id	sid	eid	entity	type
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american_scientific_journal-2190	1	3	issn	PERSON
american_scientific_journal-2190	1	4	2313	CARDINAL
american_scientific_journal-2190	1	5	2313	CARDINAL
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american_scientific_journal-2190	1	10	14001,iraq	CARDINAL
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american_scientific_journal-2190	1	12	newcastle	GPE
american_scientific_journal-2190	1	13	tyne	GPE
american_scientific_journal-2190	1	14	7ru	ORDINAL
american_scientific_journal-2190	1	15	uk	GPE
american_scientific_journal-2190	5	1	1	CARDINAL
american_scientific_journal-2190	5	2	introduction mobile robotics	ORG
american_scientific_journal-2190	8	1	1	CARDINAL
american_scientific_journal-2190	11	1	american scientific research journal	ORG
american_scientific_journal-2190	11	2	2016	CARDINAL
american_scientific_journal-2190	11	3	26	CARDINAL
american_scientific_journal-2190	11	4	91-107 92	QUANTITY
american_scientific_journal-2190	11	5	•	CARDINAL
american_scientific_journal-2190	14	1	•	CARDINAL
american_scientific_journal-2190	14	2	•	CARDINAL
american_scientific_journal-2190	14	3	o	DATE
american_scientific_journal-2190	15	1	2	CARDINAL
american_scientific_journal-2190	17	1	three	CARDINAL
american_scientific_journal-2190	18	1	firstly	ORDINAL
american_scientific_journal-2190	19	1	secondly	ORDINAL
american_scientific_journal-2190	19	2	first	ORDINAL
american_scientific_journal-2190	21	1	2	CARDINAL
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american_scientific_journal-2190	26	2	two	CARDINAL
american_scientific_journal-2190	26	3	r.	PERSON
american_scientific_journal-2190	26	4	two	CARDINAL
american_scientific_journal-2190	26	5	̇	PERSON
american_scientific_journal-2190	26	6	𝜓𝑅𝑅	PERSON
american_scientific_journal-2190	27	1	american scientific research journal	ORG
american_scientific_journal-2190	27	2	2016	CARDINAL
american_scientific_journal-2190	27	3	26	CARDINAL
american_scientific_journal-2190	27	4	91-107	QUANTITY
american_scientific_journal-2190	28	1	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	28	2	𝑌𝑅𝑅	ORG
american_scientific_journal-2190	28	3	1	CARDINAL
american_scientific_journal-2190	28	4	2	CARDINAL
american_scientific_journal-2190	28	5	1	CARDINAL
american_scientific_journal-2190	28	6	2	CARDINAL
american_scientific_journal-2190	28	7	one	CARDINAL
american_scientific_journal-2190	28	8	two	CARDINAL
american_scientific_journal-2190	28	9	half	CARDINAL
american_scientific_journal-2190	28	10	2𝐿𝐿	CARDINAL
american_scientific_journal-2190	29	1	2	CARDINAL
american_scientific_journal-2190	29	2	american scientific research journal	ORG
american_scientific_journal-2190	29	3	2016	CARDINAL
american_scientific_journal-2190	29	4	26	CARDINAL
american_scientific_journal-2190	29	5	91-107 94	CARDINAL
american_scientific_journal-2190	29	6	two	CARDINAL
american_scientific_journal-2190	29	7	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	29	8	̇	PERSON
american_scientific_journal-2190	29	9	𝑌𝑅𝑅	ORG
american_scientific_journal-2190	29	10	zero	CARDINAL
american_scientific_journal-2190	29	11	0	CARDINAL
american_scientific_journal-2190	30	1	̇	PERSON
american_scientific_journal-2190	30	2	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	30	3	𝜓𝑅𝑅	PERSON
american_scientific_journal-2190	30	4	𝑋𝑅𝑅2 𝐿𝐿 ⟹ �̇	PERSON
american_scientific_journal-2190	30	5	1 2	QUANTITY
american_scientific_journal-2190	30	6	𝜓𝑅𝑅	PERSON
american_scientific_journal-2190	30	7	3	CARDINAL
american_scientific_journal-2190	30	8	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	30	9	1 2	DATE
american_scientific_journal-2190	30	10	+ 1 2	DATE
american_scientific_journal-2190	30	11	4	CARDINAL
american_scientific_journal-2190	30	12	2𝐿𝐿	CARDINAL
american_scientific_journal-2190	30	13	5	CARDINAL
american_scientific_journal-2190	30	14	6	CARDINAL
american_scientific_journal-2190	30	15	̇	PERSON
american_scientific_journal-2190	30	16	⎢	GPE
american_scientific_journal-2190	30	17	⎢	GPE
american_scientific_journal-2190	30	18	⎢ ⎡	PERSON
american_scientific_journal-2190	30	19	2 +	DATE
american_scientific_journal-2190	30	20	𝜓𝑅𝑅	PERSON
american_scientific_journal-2190	30	21	⎥ ⎥	ORG
american_scientific_journal-2190	30	22	⎥	GPE
american_scientific_journal-2190	30	23	̇	PERSON
american_scientific_journal-2190	31	1	american scientific research journal	ORG
american_scientific_journal-2190	31	2	2016	CARDINAL
american_scientific_journal-2190	31	3	26	CARDINAL
american_scientific_journal-2190	31	4	91	CARDINAL
american_scientific_journal-2190	33	1	3	CARDINAL
american_scientific_journal-2190	33	2	two	CARDINAL
american_scientific_journal-2190	39	1	3	CARDINAL
american_scientific_journal-2190	40	1	two	CARDINAL
american_scientific_journal-2190	41	1	4	CARDINAL
american_scientific_journal-2190	42	1	•	CARDINAL
american_scientific_journal-2190	42	2	1	CARDINAL
american_scientific_journal-2190	43	1	•	CARDINAL
american_scientific_journal-2190	43	2	2	CARDINAL
american_scientific_journal-2190	44	1	4	CARDINAL
american_scientific_journal-2190	44	2	3	CARDINAL
american_scientific_journal-2190	45	1	•	CARDINAL
american_scientific_journal-2190	45	2	3	CARDINAL
american_scientific_journal-2190	46	1	•	CARDINAL
american_scientific_journal-2190	46	2	4	CARDINAL
american_scientific_journal-2190	46	3	2	CARDINAL
american_scientific_journal-2190	47	1	3.1	CARDINAL
american_scientific_journal-2190	47	2	two	CARDINAL
american_scientific_journal-2190	52	1	american scientific research journal	ORG
american_scientific_journal-2190	52	2	2016	CARDINAL
american_scientific_journal-2190	52	3	26	CARDINAL
american_scientific_journal-2190	52	4	91-107 96	PERCENT
american_scientific_journal-2190	52	5	5	CARDINAL
american_scientific_journal-2190	53	1	1	CARDINAL
american_scientific_journal-2190	53	2	2calculate	CARDINAL
american_scientific_journal-2190	54	1	3calculate	CARDINAL
american_scientific_journal-2190	55	1	f (n	ORG
american_scientific_journal-2190	56	1	3	CARDINAL
american_scientific_journal-2190	56	2	6	CARDINAL
american_scientific_journal-2190	56	3	firstly	ORDINAL
american_scientific_journal-2190	57	1	secondly	ORDINAL
american_scientific_journal-2190	57	2	180⁰	DATE
american_scientific_journal-2190	58	1	3.2	CARDINAL
american_scientific_journal-2190	58	2	7	CARDINAL
american_scientific_journal-2190	63	1	8	CARDINAL
american_scientific_journal-2190	65	1	american scientific research journal	ORG
american_scientific_journal-2190	65	2	2016	CARDINAL
american_scientific_journal-2190	65	3	26	CARDINAL
american_scientific_journal-2190	65	4	91-107 97	CARDINAL
american_scientific_journal-2190	67	1	4	CARDINAL
american_scientific_journal-2190	67	2	eight	CARDINAL
american_scientific_journal-2190	67	3	4	CARDINAL
american_scientific_journal-2190	68	1	19	CARDINAL
american_scientific_journal-2190	68	2	american scientific research journal	ORG
american_scientific_journal-2190	68	3	2016	CARDINAL
american_scientific_journal-2190	68	4	26	CARDINAL
american_scientific_journal-2190	68	5	91	CARDINAL
american_scientific_journal-2190	68	6	3.3	CARDINAL
american_scientific_journal-2190	69	1	5	CARDINAL
american_scientific_journal-2190	69	2	6	CARDINAL
american_scientific_journal-2190	69	3	5	CARDINAL
american_scientific_journal-2190	69	4	6	CARDINAL
american_scientific_journal-2190	70	1	6	CARDINAL
american_scientific_journal-2190	72	1	5	CARDINAL
american_scientific_journal-2190	72	2	6	CARDINAL
american_scientific_journal-2190	72	3	american scientific research journal	ORG
american_scientific_journal-2190	72	4	2016	CARDINAL
american_scientific_journal-2190	72	5	26	CARDINAL
american_scientific_journal-2190	72	6	91-107 99	CARDINAL
american_scientific_journal-2190	74	1	finder urg-04lx	DATE
american_scientific_journal-2190	75	1	7	CARDINAL
american_scientific_journal-2190	76	1	4	CARDINAL
american_scientific_journal-2190	77	1	9	CARDINAL
american_scientific_journal-2190	79	1	•	CARDINAL
american_scientific_journal-2190	79	2	20	CARDINAL
american_scientific_journal-2190	79	3	2d	DATE
american_scientific_journal-2190	79	4	non-zero	CARDINAL
american_scientific_journal-2190	80	1	two	CARDINAL
american_scientific_journal-2190	80	2	2d	DATE
american_scientific_journal-2190	81	1	•	CARDINAL
american_scientific_journal-2190	81	2	one	CARDINAL
american_scientific_journal-2190	82	1	american	NORP
american_scientific_journal-2190	82	2	2016	CARDINAL
american_scientific_journal-2190	82	3	26	CARDINAL
american_scientific_journal-2190	82	4	91	CARDINAL
american_scientific_journal-2190	83	1	8	CARDINAL
american_scientific_journal-2190	84	1	7	CARDINAL
american_scientific_journal-2190	84	2	9	CARDINAL
american_scientific_journal-2190	84	3	9	CARDINAL
american_scientific_journal-2190	85	1	10	CARDINAL
american_scientific_journal-2190	85	2	american scientific research journal	ORG
american_scientific_journal-2190	85	3	2016	CARDINAL
american_scientific_journal-2190	85	4	26	CARDINAL
american_scientific_journal-2190	85	5	91	CARDINAL
american_scientific_journal-2190	85	6	10	CARDINAL
american_scientific_journal-2190	87	1	21 5	DATE
american_scientific_journal-2190	89	1	two	CARDINAL
american_scientific_journal-2190	89	2	first	ORDINAL
american_scientific_journal-2190	89	3	second	ORDINAL
american_scientific_journal-2190	90	1	5.1	CARDINAL
american_scientific_journal-2190	90	2	american scientific research journal	ORG
american_scientific_journal-2190	90	3	2016	CARDINAL
american_scientific_journal-2190	90	4	26	CARDINAL
american_scientific_journal-2190	90	5	91	CARDINAL
american_scientific_journal-2190	90	6	two	CARDINAL
american_scientific_journal-2190	90	7	first	ORDINAL
american_scientific_journal-2190	90	8	second	ORDINAL
american_scientific_journal-2190	90	9	•	CARDINAL
american_scientific_journal-2190	92	1	3-4	CARDINAL
american_scientific_journal-2190	92	2	11	CARDINAL
american_scientific_journal-2190	92	3	linear odometry	ORG
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american_scientific_journal-2190	94	1	4m	QUANTITY
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american_scientific_journal-2190	95	1	5	CARDINAL
american_scientific_journal-2190	95	2	2	CARDINAL
american_scientific_journal-2190	95	3	10	CARDINAL
american_scientific_journal-2190	95	4	3	CARDINAL
american_scientific_journal-2190	95	5	13.33	CARDINAL
american_scientific_journal-2190	95	6	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	95	7	0.025	CARDINAL
american_scientific_journal-2190	95	8	5 + 5	DATE
american_scientific_journal-2190	95	9	0.25	CARDINAL
american_scientific_journal-2190	95	10	̇	PERSON
american_scientific_journal-2190	95	11	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	95	12	4 0.25	CARDINAL
american_scientific_journal-2190	95	13	16	CARDINAL
american_scientific_journal-2190	95	14	̇	PERSON
american_scientific_journal-2190	95	15	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	95	16	0.025	CARDINAL
american_scientific_journal-2190	95	17	10 + 10	DATE
american_scientific_journal-2190	95	18	0.5	CARDINAL
american_scientific_journal-2190	95	19	̇	PERSON
american_scientific_journal-2190	95	20	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	95	21	4 0.5	CARDINAL
american_scientific_journal-2190	95	22	8	CARDINAL
american_scientific_journal-2190	95	23	american scientific research journal	ORG
american_scientific_journal-2190	95	24	2016	CARDINAL
american_scientific_journal-2190	95	25	26	CARDINAL
american_scientific_journal-2190	95	26	91	CARDINAL
american_scientific_journal-2190	96	1	1	CARDINAL
american_scientific_journal-2190	96	2	three	CARDINAL
american_scientific_journal-2190	98	1	1	CARDINAL
american_scientific_journal-2190	98	2	1	CARDINAL
american_scientific_journal-2190	98	3	2	CARDINAL
american_scientific_journal-2190	98	4	3 x	QUANTITY
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american_scientific_journal-2190	98	6	0 cm	QUANTITY
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american_scientific_journal-2190	99	2	6 cm	QUANTITY
american_scientific_journal-2190	99	3	3 cm	QUANTITY
american_scientific_journal-2190	100	1	390 cm e	QUANTITY
american_scientific_journal-2190	100	2	10 cm	QUANTITY
american_scientific_journal-2190	101	1	10 cm	QUANTITY
american_scientific_journal-2190	102	1	396 cm	QUANTITY
american_scientific_journal-2190	102	2	2 cm	QUANTITY
american_scientific_journal-2190	103	1	396 cm	QUANTITY
american_scientific_journal-2190	103	2	4 cm	QUANTITY
american_scientific_journal-2190	103	3	1 cm	QUANTITY
american_scientific_journal-2190	104	1	395 cm e	QUANTITY
american_scientific_journal-2190	104	2	5 cm	QUANTITY
american_scientific_journal-2190	106	1	2 cm	QUANTITY
american_scientific_journal-2190	107	1	396 cm	QUANTITY
american_scientific_journal-2190	107	2	3 cm	QUANTITY
american_scientific_journal-2190	108	1	395 cm e	QUANTITY
american_scientific_journal-2190	108	2	5 cm	QUANTITY
american_scientific_journal-2190	110	1	2 cm	QUANTITY
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american_scientific_journal-2190	111	2	7 cm	QUANTITY
american_scientific_journal-2190	111	3	4 cm	QUANTITY
american_scientific_journal-2190	112	1	397 cm	QUANTITY
american_scientific_journal-2190	112	2	3 cm	QUANTITY
american_scientific_journal-2190	114	1	396 cm	QUANTITY
american_scientific_journal-2190	114	2	4 cm	QUANTITY
american_scientific_journal-2190	116	1	2 cm	QUANTITY
american_scientific_journal-2190	117	1	398 cm	QUANTITY
american_scientific_journal-2190	117	2	2 cm	QUANTITY
american_scientific_journal-2190	117	3	2 cm	QUANTITY
american_scientific_journal-2190	117	4	1	CARDINAL
american_scientific_journal-2190	119	1	•	CARDINAL
american_scientific_journal-2190	119	2	12	CARDINAL
american_scientific_journal-2190	119	3	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	119	4	0.025	CARDINAL
american_scientific_journal-2190	119	5	13.33 + 13.33	CARDINAL
american_scientific_journal-2190	120	1	0.667	CARDINAL
american_scientific_journal-2190	120	2	̇	PERSON
american_scientific_journal-2190	120	3	𝑋𝑅𝑅	ORG
american_scientific_journal-2190	120	4	4 0.667	CARDINAL
american_scientific_journal-2190	120	5	6	CARDINAL
american_scientific_journal-2190	120	6	american scientific research journal	ORG
american_scientific_journal-2190	120	7	2016	CARDINAL
american_scientific_journal-2190	120	8	26	CARDINAL
american_scientific_journal-2190	120	9	91-107	CARDINAL
american_scientific_journal-2190	121	1	5	CARDINAL
american_scientific_journal-2190	121	2	90°	TIME
american_scientific_journal-2190	121	3	90°	QUANTITY
american_scientific_journal-2190	121	4	7	CARDINAL
american_scientific_journal-2190	121	5	13	CARDINAL
american_scientific_journal-2190	121	6	13	CARDINAL
american_scientific_journal-2190	121	7	90°	QUANTITY
american_scientific_journal-2190	121	8	about 105°	CARDINAL
american_scientific_journal-2190	122	1	more than one	CARDINAL
american_scientific_journal-2190	123	1	15°	QUANTITY
american_scientific_journal-2190	125	1	14	CARDINAL
american_scientific_journal-2190	125	2	𝜓𝑅𝑅	PERSON
american_scientific_journal-2190	125	3	2×0.17	CARDINAL
american_scientific_journal-2190	126	1	2×0.17	ORG
american_scientific_journal-2190	126	2	1.471 𝑟𝑟𝑟𝑟𝑑𝑑/𝑠𝑠	CARDINAL
american_scientific_journal-2190	126	3	̇	PERSON
american_scientific_journal-2190	126	4	90	CARDINAL
american_scientific_journal-2190	126	5	1.471	CARDINAL
american_scientific_journal-2190	126	6	1068	CARDINAL
american_scientific_journal-2190	126	7	american scientific research journal	ORG
american_scientific_journal-2190	126	8	2016	CARDINAL
american_scientific_journal-2190	126	9	26	CARDINAL
american_scientific_journal-2190	126	10	91	CARDINAL
american_scientific_journal-2190	126	11	14	CARDINAL
american_scientific_journal-2190	128	1	5.2	CARDINAL
american_scientific_journal-2190	128	2	15	CARDINAL
american_scientific_journal-2190	130	1	5.6	CARDINAL
american_scientific_journal-2190	130	2	4	CARDINAL
american_scientific_journal-2190	131	1	4	CARDINAL
american_scientific_journal-2190	131	2	15	CARDINAL
american_scientific_journal-2190	131	3	16	CARDINAL
american_scientific_journal-2190	131	4	zero	CARDINAL
american_scientific_journal-2190	131	5	zero	CARDINAL
american_scientific_journal-2190	133	1	first	ORDINAL
american_scientific_journal-2190	133	2	american scientific research journal	ORG
american_scientific_journal-2190	133	3	2016	CARDINAL
american_scientific_journal-2190	133	4	26	CARDINAL
american_scientific_journal-2190	133	5	91-107 106	CARDINAL
american_scientific_journal-2190	133	6	zero	CARDINAL
american_scientific_journal-2190	134	1	16	CARDINAL
american_scientific_journal-2190	134	2	about 85 mm	QUANTITY
american_scientific_journal-2190	135	1	zero	CARDINAL
american_scientific_journal-2190	136	1	5.6	CARDINAL
american_scientific_journal-2190	136	2	zero	CARDINAL
american_scientific_journal-2190	138	1	10mm	QUANTITY
american_scientific_journal-2190	138	2	less than 85mm	QUANTITY
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american_scientific_journal-2190	139	2	5600mm	QUANTITY
american_scientific_journal-2190	139	3	5.6	CARDINAL
american_scientific_journal-2190	141	1	17	CARDINAL
american_scientific_journal-2190	141	2	18	CARDINAL
american_scientific_journal-2190	141	3	figure(18	DATE
american_scientific_journal-2190	141	4	american scientific research journal	ORG
american_scientific_journal-2190	141	5	2016	CARDINAL
american_scientific_journal-2190	141	6	26	CARDINAL
american_scientific_journal-2190	141	7	91	CARDINAL
american_scientific_journal-2190	143	1	three	CARDINAL
american_scientific_journal-2190	145	1	first	ORDINAL
american_scientific_journal-2190	146	1	two	CARDINAL
american_scientific_journal-2190	146	2	first	ORDINAL
american_scientific_journal-2190	146	3	second	ORDINAL
american_scientific_journal-2190	147	1	second	ORDINAL
american_scientific_journal-2190	148	1	1	CARDINAL
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american_scientific_journal-2190	149	2	20	CARDINAL
american_scientific_journal-2190	149	3	august	DATE
american_scientific_journal-2190	151	1	2	CARDINAL
american_scientific_journal-2190	151	2	lima	GPE
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american_scientific_journal-2190	151	4	2012	DATE
american_scientific_journal-2190	152	1	3	CARDINAL
american_scientific_journal-2190	152	2	r. sharma	PERSON
american_scientific_journal-2190	152	3	international journal of research	ORG
american_scientific_journal-2190	152	4	02, 2013	DATE
american_scientific_journal-2190	153	1	4	CARDINAL
american_scientific_journal-2190	153	2	x. hu	PERSON
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american_scientific_journal-2190	153	4	2001	DATE
american_scientific_journal-2190	154	1	858-864	QUANTITY
american_scientific_journal-2190	155	1	5	CARDINAL
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american_scientific_journal-2190	159	1	8	CARDINAL
american_scientific_journal-2190	160	1	university of california riverside	ORG
american_scientific_journal-2190	160	2	2009	DATE
american_scientific_journal-2190	161	1	9	CARDINAL
american_scientific_journal-2190	162	1	2010	DATE
american_scientific_journal-2190	162	2	4	CARDINAL
american_scientific_journal-2190	162	3	august	DATE
american_scientific_journal-2190	165	1	5	CARDINAL
american_scientific_journal-2190	165	2	5.1	CARDINAL
american_scientific_journal-2190	165	3		CARDINAL
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american_scientific_journal-2190	166	2		CARDINAL
american_scientific_journal-2190	166	3	14	CARDINAL
