id	sid	tid	token	lemma	pos
alkej-881	1	1	this	this	PRON
alkej-881	1	2	is	be	AUX
alkej-881	1	3	an	an	DET
alkej-881	1	4	open	open	ADJ
alkej-881	1	5	access	access	NOUN
alkej-881	1	6	article	article	NOUN
alkej-881	1	7	under	under	ADP
alkej-881	1	8	the	the	DET
alkej-881	1	9	cc	cc	NOUN
alkej-881	1	10	by	by	ADP
alkej-881	1	11	license	license	NOUN
alkej-881	1	12	:	:	PUNCT
alkej-881	1	13	al	al	PROPN
alkej-881	1	14	-	-	PUNCT
alkej-881	1	15	khwarizmi	khwarizmi	PROPN
alkej-881	1	16	engineering	engineering	PROPN
alkej-881	1	17	journal	journal	PROPN
alkej-881	1	18	al	al	PROPN
alkej-881	1	19	-	-	PUNCT
alkej-881	1	20	khwarizmi	khwarizmi	PROPN
alkej-881	1	21	engineering	engineering	PROPN
alkej-881	1	22	journal	journal	PROPN
alkej-881	1	23	issn	issn	PROPN
alkej-881	1	24	(	(	PUNCT
alkej-881	1	25	printed	print	VERB
alkej-881	1	26	):	):	PUNCT
alkej-881	1	27	1818	1818	NUM
alkej-881	1	28	–	–	PUNCT
alkej-881	1	29	1171	1171	NUM
alkej-881	1	30	,	,	PUNCT
alkej-881	1	31	issn	issn	PROPN
alkej-881	1	32	(	(	PUNCT
alkej-881	1	33	online	online	ADJ
alkej-881	1	34	):	):	PUNCT
alkej-881	1	35	2312	2312	NUM
alkej-881	1	36	–	–	PUNCT
alkej-881	1	37	0789	0789	NUM
alkej-881	1	38	vol	vol	NOUN
alkej-881	1	39	.	.	PROPN
alkej-881	1	40	20	20	NUM
alkej-881	1	41	,	,	PUNCT
alkej-881	1	42	no	no	INTJ
alkej-881	1	43	.	.	NOUN
alkej-881	1	44	3	3	NUM
alkej-881	1	45	,	,	PUNCT
alkej-881	1	46	september	september	PROPN
alkej-881	1	47	,	,	PUNCT
alkej-881	1	48	(	(	PUNCT
alkej-881	1	49	2024	2024	NUM
alkej-881	1	50	)	)	PUNCT
alkej-881	1	51	,	,	PUNCT
alkej-881	1	52	p.p	p.p	PROPN
alkej-881	1	53	.	.	PROPN
alkej-881	1	54	51	51	NUM
alkej-881	1	55	-	-	SYM
alkej-881	1	56	58	58	NUM
alkej-881	1	57	a	a	DET
alkej-881	1	58	proposed	propose	VERB
alkej-881	1	59	control	control	NOUN
alkej-881	1	60	algorithm	algorithm	NOUN
alkej-881	1	61	for	for	ADP
alkej-881	1	62	automated	automate	VERB
alkej-881	1	63	storage	storage	NOUN
alkej-881	1	64	and	and	CCONJ
alkej-881	1	65	retrieval	retrieval	NOUN
alkej-881	1	66	system	system	NOUN
alkej-881	1	67	ali	ali	PROPN
alkej-881	1	68	r.	r.	PROPN
alkej-881	1	69	hameed	hameed	PROPN
alkej-881	1	70	*	*	PROPN
alkej-881	1	71	and	and	CCONJ
alkej-881	1	72	osamah	osamah	PROPN
alkej-881	1	73	f.	f.	PROPN
alkej-881	1	74	abdulateef	abdulateef	PROPN
alkej-881	1	75	*	*	PUNCT
alkej-881	2	1	*	*	PUNCT
alkej-881	2	2	*	*	PUNCT
alkej-881	2	3	,	,	PUNCT
alkej-881	2	4	*	*	PUNCT
alkej-881	2	5	*	*	ADJ
alkej-881	2	6	automated	automate	VERB
alkej-881	2	7	manufacturing	manufacturing	NOUN
alkej-881	2	8	engineering	engineering	NOUN
alkej-881	2	9	department	department	PROPN
alkej-881	2	10	,	,	PUNCT
alkej-881	2	11	al	al	PROPN
alkej-881	2	12	-	-	PUNCT
alkej-881	2	13	khwarizmi	khwarizmi	PROPN
alkej-881	2	14	college	college	PROPN
alkej-881	2	15	of	of	ADP
alkej-881	2	16	engineering	engineering	PROPN
alkej-881	2	17	,	,	PUNCT
alkej-881	2	18	university	university	NOUN
alkej-881	2	19	of	of	ADP
alkej-881	2	20	baghdad	baghdad	PROPN
alkej-881	2	21	,	,	PUNCT
alkej-881	2	22	baghdad	baghdad	PROPN
alkej-881	2	23	,	,	PUNCT
alkej-881	2	24	iraq	iraq	PROPN
alkej-881	2	25	*	*	PUNCT
alkej-881	2	26	email	email	NOUN
alkej-881	2	27	:	:	PUNCT
alkej-881	2	28	ali_mfcstd@kecbu.uobaghdad.edu.iq	ali_mfcstd@kecbu.uobaghdad.edu.iq	PROPN
alkej-881	2	29	(	(	PUNCT
alkej-881	2	30	corresponding	correspond	VERB
alkej-881	2	31	author	author	NOUN
alkej-881	2	32	)	)	PUNCT
alkej-881	3	1	*	*	PUNCT
alkej-881	3	2	*	*	PUNCT
alkej-881	3	3	email	email	NOUN
alkej-881	3	4	:	:	PUNCT
alkej-881	3	5	drosamah@kecbu.uobaghdad.edu.iq	drosamah@kecbu.uobaghdad.edu.iq	ADJ
alkej-881	3	6	(	(	PUNCT
alkej-881	3	7	received	receive	VERB
alkej-881	3	8	30	30	NUM
alkej-881	3	9	may	may	PROPN
alkej-881	3	10	2023	2023	NUM
alkej-881	3	11	;	;	PUNCT
alkej-881	3	12	revised	revise	VERB
alkej-881	3	13	30	30	NUM
alkej-881	3	14	august	august	PROPN
alkej-881	3	15	2023	2023	NUM
alkej-881	3	16	;	;	PUNCT
alkej-881	3	17	accepted	accept	VERB
alkej-881	3	18	28	28	NUM
alkej-881	3	19	september	september	PROPN
alkej-881	3	20	2023	2023	NUM
alkej-881	3	21	;	;	PUNCT
alkej-881	3	22	published	publish	VERB
alkej-881	3	23	1	1	NUM
alkej-881	3	24	september	september	PROPN
alkej-881	3	25	2024	2024	NUM
alkej-881	3	26	)	)	PUNCT
alkej-881	3	27	https://doi.org/10.22153/kej.2024.09.002	https://doi.org/10.22153/kej.2024.09.002	NOUN
alkej-881	3	28	abstract	abstract	ADJ
alkej-881	3	29	this	this	DET
alkej-881	3	30	paper	paper	NOUN
alkej-881	3	31	introduces	introduce	VERB
alkej-881	3	32	an	an	DET
alkej-881	3	33	algorithm	algorithm	NOUN
alkej-881	3	34	that	that	PRON
alkej-881	3	35	enhances	enhance	VERB
alkej-881	3	36	open	open	ADJ
alkej-881	3	37	-	-	PUNCT
alkej-881	3	38	loop	loop	NOUN
alkej-881	3	39	stepper	stepper	NOUN
alkej-881	3	40	motor	motor	NOUN
alkej-881	3	41	motion	motion	NOUN
alkej-881	3	42	systems	system	NOUN
alkej-881	3	43	.	.	PUNCT
alkej-881	4	1	the	the	DET
alkej-881	4	2	objective	objective	NOUN
alkej-881	4	3	is	be	AUX
alkej-881	4	4	to	to	PART
alkej-881	4	5	close	close	VERB
alkej-881	4	6	the	the	DET
alkej-881	4	7	loop	loop	NOUN
alkej-881	4	8	with	with	ADP
alkej-881	4	9	fewer	few	ADJ
alkej-881	4	10	hardware	hardware	NOUN
alkej-881	4	11	requirements	requirement	NOUN
alkej-881	4	12	,	,	PUNCT
alkej-881	4	13	increasing	increase	VERB
alkej-881	4	14	flexibility	flexibility	NOUN
alkej-881	4	15	in	in	ADP
alkej-881	4	16	speed	speed	NOUN
alkej-881	4	17	and	and	CCONJ
alkej-881	4	18	weight	weight	NOUN
alkej-881	4	19	capacity	capacity	NOUN
alkej-881	4	20	for	for	ADP
alkej-881	4	21	storage	storage	NOUN
alkej-881	4	22	and	and	CCONJ
alkej-881	4	23	retrieval	retrieval	NOUN
alkej-881	4	24	(	(	PUNCT
alkej-881	4	25	s	s	NOUN
alkej-881	4	26	/	/	SYM
alkej-881	4	27	r	r	NOUN
alkej-881	4	28	)	)	PUNCT
alkej-881	4	29	machines	machine	NOUN
alkej-881	4	30	and	and	CCONJ
alkej-881	4	31	reducing	reduce	VERB
alkej-881	4	32	cost	cost	NOUN
alkej-881	4	33	.	.	PUNCT
alkej-881	5	1	the	the	DET
alkej-881	5	2	method	method	NOUN
alkej-881	5	3	involves	involve	VERB
alkej-881	5	4	integrating	integrate	VERB
alkej-881	5	5	the	the	DET
alkej-881	5	6	algorithm	algorithm	NOUN
alkej-881	5	7	into	into	ADP
alkej-881	5	8	a	a	DET
alkej-881	5	9	distributed	distribute	VERB
alkej-881	5	10	control	control	NOUN
alkej-881	5	11	system	system	NOUN
alkej-881	5	12	,	,	PUNCT
alkej-881	5	13	minimizing	minimize	VERB
alkej-881	5	14	hardware	hardware	NOUN
alkej-881	5	15	,	,	PUNCT
alkej-881	5	16	processing	processing	NOUN
alkej-881	5	17	power	power	NOUN
alkej-881	5	18	,	,	PUNCT
alkej-881	5	19	and	and	CCONJ
alkej-881	5	20	maintenance	maintenance	NOUN
alkej-881	5	21	shutdowns	shutdown	NOUN
alkej-881	5	22	.	.	PUNCT
alkej-881	6	1	the	the	DET
alkej-881	6	2	results	result	NOUN
alkej-881	6	3	highlight	highlight	VERB
alkej-881	6	4	the	the	DET
alkej-881	6	5	algorithm	algorithm	NOUN
alkej-881	6	6	’s	’s	PART
alkej-881	6	7	effectiveness	effectiveness	NOUN
alkej-881	6	8	.	.	PUNCT
alkej-881	7	1	adjusting	adjust	VERB
alkej-881	7	2	torque	torque	NOUN
alkej-881	7	3	/	/	SYM
alkej-881	7	4	speed	speed	NOUN
alkej-881	7	5	parameters	parameter	NOUN
alkej-881	7	6	mitigates	mitigate	VERB
alkej-881	7	7	motor	motor	NOUN
alkej-881	7	8	stalling	stalling	NOUN
alkej-881	7	9	in	in	ADP
alkej-881	7	10	s	s	PROPN
alkej-881	7	11	/	/	SYM
alkej-881	7	12	r	r	NOUN
alkej-881	7	13	machines	machine	NOUN
alkej-881	7	14	successfully	successfully	ADV
alkej-881	7	15	,	,	PUNCT
alkej-881	7	16	leading	lead	VERB
alkej-881	7	17	to	to	ADP
alkej-881	7	18	improved	improved	ADJ
alkej-881	7	19	efficiency	efficiency	NOUN
alkej-881	7	20	.	.	PUNCT
alkej-881	8	1	unlike	unlike	ADP
alkej-881	8	2	commercial	commercial	ADJ
alkej-881	8	3	s	s	PROPN
alkej-881	8	4	/	/	SYM
alkej-881	8	5	r	r	NOUN
alkej-881	8	6	machines	machine	NOUN
alkej-881	8	7	,	,	PUNCT
alkej-881	8	8	this	this	PRON
alkej-881	8	9	revolutionizes	revolutionize	VERB
alkej-881	8	10	closed	close	VERB
alkej-881	8	11	-	-	PUNCT
alkej-881	8	12	loop	loop	NOUN
alkej-881	8	13	stepper	stepper	NOUN
alkej-881	8	14	systems	system	NOUN
alkej-881	8	15	,	,	PUNCT
alkej-881	8	16	making	make	VERB
alkej-881	8	17	them	they	PRON
alkej-881	8	18	more	more	ADV
alkej-881	8	19	efficient	efficient	ADJ
alkej-881	8	20	,	,	PUNCT
alkej-881	8	21	relatively	relatively	ADV
alkej-881	8	22	cost	cost	NOUN
alkej-881	8	23	-	-	PUNCT
alkej-881	8	24	effective	effective	ADJ
alkej-881	8	25	as	as	ADV
alkej-881	8	26	well	well	ADV
alkej-881	8	27	as	as	ADP
alkej-881	8	28	practical	practical	ADJ
alkej-881	8	29	for	for	ADP
alkej-881	8	30	educational	educational	ADJ
alkej-881	8	31	purposes	purpose	NOUN
alkej-881	8	32	.	.	PUNCT
alkej-881	9	1	keywords	keyword	NOUN
alkej-881	9	2	:	:	PUNCT
alkej-881	9	3	asrs	asrs	ADV
alkej-881	9	4	;	;	PUNCT
alkej-881	9	5	s	s	X
alkej-881	9	6	/	/	SYM
alkej-881	9	7	r	r	NOUN
alkej-881	9	8	machine	machine	NOUN
alkej-881	9	9	;	;	PUNCT
alkej-881	9	10	automated	automate	VERB
alkej-881	9	11	storage	storage	NOUN
alkej-881	9	12	system	system	NOUN
alkej-881	9	13	;	;	PUNCT
alkej-881	9	14	closed	closed	ADJ
alkej-881	9	15	-	-	PUNCT
alkej-881	9	16	loop	loop	NOUN
alkej-881	9	17	control	control	NOUN
alkej-881	9	18	;	;	PUNCT
alkej-881	9	19	stepper	stepper	NOUN
alkej-881	9	20	motors	motor	NOUN
alkej-881	9	21	;	;	PUNCT
alkej-881	9	22	single	single	ADJ
alkej-881	9	23	deep	deep	ADJ
alkej-881	9	24	1	1	NUM
alkej-881	9	25	.	.	PUNCT
alkej-881	10	1	introduction	introduction	NOUN
alkej-881	10	2	automation	automation	NOUN
alkej-881	10	3	plays	play	VERB
alkej-881	10	4	an	an	DET
alkej-881	10	5	important	important	ADJ
alkej-881	10	6	role	role	NOUN
alkej-881	10	7	in	in	ADP
alkej-881	10	8	the	the	DET
alkej-881	10	9	development	development	NOUN
alkej-881	10	10	of	of	ADP
alkej-881	10	11	an	an	DET
alkej-881	10	12	industrial	industrial	ADJ
alkej-881	10	13	society	society	NOUN
alkej-881	10	14	[	[	X
alkej-881	10	15	1	1	NUM
alkej-881	10	16	]	]	PUNCT
alkej-881	10	17	.	.	PUNCT
alkej-881	11	1	different	different	ADJ
alkej-881	11	2	types	type	NOUN
alkej-881	11	3	of	of	ADP
alkej-881	11	4	automation	automation	NOUN
alkej-881	11	5	systems	system	NOUN
alkej-881	11	6	have	have	AUX
alkej-881	11	7	been	be	AUX
alkej-881	11	8	utilized	utilize	VERB
alkej-881	11	9	in	in	ADP
alkej-881	11	10	the	the	DET
alkej-881	11	11	industrial	industrial	ADJ
alkej-881	11	12	sector	sector	NOUN
alkej-881	11	13	,	,	PUNCT
alkej-881	11	14	indicating	indicate	VERB
alkej-881	11	15	the	the	DET
alkej-881	11	16	handiness	handiness	NOUN
alkej-881	11	17	and	and	CCONJ
alkej-881	11	18	the	the	DET
alkej-881	11	19	ability	ability	NOUN
alkej-881	11	20	to	to	PART
alkej-881	11	21	improve	improve	VERB
alkej-881	11	22	the	the	DET
alkej-881	11	23	different	different	ADJ
alkej-881	11	24	manufacturing	manufacturing	NOUN
alkej-881	11	25	processes	process	NOUN
alkej-881	11	26	as	as	SCONJ
alkej-881	11	27	stated	state	VERB
alkej-881	11	28	in	in	ADP
alkej-881	11	29	[	[	PUNCT
alkej-881	11	30	2	2	NUM
alkej-881	11	31	-	-	SYM
alkej-881	11	32	4	4	NUM
alkej-881	11	33	]	]	PUNCT
alkej-881	11	34	.	.	PUNCT
alkej-881	12	1	one	one	NUM
alkej-881	12	2	of	of	ADP
alkej-881	12	3	the	the	DET
alkej-881	12	4	most	most	ADV
alkej-881	12	5	common	common	ADJ
alkej-881	12	6	applications	application	NOUN
alkej-881	12	7	that	that	PRON
alkej-881	12	8	utilize	utilize	VERB
alkej-881	12	9	different	different	ADJ
alkej-881	12	10	automation	automation	NOUN
alkej-881	12	11	techniques	technique	NOUN
alkej-881	12	12	is	be	AUX
alkej-881	12	13	the	the	DET
alkej-881	12	14	storage	storage	NOUN
alkej-881	12	15	and	and	CCONJ
alkej-881	12	16	retrieval	retrieval	NOUN
alkej-881	12	17	machine	machine	NOUN
alkej-881	13	1	[	[	X
alkej-881	13	2	5	5	NUM
alkej-881	13	3	]	]	PUNCT
alkej-881	13	4	.	.	PUNCT
alkej-881	14	1	a	a	DET
alkej-881	14	2	storage	storage	NOUN
alkej-881	14	3	and	and	CCONJ
alkej-881	14	4	retrieval	retrieval	NOUN
alkej-881	14	5	machine	machine	NOUN
alkej-881	14	6	(	(	PUNCT
alkej-881	14	7	s	s	X
alkej-881	14	8	/	/	SYM
alkej-881	14	9	r	r	NOUN
alkej-881	14	10	)	)	PUNCT
alkej-881	14	11	is	be	AUX
alkej-881	14	12	one	one	NUM
alkej-881	14	13	that	that	PRON
alkej-881	14	14	performs	perform	VERB
alkej-881	14	15	the	the	DET
alkej-881	14	16	action	action	NOUN
alkej-881	14	17	of	of	ADP
alkej-881	14	18	transporting	transport	VERB
alkej-881	14	19	goods	good	NOUN
alkej-881	14	20	between	between	ADP
alkej-881	14	21	pre	pre	ADJ
alkej-881	14	22	-	-	ADJ
alkej-881	14	23	defined	define	VERB
alkej-881	14	24	locations	location	NOUN
alkej-881	14	25	(	(	PUNCT
alkej-881	14	26	storage	storage	NOUN
alkej-881	14	27	keeping	keep	VERB
alkej-881	14	28	units	unit	NOUN
alkej-881	14	29	,	,	PUNCT
alkej-881	14	30	)	)	PUNCT
alkej-881	14	31	inside	inside	ADP
alkej-881	14	32	a	a	DET
alkej-881	14	33	multi	multi	ADJ
alkej-881	14	34	-	-	ADJ
alkej-881	14	35	storage	storage	ADJ
alkej-881	14	36	system	system	NOUN
alkej-881	14	37	or	or	CCONJ
alkej-881	14	38	between	between	ADP
alkej-881	14	39	storage	storage	NOUN
alkej-881	14	40	locations	location	NOUN
alkej-881	14	41	and	and	CCONJ
alkej-881	14	42	unloading	unloading	NOUN
alkej-881	14	43	/	/	SYM
alkej-881	14	44	loading	loading	NOUN
alkej-881	14	45	areas	area	NOUN
alkej-881	14	46	.	.	PUNCT
alkej-881	15	1	the	the	DET
alkej-881	15	2	instructions	instruction	NOUN
alkej-881	15	3	for	for	ADP
alkej-881	15	4	these	these	DET
alkej-881	15	5	actions	action	NOUN
alkej-881	15	6	are	be	AUX
alkej-881	15	7	given	give	VERB
alkej-881	15	8	by	by	ADP
alkej-881	15	9	a	a	DET
alkej-881	15	10	human	human	NOUN
alkej-881	15	11	through	through	ADP
alkej-881	15	12	a	a	DET
alkej-881	15	13	certain	certain	ADJ
alkej-881	15	14	interface	interface	NOUN
alkej-881	15	15	or	or	CCONJ
alkej-881	15	16	smart	smart	ADJ
alkej-881	15	17	storage	storage	NOUN
alkej-881	15	18	management	management	NOUN
alkej-881	15	19	system	system	NOUN
alkej-881	15	20	[	[	X
alkej-881	15	21	6	6	NUM
alkej-881	15	22	]	]	PUNCT
alkej-881	15	23	.	.	PUNCT
alkej-881	16	1	automated	automate	VERB
alkej-881	16	2	storage	storage	NOUN
alkej-881	16	3	systems	system	NOUN
alkej-881	16	4	are	be	AUX
alkej-881	16	5	widely	widely	ADV
alkej-881	16	6	used	use	VERB
alkej-881	16	7	in	in	ADP
alkej-881	16	8	many	many	ADJ
alkej-881	16	9	applications	application	NOUN
alkej-881	16	10	,	,	PUNCT
alkej-881	16	11	including	include	VERB
alkej-881	16	12	warehouses	warehouse	NOUN
alkej-881	16	13	,	,	PUNCT
alkej-881	16	14	stores	store	NOUN
alkej-881	16	15	,	,	PUNCT
alkej-881	16	16	ports	port	NOUN
alkej-881	16	17	and	and	CCONJ
alkej-881	16	18	pharmacies	pharmacy	NOUN
alkej-881	16	19	[	[	X
alkej-881	16	20	6	6	NUM
alkej-881	16	21	]	]	PUNCT
alkej-881	16	22	.	.	PUNCT
alkej-881	17	1	many	many	ADJ
alkej-881	17	2	benefits	benefit	NOUN
alkej-881	17	3	can	can	AUX
alkej-881	17	4	be	be	AUX
alkej-881	17	5	obtained	obtain	VERB
alkej-881	17	6	from	from	ADP
alkej-881	17	7	the	the	DET
alkej-881	17	8	automation	automation	NOUN
alkej-881	17	9	of	of	ADP
alkej-881	17	10	as	as	ADP
alkej-881	17	11	/	/	SYM
alkej-881	17	12	rs	rs	NOUN
alkej-881	17	13	systems	system	NOUN
alkej-881	17	14	,	,	PUNCT
alkej-881	17	15	such	such	ADJ
alkej-881	17	16	as	as	ADP
alkej-881	17	17	savings	saving	NOUN
alkej-881	17	18	in	in	ADP
alkej-881	17	19	terms	term	NOUN
alkej-881	17	20	of	of	ADP
alkej-881	17	21	labour	labour	NOUN
alkej-881	17	22	costs	cost	NOUN
alkej-881	17	23	and	and	CCONJ
alkej-881	17	24	floor	floor	NOUN
alkej-881	17	25	space	space	NOUN
alkej-881	17	26	,	,	PUNCT
alkej-881	17	27	the	the	DET
alkej-881	17	28	ease	ease	NOUN
alkej-881	17	29	and	and	CCONJ
alkej-881	17	30	the	the	DET
alkej-881	17	31	speed	speed	NOUN
alkej-881	17	32	of	of	ADP
alkej-881	17	33	handling	handle	VERB
alkej-881	17	34	items	item	NOUN
alkej-881	17	35	and	and	CCONJ
alkej-881	17	36	improved	improve	VERB
alkej-881	17	37	throughput	throughput	NOUN
alkej-881	17	38	level[7	level[7	PROPN
alkej-881	17	39	]	]	PUNCT
alkej-881	17	40	.	.	PUNCT
alkej-881	18	1	some	some	DET
alkej-881	18	2	trends	trend	NOUN
alkej-881	18	3	to	to	PART
alkej-881	18	4	accomplish	accomplish	VERB
alkej-881	18	5	this	this	DET
alkej-881	18	6	system	system	NOUN
alkej-881	18	7	have	have	AUX
alkej-881	18	8	been	be	AUX
alkej-881	18	9	documented	document	VERB
alkej-881	18	10	in	in	ADP
alkej-881	18	11	the	the	DET
alkej-881	18	12	literature	literature	NOUN
alkej-881	18	13	.	.	PUNCT
alkej-881	19	1	these	these	DET
alkej-881	19	2	trends	trend	NOUN
alkej-881	19	3	include	include	VERB
alkej-881	19	4	the	the	DET
alkej-881	19	5	main	main	ADJ
alkej-881	19	6	drawbacks	drawback	NOUN
alkej-881	19	7	registered	register	VERB
alkej-881	19	8	in	in	ADP
alkej-881	19	9	the	the	DET
alkej-881	19	10	system	system	NOUN
alkej-881	19	11	,	,	PUNCT
alkej-881	19	12	which	which	PRON
alkej-881	19	13	are	be	AUX
alkej-881	19	14	the	the	DET
alkej-881	19	15	high	high	ADJ
alkej-881	19	16	initial	initial	ADJ
alkej-881	19	17	cost	cost	NOUN
alkej-881	19	18	and	and	CCONJ
alkej-881	19	19	low	low	ADJ
alkej-881	19	20	flexibility	flexibility	NOUN
alkej-881	19	21	in	in	ADP
alkej-881	19	22	terms	term	NOUN
alkej-881	19	23	of	of	ADP
alkej-881	19	24	layout	layout	NOUN
alkej-881	19	25	and	and	CCONJ
alkej-881	19	26	size	size	NOUN
alkej-881	19	27	as	as	SCONJ
alkej-881	19	28	stated	state	VERB
alkej-881	19	29	in	in	ADP
alkej-881	19	30	[	[	X
alkej-881	19	31	8	8	NUM
alkej-881	19	32	]	]	PUNCT
alkej-881	19	33	.	.	PUNCT
alkej-881	20	1	this	this	DET
alkej-881	20	2	system	system	NOUN
alkej-881	20	3	is	be	AUX
alkej-881	20	4	also	also	ADV
alkej-881	20	5	considered	consider	VERB
alkej-881	20	6	a	a	DET
alkej-881	20	7	complex	complex	ADJ
alkej-881	20	8	system	system	NOUN
alkej-881	20	9	in	in	ADP
alkej-881	20	10	terms	term	NOUN
alkej-881	20	11	of	of	ADP
alkej-881	20	12	management	management	NOUN
alkej-881	20	13	and	and	CCONJ
alkej-881	20	14	design	design	NOUN
alkej-881	20	15	considerations	consideration	NOUN
alkej-881	20	16	for	for	ADP
alkej-881	20	17	safety	safety	NOUN
alkej-881	20	18	,	,	PUNCT
alkej-881	20	19	durability	durability	NOUN
alkej-881	20	20	,	,	PUNCT
alkej-881	20	21	throughput	throughput	NOUN
alkej-881	20	22	and	and	CCONJ
alkej-881	20	23	robustness	robustness	NOUN
alkej-881	20	24	.	.	PUNCT
alkej-881	21	1	applications	application	NOUN
alkej-881	21	2	of	of	ADP
alkej-881	21	3	s	s	NOUN
alkej-881	21	4	/	/	SYM
alkej-881	21	5	r	r	NOUN
alkej-881	21	6	machines	machine	NOUN
alkej-881	21	7	must	must	AUX
alkej-881	21	8	have	have	VERB
alkej-881	21	9	closed	close	VERB
alkej-881	21	10	-	-	PUNCT
alkej-881	21	11	loop	loop	NOUN
alkej-881	21	12	motion	motion	NOUN
alkej-881	21	13	systems	system	NOUN
alkej-881	21	14	that	that	PRON
alkej-881	21	15	prevent	prevent	VERB
alkej-881	21	16	any	any	DET
alkej-881	21	17	damage	damage	NOUN
alkej-881	21	18	that	that	PRON
alkej-881	21	19	may	may	AUX
alkej-881	21	20	be	be	AUX
alkej-881	21	21	caused	cause	VERB
alkej-881	21	22	by	by	ADP
alkej-881	21	23	an	an	DET
alkej-881	21	24	external	external	ADJ
alkej-881	21	25	effector	effector	NOUN
alkej-881	21	26	or	or	CCONJ
alkej-881	21	27	overweight	overweight	ADJ
alkej-881	21	28	object	object	NOUN
alkej-881	21	29	,	,	PUNCT
alkej-881	21	30	system	system	NOUN
alkej-881	21	31	fault	fault	NOUN
alkej-881	21	32	or	or	CCONJ
alkej-881	21	33	cumulative	cumulative	ADJ
alkej-881	21	34	position	position	NOUN
alkej-881	21	35	error	error	NOUN
alkej-881	21	36	.	.	PUNCT
alkej-881	22	1	in	in	ADP
alkej-881	22	2	these	these	DET
alkej-881	22	3	cases	case	NOUN
alkej-881	22	4	,	,	PUNCT
alkej-881	22	5	severe	severe	ADJ
alkej-881	22	6	damage	damage	NOUN
alkej-881	22	7	may	may	AUX
alkej-881	22	8	also	also	ADV
alkej-881	22	9	be	be	AUX
alkej-881	22	10	caused	cause	VERB
alkej-881	22	11	to	to	ADP
alkej-881	22	12	the	the	DET
alkej-881	22	13	system	system	NOUN
alkej-881	22	14	’s	’s	PART
alkej-881	22	15	mechanism	mechanism	NOUN
alkej-881	22	16	,	,	PUNCT
alkej-881	22	17	and	and	CCONJ
alkej-881	22	18	the	the	DET
alkej-881	22	19	carried	carry	VERB
alkej-881	22	20	part	part	NOUN
alkej-881	22	21	may	may	AUX
alkej-881	22	22	be	be	AUX
alkej-881	22	23	affected	affect	VERB
alkej-881	22	24	,	,	PUNCT
alkej-881	22	25	resulting	result	VERB
alkej-881	22	26	in	in	ADP
alkej-881	22	27	losses	loss	NOUN
alkej-881	22	28	in	in	ADP
alkej-881	22	29	maintenance	maintenance	NOUN
alkej-881	22	30	cost	cost	NOUN
alkej-881	22	31	and	and	CCONJ
alkej-881	22	32	shutdown	shutdown	NOUN
alkej-881	22	33	times	time	NOUN
alkej-881	22	34	[	[	X
alkej-881	22	35	9,10	9,10	X
alkej-881	22	36	]	]	PUNCT
alkej-881	22	37	.	.	PUNCT
alkej-881	23	1	many	many	ADJ
alkej-881	23	2	studies	study	NOUN
alkej-881	23	3	have	have	AUX
alkej-881	23	4	focused	focus	VERB
alkej-881	23	5	on	on	ADP
alkej-881	23	6	the	the	DET
alkej-881	23	7	control	control	NOUN
alkej-881	23	8	of	of	ADP
alkej-881	23	9	automated	automate	VERB
alkej-881	23	10	storage	storage	NOUN
alkej-881	23	11	and	and	CCONJ
alkej-881	23	12	retrieval	retrieval	NOUN
alkej-881	23	13	systems	system	NOUN
alkej-881	23	14	.	.	PUNCT
alkej-881	24	1	for	for	ADP
alkej-881	24	2	example	example	NOUN
alkej-881	24	3	,	,	PUNCT
alkej-881	24	4	ekren	ekren	NOUN
alkej-881	24	5	et	et	PROPN
alkej-881	24	6	al	al	PROPN
alkej-881	24	7	.	.	PUNCT
alkej-881	25	1	[	[	X
alkej-881	25	2	11	11	NUM
alkej-881	25	3	]	]	PUNCT
alkej-881	25	4	suggested	suggest	VERB
alkej-881	25	5	an	an	DET
alkej-881	25	6	analytical	analytical	ADJ
alkej-881	25	7	file:///c:/users/iraq/desktop/ali_mfcstd@kecbu.uobaghdad.edu.iq	file:///c:/users/iraq/desktop/ali_mfcstd@kecbu.uobaghdad.edu.iq	NOUN
alkej-881	25	8	mailto:drosamah@kecbu.uobaghdad.edu.iq	mailto:drosamah@kecbu.uobaghdad.edu.iq	PROPN
alkej-881	25	9	https://doi.org/10.22153/kej.2024.09.002	https://doi.org/10.22153/kej.2024.09.002	PROPN
alkej-881	25	10	ali	ali	PROPN
alkej-881	25	11	r.	r.	PROPN
alkej-881	25	12	hameed	hameed	PROPN
alkej-881	25	13	al	al	PROPN
alkej-881	25	14	-	-	PUNCT
alkej-881	25	15	khwarizmi	khwarizmi	PROPN
alkej-881	25	16	engineering	engineering	NOUN
alkej-881	25	17	journal	journal	PROPN
alkej-881	25	18	,	,	PUNCT
alkej-881	25	19	vol	vol	NOUN
alkej-881	25	20	.	.	PROPN
alkej-881	25	21	20	20	NUM
alkej-881	25	22	,	,	PUNCT
alkej-881	25	23	no.3	no.3	VERB
alkej-881	25	24	,	,	PUNCT
alkej-881	25	25	p.p	p.p	PROPN
alkej-881	25	26	.	.	NOUN
alkej-881	25	27	5158(2024	5158(2024	NUM
alkej-881	25	28	)	)	PUNCT
alkej-881	25	29	52	52	NUM
alkej-881	25	30	model	model	NOUN
alkej-881	25	31	for	for	ADP
alkej-881	25	32	first	first	ADJ
alkej-881	25	33	-	-	PUNCT
alkej-881	25	34	in	in	ADP
alkej-881	25	35	-	-	PUNCT
alkej-881	25	36	first	first	ADJ
alkej-881	25	37	-	-	PUNCT
alkej-881	25	38	out	out	ADP
alkej-881	25	39	-	-	PUNCT
alkej-881	25	40	based	base	VERB
alkej-881	25	41	scheduling	scheduling	NOUN
alkej-881	25	42	rules	rule	NOUN
alkej-881	25	43	to	to	PART
alkej-881	25	44	calculate	calculate	VERB
alkej-881	25	45	the	the	DET
alkej-881	25	46	mean	mean	NOUN
alkej-881	25	47	and	and	CCONJ
alkej-881	25	48	variation	variation	NOUN
alkej-881	25	49	of	of	ADP
alkej-881	25	50	shuttle	shuttle	NOUN
alkej-881	25	51	and	and	CCONJ
alkej-881	25	52	elevator	elevator	NOUN
alkej-881	25	53	running	run	VERB
alkej-881	25	54	times	time	NOUN
alkej-881	25	55	and	and	CCONJ
alkej-881	25	56	assess	assess	VERB
alkej-881	25	57	storage	storage	NOUN
alkej-881	25	58	system	system	NOUN
alkej-881	25	59	performance	performance	NOUN
alkej-881	25	60	.	.	PUNCT
alkej-881	26	1	wang	wang	PROPN
alkej-881	26	2	et	et	PROPN
alkej-881	26	3	al	al	PROPN
alkej-881	26	4	.	.	PUNCT
alkej-881	27	1	[	[	X
alkej-881	27	2	12	12	NUM
alkej-881	27	3	]	]	PUNCT
alkej-881	27	4	presented	present	VERB
alkej-881	27	5	a	a	DET
alkej-881	27	6	mathematical	mathematical	ADJ
alkej-881	27	7	model	model	NOUN
alkej-881	27	8	for	for	ADP
alkej-881	27	9	time	time	NOUN
alkej-881	27	10	sequences	sequence	NOUN
alkej-881	27	11	based	base	VERB
alkej-881	27	12	on	on	ADP
alkej-881	27	13	the	the	DET
alkej-881	27	14	movement	movement	NOUN
alkej-881	27	15	traits	trait	NOUN
alkej-881	27	16	of	of	ADP
alkej-881	27	17	shuttles	shuttle	NOUN
alkej-881	27	18	and	and	CCONJ
alkej-881	27	19	elevators	elevator	NOUN
alkej-881	27	20	.	.	PUNCT
alkej-881	28	1	the	the	DET
alkej-881	28	2	shuttle	shuttle	NOUN
alkej-881	28	3	and	and	CCONJ
alkej-881	28	4	elevator	elevator	NOUN
alkej-881	28	5	task	task	NOUN
alkej-881	28	6	scheduling	scheduling	NOUN
alkej-881	28	7	problem	problem	NOUN
alkej-881	28	8	is	be	AUX
alkej-881	28	9	converted	convert	VERB
alkej-881	28	10	into	into	ADP
alkej-881	28	11	an	an	DET
alkej-881	28	12	assembly	assembly	NOUN
alkej-881	28	13	line	line	NOUN
alkej-881	28	14	parallel	parallel	ADJ
alkej-881	28	15	job	job	NOUN
alkej-881	28	16	problem	problem	NOUN
alkej-881	28	17	to	to	PART
alkej-881	28	18	create	create	VERB
alkej-881	28	19	the	the	DET
alkej-881	28	20	scheduling	scheduling	NOUN
alkej-881	28	21	task	task	PROPN
alkej-881	28	22	queue	queue	NOUN
alkej-881	28	23	model	model	NOUN
alkej-881	28	24	within	within	ADP
alkej-881	28	25	the	the	DET
alkej-881	28	26	given	give	VERB
alkej-881	28	27	time	time	NOUN
alkej-881	28	28	frame	frame	NOUN
alkej-881	28	29	through	through	ADP
alkej-881	28	30	the	the	DET
alkej-881	28	31	study	study	NOUN
alkej-881	28	32	of	of	ADP
alkej-881	28	33	the	the	DET
alkej-881	28	34	mathematical	mathematical	ADJ
alkej-881	28	35	model	model	NOUN
alkej-881	28	36	.	.	PUNCT
alkej-881	29	1	the	the	DET
alkej-881	29	2	job	job	NOUN
alkej-881	29	3	scheduling	scheduling	NOUN
alkej-881	29	4	problem	problem	NOUN
alkej-881	29	5	’s	’s	PART
alkej-881	29	6	multi	multi	ADJ
alkej-881	29	7	-	-	ADJ
alkej-881	29	8	objective	objective	ADJ
alkej-881	29	9	optimization	optimization	NOUN
alkej-881	29	10	function	function	NOUN
alkej-881	29	11	is	be	AUX
alkej-881	29	12	also	also	ADV
alkej-881	29	13	solved	solve	VERB
alkej-881	29	14	using	use	VERB
alkej-881	29	15	the	the	DET
alkej-881	29	16	pareto	pareto	ADJ
alkej-881	29	17	optimization	optimization	NOUN
alkej-881	29	18	approach	approach	NOUN
alkej-881	29	19	based	base	VERB
alkej-881	29	20	on	on	ADP
alkej-881	29	21	an	an	DET
alkej-881	29	22	elitist	elitist	ADJ
alkej-881	29	23	,	,	PUNCT
alkej-881	29	24	non	non	ADJ
alkej-881	29	25	-	-	ADJ
alkej-881	29	26	dominated	dominated	ADJ
alkej-881	29	27	sorting	sort	VERB
alkej-881	29	28	genetic	genetic	ADJ
alkej-881	29	29	algorithm	algorithm	NOUN
alkej-881	29	30	.	.	PUNCT
alkej-881	30	1	yang	yang	PROPN
alkej-881	30	2	et	et	PROPN
alkej-881	30	3	al	al	PROPN
alkej-881	30	4	.	.	PUNCT
alkej-881	31	1	[	[	X
alkej-881	31	2	13	13	NUM
alkej-881	31	3	]	]	PUNCT
alkej-881	31	4	examined	examine	VERB
alkej-881	31	5	access	access	NOUN
alkej-881	31	6	and	and	CCONJ
alkej-881	31	7	placement	placement	NOUN
alkej-881	31	8	allocation	allocation	NOUN
alkej-881	31	9	scheduling	scheduling	NOUN
alkej-881	31	10	problems	problem	NOUN
alkej-881	31	11	for	for	ADP
alkej-881	31	12	products	product	NOUN
alkej-881	31	13	.	.	PUNCT
alkej-881	32	1	two	two	NUM
alkej-881	32	2	related	related	ADJ
alkej-881	32	3	models	model	NOUN
alkej-881	32	4	(	(	PUNCT
alkej-881	32	5	integer	integer	NOUN
alkej-881	32	6	programming	programming	NOUN
alkej-881	32	7	model	model	NOUN
alkej-881	32	8	and	and	CCONJ
alkej-881	32	9	dynamic	dynamic	ADJ
alkej-881	32	10	programming	programming	NOUN
alkej-881	32	11	model	model	NOUN
alkej-881	32	12	)	)	PUNCT
alkej-881	32	13	are	be	AUX
alkej-881	32	14	used	use	VERB
alkej-881	32	15	to	to	PART
alkej-881	32	16	address	address	VERB
alkej-881	32	17	this	this	DET
alkej-881	32	18	issue	issue	NOUN
alkej-881	32	19	to	to	PART
alkej-881	32	20	maximize	maximize	VERB
alkej-881	32	21	the	the	DET
alkej-881	32	22	operational	operational	ADJ
alkej-881	32	23	efficiency	efficiency	NOUN
alkej-881	32	24	of	of	ADP
alkej-881	32	25	the	the	DET
alkej-881	32	26	system	system	NOUN
alkej-881	32	27	.	.	PUNCT
alkej-881	33	1	in	in	ADP
alkej-881	33	2	a	a	DET
alkej-881	33	3	similar	similar	ADJ
alkej-881	33	4	as	as	ADP
alkej-881	33	5	/	/	SYM
alkej-881	33	6	rs	rs	NOUN
alkej-881	33	7	,	,	PUNCT
alkej-881	33	8	yang	yang	PROPN
alkej-881	33	9	et	et	PROPN
alkej-881	33	10	al	al	PROPN
alkej-881	33	11	.	.	PUNCT
alkej-881	34	1	[	[	X
alkej-881	34	2	14	14	NUM
alkej-881	34	3	]	]	PUNCT
alkej-881	34	4	used	use	VERB
alkej-881	34	5	a	a	DET
alkej-881	34	6	hybrid	hybrid	ADJ
alkej-881	34	7	genetic	genetic	ADJ
alkej-881	34	8	algorithm	algorithm	NOUN
alkej-881	34	9	-	-	PUNCT
alkej-881	34	10	based	base	VERB
alkej-881	34	11	on	on	ADP
alkej-881	34	12	polychromatic	polychromatic	ADJ
alkej-881	34	13	sets	set	NOUN
alkej-881	34	14	theory	theory	NOUN
alkej-881	34	15	to	to	PART
alkej-881	34	16	resolve	resolve	VERB
alkej-881	34	17	the	the	DET
alkej-881	34	18	scheduling	scheduling	NOUN
alkej-881	34	19	issue	issue	NOUN
alkej-881	34	20	of	of	ADP
alkej-881	34	21	storage	storage	NOUN
alkej-881	34	22	and	and	CCONJ
alkej-881	34	23	retrieval	retrieval	NOUN
alkej-881	34	24	.	.	PUNCT
alkej-881	35	1	the	the	DET
alkej-881	35	2	results	result	NOUN
alkej-881	35	3	of	of	ADP
alkej-881	35	4	the	the	DET
alkej-881	35	5	trials	trial	NOUN
alkej-881	35	6	demonstrate	demonstrate	VERB
alkej-881	35	7	that	that	SCONJ
alkej-881	35	8	this	this	DET
alkej-881	35	9	hybrid	hybrid	ADJ
alkej-881	35	10	genetic	genetic	ADJ
alkej-881	35	11	algorithm	algorithm	NOUN
alkej-881	35	12	has	have	VERB
alkej-881	35	13	certain	certain	ADJ
alkej-881	35	14	benefits	benefit	NOUN
alkej-881	35	15	in	in	ADP
alkej-881	35	16	dealing	deal	VERB
alkej-881	35	17	with	with	ADP
alkej-881	35	18	the	the	DET
alkej-881	35	19	scheduling	scheduling	NOUN
alkej-881	35	20	issue	issue	NOUN
alkej-881	35	21	of	of	ADP
alkej-881	35	22	storage	storage	NOUN
alkej-881	35	23	and	and	CCONJ
alkej-881	35	24	retrieval	retrieval	NOUN
alkej-881	35	25	.	.	PUNCT
alkej-881	36	1	this	this	DET
alkej-881	36	2	hybrid	hybrid	ADJ
alkej-881	36	3	approach	approach	NOUN
alkej-881	36	4	considerably	considerably	ADV
alkej-881	36	5	decreases	decrease	VERB
alkej-881	36	6	the	the	DET
alkej-881	36	7	computing	computing	NOUN
alkej-881	36	8	time	time	NOUN
alkej-881	36	9	needed	need	VERB
alkej-881	36	10	to	to	PART
alkej-881	36	11	identify	identify	VERB
alkej-881	36	12	the	the	DET
alkej-881	36	13	running	running	NOUN
alkej-881	36	14	path	path	NOUN
alkej-881	36	15	in	in	ADP
alkej-881	36	16	addition	addition	NOUN
alkej-881	36	17	to	to	ADP
alkej-881	36	18	reducing	reduce	VERB
alkej-881	36	19	cycle	cycle	NOUN
alkej-881	36	20	times	time	NOUN
alkej-881	36	21	.	.	PUNCT
alkej-881	37	1	yan	yan	PROPN
alkej-881	37	2	et	et	PROPN
alkej-881	37	3	al	al	PROPN
alkej-881	37	4	.	.	PUNCT
alkej-881	38	1	[	[	X
alkej-881	38	2	15	15	NUM
alkej-881	38	3	]	]	PUNCT
alkej-881	38	4	introduce	introduce	VERB
alkej-881	38	5	a	a	DET
alkej-881	38	6	multiobjective	multiobjective	ADJ
alkej-881	38	7	scheduling	scheduling	NOUN
alkej-881	38	8	optimization	optimization	NOUN
alkej-881	38	9	model	model	NOUN
alkej-881	38	10	for	for	ADP
alkej-881	38	11	multiaisle	multiaisle	NOUN
alkej-881	38	12	as	as	ADP
alkej-881	38	13	/	/	SYM
alkej-881	38	14	rs	rs	NOUN
alkej-881	38	15	systems	system	NOUN
alkej-881	38	16	,	,	PUNCT
alkej-881	38	17	improving	improve	VERB
alkej-881	38	18	upon	upon	SCONJ
alkej-881	38	19	previous	previous	ADJ
alkej-881	38	20	models	model	NOUN
alkej-881	38	21	.	.	PUNCT
alkej-881	39	1	they	they	PRON
alkej-881	39	2	presents	present	VERB
alkej-881	39	3	an	an	DET
alkej-881	39	4	innovative	innovative	ADJ
alkej-881	39	5	nsabc	nsabc	NOUN
alkej-881	39	6	algorithm	algorithm	NOUN
alkej-881	39	7	,	,	PUNCT
alkej-881	39	8	combining	combine	VERB
alkej-881	39	9	nsga	nsga	NOUN
alkej-881	39	10	-	-	PUNCT
alkej-881	39	11	ii	ii	PROPN
alkej-881	39	12	and	and	CCONJ
alkej-881	39	13	abc	abc	PROPN
alkej-881	39	14	techniques	technique	NOUN
alkej-881	39	15	,	,	PUNCT
alkej-881	39	16	with	with	ADP
alkej-881	39	17	customized	customized	ADJ
alkej-881	39	18	solution	solution	NOUN
alkej-881	39	19	methods	method	NOUN
alkej-881	39	20	.	.	PUNCT
alkej-881	40	1	extensive	extensive	ADJ
alkej-881	40	2	testing	testing	NOUN
alkej-881	40	3	shows	show	VERB
alkej-881	40	4	that	that	SCONJ
alkej-881	40	5	nsabc	nsabc	PROPN
alkej-881	40	6	outperforms	outperform	VERB
alkej-881	40	7	other	other	ADJ
alkej-881	40	8	algorithms	algorithm	NOUN
alkej-881	40	9	in	in	ADP
alkej-881	40	10	as	as	ADP
alkej-881	40	11	/	/	SYM
alkej-881	40	12	rs	rs	NOUN
alkej-881	40	13	scheduling	scheduling	NOUN
alkej-881	40	14	optimization	optimization	NOUN
alkej-881	40	15	.	.	PUNCT
alkej-881	41	1	kang	kang	PROPN
alkej-881	42	1	[	[	X
alkej-881	42	2	16	16	NUM
alkej-881	42	3	]	]	PUNCT
alkej-881	42	4	focuses	focus	VERB
alkej-881	42	5	on	on	ADP
alkej-881	42	6	optimizing	optimize	VERB
alkej-881	42	7	an	an	DET
alkej-881	42	8	autonomous	autonomous	ADJ
alkej-881	42	9	vehicle	vehicle	NOUN
alkej-881	42	10	-	-	PUNCT
alkej-881	42	11	based	base	VERB
alkej-881	42	12	storage	storage	NOUN
alkej-881	42	13	and	and	CCONJ
alkej-881	42	14	retrieval	retrieval	NOUN
alkej-881	42	15	system	system	NOUN
alkej-881	42	16	with	with	ADP
alkej-881	42	17	transfer	transfer	NOUN
alkej-881	42	18	robots	robot	NOUN
alkej-881	42	19	in	in	ADP
alkej-881	42	20	automated	automate	VERB
alkej-881	42	21	warehouses	warehouse	NOUN
alkej-881	42	22	.	.	PUNCT
alkej-881	43	1	the	the	DET
alkej-881	43	2	goal	goal	NOUN
alkej-881	43	3	is	be	AUX
alkej-881	43	4	to	to	PART
alkej-881	43	5	reduce	reduce	VERB
alkej-881	43	6	reshuffling	reshuffling	NOUN
alkej-881	43	7	,	,	PUNCT
alkej-881	43	8	which	which	PRON
alkej-881	43	9	occurs	occur	VERB
alkej-881	43	10	when	when	SCONJ
alkej-881	43	11	a	a	DET
alkej-881	43	12	retrieved	retrieve	VERB
alkej-881	43	13	bin	bin	NOUN
alkej-881	43	14	is	be	AUX
alkej-881	43	15	deep	deep	ADJ
alkej-881	43	16	in	in	ADP
alkej-881	43	17	a	a	DET
alkej-881	43	18	stack	stack	NOUN
alkej-881	43	19	,	,	PUNCT
alkej-881	43	20	by	by	ADP
alkej-881	43	21	planning	plan	VERB
alkej-881	43	22	an	an	DET
alkej-881	43	23	efficient	efficient	ADJ
alkej-881	43	24	order	order	NOUN
alkej-881	43	25	-	-	PUNCT
alkej-881	43	26	picking	pick	VERB
alkej-881	43	27	sequence	sequence	NOUN
alkej-881	43	28	.	.	PUNCT
alkej-881	44	1	rather	rather	ADV
alkej-881	44	2	than	than	ADP
alkej-881	44	3	exhaustively	exhaustively	ADV
alkej-881	44	4	exploring	explore	VERB
alkej-881	44	5	all	all	DET
alkej-881	44	6	possible	possible	ADJ
alkej-881	44	7	sequences	sequence	NOUN
alkej-881	44	8	,	,	PUNCT
alkej-881	44	9	the	the	DET
alkej-881	44	10	study	study	NOUN
alkej-881	44	11	introduces	introduce	VERB
alkej-881	44	12	a	a	DET
alkej-881	44	13	greedy	greedy	ADJ
alkej-881	44	14	algorithm	algorithm	NOUN
alkej-881	44	15	that	that	PRON
alkej-881	44	16	provides	provide	VERB
alkej-881	44	17	a	a	DET
alkej-881	44	18	heuristic	heuristic	ADJ
alkej-881	44	19	solution	solution	NOUN
alkej-881	44	20	.	.	PUNCT
alkej-881	45	1	alnahhal	alnahhal	PROPN
alkej-881	45	2	et	et	PROPN
alkej-881	45	3	al	al	PROPN
alkej-881	45	4	.	.	PUNCT
alkej-881	46	1	[	[	X
alkej-881	46	2	17	17	NUM
alkej-881	46	3	]	]	PUNCT
alkej-881	46	4	examine	examine	VERB
alkej-881	46	5	the	the	DET
alkej-881	46	6	effect	effect	NOUN
alkej-881	46	7	of	of	ADP
alkej-881	46	8	the	the	DET
alkej-881	46	9	input	input	NOUN
alkej-881	46	10	/	/	SYM
alkej-881	46	11	output	output	NOUN
alkej-881	46	12	area	area	NOUN
alkej-881	46	13	location	location	NOUN
alkej-881	46	14	on	on	ADP
alkej-881	46	15	asrs	asrs	ADJ
alkej-881	46	16	total	total	ADJ
alkej-881	46	17	travel	travel	NOUN
alkej-881	46	18	time	time	NOUN
alkej-881	46	19	and	and	CCONJ
alkej-881	46	20	suggest	suggest	VERB
alkej-881	46	21	a	a	DET
alkej-881	46	22	two	two	NUM
alkej-881	46	23	-	-	PUNCT
alkej-881	46	24	step	step	NOUN
alkej-881	46	25	preparation	preparation	NOUN
alkej-881	46	26	strategy	strategy	NOUN
alkej-881	46	27	.	.	PUNCT
alkej-881	47	1	they	they	PRON
alkej-881	47	2	verified	verify	VERB
alkej-881	47	3	their	their	PRON
alkej-881	47	4	work	work	NOUN
alkej-881	47	5	using	use	VERB
alkej-881	47	6	a	a	DET
alkej-881	47	7	simulation	simulation	NOUN
alkej-881	47	8	model	model	NOUN
alkej-881	47	9	,	,	PUNCT
alkej-881	47	10	which	which	PRON
alkej-881	47	11	resulted	result	VERB
alkej-881	47	12	in	in	ADP
alkej-881	47	13	an	an	DET
alkej-881	47	14	enhancement	enhancement	NOUN
alkej-881	47	15	of	of	ADP
alkej-881	47	16	throughput	throughput	NOUN
alkej-881	47	17	by	by	ADP
alkej-881	47	18	21	21	NUM
alkej-881	47	19	%	%	NOUN
alkej-881	47	20	to	to	PART
alkej-881	47	21	28	28	NUM
alkej-881	47	22	%	%	NOUN
alkej-881	47	23	,	,	PUNCT
alkej-881	47	24	depending	depend	VERB
alkej-881	47	25	on	on	ADP
alkej-881	47	26	storage	storage	NOUN
alkej-881	47	27	height	height	NOUN
alkej-881	47	28	and	and	CCONJ
alkej-881	47	29	order	order	NOUN
alkej-881	47	30	quantity	quantity	NOUN
alkej-881	47	31	.	.	PUNCT
alkej-881	48	1	ecem	ecem	VERB
alkej-881	48	2	et	et	PROPN
alkej-881	48	3	al	al	PROPN
alkej-881	48	4	.	.	PUNCT
alkej-881	49	1	[	[	X
alkej-881	49	2	18	18	NUM
alkej-881	49	3	]	]	PUNCT
alkej-881	49	4	studied	study	VERB
alkej-881	49	5	the	the	DET
alkej-881	49	6	flexible	flexible	ADJ
alkej-881	49	7	travel	travel	NOUN
alkej-881	49	8	of	of	ADP
alkej-881	49	9	autonomous	autonomous	ADJ
alkej-881	49	10	mobile	mobile	ADJ
alkej-881	49	11	robots	robot	NOUN
alkej-881	49	12	(	(	PUNCT
alkej-881	49	13	amrs	amrs	PROPN
alkej-881	49	14	)	)	PUNCT
alkej-881	49	15	and	and	CCONJ
alkej-881	49	16	developed	develop	VERB
alkej-881	49	17	intelligent	intelligent	ADJ
alkej-881	49	18	deadlock	deadlock	NOUN
alkej-881	49	19	and	and	CCONJ
alkej-881	49	20	collision	collision	NOUN
alkej-881	49	21	prevention	prevention	NOUN
alkej-881	49	22	algorithms	algorithm	NOUN
alkej-881	49	23	on	on	ADP
alkej-881	49	24	agent	agent	NOUN
alkej-881	49	25	-	-	PUNCT
alkej-881	49	26	based	base	VERB
alkej-881	49	27	modelling	modelling	NOUN
alkej-881	49	28	that	that	PRON
alkej-881	49	29	amr	amr	PROPN
alkej-881	49	30	agents	agent	NOUN
alkej-881	49	31	can	can	AUX
alkej-881	49	32	make	make	VERB
alkej-881	49	33	smart	smart	ADJ
alkej-881	49	34	decisions	decision	NOUN
alkej-881	49	35	when	when	SCONJ
alkej-881	49	36	interacting	interact	VERB
alkej-881	49	37	,	,	PUNCT
alkej-881	49	38	resulting	result	VERB
alkej-881	49	39	in	in	ADP
alkej-881	49	40	improvement	improvement	NOUN
alkej-881	49	41	of	of	ADP
alkej-881	49	42	up	up	ADP
alkej-881	49	43	to	to	PART
alkej-881	49	44	39	39	NUM
alkej-881	49	45	%	%	NOUN
alkej-881	49	46	in	in	ADP
alkej-881	49	47	the	the	DET
alkej-881	49	48	storage	storage	NOUN
alkej-881	49	49	system	system	NOUN
alkej-881	49	50	flexibility	flexibility	NOUN
alkej-881	49	51	compared	compare	VERB
alkej-881	49	52	to	to	ADP
alkej-881	49	53	a	a	DET
alkej-881	49	54	nonflexible	nonflexible	ADJ
alkej-881	49	55	design	design	NOUN
alkej-881	49	56	.	.	PUNCT
alkej-881	50	1	this	this	DET
alkej-881	50	2	paper	paper	NOUN
alkej-881	50	3	introduces	introduce	VERB
alkej-881	50	4	a	a	DET
alkej-881	50	5	closed	closed	ADJ
alkej-881	50	6	-	-	PUNCT
alkej-881	50	7	loop	loop	NOUN
alkej-881	50	8	algorithm	algorithm	NOUN
alkej-881	50	9	designed	design	VERB
alkej-881	50	10	to	to	PART
alkej-881	50	11	enhance	enhance	VERB
alkej-881	50	12	the	the	DET
alkej-881	50	13	load	load	NOUN
alkej-881	50	14	capacity	capacity	NOUN
alkej-881	50	15	versatility	versatility	NOUN
alkej-881	50	16	of	of	ADP
alkej-881	50	17	the	the	DET
alkej-881	50	18	s	s	PROPN
alkej-881	50	19	/	/	SYM
alkej-881	50	20	r	r	NOUN
alkej-881	50	21	machines	machine	NOUN
alkej-881	50	22	.	.	PUNCT
alkej-881	51	1	the	the	DET
alkej-881	51	2	algorithm	algorithm	NOUN
alkej-881	51	3	achieves	achieve	VERB
alkej-881	51	4	this	this	PRON
alkej-881	51	5	by	by	ADP
alkej-881	51	6	automatically	automatically	ADV
alkej-881	51	7	determining	determine	VERB
alkej-881	51	8	speed	speed	NOUN
alkej-881	51	9	and	and	CCONJ
alkej-881	51	10	acceleration	acceleration	NOUN
alkej-881	51	11	levels	level	NOUN
alkej-881	51	12	,	,	PUNCT
alkej-881	51	13	effectively	effectively	ADV
alkej-881	51	14	addressing	address	VERB
alkej-881	51	15	the	the	DET
alkej-881	51	16	issue	issue	NOUN
alkej-881	51	17	of	of	ADP
alkej-881	51	18	stalling	stall	VERB
alkej-881	51	19	and	and	CCONJ
alkej-881	51	20	guaranteeing	guarantee	VERB
alkej-881	51	21	the	the	DET
alkej-881	51	22	attainment	attainment	NOUN
alkej-881	51	23	of	of	ADP
alkej-881	51	24	the	the	DET
alkej-881	51	25	desired	desire	VERB
alkej-881	51	26	position	position	NOUN
alkej-881	51	27	.	.	PUNCT
alkej-881	52	1	the	the	DET
alkej-881	52	2	primary	primary	ADJ
alkej-881	52	3	focus	focus	NOUN
alkej-881	52	4	of	of	ADP
alkej-881	52	5	the	the	DET
alkej-881	52	6	algorithm	algorithm	NOUN
alkej-881	52	7	lies	lie	VERB
alkej-881	52	8	in	in	ADP
alkej-881	52	9	optimizing	optimize	VERB
alkej-881	52	10	the	the	DET
alkej-881	52	11	y	y	ADJ
alkej-881	52	12	-	-	PUNCT
alkej-881	52	13	axis	axis	NOUN
alkej-881	52	14	controller	controller	NOUN
alkej-881	52	15	,	,	PUNCT
alkej-881	52	16	given	give	VERB
alkej-881	52	17	its	its	PRON
alkej-881	52	18	significant	significant	ADJ
alkej-881	52	19	load	load	NOUN
alkej-881	52	20	-	-	PUNCT
alkej-881	52	21	bearing	bear	VERB
alkej-881	52	22	role	role	NOUN
alkej-881	52	23	in	in	ADP
alkej-881	52	24	the	the	DET
alkej-881	52	25	transportation	transportation	NOUN
alkej-881	52	26	of	of	ADP
alkej-881	52	27	goods	good	NOUN
alkej-881	52	28	between	between	ADP
alkej-881	52	29	storage	storage	NOUN
alkej-881	52	30	racks	rack	NOUN
alkej-881	52	31	and	and	CCONJ
alkej-881	52	32	the	the	DET
alkej-881	52	33	loading	loading	NOUN
alkej-881	52	34	/	/	SYM
alkej-881	52	35	unloading	unloading	NOUN
alkej-881	52	36	area	area	NOUN
alkej-881	52	37	.	.	PUNCT
alkej-881	53	1	2	2	X
alkej-881	53	2	.	.	NUM
alkej-881	53	3	proposed	propose	VERB
alkej-881	53	4	control	control	NOUN
alkej-881	53	5	algorithm	algorithm	PROPN
alkej-881	53	6	the	the	DET
alkej-881	53	7	proposed	propose	VERB
alkej-881	53	8	algorithm	algorithm	NOUN
alkej-881	53	9	is	be	AUX
alkej-881	53	10	applied	apply	VERB
alkej-881	53	11	on	on	ADP
alkej-881	53	12	a	a	DET
alkej-881	53	13	single	single	ADJ
alkej-881	53	14	deep	deep	ADJ
alkej-881	53	15	s	s	PROPN
alkej-881	53	16	/	/	SYM
alkej-881	53	17	r	r	NOUN
alkej-881	53	18	machine	machine	NOUN
alkej-881	53	19	,	,	PUNCT
alkej-881	53	20	which	which	PRON
alkej-881	53	21	depends	depend	VERB
alkej-881	53	22	on	on	ADP
alkej-881	53	23	three	three	NUM
alkej-881	53	24	cartesian	cartesian	ADJ
alkej-881	53	25	axes	axis	NOUN
alkej-881	53	26	,	,	PUNCT
alkej-881	53	27	x	x	X
alkej-881	53	28	,	,	PUNCT
alkej-881	53	29	y	y	PROPN
alkej-881	53	30	and	and	CCONJ
alkej-881	53	31	z	z	PROPN
alkej-881	53	32	(	(	PUNCT
alkej-881	53	33	horizontal	horizontal	ADJ
alkej-881	53	34	,	,	PUNCT
alkej-881	53	35	vertical	vertical	ADJ
alkej-881	53	36	and	and	CCONJ
alkej-881	53	37	depth	depth	NOUN
alkej-881	53	38	,	,	PUNCT
alkej-881	53	39	respectively	respectively	ADV
alkej-881	53	40	)	)	PUNCT
alkej-881	53	41	,	,	PUNCT
alkej-881	53	42	as	as	SCONJ
alkej-881	53	43	shown	show	VERB
alkej-881	53	44	in	in	ADP
alkej-881	53	45	fig	fig	NOUN
alkej-881	53	46	.	.	PUNCT
alkej-881	54	1	1	1	X
alkej-881	54	2	.	.	X
alkej-881	54	3	fig	fig	NOUN
alkej-881	54	4	.	.	PUNCT
alkej-881	55	1	1	1	X
alkej-881	55	2	.	.	X
alkej-881	55	3	s	s	X
alkej-881	55	4	/	/	SYM
alkej-881	55	5	r	r	NOUN
alkej-881	55	6	machine	machine	NOUN
alkej-881	55	7	prototype	prototype	NOUN
alkej-881	55	8	.	.	PUNCT
alkej-881	56	1	the	the	DET
alkej-881	56	2	designed	design	VERB
alkej-881	56	3	as	as	ADP
alkej-881	56	4	/	/	SYM
alkej-881	56	5	rs	rs	ADJ
alkej-881	56	6	system	system	NOUN
alkej-881	56	7	efficiently	efficiently	ADV
alkej-881	56	8	converts	convert	VERB
alkej-881	56	9	the	the	DET
alkej-881	56	10	rotational	rotational	ADJ
alkej-881	56	11	motion	motion	NOUN
alkej-881	56	12	of	of	ADP
alkej-881	56	13	three	three	NUM
alkej-881	56	14	motors	motor	NOUN
alkej-881	56	15	into	into	ADP
alkej-881	56	16	precise	precise	ADJ
alkej-881	56	17	linear	linear	ADJ
alkej-881	56	18	movements	movement	NOUN
alkej-881	56	19	along	along	ADP
alkej-881	56	20	the	the	DET
alkej-881	56	21	x	x	NOUN
alkej-881	56	22	,	,	PUNCT
alkej-881	56	23	y	y	PROPN
alkej-881	56	24	and	and	CCONJ
alkej-881	56	25	z	z	PROPN
alkej-881	56	26	axes	axis	NOUN
alkej-881	56	27	,	,	PUNCT
alkej-881	56	28	enabling	enable	VERB
alkej-881	56	29	seamless	seamless	ADJ
alkej-881	56	30	material	material	NOUN
alkej-881	56	31	retrieval	retrieval	NOUN
alkej-881	56	32	,	,	PUNCT
alkej-881	56	33	relocation	relocation	NOUN
alkej-881	56	34	,	,	PUNCT
alkej-881	56	35	and	and	CCONJ
alkej-881	56	36	storage	storage	NOUN
alkej-881	56	37	based	base	VERB
alkej-881	56	38	on	on	ADP
alkej-881	56	39	specific	specific	ADJ
alkej-881	56	40	data	datum	NOUN
alkej-881	56	41	inputs	input	NOUN
alkej-881	56	42	.	.	PUNCT
alkej-881	57	1	for	for	ADP
alkej-881	57	2	rapid	rapid	ADJ
alkej-881	57	3	x	x	X
alkej-881	57	4	and	and	CCONJ
alkej-881	57	5	z	z	NOUN
alkej-881	57	6	-	-	PUNCT
alkej-881	57	7	axis	axis	NOUN
alkej-881	57	8	movements	movement	NOUN
alkej-881	57	9	,	,	PUNCT
alkej-881	57	10	the	the	DET
alkej-881	57	11	system	system	NOUN
alkej-881	57	12	relies	rely	VERB
alkej-881	57	13	on	on	ADP
alkej-881	57	14	belt	belt	NOUN
alkej-881	57	15	pulley	pulley	NOUN
alkej-881	57	16	mechanisms	mechanism	NOUN
alkej-881	57	17	,	,	PUNCT
alkej-881	57	18	while	while	SCONJ
alkej-881	57	19	the	the	DET
alkej-881	57	20	y	y	NOUN
alkej-881	57	21	-	-	PUNCT
alkej-881	57	22	axis	axis	ADJ
alkej-881	57	23	,	,	PUNCT
alkej-881	57	24	prioritizing	prioritize	VERB
alkej-881	57	25	precision	precision	NOUN
alkej-881	57	26	and	and	CCONJ
alkej-881	57	27	load	load	NOUN
alkej-881	57	28	-	-	PUNCT
alkej-881	57	29	lifting	lift	VERB
alkej-881	57	30	strength	strength	NOUN
alkej-881	57	31	,	,	PUNCT
alkej-881	57	32	employs	employ	VERB
alkej-881	57	33	a	a	DET
alkej-881	57	34	lead	lead	NOUN
alkej-881	57	35	screw	screw	NOUN
alkej-881	57	36	mechanism	mechanism	NOUN
alkej-881	57	37	.	.	PUNCT
alkej-881	58	1	the	the	DET
alkej-881	58	2	as	as	ADP
alkej-881	58	3	/	/	SYM
alkej-881	58	4	rs	rs	NOUN
alkej-881	58	5	system	system	NOUN
alkej-881	58	6	has	have	VERB
alkej-881	58	7	compact	compact	ADJ
alkej-881	58	8	dimensions	dimension	NOUN
alkej-881	58	9	of	of	ADP
alkej-881	58	10	1000	1000	NUM
alkej-881	58	11	x	x	SYM
alkej-881	58	12	ali	ali	PROPN
alkej-881	58	13	r.	r.	PROPN
alkej-881	58	14	hameed	hameed	PROPN
alkej-881	58	15	al	al	PROPN
alkej-881	58	16	-	-	PUNCT
alkej-881	58	17	khwarizmi	khwarizmi	PROPN
alkej-881	58	18	engineering	engineering	NOUN
alkej-881	58	19	journal	journal	PROPN
alkej-881	58	20	,	,	PUNCT
alkej-881	58	21	vol	vol	NOUN
alkej-881	58	22	.	.	PROPN
alkej-881	58	23	20	20	NUM
alkej-881	58	24	,	,	PUNCT
alkej-881	58	25	no.3	no.3	VERB
alkej-881	58	26	,	,	PUNCT
alkej-881	58	27	p.p	p.p	PROPN
alkej-881	58	28	.	.	NOUN
alkej-881	58	29	5158(2024	5158(2024	NUM
alkej-881	58	30	)	)	PUNCT
alkej-881	58	31	53	53	NUM
alkej-881	58	32	1000	1000	NUM
alkej-881	58	33	x	x	SYM
alkej-881	58	34	500	500	NUM
alkej-881	58	35	mm	mm	NOUN
alkej-881	58	36	,	,	PUNCT
alkej-881	58	37	making	make	VERB
alkej-881	58	38	it	it	PRON
alkej-881	58	39	highly	highly	ADV
alkej-881	58	40	portable	portable	ADJ
alkej-881	58	41	and	and	CCONJ
alkej-881	58	42	space	space	NOUN
alkej-881	58	43	efficient	efficient	ADJ
alkej-881	58	44	.	.	PUNCT
alkej-881	59	1	the	the	DET
alkej-881	59	2	frames	frame	NOUN
alkej-881	59	3	of	of	ADP
alkej-881	59	4	the	the	DET
alkej-881	59	5	as	as	ADP
alkej-881	59	6	/	/	SYM
alkej-881	59	7	rs	rs	ADJ
alkej-881	59	8	system	system	NOUN
alkej-881	59	9	are	be	AUX
alkej-881	59	10	constructed	construct	VERB
alkej-881	59	11	using	use	VERB
alkej-881	59	12	carbon	carbon	NOUN
alkej-881	59	13	steel	steel	NOUN
alkej-881	59	14	,	,	PUNCT
alkej-881	59	15	ensuring	ensure	VERB
alkej-881	59	16	durability	durability	NOUN
alkej-881	59	17	and	and	CCONJ
alkej-881	59	18	stability	stability	NOUN
alkej-881	59	19	,	,	PUNCT
alkej-881	59	20	while	while	SCONJ
alkej-881	59	21	the	the	DET
alkej-881	59	22	cart	cart	NOUN
alkej-881	59	23	frame	frame	NOUN
alkej-881	59	24	utilizes	utilize	VERB
alkej-881	59	25	lightweight	lightweight	ADJ
alkej-881	59	26	aluminium	aluminium	NOUN
alkej-881	59	27	to	to	PART
alkej-881	59	28	enhance	enhance	VERB
alkej-881	59	29	its	its	PRON
alkej-881	59	30	mobility	mobility	NOUN
alkej-881	59	31	.	.	PUNCT
alkej-881	60	1	a	a	DET
alkej-881	60	2	distributed	distribute	VERB
alkej-881	60	3	control	control	NOUN
alkej-881	60	4	system	system	NOUN
alkej-881	60	5	(	(	PUNCT
alkej-881	60	6	dcs	dcs	PROPN
alkej-881	60	7	)	)	PUNCT
alkej-881	60	8	is	be	AUX
alkej-881	60	9	utilized	utilize	VERB
alkej-881	60	10	in	in	ADP
alkej-881	60	11	which	which	PRON
alkej-881	60	12	a	a	DET
alkej-881	60	13	separated	separate	VERB
alkej-881	60	14	microcontroller	microcontroller	NOUN
alkej-881	60	15	is	be	AUX
alkej-881	60	16	used	use	VERB
alkej-881	60	17	to	to	PART
alkej-881	60	18	control	control	VERB
alkej-881	60	19	each	each	PRON
alkej-881	60	20	of	of	ADP
alkej-881	60	21	the	the	DET
alkej-881	60	22	axes	axis	NOUN
alkej-881	60	23	because	because	SCONJ
alkej-881	60	24	of	of	ADP
alkej-881	60	25	the	the	DET
alkej-881	60	26	slow	slow	ADJ
alkej-881	60	27	processing	processing	NOUN
alkej-881	60	28	capabilities	capability	NOUN
alkej-881	60	29	of	of	ADP
alkej-881	60	30	the	the	DET
alkej-881	60	31	controllers	controller	NOUN
alkej-881	60	32	used	use	VERB
alkej-881	60	33	.	.	PUNCT
alkej-881	61	1	the	the	DET
alkej-881	61	2	vertical	vertical	ADJ
alkej-881	61	3	movement	movement	NOUN
alkej-881	61	4	is	be	AUX
alkej-881	61	5	done	do	VERB
alkej-881	61	6	by	by	ADP
alkej-881	61	7	a	a	DET
alkej-881	61	8	nema	nema	PROPN
alkej-881	61	9	23	23	NUM
alkej-881	61	10	bipolar	bipolar	ADJ
alkej-881	61	11	hybrid	hybrid	ADJ
alkej-881	61	12	stepper	stepper	NOUN
alkej-881	61	13	motor	motor	NOUN
alkej-881	61	14	with	with	ADP
alkej-881	61	15	3.6n.m	3.6n.m	NUM
alkej-881	61	16	holding	hold	VERB
alkej-881	61	17	torque	torque	NOUN
alkej-881	61	18	.	.	PUNCT
alkej-881	62	1	the	the	DET
alkej-881	62	2	voltage	voltage	NOUN
alkej-881	62	3	supplied	supply	VERB
alkej-881	62	4	is	be	AUX
alkej-881	62	5	48	48	NUM
alkej-881	62	6	-	-	PUNCT
alkej-881	62	7	volt	volt	NOUN
alkej-881	62	8	dc	dc	PROPN
alkej-881	62	9	and	and	CCONJ
alkej-881	62	10	draws	draw	VERB
alkej-881	62	11	3.5	3.5	NUM
alkej-881	62	12	amp	amp	NOUN
alkej-881	62	13	per	per	ADP
alkej-881	62	14	phase	phase	NOUN
alkej-881	62	15	.	.	PUNCT
alkej-881	63	1	the	the	DET
alkej-881	63	2	motor	motor	NOUN
alkej-881	63	3	is	be	AUX
alkej-881	63	4	indirectly	indirectly	ADV
alkej-881	63	5	coupled	couple	VERB
alkej-881	63	6	with	with	ADP
alkej-881	63	7	a	a	DET
alkej-881	63	8	timing	timing	NOUN
alkej-881	63	9	belt	belt	NOUN
alkej-881	63	10	to	to	ADP
alkej-881	63	11	a	a	DET
alkej-881	63	12	leadscrew	leadscrew	NOUN
alkej-881	63	13	-	-	PUNCT
alkej-881	63	14	nut	nut	NOUN
alkej-881	63	15	mechanism	mechanism	NOUN
alkej-881	63	16	.	.	PUNCT
alkej-881	64	1	during	during	ADP
alkej-881	64	2	the	the	DET
alkej-881	64	3	operation	operation	NOUN
alkej-881	64	4	of	of	ADP
alkej-881	64	5	the	the	DET
alkej-881	64	6	machine	machine	NOUN
alkej-881	64	7	,	,	PUNCT
alkej-881	64	8	the	the	DET
alkej-881	64	9	stepper	stepper	NOUN
alkej-881	64	10	motor	motor	NOUN
alkej-881	64	11	may	may	AUX
alkej-881	64	12	stall	stall	VERB
alkej-881	64	13	(	(	PUNCT
alkej-881	64	14	i.e.	i.e.	X
alkej-881	64	15	synchronization	synchronization	NOUN
alkej-881	64	16	is	be	AUX
alkej-881	64	17	lost	lose	VERB
alkej-881	64	18	between	between	ADP
alkej-881	64	19	the	the	DET
alkej-881	64	20	motors	motor	NOUN
alkej-881	64	21	’	'	PUNCT
alkej-881	64	22	rotor	rotor	NOUN
alkej-881	64	23	and	and	CCONJ
alkej-881	64	24	stator	stator	NOUN
alkej-881	64	25	by	by	ADP
alkej-881	64	26	one	one	NUM
alkej-881	64	27	step	step	NOUN
alkej-881	64	28	or	or	CCONJ
alkej-881	64	29	more	more	ADJ
alkej-881	64	30	)	)	PUNCT
alkej-881	64	31	when	when	SCONJ
alkej-881	64	32	lifting	lift	VERB
alkej-881	64	33	a	a	DET
alkej-881	64	34	higher	high	ADJ
alkej-881	64	35	weight	weight	NOUN
alkej-881	64	36	(	(	PUNCT
alkej-881	64	37	i.e.	i.e.	X
alkej-881	64	38	goods	good	NOUN
alkej-881	64	39	)	)	PUNCT
alkej-881	64	40	with	with	ADP
alkej-881	64	41	a	a	DET
alkej-881	64	42	specific	specific	ADJ
alkej-881	64	43	set	set	NOUN
alkej-881	64	44	speed	speed	NOUN
alkej-881	64	45	.	.	PUNCT
alkej-881	65	1	the	the	DET
alkej-881	65	2	algorithm	algorithm	NOUN
alkej-881	65	3	can	can	AUX
alkej-881	65	4	deal	deal	VERB
alkej-881	65	5	with	with	ADP
alkej-881	65	6	a	a	DET
alkej-881	65	7	range	range	NOUN
alkej-881	65	8	of	of	ADP
alkej-881	65	9	goods	good	NOUN
alkej-881	65	10	weights	weight	NOUN
alkej-881	65	11	without	without	ADP
alkej-881	65	12	an	an	DET
alkej-881	65	13	identification	identification	NOUN
alkej-881	65	14	process	process	NOUN
alkej-881	65	15	either	either	CCONJ
alkej-881	65	16	manually	manually	ADV
alkej-881	65	17	or	or	CCONJ
alkej-881	65	18	measuring	measure	VERB
alkej-881	65	19	it	it	PRON
alkej-881	65	20	using	use	VERB
alkej-881	65	21	weight	weight	NOUN
alkej-881	65	22	sensors	sensor	NOUN
alkej-881	65	23	in	in	ADP
alkej-881	65	24	which	which	PRON
alkej-881	65	25	the	the	DET
alkej-881	65	26	algorithm	algorithm	NOUN
alkej-881	65	27	automatically	automatically	ADV
alkej-881	65	28	adjusts	adjust	VERB
alkej-881	65	29	the	the	DET
alkej-881	65	30	speed	speed	NOUN
alkej-881	65	31	and	and	CCONJ
alkej-881	65	32	acceleration	acceleration	NOUN
alkej-881	65	33	along	along	ADP
alkej-881	65	34	with	with	ADP
alkej-881	65	35	the	the	DET
alkej-881	65	36	item	item	NOUN
alkej-881	65	37	weight	weight	NOUN
alkej-881	65	38	to	to	PART
alkej-881	65	39	alter	alter	VERB
alkej-881	65	40	motor	motor	NOUN
alkej-881	65	41	torque	torque	NOUN
alkej-881	65	42	/	/	SYM
alkej-881	65	43	speed	speed	NOUN
alkej-881	65	44	output	output	NOUN
alkej-881	65	45	as	as	SCONJ
alkej-881	65	46	needed	need	VERB
alkej-881	65	47	according	accord	VERB
alkej-881	65	48	to	to	ADP
alkej-881	65	49	the	the	DET
alkej-881	65	50	following	follow	VERB
alkej-881	65	51	equation	equation	NOUN
alkej-881	65	52	:	:	PUNCT
alkej-881	65	53	𝑃	𝑃	PROPN
alkej-881	65	54	=	=	SYM
alkej-881	65	55	𝑇	𝑇	PROPN
alkej-881	65	56	×	×	NOUN
alkej-881	65	57	𝜔	𝜔	ADP
alkej-881	65	58	where	where	SCONJ
alkej-881	65	59	𝜔	𝜔	ADP
alkej-881	65	60	=	=	SYM
alkej-881	65	61	𝜋	𝜋	DET
alkej-881	65	62	30	30	NUM
alkej-881	65	63	∙	∙	NOUN
alkej-881	65	64	𝑛	𝑛	NOUN
alkej-881	65	65	,	,	PUNCT
alkej-881	65	66	where	where	SCONJ
alkej-881	65	67	p	p	NOUN
alkej-881	65	68	is	be	AUX
alkej-881	65	69	mechanical	mechanical	ADJ
alkej-881	65	70	power	power	NOUN
alkej-881	65	71	,	,	PUNCT
alkej-881	65	72	ω	ω	PROPN
alkej-881	65	73	is	be	AUX
alkej-881	65	74	the	the	DET
alkej-881	65	75	angular	angular	ADJ
alkej-881	65	76	frequency	frequency	NOUN
alkej-881	65	77	of	of	ADP
alkej-881	65	78	the	the	DET
alkej-881	65	79	motor	motor	NOUN
alkej-881	65	80	shaft	shaft	NOUN
alkej-881	65	81	and	and	CCONJ
alkej-881	65	82	n	n	NOUN
alkej-881	65	83	is	be	AUX
alkej-881	65	84	the	the	DET
alkej-881	65	85	rotational	rotational	ADJ
alkej-881	65	86	speed	speed	NOUN
alkej-881	65	87	of	of	ADP
alkej-881	65	88	the	the	DET
alkej-881	65	89	motor	motor	NOUN
alkej-881	65	90	’s	’s	PART
alkej-881	65	91	rotor	rotor	NOUN
alkej-881	65	92	.	.	PUNCT
alkej-881	66	1	the	the	DET
alkej-881	66	2	algorithm	algorithm	NOUN
alkej-881	66	3	engages	engage	VERB
alkej-881	66	4	the	the	DET
alkej-881	66	5	controller	controller	NOUN
alkej-881	66	6	which	which	PRON
alkej-881	66	7	is	be	AUX
alkej-881	66	8	responsible	responsible	ADJ
alkej-881	66	9	for	for	ADP
alkej-881	66	10	controlling	control	VERB
alkej-881	66	11	the	the	DET
alkej-881	66	12	actuators	actuator	NOUN
alkej-881	66	13	(	(	PUNCT
alkej-881	66	14	i.e.	i.e.	X
alkej-881	66	15	,	,	PUNCT
alkej-881	66	16	motion	motion	NOUN
alkej-881	66	17	axis	axis	NOUN
alkej-881	66	18	)	)	PUNCT
alkej-881	66	19	and	and	CCONJ
alkej-881	66	20	receives	receive	VERB
alkej-881	66	21	instructions	instruction	NOUN
alkej-881	66	22	and	and	CCONJ
alkej-881	66	23	feedback	feedback	VERB
alkej-881	66	24	axis	axis	NOUN
alkej-881	66	25	current	current	ADJ
alkej-881	66	26	states	state	NOUN
alkej-881	66	27	to	to	ADP
alkej-881	66	28	a	a	DET
alkej-881	66	29	main	main	ADJ
alkej-881	66	30	controller	controller	NOUN
alkej-881	66	31	.	.	PUNCT
alkej-881	67	1	the	the	DET
alkej-881	67	2	overall	overall	ADJ
alkej-881	67	3	process	process	NOUN
alkej-881	67	4	of	of	ADP
alkej-881	67	5	the	the	DET
alkej-881	67	6	s	s	PROPN
alkej-881	67	7	/	/	SYM
alkej-881	67	8	r	r	NOUN
alkej-881	67	9	machine	machine	NOUN
alkej-881	67	10	used	use	VERB
alkej-881	67	11	in	in	ADP
alkej-881	67	12	this	this	DET
alkej-881	67	13	article	article	NOUN
alkej-881	67	14	is	be	AUX
alkej-881	67	15	illustrated	illustrate	VERB
alkej-881	67	16	in	in	ADP
alkej-881	67	17	fig	fig	NOUN
alkej-881	67	18	.	.	PUNCT
alkej-881	68	1	2	2	X
alkej-881	68	2	.	.	X
alkej-881	68	3	first	first	ADV
alkej-881	68	4	,	,	PUNCT
alkej-881	68	5	the	the	DET
alkej-881	68	6	process	process	NOUN
alkej-881	68	7	initialises	initialise	VERB
alkej-881	68	8	by	by	ADP
alkej-881	68	9	obtaining	obtain	VERB
alkej-881	68	10	input	input	NOUN
alkej-881	68	11	from	from	ADP
alkej-881	68	12	a	a	DET
alkej-881	68	13	graphic	graphic	ADJ
alkej-881	68	14	user	user	NOUN
alkej-881	68	15	interface	interface	NOUN
alkej-881	68	16	(	(	PUNCT
alkej-881	68	17	gui	gui	NOUN
alkej-881	68	18	)	)	PUNCT
alkej-881	68	19	application	application	NOUN
alkej-881	68	20	.	.	PUNCT
alkej-881	69	1	next	next	ADV
alkej-881	69	2	,	,	PUNCT
alkej-881	69	3	it	it	PRON
alkej-881	69	4	transfers	transfer	VERB
alkej-881	69	5	the	the	DET
alkej-881	69	6	coordinates	coordinate	NOUN
alkej-881	69	7	of	of	ADP
alkej-881	69	8	the	the	DET
alkej-881	69	9	target	target	NOUN
alkej-881	69	10	position	position	NOUN
alkej-881	69	11	to	to	ADP
alkej-881	69	12	the	the	DET
alkej-881	69	13	xand	xand	NOUN
alkej-881	69	14	yaxes	yaxe	NOUN
alkej-881	69	15	controller	controller	NOUN
alkej-881	69	16	via	via	ADP
alkej-881	69	17	a	a	DET
alkej-881	69	18	usb	usb	NOUN
alkej-881	69	19	interface	interface	NOUN
alkej-881	69	20	,	,	PUNCT
alkej-881	69	21	then	then	ADV
alkej-881	69	22	the	the	DET
alkej-881	69	23	actuators	actuator	NOUN
alkej-881	69	24	start	start	VERB
alkej-881	69	25	to	to	PART
alkej-881	69	26	move	move	VERB
alkej-881	69	27	towards	towards	ADP
alkej-881	69	28	the	the	DET
alkej-881	69	29	target	target	NOUN
alkej-881	69	30	.	.	PUNCT
alkej-881	70	1	finally	finally	ADV
alkej-881	70	2	,	,	PUNCT
alkej-881	70	3	when	when	SCONJ
alkej-881	70	4	the	the	DET
alkej-881	70	5	target	target	NOUN
alkej-881	70	6	is	be	AUX
alkej-881	70	7	reached	reach	VERB
alkej-881	70	8	,	,	PUNCT
alkej-881	70	9	the	the	DET
alkej-881	70	10	controllers	controller	NOUN
alkej-881	70	11	returns	return	VERB
alkej-881	70	12	feedback	feedback	VERB
alkej-881	70	13	to	to	ADP
alkej-881	70	14	the	the	DET
alkej-881	70	15	gui	gui	NOUN
alkej-881	70	16	to	to	PART
alkej-881	70	17	begin	begin	VERB
alkej-881	70	18	the	the	DET
alkej-881	70	19	pick	pick	NOUN
alkej-881	70	20	or	or	CCONJ
alkej-881	70	21	drop	drop	VERB
alkej-881	70	22	process	process	NOUN
alkej-881	70	23	.	.	PUNCT
alkej-881	71	1	a	a	DET
alkej-881	71	2	gui	gui	NOUN
alkej-881	71	3	was	be	AUX
alkej-881	71	4	written	write	VERB
alkej-881	71	5	using	use	VERB
alkej-881	71	6	c	c	NOUN
alkej-881	71	7	-	-	PUNCT
alkej-881	71	8	sharp	sharp	ADJ
alkej-881	71	9	programming	programming	NOUN
alkej-881	71	10	language	language	NOUN
alkej-881	71	11	in	in	ADP
alkej-881	71	12	which	which	PRON
alkej-881	71	13	the	the	DET
alkej-881	71	14	parameter	parameter	NOUN
alkej-881	71	15	of	of	ADP
alkej-881	71	16	the	the	DET
alkej-881	71	17	desired	desire	VERB
alkej-881	71	18	storage	storage	NOUN
alkej-881	71	19	keeping	keep	VERB
alkej-881	71	20	unit	unit	NOUN
alkej-881	71	21	(	(	PUNCT
alkej-881	71	22	sku	sku	NOUN
alkej-881	71	23	)	)	PUNCT
alkej-881	71	24	)	)	PUNCT
alkej-881	71	25	has	have	AUX
alkej-881	71	26	been	be	AUX
alkej-881	71	27	set	set	VERB
alkej-881	71	28	and	and	CCONJ
alkej-881	71	29	the	the	DET
alkej-881	71	30	required	require	VERB
alkej-881	71	31	process	process	NOUN
alkej-881	71	32	involved	involve	VERB
alkej-881	71	33	has	have	AUX
alkej-881	71	34	occurred	occur	VERB
alkej-881	71	35	as	as	SCONJ
alkej-881	71	36	shown	show	VERB
alkej-881	71	37	in	in	ADP
alkej-881	71	38	fig	fig	NOUN
alkej-881	71	39	.	.	PUNCT
alkej-881	72	1	3	3	X
alkej-881	72	2	.	.	X
alkej-881	72	3	fig	fig	NOUN
alkej-881	72	4	.	.	PUNCT
alkej-881	73	1	2	2	NUM
alkej-881	73	2	.	.	X
alkej-881	73	3	s	s	X
alkej-881	73	4	/	/	SYM
alkej-881	73	5	r	r	NOUN
alkej-881	73	6	machine	machine	NOUN
alkej-881	73	7	overall	overall	ADJ
alkej-881	73	8	process	process	NOUN
alkej-881	73	9	flow	flow	NOUN
alkej-881	73	10	.	.	PUNCT
alkej-881	74	1	the	the	DET
alkej-881	74	2	position	position	NOUN
alkej-881	74	3	of	of	ADP
alkej-881	74	4	the	the	DET
alkej-881	74	5	desired	desire	VERB
alkej-881	74	6	sku	sku	NOUN
alkej-881	74	7	was	be	AUX
alkej-881	74	8	identified	identify	VERB
alkej-881	74	9	,	,	PUNCT
alkej-881	74	10	in	in	ADP
alkej-881	74	11	which	which	PRON
alkej-881	74	12	each	each	DET
alkej-881	74	13	sku	sku	NOUN
alkej-881	74	14	has	have	VERB
alkej-881	74	15	its	its	PRON
alkej-881	74	16	own	own	ADJ
alkej-881	74	17	(	(	PUNCT
alkej-881	74	18	x	x	NOUN
alkej-881	74	19	-	-	ADJ
alkej-881	74	20	y	y	ADJ
alkej-881	74	21	)	)	PUNCT
alkej-881	74	22	position	position	NOUN
alkej-881	74	23	and	and	CCONJ
alkej-881	74	24	item	item	NOUN
alkej-881	74	25	depth	depth	NOUN
alkej-881	74	26	(	(	PUNCT
alkej-881	74	27	z	z	NOUN
alkej-881	74	28	coordinate	coordinate	NOUN
alkej-881	74	29	)	)	PUNCT
alkej-881	74	30	.	.	PUNCT
alkej-881	75	1	each	each	DET
alkej-881	75	2	sub	sub	ADJ
alkej-881	75	3	-	-	NOUN
alkej-881	75	4	controller	controller	NOUN
alkej-881	75	5	for	for	ADP
alkej-881	75	6	the	the	DET
alkej-881	75	7	x	x	PROPN
alkej-881	75	8	-	-	ADJ
alkej-881	75	9	y	y	ADJ
alkej-881	75	10	axis	axis	NOUN
alkej-881	75	11	has	have	VERB
alkej-881	75	12	its	its	PRON
alkej-881	75	13	own	own	ADJ
alkej-881	75	14	control	control	NOUN
alkej-881	75	15	path	path	NOUN
alkej-881	75	16	to	to	PART
alkej-881	75	17	attain	attain	VERB
alkej-881	75	18	the	the	DET
alkej-881	75	19	required	require	VERB
alkej-881	75	20	level	level	NOUN
alkej-881	75	21	and	and	CCONJ
alkej-881	75	22	is	be	AUX
alkej-881	75	23	demonstrated	demonstrate	VERB
alkej-881	75	24	in	in	ADP
alkej-881	75	25	fig	fig	NOUN
alkej-881	75	26	.	.	PUNCT
alkej-881	76	1	4	4	X
alkej-881	76	2	.	.	X
alkej-881	76	3	after	after	ADP
alkej-881	76	4	receiving	receive	VERB
alkej-881	76	5	the	the	DET
alkej-881	76	6	required	require	VERB
alkej-881	76	7	position	position	NOUN
alkej-881	76	8	from	from	ADP
alkej-881	76	9	the	the	DET
alkej-881	76	10	main	main	ADJ
alkej-881	76	11	controller	controller	NOUN
alkej-881	76	12	,	,	PUNCT
alkej-881	76	13	the	the	DET
alkej-881	76	14	sub	sub	ADJ
alkej-881	76	15	-	-	ADJ
alkej-881	76	16	controller	controller	NOUN
alkej-881	76	17	starts	start	NOUN
alkej-881	76	18	calculating	calculate	VERB
alkej-881	76	19	the	the	DET
alkej-881	76	20	required	required	ADJ
alkej-881	76	21	speed	speed	NOUN
alkej-881	76	22	,	,	PUNCT
alkej-881	76	23	acceleration	acceleration	NOUN
alkej-881	76	24	and	and	CCONJ
alkej-881	76	25	number	number	NOUN
alkej-881	76	26	of	of	ADP
alkej-881	76	27	pulses	pulse	NOUN
alkej-881	76	28	to	to	PART
alkej-881	76	29	reach	reach	VERB
alkej-881	76	30	the	the	DET
alkej-881	76	31	setpoint	setpoint	NOUN
alkej-881	76	32	.	.	PUNCT
alkej-881	77	1	the	the	DET
alkej-881	77	2	number	number	NOUN
alkej-881	77	3	of	of	ADP
alkej-881	77	4	pulses	pulse	NOUN
alkej-881	77	5	required	require	VERB
alkej-881	77	6	(	(	PUNCT
alkej-881	77	7	np	np	INTJ
alkej-881	77	8	)	)	PUNCT
alkej-881	77	9	is	be	AUX
alkej-881	77	10	calculated	calculate	VERB
alkej-881	77	11	according	accord	VERB
alkej-881	77	12	to	to	ADP
alkej-881	77	13	the	the	DET
alkej-881	77	14	following	follow	VERB
alkej-881	77	15	formula	formula	NOUN
alkej-881	77	16	:	:	PUNCT
alkej-881	77	17	𝑛𝑝	𝑛𝑝	NOUN
alkej-881	77	18	=	=	PUNCT
alkej-881	77	19	𝑛𝑠𝑥𝑟𝑔	𝑛𝑠𝑥𝑟𝑔	NOUN
alkej-881	77	20	𝑝	𝑝	NOUN
alkej-881	77	21	,	,	PUNCT
alkej-881	77	22	where	where	SCONJ
alkej-881	77	23	ns	ns	PROPN
alkej-881	77	24	represents	represent	VERB
alkej-881	77	25	the	the	DET
alkej-881	77	26	number	number	NOUN
alkej-881	77	27	of	of	ADP
alkej-881	77	28	pulses	pulse	NOUN
alkej-881	77	29	per	per	ADP
alkej-881	77	30	revolution	revolution	NOUN
alkej-881	77	31	of	of	ADP
alkej-881	77	32	the	the	DET
alkej-881	77	33	motor	motor	NOUN
alkej-881	77	34	,	,	PUNCT
alkej-881	77	35	x	x	X
alkej-881	77	36	is	be	AUX
alkej-881	77	37	the	the	DET
alkej-881	77	38	relative	relative	ADJ
alkej-881	77	39	linear	linear	PROPN
alkej-881	77	40	position	position	NOUN
alkej-881	77	41	required	require	VERB
alkej-881	77	42	,	,	PUNCT
alkej-881	77	43	is	be	AUX
alkej-881	77	44	the	the	DET
alkej-881	77	45	gear	gear	NOUN
alkej-881	77	46	ratio	ratio	NOUN
alkej-881	77	47	or	or	CCONJ
alkej-881	77	48	the	the	DET
alkej-881	77	49	number	number	NOUN
alkej-881	77	50	of	of	ADP
alkej-881	77	51	motor	motor	NOUN
alkej-881	77	52	turns	turn	VERB
alkej-881	77	53	for	for	ADP
alkej-881	77	54	every	every	DET
alkej-881	77	55	single	single	ADJ
alkej-881	77	56	turn	turn	NOUN
alkej-881	77	57	of	of	ADP
alkej-881	77	58	the	the	DET
alkej-881	77	59	screw	screw	NOUN
alkej-881	77	60	and	and	CCONJ
alkej-881	77	61	p	p	NOUN
alkej-881	77	62	is	be	AUX
alkej-881	77	63	the	the	DET
alkej-881	77	64	pitch	pitch	NOUN
alkej-881	77	65	of	of	ADP
alkej-881	77	66	the	the	DET
alkej-881	77	67	screw	screw	NOUN
alkej-881	77	68	.	.	PUNCT
alkej-881	78	1	feedback	feedback	NOUN
alkej-881	78	2	information	information	NOUN
alkej-881	78	3	for	for	ADP
alkej-881	78	4	the	the	DET
alkej-881	78	5	carriage	carriage	NOUN
alkej-881	78	6	position	position	NOUN
alkej-881	78	7	is	be	AUX
alkej-881	78	8	fed	feed	VERB
alkej-881	78	9	through	through	ADP
alkej-881	78	10	a	a	DET
alkej-881	78	11	buffer	buffer	NOUN
alkej-881	78	12	circuit	circuit	NOUN
alkej-881	78	13	attached	attach	VERB
alkej-881	78	14	to	to	ADP
alkej-881	78	15	a	a	DET
alkej-881	78	16	quadrature	quadrature	NOUN
alkej-881	78	17	encoder	encoder	NOUN
alkej-881	78	18	.	.	PUNCT
alkej-881	79	1	a	a	DET
alkej-881	79	2	ali	ali	PROPN
alkej-881	79	3	r.	r.	PROPN
alkej-881	79	4	hameed	hameed	PROPN
alkej-881	79	5	al	al	PROPN
alkej-881	79	6	-	-	PUNCT
alkej-881	79	7	khwarizmi	khwarizmi	PROPN
alkej-881	79	8	engineering	engineering	NOUN
alkej-881	79	9	journal	journal	PROPN
alkej-881	79	10	,	,	PUNCT
alkej-881	79	11	vol	vol	NOUN
alkej-881	79	12	.	.	PROPN
alkej-881	79	13	20	20	NUM
alkej-881	79	14	,	,	PUNCT
alkej-881	79	15	no.3	no.3	VERB
alkej-881	79	16	,	,	PUNCT
alkej-881	79	17	p.p	p.p	PROPN
alkej-881	79	18	.	.	NOUN
alkej-881	79	19	5158(2024	5158(2024	NUM
alkej-881	79	20	)	)	PUNCT
alkej-881	79	21	54	54	NUM
alkej-881	79	22	pulse	pulse	NOUN
alkej-881	79	23	train	train	NOUN
alkej-881	79	24	of	of	ADP
alkej-881	79	25	the	the	DET
alkej-881	79	26	calculated	calculate	VERB
alkej-881	79	27	parameters	parameter	NOUN
alkej-881	79	28	is	be	AUX
alkej-881	79	29	fed	feed	VERB
alkej-881	79	30	to	to	ADP
alkej-881	79	31	the	the	DET
alkej-881	79	32	stepper	stepper	NOUN
alkej-881	79	33	driver	driver	NOUN
alkej-881	79	34	through	through	ADP
alkej-881	79	35	which	which	PRON
alkej-881	79	36	the	the	DET
alkej-881	79	37	stepper	stepper	NOUN
alkej-881	79	38	starts	start	VERB
alkej-881	79	39	to	to	PART
alkej-881	79	40	rotate	rotate	VERB
alkej-881	79	41	accordingly	accordingly	ADV
alkej-881	79	42	while	while	SCONJ
alkej-881	79	43	the	the	DET
alkej-881	79	44	encoder	encoder	NOUN
alkej-881	79	45	captures	capture	VERB
alkej-881	79	46	the	the	DET
alkej-881	79	47	motion	motion	NOUN
alkej-881	79	48	and	and	CCONJ
alkej-881	79	49	the	the	DET
alkej-881	79	50	buffer	buffer	NOUN
alkej-881	79	51	keeps	keep	VERB
alkej-881	79	52	updating	update	VERB
alkej-881	79	53	the	the	DET
alkej-881	79	54	real	real	ADJ
alkej-881	79	55	position	position	NOUN
alkej-881	79	56	value	value	NOUN
alkej-881	79	57	while	while	SCONJ
alkej-881	79	58	the	the	DET
alkej-881	79	59	sub	sub	NOUN
alkej-881	79	60	controller	controller	NOUN
alkej-881	79	61	updates	update	VERB
alkej-881	79	62	the	the	DET
alkej-881	79	63	error	error	NOUN
alkej-881	79	64	between	between	ADP
alkej-881	79	65	the	the	DET
alkej-881	79	66	target	target	NOUN
alkej-881	79	67	and	and	CCONJ
alkej-881	79	68	real	real	ADJ
alkej-881	79	69	position	position	NOUN
alkej-881	79	70	to	to	PART
alkej-881	79	71	compensate	compensate	VERB
alkej-881	79	72	the	the	DET
alkej-881	79	73	error	error	NOUN
alkej-881	79	74	by	by	ADP
alkej-881	79	75	generating	generate	VERB
alkej-881	79	76	control	control	NOUN
alkej-881	79	77	signals	signal	NOUN
alkej-881	79	78	according	accord	VERB
alkej-881	79	79	to	to	ADP
alkej-881	79	80	the	the	DET
alkej-881	79	81	error	error	NOUN
alkej-881	79	82	until	until	SCONJ
alkej-881	79	83	it	it	PRON
alkej-881	79	84	is	be	AUX
alkej-881	79	85	eliminated	eliminate	VERB
alkej-881	79	86	.	.	PUNCT
alkej-881	80	1	fig	fig	NOUN
alkej-881	80	2	.	.	PUNCT
alkej-881	81	1	3	3	X
alkej-881	81	2	.	.	X
alkej-881	81	3	graphic	graphic	ADJ
alkej-881	81	4	user	user	NOUN
alkej-881	81	5	interface	interface	NOUN
alkej-881	81	6	for	for	ADP
alkej-881	81	7	the	the	DET
alkej-881	81	8	s	s	PROPN
alkej-881	81	9	/	/	SYM
alkej-881	81	10	r	r	NOUN
alkej-881	81	11	machine	machine	NOUN
alkej-881	81	12	fig	fig	NOUN
alkej-881	81	13	.	.	PUNCT
alkej-881	82	1	4	4	X
alkej-881	82	2	.	.	X
alkej-881	82	3	control	control	NOUN
alkej-881	82	4	path	path	NOUN
alkej-881	82	5	of	of	ADP
alkej-881	82	6	the	the	DET
alkej-881	82	7	proposed	propose	VERB
alkej-881	82	8	system	system	NOUN
alkej-881	82	9	.	.	PUNCT
alkej-881	83	1	the	the	DET
alkej-881	83	2	algorithm	algorithm	NOUN
alkej-881	83	3	requires	require	VERB
alkej-881	83	4	a	a	DET
alkej-881	83	5	series	series	NOUN
alkej-881	83	6	of	of	ADP
alkej-881	83	7	sequential	sequential	ADJ
alkej-881	83	8	steps	step	NOUN
alkej-881	83	9	.	.	PUNCT
alkej-881	84	1	initially	initially	ADV
alkej-881	84	2	,	,	PUNCT
alkej-881	84	3	data	datum	NOUN
alkej-881	84	4	,	,	PUNCT
alkej-881	84	5	which	which	PRON
alkej-881	84	6	include	include	VERB
alkej-881	84	7	information	information	NOUN
alkej-881	84	8	regarding	regard	VERB
alkej-881	84	9	the	the	DET
alkej-881	84	10	desired	desire	VERB
alkej-881	84	11	position	position	NOUN
alkej-881	84	12	,	,	PUNCT
alkej-881	84	13	are	be	AUX
alkej-881	84	14	collated	collate	VERB
alkej-881	84	15	.	.	PUNCT
alkej-881	85	1	subsequently	subsequently	ADV
alkej-881	85	2	,	,	PUNCT
alkej-881	85	3	the	the	DET
alkej-881	85	4	microcontroller	microcontroller	NOUN
alkej-881	85	5	commences	commence	VERB
alkej-881	85	6	calculating	calculate	VERB
alkej-881	85	7	the	the	DET
alkej-881	85	8	required	require	VERB
alkej-881	85	9	number	number	NOUN
alkej-881	85	10	of	of	ADP
alkej-881	85	11	pulses	pulse	NOUN
alkej-881	85	12	and	and	CCONJ
alkej-881	85	13	compares	compare	VERB
alkej-881	85	14	the	the	DET
alkej-881	85	15	collected	collect	VERB
alkej-881	85	16	data	datum	NOUN
alkej-881	85	17	with	with	ADP
alkej-881	85	18	the	the	DET
alkej-881	85	19	current	current	ADJ
alkej-881	85	20	reference	reference	NOUN
alkej-881	85	21	position	position	NOUN
alkej-881	85	22	.	.	PUNCT
alkej-881	86	1	the	the	DET
alkej-881	86	2	positional	positional	ADJ
alkej-881	86	3	error	error	NOUN
alkej-881	86	4	obtained	obtain	VERB
alkej-881	86	5	from	from	ADP
alkej-881	86	6	the	the	DET
alkej-881	86	7	feedback	feedback	NOUN
alkej-881	86	8	signal	signal	NOUN
alkej-881	86	9	(	(	PUNCT
alkej-881	86	10	shown	show	VERB
alkej-881	86	11	in	in	ADP
alkej-881	86	12	fig	fig	NOUN
alkej-881	86	13	.	.	PUNCT
alkej-881	87	1	5	5	NUM
alkej-881	87	2	-	-	SYM
alkej-881	87	3	a	a	PRON
alkej-881	87	4	)	)	PUNCT
alkej-881	87	5	is	be	AUX
alkej-881	87	6	then	then	ADV
alkej-881	87	7	determined	determined	ADJ
alkej-881	87	8	as	as	ADP
alkej-881	87	9	the	the	DET
alkej-881	87	10	disparity	disparity	NOUN
alkej-881	87	11	between	between	ADP
alkej-881	87	12	the	the	DET
alkej-881	87	13	calculated	calculate	VERB
alkej-881	87	14	pulses	pulse	NOUN
alkej-881	87	15	and	and	CCONJ
alkej-881	87	16	the	the	DET
alkej-881	87	17	initial	initial	ADJ
alkej-881	87	18	position	position	NOUN
alkej-881	87	19	.	.	PUNCT
alkej-881	88	1	the	the	DET
alkej-881	88	2	pulses	pulse	NOUN
alkej-881	88	3	that	that	PRON
alkej-881	88	4	represent	represent	VERB
alkej-881	88	5	the	the	DET
alkej-881	88	6	error	error	NOUN
alkej-881	88	7	are	be	AUX
alkej-881	88	8	subsequently	subsequently	ADV
alkej-881	88	9	transmitted	transmit	VERB
alkej-881	88	10	to	to	ADP
alkej-881	88	11	the	the	DET
alkej-881	88	12	stepper	stepper	NOUN
alkej-881	88	13	driver	driver	NOUN
alkej-881	88	14	as	as	SCONJ
alkej-881	88	15	shown	show	VERB
alkej-881	88	16	in	in	ADP
alkej-881	88	17	fig	fig	NOUN
alkej-881	88	18	.	.	PUNCT
alkej-881	89	1	5	5	NUM
alkej-881	89	2	-	-	PUNCT
alkej-881	89	3	b.	b.	NOUN
alkej-881	89	4	the	the	DET
alkej-881	89	5	generated	generate	VERB
alkej-881	89	6	pulse	pulse	NOUN
alkej-881	89	7	frequency	frequency	NOUN
alkej-881	89	8	determines	determine	VERB
alkej-881	89	9	the	the	DET
alkej-881	89	10	motor	motor	NOUN
alkej-881	89	11	revolutions	revolution	NOUN
alkej-881	89	12	per	per	ADP
alkej-881	89	13	minute	minute	NOUN
alkej-881	89	14	(	(	PUNCT
alkej-881	89	15	rpm	rpm	NOUN
alkej-881	89	16	)	)	PUNCT
alkej-881	89	17	,	,	PUNCT
alkej-881	89	18	and	and	CCONJ
alkej-881	89	19	a	a	DET
alkej-881	89	20	higher	high	ADJ
alkej-881	89	21	frequency	frequency	NOUN
alkej-881	89	22	leads	lead	VERB
alkej-881	89	23	to	to	ADP
alkej-881	89	24	a	a	DET
alkej-881	89	25	higher	high	ADJ
alkej-881	89	26	rpm	rpm	NOUN
alkej-881	89	27	.	.	PUNCT
alkej-881	90	1	the	the	DET
alkej-881	90	2	rate	rate	NOUN
alkej-881	90	3	at	at	ADP
alkej-881	90	4	which	which	PRON
alkej-881	90	5	the	the	DET
alkej-881	90	6	frequency	frequency	NOUN
alkej-881	90	7	changes	change	NOUN
alkej-881	90	8	represent	represent	VERB
alkej-881	90	9	the	the	DET
alkej-881	90	10	motor	motor	NOUN
alkej-881	90	11	acceleration	acceleration	NOUN
alkej-881	90	12	.	.	PUNCT
alkej-881	91	1	speed	speed	NOUN
alkej-881	91	2	is	be	AUX
alkej-881	91	3	divided	divide	VERB
alkej-881	91	4	into	into	ADP
alkej-881	91	5	four	four	NUM
alkej-881	91	6	zones	zone	NOUN
alkej-881	91	7	,	,	PUNCT
alkej-881	91	8	each	each	PRON
alkej-881	91	9	with	with	ADP
alkej-881	91	10	a	a	DET
alkej-881	91	11	certain	certain	ADJ
alkej-881	91	12	speed	speed	NOUN
alkej-881	91	13	different	different	ADJ
alkej-881	91	14	from	from	ADP
alkej-881	91	15	the	the	DET
alkej-881	91	16	others	other	NOUN
alkej-881	91	17	.	.	PUNCT
alkej-881	92	1	the	the	DET
alkej-881	92	2	first	first	ADJ
alkej-881	92	3	zone	zone	NOUN
alkej-881	92	4	operates	operate	VERB
alkej-881	92	5	with	with	ADP
alkej-881	92	6	a	a	DET
alkej-881	92	7	speed	speed	NOUN
alkej-881	92	8	of	of	ADP
alkej-881	92	9	350	350	NUM
alkej-881	92	10	rpm	rpm	NOUN
alkej-881	92	11	and	and	CCONJ
alkej-881	92	12	an	an	DET
alkej-881	92	13	acceleration	acceleration	NOUN
alkej-881	92	14	of	of	ADP
alkej-881	92	15	500	500	NUM
alkej-881	92	16	rev	rev	X
alkej-881	92	17	/	/	SYM
alkej-881	92	18	min2	min2	NOUN
alkej-881	92	19	and	and	CCONJ
alkej-881	92	20	can	can	AUX
alkej-881	92	21	lift	lift	VERB
alkej-881	92	22	0.8	0.8	NUM
alkej-881	92	23	kg	kg	NOUN
alkej-881	92	24	of	of	ADP
alkej-881	92	25	goods	good	NOUN
alkej-881	92	26	.	.	PUNCT
alkej-881	93	1	the	the	DET
alkej-881	93	2	second	second	ADJ
alkej-881	93	3	zone	zone	NOUN
alkej-881	93	4	has	have	VERB
alkej-881	93	5	a	a	DET
alkej-881	93	6	speed	speed	NOUN
alkej-881	93	7	of	of	ADP
alkej-881	93	8	320	320	NUM
alkej-881	93	9	rpm	rpm	NOUN
alkej-881	93	10	and	and	CCONJ
alkej-881	93	11	an	an	DET
alkej-881	93	12	acceleration	acceleration	NOUN
alkej-881	93	13	of	of	ADP
alkej-881	93	14	250	250	NUM
alkej-881	93	15	rev	rev	ADJ
alkej-881	93	16	/	/	SYM
alkej-881	93	17	min2	min2	NOUN
alkej-881	93	18	and	and	CCONJ
alkej-881	93	19	can	can	AUX
alkej-881	93	20	handle	handle	VERB
alkej-881	93	21	up	up	ADP
alkej-881	93	22	to	to	PART
alkej-881	93	23	2	2	NUM
alkej-881	93	24	kg	kg	NOUN
alkej-881	93	25	.	.	PUNCT
alkej-881	94	1	the	the	DET
alkej-881	94	2	third	third	ADJ
alkej-881	94	3	zone	zone	NOUN
alkej-881	94	4	works	work	VERB
alkej-881	94	5	in	in	ADP
alkej-881	94	6	190	190	NUM
alkej-881	94	7	rpm	rpm	NOUN
alkej-881	94	8	and	and	CCONJ
alkej-881	94	9	an	an	DET
alkej-881	94	10	acceleration	acceleration	NOUN
alkej-881	94	11	100	100	NUM
alkej-881	94	12	rev	rev	VERB
alkej-881	94	13	/	/	SYM
alkej-881	94	14	min2	min2	NOUN
alkej-881	94	15	and	and	CCONJ
alkej-881	94	16	can	can	AUX
alkej-881	94	17	handle	handle	VERB
alkej-881	94	18	up	up	ADP
alkej-881	94	19	to	to	PART
alkej-881	94	20	3.75	3.75	NUM
alkej-881	94	21	kg	kg	NOUN
alkej-881	94	22	.	.	PUNCT
alkej-881	95	1	the	the	DET
alkej-881	95	2	last	last	ADJ
alkej-881	95	3	zone	zone	NOUN
alkej-881	95	4	has	have	VERB
alkej-881	95	5	the	the	DET
alkej-881	95	6	slowest	slow	ADJ
alkej-881	95	7	speed	speed	NOUN
alkej-881	95	8	of	of	ADP
alkej-881	95	9	100	100	NUM
alkej-881	95	10	rpm	rpm	NOUN
alkej-881	95	11	and	and	CCONJ
alkej-881	95	12	an	an	DET
alkej-881	95	13	acceleration	acceleration	NOUN
alkej-881	95	14	of	of	ADP
alkej-881	95	15	50	50	NUM
alkej-881	95	16	rev	rev	NOUN
alkej-881	95	17	/	/	SYM
alkej-881	95	18	min2	min2	NOUN
alkej-881	95	19	and	and	CCONJ
alkej-881	95	20	can	can	AUX
alkej-881	95	21	handle	handle	VERB
alkej-881	95	22	up	up	ADP
alkej-881	95	23	to	to	PART
alkej-881	95	24	7.5	7.5	NUM
alkej-881	95	25	kg	kg	NOUN
alkej-881	95	26	.	.	PUNCT
alkej-881	96	1	the	the	DET
alkej-881	96	2	algorithm	algorithm	NOUN
alkej-881	96	3	designed	design	VERB
alkej-881	96	4	to	to	PART
alkej-881	96	5	shift	shift	VERB
alkej-881	96	6	the	the	DET
alkej-881	96	7	working	work	VERB
alkej-881	96	8	zone	zone	NOUN
alkej-881	96	9	automatically	automatically	ADV
alkej-881	96	10	depending	depend	VERB
alkej-881	96	11	on	on	ADP
alkej-881	96	12	the	the	DET
alkej-881	96	13	error	error	NOUN
alkej-881	96	14	in	in	ADP
alkej-881	96	15	position	position	NOUN
alkej-881	96	16	measured	measure	VERB
alkej-881	96	17	by	by	ADP
alkej-881	96	18	the	the	DET
alkej-881	96	19	encoder	encoder	NOUN
alkej-881	96	20	buffer	buffer	NOUN
alkej-881	96	21	circuit	circuit	NOUN
alkej-881	96	22	.	.	PUNCT
alkej-881	97	1	when	when	SCONJ
alkej-881	97	2	the	the	DET
alkej-881	97	3	error	error	NOUN
alkej-881	97	4	exceeds	exceed	VERB
alkej-881	97	5	half	half	DET
alkej-881	97	6	the	the	DET
alkej-881	97	7	value	value	NOUN
alkej-881	97	8	of	of	ADP
alkej-881	97	9	the	the	DET
alkej-881	97	10	required	require	VERB
alkej-881	97	11	target	target	NOUN
alkej-881	97	12	position	position	NOUN
alkej-881	97	13	after	after	SCONJ
alkej-881	97	14	the	the	DET
alkej-881	97	15	first	first	ADJ
alkej-881	97	16	motion	motion	NOUN
alkej-881	97	17	command	command	NOUN
alkej-881	97	18	fails	fail	VERB
alkej-881	97	19	to	to	PART
alkej-881	97	20	reach	reach	VERB
alkej-881	97	21	the	the	DET
alkej-881	97	22	target	target	NOUN
alkej-881	97	23	,	,	PUNCT
alkej-881	97	24	the	the	DET
alkej-881	97	25	zone	zone	NOUN
alkej-881	97	26	is	be	AUX
alkej-881	97	27	shifted	shift	VERB
alkej-881	97	28	to	to	ADP
alkej-881	97	29	the	the	DET
alkej-881	97	30	next	next	ADJ
alkej-881	97	31	zone	zone	NOUN
alkej-881	97	32	and	and	CCONJ
alkej-881	97	33	a	a	DET
alkej-881	97	34	new	new	ADJ
alkej-881	97	35	command	command	NOUN
alkej-881	97	36	is	be	AUX
alkej-881	97	37	sent	send	VERB
alkej-881	97	38	.	.	PUNCT
alkej-881	98	1	the	the	DET
alkej-881	98	2	shifting	shift	VERB
alkej-881	98	3	process	process	NOUN
alkej-881	98	4	continues	continue	VERB
alkej-881	98	5	until	until	SCONJ
alkej-881	98	6	the	the	DET
alkej-881	98	7	target	target	NOUN
alkej-881	98	8	direction	direction	NOUN
alkej-881	98	9	pulse	pulse	NOUN
alkej-881	98	10	train	train	NOUN
alkej-881	98	11	quadrature	quadrature	NOUN
alkej-881	98	12	encoder	encoder	NOUN
alkej-881	98	13	buffer	buffer	VERB
alkej-881	98	14	counte	counte	ADJ
alkej-881	98	15	r	r	NOUN
alkej-881	98	16	µcontroller	µcontroller	NOUN
alkej-881	98	17	calculates	calculate	VERB
alkej-881	98	18	:	:	PUNCT
alkej-881	98	19			NOUN
alkej-881	98	20	error	error	NOUN
alkej-881	98	21			NOUN
alkej-881	98	22	speed	speed	NOUN
alkej-881	98	23			NOUN
alkej-881	98	24	acceleratio	acceleratio	PROPN
alkej-881	98	25	stepper	stepper	NOUN
alkej-881	98	26	driver	driver	PROPN
alkej-881	98	27	stepper	stepper	NOUN
alkej-881	98	28	motor	motor	NOUN
alkej-881	98	29	carriage	carriage	NOUN
alkej-881	98	30	position	position	NOUN
alkej-881	98	31	position	position	NOUN
alkej-881	98	32	pulse	pulse	NOUN
alkej-881	98	33	target	target	NOUN
alkej-881	98	34	position	position	NOUN
alkej-881	98	35	ali	ali	PROPN
alkej-881	98	36	r.	r.	PROPN
alkej-881	98	37	hameed	hameed	PROPN
alkej-881	98	38	al	al	PROPN
alkej-881	98	39	-	-	PUNCT
alkej-881	98	40	khwarizmi	khwarizmi	PROPN
alkej-881	98	41	engineering	engineering	NOUN
alkej-881	98	42	journal	journal	PROPN
alkej-881	98	43	,	,	PUNCT
alkej-881	98	44	vol	vol	NOUN
alkej-881	98	45	.	.	PROPN
alkej-881	98	46	20	20	NUM
alkej-881	98	47	,	,	PUNCT
alkej-881	98	48	no.3	no.3	VERB
alkej-881	98	49	,	,	PUNCT
alkej-881	98	50	p.p	p.p	PROPN
alkej-881	98	51	.	.	NOUN
alkej-881	98	52	5158(2024	5158(2024	NUM
alkej-881	98	53	)	)	PUNCT
alkej-881	98	54	55	55	NUM
alkej-881	98	55	position	position	NOUN
alkej-881	98	56	is	be	AUX
alkej-881	98	57	reached	reach	VERB
alkej-881	98	58	.	.	PUNCT
alkej-881	99	1	in	in	ADP
alkej-881	99	2	case	case	NOUN
alkej-881	99	3	the	the	DET
alkej-881	99	4	target	target	NOUN
alkej-881	99	5	is	be	AUX
alkej-881	99	6	not	not	PART
alkej-881	99	7	obtained	obtain	VERB
alkej-881	99	8	after	after	ADP
alkej-881	99	9	the	the	DET
alkej-881	99	10	fourth	fourth	ADJ
alkej-881	99	11	zone	zone	NOUN
alkej-881	99	12	because	because	SCONJ
alkej-881	99	13	the	the	DET
alkej-881	99	14	weight	weight	NOUN
alkej-881	99	15	exceeds	exceed	VERB
alkej-881	99	16	the	the	DET
alkej-881	99	17	limit	limit	NOUN
alkej-881	99	18	or	or	CCONJ
alkej-881	99	19	due	due	ADP
alkej-881	99	20	to	to	ADP
alkej-881	99	21	mechanical	mechanical	ADJ
alkej-881	99	22	malfunction	malfunction	NOUN
alkej-881	99	23	,	,	PUNCT
alkej-881	99	24	the	the	DET
alkej-881	99	25	algorithm	algorithm	NOUN
alkej-881	99	26	feedback	feedback	NOUN
alkej-881	99	27	alarm	alarm	NOUN
alkej-881	99	28	signals	signal	VERB
alkej-881	99	29	the	the	DET
alkej-881	99	30	main	main	ADJ
alkej-881	99	31	controller	controller	NOUN
alkej-881	99	32	to	to	PART
alkej-881	99	33	stop	stop	VERB
alkej-881	99	34	the	the	DET
alkej-881	99	35	process	process	NOUN
alkej-881	99	36	and	and	CCONJ
alkej-881	99	37	solve	solve	VERB
alkej-881	99	38	the	the	DET
alkej-881	99	39	problem	problem	NOUN
alkej-881	99	40	.	.	PUNCT
alkej-881	100	1	3	3	X
alkej-881	100	2	.	.	NOUN
alkej-881	100	3	results	result	NOUN
alkej-881	100	4	and	and	CCONJ
alkej-881	100	5	discussion	discussion	NOUN
alkej-881	100	6	the	the	DET
alkej-881	100	7	proposed	propose	VERB
alkej-881	100	8	algorithm	algorithm	NOUN
alkej-881	100	9	provides	provide	VERB
alkej-881	100	10	a	a	DET
alkej-881	100	11	low	low	ADJ
alkej-881	100	12	-	-	PUNCT
alkej-881	100	13	cost	cost	NOUN
alkej-881	100	14	solution	solution	NOUN
alkej-881	100	15	for	for	ADP
alkej-881	100	16	the	the	DET
alkej-881	100	17	stalling	stall	VERB
alkej-881	100	18	issue	issue	NOUN
alkej-881	100	19	that	that	PRON
alkej-881	100	20	occurs	occur	VERB
alkej-881	100	21	when	when	SCONJ
alkej-881	100	22	loading	load	VERB
alkej-881	100	23	a	a	DET
alkej-881	100	24	stepper	stepper	NOUN
alkej-881	100	25	motor	motor	NOUN
alkej-881	100	26	with	with	ADP
alkej-881	100	27	a	a	DET
alkej-881	100	28	higher	high	ADJ
alkej-881	100	29	weight	weight	NOUN
alkej-881	100	30	at	at	ADP
alkej-881	100	31	a	a	DET
alkej-881	100	32	specific	specific	ADJ
alkej-881	100	33	speed	speed	NOUN
alkej-881	100	34	.	.	PUNCT
alkej-881	101	1	in	in	ADP
alkej-881	101	2	real	real	ADJ
alkej-881	101	3	applications	application	NOUN
alkej-881	101	4	,	,	PUNCT
alkej-881	101	5	this	this	DET
alkej-881	101	6	machine	machine	NOUN
alkej-881	101	7	may	may	AUX
alkej-881	101	8	deal	deal	VERB
alkej-881	101	9	with	with	ADP
alkej-881	101	10	a	a	DET
alkej-881	101	11	range	range	NOUN
alkej-881	101	12	of	of	ADP
alkej-881	101	13	goods	good	NOUN
alkej-881	101	14	with	with	ADP
alkej-881	101	15	different	different	ADJ
alkej-881	101	16	weights	weight	NOUN
alkej-881	101	17	,	,	PUNCT
alkej-881	101	18	and	and	CCONJ
alkej-881	101	19	speed	speed	NOUN
alkej-881	101	20	is	be	AUX
alkej-881	101	21	negatively	negatively	ADV
alkej-881	101	22	proposed	propose	VERB
alkej-881	101	23	to	to	ADP
alkej-881	101	24	the	the	DET
alkej-881	101	25	output	output	NOUN
alkej-881	101	26	torque	torque	NOUN
alkej-881	101	27	.	.	PUNCT
alkej-881	102	1	the	the	DET
alkej-881	102	2	algorithm	algorithm	NOUN
alkej-881	102	3	solved	solve	VERB
alkej-881	102	4	this	this	DET
alkej-881	102	5	issue	issue	NOUN
alkej-881	102	6	automatically	automatically	ADV
alkej-881	102	7	without	without	ADP
alkej-881	102	8	the	the	DET
alkej-881	102	9	need	need	NOUN
alkej-881	102	10	to	to	PART
alkej-881	102	11	add	add	VERB
alkej-881	102	12	a	a	DET
alkej-881	102	13	weight	weight	NOUN
alkej-881	102	14	sensor	sensor	NOUN
alkej-881	102	15	or	or	CCONJ
alkej-881	102	16	adjust	adjust	VERB
alkej-881	102	17	the	the	DET
alkej-881	102	18	speed	speed	NOUN
alkej-881	102	19	of	of	ADP
alkej-881	102	20	the	the	DET
alkej-881	102	21	motor	motor	NOUN
alkej-881	102	22	manually	manually	ADV
alkej-881	102	23	.	.	PUNCT
alkej-881	103	1	the	the	DET
alkej-881	103	2	positional	positional	ADJ
alkej-881	103	3	error	error	NOUN
alkej-881	103	4	successfully	successfully	ADV
alkej-881	103	5	indicates	indicate	VERB
alkej-881	103	6	the	the	DET
alkej-881	103	7	stall	stall	NOUN
alkej-881	103	8	when	when	SCONJ
alkej-881	103	9	it	it	PRON
alkej-881	103	10	occurs	occur	VERB
alkej-881	103	11	.	.	PUNCT
alkej-881	104	1	fig	fig	NOUN
alkej-881	104	2	.	.	PUNCT
alkej-881	105	1	5	5	X
alkej-881	105	2	.	.	X
alkej-881	105	3	voltage	voltage	NOUN
alkej-881	105	4	-	-	PUNCT
alkej-881	105	5	time	time	NOUN
alkej-881	105	6	signals	signal	NOUN
alkej-881	105	7	for	for	ADP
alkej-881	105	8	a	a	DET
alkej-881	105	9	motion	motion	NOUN
alkej-881	105	10	command	command	NOUN
alkej-881	105	11	captured	capture	VERB
alkej-881	105	12	with	with	ADP
alkej-881	105	13	a	a	DET
alkej-881	105	14	digital	digital	ADJ
alkej-881	105	15	analyzer	analyzer	NOUN
alkej-881	105	16	,	,	PUNCT
alkej-881	105	17	(	(	PUNCT
alkej-881	105	18	a	a	X
alkej-881	105	19	)	)	PUNCT
alkej-881	105	20	feedback	feedback	NOUN
alkej-881	105	21	from	from	ADP
alkej-881	105	22	encoder	encoder	NOUN
alkej-881	105	23	(	(	PUNCT
alkej-881	105	24	b	b	NOUN
alkej-881	105	25	)	)	PUNCT
alkej-881	105	26	calculated	calculate	VERB
alkej-881	105	27	pulse	pulse	NOUN
alkej-881	105	28	train	train	NOUN
alkej-881	105	29	.	.	PUNCT
alkej-881	106	1	the	the	DET
alkej-881	106	2	algorithm	algorithm	NOUN
alkej-881	106	3	was	be	AUX
alkej-881	106	4	applied	apply	VERB
alkej-881	106	5	to	to	ADP
alkej-881	106	6	the	the	DET
alkej-881	106	7	vertical	vertical	ADJ
alkej-881	106	8	axis	axis	NOUN
alkej-881	106	9	y	y	PROPN
alkej-881	106	10	to	to	PART
alkej-881	106	11	transport	transport	VERB
alkej-881	106	12	different	different	ADJ
alkej-881	106	13	goods	good	NOUN
alkej-881	106	14	weights	weight	NOUN
alkej-881	106	15	(	(	PUNCT
alkej-881	106	16	0.4	0.4	NUM
alkej-881	106	17	to	to	PART
alkej-881	106	18	7.5	7.5	NUM
alkej-881	106	19	kg	kg	NOUN
alkej-881	106	20	)	)	PUNCT
alkej-881	106	21	from	from	ADP
alkej-881	106	22	the	the	DET
alkej-881	106	23	loading	loading	NOUN
alkej-881	106	24	/	/	SYM
alkej-881	106	25	unloading	unloading	NOUN
alkej-881	106	26	area	area	NOUN
alkej-881	106	27	to	to	ADP
alkej-881	106	28	three	three	NUM
alkej-881	106	29	randomly	randomly	ADV
alkej-881	106	30	chosen	choose	VERB
alkej-881	106	31	skus	sku	NOUN
alkej-881	106	32	(	(	PUNCT
alkej-881	106	33	3,5	3,5	NUM
alkej-881	106	34	,	,	PUNCT
alkej-881	106	35	and	and	CCONJ
alkej-881	106	36	8)	8)	NUM
alkej-881	106	37	.	.	PUNCT
alkej-881	107	1	the	the	DET
alkej-881	107	2	storage	storage	NOUN
alkej-881	107	3	layout	layout	NOUN
alkej-881	107	4	is	be	AUX
alkej-881	107	5	shown	show	VERB
alkej-881	107	6	in	in	ADP
alkej-881	107	7	fig	fig	NOUN
alkej-881	107	8	.	.	PUNCT
alkej-881	108	1	6	6	NUM
alkej-881	108	2	.	.	X
alkej-881	108	3	fig	fig	NOUN
alkej-881	108	4	.	.	PUNCT
alkej-881	109	1	6	6	NUM
alkej-881	109	2	.	.	X
alkej-881	109	3	layout	layout	NOUN
alkej-881	109	4	of	of	ADP
alkej-881	109	5	the	the	DET
alkej-881	109	6	storage	storage	NOUN
alkej-881	109	7	racks	rack	NOUN
alkej-881	109	8	used	use	VERB
alkej-881	109	9	for	for	ADP
alkej-881	109	10	obtaining	obtain	VERB
alkej-881	109	11	results	result	NOUN
alkej-881	109	12	for	for	ADP
alkej-881	109	13	the	the	DET
alkej-881	109	14	current	current	ADJ
alkej-881	109	15	algorithm	algorithm	NOUN
alkej-881	109	16	.	.	PUNCT
alkej-881	110	1	the	the	DET
alkej-881	110	2	path	path	NOUN
alkej-881	110	3	of	of	ADP
alkej-881	110	4	motion	motion	NOUN
alkej-881	110	5	to	to	PART
alkej-881	110	6	reach	reach	VERB
alkej-881	110	7	sku	sku	NOUN
alkej-881	110	8	3	3	NUM
alkej-881	110	9	with	with	ADP
alkej-881	110	10	a	a	DET
alkej-881	110	11	5	5	NUM
alkej-881	110	12	-	-	PUNCT
alkej-881	110	13	kg	kg	NOUN
alkej-881	110	14	payload	payload	NOUN
alkej-881	110	15	is	be	AUX
alkej-881	110	16	shown	show	VERB
alkej-881	110	17	in	in	ADP
alkej-881	110	18	fig.7	fig.7	ADJ
alkej-881	110	19	as	as	ADP
alkej-881	110	20	an	an	DET
alkej-881	110	21	example	example	NOUN
alkej-881	110	22	.	.	PUNCT
alkej-881	111	1	the	the	DET
alkej-881	111	2	sku	sku	NOUN
alkej-881	111	3	height	height	NOUN
alkej-881	111	4	is	be	AUX
alkej-881	111	5	the	the	DET
alkej-881	111	6	red	red	ADJ
alkej-881	111	7	line	line	NOUN
alkej-881	111	8	,	,	PUNCT
alkej-881	111	9	and	and	CCONJ
alkej-881	111	10	the	the	DET
alkej-881	111	11	path	path	NOUN
alkej-881	111	12	shows	show	VERB
alkej-881	111	13	the	the	DET
alkej-881	111	14	sequence	sequence	NOUN
alkej-881	111	15	to	to	PART
alkej-881	111	16	drop	drop	VERB
alkej-881	111	17	(	(	PUNCT
alkej-881	111	18	a	a	NOUN
alkej-881	111	19	)	)	PUNCT
alkej-881	111	20	and	and	CCONJ
alkej-881	111	21	pick	pick	VERB
alkej-881	111	22	(	(	PUNCT
alkej-881	111	23	b	b	NOUN
alkej-881	111	24	)	)	PUNCT
alkej-881	111	25	an	an	DET
alkej-881	111	26	item	item	NOUN
alkej-881	111	27	for	for	ADP
alkej-881	111	28	the	the	DET
alkej-881	111	29	store	store	NOUN
alkej-881	111	30	and	and	CCONJ
alkej-881	111	31	retrieve	retrieve	VERB
alkej-881	111	32	operations	operation	NOUN
alkej-881	111	33	.	.	PUNCT
alkej-881	112	1	the	the	DET
alkej-881	112	2	results	result	NOUN
alkej-881	112	3	are	be	AUX
alkej-881	112	4	shown	show	VERB
alkej-881	112	5	in	in	ADP
alkej-881	112	6	table	table	NOUN
alkej-881	112	7	1	1	NUM
alkej-881	112	8	.	.	PUNCT
alkej-881	113	1	a	a	DET
alkej-881	113	2	specific	specific	ADJ
alkej-881	113	3	colour	colour	NOUN
alkej-881	113	4	was	be	AUX
alkej-881	113	5	designated	designate	VERB
alkej-881	113	6	for	for	ADP
alkej-881	113	7	each	each	DET
alkej-881	113	8	zone	zone	NOUN
alkej-881	113	9	:	:	PUNCT
alkej-881	113	10	pink	pink	ADJ
alkej-881	113	11	,	,	PUNCT
alkej-881	113	12	blue	blue	ADJ
alkej-881	113	13	,	,	PUNCT
alkej-881	113	14	yellow	yellow	ADJ
alkej-881	113	15	and	and	CCONJ
alkej-881	113	16	green	green	ADJ
alkej-881	113	17	correspond	correspond	PROPN
alkej-881	113	18	to	to	ADP
alkej-881	113	19	zones	zone	NOUN
alkej-881	113	20	1	1	NUM
alkej-881	113	21	to	to	ADP
alkej-881	113	22	4	4	NUM
alkej-881	113	23	,	,	PUNCT
alkej-881	113	24	respectively	respectively	ADV
alkej-881	113	25	.	.	PUNCT
alkej-881	114	1	the	the	DET
alkej-881	114	2	weights	weight	NOUN
alkej-881	114	3	being	be	AUX
alkej-881	114	4	transported	transport	VERB
alkej-881	114	5	are	be	AUX
alkej-881	114	6	listed	list	VERB
alkej-881	114	7	in	in	ADP
alkej-881	114	8	the	the	DET
alkej-881	114	9	left	left	ADJ
alkej-881	114	10	column	column	NOUN
alkej-881	114	11	,	,	PUNCT
alkej-881	114	12	while	while	SCONJ
alkej-881	114	13	the	the	DET
alkej-881	114	14	time	time	NOUN
alkej-881	114	15	taken	take	VERB
alkej-881	114	16	for	for	ADP
alkej-881	114	17	each	each	DET
alkej-881	114	18	weight	weight	NOUN
alkej-881	114	19	to	to	PART
alkej-881	114	20	be	be	AUX
alkej-881	114	21	delivered	deliver	VERB
alkej-881	114	22	to	to	ADP
alkej-881	114	23	the	the	DET
alkej-881	114	24	various	various	ADJ
alkej-881	114	25	skus	sku	NOUN
alkej-881	114	26	is	be	AUX
alkej-881	114	27	recorded	record	VERB
alkej-881	114	28	in	in	ADP
alkej-881	114	29	the	the	DET
alkej-881	114	30	remaining	remain	VERB
alkej-881	114	31	three	three	NUM
alkej-881	114	32	columns	column	NOUN
alkej-881	114	33	.	.	PUNCT
alkej-881	115	1	the	the	DET
alkej-881	115	2	transport	transport	NOUN
alkej-881	115	3	time	time	NOUN
alkej-881	115	4	for	for	ADP
alkej-881	115	5	sku	sku	NOUN
alkej-881	115	6	8	8	NUM
alkej-881	115	7	is	be	AUX
alkej-881	115	8	short	short	ADJ
alkej-881	115	9	compared	compare	VERB
alkej-881	115	10	to	to	ADP
alkej-881	115	11	sku	sku	NOUN
alkej-881	115	12	5	5	NUM
alkej-881	115	13	and	and	CCONJ
alkej-881	115	14	3	3	NUM
alkej-881	115	15	because	because	SCONJ
alkej-881	115	16	of	of	ADP
alkej-881	115	17	the	the	DET
alkej-881	115	18	relatively	relatively	ADV
alkej-881	115	19	short	short	ADJ
alkej-881	115	20	vertical	vertical	ADJ
alkej-881	115	21	distance	distance	NOUN
alkej-881	115	22	.	.	PUNCT
alkej-881	116	1	the	the	DET
alkej-881	116	2	effect	effect	NOUN
alkej-881	116	3	of	of	ADP
alkej-881	116	4	weight	weight	NOUN
alkej-881	116	5	change	change	NOUN
alkej-881	116	6	does	do	AUX
alkej-881	116	7	not	not	PART
alkej-881	116	8	appear	appear	VERB
alkej-881	116	9	to	to	PART
alkej-881	116	10	be	be	AUX
alkej-881	116	11	significant	significant	ADJ
alkej-881	116	12	because	because	SCONJ
alkej-881	116	13	the	the	DET
alkej-881	116	14	distance	distance	NOUN
alkej-881	116	15	is	be	AUX
alkej-881	116	16	too	too	ADV
alkej-881	116	17	short	short	ADJ
alkej-881	116	18	to	to	PART
alkej-881	116	19	allow	allow	VERB
alkej-881	116	20	the	the	DET
alkej-881	116	21	stepper	stepper	NOUN
alkej-881	116	22	to	to	PART
alkej-881	116	23	reach	reach	VERB
alkej-881	116	24	the	the	DET
alkej-881	116	25	maximum	maximum	ADJ
alkej-881	116	26	speed	speed	NOUN
alkej-881	116	27	of	of	ADP
alkej-881	116	28	the	the	DET
alkej-881	116	29	current	current	ADJ
alkej-881	116	30	zone	zone	NOUN
alkej-881	116	31	.	.	PUNCT
alkej-881	117	1	thus	thus	ADV
alkej-881	117	2	,	,	PUNCT
alkej-881	117	3	it	it	PRON
alkej-881	117	4	does	do	AUX
alkej-881	117	5	not	not	PART
alkej-881	117	6	need	need	VERB
alkej-881	117	7	to	to	PART
alkej-881	117	8	proceed	proceed	VERB
alkej-881	117	9	to	to	ADP
alkej-881	117	10	the	the	DET
alkej-881	117	11	next	next	ADJ
alkej-881	117	12	zone	zone	NOUN
alkej-881	117	13	because	because	SCONJ
alkej-881	117	14	of	of	ADP
alkej-881	117	15	acceleration	acceleration	NOUN
alkej-881	117	16	,	,	PUNCT
alkej-881	117	17	the	the	DET
alkej-881	117	18	same	same	ADJ
alkej-881	117	19	result	result	NOUN
alkej-881	117	20	is	be	AUX
alkej-881	117	21	supposed	suppose	VERB
alkej-881	117	22	to	to	PART
alkej-881	117	23	appear	appear	VERB
alkej-881	117	24	in	in	ADP
alkej-881	117	25	all	all	DET
alkej-881	117	26	skus	sku	NOUN
alkej-881	117	27	with	with	ADP
alkej-881	117	28	the	the	DET
alkej-881	117	29	same	same	ADJ
alkej-881	117	30	storage	storage	NOUN
alkej-881	117	31	level	level	NOUN
alkej-881	117	32	.	.	PUNCT
alkej-881	118	1	ali	ali	PROPN
alkej-881	118	2	r.	r.	PROPN
alkej-881	118	3	hameed	hameed	PROPN
alkej-881	118	4	al	al	PROPN
alkej-881	118	5	-	-	PUNCT
alkej-881	118	6	khwarizmi	khwarizmi	PROPN
alkej-881	118	7	engineering	engineering	NOUN
alkej-881	118	8	journal	journal	PROPN
alkej-881	118	9	,	,	PUNCT
alkej-881	118	10	vol	vol	NOUN
alkej-881	118	11	.	.	PROPN
alkej-881	118	12	20	20	NUM
alkej-881	118	13	,	,	PUNCT
alkej-881	118	14	no.3	no.3	VERB
alkej-881	118	15	,	,	PUNCT
alkej-881	118	16	p.p	p.p	PROPN
alkej-881	118	17	.	.	NOUN
alkej-881	118	18	5158(2024	5158(2024	NUM
alkej-881	118	19	)	)	PUNCT
alkej-881	118	20	56	56	NUM
alkej-881	118	21	table	table	NOUN
alkej-881	118	22	1	1	NUM
alkej-881	118	23	,	,	PUNCT
alkej-881	118	24	experimental	experimental	ADJ
alkej-881	118	25	results	result	NOUN
alkej-881	118	26	of	of	ADP
alkej-881	118	27	different	different	ADJ
alkej-881	118	28	weights	weight	NOUN
alkej-881	118	29	being	be	AUX
alkej-881	118	30	transformed	transform	VERB
alkej-881	118	31	from	from	ADP
alkej-881	118	32	loading	loading	NOUN
alkej-881	118	33	/	/	SYM
alkej-881	118	34	unloading	unloading	NOUN
alkej-881	118	35	unit	unit	NOUN
alkej-881	118	36	to	to	ADP
alkej-881	118	37	sku	sku	NOUN
alkej-881	118	38	3	3	NUM
alkej-881	118	39	,	,	PUNCT
alkej-881	118	40	5	5	NUM
alkej-881	118	41	and	and	CCONJ
alkej-881	118	42	8	8	NUM
alkej-881	118	43	with	with	ADP
alkej-881	118	44	zones	zone	NOUN
alkej-881	118	45	and	and	CCONJ
alkej-881	118	46	consumed	consume	VERB
alkej-881	118	47	time	time	NOUN
alkej-881	118	48	.	.	PUNCT
alkej-881	119	1	object	object	VERB
alkej-881	119	2	weight	weight	NOUN
alkej-881	119	3	(	(	PUNCT
alkej-881	119	4	kg	kg	X
alkej-881	119	5	)	)	PUNCT
alkej-881	119	6	the	the	DET
alkej-881	119	7	time	time	NOUN
alkej-881	119	8	interval	interval	NOUN
alkej-881	119	9	for	for	ADP
alkej-881	119	10	sku	sku	NOUN
alkej-881	119	11	8	8	NUM
alkej-881	119	12	(	(	PUNCT
alkej-881	119	13	sec	sec	PROPN
alkej-881	119	14	)	)	PUNCT
alkej-881	119	15	the	the	DET
alkej-881	119	16	time	time	NOUN
alkej-881	119	17	interval	interval	NOUN
alkej-881	119	18	for	for	ADP
alkej-881	119	19	sku	sku	NOUN
alkej-881	119	20	5	5	NUM
alkej-881	119	21	(	(	PUNCT
alkej-881	119	22	sec	sec	PROPN
alkej-881	119	23	)	)	PUNCT
alkej-881	119	24	the	the	DET
alkej-881	119	25	time	time	NOUN
alkej-881	119	26	interval	interval	NOUN
alkej-881	119	27	for	for	ADP
alkej-881	119	28	sku	sku	NOUN
alkej-881	119	29	3	3	NUM
alkej-881	119	30	(	(	PUNCT
alkej-881	119	31	sec	sec	PROPN
alkej-881	119	32	)	)	PUNCT
alkej-881	119	33	0.4	0.4	NUM
alkej-881	119	34	10.58	10.58	NUM
alkej-881	119	35	14	14	NUM
alkej-881	119	36	20	20	NUM
alkej-881	119	37	0.8	0.8	NUM
alkej-881	119	38	12.36	12.36	NUM
alkej-881	119	39	18.23	18.23	NUM
alkej-881	119	40	22.8	22.8	NUM
alkej-881	119	41	0.9	0.9	NUM
alkej-881	119	42	12.41	12.41	NUM
alkej-881	119	43	18.5	18.5	NUM
alkej-881	119	44	22.9	22.9	NUM
alkej-881	119	45	1.2	1.2	NUM
alkej-881	119	46	12.89	12.89	NUM
alkej-881	119	47	18.72	18.72	NUM
alkej-881	119	48	23.4	23.4	NUM
alkej-881	119	49	2	2	NUM
alkej-881	119	50	13.22	13.22	NUM
alkej-881	119	51	18.89	18.89	NUM
alkej-881	119	52	24.2	24.2	NUM
alkej-881	119	53	2.5	2.5	NUM
alkej-881	119	54	13.52	13.52	NUM
alkej-881	119	55	18.92	18.92	NUM
alkej-881	119	56	24.8	24.8	NUM
alkej-881	119	57	3.75	3.75	NUM
alkej-881	119	58	15.2	15.2	NUM
alkej-881	119	59	19.2	19.2	NUM
alkej-881	119	60	28.5	28.5	NUM
alkej-881	119	61	5	5	NUM
alkej-881	119	62	16.1	16.1	NUM
alkej-881	119	63	19.4	19.4	NUM
alkej-881	119	64	32.8	32.8	NUM
alkej-881	119	65	6.25	6.25	NUM
alkej-881	119	66	16.8	16.8	NUM
alkej-881	119	67	23.55	23.55	NUM
alkej-881	119	68	34.8	34.8	NUM
alkej-881	119	69	7.5	7.5	NUM
alkej-881	119	70	18.2	18.2	NUM
alkej-881	119	71	32	32	NUM
alkej-881	119	72	38.2	38.2	NUM
alkej-881	119	73	for	for	ADP
alkej-881	119	74	sku	sku	NOUN
alkej-881	119	75	5	5	NUM
alkej-881	119	76	and	and	CCONJ
alkej-881	119	77	3	3	NUM
alkej-881	119	78	,	,	PUNCT
alkej-881	119	79	the	the	DET
alkej-881	119	80	effect	effect	NOUN
alkej-881	119	81	of	of	ADP
alkej-881	119	82	the	the	DET
alkej-881	119	83	weight	weight	NOUN
alkej-881	119	84	appears	appear	VERB
alkej-881	119	85	to	to	PART
alkej-881	119	86	be	be	AUX
alkej-881	119	87	significant	significant	ADJ
alkej-881	119	88	because	because	SCONJ
alkej-881	119	89	the	the	DET
alkej-881	119	90	motor	motor	NOUN
alkej-881	119	91	reaches	reach	VERB
alkej-881	119	92	the	the	DET
alkej-881	119	93	maximum	maximum	ADJ
alkej-881	119	94	speed	speed	NOUN
alkej-881	119	95	of	of	ADP
alkej-881	119	96	the	the	DET
alkej-881	119	97	current	current	ADJ
alkej-881	119	98	zone	zone	NOUN
alkej-881	119	99	,	,	PUNCT
alkej-881	119	100	causing	cause	VERB
alkej-881	119	101	the	the	DET
alkej-881	119	102	stall	stall	NOUN
alkej-881	119	103	to	to	PART
alkej-881	119	104	occur	occur	VERB
alkej-881	119	105	.	.	PUNCT
alkej-881	120	1	thus	thus	ADV
alkej-881	120	2	,	,	PUNCT
alkej-881	120	3	the	the	DET
alkej-881	120	4	algorithm	algorithm	NOUN
alkej-881	120	5	proceeds	proceed	VERB
alkej-881	120	6	to	to	ADP
alkej-881	120	7	the	the	DET
alkej-881	120	8	next	next	ADJ
alkej-881	120	9	zone	zone	NOUN
alkej-881	120	10	with	with	ADP
alkej-881	120	11	less	less	ADJ
alkej-881	120	12	speed	speed	NOUN
alkej-881	120	13	and	and	CCONJ
alkej-881	120	14	more	more	ADJ
alkej-881	120	15	torque	torque	NOUN
alkej-881	120	16	along	along	ADP
alkej-881	120	17	with	with	ADP
alkej-881	120	18	the	the	DET
alkej-881	120	19	associated	associated	ADJ
alkej-881	120	20	weight	weight	NOUN
alkej-881	120	21	range	range	NOUN
alkej-881	120	22	and	and	CCONJ
alkej-881	120	23	completes	complete	VERB
alkej-881	120	24	the	the	DET
alkej-881	120	25	task	task	NOUN
alkej-881	120	26	successfully	successfully	ADV
alkej-881	120	27	.	.	PUNCT
alkej-881	121	1	the	the	DET
alkej-881	121	2	disadvantage	disadvantage	NOUN
alkej-881	121	3	of	of	ADP
alkej-881	121	4	this	this	DET
alkej-881	121	5	algorithm	algorithm	NOUN
alkej-881	121	6	is	be	AUX
alkej-881	121	7	represented	represent	VERB
alkej-881	121	8	as	as	ADP
alkej-881	121	9	an	an	DET
alkej-881	121	10	instability	instability	NOUN
alkej-881	121	11	in	in	ADP
alkej-881	121	12	the	the	DET
alkej-881	121	13	storage	storage	NOUN
alkej-881	121	14	system	system	NOUN
alkej-881	121	15	throughput	throughput	NOUN
alkej-881	121	16	because	because	SCONJ
alkej-881	121	17	of	of	ADP
alkej-881	121	18	the	the	DET
alkej-881	121	19	change	change	NOUN
alkej-881	121	20	in	in	ADP
alkej-881	121	21	goods	good	NOUN
alkej-881	121	22	weight	weight	NOUN
alkej-881	121	23	that	that	PRON
alkej-881	121	24	becomes	become	VERB
alkej-881	121	25	obvious	obvious	ADJ
alkej-881	121	26	when	when	SCONJ
alkej-881	121	27	comparing	compare	VERB
alkej-881	121	28	the	the	DET
alkej-881	121	29	time	time	NOUN
alkej-881	121	30	consumed	consume	VERB
alkej-881	121	31	to	to	PART
alkej-881	121	32	transport	transport	VERB
alkej-881	121	33	different	different	ADJ
alkej-881	121	34	goods	good	NOUN
alkej-881	121	35	weight	weight	NOUN
alkej-881	121	36	for	for	ADP
alkej-881	121	37	the	the	DET
alkej-881	121	38	same	same	ADJ
alkej-881	121	39	sku	sku	NOUN
alkej-881	121	40	.	.	PUNCT
alkej-881	122	1	fig	fig	NOUN
alkej-881	122	2	.	.	PUNCT
alkej-881	123	1	7	7	X
alkej-881	123	2	.	.	X
alkej-881	123	3	motion	motion	NOUN
alkej-881	123	4	path	path	NOUN
alkej-881	123	5	to	to	PART
alkej-881	123	6	reach	reach	VERB
alkej-881	123	7	sku	sku	NOUN
alkej-881	123	8	3	3	NUM
alkej-881	123	9	in	in	ADP
alkej-881	123	10	a	a	DET
alkej-881	123	11	)	)	PUNCT
alkej-881	123	12	store	store	NOUN
alkej-881	123	13	,	,	PUNCT
alkej-881	123	14	b	b	NOUN
alkej-881	123	15	)	)	PUNCT
alkej-881	123	16	retrieve	retrieve	NOUN
alkej-881	123	17	cycles	cycle	NOUN
alkej-881	123	18	.	.	PUNCT
alkej-881	124	1	4	4	X
alkej-881	124	2	.	.	X
alkej-881	124	3	conclusion	conclusion	VERB
alkej-881	124	4	different	different	ADJ
alkej-881	124	5	goods	good	NOUN
alkej-881	124	6	weights	weight	NOUN
alkej-881	124	7	are	be	AUX
alkej-881	124	8	transported	transport	VERB
alkej-881	124	9	between	between	ADP
alkej-881	124	10	storage	storage	NOUN
alkej-881	124	11	racks	rack	NOUN
alkej-881	124	12	in	in	ADP
alkej-881	124	13	most	most	ADJ
alkej-881	124	14	applications	application	NOUN
alkej-881	124	15	of	of	ADP
alkej-881	124	16	the	the	DET
alkej-881	124	17	s	s	PROPN
alkej-881	124	18	/	/	SYM
alkej-881	124	19	r	r	NOUN
alkej-881	124	20	machines	machine	NOUN
alkej-881	124	21	.	.	PUNCT
alkej-881	125	1	thus	thus	ADV
alkej-881	125	2	,	,	PUNCT
alkej-881	125	3	an	an	DET
alkej-881	125	4	open	open	ADJ
alkej-881	125	5	loop	loop	NOUN
alkej-881	125	6	stepper	stepper	NOUN
alkej-881	125	7	motor	motor	NOUN
alkej-881	125	8	system	system	NOUN
alkej-881	125	9	that	that	PRON
alkej-881	125	10	drives	drive	VERB
alkej-881	125	11	the	the	DET
alkej-881	125	12	linear	linear	ADJ
alkej-881	125	13	axis	axis	NOUN
alkej-881	125	14	of	of	ADP
alkej-881	125	15	the	the	DET
alkej-881	125	16	machine	machine	NOUN
alkej-881	125	17	is	be	AUX
alkej-881	125	18	exposed	expose	VERB
alkej-881	125	19	to	to	PART
alkej-881	125	20	stall	stall	VERB
alkej-881	125	21	during	during	ADP
alkej-881	125	22	speed	speed	NOUN
alkej-881	125	23	increase	increase	NOUN
alkej-881	125	24	at	at	ADP
alkej-881	125	25	the	the	DET
alkej-881	125	26	beginning	beginning	NOUN
alkej-881	125	27	of	of	ADP
alkej-881	125	28	motion	motion	NOUN
alkej-881	125	29	,	,	PUNCT
alkej-881	125	30	particularly	particularly	ADV
alkej-881	125	31	when	when	SCONJ
alkej-881	125	32	carrying	carry	VERB
alkej-881	125	33	weight	weight	NOUN
alkej-881	125	34	at	at	ADP
alkej-881	125	35	certain	certain	ADJ
alkej-881	125	36	speeds	speed	NOUN
alkej-881	125	37	that	that	PRON
alkej-881	125	38	exceed	exceed	VERB
alkej-881	125	39	the	the	DET
alkej-881	125	40	feasible	feasible	ADJ
alkej-881	125	41	region	region	NOUN
alkej-881	125	42	of	of	ADP
alkej-881	125	43	the	the	DET
alkej-881	125	44	torque	torque	NOUN
alkej-881	125	45	speed	speed	NOUN
alkej-881	125	46	curve	curve	NOUN
alkej-881	125	47	of	of	ADP
alkej-881	125	48	the	the	DET
alkej-881	125	49	stepper	stepper	NOUN
alkej-881	125	50	motor	motor	NOUN
alkej-881	125	51	.	.	PUNCT
alkej-881	126	1	these	these	DET
alkej-881	126	2	stalls	stall	NOUN
alkej-881	126	3	may	may	AUX
alkej-881	126	4	cause	cause	VERB
alkej-881	126	5	severe	severe	ADJ
alkej-881	126	6	damage	damage	NOUN
alkej-881	126	7	to	to	ADP
alkej-881	126	8	the	the	DET
alkej-881	126	9	machine	machine	NOUN
alkej-881	126	10	mechanism	mechanism	NOUN
alkej-881	126	11	and	and	CCONJ
alkej-881	126	12	increase	increase	VERB
alkej-881	126	13	system	system	NOUN
alkej-881	126	14	downtime	downtime	NOUN
alkej-881	126	15	.	.	PUNCT
alkej-881	127	1	the	the	DET
alkej-881	127	2	proposed	propose	VERB
alkej-881	127	3	algorithm	algorithm	NOUN
alkej-881	127	4	addressed	address	VERB
alkej-881	127	5	the	the	DET
alkej-881	127	6	issue	issue	NOUN
alkej-881	127	7	automatically	automatically	ADV
alkej-881	127	8	without	without	ADP
alkej-881	127	9	a	a	DET
alkej-881	127	10	weight	weight	NOUN
alkej-881	127	11	sensor	sensor	NOUN
alkej-881	127	12	.	.	PUNCT
alkej-881	128	1	it	it	PRON
alkej-881	128	2	successfully	successfully	ADV
alkej-881	128	3	prevented	prevent	VERB
alkej-881	128	4	the	the	DET
alkej-881	128	5	effect	effect	NOUN
alkej-881	128	6	by	by	ADP
alkej-881	128	7	closing	close	VERB
alkej-881	128	8	the	the	DET
alkej-881	128	9	loop	loop	NOUN
alkej-881	128	10	with	with	ADP
alkej-881	128	11	a	a	DET
alkej-881	128	12	position	position	NOUN
alkej-881	128	13	sensor	sensor	NOUN
alkej-881	128	14	and	and	CCONJ
alkej-881	128	15	manipulating	manipulate	VERB
alkej-881	128	16	the	the	DET
alkej-881	128	17	working	work	VERB
alkej-881	128	18	speed	speed	NOUN
alkej-881	128	19	and	and	CCONJ
alkej-881	128	20	acceleration	acceleration	NOUN
alkej-881	128	21	of	of	ADP
alkej-881	128	22	the	the	DET
alkej-881	128	23	stepper	stepper	NOUN
alkej-881	128	24	as	as	SCONJ
alkej-881	128	25	needed	need	VERB
alkej-881	128	26	rather	rather	ADV
alkej-881	128	27	than	than	ADP
alkej-881	128	28	fixing	fix	VERB
alkej-881	128	29	their	their	PRON
alkej-881	128	30	values	value	NOUN
alkej-881	128	31	and	and	CCONJ
alkej-881	128	32	dividing	divide	VERB
alkej-881	128	33	them	they	PRON
alkej-881	128	34	into	into	ADP
alkej-881	128	35	four	four	NUM
alkej-881	128	36	zones	zone	NOUN
alkej-881	128	37	.	.	PUNCT
alkej-881	129	1	therefore	therefore	ADV
alkej-881	129	2	,	,	PUNCT
alkej-881	129	3	the	the	DET
alkej-881	129	4	proposed	propose	VERB
alkej-881	129	5	algorithm	algorithm	NOUN
alkej-881	129	6	has	have	VERB
alkej-881	129	7	the	the	DET
alkej-881	129	8	ability	ability	NOUN
alkej-881	129	9	to	to	PART
alkej-881	129	10	handle	handle	VERB
alkej-881	129	11	a	a	DET
alkej-881	129	12	range	range	NOUN
alkej-881	129	13	of	of	ADP
alkej-881	129	14	weights	weight	NOUN
alkej-881	129	15	without	without	ADP
alkej-881	129	16	stalling	stall	VERB
alkej-881	129	17	.	.	PUNCT
alkej-881	130	1	this	this	DET
alkej-881	130	2	algorithm	algorithm	NOUN
alkej-881	130	3	can	can	AUX
alkej-881	130	4	be	be	AUX
alkej-881	130	5	applied	apply	VERB
alkej-881	130	6	to	to	ADP
alkej-881	130	7	any	any	DET
alkej-881	130	8	application	application	NOUN
alkej-881	130	9	that	that	PRON
alkej-881	130	10	uses	use	VERB
alkej-881	130	11	a	a	DET
alkej-881	130	12	stepper	stepper	NOUN
alkej-881	130	13	motor	motor	NOUN
alkej-881	130	14	and	and	CCONJ
alkej-881	130	15	the	the	DET
alkej-881	130	16	best	good	ADJ
alkej-881	130	17	zones	zone	NOUN
alkej-881	130	18	with	with	ADP
alkej-881	130	19	the	the	DET
alkej-881	130	20	appropriate	appropriate	ADJ
alkej-881	130	21	hardware	hardware	NOUN
alkej-881	130	22	size	size	NOUN
alkej-881	130	23	and	and	CCONJ
alkej-881	130	24	permissible	permissible	ADJ
alkej-881	130	25	load	load	NOUN
alkej-881	130	26	range	range	NOUN
alkej-881	130	27	.	.	PUNCT
alkej-881	131	1	however	however	ADV
alkej-881	131	2	,	,	PUNCT
alkej-881	131	3	this	this	DET
alkej-881	131	4	method	method	NOUN
alkej-881	131	5	affects	affect	VERB
alkej-881	131	6	the	the	DET
alkej-881	131	7	throughput	throughput	NOUN
alkej-881	131	8	prediction	prediction	NOUN
alkej-881	131	9	of	of	ADP
alkej-881	131	10	the	the	DET
alkej-881	131	11	as	as	ADP
alkej-881	131	12	/	/	SYM
alkej-881	131	13	rs	rs	NOUN
alkej-881	131	14	because	because	SCONJ
alkej-881	131	15	the	the	DET
alkej-881	131	16	weight	weight	NOUN
alkej-881	131	17	is	be	AUX
alkej-881	131	18	changed	change	VERB
alkej-881	131	19	.	.	PUNCT
alkej-881	132	1	ali	ali	PROPN
alkej-881	132	2	r.	r.	PROPN
alkej-881	132	3	hameed	hameed	PROPN
alkej-881	132	4	al	al	PROPN
alkej-881	132	5	-	-	PUNCT
alkej-881	132	6	khwarizmi	khwarizmi	PROPN
alkej-881	132	7	engineering	engineering	NOUN
alkej-881	132	8	journal	journal	PROPN
alkej-881	132	9	,	,	PUNCT
alkej-881	132	10	vol	vol	NOUN
alkej-881	132	11	.	.	PROPN
alkej-881	132	12	20	20	NUM
alkej-881	132	13	,	,	PUNCT
alkej-881	132	14	no.3	no.3	VERB
alkej-881	132	15	,	,	PUNCT
alkej-881	132	16	p.p	p.p	PROPN
alkej-881	132	17	.	.	NOUN
alkej-881	132	18	5158(2024	5158(2024	NUM
alkej-881	132	19	)	)	PUNCT
alkej-881	132	20	57	57	NUM
alkej-881	132	21	5	5	NUM
alkej-881	132	22	.	.	PUNCT
alkej-881	133	1	reference	reference	NOUN
alkej-881	133	2	[	[	X
alkej-881	133	3	1	1	X
alkej-881	133	4	]	]	PUNCT
alkej-881	133	5	s.	s.	PROPN
alkej-881	133	6	s.	s.	PROPN
alkej-881	133	7	khaleel	khaleel	PROPN
alkej-881	133	8	,	,	PUNCT
alkej-881	133	9	m.	m.	PROPN
alkej-881	133	10	y.	y.	PROPN
alkej-881	133	11	salloom	salloom	PROPN
alkej-881	133	12	,	,	PUNCT
alkej-881	133	13	and	and	CCONJ
alkej-881	133	14	a.	a.	NOUN
alkej-881	133	15	m.	m.	NOUN
alkej-881	133	16	shammari	shammari	PROPN
alkej-881	133	17	,	,	PUNCT
alkej-881	133	18	"	"	PUNCT
alkej-881	133	19	arduino	arduino	NOUN
alkej-881	133	20	-	-	PUNCT
alkej-881	133	21	based	base	VERB
alkej-881	133	22	controller	controller	NOUN
alkej-881	133	23	for	for	ADP
alkej-881	133	24	sequence	sequence	NOUN
alkej-881	133	25	development	development	NOUN
alkej-881	133	26	of	of	ADP
alkej-881	133	27	automated	automate	VERB
alkej-881	133	28	manufacturing	manufacturing	NOUN
alkej-881	133	29	system	system	NOUN
alkej-881	133	30	,	,	PUNCT
alkej-881	133	31	"	"	PUNCT
alkej-881	133	32	al	al	PROPN
alkej-881	133	33	-	-	PUNCT
alkej-881	133	34	khwarizmi	khwarizmi	PROPN
alkej-881	133	35	engineering	engineering	NOUN
alkej-881	133	36	journal	journal	PROPN
alkej-881	133	37	,	,	PUNCT
alkej-881	133	38	vol	vol	NOUN
alkej-881	133	39	.	.	PROPN
alkej-881	133	40	16	16	NUM
alkej-881	133	41	,	,	PUNCT
alkej-881	133	42	no	no	INTJ
alkej-881	133	43	.	.	NOUN
alkej-881	133	44	3	3	NUM
alkej-881	133	45	,	,	PUNCT
alkej-881	133	46	pp	pp	ADJ
alkej-881	133	47	.	.	PUNCT
alkej-881	134	1	22	22	NUM
alkej-881	134	2	-	-	SYM
alkej-881	134	3	33	33	NUM
alkej-881	134	4	,	,	PUNCT
alkej-881	134	5	2020	2020	NUM
alkej-881	134	6	,	,	PUNCT
alkej-881	134	7	doi	doi	NOUN
alkej-881	134	8	:	:	PUNCT
alkej-881	134	9	10.22153	10.22153	NUM
alkej-881	134	10	/	/	SYM
alkej-881	134	11	kej.2020.07.001	kej.2020.07.001	PROPN
alkej-881	134	12	.	.	PUNCT
alkej-881	135	1	[	[	X
alkej-881	135	2	2	2	NUM
alkej-881	135	3	]	]	PUNCT
alkej-881	135	4	i.	i.	PROPN
alkej-881	135	5	k.	k.	PROPN
alkej-881	135	6	k.	k.	PROPN
alkej-881	135	7	nayyef	nayyef	PROPN
alkej-881	135	8	and	and	CCONJ
alkej-881	135	9	a.	a.	NOUN
alkej-881	135	10	z.	z.	PROPN
alkej-881	135	11	m.	m.	PROPN
alkej-881	135	12	shammari	shammari	PROPN
alkej-881	135	13	,	,	PUNCT
alkej-881	135	14	"	"	PUNCT
alkej-881	135	15	cloud	cloud	ADJ
alkej-881	135	16	manufacturing	manufacturing	NOUN
alkej-881	135	17	framework	framework	NOUN
alkej-881	135	18	for	for	ADP
alkej-881	135	19	controlling	control	VERB
alkej-881	135	20	and	and	CCONJ
alkej-881	135	21	monitoring	monitoring	NOUN
alkej-881	135	22	of	of	ADP
alkej-881	135	23	machines	machine	NOUN
alkej-881	135	24	,	,	PUNCT
alkej-881	135	25	"	"	PUNCT
alkej-881	135	26	alkhwarizmi	alkhwarizmi	NOUN
alkej-881	135	27	engineering	engineering	NOUN
alkej-881	135	28	journal	journal	PROPN
alkej-881	135	29	,	,	PUNCT
alkej-881	135	30	vol	vol	NOUN
alkej-881	135	31	.	.	PROPN
alkej-881	136	1	16	16	NUM
alkej-881	136	2	,	,	PUNCT
alkej-881	136	3	no	no	INTJ
alkej-881	136	4	.	.	NOUN
alkej-881	136	5	4	4	NUM
alkej-881	136	6	,	,	PUNCT
alkej-881	136	7	pp	pp	ADJ
alkej-881	136	8	.	.	PUNCT
alkej-881	137	1	11	11	NUM
alkej-881	137	2	-	-	SYM
alkej-881	137	3	18	18	NUM
alkej-881	137	4	,	,	PUNCT
alkej-881	137	5	2020	2020	NUM
alkej-881	137	6	,	,	PUNCT
alkej-881	137	7	doi	doi	NOUN
alkej-881	137	8	:	:	PUNCT
alkej-881	137	9	10.22153	10.22153	NUM
alkej-881	137	10	/	/	SYM
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alkej-881	138	2	3	3	NUM
alkej-881	138	3	]	]	X
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alkej-881	138	5	f.	f.	PROPN
alkej-881	138	6	mustafa	mustafa	PROPN
alkej-881	138	7	,	,	PUNCT
alkej-881	138	8	o.	o.	PROPN
alkej-881	138	9	hussein	hussein	PROPN
alkej-881	138	10	,	,	PUNCT
alkej-881	138	11	o.	o.	PROPN
alkej-881	138	12	f.	f.	PROPN
alkej-881	138	13	fakhri	fakhri	PROPN
alkej-881	138	14	,	,	PUNCT
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alkej-881	138	16	a.	a.	PROPN
alkej-881	138	17	h.	h.	PROPN
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alkej-881	138	21	design	design	NOUN
alkej-881	138	22	and	and	CCONJ
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alkej-881	138	37	journal	journal	NOUN
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alkej-881	138	39	enterprise	enterprise	NOUN
alkej-881	138	40	technologies	technology	NOUN
alkej-881	138	41	,	,	PUNCT
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alkej-881	138	43	.	.	PROPN
alkej-881	139	1	5	5	NUM
alkej-881	139	2	,	,	PUNCT
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alkej-881	139	6	(	(	PUNCT
alkej-881	139	7	107	107	NUM
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alkej-881	139	9	,	,	PUNCT
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alkej-881	139	11	.	.	PUNCT
alkej-881	140	1	29–35	29–35	NUM
alkej-881	140	2	,	,	PUNCT
alkej-881	140	3	2020	2020	NUM
alkej-881	140	4	.	.	PUNCT
alkej-881	141	1	https://doi:10.15587/17294061.2020.202184	https://doi:10.15587/17294061.2020.202184	NOUN
alkej-881	141	2	.	.	PUNCT
alkej-881	142	1	[	[	X
alkej-881	142	2	4	4	X
alkej-881	142	3	]	]	PUNCT
alkej-881	142	4	w.	w.	PROPN
alkej-881	142	5	t.	t.	PROPN
alkej-881	142	6	abbood	abbood	PROPN
alkej-881	142	7	,	,	PUNCT
alkej-881	142	8	o.	o.	PROPN
alkej-881	142	9	i.	i.	PROPN
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alkej-881	142	11	,	,	PUNCT
alkej-881	142	12	and	and	CCONJ
alkej-881	142	13	e.	e.	PROPN
alkej-881	142	14	a.	a.	PROPN
alkej-881	142	15	khalid	khalid	PROPN
alkej-881	142	16	,	,	PUNCT
alkej-881	142	17	"	"	PUNCT
alkej-881	142	18	a	a	DET
alkej-881	142	19	real	real	ADJ
alkej-881	142	20	-	-	PUNCT
alkej-881	142	21	time	time	NOUN
alkej-881	142	22	automated	automate	VERB
alkej-881	142	23	sorting	sorting	NOUN
alkej-881	142	24	of	of	ADP
alkej-881	142	25	robotic	robotic	ADJ
alkej-881	142	26	vision	vision	NOUN
alkej-881	142	27	system	system	NOUN
alkej-881	142	28	based	base	VERB
alkej-881	142	29	on	on	ADP
alkej-881	142	30	the	the	DET
alkej-881	142	31	interactive	interactive	ADJ
alkej-881	142	32	design	design	NOUN
alkej-881	142	33	approach	approach	NOUN
alkej-881	142	34	,	,	PUNCT
alkej-881	142	35	"	"	PUNCT
alkej-881	142	36	international	international	ADJ
alkej-881	142	37	journal	journal	NOUN
alkej-881	142	38	on	on	ADP
alkej-881	142	39	interactive	interactive	ADJ
alkej-881	142	40	design	design	NOUN
alkej-881	142	41	and	and	CCONJ
alkej-881	142	42	manufacturing	manufacturing	NOUN
alkej-881	142	43	(	(	PUNCT
alkej-881	142	44	ijidem	ijidem	PROPN
alkej-881	142	45	)	)	PUNCT
alkej-881	142	46	,	,	PUNCT
alkej-881	142	47	vol	vol	NOUN
alkej-881	142	48	.	.	PROPN
alkej-881	142	49	14	14	NUM
alkej-881	142	50	,	,	PUNCT
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alkej-881	142	54	,	,	PUNCT
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alkej-881	142	56	.	.	PUNCT
alkej-881	143	1	201	201	NUM
alkej-881	143	2	-	-	SYM
alkej-881	143	3	209	209	NUM
alkej-881	143	4	,	,	PUNCT
alkej-881	143	5	2020/03/01	2020/03/01	NOUN
alkej-881	143	6	2020	2020	NUM
alkej-881	143	7	,	,	PUNCT
alkej-881	143	8	doi	doi	NOUN
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alkej-881	143	11	/	/	SYM
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alkej-881	143	13	-	-	PUNCT
alkej-881	143	14	01900628	01900628	NUM
alkej-881	143	15	-	-	PUNCT
alkej-881	143	16	w.	w.	NOUN
alkej-881	144	1	[	[	X
alkej-881	144	2	5	5	NUM
alkej-881	144	3	]	]	PUNCT
alkej-881	144	4	m.	m.	NOUN
alkej-881	144	5	vasili	vasili	PROPN
alkej-881	144	6	,	,	PUNCT
alkej-881	144	7	s.	s.	PROPN
alkej-881	144	8	h.	h.	PROPN
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alkej-881	144	10	,	,	PUNCT
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alkej-881	144	12	m.	m.	PROPN
alkej-881	144	13	vasili	vasili	PROPN
alkej-881	144	14	,	,	PUNCT
alkej-881	144	15	"	"	PUNCT
alkej-881	144	16	automated	automate	VERB
alkej-881	144	17	storage	storage	NOUN
alkej-881	144	18	and	and	CCONJ
alkej-881	144	19	retrieval	retrieval	NOUN
alkej-881	144	20	systems	system	NOUN
alkej-881	144	21	:	:	PUNCT
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alkej-881	144	26	time	time	NOUN
alkej-881	144	27	models	model	NOUN
alkej-881	144	28	and	and	CCONJ
alkej-881	144	29	control	control	NOUN
alkej-881	144	30	policies	policy	NOUN
alkej-881	144	31	,	,	PUNCT
alkej-881	144	32	"	"	PUNCT
alkej-881	144	33	warehousing	warehousing	NOUN
alkej-881	144	34	in	in	ADP
alkej-881	144	35	the	the	DET
alkej-881	144	36	global	global	ADJ
alkej-881	144	37	supply	supply	NOUN
alkej-881	144	38	chain	chain	NOUN
alkej-881	144	39	:	:	PUNCT
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alkej-881	144	41	models	model	NOUN
alkej-881	144	42	,	,	PUNCT
alkej-881	144	43	tools	tool	NOUN
alkej-881	144	44	and	and	CCONJ
alkej-881	144	45	applications	application	NOUN
alkej-881	144	46	for	for	ADP
alkej-881	144	47	storage	storage	NOUN
alkej-881	144	48	systems	system	NOUN
alkej-881	144	49	,	,	PUNCT
alkej-881	144	50	pp	pp	ADP
alkej-881	144	51	.	.	PUNCT
alkej-881	145	1	159209	159209	NUM
alkej-881	145	2	,	,	PUNCT
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alkej-881	145	4	.	.	PUNCT
alkej-881	146	1	[	[	X
alkej-881	146	2	6	6	NUM
alkej-881	146	3	]	]	PUNCT
alkej-881	146	4	b.	b.	PROPN
alkej-881	146	5	y.	y.	PROPN
alkej-881	146	6	ekren	ekren	PROPN
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alkej-881	146	8	s.	s.	PROPN
alkej-881	146	9	s.	s.	PROPN
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alkej-881	146	11	,	,	PUNCT
alkej-881	146	12	"	"	PUNCT
alkej-881	146	13	a	a	DET
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alkej-881	146	15	technology	technology	NOUN
alkej-881	146	16	for	for	ADP
alkej-881	146	17	unit	unit	NOUN
alkej-881	146	18	-	-	PUNCT
alkej-881	146	19	load	load	NOUN
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alkej-881	146	21	storage	storage	NOUN
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alkej-881	146	34	in	in	ADP
alkej-881	146	35	the	the	DET
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alkej-881	146	38	chain	chain	NOUN
alkej-881	146	39	:	:	PUNCT
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alkej-881	146	42	,	,	PUNCT
alkej-881	146	43	tools	tool	NOUN
alkej-881	146	44	and	and	CCONJ
alkej-881	146	45	applications	application	NOUN
alkej-881	146	46	for	for	ADP
alkej-881	146	47	storage	storage	NOUN
alkej-881	146	48	systems	system	NOUN
alkej-881	146	49	:	:	PUNCT
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alkej-881	147	1	285	285	NUM
alkej-881	147	2	-	-	SYM
alkej-881	147	3	339	339	NUM
alkej-881	148	1	[	[	X
alkej-881	148	2	7	7	NUM
alkej-881	148	3	]	]	X
alkej-881	148	4	h.	h.	PROPN
alkej-881	148	5	m.	m.	PROPN
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alkej-881	148	18	"	"	PUNCT
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alkej-881	148	20	automatic	automatic	ADJ
alkej-881	148	21	storage	storage	NOUN
alkej-881	148	22	and	and	CCONJ
alkej-881	148	23	retrieval	retrieval	NOUN
alkej-881	148	24	system	system	NOUN
alkej-881	148	25	:	:	PUNCT
alkej-881	148	26	an	an	DET
alkej-881	148	27	overview	overview	NOUN
alkej-881	148	28	,	,	PUNCT
alkej-881	148	29	"	"	PUNCT
alkej-881	148	30	international	international	ADJ
alkej-881	148	31	journal	journal	NOUN
alkej-881	148	32	of	of	ADP
alkej-881	148	33	computer	computer	NOUN
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alkej-881	148	39	,	,	PUNCT
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alkej-881	148	41	8887	8887	NUM
alkej-881	148	42	,	,	PUNCT
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alkej-881	148	44	.	.	PUNCT
alkej-881	149	1	[	[	X
alkej-881	149	2	8	8	NUM
alkej-881	149	3	]	]	PUNCT
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alkej-881	149	27	,	,	PUNCT
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alkej-881	149	38	systems	system	NOUN
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alkej-881	149	41	(	(	PUNCT
alkej-881	149	42	ihmsc	ihmsc	NOUN
alkej-881	149	43	)	)	PUNCT
alkej-881	149	44	,	,	PUNCT
alkej-881	149	45	hangzhou	hangzhou	PROPN
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alkej-881	149	50	,	,	PUNCT
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alkej-881	149	52	.	.	PUNCT
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alkej-881	149	54	-	-	SYM
alkej-881	149	55	334	334	NUM
alkej-881	149	56	,	,	PUNCT
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alkej-881	149	58	:	:	PUNCT
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alkej-881	150	2	9	9	NUM
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alkej-881	150	17	storage	storage	NOUN
alkej-881	150	18	and	and	CCONJ
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alkej-881	150	20	system	system	NOUN
alkej-881	150	21	using	use	VERB
alkej-881	150	22	plc	plc	PROPN
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alkej-881	150	24	scada	scada	PROPN
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alkej-881	150	26	"	"	PUNCT
alkej-881	150	27	vol	vol	NOUN
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alkej-881	150	29	vol	vol	NOUN
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alkej-881	150	34	.	.	PUNCT
alkej-881	151	1	1361	1361	NUM
alkej-881	151	2	-	-	SYM
alkej-881	151	3	1365	1365	NUM
alkej-881	151	4	,	,	PUNCT
alkej-881	151	5	2017	2017	NUM
alkej-881	151	6	.	.	PUNCT
alkej-881	152	1	[	[	X
alkej-881	152	2	10	10	NUM
alkej-881	152	3	]	]	PUNCT
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alkej-881	152	9	m.	m.	PROPN
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alkej-881	152	17	"	"	PUNCT
alkej-881	152	18	plc	plc	PROPN
alkej-881	152	19	control	control	NOUN
alkej-881	152	20	system	system	NOUN
alkej-881	152	21	design	design	NOUN
alkej-881	152	22	for	for	ADP
alkej-881	152	23	automated	automate	VERB
alkej-881	152	24	storage	storage	NOUN
alkej-881	152	25	and	and	CCONJ
alkej-881	152	26	retrieval	retrieval	NOUN
alkej-881	152	27	system	system	NOUN
alkej-881	152	28	,	,	PUNCT
alkej-881	152	29	"	"	PUNCT
alkej-881	152	30	applied	apply	VERB
alkej-881	152	31	mechanics	mechanic	NOUN
alkej-881	152	32	and	and	CCONJ
alkej-881	152	33	materials	material	NOUN
alkej-881	152	34	,	,	PUNCT
alkej-881	152	35	vol	vol	NOUN
alkej-881	152	36	.	.	PROPN
alkej-881	152	37	128	128	NUM
alkej-881	152	38	,	,	PUNCT
alkej-881	152	39	pp	pp	ADJ
alkej-881	152	40	.	.	PUNCT
alkej-881	152	41	950955	950955	NUM
alkej-881	152	42	,	,	PUNCT
alkej-881	152	43	2012	2012	NUM
alkej-881	152	44	[	[	X
alkej-881	152	45	11	11	NUM
alkej-881	152	46	]	]	PUNCT
alkej-881	152	47	b.	b.	PROPN
alkej-881	152	48	y.	y.	PROPN
alkej-881	152	49	ekren	ekren	PROPN
alkej-881	152	50	,	,	PUNCT
alkej-881	152	51	a.	a.	PROPN
alkej-881	152	52	akpunar	akpunar	PROPN
alkej-881	152	53	,	,	PUNCT
alkej-881	152	54	z.	z.	PROPN
alkej-881	152	55	sari	sari	PROPN
alkej-881	152	56	,	,	PUNCT
alkej-881	152	57	and	and	CCONJ
alkej-881	152	58	t.	t.	PROPN
alkej-881	152	59	lerher	lerher	NOUN
alkej-881	152	60	,	,	PUNCT
alkej-881	152	61	"	"	PUNCT
alkej-881	152	62	a	a	DET
alkej-881	152	63	tool	tool	NOUN
alkej-881	152	64	for	for	ADP
alkej-881	152	65	time	time	NOUN
alkej-881	152	66	,	,	PUNCT
alkej-881	152	67	variance	variance	NOUN
alkej-881	152	68	and	and	CCONJ
alkej-881	152	69	energy	energy	NOUN
alkej-881	152	70	related	relate	VERB
alkej-881	152	71	performance	performance	NOUN
alkej-881	152	72	estimations	estimation	NOUN
alkej-881	152	73	in	in	ADP
alkej-881	152	74	a	a	DET
alkej-881	152	75	shuttlebased	shuttlebase	VERB
alkej-881	152	76	storage	storage	NOUN
alkej-881	152	77	and	and	CCONJ
alkej-881	152	78	retrieval	retrieval	NOUN
alkej-881	152	79	system	system	NOUN
alkej-881	152	80	,	,	PUNCT
alkej-881	152	81	"	"	PUNCT
alkej-881	152	82	applied	apply	VERB
alkej-881	152	83	mathematical	mathematical	ADJ
alkej-881	152	84	modelling	modelling	NOUN
alkej-881	152	85	,	,	PUNCT
alkej-881	152	86	vol	vol	NOUN
alkej-881	152	87	.	.	PROPN
alkej-881	152	88	63	63	NUM
alkej-881	152	89	,	,	PUNCT
alkej-881	152	90	pp	pp	ADJ
alkej-881	152	91	.	.	PUNCT
alkej-881	153	1	109127	109127	NUM
alkej-881	153	2	,	,	PUNCT
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alkej-881	153	4	.	.	PUNCT
alkej-881	154	1	[	[	X
alkej-881	154	2	12	12	NUM
alkej-881	154	3	]	]	X
alkej-881	154	4	y.	y.	PROPN
alkej-881	154	5	wang	wang	PROPN
alkej-881	154	6	,	,	PUNCT
alkej-881	154	7	s.	s.	PROPN
alkej-881	154	8	mou	mou	PROPN
alkej-881	154	9	,	,	PUNCT
alkej-881	154	10	and	and	CCONJ
alkej-881	154	11	y.	y.	PROPN
alkej-881	154	12	wu	wu	PROPN
alkej-881	154	13	,	,	PUNCT
alkej-881	154	14	"	"	PUNCT
alkej-881	154	15	task	task	NOUN
alkej-881	154	16	scheduling	scheduling	NOUN
alkej-881	154	17	for	for	ADP
alkej-881	154	18	multi	multi	ADJ
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alkej-881	154	20	tier	tier	ADJ
alkej-881	154	21	shuttle	shuttle	NOUN
alkej-881	154	22	warehousing	warehousing	NOUN
alkej-881	154	23	systems	system	NOUN
alkej-881	154	24	,	,	PUNCT
alkej-881	154	25	"	"	PUNCT
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alkej-881	154	27	journal	journal	NOUN
alkej-881	154	28	of	of	ADP
alkej-881	154	29	production	production	NOUN
alkej-881	154	30	research	research	NOUN
alkej-881	154	31	,	,	PUNCT
alkej-881	154	32	vol	vol	NOUN
alkej-881	154	33	.	.	PROPN
alkej-881	155	1	53	53	NUM
alkej-881	155	2	,	,	PUNCT
alkej-881	155	3	no	no	INTJ
alkej-881	155	4	.	.	NOUN
alkej-881	155	5	19	19	NUM
alkej-881	155	6	,	,	PUNCT
alkej-881	155	7	pp	pp	ADJ
alkej-881	155	8	.	.	PUNCT
alkej-881	155	9	5884	5884	NUM
alkej-881	155	10	-	-	SYM
alkej-881	155	11	5895	5895	NUM
alkej-881	155	12	,	,	PUNCT
alkej-881	155	13	2015	2015	NUM
alkej-881	155	14	.	.	PUNCT
alkej-881	156	1	[	[	X
alkej-881	156	2	13	13	NUM
alkej-881	156	3	]	]	PUNCT
alkej-881	156	4	p.	p.	PROPN
alkej-881	156	5	yang	yang	PROPN
alkej-881	156	6	,	,	PUNCT
alkej-881	156	7	l.	l.	PROPN
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alkej-881	156	9	,	,	PUNCT
alkej-881	156	10	z.	z.	PROPN
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alkej-881	156	12	,	,	PUNCT
alkej-881	156	13	and	and	CCONJ
alkej-881	156	14	l.	l.	PROPN
alkej-881	156	15	qin	qin	PROPN
alkej-881	156	16	,	,	PUNCT
alkej-881	156	17	"	"	PUNCT
alkej-881	156	18	an	an	DET
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alkej-881	156	21	of	of	ADP
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alkej-881	156	23	assignment	assignment	NOUN
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alkej-881	156	25	storage	storage	NOUN
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alkej-881	156	27	retrieval	retrieval	NOUN
alkej-881	156	28	scheduling	scheduling	NOUN
alkej-881	156	29	in	in	ADP
alkej-881	156	30	multishuttle	multishuttle	ADJ
alkej-881	156	31	automated	automate	VERB
alkej-881	156	32	storage	storage	NOUN
alkej-881	156	33	/	/	SYM
alkej-881	156	34	retrieval	retrieval	NOUN
alkej-881	156	35	systems	system	NOUN
alkej-881	156	36	,	,	PUNCT
alkej-881	156	37	"	"	PUNCT
alkej-881	156	38	journal	journal	NOUN
alkej-881	156	39	of	of	ADP
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alkej-881	156	41	manufacturing	manufacturing	NOUN
alkej-881	156	42	,	,	PUNCT
alkej-881	156	43	vol	vol	NOUN
alkej-881	156	44	.	.	PROPN
alkej-881	156	45	26	26	NUM
alkej-881	156	46	,	,	PUNCT
alkej-881	156	47	pp	pp	ADJ
alkej-881	156	48	.	.	PUNCT
alkej-881	157	1	1145	1145	NUM
alkej-881	157	2	-	-	SYM
alkej-881	157	3	1159	1159	NUM
alkej-881	157	4	,	,	PUNCT
alkej-881	157	5	2015	2015	NUM
alkej-881	157	6	.	.	PUNCT
alkej-881	158	1	[	[	X
alkej-881	158	2	14	14	NUM
alkej-881	158	3	]	]	PUNCT
alkej-881	158	4	z.	z.	PROPN
alkej-881	158	5	yang	yang	PROPN
alkej-881	158	6	,	,	PUNCT
alkej-881	158	7	l.	l.	PROPN
alkej-881	158	8	wang	wang	PROPN
alkej-881	158	9	,	,	PUNCT
alkej-881	158	10	y.	y.	PROPN
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alkej-881	158	14	k.	k.	PROPN
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alkej-881	158	16	,	,	PUNCT
alkej-881	158	17	"	"	PUNCT
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alkej-881	158	26	input	input	NOUN
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alkej-881	158	28	output	output	NOUN
alkej-881	158	29	scheduling	scheduling	NOUN
alkej-881	158	30	problem	problem	NOUN
alkej-881	158	31	in	in	ADP
alkej-881	158	32	as	as	ADP
alkej-881	158	33	/	/	SYM
alkej-881	158	34	rss	rss	NOUN
alkej-881	158	35	,	,	PUNCT
alkej-881	158	36	"	"	PUNCT
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alkej-881	158	39	,	,	PUNCT
alkej-881	158	40	vol	vol	NOUN
alkej-881	158	41	.	.	PROPN
alkej-881	158	42	12	12	NUM
alkej-881	158	43	,	,	PUNCT
alkej-881	158	44	pp	pp	ADJ
alkej-881	158	45	.	.	PUNCT
alkej-881	159	1	333	333	NUM
alkej-881	159	2	-	-	SYM
alkej-881	159	3	340	340	NUM
alkej-881	159	4	,	,	PUNCT
alkej-881	159	5	2019	2019	NUM
alkej-881	159	6	.	.	PUNCT
alkej-881	160	1	[	[	X
alkej-881	160	2	15	15	NUM
alkej-881	160	3	]	]	X
alkej-881	160	4	x.	x.	PROPN
alkej-881	160	5	yan	yan	PROPN
alkej-881	160	6	,	,	PUNCT
alkej-881	160	7	z.	z.	PROPN
alkej-881	160	8	zhang	zhang	PROPN
alkej-881	160	9	,	,	PUNCT
alkej-881	160	10	q.	q.	PROPN
alkej-881	160	11	liu	liu	PROPN
alkej-881	160	12	,	,	PUNCT
alkej-881	160	13	c.	c.	PROPN
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alkej-881	160	20	s.	s.	PROPN
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alkej-881	160	23	"	"	PUNCT
alkej-881	160	24	an	an	DET
alkej-881	160	25	nsabc	nsabc	NOUN
alkej-881	160	26	algorithm	algorithm	NOUN
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alkej-881	160	31	rs	rs	NOUN
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alkej-881	160	33	optimization	optimization	NOUN
alkej-881	160	34	,	,	PUNCT
alkej-881	160	35	"	"	PUNCT
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alkej-881	160	39	engineering	engineering	NOUN
alkej-881	160	40	,	,	PUNCT
alkej-881	160	41	vol	vol	NOUN
alkej-881	160	42	.	.	PROPN
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alkej-881	160	44	,	,	PUNCT
alkej-881	160	45	p.	p.	NOUN
alkej-881	160	46	107254	107254	NUM
alkej-881	160	47	,	,	PUNCT
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alkej-881	160	49	.	.	PUNCT
alkej-881	161	1	[	[	X
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alkej-881	161	13	vertically	vertically	ADV
alkej-881	161	14	stacked	stack	VERB
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alkej-881	161	16	top	top	ADJ
alkej-881	161	17	-	-	PUNCT
alkej-881	161	18	retrieval	retrieval	NOUN
alkej-881	161	19	storage	storage	NOUN
alkej-881	161	20	systems	system	NOUN
alkej-881	161	21	,	,	PUNCT
alkej-881	161	22	"	"	PUNCT
alkej-881	161	23	icic	icic	PROPN
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alkej-881	161	25	letters	letter	NOUN
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alkej-881	161	28	.	.	PROPN
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alkej-881	161	30	,	,	PUNCT
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alkej-881	161	34	,	,	PUNCT
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alkej-881	161	36	.	.	PUNCT
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alkej-881	161	38	-	-	SYM
alkej-881	161	39	997	997	NUM
alkej-881	161	40	,	,	PUNCT
alkej-881	161	41	2021	2021	NUM
alkej-881	161	42	.	.	PUNCT
alkej-881	162	1	[	[	X
alkej-881	162	2	17	17	NUM
alkej-881	162	3	]	]	PUNCT
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alkej-881	162	7	b.	b.	PROPN
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alkej-881	162	34	"	"	PUNCT
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alkej-881	162	36	,	,	PUNCT
alkej-881	162	37	vol	vol	NOUN
alkej-881	162	38	.	.	PROPN
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alkej-881	162	40	,	,	PUNCT
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alkej-881	162	42	.	.	NOUN
alkej-881	162	43	8	8	NUM
alkej-881	162	44	,	,	PUNCT
alkej-881	162	45	p.	p.	NOUN
alkej-881	162	46	4611	4611	NUM
alkej-881	162	47	,	,	PUNCT
alkej-881	162	48	2022	2022	NUM
alkej-881	162	49	.	.	PUNCT
alkej-881	163	1	[	[	X
alkej-881	163	2	18	18	NUM
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alkej-881	163	4	e.	e.	PROPN
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alkej-881	163	8	b.	b.	PROPN
alkej-881	163	9	y.	y.	PROPN
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alkej-881	163	11	,	,	PUNCT
alkej-881	163	12	and	and	CCONJ
alkej-881	163	13	t.	t.	PROPN
alkej-881	163	14	lerher	lerher	NOUN
alkej-881	163	15	,	,	PUNCT
alkej-881	163	16	"	"	PUNCT
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alkej-881	163	19	robot	robot	NOUN
alkej-881	163	20	travel	travel	VERB
alkej-881	163	21	under	under	ADP
alkej-881	163	22	deadlock	deadlock	NOUN
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alkej-881	163	39	logistics	logistic	NOUN
alkej-881	163	40	research	research	NOUN
alkej-881	163	41	and	and	CCONJ
alkej-881	163	42	applications	application	NOUN
alkej-881	163	43	,	,	PUNCT
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alkej-881	163	45	.	.	PUNCT
alkej-881	164	1	1	1	NUM
alkej-881	164	2	-	-	SYM
alkej-881	164	3	20	20	NUM
alkej-881	164	4	,	,	PUNCT
alkej-881	164	5	2022	2022	NUM
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alkej-881	164	7	-	-	PUNCT
alkej-881	164	8	4061.2020.202184	4061.2020.202184	NUM
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alkej-881	164	10	-	-	PUNCT
alkej-881	164	11	4061.2020.202184	4061.2020.202184	NUM
alkej-881	164	12	(	(	PUNCT
alkej-881	164	13	2024	2024	NUM
alkej-881	164	14	)	)	PUNCT
alkej-881	164	15	51	51	NUM
alkej-881	164	16	-	-	SYM
alkej-881	164	17	58	58	NUM
alkej-881	164	18	،	،	NOUN
alkej-881	164	19	صفحة	صفحة	PROPN
alkej-881	164	20	3	3	PROPN
alkej-881	164	21	،	،	X
alkej-881	164	22	العدد20مجلة	العدد20مجلة	PROPN
alkej-881	164	23	الخوارزمي	الخوارزمي	VERB
alkej-881	164	24	الهندسية	الهندسية	PROPN
alkej-881	164	25	المجلدعلي	المجلدعلي	NOUN
alkej-881	164	26	رشاد	رشاد	PROPN
alkej-881	164	27	58	58	NUM
alkej-881	164	28	سيطرة	سيطرة	PROPN
alkej-881	164	29	مقترحة	مقترحة	PROPN
alkej-881	164	30	لمنظومة	لمنظومة	PROPN
alkej-881	164	31	الخزن	الخزن	PROPN
alkej-881	164	32	واالسترداد	واالسترداد	PROPN
alkej-881	164	33	المؤتمتةخوارزمية	المؤتمتةخوارزمية	PROPN
alkej-881	164	34	علي	علي	NOUN
alkej-881	164	35	رشاد	رشاد	NOUN
alkej-881	164	36	*	*	PROPN
alkej-881	164	37	،	،	PROPN
alkej-881	164	38	اسامة	اسامة	ADJ
alkej-881	164	39	فاضل	فاضل	NOUN
alkej-881	164	40	عبد	عبد	PROPN
alkej-881	164	41	اللطيف	اللطيف	NOUN
alkej-881	164	42	*	*	PUNCT
alkej-881	164	43	*	*	PUNCT
alkej-881	164	44	*	*	PUNCT
alkej-881	164	45	،	،	X
alkej-881	164	46	*	*	PUNCT
alkej-881	164	47	*	*	ADJ
alkej-881	164	48	قسم	قسم	PROPN
alkej-881	164	49	هندسة	هندسة	NOUN
alkej-881	164	50	التصنيع	التصنيع	NOUN
alkej-881	164	51	المؤتمت/	المؤتمت/	NUM
alkej-881	164	52	كلية	كلية	NOUN
alkej-881	164	53	الهندسة	الهندسة	VERB
alkej-881	164	54	الخوارزمي/	الخوارزمي/	NUM
alkej-881	164	55	جامعة	جامعة	NOUN
alkej-881	164	56	بغداد/	بغداد/	NUM
alkej-881	164	57	العراق	العراق	ADJ
alkej-881	164	58	ali_mfcstd@kecbu.uobaghdad.edu.iq*البريد	ali_mfcstd@kecbu.uobaghdad.edu.iq*البريد	NOUN
alkej-881	164	59	االلكتروني	االلكتروني	NOUN
alkej-881	164	60	:	:	PUNCT
alkej-881	164	61	drosamah@kecbu.uobaghdad.edu.iq**البريد	drosamah@kecbu.uobaghdad.edu.iq**البريد	PROPN
alkej-881	164	62	االلكتروني	االلكتروني	NOUN
alkej-881	164	63	:	:	PUNCT
alkej-881	164	64	المستخلص	المستخلص	VERB
alkej-881	164	65	ق	ق	PROPN
alkej-881	165	1	من	من	PROPN
alkej-881	165	2	خالل	خالل	PROPN
alkej-881	165	3	اغال	اغال	PROPN
alkej-881	165	4	لمفتوحةاتقدم	لمفتوحةاتقدم	PROPN
alkej-881	165	5	هذه	هذه	PROPN
alkej-881	165	6	الورقة	الورقة	PROPN
alkej-881	165	7	البحثية	البحثية	PROPN
alkej-881	165	8	خوارزمية	خوارزمية	PROPN
alkej-881	166	1	مبتكرة	مبتكرة	PROPN
alkej-881	166	2	تهدف	تهدف	VERB
alkej-881	166	3	الى	الى	PROPN
alkej-881	166	4	تحسين	تحسين	PROPN
alkej-881	166	5	أداء	أداء	PROPN
alkej-881	166	6	نظام	نظام	VERB
alkej-881	166	7	حركة	حركة	INTJ
alkej-881	166	8	المحرك	المحرك	NOUN
alkej-881	166	9	ذو	ذو	PROPN
alkej-881	166	10	الخطوات	الخطوات	PROPN
alkej-881	166	11	الذي	الذي	PROPN
alkej-881	166	12	يعمل	يعمل	PROPN
alkej-881	166	13	بنظام	بنظام	PROPN
alkej-881	166	14	الحلقة	الحلقة	PROPN
alkej-881	166	15	ها	ها	SCONJ
alkej-881	166	16	ألجهزة	ألجهزة	PROPN
alkej-881	166	17	بلمسموح	بلمسموح	VERB
alkej-881	166	18	الحلقة	الحلقة	PROPN
alkej-881	166	19	باستخدام	باستخدام	NOUN
alkej-881	166	20	أجهزة	أجهزة	NOUN
alkej-881	166	21	ذات	ذات	NOUN
alkej-881	166	22	كلفة	كلفة	PROPN
alkej-881	166	23	معقولة	معقولة	PROPN
alkej-881	166	24	،	،	PROPN
alkej-881	166	25	تحقق	تحقق	PROPN
alkej-881	166	26	الخوارزمية	الخوارزمية	PROPN
alkej-881	166	27	المقترحة	المقترحة	PROPN
alkej-881	166	28	مستوى	مستوى	PROPN
alkej-881	166	29	اعلى	اعلى	PROPN
alkej-881	166	30	من	من	DET
alkej-881	166	31	المرونة	المرونة	NOUN
alkej-881	166	32	من	من	PROPN
alkej-881	166	33	حيث	حيث	PROPN
alkej-881	166	34	السرعة	السرعة	PROPN
alkej-881	166	35	ومدى	ومدى	PROPN
alkej-881	166	36	االوزان	االوزان	VERB
alkej-881	166	37	ا	ا	PROPN
alkej-881	166	38	المستخدم	المستخدم	PROPN
alkej-881	166	39	.	.	PUNCT
alkej-881	167	1	من	من	PROPN
alkej-881	167	2	خالل	خالل	PROPN
alkej-881	167	3	،	،	PROPN
alkej-881	167	4	حيث	حيث	PROPN
alkej-881	168	1	تعمل	تعمل	PROPN
alkej-881	168	2	وحدات	وحدات	PROPN
alkej-881	168	3	تحكم	تحكم	PROPN
alkej-881	168	4	متعددة	متعددة	VERB
alkej-881	168	5	معا	معا	NOUN
alkej-881	168	6	لتلبية	لتلبية	NOUN
alkej-881	168	7	متطلبات(dcs)الخزن	متطلبات(dcs)الخزن	NUM
alkej-881	168	8	/	/	SYM
alkej-881	168	9	االسترداد	االسترداد	NOUN
alkej-881	168	10	.	.	PUNCT
alkej-881	169	1	تم	تم	NOUN
alkej-881	169	2	تصميم	تصميم	PROPN
alkej-881	169	3	الخوارزمية	الخوارزمية	PROPN
alkej-881	169	4	للعمل	للعمل	PROPN
alkej-881	169	5	ضمن	ضمن	ADP
alkej-881	169	6	نظام	نظام	PROPN
alkej-881	169	7	تحكم	تحكم	VERB
alkej-881	169	8	موزع	موزع	PROPN
alkej-881	169	9	ن	ن	PROPN
alkej-881	169	10	حيث	حيث	PROPN
alkej-881	169	11	خدام	خدام	PROPN
alkej-881	169	12	وفعال	وفعال	NOUN
alkej-881	169	13	ماالست	ماالست	PROPN
alkej-881	169	14	هلتقليل	هلتقليل	PROPN
alkej-881	169	15	متطلبات	متطلبات	PROPN
alkej-881	169	16	األجهزة	األجهزة	PROPN
alkej-881	170	1	وقوة	وقوة	PROPN
alkej-881	170	2	المعالجة	المعالجة	PROPN
alkej-881	170	3	والتوقف	والتوقف	PROPN
alkej-881	170	4	المحتمل	المحتمل	PROPN
alkej-881	170	5	بسبب	بسبب	PROPN
alkej-881	170	6	األعطال	األعطال	NOUN
alkej-881	170	7	و	و	PRON
alkej-881	170	8	تكاليف	تكاليف	NOUN
alkej-881	170	9	الصيانة	الصيانة	ADV
alkej-881	170	10	.	.	PUNCT
alkej-881	171	1	توفر	توفر	PROPN
alkej-881	171	2	الخوارزمية	الخوارزمية	ADJ
alkej-881	171	3	المقترحة	المقترحة	PROPN
alkej-881	171	4	حال	حال	NOUN
alkej-881	171	5	س	س	DET
alkej-881	171	6	آلت	آلت	NOUN
alkej-881	171	7	الطاقة	الطاقة	NOUN
alkej-881	171	8	في	في	INTJ
alkej-881	171	9	ا	ا	PROPN
alkej-881	171	10	استهالكالتكلفة	استهالكالتكلفة	PROPN
alkej-881	171	11	.	.	PUNCT
alkej-881	172	1	باإلضافة	باإلضافة	PROPN
alkej-881	172	2	الى	الى	PROPN
alkej-881	172	3	ذلك	ذلك	PROPN
alkej-881	172	4	تعالج	تعالج	ADJ
alkej-881	172	5	الخوارزمية	الخوارزمية	ADJ
alkej-881	172	6	النسبة	النسبة	NOUN
alkej-881	172	7	بين	بين	AUX
alkej-881	172	8	عزم	عزم	VERB
alkej-881	172	9	الدوران/	الدوران/	NUM
alkej-881	172	10	السرعة	السرعة	ADJ
alkej-881	172	11	للتعويض	للتعويض	PROPN
alkej-881	172	12	عن	عن	PROPN
alkej-881	172	13	مشاكل	مشاكل	PROPN
alkej-881	172	14	الوزن	الوزن	PROPN
alkej-881	172	15	الزائد	الزائد	PROPN
alkej-881	172	16	المحتملة	المحتملة	VERB
alkej-881	172	17	و	و	PRON
alkej-881	172	18	ركة	ركة	NOUN
alkej-881	172	19	ذات	ذات	NOUN
alkej-881	172	20	مل	مل	PROPN
alkej-881	172	21	أنظمة	أنظمة	PROPN
alkej-881	172	22	الحعي	الحعي	PROPN
alkej-881	172	23	طريقة	طريقة	PROPN
alkej-881	172	24	بإمكانية	بإمكانية	VERB
alkej-881	172	25	احداث	احداث	PROPN
alkej-881	172	26	ثورة	ثورة	PROPN
alkej-881	172	27	فالخزن	فالخزن	PROPN
alkej-881	172	28	/	/	SYM
alkej-881	172	29	االسترداد	االسترداد	NOUN
alkej-881	172	30	وبالتالي	وبالتالي	NOUN
alkej-881	172	31	تحسين	تحسين	NOUN
alkej-881	172	32	كفاءتها	كفاءتها	PROPN
alkej-881	172	33	االجمالية	االجمالية	NOUN
alkej-881	172	34	.	.	PUNCT
alkej-881	173	1	بفضل	بفضل	ADJ
alkej-881	173	2	ميزاتها	ميزاتها	NOUN
alkej-881	173	3	الفريدة	الفريدة	NOUN
alkej-881	173	4	،	،	NOUN
alkej-881	173	5	تتمتع	تتمتع	PROPN
alkej-881	173	6	هذه	هذه	PROPN
alkej-881	173	7	الخوارزمية	الخوارزمية	ADJ
alkej-881	173	8	.المحركات	.المحركات	DET
alkej-881	173	9	ذات	ذات	NOUN
alkej-881	173	10	الخطوات	الخطوات	PROPN
alkej-881	173	11	التي	التي	PROPN
alkej-881	173	12	تعمل	تعمل	AUX
alkej-881	173	13	بنظام	بنظام	PROPN
alkej-881	173	14	الحلقة	الحلقة	PROPN
alkej-881	173	15	المفتوحة	المفتوحة	PROPN
alkej-881	173	16	،	،	PROPN
alkej-881	174	1	مما	مما	PROPN
alkej-881	174	2	يجعلها	يجعلها	PROPN
alkej-881	174	3	اكثر	اكثر	PROPN
alkej-881	174	4	كفاءة	كفاءة	NOUN
alkej-881	174	5	وفعالية	وفعالية	PROPN
alkej-881	174	6	من	من	PROPN
alkej-881	174	7	حيث	حيث	PROPN
alkej-881	174	8	التكلفة	التكلفة	PROPN
alkej-881	174	9	file:///c:/users/iraq/desktop/ali_mfcstd@kecbu.uobaghdad.edu.iq	file:///c:/users/iraq/desktop/ali_mfcstd@kecbu.uobaghdad.edu.iq	PROPN
alkej-881	174	10	mailto:drosamah@kecbu.uobaghdad.edu.iq	mailto:drosamah@kecbu.uobaghdad.edu.iq	PROPN
alkej-881	174	11	1	1	NUM
alkej-881	174	12	.	.	PUNCT
alkej-881	175	1	introduction	introduction	NOUN
alkej-881	175	2	2	2	NUM
alkej-881	175	3	.	.	PUNCT
alkej-881	175	4	proposed	propose	VERB
alkej-881	175	5	control	control	NOUN
alkej-881	175	6	algorithm	algorithm	PROPN
alkej-881	175	7	3	3	NUM
alkej-881	175	8	.	.	NOUN
alkej-881	175	9	results	result	NOUN
alkej-881	175	10	and	and	CCONJ
alkej-881	175	11	discussion	discussion	NOUN
alkej-881	175	12	4	4	NUM
alkej-881	175	13	.	.	PUNCT
alkej-881	175	14	conclusion	conclusion	NOUN
alkej-881	175	15	5	5	NUM
alkej-881	175	16	.	.	PUNCT
alkej-881	176	1	reference	reference	NOUN