT
alkej-361	263	20	international	international	ADJ
alkej-361	263	21	journal	journal	NOUN
alkej-361	263	22	on	on	ADP
alkej-361	263	23	soft	soft	ADJ
alkej-361	263	24	computing	computing	NOUN
alkej-361	263	25	(	(	PUNCT
alkej-361	263	26	ijsc	ijsc	NOUN
alkej-361	263	27	)	)	PUNCT
alkej-361	263	28	vol.2	vol.2	PROPN
alkej-361	263	29	,	,	PUNCT
alkej-361	263	30	no.4	no.4	PROPN
alkej-361	263	31	.	.	PUNCT
alkej-361	264	1	[	[	X
alkej-361	264	2	14	14	NUM
alkej-361	264	3	]	]	X
alkej-361	264	4	w.	w.	PROPN
alkej-361	264	5	spong	spong	PROPN
alkej-361	264	6	,	,	PUNCT
alkej-361	264	7	seth	seth	PROPN
alkej-361	264	8	hutchi	hutchi	PROPN
alkej-361	264	9	nson	nson	PROPN
alkej-361	264	10	,	,	PUNCT
alkej-361	264	11	and	and	CCONJ
alkej-361	264	12	m.	m.	NOUN
alkej-361	264	13	vidyasagar	vidyasagar	NOUN
alkej-361	264	14	(	(	PUNCT
alkej-361	264	15	2005	2005	NUM
alkej-361	264	16	)	)	PUNCT
alkej-361	264	17	,	,	PUNCT
alkej-361	264	18	robot	robot	NOUN
alkej-361	264	19	modeling	modeling	NOUN
alkej-361	264	20	and	and	CCONJ
alkej-361	264	21	control,1st	control,1st	PROPN
alkej-361	264	22	ed	ed	NOUN
alkej-361	264	23	,	,	PUNCT
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alkej-361	264	25	.	.	PUNCT
alkej-361	265	1	[	[	X
alkej-361	265	2	15	15	NUM
alkej-361	265	3	]	]	X
alkej-361	265	4	carl	carl	PROPN
alkej-361	265	5	d.	d.	PROPN
alkej-361	265	6	iii	iii	PROPN
alkej-361	265	7	crane	crane	NOUN
alkej-361	265	8	.	.	PUNCT
alkej-361	266	1	by	by	ADP
alkej-361	266	2	joseph	joseph	PROPN
alkej-361	266	3	duffy	duffy	PROPN
alkej-361	266	4	(	(	PUNCT
alkej-361	266	5	2009	2009	NUM
alkej-361	266	6	)	)	PUNCT
alkej-361	266	7	,	,	PUNCT
alkej-361	266	8	"	"	PUNCT
alkej-361	266	9	kinematic	kinematic	ADJ
alkej-361	266	10	analysis	analysis	NOUN
alkej-361	266	11	of	of	ADP
alkej-361	266	12	robot	robot	NOUN
alkej-361	266	13	manipulators	manipulator	NOUN
alkej-361	266	14	"	"	PUNCT
alkej-361	266	15	,	,	PUNCT
alkej-361	266	16	cambridge	cambridge	PROPN
alkej-361	266	17	university	university	PROPN
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alkej-361	266	19	.	.	PUNCT
alkej-361	267	1	[	[	X
alkej-361	267	2	16	16	NUM
alkej-361	267	3	]	]	X
alkej-361	267	4	ahmadzadeh	ahmadzadeh	PROPN
alkej-361	267	5	s.	s.	PROPN
alkej-361	267	6	and	and	CCONJ
alkej-361	267	7	ghanavati	ghanavati	PROPN
alkej-361	267	8	m.	m.	NOUN
alkej-361	267	9	(	(	PUNCT
alkej-361	267	10	2012	2012	NUM
alkej-361	267	11	)	)	PUNCT
alkej-361	267	12	,	,	PUNCT
alkej-361	267	13	"	"	PUNCT
alkej-361	267	14	navigation	navigation	NOUN
alkej-361	267	15	of	of	ADP
alkej-361	267	16	mobile	mobile	NOUN
alkej-361	267	17	robot	robot	NOUN
alkej-361	267	18	using	use	VERB
alkej-361	267	19	the	the	DET
alkej-361	267	20	pso	pso	NOUN
alkej-361	267	21	particle	particle	NOUN
alkej-361	267	22	swarm	swarm	NOUN
alkej-361	267	23	optimization	optimization	NOUN
alkej-361	267	24	"	"	PUNCT
alkej-361	267	25	,	,	PUNCT
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alkej-361	267	28	academic	academic	ADJ
alkej-361	267	29	and	and	CCONJ
alkej-361	267	30	applied	applied	ADJ
alkej-361	267	31	studies	study	NOUN
alkej-361	267	32	,	,	PUNCT
alkej-361	267	33	vol	vol	NOUN
alkej-361	267	34	.	.	PROPN
alkej-361	268	1	2	2	NUM
alkej-361	268	2	,	,	PUNCT
alkej-361	268	3	pp	pp	ADJ
alkej-361	268	4	.	.	PUNCT
alkej-361	269	1	32	32	NUM
alkej-361	269	2	-	-	SYM
alkej-361	269	3	38	38	NUM
alkej-361	269	4	.	.	PUNCT
alkej-361	270	1	[	[	X
alkej-361	270	2	17	17	NUM
alkej-361	270	3	]	]	X
alkej-361	270	4	s.n.sivanandam	s.n.sivanandam	NOUN
alkej-361	270	5	and	and	CCONJ
alkej-361	270	6	p.visalakshi	p.visalakshi	ADJ
alkej-361	270	7	(	(	PUNCT
alkej-361	270	8	2007	2007	NUM
alkej-361	270	9	)	)	PUNCT
alkej-361	270	10	,	,	PUNCT
alkej-361	270	11	"	"	PUNCT
alkej-361	270	12	multiprocessor	multiprocessor	NOUN
alkej-361	270	13	scheduling	scheduling	NOUN
alkej-361	270	14	using	use	VERB
alkej-361	270	15	hybrid	hybrid	ADJ
alkej-361	270	16	particle	particle	NOUN
alkej-361	270	17	swarm	swarm	NOUN
alkej-361	270	18	optimization	optimization	NOUN
alkej-361	270	19	with	with	ADP
alkej-361	270	20	dynamically	dynamically	ADV
alkej-361	270	21	varying	vary	VERB
alkej-361	270	22	inertia	inertia	NOUN
alkej-361	270	23	"	"	PUNCT
alkej-361	270	24	,	,	PUNCT
alkej-361	270	25	international	international	ADJ
alkej-361	270	26	journal	journal	NOUN
alkej-361	270	27	of	of	ADP
alkej-361	270	28	computer	computer	NOUN
alkej-361	270	29	science	science	PROPN
alkej-361	270	30	&	&	CCONJ
alkej-361	270	31	applications	application	NOUN
alkej-361	270	32	,	,	PUNCT
alkej-361	270	33	vol	vol	NOUN
alkej-361	270	34	.	.	NOUN
alkej-361	270	35	4	4	NUM
alkej-361	270	36	issue	issue	NOUN
alkej-361	270	37	3	3	NUM
alkej-361	270	38	,	,	PUNCT
alkej-361	270	39	pp	pp	ADJ
alkej-361	270	40	.	.	PUNCT
alkej-361	271	1	95	95	NUM
alkej-361	271	2	-	-	SYM
alkej-361	271	3	106	106	NUM
alkej-361	271	4	.	.	PUNCT
alkej-361	272	1	[	[	X
alkej-361	272	2	18	18	NUM
alkej-361	272	3	]	]	X
alkej-361	272	4	sanjay	sanjay	PROPN
alkej-361	272	5	sarma	sarma	PROPN
alkej-361	272	6	o	o	PROPN
alkej-361	272	7	v	v	PROPN
alkej-361	272	8	,	,	PUNCT
alkej-361	272	9	vishwanath	vishwanath	PROPN
alkej-361	272	10	lohit	lohit	PROPN
alkej-361	272	11	t	t	PROPN
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alkej-361	272	13	deepak	deepak	PROPN
alkej-361	272	14	jayaraj	jayaraj	PROPN
alkej-361	272	15	(	(	PUNCT
alkej-361	272	16	2012	2012	NUM
alkej-361	272	17	)	)	PUNCT
alkej-361	272	18	,	,	PUNCT
alkej-361	272	19	"	"	PUNCT
alkej-361	272	20	path	path	NOUN
alkej-361	272	21	planning	planning	NOUN
alkej-361	272	22	in	in	ADP
alkej-361	272	23	swarm	swarm	NOUN
alkej-361	272	24	robots	robot	NOUN
alkej-361	272	25	using	use	VERB
alkej-361	272	26	particle	particle	NOUN
alkej-361	272	27	swarm	swarm	NOUN
alkej-361	272	28	optimization	optimization	NOUN
alkej-361	272	29	on	on	ADP
alkej-361	272	30	potential	potential	ADJ
alkej-361	272	31	fields	field	NOUN
alkej-361	272	32	"	"	PUNCT
alkej-361	272	33	,	,	PUNCT
alkej-361	272	34	international	international	ADJ
alkej-361	272	35	journal	journal	NOUN
alkej-361	272	36	of	of	ADP
alkej-361	272	37	computer	computer	NOUN
alkej-361	272	38	applications	application	NOUN
alkej-361	272	39	,	,	PUNCT
alkej-361	272	40	vol	vol	NOUN
alkej-361	272	41	.	.	PUNCT
alkej-361	272	42	60	60	NUM
alkej-361	272	43	.	.	PUNCT
alkej-361	273	1	[	[	X
alkej-361	273	2	19	19	NUM
alkej-361	273	3	]	]	X
alkej-361	273	4	xin	xin	PROPN
alkej-361	273	5	chen	chen	PROPN
alkej-361	273	6	and	and	CCONJ
alkej-361	273	7	yangmin	yangmin	PROPN
alkej-361	273	8	li	li	PROPN
alkej-361	273	9	.	.	PROPN
alkej-361	273	10	(	(	PUNCT
alkej-361	273	11	2006	2006	NUM
alkej-361	273	12	)	)	PUNCT
alkej-361	273	13	,	,	PUNCT
alkej-361	273	14	“	"	PUNCT
alkej-361	273	15	smooth	smooth	ADJ
alkej-361	273	16	path	path	NOUN
alkej-361	273	17	planning	planning	NOUN
alkej-361	273	18	of	of	ADP
alkej-361	273	19	a	a	DET
alkej-361	273	20	mobile	mobile	ADJ
alkej-361	273	21	robot	robot	NOUN
alkej-361	273	22	using	use	VERB
alkej-361	273	23	stochastic	stochastic	ADJ
alkej-361	273	24	particle	particle	NOUN
alkej-361	273	25	swarm	swarm	NOUN
alkej-361	273	26	optimization	optimization	NOUN
alkej-361	273	27	"	"	PUNCT
alkej-361	273	28	,	,	PUNCT
alkej-361	273	29	in	in	ADP
alkej-361	273	30	proceedings	proceeding	NOUN
alkej-361	273	31	of	of	ADP
alkej-361	273	32	the	the	DET
alkej-361	273	33	ieee	ieee	NOUN
alkej-361	273	34	international	international	PROPN
alkej-361	273	35	conference	conference	NOUN
alkej-361	273	36	on	on	ADP
alkej-361	273	37	mechatronics	mechatronic	NOUN
alkej-361	273	38	and	and	CCONJ
alkej-361	273	39	automation	automation	NOUN
alkej-361	273	40	,	,	PUNCT
alkej-361	273	41	pp.1722	pp.1722	NOUN
alkej-361	273	42	-	-	SYM
alkej-361	273	43	1726	1726	NUM
alkej-361	273	44	.	.	PUNCT
alkej-361	274	1	[	[	X
alkej-361	274	2	20	20	NUM
alkej-361	274	3	]	]	X
alkej-361	274	4	shi	shi	PROPN
alkej-361	274	5	.p	.p	PROPN
alkej-361	274	6	and	and	CCONJ
alkej-361	274	7	y.	y.	PROPN
alkej-361	274	8	zhao	zhao	PROPN
alkej-361	274	9	(	(	PUNCT
alkej-361	274	10	2009	2009	NUM
alkej-361	274	11	)	)	PUNCT
alkej-361	274	12	,	,	PUNCT
alkej-361	274	13	"	"	PUNCT
alkej-361	274	14	an	an	DET
alkej-361	274	15	efficient	efficient	ADJ
alkej-361	274	16	path	path	NOUN
alkej-361	274	17	planning	planning	NOUN
alkej-361	274	18	algorithm	algorithm	NOUN
alkej-361	274	19	for	for	ADP
alkej-361	274	20	mobile	mobile	NOUN
alkej-361	274	21	robot	robot	NOUN
alkej-361	274	22	using	use	VERB
alkej-361	274	23	improved	improve	VERB
alkej-361	274	24	potential	potential	ADJ
alkej-361	274	25	field	field	NOUN
alkej-361	274	26	"	"	PUNCT
alkej-361	274	27	,	,	PUNCT
alkej-361	274	28	in	in	ADP
alkej-361	274	29	ieee	ieee	PROPN
alkej-361	274	30	international	international	ADJ
alkej-361	274	31	conference	conference	NOUN
alkej-361	274	32	on	on	ADP
alkej-361	274	33	robotics	robotic	NOUN
alkej-361	274	34	and	and	CCONJ
alkej-361	274	35	biomimetics	biomimetic	NOUN
alkej-361	274	36	,	,	PUNCT
alkej-361	274	37	pp	pp	ADP
alkej-361	274	38	.	.	PUNCT
alkej-361	274	39	1704	1704	NUM
alkej-361	274	40	-	-	SYM
alkej-361	274	41	1708	1708	NUM
alkej-361	274	42	.	.	PUNCT
alkej-361	275	1	[	[	X
alkej-361	275	2	21	21	NUM
alkej-361	275	3	]	]	PUNCT
alkej-361	275	4	nosrati	nosrati	NOUN
alkej-361	275	5	m.	m.	NOUN
alkej-361	275	6	,	,	PUNCT
alkej-361	275	7	karimi	karimi	PROPN
alkej-361	275	8	r.	r.	PROPN
alkej-361	275	9	and	and	CCONJ
alkej-361	275	10	hasanvand	hasanvand	PROPN
alkej-361	275	11	h.	h.	PROPN
alkej-361	275	12	(	(	PUNCT
alkej-361	275	13	2012	2012	NUM
alkej-361	275	14	)	)	PUNCT
alkej-361	275	15	,	,	PUNCT
alkej-361	275	16	"	"	PUNCT
alkej-361	275	17	investigation	investigation	NOUN
alkej-361	275	18	of	of	ADP
alkej-361	275	19	the	the	DET
alkej-361	275	20	d	d	PROPN
alkej-361	275	21	*	*	PUNCT
alkej-361	275	22	(	(	PUNCT
alkej-361	275	23	star	star	NOUN
alkej-361	275	24	)	)	PUNCT
alkej-361	275	25	search	search	NOUN
alkej-361	275	26	algorithms	algorithm	NOUN
alkej-361	275	27	:	:	PUNCT
alkej-361	275	28	characteristics	characteristic	NOUN
alkej-361	275	29	,	,	PUNCT
alkej-361	275	30	methods	method	NOUN
alkej-361	275	31	and	and	CCONJ
alkej-361	275	32	approaches	approach	NOUN
alkej-361	275	33	"	"	PUNCT
alkej-361	275	34	,	,	PUNCT
alkej-361	275	35	world	world	NOUN
alkej-361	275	36	applied	apply	VERB
alkej-361	275	37	programming	programming	NOUN
alkej-361	275	38	,	,	PUNCT
alkej-361	275	39	vol	vol	NOUN
alkej-361	275	40	.	.	PROPN
alkej-361	275	41	2	2	NUM
alkej-361	275	42	,	,	PUNCT
alkej-361	275	43	no.4	no.4	PROPN
alkej-361	275	44	.	.	PUNCT
alkej-361	275	45	)	)	PUNCT
alkej-361	275	46	2017	2017	NUM
alkej-361	275	47	(	(	PUNCT
alkej-361	275	48	27	27	NUM
alkej-361	275	49	-	-	SYM
alkej-361	275	50	37	37	NUM
alkej-361	275	51	،	،	NOUN
alkej-361	275	52	صفحة	صفحة	PROPN
alkej-361	275	53	3د	3د	PROPN
alkej-361	275	54	،	،	PROPN
alkej-361	275	55	العد13دجلة	العد13دجلة	PROPN
alkej-361	275	56	الخوارزمي	الخوارزمي	PROPN
alkej-361	275	57	الهندسية	الهندسية	PROPN
alkej-361	275	58	المجلم	المجلم	PROPN
alkej-361	275	59	احمد	احمد	PROPN
alkej-361	275	60	طارق	طارق	NOUN
alkej-361	275	61	صادق	صادق	ADV
alkej-361	275	62	37	37	NUM
alkej-361	275	63	*	*	PUNCT
alkej-361	275	64	dعلى	dعلى	PROPN
alkej-361	275	65	خوارزمية	خوارزمية	PROPN
alkej-361	275	66	إعتماداً	إعتماداً	PROPN
alkej-361	275	67	تقنية	تقنية	PROPN
alkej-361	275	68	سرب	سرب	PROPN
alkej-361	275	69	الطيور	الطيور	PROPN
alkej-361	275	70	المعدلة	المعدلة	PROPN
alkej-361	275	71	باستخدامتخطيط	باستخدامتخطيط	PROPN
alkej-361	275	72	المسار	المسار	PROPN
alkej-361	275	73	لذراع	لذراع	PROPN
alkej-361	275	74	الروبوت	الروبوت	PROPN
alkej-361	275	75	راس	راس	PROPN
alkej-361	275	76	عبد	عبد	ADJ
alkej-361	275	77	الرزاق	الرزاق	PROPN
alkej-361	275	78	رحيم	رحيم	PROPN
alkej-361	275	79	*	*	PROPN
alkej-361	275	80	*	*	PROPN
alkej-361	275	81	نور	نور	PROPN
alkej-361	275	82	الهدى	الهدى	NOUN
alkej-361	275	83	فضل	فضل	PROPN
alkej-361	275	84	عباس***فاحمد	عباس***فاحمد	NOUN
alkej-361	275	85	طارق	طارق	NOUN
alkej-361	275	86	صادق	صادق	ADV
alkej-361	275	87	*	*	VERB
alkej-361	275	88	الجامعة	الجامعة	NOUN
alkej-361	275	89	التكنولوجية	التكنولوجية	NOUN
alkej-361	275	90	/علوم	/علوم	PUNCT
alkej-361	276	1	الحاسوبقسم	الحاسوبقسم	PROPN
alkej-361	276	2	*	*	PROPN
alkej-361	276	3	*	*	NOUN
alkej-361	276	4	،	،	X
alkej-361	276	5	*	*	NOUN
alkej-361	276	6	*	*	PUNCT
alkej-361	276	7	الجامعة	الجامعة	NOUN
alkej-361	276	8	التكنولوجية	التكنولوجية	NOUN
alkej-361	276	9	/قسم	/قسم	PUNCT
alkej-361	277	1	السيطرة	السيطرة	PROPN
alkej-361	277	2	والنظم	والنظم	PRON
alkej-361	277	3	*	*	PROPN
alkej-361	277	4	*	*	PROPN
alkej-361	277	5	drahmed_tark@yahoo.com	drahmed_tark@yahoo.com	X
alkej-361	277	6	:	:	PUNCT
alkej-361	277	7	البريد	البريد	VERB
alkej-361	277	8	االلكتروني	االلكتروني	NOUN
alkej-361	277	9	*	*	PUNCT
alkej-361	277	10	dr.firas7010@yahoo.com	dr.firas7010@yahoo.com	X
alkej-361	277	11	:*	:*	PROPN
alkej-361	277	12	*	*	PUNCT
alkej-361	277	13	البريد	البريد	VERB
alkej-361	277	14	االلكتروني	االلكتروني	NOUN
alkej-361	277	15	nooralhudafabbas92@yahoo.com	nooralhudafabbas92@yahoo.com	X
alkej-361	277	16	*	*	PUNCT
alkej-361	277	17	*	*	PUNCT
alkej-361	277	18	*	*	NOUN
alkej-361	277	19	البريد	البريد	NOUN
alkej-361	277	20	االلكتروني	االلكتروني	NOUN
alkej-361	277	21	:	:	PUNCT
alkej-361	277	22	الخالصة	الخالصة	PROPN
alkej-361	277	23	بالغ	بالغ	VERB
alkej-361	277	24	له	له	ADP
alkej-361	277	25	دور	دور	NOUN
alkej-361	277	26	للذراع	للذراع	NOUN
alkej-361	277	27	لذلك	لذلك	NOUN
alkej-361	278	1	فان	فان	PROPN
alkej-361	278	2	إيجاد	إيجاد	PROPN
alkej-361	278	3	المساراالمثلوحظي	المساراالمثلوحظي	PROPN
alkej-361	278	4	ذراع	ذراع	PROPN
alkej-361	278	5	الروبوت	الروبوت	PROPN
alkej-361	278	6	مؤخرا	مؤخرا	PROPN
alkej-361	278	7	بالكثير	بالكثير	VERB
alkej-361	278	8	من	من	NUM
alkej-361	278	9	االهتمام	االهتمام	NOUN
alkej-361	278	10	نظرا	نظرا	NOUN
alkej-361	278	11	الستخداماته	الستخداماته	NOUN
alkej-361	278	12	المتعددة	المتعددة	VERB
alkej-361	278	13	في	في	DET
alkej-361	278	14	مختلف	مختلف	PROPN
alkej-361	278	15	التطبيقات	التطبيقات	PROPN
alkej-361	278	16	.	.	PUNCT
alkej-361	279	1	هداف	هداف	NOUN
alkej-361	279	2	الحركة	الحركة	NOUN
alkej-361	279	3	والمتضمنة	والمتضمنة	NOUN
alkej-361	279	4	:	:	PUNCT
alkej-361	279	5	تجنب	تجنب	PROPN
alkej-361	279	6	أل	أل	ADP
alkej-361	279	7	ملبيال	ملبيال	ADJ
alkej-361	279	8	المسارالمسار	المسارالمسار	NOUN
alkej-361	279	9	في	في	SCONJ
alkej-361	279	10	البحث	البحث	NOUN
alkej-361	279	11	عن	عن	PROPN
alkej-361	279	12	لتخطيط	لتخطيط	VERB
alkej-361	279	13	االساس	االساس	NOUN
alkej-361	279	14	المهمةوتتمثل	المهمةوتتمثل	NOUN
alkej-361	279	15	.	.	PUNCT
alkej-361	280	1	وتوجيهها	وتوجيهها	ADJ
alkej-361	280	2	االهمية	االهمية	NOUN
alkej-361	280	3	في	في	ADP
alkej-361	280	4	تحسين	تحسين	PROPN
alkej-361	280	5	حركات	حركات	PROPN
alkej-361	280	6	الذراع	الذراع	PROPN
alkej-361	280	7	يزي	يزي	PROPN
alkej-361	280	8	الحر	الحر	NOUN
alkej-361	280	9	لذراع	لذراع	NOUN
alkej-361	280	10	ثنائي	ثنائي	NOUN
alkej-361	281	1	الكارت	الكارت	PROPN
alkej-361	281	2	هيكلة	هيكلة	VERB
alkej-361	281	3	الفضاء	الفضاء	PROPN
alkej-361	281	4	تم	تم	PROPN
alkej-361	281	5	البحث،الحركة	البحث،الحركة	PROPN
alkej-361	281	6	،	،	PROPN
alkej-361	281	7	تقليل	تقليل	PROPN
alkej-361	281	8	تكلفة	تكلفة	PROPN
alkej-361	281	9	المسافة	المسافة	PROPN
alkej-361	281	10	وتحقيق	وتحقيق	PROPN
alkej-361	281	11	القيود	القيود	PROPN
alkej-361	281	12	الكينماتيكية	الكينماتيكية	NOUN
alkej-361	281	13	للذراع	للذراع	NOUN
alkej-361	281	14	.	.	PUNCT
alkej-361	282	1	في	في	PRON
alkej-361	282	2	هذا	هذا	NOUN
alkej-361	282	3	زمن	زمن	NOUN
alkej-361	282	4	وخفضاالصطدام	وخفضاالصطدام	PROPN
alkej-361	282	5	بالعوائق	بالعوائق	PROPN
alkej-361	282	6	،	،	PROPN
alkej-361	282	7	المسافة	المسافة	PROPN
alkej-361	282	8	اإلقليدية	اإلقليدية	PROPN
alkej-361	282	9	ومعادلة	ومعادلة	PROPN
alkej-361	282	10	*	*	PROPN
alkej-361	282	11	dمن	dمن	PROPN
alkej-361	282	12	خوارزمية	خوارزمية	ADJ
alkej-361	282	13	لاستخدام	لاستخدام	PROPN
alkej-361	282	14	كل	كل	PROPN
alkej-361	282	15	عنفضالوالذي	عنفضالوالذي	PROPN
alkej-361	282	16	يضم	يضم	PROPN
alkej-361	282	17	جميع	جميع	PROPN
alkej-361	282	18	قيم	قيم	NOUN
alkej-361	282	19	المفاصل	المفاصل	VERB
alkej-361	282	20	بضمانة	بضمانة	ADJ
alkej-361	282	21	عدم	عدم	NOUN
alkej-361	282	22	االصطدام	االصطدام	NOUN
alkej-361	282	23	بالعوائق	بالعوائق	ADJ
alkej-361	282	24	.	.	PUNCT
alkej-361	283	1	الحركة،درجات	الحركة،درجات	PROPN
alkej-361	283	2	حرية	حرية	VERB
alkej-361	283	3	لى	لى	ADP
alkej-361	283	4	ع	ع	PROPN
alkej-361	283	5	اعتماداالمعدلة	اعتماداالمعدلة	PROPN
alkej-361	283	6	للبحث	للبحث	PROPN
alkej-361	283	7	عن	عن	PROPN
alkej-361	283	8	المسار	المسار	PROPN
alkej-361	283	9	االمثل	االمثل	PROPN
alkej-361	283	10	محليا	محليا	PROPN
alkej-361	283	11	السرب	السرب	VERB
alkej-361	283	12	خوارزمية	خوارزمية	ADJ
alkej-361	283	13	واقتراحللحصول	واقتراحللحصول	PROPN
alkej-361	283	14	على	على	PROPN
alkej-361	283	15	المسافة	المسافة	NOUN
alkej-361	283	16	الدقيقة	الدقيقة	PROPN
alkej-361	283	17	والمسافة	والمسافة	ADJ
alkej-361	283	18	المقدرة	المقدرة	NOUN
alkej-361	283	19	عن	عن	ADV
alkej-361	283	20	الهدف	الهدف	VERB
alkej-361	283	21	على	على	NOUN
alkej-361	283	22	التوالي	التوالي	NOUN
alkej-361	283	23	.	.	PUNCT
alkej-361	284	1	ومعادلة	ومعادلة	PROPN
alkej-361	284	2	المسافة	المسافة	PROPN
alkej-361	284	3	اإلقليدية	اإلقليدية	PROPN
alkej-361	284	4	.	.	PUNCT
alkej-361	285	1	وقد	وقد	PROPN
alkej-361	285	2	تم	تم	PROPN
alkej-361	285	3	استخدم	استخدم	PROPN
alkej-361	285	4	المعادلة	المعادلة	PROPN
alkej-361	285	5	المتعددة	المتعددة	NOUN
alkej-361	285	6	الحدود	الحدود	VERB
alkej-361	285	7	من	من	PROPN
alkej-361	285	8	الدرجة	الدرجة	PROPN
alkej-361	285	9	الخامسة	الخامسة	PROPN
alkej-361	285	10	بغية	بغية	NOUN
alkej-361	285	11	الحصول	الحصول	PROPN
alkej-361	285	12	على	على	NOUN
alkej-361	285	13	مسار	مسار	PROPN
alkej-361	285	14	سلس	سلس	NOUN
alkej-361	285	15	*	*	PUNCT
alkej-361	286	1	dالمسافات	dالمسافات	PROPN
alkej-361	286	2	المستخلصة	المستخلصة	X
alkej-361	286	3	من	من	PROPN
alkej-361	286	4	خوارزمية	خوارزمية	PROPN
alkej-361	286	5	وفي	وفي	PROPN
alkej-361	286	6	ظل	ظل	NOUN
alkej-361	286	7	بيئات	بيئات	NOUN
alkej-361	286	8	صعبة	صعبة	NOUN
alkej-361	286	9	ومعقدة	ومعقدة	NOUN
alkej-361	286	10	.	.	PUNCT
alkej-361	287	1	المسار	المسار	PROPN
alkej-361	287	2	األمثلتبحث	األمثلتبحث	PROPN
alkej-361	287	3	بكفاءة	بكفاءة	VERB
alkej-361	287	4	عن	عن	PROPN
alkej-361	287	5	المعدلة	المعدلة	NOUN
alkej-361	287	6	السربمحددة	السربمحددة	PROPN
alkej-361	287	7	.	.	PUNCT
alkej-361	288	1	ووفقا	ووفقا	PROPN
alkej-361	288	2	للنتائج	للنتائج	PROPN
alkej-361	288	3	المستخلصة	المستخلصة	PROPN
alkej-361	288	4	،	،	PROPN
alkej-361	288	5	فأن	فأن	PROPN
alkej-361	288	6	خوارزمية	خوارزمية	PROPN
alkej-361	288	7	زمنه	زمنه	PROPN
alkej-361	288	8	مدةفي	مدةفي	PROPN