id	sid	tid	token	lemma	pos
alkej-978	1	1	this	this	PRON
alkej-978	1	2	is	be	AUX
alkej-978	1	3	an	an	DET
alkej-978	1	4	open	open	ADJ
alkej-978	1	5	access	access	NOUN
alkej-978	1	6	article	article	NOUN
alkej-978	1	7	under	under	ADP
alkej-978	1	8	the	the	DET
alkej-978	1	9	cc	cc	NOUN
alkej-978	1	10	by	by	ADP
alkej-978	1	11	license	license	NOUN
alkej-978	1	12	:	:	PUNCT
alkej-978	1	13	al	al	PROPN
alkej-978	1	14	-	-	PUNCT
alkej-978	1	15	khwarizmi	khwarizmi	PROPN
alkej-978	1	16	engineering	engineering	PROPN
alkej-978	1	17	journal	journal	PROPN
alkej-978	1	18	al	al	PROPN
alkej-978	1	19	-	-	PUNCT
alkej-978	1	20	khwarizmi	khwarizmi	PROPN
alkej-978	1	21	engineering	engineering	PROPN
alkej-978	1	22	journal	journal	PROPN
alkej-978	1	23	issn	issn	PROPN
alkej-978	1	24	(	(	PUNCT
alkej-978	1	25	printed	print	VERB
alkej-978	1	26	):	):	PUNCT
alkej-978	1	27	1818	1818	NUM
alkej-978	1	28	–	–	PUNCT
alkej-978	1	29	1171	1171	NUM
alkej-978	1	30	,	,	PUNCT
alkej-978	1	31	issn	issn	PROPN
alkej-978	1	32	(	(	PUNCT
alkej-978	1	33	online	online	ADJ
alkej-978	1	34	):	):	PUNCT
alkej-978	1	35	2312	2312	NUM
alkej-978	1	36	–	–	PUNCT
alkej-978	1	37	0789	0789	NUM
alkej-978	1	38	vol	vol	NOUN
alkej-978	1	39	.	.	PROPN
alkej-978	1	40	21	21	NUM
alkej-978	1	41	,	,	PUNCT
alkej-978	1	42	no	no	INTJ
alkej-978	1	43	.	.	NOUN
alkej-978	1	44	4	4	NUM
alkej-978	1	45	,	,	PUNCT
alkej-978	1	46	december	december	PROPN
alkej-978	1	47	,	,	PUNCT
alkej-978	1	48	(	(	PUNCT
alkej-978	1	49	2025	2025	NUM
alkej-978	1	50	)	)	PUNCT
alkej-978	1	51	,	,	PUNCT
alkej-978	1	52	pp	pp	PROPN
alkej-978	1	53	.	.	PUNCT
alkej-978	1	54	106124	106124	NUM
alkej-978	1	55	object	object	NOUN
alkej-978	1	56	dimension	dimension	NOUN
alkej-978	1	57	and	and	CCONJ
alkej-978	1	58	location	location	NOUN
alkej-978	1	59	determination	determination	NOUN
alkej-978	1	60	in	in	ADP
alkej-978	1	61	gantry	gantry	NOUN
alkej-978	1	62	robots	robot	NOUN
alkej-978	1	63	and	and	CCONJ
alkej-978	1	64	conveyor	conveyor	NOUN
alkej-978	1	65	systems	system	NOUN
alkej-978	1	66	:	:	PUNCT
alkej-978	1	67	a	a	DET
alkej-978	1	68	review	review	NOUN
alkej-978	1	69	hayder	hayder	NOUN
alkej-978	1	70	ali	ali	PROPN
alkej-978	1	71	saadi1	saadi1	PROPN
alkej-978	1	72	,	,	PUNCT
alkej-978	1	73	nazar	nazar	PROPN
alkej-978	1	74	kais	kais	PROPN
alkej-978	1	75	al	al	PROPN
alkej-978	1	76	-	-	PROPN
alkej-978	1	77	karkhi2	karkhi2	PROPN
alkej-978	1	78	*	*	PROPN
alkej-978	1	79	,	,	PUNCT
alkej-978	1	80	wisam	wisam	PROPN
alkej-978	1	81	t.	t.	PROPN
alkej-978	1	82	abbood3	abbood3	PROPN
alkej-978	1	83	,	,	PUNCT
alkej-978	1	84	and	and	CCONJ
alkej-978	1	85	somer	somer	NOUN
alkej-978	1	86	nacy4	nacy4	NOUN
alkej-978	1	87	1,2,3	1,2,3	NUM
alkej-978	1	88	department	department	NOUN
alkej-978	1	89	of	of	ADP
alkej-978	1	90	automated	automate	VERB
alkej-978	1	91	manufacturing	manufacturing	NOUN
alkej-978	1	92	engineering	engineering	NOUN
alkej-978	1	93	,	,	PUNCT
alkej-978	1	94	al	al	PROPN
alkej-978	1	95	-	-	PUNCT
alkej-978	1	96	khwarizmi	khwarizmi	PROPN
alkej-978	1	97	college	college	PROPN
alkej-978	1	98	of	of	ADP
alkej-978	1	99	engineering	engineering	PROPN
alkej-978	1	100	,	,	PUNCT
alkej-978	1	101	university	university	NOUN
alkej-978	1	102	of	of	ADP
alkej-978	1	103	baghdad	baghdad	PROPN
alkej-978	1	104	,	,	PUNCT
alkej-978	1	105	baghdad	baghdad	PROPN
alkej-978	1	106	,	,	PUNCT
alkej-978	1	107	iraq	iraq	PROPN
alkej-978	1	108	4	4	NUM
alkej-978	1	109	department	department	NOUN
alkej-978	1	110	of	of	ADP
alkej-978	1	111	mechanical	mechanical	ADJ
alkej-978	1	112	engineering	engineering	NOUN
alkej-978	1	113	,	,	PUNCT
alkej-978	1	114	san	san	PROPN
alkej-978	1	115	diego	diego	PROPN
alkej-978	1	116	state	state	PROPN
alkej-978	1	117	university	university	PROPN
alkej-978	1	118	,	,	PUNCT
alkej-978	1	119	california	california	PROPN
alkej-978	1	120	,	,	PUNCT
alkej-978	1	121	united	united	PROPN
alkej-978	1	122	states	states	PROPN
alkej-978	1	123	*	*	PUNCT
alkej-978	1	124	corresponding	correspond	VERB
alkej-978	1	125	author	author	NOUN
alkej-978	1	126	’s	’s	PART
alkej-978	1	127	email	email	NOUN
alkej-978	1	128	:	:	PUNCT
alkej-978	1	129	nazarkais@kecbu.uobaghdad.edu.iq	nazarkais@kecbu.uobaghdad.edu.iq	NOUN
alkej-978	1	130	(	(	PUNCT
alkej-978	1	131	received	receive	VERB
alkej-978	1	132	4	4	NUM
alkej-978	1	133	august	august	PROPN
alkej-978	1	134	2024	2024	NUM
alkej-978	1	135	;	;	PUNCT
alkej-978	1	136	revised	revise	VERB
alkej-978	1	137	11	11	NUM
alkej-978	1	138	january	january	PROPN
alkej-978	1	139	2025	2025	NUM
alkej-978	1	140	;	;	PUNCT
alkej-978	1	141	accepted	accept	VERB
alkej-978	1	142	10	10	NUM
alkej-978	1	143	april	april	PROPN
alkej-978	1	144	2025	2025	NUM
alkej-978	1	145	;	;	PUNCT
alkej-978	1	146	published	publish	VERB
alkej-978	1	147	1	1	NUM
alkej-978	1	148	december	december	NOUN
alkej-978	1	149	2025	2025	NUM
alkej-978	1	150	)	)	PUNCT
alkej-978	1	151	https://doi.org/10.22153/kej.2025.04.012	https://doi.org/10.22153/kej.2025.04.012	NOUN
alkej-978	1	152	abstract	abstract	ADJ
alkej-978	1	153	a	a	DET
alkej-978	1	154	gantry	gantry	NOUN
alkej-978	1	155	robot	robot	NOUN
alkej-978	1	156	is	be	AUX
alkej-978	1	157	one	one	NUM
alkej-978	1	158	of	of	ADP
alkej-978	1	159	the	the	DET
alkej-978	1	160	most	most	ADV
alkej-978	1	161	common	common	ADJ
alkej-978	1	162	types	type	NOUN
alkej-978	1	163	of	of	ADP
alkej-978	1	164	industrial	industrial	ADJ
alkej-978	1	165	robots	robot	NOUN
alkej-978	1	166	with	with	ADP
alkej-978	1	167	linear	linear	PROPN
alkej-978	1	168	movement	movement	NOUN
alkej-978	1	169	.	.	PUNCT
alkej-978	2	1	this	this	DET
alkej-978	2	2	type	type	NOUN
alkej-978	2	3	of	of	ADP
alkej-978	2	4	robot	robot	NOUN
alkej-978	2	5	is	be	AUX
alkej-978	2	6	also	also	ADV
alkej-978	2	7	known	know	VERB
alkej-978	2	8	as	as	ADP
alkej-978	2	9	a	a	DET
alkej-978	2	10	cartesian	cartesian	ADJ
alkej-978	2	11	or	or	CCONJ
alkej-978	2	12	linear	linear	ADJ
alkej-978	2	13	robot	robot	NOUN
alkej-978	2	14	.	.	PUNCT
alkej-978	3	1	it	it	PRON
alkej-978	3	2	is	be	AUX
alkej-978	3	3	an	an	DET
alkej-978	3	4	automated	automate	VERB
alkej-978	3	5	industrial	industrial	ADJ
alkej-978	3	6	system	system	NOUN
alkej-978	3	7	that	that	PRON
alkej-978	3	8	moves	move	VERB
alkej-978	3	9	along	along	ADP
alkej-978	3	10	linear	linear	PROPN
alkej-978	3	11	paths	path	NOUN
alkej-978	3	12	,	,	PUNCT
alkej-978	3	13	enabling	enable	VERB
alkej-978	3	14	it	it	PRON
alkej-978	3	15	to	to	PART
alkej-978	3	16	create	create	VERB
alkej-978	3	17	a	a	DET
alkej-978	3	18	3d	3d	NUM
alkej-978	3	19	envelope	envelope	NOUN
alkej-978	3	20	of	of	ADP
alkej-978	3	21	the	the	DET
alkej-978	3	22	space	space	NOUN
alkej-978	3	23	in	in	ADP
alkej-978	3	24	which	which	PRON
alkej-978	3	25	it	it	PRON
alkej-978	3	26	operates	operate	VERB
alkej-978	3	27	.	.	PUNCT
alkej-978	4	1	a	a	DET
alkej-978	4	2	robot	robot	NOUN
alkej-978	4	3	of	of	ADP
alkej-978	4	4	this	this	DET
alkej-978	4	5	type	type	NOUN
alkej-978	4	6	has	have	VERB
alkej-978	4	7	a	a	DET
alkej-978	4	8	standardised	standardised	ADJ
alkej-978	4	9	configuration	configuration	NOUN
alkej-978	4	10	process	process	NOUN
alkej-978	4	11	because	because	SCONJ
alkej-978	4	12	it	it	PRON
alkej-978	4	13	can	can	AUX
alkej-978	4	14	have	have	VERB
alkej-978	4	15	several	several	ADJ
alkej-978	4	16	sets	set	NOUN
alkej-978	4	17	of	of	ADP
alkej-978	4	18	axes	axis	NOUN
alkej-978	4	19	,	,	PUNCT
alkej-978	4	20	such	such	ADJ
alkej-978	4	21	as	as	ADP
alkej-978	4	22	x	x	PROPN
alkej-978	4	23	,	,	PUNCT
alkej-978	4	24	y	y	PROPN
alkej-978	4	25	and	and	CCONJ
alkej-978	4	26	z.	z.	PROPN
alkej-978	4	27	the	the	DET
alkej-978	4	28	gantry	gantry	NOUN
alkej-978	4	29	robot	robot	NOUN
alkej-978	4	30	picks	pick	VERB
alkej-978	4	31	up	up	ADP
alkej-978	4	32	products	product	NOUN
alkej-978	4	33	from	from	ADP
alkej-978	4	34	several	several	ADJ
alkej-978	4	35	places	place	NOUN
alkej-978	4	36	,	,	PUNCT
alkej-978	4	37	so	so	SCONJ
alkej-978	4	38	it	it	PRON
alkej-978	4	39	can	can	AUX
alkej-978	4	40	search	search	VERB
alkej-978	4	41	through	through	ADP
alkej-978	4	42	various	various	ADJ
alkej-978	4	43	locations	location	NOUN
alkej-978	4	44	.	.	PUNCT
alkej-978	5	1	afterwards	afterwards	ADV
alkej-978	5	2	,	,	PUNCT
alkej-978	5	3	it	it	PRON
alkej-978	5	4	carefully	carefully	ADV
alkej-978	5	5	deposits	deposit	VERB
alkej-978	5	6	the	the	DET
alkej-978	5	7	products	product	NOUN
alkej-978	5	8	on	on	ADP
alkej-978	5	9	a	a	DET
alkej-978	5	10	conveyor	conveyor	NOUN
alkej-978	5	11	belt	belt	NOUN
alkej-978	5	12	for	for	ADP
alkej-978	5	13	the	the	DET
alkej-978	5	14	next	next	ADJ
alkej-978	5	15	stage	stage	NOUN
alkej-978	5	16	of	of	ADP
alkej-978	5	17	the	the	DET
alkej-978	5	18	procedure	procedure	NOUN
alkej-978	5	19	or	or	CCONJ
alkej-978	5	20	final	final	ADJ
alkej-978	5	21	shipment	shipment	NOUN
alkej-978	5	22	.	.	PUNCT
alkej-978	6	1	this	this	DET
alkej-978	6	2	integration	integration	NOUN
alkej-978	6	3	enables	enable	VERB
alkej-978	6	4	continuous	continuous	ADJ
alkej-978	6	5	and	and	CCONJ
alkej-978	6	6	automated	automate	VERB
alkej-978	6	7	material	material	NOUN
alkej-978	6	8	flow	flow	NOUN
alkej-978	6	9	,	,	PUNCT
alkej-978	6	10	increasing	increase	VERB
alkej-978	6	11	overall	overall	ADJ
alkej-978	6	12	productivity	productivity	NOUN
alkej-978	6	13	and	and	CCONJ
alkej-978	6	14	efficiency	efficiency	NOUN
alkej-978	6	15	in	in	ADP
alkej-978	6	16	manufacturing	manufacturing	NOUN
alkej-978	6	17	operations	operation	NOUN
alkej-978	6	18	.	.	PUNCT
alkej-978	7	1	dimension	dimension	NOUN
alkej-978	7	2	measuring	measure	VERB
alkej-978	7	3	and	and	CCONJ
alkej-978	7	4	object	object	NOUN
alkej-978	7	5	placement	placement	NOUN
alkej-978	7	6	are	be	AUX
alkej-978	7	7	critical	critical	ADJ
alkej-978	7	8	tasks	task	NOUN
alkej-978	7	9	in	in	ADP
alkej-978	7	10	robot	robot	NOUN
alkej-978	7	11	and	and	CCONJ
alkej-978	7	12	conveyor	conveyor	NOUN
alkej-978	7	13	systems	system	NOUN
alkej-978	7	14	that	that	PRON
alkej-978	7	15	depend	depend	VERB
alkej-978	7	16	substantially	substantially	ADV
alkej-978	7	17	on	on	ADP
alkej-978	7	18	the	the	DET
alkej-978	7	19	types	type	NOUN
alkej-978	7	20	of	of	ADP
alkej-978	7	21	sensors	sensor	NOUN
alkej-978	7	22	.	.	PUNCT
alkej-978	8	1	progress	progress	NOUN
alkej-978	8	2	in	in	ADP
alkej-978	8	3	sensors	sensor	NOUN
alkej-978	8	4	and	and	CCONJ
alkej-978	8	5	camera	camera	NOUN
alkej-978	8	6	technologies	technology	NOUN
alkej-978	8	7	has	have	VERB
alkej-978	8	8	markedly	markedly	ADV
alkej-978	8	9	enhanced	enhance	VERB
alkej-978	8	10	precision	precision	NOUN
alkej-978	8	11	,	,	PUNCT
alkej-978	8	12	efficacy	efficacy	NOUN
alkej-978	8	13	,	,	PUNCT
alkej-978	8	14	productivity	productivity	NOUN
alkej-978	8	15	and	and	CCONJ
alkej-978	8	16	adaptability	adaptability	NOUN
alkej-978	8	17	.	.	PUNCT
alkej-978	9	1	sensors	sensor	NOUN
alkej-978	9	2	are	be	AUX
alkej-978	9	3	commonly	commonly	ADV
alkej-978	9	4	classified	classify	VERB
alkej-978	9	5	as	as	ADP
alkej-978	9	6	range	range	NOUN
alkej-978	9	7	and	and	CCONJ
alkej-978	9	8	vision	vision	NOUN
alkej-978	9	9	sensors	sensor	NOUN
alkej-978	9	10	on	on	ADP
alkej-978	9	11	the	the	DET
alkej-978	9	12	basis	basis	NOUN
alkej-978	9	13	of	of	ADP
alkej-978	9	14	their	their	PRON
alkej-978	9	15	mode	mode	NOUN
alkej-978	9	16	of	of	ADP
alkej-978	9	17	measurement	measurement	NOUN
alkej-978	9	18	.	.	PUNCT
alkej-978	10	1	this	this	DET
alkej-978	10	2	review	review	NOUN
alkej-978	10	3	article	article	NOUN
alkej-978	10	4	offers	offer	VERB
alkej-978	10	5	useful	useful	ADJ
alkej-978	10	6	knowledge	knowledge	NOUN
alkej-978	10	7	on	on	ADP
alkej-978	10	8	gantry	gantry	NOUN
alkej-978	10	9	robots	robot	NOUN
alkej-978	10	10	and	and	CCONJ
alkej-978	10	11	conveyor	conveyor	NOUN
alkej-978	10	12	systems	system	NOUN
alkej-978	10	13	and	and	CCONJ
alkej-978	10	14	their	their	PRON
alkej-978	10	15	historical	historical	ADJ
alkej-978	10	16	background	background	NOUN
alkej-978	10	17	.	.	PUNCT
alkej-978	11	1	it	it	PRON
alkej-978	11	2	examines	examine	VERB
alkej-978	11	3	recent	recent	ADJ
alkej-978	11	4	research	research	NOUN
alkej-978	11	5	that	that	PRON
alkej-978	11	6	has	have	AUX
alkej-978	11	7	reported	report	VERB
alkej-978	11	8	on	on	ADP
alkej-978	11	9	the	the	DET
alkej-978	11	10	advantages	advantage	NOUN
alkej-978	11	11	and	and	CCONJ
alkej-978	11	12	disadvantages	disadvantage	NOUN
alkej-978	11	13	of	of	ADP
alkej-978	11	14	gantry	gantry	NOUN
alkej-978	11	15	robots	robot	NOUN
alkej-978	11	16	.	.	PUNCT
alkej-978	12	1	moreover	moreover	ADV
alkej-978	12	2	,	,	PUNCT
alkej-978	12	3	literature	literature	NOUN
alkej-978	12	4	on	on	ADP
alkej-978	12	5	object	object	NOUN
alkej-978	12	6	dimensioning	dimensioning	NOUN
alkej-978	12	7	and	and	CCONJ
alkej-978	12	8	positioning	positioning	NOUN
alkej-978	12	9	via	via	ADP
alkej-978	12	10	sensors	sensor	NOUN
alkej-978	12	11	and	and	CCONJ
alkej-978	12	12	cameras	camera	NOUN
alkej-978	12	13	in	in	ADP
alkej-978	12	14	gantry	gantry	NOUN
alkej-978	12	15	robots	robot	NOUN
alkej-978	12	16	is	be	AUX
alkej-978	12	17	presented	present	VERB
alkej-978	12	18	.	.	PUNCT
alkej-978	13	1	this	this	DET
alkej-978	13	2	review	review	NOUN
alkej-978	13	3	elucidates	elucidate	VERB
alkej-978	13	4	the	the	DET
alkej-978	13	5	advantages	advantage	NOUN
alkej-978	13	6	and	and	CCONJ
alkej-978	13	7	disadvantages	disadvantage	NOUN
alkej-978	13	8	of	of	ADP
alkej-978	13	9	several	several	ADJ
alkej-978	13	10	sensing	sense	VERB
alkej-978	13	11	types	type	NOUN
alkej-978	13	12	,	,	PUNCT
alkej-978	13	13	including	include	VERB
alkej-978	13	14	cameras	camera	NOUN
alkej-978	13	15	and	and	CCONJ
alkej-978	13	16	conventional	conventional	ADJ
alkej-978	13	17	sensors	sensor	NOUN
alkej-978	13	18	.	.	PUNCT
alkej-978	14	1	comparisons	comparison	NOUN
alkej-978	14	2	of	of	ADP
alkej-978	14	3	robotic	robotic	ADJ
alkej-978	14	4	systems	system	NOUN
alkej-978	14	5	in	in	ADP
alkej-978	14	6	terms	term	NOUN
alkej-978	14	7	of	of	ADP
alkej-978	14	8	accuracy	accuracy	NOUN
alkej-978	14	9	,	,	PUNCT
alkej-978	14	10	speed	speed	NOUN
alkej-978	14	11	,	,	PUNCT
alkej-978	14	12	cost	cost	NOUN
alkej-978	14	13	,	,	PUNCT
alkej-978	14	14	energy	energy	NOUN
alkej-978	14	15	efficiency	efficiency	NOUN
alkej-978	14	16	and	and	CCONJ
alkej-978	14	17	other	other	ADJ
alkej-978	14	18	aspects	aspect	NOUN
alkej-978	14	19	are	be	AUX
alkej-978	14	20	also	also	ADV
alkej-978	14	21	performed	perform	VERB
alkej-978	14	22	.	.	PUNCT
alkej-978	15	1	many	many	ADJ
alkej-978	15	2	studies	study	NOUN
alkej-978	15	3	have	have	AUX
alkej-978	15	4	been	be	AUX
alkej-978	15	5	conducted	conduct	VERB
alkej-978	15	6	on	on	ADP
alkej-978	15	7	body	body	NOUN
alkej-978	15	8	detection	detection	NOUN
alkej-978	15	9	via	via	ADP
alkej-978	15	10	vision	vision	NOUN
alkej-978	15	11	technology	technology	NOUN
alkej-978	15	12	and	and	CCONJ
alkej-978	15	13	sensors	sensor	NOUN
alkej-978	15	14	,	,	PUNCT
alkej-978	15	15	but	but	CCONJ
alkej-978	15	16	the	the	DET
alkej-978	15	17	use	use	NOUN
alkej-978	15	18	of	of	ADP
alkej-978	15	19	laser	laser	NOUN
alkej-978	15	20	sensors	sensor	NOUN
alkej-978	15	21	has	have	AUX
alkej-978	15	22	received	receive	VERB
alkej-978	15	23	minimal	minimal	ADJ
alkej-978	15	24	attention	attention	NOUN
alkej-978	15	25	and	and	CCONJ
alkej-978	15	26	needs	need	VERB
alkej-978	15	27	further	further	ADJ
alkej-978	15	28	focus	focus	NOUN
alkej-978	15	29	in	in	ADP
alkej-978	15	30	the	the	DET
alkej-978	15	31	future	future	NOUN
alkej-978	15	32	.	.	PUNCT
alkej-978	16	1	keywords	keyword	NOUN
alkej-978	16	2	:	:	PUNCT
alkej-978	16	3	gantry	gantry	NOUN
alkej-978	16	4	robot	robot	NOUN
alkej-978	16	5	;	;	PUNCT
alkej-978	16	6	dimensions	dimension	NOUN
alkej-978	16	7	;	;	PUNCT
alkej-978	16	8	location	location	NOUN
alkej-978	16	9	;	;	PUNCT
alkej-978	16	10	sensors	sensor	NOUN
alkej-978	16	11	;	;	PUNCT
alkej-978	16	12	vision	vision	NOUN
alkej-978	16	13	;	;	PUNCT
alkej-978	16	14	conveyor	conveyor	NOUN
alkej-978	16	15	system	system	NOUN
alkej-978	16	16	1	1	NUM
alkej-978	16	17	.	.	PUNCT
alkej-978	16	18	introduction	introduction	NOUN
alkej-978	16	19	the	the	DET
alkej-978	16	20	use	use	NOUN
alkej-978	16	21	of	of	ADP
alkej-978	16	22	robots	robot	NOUN
alkej-978	16	23	in	in	ADP
alkej-978	16	24	various	various	ADJ
alkej-978	16	25	industrial	industrial	ADJ
alkej-978	16	26	and	and	CCONJ
alkej-978	16	27	commercial	commercial	ADJ
alkej-978	16	28	applications	application	NOUN
alkej-978	16	29	is	be	AUX
alkej-978	16	30	increasing	increase	VERB
alkej-978	16	31	as	as	SCONJ
alkej-978	16	32	robotic	robotic	ADJ
alkej-978	16	33	technologies	technology	NOUN
alkej-978	16	34	develop	develop	VERB
alkej-978	16	35	[	[	X
alkej-978	16	36	1	1	NUM
alkej-978	16	37	]	]	PUNCT
alkej-978	16	38	.	.	PUNCT
alkej-978	17	1	these	these	DET
alkej-978	17	2	applications	application	NOUN
alkej-978	17	3	utilise	utilise	VERB
alkej-978	17	4	robots	robot	NOUN
alkej-978	17	5	to	to	PART
alkej-978	17	6	help	help	VERB
alkej-978	17	7	humans	human	NOUN
alkej-978	17	8	perform	perform	VERB
alkej-978	17	9	tasks	task	NOUN
alkej-978	17	10	,	,	PUNCT
alkej-978	17	11	and	and	CCONJ
alkej-978	17	12	in	in	ADP
alkej-978	17	13	some	some	DET
alkej-978	17	14	cases	case	NOUN
alkej-978	17	15	,	,	PUNCT
alkej-978	17	16	they	they	PRON
alkej-978	17	17	even	even	ADV
alkej-978	17	18	replace	replace	VERB
alkej-978	17	19	humans	human	NOUN
alkej-978	17	20	[	[	X
alkej-978	17	21	2	2	NUM
alkej-978	17	22	]	]	PUNCT
alkej-978	17	23	.	.	PUNCT
alkej-978	18	1	gantry	gantry	NOUN
alkej-978	18	2	robots	robot	NOUN
alkej-978	18	3	can	can	AUX
alkej-978	18	4	provide	provide	VERB
alkej-978	18	5	complete	complete	ADJ
alkej-978	18	6	control	control	NOUN
alkej-978	18	7	of	of	ADP
alkej-978	18	8	xyz	xyz	NOUN
alkej-978	18	9	cartesian	cartesian	ADJ
alkej-978	18	10	space	space	NOUN
alkej-978	18	11	along	along	ADP
alkej-978	18	12	a	a	DET
alkej-978	18	13	plane	plane	NOUN
alkej-978	18	14	,	,	PUNCT
alkej-978	18	15	allowing	allow	VERB
alkej-978	18	16	them	they	PRON
alkej-978	18	17	to	to	PART
alkej-978	18	18	move	move	VERB
alkej-978	18	19	at	at	ADP
alkej-978	18	20	high	high	ADJ
alkej-978	18	21	speeds	speed	NOUN
alkej-978	18	22	and	and	CCONJ
alkej-978	18	23	perform	perform	VERB
alkej-978	18	24	pick	pick	VERB
alkej-978	18	25	-	-	PUNCT
alkej-978	18	26	and	and	CCONJ
alkej-978	18	27	-	-	PUNCT
alkej-978	18	28	place	place	NOUN
alkej-978	18	29	operations	operation	NOUN
alkej-978	18	30	with	with	ADP
alkej-978	18	31	precision	precision	NOUN
alkej-978	18	32	[	[	X
alkej-978	18	33	3	3	NUM
alkej-978	18	34	]	]	PUNCT
alkej-978	18	35	.	.	PUNCT
alkej-978	19	1	gantry	gantry	NOUN
alkej-978	19	2	robots	robot	NOUN
alkej-978	19	3	,	,	PUNCT
alkej-978	19	4	equipped	equip	VERB
alkej-978	19	5	with	with	ADP
alkej-978	19	6	gripping	gripping	ADJ
alkej-978	19	7	devices	device	NOUN
alkej-978	19	8	and	and	CCONJ
alkej-978	19	9	conveyor	conveyor	NOUN
alkej-978	19	10	systems	system	NOUN
alkej-978	19	11	,	,	PUNCT
alkej-978	19	12	are	be	AUX
alkej-978	19	13	one	one	NUM
alkej-978	19	14	of	of	ADP
alkej-978	19	15	the	the	DET
alkej-978	19	16	primary	primary	ADJ
alkej-978	19	17	agents	agent	NOUN
alkej-978	19	18	in	in	ADP
alkej-978	19	19	the	the	DET
alkej-978	19	20	movement	movement	NOUN
alkej-978	19	21	of	of	ADP
alkej-978	19	22	parts	part	NOUN
alkej-978	19	23	,	,	PUNCT
alkej-978	19	24	components	component	NOUN
alkej-978	19	25	and	and	CCONJ
alkej-978	19	26	products	product	NOUN
alkej-978	19	27	[	[	X
alkej-978	19	28	4	4	NUM
alkej-978	19	29	]	]	PUNCT
alkej-978	19	30	.	.	PUNCT
alkej-978	20	1	such	such	ADJ
alkej-978	20	2	pick	pick	VERB
alkej-978	20	3	-	-	PUNCT
alkej-978	20	4	and	and	CCONJ
alkej-978	20	5	-	-	PUNCT
alkej-978	20	6	place	place	NOUN
alkej-978	20	7	and	and	CCONJ
alkej-978	20	8	motion	motion	NOUN
alkej-978	20	9	control	control	NOUN
alkej-978	20	10	operations	operation	NOUN
alkej-978	20	11	mostly	mostly	ADV
alkej-978	20	12	depend	depend	VERB
alkej-978	20	13	on	on	ADP
alkej-978	20	14	https://doi.org/10.22153/kej.2025.04.012	https://doi.org/10.22153/kej.2025.04.012	PROPN
alkej-978	20	15	hayder	hayder	PROPN
alkej-978	20	16	ali	ali	PROPN
alkej-978	20	17	saadi	saadi	PROPN
alkej-978	20	18	al	al	PROPN
alkej-978	20	19	-	-	PUNCT
alkej-978	20	20	khwarizmi	khwarizmi	PROPN
alkej-978	20	21	engineering	engineering	NOUN
alkej-978	20	22	journal	journal	PROPN
alkej-978	20	23	,	,	PUNCT
alkej-978	20	24	vol	vol	NOUN
alkej-978	20	25	.	.	PROPN
alkej-978	20	26	21	21	NUM
alkej-978	20	27	,	,	PUNCT
alkej-978	20	28	no.4	no.4	PROPN
alkej-978	20	29	,	,	PUNCT
alkej-978	20	30	pp	pp	X
alkej-978	20	31	.	.	PUNCT
alkej-978	21	1	106124	106124	NUM
alkej-978	21	2	(	(	PUNCT
alkej-978	21	3	2025	2025	NUM
alkej-978	21	4	)	)	PUNCT
alkej-978	21	5	107	107	NUM
alkej-978	21	6	these	these	DET
alkej-978	21	7	large	large	ADJ
alkej-978	21	8	-	-	PUNCT
alkej-978	21	9	scale	scale	NOUN
alkej-978	21	10	systems	system	NOUN
alkej-978	21	11	[	[	X
alkej-978	21	12	5	5	NUM
alkej-978	21	13	]	]	PUNCT
alkej-978	21	14	.	.	PUNCT
alkej-978	22	1	determining	determine	VERB
alkej-978	22	2	human	human	ADJ
alkej-978	22	3	body	body	NOUN
alkej-978	22	4	dimensions	dimension	NOUN
alkej-978	22	5	is	be	AUX
alkej-978	22	6	an	an	DET
alkej-978	22	7	indispensable	indispensable	ADJ
alkej-978	22	8	task	task	NOUN
alkej-978	22	9	in	in	ADP
alkej-978	22	10	numerous	numerous	ADJ
alkej-978	22	11	technological	technological	ADJ
alkej-978	22	12	and	and	CCONJ
alkej-978	22	13	industrial	industrial	ADJ
alkej-978	22	14	areas	area	NOUN
alkej-978	22	15	[	[	X
alkej-978	22	16	6	6	NUM
alkej-978	22	17	]	]	PUNCT
alkej-978	22	18	.	.	PUNCT
alkej-978	23	1	the	the	DET
alkej-978	23	2	success	success	NOUN
alkej-978	23	3	of	of	ADP
alkej-978	23	4	these	these	DET
alkej-978	23	5	systems	system	NOUN
alkej-978	23	6	depends	depend	VERB
alkej-978	23	7	largely	largely	ADV
alkej-978	23	8	on	on	ADP
alkej-978	23	9	sensor	sensor	NOUN
alkej-978	23	10	and	and	CCONJ
alkej-978	23	11	camera	camera	NOUN
alkej-978	23	12	technologies	technology	NOUN
alkej-978	23	13	that	that	PRON
alkej-978	23	14	help	help	AUX
alkej-978	23	15	express	express	VERB
alkej-978	23	16	factualness	factualness	NOUN
alkej-978	23	17	and	and	CCONJ
alkej-978	23	18	effectiveness	effectiveness	NOUN
alkej-978	23	19	when	when	SCONJ
alkej-978	23	20	imparting	impart	VERB
alkej-978	23	21	dimensions	dimension	NOUN
alkej-978	23	22	and	and	CCONJ
alkej-978	23	23	design	design	NOUN
alkej-978	23	24	locations	location	NOUN
alkej-978	23	25	.	.	PUNCT
alkej-978	24	1	some	some	DET
alkej-978	24	2	sensors	sensor	NOUN
alkej-978	24	3	and	and	CCONJ
alkej-978	24	4	vision	vision	NOUN
alkej-978	24	5	technologies	technology	NOUN
alkej-978	24	6	,	,	PUNCT
alkej-978	24	7	where	where	SCONJ
alkej-978	24	8	lasers	laser	NOUN
alkej-978	24	9	,	,	PUNCT
alkej-978	24	10	infrared	infrared	ADJ
alkej-978	24	11	and	and	CCONJ
alkej-978	24	12	3d	3d	NUM
alkej-978	24	13	cameras	camera	NOUN
alkej-978	24	14	are	be	AUX
alkej-978	24	15	involved	involve	VERB
alkej-978	24	16	,	,	PUNCT
alkej-978	24	17	have	have	AUX
alkej-978	24	18	been	be	AUX
alkej-978	24	19	integrated	integrate	VERB
alkej-978	24	20	to	to	PART
alkej-978	24	21	achieve	achieve	VERB
alkej-978	24	22	the	the	DET
alkej-978	24	23	same	same	ADJ
alkej-978	24	24	goal	goal	NOUN
alkej-978	24	25	through	through	ADP
alkej-978	24	26	distance	distance	NOUN
alkej-978	24	27	measuring	measuring	NOUN
alkej-978	24	28	and	and	CCONJ
alkej-978	24	29	location	location	NOUN
alkej-978	24	30	pinpointing	pinpoint	VERB
alkej-978	24	31	with	with	ADP
alkej-978	24	32	high	high	ADJ
alkej-978	24	33	accuracy	accuracy	NOUN
alkej-978	24	34	.	.	PUNCT
alkej-978	25	1	through	through	ADP
alkej-978	25	2	these	these	DET
alkej-978	25	3	means	mean	NOUN
alkej-978	25	4	,	,	PUNCT
alkej-978	25	5	the	the	DET
alkej-978	25	6	required	require	VERB
alkej-978	25	7	dimensions	dimension	NOUN
alkej-978	25	8	and	and	CCONJ
alkej-978	25	9	locations	location	NOUN
alkej-978	25	10	can	can	AUX
alkej-978	25	11	be	be	AUX
alkej-978	25	12	monitored	monitor	VERB
alkej-978	25	13	exactly	exactly	ADV
alkej-978	25	14	,	,	PUNCT
alkej-978	25	15	thus	thus	ADV
alkej-978	25	16	realising	realise	VERB
alkej-978	25	17	high	high	ADJ
alkej-978	25	18	process	process	NOUN
alkej-978	25	19	efficiency	efficiency	NOUN
alkej-978	25	20	and	and	CCONJ
alkej-978	25	21	outstanding	outstanding	ADJ
alkej-978	25	22	performance	performance	NOUN
alkej-978	25	23	in	in	ADP
alkej-978	25	24	a	a	DET
alkej-978	25	25	wide	wide	ADJ
alkej-978	25	26	range	range	NOUN
alkej-978	25	27	of	of	ADP
alkej-978	25	28	industrial	industrial	ADJ
alkej-978	25	29	and	and	CCONJ
alkej-978	25	30	scientific	scientific	ADJ
alkej-978	25	31	applications	application	NOUN
alkej-978	25	32	[	[	X
alkej-978	25	33	7	7	NUM
alkej-978	25	34	]	]	PUNCT
alkej-978	25	35	.	.	PUNCT
alkej-978	26	1	some	some	DET
alkej-978	26	2	robotics	robotic	NOUN
alkej-978	26	3	equipment	equipment	NOUN
alkej-978	26	4	can	can	AUX
alkej-978	26	5	determine	determine	VERB
alkej-978	26	6	the	the	DET
alkej-978	26	7	shapes	shape	NOUN
alkej-978	26	8	and	and	CCONJ
alkej-978	26	9	sizes	size	NOUN
alkej-978	26	10	of	of	ADP
alkej-978	26	11	products	product	NOUN
alkej-978	26	12	for	for	ADP
alkej-978	26	13	classification	classification	NOUN
alkej-978	26	14	and	and	CCONJ
alkej-978	26	15	sorting	sort	VERB
alkej-978	26	16	through	through	ADP
alkej-978	26	17	vision	vision	NOUN
alkej-978	26	18	[	[	X
alkej-978	26	19	8	8	NUM
alkej-978	26	20	]	]	PUNCT
alkej-978	26	21	.	.	PUNCT
alkej-978	27	1	sensing	sense	VERB
alkej-978	27	2	and	and	CCONJ
alkej-978	27	3	identifying	identify	VERB
alkej-978	27	4	the	the	DET
alkej-978	27	5	most	most	ADV
alkej-978	27	6	crucial	crucial	ADJ
alkej-978	27	7	aspects	aspect	NOUN
alkej-978	27	8	in	in	ADP
alkej-978	27	9	automated	automate	VERB
alkej-978	27	10	sorting	sorting	NOUN
alkej-978	27	11	systems	system	NOUN
alkej-978	27	12	that	that	PRON
alkej-978	27	13	have	have	AUX
alkej-978	27	14	emerged	emerge	VERB
alkej-978	27	15	in	in	ADP
alkej-978	27	16	this	this	DET
alkej-978	27	17	context	context	NOUN
alkej-978	27	18	and	and	CCONJ
alkej-978	27	19	that	that	SCONJ
alkej-978	27	20	demand	demand	NOUN
alkej-978	27	21	thorough	thorough	ADJ
alkej-978	27	22	focus	focus	NOUN
alkej-978	27	23	have	have	AUX
alkej-978	27	24	been	be	AUX
alkej-978	27	25	pointed	point	VERB
alkej-978	27	26	out	out	ADP
alkej-978	27	27	as	as	ADP
alkej-978	27	28	crucial	crucial	ADJ
alkej-978	27	29	.	.	PUNCT
alkej-978	28	1	sensing	sense	VERB
alkej-978	28	2	involves	involve	VERB
alkej-978	28	3	not	not	PART
alkej-978	28	4	only	only	ADV
alkej-978	28	5	the	the	DET
alkej-978	28	6	detection	detection	NOUN
alkej-978	28	7	but	but	CCONJ
alkej-978	28	8	also	also	ADV
alkej-978	28	9	the	the	DET
alkej-978	28	10	classification	classification	NOUN
alkej-978	28	11	of	of	ADP
alkej-978	28	12	objects	object	NOUN
alkej-978	28	13	provided	provide	VERB
alkej-978	28	14	for	for	ADP
alkej-978	28	15	sorting	sorting	NOUN
alkej-978	28	16	,	,	PUNCT
alkej-978	28	17	which	which	PRON
alkej-978	28	18	in	in	ADP
alkej-978	28	19	turn	turn	NOUN
alkej-978	28	20	requires	require	VERB
alkej-978	28	21	advanced	advanced	ADJ
alkej-978	28	22	techniques	technique	NOUN
alkej-978	28	23	in	in	ADP
alkej-978	28	24	data	data	NOUN
alkej-978	28	25	handling	handling	NOUN
alkej-978	28	26	and	and	CCONJ
alkej-978	28	27	environment	environment	NOUN
alkej-978	28	28	awareness	awareness	NOUN
alkej-978	28	29	generation	generation	NOUN
alkej-978	29	1	[	[	X
alkej-978	29	2	9	9	NUM
alkej-978	29	3	]	]	PUNCT
alkej-978	29	4	.	.	PUNCT
alkej-978	30	1	furthermore	furthermore	ADV
alkej-978	30	2	,	,	PUNCT
alkej-978	30	3	grabbing	grab	VERB
alkej-978	30	4	,	,	PUNCT
alkej-978	30	5	a	a	DET
alkej-978	30	6	stage	stage	NOUN
alkej-978	30	7	that	that	PRON
alkej-978	30	8	means	mean	VERB
alkej-978	30	9	attaining	attain	VERB
alkej-978	30	10	the	the	DET
alkej-978	30	11	target	target	NOUN
alkej-978	30	12	disunion	disunion	NOUN
alkej-978	30	13	with	with	ADP
alkej-978	30	14	the	the	DET
alkej-978	30	15	highest	high	ADJ
alkej-978	30	16	degree	degree	NOUN
alkej-978	30	17	of	of	ADP
alkej-978	30	18	precision	precision	NOUN
alkej-978	30	19	and	and	CCONJ
alkej-978	30	20	effectiveness	effectiveness	NOUN
alkej-978	30	21	,	,	PUNCT
alkej-978	30	22	should	should	AUX
alkej-978	30	23	come	come	VERB
alkej-978	30	24	first	first	ADV
alkej-978	30	25	[	[	X
alkej-978	30	26	10	10	NUM
alkej-978	30	27	]	]	PUNCT
alkej-978	30	28	.	.	PUNCT
alkej-978	31	1	to	to	PART
alkej-978	31	2	make	make	VERB
alkej-978	31	3	materials	material	NOUN
alkej-978	31	4	sufficiently	sufficiently	ADV
alkej-978	31	5	capable	capable	ADJ
alkej-978	31	6	,	,	PUNCT
alkej-978	31	7	designers	designer	NOUN
alkej-978	31	8	should	should	AUX
alkej-978	31	9	produce	produce	VERB
alkej-978	31	10	mechanisms	mechanism	NOUN
alkej-978	31	11	and	and	CCONJ
alkej-978	31	12	devices	device	NOUN
alkej-978	31	13	that	that	PRON
alkej-978	31	14	consist	consist	VERB
alkej-978	31	15	of	of	ADP
alkej-978	31	16	intelligent	intelligent	ADJ
alkej-978	31	17	algorithms	algorithm	NOUN
alkej-978	31	18	and	and	CCONJ
alkej-978	31	19	a	a	DET
alkej-978	31	20	strong	strong	ADJ
alkej-978	31	21	processing	processing	NOUN
alkej-978	31	22	unit	unit	NOUN
alkej-978	31	23	so	so	SCONJ
alkej-978	31	24	that	that	SCONJ
alkej-978	31	25	the	the	DET
alkej-978	31	26	whole	whole	ADJ
alkej-978	31	27	system	system	NOUN
alkej-978	31	28	will	will	AUX
alkej-978	31	29	be	be	AUX
alkej-978	31	30	reliable	reliable	ADJ
alkej-978	31	31	,	,	PUNCT
alkej-978	31	32	and	and	CCONJ
alkej-978	31	33	the	the	DET
alkej-978	31	34	sorting	sort	VERB
alkej-978	31	35	task	task	NOUN
alkej-978	31	36	will	will	AUX
alkej-978	31	37	proceed	proceed	VERB
alkej-978	31	38	with	with	ADP
alkej-978	31	39	upgraded	upgrade	VERB
alkej-978	31	40	efficiency	efficiency	NOUN
alkej-978	31	41	[	[	X
alkej-978	31	42	11	11	NUM
alkej-978	31	43	]	]	PUNCT
alkej-978	31	44	.	.	PUNCT
alkej-978	32	1	cartesian	cartesian	ADJ
alkej-978	32	2	or	or	CCONJ
alkej-978	32	3	gantry	gantry	NOUN
alkej-978	32	4	robots	robot	NOUN
alkej-978	32	5	should	should	AUX
alkej-978	32	6	work	work	VERB
alkej-978	32	7	along	along	ADP
alkej-978	32	8	a	a	DET
alkej-978	32	9	rigorously	rigorously	ADV
alkej-978	32	10	marked	mark	VERB
alkej-978	32	11	route	route	NOUN
alkej-978	32	12	,	,	PUNCT
alkej-978	32	13	and	and	CCONJ
alkej-978	32	14	changes	change	NOUN
alkej-978	32	15	in	in	ADP
alkej-978	32	16	object	object	NOUN
alkej-978	32	17	dimension	dimension	NOUN
alkej-978	32	18	and	and	CCONJ
alkej-978	32	19	position	position	NOUN
alkej-978	32	20	detection	detection	NOUN
alkej-978	32	21	should	should	AUX
alkej-978	32	22	be	be	AUX
alkej-978	32	23	minimal	minimal	ADJ
alkej-978	32	24	only	only	ADV
alkej-978	32	25	.	.	PUNCT
alkej-978	33	1	in	in	ADP
alkej-978	33	2	a	a	DET
alkej-978	33	3	previous	previous	ADJ
alkej-978	33	4	study	study	NOUN
alkej-978	33	5	,	,	PUNCT
alkej-978	33	6	the	the	DET
alkej-978	33	7	researchers	researcher	NOUN
alkej-978	33	8	demonstrated	demonstrate	VERB
alkej-978	33	9	a	a	DET
alkej-978	33	10	robotic	robotic	ADJ
alkej-978	33	11	system	system	NOUN
alkej-978	33	12	that	that	PRON
alkej-978	33	13	could	could	AUX
alkej-978	33	14	locate	locate	VERB
alkej-978	33	15	with	with	ADP
alkej-978	33	16	high	high	ADJ
alkej-978	33	17	precision	precision	NOUN
alkej-978	33	18	and	and	CCONJ
alkej-978	33	19	subsequently	subsequently	ADV
alkej-978	33	20	pick	pick	VERB
alkej-978	33	21	up	up	ADP
alkej-978	33	22	moving	move	VERB
alkej-978	33	23	objects	object	NOUN
alkej-978	33	24	from	from	ADP
alkej-978	33	25	a	a	DET
alkej-978	33	26	conveyor	conveyor	NOUN
alkej-978	33	27	belt	belt	NOUN
alkej-978	33	28	.	.	PUNCT
alkej-978	34	1	the	the	DET
alkej-978	34	2	system	system	NOUN
alkej-978	34	3	employs	employ	VERB
alkej-978	34	4	the	the	DET
alkej-978	34	5	you	you	PRON
alkej-978	34	6	only	only	ADV
alkej-978	34	7	look	look	VERB
alkej-978	34	8	once	once	ADV
alkej-978	34	9	(	(	PUNCT
alkej-978	34	10	yolo	yolo	ADJ
alkej-978	34	11	)	)	PUNCT
alkej-978	34	12	algorithm	algorithm	NOUN
alkej-978	34	13	for	for	ADP
alkej-978	34	14	object	object	NOUN
alkej-978	34	15	identification	identification	NOUN
alkej-978	34	16	,	,	PUNCT
alkej-978	34	17	principal	principal	ADJ
alkej-978	34	18	component	component	NOUN
alkej-978	34	19	analysis	analysis	NOUN
alkej-978	34	20	(	(	PUNCT
alkej-978	34	21	pca	pca	NOUN
alkej-978	34	22	)	)	PUNCT
alkej-978	34	23	for	for	ADP
alkej-978	34	24	orientation	orientation	NOUN
alkej-978	34	25	prediction	prediction	NOUN
alkej-978	34	26	and	and	CCONJ
alkej-978	34	27	template	template	NOUN
alkej-978	34	28	matching	matching	NOUN
alkej-978	34	29	techniques	technique	NOUN
alkej-978	34	30	for	for	ADP
alkej-978	34	31	accelerating	accelerate	VERB
alkej-978	34	32	the	the	DET
alkej-978	34	33	motion	motion	NOUN
alkej-978	34	34	of	of	ADP
alkej-978	34	35	objects	object	NOUN
alkej-978	34	36	.	.	PUNCT
alkej-978	35	1	an	an	DET
alkej-978	35	2	artificial	artificial	ADJ
alkej-978	35	3	neural	neural	ADJ
alkej-978	35	4	network	network	NOUN
alkej-978	35	5	is	be	AUX
alkej-978	35	6	in	in	ADP
alkej-978	35	7	charge	charge	NOUN
alkej-978	35	8	of	of	ADP
alkej-978	35	9	the	the	DET
alkej-978	35	10	three	three	NUM
alkej-978	35	11	-	-	PUNCT
alkej-978	35	12	degrees	degree	NOUN
alkej-978	35	13	-	-	PUNCT
alkej-978	35	14	of	of	ADP
alkej-978	35	15	freedom	freedom	NOUN
alkej-978	35	16	cartesian	cartesian	ADJ
alkej-978	35	17	manipulator	manipulator	NOUN
alkej-978	35	18	that	that	PRON
alkej-978	35	19	counterbalances	counterbalance	VERB
alkej-978	35	20	the	the	DET
alkej-978	35	21	robot	robot	NOUN
alkej-978	35	22	arm	arm	NOUN
alkej-978	35	23	to	to	PART
alkej-978	35	24	ensure	ensure	VERB
alkej-978	35	25	accurate	accurate	ADJ
alkej-978	35	26	understanding	understanding	NOUN
alkej-978	35	27	.	.	PUNCT
alkej-978	36	1	in	in	ADP
alkej-978	36	2	real	real	ADJ
alkej-978	36	3	dynamic	dynamic	ADJ
alkej-978	36	4	scenes	scene	NOUN
alkej-978	36	5	,	,	PUNCT
alkej-978	36	6	the	the	DET
alkej-978	36	7	system	system	NOUN
alkej-978	36	8	achieves	achieve	VERB
alkej-978	36	9	a	a	DET
alkej-978	36	10	success	success	NOUN
alkej-978	36	11	rate	rate	NOUN
alkej-978	36	12	of	of	ADP
alkej-978	36	13	94.86	94.86	NUM
alkej-978	36	14	%	%	NOUN
alkej-978	36	15	for	for	ADP
alkej-978	36	16	vertically	vertically	ADV
alkej-978	36	17	oriented	orient	VERB
alkej-978	36	18	objects	object	NOUN
alkej-978	36	19	and	and	CCONJ
alkej-978	36	20	91.43	91.43	NUM
alkej-978	36	21	%	%	NOUN
alkej-978	36	22	for	for	ADP
alkej-978	36	23	horizontally	horizontally	ADV
alkej-978	36	24	disposed	disposed	ADJ
alkej-978	36	25	ones	one	NOUN
alkej-978	36	26	,	,	PUNCT
alkej-978	36	27	thereby	thereby	ADV
alkej-978	36	28	setting	set	VERB
alkej-978	36	29	the	the	DET
alkej-978	36	30	ground	ground	NOUN
alkej-978	36	31	for	for	ADP
alkej-978	36	32	its	its	PRON
alkej-978	36	33	application	application	NOUN
alkej-978	36	34	in	in	ADP
alkej-978	36	35	actual	actual	ADJ
alkej-978	36	36	scenes	scene	NOUN
alkej-978	36	37	[	[	X
alkej-978	36	38	1	1	NUM
alkej-978	36	39	]	]	PUNCT
alkej-978	36	40	.	.	PUNCT
alkej-978	37	1	another	another	DET
alkej-978	37	2	landmark	landmark	NOUN
alkej-978	37	3	is	be	AUX
alkej-978	37	4	the	the	DET
alkej-978	37	5	creation	creation	NOUN
alkej-978	37	6	of	of	ADP
alkej-978	37	7	a	a	DET
alkej-978	37	8	versatile	versatile	ADJ
alkej-978	37	9	,	,	PUNCT
alkej-978	37	10	three	three	NUM
alkej-978	37	11	-	-	PUNCT
alkej-978	37	12	fingered	finger	VERB
alkej-978	37	13	robotic	robotic	ADJ
alkej-978	37	14	hand	hand	NOUN
alkej-978	37	15	and	and	CCONJ
alkej-978	37	16	a	a	DET
alkej-978	37	17	vision	vision	NOUN
alkej-978	37	18	system	system	NOUN
alkej-978	37	19	to	to	PART
alkej-978	37	20	handle	handle	VERB
alkej-978	37	21	multiple	multiple	ADJ
alkej-978	37	22	objects	object	NOUN
alkej-978	37	23	in	in	ADP
alkej-978	37	24	various	various	ADJ
alkej-978	37	25	scenarios	scenario	NOUN
alkej-978	37	26	.	.	PUNCT
alkej-978	38	1	the	the	DET
alkej-978	38	2	gripper	gripper	NOUN
alkej-978	38	3	,	,	PUNCT
alkej-978	38	4	equipped	equip	VERB
alkej-978	38	5	with	with	ADP
alkej-978	38	6	visual	visual	ADJ
alkej-978	38	7	serving	serving	NOUN
alkej-978	38	8	,	,	PUNCT
alkej-978	38	9	can	can	AUX
alkej-978	38	10	perform	perform	VERB
alkej-978	38	11	real	real	ADJ
alkej-978	38	12	-	-	PUNCT
alkej-978	38	13	time	time	NOUN
alkej-978	38	14	target	target	NOUN
alkej-978	38	15	tracking	tracking	NOUN
alkej-978	38	16	and	and	CCONJ
alkej-978	38	17	uses	use	VERB
alkej-978	38	18	a	a	DET
alkej-978	38	19	raspberry	raspberry	NOUN
alkej-978	38	20	pi	pi	NOUN
alkej-978	38	21	controller	controller	NOUN
alkej-978	38	22	for	for	ADP
alkej-978	38	23	movement	movement	NOUN
alkej-978	38	24	.	.	PUNCT
alkej-978	39	1	the	the	DET
alkej-978	39	2	design	design	NOUN
alkej-978	39	3	adjusts	adjust	VERB
alkej-978	39	4	the	the	DET
alkej-978	39	5	grippers	gripper	NOUN
alkej-978	39	6	for	for	ADP
alkej-978	39	7	different	different	ADJ
alkej-978	39	8	object	object	NOUN
alkej-978	39	9	shapes	shape	NOUN
alkej-978	39	10	and	and	CCONJ
alkej-978	39	11	attains	attain	NOUN
alkej-978	39	12	100	100	NUM
alkej-978	39	13	%	%	NOUN
alkej-978	39	14	success	success	NOUN
alkej-978	39	15	in	in	ADP
alkej-978	39	16	dynamic	dynamic	ADJ
alkej-978	39	17	,	,	PUNCT
alkej-978	39	18	nonvisual	nonvisual	ADJ
alkej-978	39	19	environments	environment	NOUN
alkej-978	39	20	.	.	PUNCT
alkej-978	40	1	such	such	DET
alkej-978	40	2	a	a	DET
alkej-978	40	3	solution	solution	NOUN
alkej-978	40	4	is	be	AUX
alkej-978	40	5	perfect	perfect	ADJ
alkej-978	40	6	for	for	ADP
alkej-978	40	7	intelligent	intelligent	ADJ
alkej-978	40	8	manufacturing	manufacturing	NOUN
alkej-978	40	9	because	because	SCONJ
alkej-978	40	10	it	it	PRON
alkej-978	40	11	facilitates	facilitate	VERB
alkej-978	40	12	calibration	calibration	NOUN
alkej-978	40	13	,	,	PUNCT
alkej-978	40	14	reduces	reduce	VERB
alkej-978	40	15	occlusion	occlusion	NOUN
alkej-978	40	16	and	and	CCONJ
alkej-978	40	17	increases	increase	VERB
alkej-978	40	18	precision	precision	NOUN
alkej-978	40	19	[	[	X
alkej-978	40	20	2	2	NUM
alkej-978	40	21	]	]	PUNCT
alkej-978	40	22	.	.	PUNCT
alkej-978	41	1	in	in	ADP
alkej-978	41	2	the	the	DET
alkej-978	41	3	industrial	industrial	ADJ
alkej-978	41	4	automation	automation	NOUN
alkej-978	41	5	domain	domain	NOUN
alkej-978	41	6	,	,	PUNCT
alkej-978	41	7	a	a	DET
alkej-978	41	8	gantry	gantry	NOUN
alkej-978	41	9	robot	robot	NOUN
alkej-978	41	10	has	have	AUX
alkej-978	41	11	been	be	AUX
alkej-978	41	12	constructed	construct	VERB
alkej-978	41	13	for	for	ADP
alkej-978	41	14	pick	pick	NOUN
alkej-978	41	15	-	-	PUNCT
alkej-978	41	16	and	and	CCONJ
alkej-978	41	17	-	-	PUNCT
alkej-978	41	18	place	place	NOUN
alkej-978	41	19	operations	operation	NOUN
alkej-978	41	20	with	with	ADP
alkej-978	41	21	the	the	DET
alkej-978	41	22	help	help	NOUN
alkej-978	41	23	of	of	ADP
alkej-978	41	24	a	a	DET
alkej-978	41	25	vision	vision	NOUN
alkej-978	41	26	control	control	NOUN
alkej-978	41	27	system	system	NOUN
alkej-978	41	28	.	.	PUNCT
alkej-978	42	1	using	use	VERB
alkej-978	42	2	python	python	NOUN
alkej-978	42	3	and	and	CCONJ
alkej-978	42	4	opencv	opencv	PROPN
alkej-978	42	5	,	,	PUNCT
alkej-978	42	6	the	the	DET
alkej-978	42	7	robot	robot	NOUN
alkej-978	42	8	decides	decide	VERB
alkej-978	42	9	whether	whether	SCONJ
alkej-978	42	10	to	to	PART
alkej-978	42	11	put	put	VERB
alkej-978	42	12	the	the	DET
alkej-978	42	13	object	object	NOUN
alkej-978	42	14	in	in	ADP
alkej-978	42	15	the	the	DET
alkej-978	42	16	blue	blue	ADJ
alkej-978	42	17	or	or	CCONJ
alkej-978	42	18	yellow	yellow	ADJ
alkej-978	42	19	drawer	drawer	NOUN
alkej-978	42	20	and	and	CCONJ
alkej-978	42	21	then	then	ADV
alkej-978	42	22	sends	send	VERB
alkej-978	42	23	the	the	DET
alkej-978	42	24	respective	respective	ADJ
alkej-978	42	25	control	control	NOUN
alkej-978	42	26	instructions	instruction	NOUN
alkej-978	42	27	to	to	ADP
alkej-978	42	28	an	an	DET
alkej-978	42	29	arduino	arduino	NOUN
alkej-978	42	30	mega	mega	ADJ
alkej-978	42	31	2560	2560	NUM
alkej-978	42	32	microcontroller	microcontroller	NOUN
alkej-978	42	33	.	.	PUNCT
alkej-978	43	1	devices	device	NOUN
alkej-978	43	2	like	like	ADP
alkej-978	43	3	this	this	PRON
alkej-978	43	4	are	be	AUX
alkej-978	43	5	space	space	NOUN
alkej-978	43	6	and	and	CCONJ
alkej-978	43	7	time	time	NOUN
alkej-978	43	8	savers	saver	NOUN
alkej-978	43	9	,	,	PUNCT
alkej-978	43	10	so	so	SCONJ
alkej-978	43	11	they	they	PRON
alkej-978	43	12	are	be	AUX
alkej-978	43	13	in	in	ADP
alkej-978	43	14	line	line	NOUN
alkej-978	43	15	with	with	ADP
alkej-978	43	16	the	the	DET
alkej-978	43	17	principles	principle	NOUN
alkej-978	43	18	of	of	ADP
alkej-978	43	19	industry	industry	NOUN
alkej-978	43	20	4.0	4.0	NUM
alkej-978	43	21	because	because	SCONJ
alkej-978	43	22	they	they	PRON
alkej-978	43	23	aim	aim	VERB
alkej-978	43	24	to	to	PART
alkej-978	43	25	streamline	streamline	VERB
alkej-978	43	26	operational	operational	ADJ
alkej-978	43	27	processes	process	NOUN
alkej-978	43	28	in	in	ADP
alkej-978	43	29	tightly	tightly	ADV
alkej-978	43	30	spaced	spaced	ADJ
alkej-978	43	31	environments	environment	NOUN
alkej-978	43	32	[	[	X
alkej-978	43	33	3	3	NUM
alkej-978	43	34	]	]	PUNCT
alkej-978	43	35	.	.	PUNCT
alkej-978	44	1	a	a	DET
alkej-978	44	2	robotic	robotic	ADJ
alkej-978	44	3	work	work	NOUN
alkej-978	44	4	cell	cell	NOUN
alkej-978	44	5	has	have	AUX
alkej-978	44	6	also	also	ADV
alkej-978	44	7	been	be	AUX
alkej-978	44	8	developed	develop	VERB
alkej-978	44	9	to	to	PART
alkej-978	44	10	perform	perform	VERB
alkej-978	44	11	tasks	task	NOUN
alkej-978	44	12	,	,	PUNCT
alkej-978	44	13	such	such	ADJ
alkej-978	44	14	as	as	ADP
alkej-978	44	15	sole	sole	ADJ
alkej-978	44	16	digitisation	digitisation	NOUN
alkej-978	44	17	,	,	PUNCT
alkej-978	44	18	glue	glue	NOUN
alkej-978	44	19	application	application	NOUN
alkej-978	44	20	and	and	CCONJ
alkej-978	44	21	grasping	grasp	VERB
alkej-978	44	22	with	with	ADP
alkej-978	44	23	an	an	DET
alkej-978	44	24	amount	amount	NOUN
alkej-978	44	25	of	of	ADP
alkej-978	44	26	variability	variability	NOUN
alkej-978	44	27	that	that	PRON
alkej-978	44	28	is	be	AUX
alkej-978	44	29	typical	typical	ADJ
alkej-978	44	30	of	of	ADP
alkej-978	44	31	a	a	DET
alkej-978	44	32	footwear	footwear	NOUN
alkej-978	44	33	manufacturing	manufacturing	NOUN
alkej-978	44	34	environment	environment	NOUN
alkej-978	44	35	.	.	PUNCT
alkej-978	45	1	equipped	equip	VERB
alkej-978	45	2	with	with	ADP
alkej-978	45	3	rgbd	rgbd	NOUN
alkej-978	45	4	cameras	camera	NOUN
alkej-978	45	5	and	and	CCONJ
alkej-978	45	6	laser	laser	NOUN
alkej-978	45	7	scanners	scanner	NOUN
alkej-978	45	8	,	,	PUNCT
alkej-978	45	9	the	the	DET
alkej-978	45	10	system	system	NOUN
alkej-978	45	11	determines	determine	VERB
alkej-978	45	12	the	the	DET
alkej-978	45	13	grabbing	grab	VERB
alkej-978	45	14	points	point	NOUN
alkej-978	45	15	for	for	ADP
alkej-978	45	16	shoe	shoe	NOUN
alkej-978	45	17	soles	sol	NOUN
alkej-978	45	18	of	of	ADP
alkej-978	45	19	different	different	ADJ
alkej-978	45	20	shapes	shape	NOUN
alkej-978	45	21	and	and	CCONJ
alkej-978	45	22	sizes	size	NOUN
alkej-978	45	23	and	and	CCONJ
alkej-978	45	24	achieves	achieve	VERB
alkej-978	45	25	97.5	97.5	NUM
alkej-978	45	26	%	%	NOUN
alkej-978	45	27	success	success	NOUN
alkej-978	45	28	.	.	PUNCT
alkej-978	46	1	the	the	DET
alkej-978	46	2	aforementioned	aforementione	VERB
alkej-978	46	3	robot	robot	NOUN
alkej-978	46	4	methods	method	NOUN
alkej-978	46	5	resolve	resolve	VERB
alkej-978	46	6	sophisticated	sophisticated	ADJ
alkej-978	46	7	manufacturing	manufacturing	NOUN
alkej-978	46	8	problems	problem	NOUN
alkej-978	46	9	by	by	ADP
alkej-978	46	10	minimising	minimise	VERB
alkej-978	46	11	manual	manual	ADJ
alkej-978	46	12	labour	labour	NOUN
alkej-978	46	13	with	with	ADP
alkej-978	46	14	high	high	ADJ
alkej-978	46	15	production	production	NOUN
alkej-978	46	16	efficiency	efficiency	NOUN
alkej-978	46	17	[	[	X
alkej-978	46	18	4	4	NUM
alkej-978	46	19	]	]	PUNCT
alkej-978	46	20	.	.	PUNCT
alkej-978	47	1	another	another	DET
alkej-978	47	2	approach	approach	NOUN
alkej-978	47	3	is	be	AUX
alkej-978	47	4	the	the	DET
alkej-978	47	5	use	use	NOUN
alkej-978	47	6	of	of	ADP
alkej-978	47	7	twofinger	twofinger	NOUN
alkej-978	47	8	grippers	gripper	NOUN
alkej-978	47	9	so	so	SCONJ
alkej-978	47	10	that	that	SCONJ
alkej-978	47	11	the	the	DET
alkej-978	47	12	system	system	NOUN
alkej-978	47	13	can	can	AUX
alkej-978	47	14	grasp	grasp	VERB
alkej-978	47	15	objects	object	NOUN
alkej-978	47	16	as	as	SCONJ
alkej-978	47	17	they	they	PRON
alkej-978	47	18	pass	pass	VERB
alkej-978	47	19	down	down	ADP
alkej-978	47	20	conveyor	conveyor	NOUN
alkej-978	47	21	belts	belt	NOUN
alkej-978	47	22	and	and	CCONJ
alkej-978	47	23	rotating	rotate	VERB
alkej-978	47	24	platforms	platform	NOUN
alkej-978	47	25	.	.	PUNCT
alkej-978	48	1	this	this	DET
alkej-978	48	2	system	system	NOUN
alkej-978	48	3	provides	provide	VERB
alkej-978	48	4	real	real	ADJ
alkej-978	48	5	-	-	PUNCT
alkej-978	48	6	time	time	NOUN
alkej-978	48	7	recognition	recognition	NOUN
alkej-978	48	8	and	and	CCONJ
alkej-978	48	9	dynamic	dynamic	ADJ
alkej-978	48	10	object	object	NOUN
alkej-978	48	11	tracking	tracking	NOUN
alkej-978	48	12	by	by	ADP
alkej-978	48	13	applying	apply	VERB
alkej-978	48	14	the	the	DET
alkej-978	48	15	you	you	PRON
alkej-978	48	16	only	only	ADV
alkej-978	48	17	look	look	VERB
alkej-978	48	18	at	at	ADP
alkej-978	48	19	coefficients	coefficient	NOUN
alkej-978	48	20	model	model	NOUN
alkej-978	48	21	from	from	ADP
alkej-978	48	22	object	object	NOUN
alkej-978	48	23	recognition	recognition	NOUN
alkej-978	48	24	and	and	CCONJ
alkej-978	48	25	long	long	ADJ
alkej-978	48	26	short	short	ADJ
alkej-978	48	27	-	-	PUNCT
alkej-978	48	28	term	term	NOUN
alkej-978	48	29	memory	memory	NOUN
alkej-978	48	30	(	(	PUNCT
alkej-978	48	31	lstm	lstm	NOUN
alkej-978	48	32	)	)	PUNCT
alkej-978	48	33	network	network	NOUN
alkej-978	48	34	and	and	CCONJ
alkej-978	48	35	convolutional	convolutional	ADJ
alkej-978	48	36	neural	neural	ADJ
alkej-978	48	37	network	network	NOUN
alkej-978	48	38	(	(	PUNCT
alkej-978	48	39	cnn	cnn	PROPN
alkej-978	48	40	)	)	PUNCT
alkej-978	48	41	from	from	ADP
alkej-978	48	42	trajectory	trajectory	NOUN
alkej-978	48	43	prediction	prediction	NOUN
alkej-978	48	44	,	,	PUNCT
alkej-978	48	45	which	which	PRON
alkej-978	48	46	can	can	AUX
alkej-978	48	47	be	be	AUX
alkej-978	48	48	used	use	VERB
alkej-978	48	49	for	for	ADP
alkej-978	48	50	vehicles	vehicle	NOUN
alkej-978	48	51	and	and	CCONJ
alkej-978	48	52	pedestrians	pedestrian	NOUN
alkej-978	48	53	.	.	PUNCT
alkej-978	49	1	all	all	DET
alkej-978	49	2	system	system	NOUN
alkej-978	49	3	components	component	NOUN
alkej-978	49	4	are	be	AUX
alkej-978	49	5	integrated	integrate	VERB
alkej-978	49	6	using	use	VERB
alkej-978	49	7	the	the	DET
alkej-978	49	8	robot	robot	NOUN
alkej-978	49	9	operating	operating	NOUN
alkej-978	49	10	system	system	NOUN
alkej-978	49	11	(	(	PUNCT
alkej-978	49	12	ros	ros	PROPN
alkej-978	49	13	)	)	PUNCT
alkej-978	49	14	,	,	PUNCT
alkej-978	49	15	which	which	PRON
alkej-978	49	16	is	be	AUX
alkej-978	49	17	designed	design	VERB
alkej-978	49	18	for	for	ADP
alkej-978	49	19	handling	handle	VERB
alkej-978	49	20	objects	object	NOUN
alkej-978	49	21	in	in	ADP
alkej-978	49	22	dynamic	dynamic	ADJ
alkej-978	49	23	environments	environment	NOUN
alkej-978	50	1	[	[	X
alkej-978	50	2	5	5	NUM
alkej-978	50	3	]	]	PUNCT
alkej-978	50	4	.	.	PUNCT
alkej-978	51	1	research	research	NOUN
alkej-978	51	2	has	have	AUX
alkej-978	51	3	also	also	ADV
alkej-978	51	4	introduced	introduce	VERB
alkej-978	51	5	a	a	DET
alkej-978	51	6	robotic	robotic	ADJ
alkej-978	51	7	gripper	gripper	NOUN
alkej-978	51	8	for	for	ADP
alkej-978	51	9	industrial	industrial	ADJ
alkej-978	51	10	assembly	assembly	NOUN
alkej-978	51	11	tasks	task	NOUN
alkej-978	51	12	integrated	integrate	VERB
alkej-978	51	13	with	with	ADP
alkej-978	51	14	a	a	DET
alkej-978	51	15	vision	vision	NOUN
alkej-978	51	16	system	system	NOUN
alkej-978	51	17	.	.	PUNCT
alkej-978	52	1	the	the	DET
alkej-978	52	2	method	method	NOUN
alkej-978	52	3	automatically	automatically	ADV
alkej-978	52	4	recognises	recognise	VERB
alkej-978	52	5	the	the	DET
alkej-978	52	6	part	part	NOUN
alkej-978	52	7	’s	’s	PART
alkej-978	52	8	positions	position	NOUN
alkej-978	52	9	and	and	CCONJ
alkej-978	52	10	determines	determine	VERB
alkej-978	52	11	the	the	DET
alkej-978	52	12	best	good	ADJ
alkej-978	52	13	points	point	NOUN
alkej-978	52	14	to	to	PART
alkej-978	52	15	grasp	grasp	VERB
alkej-978	52	16	that	that	DET
alkej-978	52	17	part	part	NOUN
alkej-978	52	18	without	without	ADP
alkej-978	52	19	previous	previous	ADJ
alkej-978	52	20	training	training	NOUN
alkej-978	52	21	.	.	PUNCT
alkej-978	53	1	similarly	similarly	ADV
alkej-978	53	2	,	,	PUNCT
alkej-978	53	3	a	a	DET
alkej-978	53	4	robust	robust	ADJ
alkej-978	53	5	,	,	PUNCT
alkej-978	53	6	three	three	NUM
alkej-978	53	7	-	-	PUNCT
alkej-978	53	8	finger	finger	NOUN
alkej-978	53	9	,	,	PUNCT
alkej-978	53	10	adaptive	adaptive	ADJ
alkej-978	53	11	gripper	gripper	NOUN
alkej-978	53	12	with	with	ADP
alkej-978	53	13	ros	ros	PROPN
alkej-978	53	14	has	have	AUX
alkej-978	53	15	been	be	AUX
alkej-978	53	16	designed	design	VERB
alkej-978	53	17	,	,	PUNCT
alkej-978	53	18	and	and	CCONJ
alkej-978	53	19	it	it	PRON
alkej-978	53	20	is	be	AUX
alkej-978	53	21	particularly	particularly	ADV
alkej-978	53	22	suitable	suitable	ADJ
alkej-978	53	23	for	for	ADP
alkej-978	53	24	high	high	ADJ
alkej-978	53	25	-	-	PUNCT
alkej-978	53	26	mix	mix	NOUN
alkej-978	53	27	,	,	PUNCT
alkej-978	53	28	low	low	ADJ
alkej-978	53	29	-	-	PUNCT
alkej-978	53	30	volume	volume	NOUN
alkej-978	53	31	manufacturing	manufacturing	NOUN
alkej-978	53	32	scenarios	scenario	NOUN
alkej-978	53	33	where	where	SCONJ
alkej-978	53	34	parts	part	NOUN
alkej-978	53	35	may	may	AUX
alkej-978	53	36	be	be	AUX
alkej-978	53	37	unstructured	unstructure	VERB
alkej-978	53	38	or	or	CCONJ
alkej-978	53	39	randomly	randomly	ADV
alkej-978	53	40	oriented	orient	VERB
alkej-978	53	41	[	[	X
alkej-978	53	42	6	6	NUM
alkej-978	53	43	]	]	PUNCT
alkej-978	53	44	.	.	PUNCT
alkej-978	54	1	for	for	ADP
alkej-978	54	2	coal	coal	NOUN
alkej-978	54	3	sorting	sorting	NOUN
alkej-978	54	4	,	,	PUNCT
alkej-978	54	5	a	a	DET
alkej-978	54	6	delta	delta	NOUN
alkej-978	54	7	-	-	PUNCT
alkej-978	54	8	type	type	NOUN
alkej-978	54	9	parallel	parallel	ADJ
alkej-978	54	10	robot	robot	NOUN
alkej-978	54	11	has	have	AUX
alkej-978	54	12	been	be	AUX
alkej-978	54	13	established	establish	VERB
alkej-978	54	14	for	for	ADP
alkej-978	54	15	sorting	sort	VERB
alkej-978	54	16	coal	coal	NOUN
alkej-978	54	17	and	and	CCONJ
alkej-978	54	18	hayder	hayder	PROPN
alkej-978	54	19	ali	ali	PROPN
alkej-978	54	20	saadi	saadi	PROPN
alkej-978	54	21	al	al	PROPN
alkej-978	54	22	-	-	PUNCT
alkej-978	54	23	khwarizmi	khwarizmi	PROPN
alkej-978	54	24	engineering	engineering	NOUN
alkej-978	54	25	journal	journal	PROPN
alkej-978	54	26	,	,	PUNCT
alkej-978	54	27	vol	vol	NOUN
alkej-978	54	28	.	.	PROPN
alkej-978	54	29	21	21	NUM
alkej-978	54	30	,	,	PUNCT
alkej-978	54	31	no.4	no.4	PROPN
alkej-978	54	32	,	,	PUNCT
alkej-978	54	33	pp	pp	X
alkej-978	54	34	.	.	PUNCT
alkej-978	55	1	106124	106124	NUM
alkej-978	55	2	(	(	PUNCT
alkej-978	55	3	2025	2025	NUM
alkej-978	55	4	)	)	PUNCT
alkej-978	55	5	108	108	NUM
alkej-978	55	6	gangue	gangue	NOUN
alkej-978	55	7	on	on	ADP
alkej-978	55	8	a	a	DET
alkej-978	55	9	conveyor	conveyor	NOUN
alkej-978	55	10	belt	belt	NOUN
alkej-978	55	11	.	.	PUNCT
alkej-978	56	1	the	the	DET
alkej-978	56	2	system	system	NOUN
alkej-978	56	3	uses	use	VERB
alkej-978	56	4	the	the	DET
alkej-978	56	5	kemotion	kemotion	NOUN
alkej-978	56	6	control	control	NOUN
alkej-978	56	7	system	system	NOUN
alkej-978	56	8	that	that	PRON
alkej-978	56	9	combines	combine	VERB
alkej-978	56	10	vision	vision	NOUN
alkej-978	56	11	and	and	CCONJ
alkej-978	56	12	calibration	calibration	NOUN
alkej-978	56	13	methods	method	NOUN
alkej-978	56	14	to	to	PART
alkej-978	56	15	virtually	virtually	ADV
alkej-978	56	16	configure	configure	VERB
alkej-978	56	17	the	the	DET
alkej-978	56	18	robot	robot	NOUN
alkej-978	56	19	with	with	ADP
alkej-978	56	20	the	the	DET
alkej-978	56	21	conveyor	conveyor	NOUN
alkej-978	56	22	belt	belt	NOUN
alkej-978	56	23	.	.	PUNCT
alkej-978	57	1	this	this	DET
alkej-978	57	2	method	method	NOUN
alkej-978	57	3	increases	increase	VERB
alkej-978	57	4	not	not	PART
alkej-978	57	5	only	only	ADV
alkej-978	57	6	recognition	recognition	NOUN
alkej-978	57	7	efficiency	efficiency	NOUN
alkej-978	57	8	but	but	CCONJ
alkej-978	57	9	also	also	ADV
alkej-978	57	10	robot	robot	NOUN
alkej-978	57	11	sorting	sorting	NOUN
alkej-978	57	12	accuracy	accuracy	NOUN
alkej-978	57	13	,	,	PUNCT
alkej-978	57	14	thereby	thereby	ADV
alkej-978	57	15	decreasing	decrease	VERB
alkej-978	57	16	manual	manual	ADJ
alkej-978	57	17	labour	labour	NOUN
alkej-978	57	18	[	[	X
alkej-978	57	19	7	7	NUM
alkej-978	57	20	]	]	PUNCT
alkej-978	57	21	.	.	PUNCT
alkej-978	58	1	essentially	essentially	ADV
alkej-978	58	2	,	,	PUNCT
alkej-978	58	3	this	this	DET
alkej-978	58	4	study	study	NOUN
alkej-978	58	5	was	be	AUX
alkej-978	58	6	the	the	DET
alkej-978	58	7	first	first	ADJ
alkej-978	58	8	to	to	PART
alkej-978	58	9	present	present	VERB
alkej-978	58	10	a	a	DET
alkej-978	58	11	robotic	robotic	ADJ
alkej-978	58	12	manipulation	manipulation	NOUN
alkej-978	58	13	system	system	NOUN
alkej-978	58	14	that	that	PRON
alkej-978	58	15	uses	use	VERB
alkej-978	58	16	event	event	NOUN
alkej-978	58	17	-	-	PUNCT
alkej-978	58	18	based	base	VERB
alkej-978	58	19	cameras	camera	NOUN
alkej-978	58	20	to	to	PART
alkej-978	58	21	improve	improve	VERB
alkej-978	58	22	the	the	DET
alkej-978	58	23	robot	robot	NOUN
alkej-978	58	24	’s	’s	PART
alkej-978	58	25	dexterity	dexterity	NOUN
alkej-978	58	26	in	in	ADP
alkej-978	58	27	tasks	task	NOUN
alkej-978	58	28	,	,	PUNCT
alkej-978	58	29	such	such	ADJ
alkej-978	58	30	as	as	ADP
alkej-978	58	31	grasping	grasp	VERB
alkej-978	58	32	or	or	CCONJ
alkej-978	58	33	drilling	drilling	NOUN
alkej-978	58	34	.	.	PUNCT
alkej-978	59	1	the	the	DET
alkej-978	59	2	system	system	NOUN
alkej-978	59	3	is	be	AUX
alkej-978	59	4	highly	highly	ADV
alkej-978	59	5	sensitive	sensitive	ADJ
alkej-978	59	6	to	to	ADP
alkej-978	59	7	motion	motion	NOUN
alkej-978	59	8	and	and	CCONJ
alkej-978	59	9	has	have	VERB
alkej-978	59	10	very	very	ADV
alkej-978	59	11	low	low	ADJ
alkej-978	59	12	latency	latency	NOUN
alkej-978	59	13	and	and	CCONJ
alkej-978	59	14	very	very	ADV
alkej-978	59	15	high	high	ADJ
alkej-978	59	16	temporal	temporal	ADJ
alkej-978	59	17	resolution	resolution	NOUN
alkej-978	59	18	;	;	PUNCT
alkej-978	59	19	thus	thus	ADV
alkej-978	59	20	,	,	PUNCT
alkej-978	59	21	it	it	PRON
alkej-978	59	22	can	can	AUX
alkej-978	59	23	track	track	VERB
alkej-978	59	24	fastmoving	fastmoving	NOUN
alkej-978	59	25	objects	object	NOUN
alkej-978	59	26	in	in	ADP
alkej-978	59	27	a	a	DET
alkej-978	59	28	wide	wide	ADJ
alkej-978	59	29	range	range	NOUN
alkej-978	59	30	of	of	ADP
alkej-978	59	31	lighting	lighting	NOUN
alkej-978	59	32	conditions	condition	NOUN
alkej-978	59	33	,	,	PUNCT
alkej-978	59	34	and	and	CCONJ
alkej-978	59	35	it	it	PRON
alkej-978	59	36	does	do	AUX
alkej-978	59	37	not	not	PART
alkej-978	59	38	compete	compete	VERB
alkej-978	59	39	but	but	CCONJ
alkej-978	59	40	rather	rather	ADV
alkej-978	59	41	contrasts	contrast	VERB
alkej-978	59	42	with	with	ADP
alkej-978	59	43	conventional	conventional	ADJ
alkej-978	59	44	cameras	camera	NOUN
alkej-978	59	45	.	.	PUNCT
alkej-978	60	1	this	this	DET
alkej-978	60	2	ability	ability	NOUN
alkej-978	60	3	provides	provide	VERB
alkej-978	60	4	the	the	DET
alkej-978	60	5	system	system	NOUN
alkej-978	60	6	more	more	ADJ
alkej-978	60	7	precision	precision	NOUN
alkej-978	60	8	and	and	CCONJ
alkej-978	60	9	more	more	ADJ
alkej-978	60	10	freedom	freedom	NOUN
alkej-978	60	11	than	than	ADP
alkej-978	60	12	what	what	PRON
alkej-978	60	13	is	be	AUX
alkej-978	60	14	possible	possible	ADJ
alkej-978	60	15	in	in	ADP
alkej-978	60	16	traditional	traditional	ADJ
alkej-978	60	17	vision	vision	NOUN
alkej-978	60	18	systems	system	NOUN
alkej-978	60	19	[	[	X
alkej-978	60	20	8	8	NUM
alkej-978	60	21	]	]	PUNCT
alkej-978	60	22	.	.	PUNCT
alkej-978	61	1	by	by	ADP
alkej-978	61	2	integrating	integrate	VERB
alkej-978	61	3	positionand	positionand	NOUN
alkej-978	61	4	imagebased	imagebase	VERB
alkej-978	61	5	visual	visual	ADJ
alkej-978	61	6	servoing	servoing	NOUN
alkej-978	61	7	,	,	PUNCT
alkej-978	61	8	the	the	DET
alkej-978	61	9	authors	author	NOUN
alkej-978	61	10	developed	develop	VERB
alkej-978	61	11	a	a	DET
alkej-978	61	12	novel	novel	ADJ
alkej-978	61	13	graphical	graphical	ADJ
alkej-978	61	14	framework	framework	NOUN
alkej-978	61	15	that	that	PRON
alkej-978	61	16	facilitates	facilitate	VERB
alkej-978	61	17	the	the	DET
alkej-978	61	18	design	design	NOUN
alkej-978	61	19	of	of	ADP
alkej-978	61	20	mechatronic	mechatronic	ADJ
alkej-978	61	21	systems	system	NOUN
alkej-978	61	22	and	and	CCONJ
alkej-978	61	23	makes	make	VERB
alkej-978	61	24	the	the	DET
alkej-978	61	25	mechanical	mechanical	ADJ
alkej-978	61	26	designs	design	NOUN
alkej-978	61	27	transition	transition	VERB
alkej-978	61	28	smoothly	smoothly	ADV
alkej-978	61	29	into	into	ADP
alkej-978	61	30	electronics	electronic	NOUN
alkej-978	61	31	.	.	PUNCT
alkej-978	62	1	motion	motion	NOUN
alkej-978	62	2	control	control	NOUN
alkej-978	62	3	,	,	PUNCT
alkej-978	62	4	the	the	DET
alkej-978	62	5	main	main	ADJ
alkej-978	62	6	tool	tool	NOUN
alkej-978	62	7	used	use	VERB
alkej-978	62	8	by	by	ADP
alkej-978	62	9	the	the	DET
alkej-978	62	10	virtual	virtual	ADJ
alkej-978	62	11	electronic	electronic	ADJ
alkej-978	62	12	auditors	auditor	NOUN
alkej-978	62	13	in	in	ADP
alkej-978	62	14	this	this	DET
alkej-978	62	15	framework	framework	NOUN
alkej-978	62	16	,	,	PUNCT
alkej-978	62	17	is	be	AUX
alkej-978	62	18	the	the	DET
alkej-978	62	19	means	mean	NOUN
alkej-978	62	20	by	by	ADP
alkej-978	62	21	which	which	PRON
alkej-978	62	22	electronic	electronic	ADJ
alkej-978	62	23	data	datum	NOUN
alkej-978	62	24	components	component	NOUN
alkej-978	62	25	are	be	AUX
alkej-978	62	26	extracted	extract	VERB
alkej-978	62	27	;	;	PUNCT
alkej-978	62	28	thus	thus	ADV
alkej-978	62	29	,	,	PUNCT
alkej-978	62	30	designers	designer	NOUN
alkej-978	62	31	can	can	AUX
alkej-978	62	32	co	co	VERB
alkej-978	62	33	-	-	VERB
alkej-978	62	34	operate	operate	VERB
alkej-978	62	35	effectively	effectively	ADV
alkej-978	62	36	.	.	PUNCT
alkej-978	63	1	the	the	DET
alkej-978	63	2	system	system	NOUN
alkej-978	63	3	is	be	AUX
alkej-978	63	4	compliant	compliant	ADJ
alkej-978	63	5	with	with	ADP
alkej-978	63	6	iec	iec	PROPN
alkej-978	63	7	61131	61131	NUM
alkej-978	63	8	-	-	SYM
alkej-978	63	9	3	3	NUM
alkej-978	63	10	,	,	PUNCT
alkej-978	63	11	and	and	CCONJ
alkej-978	63	12	particular	particular	ADJ
alkej-978	63	13	libraries	library	NOUN
alkej-978	63	14	contribute	contribute	VERB
alkej-978	63	15	not	not	PART
alkej-978	63	16	only	only	ADV
alkej-978	63	17	to	to	ADP
alkej-978	63	18	the	the	DET
alkej-978	63	19	clarity	clarity	NOUN
alkej-978	63	20	but	but	CCONJ
alkej-978	63	21	also	also	ADV
alkej-978	63	22	to	to	ADP
alkej-978	63	23	the	the	DET
alkej-978	63	24	efficiency	efficiency	NOUN
alkej-978	63	25	of	of	ADP
alkej-978	63	26	mechatronic	mechatronic	ADJ
alkej-978	63	27	designs	design	NOUN
alkej-978	63	28	,	,	PUNCT
alkej-978	63	29	especially	especially	ADV
alkej-978	63	30	when	when	SCONJ
alkej-978	63	31	systems	system	NOUN
alkej-978	63	32	are	be	AUX
alkej-978	63	33	complex	complex	ADJ
alkej-978	64	1	[	[	X
alkej-978	64	2	9	9	NUM
alkej-978	64	3	]	]	PUNCT
alkej-978	64	4	.	.	PUNCT
alkej-978	65	1	many	many	ADJ
alkej-978	65	2	other	other	ADJ
alkej-978	65	3	studies	study	NOUN
alkej-978	65	4	have	have	AUX
alkej-978	65	5	also	also	ADV
alkej-978	65	6	identified	identify	VERB
alkej-978	65	7	automating	automate	VERB
alkej-978	65	8	sorting	sorting	NOUN
alkej-978	65	9	as	as	ADP
alkej-978	65	10	a	a	DET
alkej-978	65	11	key	key	ADJ
alkej-978	65	12	issue	issue	NOUN
alkej-978	65	13	to	to	PART
alkej-978	65	14	be	be	AUX
alkej-978	65	15	resolved	resolve	VERB
alkej-978	65	16	by	by	ADP
alkej-978	65	17	optimising	optimise	VERB
alkej-978	65	18	pick	pick	NOUN
alkej-978	65	19	-	-	PUNCT
alkej-978	65	20	and	and	CCONJ
alkej-978	65	21	-	-	PUNCT
alkej-978	65	22	place	place	NOUN
alkej-978	65	23	operations	operation	NOUN
alkej-978	65	24	.	.	PUNCT
alkej-978	66	1	one	one	NUM
alkej-978	66	2	study	study	NOUN
alkej-978	66	3	substantially	substantially	ADV
alkej-978	66	4	altered	alter	VERB
alkej-978	66	5	throughput	throughput	NOUN
alkej-978	66	6	and	and	CCONJ
alkej-978	66	7	system	system	NOUN
alkej-978	66	8	sorting	sorting	NOUN
alkej-978	66	9	accuracy	accuracy	NOUN
alkej-978	66	10	by	by	ADP
alkej-978	66	11	focusing	focus	VERB
alkej-978	66	12	on	on	ADP
alkej-978	66	13	gripping	grip	VERB
alkej-978	66	14	efficiency	efficiency	NOUN
alkej-978	66	15	and	and	CCONJ
alkej-978	66	16	the	the	DET
alkej-978	66	17	implementation	implementation	NOUN
alkej-978	66	18	of	of	ADP
alkej-978	66	19	dynamic	dynamic	ADJ
alkej-978	66	20	scheduling	scheduling	NOUN
alkej-978	66	21	algorithms	algorithm	NOUN
alkej-978	66	22	that	that	PRON
alkej-978	66	23	it	it	PRON
alkej-978	66	24	can	can	AUX
alkej-978	66	25	be	be	AUX
alkej-978	66	26	regarded	regard	VERB
alkej-978	66	27	as	as	ADP
alkej-978	66	28	a	a	DET
alkej-978	66	29	breakthrough	breakthrough	NOUN
alkej-978	66	30	.	.	PUNCT
alkej-978	67	1	the	the	DET
alkej-978	67	2	system	system	NOUN
alkej-978	67	3	adjusts	adjust	VERB
alkej-978	67	4	itself	itself	PRON
alkej-978	67	5	to	to	ADP
alkej-978	67	6	various	various	ADJ
alkej-978	67	7	item	item	NOUN
alkej-978	67	8	flows	flow	VERB
alkej-978	67	9	through	through	ADP
alkej-978	67	10	the	the	DET
alkej-978	67	11	use	use	NOUN
alkej-978	67	12	of	of	ADP
alkej-978	67	13	simulations	simulation	NOUN
alkej-978	67	14	,	,	PUNCT
alkej-978	67	15	so	so	SCONJ
alkej-978	67	16	it	it	PRON
alkej-978	67	17	can	can	AUX
alkej-978	67	18	operate	operate	VERB
alkej-978	67	19	efficaciously	efficaciously	ADV
alkej-978	67	20	at	at	ADP
alkej-978	67	21	low	low	ADJ
alkej-978	67	22	costs	cost	NOUN
alkej-978	67	23	[	[	X
alkej-978	67	24	10	10	NUM
alkej-978	67	25	]	]	PUNCT
alkej-978	67	26	.	.	PUNCT
alkej-978	68	1	another	another	DET
alkej-978	68	2	study	study	NOUN
alkej-978	68	3	created	create	VERB
alkej-978	68	4	a	a	DET
alkej-978	68	5	local	local	ADJ
alkej-978	68	6	automated	automate	VERB
alkej-978	68	7	orderpicking	orderpicking	ADJ
alkej-978	68	8	system	system	NOUN
alkej-978	68	9	that	that	PRON
alkej-978	68	10	addresses	address	VERB
alkej-978	68	11	many	many	ADJ
alkej-978	68	12	orders	order	NOUN
alkej-978	68	13	simultaneously	simultaneously	ADV
alkej-978	68	14	.	.	PUNCT
alkej-978	69	1	the	the	DET
alkej-978	69	2	workstation	workstation	NOUN
alkej-978	69	3	is	be	AUX
alkej-978	69	4	a	a	DET
alkej-978	69	5	blend	blend	NOUN
alkej-978	69	6	of	of	ADP
alkej-978	69	7	conveyor	conveyor	NOUN
alkej-978	69	8	belts	belt	NOUN
alkej-978	69	9	,	,	PUNCT
alkej-978	69	10	robots	robot	NOUN
alkej-978	69	11	and	and	CCONJ
alkej-978	69	12	a	a	DET
alkej-978	69	13	carousel	carousel	NOUN
alkej-978	69	14	mechanism	mechanism	NOUN
alkej-978	69	15	,	,	PUNCT
alkej-978	69	16	leading	lead	VERB
alkej-978	69	17	to	to	ADP
alkej-978	69	18	a	a	DET
alkej-978	69	19	reduction	reduction	NOUN
alkej-978	69	20	in	in	ADP
alkej-978	69	21	processing	processing	NOUN
alkej-978	69	22	time	time	NOUN
alkej-978	69	23	and	and	CCONJ
alkej-978	69	24	an	an	DET
alkej-978	69	25	increase	increase	NOUN
alkej-978	69	26	in	in	ADP
alkej-978	69	27	productivity	productivity	NOUN
alkej-978	69	28	.	.	PUNCT
alkej-978	70	1	different	different	ADJ
alkej-978	70	2	types	type	NOUN
alkej-978	70	3	of	of	ADP
alkej-978	70	4	picking	pick	VERB
alkej-978	70	5	policies	policy	NOUN
alkej-978	70	6	were	be	AUX
alkej-978	70	7	tested	test	VERB
alkej-978	70	8	in	in	ADP
alkej-978	70	9	the	the	DET
alkej-978	70	10	study	study	NOUN
alkej-978	70	11	,	,	PUNCT
alkej-978	70	12	and	and	CCONJ
alkej-978	70	13	a	a	DET
alkej-978	70	14	notable	notable	ADJ
alkej-978	70	15	increase	increase	NOUN
alkej-978	70	16	in	in	ADP
alkej-978	70	17	throughput	throughput	NOUN
alkej-978	70	18	and	and	CCONJ
alkej-978	70	19	decrease	decrease	NOUN
alkej-978	70	20	in	in	ADP
alkej-978	70	21	system	system	NOUN
alkej-978	70	22	bottlenecks	bottleneck	NOUN
alkej-978	70	23	were	be	AUX
alkej-978	70	24	achieved	achieve	VERB
alkej-978	70	25	[	[	PUNCT
alkej-978	70	26	11	11	NUM
alkej-978	70	27	]	]	PUNCT
alkej-978	70	28	.	.	PUNCT
alkej-978	71	1	a	a	DET
alkej-978	71	2	gantry	gantry	NOUN
alkej-978	71	3	robot	robot	NOUN
alkej-978	71	4	was	be	AUX
alkej-978	71	5	built	build	VERB
alkej-978	71	6	in	in	ADP
alkej-978	71	7	another	another	DET
alkej-978	71	8	work	work	NOUN
alkej-978	71	9	to	to	PART
alkej-978	71	10	perform	perform	VERB
alkej-978	71	11	pick	pick	VERB
alkej-978	71	12	-	-	PUNCT
alkej-978	71	13	and	and	CCONJ
alkej-978	71	14	-	-	PUNCT
alkej-978	71	15	place	place	NOUN
alkej-978	71	16	operations	operation	NOUN
alkej-978	71	17	in	in	ADP
alkej-978	71	18	material	material	NOUN
alkej-978	71	19	handling	handling	NOUN
alkej-978	71	20	,	,	PUNCT
alkej-978	71	21	and	and	CCONJ
alkej-978	71	22	the	the	DET
alkej-978	71	23	robot	robot	NOUN
alkej-978	71	24	was	be	AUX
alkej-978	71	25	further	far	ADV
alkej-978	71	26	upgraded	upgrade	VERB
alkej-978	71	27	with	with	ADP
alkej-978	71	28	an	an	DET
alkej-978	71	29	obstacle	obstacle	NOUN
alkej-978	71	30	detection	detection	NOUN
alkej-978	71	31	capability	capability	NOUN
alkej-978	71	32	.	.	PUNCT
alkej-978	72	1	the	the	DET
alkej-978	72	2	robot	robot	NOUN
alkej-978	72	3	is	be	AUX
alkej-978	72	4	controlled	control	VERB
alkej-978	72	5	by	by	ADP
alkej-978	72	6	a	a	DET
alkej-978	72	7	programmable	programmable	ADJ
alkej-978	72	8	logic	logic	NOUN
alkej-978	72	9	controller	controller	NOUN
alkej-978	72	10	(	(	PUNCT
alkej-978	72	11	plc	plc	PROPN
alkej-978	72	12	)	)	PUNCT
alkej-978	72	13	,	,	PUNCT
alkej-978	72	14	and	and	CCONJ
alkej-978	72	15	a	a	DET
alkej-978	72	16	vacuum	vacuum	NOUN
alkej-978	72	17	cup	cup	NOUN
alkej-978	72	18	is	be	AUX
alkej-978	72	19	used	use	VERB
alkej-978	72	20	to	to	PART
alkej-978	72	21	pick	pick	VERB
alkej-978	72	22	up	up	ADP
alkej-978	72	23	objects	object	NOUN
alkej-978	72	24	gently	gently	ADV
alkej-978	72	25	.	.	PUNCT
alkej-978	73	1	this	this	DET
alkej-978	73	2	automation	automation	NOUN
alkej-978	73	3	leads	lead	VERB
alkej-978	73	4	to	to	ADP
alkej-978	73	5	increased	increase	VERB
alkej-978	73	6	operational	operational	ADJ
alkej-978	73	7	efficiency	efficiency	NOUN
alkej-978	73	8	and	and	CCONJ
alkej-978	73	9	reduced	reduce	VERB
alkej-978	73	10	human	human	ADJ
alkej-978	73	11	labour	labour	NOUN
alkej-978	73	12	and	and	CCONJ
alkej-978	73	13	ensures	ensure	VERB
alkej-978	73	14	safety	safety	NOUN
alkej-978	73	15	in	in	ADP
alkej-978	73	16	cases	case	NOUN
alkej-978	73	17	of	of	ADP
alkej-978	73	18	obstacle	obstacle	NOUN
alkej-978	73	19	interference	interference	NOUN
alkej-978	73	20	during	during	ADP
alkej-978	73	21	material	material	NOUN
alkej-978	73	22	transfer	transfer	NOUN
alkej-978	73	23	[	[	X
alkej-978	73	24	12	12	NUM
alkej-978	73	25	]	]	PUNCT
alkej-978	73	26	.	.	PUNCT
alkej-978	74	1	in	in	ADP
alkej-978	74	2	another	another	DET
alkej-978	74	3	study	study	NOUN
alkej-978	74	4	,	,	PUNCT
alkej-978	74	5	an	an	DET
alkej-978	74	6	automated	automate	VERB
alkej-978	74	7	storage	storage	NOUN
alkej-978	74	8	and	and	CCONJ
alkej-978	74	9	retrieval	retrieval	NOUN
alkej-978	74	10	system	system	NOUN
alkej-978	74	11	(	(	PUNCT
alkej-978	74	12	as	as	SCONJ
alkej-978	74	13	/	/	SYM
alkej-978	74	14	rs	rs	NOUN
alkej-978	74	15	)	)	PUNCT
alkej-978	74	16	was	be	AUX
alkej-978	74	17	created	create	VERB
alkej-978	74	18	in	in	ADP
alkej-978	74	19	the	the	DET
alkej-978	74	20	form	form	NOUN
alkej-978	74	21	of	of	ADP
alkej-978	74	22	a	a	DET
alkej-978	74	23	gantry	gantry	NOUN
alkej-978	74	24	robotic	robotic	ADJ
alkej-978	74	25	cell	cell	NOUN
alkej-978	74	26	with	with	ADP
alkej-978	74	27	a	a	DET
alkej-978	74	28	conveyor	conveyor	NOUN
alkej-978	74	29	belt	belt	NOUN
alkej-978	74	30	and	and	CCONJ
alkej-978	74	31	light	light	ADJ
alkej-978	74	32	sensors	sensor	NOUN
alkej-978	74	33	.	.	PUNCT
alkej-978	75	1	storage	storage	NOUN
alkej-978	75	2	and	and	CCONJ
alkej-978	75	3	retrieval	retrieval	NOUN
alkej-978	75	4	operations	operation	NOUN
alkej-978	75	5	are	be	AUX
alkej-978	75	6	performed	perform	VERB
alkej-978	75	7	automatically	automatically	ADV
alkej-978	75	8	by	by	ADP
alkej-978	75	9	plc	plc	PROPN
alkej-978	75	10	.	.	PUNCT
alkej-978	76	1	through	through	ADP
alkej-978	76	2	this	this	DET
alkej-978	76	3	integration	integration	NOUN
alkej-978	76	4	,	,	PUNCT
alkej-978	76	5	storage	storage	NOUN
alkej-978	76	6	efficiency	efficiency	NOUN
alkej-978	76	7	is	be	AUX
alkej-978	76	8	improved	improve	VERB
alkej-978	76	9	,	,	PUNCT
alkej-978	76	10	sorting	sorting	NOUN
alkej-978	76	11	and	and	CCONJ
alkej-978	76	12	retrieval	retrieval	NOUN
alkej-978	76	13	speeds	speed	NOUN
alkej-978	76	14	increase	increase	VERB
alkej-978	76	15	,	,	PUNCT
alkej-978	76	16	and	and	CCONJ
alkej-978	76	17	human	human	ADJ
alkej-978	76	18	intervention	intervention	NOUN
alkej-978	76	19	is	be	AUX
alkej-978	76	20	substantially	substantially	ADV
alkej-978	76	21	decreased	decrease	VERB
alkej-978	76	22	[	[	X
alkej-978	76	23	13	13	NUM
alkej-978	76	24	]	]	PUNCT
alkej-978	76	25	.	.	PUNCT
alkej-978	77	1	meanwhile	meanwhile	ADV
alkej-978	77	2	,	,	PUNCT
alkej-978	77	3	another	another	DET
alkej-978	77	4	study	study	NOUN
alkej-978	77	5	designed	design	VERB
alkej-978	77	6	a	a	DET
alkej-978	77	7	system	system	NOUN
alkej-978	77	8	for	for	ADP
alkej-978	77	9	predictive	predictive	ADJ
alkej-978	77	10	maintenance	maintenance	NOUN
alkej-978	77	11	of	of	ADP
alkej-978	77	12	gantry	gantry	NOUN
alkej-978	77	13	cable	cable	NOUN
alkej-978	77	14	-	-	PUNCT
alkej-978	77	15	track	track	NOUN
alkej-978	77	16	systems	system	NOUN
alkej-978	77	17	to	to	PART
alkej-978	77	18	locate	locate	VERB
alkej-978	77	19	faults	fault	NOUN
alkej-978	77	20	in	in	ADP
alkej-978	77	21	critical	critical	ADJ
alkej-978	77	22	industrial	industrial	ADJ
alkej-978	77	23	processes	process	NOUN
alkej-978	77	24	.	.	PUNCT
alkej-978	78	1	the	the	DET
alkej-978	78	2	system	system	NOUN
alkej-978	78	3	relies	rely	VERB
alkej-978	78	4	on	on	ADP
alkej-978	78	5	gyroscopes	gyroscope	NOUN
alkej-978	78	6	and	and	CCONJ
alkej-978	78	7	accelerometer	accelerometer	ADJ
alkej-978	78	8	sensors	sensor	NOUN
alkej-978	78	9	to	to	PART
alkej-978	78	10	collect	collect	VERB
alkej-978	78	11	data	datum	NOUN
alkej-978	78	12	for	for	ADP
alkej-978	78	13	failure	failure	NOUN
alkej-978	78	14	prediction	prediction	NOUN
alkej-978	78	15	and	and	CCONJ
alkej-978	78	16	safety	safety	NOUN
alkej-978	78	17	enhancement	enhancement	NOUN
alkej-978	78	18	.	.	PUNCT
alkej-978	79	1	the	the	DET
alkej-978	79	2	patterns	pattern	NOUN
alkej-978	79	3	from	from	ADP
alkej-978	79	4	the	the	DET
alkej-978	79	5	diagnostic	diagnostic	ADJ
alkej-978	79	6	data	datum	NOUN
alkej-978	79	7	of	of	ADP
alkej-978	79	8	pumps	pump	NOUN
alkej-978	79	9	were	be	AUX
alkej-978	79	10	revealed	reveal	VERB
alkej-978	79	11	,	,	PUNCT
alkej-978	79	12	enabling	enable	VERB
alkej-978	79	13	the	the	DET
alkej-978	79	14	extraction	extraction	NOUN
alkej-978	79	15	of	of	ADP
alkej-978	79	16	signatures	signature	NOUN
alkej-978	79	17	and	and	CCONJ
alkej-978	79	18	early	early	ADJ
alkej-978	79	19	warning	warning	NOUN
alkej-978	79	20	methodologies	methodology	NOUN
alkej-978	79	21	,	,	PUNCT
alkej-978	79	22	which	which	PRON
alkej-978	79	23	were	be	AUX
alkej-978	79	24	used	use	VERB
alkej-978	79	25	for	for	ADP
alkej-978	79	26	fault	fault	NOUN
alkej-978	79	27	location	location	NOUN
alkej-978	79	28	through	through	ADP
alkej-978	79	29	the	the	DET
alkej-978	79	30	two	two	NUM
alkej-978	79	31	-	-	PUNCT
alkej-978	79	32	group	group	NOUN
alkej-978	79	33	t	t	NOUN
alkej-978	79	34	-	-	PUNCT
alkej-978	79	35	test	test	NOUN
alkej-978	79	36	in	in	ADP
alkej-978	79	37	statistical	statistical	ADJ
alkej-978	79	38	analysis	analysis	NOUN
alkej-978	79	39	to	to	PART
alkej-978	79	40	determine	determine	VERB
alkej-978	79	41	the	the	DET
alkej-978	79	42	causes	cause	NOUN
alkej-978	79	43	for	for	ADP
alkej-978	79	44	cutting	cut	VERB
alkej-978	79	45	down	down	ADP
alkej-978	79	46	maintenance	maintenance	NOUN
alkej-978	79	47	costs	cost	NOUN
alkej-978	79	48	and	and	CCONJ
alkej-978	79	49	downtime	downtime	NOUN
alkej-978	79	50	[	[	X
alkej-978	79	51	14	14	NUM
alkej-978	79	52	]	]	PUNCT
alkej-978	79	53	.	.	PUNCT
alkej-978	80	1	in	in	ADP
alkej-978	80	2	another	another	DET
alkej-978	80	3	work	work	NOUN
alkej-978	80	4	,	,	PUNCT
alkej-978	80	5	a	a	DET
alkej-978	80	6	robotic	robotic	ADJ
alkej-978	80	7	arm	arm	NOUN
alkej-978	80	8	for	for	ADP
alkej-978	80	9	sorting	sort	VERB
alkej-978	80	10	,	,	PUNCT
alkej-978	80	11	placing	placing	NOUN
alkej-978	80	12	and	and	CCONJ
alkej-978	80	13	counting	counting	NOUN
alkej-978	80	14	was	be	AUX
alkej-978	80	15	built	build	VERB
alkej-978	80	16	.	.	PUNCT
alkej-978	81	1	this	this	DET
alkej-978	81	2	system	system	NOUN
alkej-978	81	3	is	be	AUX
alkej-978	81	4	coupled	couple	VERB
alkej-978	81	5	with	with	ADP
alkej-978	81	6	a	a	DET
alkej-978	81	7	conveyor	conveyor	NOUN
alkej-978	81	8	belt	belt	NOUN
alkej-978	81	9	.	.	PUNCT
alkej-978	82	1	when	when	SCONJ
alkej-978	82	2	ir	ir	PROPN
alkej-978	82	3	sensors	sensor	NOUN
alkej-978	82	4	detect	detect	VERB
alkej-978	82	5	an	an	DET
alkej-978	82	6	object	object	NOUN
alkej-978	82	7	on	on	ADP
alkej-978	82	8	the	the	DET
alkej-978	82	9	conveyor	conveyor	NOUN
alkej-978	82	10	,	,	PUNCT
alkej-978	82	11	the	the	DET
alkej-978	82	12	system	system	NOUN
alkej-978	82	13	turns	turn	VERB
alkej-978	82	14	on	on	ADP
alkej-978	82	15	an	an	DET
alkej-978	82	16	arm	arm	NOUN
alkej-978	82	17	for	for	ADP
alkej-978	82	18	precise	precise	ADJ
alkej-978	82	19	material	material	NOUN
alkej-978	82	20	handling	handling	NOUN
alkej-978	82	21	.	.	PUNCT
alkej-978	83	1	such	such	DET
alkej-978	83	2	a	a	DET
alkej-978	83	3	system	system	NOUN
alkej-978	83	4	reduces	reduce	VERB
alkej-978	83	5	human	human	ADJ
alkej-978	83	6	intervention	intervention	NOUN
alkej-978	83	7	and	and	CCONJ
alkej-978	83	8	raises	raise	VERB
alkej-978	83	9	the	the	DET
alkej-978	83	10	level	level	NOUN
alkej-978	83	11	of	of	ADP
alkej-978	83	12	efficiency	efficiency	NOUN
alkej-978	83	13	and	and	CCONJ
alkej-978	83	14	accuracy	accuracy	NOUN
alkej-978	83	15	in	in	ADP
alkej-978	83	16	repetitive	repetitive	ADJ
alkej-978	83	17	tasks	task	NOUN
alkej-978	83	18	;	;	PUNCT
alkej-978	83	19	these	these	DET
alkej-978	83	20	capabilities	capability	NOUN
alkej-978	83	21	are	be	AUX
alkej-978	83	22	crucial	crucial	ADJ
alkej-978	83	23	for	for	ADP
alkej-978	83	24	food	food	NOUN
alkej-978	83	25	processing	processing	NOUN
alkej-978	83	26	and	and	CCONJ
alkej-978	83	27	packaging	packaging	NOUN
alkej-978	83	28	and	and	CCONJ
alkej-978	83	29	other	other	ADJ
alkej-978	83	30	industries	industry	NOUN
alkej-978	83	31	[	[	X
alkej-978	83	32	15	15	NUM
alkej-978	83	33	]	]	PUNCT
alkej-978	83	34	.	.	PUNCT
alkej-978	84	1	moreover	moreover	ADV
alkej-978	84	2	,	,	PUNCT
alkej-978	84	3	a	a	DET
alkej-978	84	4	gantry	gantry	NOUN
alkej-978	84	5	robot	robot	NOUN
alkej-978	84	6	that	that	PRON
alkej-978	84	7	can	can	AUX
alkej-978	84	8	autonomously	autonomously	ADV
alkej-978	84	9	play	play	VERB
alkej-978	84	10	checkers	checker	NOUN
alkej-978	84	11	by	by	ADP
alkej-978	84	12	using	use	VERB
alkej-978	84	13	neural	neural	ADJ
alkej-978	84	14	networks	network	NOUN
alkej-978	84	15	and	and	CCONJ
alkej-978	84	16	computer	computer	NOUN
alkej-978	84	17	vision	vision	NOUN
alkej-978	84	18	has	have	AUX
alkej-978	84	19	been	be	AUX
alkej-978	84	20	introduced	introduce	VERB
alkej-978	84	21	.	.	PUNCT
alkej-978	85	1	the	the	DET
alkej-978	85	2	system	system	NOUN
alkej-978	85	3	employs	employ	VERB
alkej-978	85	4	reinforcement	reinforcement	NOUN
alkej-978	85	5	learning	learning	NOUN
alkej-978	85	6	to	to	PART
alkej-978	85	7	make	make	VERB
alkej-978	85	8	moves	move	NOUN
alkej-978	85	9	by	by	ADP
alkej-978	85	10	combining	combine	VERB
alkej-978	85	11	the	the	DET
alkej-978	85	12	test	test	NOUN
alkej-978	85	13	board	board	NOUN
alkej-978	85	14	and	and	CCONJ
alkej-978	85	15	pieces	piece	NOUN
alkej-978	85	16	with	with	ADP
alkej-978	85	17	a	a	DET
alkej-978	85	18	camera	camera	NOUN
alkej-978	85	19	,	,	PUNCT
alkej-978	85	20	and	and	CCONJ
alkej-978	85	21	the	the	DET
alkej-978	85	22	camera	camera	NOUN
alkej-978	85	23	feed	feed	NOUN
alkej-978	85	24	is	be	AUX
alkej-978	85	25	processed	process	VERB
alkej-978	85	26	through	through	ADP
alkej-978	85	27	opencv	opencv	PROPN
alkej-978	85	28	.	.	PUNCT
alkej-978	86	1	although	although	SCONJ
alkej-978	86	2	the	the	DET
alkej-978	86	3	system	system	NOUN
alkej-978	86	4	faces	face	VERB
alkej-978	86	5	substantial	substantial	ADJ
alkej-978	86	6	challenges	challenge	NOUN
alkej-978	86	7	in	in	ADP
alkej-978	86	8	terms	term	NOUN
alkej-978	86	9	of	of	ADP
alkej-978	86	10	lighting	lighting	NOUN
alkej-978	86	11	,	,	PUNCT
alkej-978	86	12	it	it	PRON
alkej-978	86	13	can	can	AUX
alkej-978	86	14	play	play	VERB
alkej-978	86	15	the	the	DET
alkej-978	86	16	game	game	NOUN
alkej-978	86	17	accurately	accurately	ADV
alkej-978	86	18	and	and	CCONJ
alkej-978	86	19	smoothly	smoothly	ADV
alkej-978	86	20	[	[	X
alkej-978	86	21	16	16	NUM
alkej-978	86	22	]	]	PUNCT
alkej-978	86	23	.	.	PUNCT
alkej-978	87	1	meanwhile	meanwhile	ADV
alkej-978	87	2	,	,	PUNCT
alkej-978	87	3	a	a	DET
alkej-978	87	4	benchmarking	benchmarke	VERB
alkej-978	87	5	study	study	NOUN
alkej-978	87	6	has	have	AUX
alkej-978	87	7	reported	report	VERB
alkej-978	87	8	that	that	SCONJ
alkej-978	87	9	q	q	NOUN
alkej-978	87	10	-	-	PUNCT
alkej-978	87	11	learning	learning	NOUN
alkej-978	87	12	is	be	AUX
alkej-978	87	13	more	more	ADV
alkej-978	87	14	effective	effective	ADJ
alkej-978	87	15	than	than	ADP
alkej-978	87	16	state	state	NOUN
alkej-978	87	17	–	–	PUNCT
alkej-978	87	18	action	action	NOUN
alkej-978	87	19	–	–	PUNCT
alkej-978	87	20	reward	reward	NOUN
alkej-978	87	21	–	–	PUNCT
alkej-978	87	22	state	state	NOUN
alkej-978	87	23	–	–	PUNCT
alkej-978	87	24	action	action	NOUN
alkej-978	87	25	(	(	PUNCT
alkej-978	87	26	sarsa	sarsa	NOUN
alkej-978	87	27	)	)	PUNCT
alkej-978	87	28	for	for	ADP
alkej-978	87	29	robotic	robotic	ADJ
alkej-978	87	30	pick	pick	VERB
alkej-978	87	31	-	-	PUNCT
alkej-978	87	32	and	and	CCONJ
alkej-978	87	33	-	-	PUNCT
alkej-978	87	34	place	place	NOUN
alkej-978	87	35	tasks	task	NOUN
alkej-978	87	36	in	in	ADP
alkej-978	87	37	non	non	ADJ
alkej-978	87	38	-	-	ADJ
alkej-978	87	39	visual	visual	ADJ
alkej-978	87	40	environments	environment	NOUN
alkej-978	87	41	.	.	PUNCT
alkej-978	88	1	q	q	X
alkej-978	88	2	-	-	PUNCT
alkej-978	88	3	learning	learning	NOUN
alkej-978	88	4	,	,	PUNCT
alkej-978	88	5	after	after	ADP
alkej-978	88	6	being	be	AUX
alkej-978	88	7	trained	train	VERB
alkej-978	88	8	in	in	ADP
alkej-978	88	9	several	several	ADJ
alkej-978	88	10	shapes	shape	NOUN
alkej-978	88	11	,	,	PUNCT
alkej-978	88	12	object	object	VERB
alkej-978	88	13	dynamics	dynamic	NOUN
alkej-978	88	14	and	and	CCONJ
alkej-978	88	15	belt	belt	NOUN
alkej-978	88	16	dynamics	dynamic	NOUN
alkej-978	88	17	,	,	PUNCT
alkej-978	88	18	can	can	AUX
alkej-978	88	19	achieve	achieve	VERB
alkej-978	88	20	more	more	ADJ
alkej-978	88	21	than	than	ADP
alkej-978	88	22	90	90	NUM
alkej-978	88	23	%	%	NOUN
alkej-978	88	24	success	success	NOUN
alkej-978	88	25	,	,	PUNCT
alkej-978	88	26	whereas	whereas	SCONJ
alkej-978	88	27	sarsa	sarsa	NOUN
alkej-978	88	28	has	have	VERB
alkej-978	88	29	a	a	DET
alkej-978	88	30	lower	low	ADJ
alkej-978	88	31	success	success	NOUN
alkej-978	88	32	rate	rate	NOUN
alkej-978	88	33	,	,	PUNCT
alkej-978	88	34	especially	especially	ADV
alkej-978	88	35	for	for	ADP
alkej-978	88	36	spherical	spherical	ADJ
alkej-978	88	37	objects	object	NOUN
alkej-978	88	38	and	and	CCONJ
alkej-978	88	39	at	at	ADP
alkej-978	88	40	high	high	ADJ
alkej-978	88	41	speeds	speed	NOUN
alkej-978	88	42	[	[	X
alkej-978	88	43	17	17	NUM
alkej-978	88	44	]	]	PUNCT
alkej-978	88	45	.	.	PUNCT
alkej-978	89	1	the	the	DET
alkej-978	89	2	study	study	NOUN
alkej-978	89	3	examined	examine	VERB
alkej-978	89	4	the	the	DET
alkej-978	89	5	deployment	deployment	NOUN
alkej-978	89	6	of	of	ADP
alkej-978	89	7	gantry	gantry	NOUN
alkej-978	89	8	robots	robot	NOUN
alkej-978	89	9	and	and	CCONJ
alkej-978	89	10	conveyor	conveyor	NOUN
alkej-978	89	11	belt	belt	NOUN
alkej-978	89	12	systems	system	NOUN
alkej-978	89	13	,	,	PUNCT
alkej-978	89	14	with	with	ADP
alkej-978	89	15	focus	focus	NOUN
alkej-978	89	16	on	on	ADP
alkej-978	89	17	the	the	DET
alkej-978	89	18	integration	integration	NOUN
alkej-978	89	19	of	of	ADP
alkej-978	89	20	vision	vision	NOUN
alkej-978	89	21	and	and	CCONJ
alkej-978	89	22	sensing	sense	VERB
alkej-978	89	23	technologies	technology	NOUN
alkej-978	89	24	to	to	PART
alkej-978	89	25	elevate	elevate	VERB
alkej-978	89	26	dimensional	dimensional	ADJ
alkej-978	89	27	accuracy	accuracy	NOUN
alkej-978	89	28	and	and	CCONJ
alkej-978	89	29	operational	operational	ADJ
alkej-978	89	30	efficiency	efficiency	NOUN
alkej-978	89	31	.	.	PUNCT
alkej-978	90	1	it	it	PRON
alkej-978	90	2	conducted	conduct	VERB
alkej-978	90	3	a	a	DET
alkej-978	90	4	detailed	detailed	ADJ
alkej-978	90	5	investigation	investigation	NOUN
alkej-978	90	6	of	of	ADP
alkej-978	90	7	the	the	DET
alkej-978	90	8	advantages	advantage	NOUN
alkej-978	90	9	and	and	CCONJ
alkej-978	90	10	disadvantages	disadvantage	NOUN
alkej-978	90	11	of	of	ADP
alkej-978	90	12	gantry	gantry	NOUN
alkej-978	90	13	robots	robot	NOUN
alkej-978	90	14	and	and	CCONJ
alkej-978	90	15	highlighted	highlight	VERB
alkej-978	90	16	the	the	DET
alkej-978	90	17	challenges	challenge	NOUN
alkej-978	90	18	in	in	ADP
alkej-978	90	19	sensing	sense	VERB
alkej-978	90	20	,	,	PUNCT
alkej-978	90	21	grasping	grasp	VERB
alkej-978	90	22	and	and	CCONJ
alkej-978	90	23	manipulation	manipulation	NOUN
alkej-978	90	24	in	in	ADP
alkej-978	90	25	these	these	DET
alkej-978	90	26	systems	system	NOUN
alkej-978	90	27	.	.	PUNCT
alkej-978	91	1	cartesian	cartesian	ADJ
alkej-978	91	2	or	or	CCONJ
alkej-978	91	3	gantry	gantry	NOUN
alkej-978	91	4	hayder	hayder	NOUN
alkej-978	91	5	ali	ali	PROPN
alkej-978	91	6	saadi	saadi	PROPN
alkej-978	91	7	al	al	PROPN
alkej-978	91	8	-	-	PUNCT
alkej-978	91	9	khwarizmi	khwarizmi	PROPN
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alkej-978	91	11	journal	journal	PROPN
alkej-978	91	12	,	,	PUNCT
alkej-978	91	13	vol	vol	NOUN
alkej-978	91	14	.	.	PROPN
alkej-978	91	15	21	21	NUM
alkej-978	91	16	,	,	PUNCT
alkej-978	91	17	no.4	no.4	PROPN
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alkej-978	91	19	pp	pp	X
alkej-978	91	20	.	.	PUNCT
alkej-978	91	21	106124	106124	NUM
alkej-978	91	22	(	(	PUNCT
alkej-978	91	23	2025	2025	NUM
alkej-978	91	24	)	)	PUNCT
alkej-978	91	25	109	109	NUM
alkej-978	91	26	robots	robot	NOUN
alkej-978	91	27	should	should	AUX
alkej-978	91	28	move	move	VERB
alkej-978	91	29	along	along	ADP
alkej-978	91	30	a	a	DET
alkej-978	91	31	precisely	precisely	ADV
alkej-978	91	32	defined	define	VERB
alkej-978	91	33	path	path	NOUN
alkej-978	91	34	,	,	PUNCT
alkej-978	91	35	with	with	ADP
alkej-978	91	36	minimal	minimal	ADJ
alkej-978	91	37	changes	change	NOUN
alkej-978	91	38	in	in	ADP
alkej-978	91	39	object	object	NOUN
alkej-978	91	40	dimensions	dimension	NOUN
alkej-978	91	41	and	and	CCONJ
alkej-978	91	42	positional	positional	ADJ
alkej-978	91	43	sensing	sensing	NOUN
alkej-978	91	44	.	.	PUNCT
alkej-978	92	1	sensors	sensor	NOUN
alkej-978	92	2	and	and	CCONJ
alkej-978	92	3	camera	camera	NOUN
alkej-978	92	4	vision	vision	NOUN
alkej-978	92	5	can	can	AUX
alkej-978	92	6	help	help	VERB
alkej-978	92	7	determine	determine	VERB
alkej-978	92	8	body	body	NOUN
alkej-978	92	9	dimensions	dimension	NOUN
alkej-978	92	10	and	and	CCONJ
alkej-978	92	11	position	position	NOUN
alkej-978	92	12	.	.	PUNCT
alkej-978	93	1	this	this	DET
alkej-978	93	2	review	review	NOUN
alkej-978	93	3	discusses	discuss	VERB
alkej-978	93	4	the	the	DET
alkej-978	93	5	gantry	gantry	NOUN
alkej-978	93	6	robot	robot	NOUN
alkej-978	93	7	and	and	CCONJ
alkej-978	93	8	conveyor	conveyor	NOUN
alkej-978	93	9	system	system	NOUN
alkej-978	93	10	,	,	PUNCT
alkej-978	93	11	including	include	VERB
alkej-978	93	12	its	its	PRON
alkej-978	93	13	working	working	ADJ
alkej-978	93	14	principle	principle	NOUN
alkej-978	93	15	,	,	PUNCT
alkej-978	93	16	advantages	advantage	NOUN
alkej-978	93	17	,	,	PUNCT
alkej-978	93	18	disadvantages	disadvantage	NOUN
alkej-978	93	19	and	and	CCONJ
alkej-978	93	20	types	type	NOUN
alkej-978	93	21	of	of	ADP
alkej-978	93	22	sensors	sensor	NOUN
alkej-978	93	23	used	use	VERB
alkej-978	93	24	and	and	CCONJ
alkej-978	93	25	their	their	PRON
alkej-978	93	26	working	work	VERB
alkej-978	93	27	principle	principle	NOUN
alkej-978	93	28	.	.	PUNCT
alkej-978	94	1	the	the	DET
alkej-978	94	2	determination	determination	NOUN
alkej-978	94	3	of	of	ADP
alkej-978	94	4	body	body	NOUN
alkej-978	94	5	dimensions	dimension	NOUN
alkej-978	94	6	and	and	CCONJ
alkej-978	94	7	position	position	NOUN
alkej-978	94	8	by	by	ADP
alkej-978	94	9	range	range	NOUN
alkej-978	94	10	and	and	CCONJ
alkej-978	94	11	vision	vision	NOUN
alkej-978	94	12	sensors	sensor	NOUN
alkej-978	94	13	is	be	AUX
alkej-978	94	14	discussed	discuss	VERB
alkej-978	94	15	in	in	ADP
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alkej-978	94	17	.	.	PUNCT
alkej-978	95	1	2	2	X
alkej-978	95	2	.	.	X
alkej-978	95	3	gantry	gantry	NOUN
alkej-978	95	4	robots	robot	NOUN
alkej-978	95	5	and	and	CCONJ
alkej-978	95	6	conveyor	conveyor	NOUN
alkej-978	95	7	belts	belt	NOUN
alkej-978	95	8	the	the	DET
alkej-978	95	9	gantry	gantry	NOUN
alkej-978	95	10	robot	robot	NOUN
alkej-978	95	11	was	be	AUX
alkej-978	95	12	first	first	ADV
alkej-978	95	13	used	use	VERB
alkej-978	95	14	in	in	ADP
alkej-978	95	15	1977	1977	NUM
alkej-978	95	16	by	by	ADP
alkej-978	95	17	r.	r.	PROPN
alkej-978	95	18	a.	a.	PROPN
alkej-978	95	19	jarvis	jarvis	PROPN
alkej-978	96	1	[	[	X
alkej-978	96	2	18	18	NUM
alkej-978	96	3	]	]	PUNCT
alkej-978	96	4	.	.	PUNCT
alkej-978	97	1	gantry	gantry	NOUN
alkej-978	97	2	robots	robot	NOUN
alkej-978	97	3	can	can	AUX
alkej-978	97	4	make	make	VERB
alkej-978	97	5	use	use	NOUN
alkej-978	97	6	of	of	ADP
alkej-978	97	7	almost	almost	ADV
alkej-978	97	8	all	all	DET
alkej-978	97	9	their	their	PRON
alkej-978	97	10	space	space	NOUN
alkej-978	97	11	and	and	CCONJ
alkej-978	97	12	size	size	NOUN
alkej-978	97	13	,	,	PUNCT
alkej-978	97	14	filling	fill	VERB
alkej-978	97	15	up	up	ADP
alkej-978	97	16	to	to	PART
alkej-978	97	17	96	96	NUM
alkej-978	97	18	%	%	NOUN
alkej-978	97	19	of	of	ADP
alkej-978	97	20	their	their	PRON
alkej-978	97	21	cubic	cubic	ADJ
alkej-978	97	22	work	work	NOUN
alkej-978	97	23	envelope	envelope	NOUN
alkej-978	97	24	[	[	X
alkej-978	97	25	3	3	NUM
alkej-978	97	26	]	]	PUNCT
alkej-978	97	27	.	.	PUNCT
alkej-978	98	1	a	a	DET
alkej-978	98	2	cartesian	cartesian	ADJ
alkej-978	98	3	robot	robot	NOUN
alkej-978	98	4	has	have	VERB
alkej-978	98	5	three	three	NUM
alkej-978	98	6	axes	axis	NOUN
alkej-978	98	7	for	for	ADP
alkej-978	98	8	operation	operation	NOUN
alkej-978	98	9	.	.	PUNCT
alkej-978	99	1	x	x	X
alkej-978	99	2	,	,	PUNCT
alkej-978	99	3	y	y	PROPN
alkej-978	99	4	and	and	CCONJ
alkej-978	99	5	z	z	PROPN
alkej-978	99	6	typically	typically	ADV
alkej-978	99	7	denote	denote	VERB
alkej-978	99	8	coordinates	coordinate	NOUN
alkej-978	99	9	in	in	ADP
alkej-978	99	10	three	three	NUM
alkej-978	99	11	dimensions	dimension	NOUN
alkej-978	99	12	(	(	PUNCT
alkej-978	99	13	figure	figure	NOUN
alkej-978	99	14	1	1	NUM
alkej-978	99	15	)	)	PUNCT
alkej-978	99	16	.	.	PUNCT
alkej-978	100	1	the	the	DET
alkej-978	100	2	arrangement	arrangement	NOUN
alkej-978	100	3	of	of	ADP
alkej-978	100	4	each	each	DET
alkej-978	100	5	axis	axis	NOUN
alkej-978	100	6	is	be	AUX
alkej-978	100	7	perpendicular	perpendicular	ADJ
alkej-978	100	8	,	,	PUNCT
alkej-978	100	9	enabling	enable	VERB
alkej-978	100	10	three	three	NUM
alkej-978	100	11	degrees	degree	NOUN
alkej-978	100	12	of	of	ADP
alkej-978	100	13	mobility	mobility	NOUN
alkej-978	100	14	[	[	X
alkej-978	100	15	19	19	NUM
alkej-978	100	16	]	]	PUNCT
alkej-978	100	17	.	.	PUNCT
alkej-978	101	1	unlike	unlike	ADP
alkej-978	101	2	robots	robot	NOUN
alkej-978	101	3	with	with	ADP
alkej-978	101	4	arm	arm	NOUN
alkej-978	101	5	configurations	configuration	NOUN
alkej-978	101	6	,	,	PUNCT
alkej-978	101	7	gantries	gantry	NOUN
alkej-978	101	8	can	can	AUX
alkej-978	101	9	easily	easily	ADV
alkej-978	101	10	expand	expand	VERB
alkej-978	101	11	to	to	ADP
alkej-978	101	12	large	large	ADJ
alkej-978	101	13	dimensions	dimension	NOUN
alkej-978	101	14	in	in	ADP
alkej-978	101	15	all	all	DET
alkej-978	101	16	three	three	NUM
alkej-978	101	17	axes	axis	NOUN
alkej-978	101	18	.	.	PUNCT
alkej-978	102	1	gantry	gantry	NOUN
alkej-978	102	2	robots	robot	NOUN
alkej-978	102	3	are	be	AUX
alkej-978	102	4	particularly	particularly	ADV
alkej-978	102	5	suitable	suitable	ADJ
alkej-978	102	6	for	for	ADP
alkej-978	102	7	situations	situation	NOUN
alkej-978	102	8	with	with	ADP
alkej-978	102	9	few	few	ADJ
alkej-978	102	10	additional	additional	ADJ
alkej-978	102	11	orientation	orientation	NOUN
alkej-978	102	12	constraints	constraint	NOUN
alkej-978	102	13	or	or	CCONJ
alkej-978	102	14	where	where	SCONJ
alkej-978	102	15	the	the	DET
alkej-978	102	16	robot	robot	NOUN
alkej-978	102	17	can	can	AUX
alkej-978	102	18	arrange	arrange	VERB
alkej-978	102	19	the	the	DET
alkej-978	102	20	pieces	piece	NOUN
alkej-978	102	21	in	in	ADP
alkej-978	102	22	advance	advance	NOUN
alkej-978	102	23	before	before	ADP
alkej-978	102	24	picking	pick	VERB
alkej-978	102	25	them	they	PRON
alkej-978	102	26	up	up	ADP
alkej-978	102	27	[	[	X
alkej-978	102	28	3	3	NUM
alkej-978	102	29	]	]	PUNCT
alkej-978	102	30	.	.	PUNCT
alkej-978	103	1	cartesian	cartesian	ADJ
alkej-978	103	2	and	and	CCONJ
alkej-978	103	3	gantry	gantry	NOUN
alkej-978	103	4	robots	robot	NOUN
alkej-978	103	5	have	have	VERB
alkej-978	103	6	a	a	DET
alkej-978	103	7	rectangular	rectangular	ADJ
alkej-978	103	8	or	or	CCONJ
alkej-978	103	9	cubic	cubic	ADJ
alkej-978	103	10	work	work	NOUN
alkej-978	103	11	envelope	envelope	NOUN
alkej-978	103	12	,	,	PUNCT
alkej-978	103	13	unlike	unlike	ADP
alkej-978	103	14	articulated	articulated	ADJ
alkej-978	103	15	robots	robot	NOUN
alkej-978	103	16	,	,	PUNCT
alkej-978	103	17	which	which	PRON
alkej-978	103	18	,	,	PUNCT
alkej-978	103	19	similar	similar	ADJ
alkej-978	103	20	to	to	ADP
alkej-978	103	21	the	the	DET
alkej-978	103	22	joints	joint	NOUN
alkej-978	103	23	in	in	ADP
alkej-978	103	24	a	a	DET
alkej-978	103	25	human	human	ADJ
alkej-978	103	26	arm	arm	NOUN
alkej-978	103	27	,	,	PUNCT
alkej-978	103	28	have	have	AUX
alkej-978	103	29	defined	define	VERB
alkej-978	103	30	boundaries	boundary	NOUN
alkej-978	103	31	for	for	ADP
alkej-978	103	32	each	each	DET
alkej-978	103	33	movement	movement	NOUN
alkej-978	103	34	and	and	CCONJ
alkej-978	103	35	a	a	DET
alkej-978	103	36	predefined	predefined	ADJ
alkej-978	103	37	range	range	NOUN
alkej-978	103	38	of	of	ADP
alkej-978	103	39	motion	motion	NOUN
alkej-978	103	40	.	.	PUNCT
alkej-978	104	1	consequently	consequently	ADV
alkej-978	104	2	,	,	PUNCT
alkej-978	104	3	the	the	DET
alkej-978	104	4	degree	degree	NOUN
alkej-978	104	5	of	of	ADP
alkej-978	104	6	movement	movement	NOUN
alkej-978	104	7	is	be	AUX
alkej-978	104	8	represented	represent	VERB
alkej-978	104	9	by	by	ADP
alkej-978	104	10	wide	wide	ADJ
alkej-978	104	11	,	,	PUNCT
alkej-978	104	12	sweeping	sweeping	ADJ
alkej-978	104	13	arcs	arc	NOUN
alkej-978	104	14	,	,	PUNCT
alkej-978	104	15	which	which	PRON
alkej-978	104	16	are	be	AUX
alkej-978	104	17	the	the	DET
alkej-978	104	18	main	main	ADJ
alkej-978	104	19	depiction	depiction	NOUN
alkej-978	104	20	factors	factor	NOUN
alkej-978	104	21	.	.	PUNCT
alkej-978	105	1	these	these	DET
alkej-978	105	2	arcs	arc	NOUN
alkej-978	105	3	illustrate	illustrate	VERB
alkej-978	105	4	positive	positive	ADJ
alkej-978	105	5	and	and	CCONJ
alkej-978	105	6	negative	negative	ADJ
alkej-978	105	7	degrees	degree	NOUN
alkej-978	105	8	of	of	ADP
alkej-978	105	9	movement	movement	NOUN
alkej-978	105	10	as	as	SCONJ
alkej-978	105	11	they	they	PRON
alkej-978	105	12	rotate	rotate	VERB
alkej-978	105	13	around	around	ADP
alkej-978	105	14	the	the	DET
alkej-978	105	15	centre	centre	NOUN
alkej-978	105	16	of	of	ADP
alkej-978	105	17	the	the	DET
alkej-978	105	18	base	base	NOUN
alkej-978	105	19	and	and	CCONJ
alkej-978	105	20	the	the	DET
alkej-978	105	21	bearing	bearing	NOUN
alkej-978	105	22	of	of	ADP
alkej-978	105	23	each	each	DET
alkej-978	105	24	axis	axis	NOUN
alkej-978	105	25	.	.	PUNCT
alkej-978	106	1	notably	notably	ADV
alkej-978	106	2	,	,	PUNCT
alkej-978	106	3	these	these	DET
alkej-978	106	4	non	non	ADJ
alkej-978	106	5	-	-	ADJ
alkej-978	106	6	standard	standard	ADJ
alkej-978	106	7	work	work	NOUN
alkej-978	106	8	areas	area	NOUN
alkej-978	106	9	often	often	ADV
alkej-978	106	10	entail	entail	VERB
alkej-978	106	11	changes	change	NOUN
alkej-978	106	12	to	to	ADP
alkej-978	106	13	the	the	DET
alkej-978	106	14	workspace	workspace	NOUN
alkej-978	106	15	,	,	PUNCT
alkej-978	106	16	instead	instead	ADV
alkej-978	106	17	of	of	ADP
alkej-978	106	18	the	the	DET
alkej-978	106	19	robot	robot	NOUN
alkej-978	106	20	modifying	modify	VERB
alkej-978	106	21	the	the	DET
alkej-978	106	22	environment	environment	NOUN
alkej-978	106	23	[	[	X
alkej-978	106	24	20	20	NUM
alkej-978	106	25	]	]	PUNCT
alkej-978	106	26	.	.	PUNCT
alkej-978	107	1	cartesian	cartesian	ADJ
alkej-978	107	2	/	/	SYM
alkej-978	107	3	gantry	gantry	NOUN
alkej-978	107	4	robots	robot	NOUN
alkej-978	107	5	have	have	VERB
alkej-978	107	6	an	an	DET
alkej-978	107	7	extremely	extremely	ADV
alkej-978	107	8	high	high	ADJ
alkej-978	107	9	level	level	NOUN
alkej-978	107	10	of	of	ADP
alkej-978	107	11	accuracy	accuracy	NOUN
alkej-978	107	12	and	and	CCONJ
alkej-978	107	13	repeat	repeat	NOUN
alkej-978	107	14	ability	ability	NOUN
alkej-978	107	15	as	as	ADP
alkej-978	107	16	a	a	DET
alkej-978	107	17	result	result	NOUN
alkej-978	107	18	of	of	ADP
alkej-978	107	19	their	their	PRON
alkej-978	107	20	rigid	rigid	ADJ
alkej-978	107	21	yet	yet	CCONJ
alkej-978	107	22	lightweight	lightweight	ADJ
alkej-978	107	23	structure	structure	NOUN
alkej-978	107	24	.	.	PUNCT
alkej-978	108	1	gantry	gantry	NOUN
alkej-978	108	2	robots	robot	NOUN
alkej-978	108	3	are	be	AUX
alkej-978	108	4	easy	easy	ADJ
alkej-978	108	5	to	to	PART
alkej-978	108	6	program	program	VERB
alkej-978	108	7	and	and	CCONJ
alkej-978	108	8	deploy	deploy	VERB
alkej-978	108	9	when	when	SCONJ
alkej-978	108	10	assessing	assess	VERB
alkej-978	108	11	new	new	ADJ
alkej-978	108	12	automation	automation	NOUN
alkej-978	108	13	because	because	SCONJ
alkej-978	108	14	of	of	ADP
alkej-978	108	15	their	their	PRON
alkej-978	108	16	straightforward	straightforward	ADJ
alkej-978	108	17	structures	structure	NOUN
alkej-978	108	18	.	.	PUNCT
alkej-978	109	1	most	most	ADJ
alkej-978	109	2	gantry	gantry	NOUN
alkej-978	109	3	robots	robot	NOUN
alkej-978	109	4	are	be	AUX
alkej-978	109	5	customisable	customisable	ADJ
alkej-978	109	6	.	.	PUNCT
alkej-978	110	1	equipped	equip	VERB
alkej-978	110	2	with	with	ADP
alkej-978	110	3	a	a	DET
alkej-978	110	4	wide	wide	ADJ
alkej-978	110	5	range	range	NOUN
alkej-978	110	6	of	of	ADP
alkej-978	110	7	motor	motor	NOUN
alkej-978	110	8	and	and	CCONJ
alkej-978	110	9	gearbox	gearbox	NOUN
alkej-978	110	10	options	option	NOUN
alkej-978	110	11	as	as	ADV
alkej-978	110	12	well	well	ADV
alkej-978	110	13	as	as	ADP
alkej-978	110	14	various	various	ADJ
alkej-978	110	15	components	component	NOUN
alkej-978	110	16	and	and	CCONJ
alkej-978	110	17	materials	material	NOUN
alkej-978	110	18	,	,	PUNCT
alkej-978	110	19	these	these	DET
alkej-978	110	20	robots	robot	NOUN
alkej-978	110	21	are	be	AUX
alkej-978	110	22	ready	ready	ADJ
alkej-978	110	23	to	to	PART
alkej-978	110	24	address	address	VERB
alkej-978	110	25	the	the	DET
alkej-978	110	26	difficulties	difficulty	NOUN
alkej-978	110	27	posed	pose	VERB
alkej-978	110	28	by	by	ADP
alkej-978	110	29	damp	damp	ADJ
alkej-978	110	30	,	,	PUNCT
alkej-978	110	31	dangerous	dangerous	ADJ
alkej-978	110	32	,	,	PUNCT
alkej-978	110	33	unclean	unclean	ADJ
alkej-978	110	34	environments	environment	NOUN
alkej-978	110	35	[	[	X
alkej-978	110	36	21	21	NUM
alkej-978	110	37	]	]	PUNCT
alkej-978	110	38	.	.	PUNCT
alkej-978	111	1	the	the	DET
alkej-978	111	2	cartesian	cartesian	ADJ
alkej-978	111	3	coordinate	coordinate	NOUN
alkej-978	111	4	robot	robot	NOUN
alkej-978	111	5	’s	’s	PART
alkej-978	111	6	simplistic	simplistic	ADJ
alkej-978	111	7	form	form	NOUN
alkej-978	111	8	and	and	CCONJ
alkej-978	111	9	uncomplicated	uncomplicated	ADJ
alkej-978	111	10	operation	operation	NOUN
alkej-978	111	11	make	make	VERB
alkej-978	111	12	it	it	PRON
alkej-978	111	13	highly	highly	ADV
alkej-978	111	14	favoured	favour	VERB
alkej-978	111	15	in	in	ADP
alkej-978	111	16	the	the	DET
alkej-978	111	17	industrial	industrial	ADJ
alkej-978	111	18	industry	industry	NOUN
alkej-978	111	19	.	.	PUNCT
alkej-978	112	1	by	by	ADP
alkej-978	112	2	allowing	allow	VERB
alkej-978	112	3	for	for	ADP
alkej-978	112	4	easy	easy	ADJ
alkej-978	112	5	replacement	replacement	NOUN
alkej-978	112	6	of	of	ADP
alkej-978	112	7	individual	individual	ADJ
alkej-978	112	8	axes	axis	NOUN
alkej-978	112	9	,	,	PUNCT
alkej-978	112	10	the	the	DET
alkej-978	112	11	system	system	NOUN
alkej-978	112	12	minimises	minimise	VERB
alkej-978	112	13	downtime	downtime	NOUN
alkej-978	112	14	and	and	CCONJ
alkej-978	112	15	keeps	keep	VERB
alkej-978	112	16	maintenance	maintenance	NOUN
alkej-978	112	17	costs	cost	NOUN
alkej-978	112	18	low	low	ADJ
alkej-978	112	19	.	.	PUNCT
alkej-978	113	1	furthermore	furthermore	ADV
alkej-978	113	2	,	,	PUNCT
alkej-978	113	3	the	the	DET
alkej-978	113	4	entire	entire	ADJ
alkej-978	113	5	system	system	NOUN
alkej-978	113	6	can	can	AUX
alkej-978	113	7	be	be	AUX
alkej-978	113	8	dismantled	dismantle	VERB
alkej-978	113	9	into	into	ADP
alkej-978	113	10	its	its	PRON
alkej-978	113	11	constituent	constituent	ADJ
alkej-978	113	12	elements	element	NOUN
alkej-978	113	13	for	for	ADP
alkej-978	113	14	use	use	NOUN
alkej-978	113	15	in	in	ADP
alkej-978	113	16	other	other	ADJ
alkej-978	113	17	single	single	ADJ
alkej-978	113	18	-	-	PUNCT
alkej-978	113	19	axis	axis	NOUN
alkej-978	113	20	applications	application	NOUN
alkej-978	113	21	.	.	PUNCT
alkej-978	114	1	moreover	moreover	ADV
alkej-978	114	2	,	,	PUNCT
alkej-978	114	3	cartesian	cartesian	ADJ
alkej-978	114	4	coordinate	coordinate	NOUN
alkej-978	114	5	robot	robot	NOUN
alkej-978	114	6	systems	system	NOUN
alkej-978	114	7	are	be	AUX
alkej-978	114	8	more	more	ADJ
alkej-978	114	9	cost	cost	NOUN
alkej-978	114	10	effective	effective	ADJ
alkej-978	114	11	than	than	ADP
alkej-978	114	12	intricate	intricate	ADJ
alkej-978	114	13	robots	robot	NOUN
alkej-978	114	14	[	[	X
alkej-978	114	15	22	22	NUM
alkej-978	114	16	]	]	PUNCT
alkej-978	114	17	.	.	PUNCT
alkej-978	115	1	the	the	DET
alkej-978	115	2	use	use	NOUN
alkej-978	115	3	of	of	ADP
alkej-978	115	4	the	the	DET
alkej-978	115	5	conveyor	conveyor	NOUN
alkej-978	115	6	belt	belt	NOUN
alkej-978	115	7	began	begin	VERB
alkej-978	115	8	in	in	ADP
alkej-978	115	9	1909	1909	NUM
alkej-978	115	10	[	[	X
alkej-978	115	11	23	23	NUM
alkej-978	115	12	]	]	PUNCT
alkej-978	115	13	.	.	PUNCT
alkej-978	116	1	in	in	ADP
alkej-978	116	2	may	may	PROPN
alkej-978	116	3	2024	2024	NUM
alkej-978	116	4	,	,	PUNCT
alkej-978	116	5	lim	lim	PROPN
alkej-978	116	6	jun	jun	PROPN
alkej-978	116	7	designed	design	VERB
alkej-978	116	8	and	and	CCONJ
alkej-978	116	9	developed	develop	VERB
alkej-978	116	10	a	a	DET
alkej-978	116	11	conveyor	conveyor	NOUN
alkej-978	116	12	belt	belt	NOUN
alkej-978	116	13	system	system	NOUN
alkej-978	116	14	.	.	PUNCT
alkej-978	117	1	this	this	DET
alkej-978	117	2	system	system	NOUN
alkej-978	117	3	,	,	PUNCT
alkej-978	117	4	which	which	PRON
alkej-978	117	5	moves	move	VERB
alkej-978	117	6	materials	material	NOUN
alkej-978	117	7	and	and	CCONJ
alkej-978	117	8	items	item	NOUN
alkej-978	117	9	from	from	ADP
alkej-978	117	10	one	one	NUM
alkej-978	117	11	location	location	NOUN
alkej-978	117	12	to	to	ADP
alkej-978	117	13	another	another	PRON
alkej-978	117	14	with	with	ADP
alkej-978	117	15	high	high	ADJ
alkej-978	117	16	accuracy	accuracy	NOUN
alkej-978	117	17	and	and	CCONJ
alkej-978	117	18	speed	speed	NOUN
alkej-978	117	19	,	,	PUNCT
alkej-978	117	20	plays	play	VERB
alkej-978	117	21	a	a	DET
alkej-978	117	22	crucial	crucial	ADJ
alkej-978	117	23	role	role	NOUN
alkej-978	117	24	in	in	ADP
alkej-978	117	25	manufacturing	manufacturing	NOUN
alkej-978	117	26	and	and	CCONJ
alkej-978	117	27	production	production	NOUN
alkej-978	117	28	facilities	facility	NOUN
alkej-978	117	29	.	.	PUNCT
alkej-978	118	1	the	the	DET
alkej-978	118	2	conveyor	conveyor	NOUN
alkej-978	118	3	belt	belt	NOUN
alkej-978	118	4	is	be	AUX
alkej-978	118	5	essential	essential	ADJ
alkej-978	118	6	for	for	ADP
alkej-978	118	7	continuous	continuous	ADJ
alkej-978	118	8	,	,	PUNCT
alkej-978	118	9	stable	stable	ADJ
alkej-978	118	10	operation	operation	NOUN
alkej-978	118	11	because	because	SCONJ
alkej-978	118	12	it	it	PRON
alkej-978	118	13	ensures	ensure	VERB
alkej-978	118	14	that	that	SCONJ
alkej-978	118	15	the	the	DET
alkej-978	118	16	production	production	NOUN
alkej-978	118	17	line	line	NOUN
alkej-978	118	18	and	and	CCONJ
alkej-978	118	19	storage	storage	NOUN
alkej-978	118	20	distribution	distribution	NOUN
alkej-978	118	21	centre	centre	NOUN
alkej-978	118	22	function	function	VERB
alkej-978	118	23	smoothly	smoothly	ADV
alkej-978	118	24	.	.	PUNCT
alkej-978	119	1	the	the	DET
alkej-978	119	2	conveyor	conveyor	NOUN
alkej-978	119	3	belt	belt	NOUN
alkej-978	119	4	structure	structure	NOUN
alkej-978	119	5	consists	consist	VERB
alkej-978	119	6	of	of	ADP
alkej-978	119	7	mechanical	mechanical	ADJ
alkej-978	119	8	and	and	CCONJ
alkej-978	119	9	electronic	electronic	ADJ
alkej-978	119	10	components	component	NOUN
alkej-978	119	11	that	that	PRON
alkej-978	119	12	work	work	VERB
alkej-978	119	13	together	together	ADV
alkej-978	119	14	to	to	PART
alkej-978	119	15	optimise	optimise	VERB
alkej-978	119	16	usage	usage	NOUN
alkej-978	119	17	while	while	SCONJ
alkej-978	119	18	allowing	allow	VERB
alkej-978	119	19	production	production	NOUN
alkej-978	119	20	to	to	PART
alkej-978	119	21	be	be	AUX
alkej-978	119	22	achieved	achieve	VERB
alkej-978	119	23	without	without	ADP
alkej-978	119	24	errors	error	NOUN
alkej-978	119	25	or	or	CCONJ
alkej-978	119	26	downtime	downtime	NOUN
alkej-978	119	27	[	[	X
alkej-978	119	28	24	24	NUM
alkej-978	119	29	]	]	PUNCT
alkej-978	119	30	.	.	PUNCT
alkej-978	120	1	an	an	DET
alkej-978	120	2	automated	automate	VERB
alkej-978	120	3	conveyor	conveyor	NOUN
alkej-978	120	4	belt	belt	NOUN
alkej-978	120	5	relies	rely	VERB
alkej-978	120	6	on	on	ADP
alkej-978	120	7	advanced	advanced	ADJ
alkej-978	120	8	electronic	electronic	ADJ
alkej-978	120	9	systems	system	NOUN
alkej-978	120	10	,	,	PUNCT
alkej-978	120	11	which	which	PRON
alkej-978	120	12	are	be	AUX
alkej-978	120	13	composed	compose	VERB
alkej-978	120	14	of	of	ADP
alkej-978	120	15	microcontrollers	microcontroller	NOUN
alkej-978	120	16	and	and	CCONJ
alkej-978	120	17	sensors	sensor	NOUN
alkej-978	120	18	that	that	PRON
alkej-978	120	19	interact	interact	VERB
alkej-978	120	20	with	with	ADP
alkej-978	120	21	the	the	DET
alkej-978	120	22	environment	environment	NOUN
alkej-978	120	23	as	as	SCONJ
alkej-978	120	24	needed	need	VERB
alkej-978	120	25	.	.	PUNCT
alkej-978	121	1	polyvinyl	polyvinyl	NOUN
alkej-978	121	2	chloride	chloride	NOUN
alkej-978	121	3	is	be	AUX
alkej-978	121	4	used	use	VERB
alkej-978	121	5	to	to	PART
alkej-978	121	6	make	make	VERB
alkej-978	121	7	this	this	DET
alkej-978	121	8	conveyor	conveyor	NOUN
alkej-978	121	9	belt	belt	NOUN
alkej-978	121	10	,	,	PUNCT
alkej-978	121	11	which	which	PRON
alkej-978	121	12	is	be	AUX
alkej-978	121	13	known	know	VERB
alkej-978	121	14	to	to	PART
alkej-978	121	15	be	be	AUX
alkej-978	121	16	durable	durable	ADJ
alkej-978	121	17	and	and	CCONJ
alkej-978	121	18	highly	highly	ADV
alkej-978	121	19	resistant	resistant	ADJ
alkej-978	121	20	to	to	ADP
alkej-978	121	21	heavy	heavy	ADJ
alkej-978	121	22	loads	load	NOUN
alkej-978	121	23	and	and	CCONJ
alkej-978	121	24	wear	wear	VERB
alkej-978	121	25	.	.	PUNCT
alkej-978	122	1	given	give	VERB
alkej-978	122	2	that	that	SCONJ
alkej-978	122	3	it	it	PRON
alkej-978	122	4	allows	allow	VERB
alkej-978	122	5	for	for	ADP
alkej-978	122	6	easy	easy	ADJ
alkej-978	122	7	and	and	CCONJ
alkej-978	122	8	secure	secure	ADJ
alkej-978	122	9	transportation	transportation	NOUN
alkej-978	122	10	of	of	ADP
alkej-978	122	11	products	product	NOUN
alkej-978	122	12	,	,	PUNCT
alkej-978	122	13	this	this	DET
alkej-978	122	14	system	system	NOUN
alkej-978	122	15	is	be	AUX
alkej-978	122	16	ideal	ideal	ADJ
alkej-978	122	17	for	for	ADP
alkej-978	122	18	various	various	ADJ
alkej-978	122	19	industries	industry	NOUN
alkej-978	122	20	,	,	PUNCT
alkej-978	122	21	especially	especially	ADV
alkej-978	122	22	in	in	ADP
alkej-978	122	23	the	the	DET
alkej-978	122	24	food	food	NOUN
alkej-978	122	25	industry	industry	NOUN
alkej-978	122	26	where	where	SCONJ
alkej-978	122	27	the	the	DET
alkej-978	122	28	conveyor	conveyor	NOUN
alkej-978	122	29	belt	belt	NOUN
alkej-978	122	30	is	be	AUX
alkej-978	122	31	made	make	VERB
alkej-978	122	32	from	from	ADP
alkej-978	122	33	either	either	CCONJ
alkej-978	122	34	thermoplastic	thermoplastic	ADJ
alkej-978	122	35	elastomers	elastomer	NOUN
alkej-978	122	36	or	or	CCONJ
alkej-978	122	37	stainless	stainless	ADJ
alkej-978	122	38	steel	steel	NOUN
alkej-978	122	39	,	,	PUNCT
alkej-978	122	40	adding	add	VERB
alkej-978	122	41	to	to	ADP
alkej-978	122	42	its	its	PRON
alkej-978	122	43	resistance	resistance	NOUN
alkej-978	122	44	to	to	ADP
alkej-978	122	45	corrosion	corrosion	NOUN
alkej-978	122	46	[	[	X
alkej-978	122	47	25	25	NUM
alkej-978	122	48	]	]	PUNCT
alkej-978	122	49	.	.	PUNCT
alkej-978	123	1	wear	wear	VERB
alkej-978	123	2	and	and	CCONJ
alkej-978	123	3	corrosion	corrosion	NOUN
alkej-978	123	4	-	-	PUNCT
alkej-978	123	5	resistant	resistant	ADJ
alkej-978	123	6	metal	metal	NOUN
alkej-978	123	7	rollers	roller	NOUN
alkej-978	123	8	are	be	AUX
alkej-978	123	9	the	the	DET
alkej-978	123	10	belt	belt	NOUN
alkej-978	123	11	’s	’s	PART
alkej-978	123	12	supporting	support	VERB
alkej-978	123	13	elements	element	NOUN
alkej-978	123	14	,	,	PUNCT
alkej-978	123	15	and	and	CCONJ
alkej-978	123	16	they	they	PRON
alkej-978	123	17	guide	guide	VERB
alkej-978	123	18	it	it	PRON
alkej-978	123	19	during	during	ADP
alkej-978	123	20	operation	operation	NOUN
alkej-978	123	21	with	with	ADP
alkej-978	123	22	damping	damp	VERB
alkej-978	123	23	vibration	vibration	NOUN
alkej-978	123	24	.	.	PUNCT
alkej-978	124	1	the	the	DET
alkej-978	124	2	conveyor	conveyor	NOUN
alkej-978	124	3	is	be	AUX
alkej-978	124	4	powered	power	VERB
alkej-978	124	5	by	by	ADP
alkej-978	124	6	different	different	ADJ
alkej-978	124	7	kinds	kind	NOUN
alkej-978	124	8	of	of	ADP
alkej-978	124	9	electric	electric	ADJ
alkej-978	124	10	motors	motor	NOUN
alkej-978	124	11	,	,	PUNCT
alkej-978	124	12	such	such	ADJ
alkej-978	124	13	as	as	ADP
alkej-978	124	14	ac	ac	PROPN
alkej-978	124	15	motors	motor	NOUN
alkej-978	124	16	that	that	PRON
alkej-978	124	17	deliver	deliver	VERB
alkej-978	124	18	continuous	continuous	ADJ
alkej-978	124	19	power	power	NOUN
alkej-978	124	20	for	for	ADP
alkej-978	124	21	heavy	heavy	ADJ
alkej-978	124	22	-	-	PUNCT
alkej-978	124	23	duty	duty	NOUN
alkej-978	124	24	applications	application	NOUN
alkej-978	124	25	,	,	PUNCT
alkej-978	124	26	dc	dc	PROPN
alkej-978	124	27	motors	motor	NOUN
alkej-978	124	28	that	that	PRON
alkej-978	124	29	provide	provide	VERB
alkej-978	124	30	variable	variable	ADJ
alkej-978	124	31	speed	speed	NOUN
alkej-978	124	32	for	for	ADP
alkej-978	124	33	precise	precise	ADJ
alkej-978	124	34	speed	speed	NOUN
alkej-978	124	35	control	control	NOUN
alkej-978	124	36	and	and	CCONJ
alkej-978	124	37	servo	servo	NOUN
alkej-978	124	38	motors	motor	NOUN
alkej-978	124	39	that	that	PRON
alkej-978	124	40	automatically	automatically	ADV
alkej-978	124	41	adjust	adjust	VERB
alkej-978	124	42	conditions	condition	NOUN
alkej-978	124	43	with	with	ADP
alkej-978	124	44	dynamic	dynamic	ADJ
alkej-978	124	45	response	response	NOUN
alkej-978	124	46	to	to	ADP
alkej-978	124	47	high	high	ADJ
alkej-978	124	48	-	-	PUNCT
alkej-978	124	49	level	level	NOUN
alkej-978	124	50	control	control	NOUN
alkej-978	124	51	in	in	ADP
alkej-978	124	52	complex	complex	ADJ
alkej-978	124	53	operations	operation	NOUN
alkej-978	124	54	.	.	PUNCT
alkej-978	125	1	notably	notably	ADV
alkej-978	125	2	,	,	PUNCT
alkej-978	125	3	many	many	ADJ
alkej-978	125	4	other	other	ADJ
alkej-978	125	5	high	high	ADJ
alkej-978	125	6	-	-	PUNCT
alkej-978	125	7	end	end	NOUN
alkej-978	125	8	technologies	technology	NOUN
alkej-978	125	9	(	(	PUNCT
alkej-978	125	10	e.g.	e.g.	ADV
alkej-978	125	11	plc	plc	NOUN
alkej-978	125	12	control	control	NOUN
alkej-978	125	13	for	for	ADP
alkej-978	125	14	the	the	DET
alkej-978	125	15	conveyor	conveyor	NOUN
alkej-978	125	16	,	,	PUNCT
alkej-978	125	17	where	where	SCONJ
alkej-978	125	18	plc	plc	PROPN
alkej-978	125	19	manages	manage	VERB
alkej-978	125	20	the	the	DET
alkej-978	125	21	belt	belt	NOUN
alkej-978	125	22	speed	speed	NOUN
alkej-978	125	23	and	and	CCONJ
alkej-978	125	24	direction	direction	NOUN
alkej-978	125	25	depending	depend	VERB
alkej-978	125	26	on	on	ADP
alkej-978	125	27	the	the	DET
alkej-978	125	28	data	datum	NOUN
alkej-978	125	29	received	receive	VERB
alkej-978	125	30	from	from	ADP
alkej-978	125	31	sensors	sensor	NOUN
alkej-978	125	32	and	and	CCONJ
alkej-978	125	33	cameras	camera	NOUN
alkej-978	125	34	)	)	PUNCT
alkej-978	125	35	are	be	AUX
alkej-978	125	36	available	available	ADJ
alkej-978	125	37	[	[	X
alkej-978	125	38	26	26	NUM
alkej-978	125	39	]	]	PUNCT
alkej-978	125	40	.	.	PUNCT
alkej-978	126	1	sensors	sensor	NOUN
alkej-978	126	2	provide	provide	VERB
alkej-978	126	3	exact	exact	ADJ
alkej-978	126	4	information	information	NOUN
alkej-978	126	5	about	about	ADP
alkej-978	126	6	product	product	NOUN
alkej-978	126	7	weights	weight	NOUN
alkej-978	126	8	and	and	CCONJ
alkej-978	126	9	locations	location	NOUN
alkej-978	126	10	,	,	PUNCT
alkej-978	126	11	and	and	CCONJ
alkej-978	126	12	cameras	camera	NOUN
alkej-978	126	13	,	,	PUNCT
alkej-978	126	14	being	be	AUX
alkej-978	126	15	a	a	DET
alkej-978	126	16	part	part	NOUN
alkej-978	126	17	of	of	ADP
alkej-978	126	18	the	the	DET
alkej-978	126	19	machine	machine	NOUN
alkej-978	126	20	vision	vision	NOUN
alkej-978	126	21	system	system	NOUN
alkej-978	126	22	,	,	PUNCT
alkej-978	126	23	detect	detect	VERB
alkej-978	126	24	quality	quality	NOUN
alkej-978	126	25	issues	issue	NOUN
alkej-978	126	26	,	,	PUNCT
alkej-978	126	27	such	such	ADJ
alkej-978	126	28	as	as	ADP
alkej-978	126	29	damage	damage	NOUN
alkej-978	126	30	or	or	CCONJ
alkej-978	126	31	misclassification	misclassification	NOUN
alkej-978	126	32	.	.	PUNCT
alkej-978	127	1	these	these	DET
alkej-978	127	2	combined	combine	VERB
alkej-978	127	3	systems	system	NOUN
alkej-978	127	4	make	make	VERB
alkej-978	127	5	up	up	ADP
alkej-978	127	6	an	an	DET
alkej-978	127	7	ideal	ideal	ADJ
alkej-978	127	8	approach	approach	NOUN
alkej-978	127	9	to	to	ADP
alkej-978	127	10	minimise	minimise	VERB
alkej-978	127	11	waste	waste	NOUN
alkej-978	127	12	and	and	CCONJ
alkej-978	127	13	maximise	maximise	NOUN
alkej-978	127	14	production	production	NOUN
alkej-978	127	15	efficiency	efficiency	NOUN
alkej-978	127	16	.	.	PUNCT
alkej-978	128	1	they	they	PRON
alkej-978	128	2	have	have	VERB
alkej-978	128	3	robust	robust	ADJ
alkej-978	128	4	engineering	engineering	NOUN
alkej-978	128	5	and	and	CCONJ
alkej-978	128	6	integrated	integrate	VERB
alkej-978	128	7	technology	technology	NOUN
alkej-978	128	8	to	to	PART
alkej-978	128	9	implement	implement	VERB
alkej-978	128	10	quality	quality	NOUN
alkej-978	128	11	and	and	CCONJ
alkej-978	128	12	safety	safety	NOUN
alkej-978	128	13	solutions	solution	NOUN
alkej-978	128	14	for	for	ADP
alkej-978	128	15	products	product	NOUN
alkej-978	128	16	during	during	ADP
alkej-978	128	17	transit	transit	NOUN
alkej-978	128	18	[	[	X
alkej-978	128	19	27	27	NUM
alkej-978	128	20	]	]	PUNCT
alkej-978	128	21	.	.	PUNCT
alkej-978	129	1	the	the	DET
alkej-978	129	2	carriage	carriage	NOUN
alkej-978	129	3	is	be	AUX
alkej-978	129	4	aligned	align	VERB
alkej-978	129	5	with	with	ADP
alkej-978	129	6	the	the	DET
alkej-978	129	7	gripper	gripper	NOUN
alkej-978	129	8	at	at	ADP
alkej-978	129	9	the	the	DET
alkej-978	129	10	specified	specified	ADJ
alkej-978	129	11	corner	corner	NOUN
alkej-978	129	12	on	on	ADP
alkej-978	129	13	the	the	DET
alkej-978	129	14	basis	basis	NOUN
alkej-978	129	15	of	of	ADP
alkej-978	129	16	the	the	DET
alkej-978	129	17	plc	plc	PROPN
alkej-978	129	18	signal	signal	NOUN
alkej-978	129	19	,	,	PUNCT
alkej-978	129	20	and	and	CCONJ
alkej-978	129	21	the	the	DET
alkej-978	129	22	conveyor	conveyor	NOUN
alkej-978	129	23	belt	belt	NOUN
alkej-978	129	24	stays	stay	VERB
alkej-978	129	25	immobile	immobile	ADJ
alkej-978	129	26	,	,	PUNCT
alkej-978	129	27	awaiting	await	VERB
alkej-978	129	28	the	the	DET
alkej-978	129	29	item	item	NOUN
alkej-978	129	30	.	.	PUNCT
alkej-978	130	1	the	the	DET
alkej-978	130	2	gripper	gripper	NOUN
alkej-978	130	3	seizes	seize	VERB
alkej-978	130	4	the	the	DET
alkej-978	130	5	object	object	NOUN
alkej-978	130	6	and	and	CCONJ
alkej-978	130	7	deposits	deposit	VERB
alkej-978	130	8	it	it	PRON
alkej-978	130	9	on	on	ADP
alkej-978	130	10	the	the	DET
alkej-978	130	11	conveyor	conveyor	NOUN
alkej-978	130	12	belt	belt	NOUN
alkej-978	130	13	at	at	ADP
alkej-978	130	14	the	the	DET
alkej-978	130	15	specified	specified	ADJ
alkej-978	130	16	home	home	NOUN
alkej-978	130	17	position	position	NOUN
alkej-978	130	18	.	.	PUNCT
alkej-978	131	1	a	a	DET
alkej-978	131	2	hayder	hayder	NOUN
alkej-978	131	3	ali	ali	PROPN
alkej-978	131	4	saadi	saadi	PROPN
alkej-978	131	5	al	al	PROPN
alkej-978	131	6	-	-	PUNCT
alkej-978	131	7	khwarizmi	khwarizmi	PROPN
alkej-978	131	8	engineering	engineering	NOUN
alkej-978	131	9	journal	journal	PROPN
alkej-978	131	10	,	,	PUNCT
alkej-978	131	11	vol	vol	NOUN
alkej-978	131	12	.	.	PROPN
alkej-978	131	13	21	21	NUM
alkej-978	131	14	,	,	PUNCT
alkej-978	131	15	no.4	no.4	PROPN
alkej-978	131	16	,	,	PUNCT
alkej-978	131	17	pp	pp	X
alkej-978	131	18	.	.	PUNCT
alkej-978	131	19	106124	106124	NUM
alkej-978	131	20	(	(	PUNCT
alkej-978	131	21	2025	2025	NUM
alkej-978	131	22	)	)	PUNCT
alkej-978	131	23	110	110	NUM
alkej-978	131	24	signal	signal	NOUN
alkej-978	131	25	is	be	AUX
alkej-978	131	26	then	then	ADV
alkej-978	131	27	sent	send	VERB
alkej-978	131	28	from	from	ADP
alkej-978	131	29	plc	plc	PROPN
alkej-978	131	30	to	to	PART
alkej-978	131	31	commence	commence	VERB
alkej-978	131	32	the	the	DET
alkej-978	131	33	conveyor	conveyor	NOUN
alkej-978	131	34	’s	’s	PART
alkej-978	131	35	operation	operation	NOUN
alkej-978	131	36	for	for	ADP
alkej-978	131	37	the	the	DET
alkej-978	131	38	item	item	NOUN
alkej-978	131	39	specified	specify	VERB
alkej-978	131	40	for	for	ADP
alkej-978	131	41	retrieval	retrieval	NOUN
alkej-978	131	42	[	[	X
alkej-978	131	43	28	28	NUM
alkej-978	131	44	]	]	PUNCT
alkej-978	131	45	.	.	PUNCT
alkej-978	132	1	shubha	shubha	PROPN
alkej-978	132	2	and	and	CCONJ
alkej-978	132	3	rudresh	rudresh	PROPN
alkej-978	132	4	concentrated	concentrate	VERB
alkej-978	132	5	on	on	ADP
alkej-978	132	6	a	a	DET
alkej-978	132	7	project	project	NOUN
alkej-978	132	8	involving	involve	VERB
alkej-978	132	9	a	a	DET
alkej-978	132	10	colour	colour	NOUN
alkej-978	132	11	sensor	sensor	NOUN
alkej-978	132	12	-	-	PUNCT
alkej-978	132	13	based	base	VERB
alkej-978	132	14	objectsorting	objectsorting	NOUN
alkej-978	132	15	robot	robot	NOUN
alkej-978	132	16	,	,	PUNCT
alkej-978	132	17	with	with	ADP
alkej-978	132	18	the	the	DET
alkej-978	132	19	primary	primary	ADJ
alkej-978	132	20	purpose	purpose	NOUN
alkej-978	132	21	of	of	ADP
alkej-978	132	22	developing	develop	VERB
alkej-978	132	23	an	an	DET
alkej-978	132	24	automated	automate	VERB
alkej-978	132	25	material	material	NOUN
alkej-978	132	26	handling	handling	NOUN
alkej-978	132	27	system	system	NOUN
alkej-978	132	28	.	.	PUNCT
alkej-978	133	1	the	the	DET
alkej-978	133	2	item	item	NOUN
alkej-978	133	3	on	on	ADP
alkej-978	133	4	the	the	DET
alkej-978	133	5	conveyor	conveyor	NOUN
alkej-978	133	6	belt	belt	NOUN
alkej-978	133	7	is	be	AUX
alkej-978	133	8	retrieved	retrieve	VERB
alkej-978	133	9	when	when	SCONJ
alkej-978	133	10	the	the	DET
alkej-978	133	11	microcontroller	microcontroller	NOUN
alkej-978	133	12	instructs	instruct	VERB
alkej-978	133	13	the	the	DET
alkej-978	133	14	robotic	robotic	ADJ
alkej-978	133	15	arm	arm	NOUN
alkej-978	133	16	by	by	ADP
alkej-978	133	17	synchronising	synchronise	VERB
alkej-978	133	18	its	its	PRON
alkej-978	133	19	movement	movement	NOUN
alkej-978	133	20	.	.	PUNCT
alkej-978	134	1	all	all	DET
alkej-978	134	2	items	item	NOUN
alkej-978	134	3	are	be	AUX
alkej-978	134	4	organised	organise	VERB
alkej-978	134	5	by	by	ADP
alkej-978	134	6	positioning	position	VERB
alkej-978	134	7	them	they	PRON
alkej-978	134	8	in	in	ADP
alkej-978	134	9	their	their	PRON
alkej-978	134	10	designated	designate	VERB
alkej-978	134	11	locations	location	NOUN
alkej-978	134	12	after	after	ADP
alkej-978	134	13	being	be	AUX
alkej-978	134	14	retrieved	retrieve	VERB
alkej-978	134	15	from	from	ADP
alkej-978	134	16	the	the	DET
alkej-978	134	17	conveyor	conveyor	NOUN
alkej-978	134	18	.	.	PUNCT
alkej-978	135	1	accuracy	accuracy	NOUN
alkej-978	135	2	and	and	CCONJ
alkej-978	135	3	repeatability	repeatability	NOUN
alkej-978	135	4	in	in	ADP
alkej-978	135	5	tasks	task	NOUN
alkej-978	135	6	are	be	AUX
alkej-978	135	7	attained	attain	VERB
alkej-978	135	8	when	when	SCONJ
alkej-978	135	9	human	human	ADJ
alkej-978	135	10	labour	labour	NOUN
alkej-978	135	11	is	be	AUX
alkej-978	135	12	performed	perform	VERB
alkej-978	135	13	by	by	ADP
alkej-978	135	14	robots	robot	NOUN
alkej-978	135	15	[	[	X
alkej-978	135	16	29	29	NUM
alkej-978	135	17	]	]	PUNCT
alkej-978	135	18	.	.	PUNCT
alkej-978	136	1	fig	fig	NOUN
alkej-978	136	2	.	.	PUNCT
alkej-978	137	1	1	1	X
alkej-978	137	2	.	.	X
alkej-978	137	3	gantry	gantry	NOUN
alkej-978	137	4	robot	robot	NOUN
alkej-978	137	5	[	[	X
alkej-978	137	6	3	3	NUM
alkej-978	137	7	]	]	SYM
alkej-978	137	8	3	3	NUM
alkej-978	137	9	.	.	NOUN
alkej-978	137	10	advantages	advantage	NOUN
alkej-978	137	11	and	and	CCONJ
alkej-978	137	12	disadvantages	disadvantage	NOUN
alkej-978	137	13	of	of	ADP
alkej-978	137	14	gantry	gantry	NOUN
alkej-978	137	15	robots	robot	NOUN
alkej-978	137	16	3.1	3.1	NUM
alkej-978	137	17	.	.	PUNCT
alkej-978	137	18	gantry	gantry	NOUN
alkej-978	137	19	robot	robot	NOUN
alkej-978	137	20	advantages	advantage	NOUN
alkej-978	137	21	[	[	X
alkej-978	137	22	30	30	NUM
alkej-978	137	23	,	,	PUNCT
alkej-978	137	24	31	31	NUM
alkej-978	137	25	,	,	PUNCT
alkej-978	137	26	3	3	NUM
alkej-978	137	27	]	]	SYM
alkej-978	137	28	1	1	NUM
alkej-978	137	29	.	.	PUNCT
alkej-978	138	1	the	the	DET
alkej-978	138	2	robot	robot	NOUN
alkej-978	138	3	is	be	AUX
alkej-978	138	4	capable	capable	ADJ
alkej-978	138	5	of	of	ADP
alkej-978	138	6	extremely	extremely	ADV
alkej-978	138	7	fast	fast	ADJ
alkej-978	138	8	and	and	CCONJ
alkej-978	138	9	accurate	accurate	ADJ
alkej-978	138	10	item	item	NOUN
alkej-978	138	11	repositioning	repositioning	NOUN
alkej-978	138	12	,	,	PUNCT
alkej-978	138	13	which	which	PRON
alkej-978	138	14	is	be	AUX
alkej-978	138	15	an	an	DET
alkej-978	138	16	absolute	absolute	ADJ
alkej-978	138	17	necessity	necessity	NOUN
alkej-978	138	18	in	in	ADP
alkej-978	138	19	such	such	ADJ
alkej-978	138	20	industries	industry	NOUN
alkej-978	138	21	as	as	ADP
alkej-978	138	22	medical	medical	ADJ
alkej-978	138	23	device	device	NOUN
alkej-978	138	24	assembly	assembly	NOUN
alkej-978	138	25	and	and	CCONJ
alkej-978	138	26	semiconductor	semiconductor	NOUN
alkej-978	138	27	manufacturing	manufacturing	NOUN
alkej-978	138	28	to	to	PART
alkej-978	138	29	guarantee	guarantee	VERB
alkej-978	138	30	excellent	excellent	ADJ
alkej-978	138	31	results	result	NOUN
alkej-978	138	32	[	[	X
alkej-978	138	33	30	30	NUM
alkej-978	138	34	]	]	SYM
alkej-978	138	35	.	.	PUNCT
alkej-978	139	1	2	2	X
alkej-978	139	2	.	.	X
alkej-978	139	3	gantry	gantry	NOUN
alkej-978	139	4	robot	robot	NOUN
alkej-978	139	5	systems	system	NOUN
alkej-978	139	6	can	can	AUX
alkej-978	139	7	be	be	AUX
alkej-978	139	8	used	use	VERB
alkej-978	139	9	in	in	ADP
alkej-978	139	10	logistics	logistic	NOUN
alkej-978	139	11	and	and	CCONJ
alkej-978	139	12	manufacturing	manufacturing	NOUN
alkej-978	139	13	.	.	PUNCT
alkej-978	140	1	they	they	PRON
alkej-978	140	2	can	can	AUX
alkej-978	140	3	carry	carry	VERB
alkej-978	140	4	different	different	ADJ
alkej-978	140	5	weights	weight	NOUN
alkej-978	140	6	and	and	CCONJ
alkej-978	140	7	sizes	size	NOUN
alkej-978	140	8	of	of	ADP
alkej-978	140	9	items	item	NOUN
alkej-978	140	10	,	,	PUNCT
alkej-978	140	11	making	make	VERB
alkej-978	140	12	them	they	PRON
alkej-978	140	13	perfect	perfect	ADJ
alkej-978	140	14	for	for	ADP
alkej-978	140	15	3d	3d	NUM
alkej-978	140	16	printing	printing	NOUN
alkej-978	140	17	,	,	PUNCT
alkej-978	140	18	milling	milling	NOUN
alkej-978	140	19	and	and	CCONJ
alkej-978	140	20	pick	pick	NOUN
alkej-978	140	21	-	-	PUNCT
alkej-978	140	22	and	and	CCONJ
alkej-978	140	23	-	-	PUNCT
alkej-978	140	24	place	place	NOUN
alkej-978	140	25	systems	system	NOUN
alkej-978	140	26	[	[	X
alkej-978	140	27	31	31	NUM
alkej-978	140	28	]	]	PUNCT
alkej-978	140	29	.	.	PUNCT
alkej-978	141	1	3	3	X
alkej-978	141	2	.	.	X
alkej-978	141	3	cartesian	cartesian	ADJ
alkej-978	141	4	robots	robot	NOUN
alkej-978	141	5	always	always	ADV
alkej-978	141	6	have	have	VERB
alkej-978	141	7	the	the	DET
alkej-978	141	8	same	same	ADJ
alkej-978	141	9	shape	shape	NOUN
alkej-978	141	10	even	even	ADV
alkej-978	141	11	when	when	SCONJ
alkej-978	141	12	the	the	DET
alkej-978	141	13	tool	tool	NOUN
alkej-978	141	14	is	be	AUX
alkej-978	141	15	in	in	ADP
alkej-978	141	16	a	a	DET
alkej-978	141	17	different	different	ADJ
alkej-978	141	18	location	location	NOUN
alkej-978	141	19	.	.	PUNCT
alkej-978	142	1	gantry	gantry	NOUN
alkej-978	142	2	systems	system	NOUN
alkej-978	142	3	are	be	AUX
alkej-978	142	4	modular	modular	ADJ
alkej-978	142	5	,	,	PUNCT
alkej-978	142	6	so	so	SCONJ
alkej-978	142	7	they	they	PRON
alkej-978	142	8	can	can	AUX
alkej-978	142	9	be	be	AUX
alkej-978	142	10	easily	easily	ADV
alkej-978	142	11	scaled	scale	VERB
alkej-978	142	12	up	up	ADP
alkej-978	142	13	or	or	CCONJ
alkej-978	142	14	down	down	ADV
alkej-978	142	15	for	for	ADP
alkej-978	142	16	large	large	ADJ
alkej-978	142	17	or	or	CCONJ
alkej-978	142	18	small	small	ADJ
alkej-978	142	19	objects	object	NOUN
alkej-978	142	20	depending	depend	VERB
alkej-978	142	21	on	on	ADP
alkej-978	142	22	the	the	DET
alkej-978	142	23	project	project	NOUN
alkej-978	142	24	needs	need	VERB
alkej-978	142	25	[	[	X
alkej-978	142	26	31	31	NUM
alkej-978	142	27	]	]	PUNCT
alkej-978	142	28	.	.	PUNCT
alkej-978	143	1	4	4	X
alkej-978	143	2	.	.	PUNCT
alkej-978	143	3	compared	compare	VERB
alkej-978	143	4	with	with	ADP
alkej-978	143	5	other	other	ADJ
alkej-978	143	6	robotic	robotic	ADJ
alkej-978	143	7	systems	system	NOUN
alkej-978	143	8	,	,	PUNCT
alkej-978	143	9	such	such	ADJ
alkej-978	143	10	as	as	ADP
alkej-978	143	11	articulated	articulated	ADJ
alkej-978	143	12	arms	arm	NOUN
alkej-978	143	13	,	,	PUNCT
alkej-978	143	14	gantry	gantry	NOUN
alkej-978	143	15	robots	robot	NOUN
alkej-978	143	16	can	can	AUX
alkej-978	143	17	take	take	VERB
alkej-978	143	18	advantage	advantage	NOUN
alkej-978	143	19	of	of	ADP
alkej-978	143	20	their	their	PRON
alkej-978	143	21	vertical	vertical	ADJ
alkej-978	143	22	and	and	CCONJ
alkej-978	143	23	horizontal	horizontal	ADJ
alkej-978	143	24	dimensions	dimension	NOUN
alkej-978	143	25	much	much	ADV
alkej-978	143	26	more	more	ADV
alkej-978	143	27	effectively	effectively	ADV
alkej-978	143	28	,	,	PUNCT
alkej-978	143	29	hence	hence	ADV
alkej-978	143	30	reducing	reduce	VERB
alkej-978	143	31	the	the	DET
alkej-978	143	32	distance	distance	NOUN
alkej-978	143	33	to	to	ADP
alkej-978	143	34	the	the	DET
alkej-978	143	35	components	component	NOUN
alkej-978	143	36	,	,	PUNCT
alkej-978	143	37	decreasing	decrease	VERB
alkej-978	143	38	the	the	DET
alkej-978	143	39	amount	amount	NOUN
alkej-978	143	40	of	of	ADP
alkej-978	143	41	guide	guide	NOUN
alkej-978	143	42	way	way	NOUN
alkej-978	143	43	material	material	NOUN
alkej-978	143	44	and	and	CCONJ
alkej-978	143	45	ultimately	ultimately	ADV
alkej-978	143	46	conserving	conserve	VERB
alkej-978	143	47	floor	floor	NOUN
alkej-978	143	48	space	space	NOUN
alkej-978	143	49	[	[	X
alkej-978	143	50	3	3	NUM
alkej-978	143	51	]	]	PUNCT
alkej-978	143	52	.	.	PUNCT
alkej-978	144	1	3.2	3.2	NUM
alkej-978	144	2	.	.	PUNCT
alkej-978	145	1	gantry	gantry	NOUN
alkej-978	145	2	robot	robot	NOUN
alkej-978	145	3	disadvantages	disadvantage	VERB
alkej-978	145	4	[	[	X
alkej-978	145	5	32	32	NUM
alkej-978	145	6	,	,	PUNCT
alkej-978	145	7	33	33	NUM
alkej-978	145	8	]	]	SYM
alkej-978	145	9	1	1	NUM
alkej-978	145	10	.	.	PUNCT
alkej-978	145	11	gantry	gantry	NOUN
alkej-978	145	12	robots	robot	NOUN
alkej-978	145	13	need	need	VERB
alkej-978	145	14	a	a	DET
alkej-978	145	15	large	large	ADJ
alkej-978	145	16	area	area	NOUN
alkej-978	145	17	for	for	ADP
alkej-978	145	18	installation	installation	NOUN
alkej-978	145	19	because	because	SCONJ
alkej-978	145	20	of	of	ADP
alkej-978	145	21	their	their	PRON
alkej-978	145	22	sizable	sizable	ADJ
alkej-978	145	23	frame	frame	NOUN
alkej-978	145	24	and	and	CCONJ
alkej-978	145	25	long	long	ADJ
alkej-978	145	26	travel	travel	NOUN
alkej-978	145	27	range	range	NOUN
alkej-978	146	1	[	[	X
alkej-978	146	2	32	32	NUM
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alkej-978	146	4	.	.	PUNCT
alkej-978	147	1	2	2	X
alkej-978	147	2	.	.	X
alkej-978	147	3	the	the	DET
alkej-978	147	4	installation	installation	NOUN
alkej-978	147	5	of	of	ADP
alkej-978	147	6	gantry	gantry	NOUN
alkej-978	147	7	robots	robot	NOUN
alkej-978	147	8	is	be	AUX
alkej-978	147	9	usually	usually	ADV
alkej-978	147	10	a	a	DET
alkej-978	147	11	complicated	complicated	ADJ
alkej-978	147	12	and	and	CCONJ
alkej-978	147	13	lengthy	lengthy	ADJ
alkej-978	147	14	procedure	procedure	NOUN
alkej-978	147	15	,	,	PUNCT
alkej-978	147	16	and	and	CCONJ
alkej-978	147	17	it	it	PRON
alkej-978	147	18	may	may	AUX
alkej-978	147	19	require	require	VERB
alkej-978	147	20	specialised	specialised	ADJ
alkej-978	147	21	knowledge	knowledge	NOUN
alkej-978	147	22	and	and	CCONJ
alkej-978	147	23	equipment	equipment	NOUN
alkej-978	147	24	[	[	X
alkej-978	147	25	33	33	NUM
alkej-978	147	26	]	]	PUNCT
alkej-978	147	27	.	.	PUNCT
alkej-978	148	1	3	3	X
alkej-978	148	2	.	.	X
alkej-978	148	3	the	the	DET
alkej-978	148	4	cost	cost	NOUN
alkej-978	148	5	of	of	ADP
alkej-978	148	6	a	a	DET
alkej-978	148	7	gantry	gantry	NOUN
alkej-978	148	8	robotic	robotic	ADJ
alkej-978	148	9	system	system	NOUN
alkej-978	148	10	is	be	AUX
alkej-978	148	11	a	a	DET
alkej-978	148	12	considerable	considerable	ADJ
alkej-978	148	13	one	one	NUM
alkej-978	148	14	at	at	ADP
alkej-978	148	15	the	the	DET
alkej-978	148	16	outset	outset	NOUN
alkej-978	148	17	;	;	PUNCT
alkej-978	148	18	this	this	DET
alkej-978	148	19	cost	cost	NOUN
alkej-978	148	20	is	be	AUX
alkej-978	148	21	inclusive	inclusive	ADJ
alkej-978	148	22	of	of	ADP
alkej-978	148	23	the	the	DET
alkej-978	148	24	expenses	expense	NOUN
alkej-978	148	25	of	of	ADP
alkej-978	148	26	the	the	DET
alkej-978	148	27	robot	robot	NOUN
alkej-978	148	28	,	,	PUNCT
alkej-978	148	29	the	the	DET
alkej-978	148	30	installation	installation	NOUN
alkej-978	148	31	and	and	CCONJ
alkej-978	148	32	any	any	DET
alkej-978	148	33	necessary	necessary	ADJ
alkej-978	148	34	changes	change	NOUN
alkej-978	148	35	to	to	ADP
alkej-978	148	36	the	the	DET
alkej-978	148	37	facility	facility	NOUN
alkej-978	148	38	[	[	X
alkej-978	148	39	33	33	NUM
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alkej-978	148	41	.	.	PUNCT
alkej-978	149	1	4	4	X
alkej-978	149	2	.	.	X
alkej-978	149	3	gantry	gantry	NOUN
alkej-978	149	4	robots	robot	NOUN
alkej-978	149	5	might	might	AUX
alkej-978	149	6	not	not	PART
alkej-978	149	7	be	be	AUX
alkej-978	149	8	suitable	suitable	ADJ
alkej-978	149	9	for	for	ADP
alkej-978	149	10	tasks	task	NOUN
alkej-978	149	11	that	that	PRON
alkej-978	149	12	are	be	AUX
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alkej-978	149	14	and	and	CCONJ
alkej-978	149	15	require	require	VERB
alkej-978	149	16	multi	multi	ADJ
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alkej-978	149	18	directional	directional	ADJ
alkej-978	149	19	movements	movement	NOUN
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alkej-978	149	24	confined	confine	VERB
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alkej-978	149	26	[	[	X
alkej-978	149	27	33	33	NUM
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alkej-978	149	29	.	.	PUNCT
alkej-978	150	1	5	5	X
alkej-978	150	2	.	.	PUNCT
alkej-978	150	3	given	give	VERB
alkej-978	150	4	their	their	PRON
alkej-978	150	5	large	large	ADJ
alkej-978	150	6	size	size	NOUN
alkej-978	150	7	and	and	CCONJ
alkej-978	150	8	lengthy	lengthy	ADJ
alkej-978	150	9	axes	axis	NOUN
alkej-978	150	10	,	,	PUNCT
alkej-978	150	11	gantry	gantry	NOUN
alkej-978	150	12	robots	robot	NOUN
alkej-978	150	13	can	can	AUX
alkej-978	150	14	have	have	VERB
alkej-978	150	15	vibration	vibration	NOUN
alkej-978	150	16	and	and	CCONJ
alkej-978	150	17	resonance	resonance	NOUN
alkej-978	150	18	problems	problem	NOUN
alkej-978	150	19	,	,	PUNCT
alkej-978	150	20	especially	especially	ADV
alkej-978	150	21	when	when	SCONJ
alkej-978	150	22	operating	operate	VERB
alkej-978	150	23	at	at	ADP
alkej-978	150	24	high	high	ADJ
alkej-978	150	25	speeds	speed	NOUN
alkej-978	150	26	[	[	X
alkej-978	150	27	33	33	NUM
alkej-978	150	28	]	]	PUNCT
alkej-978	150	29	.	.	PUNCT
alkej-978	151	1	4	4	X
alkej-978	151	2	.	.	X
alkej-978	151	3	determination	determination	NOUN
alkej-978	151	4	of	of	ADP
alkej-978	151	5	body	body	NOUN
alkej-978	151	6	dimensions	dimension	NOUN
alkej-978	151	7	and	and	CCONJ
alkej-978	151	8	position	position	NOUN
alkej-978	151	9	by	by	ADP
alkej-978	151	10	range	range	NOUN
alkej-978	151	11	sensors	sensor	NOUN
alkej-978	151	12	a	a	DET
alkej-978	151	13	gantry	gantry	NOUN
alkej-978	151	14	robot	robot	NOUN
alkej-978	151	15	has	have	VERB
alkej-978	151	16	sensors	sensor	NOUN
alkej-978	151	17	to	to	PART
alkej-978	151	18	determine	determine	VERB
alkej-978	151	19	the	the	DET
alkej-978	151	20	measurements	measurement	NOUN
alkej-978	151	21	of	of	ADP
alkej-978	151	22	the	the	DET
alkej-978	151	23	body	body	NOUN
alkej-978	151	24	and	and	CCONJ
alkej-978	151	25	the	the	DET
alkej-978	151	26	subject	subject	NOUN
alkej-978	151	27	.	.	PUNCT
alkej-978	152	1	the	the	DET
alkej-978	152	2	precision	precision	NOUN
alkej-978	152	3	and	and	CCONJ
alkej-978	152	4	effectiveness	effectiveness	NOUN
alkej-978	152	5	of	of	ADP
alkej-978	152	6	a	a	DET
alkej-978	152	7	sensor	sensor	NOUN
alkej-978	152	8	in	in	ADP
alkej-978	152	9	locating	locate	VERB
alkej-978	152	10	and	and	CCONJ
alkej-978	152	11	measuring	measure	VERB
alkej-978	152	12	the	the	DET
alkej-978	152	13	body	body	NOUN
alkej-978	152	14	depend	depend	VERB
alkej-978	152	15	on	on	ADP
alkej-978	152	16	the	the	DET
alkej-978	152	17	degree	degree	NOUN
alkej-978	152	18	of	of	ADP
alkej-978	152	19	its	its	PRON
alkej-978	152	20	interaction	interaction	NOUN
alkej-978	152	21	with	with	ADP
alkej-978	152	22	various	various	ADJ
alkej-978	152	23	production	production	NOUN
alkej-978	152	24	and	and	CCONJ
alkej-978	152	25	processing	processing	NOUN
alkej-978	152	26	programs	program	NOUN
alkej-978	152	27	in	in	ADP
alkej-978	152	28	the	the	DET
alkej-978	152	29	robot	robot	NOUN
alkej-978	152	30	.	.	PUNCT
alkej-978	153	1	combining	combine	VERB
alkej-978	153	2	sensor	sensor	NOUN
alkej-978	153	3	aids	aid	NOUN
alkej-978	153	4	can	can	AUX
alkej-978	153	5	improve	improve	VERB
alkej-978	153	6	the	the	DET
alkej-978	153	7	accuracy	accuracy	NOUN
alkej-978	153	8	of	of	ADP
alkej-978	153	9	the	the	DET
alkej-978	153	10	position	position	NOUN
alkej-978	153	11	and	and	CCONJ
alkej-978	153	12	speed	speed	NOUN
alkej-978	153	13	of	of	ADP
alkej-978	153	14	determining	determine	VERB
alkej-978	153	15	the	the	DET
alkej-978	153	16	objects	object	NOUN
alkej-978	153	17	[	[	X
alkej-978	153	18	34	34	NUM
alkej-978	153	19	]	]	PUNCT
alkej-978	153	20	.	.	PUNCT
alkej-978	154	1	in	in	ADP
alkej-978	154	2	a	a	DET
alkej-978	154	3	previous	previous	ADJ
alkej-978	154	4	work	work	NOUN
alkej-978	154	5	,	,	PUNCT
alkej-978	154	6	a	a	DET
alkej-978	154	7	method	method	NOUN
alkej-978	154	8	involving	involve	VERB
alkej-978	154	9	merged	merge	VERB
alkej-978	154	10	visual	visual	ADJ
alkej-978	154	11	and	and	CCONJ
alkej-978	154	12	proximity	proximity	NOUN
alkej-978	154	13	sensing	sensing	NOUN
alkej-978	154	14	of	of	ADP
alkej-978	154	15	a	a	DET
alkej-978	154	16	reticular	reticular	ADJ
alkej-978	154	17	structure	structure	NOUN
alkej-978	154	18	was	be	AUX
alkej-978	154	19	established	establish	VERB
alkej-978	154	20	to	to	PART
alkej-978	154	21	capture	capture	VERB
alkej-978	154	22	objects	object	NOUN
alkej-978	154	23	[	[	X
alkej-978	154	24	12	12	NUM
alkej-978	154	25	]	]	PUNCT
alkej-978	154	26	.	.	PUNCT
alkej-978	155	1	the	the	DET
alkej-978	155	2	technique	technique	NOUN
alkej-978	155	3	ensures	ensure	VERB
alkej-978	155	4	that	that	SCONJ
alkej-978	155	5	both	both	DET
alkej-978	155	6	sensors	sensor	NOUN
alkej-978	155	7	provide	provide	VERB
alkej-978	155	8	overlapping	overlap	VERB
alkej-978	155	9	cover	cover	NOUN
alkej-978	155	10	for	for	ADP
alkej-978	155	11	the	the	DET
alkej-978	155	12	region	region	NOUN
alkej-978	155	13	in	in	ADP
alkej-978	155	14	question	question	NOUN
alkej-978	155	15	.	.	PUNCT
alkej-978	156	1	the	the	DET
alkej-978	156	2	sequence	sequence	NOUN
alkej-978	156	3	of	of	ADP
alkej-978	156	4	motion	motion	NOUN
alkej-978	156	5	employs	employ	VERB
alkej-978	156	6	a	a	DET
alkej-978	156	7	control	control	NOUN
alkej-978	156	8	base	base	NOUN
alkej-978	156	9	to	to	PART
alkej-978	156	10	predict	predict	VERB
alkej-978	156	11	the	the	DET
alkej-978	156	12	trajectory	trajectory	NOUN
alkej-978	156	13	of	of	ADP
alkej-978	156	14	the	the	DET
alkej-978	156	15	object	object	NOUN
alkej-978	156	16	as	as	SCONJ
alkej-978	156	17	it	it	PRON
alkej-978	156	18	goes	go	VERB
alkej-978	156	19	to	to	ADP
alkej-978	156	20	the	the	DET
alkej-978	156	21	desired	desire	VERB
alkej-978	156	22	position	position	NOUN
alkej-978	156	23	,	,	PUNCT
alkej-978	156	24	correct	correct	ADJ
alkej-978	156	25	approach	approach	NOUN
alkej-978	156	26	errors	error	NOUN
alkej-978	156	27	and	and	CCONJ
alkej-978	156	28	grab	grab	VERB
alkej-978	156	29	the	the	DET
alkej-978	156	30	object	object	NOUN
alkej-978	156	31	firmly	firmly	ADV
alkej-978	156	32	[	[	X
alkej-978	156	33	35	35	NUM
alkej-978	156	34	]	]	PUNCT
alkej-978	156	35	.	.	PUNCT
alkej-978	157	1	another	another	DET
alkej-978	157	2	study	study	NOUN
alkej-978	157	3	integrated	integrate	VERB
alkej-978	157	4	vision	vision	NOUN
alkej-978	157	5	and	and	CCONJ
alkej-978	157	6	proximity	proximity	NOUN
alkej-978	157	7	sensors	sensor	NOUN
alkej-978	157	8	into	into	ADP
alkej-978	157	9	the	the	DET
alkej-978	157	10	robot	robot	NOUN
alkej-978	157	11	to	to	PART
alkej-978	157	12	enhance	enhance	VERB
alkej-978	157	13	its	its	PRON
alkej-978	157	14	capability	capability	NOUN
alkej-978	157	15	.	.	PUNCT
alkej-978	158	1	the	the	DET
alkej-978	158	2	vision	vision	NOUN
alkej-978	158	3	sensor	sensor	NOUN
alkej-978	158	4	helps	help	VERB
alkej-978	158	5	locate	locate	VERB
alkej-978	158	6	the	the	DET
alkej-978	158	7	route	route	NOUN
alkej-978	158	8	by	by	ADP
alkej-978	158	9	checking	check	VERB
alkej-978	158	10	a	a	DET
alkej-978	158	11	large	large	ADJ
alkej-978	158	12	area	area	NOUN
alkej-978	158	13	[	[	X
alkej-978	158	14	24	24	NUM
alkej-978	158	15	]	]	PUNCT
alkej-978	158	16	,	,	PUNCT
alkej-978	158	17	and	and	CCONJ
alkej-978	158	18	the	the	DET
alkej-978	158	19	proximity	proximity	NOUN
alkej-978	158	20	sensor	sensor	NOUN
alkej-978	158	21	,	,	PUNCT
alkej-978	158	22	which	which	PRON
alkej-978	158	23	is	be	AUX
alkej-978	158	24	in	in	ADP
alkej-978	158	25	the	the	DET
alkej-978	158	26	hand	hand	NOUN
alkej-978	158	27	’s	’s	PART
alkej-978	158	28	mesh	mesh	NOUN
alkej-978	158	29	structure	structure	NOUN
alkej-978	158	30	,	,	PUNCT
alkej-978	158	31	eliminates	eliminate	VERB
alkej-978	158	32	the	the	DET
alkej-978	158	33	errors	error	NOUN
alkej-978	158	34	of	of	ADP
alkej-978	158	35	the	the	DET
alkej-978	158	36	approach	approach	NOUN
alkej-978	158	37	;	;	PUNCT
alkej-978	158	38	only	only	ADV
alkej-978	158	39	then	then	ADV
alkej-978	158	40	can	can	AUX
alkej-978	158	41	the	the	DET
alkej-978	158	42	hand	hand	NOUN
alkej-978	158	43	grasp	grasp	VERB
alkej-978	158	44	the	the	DET
alkej-978	158	45	object	object	NOUN
alkej-978	158	46	.	.	PUNCT
alkej-978	159	1	the	the	DET
alkej-978	159	2	integration	integration	NOUN
alkej-978	159	3	instigates	instigate	VERB
alkej-978	159	4	the	the	DET
alkej-978	159	5	hand	hand	NOUN
alkej-978	159	6	’s	’s	PART
alkej-978	159	7	skill	skill	NOUN
alkej-978	159	8	of	of	ADP
alkej-978	159	9	environmental	environmental	ADJ
alkej-978	159	10	perception	perception	NOUN
alkej-978	159	11	[	[	X
alkej-978	159	12	36	36	NUM
alkej-978	159	13	]	]	PUNCT
alkej-978	159	14	.	.	PUNCT
alkej-978	160	1	various	various	ADJ
alkej-978	160	2	control	control	NOUN
alkej-978	160	3	loops	loop	NOUN
alkej-978	160	4	can	can	AUX
alkej-978	160	5	be	be	AUX
alkej-978	160	6	used	use	VERB
alkej-978	160	7	for	for	ADP
alkej-978	160	8	coordinating	coordinate	VERB
alkej-978	160	9	the	the	DET
alkej-978	160	10	gantry	gantry	NOUN
alkej-978	160	11	robot	robot	NOUN
alkej-978	160	12	’s	’s	PART
alkej-978	160	13	actions	action	NOUN
alkej-978	160	14	with	with	ADP
alkej-978	160	15	those	those	PRON
alkej-978	160	16	of	of	ADP
alkej-978	160	17	the	the	DET
alkej-978	160	18	conveyor	conveyor	NOUN
alkej-978	160	19	system	system	NOUN
alkej-978	160	20	[	[	X
alkej-978	160	21	16	16	NUM
alkej-978	160	22	]	]	PUNCT
alkej-978	160	23	operating	operate	VERB
alkej-978	160	24	at	at	ADP
alkej-978	160	25	a	a	DET
alkej-978	160	26	regular	regular	ADJ
alkej-978	160	27	speed	speed	NOUN
alkej-978	160	28	.	.	PUNCT
alkej-978	161	1	as	as	ADP
alkej-978	161	2	a	a	DET
alkej-978	161	3	result	result	NOUN
alkej-978	161	4	,	,	PUNCT
alkej-978	161	5	the	the	DET
alkej-978	161	6	system	system	NOUN
alkej-978	161	7	can	can	AUX
alkej-978	161	8	calculate	calculate	VERB
alkej-978	161	9	an	an	DET
alkej-978	161	10	object	object	NOUN
alkej-978	161	11	’s	’s	PART
alkej-978	161	12	position	position	NOUN
alkej-978	161	13	with	with	ADP
alkej-978	161	14	high	high	ADJ
alkej-978	161	15	accuracy	accuracy	NOUN
alkej-978	161	16	and	and	CCONJ
alkej-978	161	17	retrieve	retrieve	VERB
alkej-978	161	18	it	it	PRON
alkej-978	162	1	[	[	X
alkej-978	162	2	13	13	NUM
alkej-978	162	3	]	]	PUNCT
alkej-978	162	4	.	.	PUNCT
alkej-978	163	1	moreover	moreover	ADV
alkej-978	163	2	,	,	PUNCT
alkej-978	163	3	the	the	DET
alkej-978	163	4	body	body	NOUN
alkej-978	163	5	can	can	AUX
alkej-978	163	6	be	be	AUX
alkej-978	163	7	located	locate	VERB
alkej-978	163	8	and	and	CCONJ
alkej-978	163	9	measured	measure	VERB
alkej-978	163	10	in	in	ADP
alkej-978	163	11	numerous	numerous	ADJ
alkej-978	163	12	ways	way	NOUN
alkej-978	163	13	[	[	X
alkej-978	163	14	37	37	NUM
alkej-978	163	15	]	]	PUNCT
alkej-978	163	16	a	a	DET
alkej-978	163	17	result	result	NOUN
alkej-978	163	18	of	of	ADP
alkej-978	163	19	rapid	rapid	ADJ
alkej-978	163	20	technological	technological	ADJ
alkej-978	163	21	developments	development	NOUN
alkej-978	163	22	and	and	CCONJ
alkej-978	163	23	hayder	hayder	PROPN
alkej-978	163	24	ali	ali	PROPN
alkej-978	163	25	saadi	saadi	PROPN
alkej-978	163	26	al	al	PROPN
alkej-978	163	27	-	-	PUNCT
alkej-978	163	28	khwarizmi	khwarizmi	PROPN
alkej-978	163	29	engineering	engineering	NOUN
alkej-978	163	30	journal	journal	PROPN
alkej-978	163	31	,	,	PUNCT
alkej-978	163	32	vol	vol	NOUN
alkej-978	163	33	.	.	PROPN
alkej-978	163	34	21	21	NUM
alkej-978	163	35	,	,	PUNCT
alkej-978	163	36	no.4	no.4	PROPN
alkej-978	163	37	,	,	PUNCT
alkej-978	163	38	pp	pp	X
alkej-978	163	39	.	.	PUNCT
alkej-978	164	1	106124	106124	NUM
alkej-978	164	2	(	(	PUNCT
alkej-978	164	3	2025	2025	NUM
alkej-978	164	4	)	)	PUNCT
alkej-978	164	5	111	111	NUM
alkej-978	164	6	brilliant	brilliant	ADJ
alkej-978	164	7	inventions	invention	NOUN
alkej-978	165	1	[	[	X
alkej-978	165	2	38	38	NUM
alkej-978	165	3	]	]	PUNCT
alkej-978	165	4	,	,	PUNCT
alkej-978	165	5	especially	especially	ADV
alkej-978	165	6	with	with	ADP
alkej-978	165	7	regard	regard	NOUN
alkej-978	165	8	to	to	ADP
alkej-978	165	9	storage	storage	NOUN
alkej-978	165	10	and	and	CCONJ
alkej-978	165	11	retrieval	retrieval	NOUN
alkej-978	165	12	operations	operation	NOUN
alkej-978	165	13	.	.	PUNCT
alkej-978	166	1	a	a	DET
alkej-978	166	2	sensor	sensor	NOUN
alkej-978	166	3	is	be	AUX
alkej-978	166	4	an	an	DET
alkej-978	166	5	input	input	NOUN
alkej-978	166	6	device	device	NOUN
alkej-978	166	7	,	,	PUNCT
alkej-978	166	8	and	and	CCONJ
alkej-978	166	9	it	it	PRON
alkej-978	166	10	is	be	AUX
alkej-978	166	11	part	part	NOUN
alkej-978	166	12	of	of	ADP
alkej-978	166	13	a	a	DET
alkej-978	166	14	cohesive	cohesive	ADJ
alkej-978	166	15	system	system	NOUN
alkej-978	166	16	.	.	PUNCT
alkej-978	167	1	the	the	DET
alkej-978	167	2	sensor	sensor	NOUN
alkej-978	167	3	of	of	ADP
alkej-978	167	4	this	this	DET
alkej-978	167	5	system	system	NOUN
alkej-978	167	6	sends	send	VERB
alkej-978	167	7	a	a	DET
alkej-978	167	8	signal	signal	NOUN
alkej-978	167	9	to	to	ADP
alkej-978	167	10	the	the	DET
alkej-978	167	11	main	main	ADJ
alkej-978	167	12	control	control	NOUN
alkej-978	167	13	unit	unit	NOUN
alkej-978	167	14	.	.	PUNCT
alkej-978	168	1	the	the	DET
alkej-978	168	2	sensor	sensor	NOUN
alkej-978	168	3	receives	receive	VERB
alkej-978	168	4	an	an	DET
alkej-978	168	5	analogue	analogue	NOUN
alkej-978	168	6	signal	signal	NOUN
alkej-978	168	7	(	(	PUNCT
alkej-978	168	8	e.g.	e.g.	ADV
alkej-978	168	9	temperature	temperature	NOUN
alkej-978	168	10	,	,	PUNCT
alkej-978	168	11	humidity	humidity	NOUN
alkej-978	168	12	,	,	PUNCT
alkej-978	168	13	colours	colour	NOUN
alkej-978	168	14	and	and	CCONJ
alkej-978	168	15	light	light	NOUN
alkej-978	168	16	)	)	PUNCT
alkej-978	168	17	that	that	PRON
alkej-978	168	18	is	be	AUX
alkej-978	168	19	continuous	continuous	ADJ
alkej-978	168	20	and	and	CCONJ
alkej-978	168	21	obtained	obtain	VERB
alkej-978	168	22	from	from	ADP
alkej-978	168	23	the	the	DET
alkej-978	168	24	surrounding	surround	VERB
alkej-978	168	25	environment	environment	NOUN
alkej-978	168	26	[	[	X
alkej-978	168	27	39	39	NUM
alkej-978	168	28	]	]	PUNCT
alkej-978	168	29	.	.	PUNCT
alkej-978	169	1	advanced	advanced	ADJ
alkej-978	169	2	industrial	industrial	ADJ
alkej-978	169	3	robotic	robotic	ADJ
alkej-978	169	4	systems	system	NOUN
alkej-978	169	5	have	have	AUX
alkej-978	169	6	upgraded	upgrade	VERB
alkej-978	169	7	the	the	DET
alkej-978	169	8	extent	extent	NOUN
alkej-978	169	9	to	to	PART
alkej-978	169	10	which	which	PRON
alkej-978	169	11	we	we	PRON
alkej-978	169	12	are	be	AUX
alkej-978	169	13	able	able	ADJ
alkej-978	169	14	to	to	PART
alkej-978	169	15	determine	determine	VERB
alkej-978	169	16	the	the	DET
alkej-978	169	17	dimensions	dimension	NOUN
alkej-978	169	18	and	and	CCONJ
alkej-978	169	19	positions	position	NOUN
alkej-978	169	20	of	of	ADP
alkej-978	169	21	objects	object	NOUN
alkej-978	169	22	via	via	ADP
alkej-978	169	23	integrated	integrate	VERB
alkej-978	169	24	advanced	advanced	ADJ
alkej-978	169	25	sensors	sensor	NOUN
alkej-978	169	26	,	,	PUNCT
alkej-978	169	27	algorithms	algorithm	NOUN
alkej-978	169	28	and	and	CCONJ
alkej-978	169	29	dynamic	dynamic	ADJ
alkej-978	169	30	control	control	NOUN
alkej-978	169	31	systems	system	NOUN
alkej-978	169	32	.	.	PUNCT
alkej-978	170	1	the	the	DET
alkej-978	170	2	sensor	sensor	NOUN
alkej-978	170	3	changes	change	VERB
alkej-978	170	4	the	the	DET
alkej-978	170	5	input	input	NOUN
alkej-978	170	6	into	into	ADP
alkej-978	170	7	a	a	DET
alkej-978	170	8	digital	digital	ADJ
alkej-978	170	9	electrical	electrical	ADJ
alkej-978	170	10	signal	signal	NOUN
alkej-978	170	11	that	that	PRON
alkej-978	170	12	can	can	AUX
alkej-978	170	13	be	be	AUX
alkej-978	170	14	understood	understand	VERB
alkej-978	170	15	by	by	ADP
alkej-978	170	16	the	the	DET
alkej-978	170	17	main	main	ADJ
alkej-978	170	18	controller	controller	NOUN
alkej-978	170	19	,	,	PUNCT
alkej-978	170	20	which	which	PRON
alkej-978	170	21	issues	issue	VERB
alkej-978	170	22	suitable	suitable	ADJ
alkej-978	170	23	system	system	NOUN
alkej-978	170	24	commands	command	NOUN
alkej-978	170	25	.	.	PUNCT
alkej-978	171	1	for	for	ADP
alkej-978	171	2	example	example	NOUN
alkej-978	171	3	,	,	PUNCT
alkej-978	171	4	peng	peng	PROPN
alkej-978	171	5	wang	wang	PROPN
alkej-978	171	6	et	et	PROPN
alkej-978	171	7	al	al	PROPN
alkej-978	171	8	.	.	PROPN
alkej-978	171	9	invented	invent	VERB
alkej-978	171	10	a	a	DET
alkej-978	171	11	mechanism	mechanism	NOUN
alkej-978	171	12	that	that	PRON
alkej-978	171	13	locates	locate	VERB
alkej-978	171	14	and	and	CCONJ
alkej-978	171	15	measures	measure	VERB
alkej-978	171	16	the	the	DET
alkej-978	171	17	positions	position	NOUN
alkej-978	171	18	of	of	ADP
alkej-978	171	19	objects	object	NOUN
alkej-978	171	20	on	on	ADP
alkej-978	171	21	conveyor	conveyor	NOUN
alkej-978	171	22	belts	belt	NOUN
alkej-978	171	23	in	in	ADP
alkej-978	171	24	motion	motion	NOUN
alkej-978	171	25	by	by	ADP
alkej-978	171	26	using	use	VERB
alkej-978	171	27	optical	optical	ADJ
alkej-978	171	28	sensors	sensor	NOUN
alkej-978	171	29	.	.	PUNCT
alkej-978	172	1	the	the	DET
alkej-978	172	2	information	information	NOUN
alkej-978	172	3	was	be	AUX
alkej-978	172	4	translated	translate	VERB
alkej-978	172	5	into	into	ADP
alkej-978	172	6	real	real	ADJ
alkej-978	172	7	-	-	PUNCT
alkej-978	172	8	world	world	NOUN
alkej-978	172	9	units	unit	NOUN
alkej-978	172	10	through	through	ADP
alkej-978	172	11	mathematical	mathematical	ADJ
alkej-978	172	12	modelling	modelling	NOUN
alkej-978	172	13	,	,	PUNCT
alkej-978	172	14	and	and	CCONJ
alkej-978	172	15	a	a	DET
alkej-978	172	16	particle	particle	NOUN
alkej-978	172	17	swarm	swarm	NOUN
alkej-978	172	18	optimisation	optimisation	NOUN
alkej-978	172	19	(	(	PUNCT
alkej-978	172	20	pso)-based	pso)-base	VERB
alkej-978	172	21	control	control	NOUN
alkej-978	172	22	system	system	NOUN
alkej-978	172	23	was	be	AUX
alkej-978	172	24	used	use	VERB
alkej-978	172	25	to	to	PART
alkej-978	172	26	adjust	adjust	VERB
alkej-978	172	27	robot	robot	NOUN
alkej-978	172	28	trajectories	trajectory	NOUN
alkej-978	172	29	;	;	PUNCT
alkej-978	172	30	minimal	minimal	ADJ
alkej-978	172	31	position	position	NOUN
alkej-978	172	32	and	and	CCONJ
alkej-978	172	33	speed	speed	NOUN
alkej-978	172	34	errors	error	NOUN
alkej-978	172	35	were	be	AUX
alkej-978	172	36	obtained	obtain	VERB
alkej-978	172	37	,	,	PUNCT
alkej-978	172	38	showing	show	VERB
alkej-978	172	39	the	the	DET
alkej-978	172	40	system	system	NOUN
alkej-978	172	41	’s	’s	PART
alkej-978	172	42	capability	capability	NOUN
alkej-978	172	43	for	for	ADP
alkej-978	172	44	dynamic	dynamic	ADJ
alkej-978	172	45	target	target	NOUN
alkej-978	172	46	operations	operation	NOUN
alkej-978	172	47	[	[	X
alkej-978	172	48	40	40	NUM
alkej-978	172	49	]	]	PUNCT
alkej-978	172	50	.	.	PUNCT
alkej-978	173	1	similarly	similarly	ADV
alkej-978	173	2	,	,	PUNCT
alkej-978	173	3	hanson	hanson	PROPN
alkej-978	173	4	et	et	PROPN
alkej-978	173	5	al	al	PROPN
alkej-978	173	6	.	.	PROPN
alkej-978	173	7	presented	present	VERB
alkej-978	173	8	the	the	DET
alkej-978	173	9	prospect	prospect	NOUN
alkej-978	173	10	system	system	NOUN
alkej-978	173	11	that	that	PRON
alkej-978	173	12	merges	merge	VERB
alkej-978	173	13	spatial	spatial	ADJ
alkej-978	173	14	and	and	CCONJ
alkej-978	173	15	spectral	spectral	ADJ
alkej-978	173	16	data	datum	NOUN
alkej-978	173	17	by	by	ADP
alkej-978	173	18	using	use	VERB
alkej-978	173	19	azure	azure	ADJ
alkej-978	173	20	kinect	kinect	ADJ
alkej-978	173	21	time	time	NOUN
alkej-978	173	22	-	-	PUNCT
alkej-978	173	23	of	of	ADP
alkej-978	173	24	-	-	PUNCT
alkej-978	173	25	flight	flight	NOUN
alkej-978	173	26	cameras	camera	NOUN
alkej-978	173	27	and	and	CCONJ
alkej-978	173	28	visible	visible	ADJ
alkej-978	173	29	and	and	CCONJ
alkej-978	173	30	near	near	ADV
alkej-978	173	31	-	-	PUNCT
alkej-978	173	32	infrared	infrared	ADJ
alkej-978	173	33	(	(	PUNCT
alkej-978	173	34	vnir	vnir	NOUN
alkej-978	173	35	)	)	PUNCT
alkej-978	173	36	spectrometers	spectrometer	NOUN
alkej-978	173	37	,	,	PUNCT
alkej-978	173	38	resulting	result	VERB
alkej-978	173	39	in	in	ADP
alkej-978	173	40	precise	precise	ADJ
alkej-978	173	41	material	material	NOUN
alkej-978	173	42	quality	quality	NOUN
alkej-978	173	43	evaluation	evaluation	NOUN
alkej-978	173	44	and	and	CCONJ
alkej-978	173	45	non	non	ADJ
alkej-978	173	46	-	-	ADJ
alkej-978	173	47	destructive	destructive	ADJ
alkej-978	173	48	defect	defect	NOUN
alkej-978	173	49	detection	detection	NOUN
alkej-978	173	50	and	and	CCONJ
alkej-978	173	51	paving	pave	VERB
alkej-978	173	52	the	the	DET
alkej-978	173	53	way	way	NOUN
alkej-978	173	54	for	for	ADP
alkej-978	173	55	new	new	ADJ
alkej-978	173	56	industrial	industrial	ADJ
alkej-978	173	57	applications	application	NOUN
alkej-978	173	58	in	in	ADP
alkej-978	173	59	material	material	ADJ
alkej-978	173	60	analysis	analysis	NOUN
alkej-978	173	61	[	[	X
alkej-978	173	62	41	41	NUM
alkej-978	173	63	]	]	PUNCT
alkej-978	173	64	.	.	PUNCT
alkej-978	174	1	kiyokawa	kiyokawa	PROPN
alkej-978	174	2	et	et	PROPN
alkej-978	174	3	al	al	PROPN
alkej-978	174	4	.	.	PROPN
alkej-978	174	5	employed	employ	VERB
alkej-978	174	6	rgb	rgb	PROPN
alkej-978	174	7	-	-	PROPN
alkej-978	174	8	d	d	NOUN
alkej-978	174	9	cameras	camera	NOUN
alkej-978	174	10	,	,	PUNCT
alkej-978	174	11	nir	nir	ADJ
alkej-978	174	12	spectral	spectral	ADJ
alkej-978	174	13	sensors	sensor	NOUN
alkej-978	174	14	and	and	CCONJ
alkej-978	174	15	motion	motion	NOUN
alkej-978	174	16	planning	planning	NOUN
alkej-978	174	17	algorithms	algorithm	NOUN
alkej-978	174	18	,	,	PUNCT
alkej-978	174	19	such	such	ADJ
alkej-978	174	20	as	as	ADP
alkej-978	174	21	moveit	moveit	NOUN
alkej-978	174	22	,	,	PUNCT
alkej-978	174	23	to	to	PART
alkej-978	174	24	direct	direct	VERB
alkej-978	174	25	robotic	robotic	ADJ
alkej-978	174	26	arms	arm	NOUN
alkej-978	174	27	in	in	ADP
alkej-978	174	28	the	the	DET
alkej-978	174	29	industrial	industrial	ADJ
alkej-978	174	30	waste	waste	NOUN
alkej-978	174	31	mixture	mixture	NOUN
alkej-978	174	32	sorting	sorting	NOUN
alkej-978	174	33	process	process	NOUN
alkej-978	174	34	;	;	PUNCT
alkej-978	174	35	this	this	DET
alkej-978	174	36	approach	approach	NOUN
alkej-978	174	37	reduces	reduce	VERB
alkej-978	174	38	manual	manual	ADJ
alkej-978	174	39	labour	labour	NOUN
alkej-978	174	40	,	,	PUNCT
alkej-978	174	41	improves	improve	VERB
alkej-978	174	42	sorting	sort	VERB
alkej-978	174	43	accuracy	accuracy	NOUN
alkej-978	174	44	and	and	CCONJ
alkej-978	174	45	increases	increase	VERB
alkej-978	174	46	material	material	ADJ
alkej-978	174	47	adaptability	adaptability	NOUN
alkej-978	174	48	capabilities	capability	NOUN
alkej-978	175	1	[	[	X
alkej-978	175	2	42	42	NUM
alkej-978	175	3	]	]	PUNCT
alkej-978	175	4	.	.	PUNCT
alkej-978	176	1	soetedjo	soetedjo	PROPN
alkej-978	176	2	et	et	PROPN
alkej-978	176	3	al	al	PROPN
alkej-978	176	4	.	.	PROPN
alkej-978	176	5	enhanced	enhance	VERB
alkej-978	176	6	sorting	sorting	NOUN
alkej-978	176	7	functionalities	functionality	NOUN
alkej-978	176	8	by	by	ADP
alkej-978	176	9	creating	create	VERB
alkej-978	176	10	a	a	DET
alkej-978	176	11	system	system	NOUN
alkej-978	176	12	that	that	PRON
alkej-978	176	13	employs	employ	VERB
alkej-978	176	14	zx	zx	NUM
alkej-978	176	15	distance	distance	NOUN
alkej-978	176	16	and	and	CCONJ
alkej-978	176	17	gesture	gesture	NOUN
alkej-978	176	18	sensors	sensor	NOUN
alkej-978	176	19	and	and	CCONJ
alkej-978	176	20	tcs3200	tcs3200	VERB
alkej-978	176	21	colour	colour	NOUN
alkej-978	176	22	sensors	sensor	NOUN
alkej-978	176	23	to	to	PART
alkej-978	176	24	study	study	VERB
alkej-978	176	25	the	the	DET
alkej-978	176	26	object	object	NOUN
alkej-978	176	27	location	location	NOUN
alkej-978	176	28	,	,	PUNCT
alkej-978	176	29	dimensions	dimension	NOUN
alkej-978	176	30	and	and	CCONJ
alkej-978	176	31	colour	colour	NOUN
alkej-978	176	32	on	on	ADP
alkej-978	176	33	conveyor	conveyor	NOUN
alkej-978	176	34	belts	belt	NOUN
alkej-978	176	35	,	,	PUNCT
alkej-978	176	36	thus	thus	ADV
alkej-978	176	37	confirming	confirm	VERB
alkej-978	176	38	the	the	DET
alkej-978	176	39	sorting	sort	VERB
alkej-978	176	40	accuracy	accuracy	NOUN
alkej-978	176	41	in	in	ADP
alkej-978	176	42	assembly	assembly	NOUN
alkej-978	176	43	lines	line	NOUN
alkej-978	176	44	and	and	CCONJ
alkej-978	176	45	material	material	NOUN
alkej-978	176	46	verification	verification	NOUN
alkej-978	176	47	[	[	X
alkej-978	176	48	43	43	NUM
alkej-978	176	49	]	]	PUNCT
alkej-978	176	50	.	.	PUNCT
alkej-978	177	1	ljutjuk	ljutjuk	ADJ
alkej-978	177	2	et	et	PROPN
alkej-978	177	3	al	al	PROPN
alkej-978	177	4	.	.	PROPN
alkej-978	177	5	developed	develop	VERB
alkej-978	177	6	an	an	DET
alkej-978	177	7	as	as	ADP
alkej-978	177	8	/	/	SYM
alkej-978	177	9	rs	rs	NOUN
alkej-978	177	10	powered	power	VERB
alkej-978	177	11	by	by	ADP
alkej-978	177	12	rfid	rfid	ADJ
alkej-978	177	13	sensors	sensor	NOUN
alkej-978	177	14	for	for	ADP
alkej-978	177	15	accurate	accurate	ADJ
alkej-978	177	16	item	item	NOUN
alkej-978	177	17	tracking	tracking	NOUN
alkej-978	177	18	.	.	PUNCT
alkej-978	178	1	the	the	DET
alkej-978	178	2	system	system	NOUN
alkej-978	178	3	,	,	PUNCT
alkej-978	178	4	powered	power	VERB
alkej-978	178	5	by	by	ADP
alkej-978	178	6	flexsim	flexsim	NOUN
alkej-978	178	7	software	software	NOUN
alkej-978	178	8	,	,	PUNCT
alkej-978	178	9	employs	employ	VERB
alkej-978	178	10	mechanical	mechanical	ADJ
alkej-978	178	11	agents	agent	NOUN
alkej-978	178	12	,	,	PUNCT
alkej-978	178	13	such	such	ADJ
alkej-978	178	14	as	as	ADP
alkej-978	178	15	forks	fork	NOUN
alkej-978	178	16	and	and	CCONJ
alkej-978	178	17	suction	suction	NOUN
alkej-978	178	18	cups	cup	NOUN
alkej-978	178	19	,	,	PUNCT
alkej-978	178	20	to	to	PART
alkej-978	178	21	enhance	enhance	VERB
alkej-978	178	22	operational	operational	ADJ
alkej-978	178	23	efficiency	efficiency	NOUN
alkej-978	178	24	,	,	PUNCT
alkej-978	178	25	reduce	reduce	VERB
alkej-978	178	26	errors	error	NOUN
alkej-978	178	27	and	and	CCONJ
alkej-978	178	28	meet	meet	VERB
alkej-978	178	29	high	high	ADJ
alkej-978	178	30	-	-	PUNCT
alkej-978	178	31	performance	performance	NOUN
alkej-978	178	32	standards	standard	NOUN
alkej-978	178	33	[	[	X
alkej-978	178	34	44	44	NUM
alkej-978	178	35	]	]	PUNCT
alkej-978	178	36	.	.	PUNCT
alkej-978	179	1	ku	ku	PROPN
alkej-978	179	2	et	et	PROPN
alkej-978	179	3	al	al	PROPN
alkej-978	179	4	.	.	PROPN
alkej-978	179	5	were	be	AUX
alkej-978	179	6	the	the	DET
alkej-978	179	7	first	first	ADJ
alkej-978	179	8	to	to	PART
alkej-978	179	9	build	build	VERB
alkej-978	179	10	a	a	DET
alkej-978	179	11	cartesian	cartesian	ADJ
alkej-978	179	12	robotic	robotic	ADJ
alkej-978	179	13	system	system	NOUN
alkej-978	179	14	for	for	ADP
alkej-978	179	15	sorting	sort	VERB
alkej-978	179	16	construction	construction	NOUN
alkej-978	179	17	and	and	CCONJ
alkej-978	179	18	demolition	demolition	NOUN
alkej-978	179	19	waste	waste	NOUN
alkej-978	179	20	.	.	PUNCT
alkej-978	180	1	they	they	PRON
alkej-978	180	2	used	use	VERB
alkej-978	180	3	laser	laser	NOUN
alkej-978	180	4	sensors	sensor	NOUN
alkej-978	180	5	to	to	PART
alkej-978	180	6	create	create	VERB
alkej-978	180	7	3d	3d	NUM
alkej-978	180	8	images	image	NOUN
alkej-978	180	9	of	of	ADP
alkej-978	180	10	objects	object	NOUN
alkej-978	180	11	and	and	CCONJ
alkej-978	180	12	advanced	advanced	ADJ
alkej-978	180	13	algorithms	algorithm	NOUN
alkej-978	180	14	(	(	PUNCT
alkej-978	180	15	e.g.	e.g.	ADV
alkej-978	180	16	newton	newton	PROPN
alkej-978	180	17	–	–	PUNCT
alkej-978	180	18	raphson	raphson	NOUN
alkej-978	180	19	)	)	PUNCT
alkej-978	180	20	to	to	PART
alkej-978	180	21	determine	determine	VERB
alkej-978	180	22	the	the	DET
alkej-978	180	23	ideal	ideal	ADJ
alkej-978	180	24	grasping	grasping	NOUN
alkej-978	180	25	points	point	NOUN
alkej-978	180	26	.	.	PUNCT
alkej-978	181	1	with	with	ADP
alkej-978	181	2	an	an	DET
alkej-978	181	3	output	output	NOUN
alkej-978	181	4	of	of	ADP
alkej-978	181	5	2,000	2,000	NUM
alkej-978	181	6	items	item	NOUN
alkej-978	181	7	per	per	ADP
alkej-978	181	8	hour	hour	NOUN
alkej-978	181	9	and	and	CCONJ
alkej-978	181	10	a	a	DET
alkej-978	181	11	success	success	NOUN
alkej-978	181	12	rate	rate	NOUN
alkej-978	181	13	exceeding	exceed	VERB
alkej-978	181	14	90	90	NUM
alkej-978	181	15	%	%	NOUN
alkej-978	181	16	,	,	PUNCT
alkej-978	181	17	this	this	DET
alkej-978	181	18	system	system	NOUN
alkej-978	181	19	demonstrates	demonstrate	VERB
alkej-978	181	20	a	a	DET
alkej-978	181	21	high	high	ADJ
alkej-978	181	22	level	level	NOUN
alkej-978	181	23	of	of	ADP
alkej-978	181	24	efficiency	efficiency	NOUN
alkej-978	181	25	in	in	ADP
alkej-978	181	26	managing	manage	VERB
alkej-978	181	27	various	various	ADJ
alkej-978	181	28	materials	material	NOUN
alkej-978	181	29	[	[	X
alkej-978	181	30	45	45	NUM
alkej-978	181	31	]	]	PUNCT
alkej-978	181	32	.	.	PUNCT
alkej-978	182	1	bargiotas	bargiota	NOUN
alkej-978	182	2	et	et	PROPN
alkej-978	182	3	al	al	PROPN
alkej-978	182	4	.	.	PROPN
alkej-978	182	5	created	create	VERB
alkej-978	182	6	a	a	DET
alkej-978	182	7	gantry	gantry	NOUN
alkej-978	182	8	robotic	robotic	ADJ
alkej-978	182	9	system	system	NOUN
alkej-978	182	10	for	for	ADP
alkej-978	182	11	as	as	ADP
alkej-978	182	12	/	/	SYM
alkej-978	182	13	rs	rs	NOUN
alkej-978	182	14	that	that	PRON
alkej-978	182	15	employs	employ	VERB
alkej-978	182	16	laser	laser	NOUN
alkej-978	182	17	sensors	sensor	NOUN
alkej-978	182	18	for	for	ADP
alkej-978	182	19	the	the	DET
alkej-978	182	20	identification	identification	NOUN
alkej-978	182	21	of	of	ADP
alkej-978	182	22	objects	object	NOUN
alkej-978	182	23	and	and	CCONJ
alkej-978	182	24	plcs	plcs	NOUN
alkej-978	182	25	for	for	ADP
alkej-978	182	26	accurate	accurate	ADJ
alkej-978	182	27	guidance	guidance	NOUN
alkej-978	182	28	of	of	ADP
alkej-978	182	29	the	the	DET
alkej-978	182	30	robotic	robotic	ADJ
alkej-978	182	31	arm	arm	NOUN
alkej-978	182	32	.	.	PUNCT
alkej-978	183	1	this	this	DET
alkej-978	183	2	system	system	NOUN
alkej-978	183	3	optimises	optimise	VERB
alkej-978	183	4	storage	storage	NOUN
alkej-978	183	5	and	and	CCONJ
alkej-978	183	6	retrieval	retrieval	NOUN
alkej-978	183	7	operations	operation	NOUN
alkej-978	183	8	,	,	PUNCT
alkej-978	183	9	decreases	decrease	VERB
alkej-978	183	10	costs	cost	NOUN
alkej-978	183	11	and	and	CCONJ
alkej-978	183	12	increases	increase	VERB
alkej-978	183	13	accuracy	accuracy	NOUN
alkej-978	183	14	[	[	X
alkej-978	183	15	13	13	NUM
alkej-978	183	16	]	]	PUNCT
alkej-978	183	17	.	.	PUNCT
alkej-978	184	1	carlsson	carlsson	PROPN
alkej-978	184	2	et	et	PROPN
alkej-978	184	3	al	al	PROPN
alkej-978	184	4	.	.	PROPN
alkej-978	184	5	created	create	VERB
alkej-978	184	6	a	a	DET
alkej-978	184	7	robotic	robotic	ADJ
alkej-978	184	8	claw	claw	NOUN
alkej-978	184	9	mechanism	mechanism	NOUN
alkej-978	184	10	that	that	PRON
alkej-978	184	11	leverages	leverage	VERB
alkej-978	184	12	infrared	infrared	ADJ
alkej-978	184	13	and	and	CCONJ
alkej-978	184	14	ultrasonic	ultrasonic	ADJ
alkej-978	184	15	sensors	sensor	NOUN
alkej-978	184	16	to	to	PART
alkej-978	184	17	follow	follow	VERB
alkej-978	184	18	and	and	CCONJ
alkej-978	184	19	grab	grab	VERB
alkej-978	184	20	fast	fast	ADV
alkej-978	184	21	-	-	PUNCT
alkej-978	184	22	moving	move	VERB
alkej-978	184	23	objects	object	NOUN
alkej-978	184	24	in	in	ADP
alkej-978	184	25	real	real	ADJ
alkej-978	184	26	time	time	NOUN
alkej-978	184	27	.	.	PUNCT
alkej-978	185	1	the	the	DET
alkej-978	185	2	arduino	arduino	NOUN
alkej-978	185	3	uno	uno	PROPN
alkej-978	185	4	-	-	PUNCT
alkej-978	185	5	controlled	control	VERB
alkej-978	185	6	system	system	NOUN
alkej-978	185	7	demonstrated	demonstrate	VERB
alkej-978	185	8	the	the	DET
alkej-978	185	9	success	success	NOUN
alkej-978	185	10	of	of	ADP
alkej-978	185	11	the	the	DET
alkej-978	185	12	infrared	infrared	ADJ
alkej-978	185	13	sensor	sensor	NOUN
alkej-978	185	14	in	in	ADP
alkej-978	185	15	dealing	deal	VERB
alkej-978	185	16	with	with	ADP
alkej-978	185	17	a	a	DET
alkej-978	185	18	fast	fast	ADV
alkej-978	185	19	-	-	PUNCT
alkej-978	185	20	moving	move	VERB
alkej-978	185	21	object	object	NOUN
alkej-978	185	22	,	,	PUNCT
alkej-978	185	23	therefore	therefore	ADV
alkej-978	185	24	providing	provide	VERB
alkej-978	185	25	a	a	DET
alkej-978	185	26	few	few	ADJ
alkej-978	185	27	ideas	idea	NOUN
alkej-978	185	28	for	for	ADP
alkej-978	185	29	potential	potential	ADJ
alkej-978	185	30	enhancements	enhancement	NOUN
alkej-978	185	31	of	of	ADP
alkej-978	185	32	sensor	sensor	NOUN
alkej-978	185	33	integration	integration	NOUN
alkej-978	185	34	and	and	CCONJ
alkej-978	185	35	algorithms	algorithm	NOUN
alkej-978	185	36	[	[	X
alkej-978	185	37	46	46	NUM
alkej-978	185	38	]	]	PUNCT
alkej-978	185	39	.	.	PUNCT
alkej-978	186	1	meanwhile	meanwhile	ADV
alkej-978	186	2	,	,	PUNCT
alkej-978	186	3	akrawi	akrawi	PROPN
alkej-978	186	4	developed	develop	VERB
alkej-978	186	5	a	a	DET
alkej-978	186	6	masonry	masonry	NOUN
alkej-978	186	7	robot	robot	NOUN
alkej-978	186	8	system	system	NOUN
alkej-978	186	9	equipped	equip	VERB
alkej-978	186	10	with	with	ADP
alkej-978	186	11	ultrasonic	ultrasonic	ADJ
alkej-978	186	12	and	and	CCONJ
alkej-978	186	13	laser	laser	NOUN
alkej-978	186	14	sensors	sensor	NOUN
alkej-978	186	15	for	for	ADP
alkej-978	186	16	precise	precise	ADJ
alkej-978	186	17	alignment	alignment	NOUN
alkej-978	186	18	of	of	ADP
alkej-978	186	19	building	build	VERB
alkej-978	186	20	blocks	block	NOUN
alkej-978	186	21	in	in	ADP
alkej-978	186	22	a	a	DET
alkej-978	186	23	construction	construction	NOUN
alkej-978	186	24	site	site	NOUN
alkej-978	186	25	.	.	PUNCT
alkej-978	187	1	the	the	DET
alkej-978	187	2	system	system	NOUN
alkej-978	187	3	,	,	PUNCT
alkej-978	187	4	which	which	PRON
alkej-978	187	5	is	be	AUX
alkej-978	187	6	pilot	pilot	NOUN
alkej-978	187	7	-	-	PUNCT
alkej-978	187	8	guided	guide	VERB
alkej-978	187	9	by	by	ADP
alkej-978	187	10	a	a	DET
alkej-978	187	11	rule	rule	NOUN
alkej-978	187	12	-	-	PUNCT
alkej-978	187	13	based	base	VERB
alkej-978	187	14	expert	expert	NOUN
alkej-978	187	15	system	system	NOUN
alkej-978	187	16	,	,	PUNCT
alkej-978	187	17	allows	allow	VERB
alkej-978	187	18	accuracy	accuracy	NOUN
alkej-978	187	19	even	even	ADV
alkej-978	187	20	in	in	ADP
alkej-978	187	21	unpredictable	unpredictable	ADJ
alkej-978	187	22	environments	environment	NOUN
alkej-978	187	23	;	;	PUNCT
alkej-978	187	24	thus	thus	ADV
alkej-978	187	25	,	,	PUNCT
alkej-978	187	26	it	it	PRON
alkej-978	187	27	reduces	reduce	VERB
alkej-978	187	28	mistakes	mistake	NOUN
alkej-978	187	29	and	and	CCONJ
alkej-978	187	30	increases	increase	VERB
alkej-978	187	31	productivity	productivity	NOUN
alkej-978	187	32	[	[	X
alkej-978	187	33	47	47	NUM
alkej-978	187	34	]	]	PUNCT
alkej-978	187	35	.	.	PUNCT
alkej-978	188	1	these	these	DET
alkej-978	188	2	studies	study	NOUN
alkej-978	188	3	have	have	AUX
alkej-978	188	4	revealed	reveal	VERB
alkej-978	188	5	substantial	substantial	ADJ
alkej-978	188	6	advancements	advancement	NOUN
alkej-978	188	7	achieved	achieve	VERB
alkej-978	188	8	in	in	ADP
alkej-978	188	9	the	the	DET
alkej-978	188	10	integration	integration	NOUN
alkej-978	188	11	of	of	ADP
alkej-978	188	12	sophisticated	sophisticated	ADJ
alkej-978	188	13	sensors	sensor	NOUN
alkej-978	188	14	,	,	PUNCT
alkej-978	188	15	optimisation	optimisation	NOUN
alkej-978	188	16	algorithms	algorithm	NOUN
alkej-978	188	17	and	and	CCONJ
alkej-978	188	18	dynamic	dynamic	ADJ
alkej-978	188	19	control	control	NOUN
alkej-978	188	20	systems	system	NOUN
alkej-978	188	21	for	for	ADP
alkej-978	188	22	the	the	DET
alkej-978	188	23	improvement	improvement	NOUN
alkej-978	188	24	of	of	ADP
alkej-978	188	25	the	the	DET
alkej-978	188	26	determination	determination	NOUN
alkej-978	188	27	of	of	ADP
alkej-978	188	28	the	the	DET
alkej-978	188	29	dimensions	dimension	NOUN
alkej-978	188	30	and	and	CCONJ
alkej-978	188	31	positions	position	NOUN
alkej-978	188	32	of	of	ADP
alkej-978	188	33	objects	object	NOUN
alkej-978	188	34	in	in	ADP
alkej-978	188	35	applications	application	NOUN
alkej-978	188	36	in	in	ADP
alkej-978	188	37	different	different	ADJ
alkej-978	188	38	industries	industry	NOUN
alkej-978	188	39	.	.	PUNCT
alkej-978	189	1	internal	internal	ADJ
alkej-978	189	2	and	and	CCONJ
alkej-978	189	3	external	external	ADJ
alkej-978	189	4	sensors	sensor	NOUN
alkej-978	189	5	are	be	AUX
alkej-978	189	6	frequently	frequently	ADV
alkej-978	189	7	utilised	utilise	VERB
alkej-978	189	8	sensor	sensor	NOUN
alkej-978	189	9	types	type	NOUN
alkej-978	189	10	.	.	PUNCT
alkej-978	190	1	robots	robot	NOUN
alkej-978	190	2	employ	employ	VERB
alkej-978	190	3	external	external	ADJ
alkej-978	190	4	sensors	sensor	NOUN
alkej-978	190	5	to	to	PART
alkej-978	190	6	gather	gather	VERB
alkej-978	190	7	data	datum	NOUN
alkej-978	190	8	,	,	PUNCT
alkej-978	190	9	including	include	VERB
alkej-978	190	10	the	the	DET
alkej-978	190	11	specific	specific	ADJ
alkej-978	190	12	location	location	NOUN
alkej-978	190	13	where	where	SCONJ
alkej-978	190	14	the	the	DET
alkej-978	190	15	robot	robot	NOUN
alkej-978	190	16	comes	come	VERB
alkej-978	190	17	into	into	ADP
alkej-978	190	18	contact	contact	NOUN
alkej-978	190	19	with	with	ADP
alkej-978	190	20	the	the	DET
alkej-978	190	21	product	product	NOUN
alkej-978	190	22	it	it	PRON
alkej-978	190	23	is	be	AUX
alkej-978	190	24	manipulating	manipulate	VERB
alkej-978	190	25	,	,	PUNCT
alkej-978	190	26	from	from	ADP
alkej-978	190	27	the	the	DET
alkej-978	190	28	surrounding	surround	VERB
alkej-978	190	29	environment	environment	NOUN
alkej-978	190	30	.	.	PUNCT
alkej-978	191	1	distance	distance	NOUN
alkej-978	191	2	sensors	sensor	NOUN
alkej-978	191	3	are	be	AUX
alkej-978	191	4	commonly	commonly	ADV
alkej-978	191	5	classified	classify	VERB
alkej-978	191	6	in	in	ADP
alkej-978	191	7	accordance	accordance	NOUN
alkej-978	191	8	with	with	ADP
alkej-978	191	9	their	their	PRON
alkej-978	191	10	mode	mode	NOUN
alkej-978	191	11	of	of	ADP
alkej-978	191	12	measurement	measurement	NOUN
alkej-978	191	13	[	[	X
alkej-978	191	14	48	48	NUM
alkej-978	191	15	]	]	PUNCT
alkej-978	191	16	.	.	PUNCT
alkej-978	192	1	the	the	DET
alkej-978	192	2	following	follow	VERB
alkej-978	192	3	section	section	NOUN
alkej-978	192	4	presents	present	VERB
alkej-978	192	5	commonly	commonly	ADV
alkej-978	192	6	acknowledged	acknowledge	VERB
alkej-978	192	7	sensor	sensor	NOUN
alkej-978	192	8	categories	category	NOUN
alkej-978	192	9	.	.	PUNCT
alkej-978	193	1	4.1	4.1	NUM
alkej-978	193	2	.	.	PUNCT
alkej-978	194	1	ultrasonic	ultrasonic	ADJ
alkej-978	194	2	sensors	sensor	NOUN
alkej-978	194	3	ultrasonic	ultrasonic	ADJ
alkej-978	194	4	sensors	sensor	NOUN
alkej-978	194	5	were	be	AUX
alkej-978	194	6	frequently	frequently	ADV
alkej-978	194	7	utilised	utilise	VERB
alkej-978	194	8	in	in	ADP
alkej-978	194	9	the	the	DET
alkej-978	194	10	past	past	NOUN
alkej-978	194	11	,	,	PUNCT
alkej-978	194	12	but	but	CCONJ
alkej-978	194	13	advancements	advancement	NOUN
alkej-978	194	14	and	and	CCONJ
alkej-978	194	15	cost	cost	NOUN
alkej-978	194	16	reductions	reduction	NOUN
alkej-978	194	17	in	in	ADP
alkej-978	194	18	alternative	alternative	ADJ
alkej-978	194	19	sensing	sense	VERB
alkej-978	194	20	technologies	technology	NOUN
alkej-978	194	21	have	have	AUX
alkej-978	194	22	reduced	reduce	VERB
alkej-978	194	23	their	their	PRON
alkej-978	194	24	frequency	frequency	NOUN
alkej-978	194	25	of	of	ADP
alkej-978	194	26	use	use	NOUN
alkej-978	194	27	.	.	PUNCT
alkej-978	195	1	an	an	DET
alkej-978	195	2	ultrasonic	ultrasonic	ADJ
alkej-978	195	3	sensor	sensor	NOUN
alkej-978	195	4	is	be	AUX
alkej-978	195	5	a	a	DET
alkej-978	195	6	device	device	NOUN
alkej-978	195	7	that	that	PRON
alkej-978	195	8	can	can	AUX
alkej-978	195	9	measure	measure	VERB
alkej-978	195	10	distance	distance	NOUN
alkej-978	195	11	and	and	CCONJ
alkej-978	195	12	object	object	VERB
alkej-978	195	13	speed	speed	NOUN
alkej-978	195	14	without	without	ADP
alkej-978	195	15	making	make	VERB
alkej-978	195	16	physical	physical	ADJ
alkej-978	195	17	contact	contact	NOUN
alkej-978	195	18	.	.	PUNCT
alkej-978	196	1	it	it	PRON
alkej-978	196	2	operates	operate	VERB
alkej-978	196	3	by	by	ADP
alkej-978	196	4	utilising	utilise	VERB
alkej-978	196	5	sound	sound	ADJ
alkej-978	196	6	waves	wave	NOUN
alkej-978	196	7	at	at	ADP
alkej-978	196	8	a	a	DET
alkej-978	196	9	frequency	frequency	NOUN
alkej-978	196	10	higher	high	ADJ
alkej-978	196	11	than	than	ADP
alkej-978	196	12	the	the	DET
alkej-978	196	13	range	range	NOUN
alkej-978	196	14	of	of	ADP
alkej-978	196	15	human	human	ADJ
alkej-978	196	16	hearing	hearing	NOUN
alkej-978	196	17	(	(	PUNCT
alkej-978	196	18	figure	figure	NOUN
alkej-978	196	19	2	2	NUM
alkej-978	196	20	)	)	PUNCT
alkej-978	197	1	[	[	X
alkej-978	197	2	49	49	NUM
alkej-978	197	3	]	]	PUNCT
alkej-978	197	4	.	.	PUNCT
alkej-978	198	1	hayder	hayder	PROPN
alkej-978	198	2	ali	ali	PROPN
alkej-978	198	3	saadi	saadi	PROPN
alkej-978	198	4	al	al	PROPN
alkej-978	198	5	-	-	PUNCT
alkej-978	198	6	khwarizmi	khwarizmi	PROPN
alkej-978	198	7	engineering	engineering	NOUN
alkej-978	198	8	journal	journal	PROPN
alkej-978	198	9	,	,	PUNCT
alkej-978	198	10	vol	vol	NOUN
alkej-978	198	11	.	.	PROPN
alkej-978	198	12	21	21	NUM
alkej-978	198	13	,	,	PUNCT
alkej-978	198	14	no.4	no.4	PROPN
alkej-978	198	15	,	,	PUNCT
alkej-978	198	16	pp	pp	X
alkej-978	198	17	.	.	PUNCT
alkej-978	198	18	106124	106124	NUM
alkej-978	198	19	(	(	PUNCT
alkej-978	198	20	2025	2025	NUM
alkej-978	198	21	)	)	PUNCT
alkej-978	198	22	112	112	NUM
alkej-978	198	23	fig	fig	NOUN
alkej-978	198	24	.	.	PUNCT
alkej-978	199	1	2	2	X
alkej-978	199	2	.	.	X
alkej-978	199	3	working	work	VERB
alkej-978	199	4	principle	principle	NOUN
alkej-978	199	5	of	of	ADP
alkej-978	199	6	ultrasonic	ultrasonic	ADJ
alkej-978	199	7	sensors	sensor	NOUN
alkej-978	200	1	[	[	X
alkej-978	200	2	49	49	NUM
alkej-978	200	3	]	]	PUNCT
alkej-978	200	4	the	the	DET
alkej-978	200	5	following	follow	VERB
alkej-978	200	6	drawbacks	drawback	NOUN
alkej-978	200	7	diminish	diminish	VERB
alkej-978	200	8	the	the	DET
alkej-978	200	9	competitiveness	competitiveness	NOUN
alkej-978	200	10	of	of	ADP
alkej-978	200	11	ultrasonic	ultrasonic	ADJ
alkej-978	200	12	sensors	sensor	NOUN
alkej-978	200	13	.	.	PUNCT
alkej-978	201	1	•	•	NOUN
alkej-978	201	2	sound	sound	NOUN
alkej-978	201	3	experiences	experience	NOUN
alkej-978	201	4	deflection	deflection	NOUN
alkej-978	201	5	when	when	SCONJ
alkej-978	201	6	it	it	PRON
alkej-978	201	7	strikes	strike	VERB
alkej-978	201	8	inclined	inclined	ADJ
alkej-978	201	9	surfaces	surface	NOUN
alkej-978	201	10	,	,	PUNCT
alkej-978	201	11	resulting	result	VERB
alkej-978	201	12	in	in	ADP
alkej-978	201	13	measurement	measurement	NOUN
alkej-978	201	14	mistakes	mistake	NOUN
alkej-978	201	15	.	.	PUNCT
alkej-978	202	1	•	•	NUM
alkej-978	202	2	the	the	DET
alkej-978	202	3	proximity	proximity	NOUN
alkej-978	202	4	of	of	ADP
alkej-978	202	5	the	the	DET
alkej-978	202	6	sensors	sensor	NOUN
alkej-978	202	7	causes	cause	VERB
alkej-978	202	8	interference	interference	NOUN
alkej-978	202	9	.	.	PUNCT
alkej-978	203	1	•	•	NUM
alkej-978	203	2	the	the	DET
alkej-978	203	3	precision	precision	NOUN
alkej-978	203	4	of	of	ADP
alkej-978	203	5	the	the	DET
alkej-978	203	6	measurements	measurement	NOUN
alkej-978	203	7	depends	depend	VERB
alkej-978	203	8	on	on	ADP
alkej-978	203	9	the	the	DET
alkej-978	203	10	amount	amount	NOUN
alkej-978	203	11	of	of	ADP
alkej-978	203	12	intricacy	intricacy	NOUN
alkej-978	203	13	.	.	PUNCT
alkej-978	204	1	•	•	NUM
alkej-978	204	2	sample	sample	NOUN
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alkej-978	204	5	relatively	relatively	ADV
alkej-978	204	6	slow	slow	ADJ
alkej-978	204	7	.	.	PUNCT
alkej-978	205	1	the	the	DET
alkej-978	205	2	main	main	ADJ
alkej-978	205	3	advantages	advantage	NOUN
alkej-978	205	4	of	of	ADP
alkej-978	205	5	this	this	DET
alkej-978	205	6	sensor	sensor	NOUN
alkej-978	205	7	are	be	AUX
alkej-978	205	8	its	its	PRON
alkej-978	205	9	low	low	ADJ
alkej-978	205	10	price	price	NOUN
alkej-978	205	11	and	and	CCONJ
alkej-978	205	12	ability	ability	NOUN
alkej-978	205	13	to	to	PART
alkej-978	205	14	withstand	withstand	VERB
alkej-978	205	15	fog	fog	NOUN
alkej-978	205	16	and	and	CCONJ
alkej-978	205	17	dust	dust	NOUN
alkej-978	205	18	.	.	PUNCT
alkej-978	206	1	the	the	DET
alkej-978	206	2	hcsr04	hcsr04	NOUN
alkej-978	206	3	ultrasonic	ultrasonic	ADJ
alkej-978	206	4	ranging	ranging	NOUN
alkej-978	206	5	module	module	NOUN
alkej-978	206	6	features	feature	VERB
alkej-978	206	7	a	a	DET
alkej-978	206	8	noncontact	noncontact	ADJ
alkej-978	206	9	measurement	measurement	NOUN
alkej-978	206	10	capability	capability	NOUN
alkej-978	206	11	and	and	CCONJ
alkej-978	206	12	can	can	AUX
alkej-978	206	13	measure	measure	VERB
alkej-978	206	14	distances	distance	NOUN
alkej-978	206	15	from	from	ADP
alkej-978	206	16	2	2	NUM
alkej-978	206	17	cm	cm	NOUN
alkej-978	206	18	to	to	ADP
alkej-978	206	19	400	400	NUM
alkej-978	206	20	cm	cm	NOUN
alkej-978	206	21	.	.	PUNCT
alkej-978	207	1	it	it	PRON
alkej-978	207	2	has	have	VERB
alkej-978	207	3	a	a	DET
alkej-978	207	4	ranging	range	VERB
alkej-978	207	5	accuracy	accuracy	NOUN
alkej-978	207	6	of	of	ADP
alkej-978	207	7	up	up	ADP
alkej-978	207	8	to	to	PART
alkej-978	207	9	3	3	NUM
alkej-978	207	10	mm	mm	NOUN
alkej-978	207	11	.	.	PUNCT
alkej-978	208	1	the	the	DET
alkej-978	208	2	modules	module	NOUN
alkej-978	208	3	consist	consist	VERB
alkej-978	208	4	of	of	ADP
alkej-978	208	5	ultrasonic	ultrasonic	ADJ
alkej-978	208	6	transmitters	transmitter	NOUN
alkej-978	208	7	,	,	PUNCT
alkej-978	208	8	receivers	receiver	NOUN
alkej-978	208	9	and	and	CCONJ
alkej-978	208	10	control	control	NOUN
alkej-978	208	11	circuits	circuit	NOUN
alkej-978	208	12	.	.	PUNCT
alkej-978	209	1	the	the	DET
alkej-978	209	2	fundamental	fundamental	ADJ
alkej-978	209	3	work	work	NOUN
alkej-978	209	4	premise	premise	NOUN
alkej-978	209	5	is	be	AUX
alkej-978	209	6	as	as	SCONJ
alkej-978	209	7	follows	follow	VERB
alkej-978	209	8	:	:	PUNCT
alkej-978	209	9	1	1	X
alkej-978	209	10	.	.	X
alkej-978	209	11	an	an	DET
alkej-978	209	12	io	io	X
alkej-978	209	13	trigger	trigger	NOUN
alkej-978	209	14	is	be	AUX
alkej-978	209	15	used	use	VERB
alkej-978	209	16	to	to	PART
alkej-978	209	17	generate	generate	VERB
alkej-978	209	18	a	a	DET
alkej-978	209	19	high	high	ADJ
alkej-978	209	20	-	-	PUNCT
alkej-978	209	21	level	level	NOUN
alkej-978	209	22	signal	signal	NOUN
alkej-978	209	23	with	with	ADP
alkej-978	209	24	a	a	DET
alkej-978	209	25	duration	duration	NOUN
alkej-978	209	26	of	of	ADP
alkej-978	209	27	at	at	ADV
alkej-978	209	28	least	least	ADV
alkej-978	209	29	10	10	NUM
alkej-978	209	30	μs	μs	NOUN
alkej-978	209	31	.	.	NOUN
alkej-978	210	1	2	2	X
alkej-978	210	2	.	.	X
alkej-978	210	3	the	the	DET
alkej-978	210	4	module	module	NOUN
alkej-978	210	5	independently	independently	ADV
alkej-978	210	6	emits	emit	VERB
alkej-978	210	7	eight	eight	NUM
alkej-978	210	8	40	40	NUM
alkej-978	210	9	khz	khz	NOUN
alkej-978	210	10	pulses	pulse	NOUN
alkej-978	210	11	and	and	CCONJ
alkej-978	210	12	identifies	identify	VERB
alkej-978	210	13	the	the	DET
alkej-978	210	14	existence	existence	NOUN
alkej-978	210	15	of	of	ADP
alkej-978	210	16	a	a	DET
alkej-978	210	17	corresponding	corresponding	ADJ
alkej-978	210	18	pulse	pulse	NOUN
alkej-978	210	19	signal	signal	NOUN
alkej-978	210	20	.	.	PUNCT
alkej-978	211	1	if	if	SCONJ
alkej-978	211	2	the	the	DET
alkej-978	211	3	signal	signal	NOUN
alkej-978	211	4	returns	return	VERB
alkej-978	211	5	at	at	ADP
alkej-978	211	6	a	a	DET
alkej-978	211	7	high	high	ADJ
alkej-978	211	8	level	level	NOUN
alkej-978	211	9	,	,	PUNCT
alkej-978	211	10	the	the	DET
alkej-978	211	11	duration	duration	NOUN
alkej-978	211	12	of	of	ADP
alkej-978	211	13	the	the	DET
alkej-978	211	14	high	high	ADJ
alkej-978	211	15	-	-	PUNCT
alkej-978	211	16	output	output	NOUN
alkej-978	211	17	io	io	X
alkej-978	211	18	represents	represent	VERB
alkej-978	211	19	the	the	DET
alkej-978	211	20	time	time	NOUN
alkej-978	211	21	it	it	PRON
alkej-978	211	22	takes	take	VERB
alkej-978	211	23	for	for	SCONJ
alkej-978	211	24	the	the	DET
alkej-978	211	25	ultrasonic	ultrasonic	ADJ
alkej-978	211	26	signal	signal	NOUN
alkej-978	211	27	to	to	PART
alkej-978	211	28	be	be	AUX
alkej-978	211	29	sent	send	VERB
alkej-978	211	30	and	and	CCONJ
alkej-978	211	31	returned	return	VERB
alkej-978	211	32	.	.	PUNCT
alkej-978	212	1	the	the	DET
alkej-978	212	2	formula	formula	NOUN
alkej-978	212	3	to	to	PART
alkej-978	212	4	calculate	calculate	VERB
alkej-978	212	5	the	the	DET
alkej-978	212	6	distance	distance	NOUN
alkej-978	212	7	is	be	AUX
alkej-978	212	8	as	as	SCONJ
alkej-978	212	9	follows	follow	VERB
alkej-978	212	10	:	:	PUNCT
alkej-978	212	11	d	d	X
alkej-978	212	12	=	=	SYM
alkej-978	212	13	(	(	PUNCT
alkej-978	212	14	t	t	PROPN
alkej-978	212	15	×	×	PROPN
alkej-978	212	16	v	v	NOUN
alkej-978	212	17	)	)	PUNCT
alkej-978	212	18	/	/	SYM
alkej-978	212	19	2	2	NUM
alkej-978	212	20	,	,	PUNCT
alkej-978	212	21	(	(	PUNCT
alkej-978	212	22	1	1	X
alkej-978	212	23	)	)	PUNCT
alkej-978	212	24	where	where	SCONJ
alkej-978	212	25	d	d	NOUN
alkej-978	212	26	is	be	AUX
alkej-978	212	27	distance	distance	NOUN
alkej-978	212	28	(	(	PUNCT
alkej-978	212	29	mm	mm	NOUN
alkej-978	212	30	)	)	PUNCT
alkej-978	212	31	,	,	PUNCT
alkej-978	212	32	t	t	PROPN
alkej-978	212	33	is	be	AUX
alkej-978	212	34	time	time	NOUN
alkej-978	212	35	(	(	PUNCT
alkej-978	212	36	s	s	NOUN
alkej-978	212	37	)	)	PUNCT
alkej-978	212	38	and	and	CCONJ
alkej-978	212	39	v	v	NOUN
alkej-978	212	40	is	be	AUX
alkej-978	212	41	the	the	DET
alkej-978	212	42	velocity	velocity	NOUN
alkej-978	212	43	of	of	ADP
alkej-978	212	44	sound	sound	NOUN
alkej-978	212	45	(	(	PUNCT
alkej-978	212	46	340	340	NUM
alkej-978	212	47	m	m	PROPN
alkej-978	212	48	/	/	SYM
alkej-978	212	49	s	s	PROPN
alkej-978	212	50	)	)	PUNCT
alkej-978	212	51	.	.	PUNCT
alkej-978	213	1	4.2	4.2	NUM
alkej-978	213	2	.	.	PUNCT
alkej-978	214	1	infrared	infrared	ADJ
alkej-978	214	2	sensors	sensor	NOUN
alkej-978	214	3	(	(	PUNCT
alkej-978	214	4	e18	e18	PROPN
alkej-978	214	5	-	-	PUNCT
alkej-978	214	6	d80nk	d80nk	PROPN
alkej-978	214	7	)	)	PUNCT
alkej-978	214	8	an	an	DET
alkej-978	214	9	infrared	infrared	ADJ
alkej-978	214	10	sensor	sensor	NOUN
alkej-978	214	11	typically	typically	ADV
alkej-978	214	12	finds	find	VERB
alkej-978	214	13	the	the	DET
alkej-978	214	14	distance	distance	NOUN
alkej-978	214	15	to	to	ADP
alkej-978	214	16	an	an	DET
alkej-978	214	17	item	item	NOUN
alkej-978	214	18	by	by	ADP
alkej-978	214	19	sending	send	VERB
alkej-978	214	20	out	out	ADP
alkej-978	214	21	infrared	infrared	ADJ
alkej-978	214	22	light	light	NOUN
alkej-978	214	23	signals	signal	NOUN
alkej-978	214	24	and	and	CCONJ
alkej-978	214	25	determining	determine	VERB
alkej-978	214	26	the	the	DET
alkej-978	214	27	reflection	reflection	NOUN
alkej-978	214	28	angle	angle	NOUN
alkej-978	214	29	by	by	ADP
alkej-978	214	30	triangulation	triangulation	NOUN
alkej-978	214	31	.	.	PUNCT
alkej-978	215	1	when	when	SCONJ
alkej-978	215	2	an	an	DET
alkej-978	215	3	infrared	infrared	ADJ
alkej-978	215	4	light	light	NOUN
alkej-978	215	5	-	-	PUNCT
alkej-978	215	6	emitting	emit	VERB
alkej-978	215	7	diode	diode	NOUN
alkej-978	215	8	(	(	PUNCT
alkej-978	215	9	led	lead	VERB
alkej-978	215	10	)	)	PUNCT
alkej-978	215	11	sends	send	VERB
alkej-978	215	12	a	a	DET
alkej-978	215	13	beam	beam	NOUN
alkej-978	215	14	of	of	ADP
alkej-978	215	15	light	light	NOUN
alkej-978	215	16	to	to	ADP
alkej-978	215	17	an	an	DET
alkej-978	215	18	object	object	NOUN
alkej-978	215	19	,	,	PUNCT
alkej-978	215	20	the	the	DET
alkej-978	215	21	light	light	NOUN
alkej-978	215	22	is	be	AUX
alkej-978	215	23	reflected	reflect	VERB
alkej-978	215	24	in	in	ADP
alkej-978	215	25	various	various	ADJ
alkej-978	215	26	directions	direction	NOUN
alkej-978	215	27	.	.	PUNCT
alkej-978	216	1	the	the	DET
alkej-978	216	2	proximity	proximity	NOUN
alkej-978	216	3	sensor	sensor	NOUN
alkej-978	216	4	,	,	PUNCT
alkej-978	216	5	which	which	PRON
alkej-978	216	6	is	be	AUX
alkej-978	216	7	located	locate	VERB
alkej-978	216	8	near	near	ADP
alkej-978	216	9	the	the	DET
alkej-978	216	10	infrared	infrared	ADJ
alkej-978	216	11	emitter	emitter	NOUN
alkej-978	216	12	,	,	PUNCT
alkej-978	216	13	sees	see	VERB
alkej-978	216	14	a	a	DET
alkej-978	216	15	light	light	ADJ
alkej-978	216	16	wave	wave	NOUN
alkej-978	216	17	that	that	PRON
alkej-978	216	18	has	have	AUX
alkej-978	216	19	been	be	AUX
alkej-978	216	20	reflected	reflect	VERB
alkej-978	216	21	.	.	PUNCT
alkej-978	217	1	the	the	DET
alkej-978	217	2	proximity	proximity	NOUN
alkej-978	217	3	sensor	sensor	NOUN
alkej-978	217	4	determines	determine	VERB
alkej-978	217	5	the	the	DET
alkej-978	217	6	distance	distance	NOUN
alkej-978	217	7	to	to	ADP
alkej-978	217	8	the	the	DET
alkej-978	217	9	object	object	NOUN
alkej-978	217	10	by	by	ADP
alkej-978	217	11	using	use	VERB
alkej-978	217	12	the	the	DET
alkej-978	217	13	angle	angle	NOUN
alkej-978	217	14	at	at	ADP
alkej-978	217	15	which	which	PRON
alkej-978	217	16	the	the	DET
alkej-978	217	17	signal	signal	NOUN
alkej-978	217	18	was	be	AUX
alkej-978	217	19	sent	send	VERB
alkej-978	217	20	[	[	PUNCT
alkej-978	217	21	50	50	NUM
alkej-978	217	22	]	]	PUNCT
alkej-978	217	23	.	.	PUNCT
alkej-978	218	1	the	the	DET
alkej-978	218	2	working	work	VERB
alkej-978	218	3	process	process	NOUN
alkej-978	218	4	of	of	ADP
alkej-978	218	5	an	an	DET
alkej-978	218	6	infrared	infrared	ADJ
alkej-978	218	7	sensor	sensor	NOUN
alkej-978	218	8	is	be	AUX
alkej-978	218	9	explained	explain	VERB
alkej-978	218	10	in	in	ADP
alkej-978	218	11	figure	figure	NOUN
alkej-978	218	12	3	3	NUM
alkej-978	218	13	[	[	X
alkej-978	218	14	51	51	NUM
alkej-978	218	15	]	]	PUNCT
alkej-978	218	16	.	.	PUNCT
alkej-978	219	1	fig	fig	NOUN
alkej-978	219	2	.	.	PUNCT
alkej-978	220	1	3	3	X
alkej-978	220	2	.	.	X
alkej-978	220	3	triangulation	triangulation	NOUN
alkej-978	220	4	procedure	procedure	NOUN
alkej-978	220	5	of	of	ADP
alkej-978	220	6	the	the	DET
alkej-978	220	7	infrared	infrared	ADJ
alkej-978	220	8	sensor	sensor	NOUN
alkej-978	220	9	[	[	X
alkej-978	220	10	51	51	NUM
alkej-978	220	11	]	]	PUNCT
alkej-978	220	12	.	.	PUNCT
alkej-978	221	1	infrared	infrared	PROPN
alkej-978	221	2	leds	led	NOUN
alkej-978	221	3	emit	emit	VERB
alkej-978	221	4	a	a	DET
alkej-978	221	5	very	very	ADV
alkej-978	221	6	narrow	narrow	ADJ
alkej-978	221	7	beam	beam	NOUN
alkej-978	221	8	of	of	ADP
alkej-978	221	9	light	light	NOUN
alkej-978	221	10	to	to	ADP
alkej-978	221	11	a	a	DET
alkej-978	221	12	particular	particular	ADJ
alkej-978	221	13	area	area	NOUN
alkej-978	221	14	of	of	ADP
alkej-978	221	15	a	a	DET
alkej-978	221	16	nearby	nearby	ADJ
alkej-978	221	17	object	object	NOUN
alkej-978	221	18	.	.	PUNCT
alkej-978	222	1	the	the	DET
alkej-978	222	2	object	object	NOUN
alkej-978	222	3	reflects	reflect	VERB
alkej-978	222	4	the	the	DET
alkej-978	222	5	optical	optical	ADJ
alkej-978	222	6	signal	signal	NOUN
alkej-978	222	7	;	;	PUNCT
alkej-978	222	8	thus	thus	ADV
alkej-978	222	9	,	,	PUNCT
alkej-978	222	10	the	the	DET
alkej-978	222	11	signal	signal	NOUN
alkej-978	222	12	reaches	reach	VERB
alkej-978	222	13	the	the	DET
alkej-978	222	14	proximity	proximity	NOUN
alkej-978	222	15	sensor	sensor	NOUN
alkej-978	222	16	at	at	ADP
alkej-978	222	17	an	an	DET
alkej-978	222	18	angle	angle	NOUN
alkej-978	222	19	.	.	PUNCT
alkej-978	223	1	the	the	DET
alkej-978	223	2	proximity	proximity	NOUN
alkej-978	223	3	sensor	sensor	NOUN
alkej-978	223	4	uses	use	VERB
alkej-978	223	5	this	this	DET
alkej-978	223	6	information	information	NOUN
alkej-978	223	7	to	to	PART
alkej-978	223	8	perform	perform	VERB
alkej-978	223	9	a	a	DET
alkej-978	223	10	mathematical	mathematical	ADJ
alkej-978	223	11	calculation	calculation	NOUN
alkej-978	223	12	of	of	ADP
alkej-978	223	13	the	the	DET
alkej-978	223	14	distance	distance	NOUN
alkej-978	223	15	.	.	PUNCT
alkej-978	224	1	the	the	DET
alkej-978	224	2	e18d80nk	e18d80nk	PROPN
alkej-978	224	3	digital	digital	PROPN
alkej-978	224	4	infrared	infrared	ADJ
alkej-978	224	5	sensor	sensor	NOUN
alkej-978	224	6	is	be	AUX
alkej-978	224	7	equipped	equip	VERB
alkej-978	224	8	with	with	ADP
alkej-978	224	9	a	a	DET
alkej-978	224	10	distance	distance	NOUN
alkej-978	224	11	detection	detection	NOUN
alkej-978	224	12	feature	feature	NOUN
alkej-978	224	13	.	.	PUNCT
alkej-978	225	1	a	a	DET
alkej-978	225	2	potentiometer	potentiometer	NOUN
alkej-978	225	3	with	with	ADP
alkej-978	225	4	a	a	DET
alkej-978	225	5	range	range	NOUN
alkej-978	225	6	of	of	ADP
alkej-978	225	7	3–80	3–80	NOUN
alkej-978	225	8	cm	cm	NOUN
alkej-978	225	9	can	can	AUX
alkej-978	225	10	be	be	AUX
alkej-978	225	11	used	use	VERB
alkej-978	225	12	to	to	PART
alkej-978	225	13	determine	determine	VERB
alkej-978	225	14	the	the	DET
alkej-978	225	15	measurement	measurement	NOUN
alkej-978	225	16	.	.	PUNCT
alkej-978	226	1	an	an	DET
alkej-978	226	2	infrared	infrared	ADJ
alkej-978	226	3	transmitter	transmitter	NOUN
alkej-978	226	4	emits	emit	NOUN
alkej-978	226	5	infrared	infrare	VERB
alkej-978	226	6	light	light	NOUN
alkej-978	226	7	in	in	ADP
alkej-978	226	8	each	each	DET
alkej-978	226	9	sensor	sensor	NOUN
alkej-978	226	10	,	,	PUNCT
alkej-978	226	11	and	and	CCONJ
alkej-978	226	12	an	an	DET
alkej-978	226	13	infrared	infrared	ADJ
alkej-978	226	14	receiver	receiver	NOUN
alkej-978	226	15	detects	detect	NOUN
alkej-978	226	16	the	the	DET
alkej-978	226	17	reflected	reflect	VERB
alkej-978	226	18	infrared	infrared	ADJ
alkej-978	226	19	light	light	NOUN
alkej-978	226	20	from	from	ADP
alkej-978	226	21	the	the	DET
alkej-978	226	22	object	object	NOUN
alkej-978	226	23	.	.	PUNCT
alkej-978	227	1	this	this	DET
alkej-978	227	2	sensing	sensing	NOUN
alkej-978	227	3	enables	enable	VERB
alkej-978	227	4	the	the	DET
alkej-978	227	5	sensor	sensor	NOUN
alkej-978	227	6	to	to	PART
alkej-978	227	7	confirm	confirm	VERB
alkej-978	227	8	if	if	SCONJ
alkej-978	227	9	the	the	DET
alkej-978	227	10	object	object	NOUN
alkej-978	227	11	is	be	AUX
alkej-978	227	12	within	within	ADP
alkej-978	227	13	a	a	DET
alkej-978	227	14	specified	specified	ADJ
alkej-978	227	15	range	range	NOUN
alkej-978	227	16	.	.	PUNCT
alkej-978	228	1	the	the	DET
alkej-978	228	2	diagram	diagram	NOUN
alkej-978	228	3	of	of	ADP
alkej-978	228	4	the	the	DET
alkej-978	228	5	implemented	implement	VERB
alkej-978	228	6	infrared	infrared	ADJ
alkej-978	228	7	sensor	sensor	NOUN
alkej-978	228	8	is	be	AUX
alkej-978	228	9	e18	e18	NOUN
alkej-978	228	10	-	-	PUNCT
alkej-978	228	11	d80nk	d80nk	PROPN
alkej-978	228	12	.	.	PROPN
alkej-978	228	13	interference	interference	NOUN
alkej-978	228	14	has	have	VERB
alkej-978	228	15	an	an	DET
alkej-978	228	16	extremely	extremely	ADV
alkej-978	228	17	low	low	ADJ
alkej-978	228	18	chance	chance	NOUN
alkej-978	228	19	of	of	ADP
alkej-978	228	20	disturbing	disturb	VERB
alkej-978	228	21	visible	visible	ADJ
alkej-978	228	22	light	light	NOUN
alkej-978	228	23	.	.	PUNCT
alkej-978	229	1	therefore	therefore	ADV
alkej-978	229	2	,	,	PUNCT
alkej-978	229	3	the	the	DET
alkej-978	229	4	external	external	ADJ
alkej-978	229	5	influences	influence	NOUN
alkej-978	229	6	have	have	VERB
alkej-978	229	7	a	a	DET
alkej-978	229	8	very	very	ADV
alkej-978	229	9	minimal	minimal	ADJ
alkej-978	229	10	effect	effect	NOUN
alkej-978	229	11	on	on	ADP
alkej-978	229	12	the	the	DET
alkej-978	229	13	error	error	NOUN
alkej-978	229	14	margin	margin	NOUN
alkej-978	229	15	[	[	X
alkej-978	229	16	52	52	NUM
alkej-978	229	17	]	]	PUNCT
alkej-978	229	18	.	.	PUNCT
alkej-978	230	1	4.3	4.3	NUM
alkej-978	230	2	.	.	PUNCT
alkej-978	231	1	light	light	ADJ
alkej-978	231	2	detection	detection	NOUN
alkej-978	231	3	and	and	CCONJ
alkej-978	231	4	ranging	range	VERB
alkej-978	231	5	sensors	sensor	NOUN
alkej-978	231	6	light	light	ADJ
alkej-978	231	7	detection	detection	NOUN
alkej-978	231	8	and	and	CCONJ
alkej-978	231	9	ranging	ranging	NOUN
alkej-978	231	10	(	(	PUNCT
alkej-978	231	11	lidar	lidar	NOUN
alkej-978	231	12	)	)	PUNCT
alkej-978	231	13	sensors	sensor	NOUN
alkej-978	231	14	use	use	VERB
alkej-978	231	15	ultrasonic	ultrasonic	ADJ
alkej-978	231	16	and	and	CCONJ
alkej-978	231	17	infrared	infrared	ADJ
alkej-978	231	18	sensors	sensor	NOUN
alkej-978	231	19	as	as	ADP
alkej-978	231	20	their	their	PRON
alkej-978	231	21	basic	basic	ADJ
alkej-978	231	22	tools	tool	NOUN
alkej-978	231	23	.	.	PUNCT
alkej-978	232	1	the	the	DET
alkej-978	232	2	light	light	ADJ
alkej-978	232	3	component	component	NOUN
alkej-978	232	4	of	of	ADP
alkej-978	232	5	lidar	lidar	NOUN
alkej-978	232	6	sends	send	VERB
alkej-978	232	7	a	a	DET
alkej-978	232	8	laser	laser	NOUN
alkej-978	232	9	beam	beam	NOUN
alkej-978	232	10	towards	towards	ADP
alkej-978	232	11	the	the	DET
alkej-978	232	12	target	target	NOUN
alkej-978	232	13	to	to	PART
alkej-978	232	14	determine	determine	VERB
alkej-978	232	15	the	the	DET
alkej-978	232	16	distance	distance	NOUN
alkej-978	232	17	.	.	PUNCT
alkej-978	233	1	then	then	ADV
alkej-978	233	2	,	,	PUNCT
alkej-978	233	3	the	the	DET
alkej-978	233	4	target	target	NOUN
alkej-978	233	5	area	area	NOUN
alkej-978	233	6	gives	give	VERB
alkej-978	233	7	off	off	ADP
alkej-978	233	8	a	a	DET
alkej-978	233	9	light	light	ADJ
alkej-978	233	10	signal	signal	NOUN
alkej-978	233	11	that	that	PRON
alkej-978	233	12	bounces	bounce	VERB
alkej-978	233	13	off	off	ADP
alkej-978	233	14	and	and	CCONJ
alkej-978	233	15	is	be	AUX
alkej-978	233	16	picked	pick	VERB
alkej-978	233	17	up	up	ADP
alkej-978	233	18	by	by	ADP
alkej-978	233	19	the	the	DET
alkej-978	233	20	lidar	lidar	NOUN
alkej-978	233	21	device	device	NOUN
alkej-978	233	22	.	.	PUNCT
alkej-978	234	1	the	the	DET
alkej-978	234	2	amount	amount	NOUN
alkej-978	234	3	of	of	ADP
alkej-978	234	4	time	time	NOUN
alkej-978	234	5	the	the	DET
alkej-978	234	6	laser	laser	NOUN
alkej-978	234	7	signal	signal	NOUN
alkej-978	234	8	took	take	VERB
alkej-978	234	9	to	to	PART
alkej-978	234	10	travel	travel	NOUN
alkej-978	234	11	is	be	AUX
alkej-978	234	12	multiplied	multiply	VERB
alkej-978	234	13	by	by	ADP
alkej-978	234	14	the	the	DET
alkej-978	234	15	speed	speed	NOUN
alkej-978	234	16	of	of	ADP
alkej-978	234	17	light	light	NOUN
alkej-978	234	18	in	in	ADP
alkej-978	234	19	the	the	DET
alkej-978	234	20	air	air	NOUN
alkej-978	234	21	to	to	PART
alkej-978	234	22	locate	locate	VERB
alkej-978	234	23	the	the	DET
alkej-978	234	24	place	place	NOUN
alkej-978	234	25	of	of	ADP
alkej-978	234	26	the	the	DET
alkej-978	234	27	object	object	NOUN
alkej-978	234	28	,	,	PUNCT
alkej-978	234	29	as	as	SCONJ
alkej-978	234	30	shown	show	VERB
alkej-978	234	31	in	in	ADP
alkej-978	234	32	figure	figure	NOUN
alkej-978	234	33	4	4	NUM
alkej-978	234	34	.	.	PUNCT
alkej-978	235	1	this	this	DET
alkej-978	235	2	method	method	NOUN
alkej-978	235	3	allows	allow	VERB
alkej-978	235	4	tiny	tiny	ADJ
alkej-978	235	5	objects	object	NOUN
alkej-978	235	6	to	to	PART
alkej-978	235	7	be	be	AUX
alkej-978	235	8	pinpointed	pinpoint	VERB
alkej-978	235	9	at	at	ADP
alkej-978	235	10	the	the	DET
alkej-978	235	11	most	most	ADV
alkej-978	235	12	accurate	accurate	ADJ
alkej-978	235	13	level	level	NOUN
alkej-978	235	14	of	of	ADP
alkej-978	235	15	precision	precision	NOUN
alkej-978	235	16	that	that	PRON
alkej-978	235	17	is	be	AUX
alkej-978	235	18	of	of	ADP
alkej-978	235	19	the	the	DET
alkej-978	235	20	highest	high	ADJ
alkej-978	235	21	order	order	NOUN
alkej-978	235	22	(	(	PUNCT
alkej-978	235	23	e.g.	e.g.	ADV
alkej-978	235	24	0.005	0.005	NUM
alkej-978	235	25	%	%	NOUN
alkej-978	235	26	of	of	ADP
alkej-978	235	27	the	the	DET
alkej-978	235	28	final	final	ADJ
alkej-978	235	29	range	range	NOUN
alkej-978	235	30	)	)	PUNCT
alkej-978	235	31	.	.	PUNCT
alkej-978	236	1	however	however	ADV
alkej-978	236	2	,	,	PUNCT
alkej-978	236	3	hayder	hayder	PROPN
alkej-978	236	4	ali	ali	PROPN
alkej-978	236	5	saadi	saadi	PROPN
alkej-978	236	6	al	al	PROPN
alkej-978	236	7	-	-	PUNCT
alkej-978	236	8	khwarizmi	khwarizmi	PROPN
alkej-978	236	9	engineering	engineering	NOUN
alkej-978	236	10	journal	journal	PROPN
alkej-978	236	11	,	,	PUNCT
alkej-978	236	12	vol	vol	NOUN
alkej-978	236	13	.	.	PROPN
alkej-978	236	14	21	21	NUM
alkej-978	236	15	,	,	PUNCT
alkej-978	236	16	no.4	no.4	PROPN
alkej-978	236	17	,	,	PUNCT
alkej-978	236	18	pp	pp	X
alkej-978	236	19	.	.	PUNCT
alkej-978	236	20	106124	106124	NUM
alkej-978	236	21	(	(	PUNCT
alkej-978	236	22	2025	2025	NUM
alkej-978	236	23	)	)	PUNCT
alkej-978	236	24	113	113	NUM
alkej-978	236	25	these	these	DET
alkej-978	236	26	sensors	sensor	NOUN
alkej-978	236	27	are	be	AUX
alkej-978	236	28	costly	costly	ADJ
alkej-978	236	29	in	in	ADP
alkej-978	236	30	a	a	DET
alkej-978	236	31	few	few	ADJ
alkej-978	236	32	instances	instance	NOUN
alkej-978	236	33	,	,	PUNCT
alkej-978	236	34	and	and	CCONJ
alkej-978	236	35	some	some	PRON
alkej-978	236	36	of	of	ADP
alkej-978	236	37	them	they	PRON
alkej-978	236	38	may	may	AUX
alkej-978	236	39	be	be	AUX
alkej-978	236	40	dangerous	dangerous	ADJ
alkej-978	236	41	to	to	ADP
alkej-978	236	42	human	human	ADJ
alkej-978	236	43	eyes	eye	NOUN
alkej-978	237	1	[	[	X
alkej-978	237	2	53	53	NUM
alkej-978	237	3	,	,	PUNCT
alkej-978	237	4	54	54	NUM
alkej-978	237	5	]	]	PUNCT
alkej-978	237	6	.	.	PUNCT
alkej-978	238	1	fig	fig	NOUN
alkej-978	238	2	.	.	PUNCT
alkej-978	239	1	4	4	X
alkej-978	239	2	.	.	X
alkej-978	239	3	measurement	measurement	NOUN
alkej-978	239	4	principle	principle	NOUN
alkej-978	239	5	of	of	ADP
alkej-978	239	6	lidar	lidar	NOUN
alkej-978	239	7	sensors	sensor	NOUN
alkej-978	239	8	[	[	X
alkej-978	239	9	54	54	NUM
alkej-978	239	10	]	]	PUNCT
alkej-978	239	11	.	.	PUNCT
alkej-978	240	1	4.4	4.4	NUM
alkej-978	240	2	.	.	PUNCT
alkej-978	241	1	laser	laser	NOUN
alkej-978	241	2	sensors	sensor	NOUN
alkej-978	241	3	laser	laser	NOUN
alkej-978	241	4	sensors	sensor	NOUN
alkej-978	241	5	are	be	AUX
alkej-978	241	6	mainly	mainly	ADV
alkej-978	241	7	used	use	VERB
alkej-978	241	8	to	to	PART
alkej-978	241	9	measure	measure	VERB
alkej-978	241	10	physical	physical	ADJ
alkej-978	241	11	characteristics	characteristic	NOUN
alkej-978	241	12	,	,	PUNCT
alkej-978	241	13	such	such	ADJ
alkej-978	241	14	as	as	ADP
alkej-978	241	15	distance	distance	NOUN
alkej-978	241	16	,	,	PUNCT
alkej-978	241	17	velocity	velocity	NOUN
alkej-978	241	18	and	and	CCONJ
alkej-978	241	19	vibration	vibration	NOUN
alkej-978	241	20	.	.	PUNCT
alkej-978	242	1	typical	typical	ADJ
alkej-978	242	2	laser	laser	NOUN
alkej-978	242	3	instruments	instrument	NOUN
alkej-978	242	4	include	include	VERB
alkej-978	242	5	laser	laser	NOUN
alkej-978	242	6	range	range	NOUN
alkej-978	242	7	finders	finder	NOUN
alkej-978	242	8	,	,	PUNCT
alkej-978	242	9	laser	laser	NOUN
alkej-978	242	10	displacement	displacement	ADJ
alkej-978	242	11	sensors	sensor	NOUN
alkej-978	242	12	,	,	PUNCT
alkej-978	242	13	laser	laser	NOUN
alkej-978	242	14	scanners	scanner	NOUN
alkej-978	242	15	and	and	CCONJ
alkej-978	242	16	laser	laser	NOUN
alkej-978	242	17	trackers	tracker	NOUN
alkej-978	242	18	.	.	PUNCT
alkej-978	243	1	the	the	DET
alkej-978	243	2	core	core	NOUN
alkej-978	243	3	of	of	ADP
alkej-978	243	4	laser	laser	NOUN
alkej-978	243	5	range	range	NOUN
alkej-978	243	6	measurement	measurement	NOUN
alkej-978	243	7	involves	involve	VERB
alkej-978	243	8	three	three	NUM
alkej-978	243	9	basic	basic	ADJ
alkej-978	243	10	concepts	concept	NOUN
alkej-978	243	11	:	:	PUNCT
alkej-978	243	12	time	time	NOUN
alkej-978	243	13	of	of	ADP
alkej-978	243	14	flight	flight	NOUN
alkej-978	243	15	(	(	PUNCT
alkej-978	243	16	tof	tof	PROPN
alkej-978	243	17	)	)	PUNCT
alkej-978	243	18	,	,	PUNCT
alkej-978	243	19	triangulation	triangulation	NOUN
alkej-978	243	20	and	and	CCONJ
alkej-978	243	21	optical	optical	ADJ
alkej-978	243	22	interference	interference	NOUN
alkej-978	243	23	.	.	PUNCT
alkej-978	244	1	tof	tof	NOUN
alkej-978	244	2	refers	refer	VERB
alkej-978	244	3	to	to	ADP
alkej-978	244	4	the	the	DET
alkej-978	244	5	time	time	NOUN
alkej-978	244	6	interval	interval	NOUN
alkej-978	244	7	from	from	ADP
alkej-978	244	8	when	when	SCONJ
alkej-978	244	9	the	the	DET
alkej-978	244	10	laser	laser	NOUN
alkej-978	244	11	is	be	AUX
alkej-978	244	12	sent	send	VERB
alkej-978	244	13	to	to	ADP
alkej-978	244	14	when	when	SCONJ
alkej-978	244	15	the	the	DET
alkej-978	244	16	reflected	reflect	VERB
alkej-978	244	17	light	light	NOUN
alkej-978	244	18	is	be	AUX
alkej-978	244	19	received	receive	VERB
alkej-978	244	20	[	[	PUNCT
alkej-978	244	21	50	50	NUM
alkej-978	244	22	]	]	PUNCT
alkej-978	244	23	.	.	PUNCT
alkej-978	245	1	the	the	DET
alkej-978	245	2	laser	laser	NOUN
alkej-978	245	3	range	range	NOUN
alkej-978	245	4	finder	finder	NOUN
alkej-978	245	5	is	be	AUX
alkej-978	245	6	a	a	DET
alkej-978	245	7	tool	tool	NOUN
alkej-978	245	8	that	that	PRON
alkej-978	245	9	measures	measure	VERB
alkej-978	245	10	long	long	ADJ
alkej-978	245	11	distances	distance	NOUN
alkej-978	245	12	[	[	X
alkej-978	245	13	51	51	NUM
alkej-978	245	14	]	]	PUNCT
alkej-978	245	15	.	.	PUNCT
alkej-978	246	1	the	the	DET
alkej-978	246	2	tof	tof	PROPN
alkej-978	246	3	method	method	NOUN
alkej-978	246	4	is	be	AUX
alkej-978	246	5	predominantly	predominantly	ADV
alkej-978	246	6	employed	employ	VERB
alkej-978	246	7	when	when	SCONJ
alkej-978	246	8	long	long	ADJ
alkej-978	246	9	distances	distance	NOUN
alkej-978	246	10	are	be	AUX
alkej-978	246	11	to	to	PART
alkej-978	246	12	be	be	AUX
alkej-978	246	13	measured	measure	VERB
alkej-978	246	14	.	.	PUNCT
alkej-978	247	1	these	these	DET
alkej-978	247	2	instruments	instrument	NOUN
alkej-978	247	3	are	be	AUX
alkej-978	247	4	specially	specially	ADV
alkej-978	247	5	designed	design	VERB
alkej-978	247	6	to	to	PART
alkej-978	247	7	sense	sense	VERB
alkej-978	247	8	their	their	PRON
alkej-978	247	9	targets	target	NOUN
alkej-978	247	10	.	.	PUNCT
alkej-978	248	1	the	the	DET
alkej-978	248	2	setup	setup	NOUN
alkej-978	248	3	utilises	utilise	VERB
alkej-978	248	4	a	a	DET
alkej-978	248	5	transmitter	transmitter	NOUN
alkej-978	248	6	diode	diode	NOUN
alkej-978	248	7	to	to	PART
alkej-978	248	8	generate	generate	VERB
alkej-978	248	9	short	short	ADJ
alkej-978	248	10	bursts	burst	NOUN
alkej-978	248	11	of	of	ADP
alkej-978	248	12	infrared	infrared	ADJ
alkej-978	248	13	light	light	NOUN
alkej-978	248	14	that	that	PRON
alkej-978	248	15	hit	hit	VERB
alkej-978	248	16	the	the	DET
alkej-978	248	17	surface	surface	NOUN
alkej-978	248	18	.	.	PUNCT
alkej-978	249	1	the	the	DET
alkej-978	249	2	object	object	NOUN
alkej-978	249	3	reflects	reflect	VERB
alkej-978	249	4	light	light	NOUN
alkej-978	249	5	,	,	PUNCT
alkej-978	249	6	which	which	PRON
alkej-978	249	7	is	be	AUX
alkej-978	249	8	then	then	ADV
alkej-978	249	9	detected	detect	VERB
alkej-978	249	10	by	by	ADP
alkej-978	249	11	a	a	DET
alkej-978	249	12	receiver	receiver	ADJ
alkej-978	249	13	diode	diode	NOUN
alkej-978	249	14	through	through	ADP
alkej-978	249	15	transmission	transmission	NOUN
alkej-978	249	16	and	and	CCONJ
alkej-978	249	17	reception	reception	NOUN
alkej-978	249	18	.	.	PUNCT
alkej-978	250	1	the	the	DET
alkej-978	250	2	brightness	brightness	NOUN
alkej-978	250	3	levels	level	NOUN
alkej-978	250	4	are	be	AUX
alkej-978	250	5	compared	compare	VERB
alkej-978	250	6	,	,	PUNCT
alkej-978	250	7	and	and	CCONJ
alkej-978	250	8	the	the	DET
alkej-978	250	9	sensor	sensor	NOUN
alkej-978	250	10	’s	’s	PART
alkej-978	250	11	distance	distance	NOUN
alkej-978	250	12	from	from	ADP
alkej-978	250	13	the	the	DET
alkej-978	250	14	object	object	NOUN
alkej-978	250	15	is	be	AUX
alkej-978	250	16	calculated	calculate	VERB
alkej-978	250	17	[	[	X
alkej-978	250	18	52	52	NUM
alkej-978	250	19	]	]	PUNCT
alkej-978	250	20	.	.	PUNCT
alkej-978	251	1	measurement	measurement	NOUN
alkej-978	251	2	accuracy	accuracy	NOUN
alkej-978	251	3	in	in	ADP
alkej-978	251	4	tof	tof	PROPN
alkej-978	251	5	is	be	AUX
alkej-978	251	6	limited	limit	VERB
alkej-978	251	7	by	by	ADP
alkej-978	251	8	the	the	DET
alkej-978	251	9	precision	precision	NOUN
alkej-978	251	10	of	of	ADP
alkej-978	251	11	the	the	DET
alkej-978	251	12	measurement	measurement	NOUN
alkej-978	251	13	,	,	PUNCT
alkej-978	251	14	which	which	PRON
alkej-978	251	15	is	be	AUX
alkej-978	251	16	in	in	ADP
alkej-978	251	17	turn	turn	NOUN
alkej-978	251	18	restricted	restrict	VERB
alkej-978	251	19	by	by	ADP
alkej-978	251	20	the	the	DET
alkej-978	251	21	high	high	ADJ
alkej-978	251	22	speed	speed	NOUN
alkej-978	251	23	of	of	ADP
alkej-978	251	24	light	light	NOUN
alkej-978	251	25	.	.	PUNCT
alkej-978	252	1	the	the	DET
alkej-978	252	2	laser	laser	NOUN
alkej-978	252	3	distance	distance	NOUN
alkej-978	252	4	sensor	sensor	NOUN
alkej-978	252	5	uses	use	VERB
alkej-978	252	6	a	a	DET
alkej-978	252	7	very	very	ADV
alkej-978	252	8	narrow	narrow	ADJ
alkej-978	252	9	beam	beam	NOUN
alkej-978	252	10	of	of	ADP
alkej-978	252	11	light	light	NOUN
alkej-978	252	12	to	to	PART
alkej-978	252	13	determine	determine	VERB
alkej-978	252	14	the	the	DET
alkej-978	252	15	exact	exact	ADJ
alkej-978	252	16	distance	distance	NOUN
alkej-978	252	17	to	to	ADP
alkej-978	252	18	a	a	DET
alkej-978	252	19	certain	certain	ADJ
alkej-978	252	20	item	item	NOUN
alkej-978	252	21	.	.	PUNCT
alkej-978	253	1	recognition	recognition	NOUN
alkej-978	253	2	and	and	CCONJ
alkej-978	253	3	detection	detection	NOUN
alkej-978	253	4	of	of	ADP
alkej-978	253	5	3d	3d	PROPN
alkej-978	253	6	objects	object	NOUN
alkej-978	253	7	,	,	PUNCT
alkej-978	253	8	regardless	regardless	ADV
alkej-978	253	9	of	of	ADP
alkej-978	253	10	their	their	PRON
alkej-978	253	11	nature	nature	NOUN
alkej-978	253	12	,	,	PUNCT
alkej-978	253	13	colour	colour	NOUN
alkej-978	253	14	and	and	CCONJ
alkej-978	253	15	brightness	brightness	NOUN
alkej-978	253	16	,	,	PUNCT
alkej-978	253	17	are	be	AUX
alkej-978	253	18	also	also	ADV
alkej-978	253	19	performed	perform	VERB
alkej-978	253	20	.	.	PUNCT
alkej-978	254	1	the	the	DET
alkej-978	254	2	triangulation	triangulation	NOUN
alkej-978	254	3	method	method	NOUN
alkej-978	254	4	applies	apply	VERB
alkej-978	254	5	the	the	DET
alkej-978	254	6	concepts	concept	NOUN
alkej-978	254	7	of	of	ADP
alkej-978	254	8	homothetic	homothetic	ADJ
alkej-978	254	9	triangles	triangle	NOUN
alkej-978	254	10	and	and	CCONJ
alkej-978	254	11	trigonometric	trigonometric	ADJ
alkej-978	254	12	functions	function	NOUN
alkej-978	254	13	to	to	PART
alkej-978	254	14	conduct	conduct	VERB
alkej-978	254	15	measurement	measurement	NOUN
alkej-978	254	16	calculations	calculation	NOUN
alkej-978	254	17	and	and	CCONJ
alkej-978	254	18	locate	locate	ADJ
alkej-978	254	19	elements	element	NOUN
alkej-978	254	20	relative	relative	ADJ
alkej-978	254	21	to	to	ADP
alkej-978	254	22	each	each	DET
alkej-978	254	23	other	other	ADJ
alkej-978	254	24	.	.	PUNCT
alkej-978	255	1	the	the	DET
alkej-978	255	2	laser	laser	NOUN
alkej-978	255	3	displacement	displacement	NOUN
alkej-978	255	4	sensor	sensor	NOUN
alkej-978	255	5	implements	implement	VERB
alkej-978	255	6	this	this	DET
alkej-978	255	7	method	method	NOUN
alkej-978	255	8	to	to	PART
alkej-978	255	9	achieve	achieve	VERB
alkej-978	255	10	measurements	measurement	NOUN
alkej-978	255	11	at	at	ADP
alkej-978	255	12	short	short	ADJ
alkej-978	255	13	distances	distance	NOUN
alkej-978	255	14	[	[	X
alkej-978	255	15	55	55	NUM
alkej-978	255	16	]	]	PUNCT
alkej-978	255	17	.	.	PUNCT
alkej-978	256	1	optical	optical	ADJ
alkej-978	256	2	interference	interference	NOUN
alkej-978	256	3	is	be	AUX
alkej-978	256	4	the	the	DET
alkej-978	256	5	result	result	NOUN
alkej-978	256	6	of	of	ADP
alkej-978	256	7	the	the	DET
alkej-978	256	8	overlap	overlap	NOUN
alkej-978	256	9	of	of	ADP
alkej-978	256	10	two	two	NUM
alkej-978	256	11	light	light	ADJ
alkej-978	256	12	beams	beam	NOUN
alkej-978	256	13	of	of	ADP
alkej-978	256	14	different	different	ADJ
alkej-978	256	15	wavelengths	wavelength	NOUN
alkej-978	256	16	,	,	PUNCT
alkej-978	256	17	leading	lead	VERB
alkej-978	256	18	to	to	ADP
alkej-978	256	19	the	the	DET
alkej-978	256	20	formation	formation	NOUN
alkej-978	256	21	of	of	ADP
alkej-978	256	22	an	an	DET
alkej-978	256	23	interference	interference	NOUN
alkej-978	256	24	pattern	pattern	NOUN
alkej-978	256	25	.	.	PUNCT
alkej-978	257	1	the	the	DET
alkej-978	257	2	phase	phase	NOUN
alkej-978	257	3	makes	make	VERB
alkej-978	257	4	the	the	DET
alkej-978	257	5	stripes	stripe	NOUN
alkej-978	257	6	bright	bright	ADJ
alkej-978	257	7	and	and	CCONJ
alkej-978	257	8	shadowed	shadow	VERB
alkej-978	257	9	.	.	PUNCT
alkej-978	258	1	displacement	displacement	ADJ
alkej-978	258	2	measurement	measurement	NOUN
alkej-978	258	3	by	by	ADP
alkej-978	258	4	the	the	DET
alkej-978	258	5	laser	laser	NOUN
alkej-978	258	6	tracker	tracker	NOUN
alkej-978	258	7	is	be	AUX
alkej-978	258	8	one	one	NUM
alkej-978	258	9	of	of	ADP
alkej-978	258	10	the	the	DET
alkej-978	258	11	applications	application	NOUN
alkej-978	258	12	of	of	ADP
alkej-978	258	13	this	this	DET
alkej-978	258	14	technology	technology	NOUN
alkej-978	258	15	.	.	PUNCT
alkej-978	259	1	the	the	DET
alkej-978	259	2	distance	distance	NOUN
alkej-978	259	3	to	to	ADP
alkej-978	259	4	the	the	DET
alkej-978	259	5	target	target	NOUN
alkej-978	259	6	is	be	AUX
alkej-978	259	7	determined	determine	VERB
alkej-978	259	8	by	by	ADP
alkej-978	259	9	using	use	VERB
alkej-978	259	10	a	a	DET
alkej-978	259	11	sensor	sensor	NOUN
alkej-978	259	12	equipped	equip	VERB
alkej-978	259	13	with	with	ADP
alkej-978	259	14	a	a	DET
alkej-978	259	15	reflector	reflector	NOUN
alkej-978	259	16	.	.	PUNCT
alkej-978	260	1	laser	laser	NOUN
alkej-978	260	2	sensors	sensor	NOUN
alkej-978	260	3	can	can	AUX
alkej-978	260	4	perform	perform	VERB
alkej-978	260	5	non	non	ADJ
alkej-978	260	6	-	-	ADJ
alkej-978	260	7	contact	contact	ADJ
alkej-978	260	8	distance	distance	NOUN
alkej-978	260	9	measurements	measurement	NOUN
alkej-978	260	10	(	(	PUNCT
alkej-978	260	11	figure	figure	NOUN
alkej-978	260	12	5	5	NUM
alkej-978	260	13	)	)	PUNCT
alkej-978	260	14	,	,	PUNCT
alkej-978	260	15	and	and	CCONJ
alkej-978	260	16	they	they	PRON
alkej-978	260	17	are	be	AUX
alkej-978	260	18	very	very	ADV
alkej-978	260	19	fast	fast	ADJ
alkej-978	260	20	and	and	CCONJ
alkej-978	260	21	accurate	accurate	ADJ
alkej-978	260	22	.	.	PUNCT
alkej-978	261	1	however	however	ADV
alkej-978	261	2	,	,	PUNCT
alkej-978	261	3	variations	variation	NOUN
alkej-978	261	4	in	in	ADP
alkej-978	261	5	temperature	temperature	NOUN
alkej-978	261	6	and	and	CCONJ
alkej-978	261	7	atmospheric	atmospheric	ADJ
alkej-978	261	8	pressure	pressure	NOUN
alkej-978	261	9	could	could	AUX
alkej-978	261	10	influence	influence	VERB
alkej-978	261	11	the	the	DET
alkej-978	261	12	wavelength	wavelength	NOUN
alkej-978	261	13	of	of	ADP
alkej-978	261	14	a	a	DET
alkej-978	261	15	laser	laser	NOUN
alkej-978	261	16	.	.	PUNCT
alkej-978	262	1	changes	change	NOUN
alkej-978	262	2	in	in	ADP
alkej-978	262	3	atmospheric	atmospheric	ADJ
alkej-978	262	4	humidity	humidity	NOUN
alkej-978	262	5	and	and	CCONJ
alkej-978	262	6	moisture	moisture	NOUN
alkej-978	262	7	content	content	NOUN
alkej-978	262	8	may	may	AUX
alkej-978	262	9	require	require	VERB
alkej-978	262	10	modifications	modification	NOUN
alkej-978	262	11	to	to	PART
alkej-978	262	12	be	be	AUX
alkej-978	262	13	made	make	VERB
alkej-978	262	14	[	[	PUNCT
alkej-978	262	15	53	53	NUM
alkej-978	262	16	]	]	PUNCT
alkej-978	262	17	.	.	PUNCT
alkej-978	263	1	fig	fig	NOUN
alkej-978	263	2	.	.	PUNCT
alkej-978	264	1	5	5	NUM
alkej-978	264	2	.	.	NOUN
alkej-978	264	3	time	time	NOUN
alkej-978	264	4	-	-	PUNCT
alkej-978	264	5	of	of	ADP
alkej-978	264	6	-	-	PUNCT
alkej-978	264	7	flight	flight	NOUN
alkej-978	264	8	measurement	measurement	NOUN
alkej-978	264	9	principle	principle	NOUN
alkej-978	265	1	[	[	X
alkej-978	265	2	54	54	NUM
alkej-978	265	3	]	]	SYM
alkej-978	265	4	.	.	PUNCT
alkej-978	266	1	5	5	X
alkej-978	266	2	.	.	X
alkej-978	266	3	determination	determination	NOUN
alkej-978	266	4	of	of	ADP
alkej-978	266	5	body	body	NOUN
alkej-978	266	6	dimensions	dimension	NOUN
alkej-978	266	7	and	and	CCONJ
alkej-978	266	8	position	position	NOUN
alkej-978	266	9	by	by	ADP
alkej-978	266	10	vision	vision	NOUN
alkej-978	266	11	sensors	sensor	NOUN
alkej-978	266	12	a	a	DET
alkej-978	266	13	purely	purely	ADV
alkej-978	266	14	event	event	NOUN
alkej-978	266	15	-	-	PUNCT
alkej-978	266	16	based	base	VERB
alkej-978	266	17	visual	visual	ADJ
alkej-978	266	18	service	service	NOUN
alkej-978	266	19	method	method	NOUN
alkej-978	266	20	can	can	AUX
alkej-978	266	21	be	be	AUX
alkej-978	266	22	employed	employ	VERB
alkej-978	266	23	to	to	PART
alkej-978	266	24	solve	solve	VERB
alkej-978	266	25	automated	automate	VERB
alkej-978	266	26	processing	processing	NOUN
alkej-978	266	27	tasks	task	NOUN
alkej-978	266	28	;	;	PUNCT
alkej-978	266	29	for	for	ADP
alkej-978	266	30	example	example	NOUN
alkej-978	266	31	,	,	PUNCT
alkej-978	266	32	an	an	DET
alkej-978	266	33	event	event	NOUN
alkej-978	266	34	camera	camera	NOUN
alkej-978	266	35	can	can	AUX
alkej-978	266	36	be	be	AUX
alkej-978	266	37	used	use	VERB
alkej-978	266	38	in	in	ADP
alkej-978	266	39	eye	eye	NOUN
alkej-978	266	40	–	–	PUNCT
alkej-978	266	41	hand	hand	NOUN
alkej-978	266	42	configuration	configuration	NOUN
alkej-978	266	43	,	,	PUNCT
alkej-978	266	44	and	and	CCONJ
alkej-978	266	45	multiple	multiple	ADJ
alkej-978	266	46	perception	perception	NOUN
alkej-978	266	47	algorithms	algorithm	NOUN
alkej-978	266	48	with	with	ADP
alkej-978	266	49	vision	vision	NOUN
alkej-978	266	50	-	-	PUNCT
alkej-978	266	51	based	base	VERB
alkej-978	266	52	robotic	robotic	ADJ
alkej-978	266	53	controllers	controller	NOUN
alkej-978	266	54	can	can	AUX
alkej-978	266	55	be	be	AUX
alkej-978	266	56	adopted	adopt	VERB
alkej-978	266	57	to	to	PART
alkej-978	266	58	manage	manage	VERB
alkej-978	266	59	the	the	DET
alkej-978	266	60	robot	robot	NOUN
alkej-978	266	61	’s	’s	PART
alkej-978	266	62	movement	movement	NOUN
alkej-978	266	63	during	during	ADP
alkej-978	266	64	processing	processing	NOUN
alkej-978	266	65	tasks	task	NOUN
alkej-978	267	1	[	[	X
alkej-978	267	2	56	56	NUM
alkej-978	267	3	]	]	PUNCT
alkej-978	267	4	.	.	PUNCT
alkej-978	268	1	the	the	DET
alkej-978	268	2	vision	vision	NOUN
alkej-978	268	3	system	system	NOUN
alkej-978	268	4	undertakes	undertake	VERB
alkej-978	268	5	the	the	DET
alkej-978	268	6	acquisition	acquisition	NOUN
alkej-978	268	7	and	and	CCONJ
alkej-978	268	8	analysis	analysis	NOUN
alkej-978	268	9	of	of	ADP
alkej-978	268	10	field	field	NOUN
alkej-978	268	11	images	image	NOUN
alkej-978	268	12	to	to	PART
alkej-978	268	13	detect	detect	VERB
alkej-978	268	14	objects	object	NOUN
alkej-978	268	15	then	then	ADV
alkej-978	268	16	sends	send	VERB
alkej-978	268	17	the	the	DET
alkej-978	268	18	coordinates	coordinate	NOUN
alkej-978	268	19	of	of	ADP
alkej-978	268	20	these	these	DET
alkej-978	268	21	objects	object	NOUN
alkej-978	268	22	to	to	ADP
alkej-978	268	23	the	the	DET
alkej-978	268	24	gantry	gantry	NOUN
alkej-978	268	25	robot	robot	NOUN
alkej-978	268	26	.	.	PUNCT
alkej-978	269	1	industrial	industrial	ADJ
alkej-978	269	2	processes	process	NOUN
alkej-978	269	3	have	have	AUX
alkej-978	269	4	placed	place	VERB
alkej-978	269	5	increasing	increase	VERB
alkej-978	269	6	demands	demand	NOUN
alkej-978	269	7	on	on	ADP
alkej-978	269	8	automation	automation	NOUN
alkej-978	269	9	,	,	PUNCT
alkej-978	269	10	resulting	result	VERB
alkej-978	269	11	in	in	ADP
alkej-978	269	12	substantial	substantial	ADJ
alkej-978	269	13	advances	advance	NOUN
alkej-978	269	14	in	in	ADP
alkej-978	269	15	robotic	robotic	ADJ
alkej-978	269	16	vision	vision	NOUN
alkej-978	269	17	(	(	PUNCT
alkej-978	269	18	e.g.	e.g.	ADV
alkej-978	269	19	object	object	VERB
alkej-978	269	20	identification	identification	NOUN
alkej-978	269	21	,	,	PUNCT
alkej-978	269	22	tracking	tracking	NOUN
alkej-978	269	23	and	and	CCONJ
alkej-978	269	24	manipulation	manipulation	NOUN
alkej-978	269	25	)	)	PUNCT
alkej-978	269	26	.	.	PUNCT
alkej-978	270	1	for	for	ADP
alkej-978	270	2	example	example	NOUN
alkej-978	270	3	,	,	PUNCT
alkej-978	270	4	a	a	DET
alkej-978	270	5	stationary	stationary	ADJ
alkej-978	270	6	camera	camera	NOUN
alkej-978	270	7	system	system	NOUN
alkej-978	270	8	using	use	VERB
alkej-978	270	9	hikvision	hikvision	NOUN
alkej-978	270	10	industrial	industrial	ADJ
alkej-978	270	11	cameras	camera	NOUN
alkej-978	270	12	is	be	AUX
alkej-978	270	13	employed	employ	VERB
alkej-978	270	14	to	to	PART
alkej-978	270	15	view	view	VERB
alkej-978	270	16	a	a	DET
alkej-978	270	17	conveyor	conveyor	NOUN
alkej-978	270	18	belt	belt	NOUN
alkej-978	270	19	,	,	PUNCT
alkej-978	270	20	and	and	CCONJ
alkej-978	270	21	a	a	DET
alkej-978	270	22	mobile	mobile	ADJ
alkej-978	270	23	camera	camera	NOUN
alkej-978	270	24	is	be	AUX
alkej-978	270	25	mounted	mount	VERB
alkej-978	270	26	on	on	ADP
alkej-978	270	27	the	the	DET
alkej-978	270	28	arm	arm	NOUN
alkej-978	270	29	of	of	ADP
alkej-978	270	30	a	a	DET
alkej-978	270	31	robot	robot	NOUN
alkej-978	270	32	helps	helps	AUX
alkej-978	270	33	pick	pick	VERB
alkej-978	270	34	items	item	NOUN
alkej-978	270	35	and	and	CCONJ
alkej-978	270	36	assemble	assemble	VERB
alkej-978	270	37	them	they	PRON
alkej-978	270	38	.	.	PUNCT
alkej-978	271	1	using	use	VERB
alkej-978	271	2	halcon	halcon	NOUN
alkej-978	271	3	software	software	NOUN
alkej-978	271	4	,	,	PUNCT
alkej-978	271	5	the	the	DET
alkej-978	271	6	system	system	NOUN
alkej-978	271	7	performs	perform	VERB
alkej-978	271	8	image	image	NOUN
alkej-978	271	9	processing	processing	NOUN
alkej-978	271	10	tasks	task	NOUN
alkej-978	271	11	,	,	PUNCT
alkej-978	271	12	such	such	ADJ
alkej-978	271	13	as	as	ADP
alkej-978	271	14	calibration	calibration	NOUN
alkej-978	271	15	,	,	PUNCT
alkej-978	271	16	edge	edge	NOUN
alkej-978	271	17	detection	detection	NOUN
alkej-978	271	18	and	and	CCONJ
alkej-978	271	19	template	template	NOUN
alkej-978	271	20	matching	matching	NOUN
alkej-978	271	21	,	,	PUNCT
alkej-978	271	22	reporting	report	VERB
alkej-978	271	23	the	the	DET
alkej-978	271	24	object	object	NOUN
alkej-978	271	25	’s	’s	PART
alkej-978	271	26	size	size	NOUN
alkej-978	271	27	,	,	PUNCT
alkej-978	271	28	position	position	NOUN
alkej-978	271	29	and	and	CCONJ
alkej-978	271	30	orientation	orientation	NOUN
alkej-978	271	31	even	even	ADV
alkej-978	271	32	when	when	SCONJ
alkej-978	271	33	data	datum	NOUN
alkej-978	271	34	are	be	AUX
alkej-978	271	35	incomplete	incomplete	ADJ
alkej-978	271	36	.	.	PUNCT
alkej-978	272	1	this	this	DET
alkej-978	272	2	method	method	NOUN
alkej-978	272	3	had	have	VERB
alkej-978	272	4	a	a	DET
alkej-978	272	5	success	success	NOUN
alkej-978	272	6	rate	rate	NOUN
alkej-978	272	7	of	of	ADP
alkej-978	272	8	over	over	ADP
alkej-978	272	9	98	98	NUM
alkej-978	272	10	%	%	NOUN
alkej-978	272	11	and	and	CCONJ
alkej-978	272	12	substantially	substantially	ADV
alkej-978	272	13	reduces	reduce	VERB
alkej-978	272	14	production	production	NOUN
alkej-978	272	15	cost	cost	NOUN
alkej-978	272	16	and	and	CCONJ
alkej-978	272	17	manual	manual	ADJ
alkej-978	272	18	labour	labour	NOUN
alkej-978	272	19	[	[	X
alkej-978	272	20	57	57	NUM
alkej-978	272	21	]	]	PUNCT
alkej-978	272	22	.	.	PUNCT
alkej-978	273	1	in	in	ADP
alkej-978	273	2	other	other	ADJ
alkej-978	273	3	instances	instance	NOUN
alkej-978	273	4	,	,	PUNCT
alkej-978	273	5	a	a	DET
alkej-978	273	6	dual	dual	ADJ
alkej-978	273	7	-	-	PUNCT
alkej-978	273	8	robot	robot	NOUN
alkej-978	273	9	arm	arm	NOUN
alkej-978	273	10	is	be	AUX
alkej-978	273	11	used	use	VERB
alkej-978	273	12	with	with	ADP
alkej-978	273	13	an	an	DET
alkej-978	273	14	rgb	rgb	PROPN
alkej-978	273	15	camera	camera	NOUN
alkej-978	273	16	to	to	PART
alkej-978	273	17	classify	classify	VERB
alkej-978	273	18	and	and	CCONJ
alkej-978	273	19	sort	sort	VERB
alkej-978	273	20	objects	object	NOUN
alkej-978	273	21	by	by	ADP
alkej-978	273	22	their	their	PRON
alkej-978	273	23	hayder	hayder	NOUN
alkej-978	273	24	ali	ali	PROPN
alkej-978	273	25	saadi	saadi	PROPN
alkej-978	273	26	al	al	PROPN
alkej-978	273	27	-	-	PUNCT
alkej-978	273	28	khwarizmi	khwarizmi	PROPN
alkej-978	273	29	engineering	engineering	NOUN
alkej-978	273	30	journal	journal	PROPN
alkej-978	273	31	,	,	PUNCT
alkej-978	273	32	vol	vol	NOUN
alkej-978	273	33	.	.	PROPN
alkej-978	273	34	21	21	NUM
alkej-978	273	35	,	,	PUNCT
alkej-978	273	36	no.4	no.4	PROPN
alkej-978	273	37	,	,	PUNCT
alkej-978	273	38	pp	pp	X
alkej-978	273	39	.	.	PUNCT
alkej-978	274	1	106124	106124	NUM
alkej-978	274	2	(	(	PUNCT
alkej-978	274	3	2025	2025	NUM
alkej-978	274	4	)	)	PUNCT
alkej-978	274	5	114	114	NUM
alkej-978	274	6	shape	shape	NOUN
alkej-978	274	7	and	and	CCONJ
alkej-978	274	8	size	size	NOUN
alkej-978	274	9	.	.	PUNCT
alkej-978	275	1	the	the	DET
alkej-978	275	2	optics	optic	NOUN
alkej-978	275	3	and	and	CCONJ
alkej-978	275	4	technologies	technology	NOUN
alkej-978	275	5	system	system	NOUN
alkej-978	275	6	adopts	adopt	VERB
alkej-978	275	7	image	image	NOUN
alkej-978	275	8	processing	processing	NOUN
alkej-978	275	9	techniques	technique	NOUN
alkej-978	275	10	,	,	PUNCT
alkej-978	275	11	such	such	ADJ
alkej-978	275	12	as	as	ADP
alkej-978	275	13	greyscale	greyscale	NOUN
alkej-978	275	14	conversion	conversion	NOUN
alkej-978	275	15	,	,	PUNCT
alkej-978	275	16	noise	noise	NOUN
alkej-978	275	17	filtering	filtering	NOUN
alkej-978	275	18	and	and	CCONJ
alkej-978	275	19	contour	contour	NOUN
alkej-978	275	20	extraction	extraction	NOUN
alkej-978	275	21	,	,	PUNCT
alkej-978	275	22	to	to	PART
alkej-978	275	23	detect	detect	VERB
alkej-978	275	24	objects	object	NOUN
alkej-978	275	25	and	and	CCONJ
alkej-978	275	26	compute	compute	VERB
alkej-978	275	27	their	their	PRON
alkej-978	275	28	centroid	centroid	NOUN
alkej-978	275	29	.	.	PUNCT
alkej-978	276	1	the	the	DET
alkej-978	276	2	calculated	calculated	ADJ
alkej-978	276	3	3d	3d	PROPN
alkej-978	276	4	coordinates	coordinate	NOUN
alkej-978	276	5	can	can	AUX
alkej-978	276	6	be	be	AUX
alkej-978	276	7	used	use	VERB
alkej-978	276	8	by	by	ADP
alkej-978	276	9	the	the	DET
alkej-978	276	10	robot	robot	NOUN
alkej-978	276	11	to	to	PART
alkej-978	276	12	efficiently	efficiently	ADV
alkej-978	276	13	handle	handle	VERB
alkej-978	276	14	and	and	CCONJ
alkej-978	276	15	classify	classify	VERB
alkej-978	276	16	items	item	NOUN
alkej-978	276	17	on	on	ADP
alkej-978	276	18	production	production	NOUN
alkej-978	276	19	lines	line	NOUN
alkej-978	277	1	[	[	X
alkej-978	277	2	58	58	NUM
alkej-978	277	3	]	]	PUNCT
alkej-978	277	4	.	.	PUNCT
alkej-978	278	1	for	for	ADP
alkej-978	278	2	complex	complex	ADJ
alkej-978	278	3	object	object	NOUN
alkej-978	278	4	grasping	grasping	NOUN
alkej-978	278	5	,	,	PUNCT
alkej-978	278	6	a	a	DET
alkej-978	278	7	neural	neural	ADJ
alkej-978	278	8	network	network	NOUN
alkej-978	278	9	method	method	NOUN
alkej-978	278	10	,	,	PUNCT
alkej-978	278	11	such	such	ADJ
alkej-978	278	12	as	as	ADP
alkej-978	278	13	asp	asp	PROPN
alkej-978	278	14	unet	unet	NOUN
alkej-978	278	15	,	,	PUNCT
alkej-978	278	16	takes	take	VERB
alkej-978	278	17	in	in	ADP
alkej-978	278	18	rgb	rgb	PROPN
alkej-978	278	19	images	image	NOUN
alkej-978	278	20	,	,	PUNCT
alkej-978	278	21	which	which	PRON
alkej-978	278	22	are	be	AUX
alkej-978	278	23	converted	convert	VERB
alkej-978	278	24	into	into	ADP
alkej-978	278	25	greyscale	greyscale	ADJ
alkej-978	278	26	maps	map	NOUN
alkej-978	278	27	to	to	PART
alkej-978	278	28	identify	identify	VERB
alkej-978	278	29	possible	possible	ADJ
alkej-978	278	30	succour	succour	NOUN
alkej-978	278	31	points	point	NOUN
alkej-978	278	32	.	.	PUNCT
alkej-978	279	1	then	then	ADV
alkej-978	279	2	,	,	PUNCT
alkej-978	279	3	the	the	DET
alkej-978	279	4	dimensions	dimension	NOUN
alkej-978	279	5	of	of	ADP
alkej-978	279	6	an	an	DET
alkej-978	279	7	object	object	NOUN
alkej-978	279	8	and	and	CCONJ
alkej-978	279	9	its	its	PRON
alkej-978	279	10	position	position	NOUN
alkej-978	279	11	distance	distance	NOUN
alkej-978	279	12	are	be	AUX
alkej-978	279	13	calculated	calculate	VERB
alkej-978	279	14	from	from	ADP
alkej-978	279	15	one	one	NUM
alkej-978	279	16	point	point	NOUN
alkej-978	279	17	to	to	ADP
alkej-978	279	18	another	another	DET
alkej-978	279	19	point	point	NOUN
alkej-978	279	20	.	.	PUNCT
alkej-978	280	1	this	this	DET
alkej-978	280	2	approach	approach	NOUN
alkej-978	280	3	is	be	AUX
alkej-978	280	4	memory	memory	NOUN
alkej-978	280	5	-	-	PUNCT
alkej-978	280	6	light	light	NOUN
alkej-978	280	7	and	and	CCONJ
alkej-978	280	8	usable	usable	ADJ
alkej-978	280	9	on	on	ADP
alkej-978	280	10	low	low	ADJ
alkej-978	280	11	-	-	PUNCT
alkej-978	280	12	cost	cost	NOUN
alkej-978	280	13	devices	device	NOUN
alkej-978	280	14	,	,	PUNCT
alkej-978	280	15	such	such	ADJ
alkej-978	280	16	as	as	ADP
alkej-978	280	17	nvidia	nvidia	PROPN
alkej-978	280	18	jetson	jetson	PROPN
alkej-978	280	19	nano	nano	PROPN
alkej-978	281	1	[	[	X
alkej-978	281	2	59	59	NUM
alkej-978	281	3	]	]	PUNCT
alkej-978	281	4	.	.	PUNCT
alkej-978	282	1	for	for	ADP
alkej-978	282	2	example	example	NOUN
alkej-978	282	3	,	,	PUNCT
alkej-978	282	4	in	in	ADP
alkej-978	282	5	waste	waste	NOUN
alkej-978	282	6	-	-	PUNCT
alkej-978	282	7	sorting	sort	VERB
alkej-978	282	8	applications	application	NOUN
alkej-978	282	9	,	,	PUNCT
alkej-978	282	10	a	a	DET
alkej-978	282	11	robot	robot	NOUN
alkej-978	282	12	autonomously	autonomously	ADV
alkej-978	282	13	learns	learn	VERB
alkej-978	282	14	how	how	SCONJ
alkej-978	282	15	to	to	PART
alkej-978	282	16	efficiently	efficiently	ADV
alkej-978	282	17	pick	pick	VERB
alkej-978	282	18	items	item	NOUN
alkej-978	282	19	.	.	PUNCT
alkej-978	283	1	a	a	DET
alkej-978	283	2	heightmap	heightmap	NOUN
alkej-978	283	3	of	of	ADP
alkej-978	283	4	the	the	DET
alkej-978	283	5	conveyor	conveyor	NOUN
alkej-978	283	6	belt	belt	NOUN
alkej-978	283	7	to	to	PART
alkej-978	283	8	find	find	VERB
alkej-978	283	9	object	object	NOUN
alkej-978	283	10	positions	position	NOUN
alkej-978	283	11	is	be	AUX
alkej-978	283	12	created	create	VERB
alkej-978	283	13	using	use	VERB
alkej-978	283	14	a	a	DET
alkej-978	283	15	3d	3d	NUM
alkej-978	283	16	camera	camera	NOUN
alkej-978	283	17	.	.	PUNCT
alkej-978	284	1	this	this	DET
alkej-978	284	2	process	process	NOUN
alkej-978	284	3	involves	involve	VERB
alkej-978	284	4	an	an	DET
alkej-978	284	5	initial	initial	ADJ
alkej-978	284	6	geometric	geometric	ADJ
alkej-978	284	7	algorithm	algorithm	NOUN
alkej-978	284	8	that	that	PRON
alkej-978	284	9	identifies	identify	VERB
alkej-978	284	10	candidate	candidate	NOUN
alkej-978	284	11	gripping	gripping	ADJ
alkej-978	284	12	points	point	NOUN
alkej-978	284	13	,	,	PUNCT
alkej-978	284	14	followed	follow	VERB
alkej-978	284	15	by	by	ADP
alkej-978	284	16	refinement	refinement	NOUN
alkej-978	284	17	through	through	ADP
alkej-978	284	18	a	a	DET
alkej-978	284	19	machine	machine	NOUN
alkej-978	284	20	learning	learn	VERB
alkej-978	284	21	model	model	NOUN
alkej-978	284	22	that	that	PRON
alkej-978	284	23	learns	learn	VERB
alkej-978	284	24	which	which	PRON
alkej-978	284	25	of	of	ADP
alkej-978	284	26	the	the	DET
alkej-978	284	27	points	point	NOUN
alkej-978	284	28	succeed	succeed	VERB
alkej-978	284	29	through	through	ADP
alkej-978	284	30	gripping	grip	VERB
alkej-978	284	31	feedback	feedback	NOUN
alkej-978	284	32	.	.	PUNCT
alkej-978	285	1	the	the	DET
alkej-978	285	2	system	system	NOUN
alkej-978	285	3	can	can	AUX
alkej-978	285	4	clear	clear	VERB
alkej-978	285	5	the	the	DET
alkej-978	285	6	conveyor	conveyor	NOUN
alkej-978	285	7	belt	belt	NOUN
alkej-978	285	8	by	by	ADP
alkej-978	285	9	scanning	scan	VERB
alkej-978	285	10	and	and	CCONJ
alkej-978	285	11	picking	pick	VERB
alkej-978	285	12	most	most	ADJ
alkej-978	285	13	of	of	ADP
alkej-978	285	14	the	the	DET
alkej-978	285	15	objects	object	NOUN
alkej-978	285	16	over	over	ADP
alkej-978	285	17	time	time	NOUN
alkej-978	285	18	.	.	PUNCT
alkej-978	286	1	the	the	DET
alkej-978	286	2	performance	performance	NOUN
alkej-978	286	3	of	of	ADP
alkej-978	286	4	this	this	DET
alkej-978	286	5	iteration	iteration	NOUN
alkej-978	286	6	is	be	AUX
alkej-978	286	7	improved	improve	VERB
alkej-978	286	8	,	,	PUNCT
alkej-978	286	9	allowing	allow	VERB
alkej-978	286	10	the	the	DET
alkej-978	286	11	system	system	NOUN
alkej-978	286	12	to	to	PART
alkej-978	286	13	learn	learn	VERB
alkej-978	286	14	and	and	CCONJ
alkej-978	286	15	adapt	adapt	VERB
alkej-978	286	16	efficiently	efficiently	ADV
alkej-978	286	17	[	[	X
alkej-978	286	18	60	60	NUM
alkej-978	286	19	]	]	PUNCT
alkej-978	286	20	.	.	PUNCT
alkej-978	287	1	moreover	moreover	ADV
alkej-978	287	2	,	,	PUNCT
alkej-978	287	3	a	a	DET
alkej-978	287	4	trajectory	trajectory	NOUN
alkej-978	287	5	planning	planning	NOUN
alkej-978	287	6	method	method	NOUN
alkej-978	287	7	is	be	AUX
alkej-978	287	8	used	use	VERB
alkej-978	287	9	to	to	PART
alkej-978	287	10	coordinate	coordinate	VERB
alkej-978	287	11	robot	robot	NOUN
alkej-978	287	12	activities	activity	NOUN
alkej-978	287	13	with	with	ADP
alkej-978	287	14	dynamic	dynamic	ADJ
alkej-978	287	15	targets	target	NOUN
alkej-978	287	16	to	to	PART
alkej-978	287	17	follow	follow	VERB
alkej-978	287	18	and	and	CCONJ
alkej-978	287	19	understand	understand	VERB
alkej-978	287	20	fast	fast	ADV
alkej-978	287	21	-	-	PUNCT
alkej-978	287	22	moving	move	VERB
alkej-978	287	23	objects	object	NOUN
alkej-978	287	24	.	.	PUNCT
alkej-978	288	1	the	the	DET
alkej-978	288	2	robot	robot	NOUN
alkej-978	288	3	used	use	VERB
alkej-978	288	4	in	in	ADP
alkej-978	288	5	industrial	industrial	ADJ
alkej-978	288	6	vision	vision	NOUN
alkej-978	288	7	systems	system	NOUN
alkej-978	288	8	and	and	CCONJ
alkej-978	288	9	real	real	ADJ
alkej-978	288	10	-	-	PUNCT
alkej-978	288	11	time	time	NOUN
alkej-978	288	12	sensors	sensor	NOUN
alkej-978	288	13	can	can	AUX
alkej-978	288	14	calculate	calculate	VERB
alkej-978	288	15	the	the	DET
alkej-978	288	16	motion	motion	NOUN
alkej-978	288	17	from	from	ADP
alkej-978	288	18	the	the	DET
alkej-978	288	19	object	object	NOUN
alkej-978	288	20	and	and	CCONJ
alkej-978	288	21	estimate	estimate	VERB
alkej-978	288	22	an	an	DET
alkej-978	288	23	optimal	optimal	ADJ
alkej-978	288	24	trajectory	trajectory	NOUN
alkej-978	288	25	.	.	PUNCT
alkej-978	289	1	a	a	DET
alkej-978	289	2	sevenstage	sevenstage	NOUN
alkej-978	289	3	planning	planning	NOUN
alkej-978	289	4	model	model	NOUN
alkej-978	289	5	considers	consider	VERB
alkej-978	289	6	limitations	limitation	NOUN
alkej-978	289	7	(	(	PUNCT
alkej-978	289	8	i.e.	i.e.	X
alkej-978	289	9	acceleration	acceleration	NOUN
alkej-978	289	10	and	and	CCONJ
alkej-978	289	11	speed	speed	NOUN
alkej-978	289	12	)	)	PUNCT
alkej-978	289	13	,	,	PUNCT
alkej-978	289	14	and	and	CCONJ
alkej-978	289	15	pso	pso	NOUN
alkej-978	289	16	minimises	minimise	NOUN
alkej-978	289	17	the	the	DET
alkej-978	289	18	execution	execution	NOUN
alkej-978	289	19	time	time	NOUN
alkej-978	289	20	and	and	CCONJ
alkej-978	289	21	achieves	achieve	VERB
alkej-978	289	22	high	high	ADJ
alkej-978	289	23	tracking	tracking	NOUN
alkej-978	289	24	accuracy	accuracy	NOUN
alkej-978	289	25	[	[	X
alkej-978	289	26	40	40	NUM
alkej-978	289	27	]	]	PUNCT
alkej-978	289	28	.	.	PUNCT
alkej-978	290	1	meanwhile	meanwhile	ADV
alkej-978	290	2	,	,	PUNCT
alkej-978	290	3	an	an	DET
alkej-978	290	4	approach	approach	NOUN
alkej-978	290	5	in	in	ADP
alkej-978	290	6	the	the	DET
alkej-978	290	7	context	context	NOUN
alkej-978	290	8	of	of	ADP
alkej-978	290	9	robotic	robotic	ADJ
alkej-978	290	10	welding	welding	NOUN
alkej-978	290	11	employs	employ	VERB
alkej-978	290	12	a	a	DET
alkej-978	290	13	three	three	NUM
alkej-978	290	14	-	-	PUNCT
alkej-978	290	15	degrees	degree	NOUN
alkej-978	290	16	-	-	PUNCT
alkej-978	290	17	offreedom	offreedom	ADJ
alkej-978	290	18	manipulator	manipulator	NOUN
alkej-978	290	19	paired	pair	VERB
alkej-978	290	20	with	with	ADP
alkej-978	290	21	a	a	DET
alkej-978	290	22	camera	camera	NOUN
alkej-978	290	23	for	for	ADP
alkej-978	290	24	process	process	NOUN
alkej-978	290	25	detection	detection	NOUN
alkej-978	290	26	and	and	CCONJ
alkej-978	290	27	tracking	tracking	NOUN
alkej-978	290	28	of	of	ADP
alkej-978	290	29	seams	seam	NOUN
alkej-978	290	30	.	.	PUNCT
alkej-978	291	1	algorithms	algorithm	NOUN
alkej-978	291	2	,	,	PUNCT
alkej-978	291	3	such	such	ADJ
alkej-978	291	4	as	as	ADP
alkej-978	291	5	canny	canny	ADJ
alkej-978	291	6	edge	edge	NOUN
alkej-978	291	7	detection	detection	NOUN
alkej-978	291	8	and	and	CCONJ
alkej-978	291	9	tophat	tophat	NOUN
alkej-978	291	10	transform	transform	NOUN
alkej-978	291	11	,	,	PUNCT
alkej-978	291	12	are	be	AUX
alkej-978	291	13	used	use	VERB
alkej-978	291	14	to	to	PART
alkej-978	291	15	process	process	VERB
alkej-978	291	16	images	image	NOUN
alkej-978	291	17	,	,	PUNCT
alkej-978	291	18	helping	helping	AUX
alkej-978	291	19	identify	identify	VERB
alkej-978	291	20	the	the	DET
alkej-978	291	21	welding	welding	NOUN
alkej-978	291	22	line	line	NOUN
alkej-978	291	23	to	to	PART
alkej-978	291	24	show	show	VERB
alkej-978	291	25	the	the	DET
alkej-978	291	26	path	path	NOUN
alkej-978	291	27	for	for	SCONJ
alkej-978	291	28	the	the	DET
alkej-978	291	29	robot	robot	NOUN
alkej-978	291	30	to	to	PART
alkej-978	291	31	follow	follow	VERB
alkej-978	291	32	.	.	PUNCT
alkej-978	292	1	an	an	DET
alkej-978	292	2	adaptive	adaptive	ADJ
alkej-978	292	3	neuro	neuro	NOUN
alkej-978	292	4	-	-	PUNCT
alkej-978	292	5	fuzzy	fuzzy	ADJ
alkej-978	292	6	inference	inference	NOUN
alkej-978	292	7	system	system	NOUN
alkej-978	292	8	is	be	AUX
alkej-978	292	9	incorporated	incorporate	VERB
alkej-978	292	10	for	for	ADP
alkej-978	292	11	precise	precise	ADJ
alkej-978	292	12	kinematics	kinematic	NOUN
alkej-978	292	13	,	,	PUNCT
alkej-978	292	14	which	which	PRON
alkej-978	292	15	enhances	enhance	VERB
alkej-978	292	16	welding	welding	NOUN
alkej-978	292	17	performance	performance	NOUN
alkej-978	292	18	and	and	CCONJ
alkej-978	292	19	reduces	reduce	VERB
alkej-978	292	20	errors	error	NOUN
alkej-978	292	21	[	[	X
alkej-978	292	22	61	61	NUM
alkej-978	292	23	]	]	PUNCT
alkej-978	292	24	.	.	PUNCT
alkej-978	293	1	a	a	DET
alkej-978	293	2	lightweight	lightweight	ADJ
alkej-978	293	3	cnn	cnn	PROPN
alkej-978	293	4	in	in	ADP
alkej-978	293	5	a	a	DET
alkej-978	293	6	yolov3	yolov3	PROPN
alkej-978	293	7	-	-	PUNCT
alkej-978	293	8	tinybased	tinybase	VERB
alkej-978	293	9	model	model	NOUN
alkej-978	293	10	has	have	AUX
alkej-978	293	11	also	also	ADV
alkej-978	293	12	been	be	AUX
alkej-978	293	13	used	use	VERB
alkej-978	293	14	in	in	ADP
alkej-978	293	15	object	object	NOUN
alkej-978	293	16	detection	detection	NOUN
alkej-978	293	17	for	for	ADP
alkej-978	293	18	real	real	ADJ
alkej-978	293	19	-	-	PUNCT
alkej-978	293	20	time	time	NOUN
alkej-978	293	21	object	object	NOUN
alkej-978	293	22	segmentation	segmentation	NOUN
alkej-978	293	23	in	in	ADP
alkej-978	293	24	manufacturing	manufacturing	NOUN
alkej-978	293	25	.	.	PUNCT
alkej-978	294	1	a	a	DET
alkej-978	294	2	pixel	pixel	ADJ
alkej-978	294	3	-	-	PUNCT
alkej-978	294	4	level	level	NOUN
alkej-978	294	5	feature	feature	NOUN
alkej-978	294	6	analysis	analysis	NOUN
alkej-978	294	7	for	for	ADP
alkej-978	294	8	detecting	detect	VERB
alkej-978	294	9	object	object	NOUN
alkej-978	294	10	boundaries	boundary	NOUN
alkej-978	294	11	is	be	AUX
alkej-978	294	12	achieved	achieve	VERB
alkej-978	294	13	using	use	VERB
alkej-978	294	14	the	the	DET
alkej-978	294	15	intensitydifference	intensitydifference	NOUN
alkej-978	294	16	search	search	NOUN
alkej-978	294	17	(	(	PUNCT
alkej-978	294	18	ids	id	NOUN
alkej-978	294	19	)	)	PUNCT
alkej-978	294	20	algorithm	algorithm	NOUN
alkej-978	294	21	for	for	ADP
alkej-978	294	22	segmentation	segmentation	NOUN
alkej-978	294	23	improvement	improvement	NOUN
alkej-978	294	24	.	.	PUNCT
alkej-978	295	1	this	this	DET
alkej-978	295	2	system	system	NOUN
alkej-978	295	3	is	be	AUX
alkej-978	295	4	utilised	utilise	VERB
alkej-978	295	5	to	to	PART
alkej-978	295	6	calculate	calculate	VERB
alkej-978	295	7	the	the	DET
alkej-978	295	8	dimensions	dimension	NOUN
alkej-978	295	9	and	and	CCONJ
alkej-978	295	10	orientation	orientation	NOUN
alkej-978	295	11	of	of	ADP
alkej-978	295	12	an	an	DET
alkej-978	295	13	object	object	NOUN
alkej-978	295	14	correctly	correctly	ADV
alkej-978	295	15	,	,	PUNCT
alkej-978	295	16	and	and	CCONJ
alkej-978	295	17	grasping	grasp	VERB
alkej-978	295	18	is	be	AUX
alkej-978	295	19	performed	perform	VERB
alkej-978	295	20	accordingly	accordingly	ADV
alkej-978	295	21	;	;	PUNCT
alkej-978	295	22	it	it	PRON
alkej-978	295	23	is	be	AUX
alkej-978	295	24	suitable	suitable	ADJ
alkej-978	295	25	for	for	ADP
alkej-978	295	26	smart	smart	ADJ
alkej-978	295	27	factories	factory	NOUN
alkej-978	295	28	[	[	X
alkej-978	295	29	62	62	NUM
alkej-978	295	30	]	]	PUNCT
alkej-978	295	31	.	.	PUNCT
alkej-978	296	1	the	the	DET
alkej-978	296	2	latest	late	ADJ
alkej-978	296	3	technology	technology	NOUN
alkej-978	296	4	that	that	PRON
alkej-978	296	5	is	be	AUX
alkej-978	296	6	being	be	AUX
alkej-978	296	7	used	use	VERB
alkej-978	296	8	in	in	ADP
alkej-978	296	9	thermal	thermal	ADJ
alkej-978	296	10	forming	form	VERB
alkej-978	296	11	for	for	ADP
alkej-978	296	12	ship	ship	NOUN
alkej-978	296	13	fabrication	fabrication	NOUN
alkej-978	296	14	is	be	AUX
alkej-978	296	15	a	a	DET
alkej-978	296	16	laser	laser	NOUN
alkej-978	296	17	scanning	scan	VERB
alkej-978	296	18	system	system	NOUN
alkej-978	296	19	that	that	PRON
alkej-978	296	20	detects	detect	VERB
alkej-978	296	21	the	the	DET
alkej-978	296	22	boundaries	boundary	NOUN
alkej-978	296	23	and	and	CCONJ
alkej-978	296	24	surfaces	surface	NOUN
alkej-978	296	25	of	of	ADP
alkej-978	296	26	curved	curved	ADJ
alkej-978	296	27	plates	plate	NOUN
alkej-978	296	28	and	and	CCONJ
alkej-978	296	29	thus	thus	ADV
alkej-978	296	30	generates	generate	VERB
alkej-978	296	31	precise	precise	ADJ
alkej-978	296	32	data	datum	NOUN
alkej-978	296	33	for	for	ADP
alkej-978	296	34	heating	heating	NOUN
alkej-978	296	35	instructions	instruction	NOUN
alkej-978	296	36	.	.	PUNCT
alkej-978	297	1	by	by	ADP
alkej-978	297	2	using	use	VERB
alkej-978	297	3	this	this	DET
alkej-978	297	4	information	information	NOUN
alkej-978	297	5	,	,	PUNCT
alkej-978	297	6	the	the	DET
alkej-978	297	7	system	system	NOUN
alkej-978	297	8	controls	control	VERB
alkej-978	297	9	a	a	DET
alkej-978	297	10	high	high	ADJ
alkej-978	297	11	-	-	PUNCT
alkej-978	297	12	frequency	frequency	NOUN
alkej-978	297	13	induction	induction	NOUN
alkej-978	297	14	heater	heater	NOUN
alkej-978	297	15	mounted	mount	VERB
alkej-978	297	16	on	on	ADP
alkej-978	297	17	a	a	DET
alkej-978	297	18	robotic	robotic	ADJ
alkej-978	297	19	arm	arm	NOUN
alkej-978	297	20	to	to	PART
alkej-978	297	21	conduct	conduct	VERB
alkej-978	297	22	the	the	DET
alkej-978	297	23	procedure	procedure	NOUN
alkej-978	297	24	,	,	PUNCT
alkej-978	297	25	resulting	result	VERB
alkej-978	297	26	in	in	ADP
alkej-978	297	27	an	an	DET
alkej-978	297	28	efficient	efficient	ADJ
alkej-978	297	29	,	,	PUNCT
alkej-978	297	30	automated	automate	VERB
alkej-978	297	31	process	process	NOUN
alkej-978	297	32	[	[	X
alkej-978	297	33	63	63	NUM
alkej-978	297	34	]	]	PUNCT
alkej-978	297	35	.	.	PUNCT
alkej-978	298	1	then	then	ADV
alkej-978	298	2	,	,	PUNCT
alkej-978	298	3	an	an	DET
alkej-978	298	4	object	object	NOUN
alkej-978	298	5	classification	classification	NOUN
alkej-978	298	6	system	system	NOUN
alkej-978	298	7	on	on	ADP
alkej-978	298	8	moving	move	VERB
alkej-978	298	9	conveyor	conveyor	NOUN
alkej-978	298	10	belts	belt	NOUN
alkej-978	298	11	identifies	identify	VERB
alkej-978	298	12	and	and	CCONJ
alkej-978	298	13	processes	process	VERB
alkej-978	298	14	images	image	NOUN
alkej-978	298	15	to	to	PART
alkej-978	298	16	sort	sort	VERB
alkej-978	298	17	objects	object	NOUN
alkej-978	298	18	.	.	PUNCT
alkej-978	299	1	the	the	DET
alkej-978	299	2	images	image	NOUN
alkej-978	299	3	are	be	AUX
alkej-978	299	4	processed	process	VERB
alkej-978	299	5	,	,	PUNCT
alkej-978	299	6	and	and	CCONJ
alkej-978	299	7	unwanted	unwanted	ADJ
alkej-978	299	8	areas	area	NOUN
alkej-978	299	9	of	of	ADP
alkej-978	299	10	images	image	NOUN
alkej-978	299	11	are	be	AUX
alkej-978	299	12	discarded	discard	VERB
alkej-978	299	13	.	.	PUNCT
alkej-978	300	1	running	run	VERB
alkej-978	300	2	algorithms	algorithm	NOUN
alkej-978	300	3	,	,	PUNCT
alkej-978	300	4	such	such	ADJ
alkej-978	300	5	as	as	ADP
alkej-978	300	6	canny	canny	ADJ
alkej-978	300	7	edge	edge	NOUN
alkej-978	300	8	detection	detection	NOUN
alkej-978	300	9	and	and	CCONJ
alkej-978	300	10	pca	pca	NOUN
alkej-978	300	11	-	-	PUNCT
alkej-978	300	12	sift	sift	NOUN
alkej-978	300	13	,	,	PUNCT
alkej-978	300	14	are	be	AUX
alkej-978	300	15	employed	employ	VERB
alkej-978	300	16	to	to	PART
alkej-978	300	17	distinguish	distinguish	VERB
alkej-978	300	18	objects	object	NOUN
alkej-978	300	19	in	in	ADP
alkej-978	300	20	images	image	NOUN
alkej-978	300	21	on	on	ADP
alkej-978	300	22	the	the	DET
alkej-978	300	23	basis	basis	NOUN
alkej-978	300	24	of	of	ADP
alkej-978	300	25	colour	colour	NOUN
alkej-978	300	26	,	,	PUNCT
alkej-978	300	27	contour	contour	NOUN
alkej-978	300	28	,	,	PUNCT
alkej-978	300	29	or	or	CCONJ
alkej-978	300	30	shape	shape	NOUN
alkej-978	300	31	.	.	PUNCT
alkej-978	301	1	the	the	DET
alkej-978	301	2	use	use	NOUN
alkej-978	301	3	of	of	ADP
alkej-978	301	4	this	this	DET
alkej-978	301	5	system	system	NOUN
alkej-978	301	6	in	in	ADP
alkej-978	301	7	dynamic	dynamic	ADJ
alkej-978	301	8	industrial	industrial	ADJ
alkej-978	301	9	settings	setting	NOUN
alkej-978	301	10	satisfies	satisfy	VERB
alkej-978	301	11	real	real	ADJ
alkej-978	301	12	-	-	PUNCT
alkej-978	301	13	time	time	NOUN
alkej-978	301	14	performance	performance	NOUN
alkej-978	301	15	constraints	constraint	NOUN
alkej-978	301	16	by	by	ADP
alkej-978	301	17	enabling	enable	VERB
alkej-978	301	18	fast	fast	ADJ
alkej-978	301	19	sorting	sorting	NOUN
alkej-978	301	20	and	and	CCONJ
alkej-978	301	21	picking	pick	VERB
alkej-978	301	22	[	[	X
alkej-978	301	23	64	64	NUM
alkej-978	301	24	]	]	PUNCT
alkej-978	301	25	.	.	PUNCT
alkej-978	302	1	different	different	ADJ
alkej-978	302	2	types	type	NOUN
alkej-978	302	3	of	of	ADP
alkej-978	302	4	cameras	camera	NOUN
alkej-978	302	5	are	be	AUX
alkej-978	302	6	adopted	adopt	VERB
alkej-978	302	7	in	in	ADP
alkej-978	302	8	different	different	ADJ
alkej-978	302	9	situations	situation	NOUN
alkej-978	302	10	to	to	PART
alkej-978	302	11	determine	determine	VERB
alkej-978	302	12	the	the	DET
alkej-978	302	13	physical	physical	ADJ
alkej-978	302	14	dimensions	dimension	NOUN
alkej-978	302	15	and	and	CCONJ
alkej-978	302	16	position	position	NOUN
alkej-978	302	17	of	of	ADP
alkej-978	302	18	the	the	DET
alkej-978	302	19	body	body	NOUN
alkej-978	302	20	in	in	ADP
alkej-978	302	21	the	the	DET
alkej-978	302	22	case	case	NOUN
alkej-978	302	23	of	of	ADP
alkej-978	302	24	robots	robot	NOUN
alkej-978	302	25	.	.	PUNCT
alkej-978	303	1	conventional	conventional	ADJ
alkej-978	303	2	rgb	rgb	PROPN
alkej-978	303	3	cameras	camera	NOUN
alkej-978	303	4	take	take	VERB
alkej-978	303	5	detailed	detailed	ADJ
alkej-978	303	6	images	image	NOUN
alkej-978	303	7	,	,	PUNCT
alkej-978	303	8	which	which	PRON
alkej-978	303	9	can	can	AUX
alkej-978	303	10	be	be	AUX
alkej-978	303	11	further	far	ADV
alkej-978	303	12	processed	process	VERB
alkej-978	303	13	to	to	PART
alkej-978	303	14	extract	extract	VERB
alkej-978	303	15	depth	depth	NOUN
alkej-978	303	16	and	and	CCONJ
alkej-978	303	17	dimensions	dimension	NOUN
alkej-978	303	18	with	with	ADP
alkej-978	303	19	the	the	DET
alkej-978	303	20	help	help	NOUN
alkej-978	303	21	of	of	ADP
alkej-978	303	22	a	a	DET
alkej-978	303	23	machine	machine	NOUN
alkej-978	303	24	learning	learn	VERB
alkej-978	303	25	algorithm	algorithm	NOUN
alkej-978	303	26	(	(	PUNCT
alkej-978	303	27	figure	figure	NOUN
alkej-978	303	28	6	6	NUM
alkej-978	303	29	)	)	PUNCT
alkej-978	304	1	[	[	X
alkej-978	304	2	65	65	NUM
alkej-978	304	3	]	]	PUNCT
alkej-978	304	4	.	.	PUNCT
alkej-978	305	1	fig	fig	NOUN
alkej-978	305	2	.	.	PUNCT
alkej-978	306	1	6	6	NUM
alkej-978	306	2	.	.	X
alkej-978	306	3	diagram	diagram	NOUN
alkej-978	306	4	of	of	ADP
alkej-978	306	5	object	object	NOUN
alkej-978	306	6	capture	capture	NOUN
alkej-978	306	7	by	by	ADP
alkej-978	306	8	an	an	DET
alkej-978	306	9	rgb	rgb	PROPN
alkej-978	306	10	-	-	PROPN
alkej-978	306	11	d	d	PROPN
alkej-978	306	12	camera	camera	NOUN
alkej-978	306	13	[	[	X
alkej-978	306	14	65	65	NUM
alkej-978	306	15	]	]	PUNCT
alkej-978	306	16	.	.	PUNCT
alkej-978	307	1	as	as	SCONJ
alkej-978	307	2	shown	show	VERB
alkej-978	307	3	in	in	ADP
alkej-978	307	4	figure	figure	NOUN
alkej-978	307	5	7	7	NUM
alkej-978	307	6	,	,	PUNCT
alkej-978	307	7	stereo	stereo	ADJ
alkej-978	307	8	vision	vision	NOUN
alkej-978	307	9	cameras	camera	NOUN
alkej-978	307	10	typically	typically	ADV
alkej-978	307	11	comprise	comprise	VERB
alkej-978	307	12	two	two	NUM
alkej-978	307	13	or	or	CCONJ
alkej-978	307	14	more	more	ADJ
alkej-978	307	15	cameras	camera	NOUN
alkej-978	307	16	situated	situate	VERB
alkej-978	307	17	at	at	ADP
alkej-978	307	18	different	different	ADJ
alkej-978	307	19	angles	angle	NOUN
alkej-978	307	20	and	and	CCONJ
alkej-978	307	21	are	be	AUX
alkej-978	307	22	frequently	frequently	ADV
alkej-978	307	23	employed	employ	VERB
alkej-978	307	24	to	to	PART
alkej-978	307	25	obtain	obtain	VERB
alkej-978	307	26	depth	depth	NOUN
alkej-978	307	27	information	information	NOUN
alkej-978	307	28	via	via	ADP
alkej-978	307	29	disparity	disparity	NOUN
alkej-978	307	30	analysis	analysis	NOUN
alkej-978	307	31	.	.	PUNCT
alkej-978	308	1	tof	tof	NOUN
alkej-978	308	2	cameras	camera	NOUN
alkej-978	308	3	are	be	AUX
alkej-978	308	4	mainly	mainly	ADV
alkej-978	308	5	preferred	prefer	VERB
alkej-978	308	6	because	because	SCONJ
alkej-978	308	7	of	of	ADP
alkej-978	308	8	their	their	PRON
alkej-978	308	9	effectiveness	effectiveness	NOUN
alkej-978	308	10	.	.	PUNCT
alkej-978	309	1	they	they	PRON
alkej-978	309	2	send	send	VERB
alkej-978	309	3	out	out	ADP
alkej-978	309	4	modulated	modulate	VERB
alkej-978	309	5	light	light	ADJ
alkej-978	309	6	signals	signal	NOUN
alkej-978	309	7	and	and	CCONJ
alkej-978	309	8	determine	determine	VERB
alkej-978	309	9	the	the	DET
alkej-978	309	10	time	time	NOUN
alkej-978	309	11	needed	need	VERB
alkej-978	309	12	for	for	SCONJ
alkej-978	309	13	the	the	DET
alkej-978	309	14	light	light	NOUN
alkej-978	309	15	to	to	PART
alkej-978	309	16	return	return	VERB
alkej-978	309	17	,	,	PUNCT
alkej-978	309	18	thereby	thereby	ADV
alkej-978	309	19	generating	generate	VERB
alkej-978	309	20	accurate	accurate	ADJ
alkej-978	309	21	3d	3d	PROPN
alkej-978	309	22	maps	map	NOUN
alkej-978	309	23	of	of	ADP
alkej-978	309	24	the	the	DET
alkej-978	309	25	scene	scene	NOUN
alkej-978	309	26	.	.	PUNCT
alkej-978	310	1	structured	structure	VERB
alkej-978	310	2	light	light	ADJ
alkej-978	310	3	scanners	scanner	NOUN
alkej-978	310	4	project	project	VERB
alkej-978	310	5	patterns	pattern	NOUN
alkej-978	310	6	on	on	ADP
alkej-978	310	7	objects	object	NOUN
alkej-978	310	8	and	and	CCONJ
alkej-978	310	9	analyse	analyse	VERB
alkej-978	310	10	the	the	DET
alkej-978	310	11	deformation	deformation	NOUN
alkej-978	310	12	of	of	ADP
alkej-978	310	13	these	these	DET
alkej-978	310	14	patterns	pattern	NOUN
alkej-978	310	15	to	to	PART
alkej-978	310	16	reconstruct	reconstruct	VERB
alkej-978	310	17	3d	3d	NUM
alkej-978	310	18	shapes	shape	NOUN
alkej-978	310	19	accurately	accurately	ADV
alkej-978	310	20	[	[	X
alkej-978	310	21	66	66	NUM
alkej-978	310	22	]	]	PUNCT
alkej-978	310	23	.	.	PUNCT
alkej-978	311	1	hayder	hayder	PROPN
alkej-978	311	2	ali	ali	PROPN
alkej-978	311	3	saadi	saadi	PROPN
alkej-978	311	4	al	al	PROPN
alkej-978	311	5	-	-	PUNCT
alkej-978	311	6	khwarizmi	khwarizmi	PROPN
alkej-978	311	7	engineering	engineering	NOUN
alkej-978	311	8	journal	journal	PROPN
alkej-978	311	9	,	,	PUNCT
alkej-978	311	10	vol	vol	NOUN
alkej-978	311	11	.	.	PROPN
alkej-978	311	12	21	21	NUM
alkej-978	311	13	,	,	PUNCT
alkej-978	311	14	no.4	no.4	PROPN
alkej-978	311	15	,	,	PUNCT
alkej-978	311	16	pp	pp	X
alkej-978	311	17	.	.	PUNCT
alkej-978	311	18	106124	106124	NUM
alkej-978	311	19	(	(	PUNCT
alkej-978	311	20	2025	2025	NUM
alkej-978	311	21	)	)	PUNCT
alkej-978	311	22	115	115	NUM
alkej-978	311	23	fig	fig	NOUN
alkej-978	311	24	.	.	PUNCT
alkej-978	312	1	7	7	NUM
alkej-978	312	2	.	.	NOUN
alkej-978	312	3	time	time	NOUN
alkej-978	312	4	-	-	PUNCT
alkej-978	312	5	of	of	ADP
alkej-978	312	6	-	-	PUNCT
alkej-978	312	7	flight	flight	NOUN
alkej-978	312	8	camera	camera	NOUN
alkej-978	312	9	principle	principle	NOUN
alkej-978	313	1	[	[	X
alkej-978	313	2	66	66	NUM
alkej-978	313	3	]	]	PUNCT
alkej-978	313	4	.	.	PUNCT
alkej-978	314	1	furthermore	furthermore	ADV
alkej-978	314	2	,	,	PUNCT
alkej-978	314	3	rgb	rgb	PROPN
alkej-978	314	4	-	-	PROPN
alkej-978	314	5	d	d	ADJ
alkej-978	314	6	cameras	camera	NOUN
alkej-978	314	7	that	that	PRON
alkej-978	314	8	merge	merge	VERB
alkej-978	314	9	rgb	rgb	PROPN
alkej-978	314	10	imaging	imaging	NOUN
alkej-978	314	11	with	with	ADP
alkej-978	314	12	depth	depth	NOUN
alkej-978	314	13	sensors	sensor	NOUN
alkej-978	314	14	,	,	PUNCT
alkej-978	314	15	such	such	ADJ
alkej-978	314	16	as	as	ADP
alkej-978	314	17	microsoft	microsoft	PROPN
alkej-978	314	18	’s	’s	PART
alkej-978	314	19	kinect	kinect	PROPN
alkej-978	314	20	or	or	CCONJ
alkej-978	314	21	intel	intel	NOUN
alkej-978	314	22	’s	’s	PART
alkej-978	314	23	real	real	ADJ
alkej-978	314	24	sense	sense	NOUN
alkej-978	314	25	,	,	PUNCT
alkej-978	314	26	offer	offer	VERB
alkej-978	314	27	total	total	ADJ
alkej-978	314	28	colour	colour	NOUN
alkej-978	314	29	and	and	CCONJ
alkej-978	314	30	depth	depth	NOUN
alkej-978	314	31	data	datum	NOUN
alkej-978	314	32	that	that	PRON
alkej-978	314	33	are	be	AUX
alkej-978	314	34	very	very	ADV
alkej-978	314	35	helpful	helpful	ADJ
alkej-978	314	36	for	for	ADP
alkej-978	314	37	accurate	accurate	ADJ
alkej-978	314	38	positioning	positioning	NOUN
alkej-978	314	39	and	and	CCONJ
alkej-978	314	40	measurement	measurement	NOUN
alkej-978	314	41	.	.	PUNCT
alkej-978	315	1	lidar	lidar	NOUN
alkej-978	315	2	devices	device	NOUN
alkej-978	315	3	,	,	PUNCT
alkej-978	315	4	which	which	PRON
alkej-978	315	5	are	be	AUX
alkej-978	315	6	known	know	VERB
alkej-978	315	7	for	for	ADP
alkej-978	315	8	aiding	aid	VERB
alkej-978	315	9	in	in	ADP
alkej-978	315	10	navigation	navigation	NOUN
alkej-978	315	11	and	and	CCONJ
alkej-978	315	12	detecting	detect	VERB
alkej-978	315	13	obstacles	obstacle	NOUN
alkej-978	315	14	,	,	PUNCT
alkej-978	315	15	can	can	AUX
alkej-978	315	16	also	also	ADV
alkej-978	315	17	be	be	AUX
alkej-978	315	18	used	use	VERB
alkej-978	315	19	to	to	PART
alkej-978	315	20	produce	produce	VERB
alkej-978	315	21	detailed	detailed	ADJ
alkej-978	315	22	3d	3d	NUM
alkej-978	315	23	models	model	NOUN
alkej-978	315	24	of	of	ADP
alkej-978	315	25	a	a	DET
alkej-978	315	26	robot	robot	NOUN
alkej-978	315	27	’s	’s	PART
alkej-978	315	28	surroundings	surrounding	NOUN
alkej-978	315	29	.	.	PUNCT
alkej-978	316	1	these	these	DET
alkej-978	316	2	camera	camera	NOUN
alkej-978	316	3	technologies	technology	NOUN
alkej-978	316	4	allow	allow	VERB
alkej-978	316	5	robots	robot	NOUN
alkej-978	316	6	to	to	PART
alkej-978	316	7	obtain	obtain	VERB
alkej-978	316	8	exact	exact	ADJ
alkej-978	316	9	measurements	measurement	NOUN
alkej-978	316	10	and	and	CCONJ
alkej-978	316	11	positioning	positioning	NOUN
alkej-978	316	12	,	,	PUNCT
alkej-978	316	13	thus	thus	ADV
alkej-978	316	14	increasing	increase	VERB
alkej-978	316	15	their	their	PRON
alkej-978	316	16	working	work	VERB
alkej-978	316	17	capabilities	capability	NOUN
alkej-978	316	18	and	and	CCONJ
alkej-978	316	19	ability	ability	NOUN
alkej-978	316	20	to	to	PART
alkej-978	316	21	adapt	adapt	VERB
alkej-978	316	22	to	to	ADP
alkej-978	316	23	the	the	DET
alkej-978	316	24	everchanging	everchanging	NOUN
alkej-978	316	25	environment	environment	NOUN
alkej-978	316	26	.	.	PUNCT
alkej-978	317	1	to	to	PART
alkej-978	317	2	solve	solve	VERB
alkej-978	317	3	the	the	DET
alkej-978	317	4	aforementioned	aforementioned	ADJ
alkej-978	317	5	problem	problem	NOUN
alkej-978	317	6	,	,	PUNCT
alkej-978	317	7	researchers	researcher	NOUN
alkej-978	317	8	have	have	AUX
alkej-978	317	9	developed	develop	VERB
alkej-978	317	10	a	a	DET
alkej-978	317	11	vision	vision	NOUN
alkej-978	317	12	-	-	PUNCT
alkej-978	317	13	based	base	VERB
alkej-978	317	14	control	control	NOUN
alkej-978	317	15	system	system	NOUN
alkej-978	317	16	that	that	PRON
alkej-978	317	17	makes	make	VERB
alkej-978	317	18	the	the	DET
alkej-978	317	19	system	system	NOUN
alkej-978	317	20	dynamic	dynamic	ADJ
alkej-978	317	21	in	in	ADP
alkej-978	317	22	nature	nature	NOUN
alkej-978	317	23	.	.	PUNCT
alkej-978	318	1	a	a	DET
alkej-978	318	2	usb	usb	NOUN
alkej-978	318	3	camera	camera	NOUN
alkej-978	318	4	is	be	AUX
alkej-978	318	5	used	use	VERB
alkej-978	318	6	to	to	PART
alkej-978	318	7	take	take	VERB
alkej-978	318	8	images	image	NOUN
alkej-978	318	9	,	,	PUNCT
alkej-978	318	10	and	and	CCONJ
alkej-978	318	11	these	these	DET
alkej-978	318	12	images	image	NOUN
alkej-978	318	13	are	be	AUX
alkej-978	318	14	handled	handle	VERB
alkej-978	318	15	by	by	ADP
alkej-978	318	16	open	open	ADJ
alkej-978	318	17	-	-	PUNCT
alkej-978	318	18	source	source	NOUN
alkej-978	318	19	software	software	NOUN
alkej-978	318	20	,	,	PUNCT
alkej-978	318	21	such	such	ADJ
alkej-978	318	22	as	as	ADP
alkej-978	318	23	opencv	opencv	PROPN
alkej-978	318	24	,	,	PUNCT
alkej-978	318	25	in	in	ADP
alkej-978	318	26	computer	computer	NOUN
alkej-978	318	27	vision	vision	NOUN
alkej-978	318	28	.	.	PUNCT
alkej-978	319	1	the	the	DET
alkej-978	319	2	microcontroller	microcontroller	NOUN
alkej-978	319	3	converts	convert	VERB
alkej-978	319	4	the	the	DET
alkej-978	319	5	particular	particular	ADJ
alkej-978	319	6	object	object	NOUN
alkej-978	319	7	in	in	ADP
alkej-978	319	8	the	the	DET
alkej-978	319	9	photo	photo	NOUN
alkej-978	319	10	by	by	ADP
alkej-978	319	11	accurately	accurately	ADV
alkej-978	319	12	recognising	recognise	VERB
alkej-978	319	13	the	the	DET
alkej-978	319	14	colours	colour	NOUN
alkej-978	319	15	and	and	CCONJ
alkej-978	319	16	features	feature	VERB
alkej-978	319	17	[	[	X
alkej-978	319	18	27	27	NUM
alkej-978	319	19	]	]	PUNCT
alkej-978	319	20	.	.	PUNCT
alkej-978	320	1	5.1	5.1	NUM
alkej-978	320	2	.	.	PUNCT
alkej-978	320	3	advantages	advantage	NOUN
alkej-978	320	4	and	and	CCONJ
alkej-978	320	5	limitations	limitation	NOUN
alkej-978	320	6	of	of	ADP
alkej-978	320	7	rgb	rgb	PROPN
alkej-978	320	8	-	-	PROPN
alkej-978	320	9	d	d	PROPN
alkej-978	320	10	cameras	camera	NOUN
alkej-978	320	11	[	[	X
alkej-978	320	12	65	65	NUM
alkej-978	320	13	,	,	PUNCT
alkej-978	320	14	66	66	NUM
alkej-978	320	15	,	,	PUNCT
alkej-978	320	16	67	67	NUM
alkej-978	320	17	]	]	SYM
alkej-978	320	18	5.1.1	5.1.1	NUM
alkej-978	320	19	.	.	PUNCT
alkej-978	320	20	advantages	advantage	NOUN
alkej-978	320	21	of	of	ADP
alkej-978	320	22	rgb	rgb	PROPN
alkej-978	320	23	-	-	PROPN
alkej-978	320	24	d	d	PROPN
alkej-978	320	25	cameras	camera	NOUN
alkej-978	321	1	[	[	X
alkej-978	321	2	65	65	NUM
alkej-978	321	3	,	,	PUNCT
alkej-978	321	4	66	66	NUM
alkej-978	321	5	,	,	PUNCT
alkej-978	321	6	67	67	NUM
alkej-978	321	7	]	]	PUNCT
alkej-978	321	8	the	the	DET
alkej-978	321	9	advantages	advantage	NOUN
alkej-978	321	10	of	of	ADP
alkej-978	321	11	rgb	rgb	PROPN
alkej-978	321	12	-	-	PROPN
alkej-978	321	13	d	d	PROPN
alkej-978	321	14	cameras	camera	NOUN
alkej-978	321	15	are	be	AUX
alkej-978	321	16	as	as	SCONJ
alkej-978	321	17	follows	follow	VERB
alkej-978	321	18	:	:	PUNCT
alkej-978	321	19	1	1	X
alkej-978	321	20	.	.	X
alkej-978	321	21	adequate	adequate	ADJ
alkej-978	321	22	energy	energy	NOUN
alkej-978	321	23	performance	performance	NOUN
alkej-978	321	24	[	[	X
alkej-978	321	25	65	65	NUM
alkej-978	321	26	]	]	PUNCT
alkej-978	321	27	,	,	PUNCT
alkej-978	321	28	2	2	X
alkej-978	321	29	.	.	NOUN
alkej-978	321	30	high	high	ADJ
alkej-978	321	31	frame	frame	NOUN
alkej-978	321	32	rate	rate	NOUN
alkej-978	321	33	and	and	CCONJ
alkej-978	321	34	long	long	ADJ
alkej-978	321	35	battery	battery	NOUN
alkej-978	321	36	life	life	NOUN
alkej-978	321	37	[	[	X
alkej-978	321	38	65	65	NUM
alkej-978	321	39	]	]	PUNCT
alkej-978	321	40	,	,	PUNCT
alkej-978	321	41	3	3	X
alkej-978	321	42	.	.	NOUN
alkej-978	321	43	passive	passive	ADJ
alkej-978	321	44	high	high	ADJ
alkej-978	321	45	resolution	resolution	NOUN
alkej-978	321	46	[	[	X
alkej-978	321	47	66	66	NUM
alkej-978	321	48	]	]	PUNCT
alkej-978	321	49	,	,	PUNCT
alkej-978	321	50	4	4	X
alkej-978	321	51	.	.	PUNCT
alkej-978	321	52	generates	generate	VERB
alkej-978	321	53	a	a	DET
alkej-978	321	54	3d	3d	ADJ
alkej-978	321	55	representation	representation	NOUN
alkej-978	321	56	of	of	ADP
alkej-978	321	57	an	an	DET
alkej-978	321	58	object	object	NOUN
alkej-978	321	59	or	or	CCONJ
alkej-978	321	60	scene	scene	NOUN
alkej-978	321	61	with	with	ADP
alkej-978	321	62	coloured	coloured	ADJ
alkej-978	321	63	data	datum	NOUN
alkej-978	321	64	points	point	NOUN
alkej-978	321	65	[	[	X
alkej-978	321	66	66	66	NUM
alkej-978	321	67	]	]	PUNCT
alkej-978	321	68	,	,	PUNCT
alkej-978	321	69	5	5	X
alkej-978	321	70	.	.	PUNCT
alkej-978	321	71	classification	classification	NOUN
alkej-978	321	72	of	of	ADP
alkej-978	321	73	accuracy	accuracy	NOUN
alkej-978	321	74	among	among	ADP
alkej-978	321	75	objects	object	NOUN
alkej-978	321	76	that	that	PRON
alkej-978	321	77	are	be	AUX
alkej-978	321	78	comparable	comparable	ADJ
alkej-978	321	79	[	[	X
alkej-978	321	80	67	67	NUM
alkej-978	321	81	]	]	SYM
alkej-978	321	82	.	.	PUNCT
alkej-978	322	1	5.1.2	5.1.2	X
alkej-978	322	2	.	.	PUNCT
alkej-978	322	3	limitations	limitation	NOUN
alkej-978	322	4	of	of	ADP
alkej-978	322	5	rgb	rgb	PROPN
alkej-978	322	6	-	-	PROPN
alkej-978	322	7	d	d	PROPN
alkej-978	322	8	cameras	camera	NOUN
alkej-978	322	9	[	[	X
alkej-978	322	10	65	65	NUM
alkej-978	322	11	,	,	PUNCT
alkej-978	322	12	66	66	NUM
alkej-978	322	13	,	,	PUNCT
alkej-978	322	14	67	67	NUM
alkej-978	322	15	]	]	PUNCT
alkej-978	322	16	the	the	DET
alkej-978	322	17	limitations	limitation	NOUN
alkej-978	322	18	of	of	ADP
alkej-978	322	19	rgb	rgb	PROPN
alkej-978	322	20	-	-	PROPN
alkej-978	322	21	d	d	PROPN
alkej-978	322	22	cameras	camera	NOUN
alkej-978	322	23	are	be	AUX
alkej-978	322	24	as	as	SCONJ
alkej-978	322	25	follows	follow	VERB
alkej-978	322	26	:	:	PUNCT
alkej-978	322	27	1	1	X
alkej-978	322	28	.	.	X
alkej-978	322	29	robust	robust	ADJ
alkej-978	322	30	non	non	ADJ
alkej-978	322	31	-	-	ADJ
alkej-978	322	32	textured	textured	ADJ
alkej-978	322	33	regions	region	NOUN
alkej-978	322	34	[	[	X
alkej-978	322	35	65	65	NUM
alkej-978	322	36	]	]	X
alkej-978	322	37	;	;	PUNCT
alkej-978	322	38	2	2	X
alkej-978	322	39	.	.	X
alkej-978	322	40	low	low	ADJ
alkej-978	322	41	-	-	PUNCT
alkej-978	322	42	precision	precision	NOUN
alkej-978	322	43	distance	distance	NOUN
alkej-978	322	44	measurement	measurement	NOUN
alkej-978	322	45	,	,	PUNCT
alkej-978	322	46	thermal	thermal	ADJ
alkej-978	322	47	stability	stability	NOUN
alkej-978	322	48	,	,	PUNCT
alkej-978	322	49	and	and	CCONJ
alkej-978	322	50	repeatability	repeatability	NOUN
alkej-978	323	1	[	[	X
alkej-978	323	2	66	66	NUM
alkej-978	323	3	]	]	PUNCT
alkej-978	323	4	;	;	PUNCT
alkej-978	323	5	3	3	X
alkej-978	323	6	.	.	NOUN
alkej-978	323	7	lack	lack	NOUN
alkej-978	323	8	of	of	ADP
alkej-978	323	9	features	feature	NOUN
alkej-978	323	10	in	in	ADP
alkej-978	323	11	scenes	scene	NOUN
alkej-978	323	12	[	[	X
alkej-978	323	13	67	67	NUM
alkej-978	323	14	]	]	X
alkej-978	323	15	;	;	PUNCT
alkej-978	323	16	4	4	X
alkej-978	323	17	.	.	X
alkej-978	324	1	no	no	DET
alkej-978	324	2	correspondence	correspondence	NOUN
alkej-978	324	3	in	in	ADP
alkej-978	324	4	different	different	ADJ
alkej-978	324	5	views	view	NOUN
alkej-978	324	6	of	of	ADP
alkej-978	324	7	the	the	DET
alkej-978	324	8	camera	camera	NOUN
alkej-978	324	9	[	[	X
alkej-978	324	10	65	65	NUM
alkej-978	324	11	]	]	PUNCT
alkej-978	324	12	.	.	PUNCT
alkej-978	325	1	a	a	DET
alkej-978	325	2	summary	summary	NOUN
alkej-978	325	3	of	of	ADP
alkej-978	325	4	the	the	DET
alkej-978	325	5	methods	method	NOUN
alkej-978	325	6	used	use	VERB
alkej-978	325	7	for	for	ADP
alkej-978	325	8	object	object	NOUN
alkej-978	325	9	identification	identification	NOUN
alkej-978	325	10	,	,	PUNCT
alkej-978	325	11	dimension	dimension	NOUN
alkej-978	325	12	measurement	measurement	NOUN
alkej-978	325	13	and	and	CCONJ
alkej-978	325	14	position	position	NOUN
alkej-978	325	15	determination	determination	NOUN
alkej-978	325	16	via	via	ADP
alkej-978	325	17	range	range	NOUN
alkej-978	325	18	and	and	CCONJ
alkej-978	325	19	vision	vision	NOUN
alkej-978	325	20	sensors	sensor	NOUN
alkej-978	325	21	in	in	ADP
alkej-978	325	22	robotic	robotic	ADJ
alkej-978	325	23	conveyor	conveyor	NOUN
alkej-978	325	24	belt	belt	NOUN
alkej-978	325	25	systems	system	NOUN
alkej-978	325	26	is	be	AUX
alkej-978	325	27	given	give	VERB
alkej-978	325	28	in	in	ADP
alkej-978	325	29	table	table	NOUN
alkej-978	325	30	1	1	NUM
alkej-978	325	31	.	.	PUNCT
alkej-978	325	32	table	table	NOUN
alkej-978	325	33	1	1	NUM
alkej-978	325	34	.	.	PUNCT
alkej-978	326	1	summary	summary	NOUN
alkej-978	326	2	of	of	ADP
alkej-978	326	3	the	the	DET
alkej-978	326	4	methods	method	NOUN
alkej-978	326	5	used	use	VERB
alkej-978	326	6	for	for	ADP
alkej-978	326	7	object	object	NOUN
alkej-978	326	8	identification	identification	NOUN
alkej-978	326	9	,	,	PUNCT
alkej-978	326	10	dimension	dimension	NOUN
alkej-978	326	11	measurement	measurement	NOUN
alkej-978	326	12	and	and	CCONJ
alkej-978	326	13	position	position	NOUN
alkej-978	326	14	determination	determination	NOUN
alkej-978	326	15	in	in	ADP
alkej-978	326	16	robotic	robotic	ADJ
alkej-978	326	17	systems	system	NOUN
alkej-978	326	18	the	the	DET
alkej-978	326	19	object	object	NOUN
alkej-978	326	20	is	be	AUX
alkej-978	326	21	identified	identify	VERB
alkej-978	326	22	dimensions	dimension	NOUN
alkej-978	326	23	are	be	AUX
alkej-978	326	24	measured	measure	VERB
alkej-978	326	25	the	the	DET
alkej-978	326	26	position	position	NOUN
alkej-978	326	27	is	be	AUX
alkej-978	326	28	determined	determine	VERB
alkej-978	326	29	peng	peng	PROPN
alkej-978	326	30	wang	wang	PROPN
alkej-978	326	31	et	et	PROPN
alkej-978	326	32	al	al	PROPN
alkej-978	326	33	.	.	PUNCT
alkej-978	327	1	[	[	X
alkej-978	327	2	40	40	NUM
alkej-978	327	3	]	]	X
alkej-978	327	4	optical	optical	ADJ
alkej-978	327	5	sensors	sensor	NOUN
alkej-978	327	6	identify	identify	VERB
alkej-978	327	7	objects	object	NOUN
alkej-978	327	8	located	locate	VERB
alkej-978	327	9	on	on	ADP
alkej-978	327	10	moving	move	VERB
alkej-978	327	11	conveyor	conveyor	NOUN
alkej-978	327	12	belts	belt	NOUN
alkej-978	327	13	.	.	PUNCT
alkej-978	328	1	mathematic	mathematic	ADJ
alkej-978	328	2	mathematic	mathematic	ADJ
alkej-978	328	3	modelling	modelling	NOUN
alkej-978	328	4	converts	convert	NOUN
alkej-978	328	5	sensor	sensor	NOUN
alkej-978	328	6	data	datum	NOUN
alkej-978	328	7	into	into	ADP
alkej-978	328	8	realworld	realworld	PROPN
alkej-978	328	9	measurements	measurement	NOUN
alkej-978	328	10	.	.	PUNCT
alkej-978	329	1	based	base	VERB
alkej-978	329	2	on	on	ADP
alkej-978	329	3	sensor	sensor	NOUN
alkej-978	329	4	data	datum	NOUN
alkej-978	329	5	,	,	PUNCT
alkej-978	329	6	this	this	DET
alkej-978	329	7	approach	approach	NOUN
alkej-978	329	8	uses	use	VERB
alkej-978	329	9	particle	particle	NOUN
alkej-978	329	10	swarm	swarm	NOUN
alkej-978	329	11	optimization	optimization	NOUN
alkej-978	329	12	to	to	PART
alkej-978	329	13	optimize	optimize	VERB
alkej-978	329	14	robot	robot	NOUN
alkej-978	329	15	trajectories	trajectory	NOUN
alkej-978	329	16	.	.	PUNCT
alkej-978	330	1	nathaniel	nathaniel	PROPN
alkej-978	330	2	hanson	hanson	PROPN
alkej-978	330	3	et	et	PROPN
alkej-978	330	4	al	al	PROPN
alkej-978	330	5	.	.	PUNCT
alkej-978	331	1	[	[	X
alkej-978	331	2	41	41	NUM
alkej-978	331	3	]	]	X
alkej-978	331	4	spatial	spatial	ADJ
alkej-978	331	5	and	and	CCONJ
alkej-978	331	6	spectral	spectral	ADJ
alkej-978	331	7	data	datum	NOUN
alkej-978	331	8	are	be	AUX
alkej-978	331	9	collected	collect	VERB
alkej-978	331	10	via	via	ADP
alkej-978	331	11	azure	azure	ADJ
alkej-978	331	12	kinect	kinect	ADJ
alkej-978	331	13	time	time	NOUN
alkej-978	331	14	-	-	PUNCT
alkej-978	331	15	of	of	ADP
alkej-978	331	16	-	-	PUNCT
alkej-978	331	17	flight	flight	NOUN
alkej-978	331	18	cameras	camera	NOUN
alkej-978	331	19	and	and	CCONJ
alkej-978	331	20	vnir	vnir	NOUN
alkej-978	331	21	spectrometers	spectrometer	NOUN
alkej-978	331	22	.	.	PUNCT
alkej-978	332	1	spectral	spectral	ADJ
alkej-978	332	2	data	datum	NOUN
alkej-978	332	3	provides	provide	VERB
alkej-978	332	4	material	material	ADJ
alkej-978	332	5	analysis	analysis	NOUN
alkej-978	332	6	,	,	PUNCT
alkej-978	332	7	contributing	contribute	VERB
alkej-978	332	8	to	to	ADP
alkej-978	332	9	dimension	dimension	NOUN
alkej-978	332	10	estimation	estimation	NOUN
alkej-978	332	11	.	.	PUNCT
alkej-978	333	1	the	the	DET
alkej-978	333	2	4d	4d	NUM
alkej-978	333	3	model	model	NOUN
alkej-978	333	4	combines	combine	VERB
alkej-978	333	5	spatial	spatial	ADJ
alkej-978	333	6	and	and	CCONJ
alkej-978	333	7	spectral	spectral	ADJ
alkej-978	333	8	information	information	NOUN
alkej-978	333	9	for	for	ADP
alkej-978	333	10	position	position	NOUN
alkej-978	333	11	characterization	characterization	NOUN
alkej-978	333	12	.	.	PUNCT
alkej-978	334	1	takuya	takuya	PROPN
alkej-978	334	2	kiyokawa	kiyokawa	PROPN
alkej-978	335	1	[	[	X
alkej-978	335	2	42	42	NUM
alkej-978	335	3	]	]	X
alkej-978	335	4	rgb	rgb	PROPN
alkej-978	335	5	-	-	PROPN
alkej-978	335	6	d	d	NOUN
alkej-978	335	7	cameras	camera	NOUN
alkej-978	335	8	,	,	PUNCT
alkej-978	335	9	nir	nir	ADJ
alkej-978	335	10	spectral	spectral	ADJ
alkej-978	335	11	sensors	sensor	NOUN
alkej-978	335	12	,	,	PUNCT
alkej-978	335	13	and	and	CCONJ
alkej-978	335	14	motion	motion	NOUN
alkej-978	335	15	planning	planning	NOUN
alkej-978	335	16	algorithms	algorithm	NOUN
alkej-978	335	17	index	index	NOUN
alkej-978	335	18	objects	object	NOUN
alkej-978	335	19	.	.	PUNCT
alkej-978	336	1	dimensions	dimension	NOUN
alkej-978	336	2	are	be	AUX
alkej-978	336	3	estimated	estimate	VERB
alkej-978	336	4	based	base	VERB
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alkej-978	336	11	and	and	CCONJ
alkej-978	336	12	sensor	sensor	NOUN
alkej-978	336	13	readings	reading	NOUN
alkej-978	336	14	.	.	PUNCT
alkej-978	337	1	the	the	DET
alkej-978	337	2	robotic	robotic	ADJ
alkej-978	337	3	arm	arm	NOUN
alkej-978	337	4	is	be	AUX
alkej-978	337	5	guided	guide	VERB
alkej-978	337	6	by	by	ADP
alkej-978	337	7	the	the	DET
alkej-978	337	8	moveit	moveit	PROPN
alkej-978	337	9	algorithm	algorithm	NOUN
alkej-978	337	10	,	,	PUNCT
alkej-978	337	11	which	which	PRON
alkej-978	337	12	takes	take	VERB
alkej-978	337	13	the	the	DET
alkej-978	337	14	position	position	NOUN
alkej-978	337	15	and	and	CCONJ
alkej-978	337	16	dimensions	dimension	NOUN
alkej-978	337	17	of	of	ADP
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alkej-978	337	19	object	object	NOUN
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alkej-978	337	21	account	account	NOUN
alkej-978	337	22	.	.	PUNCT
alkej-978	338	1	aryuanto	aryuanto	ADP
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alkej-978	339	1	[	[	X
alkej-978	339	2	43	43	NUM
alkej-978	339	3	]	]	SYM
alkej-978	339	4	zx	zx	NUM
alkej-978	339	5	distance	distance	NOUN
alkej-978	339	6	and	and	CCONJ
alkej-978	339	7	gesture	gesture	NOUN
alkej-978	339	8	sensors	sensor	NOUN
alkej-978	339	9	,	,	PUNCT
alkej-978	339	10	tcs3200	tcs3200	VERB
alkej-978	339	11	color	color	NOUN
alkej-978	339	12	sensors	sensor	NOUN
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alkej-978	339	14	filtering	filter	VERB
alkej-978	339	15	objects	object	NOUN
alkej-978	339	16	on	on	ADP
alkej-978	339	17	conveyor	conveyor	NOUN
alkej-978	339	18	belts	belt	NOUN
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alkej-978	340	1	zx	zx	NOUN
alkej-978	340	2	and	and	CCONJ
alkej-978	340	3	color	color	NOUN
alkej-978	340	4	sensors	sensor	NOUN
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alkej-978	340	6	the	the	DET
alkej-978	340	7	geometric	geometric	ADJ
alkej-978	340	8	location	location	NOUN
alkej-978	340	9	,	,	PUNCT
alkej-978	340	10	dimensions	dimension	NOUN
alkej-978	340	11	,	,	PUNCT
alkej-978	340	12	and	and	CCONJ
alkej-978	340	13	color	color	NOUN
alkej-978	340	14	of	of	ADP
alkej-978	340	15	objects	object	NOUN
alkej-978	340	16	.	.	PUNCT
alkej-978	341	1	the	the	DET
alkej-978	341	2	position	position	NOUN
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alkej-978	341	8	sensor	sensor	NOUN
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alkej-978	341	10	by	by	ADP
alkej-978	341	11	an	an	DET
alkej-978	341	12	arduino	arduino	NOUN
alkej-978	341	13	mega2560	mega2560	PROPN
alkej-978	341	14	controller	controller	NOUN
alkej-978	341	15	.	.	PUNCT
alkej-978	342	1	hayder	hayder	PROPN
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alkej-978	342	6	khwarizmi	khwarizmi	PROPN
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alkej-978	342	8	journal	journal	PROPN
alkej-978	342	9	,	,	PUNCT
alkej-978	342	10	vol	vol	NOUN
alkej-978	342	11	.	.	PROPN
alkej-978	342	12	21	21	NUM
alkej-978	342	13	,	,	PUNCT
alkej-978	342	14	no.4	no.4	PROPN
alkej-978	342	15	,	,	PUNCT
alkej-978	342	16	pp	pp	X
alkej-978	342	17	.	.	PUNCT
alkej-978	343	1	106124	106124	NUM
alkej-978	343	2	(	(	PUNCT
alkej-978	343	3	2025	2025	NUM
alkej-978	343	4	)	)	PUNCT
alkej-978	343	5	116	116	NUM
alkej-978	343	6	conrad	conrad	NOUN
alkej-978	343	7	ljutjuk	ljutjuk	VERB
alkej-978	343	8	[	[	X
alkej-978	343	9	44	44	NUM
alkej-978	343	10	]	]	PUNCT
alkej-978	343	11	rfid	rfid	NOUN
alkej-978	343	12	sensors	sensor	NOUN
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alkej-978	343	14	the	the	DET
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alkej-978	343	17	items	item	NOUN
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alkej-978	343	19	cases	case	NOUN
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alkej-978	343	21	asrs	asrs	ADV
alkej-978	343	22	(	(	PUNCT
alkej-978	343	23	automated	automate	VERB
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alkej-978	343	26	retrieval	retrieval	NOUN
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alkej-978	344	1	physical	physical	ADJ
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alkej-978	344	3	(	(	PUNCT
alkej-978	344	4	e.g.	e.g.	ADV
alkej-978	344	5	,	,	PUNCT
alkej-978	344	6	pressure	pressure	NOUN
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alkej-978	344	8	and	and	CCONJ
alkej-978	344	9	vacuum	vacuum	NOUN
alkej-978	344	10	devices	device	NOUN
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alkej-978	344	12	measure	measure	NOUN
alkej-978	344	13	dimensions	dimension	NOUN
alkej-978	344	14	of	of	ADP
alkej-978	344	15	objects	object	NOUN
alkej-978	344	16	.	.	PUNCT
alkej-978	345	1	rfid	rfid	NOUN
alkej-978	345	2	incorporated	incorporate	VERB
alkej-978	345	3	into	into	ADP
alkej-978	345	4	flexsim	flexsim	NOUN
alkej-978	345	5	inform	inform	NOUN
alkej-978	345	6	object	object	NOUN
alkej-978	345	7	positions	position	NOUN
alkej-978	345	8	.	.	PUNCT
alkej-978	346	1	yue	yue	PROPN
alkej-978	346	2	-	-	PUNCT
alkej-978	346	3	dong	dong	PROPN
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alkej-978	347	4	laser	laser	NOUN
alkej-978	347	5	sensors	sensor	NOUN
alkej-978	347	6	create	create	VERB
alkej-978	347	7	3d	3d	NUM
alkej-978	347	8	images	image	NOUN
alkej-978	347	9	of	of	ADP
alkej-978	347	10	objects	object	NOUN
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alkej-978	347	13	and	and	CCONJ
alkej-978	347	14	identification	identification	NOUN
alkej-978	347	15	.	.	PUNCT
alkej-978	348	1	object	object	NOUN
alkej-978	348	2	dimensions	dimension	NOUN
alkej-978	348	3	are	be	AUX
alkej-978	348	4	computed	compute	VERB
alkej-978	348	5	using	use	VERB
alkej-978	348	6	3d	3d	PROPN
alkej-978	348	7	pictures	picture	NOUN
alkej-978	348	8	produced	produce	VERB
alkej-978	348	9	by	by	ADP
alkej-978	348	10	laser	laser	NOUN
alkej-978	348	11	sensors	sensor	NOUN
alkej-978	348	12	.	.	PUNCT
alkej-978	349	1	robust	robust	ADJ
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alkej-978	349	4	e.g.	e.g.	ADV
alkej-978	349	5	,	,	PUNCT
alkej-978	349	6	newtonraphson	newtonraphson	NOUN
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alkej-978	349	8	improve	improve	VERB
alkej-978	349	9	the	the	DET
alkej-978	349	10	focal	focal	ADJ
alkej-978	349	11	point	point	NOUN
alkej-978	349	12	and	and	CCONJ
alkej-978	349	13	position	position	NOUN
alkej-978	349	14	.	.	PUNCT
alkej-978	350	1	ata	ata	PROPN
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alkej-978	351	1	[	[	X
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alkej-978	351	4	this	this	PRON
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alkej-978	351	7	sensors	sensor	NOUN
alkej-978	351	8	to	to	PART
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alkej-978	352	1	object	object	VERB
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alkej-978	352	5	sensors	sensor	NOUN
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alkej-978	352	13	.	.	PUNCT
alkej-978	353	1	robotic	robotic	ADJ
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alkej-978	353	4	-	-	PUNCT
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alkej-978	353	8	can	can	AUX
alkej-978	353	9	store	store	VERB
alkej-978	353	10	and	and	CCONJ
alkej-978	353	11	retrieve	retrieve	VERB
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alkej-978	353	13	.	.	PUNCT
alkej-978	354	1	matthias	matthias	PROPN
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alkej-978	355	1	[	[	X
alkej-978	355	2	46	46	NUM
alkej-978	355	3	]	]	PUNCT
alkej-978	355	4	infra	infra	NOUN
alkej-978	355	5	-	-	PUNCT
alkej-978	355	6	red	red	ADJ
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alkej-978	355	8	ultrasonic	ultrasonic	ADJ
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alkej-978	356	6	the	the	DET
alkej-978	356	7	shape	shape	NOUN
alkej-978	356	8	and	and	CCONJ
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alkej-978	357	1	the	the	DET
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alkej-978	357	5	tracking	tracking	NOUN
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alkej-978	357	8	-	-	PUNCT
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alkej-978	362	1	[	[	X
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alkej-978	362	3	]	]	PUNCT
alkej-978	362	4	image	image	NOUN
alkej-978	362	5	processing	processing	NOUN
alkej-978	362	6	(	(	PUNCT
alkej-978	362	7	grayscale	grayscale	NOUN
alkej-978	362	8	,	,	PUNCT
alkej-978	362	9	noise	noise	NOUN
alkej-978	362	10	filtering	filtering	NOUN
alkej-978	362	11	,	,	PUNCT
alkej-978	362	12	contour	contour	NOUN
alkej-978	362	13	extraction	extraction	NOUN
alkej-978	362	14	,	,	PUNCT
alkej-978	362	15	classification	classification	NOUN
alkej-978	362	16	based	base	VERB
alkej-978	362	17	on	on	ADP
alkej-978	362	18	area	area	NOUN
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alkej-978	362	20	perimeter	perimeter	NOUN
alkej-978	362	21	,	,	PUNCT
alkej-978	362	22	and	and	CCONJ
alkej-978	362	23	compactness	compactness	NOUN
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alkej-978	362	25	rea	rea	NOUN
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alkej-978	362	27	using	use	VERB
alkej-978	362	28	image	image	NOUN
alkej-978	362	29	moments	moment	NOUN
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alkej-978	362	31	,	,	PUNCT
alkej-978	362	32	perimeter	perimeter	NOUN
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alkej-978	362	34	and	and	CCONJ
alkej-978	362	35	compactness	compactness	NOUN
alkej-978	362	36	c	c	NOUN
alkej-978	362	37	=	=	SYM
alkej-978	362	38	p2ac	p2ac	X
alkej-978	362	39	=	=	SYM
alkej-978	362	40	\frac{p^2}{a	\frac{p^2}{a	PROPN
alkej-978	362	41	}	}	PUNCT
alkej-978	362	42	are	be	AUX
alkej-978	362	43	calculated	calculate	VERB
alkej-978	362	44	to	to	PART
alkej-978	362	45	identify	identify	VERB
alkej-978	362	46	the	the	DET
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alkej-978	362	48	and	and	CCONJ
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alkej-978	363	5	cy)(c_x	cy)(c_x	PROPN
alkej-978	363	6	,	,	PUNCT
alkej-978	363	7	c_y	c_y	NUM
alkej-978	363	8	)	)	PUNCT
alkej-978	363	9	is	be	AUX
alkej-978	363	10	calculated	calculate	VERB
alkej-978	363	11	using	use	VERB
alkej-978	363	12	image	image	NOUN
alkej-978	363	13	moments	moment	NOUN
alkej-978	363	14	.	.	PUNCT
alkej-978	364	1	it	it	PRON
alkej-978	364	2	is	be	AUX
alkej-978	364	3	converted	convert	VERB
alkej-978	364	4	to	to	ADP
alkej-978	364	5	3d	3d	PROPN
alkej-978	364	6	coordinates	coordinate	NOUN
alkej-978	364	7	relative	relative	ADJ
alkej-978	364	8	to	to	ADP
alkej-978	364	9	the	the	DET
alkej-978	364	10	camera	camera	NOUN
alkej-978	364	11	’s	’s	PART
alkej-978	364	12	frame	frame	NOUN
alkej-978	364	13	.	.	PUNCT
alkej-978	365	1	stogl	stogl	NOUN
alkej-978	365	2	,	,	PUNCT
alkej-978	365	3	d.et	d.et	PROPN
alkej-978	365	4	al	al	PROPN
alkej-978	365	5	.	.	PUNCT
alkej-978	366	1	[	[	X
alkej-978	366	2	59	59	NUM
alkej-978	366	3	]	]	X
alkej-978	366	4	asp	asp	PROPN
alkej-978	366	5	u	u	PROPN
alkej-978	366	6	-	-	ADJ
alkej-978	366	7	net	net	ADJ
alkej-978	366	8	detects	detect	NOUN
alkej-978	366	9	grasping	grasp	VERB
alkej-978	366	10	points	point	NOUN
alkej-978	366	11	and	and	CCONJ
alkej-978	366	12	highlights	highlight	VERB
alkej-978	366	13	them	they	PRON
alkej-978	366	14	with	with	ADP
alkej-978	366	15	geometric	geometric	ADJ
alkej-978	366	16	gradient	gradient	NOUN
alkej-978	366	17	shapes	shape	NOUN
alkej-978	366	18	.	.	PUNCT
alkej-978	367	1	the	the	DET
alkej-978	367	2	distance	distance	NOUN
alkej-978	367	3	between	between	ADP
alkej-978	367	4	grasping	grasp	VERB
alkej-978	367	5	points	point	NOUN
alkej-978	367	6	is	be	AUX
alkej-978	367	7	used	use	VERB
alkej-978	367	8	to	to	PART
alkej-978	367	9	estimate	estimate	VERB
alkej-978	367	10	the	the	DET
alkej-978	367	11	size	size	NOUN
alkej-978	367	12	of	of	ADP
alkej-978	367	13	the	the	DET
alkej-978	367	14	object	object	NOUN
alkej-978	367	15	.	.	PUNCT
alkej-978	368	1	2d	2d	PROPN
alkej-978	368	2	pixel	pixel	PROPN
alkej-978	368	3	coordinates	coordinate	NOUN
alkej-978	368	4	(	(	PUNCT
alkej-978	368	5	x	x	X
alkej-978	368	6	,	,	PUNCT
alkej-978	368	7	y	y	NOUN
alkej-978	368	8	)	)	PUNCT
alkej-978	368	9	of	of	ADP
alkej-978	368	10	grasping	grasp	VERB
alkej-978	368	11	points	point	NOUN
alkej-978	368	12	are	be	AUX
alkej-978	368	13	passed	pass	VERB
alkej-978	368	14	to	to	ADP
alkej-978	368	15	the	the	DET
alkej-978	368	16	robot	robot	NOUN
alkej-978	368	17	arm	arm	NOUN
alkej-978	368	18	.	.	PUNCT
alkej-978	369	1	no	no	DET
alkej-978	369	2	3d	3d	NOUN
alkej-978	369	3	information	information	NOUN
alkej-978	369	4	is	be	AUX
alkej-978	369	5	used	use	VERB
alkej-978	369	6	.	.	PUNCT
alkej-978	370	1	peters	peters	PROPN
alkej-978	370	2	a	a	PRON
alkej-978	370	3	et	et	NOUN
alkej-978	370	4	al	al	PROPN
alkej-978	370	5	.	.	PUNCT
alkej-978	371	1	[	[	X
alkej-978	371	2	60	60	NUM
alkej-978	371	3	]	]	PUNCT
alkej-978	371	4	uses	use	VERB
alkej-978	371	5	a	a	DET
alkej-978	371	6	3d	3d	ADJ
alkej-978	371	7	camera	camera	NOUN
alkej-978	371	8	to	to	PART
alkej-978	371	9	create	create	VERB
alkej-978	371	10	a	a	DET
alkej-978	371	11	heightmap	heightmap	NOUN
alkej-978	371	12	of	of	ADP
alkej-978	371	13	the	the	DET
alkej-978	371	14	conveyor	conveyor	NOUN
alkej-978	371	15	.	.	PUNCT
alkej-978	372	1	geometric	geometric	ADJ
alkej-978	372	2	algorithms	algorithm	NOUN
alkej-978	372	3	propose	propose	VERB
alkej-978	372	4	initial	initial	ADJ
alkej-978	372	5	gripping	gripping	ADJ
alkej-978	372	6	points	point	NOUN
alkej-978	372	7	.	.	PUNCT
alkej-978	373	1	machine	machine	NOUN
alkej-978	373	2	learning	learning	NOUN
alkej-978	373	3	refines	refine	VERB
alkej-978	373	4	the	the	DET
alkej-978	373	5	best	good	ADJ
alkej-978	373	6	picking	picking	NOUN
alkej-978	373	7	point	point	NOUN
alkej-978	373	8	.	.	PUNCT
alkej-978	374	1	extracts	extract	NOUN
alkej-978	374	2	object	object	VERB
alkej-978	374	3	dimensions	dimension	NOUN
alkej-978	374	4	from	from	ADP
alkej-978	374	5	the	the	DET
alkej-978	374	6	heightmap	heightmap	NOUN
alkej-978	374	7	data	datum	NOUN
alkej-978	374	8	provided	provide	VERB
alkej-978	374	9	by	by	ADP
alkej-978	374	10	the	the	DET
alkej-978	374	11	3d	3d	PROPN
alkej-978	374	12	camera	camera	NOUN
alkej-978	374	13	.	.	PUNCT
alkej-978	375	1	computes	compute	VERB
alkej-978	375	2	the	the	DET
alkej-978	375	3	object	object	NOUN
alkej-978	375	4	's	's	PART
alkej-978	375	5	location	location	NOUN
alkej-978	375	6	relative	relative	ADJ
alkej-978	375	7	to	to	ADP
alkej-978	375	8	the	the	DET
alkej-978	375	9	conveyor	conveyor	NOUN
alkej-978	375	10	using	use	VERB
alkej-978	375	11	the	the	DET
alkej-978	375	12	3d	3d	PROPN
alkej-978	375	13	heightmap	heightmap	NOUN
alkej-978	375	14	and	and	CCONJ
alkej-978	375	15	calibrated	calibrate	VERB
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alkej-978	375	17	of	of	ADP
alkej-978	375	18	the	the	DET
alkej-978	375	19	robot	robot	NOUN
alkej-978	375	20	's	's	PART
alkej-978	375	21	gripper	gripper	NOUN
alkej-978	375	22	.	.	PUNCT
alkej-978	376	1	wang	wang	PROPN
alkej-978	376	2	,	,	PUNCT
alkej-978	376	3	p	p	PROPN
alkej-978	376	4	et	et	PROPN
alkej-978	376	5	al	al	PROPN
alkej-978	376	6	.	.	PUNCT
alkej-978	377	1	[	[	X
alkej-978	377	2	40	40	NUM
alkej-978	377	3	]	]	PUNCT
alkej-978	377	4	employs	employ	VERB
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alkej-978	377	7	or	or	CCONJ
alkej-978	377	8	sensors	sensor	NOUN
alkej-978	377	9	to	to	PART
alkej-978	377	10	locate	locate	VERB
alkej-978	377	11	moving	move	VERB
alkej-978	377	12	objects	object	NOUN
alkej-978	377	13	.	.	PUNCT
alkej-978	378	1	tracks	track	VERB
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alkej-978	378	4	time	time	NOUN
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alkej-978	379	12	mathematical	mathematical	ADJ
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alkej-978	380	1	determines	determine	VERB
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alkej-978	380	5	on	on	ADP
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alkej-978	380	7	-	-	PUNCT
alkej-978	380	8	time	time	NOUN
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alkej-978	380	10	of	of	ADP
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alkej-978	380	14	vision	vision	NOUN
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alkej-978	380	16	sensors	sensor	NOUN
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alkej-978	380	18	with	with	ADP
alkej-978	380	19	trajectory	trajectory	NOUN
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alkej-978	381	1	hayder	hayder	PROPN
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alkej-978	381	3	saadi	saadi	PROPN
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alkej-978	381	5	-	-	PUNCT
alkej-978	381	6	khwarizmi	khwarizmi	PROPN
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alkej-978	381	8	journal	journal	PROPN
alkej-978	381	9	,	,	PUNCT
alkej-978	381	10	vol	vol	NOUN
alkej-978	381	11	.	.	PROPN
alkej-978	381	12	21	21	NUM
alkej-978	381	13	,	,	PUNCT
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alkej-978	381	15	,	,	PUNCT
alkej-978	381	16	pp	pp	X
alkej-978	381	17	.	.	PUNCT
alkej-978	381	18	106124	106124	NUM
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alkej-978	381	22	117	117	NUM
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alkej-978	381	25	karkhi	karkhi	PROPN
alkej-978	381	26	,	,	PUNCT
alkej-978	381	27	n.	n.	PROPN
alkej-978	381	28	k.et	k.et	PROPN
alkej-978	381	29	al	al	PROPN
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alkej-978	382	1	[	[	X
alkej-978	382	2	61	61	NUM
alkej-978	382	3	]	]	PUNCT
alkej-978	382	4	utilizes	utilize	VERB
alkej-978	382	5	a	a	DET
alkej-978	382	6	camera	camera	NOUN
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alkej-978	382	12	workpiece	workpiece	NOUN
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alkej-978	383	1	image	image	NOUN
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alkej-978	383	10	e.g.	e.g.	ADV
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alkej-978	383	17	-	-	PUNCT
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alkej-978	383	21	.	.	PUNCT
alkej-978	384	1	measures	measure	NOUN
alkej-978	384	2	dimensions	dimension	NOUN
alkej-978	384	3	by	by	ADP
alkej-978	384	4	converting	convert	VERB
alkej-978	384	5	image	image	NOUN
alkej-978	384	6	coordinates	coordinate	NOUN
alkej-978	384	7	to	to	ADP
alkej-978	384	8	real	real	ADJ
alkej-978	384	9	-	-	PUNCT
alkej-978	384	10	world	world	NOUN
alkej-978	384	11	dimensions	dimension	NOUN
alkej-978	384	12	using	use	VERB
alkej-978	384	13	intrinsic	intrinsic	ADJ
alkej-978	384	14	and	and	CCONJ
alkej-978	384	15	extrinsic	extrinsic	ADJ
alkej-978	384	16	camera	camera	NOUN
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alkej-978	384	18	.	.	PUNCT
alkej-978	385	1	uses	use	VERB
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alkej-978	385	9	image	image	NOUN
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alkej-978	385	11	to	to	PART
alkej-978	385	12	locate	locate	VERB
alkej-978	385	13	the	the	DET
alkej-978	385	14	target	target	NOUN
alkej-978	385	15	line	line	NOUN
alkej-978	385	16	relative	relative	ADJ
alkej-978	385	17	to	to	ADP
alkej-978	385	18	the	the	DET
alkej-978	385	19	camera	camera	NOUN
alkej-978	385	20	's	's	PART
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alkej-978	385	22	plane	plane	NOUN
alkej-978	385	23	.	.	PUNCT
alkej-978	386	1	cho	cho	PROPN
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alkej-978	386	3	j.et	j.et	PROPN
alkej-978	386	4	al	al	PROPN
alkej-978	386	5	.	.	PUNCT
alkej-978	387	1	[	[	X
alkej-978	387	2	62	62	NUM
alkej-978	387	3	]	]	PUNCT
alkej-978	387	4	uses	use	VERB
alkej-978	387	5	yolov3	yolov3	PROPN
alkej-978	387	6	-	-	PUNCT
alkej-978	387	7	tiny	tiny	ADJ
alkej-978	387	8	for	for	ADP
alkej-978	387	9	real	real	ADJ
alkej-978	387	10	-	-	PUNCT
alkej-978	387	11	time	time	NOUN
alkej-978	387	12	detection	detection	NOUN
alkej-978	387	13	the	the	DET
alkej-978	387	14	ids	id	NOUN
alkej-978	387	15	algorithm	algorithm	NOUN
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alkej-978	387	17	precise	precise	ADJ
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alkej-978	387	32	j.et	j.et	PROPN
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alkej-978	388	1	[	[	X
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alkej-978	388	8	multilvs	multilvs	NOUN
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alkej-978	388	12	in	in	ADP
alkej-978	388	13	the	the	DET
alkej-978	388	14	work	work	NOUN
alkej-978	388	15	area	area	NOUN
alkej-978	388	16	detailed	detailed	ADJ
alkej-978	388	17	measurement	measurement	NOUN
alkej-978	388	18	using	use	VERB
alkej-978	388	19	local	local	ADJ
alkej-978	388	20	-	-	PUNCT
alkej-978	388	21	lvs	lvs	NOUN
alkej-978	388	22	,	,	PUNCT
alkej-978	388	23	approximations	approximation	NOUN
alkej-978	388	24	via	via	ADP
alkej-978	388	25	nurbs	nurbs	NOUN
alkej-978	388	26	curves	curve	NOUN
alkej-978	388	27	position	position	NOUN
alkej-978	388	28	and	and	CCONJ
alkej-978	388	29	curvature	curvature	NOUN
alkej-978	388	30	derived	derive	VERB
alkej-978	388	31	from	from	ADP
alkej-978	388	32	3d	3d	NUM
alkej-978	388	33	surface	surface	NOUN
alkej-978	388	34	approximations	approximation	NOUN
alkej-978	388	35	tran	tran	VERB
alkej-978	388	36	,	,	PUNCT
alkej-978	388	37	h.n.et	h.n.et	VERB
alkej-978	388	38	al	al	PROPN
alkej-978	388	39	.	.	PUNCT
alkej-978	389	1	[	[	X
alkej-978	389	2	64	64	NUM
alkej-978	389	3	]	]	PUNCT
alkej-978	389	4	analysis	analysis	NOUN
alkej-978	389	5	of	of	ADP
alkej-978	389	6	images	image	NOUN
alkej-978	389	7	captured	capture	VERB
alkej-978	389	8	by	by	ADP
alkej-978	389	9	a	a	DET
alkej-978	389	10	camera	camera	NOUN
alkej-978	389	11	,	,	PUNCT
alkej-978	389	12	using	use	VERB
alkej-978	389	13	thresholds	threshold	NOUN
alkej-978	389	14	for	for	ADP
alkej-978	389	15	color	color	NOUN
alkej-978	389	16	detection	detection	NOUN
alkej-978	389	17	and	and	CCONJ
alkej-978	389	18	edge	edge	VERB
alkej-978	389	19	contour	contour	NOUN
alkej-978	389	20	analysis	analysis	NOUN
alkej-978	389	21	simplifies	simplifie	NOUN
alkej-978	389	22	object	object	VERB
alkej-978	389	23	shapes	shape	NOUN
alkej-978	389	24	into	into	ADP
alkej-978	389	25	polygons	polygon	NOUN
alkej-978	389	26	based	base	VERB
alkej-978	389	27	on	on	ADP
alkej-978	389	28	edges	edge	NOUN
alkej-978	389	29	calculates	calculate	VERB
alkej-978	389	30	the	the	DET
alkej-978	389	31	center	center	NOUN
alkej-978	389	32	of	of	ADP
alkej-978	389	33	mass	mass	NOUN
alkej-978	389	34	and	and	CCONJ
alkej-978	389	35	angle	angle	NOUN
alkej-978	389	36	from	from	ADP
alkej-978	389	37	polygon	polygon	PROPN
alkej-978	389	38	vertices	vertice	VERB
alkej-978	389	39	6	6	NUM
alkej-978	389	40	.	.	PUNCT
alkej-978	389	41	system	system	NOUN
alkej-978	389	42	performance	performance	NOUN
alkej-978	389	43	criteria	criterion	NOUN
alkej-978	389	44	modern	modern	ADJ
alkej-978	389	45	-	-	PUNCT
alkej-978	389	46	age	age	NOUN
alkej-978	389	47	robotic	robotic	ADJ
alkej-978	389	48	systems	system	NOUN
alkej-978	389	49	are	be	AUX
alkej-978	389	50	crucial	crucial	ADJ
alkej-978	389	51	for	for	ADP
alkej-978	389	52	enhancing	enhance	VERB
alkej-978	389	53	the	the	DET
alkej-978	389	54	efficiency	efficiency	NOUN
alkej-978	389	55	and	and	CCONJ
alkej-978	389	56	performance	performance	NOUN
alkej-978	389	57	correctness	correctness	NOUN
alkej-978	389	58	of	of	ADP
alkej-978	389	59	different	different	ADJ
alkej-978	389	60	industrial	industrial	ADJ
alkej-978	389	61	tasks	task	NOUN
alkej-978	389	62	.	.	PUNCT
alkej-978	390	1	however	however	ADV
alkej-978	390	2	,	,	PUNCT
alkej-978	390	3	these	these	DET
alkej-978	390	4	systems	system	NOUN
alkej-978	390	5	entail	entail	VERB
alkej-978	390	6	trade	trade	NOUN
alkej-978	390	7	-	-	PUNCT
alkej-978	390	8	offs	off	NOUN
alkej-978	390	9	in	in	ADP
alkej-978	390	10	terms	term	NOUN
alkej-978	390	11	of	of	ADP
alkej-978	390	12	reliability	reliability	NOUN
alkej-978	390	13	,	,	PUNCT
alkej-978	390	14	throughput	throughput	NOUN
alkej-978	390	15	,	,	PUNCT
alkej-978	390	16	price	price	NOUN
alkej-978	390	17	and	and	CCONJ
alkej-978	390	18	power	power	NOUN
alkej-978	390	19	draw	draw	NOUN
alkej-978	390	20	,	,	PUNCT
alkej-978	390	21	so	so	CCONJ
alkej-978	390	22	the	the	DET
alkej-978	390	23	choice	choice	NOUN
alkej-978	390	24	of	of	ADP
alkej-978	390	25	which	which	PRON
alkej-978	390	26	is	be	AUX
alkej-978	390	27	ideal	ideal	ADJ
alkej-978	390	28	for	for	ADP
alkej-978	390	29	a	a	DET
alkej-978	390	30	given	give	VERB
alkej-978	390	31	application	application	NOUN
alkej-978	390	32	tends	tend	VERB
alkej-978	390	33	to	to	PART
alkej-978	390	34	be	be	AUX
alkej-978	390	35	highly	highly	ADV
alkej-978	390	36	application	application	NOUN
alkej-978	390	37	specific	specific	ADJ
alkej-978	391	1	[	[	X
alkej-978	391	2	68	68	NUM
alkej-978	391	3	]	]	PUNCT
alkej-978	391	4	.	.	PUNCT
alkej-978	392	1	a	a	DET
alkej-978	392	2	comparison	comparison	NOUN
alkej-978	392	3	of	of	ADP
alkej-978	392	4	several	several	ADJ
alkej-978	392	5	robotic	robotic	ADJ
alkej-978	392	6	systems	system	NOUN
alkej-978	392	7	in	in	ADP
alkej-978	392	8	terms	term	NOUN
alkej-978	392	9	of	of	ADP
alkej-978	392	10	important	important	ADJ
alkej-978	392	11	parameters	parameter	NOUN
alkej-978	392	12	,	,	PUNCT
alkej-978	392	13	such	such	ADJ
alkej-978	392	14	as	as	ADP
alkej-978	392	15	accuracy	accuracy	NOUN
alkej-978	392	16	,	,	PUNCT
alkej-978	392	17	speed	speed	NOUN
alkej-978	392	18	,	,	PUNCT
alkej-978	392	19	cost	cost	NOUN
alkej-978	392	20	and	and	CCONJ
alkej-978	392	21	energy	energy	NOUN
alkej-978	392	22	efficiency	efficiency	NOUN
alkej-978	392	23	,	,	PUNCT
alkej-978	392	24	is	be	AUX
alkej-978	392	25	provided	provide	VERB
alkej-978	392	26	as	as	SCONJ
alkej-978	392	27	follows	follow	VERB
alkej-978	392	28	:	:	PUNCT
alkej-978	392	29	1with	1with	NUM
alkej-978	392	30	regard	regard	NOUN
alkej-978	392	31	to	to	ADP
alkej-978	392	32	systems	system	NOUN
alkej-978	392	33	used	use	VERB
alkej-978	392	34	for	for	ADP
alkej-978	392	35	precision	precision	NOUN
alkej-978	392	36	applications	application	NOUN
alkej-978	392	37	,	,	PUNCT
alkej-978	392	38	such	such	ADJ
alkej-978	392	39	as	as	ADP
alkej-978	392	40	micro	micro	NOUN
alkej-978	392	41	-	-	NOUN
alkej-978	392	42	assembly	assembly	NOUN
alkej-978	392	43	,	,	PUNCT
alkej-978	392	44	chengyen	chengyen	NOUN
alkej-978	392	45	chen	chen	PROPN
alkej-978	393	1	[	[	X
alkej-978	393	2	20	20	NUM
alkej-978	393	3	]	]	PUNCT
alkej-978	393	4	studied	study	VERB
alkej-978	393	5	ways	way	NOUN
alkej-978	393	6	to	to	PART
alkej-978	393	7	improve	improve	VERB
alkej-978	393	8	positioning	positioning	NOUN
alkej-978	393	9	accuracy	accuracy	NOUN
alkej-978	393	10	in	in	ADP
alkej-978	393	11	bridge	bridge	NOUN
alkej-978	393	12	systems	system	NOUN
alkej-978	393	13	.	.	PUNCT
alkej-978	394	1	laser	laser	NOUN
alkej-978	394	2	doppler	doppler	NOUN
alkej-978	394	3	displacement	displacement	NOUN
alkej-978	394	4	measurement	measurement	NOUN
alkej-978	394	5	techniques	technique	NOUN
alkej-978	394	6	were	be	AUX
alkej-978	394	7	used	use	VERB
alkej-978	394	8	to	to	PART
alkej-978	394	9	identify	identify	VERB
alkej-978	394	10	spatial	spatial	ADJ
alkej-978	394	11	errors	error	NOUN
alkej-978	394	12	,	,	PUNCT
alkej-978	394	13	and	and	CCONJ
alkej-978	394	14	compensation	compensation	NOUN
alkej-978	394	15	logic	logic	NOUN
alkej-978	394	16	on	on	ADP
alkej-978	394	17	the	the	DET
alkej-978	394	18	basis	basis	NOUN
alkej-978	394	19	of	of	ADP
alkej-978	394	20	a	a	DET
alkej-978	394	21	b	b	NOUN
alkej-978	394	22	-	-	PUNCT
alkej-978	394	23	spline	spline	NOUN
alkej-978	394	24	command	command	NOUN
alkej-978	394	25	generator	generator	PROPN
alkej-978	394	26	was	be	AUX
alkej-978	394	27	developed	develop	VERB
alkej-978	394	28	.	.	PUNCT
alkej-978	395	1	the	the	DET
alkej-978	395	2	outcome	outcome	NOUN
alkej-978	395	3	was	be	AUX
alkej-978	395	4	50	50	NUM
alkej-978	395	5	%	%	NOUN
alkej-978	395	6	more	more	ADV
alkej-978	395	7	accurate	accurate	ADJ
alkej-978	395	8	than	than	ADP
alkej-978	395	9	the	the	DET
alkej-978	395	10	standard	standard	ADJ
alkej-978	395	11	outcome	outcome	NOUN
alkej-978	395	12	of	of	ADP
alkej-978	395	13	±3	±3	ADJ
alkej-978	395	14	µm	µm	NOUN
alkej-978	395	15	.	.	PUNCT
alkej-978	396	1	given	give	VERB
alkej-978	396	2	the	the	DET
alkej-978	396	3	use	use	NOUN
alkej-978	396	4	of	of	ADP
alkej-978	396	5	advanced	advanced	ADJ
alkej-978	396	6	technologies	technology	NOUN
alkej-978	396	7	,	,	PUNCT
alkej-978	396	8	this	this	DET
alkej-978	396	9	approach	approach	NOUN
alkej-978	396	10	has	have	VERB
alkej-978	396	11	a	a	DET
alkej-978	396	12	high	high	ADJ
alkej-978	396	13	initial	initial	ADJ
alkej-978	396	14	cost	cost	NOUN
alkej-978	396	15	but	but	CCONJ
alkej-978	396	16	offers	offer	VERB
alkej-978	396	17	high	high	ADJ
alkej-978	396	18	energy	energy	NOUN
alkej-978	396	19	efficiency	efficiency	NOUN
alkej-978	396	20	with	with	ADP
alkej-978	396	21	permanent	permanent	ADJ
alkej-978	396	22	magnet	magnet	NOUN
alkej-978	396	23	motors	motor	NOUN
alkej-978	396	24	.	.	PUNCT
alkej-978	397	1	2sharath	2sharath	NUM
alkej-978	397	2	et	et	NOUN
alkej-978	397	3	al	al	PROPN
alkej-978	397	4	.	.	PUNCT
alkej-978	398	1	[	[	X
alkej-978	398	2	3	3	X
alkej-978	398	3	]	]	PUNCT
alkej-978	398	4	highlighted	highlight	VERB
alkej-978	398	5	that	that	SCONJ
alkej-978	398	6	the	the	DET
alkej-978	398	7	arduinobased	arduinobase	VERB
alkej-978	398	8	gantry	gantry	NOUN
alkej-978	398	9	robot	robot	NOUN
alkej-978	398	10	achieves	achieve	VERB
alkej-978	398	11	an	an	DET
alkej-978	398	12	accuracy	accuracy	NOUN
alkej-978	398	13	of	of	ADP
alkej-978	398	14	only	only	ADJ
alkej-978	398	15	85%–90	85%–90	NUM
alkej-978	398	16	%	%	NOUN
alkej-978	398	17	;	;	PUNCT
alkej-978	398	18	it	it	PRON
alkej-978	398	19	is	be	AUX
alkej-978	398	20	limited	limit	VERB
alkej-978	398	21	by	by	ADP
alkej-978	398	22	the	the	DET
alkej-978	398	23	precision	precision	NOUN
alkej-978	398	24	of	of	ADP
alkej-978	398	25	the	the	DET
alkej-978	398	26	stepper	stepper	NOUN
alkej-978	398	27	motors	motor	NOUN
alkej-978	398	28	and	and	CCONJ
alkej-978	398	29	the	the	DET
alkej-978	398	30	computational	computational	ADJ
alkej-978	398	31	capacity	capacity	NOUN
alkej-978	398	32	of	of	ADP
alkej-978	398	33	the	the	DET
alkej-978	398	34	arduino	arduino	NOUN
alkej-978	398	35	mega	mega	VERB
alkej-978	398	36	2560	2560	NUM
alkej-978	398	37	microcontroller	microcontroller	NOUN
alkej-978	398	38	.	.	PUNCT
alkej-978	399	1	its	its	PRON
alkej-978	399	2	velocity	velocity	NOUN
alkej-978	399	3	is	be	AUX
alkej-978	399	4	moderate	moderate	ADJ
alkej-978	399	5	,	,	PUNCT
alkej-978	399	6	which	which	PRON
alkej-978	399	7	is	be	AUX
alkej-978	399	8	suitable	suitable	ADJ
alkej-978	399	9	for	for	ADP
alkej-978	399	10	minor	minor	ADJ
alkej-978	399	11	tasks	task	NOUN
alkej-978	399	12	.	.	PUNCT
alkej-978	400	1	this	this	DET
alkej-978	400	2	system	system	NOUN
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alkej-978	400	4	economical	economical	ADJ
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alkej-978	400	6	of	of	ADP
alkej-978	400	7	the	the	DET
alkej-978	400	8	use	use	NOUN
alkej-978	400	9	of	of	ADP
alkej-978	400	10	readily	readily	ADV
alkej-978	400	11	accessible	accessible	ADJ
alkej-978	400	12	components	component	NOUN
alkej-978	400	13	and	and	CCONJ
alkej-978	400	14	simple	simple	ADJ
alkej-978	400	15	hardware	hardware	NOUN
alkej-978	400	16	.	.	PUNCT
alkej-978	401	1	energy	energy	NOUN
alkej-978	401	2	consumption	consumption	NOUN
alkej-978	401	3	is	be	AUX
alkej-978	401	4	negligible	negligible	ADJ
alkej-978	401	5	because	because	SCONJ
alkej-978	401	6	of	of	ADP
alkej-978	401	7	the	the	DET
alkej-978	401	8	use	use	NOUN
alkej-978	401	9	of	of	ADP
alkej-978	401	10	lightweight	lightweight	ADJ
alkej-978	401	11	materials	material	NOUN
alkej-978	401	12	and	and	CCONJ
alkej-978	401	13	low	low	ADJ
alkej-978	401	14	-	-	PUNCT
alkej-978	401	15	power	power	NOUN
alkej-978	401	16	components	component	NOUN
alkej-978	401	17	.	.	PUNCT
alkej-978	402	1	3vall	3vall	NUM
alkej-978	402	2	et	et	NOUN
alkej-978	402	3	al	al	PROPN
alkej-978	402	4	.	.	PUNCT
alkej-978	403	1	[	[	X
alkej-978	403	2	19	19	NUM
alkej-978	403	3	]	]	PUNCT
alkej-978	403	4	worked	work	VERB
alkej-978	403	5	on	on	ADP
alkej-978	403	6	a	a	DET
alkej-978	403	7	bridge	bridge	NOUN
alkej-978	403	8	robot	robot	NOUN
alkej-978	403	9	design	design	NOUN
alkej-978	403	10	that	that	PRON
alkej-978	403	11	uses	use	VERB
alkej-978	403	12	linear	linear	PROPN
alkej-978	403	13	motors	motor	NOUN
alkej-978	403	14	and	and	CCONJ
alkej-978	403	15	inductive	inductive	ADJ
alkej-978	403	16	sensors	sensor	NOUN
alkej-978	403	17	,	,	PUNCT
alkej-978	403	18	resulting	result	VERB
alkej-978	403	19	in	in	ADP
alkej-978	403	20	high	high	ADJ
alkej-978	403	21	precision	precision	NOUN
alkej-978	403	22	and	and	CCONJ
alkej-978	403	23	safety	safety	NOUN
alkej-978	403	24	.	.	PUNCT
alkej-978	404	1	the	the	DET
alkej-978	404	2	design	design	NOUN
alkej-978	404	3	is	be	AUX
alkej-978	404	4	responsive	responsive	ADJ
alkej-978	404	5	to	to	ADP
alkej-978	404	6	the	the	DET
alkej-978	404	7	requirements	requirement	NOUN
alkej-978	404	8	of	of	ADP
alkej-978	404	9	tasks	task	NOUN
alkej-978	404	10	with	with	ADP
alkej-978	404	11	a	a	DET
alkej-978	404	12	high	high	ADJ
alkej-978	404	13	applied	apply	VERB
alkej-978	404	14	speed	speed	NOUN
alkej-978	404	15	,	,	PUNCT
alkej-978	404	16	with	with	ADP
alkej-978	404	17	its	its	PRON
alkej-978	404	18	maximum	maximum	ADJ
alkej-978	404	19	speed	speed	NOUN
alkej-978	404	20	of	of	ADP
alkej-978	404	21	6,000	6,000	NUM
alkej-978	404	22	mm	mm	NOUN
alkej-978	404	23	/	/	SYM
alkej-978	404	24	s.	s.	PROPN
alkej-978	404	25	the	the	DET
alkej-978	404	26	system	system	NOUN
alkej-978	404	27	is	be	AUX
alkej-978	404	28	expensive	expensive	ADJ
alkej-978	404	29	to	to	PART
alkej-978	404	30	install	install	VERB
alkej-978	404	31	,	,	PUNCT
alkej-978	404	32	but	but	CCONJ
alkej-978	404	33	because	because	SCONJ
alkej-978	404	34	of	of	ADP
alkej-978	404	35	its	its	PRON
alkej-978	404	36	energy	energy	NOUN
alkej-978	404	37	conservation	conservation	NOUN
alkej-978	404	38	and	and	CCONJ
alkej-978	404	39	low	low	ADJ
alkej-978	404	40	maintenance	maintenance	NOUN
alkej-978	404	41	,	,	PUNCT
alkej-978	404	42	it	it	PRON
alkej-978	404	43	could	could	AUX
alkej-978	404	44	provide	provide	VERB
alkej-978	404	45	cost	cost	NOUN
alkej-978	404	46	savings	saving	NOUN
alkej-978	404	47	after	after	ADP
alkej-978	404	48	some	some	DET
alkej-978	404	49	time	time	NOUN
alkej-978	404	50	.	.	PUNCT
alkej-978	405	1	4	4	NUM
alkej-978	405	2	thatere	thatere	ADP
alkej-978	405	3	et	et	PROPN
alkej-978	405	4	al	al	PROPN
alkej-978	405	5	.	.	PUNCT
alkej-978	406	1	[	[	X
alkej-978	406	2	12	12	NUM
alkej-978	406	3	]	]	PUNCT
alkej-978	406	4	presented	present	VERB
alkej-978	406	5	a	a	DET
alkej-978	406	6	controlled	control	VERB
alkej-978	406	7	scenario	scenario	NOUN
alkej-978	406	8	where	where	SCONJ
alkej-978	406	9	human	human	NOUN
alkej-978	406	10	-	-	PUNCT
alkej-978	406	11	like	like	ADJ
alkej-978	406	12	accuracy	accuracy	NOUN
alkej-978	406	13	is	be	AUX
alkej-978	406	14	obtained	obtain	VERB
alkej-978	406	15	through	through	ADP
alkej-978	406	16	proximity	proximity	NOUN
alkej-978	406	17	sensors	sensor	NOUN
alkej-978	406	18	;	;	PUNCT
alkej-978	406	19	however	however	ADV
alkej-978	406	20	,	,	PUNCT
alkej-978	406	21	the	the	DET
alkej-978	406	22	exact	exact	ADJ
alkej-978	406	23	numbers	number	NOUN
alkej-978	406	24	were	be	AUX
alkej-978	406	25	not	not	PART
alkej-978	406	26	given	give	VERB
alkej-978	406	27	.	.	PUNCT
alkej-978	407	1	the	the	DET
alkej-978	407	2	presented	present	VERB
alkej-978	407	3	system	system	NOUN
alkej-978	407	4	has	have	VERB
alkej-978	407	5	slow	slow	ADJ
alkej-978	407	6	motion	motion	NOUN
alkej-978	407	7	and	and	CCONJ
alkej-978	407	8	uses	use	VERB
alkej-978	407	9	200	200	NUM
alkej-978	407	10	rpm	rpm	PROPN
alkej-978	407	11	dc	dc	PROPN
alkej-978	407	12	motors	motors	PROPN
alkej-978	407	13	,	,	PUNCT
alkej-978	407	14	which	which	PRON
alkej-978	407	15	are	be	AUX
alkej-978	407	16	typically	typically	ADV
alkej-978	407	17	utilised	utilise	VERB
alkej-978	407	18	in	in	ADP
alkej-978	407	19	elementary	elementary	ADJ
alkej-978	407	20	pick	pick	VERB
alkej-978	407	21	-	-	PUNCT
alkej-978	407	22	and	and	CCONJ
alkej-978	407	23	-	-	PUNCT
alkej-978	407	24	place	place	NOUN
alkej-978	407	25	operations	operation	NOUN
alkej-978	407	26	.	.	PUNCT
alkej-978	408	1	by	by	ADP
alkej-978	408	2	employing	employ	VERB
alkej-978	408	3	common	common	ADJ
alkej-978	408	4	components	component	NOUN
alkej-978	408	5	and	and	CCONJ
alkej-978	408	6	consuming	consume	VERB
alkej-978	408	7	the	the	DET
alkej-978	408	8	least	least	ADJ
alkej-978	408	9	energy	energy	NOUN
alkej-978	408	10	possible	possible	ADJ
alkej-978	408	11	(	(	PUNCT
alkej-978	408	12	the	the	DET
alkej-978	408	13	system	system	NOUN
alkej-978	408	14	depends	depend	VERB
alkej-978	408	15	on	on	ADP
alkej-978	408	16	low	low	ADJ
alkej-978	408	17	-	-	PUNCT
alkej-978	408	18	power	power	NOUN
alkej-978	408	19	motors	motor	NOUN
alkej-978	408	20	and	and	CCONJ
alkej-978	408	21	pneumatic	pneumatic	ADJ
alkej-978	408	22	systems	system	NOUN
alkej-978	408	23	)	)	PUNCT
alkej-978	408	24	,	,	PUNCT
alkej-978	408	25	the	the	DET
alkej-978	408	26	technology	technology	NOUN
alkej-978	408	27	is	be	AUX
alkej-978	408	28	economically	economically	ADV
alkej-978	408	29	efficient	efficient	ADJ
alkej-978	408	30	.	.	PUNCT
alkej-978	409	1	5freeman	5freeman	NUM
alkej-978	409	2	et	et	NOUN
alkej-978	409	3	al	al	PROPN
alkej-978	409	4	.	.	PUNCT
alkej-978	410	1	[	[	X
alkej-978	410	2	26	26	NUM
alkej-978	410	3	]	]	PUNCT
alkej-978	410	4	demonstrated	demonstrate	VERB
alkej-978	410	5	that	that	SCONJ
alkej-978	410	6	by	by	ADP
alkej-978	410	7	using	use	VERB
alkej-978	410	8	iterative	iterative	NOUN
alkej-978	410	9	learning	learning	NOUN
alkej-978	410	10	control	control	NOUN
alkej-978	410	11	(	(	PUNCT
alkej-978	410	12	ilc	ilc	PROPN
alkej-978	410	13	)	)	PUNCT
alkej-978	410	14	to	to	PART
alkej-978	410	15	reduce	reduce	VERB
alkej-978	410	16	errors	error	NOUN
alkej-978	410	17	in	in	ADP
alkej-978	410	18	task	task	NOUN
alkej-978	410	19	repetition	repetition	NOUN
alkej-978	410	20	,	,	PUNCT
alkej-978	410	21	the	the	DET
alkej-978	410	22	system	system	NOUN
alkej-978	410	23	can	can	AUX
alkej-978	410	24	achieve	achieve	VERB
alkej-978	410	25	an	an	DET
alkej-978	410	26	accuracy	accuracy	NOUN
alkej-978	410	27	of	of	ADP
alkej-978	410	28	over	over	ADP
alkej-978	410	29	99	99	NUM
alkej-978	410	30	%	%	NOUN
alkej-978	410	31	.	.	PUNCT
alkej-978	411	1	the	the	DET
alkej-978	411	2	speed	speed	NOUN
alkej-978	411	3	is	be	AUX
alkej-978	411	4	extremely	extremely	ADV
alkej-978	411	5	high	high	ADJ
alkej-978	411	6	due	due	ADP
alkej-978	411	7	to	to	ADP
alkej-978	411	8	the	the	DET
alkej-978	411	9	optimisation	optimisation	NOUN
alkej-978	411	10	of	of	ADP
alkej-978	411	11	the	the	DET
alkej-978	411	12	motion	motion	NOUN
alkej-978	411	13	trajectories	trajectory	NOUN
alkej-978	411	14	.	.	PUNCT
alkej-978	412	1	however	however	ADV
alkej-978	412	2	,	,	PUNCT
alkej-978	412	3	the	the	DET
alkej-978	412	4	costs	cost	NOUN
alkej-978	412	5	are	be	AUX
alkej-978	412	6	high	high	ADJ
alkej-978	412	7	because	because	SCONJ
alkej-978	412	8	of	of	ADP
alkej-978	412	9	the	the	DET
alkej-978	412	10	difficulties	difficulty	NOUN
alkej-978	412	11	in	in	ADP
alkej-978	412	12	implementing	implement	VERB
alkej-978	412	13	ilc	ilc	PROPN
alkej-978	412	14	,	,	PUNCT
alkej-978	412	15	but	but	CCONJ
alkej-978	412	16	the	the	DET
alkej-978	412	17	energy	energy	NOUN
alkej-978	412	18	consumption	consumption	NOUN
alkej-978	412	19	is	be	AUX
alkej-978	412	20	efficient	efficient	ADJ
alkej-978	412	21	because	because	SCONJ
alkej-978	412	22	unnecessary	unnecessary	ADJ
alkej-978	412	23	movements	movement	NOUN
alkej-978	412	24	were	be	AUX
alkej-978	412	25	minimised	minimise	VERB
alkej-978	412	26	.	.	PUNCT
alkej-978	413	1	6kujala	6kujala	NUM
alkej-978	413	2	et	et	NOUN
alkej-978	413	3	al	al	PROPN
alkej-978	413	4	.	.	PUNCT
alkej-978	414	1	[	[	X
alkej-978	414	2	27	27	NUM
alkej-978	414	3	]	]	PUNCT
alkej-978	414	4	presented	present	VERB
alkej-978	414	5	a	a	DET
alkej-978	414	6	system	system	NOUN
alkej-978	414	7	that	that	PRON
alkej-978	414	8	is	be	AUX
alkej-978	414	9	only	only	ADV
alkej-978	414	10	87.5	87.5	NUM
alkej-978	414	11	%	%	NOUN
alkej-978	414	12	accurate	accurate	ADJ
alkej-978	414	13	at	at	ADP
alkej-978	414	14	first	first	ADV
alkej-978	414	15	;	;	PUNCT
alkej-978	414	16	then	then	ADV
alkej-978	414	17	it	it	PRON
alkej-978	414	18	improves	improve	VERB
alkej-978	414	19	through	through	ADP
alkej-978	414	20	hayder	hayder	PROPN
alkej-978	414	21	ali	ali	PROPN
alkej-978	414	22	saadi	saadi	PROPN
alkej-978	414	23	al	al	PROPN
alkej-978	414	24	-	-	PUNCT
alkej-978	414	25	khwarizmi	khwarizmi	PROPN
alkej-978	414	26	engineering	engineering	NOUN
alkej-978	414	27	journal	journal	PROPN
alkej-978	414	28	,	,	PUNCT
alkej-978	414	29	vol	vol	NOUN
alkej-978	414	30	.	.	PROPN
alkej-978	414	31	21	21	NUM
alkej-978	414	32	,	,	PUNCT
alkej-978	414	33	no.4	no.4	PROPN
alkej-978	414	34	,	,	PUNCT
alkej-978	414	35	pp	pp	X
alkej-978	414	36	.	.	PUNCT
alkej-978	415	1	106124	106124	NUM
alkej-978	415	2	(	(	PUNCT
alkej-978	415	3	2025	2025	NUM
alkej-978	415	4	)	)	PUNCT
alkej-978	415	5	118	118	NUM
alkej-978	415	6	machine	machine	NOUN
alkej-978	415	7	learning	learning	NOUN
alkej-978	415	8	.	.	PUNCT
alkej-978	416	1	this	this	DET
alkej-978	416	2	unit	unit	NOUN
alkej-978	416	3	performs	perform	VERB
alkej-978	416	4	very	very	ADV
alkej-978	416	5	fast	fast	ADJ
alkej-978	416	6	work	work	NOUN
alkej-978	416	7	,	,	PUNCT
alkej-978	416	8	changing	change	VERB
alkej-978	416	9	or	or	CCONJ
alkej-978	416	10	selecting	select	VERB
alkej-978	416	11	in	in	ADP
alkej-978	416	12	under	under	ADP
alkej-978	416	13	1.8	1.8	NUM
alkej-978	416	14	seconds	second	NOUN
alkej-978	416	15	.	.	PUNCT
alkej-978	417	1	although	although	SCONJ
alkej-978	417	2	it	it	PRON
alkej-978	417	3	is	be	AUX
alkej-978	417	4	flexible	flexible	ADJ
alkej-978	417	5	,	,	PUNCT
alkej-978	417	6	its	its	PRON
alkej-978	417	7	costs	cost	NOUN
alkej-978	417	8	and	and	CCONJ
alkej-978	417	9	energy	energy	NOUN
alkej-978	417	10	consumption	consumption	NOUN
alkej-978	417	11	are	be	AUX
alkej-978	417	12	high	high	ADJ
alkej-978	417	13	because	because	SCONJ
alkej-978	417	14	it	it	PRON
alkej-978	417	15	depends	depend	VERB
alkej-978	417	16	on	on	ADP
alkej-978	417	17	advanced	advanced	ADJ
alkej-978	417	18	computer	computer	NOUN
alkej-978	417	19	resources	resource	NOUN
alkej-978	417	20	and	and	CCONJ
alkej-978	417	21	continuous	continuous	ADJ
alkej-978	417	22	learning	learning	NOUN
alkej-978	417	23	processes	process	NOUN
alkej-978	417	24	.	.	PUNCT
alkej-978	418	1	7shang	7shang	NUM
alkej-978	418	2	and	and	CCONJ
alkej-978	418	3	wang	wang	PROPN
alkej-978	419	1	[	[	X
alkej-978	419	2	7	7	X
alkej-978	419	3	]	]	PUNCT
alkej-978	419	4	explored	explore	VERB
alkej-978	419	5	a	a	DET
alkej-978	419	6	mechanism	mechanism	NOUN
alkej-978	419	7	that	that	PRON
alkej-978	419	8	leads	lead	VERB
alkej-978	419	9	to	to	ADP
alkej-978	419	10	an	an	DET
alkej-978	419	11	increase	increase	NOUN
alkej-978	419	12	of	of	ADP
alkej-978	419	13	72.3	72.3	NUM
alkej-978	419	14	%	%	NOUN
alkej-978	419	15	in	in	ADP
alkej-978	419	16	calibration	calibration	NOUN
alkej-978	419	17	accuracy	accuracy	NOUN
alkej-978	419	18	.	.	PUNCT
alkej-978	420	1	the	the	DET
alkej-978	420	2	system	system	NOUN
alkej-978	420	3	works	work	VERB
alkej-978	420	4	at	at	ADP
alkej-978	420	5	an	an	DET
alkej-978	420	6	average	average	ADJ
alkej-978	420	7	speed	speed	NOUN
alkej-978	420	8	because	because	SCONJ
alkej-978	420	9	it	it	PRON
alkej-978	420	10	can	can	AUX
alkej-978	420	11	process	process	VERB
alkej-978	420	12	seven	seven	NUM
alkej-978	420	13	images	image	NOUN
alkej-978	420	14	in	in	ADP
alkej-978	420	15	a	a	DET
alkej-978	420	16	second	second	NOUN
alkej-978	420	17	.	.	PUNCT
alkej-978	421	1	the	the	DET
alkej-978	421	2	costs	cost	NOUN
alkej-978	421	3	are	be	AUX
alkej-978	421	4	low	low	ADJ
alkej-978	421	5	because	because	SCONJ
alkej-978	421	6	minimal	minimal	ADJ
alkej-978	421	7	maintenance	maintenance	NOUN
alkej-978	421	8	is	be	AUX
alkej-978	421	9	required	require	VERB
alkej-978	421	10	as	as	ADP
alkej-978	421	11	a	a	DET
alkej-978	421	12	result	result	NOUN
alkej-978	421	13	of	of	ADP
alkej-978	421	14	accurate	accurate	ADJ
alkej-978	421	15	calibration	calibration	NOUN
alkej-978	421	16	,	,	PUNCT
alkej-978	421	17	and	and	CCONJ
alkej-978	421	18	the	the	DET
alkej-978	421	19	power	power	NOUN
alkej-978	421	20	consumption	consumption	NOUN
alkej-978	421	21	is	be	AUX
alkej-978	421	22	moderate	moderate	ADJ
alkej-978	421	23	because	because	SCONJ
alkej-978	421	24	the	the	DET
alkej-978	421	25	system	system	NOUN
alkej-978	421	26	is	be	AUX
alkej-978	421	27	optimised	optimise	VERB
alkej-978	421	28	through	through	ADP
alkej-978	421	29	the	the	DET
alkej-978	421	30	elimination	elimination	NOUN
alkej-978	421	31	of	of	ADP
alkej-978	421	32	unnecessary	unnecessary	ADJ
alkej-978	421	33	movements	movement	NOUN
alkej-978	421	34	.	.	PUNCT
alkej-978	422	1	8wang	8wang	NUM
alkej-978	422	2	et	et	NOUN
alkej-978	422	3	al	al	PROPN
alkej-978	422	4	.	.	PUNCT
alkej-978	423	1	[	[	X
alkej-978	423	2	40	40	NUM
alkej-978	423	3	]	]	PUNCT
alkej-978	423	4	reported	report	VERB
alkej-978	423	5	that	that	SCONJ
alkej-978	423	6	the	the	DET
alkej-978	423	7	method	method	NOUN
alkej-978	423	8	in	in	ADP
alkej-978	423	9	question	question	NOUN
alkej-978	423	10	achieves	achieve	VERB
alkej-978	423	11	a	a	DET
alkej-978	423	12	phenomenal	phenomenal	ADJ
alkej-978	423	13	99.8	99.8	NUM
alkej-978	423	14	%	%	NOUN
alkej-978	423	15	accuracy	accuracy	NOUN
alkej-978	423	16	in	in	ADP
alkej-978	423	17	the	the	DET
alkej-978	423	18	localisation	localisation	NOUN
alkej-978	423	19	and	and	CCONJ
alkej-978	423	20	sorting	sorting	NOUN
alkej-978	423	21	of	of	ADP
alkej-978	423	22	objects	object	NOUN
alkej-978	423	23	.	.	PUNCT
alkej-978	424	1	the	the	DET
alkej-978	424	2	speed	speed	NOUN
alkej-978	424	3	is	be	AUX
alkej-978	424	4	moderate	moderate	ADJ
alkej-978	424	5	,	,	PUNCT
alkej-978	424	6	and	and	CCONJ
alkej-978	424	7	the	the	DET
alkej-978	424	8	variation	variation	NOUN
alkej-978	424	9	is	be	AUX
alkej-978	424	10	7.4	7.4	NUM
alkej-978	424	11	mm	mm	NOUN
alkej-978	424	12	/	/	SYM
alkej-978	424	13	s.	s.	PROPN
alkej-978	424	14	the	the	DET
alkej-978	424	15	expenditure	expenditure	NOUN
alkej-978	424	16	is	be	AUX
alkej-978	424	17	also	also	ADV
alkej-978	424	18	minimal	minimal	ADJ
alkej-978	424	19	because	because	SCONJ
alkej-978	424	20	of	of	ADP
alkej-978	424	21	reduced	reduced	ADJ
alkej-978	424	22	wear	wear	NOUN
alkej-978	424	23	and	and	CCONJ
alkej-978	424	24	tear	tear	NOUN
alkej-978	424	25	resulting	result	VERB
alkej-978	424	26	from	from	ADP
alkej-978	424	27	improved	improve	VERB
alkej-978	424	28	trajectory	trajectory	NOUN
alkej-978	424	29	planning	planning	NOUN
alkej-978	424	30	.	.	PUNCT
alkej-978	425	1	the	the	DET
alkej-978	425	2	energy	energy	NOUN
alkej-978	425	3	consumption	consumption	NOUN
alkej-978	425	4	is	be	AUX
alkej-978	425	5	made	make	VERB
alkej-978	425	6	efficient	efficient	ADJ
alkej-978	425	7	by	by	ADP
alkej-978	425	8	the	the	DET
alkej-978	425	9	removal	removal	NOUN
alkej-978	425	10	of	of	ADP
alkej-978	425	11	unnecessary	unnecessary	ADJ
alkej-978	425	12	movements	movement	NOUN
alkej-978	425	13	.	.	PUNCT
alkej-978	426	1	the	the	DET
alkej-978	426	2	ilc	ilc	PROPN
alkej-978	426	3	gantry	gantry	NOUN
alkej-978	426	4	robot	robot	NOUN
alkej-978	426	5	is	be	AUX
alkej-978	426	6	an	an	DET
alkej-978	426	7	example	example	NOUN
alkej-978	426	8	of	of	ADP
alkej-978	426	9	a	a	DET
alkej-978	426	10	device	device	NOUN
alkej-978	426	11	that	that	PRON
alkej-978	426	12	can	can	AUX
alkej-978	426	13	be	be	AUX
alkej-978	426	14	used	use	VERB
alkej-978	426	15	in	in	ADP
alkej-978	426	16	situations	situation	NOUN
alkej-978	426	17	that	that	PRON
alkej-978	426	18	require	require	VERB
alkej-978	426	19	a	a	DET
alkej-978	426	20	combination	combination	NOUN
alkej-978	426	21	of	of	ADP
alkej-978	426	22	high	high	ADJ
alkej-978	426	23	precision	precision	NOUN
alkej-978	426	24	and	and	CCONJ
alkej-978	426	25	high	high	ADJ
alkej-978	426	26	speed	speed	NOUN
alkej-978	426	27	.	.	PUNCT
alkej-978	427	1	it	it	PRON
alkej-978	427	2	is	be	AUX
alkej-978	427	3	known	know	VERB
alkej-978	427	4	for	for	ADP
alkej-978	427	5	its	its	PRON
alkej-978	427	6	accuracy	accuracy	NOUN
alkej-978	427	7	of	of	ADP
alkej-978	427	8	more	more	ADJ
alkej-978	427	9	than	than	ADP
alkej-978	427	10	99	99	NUM
alkej-978	427	11	%	%	NOUN
alkej-978	427	12	and	and	CCONJ
alkej-978	427	13	quick	quick	ADJ
alkej-978	427	14	performance	performance	NOUN
alkej-978	427	15	,	,	PUNCT
alkej-978	427	16	so	so	SCONJ
alkej-978	427	17	it	it	PRON
alkej-978	427	18	is	be	AUX
alkej-978	427	19	suitable	suitable	ADJ
alkej-978	427	20	for	for	ADP
alkej-978	427	21	clean	clean	ADJ
alkej-978	427	22	rooms	room	NOUN
alkej-978	427	23	that	that	PRON
alkej-978	427	24	require	require	VERB
alkej-978	427	25	continuous	continuous	ADJ
alkej-978	427	26	high	high	ADJ
alkej-978	427	27	throughput	throughput	NOUN
alkej-978	427	28	and	and	CCONJ
alkej-978	427	29	precision	precision	NOUN
alkej-978	427	30	even	even	ADV
alkej-978	427	31	though	though	SCONJ
alkej-978	427	32	it	it	PRON
alkej-978	427	33	has	have	VERB
alkej-978	427	34	a	a	DET
alkej-978	427	35	drawback	drawback	NOUN
alkej-978	427	36	of	of	ADP
alkej-978	427	37	high	high	ADJ
alkej-978	427	38	cost	cost	NOUN
alkej-978	427	39	and	and	CCONJ
alkej-978	427	40	high	high	ADJ
alkej-978	427	41	energy	energy	NOUN
alkej-978	427	42	consumption	consumption	NOUN
alkej-978	427	43	.	.	PUNCT
alkej-978	428	1	for	for	ADP
alkej-978	428	2	economic	economic	ADJ
alkej-978	428	3	efficiency	efficiency	NOUN
alkej-978	428	4	and	and	CCONJ
alkej-978	428	5	reasonable	reasonable	ADJ
alkej-978	428	6	precision	precision	NOUN
alkej-978	428	7	,	,	PUNCT
alkej-978	428	8	the	the	DET
alkej-978	428	9	arduino	arduino	NOUN
alkej-978	428	10	-	-	PUNCT
alkej-978	428	11	based	base	VERB
alkej-978	428	12	gantry	gantry	NOUN
alkej-978	428	13	robot	robot	NOUN
alkej-978	428	14	offers	offer	VERB
alkej-978	428	15	an	an	DET
alkej-978	428	16	economical	economical	ADJ
alkej-978	428	17	solution	solution	NOUN
alkej-978	428	18	with	with	ADP
alkej-978	428	19	an	an	DET
alkej-978	428	20	accuracy	accuracy	NOUN
alkej-978	428	21	of	of	ADP
alkej-978	428	22	85	85	NUM
alkej-978	428	23	%	%	NOUN
alkej-978	428	24	–	–	PUNCT
alkej-978	428	25	90	90	NUM
alkej-978	428	26	%	%	NOUN
alkej-978	428	27	,	,	PUNCT
alkej-978	428	28	making	make	VERB
alkej-978	428	29	it	it	PRON
alkej-978	428	30	suitable	suitable	ADJ
alkej-978	428	31	for	for	ADP
alkej-978	428	32	small	small	ADJ
alkej-978	428	33	-	-	PUNCT
alkej-978	428	34	scale	scale	NOUN
alkej-978	428	35	operations	operation	NOUN
alkej-978	428	36	,	,	PUNCT
alkej-978	428	37	educational	educational	ADJ
alkej-978	428	38	applications	application	NOUN
alkej-978	428	39	,	,	PUNCT
alkej-978	428	40	or	or	CCONJ
alkej-978	428	41	prototypes	prototype	NOUN
alkej-978	428	42	where	where	SCONJ
alkej-978	428	43	budget	budget	NOUN
alkej-978	428	44	limitations	limitation	NOUN
alkej-978	428	45	are	be	AUX
alkej-978	428	46	critical	critical	ADJ
alkej-978	428	47	.	.	PUNCT
alkej-978	429	1	the	the	DET
alkej-978	429	2	ilc	ilc	PROPN
alkej-978	429	3	gantry	gantry	NOUN
alkej-978	429	4	robot	robot	NOUN
alkej-978	429	5	is	be	AUX
alkej-978	429	6	the	the	DET
alkej-978	429	7	ideal	ideal	ADJ
alkej-978	429	8	choice	choice	NOUN
alkej-978	429	9	for	for	ADP
alkej-978	429	10	scenarios	scenario	NOUN
alkej-978	429	11	requiring	require	VERB
alkej-978	429	12	precision	precision	NOUN
alkej-978	429	13	and	and	CCONJ
alkej-978	429	14	speed	speed	NOUN
alkej-978	429	15	,	,	PUNCT
alkej-978	429	16	especially	especially	ADV
alkej-978	429	17	in	in	ADP
alkej-978	429	18	high	high	ADJ
alkej-978	429	19	-	-	PUNCT
alkej-978	429	20	volume	volume	NOUN
alkej-978	429	21	,	,	PUNCT
alkej-978	429	22	repetitive	repetitive	ADJ
alkej-978	429	23	tasks	task	NOUN
alkej-978	429	24	.	.	PUNCT
alkej-978	430	1	for	for	ADP
alkej-978	430	2	pick	pick	VERB
alkej-978	430	3	-	-	PUNCT
alkej-978	430	4	and	and	CCONJ
alkej-978	430	5	-	-	PUNCT
alkej-978	430	6	place	place	NOUN
alkej-978	430	7	operations	operation	NOUN
alkej-978	430	8	in	in	ADP
alkej-978	430	9	applications	application	NOUN
alkej-978	430	10	with	with	ADP
alkej-978	430	11	constrained	constrained	ADJ
alkej-978	430	12	resources	resource	NOUN
alkej-978	430	13	or	or	CCONJ
alkej-978	430	14	less	less	ADV
alkej-978	430	15	rigorous	rigorous	ADJ
alkej-978	430	16	standards	standard	NOUN
alkej-978	430	17	,	,	PUNCT
alkej-978	430	18	a	a	DET
alkej-978	430	19	gantry	gantry	NOUN
alkej-978	430	20	robot	robot	NOUN
alkej-978	430	21	that	that	PRON
alkej-978	430	22	uses	use	VERB
alkej-978	430	23	the	the	DET
alkej-978	430	24	arduino	arduino	NOUN
alkej-978	430	25	mega	mega	ADJ
alkej-978	430	26	2560	2560	NUM
alkej-978	430	27	microcontroller	microcontroller	NOUN
alkej-978	430	28	and	and	CCONJ
alkej-978	430	29	is	be	AUX
alkej-978	430	30	processed	process	VERB
alkej-978	430	31	with	with	ADP
alkej-978	430	32	python	python	NOUN
alkej-978	430	33	is	be	AUX
alkej-978	430	34	suitable	suitable	ADJ
alkej-978	430	35	.	.	PUNCT
alkej-978	431	1	table	table	NOUN
alkej-978	431	2	1	1	NUM
alkej-978	431	3	shows	show	VERB
alkej-978	431	4	comparisons	comparison	NOUN
alkej-978	431	5	of	of	ADP
alkej-978	431	6	robotic	robotic	ADJ
alkej-978	431	7	systems	system	NOUN
alkej-978	431	8	in	in	ADP
alkej-978	431	9	terms	term	NOUN
alkej-978	431	10	of	of	ADP
alkej-978	431	11	important	important	ADJ
alkej-978	431	12	parameters	parameter	NOUN
alkej-978	431	13	,	,	PUNCT
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alkej-978	431	15	,	,	PUNCT
alkej-978	431	16	accuracy	accuracy	NOUN
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alkej-978	431	22	energy	energy	NOUN
alkej-978	431	23	efficiency	efficiency	NOUN
alkej-978	431	24	.	.	PUNCT
alkej-978	432	1	table	table	NOUN
alkej-978	432	2	2	2	NUM
alkej-978	432	3	.	.	PUNCT
alkej-978	432	4	comparison	comparison	NOUN
alkej-978	432	5	of	of	ADP
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alkej-978	432	13	criteria	criterion	NOUN
alkej-978	432	14	sensor	sensor	NOUN
alkej-978	432	15	type	type	NOUN
alkej-978	432	16	accuracy	accuracy	NOUN
alkej-978	432	17	speed	speed	NOUN
alkej-978	432	18	cost	cost	NOUN
alkej-978	432	19	energy	energy	NOUN
alkej-978	432	20	consumption	consumption	NOUN
alkej-978	432	21	cheng	cheng	PROPN
alkej-978	432	22	-	-	PUNCT
alkej-978	432	23	yen	yen	PROPN
alkej-978	432	24	chen	chen	PROPN
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alkej-978	433	3	]	]	PUNCT
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alkej-978	434	1	laser	laser	NOUN
alkej-978	434	2	doppler	doppler	NOUN
alkej-978	434	3	shift	shift	NOUN
alkej-978	434	4	measurements	measurement	NOUN
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alkej-978	434	6	high	high	ADJ
alkej-978	434	7	high	high	ADJ
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alkej-978	434	9	sharath	sharath	PROPN
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alkej-978	435	2	3	3	NUM
alkej-978	435	3	]	]	PUNCT
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alkej-978	436	10	low	low	ADJ
alkej-978	436	11	very	very	ADV
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alkej-978	436	14	doral	doral	PROPN
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alkej-978	437	3	]	]	PUNCT
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alkej-978	451	22	sensors	sensor	NOUN
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alkej-978	451	28	in	in	ADP
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alkej-978	451	40	accurate	accurate	ADJ
alkej-978	451	41	measurements	measurement	NOUN
alkej-978	451	42	in	in	ADP
alkej-978	451	43	dynamic	dynamic	ADJ
alkej-978	451	44	environments	environment	NOUN
alkej-978	451	45	.	.	PUNCT
alkej-978	452	1	2	2	X
alkej-978	452	2	.	.	X
alkej-978	452	3	sensor	sensor	NOUN
alkej-978	452	4	-	-	PUNCT
alkej-978	452	5	based	base	VERB
alkej-978	452	6	systems	system	NOUN
alkej-978	452	7	employ	employ	VERB
alkej-978	452	8	ultrasonic	ultrasonic	ADJ
alkej-978	452	9	and	and	CCONJ
alkej-978	452	10	infrared	infrared	ADJ
alkej-978	452	11	sensors	sensor	NOUN
alkej-978	452	12	and	and	CCONJ
alkej-978	452	13	can	can	AUX
alkej-978	452	14	achieve	achieve	VERB
alkej-978	452	15	approximately	approximately	ADV
alkej-978	452	16	85%–90	85%–90	NOUN
alkej-978	452	17	%	%	NOUN
alkej-978	452	18	dimensional	dimensional	ADJ
alkej-978	452	19	accuracy	accuracy	NOUN
alkej-978	452	20	,	,	PUNCT
alkej-978	452	21	making	make	VERB
alkej-978	452	22	them	they	PRON
alkej-978	452	23	ideal	ideal	ADJ
alkej-978	452	24	for	for	ADP
alkej-978	452	25	low	low	ADJ
alkej-978	452	26	-	-	PUNCT
alkej-978	452	27	complexity	complexity	NOUN
alkej-978	452	28	tasks	task	NOUN
alkej-978	452	29	or	or	CCONJ
alkej-978	452	30	applications	application	NOUN
alkej-978	452	31	.	.	PUNCT
alkej-978	453	1	3	3	X
alkej-978	453	2	.	.	X
alkej-978	453	3	structured	structure	VERB
alkej-978	453	4	robotic	robotic	ADJ
alkej-978	453	5	systems	system	NOUN
alkej-978	453	6	,	,	PUNCT
alkej-978	453	7	including	include	VERB
alkej-978	453	8	cartesian	cartesian	ADJ
alkej-978	453	9	or	or	CCONJ
alkej-978	453	10	gantry	gantry	NOUN
alkej-978	453	11	robots	robot	NOUN
alkej-978	453	12	,	,	PUNCT
alkej-978	453	13	exhibit	exhibit	VERB
alkej-978	453	14	highly	highly	ADV
alkej-978	453	15	accurate	accurate	ADJ
alkej-978	453	16	movements	movement	NOUN
alkej-978	453	17	,	,	PUNCT
alkej-978	453	18	and	and	CCONJ
alkej-978	453	19	their	their	PRON
alkej-978	453	20	easy	easy	ADJ
alkej-978	453	21	sensor	sensor	NOUN
alkej-978	453	22	integration	integration	NOUN
alkej-978	453	23	contributes	contribute	VERB
alkej-978	453	24	to	to	ADP
alkej-978	453	25	accurate	accurate	ADJ
alkej-978	453	26	dimension	dimension	NOUN
alkej-978	453	27	detection	detection	NOUN
alkej-978	453	28	.	.	PUNCT
alkej-978	454	1	4	4	X
alkej-978	454	2	.	.	X
alkej-978	454	3	the	the	DET
alkej-978	454	4	most	most	ADV
alkej-978	454	5	relevant	relevant	ADJ
alkej-978	454	6	software	software	NOUN
alkej-978	454	7	use	use	VERB
alkej-978	454	8	case	case	NOUN
alkej-978	454	9	that	that	PRON
alkej-978	454	10	can	can	AUX
alkej-978	454	11	be	be	AUX
alkej-978	454	12	employed	employ	VERB
alkej-978	454	13	to	to	PART
alkej-978	454	14	achieve	achieve	VERB
alkej-978	454	15	high	high	ADJ
alkej-978	454	16	accuracy	accuracy	NOUN
alkej-978	454	17	in	in	ADP
alkej-978	454	18	dimension	dimension	NOUN
alkej-978	454	19	detection	detection	NOUN
alkej-978	454	20	adopts	adopt	VERB
alkej-978	454	21	shelf	shelf	NOUN
alkej-978	454	22	and	and	CCONJ
alkej-978	454	23	high	high	ADJ
alkej-978	454	24	-	-	PUNCT
alkej-978	454	25	accuracy	accuracy	NOUN
alkej-978	454	26	robotic	robotic	ADJ
alkej-978	454	27	stacking	stacking	NOUN
alkej-978	454	28	algorithms	algorithm	NOUN
alkej-978	454	29	,	,	PUNCT
alkej-978	454	30	such	such	ADJ
alkej-978	454	31	as	as	ADP
alkej-978	454	32	ilc	ilc	PROPN
alkej-978	454	33	,	,	PUNCT
alkej-978	454	34	to	to	PART
alkej-978	454	35	refine	refine	VERB
alkej-978	454	36	the	the	DET
alkej-978	454	37	system	system	NOUN
alkej-978	454	38	and	and	CCONJ
alkej-978	454	39	correct	correct	ADJ
alkej-978	454	40	errors	error	NOUN
alkej-978	454	41	during	during	ADP
alkej-978	454	42	repeated	repeat	VERB
alkej-978	454	43	task	task	NOUN
alkej-978	454	44	execution	execution	NOUN
alkej-978	454	45	.	.	PUNCT
alkej-978	455	1	5	5	X
alkej-978	455	2	.	.	X
alkej-978	455	3	data	data	NOUN
alkej-978	455	4	-	-	PUNCT
alkej-978	455	5	driven	drive	VERB
alkej-978	455	6	precision	precision	NOUN
alkej-978	455	7	refers	refer	VERB
alkej-978	455	8	to	to	ADP
alkej-978	455	9	the	the	DET
alkej-978	455	10	ability	ability	NOUN
alkej-978	455	11	of	of	ADP
alkej-978	455	12	machine	machine	NOUN
alkej-978	455	13	learning	learning	NOUN
alkej-978	455	14	algorithms	algorithm	NOUN
alkej-978	455	15	,	,	PUNCT
alkej-978	455	16	such	such	ADJ
alkej-978	455	17	as	as	ADP
alkej-978	455	18	cnns	cnns	NOUN
alkej-978	455	19	and	and	CCONJ
alkej-978	455	20	lstm	lstm	NOUN
alkej-978	455	21	networks	network	NOUN
alkej-978	455	22	,	,	PUNCT
alkej-978	455	23	to	to	PART
alkej-978	455	24	attain	attain	VERB
alkej-978	455	25	increasingly	increasingly	ADV
alkej-978	455	26	accurate	accurate	ADJ
alkej-978	455	27	results	result	NOUN
alkej-978	455	28	as	as	SCONJ
alkej-978	455	29	they	they	PRON
alkej-978	455	30	learn	learn	VERB
alkej-978	455	31	from	from	ADP
alkej-978	455	32	new	new	ADJ
alkej-978	455	33	data	datum	NOUN
alkej-978	455	34	consistently	consistently	ADV
alkej-978	455	35	,	,	PUNCT
alkej-978	455	36	allowing	allow	VERB
alkej-978	455	37	them	they	PRON
alkej-978	455	38	to	to	PART
alkej-978	455	39	enhance	enhance	VERB
alkej-978	455	40	system	system	NOUN
alkej-978	455	41	performance	performance	NOUN
alkej-978	455	42	with	with	ADP
alkej-978	455	43	time	time	NOUN
alkej-978	455	44	.	.	PUNCT
alkej-978	456	1	6	6	X
alkej-978	456	2	.	.	X
alkej-978	456	3	optical	optical	ADJ
alkej-978	456	4	and	and	CCONJ
alkej-978	456	5	proximity	proximity	NOUN
alkej-978	456	6	sensors	sensor	NOUN
alkej-978	456	7	are	be	AUX
alkej-978	456	8	integrated	integrate	VERB
alkej-978	456	9	to	to	PART
alkej-978	456	10	cover	cover	VERB
alkej-978	456	11	various	various	ADJ
alkej-978	456	12	dimensions	dimension	NOUN
alkej-978	456	13	,	,	PUNCT
alkej-978	456	14	leading	lead	VERB
alkej-978	456	15	to	to	ADP
alkej-978	456	16	increased	increase	VERB
alkej-978	456	17	measurement	measurement	NOUN
alkej-978	456	18	accuracy	accuracy	NOUN
alkej-978	456	19	in	in	ADP
alkej-978	456	20	dynamic	dynamic	ADJ
alkej-978	456	21	work	work	NOUN
alkej-978	456	22	settings	setting	NOUN
alkej-978	456	23	.	.	PUNCT
alkej-978	457	1	7	7	X
alkej-978	457	2	.	.	X
alkej-978	457	3	integrated	integrate	VERB
alkej-978	457	4	systems	system	NOUN
alkej-978	457	5	,	,	PUNCT
alkej-978	457	6	such	such	ADJ
alkej-978	457	7	as	as	ADP
alkej-978	457	8	ros	ros	PROPN
alkej-978	457	9	and	and	CCONJ
alkej-978	457	10	plc	plc	PROPN
alkej-978	457	11	,	,	PUNCT
alkej-978	457	12	play	play	VERB
alkej-978	457	13	a	a	DET
alkej-978	457	14	role	role	NOUN
alkej-978	457	15	in	in	ADP
alkej-978	457	16	coordinating	coordinate	VERB
alkej-978	457	17	hardware	hardware	NOUN
alkej-978	457	18	components	component	NOUN
alkej-978	457	19	and	and	CCONJ
alkej-978	457	20	provide	provide	VERB
alkej-978	457	21	real	real	ADJ
alkej-978	457	22	-	-	PUNCT
alkej-978	457	23	time	time	NOUN
alkej-978	457	24	feedback	feedback	NOUN
alkej-978	457	25	that	that	PRON
alkej-978	457	26	can	can	AUX
alkej-978	457	27	improve	improve	VERB
alkej-978	457	28	accuracy	accuracy	NOUN
alkej-978	457	29	and	and	CCONJ
alkej-978	457	30	avoid	avoid	VERB
alkej-978	457	31	errors	error	NOUN
alkej-978	457	32	during	during	ADP
alkej-978	457	33	the	the	DET
alkej-978	457	34	dimension	dimension	NOUN
alkej-978	457	35	detection	detection	NOUN
alkej-978	457	36	of	of	ADP
alkej-978	457	37	systems	system	NOUN
alkej-978	457	38	used	use	VERB
alkej-978	457	39	in	in	ADP
alkej-978	457	40	the	the	DET
alkej-978	457	41	industry	industry	NOUN
alkej-978	457	42	.	.	PUNCT
alkej-978	458	1	8	8	X
alkej-978	458	2	.	.	X
alkej-978	458	3	sensors	sensor	NOUN
alkej-978	458	4	are	be	AUX
alkej-978	458	5	less	less	ADV
alkej-978	458	6	affected	affect	VERB
alkej-978	458	7	by	by	ADP
alkej-978	458	8	lighting	lighting	NOUN
alkej-978	458	9	conditions	condition	NOUN
alkej-978	458	10	and	and	CCONJ
alkej-978	458	11	external	external	ADJ
alkej-978	458	12	environments	environment	NOUN
alkej-978	458	13	compared	compare	VERB
alkej-978	458	14	with	with	ADP
alkej-978	458	15	cameras	camera	NOUN
alkej-978	458	16	,	,	PUNCT
alkej-978	458	17	making	make	VERB
alkej-978	458	18	them	they	PRON
alkej-978	458	19	suitable	suitable	ADJ
alkej-978	458	20	for	for	ADP
alkej-978	458	21	harsh	harsh	ADJ
alkej-978	458	22	industrial	industrial	ADJ
alkej-978	458	23	conditions	condition	NOUN
alkej-978	458	24	.	.	PUNCT
alkej-978	459	1	they	they	PRON
alkej-978	459	2	perform	perform	VERB
alkej-978	459	3	well	well	ADV
alkej-978	459	4	under	under	ADP
alkej-978	459	5	various	various	ADJ
alkej-978	459	6	environmental	environmental	ADJ
alkej-978	459	7	factors	factor	NOUN
alkej-978	459	8	,	,	PUNCT
alkej-978	459	9	including	include	VERB
alkej-978	459	10	low	low	ADJ
alkej-978	459	11	light	light	ADJ
alkej-978	459	12	,	,	PUNCT
alkej-978	459	13	heat	heat	NOUN
alkej-978	459	14	and	and	CCONJ
alkej-978	459	15	humidity	humidity	NOUN
alkej-978	459	16	,	,	PUNCT
alkej-978	459	17	and	and	CCONJ
alkej-978	459	18	ensure	ensure	VERB
alkej-978	459	19	reliable	reliable	ADJ
alkej-978	459	20	dimension	dimension	NOUN
alkej-978	459	21	detection	detection	NOUN
alkej-978	459	22	in	in	ADP
alkej-978	459	23	challenging	challenging	ADJ
alkej-978	459	24	settings	setting	NOUN
alkej-978	459	25	.	.	PUNCT
alkej-978	460	1	9	9	X
alkej-978	460	2	.	.	X
alkej-978	460	3	the	the	DET
alkej-978	460	4	best	good	ADJ
alkej-978	460	5	plan	plan	NOUN
alkej-978	460	6	is	be	AUX
alkej-978	460	7	a	a	DET
alkej-978	460	8	matter	matter	NOUN
alkej-978	460	9	of	of	ADP
alkej-978	460	10	necessity	necessity	NOUN
alkej-978	460	11	.	.	PUNCT
alkej-978	461	1	in	in	ADP
alkej-978	461	2	the	the	DET
alkej-978	461	3	case	case	NOUN
alkej-978	461	4	of	of	ADP
alkej-978	461	5	maximum	maximum	ADJ
alkej-978	461	6	accuracy	accuracy	NOUN
alkej-978	461	7	and	and	CCONJ
alkej-978	461	8	speed	speed	NOUN
alkej-978	461	9	,	,	PUNCT
alkej-978	461	10	the	the	DET
alkej-978	461	11	ilc	ilc	PROPN
alkej-978	461	12	gantry	gantry	NOUN
alkej-978	461	13	robot	robot	NOUN
alkej-978	461	14	is	be	AUX
alkej-978	461	15	the	the	DET
alkej-978	461	16	leading	lead	VERB
alkej-978	461	17	tool	tool	NOUN
alkej-978	461	18	because	because	SCONJ
alkej-978	461	19	it	it	PRON
alkej-978	461	20	has	have	VERB
alkej-978	461	21	excellent	excellent	ADJ
alkej-978	461	22	accuracy	accuracy	NOUN
alkej-978	461	23	and	and	CCONJ
alkej-978	461	24	high	high	ADJ
alkej-978	461	25	speed	speed	NOUN
alkej-978	461	26	.	.	PUNCT
alkej-978	462	1	garbage	garbage	NOUN
alkej-978	462	2	-	-	PUNCT
alkej-978	462	3	sorting	sort	VERB
alkej-978	462	4	systems	system	NOUN
alkej-978	462	5	regard	regard	VERB
alkej-978	462	6	flexibility	flexibility	NOUN
alkej-978	462	7	and	and	CCONJ
alkej-978	462	8	multi	multi	ADJ
alkej-978	462	9	-	-	ADJ
alkej-978	462	10	tasking	tasking	NOUN
alkej-978	462	11	as	as	ADP
alkej-978	462	12	the	the	DET
alkej-978	462	13	main	main	ADJ
alkej-978	462	14	features	feature	NOUN
alkej-978	462	15	of	of	ADP
alkej-978	462	16	dynamic	dynamic	ADJ
alkej-978	462	17	environments	environment	NOUN
alkej-978	462	18	,	,	PUNCT
alkej-978	462	19	as	as	SCONJ
alkej-978	462	20	underlined	underline	VERB
alkej-978	462	21	by	by	ADP
alkej-978	462	22	ai	ai	ADJ
alkej-978	462	23	capabilities	capability	NOUN
alkej-978	462	24	.	.	PUNCT
alkej-978	463	1	in	in	ADP
alkej-978	463	2	the	the	DET
alkej-978	463	3	case	case	NOUN
alkej-978	463	4	of	of	ADP
alkej-978	463	5	cost	cost	NOUN
alkej-978	463	6	cutting	cutting	NOUN
alkej-978	463	7	,	,	PUNCT
alkej-978	463	8	a	a	DET
alkej-978	463	9	gantry	gantry	NOUN
alkej-978	463	10	robot	robot	NOUN
alkej-978	463	11	for	for	ADP
alkej-978	463	12	unpacking	unpack	VERB
alkej-978	463	13	and	and	CCONJ
alkej-978	463	14	positioning	positioning	NOUN
alkej-978	463	15	is	be	AUX
alkej-978	463	16	a	a	DET
alkej-978	463	17	good	good	ADJ
alkej-978	463	18	choice	choice	NOUN
alkej-978	463	19	for	for	ADP
alkej-978	463	20	complex	complex	ADJ
alkej-978	463	21	applications	application	NOUN
alkej-978	463	22	,	,	PUNCT
alkej-978	463	23	such	such	ADJ
alkej-978	463	24	as	as	ADP
alkej-978	463	25	feeding	feeding	NOUN
alkej-978	463	26	and	and	CCONJ
alkej-978	463	27	final	final	ADJ
alkej-978	463	28	decision	decision	NOUN
alkej-978	463	29	handling	handling	NOUN
alkej-978	463	30	.	.	PUNCT
alkej-978	464	1	accuracy	accuracy	NOUN
alkej-978	464	2	,	,	PUNCT
alkej-978	464	3	cost	cost	NOUN
alkej-978	464	4	and	and	CCONJ
alkej-978	464	5	flexibility	flexibility	NOUN
alkej-978	464	6	should	should	AUX
alkej-978	464	7	be	be	AUX
alkej-978	464	8	at	at	ADP
alkej-978	464	9	the	the	DET
alkej-978	464	10	same	same	ADJ
alkej-978	464	11	level	level	NOUN
alkej-978	464	12	as	as	ADP
alkej-978	464	13	the	the	DET
alkej-978	464	14	unique	unique	ADJ
alkej-978	464	15	requirements	requirement	NOUN
alkej-978	464	16	of	of	ADP
alkej-978	464	17	the	the	DET
alkej-978	464	18	project	project	NOUN
alkej-978	464	19	.	.	PUNCT
alkej-978	465	1	establishing	establish	VERB
alkej-978	465	2	the	the	DET
alkej-978	465	3	distance	distance	NOUN
alkej-978	465	4	and	and	CCONJ
alkej-978	465	5	location	location	NOUN
alkej-978	465	6	of	of	ADP
alkej-978	465	7	an	an	DET
alkej-978	465	8	object	object	NOUN
alkej-978	465	9	helps	help	VERB
alkej-978	465	10	.	.	PUNCT
alkej-978	466	1	by	by	ADP
alkej-978	466	2	using	use	VERB
alkej-978	466	3	a	a	DET
alkej-978	466	4	set	set	NOUN
alkej-978	466	5	of	of	ADP
alkej-978	466	6	sensors	sensor	NOUN
alkej-978	466	7	,	,	PUNCT
alkej-978	466	8	the	the	DET
alkej-978	466	9	machine	machine	NOUN
alkej-978	466	10	can	can	AUX
alkej-978	466	11	handle	handle	VERB
alkej-978	466	12	different	different	ADJ
alkej-978	466	13	types	type	NOUN
alkej-978	466	14	of	of	ADP
alkej-978	466	15	work	work	NOUN
alkej-978	466	16	,	,	PUNCT
alkej-978	466	17	thus	thus	ADV
alkej-978	466	18	expanding	expand	VERB
alkej-978	466	19	its	its	PRON
alkej-978	466	20	flexibility	flexibility	NOUN
alkej-978	466	21	and	and	CCONJ
alkej-978	466	22	versatility	versatility	NOUN
alkej-978	466	23	.	.	PUNCT
alkej-978	467	1	10	10	NUM
alkej-978	467	2	.	.	PUNCT
alkej-978	468	1	the	the	DET
alkej-978	468	2	vision	vision	NOUN
alkej-978	468	3	and	and	CCONJ
alkej-978	468	4	camera	camera	NOUN
alkej-978	468	5	technologies	technology	NOUN
alkej-978	468	6	used	use	VERB
alkej-978	468	7	by	by	ADP
alkej-978	468	8	robots	robot	NOUN
alkej-978	468	9	allow	allow	VERB
alkej-978	468	10	them	they	PRON
alkej-978	468	11	to	to	PART
alkej-978	468	12	recognise	recognise	VERB
alkej-978	468	13	different	different	ADJ
alkej-978	468	14	kinds	kind	NOUN
alkej-978	468	15	of	of	ADP
alkej-978	468	16	objects	object	NOUN
alkej-978	468	17	and	and	CCONJ
alkej-978	468	18	locations	location	NOUN
alkej-978	468	19	by	by	ADP
alkej-978	468	20	shapes	shape	NOUN
alkej-978	468	21	even	even	ADV
alkej-978	468	22	faster	fast	ADV
alkej-978	468	23	than	than	ADP
alkej-978	468	24	a	a	DET
alkej-978	468	25	human	human	ADJ
alkej-978	468	26	can	can	NOUN
alkej-978	468	27	;	;	PUNCT
alkej-978	468	28	thus	thus	ADV
alkej-978	468	29	,	,	PUNCT
alkej-978	468	30	they	they	PRON
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alkej-978	468	37	.	.	PUNCT
alkej-978	469	1	with	with	ADP
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alkej-978	469	3	-	-	PUNCT
alkej-978	469	4	resolution	resolution	NOUN
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alkej-978	469	6	and	and	CCONJ
alkej-978	469	7	videos	video	NOUN
alkej-978	469	8	,	,	PUNCT
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alkej-978	469	13	well	well	ADV
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alkej-978	469	15	pattern	pattern	NOUN
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alkej-978	469	17	,	,	PUNCT
alkej-978	469	18	inventory	inventory	NOUN
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alkej-978	469	20	and	and	CCONJ
alkej-978	469	21	location	location	NOUN
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alkej-978	469	23	.	.	PUNCT
alkej-978	470	1	the	the	DET
alkej-978	470	2	technology	technology	NOUN
alkej-978	470	3	also	also	ADV
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alkej-978	470	5	blends	blend	VERB
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alkej-978	470	7	ai	ai	NOUN
alkej-978	470	8	and	and	CCONJ
alkej-978	470	9	machine	machine	NOUN
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alkej-978	470	12	revealing	reveal	VERB
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alkej-978	470	21	and	and	CCONJ
alkej-978	470	22	dynamic	dynamic	ADJ
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alkej-978	471	1	11	11	NUM
alkej-978	471	2	.	.	PUNCT
alkej-978	472	1	the	the	DET
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alkej-978	472	14	,	,	PUNCT
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alkej-978	472	17	cost	cost	NOUN
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alkej-978	472	19	or	or	CCONJ
alkej-978	472	20	energy	energy	NOUN
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alkej-978	472	22	.	.	PUNCT
alkej-978	473	1	systems	system	NOUN
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alkej-978	473	6	deliver	deliver	VERB
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alkej-978	473	15	and	and	CCONJ
alkej-978	473	16	high	high	ADJ
alkej-978	473	17	speed	speed	NOUN
alkej-978	473	18	,	,	PUNCT
alkej-978	473	19	making	make	VERB
alkej-978	473	20	them	they	PRON
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alkej-978	473	26	.	.	PUNCT
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alkej-978	474	14	.	.	PUNCT
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alkej-978	557	3	]	]	X
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alkej-978	559	3	]	]	X
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alkej-978	571	2	-	-	SYM
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alkej-978	576	1	[	[	X
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alkej-978	576	3	]	]	PUNCT
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alkej-978	577	3	]	]	X
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alkej-978	579	13	.	.	PUNCT
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alkej-978	580	2	,	,	PUNCT
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alkej-978	580	8	:	:	PUNCT
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alkej-978	580	10	/	/	SYM
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alkej-978	581	1	[	[	X
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alkej-978	585	1	(	(	PUNCT
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alkej-978	589	3	]	]	PUNCT
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alkej-978	603	7	10.1002/(sici)10974563(199911)16:11<651::aidrob4>3.0.co;2	10.1002/(sici)10974563(199911)16:11<651::aidrob4>3.0.co;2	NUM
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alkej-978	661	10	-	-	PUNCT
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alkej-978	696	12	-	-	PUNCT
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alkej-978	696	14	:	:	PUNCT
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alkej-978	696	20	a	a	DET
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alkej-978	699	5	,	,	PUNCT
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alkej-978	699	7	,	,	PUNCT
alkej-978	699	8	2024	2024	NUM
alkej-978	699	9	,	,	PUNCT
alkej-978	699	10	vol	vol	NOUN
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alkej-978	699	13	,	,	PUNCT
alkej-978	699	14	pp	pp	ADV
alkej-978	699	15	.	.	PUNCT
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alkej-978	700	2	,	,	PUNCT
alkej-978	700	3	doi	doi	NOUN
alkej-978	700	4	:	:	PUNCT
alkej-978	700	5	10.1007/978	10.1007/978	NUM
alkej-978	700	6	-	-	SYM
alkej-978	700	7	3	3	NUM
alkej-978	700	8	-	-	PUNCT
alkej-978	700	9	031	031	NUM
alkej-978	700	10	-	-	PUNCT
alkej-978	700	11	72698	72698	NUM
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alkej-978	700	13	9_6	9_6	NUM
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alkej-978	701	9	,	,	PUNCT
alkej-978	701	10	"	"	PUNCT
alkej-978	701	11	exploring	explore	VERB
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alkej-978	701	13	potential	potential	NOUN
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alkej-978	701	16	time	time	NOUN
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alkej-978	701	18	flight	flight	NOUN
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alkej-978	701	27	"	"	PUNCT
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alkej-978	701	31	:	:	PUNCT
alkej-978	701	32	10.5220/0004595704640470	10.5220/0004595704640470	NUM
alkej-978	701	33	.	.	PUNCT
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alkej-978	702	2	68	68	NUM
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alkej-978	702	6	and	and	CCONJ
alkej-978	702	7	g.	g.	PROPN
alkej-978	702	8	hovland	hovland	PROPN
alkej-978	702	9	,	,	PUNCT
alkej-978	702	10	"	"	PUNCT
alkej-978	702	11	the	the	DET
alkej-978	702	12	gantry	gantry	NOUN
alkej-978	702	13	-	-	PUNCT
alkej-978	702	14	tau	tau	PROPN
alkej-978	702	15	parallel	parallel	ADJ
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alkej-978	702	24	,	,	PUNCT
alkej-978	702	25	"	"	PUNCT
alkej-978	702	26	meccanica	meccanica	PROPN
alkej-978	702	27	,	,	PUNCT
alkej-978	702	28	vol	vol	NOUN
alkej-978	702	29	.	.	PROPN
alkej-978	702	30	46	46	NUM
alkej-978	702	31	,	,	PUNCT
alkej-978	702	32	pp	pp	ADJ
alkej-978	702	33	.	.	PUNCT
alkej-978	703	1	113–129	113–129	NUM
alkej-978	703	2	,	,	PUNCT
alkej-978	703	3	jan	jan	PROPN
alkej-978	703	4	.	.	PROPN
alkej-978	703	5	2011	2011	NUM
alkej-978	703	6	,	,	PUNCT
alkej-978	703	7	doi	doi	NOUN
alkej-978	703	8	:	:	PUNCT
alkej-978	703	9	10.1007	10.1007	NUM
alkej-978	703	10	/	/	SYM
alkej-978	703	11	s11012	s11012	NOUN
alkej-978	703	12	-	-	PUNCT
alkej-978	703	13	010	010	NUM
alkej-978	703	14	-	-	PUNCT
alkej-978	703	15	9394	9394	NUM
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alkej-978	703	17	9	9	NUM
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alkej-978	704	1	(	(	PUNCT
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alkej-978	704	3	)	)	PUNCT
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alkej-978	704	6	124	124	NUM
alkej-978	704	7	،	،	NOUN
alkej-978	704	8	صفحة	صفحة	PROPN
alkej-978	704	9	4	4	NUM
alkej-978	704	10	،	،	NOUN
alkej-978	704	11	العدد21مجلة	العدد21مجلة	PROPN
alkej-978	704	12	الخوارزمي	الخوارزمي	PROPN
alkej-978	704	13	الهندسية	الهندسية	PROPN
alkej-978	704	14	المجلد	المجلد	PROPN
alkej-978	704	15	حيدر	حيدر	PROPN
alkej-978	704	16	علي	علي	PROPN
alkej-978	704	17	سعدي	سعدي	ADV
alkej-978	705	1	123	123	NUM
alkej-978	705	2	ايجاد	ايجاد	PROPN
alkej-978	705	3	بعد	بعد	PROPN
alkej-978	705	4	وموقع	وموقع	PROPN
alkej-978	705	5	الجسم	الجسم	VERB
alkej-978	705	6	في	في	ADP
alkej-978	705	7	نظام	نظام	PROPN
alkej-978	705	8	روبوت	روبوت	PROPN
alkej-978	705	9	القنطرة	القنطرة	PROPN
alkej-978	705	10	والناقل	والناقل	NOUN
alkej-978	705	11	:	:	PUNCT
alkej-978	705	12	مراجعة	مراجعة	VERB
alkej-978	705	13	حيدر	حيدر	ADJ
alkej-978	705	14	علي	علي	NOUN
alkej-978	705	15	سعدي1	سعدي1	PROPN
alkej-978	705	16	،	،	PROPN
alkej-978	705	17	نزار	نزار	PROPN
alkej-978	705	18	قيس	قيس	VERB
alkej-978	705	19	محمد	محمد	PROPN
alkej-978	705	20	نايف	نايف	NOUN
alkej-978	705	21	الكرخي2	الكرخي2	PROPN
alkej-978	705	22	*	*	PROPN
alkej-978	705	23	،	،	PROPN
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alkej-978	705	26	عبود3	عبود3	PROPN
alkej-978	705	27	،	،	X
alkej-978	705	28	سومر	سومر	PROPN
alkej-978	706	1	ناسي4	ناسي4	PROPN
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alkej-978	707	2	قسم	قسم	PROPN
alkej-978	707	3	هندسة	هندسة	PROPN
alkej-978	707	4	التصنيع	التصنيع	PROPN
alkej-978	707	5	المؤتمت	المؤتمت	PROPN
alkej-978	707	6	،	،	PROPN
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alkej-978	707	8	الهندسة	الهندسة	PROPN
alkej-978	707	9	الخوارزمي	الخوارزمي	PROPN
alkej-978	707	10	،	،	PROPN
alkej-978	707	11	جامعة	جامعة	PROPN
alkej-978	707	12	بغداد	بغداد	PROPN
alkej-978	707	13	4	4	NUM
alkej-978	707	14	قسم	قسم	NOUN
alkej-978	707	15	الهندسة	الهندسة	PROPN
alkej-978	707	16	الميكانيكية	الميكانيكية	PROPN
alkej-978	707	17	،	،	PROPN
alkej-978	707	18	جامعة	جامعة	PROPN
alkej-978	707	19	ساندي	ساندي	PROPN
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alkej-978	707	21	غو	غو	PROPN
alkej-978	707	22	،	،	NOUN
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alkej-978	709	7	الروبوت	الروبوت	PROPN
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alkej-978	712	7	،	،	PROPN
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alkej-978	713	10	المحاور	المحاور	PROPN
alkej-978	713	11	،	،	PROPN
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alkej-978	714	5	والُمؤتمت	والُمؤتمت	PROPN
alkej-978	714	6	الموحدة	الموحدة	PROPN
alkej-978	714	7	،	،	PROPN
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alkej-978	715	2	يجعلها	يجعلها	PROPN
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alkej-978	715	4	االستخدامات	االستخدامات	VERB
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alkej-978	716	4	قد	قد	ADP
alkej-978	716	5	أحدثت	أحدثت	PROPN
alkej-978	716	6	ثورة	ثورة	PROPN
alkej-978	716	7	في	في	PRON
alkej-978	716	8	التصنيع	التصنيع	PROPN
alkej-978	716	9	من	من	PROPN
alkej-978	716	10	خالل	خالل	PROPN
alkej-978	716	11	تمكين	تمكين	PROPN
alkej-978	716	12	ال	ال	ADP
alkej-978	716	13	ن	ن	PRON
alkej-978	716	14	المعالجة	المعالجة	NOUN
alkej-978	716	15	أو	أو	ADP
alkej-978	716	16	التجميع	التجميع	VERB
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alkej-978	717	8	مللموارد	مللموارد	PROPN
alkej-978	717	9	.	.	PUNCT
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alkej-978	718	4	االختيار	االختيار	PROPN
alkej-978	718	5	السريع	السريع	PROPN
alkej-978	718	6	للبضائع	للبضائع	PROPN
alkej-978	718	7	،	،	PROPN
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alkej-978	718	9	الدقيق	الدقيق	ADJ
alkej-978	718	10	،	،	NOUN
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alkej-978	718	19	أمور	أمور	NOUN
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alkej-978	718	22	والتحديد	والتحديد	ADJ
alkej-978	718	23	المكاني	المكاني	PROPN
alkej-978	718	24	،	،	PROPN
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alkej-978	718	26	للجسم	للجسم	PROPN
alkej-978	718	27	،	،	PROPN
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alkej-978	718	29	األبعاد	األبعاد	PROPN
alkej-978	718	30	إيجاد	إيجاد	PROPN
alkej-978	718	31	تقنيات	تقنيات	PROPN
alkej-978	718	32	التشغيلية	التشغيلية	PROPN
alkej-978	718	33	.	.	PUNCT
alkej-978	719	1	في	في	PRON
alkej-978	719	2	التقدم	التقدم	NOUN
alkej-978	719	3	.	.	PUNCT
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alkej-978	720	5	.	.	PUNCT
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alkej-978	721	6	مهمتان	مهمتان	PROPN
alkej-978	721	7	حيويتان	حيويتان	PROPN
alkej-978	721	8	تعتمد	تعتمد	ADJ
alkej-978	721	9	بشكل	بشكل	NOUN
alkej-978	721	10	كبير	كبير	VERB
alkej-978	721	11	على	على	NOUN
alkej-978	721	12	المستشعرات	المستشعرات	NOUN
alkej-978	721	13	والكاميرات	والكاميرات	VERB
alkej-978	721	14	قد	قد	INTJ
alkej-978	721	15	عزز	عزز	ADJ
alkej-978	721	16	بشكل	بشكل	NOUN
alkej-978	721	17	ملحوظ	ملحوظ	ADJ
alkej-978	721	18	الدقة	الدقة	VERB
alkej-978	721	19	والف	والف	PROPN
alkej-978	722	1	هذه	هذه	PROPN
alkej-978	722	2	التقنيات	التقنيات	PROPN
alkej-978	722	3	شائعة	شائعة	PROPN
alkej-978	722	4	األنظمة	األنظمة	PROPN
alkej-978	722	5	المعتمدة	المعتمدة	PROPN
alkej-978	722	6	على	على	NOUN
alkej-978	722	7	الرؤية	الرؤية	NOUN
alkej-978	722	8	،	،	PROPN
alkej-978	722	9	والتي	والتي	PROPN
alkej-978	722	10	تشمل	تشمل	PROPN
alkej-978	723	1	الكاميرات	الكاميرات	PROPN
alkej-978	723	2	عالية	عالية	PROPN
alkej-978	723	3	الدقة	الدقة	PROPN
alkej-978	723	4	والخوارزميات	والخوارزميات	PROPN
alkej-978	723	5	المتطورة	المتطورة	PROPN
alkej-978	723	6	للتحليل	للتحليل	PROPN
alkej-978	723	7	المكاني	المكاني	PROPN
alkej-978	723	8	.	.	PUNCT
alkej-978	724	1	ومع	ومع	PROPN
alkej-978	724	2	ذلك	ذلك	PROPN
alkej-978	724	3	،	،	PROPN
alkej-978	724	4	على	على	PROPN
alkej-978	724	5	الرغم	الرغم	PROPN
alkej-978	724	6	من	من	ADP
alkej-978	724	7	أن	أن	PROPN
alkej-978	724	8	ن	ن	PRON
alkej-978	724	9	دمج	دمج	PROPN
alkej-978	724	10	مستشعرات	مستشعرات	NOUN
alkej-978	724	11	الليزر	الليزر	PROPN
alkej-978	724	12	،	،	PROPN
alkej-978	725	1	وهي	وهي	ADV
alkej-978	725	2	خيار	خيار	ADJ
alkej-978	725	3	محتمل	محتمل	PROPN
alkej-978	725	4	أفضل	أفضل	PROPN
alkej-978	725	5	،	،	PROPN
alkej-978	725	6	ال	ال	PROPN
alkej-978	725	7	يزال	يزال	PROPN
alkej-978	725	8	غير	غير	VERB
alkej-978	725	9	مستكشف	مستكشف	VERB
alkej-978	725	10	بشكل	بشكل	NOUN
alkej-978	725	11	كاٍف	كاٍف	PROPN
alkej-978	725	12	.	.	PUNCT
alkej-978	726	1	تشير	تشير	PROPN
alkej-978	726	2	الدقة	الدقة	PROPN
alkej-978	726	3	العالية	العالية	PROPN
alkej-978	726	4	للغاية	للغاية	PROPN
alkej-978	726	5	لألنظمة	لألنظمة	PROPN
alkej-978	727	1	القائمة	القائمة	INTJ
alkej-978	727	2	على	على	NOUN
alkej-978	727	3	في	في	ADP
alkej-978	727	4	المشهد	المشهد	NOUN
alkej-978	727	5	الحالي	الحالي	NOUN
alkej-978	727	6	،	،	X
alkej-978	727	7	فإ	فإ	X
alkej-978	727	8	جسور	جسور	PROPN
alkej-978	727	9	،	،	PROPN
alkej-978	727	10	بروبوتات	بروبوتات	PROPN
alkej-978	728	1	الالليزر	الالليزر	PROPN
alkej-978	728	2	في	في	ADP
alkej-978	728	3	قياس	قياس	NOUN
alkej-978	728	4	المسافات	المسافات	VERB
alkej-978	728	5	وتحديد	وتحديد	ADV
alkej-978	728	6	األجسام	األجسام	PROPN
alkej-978	728	7	إلى	إلى	PROPN
alkej-978	728	8	مجال	مجال	PROPN
alkej-978	728	9	للبحث	للبحث	NOUN
alkej-978	728	10	المستقبلي	المستقبلي	NOUN
alkej-978	728	11	.	.	PUNCT
alkej-978	729	1	يتناول	يتناول	PROPN
alkej-978	729	2	هذا	هذا	PROPN
alkej-978	729	3	المقال	المقال	ADJ
alkej-978	729	4	التطور	التطور	NOUN
alkej-978	729	5	التاريخي	التاريخي	PROPN
alkej-978	729	6	،	،	PROPN
alkej-978	729	7	والمزايا	والمزايا	PROPN
alkej-978	729	8	،	،	PROPN
alkej-978	729	9	والعيوب	والعيوب	PROPN
alkej-978	729	10	الخاصة	الخاصة	PROPN
alkej-978	729	11	كاميرات	كاميرات	PROPN
alkej-978	729	12	،	،	PROPN
alkej-978	729	13	وأجهزة	وأجهزة	PROPN
alkej-978	729	14	مقدماً	مقدماً	PROPN
alkej-978	729	15	نظرة	نظرة	NOUN
alkej-978	729	16	شاملة	شاملة	NOUN
alkej-978	729	17	على	على	PROPN
alkej-978	729	18	اإلنجازات	اإلنجازات	PROPN
alkej-978	729	19	المعاصرة	المعاصرة	PROPN
alkej-978	729	20	في	في	SCONJ
alkej-978	729	21	تكنولوجيا	تكنولوجيا	NOUN
alkej-978	729	22	القياس	القياس	VERB
alkej-978	729	23	والتحديد	والتحديد	ADJ
alkej-978	729	24	.	.	PUNCT
alkej-978	730	1	يوضح	يوضح	ADJ
alkej-978	730	2	المقال	المقال	ADJ
alkej-978	730	3	مزايا	مزايا	PROPN
alkej-978	730	4	وعيوب	وعيوب	INTJ
alkej-978	730	5	عدة	عدة	INTJ
alkej-978	730	6	طرق	طرق	ADJ
alkej-978	730	7	استشعار	استشعار	PROPN
alkej-978	730	8	،	،	NOUN
alkej-978	730	9	بما	بما	PROPN
alkej-978	731	1	في	في	DET
alkej-978	731	2	ذلك	ذلك	NOUN
alkej-978	731	3	ال	ال	ADP
alkej-978	731	4	زال	زال	PROPN
alkej-978	731	5	هناك	هناك	PROPN
alkej-978	731	6	حاجة	حاجة	PROPN
alkej-978	731	7	إلى	إلى	PROPN
alkej-978	731	8	حلول	حلول	PROPN
alkej-978	731	9	مرنة	مرنة	PROPN
alkej-978	731	10	وعالية	وعالية	PROPN
alkej-978	731	11	االستشعار	االستشعار	PROPN
alkej-978	731	12	التقليدية	التقليدية	PROPN
alkej-978	731	13	،	،	PROPN
alkej-978	731	14	والبدائل	والبدائل	PROPN
alkej-978	731	15	الجديدة	الجديدة	NOUN
alkej-978	731	16	.	.	PUNCT
alkej-978	732	1	على	على	PROPN
alkej-978	732	2	الرغم	الرغم	PROPN
alkej-978	732	3	من	من	PROPN
alkej-978	732	4	التقدم	التقدم	NOUN
alkej-978	732	5	في	في	ADP
alkej-978	732	6	أنظمة	أنظمة	PROPN
alkej-978	732	7	الرؤية	الرؤية	PROPN
alkej-978	732	8	لتحديد	لتحديد	PROPN
alkej-978	732	9	الهوية	الهوية	PROPN
alkej-978	733	1	وقياس	وقياس	PROPN
alkej-978	733	2	المسافات	المسافات	PROPN
alkej-978	733	3	،	،	PROPN
alkej-978	733	4	ال	ال	ADP
alkej-978	733	5	ي	ي	PROPN
alkej-978	733	6	.السرعة	.السرعة	INTJ
alkej-978	733	7	يمكن	يمكن	PROPN
alkej-978	733	8	أن	أن	AUX
alkej-978	733	9	تعمل	تعمل	ADJ
alkej-978	733	10	بشكل	بشكل	NOUN
alkej-978	733	11	جيد	جيد	VERB
alkej-978	733	12	في	في	SYM
alkej-978	733	13	البيئات	البيئات	PROPN
alkej-978	733	14	الصناعية	الصناعية	ADP
alkej-978	733	15	الصعبة	الصعبة	NOUN
alkej-978	733	16	mailto:%20nazarkais@kecbu.uobaghdad.edu.iq	mailto:%20nazarkais@kecbu.uobaghdad.edu.iq	VERB