id	sid	tid	token	lemma	pos
alkej-814	1	1	this	this	PRON
alkej-814	1	2	is	be	AUX
alkej-814	1	3	an	an	DET
alkej-814	1	4	open	open	ADJ
alkej-814	1	5	access	access	NOUN
alkej-814	1	6	article	article	NOUN
alkej-814	1	7	under	under	ADP
alkej-814	1	8	the	the	DET
alkej-814	1	9	cc	cc	NOUN
alkej-814	1	10	by	by	ADP
alkej-814	1	11	license	license	NOUN
alkej-814	1	12	:	:	PUNCT
alkej-814	1	13	comparative	comparative	ADJ
alkej-814	1	14	transfer	transfer	NOUN
alkej-814	1	15	learning	learning	NOUN
alkej-814	1	16	models	model	NOUN
alkej-814	1	17	for	for	ADP
alkej-814	1	18	end	end	NOUN
alkej-814	1	19	-	-	PUNCT
alkej-814	1	20	to	to	ADP
alkej-814	1	21	-	-	PUNCT
alkej-814	1	22	end	end	NOUN
alkej-814	1	23	self	self	NOUN
alkej-814	1	24	-	-	PUNCT
alkej-814	1	25	driving	drive	VERB
alkej-814	1	26	car	car	NOUN
alkej-814	1	27	yahya	yahya	NOUN
alkej-814	1	28	ghufran	ghufran	VERB
alkej-814	1	29	khidhir	khidhir	NOUN
alkej-814	1	30	*	*	PROPN
alkej-814	1	31	ameer	ameer	PROPN
alkej-814	1	32	hussein	hussein	PROPN
alkej-814	1	33	morad	morad	PROPN
alkej-814	1	34	*	*	PROPN
alkej-814	1	35	*	*	PUNCT
alkej-814	1	36	*	*	PUNCT
alkej-814	1	37	department	department	NOUN
alkej-814	1	38	of	of	ADP
alkej-814	1	39	mechatronics	mechatronic	NOUN
alkej-814	1	40	engineering/	engineering/	NUM
alkej-814	1	41	al	al	PROPN
alkej-814	1	42	-	-	PUNCT
alkej-814	1	43	khwarizmi	khwarizmi	PROPN
alkej-814	1	44	college	college	PROPN
alkej-814	1	45	of	of	ADP
alkej-814	1	46	engineering/	engineering/	NUM
alkej-814	1	47	university	university	NOUN
alkej-814	1	48	of	of	ADP
alkej-814	1	49	baghdad	baghdad	PROPN
alkej-814	1	50	*	*	PUNCT
alkej-814	1	51	*	*	PROPN
alkej-814	1	52	department	department	PROPN
alkej-814	1	53	of	of	ADP
alkej-814	1	54	information	information	NOUN
alkej-814	1	55	and	and	CCONJ
alkej-814	1	56	communication	communication	NOUN
alkej-814	1	57	engineering	engineering	NOUN
alkej-814	1	58	/	/	SYM
alkej-814	1	59	al	al	PROPN
alkej-814	1	60	-	-	PUNCT
alkej-814	1	61	khwarizmi	khwarizmi	PROPN
alkej-814	1	62	college	college	PROPN
alkej-814	1	63	of	of	ADP
alkej-814	1	64	engineering/	engineering/	NUM
alkej-814	1	65	university	university	NOUN
alkej-814	1	66	of	of	ADP
alkej-814	1	67	baghdad	baghdad	PROPN
alkej-814	1	68	*	*	PUNCT
alkej-814	1	69	email	email	NOUN
alkej-814	1	70	:	:	PUNCT
alkej-814	1	71	yahia.ghofran1202a@kecbu.uobaghdad.edu.iq	yahia.ghofran1202a@kecbu.uobaghdad.edu.iq	NOUN
alkej-814	1	72	*	*	PUNCT
alkej-814	1	73	*	*	NOUN
alkej-814	1	74	email	email	NOUN
alkej-814	1	75	:	:	PUNCT
alkej-814	1	76	ameer@kecbu.uobaghdad.edu.iq	ameer@kecbu.uobaghdad.edu.iq	PROPN
alkej-814	1	77	(	(	PUNCT
alkej-814	1	78	september	september	PROPN
alkej-814	1	79	2022	2022	NUM
alkej-814	1	80	19	19	NUM
alkej-814	1	81	2022	2022	NUM
alkej-814	1	82	;	;	PUNCT
alkej-814	1	83	accepted	accept	VERB
alkej-814	1	84	august	august	PROPN
alkej-814	1	85	1received	1received	NUM
alkej-814	1	86	)	)	PUNCT
alkej-814	1	87	https://doi.org/10.22153/kej.2022.09.003	https://doi.org/10.22153/kej.2022.09.003	VERB
alkej-814	1	88	abstract	abstract	ADJ
alkej-814	1	89	self	self	NOUN
alkej-814	1	90	-	-	PUNCT
alkej-814	1	91	driving	drive	VERB
alkej-814	1	92	automobiles	automobile	NOUN
alkej-814	1	93	are	be	AUX
alkej-814	1	94	prominent	prominent	ADJ
alkej-814	1	95	in	in	ADP
alkej-814	1	96	science	science	NOUN
alkej-814	1	97	and	and	CCONJ
alkej-814	1	98	technology	technology	NOUN
alkej-814	1	99	,	,	PUNCT
alkej-814	1	100	which	which	PRON
alkej-814	1	101	affect	affect	VERB
alkej-814	1	102	social	social	ADJ
alkej-814	1	103	and	and	CCONJ
alkej-814	1	104	economic	economic	ADJ
alkej-814	1	105	development	development	NOUN
alkej-814	1	106	.	.	PUNCT
alkej-814	2	1	deep	deep	ADJ
alkej-814	2	2	learning	learning	NOUN
alkej-814	2	3	(	(	PUNCT
alkej-814	2	4	dl	dl	INTJ
alkej-814	2	5	)	)	PUNCT
alkej-814	2	6	is	be	AUX
alkej-814	2	7	the	the	DET
alkej-814	2	8	most	most	ADV
alkej-814	2	9	common	common	ADJ
alkej-814	2	10	area	area	NOUN
alkej-814	2	11	of	of	ADP
alkej-814	2	12	study	study	NOUN
alkej-814	2	13	in	in	ADP
alkej-814	2	14	artificial	artificial	ADJ
alkej-814	2	15	intelligence	intelligence	NOUN
alkej-814	2	16	(	(	PUNCT
alkej-814	2	17	ai	ai	NOUN
alkej-814	2	18	)	)	PUNCT
alkej-814	2	19	.	.	PUNCT
alkej-814	3	1	in	in	ADP
alkej-814	3	2	recent	recent	ADJ
alkej-814	3	3	years	year	NOUN
alkej-814	3	4	,	,	PUNCT
alkej-814	3	5	deep	deep	ADJ
alkej-814	3	6	learning	learning	NOUN
alkej-814	3	7	-	-	PUNCT
alkej-814	3	8	based	base	VERB
alkej-814	3	9	solutions	solution	NOUN
alkej-814	3	10	have	have	AUX
alkej-814	3	11	been	be	AUX
alkej-814	3	12	presented	present	VERB
alkej-814	3	13	in	in	ADP
alkej-814	3	14	the	the	DET
alkej-814	3	15	field	field	NOUN
alkej-814	3	16	of	of	ADP
alkej-814	3	17	self	self	NOUN
alkej-814	3	18	-	-	PUNCT
alkej-814	3	19	driving	drive	VERB
alkej-814	3	20	cars	car	NOUN
alkej-814	3	21	and	and	CCONJ
alkej-814	3	22	have	have	AUX
alkej-814	3	23	achieved	achieve	VERB
alkej-814	3	24	outstanding	outstanding	ADJ
alkej-814	3	25	results	result	NOUN
alkej-814	3	26	.	.	PUNCT
alkej-814	4	1	different	different	ADJ
alkej-814	4	2	studies	study	NOUN
alkej-814	4	3	investigated	investigate	VERB
alkej-814	4	4	a	a	DET
alkej-814	4	5	variety	variety	NOUN
alkej-814	4	6	of	of	ADP
alkej-814	4	7	significant	significant	ADJ
alkej-814	4	8	technologies	technology	NOUN
alkej-814	4	9	for	for	ADP
alkej-814	4	10	autonomous	autonomous	ADJ
alkej-814	4	11	vehicles	vehicle	NOUN
alkej-814	4	12	,	,	PUNCT
alkej-814	4	13	including	include	VERB
alkej-814	4	14	car	car	NOUN
alkej-814	4	15	navigation	navigation	NOUN
alkej-814	4	16	systems	system	NOUN
alkej-814	4	17	,	,	PUNCT
alkej-814	4	18	path	path	NOUN
alkej-814	4	19	planning	planning	NOUN
alkej-814	4	20	,	,	PUNCT
alkej-814	4	21	environmental	environmental	ADJ
alkej-814	4	22	perception	perception	NOUN
alkej-814	4	23	,	,	PUNCT
alkej-814	4	24	as	as	ADV
alkej-814	4	25	well	well	ADV
alkej-814	4	26	as	as	ADP
alkej-814	4	27	car	car	NOUN
alkej-814	4	28	control	control	NOUN
alkej-814	4	29	.	.	PUNCT
alkej-814	5	1	end	end	NOUN
alkej-814	5	2	-	-	PUNCT
alkej-814	5	3	to	to	ADP
alkej-814	5	4	-	-	PUNCT
alkej-814	5	5	end	end	NOUN
alkej-814	5	6	learning	learn	VERB
alkej-814	5	7	control	control	NOUN
alkej-814	5	8	directly	directly	ADV
alkej-814	5	9	converts	convert	VERB
alkej-814	5	10	sensory	sensory	ADJ
alkej-814	5	11	data	datum	NOUN
alkej-814	5	12	into	into	ADP
alkej-814	5	13	control	control	NOUN
alkej-814	5	14	commands	command	NOUN
alkej-814	5	15	in	in	ADP
alkej-814	5	16	autonomous	autonomous	ADJ
alkej-814	5	17	driving	driving	NOUN
alkej-814	5	18	.	.	PUNCT
alkej-814	6	1	this	this	DET
alkej-814	6	2	research	research	NOUN
alkej-814	6	3	aims	aim	VERB
alkej-814	6	4	to	to	PART
alkej-814	6	5	identify	identify	VERB
alkej-814	6	6	the	the	DET
alkej-814	6	7	most	most	ADV
alkej-814	6	8	accurate	accurate	ADJ
alkej-814	6	9	pre	pre	ADJ
alkej-814	6	10	-	-	ADJ
alkej-814	6	11	trained	train	VERB
alkej-814	6	12	deep	deep	ADJ
alkej-814	6	13	neural	neural	ADJ
alkej-814	6	14	network	network	NOUN
alkej-814	6	15	(	(	PUNCT
alkej-814	6	16	dnn	dnn	PROPN
alkej-814	6	17	)	)	PUNCT
alkej-814	6	18	for	for	ADP
alkej-814	6	19	predicting	predict	VERB
alkej-814	6	20	the	the	DET
alkej-814	6	21	steering	steering	NOUN
alkej-814	6	22	angle	angle	NOUN
alkej-814	6	23	of	of	ADP
alkej-814	6	24	a	a	DET
alkej-814	6	25	self	self	NOUN
alkej-814	6	26	-	-	PUNCT
alkej-814	6	27	driving	drive	VERB
alkej-814	6	28	vehicle	vehicle	NOUN
alkej-814	6	29	that	that	PRON
alkej-814	6	30	is	be	AUX
alkej-814	6	31	suitable	suitable	ADJ
alkej-814	6	32	to	to	PART
alkej-814	6	33	be	be	AUX
alkej-814	6	34	applied	apply	VERB
alkej-814	6	35	to	to	ADP
alkej-814	6	36	embedded	embed	VERB
alkej-814	6	37	automotive	automotive	ADJ
alkej-814	6	38	technologies	technology	NOUN
alkej-814	6	39	with	with	ADP
alkej-814	6	40	limited	limited	ADJ
alkej-814	6	41	performance	performance	NOUN
alkej-814	6	42	.	.	PUNCT
alkej-814	7	1	three	three	NUM
alkej-814	7	2	well	well	ADV
alkej-814	7	3	-	-	PUNCT
alkej-814	7	4	known	know	VERB
alkej-814	7	5	pre	pre	ADJ
alkej-814	7	6	-	-	ADJ
alkej-814	7	7	trained	train	VERB
alkej-814	7	8	models	model	NOUN
alkej-814	7	9	were	be	AUX
alkej-814	7	10	compared	compare	VERB
alkej-814	7	11	in	in	ADP
alkej-814	7	12	this	this	DET
alkej-814	7	13	study	study	NOUN
alkej-814	7	14	:	:	PUNCT
alkej-814	7	15	alexnet	alexnet	ADJ
alkej-814	7	16	,	,	PUNCT
alkej-814	7	17	resnet18	resnet18	NOUN
alkej-814	7	18	,	,	PUNCT
alkej-814	7	19	and	and	CCONJ
alkej-814	7	20	densenet121	densenet121	PROPN
alkej-814	7	21	.	.	PUNCT
alkej-814	8	1	transfer	transfer	NOUN
alkej-814	8	2	learning	learning	NOUN
alkej-814	8	3	was	be	AUX
alkej-814	8	4	utilized	utilize	VERB
alkej-814	8	5	by	by	ADP
alkej-814	8	6	modifying	modify	VERB
alkej-814	8	7	the	the	DET
alkej-814	8	8	final	final	ADJ
alkej-814	8	9	layer	layer	NOUN
alkej-814	8	10	of	of	ADP
alkej-814	8	11	pre	pre	ADJ
alkej-814	8	12	-	-	ADJ
alkej-814	8	13	trained	train	VERB
alkej-814	8	14	models	model	NOUN
alkej-814	8	15	in	in	ADP
alkej-814	8	16	order	order	NOUN
alkej-814	8	17	to	to	PART
alkej-814	8	18	predict	predict	VERB
alkej-814	8	19	the	the	DET
alkej-814	8	20	steering	steering	NOUN
alkej-814	8	21	angle	angle	NOUN
alkej-814	8	22	of	of	ADP
alkej-814	8	23	the	the	DET
alkej-814	8	24	vehicle	vehicle	NOUN
alkej-814	8	25	.	.	PUNCT
alkej-814	9	1	experiments	experiment	NOUN
alkej-814	9	2	were	be	AUX
alkej-814	9	3	conducted	conduct	VERB
alkej-814	9	4	on	on	ADP
alkej-814	9	5	the	the	DET
alkej-814	9	6	dataset	dataset	NOUN
alkej-814	9	7	collected	collect	VERB
alkej-814	9	8	from	from	ADP
alkej-814	9	9	two	two	NUM
alkej-814	9	10	different	different	ADJ
alkej-814	9	11	tracks	track	NOUN
alkej-814	9	12	.	.	PUNCT
alkej-814	10	1	according	accord	VERB
alkej-814	10	2	to	to	ADP
alkej-814	10	3	the	the	DET
alkej-814	10	4	study	study	NOUN
alkej-814	10	5	's	's	PART
alkej-814	10	6	findings	finding	NOUN
alkej-814	10	7	,	,	PUNCT
alkej-814	10	8	resnet18	resnet18	NOUN
alkej-814	10	9	and	and	CCONJ
alkej-814	10	10	densenet121	densenet121	PROPN
alkej-814	10	11	have	have	VERB
alkej-814	10	12	the	the	DET
alkej-814	10	13	lowest	low	ADJ
alkej-814	10	14	error	error	NOUN
alkej-814	10	15	percentage	percentage	NOUN
alkej-814	10	16	for	for	ADP
alkej-814	10	17	steering	steer	VERB
alkej-814	10	18	angle	angle	NOUN
alkej-814	10	19	values	value	NOUN
alkej-814	10	20	.	.	PUNCT
alkej-814	11	1	furthermore	furthermore	ADV
alkej-814	11	2	,	,	PUNCT
alkej-814	11	3	the	the	DET
alkej-814	11	4	performance	performance	NOUN
alkej-814	11	5	of	of	ADP
alkej-814	11	6	the	the	DET
alkej-814	11	7	modified	modify	VERB
alkej-814	11	8	models	model	NOUN
alkej-814	11	9	was	be	AUX
alkej-814	11	10	evaluated	evaluate	VERB
alkej-814	11	11	on	on	ADP
alkej-814	11	12	predetermined	predetermine	VERB
alkej-814	11	13	tracks	track	NOUN
alkej-814	11	14	.	.	PUNCT
alkej-814	12	1	resnet18	resnet18	NOUN
alkej-814	12	2	outperformed	outperform	VERB
alkej-814	12	3	densenet121	densenet121	PROPN
alkej-814	12	4	in	in	ADP
alkej-814	12	5	terms	term	NOUN
alkej-814	12	6	of	of	ADP
alkej-814	12	7	accuracy	accuracy	NOUN
alkej-814	12	8	,	,	PUNCT
alkej-814	12	9	with	with	ADP
alkej-814	12	10	less	less	ADJ
alkej-814	12	11	deviation	deviation	NOUN
alkej-814	12	12	from	from	ADP
alkej-814	12	13	the	the	DET
alkej-814	12	14	center	center	NOUN
alkej-814	12	15	of	of	ADP
alkej-814	12	16	the	the	DET
alkej-814	12	17	track	track	NOUN
alkej-814	12	18	,	,	PUNCT
alkej-814	12	19	while	while	SCONJ
alkej-814	12	20	densenet121	densenet121	PROPN
alkej-814	12	21	demonstrated	demonstrate	VERB
alkej-814	12	22	greater	great	ADJ
alkej-814	12	23	adaptability	adaptability	NOUN
alkej-814	12	24	across	across	ADP
alkej-814	12	25	multiple	multiple	ADJ
alkej-814	12	26	tracks	track	NOUN
alkej-814	12	27	,	,	PUNCT
alkej-814	12	28	resulting	result	VERB
alkej-814	12	29	in	in	ADP
alkej-814	12	30	better	well	ADJ
alkej-814	12	31	performance	performance	NOUN
alkej-814	12	32	consistency	consistency	NOUN
alkej-814	12	33	.	.	PUNCT
alkej-814	13	1	keywords	keyword	NOUN
alkej-814	13	2	:	:	PUNCT
alkej-814	13	3	autonomous	autonomous	ADJ
alkej-814	13	4	driving	driving	NOUN
alkej-814	13	5	,	,	PUNCT
alkej-814	13	6	deep	deep	ADJ
alkej-814	13	7	learning	learning	NOUN
alkej-814	13	8	,	,	PUNCT
alkej-814	13	9	end	end	NOUN
alkej-814	13	10	-	-	PUNCT
alkej-814	13	11	to	to	ADP
alkej-814	13	12	-	-	PUNCT
alkej-814	13	13	end	end	NOUN
alkej-814	13	14	learning	learning	NOUN
alkej-814	13	15	,	,	PUNCT
alkej-814	13	16	self	self	NOUN
alkej-814	13	17	-	-	PUNCT
alkej-814	13	18	driving	drive	VERB
alkej-814	13	19	car	car	NOUN
alkej-814	13	20	,	,	PUNCT
alkej-814	13	21	embedded	embed	VERB
alkej-814	13	22	system	system	NOUN
alkej-814	13	23	.	.	PUNCT
alkej-814	14	1	1	1	X
alkej-814	14	2	.	.	X
alkej-814	14	3	introduction	introduction	NOUN
alkej-814	14	4	self	self	NOUN
alkej-814	14	5	-	-	PUNCT
alkej-814	14	6	driving	drive	VERB
alkej-814	14	7	cars	car	NOUN
alkej-814	14	8	have	have	AUX
alkej-814	14	9	emerged	emerge	VERB
alkej-814	14	10	as	as	ADP
alkej-814	14	11	one	one	NUM
alkej-814	14	12	of	of	ADP
alkej-814	14	13	the	the	DET
alkej-814	14	14	most	most	ADV
alkej-814	14	15	actively	actively	ADV
alkej-814	14	16	contested	contest	VERB
alkej-814	14	17	and	and	CCONJ
alkej-814	14	18	researched	research	VERB
alkej-814	14	19	topics	topic	NOUN
alkej-814	14	20	in	in	ADP
alkej-814	14	21	recent	recent	ADJ
alkej-814	14	22	years	year	NOUN
alkej-814	14	23	.	.	PUNCT
alkej-814	15	1	despite	despite	SCONJ
alkej-814	15	2	their	their	PRON
alkej-814	15	3	association	association	NOUN
alkej-814	15	4	with	with	ADP
alkej-814	15	5	the	the	DET
alkej-814	15	6	automotive	automotive	ADJ
alkej-814	15	7	industry	industry	NOUN
alkej-814	15	8	,	,	PUNCT
alkej-814	15	9	these	these	DET
alkej-814	15	10	systems	system	NOUN
alkej-814	15	11	belong	belong	VERB
alkej-814	15	12	to	to	ADP
alkej-814	15	13	the	the	DET
alkej-814	15	14	field	field	NOUN
alkej-814	15	15	of	of	ADP
alkej-814	15	16	robotics	robotic	NOUN
alkej-814	15	17	as	as	ADP
alkej-814	15	18	part	part	NOUN
alkej-814	15	19	of	of	ADP
alkej-814	15	20	the	the	DET
alkej-814	15	21	third	third	ADJ
alkej-814	15	22	robotic	robotic	ADJ
alkej-814	15	23	revolution	revolution	NOUN
alkej-814	15	24	.	.	PUNCT
alkej-814	16	1	[	[	X
alkej-814	16	2	1	1	NUM
alkej-814	16	3	]	]	PUNCT
alkej-814	16	4	.	.	PUNCT
alkej-814	17	1	from	from	ADP
alkej-814	17	2	a	a	DET
alkej-814	17	3	philosophical	philosophical	ADJ
alkej-814	17	4	and	and	CCONJ
alkej-814	17	5	scientific	scientific	ADJ
alkej-814	17	6	standpoint	standpoint	NOUN
alkej-814	17	7	,	,	PUNCT
alkej-814	17	8	there	there	PRON
alkej-814	17	9	are	be	VERB
alkej-814	17	10	various	various	ADJ
alkej-814	17	11	predictions	prediction	NOUN
alkej-814	17	12	regarding	regard	VERB
alkej-814	17	13	how	how	SCONJ
alkej-814	17	14	selfdriving	selfdriving	ADJ
alkej-814	17	15	automobiles	automobile	NOUN
alkej-814	17	16	will	will	AUX
alkej-814	17	17	impact	impact	VERB
alkej-814	17	18	our	our	PRON
alkej-814	17	19	lives	life	NOUN
alkej-814	17	20	.	.	PUNCT
alkej-814	18	1	automobiles	automobile	NOUN
alkej-814	18	2	play	play	VERB
alkej-814	18	3	an	an	DET
alkej-814	18	4	important	important	ADJ
alkej-814	18	5	part	part	NOUN
alkej-814	18	6	in	in	ADP
alkej-814	18	7	modern	modern	ADJ
alkej-814	18	8	civilization	civilization	NOUN
alkej-814	18	9	,	,	PUNCT
alkej-814	18	10	which	which	PRON
alkej-814	18	11	is	be	AUX
alkej-814	18	12	defined	define	VERB
alkej-814	18	13	by	by	ADP
alkej-814	18	14	a	a	DET
alkej-814	18	15	high	high	ADJ
alkej-814	18	16	level	level	NOUN
alkej-814	18	17	of	of	ADP
alkej-814	18	18	mobility	mobility	NOUN
alkej-814	18	19	.	.	PUNCT
alkej-814	19	1	it	it	PRON
alkej-814	19	2	is	be	AUX
alkej-814	19	3	estimated	estimate	VERB
alkej-814	19	4	that	that	SCONJ
alkej-814	19	5	approximately	approximately	ADV
alkej-814	19	6	one	one	NUM
alkej-814	19	7	billion	billion	NUM
alkej-814	19	8	automobiles	automobile	NOUN
alkej-814	19	9	are	be	AUX
alkej-814	19	10	on	on	ADP
alkej-814	19	11	the	the	DET
alkej-814	19	12	roads	road	NOUN
alkej-814	19	13	worldwide	worldwide	ADV
alkej-814	19	14	.	.	PUNCT
alkej-814	20	1	autonomous	autonomous	ADJ
alkej-814	20	2	driving	driving	NOUN
alkej-814	20	3	,	,	PUNCT
alkej-814	20	4	or	or	CCONJ
alkej-814	20	5	intelligent	intelligent	ADJ
alkej-814	20	6	driver	driver	NOUN
alkej-814	20	7	assistance	assistance	NOUN
alkej-814	20	8	,	,	PUNCT
alkej-814	20	9	is	be	AUX
alkej-814	20	10	expected	expect	VERB
alkej-814	20	11	to	to	PART
alkej-814	20	12	result	result	VERB
alkej-814	20	13	in	in	ADP
alkej-814	20	14	a	a	DET
alkej-814	20	15	90	90	NUM
alkej-814	20	16	%	%	NOUN
alkej-814	20	17	reduction	reduction	NOUN
alkej-814	20	18	in	in	ADP
alkej-814	20	19	road	road	NOUN
alkej-814	20	20	accidents	accident	NOUN
alkej-814	20	21	;	;	PUNCT
alkej-814	20	22	a	a	DET
alkej-814	20	23	60	60	NUM
alkej-814	20	24	%	%	NOUN
alkej-814	20	25	reduction	reduction	NOUN
alkej-814	20	26	in	in	ADP
alkej-814	20	27	carbon	carbon	NOUN
alkej-814	20	28	dioxide	dioxide	NOUN
alkej-814	20	29	emissions	emission	NOUN
alkej-814	20	30	(	(	PUNCT
alkej-814	20	31	due	due	ADP
alkej-814	20	32	to	to	ADP
alkej-814	20	33	smart	smart	ADJ
alkej-814	20	34	trajectory	trajectory	NOUN
alkej-814	20	35	planning	planning	NOUN
alkej-814	20	36	)	)	PUNCT
alkej-814	20	37	;	;	PUNCT
alkej-814	20	38	and	and	CCONJ
alkej-814	20	39	savings	saving	NOUN
alkej-814	20	40	of	of	ADP
alkej-814	20	41	more	more	ADJ
alkej-814	20	42	than	than	ADP
alkej-814	20	43	1	1	NUM
alkej-814	20	44	billion	billion	NUM
alkej-814	20	45	hours	hour	NOUN
alkej-814	20	46	every	every	DET
alkej-814	20	47	day	day	NOUN
alkej-814	20	48	for	for	ADP
alkej-814	20	49	commuters	commuter	NOUN
alkej-814	20	50	around	around	ADP
alkej-814	20	51	the	the	DET
alkej-814	20	52	world	world	NOUN
alkej-814	21	1	[	[	X
alkej-814	21	2	2][3	2][3	X
alkej-814	21	3	]	]	PUNCT
alkej-814	21	4	.	.	PUNCT
alkej-814	22	1	autonomous	autonomous	ADJ
alkej-814	22	2	vehicles	vehicle	NOUN
alkej-814	22	3	will	will	AUX
alkej-814	22	4	not	not	PART
alkej-814	22	5	only	only	ADV
alkej-814	22	6	improve	improve	VERB
alkej-814	22	7	the	the	DET
alkej-814	22	8	al	al	PROPN
alkej-814	22	9	-	-	PUNCT
alkej-814	22	10	khwarizmi	khwarizmi	PROPN
alkej-814	22	11	engineering	engineering	PROPN
alkej-814	22	12	journal	journal	PROPN
alkej-814	22	13	al	al	PROPN
alkej-814	22	14	-	-	PUNCT
alkej-814	22	15	khwarizmi	khwarizmi	PROPN
alkej-814	22	16	engineering	engineering	NOUN
alkej-814	22	17	journal	journal	PROPN
alkej-814	22	18	,	,	PUNCT
alkej-814	22	19	vol	vol	NOUN
alkej-814	22	20	.	.	PROPN
alkej-814	22	21	18	18	NUM
alkej-814	22	22	,	,	PUNCT
alkej-814	22	23	no	no	INTJ
alkej-814	22	24	.	.	NOUN
alkej-814	22	25	4	4	NUM
alkej-814	22	26	,	,	PUNCT
alkej-814	22	27	december	december	PROPN
alkej-814	22	28	,	,	PUNCT
alkej-814	22	29	(	(	PUNCT
alkej-814	22	30	2022	2022	NUM
alkej-814	22	31	)	)	PUNCT
alkej-814	23	1	p.	p.	NOUN
alkej-814	23	2	p.	p.	NOUN
alkej-814	23	3	4559	4559	NUM
alkej-814	24	1	mailto:yahia.ghofran1202a@kecbu.uobaghdad.edu.iq	mailto:yahia.ghofran1202a@kecbu.uobaghdad.edu.iq	NOUN
alkej-814	24	2	mailto:ameer@kecbu.uobaghdad.edu.iq	mailto:ameer@kecbu.uobaghdad.edu.iq	PROPN
alkej-814	24	3	https://doi.org/10.22153/kej.2022.09.003	https://doi.org/10.22153/kej.2022.09.003	NUM
alkej-814	24	4	yahya	yahya	NOUN
alkej-814	24	5	ghufran	ghufran	VERB
alkej-814	24	6	khidhir	khidhir	PROPN
alkej-814	24	7	al	al	PROPN
alkej-814	24	8	-	-	PUNCT
alkej-814	24	9	khwarizmi	khwarizmi	PROPN
alkej-814	24	10	engineering	engineering	NOUN
alkej-814	24	11	journal	journal	PROPN
alkej-814	24	12	,	,	PUNCT
alkej-814	24	13	vol	vol	NOUN
alkej-814	24	14	.	.	PROPN
alkej-814	24	15	18	18	NUM
alkej-814	24	16	,	,	PUNCT
alkej-814	24	17	no	no	INTJ
alkej-814	24	18	.	.	NOUN
alkej-814	24	19	4	4	NUM
alkej-814	24	20	,	,	PUNCT
alkej-814	24	21	p.p	p.p	PROPN
alkej-814	24	22	.	.	NOUN
alkej-814	24	23	4559	4559	NUM
alkej-814	24	24	(	(	PUNCT
alkej-814	24	25	2022	2022	NUM
alkej-814	24	26	)	)	PUNCT
alkej-814	24	27	46	46	NUM
alkej-814	24	28	mobility	mobility	NOUN
alkej-814	24	29	of	of	ADP
alkej-814	24	30	those	those	PRON
alkej-814	24	31	who	who	PRON
alkej-814	24	32	are	be	AUX
alkej-814	24	33	elderly	elderly	ADJ
alkej-814	24	34	or	or	CCONJ
alkej-814	24	35	disabled	disabled	ADJ
alkej-814	24	36	;	;	PUNCT
alkej-814	24	37	but	but	CCONJ
alkej-814	24	38	will	will	AUX
alkej-814	24	39	also	also	ADV
alkej-814	24	40	reduce	reduce	VERB
alkej-814	24	41	transportation	transportation	NOUN
alkej-814	24	42	energy	energy	NOUN
alkej-814	24	43	consumption	consumption	NOUN
alkej-814	24	44	by	by	ADP
alkej-814	24	45	up	up	ADP
alkej-814	24	46	to	to	PART
alkej-814	24	47	90	90	NUM
alkej-814	24	48	%	%	NOUN
alkej-814	24	49	.	.	PUNCT
alkej-814	25	1	[	[	X
alkej-814	25	2	4	4	NUM
alkej-814	25	3	]	]	PUNCT
alkej-814	25	4	.	.	PUNCT
alkej-814	25	5	self	self	NOUN
alkej-814	25	6	-	-	PUNCT
alkej-814	25	7	driving	drive	VERB
alkej-814	25	8	cars	car	NOUN
alkej-814	25	9	are	be	AUX
alkej-814	25	10	autonomous	autonomous	ADJ
alkej-814	25	11	decisionmaking	decisionmake	VERB
alkej-814	25	12	systems	system	NOUN
alkej-814	25	13	that	that	PRON
alkej-814	25	14	analyze	analyze	VERB
alkej-814	25	15	streams	stream	NOUN
alkej-814	25	16	of	of	ADP
alkej-814	25	17	observations	observation	NOUN
alkej-814	25	18	obtained	obtain	VERB
alkej-814	25	19	from	from	ADP
alkej-814	25	20	multiple	multiple	ADJ
alkej-814	25	21	onboard	onboard	ADJ
alkej-814	25	22	sources	source	NOUN
alkej-814	25	23	,	,	PUNCT
alkej-814	25	24	such	such	ADJ
alkej-814	25	25	as	as	ADP
alkej-814	25	26	cameras	camera	NOUN
alkej-814	25	27	,	,	PUNCT
alkej-814	25	28	radio	radio	NOUN
alkej-814	25	29	detection	detection	NOUN
alkej-814	25	30	and	and	CCONJ
alkej-814	25	31	ranging	range	VERB
alkej-814	25	32	sensors	sensor	NOUN
alkej-814	25	33	,	,	PUNCT
alkej-814	25	34	light	light	ADJ
alkej-814	25	35	detection	detection	NOUN
alkej-814	25	36	and	and	CCONJ
alkej-814	25	37	ranging	range	VERB
alkej-814	25	38	sensors	sensor	NOUN
alkej-814	25	39	,	,	PUNCT
alkej-814	25	40	ultrasonic	ultrasonic	ADJ
alkej-814	25	41	sensors	sensor	NOUN
alkej-814	25	42	,	,	PUNCT
alkej-814	25	43	global	global	ADJ
alkej-814	25	44	positioning	positioning	NOUN
alkej-814	25	45	system	system	NOUN
alkej-814	25	46	units	unit	NOUN
alkej-814	25	47	,	,	PUNCT
alkej-814	25	48	and/or	and/or	CCONJ
alkej-814	25	49	inertial	inertial	ADJ
alkej-814	25	50	sensors	sensor	NOUN
alkej-814	25	51	,	,	PUNCT
alkej-814	25	52	in	in	ADP
alkej-814	25	53	which	which	PRON
alkej-814	25	54	there	there	PRON
alkej-814	25	55	is	be	VERB
alkej-814	25	56	no	no	DET
alkej-814	25	57	human	human	ADJ
alkej-814	25	58	driver	driver	NOUN
alkej-814	25	59	[	[	X
alkej-814	25	60	5	5	NUM
alkej-814	25	61	]	]	PUNCT
alkej-814	25	62	.	.	PUNCT
alkej-814	26	1	the	the	DET
alkej-814	26	2	camera	camera	NOUN
alkej-814	26	3	is	be	AUX
alkej-814	26	4	the	the	DET
alkej-814	26	5	most	most	ADV
alkej-814	26	6	essential	essential	ADJ
alkej-814	26	7	component	component	NOUN
alkej-814	26	8	of	of	ADP
alkej-814	26	9	a	a	DET
alkej-814	26	10	vehicle	vehicle	NOUN
alkej-814	26	11	's	's	PART
alkej-814	26	12	suite	suite	NOUN
alkej-814	26	13	of	of	ADP
alkej-814	26	14	sensors	sensor	NOUN
alkej-814	26	15	.	.	PUNCT
alkej-814	27	1	the	the	DET
alkej-814	27	2	vast	vast	ADJ
alkej-814	27	3	amount	amount	NOUN
alkej-814	27	4	of	of	ADP
alkej-814	27	5	data	datum	NOUN
alkej-814	27	6	collected	collect	VERB
alkej-814	27	7	by	by	ADP
alkej-814	27	8	a	a	DET
alkej-814	27	9	vehicle	vehicle	NOUN
alkej-814	27	10	's	's	PART
alkej-814	27	11	cameras	camera	NOUN
alkej-814	27	12	necessitates	necessitate	VERB
alkej-814	27	13	significant	significant	ADJ
alkej-814	27	14	processing	processing	NOUN
alkej-814	27	15	power	power	NOUN
alkej-814	27	16	in	in	ADP
alkej-814	27	17	order	order	NOUN
alkej-814	27	18	to	to	PART
alkej-814	27	19	extract	extract	VERB
alkej-814	27	20	useful	useful	ADJ
alkej-814	27	21	information	information	NOUN
alkej-814	27	22	.	.	PUNCT
alkej-814	28	1	the	the	DET
alkej-814	28	2	only	only	ADJ
alkej-814	28	3	method	method	NOUN
alkej-814	28	4	for	for	ADP
alkej-814	28	5	extracting	extract	VERB
alkej-814	28	6	information	information	NOUN
alkej-814	28	7	from	from	ADP
alkej-814	28	8	incoming	incoming	ADJ
alkej-814	28	9	images	image	NOUN
alkej-814	28	10	is	be	AUX
alkej-814	28	11	computer	computer	NOUN
alkej-814	28	12	vision	vision	NOUN
alkej-814	28	13	.	.	PUNCT
alkej-814	29	1	sequential	sequential	ADJ
alkej-814	29	2	pipelines	pipeline	NOUN
alkej-814	29	3	(	(	PUNCT
alkej-814	29	4	perception	perception	NOUN
alkej-814	29	5	-	-	PUNCT
alkej-814	29	6	planningaction	planningaction	NOUN
alkej-814	29	7	)	)	PUNCT
alkej-814	29	8	or	or	CCONJ
alkej-814	29	9	end	end	NOUN
alkej-814	29	10	-	-	PUNCT
alkej-814	29	11	to	to	ADP
alkej-814	29	12	-	-	PUNCT
alkej-814	29	13	end	end	NOUN
alkej-814	29	14	learning	learning	NOUN
alkej-814	29	15	are	be	AUX
alkej-814	29	16	used	use	VERB
alkej-814	29	17	to	to	PART
alkej-814	29	18	make	make	VERB
alkej-814	29	19	driving	driving	NOUN
alkej-814	29	20	decisions	decision	NOUN
alkej-814	29	21	.	.	PUNCT
alkej-814	30	1	pipelines	pipeline	NOUN
alkej-814	30	2	that	that	PRON
alkej-814	30	3	follow	follow	VERB
alkej-814	30	4	the	the	DET
alkej-814	30	5	classic	classic	ADJ
alkej-814	30	6	approach	approach	NOUN
alkej-814	30	7	,	,	PUNCT
alkej-814	30	8	in	in	ADP
alkej-814	30	9	which	which	PRON
alkej-814	30	10	first	first	ADJ
alkej-814	30	11	objects	object	NOUN
alkej-814	30	12	are	be	AUX
alkej-814	30	13	recognized	recognize	VERB
alkej-814	30	14	in	in	ADP
alkej-814	30	15	the	the	DET
alkej-814	30	16	input	input	NOUN
alkej-814	30	17	image	image	NOUN
alkej-814	30	18	,	,	PUNCT
alkej-814	30	19	then	then	ADV
alkej-814	30	20	a	a	DET
alkej-814	30	21	path	path	NOUN
alkej-814	30	22	is	be	AUX
alkej-814	30	23	planned	plan	VERB
alkej-814	30	24	,	,	PUNCT
alkej-814	30	25	and	and	CCONJ
alkej-814	30	26	lastly	lastly	ADV
alkej-814	30	27	,	,	PUNCT
alkej-814	30	28	the	the	DET
alkej-814	30	29	computed	computed	ADJ
alkej-814	30	30	control	control	NOUN
alkej-814	30	31	values	value	NOUN
alkej-814	30	32	are	be	AUX
alkej-814	30	33	performed	perform	VERB
alkej-814	30	34	.	.	PUNCT
alkej-814	31	1	in	in	ADP
alkej-814	31	2	contrast	contrast	NOUN
alkej-814	31	3	,	,	PUNCT
alkej-814	31	4	the	the	DET
alkej-814	31	5	end	end	NOUN
alkej-814	31	6	-	-	PUNCT
alkej-814	31	7	to	to	ADP
alkej-814	31	8	-	-	PUNCT
alkej-814	31	9	end	end	NOUN
alkej-814	31	10	method	method	NOUN
alkej-814	31	11	employs	employ	VERB
alkej-814	31	12	a	a	DET
alkej-814	31	13	unique	unique	ADJ
alkej-814	31	14	theory	theory	NOUN
alkej-814	31	15	to	to	PART
alkej-814	31	16	steer	steer	VERB
alkej-814	31	17	a	a	DET
alkej-814	31	18	vehicle	vehicle	NOUN
alkej-814	31	19	,	,	PUNCT
alkej-814	31	20	figure	figure	NOUN
alkej-814	31	21	1	1	NUM
alkej-814	31	22	.	.	PUNCT
alkej-814	32	1	this	this	DET
alkej-814	32	2	strategy	strategy	NOUN
alkej-814	32	3	focuses	focus	VERB
alkej-814	32	4	on	on	ADP
alkej-814	32	5	developing	develop	VERB
alkej-814	32	6	an	an	DET
alkej-814	32	7	ai	ai	NOUN
alkej-814	32	8	model	model	NOUN
alkej-814	32	9	that	that	PRON
alkej-814	32	10	mimics	mimic	VERB
alkej-814	32	11	human	human	ADJ
alkej-814	32	12	driving	driving	NOUN
alkej-814	32	13	.	.	PUNCT
alkej-814	33	1	a	a	DET
alkej-814	33	2	human	human	ADJ
alkej-814	33	3	driver	driver	NOUN
alkej-814	33	4	constantly	constantly	ADV
alkej-814	33	5	makes	make	VERB
alkej-814	33	6	steering	steering	NOUN
alkej-814	33	7	predictions	prediction	NOUN
alkej-814	33	8	based	base	VERB
alkej-814	33	9	on	on	ADP
alkej-814	33	10	an	an	DET
alkej-814	33	11	immediate	immediate	ADJ
alkej-814	33	12	analysis	analysis	NOUN
alkej-814	33	13	of	of	ADP
alkej-814	33	14	observed	observed	ADJ
alkej-814	33	15	visuals	visual	NOUN
alkej-814	33	16	.	.	PUNCT
alkej-814	34	1	[	[	X
alkej-814	34	2	6	6	NUM
alkej-814	34	3	]	]	PUNCT
alkej-814	34	4	.	.	PUNCT
alkej-814	35	1	fig	fig	NOUN
alkej-814	35	2	.	.	PUNCT
alkej-814	36	1	1	1	X
alkej-814	36	2	.	.	X
alkej-814	36	3	deep	deep	ADJ
alkej-814	36	4	learning	learning	NOUN
alkej-814	36	5	-	-	PUNCT
alkej-814	36	6	based	base	VERB
alkej-814	36	7	self	self	NOUN
alkej-814	36	8	-	-	PUNCT
alkej-814	36	9	driving	drive	VERB
alkej-814	36	10	car	car	NOUN
alkej-814	36	11	.	.	PUNCT
alkej-814	37	1	end	end	NOUN
alkej-814	37	2	-	-	PUNCT
alkej-814	37	3	to	to	ADP
alkej-814	37	4	-	-	PUNCT
alkej-814	37	5	end	end	NOUN
alkej-814	37	6	learning	learn	VERB
alkej-814	37	7	control	control	NOUN
alkej-814	37	8	,	,	PUNCT
alkej-814	37	9	as	as	SCONJ
alkej-814	37	10	defined	define	VERB
alkej-814	37	11	in	in	ADP
alkej-814	37	12	the	the	DET
alkej-814	37	13	implementation	implementation	NOUN
alkej-814	37	14	of	of	ADP
alkej-814	37	15	autonomous	autonomous	ADJ
alkej-814	37	16	driving	driving	NOUN
alkej-814	37	17	,	,	PUNCT
alkej-814	37	18	where	where	SCONJ
alkej-814	37	19	an	an	DET
alkej-814	37	20	image	image	NOUN
alkej-814	37	21	provided	provide	VERB
alkej-814	37	22	by	by	ADP
alkej-814	37	23	a	a	DET
alkej-814	37	24	front	front	ADJ
alkej-814	37	25	-	-	PUNCT
alkej-814	37	26	facing	face	VERB
alkej-814	37	27	camera	camera	NOUN
alkej-814	37	28	is	be	AUX
alkej-814	37	29	fed	feed	VERB
alkej-814	37	30	into	into	ADP
alkej-814	37	31	a	a	DET
alkej-814	37	32	neural	neural	ADJ
alkej-814	37	33	network	network	NOUN
alkej-814	37	34	that	that	PRON
alkej-814	37	35	then	then	ADV
alkej-814	37	36	generates	generate	VERB
alkej-814	37	37	the	the	DET
alkej-814	37	38	car	car	NOUN
alkej-814	37	39	's	's	PART
alkej-814	37	40	control	control	NOUN
alkej-814	37	41	signals	signal	NOUN
alkej-814	37	42	such	such	ADJ
alkej-814	37	43	as	as	ADP
alkej-814	37	44	steering	steering	NOUN
alkej-814	37	45	angle	angle	NOUN
alkej-814	37	46	,	,	PUNCT
alkej-814	37	47	throttle	throttle	NOUN
alkej-814	37	48	,	,	PUNCT
alkej-814	37	49	and	and	CCONJ
alkej-814	37	50	braking	brake	VERB
alkej-814	37	51	[	[	X
alkej-814	37	52	5	5	NUM
alkej-814	37	53	]	]	PUNCT
alkej-814	37	54	.	.	PUNCT
alkej-814	38	1	the	the	DET
alkej-814	38	2	primary	primary	ADJ
alkej-814	38	3	advantage	advantage	NOUN
alkej-814	38	4	of	of	ADP
alkej-814	38	5	this	this	DET
alkej-814	38	6	technique	technique	NOUN
alkej-814	38	7	is	be	AUX
alkej-814	38	8	that	that	SCONJ
alkej-814	38	9	it	it	PRON
alkej-814	38	10	learns	learn	VERB
alkej-814	38	11	the	the	DET
alkej-814	38	12	entire	entire	ADJ
alkej-814	38	13	function	function	NOUN
alkej-814	38	14	automatically	automatically	ADV
alkej-814	38	15	,	,	PUNCT
alkej-814	38	16	from	from	ADP
alkej-814	38	17	raw	raw	ADJ
alkej-814	38	18	pixels	pixel	NOUN
alkej-814	38	19	to	to	ADP
alkej-814	38	20	steering	steering	NOUN
alkej-814	38	21	angles	angle	NOUN
alkej-814	38	22	,	,	PUNCT
alkej-814	38	23	without	without	ADP
alkej-814	38	24	the	the	DET
alkej-814	38	25	need	need	NOUN
alkej-814	38	26	for	for	ADP
alkej-814	38	27	any	any	DET
alkej-814	38	28	human	human	ADJ
alkej-814	38	29	intervention	intervention	NOUN
alkej-814	38	30	in	in	ADP
alkej-814	38	31	the	the	DET
alkej-814	38	32	form	form	NOUN
alkej-814	38	33	of	of	ADP
alkej-814	38	34	feature	feature	NOUN
alkej-814	38	35	design	design	NOUN
alkej-814	38	36	and	and	CCONJ
alkej-814	38	37	selection	selection	NOUN
alkej-814	38	38	,	,	PUNCT
alkej-814	38	39	geometry	geometry	NOUN
alkej-814	38	40	,	,	PUNCT
alkej-814	38	41	camera	camera	NOUN
alkej-814	38	42	calibration	calibration	NOUN
alkej-814	38	43	,	,	PUNCT
alkej-814	38	44	or	or	CCONJ
alkej-814	38	45	manual	manual	ADJ
alkej-814	38	46	adjustment	adjustment	NOUN
alkej-814	38	47	of	of	ADP
alkej-814	38	48	parameter	parameter	NOUN
alkej-814	38	49	values	value	NOUN
alkej-814	38	50	.	.	PUNCT
alkej-814	39	1	to	to	PART
alkej-814	39	2	be	be	AUX
alkej-814	39	3	more	more	ADV
alkej-814	39	4	specific	specific	ADJ
alkej-814	39	5	,	,	PUNCT
alkej-814	39	6	the	the	DET
alkej-814	39	7	goal	goal	NOUN
alkej-814	39	8	of	of	ADP
alkej-814	39	9	end	end	NOUN
alkej-814	39	10	-	-	PUNCT
alkej-814	39	11	to	to	ADP
alkej-814	39	12	-	-	PUNCT
alkej-814	39	13	end	end	NOUN
alkej-814	39	14	learning	learning	NOUN
alkej-814	39	15	is	be	AUX
alkej-814	39	16	to	to	PART
alkej-814	39	17	diminish	diminish	VERB
alkej-814	39	18	or	or	CCONJ
alkej-814	39	19	eliminate	eliminate	VERB
alkej-814	39	20	the	the	DET
alkej-814	39	21	need	need	NOUN
alkej-814	39	22	for	for	ADP
alkej-814	39	23	human	human	ADJ
alkej-814	39	24	expertise	expertise	NOUN
alkej-814	39	25	in	in	ADP
alkej-814	39	26	terms	term	NOUN
alkej-814	39	27	of	of	ADP
alkej-814	39	28	feature	feature	NOUN
alkej-814	39	29	extraction	extraction	NOUN
alkej-814	39	30	and	and	CCONJ
alkej-814	39	31	to	to	PART
alkej-814	39	32	solve	solve	VERB
alkej-814	39	33	issues	issue	NOUN
alkej-814	39	34	using	use	VERB
alkej-814	39	35	just	just	ADV
alkej-814	39	36	data	datum	NOUN
alkej-814	39	37	[	[	X
alkej-814	39	38	7	7	NUM
alkej-814	39	39	]	]	PUNCT
alkej-814	39	40	.	.	PUNCT
alkej-814	40	1	in	in	ADP
alkej-814	40	2	this	this	DET
alkej-814	40	3	paper	paper	NOUN
alkej-814	40	4	,	,	PUNCT
alkej-814	40	5	three	three	NUM
alkej-814	40	6	well	well	ADV
alkej-814	40	7	-	-	PUNCT
alkej-814	40	8	known	know	VERB
alkej-814	40	9	dl	dl	NOUN
alkej-814	40	10	models	model	NOUN
alkej-814	40	11	have	have	AUX
alkej-814	40	12	been	be	AUX
alkej-814	40	13	modified	modify	VERB
alkej-814	40	14	to	to	PART
alkej-814	40	15	perform	perform	VERB
alkej-814	40	16	the	the	DET
alkej-814	40	17	task	task	NOUN
alkej-814	40	18	of	of	ADP
alkej-814	40	19	end	end	NOUN
alkej-814	40	20	-	-	PUNCT
alkej-814	40	21	to	to	ADP
alkej-814	40	22	-	-	PUNCT
alkej-814	40	23	end	end	NOUN
alkej-814	40	24	driving	drive	VERB
alkej-814	40	25	autonomously	autonomously	ADV
alkej-814	40	26	.	.	PUNCT
alkej-814	41	1	the	the	DET
alkej-814	41	2	main	main	ADJ
alkej-814	41	3	objective	objective	NOUN
alkej-814	41	4	of	of	ADP
alkej-814	41	5	this	this	DET
alkej-814	41	6	study	study	NOUN
alkej-814	41	7	is	be	AUX
alkej-814	41	8	to	to	PART
alkej-814	41	9	analyze	analyze	VERB
alkej-814	41	10	and	and	CCONJ
alkej-814	41	11	evaluate	evaluate	VERB
alkej-814	41	12	the	the	DET
alkej-814	41	13	modified	modify	VERB
alkej-814	41	14	models	model	NOUN
alkej-814	41	15	and	and	CCONJ
alkej-814	41	16	determine	determine	VERB
alkej-814	41	17	the	the	DET
alkej-814	41	18	best	good	ADJ
alkej-814	41	19	predictive	predictive	ADJ
alkej-814	41	20	model	model	NOUN
alkej-814	41	21	among	among	ADP
alkej-814	41	22	them	they	PRON
alkej-814	41	23	for	for	ADP
alkej-814	41	24	steering	steer	VERB
alkej-814	41	25	angle	angle	NOUN
alkej-814	41	26	control	control	NOUN
alkej-814	41	27	using	use	VERB
alkej-814	41	28	a	a	DET
alkej-814	41	29	dataset	dataset	NOUN
alkej-814	41	30	collected	collect	VERB
alkej-814	41	31	from	from	ADP
alkej-814	41	32	two	two	NUM
alkej-814	41	33	different	different	ADJ
alkej-814	41	34	tracks	track	NOUN
alkej-814	41	35	.	.	PUNCT
alkej-814	42	1	in	in	ADP
alkej-814	42	2	addition	addition	NOUN
alkej-814	42	3	,	,	PUNCT
alkej-814	42	4	the	the	DET
alkej-814	42	5	study	study	NOUN
alkej-814	42	6	decides	decide	VERB
alkej-814	42	7	which	which	DET
alkej-814	42	8	model	model	NOUN
alkej-814	42	9	is	be	AUX
alkej-814	42	10	most	most	ADV
alkej-814	42	11	suitable	suitable	ADJ
alkej-814	42	12	to	to	PART
alkej-814	42	13	be	be	AUX
alkej-814	42	14	applied	apply	VERB
alkej-814	42	15	to	to	ADP
alkej-814	42	16	low	low	ADV
alkej-814	42	17	-	-	PUNCT
alkej-814	42	18	performing	perform	VERB
alkej-814	42	19	hardware	hardware	NOUN
alkej-814	42	20	with	with	ADP
alkej-814	42	21	high	high	ADJ
alkej-814	42	22	qualitative	qualitative	ADJ
alkej-814	42	23	results	result	NOUN
alkej-814	42	24	.	.	PUNCT
alkej-814	43	1	the	the	DET
alkej-814	43	2	dl	dl	PROPN
alkej-814	43	3	models	model	NOUN
alkej-814	43	4	have	have	AUX
alkej-814	43	5	been	be	AUX
alkej-814	43	6	selected	select	VERB
alkej-814	43	7	according	accord	VERB
alkej-814	43	8	to	to	ADP
alkej-814	43	9	their	their	PRON
alkej-814	43	10	widespread	widespread	ADJ
alkej-814	43	11	use	use	NOUN
alkej-814	43	12	.	.	PUNCT
alkej-814	44	1	results	result	NOUN
alkej-814	44	2	from	from	ADP
alkej-814	44	3	the	the	DET
alkej-814	44	4	offered	offer	VERB
alkej-814	44	5	end	end	NOUN
alkej-814	44	6	-	-	PUNCT
alkej-814	44	7	to	to	ADP
alkej-814	44	8	-	-	PUNCT
alkej-814	44	9	end	end	NOUN
alkej-814	44	10	learning	learn	VERB
alkej-814	44	11	network	network	NOUN
alkej-814	44	12	may	may	AUX
alkej-814	44	13	find	find	VERB
alkej-814	44	14	practical	practical	ADJ
alkej-814	44	15	usage	usage	NOUN
alkej-814	44	16	in	in	ADP
alkej-814	44	17	applications	application	NOUN
alkej-814	44	18	like	like	ADP
alkej-814	44	19	warehousing	warehousing	NOUN
alkej-814	44	20	and	and	CCONJ
alkej-814	44	21	delivery	delivery	NOUN
alkej-814	44	22	vehicle	vehicle	NOUN
alkej-814	44	23	robot	robot	NOUN
alkej-814	44	24	cars	car	NOUN
alkej-814	44	25	.	.	PUNCT
alkej-814	45	1	it	it	PRON
alkej-814	45	2	is	be	AUX
alkej-814	45	3	important	important	ADJ
alkej-814	45	4	for	for	SCONJ
alkej-814	45	5	practical	practical	ADJ
alkej-814	45	6	industrial	industrial	ADJ
alkej-814	45	7	applications	application	NOUN
alkej-814	45	8	to	to	PART
alkej-814	45	9	be	be	AUX
alkej-814	45	10	able	able	ADJ
alkej-814	45	11	to	to	PART
alkej-814	45	12	deploy	deploy	VERB
alkej-814	45	13	well	well	ADV
alkej-814	45	14	-	-	PUNCT
alkej-814	45	15	known	know	VERB
alkej-814	45	16	dnn	dnn	PROPN
alkej-814	45	17	solutions	solution	NOUN
alkej-814	45	18	,	,	PUNCT
alkej-814	45	19	such	such	ADJ
alkej-814	45	20	as	as	ADP
alkej-814	45	21	those	those	PRON
alkej-814	45	22	offered	offer	VERB
alkej-814	45	23	in	in	ADP
alkej-814	45	24	this	this	DET
alkej-814	45	25	study	study	NOUN
alkej-814	45	26	,	,	PUNCT
alkej-814	45	27	on	on	ADP
alkej-814	45	28	integrated	integrate	VERB
alkej-814	45	29	vehicle	vehicle	NOUN
alkej-814	45	30	applications	application	NOUN
alkej-814	45	31	that	that	PRON
alkej-814	45	32	have	have	VERB
alkej-814	45	33	low	low	ADJ
alkej-814	45	34	-	-	PUNCT
alkej-814	45	35	power	power	NOUN
alkej-814	45	36	technologies	technology	NOUN
alkej-814	45	37	at	at	ADP
alkej-814	45	38	low	low	ADJ
alkej-814	45	39	costs	cost	NOUN
alkej-814	45	40	and	and	CCONJ
alkej-814	45	41	compact	compact	ADJ
alkej-814	45	42	sizes	size	NOUN
alkej-814	45	43	.	.	PUNCT
alkej-814	46	1	the	the	DET
alkej-814	46	2	relevant	relevant	ADJ
alkej-814	46	3	work	work	NOUN
alkej-814	46	4	will	will	AUX
alkej-814	46	5	be	be	AUX
alkej-814	46	6	presented	present	VERB
alkej-814	46	7	in	in	ADP
alkej-814	46	8	the	the	DET
alkej-814	46	9	next	next	ADJ
alkej-814	46	10	section	section	NOUN
alkej-814	46	11	.	.	PUNCT
alkej-814	47	1	section	section	NOUN
alkej-814	47	2	iii	iii	PROPN
alkej-814	47	3	describes	describe	VERB
alkej-814	47	4	the	the	DET
alkej-814	47	5	research	research	NOUN
alkej-814	47	6	method	method	NOUN
alkej-814	47	7	.	.	PUNCT
alkej-814	48	1	section	section	NOUN
alkej-814	48	2	iv	iv	NUM
alkej-814	48	3	:	:	PUNCT
alkej-814	48	4	experiments	experiment	NOUN
alkej-814	48	5	and	and	CCONJ
alkej-814	48	6	results	result	NOUN
alkej-814	48	7	.	.	PUNCT
alkej-814	49	1	the	the	DET
alkej-814	49	2	last	last	ADJ
alkej-814	49	3	portion	portion	NOUN
alkej-814	49	4	contains	contain	VERB
alkej-814	49	5	the	the	DET
alkej-814	49	6	conclusion	conclusion	NOUN
alkej-814	49	7	.	.	PUNCT
alkej-814	50	1	2	2	X
alkej-814	50	2	.	.	X
alkej-814	50	3	related	relate	VERB
alkej-814	50	4	work	work	NOUN
alkej-814	50	5	this	this	DET
alkej-814	50	6	section	section	NOUN
alkej-814	50	7	summarizes	summarize	VERB
alkej-814	50	8	some	some	PRON
alkej-814	50	9	of	of	ADP
alkej-814	50	10	the	the	DET
alkej-814	50	11	related	relate	VERB
alkej-814	50	12	works	work	NOUN
alkej-814	50	13	proposed	propose	VERB
alkej-814	50	14	to	to	PART
alkej-814	50	15	perform	perform	VERB
alkej-814	50	16	the	the	DET
alkej-814	50	17	task	task	NOUN
alkej-814	50	18	of	of	ADP
alkej-814	50	19	autonomous	autonomous	ADJ
alkej-814	50	20	end	end	NOUN
alkej-814	50	21	-	-	PUNCT
alkej-814	50	22	to	to	ADP
alkej-814	50	23	-	-	PUNCT
alkej-814	50	24	end	end	NOUN
alkej-814	50	25	driving	driving	NOUN
alkej-814	50	26	.	.	PUNCT
alkej-814	51	1	end	end	NOUN
alkej-814	51	2	-	-	PUNCT
alkej-814	51	3	to	to	ADP
alkej-814	51	4	-	-	PUNCT
alkej-814	51	5	end	end	NOUN
alkej-814	51	6	learning	learning	NOUN
alkej-814	51	7	models	model	NOUN
alkej-814	51	8	that	that	PRON
alkej-814	51	9	are	be	AUX
alkej-814	51	10	trained	train	VERB
alkej-814	51	11	on	on	ADP
alkej-814	51	12	sensor	sensor	NOUN
alkej-814	51	13	inputs	input	NOUN
alkej-814	51	14	and	and	CCONJ
alkej-814	51	15	supervised	supervise	VERB
alkej-814	51	16	by	by	ADP
alkej-814	51	17	humans	human	NOUN
alkej-814	51	18	are	be	AUX
alkej-814	51	19	one	one	NUM
alkej-814	51	20	of	of	ADP
alkej-814	51	21	the	the	DET
alkej-814	51	22	most	most	ADV
alkej-814	51	23	promising	promising	ADJ
alkej-814	51	24	approaches	approach	NOUN
alkej-814	51	25	to	to	ADP
alkej-814	51	26	achieving	achieve	VERB
alkej-814	51	27	fully	fully	ADV
alkej-814	51	28	autonomous	autonomous	ADJ
alkej-814	51	29	performance	performance	NOUN
alkej-814	51	30	.	.	PUNCT
alkej-814	52	1	a	a	DET
alkej-814	52	2	limited	limited	ADJ
alkej-814	52	3	number	number	NOUN
alkej-814	52	4	of	of	ADP
alkej-814	52	5	published	publish	VERB
alkej-814	52	6	works	work	NOUN
alkej-814	52	7	have	have	AUX
alkej-814	52	8	used	use	VERB
alkej-814	52	9	dnns	dnn	NOUN
alkej-814	52	10	as	as	ADP
alkej-814	52	11	part	part	NOUN
alkej-814	52	12	of	of	ADP
alkej-814	52	13	a	a	DET
alkej-814	52	14	complete	complete	ADJ
alkej-814	52	15	model	model	NOUN
alkej-814	52	16	to	to	PART
alkej-814	52	17	command	command	VERB
alkej-814	52	18	a	a	DET
alkej-814	52	19	real	real	ADJ
alkej-814	52	20	-	-	PUNCT
alkej-814	52	21	world	world	NOUN
alkej-814	52	22	autonomous	autonomous	ADJ
alkej-814	52	23	system	system	NOUN
alkej-814	52	24	.	.	PUNCT
alkej-814	53	1	researchers	researcher	NOUN
alkej-814	53	2	in	in	ADP
alkej-814	53	3	the	the	DET
alkej-814	53	4	field	field	NOUN
alkej-814	53	5	of	of	ADP
alkej-814	53	6	autonomous	autonomous	ADJ
alkej-814	53	7	vehicles	vehicle	NOUN
alkej-814	53	8	rely	rely	VERB
alkej-814	53	9	heavily	heavily	ADV
alkej-814	53	10	on	on	ADP
alkej-814	53	11	artificial	artificial	ADJ
alkej-814	53	12	datasets	dataset	NOUN
alkej-814	53	13	to	to	PART
alkej-814	53	14	evaluate	evaluate	VERB
alkej-814	53	15	the	the	DET
alkej-814	53	16	efficacy	efficacy	NOUN
alkej-814	53	17	of	of	ADP
alkej-814	53	18	dl	dl	PROPN
alkej-814	53	19	.	.	PROPN
alkej-814	53	20	in	in	ADP
alkej-814	53	21	the	the	DET
alkej-814	53	22	paper	paper	NOUN
alkej-814	54	1	[	[	X
alkej-814	54	2	8	8	NUM
alkej-814	54	3	]	]	PUNCT
alkej-814	54	4	,	,	PUNCT
alkej-814	54	5	the	the	DET
alkej-814	54	6	authors	author	NOUN
alkej-814	54	7	describe	describe	VERB
alkej-814	54	8	a	a	DET
alkej-814	54	9	convolutional	convolutional	ADJ
alkej-814	54	10	neural	neural	ADJ
alkej-814	54	11	network	network	NOUN
alkej-814	54	12	(	(	PUNCT
alkej-814	54	13	cnn	cnn	PROPN
alkej-814	54	14	)	)	PUNCT
alkej-814	54	15	that	that	PRON
alkej-814	54	16	can	can	AUX
alkej-814	54	17	solve	solve	VERB
alkej-814	54	18	the	the	DET
alkej-814	54	19	problem	problem	NOUN
alkej-814	54	20	of	of	ADP
alkej-814	54	21	autonomous	autonomous	ADJ
alkej-814	54	22	lateral	lateral	ADJ
alkej-814	54	23	control	control	NOUN
alkej-814	54	24	.	.	PUNCT
alkej-814	55	1	the	the	DET
alkej-814	55	2	input	input	NOUN
alkej-814	55	3	image	image	NOUN
alkej-814	55	4	size	size	NOUN
alkej-814	55	5	to	to	ADP
alkej-814	55	6	the	the	DET
alkej-814	55	7	network	network	NOUN
alkej-814	55	8	is	be	AUX
alkej-814	55	9	(	(	PUNCT
alkej-814	55	10	70x160x3	70x160x3	NOUN
alkej-814	55	11	)	)	PUNCT
alkej-814	55	12	.	.	PUNCT
alkej-814	56	1	a	a	DET
alkej-814	56	2	proper	proper	ADJ
alkej-814	56	3	steering	steering	NOUN
alkej-814	56	4	angle	angle	NOUN
alkej-814	56	5	was	be	AUX
alkej-814	56	6	generated	generate	VERB
alkej-814	56	7	using	use	VERB
alkej-814	56	8	cnn	cnn	PROPN
alkej-814	56	9	,	,	PUNCT
alkej-814	56	10	enabling	enable	VERB
alkej-814	56	11	the	the	DET
alkej-814	56	12	automobile	automobile	NOUN
alkej-814	56	13	to	to	ADP
alkej-814	56	14	complete	complete	ADJ
alkej-814	56	15	laps	lap	NOUN
alkej-814	56	16	.	.	PUNCT
alkej-814	57	1	on	on	ADP
alkej-814	57	2	simulated	simulate	VERB
alkej-814	57	3	unknown	unknown	ADJ
alkej-814	57	4	tracks	track	NOUN
alkej-814	57	5	,	,	PUNCT
alkej-814	57	6	cnn	cnn	PROPN
alkej-814	57	7	's	's	PART
alkej-814	57	8	steering	steering	NOUN
alkej-814	57	9	control	control	NOUN
alkej-814	57	10	was	be	AUX
alkej-814	57	11	tested	test	VERB
alkej-814	57	12	.	.	PUNCT
alkej-814	58	1	unfamiliar	unfamiliar	ADJ
alkej-814	58	2	single	single	ADJ
alkej-814	58	3	-	-	PUNCT
alkej-814	58	4	lane	lane	NOUN
alkej-814	58	5	routes	route	NOUN
alkej-814	58	6	were	be	AUX
alkej-814	58	7	successfully	successfully	ADV
alkej-814	58	8	navigated	navigate	VERB
alkej-814	58	9	89.02	89.02	NUM
alkej-814	58	10	%	%	NOUN
alkej-814	58	11	of	of	ADP
alkej-814	58	12	the	the	DET
alkej-814	58	13	time	time	NOUN
alkej-814	58	14	.	.	PUNCT
alkej-814	59	1	however	however	ADV
alkej-814	59	2	,	,	PUNCT
alkej-814	59	3	the	the	DET
alkej-814	59	4	training	training	NOUN
alkej-814	59	5	dataset	dataset	NOUN
alkej-814	59	6	was	be	AUX
alkej-814	59	7	small	small	ADJ
alkej-814	59	8	and	and	CCONJ
alkej-814	59	9	did	do	AUX
alkej-814	59	10	not	not	PART
alkej-814	59	11	cover	cover	VERB
alkej-814	59	12	a	a	DET
alkej-814	59	13	wide	wide	ADJ
alkej-814	59	14	range	range	NOUN
alkej-814	59	15	of	of	ADP
alkej-814	59	16	scenarios	scenario	NOUN
alkej-814	59	17	.	.	PUNCT
alkej-814	60	1	yahya	yahya	PROPN
alkej-814	60	2	ghufran	ghufran	VERB
alkej-814	60	3	khidhir	khidhir	PROPN
alkej-814	60	4	al	al	PROPN
alkej-814	60	5	-	-	PUNCT
alkej-814	60	6	khwarizmi	khwarizmi	PROPN
alkej-814	60	7	engineering	engineering	NOUN
alkej-814	60	8	journal	journal	PROPN
alkej-814	60	9	,	,	PUNCT
alkej-814	60	10	vol	vol	NOUN
alkej-814	60	11	.	.	PROPN
alkej-814	60	12	18	18	NUM
alkej-814	60	13	,	,	PUNCT
alkej-814	60	14	no	no	INTJ
alkej-814	60	15	.	.	NOUN
alkej-814	60	16	4	4	NUM
alkej-814	60	17	,	,	PUNCT
alkej-814	60	18	p.p	p.p	PROPN
alkej-814	60	19	.	.	NOUN
alkej-814	60	20	4559	4559	NUM
alkej-814	60	21	(	(	PUNCT
alkej-814	60	22	2022	2022	NUM
alkej-814	60	23	)	)	PUNCT
alkej-814	60	24	47	47	NUM
alkej-814	60	25	in	in	ADP
alkej-814	60	26	[	[	X
alkej-814	60	27	9	9	NUM
alkej-814	60	28	]	]	PUNCT
alkej-814	60	29	,	,	PUNCT
alkej-814	60	30	the	the	DET
alkej-814	60	31	researchers	researcher	NOUN
alkej-814	60	32	designed	design	VERB
alkej-814	60	33	dl	dl	PROPN
alkej-814	60	34	models	model	NOUN
alkej-814	60	35	for	for	ADP
alkej-814	60	36	the	the	DET
alkej-814	60	37	input	input	NOUN
alkej-814	60	38	image	image	NOUN
alkej-814	60	39	size	size	NOUN
alkej-814	60	40	of	of	ADP
alkej-814	60	41	(	(	PUNCT
alkej-814	60	42	70x160x3	70x160x3	NOUN
alkej-814	60	43	)	)	PUNCT
alkej-814	60	44	in	in	ADP
alkej-814	60	45	order	order	NOUN
alkej-814	60	46	to	to	PART
alkej-814	60	47	carry	carry	VERB
alkej-814	60	48	out	out	ADP
alkej-814	60	49	longitudinal	longitudinal	ADJ
alkej-814	60	50	and	and	CCONJ
alkej-814	60	51	lateral	lateral	ADJ
alkej-814	60	52	vehicle	vehicle	NOUN
alkej-814	60	53	control	control	NOUN
alkej-814	60	54	.	.	PUNCT
alkej-814	61	1	predictions	prediction	NOUN
alkej-814	61	2	of	of	ADP
alkej-814	61	3	both	both	CCONJ
alkej-814	61	4	speed	speed	NOUN
alkej-814	61	5	and	and	CCONJ
alkej-814	61	6	steering	steering	NOUN
alkej-814	61	7	angle	angle	NOUN
alkej-814	61	8	were	be	AUX
alkej-814	61	9	made	make	VERB
alkej-814	61	10	by	by	ADP
alkej-814	61	11	developing	develop	VERB
alkej-814	61	12	two	two	NUM
alkej-814	61	13	separate	separate	ADJ
alkej-814	61	14	models	model	NOUN
alkej-814	61	15	.	.	PUNCT
alkej-814	62	1	max	max	PROPN
alkej-814	62	2	-	-	PUNCT
alkej-814	62	3	pooling	pooling	NOUN
alkej-814	62	4	was	be	AUX
alkej-814	62	5	employed	employ	VERB
alkej-814	62	6	in	in	ADP
alkej-814	62	7	each	each	DET
alkej-814	62	8	convolution	convolution	NOUN
alkej-814	62	9	in	in	ADP
alkej-814	62	10	dnn	dnn	PROPN
alkej-814	62	11	.	.	PUNCT
alkej-814	63	1	the	the	DET
alkej-814	63	2	dualaction	dualaction	NOUN
alkej-814	63	3	model	model	NOUN
alkej-814	63	4	completed	complete	VERB
alkej-814	63	5	all	all	DET
alkej-814	63	6	loops	loop	NOUN
alkej-814	63	7	of	of	ADP
alkej-814	63	8	the	the	DET
alkej-814	63	9	simulation	simulation	NOUN
alkej-814	63	10	track	track	NOUN
alkej-814	63	11	without	without	ADP
alkej-814	63	12	leaving	leave	VERB
alkej-814	63	13	the	the	DET
alkej-814	63	14	designated	designate	VERB
alkej-814	63	15	lanes	lane	NOUN
alkej-814	63	16	,	,	PUNCT
alkej-814	63	17	demonstrating	demonstrate	VERB
alkej-814	63	18	full	full	ADJ
alkej-814	63	19	autonomy	autonomy	NOUN
alkej-814	63	20	.	.	PUNCT
alkej-814	64	1	however	however	ADV
alkej-814	64	2	,	,	PUNCT
alkej-814	64	3	there	there	PRON
alkej-814	64	4	was	be	VERB
alkej-814	64	5	insufficient	insufficient	ADJ
alkej-814	64	6	memory	memory	NOUN
alkej-814	64	7	for	for	ADP
alkej-814	64	8	training	training	NOUN
alkej-814	64	9	due	due	ADP
alkej-814	64	10	to	to	ADP
alkej-814	64	11	the	the	DET
alkej-814	64	12	excessive	excessive	ADJ
alkej-814	64	13	use	use	NOUN
alkej-814	64	14	of	of	ADP
alkej-814	64	15	threads	thread	NOUN
alkej-814	64	16	.	.	PUNCT
alkej-814	65	1	in	in	ADP
alkej-814	65	2	addition	addition	NOUN
alkej-814	65	3	,	,	PUNCT
alkej-814	65	4	another	another	DET
alkej-814	65	5	group	group	NOUN
alkej-814	65	6	of	of	ADP
alkej-814	65	7	researchers	researcher	NOUN
alkej-814	65	8	[	[	X
alkej-814	65	9	10	10	NUM
alkej-814	65	10	]	]	PUNCT
alkej-814	65	11	developed	develop	VERB
alkej-814	65	12	a	a	DET
alkej-814	65	13	lightweight	lightweight	ADJ
alkej-814	65	14	dnn	dnn	PROPN
alkej-814	65	15	model	model	NOUN
alkej-814	65	16	(	(	PUNCT
alkej-814	65	17	j	j	PROPN
alkej-814	65	18	-	-	NOUN
alkej-814	65	19	net	net	NOUN
alkej-814	65	20	)	)	PUNCT
alkej-814	65	21	for	for	ADP
alkej-814	65	22	car	car	NOUN
alkej-814	65	23	steering	steering	NOUN
alkej-814	65	24	angle	angle	NOUN
alkej-814	65	25	control	control	NOUN
alkej-814	65	26	and	and	CCONJ
alkej-814	65	27	compared	compare	VERB
alkej-814	65	28	this	this	DET
alkej-814	65	29	model	model	NOUN
alkej-814	65	30	to	to	ADP
alkej-814	65	31	two	two	NUM
alkej-814	65	32	other	other	ADJ
alkej-814	65	33	models	model	NOUN
alkej-814	65	34	,	,	PUNCT
alkej-814	65	35	alexnet	alexnet	NOUN
alkej-814	65	36	and	and	CCONJ
alkej-814	65	37	nvidia	nvidia	PROPN
alkej-814	65	38	's	's	PART
alkej-814	65	39	model	model	NOUN
alkej-814	65	40	.	.	PUNCT
alkej-814	66	1	input	input	NOUN
alkej-814	66	2	images	image	NOUN
alkej-814	66	3	to	to	ADP
alkej-814	66	4	the	the	DET
alkej-814	66	5	first	first	ADJ
alkej-814	66	6	convolutional	convolutional	ADJ
alkej-814	66	7	layer	layer	NOUN
alkej-814	66	8	of	of	ADP
alkej-814	66	9	the	the	DET
alkej-814	66	10	proposed	propose	VERB
alkej-814	66	11	models	model	NOUN
alkej-814	66	12	have	have	VERB
alkej-814	66	13	a	a	DET
alkej-814	66	14	size	size	NOUN
alkej-814	66	15	of	of	ADP
alkej-814	66	16	(	(	PUNCT
alkej-814	66	17	65x320x3	65x320x3	NUM
alkej-814	66	18	)	)	PUNCT
alkej-814	66	19	.	.	PUNCT
alkej-814	67	1	successful	successful	ADJ
alkej-814	67	2	autonomous	autonomous	ADJ
alkej-814	67	3	driving	driving	NOUN
alkej-814	67	4	was	be	AUX
alkej-814	67	5	measured	measure	VERB
alkej-814	67	6	,	,	PUNCT
alkej-814	67	7	inferred	infer	VERB
alkej-814	67	8	,	,	PUNCT
alkej-814	67	9	and	and	CCONJ
alkej-814	67	10	analyzed	analyze	VERB
alkej-814	67	11	using	use	VERB
alkej-814	67	12	a	a	DET
alkej-814	67	13	simulator	simulator	NOUN
alkej-814	67	14	environment	environment	NOUN
alkej-814	67	15	.	.	PUNCT
alkej-814	68	1	in	in	ADP
alkej-814	68	2	comparison	comparison	NOUN
alkej-814	68	3	to	to	ADP
alkej-814	68	4	the	the	DET
alkej-814	68	5	other	other	ADJ
alkej-814	68	6	two	two	NUM
alkej-814	68	7	approaches	approach	NOUN
alkej-814	68	8	,	,	PUNCT
alkej-814	68	9	j	j	PROPN
alkej-814	68	10	-	-	ADJ
alkej-814	68	11	net	net	PROPN
alkej-814	68	12	had	have	VERB
alkej-814	68	13	the	the	DET
alkej-814	68	14	best	good	ADJ
alkej-814	68	15	latency	latency	NOUN
alkej-814	68	16	and	and	CCONJ
alkej-814	68	17	frame	frame	NOUN
alkej-814	68	18	rate	rate	NOUN
alkej-814	68	19	.	.	PUNCT
alkej-814	69	1	the	the	DET
alkej-814	69	2	j	j	PROPN
alkej-814	69	3	-	-	ADJ
alkej-814	69	4	net	net	ADJ
alkej-814	69	5	lite	lite	PROPN
alkej-814	69	6	model	model	NOUN
alkej-814	69	7	,	,	PUNCT
alkej-814	69	8	however	however	ADV
alkej-814	69	9	,	,	PUNCT
alkej-814	69	10	has	have	AUX
alkej-814	69	11	not	not	PART
alkej-814	69	12	been	be	AUX
alkej-814	69	13	implemented	implement	VERB
alkej-814	69	14	on	on	ADP
alkej-814	69	15	an	an	DET
alkej-814	69	16	embedded	embed	VERB
alkej-814	69	17	platform	platform	NOUN
alkej-814	69	18	with	with	ADP
alkej-814	69	19	a	a	DET
alkej-814	69	20	limited	limited	ADJ
alkej-814	69	21	number	number	NOUN
alkej-814	69	22	of	of	ADP
alkej-814	69	23	processing	processing	NOUN
alkej-814	69	24	cores	core	NOUN
alkej-814	69	25	.	.	PUNCT
alkej-814	70	1	applying	apply	VERB
alkej-814	70	2	dl	dl	NOUN
alkej-814	70	3	techniques	technique	NOUN
alkej-814	70	4	including	include	VERB
alkej-814	70	5	transfer	transfer	NOUN
alkej-814	70	6	learning	learning	NOUN
alkej-814	70	7	,	,	PUNCT
alkej-814	70	8	[	[	X
alkej-814	70	9	11	11	NUM
alkej-814	70	10	]	]	PUNCT
alkej-814	70	11	study	study	NOUN
alkej-814	70	12	compared	compare	VERB
alkej-814	70	13	two	two	NUM
alkej-814	70	14	different	different	ADJ
alkej-814	70	15	models	model	NOUN
alkej-814	70	16	for	for	ADP
alkej-814	70	17	accurate	accurate	ADJ
alkej-814	70	18	steering	steering	NOUN
alkej-814	70	19	angle	angle	NOUN
alkej-814	70	20	prediction	prediction	NOUN
alkej-814	70	21	.	.	PUNCT
alkej-814	71	1	the	the	DET
alkej-814	71	2	models	model	NOUN
alkej-814	71	3	were	be	AUX
alkej-814	71	4	a	a	DET
alkej-814	71	5	3d	3d	NUM
alkej-814	71	6	convolutional	convolutional	ADJ
alkej-814	71	7	model	model	NOUN
alkej-814	71	8	with	with	ADP
alkej-814	71	9	long	long	ADJ
alkej-814	71	10	short	short	ADJ
alkej-814	71	11	-	-	PUNCT
alkej-814	71	12	term	term	NOUN
alkej-814	71	13	memory	memory	NOUN
alkej-814	71	14	layers	layer	NOUN
alkej-814	71	15	and	and	CCONJ
alkej-814	71	16	residual	residual	ADJ
alkej-814	71	17	neural	neural	ADJ
alkej-814	71	18	network	network	NOUN
alkej-814	71	19	(	(	PUNCT
alkej-814	71	20	resnet50	resnet50	NOUN
alkej-814	71	21	)	)	PUNCT
alkej-814	71	22	with	with	ADP
alkej-814	71	23	the	the	DET
alkej-814	71	24	input	input	NOUN
alkej-814	71	25	image	image	NOUN
alkej-814	71	26	sizes	size	NOUN
alkej-814	71	27	(	(	PUNCT
alkej-814	71	28	120x320x3	120x320x3	NUM
alkej-814	71	29	)	)	PUNCT
alkej-814	71	30	and	and	CCONJ
alkej-814	71	31	(	(	PUNCT
alkej-814	71	32	224x224x3	224x224x3	NUM
alkej-814	71	33	)	)	PUNCT
alkej-814	71	34	,	,	PUNCT
alkej-814	71	35	respectively	respectively	ADV
alkej-814	71	36	.	.	PUNCT
alkej-814	72	1	the	the	DET
alkej-814	72	2	models	model	NOUN
alkej-814	72	3	were	be	AUX
alkej-814	72	4	trained	train	VERB
alkej-814	72	5	using	use	VERB
alkej-814	72	6	the	the	DET
alkej-814	72	7	udacity	udacity	NOUN
alkej-814	72	8	self	self	NOUN
alkej-814	72	9	-	-	PUNCT
alkej-814	72	10	driving	drive	VERB
alkej-814	72	11	car	car	NOUN
alkej-814	72	12	dataset	dataset	NOUN
alkej-814	72	13	.	.	PUNCT
alkej-814	73	1	the	the	DET
alkej-814	73	2	(	(	PUNCT
alkej-814	73	3	resnet50	resnet50	NOUN
alkej-814	73	4	)	)	PUNCT
alkej-814	73	5	model	model	NOUN
alkej-814	73	6	outperformed	outperform	VERB
alkej-814	73	7	the	the	DET
alkej-814	73	8	other	other	ADJ
alkej-814	73	9	model	model	NOUN
alkej-814	73	10	with	with	ADP
alkej-814	73	11	an	an	DET
alkej-814	73	12	rmse	rmse	NOUN
alkej-814	73	13	of	of	ADP
alkej-814	73	14	0.0709	0.0709	NUM
alkej-814	73	15	.	.	PUNCT
alkej-814	74	1	nonetheless	nonetheless	ADV
alkej-814	74	2	,	,	PUNCT
alkej-814	74	3	the	the	DET
alkej-814	74	4	paper	paper	NOUN
alkej-814	74	5	's	's	PART
alkej-814	74	6	models	model	NOUN
alkej-814	74	7	benefit	benefit	VERB
alkej-814	74	8	from	from	ADP
alkej-814	74	9	limited	limited	ADJ
alkej-814	74	10	data	datum	NOUN
alkej-814	74	11	augmentation	augmentation	NOUN
alkej-814	74	12	,	,	PUNCT
alkej-814	74	13	which	which	PRON
alkej-814	74	14	is	be	AUX
alkej-814	74	15	a	a	DET
alkej-814	74	16	significant	significant	ADJ
alkej-814	74	17	limitation	limitation	NOUN
alkej-814	74	18	.	.	PUNCT
alkej-814	75	1	the	the	DET
alkej-814	75	2	topic	topic	NOUN
alkej-814	75	3	of	of	ADP
alkej-814	75	4	steering	steering	NOUN
alkej-814	75	5	angle	angle	NOUN
alkej-814	75	6	regression	regression	NOUN
alkej-814	75	7	is	be	AUX
alkej-814	75	8	framed	frame	VERB
alkej-814	75	9	as	as	ADP
alkej-814	75	10	a	a	DET
alkej-814	75	11	classification	classification	NOUN
alkej-814	75	12	challenge	challenge	NOUN
alkej-814	75	13	with	with	ADP
alkej-814	75	14	an	an	DET
alkej-814	75	15	imposed	impose	VERB
alkej-814	75	16	spatial	spatial	ADJ
alkej-814	75	17	connection	connection	NOUN
alkej-814	75	18	between	between	ADP
alkej-814	75	19	neurons	neuron	NOUN
alkej-814	75	20	in	in	ADP
alkej-814	75	21	the	the	DET
alkej-814	75	22	output	output	NOUN
alkej-814	75	23	layer	layer	NOUN
alkej-814	75	24	.	.	PUNCT
alkej-814	76	1	another	another	DET
alkej-814	76	2	study	study	NOUN
alkej-814	76	3	[	[	X
alkej-814	76	4	12	12	NUM
alkej-814	76	5	]	]	PUNCT
alkej-814	76	6	presented	present	VERB
alkej-814	76	7	a	a	DET
alkej-814	76	8	comparison	comparison	NOUN
alkej-814	76	9	between	between	ADP
alkej-814	76	10	the	the	DET
alkej-814	76	11	three	three	NUM
alkej-814	76	12	transfer	transfer	NOUN
alkej-814	76	13	learning	learning	NOUN
alkej-814	76	14	models	model	NOUN
alkej-814	76	15	:	:	PUNCT
alkej-814	76	16	visual	visual	ADJ
alkej-814	76	17	geometry	geometry	NOUN
alkej-814	76	18	group	group	NOUN
alkej-814	76	19	(	(	PUNCT
alkej-814	76	20	vgg16	vgg16	PROPN
alkej-814	76	21	)	)	PUNCT
alkej-814	76	22	,	,	PUNCT
alkej-814	76	23	resnet-152	resnet-152	NOUN
alkej-814	76	24	,	,	PUNCT
alkej-814	76	25	densely	densely	ADV
alkej-814	76	26	connected	connect	VERB
alkej-814	76	27	convolutional	convolutional	ADJ
alkej-814	76	28	networks	network	NOUN
alkej-814	76	29	(	(	PUNCT
alkej-814	76	30	densenet201	densenet201	PROPN
alkej-814	76	31	,	,	PUNCT
alkej-814	76	32	and	and	CCONJ
alkej-814	76	33	nvidia	nvidia	PROPN
alkej-814	76	34	’s	’s	PART
alkej-814	76	35	model	model	NOUN
alkej-814	76	36	for	for	ADP
alkej-814	76	37	steering	steer	VERB
alkej-814	76	38	angle	angle	NOUN
alkej-814	76	39	control	control	NOUN
alkej-814	76	40	.	.	PUNCT
alkej-814	77	1	the	the	DET
alkej-814	77	2	input	input	NOUN
alkej-814	77	3	image	image	NOUN
alkej-814	77	4	size	size	NOUN
alkej-814	77	5	for	for	ADP
alkej-814	77	6	all	all	DET
alkej-814	77	7	models	model	NOUN
alkej-814	77	8	was	be	AUX
alkej-814	77	9	(	(	PUNCT
alkej-814	77	10	66x200x3	66x200x3	NUM
alkej-814	77	11	)	)	PUNCT
alkej-814	77	12	.	.	PUNCT
alkej-814	78	1	the	the	DET
alkej-814	78	2	models	model	NOUN
alkej-814	78	3	were	be	AUX
alkej-814	78	4	trained	train	VERB
alkej-814	78	5	with	with	ADP
alkej-814	78	6	25	25	NUM
alkej-814	78	7	minutes	minute	NOUN
alkej-814	78	8	of	of	ADP
alkej-814	78	9	driving	drive	VERB
alkej-814	78	10	time	time	NOUN
alkej-814	78	11	at	at	ADP
alkej-814	78	12	30	30	NUM
alkej-814	78	13	frames	frame	NOUN
alkej-814	78	14	per	per	ADP
alkej-814	78	15	second	second	ADV
alkej-814	78	16	using	use	VERB
alkej-814	78	17	a	a	DET
alkej-814	78	18	raspberry	raspberry	NOUN
alkej-814	78	19	pi	pi	NOUN
alkej-814	78	20	camera	camera	NOUN
alkej-814	78	21	.	.	PUNCT
alkej-814	79	1	nvidia	nvidia	PROPN
alkej-814	79	2	’s	’s	PART
alkej-814	79	3	model	model	NOUN
alkej-814	79	4	outperformed	outperform	VERB
alkej-814	79	5	the	the	DET
alkej-814	79	6	other	other	ADJ
alkej-814	79	7	models	model	NOUN
alkej-814	79	8	with	with	ADP
alkej-814	79	9	a	a	DET
alkej-814	79	10	mean	mean	ADJ
alkej-814	79	11	square	square	NOUN
alkej-814	79	12	error	error	NOUN
alkej-814	79	13	(	(	PUNCT
alkej-814	79	14	mse	mse	NOUN
alkej-814	79	15	)	)	PUNCT
alkej-814	79	16	of	of	ADP
alkej-814	79	17	0.3521	0.3521	NUM
alkej-814	79	18	.	.	PUNCT
alkej-814	80	1	the	the	DET
alkej-814	80	2	authors	author	NOUN
alkej-814	80	3	used	use	VERB
alkej-814	80	4	random	random	ADJ
alkej-814	80	5	videos	video	NOUN
alkej-814	80	6	from	from	ADP
alkej-814	80	7	youtube	youtube	NOUN
alkej-814	80	8	to	to	PART
alkej-814	80	9	visualize	visualize	VERB
alkej-814	80	10	the	the	DET
alkej-814	80	11	performance	performance	NOUN
alkej-814	80	12	of	of	ADP
alkej-814	80	13	nvidia	nvidia	PROPN
alkej-814	80	14	’s	’s	PART
alkej-814	80	15	model	model	NOUN
alkej-814	80	16	.	.	PUNCT
alkej-814	81	1	using	use	VERB
alkej-814	81	2	a	a	DET
alkej-814	81	3	monocular	monocular	ADJ
alkej-814	81	4	self	self	NOUN
alkej-814	81	5	-	-	PUNCT
alkej-814	81	6	driving	drive	VERB
alkej-814	81	7	car	car	NOUN
alkej-814	81	8	prototype	prototype	NOUN
alkej-814	81	9	,	,	PUNCT
alkej-814	81	10	the	the	DET
alkej-814	81	11	authors	author	NOUN
alkej-814	81	12	of	of	ADP
alkej-814	81	13	[	[	X
alkej-814	81	14	13	13	NUM
alkej-814	81	15	]	]	PUNCT
alkej-814	81	16	proposed	propose	VERB
alkej-814	81	17	a	a	DET
alkej-814	81	18	dnn	dnn	PROPN
alkej-814	81	19	applied	apply	VERB
alkej-814	81	20	to	to	ADP
alkej-814	81	21	a	a	DET
alkej-814	81	22	raspberry	raspberry	NOUN
alkej-814	81	23	pi	pi	NOUN
alkej-814	81	24	with	with	ADP
alkej-814	81	25	an	an	DET
alkej-814	81	26	input	input	NOUN
alkej-814	81	27	image	image	NOUN
alkej-814	81	28	size	size	NOUN
alkej-814	81	29	of	of	ADP
alkej-814	81	30	(	(	PUNCT
alkej-814	81	31	120x160x3	120x160x3	NUM
alkej-814	81	32	)	)	PUNCT
alkej-814	81	33	for	for	ADP
alkej-814	81	34	steering	steer	VERB
alkej-814	81	35	angle	angle	NOUN
alkej-814	81	36	prediction	prediction	NOUN
alkej-814	81	37	.	.	PUNCT
alkej-814	82	1	as	as	ADP
alkej-814	82	2	a	a	DET
alkej-814	82	3	vehicle	vehicle	NOUN
alkej-814	82	4	platform	platform	NOUN
alkej-814	82	5	,	,	PUNCT
alkej-814	82	6	a	a	DET
alkej-814	82	7	1/10	1/10	NUM
alkej-814	82	8	scale	scale	NOUN
alkej-814	82	9	rc	rc	PROPN
alkej-814	82	10	car	car	NOUN
alkej-814	82	11	was	be	AUX
alkej-814	82	12	employed	employ	VERB
alkej-814	82	13	.	.	PUNCT
alkej-814	83	1	data	datum	NOUN
alkej-814	83	2	was	be	AUX
alkej-814	83	3	acquired	acquire	VERB
alkej-814	83	4	from	from	ADP
alkej-814	83	5	an	an	DET
alkej-814	83	6	oval	oval	NOUN
alkej-814	83	7	and	and	CCONJ
alkej-814	83	8	an	an	DET
alkej-814	83	9	8	8	NUM
alkej-814	83	10	-	-	PUNCT
alkej-814	83	11	shaped	shape	VERB
alkej-814	83	12	track	track	NOUN
alkej-814	83	13	equipped	equip	VERB
alkej-814	83	14	with	with	ADP
alkej-814	83	15	traffic	traffic	NOUN
alkej-814	83	16	signs	sign	NOUN
alkej-814	83	17	.	.	PUNCT
alkej-814	84	1	experiments	experiment	NOUN
alkej-814	84	2	demonstrate	demonstrate	VERB
alkej-814	84	3	that	that	SCONJ
alkej-814	84	4	the	the	DET
alkej-814	84	5	autopilot	autopilot	NOUN
alkej-814	84	6	product	product	NOUN
alkej-814	84	7	is	be	AUX
alkej-814	84	8	capable	capable	ADJ
alkej-814	84	9	of	of	ADP
alkej-814	84	10	maintaining	maintain	VERB
alkej-814	84	11	a	a	DET
alkej-814	84	12	lane	lane	NOUN
alkej-814	84	13	with	with	ADP
alkej-814	84	14	a	a	DET
alkej-814	84	15	crossentropy	crossentropy	NOUN
alkej-814	84	16	cost	cost	NOUN
alkej-814	84	17	function	function	NOUN
alkej-814	84	18	accuracy	accuracy	NOUN
alkej-814	84	19	of	of	ADP
alkej-814	84	20	89.04	89.04	NUM
alkej-814	84	21	%	%	NOUN
alkej-814	84	22	.	.	PUNCT
alkej-814	85	1	regardless	regardless	ADV
alkej-814	85	2	of	of	ADP
alkej-814	85	3	lane	lane	NOUN
alkej-814	85	4	markers	marker	NOUN
alkej-814	85	5	,	,	PUNCT
alkej-814	85	6	the	the	DET
alkej-814	85	7	vehicle	vehicle	NOUN
alkej-814	85	8	's	's	PART
alkej-814	85	9	top	top	ADJ
alkej-814	85	10	speed	speed	NOUN
alkej-814	85	11	is	be	AUX
alkej-814	85	12	5–6	5–6	NUM
alkej-814	85	13	km	km	PROPN
alkej-814	85	14	/	/	SYM
alkej-814	85	15	h	h	NOUN
alkej-814	85	16	at	at	ADP
alkej-814	85	17	10	10	NUM
alkej-814	85	18	frames	frame	NOUN
alkej-814	85	19	per	per	ADP
alkej-814	85	20	second	second	NOUN
alkej-814	85	21	.	.	PUNCT
alkej-814	86	1	nevertheless	nevertheless	ADV
alkej-814	86	2	,	,	PUNCT
alkej-814	86	3	the	the	DET
alkej-814	86	4	camera	camera	NOUN
alkej-814	86	5	used	use	VERB
alkej-814	86	6	in	in	ADP
alkej-814	86	7	their	their	PRON
alkej-814	86	8	car	car	NOUN
alkej-814	86	9	prototype	prototype	NOUN
alkej-814	86	10	lagged	lag	VERB
alkej-814	86	11	by	by	ADP
alkej-814	86	12	300	300	NUM
alkej-814	86	13	-	-	SYM
alkej-814	86	14	350	350	NUM
alkej-814	86	15	milliseconds	millisecond	NOUN
alkej-814	86	16	.	.	PUNCT
alkej-814	87	1	multichannel	multichannel	ADJ
alkej-814	87	2	convolutional	convolutional	ADJ
alkej-814	87	3	neural	neural	ADJ
alkej-814	87	4	networks	network	NOUN
alkej-814	87	5	(	(	PUNCT
alkej-814	87	6	m	m	NOUN
alkej-814	87	7	-	-	PUNCT
alkej-814	87	8	cnns	cnns	ADJ
alkej-814	87	9	)	)	PUNCT
alkej-814	87	10	were	be	AUX
alkej-814	87	11	utilized	utilize	VERB
alkej-814	87	12	for	for	ADP
alkej-814	87	13	vehicle	vehicle	NOUN
alkej-814	87	14	speed	speed	NOUN
alkej-814	87	15	and	and	CCONJ
alkej-814	87	16	steering	steering	NOUN
alkej-814	87	17	angle	angle	NOUN
alkej-814	87	18	calculations	calculation	NOUN
alkej-814	87	19	in	in	ADP
alkej-814	87	20	[	[	X
alkej-814	87	21	14	14	NUM
alkej-814	87	22	]	]	PUNCT
alkej-814	87	23	.	.	PUNCT
alkej-814	88	1	the	the	DET
alkej-814	88	2	model	model	NOUN
alkej-814	88	3	uses	use	VERB
alkej-814	88	4	(	(	PUNCT
alkej-814	88	5	227x227x3	227x227x3	NUM
alkej-814	88	6	)	)	PUNCT
alkej-814	88	7	image	image	NOUN
alkej-814	88	8	size	size	NOUN
alkej-814	88	9	from	from	ADP
alkej-814	88	10	front	front	ADJ
alkej-814	88	11	-	-	PUNCT
alkej-814	88	12	view	view	NOUN
alkej-814	88	13	camera	camera	NOUN
alkej-814	88	14	recordings	recording	NOUN
alkej-814	88	15	and	and	CCONJ
alkej-814	88	16	feedback	feedback	NOUN
alkej-814	88	17	speed	speed	NOUN
alkej-814	88	18	sequences	sequence	NOUN
alkej-814	88	19	as	as	ADP
alkej-814	88	20	its	its	PRON
alkej-814	88	21	input	input	NOUN
alkej-814	88	22	.	.	PUNCT
alkej-814	89	1	the	the	DET
alkej-814	89	2	public	public	ADJ
alkej-814	89	3	udacity	udacity	NOUN
alkej-814	89	4	dataset	dataset	NOUN
alkej-814	89	5	and	and	CCONJ
alkej-814	89	6	the	the	DET
alkej-814	89	7	gathered	gather	VERB
alkej-814	89	8	saic	saic	PROPN
alkej-814	89	9	dataset	dataset	PROPN
alkej-814	89	10	are	be	AUX
alkej-814	89	11	used	use	VERB
alkej-814	89	12	to	to	PART
alkej-814	89	13	evaluate	evaluate	VERB
alkej-814	89	14	the	the	DET
alkej-814	89	15	suggested	suggest	VERB
alkej-814	89	16	technique	technique	NOUN
alkej-814	89	17	.	.	PUNCT
alkej-814	90	1	the	the	DET
alkej-814	90	2	proposed	propose	VERB
alkej-814	90	3	concept	concept	NOUN
alkej-814	90	4	was	be	AUX
alkej-814	90	5	contrasted	contrast	VERB
alkej-814	90	6	with	with	ADP
alkej-814	90	7	the	the	DET
alkej-814	90	8	updated	update	VERB
alkej-814	90	9	versions	version	NOUN
alkej-814	90	10	of	of	ADP
alkej-814	90	11	the	the	DET
alkej-814	90	12	cg	cg	NOUN
alkej-814	90	13	network	network	NOUN
alkej-814	90	14	and	and	CCONJ
alkej-814	90	15	pilotnet	pilotnet	NOUN
alkej-814	90	16	from	from	ADP
alkej-814	90	17	nvidia	nvidia	PROPN
alkej-814	90	18	.	.	PUNCT
alkej-814	91	1	with	with	ADP
alkej-814	91	2	an	an	DET
alkej-814	91	3	mae	mae	PROPN
alkej-814	91	4	of	of	ADP
alkej-814	91	5	1.26	1.26	NUM
alkej-814	91	6	degrees	degree	NOUN
alkej-814	91	7	for	for	ADP
alkej-814	91	8	steering	steering	NOUN
alkej-814	91	9	angle	angle	NOUN
alkej-814	91	10	and	and	CCONJ
alkej-814	91	11	0.19	0.19	NUM
alkej-814	91	12	meters	meter	NOUN
alkej-814	91	13	per	per	ADP
alkej-814	91	14	second	second	NOUN
alkej-814	91	15	for	for	ADP
alkej-814	91	16	speed	speed	NOUN
alkej-814	91	17	values	value	NOUN
alkej-814	91	18	,	,	PUNCT
alkej-814	91	19	the	the	DET
alkej-814	91	20	m	m	PROPN
alkej-814	91	21	-	-	PUNCT
alkej-814	91	22	cnns	cnns	PROPN
alkej-814	91	23	were	be	AUX
alkej-814	91	24	better	well	ADJ
alkej-814	91	25	than	than	ADP
alkej-814	91	26	the	the	DET
alkej-814	91	27	implemented	implement	VERB
alkej-814	91	28	nvidia	nvidia	PROPN
alkej-814	91	29	pilotnet	pilotnet	NOUN
alkej-814	91	30	and	and	CCONJ
alkej-814	91	31	the	the	DET
alkej-814	91	32	cg	cg	NOUN
alkej-814	91	33	network	network	NOUN
alkej-814	91	34	.	.	PUNCT
alkej-814	92	1	numerous	numerous	ADJ
alkej-814	92	2	studies	study	NOUN
alkej-814	92	3	have	have	AUX
alkej-814	92	4	focused	focus	VERB
alkej-814	92	5	on	on	ADP
alkej-814	92	6	constructing	construct	VERB
alkej-814	92	7	dnns	dnn	NOUN
alkej-814	92	8	from	from	ADP
alkej-814	92	9	low	low	ADJ
alkej-814	92	10	-	-	PUNCT
alkej-814	92	11	resolution	resolution	NOUN
alkej-814	92	12	images	image	NOUN
alkej-814	92	13	for	for	ADP
alkej-814	92	14	deployment	deployment	NOUN
alkej-814	92	15	throughout	throughout	ADP
alkej-814	92	16	low	low	ADJ
alkej-814	92	17	-	-	PUNCT
alkej-814	92	18	performance	performance	NOUN
alkej-814	92	19	embedded	embed	VERB
alkej-814	92	20	systems	system	NOUN
alkej-814	92	21	.	.	PUNCT
alkej-814	93	1	this	this	DET
alkej-814	93	2	research	research	NOUN
alkej-814	93	3	aims	aim	VERB
alkej-814	93	4	to	to	PART
alkej-814	93	5	develop	develop	VERB
alkej-814	93	6	an	an	DET
alkej-814	93	7	end	end	NOUN
alkej-814	93	8	-	-	PUNCT
alkej-814	93	9	to	to	ADP
alkej-814	93	10	-	-	PUNCT
alkej-814	93	11	end	end	NOUN
alkej-814	93	12	method	method	NOUN
alkej-814	93	13	for	for	ADP
alkej-814	93	14	forecasting	forecast	VERB
alkej-814	93	15	the	the	DET
alkej-814	93	16	steering	steering	NOUN
alkej-814	93	17	angle	angle	NOUN
alkej-814	93	18	using	use	VERB
alkej-814	93	19	well	well	ADV
alkej-814	93	20	-	-	PUNCT
alkej-814	93	21	known	know	VERB
alkej-814	93	22	dnns	dnn	NOUN
alkej-814	93	23	that	that	PRON
alkej-814	93	24	can	can	AUX
alkej-814	93	25	be	be	AUX
alkej-814	93	26	implemented	implement	VERB
alkej-814	93	27	on	on	ADP
alkej-814	93	28	low	low	ADJ
alkej-814	93	29	-	-	PUNCT
alkej-814	93	30	performance	performance	NOUN
alkej-814	93	31	embedded	embed	VERB
alkej-814	93	32	systems	system	NOUN
alkej-814	93	33	.	.	PUNCT
alkej-814	94	1	in	in	ADP
alkej-814	94	2	addition	addition	NOUN
alkej-814	94	3	,	,	PUNCT
alkej-814	94	4	provide	provide	VERB
alkej-814	94	5	an	an	DET
alkej-814	94	6	overview	overview	NOUN
alkej-814	94	7	of	of	ADP
alkej-814	94	8	well	well	ADV
alkej-814	94	9	-	-	PUNCT
alkej-814	94	10	known	know	VERB
alkej-814	94	11	dl	dl	NOUN
alkej-814	94	12	models	model	NOUN
alkej-814	94	13	,	,	PUNCT
alkej-814	94	14	such	such	ADJ
alkej-814	94	15	as	as	ADP
alkej-814	94	16	alexnet	alexnet	ADJ
alkej-814	94	17	,	,	PUNCT
alkej-814	94	18	resnet18	resnet18	NOUN
alkej-814	94	19	,	,	PUNCT
alkej-814	94	20	and	and	CCONJ
alkej-814	94	21	densenet-121	densenet-121	NOUN
alkej-814	94	22	,	,	PUNCT
alkej-814	94	23	that	that	PRON
alkej-814	94	24	accurately	accurately	ADV
alkej-814	94	25	predict	predict	VERB
alkej-814	94	26	autonomous	autonomous	ADJ
alkej-814	94	27	driving	driving	NOUN
alkej-814	94	28	commands	command	NOUN
alkej-814	94	29	but	but	CCONJ
alkej-814	94	30	have	have	AUX
alkej-814	94	31	not	not	PART
alkej-814	94	32	previously	previously	ADV
alkej-814	94	33	been	be	AUX
alkej-814	94	34	studied	study	VERB
alkej-814	94	35	.	.	PUNCT
alkej-814	95	1	to	to	PART
alkej-814	95	2	train	train	VERB
alkej-814	95	3	the	the	DET
alkej-814	95	4	selected	select	VERB
alkej-814	95	5	models	model	NOUN
alkej-814	95	6	,	,	PUNCT
alkej-814	95	7	data	datum	NOUN
alkej-814	95	8	were	be	AUX
alkej-814	95	9	collected	collect	VERB
alkej-814	95	10	from	from	ADP
alkej-814	95	11	two	two	NUM
alkej-814	95	12	distinct	distinct	ADJ
alkej-814	95	13	tracks	track	NOUN
alkej-814	95	14	with	with	ADP
alkej-814	95	15	image	image	NOUN
alkej-814	95	16	sizes	size	NOUN
alkej-814	95	17	of	of	ADP
alkej-814	95	18	(	(	PUNCT
alkej-814	95	19	224x224x3	224x224x3	NUM
alkej-814	95	20	)	)	PUNCT
alkej-814	95	21	,	,	PUNCT
alkej-814	95	22	which	which	PRON
alkej-814	95	23	is	be	AUX
alkej-814	95	24	the	the	DET
alkej-814	95	25	most	most	ADV
alkej-814	95	26	frequent	frequent	ADJ
alkej-814	95	27	resolution	resolution	NOUN
alkej-814	95	28	.	.	PUNCT
alkej-814	96	1	furthermore	furthermore	ADV
alkej-814	96	2	,	,	PUNCT
alkej-814	96	3	the	the	DET
alkej-814	96	4	presented	present	VERB
alkej-814	96	5	work	work	NOUN
alkej-814	96	6	's	's	PART
alkej-814	96	7	accuracy	accuracy	NOUN
alkej-814	96	8	and	and	CCONJ
alkej-814	96	9	consistency	consistency	NOUN
alkej-814	96	10	were	be	AUX
alkej-814	96	11	examined	examine	VERB
alkej-814	96	12	and	and	CCONJ
alkej-814	96	13	compared	compare	VERB
alkej-814	96	14	.	.	PUNCT
alkej-814	97	1	the	the	DET
alkej-814	97	2	following	follow	VERB
alkej-814	97	3	are	be	AUX
alkej-814	97	4	the	the	DET
alkej-814	97	5	paper	paper	NOUN
alkej-814	97	6	's	's	PART
alkej-814	97	7	main	main	ADJ
alkej-814	97	8	contributions	contribution	NOUN
alkej-814	97	9	:	:	PUNCT
alkej-814	97	10	1	1	X
alkej-814	97	11	.	.	X
alkej-814	97	12	image	image	NOUN
alkej-814	97	13	classification	classification	NOUN
alkej-814	97	14	convolutional	convolutional	ADJ
alkej-814	97	15	neural	neural	ADJ
alkej-814	97	16	networks	network	NOUN
alkej-814	97	17	alexnet	alexnet	NOUN
alkej-814	97	18	,	,	PUNCT
alkej-814	97	19	resnet18	resnet18	NOUN
alkej-814	97	20	,	,	PUNCT
alkej-814	97	21	and	and	CCONJ
alkej-814	97	22	densenet121	densenet121	PROPN
alkej-814	97	23	were	be	AUX
alkej-814	97	24	modified	modify	VERB
alkej-814	97	25	and	and	CCONJ
alkej-814	97	26	deployed	deploy	VERB
alkej-814	97	27	for	for	ADP
alkej-814	97	28	end	end	NOUN
alkej-814	97	29	-	-	PUNCT
alkej-814	97	30	to	to	ADP
alkej-814	97	31	-	-	PUNCT
alkej-814	97	32	end	end	NOUN
alkej-814	97	33	autonomous	autonomous	ADJ
alkej-814	97	34	driving	driving	NOUN
alkej-814	97	35	.	.	PUNCT
alkej-814	98	1	2	2	X
alkej-814	98	2	.	.	X
alkej-814	98	3	the	the	DET
alkej-814	98	4	jetson	jetson	PROPN
alkej-814	98	5	nano	nano	PROPN
alkej-814	98	6	2	2	NUM
alkej-814	98	7	gb	gb	NOUN
alkej-814	98	8	,	,	PUNCT
alkej-814	98	9	a	a	DET
alkej-814	98	10	low	low	ADJ
alkej-814	98	11	-	-	PUNCT
alkej-814	98	12	performance	performance	NOUN
alkej-814	98	13	embedded	embed	VERB
alkej-814	98	14	system	system	NOUN
alkej-814	98	15	,	,	PUNCT
alkej-814	98	16	was	be	AUX
alkej-814	98	17	applied	apply	VERB
alkej-814	98	18	to	to	PART
alkej-814	98	19	evaluate	evaluate	VERB
alkej-814	98	20	the	the	DET
alkej-814	98	21	modified	modify	VERB
alkej-814	98	22	models	model	NOUN
alkej-814	98	23	.	.	PUNCT
alkej-814	99	1	consequently	consequently	ADV
alkej-814	99	2	,	,	PUNCT
alkej-814	99	3	it	it	PRON
alkej-814	99	4	proved	prove	VERB
alkej-814	99	5	that	that	DET
alkej-814	99	6	resnet18	resnet18	NOUN
alkej-814	99	7	and	and	CCONJ
alkej-814	99	8	densenet121	densenet121	PROPN
alkej-814	99	9	are	be	AUX
alkej-814	99	10	well	well	ADV
alkej-814	99	11	-	-	PUNCT
alkej-814	99	12	suited	suit	VERB
alkej-814	99	13	to	to	PART
alkej-814	99	14	be	be	AUX
alkej-814	99	15	employed	employ	VERB
alkej-814	99	16	in	in	ADP
alkej-814	99	17	low	low	ADJ
alkej-814	99	18	-	-	PUNCT
alkej-814	99	19	performance	performance	NOUN
alkej-814	99	20	embedded	embed	VERB
alkej-814	99	21	devices	device	NOUN
alkej-814	99	22	.	.	PUNCT
alkej-814	100	1	3	3	X
alkej-814	100	2	.	.	X
alkej-814	100	3	the	the	DET
alkej-814	100	4	majority	majority	NOUN
alkej-814	100	5	of	of	ADP
alkej-814	100	6	data	datum	NOUN
alkej-814	100	7	was	be	AUX
alkej-814	100	8	collected	collect	VERB
alkej-814	100	9	from	from	ADP
alkej-814	100	10	the	the	DET
alkej-814	100	11	first	first	ADJ
alkej-814	100	12	track	track	NOUN
alkej-814	100	13	,	,	PUNCT
alkej-814	100	14	while	while	SCONJ
alkej-814	100	15	some	some	DET
alkej-814	100	16	information	information	NOUN
alkej-814	100	17	was	be	AUX
alkej-814	100	18	obtained	obtain	VERB
alkej-814	100	19	yahya	yahya	PROPN
alkej-814	100	20	ghufran	ghufran	PROPN
alkej-814	100	21	khidhir	khidhir	PROPN
alkej-814	100	22	al	al	PROPN
alkej-814	100	23	-	-	PUNCT
alkej-814	100	24	khwarizmi	khwarizmi	PROPN
alkej-814	100	25	engineering	engineering	NOUN
alkej-814	100	26	journal	journal	PROPN
alkej-814	100	27	,	,	PUNCT
alkej-814	100	28	vol	vol	NOUN
alkej-814	100	29	.	.	PROPN
alkej-814	100	30	18	18	NUM
alkej-814	100	31	,	,	PUNCT
alkej-814	100	32	no	no	INTJ
alkej-814	100	33	.	.	NOUN
alkej-814	100	34	4	4	NUM
alkej-814	100	35	,	,	PUNCT
alkej-814	100	36	p.p	p.p	PROPN
alkej-814	100	37	.	.	NOUN
alkej-814	100	38	4559	4559	NUM
alkej-814	100	39	(	(	PUNCT
alkej-814	100	40	2022	2022	NUM
alkej-814	100	41	)	)	PUNCT
alkej-814	100	42	48	48	NUM
alkej-814	100	43	from	from	ADP
alkej-814	100	44	the	the	DET
alkej-814	100	45	second	second	NOUN
alkej-814	100	46	.	.	PUNCT
alkej-814	101	1	the	the	DET
alkej-814	101	2	results	result	NOUN
alkej-814	101	3	demonstrate	demonstrate	VERB
alkej-814	101	4	that	that	SCONJ
alkej-814	101	5	the	the	DET
alkej-814	101	6	robot	robot	NOUN
alkej-814	101	7	can	can	AUX
alkej-814	101	8	drive	drive	VERB
alkej-814	101	9	89	89	NUM
alkej-814	101	10	%	%	NOUN
alkej-814	101	11	of	of	ADP
alkej-814	101	12	the	the	DET
alkej-814	101	13	time	time	NOUN
alkej-814	101	14	on	on	ADP
alkej-814	101	15	an	an	DET
alkej-814	101	16	untrained	untrained	ADJ
alkej-814	101	17	track	track	NOUN
alkej-814	101	18	.	.	PUNCT
alkej-814	102	1	4	4	X
alkej-814	102	2	.	.	X
alkej-814	102	3	the	the	DET
alkej-814	102	4	performance	performance	NOUN
alkej-814	102	5	of	of	ADP
alkej-814	102	6	resnet18	resnet18	NOUN
alkej-814	102	7	and	and	CCONJ
alkej-814	102	8	densenet121	densenet121	PROPN
alkej-814	102	9	was	be	AUX
alkej-814	102	10	evaluated	evaluate	VERB
alkej-814	102	11	on	on	ADP
alkej-814	102	12	two	two	NUM
alkej-814	102	13	different	different	ADJ
alkej-814	102	14	tracks	track	NOUN
alkej-814	102	15	to	to	PART
alkej-814	102	16	demonstrate	demonstrate	VERB
alkej-814	102	17	their	their	PRON
alkej-814	102	18	suitability	suitability	NOUN
alkej-814	102	19	for	for	ADP
alkej-814	102	20	autonomous	autonomous	ADJ
alkej-814	102	21	driving	driving	NOUN
alkej-814	102	22	.	.	PUNCT
alkej-814	103	1	resnet18	resnet18	NOUN
alkej-814	103	2	outperformed	outperform	VERB
alkej-814	103	3	densenet121	densenet121	PROPN
alkej-814	103	4	in	in	ADP
alkej-814	103	5	terms	term	NOUN
alkej-814	103	6	of	of	ADP
alkej-814	103	7	precision	precision	NOUN
alkej-814	103	8	,	,	PUNCT
alkej-814	103	9	with	with	ADP
alkej-814	103	10	less	less	ADJ
alkej-814	103	11	deviation	deviation	NOUN
alkej-814	103	12	from	from	ADP
alkej-814	103	13	the	the	DET
alkej-814	103	14	center	center	NOUN
alkej-814	103	15	of	of	ADP
alkej-814	103	16	the	the	DET
alkej-814	103	17	track	track	NOUN
alkej-814	103	18	.	.	PUNCT
alkej-814	104	1	densenet121	densenet121	PROPN
alkej-814	104	2	was	be	AUX
alkej-814	104	3	more	more	ADV
alkej-814	104	4	adaptable	adaptable	ADJ
alkej-814	104	5	across	across	ADP
alkej-814	104	6	tracks	track	NOUN
alkej-814	104	7	,	,	PUNCT
alkej-814	104	8	resulting	result	VERB
alkej-814	104	9	in	in	ADP
alkej-814	104	10	better	well	ADJ
alkej-814	104	11	consistency	consistency	NOUN
alkej-814	104	12	.	.	PUNCT
alkej-814	105	1	3	3	X
alkej-814	105	2	.	.	X
alkej-814	105	3	method	method	NOUN
alkej-814	105	4	this	this	DET
alkej-814	105	5	section	section	NOUN
alkej-814	105	6	explains	explain	VERB
alkej-814	105	7	the	the	DET
alkej-814	105	8	algorithms	algorithm	NOUN
alkej-814	105	9	used	use	VERB
alkej-814	105	10	in	in	ADP
alkej-814	105	11	this	this	DET
alkej-814	105	12	work	work	NOUN
alkej-814	105	13	in	in	ADP
alkej-814	105	14	considerable	considerable	ADJ
alkej-814	105	15	detail	detail	NOUN
alkej-814	105	16	followed	follow	VERB
alkej-814	105	17	by	by	ADP
alkej-814	105	18	the	the	DET
alkej-814	105	19	robot	robot	NOUN
alkej-814	105	20	system	system	NOUN
alkej-814	105	21	architecture	architecture	NOUN
alkej-814	105	22	.	.	PUNCT
alkej-814	106	1	3.1	3.1	NUM
alkej-814	106	2	.	.	PUNCT
alkej-814	106	3	convolutional	convolutional	ADJ
alkej-814	106	4	neural	neural	ADJ
alkej-814	106	5	networks	network	NOUN
alkej-814	106	6	(	(	PUNCT
alkej-814	106	7	cnn	cnn	PROPN
alkej-814	106	8	)	)	PUNCT
alkej-814	106	9	cnn	cnn	PROPN
alkej-814	106	10	is	be	AUX
alkej-814	106	11	utilized	utilize	VERB
alkej-814	106	12	to	to	PART
alkej-814	106	13	classify	classify	VERB
alkej-814	106	14	the	the	DET
alkej-814	106	15	labels	label	NOUN
alkej-814	106	16	using	use	VERB
alkej-814	106	17	a	a	DET
alkej-814	106	18	supervised	supervised	ADJ
alkej-814	106	19	learning	learning	NOUN
alkej-814	106	20	technique	technique	NOUN
alkej-814	106	21	[	[	X
alkej-814	106	22	15	15	NUM
alkej-814	106	23	]	]	PUNCT
alkej-814	106	24	.	.	PUNCT
alkej-814	107	1	the	the	DET
alkej-814	107	2	first	first	ADJ
alkej-814	107	3	phase	phase	NOUN
alkej-814	107	4	in	in	ADP
alkej-814	107	5	the	the	DET
alkej-814	107	6	cnn	cnn	NOUN
alkej-814	107	7	architecture	architecture	NOUN
alkej-814	107	8	is	be	AUX
alkej-814	107	9	the	the	DET
alkej-814	107	10	convolution	convolution	NOUN
alkej-814	107	11	layer	layer	NOUN
alkej-814	107	12	,	,	PUNCT
alkej-814	107	13	where	where	SCONJ
alkej-814	107	14	a	a	DET
alkej-814	107	15	2d	2d	NUM
alkej-814	107	16	convolution	convolution	NOUN
alkej-814	107	17	operation	operation	NOUN
alkej-814	107	18	is	be	AUX
alkej-814	107	19	applied	apply	VERB
alkej-814	107	20	to	to	ADP
alkej-814	107	21	the	the	DET
alkej-814	107	22	image	image	NOUN
alkej-814	107	23	.	.	PUNCT
alkej-814	108	1	in	in	ADP
alkej-814	108	2	convolution	convolution	NOUN
alkej-814	108	3	,	,	PUNCT
alkej-814	108	4	the	the	DET
alkej-814	108	5	three	three	NUM
alkej-814	108	6	-	-	PUNCT
alkej-814	108	7	channel	channel	NOUN
alkej-814	108	8	rgb	rgb	PROPN
alkej-814	108	9	with	with	ADP
alkej-814	108	10	a	a	DET
alkej-814	108	11	2d	2d	NUM
alkej-814	108	12	size	size	NOUN
alkej-814	108	13	image	image	NOUN
alkej-814	108	14	is	be	AUX
alkej-814	108	15	convolved	convolve	VERB
alkej-814	108	16	with	with	ADP
alkej-814	108	17	kernels	kernel	NOUN
alkej-814	108	18	.	.	PUNCT
alkej-814	109	1	the	the	DET
alkej-814	109	2	output	output	NOUN
alkej-814	109	3	of	of	ADP
alkej-814	109	4	convolution	convolution	NOUN
alkej-814	109	5	known	know	VERB
alkej-814	109	6	as	as	ADP
alkej-814	109	7	feature	feature	NOUN
alkej-814	109	8	map	map	NOUN
alkej-814	109	9	focuses	focus	VERB
alkej-814	109	10	on	on	ADP
alkej-814	109	11	particular	particular	ADJ
alkej-814	109	12	features	feature	NOUN
alkej-814	109	13	in	in	ADP
alkej-814	109	14	the	the	DET
alkej-814	109	15	input	input	NOUN
alkej-814	109	16	image	image	NOUN
alkej-814	109	17	regardless	regardless	ADV
alkej-814	109	18	of	of	ADP
alkej-814	109	19	their	their	PRON
alkej-814	109	20	location	location	NOUN
alkej-814	109	21	in	in	ADP
alkej-814	109	22	the	the	DET
alkej-814	109	23	image	image	NOUN
alkej-814	109	24	.	.	PUNCT
alkej-814	110	1	the	the	DET
alkej-814	110	2	convolutions	convolution	NOUN
alkej-814	110	3	with	with	ADP
alkej-814	110	4	kernels	kernel	NOUN
alkej-814	110	5	are	be	AUX
alkej-814	110	6	used	use	VERB
alkej-814	110	7	to	to	PART
alkej-814	110	8	extract	extract	VERB
alkej-814	110	9	lowlevel	lowlevel	VERB
alkej-814	110	10	particular	particular	ADJ
alkej-814	110	11	features	feature	NOUN
alkej-814	110	12	(	(	PUNCT
alkej-814	110	13	like	like	ADP
alkej-814	110	14	edges	edge	NOUN
alkej-814	110	15	and	and	CCONJ
alkej-814	110	16	corners	corner	NOUN
alkej-814	110	17	of	of	ADP
alkej-814	110	18	the	the	DET
alkej-814	110	19	road	road	NOUN
alkej-814	110	20	)	)	PUNCT
alkej-814	110	21	from	from	ADP
alkej-814	110	22	the	the	DET
alkej-814	110	23	previous	previous	ADJ
alkej-814	110	24	layers	layer	NOUN
alkej-814	110	25	and	and	CCONJ
alkej-814	110	26	combine	combine	VERB
alkej-814	110	27	them	they	PRON
alkej-814	110	28	with	with	ADP
alkej-814	110	29	higher	high	ADJ
alkej-814	110	30	-	-	PUNCT
alkej-814	110	31	level	level	NOUN
alkej-814	110	32	extracted	extract	VERB
alkej-814	110	33	features	feature	NOUN
alkej-814	110	34	(	(	PUNCT
alkej-814	110	35	full	full	ADJ
alkej-814	110	36	objects	object	NOUN
alkej-814	110	37	of	of	ADP
alkej-814	110	38	the	the	DET
alkej-814	110	39	road	road	NOUN
alkej-814	110	40	)	)	PUNCT
alkej-814	110	41	in	in	ADP
alkej-814	110	42	the	the	DET
alkej-814	110	43	next	next	ADJ
alkej-814	110	44	hidden	hidden	ADJ
alkej-814	110	45	layers	layer	NOUN
alkej-814	110	46	.	.	PUNCT
alkej-814	111	1	which	which	PRON
alkej-814	111	2	reduce	reduce	VERB
alkej-814	111	3	the	the	DET
alkej-814	111	4	size	size	NOUN
alkej-814	111	5	of	of	ADP
alkej-814	111	6	the	the	DET
alkej-814	111	7	image	image	NOUN
alkej-814	111	8	and	and	CCONJ
alkej-814	111	9	increase	increase	VERB
alkej-814	111	10	the	the	DET
alkej-814	111	11	number	number	NOUN
alkej-814	111	12	of	of	ADP
alkej-814	111	13	parameters	parameter	NOUN
alkej-814	111	14	(	(	PUNCT
alkej-814	111	15	weights	weight	NOUN
alkej-814	111	16	and	and	CCONJ
alkej-814	111	17	biases	bias	NOUN
alkej-814	111	18	)	)	PUNCT
alkej-814	112	1	[	[	X
alkej-814	112	2	16	16	NUM
alkej-814	112	3	]	]	PUNCT
alkej-814	112	4	.	.	PUNCT
alkej-814	113	1	as	as	SCONJ
alkej-814	113	2	the	the	DET
alkej-814	113	3	number	number	NOUN
alkej-814	113	4	of	of	ADP
alkej-814	113	5	parameters	parameter	NOUN
alkej-814	113	6	increases	increase	NOUN
alkej-814	113	7	,	,	PUNCT
alkej-814	113	8	more	more	ADJ
alkej-814	113	9	training	training	NOUN
alkej-814	113	10	time	time	NOUN
alkej-814	113	11	is	be	AUX
alkej-814	113	12	required	require	VERB
alkej-814	113	13	.	.	PUNCT
alkej-814	114	1	the	the	DET
alkej-814	114	2	activation	activation	NOUN
alkej-814	114	3	function	function	NOUN
alkej-814	114	4	is	be	AUX
alkej-814	114	5	applied	apply	VERB
alkej-814	114	6	after	after	ADP
alkej-814	114	7	the	the	DET
alkej-814	114	8	convolution	convolution	NOUN
alkej-814	114	9	.	.	PUNCT
alkej-814	115	1	the	the	DET
alkej-814	115	2	activation	activation	NOUN
alkej-814	115	3	function	function	NOUN
alkej-814	115	4	is	be	AUX
alkej-814	115	5	responsible	responsible	ADJ
alkej-814	115	6	for	for	ADP
alkej-814	115	7	determining	determine	VERB
alkej-814	115	8	whether	whether	SCONJ
alkej-814	115	9	or	or	CCONJ
alkej-814	115	10	not	not	PART
alkej-814	115	11	a	a	DET
alkej-814	115	12	neuron	neuron	NOUN
alkej-814	115	13	is	be	AUX
alkej-814	115	14	fired	fire	VERB
alkej-814	115	15	.	.	PUNCT
alkej-814	116	1	in	in	ADP
alkej-814	116	2	other	other	ADJ
alkej-814	116	3	words	word	NOUN
alkej-814	116	4	,	,	PUNCT
alkej-814	116	5	it	it	PRON
alkej-814	116	6	will	will	AUX
alkej-814	116	7	use	use	VERB
alkej-814	116	8	simpler	simple	ADJ
alkej-814	116	9	mathematical	mathematical	ADJ
alkej-814	116	10	operations	operation	NOUN
alkej-814	116	11	to	to	PART
alkej-814	116	12	decide	decide	VERB
alkej-814	116	13	whether	whether	SCONJ
alkej-814	116	14	or	or	CCONJ
alkej-814	116	15	not	not	PART
alkej-814	116	16	the	the	DET
alkej-814	116	17	neuron	neuron	NOUN
alkej-814	116	18	's	's	PART
alkej-814	116	19	input	input	NOUN
alkej-814	116	20	is	be	AUX
alkej-814	116	21	essential	essential	ADJ
alkej-814	116	22	to	to	ADP
alkej-814	116	23	the	the	DET
alkej-814	116	24	network	network	NOUN
alkej-814	116	25	.	.	PUNCT
alkej-814	117	1	calculating	calculate	VERB
alkej-814	117	2	a	a	DET
alkej-814	117	3	weighted	weighted	ADJ
alkej-814	117	4	sum	sum	NOUN
alkej-814	117	5	and	and	CCONJ
alkej-814	117	6	then	then	ADV
alkej-814	117	7	adding	add	VERB
alkej-814	117	8	bias	bias	NOUN
alkej-814	117	9	to	to	ADP
alkej-814	117	10	it	it	PRON
alkej-814	117	11	is	be	AUX
alkej-814	117	12	how	how	SCONJ
alkej-814	117	13	the	the	DET
alkej-814	117	14	activation	activation	NOUN
alkej-814	117	15	function	function	VERB
alkej-814	117	16	determines	determine	VERB
alkej-814	117	17	whether	whether	SCONJ
alkej-814	117	18	or	or	CCONJ
alkej-814	117	19	not	not	PART
alkej-814	117	20	a	a	DET
alkej-814	117	21	neuron	neuron	NOUN
alkej-814	117	22	should	should	AUX
alkej-814	117	23	be	be	AUX
alkej-814	117	24	activated	activate	VERB
alkej-814	117	25	or	or	CCONJ
alkej-814	117	26	not[17	not[17	NUM
alkej-814	117	27	]	]	PUNCT
alkej-814	117	28	.	.	PUNCT
alkej-814	118	1	the	the	DET
alkej-814	118	2	activation	activation	NOUN
alkej-814	118	3	function	function	NOUN
alkej-814	118	4	adds	add	VERB
alkej-814	118	5	nonlinearity	nonlinearity	NOUN
alkej-814	118	6	to	to	ADP
alkej-814	118	7	a	a	DET
alkej-814	118	8	neuron	neuron	NOUN
alkej-814	118	9	's	's	PART
alkej-814	118	10	output	output	NOUN
alkej-814	118	11	[	[	X
alkej-814	118	12	18	18	NUM
alkej-814	118	13	]	]	PUNCT
alkej-814	118	14	.	.	PUNCT
alkej-814	119	1	it	it	PRON
alkej-814	119	2	transforms	transform	VERB
alkej-814	119	3	the	the	DET
alkej-814	119	4	input	input	NOUN
alkej-814	119	5	,	,	PUNCT
alkej-814	119	6	allowing	allow	VERB
alkej-814	119	7	it	it	PRON
alkej-814	119	8	to	to	PART
alkej-814	119	9	learn	learn	VERB
alkej-814	119	10	and	and	CCONJ
alkej-814	119	11	execute	execute	VERB
alkej-814	119	12	highly	highly	ADV
alkej-814	119	13	complicated	complicated	ADJ
alkej-814	119	14	tasks	task	NOUN
alkej-814	119	15	.	.	PUNCT
alkej-814	120	1	in	in	ADP
alkej-814	120	2	this	this	DET
alkej-814	120	3	work	work	NOUN
alkej-814	120	4	,	,	PUNCT
alkej-814	120	5	the	the	DET
alkej-814	120	6	(	(	PUNCT
alkej-814	120	7	rectified	rectified	ADJ
alkej-814	120	8	linear	linear	NOUN
alkej-814	120	9	unit	unit	NOUN
alkej-814	120	10	)	)	PUNCT
alkej-814	121	1	[	[	X
alkej-814	121	2	19	19	NUM
alkej-814	121	3	]	]	PUNCT
alkej-814	121	4	activation	activation	NOUN
alkej-814	121	5	function	function	NOUN
alkej-814	121	6	is	be	AUX
alkej-814	121	7	applied	apply	VERB
alkej-814	121	8	to	to	ADP
alkej-814	121	9	the	the	DET
alkej-814	121	10	hidden	hidden	ADJ
alkej-814	121	11	layers	layer	NOUN
alkej-814	121	12	because	because	SCONJ
alkej-814	121	13	it	it	PRON
alkej-814	121	14	requires	require	VERB
alkej-814	121	15	fewer	few	ADJ
alkej-814	121	16	mathematical	mathematical	ADJ
alkej-814	121	17	operations	operation	NOUN
alkej-814	121	18	and	and	CCONJ
alkej-814	121	19	thus	thus	ADV
alkej-814	121	20	is	be	AUX
alkej-814	121	21	faster	fast	ADJ
alkej-814	121	22	to	to	PART
alkej-814	121	23	compute	compute	VERB
alkej-814	121	24	compared	compare	VERB
alkej-814	121	25	to	to	ADP
alkej-814	121	26	tanh	tanh	NOUN
alkej-814	121	27	and	and	CCONJ
alkej-814	121	28	sigmoid	sigmoid	NOUN
alkej-814	121	29	and	and	CCONJ
alkej-814	121	30	neglects	neglect	VERB
alkej-814	121	31	the	the	DET
alkej-814	121	32	effect	effect	NOUN
alkej-814	121	33	of	of	ADP
alkej-814	121	34	gradient	gradient	ADJ
alkej-814	121	35	vanishing	vanishing	NOUN
alkej-814	121	36	.	.	PUNCT
alkej-814	122	1	if	if	SCONJ
alkej-814	122	2	x	x	PRON
alkej-814	122	3	is	be	AUX
alkej-814	122	4	positive	positive	ADJ
alkej-814	122	5	,	,	PUNCT
alkej-814	122	6	it	it	PRON
alkej-814	122	7	returns	return	VERB
alkej-814	122	8	x	x	PUNCT
alkej-814	122	9	and	and	CCONJ
alkej-814	122	10	0	0	NUM
alkej-814	122	11	if	if	SCONJ
alkej-814	122	12	x	x	PRON
alkej-814	122	13	is	be	AUX
alkej-814	122	14	negative	negative	ADJ
alkej-814	122	15	or	or	CCONJ
alkej-814	122	16	equal	equal	ADJ
alkej-814	122	17	to	to	ADP
alkej-814	122	18	zero	zero	NUM
alkej-814	122	19	.	.	PUNCT
alkej-814	123	1	the	the	DET
alkej-814	123	2	operation	operation	NOUN
alkej-814	123	3	called	call	VERB
alkej-814	123	4	pooling	pooling	NOUN
alkej-814	123	5	was	be	AUX
alkej-814	123	6	next	next	ADV
alkej-814	123	7	performed	perform	VERB
alkej-814	123	8	,	,	PUNCT
alkej-814	123	9	which	which	PRON
alkej-814	123	10	decreases	decrease	VERB
alkej-814	123	11	the	the	DET
alkej-814	123	12	feature	feature	NOUN
alkej-814	123	13	maps	map	NOUN
alkej-814	123	14	'	'	PART
alkej-814	123	15	dimensionality	dimensionality	NOUN
alkej-814	123	16	(	(	PUNCT
alkej-814	123	17	resolution	resolution	NOUN
alkej-814	123	18	)	)	PUNCT
alkej-814	123	19	and	and	CCONJ
alkej-814	123	20	hence	hence	ADV
alkej-814	123	21	their	their	PRON
alkej-814	123	22	output	output	NOUN
alkej-814	123	23	(	(	PUNCT
alkej-814	123	24	the	the	DET
alkej-814	123	25	output	output	NOUN
alkej-814	123	26	of	of	ADP
alkej-814	123	27	the	the	DET
alkej-814	123	28	convolutional	convolutional	ADJ
alkej-814	123	29	layer	layer	NOUN
alkej-814	123	30	)	)	PUNCT
alkej-814	124	1	resolution	resolution	NOUN
alkej-814	124	2	[	[	X
alkej-814	124	3	20][21	20][21	PROPN
alkej-814	124	4	]	]	X
alkej-814	124	5	.	.	PUNCT
alkej-814	125	1	this	this	DET
alkej-814	125	2	method	method	NOUN
alkej-814	125	3	helps	help	VERB
alkej-814	125	4	to	to	PART
alkej-814	125	5	reduce	reduce	VERB
alkej-814	125	6	spatial	spatial	ADJ
alkej-814	125	7	variance	variance	NOUN
alkej-814	125	8	by	by	ADP
alkej-814	125	9	removing	remove	VERB
alkej-814	125	10	unnecessary	unnecessary	ADJ
alkej-814	125	11	information	information	NOUN
alkej-814	125	12	from	from	ADP
alkej-814	125	13	the	the	DET
alkej-814	125	14	neuron	neuron	NOUN
alkej-814	125	15	's	's	PART
alkej-814	125	16	receptive	receptive	ADJ
alkej-814	125	17	field	field	NOUN
alkej-814	125	18	by	by	ADP
alkej-814	125	19	taking	take	VERB
alkej-814	125	20	the	the	DET
alkej-814	125	21	maximum	maximum	NOUN
alkej-814	125	22	(	(	PUNCT
alkej-814	125	23	max	max	PROPN
alkej-814	125	24	pooling	pooling	NOUN
alkej-814	125	25	)	)	PUNCT
alkej-814	125	26	or	or	CCONJ
alkej-814	125	27	average	average	ADJ
alkej-814	125	28	(	(	PUNCT
alkej-814	125	29	average	average	ADJ
alkej-814	125	30	pooling	pooling	NOUN
alkej-814	125	31	)	)	PUNCT
alkej-814	125	32	value	value	NOUN
alkej-814	125	33	of	of	ADP
alkej-814	125	34	the	the	DET
alkej-814	125	35	neuron	neuron	NOUN
alkej-814	125	36	(	(	PUNCT
alkej-814	125	37	filter	filter	NOUN
alkej-814	125	38	window	window	NOUN
alkej-814	125	39	)	)	PUNCT
alkej-814	125	40	.	.	PUNCT
alkej-814	126	1	pooling	pool	VERB
alkej-814	126	2	not	not	PART
alkej-814	126	3	only	only	ADV
alkej-814	126	4	helps	help	VERB
alkej-814	126	5	in	in	ADP
alkej-814	126	6	object	object	NOUN
alkej-814	126	7	recognition	recognition	NOUN
alkej-814	126	8	in	in	ADP
alkej-814	126	9	images	image	NOUN
alkej-814	126	10	independent	independent	ADJ
alkej-814	126	11	of	of	ADP
alkej-814	126	12	their	their	PRON
alkej-814	126	13	position	position	NOUN
alkej-814	126	14	but	but	CCONJ
alkej-814	126	15	also	also	ADV
alkej-814	126	16	reduces	reduce	VERB
alkej-814	126	17	the	the	DET
alkej-814	126	18	number	number	NOUN
alkej-814	126	19	of	of	ADP
alkej-814	126	20	parameters	parameter	NOUN
alkej-814	126	21	to	to	PART
alkej-814	126	22	train	train	VERB
alkej-814	126	23	by	by	ADP
alkej-814	126	24	reducing	reduce	VERB
alkej-814	126	25	the	the	DET
alkej-814	126	26	number	number	NOUN
alkej-814	126	27	of	of	ADP
alkej-814	126	28	pixels	pixel	NOUN
alkej-814	126	29	,	,	PUNCT
alkej-814	126	30	thereby	thereby	ADV
alkej-814	126	31	contributing	contribute	VERB
alkej-814	126	32	to	to	ADP
alkej-814	126	33	the	the	DET
alkej-814	126	34	prevention	prevention	NOUN
alkej-814	126	35	of	of	ADP
alkej-814	126	36	overfitting	overfitting	NOUN
alkej-814	126	37	.	.	PUNCT
alkej-814	127	1	the	the	DET
alkej-814	127	2	two	two	NUM
alkej-814	127	3	-	-	PUNCT
alkej-814	127	4	dimensional	dimensional	ADJ
alkej-814	127	5	feature	feature	NOUN
alkej-814	127	6	vector	vector	NOUN
alkej-814	127	7	of	of	ADP
alkej-814	127	8	the	the	DET
alkej-814	127	9	final	final	ADJ
alkej-814	127	10	convolution	convolution	NOUN
alkej-814	127	11	layer	layer	NOUN
alkej-814	127	12	is	be	AUX
alkej-814	127	13	flattened	flatten	VERB
alkej-814	127	14	into	into	ADP
alkej-814	127	15	a	a	DET
alkej-814	127	16	long	long	ADJ
alkej-814	127	17	onedimensional	onedimensional	ADJ
alkej-814	127	18	array	array	NOUN
alkej-814	127	19	,	,	PUNCT
alkej-814	127	20	which	which	PRON
alkej-814	127	21	is	be	AUX
alkej-814	127	22	known	know	VERB
alkej-814	127	23	as	as	ADP
alkej-814	127	24	a	a	DET
alkej-814	127	25	fully	fully	ADV
alkej-814	127	26	connected	connect	VERB
alkej-814	127	27	layer	layer	NOUN
alkej-814	127	28	fc	fc	PROPN
alkej-814	127	29	,	,	PUNCT
alkej-814	127	30	or	or	CCONJ
alkej-814	127	31	dense	dense	ADJ
alkej-814	127	32	layer	layer	NOUN
alkej-814	127	33	.	.	PUNCT
alkej-814	128	1	a	a	DET
alkej-814	128	2	subset	subset	NOUN
alkej-814	128	3	of	of	ADP
alkej-814	128	4	fc	fc	PROPN
alkej-814	128	5	layers	layers	PROPN
alkej-814	128	6	maps	map	VERB
alkej-814	128	7	the	the	DET
alkej-814	128	8	spatial	spatial	ADJ
alkej-814	128	9	features	feature	NOUN
alkej-814	128	10	of	of	ADP
alkej-814	128	11	convolution	convolution	NOUN
alkej-814	128	12	layers	layer	NOUN
alkej-814	128	13	and	and	CCONJ
alkej-814	128	14	pooling	pool	VERB
alkej-814	128	15	layers	layer	NOUN
alkej-814	128	16	to	to	ADP
alkej-814	128	17	the	the	DET
alkej-814	128	18	final	final	ADJ
alkej-814	128	19	outputs	output	NOUN
alkej-814	128	20	of	of	ADP
alkej-814	128	21	the	the	DET
alkej-814	128	22	network	network	NOUN
alkej-814	128	23	,	,	PUNCT
alkej-814	128	24	which	which	PRON
alkej-814	128	25	directly	directly	ADV
alkej-814	128	26	predicts	predict	VERB
alkej-814	128	27	the	the	DET
alkej-814	128	28	steering	steering	NOUN
alkej-814	128	29	angle	angle	NOUN
alkej-814	128	30	value	value	NOUN
alkej-814	128	31	.	.	PUNCT
alkej-814	129	1	the	the	DET
alkej-814	129	2	steering	steering	NOUN
alkej-814	129	3	angle	angle	NOUN
alkej-814	129	4	of	of	ADP
alkej-814	129	5	each	each	DET
alkej-814	129	6	image	image	NOUN
alkej-814	129	7	is	be	AUX
alkej-814	129	8	represented	represent	VERB
alkej-814	129	9	by	by	ADP
alkej-814	129	10	a	a	DET
alkej-814	129	11	single	single	ADJ
alkej-814	129	12	point	point	NOUN
alkej-814	129	13	on	on	ADP
alkej-814	129	14	the	the	DET
alkej-814	129	15	image	image	NOUN
alkej-814	129	16	.	.	PUNCT
alkej-814	130	1	in	in	ADP
alkej-814	130	2	this	this	DET
alkej-814	130	3	study	study	NOUN
alkej-814	130	4	,	,	PUNCT
alkej-814	130	5	the	the	DET
alkej-814	130	6	dataset	dataset	NOUN
alkej-814	130	7	consisting	consist	VERB
alkej-814	130	8	of	of	ADP
alkej-814	130	9	road	road	NOUN
alkej-814	130	10	images	image	NOUN
alkej-814	130	11	and	and	CCONJ
alkej-814	130	12	steering	steering	NOUN
alkej-814	130	13	angle	angle	NOUN
alkej-814	130	14	labels	label	NOUN
alkej-814	130	15	is	be	AUX
alkej-814	130	16	used	use	VERB
alkej-814	130	17	for	for	ADP
alkej-814	130	18	training	training	NOUN
alkej-814	130	19	purposes	purpose	NOUN
alkej-814	130	20	.	.	PUNCT
alkej-814	131	1	the	the	DET
alkej-814	131	2	trained	train	VERB
alkej-814	131	3	model	model	NOUN
alkej-814	131	4	predicts	predict	VERB
alkej-814	131	5	the	the	DET
alkej-814	131	6	steering	steering	NOUN
alkej-814	131	7	angle	angle	NOUN
alkej-814	131	8	in	in	ADP
alkej-814	131	9	realtime	realtime	NOUN
alkej-814	131	10	while	while	SCONJ
alkej-814	131	11	detecting	detect	VERB
alkej-814	131	12	unlabeled	unlabeled	ADJ
alkej-814	131	13	images	image	NOUN
alkej-814	131	14	,	,	PUNCT
alkej-814	131	15	as	as	SCONJ
alkej-814	131	16	regression	regression	NOUN
alkej-814	131	17	is	be	AUX
alkej-814	131	18	the	the	DET
alkej-814	131	19	process	process	NOUN
alkej-814	131	20	of	of	ADP
alkej-814	131	21	forecasting	forecast	VERB
alkej-814	131	22	a	a	DET
alkej-814	131	23	value	value	NOUN
alkej-814	131	24	based	base	VERB
alkej-814	131	25	on	on	ADP
alkej-814	131	26	previous	previous	ADJ
alkej-814	131	27	data	datum	NOUN
alkej-814	131	28	.	.	PUNCT
alkej-814	132	1	adam	adam	PROPN
alkej-814	132	2	is	be	AUX
alkej-814	132	3	the	the	DET
alkej-814	132	4	optimizer	optimizer	NOUN
alkej-814	132	5	implemented	implement	VERB
alkej-814	132	6	by	by	ADP
alkej-814	132	7	cnns	cnn	NOUN
alkej-814	132	8	in	in	ADP
alkej-814	132	9	the	the	DET
alkej-814	132	10	current	current	ADJ
alkej-814	132	11	study	study	NOUN
alkej-814	132	12	.	.	PUNCT
alkej-814	133	1	optimizers	optimizer	NOUN
alkej-814	133	2	modify	modify	VERB
alkej-814	133	3	neural	neural	ADJ
alkej-814	133	4	network	network	NOUN
alkej-814	133	5	parameters	parameter	NOUN
alkej-814	133	6	including	include	VERB
alkej-814	133	7	weights	weight	NOUN
alkej-814	133	8	and	and	CCONJ
alkej-814	133	9	learning	learn	VERB
alkej-814	133	10	rates	rate	NOUN
alkej-814	133	11	.	.	PUNCT
alkej-814	134	1	the	the	DET
alkej-814	134	2	accuracy	accuracy	NOUN
alkej-814	134	3	of	of	ADP
alkej-814	134	4	the	the	DET
alkej-814	134	5	model	model	NOUN
alkej-814	134	6	is	be	AUX
alkej-814	134	7	computed	compute	VERB
alkej-814	134	8	employing	employ	VERB
alkej-814	134	9	loss	loss	NOUN
alkej-814	134	10	function	function	NOUN
alkej-814	134	11	.	.	PUNCT
alkej-814	135	1	as	as	SCONJ
alkej-814	135	2	described	describe	VERB
alkej-814	135	3	in	in	ADP
alkej-814	135	4	section	section	NOUN
alkej-814	135	5	2.5	2.5	NUM
alkej-814	135	6	,	,	PUNCT
alkej-814	135	7	this	this	DET
alkej-814	135	8	study	study	NOUN
alkej-814	135	9	suggests	suggest	VERB
alkej-814	135	10	utilizing	utilize	VERB
alkej-814	135	11	mse	mse	NOUN
alkej-814	135	12	loss	loss	NOUN
alkej-814	135	13	function	function	NOUN
alkej-814	135	14	to	to	PART
alkej-814	135	15	train	train	VERB
alkej-814	135	16	a	a	DET
alkej-814	135	17	regression	regression	NOUN
alkej-814	135	18	network	network	NOUN
alkej-814	135	19	for	for	ADP
alkej-814	135	20	the	the	DET
alkej-814	135	21	task	task	NOUN
alkej-814	135	22	of	of	ADP
alkej-814	135	23	predicting	predict	VERB
alkej-814	135	24	continuous	continuous	ADJ
alkej-814	135	25	steering	steering	NOUN
alkej-814	135	26	angles	angle	NOUN
alkej-814	135	27	from	from	ADP
alkej-814	135	28	models	model	NOUN
alkej-814	135	29	.	.	PUNCT
alkej-814	136	1	the	the	DET
alkej-814	136	2	(	(	PUNCT
alkej-814	136	3	mse	mse	NOUN
alkej-814	136	4	)	)	PUNCT
alkej-814	136	5	illustrates	illustrate	VERB
alkej-814	136	6	how	how	SCONJ
alkej-814	136	7	far	far	ADV
alkej-814	136	8	away	away	ADV
alkej-814	136	9	from	from	ADP
alkej-814	136	10	reality	reality	NOUN
alkej-814	136	11	predictions	prediction	NOUN
alkej-814	136	12	were	be	AUX
alkej-814	136	13	.	.	PUNCT
alkej-814	137	1	3.2	3.2	NUM
alkej-814	137	2	.	.	PUNCT
alkej-814	138	1	cnn	cnn	PROPN
alkej-814	138	2	models	model	VERB
alkej-814	138	3	the	the	DET
alkej-814	138	4	three	three	NUM
alkej-814	138	5	cnn	cnn	PROPN
alkej-814	138	6	architectures	architecture	NOUN
alkej-814	138	7	used	use	VERB
alkej-814	138	8	in	in	ADP
alkej-814	138	9	this	this	DET
alkej-814	138	10	work	work	NOUN
alkej-814	138	11	are	be	AUX
alkej-814	138	12	resnet18	resnet18	NOUN
alkej-814	138	13	,	,	PUNCT
alkej-814	138	14	densnet121	densnet121	PROPN
alkej-814	138	15	,	,	PUNCT
alkej-814	138	16	and	and	CCONJ
alkej-814	138	17	alexnet	alexnet	NOUN
alkej-814	138	18	.	.	PUNCT
alkej-814	139	1	all	all	DET
alkej-814	139	2	three	three	NUM
alkej-814	139	3	models	model	NOUN
alkej-814	139	4	take	take	VERB
alkej-814	139	5	a	a	DET
alkej-814	139	6	224	224	NUM
alkej-814	139	7	*	*	SYM
alkej-814	139	8	224	224	NUM
alkej-814	139	9	image	image	NOUN
alkej-814	139	10	size	size	NOUN
alkej-814	139	11	as	as	ADP
alkej-814	139	12	input	input	NOUN
alkej-814	139	13	.	.	PUNCT
alkej-814	140	1	residual	residual	ADJ
alkej-814	140	2	learning	learning	NOUN
alkej-814	140	3	was	be	AUX
alkej-814	140	4	used	use	VERB
alkej-814	140	5	in	in	ADP
alkej-814	140	6	resnet18	resnet18	NOUN
alkej-814	140	7	to	to	PART
alkej-814	140	8	overcome	overcome	VERB
alkej-814	140	9	the	the	DET
alkej-814	140	10	loss	loss	NOUN
alkej-814	140	11	of	of	ADP
alkej-814	140	12	precision	precision	NOUN
alkej-814	140	13	with	with	ADP
alkej-814	140	14	increasing	increase	VERB
alkej-814	140	15	network	network	NOUN
alkej-814	140	16	depth	depth	NOUN
alkej-814	140	17	.	.	PUNCT
alkej-814	141	1	it	it	PRON
alkej-814	141	2	has	have	VERB
alkej-814	141	3	18	18	NUM
alkej-814	141	4	layers	layer	NOUN
alkej-814	141	5	,	,	PUNCT
alkej-814	141	6	including	include	VERB
alkej-814	141	7	17	17	NUM
alkej-814	141	8	convolutional	convolutional	ADJ
alkej-814	141	9	layers	layer	NOUN
alkej-814	141	10	and	and	CCONJ
alkej-814	141	11	one	one	NUM
alkej-814	141	12	fc	fc	NOUN
alkej-814	141	13	layer	layer	NOUN
alkej-814	141	14	with	with	ADP
alkej-814	141	15	3x3	3x3	NUM
alkej-814	141	16	filters	filter	NOUN
alkej-814	141	17	.	.	PUNCT
alkej-814	142	1	this	this	DET
alkej-814	142	2	network	network	NOUN
alkej-814	142	3	also	also	ADV
alkej-814	142	4	has	have	VERB
alkej-814	142	5	approximately	approximately	ADV
alkej-814	142	6	11	11	NUM
alkej-814	142	7	million	million	NUM
alkej-814	142	8	parameters	parameter	NOUN
alkej-814	142	9	.	.	PUNCT
alkej-814	143	1	down	down	ADJ
alkej-814	143	2	sampling	sample	VERB
alkej-814	143	3	is	be	AUX
alkej-814	143	4	performed	perform	VERB
alkej-814	143	5	yahya	yahya	PROPN
alkej-814	143	6	ghufran	ghufran	PROPN
alkej-814	143	7	khidhir	khidhir	PROPN
alkej-814	143	8	al	al	PROPN
alkej-814	143	9	-	-	PUNCT
alkej-814	143	10	khwarizmi	khwarizmi	PROPN
alkej-814	143	11	engineering	engineering	NOUN
alkej-814	143	12	journal	journal	PROPN
alkej-814	143	13	,	,	PUNCT
alkej-814	143	14	vol	vol	NOUN
alkej-814	143	15	.	.	PROPN
alkej-814	143	16	18	18	NUM
alkej-814	143	17	,	,	PUNCT
alkej-814	143	18	no	no	INTJ
alkej-814	143	19	.	.	NOUN
alkej-814	143	20	4	4	NUM
alkej-814	143	21	,	,	PUNCT
alkej-814	143	22	p.p	p.p	PROPN
alkej-814	143	23	.	.	NOUN
alkej-814	143	24	4559	4559	NUM
alkej-814	143	25	(	(	PUNCT
alkej-814	143	26	2022	2022	NUM
alkej-814	143	27	)	)	PUNCT
alkej-814	143	28	49	49	NUM
alkej-814	143	29	by	by	ADP
alkej-814	143	30	convolutional	convolutional	ADJ
alkej-814	143	31	layers	layer	NOUN
alkej-814	143	32	with	with	ADP
alkej-814	143	33	a	a	DET
alkej-814	143	34	stride	stride	NOUN
alkej-814	143	35	of	of	ADP
alkej-814	143	36	two	two	NUM
alkej-814	143	37	,	,	PUNCT
alkej-814	143	38	as	as	SCONJ
alkej-814	143	39	shown	show	VERB
alkej-814	143	40	in	in	ADP
alkej-814	143	41	figure	figure	NOUN
alkej-814	143	42	2[22	2[22	NUM
alkej-814	143	43	]	]	PUNCT
alkej-814	143	44	.	.	PUNCT
alkej-814	144	1	the	the	DET
alkej-814	144	2	final	final	ADJ
alkej-814	144	3	fc	fc	NOUN
alkej-814	144	4	layer	layer	NOUN
alkej-814	144	5	and	and	CCONJ
alkej-814	144	6	softmax	softmax	NOUN
alkej-814	144	7	were	be	AUX
alkej-814	144	8	removed	remove	VERB
alkej-814	144	9	from	from	ADP
alkej-814	144	10	the	the	DET
alkej-814	144	11	original	original	ADJ
alkej-814	144	12	network	network	NOUN
alkej-814	144	13	,	,	PUNCT
alkej-814	144	14	and	and	CCONJ
alkej-814	144	15	an	an	DET
alkej-814	144	16	additional	additional	ADJ
alkej-814	144	17	fc	fc	NOUN
alkej-814	144	18	layer	layer	NOUN
alkej-814	144	19	was	be	AUX
alkej-814	144	20	added	add	VERB
alkej-814	144	21	to	to	PART
alkej-814	144	22	convert	convert	VERB
alkej-814	144	23	512	512	NUM
alkej-814	144	24	features	feature	NOUN
alkej-814	144	25	to	to	ADP
alkej-814	144	26	one	one	NUM
alkej-814	144	27	output	output	NOUN
alkej-814	144	28	feature	feature	NOUN
alkej-814	144	29	(	(	PUNCT
alkej-814	144	30	steering	steering	NOUN
alkej-814	144	31	angle	angle	NOUN
alkej-814	144	32	)	)	PUNCT
alkej-814	144	33	.	.	PUNCT
alkej-814	145	1	densenet	densenet	NOUN
alkej-814	145	2	was	be	AUX
alkej-814	145	3	developed	develop	VERB
alkej-814	145	4	to	to	PART
alkej-814	145	5	address	address	VERB
alkej-814	145	6	the	the	DET
alkej-814	145	7	problem	problem	NOUN
alkej-814	145	8	of	of	ADP
alkej-814	145	9	vanishing	vanish	VERB
alkej-814	145	10	gradients	gradient	NOUN
alkej-814	145	11	in	in	ADP
alkej-814	145	12	high	high	ADJ
alkej-814	145	13	-	-	PUNCT
alkej-814	145	14	level	level	NOUN
alkej-814	145	15	neural	neural	ADJ
alkej-814	145	16	networks	network	NOUN
alkej-814	145	17	[	[	X
alkej-814	145	18	23	23	NUM
alkej-814	145	19	]	]	PUNCT
alkej-814	145	20	,	,	PUNCT
alkej-814	145	21	which	which	PRON
alkej-814	145	22	causes	cause	VERB
alkej-814	145	23	accuracy	accuracy	NOUN
alkej-814	145	24	to	to	PART
alkej-814	145	25	decrease	decrease	VERB
alkej-814	145	26	.	.	PUNCT
alkej-814	146	1	the	the	DET
alkej-814	146	2	network	network	NOUN
alkej-814	146	3	has	have	VERB
alkej-814	146	4	121	121	NUM
alkej-814	146	5	layers	layer	NOUN
alkej-814	146	6	,	,	PUNCT
alkej-814	146	7	which	which	PRON
alkej-814	146	8	are	be	AUX
alkej-814	146	9	divided	divide	VERB
alkej-814	146	10	into	into	ADP
alkej-814	146	11	four	four	NUM
alkej-814	146	12	dense	dense	ADJ
alkej-814	146	13	blocks	block	NOUN
alkej-814	146	14	made	make	VERB
alkej-814	146	15	up	up	ADP
alkej-814	146	16	of	of	ADP
alkej-814	146	17	convolutional	convolutional	ADJ
alkej-814	146	18	layers	layer	NOUN
alkej-814	146	19	and	and	CCONJ
alkej-814	146	20	transition	transition	NOUN
alkej-814	146	21	layers	layer	NOUN
alkej-814	146	22	in	in	ADP
alkej-814	146	23	between	between	ADP
alkej-814	146	24	to	to	PART
alkej-814	146	25	facilitate	facilitate	VERB
alkej-814	146	26	information	information	NOUN
alkej-814	146	27	flow	flow	NOUN
alkej-814	146	28	between	between	ADP
alkej-814	146	29	layers	layer	NOUN
alkej-814	146	30	,	,	PUNCT
alkej-814	146	31	as	as	SCONJ
alkej-814	146	32	shown	show	VERB
alkej-814	146	33	in	in	ADP
alkej-814	146	34	figure	figure	NOUN
alkej-814	146	35	3	3	NUM
alkej-814	146	36	.	.	X
alkej-814	146	37	densnet121	densnet121	PROPN
alkej-814	146	38	is	be	AUX
alkej-814	146	39	made	make	VERB
alkej-814	146	40	up	up	ADP
alkej-814	146	41	of	of	ADP
alkej-814	146	42	7.2	7.2	NUM
alkej-814	146	43	million	million	NUM
alkej-814	146	44	parameters	parameter	NOUN
alkej-814	146	45	.	.	PUNCT
alkej-814	147	1	the	the	DET
alkej-814	147	2	original	original	ADJ
alkej-814	147	3	network	network	NOUN
alkej-814	147	4	's	's	PART
alkej-814	147	5	final	final	ADJ
alkej-814	147	6	fc	fc	NOUN
alkej-814	147	7	layer	layer	NOUN
alkej-814	147	8	and	and	CCONJ
alkej-814	147	9	softmax	softmax	NOUN
alkej-814	147	10	were	be	AUX
alkej-814	147	11	removed	remove	VERB
alkej-814	147	12	,	,	PUNCT
alkej-814	147	13	and	and	CCONJ
alkej-814	147	14	an	an	DET
alkej-814	147	15	additional	additional	ADJ
alkej-814	147	16	fc	fc	NOUN
alkej-814	147	17	layer	layer	NOUN
alkej-814	147	18	was	be	AUX
alkej-814	147	19	created	create	VERB
alkej-814	147	20	to	to	PART
alkej-814	147	21	convert	convert	VERB
alkej-814	147	22	1024	1024	NUM
alkej-814	147	23	features	feature	NOUN
alkej-814	147	24	to	to	ADP
alkej-814	147	25	one	one	NUM
alkej-814	147	26	output	output	NOUN
alkej-814	147	27	feature	feature	NOUN
alkej-814	147	28	(	(	PUNCT
alkej-814	147	29	steering	steering	NOUN
alkej-814	147	30	angle	angle	NOUN
alkej-814	147	31	)	)	PUNCT
alkej-814	147	32	.	.	PUNCT
alkej-814	148	1	fig	fig	NOUN
alkej-814	148	2	.	.	PUNCT
alkej-814	149	1	2	2	NUM
alkej-814	149	2	.	.	NOUN
alkej-814	149	3	resnet18	resnet18	NOUN
alkej-814	149	4	architecture	architecture	NOUN
alkej-814	149	5	.	.	PUNCT
alkej-814	150	1	fig	fig	NOUN
alkej-814	150	2	.	.	PUNCT
alkej-814	151	1	3	3	X
alkej-814	151	2	.	.	PUNCT
alkej-814	151	3	densenet121	densenet121	PROPN
alkej-814	151	4	architecture	architecture	NOUN
alkej-814	151	5	.	.	PUNCT
alkej-814	152	1	yahya	yahya	PROPN
alkej-814	152	2	ghufran	ghufran	VERB
alkej-814	152	3	khidhir	khidhir	PROPN
alkej-814	152	4	al	al	PROPN
alkej-814	152	5	-	-	PUNCT
alkej-814	152	6	khwarizmi	khwarizmi	PROPN
alkej-814	152	7	engineering	engineering	NOUN
alkej-814	152	8	journal	journal	PROPN
alkej-814	152	9	,	,	PUNCT
alkej-814	152	10	vol	vol	NOUN
alkej-814	152	11	.	.	PROPN
alkej-814	152	12	18	18	NUM
alkej-814	152	13	,	,	PUNCT
alkej-814	152	14	no	no	INTJ
alkej-814	152	15	.	.	NOUN
alkej-814	152	16	4	4	NUM
alkej-814	152	17	,	,	PUNCT
alkej-814	152	18	p.p	p.p	PROPN
alkej-814	152	19	.	.	NOUN
alkej-814	152	20	4559	4559	NUM
alkej-814	152	21	(	(	PUNCT
alkej-814	152	22	2022	2022	NUM
alkej-814	152	23	)	)	PUNCT
alkej-814	152	24	50	50	NUM
alkej-814	152	25	3.3	3.3	NUM
alkej-814	152	26	.	.	PUNCT
alkej-814	153	1	robotic	robotic	ADJ
alkej-814	153	2	system	system	NOUN
alkej-814	153	3	architecture	architecture	NOUN
alkej-814	153	4	the	the	DET
alkej-814	153	5	block	block	NOUN
alkej-814	153	6	diagram	diagram	NOUN
alkej-814	153	7	of	of	ADP
alkej-814	153	8	training	training	NOUN
alkej-814	153	9	dnn	dnn	PROPN
alkej-814	153	10	is	be	AUX
alkej-814	153	11	shown	show	VERB
alkej-814	153	12	in	in	ADP
alkej-814	153	13	figure	figure	NOUN
alkej-814	153	14	4	4	NUM
alkej-814	153	15	.	.	PUNCT
alkej-814	154	1	firstly	firstly	ADV
alkej-814	154	2	,	,	PUNCT
alkej-814	154	3	the	the	DET
alkej-814	154	4	required	require	VERB
alkej-814	154	5	data	datum	NOUN
alkej-814	154	6	was	be	AUX
alkej-814	154	7	collected	collect	VERB
alkej-814	154	8	manually	manually	ADV
alkej-814	154	9	by	by	ADP
alkej-814	154	10	driving	drive	VERB
alkej-814	154	11	the	the	DET
alkej-814	154	12	car	car	NOUN
alkej-814	154	13	.	.	PUNCT
alkej-814	155	1	secondly	secondly	ADV
alkej-814	155	2	,	,	PUNCT
alkej-814	155	3	data	datum	NOUN
alkej-814	155	4	preprocessing	preprocessing	NOUN
alkej-814	155	5	and	and	CCONJ
alkej-814	155	6	data	datum	NOUN
alkej-814	155	7	augmentation	augmentation	NOUN
alkej-814	155	8	were	be	AUX
alkej-814	155	9	applied	apply	VERB
alkej-814	155	10	before	before	ADP
alkej-814	155	11	feeding	feed	VERB
alkej-814	155	12	the	the	DET
alkej-814	155	13	images	image	NOUN
alkej-814	155	14	to	to	ADP
alkej-814	155	15	the	the	DET
alkej-814	155	16	cnn	cnn	PROPN
alkej-814	155	17	models	model	NOUN
alkej-814	155	18	for	for	ADP
alkej-814	155	19	training	training	NOUN
alkej-814	155	20	.	.	PUNCT
alkej-814	156	1	finally	finally	ADV
alkej-814	156	2	,	,	PUNCT
alkej-814	156	3	the	the	DET
alkej-814	156	4	trained	train	VERB
alkej-814	156	5	model	model	NOUN
alkej-814	156	6	was	be	AUX
alkej-814	156	7	used	use	VERB
alkej-814	156	8	in	in	ADP
alkej-814	156	9	the	the	DET
alkej-814	156	10	inference	inference	NOUN
alkej-814	156	11	track	track	NOUN
alkej-814	156	12	for	for	ADP
alkej-814	156	13	the	the	DET
alkej-814	156	14	test	test	NOUN
alkej-814	156	15	.	.	PUNCT
alkej-814	157	1	the	the	DET
alkej-814	157	2	successful	successful	ADJ
alkej-814	157	3	model	model	NOUN
alkej-814	157	4	was	be	AUX
alkej-814	157	5	one	one	NUM
alkej-814	157	6	that	that	PRON
alkej-814	157	7	drove	drive	VERB
alkej-814	157	8	independently	independently	ADV
alkej-814	157	9	on	on	ADP
alkej-814	157	10	both	both	DET
alkej-814	157	11	tracks	track	NOUN
alkej-814	157	12	while	while	SCONJ
alkej-814	157	13	avoiding	avoid	VERB
alkej-814	157	14	the	the	DET
alkej-814	157	15	orange	orange	ADJ
alkej-814	157	16	bolder	bold	ADJ
alkej-814	157	17	lines	line	NOUN
alkej-814	157	18	and	and	CCONJ
alkej-814	157	19	staying	stay	VERB
alkej-814	157	20	on	on	ADP
alkej-814	157	21	the	the	DET
alkej-814	157	22	centreline	centreline	NOUN
alkej-814	157	23	.	.	PUNCT
alkej-814	158	1	fig	fig	NOUN
alkej-814	158	2	.	.	PUNCT
alkej-814	159	1	4	4	X
alkej-814	159	2	.	.	X
alkej-814	159	3	block	block	NOUN
alkej-814	159	4	diagram	diagram	NOUN
alkej-814	159	5	of	of	ADP
alkej-814	159	6	the	the	DET
alkej-814	159	7	training	training	NOUN
alkej-814	159	8	dnn	dnn	PROPN
alkej-814	159	9	.	.	PROPN
alkej-814	160	1	3.4	3.4	NUM
alkej-814	160	2	.	.	PUNCT
alkej-814	161	1	database	database	NOUN
alkej-814	161	2	acquisition	acquisition	NOUN
alkej-814	161	3	collecting	collecting	NOUN
alkej-814	161	4	,	,	PUNCT
alkej-814	161	5	inferring	infer	VERB
alkej-814	161	6	,	,	PUNCT
alkej-814	161	7	and	and	CCONJ
alkej-814	161	8	evaluating	evaluate	VERB
alkej-814	161	9	data	datum	NOUN
alkej-814	161	10	for	for	ADP
alkej-814	161	11	autonomous	autonomous	ADJ
alkej-814	161	12	driving	driving	NOUN
alkej-814	161	13	was	be	AUX
alkej-814	161	14	done	do	VERB
alkej-814	161	15	on	on	ADP
alkej-814	161	16	two	two	NUM
alkej-814	161	17	tracks	track	NOUN
alkej-814	161	18	.	.	PUNCT
alkej-814	162	1	data	datum	NOUN
alkej-814	162	2	were	be	AUX
alkej-814	162	3	collected	collect	VERB
alkej-814	162	4	along	along	ADP
alkej-814	162	5	the	the	DET
alkej-814	162	6	first	first	ADJ
alkej-814	162	7	,	,	PUNCT
alkej-814	162	8	3x2	3x2	NUM
alkej-814	162	9	meter	meter	NOUN
alkej-814	162	10	path	path	NOUN
alkej-814	162	11	,	,	PUNCT
alkej-814	162	12	while	while	SCONJ
alkej-814	162	13	tests	test	NOUN
alkej-814	162	14	and	and	CCONJ
alkej-814	162	15	evaluations	evaluation	NOUN
alkej-814	162	16	were	be	AUX
alkej-814	162	17	conducted	conduct	VERB
alkej-814	162	18	along	along	ADP
alkej-814	162	19	the	the	DET
alkej-814	162	20	second	second	ADJ
alkej-814	162	21	,	,	PUNCT
alkej-814	162	22	4x2	4x2	NUM
alkej-814	162	23	meter	meter	NOUN
alkej-814	162	24	path	path	NOUN
alkej-814	162	25	with	with	ADP
alkej-814	162	26	curves	curve	NOUN
alkej-814	162	27	in	in	ADP
alkej-814	162	28	the	the	DET
alkej-814	162	29	middle	middle	ADJ
alkej-814	162	30	,	,	PUNCT
alkej-814	162	31	figure	figure	NOUN
alkej-814	162	32	5(b	5(b	NUM
alkej-814	162	33	)	)	PUNCT
alkej-814	162	34	.	.	PUNCT
alkej-814	163	1	the	the	DET
alkej-814	163	2	inference	inference	NOUN
alkej-814	163	3	track	track	NOUN
alkej-814	163	4	was	be	AUX
alkej-814	163	5	brighter	bright	ADJ
alkej-814	163	6	than	than	ADP
alkej-814	163	7	the	the	DET
alkej-814	163	8	collection	collection	NOUN
alkej-814	163	9	track	track	NOUN
alkej-814	163	10	.	.	PUNCT
alkej-814	164	1	the	the	DET
alkej-814	164	2	dataset	dataset	NOUN
alkej-814	164	3	's	's	PART
alkej-814	164	4	features	feature	NOUN
alkej-814	164	5	are	be	AUX
alkej-814	164	6	represented	represent	VERB
alkej-814	164	7	by	by	ADP
alkej-814	164	8	images	image	NOUN
alkej-814	164	9	,	,	PUNCT
alkej-814	164	10	with	with	ADP
alkej-814	164	11	the	the	DET
alkej-814	164	12	corresponding	correspond	VERB
alkej-814	164	13	steering	steering	NOUN
alkej-814	164	14	angles	angle	NOUN
alkej-814	164	15	serving	serve	VERB
alkej-814	164	16	as	as	ADP
alkej-814	164	17	labels	label	NOUN
alkej-814	164	18	.	.	PUNCT
alkej-814	165	1	the	the	DET
alkej-814	165	2	jetracer	jetracer	NOUN
alkej-814	165	3	robot	robot	NOUN
alkej-814	165	4	was	be	AUX
alkej-814	165	5	placed	place	VERB
alkej-814	165	6	on	on	ADP
alkej-814	165	7	the	the	DET
alkej-814	165	8	representative	representative	ADJ
alkej-814	165	9	track	track	NOUN
alkej-814	165	10	to	to	PART
alkej-814	165	11	collect	collect	VERB
alkej-814	165	12	data	datum	NOUN
alkej-814	165	13	for	for	ADP
alkej-814	165	14	the	the	DET
alkej-814	165	15	training	training	NOUN
alkej-814	165	16	process	process	NOUN
alkej-814	165	17	.	.	PUNCT
alkej-814	166	1	continuous	continuous	ADJ
alkej-814	166	2	orange	orange	PROPN
alkej-814	166	3	lines	line	NOUN
alkej-814	166	4	on	on	ADP
alkej-814	166	5	the	the	DET
alkej-814	166	6	borders	border	NOUN
alkej-814	166	7	and	and	CCONJ
alkej-814	166	8	dashed	dash	VERB
alkej-814	166	9	white	white	ADJ
alkej-814	166	10	lines	line	NOUN
alkej-814	166	11	in	in	ADP
alkej-814	166	12	the	the	DET
alkej-814	166	13	center	center	NOUN
alkej-814	166	14	define	define	VERB
alkej-814	166	15	the	the	DET
alkej-814	166	16	track	track	NOUN
alkej-814	166	17	.	.	PUNCT
alkej-814	167	1	a	a	DET
alkej-814	167	2	single	single	ADJ
alkej-814	167	3	camera	camera	NOUN
alkej-814	167	4	was	be	AUX
alkej-814	167	5	installed	instal	VERB
alkej-814	167	6	instead	instead	ADV
alkej-814	167	7	of	of	ADP
alkej-814	167	8	three	three	NUM
alkej-814	167	9	cameras	camera	NOUN
alkej-814	167	10	to	to	PART
alkej-814	167	11	capture	capture	VERB
alkej-814	167	12	frames	frame	NOUN
alkej-814	167	13	in	in	ADP
alkej-814	167	14	three	three	NUM
alkej-814	167	15	different	different	ADJ
alkej-814	167	16	positions	position	NOUN
alkej-814	167	17	(	(	PUNCT
alkej-814	167	18	center	center	NOUN
alkej-814	167	19	,	,	PUNCT
alkej-814	167	20	left	leave	VERB
alkej-814	167	21	,	,	PUNCT
alkej-814	167	22	and	and	CCONJ
alkej-814	167	23	right	right	ADJ
alkej-814	167	24	)	)	PUNCT
alkej-814	167	25	.	.	PUNCT
alkej-814	168	1	the	the	DET
alkej-814	168	2	objective	objective	NOUN
alkej-814	168	3	was	be	AUX
alkej-814	168	4	to	to	PART
alkej-814	168	5	keep	keep	VERB
alkej-814	168	6	the	the	DET
alkej-814	168	7	car	car	NOUN
alkej-814	168	8	in	in	ADP
alkej-814	168	9	the	the	DET
alkej-814	168	10	center	center	NOUN
alkej-814	168	11	of	of	ADP
alkej-814	168	12	the	the	DET
alkej-814	168	13	road	road	NOUN
alkej-814	168	14	.	.	PUNCT
alkej-814	169	1	as	as	ADP
alkej-814	169	2	a	a	DET
alkej-814	169	3	result	result	NOUN
alkej-814	169	4	,	,	PUNCT
alkej-814	169	5	the	the	DET
alkej-814	169	6	images	image	NOUN
alkej-814	169	7	from	from	ADP
alkej-814	169	8	the	the	DET
alkej-814	169	9	camera	camera	NOUN
alkej-814	169	10	at	at	ADP
alkej-814	169	11	the	the	DET
alkej-814	169	12	same	same	ADJ
alkej-814	169	13	level	level	NOUN
alkej-814	169	14	in	in	ADP
alkej-814	169	15	the	the	DET
alkej-814	169	16	middle	middle	NOUN
alkej-814	169	17	,	,	PUNCT
alkej-814	169	18	left	leave	VERB
alkej-814	169	19	,	,	PUNCT
alkej-814	169	20	and	and	CCONJ
alkej-814	169	21	right	right	ADJ
alkej-814	169	22	were	be	AUX
alkej-814	169	23	taken	take	VERB
alkej-814	169	24	with	with	ADP
alkej-814	169	25	the	the	DET
alkej-814	169	26	same	same	ADJ
alkej-814	169	27	steering	steering	NOUN
alkej-814	169	28	measurement	measurement	NOUN
alkej-814	169	29	value	value	NOUN
alkej-814	169	30	.	.	PUNCT
alkej-814	170	1	the	the	DET
alkej-814	170	2	measurements	measurement	NOUN
alkej-814	170	3	are	be	AUX
alkej-814	170	4	manually	manually	ADV
alkej-814	170	5	entered	enter	VERB
alkej-814	170	6	from	from	ADP
alkej-814	170	7	a	a	DET
alkej-814	170	8	remote	remote	ADJ
alkej-814	170	9	pc	pc	NOUN
alkej-814	170	10	while	while	SCONJ
alkej-814	170	11	the	the	DET
alkej-814	170	12	images	image	NOUN
alkej-814	170	13	are	be	AUX
alkej-814	170	14	being	be	AUX
alkej-814	170	15	captured	capture	VERB
alkej-814	170	16	by	by	ADP
alkej-814	170	17	clicking	click	VERB
alkej-814	170	18	the	the	DET
alkej-814	170	19	desired	desire	VERB
alkej-814	170	20	xy	xy	PROPN
alkej-814	170	21	coordinates	coordinate	NOUN
alkej-814	170	22	on	on	ADP
alkej-814	170	23	each	each	DET
alkej-814	170	24	frame	frame	NOUN
alkej-814	170	25	as	as	SCONJ
alkej-814	170	26	shown	show	VERB
alkej-814	170	27	in	in	ADP
alkej-814	170	28	figure	figure	NOUN
alkej-814	170	29	6	6	NUM
alkej-814	170	30	.	.	PUNCT
alkej-814	171	1	the	the	DET
alkej-814	171	2	x	x	ADJ
alkej-814	171	3	-	-	ADJ
alkej-814	171	4	axis	axis	ADJ
alkej-814	171	5	latitude	latitude	NOUN
alkej-814	171	6	represents	represent	VERB
alkej-814	171	7	the	the	DET
alkej-814	171	8	amount	amount	NOUN
alkej-814	171	9	of	of	ADP
alkej-814	171	10	angle	angle	NOUN
alkej-814	171	11	from	from	ADP
alkej-814	171	12	left	left	ADJ
alkej-814	171	13	to	to	ADP
alkej-814	171	14	right	right	NOUN
alkej-814	171	15	and	and	CCONJ
alkej-814	171	16	is	be	AUX
alkej-814	171	17	controlled	control	VERB
alkej-814	171	18	by	by	ADP
alkej-814	171	19	the	the	DET
alkej-814	171	20	servo	servo	NOUN
alkej-814	171	21	motor	motor	NOUN
alkej-814	171	22	with	with	ADP
alkej-814	171	23	a	a	DET
alkej-814	171	24	range	range	NOUN
alkej-814	171	25	of	of	ADP
alkej-814	171	26	-1.0	-1.0	PROPN
alkej-814	171	27	to	to	ADP
alkej-814	171	28	1.0	1.0	NUM
alkej-814	171	29	.	.	PUNCT
alkej-814	172	1	as	as	ADP
alkej-814	172	2	a	a	DET
alkej-814	172	3	result	result	NOUN
alkej-814	172	4	,	,	PUNCT
alkej-814	172	5	a	a	DET
alkej-814	172	6	unique	unique	ADJ
alkej-814	172	7	dataset	dataset	NOUN
alkej-814	172	8	is	be	AUX
alkej-814	172	9	created	create	VERB
alkej-814	172	10	for	for	ADP
alkej-814	172	11	the	the	DET
alkej-814	172	12	training	training	NOUN
alkej-814	172	13	process	process	NOUN
alkej-814	172	14	.	.	PUNCT
alkej-814	173	1	to	to	PART
alkej-814	173	2	obtain	obtain	VERB
alkej-814	173	3	high	high	ADJ
alkej-814	173	4	-	-	PUNCT
alkej-814	173	5	quality	quality	NOUN
alkej-814	173	6	results	result	NOUN
alkej-814	173	7	,	,	PUNCT
alkej-814	173	8	the	the	DET
alkej-814	173	9	images	image	NOUN
alkej-814	173	10	and	and	CCONJ
alkej-814	173	11	measurements	measurement	NOUN
alkej-814	173	12	should	should	AUX
alkej-814	173	13	be	be	AUX
alkej-814	173	14	collected	collect	VERB
alkej-814	173	15	manually	manually	ADV
alkej-814	173	16	while	while	SCONJ
alkej-814	173	17	driving	drive	VERB
alkej-814	173	18	in	in	ADP
alkej-814	173	19	the	the	DET
alkej-814	173	20	manner	manner	NOUN
alkej-814	173	21	we	we	PRON
alkej-814	173	22	expect	expect	VERB
alkej-814	173	23	during	during	ADP
alkej-814	173	24	testing	testing	NOUN
alkej-814	173	25	.	.	PUNCT
alkej-814	174	1	data	datum	NOUN
alkej-814	174	2	augmentation	augmentation	NOUN
alkej-814	174	3	has	have	AUX
alkej-814	174	4	been	be	AUX
alkej-814	174	5	used	use	VERB
alkej-814	174	6	to	to	PART
alkej-814	174	7	improve	improve	VERB
alkej-814	174	8	training	training	NOUN
alkej-814	174	9	results	result	NOUN
alkej-814	174	10	as	as	ADV
alkej-814	174	11	well	well	ADV
alkej-814	174	12	as	as	ADP
alkej-814	174	13	drive	drive	VERB
alkej-814	174	14	the	the	DET
alkej-814	174	15	robot	robot	NOUN
alkej-814	174	16	clockwise	clockwise	NOUN
alkej-814	174	17	and	and	CCONJ
alkej-814	174	18	counterclockwise[24][25	counterclockwise[24][25	PROPN
alkej-814	174	19	]	]	X
alkej-814	174	20	.	.	PUNCT
alkej-814	175	1	the	the	DET
alkej-814	175	2	term	term	NOUN
alkej-814	175	3	"	"	PUNCT
alkej-814	175	4	augmentation	augmentation	NOUN
alkej-814	175	5	"	"	PUNCT
alkej-814	175	6	refers	refer	VERB
alkej-814	175	7	to	to	ADP
alkej-814	175	8	the	the	DET
alkej-814	175	9	technique	technique	NOUN
alkej-814	175	10	of	of	ADP
alkej-814	175	11	improving	improve	VERB
alkej-814	175	12	the	the	DET
alkej-814	175	13	training	training	NOUN
alkej-814	175	14	data	datum	NOUN
alkej-814	175	15	without	without	ADP
alkej-814	175	16	affecting	affect	VERB
alkej-814	175	17	the	the	DET
alkej-814	175	18	dataset	dataset	NOUN
alkej-814	175	19	's	's	PART
alkej-814	175	20	essential	essential	ADJ
alkej-814	175	21	characteristics	characteristic	NOUN
alkej-814	175	22	.	.	PUNCT
alkej-814	176	1	the	the	DET
alkej-814	176	2	amount	amount	NOUN
alkej-814	176	3	of	of	ADP
alkej-814	176	4	data	datum	NOUN
alkej-814	176	5	in	in	ADP
alkej-814	176	6	the	the	DET
alkej-814	176	7	training	training	NOUN
alkej-814	176	8	directory	directory	NOUN
alkej-814	176	9	is	be	AUX
alkej-814	176	10	increased	increase	VERB
alkej-814	176	11	by	by	ADP
alkej-814	176	12	adding	add	VERB
alkej-814	176	13	slightly	slightly	ADV
alkej-814	176	14	modified	modify	VERB
alkej-814	176	15	copies	copy	NOUN
alkej-814	176	16	of	of	ADP
alkej-814	176	17	pre	pre	ADJ
alkej-814	176	18	-	-	ADJ
alkej-814	176	19	existing	existing	ADJ
alkej-814	176	20	data	datum	NOUN
alkej-814	176	21	.	.	PUNCT
alkej-814	177	1	the	the	DET
alkej-814	177	2	augmentation	augmentation	NOUN
alkej-814	177	3	procedure	procedure	NOUN
alkej-814	177	4	in	in	ADP
alkej-814	177	5	our	our	PRON
alkej-814	177	6	work	work	NOUN
alkej-814	177	7	involves	involve	VERB
alkej-814	177	8	only	only	ADV
alkej-814	177	9	flipping	flip	VERB
alkej-814	177	10	the	the	DET
alkej-814	177	11	images	image	NOUN
alkej-814	177	12	around	around	ADP
alkej-814	177	13	vertical	vertical	ADJ
alkej-814	177	14	access	access	NOUN
alkej-814	177	15	.	.	PUNCT
alkej-814	178	1	the	the	DET
alkej-814	178	2	steering	steering	NOUN
alkej-814	178	3	angle	angle	NOUN
alkej-814	178	4	should	should	AUX
alkej-814	178	5	be	be	AUX
alkej-814	178	6	inverted	invert	VERB
alkej-814	178	7	while	while	SCONJ
alkej-814	178	8	flipping	flip	VERB
alkej-814	178	9	each	each	DET
alkej-814	178	10	frame	frame	NOUN
alkej-814	178	11	.	.	PUNCT
alkej-814	179	1	therefore	therefore	ADV
alkej-814	179	2	,	,	PUNCT
alkej-814	179	3	the	the	DET
alkej-814	179	4	new	new	ADJ
alkej-814	179	5	steering	steering	NOUN
alkej-814	179	6	angle	angle	NOUN
alkej-814	179	7	equals	equal	VERB
alkej-814	179	8	:	:	PUNCT
alkej-814	179	9	𝑆𝑡𝑒𝑒𝑟𝑖𝑛𝑔	𝑆𝑡𝑒𝑒𝑟𝑖𝑛𝑔	PROPN
alkej-814	179	10	𝑎𝑛𝑔𝑙𝑒	𝑎𝑛𝑔𝑙𝑒	NOUN
alkej-814	179	11	𝑎𝑓𝑡𝑒𝑟	𝑎𝑓𝑡𝑒𝑟	VERB
alkej-814	179	12	𝑓𝑙𝑖𝑝𝑝𝑖𝑛𝑔	𝑓𝑙𝑖𝑝𝑝𝑖𝑛𝑔	NOUN
alkej-814	179	13	=	=	SYM
alkej-814	179	14	(	(	PUNCT
alkej-814	179	15	−1	−1	NOUN
alkej-814	179	16	)	)	PUNCT
alkej-814	179	17	∗	∗	NOUN
alkej-814	179	18	𝑜𝑟𝑖𝑔𝑖𝑛𝑎𝑙	𝑜𝑟𝑖𝑔𝑖𝑛𝑎𝑙	NOUN
alkej-814	179	19	𝑠𝑡𝑒𝑒𝑟𝑖𝑛𝑔	𝑠𝑡𝑒𝑒𝑟𝑖𝑛𝑔	NOUN
alkej-814	179	20	𝑎𝑛𝑔𝑙𝑒	𝑎𝑛𝑔𝑙𝑒	NOUN
alkej-814	179	21	…	…	PUNCT
alkej-814	179	22	(	(	PUNCT
alkej-814	179	23	1	1	X
alkej-814	179	24	)	)	PUNCT
alkej-814	179	25	yahya	yahya	NOUN
alkej-814	179	26	ghufran	ghufran	VERB
alkej-814	179	27	khidhir	khidhir	PROPN
alkej-814	179	28	al	al	PROPN
alkej-814	179	29	-	-	PUNCT
alkej-814	179	30	khwarizmi	khwarizmi	PROPN
alkej-814	179	31	engineering	engineering	NOUN
alkej-814	179	32	journal	journal	PROPN
alkej-814	179	33	,	,	PUNCT
alkej-814	179	34	vol	vol	NOUN
alkej-814	179	35	.	.	PROPN
alkej-814	179	36	18	18	NUM
alkej-814	179	37	,	,	PUNCT
alkej-814	179	38	no	no	INTJ
alkej-814	179	39	.	.	NOUN
alkej-814	179	40	4	4	NUM
alkej-814	179	41	,	,	PUNCT
alkej-814	179	42	p.p	p.p	PROPN
alkej-814	179	43	.	.	NOUN
alkej-814	179	44	4559	4559	NUM
alkej-814	179	45	(	(	PUNCT
alkej-814	179	46	2022	2022	NUM
alkej-814	179	47	)	)	PUNCT
alkej-814	179	48	51	51	NUM
alkej-814	179	49	so	so	ADV
alkej-814	179	50	as	as	SCONJ
alkej-814	179	51	to	to	PART
alkej-814	179	52	adapt	adapt	VERB
alkej-814	179	53	the	the	DET
alkej-814	179	54	robot	robot	NOUN
alkej-814	179	55	’s	’s	PART
alkej-814	179	56	throttle	throttle	NOUN
alkej-814	179	57	to	to	ADP
alkej-814	179	58	its	its	PRON
alkej-814	179	59	high	high	ADJ
alkej-814	179	60	speed	speed	NOUN
alkej-814	179	61	in	in	ADP
alkej-814	179	62	a	a	DET
alkej-814	179	63	straightforward	straightforward	ADJ
alkej-814	179	64	path	path	NOUN
alkej-814	179	65	and	and	CCONJ
alkej-814	179	66	slower	slow	ADJ
alkej-814	179	67	speed	speed	NOUN
alkej-814	179	68	in	in	ADP
alkej-814	179	69	turns	turn	NOUN
alkej-814	179	70	,	,	PUNCT
alkej-814	179	71	the	the	DET
alkej-814	179	72	throttle	throttle	NOUN
alkej-814	179	73	is	be	AUX
alkej-814	179	74	equal	equal	ADJ
alkej-814	179	75	to	to	ADP
alkej-814	179	76	:	:	PUNCT
alkej-814	179	77	𝑌	𝑌	PROPN
alkej-814	179	78	=	=	SYM
alkej-814	179	79	1	1	NUM
alkej-814	179	80	–	–	PUNCT
alkej-814	179	81	𝑎𝑏𝑠	𝑎𝑏𝑠	NOUN
alkej-814	179	82	(	(	PUNCT
alkej-814	179	83	𝑋	𝑋	PROPN
alkej-814	179	84	)	)	PUNCT
alkej-814	179	85	…	…	PUNCT
alkej-814	179	86	(	(	PUNCT
alkej-814	179	87	2	2	X
alkej-814	179	88	)	)	PUNCT
alkej-814	179	89	as	as	ADP
alkej-814	179	90	a	a	DET
alkej-814	179	91	result	result	NOUN
alkej-814	179	92	,	,	PUNCT
alkej-814	179	93	when	when	SCONJ
alkej-814	179	94	the	the	DET
alkej-814	179	95	car	car	NOUN
alkej-814	179	96	is	be	AUX
alkej-814	179	97	driving	drive	VERB
alkej-814	179	98	in	in	ADP
alkej-814	179	99	the	the	DET
alkej-814	179	100	center	center	NOUN
alkej-814	179	101	of	of	ADP
alkej-814	179	102	the	the	DET
alkej-814	179	103	path	path	NOUN
alkej-814	179	104	,	,	PUNCT
alkej-814	179	105	x	x	PUNCT
alkej-814	179	106	=	=	SYM
alkej-814	179	107	0	0	NUM
alkej-814	179	108	,	,	PUNCT
alkej-814	179	109	the	the	DET
alkej-814	179	110	throttle	throttle	NOUN
alkej-814	179	111	is	be	AUX
alkej-814	179	112	at	at	ADP
alkej-814	179	113	its	its	PRON
alkej-814	179	114	maximum	maximum	ADJ
alkej-814	179	115	value	value	NOUN
alkej-814	179	116	,	,	PUNCT
alkej-814	179	117	and	and	CCONJ
alkej-814	179	118	in	in	ADP
alkej-814	179	119	sharp	sharp	ADJ
alkej-814	179	120	turns	turn	NOUN
alkej-814	179	121	,	,	PUNCT
alkej-814	179	122	the	the	DET
alkej-814	179	123	throttle	throttle	NOUN
alkej-814	179	124	is	be	AUX
alkej-814	179	125	at	at	ADP
alkej-814	179	126	its	its	PRON
alkej-814	179	127	minimum	minimum	ADJ
alkej-814	179	128	value	value	NOUN
alkej-814	179	129	.	.	PUNCT
alkej-814	180	1	(	(	PUNCT
alkej-814	180	2	a	a	X
alkej-814	180	3	)	)	PUNCT
alkej-814	180	4	(	(	PUNCT
alkej-814	180	5	b	b	X
alkej-814	180	6	)	)	PUNCT
alkej-814	180	7	fig	fig	NOUN
alkej-814	180	8	.	.	PUNCT
alkej-814	181	1	5	5	X
alkej-814	181	2	.	.	X
alkej-814	181	3	database	database	NOUN
alkej-814	181	4	acquisition	acquisition	NOUN
alkej-814	181	5	tracks	track	NOUN
alkej-814	181	6	(	(	PUNCT
alkej-814	181	7	a	a	X
alkej-814	181	8	)	)	PUNCT
alkej-814	181	9	data	datum	NOUN
alkej-814	181	10	collection	collection	NOUN
alkej-814	181	11	track	track	NOUN
alkej-814	181	12	(	(	PUNCT
alkej-814	181	13	b	b	NOUN
alkej-814	181	14	)	)	PUNCT
alkej-814	181	15	.	.	PUNCT
alkej-814	182	1	inference	inference	NOUN
alkej-814	182	2	track	track	VERB
alkej-814	182	3	fig	fig	NOUN
alkej-814	182	4	.	.	PUNCT
alkej-814	183	1	6	6	X
alkej-814	183	2	.	.	X
alkej-814	183	3	database	database	NOUN
alkej-814	183	4	acquisition	acquisition	NOUN
alkej-814	183	5	.	.	PUNCT
alkej-814	184	1	the	the	DET
alkej-814	184	2	number	number	NOUN
alkej-814	184	3	of	of	ADP
alkej-814	184	4	images	image	NOUN
alkej-814	184	5	collected	collect	VERB
alkej-814	184	6	from	from	ADP
alkej-814	184	7	the	the	DET
alkej-814	184	8	first	first	ADJ
alkej-814	184	9	track	track	NOUN
alkej-814	184	10	in	in	ADP
alkej-814	184	11	figure	figure	NOUN
alkej-814	184	12	5(a	5(a	NUM
alkej-814	184	13	)	)	PUNCT
alkej-814	184	14	was	be	AUX
alkej-814	184	15	681	681	NUM
alkej-814	184	16	in	in	ADP
alkej-814	184	17	total	total	NOUN
alkej-814	184	18	.	.	PUNCT
alkej-814	185	1	83	83	NUM
alkej-814	185	2	samples	sample	NOUN
alkej-814	185	3	from	from	ADP
alkej-814	185	4	track	track	NOUN
alkej-814	185	5	b	b	PROPN
alkej-814	185	6	's	's	PART
alkej-814	185	7	inside	inside	ADJ
alkej-814	185	8	turns	turn	NOUN
alkej-814	185	9	were	be	AUX
alkej-814	185	10	added	add	VERB
alkej-814	185	11	to	to	ADP
alkej-814	185	12	the	the	DET
alkej-814	185	13	dataset	dataset	NOUN
alkej-814	185	14	to	to	PART
alkej-814	185	15	enable	enable	VERB
alkej-814	185	16	the	the	DET
alkej-814	185	17	robot	robot	NOUN
alkej-814	185	18	to	to	PART
alkej-814	185	19	drive	drive	VERB
alkej-814	185	20	on	on	ADP
alkej-814	185	21	both	both	DET
alkej-814	185	22	tracks	track	NOUN
alkej-814	185	23	,	,	PUNCT
alkej-814	185	24	figure	figure	NOUN
alkej-814	185	25	5(b	5(b	NUM
alkej-814	185	26	)	)	PUNCT
alkej-814	185	27	.	.	PUNCT
alkej-814	186	1	the	the	DET
alkej-814	186	2	images	image	NOUN
alkej-814	186	3	'	'	PART
alkej-814	186	4	resolution	resolution	NOUN
alkej-814	186	5	was	be	AUX
alkej-814	186	6	(	(	PUNCT
alkej-814	186	7	224x224x3	224x224x3	NUM
alkej-814	186	8	)	)	PUNCT
alkej-814	186	9	.	.	PUNCT
alkej-814	187	1	(	(	PUNCT
alkej-814	187	2	224	224	NUM
alkej-814	187	3	pixels	pixel	NOUN
alkej-814	187	4	width	width	VERB
alkej-814	187	5	,	,	PUNCT
alkej-814	187	6	224	224	NUM
alkej-814	187	7	pixels	pixel	NOUN
alkej-814	187	8	height	height	NOUN
alkej-814	187	9	,	,	PUNCT
alkej-814	187	10	and	and	CCONJ
alkej-814	187	11	3	3	NUM
alkej-814	187	12	channels	channel	NOUN
alkej-814	187	13	of	of	ADP
alkej-814	187	14	rgb	rgb	PROPN
alkej-814	187	15	colors	color	NOUN
alkej-814	187	16	)	)	PUNCT
alkej-814	187	17	.	.	PUNCT
alkej-814	188	1	the	the	DET
alkej-814	188	2	number	number	NOUN
alkej-814	188	3	of	of	ADP
alkej-814	188	4	images	image	NOUN
alkej-814	188	5	increased	increase	VERB
alkej-814	188	6	to	to	ADP
alkej-814	188	7	1528	1528	NUM
alkej-814	188	8	samples	sample	NOUN
alkej-814	188	9	after	after	ADP
alkej-814	188	10	data	datum	NOUN
alkej-814	188	11	augmentation	augmentation	NOUN
alkej-814	188	12	.	.	PUNCT
alkej-814	189	1	the	the	DET
alkej-814	189	2	dataset	dataset	NOUN
alkej-814	189	3	was	be	AUX
alkej-814	189	4	divided	divide	VERB
alkej-814	189	5	into	into	ADP
alkej-814	189	6	two	two	NUM
alkej-814	189	7	portions	portion	NOUN
alkej-814	189	8	:	:	PUNCT
alkej-814	189	9	80	80	NUM
alkej-814	189	10	%	%	NOUN
alkej-814	189	11	for	for	ADP
alkej-814	189	12	training	training	NOUN
alkej-814	189	13	and	and	CCONJ
alkej-814	189	14	20	20	NUM
alkej-814	189	15	%	%	NOUN
alkej-814	189	16	for	for	ADP
alkej-814	189	17	validation	validation	NOUN
alkej-814	189	18	.	.	PUNCT
alkej-814	190	1	figure	figure	VERB
alkej-814	190	2	7	7	NUM
alkej-814	190	3	depicts	depict	NOUN
alkej-814	190	4	the	the	DET
alkej-814	190	5	normalized	normalized	ADJ
alkej-814	190	6	steering	steering	NOUN
alkej-814	190	7	angles	angle	NOUN
alkej-814	190	8	associated	associate	VERB
alkej-814	190	9	with	with	ADP
alkej-814	190	10	each	each	DET
alkej-814	190	11	frame	frame	NOUN
alkej-814	190	12	.	.	PUNCT
alkej-814	191	1	yahya	yahya	PROPN
alkej-814	191	2	ghufran	ghufran	VERB
alkej-814	191	3	khidhir	khidhir	PROPN
alkej-814	191	4	al	al	PROPN
alkej-814	191	5	-	-	PUNCT
alkej-814	191	6	khwarizmi	khwarizmi	PROPN
alkej-814	191	7	engineering	engineering	NOUN
alkej-814	191	8	journal	journal	PROPN
alkej-814	191	9	,	,	PUNCT
alkej-814	191	10	vol	vol	NOUN
alkej-814	191	11	.	.	PROPN
alkej-814	191	12	18	18	NUM
alkej-814	191	13	,	,	PUNCT
alkej-814	191	14	no	no	INTJ
alkej-814	191	15	.	.	NOUN
alkej-814	191	16	4	4	NUM
alkej-814	191	17	,	,	PUNCT
alkej-814	191	18	p.p	p.p	PROPN
alkej-814	191	19	.	.	NOUN
alkej-814	191	20	4559	4559	NUM
alkej-814	191	21	(	(	PUNCT
alkej-814	191	22	2022	2022	NUM
alkej-814	191	23	)	)	PUNCT
alkej-814	191	24	52	52	NUM
alkej-814	191	25	fig	fig	NOUN
alkej-814	191	26	.	.	PUNCT
alkej-814	192	1	7	7	X
alkej-814	192	2	.	.	X
alkej-814	192	3	dataset	dataset	NOUN
alkej-814	192	4	of	of	ADP
alkej-814	192	5	normalized	normalize	VERB
alkej-814	192	6	steering	steering	NOUN
alkej-814	192	7	angles	angle	NOUN
alkej-814	192	8	.	.	PUNCT
alkej-814	193	1	3.5	3.5	NUM
alkej-814	193	2	.	.	PUNCT
alkej-814	193	3	training	training	NOUN
alkej-814	193	4	and	and	CCONJ
alkej-814	193	5	hyper	hyper	NOUN
alkej-814	193	6	-	-	NOUN
alkej-814	193	7	parameter	parameter	NOUN
alkej-814	193	8	on	on	ADP
alkej-814	193	9	the	the	DET
alkej-814	193	10	google	google	PROPN
alkej-814	193	11	colab	colab	PROPN
alkej-814	193	12	platform	platform	NOUN
alkej-814	193	13	,	,	PUNCT
alkej-814	193	14	the	the	DET
alkej-814	193	15	three	three	NUM
alkej-814	193	16	models	model	NOUN
alkej-814	193	17	were	be	AUX
alkej-814	193	18	trained	train	VERB
alkej-814	193	19	in	in	ADP
alkej-814	193	20	the	the	DET
alkej-814	193	21	python	python	NOUN
alkej-814	193	22	programming	programming	NOUN
alkej-814	193	23	language	language	NOUN
alkej-814	193	24	.	.	PUNCT
alkej-814	194	1	color	color	NOUN
alkej-814	194	2	jitter	jitter	PROPN
alkej-814	194	3	data	datum	NOUN
alkej-814	194	4	pre	pre	ADJ
alkej-814	194	5	-	-	ADJ
alkej-814	194	6	processing	processing	NOUN
alkej-814	194	7	was	be	AUX
alkej-814	194	8	used	use	VERB
alkej-814	194	9	in	in	ADP
alkej-814	194	10	addition	addition	NOUN
alkej-814	194	11	to	to	ADP
alkej-814	194	12	data	datum	NOUN
alkej-814	194	13	normalization	normalization	NOUN
alkej-814	194	14	because	because	SCONJ
alkej-814	194	15	of	of	ADP
alkej-814	194	16	the	the	DET
alkej-814	194	17	difference	difference	NOUN
alkej-814	194	18	in	in	ADP
alkej-814	194	19	color	color	NOUN
alkej-814	194	20	brightness	brightness	NOUN
alkej-814	194	21	between	between	ADP
alkej-814	194	22	data	datum	NOUN
alkej-814	194	23	collection	collection	NOUN
alkej-814	194	24	and	and	CCONJ
alkej-814	194	25	inference	inference	NOUN
alkej-814	194	26	tracks	track	NOUN
alkej-814	194	27	.	.	PUNCT
alkej-814	195	1	each	each	DET
alkej-814	195	2	model	model	NOUN
alkej-814	195	3	was	be	AUX
alkej-814	195	4	trained	train	VERB
alkej-814	195	5	separately	separately	ADV
alkej-814	195	6	with	with	ADP
alkej-814	195	7	the	the	DET
alkej-814	195	8	same	same	ADJ
alkej-814	195	9	hyperparameters	hyperparameter	NOUN
alkej-814	195	10	.	.	PUNCT
alkej-814	196	1	the	the	DET
alkej-814	196	2	adam	adam	PROPN
alkej-814	196	3	[	[	X
alkej-814	196	4	26	26	NUM
alkej-814	196	5	]	]	PUNCT
alkej-814	196	6	optimizer	optimizer	NOUN
alkej-814	196	7	utilized	utilize	VERB
alkej-814	196	8	with	with	ADP
alkej-814	196	9	an	an	DET
alkej-814	196	10	initial	initial	ADJ
alkej-814	196	11	learning	learning	NOUN
alkej-814	196	12	rate	rate	NOUN
alkej-814	196	13	of	of	ADP
alkej-814	196	14	(	(	PUNCT
alkej-814	196	15	0.0005	0.0005	NUM
alkej-814	196	16	)	)	PUNCT
alkej-814	196	17	.	.	PUNCT
alkej-814	197	1	to	to	PART
alkej-814	197	2	avoid	avoid	VERB
alkej-814	197	3	missing	miss	VERB
alkej-814	197	4	local	local	ADJ
alkej-814	197	5	optima	optima	NOUN
alkej-814	197	6	,	,	PUNCT
alkej-814	197	7	it	it	PRON
alkej-814	197	8	's	be	AUX
alkej-814	197	9	recommended	recommend	VERB
alkej-814	197	10	to	to	PART
alkej-814	197	11	keep	keep	VERB
alkej-814	197	12	the	the	DET
alkej-814	197	13	learning	learning	NOUN
alkej-814	197	14	rate	rate	NOUN
alkej-814	197	15	low	low	ADJ
alkej-814	197	16	because	because	SCONJ
alkej-814	197	17	it	it	PRON
alkej-814	197	18	's	be	AUX
alkej-814	197	19	more	more	ADV
alkej-814	197	20	stable	stable	ADJ
alkej-814	197	21	.	.	PUNCT
alkej-814	198	1	in	in	ADP
alkej-814	198	2	spite	spite	NOUN
alkej-814	198	3	of	of	ADP
alkej-814	198	4	the	the	DET
alkej-814	198	5	above	above	ADJ
alkej-814	198	6	fact	fact	NOUN
alkej-814	198	7	,	,	PUNCT
alkej-814	198	8	it	it	PRON
alkej-814	198	9	is	be	AUX
alkej-814	198	10	possible	possible	ADJ
alkej-814	198	11	that	that	SCONJ
alkej-814	198	12	a	a	DET
alkej-814	198	13	minimal	minimal	ADJ
alkej-814	198	14	learning	learning	NOUN
alkej-814	198	15	rate	rate	NOUN
alkej-814	198	16	could	could	AUX
alkej-814	198	17	lead	lead	VERB
alkej-814	198	18	to	to	ADP
alkej-814	198	19	overfitting	overfitte	VERB
alkej-814	198	20	.	.	PUNCT
alkej-814	199	1	the	the	DET
alkej-814	199	2	number	number	NOUN
alkej-814	199	3	of	of	ADP
alkej-814	199	4	epochs	epoch	NOUN
alkej-814	199	5	was	be	AUX
alkej-814	199	6	70	70	NUM
alkej-814	199	7	,	,	PUNCT
alkej-814	199	8	with	with	ADP
alkej-814	199	9	early	early	ADJ
alkej-814	199	10	stopping	stop	VERB
alkej-814	199	11	patience	patience	NOUN
alkej-814	199	12	of	of	ADP
alkej-814	199	13	10	10	NUM
alkej-814	199	14	epochs	epoch	NOUN
alkej-814	199	15	.	.	PUNCT
alkej-814	200	1	the	the	DET
alkej-814	200	2	batch	batch	NOUN
alkej-814	200	3	size	size	NOUN
alkej-814	200	4	was	be	AUX
alkej-814	200	5	set	set	VERB
alkej-814	200	6	to	to	ADP
alkej-814	200	7	8	8	NUM
alkej-814	200	8	.	.	PUNCT
alkej-814	201	1	as	as	SCONJ
alkej-814	201	2	the	the	DET
alkej-814	201	3	batch	batch	NOUN
alkej-814	201	4	size	size	NOUN
alkej-814	201	5	is	be	AUX
alkej-814	201	6	reduced	reduce	VERB
alkej-814	201	7	,	,	PUNCT
alkej-814	201	8	the	the	DET
alkej-814	201	9	end	end	NOUN
alkej-814	201	10	losses	loss	NOUN
alkej-814	201	11	are	be	AUX
alkej-814	201	12	reduced	reduce	VERB
alkej-814	201	13	too	too	ADV
alkej-814	201	14	.	.	PUNCT
alkej-814	202	1	as	as	ADP
alkej-814	202	2	a	a	DET
alkej-814	202	3	suitable	suitable	ADJ
alkej-814	202	4	loss	loss	NOUN
alkej-814	202	5	function	function	NOUN
alkej-814	202	6	for	for	ADP
alkej-814	202	7	regression	regression	NOUN
alkej-814	202	8	networks	network	NOUN
alkej-814	202	9	,	,	PUNCT
alkej-814	202	10	(	(	PUNCT
alkej-814	202	11	mse	mse	NOUN
alkej-814	202	12	)	)	PUNCT
alkej-814	203	1	[	[	X
alkej-814	203	2	27	27	NUM
alkej-814	203	3	]	]	PUNCT
alkej-814	203	4	was	be	AUX
alkej-814	203	5	selected	select	VERB
alkej-814	203	6	to	to	PART
alkej-814	203	7	minimize	minimize	VERB
alkej-814	203	8	the	the	DET
alkej-814	203	9	error	error	NOUN
alkej-814	203	10	between	between	ADP
alkej-814	203	11	the	the	DET
alkej-814	203	12	steering	steering	NOUN
alkej-814	203	13	forecast	forecast	NOUN
alkej-814	203	14	and	and	CCONJ
alkej-814	203	15	the	the	DET
alkej-814	203	16	steering	steering	NOUN
alkej-814	203	17	measurements	measurement	NOUN
alkej-814	203	18	.	.	PUNCT
alkej-814	204	1	mse	mse	PROPN
alkej-814	204	2	is	be	AUX
alkej-814	204	3	calculated	calculate	VERB
alkej-814	204	4	by	by	ADP
alkej-814	204	5	taking	take	VERB
alkej-814	204	6	the	the	DET
alkej-814	204	7	average	average	NOUN
alkej-814	204	8	of	of	ADP
alkej-814	204	9	the	the	DET
alkej-814	204	10	squared	square	VERB
alkej-814	204	11	difference	difference	NOUN
alkej-814	204	12	between	between	ADP
alkej-814	204	13	the	the	DET
alkej-814	204	14	expected	expect	VERB
alkej-814	204	15	value	value	NOUN
alkej-814	204	16	and	and	CCONJ
alkej-814	204	17	the	the	DET
alkej-814	204	18	actual	actual	ADJ
alkej-814	204	19	value	value	NOUN
alkej-814	204	20	.	.	PUNCT
alkej-814	205	1	𝑀𝑒𝑎𝑛𝑆𝑞𝑢𝑎𝑟𝑒𝑑𝐸𝑟𝑟𝑜𝑟	𝑀𝑒𝑎𝑛𝑆𝑞𝑢𝑎𝑟𝑒𝑑𝐸𝑟𝑟𝑜𝑟	PROPN
alkej-814	205	2	=	=	PUNCT
alkej-814	206	1	1	1	NUM
alkej-814	206	2	𝑁	𝑁	PROPN
alkej-814	206	3	∑(𝑦𝑗	∑(𝑦𝑗	NOUN
alkej-814	206	4	−	−	PROPN
alkej-814	206	5	�	�	PROPN
alkej-814	206	6	̂	̂	NOUN
alkej-814	206	7	�	�	NOUN
alkej-814	206	8	𝑗	𝑗	NOUN
alkej-814	206	9	)	)	PUNCT
alkej-814	206	10	2	2	NUM
alkej-814	206	11	…	…	PUNCT
alkej-814	206	12	(	(	PUNCT
alkej-814	206	13	3	3	X
alkej-814	206	14	)	)	PUNCT
alkej-814	206	15	𝑁	𝑁	PROPN
alkej-814	206	16	𝑗=1	𝑗=1	PROPN
alkej-814	206	17	the	the	DET
alkej-814	206	18	vector	vector	PROPN
alkej-814	206	19	�	�	PROPN
alkej-814	206	20	̂	̂	VERB
alkej-814	206	21	�	�	NOUN
alkej-814	206	22	𝑗	𝑗	NOUN
alkej-814	206	23	represents	represent	VERB
alkej-814	206	24	the	the	DET
alkej-814	206	25	values	value	NOUN
alkej-814	206	26	of	of	ADP
alkej-814	206	27	n	n	NOUN
alkej-814	206	28	forecasts	forecast	NOUN
alkej-814	206	29	and	and	CCONJ
alkej-814	206	30	𝑦𝑗	𝑦𝑗	NOUN
alkej-814	206	31	is	be	AUX
alkej-814	206	32	a	a	DET
alkej-814	206	33	vector	vector	NOUN
alkej-814	206	34	that	that	PRON
alkej-814	206	35	contains	contain	VERB
alkej-814	206	36	n	n	DET
alkej-814	206	37	true	true	ADJ
alkej-814	206	38	values	value	NOUN
alkej-814	206	39	.	.	PUNCT
alkej-814	207	1	in	in	ADP
alkej-814	207	2	order	order	NOUN
alkej-814	207	3	to	to	PART
alkej-814	207	4	get	get	VERB
alkej-814	207	5	fast	fast	ADJ
alkej-814	207	6	inference	inference	NOUN
alkej-814	207	7	performance	performance	NOUN
alkej-814	207	8	with	with	ADP
alkej-814	207	9	a	a	DET
alkej-814	207	10	simple	simple	ADJ
alkej-814	207	11	workflow	workflow	NOUN
alkej-814	207	12	,	,	PUNCT
alkej-814	207	13	the	the	DET
alkej-814	207	14	models	model	NOUN
alkej-814	207	15	were	be	AUX
alkej-814	207	16	converted	convert	VERB
alkej-814	207	17	and	and	CCONJ
alkej-814	207	18	optimized	optimize	VERB
alkej-814	207	19	using	use	VERB
alkej-814	207	20	the	the	DET
alkej-814	207	21	pytorch	pytorch	NOUN
alkej-814	207	22	to	to	ADP
alkej-814	207	23	tensorrt	tensorrt	ADJ
alkej-814	207	24	converter	converter	NOUN
alkej-814	207	25	(	(	PUNCT
alkej-814	207	26	torch2trt	torch2trt	PROPN
alkej-814	207	27	)	)	PUNCT
alkej-814	207	28	to	to	PART
alkej-814	207	29	be	be	AUX
alkej-814	207	30	applied	apply	VERB
alkej-814	207	31	to	to	ADP
alkej-814	207	32	the	the	DET
alkej-814	207	33	jetson	jetson	PROPN
alkej-814	207	34	nano	nano	NOUN
alkej-814	207	35	embedded	embed	VERB
alkej-814	207	36	system	system	NOUN
alkej-814	207	37	.	.	PUNCT
alkej-814	208	1	all	all	DET
alkej-814	208	2	three	three	NUM
alkej-814	208	3	models	model	NOUN
alkej-814	208	4	were	be	AUX
alkej-814	208	5	trained	train	VERB
alkej-814	208	6	with	with	ADP
alkej-814	208	7	the	the	DET
alkej-814	208	8	same	same	ADJ
alkej-814	208	9	hyper	hyper	NOUN
alkej-814	208	10	-	-	NOUN
alkej-814	208	11	parameters	parameter	NOUN
alkej-814	208	12	and	and	CCONJ
alkej-814	208	13	datasets	dataset	NOUN
alkej-814	208	14	,	,	PUNCT
alkej-814	208	15	differing	differ	VERB
alkej-814	208	16	only	only	ADV
alkej-814	208	17	in	in	ADP
alkej-814	208	18	the	the	DET
alkej-814	208	19	number	number	NOUN
alkej-814	208	20	of	of	ADP
alkej-814	208	21	epochs	epoch	NOUN
alkej-814	208	22	.	.	PUNCT
alkej-814	209	1	these	these	DET
alkej-814	209	2	differences	difference	NOUN
alkej-814	209	3	arose	arise	VERB
alkej-814	209	4	from	from	ADP
alkej-814	209	5	early	early	ADJ
alkej-814	209	6	stopping	stop	VERB
alkej-814	209	7	to	to	PART
alkej-814	209	8	reduce	reduce	VERB
alkej-814	209	9	the	the	DET
alkej-814	209	10	overfitting	overfitting	NOUN
alkej-814	209	11	.	.	PUNCT
alkej-814	210	1	the	the	DET
alkej-814	210	2	model	model	NOUN
alkej-814	210	3	was	be	AUX
alkej-814	210	4	saved	save	VERB
alkej-814	210	5	automatically	automatically	ADV
alkej-814	210	6	if	if	SCONJ
alkej-814	210	7	there	there	PRON
alkej-814	210	8	was	be	VERB
alkej-814	210	9	no	no	DET
alkej-814	210	10	progress	progress	NOUN
alkej-814	210	11	in	in	ADP
alkej-814	210	12	validation	validation	NOUN
alkej-814	210	13	loss	loss	NOUN
alkej-814	210	14	for	for	ADP
alkej-814	210	15	10	10	NUM
alkej-814	210	16	epochs	epoch	NOUN
alkej-814	210	17	.	.	PUNCT
alkej-814	211	1	the	the	DET
alkej-814	211	2	performance	performance	NOUN
alkej-814	211	3	of	of	ADP
alkej-814	211	4	the	the	DET
alkej-814	211	5	models	model	NOUN
alkej-814	211	6	was	be	AUX
alkej-814	211	7	evaluated	evaluate	VERB
alkej-814	211	8	by	by	ADP
alkej-814	211	9	their	their	PRON
alkej-814	211	10	ability	ability	NOUN
alkej-814	211	11	to	to	PART
alkej-814	211	12	navigate	navigate	VERB
alkej-814	211	13	a	a	DET
alkej-814	211	14	robot	robot	NOUN
alkej-814	211	15	through	through	ADP
alkej-814	211	16	predetermined	predetermine	VERB
alkej-814	211	17	tracks	track	NOUN
alkej-814	211	18	.	.	PUNCT
alkej-814	212	1	the	the	DET
alkej-814	212	2	models	model	NOUN
alkej-814	212	3	were	be	AUX
alkej-814	212	4	determined	determine	VERB
alkej-814	212	5	to	to	PART
alkej-814	212	6	be	be	AUX
alkej-814	212	7	successful	successful	ADJ
alkej-814	212	8	based	base	VERB
alkej-814	212	9	on	on	ADP
alkej-814	212	10	their	their	PRON
alkej-814	212	11	ability	ability	NOUN
alkej-814	212	12	to	to	PART
alkej-814	212	13	drive	drive	VERB
alkej-814	212	14	autonomously	autonomously	ADV
alkej-814	212	15	on	on	ADP
alkej-814	212	16	both	both	DET
alkej-814	212	17	predetermined	predetermine	VERB
alkej-814	212	18	tracks	track	NOUN
alkej-814	212	19	.	.	PUNCT
alkej-814	213	1	as	as	ADP
alkej-814	213	2	such	such	ADJ
alkej-814	213	3	,	,	PUNCT
alkej-814	213	4	the	the	DET
alkej-814	213	5	model	model	NOUN
alkej-814	213	6	was	be	AUX
alkej-814	213	7	determined	determine	VERB
alkej-814	213	8	to	to	PART
alkej-814	213	9	be	be	AUX
alkej-814	213	10	a	a	DET
alkej-814	213	11	failure	failure	NOUN
alkej-814	213	12	if	if	SCONJ
alkej-814	213	13	the	the	DET
alkej-814	213	14	car	car	NOUN
alkej-814	213	15	deviated	deviate	VERB
alkej-814	213	16	from	from	ADP
alkej-814	213	17	the	the	DET
alkej-814	213	18	path	path	NOUN
alkej-814	213	19	of	of	ADP
alkej-814	213	20	the	the	DET
alkej-814	213	21	predetermined	predetermine	VERB
alkej-814	213	22	tracks	track	NOUN
alkej-814	213	23	.	.	PUNCT
alkej-814	214	1	the	the	DET
alkej-814	214	2	robots	robot	NOUN
alkej-814	214	3	were	be	AUX
alkej-814	214	4	driven	drive	VERB
alkej-814	214	5	through	through	ADP
alkej-814	214	6	each	each	DET
alkej-814	214	7	track	track	NOUN
alkej-814	214	8	three	three	NUM
alkej-814	214	9	times	time	NOUN
alkej-814	214	10	.	.	PUNCT
alkej-814	215	1	their	their	PRON
alkej-814	215	2	paths	path	NOUN
alkej-814	215	3	were	be	AUX
alkej-814	215	4	recorded	record	VERB
alkej-814	215	5	by	by	ADP
alkej-814	215	6	different	different	ADJ
alkej-814	215	7	colored	colored	ADJ
alkej-814	215	8	markers	marker	NOUN
alkej-814	215	9	that	that	PRON
alkej-814	215	10	were	be	AUX
alkej-814	215	11	affixed	affix	VERB
alkej-814	215	12	to	to	ADP
alkej-814	215	13	the	the	DET
alkej-814	215	14	back	back	NOUN
alkej-814	215	15	of	of	ADP
alkej-814	215	16	the	the	DET
alkej-814	215	17	robot	robot	NOUN
alkej-814	215	18	.	.	PUNCT
alkej-814	216	1	images	image	NOUN
alkej-814	216	2	were	be	AUX
alkej-814	216	3	captured	capture	VERB
alkej-814	216	4	from	from	ADP
alkej-814	216	5	the	the	DET
alkej-814	216	6	paths	path	NOUN
alkej-814	216	7	and	and	CCONJ
alkej-814	216	8	the	the	DET
alkej-814	216	9	trajectories	trajectory	NOUN
alkej-814	216	10	were	be	AUX
alkej-814	216	11	converted	convert	VERB
alkej-814	216	12	into	into	ADP
alkej-814	216	13	xy	xy	PROPN
alkej-814	216	14	coordinates	coordinate	NOUN
alkej-814	216	15	in	in	ADP
alkej-814	216	16	pixels	pixel	NOUN
alkej-814	216	17	.	.	PUNCT
alkej-814	217	1	the	the	DET
alkej-814	217	2	frechet	frechet	PROPN
alkej-814	217	3	distance	distance	NOUN
alkej-814	217	4	theorem	theorem	NOUN
alkej-814	217	5	was	be	AUX
alkej-814	217	6	used	use	VERB
alkej-814	217	7	to	to	PART
alkej-814	217	8	measure	measure	VERB
alkej-814	217	9	how	how	SCONJ
alkej-814	217	10	different	different	ADJ
alkej-814	217	11	the	the	DET
alkej-814	217	12	drawn	draw	VERB
alkej-814	217	13	paths	path	NOUN
alkej-814	217	14	were	be	AUX
alkej-814	217	15	from	from	ADP
alkej-814	217	16	each	each	DET
alkej-814	217	17	other	other	ADJ
alkej-814	217	18	in	in	ADP
alkej-814	217	19	relation	relation	NOUN
alkej-814	217	20	to	to	ADP
alkej-814	217	21	the	the	DET
alkej-814	217	22	centre	centre	NOUN
alkej-814	217	23	of	of	ADP
alkej-814	217	24	the	the	DET
alkej-814	217	25	track.[28][29	track.[28][29	NOUN
alkej-814	217	26	]	]	X
alkej-814	217	27	the	the	DET
alkej-814	217	28	frechet	frechet	PROPN
alkej-814	217	29	distance	distance	NOUN
alkej-814	217	30	between	between	ADP
alkej-814	217	31	two	two	NUM
alkej-814	217	32	curves	curve	NOUN
alkej-814	217	33	can	can	AUX
alkej-814	217	34	be	be	AUX
alkej-814	217	35	defined	define	VERB
alkej-814	217	36	mathematically	mathematically	ADV
alkej-814	217	37	as	as	ADP
alkej-814	217	38	:	:	PUNCT
alkej-814	217	39	𝛿𝐹(𝑃	𝛿𝐹(𝑃	PROPN
alkej-814	217	40	,	,	PUNCT
alkej-814	217	41	𝑄	𝑄	PROPN
alkej-814	217	42	)	)	PUNCT
alkej-814	217	43	=	=	SYM
alkej-814	217	44	min	min	NOUN
alkej-814	217	45	{	{	PUNCT
alkej-814	217	46	max	max	PROPN
alkej-814	217	47	𝑑	𝑑	PROPN
alkej-814	217	48	(	(	PUNCT
alkej-814	217	49	𝑃(𝛼(𝑡	𝑃(𝛼(𝑡	NOUN
alkej-814	217	50	)	)	PUNCT
alkej-814	217	51	)	)	PUNCT
alkej-814	217	52	,	,	PUNCT
alkej-814	217	53	𝑄(𝛽(𝑡	𝑄(𝛽(𝑡	NOUN
alkej-814	217	54	)	)	PUNCT
alkej-814	217	55	)	)	PUNCT
alkej-814	217	56	)	)	PUNCT
alkej-814	217	57	}	}	PUNCT
alkej-814	217	58	𝛼[0,1	𝛼[0,1	NOUN
alkej-814	217	59	]	]	PUNCT
alkej-814	217	60	→	→	PUNCT
alkej-814	218	1	[	[	X
alkej-814	218	2	0	0	NUM
alkej-814	218	3	,	,	PUNCT
alkej-814	218	4	n	n	CCONJ
alkej-814	218	5	]	]	PUNCT
alkej-814	218	6	𝑡	𝑡	X
alkej-814	218	7	∈	∈	PROPN
alkej-814	218	8	[	[	X
alkej-814	218	9	0,1	0,1	NUM
alkej-814	218	10	]	]	PUNCT
alkej-814	218	11	𝛽[0,1	𝛽[0,1	NOUN
alkej-814	218	12	]	]	PUNCT
alkej-814	218	13	→	→	PUNCT
alkej-814	219	1	[	[	X
alkej-814	219	2	0	0	NUM
alkej-814	219	3	,	,	PUNCT
alkej-814	219	4	m	m	VERB
alkej-814	219	5	]	]	X
alkej-814	219	6	…	…	PUNCT
alkej-814	219	7	(	(	PUNCT
alkej-814	219	8	4	4	X
alkej-814	219	9	)	)	PUNCT
alkej-814	219	10	yahya	yahya	NOUN
alkej-814	219	11	ghufran	ghufran	VERB
alkej-814	219	12	khidhir	khidhir	PROPN
alkej-814	219	13	al	al	PROPN
alkej-814	219	14	-	-	PUNCT
alkej-814	219	15	khwarizmi	khwarizmi	PROPN
alkej-814	219	16	engineering	engineering	NOUN
alkej-814	219	17	journal	journal	PROPN
alkej-814	219	18	,	,	PUNCT
alkej-814	219	19	vol	vol	NOUN
alkej-814	219	20	.	.	PROPN
alkej-814	219	21	18	18	NUM
alkej-814	219	22	,	,	PUNCT
alkej-814	219	23	no	no	INTJ
alkej-814	219	24	.	.	NOUN
alkej-814	219	25	4	4	NUM
alkej-814	219	26	,	,	PUNCT
alkej-814	219	27	p.p	p.p	PROPN
alkej-814	219	28	.	.	NOUN
alkej-814	219	29	4559	4559	NUM
alkej-814	219	30	(	(	PUNCT
alkej-814	219	31	2022	2022	NUM
alkej-814	219	32	)	)	PUNCT
alkej-814	219	33	53	53	NUM
alkej-814	219	34	where	where	SCONJ
alkej-814	219	35	𝑃	𝑃	NOUN
alkej-814	219	36	and	and	CCONJ
alkej-814	219	37	𝑄	𝑄	PRON
alkej-814	219	38	are	be	AUX
alkej-814	219	39	polygonal	polygonal	ADJ
alkej-814	219	40	curves	curve	NOUN
alkej-814	219	41	of	of	ADP
alkej-814	219	42	length	length	NOUN
alkej-814	219	43	n	n	PROPN
alkej-814	219	44	and	and	CCONJ
alkej-814	219	45	m	m	PROPN
alkej-814	219	46	,	,	PUNCT
alkej-814	219	47	𝛼(𝑡	𝛼(𝑡	PROPN
alkej-814	219	48	)	)	PUNCT
alkej-814	219	49	and	and	CCONJ
alkej-814	219	50	𝛽(𝑡	𝛽(𝑡	PROPN
alkej-814	219	51	)	)	PUNCT
alkej-814	219	52	are	be	AUX
alkej-814	219	53	two	two	NUM
alkej-814	219	54	continuous	continuous	ADJ
alkej-814	219	55	and	and	CCONJ
alkej-814	219	56	increasing	increase	VERB
alkej-814	219	57	functions	function	NOUN
alkej-814	219	58	,	,	PUNCT
alkej-814	219	59	and	and	CCONJ
alkej-814	219	60	𝑑	𝑑	PROPN
alkej-814	219	61	(	(	PUNCT
alkej-814	219	62	𝑃(𝛼(𝑡	𝑃(𝛼(𝑡	NOUN
alkej-814	219	63	)	)	PUNCT
alkej-814	219	64	)	)	PUNCT
alkej-814	219	65	,	,	PUNCT
alkej-814	219	66	𝑄(𝛽(𝑡	𝑄(𝛽(𝑡	NOUN
alkej-814	219	67	)	)	PUNCT
alkej-814	219	68	)	)	PUNCT
alkej-814	219	69	)	)	PUNCT
alkej-814	219	70	is	be	AUX
alkej-814	219	71	the	the	DET
alkej-814	219	72	euclidian	euclidian	ADJ
alkej-814	219	73	distance	distance	NOUN
alkej-814	219	74	between	between	ADP
alkej-814	219	75	𝑃(𝛼(𝑡	𝑃(𝛼(𝑡	NOUN
alkej-814	219	76	)	)	PUNCT
alkej-814	219	77	)	)	PUNCT
alkej-814	219	78	and	and	CCONJ
alkej-814	219	79	𝑄(𝛽(𝑡	𝑄(𝛽(𝑡	NOUN
alkej-814	219	80	)	)	PUNCT
alkej-814	219	81	)	)	PUNCT
alkej-814	219	82	.	.	PUNCT
alkej-814	220	1	according	accord	VERB
alkej-814	220	2	to	to	ADP
alkej-814	220	3	equation	equation	NOUN
alkej-814	220	4	(	(	PUNCT
alkej-814	220	5	4	4	NUM
alkej-814	220	6	)	)	PUNCT
alkej-814	220	7	,	,	PUNCT
alkej-814	220	8	the	the	DET
alkej-814	220	9	frechet	frechet	PROPN
alkej-814	220	10	distance	distance	NOUN
alkej-814	220	11	algorithm	algorithm	NOUN
alkej-814	220	12	first	first	ADV
alkej-814	220	13	determines	determine	VERB
alkej-814	220	14	the	the	DET
alkej-814	220	15	maximum	maximum	ADJ
alkej-814	220	16	distance	distance	NOUN
alkej-814	220	17	that	that	PRON
alkej-814	220	18	can	can	AUX
alkej-814	220	19	exist	exist	VERB
alkej-814	220	20	between	between	ADP
alkej-814	220	21	curves	curve	NOUN
alkej-814	220	22	𝑃	𝑃	NOUN
alkej-814	220	23	and	and	CCONJ
alkej-814	220	24	𝑄	𝑄	PROPN
alkej-814	220	25	as	as	SCONJ
alkej-814	220	26	they	they	PRON
alkej-814	220	27	progress	progress	VERB
alkej-814	220	28	along	along	ADP
alkej-814	220	29	their	their	PRON
alkej-814	220	30	respective	respective	ADJ
alkej-814	220	31	paths	path	NOUN
alkej-814	220	32	for	for	ADP
alkej-814	220	33	each	each	DET
alkej-814	220	34	value	value	NOUN
alkej-814	220	35	of	of	ADP
alkej-814	220	36	the	the	DET
alkej-814	220	37	functions	function	NOUN
alkej-814	220	38	𝛼(𝑡	𝛼(𝑡	NOUN
alkej-814	220	39	)	)	PUNCT
alkej-814	220	40	and	and	CCONJ
alkej-814	220	41	𝛽(𝑡	𝛽(𝑡	PROPN
alkej-814	220	42	)	)	PUNCT
alkej-814	220	43	,	,	PUNCT
alkej-814	220	44	then	then	ADV
alkej-814	220	45	maintains	maintain	VERB
alkej-814	220	46	the	the	DET
alkej-814	220	47	minimum	minimum	ADJ
alkej-814	220	48	distance	distance	NOUN
alkej-814	220	49	that	that	PRON
alkej-814	220	50	can	can	AUX
alkej-814	220	51	exist	exist	VERB
alkej-814	220	52	between	between	ADP
alkej-814	220	53	them	they	PRON
alkej-814	220	54	.	.	PUNCT
alkej-814	221	1	4	4	X
alkej-814	221	2	.	.	X
alkej-814	221	3	experiments	experiment	NOUN
alkej-814	221	4	and	and	CCONJ
alkej-814	221	5	results	result	NOUN
alkej-814	221	6	when	when	SCONJ
alkej-814	221	7	the	the	DET
alkej-814	221	8	findings	finding	NOUN
alkej-814	221	9	of	of	ADP
alkej-814	221	10	this	this	DET
alkej-814	221	11	research	research	NOUN
alkej-814	221	12	were	be	AUX
alkej-814	221	13	compared	compare	VERB
alkej-814	221	14	to	to	ADP
alkej-814	221	15	those	those	PRON
alkej-814	221	16	of	of	ADP
alkej-814	221	17	similar	similar	ADJ
alkej-814	221	18	studies	study	NOUN
alkej-814	221	19	,	,	PUNCT
alkej-814	221	20	it	it	PRON
alkej-814	221	21	was	be	AUX
alkej-814	221	22	revealed	reveal	VERB
alkej-814	221	23	that	that	SCONJ
alkej-814	221	24	the	the	DET
alkej-814	221	25	metrics	metric	NOUN
alkej-814	221	26	and	and	CCONJ
alkej-814	221	27	datasets	dataset	NOUN
alkej-814	221	28	utilized	utilize	VERB
alkej-814	221	29	were	be	AUX
alkej-814	221	30	not	not	PART
alkej-814	221	31	standardized	standardize	VERB
alkej-814	221	32	,	,	PUNCT
alkej-814	221	33	and	and	CCONJ
alkej-814	221	34	there	there	PRON
alkej-814	221	35	was	be	VERB
alkej-814	221	36	a	a	DET
alkej-814	221	37	lack	lack	NOUN
alkej-814	221	38	of	of	ADP
alkej-814	221	39	transparency	transparency	NOUN
alkej-814	221	40	in	in	ADP
alkej-814	221	41	the	the	DET
alkej-814	221	42	presentation	presentation	NOUN
alkej-814	221	43	of	of	ADP
alkej-814	221	44	the	the	DET
alkej-814	221	45	results	result	NOUN
alkej-814	221	46	.	.	PUNCT
alkej-814	222	1	for	for	ADP
alkej-814	222	2	instance	instance	NOUN
alkej-814	222	3	,	,	PUNCT
alkej-814	222	4	the	the	DET
alkej-814	222	5	percentage	percentage	NOUN
alkej-814	222	6	of	of	ADP
alkej-814	222	7	switching	switch	VERB
alkej-814	222	8	lanes	lane	NOUN
alkej-814	222	9	over	over	ADP
alkej-814	222	10	time	time	NOUN
alkej-814	222	11	on	on	ADP
alkej-814	222	12	multi	multi	ADJ
alkej-814	222	13	-	-	ADJ
alkej-814	222	14	line	line	ADJ
alkej-814	222	15	tracks	track	NOUN
alkej-814	222	16	is	be	AUX
alkej-814	222	17	quantified	quantify	VERB
alkej-814	222	18	as	as	ADP
alkej-814	222	19	a	a	DET
alkej-814	222	20	"	"	PUNCT
alkej-814	222	21	degree	degree	NOUN
alkej-814	222	22	of	of	ADP
alkej-814	222	23	autonomy	autonomy	NOUN
alkej-814	222	24	"	"	PUNCT
alkej-814	222	25	in	in	ADP
alkej-814	222	26	[	[	X
alkej-814	222	27	8	8	NUM
alkej-814	222	28	]	]	PUNCT
alkej-814	222	29	,	,	PUNCT
alkej-814	223	1	[	[	X
alkej-814	223	2	9	9	NUM
alkej-814	223	3	]	]	PUNCT
alkej-814	223	4	.	.	PUNCT
alkej-814	224	1	the	the	DET
alkej-814	224	2	sample	sample	NOUN
alkej-814	224	3	sizes	size	NOUN
alkej-814	224	4	in	in	ADP
alkej-814	224	5	the	the	DET
alkej-814	224	6	training	training	NOUN
alkej-814	224	7	,	,	PUNCT
alkej-814	224	8	validation	validation	NOUN
alkej-814	224	9	,	,	PUNCT
alkej-814	224	10	and	and	CCONJ
alkej-814	224	11	testing	testing	NOUN
alkej-814	224	12	sets	set	NOUN
alkej-814	224	13	in	in	ADP
alkej-814	224	14	the	the	DET
alkej-814	224	15	simulated	simulate	VERB
alkej-814	224	16	data	datum	NOUN
alkej-814	224	17	presented	present	VERB
alkej-814	224	18	in	in	ADP
alkej-814	224	19	[	[	X
alkej-814	224	20	8	8	NUM
alkej-814	224	21	]	]	PUNCT
alkej-814	224	22	,	,	PUNCT
alkej-814	224	23	[	[	X
alkej-814	224	24	9	9	NUM
alkej-814	224	25	]	]	PUNCT
alkej-814	224	26	,	,	PUNCT
alkej-814	224	27	and	and	CCONJ
alkej-814	224	28	[	[	X
alkej-814	224	29	10	10	NUM
alkej-814	224	30	]	]	PUNCT
alkej-814	224	31	are	be	AUX
alkej-814	224	32	significantly	significantly	ADV
alkej-814	224	33	different	different	ADJ
alkej-814	224	34	.	.	PUNCT
alkej-814	225	1	in	in	ADP
alkej-814	225	2	studies	study	NOUN
alkej-814	225	3	,	,	PUNCT
alkej-814	225	4	the	the	DET
alkej-814	225	5	following	follow	VERB
alkej-814	225	6	metrics	metric	NOUN
alkej-814	225	7	were	be	AUX
alkej-814	225	8	employed	employ	VERB
alkej-814	225	9	:	:	PUNCT
alkej-814	226	1	[	[	X
alkej-814	226	2	10	10	NUM
alkej-814	226	3	]	]	PUNCT
alkej-814	226	4	,	,	PUNCT
alkej-814	226	5	[	[	X
alkej-814	226	6	12	12	NUM
alkej-814	226	7	]	]	X
alkej-814	226	8	mse	mse	NOUN
alkej-814	226	9	,	,	PUNCT
alkej-814	226	10	[	[	X
alkej-814	226	11	13	13	NUM
alkej-814	226	12	]	]	X
alkej-814	226	13	cross	cross	NOUN
alkej-814	226	14	-	-	NOUN
alkej-814	226	15	entropy	entropy	ADJ
alkej-814	226	16	,	,	PUNCT
alkej-814	226	17	[	[	X
alkej-814	226	18	14	14	NUM
alkej-814	226	19	]	]	X
alkej-814	226	20	mae	mae	PROPN
alkej-814	226	21	,	,	PUNCT
alkej-814	226	22	and	and	CCONJ
alkej-814	226	23	[	[	X
alkej-814	226	24	11	11	NUM
alkej-814	226	25	]	]	SYM
alkej-814	226	26	rmse	rmse	NOUN
alkej-814	226	27	.	.	PUNCT
alkej-814	226	28	mse	mse	PROPN
alkej-814	226	29	was	be	AUX
alkej-814	226	30	implemented	implement	VERB
alkej-814	226	31	to	to	PART
alkej-814	226	32	evaluate	evaluate	VERB
alkej-814	226	33	the	the	DET
alkej-814	226	34	performance	performance	NOUN
alkej-814	226	35	of	of	ADP
alkej-814	226	36	the	the	DET
alkej-814	226	37	proposed	propose	VERB
alkej-814	226	38	architectures	architecture	NOUN
alkej-814	226	39	on	on	ADP
alkej-814	226	40	the	the	DET
alkej-814	226	41	validation	validation	NOUN
alkej-814	226	42	dataset	dataset	NOUN
alkej-814	226	43	in	in	ADP
alkej-814	226	44	this	this	DET
alkej-814	226	45	study	study	NOUN
alkej-814	226	46	.	.	PUNCT
alkej-814	227	1	as	as	SCONJ
alkej-814	227	2	shown	show	VERB
alkej-814	227	3	in	in	ADP
alkej-814	227	4	table	table	NOUN
alkej-814	227	5	1	1	NUM
alkej-814	227	6	,	,	PUNCT
alkej-814	227	7	desnenet121	desnenet121	PROPN
alkej-814	227	8	has	have	VERB
alkej-814	227	9	the	the	DET
alkej-814	227	10	best	good	ADJ
alkej-814	227	11	overall	overall	ADJ
alkej-814	227	12	performance	performance	NOUN
alkej-814	227	13	,	,	PUNCT
alkej-814	227	14	with	with	ADP
alkej-814	227	15	a	a	DET
alkej-814	227	16	score	score	NOUN
alkej-814	227	17	of	of	ADP
alkej-814	227	18	0.0057	0.0057	NUM
alkej-814	227	19	.	.	PUNCT
alkej-814	228	1	however	however	ADV
alkej-814	228	2	,	,	PUNCT
alkej-814	228	3	resnet18	resnet18	NOUN
alkej-814	228	4	's	's	PART
alkej-814	228	5	value	value	NOUN
alkej-814	228	6	of	of	ADP
alkej-814	228	7	0.0058	0.0058	NUM
alkej-814	228	8	is	be	AUX
alkej-814	228	9	quite	quite	ADV
alkej-814	228	10	close	close	ADJ
alkej-814	228	11	to	to	ADP
alkej-814	228	12	densenet121	densenet121	PROPN
alkej-814	228	13	's	's	PART
alkej-814	228	14	value	value	NOUN
alkej-814	228	15	.	.	PUNCT
alkej-814	229	1	among	among	ADP
alkej-814	229	2	the	the	DET
alkej-814	229	3	two	two	NUM
alkej-814	229	4	remaining	remain	VERB
alkej-814	229	5	models	model	NOUN
alkej-814	229	6	,	,	PUNCT
alkej-814	229	7	resnet18	resnet18	NOUN
alkej-814	229	8	and	and	CCONJ
alkej-814	229	9	densenet121	densenet121	PROPN
alkej-814	229	10	,	,	PUNCT
alkej-814	229	11	resnet18	resnet18	NOUN
alkej-814	229	12	had	have	VERB
alkej-814	229	13	the	the	DET
alkej-814	229	14	larger	large	ADJ
alkej-814	229	15	file	file	NOUN
alkej-814	229	16	size	size	NOUN
alkej-814	229	17	.	.	PUNCT
alkej-814	230	1	the	the	DET
alkej-814	230	2	size	size	NOUN
alkej-814	230	3	of	of	ADP
alkej-814	230	4	the	the	DET
alkej-814	230	5	model	model	NOUN
alkej-814	230	6	indicates	indicate	VERB
alkej-814	230	7	the	the	DET
alkej-814	230	8	complexity	complexity	NOUN
alkej-814	230	9	of	of	ADP
alkej-814	230	10	the	the	DET
alkej-814	230	11	model	model	NOUN
alkej-814	230	12	.	.	PUNCT
alkej-814	231	1	after	after	ADP
alkej-814	231	2	training	train	VERB
alkej-814	231	3	three	three	NUM
alkej-814	231	4	cnn	cnn	PROPN
alkej-814	231	5	architectures	architecture	NOUN
alkej-814	231	6	on	on	ADP
alkej-814	231	7	google	google	PROPN
alkej-814	231	8	colab	colab	PROPN
alkej-814	231	9	,	,	PUNCT
alkej-814	231	10	testing	test	VERB
alkej-814	231	11	for	for	ADP
alkej-814	231	12	the	the	DET
alkej-814	231	13	alexnet	alexnet	ADJ
alkej-814	231	14	model	model	NOUN
alkej-814	231	15	was	be	AUX
alkej-814	231	16	suspended	suspend	VERB
alkej-814	231	17	since	since	SCONJ
alkej-814	231	18	its	its	PRON
alkej-814	231	19	217	217	NUM
alkej-814	231	20	mb	mb	NOUN
alkej-814	231	21	size	size	NOUN
alkej-814	231	22	exceeded	exceed	VERB
alkej-814	231	23	the	the	DET
alkej-814	231	24	storage	storage	NOUN
alkej-814	231	25	capacity	capacity	NOUN
alkej-814	231	26	of	of	ADP
alkej-814	231	27	the	the	DET
alkej-814	231	28	jetson	jetson	PROPN
alkej-814	231	29	nano	nano	PROPN
alkej-814	231	30	2	2	NUM
alkej-814	231	31	g.	g.	NOUN
alkej-814	231	32	as	as	ADP
alkej-814	231	33	a	a	DET
alkej-814	231	34	result	result	NOUN
alkej-814	231	35	,	,	PUNCT
alkej-814	231	36	this	this	DET
alkej-814	231	37	model	model	NOUN
alkej-814	231	38	was	be	AUX
alkej-814	231	39	not	not	PART
alkej-814	231	40	considered	consider	VERB
alkej-814	231	41	for	for	ADP
alkej-814	231	42	further	further	ADJ
alkej-814	231	43	examination	examination	NOUN
alkej-814	231	44	.	.	PUNCT
alkej-814	232	1	only	only	ADV
alkej-814	232	2	resnet18	resnet18	NOUN
alkej-814	232	3	and	and	CCONJ
alkej-814	232	4	densenet121	densenet121	PROPN
alkej-814	232	5	were	be	AUX
alkej-814	232	6	tested	test	VERB
alkej-814	232	7	on	on	ADP
alkej-814	232	8	the	the	DET
alkej-814	232	9	aforementioned	aforementioned	ADJ
alkej-814	232	10	tracks	track	NOUN
alkej-814	232	11	using	use	VERB
alkej-814	232	12	the	the	DET
alkej-814	232	13	jetson	jetson	PROPN
alkej-814	232	14	nano	nano	NOUN
alkej-814	232	15	2	2	NUM
alkej-814	232	16	g.	g.	NOUN
alkej-814	232	17	table	table	NOUN
alkej-814	232	18	1	1	NUM
alkej-814	232	19	,	,	PUNCT
alkej-814	232	20	mse	mse	NOUN
alkej-814	232	21	and	and	CCONJ
alkej-814	232	22	model	model	NOUN
alkej-814	232	23	size	size	NOUN
alkej-814	232	24	network	network	NOUN
alkej-814	232	25	mse	mse	PROPN
alkej-814	232	26	model	model	NOUN
alkej-814	232	27	size	size	NOUN
alkej-814	232	28	resnet18	resnet18	NOUN
alkej-814	232	29	0.0058	0.0058	NUM
alkej-814	232	30	42.7	42.7	NUM
alkej-814	232	31	mb	mb	ADP
alkej-814	232	32	densenet121	densenet121	PROPN
alkej-814	232	33	0.0057	0.0057	NUM
alkej-814	232	34	27.1	27.1	NUM
alkej-814	232	35	mb	mb	ADP
alkej-814	232	36	alexnet	alexnet	NOUN
alkej-814	232	37	0.1333	0.1333	NUM
alkej-814	232	38	217	217	NUM
alkej-814	232	39	mb	mb	NOUN
alkej-814	232	40	in	in	ADP
alkej-814	232	41	order	order	NOUN
alkej-814	232	42	to	to	PART
alkej-814	232	43	compare	compare	VERB
alkej-814	232	44	the	the	DET
alkej-814	232	45	models	model	NOUN
alkej-814	232	46	'	'	PART
alkej-814	232	47	accuracy	accuracy	NOUN
alkej-814	232	48	and	and	CCONJ
alkej-814	232	49	repeatability	repeatability	NOUN
alkej-814	232	50	.	.	PUNCT
alkej-814	233	1	due	due	ADP
alkej-814	233	2	to	to	ADP
alkej-814	233	3	the	the	DET
alkej-814	233	4	simplicity	simplicity	NOUN
alkej-814	233	5	,	,	PUNCT
alkej-814	233	6	three	three	NUM
alkej-814	233	7	full	full	ADJ
alkej-814	233	8	laps	lap	NOUN
alkej-814	233	9	of	of	ADP
alkej-814	233	10	driving	driving	NOUN
alkej-814	233	11	were	be	AUX
alkej-814	233	12	recorded	record	VERB
alkej-814	233	13	at	at	ADP
alkej-814	233	14	a	a	DET
alkej-814	233	15	constant	constant	ADJ
alkej-814	233	16	speed	speed	NOUN
alkej-814	233	17	.	.	PUNCT
alkej-814	234	1	figure	figure	NOUN
alkej-814	234	2	8	8	NUM
alkej-814	234	3	shows	show	VERB
alkej-814	234	4	the	the	DET
alkej-814	234	5	drawn	draw	VERB
alkej-814	234	6	paths	path	NOUN
alkej-814	234	7	of	of	ADP
alkej-814	234	8	the	the	DET
alkej-814	234	9	robot	robot	NOUN
alkej-814	234	10	as	as	SCONJ
alkej-814	234	11	it	it	PRON
alkej-814	234	12	navigates	navigate	VERB
alkej-814	234	13	each	each	DET
alkej-814	234	14	predetermined	predetermine	VERB
alkej-814	234	15	path	path	NOUN
alkej-814	234	16	,	,	PUNCT
alkej-814	234	17	whether	whether	SCONJ
alkej-814	234	18	using	use	VERB
alkej-814	234	19	the	the	DET
alkej-814	234	20	resnet18	resnet18	NOUN
alkej-814	234	21	model	model	NOUN
alkej-814	234	22	or	or	CCONJ
alkej-814	234	23	the	the	DET
alkej-814	234	24	densenet121	densenet121	PROPN
alkej-814	234	25	.	.	PUNCT
alkej-814	235	1	recorded	record	VERB
alkej-814	235	2	trajectories	trajectory	NOUN
alkej-814	235	3	suggest	suggest	VERB
alkej-814	235	4	that	that	SCONJ
alkej-814	235	5	both	both	DET
alkej-814	235	6	resnet18	resnet18	NOUN
alkej-814	235	7	and	and	CCONJ
alkej-814	235	8	densenet121	densenet121	PROPN
alkej-814	235	9	guided	guide	VERB
alkej-814	235	10	the	the	DET
alkej-814	235	11	robot	robot	NOUN
alkej-814	235	12	through	through	ADP
alkej-814	235	13	both	both	PRON
alkej-814	235	14	of	of	ADP
alkej-814	235	15	the	the	DET
alkej-814	235	16	predetermined	predetermine	VERB
alkej-814	235	17	paths	path	NOUN
alkej-814	235	18	.	.	PUNCT
alkej-814	236	1	however	however	ADV
alkej-814	236	2	,	,	PUNCT
alkej-814	236	3	there	there	PRON
alkej-814	236	4	were	be	VERB
alkej-814	236	5	some	some	DET
alkej-814	236	6	differences	difference	NOUN
alkej-814	236	7	between	between	ADP
alkej-814	236	8	the	the	DET
alkej-814	236	9	two	two	NUM
alkej-814	236	10	models	model	NOUN
alkej-814	236	11	.	.	PUNCT
alkej-814	237	1	the	the	DET
alkej-814	237	2	frechet	frechet	PROPN
alkej-814	237	3	distance	distance	NOUN
alkej-814	237	4	was	be	AUX
alkej-814	237	5	applied	apply	VERB
alkej-814	237	6	to	to	PART
alkej-814	237	7	show	show	VERB
alkej-814	237	8	how	how	SCONJ
alkej-814	237	9	both	both	DET
alkej-814	237	10	models	model	NOUN
alkej-814	237	11	'	'	PART
alkej-814	237	12	curves	curve	NOUN
alkej-814	237	13	deviated	deviate	VERB
alkej-814	237	14	from	from	ADP
alkej-814	237	15	the	the	DET
alkej-814	237	16	centerline	centerline	NOUN
alkej-814	237	17	.	.	PUNCT
alkej-814	238	1	in	in	ADP
alkej-814	238	2	the	the	DET
alkej-814	238	3	initial	initial	ADJ
alkej-814	238	4	step	step	NOUN
alkej-814	238	5	of	of	ADP
alkej-814	238	6	the	the	DET
alkej-814	238	7	frechet	frechet	NOUN
alkej-814	238	8	distance	distance	NOUN
alkej-814	238	9	algorithm	algorithm	NOUN
alkej-814	238	10	,	,	PUNCT
alkej-814	238	11	it	it	PRON
alkej-814	238	12	calculates	calculate	VERB
alkej-814	238	13	the	the	DET
alkej-814	238	14	maximum	maximum	ADJ
alkej-814	238	15	distance	distance	NOUN
alkej-814	238	16	between	between	ADP
alkej-814	238	17	two	two	NUM
alkej-814	238	18	pairing	pair	VERB
alkej-814	238	19	points	point	NOUN
alkej-814	238	20	of	of	ADP
alkej-814	238	21	each	each	DET
alkej-814	238	22	model	model	NOUN
alkej-814	238	23	's	's	PART
alkej-814	238	24	drawn	draw	VERB
alkej-814	238	25	path	path	NOUN
alkej-814	238	26	and	and	CCONJ
alkej-814	238	27	the	the	DET
alkej-814	238	28	centerline	centerline	NOUN
alkej-814	238	29	path	path	NOUN
alkej-814	238	30	.	.	PUNCT
alkej-814	239	1	in	in	ADP
alkej-814	239	2	addition	addition	NOUN
alkej-814	239	3	to	to	ADP
alkej-814	239	4	this	this	PRON
alkej-814	239	5	,	,	PUNCT
alkej-814	239	6	it	it	PRON
alkej-814	239	7	selects	select	VERB
alkej-814	239	8	the	the	DET
alkej-814	239	9	smallest	small	ADJ
alkej-814	239	10	distance	distance	NOUN
alkej-814	239	11	from	from	ADP
alkej-814	239	12	all	all	DET
alkej-814	239	13	maximum	maximum	ADJ
alkej-814	239	14	pairwise	pairwise	NOUN
alkej-814	239	15	distances	distance	NOUN
alkej-814	239	16	to	to	PART
alkej-814	239	17	demonstrate	demonstrate	VERB
alkej-814	239	18	the	the	DET
alkej-814	239	19	dissimilarity	dissimilarity	NOUN
alkej-814	239	20	between	between	ADP
alkej-814	239	21	the	the	DET
alkej-814	239	22	two	two	NUM
alkej-814	239	23	paths	path	NOUN
alkej-814	239	24	.	.	PUNCT
alkej-814	240	1	figures	figure	NOUN
alkej-814	240	2	8	8	NUM
alkej-814	240	3	(	(	PUNCT
alkej-814	240	4	a	a	NOUN
alkej-814	240	5	)	)	PUNCT
alkej-814	240	6	and	and	CCONJ
alkej-814	240	7	(	(	PUNCT
alkej-814	240	8	b	b	X
alkej-814	240	9	)	)	PUNCT
alkej-814	240	10	show	show	VERB
alkej-814	240	11	the	the	DET
alkej-814	240	12	paths	path	NOUN
alkej-814	240	13	drawn	draw	VERB
alkej-814	240	14	by	by	ADP
alkej-814	240	15	the	the	DET
alkej-814	240	16	resnet18	resnet18	NOUN
alkej-814	240	17	model	model	NOUN
alkej-814	240	18	for	for	ADP
alkej-814	240	19	three	three	NUM
alkej-814	240	20	full	full	ADJ
alkej-814	240	21	laps	lap	NOUN
alkej-814	240	22	on	on	ADP
alkej-814	240	23	both	both	DET
alkej-814	240	24	trajectories	trajectory	NOUN
alkej-814	240	25	.	.	PUNCT
alkej-814	241	1	figures	figure	NOUN
alkej-814	241	2	8	8	NUM
alkej-814	241	3	(	(	PUNCT
alkej-814	241	4	c	c	NOUN
alkej-814	241	5	)	)	PUNCT
alkej-814	241	6	and	and	CCONJ
alkej-814	241	7	(	(	PUNCT
alkej-814	241	8	d	d	X
alkej-814	241	9	)	)	PUNCT
alkej-814	241	10	show	show	VERB
alkej-814	241	11	the	the	DET
alkej-814	241	12	paths	path	NOUN
alkej-814	241	13	drawn	draw	VERB
alkej-814	241	14	by	by	ADP
alkej-814	241	15	densenet121	densenet121	PROPN
alkej-814	241	16	for	for	ADP
alkej-814	241	17	three	three	NUM
alkej-814	241	18	full	full	ADJ
alkej-814	241	19	laps	lap	NOUN
alkej-814	241	20	on	on	ADP
alkej-814	241	21	both	both	DET
alkej-814	241	22	tracks	track	NOUN
alkej-814	241	23	.	.	PUNCT
alkej-814	242	1	table	table	NOUN
alkej-814	242	2	2	2	NUM
alkej-814	242	3	shows	show	VERB
alkej-814	242	4	the	the	DET
alkej-814	242	5	calculated	calculated	ADJ
alkej-814	242	6	dissimilarity	dissimilarity	NOUN
alkej-814	242	7	distances	distance	NOUN
alkej-814	242	8	between	between	ADP
alkej-814	242	9	each	each	DET
alkej-814	242	10	curve	curve	NOUN
alkej-814	242	11	and	and	CCONJ
alkej-814	242	12	the	the	DET
alkej-814	242	13	centerline	centerline	NOUN
alkej-814	242	14	for	for	ADP
alkej-814	242	15	three	three	NUM
alkej-814	242	16	turns	turn	NOUN
alkej-814	242	17	.	.	PUNCT
alkej-814	243	1	table	table	NOUN
alkej-814	243	2	2	2	NUM
alkej-814	243	3	shows	show	VERB
alkej-814	243	4	that	that	SCONJ
alkej-814	243	5	when	when	SCONJ
alkej-814	243	6	comparing	compare	VERB
alkej-814	243	7	resnet18	resnet18	NOUN
alkej-814	243	8	and	and	CCONJ
alkej-814	243	9	densenet121	densenet121	PROPN
alkej-814	243	10	,	,	PUNCT
alkej-814	243	11	the	the	DET
alkej-814	243	12	former	former	NOUN
alkej-814	243	13	has	have	VERB
alkej-814	243	14	relatively	relatively	ADV
alkej-814	243	15	small	small	ADJ
alkej-814	243	16	dissimilarity	dissimilarity	NOUN
alkej-814	243	17	distances	distance	NOUN
alkej-814	243	18	.	.	PUNCT
alkej-814	244	1	resnet18	resnet18	NOUN
alkej-814	244	2	demonstrated	demonstrate	VERB
alkej-814	244	3	an	an	DET
alkej-814	244	4	average	average	ADJ
alkej-814	244	5	distance	distance	NOUN
alkej-814	244	6	of	of	ADP
alkej-814	244	7	3.26	3.26	NUM
alkej-814	244	8	cm	cm	NOUN
alkej-814	244	9	from	from	ADP
alkej-814	244	10	the	the	DET
alkej-814	244	11	track	track	NOUN
alkej-814	244	12	's	's	PART
alkej-814	244	13	centerline	centerline	NOUN
alkej-814	244	14	on	on	ADP
alkej-814	244	15	the	the	DET
alkej-814	244	16	first	first	ADJ
alkej-814	244	17	track	track	NOUN
alkej-814	244	18	.	.	PUNCT
alkej-814	245	1	on	on	ADP
alkej-814	245	2	the	the	DET
alkej-814	245	3	same	same	ADJ
alkej-814	245	4	track	track	NOUN
alkej-814	245	5	,	,	PUNCT
alkej-814	245	6	densenet121	densenet121	AUX
alkej-814	245	7	achieved	achieve	VERB
alkej-814	245	8	an	an	DET
alkej-814	245	9	average	average	ADJ
alkej-814	245	10	distance	distance	NOUN
alkej-814	245	11	of	of	ADP
alkej-814	245	12	4.39	4.39	NUM
alkej-814	245	13	cm	cm	NOUN
alkej-814	245	14	.	.	PUNCT
alkej-814	246	1	resnet18	resnet18	NOUN
alkej-814	246	2	achieved	achieve	VERB
alkej-814	246	3	an	an	DET
alkej-814	246	4	average	average	ADJ
alkej-814	246	5	distance	distance	NOUN
alkej-814	246	6	of	of	ADP
alkej-814	246	7	4.12	4.12	NUM
alkej-814	246	8	cm	cm	NOUN
alkej-814	246	9	on	on	ADP
alkej-814	246	10	the	the	DET
alkej-814	246	11	second	second	ADJ
alkej-814	246	12	track	track	NOUN
alkej-814	246	13	.	.	PUNCT
alkej-814	247	1	densenet121	densenet121	PROPN
alkej-814	247	2	achieved	achieve	VERB
alkej-814	247	3	an	an	DET
alkej-814	247	4	average	average	ADJ
alkej-814	247	5	distance	distance	NOUN
alkej-814	247	6	of	of	ADP
alkej-814	247	7	4.38	4.38	NUM
alkej-814	247	8	cm	cm	NOUN
alkej-814	247	9	on	on	ADP
alkej-814	247	10	the	the	DET
alkej-814	247	11	same	same	ADJ
alkej-814	247	12	track	track	NOUN
alkej-814	247	13	.	.	PUNCT
alkej-814	248	1	resnet18	resnet18	NOUN
alkej-814	248	2	appeared	appear	VERB
alkej-814	248	3	to	to	PART
alkej-814	248	4	be	be	AUX
alkej-814	248	5	less	less	ADV
alkej-814	248	6	accurate	accurate	ADJ
alkej-814	248	7	on	on	ADP
alkej-814	248	8	the	the	DET
alkej-814	248	9	second	second	ADJ
alkej-814	248	10	track	track	NOUN
alkej-814	248	11	when	when	SCONJ
alkej-814	248	12	compared	compare	VERB
alkej-814	248	13	to	to	ADP
alkej-814	248	14	the	the	DET
alkej-814	248	15	first	first	ADJ
alkej-814	248	16	.	.	PUNCT
alkej-814	249	1	densenet121	densenet121	PROPN
alkej-814	249	2	,	,	PUNCT
alkej-814	249	3	on	on	ADP
alkej-814	249	4	the	the	DET
alkej-814	249	5	other	other	ADJ
alkej-814	249	6	hand	hand	NOUN
alkej-814	249	7	,	,	PUNCT
alkej-814	249	8	produced	produce	VERB
alkej-814	249	9	comparable	comparable	ADJ
alkej-814	249	10	results	result	NOUN
alkej-814	249	11	on	on	ADP
alkej-814	249	12	both	both	DET
alkej-814	249	13	tracks	track	NOUN
alkej-814	249	14	.	.	PUNCT
alkej-814	250	1	this	this	PRON
alkej-814	250	2	means	mean	VERB
alkej-814	250	3	that	that	DET
alkej-814	250	4	resnet18	resnet18	NOUN
alkej-814	250	5	is	be	AUX
alkej-814	250	6	more	more	ADV
alkej-814	250	7	accurate	accurate	ADJ
alkej-814	250	8	than	than	ADP
alkej-814	250	9	densenet121	densenet121	PROPN
alkej-814	250	10	,	,	PUNCT
alkej-814	250	11	but	but	CCONJ
alkej-814	250	12	densenet121	densenet121	PROPN
alkej-814	250	13	can	can	AUX
alkej-814	250	14	adapt	adapt	VERB
alkej-814	250	15	to	to	ADP
alkej-814	250	16	different	different	ADJ
alkej-814	250	17	tracks	track	NOUN
alkej-814	250	18	and	and	CCONJ
alkej-814	250	19	perform	perform	VERB
alkej-814	250	20	more	more	ADV
alkej-814	250	21	consistently	consistently	ADV
alkej-814	250	22	.	.	PUNCT
alkej-814	251	1	yahya	yahya	PROPN
alkej-814	251	2	ghufran	ghufran	VERB
alkej-814	251	3	khidhir	khidhir	PROPN
alkej-814	251	4	al	al	PROPN
alkej-814	251	5	-	-	PUNCT
alkej-814	251	6	khwarizmi	khwarizmi	PROPN
alkej-814	251	7	engineering	engineering	NOUN
alkej-814	251	8	journal	journal	PROPN
alkej-814	251	9	,	,	PUNCT
alkej-814	251	10	vol	vol	NOUN
alkej-814	251	11	.	.	PROPN
alkej-814	251	12	18	18	NUM
alkej-814	251	13	,	,	PUNCT
alkej-814	251	14	no	no	INTJ
alkej-814	251	15	.	.	NOUN
alkej-814	251	16	4	4	NUM
alkej-814	251	17	,	,	PUNCT
alkej-814	251	18	p.p	p.p	PROPN
alkej-814	251	19	.	.	NOUN
alkej-814	251	20	4559	4559	NUM
alkej-814	251	21	(	(	PUNCT
alkej-814	251	22	2022	2022	NUM
alkej-814	251	23	)	)	PUNCT
alkej-814	251	24	54	54	NUM
alkej-814	251	25	yahya	yahya	NOUN
alkej-814	251	26	ghufran	ghufran	VERB
alkej-814	251	27	khidhir	khidhir	PROPN
alkej-814	251	28	al	al	PROPN
alkej-814	251	29	-	-	PUNCT
alkej-814	251	30	khwarizmi	khwarizmi	PROPN
alkej-814	251	31	engineering	engineering	NOUN
alkej-814	251	32	journal	journal	PROPN
alkej-814	251	33	,	,	PUNCT
alkej-814	251	34	vol	vol	NOUN
alkej-814	251	35	.	.	PROPN
alkej-814	251	36	18	18	NUM
alkej-814	251	37	,	,	PUNCT
alkej-814	251	38	no	no	INTJ
alkej-814	251	39	.	.	NOUN
alkej-814	251	40	4	4	NUM
alkej-814	251	41	,	,	PUNCT
alkej-814	251	42	p.p	p.p	PROPN
alkej-814	251	43	.	.	NOUN
alkej-814	251	44	4559	4559	NUM
alkej-814	251	45	(	(	PUNCT
alkej-814	251	46	2022	2022	NUM
alkej-814	251	47	)	)	PUNCT
alkej-814	251	48	55	55	NUM
alkej-814	251	49	fig	fig	NOUN
alkej-814	251	50	.	.	PUNCT
alkej-814	252	1	8	8	NUM
alkej-814	252	2	.	.	PUNCT
alkej-814	253	1	the	the	DET
alkej-814	253	2	drawn	draw	VERB
alkej-814	253	3	paths	path	NOUN
alkej-814	253	4	for	for	ADP
alkej-814	253	5	three	three	NUM
alkej-814	253	6	full	full	ADJ
alkej-814	253	7	laps	lap	NOUN
alkej-814	253	8	on	on	ADP
alkej-814	253	9	both	both	DET
alkej-814	253	10	tracks	track	NOUN
alkej-814	253	11	using	use	VERB
alkej-814	253	12	resnet18	resnet18	NOUN
alkej-814	253	13	and	and	CCONJ
alkej-814	253	14	densenet121	densenet121	PROPN
alkej-814	253	15	.	.	PUNCT
alkej-814	254	1	(	(	PUNCT
alkej-814	254	2	a	a	X
alkej-814	254	3	)	)	PUNCT
alkej-814	254	4	the	the	DET
alkej-814	254	5	drawn	draw	VERB
alkej-814	254	6	paths	path	NOUN
alkej-814	254	7	of	of	ADP
alkej-814	254	8	resnet18	resnet18	NOUN
alkej-814	254	9	on	on	ADP
alkej-814	254	10	the	the	DET
alkej-814	254	11	first	first	ADJ
alkej-814	254	12	track	track	NOUN
alkej-814	254	13	.	.	PUNCT
alkej-814	255	1	(	(	PUNCT
alkej-814	255	2	b	b	X
alkej-814	255	3	)	)	PUNCT
alkej-814	255	4	the	the	DET
alkej-814	255	5	drawn	draw	VERB
alkej-814	255	6	paths	path	NOUN
alkej-814	255	7	resnet18	resnet18	NOUN
alkej-814	255	8	model	model	NOUN
alkej-814	255	9	on	on	ADP
alkej-814	255	10	the	the	DET
alkej-814	255	11	second	second	ADJ
alkej-814	255	12	track	track	NOUN
alkej-814	255	13	.	.	PUNCT
alkej-814	256	1	(	(	PUNCT
alkej-814	256	2	c	c	X
alkej-814	256	3	)	)	PUNCT
alkej-814	256	4	the	the	DET
alkej-814	256	5	drawn	draw	VERB
alkej-814	256	6	paths	path	NOUN
alkej-814	256	7	of	of	ADP
alkej-814	256	8	the	the	DET
alkej-814	256	9	densenet121	densenet121	PROPN
alkej-814	256	10	model	model	NOUN
alkej-814	256	11	on	on	ADP
alkej-814	256	12	the	the	DET
alkej-814	256	13	first	first	ADJ
alkej-814	256	14	track	track	NOUN
alkej-814	256	15	.	.	PUNCT
alkej-814	257	1	(	(	PUNCT
alkej-814	257	2	d	d	X
alkej-814	257	3	)	)	PUNCT
alkej-814	257	4	the	the	DET
alkej-814	257	5	drawn	draw	VERB
alkej-814	257	6	paths	path	NOUN
alkej-814	257	7	densenet121	densenet121	PROPN
alkej-814	257	8	model	model	NOUN
alkej-814	257	9	on	on	ADP
alkej-814	257	10	the	the	DET
alkej-814	257	11	second	second	ADJ
alkej-814	257	12	track	track	NOUN
alkej-814	257	13	.	.	PUNCT
alkej-814	258	1	table	table	NOUN
alkej-814	258	2	2	2	NUM
alkej-814	258	3	,	,	PUNCT
alkej-814	258	4	the	the	DET
alkej-814	258	5	dissimilarity	dissimilarity	NOUN
alkej-814	258	6	between	between	ADP
alkej-814	258	7	curves	curve	NOUN
alkej-814	258	8	and	and	CCONJ
alkej-814	258	9	centerline	centerline	NOUN
alkej-814	258	10	using	use	VERB
alkej-814	258	11	discrete	discrete	ADJ
alkej-814	258	12	frechet	frechet	NOUN
alkej-814	258	13	distance	distance	NOUN
alkej-814	258	14	.	.	PUNCT
alkej-814	259	1	first	first	ADJ
alkej-814	259	2	track	track	VERB
alkej-814	259	3	second	second	ADJ
alkej-814	259	4	track	track	NOUN
alkej-814	259	5	num	num	ADJ
alkej-814	259	6	of	of	ADP
alkej-814	259	7	turns	turn	NOUN
alkej-814	259	8	resnet18	resnet18	NOUN
alkej-814	259	9	densenet121	densenet121	PROPN
alkej-814	259	10	resnet18	resnet18	NOUN
alkej-814	259	11	densenet121	densenet121	PROPN
alkej-814	259	12	first	first	ADJ
alkej-814	259	13	turn	turn	NOUN
alkej-814	259	14	1.81	1.81	NUM
alkej-814	259	15	cm	cm	NUM
alkej-814	259	16	2.69	2.69	NUM
alkej-814	259	17	cm	cm	NOUN
alkej-814	259	18	3.57	3.57	NUM
alkej-814	259	19	cm	cm	NOUN
alkej-814	259	20	3.12	3.12	NUM
alkej-814	259	21	cm	cm	NOUN
alkej-814	259	22	second	second	ADJ
alkej-814	259	23	turn	turn	NOUN
alkej-814	259	24	3.21	3.21	NUM
alkej-814	259	25	cm	cm	NOUN
alkej-814	259	26	4.76	4.76	NUM
alkej-814	259	27	cm	cm	NOUN
alkej-814	259	28	4.39	4.39	NUM
alkej-814	259	29	cm	cm	NOUN
alkej-814	259	30	4.89	4.89	NUM
alkej-814	259	31	cm	cm	NOUN
alkej-814	259	32	third	third	ADJ
alkej-814	259	33	turn	turn	NOUN
alkej-814	259	34	4.77	4.77	NUM
alkej-814	259	35	cm	cm	NOUN
alkej-814	259	36	5.731	5.731	NUM
alkej-814	259	37	cm	cm	NOUN
alkej-814	259	38	4.41	4.41	NUM
alkej-814	259	39	cm	cm	NOUN
alkej-814	259	40	5.13	5.13	NUM
alkej-814	259	41	cm	cm	NOUN
alkej-814	259	42	figure	figure	NOUN
alkej-814	259	43	9	9	NUM
alkej-814	259	44	shows	show	VERB
alkej-814	259	45	the	the	DET
alkej-814	259	46	predicted	predict	VERB
alkej-814	259	47	steering	steering	NOUN
alkej-814	259	48	with	with	ADP
alkej-814	259	49	frames	frame	NOUN
alkej-814	259	50	for	for	ADP
alkej-814	259	51	each	each	DET
alkej-814	259	52	model	model	NOUN
alkej-814	259	53	as	as	ADP
alkej-814	259	54	a	a	DET
alkej-814	259	55	performance	performance	NOUN
alkej-814	259	56	measure	measure	NOUN
alkej-814	259	57	.	.	PUNCT
alkej-814	260	1	figure	figure	NOUN
alkej-814	260	2	9	9	NUM
alkej-814	260	3	also	also	ADV
alkej-814	260	4	depicts	depict	VERB
alkej-814	260	5	three	three	NUM
alkej-814	260	6	types	type	NOUN
alkej-814	260	7	of	of	ADP
alkej-814	260	8	driving	drive	VERB
alkej-814	260	9	paths	path	NOUN
alkej-814	260	10	:	:	PUNCT
alkej-814	260	11	(	(	PUNCT
alkej-814	260	12	a	a	X
alkej-814	260	13	)	)	PUNCT
alkej-814	260	14	internal	internal	ADJ
alkej-814	260	15	turns	turn	NOUN
alkej-814	260	16	,	,	PUNCT
alkej-814	260	17	(	(	PUNCT
alkej-814	260	18	b	b	NOUN
alkej-814	260	19	)	)	PUNCT
alkej-814	260	20	straightforward	straightforward	ADJ
alkej-814	260	21	paths	path	NOUN
alkej-814	260	22	,	,	PUNCT
alkej-814	260	23	and	and	CCONJ
alkej-814	260	24	(	(	PUNCT
alkej-814	260	25	c	c	X
alkej-814	260	26	)	)	PUNCT
alkej-814	260	27	long	long	ADJ
alkej-814	260	28	-	-	PUNCT
alkej-814	260	29	end	end	NOUN
alkej-814	260	30	turns	turn	NOUN
alkej-814	260	31	.	.	PUNCT
alkej-814	261	1	the	the	DET
alkej-814	261	2	two	two	NUM
alkej-814	261	3	large	large	ADJ
alkej-814	261	4	oscillations	oscillation	NOUN
alkej-814	261	5	depict	depict	VERB
alkej-814	261	6	the	the	DET
alkej-814	261	7	long	long	ADJ
alkej-814	261	8	end	end	NOUN
alkej-814	261	9	turns	turn	VERB
alkej-814	261	10	with	with	ADP
alkej-814	261	11	high	high	ADJ
alkej-814	261	12	deviation	deviation	NOUN
alkej-814	261	13	from	from	ADP
alkej-814	261	14	the	the	DET
alkej-814	261	15	track	track	NOUN
alkej-814	261	16	center	center	NOUN
alkej-814	261	17	as	as	SCONJ
alkej-814	261	18	the	the	DET
alkej-814	261	19	car	car	NOUN
alkej-814	261	20	drives	drive	VERB
alkej-814	261	21	counterclockwise	counterclockwise	ADV
alkej-814	261	22	.	.	PUNCT
alkej-814	262	1	with	with	ADP
alkej-814	262	2	less	less	ADJ
alkej-814	262	3	oscillation	oscillation	NOUN
alkej-814	262	4	,	,	PUNCT
alkej-814	262	5	the	the	DET
alkej-814	262	6	straightforward	straightforward	ADJ
alkej-814	262	7	path	path	NOUN
alkej-814	262	8	is	be	AUX
alkej-814	262	9	depicted	depict	VERB
alkej-814	262	10	.	.	PUNCT
alkej-814	263	1	the	the	DET
alkej-814	263	2	small	small	ADJ
alkej-814	263	3	upside	upside	ADJ
alkej-814	263	4	-	-	PUNCT
alkej-814	263	5	down	down	ADP
alkej-814	263	6	oscillations	oscillation	NOUN
alkej-814	263	7	represent	represent	VERB
alkej-814	263	8	short	short	ADJ
alkej-814	263	9	internal	internal	ADJ
alkej-814	263	10	turns	turn	NOUN
alkej-814	263	11	in	in	ADP
alkej-814	263	12	the	the	DET
alkej-814	263	13	middle	middle	NOUN
alkej-814	263	14	of	of	ADP
alkej-814	263	15	the	the	DET
alkej-814	263	16	path	path	NOUN
alkej-814	263	17	.	.	PUNCT
alkej-814	264	1	furthermore	furthermore	ADV
alkej-814	264	2	,	,	PUNCT
alkej-814	264	3	as	as	SCONJ
alkej-814	264	4	shown	show	VERB
alkej-814	264	5	in	in	ADP
alkej-814	264	6	figure	figure	NOUN
alkej-814	264	7	9	9	NUM
alkej-814	264	8	,	,	PUNCT
alkej-814	264	9	both	both	DET
alkej-814	264	10	densenet121	densenet121	PROPN
alkej-814	264	11	and	and	CCONJ
alkej-814	264	12	resnet18	resnet18	NOUN
alkej-814	264	13	have	have	VERB
alkej-814	264	14	higher	high	ADJ
alkej-814	264	15	steering	steering	NOUN
alkej-814	264	16	angle	angle	NOUN
alkej-814	264	17	deviation	deviation	NOUN
alkej-814	264	18	compared	compare	VERB
alkej-814	264	19	to	to	ADP
alkej-814	264	20	the	the	DET
alkej-814	264	21	collected	collect	VERB
alkej-814	264	22	dataset	dataset	NOUN
alkej-814	264	23	in	in	ADP
alkej-814	264	24	figure	figure	NOUN
alkej-814	264	25	7	7	NUM
alkej-814	264	26	.	.	PUNCT
alkej-814	264	27	based	base	VERB
alkej-814	264	28	on	on	ADP
alkej-814	264	29	the	the	DET
alkej-814	264	30	trained	train	VERB
alkej-814	264	31	dataset	dataset	NOUN
alkej-814	264	32	,	,	PUNCT
alkej-814	264	33	resent18	resent18	NOUN
alkej-814	264	34	outperforms	outperform	NOUN
alkej-814	264	35	than	than	ADP
alkej-814	264	36	densenet121	densenet121	PROPN
alkej-814	264	37	,	,	PUNCT
alkej-814	264	38	as	as	SCONJ
alkej-814	264	39	evidenced	evidence	VERB
alkej-814	264	40	by	by	ADP
alkej-814	264	41	its	its	PRON
alkej-814	264	42	higher	high	ADJ
alkej-814	264	43	steering	steering	NOUN
alkej-814	264	44	angle	angle	NOUN
alkej-814	264	45	of	of	ADP
alkej-814	264	46	0.8	0.8	NUM
alkej-814	264	47	(	(	PUNCT
alkej-814	264	48	i.e.	i.e.	X
alkej-814	264	49	,	,	PUNCT
alkej-814	264	50	closer	close	ADJ
alkej-814	264	51	to	to	ADP
alkej-814	264	52	the	the	DET
alkej-814	264	53	center	center	NOUN
alkej-814	264	54	of	of	ADP
alkej-814	264	55	the	the	DET
alkej-814	264	56	track	track	NOUN
alkej-814	264	57	)	)	PUNCT
alkej-814	264	58	.	.	PUNCT
alkej-814	265	1	the	the	DET
alkej-814	265	2	steering	steering	NOUN
alkej-814	265	3	angle	angle	NOUN
alkej-814	265	4	of	of	ADP
alkej-814	265	5	densenet121	densenet121	PROPN
alkej-814	265	6	was	be	AUX
alkej-814	265	7	approximately	approximately	ADV
alkej-814	265	8	0.98	0.98	NUM
alkej-814	265	9	,	,	PUNCT
alkej-814	265	10	indicating	indicate	VERB
alkej-814	265	11	that	that	SCONJ
alkej-814	265	12	it	it	PRON
alkej-814	265	13	was	be	AUX
alkej-814	265	14	quite	quite	ADV
alkej-814	265	15	distant	distant	ADJ
alkej-814	265	16	from	from	ADP
alkej-814	265	17	the	the	DET
alkej-814	265	18	track	track	NOUN
alkej-814	265	19	's	's	PART
alkej-814	265	20	center	center	NOUN
alkej-814	265	21	.	.	PUNCT
alkej-814	266	1	yahya	yahya	PROPN
alkej-814	266	2	ghufran	ghufran	VERB
alkej-814	266	3	khidhir	khidhir	PROPN
alkej-814	266	4	al	al	PROPN
alkej-814	266	5	-	-	PUNCT
alkej-814	266	6	khwarizmi	khwarizmi	PROPN
alkej-814	266	7	engineering	engineering	NOUN
alkej-814	266	8	journal	journal	PROPN
alkej-814	266	9	,	,	PUNCT
alkej-814	266	10	vol	vol	NOUN
alkej-814	266	11	.	.	PROPN
alkej-814	266	12	18	18	NUM
alkej-814	266	13	,	,	PUNCT
alkej-814	266	14	no	no	INTJ
alkej-814	266	15	.	.	NOUN
alkej-814	266	16	4	4	NUM
alkej-814	266	17	,	,	PUNCT
alkej-814	266	18	p.p	p.p	PROPN
alkej-814	266	19	.	.	NOUN
alkej-814	266	20	4559	4559	NUM
alkej-814	266	21	(	(	PUNCT
alkej-814	266	22	2022	2022	NUM
alkej-814	266	23	)	)	PUNCT
alkej-814	266	24	56	56	NUM
alkej-814	266	25	fig	fig	NOUN
alkej-814	266	26	.	.	PUNCT
alkej-814	267	1	9	9	X
alkej-814	267	2	.	.	NOUN
alkej-814	267	3	relative	relative	ADJ
alkej-814	267	4	deviation	deviation	NOUN
alkej-814	267	5	from	from	ADP
alkej-814	267	6	the	the	DET
alkej-814	267	7	center	center	NOUN
alkej-814	267	8	of	of	ADP
alkej-814	267	9	the	the	DET
alkej-814	267	10	trajectory	trajectory	NOUN
alkej-814	267	11	per	per	ADP
alkej-814	267	12	one	one	NUM
alkej-814	267	13	full	full	ADJ
alkej-814	267	14	lap	lap	NOUN
alkej-814	267	15	of	of	ADP
alkej-814	267	16	autonomous	autonomous	ADJ
alkej-814	267	17	driving	driving	NOUN
alkej-814	267	18	using	use	VERB
alkej-814	267	19	resnet18	resnet18	NOUN
alkej-814	267	20	and	and	CCONJ
alkej-814	267	21	densenet121	densenet121	PROPN
alkej-814	267	22	.	.	PUNCT
alkej-814	268	1	(	(	PUNCT
alkej-814	268	2	a	a	X
alkej-814	268	3	)	)	PUNCT
alkej-814	268	4	internal	internal	ADJ
alkej-814	268	5	turns	turn	NOUN
alkej-814	268	6	(	(	PUNCT
alkej-814	268	7	b	b	NOUN
alkej-814	268	8	)	)	PUNCT
alkej-814	268	9	straightforward	straightforward	ADJ
alkej-814	268	10	path	path	NOUN
alkej-814	268	11	(	(	PUNCT
alkej-814	268	12	c	c	NOUN
alkej-814	268	13	)	)	PUNCT
alkej-814	268	14	long	long	ADJ
alkej-814	268	15	-	-	PUNCT
alkej-814	268	16	end	end	NOUN
alkej-814	268	17	turns	turn	NOUN
alkej-814	268	18	.	.	PUNCT
alkej-814	269	1	5	5	X
alkej-814	269	2	.	.	X
alkej-814	269	3	conclusion	conclusion	NOUN
alkej-814	269	4	in	in	ADP
alkej-814	269	5	this	this	DET
alkej-814	269	6	study	study	NOUN
alkej-814	269	7	,	,	PUNCT
alkej-814	269	8	a	a	DET
alkej-814	269	9	comparison	comparison	NOUN
alkej-814	269	10	of	of	ADP
alkej-814	269	11	three	three	NUM
alkej-814	269	12	transfer	transfer	NOUN
alkej-814	269	13	learning	learning	NOUN
alkej-814	269	14	models	model	NOUN
alkej-814	269	15	(	(	PUNCT
alkej-814	269	16	alexnet	alexnet	ADJ
alkej-814	269	17	,	,	PUNCT
alkej-814	269	18	resnet18	resnet18	NOUN
alkej-814	269	19	,	,	PUNCT
alkej-814	269	20	and	and	CCONJ
alkej-814	269	21	densenet121	densenet121	PROPN
alkej-814	269	22	)	)	PUNCT
alkej-814	269	23	,	,	PUNCT
alkej-814	269	24	which	which	PRON
alkej-814	269	25	are	be	AUX
alkej-814	269	26	capable	capable	ADJ
alkej-814	269	27	of	of	ADP
alkej-814	269	28	handling	handle	VERB
alkej-814	269	29	the	the	DET
alkej-814	269	30	task	task	NOUN
alkej-814	269	31	of	of	ADP
alkej-814	269	32	autonomous	autonomous	ADJ
alkej-814	269	33	driving	driving	NOUN
alkej-814	269	34	,	,	PUNCT
alkej-814	269	35	was	be	AUX
alkej-814	269	36	conducted	conduct	VERB
alkej-814	269	37	.	.	PUNCT
alkej-814	270	1	in	in	ADP
alkej-814	270	2	addition	addition	NOUN
alkej-814	270	3	,	,	PUNCT
alkej-814	270	4	the	the	DET
alkej-814	270	5	modifications	modification	NOUN
alkej-814	270	6	of	of	ADP
alkej-814	270	7	the	the	DET
alkej-814	270	8	pertained	pertain	VERB
alkej-814	270	9	models	model	NOUN
alkej-814	270	10	'	'	PART
alkej-814	270	11	designs	design	NOUN
alkej-814	270	12	and	and	CCONJ
alkej-814	270	13	the	the	DET
alkej-814	270	14	system	system	NOUN
alkej-814	270	15	architecture	architecture	NOUN
alkej-814	270	16	for	for	ADP
alkej-814	270	17	the	the	DET
alkej-814	270	18	prediction	prediction	NOUN
alkej-814	270	19	of	of	ADP
alkej-814	270	20	steering	steering	NOUN
alkej-814	270	21	angle	angle	NOUN
alkej-814	270	22	have	have	AUX
alkej-814	270	23	been	be	AUX
alkej-814	270	24	described	describe	VERB
alkej-814	270	25	.	.	PUNCT
alkej-814	271	1	three	three	NUM
alkej-814	271	2	architectures	architecture	NOUN
alkej-814	271	3	were	be	AUX
alkej-814	271	4	applied	apply	VERB
alkej-814	271	5	and	and	CCONJ
alkej-814	271	6	evaluated	evaluate	VERB
alkej-814	271	7	on	on	ADP
alkej-814	271	8	two	two	NUM
alkej-814	271	9	featured	feature	VERB
alkej-814	271	10	paths	path	NOUN
alkej-814	271	11	.	.	PUNCT
alkej-814	272	1	through	through	ADP
alkej-814	272	2	a	a	DET
alkej-814	272	3	comparative	comparative	ADJ
alkej-814	272	4	analysis	analysis	NOUN
alkej-814	272	5	of	of	ADP
alkej-814	272	6	three	three	NUM
alkej-814	272	7	well	well	ADV
alkej-814	272	8	-	-	PUNCT
alkej-814	272	9	known	know	VERB
alkej-814	272	10	dl	dl	NOUN
alkej-814	272	11	models	model	NOUN
alkej-814	272	12	.	.	PUNCT
alkej-814	273	1	the	the	DET
alkej-814	273	2	main	main	ADJ
alkej-814	273	3	goal	goal	NOUN
alkej-814	273	4	of	of	ADP
alkej-814	273	5	this	this	DET
alkej-814	273	6	study	study	NOUN
alkej-814	273	7	is	be	AUX
alkej-814	273	8	to	to	PART
alkej-814	273	9	determine	determine	VERB
alkej-814	273	10	the	the	DET
alkej-814	273	11	best	good	ADJ
alkej-814	273	12	dl	dl	NOUN
alkej-814	273	13	model	model	NOUN
alkej-814	273	14	for	for	ADP
alkej-814	273	15	predicting	predict	VERB
alkej-814	273	16	steering	steering	NOUN
alkej-814	273	17	angle	angle	NOUN
alkej-814	273	18	.	.	PUNCT
alkej-814	274	1	the	the	DET
alkej-814	274	2	numerical	numerical	ADJ
alkej-814	274	3	results	result	NOUN
alkej-814	274	4	based	base	VERB
alkej-814	274	5	on	on	ADP
alkej-814	274	6	the	the	DET
alkej-814	274	7	loss	loss	NOUN
alkej-814	274	8	function	function	NOUN
alkej-814	274	9	(	(	PUNCT
alkej-814	274	10	mse	mse	NOUN
alkej-814	274	11	)	)	PUNCT
alkej-814	274	12	and	and	CCONJ
alkej-814	274	13	the	the	DET
alkej-814	274	14	frechet	frechet	PROPN
alkej-814	274	15	distance	distance	NOUN
alkej-814	274	16	were	be	AUX
alkej-814	274	17	discussed	discuss	VERB
alkej-814	274	18	.	.	PUNCT
alkej-814	275	1	the	the	DET
alkej-814	275	2	main	main	ADJ
alkej-814	275	3	idea	idea	NOUN
alkej-814	275	4	of	of	ADP
alkej-814	275	5	this	this	DET
alkej-814	275	6	research	research	NOUN
alkej-814	275	7	is	be	AUX
alkej-814	275	8	to	to	PART
alkej-814	275	9	determine	determine	VERB
alkej-814	275	10	whether	whether	SCONJ
alkej-814	275	11	the	the	DET
alkej-814	275	12	better	well	ADJ
alkej-814	275	13	result	result	NOUN
alkej-814	275	14	for	for	ADP
alkej-814	275	15	the	the	DET
alkej-814	275	16	steering	steering	NOUN
alkej-814	275	17	angle	angle	NOUN
alkej-814	275	18	prediction	prediction	NOUN
alkej-814	275	19	problem	problem	NOUN
alkej-814	275	20	can	can	AUX
alkej-814	275	21	be	be	AUX
alkej-814	275	22	obtained	obtain	VERB
alkej-814	275	23	by	by	ADP
alkej-814	275	24	employing	employ	VERB
alkej-814	275	25	less	less	ADV
alkej-814	275	26	sophisticated	sophisticated	ADJ
alkej-814	275	27	algorithms	algorithm	NOUN
alkej-814	275	28	that	that	PRON
alkej-814	275	29	can	can	AUX
alkej-814	275	30	be	be	AUX
alkej-814	275	31	implemented	implement	VERB
alkej-814	275	32	on	on	ADP
alkej-814	275	33	lowperformance	lowperformance	NOUN
alkej-814	275	34	hardware	hardware	NOUN
alkej-814	275	35	.	.	PUNCT
alkej-814	276	1	the	the	DET
alkej-814	276	2	results	result	NOUN
alkej-814	276	3	show	show	VERB
alkej-814	276	4	that	that	SCONJ
alkej-814	276	5	both	both	DET
alkej-814	276	6	resnet18	resnet18	NOUN
alkej-814	276	7	and	and	CCONJ
alkej-814	276	8	densenet121	densenet121	PROPN
alkej-814	276	9	are	be	AUX
alkej-814	276	10	compatible	compatible	ADJ
alkej-814	276	11	with	with	ADP
alkej-814	276	12	the	the	DET
alkej-814	276	13	jeston	jeston	PROPN
alkej-814	276	14	nano	nano	NOUN
alkej-814	276	15	2	2	NUM
alkej-814	276	16	g	g	NOUN
alkej-814	276	17	embedded	embed	VERB
alkej-814	276	18	system	system	NOUN
alkej-814	276	19	.	.	PUNCT
alkej-814	277	1	the	the	DET
alkej-814	277	2	results	result	NOUN
alkej-814	277	3	demonstrate	demonstrate	VERB
alkej-814	277	4	that	that	SCONJ
alkej-814	277	5	the	the	DET
alkej-814	277	6	resnet18	resnet18	NOUN
alkej-814	277	7	is	be	AUX
alkej-814	277	8	more	more	ADJ
alkej-814	277	9	accuracy	accuracy	NOUN
alkej-814	277	10	than	than	ADP
alkej-814	277	11	densenet121	densenet121	PROPN
alkej-814	277	12	,	,	PUNCT
alkej-814	277	13	whilst	whilst	SCONJ
alkej-814	277	14	densenet121	densenet121	PROPN
alkej-814	277	15	are	be	AUX
alkej-814	277	16	able	able	ADJ
alkej-814	277	17	to	to	PART
alkej-814	277	18	adapt	adapt	VERB
alkej-814	277	19	new	new	ADJ
alkej-814	277	20	tracks	track	NOUN
alkej-814	277	21	and	and	CCONJ
alkej-814	277	22	keep	keep	VERB
alkej-814	277	23	the	the	DET
alkej-814	277	24	performance	performance	NOUN
alkej-814	277	25	stable	stable	ADJ
alkej-814	277	26	over	over	ADP
alkej-814	277	27	time	time	NOUN
alkej-814	277	28	.	.	PUNCT
alkej-814	278	1	on	on	ADP
alkej-814	278	2	the	the	DET
alkej-814	278	3	other	other	ADJ
alkej-814	278	4	hand	hand	NOUN
alkej-814	278	5	,	,	PUNCT
alkej-814	278	6	resent18	resent18	NOUN
alkej-814	278	7	's	's	PART
alkej-814	278	8	is	be	AUX
alkej-814	278	9	achieved	achieve	VERB
alkej-814	278	10	a	a	DET
alkej-814	278	11	good	good	ADJ
alkej-814	278	12	fitted	fit	VERB
alkej-814	278	13	line	line	NOUN
alkej-814	278	14	with	with	ADP
alkej-814	278	15	the	the	DET
alkej-814	278	16	trained	train	VERB
alkej-814	278	17	dataset	dataset	NOUN
alkej-814	278	18	,	,	PUNCT
alkej-814	278	19	as	as	SCONJ
alkej-814	278	20	indicated	indicate	VERB
alkej-814	278	21	by	by	ADP
alkej-814	278	22	its	its	PRON
alkej-814	278	23	higher	high	ADJ
alkej-814	278	24	steering	steering	NOUN
alkej-814	278	25	angle	angle	NOUN
alkej-814	278	26	of	of	ADP
alkej-814	278	27	0.8	0.8	NUM
alkej-814	278	28	(	(	PUNCT
alkej-814	278	29	i.e.	i.e.	X
alkej-814	278	30	,	,	PUNCT
alkej-814	278	31	closer	close	ADJ
alkej-814	278	32	to	to	ADP
alkej-814	278	33	the	the	DET
alkej-814	278	34	center	center	NOUN
alkej-814	278	35	of	of	ADP
alkej-814	278	36	the	the	DET
alkej-814	278	37	track	track	NOUN
alkej-814	278	38	)	)	PUNCT
alkej-814	278	39	.	.	PUNCT
alkej-814	279	1	densenet121	densenet121	PROPN
alkej-814	279	2	's	's	PART
alkej-814	279	3	steering	steering	NOUN
alkej-814	279	4	angle	angle	NOUN
alkej-814	279	5	was	be	AUX
alkej-814	279	6	about	about	ADV
alkej-814	279	7	0.98	0.98	NUM
alkej-814	279	8	,	,	PUNCT
alkej-814	279	9	which	which	PRON
alkej-814	279	10	is	be	AUX
alkej-814	279	11	an	an	DET
alkej-814	279	12	extremely	extremely	ADV
alkej-814	279	13	wide	wide	ADJ
alkej-814	279	14	divergence	divergence	NOUN
alkej-814	279	15	from	from	ADP
alkej-814	279	16	the	the	DET
alkej-814	279	17	track	track	NOUN
alkej-814	279	18	's	's	PART
alkej-814	279	19	center	center	NOUN
alkej-814	279	20	.	.	PUNCT
alkej-814	280	1	in	in	ADP
alkej-814	280	2	addition	addition	NOUN
alkej-814	280	3	,	,	PUNCT
alkej-814	280	4	different	different	ADJ
alkej-814	280	5	experiments	experiment	NOUN
alkej-814	280	6	were	be	AUX
alkej-814	280	7	carried	carry	VERB
alkej-814	280	8	out	out	ADP
alkej-814	280	9	in	in	ADP
alkej-814	280	10	order	order	NOUN
alkej-814	280	11	to	to	PART
alkej-814	280	12	investigate	investigate	VERB
alkej-814	280	13	how	how	SCONJ
alkej-814	280	14	the	the	DET
alkej-814	280	15	training	training	NOUN
alkej-814	280	16	dataset	dataset	NOUN
alkej-814	280	17	affected	affect	VERB
alkej-814	280	18	driving	driving	NOUN
alkej-814	280	19	performance	performance	NOUN
alkej-814	280	20	.	.	PUNCT
alkej-814	281	1	the	the	DET
alkej-814	281	2	results	result	NOUN
alkej-814	281	3	demonstrate	demonstrate	VERB
alkej-814	281	4	that	that	SCONJ
alkej-814	281	5	the	the	DET
alkej-814	281	6	best	good	ADJ
alkej-814	281	7	driving	driving	NOUN
alkej-814	281	8	performance	performance	NOUN
alkej-814	281	9	was	be	AUX
alkej-814	281	10	obtained	obtain	VERB
alkej-814	281	11	when	when	SCONJ
alkej-814	281	12	the	the	DET
alkej-814	281	13	validation	validation	NOUN
alkej-814	281	14	loss	loss	NOUN
alkej-814	281	15	was	be	AUX
alkej-814	281	16	less	less	ADJ
alkej-814	281	17	than	than	ADP
alkej-814	281	18	1	1	NUM
alkej-814	281	19	%	%	NOUN
alkej-814	281	20	and	and	CCONJ
alkej-814	281	21	the	the	DET
alkej-814	281	22	vehicle	vehicle	NOUN
alkej-814	281	23	was	be	AUX
alkej-814	281	24	capable	capable	ADJ
alkej-814	281	25	of	of	ADP
alkej-814	281	26	handling	handle	VERB
alkej-814	281	27	abrupt	abrupt	ADJ
alkej-814	281	28	curves	curve	NOUN
alkej-814	281	29	while	while	SCONJ
alkej-814	281	30	remaining	remain	VERB
alkej-814	281	31	on	on	ADP
alkej-814	281	32	the	the	DET
alkej-814	281	33	centerline	centerline	NOUN
alkej-814	281	34	.	.	PUNCT
alkej-814	282	1	the	the	DET
alkej-814	282	2	biggest	big	ADJ
alkej-814	282	3	obstacle	obstacle	NOUN
alkej-814	282	4	in	in	ADP
alkej-814	282	5	the	the	DET
alkej-814	282	6	end	end	NOUN
alkej-814	282	7	-	-	PUNCT
alkej-814	282	8	to	to	ADP
alkej-814	282	9	-	-	PUNCT
alkej-814	282	10	end	end	NOUN
alkej-814	282	11	dl	dl	PROPN
alkej-814	282	12	technique	technique	NOUN
alkej-814	282	13	is	be	AUX
alkej-814	282	14	its	its	PRON
alkej-814	282	15	reliance	reliance	NOUN
alkej-814	282	16	on	on	ADP
alkej-814	282	17	clean	clean	ADJ
alkej-814	282	18	and	and	CCONJ
alkej-814	282	19	extensive	extensive	ADJ
alkej-814	282	20	training	training	NOUN
alkej-814	282	21	data	datum	NOUN
alkej-814	282	22	.	.	PUNCT
alkej-814	283	1	yahya	yahya	PROPN
alkej-814	283	2	ghufran	ghufran	VERB
alkej-814	283	3	khidhir	khidhir	PROPN
alkej-814	283	4	al	al	PROPN
alkej-814	283	5	-	-	PUNCT
alkej-814	283	6	khwarizmi	khwarizmi	PROPN
alkej-814	283	7	engineering	engineering	NOUN
alkej-814	283	8	journal	journal	PROPN
alkej-814	283	9	,	,	PUNCT
alkej-814	283	10	vol	vol	NOUN
alkej-814	283	11	.	.	PROPN
alkej-814	283	12	18	18	NUM
alkej-814	283	13	,	,	PUNCT
alkej-814	283	14	no	no	INTJ
alkej-814	283	15	.	.	NOUN
alkej-814	283	16	4	4	NUM
alkej-814	283	17	,	,	PUNCT
alkej-814	283	18	p.p	p.p	PROPN
alkej-814	283	19	.	.	NOUN
alkej-814	283	20	4559	4559	NUM
alkej-814	283	21	(	(	PUNCT
alkej-814	283	22	2022	2022	NUM
alkej-814	283	23	)	)	PUNCT
alkej-814	283	24	57	57	NUM
alkej-814	283	25	the	the	DET
alkej-814	283	26	future	future	ADJ
alkej-814	283	27	idea	idea	NOUN
alkej-814	283	28	is	be	AUX
alkej-814	283	29	to	to	PART
alkej-814	283	30	add	add	VERB
alkej-814	283	31	an	an	DET
alkej-814	283	32	imu	imu	NOUN
alkej-814	283	33	sensor	sensor	NOUN
alkej-814	283	34	to	to	PART
alkej-814	283	35	measure	measure	VERB
alkej-814	283	36	the	the	DET
alkej-814	283	37	robot	robot	NOUN
alkej-814	283	38	's	's	PART
alkej-814	283	39	actual	actual	ADJ
alkej-814	283	40	orientations	orientation	NOUN
alkej-814	283	41	along	along	ADP
alkej-814	283	42	the	the	DET
alkej-814	283	43	path	path	NOUN
alkej-814	283	44	in	in	ADP
alkej-814	283	45	order	order	NOUN
alkej-814	283	46	to	to	PART
alkej-814	283	47	use	use	VERB
alkej-814	283	48	them	they	PRON
alkej-814	283	49	to	to	PART
alkej-814	283	50	find	find	VERB
alkej-814	283	51	the	the	DET
alkej-814	283	52	difference	difference	NOUN
alkej-814	283	53	between	between	ADP
alkej-814	283	54	the	the	DET
alkej-814	283	55	neural	neural	ADJ
alkej-814	283	56	network	network	NOUN
alkej-814	283	57	's	's	PART
alkej-814	283	58	expected	expect	VERB
alkej-814	283	59	steering	steering	NOUN
alkej-814	283	60	angle	angle	NOUN
alkej-814	283	61	and	and	CCONJ
alkej-814	283	62	the	the	DET
alkej-814	283	63	imu	imu	NOUN
alkej-814	283	64	sensor	sensor	NOUN
alkej-814	283	65	's	's	PART
alkej-814	283	66	output	output	NOUN
alkej-814	283	67	.	.	PUNCT
alkej-814	284	1	6	6	X
alkej-814	284	2	.	.	NUM
alkej-814	284	3	references	reference	NOUN
alkej-814	284	4	[	[	X
alkej-814	284	5	1	1	X
alkej-814	284	6	]	]	PUNCT
alkej-814	284	7	d.	d.	PROPN
alkej-814	284	8	b.	b.	PROPN
alkej-814	284	9	o.	o.	PROPN
alkej-814	284	10	boesl	boesl	PROPN
alkej-814	284	11	and	and	CCONJ
alkej-814	284	12	b.	b.	PROPN
alkej-814	284	13	liepert	liepert	PROPN
alkej-814	284	14	,	,	PUNCT
alkej-814	284	15	“	"	PUNCT
alkej-814	284	16	4	4	NUM
alkej-814	284	17	robotic	robotic	ADJ
alkej-814	284	18	revolutions	revolution	NOUN
alkej-814	284	19	proposing	propose	VERB
alkej-814	284	20	a	a	DET
alkej-814	284	21	holistic	holistic	ADJ
alkej-814	284	22	phase	phase	NOUN
alkej-814	284	23	model	model	NOUN
alkej-814	284	24	describing	describe	VERB
alkej-814	284	25	future	future	ADJ
alkej-814	284	26	disruptions	disruption	NOUN
alkej-814	284	27	in	in	ADP
alkej-814	284	28	the	the	DET
alkej-814	284	29	evolution	evolution	NOUN
alkej-814	284	30	of	of	ADP
alkej-814	284	31	robotics	robotic	NOUN
alkej-814	284	32	and	and	CCONJ
alkej-814	284	33	automation	automation	NOUN
alkej-814	284	34	and	and	CCONJ
alkej-814	284	35	the	the	DET
alkej-814	284	36	rise	rise	NOUN
alkej-814	284	37	of	of	ADP
alkej-814	284	38	a	a	DET
alkej-814	284	39	new	new	ADJ
alkej-814	284	40	generation	generation	NOUN
alkej-814	284	41	‘	'	PUNCT
alkej-814	284	42	r	r	NOUN
alkej-814	284	43	’	'	PUNCT
alkej-814	284	44	of	of	ADP
alkej-814	284	45	robotic	robotic	ADJ
alkej-814	284	46	natives	native	NOUN
alkej-814	284	47	,	,	PUNCT
alkej-814	284	48	”	"	PUNCT
alkej-814	284	49	ieee	ieee	NOUN
alkej-814	284	50	int	int	NOUN
alkej-814	284	51	.	.	PUNCT
alkej-814	285	1	conf	conf	PROPN
alkej-814	285	2	.	.	PUNCT
alkej-814	286	1	intell	intell	PROPN
alkej-814	286	2	.	.	PUNCT
alkej-814	287	1	robot	robot	NOUN
alkej-814	287	2	.	.	PUNCT
alkej-814	288	1	syst	syst	PROPN
alkej-814	288	2	.	.	PUNCT
alkej-814	288	3	,	,	PUNCT
alkej-814	288	4	vol	vol	NOUN
alkej-814	288	5	.	.	PROPN
alkej-814	288	6	2016	2016	NUM
alkej-814	288	7	-	-	PUNCT
alkej-814	288	8	novem	novem	NOUN
alkej-814	288	9	,	,	PUNCT
alkej-814	288	10	pp	pp	ADJ
alkej-814	288	11	.	.	PUNCT
alkej-814	289	1	1262–1267	1262–1267	NUM
alkej-814	289	2	,	,	PUNCT
alkej-814	289	3	2016	2016	NUM
alkej-814	289	4	.	.	PUNCT
alkej-814	290	1	[	[	X
alkej-814	290	2	2	2	NUM
alkej-814	290	3	]	]	PUNCT
alkej-814	290	4	anderson	anderson	PROPN
alkej-814	290	5	,	,	PUNCT
alkej-814	290	6	j.	j.	PROPN
alkej-814	290	7	,	,	PUNCT
alkej-814	290	8	kalra	kalra	PROPN
alkej-814	290	9	,	,	PUNCT
alkej-814	290	10	n.	n.	NOUN
alkej-814	290	11	,	,	PUNCT
alkej-814	290	12	stanley	stanley	PROPN
alkej-814	290	13	,	,	PUNCT
alkej-814	290	14	k.	k.	PROPN
alkej-814	290	15	,	,	PUNCT
alkej-814	290	16	sorensen	sorensen	PROPN
alkej-814	290	17	,	,	PUNCT
alkej-814	290	18	p.	p.	PROPN
alkej-814	290	19	,	,	PUNCT
alkej-814	290	20	samaras	samaras	PROPN
alkej-814	290	21	,	,	PUNCT
alkej-814	290	22	c.	c.	PROPN
alkej-814	290	23	and	and	CCONJ
alkej-814	290	24	oluwatola	oluwatola	PROPN
alkej-814	290	25	,	,	PUNCT
alkej-814	290	26	t.	t.	PROPN
alkej-814	290	27	,	,	PUNCT
alkej-814	290	28	2016	2016	NUM
alkej-814	290	29	.	.	PUNCT
alkej-814	291	1	autonomous	autonomous	ADJ
alkej-814	291	2	vehicle	vehicle	NOUN
alkej-814	291	3	technology	technology	NOUN
alkej-814	291	4	:	:	PUNCT
alkej-814	291	5	a	a	DET
alkej-814	291	6	guide	guide	NOUN
alkej-814	291	7	for	for	ADP
alkej-814	291	8	policymakers	policymaker	NOUN
alkej-814	291	9	.	.	PUNCT
alkej-814	292	1	[	[	X
alkej-814	292	2	online	online	X
alkej-814	292	3	]	]	X
alkej-814	292	4	rand.org	rand.org	X
alkej-814	292	5	.	.	NOUN
alkej-814	292	6	available	available	ADJ
alkej-814	292	7	at	at	ADP
alkej-814	292	8	:	:	PUNCT
alkej-814	292	9	<	<	X
alkej-814	292	10	https://www.rand.org/pubs/research_reports/	https://www.rand.org/pubs/research_reports/	NOUN
alkej-814	292	11	rr443-2.html	rr443-2.html	VERB
alkej-814	292	12	>	>	X
alkej-814	292	13	[	[	PUNCT
alkej-814	292	14	accessed	access	VERB
alkej-814	292	15	9	9	NUM
alkej-814	292	16	september	september	PROPN
alkej-814	292	17	2022	2022	NUM
alkej-814	292	18	]	]	PUNCT
alkej-814	292	19	.	.	PUNCT
alkej-814	293	1	[	[	X
alkej-814	293	2	3	3	X
alkej-814	293	3	]	]	X
alkej-814	293	4	s.	s.	PROPN
alkej-814	293	5	singh	singh	PROPN
alkej-814	293	6	,	,	PUNCT
alkej-814	293	7	“	"	PUNCT
alkej-814	293	8	critical	critical	ADJ
alkej-814	293	9	reasons	reason	NOUN
alkej-814	293	10	for	for	ADP
alkej-814	293	11	crashes	crash	NOUN
alkej-814	293	12	investigated	investigate	VERB
alkej-814	293	13	in	in	ADP
alkej-814	293	14	the	the	DET
alkej-814	293	15	national	national	ADJ
alkej-814	293	16	motor	motor	NOUN
alkej-814	293	17	vehicle	vehicle	NOUN
alkej-814	293	18	crash	crash	NOUN
alkej-814	293	19	causation	causation	NOUN
alkej-814	293	20	survey	survey	NOUN
alkej-814	293	21	,	,	PUNCT
alkej-814	293	22	”	"	PUNCT
alkej-814	293	23	natl	natl	NOUN
alkej-814	293	24	.	.	PUNCT
alkej-814	293	25	high	high	ADJ
alkej-814	293	26	.	.	PUNCT
alkej-814	294	1	traffic	traffic	PROPN
alkej-814	294	2	saf	saf	PROPN
alkej-814	294	3	.	.	PUNCT
alkej-814	295	1	adm	adm	PROPN
alkej-814	295	2	.	.	PROPN
alkej-814	295	3	,	,	PUNCT
alkej-814	295	4	no	no	INTJ
alkej-814	295	5	.	.	PUNCT
alkej-814	295	6	march	march	PROPN
alkej-814	295	7	,	,	PUNCT
alkej-814	295	8	pp	pp	ADP
alkej-814	295	9	.	.	PUNCT
alkej-814	296	1	1–3	1–3	NUM
alkej-814	296	2	,	,	PUNCT
alkej-814	296	3	2018	2018	NUM
alkej-814	296	4	,	,	PUNCT
alkej-814	297	1	[	[	X
alkej-814	297	2	online	online	X
alkej-814	297	3	]	]	X
alkej-814	297	4	.	.	PUNCT
alkej-814	298	1	available	available	ADJ
alkej-814	298	2	:	:	PUNCT
alkej-814	298	3	https://crashstats.nhtsa.dot.gov/api/public/vie	https://crashstats.nhtsa.dot.gov/api/public/vie	ADJ
alkej-814	298	4	wpublication/812506	wpublication/812506	NOUN
alkej-814	298	5	.	.	PUNCT
alkej-814	299	1	[	[	X
alkej-814	299	2	4	4	NUM
alkej-814	299	3	]	]	PUNCT
alkej-814	299	4	a.	a.	NOUN
alkej-814	299	5	brown	brown	PROPN
alkej-814	299	6	,	,	PUNCT
alkej-814	299	7	b.	b.	PROPN
alkej-814	299	8	repac	repac	NOUN
alkej-814	299	9	,	,	PUNCT
alkej-814	299	10	and	and	CCONJ
alkej-814	299	11	j.	j.	PROPN
alkej-814	299	12	gonder	gonder	PROPN
alkej-814	299	13	,	,	PUNCT
alkej-814	299	14	“	"	PUNCT
alkej-814	299	15	autonomous	autonomous	ADJ
alkej-814	299	16	vehicles	vehicle	NOUN
alkej-814	299	17	have	have	VERB
alkej-814	299	18	a	a	DET
alkej-814	299	19	wide	wide	ADJ
alkej-814	299	20	range	range	NOUN
alkej-814	299	21	of	of	ADP
alkej-814	299	22	possible	possible	ADJ
alkej-814	299	23	energy	energy	NOUN
alkej-814	299	24	impacts	impact	NOUN
alkej-814	299	25	,	,	PUNCT
alkej-814	299	26	”	"	PUNCT
alkej-814	299	27	work	work	NOUN
alkej-814	299	28	.	.	PUNCT
alkej-814	300	1	road	road	PROPN
alkej-814	300	2	veh	veh	PROPN
alkej-814	300	3	.	.	PROPN
alkej-814	300	4	autom	autom	PROPN
alkej-814	300	5	.	.	PUNCT
alkej-814	301	1	,	,	PUNCT
alkej-814	301	2	no	no	INTJ
alkej-814	301	3	.	.	NOUN
alkej-814	301	4	2012	2012	NUM
alkej-814	301	5	,	,	PUNCT
alkej-814	301	6	p.	p.	NOUN
alkej-814	301	7	59210	59210	NUM
alkej-814	301	8	,	,	PUNCT
alkej-814	301	9	2013	2013	NUM
alkej-814	301	10	.	.	PUNCT
alkej-814	302	1	[	[	X
alkej-814	302	2	5	5	X
alkej-814	302	3	]	]	PUNCT
alkej-814	302	4	s.	s.	PROPN
alkej-814	302	5	grigorescu	grigorescu	PROPN
alkej-814	302	6	,	,	PUNCT
alkej-814	302	7	b.	b.	PROPN
alkej-814	302	8	trasnea	trasnea	PROPN
alkej-814	302	9	,	,	PUNCT
alkej-814	302	10	t.	t.	PROPN
alkej-814	302	11	cocias	cocias	PROPN
alkej-814	302	12	,	,	PUNCT
alkej-814	302	13	and	and	CCONJ
alkej-814	302	14	g.	g.	PROPN
alkej-814	302	15	macesanu	macesanu	PROPN
alkej-814	302	16	,	,	PUNCT
alkej-814	302	17	“	"	PUNCT
alkej-814	302	18	a	a	DET
alkej-814	302	19	survey	survey	NOUN
alkej-814	302	20	of	of	ADP
alkej-814	302	21	deep	deep	ADJ
alkej-814	302	22	learning	learning	NOUN
alkej-814	302	23	techniques	technique	NOUN
alkej-814	302	24	for	for	ADP
alkej-814	302	25	autonomous	autonomous	ADJ
alkej-814	302	26	driving	driving	NOUN
alkej-814	302	27	,	,	PUNCT
alkej-814	302	28	”	"	PUNCT
alkej-814	302	29	j.	j.	PROPN
alkej-814	302	30	f.	f.	PROPN
alkej-814	302	31	robot	robot	PROPN
alkej-814	302	32	.	.	PUNCT
alkej-814	302	33	,	,	PUNCT
alkej-814	302	34	vol	vol	NOUN
alkej-814	302	35	.	.	PROPN
alkej-814	302	36	37	37	NUM
alkej-814	302	37	,	,	PUNCT
alkej-814	302	38	no	no	INTJ
alkej-814	302	39	.	.	NOUN
alkej-814	302	40	3	3	NUM
alkej-814	302	41	,	,	PUNCT
alkej-814	302	42	pp	pp	ADJ
alkej-814	302	43	.	.	PUNCT
alkej-814	303	1	362–386	362–386	NUM
alkej-814	303	2	,	,	PUNCT
alkej-814	303	3	2020	2020	NUM
alkej-814	303	4	,	,	PUNCT
alkej-814	303	5	[	[	X
alkej-814	303	6	6	6	NUM
alkej-814	303	7	]	]	X
alkej-814	303	8	y.	y.	PROPN
alkej-814	303	9	wang	wang	PROPN
alkej-814	303	10	,	,	PUNCT
alkej-814	303	11	d.	d.	PROPN
alkej-814	303	12	liu	liu	PROPN
alkej-814	303	13	,	,	PUNCT
alkej-814	303	14	h.	h.	PROPN
alkej-814	303	15	jeon	jeon	PROPN
alkej-814	303	16	,	,	PUNCT
alkej-814	303	17	z.	z.	PROPN
alkej-814	303	18	chu	chu	PROPN
alkej-814	303	19	,	,	PUNCT
alkej-814	303	20	and	and	CCONJ
alkej-814	303	21	e.	e.	PROPN
alkej-814	303	22	t.	t.	PROPN
alkej-814	303	23	matson	matson	PROPN
alkej-814	303	24	,	,	PUNCT
alkej-814	303	25	“	"	PUNCT
alkej-814	303	26	end	end	NOUN
alkej-814	303	27	-	-	PUNCT
alkej-814	303	28	to	to	ADP
alkej-814	303	29	-	-	PUNCT
alkej-814	303	30	end	end	NOUN
alkej-814	303	31	learning	learn	VERB
alkej-814	303	32	approach	approach	NOUN
alkej-814	303	33	for	for	ADP
alkej-814	303	34	autonomous	autonomous	ADJ
alkej-814	303	35	driving	driving	NOUN
alkej-814	303	36	:	:	PUNCT
alkej-814	303	37	a	a	DET
alkej-814	303	38	convolutional	convolutional	ADJ
alkej-814	303	39	neural	neural	ADJ
alkej-814	303	40	network	network	NOUN
alkej-814	303	41	model	model	NOUN
alkej-814	303	42	,	,	PUNCT
alkej-814	303	43	”	"	PUNCT
alkej-814	303	44	icaart	icaart	NOUN
alkej-814	303	45	2019	2019	NUM
alkej-814	303	46	proc	proc	NOUN
alkej-814	303	47	.	.	PUNCT
alkej-814	304	1	11th	11th	ADJ
alkej-814	304	2	int	int	NOUN
alkej-814	304	3	.	.	PUNCT
alkej-814	304	4	conf	conf	NOUN
alkej-814	304	5	.	.	PUNCT
alkej-814	305	1	agents	agent	NOUN
alkej-814	305	2	artif	artif	VERB
alkej-814	305	3	.	.	PUNCT
alkej-814	306	1	intell	intell	PROPN
alkej-814	306	2	.	.	PUNCT
alkej-814	306	3	,	,	PUNCT
alkej-814	306	4	vol	vol	NOUN
alkej-814	306	5	.	.	PROPN
alkej-814	307	1	2	2	NUM
alkej-814	307	2	,	,	PUNCT
alkej-814	307	3	no	no	INTJ
alkej-814	307	4	.	.	PUNCT
alkej-814	307	5	icaart	icaart	NOUN
alkej-814	307	6	,	,	PUNCT
alkej-814	307	7	pp	pp	ADJ
alkej-814	307	8	.	.	PUNCT
alkej-814	308	1	833–839	833–839	NUM
alkej-814	308	2	,	,	PUNCT
alkej-814	308	3	2019	2019	NUM
alkej-814	308	4	.	.	PUNCT
alkej-814	309	1	[	[	X
alkej-814	309	2	7	7	X
alkej-814	309	3	]	]	X
alkej-814	309	4	y.	y.	NOUN
alkej-814	309	5	lecun	lecun	PROPN
alkej-814	309	6	,	,	PUNCT
alkej-814	309	7	u.	u.	PROPN
alkej-814	309	8	muller	muller	PROPN
alkej-814	309	9	,	,	PUNCT
alkej-814	309	10	j.	j.	PROPN
alkej-814	309	11	ben	ben	PROPN
alkej-814	309	12	,	,	PUNCT
alkej-814	309	13	e.	e.	PROPN
alkej-814	309	14	cosatto	cosatto	PROPN
alkej-814	309	15	,	,	PUNCT
alkej-814	309	16	and	and	CCONJ
alkej-814	309	17	b.	b.	PROPN
alkej-814	309	18	flepp	flepp	PROPN
alkej-814	309	19	,	,	PUNCT
alkej-814	309	20	“	"	PUNCT
alkej-814	309	21	off	off	ADP
alkej-814	309	22	-	-	PUNCT
alkej-814	309	23	road	road	NOUN
alkej-814	309	24	obstacle	obstacle	NOUN
alkej-814	309	25	avoidance	avoidance	NOUN
alkej-814	309	26	through	through	ADP
alkej-814	309	27	end	end	NOUN
alkej-814	309	28	-	-	PUNCT
alkej-814	309	29	to	to	ADP
alkej-814	309	30	-	-	PUNCT
alkej-814	309	31	end	end	NOUN
alkej-814	309	32	learning	learning	NOUN
alkej-814	309	33	,	,	PUNCT
alkej-814	309	34	”	"	PUNCT
alkej-814	309	35	adv	adv	PROPN
alkej-814	309	36	.	.	PUNCT
alkej-814	309	37	neural	neural	PROPN
alkej-814	309	38	inf	inf	PROPN
alkej-814	309	39	.	.	PUNCT
alkej-814	309	40	process	process	NOUN
alkej-814	309	41	.	.	PUNCT
alkej-814	310	1	syst	syst	PROPN
alkej-814	310	2	.	.	PUNCT
alkej-814	310	3	,	,	PUNCT
alkej-814	310	4	pp	pp	ADP
alkej-814	310	5	.	.	PUNCT
alkej-814	311	1	739–746	739–746	NUM
alkej-814	311	2	,	,	PUNCT
alkej-814	311	3	2005	2005	NUM
alkej-814	311	4	.	.	PUNCT
alkej-814	312	1	[	[	X
alkej-814	312	2	8	8	NUM
alkej-814	312	3	]	]	PUNCT
alkej-814	312	4	s.	s.	PROPN
alkej-814	312	5	sharma	sharma	PROPN
alkej-814	312	6	,	,	PUNCT
alkej-814	312	7	g.	g.	PROPN
alkej-814	312	8	tewolde	tewolde	NOUN
alkej-814	312	9	,	,	PUNCT
alkej-814	312	10	and	and	CCONJ
alkej-814	312	11	j.	j.	PROPN
alkej-814	312	12	kwon	kwon	PROPN
alkej-814	312	13	,	,	PUNCT
alkej-814	312	14	“	"	PUNCT
alkej-814	312	15	behavioral	behavioral	ADJ
alkej-814	312	16	cloning	cloning	NOUN
alkej-814	312	17	for	for	ADP
alkej-814	312	18	lateral	lateral	ADJ
alkej-814	312	19	motion	motion	NOUN
alkej-814	312	20	control	control	NOUN
alkej-814	312	21	of	of	ADP
alkej-814	312	22	autonomous	autonomous	ADJ
alkej-814	312	23	vehicles	vehicle	NOUN
alkej-814	312	24	using	use	VERB
alkej-814	312	25	deep	deep	ADJ
alkej-814	312	26	learning	learning	NOUN
alkej-814	312	27	,	,	PUNCT
alkej-814	312	28	”	"	PUNCT
alkej-814	312	29	in	in	ADP
alkej-814	312	30	2018	2018	NUM
alkej-814	312	31	ieee	ieee	NOUN
alkej-814	312	32	international	international	ADJ
alkej-814	312	33	conference	conference	NOUN
alkej-814	312	34	on	on	ADP
alkej-814	312	35	electro	electro	PROPN
alkej-814	312	36	/	/	SYM
alkej-814	312	37	information	information	NOUN
alkej-814	312	38	technology	technology	NOUN
alkej-814	312	39	(	(	PUNCT
alkej-814	312	40	eit	eit	NOUN
alkej-814	312	41	)	)	PUNCT
alkej-814	312	42	,	,	PUNCT
alkej-814	312	43	may	may	AUX
alkej-814	312	44	2018	2018	NUM
alkej-814	312	45	,	,	PUNCT
alkej-814	312	46	pp	pp	ADJ
alkej-814	312	47	.	.	PUNCT
alkej-814	312	48	0228–0233	0228–0233	NUM
alkej-814	312	49	.	.	PUNCT
alkej-814	313	1	[	[	X
alkej-814	313	2	9	9	NUM
alkej-814	313	3	]	]	PUNCT
alkej-814	313	4	s.	s.	PROPN
alkej-814	313	5	sharma	sharma	PROPN
alkej-814	313	6	,	,	PUNCT
alkej-814	313	7	g.	g.	PROPN
alkej-814	313	8	tewolde	tewolde	NOUN
alkej-814	313	9	,	,	PUNCT
alkej-814	313	10	and	and	CCONJ
alkej-814	313	11	j.	j.	PROPN
alkej-814	313	12	kwon	kwon	PROPN
alkej-814	313	13	,	,	PUNCT
alkej-814	313	14	“	"	PUNCT
alkej-814	313	15	lateral	lateral	ADJ
alkej-814	313	16	and	and	CCONJ
alkej-814	313	17	longitudinal	longitudinal	ADJ
alkej-814	313	18	motion	motion	NOUN
alkej-814	313	19	control	control	NOUN
alkej-814	313	20	of	of	ADP
alkej-814	313	21	autonomous	autonomous	ADJ
alkej-814	313	22	vehicles	vehicle	NOUN
alkej-814	313	23	using	use	VERB
alkej-814	313	24	deep	deep	ADJ
alkej-814	313	25	learning	learning	NOUN
alkej-814	313	26	,	,	PUNCT
alkej-814	313	27	”	"	PUNCT
alkej-814	313	28	in	in	ADP
alkej-814	313	29	2019	2019	NUM
alkej-814	313	30	ieee	ieee	NOUN
alkej-814	313	31	international	international	ADJ
alkej-814	313	32	conference	conference	NOUN
alkej-814	313	33	on	on	ADP
alkej-814	313	34	electro	electro	ADJ
alkej-814	313	35	information	information	NOUN
alkej-814	313	36	technology	technology	NOUN
alkej-814	313	37	(	(	PUNCT
alkej-814	313	38	eit	eit	NOUN
alkej-814	313	39	)	)	PUNCT
alkej-814	313	40	,	,	PUNCT
alkej-814	313	41	may	may	AUX
alkej-814	313	42	2019	2019	NUM
alkej-814	313	43	,	,	PUNCT
alkej-814	313	44	pp	pp	ADJ
alkej-814	313	45	.	.	PUNCT
alkej-814	314	1	1–5	1–5	NUM
alkej-814	314	2	,	,	PUNCT
alkej-814	314	3	[	[	X
alkej-814	314	4	10	10	NUM
alkej-814	314	5	]	]	X
alkej-814	314	6	j.	j.	PROPN
alkej-814	314	7	kocić	kocić	PROPN
alkej-814	314	8	,	,	PUNCT
alkej-814	314	9	n.	n.	NOUN
alkej-814	314	10	jovičić	jovičić	PROPN
alkej-814	314	11	,	,	PUNCT
alkej-814	314	12	and	and	CCONJ
alkej-814	314	13	v.	v.	ADP
alkej-814	314	14	drndarević	drndarević	NOUN
alkej-814	314	15	,	,	PUNCT
alkej-814	314	16	“	"	PUNCT
alkej-814	314	17	an	an	DET
alkej-814	314	18	end	end	NOUN
alkej-814	314	19	-	-	PUNCT
alkej-814	314	20	to	to	ADP
alkej-814	314	21	-	-	PUNCT
alkej-814	314	22	end	end	NOUN
alkej-814	314	23	deep	deep	ADJ
alkej-814	314	24	neural	neural	ADJ
alkej-814	314	25	network	network	NOUN
alkej-814	314	26	for	for	ADP
alkej-814	314	27	autonomous	autonomous	ADJ
alkej-814	314	28	driving	driving	NOUN
alkej-814	314	29	designed	design	VERB
alkej-814	314	30	for	for	ADP
alkej-814	314	31	embedded	embed	VERB
alkej-814	314	32	automotive	automotive	ADJ
alkej-814	314	33	platforms	platform	NOUN
alkej-814	314	34	,	,	PUNCT
alkej-814	314	35	”	"	PUNCT
alkej-814	314	36	sensors	sensor	NOUN
alkej-814	314	37	,	,	PUNCT
alkej-814	314	38	vol	vol	NOUN
alkej-814	314	39	.	.	PROPN
alkej-814	314	40	19	19	NUM
alkej-814	314	41	,	,	PUNCT
alkej-814	314	42	no	no	INTJ
alkej-814	314	43	.	.	NOUN
alkej-814	314	44	9	9	NUM
alkej-814	314	45	,	,	PUNCT
alkej-814	314	46	p.	p.	NOUN
alkej-814	314	47	2064	2064	NUM
alkej-814	314	48	,	,	PUNCT
alkej-814	314	49	may	may	AUX
alkej-814	314	50	2019	2019	NUM
alkej-814	314	51	,	,	PUNCT
alkej-814	314	52	[	[	X
alkej-814	314	53	11	11	NUM
alkej-814	314	54	]	]	PUNCT
alkej-814	314	55	s.	s.	PROPN
alkej-814	314	56	du	du	PROPN
alkej-814	314	57	,	,	PUNCT
alkej-814	314	58	h.	h.	PROPN
alkej-814	314	59	guo	guo	PROPN
alkej-814	314	60	,	,	PUNCT
alkej-814	314	61	and	and	CCONJ
alkej-814	314	62	a.	a.	PROPN
alkej-814	314	63	simpson	simpson	PROPN
alkej-814	314	64	,	,	PUNCT
alkej-814	314	65	“	"	PUNCT
alkej-814	314	66	self	self	NOUN
alkej-814	314	67	-	-	PUNCT
alkej-814	314	68	driving	drive	VERB
alkej-814	314	69	car	car	NOUN
alkej-814	314	70	steering	steering	NOUN
alkej-814	314	71	angle	angle	NOUN
alkej-814	314	72	prediction	prediction	NOUN
alkej-814	314	73	based	base	VERB
alkej-814	314	74	on	on	ADP
alkej-814	314	75	image	image	NOUN
alkej-814	314	76	recognition	recognition	NOUN
alkej-814	314	77	.	.	PUNCT
alkej-814	314	78	”	"	PUNCT
alkej-814	315	1	2019	2019	NUM
alkej-814	315	2	,	,	PUNCT
alkej-814	315	3	[	[	X
alkej-814	315	4	online	online	X
alkej-814	315	5	]	]	X
alkej-814	315	6	.	.	PUNCT
alkej-814	316	1	available	available	ADJ
alkej-814	316	2	:	:	PUNCT
alkej-814	316	3	http://arxiv.org/abs/1912.05440	http://arxiv.org/abs/1912.05440	PROPN
alkej-814	316	4	.	.	PUNCT
alkej-814	317	1	[	[	X
alkej-814	317	2	12	12	NUM
alkej-814	317	3	]	]	PUNCT
alkej-814	317	4	m.	m.	PROPN
alkej-814	317	5	k.	k.	PROPN
alkej-814	317	6	islam	islam	PROPN
alkej-814	317	7	,	,	PUNCT
alkej-814	317	8	m.	m.	PROPN
alkej-814	317	9	n.	n.	PROPN
alkej-814	317	10	yeasmin	yeasmin	PROPN
alkej-814	317	11	,	,	PUNCT
alkej-814	317	12	c.	c.	PROPN
alkej-814	317	13	kaushal	kaushal	PROPN
alkej-814	317	14	,	,	PUNCT
alkej-814	317	15	m.	m.	PROPN
alkej-814	317	16	al	al	PROPN
alkej-814	317	17	amin	amin	PROPN
alkej-814	317	18	,	,	PUNCT
alkej-814	317	19	m.	m.	PROPN
alkej-814	317	20	r.	r.	PROPN
alkej-814	317	21	islam	islam	PROPN
alkej-814	317	22	,	,	PUNCT
alkej-814	317	23	and	and	CCONJ
alkej-814	317	24	m.	m.	PROPN
alkej-814	317	25	i.	i.	PROPN
alkej-814	317	26	hossain	hossain	PROPN
alkej-814	317	27	showrov	showrov	PROPN
alkej-814	317	28	,	,	PUNCT
alkej-814	317	29	“	"	PUNCT
alkej-814	317	30	comparative	comparative	ADJ
alkej-814	317	31	analysis	analysis	NOUN
alkej-814	317	32	of	of	ADP
alkej-814	317	33	steering	steer	VERB
alkej-814	317	34	angle	angle	NOUN
alkej-814	317	35	prediction	prediction	NOUN
alkej-814	317	36	for	for	ADP
alkej-814	317	37	automated	automate	VERB
alkej-814	317	38	object	object	NOUN
alkej-814	317	39	using	use	VERB
alkej-814	317	40	deep	deep	ADJ
alkej-814	317	41	neural	neural	ADJ
alkej-814	317	42	network	network	NOUN
alkej-814	317	43	,	,	PUNCT
alkej-814	317	44	”	"	PUNCT
alkej-814	317	45	in	in	ADP
alkej-814	317	46	2021	2021	NUM
alkej-814	317	47	9th	9th	ADJ
alkej-814	317	48	international	international	ADJ
alkej-814	317	49	conference	conference	NOUN
alkej-814	317	50	on	on	ADP
alkej-814	317	51	reliability	reliability	NOUN
alkej-814	317	52	,	,	PUNCT
alkej-814	317	53	infocom	infocom	NOUN
alkej-814	317	54	technologies	technology	NOUN
alkej-814	317	55	and	and	CCONJ
alkej-814	317	56	optimization	optimization	NOUN
alkej-814	317	57	(	(	PUNCT
alkej-814	317	58	trends	trend	NOUN
alkej-814	317	59	and	and	CCONJ
alkej-814	317	60	future	future	ADJ
alkej-814	317	61	directions	direction	NOUN
alkej-814	317	62	)	)	PUNCT
alkej-814	317	63	(	(	PUNCT
alkej-814	317	64	icrito	icrito	NOUN
alkej-814	317	65	)	)	PUNCT
alkej-814	317	66	,	,	PUNCT
alkej-814	317	67	sep	sep	PROPN
alkej-814	317	68	.	.	PROPN
alkej-814	317	69	2021	2021	NUM
alkej-814	317	70	,	,	PUNCT
alkej-814	317	71	pp	pp	ADV
alkej-814	317	72	.	.	PUNCT
alkej-814	318	1	1–7	1–7	X
alkej-814	318	2	.	.	PUNCT
alkej-814	319	1	[	[	X
alkej-814	319	2	13	13	NUM
alkej-814	319	3	]	]	PUNCT
alkej-814	319	4	t.	t.	PROPN
alkej-814	319	5	d.	d.	PROPN
alkej-814	319	6	do	do	VERB
alkej-814	319	7	,	,	PUNCT
alkej-814	319	8	m.	m.	PROPN
alkej-814	319	9	t.	t.	PROPN
alkej-814	319	10	duong	duong	PROPN
alkej-814	319	11	,	,	PUNCT
alkej-814	319	12	q.	q.	PROPN
alkej-814	320	1	v.	v.	PROPN
alkej-814	320	2	dang	dang	PROPN
alkej-814	320	3	,	,	PUNCT
alkej-814	320	4	and	and	CCONJ
alkej-814	320	5	m.	m.	PROPN
alkej-814	320	6	h.	h.	PROPN
alkej-814	320	7	le	le	PROPN
alkej-814	320	8	,	,	PUNCT
alkej-814	320	9	“	"	PUNCT
alkej-814	320	10	real	real	ADJ
alkej-814	320	11	-	-	PUNCT
alkej-814	320	12	time	time	NOUN
alkej-814	320	13	self	self	NOUN
alkej-814	320	14	-	-	PUNCT
alkej-814	320	15	driving	drive	VERB
alkej-814	320	16	car	car	NOUN
alkej-814	320	17	navigation	navigation	NOUN
alkej-814	320	18	using	use	VERB
alkej-814	320	19	deep	deep	ADJ
alkej-814	320	20	neural	neural	ADJ
alkej-814	320	21	network	network	NOUN
alkej-814	320	22	,	,	PUNCT
alkej-814	320	23	”	"	PUNCT
alkej-814	320	24	proceedings	proceeding	NOUN
alkej-814	320	25	2018	2018	NUM
alkej-814	320	26	4th	4th	ADJ
alkej-814	320	27	international	international	ADJ
alkej-814	320	28	conference	conference	NOUN
alkej-814	320	29	on	on	ADP
alkej-814	320	30	green	green	ADJ
alkej-814	320	31	technology	technology	NOUN
alkej-814	320	32	and	and	CCONJ
alkej-814	320	33	sustainable	sustainable	ADJ
alkej-814	320	34	development	development	NOUN
alkej-814	320	35	,	,	PUNCT
alkej-814	320	36	gtsd	gtsd	PROPN
alkej-814	320	37	2018	2018	NUM
alkej-814	320	38	.	.	PUNCT
alkej-814	321	1	pp	pp	ADV
alkej-814	321	2	.	.	PUNCT
alkej-814	322	1	7	7	NUM
alkej-814	322	2	–	–	SYM
alkej-814	322	3	12	12	NUM
alkej-814	322	4	,	,	PUNCT
alkej-814	322	5	2018	2018	NUM
alkej-814	322	6	.	.	PUNCT
alkej-814	323	1	[	[	X
alkej-814	323	2	14	14	NUM
alkej-814	323	3	]	]	PUNCT
alkej-814	323	4	z.	z.	PROPN
alkej-814	323	5	yang	yang	PROPN
alkej-814	323	6	,	,	PUNCT
alkej-814	323	7	y.	y.	PROPN
alkej-814	323	8	zhang	zhang	PROPN
alkej-814	323	9	,	,	PUNCT
alkej-814	323	10	j.	j.	PROPN
alkej-814	323	11	yu	yu	PROPN
alkej-814	323	12	,	,	PUNCT
alkej-814	323	13	j.	j.	PROPN
alkej-814	323	14	cai	cai	PROPN
alkej-814	323	15	,	,	PUNCT
alkej-814	323	16	and	and	CCONJ
alkej-814	323	17	j.	j.	PROPN
alkej-814	323	18	luo	luo	PROPN
alkej-814	323	19	,	,	PUNCT
alkej-814	323	20	“	"	PUNCT
alkej-814	323	21	end	end	NOUN
alkej-814	323	22	-	-	PUNCT
alkej-814	323	23	to	to	ADP
alkej-814	323	24	-	-	PUNCT
alkej-814	323	25	end	end	VERB
alkej-814	323	26	multi	multi	ADJ
alkej-814	323	27	-	-	ADJ
alkej-814	323	28	modal	modal	ADJ
alkej-814	323	29	multi	multi	ADJ
alkej-814	323	30	-	-	ADJ
alkej-814	323	31	task	task	ADJ
alkej-814	323	32	vehicle	vehicle	NOUN
alkej-814	323	33	control	control	NOUN
alkej-814	323	34	for	for	ADP
alkej-814	323	35	self	self	NOUN
alkej-814	323	36	-	-	PUNCT
alkej-814	323	37	driving	drive	VERB
alkej-814	323	38	cars	car	NOUN
alkej-814	323	39	with	with	ADP
alkej-814	323	40	visual	visual	ADJ
alkej-814	323	41	perceptions	perception	NOUN
alkej-814	323	42	,	,	PUNCT
alkej-814	323	43	”	"	PUNCT
alkej-814	323	44	in	in	ADP
alkej-814	323	45	2018	2018	NUM
alkej-814	323	46	24th	24th	NOUN
alkej-814	323	47	international	international	ADJ
alkej-814	323	48	conference	conference	NOUN
alkej-814	323	49	on	on	ADP
alkej-814	323	50	pattern	pattern	NOUN
alkej-814	323	51	recognition	recognition	NOUN
alkej-814	323	52	(	(	PUNCT
alkej-814	323	53	icpr	icpr	PROPN
alkej-814	323	54	)	)	PUNCT
alkej-814	323	55	,	,	PUNCT
alkej-814	323	56	aug	aug	PROPN
alkej-814	323	57	.	.	PROPN
alkej-814	323	58	2018	2018	NUM
alkej-814	323	59	,	,	PUNCT
alkej-814	323	60	pp	pp	ADJ
alkej-814	323	61	.	.	PUNCT
alkej-814	323	62	2289–2294	2289–2294	NUM
alkej-814	323	63	,	,	PUNCT
alkej-814	323	64	doi	doi	NOUN
alkej-814	323	65	:	:	PUNCT
alkej-814	323	66	10.1109	10.1109	NUM
alkej-814	323	67	/	/	SYM
alkej-814	323	68	icpr.2018.8546189	icpr.2018.8546189	NOUN
alkej-814	323	69	.	.	PUNCT
alkej-814	324	1	[	[	X
alkej-814	324	2	15	15	NUM
alkej-814	324	3	]	]	X
alkej-814	324	4	m.	m.	NOUN
alkej-814	324	5	al	al	PROPN
alkej-814	324	6	-	-	PUNCT
alkej-814	324	7	mukhtar	mukhtar	PROPN
alkej-814	324	8	,	,	PUNCT
alkej-814	324	9	a.	a.	PROPN
alkej-814	324	10	h.	h.	PROPN
alkej-814	324	11	morad	morad	PROPN
alkej-814	324	12	,	,	PUNCT
alkej-814	324	13	m.	m.	NOUN
alkej-814	324	14	albadri	albadri	PROPN
alkej-814	324	15	,	,	PUNCT
alkej-814	324	16	and	and	CCONJ
alkej-814	324	17	m.	m.	PROPN
alkej-814	324	18	s.	s.	PROPN
alkej-814	324	19	islam	islam	PROPN
alkej-814	324	20	,	,	PUNCT
alkej-814	324	21	“	"	PUNCT
alkej-814	324	22	weakly	weakly	ADV
alkej-814	324	23	supervised	supervised	ADJ
alkej-814	324	24	sensitive	sensitive	ADJ
alkej-814	324	25	heatmap	heatmap	NOUN
alkej-814	324	26	framework	framework	NOUN
alkej-814	324	27	to	to	PART
alkej-814	324	28	classify	classify	VERB
alkej-814	324	29	and	and	CCONJ
alkej-814	324	30	localize	localize	VERB
alkej-814	324	31	diabetic	diabetic	ADJ
alkej-814	324	32	retinopathy	retinopathy	ADJ
alkej-814	324	33	lesions	lesion	NOUN
alkej-814	325	1	,	,	PUNCT
alkej-814	325	2	”	"	PUNCT
alkej-814	325	3	sci	sci	PROPN
alkej-814	325	4	.	.	PROPN
alkej-814	325	5	rep	rep	PROPN
alkej-814	325	6	.	.	PROPN
alkej-814	325	7	,	,	PUNCT
alkej-814	325	8	vol	vol	NOUN
alkej-814	325	9	.	.	PROPN
alkej-814	325	10	11	11	NUM
alkej-814	325	11	,	,	PUNCT
alkej-814	325	12	no	no	INTJ
alkej-814	325	13	.	.	NOUN
alkej-814	325	14	1	1	NUM
alkej-814	325	15	,	,	PUNCT
alkej-814	325	16	p.	p.	NOUN
alkej-814	325	17	23631	23631	NUM
alkej-814	325	18	,	,	PUNCT
alkej-814	325	19	dec	dec	PROPN
alkej-814	325	20	.	.	PROPN
alkej-814	325	21	2021	2021	NUM
alkej-814	325	22	.	.	PUNCT
alkej-814	326	1	[	[	X
alkej-814	326	2	16	16	NUM
alkej-814	326	3	]	]	PUNCT
alkej-814	326	4	m.	m.	NOUN
alkej-814	326	5	bojarski	bojarski	PROPN
alkej-814	326	6	et	et	PROPN
alkej-814	326	7	al	al	PROPN
alkej-814	326	8	.	.	PROPN
alkej-814	326	9	,	,	PUNCT
alkej-814	326	10	“	"	PUNCT
alkej-814	326	11	end	end	VERB
alkej-814	326	12	to	to	ADP
alkej-814	326	13	end	end	NOUN
alkej-814	326	14	learning	learn	VERB
alkej-814	326	15	for	for	ADP
alkej-814	326	16	self	self	NOUN
alkej-814	326	17	-	-	PUNCT
alkej-814	326	18	driving	drive	VERB
alkej-814	326	19	cars	car	NOUN
alkej-814	326	20	,	,	PUNCT
alkej-814	326	21	”	"	PUNCT
alkej-814	326	22	pp	pp	ADV
alkej-814	326	23	.	.	PUNCT
alkej-814	327	1	1–9	1–9	NUM
alkej-814	327	2	,	,	PUNCT
alkej-814	327	3	2016	2016	NUM
alkej-814	327	4	.	.	PUNCT
alkej-814	328	1	[	[	X
alkej-814	328	2	17	17	NUM
alkej-814	328	3	]	]	PUNCT
alkej-814	328	4	a.	a.	NOUN
alkej-814	328	5	sangeetha	sangeetha	PROPN
alkej-814	328	6	and	and	CCONJ
alkej-814	328	7	t.	t.	NOUN
alkej-814	328	8	rajendran	rajendran	NOUN
alkej-814	328	9	,	,	PUNCT
alkej-814	328	10	“	"	PUNCT
alkej-814	328	11	levenbergmarquart	levenbergmarquart	ADJ
alkej-814	328	12	logistic	logistic	ADJ
alkej-814	328	13	deep	deep	ADJ
alkej-814	328	14	neural	neural	ADJ
alkej-814	328	15	learning	learning	NOUN
alkej-814	328	16	based	base	VERB
alkej-814	328	17	energy	energy	NOUN
alkej-814	328	18	efficient	efficient	ADJ
alkej-814	328	19	and	and	CCONJ
alkej-814	328	20	load	load	VERB
alkej-814	328	21	balanced	balanced	ADJ
alkej-814	328	22	routing	routing	NOUN
alkej-814	328	23	in	in	ADP
alkej-814	328	24	manet	manet	NOUN
alkej-814	328	25	,	,	PUNCT
alkej-814	328	26	”	"	PUNCT
alkej-814	328	27	indones	indone	NOUN
alkej-814	328	28	.	.	PUNCT
alkej-814	329	1	j.	j.	PROPN
alkej-814	329	2	electr	electr	PROPN
alkej-814	329	3	.	.	PUNCT
alkej-814	330	1	eng	eng	PROPN
alkej-814	330	2	.	.	PUNCT
alkej-814	331	1	comput	comput	PROPN
alkej-814	331	2	.	.	PUNCT
alkej-814	332	1	sci	sci	PROPN
alkej-814	332	2	.	.	PROPN
alkej-814	332	3	,	,	PUNCT
alkej-814	332	4	vol	vol	NOUN
alkej-814	332	5	.	.	PROPN
alkej-814	332	6	23	23	NUM
alkej-814	332	7	,	,	PUNCT
alkej-814	332	8	no	no	INTJ
alkej-814	332	9	.	.	NOUN
alkej-814	332	10	2	2	NUM
alkej-814	332	11	,	,	PUNCT
alkej-814	332	12	pp	pp	ADJ
alkej-814	332	13	.	.	PUNCT
alkej-814	332	14	1002–1010	1002–1010	NUM
alkej-814	332	15	,	,	PUNCT
alkej-814	332	16	2021	2021	NUM
alkej-814	332	17	.	.	PUNCT
alkej-814	333	1	[	[	X
alkej-814	333	2	18	18	NUM
alkej-814	333	3	]	]	PUNCT
alkej-814	333	4	a.	a.	PROPN
alkej-814	333	5	hussien	hussien	PROPN
alkej-814	333	6	mary	mary	PROPN
alkej-814	333	7	,	,	PUNCT
alkej-814	333	8	z.	z.	PROPN
alkej-814	333	9	bilal	bilal	PROPN
alkej-814	333	10	kadhim	kadhim	PROPN
alkej-814	333	11	,	,	PUNCT
alkej-814	333	12	and	and	CCONJ
alkej-814	333	13	z.	z.	PROPN
alkej-814	333	14	saad	saad	PROPN
alkej-814	333	15	sharqi	sharqi	PROPN
alkej-814	333	16	,	,	PUNCT
alkej-814	333	17	“	"	PUNCT
alkej-814	333	18	face	face	NOUN
alkej-814	333	19	recognition	recognition	NOUN
alkej-814	333	20	and	and	CCONJ
alkej-814	333	21	emotion	emotion	NOUN
alkej-814	333	22	recognition	recognition	NOUN
alkej-814	333	23	from	from	ADP
alkej-814	333	24	facial	facial	ADJ
alkej-814	333	25	expression	expression	NOUN
alkej-814	333	26	using	use	VERB
alkej-814	333	27	deep	deep	ADJ
alkej-814	333	28	learning	learn	VERB
alkej-814	333	29	neural	neural	ADJ
alkej-814	333	30	network	network	NOUN
alkej-814	333	31	,	,	PUNCT
alkej-814	333	32	”	"	PUNCT
alkej-814	333	33	iop	iop	NOUN
alkej-814	333	34	conf	conf	NOUN
alkej-814	333	35	.	.	PUNCT
alkej-814	334	1	ser	ser	PROPN
alkej-814	334	2	.	.	PUNCT
alkej-814	335	1	mater	mater	PROPN
alkej-814	335	2	.	.	PUNCT
alkej-814	336	1	sci	sci	PROPN
alkej-814	336	2	.	.	PUNCT
alkej-814	337	1	eng	eng	PROPN
alkej-814	337	2	.	.	PROPN
alkej-814	337	3	,	,	PUNCT
alkej-814	337	4	vol	vol	NOUN
alkej-814	337	5	.	.	PROPN
alkej-814	337	6	928	928	NUM
alkej-814	337	7	,	,	PUNCT
alkej-814	337	8	no	no	INTJ
alkej-814	337	9	.	.	NOUN
alkej-814	337	10	3	3	NUM
alkej-814	337	11	,	,	PUNCT
alkej-814	337	12	p.	p.	NOUN
alkej-814	337	13	32061	32061	NUM
alkej-814	337	14	,	,	PUNCT
alkej-814	337	15	2020	2020	NUM
alkej-814	337	16	.	.	PUNCT
alkej-814	338	1	[	[	X
alkej-814	338	2	19	19	NUM
alkej-814	338	3	]	]	X
alkej-814	338	4	b.	b.	PROPN
alkej-814	338	5	jabir	jabir	PROPN
alkej-814	338	6	and	and	CCONJ
alkej-814	338	7	n.	n.	PROPN
alkej-814	338	8	falih	falih	PROPN
alkej-814	338	9	,	,	PUNCT
alkej-814	338	10	“	"	PUNCT
alkej-814	338	11	dropout	dropout	NOUN
alkej-814	338	12	,	,	PUNCT
alkej-814	338	13	a	a	DET
alkej-814	338	14	basic	basic	ADJ
alkej-814	338	15	and	and	CCONJ
alkej-814	338	16	effective	effective	ADJ
alkej-814	338	17	regularization	regularization	NOUN
alkej-814	338	18	method	method	NOUN
alkej-814	338	19	for	for	ADP
alkej-814	338	20	a	a	DET
alkej-814	338	21	deep	deep	ADJ
alkej-814	338	22	yahya	yahya	NOUN
alkej-814	338	23	ghufran	ghufran	PROPN
alkej-814	338	24	khidhir	khidhir	PROPN
alkej-814	338	25	al	al	PROPN
alkej-814	338	26	-	-	PUNCT
alkej-814	338	27	khwarizmi	khwarizmi	PROPN
alkej-814	338	28	engineering	engineering	NOUN
alkej-814	338	29	journal	journal	PROPN
alkej-814	338	30	,	,	PUNCT
alkej-814	338	31	vol	vol	NOUN
alkej-814	338	32	.	.	PROPN
alkej-814	338	33	18	18	NUM
alkej-814	338	34	,	,	PUNCT
alkej-814	338	35	no	no	INTJ
alkej-814	338	36	.	.	NOUN
alkej-814	338	37	4	4	NUM
alkej-814	338	38	,	,	PUNCT
alkej-814	338	39	p.p	p.p	PROPN
alkej-814	338	40	.	.	NOUN
alkej-814	338	41	4559	4559	NUM
alkej-814	338	42	(	(	PUNCT
alkej-814	338	43	2022	2022	NUM
alkej-814	338	44	)	)	PUNCT
alkej-814	338	45	58	58	NUM
alkej-814	338	46	learning	learning	NOUN
alkej-814	338	47	model	model	NOUN
alkej-814	338	48	:	:	PUNCT
alkej-814	338	49	a	a	DET
alkej-814	338	50	case	case	NOUN
alkej-814	338	51	study	study	NOUN
alkej-814	338	52	,	,	PUNCT
alkej-814	338	53	”	"	PUNCT
alkej-814	338	54	indones	indone	NOUN
alkej-814	338	55	.	.	PUNCT
alkej-814	339	1	j.	j.	PROPN
alkej-814	339	2	electr	electr	PROPN
alkej-814	339	3	.	.	PUNCT
alkej-814	340	1	eng	eng	PROPN
alkej-814	340	2	.	.	PUNCT
alkej-814	341	1	comput	comput	PROPN
alkej-814	341	2	.	.	PUNCT
alkej-814	342	1	sci	sci	PROPN
alkej-814	342	2	.	.	PROPN
alkej-814	342	3	,	,	PUNCT
alkej-814	342	4	vol	vol	NOUN
alkej-814	342	5	.	.	PROPN
alkej-814	342	6	24	24	NUM
alkej-814	342	7	,	,	PUNCT
alkej-814	342	8	no	no	INTJ
alkej-814	342	9	.	.	NOUN
alkej-814	342	10	2	2	NUM
alkej-814	342	11	,	,	PUNCT
alkej-814	342	12	pp	pp	ADJ
alkej-814	342	13	.	.	PUNCT
alkej-814	343	1	1009–1016	1009–1016	NUM
alkej-814	343	2	,	,	PUNCT
alkej-814	343	3	2021	2021	NUM
alkej-814	343	4	.	.	PUNCT
alkej-814	344	1	[	[	X
alkej-814	344	2	20	20	NUM
alkej-814	344	3	]	]	PUNCT
alkej-814	344	4	t.	t.	PROPN
alkej-814	344	5	h.	h.	PROPN
alkej-814	344	6	abdullah	abdullah	PROPN
alkej-814	344	7	,	,	PUNCT
alkej-814	344	8	f.	f.	PROPN
alkej-814	344	9	alizadeh	alizadeh	PROPN
alkej-814	344	10	,	,	PUNCT
alkej-814	344	11	and	and	CCONJ
alkej-814	344	12	b.	b.	PROPN
alkej-814	344	13	h.	h.	PROPN
alkej-814	344	14	abdullah	abdullah	PROPN
alkej-814	344	15	,	,	PUNCT
alkej-814	344	16	“	"	PUNCT
alkej-814	344	17	covid-19	covid-19	PROPN
alkej-814	344	18	diagnosis	diagnosis	NOUN
alkej-814	344	19	system	system	NOUN
alkej-814	344	20	using	use	VERB
alkej-814	344	21	simpnet	simpnet	ADJ
alkej-814	344	22	deep	deep	ADJ
alkej-814	344	23	model	model	NOUN
alkej-814	344	24	,	,	PUNCT
alkej-814	344	25	”	"	PUNCT
alkej-814	344	26	baghdad	baghdad	PROPN
alkej-814	344	27	sci	sci	PROPN
alkej-814	344	28	.	.	PUNCT
alkej-814	345	1	j.	j.	PROPN
alkej-814	345	2	,	,	PUNCT
alkej-814	345	3	vol	vol	NOUN
alkej-814	345	4	.	.	PROPN
alkej-814	345	5	19	19	NUM
alkej-814	345	6	,	,	PUNCT
alkej-814	345	7	no	no	INTJ
alkej-814	345	8	.	.	NOUN
alkej-814	345	9	5	5	NUM
alkej-814	345	10	se	se	NOUN
alkej-814	345	11	-	-	NOUN
alkej-814	345	12	article	article	NOUN
alkej-814	345	13	,	,	PUNCT
alkej-814	345	14	p.	p.	NOUN
alkej-814	345	15	1078	1078	NUM
alkej-814	345	16	,	,	PUNCT
alkej-814	345	17	oct	oct	PROPN
alkej-814	345	18	.	.	PROPN
alkej-814	345	19	2022	2022	NUM
alkej-814	345	20	.	.	PUNCT
alkej-814	346	1	[	[	X
alkej-814	346	2	21	21	NUM
alkej-814	346	3	]	]	PUNCT
alkej-814	346	4	a.	a.	NOUN
alkej-814	346	5	m.	m.	PROPN
alkej-814	346	6	hamad	hamad	PROPN
alkej-814	346	7	alhussainy	alhussainy	PROPN
alkej-814	346	8	and	and	CCONJ
alkej-814	346	9	a.	a.	PROPN
alkej-814	346	10	d.	d.	PROPN
alkej-814	346	11	jasim	jasim	PROPN
alkej-814	346	12	,	,	PUNCT
alkej-814	346	13	“	"	PUNCT
alkej-814	346	14	a	a	DET
alkej-814	346	15	novel	novel	ADJ
alkej-814	346	16	pooling	pooling	NOUN
alkej-814	346	17	layer	layer	NOUN
alkej-814	346	18	based	base	VERB
alkej-814	346	19	on	on	ADP
alkej-814	346	20	gaussian	gaussian	ADJ
alkej-814	346	21	function	function	NOUN
alkej-814	346	22	with	with	ADP
alkej-814	346	23	wavelet	wavelet	NOUN
alkej-814	346	24	transform	transform	NOUN
alkej-814	346	25	,	,	PUNCT
alkej-814	346	26	”	"	PUNCT
alkej-814	346	27	indones	indone	NOUN
alkej-814	346	28	.	.	PUNCT
alkej-814	347	1	j.	j.	PROPN
alkej-814	347	2	electr	electr	PROPN
alkej-814	347	3	.	.	PUNCT
alkej-814	348	1	eng	eng	PROPN
alkej-814	348	2	.	.	PUNCT
alkej-814	349	1	comput	comput	PROPN
alkej-814	349	2	.	.	PUNCT
alkej-814	350	1	sci	sci	PROPN
alkej-814	350	2	.	.	PROPN
alkej-814	350	3	,	,	PUNCT
alkej-814	350	4	vol	vol	NOUN
alkej-814	350	5	.	.	PROPN
alkej-814	350	6	20	20	NUM
alkej-814	350	7	,	,	PUNCT
alkej-814	350	8	no	no	INTJ
alkej-814	350	9	.	.	NOUN
alkej-814	350	10	3	3	NUM
alkej-814	350	11	,	,	PUNCT
alkej-814	350	12	pp	pp	ADJ
alkej-814	350	13	.	.	PUNCT
alkej-814	351	1	1289–1298	1289–1298	NUM
alkej-814	351	2	,	,	PUNCT
alkej-814	351	3	2020	2020	NUM
alkej-814	351	4	.	.	PUNCT
alkej-814	352	1	[	[	X
alkej-814	352	2	22	22	NUM
alkej-814	352	3	]	]	PUNCT
alkej-814	352	4	k.	k.	NOUN
alkej-814	353	1	he	he	PRON
alkej-814	353	2	,	,	PUNCT
alkej-814	353	3	x.	x.	PROPN
alkej-814	353	4	zhang	zhang	PROPN
alkej-814	353	5	,	,	PUNCT
alkej-814	353	6	s.	s.	PROPN
alkej-814	353	7	ren	ren	PROPN
alkej-814	353	8	,	,	PUNCT
alkej-814	353	9	and	and	CCONJ
alkej-814	353	10	j.	j.	PROPN
alkej-814	353	11	sun	sun	PROPN
alkej-814	353	12	,	,	PUNCT
alkej-814	353	13	“	"	PUNCT
alkej-814	353	14	deep	deep	ADJ
alkej-814	353	15	residual	residual	ADJ
alkej-814	353	16	learning	learning	NOUN
alkej-814	353	17	for	for	ADP
alkej-814	353	18	image	image	NOUN
alkej-814	353	19	recognition	recognition	NOUN
alkej-814	353	20	,	,	PUNCT
alkej-814	353	21	”	"	PUNCT
alkej-814	353	22	2016	2016	NUM
alkej-814	353	23	ieee	ieee	NOUN
alkej-814	353	24	conf	conf	NOUN
alkej-814	353	25	.	.	PUNCT
alkej-814	354	1	comput	comput	NOUN
alkej-814	354	2	.	.	PUNCT
alkej-814	355	1	vis	vis	X
alkej-814	355	2	.	.	X
alkej-814	355	3	pattern	pattern	NOUN
alkej-814	355	4	recognit	recognit	VERB
alkej-814	355	5	.	.	PUNCT
alkej-814	355	6	,	,	PUNCT
alkej-814	355	7	pp	pp	ADJ
alkej-814	355	8	.	.	PUNCT
alkej-814	356	1	770–778	770–778	NUM
alkej-814	356	2	,	,	PUNCT
alkej-814	356	3	jun	jun	PROPN
alkej-814	356	4	.	.	PROPN
alkej-814	356	5	2016	2016	NUM
alkej-814	356	6	.	.	PUNCT
alkej-814	357	1	[	[	X
alkej-814	357	2	23	23	NUM
alkej-814	357	3	]	]	X
alkej-814	357	4	g.	g.	PROPN
alkej-814	357	5	huang	huang	PROPN
alkej-814	357	6	,	,	PUNCT
alkej-814	357	7	z.	z.	PROPN
alkej-814	357	8	liu	liu	PROPN
alkej-814	357	9	,	,	PUNCT
alkej-814	357	10	l.	l.	PROPN
alkej-814	357	11	van	van	PROPN
alkej-814	357	12	der	der	PROPN
alkej-814	357	13	maaten	maaten	VERB
alkej-814	357	14	,	,	PUNCT
alkej-814	357	15	and	and	CCONJ
alkej-814	357	16	k.	k.	PROPN
alkej-814	357	17	q.	q.	PROPN
alkej-814	357	18	weinberger	weinberger	PROPN
alkej-814	357	19	,	,	PUNCT
alkej-814	357	20	“	"	PUNCT
alkej-814	357	21	densely	densely	ADV
alkej-814	357	22	connected	connected	ADJ
alkej-814	357	23	convolutional	convolutional	ADJ
alkej-814	357	24	networks	network	NOUN
alkej-814	357	25	,	,	PUNCT
alkej-814	357	26	”	"	PUNCT
alkej-814	357	27	in	in	ADP
alkej-814	357	28	2017	2017	NUM
alkej-814	357	29	ieee	ieee	NOUN
alkej-814	357	30	conference	conference	NOUN
alkej-814	357	31	on	on	ADP
alkej-814	357	32	computer	computer	NOUN
alkej-814	357	33	vision	vision	NOUN
alkej-814	357	34	and	and	CCONJ
alkej-814	357	35	pattern	pattern	NOUN
alkej-814	357	36	recognition	recognition	NOUN
alkej-814	357	37	(	(	PUNCT
alkej-814	357	38	cvpr	cvpr	NOUN
alkej-814	357	39	)	)	PUNCT
alkej-814	357	40	,	,	PUNCT
alkej-814	357	41	jul	jul	PROPN
alkej-814	357	42	.	.	PROPN
alkej-814	357	43	2017	2017	NUM
alkej-814	357	44	,	,	PUNCT
alkej-814	357	45	pp	pp	ADJ
alkej-814	357	46	.	.	PUNCT
alkej-814	357	47	2261	2261	NUM
alkej-814	357	48	–	–	PUNCT
alkej-814	357	49	2269	2269	NUM
alkej-814	357	50	.	.	PUNCT
alkej-814	358	1	[	[	X
alkej-814	358	2	24	24	NUM
alkej-814	358	3	]	]	PUNCT
alkej-814	358	4	a.	a.	NOUN
alkej-814	358	5	asroni	asroni	PROPN
alkej-814	358	6	,	,	PUNCT
alkej-814	358	7	k.	k.	PROPN
alkej-814	358	8	r.	r.	PROPN
alkej-814	358	9	ku	ku	PROPN
alkej-814	358	10	-	-	PUNCT
alkej-814	358	11	mahamud	mahamud	PROPN
alkej-814	358	12	,	,	PUNCT
alkej-814	358	13	c.	c.	PROPN
alkej-814	358	14	damarjati	damarjati	PROPN
alkej-814	358	15	,	,	PUNCT
alkej-814	358	16	and	and	CCONJ
alkej-814	358	17	h.	h.	PROPN
alkej-814	358	18	b.	b.	PROPN
alkej-814	358	19	slamat	slamat	PROPN
alkej-814	358	20	,	,	PUNCT
alkej-814	358	21	“	"	PUNCT
alkej-814	358	22	arabic	arabic	ADJ
alkej-814	358	23	speech	speech	NOUN
alkej-814	358	24	classification	classification	NOUN
alkej-814	358	25	method	method	NOUN
alkej-814	358	26	based	base	VERB
alkej-814	358	27	on	on	ADP
alkej-814	358	28	padding	padding	NOUN
alkej-814	358	29	and	and	CCONJ
alkej-814	358	30	deep	deep	ADJ
alkej-814	358	31	learning	learn	VERB
alkej-814	358	32	neural	neural	ADJ
alkej-814	358	33	network	network	NOUN
alkej-814	358	34	,	,	PUNCT
alkej-814	358	35	”	"	PUNCT
alkej-814	358	36	baghdad	baghdad	PROPN
alkej-814	358	37	science	science	PROPN
alkej-814	358	38	journal	journal	PROPN
alkej-814	358	39	,	,	PUNCT
alkej-814	358	40	vol	vol	NOUN
alkej-814	358	41	.	.	PROPN
alkej-814	358	42	18	18	NUM
alkej-814	358	43	.	.	PUNCT
alkej-814	359	1	pp	pp	ADJ
alkej-814	359	2	.	.	PUNCT
alkej-814	360	1	925–936	925–936	NUM
alkej-814	360	2	,	,	PUNCT
alkej-814	360	3	2021	2021	NUM
alkej-814	360	4	,	,	PUNCT
alkej-814	360	5	doi	doi	NOUN
alkej-814	360	6	:	:	PUNCT
alkej-814	360	7	10.21123	10.21123	NUM
alkej-814	360	8	/	/	SYM
alkej-814	360	9	bsj.2021.18.2(suppl.).0925	bsj.2021.18.2(suppl.).0925	NOUN
alkej-814	360	10	.	.	PUNCT
alkej-814	361	1	[	[	X
alkej-814	361	2	25	25	NUM
alkej-814	361	3	]	]	PUNCT
alkej-814	361	4	a.	a.	NOUN
alkej-814	361	5	mikolajczyk	mikolajczyk	NOUN
alkej-814	361	6	and	and	CCONJ
alkej-814	361	7	m.	m.	NOUN
alkej-814	361	8	grochowski	grochowski	PROPN
alkej-814	361	9	,	,	PUNCT
alkej-814	361	10	“	"	PUNCT
alkej-814	361	11	data	datum	NOUN
alkej-814	361	12	augmentation	augmentation	NOUN
alkej-814	361	13	for	for	ADP
alkej-814	361	14	improving	improve	VERB
alkej-814	361	15	deep	deep	ADJ
alkej-814	361	16	learning	learning	NOUN
alkej-814	361	17	in	in	ADP
alkej-814	361	18	image	image	NOUN
alkej-814	361	19	classification	classification	NOUN
alkej-814	361	20	problem	problem	NOUN
alkej-814	361	21	,	,	PUNCT
alkej-814	361	22	”	"	PUNCT
alkej-814	361	23	in	in	ADP
alkej-814	361	24	2018	2018	NUM
alkej-814	361	25	international	international	ADJ
alkej-814	361	26	interdisciplinary	interdisciplinary	ADJ
alkej-814	361	27	phd	phd	NOUN
alkej-814	361	28	workshop	workshop	NOUN
alkej-814	361	29	(	(	PUNCT
alkej-814	361	30	iiphdw	iiphdw	NOUN
alkej-814	361	31	)	)	PUNCT
alkej-814	361	32	,	,	PUNCT
alkej-814	361	33	may	may	AUX
alkej-814	361	34	2018	2018	NUM
alkej-814	361	35	,	,	PUNCT
alkej-814	361	36	pp	pp	ADJ
alkej-814	361	37	.	.	PUNCT
alkej-814	362	1	117–122	117–122	NUM
alkej-814	362	2	.	.	PUNCT
alkej-814	363	1	[	[	X
alkej-814	363	2	26	26	NUM
alkej-814	363	3	]	]	X
alkej-814	363	4	d.	d.	PROPN
alkej-814	363	5	p.	p.	PROPN
alkej-814	363	6	kingma	kingma	PROPN
alkej-814	363	7	and	and	CCONJ
alkej-814	363	8	j.	j.	PROPN
alkej-814	363	9	ba	ba	PROPN
alkej-814	363	10	,	,	PUNCT
alkej-814	363	11	“	"	PUNCT
alkej-814	363	12	adam	adam	PROPN
alkej-814	363	13	:	:	PUNCT
alkej-814	363	14	a	a	DET
alkej-814	363	15	method	method	NOUN
alkej-814	363	16	for	for	ADP
alkej-814	363	17	stochastic	stochastic	ADJ
alkej-814	363	18	optimization	optimization	NOUN
alkej-814	363	19	,	,	PUNCT
alkej-814	363	20	”	"	PUNCT
alkej-814	363	21	2017	2017	NUM
alkej-814	363	22	2nd	2nd	ADJ
alkej-814	363	23	ieee	ieee	PROPN
alkej-814	363	24	int	int	NOUN
alkej-814	363	25	.	.	PUNCT
alkej-814	364	1	conf	conf	PROPN
alkej-814	364	2	.	.	PUNCT
alkej-814	365	1	cloud	cloud	PROPN
alkej-814	365	2	comput	comput	NOUN
alkej-814	365	3	.	.	PUNCT
alkej-814	366	1	big	big	ADJ
alkej-814	366	2	data	data	PROPN
alkej-814	366	3	anal	anal	PROPN
alkej-814	366	4	.	.	PUNCT
alkej-814	367	1	icccbda	icccbda	PROPN
alkej-814	367	2	2017	2017	NUM
alkej-814	367	3	,	,	PUNCT
alkej-814	367	4	pp	pp	ADJ
alkej-814	367	5	.	.	PUNCT
alkej-814	368	1	156–160	156–160	NUM
alkej-814	368	2	,	,	PUNCT
alkej-814	368	3	dec	dec	PROPN
alkej-814	368	4	.	.	PROPN
alkej-814	368	5	2014	2014	NUM
alkej-814	368	6	.	.	PUNCT
alkej-814	369	1	10.1109	10.1109	NUM
alkej-814	369	2	/	/	SYM
alkej-814	369	3	icccbda.2017.7951902	icccbda.2017.7951902	NOUN
alkej-814	369	4	.	.	PUNCT
alkej-814	370	1	[	[	X
alkej-814	370	2	27	27	NUM
alkej-814	370	3	]	]	X
alkej-814	370	4	c.	c.	NOUN
alkej-814	370	5	sammut	sammut	NOUN
alkej-814	370	6	and	and	CCONJ
alkej-814	370	7	g.	g.	PROPN
alkej-814	370	8	i.	i.	PROPN
alkej-814	370	9	webb	webb	PROPN
alkej-814	370	10	,	,	PUNCT
alkej-814	370	11	eds	eds	PROPN
alkej-814	370	12	.	.	PROPN
alkej-814	370	13	,	,	PUNCT
alkej-814	370	14	“	"	PUNCT
alkej-814	370	15	mean	mean	VERB
alkej-814	370	16	squared	square	VERB
alkej-814	370	17	error	error	NOUN
alkej-814	370	18	,	,	PUNCT
alkej-814	370	19	”	"	PUNCT
alkej-814	370	20	in	in	ADP
alkej-814	370	21	encyclopedia	encyclopedia	NOUN
alkej-814	370	22	of	of	ADP
alkej-814	370	23	machine	machine	NOUN
alkej-814	370	24	learning	learning	PROPN
alkej-814	370	25	,	,	PUNCT
alkej-814	370	26	boston	boston	PROPN
alkej-814	370	27	,	,	PUNCT
alkej-814	370	28	ma	ma	PROPN
alkej-814	370	29	:	:	PUNCT
alkej-814	370	30	springer	springer	NOUN
alkej-814	370	31	us	we	PRON
alkej-814	370	32	,	,	PUNCT
alkej-814	370	33	2010	2010	NUM
alkej-814	370	34	,	,	PUNCT
alkej-814	370	35	p.	p.	NOUN
alkej-814	370	36	653	653	NUM
alkej-814	370	37	.	.	PUNCT
alkej-814	371	1	[	[	X
alkej-814	371	2	28	28	NUM
alkej-814	371	3	]	]	X
alkej-814	371	4	a.	a.	NOUN
alkej-814	371	5	driemel	driemel	PROPN
alkej-814	371	6	,	,	PUNCT
alkej-814	371	7	s.	s.	PROPN
alkej-814	371	8	har	har	PROPN
alkej-814	371	9	-	-	PUNCT
alkej-814	371	10	peled	pele	VERB
alkej-814	371	11	,	,	PUNCT
alkej-814	371	12	and	and	CCONJ
alkej-814	371	13	c.	c.	PROPN
alkej-814	371	14	wenk	wenk	PROPN
alkej-814	371	15	,	,	PUNCT
alkej-814	371	16	“	"	PUNCT
alkej-814	371	17	approximating	approximate	VERB
alkej-814	371	18	the	the	DET
alkej-814	371	19	fréchet	fréchet	NOUN
alkej-814	371	20	distance	distance	NOUN
alkej-814	371	21	for	for	ADP
alkej-814	371	22	realistic	realistic	ADJ
alkej-814	371	23	curves	curve	NOUN
alkej-814	371	24	in	in	ADP
alkej-814	371	25	near	near	ADP
alkej-814	371	26	linear	linear	PROPN
alkej-814	371	27	time	time	NOUN
alkej-814	371	28	,	,	PUNCT
alkej-814	371	29	”	"	PUNCT
alkej-814	371	30	discret	discret	ADJ
alkej-814	371	31	.	.	PUNCT
alkej-814	372	1	comput	comput	PROPN
alkej-814	372	2	.	.	PUNCT
alkej-814	373	1	geom	geom	PROPN
alkej-814	373	2	.	.	PUNCT
alkej-814	373	3	,	,	PUNCT
alkej-814	373	4	vol	vol	NOUN
alkej-814	373	5	.	.	PROPN
alkej-814	374	1	48	48	NUM
alkej-814	374	2	,	,	PUNCT
alkej-814	374	3	no	no	INTJ
alkej-814	374	4	.	.	NOUN
alkej-814	374	5	1	1	NUM
alkej-814	374	6	,	,	PUNCT
alkej-814	374	7	pp	pp	ADJ
alkej-814	374	8	.	.	PUNCT
alkej-814	375	1	94–127	94–127	NUM
alkej-814	375	2	,	,	PUNCT
alkej-814	375	3	2012	2012	NUM
alkej-814	375	4	.	.	PUNCT
alkej-814	376	1	[	[	X
alkej-814	376	2	29	29	NUM
alkej-814	376	3	]	]	X
alkej-814	376	4	s.	s.	PROPN
alkej-814	376	5	l.	l.	PROPN
alkej-814	376	6	seyler	seyler	PROPN
alkej-814	376	7	,	,	PUNCT
alkej-814	376	8	a.	a.	PROPN
alkej-814	376	9	kumar	kumar	PROPN
alkej-814	376	10	,	,	PUNCT
alkej-814	376	11	m.	m.	PROPN
alkej-814	376	12	f.	f.	PROPN
alkej-814	376	13	thorpe	thorpe	PROPN
alkej-814	376	14	,	,	PUNCT
alkej-814	376	15	and	and	CCONJ
alkej-814	376	16	o.	o.	PROPN
alkej-814	376	17	beckstein	beckstein	PROPN
alkej-814	376	18	,	,	PUNCT
alkej-814	376	19	“	"	PUNCT
alkej-814	376	20	path	path	NOUN
alkej-814	376	21	similarity	similarity	NOUN
alkej-814	376	22	analysis	analysis	NOUN
alkej-814	376	23	:	:	PUNCT
alkej-814	376	24	a	a	DET
alkej-814	376	25	method	method	NOUN
alkej-814	376	26	for	for	ADP
alkej-814	376	27	quantifying	quantify	VERB
alkej-814	376	28	macromolecular	macromolecular	ADJ
alkej-814	376	29	pathways	pathway	NOUN
alkej-814	376	30	,	,	PUNCT
alkej-814	376	31	”	"	PUNCT
alkej-814	376	32	plos	plos	PROPN
alkej-814	376	33	comput	comput	PROPN
alkej-814	376	34	.	.	PUNCT
alkej-814	377	1	biol	biol	PROPN
alkej-814	377	2	.	.	PUNCT
alkej-814	377	3	,	,	PUNCT
alkej-814	377	4	vol	vol	NOUN
alkej-814	377	5	.	.	PROPN
alkej-814	377	6	11	11	NUM
alkej-814	377	7	,	,	PUNCT
alkej-814	377	8	no	no	INTJ
alkej-814	377	9	.	.	NOUN
alkej-814	377	10	10	10	NUM
alkej-814	377	11	,	,	PUNCT
alkej-814	377	12	pp	pp	ADJ
alkej-814	377	13	.	.	PUNCT
alkej-814	378	1	1–36	1–36	NUM
alkej-814	378	2	,	,	PUNCT
alkej-814	378	3	2015	2015	NUM
alkej-814	378	4	.	.	PUNCT
alkej-814	379	1	(	(	PUNCT
alkej-814	379	2	2022	2022	NUM
alkej-814	379	3	)	)	PUNCT
alkej-814	379	4	45	45	NUM
alkej-814	379	5	-	-	SYM
alkej-814	379	6	59	59	NUM
alkej-814	379	7	،	،	PROPN
alkej-814	379	8	صفحة	صفحة	PROPN
alkej-814	379	9	4العدد	4العدد	PROPN
alkej-814	379	10	،	،	NOUN
alkej-814	379	11	18مجلة	18مجلة	PROPN
alkej-814	379	12	الخوارزمي	الخوارزمي	VERB
alkej-814	379	13	الهندسية	الهندسية	PROPN
alkej-814	379	14	المجلد	المجلد	PROPN
alkej-814	379	15	هديل	هديل	PROPN
alkej-814	379	16	فاروق	فاروق	PROPN
alkej-814	379	17	حميد	حميد	PROPN
alkej-814	379	18	59	59	NUM
alkej-814	380	1	من	من	DET
alkej-814	380	2	النهاية	النهاية	PROPN
alkej-814	380	3	الى	الى	PROPN
alkej-814	380	4	النهاية	النهاية	PROPN
alkej-814	380	5	لسيارات	لسيارات	PROPN
alkej-814	380	6	الذاتية	الذاتية	PROPN
alkej-814	380	7	القيادة	القيادة	PROPN
alkej-814	380	8	مقارنة	مقارنة	PROPN
alkej-814	380	9	نماذج	نماذج	VERB
alkej-814	380	10	التعلم	التعلم	PROPN
alkej-814	380	11	النقل	النقل	PROPN
alkej-814	380	12	مير	مير	PROPN
alkej-814	380	13	مراد	مراد	PROPN
alkej-814	380	14	حسين**أيحيى	حسين**أيحيى	PROPN
alkej-814	380	15	غفران	غفران	NUM
alkej-814	380	16	خضر	خضر	PROPN
alkej-814	380	17	*	*	PUNCT
alkej-814	380	18	*	*	PUNCT
alkej-814	380	19	قسم	قسم	PROPN
alkej-814	380	20	هندسة	هندسة	NOUN
alkej-814	380	21	الميكاترونكس	الميكاترونكس	ADJ
alkej-814	380	22	/	/	SYM
alkej-814	380	23	كلية	كلية	NOUN
alkej-814	380	24	الهندسة	الهندسة	NOUN
alkej-814	380	25	الخوارزمي/	الخوارزمي/	NUM
alkej-814	380	26	جامعة	جامعة	NOUN
alkej-814	380	27	بغداد	بغداد	PROPN
alkej-814	380	28	جامعة	جامعة	PROPN
alkej-814	380	29	بغداد	بغداد	PROPN
alkej-814	380	30	*	*	PROPN
alkej-814	380	31	*	*	PROPN
alkej-814	380	32	قسم	قسم	PROPN
alkej-814	380	33	هندسة	هندسة	NOUN
alkej-814	380	34	المعلومات	المعلومات	VERB
alkej-814	380	35	واالتصاالت	واالتصاالت	NOUN
alkej-814	380	36	/	/	SYM
alkej-814	380	37	كلية	كلية	NOUN
alkej-814	380	38	الهندسة	الهندسة	NOUN
alkej-814	380	39	الخوارزمي/	الخوارزمي/	NUM
alkej-814	380	40	yahia.ghofran1202a@kecbu.uobaghdad.edu.iq*البريد	yahia.ghofran1202a@kecbu.uobaghdad.edu.iq*البريد	NOUN
alkej-814	380	41	االلكتروني	االلكتروني	NOUN
alkej-814	380	42	:	:	PUNCT
alkej-814	380	43	ameer@kecbu.uobaghdad.edu.iq*البريد	ameer@kecbu.uobaghdad.edu.iq*البريد	PUNCT
alkej-814	380	44	االلكتروني	االلكتروني	NOUN
alkej-814	380	45	:	:	PUNCT
alkej-814	380	46	*	*	PUNCT
alkej-814	380	47	الخالصة	الخالصة	NOUN
alkej-814	380	48	(	(	PUNCT
alkej-814	380	49	حاليًا	حاليًا	PROPN
alkej-814	380	50	أحد	أحد	NOUN
alkej-814	380	51	أهم	أهم	PROPN
alkej-814	380	52	مجاالت	مجاالت	PROPN
alkej-814	380	53	dlوتؤثر	dlوتؤثر	PROPN
alkej-814	380	54	على	على	PROPN
alkej-814	380	55	التنمية	التنمية	ADJ
alkej-814	380	56	االجتماعية	االجتماعية	PROPN
alkej-814	380	57	واالقتصادية	واالقتصادية	PROPN
alkej-814	380	58	.	.	PUNCT
alkej-814	381	1	يعد	يعد	PROPN
alkej-814	381	2	التعلم	التعلم	PROPN
alkej-814	381	3	العميق	العميق	PROPN
alkej-814	381	4	)	)	PUNCT
alkej-814	382	1	والتكنولوجيا،السيارات	والتكنولوجيا،السيارات	PROPN
alkej-814	382	2	ذاتية	ذاتية	PROPN
alkej-814	382	3	القيادة	القيادة	ADJ
alkej-814	382	4	لها	لها	NOUN
alkej-814	382	5	مكانة	مكانة	ADJ
alkej-814	382	6	بارزة	بارزة	NOUN
alkej-814	382	7	في	في	SCONJ
alkej-814	382	8	العلوم	العلوم	NOUN
alkej-814	382	9	ات	ات	SCONJ
alkej-814	382	10	ذاتية	ذاتية	VERB
alkej-814	382	11	القيادة	القيادة	ADJ
alkej-814	382	12	وحققت	وحققت	PROPN
alkej-814	382	13	نتائج	نتائج	PROPN
alkej-814	382	14	باهرة	باهرة	PROPN
alkej-814	382	15	.	.	PUNCT
alkej-814	383	1	تدرس	تدرس	PROPN
alkej-814	383	2	تم	تم	PROPN
alkej-814	383	3	تقديم	تقديم	PROPN
alkej-814	383	4	حلول	حلول	PROPN
alkej-814	383	5	قائمة	قائمة	PROPN
alkej-814	383	6	على	على	PROPN
alkej-814	383	7	التعلم	التعلم	PROPN
alkej-814	383	8	العميق	العميق	VERB
alkej-814	383	9	في	في	ADP
alkej-814	383	10	مجال	مجال	PROPN
alkej-814	383	11	السيار	السيار	NOUN
alkej-814	383	12	األخيرة	األخيرة	PROPN
alkej-814	383	13	،	،	X
alkej-814	383	14	(	(	PUNCT
alkej-814	383	15	.	.	PUNCT
alkej-814	384	1	في	في	DET
alkej-814	384	2	السنوات	السنوات	NOUN
alkej-814	384	3	aiالدراسة	aiالدراسة	PROPN
alkej-814	384	4	في	في	ADP
alkej-814	384	5	الذكاء	الذكاء	PROPN
alkej-814	384	6	االصطناعي	االصطناعي	PROPN
alkej-814	384	7	)	)	PUNCT
alkej-814	384	8	والتحكم	والتحكم	NOUN
alkej-814	384	9	البيئي،واإلدراك	البيئي،واإلدراك	X
alkej-814	384	10	المسار،وتخطيط	المسار،وتخطيط	VERB
alkej-814	384	11	السيارات،بما	السيارات،بما	PROPN
alkej-814	384	12	في	في	DET
alkej-814	384	13	ذلك	ذلك	PROPN
alkej-814	384	14	أنظمة	أنظمة	PROPN
alkej-814	384	15	المالحة	المالحة	PROPN
alkej-814	385	1	في	في	ADP
alkej-814	385	2	القيادة،هذه	القيادة،هذه	PROPN
alkej-814	385	3	الدراسات	الدراسات	NOUN
alkej-814	385	4	مجموعة	مجموعة	NOUN
alkej-814	386	1	متنوعة	متنوعة	PROPN
alkej-814	386	2	من	من	PRON
alkej-814	386	3	التقنيات	التقنيات	PROPN
alkej-814	386	4	المهمة	المهمة	PROPN
alkej-814	386	5	للمركبات	للمركبات	PRON
alkej-814	386	6	ذاتية	ذاتية	VERB
alkej-814	386	7	سية	سية	DET
alkej-814	386	8	إلى	إلى	NOUN
alkej-814	386	9	أوامر	أوامر	NOUN
alkej-814	386	10	تحكم	تحكم	VERB
alkej-814	386	11	في	في	ADP
alkej-814	386	12	القيادة	القيادة	ADJ
alkej-814	386	13	الذاتية	الذاتية	PROPN
alkej-814	386	14	.	.	PUNCT
alkej-814	387	1	تهدف	تهدف	PROPN
alkej-814	387	2	هذه	هذه	PROPN
alkej-814	387	3	الدراسة	الدراسة	PROPN
alkej-814	387	4	إلى	إلى	NOUN
alkej-814	387	5	تحديد	تحديد	NOUN
alkej-814	388	1	الشبكة	الشبكة	PROPN
alkej-814	388	2	العصبية	العصبية	PROPN
alkej-814	389	1	في	في	X
alkej-814	389	2	السيارة	السيارة	PROPN
alkej-814	389	3	.	.	PUNCT
alkej-814	390	1	التحكم	التحكم	VERB
alkej-814	390	2	في	في	DET
alkej-814	390	3	التعلم	التعلم	PROPN
alkej-814	390	4	الشامل	الشامل	PROPN
alkej-814	390	5	هو	هو	PROPN
alkej-814	390	6	التحويل	التحويل	PROPN
alkej-814	390	7	المباشر	المباشر	PROPN
alkej-814	390	8	للبيانات	للبيانات	PROPN
alkej-814	391	1	الح	الح	PROPN
alkej-814	391	2	امل	امل	PROPN
alkej-814	391	3	يمكن	يمكن	PROPN
alkej-814	391	4	(	(	PUNCT
alkej-814	391	5	األكثر	األكثر	PROPN
alkej-814	391	6	دقة	دقة	VERB
alkej-814	391	7	التي	التي	PROPN
alkej-814	391	8	تم	تم	NOUN
alkej-814	391	9	تدريبها	تدريبها	NOUN
alkej-814	391	10	مسبقًا	مسبقًا	PROPN
alkej-814	391	11	للتنبؤ	للتنبؤ	NOUN
alkej-814	391	12	بزاوية	بزاوية	NOUN
alkej-814	391	13	التوجيه	التوجيه	VERB
alkej-814	391	14	لمركبة	لمركبة	PROPN
alkej-814	391	15	مستقلة	مستقلة	PROPN
alkej-814	391	16	.	.	PUNCT
alkej-814	392	1	الهدف	الهدف	ADP
alkej-814	392	2	من	من	PRON
alkej-814	392	3	هذا	هذا	NOUN
alkej-814	392	4	المشروع	المشروع	NOUN
alkej-814	392	5	هو	هو	PROPN
alkej-814	392	6	إنشاء	إنشاء	PROPN
alkej-814	392	7	قدرات	قدرات	PROPN
alkej-814	392	8	قيادة	قيادة	PROPN
alkej-814	392	9	ذاتية	ذاتية	PROPN
alkej-814	392	10	بالكdnnالعميقة	بالكdnnالعميقة	NOUN
alkej-814	392	11	)	)	PUNCT
alkej-814	392	12	resnet18و	resnet18و	PROPN
alkej-814	392	13	alexnetقمنا	alexnetقمنا	PROPN
alkej-814	392	14	بمقارنة	بمقارنة	PROPN
alkej-814	392	15	ثالثة	ثالثة	PROPN
alkej-814	392	16	نماذج	نماذج	VERB
alkej-814	392	17	معروفة	معروفة	PRON
alkej-814	392	18	جيدًا	جيدًا	NOUN
alkej-814	392	19	:	:	PUNCT
alkej-814	392	20	اقتراحنا،المدمجة	اقتراحنا،المدمجة	X
alkej-814	392	21	ذات	ذات	NOUN
alkej-814	392	22	األداء	األداء	PROPN
alkej-814	392	23	المحدود	المحدود	NOUN
alkej-814	392	24	.	.	PUNCT
alkej-814	393	1	في	في	PRON
alkej-814	393	2	استخدامها	استخدامها	ADV
alkej-814	393	3	مع	مع	INTJ
alkej-814	393	4	تقنيات	تقنيات	PROPN
alkej-814	393	5	السيارات	السيارات	PROPN
alkej-814	393	6	جارب	جارب	VERB
alkej-814	393	7	على	على	NOUN
alkej-814	393	8	.	.	PUNCT
alkej-814	394	1	تم	تم	NOUN
alkej-814	394	2	استخدام	استخدام	PROPN
alkej-814	394	3	تعلم	تعلم	VERB
alkej-814	394	4	النقل	النقل	PROPN
alkej-814	394	5	من	من	PROPN
alkej-814	394	6	خالل	خالل	PROPN
alkej-814	394	7	تعديل	تعديل	PROPN
alkej-814	394	8	الطبقة	الطبقة	PROPN
alkej-814	394	9	النهائية	النهائية	PROPN
alkej-814	394	10	من	من	INTJ
alkej-814	394	11	النماذج	النماذج	ADJ
alkej-814	395	1	المدربة	المدربة	PROPN
alkej-814	395	2	مسبقًا	مسبقًا	PROPN
alkej-814	395	3	من	من	NUM
alkej-814	395	4	أجل	أجل	PROPN
alkej-814	395	5	التنبؤ	التنبؤ	PROPN
alkej-814	395	6	بزاوية	بزاوية	PROPN
alkej-814	395	7	توجيه	توجيه	AUX
alkej-814	395	8	السيارة	السيارة	PROPN
alkej-814	395	9	.	.	PUNCT
alkej-814	396	1	أجريت	أجريت	PROPN
alkej-814	396	2	التdensenet121و	التdensenet121و	VERB
alkej-814	396	3	لديهما	لديهما	PROPN
alkej-814	396	4	أقل	أقل	PROPN
alkej-814	396	5	نسبة	نسبة	PROPN
alkej-814	396	6	خطأ	خطأ	PROPN
alkej-814	396	7	لقيمة	لقيمة	PROPN
alkej-814	396	8	زاوية	زاوية	NOUN
alkej-814	396	9	التوجيه	التوجيه	NOUN
alkej-814	396	10	.	.	PUNCT
alkej-814	397	1	densenet121و	densenet121و	PROPN
alkej-814	397	2	resnet18فإن	resnet18فإن	NOUN
alkej-814	397	3	الدراسة،نات	الدراسة،نات	PROPN
alkej-814	397	4	التي	التي	PROPN
alkej-814	397	5	تم	تم	PUNCT
alkej-814	397	6	جمعها	جمعها	ADV
alkej-814	397	7	من	من	PRON
alkej-814	397	8	مسارين	مسارين	ADJ
alkej-814	397	9	مختلفين	مختلفين	NOUN
alkej-814	397	10	.	.	PUNCT
alkej-814	398	1	وفقًا	وفقًا	PROPN
alkej-814	398	2	لنتائج	لنتائج	PROPN
alkej-814	398	3	مجموعة	مجموعة	PROPN
alkej-814	398	4	البيا	البيا	PROPN
alkej-814	398	5	مع	مع	INTJ
alkej-814	398	6	انحراف	انحراف	ADV
alkej-814	398	7	الدقة،من	الدقة،من	PROPN
alkej-814	398	8	حيث	حيث	PROPN
alkej-814	398	9	densenet121أفضل	densenet121أفضل	VERB
alkej-814	398	10	من	من	PRON
alkej-814	398	11	resnet18تم	resnet18تم	PROPN
alkej-814	398	12	فحص	فحص	PROPN
alkej-814	398	13	أداء	أداء	PROPN
alkej-814	398	14	النماذج	النماذج	VERB
alkej-814	398	15	المعدلة	المعدلة	NOUN
alkej-814	398	16	على	على	NOUN
alkej-814	398	17	مسارات	مسارات	NOUN
alkej-814	398	18	محددة	محددة	NOUN
alkej-814	398	19	مسبقًا	مسبقًا	PROPN
alkej-814	398	20	.	.	PUNCT
alkej-814	399	1	كان	كان	PROPN
alkej-814	399	2	أداء	أداء	PROPN
alkej-814	399	3	ذلك،عالوة	ذلك،عالوة	PROPN
alkej-814	399	4	على	على	PROPN
alkej-814	399	5	.مما	.مما	PRON
alkej-814	399	6	أدى	أدى	PROPN
alkej-814	399	7	إلى	إلى	NOUN
alkej-814	399	8	أداء	أداء	NOUN
alkej-814	399	9	أكثر	أكثر	PROPN
alkej-814	400	1	اتساقًا	اتساقًا	PROPN
alkej-814	400	2	المختلفة،أكثر	المختلفة،أكثر	PROPN
alkej-814	400	3	مرونة	مرونة	NOUN
alkej-814	400	4	عبر	عبر	ADJ
alkej-814	400	5	المسارات	المسارات	NOUN
alkej-814	400	6	densenet121أقل	densenet121أقل	VERB
alkej-814	400	7	عن	عن	VERB
alkej-814	400	8	مركز	مركز	ADJ
alkej-814	400	9	المسار	المسار	PROPN
alkej-814	400	10	،	،	PROPN
alkej-814	400	11	بينما	بينما	PROPN
alkej-814	400	12	كان	كان	ADJ
alkej-814	400	13	mailto:yahia.ghofran1202a@kecbu.uobaghdad.edu.iq	mailto:yahia.ghofran1202a@kecbu.uobaghdad.edu.iq	NOUN
alkej-814	400	14	mailto:ameer@kecbu.uobaghdad.edu.iq	mailto:ameer@kecbu.uobaghdad.edu.iq	NOUN