id	sid	tid	token	lemma	pos
alkej-698	1	1	4d6963726f736f667420576f7264202d20d6cdec20e6cf20c7cde3cf20d2edcfc7e4	4d6963726f736f667420576f7264202d20d6cdec20e6cf20c7cde3cf20d2edcfc7e4	NUM
alkej-698	1	2	>	>	X
alkej-698	1	3	al	al	PROPN
alkej-698	1	4	-	-	PUNCT
alkej-698	1	5	khwarizmi	khwarizmi	PROPN
alkej-698	1	6	engineering	engineering	PROPN
alkej-698	1	7	journal	journal	PROPN
alkej-698	1	8	al	al	PROPN
alkej-698	1	9	-	-	PUNCT
alkej-698	1	10	khwarizmi	khwarizmi	PROPN
alkej-698	1	11	engineering	engineering	NOUN
alkej-698	1	12	journal	journal	PROPN
alkej-698	1	13	,	,	PUNCT
alkej-698	1	14	vol	vol	NOUN
alkej-698	1	15	.	.	PROPN
alkej-698	1	16	16	16	NUM
alkej-698	1	17	,	,	PUNCT
alkej-698	1	18	no	no	INTJ
alkej-698	1	19	.	.	NOUN
alkej-698	1	20	1	1	NUM
alkej-698	1	21	,	,	PUNCT
alkej-698	1	22	march	march	PROPN
alkej-698	1	23	,	,	PUNCT
alkej-698	1	24	(	(	PUNCT
alkej-698	1	25	2020	2020	NUM
alkej-698	1	26	)	)	PUNCT
alkej-698	2	1	p.	p.	NOUN
alkej-698	2	2	p.	p.	NOUN
alkej-698	2	3	4254	4254	NUM
alkej-698	3	1	improving	improve	VERB
alkej-698	3	2	reverse	reverse	ADJ
alkej-698	3	3	engineering	engineering	NOUN
alkej-698	3	4	processes	process	NOUN
alkej-698	3	5	by	by	ADP
alkej-698	3	6	using	use	VERB
alkej-698	3	7	articulated	articulated	ADJ
alkej-698	3	8	arm	arm	NOUN
alkej-698	3	9	coordinate	coordinate	NOUN
alkej-698	3	10	measuring	measure	VERB
alkej-698	3	11	machine	machine	NOUN
alkej-698	3	12	dhuha	dhuha	NOUN
alkej-698	3	13	mohammed	mohammed	PROPN
alkej-698	3	14	mahmood	mahmood	PROPN
alkej-698	3	15	*	*	PROPN
alkej-698	3	16	ahmed	ahmed	PROPN
alkej-698	3	17	zaidan	zaidan	PROPN
alkej-698	3	18	mahmood	mahmood	PROPN
alkej-698	3	19	*	*	PUNCT
alkej-698	3	20	*	*	PUNCT
alkej-698	3	21	*	*	PUNCT
alkej-698	3	22	,	,	PUNCT
alkej-698	3	23	*	*	PUNCT
alkej-698	3	24	*	*	NOUN
alkej-698	3	25	department	department	NOUN
alkej-698	3	26	of	of	ADP
alkej-698	3	27	automated	automate	VERB
alkej-698	3	28	manufacturing	manufacturing	NOUN
alkej-698	3	29	engineering	engineering	NOUN
alkej-698	3	30	/	/	SYM
alkej-698	3	31	alkhwarizmi	alkhwarizmi	NOUN
alkej-698	3	32	college	college	NOUN
alkej-698	3	33	of	of	ADP
alkej-698	3	34	engineering/	engineering/	NUM
alkej-698	3	35	university	university	NOUN
alkej-698	3	36	of	of	ADP
alkej-698	3	37	baghdad/	baghdad/	NUM
alkej-698	3	38	baghdad/	baghdad/	NUM
alkej-698	3	39	iraq	iraq	PROPN
alkej-698	3	40	*	*	PUNCT
alkej-698	3	41	email	email	NOUN
alkej-698	3	42	:	:	PUNCT
alkej-698	3	43	duhamohammed55@gmail.com	duhamohammed55@gmail.com	X
alkej-698	3	44	*	*	PUNCT
alkej-698	3	45	*	*	NOUN
alkej-698	3	46	email	email	NOUN
alkej-698	3	47	:	:	PUNCT
alkej-698	3	48	ahmadhzaam@yahoo.com	ahmadhzaam@yahoo.com	X
alkej-698	3	49	(	(	PUNCT
alkej-698	3	50	received	receive	VERB
alkej-698	3	51	25	25	NUM
alkej-698	3	52	september	september	PROPN
alkej-698	3	53	2019	2019	NUM
alkej-698	3	54	;	;	PUNCT
alkej-698	3	55	accepted	accept	VERB
alkej-698	3	56	9	9	NUM
alkej-698	3	57	february	february	NOUN
alkej-698	3	58	2020	2020	NUM
alkej-698	3	59	)	)	PUNCT
alkej-698	4	1	https://doi.org/10.22153/kej.2020.02.001	https://doi.org/10.22153/kej.2020.02.001	PRON
alkej-698	5	1	abstract	abstract	ADJ
alkej-698	5	2	the	the	DET
alkej-698	5	3	invention	invention	NOUN
alkej-698	5	4	relates	relate	VERB
alkej-698	5	5	to	to	ADP
alkej-698	5	6	a	a	DET
alkej-698	5	7	coordinate	coordinate	NOUN
alkej-698	5	8	measuring	measure	VERB
alkej-698	5	9	machine	machine	NOUN
alkej-698	5	10	(	(	PUNCT
alkej-698	5	11	cmm	cmm	NOUN
alkej-698	5	12	)	)	PUNCT
alkej-698	5	13	for	for	ADP
alkej-698	5	14	determining	determine	VERB
alkej-698	5	15	a	a	DET
alkej-698	5	16	measuring	measure	VERB
alkej-698	5	17	position	position	NOUN
alkej-698	5	18	of	of	ADP
alkej-698	5	19	a	a	DET
alkej-698	5	20	probe	probe	NOUN
alkej-698	5	21	.	.	PUNCT
alkej-698	6	1	the	the	DET
alkej-698	6	2	aacmm	aacmm	NOUN
alkej-698	6	3	is	be	AUX
alkej-698	6	4	depends	depend	VERB
alkej-698	6	5	on	on	ADP
alkej-698	6	6	the	the	DET
alkej-698	6	7	robot	robot	NOUN
alkej-698	6	8	kinematics	kinematic	NOUN
alkej-698	6	9	(	(	PUNCT
alkej-698	6	10	forward	forward	ADV
alkej-698	6	11	and	and	CCONJ
alkej-698	6	12	reverse	reverse	VERB
alkej-698	6	13	)	)	PUNCT
alkej-698	6	14	in	in	ADP
alkej-698	6	15	their	their	PRON
alkej-698	6	16	measurement	measurement	NOUN
alkej-698	6	17	principle	principle	NOUN
alkej-698	6	18	,	,	PUNCT
alkej-698	6	19	i.e.	i.e.	X
alkej-698	6	20	,	,	PUNCT
alkej-698	6	21	using	use	VERB
alkej-698	6	22	the	the	DET
alkej-698	6	23	aacmm	aacmm	NOUN
alkej-698	6	24	links	link	NOUN
alkej-698	6	25	and	and	CCONJ
alkej-698	6	26	joint	joint	ADJ
alkej-698	6	27	angles	angle	NOUN
alkej-698	6	28	to	to	PART
alkej-698	6	29	determine	determine	VERB
alkej-698	6	30	the	the	DET
alkej-698	6	31	exact	exact	ADJ
alkej-698	6	32	workspace	workspace	NOUN
alkej-698	6	33	or	or	CCONJ
alkej-698	6	34	part	part	NOUN
alkej-698	6	35	coordinates	coordinate	NOUN
alkej-698	6	36	.	.	PUNCT
alkej-698	7	1	hence	hence	ADV
alkej-698	7	2	,	,	PUNCT
alkej-698	7	3	the	the	DET
alkej-698	7	4	measurements	measurement	NOUN
alkej-698	7	5	are	be	AUX
alkej-698	7	6	obtained	obtain	VERB
alkej-698	7	7	using	use	VERB
alkej-698	7	8	an	an	DET
alkej-698	7	9	aacmm	aacmm	NOUN
alkej-698	7	10	will	will	AUX
alkej-698	7	11	be	be	AUX
alkej-698	7	12	extremely	extremely	ADV
alkej-698	7	13	accurate	accurate	ADJ
alkej-698	7	14	and	and	CCONJ
alkej-698	7	15	precise	precise	ADJ
alkej-698	7	16	since	since	SCONJ
alkej-698	7	17	that	that	PRON
alkej-698	7	18	is	be	AUX
alkej-698	7	19	merely	merely	ADV
alkej-698	7	20	dependent	dependent	ADJ
alkej-698	7	21	on	on	ADP
alkej-698	7	22	rigid	rigid	ADJ
alkej-698	7	23	structural	structural	ADJ
alkej-698	7	24	parameters	parameter	NOUN
alkej-698	7	25	and	and	CCONJ
alkej-698	7	26	the	the	DET
alkej-698	7	27	only	only	ADJ
alkej-698	7	28	source	source	NOUN
alkej-698	7	29	of	of	ADP
alkej-698	7	30	measurement	measurement	NOUN
alkej-698	7	31	error	error	NOUN
alkej-698	7	32	is	be	AUX
alkej-698	7	33	due	due	ADJ
alkej-698	7	34	to	to	ADP
alkej-698	7	35	human	human	ADJ
alkej-698	7	36	operators	operator	NOUN
alkej-698	7	37	.	.	PUNCT
alkej-698	8	1	in	in	ADP
alkej-698	8	2	this	this	DET
alkej-698	8	3	paper	paper	NOUN
alkej-698	8	4	,	,	PUNCT
alkej-698	8	5	a	a	DET
alkej-698	8	6	new	new	ADJ
alkej-698	8	7	aacmm	aacmm	NOUN
alkej-698	8	8	design	design	NOUN
alkej-698	8	9	was	be	AUX
alkej-698	8	10	proposed	propose	VERB
alkej-698	8	11	.	.	PUNCT
alkej-698	9	1	the	the	DET
alkej-698	9	2	new	new	ADJ
alkej-698	9	3	aacmm	aacmm	NOUN
alkej-698	9	4	design	design	NOUN
alkej-698	9	5	addresses	address	NOUN
alkej-698	9	6	common	common	ADJ
alkej-698	9	7	issues	issue	NOUN
alkej-698	9	8	such	such	ADJ
alkej-698	9	9	as	as	ADP
alkej-698	9	10	solving	solve	VERB
alkej-698	9	11	the	the	DET
alkej-698	9	12	complex	complex	ADJ
alkej-698	9	13	kinematics	kinematic	NOUN
alkej-698	9	14	,	,	PUNCT
alkej-698	9	15	overcoming	overcome	VERB
alkej-698	9	16	the	the	DET
alkej-698	9	17	workspace	workspace	NOUN
alkej-698	9	18	limitation	limitation	NOUN
alkej-698	9	19	,	,	PUNCT
alkej-698	9	20	avoiding	avoid	VERB
alkej-698	9	21	singularity	singularity	NOUN
alkej-698	9	22	,	,	PUNCT
alkej-698	9	23	and	and	CCONJ
alkej-698	9	24	eliminating	eliminate	VERB
alkej-698	9	25	the	the	DET
alkej-698	9	26	effects	effect	NOUN
alkej-698	9	27	of	of	ADP
alkej-698	9	28	design	design	NOUN
alkej-698	9	29	error	error	NOUN
alkej-698	9	30	by	by	ADP
alkej-698	9	31	designing	design	VERB
alkej-698	9	32	a	a	DET
alkej-698	9	33	new	new	ADJ
alkej-698	9	34	and	and	CCONJ
alkej-698	9	35	compatible	compatible	ADJ
alkej-698	9	36	aacmm	aacmm	NOUN
alkej-698	9	37	that	that	PRON
alkej-698	9	38	will	will	AUX
alkej-698	9	39	incorporate	incorporate	VERB
alkej-698	9	40	all	all	DET
alkej-698	9	41	affective	affective	ADJ
alkej-698	9	42	design	design	NOUN
alkej-698	9	43	factors	factor	NOUN
alkej-698	9	44	into	into	ADP
alkej-698	9	45	consideration	consideration	NOUN
alkej-698	9	46	.	.	PUNCT
alkej-698	10	1	different	different	ADJ
alkej-698	10	2	types	type	NOUN
alkej-698	10	3	of	of	ADP
alkej-698	10	4	design	design	NOUN
alkej-698	10	5	factors	factor	NOUN
alkej-698	10	6	and	and	CCONJ
alkej-698	10	7	limitations	limitation	NOUN
alkej-698	10	8	,	,	PUNCT
alkej-698	10	9	which	which	PRON
alkej-698	10	10	significantly	significantly	ADV
alkej-698	10	11	affect	affect	VERB
alkej-698	10	12	the	the	DET
alkej-698	10	13	aacmm	aacmm	NOUN
alkej-698	10	14	production	production	NOUN
alkej-698	10	15	fabrication	fabrication	NOUN
alkej-698	10	16	processes	process	NOUN
alkej-698	10	17	,	,	PUNCT
alkej-698	10	18	and	and	CCONJ
alkej-698	10	19	ultimately	ultimately	ADV
alkej-698	10	20	.	.	PUNCT
alkej-698	11	1	accuracy	accuracy	NOUN
alkej-698	11	2	are	be	AUX
alkej-698	11	3	given	give	VERB
alkej-698	11	4	.	.	PUNCT
alkej-698	12	1	cost	cost	NOUN
alkej-698	12	2	and	and	CCONJ
alkej-698	12	3	time	time	NOUN
alkej-698	12	4	factors	factor	NOUN
alkej-698	12	5	effects	effect	NOUN
alkej-698	12	6	on	on	ADP
alkej-698	12	7	the	the	DET
alkej-698	12	8	design	design	NOUN
alkej-698	12	9	and	and	CCONJ
alkej-698	12	10	manufacturing	manufacturing	NOUN
alkej-698	12	11	are	be	AUX
alkej-698	12	12	found	find	VERB
alkej-698	12	13	to	to	PART
alkej-698	12	14	be	be	AUX
alkej-698	12	15	the	the	DET
alkej-698	12	16	most	most	ADV
alkej-698	12	17	significant	significant	ADJ
alkej-698	12	18	.	.	PUNCT
alkej-698	13	1	two	two	NUM
alkej-698	13	2	primary	primary	ADJ
alkej-698	13	3	manufacturing	manufacturing	NOUN
alkej-698	13	4	techniques	technique	NOUN
alkej-698	13	5	were	be	AUX
alkej-698	13	6	used	use	VERB
alkej-698	13	7	,	,	PUNCT
alkej-698	13	8	both	both	PRON
alkej-698	13	9	of	of	ADP
alkej-698	13	10	which	which	PRON
alkej-698	13	11	relied	rely	VERB
alkej-698	13	12	on	on	ADP
alkej-698	13	13	rigors	rigor	NOUN
alkej-698	13	14	cad	cad	PROPN
alkej-698	13	15	/	/	SYM
alkej-698	13	16	cam	cam	NOUN
alkej-698	13	17	iterations	iteration	NOUN
alkej-698	13	18	resulting	result	VERB
alkej-698	13	19	in	in	ADP
alkej-698	13	20	an	an	DET
alkej-698	13	21	entirely	entirely	ADV
alkej-698	13	22	usable	usable	ADJ
alkej-698	13	23	g	g	NOUN
alkej-698	13	24	-	-	PUNCT
alkej-698	13	25	code	code	NOUN
alkej-698	13	26	.	.	PUNCT
alkej-698	14	1	those	those	DET
alkej-698	14	2	methods	method	NOUN
alkej-698	14	3	are	be	AUX
alkej-698	14	4	cnc	cnc	ADJ
alkej-698	14	5	and	and	CCONJ
alkej-698	14	6	3d	3d	NUM
alkej-698	14	7	printing	printing	NOUN
alkej-698	14	8	,	,	PUNCT
alkej-698	14	9	the	the	DET
alkej-698	14	10	most	most	ADV
alkej-698	14	11	widely	widely	ADV
alkej-698	14	12	used	use	VERB
alkej-698	14	13	methods	method	NOUN
alkej-698	14	14	in	in	ADP
alkej-698	14	15	any	any	DET
alkej-698	14	16	industry	industry	NOUN
alkej-698	14	17	.	.	PUNCT
alkej-698	15	1	nevertheless	nevertheless	ADV
alkej-698	15	2	,	,	PUNCT
alkej-698	15	3	accuracy	accuracy	NOUN
alkej-698	15	4	and	and	CCONJ
alkej-698	15	5	ergonomics	ergonomic	NOUN
alkej-698	15	6	factors	factor	NOUN
alkej-698	15	7	must	must	AUX
alkej-698	15	8	be	be	AUX
alkej-698	15	9	considered	consider	VERB
alkej-698	15	10	for	for	ADP
alkej-698	15	11	precise	precise	ADJ
alkej-698	15	12	measurements	measurement	NOUN
alkej-698	15	13	.	.	PUNCT
alkej-698	16	1	the	the	DET
alkej-698	16	2	design	design	NOUN
alkej-698	16	3	was	be	AUX
alkej-698	16	4	validated	validate	VERB
alkej-698	16	5	through	through	ADP
alkej-698	16	6	various	various	ADJ
alkej-698	16	7	methods	method	NOUN
alkej-698	16	8	,	,	PUNCT
alkej-698	16	9	such	such	ADJ
alkej-698	16	10	as	as	ADP
alkej-698	16	11	the	the	DET
alkej-698	16	12	use	use	NOUN
alkej-698	16	13	of	of	ADP
alkej-698	16	14	finite	finite	PROPN
alkej-698	16	15	element	element	PROPN
alkej-698	16	16	measurement	measurement	NOUN
alkej-698	16	17	techniques	technique	NOUN
alkej-698	16	18	,	,	PUNCT
alkej-698	16	19	to	to	PART
alkej-698	16	20	make	make	VERB
alkej-698	16	21	sure	sure	ADJ
alkej-698	16	22	that	that	SCONJ
alkej-698	16	23	the	the	DET
alkej-698	16	24	design	design	NOUN
alkej-698	16	25	was	be	AUX
alkej-698	16	26	structurally	structurally	ADV
alkej-698	16	27	correct	correct	ADJ
alkej-698	16	28	.	.	PUNCT
alkej-698	17	1	keywords	keyword	NOUN
alkej-698	17	2	:	:	PUNCT
alkej-698	17	3	aacmm	aacmm	NOUN
alkej-698	17	4	,	,	PUNCT
alkej-698	17	5	robotic	robotic	ADJ
alkej-698	17	6	kinematics	kinematic	NOUN
alkej-698	17	7	,	,	PUNCT
alkej-698	17	8	g	g	NOUN
alkej-698	17	9	-	-	PUNCT
alkej-698	17	10	code	code	NOUN
alkej-698	17	11	,	,	PUNCT
alkej-698	17	12	cad	cad	PROPN
alkej-698	17	13	/	/	SYM
alkej-698	17	14	cam	cam	NOUN
alkej-698	17	15	.	.	PUNCT
alkej-698	18	1	1	1	X
alkej-698	18	2	.	.	X
alkej-698	18	3	introduction	introduction	NOUN
alkej-698	18	4	the	the	DET
alkej-698	18	5	novel	novel	ADJ
alkej-698	18	6	design	design	NOUN
alkej-698	18	7	of	of	ADP
alkej-698	18	8	the	the	DET
alkej-698	18	9	aacmm	aacmm	NOUN
alkej-698	18	10	is	be	AUX
alkej-698	18	11	discussed	discuss	VERB
alkej-698	18	12	in	in	ADP
alkej-698	18	13	the	the	DET
alkej-698	18	14	following	following	NOUN
alkej-698	18	15	,	,	PUNCT
alkej-698	18	16	including	include	VERB
alkej-698	18	17	the	the	DET
alkej-698	18	18	design	design	NOUN
alkej-698	18	19	of	of	ADP
alkej-698	18	20	the	the	DET
alkej-698	18	21	electric	electric	ADJ
alkej-698	18	22	/	/	SYM
alkej-698	18	23	electronic	electronic	ADJ
alkej-698	18	24	circuitry	circuitry	NOUN
alkej-698	18	25	and	and	CCONJ
alkej-698	18	26	the	the	DET
alkej-698	18	27	control	control	NOUN
alkej-698	18	28	model	model	NOUN
alkej-698	18	29	.	.	PUNCT
alkej-698	19	1	the	the	DET
alkej-698	19	2	design	design	NOUN
alkej-698	19	3	concept	concept	NOUN
alkej-698	19	4	was	be	AUX
alkej-698	19	5	based	base	VERB
alkej-698	19	6	on	on	ADP
alkej-698	19	7	the	the	DET
alkej-698	19	8	three	three	NUM
alkej-698	19	9	-	-	PUNCT
alkej-698	19	10	axis	axis	NOUN
alkej-698	19	11	robotic	robotic	ADJ
alkej-698	19	12	arm	arm	NOUN
alkej-698	19	13	that	that	PRON
alkej-698	19	14	will	will	AUX
alkej-698	19	15	serve	serve	VERB
alkej-698	19	16	as	as	ADP
alkej-698	19	17	the	the	DET
alkej-698	19	18	primary	primary	ADJ
alkej-698	19	19	tool	tool	NOUN
alkej-698	19	20	to	to	PART
alkej-698	19	21	obtain	obtain	VERB
alkej-698	19	22	the	the	DET
alkej-698	19	23	required	require	VERB
alkej-698	19	24	coordinates	coordinate	NOUN
alkej-698	19	25	measurements	measurement	NOUN
alkej-698	19	26	.	.	PUNCT
alkej-698	20	1	this	this	PRON
alkej-698	20	2	was	be	AUX
alkej-698	20	3	to	to	PART
alkej-698	20	4	utilize	utilize	VERB
alkej-698	20	5	the	the	DET
alkej-698	20	6	kinematic	kinematic	ADJ
alkej-698	20	7	model	model	NOUN
alkej-698	20	8	to	to	PART
alkej-698	20	9	obtain	obtain	VERB
alkej-698	20	10	the	the	DET
alkej-698	20	11	measurements	measurement	NOUN
alkej-698	20	12	with	with	ADP
alkej-698	20	13	ease	ease	NOUN
alkej-698	20	14	.	.	PUNCT
alkej-698	21	1	the	the	DET
alkej-698	21	2	complete	complete	ADJ
alkej-698	21	3	forward	forward	ADV
alkej-698	21	4	and	and	CCONJ
alkej-698	21	5	reverse	reverse	VERB
alkej-698	21	6	kinematic	kinematic	ADJ
alkej-698	21	7	modeling	modeling	NOUN
alkej-698	21	8	resulted	result	VERB
alkej-698	21	9	in	in	ADP
alkej-698	21	10	the	the	DET
alkej-698	21	11	following	follow	VERB
alkej-698	21	12	governing	govern	VERB
alkej-698	21	13	equations	equation	NOUN
alkej-698	21	14	,	,	PUNCT
alkej-698	21	15	where	where	SCONJ
alkej-698	21	16	both	both	DET
alkej-698	21	17	q1	q1	PROPN
alkej-698	21	18	and	and	CCONJ
alkej-698	21	19	q2	q2	PROPN
alkej-698	21	20	represent	represent	VERB
alkej-698	21	21	the	the	DET
alkej-698	21	22	aacmm	aacmm	NOUN
alkej-698	21	23	joint	joint	NOUN
alkej-698	21	24	angles	angle	NOUN
alkej-698	21	25	needed	need	VERB
alkej-698	21	26	to	to	PART
alkej-698	21	27	reach	reach	VERB
alkej-698	21	28	any	any	DET
alkej-698	21	29	point	point	NOUN
alkej-698	21	30	within	within	ADP
alkej-698	21	31	the	the	DET
alkej-698	21	32	machine	machine	NOUN
alkej-698	21	33	workspace	workspace	NOUN
alkej-698	21	34	,	,	PUNCT
alkej-698	21	35	�	�	PROPN
alkej-698	21	36	�	�	PROPN
alkej-698	21	37	�	�	PROPN
alkej-698	21	38	�	�	PROPN
alkej-698	21	39	tan	tan	PROPN
alkej-698	21	40	2	2	NUM
alkej-698	21	41	�	�	PROPN
alkej-698	21	42	�	�	PROPN
alkej-698	21	43	1	1	NUM
alkej-698	21	44	�	�	PROPN
alkej-698	21	45	�	�	PROPN
alkej-698	21	46	�	�	PROPN
alkej-698	21	47	�	�	PROPN
alkej-698	21	48	�	�	PROPN
alkej-698	21	49	�	�	PROPN
alkej-698	21	50	�	�	PROPN
alkej-698	21	51	�	�	PROPN
alkej-698	21	52	�	�	PROPN
alkej-698	21	53	�	�	PROPN
alkej-698	21	54	�	�	PROPN
alkej-698	21	55	�	�	PROPN
alkej-698	21	56	�	�	PROPN
alkej-698	21	57	�	�	PROPN
alkej-698	21	58	�	�	PROPN
alkej-698	21	59	�	�	PROPN
alkej-698	21	60	�	�	PROPN
alkej-698	21	61	�	�	PROPN
alkej-698	21	62	�	�	PROPN
alkej-698	21	63	�	�	PROPN
alkej-698	21	64	�	�	PROPN
alkej-698	21	65	�	�	PROPN
alkej-698	21	66	�	�	PROPN
alkej-698	21	67	�	�	PROPN
alkej-698	21	68	‚	‚	PROPN
alkej-698	21	69	�	�	PROPN
alkej-698	21	70	�	�	PROPN
alkej-698	21	71	�	�	PROPN
alkej-698	21	72	�	�	PROPN
alkej-698	21	73	�	�	PROPN
alkej-698	21	74	�	�	PROPN
alkej-698	21	75	�	�	PROPN
alkej-698	21	76	�	�	PROPN
alkej-698	21	77	�	�	PROPN
alkej-698	21	78	�	�	PROPN
alkej-698	21	79	�	�	PROPN
alkej-698	21	80	�	�	PROPN
alkej-698	21	81	�	�	PROPN
alkej-698	21	82	�	�	PROPN
alkej-698	21	83	�	�	PROPN
alkej-698	21	84	�	�	PROPN
alkej-698	21	85	�	�	PROPN
alkej-698	21	86	�	�	PROPN
alkej-698	21	87	�	�	PROPN
alkej-698	21	88	�	�	PROPN
alkej-698	21	89	�	�	PROPN
alkej-698	21	90	…	…	PUNCT
alkej-698	21	91	(	(	PUNCT
alkej-698	21	92	1	1	NUM
alkej-698	21	93	)	)	PUNCT
alkej-698	21	94	�	�	PROPN
alkej-698	21	95	�	�	PROPN
alkej-698	21	96	�	�	PROPN
alkej-698	21	97	�	�	PROPN
alkej-698	21	98	tan	tan	PROPN
alkej-698	21	99	2	2	NUM
alkej-698	21	100	⎝	⎝	NUM
alkej-698	21	101	⎛	⎛	NOUN
alkej-698	21	102	�	�	NOUN
alkej-698	21	103	�	�	PROPN
alkej-698	21	104	1	1	NUM
alkej-698	21	105	�	�	PROPN
alkej-698	21	106	�	�	PROPN
alkej-698	21	107	�	�	PROPN
alkej-698	21	108	�	�	PROPN
alkej-698	21	109	�	�	PROPN
alkej-698	21	110	�	�	PROPN
alkej-698	21	111	�	�	PROPN
alkej-698	21	112	�	�	PROPN
alkej-698	21	113	�	�	PROPN
alkej-698	21	114	�	�	PROPN
alkej-698	21	115	�	�	PROPN
alkej-698	21	116	!	!	PUNCT
alkej-698	22	1	"	"	PUNCT
alkej-698	22	2	�	�	PROPN
alkej-698	22	3	#	#	SYM
alkej-698	22	4	�	�	PROPN
alkej-698	22	5	�	�	PROPN
alkej-698	22	6	�	�	PROPN
alkej-698	22	7	�	�	PROPN
alkej-698	22	8	�	�	PROPN
alkej-698	22	9	!	!	PUNCT
alkej-698	22	10	$	$	SYM
alkej-698	22	11	%	%	NOUN
alkej-698	22	12	"	"	PUNCT
alkej-698	22	13	�	�	PROPN
alkej-698	22	14	�	�	PROPN
alkej-698	22	15	�	�	PROPN
alkej-698	22	16	�	�	PROPN
alkej-698	22	17	�	�	PROPN
alkej-698	22	18	�	�	PROPN
alkej-698	22	19	�	�	PROPN
alkej-698	22	20	�	�	PROPN
alkej-698	22	21	�	�	PROPN
alkej-698	22	22	�	�	PROPN
alkej-698	22	23	‚	‚	PROPN
alkej-698	22	24	�	�	PROPN
alkej-698	22	25	�	�	PROPN
alkej-698	22	26	�	�	PROPN
alkej-698	22	27	�	�	PROPN
alkej-698	22	28	�	�	PROPN
alkej-698	22	29	�	�	PROPN
alkej-698	22	30	�	�	PROPN
alkej-698	22	31	�	�	PROPN
alkej-698	22	32	�	�	PROPN
alkej-698	22	33	!	!	PUNCT
alkej-698	23	1	"	"	PUNCT
alkej-698	23	2	�	�	PROPN
alkej-698	23	3	#	#	SYM
alkej-698	23	4	�	�	PROPN
alkej-698	23	5	�	�	PROPN
alkej-698	23	6	�	�	PROPN
alkej-698	23	7	�	�	PROPN
alkej-698	23	8	�	�	PROPN
alkej-698	23	9	!	!	PUNCT
alkej-698	23	10	$	$	SYM
alkej-698	23	11	%	%	NOUN
alkej-698	23	12	"	"	PUNCT
alkej-698	23	13	�	�	PROPN
alkej-698	23	14	�	�	PROPN
alkej-698	23	15	�	�	PROPN
alkej-698	23	16	�	�	PROPN
alkej-698	23	17	�	�	PROPN
alkej-698	23	18	�	�	PROPN
alkej-698	23	19	�	�	PROPN
alkej-698	23	20	�	�	NOUN
alkej-698	23	21	⎠	⎠	NOUN
alkej-698	23	22	⎞	⎞	NOUN
alkej-698	23	23	…	…	PUNCT
alkej-698	23	24	(	(	PUNCT
alkej-698	23	25	2	2	NUM
alkej-698	23	26	)	)	PUNCT
alkej-698	23	27	where	where	SCONJ
alkej-698	23	28	,	,	PUNCT
alkej-698	23	29	�	�	PROPN
alkej-698	23	30	�	�	PROPN
alkej-698	23	31	and	and	CCONJ
alkej-698	23	32	�	�	PROPN
alkej-698	23	33	�	�	PROPN
alkej-698	23	34	are	be	AUX
alkej-698	23	35	the	the	DET
alkej-698	23	36	arm	arm	NOUN
alkej-698	23	37	joint	joint	ADJ
alkej-698	23	38	angles	angle	NOUN
alkej-698	23	39	calculated	calculate	VERB
alkej-698	23	40	by	by	ADP
alkej-698	23	41	the	the	DET
alkej-698	23	42	rotary	rotary	NOUN
alkej-698	23	43	encoders	encoder	NOUN
alkej-698	23	44	and	and	CCONJ
alkej-698	23	45	resolved	resolve	VERB
alkej-698	23	46	using	use	VERB
alkej-698	23	47	the	the	DET
alkej-698	23	48	algorithm	algorithm	NOUN
alkej-698	23	49	.	.	PUNCT
alkej-698	24	1	(	(	PUNCT
alkej-698	24	2	)	)	PUNCT
alkej-698	24	3	,	,	PUNCT
alkej-698	24	4	(	(	PUNCT
alkej-698	24	5	*	*	PUNCT
alkej-698	24	6	,	,	PUNCT
alkej-698	24	7	and	and	CCONJ
alkej-698	24	8	(	(	PUNCT
alkej-698	24	9	+	+	CCONJ
alkej-698	24	10	are	be	AUX
alkej-698	24	11	the	the	DET
alkej-698	24	12	corresponding	correspond	VERB
alkej-698	24	13	positions	position	NOUN
alkej-698	24	14	of	of	ADP
alkej-698	24	15	the	the	DET
alkej-698	24	16	workpiece	workpiece	NOUN
alkej-698	24	17	dhuha	dhuha	NOUN
alkej-698	24	18	mohammed	mohammed	PROPN
alkej-698	24	19	mahmood	mahmood	PROPN
alkej-698	24	20	al	al	PROPN
alkej-698	24	21	-	-	PUNCT
alkej-698	24	22	khwarizmi	khwarizmi	PROPN
alkej-698	24	23	engineering	engineering	NOUN
alkej-698	24	24	journal	journal	PROPN
alkej-698	24	25	,	,	PUNCT
alkej-698	24	26	vol	vol	NOUN
alkej-698	24	27	.	.	PROPN
alkej-698	24	28	15	15	NUM
alkej-698	24	29	,	,	PUNCT
alkej-698	24	30	no	no	INTJ
alkej-698	24	31	.	.	NOUN
alkej-698	24	32	4	4	NUM
alkej-698	24	33	,	,	PUNCT
alkej-698	24	34	p.p	p.p	PROPN
alkej-698	24	35	.	.	PROPN
alkej-698	24	36	4254	4254	NUM
alkej-698	24	37	(	(	PUNCT
alkej-698	24	38	2020	2020	NUM
alkej-698	24	39	)	)	PUNCT
alkej-698	24	40	43	43	NUM
alkej-698	24	41	geometrical	geometrical	ADJ
alkej-698	24	42	points	point	NOUN
alkej-698	24	43	,	,	PUNCT
alkej-698	24	44	,	,	PUNCT
alkej-698	24	45	�	�	PROPN
alkej-698	24	46	&	&	CCONJ
alkej-698	24	47	,	,	PUNCT
alkej-698	24	48	�	�	PROPN
alkej-698	24	49	are	be	AUX
alkej-698	24	50	the	the	DET
alkej-698	24	51	arm	arm	NOUN
alkej-698	24	52	links	link	NOUN
alkej-698	24	53	length	length	ADV
alkej-698	24	54	.	.	PUNCT
alkej-698	25	1	this	this	DET
alkej-698	25	2	model	model	NOUN
alkej-698	25	3	is	be	AUX
alkej-698	25	4	useful	useful	ADJ
alkej-698	25	5	and	and	CCONJ
alkej-698	25	6	can	can	AUX
alkej-698	25	7	be	be	AUX
alkej-698	25	8	used	use	VERB
alkej-698	25	9	with	with	ADP
alkej-698	25	10	no	no	DET
alkej-698	25	11	further	further	ADJ
alkej-698	25	12	complications	complication	NOUN
alkej-698	25	13	.	.	PUNCT
alkej-698	26	1	the	the	DET
alkej-698	26	2	design	design	NOUN
alkej-698	26	3	process	process	NOUN
alkej-698	26	4	had	have	VERB
alkej-698	26	5	several	several	ADJ
alkej-698	26	6	constraints	constraint	NOUN
alkej-698	26	7	that	that	PRON
alkej-698	26	8	needed	need	VERB
alkej-698	26	9	deep	deep	ADJ
alkej-698	26	10	consideration	consideration	NOUN
alkej-698	26	11	as	as	SCONJ
alkej-698	26	12	can	can	AUX
alkej-698	26	13	be	be	AUX
alkej-698	26	14	seen	see	VERB
alkej-698	26	15	in	in	ADP
alkej-698	26	16	figure	figure	NOUN
alkej-698	26	17	1	1	NUM
alkej-698	26	18	,	,	PUNCT
alkej-698	26	19	namely	namely	ADV
alkej-698	26	20	:	:	PUNCT
alkej-698	26	21	cost	cost	NOUN
alkej-698	26	22	,	,	PUNCT
alkej-698	26	23	time	time	NOUN
alkej-698	26	24	,	,	PUNCT
alkej-698	26	25	size	size	NOUN
alkej-698	26	26	,	,	PUNCT
alkej-698	26	27	manufacturing	manufacturing	NOUN
alkej-698	26	28	method	method	NOUN
alkej-698	26	29	,	,	PUNCT
alkej-698	26	30	and	and	CCONJ
alkej-698	26	31	programming	programming	NOUN
alkej-698	26	32	environment	environment	NOUN
alkej-698	26	33	[	[	X
alkej-698	26	34	1	1	NUM
alkej-698	26	35	]	]	PUNCT
alkej-698	26	36	.	.	PUNCT
alkej-698	27	1	fig.1	fig.1	PROPN
alkej-698	27	2	.	.	PUNCT
alkej-698	27	3	cmm	cmm	PROPN
alkej-698	27	4	design	design	NOUN
alkej-698	27	5	constraints	constraint	NOUN
alkej-698	27	6	.	.	PUNCT
alkej-698	28	1	the	the	DET
alkej-698	28	2	cost	cost	NOUN
alkej-698	28	3	was	be	AUX
alkej-698	28	4	the	the	DET
alkej-698	28	5	first	first	ADJ
alkej-698	28	6	limiting	limit	VERB
alkej-698	28	7	factor	factor	NOUN
alkej-698	28	8	,	,	PUNCT
alkej-698	28	9	where	where	SCONJ
alkej-698	28	10	everything	everything	PRON
alkej-698	28	11	had	have	VERB
alkej-698	28	12	to	to	PART
alkej-698	28	13	be	be	AUX
alkej-698	28	14	designed	design	VERB
alkej-698	28	15	around	around	ADP
alkej-698	28	16	that	that	DET
alkej-698	28	17	constraint	constraint	NOUN
alkej-698	28	18	.	.	PUNCT
alkej-698	29	1	also	also	ADV
alkej-698	29	2	it	it	PRON
alkej-698	29	3	is	be	AUX
alkej-698	29	4	a	a	DET
alkej-698	29	5	known	known	ADJ
alkej-698	29	6	fact	fact	NOUN
alkej-698	29	7	that	that	SCONJ
alkej-698	29	8	this	this	DET
alkej-698	29	9	work	work	NOUN
alkej-698	29	10	had	have	AUX
alkej-698	29	11	a	a	DET
alkej-698	29	12	minimal	minimal	ADJ
alkej-698	29	13	budget	budget	NOUN
alkej-698	29	14	.	.	PUNCT
alkej-698	30	1	the	the	DET
alkej-698	30	2	second	second	ADJ
alkej-698	30	3	factor	factor	NOUN
alkej-698	30	4	is	be	AUX
alkej-698	30	5	time	time	NOUN
alkej-698	30	6	,	,	PUNCT
alkej-698	30	7	where	where	SCONJ
alkej-698	30	8	the	the	DET
alkej-698	30	9	work	work	NOUN
alkej-698	30	10	and	and	CCONJ
alkej-698	30	11	design	design	NOUN
alkej-698	30	12	activities	activity	NOUN
alkej-698	30	13	associated	associate	VERB
alkej-698	30	14	with	with	ADP
alkej-698	30	15	it	it	PRON
alkej-698	30	16	had	have	VERB
alkej-698	30	17	to	to	PART
alkej-698	30	18	be	be	AUX
alkej-698	30	19	accomplished	accomplish	VERB
alkej-698	30	20	within	within	ADP
alkej-698	30	21	a	a	DET
alkej-698	30	22	very	very	ADV
alkej-698	30	23	tight	tight	ADJ
alkej-698	30	24	time	time	NOUN
alkej-698	30	25	window	window	NOUN
alkej-698	30	26	[	[	X
alkej-698	30	27	2	2	NUM
alkej-698	30	28	]	]	PUNCT
alkej-698	30	29	.	.	PUNCT
alkej-698	31	1	the	the	DET
alkej-698	31	2	choice	choice	NOUN
alkej-698	31	3	of	of	ADP
alkej-698	31	4	manufacturing	manufacturing	NOUN
alkej-698	31	5	technique	technique	NOUN
alkej-698	31	6	was	be	AUX
alkej-698	31	7	a	a	DET
alkej-698	31	8	challenge	challenge	NOUN
alkej-698	31	9	,	,	PUNCT
alkej-698	31	10	since	since	SCONJ
alkej-698	31	11	all	all	DET
alkej-698	31	12	the	the	DET
alkej-698	31	13	options	option	NOUN
alkej-698	31	14	available	available	ADJ
alkej-698	31	15	were	be	AUX
alkej-698	31	16	all	all	ADV
alkej-698	31	17	dependent	dependent	ADJ
alkej-698	31	18	on	on	ADP
alkej-698	31	19	the	the	DET
alkej-698	31	20	first	first	ADJ
alkej-698	31	21	two	two	NUM
alkej-698	31	22	constraints	constraint	NOUN
alkej-698	31	23	,	,	PUNCT
alkej-698	31	24	cost	cost	NOUN
alkej-698	31	25	and	and	CCONJ
alkej-698	31	26	time	time	NOUN
alkej-698	31	27	.	.	PUNCT
alkej-698	32	1	lastly	lastly	ADV
alkej-698	32	2	,	,	PUNCT
alkej-698	32	3	the	the	DET
alkej-698	32	4	choice	choice	NOUN
alkej-698	32	5	of	of	ADP
alkej-698	32	6	the	the	DET
alkej-698	32	7	programming	programming	NOUN
alkej-698	32	8	environment	environment	NOUN
alkej-698	32	9	was	be	AUX
alkej-698	32	10	a	a	DET
alkej-698	32	11	significant	significant	ADJ
alkej-698	32	12	consideration	consideration	NOUN
alkej-698	32	13	.	.	PUNCT
alkej-698	33	1	this	this	DET
alkej-698	33	2	factor	factor	NOUN
alkej-698	33	3	will	will	AUX
alkej-698	33	4	untimely	untimely	ADV
alkej-698	33	5	affect	affect	VERB
alkej-698	33	6	the	the	DET
alkej-698	33	7	choice	choice	NOUN
alkej-698	33	8	of	of	ADP
alkej-698	33	9	some	some	PRON
alkej-698	33	10	of	of	ADP
alkej-698	33	11	the	the	DET
alkej-698	33	12	most	most	ADV
alkej-698	33	13	critical	critical	ADJ
alkej-698	33	14	hardware	hardware	NOUN
alkej-698	33	15	components	component	NOUN
alkej-698	33	16	of	of	ADP
alkej-698	33	17	the	the	DET
alkej-698	33	18	cmm	cmm	NOUN
alkej-698	33	19	,	,	PUNCT
alkej-698	33	20	which	which	PRON
alkej-698	33	21	is	be	AUX
alkej-698	33	22	the	the	DET
alkej-698	33	23	controller	controller	NOUN
alkej-698	33	24	.	.	PUNCT
alkej-698	34	1	this	this	DET
alkej-698	34	2	choice	choice	NOUN
alkej-698	34	3	is	be	AUX
alkej-698	34	4	then	then	ADV
alkej-698	34	5	connected	connect	VERB
alkej-698	34	6	to	to	ADP
alkej-698	34	7	and	and	CCONJ
alkej-698	34	8	affected	affect	VERB
alkej-698	34	9	by	by	ADP
alkej-698	34	10	the	the	DET
alkej-698	34	11	other	other	ADJ
alkej-698	34	12	design	design	NOUN
alkej-698	34	13	constraints	constraint	NOUN
alkej-698	34	14	,	,	PUNCT
alkej-698	34	15	all	all	PRON
alkej-698	34	16	of	of	ADP
alkej-698	34	17	these	these	DET
alkej-698	34	18	constraints	constraint	NOUN
alkej-698	34	19	,	,	PUNCT
alkej-698	34	20	as	as	SCONJ
alkej-698	34	21	illustrated	illustrate	VERB
alkej-698	34	22	in	in	ADP
alkej-698	34	23	figure	figure	NOUN
alkej-698	34	24	1	1	NUM
alkej-698	34	25	.	.	PUNCT
alkej-698	35	1	as	as	ADP
alkej-698	35	2	with	with	ADP
alkej-698	35	3	all	all	DET
alkej-698	35	4	articulated	articulated	ADJ
alkej-698	35	5	arm	arm	NOUN
alkej-698	35	6	cmms	cmms	NOUN
alkej-698	35	7	(	(	PUNCT
alkej-698	35	8	aa	aa	NOUN
alkej-698	35	9	-	-	PUNCT
alkej-698	35	10	cmms	cmms	NOUN
alkej-698	35	11	)	)	PUNCT
alkej-698	36	1	[	[	X
alkej-698	36	2	3	3	NUM
alkej-698	36	3	]	]	PUNCT
alkej-698	36	4	.	.	PUNCT
alkej-698	37	1	the	the	DET
alkej-698	37	2	position	position	NOUN
alkej-698	37	3	of	of	ADP
alkej-698	37	4	the	the	DET
alkej-698	37	5	probe	probe	NOUN
alkej-698	37	6	may	may	AUX
alkej-698	37	7	be	be	AUX
alkej-698	37	8	controlled	control	VERB
alkej-698	37	9	manually	manually	ADV
alkej-698	37	10	by	by	ADP
alkej-698	37	11	the	the	DET
alkej-698	37	12	operator	operator	NOUN
alkej-698	37	13	or	or	CCONJ
alkej-698	37	14	maybe	maybe	ADV
alkej-698	37	15	controlled	control	VERB
alkej-698	37	16	by	by	ADP
alkej-698	37	17	the	the	DET
alkej-698	37	18	computer	computer	NOUN
alkej-698	37	19	.	.	PUNCT
alkej-698	38	1	the	the	DET
alkej-698	38	2	aa	aa	PROPN
alkej-698	38	3	-	-	PUNCT
alkej-698	38	4	cmm	cmm	NOUN
alkej-698	38	5	agile	agile	ADJ
alkej-698	38	6	development	development	NOUN
alkej-698	38	7	cycle	cycle	NOUN
alkej-698	38	8	is	be	AUX
alkej-698	38	9	illustrated	illustrate	VERB
alkej-698	38	10	in	in	ADP
alkej-698	38	11	figure	figure	NOUN
alkej-698	38	12	(	(	PUNCT
alkej-698	38	13	2	2	NUM
alkej-698	38	14	)	)	PUNCT
alkej-698	38	15	.	.	PUNCT
alkej-698	39	1	fig	fig	NOUN
alkej-698	39	2	.	.	PUNCT
alkej-698	40	1	2	2	X
alkej-698	40	2	.	.	X
alkej-698	40	3	the	the	DET
alkej-698	40	4	aa	aa	PROPN
alkej-698	40	5	-	-	PUNCT
alkej-698	40	6	cmm	cmm	NOUN
alkej-698	40	7	agile	agile	ADJ
alkej-698	40	8	development	development	NOUN
alkej-698	40	9	cycle	cycle	NOUN
alkej-698	40	10	.	.	PUNCT
alkej-698	41	1	to	to	PART
alkej-698	41	2	create	create	VERB
alkej-698	41	3	cad	cad	NOUN
alkej-698	41	4	sketches	sketch	NOUN
alkej-698	41	5	,	,	PUNCT
alkej-698	41	6	solidworks	solidworks	PROPN
alkej-698	41	7	was	be	AUX
alkej-698	41	8	used	use	VERB
alkej-698	41	9	.	.	PUNCT
alkej-698	42	1	to	to	ADP
alkej-698	42	2	creating	create	VERB
alkej-698	42	3	accurate	accurate	ADJ
alkej-698	42	4	2d	2d	NOUN
alkej-698	42	5	drawings	drawing	NOUN
alkej-698	42	6	.	.	PUNCT
alkej-698	43	1	where	where	SCONJ
alkej-698	43	2	can	can	AUX
alkej-698	43	3	be	be	AUX
alkej-698	43	4	automatically	automatically	ADV
alkej-698	43	5	updated	update	VERB
alkej-698	43	6	on	on	ADP
alkej-698	43	7	-	-	PUNCT
alkej-698	43	8	the	the	DET
alkej-698	43	9	-	-	PUNCT
alkej-698	43	10	fly	fly	NOUN
alkej-698	43	11	,	,	PUNCT
alkej-698	43	12	especially	especially	ADV
alkej-698	43	13	with	with	ADP
alkej-698	43	14	agile	agile	ADJ
alkej-698	43	15	development	development	NOUN
alkej-698	43	16	,	,	PUNCT
alkej-698	43	17	when	when	SCONJ
alkej-698	43	18	changes	change	NOUN
alkej-698	43	19	to	to	ADP
alkej-698	43	20	3d	3d	NOUN
alkej-698	43	21	models	model	NOUN
alkej-698	43	22	are	be	AUX
alkej-698	43	23	expected	expect	VERB
alkej-698	43	24	.	.	PUNCT
alkej-698	44	1	moreover	moreover	ADV
alkej-698	44	2	,	,	PUNCT
alkej-698	44	3	solidworks	solidworks	PROPN
alkej-698	44	4	offers	offer	VERB
alkej-698	44	5	comparison	comparison	NOUN
alkej-698	44	6	capabilities	capability	NOUN
alkej-698	44	7	of	of	ADP
alkej-698	44	8	design	design	NOUN
alkej-698	44	9	against	against	ADP
alkej-698	44	10	real	real	ADJ
alkej-698	44	11	-	-	PUNCT
alkej-698	44	12	world	world	NOUN
alkej-698	44	13	conditions	condition	NOUN
alkej-698	44	14	to	to	PART
alkej-698	44	15	ensure	ensure	VERB
alkej-698	44	16	the	the	DET
alkej-698	44	17	achievement	achievement	NOUN
alkej-698	44	18	of	of	ADP
alkej-698	44	19	the	the	DET
alkej-698	44	20	best	good	ADJ
alkej-698	44	21	design	design	NOUN
alkej-698	44	22	before	before	ADP
alkej-698	44	23	building	build	VERB
alkej-698	44	24	it	it	PRON
alkej-698	45	1	[	[	X
alkej-698	45	2	4	4	NUM
alkej-698	45	3	]	]	PUNCT
alkej-698	45	4	.	.	PUNCT
alkej-698	46	1	dhuha	dhuha	PROPN
alkej-698	46	2	mohammed	mohammed	PROPN
alkej-698	46	3	mahmood	mahmood	PROPN
alkej-698	46	4	al	al	PROPN
alkej-698	46	5	-	-	PUNCT
alkej-698	46	6	khwarizmi	khwarizmi	PROPN
alkej-698	46	7	engineering	engineering	NOUN
alkej-698	46	8	journal	journal	PROPN
alkej-698	46	9	,	,	PUNCT
alkej-698	46	10	vol	vol	NOUN
alkej-698	46	11	.	.	PROPN
alkej-698	46	12	15	15	NUM
alkej-698	46	13	,	,	PUNCT
alkej-698	46	14	no	no	INTJ
alkej-698	46	15	.	.	NOUN
alkej-698	46	16	4	4	NUM
alkej-698	46	17	,	,	PUNCT
alkej-698	46	18	p.p	p.p	PROPN
alkej-698	46	19	.	.	PROPN
alkej-698	46	20	4254	4254	NUM
alkej-698	46	21	(	(	PUNCT
alkej-698	46	22	2020	2020	NUM
alkej-698	46	23	)	)	PUNCT
alkej-698	46	24	44	44	NUM
alkej-698	46	25	fig	fig	NOUN
alkej-698	46	26	.	.	PUNCT
alkej-698	47	1	3	3	X
alkej-698	47	2	.	.	X
alkej-698	47	3	coordinate	coordinate	NOUN
alkej-698	47	4	measuring	measure	VERB
alkej-698	47	5	machine	machine	NOUN
alkej-698	47	6	device	device	NOUN
alkej-698	47	7	design	design	NOUN
alkej-698	47	8	and	and	CCONJ
alkej-698	47	9	manufacturing	manufacturing	NOUN
alkej-698	47	10	process	process	NOUN
alkej-698	47	11	flow	flow	NOUN
alkej-698	47	12	.	.	PUNCT
alkej-698	48	1	2	2	X
alkej-698	48	2	.	.	X
alkej-698	48	3	aacmm	aacmm	NOUN
alkej-698	48	4	part	part	NOUN
alkej-698	48	5	design	design	VERB
alkej-698	48	6	a	a	DET
alkej-698	48	7	coordinate	coordinate	NOUN
alkej-698	48	8	measuring	measure	VERB
alkej-698	48	9	machine	machine	NOUN
alkej-698	48	10	(	(	PUNCT
alkej-698	48	11	cmm	cmm	NOUN
alkej-698	48	12	)	)	PUNCT
alkej-698	48	13	device	device	NOUN
alkej-698	48	14	is	be	AUX
alkej-698	48	15	composed	compose	VERB
alkej-698	48	16	of	of	ADP
alkej-698	48	17	the	the	DET
alkej-698	48	18	structure	structure	NOUN
alkej-698	48	19	of	of	ADP
alkej-698	48	20	transparent	transparent	ADJ
alkej-698	48	21	and	and	CCONJ
alkej-698	48	22	transparent	transparent	ADJ
alkej-698	48	23	acrylic	acrylic	NOUN
alkej-698	48	24	material	material	NOUN
alkej-698	48	25	,	,	PUNCT
alkej-698	48	26	consisting	consist	VERB
alkej-698	48	27	of	of	ADP
alkej-698	48	28	a	a	DET
alkej-698	48	29	base	base	NOUN
alkej-698	48	30	which	which	PRON
alkej-698	48	31	is	be	AUX
alkej-698	48	32	the	the	DET
alkej-698	48	33	leading	lead	VERB
alkej-698	48	34	platform	platform	NOUN
alkej-698	48	35	of	of	ADP
alkej-698	48	36	the	the	DET
alkej-698	48	37	device	device	NOUN
alkej-698	48	38	where	where	SCONJ
alkej-698	48	39	the	the	DET
alkej-698	48	40	part	part	NOUN
alkej-698	48	41	to	to	PART
alkej-698	48	42	be	be	AUX
alkej-698	48	43	examined	examine	VERB
alkej-698	48	44	and	and	CCONJ
alkej-698	48	45	drive	drive	VERB
alkej-698	48	46	it	it	PRON
alkej-698	48	47	to	to	ADP
alkej-698	48	48	a	a	DET
alkej-698	48	49	three	three	NUM
alkej-698	48	50	-	-	PUNCT
alkej-698	48	51	dimensional	dimensional	ADJ
alkej-698	48	52	model	model	NOUN
alkej-698	48	53	,	,	PUNCT
alkej-698	48	54	two	two	NUM
alkej-698	48	55	arms	arm	NOUN
alkej-698	48	56	and	and	CCONJ
alkej-698	48	57	a	a	DET
alkej-698	48	58	rotary	rotary	ADJ
alkej-698	48	59	joint	joint	NOUN
alkej-698	48	60	.	.	PUNCT
alkej-698	49	1	each	each	DET
alkej-698	49	2	unit	unit	NOUN
alkej-698	49	3	is	be	AUX
alkej-698	49	4	connected	connect	VERB
alkej-698	49	5	mechanically	mechanically	ADV
alkej-698	49	6	and	and	CCONJ
alkej-698	49	7	electrically	electrically	ADV
alkej-698	49	8	with	with	ADP
alkej-698	49	9	other	other	ADJ
alkej-698	49	10	units	unit	NOUN
alkej-698	49	11	in	in	ADP
alkej-698	49	12	an	an	DET
alkej-698	49	13	electronic	electronic	ADJ
alkej-698	49	14	system	system	NOUN
alkej-698	49	15	to	to	PART
alkej-698	49	16	make	make	VERB
alkej-698	49	17	the	the	DET
alkej-698	49	18	desired	desire	VERB
alkej-698	49	19	device	device	NOUN
alkej-698	49	20	.	.	PUNCT
alkej-698	50	1	each	each	DET
alkej-698	50	2	unit	unit	NOUN
alkej-698	50	3	is	be	AUX
alkej-698	50	4	basically	basically	ADV
alkej-698	50	5	a	a	DET
alkej-698	50	6	control	control	NOUN
alkej-698	50	7	system	system	NOUN
alkej-698	50	8	to	to	PART
alkej-698	50	9	find	find	VERB
alkej-698	50	10	out	out	ADP
alkej-698	50	11	the	the	DET
alkej-698	50	12	juxtapositions	juxtaposition	NOUN
alkej-698	50	13	and	and	CCONJ
alkej-698	50	14	dimensions	dimension	NOUN
alkej-698	50	15	of	of	ADP
alkej-698	50	16	the	the	DET
alkej-698	50	17	material	material	NOUN
alkej-698	50	18	to	to	PART
alkej-698	50	19	be	be	AUX
alkej-698	50	20	examined	examine	VERB
alkej-698	50	21	,	,	PUNCT
alkej-698	50	22	and	and	CCONJ
alkej-698	50	23	the	the	DET
alkej-698	50	24	device	device	NOUN
alkej-698	50	25	is	be	AUX
alkej-698	50	26	operated	operate	VERB
alkej-698	50	27	using	use	VERB
alkej-698	50	28	the	the	DET
alkej-698	50	29	controlled	control	VERB
alkej-698	50	30	with	with	ADP
alkej-698	50	31	arduino	arduino	PROPN
alkej-698	50	32	uno	uno	PROPN
alkej-698	50	33	.	.	PROPN
alkej-698	50	34	2.1	2.1	NUM
alkej-698	50	35	mechanical	mechanical	ADJ
alkej-698	50	36	components	component	NOUN
alkej-698	50	37	as	as	SCONJ
alkej-698	50	38	mentioned	mention	VERB
alkej-698	50	39	before	before	ADV
alkej-698	50	40	,	,	PUNCT
alkej-698	50	41	the	the	DET
alkej-698	50	42	aacmm	aacmm	NOUN
alkej-698	50	43	consists	consist	VERB
alkej-698	50	44	of	of	ADP
alkej-698	50	45	two	two	NUM
alkej-698	50	46	categories	category	NOUN
alkej-698	50	47	,	,	PUNCT
alkej-698	50	48	leading	lead	VERB
alkej-698	50	49	and	and	CCONJ
alkej-698	50	50	supporting	support	VERB
alkej-698	50	51	.	.	PUNCT
alkej-698	51	1	2.1	2.1	NUM
alkej-698	51	2	a.	a.	NOUN
alkej-698	51	3	main	main	ADJ
alkej-698	51	4	components	component	NOUN
alkej-698	51	5	1	1	NUM
alkej-698	51	6	.	.	PUNCT
alkej-698	52	1	the	the	DET
alkej-698	52	2	base	base	NOUN
alkej-698	52	3	the	the	DET
alkej-698	52	4	base	base	NOUN
alkej-698	52	5	can	can	AUX
alkej-698	52	6	be	be	AUX
alkej-698	52	7	described	describe	VERB
alkej-698	52	8	as	as	ADP
alkej-698	52	9	a	a	DET
alkej-698	52	10	rectangular	rectangular	ADJ
alkej-698	52	11	table	table	NOUN
alkej-698	52	12	,	,	PUNCT
alkej-698	52	13	which	which	PRON
alkej-698	52	14	is	be	AUX
alkej-698	52	15	used	use	VERB
alkej-698	52	16	as	as	ADP
alkej-698	52	17	a	a	DET
alkej-698	52	18	base	base	NOUN
alkej-698	52	19	for	for	ADP
alkej-698	52	20	the	the	DET
alkej-698	52	21	part	part	NOUN
alkej-698	52	22	to	to	PART
alkej-698	52	23	be	be	AUX
alkej-698	52	24	measured	measure	VERB
alkej-698	52	25	and	and	CCONJ
alkej-698	52	26	will	will	AUX
alkej-698	52	27	be	be	AUX
alkej-698	52	28	holding	hold	VERB
alkej-698	52	29	the	the	DET
alkej-698	52	30	main	main	ADJ
alkej-698	52	31	arm	arm	NOUN
alkej-698	52	32	as	as	ADV
alkej-698	52	33	well	well	ADV
alkej-698	52	34	.	.	PUNCT
alkej-698	53	1	therefore	therefore	ADV
alkej-698	53	2	,	,	PUNCT
alkej-698	53	3	it	it	PRON
alkej-698	53	4	has	have	VERB
alkej-698	53	5	a	a	DET
alkej-698	53	6	circular	circular	ADJ
alkej-698	53	7	pattern	pattern	NOUN
alkej-698	53	8	to	to	PART
alkej-698	53	9	hold	hold	VERB
alkej-698	53	10	the	the	DET
alkej-698	53	11	base	base	NOUN
alkej-698	53	12	rings	ring	NOUN
alkej-698	53	13	,	,	PUNCT
alkej-698	53	14	and	and	CCONJ
alkej-698	53	15	ultimately	ultimately	ADV
alkej-698	53	16	the	the	DET
alkej-698	53	17	arm	arm	NOUN
alkej-698	53	18	-	-	PUNCT
alkej-698	53	19	probe	probe	NOUN
alkej-698	53	20	assembly	assembly	NOUN
alkej-698	53	21	.	.	PUNCT
alkej-698	54	1	each	each	DET
alkej-698	54	2	(	(	PUNCT
alkej-698	54	3	bolt	bolt	NOUN
alkej-698	54	4	hole	hole	NOUN
alkej-698	54	5	)	)	PUNCT
alkej-698	54	6	with	with	ADP
alkej-698	54	7	a	a	DET
alkej-698	54	8	radius	radius	NOUN
alkej-698	54	9	of	of	ADP
alkej-698	54	10	0.04	0.04	NUM
alkej-698	54	11	cm	cm	NOUN
alkej-698	54	12	,	,	PUNCT
alkej-698	54	13	with	with	ADP
alkej-698	54	14	six	six	NUM
alkej-698	54	15	holes	hole	NOUN
alkej-698	54	16	to	to	PART
alkej-698	54	17	ensure	ensure	VERB
alkej-698	54	18	that	that	SCONJ
alkej-698	54	19	the	the	DET
alkej-698	54	20	base	base	NOUN
alkej-698	54	21	will	will	AUX
alkej-698	54	22	be	be	AUX
alkej-698	54	23	able	able	ADJ
alkej-698	54	24	to	to	PART
alkej-698	54	25	hold	hold	VERB
alkej-698	54	26	the	the	DET
alkej-698	54	27	arm	arm	NOUN
alkej-698	54	28	-	-	PUNCT
alkej-698	54	29	probe	probe	NOUN
alkej-698	54	30	assembly	assembly	NOUN
alkej-698	54	31	,	,	PUNCT
alkej-698	54	32	along	along	ADP
alkej-698	54	33	with	with	ADP
alkej-698	54	34	the	the	DET
alkej-698	54	35	supporting	support	VERB
alkej-698	54	36	components	component	NOUN
alkej-698	54	37	and	and	CCONJ
alkej-698	54	38	the	the	DET
alkej-698	54	39	encoders	encoder	NOUN
alkej-698	54	40	.	.	PUNCT
alkej-698	55	1	the	the	DET
alkej-698	55	2	base	base	NOUN
alkej-698	55	3	design	design	NOUN
alkej-698	55	4	is	be	AUX
alkej-698	55	5	shown	show	VERB
alkej-698	55	6	in	in	ADP
alkej-698	55	7	figure	figure	NOUN
alkej-698	55	8	(	(	PUNCT
alkej-698	55	9	4	4	NUM
alkej-698	55	10	)	)	PUNCT
alkej-698	55	11	.	.	PUNCT
alkej-698	56	1	the	the	DET
alkej-698	56	2	base	base	NOUN
alkej-698	56	3	will	will	AUX
alkej-698	56	4	be	be	AUX
alkej-698	56	5	stationed	station	VERB
alkej-698	56	6	on	on	ADP
alkej-698	56	7	four	four	NUM
alkej-698	56	8	“	"	PUNCT
alkej-698	56	9	stand	stand	NOUN
alkej-698	56	10	”	"	PUNCT
alkej-698	56	11	to	to	PART
alkej-698	56	12	provide	provide	VERB
alkej-698	56	13	some	some	DET
alkej-698	56	14	elevation	elevation	NOUN
alkej-698	56	15	from	from	ADP
alkej-698	56	16	the	the	DET
alkej-698	56	17	ground	ground	NOUN
alkej-698	56	18	and	and	CCONJ
alkej-698	56	19	to	to	PART
alkej-698	56	20	make	make	VERB
alkej-698	56	21	sure	sure	ADJ
alkej-698	56	22	that	that	SCONJ
alkej-698	56	23	the	the	DET
alkej-698	56	24	work	work	NOUN
alkej-698	56	25	surface	surface	NOUN
alkej-698	56	26	will	will	AUX
alkej-698	56	27	be	be	AUX
alkej-698	56	28	isolated	isolate	VERB
alkej-698	56	29	from	from	ADP
alkej-698	56	30	its	its	PRON
alkej-698	56	31	surroundings	surrounding	NOUN
alkej-698	56	32	.	.	PUNCT
alkej-698	57	1	the	the	DET
alkej-698	57	2	base	base	NOUN
alkej-698	57	3	dimensions	dimension	NOUN
alkej-698	57	4	are	be	AUX
alkej-698	57	5	designed	design	VERB
alkej-698	57	6	21	21	NUM
alkej-698	57	7	cm	cm	NOUN
alkej-698	57	8	length	length	NOUN
alkej-698	57	9	and	and	CCONJ
alkej-698	57	10	18	18	NUM
alkej-698	57	11	cm	cm	NOUN
alkej-698	57	12	width	width	NOUN
alkej-698	57	13	,	,	PUNCT
alkej-698	57	14	and	and	CCONJ
alkej-698	57	15	1	1	NUM
alkej-698	57	16	cm	cm	NOUN
alkej-698	57	17	thickness	thickness	NOUN
alkej-698	57	18	.	.	PUNCT
alkej-698	58	1	the	the	PRON
alkej-698	58	2	larger	large	ADJ
alkej-698	58	3	the	the	DET
alkej-698	58	4	dimensions	dimension	NOUN
alkej-698	58	5	,	,	PUNCT
alkej-698	58	6	the	the	PRON
alkej-698	58	7	larger	large	ADJ
alkej-698	58	8	the	the	DET
alkej-698	58	9	object	object	NOUN
alkej-698	58	10	to	to	PART
alkej-698	58	11	be	be	AUX
alkej-698	58	12	measured	measure	VERB
alkej-698	58	13	will	will	AUX
alkej-698	58	14	be	be	AUX
alkej-698	58	15	.	.	PUNCT
alkej-698	59	1	however	however	ADV
alkej-698	59	2	,	,	PUNCT
alkej-698	59	3	the	the	DET
alkej-698	59	4	other	other	ADJ
alkej-698	59	5	components	component	NOUN
alkej-698	59	6	will	will	AUX
alkej-698	59	7	have	have	VERB
alkej-698	59	8	to	to	PART
alkej-698	59	9	be	be	AUX
alkej-698	59	10	increased	increase	VERB
alkej-698	59	11	accordingly	accordingly	ADV
alkej-698	59	12	,	,	PUNCT
alkej-698	59	13	all	all	PRON
alkej-698	59	14	of	of	ADP
alkej-698	59	15	which	which	PRON
alkej-698	59	16	will	will	AUX
alkej-698	59	17	increase	increase	VERB
alkej-698	59	18	the	the	DET
alkej-698	59	19	cost	cost	NOUN
alkej-698	59	20	,	,	PUNCT
alkej-698	59	21	manufacturing	manufacturing	NOUN
alkej-698	59	22	dhuha	dhuha	NOUN
alkej-698	59	23	mohammed	mohammed	PROPN
alkej-698	59	24	mahmood	mahmood	PROPN
alkej-698	59	25	al	al	PROPN
alkej-698	59	26	-	-	PUNCT
alkej-698	59	27	khwarizmi	khwarizmi	PROPN
alkej-698	59	28	engineering	engineering	NOUN
alkej-698	59	29	journal	journal	PROPN
alkej-698	59	30	,	,	PUNCT
alkej-698	59	31	vol	vol	NOUN
alkej-698	59	32	.	.	PROPN
alkej-698	60	1	15	15	NUM
alkej-698	60	2	,	,	PUNCT
alkej-698	60	3	no	no	INTJ
alkej-698	60	4	.	.	NOUN
alkej-698	60	5	4	4	NUM
alkej-698	60	6	,	,	PUNCT
alkej-698	60	7	p.p	p.p	PROPN
alkej-698	60	8	.	.	PROPN
alkej-698	60	9	4254	4254	NUM
alkej-698	60	10	(	(	PUNCT
alkej-698	60	11	2020	2020	NUM
alkej-698	60	12	)	)	PUNCT
alkej-698	61	1	45	45	NUM
alkej-698	61	2	time	time	NOUN
alkej-698	61	3	,	,	PUNCT
alkej-698	61	4	and	and	CCONJ
alkej-698	61	5	other	other	ADJ
alkej-698	61	6	constraints	constraint	NOUN
alkej-698	61	7	that	that	PRON
alkej-698	61	8	had	have	VERB
alkej-698	61	9	to	to	PART
alkej-698	61	10	be	be	AUX
alkej-698	61	11	adhered	adhere	VERB
alkej-698	61	12	to	to	ADP
alkej-698	61	13	during	during	ADP
alkej-698	61	14	the	the	DET
alkej-698	61	15	design	design	NOUN
alkej-698	61	16	process	process	NOUN
alkej-698	61	17	.	.	PUNCT
alkej-698	62	1	fig	fig	NOUN
alkej-698	62	2	.	.	PUNCT
alkej-698	63	1	4	4	X
alkej-698	63	2	.	.	X
alkej-698	63	3	design	design	NOUN
alkej-698	63	4	of	of	ADP
alkej-698	63	5	the	the	DET
alkej-698	63	6	cmm	cmm	NOUN
alkej-698	63	7	base	base	NOUN
alkej-698	63	8	.	.	PUNCT
alkej-698	64	1	2	2	X
alkej-698	64	2	.	.	X
alkej-698	64	3	arm	arm	VERB
alkej-698	64	4	the	the	DET
alkej-698	64	5	arm	arm	NOUN
alkej-698	64	6	is	be	AUX
alkej-698	64	7	the	the	DET
alkej-698	64	8	second	second	ADJ
alkej-698	64	9	of	of	ADP
alkej-698	64	10	the	the	DET
alkej-698	64	11	main	main	ADJ
alkej-698	64	12	component	component	NOUN
alkej-698	64	13	’s	’s	PART
alkej-698	64	14	category	category	NOUN
alkej-698	64	15	.	.	PUNCT
alkej-698	65	1	the	the	DET
alkej-698	65	2	primary	primary	ADJ
alkej-698	65	3	function	function	NOUN
alkej-698	65	4	of	of	ADP
alkej-698	65	5	the	the	DET
alkej-698	65	6	main	main	ADJ
alkej-698	65	7	arm	arm	NOUN
alkej-698	65	8	is	be	AUX
alkej-698	65	9	to	to	PART
alkej-698	65	10	serve	serve	VERB
alkej-698	65	11	as	as	ADP
alkej-698	65	12	the	the	DET
alkej-698	65	13	link	link	NOUN
alkej-698	65	14	connecting	connect	VERB
alkej-698	65	15	between	between	ADP
alkej-698	65	16	the	the	DET
alkej-698	65	17	base	base	NOUN
alkej-698	65	18	joint	joint	NOUN
alkej-698	65	19	and	and	CCONJ
alkej-698	65	20	the	the	DET
alkej-698	65	21	shoulder	shoulder	NOUN
alkej-698	65	22	joint	joint	NOUN
alkej-698	65	23	(	(	PUNCT
alkej-698	65	24	2nd	2nd	ADJ
alkej-698	65	25	joint	joint	NOUN
alkej-698	65	26	)	)	PUNCT
alkej-698	65	27	.	.	PUNCT
alkej-698	66	1	this	this	PRON
alkej-698	66	2	,	,	PUNCT
alkej-698	66	3	of	of	ADP
alkej-698	66	4	course	course	NOUN
alkej-698	66	5	,	,	PUNCT
alkej-698	66	6	means	mean	VERB
alkej-698	66	7	that	that	SCONJ
alkej-698	66	8	the	the	DET
alkej-698	66	9	main	main	ADJ
alkej-698	66	10	arm	arm	NOUN
alkej-698	66	11	will	will	AUX
alkej-698	66	12	play	play	VERB
alkej-698	66	13	a	a	DET
alkej-698	66	14	significant	significant	ADJ
alkej-698	66	15	role	role	NOUN
alkej-698	66	16	in	in	ADP
alkej-698	66	17	the	the	DET
alkej-698	66	18	kinematic	kinematic	ADJ
alkej-698	66	19	model	model	NOUN
alkej-698	66	20	calculations	calculation	NOUN
alkej-698	66	21	and	and	CCONJ
alkej-698	66	22	the	the	DET
alkej-698	66	23	resulting	result	VERB
alkej-698	66	24	aacmm	aacmm	NOUN
alkej-698	66	25	measurements	measurement	NOUN
alkej-698	66	26	.	.	PUNCT
alkej-698	67	1	the	the	DET
alkej-698	67	2	arm	arm	NOUN
alkej-698	67	3	will	will	AUX
alkej-698	67	4	be	be	AUX
alkej-698	67	5	3d	3d	NOUN
alkej-698	67	6	printed	print	VERB
alkej-698	67	7	,	,	PUNCT
alkej-698	67	8	which	which	PRON
alkej-698	67	9	keep	keep	VERB
alkej-698	67	10	the	the	DET
alkej-698	67	11	design	design	NOUN
alkej-698	67	12	simple	simple	ADJ
alkej-698	67	13	,	,	PUNCT
alkej-698	67	14	minimalistic	minimalistic	ADJ
alkej-698	67	15	,	,	PUNCT
alkej-698	67	16	and	and	CCONJ
alkej-698	67	17	to	to	ADP
alkej-698	67	18	the	the	DET
alkej-698	67	19	point	point	NOUN
alkej-698	67	20	.	.	PUNCT
alkej-698	68	1	figure	figure	NOUN
alkej-698	68	2	(	(	PUNCT
alkej-698	68	3	5	5	NUM
alkej-698	68	4	)	)	PUNCT
alkej-698	68	5	shows	show	VERB
alkej-698	68	6	the	the	DET
alkej-698	68	7	arm	arm	NOUN
alkej-698	68	8	design	design	NOUN
alkej-698	68	9	.	.	PUNCT
alkej-698	69	1	the	the	DET
alkej-698	69	2	arm	arm	NOUN
alkej-698	69	3	dimensions	dimension	NOUN
alkej-698	69	4	are	be	AUX
alkej-698	69	5	19	19	NUM
alkej-698	69	6	cm	cm	NOUN
alkej-698	69	7	length	length	NOUN
alkej-698	69	8	,	,	PUNCT
alkej-698	69	9	2	2	NUM
alkej-698	69	10	cm	cm	NOUN
alkej-698	69	11	width	width	NOUN
alkej-698	69	12	,	,	PUNCT
alkej-698	69	13	and	and	CCONJ
alkej-698	69	14	1	1	NUM
alkej-698	69	15	cm	cm	NOUN
alkej-698	69	16	thickness	thickness	NOUN
alkej-698	69	17	.	.	PUNCT
alkej-698	70	1	each	each	DET
alkej-698	70	2	end	end	NOUN
alkej-698	70	3	contains	contain	VERB
alkej-698	70	4	three	three	NUM
alkej-698	70	5	bolt	bolt	NOUN
alkej-698	70	6	holes	hole	NOUN
alkej-698	70	7	for	for	ADP
alkej-698	70	8	the	the	DET
alkej-698	70	9	join	join	NOUN
alkej-698	70	10	encoders	encoder	NOUN
alkej-698	70	11	.	.	PUNCT
alkej-698	71	1	3	3	X
alkej-698	71	2	.	.	X
alkej-698	71	3	the	the	DET
alkej-698	71	4	probe	probe	NOUN
alkej-698	71	5	arm	arm	VERB
alkej-698	71	6	the	the	DET
alkej-698	71	7	third	third	ADJ
alkej-698	71	8	component	component	NOUN
alkej-698	71	9	in	in	ADP
alkej-698	71	10	this	this	DET
alkej-698	71	11	category	category	NOUN
alkej-698	71	12	is	be	AUX
alkej-698	71	13	the	the	DET
alkej-698	71	14	probe	probe	NOUN
alkej-698	71	15	arm	arm	NOUN
alkej-698	71	16	.	.	PUNCT
alkej-698	72	1	it	it	PRON
alkej-698	72	2	is	be	AUX
alkej-698	72	3	the	the	DET
alkej-698	72	4	most	most	ADV
alkej-698	72	5	crucial	crucial	ADJ
alkej-698	72	6	part	part	NOUN
alkej-698	72	7	of	of	ADP
alkej-698	72	8	the	the	DET
alkej-698	72	9	aacmm	aacmm	NOUN
alkej-698	72	10	since	since	SCONJ
alkej-698	72	11	it	it	PRON
alkej-698	72	12	has	have	VERB
alkej-698	72	13	two	two	NUM
alkej-698	72	14	primary	primary	ADJ
alkej-698	72	15	functions	function	NOUN
alkej-698	72	16	.	.	PUNCT
alkej-698	73	1	the	the	DET
alkej-698	73	2	first	first	ADJ
alkej-698	73	3	,	,	PUNCT
alkej-698	73	4	as	as	ADP
alkej-698	73	5	the	the	DET
alkej-698	73	6	case	case	NOUN
alkej-698	73	7	with	with	ADP
alkej-698	73	8	the	the	DET
alkej-698	73	9	main	main	ADJ
alkej-698	73	10	arm	arm	NOUN
alkej-698	73	11	,	,	PUNCT
alkej-698	73	12	it	it	PRON
alkej-698	73	13	will	will	AUX
alkej-698	73	14	act	act	VERB
alkej-698	73	15	as	as	ADP
alkej-698	73	16	the	the	DET
alkej-698	73	17	second	second	ADJ
alkej-698	73	18	link	link	NOUN
alkej-698	73	19	in	in	ADP
alkej-698	73	20	the	the	DET
alkej-698	73	21	robotic	robotic	ADJ
alkej-698	73	22	arm	arm	NOUN
alkej-698	73	23	joint	joint	ADJ
alkej-698	73	24	-	-	PUNCT
alkej-698	73	25	link	link	NOUN
alkej-698	73	26	assembly	assembly	NOUN
alkej-698	73	27	,	,	PUNCT
alkej-698	73	28	providing	provide	VERB
alkej-698	73	29	all	all	DET
alkej-698	73	30	the	the	DET
alkej-698	73	31	remaining	remain	VERB
alkej-698	73	32	information	information	NOUN
alkej-698	73	33	for	for	ADP
alkej-698	73	34	the	the	DET
alkej-698	73	35	kinematic	kinematic	ADJ
alkej-698	73	36	model	model	NOUN
alkej-698	73	37	calculations	calculation	NOUN
alkej-698	73	38	.	.	PUNCT
alkej-698	74	1	the	the	DET
alkej-698	74	2	second	second	ADJ
alkej-698	74	3	function	function	NOUN
alkej-698	74	4	is	be	AUX
alkej-698	74	5	to	to	PART
alkej-698	74	6	act	act	VERB
alkej-698	74	7	as	as	ADP
alkej-698	74	8	the	the	DET
alkej-698	74	9	“	"	PUNCT
alkej-698	74	10	touch	touch	NOUN
alkej-698	74	11	”	"	PUNCT
alkej-698	74	12	probe	probe	NOUN
alkej-698	74	13	for	for	ADP
alkej-698	74	14	the	the	DET
alkej-698	74	15	aacmm	aacmm	NOUN
alkej-698	74	16	,	,	PUNCT
alkej-698	74	17	which	which	PRON
alkej-698	74	18	will	will	AUX
alkej-698	74	19	be	be	AUX
alkej-698	74	20	vital	vital	ADJ
alkej-698	74	21	in	in	ADP
alkej-698	74	22	the	the	DET
alkej-698	74	23	coordinate	coordinate	NOUN
alkej-698	74	24	measurement	measurement	NOUN
alkej-698	74	25	process	process	NOUN
alkej-698	74	26	.	.	PUNCT
alkej-698	75	1	figure	figure	NOUN
alkej-698	75	2	(	(	PUNCT
alkej-698	75	3	5	5	NUM
alkej-698	75	4	)	)	PUNCT
alkej-698	75	5	shows	show	VERB
alkej-698	75	6	the	the	DET
alkej-698	75	7	probe	probe	NOUN
alkej-698	75	8	arm	arm	NOUN
alkej-698	75	9	design	design	NOUN
alkej-698	75	10	.	.	PUNCT
alkej-698	76	1	where	where	SCONJ
alkej-698	76	2	the	the	DET
alkej-698	76	3	arm	arm	NOUN
alkej-698	76	4	length	length	NOUN
alkej-698	76	5	is	be	AUX
alkej-698	76	6	19	19	NUM
alkej-698	76	7	cm	cm	NOUN
alkej-698	76	8	with	with	ADP
alkej-698	76	9	a	a	DET
alkej-698	76	10	2	2	NUM
alkej-698	76	11	cm	cm	NOUN
alkej-698	76	12	touch	touch	NOUN
alkej-698	76	13	point	point	NOUN
alkej-698	76	14	.	.	PUNCT
alkej-698	77	1	dhuha	dhuha	PROPN
alkej-698	77	2	mohammed	mohammed	PROPN
alkej-698	77	3	mahmood	mahmood	PROPN
alkej-698	77	4	al	al	PROPN
alkej-698	77	5	-	-	PUNCT
alkej-698	77	6	khwarizmi	khwarizmi	PROPN
alkej-698	77	7	engineering	engineering	NOUN
alkej-698	77	8	journal	journal	PROPN
alkej-698	77	9	,	,	PUNCT
alkej-698	77	10	vol	vol	NOUN
alkej-698	77	11	.	.	PROPN
alkej-698	77	12	15	15	NUM
alkej-698	77	13	,	,	PUNCT
alkej-698	77	14	no	no	INTJ
alkej-698	77	15	.	.	NOUN
alkej-698	77	16	4	4	NUM
alkej-698	77	17	,	,	PUNCT
alkej-698	77	18	p.p	p.p	PROPN
alkej-698	77	19	.	.	PROPN
alkej-698	77	20	4254	4254	NUM
alkej-698	77	21	(	(	PUNCT
alkej-698	77	22	2020	2020	NUM
alkej-698	77	23	)	)	PUNCT
alkej-698	77	24	46	46	NUM
alkej-698	77	25	fig	fig	NOUN
alkej-698	77	26	.	.	PUNCT
alkej-698	78	1	5	5	NUM
alkej-698	78	2	.	.	X
alkej-698	78	3	cmm	cmm	NOUN
alkej-698	78	4	probe	probe	PROPN
alkej-698	78	5	arm	arm	PROPN
alkej-698	78	6	.	.	PUNCT
alkej-698	79	1	2.1	2.1	NUM
alkej-698	79	2	b	b	NOUN
alkej-698	79	3	)	)	PUNCT
alkej-698	79	4	supporting	support	VERB
alkej-698	79	5	components	component	NOUN
alkej-698	79	6	the	the	DET
alkej-698	79	7	support	support	NOUN
alkej-698	79	8	equipment	equipment	NOUN
alkej-698	79	9	plays	play	VERB
alkej-698	79	10	an	an	DET
alkej-698	79	11	important	important	ADJ
alkej-698	79	12	role	role	NOUN
alkej-698	79	13	,	,	PUNCT
alkej-698	79	14	as	as	ADV
alkej-698	79	15	well	well	ADV
alkej-698	79	16	.	.	PUNCT
alkej-698	80	1	they	they	PRON
alkej-698	80	2	provide	provide	VERB
alkej-698	80	3	the	the	DET
alkej-698	80	4	geometric	geometric	ADJ
alkej-698	80	5	integration	integration	NOUN
alkej-698	80	6	between	between	ADP
alkej-698	80	7	the	the	DET
alkej-698	80	8	robotic	robotic	ADJ
alkej-698	80	9	arm	arm	NOUN
alkej-698	80	10	link	link	NOUN
alkej-698	80	11	-	-	PUNCT
alkej-698	80	12	join	join	NOUN
alkej-698	80	13	assemblies	assembly	NOUN
alkej-698	80	14	and	and	CCONJ
alkej-698	80	15	allow	allow	VERB
alkej-698	80	16	the	the	DET
alkej-698	80	17	aacmm	aacmm	NOUN
alkej-698	80	18	to	to	PART
alkej-698	80	19	function	function	VERB
alkej-698	80	20	as	as	SCONJ
alkej-698	80	21	it	it	PRON
alkej-698	80	22	’s	’s	AUX
alkej-698	80	23	supposed	suppose	VERB
alkej-698	80	24	to	to	PART
alkej-698	80	25	.	.	PUNCT
alkej-698	81	1	the	the	DET
alkej-698	81	2	support	support	NOUN
alkej-698	81	3	equipment	equipment	NOUN
alkej-698	81	4	includes	include	VERB
alkej-698	81	5	positioning	positioning	NOUN
alkej-698	81	6	base	base	NOUN
alkej-698	81	7	,	,	PUNCT
alkej-698	81	8	base	base	NOUN
alkej-698	81	9	rings	ring	NOUN
alkej-698	81	10	,	,	PUNCT
alkej-698	81	11	flanges	flange	NOUN
alkej-698	81	12	,	,	PUNCT
alkej-698	81	13	spacers	spacer	NOUN
alkej-698	81	14	,	,	PUNCT
alkej-698	81	15	and	and	CCONJ
alkej-698	81	16	washers	washer	NOUN
alkej-698	81	17	as	as	SCONJ
alkej-698	81	18	shown	show	VERB
alkej-698	81	19	in	in	ADP
alkej-698	81	20	figure	figure	NOUN
alkej-698	81	21	(	(	PUNCT
alkej-698	81	22	6	6	NUM
alkej-698	81	23	)	)	PUNCT
alkej-698	81	24	.	.	PUNCT
alkej-698	82	1	fig	fig	NOUN
alkej-698	82	2	6	6	NUM
alkej-698	82	3	.	.	PUNCT
alkej-698	82	4	a.	a.	NOUN
alkej-698	82	5	aacmm	aacmm	PROPN
alkej-698	82	6	base	base	PROPN
alkej-698	82	7	ring	ring	NOUN
alkej-698	82	8	.	.	PUNCT
alkej-698	83	1	b.	b.	PROPN
alkej-698	83	2	aacmm	aacmm	PROPN
alkej-698	83	3	base	base	PROPN
alkej-698	83	4	.	.	PUNCT
alkej-698	84	1	dhuha	dhuha	PROPN
alkej-698	84	2	mohammed	mohammed	PROPN
alkej-698	84	3	mahmood	mahmood	PROPN
alkej-698	84	4	al	al	PROPN
alkej-698	84	5	-	-	PUNCT
alkej-698	84	6	khwarizmi	khwarizmi	PROPN
alkej-698	84	7	engineering	engineering	NOUN
alkej-698	84	8	journal	journal	PROPN
alkej-698	84	9	,	,	PUNCT
alkej-698	84	10	vol	vol	NOUN
alkej-698	84	11	.	.	PROPN
alkej-698	84	12	15	15	NUM
alkej-698	84	13	,	,	PUNCT
alkej-698	84	14	no	no	INTJ
alkej-698	84	15	.	.	NOUN
alkej-698	84	16	4	4	NUM
alkej-698	84	17	,	,	PUNCT
alkej-698	84	18	p.p	p.p	PROPN
alkej-698	84	19	.	.	PROPN
alkej-698	84	20	4254	4254	NUM
alkej-698	84	21	(	(	PUNCT
alkej-698	84	22	2020	2020	NUM
alkej-698	84	23	)	)	PUNCT
alkej-698	84	24	47	47	NUM
alkej-698	84	25	3	3	NUM
alkej-698	84	26	.	.	PUNCT
alkej-698	85	1	the	the	DET
alkej-698	85	2	aacmm	aacmm	NOUN
alkej-698	85	3	complete	complete	PROPN
alkej-698	85	4	assembly	assembly	PROPN
alkej-698	85	5	in	in	ADP
alkej-698	85	6	solid	solid	ADJ
alkej-698	85	7	works	work	NOUN
alkej-698	85	8	now	now	ADV
alkej-698	85	9	that	that	SCONJ
alkej-698	85	10	all	all	DET
alkej-698	85	11	the	the	DET
alkej-698	85	12	components	component	NOUN
alkej-698	85	13	have	have	AUX
alkej-698	85	14	been	be	AUX
alkej-698	85	15	designed	design	VERB
alkej-698	85	16	according	accord	VERB
alkej-698	85	17	to	to	ADP
alkej-698	85	18	the	the	DET
alkej-698	85	19	concept	concept	NOUN
alkej-698	85	20	specifications	specification	NOUN
alkej-698	85	21	,	,	PUNCT
alkej-698	85	22	the	the	DET
alkej-698	85	23	next	next	ADJ
alkej-698	85	24	step	step	NOUN
alkej-698	85	25	is	be	AUX
alkej-698	85	26	to	to	PART
alkej-698	85	27	assemble	assemble	VERB
alkej-698	85	28	all	all	DET
alkej-698	85	29	the	the	DET
alkej-698	85	30	components	component	NOUN
alkej-698	85	31	to	to	PART
alkej-698	85	32	create	create	VERB
alkej-698	85	33	the	the	DET
alkej-698	85	34	aacmm	aacmm	NOUN
alkej-698	85	35	final	final	ADJ
alkej-698	85	36	design	design	NOUN
alkej-698	85	37	.	.	PUNCT
alkej-698	86	1	utilizing	utilize	VERB
alkej-698	86	2	the	the	DET
alkej-698	86	3	assembly	assembly	NOUN
alkej-698	86	4	drawings	drawing	NOUN
alkej-698	86	5	feature	feature	VERB
alkej-698	86	6	in	in	ADP
alkej-698	86	7	solidworks	solidworks	PROPN
alkej-698	86	8	,	,	PUNCT
alkej-698	86	9	it	it	PRON
alkej-698	86	10	is	be	AUX
alkej-698	86	11	possible	possible	ADJ
alkej-698	86	12	to	to	PART
alkej-698	86	13	assemble	assemble	VERB
alkej-698	86	14	the	the	DET
alkej-698	86	15	aacmm	aacmm	NOUN
alkej-698	86	16	part	part	NOUN
alkej-698	86	17	by	by	ADP
alkej-698	86	18	part	part	NOUN
alkej-698	86	19	to	to	PART
alkej-698	86	20	create	create	VERB
alkej-698	86	21	the	the	DET
alkej-698	86	22	final	final	ADJ
alkej-698	86	23	layout	layout	NOUN
alkej-698	86	24	as	as	SCONJ
alkej-698	86	25	shown	show	VERB
alkej-698	86	26	in	in	ADP
alkej-698	86	27	figure	figure	NOUN
alkej-698	86	28	(	(	PUNCT
alkej-698	86	29	7	7	NUM
alkej-698	86	30	)	)	PUNCT
alkej-698	86	31	.	.	PUNCT
alkej-698	87	1	the	the	DET
alkej-698	87	2	“	"	PUNCT
alkej-698	87	3	mate	mate	NOUN
alkej-698	87	4	”	"	PUNCT
alkej-698	87	5	function	function	NOUN
alkej-698	87	6	in	in	ADP
alkej-698	87	7	solidworks	solidworks	PROPN
alkej-698	87	8	is	be	AUX
alkej-698	87	9	vital	vital	ADJ
alkej-698	87	10	in	in	ADP
alkej-698	87	11	ensuring	ensure	VERB
alkej-698	87	12	that	that	SCONJ
alkej-698	87	13	the	the	DET
alkej-698	87	14	aacmm	aacmm	NOUN
alkej-698	87	15	link	link	NOUN
alkej-698	87	16	-	-	PUNCT
alkej-698	87	17	joint	joint	NOUN
alkej-698	87	18	assembly	assembly	NOUN
alkej-698	87	19	is	be	AUX
alkej-698	87	20	correct	correct	ADJ
alkej-698	87	21	,	,	PUNCT
alkej-698	87	22	and	and	CCONJ
alkej-698	87	23	the	the	DET
alkej-698	87	24	“	"	PUNCT
alkej-698	87	25	motion	motion	NOUN
alkej-698	87	26	study	study	NOUN
alkej-698	87	27	”	"	PUNCT
alkej-698	87	28	function	function	NOUN
alkej-698	87	29	verified	verify	VERB
alkej-698	87	30	that	that	SCONJ
alkej-698	87	31	the	the	DET
alkej-698	87	32	design	design	NOUN
alkej-698	87	33	would	would	AUX
alkej-698	87	34	work	work	VERB
alkej-698	87	35	as	as	SCONJ
alkej-698	87	36	required	require	VERB
alkej-698	87	37	.	.	PUNCT
alkej-698	88	1	all	all	PRON
alkej-698	88	2	of	of	ADP
alkej-698	88	3	these	these	DET
alkej-698	88	4	verifications	verification	NOUN
alkej-698	88	5	were	be	AUX
alkej-698	88	6	done	do	VERB
alkej-698	88	7	in	in	ADP
alkej-698	88	8	solidworks	solidworks	PROPN
alkej-698	88	9	,	,	PUNCT
alkej-698	88	10	and	and	CCONJ
alkej-698	88	11	it	it	PRON
alkej-698	88	12	gave	give	VERB
alkej-698	88	13	the	the	DET
alkej-698	88	14	“	"	PUNCT
alkej-698	88	15	green	green	ADJ
alkej-698	88	16	light	light	NOUN
alkej-698	88	17	”	"	PUNCT
alkej-698	88	18	to	to	PART
alkej-698	88	19	go	go	VERB
alkej-698	88	20	ahead	ahead	ADV
alkej-698	88	21	with	with	ADP
alkej-698	88	22	the	the	DET
alkej-698	88	23	manufacturing	manufacturing	NOUN
alkej-698	88	24	process	process	NOUN
alkej-698	88	25	.	.	PUNCT
alkej-698	89	1	fig	fig	NOUN
alkej-698	89	2	.	.	PUNCT
alkej-698	90	1	7	7	X
alkej-698	90	2	.	.	NUM
alkej-698	90	3	articulated	articulated	ADJ
alkej-698	90	4	arm	arm	NOUN
alkej-698	90	5	coordinate	coordinate	NOUN
alkej-698	90	6	measuring	measure	VERB
alkej-698	90	7	machine	machine	NOUN
alkej-698	90	8	aacmm	aacmm	NOUN
alkej-698	90	9	after	after	ADP
alkej-698	90	10	assembly	assembly	NOUN
alkej-698	90	11	.	.	PUNCT
alkej-698	91	1	4	4	X
alkej-698	91	2	.	.	X
alkej-698	91	3	control	control	NOUN
alkej-698	91	4	components	component	NOUN
alkej-698	91	5	the	the	DET
alkej-698	91	6	aacmm	aacmm	NOUN
alkej-698	91	7	control	control	PROPN
alkej-698	91	8	components	component	NOUN
alkej-698	91	9	include	include	VERB
alkej-698	91	10	the	the	DET
alkej-698	91	11	optical	optical	ADJ
alkej-698	91	12	encoders	encoder	NOUN
alkej-698	91	13	,	,	PUNCT
alkej-698	91	14	to	to	PART
alkej-698	91	15	capture	capture	VERB
alkej-698	91	16	the	the	DET
alkej-698	91	17	joints	joint	NOUN
alkej-698	91	18	angular	angular	ADJ
alkej-698	91	19	position	position	NOUN
alkej-698	91	20	,	,	PUNCT
alkej-698	91	21	and	and	CCONJ
alkej-698	91	22	the	the	DET
alkej-698	91	23	control	control	PROPN
alkej-698	91	24	board	board	PROPN
alkej-698	91	25	(	(	PUNCT
alkej-698	91	26	arduino	arduino	PROPN
alkej-698	91	27	uno	uno	PROPN
alkej-698	91	28	,	,	PUNCT
alkej-698	91	29	shown	show	VERB
alkej-698	91	30	in	in	ADP
alkej-698	91	31	figure	figure	NOUN
alkej-698	91	32	8)	8)	NUM
alkej-698	91	33	will	will	AUX
alkej-698	91	34	be	be	AUX
alkej-698	91	35	used	use	VERB
alkej-698	91	36	to	to	PART
alkej-698	91	37	translate	translate	VERB
alkej-698	91	38	the	the	DET
alkej-698	91	39	encoder	encoder	NOUN
alkej-698	91	40	's	's	PART
alkej-698	91	41	signal	signal	NOUN
alkej-698	91	42	into	into	ADP
alkej-698	91	43	actual	actual	ADJ
alkej-698	91	44	measurements	measurement	NOUN
alkej-698	91	45	with	with	ADP
alkej-698	91	46	the	the	DET
alkej-698	91	47	help	help	NOUN
alkej-698	91	48	of	of	ADP
alkej-698	91	49	the	the	DET
alkej-698	91	50	control	control	NOUN
alkej-698	91	51	interface	interface	NOUN
alkej-698	91	52	and	and	CCONJ
alkej-698	91	53	the	the	DET
alkej-698	91	54	control	control	NOUN
alkej-698	91	55	program	program	NOUN
alkej-698	91	56	.	.	PUNCT
alkej-698	92	1	electrical	electrical	ADJ
alkej-698	92	2	yield	yield	NOUN
alkej-698	92	3	in	in	ADP
alkej-698	92	4	digital	digital	ADJ
alkej-698	92	5	structure	structure	NOUN
alkej-698	92	6	relating	relate	VERB
alkej-698	92	7	to	to	ADP
alkej-698	92	8	the	the	DET
alkej-698	92	9	angular	angular	ADJ
alkej-698	92	10	position	position	NOUN
alkej-698	92	11	of	of	ADP
alkej-698	92	12	the	the	DET
alkej-698	92	13	info	info	NOUN
alkej-698	92	14	.	.	PUNCT
alkej-698	93	1	fig	fig	NOUN
alkej-698	93	2	.	.	PUNCT
alkej-698	94	1	8	8	NUM
alkej-698	94	2	.	.	PUNCT
alkej-698	94	3	a.	a.	NOUN
alkej-698	94	4	optical	optical	ADJ
alkej-698	94	5	encoder	encoder	NOUN
alkej-698	94	6	.	.	PUNCT
alkej-698	95	1	b.	b.	PROPN
alkej-698	95	2	arduino	arduino	PROPN
alkej-698	95	3	controller	controller	NOUN
alkej-698	95	4	.	.	PUNCT
alkej-698	96	1	5	5	X
alkej-698	96	2	.	.	X
alkej-698	96	3	working	work	VERB
alkej-698	96	4	concept	concept	NOUN
alkej-698	96	5	as	as	SCONJ
alkej-698	96	6	mentioned	mention	VERB
alkej-698	96	7	earlier	early	ADV
alkej-698	96	8	,	,	PUNCT
alkej-698	96	9	optical	optical	ADJ
alkej-698	96	10	encoders	encoder	NOUN
alkej-698	96	11	(	(	PUNCT
alkej-698	96	12	rotary	rotary	NOUN
alkej-698	96	13	encoder	encoder	NOUN
alkej-698	96	14	)	)	PUNCT
alkej-698	96	15	was	be	AUX
alkej-698	96	16	used	use	VERB
alkej-698	96	17	to	to	PART
alkej-698	96	18	convert	convert	VERB
alkej-698	96	19	the	the	DET
alkej-698	96	20	angular	angular	ADJ
alkej-698	96	21	position	position	NOUN
alkej-698	96	22	or	or	CCONJ
alkej-698	96	23	motion	motion	NOUN
alkej-698	96	24	of	of	ADP
alkej-698	96	25	the	the	DET
alkej-698	96	26	device	device	NOUN
alkej-698	96	27	joints	joint	NOUN
alkej-698	96	28	to	to	ADP
alkej-698	96	29	a	a	DET
alkej-698	96	30	digital	digital	ADJ
alkej-698	96	31	output	output	NOUN
alkej-698	96	32	signal	signal	NOUN
alkej-698	96	33	.	.	PUNCT
alkej-698	97	1	in	in	ADP
alkej-698	97	2	this	this	DET
alkej-698	97	3	work	work	NOUN
alkej-698	97	4	,	,	PUNCT
alkej-698	97	5	four	four	NUM
alkej-698	97	6	rotary	rotary	NOUN
alkej-698	97	7	encoders	encoder	NOUN
alkej-698	97	8	were	be	AUX
alkej-698	97	9	used	use	VERB
alkej-698	97	10	.	.	PUNCT
alkej-698	98	1	the	the	DET
alkej-698	98	2	first	first	ADJ
alkej-698	98	3	was	be	AUX
alkej-698	98	4	installed	instal	VERB
alkej-698	98	5	between	between	ADP
alkej-698	98	6	the	the	DET
alkej-698	98	7	circular	circular	ADJ
alkej-698	98	8	platforms	platform	NOUN
alkej-698	98	9	,	,	PUNCT
alkej-698	98	10	the	the	DET
alkej-698	98	11	second	second	NOUN
alkej-698	98	12	between	between	ADP
alkej-698	98	13	the	the	DET
alkej-698	98	14	first	first	ADJ
alkej-698	98	15	arm	arm	NOUN
alkej-698	98	16	and	and	CCONJ
alkej-698	98	17	the	the	DET
alkej-698	98	18	rotating	rotate	VERB
alkej-698	98	19	base	base	NOUN
alkej-698	98	20	,	,	PUNCT
alkej-698	98	21	the	the	DET
alkej-698	98	22	third	third	NOUN
alkej-698	98	23	between	between	ADP
alkej-698	98	24	the	the	DET
alkej-698	98	25	first	first	ADJ
alkej-698	98	26	arm	arm	NOUN
alkej-698	98	27	,	,	PUNCT
alkej-698	98	28	and	and	CCONJ
alkej-698	98	29	the	the	DET
alkej-698	98	30	second	second	ADJ
alkej-698	98	31	and	and	CCONJ
alkej-698	98	32	the	the	DET
alkej-698	98	33	last	last	ADJ
alkej-698	98	34	rotary	rotary	ADJ
alkej-698	98	35	encoder	encoder	NOUN
alkej-698	98	36	was	be	AUX
alkej-698	98	37	installed	instal	VERB
alkej-698	98	38	between	between	ADP
alkej-698	98	39	the	the	DET
alkej-698	98	40	base	base	NOUN
alkej-698	98	41	of	of	ADP
alkej-698	98	42	the	the	DET
alkej-698	98	43	first	first	ADJ
alkej-698	98	44	arm	arm	NOUN
alkej-698	98	45	and	and	CCONJ
alkej-698	98	46	the	the	DET
alkej-698	98	47	table	table	NOUN
alkej-698	98	48	.	.	PUNCT
alkej-698	99	1	the	the	DET
alkej-698	99	2	circuit	circuit	NOUN
alkej-698	99	3	schematic	schematic	ADJ
alkej-698	99	4	is	be	AUX
alkej-698	99	5	shown	show	VERB
alkej-698	99	6	in	in	ADP
alkej-698	99	7	figure	figure	NOUN
alkej-698	99	8	(	(	PUNCT
alkej-698	99	9	9	9	NUM
alkej-698	99	10	)	)	PUNCT
alkej-698	99	11	.	.	PUNCT
alkej-698	100	1	dhuha	dhuha	PROPN
alkej-698	100	2	mohammed	mohammed	PROPN
alkej-698	100	3	mahmood	mahmood	PROPN
alkej-698	100	4	al	al	PROPN
alkej-698	100	5	-	-	PUNCT
alkej-698	100	6	khwarizmi	khwarizmi	PROPN
alkej-698	100	7	engineering	engineering	NOUN
alkej-698	100	8	journal	journal	PROPN
alkej-698	100	9	,	,	PUNCT
alkej-698	100	10	vol	vol	NOUN
alkej-698	100	11	.	.	PROPN
alkej-698	100	12	15	15	NUM
alkej-698	100	13	,	,	PUNCT
alkej-698	100	14	no	no	INTJ
alkej-698	100	15	.	.	NOUN
alkej-698	100	16	4	4	NUM
alkej-698	100	17	,	,	PUNCT
alkej-698	100	18	p.p	p.p	PROPN
alkej-698	100	19	.	.	PROPN
alkej-698	100	20	4254	4254	NUM
alkej-698	100	21	(	(	PUNCT
alkej-698	100	22	2020	2020	NUM
alkej-698	100	23	)	)	PUNCT
alkej-698	100	24	48	48	NUM
alkej-698	100	25	fig	fig	NOUN
alkej-698	100	26	.	.	PUNCT
alkej-698	101	1	9	9	X
alkej-698	101	2	.	.	X
alkej-698	101	3	controller	controller	NOUN
alkej-698	101	4	circuit	circuit	NOUN
alkej-698	101	5	schematic	schematic	ADJ
alkej-698	101	6	.	.	PUNCT
alkej-698	102	1	all	all	DET
alkej-698	102	2	encoders	encoder	NOUN
alkej-698	102	3	are	be	AUX
alkej-698	102	4	transmitted	transmit	VERB
alkej-698	102	5	via	via	ADP
alkej-698	102	6	an	an	DET
alkej-698	102	7	electronic	electronic	ADJ
alkej-698	102	8	circuit	circuit	NOUN
alkej-698	102	9	controlled	control	VERB
alkej-698	102	10	by	by	ADP
alkej-698	102	11	the	the	DET
alkej-698	102	12	arduino	arduino	NOUN
alkej-698	102	13	uno	uno	PROPN
alkej-698	102	14	.	.	PUNCT
alkej-698	103	1	as	as	SCONJ
alkej-698	103	2	it	it	PRON
alkej-698	103	3	's	be	AUX
alkej-698	103	4	known	know	VERB
alkej-698	103	5	,	,	PUNCT
alkej-698	103	6	the	the	DET
alkej-698	103	7	encoder	encoder	NOUN
alkej-698	103	8	possesses	possess	VERB
alkej-698	103	9	two	two	NUM
alkej-698	103	10	outputs	output	NOUN
alkej-698	103	11	a	a	PRON
alkej-698	103	12	and	and	CCONJ
alkej-698	103	13	b.	b.	PROPN
alkej-698	103	14	if	if	SCONJ
alkej-698	103	15	a	a	DET
alkej-698	103	16	operates	operate	NOUN
alkej-698	103	17	before	before	ADP
alkej-698	103	18	b	b	PROPN
alkej-698	103	19	,	,	PUNCT
alkej-698	103	20	the	the	DET
alkej-698	103	21	rotation	rotation	NOUN
alkej-698	103	22	is	be	AUX
alkej-698	103	23	to	to	ADP
alkej-698	103	24	the	the	DET
alkej-698	103	25	right	right	NOUN
alkej-698	103	26	and	and	CCONJ
alkej-698	103	27	if	if	SCONJ
alkej-698	103	28	the	the	DET
alkej-698	103	29	opposite	opposite	NOUN
alkej-698	103	30	is	be	AUX
alkej-698	103	31	to	to	ADP
alkej-698	103	32	the	the	DET
alkej-698	103	33	left	left	NOUN
alkej-698	103	34	.	.	PUNCT
alkej-698	104	1	the	the	DET
alkej-698	104	2	speed	speed	NOUN
alkej-698	104	3	of	of	ADP
alkej-698	104	4	operation	operation	NOUN
alkej-698	104	5	is	be	AUX
alkej-698	104	6	relative	relative	ADJ
alkej-698	104	7	to	to	ADP
alkej-698	104	8	the	the	DET
alkej-698	104	9	speed	speed	NOUN
alkej-698	104	10	at	at	ADP
alkej-698	104	11	which	which	PRON
alkej-698	104	12	the	the	DET
alkej-698	104	13	object	object	NOUN
alkej-698	104	14	moves	move	NOUN
alkej-698	104	15	(	(	PUNCT
alkej-698	104	16	the	the	DET
alkej-698	104	17	rotation	rotation	NOUN
alkej-698	104	18	speed	speed	NOUN
alkej-698	104	19	of	of	ADP
alkej-698	104	20	the	the	DET
alkej-698	104	21	table	table	NOUN
alkej-698	104	22	)	)	PUNCT
alkej-698	104	23	.	.	PUNCT
alkej-698	105	1	the	the	DET
alkej-698	105	2	interval	interval	NOUN
alkej-698	105	3	between	between	ADP
alkej-698	105	4	a	a	PRON
alkej-698	105	5	and	and	CCONJ
alkej-698	105	6	b	b	NOUN
alkej-698	105	7	is	be	AUX
alkej-698	105	8	the	the	DET
alkej-698	105	9	distance	distance	NOUN
alkej-698	105	10	from	from	ADP
alkej-698	105	11	which	which	PRON
alkej-698	105	12	a	a	PRON
alkej-698	105	13	and	and	CCONJ
alkej-698	105	14	b	b	NOUN
alkej-698	105	15	are	be	AUX
alkej-698	105	16	moved	move	VERB
alkej-698	105	17	.	.	PUNCT
alkej-698	106	1	number	number	NOUN
alkej-698	106	2	a	a	PROPN
alkej-698	106	3	and	and	CCONJ
alkej-698	106	4	b	b	NOUN
alkej-698	106	5	represent	represent	VERB
alkej-698	106	6	the	the	DET
alkej-698	106	7	number	number	NOUN
alkej-698	106	8	of	of	ADP
alkej-698	106	9	pulses	pulse	NOUN
alkej-698	106	10	transmitted	transmit	VERB
alkej-698	106	11	.	.	PUNCT
alkej-698	107	1	where	where	SCONJ
alkej-698	107	2	the	the	DET
alkej-698	107	3	number	number	NOUN
alkej-698	107	4	of	of	ADP
alkej-698	107	5	a	a	PRON
alkej-698	107	6	and	and	CCONJ
alkej-698	107	7	b	b	NOUN
alkej-698	107	8	of	of	ADP
alkej-698	107	9	the	the	DET
alkej-698	107	10	most	most	ADV
alkej-698	107	11	critical	critical	ADJ
alkej-698	107	12	specifications	specification	NOUN
alkej-698	107	13	of	of	ADP
alkej-698	107	14	the	the	DET
alkej-698	107	15	encoder	encoder	NOUN
alkej-698	107	16	.	.	PUNCT
alkej-698	108	1	in	in	ADP
alkej-698	108	2	this	this	DET
alkej-698	108	3	work	work	NOUN
alkej-698	108	4	,	,	PUNCT
alkej-698	108	5	each	each	DET
alkej-698	108	6	cycle	cycle	NOUN
alkej-698	108	7	gives	give	VERB
alkej-698	108	8	200	200	NUM
alkej-698	108	9	pulses	pulse	NOUN
alkej-698	108	10	to	to	ADP
alkej-698	108	11	the	the	DET
alkej-698	108	12	arduino	arduino	NOUN
alkej-698	108	13	.	.	PUNCT
alkej-698	109	1	when	when	SCONJ
alkej-698	109	2	moving	move	VERB
alkej-698	109	3	the	the	DET
alkej-698	109	4	arduino	arduino	NOUN
alkej-698	109	5	's	's	PART
alkej-698	109	6	arm	arm	NOUN
alkej-698	109	7	receives	receive	VERB
alkej-698	109	8	200	200	NUM
alkej-698	109	9	pulses	pulse	NOUN
alkej-698	109	10	,	,	PUNCT
alkej-698	109	11	the	the	DET
alkej-698	109	12	pulses	pulse	NOUN
alkej-698	109	13	of	of	ADP
alkej-698	109	14	the	the	DET
alkej-698	109	15	four	four	NUM
alkej-698	109	16	encoders	encoder	NOUN
alkej-698	109	17	are	be	AUX
alkej-698	109	18	grouped	group	VERB
alkej-698	109	19	with	with	ADP
alkej-698	109	20	equations	equation	NOUN
alkej-698	109	21	after	after	SCONJ
alkej-698	109	22	the	the	DET
alkej-698	109	23	pulses	pulse	NOUN
alkej-698	109	24	are	be	AUX
alkej-698	109	25	converted	convert	VERB
alkej-698	109	26	into	into	ADP
alkej-698	109	27	distances	distance	NOUN
alkej-698	109	28	.	.	PUNCT
alkej-698	110	1	the	the	DET
alkej-698	110	2	probe	probe	NOUN
alkej-698	110	3	tip	tip	NOUN
alkej-698	110	4	diverted	divert	VERB
alkej-698	110	5	from	from	ADP
alkej-698	110	6	the	the	DET
alkej-698	110	7	base	base	NOUN
alkej-698	110	8	of	of	ADP
alkej-698	110	9	the	the	DET
alkej-698	110	10	arms	arm	NOUN
alkej-698	110	11	,	,	PUNCT
alkej-698	110	12	using	use	VERB
alkej-698	110	13	equations	equation	NOUN
alkej-698	110	14	,	,	PUNCT
alkej-698	110	15	thus	thus	ADV
alkej-698	110	16	determining	determine	VERB
alkej-698	110	17	the	the	DET
alkej-698	110	18	position	position	NOUN
alkej-698	110	19	of	of	ADP
alkej-698	110	20	the	the	DET
alkej-698	110	21	tip	tip	NOUN
alkej-698	110	22	using	use	VERB
alkej-698	110	23	the	the	DET
alkej-698	110	24	reverse	reverse	NOUN
alkej-698	110	25	kinematic	kinematic	NOUN
alkej-698	110	26	.	.	PUNCT
alkej-698	111	1	when	when	SCONJ
alkej-698	111	2	knowing	know	VERB
alkej-698	111	3	the	the	DET
alkej-698	111	4	location	location	NOUN
alkej-698	111	5	of	of	ADP
alkej-698	111	6	the	the	DET
alkej-698	111	7	tip	tip	NOUN
alkej-698	111	8	of	of	ADP
alkej-698	111	9	the	the	DET
alkej-698	111	10	robot	robot	NOUN
alkej-698	111	11	.	.	PUNCT
alkej-698	112	1	the	the	DET
alkej-698	112	2	coordinates	coordinate	NOUN
alkej-698	112	3	of	of	ADP
alkej-698	112	4	the	the	DET
alkej-698	112	5	tip	tip	NOUN
alkej-698	112	6	of	of	ADP
alkej-698	112	7	the	the	DET
alkej-698	112	8	robot	robot	NOUN
alkej-698	112	9	are	be	AUX
alkej-698	112	10	sent	send	VERB
alkej-698	112	11	to	to	ADP
alkej-698	112	12	the	the	DET
alkej-698	112	13	software	software	NOUN
alkej-698	112	14	that	that	PRON
alkej-698	112	15	is	be	AUX
alkej-698	112	16	stored	store	VERB
alkej-698	112	17	in	in	ADP
alkej-698	112	18	the	the	DET
alkej-698	112	19	processing	processing	NOUN
alkej-698	112	20	program	program	NOUN
alkej-698	112	21	.	.	PUNCT
alkej-698	113	1	it	it	PRON
alkej-698	113	2	was	be	AUX
alkej-698	113	3	programmed	program	VERB
alkej-698	113	4	in	in	ADP
alkej-698	113	5	c	c	PROPN
alkej-698	113	6	+	+	PROPN
alkej-698	113	7	+	+	ADP
alkej-698	113	8	to	to	PART
alkej-698	113	9	control	control	VERB
alkej-698	113	10	the	the	DET
alkej-698	113	11	coordinates	coordinate	NOUN
alkej-698	113	12	programmatically	programmatically	ADV
alkej-698	113	13	via	via	ADP
alkej-698	113	14	the	the	DET
alkej-698	113	15	computer	computer	NOUN
alkej-698	113	16	with	with	ADP
alkej-698	113	17	six	six	NUM
alkej-698	113	18	buttons	button	NOUN
alkej-698	113	19	programmed	program	VERB
alkej-698	113	20	shown	show	VERB
alkej-698	113	21	in	in	ADP
alkej-698	113	22	figure	figure	NOUN
alkej-698	113	23	(	(	PUNCT
alkej-698	113	24	10	10	NUM
alkej-698	113	25	):	):	PUNCT
alkej-698	113	26	1button	1button	NUM
alkej-698	113	27	(	(	PUNCT
alkej-698	113	28	q	q	NOUN
alkej-698	113	29	)	)	PUNCT
alkej-698	113	30	scans	scan	NOUN
alkej-698	113	31	and	and	CCONJ
alkej-698	113	32	adds	add	VERB
alkej-698	113	33	all	all	DET
alkej-698	113	34	the	the	DET
alkej-698	113	35	points	point	NOUN
alkej-698	113	36	recorded	record	VERB
alkej-698	113	37	on	on	ADP
alkej-698	113	38	the	the	DET
alkej-698	113	39	interface	interface	NOUN
alkej-698	113	40	.	.	PUNCT
alkej-698	114	1	2button	2button	NUM
alkej-698	114	2	(	(	PUNCT
alkej-698	114	3	p	p	NOUN
alkej-698	114	4	)	)	PUNCT
alkej-698	114	5	draws	draw	VERB
alkej-698	114	6	a	a	DET
alkej-698	114	7	point	point	NOUN
alkej-698	114	8	at	at	ADP
alkej-698	114	9	that	that	DET
alkej-698	114	10	location	location	NOUN
alkej-698	114	11	.	.	PUNCT
alkej-698	115	1	3button	3button	NUM
alkej-698	115	2	(	(	PUNCT
alkej-698	115	3	c	c	X
alkej-698	115	4	)	)	PUNCT
alkej-698	115	5	draws	draw	VERB
alkej-698	115	6	a	a	DET
alkej-698	115	7	circle	circle	NOUN
alkej-698	115	8	at	at	ADP
alkej-698	115	9	that	that	DET
alkej-698	115	10	location	location	NOUN
alkej-698	115	11	.	.	PUNCT
alkej-698	116	1	4button	4button	NUM
alkej-698	116	2	(	(	PUNCT
alkej-698	116	3	f	f	X
alkej-698	116	4	)	)	PUNCT
alkej-698	116	5	draws	draw	VERB
alkej-698	116	6	a	a	DET
alkej-698	116	7	rectangle	rectangle	NOUN
alkej-698	116	8	at	at	ADP
alkej-698	116	9	that	that	DET
alkej-698	116	10	location	location	NOUN
alkej-698	116	11	.	.	PUNCT
alkej-698	117	1	5button	5button	NUM
alkej-698	117	2	(	(	PUNCT
alkej-698	117	3	m	m	NOUN
alkej-698	117	4	)	)	PUNCT
alkej-698	117	5	adjusts	adjust	VERB
alkej-698	117	6	the	the	DET
alkej-698	117	7	coordinates	coordinate	NOUN
alkej-698	117	8	in	in	ADP
alkej-698	117	9	the	the	DET
alkej-698	117	10	case	case	NOUN
alkej-698	117	11	of	of	ADP
alkej-698	117	12	moving	move	VERB
alkej-698	117	13	the	the	DET
alkej-698	117	14	figure	figure	NOUN
alkej-698	117	15	.	.	PUNCT
alkej-698	118	1	6button	6button	NUM
alkej-698	118	2	(	(	PUNCT
alkej-698	118	3	z	z	NOUN
alkej-698	118	4	)	)	PUNCT
alkej-698	118	5	stores	store	NOUN
alkej-698	118	6	the	the	DET
alkej-698	118	7	shape	shape	NOUN
alkej-698	118	8	drawn	draw	VERB
alkej-698	118	9	by	by	ADP
alkej-698	118	10	the	the	DET
alkej-698	118	11	user	user	NOUN
alkej-698	118	12	in	in	ADP
alkej-698	118	13	the	the	DET
alkej-698	118	14	form	form	NOUN
alkej-698	118	15	of	of	ADP
alkej-698	118	16	xyz	xyz	PROPN
alkej-698	118	17	,	,	PUNCT
alkej-698	118	18	where	where	SCONJ
alkej-698	118	19	it	it	PRON
alkej-698	118	20	can	can	AUX
alkej-698	118	21	be	be	AUX
alkej-698	118	22	reopened	reopen	VERB
alkej-698	118	23	by	by	ADP
alkej-698	118	24	editing	edit	VERB
alkej-698	118	25	programs	program	NOUN
alkej-698	118	26	to	to	PART
alkej-698	118	27	adjust	adjust	VERB
alkej-698	118	28	and	and	CCONJ
alkej-698	118	29	mislead	mislead	VERB
alkej-698	118	30	to	to	ADP
alkej-698	118	31	the	the	DET
alkej-698	118	32	clarity	clarity	NOUN
alkej-698	118	33	of	of	ADP
alkej-698	118	34	the	the	DET
alkej-698	118	35	shape	shape	NOUN
alkej-698	118	36	drawn	draw	VERB
alkej-698	118	37	.	.	PUNCT
alkej-698	119	1	6	6	X
alkej-698	119	2	.	.	X
alkej-698	119	3	software	software	NOUN
alkej-698	119	4	components	component	NOUN
alkej-698	119	5	programming	programming	NOUN
alkej-698	119	6	for	for	ADP
alkej-698	119	7	the	the	DET
alkej-698	119	8	device	device	NOUN
alkej-698	119	9	was	be	AUX
alkej-698	119	10	accomplished	accomplish	VERB
alkej-698	119	11	by	by	ADP
alkej-698	119	12	combining	combine	VERB
alkej-698	119	13	two	two	NUM
alkej-698	119	14	types	type	NOUN
alkej-698	119	15	of	of	ADP
alkej-698	119	16	programming	programming	NOUN
alkej-698	119	17	.	.	PUNCT
alkej-698	120	1	the	the	DET
alkej-698	120	2	first	first	ADJ
alkej-698	120	3	was	be	AUX
alkej-698	120	4	to	to	PART
alkej-698	120	5	convert	convert	VERB
alkej-698	120	6	the	the	DET
alkej-698	120	7	pulses	pulse	NOUN
alkej-698	120	8	that	that	PRON
alkej-698	120	9	received	receive	VERB
alkej-698	120	10	from	from	ADP
alkej-698	120	11	the	the	DET
alkej-698	120	12	movement	movement	NOUN
alkej-698	120	13	of	of	ADP
alkej-698	120	14	the	the	DET
alkej-698	120	15	first	first	ADJ
alkej-698	120	16	,	,	PUNCT
alkej-698	120	17	second	second	ADJ
alkej-698	120	18	,	,	PUNCT
alkej-698	120	19	third	third	ADJ
alkej-698	120	20	and	and	CCONJ
alkej-698	120	21	fourth	fourth	ADJ
alkej-698	120	22	.	.	PUNCT
alkej-698	121	1	pulses	pulse	NOUN
alkej-698	121	2	meet	meet	VERB
alkej-698	121	3	using	use	VERB
alkej-698	121	4	equations	equation	NOUN
alkej-698	121	5	,	,	PUNCT
alkej-698	121	6	and	and	CCONJ
alkej-698	121	7	pulses	pulse	NOUN
alkej-698	121	8	are	be	AUX
alkej-698	121	9	converted	convert	VERB
alkej-698	121	10	to	to	ADP
alkej-698	121	11	distances	distance	NOUN
alkej-698	121	12	and	and	CCONJ
alkej-698	121	13	by	by	ADP
alkej-698	121	14	geometric	geometric	ADJ
alkej-698	121	15	equations	equation	NOUN
alkej-698	121	16	are	be	AUX
alkej-698	121	17	converted	convert	VERB
alkej-698	121	18	in	in	ADP
alkej-698	121	19	to	to	ADP
alkej-698	121	20	ratios	ratio	NOUN
alkej-698	121	21	after	after	ADP
alkej-698	121	22	the	the	DET
alkej-698	121	23	head	head	NOUN
alkej-698	121	24	from	from	ADP
alkej-698	121	25	the	the	DET
alkej-698	121	26	base	base	NOUN
alkej-698	121	27	where	where	SCONJ
alkej-698	121	28	the	the	DET
alkej-698	121	29	head	head	NOUN
alkej-698	121	30	movement	movement	NOUN
alkej-698	121	31	is	be	AUX
alkej-698	121	32	converted	convert	VERB
alkej-698	121	33	to	to	ADP
alkej-698	121	34	any	any	DET
alkej-698	121	35	location	location	NOUN
alkej-698	121	36	within	within	ADP
alkej-698	121	37	the	the	DET
alkej-698	121	38	workspace	workspace	NOUN
alkej-698	121	39	.	.	PUNCT
alkej-698	122	1	this	this	PRON
alkej-698	122	2	is	be	AUX
alkej-698	122	3	translated	translate	VERB
alkej-698	122	4	to	to	ADP
alkej-698	122	5	a	a	DET
alkej-698	122	6	pulse	pulse	NOUN
alkej-698	122	7	to	to	ADP
alkej-698	122	8	the	the	DET
alkej-698	122	9	arduino	arduino	NOUN
alkej-698	122	10	where	where	SCONJ
alkej-698	122	11	it	it	PRON
alkej-698	122	12	is	be	AUX
alkej-698	122	13	recorded	record	VERB
alkej-698	122	14	,	,	PUNCT
alkej-698	122	15	and	and	CCONJ
alkej-698	122	16	then	then	ADV
alkej-698	122	17	sent	send	VERB
alkej-698	122	18	the	the	DET
alkej-698	122	19	location	location	NOUN
alkej-698	122	20	of	of	ADP
alkej-698	122	21	the	the	DET
alkej-698	122	22	head	head	NOUN
alkej-698	122	23	coordinates	coordinate	NOUN
alkej-698	122	24	(	(	PUNCT
alkej-698	122	25	x	x	NOUN
alkej-698	122	26	'	'	PUNCT
alkej-698	122	27	y	y	NOUN
alkej-698	122	28	'	'	PUNCT
alkej-698	122	29	g	g	NOUN
alkej-698	122	30	)	)	PUNCT
alkej-698	122	31	to	to	ADP
alkej-698	122	32	the	the	DET
alkej-698	122	33	program	program	NOUN
alkej-698	122	34	processing	processing	NOUN
alkej-698	122	35	where	where	SCONJ
alkej-698	122	36	it	it	PRON
alkej-698	122	37	decides	decide	VERB
alkej-698	122	38	whether	whether	SCONJ
alkej-698	122	39	the	the	DET
alkej-698	122	40	user	user	NOUN
alkej-698	122	41	of	of	ADP
alkej-698	122	42	the	the	DET
alkej-698	122	43	device	device	NOUN
alkej-698	122	44	pressing	press	VERB
alkej-698	122	45	the	the	DET
alkej-698	122	46	button	button	NOUN
alkej-698	122	47	draw	draw	NOUN
alkej-698	122	48	point	point	NOUN
alkej-698	122	49	or	or	CCONJ
alkej-698	122	50	the	the	DET
alkej-698	122	51	user	user	NOUN
alkej-698	122	52	did	do	AUX
alkej-698	122	53	not	not	PART
alkej-698	122	54	press	press	VERB
alkej-698	122	55	that	that	DET
alkej-698	122	56	button	button	NOUN
alkej-698	122	57	.	.	PUNCT
alkej-698	123	1	e0	e0	PROPN
alkej-698	123	2	e1	e1	PROPN
alkej-698	123	3	e2	e2	PROPN
alkej-698	123	4	e3	e3	NOUN
alkej-698	123	5	dhuha	dhuha	NOUN
alkej-698	123	6	mohammed	mohammed	PROPN
alkej-698	123	7	mahmood	mahmood	PROPN
alkej-698	123	8	al	al	PROPN
alkej-698	123	9	-	-	PUNCT
alkej-698	123	10	khwarizmi	khwarizmi	PROPN
alkej-698	123	11	engineering	engineering	NOUN
alkej-698	123	12	journal	journal	PROPN
alkej-698	123	13	,	,	PUNCT
alkej-698	123	14	vol	vol	NOUN
alkej-698	123	15	.	.	PROPN
alkej-698	123	16	15	15	NUM
alkej-698	123	17	,	,	PUNCT
alkej-698	123	18	no	no	INTJ
alkej-698	123	19	.	.	NOUN
alkej-698	123	20	4	4	NUM
alkej-698	123	21	,	,	PUNCT
alkej-698	123	22	p.p	p.p	PROPN
alkej-698	123	23	.	.	PROPN
alkej-698	123	24	4254	4254	NUM
alkej-698	123	25	(	(	PUNCT
alkej-698	123	26	2020	2020	NUM
alkej-698	123	27	)	)	PUNCT
alkej-698	123	28	49	49	NUM
alkej-698	123	29	fig	fig	NOUN
alkej-698	123	30	.	.	PUNCT
alkej-698	124	1	10	10	NUM
alkej-698	124	2	.	.	PUNCT
alkej-698	124	3	aacmm	aacmm	NOUN
alkej-698	124	4	programming	programming	NOUN
alkej-698	124	5	.	.	PUNCT
alkej-698	125	1	7	7	X
alkej-698	125	2	.	.	NOUN
alkej-698	125	3	steps	step	NOUN
alkej-698	125	4	to	to	PART
alkej-698	125	5	manufacture	manufacture	VERB
alkej-698	125	6	the	the	DET
alkej-698	125	7	machine	machine	NOUN
alkej-698	125	8	by	by	ADP
alkej-698	125	9	cnc	cnc	PROPN
alkej-698	125	10	machine	machine	NOUN
alkej-698	125	11	the	the	DET
alkej-698	125	12	aacmm	aacmm	NOUN
alkej-698	125	13	is	be	AUX
alkej-698	125	14	manufactured	manufacture	VERB
alkej-698	125	15	by	by	ADP
alkej-698	125	16	a	a	DET
alkej-698	125	17	cnc	cnc	PROPN
alkej-698	125	18	laser	laser	NOUN
alkej-698	125	19	machine	machine	NOUN
alkej-698	125	20	.	.	PUNCT
alkej-698	126	1	the	the	DET
alkej-698	126	2	code	code	NOUN
alkej-698	126	3	for	for	ADP
alkej-698	126	4	the	the	DET
alkej-698	126	5	work	work	NOUN
alkej-698	126	6	was	be	AUX
alkej-698	126	7	done	do	VERB
alkej-698	126	8	by	by	ADP
alkej-698	126	9	the	the	DET
alkej-698	126	10	program	program	NOUN
alkej-698	126	11	sold	sell	VERB
alkej-698	126	12	works	work	NOUN
alkej-698	126	13	and	and	CCONJ
alkej-698	126	14	experimented	experiment	VERB
alkej-698	126	15	with	with	SCONJ
alkej-698	126	16	the	the	DET
alkej-698	126	17	program	program	NOUN
alkej-698	126	18	to	to	PART
alkej-698	126	19	be	be	AUX
alkej-698	126	20	transferred	transfer	VERB
alkej-698	126	21	to	to	ADP
alkej-698	126	22	the	the	DET
alkej-698	126	23	machine	machine	NOUN
alkej-698	126	24	to	to	PART
alkej-698	126	25	be	be	AUX
alkej-698	126	26	cut	cut	VERB
alkej-698	126	27	and	and	CCONJ
alkej-698	126	28	drilling	drilling	NOUN
alkej-698	126	29	using	use	VERB
alkej-698	126	30	it	it	PRON
alkej-698	126	31	as	as	SCONJ
alkej-698	126	32	shown	show	VERB
alkej-698	126	33	in	in	ADP
alkej-698	126	34	the	the	DET
alkej-698	126	35	figure	figure	NOUN
alkej-698	126	36	below	below	ADP
alkej-698	126	37	fig	fig	NOUN
alkej-698	126	38	.	.	PUNCT
alkej-698	127	1	(	(	PUNCT
alkej-698	127	2	11	11	NUM
alkej-698	127	3	)	)	PUNCT
alkej-698	127	4	.	.	PUNCT
alkej-698	128	1	fig	fig	NOUN
alkej-698	128	2	.	.	PUNCT
alkej-698	129	1	11	11	NUM
alkej-698	129	2	.	.	PUNCT
alkej-698	130	1	solidworks	solidworks	PROPN
alkej-698	130	2	cam	cam	VERB
alkej-698	130	3	cnc	cnc	PROPN
alkej-698	130	4	manager	manager	NOUN
alkej-698	130	5	.	.	PUNCT
alkej-698	131	1	dhuha	dhuha	PROPN
alkej-698	131	2	mohammed	mohammed	PROPN
alkej-698	131	3	mahmood	mahmood	PROPN
alkej-698	131	4	al	al	PROPN
alkej-698	131	5	-	-	PUNCT
alkej-698	131	6	khwarizmi	khwarizmi	PROPN
alkej-698	131	7	engineering	engineering	NOUN
alkej-698	131	8	journal	journal	PROPN
alkej-698	131	9	,	,	PUNCT
alkej-698	131	10	vol	vol	NOUN
alkej-698	131	11	.	.	PROPN
alkej-698	131	12	15	15	NUM
alkej-698	131	13	,	,	PUNCT
alkej-698	131	14	no	no	INTJ
alkej-698	131	15	.	.	NOUN
alkej-698	131	16	4	4	NUM
alkej-698	131	17	,	,	PUNCT
alkej-698	131	18	p.p	p.p	PROPN
alkej-698	131	19	.	.	PROPN
alkej-698	131	20	4254	4254	NUM
alkej-698	131	21	(	(	PUNCT
alkej-698	131	22	2020	2020	NUM
alkej-698	131	23	)	)	PUNCT
alkej-698	131	24	50	50	NUM
alkej-698	131	25	8	8	NUM
alkej-698	131	26	.	.	PUNCT
alkej-698	132	1	building	build	VERB
alkej-698	132	2	the	the	DET
alkej-698	132	3	aacmm	aacmm	NOUN
alkej-698	132	4	kinematic	kinematic	NOUN
alkej-698	132	5	structure	structure	NOUN
alkej-698	132	6	(	(	PUNCT
alkej-698	132	7	implementation	implementation	NOUN
alkej-698	132	8	of	of	ADP
alkej-698	132	9	aaccm	aaccm	NOUN
alkej-698	132	10	)	)	PUNCT
alkej-698	132	11	the	the	DET
alkej-698	132	12	subsequent	subsequent	ADJ
alkej-698	132	13	stage	stage	NOUN
alkej-698	132	14	is	be	AUX
alkej-698	132	15	to	to	PART
alkej-698	132	16	choose	choose	VERB
alkej-698	132	17	the	the	DET
alkej-698	132	18	detail	detail	NOUN
alkej-698	132	19	of	of	ADP
alkej-698	132	20	each	each	DET
alkej-698	132	21	connection	connection	NOUN
alkej-698	132	22	,	,	PUNCT
alkej-698	132	23	joint	joint	NOUN
alkej-698	132	24	,	,	PUNCT
alkej-698	132	25	and	and	CCONJ
alkej-698	132	26	the	the	DET
alkej-698	132	27	base	base	NOUN
alkej-698	132	28	.	.	PUNCT
alkej-698	133	1	the	the	DET
alkej-698	133	2	structure	structure	NOUN
alkej-698	133	3	of	of	ADP
alkej-698	133	4	the	the	DET
alkej-698	133	5	aacmm	aacmm	NOUN
alkej-698	133	6	is	be	AUX
alkej-698	133	7	implemented	implement	VERB
alkej-698	133	8	with	with	ADP
alkej-698	133	9	plexiglass	plexiglass	NOUN
alkej-698	133	10	sheets	sheet	NOUN
alkej-698	133	11	so	so	SCONJ
alkej-698	133	12	as	as	SCONJ
alkej-698	133	13	to	to	PART
alkej-698	133	14	diminish	diminish	VERB
alkej-698	133	15	the	the	DET
alkej-698	133	16	general	general	ADJ
alkej-698	133	17	load	load	NOUN
alkej-698	133	18	of	of	ADP
alkej-698	133	19	the	the	DET
alkej-698	133	20	aacmm	aacmm	NOUN
alkej-698	133	21	.	.	PUNCT
alkej-698	134	1	the	the	DET
alkej-698	134	2	plexiglass	plexiglass	NOUN
alkej-698	134	3	sheets	sheet	NOUN
alkej-698	134	4	are	be	AUX
alkej-698	134	5	additionally	additionally	ADV
alkej-698	134	6	sufficiently	sufficiently	ADV
alkej-698	134	7	able	able	ADJ
alkej-698	134	8	to	to	PART
alkej-698	134	9	keep	keep	VERB
alkej-698	134	10	and	and	CCONJ
alkej-698	134	11	hold	hold	VERB
alkej-698	134	12	the	the	DET
alkej-698	134	13	entire	entire	ADJ
alkej-698	134	14	parts	part	NOUN
alkej-698	134	15	firmly	firmly	ADV
alkej-698	134	16	together	together	ADV
alkej-698	134	17	.	.	PUNCT
alkej-698	135	1	the	the	DET
alkej-698	135	2	arm	arm	NOUN
alkej-698	135	3	is	be	AUX
alkej-698	135	4	connected	connect	VERB
alkej-698	135	5	to	to	ADP
alkej-698	135	6	a	a	DET
alkej-698	135	7	base	base	NOUN
alkej-698	135	8	,	,	PUNCT
alkej-698	135	9	which	which	PRON
alkej-698	135	10	is	be	AUX
alkej-698	135	11	the	the	DET
alkej-698	135	12	base	base	ADJ
alkej-698	135	13	piece	piece	NOUN
alkej-698	135	14	of	of	ADP
alkej-698	135	15	the	the	DET
alkej-698	135	16	aacmm	aacmm	NOUN
alkej-698	135	17	.	.	PUNCT
alkej-698	136	1	the	the	DET
alkej-698	136	2	base	base	NOUN
alkej-698	136	3	should	should	AUX
alkej-698	136	4	have	have	VERB
alkej-698	136	5	an	an	DET
alkej-698	136	6	extensively	extensively	ADV
alkej-698	136	7	substantial	substantial	ADJ
alkej-698	136	8	load	load	NOUN
alkej-698	136	9	so	so	SCONJ
alkej-698	136	10	as	as	SCONJ
alkej-698	136	11	to	to	PART
alkej-698	136	12	keep	keep	VERB
alkej-698	136	13	up	up	ADP
alkej-698	136	14	the	the	DET
alkej-698	136	15	general	general	ADJ
alkej-698	136	16	equalization	equalization	NOUN
alkej-698	136	17	of	of	ADP
alkej-698	136	18	the	the	DET
alkej-698	136	19	aacmm	aacmm	NOUN
alkej-698	136	20	in	in	ADP
alkej-698	136	21	the	the	DET
alkej-698	136	22	event	event	NOUN
alkej-698	136	23	of	of	ADP
alkej-698	136	24	estimating	estimate	VERB
alkej-698	136	25	the	the	DET
alkej-698	136	26	various	various	ADJ
alkej-698	136	27	elements	element	NOUN
alkej-698	136	28	of	of	ADP
alkej-698	136	29	an	an	DET
alkej-698	136	30	item	item	NOUN
alkej-698	136	31	.	.	PUNCT
alkej-698	137	1	in	in	ADP
alkej-698	137	2	spite	spite	NOUN
alkej-698	137	3	of	of	ADP
alkej-698	137	4	the	the	DET
alkej-698	137	5	fact	fact	NOUN
alkej-698	137	6	that	that	SCONJ
alkej-698	137	7	utilizing	utilize	VERB
alkej-698	137	8	joins	join	NOUN
alkej-698	137	9	and	and	CCONJ
alkej-698	137	10	optical	optical	ADJ
alkej-698	137	11	encoders	encoder	NOUN
alkej-698	137	12	are	be	AUX
alkej-698	137	13	splendid	splendid	ADJ
alkej-698	137	14	,	,	PUNCT
alkej-698	137	15	however	however	ADV
alkej-698	137	16	physical	physical	ADJ
alkej-698	137	17	development	development	NOUN
alkej-698	137	18	of	of	ADP
alkej-698	137	19	the	the	DET
alkej-698	137	20	aacmm	aacmm	NOUN
alkej-698	137	21	is	be	AUX
alkej-698	137	22	finished	finish	VERB
alkej-698	137	23	by	by	ADP
alkej-698	137	24	utilizing	utilize	VERB
alkej-698	137	25	manual	manual	ADJ
alkej-698	137	26	movement	movement	NOUN
alkej-698	137	27	as	as	SCONJ
alkej-698	137	28	shown	show	VERB
alkej-698	137	29	in	in	ADP
alkej-698	137	30	figure	figure	NOUN
alkej-698	137	31	(	(	PUNCT
alkej-698	137	32	12	12	NUM
alkej-698	137	33	)	)	PUNCT
alkej-698	137	34	.	.	PUNCT
alkej-698	138	1	fig	fig	NOUN
alkej-698	138	2	.	.	PUNCT
alkej-698	139	1	12	12	NUM
alkej-698	139	2	.	.	PUNCT
alkej-698	140	1	simulation	simulation	NOUN
alkej-698	140	2	of	of	ADP
alkej-698	140	3	aacmm	aacmm	NOUN
alkej-698	140	4	in	in	ADP
alkej-698	140	5	solid	solid	ADJ
alkej-698	140	6	works	work	NOUN
alkej-698	140	7	.	.	PUNCT
alkej-698	141	1	to	to	PART
alkej-698	141	2	fabricate	fabricate	VERB
alkej-698	141	3	the	the	DET
alkej-698	141	4	aacmm	aacmm	NOUN
alkej-698	141	5	parts	part	NOUN
alkej-698	141	6	rapidly	rapidly	ADV
alkej-698	141	7	,	,	PUNCT
alkej-698	141	8	several	several	ADJ
alkej-698	141	9	factors	factor	NOUN
alkej-698	141	10	had	have	VERB
alkej-698	141	11	to	to	PART
alkej-698	141	12	be	be	AUX
alkej-698	141	13	studied	study	VERB
alkej-698	141	14	,	,	PUNCT
alkej-698	141	15	including	include	VERB
alkej-698	141	16	the	the	DET
alkej-698	141	17	limiting	limit	VERB
alkej-698	141	18	factors	factor	NOUN
alkej-698	141	19	discussed	discuss	VERB
alkej-698	141	20	previously	previously	ADV
alkej-698	141	21	in	in	ADP
alkej-698	141	22	the	the	DET
alkej-698	141	23	design	design	NOUN
alkej-698	141	24	process	process	NOUN
alkej-698	141	25	.	.	PUNCT
alkej-698	142	1	based	base	VERB
alkej-698	142	2	on	on	ADP
alkej-698	142	3	those	those	DET
alkej-698	142	4	reasons	reason	NOUN
alkej-698	142	5	,	,	PUNCT
alkej-698	142	6	the	the	DET
alkej-698	142	7	fabrication	fabrication	NOUN
alkej-698	142	8	process	process	NOUN
alkej-698	142	9	started	start	VERB
alkej-698	142	10	with	with	ADP
alkej-698	142	11	the	the	DET
alkej-698	142	12	preparation	preparation	NOUN
alkej-698	142	13	and	and	CCONJ
alkej-698	142	14	cutting	cutting	NOUN
alkej-698	142	15	of	of	ADP
alkej-698	142	16	the	the	DET
alkej-698	142	17	rotating	rotate	VERB
alkej-698	142	18	aacmm	aacmm	NOUN
alkej-698	142	19	base	base	NOUN
alkej-698	142	20	,	,	PUNCT
alkej-698	142	21	which	which	PRON
alkej-698	142	22	will	will	AUX
alkej-698	142	23	allow	allow	VERB
alkej-698	142	24	the	the	DET
alkej-698	142	25	user	user	NOUN
alkej-698	142	26	to	to	PART
alkej-698	142	27	be	be	AUX
alkej-698	142	28	able	able	ADJ
alkej-698	142	29	to	to	PART
alkej-698	142	30	rotate	rotate	VERB
alkej-698	142	31	the	the	DET
alkej-698	142	32	work	work	NOUN
alkej-698	142	33	part	part	NOUN
alkej-698	142	34	.	.	PUNCT
alkej-698	143	1	the	the	DET
alkej-698	143	2	finished	finished	ADJ
alkej-698	143	3	part	part	NOUN
alkej-698	143	4	is	be	AUX
alkej-698	143	5	shown	show	VERB
alkej-698	143	6	in	in	ADP
alkej-698	143	7	figure	figure	NOUN
alkej-698	143	8	(	(	PUNCT
alkej-698	143	9	13	13	NUM
alkej-698	143	10	)	)	PUNCT
alkej-698	143	11	below	below	ADV
alkej-698	143	12	.	.	PUNCT
alkej-698	144	1	fig	fig	NOUN
alkej-698	144	2	.	.	PUNCT
alkej-698	145	1	13	13	NUM
alkej-698	145	2	.	.	X
alkej-698	145	3	cnc	cnc	PROPN
alkej-698	145	4	laser	laser	NOUN
alkej-698	145	5	machine	machine	NOUN
alkej-698	145	6	.	.	PUNCT
alkej-698	146	1	next	next	ADV
alkej-698	146	2	,	,	PUNCT
alkej-698	146	3	the	the	DET
alkej-698	146	4	aacmm	aacmm	NOUN
alkej-698	146	5	arms	arm	NOUN
alkej-698	146	6	(	(	PUNCT
alkej-698	146	7	links	link	NOUN
alkej-698	146	8	)	)	PUNCT
alkej-698	146	9	were	be	AUX
alkej-698	146	10	manufactured	manufacture	VERB
alkej-698	146	11	.	.	PUNCT
alkej-698	147	1	those	those	PRON
alkej-698	147	2	are	be	AUX
alkej-698	147	3	the	the	DET
alkej-698	147	4	most	most	ADV
alkej-698	147	5	vital	vital	ADJ
alkej-698	147	6	parts	part	NOUN
alkej-698	147	7	of	of	ADP
alkej-698	147	8	the	the	DET
alkej-698	147	9	measurement	measurement	NOUN
alkej-698	147	10	process	process	NOUN
alkej-698	147	11	since	since	SCONJ
alkej-698	147	12	they	they	PRON
alkej-698	147	13	will	will	AUX
alkej-698	147	14	determine	determine	VERB
alkej-698	147	15	the	the	DET
alkej-698	147	16	accuracy	accuracy	NOUN
alkej-698	147	17	of	of	ADP
alkej-698	147	18	the	the	DET
alkej-698	147	19	kinematic	kinematic	ADJ
alkej-698	147	20	model	model	NOUN
alkej-698	147	21	and	and	CCONJ
alkej-698	147	22	the	the	DET
alkej-698	147	23	resulting	result	VERB
alkej-698	147	24	measurements	measurement	NOUN
alkej-698	147	25	.	.	PUNCT
alkej-698	148	1	figures	figure	NOUN
alkej-698	148	2	(	(	PUNCT
alkej-698	148	3	14	14	NUM
alkej-698	148	4	)	)	PUNCT
alkej-698	148	5	and	and	CCONJ
alkej-698	148	6	(	(	PUNCT
alkej-698	148	7	15	15	X
alkej-698	148	8	)	)	PUNCT
alkej-698	148	9	shows	show	VERB
alkej-698	148	10	the	the	DET
alkej-698	148	11	final	final	ADJ
alkej-698	148	12	design	design	NOUN
alkej-698	148	13	of	of	ADP
alkej-698	148	14	both	both	DET
alkej-698	148	15	parts	part	NOUN
alkej-698	148	16	.	.	PUNCT
alkej-698	149	1	fig	fig	NOUN
alkej-698	149	2	.	.	PUNCT
alkej-698	150	1	14	14	NUM
alkej-698	150	2	.	.	PUNCT
alkej-698	151	1	the	the	DET
alkej-698	151	2	main	main	ADJ
alkej-698	151	3	arm	arm	NOUN
alkej-698	151	4	.	.	PUNCT
alkej-698	152	1	fig	fig	NOUN
alkej-698	152	2	.	.	PUNCT
alkej-698	153	1	15	15	NUM
alkej-698	153	2	.	.	PUNCT
alkej-698	154	1	the	the	DET
alkej-698	154	2	arm	arm	NOUN
alkej-698	154	3	probe	probe	NOUN
alkej-698	154	4	.	.	PUNCT
alkej-698	155	1	it	it	PRON
alkej-698	155	2	should	should	AUX
alkej-698	155	3	be	be	AUX
alkej-698	155	4	mentioned	mention	VERB
alkej-698	155	5	that	that	SCONJ
alkej-698	155	6	these	these	DET
alkej-698	155	7	two	two	NUM
alkej-698	155	8	parts	part	NOUN
alkej-698	155	9	went	go	VERB
alkej-698	155	10	through	through	ADP
alkej-698	155	11	several	several	ADJ
alkej-698	155	12	design	design	NOUN
alkej-698	155	13	-	-	PUNCT
alkej-698	155	14	fabrication	fabrication	NOUN
alkej-698	155	15	cycles	cycle	NOUN
alkej-698	155	16	to	to	PART
alkej-698	155	17	bring	bring	VERB
alkej-698	155	18	their	their	PRON
alkej-698	155	19	characteristics	characteristic	NOUN
alkej-698	155	20	to	to	ADP
alkej-698	155	21	the	the	DET
alkej-698	155	22	supposed	suppose	VERB
alkej-698	155	23	and	and	CCONJ
alkej-698	155	24	required	required	ADJ
alkej-698	155	25	criteria	criterion	NOUN
alkej-698	155	26	.	.	PUNCT
alkej-698	156	1	those	those	DET
alkej-698	156	2	changes	change	NOUN
alkej-698	156	3	include	include	VERB
alkej-698	156	4	the	the	DET
alkej-698	156	5	fact	fact	NOUN
alkej-698	156	6	that	that	SCONJ
alkej-698	156	7	the	the	DET
alkej-698	156	8	design	design	NOUN
alkej-698	156	9	had	have	AUX
alkej-698	156	10	to	to	PART
alkej-698	156	11	be	be	AUX
alkej-698	156	12	altered	alter	VERB
alkej-698	156	13	in	in	ADP
alkej-698	156	14	connection	connection	NOUN
alkej-698	156	15	to	to	ADP
alkej-698	156	16	the	the	DET
alkej-698	156	17	work	work	NOUN
alkej-698	156	18	environment	environment	NOUN
alkej-698	156	19	.	.	PUNCT
alkej-698	157	1	the	the	DET
alkej-698	157	2	second	second	ADJ
alkej-698	157	3	modification	modification	NOUN
alkej-698	157	4	dhuha	dhuha	NOUN
alkej-698	157	5	mohammed	mohammed	PROPN
alkej-698	157	6	mahmood	mahmood	PROPN
alkej-698	157	7	al	al	PROPN
alkej-698	157	8	-	-	PUNCT
alkej-698	157	9	khwarizmi	khwarizmi	PROPN
alkej-698	157	10	engineering	engineering	NOUN
alkej-698	157	11	journal	journal	PROPN
alkej-698	157	12	,	,	PUNCT
alkej-698	157	13	vol	vol	NOUN
alkej-698	157	14	.	.	PROPN
alkej-698	157	15	15	15	NUM
alkej-698	157	16	,	,	PUNCT
alkej-698	157	17	no	no	INTJ
alkej-698	157	18	.	.	NOUN
alkej-698	157	19	4	4	NUM
alkej-698	157	20	,	,	PUNCT
alkej-698	157	21	p.p	p.p	PROPN
alkej-698	157	22	.	.	PROPN
alkej-698	157	23	4254	4254	NUM
alkej-698	157	24	(	(	PUNCT
alkej-698	157	25	2020	2020	NUM
alkej-698	157	26	)	)	PUNCT
alkej-698	157	27	51	51	NUM
alkej-698	157	28	required	require	VERB
alkej-698	157	29	that	that	SCONJ
alkej-698	157	30	the	the	DET
alkej-698	157	31	weight	weight	NOUN
alkej-698	157	32	of	of	ADP
alkej-698	157	33	the	the	DET
alkej-698	157	34	two	two	NUM
alkej-698	157	35	parts	part	NOUN
alkej-698	157	36	to	to	PART
alkej-698	157	37	reduced	reduce	VERB
alkej-698	157	38	,	,	PUNCT
alkej-698	157	39	design	design	NOUN
alkej-698	157	40	outcomes	outcome	NOUN
alkej-698	157	41	can	can	AUX
alkej-698	157	42	be	be	AUX
alkej-698	157	43	seen	see	VERB
alkej-698	157	44	in	in	ADP
alkej-698	157	45	figure	figure	NOUN
alkej-698	157	46	(	(	PUNCT
alkej-698	157	47	16	16	NUM
alkej-698	157	48	)	)	PUNCT
alkej-698	157	49	below	below	ADV
alkej-698	157	50	.	.	PUNCT
alkej-698	158	1	fig	fig	NOUN
alkej-698	158	2	.	.	PUNCT
alkej-698	159	1	16	16	NUM
alkej-698	159	2	.	.	PUNCT
alkej-698	160	1	the	the	DET
alkej-698	160	2	manufactured	manufacture	VERB
alkej-698	160	3	aacmm	aacmm	NOUN
alkej-698	160	4	arms	arm	NOUN
alkej-698	160	5	.	.	PUNCT
alkej-698	161	1	it	it	PRON
alkej-698	161	2	was	be	AUX
alkej-698	161	3	necessary	necessary	ADJ
alkej-698	161	4	to	to	PART
alkej-698	161	5	incorporate	incorporate	VERB
alkej-698	161	6	the	the	DET
alkej-698	161	7	new	new	ADJ
alkej-698	161	8	changes	change	NOUN
alkej-698	161	9	to	to	PART
alkej-698	161	10	bring	bring	VERB
alkej-698	161	11	these	these	DET
alkej-698	161	12	parts	part	NOUN
alkej-698	161	13	to	to	ADP
alkej-698	161	14	their	their	PRON
alkej-698	161	15	ultimate	ultimate	ADJ
alkej-698	161	16	design	design	NOUN
alkej-698	161	17	requirements	requirement	NOUN
alkej-698	161	18	.	.	PUNCT
alkej-698	162	1	the	the	DET
alkej-698	162	2	steps	step	NOUN
alkej-698	162	3	are	be	AUX
alkej-698	162	4	illustrated	illustrate	VERB
alkej-698	162	5	in	in	ADP
alkej-698	162	6	figures	figure	NOUN
alkej-698	162	7	(	(	PUNCT
alkej-698	162	8	17	17	NUM
alkej-698	162	9	)	)	PUNCT
alkej-698	162	10	,	,	PUNCT
alkej-698	162	11	and	and	CCONJ
alkej-698	162	12	(	(	PUNCT
alkej-698	162	13	18	18	NUM
alkej-698	162	14	)	)	PUNCT
alkej-698	162	15	.	.	PUNCT
alkej-698	163	1	fig	fig	NOUN
alkej-698	163	2	.	.	PUNCT
alkej-698	164	1	17	17	NUM
alkej-698	164	2	.	.	PUNCT
alkej-698	165	1	the	the	DET
alkej-698	165	2	machined	machine	VERB
alkej-698	165	3	parts	part	NOUN
alkej-698	165	4	.	.	PUNCT
alkej-698	165	5	fig	fig	NOUN
alkej-698	165	6	.	.	PUNCT
alkej-698	166	1	18	18	NUM
alkej-698	166	2	.	.	PUNCT
alkej-698	166	3	fabricated	fabricate	VERB
alkej-698	166	4	the	the	DET
alkej-698	166	5	two	two	NUM
alkej-698	166	6	arm	arm	NOUN
alkej-698	166	7	.	.	PUNCT
alkej-698	167	1	other	other	ADJ
alkej-698	167	2	components	component	NOUN
alkej-698	167	3	had	have	VERB
alkej-698	167	4	to	to	PART
alkej-698	167	5	be	be	AUX
alkej-698	167	6	3d	3d	NUM
alkej-698	167	7	printed	print	VERB
alkej-698	167	8	,	,	PUNCT
alkej-698	167	9	such	such	ADJ
alkej-698	167	10	as	as	ADP
alkej-698	167	11	the	the	DET
alkej-698	167	12	base	base	NOUN
alkej-698	167	13	legs	leg	NOUN
alkej-698	167	14	,	,	PUNCT
alkej-698	167	15	the	the	DET
alkej-698	167	16	arm	arm	NOUN
alkej-698	167	17	fixtures	fixture	VERB
alkej-698	167	18	pulleys	pulley	NOUN
alkej-698	167	19	,	,	PUNCT
alkej-698	167	20	and	and	CCONJ
alkej-698	167	21	the	the	DET
alkej-698	167	22	support	support	NOUN
alkej-698	167	23	rings	ring	NOUN
alkej-698	167	24	.	.	PUNCT
alkej-698	168	1	the	the	DET
alkej-698	168	2	support	support	NOUN
alkej-698	168	3	rings	ring	NOUN
alkej-698	168	4	play	play	VERB
alkej-698	168	5	an	an	DET
alkej-698	168	6	important	important	ADJ
alkej-698	168	7	role	role	NOUN
alkej-698	168	8	in	in	ADP
alkej-698	168	9	providing	provide	VERB
alkej-698	168	10	the	the	DET
alkej-698	168	11	aacmm	aacmm	NOUN
alkej-698	168	12	with	with	ADP
alkej-698	168	13	the	the	DET
alkej-698	168	14	geometric	geometric	ADJ
alkej-698	168	15	integrity	integrity	NOUN
alkej-698	168	16	to	to	PART
alkej-698	168	17	fulfill	fulfill	VERB
alkej-698	168	18	the	the	DET
alkej-698	168	19	kinematic	kinematic	ADJ
alkej-698	168	20	structure	structure	NOUN
alkej-698	168	21	and	and	CCONJ
alkej-698	168	22	kinematic	kinematic	ADJ
alkej-698	168	23	model	model	NOUN
alkej-698	168	24	requirements	requirement	NOUN
alkej-698	168	25	.	.	PUNCT
alkej-698	169	1	those	those	PRON
alkej-698	169	2	are	be	AUX
alkej-698	169	3	shown	show	VERB
alkej-698	169	4	in	in	ADP
alkej-698	169	5	figure	figure	NOUN
alkej-698	169	6	(	(	PUNCT
alkej-698	169	7	19	19	NUM
alkej-698	169	8	)	)	PUNCT
alkej-698	169	9	.	.	PUNCT
alkej-698	170	1	fig	fig	NOUN
alkej-698	170	2	.	.	PUNCT
alkej-698	171	1	19	19	NUM
alkej-698	171	2	.	.	PUNCT
alkej-698	172	1	the	the	DET
alkej-698	172	2	progress	progress	NOUN
alkej-698	172	3	of	of	ADP
alkej-698	172	4	the	the	DET
alkej-698	172	5	3d	3d	NOUN
alkej-698	172	6	printing	printing	NOUN
alkej-698	172	7	process	process	NOUN
alkej-698	172	8	.	.	PUNCT
alkej-698	173	1	9	9	X
alkej-698	173	2	.	.	X
alkej-698	173	3	the	the	DET
alkej-698	173	4	aacmm	aacmm	NOUN
alkej-698	173	5	assembly	assembly	NOUN
alkej-698	173	6	the	the	DET
alkej-698	173	7	process	process	NOUN
alkej-698	173	8	of	of	ADP
alkej-698	173	9	assembling	assemble	VERB
alkej-698	173	10	the	the	DET
alkej-698	173	11	various	various	ADJ
alkej-698	173	12	parts	part	NOUN
alkej-698	173	13	of	of	ADP
alkej-698	173	14	the	the	DET
alkej-698	173	15	aacmm	aacmm	NOUN
alkej-698	173	16	was	be	AUX
alkej-698	173	17	undertaken	undertake	VERB
alkej-698	173	18	as	as	ADV
alkej-698	173	19	soon	soon	ADV
alkej-698	173	20	as	as	SCONJ
alkej-698	173	21	the	the	DET
alkej-698	173	22	fabrication	fabrication	NOUN
alkej-698	173	23	and	and	CCONJ
alkej-698	173	24	3d	3d	NUM
alkej-698	173	25	printing	printing	NOUN
alkej-698	173	26	processes	process	NOUN
alkej-698	173	27	were	be	AUX
alkej-698	173	28	finished	finish	VERB
alkej-698	173	29	.	.	PUNCT
alkej-698	174	1	the	the	DET
alkej-698	174	2	process	process	NOUN
alkej-698	174	3	required	require	VERB
alkej-698	174	4	the	the	DET
alkej-698	174	5	same	same	ADJ
alkej-698	174	6	progress	progress	NOUN
alkej-698	174	7	of	of	ADP
alkej-698	174	8	assembling	assemble	VERB
alkej-698	174	9	the	the	DET
alkej-698	174	10	parts	part	NOUN
alkej-698	174	11	as	as	ADP
alkej-698	174	12	the	the	DET
alkej-698	174	13	design	design	NOUN
alkej-698	174	14	and	and	CCONJ
alkej-698	174	15	fabrication	fabrication	NOUN
alkej-698	174	16	processes	process	NOUN
alkej-698	174	17	.	.	PUNCT
alkej-698	175	1	starting	start	VERB
alkej-698	175	2	with	with	ADP
alkej-698	175	3	the	the	DET
alkej-698	175	4	base	base	NOUN
alkej-698	175	5	and	and	CCONJ
alkej-698	175	6	the	the	DET
alkej-698	175	7	3d	3d	NUM
alkej-698	175	8	printed	print	VERB
alkej-698	175	9	base	base	NOUN
alkej-698	175	10	legs	leg	NOUN
alkej-698	175	11	,	,	PUNCT
alkej-698	175	12	moving	move	VERB
alkej-698	175	13	to	to	ADP
alkej-698	175	14	the	the	DET
alkej-698	175	15	rotating	rotate	VERB
alkej-698	175	16	base	base	NOUN
alkej-698	175	17	,	,	PUNCT
alkej-698	175	18	and	and	CCONJ
alkej-698	175	19	then	then	ADV
alkej-698	175	20	the	the	DET
alkej-698	175	21	central	central	ADJ
alkej-698	175	22	arm	arm	NOUN
alkej-698	175	23	fixture	fixture	NOUN
alkej-698	175	24	.	.	PUNCT
alkej-698	176	1	once	once	SCONJ
alkej-698	176	2	the	the	DET
alkej-698	176	3	fixture	fixture	NOUN
alkej-698	176	4	was	be	AUX
alkej-698	176	5	installed	instal	VERB
alkej-698	176	6	,	,	PUNCT
alkej-698	176	7	the	the	DET
alkej-698	176	8	main	main	ADJ
alkej-698	176	9	arm	arm	NOUN
alkej-698	176	10	was	be	AUX
alkej-698	176	11	attached	attach	VERB
alkej-698	176	12	,	,	PUNCT
alkej-698	176	13	followed	follow	VERB
alkej-698	176	14	by	by	ADP
alkej-698	176	15	the	the	DET
alkej-698	176	16	probe	probe	NOUN
alkej-698	176	17	arm	arm	NOUN
alkej-698	176	18	.	.	PUNCT
alkej-698	177	1	during	during	ADP
alkej-698	177	2	the	the	DET
alkej-698	177	3	assembly	assembly	NOUN
alkej-698	177	4	,	,	PUNCT
alkej-698	177	5	various	various	ADJ
alkej-698	177	6	m3	m3	PROPN
alkej-698	177	7	and	and	CCONJ
alkej-698	177	8	m2	m2	PROPN
alkej-698	177	9	screws	screw	NOUN
alkej-698	177	10	were	be	AUX
alkej-698	177	11	used	use	VERB
alkej-698	177	12	.	.	PUNCT
alkej-698	178	1	figure	figure	NOUN
alkej-698	178	2	(	(	PUNCT
alkej-698	178	3	20	20	NUM
alkej-698	178	4	)	)	PUNCT
alkej-698	178	5	shows	show	VERB
alkej-698	178	6	the	the	DET
alkej-698	178	7	progress	progress	NOUN
alkej-698	178	8	of	of	ADP
alkej-698	178	9	the	the	DET
alkej-698	178	10	aacmm	aacmm	NOUN
alkej-698	178	11	assembly	assembly	NOUN
alkej-698	178	12	process	process	NOUN
alkej-698	178	13	.	.	PUNCT
alkej-698	179	1	dhuha	dhuha	PROPN
alkej-698	179	2	mohammed	mohammed	PROPN
alkej-698	179	3	mahmood	mahmood	PROPN
alkej-698	179	4	al	al	PROPN
alkej-698	179	5	-	-	PUNCT
alkej-698	179	6	khwarizmi	khwarizmi	PROPN
alkej-698	179	7	engineering	engineering	NOUN
alkej-698	179	8	journal	journal	PROPN
alkej-698	179	9	,	,	PUNCT
alkej-698	179	10	vol	vol	NOUN
alkej-698	179	11	.	.	PROPN
alkej-698	179	12	15	15	NUM
alkej-698	179	13	,	,	PUNCT
alkej-698	179	14	no	no	INTJ
alkej-698	179	15	.	.	NOUN
alkej-698	179	16	4	4	NUM
alkej-698	179	17	,	,	PUNCT
alkej-698	179	18	p.p	p.p	PROPN
alkej-698	179	19	.	.	PROPN
alkej-698	179	20	4254	4254	NUM
alkej-698	179	21	(	(	PUNCT
alkej-698	179	22	2020	2020	NUM
alkej-698	179	23	)	)	PUNCT
alkej-698	179	24	52	52	NUM
alkej-698	179	25	fig	fig	NOUN
alkej-698	179	26	.	.	PUNCT
alkej-698	180	1	20	20	NUM
alkej-698	180	2	.	.	PUNCT
alkej-698	180	3	assembly	assembly	NOUN
alkej-698	180	4	parts	part	NOUN
alkej-698	180	5	.	.	PUNCT
alkej-698	181	1	10	10	NUM
alkej-698	181	2	.	.	PUNCT
alkej-698	181	3	results	result	NOUN
alkej-698	181	4	and	and	CCONJ
alkej-698	181	5	conclusion	conclusion	NOUN
alkej-698	181	6	in	in	ADP
alkej-698	181	7	this	this	DET
alkej-698	181	8	exploration	exploration	NOUN
alkej-698	181	9	,	,	PUNCT
alkej-698	181	10	a	a	DET
alkej-698	181	11	beneficial	beneficial	ADJ
alkej-698	181	12	model	model	NOUN
alkej-698	181	13	of	of	ADP
alkej-698	181	14	the	the	DET
alkej-698	181	15	aacmm	aacmm	NOUN
alkej-698	181	16	was	be	AUX
alkej-698	181	17	proposed	propose	VERB
alkej-698	181	18	implemented	implement	VERB
alkej-698	181	19	,	,	PUNCT
alkej-698	181	20	to	to	PART
alkej-698	181	21	show	show	VERB
alkej-698	181	22	the	the	DET
alkej-698	181	23	machine	machine	NOUN
alkej-698	181	24	and	and	CCONJ
alkej-698	181	25	to	to	PART
alkej-698	181	26	demonstrate	demonstrate	VERB
alkej-698	181	27	the	the	DET
alkej-698	181	28	structure	structure	NOUN
alkej-698	181	29	idea	idea	NOUN
alkej-698	181	30	.	.	PUNCT
alkej-698	182	1	the	the	DET
alkej-698	182	2	aacmm	aacmm	NOUN
alkej-698	182	3	model	model	NOUN
alkej-698	182	4	was	be	AUX
alkej-698	182	5	utilized	utilize	VERB
alkej-698	182	6	to	to	PART
alkej-698	182	7	approve	approve	VERB
alkej-698	182	8	the	the	DET
alkej-698	182	9	arrangement	arrangement	NOUN
alkej-698	182	10	of	of	ADP
alkej-698	182	11	the	the	DET
alkej-698	182	12	kinematic	kinematic	ADJ
alkej-698	182	13	model	model	NOUN
alkej-698	182	14	.	.	PUNCT
alkej-698	183	1	results	result	NOUN
alkej-698	183	2	demonstrate	demonstrate	VERB
alkej-698	183	3	that	that	SCONJ
alkej-698	183	4	the	the	DET
alkej-698	183	5	kinematic	kinematic	ADJ
alkej-698	183	6	position	position	NOUN
alkej-698	183	7	model	model	NOUN
alkej-698	183	8	is	be	AUX
alkej-698	183	9	proficient	proficient	ADJ
alkej-698	183	10	in	in	ADP
alkej-698	183	11	deciding	decide	VERB
alkej-698	183	12	the	the	DET
alkej-698	183	13	position	position	NOUN
alkej-698	183	14	when	when	SCONJ
alkej-698	183	15	contrasted	contrast	VERB
alkej-698	183	16	and	and	CCONJ
alkej-698	183	17	estimations	estimation	NOUN
alkej-698	183	18	are	be	AUX
alkej-698	183	19	taken	take	VERB
alkej-698	183	20	physically	physically	ADV
alkej-698	183	21	.	.	PUNCT
alkej-698	184	1	a	a	DET
alkej-698	184	2	common	common	ADJ
alkej-698	184	3	distinction	distinction	NOUN
alkej-698	184	4	of	of	ADP
alkej-698	184	5	under	under	ADP
alkej-698	184	6	0.5	0.5	NUM
alkej-698	184	7	mm	mm	NOUN
alkej-698	184	8	more	more	ADJ
alkej-698	184	9	than	than	ADP
alkej-698	184	10	30	30	NUM
alkej-698	184	11	points	point	NOUN
alkej-698	184	12	was	be	AUX
alkej-698	184	13	accomplished	accomplish	VERB
alkej-698	184	14	.	.	PUNCT
alkej-698	185	1	this	this	DET
alkej-698	185	2	consequence	consequence	NOUN
alkej-698	185	3	of	of	ADP
alkej-698	185	4	the	the	DET
alkej-698	185	5	aacmm	aacmm	NOUN
alkej-698	185	6	estimations	estimation	NOUN
alkej-698	185	7	falls	fall	VERB
alkej-698	185	8	inside	inside	ADP
alkej-698	185	9	the	the	DET
alkej-698	185	10	blunder	blunder	NOUN
alkej-698	185	11	spending	spending	NOUN
alkej-698	185	12	plan	plan	NOUN
alkej-698	185	13	.	.	PUNCT
alkej-698	186	1	the	the	DET
alkej-698	186	2	device	device	NOUN
alkej-698	186	3	was	be	AUX
alkej-698	186	4	tested	test	VERB
alkej-698	186	5	on	on	ADP
alkej-698	186	6	a	a	DET
alkej-698	186	7	freeform	freeform	ADJ
alkej-698	186	8	surface	surface	NOUN
alkej-698	186	9	part	part	NOUN
alkej-698	186	10	(	(	PUNCT
alkej-698	186	11	mouse	mouse	NOUN
alkej-698	186	12	)	)	PUNCT
alkej-698	186	13	as	as	SCONJ
alkej-698	186	14	shown	show	VERB
alkej-698	186	15	in	in	ADP
alkej-698	186	16	figure	figure	NOUN
alkej-698	186	17	(	(	PUNCT
alkej-698	186	18	21	21	NUM
alkej-698	186	19	)	)	PUNCT
alkej-698	186	20	.	.	PUNCT
alkej-698	187	1	fig	fig	NOUN
alkej-698	187	2	.	.	PUNCT
alkej-698	188	1	21	21	NUM
alkej-698	188	2	.	.	PUNCT
alkej-698	189	1	during	during	ADP
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alkej-698	189	5	the	the	DET
alkej-698	189	6	aacmm	aacmm	NOUN
alkej-698	189	7	device	device	NOUN
alkej-698	189	8	.	.	PUNCT
alkej-698	190	1	dhuha	dhuha	PROPN
alkej-698	190	2	mohammed	mohammed	PROPN
alkej-698	190	3	mahmood	mahmood	PROPN
alkej-698	190	4	al	al	PROPN
alkej-698	190	5	-	-	PUNCT
alkej-698	190	6	khwarizmi	khwarizmi	PROPN
alkej-698	190	7	engineering	engineering	NOUN
alkej-698	190	8	journal	journal	PROPN
alkej-698	190	9	,	,	PUNCT
alkej-698	190	10	vol	vol	NOUN
alkej-698	190	11	.	.	PROPN
alkej-698	190	12	15	15	NUM
alkej-698	190	13	,	,	PUNCT
alkej-698	190	14	no	no	INTJ
alkej-698	190	15	.	.	NOUN
alkej-698	190	16	4	4	NUM
alkej-698	190	17	,	,	PUNCT
alkej-698	190	18	p.p	p.p	PROPN
alkej-698	190	19	.	.	PROPN
alkej-698	190	20	4254	4254	NUM
alkej-698	190	21	(	(	PUNCT
alkej-698	190	22	2020	2020	NUM
alkej-698	190	23	)	)	PUNCT
alkej-698	190	24	53	53	NUM
alkej-698	190	25	11	11	NUM
alkej-698	190	26	.	.	PUNCT
alkej-698	191	1	references	reference	NOUN
alkej-698	191	2	[	[	X
alkej-698	191	3	1	1	NUM
alkej-698	191	4	]	]	PUNCT
alkej-698	191	5	k.	k.	PROPN
alkej-698	191	6	gromczak	gromczak	PROPN
alkej-698	191	7	et	et	PROPN
alkej-698	191	8	al	al	PROPN
alkej-698	191	9	.	.	PROPN
alkej-698	191	10	,	,	PUNCT
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alkej-698	191	13	model	model	NOUN
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alkej-698	191	15	coordinate	coordinate	NOUN
alkej-698	191	16	measuring	measure	VERB
alkej-698	191	17	methods	method	NOUN
alkej-698	191	18	based	base	VERB
alkej-698	191	19	on	on	ADP
alkej-698	191	20	the	the	DET
alkej-698	191	21	concept	concept	NOUN
alkej-698	191	22	of	of	ADP
alkej-698	191	23	statistical	statistical	ADJ
alkej-698	191	24	consistency	consistency	NOUN
alkej-698	191	25	control	control	NOUN
alkej-698	191	26	,	,	PUNCT
alkej-698	191	27	"	"	PUNCT
alkej-698	191	28	precision	precision	NOUN
alkej-698	191	29	engineering	engineering	NOUN
alkej-698	191	30	,	,	PUNCT
alkej-698	191	31	vol	vol	NOUN
alkej-698	191	32	.	.	PROPN
alkej-698	191	33	45	45	NUM
alkej-698	191	34	,	,	PUNCT
alkej-698	191	35	pp	pp	ADJ
alkej-698	191	36	.	.	PUNCT
alkej-698	192	1	414	414	NUM
alkej-698	192	2	-	-	SYM
alkej-698	192	3	422	422	NUM
alkej-698	192	4	,	,	PUNCT
alkej-698	192	5	2016/07/01/	2016/07/01/	NUM
alkej-698	192	6	2016	2016	NUM
alkej-698	192	7	.	.	PUNCT
alkej-698	193	1	[	[	X
alkej-698	193	2	2	2	NUM
alkej-698	193	3	]	]	X
alkej-698	193	4	l.	l.	PROPN
alkej-698	193	5	nawara	nawara	PROPN
alkej-698	193	6	,	,	PUNCT
alkej-698	193	7	m.	m.	NOUN
alkej-698	193	8	kowalski	kowalski	PROPN
alkej-698	193	9	,	,	PUNCT
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alkej-698	193	11	j.	j.	PROPN
alkej-698	193	12	sladek	sladek	PROPN
alkej-698	193	13	,	,	PUNCT
alkej-698	193	14	"	"	PUNCT
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alkej-698	193	19	errors	error	NOUN
alkej-698	193	20	on	on	ADP
alkej-698	193	21	the	the	DET
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alkej-698	193	27	cmm	cmm	NOUN
alkej-698	193	28	,	,	PUNCT
alkej-698	193	29	"	"	PUNCT
alkej-698	193	30	cirp	cirp	NOUN
alkej-698	193	31	annals	annal	NOUN
alkej-698	193	32	,	,	PUNCT
alkej-698	193	33	vol	vol	NOUN
alkej-698	193	34	.	.	PROPN
alkej-698	193	35	38	38	NUM
alkej-698	193	36	,	,	PUNCT
alkej-698	193	37	no	no	INTJ
alkej-698	193	38	.	.	NOUN
alkej-698	193	39	1	1	NUM
alkej-698	193	40	,	,	PUNCT
alkej-698	193	41	pp	pp	ADJ
alkej-698	193	42	.	.	PUNCT
alkej-698	194	1	511	511	NUM
alkej-698	194	2	-	-	SYM
alkej-698	194	3	516	516	NUM
alkej-698	194	4	,	,	PUNCT
alkej-698	194	5	1989/01/01/	1989/01/01/	NUM
alkej-698	194	6	1989	1989	NUM
alkej-698	194	7	.	.	PUNCT
alkej-698	195	1	[	[	X
alkej-698	195	2	3	3	NUM
alkej-698	195	3	]	]	PUNCT
alkej-698	195	4	a.	a.	NOUN
alkej-698	195	5	weckenmann	weckenmann	NOUN
alkej-698	195	6	,	,	PUNCT
alkej-698	195	7	"	"	PUNCT
alkej-698	195	8	koordinatenmesstechnik	koordinatenmesstechnik	X
alkej-698	195	9	,	,	PUNCT
alkej-698	195	10	"	"	PUNCT
alkej-698	195	11	in	in	ADP
alkej-698	195	12	koordinatenmesstechnik	koordinatenmesstechnik	PROPN
alkej-698	195	13	,	,	PUNCT
alkej-698	195	14	w.	w.	PROPN
alkej-698	195	15	albert	albert	PROPN
alkej-698	195	16	,	,	PUNCT
alkej-698	195	17	ed	ed	NOUN
alkej-698	195	18	.	.	PUNCT
alkej-698	195	19	:	:	PUNCT
alkej-698	196	1	carl	carl	PROPN
alkej-698	196	2	hanser	hanser	PROPN
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alkej-698	196	4	gmbh	gmbh	PROPN
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alkej-698	196	6	co.	co.	PROPN
alkej-698	196	7	kg	kg	PROPN
alkej-698	196	8	,	,	PUNCT
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alkej-698	196	10	,	,	PUNCT
alkej-698	196	11	pp	pp	ADV
alkej-698	196	12	.	.	PUNCT
alkej-698	197	1	i	i	PRON
alkej-698	197	2	-	-	PUNCT
alkej-698	197	3	xviii	xviii	PROPN
alkej-698	197	4	.	.	PUNCT
alkej-698	198	1	[	[	X
alkej-698	198	2	4	4	X
alkej-698	198	3	]	]	PUNCT
alkej-698	198	4	k.	k.	PROPN
alkej-698	198	5	c.	c.	PROPN
alkej-698	198	6	fan	fan	PROPN
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alkej-698	198	8	f.	f.	PROPN
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alkej-698	198	10	,	,	PUNCT
alkej-698	198	11	w.	w.	PROPN
alkej-698	198	12	t.	t.	PROPN
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alkej-698	198	19	"	"	PUNCT
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alkej-698	198	31	machines	machine	NOUN
alkej-698	198	32	,	,	PUNCT
alkej-698	198	33	"	"	PUNCT
alkej-698	198	34	optoelectronics	optoelectronic	NOUN
alkej-698	198	35	,	,	PUNCT
alkej-698	198	36	instrumentation	instrumentation	NOUN
alkej-698	198	37	and	and	CCONJ
alkej-698	198	38	data	datum	NOUN
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alkej-698	198	40	,	,	PUNCT
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alkej-698	198	42	.	.	PROPN
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alkej-698	198	44	,	,	PUNCT
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alkej-698	198	46	.	.	NOUN
alkej-698	198	47	4	4	NUM
alkej-698	198	48	,	,	PUNCT
alkej-698	198	49	pp	pp	ADJ
alkej-698	198	50	.	.	PUNCT
alkej-698	198	51	340	340	NUM
alkej-698	198	52	-	-	SYM
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alkej-698	198	54	,	,	PUNCT
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alkej-698	198	56	2010	2010	NUM
alkej-698	198	57	.	.	PUNCT
alkej-698	199	1	[	[	X
alkej-698	199	2	5	5	X
alkej-698	199	3	]	]	PUNCT
alkej-698	199	4	p.	p.	NOUN
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alkej-698	199	6	,	,	PUNCT
alkej-698	199	7	m.	m.	NOUN
alkej-698	199	8	gruza	gruza	PROPN
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alkej-698	199	11	gąska	gąska	PROPN
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alkej-698	199	13	w.	w.	PROPN
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alkej-698	199	19	,	,	PUNCT
alkej-698	199	20	"	"	PUNCT
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alkej-698	199	35	measuring	measure	VERB
alkej-698	199	36	systems	system	NOUN
alkej-698	199	37	,	,	PUNCT
alkej-698	199	38	"	"	PUNCT
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alkej-698	199	46	,	,	PUNCT
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alkej-698	199	48	.	.	PROPN
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alkej-698	200	2	-	-	SYM
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alkej-698	200	4	,	,	PUNCT
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alkej-698	200	7	.	.	PUNCT
alkej-698	201	1	[	[	X
alkej-698	201	2	6	6	NUM
alkej-698	201	3	]	]	PUNCT
alkej-698	201	4	w.	w.	PROPN
alkej-698	201	5	k.	k.	PROPN
alkej-698	201	6	hamdan	hamdan	PROPN
alkej-698	201	7	,	,	PUNCT
alkej-698	201	8	and	and	CCONJ
alkej-698	201	9	m.	m.	NOUN
alkej-698	201	10	m.	m.	PROPN
alkej-698	201	11	abdulrazaq	abdulrazaq	PROPN
alkej-698	201	12	,	,	PUNCT
alkej-698	201	13	"	"	PUNCT
alkej-698	201	14	sculptured	sculptured	ADJ
alkej-698	201	15	surface	surface	NOUN
alkej-698	201	16	design	design	NOUN
alkej-698	201	17	and	and	CCONJ
alkej-698	201	18	implementatio	implementatio	NOUN
alkej-698	201	19	by	by	ADP
alkej-698	201	20	lofting	loft	VERB
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alkej-698	201	22	method	method	NOUN
alkej-698	201	23	using	use	VERB
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alkej-698	201	25	-	-	ADJ
alkej-698	201	26	sectional	sectional	ADJ
alkej-698	201	27	b	b	NOUN
alkej-698	201	28	-	-	PUNCT
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alkej-698	201	30	curves	curve	NOUN
alkej-698	201	31	"	"	PUNCT
alkej-698	201	32	.	.	PUNCT
alkej-698	202	1	al	al	PROPN
alkej-698	202	2	-	-	PUNCT
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alkej-698	202	6	,	,	PUNCT
alkej-698	202	7	14(2	14(2	NUM
alkej-698	202	8	)	)	PUNCT
alkej-698	202	9	,	,	PUNCT
alkej-698	202	10	pp.92	pp.92	NOUN
alkej-698	202	11	-	-	PUNCT
alkej-698	202	12	82,2018	82,2018	NUM
alkej-698	202	13	.	.	PUNCT
alkej-698	202	14	)	)	PUNCT
alkej-698	203	1	2020	2020	NUM
alkej-698	203	2	(	(	PUNCT
alkej-698	203	3	4254	4254	NUM
alkej-698	203	4	،	،	NOUN
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alkej-698	203	7	،	،	NOUN
alkej-698	203	8	16دجلة	16دجلة	PROPN
alkej-698	203	9	الخوارزمي	الخوارزمي	PROPN
alkej-698	203	10	الهندسية	الهندسية	PROPN
alkej-698	203	11	المجلم	المجلم	PROPN
alkej-698	203	12	ضحى	ضحى	PROPN
alkej-698	203	13	محمد	محمد	PROPN
alkej-698	203	14	محمود	محمود	PROPN
alkej-698	203	15	54	54	NUM
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alkej-698	203	17	عمليات	عمليات	VERB
alkej-698	203	18	الهندسة	الهندسة	PROPN
alkej-698	203	19	العكسية	العكسية	PROPN
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alkej-698	203	32	ضحى	ضحى	PROPN
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alkej-698	203	36	،	،	NOUN
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alkej-698	203	42	المؤتمت/	المؤتمت/	NUM
alkej-698	203	43	كلية	كلية	NOUN
alkej-698	203	44	الهندسة	الهندسة	VERB
alkej-698	203	45	الخوارزمي/	الخوارزمي/	NUM
alkej-698	203	46	جامعة	جامعة	NOUN
alkej-698	203	47	بغداد	بغداد	NOUN
alkej-698	203	48	gmil.com55duhamohammed@	gmil.com55duhamohammed@	PROPN
alkej-698	203	49	:	:	PUNCT
alkej-698	203	50	األلكترونيالبريد	األلكترونيالبريد	NOUN
alkej-698	203	51	*	*	PUNCT
alkej-698	204	1	ahmadhzaam@yahoo.comالبريد	ahmadhzaam@yahoo.comالبريد	PROPN
alkej-698	204	2	األلكتروني	األلكتروني	NOUN
alkej-698	204	3	:	:	PUNCT
alkej-698	204	4	*	*	PUNCT
alkej-698	204	5	*	*	PUNCT
alkej-698	204	6	الخالصة	الخالصة	NOUN
alkej-698	204	7	فكرة	فكرة	PROPN
alkej-698	204	8	البحث	البحث	VERB
alkej-698	204	9	هو	هو	INTJ
alkej-698	205	1	في	في	INTJ
alkej-698	205	2	الهندسة	الهندسة	VERB
alkej-698	205	3	العكسية	العكسية	PROPN
alkej-698	205	4	من	من	PROPN
alkej-698	205	5	خالل	خالل	PROPN
alkej-698	205	6	تصميم	تصميم	PROPN
alkej-698	206	1	وتصنيع	وتصنيع	PROPN
alkej-698	206	2	جهاز	جهاز	VERB
alkej-698	206	3	،	،	X
alkej-698	206	4	من	من	PRON
alkej-698	206	5	خالله	خالله	NOUN
alkej-698	206	6	يتم	يتم	PROPN
alkej-698	206	7	الحصول	الحصول	PROPN
alkej-698	206	8	على	على	PROPN
alkej-698	206	9	المخططات	المخططات	PROPN
alkej-698	206	10	التصميمية	التصميمية	PROPN
alkej-698	206	11	ألي	ألي	PROPN
alkej-698	206	12	جزء	جزء	PROPN
alkej-698	206	13	ميكانيكي	ميكانيكي	NOUN
alkej-698	206	14	عن	عن	VERB
alkej-698	206	15	ميا	ميا	NOUN
alkej-698	206	16	وبهذا	وبهذا	PROPN
alkej-698	206	17	لهذا	لهذا	X
alkej-698	206	18	المنتج	المنتج	VERB
alkej-698	206	19	المعين	المعين	PROPN
alkej-698	206	20	ومن	ومن	NOUN
alkej-698	206	21	ثم	ثم	ADP
alkej-698	206	22	نقل	نقل	ADJ
alkej-698	206	23	تلك	تلك	NOUN
alkej-698	206	24	المعلومات	المعلومات	VERB
alkej-698	206	25	الى	الى	PROPN
alkej-698	206	26	احدى	احدى	NOUN
alkej-698	207	1	المكائن	المكائن	PROPN
alkej-698	207	2	المبرمجة	المبرمجة	PROPN
alkej-698	208	1	رق	رق	PROPN
alkej-698	208	2	(	(	PUNCT
alkej-698	208	3	sti	sti	PROPN
alkej-698	208	4	)	)	PUNCT
alkej-698	208	5	طريق	طريق	PROPN
alkej-698	209	1	تصويره	تصويره	VERB
alkej-698	209	2	فتكون	فتكون	ADV
alkej-698	209	3	له	له	ADP
alkej-698	209	4	بيانات	بيانات	PROPN
alkej-698	209	5	رقميه	رقميه	PROPN
alkej-698	209	6	مجسمه	مجسمه	VERB
alkej-698	209	7	على	على	NOUN
alkej-698	209	8	صيغة	صيغة	PROPN
alkej-698	209	9	في	في	SCONJ
alkej-698	209	10	هذه	هذه	PROPN
alkej-698	209	11	الرسالة	الرسالة	PROPN
alkej-698	209	12	،	،	PROPN
alkej-698	209	13	تم	تم	PROPN
alkej-698	209	14	اقتراح	اقتراح	PROPN
alkej-698	209	15	نموذج	نموذج	PROPN
alkej-698	209	16	وتم	وتم	PROPN
alkej-698	209	17	تصنيعه	تصنيعه	X
alkej-698	209	18	واستخدامه	واستخدامه	ADV
alkej-698	210	1	في	في	SCONJ
alkej-698	210	2	الهندسة	الهندسة	VERB
alkej-698	210	3	العكسية	العكسية	PROPN
alkej-698	210	4	،	،	X
alkej-698	210	5	تمت	تمت	X
alkej-698	210	6	محاولة	محاولة	PROPN
alkej-698	210	7	تكون	تكون	VERB
alkej-698	210	8	العملية	العملية	PROPN
alkej-698	210	9	سهله	سهله	PROPN
alkej-698	210	10	لتصنيع	لتصنيع	PROPN
alkej-698	210	11	األجزاء	األجزاء	PROPN
alkej-698	210	12	الغير	الغير	PROPN
alkej-698	210	13	معروفة	معروفة	PROPN
alkej-698	210	14	المخططات	المخططات	PROPN
alkej-698	210	15	.	.	PUNCT
alkej-698	211	1	المعقدة	المعقدة	PROPN
alkej-698	211	2	،	،	PROPN
alkej-698	211	3	والتغلب	والتغلب	NOUN
alkej-698	211	4	مثل	مثل	NOUN
alkej-698	211	5	حل	حل	PROPN
alkej-698	211	6	حركيات	حركيات	PROPN
alkej-698	211	7	الحركة	الحركة	PROPN
alkej-698	211	8	aacmm	aacmm	NOUN
alkej-698	211	9	الجديد	الجديد	VERB
alkej-698	211	10	معالجة	معالجة	PROPN
alkej-698	211	11	المشكالت	المشكالت	PROPN
alkej-698	211	12	الشائعة	الشائعة	AUX
alkej-698	211	13	لـ	لـ	INTJ
alkej-698	211	14	aacm	aacm	PROPN
alkej-698	211	15	جديد	جديد	PROPN
alkej-698	211	16	وصنعه	وصنعه	PROPN
alkej-698	211	17	.	.	PUNCT
alkej-698	212	1	حاول	حاول	PROPN
alkej-698	212	2	تصميم	تصميم	PROPN
alkej-698	212	3	aacmmتصميم	aacmmتصميم	PROPN
alkej-698	212	4	جديد	جديد	PROPN
alkej-698	212	5	ومتوافق	ومتوافق	PROPN
alkej-698	212	6	يدمج	يدمج	PROPN
alkej-698	212	7	جميع	جميع	VERB
alkej-698	212	8	عوامل	عوامل	NOUN
alkej-698	212	9	التصميم	التصميم	ADP
alkej-698	212	10	المرنة	المرنة	NOUN
alkej-698	212	11	.	.	PUNCT
alkej-698	213	1	aacmm	aacmm	NOUN
alkej-698	213	2	على	على	PROPN
alkej-698	213	3	حدود	حدود	NOUN
alkej-698	213	4	مساحة	مساحة	VERB
alkej-698	213	5	العمل	العمل	PROPN
alkej-698	213	6	،	،	PROPN
alkej-698	213	7	وتجنب	وتجنب	PROPN
alkej-698	213	8	التفرد	التفرد	PROPN
alkej-698	213	9	والتخلص	والتخلص	NOUN
alkej-698	213	10	من	من	PROPN
alkej-698	213	11	آثار	آثار	ADJ
alkej-698	213	12	خطأ	خطأ	NOUN
alkej-698	213	13	التصميم	التصميم	ADV
alkej-698	214	1	من	من	PRON
alkej-698	214	2	خالل	خالل	PROPN
alkej-698	214	3	تصميم	تصميم	PROPN
alkej-698	215	1	ية	ية	PROPN
alkej-698	215	2	المطاف	المطاف	PROPN
alkej-698	215	3	دقة	دقة	PROPN
alkej-698	215	4	.	.	PUNCT
alkej-698	216	1	يُقال	يُقال	PUNCT
alkej-698	216	2	إن	إن	ADP
alkej-698	216	3	وفي	وفي	PROPN
alkej-698	216	4	نها	نها	PROPN
alkej-698	216	5	aacmm	aacmm	NOUN
alkej-698	216	6	يتم	يتم	PROPN
alkej-698	216	7	إعطاء	إعطاء	VERB
alkej-698	216	8	أنواع	أنواع	NOUN
alkej-698	216	9	مختلفة	مختلفة	PROPN
alkej-698	217	1	من	من	PROPN
alkej-698	217	2	عوامل	عوامل	NOUN
alkej-698	217	3	التصميم	التصميم	INTJ
alkej-698	217	4	والقيود	والقيود	PROPN
alkej-698	217	5	التي	التي	PROPN
alkej-698	217	6	تؤثر	تؤثر	PROPN
alkej-698	217	7	بشكل	بشكل	NOUN
alkej-698	217	8	كبير	كبير	VERB
alkej-698	217	9	على	على	PROPN
alkej-698	217	10	عمليات	عمليات	ADJ
alkej-698	217	11	اإلنتاج	اإلنتاج	PROPN
alkej-698	217	12	والتصنيع	والتصنيع	PROPN
alkej-698	217	13	دقيقة	دقيقة	NOUN
alkej-698	217	14	.	.	PUNCT
alkej-698	218	1	تم	تم	NOUN
alkej-698	218	2	التحقق	التحقق	NOUN
alkej-698	218	3	من	من	NUM
alkej-698	218	4	عوامل	عوامل	NOUN
alkej-698	218	5	التكلفة	التكلفة	VERB
alkej-698	218	6	والوقت	والوقت	PROPN
alkej-698	218	7	في	في	ADP
alkej-698	218	8	التصميم	التصميم	PROPN
alkej-698	218	9	والتصنيع	والتصنيع	PROPN
alkej-698	218	10	لها	لها	PROPN
alkej-698	218	11	التأثير	التأثير	VERB
alkej-698	218	12	األكثر	األكثر	PROPN
alkej-698	218	13	أهمية	أهمية	PROPN
alkej-698	218	14	.	.	PUNCT
alkej-698	219	1	ومع	ومع	PROPN
alkej-698	219	2	ذلك	ذلك	PROPN
alkej-698	219	3	،	،	PROPN
alkej-698	219	4	يجب	يجب	PROPN
alkej-698	219	5	مراعاة	مراعاة	PROPN
alkej-698	219	6	عوامل	عوامل	NOUN
alkej-698	219	7	الدقة	الدقة	NOUN
alkej-698	219	8	وبيئة	وبيئة	PROPN
alkej-698	219	9	العمل	العمل	PROPN
alkej-698	219	10	إلجراء	إلجراء	PROPN
alkej-698	219	11	قياسات	قياسات	PROPN
alkej-698	219	12	من	من	INTJ
alkej-698	219	13	أن	أن	ADV
alkej-698	219	14	التصميم	التصميم	VERB
alkej-698	219	15	كان	كان	PROPN
alkej-698	219	16	صحيًحا	صحيًحا	NOUN
alkej-698	219	17	من	من	DET
alkej-698	219	18	الناحية	الناحية	PROPN
alkej-698	220	1	الهيكلية.حيث	الهيكلية.حيث	PROPN
alkej-698	220	2	يتم	يتم	PROPN
alkej-698	220	3	صحة	صحة	PROPN
alkej-698	220	4	التصميم	التصميم	ADV
alkej-698	220	5	من	من	PROPN
alkej-698	220	6	خالل	خالل	PROPN
alkej-698	220	7	أساليب	أساليب	PROPN
alkej-698	220	8	مختلفة	مختلفة	PROPN
alkej-698	220	9	،	،	PROPN
alkej-698	220	10	مثل	مثل	PROPN
alkej-698	220	11	استخدام	استخدام	PROPN
alkej-698	220	12	تقنيات	تقنيات	PROPN
alkej-698	220	13	قياس	قياس	PROPN
alkej-698	220	14	العناصر	العناصر	NOUN
alkej-698	220	15	المحدودة	المحدودة	PROPN
alkej-698	220	16	،	،	PROPN
alkej-698	220	17	للتأكد	للتأكد	PROPN
alkej-698	220	18	ديل	ديل	PROPN
alkej-698	220	19	على	على	PROPN
alkej-698	220	20	النتائج	النتائج	PROPN
alkej-698	220	21	الحصول	الحصول	PROPN
alkej-698	220	22	من	من	PROPN
alkej-698	220	23	خالله	خالله	PROPN
alkej-698	220	24	على	على	NOUN
alkej-698	220	25	ما	ما	DET
alkej-698	220	26	يسمى	يسمى	NOUN
alkej-698	220	27	بالغيمة	بالغيمة	ADJ
alkej-698	220	28	النقطية	النقطية	NOUN
alkej-698	220	29	في	في	ADP
alkej-698	220	30	علم	علم	NOUN
alkej-698	220	31	المجسمات	المجسمات	VERB
alkej-698	220	32	ثالثية	ثالثية	NOUN
alkej-698	220	33	االبعاد	االبعاد	NOUN
alkej-698	220	34	.	.	PUNCT
alkej-698	221	1	تم	تم	PROPN
alkej-698	221	2	اجراء	اجراء	PROPN
alkej-698	221	3	الحسابات	الحسابات	VERB
alkej-698	221	4	والقياسات	والقياسات	PROPN
alkej-698	221	5	باستخدامه	باستخدامه	ADJ
alkej-698	221	6	وتم	وتم	NOUN
alkej-698	222	1	التتع	التتع	PROPN
alkej-698	223	1	ن	ن	PROPN
alkej-698	223	2	االنحرافات	االنحرافات	ADV
alkej-698	223	3	والتفاوتات	والتفاوتات	PROPN
alkej-698	223	4	باألبعاد	باألبعاد	ADV
alkej-698	223	5	.	.	PUNCT
alkej-698	224	1	وتم	وتم	PROPN
alkej-698	224	2	بالفعل	بالفعل	PROPN
alkej-698	224	3	الحصول	الحصول	PROPN
alkej-698	224	4	على	على	PROPN
alkej-698	224	5	جهاز	جهاز	ADJ
alkej-698	224	6	فعال	فعال	ADJ
alkej-698	224	7	وعملي	وعملي	NOUN
alkej-698	224	8	حقيقي	حقيقي	PROPN
alkej-698	224	9	لبيا	لبيا	PROPN
alkej-698	224	10	لألجزاء	لألجزاء	PROPN
alkej-698	224	11	األصلية	األصلية	AUX
alkej-698	224	12	والتقليدية	والتقليدية	ADP
alkej-698	224	13	(	(	PUNCT
alkej-698	224	14	geomagic	geomagic	ADJ
alkej-698	224	15	x	x	X
alkej-698	224	16	)	)	PUNCT
alkej-698	224	17	باستخدام	باستخدام	NOUN
alkej-698	224	18	برنامج	برنامج	NOUN
alkej-698	224	19	ة	ة	PROPN
alkej-698	224	20	بالجهاز	بالجهاز	VERB
alkej-698	224	21	باستخدام	باستخدام	NOUN
alkej-698	225	1	يتضمن	يتضمن	NOUN
alkej-698	225	2	الهدف	الهدف	ADP
alkej-698	225	3	الرئيسي	الرئيسي	PROPN
alkej-698	225	4	من	من	PROPN
alkej-698	225	5	هذه	هذه	PROPN
alkej-698	225	6	الورقة	الورقة	PROPN
alkej-698	225	7	البحثية	البحثية	PROPN
alkej-698	225	8	تصميم	تصميم	PROPN
alkej-698	225	9	وتنفيذ	وتنفيذ	PROPN
alkej-698	225	10	نموذج	نموذج	PROPN
alkej-698	225	11	ألة	ألة	PROPN
alkej-698	225	12	تنسيق	تنسيق	NOUN
alkej-698	225	13	االحداثيات	االحداثيات	PROPN
alkej-698	225	14	المفصلية	المفصلية	PROPN
alkej-698	225	15	الذراع	الذراع	PROPN
alkej-698	225	16	.يتم	.يتم	NOUN
alkej-698	226	1	التحكم	التحكم	NOUN
alkej-698	226	2	والبرمجة	والبرمجة	PROPN
alkej-698	226	3	الخاص	الخاص	PROPN
alkej-698	226	4	.	.	PUNCT
alkej-698	227	1	يقوم	يقوم	ADJ
alkej-698	227	2	المتحكم	المتحكم	NOUN
alkej-698	227	3	باستالم	باستالم	VERB
alkej-698	227	4	حاالت	حاالت	ADJ
alkej-698	227	5	المتحسسات	المتحسسات	NOUN
alkej-698	227	6	الموزعة	الموزعة	INTJ
alkej-698	227	7	بجميع	بجميع	PROPN
alkej-698	227	8	الفاصل	الفاصل	PROPN
alkej-698	227	9	للروبوت	للروبوت	PROPN
alkej-698	227	10	وينفذ	وينفذ	PROPN
alkej-698	227	11	القرارات	القرارات	PROPN
alkej-698	227	12	نسبة	نسبة	PROPN
alkej-698	227	13	arduinoم	arduinoم	PROPN
alkej-698	227	14	مع	مع	ADP
alkej-698	227	15	المتحك	المتحك	NOUN
alkej-698	227	16	processing	process	VERB
alkej-698	227	17	3برنامج	3برنامج	NUM
alkej-698	227	18	للبرنامج	للبرنامج	NOUN
alkej-698	227	19	لتشغيل	لتشغيل	NOUN
alkej-698	227	20	المشغالت	المشغالت	NOUN
alkej-698	227	21	.	.	PUNCT
alkej-698	228	1	يمكن	يمكن	PROPN
alkej-698	228	2	استخدام	استخدام	PROPN
alkej-698	228	3	هذا	هذا	PROPN
alkej-698	228	4	النموذج	النموذج	PROPN
alkej-698	228	5	في	في	SCONJ
alkej-698	228	6	المختبرات	المختبرات	PROPN
alkej-698	228	7	الهندسية	الهندسية	PROPN
alkej-698	228	8	العلمية	العلمية	PROPN
alkej-698	228	9	لتقريب	لتقريب	PROPN
alkej-698	228	10	الجانت	الجانت	PROPN
alkej-698	228	11	النظري	النظري	PROPN
alkej-698	228	12	على	على	PROPN
alkej-698	228	13	الجانب	الجانب	NOUN
alkej-698	228	14	العملي	العملي	ADJ
alkej-698	228	15	.	.	PUNCT