id	sid	tid	token	lemma	pos
alkej-501	1	1	view	view	VERB
alkej-501	1	2	al	al	PROPN
alkej-501	1	3	-	-	PUNCT
alkej-501	1	4	khwarizmi	khwarizmi	PROPN
alkej-501	1	5	engineering	engineering	PROPN
alkej-501	1	6	journal	journal	PROPN
alkej-501	1	7	al	al	PROPN
alkej-501	1	8	-	-	PUNCT
alkej-501	1	9	khwarizmi	khwarizmi	PROPN
alkej-501	1	10	engineering	engineering	NOUN
alkej-501	1	11	journal	journal	PROPN
alkej-501	1	12	,	,	PUNCT
alkej-501	1	13	vol	vol	NOUN
alkej-501	1	14	.	.	PROPN
alkej-501	1	15	6	6	NUM
alkej-501	1	16	,	,	PUNCT
alkej-501	1	17	no	no	INTJ
alkej-501	1	18	.	.	NOUN
alkej-501	1	19	3	3	NUM
alkej-501	1	20	,	,	PUNCT
alkej-501	1	21	pp	pp	ADV
alkej-501	1	22	36	36	NUM
alkej-501	1	23	44	44	NUM
alkej-501	1	24	(	(	PUNCT
alkej-501	1	25	2010	2010	NUM
alkej-501	1	26	)	)	PUNCT
alkej-501	1	27	guiding	guide	VERB
alkej-501	1	28	mobile	mobile	NOUN
alkej-501	1	29	robot	robot	NOUN
alkej-501	1	30	by	by	ADP
alkej-501	1	31	applying	apply	VERB
alkej-501	1	32	fuzzy	fuzzy	ADJ
alkej-501	1	33	approach	approach	NOUN
alkej-501	1	34	on	on	ADP
alkej-501	1	35	sonar	sonar	ADJ
alkej-501	1	36	sensors	sensor	NOUN
alkej-501	1	37	nabeel	nabeel	PROPN
alkej-501	1	38	k.	k.	PROPN
alkej-501	1	39	abid	abid	PROPN
alkej-501	2	1	alsahib	alsahib	PROPN
alkej-501	2	2	*	*	VERB
alkej-501	2	3	ahmed	ahmed	PROPN
alkej-501	2	4	rahman	rahman	PROPN
alkej-501	2	5	jasim	jasim	PROPN
alkej-501	2	6	*	*	PROPN
alkej-501	2	7	*	*	PUNCT
alkej-501	2	8	department	department	PROPN
alkej-501	2	9	of	of	ADP
alkej-501	2	10	mechatronics	mechatronic	NOUN
alkej-501	2	11	engineering/	engineering/	NUM
alkej-501	2	12	al	al	PROPN
alkej-501	2	13	–	–	PROPN
alkej-501	2	14	khwarizmi	khwarizmi	NOUN
alkej-501	2	15	college	college	NOUN
alkej-501	2	16	of	of	ADP
alkej-501	2	17	engineering/	engineering/	NUM
alkej-501	2	18	university	university	NOUN
alkej-501	2	19	of	of	ADP
alkej-501	2	20	baghdad	baghdad	PROPN
alkej-501	2	21	*	*	PUNCT
alkej-501	2	22	email	email	NOUN
alkej-501	2	23	:	:	PUNCT
alkej-501	3	1	dr_nabeelalsahab@hotmail.com	dr_nabeelalsahab@hotmail.com	X
alkej-501	3	2	*	*	PUNCT
alkej-501	3	3	*	*	PROPN
alkej-501	3	4	email	email	NOUN
alkej-501	3	5	:	:	PUNCT
alkej-501	3	6	engmktron@gmail.com	engmktron@gmail.com	X
alkej-501	3	7	(	(	PUNCT
alkej-501	3	8	received	receive	VERB
alkej-501	3	9	4	4	NUM
alkej-501	3	10	june	june	PROPN
alkej-501	3	11	2009	2009	NUM
alkej-501	3	12	;	;	PUNCT
alkej-501	3	13	accepted	accept	VERB
alkej-501	3	14	10	10	NUM
alkej-501	3	15	august	august	PROPN
alkej-501	3	16	2010	2010	NUM
alkej-501	3	17	)	)	PUNCT
alkej-501	3	18	abstract	abstract	ADV
alkej-501	3	19	this	this	DET
alkej-501	3	20	study	study	NOUN
alkej-501	3	21	describes	describe	VERB
alkej-501	3	22	how	how	SCONJ
alkej-501	3	23	fuzzy	fuzzy	ADJ
alkej-501	3	24	logic	logic	NOUN
alkej-501	3	25	control	control	NOUN
alkej-501	3	26	flc	flc	PROPN
alkej-501	3	27	can	can	AUX
alkej-501	3	28	be	be	AUX
alkej-501	3	29	applied	apply	VERB
alkej-501	3	30	to	to	ADP
alkej-501	3	31	sonars	sonar	NOUN
alkej-501	3	32	of	of	ADP
alkej-501	3	33	mobile	mobile	NOUN
alkej-501	3	34	robot	robot	NOUN
alkej-501	3	35	.	.	PUNCT
alkej-501	4	1	the	the	DET
alkej-501	4	2	fuzzy	fuzzy	ADJ
alkej-501	4	3	logic	logic	NOUN
alkej-501	4	4	approach	approach	NOUN
alkej-501	4	5	has	have	VERB
alkej-501	4	6	effects	effect	NOUN
alkej-501	4	7	on	on	ADP
alkej-501	4	8	the	the	DET
alkej-501	4	9	navigation	navigation	NOUN
alkej-501	4	10	of	of	ADP
alkej-501	4	11	mobile	mobile	ADJ
alkej-501	4	12	robots	robot	NOUN
alkej-501	4	13	in	in	ADP
alkej-501	4	14	a	a	DET
alkej-501	4	15	partially	partially	ADV
alkej-501	4	16	known	know	VERB
alkej-501	4	17	environment	environment	NOUN
alkej-501	4	18	that	that	PRON
alkej-501	4	19	are	be	AUX
alkej-501	4	20	used	use	VERB
alkej-501	4	21	in	in	ADP
alkej-501	4	22	different	different	ADJ
alkej-501	4	23	industrial	industrial	ADJ
alkej-501	4	24	and	and	CCONJ
alkej-501	4	25	society	society	NOUN
alkej-501	4	26	applications	application	NOUN
alkej-501	4	27	.	.	PUNCT
alkej-501	5	1	the	the	DET
alkej-501	5	2	fuzzy	fuzzy	ADJ
alkej-501	5	3	logic	logic	NOUN
alkej-501	5	4	provides	provide	VERB
alkej-501	5	5	a	a	DET
alkej-501	5	6	mechanism	mechanism	NOUN
alkej-501	5	7	for	for	ADP
alkej-501	5	8	combining	combine	VERB
alkej-501	5	9	sensor	sensor	NOUN
alkej-501	5	10	data	datum	NOUN
alkej-501	5	11	from	from	ADP
alkej-501	5	12	all	all	DET
alkej-501	5	13	sonar	sonar	ADJ
alkej-501	5	14	sensors	sensor	NOUN
alkej-501	5	15	which	which	PRON
alkej-501	5	16	present	present	VERB
alkej-501	5	17	different	different	ADJ
alkej-501	5	18	information	information	NOUN
alkej-501	5	19	.	.	PUNCT
alkej-501	6	1	the	the	DET
alkej-501	6	2	flc	flc	PROPN
alkej-501	6	3	approach	approach	NOUN
alkej-501	6	4	is	be	AUX
alkej-501	6	5	achieved	achieve	VERB
alkej-501	6	6	by	by	ADP
alkej-501	6	7	means	mean	NOUN
alkej-501	6	8	of	of	ADP
alkej-501	6	9	fuzzy	fuzzy	ADJ
alkej-501	6	10	decision	decision	NOUN
alkej-501	6	11	making	make	VERB
alkej-501	6	12	method	method	NOUN
alkej-501	6	13	type	type	NOUN
alkej-501	6	14	of	of	ADP
alkej-501	6	15	fuzzy	fuzzy	ADJ
alkej-501	6	16	logic	logic	NOUN
alkej-501	6	17	controller	controller	NOUN
alkej-501	6	18	.	.	PUNCT
alkej-501	7	1	the	the	DET
alkej-501	7	2	proposed	propose	VERB
alkej-501	7	3	controller	controller	NOUN
alkej-501	7	4	is	be	AUX
alkej-501	7	5	responsible	responsible	ADJ
alkej-501	7	6	for	for	ADP
alkej-501	7	7	the	the	DET
alkej-501	7	8	obstacle	obstacle	NOUN
alkej-501	7	9	avoidance	avoidance	NOUN
alkej-501	7	10	of	of	ADP
alkej-501	7	11	the	the	DET
alkej-501	7	12	mobile	mobile	NOUN
alkej-501	7	13	robot	robot	NOUN
alkej-501	7	14	while	while	SCONJ
alkej-501	7	15	traveling	travel	VERB
alkej-501	7	16	through	through	ADP
alkej-501	7	17	a	a	DET
alkej-501	7	18	map	map	NOUN
alkej-501	7	19	from	from	ADP
alkej-501	7	20	a	a	DET
alkej-501	7	21	home	home	NOUN
alkej-501	7	22	point	point	NOUN
alkej-501	7	23	to	to	ADP
alkej-501	7	24	a	a	DET
alkej-501	7	25	goal	goal	NOUN
alkej-501	7	26	point	point	NOUN
alkej-501	7	27	.	.	PUNCT
alkej-501	8	1	the	the	DET
alkej-501	8	2	flc	flc	PROPN
alkej-501	8	3	is	be	AUX
alkej-501	8	4	built	build	VERB
alkej-501	8	5	as	as	ADP
alkej-501	8	6	a	a	DET
alkej-501	8	7	subprogram	subprogram	NOUN
alkej-501	8	8	based	base	VERB
alkej-501	8	9	on	on	ADP
alkej-501	8	10	the	the	DET
alkej-501	8	11	intelligent	intelligent	ADJ
alkej-501	8	12	architecture	architecture	NOUN
alkej-501	8	13	(	(	PUNCT
alkej-501	8	14	ia	ia	NOUN
alkej-501	8	15	)	)	PUNCT
alkej-501	8	16	.	.	PUNCT
alkej-501	9	1	the	the	DET
alkej-501	9	2	software	software	NOUN
alkej-501	9	3	program	program	NOUN
alkej-501	9	4	uses	use	VERB
alkej-501	9	5	the	the	DET
alkej-501	9	6	advanced	advanced	ADJ
alkej-501	9	7	robotics	robotic	NOUN
alkej-501	9	8	interface	interface	NOUN
alkej-501	9	9	for	for	ADP
alkej-501	9	10	applications	application	NOUN
alkej-501	9	11	(	(	PUNCT
alkej-501	9	12	aria	aria	NOUN
alkej-501	9	13	)	)	PUNCT
alkej-501	9	14	,	,	PUNCT
alkej-501	9	15	it	it	PRON
alkej-501	9	16	is	be	AUX
alkej-501	9	17	programmed	program	VERB
alkej-501	9	18	with	with	ADP
alkej-501	9	19	c++	c++	NOUN
alkej-501	9	20	package	package	NOUN
alkej-501	9	21	(	(	PUNCT
alkej-501	9	22	visual	visual	ADJ
alkej-501	9	23	c++.net	c++.net	PROPN
alkej-501	9	24	)	)	PUNCT
alkej-501	9	25	,	,	PUNCT
alkej-501	9	26	and	and	CCONJ
alkej-501	9	27	networking	network	VERB
alkej-501	9	28	software	software	NOUN
alkej-501	9	29	is	be	AUX
alkej-501	9	30	used	use	VERB
alkej-501	9	31	for	for	ADP
alkej-501	9	32	setup	setup	NOUN
alkej-501	9	33	wireless	wireless	ADJ
alkej-501	9	34	tcp	tcp	PROPN
alkej-501	9	35	/	/	SYM
alkej-501	9	36	ip	ip	NOUN
alkej-501	9	37	ethernet	ethernet	NOUN
alkej-501	9	38	-	-	PUNCT
alkej-501	9	39	to	to	ADP
alkej-501	9	40	-	-	PUNCT
alkej-501	9	41	serial	serial	ADJ
alkej-501	9	42	connection	connection	NOUN
alkej-501	9	43	between	between	ADP
alkej-501	9	44	robot	robot	NOUN
alkej-501	9	45	and	and	CCONJ
alkej-501	9	46	pc	pc	NOUN
alkej-501	9	47	.	.	PUNCT
alkej-501	10	1	the	the	DET
alkej-501	10	2	results	result	NOUN
alkej-501	10	3	show	show	VERB
alkej-501	10	4	that	that	SCONJ
alkej-501	10	5	the	the	DET
alkej-501	10	6	developed	develop	VERB
alkej-501	10	7	mobile	mobile	ADJ
alkej-501	10	8	robot	robot	NOUN
alkej-501	10	9	travels	travel	VERB
alkej-501	10	10	successfully	successfully	ADV
alkej-501	10	11	from	from	ADP
alkej-501	10	12	one	one	NUM
alkej-501	10	13	location	location	NOUN
alkej-501	10	14	to	to	ADP
alkej-501	10	15	another	another	PRON
alkej-501	10	16	and	and	CCONJ
alkej-501	10	17	reaches	reach	VERB
alkej-501	10	18	its	its	PRON
alkej-501	10	19	goal	goal	NOUN
alkej-501	10	20	after	after	ADP
alkej-501	10	21	avoiding	avoid	VERB
alkej-501	10	22	all	all	DET
alkej-501	10	23	obstacles	obstacle	NOUN
alkej-501	10	24	that	that	PRON
alkej-501	10	25	are	be	AUX
alkej-501	10	26	located	locate	VERB
alkej-501	10	27	in	in	ADP
alkej-501	10	28	its	its	PRON
alkej-501	10	29	way	way	NOUN
alkej-501	10	30	.	.	PUNCT
alkej-501	11	1	the	the	DET
alkej-501	11	2	platform	platform	PROPN
alkej-501	11	3	mobile	mobile	NOUN
alkej-501	11	4	robot	robot	NOUN
alkej-501	11	5	is	be	AUX
alkej-501	11	6	a	a	DET
alkej-501	11	7	pioneer	pioneer	NOUN
alkej-501	11	8	3	3	NUM
alkej-501	11	9	dx	dx	PROPN
alkej-501	11	10	that	that	PRON
alkej-501	11	11	is	be	AUX
alkej-501	11	12	equipped	equip	VERB
alkej-501	11	13	with	with	ADP
alkej-501	11	14	sonar	sonar	ADJ
alkej-501	11	15	sensors	sensor	NOUN
alkej-501	11	16	.	.	PUNCT
alkej-501	12	1	keywords	keyword	NOUN
alkej-501	12	2	:	:	PUNCT
alkej-501	12	3	flc	flc	PROPN
alkej-501	12	4	,	,	PUNCT
alkej-501	12	5	mobile	mobile	NOUN
alkej-501	12	6	robot	robot	NOUN
alkej-501	12	7	,	,	PUNCT
alkej-501	12	8	sonar	sonar	ADJ
alkej-501	12	9	sensors	sensor	NOUN
alkej-501	12	10	,	,	PUNCT
alkej-501	12	11	navigation	navigation	NOUN
alkej-501	12	12	,	,	PUNCT
alkej-501	12	13	fuzzy	fuzzy	ADJ
alkej-501	12	14	decision	decision	NOUN
alkej-501	12	15	making	making	NOUN
alkej-501	12	16	method	method	NOUN
alkej-501	12	17	,	,	PUNCT
alkej-501	12	18	obstacle	obstacle	NOUN
alkej-501	12	19	avoidance	avoidance	NOUN
alkej-501	12	20	,	,	PUNCT
alkej-501	12	21	intelligent	intelligent	ADJ
alkej-501	12	22	architecture	architecture	NOUN
alkej-501	12	23	.	.	PUNCT
alkej-501	13	1	1	1	X
alkej-501	13	2	.	.	X
alkej-501	13	3	introduction	introduction	NOUN
alkej-501	13	4	one	one	NUM
alkej-501	13	5	of	of	ADP
alkej-501	13	6	the	the	DET
alkej-501	13	7	main	main	ADJ
alkej-501	13	8	objectives	objective	NOUN
alkej-501	13	9	of	of	ADP
alkej-501	13	10	mobile	mobile	ADJ
alkej-501	13	11	robotics	robotic	NOUN
alkej-501	13	12	is	be	AUX
alkej-501	13	13	the	the	DET
alkej-501	13	14	construction	construction	NOUN
alkej-501	13	15	of	of	ADP
alkej-501	13	16	autonomous	autonomous	ADJ
alkej-501	13	17	systems	system	NOUN
alkej-501	13	18	that	that	PRON
alkej-501	13	19	are	be	AUX
alkej-501	13	20	capable	capable	ADJ
alkej-501	13	21	of	of	ADP
alkej-501	13	22	moving	move	VERB
alkej-501	13	23	in	in	ADP
alkej-501	13	24	real	real	ADJ
alkej-501	13	25	environments	environment	NOUN
alkej-501	13	26	without	without	ADP
alkej-501	13	27	the	the	DET
alkej-501	13	28	help	help	NOUN
alkej-501	13	29	of	of	ADP
alkej-501	13	30	a	a	DET
alkej-501	13	31	human	human	ADJ
alkej-501	13	32	operator	operator	NOUN
alkej-501	13	33	.	.	PUNCT
alkej-501	14	1	there	there	PRON
alkej-501	14	2	are	be	VERB
alkej-501	14	3	numerous	numerous	ADJ
alkej-501	14	4	difficulties	difficulty	NOUN
alkej-501	14	5	in	in	ADP
alkej-501	14	6	the	the	DET
alkej-501	14	7	attainment	attainment	NOUN
alkej-501	14	8	of	of	ADP
alkej-501	14	9	this	this	DET
alkej-501	14	10	objective	objective	NOUN
alkej-501	14	11	,	,	PUNCT
alkej-501	14	12	due	due	ADJ
alkej-501	14	13	principally	principally	ADV
alkej-501	14	14	to	to	ADP
alkej-501	14	15	the	the	DET
alkej-501	14	16	fact	fact	NOUN
alkej-501	14	17	that	that	SCONJ
alkej-501	14	18	real	real	ADJ
alkej-501	14	19	environments	environment	NOUN
alkej-501	14	20	are	be	AUX
alkej-501	14	21	,	,	PUNCT
alkej-501	14	22	generally	generally	ADV
alkej-501	14	23	,	,	PUNCT
alkej-501	14	24	uncertain	uncertain	ADJ
alkej-501	14	25	,	,	PUNCT
alkej-501	14	26	unknown	unknown	ADJ
alkej-501	14	27	and	and	CCONJ
alkej-501	14	28	dynamic	dynamic	ADJ
alkej-501	14	29	.	.	PUNCT
alkej-501	15	1	thus	thus	ADV
alkej-501	15	2	,	,	PUNCT
alkej-501	15	3	the	the	DET
alkej-501	15	4	knowledge	knowledge	NOUN
alkej-501	15	5	which	which	PRON
alkej-501	15	6	is	be	AUX
alkej-501	15	7	available	available	ADJ
alkej-501	15	8	a	a	DET
alkej-501	15	9	priori	priori	NOUN
alkej-501	15	10	on	on	ADP
alkej-501	15	11	these	these	DET
alkej-501	15	12	environments	environment	NOUN
alkej-501	15	13	may	may	AUX
alkej-501	15	14	be	be	AUX
alkej-501	15	15	non	non	ADJ
alkej-501	15	16	-	-	ADJ
alkej-501	15	17	existent	existent	ADJ
alkej-501	15	18	,	,	PUNCT
alkej-501	15	19	incomplete	incomplete	ADJ
alkej-501	15	20	,	,	PUNCT
alkej-501	15	21	uncertain	uncertain	ADJ
alkej-501	15	22	or	or	CCONJ
alkej-501	15	23	imprecise	imprecise	ADV
alkej-501	15	24	,	,	PUNCT
alkej-501	15	25	or	or	CCONJ
alkej-501	15	26	the	the	DET
alkej-501	15	27	environments	environment	NOUN
alkej-501	15	28	may	may	AUX
alkej-501	15	29	undergo	undergo	VERB
alkej-501	15	30	modifications	modification	NOUN
alkej-501	15	31	over	over	ADP
alkej-501	15	32	time	time	NOUN
alkej-501	15	33	,	,	PUNCT
alkej-501	15	34	which	which	PRON
alkej-501	15	35	renders	render	VERB
alkej-501	15	36	them	they	PRON
alkej-501	15	37	more	more	ADV
alkej-501	15	38	complex	complex	ADJ
alkej-501	15	39	and	and	CCONJ
alkej-501	15	40	unpredictable	unpredictable	ADJ
alkej-501	15	41	[	[	X
alkej-501	15	42	1	1	NUM
alkej-501	15	43	]	]	PUNCT
alkej-501	15	44	.	.	PUNCT
alkej-501	16	1	pioneer	pioneer	NOUN
alkej-501	16	2	3	3	NUM
alkej-501	16	3	dx	dx	PROPN
alkej-501	16	4	is	be	AUX
alkej-501	16	5	a	a	DET
alkej-501	16	6	mobile	mobile	ADJ
alkej-501	16	7	robot	robot	NOUN
alkej-501	16	8	which	which	PRON
alkej-501	16	9	has	have	VERB
alkej-501	16	10	sonar	sonar	ADJ
alkej-501	16	11	sensors	sensor	NOUN
alkej-501	16	12	,	,	PUNCT
alkej-501	16	13	[	[	X
alkej-501	16	14	2	2	NUM
alkej-501	16	15	]	]	PUNCT
alkej-501	16	16	.	.	PUNCT
alkej-501	17	1	the	the	DET
alkej-501	17	2	data	datum	NOUN
alkej-501	17	3	from	from	ADP
alkej-501	17	4	sonar	sonar	ADJ
alkej-501	17	5	sensors	sensor	NOUN
alkej-501	17	6	is	be	AUX
alkej-501	17	7	the	the	DET
alkej-501	17	8	distance	distance	NOUN
alkej-501	17	9	between	between	ADP
alkej-501	17	10	the	the	DET
alkej-501	17	11	sonar	sonar	NOUN
alkej-501	17	12	and	and	CCONJ
alkej-501	17	13	object	object	NOUN
alkej-501	17	14	.	.	PUNCT
alkej-501	18	1	the	the	DET
alkej-501	18	2	sonar	sonar	ADJ
alkej-501	18	3	sensor	sensor	NOUN
alkej-501	18	4	arrangement	arrangement	NOUN
alkej-501	18	5	for	for	ADP
alkej-501	18	6	mobile	mobile	NOUN
alkej-501	18	7	robot	robot	NOUN
alkej-501	18	8	is	be	AUX
alkej-501	18	9	shown	show	VERB
alkej-501	18	10	in	in	ADP
alkej-501	18	11	figure	figure	NOUN
alkej-501	18	12	1	1	NUM
alkej-501	18	13	.	.	PUNCT
alkej-501	18	14	fig	fig	NOUN
alkej-501	18	15	.	.	PUNCT
alkej-501	19	1	1	1	X
alkej-501	19	2	.	.	X
alkej-501	20	1	the	the	DET
alkej-501	20	2	sonar	sonar	ADJ
alkej-501	20	3	arrangement	arrangement	NOUN
alkej-501	20	4	for	for	ADP
alkej-501	20	5	p3dx	p3dx	ADJ
alkej-501	20	6	.	.	PUNCT
alkej-501	21	1	the	the	DET
alkej-501	21	2	sonar	sonar	ADJ
alkej-501	21	3	sensors	sensor	NOUN
alkej-501	21	4	locations	location	NOUN
alkej-501	21	5	are	be	AUX
alkej-501	21	6	important	important	ADJ
alkej-501	21	7	for	for	ADP
alkej-501	21	8	designing	design	VERB
alkej-501	21	9	the	the	DET
alkej-501	21	10	fuzzy	fuzzy	ADJ
alkej-501	21	11	controller	controller	NOUN
alkej-501	21	12	.	.	PUNCT
alkej-501	22	1	the	the	DET
alkej-501	22	2	application	application	NOUN
alkej-501	22	3	of	of	ADP
alkej-501	22	4	fuzzy	fuzzy	ADJ
alkej-501	22	5	control	control	NOUN
alkej-501	22	6	to	to	PART
alkej-501	22	7	obstacle	obstacle	VERB
alkej-501	22	8	avoidance	avoidance	NOUN
alkej-501	22	9	has	have	AUX
alkej-501	22	10	been	be	AUX
alkej-501	22	11	implemented	implement	VERB
alkej-501	22	12	for	for	ADP
alkej-501	22	13	pioneer	pioneer	NOUN
alkej-501	22	14	robot	robot	NOUN
alkej-501	22	15	.	.	PUNCT
alkej-501	23	1	all	all	DET
alkej-501	23	2	sonar	sonar	ADJ
alkej-501	23	3	sensors	sensor	NOUN
alkej-501	23	4	send	send	VERB
alkej-501	23	5	data	datum	NOUN
alkej-501	23	6	to	to	ADP
alkej-501	23	7	the	the	DET
alkej-501	23	8	inputs	input	NOUN
alkej-501	23	9	of	of	ADP
alkej-501	23	10	fuzzy	fuzzy	ADJ
alkej-501	23	11	controllers	controller	NOUN
alkej-501	23	12	.	.	PUNCT
alkej-501	24	1	each	each	DET
alkej-501	24	2	fuzzy	fuzzy	ADJ
alkej-501	24	3	controller	controller	NOUN
alkej-501	24	4	for	for	ADP
alkej-501	24	5	obstacle	obstacle	NOUN
alkej-501	24	6	avoidance	avoidance	NOUN
alkej-501	24	7	has	have	VERB
alkej-501	24	8	two	two	NUM
alkej-501	24	9	this	this	DET
alkej-501	24	10	page	page	NOUN
alkej-501	24	11	was	be	AUX
alkej-501	24	12	created	create	VERB
alkej-501	24	13	using	use	VERB
alkej-501	24	14	nitro	nitro	NOUN
alkej-501	24	15	pdf	pdf	NOUN
alkej-501	24	16	trial	trial	NOUN
alkej-501	24	17	software	software	NOUN
alkej-501	24	18	.	.	PUNCT
alkej-501	25	1	to	to	PART
alkej-501	25	2	purchase	purchase	VERB
alkej-501	25	3	,	,	PUNCT
alkej-501	25	4	go	go	VERB
alkej-501	25	5	to	to	ADP
alkej-501	25	6	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	25	7	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	25	8	nabeel	nabeel	PROPN
alkej-501	25	9	k.	k.	PROPN
alkej-501	25	10	abid	abid	PROPN
alkej-501	26	1	alsahib	alsahib	PROPN
alkej-501	26	2	al	al	PROPN
alkej-501	26	3	-	-	PUNCT
alkej-501	26	4	khwarizmi	khwarizmi	PROPN
alkej-501	26	5	engineering	engineering	NOUN
alkej-501	26	6	journal	journal	PROPN
alkej-501	26	7	,	,	PUNCT
alkej-501	26	8	vol	vol	NOUN
alkej-501	26	9	.	.	PROPN
alkej-501	26	10	6	6	NUM
alkej-501	26	11	,	,	PUNCT
alkej-501	26	12	no	no	INTJ
alkej-501	26	13	.	.	NOUN
alkej-501	26	14	3	3	NUM
alkej-501	26	15	,	,	PUNCT
alkej-501	26	16	pp	pp	ADV
alkej-501	26	17	36	36	NUM
alkej-501	26	18	44	44	NUM
alkej-501	26	19	(	(	PUNCT
alkej-501	26	20	2010	2010	NUM
alkej-501	26	21	)	)	PUNCT
alkej-501	26	22	37	37	NUM
alkej-501	26	23	inputs	input	NOUN
alkej-501	26	24	and	and	CCONJ
alkej-501	26	25	two	two	NUM
alkej-501	26	26	outputs	output	NOUN
alkej-501	26	27	.	.	PUNCT
alkej-501	27	1	inputs	input	NOUN
alkej-501	27	2	have	have	VERB
alkej-501	27	3	membership	membership	NOUN
alkej-501	27	4	functions	function	NOUN
alkej-501	27	5	.	.	PUNCT
alkej-501	28	1	each	each	DET
alkej-501	28	2	membership	membership	NOUN
alkej-501	28	3	function	function	NOUN
alkej-501	28	4	is	be	AUX
alkej-501	28	5	considered	consider	VERB
alkej-501	28	6	as	as	ADP
alkej-501	28	7	a	a	DET
alkej-501	28	8	triangle	triangle	NOUN
alkej-501	28	9	function	function	NOUN
alkej-501	28	10	.	.	PUNCT
alkej-501	29	1	in	in	ADP
alkej-501	29	2	this	this	DET
alkej-501	29	3	paper	paper	NOUN
alkej-501	29	4	,	,	PUNCT
alkej-501	29	5	the	the	DET
alkej-501	29	6	fuzzy	fuzzy	ADJ
alkej-501	29	7	controller	controller	NOUN
alkej-501	29	8	for	for	ADP
alkej-501	29	9	the	the	DET
alkej-501	29	10	oriention	oriention	NOUN
alkej-501	29	11	of	of	ADP
alkej-501	29	12	a	a	DET
alkej-501	29	13	robot	robot	NOUN
alkej-501	29	14	is	be	AUX
alkej-501	29	15	described	describe	VERB
alkej-501	29	16	.	.	PUNCT
alkej-501	30	1	all	all	DET
alkej-501	30	2	fuzzy	fuzzy	ADJ
alkej-501	30	3	controllers	controller	NOUN
alkej-501	30	4	are	be	AUX
alkej-501	30	5	implemented	implement	VERB
alkej-501	30	6	under	under	ADP
alkej-501	30	7	the	the	DET
alkej-501	30	8	fuzzy	fuzzy	ADJ
alkej-501	30	9	decision	decision	NOUN
alkej-501	30	10	making	make	VERB
alkej-501	30	11	approach	approach	NOUN
alkej-501	30	12	.	.	PUNCT
alkej-501	31	1	fuzzy	fuzzy	ADJ
alkej-501	31	2	decision	decision	NOUN
alkej-501	31	3	making	make	VERB
alkej-501	31	4	approaches	approach	NOUN
alkej-501	31	5	have	have	AUX
alkej-501	31	6	been	be	AUX
alkej-501	31	7	established	establish	VERB
alkej-501	31	8	as	as	ADP
alkej-501	31	9	a	a	DET
alkej-501	31	10	main	main	ADJ
alkej-501	31	11	alternative	alternative	NOUN
alkej-501	31	12	to	to	ADP
alkej-501	31	13	conventional	conventional	ADJ
alkej-501	31	14	robot	robot	NOUN
alkej-501	31	15	control	control	NOUN
alkej-501	31	16	in	in	ADP
alkej-501	31	17	recent	recent	ADJ
alkej-501	31	18	years	year	NOUN
alkej-501	32	1	[	[	X
alkej-501	32	2	3	3	NUM
alkej-501	32	3	]	]	PUNCT
alkej-501	32	4	.	.	PUNCT
alkej-501	33	1	the	the	DET
alkej-501	33	2	system	system	NOUN
alkej-501	33	3	architecture	architecture	NOUN
alkej-501	33	4	,	,	PUNCT
alkej-501	33	5	implemented	implement	VERB
alkej-501	33	6	in	in	ADP
alkej-501	33	7	the	the	DET
alkej-501	33	8	ia	ia	NOUN
alkej-501	33	9	in	in	ADP
alkej-501	33	10	this	this	DET
alkej-501	33	11	application	application	NOUN
alkej-501	33	12	,	,	PUNCT
alkej-501	33	13	has	have	VERB
alkej-501	33	14	two	two	NUM
alkej-501	33	15	objectives	objective	NOUN
alkej-501	33	16	.	.	PUNCT
alkej-501	34	1	the	the	DET
alkej-501	34	2	first	first	ADJ
alkej-501	34	3	one	one	NOUN
alkej-501	34	4	is	be	AUX
alkej-501	34	5	the	the	DET
alkej-501	34	6	obstacle	obstacle	NOUN
alkej-501	34	7	avoidance	avoidance	NOUN
alkej-501	34	8	and	and	CCONJ
alkej-501	34	9	the	the	DET
alkej-501	34	10	second	second	ADJ
alkej-501	34	11	one	one	NOUN
alkej-501	34	12	is	be	AUX
alkej-501	34	13	the	the	DET
alkej-501	34	14	orientation	orientation	NOUN
alkej-501	34	15	behavior	behavior	NOUN
alkej-501	34	16	.	.	PUNCT
alkej-501	35	1	2	2	X
alkej-501	35	2	.	.	X
alkej-501	35	3	navigation	navigation	NOUN
alkej-501	35	4	the	the	DET
alkej-501	35	5	navigation	navigation	NOUN
alkej-501	35	6	of	of	ADP
alkej-501	35	7	a	a	DET
alkej-501	35	8	mobile	mobile	ADJ
alkej-501	35	9	vehicle	vehicle	NOUN
alkej-501	35	10	can	can	AUX
alkej-501	35	11	be	be	AUX
alkej-501	35	12	considered	consider	VERB
alkej-501	35	13	as	as	ADP
alkej-501	35	14	a	a	DET
alkej-501	35	15	task	task	NOUN
alkej-501	35	16	of	of	ADP
alkej-501	35	17	determining	determine	VERB
alkej-501	35	18	a	a	DET
alkej-501	35	19	collision	collision	NOUN
alkej-501	35	20	free	free	ADJ
alkej-501	35	21	path	path	NOUN
alkej-501	35	22	that	that	PRON
alkej-501	35	23	enables	enable	VERB
alkej-501	35	24	the	the	DET
alkej-501	35	25	vehicle	vehicle	NOUN
alkej-501	35	26	to	to	PART
alkej-501	35	27	travel	travel	VERB
alkej-501	35	28	through	through	ADP
alkej-501	35	29	an	an	DET
alkej-501	35	30	obstacle	obstacle	NOUN
alkej-501	35	31	course	course	NOUN
alkej-501	35	32	from	from	ADP
alkej-501	35	33	an	an	DET
alkej-501	35	34	initial	initial	ADJ
alkej-501	35	35	configuration	configuration	NOUN
alkej-501	35	36	to	to	ADP
alkej-501	35	37	a	a	DET
alkej-501	35	38	goal	goal	NOUN
alkej-501	35	39	configuration	configuration	NOUN
alkej-501	35	40	[	[	X
alkej-501	35	41	4	4	NUM
alkej-501	35	42	]	]	PUNCT
alkej-501	35	43	.	.	PUNCT
alkej-501	36	1	3	3	X
alkej-501	36	2	.	.	X
alkej-501	36	3	obstacle	obstacle	NOUN
alkej-501	36	4	avoidance	avoidance	NOUN
alkej-501	36	5	the	the	DET
alkej-501	36	6	obstacle	obstacle	NOUN
alkej-501	36	7	avoidance	avoidance	NOUN
alkej-501	36	8	algorithm	algorithm	NOUN
alkej-501	36	9	is	be	AUX
alkej-501	36	10	based	base	VERB
alkej-501	36	11	on	on	ADP
alkej-501	36	12	the	the	DET
alkej-501	36	13	relative	relative	ADJ
alkej-501	36	14	angle	angle	NOUN
alkej-501	36	15	and	and	CCONJ
alkej-501	36	16	distance	distance	NOUN
alkej-501	36	17	between	between	ADP
alkej-501	36	18	a	a	DET
alkej-501	36	19	robot	robot	NOUN
alkej-501	36	20	and	and	CCONJ
alkej-501	36	21	other	other	ADJ
alkej-501	36	22	objects	object	NOUN
alkej-501	36	23	;	;	PUNCT
alkej-501	36	24	each	each	DET
alkej-501	36	25	time	time	NOUN
alkej-501	36	26	the	the	DET
alkej-501	36	27	robot	robot	NOUN
alkej-501	36	28	calculates	calculate	VERB
alkej-501	36	29	the	the	DET
alkej-501	36	30	relative	relative	ADJ
alkej-501	36	31	angle	angle	NOUN
alkej-501	36	32	and	and	CCONJ
alkej-501	36	33	distance	distance	NOUN
alkej-501	36	34	by	by	ADP
alkej-501	36	35	sensor	sensor	NOUN
alkej-501	36	36	of	of	ADP
alkej-501	36	37	robots	robot	NOUN
alkej-501	36	38	.	.	PUNCT
alkej-501	37	1	autonomous	autonomous	ADJ
alkej-501	37	2	mobile	mobile	PROPN
alkej-501	37	3	robot	robot	NOUN
alkej-501	37	4	has	have	VERB
alkej-501	37	5	sensors	sensor	NOUN
alkej-501	37	6	and	and	CCONJ
alkej-501	37	7	the	the	DET
alkej-501	37	8	robot	robot	NOUN
alkej-501	37	9	calculates	calculate	VERB
alkej-501	37	10	the	the	DET
alkej-501	37	11	relative	relative	ADJ
alkej-501	37	12	angle	angle	NOUN
alkej-501	37	13	and	and	CCONJ
alkej-501	37	14	distance	distance	NOUN
alkej-501	37	15	.	.	PUNCT
alkej-501	38	1	these	these	DET
alkej-501	38	2	calculative	calculative	ADJ
alkej-501	38	3	values	value	NOUN
alkej-501	38	4	are	be	AUX
alkej-501	38	5	important	important	ADJ
alkej-501	38	6	factors	factor	NOUN
alkej-501	38	7	of	of	ADP
alkej-501	38	8	algorithm	algorithm	NOUN
alkej-501	38	9	[	[	X
alkej-501	38	10	5	5	NUM
alkej-501	38	11	]	]	PUNCT
alkej-501	38	12	.	.	PUNCT
alkej-501	39	1	4	4	X
alkej-501	39	2	.	.	X
alkej-501	39	3	fuzzy	fuzzy	ADJ
alkej-501	39	4	control	control	NOUN
alkej-501	39	5	fuzzy	fuzzy	ADJ
alkej-501	39	6	logic	logic	NOUN
alkej-501	39	7	control	control	NOUN
alkej-501	39	8	is	be	AUX
alkej-501	39	9	selected	select	VERB
alkej-501	39	10	as	as	SCONJ
alkej-501	39	11	it	it	PRON
alkej-501	39	12	is	be	AUX
alkej-501	39	13	easiest	easy	ADJ
alkej-501	39	14	to	to	PART
alkej-501	39	15	implement	implement	VERB
alkej-501	39	16	for	for	ADP
alkej-501	39	17	a	a	DET
alkej-501	39	18	highly	highly	ADV
alkej-501	39	19	nonlinear	nonlinear	ADJ
alkej-501	39	20	robot	robot	NOUN
alkej-501	39	21	model	model	NOUN
alkej-501	39	22	.	.	PUNCT
alkej-501	40	1	although	although	SCONJ
alkej-501	40	2	a	a	DET
alkej-501	40	3	relatively	relatively	ADV
alkej-501	40	4	new	new	ADJ
alkej-501	40	5	concept	concept	NOUN
alkej-501	40	6	,	,	PUNCT
alkej-501	40	7	fuzzy	fuzzy	ADJ
alkej-501	40	8	logic	logic	NOUN
alkej-501	40	9	is	be	AUX
alkej-501	40	10	being	be	AUX
alkej-501	40	11	used	use	VERB
alkej-501	40	12	in	in	ADP
alkej-501	40	13	many	many	ADJ
alkej-501	40	14	engineering	engineering	NOUN
alkej-501	40	15	applications	application	NOUN
alkej-501	40	16	because	because	SCONJ
alkej-501	40	17	it	it	PRON
alkej-501	40	18	is	be	AUX
alkej-501	40	19	considered	consider	VERB
alkej-501	40	20	by	by	ADP
alkej-501	40	21	designers	designer	NOUN
alkej-501	40	22	to	to	PART
alkej-501	40	23	be	be	AUX
alkej-501	40	24	the	the	DET
alkej-501	40	25	simplest	simple	ADJ
alkej-501	40	26	solution	solution	NOUN
alkej-501	40	27	available	available	ADJ
alkej-501	40	28	for	for	ADP
alkej-501	40	29	the	the	DET
alkej-501	40	30	specific	specific	ADJ
alkej-501	40	31	problem[6	problem[6	NOUN
alkej-501	40	32	]	]	SYM
alkej-501	40	33	.	.	PUNCT
alkej-501	41	1	fuzzy	fuzzy	ADJ
alkej-501	41	2	decision	decision	NOUN
alkej-501	41	3	making	make	VERB
alkej-501	41	4	fdm	fdm	NOUN
alkej-501	41	5	is	be	AUX
alkej-501	41	6	a	a	DET
alkej-501	41	7	useful	useful	ADJ
alkej-501	41	8	method	method	NOUN
alkej-501	41	9	of	of	ADP
alkej-501	41	10	fuzzy	fuzzy	ADJ
alkej-501	41	11	control	control	NOUN
alkej-501	41	12	theory	theory	NOUN
alkej-501	41	13	to	to	PART
alkej-501	41	14	implement	implement	VERB
alkej-501	41	15	different	different	ADJ
alkej-501	41	16	behavior	behavior	NOUN
alkej-501	41	17	of	of	ADP
alkej-501	41	18	work	work	NOUN
alkej-501	41	19	.	.	PUNCT
alkej-501	42	1	within	within	ADP
alkej-501	42	2	fdm	fdm	NOUN
alkej-501	42	3	,	,	PUNCT
alkej-501	42	4	it	it	PRON
alkej-501	42	5	may	may	AUX
alkej-501	42	6	form	form	VERB
alkej-501	42	7	the	the	DET
alkej-501	42	8	basis	basis	NOUN
alkej-501	42	9	for	for	ADP
alkej-501	42	10	the	the	DET
alkej-501	42	11	implementation	implementation	NOUN
alkej-501	42	12	of	of	ADP
alkej-501	42	13	behaviors	behavior	NOUN
alkej-501	42	14	as	as	ADP
alkej-501	42	15	modular	modular	ADJ
alkej-501	42	16	building	building	NOUN
alkej-501	42	17	blocks	block	NOUN
alkej-501	42	18	for	for	ADP
alkej-501	42	19	complex	complex	ADJ
alkej-501	42	20	control	control	NOUN
alkej-501	42	21	by	by	ADP
alkej-501	42	22	using	use	VERB
alkej-501	42	23	the	the	DET
alkej-501	42	24	techniques	technique	NOUN
alkej-501	42	25	of	of	ADP
alkej-501	42	26	fuzzy	fuzzy	ADJ
alkej-501	42	27	control	control	NOUN
alkej-501	42	28	.	.	PUNCT
alkej-501	43	1	the	the	DET
alkej-501	43	2	concepts	concept	NOUN
alkej-501	43	3	of	of	ADP
alkej-501	43	4	fuzzy	fuzzy	ADJ
alkej-501	43	5	decision	decision	NOUN
alkej-501	43	6	making	make	VERB
alkej-501	43	7	theory	theory	NOUN
alkej-501	43	8	found	find	VERB
alkej-501	43	9	wide	wide	ADJ
alkej-501	43	10	application	application	NOUN
alkej-501	43	11	in	in	ADP
alkej-501	43	12	various	various	ADJ
alkej-501	43	13	areas	area	NOUN
alkej-501	43	14	such	such	ADJ
alkej-501	43	15	as	as	ADP
alkej-501	43	16	robotics	robotic	NOUN
alkej-501	43	17	path	path	NOUN
alkej-501	43	18	planning	planning	NOUN
alkej-501	43	19	,	,	PUNCT
alkej-501	43	20	navigation	navigation	NOUN
alkej-501	43	21	and	and	CCONJ
alkej-501	43	22	mission	mission	NOUN
alkej-501	43	23	planning	planning	NOUN
alkej-501	43	24	,	,	PUNCT
alkej-501	43	25	it	it	PRON
alkej-501	43	26	has	have	VERB
alkej-501	43	27	the	the	DET
alkej-501	43	28	potential	potential	NOUN
alkej-501	43	29	to	to	PART
alkej-501	43	30	benefit	benefit	VERB
alkej-501	43	31	from	from	ADP
alkej-501	43	32	the	the	DET
alkej-501	43	33	application	application	NOUN
alkej-501	43	34	of	of	ADP
alkej-501	43	35	fuzzy	fuzzy	ADJ
alkej-501	43	36	logic	logic	NOUN
alkej-501	43	37	to	to	PART
alkej-501	43	38	provide	provide	VERB
alkej-501	43	39	for	for	ADP
alkej-501	43	40	soft	soft	ADJ
alkej-501	43	41	decisions	decision	NOUN
alkej-501	43	42	when	when	SCONJ
alkej-501	43	43	there	there	PRON
alkej-501	43	44	is	be	VERB
alkej-501	43	45	the	the	DET
alkej-501	43	46	need	need	NOUN
alkej-501	43	47	for	for	ADP
alkej-501	43	48	decision	decision	NOUN
alkej-501	43	49	making	make	VERB
alkej-501	43	50	under	under	ADP
alkej-501	43	51	uncertainty[3	uncertainty[3	NOUN
alkej-501	43	52	]	]	PUNCT
alkej-501	43	53	.	.	PUNCT
alkej-501	44	1	the	the	DET
alkej-501	44	2	advantage	advantage	NOUN
alkej-501	44	3	of	of	ADP
alkej-501	44	4	fuzzy	fuzzy	ADJ
alkej-501	44	5	logic	logic	NOUN
alkej-501	44	6	control	control	NOUN
alkej-501	44	7	is	be	AUX
alkej-501	44	8	that	that	SCONJ
alkej-501	44	9	it	it	PRON
alkej-501	44	10	enables	enable	VERB
alkej-501	44	11	control	control	NOUN
alkej-501	44	12	engineers	engineer	NOUN
alkej-501	44	13	to	to	PART
alkej-501	44	14	easily	easily	ADV
alkej-501	44	15	implement	implement	VERB
alkej-501	44	16	control	control	NOUN
alkej-501	44	17	strategies	strategy	NOUN
alkej-501	44	18	which	which	PRON
alkej-501	44	19	can	can	AUX
alkej-501	44	20	be	be	AUX
alkej-501	44	21	used	use	VERB
alkej-501	44	22	by	by	ADP
alkej-501	44	23	a	a	DET
alkej-501	44	24	human	human	ADJ
alkej-501	44	25	operator	operator	NOUN
alkej-501	44	26	.	.	PUNCT
alkej-501	45	1	[	[	X
alkej-501	45	2	7	7	NUM
alkej-501	45	3	]	]	PUNCT
alkej-501	45	4	.	.	PUNCT
alkej-501	46	1	there	there	PRON
alkej-501	46	2	are	be	VERB
alkej-501	46	3	three	three	NUM
alkej-501	46	4	steps	step	NOUN
alkej-501	46	5	for	for	ADP
alkej-501	46	6	designing	design	VERB
alkej-501	46	7	a	a	DET
alkej-501	46	8	fuzzy	fuzzy	ADJ
alkej-501	46	9	controller	controller	NOUN
alkej-501	46	10	:	:	PUNCT
alkej-501	46	11	fuzzifcation	fuzzifcation	NOUN
alkej-501	46	12	,	,	PUNCT
alkej-501	46	13	inference	inference	NOUN
alkej-501	46	14	engine	engine	NOUN
alkej-501	46	15	,	,	PUNCT
alkej-501	46	16	and	and	CCONJ
alkej-501	46	17	defuzzifcation	defuzzifcation	NOUN
alkej-501	46	18	.	.	PUNCT
alkej-501	47	1	4.1	4.1	NUM
alkej-501	47	2	fuzzification	fuzzification	NOUN
alkej-501	47	3	fuzzification	fuzzification	NOUN
alkej-501	47	4	is	be	AUX
alkej-501	47	5	defined	define	VERB
alkej-501	47	6	as	as	ADP
alkej-501	47	7	the	the	DET
alkej-501	47	8	mapping	mapping	NOUN
alkej-501	47	9	from	from	ADP
alkej-501	47	10	a	a	DET
alkej-501	47	11	real	real	ADV
alkej-501	47	12	-	-	PUNCT
alkej-501	47	13	valued	value	VERB
alkej-501	47	14	point	point	NOUN
alkej-501	47	15	to	to	ADP
alkej-501	47	16	a	a	DET
alkej-501	47	17	fuzzy	fuzzy	ADJ
alkej-501	47	18	set	set	NOUN
alkej-501	47	19	.	.	PUNCT
alkej-501	48	1	in	in	ADP
alkej-501	48	2	most	most	ADJ
alkej-501	48	3	fuzzy	fuzzy	ADJ
alkej-501	48	4	decision	decision	NOUN
alkej-501	48	5	systems	system	NOUN
alkej-501	48	6	,	,	PUNCT
alkej-501	48	7	non	non	X
alkej-501	48	8	fuzzy	fuzzy	ADJ
alkej-501	48	9	input	input	NOUN
alkej-501	48	10	data	datum	NOUN
alkej-501	48	11	is	be	AUX
alkej-501	48	12	mapped	map	VERB
alkej-501	48	13	to	to	ADP
alkej-501	48	14	fuzzy	fuzzy	ADJ
alkej-501	48	15	sets	set	NOUN
alkej-501	48	16	by	by	ADP
alkej-501	48	17	treating	treat	VERB
alkej-501	48	18	them	they	PRON
alkej-501	48	19	as	as	ADP
alkej-501	48	20	singleton	singleton	PROPN
alkej-501	48	21	membership	membership	NOUN
alkej-501	48	22	functions	function	NOUN
alkej-501	48	23	,	,	PUNCT
alkej-501	48	24	gaussian	gaussian	ADJ
alkej-501	48	25	membership	membership	NOUN
alkej-501	48	26	functions	function	NOUN
alkej-501	48	27	,	,	PUNCT
alkej-501	48	28	triangular	triangular	NOUN
alkej-501	48	29	membership	membership	NOUN
alkej-501	48	30	functions	function	NOUN
alkej-501	48	31	,	,	PUNCT
alkej-501	48	32	etc	etc	X
alkej-501	48	33	.	.	X
alkej-501	48	34	4.2	4.2	NUM
alkej-501	48	35	inference	inference	NOUN
alkej-501	48	36	engine	engine	NOUN
alkej-501	48	37	fuzzy	fuzzy	ADJ
alkej-501	48	38	inference	inference	NOUN
alkej-501	48	39	engine	engine	NOUN
alkej-501	48	40	is	be	AUX
alkej-501	48	41	used	use	VERB
alkej-501	48	42	to	to	PART
alkej-501	48	43	combine	combine	VERB
alkej-501	48	44	the	the	DET
alkej-501	48	45	fuzzy	fuzzy	ADJ
alkej-501	48	46	if	if	SCONJ
alkej-501	48	47	-	-	PUNCT
alkej-501	48	48	then	then	ADV
alkej-501	48	49	in	in	ADP
alkej-501	48	50	the	the	DET
alkej-501	48	51	fuzzy	fuzzy	ADJ
alkej-501	48	52	rule	rule	NOUN
alkej-501	48	53	-	-	PUNCT
alkej-501	48	54	base	base	NOUN
alkej-501	48	55	,	,	PUNCT
alkej-501	48	56	and	and	CCONJ
alkej-501	48	57	to	to	PART
alkej-501	48	58	convert	convert	VERB
alkej-501	48	59	input	input	NOUN
alkej-501	48	60	information	information	NOUN
alkej-501	48	61	into	into	ADP
alkej-501	48	62	output	output	NOUN
alkej-501	48	63	membership	membership	NOUN
alkej-501	48	64	functions	function	NOUN
alkej-501	48	65	.	.	PUNCT
alkej-501	49	1	an	an	DET
alkej-501	49	2	inference	inference	NOUN
alkej-501	49	3	mechanism	mechanism	NOUN
alkej-501	49	4	emulates	emulate	VERB
alkej-501	49	5	the	the	DET
alkej-501	49	6	expert	expert	NOUN
alkej-501	49	7	's	's	PART
alkej-501	49	8	decision	decision	NOUN
alkej-501	49	9	-	-	PUNCT
alkej-501	49	10	making	making	NOUN
alkej-501	49	11	in	in	ADP
alkej-501	49	12	interpreting	interpret	VERB
alkej-501	49	13	and	and	CCONJ
alkej-501	49	14	applying	apply	VERB
alkej-501	49	15	knowledge	knowledge	NOUN
alkej-501	49	16	about	about	ADP
alkej-501	49	17	how	how	SCONJ
alkej-501	49	18	to	to	PART
alkej-501	49	19	perform	perform	VERB
alkej-501	49	20	good	good	ADJ
alkej-501	49	21	control	control	NOUN
alkej-501	49	22	.	.	PUNCT
alkej-501	50	1	the	the	DET
alkej-501	50	2	fuzzy	fuzzy	ADJ
alkej-501	50	3	inference	inference	NOUN
alkej-501	50	4	rules	rule	NOUN
alkej-501	50	5	are	be	AUX
alkej-501	50	6	based	base	VERB
alkej-501	50	7	on	on	ADP
alkej-501	50	8	reasoning	reason	VERB
alkej-501	50	9	similar	similar	ADJ
alkej-501	50	10	to	to	ADP
alkej-501	50	11	that	that	PRON
alkej-501	50	12	of	of	ADP
alkej-501	50	13	a	a	DET
alkej-501	50	14	human	human	ADJ
alkej-501	50	15	driver	driver	NOUN
alkej-501	50	16	[	[	X
alkej-501	50	17	8	8	NUM
alkej-501	50	18	]	]	PUNCT
alkej-501	50	19	.	.	PUNCT
alkej-501	51	1	this	this	PRON
alkej-501	51	2	can	can	AUX
alkej-501	51	3	be	be	AUX
alkej-501	51	4	implemented	implement	VERB
alkej-501	51	5	as	as	ADP
alkej-501	51	6	a	a	DET
alkej-501	51	7	fuzzy	fuzzy	ADJ
alkej-501	51	8	rule	rule	NOUN
alkej-501	51	9	-	-	PUNCT
alkej-501	51	10	base	base	NOUN
alkej-501	51	11	.	.	PUNCT
alkej-501	52	1	the	the	DET
alkej-501	52	2	rules	rule	NOUN
alkej-501	52	3	may	may	AUX
alkej-501	52	4	use	use	VERB
alkej-501	52	5	the	the	DET
alkej-501	52	6	experts	expert	NOUN
alkej-501	52	7	experience	experience	NOUN
alkej-501	52	8	and	and	CCONJ
alkej-501	52	9	control	control	NOUN
alkej-501	52	10	engineering	engineering	NOUN
alkej-501	52	11	knowledge	knowledge	NOUN
alkej-501	52	12	.	.	PUNCT
alkej-501	53	1	there	there	PRON
alkej-501	53	2	are	be	VERB
alkej-501	53	3	three	three	NUM
alkej-501	53	4	types	type	NOUN
alkej-501	53	5	of	of	ADP
alkej-501	53	6	fuzzy	fuzzy	ADJ
alkej-501	53	7	rule	rule	NOUN
alkej-501	53	8	-	-	PUNCT
alkej-501	53	9	based	base	VERB
alkej-501	53	10	models	model	NOUN
alkej-501	53	11	for	for	ADP
alkej-501	53	12	function	function	NOUN
alkej-501	53	13	approximation	approximation	NOUN
alkej-501	53	14	:	:	PUNCT
alkej-501	53	15	mamdani	mamdani	PROPN
alkej-501	53	16	model	model	NOUN
alkej-501	53	17	,	,	PUNCT
alkej-501	53	18	takagi	takagi	PROPN
alkej-501	53	19	-	-	PUNCT
alkej-501	53	20	sugenokang	sugenokang	PROPN
alkej-501	53	21	model	model	NOUN
alkej-501	53	22	,	,	PUNCT
alkej-501	53	23	and	and	CCONJ
alkej-501	53	24	kosko	kosko	PROPN
alkej-501	53	25	's	's	PART
alkej-501	53	26	additive	additive	ADJ
alkej-501	53	27	model	model	NOUN
alkej-501	53	28	.	.	PUNCT
alkej-501	54	1	4.3	4.3	NUM
alkej-501	54	2	defuzzification	defuzzification	NOUN
alkej-501	54	3	there	there	PRON
alkej-501	54	4	are	be	VERB
alkej-501	54	5	many	many	ADJ
alkej-501	54	6	methods	method	NOUN
alkej-501	54	7	which	which	PRON
alkej-501	54	8	can	can	AUX
alkej-501	54	9	be	be	AUX
alkej-501	54	10	used	use	VERB
alkej-501	54	11	for	for	ADP
alkej-501	54	12	converting	convert	VERB
alkej-501	54	13	the	the	DET
alkej-501	54	14	conclusions	conclusion	NOUN
alkej-501	54	15	of	of	ADP
alkej-501	54	16	the	the	DET
alkej-501	54	17	inference	inference	NOUN
alkej-501	54	18	mechanism	mechanism	NOUN
alkej-501	54	19	into	into	ADP
alkej-501	54	20	the	the	DET
alkej-501	54	21	actual	actual	ADJ
alkej-501	54	22	input	input	NOUN
alkej-501	54	23	for	for	ADP
alkej-501	54	24	the	the	DET
alkej-501	54	25	process	process	NOUN
alkej-501	54	26	or	or	CCONJ
alkej-501	54	27	for	for	ADP
alkej-501	54	28	the	the	DET
alkej-501	54	29	plant	plant	NOUN
alkej-501	54	30	.	.	PUNCT
alkej-501	55	1	center	center	NOUN
alkej-501	55	2	of	of	ADP
alkej-501	55	3	gravity	gravity	NOUN
alkej-501	55	4	(	(	PUNCT
alkej-501	55	5	cog	cog	NOUN
alkej-501	55	6	)	)	PUNCT
alkej-501	55	7	defuzzification	defuzzification	NOUN
alkej-501	55	8	method	method	NOUN
alkej-501	55	9	is	be	AUX
alkej-501	55	10	defined	define	VERB
alkej-501	55	11	as	as	ADP
alkej-501	55	12	equation	equation	NOUN
alkej-501	55	13	(	(	PUNCT
alkej-501	55	14	1	1	NUM
alkej-501	55	15	)	)	PUNCT
alkej-501	55	16	.	.	PUNCT
alkej-501	56	1	…	…	PUNCT
alkej-501	56	2	(	(	PUNCT
alkej-501	56	3	1	1	NUM
alkej-501	56	4	)	)	PUNCT
alkej-501	56	5	where	where	SCONJ
alkej-501	56	6	:	:	PUNCT
alkej-501	56	7	y=	y=	NUM
alkej-501	56	8	controller	controller	NOUN
alkej-501	56	9	output	output	NOUN
alkej-501	56	10	,	,	PUNCT
alkej-501	56	11	n=	n=	ADJ
alkej-501	56	12	the	the	DET
alkej-501	56	13	number	number	NOUN
alkej-501	56	14	of	of	ADP
alkej-501	56	15	rules	rule	NOUN
alkej-501	56	16	,	,	PUNCT
alkej-501	56	17	μa(yi	μa(yi	NUM
alkej-501	56	18	):	):	PUNCT
alkej-501	56	19	member	member	NOUN
alkej-501	56	20	ship	ship	NOUN
alkej-501	56	21	function	function	NOUN
alkej-501	56	22	of	of	ADP
alkej-501	56	23	fuzzy	fuzzy	ADJ
alkej-501	56	24	set	set	VERB
alkej-501	56	25	a	a	DET
alkej-501	56	26	calculated	calculate	VERB
alkej-501	56	27	for	for	ADP
alkej-501	56	28	the	the	DET
alkej-501	56	29	input	input	NOUN
alkej-501	56	30	variables	variable	NOUN
alkej-501	56	31	,	,	PUNCT
alkej-501	56	32	yi	yi	PROPN
alkej-501	56	33	:	:	PUNCT
alkej-501	56	34	the	the	DET
alkej-501	56	35	center	center	NOUN
alkej-501	56	36	of	of	ADP
alkej-501	56	37	area	area	NOUN
alkej-501	56	38	of	of	ADP
alkej-501	56	39	of	of	ADP
alkej-501	56	40	fuzzy	fuzzy	ADJ
alkej-501	56	41	set	set	VERB
alkej-501	56	42	ai	ai	NOUN
alkej-501	56	43	of	of	ADP
alkej-501	56	44	i	i	PROPN
alkej-501	56	45	-	-	PUNCT
alkej-501	56	46	th	th	X
alkej-501	56	47	of	of	ADP
alkej-501	56	48	the	the	DET
alkej-501	56	49	rule	rule	NOUN
alkej-501	56	50	,	,	PUNCT
alkej-501	56	51	other	other	ADJ
alkej-501	56	52	defuzzification	defuzzification	NOUN
alkej-501	56	53	techniques	technique	NOUN
alkej-501	56	54	,	,	PUNCT
alkej-501	56	55	are	be	AUX
alkej-501	56	56	centeraverage	centeraverage	NOUN
alkej-501	56	57	defuzzification	defuzzification	NOUN
alkej-501	56	58	,	,	PUNCT
alkej-501	56	59	maximum	maximum	ADJ
alkej-501	56	60	defuzzification	defuzzification	NOUN
alkej-501	56	61	,	,	PUNCT
alkej-501	56	62	etc	etc	X
alkej-501	56	63	.	.	X
alkej-501	57	1	[	[	X
alkej-501	57	2	3	3	NUM
alkej-501	57	3	]	]	PUNCT
alkej-501	57	4	.	.	PUNCT
alkej-501	58	1	this	this	DET
alkej-501	58	2	page	page	NOUN
alkej-501	58	3	was	be	AUX
alkej-501	58	4	created	create	VERB
alkej-501	58	5	using	use	VERB
alkej-501	58	6	nitro	nitro	NOUN
alkej-501	58	7	pdf	pdf	NOUN
alkej-501	58	8	trial	trial	NOUN
alkej-501	58	9	software	software	NOUN
alkej-501	58	10	.	.	PUNCT
alkej-501	59	1	to	to	PART
alkej-501	59	2	purchase	purchase	VERB
alkej-501	59	3	,	,	PUNCT
alkej-501	59	4	go	go	VERB
alkej-501	59	5	to	to	ADP
alkej-501	59	6	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	59	7	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	59	8	nabeel	nabeel	PROPN
alkej-501	59	9	k.	k.	PROPN
alkej-501	59	10	abid	abid	PROPN
alkej-501	60	1	alsahib	alsahib	PROPN
alkej-501	60	2	al	al	PROPN
alkej-501	60	3	-	-	PUNCT
alkej-501	60	4	khwarizmi	khwarizmi	PROPN
alkej-501	60	5	engineering	engineering	NOUN
alkej-501	60	6	journal	journal	PROPN
alkej-501	60	7	,	,	PUNCT
alkej-501	60	8	vol	vol	NOUN
alkej-501	60	9	.	.	PROPN
alkej-501	60	10	6	6	NUM
alkej-501	60	11	,	,	PUNCT
alkej-501	60	12	no	no	INTJ
alkej-501	60	13	.	.	NOUN
alkej-501	60	14	3	3	NUM
alkej-501	60	15	,	,	PUNCT
alkej-501	60	16	pp	pp	ADV
alkej-501	60	17	36	36	NUM
alkej-501	60	18	44	44	NUM
alkej-501	60	19	(	(	PUNCT
alkej-501	60	20	2010	2010	NUM
alkej-501	60	21	)	)	PUNCT
alkej-501	60	22	38	38	NUM
alkej-501	60	23	5	5	NUM
alkej-501	60	24	.	.	PUNCT
alkej-501	61	1	obstacle	obstacle	NOUN
alkej-501	61	2	avoidance	avoidance	NOUN
alkej-501	61	3	design	design	VERB
alkej-501	61	4	the	the	DET
alkej-501	61	5	fuzzy	fuzzy	ADJ
alkej-501	61	6	controllers	controller	NOUN
alkej-501	61	7	for	for	ADP
alkej-501	61	8	obstacle	obstacle	NOUN
alkej-501	61	9	avoidance	avoidance	NOUN
alkej-501	61	10	are	be	AUX
alkej-501	61	11	designed	design	VERB
alkej-501	61	12	as	as	SCONJ
alkej-501	61	13	follows	follow	VERB
alkej-501	61	14	:	:	PUNCT
alkej-501	61	15	first	first	ADV
alkej-501	61	16	read	read	VERB
alkej-501	61	17	sonar	sonar	ADJ
alkej-501	61	18	data	datum	NOUN
alkej-501	61	19	and	and	CCONJ
alkej-501	61	20	construct	construct	VERB
alkej-501	61	21	three	three	NUM
alkej-501	61	22	membership	membership	NOUN
alkej-501	61	23	functions	function	NOUN
alkej-501	61	24	for	for	ADP
alkej-501	61	25	input	input	NOUN
alkej-501	61	26	.	.	PUNCT
alkej-501	62	1	all	all	DET
alkej-501	62	2	data	datum	NOUN
alkej-501	62	3	from	from	ADP
alkej-501	62	4	sonar	sonar	ADJ
alkej-501	62	5	sensors	sensor	NOUN
alkej-501	62	6	are	be	AUX
alkej-501	62	7	received	receive	VERB
alkej-501	62	8	and	and	CCONJ
alkej-501	62	9	displayed	display	VERB
alkej-501	62	10	.	.	PUNCT
alkej-501	63	1	three	three	NUM
alkej-501	63	2	membership	membership	NOUN
alkej-501	63	3	functions	function	NOUN
alkej-501	63	4	for	for	ADP
alkej-501	63	5	each	each	DET
alkej-501	63	6	input	input	NOUN
alkej-501	63	7	in	in	ADP
alkej-501	63	8	its	its	PRON
alkej-501	63	9	universe	universe	NOUN
alkej-501	63	10	are	be	AUX
alkej-501	63	11	constructed	construct	VERB
alkej-501	63	12	.	.	PUNCT
alkej-501	64	1	each	each	DET
alkej-501	64	2	membership	membership	NOUN
alkej-501	64	3	function	function	NOUN
alkej-501	64	4	is	be	AUX
alkej-501	64	5	considered	consider	VERB
alkej-501	64	6	as	as	ADP
alkej-501	64	7	a	a	DET
alkej-501	64	8	triangle	triangle	NOUN
alkej-501	64	9	membership	membership	NOUN
alkej-501	64	10	function	function	NOUN
alkej-501	64	11	.	.	PUNCT
alkej-501	65	1	the	the	DET
alkej-501	65	2	rules	rule	NOUN
alkej-501	65	3	for	for	ADP
alkej-501	65	4	avoiding	avoid	VERB
alkej-501	65	5	frontal	frontal	ADJ
alkej-501	65	6	obstacles	obstacle	NOUN
alkej-501	65	7	are	be	AUX
alkej-501	65	8	developed	develop	VERB
alkej-501	65	9	in	in	ADP
alkej-501	65	10	many	many	ADJ
alkej-501	65	11	stages	stage	NOUN
alkej-501	65	12	.	.	PUNCT
alkej-501	66	1	the	the	DET
alkej-501	66	2	sonar	sonar	ADJ
alkej-501	66	3	notations	notation	NOUN
alkej-501	66	4	are	be	AUX
alkej-501	66	5	the	the	DET
alkej-501	66	6	same	same	ADJ
alkej-501	66	7	as	as	SCONJ
alkej-501	66	8	shown	show	VERB
alkej-501	66	9	in	in	ADP
alkej-501	66	10	figure	figure	NOUN
alkej-501	66	11	(	(	PUNCT
alkej-501	66	12	2	2	NUM
alkej-501	66	13	)	)	PUNCT
alkej-501	66	14	for	for	ADP
alkej-501	66	15	convenience	convenience	NOUN
alkej-501	66	16	.	.	PUNCT
alkej-501	67	1	the	the	DET
alkej-501	67	2	rule	rule	NOUN
alkej-501	67	3	base	base	NOUN
alkej-501	67	4	of	of	ADP
alkej-501	67	5	each	each	DET
alkej-501	67	6	table	table	NOUN
alkej-501	67	7	depends	depend	VERB
alkej-501	67	8	on	on	ADP
alkej-501	67	9	the	the	DET
alkej-501	67	10	sensor	sensor	NOUN
alkej-501	67	11	arrangement	arrangement	NOUN
alkej-501	67	12	.	.	PUNCT
alkej-501	68	1	a	a	DET
alkej-501	68	2	fuzzy	fuzzy	ADJ
alkej-501	68	3	controller	controller	NOUN
alkej-501	68	4	can	can	AUX
alkej-501	68	5	be	be	AUX
alkej-501	68	6	designed	design	VERB
alkej-501	68	7	as	as	SCONJ
alkej-501	68	8	follows	follow	VERB
alkej-501	68	9	:	:	PUNCT
alkej-501	68	10	the	the	DET
alkej-501	68	11	input	input	NOUN
alkej-501	68	12	membership	membership	NOUN
alkej-501	68	13	functions	function	NOUN
alkej-501	68	14	represent	represent	VERB
alkej-501	68	15	the	the	DET
alkej-501	68	16	right	right	NOUN
alkej-501	68	17	and	and	CCONJ
alkej-501	68	18	left	leave	VERB
alkej-501	68	19	side	side	NOUN
alkej-501	68	20	readings	reading	NOUN
alkej-501	68	21	of	of	ADP
alkej-501	68	22	distance	distance	NOUN
alkej-501	68	23	from	from	ADP
alkej-501	68	24	the	the	DET
alkej-501	68	25	object	object	NOUN
alkej-501	68	26	,	,	PUNCT
alkej-501	68	27	if	if	SCONJ
alkej-501	68	28	observed	observe	VERB
alkej-501	68	29	,	,	PUNCT
alkej-501	68	30	in	in	ADP
alkej-501	68	31	path	path	NOUN
alkej-501	68	32	by	by	ADP
alkej-501	68	33	signal	signal	NOUN
alkej-501	68	34	from	from	ADP
alkej-501	68	35	sonar	sonar	ADJ
alkej-501	68	36	sensors	sensor	NOUN
alkej-501	68	37	,	,	PUNCT
alkej-501	68	38	avoid	avoid	VERB
alkej-501	68	39	object	object	NOUN
alkej-501	68	40	on	on	ADP
alkej-501	68	41	right	right	ADJ
alkej-501	68	42	side	side	NOUN
alkej-501	68	43	(	(	PUNCT
alkej-501	68	44	aor	aor	NOUN
alkej-501	68	45	)	)	PUNCT
alkej-501	68	46	and	and	CCONJ
alkej-501	68	47	avoid	avoid	VERB
alkej-501	68	48	object	object	NOUN
alkej-501	68	49	on	on	ADP
alkej-501	68	50	left	left	ADJ
alkej-501	68	51	side	side	NOUN
alkej-501	68	52	(	(	PUNCT
alkej-501	68	53	aol	aol	NOUN
alkej-501	68	54	)	)	PUNCT
alkej-501	68	55	.	.	PUNCT
alkej-501	69	1	fig.2	fig.2	PROPN
alkej-501	69	2	.	.	PUNCT
alkej-501	70	1	sonar	sonar	ADJ
alkej-501	70	2	range	range	NOUN
alkej-501	70	3	notation	notation	NOUN
alkej-501	70	4	for	for	ADP
alkej-501	70	5	robot	robot	NOUN
alkej-501	70	6	.	.	PUNCT
alkej-501	71	1	the	the	DET
alkej-501	71	2	membership	membership	NOUN
alkej-501	71	3	function	function	NOUN
alkej-501	71	4	is	be	AUX
alkej-501	71	5	a	a	DET
alkej-501	71	6	three	three	NUM
alkej-501	71	7	triangular	triangular	NOUN
alkej-501	71	8	membership	membership	NOUN
alkej-501	71	9	function	function	NOUN
alkej-501	71	10	representing	represent	VERB
alkej-501	71	11	robot	robot	NOUN
alkej-501	71	12	conditions	condition	NOUN
alkej-501	71	13	that	that	PRON
alkej-501	71	14	are	be	AUX
alkej-501	71	15	good	good	ADJ
alkej-501	71	16	,	,	PUNCT
alkej-501	71	17	near	near	ADV
alkej-501	71	18	and	and	CCONJ
alkej-501	71	19	far	far	ADV
alkej-501	71	20	from	from	ADP
alkej-501	71	21	the	the	DET
alkej-501	71	22	object	object	NOUN
alkej-501	71	23	lines	line	NOUN
alkej-501	71	24	.	.	PUNCT
alkej-501	72	1	fig.3	fig.3	PROPN
alkej-501	72	2	.	.	PROPN
alkej-501	72	3	avoidance	avoidance	NOUN
alkej-501	72	4	input	input	NOUN
alkej-501	72	5	membership	membership	NOUN
alkej-501	72	6	function	function	NOUN
alkej-501	72	7	.	.	PUNCT
alkej-501	73	1	table	table	NOUN
alkej-501	73	2	(	(	PUNCT
alkej-501	73	3	1	1	X
alkej-501	73	4	)	)	PUNCT
alkej-501	73	5	shows	show	VERB
alkej-501	73	6	the	the	DET
alkej-501	73	7	relation	relation	NOUN
alkej-501	73	8	between	between	ADP
alkej-501	73	9	linguistic	linguistic	ADJ
alkej-501	73	10	input	input	NOUN
alkej-501	73	11	and	and	CCONJ
alkej-501	73	12	ranges	range	NOUN
alkej-501	73	13	.	.	PUNCT
alkej-501	74	1	the	the	DET
alkej-501	74	2	near	near	ADJ
alkej-501	74	3	and	and	CCONJ
alkej-501	74	4	far	far	ADJ
alkej-501	74	5	membership	membership	NOUN
alkej-501	74	6	functions	function	NOUN
alkej-501	74	7	overlap	overlap	VERB
alkej-501	74	8	the	the	DET
alkej-501	74	9	good	good	ADJ
alkej-501	74	10	membership	membership	NOUN
alkej-501	74	11	function	function	NOUN
alkej-501	74	12	,	,	PUNCT
alkej-501	74	13	so	so	SCONJ
alkej-501	74	14	that	that	SCONJ
alkej-501	74	15	the	the	DET
alkej-501	74	16	distance	distance	NOUN
alkej-501	74	17	can	can	AUX
alkej-501	74	18	be	be	AUX
alkej-501	74	19	both	both	ADV
alkej-501	74	20	good	good	ADJ
alkej-501	74	21	,	,	PUNCT
alkej-501	74	22	and	and	CCONJ
alkej-501	74	23	near	near	ADP
alkej-501	74	24	the	the	DET
alkej-501	74	25	object	object	NOUN
alkej-501	74	26	line	line	NOUN
alkej-501	74	27	,	,	PUNCT
alkej-501	74	28	or	or	CCONJ
alkej-501	74	29	both	both	CCONJ
alkej-501	74	30	good	good	ADJ
alkej-501	74	31	and	and	CCONJ
alkej-501	74	32	far	far	ADV
alkej-501	74	33	from	from	ADP
alkej-501	74	34	the	the	DET
alkej-501	74	35	line	line	NOUN
alkej-501	74	36	,	,	PUNCT
alkej-501	74	37	this	this	DET
alkej-501	74	38	overlap	overlap	NOUN
alkej-501	74	39	in	in	ADP
alkej-501	74	40	the	the	DET
alkej-501	74	41	membership	membership	NOUN
alkej-501	74	42	functions	function	NOUN
alkej-501	74	43	allows	allow	VERB
alkej-501	74	44	application	application	NOUN
alkej-501	74	45	of	of	ADP
alkej-501	74	46	multiple	multiple	ADJ
alkej-501	74	47	rules	rule	NOUN
alkej-501	74	48	in	in	ADP
alkej-501	74	49	this	this	DET
alkej-501	74	50	region	region	NOUN
alkej-501	74	51	.	.	PUNCT
alkej-501	75	1	this	this	DET
alkej-501	75	2	membership	membership	NOUN
alkej-501	75	3	functions	function	NOUN
alkej-501	75	4	are	be	AUX
alkej-501	75	5	used	use	VERB
alkej-501	75	6	for	for	ADP
alkej-501	75	7	right	right	ADJ
alkej-501	75	8	sensors	sensor	NOUN
alkej-501	75	9	and	and	CCONJ
alkej-501	75	10	left	leave	VERB
alkej-501	75	11	sensors	sensor	NOUN
alkej-501	75	12	inputs	input	NOUN
alkej-501	75	13	.	.	PUNCT
alkej-501	76	1	table	table	NOUN
alkej-501	76	2	1	1	NUM
alkej-501	76	3	,	,	PUNCT
alkej-501	76	4	linguistic	linguistic	ADJ
alkej-501	76	5	input	input	NOUN
alkej-501	76	6	fuzzy	fuzzy	ADJ
alkej-501	76	7	set	set	NOUN
alkej-501	76	8	and	and	CCONJ
alkej-501	76	9	their	their	PRON
alkej-501	76	10	ranges	range	NOUN
alkej-501	76	11	.	.	PUNCT
alkej-501	77	1	sonar	sonar	ADJ
alkej-501	77	2	distance	distance	NOUN
alkej-501	77	3	(	(	PUNCT
alkej-501	77	4	ao)ranges	ao)range	VERB
alkej-501	77	5	linguistic	linguistic	ADJ
alkej-501	77	6	variable	variable	ADJ
alkej-501	77	7	notation	notation	NOUN
alkej-501	77	8	range	range	NOUN
alkej-501	77	9	in	in	ADP
alkej-501	77	10	meter	meter	NOUN
alkej-501	77	11	near	near	ADP
alkej-501	77	12	ne	ne	PROPN
alkej-501	78	1	[	[	X
alkej-501	78	2	0.00,0.45	0.00,0.45	X
alkej-501	78	3	]	]	X
alkej-501	78	4	good	good	ADJ
alkej-501	78	5	go	go	VERB
alkej-501	79	1	[	[	X
alkej-501	79	2	0.25,0.75	0.25,0.75	X
alkej-501	79	3	]	]	X
alkej-501	79	4	far	far	ADV
alkej-501	79	5	fa	fa	X
alkej-501	80	1	[	[	X
alkej-501	80	2	0.55	0.55	NUM
alkej-501	80	3	,	,	PUNCT
alkej-501	80	4	1.0	1.0	NUM
alkej-501	80	5	]	]	SYM
alkej-501	80	6	6	6	NUM
alkej-501	80	7	.	.	X
alkej-501	80	8	orientation	orientation	NOUN
alkej-501	80	9	control	control	NOUN
alkej-501	80	10	design	design	VERB
alkej-501	80	11	the	the	DET
alkej-501	80	12	direction	direction	NOUN
alkej-501	80	13	angle	angle	NOUN
alkej-501	80	14	membership	membership	NOUN
alkej-501	80	15	function	function	NOUN
alkej-501	80	16	is	be	AUX
alkej-501	80	17	a	a	DET
alkej-501	80	18	5triangular	5triangular	NUM
alkej-501	80	19	membership	membership	NOUN
alkej-501	80	20	functions	function	NOUN
alkej-501	80	21	,	,	PUNCT
alkej-501	80	22	representing	represent	VERB
alkej-501	80	23	angle	angle	NOUN
alkej-501	80	24	conditions	condition	NOUN
alkej-501	80	25	that	that	PRON
alkej-501	80	26	are	be	AUX
alkej-501	80	27	very	very	ADV
alkej-501	80	28	negative	negative	ADJ
alkej-501	80	29	,	,	PUNCT
alkej-501	80	30	negative	negative	ADJ
alkej-501	80	31	,	,	PUNCT
alkej-501	80	32	zero	zero	NUM
alkej-501	80	33	,	,	PUNCT
alkej-501	80	34	positive	positive	ADJ
alkej-501	80	35	,	,	PUNCT
alkej-501	80	36	and	and	CCONJ
alkej-501	80	37	very	very	ADV
alkej-501	80	38	positive	positive	ADJ
alkej-501	80	39	.	.	PUNCT
alkej-501	81	1	the	the	DET
alkej-501	81	2	objective	objective	NOUN
alkej-501	81	3	of	of	ADP
alkej-501	81	4	the	the	DET
alkej-501	81	5	orientation	orientation	NOUN
alkej-501	81	6	is	be	AUX
alkej-501	81	7	to	to	PART
alkej-501	81	8	keep	keep	VERB
alkej-501	81	9	the	the	DET
alkej-501	81	10	robot	robot	NOUN
alkej-501	81	11	pointing	pointing	NOUN
alkej-501	81	12	toward	toward	ADP
alkej-501	81	13	a	a	DET
alkej-501	81	14	given	give	VERB
alkej-501	81	15	target	target	NOUN
alkej-501	81	16	so	so	SCONJ
alkej-501	81	17	that	that	DET
alkej-501	81	18	progress	progress	NOUN
alkej-501	81	19	is	be	AUX
alkej-501	81	20	made	make	VERB
alkej-501	81	21	.	.	PUNCT
alkej-501	82	1	if	if	SCONJ
alkej-501	82	2	the	the	DET
alkej-501	82	3	robot	robot	NOUN
alkej-501	82	4	has	have	VERB
alkej-501	82	5	to	to	PART
alkej-501	82	6	travel	travel	VERB
alkej-501	82	7	from	from	ADP
alkej-501	82	8	a	a	DET
alkej-501	82	9	known	know	VERB
alkej-501	82	10	present	present	ADJ
alkej-501	82	11	location	location	NOUN
alkej-501	82	12	(	(	PUNCT
alkej-501	82	13	xrobot	xrobot	NOUN
alkej-501	82	14	,	,	PUNCT
alkej-501	82	15	yrobot	yrobot	PROPN
alkej-501	82	16	)	)	PUNCT
alkej-501	82	17	to	to	ADP
alkej-501	82	18	a	a	DET
alkej-501	82	19	goal	goal	NOUN
alkej-501	82	20	(	(	PUNCT
alkej-501	82	21	xgoal	xgoal	PROPN
alkej-501	82	22	,	,	PUNCT
alkej-501	82	23	ygoal	ygoal	NOUN
alkej-501	82	24	)	)	PUNCT
alkej-501	82	25	;	;	PUNCT
alkej-501	82	26	then	then	ADV
alkej-501	82	27	the	the	DET
alkej-501	82	28	following	follow	VERB
alkej-501	82	29	procedure	procedure	NOUN
alkej-501	82	30	is	be	AUX
alkej-501	82	31	performed	perform	VERB
alkej-501	82	32	.	.	PUNCT
alkej-501	83	1	goalrobot	goalrobot	VERB
alkej-501	83	2	xxδx	xxδx	NOUN
alkej-501	83	3			PROPN
alkej-501	83	4	…	…	PUNCT
alkej-501	83	5	(	(	PUNCT
alkej-501	83	6	2	2	X
alkej-501	83	7	)	)	PUNCT
alkej-501	83	8	goalrobot	goalrobot	NOUN
alkej-501	83	9	yyδy	yyδy	NOUN
alkej-501	83	10			PROPN
alkej-501	83	11	…	…	PUNCT
alkej-501	83	12	(	(	PUNCT
alkej-501	83	13	3	3	X
alkej-501	83	14	)	)	PUNCT
alkej-501	83	15	figure	figure	NOUN
alkej-501	83	16	(	(	PUNCT
alkej-501	83	17	4	4	NUM
alkej-501	83	18	)	)	PUNCT
alkej-501	83	19	represents	represent	VERB
alkej-501	83	20	the	the	DET
alkej-501	83	21	robot	robot	NOUN
alkej-501	83	22	orientation	orientation	NOUN
alkej-501	83	23	with	with	ADP
alkej-501	83	24	goal	goal	NOUN
alkej-501	83	25	with	with	ADP
alkej-501	83	26	orientation	orientation	NOUN
alkej-501	83	27	respect	respect	NOUN
alkej-501	83	28	to	to	ADP
alkej-501	83	29	global	global	ADJ
alkej-501	83	30	map	map	NOUN
alkej-501	83	31	.	.	PUNCT
alkej-501	84	1	fig.4	fig.4	PROPN
alkej-501	84	2	.	.	PROPN
alkej-501	84	3	robot	robot	NOUN
alkej-501	84	4	orientation	orientation	NOUN
alkej-501	84	5	with	with	ADP
alkej-501	84	6	respect	respect	NOUN
alkej-501	84	7	to	to	ADP
alkej-501	84	8	the	the	DET
alkej-501	84	9	goal	goal	NOUN
alkej-501	84	10	.	.	PUNCT
alkej-501	85	1	this	this	DET
alkej-501	85	2	page	page	NOUN
alkej-501	85	3	was	be	AUX
alkej-501	85	4	created	create	VERB
alkej-501	85	5	using	use	VERB
alkej-501	85	6	nitro	nitro	NOUN
alkej-501	85	7	pdf	pdf	NOUN
alkej-501	85	8	trial	trial	NOUN
alkej-501	85	9	software	software	NOUN
alkej-501	85	10	.	.	PUNCT
alkej-501	86	1	to	to	PART
alkej-501	86	2	purchase	purchase	VERB
alkej-501	86	3	,	,	PUNCT
alkej-501	86	4	go	go	VERB
alkej-501	86	5	to	to	ADP
alkej-501	86	6	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	86	7	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	86	8	nabeel	nabeel	PROPN
alkej-501	86	9	k.	k.	PROPN
alkej-501	86	10	abid	abid	PROPN
alkej-501	87	1	alsahib	alsahib	PROPN
alkej-501	87	2	al	al	PROPN
alkej-501	87	3	-	-	PUNCT
alkej-501	87	4	khwarizmi	khwarizmi	PROPN
alkej-501	87	5	engineering	engineering	NOUN
alkej-501	87	6	journal	journal	PROPN
alkej-501	87	7	,	,	PUNCT
alkej-501	87	8	vol	vol	NOUN
alkej-501	87	9	.	.	PROPN
alkej-501	87	10	6	6	NUM
alkej-501	87	11	,	,	PUNCT
alkej-501	87	12	no	no	INTJ
alkej-501	87	13	.	.	NOUN
alkej-501	87	14	3	3	NUM
alkej-501	87	15	,	,	PUNCT
alkej-501	87	16	pp	pp	ADV
alkej-501	87	17	36	36	NUM
alkej-501	87	18	44	44	NUM
alkej-501	87	19	(	(	PUNCT
alkej-501	87	20	2010	2010	NUM
alkej-501	87	21	)	)	PUNCT
alkej-501	87	22	39	39	NUM
alkej-501	87	23			NOUN
alkej-501	87	24	:	:	PUNCT
alkej-501	87	25	the	the	DET
alkej-501	87	26	angle	angle	NOUN
alkej-501	87	27	formed	form	VERB
alkej-501	87	28	between	between	ADP
alkej-501	87	29	the	the	DET
alkej-501	87	30	robot	robot	NOUN
alkej-501	87	31	center	center	NOUN
alkej-501	87	32	and	and	CCONJ
alkej-501	87	33	the	the	DET
alkej-501	87	34	x	x	NOUN
alkej-501	87	35	-	-	NOUN
alkej-501	87	36	axis	axis	ADJ
alkej-501	87	37	.	.	PUNCT
alkej-501	88	1	α	α	NOUN
alkej-501	88	2	:	:	PUNCT
alkej-501	89	1	the	the	DET
alkej-501	89	2	angle	angle	NOUN
alkej-501	89	3	formed	form	VERB
alkej-501	89	4	between	between	ADP
alkej-501	89	5	the	the	DET
alkej-501	89	6	goal	goal	NOUN
alkej-501	89	7	center	center	NOUN
alkej-501	89	8	and	and	CCONJ
alkej-501	89	9	the	the	DET
alkej-501	89	10	x	x	NOUN
alkej-501	89	11	-	-	NOUN
alkej-501	89	12	axis	axis	ADJ
alkej-501	89	13	.	.	PUNCT
alkej-501	90	1	figure	figure	NOUN
alkej-501	90	2	(	(	PUNCT
alkej-501	90	3	5	5	NUM
alkej-501	90	4	)	)	PUNCT
alkej-501	90	5	represents	represent	VERB
alkej-501	90	6	the	the	DET
alkej-501	90	7	direction	direction	NOUN
alkej-501	90	8	membership	membership	NOUN
alkej-501	90	9	function	function	NOUN
alkej-501	90	10	.	.	PUNCT
alkej-501	91	1	fig.5	fig.5	PROPN
alkej-501	91	2	.	.	PUNCT
alkej-501	91	3	direction	direction	NOUN
alkej-501	91	4	membership	membership	NOUN
alkej-501	91	5	function	function	NOUN
alkej-501	91	6	.	.	PUNCT
alkej-501	92	1	the	the	DET
alkej-501	92	2	output	output	NOUN
alkej-501	92	3	direction	direction	NOUN
alkej-501	92	4	angle	angle	NOUN
alkej-501	92	5	membership	membership	NOUN
alkej-501	92	6	function	function	NOUN
alkej-501	92	7	is	be	AUX
alkej-501	92	8	a	a	DET
alkej-501	92	9	5	5	NUM
alkej-501	92	10	-	-	PUNCT
alkej-501	92	11	triangular	triangular	NOUN
alkej-501	92	12	membership	membership	NOUN
alkej-501	92	13	functions	function	NOUN
alkej-501	92	14	,	,	PUNCT
alkej-501	92	15	representing	represent	VERB
alkej-501	92	16	output	output	NOUN
alkej-501	92	17	angle	angle	NOUN
alkej-501	92	18	conditions	condition	NOUN
alkej-501	92	19	that	that	PRON
alkej-501	92	20	are	be	AUX
alkej-501	92	21	:	:	PUNCT
alkej-501	92	22	big	big	ADJ
alkej-501	92	23	left	left	ADJ
alkej-501	92	24	,	,	PUNCT
alkej-501	92	25	left	leave	VERB
alkej-501	92	26	,	,	PUNCT
alkej-501	92	27	zero	zero	NUM
alkej-501	92	28	,	,	PUNCT
alkej-501	92	29	big	big	ADJ
alkej-501	92	30	right	right	NOUN
alkej-501	92	31	and	and	CCONJ
alkej-501	92	32	right	right	ADJ
alkej-501	92	33	.	.	PUNCT
alkej-501	93	1	figure	figure	NOUN
alkej-501	93	2	(	(	PUNCT
alkej-501	93	3	6	6	NUM
alkej-501	93	4	)	)	PUNCT
alkej-501	93	5	represents	represent	VERB
alkej-501	93	6	direction	direction	NOUN
alkej-501	93	7	output	output	NOUN
alkej-501	93	8	membership	membership	NOUN
alkej-501	93	9	function	function	NOUN
alkej-501	93	10	.	.	PUNCT
alkej-501	94	1	fig.6	fig.6	PROPN
alkej-501	94	2	.	.	PUNCT
alkej-501	95	1	direction	direction	NOUN
alkej-501	95	2	output	output	NOUN
alkej-501	95	3	membership	membership	NOUN
alkej-501	95	4	function	function	NOUN
alkej-501	95	5	.	.	PUNCT
alkej-501	96	1	the	the	DET
alkej-501	96	2	fundamental	fundamental	ADJ
alkej-501	96	3	principle	principle	NOUN
alkej-501	96	4	of	of	ADP
alkej-501	96	5	all	all	PRON
alkej-501	96	6	of	of	ADP
alkej-501	96	7	the	the	DET
alkej-501	96	8	controller	controller	NOUN
alkej-501	96	9	logic	logic	NOUN
alkej-501	96	10	is	be	AUX
alkej-501	96	11	to	to	PART
alkej-501	96	12	bring	bring	VERB
alkej-501	96	13	the	the	DET
alkej-501	96	14	robot	robot	NOUN
alkej-501	96	15	in	in	ADP
alkej-501	96	16	the	the	DET
alkej-501	96	17	path	path	NOUN
alkej-501	96	18	,	,	PUNCT
alkej-501	96	19	which	which	PRON
alkej-501	96	20	means	mean	VERB
alkej-501	96	21	defining	define	VERB
alkej-501	96	22	a	a	DET
alkej-501	96	23	start	start	NOUN
alkej-501	96	24	point	point	NOUN
alkej-501	96	25	and	and	CCONJ
alkej-501	96	26	the	the	DET
alkej-501	96	27	goal	goal	NOUN
alkej-501	96	28	.	.	PUNCT
alkej-501	97	1	the	the	DET
alkej-501	97	2	path	path	NOUN
alkej-501	97	3	is	be	AUX
alkej-501	97	4	drawn	draw	VERB
alkej-501	97	5	to	to	ADP
alkej-501	97	6	the	the	DET
alkej-501	97	7	robot	robot	NOUN
alkej-501	97	8	by	by	ADP
alkej-501	97	9	programming	program	VERB
alkej-501	97	10	a	a	DET
alkej-501	97	11	fuzzy	fuzzy	ADJ
alkej-501	97	12	logic	logic	NOUN
alkej-501	97	13	system	system	NOUN
alkej-501	97	14	into	into	ADP
alkej-501	97	15	the	the	DET
alkej-501	97	16	controller	controller	NOUN
alkej-501	97	17	code	code	NOUN
alkej-501	97	18	.	.	PUNCT
alkej-501	98	1	this	this	DET
alkej-501	98	2	information	information	NOUN
alkej-501	98	3	is	be	AUX
alkej-501	98	4	used	use	VERB
alkej-501	98	5	to	to	PART
alkej-501	98	6	select	select	VERB
alkej-501	98	7	the	the	DET
alkej-501	98	8	robot	robot	NOUN
alkej-501	98	9	angular	angular	ADJ
alkej-501	98	10	velocity	velocity	NOUN
alkej-501	98	11	(	(	PUNCT
alkej-501	98	12	vr	vr	NOUN
alkej-501	98	13	)	)	PUNCT
alkej-501	98	14	and	and	CCONJ
alkej-501	98	15	output	output	NOUN
alkej-501	98	16	direction	direction	NOUN
alkej-501	98	17	by	by	ADP
alkej-501	98	18	rule	rule	NOUN
alkej-501	98	19	base	base	NOUN
alkej-501	98	20	statements	statement	NOUN
alkej-501	98	21	,	,	PUNCT
alkej-501	98	22	as	as	SCONJ
alkej-501	98	23	follows	follow	VERB
alkej-501	98	24	:	:	PUNCT
alkej-501	98	25	rule	rule	NOUN
alkej-501	98	26	base	base	NOUN
alkej-501	98	27	statements	statement	NOUN
alkej-501	98	28	if	if	SCONJ
alkej-501	98	29	(	(	PUNCT
alkej-501	98	30	dir	dir	NOUN
alkej-501	98	31	=	=	SYM
alkej-501	98	32	p	p	NOUN
alkej-501	98	33	)	)	PUNCT
alkej-501	98	34	and	and	CCONJ
alkej-501	98	35	(	(	PUNCT
alkej-501	98	36	aor	aor	NOUN
alkej-501	98	37	=	=	SYM
alkej-501	98	38	ne	ne	PROPN
alkej-501	98	39	)	)	PUNCT
alkej-501	98	40	and	and	CCONJ
alkej-501	98	41	(	(	PUNCT
alkej-501	98	42	aol	aol	NOUN
alkej-501	98	43	=	=	PUNCT
alkej-501	98	44	far	far	ADV
alkej-501	98	45	)	)	PUNCT
alkej-501	98	46	then	then	ADV
alkej-501	98	47	(	(	PUNCT
alkej-501	98	48	vr=	vr=	PROPN
alkej-501	98	49	sf	sf	PROPN
alkej-501	98	50	)	)	PUNCT
alkej-501	98	51	and	and	CCONJ
alkej-501	98	52	(	(	PUNCT
alkej-501	98	53	dirr	dirr	PROPN
alkej-501	98	54	=	=	SYM
alkej-501	98	55	l	l	NOUN
alkej-501	98	56	)	)	PUNCT
alkej-501	98	57	if	if	SCONJ
alkej-501	98	58	(	(	PUNCT
alkej-501	98	59	dir	dir	NOUN
alkej-501	98	60	=	=	SYM
alkej-501	98	61	vp	vp	PROPN
alkej-501	98	62	)	)	PUNCT
alkej-501	98	63	and	and	CCONJ
alkej-501	98	64	(	(	PUNCT
alkej-501	98	65	aor	aor	NOUN
alkej-501	98	66	=	=	SYM
alkej-501	98	67	ne	ne	PROPN
alkej-501	98	68	)	)	PUNCT
alkej-501	98	69	and	and	CCONJ
alkej-501	98	70	(	(	PUNCT
alkej-501	98	71	aol	aol	NOUN
alkej-501	98	72	=	=	PUNCT
alkej-501	98	73	far	far	ADV
alkej-501	98	74	)	)	PUNCT
alkej-501	98	75	then	then	ADV
alkej-501	98	76	(	(	PUNCT
alkej-501	98	77	vr=	vr=	PROPN
alkej-501	98	78	s	s	PART
alkej-501	98	79	)	)	PUNCT
alkej-501	98	80	and	and	CCONJ
alkej-501	98	81	(	(	PUNCT
alkej-501	98	82	dirr	dirr	PROPN
alkej-501	98	83	=	=	SYM
alkej-501	98	84	l	l	NOUN
alkej-501	98	85	)	)	PUNCT
alkej-501	98	86	if	if	SCONJ
alkej-501	98	87	(	(	PUNCT
alkej-501	98	88	dir	dir	NOUN
alkej-501	98	89	=	=	SYM
alkej-501	98	90	vn	vn	NOUN
alkej-501	98	91	)	)	PUNCT
alkej-501	98	92	and	and	CCONJ
alkej-501	98	93	(	(	PUNCT
alkej-501	98	94	aor	aor	NOUN
alkej-501	98	95	=	=	PUNCT
alkej-501	98	96	go	go	VERB
alkej-501	98	97	)	)	PUNCT
alkej-501	98	98	and	and	CCONJ
alkej-501	98	99	(	(	PUNCT
alkej-501	98	100	aol	aol	NOUN
alkej-501	98	101	=	=	PUNCT
alkej-501	98	102	far	far	ADV
alkej-501	98	103	)	)	PUNCT
alkej-501	98	104	then	then	ADV
alkej-501	98	105	(	(	PUNCT
alkej-501	98	106	vr=	vr=	PROPN
alkej-501	98	107	sf	sf	PROPN
alkej-501	98	108	)	)	PUNCT
alkej-501	98	109	and	and	CCONJ
alkej-501	98	110	(	(	PUNCT
alkej-501	98	111	dirr	dirr	PROPN
alkej-501	98	112	=	=	SYM
alkej-501	98	113	bl	bl	NOUN
alkej-501	98	114	)	)	PUNCT
alkej-501	98	115	if	if	SCONJ
alkej-501	98	116	(	(	PUNCT
alkej-501	98	117	dir	dir	NOUN
alkej-501	98	118	=	=	SYM
alkej-501	98	119	n	n	CCONJ
alkej-501	98	120	)	)	PUNCT
alkej-501	98	121	and	and	CCONJ
alkej-501	98	122	(	(	PUNCT
alkej-501	98	123	aor	aor	NOUN
alkej-501	98	124	=	=	PUNCT
alkej-501	98	125	go	go	VERB
alkej-501	98	126	)	)	PUNCT
alkej-501	98	127	and	and	CCONJ
alkej-501	98	128	(	(	PUNCT
alkej-501	98	129	aol	aol	NOUN
alkej-501	98	130	=	=	PUNCT
alkej-501	98	131	far	far	ADV
alkej-501	98	132	)	)	PUNCT
alkej-501	98	133	then	then	ADV
alkej-501	98	134	(	(	PUNCT
alkej-501	98	135	vr=	vr=	PROPN
alkej-501	98	136	sf	sf	PROPN
alkej-501	98	137	)	)	PUNCT
alkej-501	98	138	and	and	CCONJ
alkej-501	98	139	(	(	PUNCT
alkej-501	98	140	dirr	dirr	PROPN
alkej-501	98	141	=	=	SYM
alkej-501	98	142	l	l	NOUN
alkej-501	98	143	)	)	PUNCT
alkej-501	98	144	if	if	SCONJ
alkej-501	98	145	(	(	PUNCT
alkej-501	98	146	dir	dir	NOUN
alkej-501	98	147	=	=	SYM
alkej-501	98	148	z	z	NOUN
alkej-501	98	149	)	)	PUNCT
alkej-501	98	150	and	and	CCONJ
alkej-501	98	151	(	(	PUNCT
alkej-501	98	152	aor	aor	NOUN
alkej-501	98	153	=	=	PUNCT
alkej-501	98	154	go	go	VERB
alkej-501	98	155	)	)	PUNCT
alkej-501	98	156	and	and	CCONJ
alkej-501	98	157	(	(	PUNCT
alkej-501	98	158	aol	aol	NOUN
alkej-501	98	159	=	=	PUNCT
alkej-501	98	160	far	far	ADV
alkej-501	98	161	)	)	PUNCT
alkej-501	98	162	then	then	ADV
alkej-501	98	163	(	(	PUNCT
alkej-501	98	164	vr=	vr=	PROPN
alkej-501	98	165	f	f	X
alkej-501	98	166	)	)	PUNCT
alkej-501	98	167	and	and	CCONJ
alkej-501	98	168	(	(	PUNCT
alkej-501	98	169	dirr	dirr	PROPN
alkej-501	98	170	=	=	SYM
alkej-501	98	171	ze	ze	NOUN
alkej-501	98	172	)	)	PUNCT
alkej-501	98	173	if	if	SCONJ
alkej-501	98	174	(	(	PUNCT
alkej-501	98	175	dir	dir	NOUN
alkej-501	98	176	=	=	SYM
alkej-501	98	177	p	p	NOUN
alkej-501	98	178	)	)	PUNCT
alkej-501	98	179	and	and	CCONJ
alkej-501	98	180	(	(	PUNCT
alkej-501	98	181	aor	aor	NOUN
alkej-501	98	182	=	=	PUNCT
alkej-501	98	183	go	go	VERB
alkej-501	98	184	)	)	PUNCT
alkej-501	98	185	and	and	CCONJ
alkej-501	98	186	(	(	PUNCT
alkej-501	98	187	aol	aol	NOUN
alkej-501	98	188	=	=	PUNCT
alkej-501	98	189	far	far	ADV
alkej-501	98	190	)	)	PUNCT
alkej-501	98	191	then	then	ADV
alkej-501	98	192	(	(	PUNCT
alkej-501	98	193	vr=	vr=	PROPN
alkej-501	98	194	sf	sf	PROPN
alkej-501	98	195	)	)	PUNCT
alkej-501	98	196	and	and	CCONJ
alkej-501	98	197	(	(	PUNCT
alkej-501	98	198	dirr	dirr	NOUN
alkej-501	98	199	=	=	NOUN
alkej-501	98	200	r	r	NOUN
alkej-501	98	201	for	for	ADP
alkej-501	98	202	output	output	NOUN
alkej-501	98	203	variables	variable	NOUN
alkej-501	98	204	:	:	PUNCT
alkej-501	98	205	f	f	X
alkej-501	98	206	:	:	PUNCT
alkej-501	98	207	forward	forward	PROPN
alkej-501	98	208	sf	sf	PROPN
alkej-501	98	209	:	:	PUNCT
alkej-501	98	210	slow	slow	VERB
alkej-501	98	211	forward	forward	ADV
alkej-501	98	212	s	s	PART
alkej-501	98	213	:	:	PUNCT
alkej-501	98	214	stop	stop	VERB
alkej-501	98	215	sb	sb	PROPN
alkej-501	98	216	:	:	PUNCT
alkej-501	98	217	slow	slow	VERB
alkej-501	98	218	backward	backward	ADJ
alkej-501	98	219	b	b	NOUN
alkej-501	98	220	:	:	PUNCT
alkej-501	98	221	backward	backward	ADJ
alkej-501	98	222	bl	bl	VERB
alkej-501	98	223	:	:	PUNCT
alkej-501	98	224	big	big	ADJ
alkej-501	98	225	left	leave	VERB
alkej-501	98	226	l	l	NOUN
alkej-501	98	227	:	:	PUNCT
alkej-501	98	228	left	leave	VERB
alkej-501	98	229	r	r	NOUN
alkej-501	98	230	:	:	PUNCT
alkej-501	98	231	right	right	ADJ
alkej-501	98	232	br	br	NOUN
alkej-501	98	233	:	:	PUNCT
alkej-501	99	1	big	big	ADJ
alkej-501	99	2	right	right	ADJ
alkej-501	99	3	ze	ze	NOUN
alkej-501	99	4	:	:	PUNCT
alkej-501	99	5	zero	zero	NUM
alkej-501	99	6	in	in	ADP
alkej-501	99	7	the	the	DET
alkej-501	99	8	step	step	NOUN
alkej-501	99	9	of	of	ADP
alkej-501	99	10	defuzzification	defuzzification	NOUN
alkej-501	99	11	,	,	PUNCT
alkej-501	99	12	the	the	DET
alkej-501	99	13	membership	membership	NOUN
alkej-501	99	14	function	function	VERB
alkej-501	99	15	for	for	ADP
alkej-501	99	16	the	the	DET
alkej-501	99	17	control	control	NOUN
alkej-501	99	18	action	action	NOUN
alkej-501	99	19	of	of	ADP
alkej-501	99	20	angular	angular	ADJ
alkej-501	99	21	velocity	velocity	NOUN
alkej-501	99	22	is	be	AUX
alkej-501	99	23	defuzzified	defuzzifie	VERB
alkej-501	99	24	by	by	ADP
alkej-501	99	25	using	use	VERB
alkej-501	99	26	the	the	DET
alkej-501	99	27	centroid	centroid	NOUN
alkej-501	99	28	method	method	NOUN
alkej-501	99	29	..	..	PUNCT
alkej-501	99	30	finally	finally	ADV
alkej-501	99	31	,	,	PUNCT
alkej-501	99	32	the	the	DET
alkej-501	99	33	output	output	NOUN
alkej-501	99	34	for	for	ADP
alkej-501	99	35	angular	angular	ADJ
alkej-501	99	36	velocity	velocity	NOUN
alkej-501	99	37	is	be	AUX
alkej-501	99	38	given	give	VERB
alkej-501	99	39	by	by	ADP
alkej-501	99	40	equation	equation	NOUN
alkej-501	99	41	(	(	PUNCT
alkej-501	99	42	1	1	NUM
alkej-501	99	43	)	)	PUNCT
alkej-501	99	44	.	.	PUNCT
alkej-501	100	1	7	7	X
alkej-501	100	2	.	.	X
alkej-501	100	3	robot	robot	NOUN
alkej-501	100	4	description	description	NOUN
alkej-501	100	5	the	the	DET
alkej-501	100	6	platform	platform	NOUN
alkej-501	100	7	used	use	VERB
alkej-501	100	8	in	in	ADP
alkej-501	100	9	work	work	NOUN
alkej-501	100	10	is	be	AUX
alkej-501	100	11	pioneer3	pioneer3	PROPN
alkej-501	100	12	dx	dx	PROPN
alkej-501	100	13	which	which	PRON
alkej-501	100	14	is	be	AUX
alkej-501	100	15	a	a	DET
alkej-501	100	16	family	family	NOUN
alkej-501	100	17	of	of	ADP
alkej-501	100	18	two	two	NUM
alkej-501	100	19	wheel	wheel	NOUN
alkej-501	100	20	mobile	mobile	NOUN
alkej-501	100	21	robots	robot	NOUN
alkej-501	100	22	.	.	PUNCT
alkej-501	101	1	the	the	DET
alkej-501	101	2	robot	robot	NOUN
alkej-501	101	3	has	have	VERB
alkej-501	101	4	reversible	reversible	ADJ
alkej-501	101	5	dc	dc	PROPN
alkej-501	101	6	motors	motors	PROPN
alkej-501	101	7	,	,	PUNCT
alkej-501	101	8	motor	motor	NOUN
alkej-501	101	9	-	-	PUNCT
alkej-501	101	10	control	control	NOUN
alkej-501	101	11	driver	driver	NOUN
alkej-501	101	12	,	,	PUNCT
alkej-501	101	13	high	high	ADJ
alkej-501	101	14	-	-	PUNCT
alkej-501	101	15	resolution	resolution	NOUN
alkej-501	101	16	motion	motion	NOUN
alkej-501	101	17	encoders	encoder	NOUN
alkej-501	101	18	,	,	PUNCT
alkej-501	101	19	and	and	CCONJ
alkej-501	101	20	battery	battery	NOUN
alkej-501	101	21	power	power	NOUN
alkej-501	101	22	;	;	PUNCT
alkej-501	101	23	all	all	PRON
alkej-501	101	24	are	be	AUX
alkej-501	101	25	managed	manage	VERB
alkej-501	101	26	by	by	ADP
alkej-501	101	27	an	an	DET
alkej-501	101	28	onboard	onboard	NOUN
alkej-501	101	29	microcontroller	microcontroller	NOUN
alkej-501	101	30	and	and	CCONJ
alkej-501	101	31	mobile	mobile	ADJ
alkej-501	101	32	-	-	PUNCT
alkej-501	101	33	robot	robot	NOUN
alkej-501	101	34	server	server	NOUN
alkej-501	101	35	software	software	NOUN
alkej-501	101	36	as	as	SCONJ
alkej-501	101	37	shown	show	VERB
alkej-501	101	38	in	in	ADP
alkej-501	101	39	figure	figure	NOUN
alkej-501	101	40	(	(	PUNCT
alkej-501	101	41	7	7	NUM
alkej-501	101	42	)	)	PUNCT
alkej-501	101	43	.	.	PUNCT
alkej-501	102	1	the	the	DET
alkej-501	102	2	software	software	NOUN
alkej-501	102	3	includes	include	VERB
alkej-501	102	4	foundation	foundation	NOUN
alkej-501	102	5	advanced	advanced	ADJ
alkej-501	102	6	robotics	robotic	NOUN
alkej-501	102	7	interface	interface	NOUN
alkej-501	102	8	for	for	ADP
alkej-501	102	9	applications	application	NOUN
alkej-501	102	10	(	(	PUNCT
alkej-501	102	11	aria	aria	NOUN
alkej-501	102	12	)	)	PUNCT
alkej-501	102	13	and	and	CCONJ
alkej-501	102	14	advanced	advanced	ADJ
alkej-501	102	15	robot	robot	NOUN
alkej-501	102	16	for	for	ADP
alkej-501	102	17	arnetworking	arnetworke	VERB
alkej-501	102	18	.	.	PUNCT
alkej-501	103	1	fig.7	fig.7	ADJ
alkej-501	103	2	.	.	PUNCT
alkej-501	103	3	pioneer	pioneer	NOUN
alkej-501	103	4	platform	platform	NOUN
alkej-501	103	5	.	.	PUNCT
alkej-501	104	1	this	this	DET
alkej-501	104	2	page	page	NOUN
alkej-501	104	3	was	be	AUX
alkej-501	104	4	created	create	VERB
alkej-501	104	5	using	use	VERB
alkej-501	104	6	nitro	nitro	NOUN
alkej-501	104	7	pdf	pdf	NOUN
alkej-501	104	8	trial	trial	NOUN
alkej-501	104	9	software	software	NOUN
alkej-501	104	10	.	.	PUNCT
alkej-501	105	1	to	to	PART
alkej-501	105	2	purchase	purchase	VERB
alkej-501	105	3	,	,	PUNCT
alkej-501	105	4	go	go	VERB
alkej-501	105	5	to	to	ADP
alkej-501	105	6	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	105	7	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	105	8	nabeel	nabeel	PROPN
alkej-501	105	9	k.	k.	PROPN
alkej-501	105	10	abid	abid	PROPN
alkej-501	106	1	alsahib	alsahib	PROPN
alkej-501	106	2	al	al	PROPN
alkej-501	106	3	-	-	PUNCT
alkej-501	106	4	khwarizmi	khwarizmi	PROPN
alkej-501	106	5	engineering	engineering	NOUN
alkej-501	106	6	journal	journal	PROPN
alkej-501	106	7	,	,	PUNCT
alkej-501	106	8	vol	vol	NOUN
alkej-501	106	9	.	.	PROPN
alkej-501	106	10	6	6	NUM
alkej-501	106	11	,	,	PUNCT
alkej-501	106	12	no	no	INTJ
alkej-501	106	13	.	.	NOUN
alkej-501	106	14	3	3	NUM
alkej-501	106	15	,	,	PUNCT
alkej-501	106	16	pp	pp	ADV
alkej-501	106	17	36	36	NUM
alkej-501	106	18	44	44	NUM
alkej-501	106	19	(	(	PUNCT
alkej-501	106	20	2010	2010	NUM
alkej-501	106	21	)	)	PUNCT
alkej-501	106	22	40	40	NUM
alkej-501	107	1	the	the	DET
alkej-501	107	2	mobile	mobile	NOUN
alkej-501	107	3	robot	robot	NOUN
alkej-501	107	4	platforms	platform	NOUN
alkej-501	107	5	require	require	VERB
alkej-501	107	6	a	a	DET
alkej-501	107	7	pc	pc	NOUN
alkej-501	107	8	connection	connection	NOUN
alkej-501	107	9	:	:	PUNCT
alkej-501	107	10	software	software	NOUN
alkej-501	107	11	running	run	VERB
alkej-501	107	12	on	on	ADP
alkej-501	107	13	a	a	DET
alkej-501	107	14	computer	computer	NOUN
alkej-501	107	15	connected	connect	VERB
alkej-501	107	16	with	with	ADP
alkej-501	107	17	the	the	DET
alkej-501	107	18	robot	robot	NOUN
alkej-501	107	19	’s	’s	PART
alkej-501	107	20	microcontroller	microcontroller	NOUN
alkej-501	107	21	via	via	ADP
alkej-501	107	22	the	the	DET
alkej-501	107	23	host	host	NOUN
alkej-501	107	24	serial	serial	NOUN
alkej-501	107	25	link	link	NOUN
alkej-501	107	26	and	and	CCONJ
alkej-501	107	27	which	which	PRON
alkej-501	107	28	provides	provide	VERB
alkej-501	107	29	a	a	DET
alkej-501	107	30	high	high	ADJ
alkej-501	107	31	-	-	PUNCT
alkej-501	107	32	level	level	NOUN
alkej-501	107	33	mobile	mobile	NOUN
alkej-501	107	34	robot	robot	NOUN
alkej-501	107	35	software	software	NOUN
alkej-501	107	36	,	,	PUNCT
alkej-501	107	37	intelligent	intelligent	ADJ
alkej-501	107	38	robot	robot	NOUN
alkej-501	107	39	controls	control	NOUN
alkej-501	107	40	,	,	PUNCT
alkej-501	107	41	advanced	advanced	ADJ
alkej-501	107	42	robotics	robotic	NOUN
alkej-501	107	43	interface	interface	NOUN
alkej-501	107	44	for	for	ADP
alkej-501	107	45	applications	application	NOUN
alkej-501	107	46	(	(	PUNCT
alkej-501	107	47	aria	aria	NOUN
alkej-501	107	48	)	)	PUNCT
alkej-501	107	49	software	software	NOUN
alkej-501	107	50	and	and	CCONJ
alkej-501	107	51	arnetworking	arnetworking	NOUN
alkej-501	107	52	.	.	PUNCT
alkej-501	108	1	aria	aria	PROPN
alkej-501	108	2	is	be	AUX
alkej-501	108	3	a	a	DET
alkej-501	108	4	c++	c++	NOUN
alkej-501	108	5	based	base	VERB
alkej-501	108	6	open	open	ADJ
alkej-501	108	7	-	-	PUNCT
alkej-501	108	8	source	source	NOUN
alkej-501	108	9	development	development	NOUN
alkej-501	108	10	environment	environment	NOUN
alkej-501	108	11	that	that	PRON
alkej-501	108	12	provides	provide	VERB
alkej-501	108	13	a	a	DET
alkej-501	108	14	robust	robust	ADJ
alkej-501	108	15	client	client	NOUN
alkej-501	108	16	-	-	PUNCT
alkej-501	108	17	side	side	NOUN
alkej-501	108	18	interface	interface	NOUN
alkej-501	108	19	to	to	ADP
alkej-501	108	20	a	a	DET
alkej-501	108	21	variety	variety	NOUN
alkej-501	108	22	of	of	ADP
alkej-501	108	23	intelligent	intelligent	ADJ
alkej-501	108	24	robotics	robotic	NOUN
alkej-501	108	25	systems	system	NOUN
alkej-501	108	26	,	,	PUNCT
alkej-501	108	27	including	include	VERB
alkej-501	108	28	the	the	DET
alkej-501	108	29	robot	robot	NOUN
alkej-501	108	30	’s	’s	PART
alkej-501	108	31	microcontroller	microcontroller	NOUN
alkej-501	108	32	and	and	CCONJ
alkej-501	108	33	accessory	accessory	NOUN
alkej-501	108	34	systems	system	NOUN
alkej-501	108	35	.	.	PUNCT
alkej-501	109	1	arnetworking	arnetworking	NOUN
alkej-501	109	2	software	software	NOUN
alkej-501	109	3	provides	provide	VERB
alkej-501	109	4	the	the	DET
alkej-501	109	5	critical	critical	ADJ
alkej-501	109	6	layer	layer	NOUN
alkej-501	109	7	for	for	ADP
alkej-501	109	8	communication	communication	NOUN
alkej-501	109	9	with	with	ADP
alkej-501	109	10	mobile	mobile	ADJ
alkej-501	109	11	robot	robot	NOUN
alkej-501	109	12	platform	platform	NOUN
alkej-501	109	13	over	over	ADP
alkej-501	109	14	the	the	DET
alkej-501	109	15	network	network	NOUN
alkej-501	109	16	via	via	ADP
alkej-501	109	17	transmission	transmission	NOUN
alkej-501	109	18	control	control	NOUN
alkej-501	109	19	protocol	protocol	NOUN
alkej-501	109	20	/	/	SYM
alkej-501	109	21	internet	internet	NOUN
alkej-501	109	22	protocol	protocol	NOUN
alkej-501	109	23	(	(	PUNCT
alkej-501	109	24	tcp	tcp	PROPN
alkej-501	109	25	/	/	SYM
alkej-501	109	26	ip	ip	NOUN
alkej-501	109	27	)	)	PUNCT
alkej-501	109	28	,	,	PUNCT
alkej-501	109	29	the	the	DET
alkej-501	109	30	tcp	tcp	PROPN
alkej-501	109	31	/	/	SYM
alkej-501	109	32	ip	ip	NOUN
alkej-501	109	33	is	be	AUX
alkej-501	109	34	the	the	DET
alkej-501	109	35	most	most	ADV
alkej-501	109	36	popular	popular	ADJ
alkej-501	109	37	network	network	NOUN
alkej-501	109	38	protocol	protocol	NOUN
alkej-501	109	39	,	,	PUNCT
alkej-501	109	40	and	and	CCONJ
alkej-501	109	41	the	the	DET
alkej-501	109	42	basis	basis	NOUN
alkej-501	109	43	for	for	ADP
alkej-501	109	44	the	the	DET
alkej-501	109	45	internet	internet	NOUN
alkej-501	109	46	.	.	PUNCT
alkej-501	110	1	its	its	PRON
alkej-501	110	2	routing	routing	NOUN
alkej-501	110	3	capabilities	capability	NOUN
alkej-501	110	4	provide	provide	VERB
alkej-501	110	5	maximum	maximum	ADJ
alkej-501	110	6	flexibility	flexibility	NOUN
alkej-501	110	7	in	in	ADP
alkej-501	110	8	an	an	DET
alkej-501	110	9	enterprise	enterprise	NOUN
alkej-501	110	10	-	-	PUNCT
alkej-501	110	11	wide	wide	ADJ
alkej-501	110	12	network	network	NOUN
alkej-501	110	13	.	.	PUNCT
alkej-501	111	1	on	on	ADP
alkej-501	111	2	a	a	DET
alkej-501	111	3	tcp	tcp	PROPN
alkej-501	111	4	/	/	SYM
alkej-501	111	5	ip	ip	NOUN
alkej-501	111	6	network	network	NOUN
alkej-501	111	7	,	,	PUNCT
alkej-501	111	8	ip	ip	PROPN
alkej-501	111	9	must	must	AUX
alkej-501	111	10	provide	provide	VERB
alkej-501	111	11	addresses	address	NOUN
alkej-501	111	12	to	to	ADP
alkej-501	111	13	clients	client	NOUN
alkej-501	111	14	.	.	PUNCT
alkej-501	112	1	clients	client	NOUN
alkej-501	112	2	may	may	AUX
alkej-501	112	3	also	also	ADV
alkej-501	112	4	require	require	VERB
alkej-501	112	5	a	a	DET
alkej-501	112	6	naming	naming	NOUN
alkej-501	112	7	service	service	NOUN
alkej-501	112	8	.	.	PUNCT
alkej-501	113	1	8	8	X
alkej-501	113	2	.	.	X
alkej-501	113	3	wireless	wireless	ADJ
alkej-501	113	4	ethernet	ethernet	NOUN
alkej-501	113	5	-	-	PUNCT
alkej-501	113	6	to	to	ADP
alkej-501	113	7	-	-	PUNCT
alkej-501	113	8	serial	serial	ADJ
alkej-501	113	9	connection	connection	NOUN
alkej-501	113	10	wireless	wireless	NOUN
alkej-501	113	11	ethernet	ethernet	NOUN
alkej-501	113	12	to	to	ADP
alkej-501	113	13	serial	serial	NOUN
alkej-501	113	14	is	be	AUX
alkej-501	113	15	a	a	DET
alkej-501	113	16	little	little	ADV
alkej-501	113	17	more	more	ADV
alkej-501	113	18	complicated	complicated	ADJ
alkej-501	113	19	,	,	PUNCT
alkej-501	113	20	but	but	CCONJ
alkej-501	113	21	is	be	AUX
alkej-501	113	22	the	the	DET
alkej-501	113	23	preferred	preferred	ADJ
alkej-501	113	24	method	method	NOUN
alkej-501	113	25	because	because	SCONJ
alkej-501	113	26	it	it	PRON
alkej-501	113	27	can	can	AUX
alkej-501	113	28	use	use	VERB
alkej-501	113	29	many	many	ADJ
alkej-501	113	30	different	different	ADJ
alkej-501	113	31	computers	computer	NOUN
alkej-501	113	32	on	on	ADP
alkej-501	113	33	the	the	DET
alkej-501	113	34	network	network	NOUN
alkej-501	113	35	to	to	PART
alkej-501	113	36	become	become	VERB
alkej-501	113	37	the	the	DET
alkej-501	113	38	robot	robot	NOUN
alkej-501	113	39	’s	’s	PART
alkej-501	113	40	client	client	NOUN
alkej-501	113	41	so	so	ADV
alkej-501	113	42	allowing	allow	VERB
alkej-501	113	43	greater	great	ADJ
alkej-501	113	44	degrees	degree	NOUN
alkej-501	113	45	of	of	ADP
alkej-501	113	46	flexibility	flexibility	NOUN
alkej-501	113	47	and	and	CCONJ
alkej-501	113	48	interoperability	interoperability	NOUN
alkej-501	113	49	between	between	ADP
alkej-501	113	50	mobile	mobile	ADJ
alkej-501	113	51	devices	device	NOUN
alkej-501	113	52	[	[	X
alkej-501	113	53	9	9	NUM
alkej-501	113	54	]	]	PUNCT
alkej-501	113	55	.	.	PUNCT
alkej-501	114	1	fig.8	fig.8	PROPN
alkej-501	114	2	.	.	PUNCT
alkej-501	115	1	client	client	NOUN
alkej-501	115	2	-	-	PUNCT
alkej-501	115	3	server	server	NOUN
alkej-501	115	4	connection	connection	NOUN
alkej-501	115	5	.	.	PUNCT
alkej-501	116	1	a	a	DET
alkej-501	116	2	wireless	wireless	ADJ
alkej-501	116	3	ethernet	ethernet	NOUN
alkej-501	116	4	-	-	PUNCT
alkej-501	116	5	to	to	ADP
alkej-501	116	6	-	-	PUNCT
alkej-501	116	7	serial	serial	NOUN
alkej-501	116	8	connects	connect	VERB
alkej-501	116	9	directly	directly	ADV
alkej-501	116	10	to	to	ADP
alkej-501	116	11	robot	robot	NOUN
alkej-501	116	12	’s	’s	PART
alkej-501	116	13	microcontroller	microcontroller	NOUN
alkej-501	116	14	,	,	PUNCT
alkej-501	116	15	it	it	PRON
alkej-501	116	16	works	work	VERB
alkej-501	116	17	by	by	ADP
alkej-501	116	18	automatically	automatically	ADV
alkej-501	116	19	translating	translate	VERB
alkej-501	116	20	network	network	NOUN
alkej-501	116	21	-	-	PUNCT
alkej-501	116	22	based	base	VERB
alkej-501	116	23	ethernet	ethernet	NOUN
alkej-501	116	24	packet	packet	NOUN
alkej-501	116	25	communications	communication	NOUN
alkej-501	116	26	tcp	tcp	PROPN
alkej-501	116	27	/	/	SYM
alkej-501	116	28	ip	ip	NOUN
alkej-501	116	29	into	into	ADP
alkej-501	116	30	streaming	streaming	NOUN
alkej-501	116	31	serial	serial	NOUN
alkej-501	116	32	for	for	ADP
alkej-501	116	33	the	the	DET
alkej-501	116	34	robot	robot	NOUN
alkej-501	116	35	microcontroller	microcontroller	NOUN
alkej-501	116	36	and	and	CCONJ
alkej-501	116	37	back	back	ADV
alkej-501	116	38	again	again	ADV
alkej-501	116	39	.	.	PUNCT
alkej-501	117	1	a	a	DET
alkej-501	117	2	major	major	ADJ
alkej-501	117	3	disadvantage	disadvantage	NOUN
alkej-501	117	4	of	of	ADP
alkej-501	117	5	the	the	DET
alkej-501	117	6	wireless	wireless	ADJ
alkej-501	117	7	ethernet	ethernet	NOUN
alkej-501	117	8	-	-	PUNCT
alkej-501	117	9	to	to	ADP
alkej-501	117	10	-	-	PUNCT
alkej-501	117	11	serial	serial	ADJ
alkej-501	117	12	device	device	NOUN
alkej-501	117	13	is	be	AUX
alkej-501	117	14	that	that	SCONJ
alkej-501	117	15	it	it	PRON
alkej-501	117	16	requires	require	VERB
alkej-501	117	17	a	a	DET
alkej-501	117	18	consistent	consistent	ADJ
alkej-501	117	19	wireless	wireless	ADJ
alkej-501	117	20	connection	connection	NOUN
alkej-501	117	21	with	with	ADP
alkej-501	117	22	the	the	DET
alkej-501	117	23	robot	robot	NOUN
alkej-501	117	24	;	;	PUNCT
alkej-501	117	25	disruption	disruption	NOUN
alkej-501	117	26	of	of	ADP
alkej-501	117	27	the	the	DET
alkej-501	117	28	radio	radio	NOUN
alkej-501	117	29	signal	signal	NOUN
alkej-501	117	30	a	a	DET
alkej-501	117	31	common	common	ADJ
alkej-501	117	32	occurrence	occurrence	NOUN
alkej-501	117	33	in	in	ADP
alkej-501	117	34	even	even	ADV
alkej-501	117	35	the	the	DET
alkej-501	117	36	most	most	ADV
alkej-501	117	37	modern	modern	ADJ
alkej-501	117	38	installation	installation	NOUN
alkej-501	117	39	leads	lead	VERB
alkej-501	117	40	to	to	ADP
alkej-501	117	41	poor	poor	ADJ
alkej-501	117	42	robot	robot	NOUN
alkej-501	117	43	performance	performance	NOUN
alkej-501	117	44	and	and	CCONJ
alkej-501	117	45	to	to	ADP
alkej-501	117	46	very	very	ADV
alkej-501	117	47	short	short	ADJ
alkej-501	117	48	ranges	range	NOUN
alkej-501	117	49	of	of	ADP
alkej-501	117	50	operation	operation	NOUN
alkej-501	117	51	.	.	PUNCT
alkej-501	118	1	secure	secure	ADJ
alkej-501	118	2	connection	connection	NOUN
alkej-501	118	3	is	be	AUX
alkej-501	118	4	important	important	ADJ
alkej-501	118	5	to	to	PART
alkej-501	118	6	save	save	VERB
alkej-501	118	7	robot	robot	NOUN
alkej-501	118	8	from	from	ADP
alkej-501	118	9	undesirable	undesirable	ADJ
alkej-501	118	10	connection	connection	NOUN
alkej-501	118	11	.	.	PUNCT
alkej-501	119	1	figure(8	figure(8	PROPN
alkej-501	119	2	)	)	PUNCT
alkej-501	119	3	shows	show	VERB
alkej-501	119	4	client	client	NOUN
alkej-501	119	5	-	-	PUNCT
alkej-501	119	6	server	server	NOUN
alkej-501	119	7	connection	connection	NOUN
alkej-501	119	8	.	.	PUNCT
alkej-501	120	1	9	9	X
alkej-501	120	2	.	.	X
alkej-501	120	3	software	software	NOUN
alkej-501	120	4	program	program	NOUN
alkej-501	120	5	the	the	DET
alkej-501	120	6	programmer	programmer	NOUN
alkej-501	120	7	usually	usually	ADV
alkej-501	120	8	includes	include	VERB
alkej-501	120	9	idea	idea	NOUN
alkej-501	120	10	along	along	ADP
alkej-501	120	11	the	the	DET
alkej-501	120	12	path	path	NOUN
alkej-501	120	13	at	at	ADP
alkej-501	120	14	space	space	NOUN
alkej-501	120	15	intersections	intersection	NOUN
alkej-501	120	16	or	or	CCONJ
alkej-501	120	17	other	other	ADJ
alkej-501	120	18	choice	choice	NOUN
alkej-501	120	19	points	point	NOUN
alkej-501	120	20	which	which	PRON
alkej-501	120	21	the	the	DET
alkej-501	120	22	robot	robot	NOUN
alkej-501	120	23	should	should	AUX
alkej-501	120	24	achieve	achieve	VERB
alkej-501	120	25	as	as	ADV
alkej-501	120	26	quickly	quickly	ADV
alkej-501	120	27	as	as	ADP
alkej-501	120	28	possible	possible	ADJ
alkej-501	120	29	,	,	PUNCT
alkej-501	120	30	taking	take	VERB
alkej-501	120	31	into	into	ADP
alkej-501	120	32	consideration	consideration	NOUN
alkej-501	120	33	safety	safety	NOUN
alkej-501	120	34	and	and	CCONJ
alkej-501	120	35	power	power	NOUN
alkej-501	120	36	.	.	PUNCT
alkej-501	121	1	and	and	CCONJ
alkej-501	121	2	as	as	SCONJ
alkej-501	121	3	the	the	DET
alkej-501	121	4	robot	robot	NOUN
alkej-501	121	5	work	work	VERB
alkej-501	121	6	to	to	PART
alkej-501	121	7	achieve	achieve	VERB
alkej-501	121	8	those	those	DET
alkej-501	121	9	larger	large	ADJ
alkej-501	121	10	goals	goal	NOUN
alkej-501	121	11	,	,	PUNCT
alkej-501	121	12	it	it	PRON
alkej-501	121	13	should	should	AUX
alkej-501	121	14	avoid	avoid	VERB
alkej-501	121	15	obstacles	obstacle	NOUN
alkej-501	121	16	and	and	CCONJ
alkej-501	121	17	respond	respond	VERB
alkej-501	121	18	to	to	ADP
alkej-501	121	19	accident	accident	NOUN
alkej-501	121	20	,	,	PUNCT
alkej-501	121	21	such	such	ADJ
alkej-501	121	22	as	as	ADP
alkej-501	121	23	closed	closed	ADJ
alkej-501	121	24	doors	door	NOUN
alkej-501	121	25	or	or	CCONJ
alkej-501	121	26	blocked	block	VERB
alkej-501	121	27	way	way	NOUN
alkej-501	121	28	,	,	PUNCT
alkej-501	121	29	go	go	VERB
alkej-501	121	30	-	-	PUNCT
alkej-501	121	31	to	to	AUX
alkej-501	121	32	-	-	PUNCT
alkej-501	121	33	goal	goal	NOUN
alkej-501	121	34	is	be	AUX
alkej-501	121	35	defined	define	VERB
alkej-501	121	36	for	for	ADP
alkej-501	121	37	path	path	NOUN
alkej-501	121	38	.	.	PUNCT
alkej-501	122	1	it	it	PRON
alkej-501	122	2	is	be	AUX
alkej-501	122	3	a	a	DET
alkej-501	122	4	value	value	NOUN
alkej-501	122	5	of	of	ADP
alkej-501	122	6	directed	direct	VERB
alkej-501	122	7	difference	difference	NOUN
alkej-501	122	8	to	to	ADP
alkej-501	122	9	the	the	DET
alkej-501	122	10	nearest	near	ADJ
alkej-501	122	11	goal	goal	NOUN
alkej-501	122	12	with	with	ADP
alkej-501	122	13	respect	respect	NOUN
alkej-501	122	14	to	to	ADP
alkej-501	122	15	current	current	ADJ
alkej-501	122	16	robot	robot	NOUN
alkej-501	122	17	position	position	NOUN
alkej-501	122	18	.	.	PUNCT
alkej-501	123	1	figure	figure	NOUN
alkej-501	123	2	(	(	PUNCT
alkej-501	123	3	9	9	NUM
alkej-501	123	4	)	)	PUNCT
alkej-501	123	5	shows	show	VERB
alkej-501	123	6	the	the	DET
alkej-501	123	7	flowchart	flowchart	NOUN
alkej-501	123	8	of	of	ADP
alkej-501	123	9	the	the	DET
alkej-501	123	10	program	program	NOUN
alkej-501	123	11	,	,	PUNCT
alkej-501	123	12	a	a	DET
alkej-501	123	13	crisp	crisp	ADJ
alkej-501	123	14	value	value	NOUN
alkej-501	123	15	for	for	ADP
alkej-501	123	16	aol	aol	PROPN
alkej-501	123	17	,	,	PUNCT
alkej-501	123	18	aor	aor	PROPN
alkej-501	123	19	,	,	PUNCT
alkej-501	123	20	dirc	dirc	NOUN
alkej-501	123	21	and	and	CCONJ
alkej-501	123	22	dirr	dirr	ADJ
alkej-501	123	23	input	input	NOUN
alkej-501	123	24	to	to	ADP
alkej-501	123	25	program	program	NOUN
alkej-501	123	26	;	;	PUNCT
alkej-501	123	27	then	then	ADV
alkej-501	123	28	they	they	PRON
alkej-501	123	29	are	be	AUX
alkej-501	123	30	fuzzified	fuzzifie	VERB
alkej-501	123	31	to	to	ADP
alkej-501	123	32	linguistic	linguistic	ADJ
alkej-501	123	33	variables	variable	NOUN
alkej-501	123	34	such	such	ADJ
alkej-501	123	35	as	as	ADP
alkej-501	123	36	“	"	PUNCT
alkej-501	123	37	object	object	NOUN
alkej-501	123	38	near	near	ADP
alkej-501	123	39	left	left	ADJ
alkej-501	123	40	sonar	sonar	NOUN
alkej-501	123	41	“	"	PUNCT
alkej-501	123	42	,	,	PUNCT
alkej-501	123	43	in	in	ADP
alkej-501	123	44	program	program	NOUN
alkej-501	123	45	inference	inference	NOUN
alkej-501	123	46	system	system	NOUN
alkej-501	123	47	list	list	VERB
alkej-501	123	48	the	the	DET
alkej-501	123	49	rule	rule	NOUN
alkej-501	123	50	base	base	NOUN
alkej-501	123	51	statments	statment	NOUN
alkej-501	123	52	like	like	ADP
alkej-501	123	53	“	"	PUNCT
alkej-501	123	54	if	if	SCONJ
alkej-501	123	55	dir	dir	NOUN
alkej-501	123	56	=	=	SYM
alkej-501	123	57	positive	positive	ADJ
alkej-501	123	58	and	and	CCONJ
alkej-501	123	59	aor	aor	NOUN
alkej-501	123	60	=	=	PUNCT
alkej-501	123	61	negative	negative	ADJ
alkej-501	123	62	then	then	ADV
alkej-501	123	63	robot	robot	NOUN
alkej-501	123	64	angle	angle	NOUN
alkej-501	123	65	is	be	AUX
alkej-501	123	66	positive	positive	ADJ
alkej-501	123	67	”	"	PUNCT
alkej-501	123	68	.	.	PUNCT
alkej-501	124	1	by	by	ADP
alkej-501	124	2	defuzzifying	defuzzifye	VERB
alkej-501	124	3	these	these	DET
alkej-501	124	4	values	value	NOUN
alkej-501	124	5	,	,	PUNCT
alkej-501	124	6	it	it	PRON
alkej-501	124	7	puts	put	VERB
alkej-501	124	8	crisp	crisp	ADJ
alkej-501	124	9	output	output	NOUN
alkej-501	124	10	parameters	parameter	NOUN
alkej-501	124	11	like	like	ADP
alkej-501	124	12	“	"	PUNCT
alkej-501	124	13	robot	robot	NOUN
alkej-501	124	14	angle	angle	NOUN
alkej-501	124	15	=	=	SYM
alkej-501	124	16	+30	+30	NOUN
alkej-501	124	17	”	"	PUNCT
alkej-501	124	18	send	send	VERB
alkej-501	124	19	to	to	ADP
alkej-501	124	20	robot	robot	NOUN
alkej-501	124	21	platform	platform	NOUN
alkej-501	124	22	.	.	PUNCT
alkej-501	125	1	fig	fig	NOUN
alkej-501	125	2	.	.	PUNCT
alkej-501	126	1	9	9	X
alkej-501	126	2	.	.	X
alkej-501	126	3	the	the	DET
alkej-501	126	4	flowchart	flowchart	NOUN
alkej-501	126	5	of	of	ADP
alkej-501	126	6	the	the	DET
alkej-501	126	7	program	program	NOUN
alkej-501	126	8	.	.	PUNCT
alkej-501	127	1	this	this	DET
alkej-501	127	2	page	page	NOUN
alkej-501	127	3	was	be	AUX
alkej-501	127	4	created	create	VERB
alkej-501	127	5	using	use	VERB
alkej-501	127	6	nitro	nitro	NOUN
alkej-501	127	7	pdf	pdf	NOUN
alkej-501	127	8	trial	trial	NOUN
alkej-501	127	9	software	software	NOUN
alkej-501	127	10	.	.	PUNCT
alkej-501	128	1	to	to	PART
alkej-501	128	2	purchase	purchase	VERB
alkej-501	128	3	,	,	PUNCT
alkej-501	128	4	go	go	VERB
alkej-501	128	5	to	to	ADP
alkej-501	128	6	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	128	7	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	128	8	nabeel	nabeel	PROPN
alkej-501	128	9	k.	k.	PROPN
alkej-501	128	10	abid	abid	PROPN
alkej-501	129	1	alsahib	alsahib	PROPN
alkej-501	129	2	al	al	PROPN
alkej-501	129	3	-	-	PUNCT
alkej-501	129	4	khwarizmi	khwarizmi	PROPN
alkej-501	129	5	engineering	engineering	NOUN
alkej-501	129	6	journal	journal	PROPN
alkej-501	129	7	,	,	PUNCT
alkej-501	129	8	vol	vol	NOUN
alkej-501	129	9	.	.	PROPN
alkej-501	129	10	6	6	NUM
alkej-501	129	11	,	,	PUNCT
alkej-501	129	12	no	no	INTJ
alkej-501	129	13	.	.	NOUN
alkej-501	129	14	3	3	NUM
alkej-501	129	15	,	,	PUNCT
alkej-501	129	16	pp	pp	ADV
alkej-501	129	17	36	36	NUM
alkej-501	129	18	44	44	NUM
alkej-501	129	19	(	(	PUNCT
alkej-501	129	20	2010	2010	NUM
alkej-501	129	21	)	)	PUNCT
alkej-501	129	22	41	41	NUM
alkej-501	129	23	10	10	NUM
alkej-501	129	24	.	.	PUNCT
alkej-501	130	1	obstacle	obstacle	NOUN
alkej-501	130	2	avoidance	avoidance	NOUN
alkej-501	130	3	and	and	CCONJ
alkej-501	130	4	orientation	orientation	NOUN
alkej-501	130	5	behavior	behavior	NOUN
alkej-501	130	6	the	the	DET
alkej-501	130	7	obstacle	obstacle	NOUN
alkej-501	130	8	avoidance	avoidance	NOUN
alkej-501	130	9	behavior	behavior	NOUN
alkej-501	130	10	uses	use	VERB
alkej-501	130	11	sonar	sonar	ADJ
alkej-501	130	12	sensor	sensor	NOUN
alkej-501	130	13	data	datum	NOUN
alkej-501	130	14	to	to	PART
alkej-501	130	15	generate	generate	VERB
alkej-501	130	16	a	a	DET
alkej-501	130	17	fuzzy	fuzzy	ADJ
alkej-501	130	18	set	set	NOUN
alkej-501	130	19	that	that	PRON
alkej-501	130	20	represents	represent	VERB
alkej-501	130	21	the	the	DET
alkej-501	130	22	distance	distance	NOUN
alkej-501	130	23	relating	relate	VERB
alkej-501	130	24	to	to	ADP
alkej-501	130	25	robot	robot	NOUN
alkej-501	130	26	location	location	NOUN
alkej-501	130	27	.	.	PUNCT
alkej-501	131	1	the	the	DET
alkej-501	131	2	behavior	behavior	NOUN
alkej-501	131	3	is	be	AUX
alkej-501	131	4	operated	operate	VERB
alkej-501	131	5	by	by	ADP
alkej-501	131	6	using	use	VERB
alkej-501	131	7	the	the	DET
alkej-501	131	8	fuzzy	fuzzy	ADJ
alkej-501	131	9	controller	controller	NOUN
alkej-501	131	10	.	.	PUNCT
alkej-501	132	1	the	the	DET
alkej-501	132	2	fuzzy	fuzzy	ADJ
alkej-501	132	3	inputs	input	NOUN
alkej-501	132	4	are	be	AUX
alkej-501	132	5	the	the	DET
alkej-501	132	6	fuzzy	fuzzy	ADJ
alkej-501	132	7	sets	set	NOUN
alkej-501	132	8	from	from	ADP
alkej-501	132	9	front	front	ADJ
alkej-501	132	10	,	,	PUNCT
alkej-501	132	11	left	left	ADJ
alkej-501	132	12	and	and	CCONJ
alkej-501	132	13	right	right	ADJ
alkej-501	132	14	.	.	PUNCT
alkej-501	133	1	the	the	DET
alkej-501	133	2	sensors	sensor	NOUN
alkej-501	133	3	on	on	ADP
alkej-501	133	4	the	the	DET
alkej-501	133	5	front	front	NOUN
alkej-501	133	6	-	-	PUNCT
alkej-501	133	7	left	leave	VERB
alkej-501	133	8	and	and	CCONJ
alkej-501	133	9	the	the	DET
alkej-501	133	10	sensors	sensor	NOUN
alkej-501	133	11	on	on	ADP
alkej-501	133	12	the	the	DET
alkej-501	133	13	front	front	ADJ
alkej-501	133	14	right	right	NOUN
alkej-501	133	15	are	be	AUX
alkej-501	133	16	used	use	VERB
alkej-501	133	17	for	for	ADP
alkej-501	133	18	obstacle	obstacle	NOUN
alkej-501	133	19	avoidance	avoidance	NOUN
alkej-501	133	20	behavior	behavior	NOUN
alkej-501	133	21	.	.	PUNCT
alkej-501	134	1	therefore	therefore	ADV
alkej-501	134	2	,	,	PUNCT
alkej-501	134	3	the	the	DET
alkej-501	134	4	fuzzy	fuzzy	ADJ
alkej-501	134	5	controllers	controller	NOUN
alkej-501	134	6	are	be	AUX
alkej-501	134	7	required	require	VERB
alkej-501	134	8	in	in	ADP
alkej-501	134	9	this	this	DET
alkej-501	134	10	behavior	behavior	NOUN
alkej-501	134	11	.	.	PUNCT
alkej-501	135	1	the	the	DET
alkej-501	135	2	output	output	NOUN
alkej-501	135	3	is	be	AUX
alkej-501	135	4	the	the	DET
alkej-501	135	5	avoiding	avoid	VERB
alkej-501	135	6	rotation	rotation	NOUN
alkej-501	135	7	.	.	PUNCT
alkej-501	136	1	the	the	DET
alkej-501	136	2	results	result	NOUN
alkej-501	136	3	of	of	ADP
alkej-501	136	4	obstacle	obstacle	NOUN
alkej-501	136	5	avoidance	avoidance	NOUN
alkej-501	136	6	behavior	behavior	NOUN
alkej-501	136	7	will	will	AUX
alkej-501	136	8	be	be	AUX
alkej-501	136	9	shown	show	VERB
alkej-501	136	10	in	in	ADP
alkej-501	136	11	the	the	DET
alkej-501	136	12	following	follow	VERB
alkej-501	136	13	cases	case	NOUN
alkej-501	136	14	.	.	PUNCT
alkej-501	137	1	go	go	VERB
alkej-501	137	2	–	–	PUNCT
alkej-501	137	3	to	to	ADP
alkej-501	137	4	-	-	PUNCT
alkej-501	137	5	goal	goal	NOUN
alkej-501	137	6	program	program	NOUN
alkej-501	137	7	is	be	AUX
alkej-501	137	8	a	a	DET
alkej-501	137	9	task	task	NOUN
alkej-501	137	10	effect	effect	NOUN
alkej-501	137	11	on	on	ADP
alkej-501	137	12	orientation	orientation	NOUN
alkej-501	137	13	behaviors	behavior	NOUN
alkej-501	137	14	.	.	PUNCT
alkej-501	138	1	11	11	NUM
alkej-501	138	2	.	.	PUNCT
alkej-501	138	3	case	case	NOUN
alkej-501	138	4	study	study	NOUN
alkej-501	138	5	cases	case	NOUN
alkej-501	138	6	are	be	AUX
alkej-501	138	7	based	base	VERB
alkej-501	138	8	on	on	ADP
alkej-501	138	9	building	build	VERB
alkej-501	138	10	’s	’s	PART
alkej-501	138	11	map	map	NOUN
alkej-501	138	12	in	in	ADP
alkej-501	138	13	which	which	PRON
alkej-501	138	14	some	some	DET
alkej-501	138	15	fixed	fix	VERB
alkej-501	138	16	elements	element	NOUN
alkej-501	138	17	of	of	ADP
alkej-501	138	18	the	the	DET
alkej-501	138	19	environment	environment	NOUN
alkej-501	138	20	are	be	AUX
alkej-501	138	21	located	locate	VERB
alkej-501	138	22	with	with	ADP
alkej-501	138	23	known	know	VERB
alkej-501	138	24	positions	position	NOUN
alkej-501	138	25	:	:	PUNCT
alkej-501	138	26	walls	wall	NOUN
alkej-501	138	27	,	,	PUNCT
alkej-501	138	28	doors	door	NOUN
alkej-501	138	29	,	,	PUNCT
alkej-501	138	30	furniture	furniture	NOUN
alkej-501	138	31	,	,	PUNCT
alkej-501	138	32	etc	etc	X
alkej-501	138	33	.	.	X
alkej-501	138	34	but	but	CCONJ
alkej-501	138	35	unfixed	unfixed	ADJ
alkej-501	138	36	elements	element	NOUN
alkej-501	138	37	,	,	PUNCT
alkej-501	138	38	whose	whose	DET
alkej-501	138	39	positions	position	NOUN
alkej-501	138	40	are	be	AUX
alkej-501	138	41	unknown	unknown	ADJ
alkej-501	138	42	,	,	PUNCT
alkej-501	138	43	can	can	AUX
alkej-501	138	44	be	be	AUX
alkej-501	138	45	added	add	VERB
alkej-501	138	46	to	to	ADP
alkej-501	138	47	the	the	DET
alkej-501	138	48	environment	environment	NOUN
alkej-501	138	49	.	.	PUNCT
alkej-501	139	1	11.1	11.1	NUM
alkej-501	139	2	.	.	PUNCT
alkej-501	140	1	one	one	NUM
alkej-501	140	2	wall	wall	NOUN
alkej-501	140	3	map	map	NOUN
alkej-501	140	4	without	without	ADP
alkej-501	140	5	obstacle	obstacle	NOUN
alkej-501	140	6	map	map	NOUN
alkej-501	140	7	drawn	draw	VERB
alkej-501	140	8	with	with	ADP
alkej-501	140	9	dimension	dimension	NOUN
alkej-501	140	10	3	3	NUM
alkej-501	140	11	m	m	NOUN
alkej-501	140	12	y	y	NOUN
alkej-501	140	13	axis	axis	NOUN
alkej-501	140	14	and	and	CCONJ
alkej-501	140	15	5	5	NUM
alkej-501	140	16	m	m	NOUN
alkej-501	140	17	x	x	NOUN
alkej-501	140	18	axis	axis	ADJ
alkej-501	140	19	,	,	PUNCT
alkej-501	140	20	home	home	NOUN
alkej-501	140	21	point	point	NOUN
alkej-501	140	22	=	=	SYM
alkej-501	140	23	(	(	PUNCT
alkej-501	140	24	0.0	0.0	NUM
alkej-501	140	25	,	,	PUNCT
alkej-501	140	26	0.0	0.0	NUM
alkej-501	140	27	)	)	PUNCT
alkej-501	140	28	and	and	CCONJ
alkej-501	140	29	goal	goal	NOUN
alkej-501	140	30	position	position	NOUN
alkej-501	140	31	=	=	SYM
alkej-501	140	32	(	(	PUNCT
alkej-501	140	33	-4.0	-4.0	PROPN
alkej-501	140	34	,	,	PUNCT
alkej-501	140	35	0.0	0.0	NUM
alkej-501	140	36	)	)	PUNCT
alkej-501	140	37	while	while	SCONJ
alkej-501	140	38	wall	wall	NOUN
alkej-501	140	39	=	=	PROPN
alkej-501	140	40	75	75	NUM
alkej-501	140	41	cm	cm	NOUN
alkej-501	140	42	long	long	ADV
alkej-501	140	43	,	,	PUNCT
alkej-501	140	44	10	10	NUM
alkej-501	140	45	cm	cm	NOUN
alkej-501	140	46	width	width	NOUN
alkej-501	140	47	,	,	PUNCT
alkej-501	140	48	on	on	ADP
alkej-501	140	49	2.5	2.5	NUM
alkej-501	140	50	m	m	NOUN
alkej-501	140	51	left	leave	VERB
alkej-501	140	52	from	from	ADP
alkej-501	140	53	home	home	NOUN
alkej-501	140	54	is	be	AUX
alkej-501	140	55	shown	show	VERB
alkej-501	140	56	in	in	ADP
alkej-501	140	57	figure(10	figure(10	ADJ
alkej-501	140	58	)	)	PUNCT
alkej-501	140	59	.	.	PUNCT
alkej-501	141	1	fig.10	fig.10	PROPN
alkej-501	141	2	.	.	PUNCT
alkej-501	141	3	robot	robot	NOUN
alkej-501	141	4	behavior	behavior	NOUN
alkej-501	141	5	on	on	ADP
alkej-501	141	6	one	one	NUM
alkej-501	141	7	wall	wall	NOUN
alkej-501	141	8	environment	environment	NOUN
alkej-501	141	9	.	.	PUNCT
alkej-501	142	1	an	an	DET
alkej-501	142	2	obstacle	obstacle	NOUN
alkej-501	142	3	is	be	AUX
alkej-501	142	4	added	add	VERB
alkej-501	142	5	to	to	ADP
alkej-501	142	6	the	the	DET
alkej-501	142	7	environment	environment	NOUN
alkej-501	142	8	of	of	ADP
alkej-501	142	9	the	the	DET
alkej-501	142	10	last	last	ADJ
alkej-501	142	11	map	map	NOUN
alkej-501	142	12	.	.	PUNCT
alkej-501	143	1	the	the	DET
alkej-501	143	2	obstacle	obstacle	NOUN
alkej-501	143	3	is	be	AUX
alkej-501	143	4	located	locate	VERB
alkej-501	143	5	=	=	PUNCT
alkej-501	143	6	(	(	PUNCT
alkej-501	143	7	-1.5	-1.5	PROPN
alkej-501	143	8	,	,	PUNCT
alkej-501	143	9	-1)m	-1)m	ADJ
alkej-501	143	10	from	from	ADP
alkej-501	143	11	home	home	NOUN
alkej-501	143	12	.	.	PUNCT
alkej-501	144	1	when	when	SCONJ
alkej-501	144	2	the	the	DET
alkej-501	144	3	obstacle	obstacle	NOUN
alkej-501	144	4	is	be	AUX
alkej-501	144	5	detected	detect	VERB
alkej-501	144	6	near	near	ADP
alkej-501	144	7	the	the	DET
alkej-501	144	8	robot	robot	NOUN
alkej-501	144	9	,	,	PUNCT
alkej-501	144	10	flc	flc	PROPN
alkej-501	144	11	turns	turn	VERB
alkej-501	144	12	the	the	DET
alkej-501	144	13	orientation	orientation	NOUN
alkej-501	144	14	of	of	ADP
alkej-501	144	15	the	the	DET
alkej-501	144	16	robot	robot	NOUN
alkej-501	144	17	right	right	ADV
alkej-501	144	18	until	until	SCONJ
alkej-501	144	19	the	the	DET
alkej-501	144	20	robot	robot	NOUN
alkej-501	144	21	escapes	escape	VERB
alkej-501	144	22	from	from	ADP
alkej-501	144	23	the	the	DET
alkej-501	144	24	obstacle	obstacle	NOUN
alkej-501	144	25	after	after	SCONJ
alkej-501	144	26	the	the	DET
alkej-501	144	27	robot	robot	NOUN
alkej-501	144	28	crosses	cross	VERB
alkej-501	144	29	its	its	PRON
alkej-501	144	30	the	the	DET
alkej-501	144	31	obstacle	obstacle	NOUN
alkej-501	144	32	;	;	PUNCT
alkej-501	144	33	then	then	ADV
alkej-501	144	34	it	it	PRON
alkej-501	144	35	tries	try	VERB
alkej-501	144	36	to	to	PART
alkej-501	144	37	return	return	VERB
alkej-501	144	38	back	back	ADV
alkej-501	144	39	to	to	ADP
alkej-501	144	40	the	the	DET
alkej-501	144	41	last	last	ADJ
alkej-501	144	42	path	path	NOUN
alkej-501	144	43	and	and	CCONJ
alkej-501	144	44	move	move	VERB
alkej-501	144	45	toward	toward	ADP
alkej-501	144	46	goal	goal	NOUN
alkej-501	144	47	,	,	PUNCT
alkej-501	144	48	as	as	SCONJ
alkej-501	144	49	shown	show	VERB
alkej-501	144	50	in	in	ADP
alkej-501	144	51	figure(11	figure(11	NUM
alkej-501	144	52	)	)	PUNCT
alkej-501	144	53	.	.	PUNCT
alkej-501	145	1	fig.(11	fig.(11	NOUN
alkej-501	145	2	)	)	PUNCT
alkej-501	145	3	obstacle	obstacle	NOUN
alkej-501	145	4	added	add	VERB
alkej-501	145	5	to	to	ADP
alkej-501	145	6	environment	environment	VERB
alkej-501	145	7	11.2	11.2	NUM
alkej-501	145	8	.	.	PUNCT
alkej-501	146	1	three	three	NUM
alkej-501	146	2	obstacles	obstacle	NOUN
alkej-501	146	3	environment	environment	NOUN
alkej-501	146	4	a	a	DET
alkej-501	146	5	(	(	PUNCT
alkej-501	146	6	5,3)m	5,3)m	NUM
alkej-501	146	7	map	map	NOUN
alkej-501	146	8	,	,	PUNCT
alkej-501	146	9	robot	robot	NOUN
alkej-501	146	10	started	start	VERB
alkej-501	146	11	with	with	ADP
alkej-501	146	12	position	position	NOUN
alkej-501	146	13	(	(	PUNCT
alkej-501	146	14	0,0	0,0	NOUN
alkej-501	146	15	)	)	PUNCT
alkej-501	146	16	;	;	PUNCT
alkej-501	146	17	then	then	ADV
alkej-501	146	18	the	the	DET
alkej-501	146	19	robot	robot	NOUN
alkej-501	146	20	tried	try	VERB
alkej-501	146	21	to	to	PART
alkej-501	146	22	take	take	VERB
alkej-501	146	23	straight	straight	ADJ
alkej-501	146	24	path	path	NOUN
alkej-501	146	25	but	but	CCONJ
alkej-501	146	26	observing	observe	VERB
alkej-501	146	27	the	the	DET
alkej-501	146	28	obstacles	obstacle	NOUN
alkej-501	146	29	induces	induce	VERB
alkej-501	146	30	the	the	DET
alkej-501	146	31	robot	robot	NOUN
alkej-501	146	32	to	to	PART
alkej-501	146	33	turn	turn	VERB
alkej-501	146	34	left	left	ADJ
alkej-501	146	35	.	.	PUNCT
alkej-501	147	1	after	after	ADP
alkej-501	147	2	crossing	cross	VERB
alkej-501	147	3	the	the	DET
alkej-501	147	4	obstacle	obstacle	NOUN
alkej-501	147	5	,	,	PUNCT
alkej-501	147	6	the	the	DET
alkej-501	147	7	robot	robot	NOUN
alkej-501	147	8	turns	turn	VERB
alkej-501	147	9	right	right	ADV
alkej-501	147	10	straightly	straightly	ADV
alkej-501	147	11	to	to	ADP
alkej-501	147	12	the	the	DET
alkej-501	147	13	goal	goal	NOUN
alkej-501	147	14	,	,	PUNCT
alkej-501	147	15	as	as	SCONJ
alkej-501	147	16	shown	show	VERB
alkej-501	147	17	in	in	ADP
alkej-501	147	18	figure	figure	NOUN
alkej-501	147	19	(	(	PUNCT
alkej-501	147	20	12	12	NUM
alkej-501	147	21	)	)	PUNCT
alkej-501	147	22	.	.	PUNCT
alkej-501	148	1	fig.12	fig.12	NOUN
alkej-501	148	2	.	.	PUNCT
alkej-501	148	3	robot	robot	NOUN
alkej-501	148	4	behavior	behavior	NOUN
alkej-501	148	5	in	in	ADP
alkej-501	148	6	three	three	NUM
alkej-501	148	7	obstacles	obstacle	NOUN
alkej-501	148	8	.	.	PUNCT
alkej-501	149	1	12	12	NUM
alkej-501	149	2	.	.	PUNCT
alkej-501	149	3	results	result	VERB
alkej-501	149	4	the	the	DET
alkej-501	149	5	result	result	NOUN
alkej-501	149	6	will	will	AUX
alkej-501	149	7	be	be	AUX
alkej-501	149	8	represented	represent	VERB
alkej-501	149	9	in	in	ADP
alkej-501	149	10	a	a	DET
alkej-501	149	11	graph	graph	NOUN
alkej-501	149	12	,	,	PUNCT
alkej-501	149	13	where	where	SCONJ
alkej-501	149	14	vertical	vertical	ADJ
alkej-501	149	15	left	leave	VERB
alkej-501	149	16	axis	axis	NOUN
alkej-501	149	17	represents	represent	VERB
alkej-501	149	18	robot	robot	NOUN
alkej-501	149	19	velocity	velocity	NOUN
alkej-501	149	20	(	(	PUNCT
alkej-501	149	21	cm	cm	NOUN
alkej-501	149	22	/	/	SYM
alkej-501	149	23	sec	sec	PROPN
alkej-501	149	24	)	)	PUNCT
alkej-501	149	25	through	through	ADP
alkej-501	149	26	the	the	DET
alkej-501	149	27	map	map	NOUN
alkej-501	149	28	,	,	PUNCT
alkej-501	149	29	the	the	DET
alkej-501	149	30	right	right	ADJ
alkej-501	149	31	vertical	vertical	ADJ
alkej-501	149	32	axis	axis	NOUN
alkej-501	149	33	represents	represent	VERB
alkej-501	149	34	the	the	DET
alkej-501	149	35	angle	angle	NOUN
alkej-501	149	36	(	(	PUNCT
alkej-501	149	37	degree	degree	NOUN
alkej-501	149	38	)	)	PUNCT
alkej-501	149	39	of	of	ADP
alkej-501	149	40	robot	robot	NOUN
alkej-501	149	41	,	,	PUNCT
alkej-501	149	42	and	and	CCONJ
alkej-501	149	43	horizontal	horizontal	ADJ
alkej-501	149	44	axis	axis	NOUN
alkej-501	149	45	represent	represent	VERB
alkej-501	149	46	the	the	DET
alkej-501	149	47	time	time	NOUN
alkej-501	149	48	(	(	PUNCT
alkej-501	149	49	sec	sec	PROPN
alkej-501	149	50	.	.	PROPN
alkej-501	149	51	)	)	PUNCT
alkej-501	149	52	of	of	ADP
alkej-501	149	53	case	case	NOUN
alkej-501	149	54	.	.	PUNCT
alkej-501	150	1	in	in	ADP
alkej-501	150	2	case	case	NOUN
alkej-501	150	3	(	(	PUNCT
alkej-501	150	4	1	1	NUM
alkej-501	150	5	)	)	PUNCT
alkej-501	150	6	,	,	PUNCT
alkej-501	150	7	one	one	NUM
alkej-501	150	8	wall	wall	NOUN
alkej-501	150	9	map	map	NOUN
alkej-501	150	10	without	without	ADP
alkej-501	150	11	obstacle	obstacle	NOUN
alkej-501	150	12	:	:	PUNCT
alkej-501	150	13	figure	figure	NOUN
alkej-501	150	14	(	(	PUNCT
alkej-501	150	15	13	13	NUM
alkej-501	150	16	)	)	PUNCT
alkej-501	150	17	shows	show	VERB
alkej-501	150	18	the	the	DET
alkej-501	150	19	relation	relation	NOUN
alkej-501	150	20	between	between	ADP
alkej-501	150	21	robot	robot	NOUN
alkej-501	150	22	velocity	velocity	NOUN
alkej-501	150	23	,	,	PUNCT
alkej-501	150	24	angle	angle	NOUN
alkej-501	150	25	and	and	CCONJ
alkej-501	150	26	time	time	NOUN
alkej-501	150	27	.	.	PUNCT
alkej-501	151	1	the	the	DET
alkej-501	151	2	velocity	velocity	NOUN
alkej-501	151	3	of	of	ADP
alkej-501	151	4	robot	robot	NOUN
alkej-501	151	5	decreased	decrease	VERB
alkej-501	151	6	at	at	ADP
alkej-501	151	7	point	point	NOUN
alkej-501	151	8	(	(	PUNCT
alkej-501	151	9	a	a	X
alkej-501	151	10	)	)	PUNCT
alkej-501	151	11	when	when	SCONJ
alkej-501	151	12	robot	robot	NOUN
alkej-501	151	13	try	try	VERB
alkej-501	151	14	to	to	PART
alkej-501	151	15	avoid	avoid	VERB
alkej-501	151	16	wall	wall	NOUN
alkej-501	151	17	and	and	CCONJ
alkej-501	151	18	turned	turn	VERB
alkej-501	151	19	right	right	ADV
alkej-501	151	20	at	at	ADP
alkej-501	151	21	point	point	NOUN
alkej-501	151	22	(	(	PUNCT
alkej-501	151	23	b	b	NOUN
alkej-501	151	24	)	)	PUNCT
alkej-501	151	25	,	,	PUNCT
alkej-501	151	26	with	with	ADP
alkej-501	151	27	straight	straight	ADJ
alkej-501	151	28	open	open	ADJ
alkej-501	151	29	area	area	NOUN
alkej-501	151	30	motion	motion	NOUN
alkej-501	151	31	in	in	ADP
alkej-501	151	32	point	point	NOUN
alkej-501	151	33	(	(	PUNCT
alkej-501	151	34	d	d	X
alkej-501	151	35	)	)	PUNCT
alkej-501	151	36	velocity	velocity	NOUN
alkej-501	151	37	increases	increase	NOUN
alkej-501	151	38	at	at	ADP
alkej-501	151	39	point	point	NOUN
alkej-501	151	40	(	(	PUNCT
alkej-501	151	41	c	c	NOUN
alkej-501	151	42	)	)	PUNCT
alkej-501	151	43	,	,	PUNCT
alkej-501	151	44	after	after	ADP
alkej-501	151	45	avoiding	avoid	VERB
alkej-501	151	46	the	the	DET
alkej-501	151	47	wall	wall	NOUN
alkej-501	151	48	;	;	PUNCT
alkej-501	151	49	the	the	DET
alkej-501	151	50	robot	robot	NOUN
alkej-501	151	51	tried	try	VERB
alkej-501	151	52	to	to	PART
alkej-501	151	53	reach	reach	VERB
alkej-501	151	54	goal	goal	NOUN
alkej-501	151	55	and	and	CCONJ
alkej-501	151	56	turn	turn	VERB
alkej-501	151	57	left	leave	VERB
alkej-501	151	58	in	in	ADP
alkej-501	151	59	point	point	NOUN
alkej-501	151	60	(	(	PUNCT
alkej-501	151	61	e	e	NOUN
alkej-501	151	62	)	)	PUNCT
alkej-501	151	63	in	in	SCONJ
alkej-501	151	64	the	the	DET
alkej-501	151	65	this	this	DET
alkej-501	151	66	page	page	NOUN
alkej-501	151	67	was	be	AUX
alkej-501	151	68	created	create	VERB
alkej-501	151	69	using	use	VERB
alkej-501	151	70	nitro	nitro	NOUN
alkej-501	151	71	pdf	pdf	NOUN
alkej-501	151	72	trial	trial	NOUN
alkej-501	151	73	software	software	NOUN
alkej-501	151	74	.	.	PUNCT
alkej-501	152	1	to	to	PART
alkej-501	152	2	purchase	purchase	VERB
alkej-501	152	3	,	,	PUNCT
alkej-501	152	4	go	go	VERB
alkej-501	152	5	to	to	ADP
alkej-501	152	6	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	152	7	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	152	8	nabeel	nabeel	PROPN
alkej-501	152	9	k.	k.	PROPN
alkej-501	152	10	abid	abid	PROPN
alkej-501	153	1	alsahib	alsahib	PROPN
alkej-501	153	2	al	al	PROPN
alkej-501	153	3	-	-	PUNCT
alkej-501	153	4	khwarizmi	khwarizmi	PROPN
alkej-501	153	5	engineering	engineering	NOUN
alkej-501	153	6	journal	journal	PROPN
alkej-501	153	7	,	,	PUNCT
alkej-501	153	8	vol	vol	NOUN
alkej-501	153	9	.	.	PROPN
alkej-501	153	10	6	6	NUM
alkej-501	153	11	,	,	PUNCT
alkej-501	153	12	no	no	INTJ
alkej-501	153	13	.	.	NOUN
alkej-501	153	14	3	3	NUM
alkej-501	153	15	,	,	PUNCT
alkej-501	153	16	pp	pp	ADV
alkej-501	153	17	36	36	NUM
alkej-501	153	18	44	44	NUM
alkej-501	153	19	(	(	PUNCT
alkej-501	153	20	2010	2010	NUM
alkej-501	153	21	)	)	PUNCT
alkej-501	153	22	42	42	NUM
alkej-501	153	23	end	end	NOUN
alkej-501	153	24	when	when	SCONJ
alkej-501	153	25	the	the	DET
alkej-501	153	26	robot	robot	NOUN
alkej-501	153	27	reached	reach	VERB
alkej-501	153	28	near	near	ADP
alkej-501	153	29	the	the	DET
alkej-501	153	30	goal	goal	NOUN
alkej-501	153	31	,	,	PUNCT
alkej-501	153	32	velocity	velocity	NOUN
alkej-501	153	33	was	be	AUX
alkej-501	153	34	decreased	decrease	VERB
alkej-501	153	35	to	to	ADP
alkej-501	153	36	zero	zero	NUM
alkej-501	153	37	and	and	CCONJ
alkej-501	153	38	got	get	VERB
alkej-501	153	39	goal	goal	NOUN
alkej-501	153	40	orientation	orientation	NOUN
alkej-501	153	41	in	in	ADP
alkej-501	153	42	point	point	NOUN
alkej-501	153	43	(	(	PUNCT
alkej-501	153	44	f	f	X
alkej-501	153	45	)	)	PUNCT
alkej-501	153	46	.	.	PUNCT
alkej-501	154	1	fig.13	fig.13	ADJ
alkej-501	154	2	.	.	PUNCT
alkej-501	155	1	navigation	navigation	NOUN
alkej-501	155	2	without	without	ADP
alkej-501	155	3	obstacles	obstacle	NOUN
alkej-501	155	4	.	.	PUNCT
alkej-501	156	1	case	case	NOUN
alkej-501	156	2	(	(	PUNCT
alkej-501	156	3	2	2	NUM
alkej-501	156	4	):	):	PUNCT
alkej-501	156	5	when	when	SCONJ
alkej-501	156	6	an	an	DET
alkej-501	156	7	obstacle	obstacle	NOUN
alkej-501	156	8	was	be	AUX
alkej-501	156	9	added	add	VERB
alkej-501	156	10	to	to	ADP
alkej-501	156	11	the	the	DET
alkej-501	156	12	environment	environment	NOUN
alkej-501	156	13	at	at	ADP
alkej-501	156	14	the	the	DET
alkej-501	156	15	path	path	NOUN
alkej-501	156	16	of	of	ADP
alkej-501	156	17	last	last	ADJ
alkej-501	156	18	map	map	NOUN
alkej-501	156	19	,	,	PUNCT
alkej-501	156	20	the	the	DET
alkej-501	156	21	robot	robot	NOUN
alkej-501	156	22	primary	primary	NOUN
alkej-501	156	23	turned	turn	VERB
alkej-501	156	24	right	right	ADV
alkej-501	156	25	at	at	ADP
alkej-501	156	26	point	point	NOUN
alkej-501	156	27	(	(	PUNCT
alkej-501	156	28	a	a	NOUN
alkej-501	156	29	)	)	PUNCT
alkej-501	156	30	.	.	PUNCT
alkej-501	157	1	that	that	PRON
alkej-501	157	2	caused	cause	VERB
alkej-501	157	3	reducing	reduce	VERB
alkej-501	157	4	the	the	DET
alkej-501	157	5	velocity	velocity	NOUN
alkej-501	157	6	shown	show	VERB
alkej-501	157	7	in	in	ADP
alkej-501	157	8	figure	figure	NOUN
alkej-501	157	9	(	(	PUNCT
alkej-501	157	10	14	14	NUM
alkej-501	157	11	)	)	PUNCT
alkej-501	157	12	in	in	ADP
alkej-501	157	13	point	point	NOUN
alkej-501	157	14	(	(	PUNCT
alkej-501	157	15	b	b	NOUN
alkej-501	157	16	)	)	PUNCT
alkej-501	157	17	.	.	PUNCT
alkej-501	158	1	the	the	DET
alkej-501	158	2	next	next	ADJ
alkej-501	158	3	points	point	NOUN
alkej-501	158	4	(	(	PUNCT
alkej-501	158	5	c	c	NOUN
alkej-501	158	6	)	)	PUNCT
alkej-501	158	7	and	and	CCONJ
alkej-501	158	8	(	(	PUNCT
alkej-501	158	9	d	d	X
alkej-501	158	10	)	)	PUNCT
alkej-501	158	11	represent	represent	VERB
alkej-501	158	12	a	a	DET
alkej-501	158	13	turn	turn	NOUN
alkej-501	158	14	of	of	ADP
alkej-501	158	15	robot	robot	NOUN
alkej-501	158	16	to	to	ADP
alkej-501	158	17	the	the	DET
alkej-501	158	18	left	left	NOUN
alkej-501	158	19	when	when	SCONJ
alkej-501	158	20	it	it	PRON
alkej-501	158	21	observed	observe	VERB
alkej-501	158	22	an	an	DET
alkej-501	158	23	obstacle	obstacle	NOUN
alkej-501	158	24	and	and	CCONJ
alkej-501	158	25	then	then	ADV
alkej-501	158	26	returned	return	VERB
alkej-501	158	27	to	to	ADP
alkej-501	158	28	the	the	DET
alkej-501	158	29	save	save	ADJ
alkej-501	158	30	path	path	NOUN
alkej-501	158	31	of	of	ADP
alkej-501	158	32	motion	motion	NOUN
alkej-501	158	33	as	as	SCONJ
alkej-501	158	34	shown	show	VERB
alkej-501	158	35	in	in	ADP
alkej-501	158	36	figure	figure	NOUN
alkej-501	158	37	(	(	PUNCT
alkej-501	158	38	13	13	NUM
alkej-501	158	39	)	)	PUNCT
alkej-501	158	40	.	.	PUNCT
alkej-501	159	1	fig.14	fig.14	X
alkej-501	159	2	.	.	PUNCT
alkej-501	159	3	navigation	navigation	NOUN
alkej-501	159	4	with	with	ADP
alkej-501	159	5	obstacles	obstacle	NOUN
alkej-501	159	6	.	.	PUNCT
alkej-501	160	1	so	so	ADV
alkej-501	160	2	a	a	DET
alkej-501	160	3	safe	safe	ADJ
alkej-501	160	4	navigation	navigation	NOUN
alkej-501	160	5	of	of	ADP
alkej-501	160	6	motion	motion	NOUN
alkej-501	160	7	with	with	ADP
alkej-501	160	8	a	a	DET
alkej-501	160	9	full	full	ADJ
alkej-501	160	10	known	know	VERB
alkej-501	160	11	environment	environment	NOUN
alkej-501	160	12	is	be	AUX
alkej-501	160	13	approved	approve	VERB
alkej-501	160	14	in	in	ADP
alkej-501	160	15	case1	case1	PROPN
alkej-501	160	16	,	,	PUNCT
alkej-501	160	17	and	and	CCONJ
alkej-501	160	18	a	a	DET
alkej-501	160	19	safe	safe	ADJ
alkej-501	160	20	navigation	navigation	NOUN
alkej-501	160	21	of	of	ADP
alkej-501	160	22	motion	motion	NOUN
alkej-501	160	23	with	with	ADP
alkej-501	160	24	a	a	DET
alkej-501	160	25	partial	partial	ADJ
alkej-501	160	26	known	know	VERB
alkej-501	160	27	environment	environment	NOUN
alkej-501	160	28	is	be	AUX
alkej-501	160	29	approved	approve	VERB
alkej-501	160	30	in	in	ADP
alkej-501	160	31	case	case	NOUN
alkej-501	160	32	2	2	NUM
alkej-501	160	33	.	.	NOUN
alkej-501	160	34	13	13	NUM
alkej-501	160	35	.	.	PUNCT
alkej-501	161	1	conclusions	conclusion	NOUN
alkej-501	161	2	studying	study	VERB
alkej-501	161	3	mobile	mobile	ADJ
alkej-501	161	4	robot	robot	NOUN
alkej-501	161	5	control	control	NOUN
alkej-501	161	6	by	by	ADP
alkej-501	161	7	flc	flc	PROPN
alkej-501	161	8	leads	lead	VERB
alkej-501	161	9	to	to	ADP
alkej-501	161	10	many	many	ADJ
alkej-501	161	11	conclusions	conclusion	NOUN
alkej-501	161	12	,	,	PUNCT
alkej-501	161	13	as	as	SCONJ
alkej-501	161	14	follows	follow	VERB
alkej-501	161	15	:	:	PUNCT
alkej-501	161	16	1the	1the	NUM
alkej-501	161	17	differential	differential	ADJ
alkej-501	161	18	mobile	mobile	ADJ
alkej-501	161	19	robot	robot	NOUN
alkej-501	161	20	includes	include	VERB
alkej-501	161	21	many	many	ADJ
alkej-501	161	22	kinematics	kinematic	NOUN
alkej-501	161	23	constraint	constraint	NOUN
alkej-501	161	24	,	,	PUNCT
alkej-501	161	25	which	which	PRON
alkej-501	161	26	ca	can	AUX
alkej-501	161	27	n’t	not	PART
alkej-501	161	28	be	be	AUX
alkej-501	161	29	reduced	reduce	VERB
alkej-501	161	30	at	at	ADP
alkej-501	161	31	one	one	NUM
alkej-501	161	32	equivalent	equivalent	ADJ
alkej-501	161	33	constraint	constraint	NOUN
alkej-501	161	34	of	of	ADP
alkej-501	161	35	configuration	configuration	NOUN
alkej-501	161	36	variables	variable	NOUN
alkej-501	161	37	,	,	PUNCT
alkej-501	161	38	so	so	SCONJ
alkej-501	161	39	that	that	SCONJ
alkej-501	161	40	using	use	VERB
alkej-501	161	41	the	the	DET
alkej-501	161	42	methods	method	NOUN
alkej-501	161	43	which	which	PRON
alkej-501	161	44	avoid	avoid	VERB
alkej-501	161	45	the	the	DET
alkej-501	161	46	analytical	analytical	ADJ
alkej-501	161	47	modeling	modeling	NOUN
alkej-501	161	48	problem	problem	NOUN
alkej-501	161	49	,	,	PUNCT
alkej-501	161	50	such	such	ADJ
alkej-501	161	51	as	as	ADP
alkej-501	161	52	fuzzy	fuzzy	ADJ
alkej-501	161	53	control	control	NOUN
alkej-501	161	54	methods	method	NOUN
alkej-501	161	55	,	,	PUNCT
alkej-501	161	56	and	and	CCONJ
alkej-501	161	57	neural	neural	ADJ
alkej-501	161	58	network	network	NOUN
alkej-501	161	59	control	control	NOUN
alkej-501	161	60	.	.	PUNCT
alkej-501	162	1	2the	2the	DET
alkej-501	162	2	navigation	navigation	NOUN
alkej-501	162	3	system	system	NOUN
alkej-501	162	4	used	use	VERB
alkej-501	162	5	by	by	ADP
alkej-501	162	6	the	the	DET
alkej-501	162	7	robot	robot	NOUN
alkej-501	162	8	is	be	AUX
alkej-501	162	9	based	base	VERB
alkej-501	162	10	on	on	ADP
alkej-501	162	11	two	two	NUM
alkej-501	162	12	receivers	receiver	NOUN
alkej-501	162	13	,	,	PUNCT
alkej-501	162	14	robot	robot	NOUN
alkej-501	162	15	current	current	ADJ
alkej-501	162	16	position	position	NOUN
alkej-501	162	17	and	and	CCONJ
alkej-501	162	18	goal	goal	NOUN
alkej-501	162	19	.	.	PUNCT
alkej-501	163	1	3the	3the	PRON
alkej-501	163	2	robot	robot	NOUN
alkej-501	163	3	movement	movement	NOUN
alkej-501	163	4	in	in	ADP
alkej-501	163	5	case	case	NOUN
alkej-501	163	6	of	of	ADP
alkej-501	163	7	flc	flc	PROPN
alkej-501	163	8	programming	programming	NOUN
alkej-501	163	9	improves	improve	VERB
alkej-501	163	10	the	the	DET
alkej-501	163	11	robot	robot	NOUN
alkej-501	163	12	navigation	navigation	NOUN
alkej-501	163	13	by	by	ADP
alkej-501	163	14	avoiding	avoid	VERB
alkej-501	163	15	damag	damag	NOUN
alkej-501	163	16	itself	itself	PRON
alkej-501	163	17	.	.	PUNCT
alkej-501	164	1	4a	4a	NOUN
alkej-501	164	2	decision	decision	NOUN
alkej-501	164	3	making	make	VERB
alkej-501	164	4	program	program	NOUN
alkej-501	164	5	is	be	AUX
alkej-501	164	6	constructed	construct	VERB
alkej-501	164	7	for	for	ADP
alkej-501	164	8	the	the	DET
alkej-501	164	9	local	local	ADJ
alkej-501	164	10	-	-	PUNCT
alkej-501	164	11	path	path	NOUN
alkej-501	164	12	planning	planning	NOUN
alkej-501	164	13	.	.	PUNCT
alkej-501	165	1	it	it	PRON
alkej-501	165	2	is	be	AUX
alkej-501	165	3	not	not	PART
alkej-501	165	4	necessary	necessary	ADJ
alkej-501	165	5	to	to	PART
alkej-501	165	6	define	define	VERB
alkej-501	165	7	a	a	DET
alkej-501	165	8	reference	reference	NOUN
alkej-501	165	9	point	point	NOUN
alkej-501	165	10	prior	prior	ADV
alkej-501	165	11	to	to	ADP
alkej-501	165	12	home	home	NOUN
alkej-501	165	13	.	.	PUNCT
alkej-501	166	1	5for	5for	PRON
alkej-501	166	2	obstacle	obstacle	NOUN
alkej-501	166	3	avoidance	avoidance	NOUN
alkej-501	166	4	,	,	PUNCT
alkej-501	166	5	two	two	NUM
alkej-501	166	6	types	type	NOUN
alkej-501	166	7	of	of	ADP
alkej-501	166	8	execution	execution	NOUN
alkej-501	166	9	panels	panel	NOUN
alkej-501	166	10	are	be	AUX
alkej-501	166	11	carried	carry	VERB
alkej-501	166	12	;	;	PUNCT
alkej-501	166	13	one	one	NUM
alkej-501	166	14	with	with	ADP
alkej-501	166	15	landmarks	landmark	NOUN
alkej-501	166	16	and	and	CCONJ
alkej-501	166	17	the	the	DET
alkej-501	166	18	other	other	ADJ
alkej-501	166	19	with	with	ADP
alkej-501	166	20	objects	object	NOUN
alkej-501	166	21	.	.	PUNCT
alkej-501	167	1	the	the	DET
alkej-501	167	2	latter	latter	ADJ
alkej-501	167	3	is	be	AUX
alkej-501	167	4	used	use	VERB
alkej-501	167	5	to	to	PART
alkej-501	167	6	generate	generate	VERB
alkej-501	167	7	complex	complex	ADJ
alkej-501	167	8	environments	environment	NOUN
alkej-501	167	9	for	for	ADP
alkej-501	167	10	the	the	DET
alkej-501	167	11	mobile	mobile	ADJ
alkej-501	167	12	robot	robot	NOUN
alkej-501	167	13	to	to	ADP
alkej-501	167	14	its	its	PRON
alkej-501	167	15	ability	ability	NOUN
alkej-501	167	16	to	to	PART
alkej-501	167	17	avoid	avoid	VERB
alkej-501	167	18	obstacles	obstacle	NOUN
alkej-501	167	19	.	.	PUNCT
alkej-501	168	1	the	the	DET
alkej-501	168	2	obstacle	obstacle	NOUN
alkej-501	168	3	avoidance	avoidance	NOUN
alkej-501	168	4	success	success	NOUN
alkej-501	168	5	by	by	ADP
alkej-501	168	6	using	use	VERB
alkej-501	168	7	fuzzy	fuzzy	ADJ
alkej-501	168	8	rules	rule	NOUN
alkej-501	168	9	.	.	PUNCT
alkej-501	169	1	6the	6the	DET
alkej-501	169	2	effect	effect	NOUN
alkej-501	169	3	of	of	ADP
alkej-501	169	4	varying	vary	VERB
alkej-501	169	5	sensor	sensor	NOUN
alkej-501	169	6	range	range	NOUN
alkej-501	169	7	showed	show	VERB
alkej-501	169	8	that	that	SCONJ
alkej-501	169	9	it	it	PRON
alkej-501	169	10	does	do	AUX
alkej-501	169	11	not	not	PART
alkej-501	169	12	only	only	ADV
alkej-501	169	13	affect	affect	VERB
alkej-501	169	14	the	the	DET
alkej-501	169	15	distance	distance	NOUN
alkej-501	169	16	between	between	ADP
alkej-501	169	17	the	the	DET
alkej-501	169	18	mobile	mobile	NOUN
alkej-501	169	19	robot	robot	NOUN
alkej-501	169	20	,	,	PUNCT
alkej-501	169	21	obstacles	obstacle	NOUN
alkej-501	169	22	and	and	CCONJ
alkej-501	169	23	walls	wall	NOUN
alkej-501	169	24	,	,	PUNCT
alkej-501	169	25	but	but	CCONJ
alkej-501	169	26	also	also	ADV
alkej-501	169	27	affects	affect	VERB
alkej-501	169	28	the	the	DET
alkej-501	169	29	shape	shape	NOUN
alkej-501	169	30	of	of	ADP
alkej-501	169	31	the	the	DET
alkej-501	169	32	path	path	NOUN
alkej-501	169	33	to	to	ADP
alkej-501	169	34	the	the	DET
alkej-501	169	35	goal	goal	NOUN
alkej-501	169	36	.	.	PUNCT
alkej-501	170	1	14	14	NUM
alkej-501	170	2	.	.	PUNCT
alkej-501	170	3	references	reference	NOUN
alkej-501	170	4	[	[	X
alkej-501	170	5	1	1	NUM
alkej-501	170	6	]	]	PUNCT
alkej-501	170	7	m.	m.	NOUN
alkej-501	170	8	mucientesa	mucientesa	PROPN
alkej-501	170	9	,	,	PUNCT
alkej-501	170	10	r.	r.	PROPN
alkej-501	170	11	iglesiasa	iglesiasa	PROPN
alkej-501	170	12	,	,	PUNCT
alkej-501	170	13	c.v	c.v	PROPN
alkej-501	170	14	.	.	PROPN
alkej-501	170	15	regueirob	regueirob	PROPN
alkej-501	170	16	,	,	PUNCT
alkej-501	170	17	a.	a.	PROPN
alkej-501	170	18	bugar-.na	bugar-.na	PROPN
alkej-501	170	19	,	,	PUNCT
alkej-501	170	20	s.	s.	PROPN
alkej-501	170	21	barroa	barroa	PROPN
alkej-501	170	22	,	,	PUNCT
alkej-501	170	23	''	''	PUNCT
alkej-501	170	24	a	a	DET
alkej-501	170	25	fuzzy	fuzzy	ADJ
alkej-501	170	26	temporal	temporal	ADJ
alkej-501	170	27	rule	rule	NOUN
alkej-501	170	28	-	-	PUNCT
alkej-501	170	29	based	base	VERB
alkej-501	170	30	velocity	velocity	NOUN
alkej-501	170	31	controller	controller	NOUN
alkej-501	170	32	for	for	ADP
alkej-501	170	33	mobile	mobile	ADJ
alkej-501	170	34	robotics	robotic	NOUN
alkej-501	170	35	''	''	PUNCT
alkej-501	170	36	,	,	PUNCT
alkej-501	170	37	fuzzy	fuzzy	ADJ
alkej-501	170	38	sets	set	NOUN
alkej-501	170	39	and	and	CCONJ
alkej-501	170	40	systems	system	NOUN
alkej-501	170	41	,	,	PUNCT
alkej-501	170	42	vol	vol	NOUN
alkej-501	170	43	.	.	PROPN
alkej-501	170	44	134	134	NUM
alkej-501	170	45	,	,	PUNCT
alkej-501	170	46	pp	pp	ADJ
alkej-501	170	47	.	.	PUNCT
alkej-501	170	48	83–99	83–99	NUM
alkej-501	170	49	,	,	PUNCT
alkej-501	170	50	2003	2003	NUM
alkej-501	170	51	.	.	PUNCT
alkej-501	171	1	[	[	X
alkej-501	171	2	2	2	NUM
alkej-501	171	3	]	]	PUNCT
alkej-501	171	4	pioneer	pioneer	NOUN
alkej-501	171	5	reference	reference	NOUN
alkej-501	171	6	book	book	NOUN
alkej-501	171	7	,	,	PUNCT
alkej-501	171	8	www.mobilerobotics	www.mobilerobotics	PROPN
alkej-501	171	9	.	.	PUNCT
alkej-501	171	10	com	com	PROPN
alkej-501	171	11	.	.	PROPN
alkej-501	171	12	2008	2008	NUM
alkej-501	171	13	.	.	PUNCT
alkej-501	172	1	[	[	X
alkej-501	172	2	3	3	X
alkej-501	172	3	]	]	X
alkej-501	172	4	kevin	kevin	PROPN
alkej-501	172	5	m.	m.	PROPN
alkej-501	172	6	passino	passino	PROPN
alkej-501	172	7	,	,	PUNCT
alkej-501	172	8	stephen	stephen	NOUN
alkej-501	172	9	yurkovich	yurkovich	NOUN
alkej-501	172	10	,	,	PUNCT
alkej-501	172	11	''	''	PUNCT
alkej-501	172	12	fuzzy	fuzzy	ADJ
alkej-501	172	13	control	control	NOUN
alkej-501	172	14	''	''	PUNCT
alkej-501	172	15	,	,	PUNCT
alkej-501	172	16	addition	addition	NOUN
alkej-501	172	17	wesley	wesley	PROPN
alkej-501	172	18	longman	longman	PROPN
alkej-501	172	19	,	,	PUNCT
alkej-501	172	20	inc	inc	PROPN
alkej-501	172	21	.	.	PROPN
alkej-501	172	22	,	,	PUNCT
alkej-501	172	23	california	california	PROPN
alkej-501	172	24	,	,	PUNCT
alkej-501	172	25	1998	1998	NUM
alkej-501	172	26	.	.	PUNCT
alkej-501	173	1	[	[	X
alkej-501	173	2	4	4	NUM
alkej-501	173	3	]	]	X
alkej-501	173	4	hani	hani	PROPN
alkej-501	173	5	hagras	hagras	PROPN
alkej-501	173	6	,	,	PUNCT
alkej-501	173	7	victor	victor	PROPN
alkej-501	173	8	callaghan	callaghan	PROPN
alkej-501	173	9	,	,	PUNCT
alkej-501	173	10	martin	martin	PROPN
alkej-501	173	11	colley	colley	PROPN
alkej-501	173	12	,	,	PUNCT
alkej-501	173	13	''	''	PUNCT
alkej-501	173	14	learning	learning	NOUN
alkej-501	173	15	and	and	CCONJ
alkej-501	173	16	adaptation	adaptation	NOUN
alkej-501	173	17	of	of	ADP
alkej-501	173	18	an	an	DET
alkej-501	173	19	intelligent	intelligent	ADJ
alkej-501	173	20	mobile	mobile	ADJ
alkej-501	173	21	robot	robot	NOUN
alkej-501	173	22	navigator	navigator	NOUN
alkej-501	173	23	operating	operate	VERB
alkej-501	173	24	in	in	ADP
alkej-501	173	25	unstructured	unstructured	ADJ
alkej-501	173	26	environment	environment	NOUN
alkej-501	173	27	based	base	VERB
alkej-501	173	28	on	on	ADP
alkej-501	173	29	a	a	DET
alkej-501	173	30	novel	novel	ADJ
alkej-501	173	31	online	online	ADV
alkej-501	173	32	fuzzy	fuzzy	ADJ
alkej-501	173	33	–	–	PUNCT
alkej-501	173	34	genetic	genetic	ADJ
alkej-501	173	35	system	system	NOUN
alkej-501	173	36	''	''	PUNCT
alkej-501	173	37	,	,	PUNCT
alkej-501	173	38	fuzzy	fuzzy	ADJ
alkej-501	173	39	sets	set	NOUN
alkej-501	173	40	and	and	CCONJ
alkej-501	173	41	systems	system	NOUN
alkej-501	173	42	,	,	PUNCT
alkej-501	173	43	vol	vol	NOUN
alkej-501	173	44	.	.	PROPN
alkej-501	173	45	141	141	NUM
alkej-501	173	46	,	,	PUNCT
alkej-501	173	47	pp.107–160	pp.107–160	NOUN
alkej-501	173	48	,	,	PUNCT
alkej-501	173	49	2004	2004	NUM
alkej-501	173	50	.	.	PUNCT
alkej-501	174	1	[	[	X
alkej-501	174	2	5	5	X
alkej-501	174	3	]	]	X
alkej-501	174	4	jang	jang	PROPN
alkej-501	174	5	hyun	hyun	PROPN
alkej-501	174	6	kim1	kim1	PROPN
alkej-501	174	7	,	,	PUNCT
alkej-501	174	8	jin	jin	PROPN
alkej-501	174	9	bae	bae	PROPN
alkej-501	174	10	park2	park2	PROPN
alkej-501	174	11	,	,	PUNCT
alkej-501	174	12	and	and	CCONJ
alkej-501	174	13	hyunseok	hyunseok	PROPN
alkej-501	174	14	yang	yang	PROPN
alkej-501	174	15	,	,	PUNCT
alkej-501	174	16	''	''	PUNCT
alkej-501	174	17	implementation	implementation	NOUN
alkej-501	174	18	of	of	ADP
alkej-501	174	19	the	the	DET
alkej-501	174	20	avoidance	avoidance	NOUN
alkej-501	174	21	algorithm	algorithm	NOUN
alkej-501	174	22	for	for	ADP
alkej-501	174	23	autonomous	autonomous	ADJ
alkej-501	174	24	mobile	mobile	ADJ
alkej-501	174	25	robots	robot	NOUN
alkej-501	174	26	using	use	VERB
alkej-501	174	27	fuzzy	fuzzy	ADJ
alkej-501	174	28	rules	rule	NOUN
alkej-501	174	29	''	''	PUNCT
alkej-501	174	30	,	,	PUNCT
alkej-501	174	31	lnai	lnai	ADJ
alkej-501	174	32	,	,	PUNCT
alkej-501	174	33	vol	vol	NOUN
alkej-501	174	34	.	.	PROPN
alkej-501	174	35	4223	4223	NUM
alkej-501	174	36	,	,	PUNCT
alkej-501	174	37	pp	pp	ADP
alkej-501	174	38	.	.	PUNCT
alkej-501	175	1	836–845	836–845	NUM
alkej-501	175	2	,	,	PUNCT
alkej-501	175	3	2006	2006	NUM
alkej-501	175	4	.	.	PUNCT
alkej-501	176	1	[	[	X
alkej-501	176	2	6	6	NUM
alkej-501	176	3	]	]	X
alkej-501	176	4	vamsi	vamsi	PROPN
alkej-501	176	5	mohan	mohan	PROPN
alkej-501	176	6	,	,	PUNCT
alkej-501	176	7	dan	dan	PROPN
alkej-501	176	8	simonm	simonm	PROPN
alkej-501	176	9	,	,	PUNCT
alkej-501	176	10	''	''	PUNCT
alkej-501	176	11	fuzzy	fuzzy	ADJ
alkej-501	176	12	logic	logic	NOUN
alkej-501	176	13	control	control	NOUN
alkej-501	176	14	for	for	ADP
alkej-501	176	15	an	an	DET
alkej-501	176	16	autonomous	autonomous	ADJ
alkej-501	176	17	robot	robot	NOUN
alkej-501	176	18	''	''	PUNCT
alkej-501	176	19	,	,	PUNCT
alkej-501	176	20	2004	2004	NUM
alkej-501	176	21	.	.	PUNCT
alkej-501	177	1	[	[	X
alkej-501	177	2	7	7	X
alkej-501	177	3	]	]	X
alkej-501	177	4	rerngwut	rerngwut	NOUN
alkej-501	177	5	choomuang	choomuang	PROPN
alkej-501	177	6	,	,	PUNCT
alkej-501	177	7	nitin	nitin	PROPN
alkej-501	177	8	afzulpurkar	afzulpurkar	NOUN
alkej-501	177	9	,	,	PUNCT
alkej-501	177	10	''	''	PUNCT
alkej-501	177	11	hybrid	hybrid	ADJ
alkej-501	177	12	kalman	kalman	NOUN
alkej-501	177	13	filter	filter	NOUN
alkej-501	177	14	/	/	SYM
alkej-501	177	15	fuzzy	fuzzy	ADJ
alkej-501	177	16	logic	logic	NOUN
alkej-501	177	17	based	base	VERB
alkej-501	177	18	position	position	NOUN
alkej-501	177	19	control	control	NOUN
alkej-501	177	20	of	of	ADP
alkej-501	177	21	autonomous	autonomous	ADJ
alkej-501	177	22	mobile	mobile	NOUN
alkej-501	177	23	this	this	DET
alkej-501	177	24	page	page	NOUN
alkej-501	177	25	was	be	AUX
alkej-501	177	26	created	create	VERB
alkej-501	177	27	using	use	VERB
alkej-501	177	28	nitro	nitro	NOUN
alkej-501	177	29	pdf	pdf	NOUN
alkej-501	177	30	trial	trial	NOUN
alkej-501	177	31	software	software	NOUN
alkej-501	177	32	.	.	PUNCT
alkej-501	178	1	to	to	PART
alkej-501	178	2	purchase	purchase	VERB
alkej-501	178	3	,	,	PUNCT
alkej-501	178	4	go	go	VERB
alkej-501	178	5	to	to	ADP
alkej-501	178	6	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	178	7	http://www.nitropdf.com/	http://www.nitropdf.com/	PROPN
alkej-501	178	8	nabeel	nabeel	PROPN
alkej-501	178	9	k.	k.	PROPN
alkej-501	178	10	abid	abid	PROPN
alkej-501	179	1	alsahib	alsahib	PROPN
alkej-501	179	2	al	al	PROPN
alkej-501	179	3	-	-	PUNCT
alkej-501	179	4	khwarizmi	khwarizmi	PROPN
alkej-501	179	5	engineering	engineering	NOUN
alkej-501	179	6	journal	journal	PROPN
alkej-501	179	7	,	,	PUNCT
alkej-501	179	8	vol	vol	NOUN
alkej-501	179	9	.	.	PROPN
alkej-501	179	10	6	6	NUM
alkej-501	179	11	,	,	PUNCT
alkej-501	179	12	no	no	INTJ
alkej-501	179	13	.	.	NOUN
alkej-501	179	14	3	3	NUM
alkej-501	179	15	,	,	PUNCT
alkej-501	179	16	pp	pp	ADV
alkej-501	179	17	36	36	NUM
alkej-501	179	18	44	44	NUM
alkej-501	179	19	(	(	PUNCT
alkej-501	179	20	2010	2010	NUM
alkej-501	179	21	)	)	PUNCT
alkej-501	179	22	43	43	NUM
alkej-501	179	23	robot	robot	NOUN
alkej-501	179	24	''	''	PUNCT
alkej-501	179	25	,	,	PUNCT
alkej-501	179	26	international	international	ADJ
alkej-501	179	27	journal	journal	NOUN
alkej-501	179	28	of	of	ADP
alkej-501	179	29	advanced	advanced	ADJ
alkej-501	179	30	robotic	robotic	ADJ
alkej-501	179	31	systems	system	NOUN
alkej-501	179	32	,	,	PUNCT
alkej-501	179	33	vol	vol	NOUN
alkej-501	179	34	.	.	PROPN
alkej-501	179	35	2	2	NUM
alkej-501	179	36	,	,	PUNCT
alkej-501	179	37	pp	pp	ADJ
alkej-501	179	38	.	.	PUNCT
alkej-501	180	1	197	197	NUM
alkej-501	180	2	208	208	NUM
alkej-501	180	3	,	,	PUNCT
alkej-501	180	4	2005	2005	NUM
alkej-501	180	5	.	.	PUNCT
alkej-501	181	1	[	[	X
alkej-501	181	2	8	8	NUM
alkej-501	181	3	]	]	PUNCT
alkej-501	181	4	elie	elie	PROPN
alkej-501	181	5	maaloufa	maaloufa	PROPN
alkej-501	181	6	,	,	PUNCT
alkej-501	181	7	maarouf	maarouf	X
alkej-501	181	8	saada	saada	PROPN
alkej-501	181	9	,	,	PUNCT
alkej-501	181	10	''	''	PUNCT
alkej-501	181	11	a	a	DET
alkej-501	181	12	higher	high	ADJ
alkej-501	181	13	level	level	NOUN
alkej-501	181	14	path	path	NOUN
alkej-501	181	15	tracking	tracking	NOUN
alkej-501	181	16	controller	controller	NOUN
alkej-501	181	17	for	for	ADP
alkej-501	181	18	a	a	DET
alkej-501	181	19	four	four	NUM
alkej-501	181	20	-	-	PUNCT
alkej-501	181	21	wheel	wheel	NOUN
alkej-501	181	22	differentially	differentially	ADV
alkej-501	181	23	steered	steer	VERB
alkej-501	181	24	mobile	mobile	ADJ
alkej-501	181	25	robot	robot	NOUN
alkej-501	181	26	''	''	PUNCT
alkej-501	181	27	,	,	PUNCT
alkej-501	181	28	robotics	robotic	NOUN
alkej-501	181	29	and	and	CCONJ
alkej-501	181	30	autonomous	autonomous	ADJ
alkej-501	181	31	systems	system	NOUN
alkej-501	181	32	,	,	PUNCT
alkej-501	181	33	vol.54	vol.54	PROPN
alkej-501	181	34	,	,	PUNCT
alkej-501	181	35	pp	pp	ADJ
alkej-501	181	36	.	.	PUNCT
alkej-501	182	1	23–33	23–33	NUM
alkej-501	182	2	,	,	PUNCT
alkej-501	182	3	october	october	PROPN
alkej-501	182	4	,	,	PUNCT
alkej-501	182	5	2005	2005	NUM
alkej-501	182	6	.	.	PUNCT
alkej-501	183	1	[	[	X
alkej-501	183	2	9	9	NUM
alkej-501	183	3	]	]	X
alkej-501	183	4	k.a.hawick	k.a.hawick	NOUN
alkej-501	183	5	and	and	CCONJ
alkej-501	183	6	h.a.james	h.a.jame	NOUN
alkej-501	183	7	,	,	PUNCT
alkej-501	183	8	''	''	PUNCT
alkej-501	183	9	middleware	middleware	NOUN
alkej-501	183	10	for	for	ADP
alkej-501	183	11	wireless	wireless	ADJ
alkej-501	183	12	sensors	sensor	NOUN
alkej-501	183	13	and	and	CCONJ
alkej-501	183	14	robots	robot	NOUN
alkej-501	183	15	''	''	PUNCT
alkej-501	183	16	,	,	PUNCT
alkej-501	183	17	technical	technical	ADJ
alkej-501	183	18	dhpc-112	dhpc-112	NOUN
alkej-501	183	19	,	,	PUNCT
alkej-501	183	20	2002	2002	NUM
alkej-501	183	21	.	.	PUNCT
alkej-501	184	1	this	this	DET
alkej-501	184	2	page	page	NOUN
alkej-501	184	3	was	be	AUX
alkej-501	184	4	created	create	VERB
alkej-501	184	5	using	use	VERB
alkej-501	184	6	nitro	nitro	NOUN
alkej-501	184	7	pdf	pdf	NOUN
alkej-501	184	8	trial	trial	NOUN
alkej-501	184	9	software	software	NOUN
alkej-501	184	10	.	.	PUNCT
alkej-501	185	1	to	to	PART
alkej-501	185	2	purchase	purchase	VERB
alkej-501	185	3	,	,	PUNCT
alkej-501	185	4	go	go	VERB
alkej-501	185	5	to	to	ADP
alkej-501	185	6	http://www.nitropdf.com/	http://www.nitropdf.com/	NOUN
alkej-501	185	7	http://www.nitropdf.com/	http://www.nitropdf.com/	NOUN
alkej-501	185	8	)	)	PUNCT
alkej-501	186	1	2010	2010	NUM
alkej-501	186	2	(	(	PUNCT
alkej-501	186	3	44	44	NUM
alkej-501	186	4	-36	-36	NOUN
alkej-501	186	5	،	،	NOUN
alkej-501	186	6	صفحة3	صفحة3	PROPN
alkej-501	186	7	،	،	PROPN
alkej-501	186	8	العدد	العدد	PROPN
alkej-501	187	1	6ة	6ة	NOUN
alkej-501	187	2	المجلد	المجلد	VERB
alkej-501	187	3	مجلة	مجلة	PROPN
alkej-501	187	4	الخوارزمي	الخوارزمي	VERB
alkej-501	187	5	الھندسی	الھندسی	PROPN
alkej-501	187	6	نبیل	نبیل	NOUN
alkej-501	187	7	كاظم	كاظم	NOUN
alkej-501	187	8	عبد	عبد	PROPN
alkej-501	187	9	الصاحب	الصاحب	NOUN
alkej-501	187	10	44	44	NUM
alkej-501	187	11	ّسساِت	ّسساِت	NOUN
alkej-501	187	12	السوناِرتِة	السوناِرتِة	ADV
alkej-501	187	13	الضبابیِة	الضبابیِة	VERB
alkej-501	187	14	على	على	NOUN
alkej-501	187	15	محیاآللي	محیاآللي	NOUN
alkej-501	187	16	النقَّال	النقَّال	PART
alkej-501	187	17	بَتطبیق	بَتطبیق	PROPN
alkej-501	187	18	النظراالنسان	النظراالنسان	NOUN
alkej-501	187	19	َتوجیھ	َتوجیھ	INTJ
alkej-501	187	20	*	*	PUNCT
alkej-501	187	21	*	*	PUNCT
alkej-501	187	22	احمد	احمد	ADJ
alkej-501	187	23	رحمان	رحمان	ADJ
alkej-501	187	24	جاسم	جاسم	NOUN
alkej-501	187	25	*	*	PUNCT
alkej-501	187	26	نبیل	نبیل	NOUN
alkej-501	187	27	كاظم	كاظم	NOUN
alkej-501	187	28	عبد	عبد	PROPN
alkej-501	187	29	الصاحب	الصاحب	NOUN
alkej-501	187	30	جامعة	جامعة	PROPN
alkej-501	187	31	بغداد	بغداد	PROPN
alkej-501	187	32	/	/	SYM
alkej-501	187	33	ھندسة	ھندسة	PROPN
alkej-501	187	34	الخوارزميلاكلیة	الخوارزميلاكلیة	NOUN
alkej-501	187	35	/	/	SYM
alkej-501	187	36	قسم	قسم	PROPN
alkej-501	187	37	ھندسة	ھندسة	PROPN
alkej-501	187	38	المیكاترونكس	المیكاترونكس	PUNCT
alkej-501	188	1	dr_nabeelalsahab@hotmail.com	dr_nabeelalsahab@hotmail.com	PROPN
alkej-501	188	2	:	:	PUNCT
alkej-501	188	3	البرید	البرید	NOUN
alkej-501	188	4	االلكتروني	االلكتروني	PROPN
alkej-501	188	5	*	*	SYM
alkej-501	189	1	engmktron@gmail.com	engmktron@gmail.com	NOUN
alkej-501	189	2	:	:	PUNCT
alkej-501	189	3	البرید	البرید	NOUN
alkej-501	189	4	االلكتروني	االلكتروني	PROPN
alkej-501	189	5	*	*	PUNCT
alkej-501	189	6	*	*	PROPN
alkej-501	189	7	الخالصة	الخالصة	PROPN
alkej-501	189	8	ة	ة	PRON
alkej-501	189	9	ُتؤثر	ُتؤثر	NOUN
alkej-501	189	10	نظریُة	نظریُة	ADJ
alkej-501	189	11	الم	الم	PROPN
alkej-501	189	12	.	.	PUNCT
alkej-501	190	1	اِلِصُف	اِلِصُف	PROPN
alkej-501	190	2	ھذه	ھذه	PROPN
alkej-501	190	3	الدراسِة	الدراسِة	PROPN
alkej-501	190	4	َكیفیة	َكیفیة	PROPN
alkej-501	190	5	سیطرة	سیطرة	DET
alkej-501	190	6	المنطِق	المنطِق	ADJ
alkej-501	190	7	الضبابي	الضبابي	ADJ
alkej-501	190	8	إلى	إلى	NOUN
alkej-501	191	1	سوناِر	سوناِر	NOUN
alkej-501	191	2	اإلنسان	اإلنسان	NOUN
alkej-501	191	3	اآللي	اآللي	NOUN
alkej-501	191	4	النقََّت	النقََّت	PROPN
alkej-501	191	5	ي	ي	PRON
alkej-501	191	6	بیئ	بیئ	VERB
alkej-501	191	7	اِل	اِل	NOUN
alkej-501	191	8	ف	ف	X
alkej-501	191	9	نطِق	نطِق	ADJ
alkej-501	191	10	الضبابیِة	الضبابیِة	NOUN
alkej-501	191	11	على	على	NOUN
alkej-501	191	12	مالحة	مالحة	NOUN
alkej-501	191	13	اإلنسان	اإلنسان	NOUN
alkej-501	191	14	اآللي	اآللي	NOUN
alkej-501	191	15	النقَّ	النقَّ	PROPN
alkej-501	191	16	ّدُم	ّدُم	PROPN
alkej-501	191	17	.	.	PUNCT
alkej-501	192	1	معروفة	معروفة	PROPN
alkej-501	192	2	جزئیًا	جزئیًا	PROPN
alkej-501	192	3	التي	التي	PROPN
alkej-501	192	4	تستعمل	تستعمل	VERB
alkej-501	192	5	في	في	ADP
alkej-501	192	6	مختلفِة	مختلفِة	PROPN
alkej-501	192	7	الصناعات	الصناعات	VERB
alkej-501	192	8	وتطبیقاِت	وتطبیقاِت	NOUN
alkej-501	192	9	المجتمِع	المجتمِع	NOUN
alkej-501	192	10	ي	ي	NUM
alkej-501	193	1	ُتق	ُتق	NOUN
alkej-501	193	2	وناِر	وناِر	ADV
alkej-501	193	3	الت	الت	ADV
alkej-501	193	4	ات	ات	ADP
alkej-501	193	5	الس	الس	PROPN
alkej-501	193	6	ّل	ّل	PROPN
alkej-501	193	7	محّسس	محّسس	VERB
alkej-501	193	8	ْن	ْن	NOUN
alkej-501	193	9	ُك	ُك	NOUN
alkej-501	193	10	ِس	ِس	PROPN
alkej-501	193	11	ِم	ِم	PROPN
alkej-501	193	12	المنطق	المنطق	ADJ
alkej-501	193	13	الضبابي	الضبابي	ADJ
alkej-501	193	14	ُیزّوُد	ُیزّوُد	PROPN
alkej-501	193	15	آلیة	آلیة	VERB
alkej-501	193	16	لَدْمج	لَدْمج	NOUN
alkej-501	193	17	بیاناِت	بیاناِت	PROPN
alkej-501	193	18	المحّس	المحّس	NOUN
alkej-501	193	19	بابيِ	بابيِ	ADJ
alkej-501	193	20	ُمنَج	ُمنَج	NOUN
alkej-501	193	21	flcإّن	flcإّن	NOUN
alkej-501	193	22	نظریَة	نظریَة	NOUN
alkej-501	193	23	.	.	PUNCT
alkej-501	194	1	المعلوماَت	المعلوماَت	PROPN
alkej-501	194	2	المختلفَة	المختلفَة	VERB
alkej-501	194	3	ؤول	ؤول	X
alkej-501	194	4	.	.	PUNCT
alkej-501	195	1	زُة	زُة	NOUN
alkej-501	195	2	بواسطة	بواسطة	VERB
alkej-501	195	3	طریقِة	طریقِة	PROPN
alkej-501	195	4	إّتخاذ	إّتخاذ	PROPN
alkej-501	195	5	القراراِت	القراراِت	PROPN
alkej-501	195	6	الضبابِیة	الضبابِیة	NOUN
alkej-501	195	7	ِمْن	ِمْن	PRON
alkej-501	195	8	جھاِز	جھاِز	ADV
alkej-501	195	9	سیطرة	سیطرة	DET
alkej-501	195	10	المنطِق	المنطِق	ADJ
alkej-501	195	11	الض	الض	NOUN
alkej-501	195	12	َرَح	َرَح	PUNCT
alkej-501	196	1	مس	مس	NUM
alkej-501	196	2	یطرة	یطرة	NOUN
alkej-501	196	3	الُمقَت	الُمقَت	ADV
alkej-501	196	4	اَز	اَز	PUNCT
alkej-501	196	5	الس	الس	NOUN
alkej-501	197	1	إّن	إّن	VERB
alkej-501	197	2	جھ	جھ	INTJ
alkej-501	197	3	ة	ة	PROPN
alkej-501	197	4	الم	الم	PROPN
alkej-501	197	5	flc	flc	PROPN
alkej-501	197	6	.	.	PROPN
alkej-501	197	7	عن	عن	PROPN
alkej-501	197	8	تجّنِب	تجّنِب	PROPN
alkej-501	197	9	عقبات	عقبات	ADJ
alkej-501	197	10	اإلنسان	اإلنسان	NOUN
alkej-501	197	11	اآللي	اآللي	NOUN
alkej-501	197	12	النقَّاِل	النقَّاِل	VERB
alkej-501	197	13	بتنقلھ	بتنقلھ	NOUN
alkej-501	197	14	خالل	خالل	PROPN
alkej-501	197	15	خریطة	خریطة	PROPN
alkej-501	197	16	ِمْن	ِمْن	PROPN
alkej-501	197	17	نقطة	نقطة	NOUN
alkej-501	197	18	المرجع	المرجع	VERB
alkej-501	197	19	إلى	إلى	NOUN
alkej-501	197	20	نقطة	نقطة	ADJ
alkej-501	197	21	الھدِف	الھدِف	PROPN
alkej-501	197	22	ى	ى	PROPN
alkej-501	197	23	الھندس	الھندس	NOUN
alkej-501	197	24	تند	تند	VERB
alkej-501	197	25	عل	عل	ADP
alkej-501	197	26	ِة	ِة	PROPN
alkej-501	197	27	ُیْبَنى	ُیْبَنى	X
alkej-501	197	28	برامج	برامج	NOUN
alkej-501	197	29	ثانویة	ثانویة	ADJ
alkej-501	197	30	مس	مس	NOUN
alkej-501	197	31	ِة	ِة	PROPN
alkej-501	197	32	الذكی	الذكی	PROPN
alkej-501	197	33	عماری	عماری	NOUN
alkej-501	197	34	)	)	PUNCT
alkej-501	197	35	aa	aa	INTJ
alkej-501	197	36	.	.	PUNCT
alkej-501	198	1	(	(	PUNCT
alkej-501	198	2	اِت	اِت	PROPN
alkej-501	198	3	ة	ة	NOUN
alkej-501	198	4	)	)	PUNCT
alkej-501	198	5	aria(َیستعمُل	aria(َیستعمُل	PROPN
alkej-501	198	6	برنامُج	برنامُج	NOUN
alkej-501	198	7	اإلنسان	اإلنسان	NOUN
alkej-501	198	8	اآللي	اآللي	NOUN
alkej-501	198	9	المتقّدمِة	المتقّدمِة	PROPN
alkej-501	198	10	للتطبیق	للتطبیق	PROPN
alkej-501	198	11	رمج	رمج	PROPN
alkej-501	198	12	بلغ	بلغ	VERB
alkej-501	198	13	وع	وع	ADP
alkej-501	198	14	c++المب	c++المب	PROPN
alkej-501	198	15	رامج	رامج	NOUN
alkej-501	198	16	)	)	PUNCT
alkej-501	198	17	ِ	ِ	PROPN
alkej-501	198	18	visual	visual	ADJ
alkej-501	198	19	c++.net(ن	c++.net(ن	X
alkej-501	198	20	بكات	بكات	NOUN
alkej-501	198	21	ال	ال	PROPN
alkej-501	198	22	،	،	PROPN
alkej-501	199	1	وب	وب	PROPN
alkej-501	200	1	ام	ام	PROPN
alkej-501	200	2	الش	الش	PROPN
alkej-501	200	3	تعملُة	تعملُة	PROPN
alkej-501	200	4	لنظ	لنظ	NOUN
alkej-501	200	5	مس	مس	NOUN
alkej-501	200	6	داِد	داِد	NOUN
alkej-501	200	7	لكي	لكي	NOUN
alkej-501	200	8	اإلع	اإلع	VERB
alkej-501	200	9	اِل	اِل	NOUN
alkej-501	200	10	الالس	الالس	ADJ
alkej-501	200	11	ى	ى	DET
alkej-501	200	12	االرس	االرس	PROPN
alkej-501	200	13	بة	بة	PROPN
alkej-501	200	14	/	/	SYM
alkej-501	200	15	السیطرة	السیطرة	PROPN
alkej-501	200	16	عل	عل	ADP
alkej-501	200	17	ي	ي	PROPN
alkej-501	200	18	والحاس	والحاس	NOUN
alkej-501	200	19	ان	ان	AUX
alkej-501	200	20	اآلل	اآلل	PROPN
alkej-501	200	21	ین	ین	PROPN
alkej-501	200	22	اإلنس	اإلنس	PROPN
alkej-501	200	23	ِل	ِل	NOUN
alkej-501	200	24	ب	ب	PRON
alkej-501	200	25	اِل	اِل	NOUN
alkej-501	200	26	المتسلس	المتسلس	VERB
alkej-501	200	27	ى	ى	DET
alkej-501	200	28	اإلّتص	اإلّتص	NOUN
alkej-501	200	29	ت	ت	ADP
alkej-501	200	30	إل	إل	INTJ
alkej-501	200	31	یة	یة	ADV
alkej-501	200	32	إیثرن	إیثرن	ADJ
alkej-501	200	33	اَل	اَل	ADV
alkej-501	200	34	.	.	PUNCT
alkej-501	201	1	الشخص	الشخص	PROPN
alkej-501	201	2	ي	ي	PROPN
alkej-501	201	3	النقَّ	النقَّ	PROPN
alkej-501	201	4	ان	ان	ADP
alkej-501	201	5	اآلل	اآلل	PROPN
alkej-501	201	6	أّن	أّن	PROPN
alkej-501	201	7	اإلنس	اإلنس	NOUN
alkej-501	201	8	اِئَج	اِئَج	PUNCT
alkej-501	201	9	ب	ب	PART
alkej-501	201	10	ر	ر	PRON
alkej-501	201	11	الَنت	الَنت	INTJ
alkej-501	201	12	ُتظھ	ُتظھ	NOUN
alkej-501	201	13	ھ	ھ	ADP
alkej-501	201	14	ي	ي	PROPN
alkej-501	201	15	طریِق	طریِق	ADV
alkej-501	201	16	ة	ة	ADP
alkej-501	201	17	ف	ف	NOUN
alkej-501	201	18	ات	ات	NOUN
alkej-501	201	19	الواقع	الواقع	PROPN
alkej-501	201	20	و	و	PRON
alkej-501	201	21	.	.	PUNCT
alkej-501	202	1	المتطوَر	المتطوَر	PROPN
alkej-501	202	2	ُیتنقُل	ُیتنقُل	PROPN
alkej-501	202	3	بنجاح	بنجاح	NOUN
alkej-501	202	4	من	من	DET
alkej-501	202	5	موقع	موقع	NOUN
alkej-501	202	6	إلى	إلى	NOUN
alkej-501	202	7	آخر	آخر	NOUN
alkej-501	202	8	ویصُل	ویصُل	NOUN
alkej-501	202	9	ھدَفھ	ھدَفھ	PROPN
alkej-501	202	10	بعد	بعد	PROPN
alkej-501	202	11	َتفادي	َتفادي	NOUN
alkej-501	202	12	ُكّل	ُكّل	AUX
alkej-501	202	13	العقب	العقب	VERB
alkej-501	202	14	اَل	اَل	PROPN
alkej-501	202	15	ھ	ھ	ADP
alkej-501	202	16	ي	ي	PROPN
alkej-501	202	17	النقَّ	النقَّ	PROPN
alkej-501	202	18	ان	ان	PROPN
alkej-501	202	19	آالل	آالل	PROPN
alkej-501	202	20	ل	ل	PROPN
alkej-501	202	21	اإلنس	اإلنس	PROPN
alkej-501	202	22	ز	ز	ADP
alkej-501	202	23	pioneer	pioneer	NOUN
alkej-501	202	24	3	3	NUM
alkej-501	202	25	dxإّن	dxإّن	NOUN
alkej-501	202	26	ھیك	ھیك	PROPN
alkej-501	202	27	الُمجّھ	الُمجّھ	PROPN
alkej-501	202	28	.بمحّسساِت	.بمحّسساِت	PUNCT
alkej-501	203	1	السوناِر	السوناِر	NOUN
alkej-501	203	2	this	this	DET
alkej-501	203	3	page	page	NOUN
alkej-501	203	4	was	be	AUX
alkej-501	203	5	created	create	VERB
alkej-501	203	6	using	use	VERB
alkej-501	203	7	nitro	nitro	NOUN
alkej-501	203	8	pdf	pdf	NOUN
alkej-501	203	9	trial	trial	NOUN
alkej-501	203	10	software	software	NOUN
alkej-501	203	11	.	.	PUNCT
alkej-501	204	1	to	to	PART
alkej-501	204	2	purchase	purchase	VERB
alkej-501	204	3	,	,	PUNCT
alkej-501	204	4	go	go	VERB
alkej-501	204	5	to	to	ADP
alkej-501	204	6	http://www.nitropdf.com/	http://www.nitropdf.com/	NOUN
alkej-501	204	7	http://www.nitropdf.com/	http://www.nitropdf.com/	NOUN