id	sid	tid	token	lemma	pos
alkej-747	1	1	4d6963726f736f667420576f7264202d20c8d4d1ec20e6e3c7e5d120e6c7cde3cf20e3cdd1e6d332392d3434	4d6963726f736f667420576f7264202d20c8d4d1ec20e6e3c7e5d120e6c7cde3cf20e3cdd1e6d332392d3434	X
alkej-747	1	2	>	>	X
alkej-747	1	3	this	this	PRON
alkej-747	1	4	is	be	AUX
alkej-747	1	5	an	an	DET
alkej-747	1	6	open	open	ADJ
alkej-747	1	7	access	access	NOUN
alkej-747	1	8	article	article	NOUN
alkej-747	1	9	under	under	ADP
alkej-747	1	10	the	the	DET
alkej-747	1	11	cc	cc	NOUN
alkej-747	1	12	by	by	ADP
alkej-747	1	13	license	license	NOUN
alkej-747	1	14	:	:	PUNCT
alkej-747	1	15	al	al	PROPN
alkej-747	1	16	-	-	PUNCT
alkej-747	1	17	khwarizmi	khwarizmi	PROPN
alkej-747	1	18	engineering	engineering	PROPN
alkej-747	1	19	journal	journal	PROPN
alkej-747	1	20	al	al	PROPN
alkej-747	1	21	-	-	PUNCT
alkej-747	1	22	khwarizmi	khwarizmi	PROPN
alkej-747	1	23	engineering	engineering	NOUN
alkej-747	1	24	journal	journal	PROPN
alkej-747	1	25	,	,	PUNCT
alkej-747	1	26	vol	vol	NOUN
alkej-747	1	27	.	.	PROPN
alkej-747	1	28	17	17	NUM
alkej-747	1	29	,	,	PUNCT
alkej-747	1	30	no	no	INTJ
alkej-747	1	31	.	.	NOUN
alkej-747	1	32	3	3	NUM
alkej-747	1	33	,	,	PUNCT
alkej-747	1	34	sptember	sptember	NOUN
alkej-747	1	35	,	,	PUNCT
alkej-747	1	36	(	(	PUNCT
alkej-747	1	37	2021	2021	NUM
alkej-747	1	38	)	)	PUNCT
alkej-747	2	1	p.	p.	NOUN
alkej-747	2	2	p.	p.	NOUN
alkej-747	3	1	29	29	NUM
alkej-747	3	2	-	-	SYM
alkej-747	3	3	44	44	NUM
alkej-747	3	4	simulation	simulation	NOUN
alkej-747	3	5	of	of	ADP
alkej-747	3	6	a	a	DET
alkej-747	3	7	self	self	NOUN
alkej-747	3	8	-	-	PUNCT
alkej-747	3	9	balancing	balance	VERB
alkej-747	3	10	platform	platform	NOUN
alkej-747	3	11	on	on	ADP
alkej-747	3	12	the	the	DET
alkej-747	3	13	mobile	mobile	ADJ
alkej-747	3	14	car	car	NOUN
alkej-747	3	15	bushra	bushra	PROPN
alkej-747	3	16	amer	amer	PROPN
alkej-747	3	17	tawfeeq	tawfeeq	PROPN
alkej-747	3	18	*	*	PROPN
alkej-747	3	19	maher	maher	PROPN
alkej-747	3	20	yahya	yahya	PROPN
alkej-747	3	21	salloom	salloom	PROPN
alkej-747	3	22	*	*	PROPN
alkej-747	3	23	*	*	PUNCT
alkej-747	3	24	ahmed	ahmed	PROPN
alkej-747	3	25	alkamachi	alkamachi	PROPN
alkej-747	3	26	*	*	PROPN
alkej-747	3	27	*	*	PUNCT
alkej-747	3	28	*	*	PUNCT
alkej-747	3	29	*	*	PUNCT
alkej-747	3	30	,	,	PUNCT
alkej-747	3	31	*	*	PUNCT
alkej-747	3	32	*	*	PUNCT
alkej-747	3	33	,	,	PUNCT
alkej-747	3	34	*	*	PUNCT
alkej-747	3	35	*	*	PUNCT
alkej-747	3	36	*	*	PUNCT
alkej-747	3	37	department	department	PROPN
alkej-747	3	38	of	of	ADP
alkej-747	3	39	mechatronics	mechatronic	NOUN
alkej-747	3	40	engineering/	engineering/	NUM
alkej-747	3	41	al	al	PROPN
alkej-747	3	42	-	-	PUNCT
alkej-747	3	43	khwarizmi	khwarizmi	PROPN
alkej-747	3	44	engineering	engineering	NOUN
alkej-747	3	45	college/	college/	PROPN
alkej-747	3	46	university	university	NOUN
alkej-747	3	47	of	of	ADP
alkej-747	3	48	baghdad	baghdad	PROPN
alkej-747	3	49	*	*	PUNCT
alkej-747	3	50	email	email	NOUN
alkej-747	3	51	:	:	PUNCT
alkej-747	4	1	bushra.a.tawfeeq@gmail.com	bushra.a.tawfeeq@gmail.com	PROPN
alkej-747	4	2	*	*	PUNCT
alkej-747	4	3	*	*	NOUN
alkej-747	4	4	email	email	NOUN
alkej-747	4	5	:	:	PUNCT
alkej-747	4	6	drmahir@kecbu.uobaghdad.edu.iq	drmahir@kecbu.uobaghdad.edu.iq	ADJ
alkej-747	4	7	*	*	PUNCT
alkej-747	4	8	*	*	PUNCT
alkej-747	4	9	*	*	NOUN
alkej-747	4	10	email	email	NOUN
alkej-747	4	11	:	:	PUNCT
alkej-747	4	12	ahmed78@kecbu.uobaghdad.edu.iq	ahmed78@kecbu.uobaghdad.edu.iq	PROPN
alkej-747	4	13	(	(	PUNCT
alkej-747	4	14	received	receive	VERB
alkej-747	4	15	27	27	NUM
alkej-747	4	16	july	july	PROPN
alkej-747	4	17	2021	2021	NUM
alkej-747	4	18	;	;	PUNCT
alkej-747	4	19	revised	revise	VERB
alkej-747	4	20	17	17	NUM
alkej-747	4	21	september	september	PROPN
alkej-747	4	22	2021	2021	NUM
alkej-747	4	23	;	;	PUNCT
alkej-747	4	24	accepted	accept	VERB
alkej-747	4	25	29	29	NUM
alkej-747	4	26	september	september	PROPN
alkej-747	4	27	2021	2021	NUM
alkej-747	4	28	)	)	PUNCT
alkej-747	4	29	https://doi.org/10.22153/kej.2021.09.003	https://doi.org/10.22153/kej.2021.09.003	X
alkej-747	4	30	abstract	abstract	NOUN
alkej-747	4	31	in	in	ADP
alkej-747	4	32	the	the	DET
alkej-747	4	33	last	last	ADJ
alkej-747	4	34	years	year	NOUN
alkej-747	4	35	,	,	PUNCT
alkej-747	4	36	the	the	DET
alkej-747	4	37	self	self	NOUN
alkej-747	4	38	-	-	PUNCT
alkej-747	4	39	balancing	balance	VERB
alkej-747	4	40	platform	platform	NOUN
alkej-747	4	41	has	have	AUX
alkej-747	4	42	become	become	VERB
alkej-747	4	43	one	one	NUM
alkej-747	4	44	of	of	ADP
alkej-747	4	45	the	the	DET
alkej-747	4	46	most	most	ADV
alkej-747	4	47	common	common	ADJ
alkej-747	4	48	candidates	candidate	NOUN
alkej-747	4	49	to	to	PART
alkej-747	4	50	use	use	VERB
alkej-747	4	51	in	in	ADP
alkej-747	4	52	many	many	ADJ
alkej-747	4	53	applications	application	NOUN
alkej-747	4	54	such	such	ADJ
alkej-747	4	55	as	as	ADP
alkej-747	4	56	flight	flight	NOUN
alkej-747	4	57	,	,	PUNCT
alkej-747	4	58	biomedical	biomedical	ADJ
alkej-747	4	59	fields	field	NOUN
alkej-747	4	60	,	,	PUNCT
alkej-747	4	61	industry	industry	NOUN
alkej-747	4	62	.	.	PUNCT
alkej-747	5	1	this	this	DET
alkej-747	5	2	paper	paper	NOUN
alkej-747	5	3	introduced	introduce	VERB
alkej-747	5	4	the	the	DET
alkej-747	5	5	simulated	simulated	ADJ
alkej-747	5	6	model	model	NOUN
alkej-747	5	7	of	of	ADP
alkej-747	5	8	a	a	DET
alkej-747	5	9	proposed	propose	VERB
alkej-747	5	10	selfbalancing	selfbalancing	NOUN
alkej-747	5	11	platform	platform	NOUN
alkej-747	5	12	that	that	PRON
alkej-747	5	13	described	describe	VERB
alkej-747	5	14	the	the	DET
alkej-747	5	15	self	self	NOUN
alkej-747	5	16	–	–	PUNCT
alkej-747	5	17	balancing	balance	VERB
alkej-747	5	18	attitude	attitude	NOUN
alkej-747	5	19	in	in	ADP
alkej-747	5	20	(	(	PUNCT
alkej-747	5	21	x	x	NOUN
alkej-747	5	22	-	-	NOUN
alkej-747	5	23	axis	axis	ADJ
alkej-747	5	24	,	,	PUNCT
alkej-747	5	25	y	y	NOUN
alkej-747	5	26	-	-	PUNCT
alkej-747	5	27	axis	axis	NOUN
alkej-747	5	28	,	,	PUNCT
alkej-747	5	29	or	or	CCONJ
alkej-747	5	30	both	both	DET
alkej-747	5	31	axis	axis	NOUN
alkej-747	5	32	)	)	PUNCT
alkej-747	5	33	under	under	ADP
alkej-747	5	34	the	the	DET
alkej-747	5	35	influence	influence	NOUN
alkej-747	5	36	of	of	ADP
alkej-747	5	37	road	road	NOUN
alkej-747	5	38	disturbance	disturbance	NOUN
alkej-747	5	39	.	.	PUNCT
alkej-747	6	1	to	to	PART
alkej-747	6	2	simulate	simulate	VERB
alkej-747	6	3	the	the	DET
alkej-747	6	4	self	self	NOUN
alkej-747	6	5	-	-	PUNCT
alkej-747	6	6	balanced	balance	VERB
alkej-747	6	7	platform	platform	NOUN
alkej-747	6	8	's	's	PART
alkej-747	6	9	performance	performance	NOUN
alkej-747	6	10	during	during	ADP
alkej-747	6	11	the	the	DET
alkej-747	6	12	tilt	tilt	NOUN
alkej-747	6	13	,	,	PUNCT
alkej-747	6	14	an	an	DET
alkej-747	6	15	integration	integration	NOUN
alkej-747	6	16	between	between	ADP
alkej-747	6	17	solidworks	solidworks	PROPN
alkej-747	6	18	,	,	PUNCT
alkej-747	6	19	simscape	simscape	NOUN
alkej-747	6	20	,	,	PUNCT
alkej-747	6	21	and	and	CCONJ
alkej-747	6	22	simulink	simulink	NOUN
alkej-747	6	23	toolboxes	toolbox	NOUN
alkej-747	6	24	in	in	ADP
alkej-747	6	25	matlab	matlab	PROPN
alkej-747	6	26	was	be	AUX
alkej-747	6	27	used	use	VERB
alkej-747	6	28	.	.	PUNCT
alkej-747	7	1	the	the	DET
alkej-747	7	2	platform	platform	NOUN
alkej-747	7	3	's	's	PART
alkej-747	7	4	dynamic	dynamic	ADJ
alkej-747	7	5	model	model	NOUN
alkej-747	7	6	was	be	AUX
alkej-747	7	7	drawn	draw	VERB
alkej-747	7	8	in	in	ADP
alkej-747	7	9	solidworks	solidworks	PROPN
alkej-747	7	10	and	and	CCONJ
alkej-747	7	11	exported	export	VERB
alkej-747	7	12	as	as	ADP
alkej-747	7	13	a	a	DET
alkej-747	7	14	step	step	NOUN
alkej-747	7	15	file	file	NOUN
alkej-747	7	16	used	use	VERB
alkej-747	7	17	in	in	ADP
alkej-747	7	18	the	the	DET
alkej-747	7	19	simscape	simscape	NOUN
alkej-747	7	20	multibody	multibody	NOUN
alkej-747	7	21	environment	environment	NOUN
alkej-747	7	22	.	.	PUNCT
alkej-747	8	1	the	the	DET
alkej-747	8	2	system	system	NOUN
alkej-747	8	3	is	be	AUX
alkej-747	8	4	controlled	control	VERB
alkej-747	8	5	using	use	VERB
alkej-747	8	6	the	the	DET
alkej-747	8	7	proportional	proportional	ADJ
alkej-747	8	8	-	-	PUNCT
alkej-747	8	9	integral	integral	ADJ
alkej-747	8	10	-	-	PUNCT
alkej-747	8	11	derivative	derivative	ADJ
alkej-747	8	12	(	(	PUNCT
alkej-747	8	13	pid	pid	NOUN
alkej-747	8	14	)	)	PUNCT
alkej-747	8	15	controller	controller	NOUN
alkej-747	8	16	to	to	PART
alkej-747	8	17	maintain	maintain	VERB
alkej-747	8	18	the	the	DET
alkej-747	8	19	platform	platform	NOUN
alkej-747	8	20	leveled	level	VERB
alkej-747	8	21	and	and	CCONJ
alkej-747	8	22	compensate	compensate	VERB
alkej-747	8	23	for	for	ADP
alkej-747	8	24	any	any	DET
alkej-747	8	25	road	road	NOUN
alkej-747	8	26	disturbances	disturbance	NOUN
alkej-747	8	27	.	.	PUNCT
alkej-747	9	1	several	several	ADJ
alkej-747	9	2	road	road	NOUN
alkej-747	9	3	disturbances	disturbance	NOUN
alkej-747	9	4	scenarios	scenario	NOUN
alkej-747	9	5	were	be	AUX
alkej-747	9	6	designed	design	VERB
alkej-747	9	7	in	in	ADP
alkej-747	9	8	the	the	DET
alkej-747	9	9	x	x	NOUN
alkej-747	9	10	-	-	NOUN
alkej-747	9	11	axis	axis	ADJ
alkej-747	9	12	,	,	PUNCT
alkej-747	9	13	y	y	NOUN
alkej-747	9	14	-	-	PUNCT
alkej-747	9	15	axis	axis	NOUN
alkej-747	9	16	,	,	PUNCT
alkej-747	9	17	or	or	CCONJ
alkej-747	9	18	both	both	DET
alkej-747	9	19	axis	axis	NOUN
alkej-747	9	20	(	(	PUNCT
alkej-747	9	21	the	the	DET
alkej-747	9	22	pitch	pitch	NOUN
alkej-747	9	23	and	and	CCONJ
alkej-747	9	24	roll	roll	NOUN
alkej-747	9	25	angles	angle	NOUN
alkej-747	9	26	)	)	PUNCT
alkej-747	9	27	to	to	PART
alkej-747	9	28	examine	examine	VERB
alkej-747	9	29	the	the	DET
alkej-747	9	30	controller	controller	NOUN
alkej-747	9	31	effectiveness	effectiveness	NOUN
alkej-747	9	32	.	.	PUNCT
alkej-747	10	1	the	the	DET
alkej-747	10	2	simulation	simulation	NOUN
alkej-747	10	3	results	result	NOUN
alkej-747	10	4	indicate	indicate	VERB
alkej-747	10	5	that	that	SCONJ
alkej-747	10	6	that	that	SCONJ
alkej-747	10	7	the	the	DET
alkej-747	10	8	platform	platform	NOUN
alkej-747	10	9	completed	complete	VERB
alkej-747	10	10	selfbalancing	selfbalance	VERB
alkej-747	10	11	under	under	ADP
alkej-747	10	12	the	the	DET
alkej-747	10	13	effect	effect	NOUN
alkej-747	10	14	of	of	ADP
alkej-747	10	15	disturbance	disturbance	NOUN
alkej-747	10	16	(	(	PUNCT
alkej-747	10	17	10	10	NUM
alkej-747	10	18	°	°	NUM
alkej-747	10	19	and	and	CCONJ
alkej-747	10	20	-10	-10	NUM
alkej-747	10	21	°	°	NUM
alkej-747	10	22	)	)	PUNCT
alkej-747	10	23	on	on	ADP
alkej-747	10	24	the	the	DET
alkej-747	10	25	x	x	NOUN
alkej-747	10	26	-	-	NOUN
alkej-747	10	27	axis	axis	ADJ
alkej-747	10	28	,	,	PUNCT
alkej-747	10	29	y	y	NOUN
alkej-747	10	30	-	-	PUNCT
alkej-747	10	31	axis	axis	NOUN
alkej-747	10	32	,	,	PUNCT
alkej-747	10	33	and	and	CCONJ
alkej-747	10	34	both	both	DET
alkej-747	10	35	axes	axis	NOUN
alkej-747	10	36	in	in	ADP
alkej-747	10	37	less	less	ADJ
alkej-747	10	38	than	than	ADP
alkej-747	10	39	two	two	NUM
alkej-747	10	40	milliseconds	millisecond	NOUN
alkej-747	10	41	.	.	PUNCT
alkej-747	11	1	therefore	therefore	ADV
alkej-747	11	2	,	,	PUNCT
alkej-747	11	3	a	a	DET
alkej-747	11	4	proposed	propose	VERB
alkej-747	11	5	self	self	NOUN
alkej-747	11	6	-	-	PUNCT
alkej-747	11	7	balancing	balance	VERB
alkej-747	11	8	platform	platform	NOUN
alkej-747	11	9	's	's	PART
alkej-747	11	10	simulated	simulated	ADJ
alkej-747	11	11	model	model	NOUN
alkej-747	11	12	has	have	VERB
alkej-747	11	13	a	a	DET
alkej-747	11	14	high	high	ADJ
alkej-747	11	15	self	self	NOUN
alkej-747	11	16	-	-	PUNCT
alkej-747	11	17	balancing	balance	VERB
alkej-747	11	18	accuracy	accuracy	NOUN
alkej-747	11	19	and	and	CCONJ
alkej-747	11	20	meets	meet	VERB
alkej-747	11	21	operational	operational	ADJ
alkej-747	11	22	requirements	requirement	NOUN
alkej-747	11	23	despite	despite	SCONJ
alkej-747	11	24	its	its	PRON
alkej-747	11	25	simple	simple	ADJ
alkej-747	11	26	design	design	NOUN
alkej-747	11	27	.	.	PUNCT
alkej-747	12	1	keywords	keyword	NOUN
alkej-747	12	2	:	:	PUNCT
alkej-747	12	3	self	self	NOUN
alkej-747	12	4	-	-	PUNCT
alkej-747	12	5	balancing	balance	VERB
alkej-747	12	6	platform	platform	NOUN
alkej-747	12	7	,	,	PUNCT
alkej-747	12	8	(	(	PUNCT
alkej-747	12	9	pid	pid	NOUN
alkej-747	12	10	)	)	PUNCT
alkej-747	12	11	controller	controller	NOUN
alkej-747	12	12	,	,	PUNCT
alkej-747	12	13	solid	solid	ADJ
alkej-747	12	14	work	work	NOUN
alkej-747	12	15	,	,	PUNCT
alkej-747	12	16	software	software	NOUN
alkej-747	12	17	,	,	PUNCT
alkej-747	12	18	matlab	matlab	PROPN
alkej-747	12	19	,	,	PUNCT
alkej-747	12	20	simscape	simscape	NOUN
alkej-747	12	21	multibody	multibody	NOUN
alkej-747	12	22	,	,	PUNCT
alkej-747	12	23	package	package	NOUN
alkej-747	12	24	.	.	PUNCT
alkej-747	13	1	1	1	X
alkej-747	13	2	.	.	X
alkej-747	13	3	introduction	introduction	NOUN
alkej-747	13	4	the	the	DET
alkej-747	13	5	self	self	NOUN
alkej-747	13	6	-	-	PUNCT
alkej-747	13	7	balancing	balance	VERB
alkej-747	13	8	platform	platform	NOUN
alkej-747	13	9	has	have	AUX
alkej-747	13	10	always	always	ADV
alkej-747	13	11	been	be	AUX
alkej-747	13	12	a	a	DET
alkej-747	13	13	very	very	ADV
alkej-747	13	14	challenging	challenging	ADJ
alkej-747	13	15	area	area	NOUN
alkej-747	13	16	to	to	PART
alkej-747	13	17	work	work	VERB
alkej-747	13	18	on	on	ADP
alkej-747	13	19	.	.	PUNCT
alkej-747	14	1	it	it	PRON
alkej-747	14	2	was	be	AUX
alkej-747	14	3	elevated	elevate	VERB
alkej-747	14	4	to	to	ADP
alkej-747	14	5	a	a	DET
alkej-747	14	6	new	new	ADJ
alkej-747	14	7	level	level	NOUN
alkej-747	14	8	by	by	ADP
alkej-747	14	9	introducing	introduce	VERB
alkej-747	14	10	modern	modern	ADJ
alkej-747	14	11	technologies	technology	NOUN
alkej-747	14	12	,	,	PUNCT
alkej-747	14	13	such	such	ADJ
alkej-747	14	14	as	as	ADP
alkej-747	14	15	a	a	DET
alkej-747	14	16	pid	pid	NOUN
alkej-747	14	17	controller	controller	NOUN
alkej-747	14	18	,	,	PUNCT
alkej-747	14	19	an	an	DET
alkej-747	14	20	imu	imu	NOUN
alkej-747	14	21	sensor	sensor	NOUN
alkej-747	14	22	(	(	PUNCT
alkej-747	14	23	gyroscope	gyroscope	NOUN
alkej-747	14	24	and	and	CCONJ
alkej-747	14	25	accelerometer	accelerometer	NOUN
alkej-747	14	26	)	)	PUNCT
alkej-747	14	27	,	,	PUNCT
alkej-747	14	28	model	model	NOUN
alkej-747	14	29	simulation	simulation	NOUN
alkej-747	15	1	[	[	X
alkej-747	15	2	1	1	NUM
alkej-747	15	3	]	]	PUNCT
alkej-747	15	4	.	.	PUNCT
alkej-747	16	1	self	self	NOUN
alkej-747	16	2	–	–	PUNCT
alkej-747	16	3	balancing	balance	VERB
alkej-747	16	4	platform	platform	NOUN
alkej-747	16	5	has	have	AUX
alkej-747	16	6	witnessed	witness	VERB
alkej-747	16	7	a	a	DET
alkej-747	16	8	change	change	NOUN
alkej-747	16	9	in	in	ADP
alkej-747	16	10	the	the	DET
alkej-747	16	11	shape	shape	NOUN
alkej-747	16	12	and	and	CCONJ
alkej-747	16	13	size	size	NOUN
alkej-747	16	14	depending	depend	VERB
alkej-747	16	15	on	on	ADP
alkej-747	16	16	:	:	PUNCT
alkej-747	16	17	the	the	DET
alkej-747	16	18	degree	degree	NOUN
alkej-747	16	19	of	of	ADP
alkej-747	16	20	freedom	freedom	NOUN
alkej-747	16	21	(	(	PUNCT
alkej-747	16	22	tilt	tilt	NOUN
alkej-747	16	23	direction	direction	NOUN
alkej-747	16	24	)	)	PUNCT
alkej-747	16	25	,	,	PUNCT
alkej-747	16	26	driving	drive	VERB
alkej-747	16	27	mechanism	mechanism	NOUN
alkej-747	16	28	,	,	PUNCT
alkej-747	16	29	control	control	NOUN
alkej-747	16	30	system	system	NOUN
alkej-747	16	31	,	,	PUNCT
alkej-747	16	32	the	the	DET
alkej-747	16	33	type	type	NOUN
alkej-747	16	34	of	of	ADP
alkej-747	16	35	internal	internal	ADJ
alkej-747	16	36	measurement	measurement	NOUN
alkej-747	16	37	unit(imu	unit(imu	NOUN
alkej-747	16	38	)	)	PUNCT
alkej-747	16	39	,	,	PUNCT
alkej-747	16	40	supplement	supplement	NOUN
alkej-747	16	41	machinery	machinery	NOUN
alkej-747	16	42	size	size	NOUN
alkej-747	16	43	(	(	PUNCT
alkej-747	16	44	whether	whether	SCONJ
alkej-747	16	45	it	it	PRON
alkej-747	16	46	is	be	AUX
alkej-747	16	47	a	a	DET
alkej-747	16	48	cart	cart	NOUN
alkej-747	16	49	,	,	PUNCT
alkej-747	16	50	or	or	CCONJ
alkej-747	16	51	agricultural	agricultural	ADJ
alkej-747	16	52	machinery	machinery	NOUN
alkej-747	16	53	,	,	PUNCT
alkej-747	16	54	or	or	CCONJ
alkej-747	16	55	a	a	DET
alkej-747	16	56	simple	simple	ADJ
alkej-747	16	57	robot	robot	NOUN
alkej-747	16	58	smart	smart	ADJ
alkej-747	16	59	car	car	NOUN
alkej-747	16	60	.	.	PUNCT
alkej-747	16	61	)	)	PUNCT
alkej-747	16	62	,	,	PUNCT
alkej-747	16	63	and	and	CCONJ
alkej-747	16	64	weight	weight	NOUN
alkej-747	16	65	of	of	ADP
alkej-747	16	66	the	the	DET
alkej-747	16	67	load	load	NOUN
alkej-747	16	68	[	[	X
alkej-747	16	69	2	2	NUM
alkej-747	16	70	]	]	PUNCT
alkej-747	16	71	.	.	PUNCT
alkej-747	17	1	the	the	DET
alkej-747	17	2	compensation	compensation	NOUN
alkej-747	17	3	for	for	ADP
alkej-747	17	4	the	the	DET
alkej-747	17	5	platform	platform	NOUN
alkej-747	17	6	's	's	PART
alkej-747	17	7	angular	angular	ADJ
alkej-747	17	8	fluctuation	fluctuation	NOUN
alkej-747	17	9	during	during	ADP
alkej-747	17	10	its	its	PRON
alkej-747	17	11	movement	movement	NOUN
alkej-747	17	12	in	in	ADP
alkej-747	17	13	the	the	DET
alkej-747	17	14	uneven	uneven	ADJ
alkej-747	17	15	ground	ground	NOUN
alkej-747	17	16	makes	make	VERB
alkej-747	17	17	measuring	measure	VERB
alkej-747	17	18	the	the	DET
alkej-747	17	19	platform	platform	NOUN
alkej-747	17	20	's	's	PART
alkej-747	17	21	tilt	tilt	NOUN
alkej-747	17	22	angle	angle	NOUN
alkej-747	17	23	by	by	ADP
alkej-747	17	24	a	a	DET
alkej-747	17	25	potentiometer	potentiometer	NOUN
alkej-747	17	26	or	or	CCONJ
alkej-747	17	27	more	more	ADV
alkej-747	17	28	advanced	advanced	ADJ
alkej-747	17	29	sensors	sensor	NOUN
alkej-747	17	30	more	more	ADV
alkej-747	17	31	necessary	necessary	ADJ
alkej-747	17	32	.	.	PUNCT
alkej-747	18	1	the	the	DET
alkej-747	18	2	obvious	obvious	ADJ
alkej-747	18	3	choice	choice	NOUN
alkej-747	18	4	for	for	ADP
alkej-747	18	5	compensating	compensate	VERB
alkej-747	18	6	the	the	DET
alkej-747	18	7	platform	platform	NOUN
alkej-747	18	8	's	's	PART
alkej-747	18	9	tilt	tilt	NOUN
alkej-747	18	10	is	be	AUX
alkej-747	18	11	motor	motor	NOUN
alkej-747	18	12	,	,	PUNCT
alkej-747	18	13	such	such	ADJ
alkej-747	18	14	as	as	ADP
alkej-747	18	15	servo	servo	NOUN
alkej-747	18	16	motors	motor	NOUN
alkej-747	18	17	,	,	PUNCT
alkej-747	18	18	stepper	stepper	NOUN
alkej-747	18	19	motors	motor	NOUN
alkej-747	18	20	,	,	PUNCT
alkej-747	18	21	and	and	CCONJ
alkej-747	18	22	dc	dc	PROPN
alkej-747	18	23	motors	motors	PROPN
alkej-747	18	24	[	[	X
alkej-747	18	25	3	3	NUM
alkej-747	18	26	]	]	PUNCT
alkej-747	18	27	.	.	PUNCT
alkej-747	19	1	mathworks	mathworks	PROPN
alkej-747	19	2	's	's	PART
alkej-747	19	3	mechanism	mechanism	NOUN
alkej-747	19	4	to	to	PART
alkej-747	19	5	design	design	VERB
alkej-747	19	6	,	,	PUNCT
alkej-747	19	7	model	model	NOUN
alkej-747	19	8	,	,	PUNCT
alkej-747	19	9	simulate	simulate	VERB
alkej-747	19	10	,	,	PUNCT
alkej-747	19	11	and	and	CCONJ
alkej-747	19	12	result	result	NOUN
alkej-747	19	13	-	-	PUNCT
alkej-747	19	14	validate	validate	VERB
alkej-747	19	15	any	any	DET
alkej-747	19	16	physical	physical	ADJ
alkej-747	19	17	or	or	CCONJ
alkej-747	19	18	mechanical	mechanical	ADJ
alkej-747	19	19	system	system	NOUN
alkej-747	19	20	is	be	AUX
alkej-747	19	21	the	the	DET
alkej-747	19	22	simscape	simscape	NOUN
alkej-747	19	23	multibody	multibody	NOUN
alkej-747	19	24	library	library	NOUN
alkej-747	20	1	[	[	X
alkej-747	20	2	4][5	4][5	X
alkej-747	20	3	]	]	PUNCT
alkej-747	20	4	.	.	PUNCT
alkej-747	21	1	simscape	simscape	NOUN
alkej-747	21	2	multibody	multibody	ADJ
alkej-747	21	3	software	software	NOUN
alkej-747	21	4	is	be	AUX
alkej-747	21	5	developed	develop	VERB
alkej-747	21	6	so	so	SCONJ
alkej-747	21	7	that	that	SCONJ
alkej-747	21	8	its	its	PRON
alkej-747	21	9	block	block	NOUN
alkej-747	21	10	libraries	library	NOUN
alkej-747	21	11	are	be	AUX
alkej-747	21	12	used	use	VERB
alkej-747	21	13	to	to	PART
alkej-747	21	14	simulate	simulate	VERB
alkej-747	21	15	the	the	DET
alkej-747	21	16	mechanical	mechanical	ADJ
alkej-747	21	17	system	system	NOUN
alkej-747	21	18	according	accord	VERB
alkej-747	21	19	to	to	ADP
alkej-747	21	20	basic	basic	ADJ
alkej-747	21	21	physical	physical	ADJ
alkej-747	21	22	principles	principle	NOUN
alkej-747	21	23	(	(	PUNCT
alkej-747	21	24	newtonian	newtonian	ADJ
alkej-747	21	25	dynamic	dynamic	NOUN
alkej-747	21	26	of	of	ADP
alkej-747	21	27	forces	force	NOUN
alkej-747	21	28	and	and	CCONJ
alkej-747	21	29	torque	torque	NOUN
alkej-747	21	30	)	)	PUNCT
alkej-747	21	31	.	.	PUNCT
alkej-747	22	1	in	in	ADP
alkej-747	22	2	contrast	contrast	NOUN
alkej-747	22	3	,	,	PUNCT
alkej-747	22	4	simulink	simulink	NOUN
alkej-747	22	5	blocks	block	NOUN
alkej-747	22	6	symbolize	symbolize	VERB
alkej-747	22	7	the	the	DET
alkej-747	22	8	system	system	NOUN
alkej-747	22	9	's	's	PART
alkej-747	22	10	mathematical	mathematical	ADJ
alkej-747	22	11	operations	operation	NOUN
alkej-747	22	12	or	or	CCONJ
alkej-747	22	13	the	the	DET
alkej-747	22	14	processes	process	NOUN
alkej-747	22	15	on	on	ADP
alkej-747	22	16	the	the	DET
alkej-747	22	17	signals	signal	NOUN
alkej-747	22	18	.	.	PUNCT
alkej-747	23	1	still	still	ADV
alkej-747	23	2	,	,	PUNCT
alkej-747	23	3	simscape	simscape	VERB
alkej-747	23	4	multibody	multibody	ADJ
alkej-747	23	5	software	software	NOUN
alkej-747	23	6	works	work	VERB
alkej-747	23	7	in	in	ADP
alkej-747	23	8	the	the	DET
alkej-747	23	9	simulink	simulink	PROPN
alkej-747	23	10	environment	environment	NOUN
alkej-747	23	11	and	and	CCONJ
alkej-747	23	12	interface	interface	NOUN
alkej-747	23	13	with	with	ADP
alkej-747	23	14	simulink	simulink	PROPN
alkej-747	23	15	and	and	CCONJ
alkej-747	23	16	bushra	bushra	PROPN
alkej-747	23	17	amer	amer	PROPN
alkej-747	23	18	tawfeeq	tawfeeq	PROPN
alkej-747	23	19	al	al	PROPN
alkej-747	23	20	-	-	PUNCT
alkej-747	23	21	khwarizmi	khwarizmi	PROPN
alkej-747	23	22	engineering	engineering	NOUN
alkej-747	23	23	journal	journal	PROPN
alkej-747	23	24	,	,	PUNCT
alkej-747	23	25	vol	vol	NOUN
alkej-747	23	26	.	.	PROPN
alkej-747	23	27	17	17	NUM
alkej-747	23	28	,	,	PUNCT
alkej-747	23	29	no	no	INTJ
alkej-747	23	30	.	.	NOUN
alkej-747	23	31	3	3	NUM
alkej-747	23	32	,	,	PUNCT
alkej-747	23	33	p.p	p.p	PROPN
alkej-747	23	34	.	.	NOUN
alkej-747	23	35	2944(2021	2944(2021	NUM
alkej-747	23	36	)	)	PUNCT
alkej-747	23	37	30	30	NUM
alkej-747	23	38	matlab	matlab	NOUN
alkej-747	23	39	flawlessly	flawlessly	ADV
alkej-747	24	1	[	[	X
alkej-747	24	2	6][7	6][7	NUM
alkej-747	24	3	]	]	PUNCT
alkej-747	24	4	.	.	PUNCT
alkej-747	25	1	the	the	DET
alkej-747	25	2	simulink	simulink	PROPN
alkej-747	25	3	and	and	CCONJ
alkej-747	25	4	simscape	simscape	NOUN
alkej-747	25	5	software	software	NOUN
alkej-747	25	6	has	have	AUX
alkej-747	25	7	been	be	AUX
alkej-747	25	8	used	use	VERB
alkej-747	25	9	to	to	PART
alkej-747	25	10	build	build	VERB
alkej-747	25	11	and	and	CCONJ
alkej-747	25	12	control	control	VERB
alkej-747	25	13	the	the	DET
alkej-747	25	14	inverted	inverted	ADJ
alkej-747	25	15	pendulum	pendulum	NOUN
alkej-747	25	16	system	system	NOUN
alkej-747	25	17	without	without	ADP
alkej-747	25	18	the	the	DET
alkej-747	25	19	need	need	NOUN
alkej-747	25	20	to	to	PART
alkej-747	25	21	derive	derive	VERB
alkej-747	25	22	a	a	DET
alkej-747	25	23	complicated	complicated	ADJ
alkej-747	25	24	system	system	NOUN
alkej-747	25	25	of	of	ADP
alkej-747	25	26	mathematical	mathematical	ADJ
alkej-747	25	27	differential	differential	ADJ
alkej-747	25	28	equations	equation	NOUN
alkej-747	26	1	[	[	X
alkej-747	26	2	8	8	NUM
alkej-747	26	3	]	]	PUNCT
alkej-747	26	4	.	.	PUNCT
alkej-747	27	1	the	the	DET
alkej-747	27	2	experimental	experimental	ADJ
alkej-747	27	3	results	result	NOUN
alkej-747	27	4	of	of	ADP
alkej-747	27	5	the	the	DET
alkej-747	27	6	2dof	2dof	PROPN
alkej-747	27	7	selfbalancing	selfbalancing	NOUN
alkej-747	27	8	platform	platform	NOUN
alkej-747	27	9	are	be	AUX
alkej-747	27	10	shown	show	VERB
alkej-747	27	11	the	the	DET
alkej-747	27	12	presence	presence	NOUN
alkej-747	27	13	of	of	ADP
alkej-747	27	14	the	the	DET
alkej-747	27	15	pid	pid	NOUN
alkej-747	27	16	controller	controller	NOUN
alkej-747	27	17	's	's	PART
alkej-747	27	18	fine	fine	ADV
alkej-747	27	19	-	-	PUNCT
alkej-747	27	20	tuned	tune	VERB
alkej-747	27	21	coefficients	coefficient	NOUN
alkej-747	27	22	limiting	limit	VERB
alkej-747	27	23	the	the	DET
alkej-747	27	24	overshoot	overshoot	NOUN
alkej-747	27	25	and	and	CCONJ
alkej-747	27	26	settling	settling	NOUN
alkej-747	27	27	time	time	NOUN
alkej-747	27	28	and	and	CCONJ
alkej-747	27	29	no	no	DET
alkej-747	27	30	steady	steady	ADJ
alkej-747	27	31	-	-	PUNCT
alkej-747	27	32	state	state	NOUN
alkej-747	27	33	error	error	NOUN
alkej-747	27	34	.	.	PUNCT
alkej-747	28	1	the	the	DET
alkej-747	28	2	coefficient	coefficient	NOUN
alkej-747	28	3	is	be	AUX
alkej-747	28	4	analyzed	analyze	VERB
alkej-747	28	5	by	by	ADP
alkej-747	28	6	the	the	DET
alkej-747	28	7	simulation	simulation	NOUN
alkej-747	28	8	aspects	aspect	NOUN
alkej-747	28	9	(	(	PUNCT
alkej-747	28	10	matlab	matlab	PROPN
alkej-747	28	11	)	)	PUNCT
alkej-747	28	12	and	and	CCONJ
alkej-747	28	13	used	use	VERB
alkej-747	28	14	to	to	PART
alkej-747	28	15	maintain	maintain	VERB
alkej-747	28	16	the	the	DET
alkej-747	28	17	platform	platform	NOUN
alkej-747	28	18	at	at	ADP
alkej-747	28	19	an	an	DET
alkej-747	28	20	initially	initially	ADV
alkej-747	28	21	nominated	nominate	VERB
alkej-747	28	22	angle	angle	NOUN
alkej-747	28	23	when	when	SCONJ
alkej-747	28	24	the	the	DET
alkej-747	28	25	structure	structure	NOUN
alkej-747	28	26	's	's	PART
alkej-747	28	27	tilt	tilt	NOUN
alkej-747	28	28	is	be	AUX
alkej-747	28	29	in	in	ADP
alkej-747	28	30	the	the	DET
alkej-747	28	31	x	x	NOUN
alkej-747	28	32	-	-	NOUN
alkej-747	28	33	axis	axis	ADJ
alkej-747	28	34	or	or	CCONJ
alkej-747	28	35	y	y	NOUN
alkej-747	28	36	-	-	PUNCT
alkej-747	28	37	axis	axis	NOUN
alkej-747	28	38	(	(	PUNCT
alkej-747	28	39	the	the	DET
alkej-747	28	40	pitch	pitch	NOUN
alkej-747	28	41	and	and	CCONJ
alkej-747	28	42	roll	roll	NOUN
alkej-747	28	43	angles	angle	NOUN
alkej-747	28	44	)	)	PUNCT
alkej-747	28	45	.	.	PUNCT
alkej-747	29	1	the	the	DET
alkej-747	29	2	two	two	NUM
alkej-747	29	3	servo	servo	NOUN
alkej-747	29	4	motors	motor	NOUN
alkej-747	29	5	depend	depend	VERB
alkej-747	29	6	on	on	ADP
alkej-747	29	7	the	the	DET
alkej-747	29	8	pid	pid	NOUN
alkej-747	29	9	controller	controller	NOUN
alkej-747	29	10	's	's	PART
alkej-747	29	11	feedback	feedback	NOUN
alkej-747	29	12	to	to	PART
alkej-747	29	13	support	support	VERB
alkej-747	29	14	and	and	CCONJ
alkej-747	29	15	balance	balance	VERB
alkej-747	29	16	the	the	DET
alkej-747	29	17	top	top	ADJ
alkej-747	29	18	wood	wood	NOUN
alkej-747	29	19	platform	platform	NOUN
alkej-747	29	20	through	through	ADP
alkej-747	29	21	tilt	tilt	NOUN
alkej-747	29	22	[	[	X
alkej-747	29	23	9	9	NUM
alkej-747	29	24	]	]	PUNCT
alkej-747	29	25	.	.	PUNCT
alkej-747	30	1	self	self	NOUN
alkej-747	30	2	-	-	PUNCT
alkej-747	30	3	balancing	balance	VERB
alkej-747	30	4	platform	platform	NOUN
alkej-747	30	5	with	with	ADP
alkej-747	30	6	2dof	2dof	PROPN
alkej-747	30	7	on	on	ADP
alkej-747	30	8	a	a	DET
alkej-747	30	9	cart	cart	NOUN
alkej-747	30	10	simulated	simulate	VERB
alkej-747	30	11	model	model	NOUN
alkej-747	30	12	relies	rely	VERB
alkej-747	30	13	upon	upon	SCONJ
alkej-747	30	14	matlabsimmechanics	matlabsimmechanic	NOUN
alkej-747	30	15	and	and	CCONJ
alkej-747	30	16	simulink	simulink	NOUN
alkej-747	30	17	of	of	ADP
alkej-747	30	18	dc	dc	PROPN
alkej-747	30	19	motor	motor	NOUN
alkej-747	30	20	.	.	PUNCT
alkej-747	31	1	the	the	DET
alkej-747	31	2	model	model	NOUN
alkej-747	31	3	was	be	AUX
alkej-747	31	4	configured	configure	VERB
alkej-747	31	5	as	as	ADP
alkej-747	31	6	an	an	DET
alkej-747	31	7	inverted	inverted	ADJ
alkej-747	31	8	pendulum	pendulum	NOUN
alkej-747	31	9	conception	conception	NOUN
alkej-747	31	10	in	in	ADP
alkej-747	31	11	a	a	DET
alkej-747	31	12	square	square	ADV
alkej-747	31	13	-	-	PUNCT
alkej-747	31	14	shaped	shape	VERB
alkej-747	31	15	with	with	ADP
alkej-747	31	16	each	each	DET
alkej-747	31	17	side	side	NOUN
alkej-747	31	18	measuring	measure	VERB
alkej-747	31	19	30	30	NUM
alkej-747	31	20	cm	cm	NOUN
alkej-747	31	21	attached	attach	VERB
alkej-747	31	22	with	with	ADP
alkej-747	31	23	the	the	DET
alkej-747	31	24	three	three	NUM
alkej-747	31	25	links	link	NOUN
alkej-747	31	26	that	that	PRON
alkej-747	31	27	covered	cover	VERB
alkej-747	31	28	all	all	DET
alkej-747	31	29	required	require	VERB
alkej-747	31	30	support	support	NOUN
alkej-747	31	31	of	of	ADP
alkej-747	31	32	the	the	DET
alkej-747	31	33	platform	platform	NOUN
alkej-747	31	34	.	.	PUNCT
alkej-747	32	1	satisfactory	satisfactory	ADJ
alkej-747	32	2	performance	performance	NOUN
alkej-747	32	3	of	of	ADP
alkej-747	32	4	the	the	DET
alkej-747	32	5	existing	exist	VERB
alkej-747	32	6	platform	platform	NOUN
alkej-747	32	7	,	,	PUNCT
alkej-747	32	8	stability	stability	NOUN
alkej-747	32	9	,	,	PUNCT
alkej-747	32	10	re	re	ADJ
alkej-747	32	11	-	-	ADJ
alkej-747	32	12	correct	correct	ADJ
alkej-747	32	13	timeless	timeless	NOUN
alkej-747	32	14	than	than	ADP
alkej-747	32	15	1second	1second	NUM
alkej-747	32	16	,	,	PUNCT
alkej-747	32	17	and	and	CCONJ
alkej-747	32	18	the	the	DET
alkej-747	32	19	highest	high	ADJ
alkej-747	32	20	level	level	NOUN
alkej-747	32	21	of	of	ADP
alkej-747	32	22	precision	precision	NOUN
alkej-747	32	23	in	in	ADP
alkej-747	32	24	determining	determine	VERB
alkej-747	32	25	the	the	DET
alkej-747	32	26	servomotor	servomotor	NOUN
alkej-747	32	27	's	's	PART
alkej-747	32	28	next	next	ADJ
alkej-747	32	29	position	position	NOUN
alkej-747	32	30	is	be	AUX
alkej-747	32	31	among	among	ADP
alkej-747	32	32	the	the	DET
alkej-747	32	33	ones	one	NOUN
alkej-747	32	34	that	that	PRON
alkej-747	32	35	have	have	AUX
alkej-747	32	36	been	be	AUX
alkej-747	32	37	attributed	attribute	VERB
alkej-747	32	38	to	to	ADP
alkej-747	32	39	using	use	VERB
alkej-747	32	40	the	the	DET
alkej-747	32	41	matlabsimmechanics	matlabsimmechanic	NOUN
alkej-747	32	42	simulation	simulation	NOUN
alkej-747	32	43	and	and	CCONJ
alkej-747	32	44	simulink	simulink	PROPN
alkej-747	32	45	of	of	ADP
alkej-747	32	46	dc	dc	PROPN
alkej-747	32	47	motor	motor	PROPN
alkej-747	32	48	[	[	X
alkej-747	32	49	10	10	NUM
alkej-747	32	50	]	]	PUNCT
alkej-747	32	51	.	.	PUNCT
alkej-747	33	1	platform	platform	NOUN
alkej-747	33	2	's	's	PART
alkej-747	33	3	simmechanics	simmechanic	NOUN
alkej-747	33	4	simulation	simulation	NOUN
alkej-747	33	5	has	have	AUX
alkej-747	33	6	been	be	AUX
alkej-747	33	7	a	a	DET
alkej-747	33	8	fundamental	fundamental	ADJ
alkej-747	33	9	parameter	parameter	NOUN
alkej-747	33	10	indicating	indicate	VERB
alkej-747	33	11	the	the	DET
alkej-747	33	12	relationship	relationship	NOUN
alkej-747	33	13	between	between	ADP
alkej-747	33	14	the	the	DET
alkej-747	33	15	platform	platform	NOUN
alkej-747	33	16	's	's	PART
alkej-747	33	17	navigation	navigation	NOUN
alkej-747	33	18	parameters	parameter	NOUN
alkej-747	33	19	(	(	PUNCT
alkej-747	33	20	roll	roll	NOUN
alkej-747	33	21	,	,	PUNCT
alkej-747	33	22	yaw	yaw	NOUN
alkej-747	33	23	,	,	PUNCT
alkej-747	33	24	and	and	CCONJ
alkej-747	33	25	pitch	pitch	NOUN
alkej-747	33	26	angles	angle	NOUN
alkej-747	33	27	)	)	PUNCT
alkej-747	33	28	and	and	CCONJ
alkej-747	33	29	selecting	select	VERB
alkej-747	33	30	the	the	DET
alkej-747	33	31	pid	pid	NOUN
alkej-747	33	32	coefficient	coefficient	NOUN
alkej-747	33	33	regarding	regard	VERB
alkej-747	33	34	the	the	DET
alkej-747	33	35	servomotor	servomotor	NOUN
alkej-747	33	36	's	's	PART
alkej-747	33	37	rotation	rotation	NOUN
alkej-747	33	38	angle	angle	NOUN
alkej-747	33	39	.	.	PUNCT
alkej-747	34	1	also	also	ADV
alkej-747	34	2	,	,	PUNCT
alkej-747	34	3	the	the	DET
alkej-747	34	4	simulation	simulation	NOUN
alkej-747	34	5	named	name	VERB
alkej-747	34	6	the	the	DET
alkej-747	34	7	most	most	ADV
alkej-747	34	8	critical	critical	ADJ
alkej-747	34	9	limits	limit	NOUN
alkej-747	34	10	that	that	PRON
alkej-747	34	11	should	should	AUX
alkej-747	34	12	exceed	exceed	VERB
alkej-747	34	13	in	in	ADP
alkej-747	34	14	the	the	DET
alkej-747	34	15	design	design	NOUN
alkej-747	34	16	as	as	SCONJ
alkej-747	34	17	the	the	DET
alkej-747	34	18	platform	platform	NOUN
alkej-747	34	19	contained	contain	VERB
alkej-747	34	20	the	the	DET
alkej-747	34	21	arduino	arduino	NOUN
alkej-747	34	22	uno	uno	PROPN
alkej-747	34	23	control	control	VERB
alkej-747	34	24	the	the	DET
alkej-747	34	25	servomotors	servomotor	NOUN
alkej-747	34	26	through	through	ADP
alkej-747	34	27	three	three	NUM
alkej-747	34	28	links	link	NOUN
alkej-747	34	29	to	to	PART
alkej-747	34	30	regulate	regulate	VERB
alkej-747	34	31	the	the	DET
alkej-747	34	32	platform	platform	NOUN
alkej-747	34	33	's	's	PART
alkej-747	34	34	tilt	tilt	NOUN
alkej-747	34	35	[	[	X
alkej-747	34	36	11	11	NUM
alkej-747	34	37	]	]	PUNCT
alkej-747	34	38	.	.	PUNCT
alkej-747	35	1	in	in	ADP
alkej-747	35	2	terms	term	NOUN
alkej-747	35	3	of	of	ADP
alkej-747	35	4	meeting	meet	VERB
alkej-747	35	5	the	the	DET
alkej-747	35	6	top	top	ADJ
alkej-747	35	7	plate	plate	NOUN
alkej-747	35	8	in	in	ADP
alkej-747	35	9	the	the	DET
alkej-747	35	10	6	6	NUM
alkej-747	35	11	dof	dof	NOUN
alkej-747	35	12	platform	platform	NOUN
alkej-747	35	13	,	,	PUNCT
alkej-747	35	14	namely	namely	ADV
alkej-747	35	15	,	,	PUNCT
alkej-747	35	16	vehicle	vehicle	NOUN
alkej-747	35	17	stabilizer	stabilizer	NOUN
alkej-747	35	18	,	,	PUNCT
alkej-747	35	19	balance	balance	NOUN
alkej-747	35	20	requirements	requirement	NOUN
alkej-747	35	21	when	when	SCONJ
alkej-747	35	22	there	there	PRON
alkej-747	35	23	is	be	VERB
alkej-747	35	24	an	an	DET
alkej-747	35	25	alter	alter	NOUN
alkej-747	35	26	of	of	ADP
alkej-747	35	27	the	the	DET
alkej-747	35	28	base	base	NOUN
alkej-747	35	29	plate	plate	NOUN
alkej-747	35	30	's	's	PART
alkej-747	35	31	position	position	NOUN
alkej-747	35	32	.	.	PUNCT
alkej-747	36	1	the	the	DET
alkej-747	36	2	simscape	simscape	NOUN
alkej-747	36	3	simulation	simulation	NOUN
alkej-747	36	4	has	have	AUX
alkej-747	36	5	been	be	AUX
alkej-747	36	6	added	add	VERB
alkej-747	36	7	.	.	PUNCT
alkej-747	37	1	the	the	DET
alkej-747	37	2	vehicle	vehicle	NOUN
alkej-747	37	3	stabilizer	stabilizer	NOUN
alkej-747	37	4	's	's	PART
alkej-747	37	5	simulated	simulated	ADJ
alkej-747	37	6	model	model	NOUN
alkej-747	37	7	had	have	AUX
alkej-747	37	8	involved	involve	VERB
alkej-747	37	9	six	six	NUM
alkej-747	37	10	linear	linear	ADJ
alkej-747	37	11	actuators	actuator	NOUN
alkej-747	37	12	connected	connect	VERB
alkej-747	37	13	to	to	ADP
alkej-747	37	14	the	the	DET
alkej-747	37	15	base	base	NOUN
alkej-747	37	16	plate	plate	NOUN
alkej-747	37	17	and	and	CCONJ
alkej-747	37	18	top	top	ADJ
alkej-747	37	19	plate	plate	NOUN
alkej-747	37	20	with	with	ADP
alkej-747	37	21	universal	universal	ADJ
alkej-747	37	22	joints	joint	NOUN
alkej-747	37	23	.	.	PUNCT
alkej-747	38	1	the	the	DET
alkej-747	38	2	simscape	simscape	NOUN
alkej-747	38	3	simulation	simulation	NOUN
alkej-747	38	4	's	's	PART
alkej-747	38	5	result	result	NOUN
alkej-747	38	6	of	of	ADP
alkej-747	38	7	vehicle	vehicle	NOUN
alkej-747	38	8	stabilizer	stabilizer	NOUN
alkej-747	38	9	has	have	AUX
alkej-747	38	10	been	be	AUX
alkej-747	38	11	assessed	assess	VERB
alkej-747	38	12	;	;	PUNCT
alkej-747	38	13	this	this	PRON
alkej-747	38	14	leads	lead	VERB
alkej-747	38	15	to	to	ADP
alkej-747	38	16	the	the	DET
alkej-747	38	17	conclusion	conclusion	NOUN
alkej-747	38	18	that	that	SCONJ
alkej-747	38	19	the	the	DET
alkej-747	38	20	pd	pd	PROPN
alkej-747	38	21	controller	controller	NOUN
alkej-747	38	22	's	's	PART
alkej-747	38	23	availability	availability	NOUN
alkej-747	38	24	to	to	PART
alkej-747	38	25	select	select	VERB
alkej-747	38	26	linear	linear	ADJ
alkej-747	38	27	actuators	actuator	NOUN
alkej-747	38	28	'	'	PART
alkej-747	38	29	desired	desire	VERB
alkej-747	38	30	position	position	NOUN
alkej-747	38	31	is	be	AUX
alkej-747	38	32	adequate	adequate	ADJ
alkej-747	38	33	to	to	PART
alkej-747	38	34	stabilize	stabilize	VERB
alkej-747	38	35	the	the	DET
alkej-747	38	36	upper	upper	ADJ
alkej-747	38	37	platform	platform	NOUN
alkej-747	38	38	's	's	PART
alkej-747	38	39	position	position	NOUN
alkej-747	38	40	,	,	PUNCT
alkej-747	38	41	especially	especially	ADV
alkej-747	38	42	at	at	ADP
alkej-747	38	43	large	large	ADJ
alkej-747	38	44	angles	angle	NOUN
alkej-747	38	45	(	(	PUNCT
alkej-747	38	46	more	more	ADJ
alkej-747	38	47	than	than	ADP
alkej-747	38	48	45	45	NUM
alkej-747	38	49	°	°	NOUN
alkej-747	38	50	on	on	ADP
alkej-747	38	51	all	all	DET
alkej-747	38	52	axis	axis	NOUN
alkej-747	38	53	)	)	PUNCT
alkej-747	39	1	[	[	X
alkej-747	39	2	12	12	NUM
alkej-747	39	3	]	]	PUNCT
alkej-747	39	4	.	.	PUNCT
alkej-747	40	1	the	the	DET
alkej-747	40	2	displacement	displacement	ADJ
alkej-747	40	3	curve	curve	NOUN
alkej-747	40	4	and	and	CCONJ
alkej-747	40	5	the	the	DET
alkej-747	40	6	force	force	NOUN
alkej-747	40	7	curves	curve	NOUN
alkej-747	40	8	of	of	ADP
alkej-747	40	9	six	six	NUM
alkej-747	40	10	hydraulic	hydraulic	ADJ
alkej-747	40	11	cylinders	cylinder	NOUN
alkej-747	40	12	of	of	ADP
alkej-747	40	13	the	the	DET
alkej-747	40	14	6dof	6dof	PROPN
alkej-747	40	15	hydraulic	hydraulic	ADJ
alkej-747	40	16	platform	platform	NOUN
alkej-747	40	17	are	be	AUX
alkej-747	40	18	extracted	extract	VERB
alkej-747	40	19	from	from	ADP
alkej-747	40	20	kinematic	kinematic	ADJ
alkej-747	40	21	simulation	simulation	NOUN
alkej-747	40	22	(	(	PUNCT
alkej-747	40	23	matlab	matlab	PROPN
alkej-747	40	24	)	)	PUNCT
alkej-747	40	25	and	and	CCONJ
alkej-747	40	26	dynamic	dynamic	ADJ
alkej-747	40	27	modelling	modelling	NOUN
alkej-747	40	28	(	(	PUNCT
alkej-747	40	29	solidworks/	solidworks/	NUM
alkej-747	40	30	adams	adams	PROPN
alkej-747	40	31	software	software	PROPN
alkej-747	40	32	)	)	PUNCT
alkej-747	40	33	.	.	PUNCT
alkej-747	41	1	the	the	DET
alkej-747	41	2	displacement	displacement	ADJ
alkej-747	41	3	curve	curve	NOUN
alkej-747	41	4	application	application	NOUN
alkej-747	41	5	gave	give	VERB
alkej-747	41	6	good	good	ADJ
alkej-747	41	7	results	result	NOUN
alkej-747	41	8	that	that	PRON
alkej-747	41	9	helped	help	VERB
alkej-747	41	10	the	the	DET
alkej-747	41	11	platform	platform	NOUN
alkej-747	41	12	's	's	PART
alkej-747	41	13	hydraulic	hydraulic	ADJ
alkej-747	41	14	cylinders	cylinder	NOUN
alkej-747	41	15	run	run	VERB
alkej-747	41	16	smoothly	smoothly	ADV
alkej-747	41	17	and	and	CCONJ
alkej-747	41	18	continuously	continuously	ADV
alkej-747	41	19	during	during	ADP
alkej-747	41	20	the	the	DET
alkej-747	41	21	self	self	NOUN
alkej-747	41	22	-	-	PUNCT
alkej-747	41	23	levelling	levelling	NOUN
alkej-747	41	24	.	.	PUNCT
alkej-747	42	1	the	the	DET
alkej-747	42	2	dynamic	dynamic	ADJ
alkej-747	42	3	modelling	modelling	NOUN
alkej-747	42	4	is	be	AUX
alkej-747	42	5	used	use	VERB
alkej-747	42	6	to	to	PART
alkej-747	42	7	select	select	VERB
alkej-747	42	8	suitable	suitable	ADJ
alkej-747	42	9	materials	material	NOUN
alkej-747	42	10	for	for	ADP
alkej-747	42	11	(	(	PUNCT
alkej-747	42	12	upper	upper	ADJ
alkej-747	42	13	and	and	CCONJ
alkej-747	42	14	lower	low	ADJ
alkej-747	42	15	planes	plane	NOUN
alkej-747	42	16	,	,	PUNCT
alkej-747	42	17	hydraulic	hydraulic	ADJ
alkej-747	42	18	cylinders	cylinder	NOUN
alkej-747	42	19	,	,	PUNCT
alkej-747	42	20	hinge	hinge	NOUN
alkej-747	42	21	circuits	circuit	NOUN
alkej-747	42	22	)	)	PUNCT
alkej-747	42	23	to	to	PART
alkej-747	42	24	hold	hold	VERB
alkej-747	42	25	out	out	ADP
alkej-747	42	26	the	the	DET
alkej-747	42	27	cylinder	cylinder	NOUN
alkej-747	42	28	's	's	PART
alkej-747	42	29	maximum	maximum	ADJ
alkej-747	42	30	extension	extension	NOUN
alkej-747	42	31	force	force	NOUN
alkej-747	42	32	and	and	CCONJ
alkej-747	42	33	the	the	DET
alkej-747	42	34	maximum	maximum	ADJ
alkej-747	42	35	binding	bind	VERB
alkej-747	42	36	force	force	NOUN
alkej-747	42	37	of	of	ADP
alkej-747	42	38	the	the	DET
alkej-747	42	39	ball	ball	NOUN
alkej-747	42	40	hinge	hinge	NOUN
alkej-747	43	1	[	[	X
alkej-747	43	2	13	13	NUM
alkej-747	43	3	]	]	PUNCT
alkej-747	43	4	.	.	PUNCT
alkej-747	44	1	a	a	DET
alkej-747	44	2	genetic	genetic	ADJ
alkej-747	44	3	algorithm(ga)is	algorithm(ga)is	PROPN
alkej-747	44	4	a	a	DET
alkej-747	44	5	global	global	ADJ
alkej-747	44	6	algorithm	algorithm	NOUN
alkej-747	44	7	base	base	NOUN
alkej-747	44	8	on	on	ADP
alkej-747	44	9	darwin	darwin	PROPN
alkej-747	44	10	's	's	PART
alkej-747	44	11	theory	theory	NOUN
alkej-747	44	12	of	of	ADP
alkej-747	44	13	evolution	evolution	NOUN
alkej-747	44	14	.	.	PUNCT
alkej-747	45	1	genetic	genetic	ADJ
alkej-747	45	2	algorithm	algorithm	NOUN
alkej-747	45	3	is	be	AUX
alkej-747	45	4	one	one	NUM
alkej-747	45	5	of	of	ADP
alkej-747	45	6	the	the	DET
alkej-747	45	7	pid	pid	NOUN
alkej-747	45	8	controller	controller	NOUN
alkej-747	45	9	optimization	optimization	NOUN
alkej-747	45	10	methods	method	NOUN
alkej-747	45	11	,	,	PUNCT
alkej-747	45	12	especially	especially	ADV
alkej-747	45	13	if	if	SCONJ
alkej-747	45	14	the	the	DET
alkej-747	45	15	pid	pid	NOUN
alkej-747	45	16	controller	controller	NOUN
alkej-747	45	17	interconnected	interconnect	VERB
alkej-747	45	18	system	system	NOUN
alkej-747	45	19	is	be	AUX
alkej-747	45	20	a	a	DET
alkej-747	45	21	dc	dc	PROPN
alkej-747	45	22	motor	motor	NOUN
alkej-747	46	1	[	[	X
alkej-747	46	2	14	14	NUM
alkej-747	46	3	]	]	PUNCT
alkej-747	46	4	.	.	PUNCT
alkej-747	47	1	accordingly	accordingly	ADV
alkej-747	47	2	,	,	PUNCT
alkej-747	47	3	the	the	DET
alkej-747	47	4	genetic	genetic	ADJ
alkej-747	47	5	algorithm	algorithm	NOUN
alkej-747	47	6	often	often	ADV
alkej-747	47	7	provides	provide	VERB
alkej-747	47	8	a	a	DET
alkej-747	47	9	reasonable	reasonable	ADJ
alkej-747	47	10	balance	balance	NOUN
alkej-747	47	11	between	between	ADP
alkej-747	47	12	the	the	DET
alkej-747	47	13	pid	pid	NOUN
alkej-747	47	14	controller	controller	NOUN
alkej-747	47	15	coefficient	coefficient	NOUN
alkej-747	47	16	's	's	PART
alkej-747	47	17	accurate	accurate	ADJ
alkej-747	47	18	values	value	NOUN
alkej-747	47	19	and	and	CCONJ
alkej-747	47	20	better	well	ADJ
alkej-747	47	21	pid	pid	NOUN
alkej-747	47	22	response	response	NOUN
alkej-747	47	23	regarding	regard	VERB
alkej-747	47	24	the	the	DET
alkej-747	47	25	rise	rise	NOUN
alkej-747	47	26	time	time	NOUN
alkej-747	47	27	and	and	CCONJ
alkej-747	47	28	the	the	DET
alkej-747	47	29	settling	settling	NOUN
alkej-747	47	30	time	time	NOUN
alkej-747	47	31	.	.	PUNCT
alkej-747	48	1	ga	ga	PROPN
alkej-747	48	2	consists	consist	VERB
alkej-747	48	3	of	of	ADP
alkej-747	48	4	four	four	NUM
alkej-747	48	5	main	main	ADJ
alkej-747	48	6	stages	stage	NOUN
alkej-747	48	7	(	(	PUNCT
alkej-747	48	8	initial	initial	ADJ
alkej-747	48	9	generation	generation	NOUN
alkej-747	48	10	,	,	PUNCT
alkej-747	48	11	cost	cost	NOUN
alkej-747	48	12	function	function	NOUN
alkej-747	48	13	,	,	PUNCT
alkej-747	48	14	selection	selection	NOUN
alkej-747	48	15	techniques	technique	NOUN
alkej-747	48	16	,	,	PUNCT
alkej-747	48	17	crossover	crossover	NOUN
alkej-747	48	18	,	,	PUNCT
alkej-747	48	19	and	and	CCONJ
alkej-747	48	20	mutation	mutation	NOUN
alkej-747	48	21	[	[	X
alkej-747	48	22	15	15	NUM
alkej-747	48	23	]	]	X
alkej-747	49	1	[	[	X
alkej-747	49	2	16	16	NUM
alkej-747	49	3	]	]	X
alkej-747	49	4	[	[	X
alkej-747	49	5	17	17	NUM
alkej-747	49	6	]	]	PUNCT
alkej-747	49	7	.	.	PUNCT
alkej-747	50	1	this	this	DET
alkej-747	50	2	study	study	NOUN
alkej-747	50	3	’s	’s	PART
alkej-747	50	4	main	main	ADJ
alkej-747	50	5	contribution	contribution	NOUN
alkej-747	50	6	is	be	AUX
alkej-747	50	7	use	use	NOUN
alkej-747	50	8	of	of	ADP
alkej-747	50	9	the	the	DET
alkej-747	50	10	solidworks	solidwork	NOUN
alkej-747	50	11	and	and	CCONJ
alkej-747	50	12	simscape	simscape	NOUN
alkej-747	50	13	environments	environment	NOUN
alkej-747	50	14	to	to	PART
alkej-747	50	15	build	build	VERB
alkej-747	50	16	,	,	PUNCT
alkej-747	50	17	model	model	NOUN
alkej-747	50	18	,	,	PUNCT
alkej-747	50	19	and	and	CCONJ
alkej-747	50	20	control	control	VERB
alkej-747	50	21	the	the	DET
alkej-747	50	22	proposed	propose	VERB
alkej-747	50	23	self	self	NOUN
alkej-747	50	24	-	-	PUNCT
alkej-747	50	25	balancing	balance	VERB
alkej-747	50	26	platform	platform	NOUN
alkej-747	50	27	’s	’s	PART
alkej-747	50	28	simulated	simulate	VERB
alkej-747	50	29	model	model	NOUN
alkej-747	50	30	without	without	ADP
alkej-747	50	31	the	the	DET
alkej-747	50	32	need	need	NOUN
alkej-747	50	33	to	to	PART
alkej-747	50	34	derive	derive	VERB
alkej-747	50	35	a	a	DET
alkej-747	50	36	complex	complex	ADJ
alkej-747	50	37	system	system	NOUN
alkej-747	50	38	of	of	ADP
alkej-747	50	39	mathematical	mathematical	ADJ
alkej-747	50	40	differential	differential	ADJ
alkej-747	50	41	equations	equation	NOUN
alkej-747	50	42	.	.	PUNCT
alkej-747	51	1	2	2	X
alkej-747	51	2	.	.	X
alkej-747	51	3	methodology	methodology	NOUN
alkej-747	51	4	the	the	DET
alkej-747	51	5	simulated	simulated	ADJ
alkej-747	51	6	model	model	NOUN
alkej-747	51	7	of	of	ADP
alkej-747	51	8	the	the	DET
alkej-747	51	9	proposed	propose	VERB
alkej-747	51	10	selfbalancing	selfbalancing	NOUN
alkej-747	51	11	platform	platform	NOUN
alkej-747	51	12	on	on	ADP
alkej-747	51	13	the	the	DET
alkej-747	51	14	mobile	mobile	ADJ
alkej-747	51	15	car	car	NOUN
alkej-747	51	16	has	have	AUX
alkej-747	51	17	been	be	AUX
alkej-747	51	18	built	build	VERB
alkej-747	51	19	based	base	VERB
alkej-747	51	20	on	on	ADP
alkej-747	51	21	the	the	DET
alkej-747	51	22	working	working	ADJ
alkej-747	51	23	principle	principle	NOUN
alkej-747	51	24	of	of	ADP
alkej-747	51	25	the	the	DET
alkej-747	51	26	block	block	NOUN
alkej-747	51	27	diagram	diagram	NOUN
alkej-747	51	28	shown	show	VERB
alkej-747	51	29	in	in	ADP
alkej-747	51	30	figure.1	figure.1	PROPN
alkej-747	51	31	.	.	PUNCT
alkej-747	52	1	bushra	bushra	PROPN
alkej-747	52	2	amer	amer	PROPN
alkej-747	52	3	tawfeeq	tawfeeq	PROPN
alkej-747	52	4	al	al	PROPN
alkej-747	52	5	-	-	PUNCT
alkej-747	52	6	khwarizmi	khwarizmi	PROPN
alkej-747	52	7	engineering	engineering	NOUN
alkej-747	52	8	journal	journal	PROPN
alkej-747	52	9	,	,	PUNCT
alkej-747	52	10	vol	vol	NOUN
alkej-747	52	11	.	.	PROPN
alkej-747	52	12	17	17	NUM
alkej-747	52	13	,	,	PUNCT
alkej-747	52	14	no	no	INTJ
alkej-747	52	15	.	.	NOUN
alkej-747	52	16	3	3	NUM
alkej-747	52	17	,	,	PUNCT
alkej-747	52	18	p.p	p.p	PROPN
alkej-747	52	19	.	.	NOUN
alkej-747	52	20	2944(2021	2944(2021	NUM
alkej-747	52	21	)	)	PUNCT
alkej-747	52	22	31	31	NUM
alkej-747	52	23	fig	fig	NOUN
alkej-747	52	24	.	.	PUNCT
alkej-747	53	1	1	1	X
alkej-747	53	2	.	.	X
alkej-747	54	1	the	the	DET
alkej-747	54	2	block	block	NOUN
alkej-747	54	3	diagram	diagram	NOUN
alkej-747	54	4	of	of	ADP
alkej-747	54	5	simscape	simscape	NOUN
alkej-747	54	6	/	/	SYM
alkej-747	54	7	simulink	simulink	NOUN
alkej-747	54	8	model	model	NOUN
alkej-747	54	9	of	of	ADP
alkej-747	54	10	self	self	NOUN
alkej-747	54	11	-	-	PUNCT
alkej-747	54	12	balancing	balance	VERB
alkej-747	54	13	platform	platform	NOUN
alkej-747	54	14	on	on	ADP
alkej-747	54	15	the	the	DET
alkej-747	54	16	mobile	mobile	ADJ
alkej-747	54	17	car	car	NOUN
alkej-747	54	18	.	.	PUNCT
alkej-747	55	1	3	3	X
alkej-747	55	2	.	.	X
alkej-747	55	3	simscape	simscape	NOUN
alkej-747	55	4	/	/	SYM
alkej-747	55	5	simulink	simulink	NOUN
alkej-747	55	6	model	model	NOUN
alkej-747	55	7	of	of	ADP
alkej-747	55	8	the	the	DET
alkej-747	55	9	proposed	propose	VERB
alkej-747	55	10	self	self	NOUN
alkej-747	55	11	-	-	PUNCT
alkej-747	55	12	balancing	balance	VERB
alkej-747	55	13	platform	platform	NOUN
alkej-747	55	14	on	on	ADP
alkej-747	55	15	the	the	DET
alkej-747	55	16	mobile	mobile	ADJ
alkej-747	55	17	car	car	NOUN
alkej-747	55	18	the	the	DET
alkej-747	55	19	simscape	simscape	NOUN
alkej-747	55	20	/	/	SYM
alkej-747	55	21	simulink	simulink	NOUN
alkej-747	55	22	model	model	NOUN
alkej-747	55	23	of	of	ADP
alkej-747	55	24	the	the	DET
alkej-747	55	25	proposed	propose	VERB
alkej-747	55	26	self	self	NOUN
alkej-747	55	27	-	-	PUNCT
alkej-747	55	28	balancing	balance	VERB
alkej-747	55	29	platform	platform	NOUN
alkej-747	55	30	on	on	ADP
alkej-747	55	31	the	the	DET
alkej-747	55	32	mobile	mobile	ADJ
alkej-747	55	33	car	car	NOUN
alkej-747	55	34	,	,	PUNCT
alkej-747	55	35	consisting	consist	VERB
alkej-747	55	36	of	of	ADP
alkej-747	55	37	five	five	NUM
alkej-747	55	38	main	main	ADJ
alkej-747	55	39	simulink	simulink	NOUN
alkej-747	55	40	subsystems	subsystem	NOUN
alkej-747	55	41	.	.	PUNCT
alkej-747	56	1	the	the	DET
alkej-747	56	2	subsystems	subsystem	NOUN
alkej-747	56	3	in	in	ADP
alkej-747	56	4	the	the	DET
alkej-747	56	5	simulated	simulated	ADJ
alkej-747	56	6	model	model	NOUN
alkej-747	56	7	of	of	ADP
alkej-747	56	8	the	the	DET
alkej-747	56	9	self	self	NOUN
alkej-747	56	10	-	-	PUNCT
alkej-747	56	11	balancing	balance	VERB
alkej-747	56	12	platform	platform	NOUN
alkej-747	56	13	on	on	ADP
alkej-747	56	14	the	the	DET
alkej-747	56	15	mobile	mobile	ADJ
alkej-747	56	16	car	car	NOUN
alkej-747	56	17	,	,	PUNCT
alkej-747	56	18	except	except	SCONJ
alkej-747	56	19	platform	platform	NOUN
alkej-747	56	20	subsystem	subsystem	NOUN
alkej-747	56	21	,	,	PUNCT
alkej-747	56	22	have	have	AUX
alkej-747	56	23	been	be	AUX
alkej-747	56	24	designed	design	VERB
alkej-747	56	25	by	by	ADP
alkej-747	56	26	(	(	PUNCT
alkej-747	56	27	matlab	matlab	PROPN
alkej-747	56	28	r2020a	r2020a	PROPN
alkej-747	56	29	)	)	PUNCT
alkej-747	56	30	/	/	SYM
alkej-747	56	31	simulink	simulink	NOUN
alkej-747	56	32	.	.	PUNCT
alkej-747	57	1	the	the	DET
alkej-747	57	2	platform	platform	NOUN
alkej-747	57	3	subsystem	subsystem	NOUN
alkej-747	57	4	was	be	AUX
alkej-747	57	5	designed	design	VERB
alkej-747	57	6	by	by	ADP
alkej-747	57	7	solidworks(sw2020	solidworks(sw2020	NOUN
alkej-747	57	8	)	)	PUNCT
alkej-747	57	9	,	,	PUNCT
alkej-747	57	10	then	then	ADV
alkej-747	57	11	imported	import	VERB
alkej-747	57	12	to	to	ADP
alkej-747	57	13	matlab/	matlab/	NUM
alkej-747	57	14	simulink	simulink	NOUN
alkej-747	57	15	through	through	ADP
alkej-747	57	16	the	the	DET
alkej-747	57	17	matlabsimscape	matlabsimscape	NOUN
alkej-747	57	18	multibody	multibody	NOUN
alkej-747	57	19	package	package	NOUN
alkej-747	57	20	/	/	PUNCT
alkej-747	57	21	(	(	PUNCT
alkej-747	57	22	matlab	matlab	PROPN
alkej-747	57	23	r2020a	r2020a	PROPN
alkej-747	57	24	)	)	PUNCT
alkej-747	57	25	.	.	PUNCT
alkej-747	58	1	3	3	NUM
alkej-747	58	2	.	.	NOUN
alkej-747	58	3	1	1	NUM
alkej-747	58	4	.	.	PUNCT
alkej-747	58	5	input	input	NOUN
alkej-747	58	6	parameters	parameter	NOUN
alkej-747	58	7	subsystem	subsystem	VERB
alkej-747	58	8	the	the	DET
alkej-747	58	9	input	input	NOUN
alkej-747	58	10	parameters	parameter	NOUN
alkej-747	58	11	participants	participant	NOUN
alkej-747	58	12	in	in	ADP
alkej-747	58	13	the	the	DET
alkej-747	58	14	simulated	simulated	ADJ
alkej-747	58	15	model	model	NOUN
alkej-747	58	16	of	of	ADP
alkej-747	58	17	the	the	DET
alkej-747	58	18	self	self	NOUN
alkej-747	58	19	-	-	PUNCT
alkej-747	58	20	balancing	balance	VERB
alkej-747	58	21	platform	platform	NOUN
alkej-747	58	22	on	on	ADP
alkej-747	58	23	the	the	DET
alkej-747	58	24	mobile	mobile	ADJ
alkej-747	58	25	car	car	NOUN
alkej-747	58	26	(	(	PUNCT
alkej-747	58	27	for	for	ADP
alkej-747	58	28	x	x	NOUN
alkej-747	58	29	-	-	ADJ
alkej-747	58	30	axis	axis	ADJ
alkej-747	58	31	/middle	/middle	PUNCT
alkej-747	58	32	plate	plate	NOUN
alkej-747	58	33	or	or	CCONJ
alkej-747	58	34	y	y	NOUN
alkej-747	58	35	-	-	PUNCT
alkej-747	58	36	axis	axis	NOUN
alkej-747	58	37	/	/	SYM
alkej-747	58	38	top	top	ADJ
alkej-747	58	39	plate	plate	NOUN
alkej-747	58	40	)	)	PUNCT
alkej-747	58	41	were	be	AUX
alkej-747	58	42	divided	divide	VERB
alkej-747	58	43	into	into	ADP
alkej-747	58	44	two	two	NUM
alkej-747	58	45	different	different	ADJ
alkej-747	58	46	inputs	input	NOUN
alkej-747	58	47	;	;	PUNCT
alkej-747	58	48	one	one	NUM
alkej-747	58	49	of	of	ADP
alkej-747	58	50	the	the	DET
alkej-747	58	51	inputs	input	NOUN
alkej-747	58	52	defined	define	VERB
alkej-747	58	53	as	as	ADP
alkej-747	58	54	the	the	DET
alkej-747	58	55	set	set	NOUN
alkej-747	58	56	point	point	NOUN
alkej-747	58	57	of	of	ADP
alkej-747	58	58	roll	roll	NOUN
alkej-747	58	59	or	or	CCONJ
alkej-747	58	60	pitch	pitch	NOUN
alkej-747	58	61	angles	angle	NOUN
alkej-747	58	62	(	(	PUNCT
alkej-747	58	63	0	0	NUM
alkej-747	58	64	°	°	NUM
alkej-747	58	65	=	=	SYM
alkej-747	58	66	0	0	NUM
alkej-747	58	67	radians	radian	NOUN
alkej-747	58	68	)	)	PUNCT
alkej-747	58	69	and	and	CCONJ
alkej-747	58	70	entered	enter	VERB
alkej-747	58	71	by	by	ADP
alkej-747	58	72	a	a	DET
alkej-747	58	73	(	(	PUNCT
alkej-747	58	74	matlab	matlab	PROPN
alkej-747	58	75	r2020a)/	r2020a)/	PROPN
alkej-747	58	76	simulink	simulink	PROPN
alkej-747	58	77	library	library	PROPN
alkej-747	58	78	browser	browser	NOUN
alkej-747	58	79	/	/	SYM
alkej-747	58	80	constant	constant	ADJ
alkej-747	58	81	value	value	NOUN
alkej-747	58	82	block	block	NOUN
alkej-747	58	83	to	to	ADP
alkej-747	58	84	pid	pid	NOUN
alkej-747	58	85	controller	controller	NOUN
alkej-747	58	86	of	of	ADP
alkej-747	58	87	the	the	DET
alkej-747	58	88	respective	respective	ADJ
alkej-747	58	89	plate	plate	NOUN
alkej-747	58	90	.	.	PUNCT
alkej-747	59	1	the	the	DET
alkej-747	59	2	second	second	ADJ
alkej-747	59	3	input	input	NOUN
alkej-747	59	4	mimics	mimic	VERB
alkej-747	59	5	a	a	DET
alkej-747	59	6	road	road	NOUN
alkej-747	59	7	disturbances	disturbance	NOUN
alkej-747	59	8	signal	signal	NOUN
alkej-747	59	9	(	(	PUNCT
alkej-747	59	10	tilt	tilt	NOUN
alkej-747	59	11	angles	angle	NOUN
alkej-747	59	12	(	(	PUNCT
alkej-747	59	13	in	in	ADP
alkej-747	59	14	degree	degree	NOUN
alkej-747	59	15	)	)	PUNCT
alkej-747	59	16	in	in	ADP
alkej-747	59	17	the	the	DET
alkej-747	59	18	x	x	NOUN
alkej-747	59	19	-	-	NOUN
alkej-747	59	20	axis	axis	ADJ
alkej-747	59	21	or	or	CCONJ
alkej-747	59	22	y	y	NOUN
alkej-747	59	23	-	-	PUNCT
alkej-747	59	24	axis	axis	NOUN
alkej-747	59	25	,	,	PUNCT
alkej-747	59	26	or	or	CCONJ
alkej-747	59	27	both	both	DET
alkej-747	59	28	axes	axis	NOUN
alkej-747	59	29	)	)	PUNCT
alkej-747	59	30	,	,	PUNCT
alkej-747	59	31	designed	design	VERB
alkej-747	59	32	by	by	ADP
alkej-747	59	33	a	a	DET
alkej-747	59	34	(	(	PUNCT
alkej-747	59	35	matlab	matlab	PROPN
alkej-747	59	36	r2020a	r2020a	PROPN
alkej-747	59	37	)	)	PUNCT
alkej-747	59	38	/	/	SYM
alkej-747	59	39	simulink	simulink	PROPN
alkej-747	59	40	library	library	NOUN
alkej-747	59	41	browser/	browser/	PROPN
alkej-747	59	42	signal	signal	PROPN
alkej-747	59	43	builder	builder	NOUN
alkej-747	59	44	block	block	NOUN
alkej-747	59	45	.	.	PUNCT
alkej-747	60	1	the	the	DET
alkej-747	60	2	degrees	degree	NOUN
alkej-747	60	3	to	to	ADP
alkej-747	60	4	radian	radian	ADJ
alkej-747	60	5	block	block	NOUN
alkej-747	60	6	converted	convert	VERB
alkej-747	60	7	the	the	DET
alkej-747	60	8	tilt	tilt	NOUN
alkej-747	60	9	angles	angle	NOUN
alkej-747	60	10	of	of	ADP
alkej-747	60	11	disturbances	disturbance	NOUN
alkej-747	60	12	signal	signal	VERB
alkej-747	60	13	to	to	ADP
alkej-747	60	14	radian	radian	NOUN
alkej-747	60	15	before	before	ADP
alkej-747	60	16	entering	enter	VERB
alkej-747	60	17	the	the	DET
alkej-747	60	18	plate	plate	NOUN
alkej-747	60	19	's	's	PART
alkej-747	60	20	pid	pid	NOUN
alkej-747	60	21	controller	controller	NOUN
alkej-747	60	22	.	.	PUNCT
alkej-747	61	1	the	the	DET
alkej-747	61	2	input	input	NOUN
alkej-747	61	3	parameters	parameter	NOUN
alkej-747	61	4	subsystem	subsystem	NOUN
alkej-747	61	5	is	be	AUX
alkej-747	61	6	shown	show	VERB
alkej-747	61	7	in	in	ADP
alkej-747	61	8	figure.2	figure.2	PROPN
alkej-747	61	9	.	.	PROPN
alkej-747	61	10	fig	fig	NOUN
alkej-747	61	11	.	.	PUNCT
alkej-747	62	1	2	2	X
alkej-747	62	2	.	.	X
alkej-747	62	3	input	input	NOUN
alkej-747	62	4	parameters	parameter	NOUN
alkej-747	62	5	subsystem	subsystem	NOUN
alkej-747	62	6	.	.	PUNCT
alkej-747	63	1	3.2	3.2	NUM
alkej-747	63	2	.	.	PUNCT
alkej-747	64	1	pid	pid	NOUN
alkej-747	64	2	controller	controller	NOUN
alkej-747	64	3	subsystem	subsystem	NOUN
alkej-747	64	4	according	accord	VERB
alkej-747	64	5	to	to	ADP
alkej-747	64	6	the	the	DET
alkej-747	64	7	mathematical	mathematical	ADJ
alkej-747	64	8	modeling	modeling	NOUN
alkej-747	64	9	of	of	ADP
alkej-747	64	10	eq	eq	PROPN
alkej-747	64	11	.	.	PUNCT
alkej-747	65	1	(	(	PUNCT
alkej-747	65	2	1	1	X
alkej-747	65	3	)	)	PUNCT
alkej-747	66	1	[	[	X
alkej-747	66	2	18	18	NUM
alkej-747	66	3	]	]	X
alkej-747	66	4	[	[	X
alkej-747	66	5	19	19	NUM
alkej-747	66	6	]	]	PUNCT
alkej-747	66	7	,	,	PUNCT
alkej-747	66	8	the	the	DET
alkej-747	66	9	two	two	NUM
alkej-747	66	10	pid	pid	NOUN
alkej-747	66	11	controllers	controller	NOUN
alkej-747	66	12	of	of	ADP
alkej-747	66	13	the	the	DET
alkej-747	66	14	simulated	simulated	ADJ
alkej-747	66	15	model	model	NOUN
alkej-747	66	16	for	for	ADP
alkej-747	66	17	the	the	DET
alkej-747	66	18	self	self	NOUN
alkej-747	66	19	-	-	PUNCT
alkej-747	66	20	balancing	balance	VERB
alkej-747	66	21	platform	platform	NOUN
alkej-747	66	22	on	on	ADP
alkej-747	66	23	the	the	DET
alkej-747	66	24	mobile	mobile	ADJ
alkej-747	66	25	car	car	NOUN
alkej-747	66	26	have	have	AUX
alkej-747	66	27	been	be	AUX
alkej-747	66	28	established	establish	VERB
alkej-747	66	29	by	by	ADP
alkej-747	66	30	matlab	matlab	PROPN
alkej-747	66	31	(	(	PUNCT
alkej-747	66	32	r2020a	r2020a	NOUN
alkej-747	66	33	)	)	PUNCT
alkej-747	66	34	/	/	SYM
alkej-747	66	35	simulink	simulink	NOUN
alkej-747	66	36	.	.	PUNCT
alkej-747	67	1	pid	pid	NOUN
alkej-747	67	2	controller	controller	NOUN
alkej-747	67	3	subsystem	subsystem	NOUN
alkej-747	67	4	contained	contain	VERB
alkej-747	67	5	two	two	NUM
alkej-747	67	6	controllers	controller	NOUN
alkej-747	67	7	;	;	PUNCT
alkej-747	67	8	one	one	NUM
alkej-747	67	9	pid	pid	NOUN
alkej-747	67	10	controller	controller	NOUN
alkej-747	67	11	is	be	AUX
alkej-747	67	12	for	for	ADP
alkej-747	67	13	the	the	DET
alkej-747	67	14	pitch	pitch	PROPN
alkej-747	67	15	angle	angle	PROPN
alkej-747	67	16	y	y	NOUN
alkej-747	67	17	-	-	PUNCT
alkej-747	67	18	axis	axis	NOUN
alkej-747	67	19	(	(	PUNCT
alkej-747	67	20	top	top	ADJ
alkej-747	67	21	late	late	ADJ
alkej-747	67	22	)	)	PUNCT
alkej-747	67	23	,	,	PUNCT
alkej-747	67	24	the	the	DET
alkej-747	67	25	other	other	ADJ
alkej-747	67	26	pid	pid	NOUN
alkej-747	67	27	controller	controller	NOUN
alkej-747	67	28	for	for	ADP
alkej-747	67	29	the	the	DET
alkej-747	67	30	roll	roll	NOUN
alkej-747	67	31	angle	angle	NOUN
alkej-747	67	32	x	x	NOUN
alkej-747	67	33	-	-	NOUN
alkej-747	67	34	axis	axis	ADJ
alkej-747	67	35	(	(	PUNCT
alkej-747	67	36	middle	middle	ADJ
alkej-747	67	37	plate	plate	NOUN
alkej-747	67	38	)	)	PUNCT
alkej-747	67	39	as	as	SCONJ
alkej-747	67	40	shown	show	VERB
alkej-747	67	41	in	in	ADP
alkej-747	67	42	figure.3	figure.3	PROPN
alkej-747	67	43	.	.	PROPN
alkej-747	67	44	bushra	bushra	PROPN
alkej-747	67	45	amer	amer	PROPN
alkej-747	67	46	tawfeeq	tawfeeq	PROPN
alkej-747	67	47	al	al	PROPN
alkej-747	67	48	-	-	PUNCT
alkej-747	67	49	khwarizmi	khwarizmi	PROPN
alkej-747	67	50	engineering	engineering	NOUN
alkej-747	67	51	journal	journal	PROPN
alkej-747	67	52	,	,	PUNCT
alkej-747	67	53	vol	vol	NOUN
alkej-747	67	54	.	.	PROPN
alkej-747	67	55	17	17	NUM
alkej-747	67	56	,	,	PUNCT
alkej-747	67	57	no	no	INTJ
alkej-747	67	58	.	.	NOUN
alkej-747	67	59	3	3	NUM
alkej-747	67	60	,	,	PUNCT
alkej-747	67	61	p.p	p.p	PROPN
alkej-747	67	62	.	.	NOUN
alkej-747	67	63	2944(2021	2944(2021	NUM
alkej-747	67	64	)	)	PUNCT
alkej-747	67	65	32	32	NUM
alkej-747	67	66	u	u	PROPN
alkej-747	67	67	�	�	PROPN
alkej-747	67	68	t	t	PROPN
alkej-747	67	69	�	�	PROPN
alkej-747	67	70	�	�	PROPN
alkej-747	67	71	kp	kp	PROPN
alkej-747	67	72	e	e	PROPN
alkej-747	67	73	�	�	PROPN
alkej-747	67	74	t	t	PROPN
alkej-747	67	75	�	�	PROPN
alkej-747	67	76	�	�	PROPN
alkej-747	67	77	ki	ki	PROPN
alkej-747	67	78	�	�	PROPN
alkej-747	67	79	�	�	PROPN
alkej-747	67	80	�	�	PROPN
alkej-747	67	81	�	�	PROPN
alkej-747	67	82	�	�	PROPN
alkej-747	67	83	�	�	PROPN
alkej-747	67	84	�	�	PROPN
alkej-747	67	85	�	�	PROPN
alkej-747	67	86	�	�	PROPN
alkej-747	67	87	kd	kd	PROPN
alkej-747	67	88	de/	de/	PROPN
alkej-747	67	89	dt	dt	X
alkej-747	67	90	…	…	PUNCT
alkej-747	67	91	(	(	PUNCT
alkej-747	67	92	1	1	X
alkej-747	67	93	)	)	PUNCT
alkej-747	67	94	where	where	SCONJ
alkej-747	67	95	:	:	PUNCT
alkej-747	68	1	kp	kp	NOUN
alkej-747	68	2	:	:	PUNCT
alkej-747	68	3	the	the	DET
alkej-747	68	4	proportional	proportional	ADJ
alkej-747	68	5	value	value	NOUN
alkej-747	68	6	.	.	PUNCT
alkej-747	69	1	ki	ki	PROPN
alkej-747	69	2	:	:	PUNCT
alkej-747	70	1	the	the	DET
alkej-747	70	2	integral	integral	ADJ
alkej-747	70	3	value	value	NOUN
alkej-747	70	4	.	.	PUNCT
alkej-747	71	1	kd	kd	PROPN
alkej-747	71	2	:	:	PUNCT
alkej-747	71	3	the	the	DET
alkej-747	71	4	derivative	derivative	ADJ
alkej-747	71	5	value	value	NOUN
alkej-747	71	6	;	;	PUNCT
alkej-747	71	7	et	et	NOUN
alkej-747	71	8	is	be	AUX
alkej-747	71	9	the	the	DET
alkej-747	71	10	error	error	NOUN
alkej-747	71	11	function	function	NOUN
alkej-747	71	12	;	;	PUNCT
alkej-747	71	13	t	t	PROPN
alkej-747	71	14	is	be	AUX
alkej-747	71	15	the	the	DET
alkej-747	71	16	time	time	NOUN
alkej-747	71	17	.	.	PUNCT
alkej-747	72	1	a.	a.	NOUN
alkej-747	72	2	pid	pid	NOUN
alkej-747	72	3	controller	controller	NOUN
alkej-747	72	4	for	for	ADP
alkej-747	72	5	roll	roll	NOUN
alkej-747	72	6	angle	angle	NOUN
alkej-747	72	7	x	x	NOUN
alkej-747	72	8	-	-	NOUN
alkej-747	72	9	axis	axis	ADJ
alkej-747	72	10	.	.	PUNCT
alkej-747	73	1	b.	b.	PROPN
alkej-747	73	2	pid	pid	PROPN
alkej-747	73	3	controller	controller	PROPN
alkej-747	73	4	pitch	pitch	PROPN
alkej-747	73	5	angle	angle	PROPN
alkej-747	73	6	y	y	NOUN
alkej-747	73	7	-	-	PUNCT
alkej-747	73	8	axis	axis	NOUN
alkej-747	73	9	.	.	PUNCT
alkej-747	74	1	fig	fig	NOUN
alkej-747	74	2	.	.	PUNCT
alkej-747	75	1	3	3	X
alkej-747	75	2	.	.	X
alkej-747	75	3	pid	pid	NOUN
alkej-747	75	4	controller	controller	NOUN
alkej-747	75	5	subsystem	subsystem	NOUN
alkej-747	75	6	.	.	PUNCT
alkej-747	76	1	3.3	3.3	NUM
alkej-747	76	2	dc	dc	PROPN
alkej-747	76	3	servo	servo	NOUN
alkej-747	76	4	motor	motor	NOUN
alkej-747	76	5	subsystem	subsystem	NOUN
alkej-747	76	6	the	the	DET
alkej-747	76	7	motor	motor	NOUN
alkej-747	76	8	's	's	PART
alkej-747	76	9	mathematical	mathematical	ADJ
alkej-747	76	10	model	model	NOUN
alkej-747	76	11	describes	describe	VERB
alkej-747	76	12	the	the	DET
alkej-747	76	13	motor	motor	NOUN
alkej-747	76	14	's	's	PART
alkej-747	76	15	performance	performance	NOUN
alkej-747	76	16	using	use	VERB
alkej-747	76	17	mathematical	mathematical	ADJ
alkej-747	76	18	equations	equation	NOUN
alkej-747	76	19	[	[	X
alkej-747	76	20	20	20	NUM
alkej-747	76	21	]	]	X
alkej-747	77	1	[	[	X
alkej-747	77	2	21	21	NUM
alkej-747	77	3	]	]	PUNCT
alkej-747	77	4	.	.	PUNCT
alkej-747	78	1	the	the	DET
alkej-747	78	2	following	following	ADJ
alkej-747	78	3	mathematical	mathematical	ADJ
alkej-747	78	4	modelling	modelling	NOUN
alkej-747	78	5	and	and	CCONJ
alkej-747	78	6	kinematics	kinematic	NOUN
alkej-747	78	7	modelling	model	VERB
alkej-747	78	8	formulas	formula	NOUN
alkej-747	78	9	have	have	AUX
alkej-747	78	10	been	be	AUX
alkej-747	78	11	used	use	VERB
alkej-747	78	12	with	with	ADP
alkej-747	78	13	matlab	matlab	PROPN
alkej-747	78	14	r2020a	r2020a	NOUN
alkej-747	78	15	/simulink	/simulink	NOUN
alkej-747	78	16	's	's	PART
alkej-747	78	17	functionality	functionality	NOUN
alkej-747	78	18	to	to	ADP
alkej-747	78	19	dispensing	dispense	VERB
alkej-747	78	20	the	the	DET
alkej-747	78	21	dc	dc	PROPN
alkej-747	78	22	servo	servo	PROPN
alkej-747	78	23	motor	motor	NOUN
alkej-747	78	24	's	's	PART
alkej-747	78	25	intricate	intricate	ADJ
alkej-747	78	26	design	design	NOUN
alkej-747	78	27	by	by	ADP
alkej-747	78	28	solidworks	solidwork	NOUN
alkej-747	78	29	and	and	CCONJ
alkej-747	78	30	replace	replace	VERB
alkej-747	78	31	it	it	PRON
alkej-747	78	32	with	with	ADP
alkej-747	78	33	a	a	DET
alkej-747	78	34	simple	simple	ADJ
alkej-747	78	35	simulated	simulate	VERB
alkej-747	78	36	model	model	NOUN
alkej-747	78	37	.	.	PUNCT
alkej-747	79	1	this	this	DET
alkej-747	79	2	method	method	NOUN
alkej-747	79	3	has	have	AUX
alkej-747	79	4	been	be	AUX
alkej-747	79	5	used	use	VERB
alkej-747	79	6	for	for	ADP
alkej-747	79	7	both	both	PRON
alkej-747	79	8	dc	dc	PROPN
alkej-747	79	9	servo	servo	PROPN
alkej-747	79	10	motors	motor	NOUN
alkej-747	79	11	of	of	ADP
alkej-747	79	12	the	the	DET
alkej-747	79	13	simulated	simulated	ADJ
alkej-747	79	14	model	model	NOUN
alkej-747	79	15	for	for	ADP
alkej-747	79	16	the	the	DET
alkej-747	79	17	self	self	NOUN
alkej-747	79	18	-	-	PUNCT
alkej-747	79	19	balancing	balance	VERB
alkej-747	79	20	platform	platform	NOUN
alkej-747	79	21	on	on	ADP
alkej-747	79	22	the	the	DET
alkej-747	79	23	mobile	mobile	ADJ
alkej-747	79	24	car	car	NOUN
alkej-747	79	25	.	.	PUNCT
alkej-747	80	1	dc	dc	PROPN
alkej-747	80	2	servo	servo	PROPN
alkej-747	80	3	motor	motor	NOUN
alkej-747	80	4	subsystem	subsystem	NOUN
alkej-747	80	5	contained	contain	VERB
alkej-747	80	6	two	two	NUM
alkej-747	80	7	dc	dc	PROPN
alkej-747	80	8	servo	servo	PROPN
alkej-747	80	9	motors	motor	NOUN
alkej-747	80	10	,	,	PUNCT
alkej-747	80	11	one	one	NUM
alkej-747	80	12	of	of	ADP
alkej-747	80	13	the	the	DET
alkej-747	80	14	motors	motor	NOUN
alkej-747	80	15	is	be	AUX
alkej-747	80	16	for	for	ADP
alkej-747	80	17	the	the	DET
alkej-747	80	18	pitch	pitch	PROPN
alkej-747	80	19	angle	angle	PROPN
alkej-747	80	20	y	y	NOUN
alkej-747	80	21	-	-	PUNCT
alkej-747	80	22	axis	axis	NOUN
alkej-747	80	23	(	(	PUNCT
alkej-747	80	24	top	top	ADJ
alkej-747	80	25	plate	plate	NOUN
alkej-747	80	26	)	)	PUNCT
alkej-747	80	27	,	,	PUNCT
alkej-747	80	28	the	the	DET
alkej-747	80	29	other	other	ADJ
alkej-747	80	30	motor	motor	NOUN
alkej-747	80	31	is	be	AUX
alkej-747	80	32	for	for	ADP
alkej-747	80	33	the	the	DET
alkej-747	80	34	roll	roll	NOUN
alkej-747	80	35	angle	angle	NOUN
alkej-747	80	36	xaxis	xaxis	PROPN
alkej-747	80	37	(	(	PUNCT
alkej-747	80	38	middle	middle	ADJ
alkej-747	80	39	plate	plate	NOUN
alkej-747	80	40	)	)	PUNCT
alkej-747	80	41	,	,	PUNCT
alkej-747	80	42	as	as	SCONJ
alkej-747	80	43	shown	show	VERB
alkej-747	80	44	in	in	ADP
alkej-747	80	45	the	the	DET
alkej-747	80	46	figure	figure	NOUN
alkej-747	80	47	.	.	PUNCT
alkej-747	81	1	4	4	X
alkej-747	81	2	.	.	X
alkej-747	81	3	the	the	DET
alkej-747	81	4	kinematics	kinematic	NOUN
alkej-747	81	5	modelling	modelling	NOUN
alkej-747	81	6	of	of	ADP
alkej-747	81	7	dc	dc	PROPN
alkej-747	81	8	servo	servo	NOUN
alkej-747	81	9	motor	motor	NOUN
alkej-747	81	10	for	for	ADP
alkej-747	81	11	both	both	DET
alkej-747	81	12	pitch	pitch	NOUN
alkej-747	81	13	angle	angle	PROPN
alkej-747	81	14	y	y	ADJ
alkej-747	81	15	-	-	PUNCT
alkej-747	81	16	axis	axis	NOUN
alkej-747	81	17	servo	servo	NOUN
alkej-747	81	18	motor	motor	NOUN
alkej-747	81	19	and	and	CCONJ
alkej-747	81	20	the	the	DET
alkej-747	81	21	roll	roll	NOUN
alkej-747	81	22	angle	angle	NOUN
alkej-747	81	23	x	x	ADJ
alkej-747	81	24	-	-	ADJ
alkej-747	81	25	axis	axis	ADJ
alkej-747	81	26	servo	servo	NOUN
alkej-747	81	27	motor	motor	NOUN
alkej-747	81	28	(	(	PUNCT
alkej-747	81	29	shown	show	VERB
alkej-747	81	30	in	in	ADP
alkej-747	81	31	figure.4	figure.4	PROPN
alkej-747	81	32	)	)	PUNCT
alkej-747	81	33	were	be	AUX
alkej-747	81	34	simulated	simulate	VERB
alkej-747	81	35	in	in	ADP
alkej-747	81	36	simulink	simulink	NOUN
alkej-747	81	37	as	as	SCONJ
alkej-747	81	38	shown	show	VERB
alkej-747	81	39	in	in	ADP
alkej-747	81	40	fig	fig	NOUN
alkej-747	81	41	.	.	PUNCT
alkej-747	82	1	figure.6	figure.6	NOUN
alkej-747	82	2	.	.	PUNCT
alkej-747	83	1	according	accord	VERB
alkej-747	83	2	to	to	ADP
alkej-747	83	3	the	the	DET
alkej-747	83	4	equations	equation	NOUN
alkej-747	83	5	(	(	PUNCT
alkej-747	83	6	2	2	NUM
alkej-747	83	7	)	)	PUNCT
alkej-747	83	8	and	and	CCONJ
alkej-747	83	9	(	(	PUNCT
alkej-747	83	10	3	3	X
alkej-747	83	11	)	)	PUNCT
alkej-747	83	12	[	[	X
alkej-747	83	13	22	22	NUM
alkej-747	83	14	]	]	PUNCT
alkej-747	83	15	,	,	PUNCT
alkej-747	83	16	the	the	DET
alkej-747	83	17	below	below	ADP
alkej-747	83	18	block	block	NOUN
alkej-747	83	19	diagram	diagram	NOUN
alkej-747	83	20	of	of	ADP
alkej-747	83	21	the	the	DET
alkej-747	83	22	dc	dc	PROPN
alkej-747	83	23	servo	servo	PROPN
alkej-747	83	24	motor	motor	NOUN
alkej-747	83	25	is	be	AUX
alkej-747	83	26	shown	show	VERB
alkej-747	83	27	in	in	ADP
alkej-747	83	28	figure.5	figure.5	PROPN
alkej-747	83	29	[	[	X
alkej-747	83	30	23	23	NUM
alkej-747	83	31	]	]	PUNCT
alkej-747	83	32	and	and	CCONJ
alkej-747	83	33	the	the	DET
alkej-747	83	34	motor	motor	NOUN
alkej-747	83	35	parameters	parameter	NOUN
alkej-747	83	36	in	in	ADP
alkej-747	83	37	the	the	DET
alkej-747	83	38	table1	table1	PROPN
alkej-747	83	39	.	.	PUNCT
alkej-747	84	1	for	for	ADP
alkej-747	84	2	this	this	DET
alkej-747	84	3	simulation	simulation	NOUN
alkej-747	84	4	,	,	PUNCT
alkej-747	84	5	the	the	DET
alkej-747	84	6	parameters	parameter	NOUN
alkej-747	84	7	of	of	ADP
alkej-747	84	8	an	an	DET
alkej-747	84	9	actual	actual	ADJ
alkej-747	84	10	dc	dc	PROPN
alkej-747	84	11	servo	servo	NOUN
alkej-747	84	12	motor	motor	NOUN
alkej-747	84	13	were	be	AUX
alkej-747	84	14	chosen	choose	VERB
alkej-747	84	15	from	from	ADP
alkej-747	84	16	[	[	X
alkej-747	84	17	19	19	NUM
alkej-747	84	18	]	]	PUNCT
alkej-747	84	19	and	and	CCONJ
alkej-747	84	20	shown	show	VERB
alkej-747	84	21	in	in	ADP
alkej-747	84	22	table1	table1	PROPN
alkej-747	84	23	.	.	PUNCT
alkej-747	85	1	bushra	bushra	PROPN
alkej-747	85	2	amer	amer	PROPN
alkej-747	85	3	tawfeeq	tawfeeq	PROPN
alkej-747	85	4	al	al	PROPN
alkej-747	85	5	-	-	PUNCT
alkej-747	85	6	khwarizmi	khwarizmi	PROPN
alkej-747	85	7	engineering	engineering	NOUN
alkej-747	85	8	journal	journal	PROPN
alkej-747	85	9	,	,	PUNCT
alkej-747	85	10	vol	vol	NOUN
alkej-747	85	11	.	.	PROPN
alkej-747	85	12	17	17	NUM
alkej-747	85	13	,	,	PUNCT
alkej-747	85	14	no	no	INTJ
alkej-747	85	15	.	.	NOUN
alkej-747	85	16	3	3	NUM
alkej-747	85	17	,	,	PUNCT
alkej-747	85	18	p.p	p.p	PROPN
alkej-747	85	19	.	.	NOUN
alkej-747	85	20	2944(2021	2944(2021	NUM
alkej-747	85	21	)	)	PUNCT
alkej-747	85	22	33	33	NUM
alkej-747	85	23	fig	fig	NOUN
alkej-747	85	24	.	.	PUNCT
alkej-747	86	1	4	4	X
alkej-747	86	2	.	.	X
alkej-747	86	3	dc	dc	PROPN
alkej-747	86	4	servo	servo	PROPN
alkej-747	86	5	motor	motor	NOUN
alkej-747	86	6	subsystem	subsystem	NOUN
alkej-747	86	7	.	.	PUNCT
alkej-747	87	1	�	�	PROPN
alkej-747	87	2	position(	position(	PROPN
alkej-747	87	3	�	�	PROPN
alkej-747	87	4	)=	)=	PROPN
alkej-747	87	5	�	�	PROPN
alkej-747	87	6	�	�	PROPN
alkej-747	87	7	�	�	PROPN
alkej-747	87	8	�	�	PROPN
alkej-747	87	9	�	�	PROPN
alkej-747	87	10	�	�	PROPN
alkej-747	87	11	�	�	PROPN
alkej-747	87	12	�	�	PROPN
alkej-747	87	13	�	�	PROPN
alkej-747	87	14	�	�	PROPN
alkej-747	87	15	�	�	PROPN
alkej-747	87	16	�	�	PROPN
alkej-747	87	17	�	�	PROPN
alkej-747	87	18	�	�	PROPN
alkej-747	87	19	�	�	PROPN
alkej-747	87	20	!	!	PUNCT
alkej-747	87	21	�	�	PROPN
alkej-747	87	22	�	�	PROPN
alkej-747	87	23	�	�	PROPN
alkej-747	87	24	"	"	PUNCT
alkej-747	87	25	�	�	PROPN
alkej-747	87	26	#	#	SYM
alkej-747	87	27	�	�	PROPN
alkej-747	87	28	�	�	PROPN
alkej-747	87	29	$	$	SYM
alkej-747	87	30	�	�	PROPN
alkej-747	87	31	�	�	PROPN
alkej-747	87	32	%	%	NOUN
alkej-747	87	33	&	&	CCONJ
alkej-747	87	34	�	�	PROPN
alkej-747	87	35	…	…	PUNCT
alkej-747	87	36	(	(	PUNCT
alkej-747	87	37	2	2	X
alkej-747	87	38	)	)	PUNCT
alkej-747	87	39	�	�	PROPN
alkej-747	87	40	speed(	speed(	PROPN
alkej-747	87	41	�	�	PROPN
alkej-747	87	42	)=	)=	PROPN
alkej-747	87	43	�	�	PROPN
alkej-747	87	44	(	(	PUNCT
alkej-747	87	45	�	�	PROPN
alkej-747	87	46	�	�	PROPN
alkej-747	87	47	�	�	PROPN
alkej-747	87	48	�	�	PROPN
alkej-747	87	49	�	�	PROPN
alkej-747	87	50	�	�	PROPN
alkej-747	87	51	�	�	PROPN
alkej-747	87	52	=	=	SYM
alkej-747	87	53	�	�	PROPN
alkej-747	87	54	�	�	PROPN
alkej-747	87	55	�	�	PROPN
alkej-747	87	56	�	�	PROPN
alkej-747	87	57	�	�	PROPN
alkej-747	87	58	�	�	PROPN
alkej-747	87	59	!	!	PUNCT
alkej-747	87	60	�	�	PROPN
alkej-747	87	61	�	�	PROPN
alkej-747	87	62	�	�	PROPN
alkej-747	87	63	"	"	PUNCT
alkej-747	87	64	�	�	PROPN
alkej-747	87	65	#	#	SYM
alkej-747	87	66	�	�	PROPN
alkej-747	87	67	�	�	PROPN
alkej-747	87	68	$	$	SYM
alkej-747	87	69	�	�	PROPN
alkej-747	87	70	�	�	PROPN
alkej-747	87	71	…	…	PUNCT
alkej-747	87	72	(	(	PUNCT
alkej-747	87	73	3	3	X
alkej-747	87	74	)	)	PUNCT
alkej-747	87	75	where∶	where∶	NOUN
alkej-747	87	76	*	*	PUNCT
alkej-747	88	1	+	+	NUM
alkej-747	88	2	:	:	PUNCT
alkej-747	88	3	armature	armature	NOUN
alkej-747	88	4	resistance	resistance	NOUN
alkej-747	88	5	,	,	PUNCT
alkej-747	88	6	ohm	ohm	PROPN
alkej-747	88	7	.	.	PUNCT
alkej-747	88	8	,	,	PUNCT
alkej-747	88	9	+	+	CCONJ
alkej-747	88	10	:	:	PUNCT
alkej-747	88	11	armature	armature	NOUN
alkej-747	88	12	inductance	inductance	NOUN
alkej-747	88	13	,	,	PUNCT
alkej-747	88	14	henry	henry	PROPN
alkej-747	88	15	.	.	PUNCT
alkej-747	89	1	i	i	PRON
alkej-747	89	2	:	:	PUNCT
alkej-747	89	3	armature	armature	PROPN
alkej-747	89	4	current	current	NOUN
alkej-747	89	5	,	,	PUNCT
alkej-747	89	6	ampere	ampere	ADV
alkej-747	89	7	.	.	PUNCT
alkej-747	90	1	.+	.+	NOUN
alkej-747	90	2	:	:	PUNCT
alkej-747	90	3	armature	armature	NOUN
alkej-747	90	4	voltage	voltage	NOUN
alkej-747	90	5	,	,	PUNCT
alkej-747	90	6	volts	volt	NOUN
alkej-747	90	7	.	.	PUNCT
alkej-747	91	1	./	./	PUNCT
alkej-747	92	1	:	:	PUNCT
alkej-747	92	2	back	back	NOUN
alkej-747	92	3	emf	emf	NOUN
alkej-747	92	4	,	,	PUNCT
alkej-747	92	5	volts	volt	NOUN
alkej-747	92	6	.	.	PUNCT
alkej-747	93	1	0/	0/	NUM
alkej-747	93	2	:	:	PUNCT
alkej-747	93	3	back	back	ADV
alkej-747	93	4	emf	emf	NOUN
alkej-747	93	5	constant	constant	ADJ
alkej-747	93	6	,	,	PUNCT
alkej-747	93	7	volt/(rad	volt/(rad	PROPN
alkej-747	93	8	/	/	SYM
alkej-747	93	9	sec	sec	PROPN
alkej-747	93	10	)	)	PUNCT
alkej-747	93	11	.	.	PUNCT
alkej-747	94	1	01	01	NUM
alkej-747	94	2	:	:	PUNCT
alkej-747	95	1	torque	torque	NOUN
alkej-747	95	2	constant	constant	ADJ
alkej-747	95	3	,	,	PUNCT
alkej-747	95	4	n	n	CCONJ
alkej-747	95	5	-	-	PUNCT
alkej-747	95	6	m	m	NOUN
alkej-747	95	7	/	/	SYM
alkej-747	95	8	ampere	ampere	NOUN
alkej-747	95	9	.	.	PUNCT
alkej-747	96	1	21	21	NUM
alkej-747	96	2	:	:	PUNCT
alkej-747	96	3	torque	torque	NOUN
alkej-747	96	4	developed	develop	VERB
alkej-747	96	5	by	by	ADP
alkej-747	96	6	the	the	DET
alkej-747	96	7	motor	motor	NOUN
alkej-747	96	8	,	,	PUNCT
alkej-747	96	9	n	n	CCONJ
alkej-747	96	10	-	-	PUNCT
alkej-747	96	11	m.	m.	NOUN
alkej-747	96	12	2	2	NUM
alkej-747	96	13	&	&	CCONJ
alkej-747	96	14	:	:	PUNCT
alkej-747	96	15	torque	torque	NOUN
alkej-747	96	16	developed	develop	VERB
alkej-747	96	17	by	by	ADP
alkej-747	96	18	the	the	DET
alkej-747	96	19	load	load	NOUN
alkej-747	96	20	,	,	PUNCT
alkej-747	96	21	n	n	CCONJ
alkej-747	96	22	-	-	PUNCT
alkej-747	96	23	m.	m.	NOUN
alkej-747	96	24	23	23	NUM
alkej-747	96	25	:	:	PUNCT
alkej-747	96	26	disturbance	disturbance	NOUN
alkej-747	96	27	torque	torque	NOUN
alkej-747	96	28	,	,	PUNCT
alkej-747	96	29	n	n	CCONJ
alkej-747	96	30	-	-	PUNCT
alkej-747	96	31	m.	m.	NOUN
alkej-747	96	32	θ(t	θ(t	PROPN
alkej-747	96	33	):	):	PUNCT
alkej-747	96	34	angular	angular	ADJ
alkej-747	96	35	displacement	displacement	NOUN
alkej-747	96	36	of	of	ADP
alkej-747	96	37	shaft	shaft	NOUN
alkej-747	96	38	,	,	PUNCT
alkej-747	96	39	radians	radian	NOUN
alkej-747	96	40	.	.	PUNCT
alkej-747	97	1	j	j	NOUN
alkej-747	97	2	:	:	PUNCT
alkej-747	98	1	moment	moment	NOUN
alkej-747	98	2	of	of	ADP
alkej-747	98	3	inertia	inertia	NOUN
alkej-747	98	4	of	of	ADP
alkej-747	98	5	the	the	DET
alkej-747	98	6	motor	motor	NOUN
alkej-747	98	7	and	and	CCONJ
alkej-747	98	8	load	load	NOUN
alkej-747	98	9	,	,	PUNCT
alkej-747	98	10	kg	kg	PROPN
alkej-747	98	11	m5	m5	PROPN
alkej-747	98	12	/rad	/rad	PROPN
alkej-747	98	13	.	.	PUNCT
alkej-747	99	1	b	b	X
alkej-747	99	2	:	:	PUNCT
alkej-747	99	3	frictional	frictional	ADJ
alkej-747	99	4	constant	constant	NOUN
alkej-747	99	5	of	of	ADP
alkej-747	99	6	motor	motor	NOUN
alkej-747	99	7	and	and	CCONJ
alkej-747	99	8	load	load	NOUN
alkej-747	99	9	,	,	PUNCT
alkej-747	99	10	nm/(rad	nm/(rad	PROPN
alkej-747	99	11	/	/	SYM
alkej-747	99	12	sec	sec	PROPN
alkej-747	99	13	)	)	PUNCT
alkej-747	99	14	.	.	PUNCT
alkej-747	100	1	fig	fig	NOUN
alkej-747	100	2	.	.	PUNCT
alkej-747	101	1	5	5	NUM
alkej-747	101	2	.	.	X
alkej-747	101	3	block	block	NOUN
alkej-747	101	4	diagram	diagram	NOUN
alkej-747	101	5	of	of	ADP
alkej-747	101	6	dc	dc	PROPN
alkej-747	101	7	servo	servo	PROPN
alkej-747	101	8	motor	motor	NOUN
alkej-747	101	9	[	[	X
alkej-747	101	10	23	23	NUM
alkej-747	101	11	]	]	PUNCT
alkej-747	101	12	.	.	PUNCT
alkej-747	102	1	table	table	NOUN
alkej-747	102	2	1	1	NUM
alkej-747	102	3	,	,	PUNCT
alkej-747	102	4	actual	actual	ADJ
alkej-747	102	5	dc	dc	PROPN
alkej-747	102	6	servo	servo	NOUN
alkej-747	102	7	motor	motor	NOUN
alkej-747	102	8	parameters	parameter	NOUN
alkej-747	102	9	[	[	X
alkej-747	102	10	23	23	NUM
alkej-747	102	11	]	]	PUNCT
alkej-747	102	12	.	.	PUNCT
alkej-747	103	1	s.no	s.no	NOUN
alkej-747	103	2	.	.	PUNCT
alkej-747	104	1	parameters	parameter	NOUN
alkej-747	104	2	values	value	VERB
alkej-747	104	3	1	1	NUM
alkej-747	104	4	armature	armature	NOUN
alkej-747	104	5	resistance	resistance	NOUN
alkej-747	104	6	(	(	PUNCT
alkej-747	104	7	r-	r-	X
alkej-747	104	8	)	)	PUNCT
alkej-747	104	9	1.17	1.17	NUM
alkej-747	104	10	ohm	ohm	NOUN
alkej-747	104	11	2	2	NUM
alkej-747	104	12	armature	armature	NOUN
alkej-747	104	13	inductance	inductance	NOUN
alkej-747	104	14	(	(	PUNCT
alkej-747	104	15	l-	l-	NUM
alkej-747	104	16	)	)	PUNCT
alkej-747	104	17	0.5h	0.5h	NOUN
alkej-747	104	18	3	3	NUM
alkej-747	104	19	coulomb	coulomb	NOUN
alkej-747	104	20	friction	friction	NOUN
alkej-747	104	21	torque	torque	NOUN
alkej-747	104	22	(	(	PUNCT
alkej-747	104	23	b	b	NOUN
alkej-747	104	24	)	)	PUNCT
alkej-747	104	25	0.01	0.01	NUM
alkej-747	104	26	n	n	CCONJ
alkej-747	104	27	-	-	PUNCT
alkej-747	104	28	m/(rad	m/(rad	NOUN
alkej-747	104	29	/	/	SYM
alkej-747	104	30	sec	sec	PROPN
alkej-747	104	31	)	)	PUNCT
alkej-747	104	32	4	4	NUM
alkej-747	104	33	rotor	rotor	NOUN
alkej-747	104	34	inertia	inertia	NOUN
alkej-747	104	35	(	(	PUNCT
alkej-747	104	36	j	j	NOUN
alkej-747	104	37	)	)	PUNCT
alkej-747	104	38	0.01	0.01	NUM
alkej-747	104	39	kgm5	kgm5	PROPN
alkej-747	104	40	/rad	/rad	PUNCT
alkej-747	105	1	5	5	NUM
alkej-747	105	2	motor	motor	NOUN
alkej-747	105	3	torque	torque	NOUN
alkej-747	105	4	constant	constant	ADJ
alkej-747	105	5	(	(	PUNCT
alkej-747	105	6	k8	k8	PROPN
alkej-747	105	7	)	)	PUNCT
alkej-747	105	8	0.1	0.1	NUM
alkej-747	105	9	v	v	NOUN
alkej-747	105	10	/	/	SYM
alkej-747	105	11	rad	rad	PROPN
alkej-747	105	12	/	/	SYM
alkej-747	105	13	sec	sec	PROPN
alkej-747	105	14	6	6	NUM
alkej-747	105	15	back	back	NOUN
alkej-747	105	16	emf	emf	NOUN
alkej-747	105	17	constant	constant	ADJ
alkej-747	105	18	(	(	PUNCT
alkej-747	105	19	k9	k9	PROPN
alkej-747	105	20	)	)	PUNCT
alkej-747	105	21	0.٦1	0.٦1	NUM
alkej-747	105	22	n.m/	n.m/	NOUN
alkej-747	105	23	ampere	ampere	ADV
alkej-747	105	24	7	7	NUM
alkej-747	105	25	operating	operating	NOUN
alkej-747	105	26	voltage	voltage	NOUN
alkej-747	105	27	(	(	PUNCT
alkej-747	105	28	v	v	NOUN
alkej-747	105	29	)	)	PUNCT
alkej-747	105	30	12v	12v	NOUN
alkej-747	105	31	8	8	NUM
alkej-747	105	32	operating	operate	VERB
alkej-747	105	33	current	current	NOUN
alkej-747	105	34	(	(	PUNCT
alkej-747	105	35	i	i	NOUN
alkej-747	105	36	)	)	PUNCT
alkej-747	105	37	2.28a	2.28a	NUM
alkej-747	105	38	9	9	NUM
alkej-747	105	39	maximum	maximum	ADJ
alkej-747	105	40	torque	torque	NOUN
alkej-747	105	41	8kg	8kg	ADJ
alkej-747	105	42	-	-	PUNCT
alkej-747	105	43	cm	cm	NOUN
alkej-747	105	44	bushra	bushra	PROPN
alkej-747	105	45	amer	amer	PROPN
alkej-747	105	46	tawfeeq	tawfeeq	PROPN
alkej-747	105	47	al	al	PROPN
alkej-747	105	48	-	-	PUNCT
alkej-747	105	49	khwarizmi	khwarizmi	PROPN
alkej-747	105	50	engineering	engineering	NOUN
alkej-747	105	51	journal	journal	PROPN
alkej-747	105	52	,	,	PUNCT
alkej-747	105	53	vol	vol	NOUN
alkej-747	105	54	.	.	PROPN
alkej-747	105	55	17	17	NUM
alkej-747	105	56	,	,	PUNCT
alkej-747	105	57	no	no	INTJ
alkej-747	105	58	.	.	NOUN
alkej-747	105	59	3	3	NUM
alkej-747	105	60	,	,	PUNCT
alkej-747	105	61	p.p	p.p	PROPN
alkej-747	105	62	.	.	NOUN
alkej-747	105	63	2944(2021	2944(2021	NUM
alkej-747	105	64	)	)	PUNCT
alkej-747	105	65	34	34	NUM
alkej-747	105	66	fig	fig	NOUN
alkej-747	105	67	.	.	PUNCT
alkej-747	106	1	6	6	X
alkej-747	106	2	.	.	PUNCT
alkej-747	106	3	kinematics	kinematic	NOUN
alkej-747	106	4	modelling	modelling	NOUN
alkej-747	106	5	of	of	ADP
alkej-747	106	6	dc	dc	PROPN
alkej-747	106	7	servo	servo	NOUN
alkej-747	106	8	motor	motor	NOUN
alkej-747	106	9	using	use	VERB
alkej-747	106	10	simulink	simulink	NOUN
alkej-747	106	11	.	.	PUNCT
alkej-747	107	1	3	3	NUM
alkej-747	107	2	.	.	NOUN
alkej-747	107	3	4	4	NUM
alkej-747	107	4	.	.	PUNCT
alkej-747	107	5	platform	platform	NOUN
alkej-747	107	6	subsystem	subsystem	NOUN
alkej-747	107	7	in	in	ADP
alkej-747	107	8	terms	term	NOUN
alkej-747	107	9	of	of	ADP
alkej-747	107	10	dynamic	dynamic	ADJ
alkej-747	107	11	modelling	modelling	NOUN
alkej-747	107	12	,	,	PUNCT
alkej-747	107	13	a	a	DET
alkej-747	107	14	3d	3d	NUM
alkej-747	107	15	model	model	NOUN
alkej-747	107	16	of	of	ADP
alkej-747	107	17	the	the	DET
alkej-747	107	18	self	self	NOUN
alkej-747	107	19	-	-	PUNCT
alkej-747	107	20	balanced	balance	VERB
alkej-747	107	21	platform	platform	NOUN
alkej-747	107	22	on	on	ADP
alkej-747	107	23	the	the	DET
alkej-747	107	24	mobile	mobile	ADJ
alkej-747	107	25	car	car	NOUN
alkej-747	107	26	was	be	AUX
alkej-747	107	27	constructed	construct	VERB
alkej-747	107	28	and	and	CCONJ
alkej-747	107	29	optimized	optimize	VERB
alkej-747	107	30	by	by	ADP
alkej-747	107	31	solidworks(sw2020	solidworks(sw2020	NOUN
alkej-747	107	32	)	)	PUNCT
alkej-747	107	33	based	base	VERB
alkej-747	107	34	on	on	ADP
alkej-747	107	35	the	the	DET
alkej-747	107	36	design	design	NOUN
alkej-747	107	37	parameters	parameter	NOUN
alkej-747	107	38	and	and	CCONJ
alkej-747	107	39	related	related	ADJ
alkej-747	107	40	limitations	limitation	NOUN
alkej-747	107	41	.	.	PUNCT
alkej-747	108	1	the	the	DET
alkej-747	108	2	platform	platform	NOUN
alkej-747	108	3	's	's	PART
alkej-747	108	4	complete	complete	ADJ
alkej-747	108	5	system	system	NOUN
alkej-747	108	6	(	(	PUNCT
alkej-747	108	7	three	three	NUM
alkej-747	108	8	plates	plate	NOUN
alkej-747	108	9	and	and	CCONJ
alkej-747	108	10	two	two	NUM
alkej-747	108	11	holders	holder	NOUN
alkej-747	108	12	)	)	PUNCT
alkej-747	108	13	consisted	consist	VERB
alkej-747	108	14	of	of	ADP
alkej-747	108	15	lightweight	lightweight	ADJ
alkej-747	108	16	material	material	NOUN
alkej-747	108	17	(	(	PUNCT
alkej-747	108	18	perspex	perspex	ADJ
alkej-747	108	19	gs	gs	INTJ
alkej-747	108	20	cast	cast	VERB
alkej-747	108	21	acrylic	acrylic	ADJ
alkej-747	108	22	glass	glass	NOUN
alkej-747	108	23	6	6	NUM
alkej-747	108	24	mm	mm	NOUN
alkej-747	108	25	thickness	thickness	NOUN
alkej-747	108	26	)	)	PUNCT
alkej-747	108	27	with	with	ADP
alkej-747	108	28	a	a	DET
alkej-747	108	29	dimension	dimension	NOUN
alkej-747	108	30	of	of	ADP
alkej-747	108	31	(	(	PUNCT
alkej-747	108	32	45	45	NUM
alkej-747	108	33	cm	cm	NOUN
alkej-747	108	34	length	length	NOUN
alkej-747	108	35	×	×	NOUN
alkej-747	108	36	30	30	NUM
alkej-747	108	37	cm	cm	NOUN
alkej-747	108	38	width	width	NOUN
alkej-747	108	39	)	)	PUNCT
alkej-747	108	40	at	at	ADP
alkej-747	108	41	the	the	DET
alkej-747	108	42	rectangle	rectangle	NOUN
alkej-747	108	43	base	base	NOUN
alkej-747	108	44	plate	plate	NOUN
alkej-747	108	45	(	(	PUNCT
alkej-747	108	46	40	40	NUM
alkej-747	108	47	cm	cm	NOUN
alkej-747	108	48	length×	length×	NOUN
alkej-747	108	49	40	40	NUM
alkej-747	108	50	cm	cm	NOUN
alkej-747	108	51	width×	width×	VERB
alkej-747	108	52	3	3	NUM
alkej-747	108	53	cm	cm	NOUN
alkej-747	108	54	inside	inside	ADV
alkej-747	108	55	)	)	PUNCT
alkej-747	108	56	at	at	ADP
alkej-747	108	57	the	the	DET
alkej-747	108	58	square	square	ADJ
alkej-747	108	59	middle	middle	ADJ
alkej-747	108	60	plate	plate	NOUN
alkej-747	108	61	,	,	PUNCT
alkej-747	108	62	(	(	PUNCT
alkej-747	108	63	20	20	NUM
alkej-747	108	64	cm	cm	NOUN
alkej-747	108	65	length×	length×	NOUN
alkej-747	108	66	20	20	NUM
alkej-747	108	67	cm	cm	NOUN
alkej-747	108	68	width	width	NOUN
alkej-747	108	69	)	)	PUNCT
alkej-747	108	70	the	the	DET
alkej-747	108	71	square	square	ADJ
alkej-747	108	72	top	top	ADJ
alkej-747	108	73	plate	plate	NOUN
alkej-747	108	74	and	and	CCONJ
alkej-747	108	75	each	each	DET
alkej-747	108	76	holder	holder	NOUN
alkej-747	108	77	with	with	ADP
alkej-747	108	78	(	(	PUNCT
alkej-747	108	79	15	15	NUM
alkej-747	108	80	cm	cm	NOUN
alkej-747	108	81	width×	width×	VERB
alkej-747	108	82	25	25	NUM
alkej-747	108	83	cm	cm	NOUN
alkej-747	108	84	height	height	NOUN
alkej-747	108	85	)	)	PUNCT
alkej-747	108	86	.	.	PUNCT
alkej-747	109	1	besides	besides	SCONJ
alkej-747	109	2	,	,	PUNCT
alkej-747	109	3	the	the	DET
alkej-747	109	4	platform	platform	NOUN
alkej-747	109	5	attached	attach	VERB
alkej-747	109	6	to	to	ADP
alkej-747	109	7	a	a	DET
alkej-747	109	8	reliable	reliable	ADJ
alkej-747	109	9	iron	iron	NOUN
alkej-747	109	10	rectangle	rectangle	NOUN
alkej-747	109	11	that	that	PRON
alkej-747	109	12	had	have	VERB
alkej-747	109	13	the	the	DET
alkej-747	109	14	advantage	advantage	NOUN
alkej-747	109	15	of	of	ADP
alkej-747	109	16	having	have	VERB
alkej-747	109	17	a	a	DET
alkej-747	109	18	well	well	ADV
alkej-747	109	19	-	-	PUNCT
alkej-747	109	20	balanced	balanced	ADJ
alkej-747	109	21	structure	structure	NOUN
alkej-747	109	22	(	(	PUNCT
alkej-747	109	23	45	45	NUM
alkej-747	109	24	cm	cm	NOUN
alkej-747	109	25	length	length	NOUN
alkej-747	109	26	×	×	NOUN
alkej-747	109	27	60	60	NUM
alkej-747	109	28	cm	cm	NOUN
alkej-747	109	29	width	width	NOUN
alkej-747	109	30	)	)	PUNCT
alkej-747	109	31	stands	stand	VERB
alkej-747	109	32	on	on	ADP
alkej-747	109	33	four	four	NUM
alkej-747	109	34	tires	tire	NOUN
alkej-747	109	35	,	,	PUNCT
alkej-747	109	36	as	as	SCONJ
alkej-747	109	37	shown	show	VERB
alkej-747	109	38	in	in	ADP
alkej-747	109	39	figure.7	figure.7	NOUN
alkej-747	109	40	.	.	PUNCT
alkej-747	110	1	matlabsimscape	matlabsimscape	NOUN
alkej-747	110	2	multibody	multibody	ADJ
alkej-747	110	3	package	package	NOUN
alkej-747	110	4	(	(	PUNCT
alkej-747	110	5	matlab	matlab	PROPN
alkej-747	110	6	r2020a	r2020a	NOUN
alkej-747	110	7	)	)	PUNCT
alkej-747	110	8	was	be	AUX
alkej-747	110	9	used	use	VERB
alkej-747	110	10	to	to	PART
alkej-747	110	11	personify	personify	VERB
alkej-747	110	12	the	the	DET
alkej-747	110	13	3d	3d	PROPN
alkej-747	110	14	solidworks	solidworks	PROPN
alkej-747	110	15	design	design	NOUN
alkej-747	110	16	of	of	ADP
alkej-747	110	17	the	the	DET
alkej-747	110	18	selfbalancing	selfbalancing	NOUN
alkej-747	110	19	platform	platform	NOUN
alkej-747	110	20	on	on	ADP
alkej-747	110	21	the	the	DET
alkej-747	110	22	mobile	mobile	ADJ
alkej-747	110	23	car	car	NOUN
alkej-747	110	24	as	as	ADP
alkej-747	110	25	matlab	matlab	PROPN
alkej-747	110	26	simscape	simscape	NOUN
alkej-747	110	27	model	model	NOUN
alkej-747	110	28	.	.	PUNCT
alkej-747	111	1	figure.8	figure.8	NOUN
alkej-747	111	2	illustrates	illustrate	VERB
alkej-747	111	3	the	the	DET
alkej-747	111	4	simscape	simscape	NOUN
alkej-747	111	5	model	model	NOUN
alkej-747	111	6	of	of	ADP
alkej-747	111	7	the	the	DET
alkej-747	111	8	self	self	NOUN
alkej-747	111	9	-	-	PUNCT
alkej-747	111	10	balancing	balance	VERB
alkej-747	111	11	platform	platform	NOUN
alkej-747	111	12	on	on	ADP
alkej-747	111	13	the	the	DET
alkej-747	111	14	mobile	mobile	ADJ
alkej-747	111	15	car	car	NOUN
alkej-747	111	16	.	.	PUNCT
alkej-747	112	1	fig	fig	NOUN
alkej-747	112	2	.	.	PUNCT
alkej-747	113	1	7	7	X
alkej-747	113	2	.	.	X
alkej-747	113	3	the	the	DET
alkej-747	113	4	cad	cad	NOUN
alkej-747	113	5	drawing	draw	VERB
alkej-747	113	6	for	for	ADP
alkej-747	113	7	the	the	DET
alkej-747	113	8	proposed	propose	VERB
alkej-747	113	9	prototype	prototype	NOUN
alkej-747	113	10	of	of	ADP
alkej-747	113	11	the	the	DET
alkej-747	113	12	3d	3d	NUM
alkej-747	113	13	self	self	NOUN
alkej-747	113	14	-	-	PUNCT
alkej-747	113	15	balancing	balance	VERB
alkej-747	113	16	platform	platform	NOUN
alkej-747	113	17	on	on	ADP
alkej-747	113	18	mobile	mobile	ADJ
alkej-747	113	19	car	car	NOUN
alkej-747	113	20	.	.	PUNCT
alkej-747	114	1	bushra	bushra	PROPN
alkej-747	114	2	amer	amer	PROPN
alkej-747	114	3	tawfeeq	tawfeeq	PROPN
alkej-747	114	4	al	al	PROPN
alkej-747	114	5	-	-	PUNCT
alkej-747	114	6	khwarizmi	khwarizmi	PROPN
alkej-747	114	7	engineering	engineering	NOUN
alkej-747	114	8	journal	journal	PROPN
alkej-747	114	9	,	,	PUNCT
alkej-747	114	10	vol	vol	NOUN
alkej-747	114	11	.	.	PROPN
alkej-747	114	12	17	17	NUM
alkej-747	114	13	,	,	PUNCT
alkej-747	114	14	no	no	INTJ
alkej-747	114	15	.	.	NOUN
alkej-747	114	16	3	3	NUM
alkej-747	114	17	,	,	PUNCT
alkej-747	114	18	p.p	p.p	PROPN
alkej-747	114	19	.	.	NOUN
alkej-747	114	20	2944(2021	2944(2021	NUM
alkej-747	114	21	)	)	PUNCT
alkej-747	114	22	35	35	NUM
alkej-747	114	23	fig	fig	NOUN
alkej-747	114	24	.	.	PUNCT
alkej-747	115	1	8	8	NUM
alkej-747	115	2	.	.	PUNCT
alkej-747	116	1	the	the	DET
alkej-747	116	2	simscape	simscape	NOUN
alkej-747	116	3	model	model	NOUN
alkej-747	116	4	of	of	ADP
alkej-747	116	5	the	the	DET
alkej-747	116	6	self	self	NOUN
alkej-747	116	7	-	-	PUNCT
alkej-747	116	8	balancing	balance	VERB
alkej-747	116	9	platform	platform	NOUN
alkej-747	116	10	on	on	ADP
alkej-747	116	11	the	the	DET
alkej-747	116	12	mobile	mobile	ADJ
alkej-747	116	13	car	car	NOUN
alkej-747	116	14	.	.	PUNCT
alkej-747	117	1	3.5	3.5	NUM
alkej-747	117	2	.	.	PUNCT
alkej-747	118	1	sensor	sensor	NOUN
alkej-747	118	2	subsystem	subsystem	NOUN
alkej-747	118	3	six	six	NUM
alkej-747	118	4	revolute	revolute	ADJ
alkej-747	118	5	joints	joint	NOUN
alkej-747	118	6	were	be	AUX
alkej-747	118	7	used	use	VERB
alkej-747	118	8	to	to	PART
alkej-747	118	9	connect	connect	VERB
alkej-747	118	10	eight	eight	NUM
alkej-747	118	11	rigid	rigid	ADJ
alkej-747	118	12	frames	frame	NOUN
alkej-747	118	13	to	to	ADP
alkej-747	118	14	each	each	DET
alkej-747	118	15	other	other	ADJ
alkej-747	118	16	due	due	ADP
alkej-747	118	17	to	to	ADP
alkej-747	118	18	conversion	conversion	NOUN
alkej-747	118	19	from	from	ADP
alkej-747	118	20	the	the	DET
alkej-747	118	21	cad	cad	PROPN
alkej-747	118	22	design	design	NOUN
alkej-747	118	23	of	of	ADP
alkej-747	118	24	the	the	DET
alkej-747	118	25	self	self	NOUN
alkej-747	118	26	-	-	PUNCT
alkej-747	118	27	balancing	balance	VERB
alkej-747	118	28	platform	platform	NOUN
alkej-747	118	29	on	on	ADP
alkej-747	118	30	the	the	DET
alkej-747	118	31	mobile	mobile	ADJ
alkej-747	118	32	car	car	NOUN
alkej-747	118	33	to	to	ADP
alkej-747	118	34	the	the	DET
alkej-747	118	35	simscape	simscape	NOUN
alkej-747	118	36	model	model	NOUN
alkej-747	118	37	.	.	PUNCT
alkej-747	119	1	each	each	DET
alkej-747	119	2	revolute	revolute	ADJ
alkej-747	119	3	joint	joint	NOUN
alkej-747	119	4	represents	represent	VERB
alkej-747	119	5	position	position	NOUN
alkej-747	119	6	relation	relation	NOUN
alkej-747	119	7	type	type	NOUN
alkej-747	119	8	between	between	ADP
alkej-747	119	9	platform	platform	NOUN
alkej-747	119	10	cad	cad	PROPN
alkej-747	119	11	's	's	PART
alkej-747	119	12	sub	sub	NOUN
alkej-747	119	13	-	-	NOUN
alkej-747	119	14	assemblies	assembly	NOUN
alkej-747	119	15	.	.	PUNCT
alkej-747	120	1	the	the	DET
alkej-747	120	2	used	use	VERB
alkej-747	120	3	technique	technique	NOUN
alkej-747	120	4	for	for	ADP
alkej-747	120	5	applying	apply	VERB
alkej-747	120	6	torque	torque	NOUN
alkej-747	120	7	(	(	PUNCT
alkej-747	120	8	n	n	CCONJ
alkej-747	120	9	-	-	PUNCT
alkej-747	120	10	m	m	NOUN
alkej-747	120	11	)	)	PUNCT
alkej-747	120	12	to	to	PART
alkej-747	120	13	rotate	rotate	VERB
alkej-747	120	14	the	the	DET
alkej-747	120	15	plate	plate	NOUN
alkej-747	120	16	's	's	PART
alkej-747	120	17	(	(	PUNCT
alkej-747	120	18	either	either	CCONJ
alkej-747	120	19	middle	middle	ADJ
alkej-747	120	20	or	or	CCONJ
alkej-747	120	21	top	top	ADJ
alkej-747	120	22	)	)	PUNCT
alkej-747	120	23	for	for	ADP
alkej-747	120	24	self	self	NOUN
alkej-747	120	25	-	-	PUNCT
alkej-747	120	26	balancing	balance	VERB
alkej-747	120	27	the	the	DET
alkej-747	120	28	plate	plate	NOUN
alkej-747	120	29	's	's	PART
alkej-747	120	30	inclination	inclination	NOUN
alkej-747	120	31	is	be	AUX
alkej-747	120	32	a	a	DET
alkej-747	120	33	revolute	revolute	ADJ
alkej-747	120	34	joint	joint	ADJ
alkej-747	120	35	primitive/	primitive/	NUM
alkej-747	120	36	actuation	actuation	NOUN
alkej-747	120	37	properties	property	NOUN
alkej-747	120	38	/	/	SYM
alkej-747	120	39	actuation	actuation	NOUN
alkej-747	120	40	torque	torque	NOUN
alkej-747	120	41	setting	setting	NOUN
alkej-747	120	42	(	(	PUNCT
alkej-747	120	43	t	t	NOUN
alkej-747	120	44	)	)	PUNCT
alkej-747	121	1	[	[	X
alkej-747	121	2	24	24	NUM
alkej-747	121	3	]	]	X
alkej-747	121	4	[	[	X
alkej-747	121	5	25	25	NUM
alkej-747	121	6	]	]	PUNCT
alkej-747	121	7	as	as	SCONJ
alkej-747	121	8	shown	show	VERB
alkej-747	121	9	in	in	ADP
alkej-747	121	10	figure.9	figure.9	NOUN
alkej-747	121	11	.	.	PUNCT
alkej-747	122	1	the	the	DET
alkej-747	122	2	dc	dc	PROPN
alkej-747	122	3	servo	servo	PROPN
alkej-747	122	4	motor	motor	NOUN
alkej-747	122	5	was	be	AUX
alkej-747	122	6	simulated	simulate	VERB
alkej-747	122	7	by	by	ADP
alkej-747	122	8	matlab	matlab	PROPN
alkej-747	122	9	/	/	SYM
alkej-747	122	10	simulink	simulink	PROPN
alkej-747	122	11	,	,	PUNCT
alkej-747	122	12	and	and	CCONJ
alkej-747	122	13	the	the	DET
alkej-747	122	14	joint	joint	ADJ
alkej-747	122	15	connection	connection	NOUN
alkej-747	122	16	between	between	ADP
alkej-747	122	17	the	the	DET
alkej-747	122	18	plate	plate	NOUN
alkej-747	122	19	(	(	PUNCT
alkej-747	122	20	either	either	CCONJ
alkej-747	122	21	middle	middle	ADJ
alkej-747	122	22	or	or	CCONJ
alkej-747	122	23	top	top	ADJ
alkej-747	122	24	)	)	PUNCT
alkej-747	122	25	and	and	CCONJ
alkej-747	122	26	the	the	DET
alkej-747	122	27	dc	dc	PROPN
alkej-747	122	28	servo	servo	PROPN
alkej-747	122	29	motor	motor	NOUN
alkej-747	122	30	is	be	AUX
alkej-747	122	31	a	a	DET
alkej-747	122	32	simscape	simscape	NOUN
alkej-747	122	33	block	block	NOUN
alkej-747	122	34	.	.	PUNCT
alkej-747	123	1	therefore	therefore	ADV
alkej-747	123	2	,	,	PUNCT
alkej-747	123	3	the	the	DET
alkej-747	123	4	s	s	NOUN
alkej-747	123	5	-	-	PUNCT
alkej-747	123	6	ps	ps	PROPN
alkej-747	123	7	(	(	PUNCT
alkej-747	123	8	simulink	simulink	PROPN
alkej-747	123	9	physical	physical	ADJ
alkej-747	123	10	system	system	NOUN
alkej-747	123	11	)	)	PUNCT
alkej-747	123	12	converter	converter	NOUN
alkej-747	123	13	block	block	NOUN
alkej-747	123	14	is	be	AUX
alkej-747	123	15	used	use	VERB
alkej-747	123	16	to	to	PART
alkej-747	123	17	interface	interface	VERB
alkej-747	123	18	the	the	DET
alkej-747	123	19	two	two	NUM
alkej-747	123	20	toolboxes	toolbox	NOUN
alkej-747	123	21	with	with	ADP
alkej-747	123	22	each	each	DET
alkej-747	123	23	other	other	ADJ
alkej-747	123	24	.	.	PUNCT
alkej-747	124	1	the	the	DET
alkej-747	124	2	used	used	ADJ
alkej-747	124	3	sensing	sense	VERB
alkej-747	124	4	technique	technique	NOUN
alkej-747	124	5	for	for	ADP
alkej-747	124	6	registering	register	VERB
alkej-747	124	7	the	the	DET
alkej-747	124	8	plate	plate	NOUN
alkej-747	124	9	's	's	PART
alkej-747	124	10	(	(	PUNCT
alkej-747	124	11	middle	middle	ADJ
alkej-747	124	12	and	and	CCONJ
alkej-747	124	13	top	top	ADJ
alkej-747	124	14	)	)	PUNCT
alkej-747	124	15	actual	actual	ADJ
alkej-747	124	16	current	current	ADJ
alkej-747	124	17	angle	angle	NOUN
alkej-747	124	18	value	value	NOUN
alkej-747	124	19	(	(	PUNCT
alkej-747	124	20	roll	roll	NOUN
alkej-747	124	21	and	and	CCONJ
alkej-747	124	22	pitch	pitch	NOUN
alkej-747	124	23	angles	angle	NOUN
alkej-747	124	24	)	)	PUNCT
alkej-747	124	25	after	after	ADP
alkej-747	124	26	self	self	NOUN
alkej-747	124	27	-	-	PUNCT
alkej-747	124	28	balancing	balancing	NOUN
alkej-747	124	29	is	be	AUX
alkej-747	124	30	firstly	firstly	ADV
alkej-747	124	31	plate	plate	NOUN
alkej-747	124	32	's	's	PART
alkej-747	124	33	actual	actual	ADJ
alkej-747	124	34	velocity	velocity	NOUN
alkej-747	124	35	is	be	AUX
alkej-747	124	36	measured	measure	VERB
alkej-747	124	37	(	(	PUNCT
alkej-747	124	38	rad	rad	PROPN
alkej-747	124	39	/	/	SYM
alkej-747	124	40	sec	sec	PROPN
alkej-747	124	41	)	)	PUNCT
alkej-747	124	42	by	by	ADP
alkej-747	124	43	a	a	DET
alkej-747	124	44	revolute	revolute	ADJ
alkej-747	124	45	joint	joint	ADJ
alkej-747	124	46	primitive/	primitive/	NUM
alkej-747	124	47	sensing	sense	VERB
alkej-747	124	48	properties	property	NOUN
alkej-747	124	49	/	/	PUNCT
alkej-747	124	50	relative	relative	ADJ
alkej-747	124	51	angular	angular	ADJ
alkej-747	124	52	velocity	velocity	NOUN
alkej-747	124	53	option(w	option(w	NOUN
alkej-747	124	54	)	)	PUNCT
alkej-747	125	1	[	[	X
alkej-747	125	2	24	24	NUM
alkej-747	125	3	]	]	X
alkej-747	125	4	[	[	X
alkej-747	125	5	25	25	NUM
alkej-747	125	6	]	]	PUNCT
alkej-747	125	7	.	.	PUNCT
alkej-747	126	1	then	then	ADV
alkej-747	126	2	,	,	PUNCT
alkej-747	126	3	the	the	DET
alkej-747	126	4	plate	plate	NOUN
alkej-747	126	5	's	's	PART
alkej-747	126	6	actual	actual	ADJ
alkej-747	126	7	velocity	velocity	NOUN
alkej-747	126	8	converts	convert	NOUN
alkej-747	126	9	to	to	ADP
alkej-747	126	10	the	the	DET
alkej-747	126	11	plate	plate	NOUN
alkej-747	126	12	's	's	PART
alkej-747	126	13	actual	actual	ADJ
alkej-747	126	14	angle(rad	angle(rad	NOUN
alkej-747	126	15	)	)	PUNCT
alkej-747	126	16	by	by	ADP
alkej-747	126	17	simulink/	simulink/	NUM
alkej-747	126	18	integrator	integrator	NOUN
alkej-747	126	19	block	block	NOUN
alkej-747	126	20	.	.	PUNCT
alkej-747	127	1	the	the	DET
alkej-747	127	2	joint	joint	ADJ
alkej-747	127	3	connection	connection	NOUN
alkej-747	127	4	between	between	ADP
alkej-747	127	5	the	the	DET
alkej-747	127	6	plate	plate	NOUN
alkej-747	127	7	(	(	PUNCT
alkej-747	127	8	either	either	CCONJ
alkej-747	127	9	middle	middle	ADJ
alkej-747	127	10	or	or	CCONJ
alkej-747	127	11	top	top	ADJ
alkej-747	127	12	)	)	PUNCT
alkej-747	127	13	and	and	CCONJ
alkej-747	127	14	dc	dc	PROPN
alkej-747	127	15	servo	servo	NOUN
alkej-747	127	16	motor	motor	NOUN
alkej-747	127	17	is	be	AUX
alkej-747	127	18	a	a	DET
alkej-747	127	19	simscape	simscape	NOUN
alkej-747	127	20	block	block	NOUN
alkej-747	127	21	,	,	PUNCT
alkej-747	127	22	and	and	CCONJ
alkej-747	127	23	the	the	DET
alkej-747	127	24	integrator	integrator	NOUN
alkej-747	127	25	block	block	NOUN
alkej-747	127	26	is	be	AUX
alkej-747	127	27	a	a	DET
alkej-747	127	28	simulink	simulink	NOUN
alkej-747	127	29	block	block	NOUN
alkej-747	127	30	.	.	PUNCT
alkej-747	128	1	therefore	therefore	ADV
alkej-747	128	2	,	,	PUNCT
alkej-747	128	3	the	the	DET
alkej-747	128	4	ps	ps	PROPN
alkej-747	128	5	-	-	PUNCT
alkej-747	128	6	s	s	X
alkej-747	128	7	(	(	PUNCT
alkej-747	128	8	physical	physical	ADJ
alkej-747	128	9	system	system	NOUN
alkej-747	128	10	simulink	simulink	NOUN
alkej-747	128	11	)	)	PUNCT
alkej-747	128	12	converter	converter	NOUN
alkej-747	128	13	block	block	NOUN
alkej-747	128	14	is	be	AUX
alkej-747	128	15	used	use	VERB
alkej-747	128	16	to	to	PART
alkej-747	128	17	interface	interface	VERB
alkej-747	128	18	the	the	DET
alkej-747	128	19	two	two	NUM
alkej-747	128	20	toolboxes	toolbox	NOUN
alkej-747	128	21	with	with	ADP
alkej-747	128	22	each	each	DET
alkej-747	128	23	other	other	ADJ
alkej-747	128	24	.	.	PUNCT
alkej-747	129	1	the	the	DET
alkej-747	129	2	pid	pid	NOUN
alkej-747	129	3	controller	controller	NOUN
alkej-747	129	4	output	output	NOUN
alkej-747	129	5	depends	depend	VERB
alkej-747	129	6	on	on	ADP
alkej-747	129	7	revolute	revolute	ADJ
alkej-747	129	8	joint	joint	ADJ
alkej-747	129	9	sensing	sensing	NOUN
alkej-747	129	10	's	's	PART
alkej-747	129	11	feedback	feedback	NOUN
alkej-747	129	12	to	to	PART
alkej-747	129	13	re	re	VERB
alkej-747	129	14	-	-	VERB
alkej-747	129	15	correct	correct	VERB
alkej-747	129	16	the	the	DET
alkej-747	129	17	tilt	tilt	NOUN
alkej-747	129	18	of	of	ADP
alkej-747	129	19	the	the	DET
alkej-747	129	20	platform	platform	NOUN
alkej-747	129	21	.	.	PUNCT
alkej-747	130	1	the	the	DET
alkej-747	130	2	sensing	sense	VERB
alkej-747	130	3	technique	technique	NOUN
alkej-747	130	4	in	in	ADP
alkej-747	130	5	the	the	DET
alkej-747	130	6	sensor	sensor	NOUN
alkej-747	130	7	subsystem	subsystem	NOUN
alkej-747	130	8	is	be	AUX
alkej-747	130	9	shown	show	VERB
alkej-747	130	10	in	in	ADP
alkej-747	130	11	figure.9	figure.9	NOUN
alkej-747	130	12	.	.	PUNCT
alkej-747	131	1	bushra	bushra	PROPN
alkej-747	131	2	amer	amer	PROPN
alkej-747	131	3	tawfeeq	tawfeeq	PROPN
alkej-747	131	4	al	al	PROPN
alkej-747	131	5	-	-	PUNCT
alkej-747	131	6	khwarizmi	khwarizmi	PROPN
alkej-747	131	7	engineering	engineering	NOUN
alkej-747	131	8	journal	journal	PROPN
alkej-747	131	9	,	,	PUNCT
alkej-747	131	10	vol	vol	NOUN
alkej-747	131	11	.	.	PROPN
alkej-747	131	12	17	17	NUM
alkej-747	131	13	,	,	PUNCT
alkej-747	131	14	no	no	INTJ
alkej-747	131	15	.	.	NOUN
alkej-747	131	16	3	3	NUM
alkej-747	131	17	,	,	PUNCT
alkej-747	131	18	p.p	p.p	PROPN
alkej-747	131	19	.	.	NOUN
alkej-747	131	20	2944(2021	2944(2021	NUM
alkej-747	131	21	)	)	PUNCT
alkej-747	131	22	36	36	NUM
alkej-747	131	23	fig	fig	NOUN
alkej-747	131	24	.	.	PUNCT
alkej-747	132	1	9	9	X
alkej-747	132	2	.	.	PUNCT
alkej-747	132	3	torque	torque	NOUN
alkej-747	132	4	applying	apply	VERB
alkej-747	132	5	technique	technique	NOUN
alkej-747	132	6	and	and	CCONJ
alkej-747	132	7	angles	angle	VERB
alkej-747	132	8	sensing	sense	VERB
alkej-747	132	9	technique	technique	NOUN
alkej-747	132	10	.	.	PUNCT
alkej-747	133	1	4	4	X
alkej-747	133	2	.	.	NOUN
alkej-747	133	3	results	result	NOUN
alkej-747	133	4	and	and	CCONJ
alkej-747	133	5	discussion	discussion	NOUN
alkej-747	133	6	the	the	DET
alkej-747	133	7	simulated	simulated	ADJ
alkej-747	133	8	model	model	NOUN
alkej-747	133	9	of	of	ADP
alkej-747	133	10	the	the	DET
alkej-747	133	11	self	self	NOUN
alkej-747	133	12	-	-	PUNCT
alkej-747	133	13	balancing	balance	VERB
alkej-747	133	14	platform	platform	NOUN
alkej-747	133	15	on	on	ADP
alkej-747	133	16	the	the	DET
alkej-747	133	17	mobile	mobile	ADJ
alkej-747	133	18	car	car	NOUN
alkej-747	133	19	was	be	AUX
alkej-747	133	20	tested	test	VERB
alkej-747	133	21	in	in	ADP
alkej-747	133	22	a	a	DET
alkej-747	133	23	simulink	simulink	NOUN
alkej-747	133	24	environment	environment	NOUN
alkej-747	133	25	included	include	VERB
alkej-747	133	26	in	in	ADP
alkej-747	133	27	(	(	PUNCT
alkej-747	133	28	matlab	matlab	PROPN
alkej-747	133	29	r2020a	r2020a	PROPN
alkej-747	133	30	)	)	PUNCT
alkej-747	133	31	to	to	PART
alkej-747	133	32	validate	validate	VERB
alkej-747	133	33	simulated	simulated	ADJ
alkej-747	133	34	model	model	NOUN
alkej-747	133	35	capabilities	capability	NOUN
alkej-747	133	36	to	to	ADP
alkej-747	133	37	self	self	NOUN
alkej-747	133	38	-	-	PUNCT
alkej-747	133	39	balancing	balancing	NOUN
alkej-747	133	40	under	under	ADP
alkej-747	133	41	disturbance	disturbance	NOUN
alkej-747	133	42	scenarios	scenario	NOUN
alkej-747	133	43	.	.	PUNCT
alkej-747	134	1	the	the	DET
alkej-747	134	2	simulation	simulation	NOUN
alkej-747	134	3	results	result	NOUN
alkej-747	134	4	were	be	AUX
alkej-747	134	5	attained	attain	VERB
alkej-747	134	6	by	by	ADP
alkej-747	134	7	self	self	NOUN
alkej-747	134	8	-	-	PUNCT
alkej-747	134	9	balancing	balance	VERB
alkej-747	134	10	verification	verification	NOUN
alkej-747	134	11	of	of	ADP
alkej-747	134	12	the	the	DET
alkej-747	134	13	simulated	simulated	ADJ
alkej-747	134	14	model	model	NOUN
alkej-747	134	15	of	of	ADP
alkej-747	134	16	the	the	DET
alkej-747	134	17	selfbalancing	selfbalancing	NOUN
alkej-747	134	18	platform	platform	NOUN
alkej-747	134	19	on	on	ADP
alkej-747	134	20	the	the	DET
alkej-747	134	21	mobile	mobile	ADJ
alkej-747	134	22	car	car	NOUN
alkej-747	134	23	in	in	ADP
alkej-747	134	24	matlab	matlab	PROPN
alkej-747	134	25	r2020a	r2020a	NOUN
alkej-747	134	26	/simulink	/simulink	VERB
alkej-747	134	27	.	.	PUNCT
alkej-747	135	1	this	this	DET
alkej-747	135	2	verification	verification	NOUN
alkej-747	135	3	was	be	AUX
alkej-747	135	4	repeated	repeat	VERB
alkej-747	135	5	four	four	NUM
alkej-747	135	6	times	time	NOUN
alkej-747	135	7	,	,	PUNCT
alkej-747	135	8	one	one	NUM
alkej-747	135	9	for	for	ADP
alkej-747	135	10	each	each	DET
alkej-747	135	11	disturbance	disturbance	NOUN
alkej-747	135	12	scenario	scenario	NOUN
alkej-747	135	13	shown	show	VERB
alkej-747	135	14	below	below	ADP
alkej-747	135	15	in	in	ADP
alkej-747	135	16	the	the	DET
alkej-747	135	17	four	four	NUM
alkej-747	135	18	cases	case	NOUN
alkej-747	135	19	.	.	PUNCT
alkej-747	136	1	case	case	NOUN
alkej-747	136	2	one	one	NUM
alkej-747	136	3	:	:	PUNCT
alkej-747	136	4	self	self	NOUN
alkej-747	136	5	-	-	PUNCT
alkej-747	136	6	balancing	balance	VERB
alkej-747	136	7	attitude	attitude	NOUN
alkej-747	136	8	in	in	ADP
alkej-747	136	9	the	the	DET
alkej-747	136	10	simulated	simulated	ADJ
alkej-747	136	11	model	model	NOUN
alkej-747	136	12	under	under	ADP
alkej-747	136	13	the	the	DET
alkej-747	136	14	influence	influence	NOUN
alkej-747	136	15	of	of	ADP
alkej-747	136	16	road	road	NOUN
alkej-747	136	17	disturbance	disturbance	NOUN
alkej-747	136	18	scenario	scenario	NOUN
alkej-747	136	19	in	in	ADP
alkej-747	136	20	the	the	DET
alkej-747	136	21	x	x	NOUN
alkej-747	136	22	-	-	NOUN
alkej-747	136	23	axis	axis	NOUN
alkej-747	136	24	.	.	PUNCT
alkej-747	137	1	the	the	DET
alkej-747	137	2	self	self	NOUN
alkej-747	137	3	-	-	PUNCT
alkej-747	137	4	balancing	balance	VERB
alkej-747	137	5	behavior	behavior	NOUN
alkej-747	137	6	of	of	ADP
alkej-747	137	7	the	the	DET
alkej-747	137	8	simulated	simulated	ADJ
alkej-747	137	9	model	model	NOUN
alkej-747	137	10	for	for	ADP
alkej-747	137	11	the	the	DET
alkej-747	137	12	self	self	NOUN
alkej-747	137	13	-	-	PUNCT
alkej-747	137	14	balancing	balance	VERB
alkej-747	137	15	platform	platform	NOUN
alkej-747	137	16	on	on	ADP
alkej-747	137	17	the	the	DET
alkej-747	137	18	mobile	mobile	ADJ
alkej-747	137	19	car	car	NOUN
alkej-747	137	20	resulted	result	VERB
alkej-747	137	21	from	from	ADP
alkej-747	137	22	the	the	DET
alkej-747	137	23	platform	platform	NOUN
alkej-747	137	24	's	's	PART
alkej-747	137	25	simulated	simulated	ADJ
alkej-747	137	26	model	model	NOUN
alkej-747	137	27	subjected	subject	VERB
alkej-747	137	28	to	to	ADP
alkej-747	137	29	disturbance	disturbance	NOUN
alkej-747	137	30	(	(	PUNCT
alkej-747	137	31	tilt	tilt	NOUN
alkej-747	137	32	angle	angle	NOUN
alkej-747	137	33	10	10	NUM
alkej-747	137	34	°	°	NOUN
alkej-747	137	35	on	on	ADP
alkej-747	137	36	positive	positive	ADJ
alkej-747	137	37	x	x	NOUN
alkej-747	137	38	-	-	NOUN
alkej-747	137	39	axis	axis	ADJ
alkej-747	137	40	and	and	CCONJ
alkej-747	137	41	-10	-10	NOUN
alkej-747	137	42	°	°	PROPN
alkej-747	137	43	on	on	ADP
alkej-747	137	44	negative	negative	ADJ
alkej-747	137	45	x	x	NOUN
alkej-747	137	46	-	-	ADJ
alkej-747	137	47	axis	axis	ADJ
alkej-747	137	48	)	)	PUNCT
alkej-747	137	49	is	be	AUX
alkej-747	137	50	shown	show	VERB
alkej-747	137	51	in	in	ADP
alkej-747	137	52	figure	figure	NOUN
alkej-747	137	53	10	10	NUM
alkej-747	137	54	.	.	PUNCT
alkej-747	138	1	the	the	DET
alkej-747	138	2	self	self	NOUN
alkej-747	138	3	-	-	PUNCT
alkej-747	138	4	balancing	balancing	NOUN
alkej-747	138	5	of	of	ADP
alkej-747	138	6	the	the	DET
alkej-747	138	7	(	(	PUNCT
alkej-747	138	8	platform	platform	NOUN
alkej-747	138	9	on	on	ADP
alkej-747	138	10	the	the	DET
alkej-747	138	11	mobile	mobile	ADJ
alkej-747	138	12	car	car	NOUN
alkej-747	138	13	)	)	PUNCT
alkej-747	138	14	structure	structure	NOUN
alkej-747	138	15	in	in	ADP
alkej-747	138	16	the	the	DET
alkej-747	138	17	virtual	virtual	ADJ
alkej-747	138	18	simulation	simulation	NOUN
alkej-747	138	19	environment	environment	NOUN
alkej-747	138	20	under	under	ADP
alkej-747	138	21	tilt	tilt	NOUN
alkej-747	138	22	angle	angle	NOUN
alkej-747	138	23	10	10	NUM
alkej-747	138	24	°	°	NOUN
alkej-747	138	25	on	on	ADP
alkej-747	138	26	positive	positive	ADJ
alkej-747	138	27	x	x	NOUN
alkej-747	138	28	-	-	NOUN
alkej-747	138	29	axis	axis	ADJ
alkej-747	138	30	and	and	CCONJ
alkej-747	138	31	-10	-10	NUM
alkej-747	138	32	°	°	PROPN
alkej-747	138	33	on	on	ADP
alkej-747	138	34	negative	negative	ADJ
alkej-747	138	35	xaxis	xaxis	PROPN
alkej-747	138	36	is	be	AUX
alkej-747	138	37	shown	show	VERB
alkej-747	138	38	in	in	ADP
alkej-747	138	39	figure	figure	NOUN
alkej-747	138	40	11	11	NUM
alkej-747	138	41	:	:	PUNCT
alkej-747	138	42	(	(	PUNCT
alkej-747	138	43	a	a	DET
alkej-747	138	44	,	,	PUNCT
alkej-747	138	45	b	b	NOUN
alkej-747	138	46	)	)	PUNCT
alkej-747	138	47	.	.	PUNCT
alkej-747	139	1	a.	a.	NOUN
alkej-747	140	1	under	under	ADP
alkej-747	140	2	tilt	tilt	NOUN
alkej-747	140	3	angle	angle	NOUN
alkej-747	140	4	10	10	NUM
alkej-747	140	5	°	°	NOUN
alkej-747	140	6	on	on	ADP
alkej-747	140	7	positive	positive	ADJ
alkej-747	140	8	x	x	NOUN
alkej-747	140	9	-	-	NOUN
alkej-747	140	10	axis	axis	ADJ
alkej-747	140	11	.	.	PUNCT
alkej-747	141	1	bushra	bushra	PROPN
alkej-747	141	2	amer	amer	PROPN
alkej-747	141	3	tawfeeq	tawfeeq	PROPN
alkej-747	141	4	al	al	PROPN
alkej-747	141	5	-	-	PUNCT
alkej-747	141	6	khwarizmi	khwarizmi	PROPN
alkej-747	141	7	engineering	engineering	NOUN
alkej-747	141	8	journal	journal	PROPN
alkej-747	141	9	,	,	PUNCT
alkej-747	141	10	vol	vol	NOUN
alkej-747	141	11	.	.	PROPN
alkej-747	141	12	17	17	NUM
alkej-747	141	13	,	,	PUNCT
alkej-747	141	14	no	no	INTJ
alkej-747	141	15	.	.	NOUN
alkej-747	141	16	3	3	NUM
alkej-747	141	17	,	,	PUNCT
alkej-747	141	18	p.p	p.p	PROPN
alkej-747	141	19	.	.	NOUN
alkej-747	141	20	2944(2021	2944(2021	NUM
alkej-747	141	21	)	)	PUNCT
alkej-747	141	22	37	37	NUM
alkej-747	141	23	b.	b.	NOUN
alkej-747	141	24	under	under	ADP
alkej-747	141	25	tilt	tilt	NOUN
alkej-747	141	26	angle	angle	NOUN
alkej-747	141	27	-10	-10	PUNCT
alkej-747	141	28	°	°	PROPN
alkej-747	141	29	on	on	ADP
alkej-747	141	30	negative	negative	ADJ
alkej-747	141	31	x	x	NOUN
alkej-747	141	32	-	-	ADJ
alkej-747	141	33	axis	axis	ADJ
alkej-747	141	34	.	.	PUNCT
alkej-747	142	1	fig	fig	NOUN
alkej-747	142	2	.	.	PUNCT
alkej-747	143	1	10	10	NUM
alkej-747	143	2	.	.	PUNCT
alkej-747	143	3	self	self	NOUN
alkej-747	143	4	-	-	PUNCT
alkej-747	143	5	balancing	balance	VERB
alkej-747	143	6	behavior	behavior	NOUN
alkej-747	143	7	of	of	ADP
alkej-747	143	8	simulated	simulated	ADJ
alkej-747	143	9	model	model	NOUN
alkej-747	143	10	on	on	ADP
alkej-747	143	11	x	x	NOUN
alkej-747	143	12	-	-	NOUN
alkej-747	143	13	axis	axis	ADJ
alkej-747	143	14	.	.	PUNCT
alkej-747	144	1	a	a	DET
alkej-747	144	2	b	b	NOUN
alkej-747	144	3	fig	fig	NOUN
alkej-747	144	4	.	.	PUNCT
alkej-747	145	1	11	11	NUM
alkej-747	145	2	.	.	PUNCT
alkej-747	146	1	self	self	NOUN
alkej-747	146	2	-	-	PUNCT
alkej-747	146	3	balancing	balancing	NOUN
alkej-747	146	4	of	of	ADP
alkej-747	146	5	the	the	DET
alkej-747	146	6	(	(	PUNCT
alkej-747	146	7	platform	platform	NOUN
alkej-747	146	8	on	on	ADP
alkej-747	146	9	the	the	DET
alkej-747	146	10	mobile	mobile	ADJ
alkej-747	146	11	car	car	NOUN
alkej-747	146	12	a	a	DET
alkej-747	146	13	)	)	PUNCT
alkej-747	146	14	structure	structure	NOUN
alkej-747	146	15	in	in	ADP
alkej-747	146	16	the	the	DET
alkej-747	146	17	virtual	virtual	ADJ
alkej-747	146	18	simulation	simulation	NOUN
alkej-747	146	19	a	a	NOUN
alkej-747	146	20	)	)	PUNCT
alkej-747	146	21	under	under	ADP
alkej-747	146	22	tilt	tilt	NOUN
alkej-747	146	23	angle	angle	NOUN
alkej-747	146	24	10	10	NUM
alkej-747	146	25	°	°	NOUN
alkej-747	146	26	on	on	ADP
alkej-747	146	27	positive	positive	ADJ
alkej-747	146	28	x	x	ADJ
alkej-747	146	29	-	-	ADJ
alkej-747	146	30	axis	axis	ADJ
alkej-747	146	31	b	b	NOUN
alkej-747	146	32	)	)	PUNCT
alkej-747	146	33	under	under	ADP
alkej-747	146	34	tilt	tilt	NOUN
alkej-747	146	35	angle	angle	NOUN
alkej-747	146	36	-10	-10	PUNCT
alkej-747	146	37	°	°	PROPN
alkej-747	146	38	on	on	ADP
alkej-747	146	39	negative	negative	ADJ
alkej-747	146	40	x	x	NOUN
alkej-747	146	41	-	-	ADJ
alkej-747	146	42	axis	axis	ADJ
alkej-747	146	43	.	.	PUNCT
alkej-747	147	1	case	case	NOUN
alkej-747	147	2	two	two	NUM
alkej-747	147	3	:	:	PUNCT
alkej-747	147	4	self	self	NOUN
alkej-747	147	5	-	-	PUNCT
alkej-747	147	6	balancing	balance	VERB
alkej-747	147	7	attitude	attitude	NOUN
alkej-747	147	8	in	in	ADP
alkej-747	147	9	the	the	DET
alkej-747	147	10	simulated	simulated	ADJ
alkej-747	147	11	model	model	NOUN
alkej-747	147	12	under	under	ADP
alkej-747	147	13	the	the	DET
alkej-747	147	14	influence	influence	NOUN
alkej-747	147	15	of	of	ADP
alkej-747	147	16	road	road	NOUN
alkej-747	147	17	disturbances	disturbance	NOUN
alkej-747	147	18	scenario	scenario	NOUN
alkej-747	147	19	in	in	ADP
alkej-747	147	20	the	the	DET
alkej-747	147	21	y	y	NOUN
alkej-747	147	22	-	-	PUNCT
alkej-747	147	23	axis	axis	NOUN
alkej-747	147	24	.	.	PUNCT
alkej-747	148	1	the	the	DET
alkej-747	148	2	self	self	NOUN
alkej-747	148	3	-	-	PUNCT
alkej-747	148	4	balancing	balance	VERB
alkej-747	148	5	behavior	behavior	NOUN
alkej-747	148	6	of	of	ADP
alkej-747	148	7	the	the	DET
alkej-747	148	8	simulated	simulated	ADJ
alkej-747	148	9	model	model	NOUN
alkej-747	148	10	for	for	ADP
alkej-747	148	11	the	the	DET
alkej-747	148	12	self	self	NOUN
alkej-747	148	13	-	-	PUNCT
alkej-747	148	14	balancing	balance	VERB
alkej-747	148	15	platform	platform	NOUN
alkej-747	148	16	on	on	ADP
alkej-747	148	17	the	the	DET
alkej-747	148	18	mobile	mobile	ADJ
alkej-747	148	19	car	car	NOUN
alkej-747	148	20	resulted	result	VERB
alkej-747	148	21	from	from	ADP
alkej-747	148	22	the	the	DET
alkej-747	148	23	platform	platform	NOUN
alkej-747	148	24	's	's	PART
alkej-747	148	25	simulated	simulated	ADJ
alkej-747	148	26	model	model	NOUN
alkej-747	148	27	subjected	subject	VERB
alkej-747	148	28	to	to	ADP
alkej-747	148	29	disturbance	disturbance	NOUN
alkej-747	148	30	(	(	PUNCT
alkej-747	148	31	tilt	tilt	NOUN
alkej-747	148	32	angle	angle	NOUN
alkej-747	148	33	10	10	NUM
alkej-747	148	34	°	°	NOUN
alkej-747	148	35	on	on	ADP
alkej-747	148	36	positive	positive	ADJ
alkej-747	148	37	y	y	NOUN
alkej-747	148	38	-	-	PUNCT
alkej-747	148	39	axis	axis	NOUN
alkej-747	148	40	and	and	CCONJ
alkej-747	148	41	-10	-10	NOUN
alkej-747	148	42	°	°	PROPN
alkej-747	148	43	on	on	ADP
alkej-747	148	44	negative	negative	ADJ
alkej-747	148	45	y	y	NOUN
alkej-747	148	46	-	-	PUNCT
alkej-747	148	47	axis	axis	NOUN
alkej-747	148	48	)	)	PUNCT
alkej-747	148	49	is	be	AUX
alkej-747	148	50	shown	show	VERB
alkej-747	148	51	in	in	ADP
alkej-747	148	52	figure	figure	NOUN
alkej-747	148	53	12	12	NUM
alkej-747	148	54	.	.	PUNCT
alkej-747	149	1	the	the	DET
alkej-747	149	2	self	self	NOUN
alkej-747	149	3	-	-	PUNCT
alkej-747	149	4	balancing	balancing	NOUN
alkej-747	149	5	of	of	ADP
alkej-747	149	6	the	the	DET
alkej-747	149	7	(	(	PUNCT
alkej-747	149	8	platform	platform	NOUN
alkej-747	149	9	on	on	ADP
alkej-747	149	10	the	the	DET
alkej-747	149	11	mobile	mobile	ADJ
alkej-747	149	12	car	car	NOUN
alkej-747	149	13	)	)	PUNCT
alkej-747	149	14	structure	structure	NOUN
alkej-747	149	15	in	in	ADP
alkej-747	149	16	the	the	DET
alkej-747	149	17	virtual	virtual	ADJ
alkej-747	149	18	simulation	simulation	NOUN
alkej-747	149	19	environment	environment	NOUN
alkej-747	149	20	under	under	ADP
alkej-747	149	21	tilt	tilt	NOUN
alkej-747	149	22	angle	angle	NOUN
alkej-747	149	23	10	10	NUM
alkej-747	149	24	°	°	NOUN
alkej-747	149	25	on	on	ADP
alkej-747	149	26	positive	positive	ADJ
alkej-747	149	27	y	y	NOUN
alkej-747	149	28	-	-	PUNCT
alkej-747	149	29	axis	axis	NOUN
alkej-747	149	30	and	and	CCONJ
alkej-747	149	31	-10	-10	NUM
alkej-747	149	32	°	°	PRON
alkej-747	149	33	on	on	ADP
alkej-747	149	34	negative	negative	ADJ
alkej-747	149	35	yaxis	yaxis	NOUN
alkej-747	149	36	is	be	AUX
alkej-747	149	37	shown	show	VERB
alkej-747	149	38	in	in	ADP
alkej-747	149	39	figure	figure	NOUN
alkej-747	149	40	13	13	NUM
alkej-747	149	41	:	:	PUNCT
alkej-747	149	42	(	(	PUNCT
alkej-747	149	43	a	a	DET
alkej-747	149	44	,	,	PUNCT
alkej-747	149	45	b	b	NOUN
alkej-747	149	46	)	)	PUNCT
alkej-747	149	47	.	.	PUNCT
alkej-747	150	1	a.	a.	NOUN
alkej-747	151	1	under	under	ADP
alkej-747	151	2	tilt	tilt	NOUN
alkej-747	151	3	angle	angle	NOUN
alkej-747	151	4	10	10	NUM
alkej-747	151	5	°	°	NOUN
alkej-747	151	6	on	on	ADP
alkej-747	151	7	positive	positive	ADJ
alkej-747	151	8	y	y	NOUN
alkej-747	151	9	-	-	PUNCT
alkej-747	151	10	axis	axis	NOUN
alkej-747	151	11	.	.	PUNCT
alkej-747	152	1	bushra	bushra	PROPN
alkej-747	152	2	amer	amer	PROPN
alkej-747	152	3	tawfeeq	tawfeeq	PROPN
alkej-747	152	4	al	al	PROPN
alkej-747	152	5	-	-	PUNCT
alkej-747	152	6	khwarizmi	khwarizmi	PROPN
alkej-747	152	7	engineering	engineering	NOUN
alkej-747	152	8	journal	journal	PROPN
alkej-747	152	9	,	,	PUNCT
alkej-747	152	10	vol	vol	NOUN
alkej-747	152	11	.	.	PROPN
alkej-747	152	12	17	17	NUM
alkej-747	152	13	,	,	PUNCT
alkej-747	152	14	no	no	INTJ
alkej-747	152	15	.	.	NOUN
alkej-747	152	16	3	3	NUM
alkej-747	152	17	,	,	PUNCT
alkej-747	152	18	p.p	p.p	PROPN
alkej-747	152	19	.	.	NOUN
alkej-747	152	20	2944(2021	2944(2021	NUM
alkej-747	152	21	)	)	PUNCT
alkej-747	152	22	38	38	NUM
alkej-747	152	23	b.	b.	NOUN
alkej-747	152	24	under	under	ADP
alkej-747	152	25	tilt	tilt	NOUN
alkej-747	152	26	angle	angle	NOUN
alkej-747	152	27	-10	-10	PUNCT
alkej-747	152	28	°	°	PROPN
alkej-747	152	29	on	on	ADP
alkej-747	152	30	negative	negative	ADJ
alkej-747	152	31	y	y	NOUN
alkej-747	152	32	-	-	PUNCT
alkej-747	152	33	axis	axis	NOUN
alkej-747	152	34	.	.	PUNCT
alkej-747	153	1	fig	fig	NOUN
alkej-747	153	2	.	.	PUNCT
alkej-747	154	1	12	12	NUM
alkej-747	154	2	.	.	PUNCT
alkej-747	155	1	self	self	NOUN
alkej-747	155	2	-	-	PUNCT
alkej-747	155	3	balancing	balance	VERB
alkej-747	155	4	behavior	behavior	NOUN
alkej-747	155	5	of	of	ADP
alkej-747	155	6	simulated	simulated	ADJ
alkej-747	155	7	model	model	NOUN
alkej-747	155	8	on	on	ADP
alkej-747	155	9	y	y	NOUN
alkej-747	155	10	-	-	PUNCT
alkej-747	155	11	axis	axis	NOUN
alkej-747	155	12	.	.	PUNCT
alkej-747	156	1	a	a	DET
alkej-747	156	2	b	b	NOUN
alkej-747	156	3	fig	fig	NOUN
alkej-747	156	4	.	.	PUNCT
alkej-747	157	1	13	13	NUM
alkej-747	157	2	.	.	PUNCT
alkej-747	157	3	self	self	NOUN
alkej-747	157	4	-	-	PUNCT
alkej-747	157	5	balancing	balancing	NOUN
alkej-747	157	6	of	of	ADP
alkej-747	157	7	the	the	DET
alkej-747	157	8	(	(	PUNCT
alkej-747	157	9	platform	platform	NOUN
alkej-747	157	10	on	on	ADP
alkej-747	157	11	the	the	DET
alkej-747	157	12	mobile	mobile	ADJ
alkej-747	157	13	car	car	NOUN
alkej-747	157	14	)	)	PUNCT
alkej-747	157	15	structure	structure	NOUN
alkej-747	157	16	in	in	ADP
alkej-747	157	17	the	the	DET
alkej-747	157	18	virtual	virtual	ADJ
alkej-747	157	19	simulation	simulation	NOUN
alkej-747	157	20	a	a	NOUN
alkej-747	157	21	)	)	PUNCT
alkej-747	157	22	under	under	ADP
alkej-747	157	23	tilt	tilt	NOUN
alkej-747	157	24	angle	angle	NOUN
alkej-747	157	25	10	10	NUM
alkej-747	157	26	°	°	NOUN
alkej-747	157	27	on	on	ADP
alkej-747	157	28	positive	positive	ADJ
alkej-747	157	29	y	y	NOUN
alkej-747	157	30	-	-	PUNCT
alkej-747	157	31	axis	axis	NOUN
alkej-747	157	32	b	b	NOUN
alkej-747	157	33	)	)	PUNCT
alkej-747	157	34	under	under	ADP
alkej-747	157	35	tilt	tilt	NOUN
alkej-747	157	36	angle	angle	NOUN
alkej-747	157	37	-10	-10	PUNCT
alkej-747	157	38	°	°	PROPN
alkej-747	157	39	on	on	ADP
alkej-747	157	40	negative	negative	ADJ
alkej-747	157	41	y	y	NOUN
alkej-747	157	42	-	-	PUNCT
alkej-747	157	43	axis	axis	NOUN
alkej-747	157	44	.	.	PUNCT
alkej-747	158	1	case	case	NOUN
alkej-747	158	2	three	three	NUM
alkej-747	158	3	:	:	PUNCT
alkej-747	158	4	self	self	NOUN
alkej-747	158	5	-	-	PUNCT
alkej-747	158	6	balancing	balance	VERB
alkej-747	158	7	attitude	attitude	NOUN
alkej-747	158	8	of	of	ADP
alkej-747	158	9	the	the	DET
alkej-747	158	10	simulated	simulated	ADJ
alkej-747	158	11	model	model	NOUN
alkej-747	158	12	under	under	ADP
alkej-747	158	13	the	the	DET
alkej-747	158	14	influence	influence	NOUN
alkej-747	158	15	of	of	ADP
alkej-747	158	16	road	road	NOUN
alkej-747	158	17	disturbances	disturbance	NOUN
alkej-747	158	18	scenario	scenario	NOUN
alkej-747	158	19	in	in	ADP
alkej-747	158	20	the	the	DET
alkej-747	158	21	biaxial	biaxial	NOUN
alkej-747	158	22	(	(	PUNCT
alkej-747	158	23	contradictory	contradictory	ADJ
alkej-747	158	24	tilt	tilt	NOUN
alkej-747	158	25	angles	angle	NOUN
alkej-747	158	26	in	in	ADP
alkej-747	158	27	x	x	ADJ
alkej-747	158	28	-	-	NOUN
alkej-747	158	29	axis	axis	ADJ
alkej-747	158	30	and	and	CCONJ
alkej-747	158	31	y	y	NOUN
alkej-747	158	32	-	-	PUNCT
alkej-747	158	33	axis	axis	NOUN
alkej-747	158	34	)	)	PUNCT
alkej-747	158	35	the	the	DET
alkej-747	158	36	self	self	NOUN
alkej-747	158	37	-	-	PUNCT
alkej-747	158	38	balancing	balance	VERB
alkej-747	158	39	behavior	behavior	NOUN
alkej-747	158	40	of	of	ADP
alkej-747	158	41	the	the	DET
alkej-747	158	42	simulated	simulated	ADJ
alkej-747	158	43	model	model	NOUN
alkej-747	158	44	for	for	ADP
alkej-747	158	45	the	the	DET
alkej-747	158	46	self	self	NOUN
alkej-747	158	47	-	-	PUNCT
alkej-747	158	48	balancing	balance	VERB
alkej-747	158	49	platform	platform	NOUN
alkej-747	158	50	on	on	ADP
alkej-747	158	51	the	the	DET
alkej-747	158	52	mobile	mobile	ADJ
alkej-747	158	53	car	car	NOUN
alkej-747	158	54	as	as	ADP
alkej-747	158	55	a	a	DET
alkej-747	158	56	result	result	NOUN
alkej-747	158	57	of	of	ADP
alkej-747	158	58	the	the	DET
alkej-747	158	59	platform	platform	NOUN
alkej-747	158	60	's	's	PART
alkej-747	158	61	simulated	simulated	ADJ
alkej-747	158	62	model	model	NOUN
alkej-747	158	63	subjected	subject	VERB
alkej-747	158	64	to	to	ADP
alkej-747	158	65	disturbances	disturbance	NOUN
alkej-747	158	66	(	(	PUNCT
alkej-747	158	67	tilt	tilt	NOUN
alkej-747	158	68	angle	angle	NOUN
alkej-747	158	69	10	10	NUM
alkej-747	158	70	°	°	NOUN
alkej-747	158	71	on	on	ADP
alkej-747	158	72	positive	positive	ADJ
alkej-747	158	73	x	x	NOUN
alkej-747	158	74	-	-	NOUN
alkej-747	158	75	axis	axis	ADJ
alkej-747	158	76	and	and	CCONJ
alkej-747	158	77	-10	-10	NUM
alkej-747	158	78	°	°	PROPN
alkej-747	158	79	on	on	ADP
alkej-747	158	80	negative	negative	ADJ
alkej-747	158	81	y	y	NOUN
alkej-747	158	82	-	-	PUNCT
alkej-747	158	83	axis	axis	NOUN
alkej-747	158	84	)	)	PUNCT
alkej-747	158	85	and	and	CCONJ
alkej-747	158	86	(	(	PUNCT
alkej-747	158	87	tilt	tilt	NOUN
alkej-747	158	88	angle	angle	NOUN
alkej-747	158	89	-10	-10	PUNCT
alkej-747	158	90	°	°	PROPN
alkej-747	158	91	on	on	ADP
alkej-747	158	92	negative	negative	ADJ
alkej-747	158	93	x	x	NOUN
alkej-747	158	94	-	-	ADJ
alkej-747	158	95	axis	axis	ADJ
alkej-747	158	96	and	and	CCONJ
alkej-747	159	1	10	10	NUM
alkej-747	159	2	°	°	NOUN
alkej-747	159	3	on	on	ADP
alkej-747	159	4	positive	positive	ADJ
alkej-747	159	5	y	y	NOUN
alkej-747	159	6	-	-	PUNCT
alkej-747	159	7	axis	axis	NOUN
alkej-747	159	8	)	)	PUNCT
alkej-747	159	9	shown	show	VERB
alkej-747	159	10	in	in	ADP
alkej-747	159	11	figure	figure	NOUN
alkej-747	159	12	14	14	NUM
alkej-747	159	13	.	.	PUNCT
alkej-747	160	1	the	the	DET
alkej-747	160	2	selfbalancing	selfbalancing	NOUN
alkej-747	160	3	of	of	ADP
alkej-747	160	4	the	the	DET
alkej-747	160	5	(	(	PUNCT
alkej-747	160	6	platform	platform	NOUN
alkej-747	160	7	on	on	ADP
alkej-747	160	8	the	the	DET
alkej-747	160	9	mobile	mobile	ADJ
alkej-747	160	10	car	car	NOUN
alkej-747	160	11	)	)	PUNCT
alkej-747	160	12	structure	structure	NOUN
alkej-747	160	13	in	in	ADP
alkej-747	160	14	the	the	DET
alkej-747	160	15	virtual	virtual	ADJ
alkej-747	160	16	simulation	simulation	NOUN
alkej-747	160	17	environment	environment	NOUN
alkej-747	160	18	under	under	ADP
alkej-747	160	19	tilt	tilt	NOUN
alkej-747	160	20	angle	angle	NOUN
alkej-747	160	21	(	(	PUNCT
alkej-747	160	22	10	10	NUM
alkej-747	160	23	°	°	NOUN
alkej-747	160	24	on	on	ADP
alkej-747	160	25	positive	positive	ADJ
alkej-747	160	26	x	x	NOUN
alkej-747	160	27	-	-	NOUN
alkej-747	160	28	axis	axis	ADJ
alkej-747	160	29	and	and	CCONJ
alkej-747	160	30	-10	-10	NUM
alkej-747	160	31	°	°	PROPN
alkej-747	160	32	on	on	ADP
alkej-747	160	33	negative	negative	ADJ
alkej-747	160	34	y	y	NOUN
alkej-747	160	35	-	-	PUNCT
alkej-747	160	36	axis	axis	NOUN
alkej-747	160	37	)	)	PUNCT
alkej-747	160	38	and	and	CCONJ
alkej-747	160	39	tilt	tilt	NOUN
alkej-747	160	40	angle	angle	NOUN
alkej-747	160	41	(	(	PUNCT
alkej-747	160	42	-10	-10	NOUN
alkej-747	160	43	°	°	PROPN
alkej-747	160	44	on	on	ADP
alkej-747	160	45	negative	negative	ADJ
alkej-747	160	46	x	x	NOUN
alkej-747	160	47	-	-	ADJ
alkej-747	160	48	axis	axis	ADJ
alkej-747	160	49	and	and	CCONJ
alkej-747	160	50	10	10	NUM
alkej-747	160	51	°	°	NOUN
alkej-747	160	52	on	on	ADP
alkej-747	160	53	positive	positive	ADJ
alkej-747	160	54	y	y	NOUN
alkej-747	160	55	-	-	PUNCT
alkej-747	160	56	axis	axis	NOUN
alkej-747	160	57	)	)	PUNCT
alkej-747	160	58	is	be	AUX
alkej-747	160	59	shown	show	VERB
alkej-747	160	60	in	in	ADP
alkej-747	160	61	figure	figure	NOUN
alkej-747	160	62	15	15	NUM
alkej-747	160	63	:	:	PUNCT
alkej-747	160	64	(	(	PUNCT
alkej-747	160	65	a	a	DET
alkej-747	160	66	,	,	PUNCT
alkej-747	160	67	b	b	NOUN
alkej-747	160	68	)	)	PUNCT
alkej-747	160	69	.	.	PUNCT
alkej-747	161	1	a.	a.	NOUN
alkej-747	162	1	under	under	ADP
alkej-747	162	2	tilt	tilt	NOUN
alkej-747	162	3	angle	angle	NOUN
alkej-747	162	4	(	(	PUNCT
alkej-747	162	5	10	10	NUM
alkej-747	162	6	°	°	NOUN
alkej-747	162	7	on	on	ADP
alkej-747	162	8	positive	positive	ADJ
alkej-747	162	9	x	x	NOUN
alkej-747	162	10	-	-	NOUN
alkej-747	162	11	axis	axis	ADJ
alkej-747	162	12	and	and	CCONJ
alkej-747	162	13	-10	-10	NUM
alkej-747	162	14	°	°	PROPN
alkej-747	162	15	on	on	ADP
alkej-747	162	16	negative	negative	ADJ
alkej-747	162	17	y	y	NOUN
alkej-747	162	18	-	-	PUNCT
alkej-747	162	19	axis	axis	NOUN
alkej-747	162	20	.	.	PUNCT
alkej-747	163	1	bushra	bushra	PROPN
alkej-747	163	2	amer	amer	PROPN
alkej-747	163	3	tawfeeq	tawfeeq	PROPN
alkej-747	163	4	al	al	PROPN
alkej-747	163	5	-	-	PUNCT
alkej-747	163	6	khwarizmi	khwarizmi	PROPN
alkej-747	163	7	engineering	engineering	NOUN
alkej-747	163	8	journal	journal	PROPN
alkej-747	163	9	,	,	PUNCT
alkej-747	163	10	vol	vol	NOUN
alkej-747	163	11	.	.	PROPN
alkej-747	163	12	17	17	NUM
alkej-747	163	13	,	,	PUNCT
alkej-747	163	14	no	no	INTJ
alkej-747	163	15	.	.	NOUN
alkej-747	163	16	3	3	NUM
alkej-747	163	17	,	,	PUNCT
alkej-747	163	18	p.p	p.p	PROPN
alkej-747	163	19	.	.	NOUN
alkej-747	163	20	2944(2021	2944(2021	NUM
alkej-747	163	21	)	)	PUNCT
alkej-747	163	22	39	39	NUM
alkej-747	163	23	b.	b.	NOUN
alkej-747	163	24	under	under	ADP
alkej-747	163	25	tilt	tilt	NOUN
alkej-747	163	26	angle	angle	NOUN
alkej-747	163	27	(	(	PUNCT
alkej-747	163	28	-10	-10	NOUN
alkej-747	163	29	°	°	PROPN
alkej-747	163	30	on	on	ADP
alkej-747	163	31	negative	negative	ADJ
alkej-747	163	32	x	x	NOUN
alkej-747	163	33	-	-	ADJ
alkej-747	163	34	axis	axis	ADJ
alkej-747	163	35	and	and	CCONJ
alkej-747	163	36	10	10	NUM
alkej-747	163	37	°	°	NOUN
alkej-747	163	38	on	on	ADP
alkej-747	163	39	positive	positive	ADJ
alkej-747	163	40	y	y	NOUN
alkej-747	163	41	-	-	PUNCT
alkej-747	163	42	axis	axis	NOUN
alkej-747	163	43	)	)	PUNCT
alkej-747	163	44	.	.	PUNCT
alkej-747	164	1	fig	fig	NOUN
alkej-747	164	2	.	.	PUNCT
alkej-747	165	1	14	14	NUM
alkej-747	165	2	.	.	PUNCT
alkej-747	166	1	self	self	NOUN
alkej-747	166	2	-	-	PUNCT
alkej-747	166	3	balancing	balance	VERB
alkej-747	166	4	behavior	behavior	NOUN
alkej-747	166	5	of	of	ADP
alkej-747	166	6	simulated	simulated	ADJ
alkej-747	166	7	model	model	NOUN
alkej-747	166	8	on	on	ADP
alkej-747	166	9	(	(	PUNCT
alkej-747	166	10	contradictory	contradictory	ADJ
alkej-747	166	11	tilt	tilt	NOUN
alkej-747	166	12	angles	angle	NOUN
alkej-747	166	13	in	in	ADP
alkej-747	166	14	x	x	ADJ
alkej-747	166	15	-	-	NOUN
alkej-747	166	16	axis	axis	ADJ
alkej-747	166	17	and	and	CCONJ
alkej-747	166	18	y	y	NOUN
alkej-747	166	19	-	-	PUNCT
alkej-747	166	20	axis	axis	NOUN
alkej-747	166	21	)	)	PUNCT
alkej-747	166	22	.	.	PUNCT
alkej-747	167	1	a	a	DET
alkej-747	167	2	b	b	NOUN
alkej-747	167	3	fig	fig	NOUN
alkej-747	167	4	.	.	PUNCT
alkej-747	168	1	15	15	NUM
alkej-747	168	2	.	.	PUNCT
alkej-747	169	1	self	self	NOUN
alkej-747	169	2	-	-	PUNCT
alkej-747	169	3	balancing	balancing	NOUN
alkej-747	169	4	of	of	ADP
alkej-747	169	5	the	the	DET
alkej-747	169	6	(	(	PUNCT
alkej-747	169	7	platform	platform	NOUN
alkej-747	169	8	on	on	ADP
alkej-747	169	9	the	the	DET
alkej-747	169	10	mobile	mobile	ADJ
alkej-747	169	11	car	car	NOUN
alkej-747	169	12	)	)	PUNCT
alkej-747	169	13	structure	structure	NOUN
alkej-747	169	14	in	in	ADP
alkej-747	169	15	the	the	DET
alkej-747	169	16	virtual	virtual	ADJ
alkej-747	169	17	simulation	simulation	NOUN
alkej-747	169	18	a	a	NOUN
alkej-747	169	19	)	)	PUNCT
alkej-747	169	20	under	under	ADP
alkej-747	169	21	tilt	tilt	NOUN
alkej-747	169	22	angle	angle	NOUN
alkej-747	169	23	(	(	PUNCT
alkej-747	169	24	10	10	NUM
alkej-747	169	25	°	°	NOUN
alkej-747	169	26	on	on	ADP
alkej-747	169	27	positive	positive	ADJ
alkej-747	169	28	x	x	NOUN
alkej-747	169	29	-	-	NOUN
alkej-747	169	30	axis	axis	ADJ
alkej-747	169	31	and	and	CCONJ
alkej-747	169	32	-10	-10	NUM
alkej-747	169	33	°	°	PROPN
alkej-747	169	34	on	on	ADP
alkej-747	169	35	negative	negative	ADJ
alkej-747	169	36	y	y	NOUN
alkej-747	169	37	-	-	PUNCT
alkej-747	169	38	axis	axis	ADJ
alkej-747	169	39	)	)	PUNCT
alkej-747	169	40	b	b	NOUN
alkej-747	169	41	)	)	PUNCT
alkej-747	169	42	under	under	ADP
alkej-747	169	43	tilt	tilt	NOUN
alkej-747	169	44	angle	angle	NOUN
alkej-747	169	45	(	(	PUNCT
alkej-747	169	46	-10	-10	NOUN
alkej-747	169	47	°	°	PROPN
alkej-747	169	48	on	on	ADP
alkej-747	169	49	negative	negative	ADJ
alkej-747	169	50	x	x	NOUN
alkej-747	169	51	-	-	ADJ
alkej-747	169	52	axis	axis	ADJ
alkej-747	169	53	and	and	CCONJ
alkej-747	169	54	10	10	NUM
alkej-747	169	55	°	°	NOUN
alkej-747	169	56	on	on	ADP
alkej-747	169	57	positive	positive	ADJ
alkej-747	169	58	y	y	NOUN
alkej-747	169	59	-	-	PUNCT
alkej-747	169	60	axis	axis	NOUN
alkej-747	169	61	)	)	PUNCT
alkej-747	169	62	.	.	PUNCT
alkej-747	170	1	case	case	NOUN
alkej-747	170	2	four	four	NUM
alkej-747	170	3	:	:	PUNCT
alkej-747	170	4	self	self	NOUN
alkej-747	170	5	-	-	PUNCT
alkej-747	170	6	balancing	balance	VERB
alkej-747	170	7	attitude	attitude	NOUN
alkej-747	170	8	of	of	ADP
alkej-747	170	9	the	the	DET
alkej-747	170	10	simulated	simulated	ADJ
alkej-747	170	11	model	model	NOUN
alkej-747	170	12	under	under	ADP
alkej-747	170	13	the	the	DET
alkej-747	170	14	influence	influence	NOUN
alkej-747	170	15	of	of	ADP
alkej-747	170	16	road	road	NOUN
alkej-747	170	17	disturbances	disturbance	NOUN
alkej-747	170	18	scenario	scenario	NOUN
alkej-747	170	19	in	in	ADP
alkej-747	170	20	the	the	DET
alkej-747	170	21	biaxial	biaxial	NOUN
alkej-747	170	22	(	(	PUNCT
alkej-747	170	23	similar	similar	ADJ
alkej-747	170	24	tilt	tilt	NOUN
alkej-747	170	25	angles	angle	NOUN
alkej-747	170	26	in	in	ADP
alkej-747	170	27	x	x	ADJ
alkej-747	170	28	-	-	NOUN
alkej-747	170	29	axis	axis	ADJ
alkej-747	170	30	and	and	CCONJ
alkej-747	170	31	y	y	NOUN
alkej-747	170	32	-	-	PUNCT
alkej-747	170	33	axis	axis	NOUN
alkej-747	170	34	)	)	PUNCT
alkej-747	170	35	.	.	PUNCT
alkej-747	171	1	the	the	DET
alkej-747	171	2	self	self	NOUN
alkej-747	171	3	-	-	PUNCT
alkej-747	171	4	balancing	balance	VERB
alkej-747	171	5	behavior	behavior	NOUN
alkej-747	171	6	of	of	ADP
alkej-747	171	7	the	the	DET
alkej-747	171	8	simulated	simulated	ADJ
alkej-747	171	9	model	model	NOUN
alkej-747	171	10	for	for	ADP
alkej-747	171	11	the	the	DET
alkej-747	171	12	self	self	NOUN
alkej-747	171	13	-	-	PUNCT
alkej-747	171	14	balancing	balance	VERB
alkej-747	171	15	platform	platform	NOUN
alkej-747	171	16	on	on	ADP
alkej-747	171	17	the	the	DET
alkej-747	171	18	mobile	mobile	ADJ
alkej-747	171	19	car	car	NOUN
alkej-747	171	20	as	as	ADP
alkej-747	171	21	a	a	DET
alkej-747	171	22	result	result	NOUN
alkej-747	171	23	of	of	ADP
alkej-747	171	24	the	the	DET
alkej-747	171	25	platform	platform	NOUN
alkej-747	171	26	's	's	PART
alkej-747	171	27	simulated	simulated	ADJ
alkej-747	171	28	model	model	NOUN
alkej-747	171	29	subjected	subject	VERB
alkej-747	171	30	to	to	ADP
alkej-747	171	31	disturbances	disturbance	NOUN
alkej-747	171	32	(	(	PUNCT
alkej-747	171	33	tilt	tilt	NOUN
alkej-747	171	34	angle	angle	NOUN
alkej-747	171	35	10	10	NUM
alkej-747	171	36	°	°	NOUN
alkej-747	171	37	on	on	ADP
alkej-747	171	38	positive	positive	ADJ
alkej-747	171	39	x	x	NOUN
alkej-747	171	40	-	-	NOUN
alkej-747	171	41	axis	axis	ADJ
alkej-747	171	42	and	and	CCONJ
alkej-747	171	43	10	10	NUM
alkej-747	171	44	°	°	NOUN
alkej-747	171	45	on	on	ADP
alkej-747	171	46	positive	positive	ADJ
alkej-747	171	47	y	y	NOUN
alkej-747	171	48	-	-	PUNCT
alkej-747	171	49	axis	axis	NOUN
alkej-747	171	50	)	)	PUNCT
alkej-747	171	51	and	and	CCONJ
alkej-747	171	52	(	(	PUNCT
alkej-747	171	53	tilt	tilt	NOUN
alkej-747	171	54	angle	angle	NOUN
alkej-747	171	55	-10	-10	PUNCT
alkej-747	171	56	°	°	PROPN
alkej-747	171	57	on	on	ADP
alkej-747	171	58	negative	negative	ADJ
alkej-747	171	59	x	x	NOUN
alkej-747	171	60	-	-	ADJ
alkej-747	171	61	axis	axis	ADJ
alkej-747	171	62	and	and	CCONJ
alkej-747	171	63	-10	-10	NUM
alkej-747	171	64	°	°	PROPN
alkej-747	171	65	on	on	ADP
alkej-747	171	66	negative	negative	ADJ
alkej-747	171	67	y	y	NOUN
alkej-747	171	68	-	-	PUNCT
alkej-747	171	69	axis	axis	NOUN
alkej-747	171	70	)	)	PUNCT
alkej-747	171	71	shown	show	VERB
alkej-747	171	72	in	in	ADP
alkej-747	171	73	figure	figure	NOUN
alkej-747	171	74	16	16	NUM
alkej-747	171	75	.	.	PUNCT
alkej-747	172	1	the	the	DET
alkej-747	172	2	selfbalancing	selfbalancing	NOUN
alkej-747	172	3	of	of	ADP
alkej-747	172	4	the	the	DET
alkej-747	172	5	(	(	PUNCT
alkej-747	172	6	platform	platform	NOUN
alkej-747	172	7	on	on	ADP
alkej-747	172	8	the	the	DET
alkej-747	172	9	mobile	mobile	ADJ
alkej-747	172	10	car	car	NOUN
alkej-747	172	11	)	)	PUNCT
alkej-747	172	12	structure	structure	NOUN
alkej-747	172	13	in	in	ADP
alkej-747	172	14	the	the	DET
alkej-747	172	15	virtual	virtual	ADJ
alkej-747	172	16	simulation	simulation	NOUN
alkej-747	172	17	environment	environment	NOUN
alkej-747	172	18	under	under	ADP
alkej-747	172	19	tilt	tilt	NOUN
alkej-747	172	20	angle	angle	NOUN
alkej-747	172	21	(	(	PUNCT
alkej-747	172	22	10	10	NUM
alkej-747	172	23	°	°	NOUN
alkej-747	172	24	on	on	ADP
alkej-747	172	25	positive	positive	ADJ
alkej-747	172	26	x	x	NOUN
alkej-747	172	27	-	-	NOUN
alkej-747	172	28	axis	axis	ADJ
alkej-747	172	29	and	and	CCONJ
alkej-747	172	30	10	10	NUM
alkej-747	172	31	°	°	NOUN
alkej-747	172	32	on	on	ADP
alkej-747	172	33	positive	positive	ADJ
alkej-747	172	34	y	y	NOUN
alkej-747	172	35	-	-	PUNCT
alkej-747	172	36	axis	axis	NOUN
alkej-747	172	37	)	)	PUNCT
alkej-747	172	38	and	and	CCONJ
alkej-747	172	39	tilt	tilt	NOUN
alkej-747	172	40	angle	angle	NOUN
alkej-747	172	41	(	(	PUNCT
alkej-747	172	42	-10	-10	NOUN
alkej-747	172	43	°	°	PROPN
alkej-747	172	44	on	on	ADP
alkej-747	172	45	negative	negative	ADJ
alkej-747	172	46	x	x	NOUN
alkej-747	172	47	-	-	ADJ
alkej-747	172	48	axis	axis	ADJ
alkej-747	172	49	and	and	CCONJ
alkej-747	172	50	-10	-10	NUM
alkej-747	172	51	°	°	PROPN
alkej-747	172	52	on	on	ADP
alkej-747	172	53	negative	negative	ADJ
alkej-747	172	54	y	y	NOUN
alkej-747	172	55	-	-	PUNCT
alkej-747	172	56	axis	axis	NOUN
alkej-747	172	57	)	)	PUNCT
alkej-747	172	58	is	be	AUX
alkej-747	172	59	shown	show	VERB
alkej-747	172	60	in	in	ADP
alkej-747	172	61	figure	figure	NOUN
alkej-747	172	62	17	17	NUM
alkej-747	172	63	:	:	PUNCT
alkej-747	172	64	(	(	PUNCT
alkej-747	172	65	a	a	DET
alkej-747	172	66	,	,	PUNCT
alkej-747	172	67	b	b	NOUN
alkej-747	172	68	)	)	PUNCT
alkej-747	172	69	.	.	PUNCT
alkej-747	173	1	bushra	bushra	PROPN
alkej-747	173	2	amer	amer	PROPN
alkej-747	173	3	tawfeeq	tawfeeq	PROPN
alkej-747	173	4	al	al	PROPN
alkej-747	173	5	-	-	PUNCT
alkej-747	173	6	khwarizmi	khwarizmi	PROPN
alkej-747	173	7	engineering	engineering	NOUN
alkej-747	173	8	journal	journal	PROPN
alkej-747	173	9	,	,	PUNCT
alkej-747	173	10	vol	vol	NOUN
alkej-747	173	11	.	.	PROPN
alkej-747	173	12	17	17	NUM
alkej-747	173	13	,	,	PUNCT
alkej-747	173	14	no	no	INTJ
alkej-747	173	15	.	.	NOUN
alkej-747	173	16	3	3	NUM
alkej-747	173	17	,	,	PUNCT
alkej-747	173	18	p.p	p.p	PROPN
alkej-747	173	19	.	.	NOUN
alkej-747	173	20	2944(2021	2944(2021	NUM
alkej-747	173	21	)	)	PUNCT
alkej-747	173	22	40	40	NUM
alkej-747	173	23	a.	a.	NOUN
alkej-747	173	24	under	under	ADP
alkej-747	173	25	tilt	tilt	NOUN
alkej-747	173	26	angle	angle	NOUN
alkej-747	173	27	(	(	PUNCT
alkej-747	173	28	10	10	NUM
alkej-747	173	29	°	°	NOUN
alkej-747	173	30	on	on	ADP
alkej-747	173	31	positive	positive	ADJ
alkej-747	173	32	x	x	NOUN
alkej-747	173	33	-	-	NOUN
alkej-747	173	34	axis	axis	ADJ
alkej-747	173	35	and	and	CCONJ
alkej-747	173	36	10	10	NUM
alkej-747	173	37	°	°	NOUN
alkej-747	173	38	on	on	ADP
alkej-747	173	39	positive	positive	ADJ
alkej-747	173	40	y	y	NOUN
alkej-747	173	41	-	-	PUNCT
alkej-747	173	42	axis	axis	NOUN
alkej-747	173	43	)	)	PUNCT
alkej-747	173	44	.	.	PUNCT
alkej-747	174	1	b.	b.	PROPN
alkej-747	175	1	under	under	ADP
alkej-747	175	2	tilt	tilt	NOUN
alkej-747	175	3	angle	angle	NOUN
alkej-747	175	4	(	(	PUNCT
alkej-747	175	5	-10	-10	NOUN
alkej-747	175	6	°	°	PROPN
alkej-747	175	7	on	on	ADP
alkej-747	175	8	negative	negative	ADJ
alkej-747	175	9	x	x	NOUN
alkej-747	175	10	-	-	ADJ
alkej-747	175	11	axis	axis	ADJ
alkej-747	175	12	and	and	CCONJ
alkej-747	175	13	-10	-10	NUM
alkej-747	175	14	°	°	PROPN
alkej-747	175	15	on	on	ADP
alkej-747	175	16	negative	negative	ADJ
alkej-747	175	17	y	y	NOUN
alkej-747	175	18	-	-	PUNCT
alkej-747	175	19	axis	axis	NOUN
alkej-747	175	20	)	)	PUNCT
alkej-747	175	21	.	.	PUNCT
alkej-747	176	1	fig	fig	NOUN
alkej-747	176	2	.	.	PUNCT
alkej-747	177	1	16	16	NUM
alkej-747	177	2	.	.	PUNCT
alkej-747	178	1	self	self	NOUN
alkej-747	178	2	-	-	PUNCT
alkej-747	178	3	balancing	balance	VERB
alkej-747	178	4	behavior	behavior	NOUN
alkej-747	178	5	of	of	ADP
alkej-747	178	6	simulated	simulated	ADJ
alkej-747	178	7	model	model	NOUN
alkej-747	178	8	on	on	ADP
alkej-747	178	9	(	(	PUNCT
alkej-747	178	10	similar	similar	ADJ
alkej-747	178	11	tilt	tilt	NOUN
alkej-747	178	12	angles	angle	NOUN
alkej-747	178	13	in	in	ADP
alkej-747	178	14	x	x	ADJ
alkej-747	178	15	-	-	NOUN
alkej-747	178	16	axis	axis	ADJ
alkej-747	178	17	and	and	CCONJ
alkej-747	178	18	y	y	NOUN
alkej-747	178	19	-	-	PUNCT
alkej-747	178	20	axis	axis	NOUN
alkej-747	178	21	)	)	PUNCT
alkej-747	178	22	.	.	PUNCT
alkej-747	179	1	a	a	DET
alkej-747	179	2	b	b	NOUN
alkej-747	179	3	fig	fig	NOUN
alkej-747	179	4	.	.	PUNCT
alkej-747	180	1	16	16	NUM
alkej-747	180	2	.	.	PUNCT
alkej-747	181	1	self	self	NOUN
alkej-747	181	2	-	-	PUNCT
alkej-747	181	3	balancing	balancing	NOUN
alkej-747	181	4	of	of	ADP
alkej-747	181	5	the	the	DET
alkej-747	181	6	(	(	PUNCT
alkej-747	181	7	platform	platform	NOUN
alkej-747	181	8	on	on	ADP
alkej-747	181	9	the	the	DET
alkej-747	181	10	mobile	mobile	ADJ
alkej-747	181	11	car	car	NOUN
alkej-747	181	12	)	)	PUNCT
alkej-747	181	13	structure	structure	NOUN
alkej-747	181	14	in	in	ADP
alkej-747	181	15	the	the	DET
alkej-747	181	16	virtual	virtual	ADJ
alkej-747	181	17	simulation	simulation	NOUN
alkej-747	181	18	a	a	NOUN
alkej-747	181	19	)	)	PUNCT
alkej-747	181	20	under	under	ADP
alkej-747	181	21	tilt	tilt	NOUN
alkej-747	181	22	angle	angle	NOUN
alkej-747	181	23	(	(	PUNCT
alkej-747	181	24	10	10	NUM
alkej-747	181	25	°	°	NOUN
alkej-747	181	26	on	on	ADP
alkej-747	181	27	positive	positive	ADJ
alkej-747	181	28	x	x	NOUN
alkej-747	181	29	-	-	NOUN
alkej-747	181	30	axis	axis	ADJ
alkej-747	181	31	and	and	CCONJ
alkej-747	181	32	10	10	NUM
alkej-747	181	33	°	°	NOUN
alkej-747	181	34	on	on	ADP
alkej-747	181	35	positive	positive	ADJ
alkej-747	181	36	y	y	NOUN
alkej-747	181	37	-	-	PUNCT
alkej-747	181	38	axis	axis	NOUN
alkej-747	181	39	)	)	PUNCT
alkej-747	181	40	b	b	NOUN
alkej-747	181	41	)	)	PUNCT
alkej-747	181	42	under	under	ADP
alkej-747	181	43	tilt	tilt	NOUN
alkej-747	181	44	angle	angle	NOUN
alkej-747	181	45	(	(	PUNCT
alkej-747	181	46	-10	-10	NOUN
alkej-747	181	47	°	°	PROPN
alkej-747	181	48	on	on	ADP
alkej-747	181	49	negative	negative	ADJ
alkej-747	181	50	x	x	NOUN
alkej-747	181	51	-	-	ADJ
alkej-747	181	52	axis	axis	ADJ
alkej-747	181	53	and	and	CCONJ
alkej-747	181	54	-10	-10	NUM
alkej-747	181	55	°	°	PROPN
alkej-747	181	56	on	on	ADP
alkej-747	181	57	negative	negative	ADJ
alkej-747	181	58	y	y	NOUN
alkej-747	181	59	-	-	PUNCT
alkej-747	181	60	axis	axis	NOUN
alkej-747	181	61	)	)	PUNCT
alkej-747	181	62	.	.	PUNCT
alkej-747	182	1	from	from	ADP
alkej-747	182	2	the	the	DET
alkej-747	182	3	previous	previous	ADJ
alkej-747	182	4	three	three	NUM
alkej-747	182	5	cases	case	NOUN
alkej-747	182	6	,	,	PUNCT
alkej-747	182	7	simulation	simulation	NOUN
alkej-747	182	8	results	result	NOUN
alkej-747	182	9	showed	show	VERB
alkej-747	182	10	that	that	SCONJ
alkej-747	182	11	the	the	DET
alkej-747	182	12	angle	angle	NOUN
alkej-747	182	13	at	at	ADP
alkej-747	182	14	the	the	DET
alkej-747	182	15	beginning	beginning	NOUN
alkej-747	182	16	of	of	ADP
alkej-747	182	17	the	the	DET
alkej-747	182	18	error	error	NOUN
alkej-747	182	19	curve	curve	NOUN
alkej-747	182	20	represents	represent	VERB
alkej-747	182	21	the	the	DET
alkej-747	182	22	angle	angle	NOUN
alkej-747	182	23	value	value	NOUN
alkej-747	182	24	that	that	PRON
alkej-747	182	25	the	the	DET
alkej-747	182	26	dc	dc	PROPN
alkej-747	182	27	servo	servo	NOUN
alkej-747	182	28	motor	motor	NOUN
alkej-747	182	29	will	will	AUX
alkej-747	182	30	rotate	rotate	VERB
alkej-747	182	31	the	the	DET
alkej-747	182	32	respective	respective	ADJ
alkej-747	182	33	plate	plate	NOUN
alkej-747	182	34	(	(	PUNCT
alkej-747	182	35	angle	angle	NOUN
alkej-747	182	36	averse	averse	ADJ
alkej-747	182	37	to	to	ADP
alkej-747	182	38	the	the	DET
alkej-747	182	39	tilt	tilt	NOUN
alkej-747	182	40	angle	angle	NOUN
alkej-747	182	41	direction	direction	NOUN
alkej-747	182	42	from	from	ADP
alkej-747	182	43	corresponding	correspond	VERB
alkej-747	182	44	disturbances	disturbance	NOUN
alkej-747	182	45	signal	signal	NOUN
alkej-747	182	46	but	but	CCONJ
alkej-747	182	47	in	in	ADP
alkej-747	182	48	the	the	DET
alkej-747	182	49	same	same	ADJ
alkej-747	182	50	value	value	NOUN
alkej-747	182	51	)	)	PUNCT
alkej-747	182	52	in	in	ADP
alkej-747	182	53	order	order	NOUN
alkej-747	182	54	to	to	PART
alkej-747	182	55	overcome	overcome	VERB
alkej-747	182	56	the	the	DET
alkej-747	182	57	tilt	tilt	NOUN
alkej-747	182	58	angle	angle	NOUN
alkej-747	182	59	that	that	SCONJ
alkej-747	182	60	platform	platform	NOUN
alkej-747	182	61	exposed	expose	VERB
alkej-747	182	62	to	to	ADP
alkej-747	182	63	.	.	PUNCT
alkej-747	183	1	by	by	ADP
alkej-747	183	2	comparing	compare	VERB
alkej-747	183	3	the	the	DET
alkej-747	183	4	angle	angle	NOUN
alkej-747	183	5	in	in	ADP
alkej-747	183	6	(	(	PUNCT
alkej-747	183	7	either	either	CCONJ
alkej-747	183	8	actual	actual	ADJ
alkej-747	183	9	roll	roll	NOUN
alkej-747	183	10	angle	angle	NOUN
alkej-747	183	11	or	or	CCONJ
alkej-747	183	12	actual	actual	ADJ
alkej-747	183	13	pitch	pitch	NOUN
alkej-747	183	14	angle	angle	NOUN
alkej-747	183	15	or	or	CCONJ
alkej-747	183	16	both	both	DET
alkej-747	183	17	actual	actual	ADJ
alkej-747	183	18	angles	angle	NOUN
alkej-747	183	19	simultaneously	simultaneously	ADV
alkej-747	183	20	)	)	PUNCT
alkej-747	183	21	with	with	ADP
alkej-747	183	22	the	the	DET
alkej-747	183	23	angle	angle	NOUN
alkej-747	183	24	bushra	bushra	PROPN
alkej-747	183	25	amer	amer	PROPN
alkej-747	183	26	tawfeeq	tawfeeq	PROPN
alkej-747	183	27	al	al	PROPN
alkej-747	183	28	-	-	PUNCT
alkej-747	183	29	khwarizmi	khwarizmi	PROPN
alkej-747	183	30	engineering	engineering	NOUN
alkej-747	183	31	journal	journal	PROPN
alkej-747	183	32	,	,	PUNCT
alkej-747	183	33	vol	vol	NOUN
alkej-747	183	34	.	.	PROPN
alkej-747	183	35	17	17	NUM
alkej-747	183	36	,	,	PUNCT
alkej-747	183	37	no	no	INTJ
alkej-747	183	38	.	.	NOUN
alkej-747	183	39	3	3	NUM
alkej-747	183	40	,	,	PUNCT
alkej-747	183	41	p.p	p.p	PROPN
alkej-747	183	42	.	.	NOUN
alkej-747	183	43	2944(2021	2944(2021	NUM
alkej-747	183	44	)	)	PUNCT
alkej-747	183	45	41	41	NUM
alkej-747	183	46	in	in	ADP
alkej-747	183	47	the	the	DET
alkej-747	183	48	corresponding	corresponding	ADJ
alkej-747	183	49	error	error	NOUN
alkej-747	183	50	curve	curve	NOUN
alkej-747	183	51	,	,	PUNCT
alkej-747	183	52	it	it	PRON
alkej-747	183	53	could	could	AUX
alkej-747	183	54	be	be	AUX
alkej-747	183	55	observed	observe	VERB
alkej-747	183	56	that	that	SCONJ
alkej-747	183	57	they	they	PRON
alkej-747	183	58	are	be	AUX
alkej-747	183	59	equal	equal	ADJ
alkej-747	183	60	in	in	ADP
alkej-747	183	61	value	value	NOUN
alkej-747	183	62	and	and	CCONJ
alkej-747	183	63	direction	direction	NOUN
alkej-747	183	64	.	.	PUNCT
alkej-747	184	1	in	in	ADP
alkej-747	184	2	other	other	ADJ
alkej-747	184	3	words	word	NOUN
alkej-747	184	4	,	,	PUNCT
alkej-747	184	5	the	the	DET
alkej-747	184	6	self	self	NOUN
alkej-747	184	7	-	-	PUNCT
alkej-747	184	8	balancing	balancing	NOUN
alkej-747	184	9	of	of	ADP
alkej-747	184	10	the	the	DET
alkej-747	184	11	platform	platform	NOUN
alkej-747	184	12	has	have	AUX
alkej-747	184	13	been	be	AUX
alkej-747	184	14	achieved	achieve	VERB
alkej-747	184	15	.	.	PUNCT
alkej-747	185	1	on	on	ADP
alkej-747	185	2	the	the	DET
alkej-747	185	3	other	other	ADJ
alkej-747	185	4	hand	hand	NOUN
alkej-747	185	5	,	,	PUNCT
alkej-747	185	6	the	the	DET
alkej-747	185	7	recovery	recovery	NOUN
alkej-747	185	8	time	time	NOUN
alkej-747	185	9	(	(	PUNCT
alkej-747	185	10	in	in	ADP
alkej-747	185	11	all	all	DET
alkej-747	185	12	cases	case	NOUN
alkej-747	185	13	)	)	PUNCT
alkej-747	185	14	that	that	SCONJ
alkej-747	185	15	platform	platform	NOUN
alkej-747	185	16	takes	take	VERB
alkej-747	185	17	to	to	PART
alkej-747	185	18	set	set	VERB
alkej-747	185	19	the	the	DET
alkej-747	185	20	error	error	NOUN
alkej-747	185	21	to	to	ADP
alkej-747	185	22	zero	zero	NUM
alkej-747	185	23	,	,	PUNCT
alkej-747	185	24	overcome	overcome	VERB
alkej-747	185	25	the	the	DET
alkej-747	185	26	tilt	tilt	NOUN
alkej-747	185	27	angle	angle	NOUN
alkej-747	185	28	and	and	CCONJ
alkej-747	185	29	achieve	achieve	VERB
alkej-747	185	30	self	self	NOUN
alkej-747	185	31	-	-	PUNCT
alkej-747	185	32	balancing	balancing	NOUN
alkej-747	185	33	is	be	AUX
alkej-747	185	34	(	(	PUNCT
alkej-747	185	35	less	less	ADJ
alkej-747	185	36	than	than	ADP
alkej-747	185	37	two	two	NUM
alkej-747	185	38	milliseconds	millisecond	NOUN
alkej-747	185	39	)	)	PUNCT
alkej-747	185	40	.	.	PUNCT
alkej-747	186	1	low	low	ADJ
alkej-747	186	2	recovery	recovery	NOUN
alkej-747	186	3	time	time	NOUN
alkej-747	186	4	(	(	PUNCT
alkej-747	186	5	low	low	ADJ
alkej-747	186	6	selfbalancing	selfbalancing	NOUN
alkej-747	186	7	time	time	NOUN
alkej-747	186	8	)	)	PUNCT
alkej-747	186	9	is	be	AUX
alkej-747	186	10	attributable	attributable	ADJ
alkej-747	186	11	to	to	ADP
alkej-747	186	12	the	the	DET
alkej-747	186	13	pid	pid	NOUN
alkej-747	186	14	controllers	controller	NOUN
alkej-747	186	15	'	'	PART
alkej-747	186	16	efficiency	efficiency	NOUN
alkej-747	186	17	in	in	ADP
alkej-747	186	18	handling	handle	VERB
alkej-747	186	19	the	the	DET
alkej-747	186	20	platform	platform	NOUN
alkej-747	186	21	's	's	PART
alkej-747	186	22	tilt	tilt	NOUN
alkej-747	186	23	(	(	PUNCT
alkej-747	186	24	x	x	NOUN
alkej-747	186	25	-	-	NOUN
alkej-747	186	26	axis	axis	ADJ
alkej-747	186	27	,	,	PUNCT
alkej-747	186	28	y	y	NOUN
alkej-747	186	29	-	-	PUNCT
alkej-747	186	30	axis	axis	NOUN
alkej-747	186	31	,	,	PUNCT
alkej-747	186	32	and	and	CCONJ
alkej-747	186	33	biaxial	biaxial	NOUN
alkej-747	186	34	)	)	PUNCT
alkej-747	186	35	.	.	PUNCT
alkej-747	187	1	simulation	simulation	NOUN
alkej-747	187	2	results	result	NOUN
alkej-747	187	3	also	also	ADV
alkej-747	187	4	indicate	indicate	VERB
alkej-747	187	5	to	to	PART
alkej-747	187	6	:	:	PUNCT
alkej-747	187	7	firstly	firstly	ADV
alkej-747	187	8	,	,	PUNCT
alkej-747	187	9	the	the	DET
alkej-747	187	10	platform	platform	NOUN
alkej-747	187	11	's	's	PART
alkej-747	187	12	simulated	simulate	VERB
alkej-747	187	13	model	model	NOUN
alkej-747	187	14	overall	overall	ADJ
alkej-747	187	15	response	response	NOUN
alkej-747	187	16	under	under	ADP
alkej-747	187	17	the	the	DET
alkej-747	187	18	influence	influence	NOUN
alkej-747	187	19	of	of	ADP
alkej-747	187	20	disturbance	disturbance	NOUN
alkej-747	187	21	scenarios	scenario	NOUN
alkej-747	187	22	in	in	ADP
alkej-747	187	23	(	(	PUNCT
alkej-747	187	24	x	x	NOUN
alkej-747	187	25	-	-	NOUN
alkej-747	187	26	axis	axis	ADJ
alkej-747	187	27	,	,	PUNCT
alkej-747	187	28	y	y	NOUN
alkej-747	187	29	-	-	PUNCT
alkej-747	187	30	axis	axis	ADJ
alkej-747	187	31	,	,	PUNCT
alkej-747	187	32	or	or	CCONJ
alkej-747	187	33	biaxial	biaxial	NOUN
alkej-747	187	34	)	)	PUNCT
alkej-747	187	35	has	have	AUX
alkej-747	187	36	done	do	VERB
alkej-747	187	37	smoothly	smoothly	ADV
alkej-747	187	38	and	and	CCONJ
alkej-747	187	39	without	without	ADP
alkej-747	187	40	any	any	DET
alkej-747	187	41	evident	evident	ADJ
alkej-747	187	42	vibration	vibration	NOUN
alkej-747	187	43	.	.	PUNCT
alkej-747	188	1	secondly	secondly	ADV
alkej-747	188	2	,	,	PUNCT
alkej-747	188	3	dispense	dispense	VERB
alkej-747	188	4	the	the	DET
alkej-747	188	5	complex	complex	ADJ
alkej-747	188	6	design	design	NOUN
alkej-747	188	7	of	of	ADP
alkej-747	188	8	the	the	DET
alkej-747	188	9	dc	dc	PROPN
alkej-747	188	10	servo	servo	PROPN
alkej-747	188	11	motor	motor	NOUN
alkej-747	188	12	by	by	ADP
alkej-747	188	13	solidworks	solidwork	NOUN
alkej-747	188	14	and	and	CCONJ
alkej-747	188	15	replace	replace	VERB
alkej-747	188	16	it	it	PRON
alkej-747	188	17	with	with	ADP
alkej-747	188	18	a	a	DET
alkej-747	188	19	simulated	simulated	ADJ
alkej-747	188	20	model	model	NOUN
alkej-747	188	21	that	that	PRON
alkej-747	188	22	did	do	AUX
alkej-747	188	23	not	not	PART
alkej-747	188	24	affect	affect	VERB
alkej-747	188	25	the	the	DET
alkej-747	188	26	platform	platform	NOUN
alkej-747	188	27	's	's	PART
alkej-747	188	28	performance	performance	NOUN
alkej-747	188	29	.	.	PUNCT
alkej-747	189	1	on	on	ADP
alkej-747	189	2	the	the	DET
alkej-747	189	3	contrary	contrary	NOUN
alkej-747	189	4	,	,	PUNCT
alkej-747	189	5	each	each	DET
alkej-747	189	6	dc	dc	PROPN
alkej-747	189	7	servo	servo	PROPN
alkej-747	189	8	motor	motor	NOUN
alkej-747	189	9	proved	prove	VERB
alkej-747	189	10	its	its	PRON
alkej-747	189	11	ability	ability	NOUN
alkej-747	189	12	to	to	ADP
alkej-747	189	13	determining	determine	VERB
alkej-747	189	14	torque	torque	NOUN
alkej-747	189	15	to	to	PART
alkej-747	189	16	shift	shift	VERB
alkej-747	189	17	the	the	DET
alkej-747	189	18	plate	plate	NOUN
alkej-747	189	19	's	's	PART
alkej-747	189	20	direction	direction	NOUN
alkej-747	189	21	(	(	PUNCT
alkej-747	189	22	counter	counter	VERB
alkej-747	189	23	the	the	DET
alkej-747	189	24	tilt	tilt	NOUN
alkej-747	189	25	angle	angle	NOUN
alkej-747	189	26	direction	direction	NOUN
alkej-747	189	27	)	)	PUNCT
alkej-747	189	28	with	with	ADP
alkej-747	189	29	proper	proper	ADJ
alkej-747	189	30	synchronization	synchronization	NOUN
alkej-747	189	31	to	to	ADP
alkej-747	189	32	disturbance	disturbance	NOUN
alkej-747	189	33	occurrence	occurrence	NOUN
alkej-747	189	34	.	.	PUNCT
alkej-747	190	1	thirdly	thirdly	ADV
alkej-747	190	2	,	,	PUNCT
alkej-747	190	3	adding	add	VERB
alkej-747	190	4	revolute	revolute	ADJ
alkej-747	190	5	primitive/	primitive/	NUM
alkej-747	190	6	sensing	sense	VERB
alkej-747	190	7	properties	property	NOUN
alkej-747	190	8	makes	make	VERB
alkej-747	190	9	the	the	DET
alkej-747	190	10	system	system	NOUN
alkej-747	190	11	more	more	ADV
alkej-747	190	12	intelligent	intelligent	ADJ
alkej-747	190	13	and	and	CCONJ
alkej-747	190	14	effectively	effectively	ADV
alkej-747	190	15	measures	measure	VERB
alkej-747	190	16	the	the	DET
alkej-747	190	17	platform	platform	NOUN
alkej-747	190	18	's	's	PART
alkej-747	190	19	angle	angle	NOUN
alkej-747	190	20	(	(	PUNCT
alkej-747	190	21	actual	actual	ADJ
alkej-747	190	22	roll	roll	NOUN
alkej-747	190	23	angle	angle	NOUN
alkej-747	190	24	or	or	CCONJ
alkej-747	190	25	actual	actual	ADJ
alkej-747	190	26	pitch	pitch	NOUN
alkej-747	190	27	angle	angle	NOUN
alkej-747	190	28	or	or	CCONJ
alkej-747	190	29	both	both	DET
alkej-747	190	30	actual	actual	ADJ
alkej-747	190	31	angles	angle	NOUN
alkej-747	190	32	)	)	PUNCT
alkej-747	190	33	after	after	ADP
alkej-747	190	34	self	self	NOUN
alkej-747	190	35	-	-	PUNCT
alkej-747	190	36	balancing	balancing	NOUN
alkej-747	190	37	without	without	ADP
alkej-747	190	38	adding	add	VERB
alkej-747	190	39	a	a	DET
alkej-747	190	40	sensor	sensor	NOUN
alkej-747	190	41	.	.	PUNCT
alkej-747	191	1	finally	finally	ADV
alkej-747	191	2	,	,	PUNCT
alkej-747	191	3	the	the	DET
alkej-747	191	4	self	self	NOUN
alkej-747	191	5	-	-	PUNCT
alkej-747	191	6	balancing	balancing	NOUN
alkej-747	191	7	of	of	ADP
alkej-747	191	8	the	the	DET
alkej-747	191	9	(	(	PUNCT
alkej-747	191	10	platform	platform	NOUN
alkej-747	191	11	on	on	ADP
alkej-747	191	12	the	the	DET
alkej-747	191	13	mobile	mobile	ADJ
alkej-747	191	14	car	car	NOUN
alkej-747	191	15	)	)	PUNCT
alkej-747	191	16	structure	structure	NOUN
alkej-747	191	17	in	in	ADP
alkej-747	191	18	the	the	DET
alkej-747	191	19	virtual	virtual	ADJ
alkej-747	191	20	simulation	simulation	NOUN
alkej-747	191	21	represents	represent	VERB
alkej-747	191	22	the	the	DET
alkej-747	191	23	visualization	visualization	NOUN
alkej-747	191	24	of	of	ADP
alkej-747	191	25	selfbalancing	selfbalance	VERB
alkej-747	191	26	in	in	ADP
alkej-747	191	27	the	the	DET
alkej-747	191	28	top	top	ADJ
alkej-747	191	29	plate	plate	NOUN
alkej-747	191	30	,	,	PUNCT
alkej-747	191	31	middle	middle	ADJ
alkej-747	191	32	plate	plate	NOUN
alkej-747	191	33	,	,	PUNCT
alkej-747	191	34	and	and	CCONJ
alkej-747	191	35	both	both	DET
alkej-747	191	36	plates	plate	NOUN
alkej-747	191	37	,	,	PUNCT
alkej-747	191	38	respectively	respectively	ADV
alkej-747	191	39	.	.	PUNCT
alkej-747	192	1	key	key	ADJ
alkej-747	192	2	values	value	NOUN
alkej-747	192	3	of	of	ADP
alkej-747	192	4	simulation	simulation	NOUN
alkej-747	192	5	results	result	NOUN
alkej-747	192	6	were	be	AUX
alkej-747	192	7	provided	provide	VERB
alkej-747	192	8	from	from	ADP
alkej-747	192	9	matlab	matlab	PROPN
alkej-747	192	10	/	/	SYM
alkej-747	192	11	scope	scope	NOUN
alkej-747	192	12	and	and	CCONJ
alkej-747	192	13	shown	show	VERB
alkej-747	192	14	in	in	ADP
alkej-747	192	15	table	table	NOUN
alkej-747	192	16	2	2	NUM
alkej-747	192	17	.	.	PUNCT
alkej-747	192	18	for	for	ADP
alkej-747	192	19	achieving	achieve	VERB
alkej-747	192	20	the	the	DET
alkej-747	192	21	results	result	NOUN
alkej-747	192	22	above	above	ADV
alkej-747	192	23	,	,	PUNCT
alkej-747	192	24	the	the	DET
alkej-747	192	25	pid	pid	NOUN
alkej-747	192	26	controller	controller	NOUN
alkej-747	192	27	's	's	PART
alkej-747	192	28	parameters	parameter	NOUN
alkej-747	192	29	(	(	PUNCT
alkej-747	192	30	for	for	ADP
alkej-747	192	31	both	both	DET
alkej-747	192	32	pid	pid	NOUN
alkej-747	192	33	controllers	controller	NOUN
alkej-747	192	34	of	of	ADP
alkej-747	192	35	the	the	DET
alkej-747	192	36	self	self	NOUN
alkej-747	192	37	-	-	PUNCT
alkej-747	192	38	balancing	balance	VERB
alkej-747	192	39	platform	platform	NOUN
alkej-747	192	40	simulated	simulate	VERB
alkej-747	192	41	model	model	NOUN
alkej-747	192	42	)	)	PUNCT
alkej-747	192	43	are	be	AUX
alkej-747	192	44	tuned	tune	VERB
alkej-747	192	45	and	and	CCONJ
alkej-747	192	46	optimized	optimize	VERB
alkej-747	192	47	by	by	ADP
alkej-747	192	48	the	the	DET
alkej-747	192	49	genetic	genetic	ADJ
alkej-747	192	50	algorithm	algorithm	NOUN
alkej-747	192	51	method	method	NOUN
alkej-747	192	52	(	(	PUNCT
alkej-747	192	53	ga)[26	ga)[26	PROPN
alkej-747	192	54	]	]	PUNCT
alkej-747	192	55	.	.	PUNCT
alkej-747	193	1	the	the	DET
alkej-747	193	2	following	follow	VERB
alkej-747	193	3	parameter	parameter	NOUN
alkej-747	193	4	values	value	NOUN
alkej-747	193	5	are	be	AUX
alkej-747	193	6	shown	show	VERB
alkej-747	193	7	in	in	ADP
alkej-747	193	8	table	table	NOUN
alkej-747	193	9	3	3	NUM
alkej-747	193	10	gave	give	VERB
alkej-747	193	11	the	the	DET
alkej-747	193	12	best	good	ADJ
alkej-747	193	13	response	response	NOUN
alkej-747	193	14	in	in	ADP
alkej-747	193	15	terms	term	NOUN
alkej-747	193	16	of	of	ADP
alkej-747	193	17	maximum	maximum	ADJ
alkej-747	193	18	peak	peak	NOUN
alkej-747	193	19	overshoot	overshoot	NOUN
alkej-747	193	20	and	and	CCONJ
alkej-747	193	21	response	response	NOUN
alkej-747	193	22	time	time	NOUN
alkej-747	193	23	.	.	PUNCT
alkej-747	194	1	genetic	genetic	ADJ
alkej-747	194	2	algorithm	algorithm	NOUN
alkej-747	194	3	parameters	parameter	NOUN
alkej-747	194	4	are	be	AUX
alkej-747	194	5	illustrated	illustrate	VERB
alkej-747	194	6	in	in	ADP
alkej-747	194	7	table	table	NOUN
alkej-747	194	8	4	4	NUM
alkej-747	194	9	.	.	PUNCT
alkej-747	194	10	table	table	NOUN
alkej-747	194	11	5.5shows	5.5show	NOUN
alkej-747	194	12	a	a	DET
alkej-747	194	13	comparison	comparison	NOUN
alkej-747	194	14	between	between	ADP
alkej-747	194	15	our	our	PRON
alkej-747	194	16	self	self	NOUN
alkej-747	194	17	-	-	PUNCT
alkej-747	194	18	balancing	balance	VERB
alkej-747	194	19	platform	platform	NOUN
alkej-747	194	20	on	on	ADP
alkej-747	194	21	the	the	DET
alkej-747	194	22	mobile	mobile	ADJ
alkej-747	194	23	car	car	NOUN
alkej-747	194	24	with	with	ADP
alkej-747	194	25	other	other	ADJ
alkej-747	194	26	article	article	NOUN
alkej-747	194	27	references	reference	NOUN
alkej-747	194	28	.	.	PUNCT
alkej-747	195	1	table	table	NOUN
alkej-747	195	2	2	2	NUM
alkej-747	195	3	,	,	PUNCT
alkej-747	195	4	the	the	DET
alkej-747	195	5	key	key	ADJ
alkej-747	195	6	values	value	NOUN
alkej-747	195	7	of	of	ADP
alkej-747	195	8	simulation	simulation	NOUN
alkej-747	195	9	results	result	NOUN
alkej-747	195	10	.	.	PUNCT
alkej-747	196	1	rise	rise	VERB
alkej-747	196	2	time	time	NOUN
alkej-747	196	3	(	(	PUNCT
alkej-747	196	4	in	in	ADP
alkej-747	196	5	all	all	DET
alkej-747	196	6	cases	case	NOUN
alkej-747	196	7	)	)	PUNCT
alkej-747	196	8	114	114	NUM
alkej-747	196	9	to	to	ADP
alkej-747	196	10	175ms	175ms	ADJ
alkej-747	196	11	overshoot	overshoot	NOUN
alkej-747	196	12	(	(	PUNCT
alkej-747	196	13	in	in	ADP
alkej-747	196	14	all	all	DET
alkej-747	196	15	cases	case	NOUN
alkej-747	196	16	)	)	PUNCT
alkej-747	196	17	settling	settle	VERB
alkej-747	196	18	time	time	NOUN
alkej-747	196	19	12	12	NUM
alkej-747	196	20	%	%	NOUN
alkej-747	196	21	when	when	SCONJ
alkej-747	196	22	tilted	tilt	VERB
alkej-747	196	23	in	in	ADP
alkej-747	196	24	one	one	NUM
alkej-747	196	25	axis	axis	NOUN
alkej-747	196	26	,	,	PUNCT
alkej-747	196	27	15	15	NUM
alkej-747	196	28	%	%	NOUN
alkej-747	196	29	when	when	SCONJ
alkej-747	196	30	tilted	tilt	VERB
alkej-747	196	31	in	in	ADP
alkej-747	196	32	two	two	NUM
alkej-747	196	33	axes	axis	NOUN
alkej-747	196	34	.	.	PUNCT
alkej-747	197	1	237ms	237m	NOUN
alkej-747	197	2	steady	steady	ADJ
alkej-747	197	3	state	state	NOUN
alkej-747	197	4	error	error	NOUN
alkej-747	197	5	0.09	0.09	NUM
alkej-747	197	6	to	to	PART
alkej-747	197	7	0.74	0.74	NUM
alkej-747	197	8	°	°	NUM
alkej-747	197	9	table	table	NOUN
alkej-747	197	10	3	3	NUM
alkej-747	197	11	,	,	PUNCT
alkej-747	197	12	optimized	optimize	VERB
alkej-747	197	13	pid	pid	NOUN
alkej-747	197	14	controllers	controller	NOUN
alkej-747	197	15	’	’	PART
alkej-747	197	16	parameters	parameter	NOUN
alkej-747	197	17	of	of	ADP
alkej-747	197	18	simulated	simulated	ADJ
alkej-747	197	19	model	model	NOUN
alkej-747	197	20	table	table	NOUN
alkej-747	197	21	4	4	NUM
alkej-747	197	22	,	,	PUNCT
alkej-747	197	23	genetic	genetic	ADJ
alkej-747	197	24	algorithm	algorithm	NOUN
alkej-747	197	25	parameters	parameter	NOUN
alkej-747	197	26	.	.	PUNCT
alkej-747	198	1	s.no	s.no	PROPN
alkej-747	198	2	.	.	PROPN
alkej-747	198	3	ga	ga	PROPN
alkej-747	198	4	parameters	parameter	NOUN
alkej-747	198	5	value/	value/	VERB
alkej-747	198	6	method	method	NOUN
alkej-747	198	7	1	1	NUM
alkej-747	198	8	.	.	PUNCT
alkej-747	198	9	optimization	optimization	NOUN
alkej-747	198	10	tool	tool	NOUN
alkej-747	198	11	matlab	matlab	PROPN
alkej-747	198	12	genetic	genetic	ADJ
alkej-747	198	13	algorithm	algorithm	NOUN
alkej-747	198	14	toolbox	toolbox	NOUN
alkej-747	198	15	2	2	NUM
alkej-747	198	16	.	.	PUNCT
alkej-747	198	17	variable	variable	ADJ
alkej-747	198	18	boundaries	boundary	NOUN
alkej-747	199	1	[	[	X
alkej-747	199	2	kp	kp	X
alkej-747	199	3	ki	ki	PROPN
alkej-747	199	4	kd	kd	PROPN
alkej-747	199	5	]	]	PUNCT
alkej-747	199	6	for	for	ADP
alkej-747	199	7	roll	roll	NOUN
alkej-747	199	8	angle	angle	NOUN
alkej-747	199	9	pid	pid	NOUN
alkej-747	199	10	controller	controller	NOUN
alkej-747	199	11	lower	lower	ADV
alkej-747	199	12	[	[	X
alkej-747	199	13	0,0,0	0,0,0	NOUN
alkej-747	199	14	,	,	PUNCT
alkej-747	199	15	]	]	X
alkej-747	199	16	,	,	PUNCT
alkej-747	199	17	upper	upper	ADJ
alkej-747	199	18	[	[	PUNCT
alkej-747	199	19	150	150	NUM
alkej-747	199	20	,	,	PUNCT
alkej-747	199	21	350	350	NUM
alkej-747	199	22	,	,	PUNCT
alkej-747	199	23	1	1	NUM
alkej-747	199	24	]	]	PUNCT
alkej-747	199	25	for	for	ADP
alkej-747	199	26	pitch	pitch	NOUN
alkej-747	199	27	angle	angle	NOUN
alkej-747	199	28	pid	pid	NOUN
alkej-747	199	29	controller	controller	NOUN
alkej-747	199	30	lower	lower	ADV
alkej-747	199	31	[	[	X
alkej-747	199	32	0,0,0	0,0,0	NOUN
alkej-747	199	33	,	,	PUNCT
alkej-747	199	34	]	]	X
alkej-747	199	35	,	,	PUNCT
alkej-747	199	36	upper	upper	ADJ
alkej-747	199	37	[	[	PUNCT
alkej-747	199	38	100	100	NUM
alkej-747	199	39	,	,	PUNCT
alkej-747	199	40	200	200	NUM
alkej-747	199	41	,	,	PUNCT
alkej-747	199	42	1	1	NUM
alkej-747	199	43	]	]	PUNCT
alkej-747	199	44	�	�	X
alkej-747	199	45	lower	low	ADJ
alkej-747	199	46	and	and	CCONJ
alkej-747	199	47	upper	upper	ADJ
alkej-747	199	48	boundaries	boundary	NOUN
alkej-747	199	49	values	value	NOUN
alkej-747	199	50	have	have	AUX
alkej-747	199	51	been	be	AUX
alkej-747	199	52	taken	take	VERB
alkej-747	199	53	from	from	ADP
alkej-747	199	54	primary	primary	ADJ
alkej-747	199	55	pid	pid	NOUN
alkej-747	199	56	parameters(for	parameters(for	ADP
alkej-747	199	57	both	both	DET
alkej-747	199	58	pid	pid	NOUN
alkej-747	199	59	controllers	controller	NOUN
alkej-747	199	60	)	)	PUNCT
alkej-747	199	61	tuned	tune	VERB
alkej-747	199	62	by	by	ADP
alkej-747	199	63	trial	trial	NOUN
alkej-747	199	64	and	and	CCONJ
alkej-747	199	65	error	error	NOUN
alkej-747	199	66	.	.	PUNCT
alkej-747	200	1	3	3	X
alkej-747	200	2	.	.	PUNCT
alkej-747	200	3	maximum	maximum	ADJ
alkej-747	200	4	number	number	NOUN
alkej-747	200	5	of	of	ADP
alkej-747	200	6	population	population	NOUN
alkej-747	201	1	60	60	NUM
alkej-747	202	1	[	[	X
alkej-747	202	2	26	26	NUM
alkej-747	202	3	]	]	PUNCT
alkej-747	202	4	.	.	PUNCT
alkej-747	203	1	4	4	X
alkej-747	203	2	.	.	NOUN
alkej-747	203	3	size	size	NOUN
alkej-747	203	4	generations	generation	NOUN
alkej-747	203	5	100	100	NUM
alkej-747	204	1	[	[	X
alkej-747	204	2	26	26	NUM
alkej-747	204	3	]	]	PUNCT
alkej-747	204	4	.	.	PUNCT
alkej-747	205	1	5	5	X
alkej-747	205	2	.	.	X
alkej-747	205	3	fitness	fitness	NOUN
alkej-747	205	4	value	value	NOUN
alkej-747	205	5	cost	cost	VERB
alkej-747	205	6	function/	function/	NUM
alkej-747	205	7	integral	integral	ADJ
alkej-747	205	8	of	of	ADP
alkej-747	205	9	time	time	NOUN
alkej-747	205	10	multiplied	multiply	VERB
alkej-747	205	11	by	by	ADP
alkej-747	205	12	absolute	absolute	ADJ
alkej-747	205	13	error	error	NOUN
alkej-747	205	14	(	(	PUNCT
alkej-747	205	15	itae	itae	PROPN
alkej-747	205	16	)	)	PUNCT
alkej-747	205	17	.	.	PUNCT
alkej-747	206	1	6	6	X
alkej-747	206	2	.	.	X
alkej-747	206	3	selection	selection	NOUN
alkej-747	206	4	method	method	NOUN
alkej-747	206	5	normalized	normalize	VERB
alkej-747	206	6	geometric	geometric	ADJ
alkej-747	206	7	selection[26	selection[26	NOUN
alkej-747	206	8	]	]	PUNCT
alkej-747	206	9	.	.	PUNCT
alkej-747	207	1	7	7	X
alkej-747	207	2	.	.	X
alkej-747	207	3	crossover	crossover	NOUN
alkej-747	207	4	method	method	NOUN
alkej-747	207	5	arithmetic	arithmetic	ADJ
alkej-747	207	6	crossover	crossover	NOUN
alkej-747	207	7	[	[	X
alkej-747	207	8	26	26	NUM
alkej-747	207	9	]	]	PUNCT
alkej-747	207	10	.	.	PUNCT
alkej-747	208	1	8	8	X
alkej-747	208	2	.	.	X
alkej-747	208	3	mutation	mutation	NOUN
alkej-747	208	4	method	method	NOUN
alkej-747	208	5	uniform	uniform	ADJ
alkej-747	208	6	mutation	mutation	NOUN
alkej-747	208	7	[	[	X
alkej-747	208	8	26	26	NUM
alkej-747	208	9	]	]	PUNCT
alkej-747	208	10	.	.	PUNCT
alkej-747	209	1	roll	roll	NOUN
alkej-747	209	2	angle	angle	NOUN
alkej-747	209	3	pitch	pitch	NOUN
alkej-747	209	4	angle	angle	NOUN
alkej-747	209	5	p	p	X
alkej-747	209	6	45	45	NUM
alkej-747	209	7	32	32	NUM
alkej-747	209	8	i	i	PRON
alkej-747	209	9	73	73	NUM
alkej-747	209	10	59	59	NUM
alkej-747	209	11	d	d	NOUN
alkej-747	209	12	0.58	0.58	NUM
alkej-747	209	13	0.54	0.54	NUM
alkej-747	209	14	bushra	bushra	PROPN
alkej-747	209	15	amer	amer	PROPN
alkej-747	209	16	tawfeeq	tawfeeq	PROPN
alkej-747	209	17	al	al	PROPN
alkej-747	209	18	-	-	PUNCT
alkej-747	209	19	khwarizmi	khwarizmi	PROPN
alkej-747	209	20	engineering	engineering	NOUN
alkej-747	209	21	journal	journal	PROPN
alkej-747	209	22	,	,	PUNCT
alkej-747	209	23	vol	vol	NOUN
alkej-747	209	24	.	.	PROPN
alkej-747	209	25	17	17	NUM
alkej-747	209	26	,	,	PUNCT
alkej-747	209	27	no	no	INTJ
alkej-747	209	28	.	.	NOUN
alkej-747	209	29	3	3	NUM
alkej-747	209	30	,	,	PUNCT
alkej-747	209	31	p.p	p.p	PROPN
alkej-747	209	32	.	.	NOUN
alkej-747	209	33	2944(2021	2944(2021	NUM
alkej-747	209	34	)	)	PUNCT
alkej-747	209	35	42	42	NUM
alkej-747	209	36	table	table	NOUN
alkej-747	209	37	5	5	NUM
alkej-747	209	38	,	,	PUNCT
alkej-747	209	39	comparison	comparison	NOUN
alkej-747	209	40	between	between	ADP
alkej-747	209	41	our	our	PRON
alkej-747	209	42	self	self	NOUN
alkej-747	209	43	-	-	PUNCT
alkej-747	209	44	balancing	balance	VERB
alkej-747	209	45	platform	platform	NOUN
alkej-747	209	46	on	on	ADP
alkej-747	209	47	the	the	DET
alkej-747	209	48	mobile	mobile	ADJ
alkej-747	209	49	car	car	NOUN
alkej-747	209	50	with	with	ADP
alkej-747	209	51	other	other	ADJ
alkej-747	209	52	article	article	NOUN
alkej-747	209	53	references	reference	NOUN
alkej-747	209	54	.	.	PUNCT
alkej-747	210	1	disturbance	disturbance	NOUN
alkej-747	210	2	type	type	NOUN
alkej-747	210	3	self	self	NOUN
alkej-747	210	4	-	-	PUNCT
alkej-747	210	5	balancing	balance	VERB
alkej-747	210	6	time	time	NOUN
alkej-747	210	7	our	our	PRON
alkej-747	210	8	simulated	simulated	ADJ
alkej-747	210	9	model	model	NOUN
alkej-747	210	10	disturbances	disturbance	NOUN
alkej-747	210	11	signal	signal	VERB
alkej-747	210	12	as	as	ADP
alkej-747	210	13	tilt	tilt	NOUN
alkej-747	210	14	angle	angle	NOUN
alkej-747	210	15	from	from	ADP
alkej-747	210	16	(	(	PUNCT
alkej-747	210	17	-10	-10	NUM
alkej-747	210	18	and	and	CCONJ
alkej-747	210	19	10	10	NUM
alkej-747	210	20	)	)	PUNCT
alkej-747	210	21	degrees	degree	NOUN
alkej-747	210	22	on	on	ADP
alkej-747	210	23	(	(	PUNCT
alkej-747	210	24	x	x	NOUN
alkej-747	210	25	-	-	NOUN
alkej-747	210	26	axis	axis	ADJ
alkej-747	210	27	or	or	CCONJ
alkej-747	210	28	y	y	NOUN
alkej-747	210	29	-	-	PUNCT
alkej-747	210	30	axis	axis	NOUN
alkej-747	210	31	or	or	CCONJ
alkej-747	210	32	biaxial	biaxial	NOUN
alkej-747	210	33	)	)	PUNCT
alkej-747	210	34	.	.	PUNCT
alkej-747	211	1	less	less	ADJ
alkej-747	211	2	than	than	ADP
alkej-747	211	3	2	2	NUM
alkej-747	211	4	milliseconds	millisecond	NOUN
alkej-747	211	5	[	[	X
alkej-747	211	6	9	9	NUM
alkej-747	211	7	]	]	X
alkej-747	211	8	the	the	DET
alkej-747	211	9	disturbance	disturbance	NOUN
alkej-747	211	10	that	that	PRON
alkej-747	211	11	was	be	AUX
alkej-747	211	12	used	use	VERB
alkej-747	211	13	is	be	AUX
alkej-747	211	14	the	the	DET
alkej-747	211	15	positive	positive	ADJ
alkej-747	211	16	angle	angle	NOUN
alkej-747	211	17	value	value	NOUN
alkej-747	211	18	(	(	PUNCT
alkej-747	211	19	5	5	NUM
alkej-747	211	20	degrees	degree	NOUN
alkej-747	211	21	)	)	PUNCT
alkej-747	211	22	of	of	ADP
alkej-747	211	23	the	the	DET
alkej-747	211	24	two	two	NUM
alkej-747	211	25	axes	axis	NOUN
alkej-747	211	26	.	.	PUNCT
alkej-747	212	1	0.7	0.7	NUM
alkej-747	212	2	seconds	second	NOUN
alkej-747	212	3	[	[	X
alkej-747	212	4	10	10	NUM
alkej-747	212	5	]	]	X
alkej-747	213	1	[	[	X
alkej-747	213	2	11	11	NUM
alkej-747	213	3	]	]	X
alkej-747	213	4	[	[	X
alkej-747	213	5	12	12	NUM
alkej-747	213	6	]	]	X
alkej-747	213	7	pump	pump	NOUN
alkej-747	213	8	=3	=3	VERB
alkej-747	213	9	and	and	CCONJ
alkej-747	213	10	5	5	NUM
alkej-747	213	11	mm	mm	NOUN
alkej-747	213	12	the	the	DET
alkej-747	213	13	platform	platform	NOUN
alkej-747	213	14	's	's	PART
alkej-747	213	15	design	design	NOUN
alkej-747	213	16	is	be	AUX
alkej-747	213	17	6dof	6dof	NOUN
alkej-747	213	18	,	,	PUNCT
alkej-747	213	19	but	but	CCONJ
alkej-747	213	20	the	the	DET
alkej-747	213	21	platform	platform	NOUN
alkej-747	213	22	was	be	AUX
alkej-747	213	23	only	only	ADV
alkej-747	213	24	tested	test	VERB
alkej-747	213	25	when	when	SCONJ
alkej-747	213	26	the	the	DET
alkej-747	213	27	base	base	NOUN
alkej-747	213	28	was	be	AUX
alkej-747	213	29	rotated	rotate	VERB
alkej-747	213	30	26	26	NUM
alkej-747	213	31	degrees	degree	NOUN
alkej-747	213	32	with	with	ADP
alkej-747	213	33	the	the	DET
alkej-747	213	34	x	x	NOUN
alkej-747	213	35	-	-	NOUN
alkej-747	213	36	axis	axis	NOUN
alkej-747	213	37	and	and	CCONJ
alkej-747	213	38	the	the	DET
alkej-747	213	39	y	y	NOUN
alkej-747	213	40	-	-	PUNCT
alkej-747	213	41	axis	axis	NOUN
alkej-747	213	42	.	.	PUNCT
alkej-747	214	1	tilt	tilt	NOUN
alkej-747	214	2	angle=	angle=	PROPN
alkej-747	214	3	2	2	NUM
alkej-747	214	4	-	-	SYM
alkej-747	214	5	25	25	NUM
alkej-747	214	6	degrees	degree	NOUN
alkej-747	214	7	in	in	ADP
alkej-747	214	8	(	(	PUNCT
alkej-747	214	9	x	x	NOUN
alkej-747	214	10	-	-	NOUN
alkej-747	214	11	axis	axis	ADJ
alkej-747	214	12	&	&	CCONJ
alkej-747	214	13	y	y	NOUN
alkej-747	214	14	-	-	PUNCT
alkej-747	214	15	axis	axis	NOUN
alkej-747	214	16	)	)	PUNCT
alkej-747	214	17	.	.	PUNCT
alkej-747	215	1	2.6	2.6	NUM
alkej-747	215	2	,	,	PUNCT
alkej-747	215	3	1.6	1.6	NUM
alkej-747	215	4	,	,	PUNCT
alkej-747	215	5	1.2	1.2	NUM
alkej-747	215	6	seconds	second	NOUN
alkej-747	215	7	in	in	ADP
alkej-747	215	8	(	(	PUNCT
alkej-747	215	9	x	x	NOUN
alkej-747	215	10	axis	axis	NOUN
alkej-747	215	11	,	,	PUNCT
alkej-747	215	12	y	y	NOUN
alkej-747	215	13	-	-	PUNCT
alkej-747	215	14	axis	axis	ADJ
alkej-747	215	15	,	,	PUNCT
alkej-747	215	16	z	z	NOUN
alkej-747	215	17	-	-	PUNCT
alkej-747	215	18	axis	axis	NOUN
alkej-747	215	19	)	)	PUNCT
alkej-747	215	20	,	,	PUNCT
alkej-747	215	21	respectively	respectively	ADV
alkej-747	215	22	50	50	NUM
alkej-747	215	23	seconds	second	NOUN
alkej-747	215	24	5	5	NUM
alkej-747	215	25	seconds	second	NOUN
alkej-747	215	26	in	in	ADP
alkej-747	215	27	both	both	DET
alkej-747	215	28	axes	axis	NOUN
alkej-747	215	29	5	5	NUM
alkej-747	215	30	.	.	PUNCT
alkej-747	215	31	conclusion	conclusion	NOUN
alkej-747	215	32	in	in	ADP
alkej-747	215	33	this	this	DET
alkej-747	215	34	paper	paper	NOUN
alkej-747	215	35	,	,	PUNCT
alkej-747	215	36	a	a	DET
alkej-747	215	37	simulated	simulated	ADJ
alkej-747	215	38	model	model	NOUN
alkej-747	215	39	of	of	ADP
alkej-747	215	40	selfbalancing	selfbalance	VERB
alkej-747	215	41	on	on	ADP
alkej-747	215	42	the	the	DET
alkej-747	215	43	mobile	mobile	ADJ
alkej-747	215	44	car	car	NOUN
alkej-747	215	45	has	have	AUX
alkej-747	215	46	been	be	AUX
alkej-747	215	47	suggested	suggest	VERB
alkej-747	215	48	and	and	CCONJ
alkej-747	215	49	designed	design	VERB
alkej-747	215	50	.	.	PUNCT
alkej-747	216	1	the	the	DET
alkej-747	216	2	work	work	NOUN
alkej-747	216	3	results	result	NOUN
alkej-747	216	4	showed	show	VERB
alkej-747	216	5	that	that	SCONJ
alkej-747	216	6	when	when	SCONJ
alkej-747	216	7	the	the	DET
alkej-747	216	8	platform	platform	NOUN
alkej-747	216	9	is	be	AUX
alkej-747	216	10	exposed	expose	VERB
alkej-747	216	11	to	to	ADP
alkej-747	216	12	the	the	DET
alkej-747	216	13	disturbance	disturbance	NOUN
alkej-747	216	14	in	in	ADP
alkej-747	216	15	(	(	PUNCT
alkej-747	216	16	xaxis	xaxis	PROPN
alkej-747	216	17	,	,	PUNCT
alkej-747	216	18	y	y	NOUN
alkej-747	216	19	-	-	PUNCT
alkej-747	216	20	axis	axis	ADJ
alkej-747	216	21	,	,	PUNCT
alkej-747	216	22	or	or	CCONJ
alkej-747	216	23	biaxial	biaxial	NOUN
alkej-747	216	24	)	)	PUNCT
alkej-747	216	25	,	,	PUNCT
alkej-747	216	26	the	the	DET
alkej-747	216	27	controller	controller	NOUN
alkej-747	216	28	's	's	PART
alkej-747	216	29	decision	decision	NOUN
alkej-747	216	30	(	(	PUNCT
alkej-747	216	31	angle	angle	NOUN
alkej-747	216	32	value	value	NOUN
alkej-747	216	33	and	and	CCONJ
alkej-747	216	34	direction	direction	NOUN
alkej-747	216	35	of	of	ADP
alkej-747	216	36	the	the	DET
alkej-747	216	37	servo	servo	NOUN
alkej-747	216	38	motor	motor	NOUN
alkej-747	216	39	)	)	PUNCT
alkej-747	216	40	depending	depend	VERB
alkej-747	216	41	on	on	ADP
alkej-747	216	42	error	error	NOUN
alkej-747	216	43	measurements	measurement	NOUN
alkej-747	216	44	to	to	PART
alkej-747	216	45	overcome	overcome	VERB
alkej-747	216	46	the	the	DET
alkej-747	216	47	platform	platform	NOUN
alkej-747	216	48	's	's	PART
alkej-747	216	49	unbalanced	unbalanced	ADJ
alkej-747	216	50	situation	situation	NOUN
alkej-747	216	51	and	and	CCONJ
alkej-747	216	52	reduce	reduce	VERB
alkej-747	216	53	recovery	recovery	NOUN
alkej-747	216	54	time	time	NOUN
alkej-747	216	55	.	.	PUNCT
alkej-747	217	1	moreover	moreover	ADV
alkej-747	217	2	,	,	PUNCT
alkej-747	217	3	optimization	optimization	NOUN
alkej-747	217	4	of	of	ADP
alkej-747	217	5	the	the	DET
alkej-747	217	6	pid	pid	NOUN
alkej-747	217	7	controllers	controller	NOUN
alkej-747	217	8	'	'	PART
alkej-747	217	9	coefficients	coefficient	NOUN
alkej-747	217	10	in	in	ADP
alkej-747	217	11	both	both	DET
alkej-747	217	12	(	(	PUNCT
alkej-747	217	13	simulated	simulated	ADJ
alkej-747	217	14	model	model	NOUN
alkej-747	217	15	)	)	PUNCT
alkej-747	217	16	by	by	ADP
alkej-747	217	17	the	the	DET
alkej-747	217	18	genetic	genetic	ADJ
alkej-747	217	19	algorithm	algorithm	NOUN
alkej-747	217	20	method	method	NOUN
alkej-747	217	21	effectively	effectively	ADV
alkej-747	217	22	affected	affect	VERB
alkej-747	217	23	the	the	DET
alkej-747	217	24	performance	performance	NOUN
alkej-747	217	25	of	of	ADP
alkej-747	217	26	the	the	DET
alkej-747	217	27	platform	platform	NOUN
alkej-747	217	28	,	,	PUNCT
alkej-747	217	29	as	as	SCONJ
alkej-747	217	30	the	the	DET
alkej-747	217	31	platform	platform	NOUN
alkej-747	217	32	system	system	NOUN
alkej-747	217	33	is	be	AUX
alkej-747	217	34	stable	stable	ADJ
alkej-747	217	35	and	and	CCONJ
alkej-747	217	36	the	the	DET
alkej-747	217	37	platform	platform	NOUN
alkej-747	217	38	was	be	AUX
alkej-747	217	39	able	able	ADJ
alkej-747	217	40	to	to	PART
alkej-747	217	41	compensate	compensate	VERB
alkej-747	217	42	for	for	ADP
alkej-747	217	43	the	the	DET
alkej-747	217	44	tilt	tilt	NOUN
alkej-747	217	45	angle	angle	NOUN
alkej-747	217	46	in	in	ADP
alkej-747	217	47	(	(	PUNCT
alkej-747	217	48	x	x	NOUN
alkej-747	217	49	-	-	ADJ
alkej-747	217	50	axis	axis	ADJ
alkej-747	217	51	,	,	PUNCT
alkej-747	217	52	yaxis	yaxis	NOUN
alkej-747	217	53	,	,	PUNCT
alkej-747	217	54	and	and	CCONJ
alkej-747	217	55	biaxial	biaxial	NOUN
alkej-747	217	56	)	)	PUNCT
alkej-747	217	57	and	and	CCONJ
alkej-747	217	58	overcome	overcome	VERB
alkej-747	217	59	the	the	DET
alkej-747	217	60	error	error	NOUN
alkej-747	217	61	in	in	ADP
alkej-747	217	62	a	a	DET
alkej-747	217	63	time	time	NOUN
alkej-747	217	64	that	that	PRON
alkej-747	217	65	does	do	AUX
alkej-747	217	66	not	not	PART
alkej-747	217	67	exceed	exceed	VERB
alkej-747	217	68	two	two	NUM
alkej-747	217	69	milliseconds	millisecond	NOUN
alkej-747	217	70	.	.	PUNCT
alkej-747	218	1	6	6	X
alkej-747	218	2	.	.	X
alkej-747	218	3	future	future	ADJ
alkej-747	218	4	work	work	NOUN
alkej-747	218	5	future	future	ADJ
alkej-747	218	6	work	work	NOUN
alkej-747	218	7	includes	include	VERB
alkej-747	218	8	changing	change	VERB
alkej-747	218	9	the	the	DET
alkej-747	218	10	disturbance	disturbance	NOUN
alkej-747	218	11	profile	profile	NOUN
alkej-747	218	12	of	of	ADP
alkej-747	218	13	(	(	PUNCT
alkej-747	218	14	x	x	NOUN
alkej-747	218	15	-	-	NOUN
alkej-747	218	16	axis	axis	ADJ
alkej-747	218	17	,	,	PUNCT
alkej-747	218	18	y	y	NOUN
alkej-747	218	19	-	-	PUNCT
alkej-747	218	20	axis	axis	ADJ
alkej-747	218	21	,	,	PUNCT
alkej-747	218	22	or	or	CCONJ
alkej-747	218	23	biaxial	biaxial	NOUN
alkej-747	218	24	)	)	PUNCT
alkej-747	218	25	into	into	ADP
alkej-747	218	26	diverse	diverse	ADJ
alkej-747	218	27	values	value	NOUN
alkej-747	218	28	of	of	ADP
alkej-747	218	29	tilt	tilt	NOUN
alkej-747	218	30	angles	angle	NOUN
alkej-747	218	31	(	(	PUNCT
alkej-747	218	32	between	between	ADP
alkej-747	218	33	each	each	DET
alkej-747	218	34	angle	angle	NOUN
alkej-747	218	35	and	and	CCONJ
alkej-747	218	36	another	another	DET
alkej-747	218	37	a	a	DET
alkej-747	218	38	period	period	NOUN
alkej-747	218	39	of	of	ADP
alkej-747	218	40	time	time	NOUN
alkej-747	218	41	)	)	PUNCT
alkej-747	218	42	on	on	ADP
alkej-747	218	43	the	the	DET
alkej-747	218	44	positive	positive	ADJ
alkej-747	218	45	and	and	CCONJ
alkej-747	218	46	negative	negative	ADJ
alkej-747	218	47	side	side	NOUN
alkej-747	218	48	of	of	ADP
alkej-747	218	49	the	the	DET
alkej-747	218	50	axis	axis	NOUN
alkej-747	218	51	.	.	PUNCT
alkej-747	219	1	also	also	ADV
alkej-747	219	2	,	,	PUNCT
alkej-747	219	3	add	add	VERB
alkej-747	219	4	new	new	ADJ
alkej-747	219	5	elements	element	NOUN
alkej-747	219	6	to	to	ADP
alkej-747	219	7	the	the	DET
alkej-747	219	8	platform	platform	NOUN
alkej-747	219	9	's	's	PART
alkej-747	219	10	dynamic	dynamic	ADJ
alkej-747	219	11	modelling	modelling	NOUN
alkej-747	219	12	design	design	NOUN
alkej-747	219	13	to	to	PART
alkej-747	219	14	study	study	VERB
alkej-747	219	15	the	the	DET
alkej-747	219	16	self	self	NOUN
alkej-747	219	17	-	-	PUNCT
alkej-747	219	18	balancing	balance	VERB
alkej-747	219	19	performance	performance	NOUN
alkej-747	219	20	in	in	ADP
alkej-747	219	21	six	six	NUM
alkej-747	219	22	dof	dof	NOUN
alkej-747	219	23	.	.	PUNCT
alkej-747	220	1	7	7	X
alkej-747	220	2	.	.	NUM
alkej-747	220	3	references	reference	NOUN
alkej-747	220	4	[	[	X
alkej-747	220	5	1	1	NUM
alkej-747	220	6	]	]	PUNCT
alkej-747	220	7	m.	m.	NOUN
alkej-747	220	8	m.	m.	PROPN
alkej-747	220	9	nadeem	nadeem	PROPN
alkej-747	220	10	,	,	PUNCT
alkej-747	220	11	s.	s.	PROPN
alkej-747	220	12	u.	u.	PROPN
alkej-747	220	13	khan	khan	PROPN
alkej-747	220	14	,	,	PUNCT
alkej-747	220	15	and	and	CCONJ
alkej-747	220	16	d.	d.	PROPN
alkej-747	220	17	mazhar	mazhar	PROPN
alkej-747	220	18	,	,	PUNCT
alkej-747	220	19	“	"	PUNCT
alkej-747	220	20	dynamic	dynamic	ADJ
alkej-747	220	21	self	self	NOUN
alkej-747	220	22	stabilizing	stabilize	VERB
alkej-747	220	23	mobile	mobile	ADJ
alkej-747	220	24	platform	platform	NOUN
alkej-747	220	25	,	,	PUNCT
alkej-747	220	26	”	"	PUNCT
alkej-747	220	27	no	no	NOUN
alkej-747	220	28	.	.	PUNCT
alkej-747	220	29	ieec	ieec	PROPN
alkej-747	220	30	,	,	PUNCT
alkej-747	220	31	2019	2019	NUM
alkej-747	220	32	.	.	PUNCT
alkej-747	221	1	[	[	X
alkej-747	221	2	2	2	X
alkej-747	221	3	]	]	PUNCT
alkej-747	221	4	v.	v.	ADP
alkej-747	221	5	popelka	popelka	PROPN
alkej-747	221	6	,	,	PUNCT
alkej-747	221	7	“	"	PUNCT
alkej-747	221	8	a	a	DET
alkej-747	221	9	self	self	NOUN
alkej-747	221	10	stabilizing	stabilize	VERB
alkej-747	221	11	platform	platform	NOUN
alkej-747	221	12	,	,	PUNCT
alkej-747	221	13	”	"	PUNCT
alkej-747	221	14	proc	proc	NOUN
alkej-747	221	15	.	.	PUNCT
alkej-747	221	16	2014	2014	NUM
alkej-747	221	17	15th	15th	ADJ
alkej-747	221	18	int	int	NOUN
alkej-747	221	19	.	.	PUNCT
alkej-747	222	1	carpathian	carpathian	ADJ
alkej-747	222	2	control	control	PROPN
alkej-747	222	3	conf	conf	PROPN
alkej-747	222	4	.	.	PUNCT
alkej-747	223	1	iccc	iccc	PROPN
alkej-747	223	2	2014	2014	NUM
alkej-747	223	3	,	,	PUNCT
alkej-747	223	4	pp	pp	ADP
alkej-747	223	5	.	.	PUNCT
alkej-747	224	1	458–462	458–462	NUM
alkej-747	224	2	,	,	PUNCT
alkej-747	224	3	2014	2014	NUM
alkej-747	224	4	,	,	PUNCT
alkej-747	224	5	doi	doi	NOUN
alkej-747	224	6	:	:	PUNCT
alkej-747	224	7	10.1109	10.1109	NUM
alkej-747	224	8	/	/	SYM
alkej-747	224	9	carpathiancc.2014.6843648	carpathiancc.2014.6843648	NOUN
alkej-747	224	10	.	.	PUNCT
alkej-747	225	1	[	[	X
alkej-747	225	2	3	3	X
alkej-747	225	3	]	]	X
alkej-747	225	4	y.	y.	PROPN
alkej-747	225	5	liu	liu	PROPN
alkej-747	225	6	,	,	PUNCT
alkej-747	225	7	z.	z.	PROPN
alkej-747	225	8	q.	q.	PROPN
alkej-747	225	9	zhu	zhu	PROPN
alkej-747	225	10	,	,	PUNCT
alkej-747	225	11	and	and	CCONJ
alkej-747	225	12	d.	d.	PROPN
alkej-747	225	13	howe	howe	PROPN
alkej-747	225	14	,	,	PUNCT
alkej-747	225	15	“	"	PUNCT
alkej-747	225	16	instantaneous	instantaneous	ADJ
alkej-747	225	17	torque	torque	NOUN
alkej-747	225	18	estimation	estimation	NOUN
alkej-747	225	19	in	in	ADP
alkej-747	225	20	sensorless	sensorless	NOUN
alkej-747	225	21	direct	direct	ADJ
alkej-747	225	22	-	-	PUNCT
alkej-747	225	23	torque	torque	NOUN
alkej-747	225	24	-	-	PUNCT
alkej-747	225	25	controlled	control	VERB
alkej-747	225	26	brushless	brushless	NOUN
alkej-747	225	27	dc	dc	PROPN
alkej-747	225	28	motors	motors	PROPN
alkej-747	225	29	,	,	PUNCT
alkej-747	225	30	”	"	PUNCT
alkej-747	225	31	ieee	ieee	NOUN
alkej-747	225	32	trans	tran	NOUN
alkej-747	225	33	.	.	PUNCT
alkej-747	226	1	ind	ind	PROPN
alkej-747	226	2	.	.	PUNCT
alkej-747	226	3	appl	appl	PROPN
alkej-747	226	4	.	.	PROPN
alkej-747	226	5	,	,	PUNCT
alkej-747	226	6	vol	vol	NOUN
alkej-747	226	7	.	.	PROPN
alkej-747	227	1	42	42	NUM
alkej-747	227	2	,	,	PUNCT
alkej-747	227	3	no	no	INTJ
alkej-747	227	4	.	.	NOUN
alkej-747	227	5	5	5	NUM
alkej-747	227	6	,	,	PUNCT
alkej-747	227	7	pp	pp	ADJ
alkej-747	227	8	.	.	PUNCT
alkej-747	228	1	1275–1283	1275–1283	NUM
alkej-747	228	2	,	,	PUNCT
alkej-747	228	3	2006	2006	NUM
alkej-747	228	4	,	,	PUNCT
alkej-747	228	5	doi	doi	NOUN
alkej-747	228	6	:	:	PUNCT
alkej-747	228	7	10.1109	10.1109	NUM
alkej-747	228	8	/	/	SYM
alkej-747	228	9	tia.2006.880854	tia.2006.880854	NOUN
alkej-747	228	10	.	.	PUNCT
alkej-747	229	1	[	[	X
alkej-747	229	2	4	4	NUM
alkej-747	229	3	]	]	X
alkej-747	229	4	mohapatra	mohapatra	PROPN
alkej-747	229	5	,	,	PUNCT
alkej-747	229	6	s.	s.	PROPN
alkej-747	229	7	,	,	PUNCT
alkej-747	229	8	srivastava	srivastava	PROPN
alkej-747	229	9	,	,	PUNCT
alkej-747	229	10	r.	r.	PROPN
alkej-747	229	11	,	,	PUNCT
alkej-747	229	12	&	&	CCONJ
alkej-747	229	13	khera	khera	PROPN
alkej-747	229	14	,	,	PUNCT
alkej-747	229	15	r.	r.	PROPN
alkej-747	229	16	(	(	PUNCT
alkej-747	229	17	2019	2019	NUM
alkej-747	229	18	)	)	PUNCT
alkej-747	229	19	.	.	PUNCT
alkej-747	230	1	“	"	PUNCT
alkej-747	230	2	implementation	implementation	NOUN
alkej-747	230	3	of	of	ADP
alkej-747	230	4	a	a	DET
alkej-747	230	5	two	two	NUM
alkej-747	230	6	-	-	PUNCT
alkej-747	230	7	wheel	wheel	NOUN
alkej-747	230	8	selfbalanced	selfbalanced	ADJ
alkej-747	230	9	robot	robot	NOUN
alkej-747	230	10	using	use	VERB
alkej-747	230	11	matlab	matlab	PROPN
alkej-747	230	12	simscape	simscape	NOUN
alkej-747	230	13	multibody	multibody	NOUN
alkej-747	230	14	”	"	PUNCT
alkej-747	230	15	.	.	PUNCT
alkej-747	231	1	second	second	ADJ
alkej-747	231	2	international	international	ADJ
alkej-747	231	3	conference	conference	NOUN
alkej-747	231	4	on	on	ADP
alkej-747	231	5	advanced	advanced	ADJ
alkej-747	231	6	computational	computational	ADJ
alkej-747	231	7	and	and	CCONJ
alkej-747	231	8	communication	communication	NOUN
alkej-747	231	9	paradigms	paradigm	NOUN
alkej-747	231	10	(	(	PUNCT
alkej-747	231	11	icaccp)1–3	icaccp)1–3	PROPN
alkej-747	231	12	.	.	PUNCT
alkej-747	232	1	doi:10.1109	doi:10.1109	VERB
alkej-747	232	2	/	/	SYM
alkej-747	232	3	icaccp.2019.8883007	icaccp.2019.8883007	ADJ
alkej-747	232	4	.	.	PUNCT
alkej-747	233	1	[	[	X
alkej-747	233	2	5	5	NUM
alkej-747	233	3	]	]	X
alkej-747	233	4	walica	walica	NOUN
alkej-747	233	5	,	,	PUNCT
alkej-747	233	6	p.	p.	PROPN
alkej-747	233	7	n.	n.	PROPN
alkej-747	233	8	d.	d.	PROPN
alkej-747	233	9	(	(	PUNCT
alkej-747	233	10	2020	2020	NUM
alkej-747	233	11	)	)	PUNCT
alkej-747	233	12	.	.	PUNCT
alkej-747	234	1	“	"	PUNCT
alkej-747	234	2	design	design	NOUN
alkej-747	234	3	and	and	CCONJ
alkej-747	234	4	realisation	realisation	NOUN
alkej-747	234	5	of	of	ADP
alkej-747	234	6	the	the	DET
alkej-747	234	7	simulation	simulation	NOUN
alkej-747	234	8	model	model	NOUN
alkej-747	234	9	of	of	ADP
alkej-747	234	10	the	the	DET
alkej-747	234	11	stewart	stewart	PROPN
alkej-747	234	12	platform	platform	NOUN
alkej-747	234	13	using	use	VERB
alkej-747	234	14	the	the	DET
alkej-747	234	15	matlabsimulink	matlabsimulink	NOUN
alkej-747	234	16	and	and	CCONJ
alkej-747	234	17	the	the	DET
alkej-747	234	18	simscape	simscape	NOUN
alkej-747	234	19	multibody	multibody	NOUN
alkej-747	234	20	library	library	NOUN
alkej-747	234	21	”	"	PUNCT
alkej-747	234	22	.	.	PUNCT
alkej-747	235	1	2020	2020	NUM
alkej-747	235	2	21th	21th	ADJ
alkej-747	235	3	international	international	ADJ
alkej-747	235	4	carpathian	carpathian	PROPN
alkej-747	235	5	control	control	PROPN
alkej-747	235	6	conference	conference	PROPN
alkej-747	235	7	(	(	PUNCT
alkej-747	235	8	iccc	iccc	PROPN
alkej-747	235	9	)	)	PUNCT
alkej-747	235	10	.	.	PUNCT
alkej-747	236	1	[	[	X
alkej-747	236	2	6	6	NUM
alkej-747	236	3	]	]	PUNCT
alkej-747	236	4	haidar	haidar	NOUN
alkej-747	236	5	,	,	PUNCT
alkej-747	236	6	a.	a.	PROPN
alkej-747	236	7	m.	m.	PROPN
alkej-747	236	8	a.	a.	PROPN
alkej-747	236	9	,	,	PUNCT
alkej-747	236	10	benachaiba	benachaiba	PROPN
alkej-747	236	11	,	,	PUNCT
alkej-747	236	12	c.	c.	PROPN
alkej-747	236	13	,	,	PUNCT
alkej-747	236	14	&	&	CCONJ
alkej-747	236	15	zahir	zahir	NOUN
alkej-747	236	16	,	,	PUNCT
alkej-747	236	17	m.	m.	NOUN
alkej-747	236	18	(	(	PUNCT
alkej-747	236	19	2013	2013	NUM
alkej-747	236	20	)	)	PUNCT
alkej-747	236	21	.	.	PUNCT
alkej-747	237	1	“	"	PUNCT
alkej-747	237	2	software	software	NOUN
alkej-747	237	3	interfacing	interfacing	NOUN
alkej-747	237	4	of	of	ADP
alkej-747	237	5	servo	servo	NOUN
alkej-747	237	6	motor	motor	NOUN
alkej-747	237	7	with	with	ADP
alkej-747	237	8	microcontroller	microcontroller	NOUN
alkej-747	237	9	”	"	PUNCT
alkej-747	237	10	.	.	PUNCT
alkej-747	238	1	journal	journal	NOUN
alkej-747	238	2	of	of	ADP
alkej-747	238	3	electrical	electrical	ADJ
alkej-747	238	4	systems	system	NOUN
alkej-747	238	5	,	,	PUNCT
alkej-747	238	6	9(1	9(1	NUM
alkej-747	238	7	)	)	PUNCT
alkej-747	238	8	,	,	PUNCT
alkej-747	238	9	84–99	84–99	NUM
alkej-747	238	10	.	.	PUNCT
alkej-747	239	1	[	[	X
alkej-747	239	2	7	7	NUM
alkej-747	239	3	]	]	PUNCT
alkej-747	239	4	a.	a.	PROPN
alkej-747	239	5	d.	d.	PROPN
alkej-747	239	6	assi	assi	PROPN
alkej-747	239	7	,	,	PUNCT
alkej-747	239	8	“	"	PUNCT
alkej-747	239	9	study	study	NOUN
alkej-747	239	10	of	of	ADP
alkej-747	239	11	transverse	transverse	NOUN
alkej-747	239	12	and	and	CCONJ
alkej-747	239	13	longitudinal	longitudinal	ADJ
alkej-747	239	14	crack	crack	NOUN
alkej-747	239	15	propagation	propagation	NOUN
alkej-747	239	16	in	in	ADP
alkej-747	239	17	human	human	ADJ
alkej-747	239	18	bone	bone	NOUN
alkej-747	239	19	using	use	VERB
alkej-747	239	20	the	the	DET
alkej-747	239	21	finite	finite	ADJ
alkej-747	239	22	element	element	NOUN
alkej-747	239	23	method	method	NOUN
alkej-747	239	24	with	with	ADP
alkej-747	239	25	matlab	matlab	PROPN
alkej-747	239	26	abdullah	abdullah	PROPN
alkej-747	239	27	dhayea	dhayea	VERB
alkej-747	239	28	assi	assi	NOUN
alkej-747	239	29	,	,	PUNCT
alkej-747	239	30	”	"	PUNCT
alkej-747	239	31	vol	vol	NOUN
alkej-747	239	32	.	.	PROPN
alkej-747	239	33	15	15	NUM
alkej-747	239	34	,	,	PUNCT
alkej-747	239	35	no	no	INTJ
alkej-747	239	36	.	.	NOUN
alkej-747	239	37	2	2	NUM
alkej-747	239	38	,	,	PUNCT
alkej-747	239	39	pp	pp	ADJ
alkej-747	239	40	.	.	PUNCT
alkej-747	240	1	44–49	44–49	NUM
alkej-747	240	2	,	,	PUNCT
alkej-747	240	3	2019	2019	NUM
alkej-747	240	4	.	.	PUNCT
alkej-747	241	1	[	[	X
alkej-747	241	2	8	8	NUM
alkej-747	241	3	]	]	PUNCT
alkej-747	241	4	alkamachi	alkamachi	ADJ
alkej-747	241	5	,	,	PUNCT
alkej-747	241	6	a.	a.	NOUN
alkej-747	241	7	(	(	PUNCT
alkej-747	241	8	2020	2020	NUM
alkej-747	241	9	)	)	PUNCT
alkej-747	241	10	.	.	PUNCT
alkej-747	242	1	“	"	PUNCT
alkej-747	242	2	integrated	integrate	VERB
alkej-747	242	3	solidworks	solidwork	NOUN
alkej-747	242	4	and	and	CCONJ
alkej-747	242	5	simscape	simscape	NOUN
alkej-747	242	6	platform	platform	NOUN
alkej-747	242	7	for	for	ADP
alkej-747	242	8	the	the	DET
alkej-747	242	9	design	design	NOUN
alkej-747	242	10	and	and	CCONJ
alkej-747	242	11	control	control	NOUN
alkej-747	242	12	of	of	ADP
alkej-747	242	13	an	an	DET
alkej-747	242	14	inverted	inverted	ADJ
alkej-747	242	15	pendulum	pendulum	NOUN
alkej-747	242	16	system	system	NOUN
alkej-747	242	17	”	"	PUNCT
alkej-747	242	18	.	.	PUNCT
alkej-747	243	1	journal	journal	NOUN
alkej-747	243	2	of	of	ADP
alkej-747	243	3	electrical	electrical	ADJ
alkej-747	243	4	engineering	engineering	NOUN
alkej-747	243	5	,	,	PUNCT
alkej-747	243	6	71(2	71(2	NUM
alkej-747	243	7	)	)	PUNCT
alkej-747	243	8	,	,	PUNCT
alkej-747	243	9	122–126.doi:10.2478	122–126.doi:10.2478	NUM
alkej-747	243	10	/	/	SYM
alkej-747	243	11	jee-20200018.q	jee-20200018.q	NOUN
alkej-747	244	1	[	[	X
alkej-747	244	2	9	9	NUM
alkej-747	244	3	]	]	PUNCT
alkej-747	244	4	m.	m.	PROPN
alkej-747	244	5	b.	b.	PROPN
alkej-747	244	6	mat	mat	PROPN
alkej-747	244	7	ali	ali	PROPN
alkej-747	244	8	,	,	PUNCT
alkej-747	244	9	“	"	PUNCT
alkej-747	244	10	development	development	NOUN
alkej-747	244	11	of	of	ADP
alkej-747	244	12	self	self	NOUN
alkej-747	244	13	balancing	balance	VERB
alkej-747	244	14	platform	platform	NOUN
alkej-747	244	15	,	,	PUNCT
alkej-747	244	16	”	"	PUNCT
alkej-747	244	17	2013	2013	NUM
alkej-747	244	18	.	.	PUNCT
alkej-747	245	1	[	[	X
alkej-747	245	2	10	10	NUM
alkej-747	245	3	]	]	X
alkej-747	245	4	g.	g.	PROPN
alkej-747	245	5	madhumitha	madhumitha	PROPN
alkej-747	245	6	,	,	PUNCT
alkej-747	245	7	r.	r.	PROPN
alkej-747	245	8	srividhya	srividhya	PROPN
alkej-747	245	9	,	,	PUNCT
alkej-747	245	10	j.	j.	PROPN
alkej-747	245	11	johnson	johnson	PROPN
alkej-747	245	12	,	,	PUNCT
alkej-747	245	13	and	and	CCONJ
alkej-747	245	14	d.	d.	PROPN
alkej-747	245	15	annamalai	annamalai	PROPN
alkej-747	245	16	,	,	PUNCT
alkej-747	245	17	“	"	PUNCT
alkej-747	245	18	physical	physical	ADJ
alkej-747	245	19	modeling	modeling	NOUN
alkej-747	245	20	and	and	CCONJ
alkej-747	245	21	control	control	NOUN
alkej-747	245	22	of	of	ADP
alkej-747	245	23	self	self	NOUN
alkej-747	245	24	-	-	PUNCT
alkej-747	245	25	balancing	balance	VERB
alkej-747	245	26	platform	platform	NOUN
alkej-747	245	27	on	on	ADP
alkej-747	245	28	a	a	DET
alkej-747	245	29	cart	cart	NOUN
alkej-747	245	30	,	,	PUNCT
alkej-747	245	31	”	"	PUNCT
alkej-747	245	32	proc	proc	NOUN
alkej-747	245	33	.	.	PUNCT
alkej-747	246	1	2016	2016	NUM
alkej-747	246	2	int	int	NOUN
alkej-747	246	3	.	.	PUNCT
alkej-747	246	4	conf	conf	PROPN
alkej-747	246	5	.	.	PUNCT
alkej-747	247	1	robot	robot	NOUN
alkej-747	247	2	.	.	PUNCT
alkej-747	248	1	curr	curr	PROPN
alkej-747	248	2	.	.	PUNCT
alkej-747	249	1	trends	trend	NOUN
alkej-747	249	2	bushra	bushra	PROPN
alkej-747	249	3	amer	amer	PROPN
alkej-747	249	4	tawfeeq	tawfeeq	PROPN
alkej-747	249	5	al	al	PROPN
alkej-747	249	6	-	-	PUNCT
alkej-747	249	7	khwarizmi	khwarizmi	PROPN
alkej-747	249	8	engineering	engineering	NOUN
alkej-747	249	9	journal	journal	PROPN
alkej-747	249	10	,	,	PUNCT
alkej-747	249	11	vol	vol	NOUN
alkej-747	249	12	.	.	PROPN
alkej-747	249	13	17	17	NUM
alkej-747	249	14	,	,	PUNCT
alkej-747	249	15	no	no	INTJ
alkej-747	249	16	.	.	NOUN
alkej-747	249	17	3	3	NUM
alkej-747	249	18	,	,	PUNCT
alkej-747	249	19	p.p	p.p	PROPN
alkej-747	249	20	.	.	NOUN
alkej-747	249	21	2944(2021	2944(2021	NUM
alkej-747	249	22	)	)	PUNCT
alkej-747	249	23	43	43	NUM
alkej-747	249	24	futur	futur	NOUN
alkej-747	249	25	.	.	PUNCT
alkej-747	250	1	challenges	challenge	NOUN
alkej-747	250	2	,	,	PUNCT
alkej-747	250	3	2017	2017	NUM
alkej-747	250	4	,	,	PUNCT
alkej-747	250	5	doi	doi	NOUN
alkej-747	250	6	:	:	PUNCT
alkej-747	250	7	10.1109	10.1109	NUM
alkej-747	250	8	/	/	SYM
alkej-747	250	9	rctfc.2016.7893410	rctfc.2016.7893410	PROPN
alkej-747	250	10	.	.	PUNCT
alkej-747	251	1	[	[	X
alkej-747	251	2	11	11	NUM
alkej-747	251	3	]	]	X
alkej-747	251	4	g.	g.	PROPN
alkej-747	251	5	adel	adel	PROPN
alkej-747	251	6	,	,	PUNCT
alkej-747	251	7	a.	a.	PROPN
alkej-747	251	8	iop	iop	PROPN
alkej-747	251	9	,	,	PUNCT
alkej-747	251	10	c.	c.	PROPN
alkej-747	251	11	ser	ser	PROPN
alkej-747	251	12	,	,	PUNCT
alkej-747	251	13	m.	m.	PROPN
alkej-747	251	14	sci	sci	PROPN
alkej-747	251	15	,	,	PUNCT
alkej-747	251	16	and	and	CCONJ
alkej-747	251	17	g.	g.	PROPN
alkej-747	251	18	a.	a.	PROPN
alkej-747	251	19	aziz	aziz	PROPN
alkej-747	251	20	,	,	PUNCT
alkej-747	251	21	“	"	PUNCT
alkej-747	251	22	stability	stability	NOUN
alkej-747	251	23	control	control	NOUN
alkej-747	251	24	investigation	investigation	NOUN
alkej-747	251	25	of	of	ADP
alkej-747	251	26	a	a	DET
alkej-747	251	27	self	self	NOUN
alkej-747	251	28	-	-	PUNCT
alkej-747	251	29	balancing	balance	VERB
alkej-747	251	30	platform	platform	NOUN
alkej-747	251	31	on	on	ADP
alkej-747	251	32	the	the	DET
alkej-747	251	33	robot	robot	NOUN
alkej-747	251	34	smart	smart	ADJ
alkej-747	251	35	car	car	NOUN
alkej-747	251	36	using	use	VERB
alkej-747	251	37	navigation	navigation	NOUN
alkej-747	251	38	parameters	parameter	NOUN
alkej-747	251	39	stability	stability	NOUN
alkej-747	251	40	control	control	NOUN
alkej-747	251	41	investigation	investigation	NOUN
alkej-747	251	42	of	of	ADP
alkej-747	251	43	a	a	DET
alkej-747	251	44	self	self	NOUN
alkej-747	251	45	-	-	PUNCT
alkej-747	251	46	balancing	balance	VERB
alkej-747	251	47	platform	platform	NOUN
alkej-747	251	48	on	on	ADP
alkej-747	251	49	the	the	DET
alkej-747	251	50	robot	robot	NOUN
alkej-747	251	51	smart	smart	ADJ
alkej-747	251	52	car	car	NOUN
alkej-747	251	53	using	use	VERB
alkej-747	251	54	navigation	navigation	NOUN
alkej-747	251	55	parameters	parameter	NOUN
alkej-747	251	56	,	,	PUNCT
alkej-747	251	57	”	"	PUNCT
alkej-747	251	58	2020	2020	NUM
alkej-747	251	59	,	,	PUNCT
alkej-747	251	60	doi	doi	NOUN
alkej-747	251	61	:	:	PUNCT
alkej-747	251	62	10.1088/1757	10.1088/1757	NUM
alkej-747	251	63	-	-	PUNCT
alkej-747	251	64	899x/765/1/012066	899x/765/1/012066	NUM
alkej-747	251	65	.	.	PUNCT
alkej-747	252	1	[	[	X
alkej-747	252	2	12	12	NUM
alkej-747	252	3	]	]	PUNCT
alkej-747	252	4	m.	m.	NOUN
alkej-747	252	5	alkhedher	alkhedher	PROPN
alkej-747	252	6	,	,	PUNCT
alkej-747	252	7	u.	u.	PROPN
alkej-747	252	8	ali	ali	PROPN
alkej-747	252	9	,	,	PUNCT
alkej-747	252	10	and	and	CCONJ
alkej-747	252	11	o.	o.	PROPN
alkej-747	252	12	mohamad	mohamad	PROPN
alkej-747	252	13	,	,	PUNCT
alkej-747	252	14	“	"	PUNCT
alkej-747	252	15	modeling	modeling	NOUN
alkej-747	252	16	,	,	PUNCT
alkej-747	252	17	simulation	simulation	NOUN
alkej-747	252	18	and	and	CCONJ
alkej-747	252	19	design	design	NOUN
alkej-747	252	20	of	of	ADP
alkej-747	252	21	adaptive	adaptive	ADJ
alkej-747	252	22	6dof	6dof	NOUN
alkej-747	252	23	vehicle	vehicle	NOUN
alkej-747	252	24	stabilizer	stabilizer	NOUN
alkej-747	252	25	,	,	PUNCT
alkej-747	252	26	”	"	PUNCT
alkej-747	252	27	2019	2019	NUM
alkej-747	252	28	8th	8th	ADJ
alkej-747	252	29	int	int	NOUN
alkej-747	252	30	.	.	PUNCT
alkej-747	253	1	conf	conf	PROPN
alkej-747	253	2	.	.	PUNCT
alkej-747	254	1	model	model	PROPN
alkej-747	254	2	.	.	PUNCT
alkej-747	255	1	simul	simul	PROPN
alkej-747	255	2	.	.	PUNCT
alkej-747	255	3	appl	appl	PROPN
alkej-747	255	4	.	.	PROPN
alkej-747	256	1	optim	optim	PROPN
alkej-747	256	2	.	.	PUNCT
alkej-747	257	1	icmsao	icmsao	PROPN
alkej-747	257	2	2019	2019	NUM
alkej-747	257	3	,	,	PUNCT
alkej-747	257	4	pp	pp	ADJ
alkej-747	257	5	.	.	PUNCT
alkej-747	258	1	6–9	6–9	NOUN
alkej-747	258	2	,	,	PUNCT
alkej-747	258	3	2019	2019	NUM
alkej-747	258	4	,	,	PUNCT
alkej-747	258	5	doi	doi	NOUN
alkej-747	258	6	:	:	PUNCT
alkej-747	258	7	10.1109	10.1109	NUM
alkej-747	258	8	/	/	SYM
alkej-747	258	9	icmsao.2019.8880417	icmsao.2019.8880417	ADJ
alkej-747	258	10	.	.	PUNCT
alkej-747	259	1	[	[	X
alkej-747	259	2	13	13	NUM
alkej-747	259	3	]	]	PUNCT
alkej-747	259	4	r.	r.	PROPN
alkej-747	259	5	chen	chen	PROPN
alkej-747	259	6	,	,	PUNCT
alkej-747	259	7	y.	y.	PROPN
alkej-747	259	8	ou	ou	PROPN
alkej-747	259	9	,	,	PUNCT
alkej-747	259	10	w.	w.	PROPN
alkej-747	259	11	fang	fang	PROPN
alkej-747	259	12	,	,	PUNCT
alkej-747	259	13	y.	y.	PROPN
alkej-747	259	14	shi	shi	PROPN
alkej-747	259	15	,	,	PUNCT
alkej-747	259	16	and	and	CCONJ
alkej-747	259	17	l.	l.	PROPN
alkej-747	259	18	liu	liu	PROPN
alkej-747	259	19	,	,	PUNCT
alkej-747	259	20	“	"	PUNCT
alkej-747	259	21	simulation	simulation	NOUN
alkej-747	259	22	analysis	analysis	NOUN
alkej-747	259	23	of	of	ADP
alkej-747	259	24	a	a	DET
alkej-747	259	25	self	self	NOUN
alkej-747	259	26	-	-	PUNCT
alkej-747	259	27	balancing	balance	VERB
alkej-747	259	28	hydraulic	hydraulic	ADJ
alkej-747	259	29	platform	platform	NOUN
alkej-747	259	30	for	for	ADP
alkej-747	259	31	agricultural	agricultural	ADJ
alkej-747	259	32	machinery	machinery	NOUN
alkej-747	259	33	in	in	ADP
alkej-747	259	34	mountainous	mountainous	ADJ
alkej-747	259	35	regions	region	NOUN
alkej-747	259	36	,	,	PUNCT
alkej-747	259	37	”	"	PUNCT
alkej-747	259	38	j.	j.	PROPN
alkej-747	259	39	eur	eur	PROPN
alkej-747	259	40	.	.	PUNCT
alkej-747	259	41	des	des	PROPN
alkej-747	259	42	syst	syst	PROPN
alkej-747	259	43	.	.	PUNCT
alkej-747	259	44	autom	autom	PROPN
alkej-747	259	45	.	.	PUNCT
alkej-747	259	46	,	,	PUNCT
alkej-747	259	47	vol	vol	NOUN
alkej-747	259	48	.	.	PROPN
alkej-747	260	1	53	53	NUM
alkej-747	260	2	,	,	PUNCT
alkej-747	260	3	no	no	INTJ
alkej-747	260	4	.	.	NOUN
alkej-747	260	5	2	2	NUM
alkej-747	260	6	,	,	PUNCT
alkej-747	260	7	pp	pp	ADJ
alkej-747	260	8	.	.	PUNCT
alkej-747	261	1	203–211	203–211	NUM
alkej-747	261	2	,	,	PUNCT
alkej-747	261	3	2020	2020	NUM
alkej-747	261	4	,	,	PUNCT
alkej-747	261	5	doi	doi	NOUN
alkej-747	261	6	:	:	PUNCT
alkej-747	261	7	10.18280	10.18280	NUM
alkej-747	261	8	/	/	SYM
alkej-747	262	1	jesa.530206	jesa.530206	PROPN
alkej-747	262	2	.	.	PUNCT
alkej-747	263	1	[	[	X
alkej-747	263	2	14	14	NUM
alkej-747	263	3	]	]	X
alkej-747	263	4	thomas	thomas	PROPN
alkej-747	263	5	,	,	PUNCT
alkej-747	263	6	n.	n.	NOUN
alkej-747	263	7	,	,	PUNCT
alkej-747	263	8	&	&	CCONJ
alkej-747	263	9	poongodi	poongodi	PROPN
alkej-747	263	10	,	,	PUNCT
alkej-747	263	11	p.	p.	NOUN
alkej-747	263	12	(	(	PUNCT
alkej-747	263	13	20١9	20١9	NUM
alkej-747	263	14	)	)	PUNCT
alkej-747	263	15	.	.	PUNCT
alkej-747	264	1	“	"	PUNCT
alkej-747	264	2	position	position	NOUN
alkej-747	264	3	control	control	NOUN
alkej-747	264	4	of	of	ADP
alkej-747	264	5	dc	dc	PROPN
alkej-747	264	6	motor	motor	NOUN
alkej-747	264	7	using	use	VERB
alkej-747	264	8	genetic	genetic	ADJ
alkej-747	264	9	algorithm	algorithm	NOUN
alkej-747	264	10	based	base	VERB
alkej-747	264	11	pid	pid	NOUN
alkej-747	264	12	controller	controller	NOUN
alkej-747	264	13	”	"	PUNCT
alkej-747	264	14	.	.	PUNCT
alkej-747	265	1	proceedings	proceeding	NOUN
alkej-747	265	2	of	of	ADP
alkej-747	265	3	the	the	DET
alkej-747	265	4	world	world	NOUN
alkej-747	265	5	congress	congress	PROPN
alkej-747	265	6	on	on	ADP
alkej-747	265	7	engineering	engineer	VERB
alkej-747	265	8	2009	2009	NUM
alkej-747	265	9	vol	vol	NOUN
alkej-747	265	10	ii	ii	NOUN
alkej-747	265	11	.	.	PUNCT
alkej-747	266	1	[	[	X
alkej-747	266	2	15	15	NUM
alkej-747	266	3	]	]	X
alkej-747	266	4	mirzal	mirzal	NOUN
alkej-747	266	5	,	,	PUNCT
alkej-747	266	6	a.	a.	NOUN
alkej-747	266	7	,	,	PUNCT
alkej-747	266	8	yoshii	yoshii	PROPN
alkej-747	266	9	,	,	PUNCT
alkej-747	266	10	s.	s.	PROPN
alkej-747	266	11	,	,	PUNCT
alkej-747	266	12	&	&	CCONJ
alkej-747	266	13	furukawa	furukawa	PROPN
alkej-747	266	14	,	,	PUNCT
alkej-747	266	15	m.	m.	NOUN
alkej-747	266	16	(	(	PUNCT
alkej-747	266	17	2012	2012	NUM
alkej-747	266	18	)	)	PUNCT
alkej-747	266	19	.	.	PUNCT
alkej-747	267	1	“	"	PUNCT
alkej-747	267	2	pid	pid	NOUN
alkej-747	267	3	parameters	parameter	NOUN
alkej-747	267	4	optimization	optimization	NOUN
alkej-747	267	5	by	by	ADP
alkej-747	267	6	using	use	VERB
alkej-747	267	7	genetic	genetic	ADJ
alkej-747	267	8	algorithm	algorithm	NOUN
alkej-747	267	9	”	"	PUNCT
alkej-747	267	10	.	.	PUNCT
alkej-747	268	1	international	international	ADJ
alkej-747	268	2	journal	journal	NOUN
alkej-747	268	3	of	of	ADP
alkej-747	268	4	emerging	emerge	VERB
alkej-747	268	5	technology	technology	NOUN
alkej-747	268	6	and	and	CCONJ
alkej-747	268	7	advanced	advanced	ADJ
alkej-747	268	8	engineering	engineering	NOUN
alkej-747	268	9	.	.	PUNCT
alkej-747	269	1	http://arxiv.org/abs/1204.0885	http://arxiv.org/abs/1204.0885	NOUN
alkej-747	269	2	.	.	PUNCT
alkej-747	270	1	[	[	X
alkej-747	270	2	16	16	NUM
alkej-747	270	3	]	]	X
alkej-747	270	4	mantri	mantri	PROPN
alkej-747	270	5	,	,	PUNCT
alkej-747	270	6	g.	g.	PROPN
alkej-747	270	7	&	&	CCONJ
alkej-747	270	8	kulkarni	kulkarni	PROPN
alkej-747	270	9	,	,	PUNCT
alkej-747	270	10	n.	n.	PROPN
alkej-747	270	11	r.	r.	PROPN
alkej-747	270	12	(	(	PUNCT
alkej-747	270	13	2013	2013	NUM
alkej-747	270	14	)	)	PUNCT
alkej-747	270	15	.	.	PUNCT
alkej-747	271	1	“	"	PUNCT
alkej-747	271	2	design	design	NOUN
alkej-747	271	3	and	and	CCONJ
alkej-747	271	4	optimization	optimization	NOUN
alkej-747	271	5	of	of	ADP
alkej-747	271	6	pid	pid	NOUN
alkej-747	271	7	controller	controller	NOUN
alkej-747	271	8	using	use	VERB
alkej-747	271	9	genetic	genetic	ADJ
alkej-747	271	10	algorithm	algorithm	NOUN
alkej-747	271	11	”	"	PUNCT
alkej-747	271	12	.	.	PUNCT
alkej-747	272	1	international	international	ADJ
alkej-747	272	2	journal	journal	PROPN
alkej-747	272	3	of	of	ADP
alkej-747	272	4	research	research	NOUN
alkej-747	272	5	in	in	ADP
alkej-747	272	6	engineering	engineering	NOUN
alkej-747	272	7	and	and	CCONJ
alkej-747	272	8	technology	technology	NOUN
alkej-747	272	9	,	,	PUNCT
alkej-747	272	10	02(06	02(06	PROPN
alkej-747	272	11	)	)	PUNCT
alkej-747	272	12	,	,	PUNCT
alkej-747	272	13	926–930	926–930	NUM
alkej-747	272	14	.	.	PUNCT
alkej-747	273	1	doi:10.15623	doi:10.15623	NOUN
alkej-747	273	2	/	/	SYM
alkej-747	273	3	ijret.2013.0206002	ijret.2013.0206002	NOUN
alkej-747	273	4	.	.	PUNCT
alkej-747	274	1	[	[	X
alkej-747	274	2	17	17	NUM
alkej-747	274	3	]	]	PUNCT
alkej-747	274	4	r.	r.	PROPN
alkej-747	274	5	a.	a.	PROPN
alkej-747	274	6	kadhim	kadhim	PROPN
alkej-747	274	7	,	,	PUNCT
alkej-747	274	8	“	"	PUNCT
alkej-747	274	9	design	design	NOUN
alkej-747	274	10	and	and	CCONJ
alkej-747	274	11	simulation	simulation	NOUN
alkej-747	274	12	of	of	ADP
alkej-747	274	13	closed	closed	ADJ
alkej-747	274	14	loop	loop	NOUN
alkej-747	274	15	proportional	proportional	ADJ
alkej-747	274	16	integral	integral	ADJ
alkej-747	274	17	(	(	PUNCT
alkej-747	274	18	pi	pi	NOUN
alkej-747	274	19	)	)	PUNCT
alkej-747	274	20	controlled	control	VERB
alkej-747	274	21	boost	boost	NOUN
alkej-747	274	22	converter	converter	NOUN
alkej-747	274	23	and	and	CCONJ
alkej-747	274	24	3	3	NUM
alkej-747	274	25	-	-	PUNCT
alkej-747	274	26	phase	phase	NOUN
alkej-747	274	27	inverter	inverter	NOUN
alkej-747	274	28	for	for	ADP
alkej-747	274	29	photovoltaic	photovoltaic	NOUN
alkej-747	274	30	(	(	PUNCT
alkej-747	274	31	pv	pv	NOUN
alkej-747	274	32	)	)	PUNCT
alkej-747	274	33	applications	application	NOUN
alkej-747	274	34	,	,	PUNCT
alkej-747	274	35	”	"	PUNCT
alkej-747	274	36	al	al	PROPN
alkej-747	274	37	-	-	PUNCT
alkej-747	274	38	khwarizmi	khwarizmi	PROPN
alkej-747	274	39	eng	eng	PROPN
alkej-747	274	40	.	.	PUNCT
alkej-747	275	1	j.	j.	PROPN
alkej-747	275	2	,	,	PUNCT
alkej-747	275	3	vol	vol	NOUN
alkej-747	275	4	.	.	PROPN
alkej-747	275	5	15	15	NUM
alkej-747	275	6	,	,	PUNCT
alkej-747	275	7	no	no	INTJ
alkej-747	275	8	.	.	NOUN
alkej-747	275	9	1	1	NUM
alkej-747	275	10	,	,	PUNCT
alkej-747	275	11	pp	pp	ADJ
alkej-747	275	12	.	.	PUNCT
alkej-747	276	1	10	10	NUM
alkej-747	276	2	–	–	PUNCT
alkej-747	276	3	22	22	NUM
alkej-747	276	4	,	,	PUNCT
alkej-747	276	5	2019	2019	NUM
alkej-747	276	6	,	,	PUNCT
alkej-747	276	7	doi	doi	NOUN
alkej-747	276	8	:	:	PUNCT
alkej-747	276	9	10.22153	10.22153	NUM
alkej-747	276	10	/	/	SYM
alkej-747	276	11	kej.2019.06.001	kej.2019.06.001	NOUN
alkej-747	276	12	.	.	PUNCT
alkej-747	277	1	[	[	X
alkej-747	277	2	18	18	NUM
alkej-747	277	3	]	]	PUNCT
alkej-747	277	4	k.	k.	PROPN
alkej-747	277	5	liu	liu	PROPN
alkej-747	277	6	,	,	PUNCT
alkej-747	277	7	m.	m.	PROPN
alkej-747	277	8	bai	bai	PROPN
alkej-747	277	9	,	,	PUNCT
alkej-747	277	10	and	and	CCONJ
alkej-747	277	11	y.	y.	PROPN
alkej-747	277	12	ni	ni	PROPN
alkej-747	277	13	,	,	PUNCT
alkej-747	277	14	“	"	PUNCT
alkej-747	277	15	two	two	NUM
alkej-747	277	16	-	-	PUNCT
alkej-747	277	17	wheel	wheel	NOUN
alkej-747	277	18	selfbalanced	selfbalanced	ADJ
alkej-747	277	19	car	car	NOUN
alkej-747	277	20	based	base	VERB
alkej-747	277	21	on	on	ADP
alkej-747	277	22	kalman	kalman	PROPN
alkej-747	277	23	filtering	filtering	PROPN
alkej-747	277	24	and	and	CCONJ
alkej-747	277	25	pid	pid	NOUN
alkej-747	277	26	algorithm	algorithm	NOUN
alkej-747	277	27	,	,	PUNCT
alkej-747	277	28	”	"	PUNCT
alkej-747	277	29	2011	2011	NUM
alkej-747	277	30	ieee	ieee	NOUN
alkej-747	277	31	18th	18th	ADJ
alkej-747	277	32	int	int	NOUN
alkej-747	277	33	.	.	PUNCT
alkej-747	277	34	conf	conf	NOUN
alkej-747	277	35	.	.	PUNCT
alkej-747	278	1	ind	ind	PROPN
alkej-747	278	2	.	.	PUNCT
alkej-747	279	1	eng	eng	PROPN
alkej-747	279	2	.	.	PUNCT
alkej-747	280	1	eng	eng	PROPN
alkej-747	280	2	.	.	PROPN
alkej-747	281	1	manag	manag	PROPN
alkej-747	281	2	.	.	PUNCT
alkej-747	282	1	ie	ie	ADV
alkej-747	282	2	em	em	PRON
alkej-747	282	3	2011	2011	NUM
alkej-747	282	4	,	,	PUNCT
alkej-747	282	5	no	no	INTJ
alkej-747	282	6	.	.	PUNCT
alkej-747	282	7	part	part	NOUN
alkej-747	282	8	1	1	NUM
alkej-747	282	9	,	,	PUNCT
alkej-747	282	10	pp	pp	ADJ
alkej-747	282	11	.	.	PUNCT
alkej-747	283	1	281–285	281–285	NUM
alkej-747	283	2	,	,	PUNCT
alkej-747	283	3	2011	2011	NUM
alkej-747	283	4	,	,	PUNCT
alkej-747	283	5	doi	doi	NOUN
alkej-747	283	6	:	:	PUNCT
alkej-747	283	7	10.1109	10.1109	NUM
alkej-747	283	8	/	/	SYM
alkej-747	283	9	ieem.2011.6035158	ieem.2011.6035158	NOUN
alkej-747	283	10	.	.	PUNCT
alkej-747	284	1	[	[	X
alkej-747	284	2	19	19	NUM
alkej-747	284	3	]	]	X
alkej-747	284	4	sabah	sabah	PROPN
alkej-747	284	5	,	,	PUNCT
alkej-747	284	6	a.	a.	NOUN
alkej-747	284	7	“	"	PUNCT
alkej-747	284	8	design	design	NOUN
alkej-747	284	9	of	of	ADP
alkej-747	284	10	nonlinear	nonlinear	ADJ
alkej-747	284	11	pid	pid	NOUN
alkej-747	284	12	neural	neural	ADJ
alkej-747	284	13	controller	controller	NOUN
alkej-747	284	14	for	for	ADP
alkej-747	284	15	the	the	DET
alkej-747	284	16	speed	speed	NOUN
alkej-747	284	17	control	control	NOUN
alkej-747	284	18	of	of	ADP
alkej-747	284	19	a	a	DET
alkej-747	284	20	permanent	permanent	ADJ
alkej-747	284	21	magnet	magnet	NOUN
alkej-747	284	22	dc	dc	PROPN
alkej-747	284	23	motor	motor	NOUN
alkej-747	284	24	model	model	NOUN
alkej-747	284	25	based	base	VERB
alkej-747	284	26	on	on	ADP
alkej-747	284	27	optimization	optimization	NOUN
alkej-747	284	28	algorithm	algorithm	NOUN
alkej-747	284	29	”	"	PUNCT
alkej-747	284	30	.	.	PUNCT
alkej-747	285	1	al	al	PROPN
alkej-747	285	2	-	-	PUNCT
alkej-747	285	3	khwarizmi	khwarizmi	PROPN
alkej-747	285	4	engineering	engineering	NOUN
alkej-747	285	5	journal	journal	PROPN
alkej-747	285	6	,	,	PUNCT
alkej-747	285	7	vol	vol	NOUN
alkej-747	285	8	.	.	PROPN
alkej-747	285	9	10	10	NUM
alkej-747	285	10	,	,	PUNCT
alkej-747	285	11	no	no	INTJ
alkej-747	285	12	.	.	NOUN
alkej-747	285	13	1	1	NUM
alkej-747	285	14	,	,	PUNCT
alkej-747	285	15	p.p	p.p	PROPN
alkej-747	285	16	.	.	NOUN
alkej-747	285	17	72	72	NUM
alkej-747	285	18	82	82	NUM
alkej-747	285	19	(	(	PUNCT
alkej-747	285	20	2014	2014	NUM
alkej-747	285	21	)	)	PUNCT
alkej-747	285	22	.	.	PUNCT
alkej-747	286	1	[	[	X
alkej-747	286	2	20	20	NUM
alkej-747	286	3	]	]	X
alkej-747	286	4	abd	abd	PROPN
alkej-747	286	5	-	-	PUNCT
alkej-747	286	6	alkarim	alkarim	PROPN
alkej-747	286	7	and	and	CCONJ
alkej-747	286	8	shereen	shereen	PROPN
alkej-747	286	9	f.	f.	PROPN
alkej-747	286	10	,	,	PUNCT
alkej-747	286	11	"	"	PUNCT
alkej-747	286	12	application	application	NOUN
alkej-747	286	13	of	of	ADP
alkej-747	286	14	fuzzy	fuzzy	ADJ
alkej-747	286	15	logic	logic	NOUN
alkej-747	286	16	in	in	ADP
alkej-747	286	17	servo	servo	NOUN
alkej-747	286	18	motor	motor	NOUN
alkej-747	286	19	.	.	PUNCT
alkej-747	286	20	,	,	PUNCT
alkej-747	286	21	"	"	PUNCT
alkej-747	286	22	al	al	PROPN
alkej-747	286	23	-	-	PUNCT
alkej-747	286	24	khwarizmi	khwarizmi	PROPN
alkej-747	286	25	engineering	engineering	PROPN
alkej-747	286	26	journal	journal	PROPN
alkej-747	286	27	vol	vol	NOUN
alkej-747	286	28	.	.	PROPN
alkej-747	287	1	3	3	NUM
alkej-747	287	2	,	,	PUNCT
alkej-747	287	3	no	no	INTJ
alkej-747	287	4	.	.	NOUN
alkej-747	287	5	2	2	NUM
alkej-747	287	6	,	,	PUNCT
alkej-747	287	7	pp	pp	ADJ
alkej-747	287	8	.	.	PUNCT
alkej-747	288	1	8	8	NUM
alkej-747	288	2	-	-	SYM
alkej-747	288	3	16	16	NUM
alkej-747	288	4	,	,	PUNCT
alkej-747	288	5	2007	2007	NUM
alkej-747	288	6	.	.	PUNCT
alkej-747	289	1	[	[	X
alkej-747	289	2	21	21	NUM
alkej-747	289	3	]	]	PUNCT
alkej-747	289	4	ayasun	ayasun	NOUN
alkej-747	289	5	,	,	PUNCT
alkej-747	289	6	s.	s.	PROPN
alkej-747	289	7	,	,	PUNCT
alkej-747	289	8	&	&	CCONJ
alkej-747	289	9	karbeyaz	karbeyaz	PROPN
alkej-747	289	10	,	,	PUNCT
alkej-747	289	11	g.	g.	PROPN
alkej-747	289	12	(	(	PUNCT
alkej-747	289	13	2008	2008	NUM
alkej-747	289	14	)	)	PUNCT
alkej-747	289	15	.	.	PUNCT
alkej-747	290	1	“	"	PUNCT
alkej-747	290	2	dc	dc	PROPN
alkej-747	290	3	motor	motor	NOUN
alkej-747	290	4	speed	speed	NOUN
alkej-747	290	5	control	control	NOUN
alkej-747	290	6	methods	method	NOUN
alkej-747	290	7	using	use	VERB
alkej-747	290	8	matlab	matlab	PROPN
alkej-747	290	9	/	/	SYM
alkej-747	290	10	simulink	simulink	PROPN
alkej-747	290	11	and	and	CCONJ
alkej-747	290	12	their	their	PRON
alkej-747	290	13	integration	integration	NOUN
alkej-747	290	14	into	into	ADP
alkej-747	290	15	undergraduate	undergraduate	ADJ
alkej-747	290	16	electric	electric	ADJ
alkej-747	290	17	machinery	machinery	NOUN
alkej-747	290	18	courses	course	NOUN
alkej-747	290	19	”	"	PUNCT
alkej-747	290	20	.	.	PUNCT
alkej-747	291	1	journal	journal	PROPN
alkej-747	291	2	of	of	ADP
alkej-747	291	3	computer	computer	NOUN
alkej-747	291	4	applications	application	NOUN
alkej-747	291	5	in	in	ADP
alkej-747	291	6	engineering	engineering	NOUN
alkej-747	291	7	education	education	NOUN
alkej-747	291	8	,	,	PUNCT
alkej-747	291	9	15(4	15(4	NUM
alkej-747	291	10	)	)	PUNCT
alkej-747	291	11	,	,	PUNCT
alkej-747	291	12	347–354	347–354	NUM
alkej-747	291	13	.	.	PUNCT
alkej-747	292	1	doi:10.1002	doi:10.1002	NOUN
alkej-747	292	2	/	/	SYM
alkej-747	292	3	cae.20151	cae.20151	NOUN
alkej-747	292	4	.	.	PUNCT
alkej-747	293	1	[	[	X
alkej-747	293	2	22	22	NUM
alkej-747	293	3	]	]	PUNCT
alkej-747	293	4	m.	m.	NOUN
alkej-747	293	5	a.	a.	NOUN
alkej-747	293	6	rashidifar	rashidifar	ADV
alkej-747	293	7	,	,	PUNCT
alkej-747	293	8	a.	a.	NOUN
alkej-747	293	9	a.	a.	NOUN
alkej-747	293	10	rashidifar	rashidifar	ADV
alkej-747	293	11	,	,	PUNCT
alkej-747	293	12	and	and	CCONJ
alkej-747	293	13	d.	d.	PROPN
alkej-747	293	14	ahmadi	ahmadi	PROPN
alkej-747	293	15	,	,	PUNCT
alkej-747	293	16	“	"	PUNCT
alkej-747	293	17	modeling	modeling	NOUN
alkej-747	293	18	and	and	CCONJ
alkej-747	293	19	control	control	NOUN
alkej-747	293	20	of	of	ADP
alkej-747	293	21	5dof	5dof	PROPN
alkej-747	293	22	robot	robot	NOUN
alkej-747	293	23	arm	arm	NOUN
alkej-747	293	24	using	use	VERB
alkej-747	293	25	fuzzy	fuzzy	ADJ
alkej-747	293	26	logic	logic	NOUN
alkej-747	293	27	supervisory	supervisory	ADJ
alkej-747	293	28	control	control	NOUN
alkej-747	293	29	,	,	PUNCT
alkej-747	293	30	”	"	PUNCT
alkej-747	293	31	iaes	iaes	NOUN
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alkej-747	293	33	.	.	PUNCT
alkej-747	294	1	j.	j.	PROPN
alkej-747	294	2	robot	robot	PROPN
alkej-747	294	3	.	.	PUNCT
alkej-747	295	1	autom	autom	PROPN
alkej-747	295	2	.	.	PUNCT
alkej-747	296	1	,	,	PUNCT
alkej-747	296	2	vol	vol	NOUN
alkej-747	296	3	.	.	PROPN
alkej-747	297	1	2	2	NUM
alkej-747	297	2	,	,	PUNCT
alkej-747	297	3	no	no	INTJ
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alkej-747	297	5	2	2	NUM
alkej-747	297	6	,	,	PUNCT
alkej-747	297	7	pp	pp	ADJ
alkej-747	297	8	.	.	PUNCT
alkej-747	298	1	56–68	56–68	NUM
alkej-747	298	2	,	,	PUNCT
alkej-747	298	3	2013	2013	NUM
alkej-747	298	4	,	,	PUNCT
alkej-747	298	5	doi	doi	NOUN
alkej-747	298	6	:	:	PUNCT
alkej-747	298	7	10.11591	10.11591	NUM
alkej-747	298	8	/	/	SYM
alkej-747	299	1	ijra	ijra	NOUN
alkej-747	299	2	.	.	PUNCT
alkej-747	300	1	v2i2.2974	v2i2.2974	PROPN
alkej-747	300	2	.	.	PUNCT
alkej-747	301	1	[	[	X
alkej-747	301	2	23	23	NUM
alkej-747	301	3	]	]	SYM
alkej-747	301	4	munadi	munadi	NOUN
alkej-747	301	5	and	and	CCONJ
alkej-747	301	6	m.	m.	NOUN
alkej-747	301	7	a.	a.	NOUN
alkej-747	301	8	akbar	akbar	NOUN
alkej-747	301	9	,	,	PUNCT
alkej-747	301	10	“	"	PUNCT
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alkej-747	301	12	of	of	ADP
alkej-747	301	13	fuzzy	fuzzy	ADJ
alkej-747	301	14	logic	logic	NOUN
alkej-747	301	15	control	control	NOUN
alkej-747	301	16	for	for	ADP
alkej-747	301	17	dc	dc	PROPN
alkej-747	301	18	servo	servo	NOUN
alkej-747	301	19	motor	motor	NOUN
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alkej-747	301	21	arduino	arduino	NOUN
alkej-747	301	22	based	base	VERB
alkej-747	301	23	on	on	ADP
alkej-747	301	24	matlab	matlab	PROPN
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alkej-747	301	28	”	"	PUNCT
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alkej-747	301	30	.	.	PUNCT
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alkej-747	302	2	int	int	NOUN
alkej-747	302	3	.	.	PUNCT
alkej-747	302	4	conf	conf	PROPN
alkej-747	302	5	.	.	PUNCT
alkej-747	303	1	intell	intell	PROPN
alkej-747	303	2	.	.	PUNCT
alkej-747	304	1	auton	auton	PROPN
alkej-747	304	2	.	.	PUNCT
alkej-747	305	1	agents	agent	NOUN
alkej-747	305	2	,	,	PUNCT
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alkej-747	305	4	syst	syst	PROPN
alkej-747	305	5	.	.	PUNCT
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alkej-747	306	2	.	.	PROPN
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alkej-747	306	4	,	,	PUNCT
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alkej-747	307	2	,	,	PUNCT
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alkej-747	307	4	,	,	PUNCT
alkej-747	307	5	doi	doi	NOUN
alkej-747	307	6	:	:	PUNCT
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alkej-747	307	10	.	.	PUNCT
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alkej-747	308	2	24	24	NUM
alkej-747	308	3	]	]	PUNCT
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alkej-747	308	5	,	,	PUNCT
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alkej-747	308	10	.	.	PUNCT
alkej-747	309	1	“	"	PUNCT
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alkej-747	309	7	for	for	ADP
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alkej-747	309	11	.	.	PUNCT
alkej-747	310	1	m.sc	m.sc	PROPN
alkej-747	310	2	.	.	PUNCT
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alkej-747	311	10	.	.	PUNCT
alkej-747	312	1	italy	italy	PROPN
alkej-747	312	2	.	.	PUNCT
alkej-747	313	1	[	[	X
alkej-747	313	2	25	25	NUM
alkej-747	313	3	]	]	PUNCT
alkej-747	313	4	a.	a.	PROPN
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alkej-747	313	8	k.	k.	PROPN
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alkej-747	314	1	j.	j.	PROPN
alkej-747	314	2	,	,	PUNCT
alkej-747	314	3	vol	vol	NOUN
alkej-747	314	4	.	.	PROPN
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alkej-747	314	6	,	,	PUNCT
alkej-747	314	7	no	no	INTJ
alkej-747	314	8	.	.	NOUN
alkej-747	314	9	1	1	NUM
alkej-747	314	10	,	,	PUNCT
alkej-747	314	11	pp	pp	ADJ
alkej-747	314	12	.	.	PUNCT
alkej-747	314	13	10–22	10–22	NUM
alkej-747	314	14	,	,	PUNCT
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alkej-747	314	16	,	,	PUNCT
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alkej-747	314	22	.	.	PUNCT
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alkej-747	315	2	26	26	NUM
alkej-747	315	3	]	]	X
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alkej-747	315	11	,	,	PUNCT
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alkej-747	315	14	2017	2017	NUM
alkej-747	315	15	)	)	PUNCT
alkej-747	315	16	.	.	PUNCT
alkej-747	316	1	“	"	PUNCT
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alkej-747	316	5	dc	dc	PROPN
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alkej-747	316	7	motor	motor	NOUN
alkej-747	316	8	using	use	VERB
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alkej-747	316	11	”	"	PUNCT
alkej-747	316	12	.	.	PUNCT
alkej-747	317	1	ieee.international	ieee.international	ADJ
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alkej-747	317	3	on	on	ADP
alkej-747	317	4	information	information	NOUN
alkej-747	317	5	,	,	PUNCT
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alkej-747	317	7	,	,	PUNCT
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alkej-747	317	10	control	control	NOUN
alkej-747	317	11	(	(	PUNCT
alkej-747	317	12	icicic).doi:10.1109	icicic).doi:10.1109	PROPN
alkej-747	317	13	/	/	SYM
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alkej-747	317	16	.	.	PUNCT
alkej-747	318	1	�	�	PROPN
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alkej-747	318	10	(	(	PUNCT
alkej-747	318	11	2944	2944	NUM
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alkej-747	319	1	�	�	PROPN
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alkej-747	319	4	3ا	3ا	NUM
alkej-747	319	5	�	�	PROPN
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alkej-747	319	16	ا	ا	SYM
alkej-747	319	17	�	�	PROPN
alkej-747	319	18	�	�	PROPN
alkej-747	319	19	�	�	PROPN
alkej-747	319	20	�	�	PROPN
alkej-747	319	21	�	�	PROPN
alkej-747	319	22	�	�	PROPN
alkej-747	319	23	�	�	PROPN
alkej-747	319	24	ا	ا	SYM
alkej-747	319	25	�	�	PROPN
alkej-747	319	26	�	�	PROPN
alkej-747	319	27	�	�	PROPN
alkej-747	319	28	ارز	ارز	PROPN
alkej-747	319	29	�	�	PROPN
alkej-747	319	30	�	�	PROPN
alkej-747	319	31	�	�	PROPN
alkej-747	319	32	�	�	PROPN
alkej-747	319	33	�	�	PROPN
alkej-747	319	34	�	�	PROPN
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alkej-747	319	36	�	�	PROPN
alkej-747	319	37	ى	ى	PROPN
alkej-747	319	38	44	44	NUM
alkej-747	319	39	�	�	PROPN
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alkej-747	319	41	(	(	PUNCT
alkej-747	319	42	�	�	PROPN
alkej-747	319	43	ذا	ذا	PROPN
alkej-747	319	44	�	�	PROPN
alkej-747	319	45	�	�	PROPN
alkej-747	319	46	�	�	PROPN
alkej-747	319	47	ا	ا	SYM
alkej-747	319	48	�	�	PROPN
alkej-747	319	49	%	%	NOUN
alkej-747	319	50	�	�	PROPN
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alkej-747	319	53	&	&	CCONJ
alkej-747	319	54	�	�	PROPN
alkej-747	319	55	�	�	PROPN
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alkej-747	319	57	ا	ا	PROPN
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alkej-747	319	68	ة	ة	PROPN
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alkej-747	319	72	�	�	PROPN
alkej-747	319	73	�	�	PROPN
alkej-747	319	74	�	�	PROPN
alkej-747	319	75	�	�	PROPN
alkej-747	319	76	*	*	PROPN
alkej-747	319	77	*	*	PROPN
alkej-747	319	78	�	�	PROPN
alkej-747	319	79	ھ	ھ	ADP
alkej-747	319	80	�	�	PROPN
alkej-747	319	81	+	+	PROPN
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alkej-747	319	83	�	�	PROPN
alkej-747	319	84	&	&	CCONJ
alkej-747	319	85	�	�	PROPN
alkej-747	319	86	�	�	PROPN
alkej-747	319	87	�	�	PROPN
alkej-747	319	88	م	م	PROPN
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alkej-747	320	4	,	,	PUNCT
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alkej-747	320	9	#	#	ADJ
alkej-747	320	10	"	"	PUNCT
alkej-747	320	11	!	!	PUNCT
alkej-747	320	12	�	�	PROPN
alkej-747	320	13	�	�	PROPN
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alkej-747	320	17	-	-	PUNCT
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alkej-747	320	20	:	:	PUNCT
alkej-747	320	21	ا#=	ا#=	PROPN
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alkej-747	320	29	و	و	PRON
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alkej-747	320	42	�	�	PROPN
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alkej-747	320	44	-	-	PUNCT
alkej-747	320	45	�	�	PROPN
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alkej-747	320	50	ا#=	ا#=	PROPN
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alkej-747	320	52	>	>	NOUN
alkej-747	320	53	'	'	PUNCT
alkej-747	320	54	ا;#	ا;#	NOUN
alkej-747	320	55	�	�	NOUN
alkej-747	320	56	:	:	PUNCT
alkej-747	320	57	�	�	PROPN
alkej-747	320	58	و	و	PRON
alkej-747	320	59	ا	ا	PROPN
alkej-747	320	60	�	�	PROPN
alkej-747	320	61	�	�	PROPN
alkej-747	320	62	0	0	NUM
alkej-747	320	63	!	!	PUNCT
alkej-747	320	64	�	�	PROPN
alkej-747	320	65	�	�	PROPN
alkej-747	320	66	ا#"	ا#"	PROPN
alkej-747	320	67	�	�	PROPN
alkej-747	320	68	hً1!i	hً1!i	PROPN
alkej-747	320	69	d!ji	d!ji	X
alkej-747	320	70	;	;	PUNCT
alkej-747	320	71	&	&	CCONJ
alkej-747	320	72	:	:	PUNCT
alkej-747	320	73	2'ا.e	2'ا.e	NUM
alkej-747	320	74	fاd	fاd	NOUN
alkej-747	320	75	.	.	PUNCT
alkej-747	320	76	'	'	PUNCT
alkej-747	321	1	<	<	X
alkej-747	321	2	'	'	NUM
alkej-747	321	3	8	8	NUM
alkej-747	321	4	#	#	NOUN
alkej-747	321	5	ا#:?=!c	ا#:?=!c	NOUN
alkej-747	321	6	ت	ت	PRON
alkej-747	321	7	.a@	.a@	PUNCT
alkej-747	322	1	ا#?!	ا#?!	PROPN
alkej-747	322	2	�	�	PROPN
alkej-747	322	3	ان	ان	PROPN
alkej-747	322	4	وا#a4أ	وا#a4أ	PROPN
alkej-747	322	5	d.	d.	PROPN
alkej-747	322	6	ة'mوا	ة'mوا	PROPN
alkej-747	322	7	�	�	PROPN
alkej-747	322	8	اn#ا#:1ازن	اn#ا#:1ازن	NOUN
alkej-747	322	9	ا	ا	X
alkej-747	322	10	%	%	INTJ
alkej-747	322	11	o	o	NOUN
alkej-747	322	12	(	(	PUNCT
alkej-747	322	13	.	.	PUNCT
alkej-747	323	1	pj	pj	PROPN
alkej-747	323	2	=	=	NUM
alkej-747	323	3	qة	qة	PROPN
alkej-747	323	4	،	،	PROPN
alkej-747	323	5	أ	أ	PROPN
alkej-747	323	6	�	�	PROPN
alkej-747	323	7	!rsا#+)1ات	!rsا#+)1ات	PUNCT
alkej-747	323	8	ا	ا	PROPN
alkej-747	324	1	-e	-e	NUM
alkej-747	324	2	ت	ت	PROPN
alkej-747	324	3	;	;	PUNCT
alkej-747	324	4	t	t	PROPN
alkej-747	324	5	"	"	PUNCT
alkej-747	324	6	.v#ذ	.v#ذ	PROPN
alkej-747	325	1	x#و	x#و	PROPN
alkej-747	325	2	.	.	PUNCT
alkej-747	326	1	إ	إ	X
alkej-747	326	2	%	%	INTJ
alkej-747	326	3	h	h	PROPN
alkej-747	326	4	(	(	PUNCT
alkej-747	326	5	o#1>%	o#1>%	ADV
alkej-747	326	6	وا!j#ا#?=!%	وا!j#ا#?=!%	PROPN
alkej-747	327	1	ا	ا	PROPN
alkej-747	327	2	zj=#ا	zj=#ا	NOUN
alkej-747	327	3	اnھ	اnھ	NOUN
alkej-747	327	4	-e	-e	NOUN
alkej-747	327	5	-	-	PUNCT
alkej-747	327	6	e	e	NOUN
alkej-747	327	7	%	%	NOUN
alkej-747	327	8	!	!	PUNCT
alkej-747	327	9	�	�	NOUN
alkej-747	328	1	اn#1	اn#1	PROPN
alkej-747	328	2	,	,	PUNCT
alkej-747	328	3	]	]	PUNCT
alkej-747	328	4	ا#:+1>%	ا#:+1>%	PUNCT
alkej-747	328	5	ا	ا	X
alkej-747	328	6	.	.	PUNCT
alkej-747	329	1	*	*	PUNCT
alkej-747	329	2	<	<	X
alkej-747	329	3	'	'	X
alkej-747	329	4	c	c	ADJ
alkej-747	329	5	�	�	PROPN
alkej-747	329	6	*	*	PUNCT
alkej-747	329	7	�	�	PROPN
alkej-747	329	8	1رj"#ا	1رj"#ا	NUM
alkej-747	329	9	)	)	PUNCT
alkej-747	329	10	x	x	PUNCT
alkej-747	330	1	1رj"#أو	1رj"#أو	NUM
alkej-747	330	2	ا	ا	PROPN
alkej-747	330	3	y	y	PROPN
alkej-747	330	4	�	�	PROPN
alkej-747	330	5	(	(	PUNCT
alkej-747	330	6	d<1رj"#اب	d<1رj"#اب	PROPN
alkej-747	330	7	أو	أو	ADP
alkej-747	330	8	4^	4^	PROPN
alkej-747	330	9	ا	ا	SYM
alkej-747	330	10	�	�	PROPN
alkej-747	330	11	�	�	PROPN
alkej-747	330	12	ا`?!ab	ا`?!ab	PROPN
alkej-747	330	13	�	�	PROPN
alkej-747	330	14	pj	pj	PROPN
alkej-747	330	15	.simulink	.simulink	PUNCT
alkej-747	331	1	-e	-e	NUM
alkej-747	331	2	و	و	PROPN
alkej-747	331	3	simscapeو	simscapeو	PROPN
alkej-747	331	4	solidworks	solidworks	PROPN
alkej-747	331	5	ا#?	ا#?	PROPN
alkej-747	331	6	�	�	PROPN
alkej-747	331	7	>j	>j	PROPN
alkej-747	331	8	"	"	PUNCT
alkej-747	331	9	#	#	NOUN
alkej-747	331	10	.g	.g	NOUN
alkej-747	331	11	4	4	NUM
alkej-747	331	12	ة	ة	NOUN
alkej-747	331	13	أداء	أداء	NOUN
alkej-747	331	14	ا#)f	ا#)f	PROPN
alkej-747	331	15	م	م	PROPN
alkej-747	331	16	اs	اs	PROPN
alkej-747	331	17	&	&	CCONJ
alkej-747	331	18	&	&	CCONJ
alkej-747	331	19	ا#":1ازن	ا#":1ازن	NOUN
alkej-747	331	20	ذا	ذا	PROPN
alkej-747	331	21	�	�	PROPN
alkej-747	331	22	!ً	!ً	PROPN
alkej-747	331	23	أa	أa	PROPN
alkej-747	331	24	)	)	PUNCT
alkej-747	331	25	ء	ء	NOUN
alkej-747	332	1	اd	اd	PROPN
alkej-747	332	2	.	.	PROPN
alkej-747	332	3	#	#	SYM
alkej-747	332	4	%	%	NOUN
alkej-747	332	5	،	،	X
alkej-747	332	6	�	�	PROPN
alkej-747	332	7	*	*	PROPN
alkej-747	332	8	ا&:2'ام	ا&:2'ام	PROPN
alkej-747	332	9	�	�	PROPN
alkej-747	332	10	�	�	PROPN
alkej-747	332	11	.@	.@	PROPN
alkej-747	333	1	d!7	d!7	PROPN
alkej-747	333	2	أدوات	أدوات	NOUN
alkej-747	333	3	matlab	matlab	PROPN
alkej-747	333	4	-e	-e	PROPN
alkej-747	333	5	-	-	PUNCT
alkej-747	333	6	&	&	CCONJ
alkej-747	333	7	&	&	CCONJ
alkej-747	333	8	sم	sم	PROPN
alkej-747	333	9	ا	ا	PROPN
alkej-747	333	10	f(3	f(3	PROPN
alkej-747	333	11	#	#	NOUN
alkej-747	333	12	-	-	PUNCT
alkej-747	333	13	�	�	PROPN
alkej-747	333	14	!	!	PUNCT
alkej-747	333	15	.	.	PUNCT
alkej-747	334	1	(	(	PUNCT
alkej-747	334	2	<	<	X
alkej-747	334	3	'	'	X
alkej-747	334	4	#	#	SYM
alkej-747	334	5	ر	ر	NOUN
alkej-747	334	6	&	&	CCONJ
alkej-747	334	7	*	*	NOUN
alkej-747	334	8	ا#)"1ذج	ا#)"1ذج	NOUN
alkej-747	334	9	ا	ا	PROPN
alkej-747	334	10	*	*	VERB
alkej-747	334	11	�	�	PROPN
alkej-747	334	12	solidworks	solidworks	PROPN
alkej-747	334	13	[	[	X
alkej-747	334	14	3"4	3"4	NUM
alkej-747	334	15	ه	ه	NOUN
alkej-747	334	16	�	�	PROPN
alkej-747	334	17	<'o	<'o	NOUN
alkej-747	334	18	�	�	PROPN
alkej-747	334	19	*	*	PUNCT
alkej-747	334	20	�	�	PROPN
alkej-747	334	21	و	و	PRON
alkej-747	334	22	step	step	NOUN
alkej-747	334	23	%	%	NOUN
alkej-747	334	24	j!7	j!7	CCONJ
alkej-747	334	25	-e	-e	PROPN
alkej-747	334	26	2'م:+	2'م:+	PROPN
alkej-747	334	27	..	..	PUNCT
alkej-747	334	28	simscape	simscape	NOUN
alkej-747	334	29	multibody	multibody	NOUN
alkej-747	334	30	*	*	PUNCT
alkej-747	334	31	:	:	PUNCT
alkej-747	334	32	<	<	X
alkej-747	334	33	pj3	pj3	NOUN
alkej-747	334	34	#	#	NOUN
alkej-747	334	35	ظ	ظ	PART
alkej-747	334	36	x3h	x3h	NOUN
alkej-747	334	37	.+:1ى	.+:1ى	PUNCT
alkej-747	334	38	ا#")o%	ا#")o%	PROPN
alkej-747	334	39	و	و	PRON
alkej-747	334	40	�	�	PROPN
alkej-747	334	41	m<18	m<18	VERB
alkej-747	334	42	أي	أي	VERB
alkej-747	334	43	ا`?	ا`?	PROPN
alkej-747	334	44	�	�	NOUN
alkej-747	334	45	ا7	ا7	PROPN
alkej-747	334	46	ت	ت	ADP
alkej-747	334	47	x3h	x3h	PROPN
alkej-747	334	48	ا#?	ا#?	NUM
alkej-747	334	49	�	�	PROPN
alkej-747	334	50	>g	>g	PROPN
alkej-747	334	51	.	.	PUNCT
alkej-747	335	1	�	�	PROPN
alkej-747	335	2	*	*	SYM
alkej-747	335	3	(	(	PUNCT
alkej-747	335	4	pid	pid	NOUN
alkej-747	335	5	)	)	PUNCT
alkej-747	335	6	ا#:e	ا#:e	PROPN
alkej-747	335	7	*	*	SYM
alkej-747	335	8	�	�	PROPN
alkej-747	336	1	jا#)f	jا#)f	PROPN
alkej-747	336	2	م	م	PROPN
alkej-747	336	3	7	7	NUM
alkej-747	336	4	&	&	CCONJ
alkej-747	336	5	:	:	PUNCT
alkej-747	336	6	2'ام	2'ام	NUM
alkej-747	336	7	وm'ة	وm'ة	ADJ
alkej-747	336	8	ا#:e	ا#:e	PROPN
alkej-747	336	9	*	*	PROPN
alkej-747	336	10	�	�	PROPN
alkej-747	336	11	jا#"c	jا#"c	NOUN
alkej-747	336	12	:	:	PUNCT
alkej-747	336	13	k	k	PROPN
alkej-747	336	14	ت	ت	PROPN
alkej-747	336	15	ا#)+=!%	ا#)+=!%	VERB
alkej-747	336	16	ا	ا	PUNCT
alkej-747	336	17	#	#	NOUN
alkej-747	336	18	"	"	PUNCT
alkej-747	336	19	:	:	PUNCT
alkej-747	336	20	�	�	PROPN
alkej-747	336	21	.%3	.%3	NOUN
alkej-747	336	22	ا#'وران	ا#'وران	PROPN
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alkej-747	336	24	#	#	SYM
alkej-747	336	25	8e	8e	NOUN
alkej-747	336	26	qjp	qjp	VERB
alkej-747	336	27	#	#	SYM
alkej-747	336	28	!	!	PUNCT
alkej-747	336	29	%	%	NOUN
alkej-747	337	1	وm'ة	وm'ة	PROPN
alkej-747	337	2	�	�	PROPN
alkej-747	337	3	o	o	NOUN
alkej-747	337	4	"	"	PUNCT
alkej-747	337	5	!	!	PUNCT
alkej-747	338	1	*	*	PUNCT
alkej-747	338	2	اd	اd	PROPN
alkej-747	338	3	.	.	PUNCT
alkej-747	338	4	'	'	PUNCT
alkej-747	339	1	<	<	X
alkej-747	339	2	'	'	NUM
alkej-747	339	3	8	8	NUM
alkej-747	339	4	#	#	NOUN
alkej-747	339	5	&	&	CCONJ
alkej-747	339	6	!	!	PUNCT
alkej-747	339	7	)	)	PUNCT
alkej-747	340	1	ر>1ھ	ر>1ھ	PROPN
alkej-747	340	2	ت	ت	ADP
alkej-747	340	3	ا`?	ا`?	NOUN
alkej-747	340	4	�	�	NOUN
alkej-747	340	5	ا7	ا7	PROPN
alkej-747	340	6	ت	ت	PROPN
alkej-747	340	7	ا#?	ا#?	PROPN
alkej-747	340	8	�	�	PROPN
alkej-747	340	9	>e	>e	PROPN
alkej-747	340	10	gا#"1jر	gا#"1jر	NOUN
alkej-747	341	1	ا#+!)أو	ا#+!)أو	NOUN
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alkej-747	341	3	ا#o	ا#o	PROPN
alkej-747	341	4	دي	دي	NOUN
alkej-747	341	5	أو	أو	ADP
alkej-747	341	6	4^	4^	PROPN
alkej-747	341	7	ا#"1jر	ا#"1jر	NOUN
alkej-747	341	8	>	>	X
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alkej-747	341	10	(	(	PUNCT
alkej-747	341	11	زوا	زوا	PROPN
alkej-747	341	12	>	>	X
alkej-747	341	13	ا;	ا;	PROPN
alkej-747	341	14	�	�	PROPN
alkej-747	341	15	j'ار	j'ار	PROPN
alkej-747	341	16	و	و	PRON
alkej-747	341	17	�	�	PROPN
alkej-747	341	18	:	:	PUNCT
alkej-747	341	19	rs	rs	X
alkej-747	341	20	ا#"j	ا#"j	PROPN
alkej-747	341	21	4	4	NUM
alkej-747	341	22	ة	ة	PRON
alkej-747	341	23	إ#x	إ#x	PROPN
alkej-747	341	24	أن	أن	ADP
alkej-747	341	25	ا#")o%	ا#")o%	PROPN
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alkej-747	341	27	ا#:+	ا#:+	PROPN
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alkej-747	342	14	!	!	PUNCT
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alkej-747	343	5	در9	در9	NOUN
alkej-747	343	6	%	%	NOUN
alkej-747	343	7	١٠(1>%	١٠(1>%	NOUN
alkej-747	343	8	اx3h	اx3h	X
alkej-747	343	9	(	(	PUNCT
alkej-747	343	10	دي	دي	ADP
alkej-747	343	11	o#1ر	o#1ر	PROPN
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alkej-747	343	14	d.	d.	PROPN
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alkej-747	344	4	%	%	INTJ
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alkej-747	344	6	�	�	PROPN
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alkej-747	345	3	.	.	PUNCT
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alkej-747	346	4	�	�	PROPN
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alkej-747	346	7	%	%	INTJ
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alkej-747	346	24	'	'	PUNCT
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alkej-747	346	26	x	x	SYM
alkej-747	346	27	�	�	NOUN
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alkej-747	347	4	+	+	CCONJ
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alkej-747	348	1	%	%	NOUN
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alkej-747	349	5	ا#:we	ا#:we	NOUN
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alkej-747	350	1	x3h	x3h	PROPN
alkej-747	350	2	%	%	NOUN
alkej-747	350	3	!	!	PUNCT
alkej-747	351	1	3!6kن	3!6kن	NUM
alkej-747	351	2	y!+=#ا	y!+=#ا	PROPN
alkej-747	351	3	z"!"o	z"!"o	PROPN
alkej-747	351	4	�	�	PROPN
alkej-747	351	5	d.	d.	PROPN
alkej-747	351	6	*	*	PROPN
alkej-747	351	7	{	{	PUNCT
alkej-747	351	8	�	�	PROPN
alkej-747	351	9	.ا	.ا	NOUN
alkej-747	351	10	#	#	NOUN