id sid tid token lemma pos american_scientific_journal-1686 1 1 178 178 NUM american_scientific_journal-1686 1 2 american american ADJ american_scientific_journal-1686 1 3 scientific scientific ADJ american_scientific_journal-1686 1 4 research research NOUN american_scientific_journal-1686 1 5 journal journal NOUN american_scientific_journal-1686 1 6 for for ADP american_scientific_journal-1686 1 7 engineering engineering NOUN american_scientific_journal-1686 1 8 , , PUNCT american_scientific_journal-1686 1 9 technology technology NOUN american_scientific_journal-1686 1 10 , , PUNCT american_scientific_journal-1686 1 11 and and CCONJ american_scientific_journal-1686 1 12 sciences science NOUN american_scientific_journal-1686 1 13 ( ( PUNCT american_scientific_journal-1686 1 14 asrjets asrjet NOUN american_scientific_journal-1686 1 15 ) ) PUNCT american_scientific_journal-1686 1 16 issn issn PROPN american_scientific_journal-1686 1 17 ( ( PUNCT american_scientific_journal-1686 1 18 print print NOUN american_scientific_journal-1686 1 19 ) ) PUNCT american_scientific_journal-1686 1 20 2313 2313 NUM american_scientific_journal-1686 1 21 - - SYM american_scientific_journal-1686 1 22 4410 4410 NUM american_scientific_journal-1686 1 23 , , PUNCT american_scientific_journal-1686 1 24 issn issn PROPN american_scientific_journal-1686 1 25 ( ( PUNCT american_scientific_journal-1686 1 26 online online ADJ american_scientific_journal-1686 1 27 ) ) PUNCT american_scientific_journal-1686 1 28 2313 2313 NUM american_scientific_journal-1686 1 29 - - SYM american_scientific_journal-1686 1 30 4402 4402 NUM american_scientific_journal-1686 1 31 Β© Β© PROPN american_scientific_journal-1686 1 32 global global ADJ american_scientific_journal-1686 1 33 society society NOUN american_scientific_journal-1686 1 34 of of ADP american_scientific_journal-1686 1 35 scientific scientific ADJ american_scientific_journal-1686 1 36 research research NOUN american_scientific_journal-1686 1 37 and and CCONJ american_scientific_journal-1686 1 38 researchers researcher NOUN american_scientific_journal-1686 1 39 http://asrjetsjournal.org/ http://asrjetsjournal.org/ NOUN american_scientific_journal-1686 1 40 mimicry mimicry NOUN american_scientific_journal-1686 1 41 control control NOUN american_scientific_journal-1686 1 42 of of ADP american_scientific_journal-1686 1 43 the the DET american_scientific_journal-1686 1 44 human human ADJ american_scientific_journal-1686 1 45 arm arm NOUN american_scientific_journal-1686 1 46 to to ADP american_scientific_journal-1686 1 47 robot robot NOUN american_scientific_journal-1686 1 48 arm arm PROPN american_scientific_journal-1686 1 49 saad saad PROPN american_scientific_journal-1686 1 50 alkazzaza alkazzaza PROPN american_scientific_journal-1686 1 51 * * PROPN american_scientific_journal-1686 1 52 , , PUNCT american_scientific_journal-1686 1 53 ahmed ahmed PROPN american_scientific_journal-1686 1 54 aljanabib aljanabib PROPN american_scientific_journal-1686 1 55 a a DET american_scientific_journal-1686 1 56 , , PUNCT american_scientific_journal-1686 1 57 bmousl bmousl PROPN american_scientific_journal-1686 1 58 university university PROPN american_scientific_journal-1686 1 59 , , PUNCT american_scientific_journal-1686 1 60 dept dept NOUN american_scientific_journal-1686 1 61 . . PROPN american_scientific_journal-1686 1 62 of of ADP american_scientific_journal-1686 1 63 electrica electrica PROPN american_scientific_journal-1686 1 64 / / SYM american_scientific_journal-1686 1 65 electroni electroni NOUN american_scientific_journal-1686 1 66 , , PUNCT american_scientific_journal-1686 1 67 erbil erbil PROPN american_scientific_journal-1686 1 68 44001 44001 NUM american_scientific_journal-1686 1 69 , , PUNCT american_scientific_journal-1686 1 70 iraq iraq PROPN american_scientific_journal-1686 1 71 aemail aemail NOUN american_scientific_journal-1686 1 72 : : PUNCT american_scientific_journal-1686 1 73 saad_kazzaz@yahoo.com saad_kazzaz@yahoo.com X american_scientific_journal-1686 1 74 bemail bemail NOUN american_scientific_journal-1686 1 75 : : PUNCT american_scientific_journal-1686 1 76 ahmed.aljanabi@yahoo.com ahmed.aljanabi@yahoo.com X american_scientific_journal-1686 1 77 abstract abstract ADV american_scientific_journal-1686 1 78 in in ADP american_scientific_journal-1686 1 79 this this DET american_scientific_journal-1686 1 80 work work NOUN american_scientific_journal-1686 1 81 presented present VERB american_scientific_journal-1686 1 82 mimicry mimicry ADJ american_scientific_journal-1686 1 83 control control NOUN american_scientific_journal-1686 1 84 of of ADP american_scientific_journal-1686 1 85 the the DET american_scientific_journal-1686 1 86 human human ADJ american_scientific_journal-1686 1 87 arm arm NOUN american_scientific_journal-1686 1 88 to to ADP american_scientific_journal-1686 1 89 robot robot NOUN american_scientific_journal-1686 1 90 arm arm NOUN american_scientific_journal-1686 1 91 where where SCONJ american_scientific_journal-1686 1 92 robots robot NOUN american_scientific_journal-1686 1 93 more more ADV american_scientific_journal-1686 1 94 often often ADV american_scientific_journal-1686 1 95 than than SCONJ american_scientific_journal-1686 1 96 not not PART american_scientific_journal-1686 1 97 we we PRON american_scientific_journal-1686 1 98 need need VERB american_scientific_journal-1686 1 99 to to PART american_scientific_journal-1686 1 100 control control VERB american_scientific_journal-1686 1 101 them they PRON american_scientific_journal-1686 1 102 manually manually ADV american_scientific_journal-1686 1 103 to to ADP american_scientific_journal-1686 1 104 the the DET american_scientific_journal-1686 1 105 run run NOUN american_scientific_journal-1686 1 106 of of ADP american_scientific_journal-1686 1 107 the the DET american_scientific_journal-1686 1 108 non non ADJ american_scientific_journal-1686 1 109 - - ADJ american_scientific_journal-1686 1 110 programmed programmed ADJ american_scientific_journal-1686 1 111 has have AUX american_scientific_journal-1686 1 112 previously previously ADV american_scientific_journal-1686 1 113 work work NOUN american_scientific_journal-1686 1 114 . . PUNCT american_scientific_journal-1686 2 1 this this PRON american_scientific_journal-1686 2 2 requires require VERB american_scientific_journal-1686 2 3 experiment experiment NOUN american_scientific_journal-1686 2 4 the the DET american_scientific_journal-1686 2 5 robot robot NOUN american_scientific_journal-1686 2 6 arm arm NOUN american_scientific_journal-1686 2 7 of of ADP american_scientific_journal-1686 2 8 the the DET american_scientific_journal-1686 2 9 human human ADJ american_scientific_journal-1686 2 10 arm arm NOUN american_scientific_journal-1686 2 11 response response NOUN american_scientific_journal-1686 2 12 , , PUNCT american_scientific_journal-1686 2 13 carried carry VERB american_scientific_journal-1686 2 14 out out ADP american_scientific_journal-1686 2 15 the the DET american_scientific_journal-1686 2 16 work work NOUN american_scientific_journal-1686 2 17 submitted submit VERB american_scientific_journal-1686 2 18 to to PART american_scientific_journal-1686 2 19 build build VERB american_scientific_journal-1686 2 20 a a DET american_scientific_journal-1686 2 21 metal metal NOUN american_scientific_journal-1686 2 22 structure structure NOUN american_scientific_journal-1686 2 23 for for ADP american_scientific_journal-1686 2 24 the the DET american_scientific_journal-1686 2 25 robot robot NOUN american_scientific_journal-1686 2 26 arm arm NOUN american_scientific_journal-1686 2 27 ( ( PUNCT american_scientific_journal-1686 2 28 articulate articulate ADJ american_scientific_journal-1686 2 29 type type NOUN american_scientific_journal-1686 2 30 5dof 5dof PROPN american_scientific_journal-1686 2 31 ) ) PUNCT american_scientific_journal-1686 2 32 then then ADV american_scientific_journal-1686 2 33 drive drive VERB american_scientific_journal-1686 2 34 torque torque NOUN american_scientific_journal-1686 2 35 equation equation NOUN american_scientific_journal-1686 2 36 in in ADP american_scientific_journal-1686 2 37 each each DET american_scientific_journal-1686 2 38 joint joint NOUN american_scientific_journal-1686 2 39 and and CCONJ american_scientific_journal-1686 2 40 calculate calculate VERB american_scientific_journal-1686 2 41 the the DET american_scientific_journal-1686 2 42 maximum maximum ADJ american_scientific_journal-1686 2 43 torque torque NOUN american_scientific_journal-1686 2 44 in in ADP american_scientific_journal-1686 2 45 each each DET american_scientific_journal-1686 2 46 joint joint NOUN american_scientific_journal-1686 2 47 in in ADP american_scientific_journal-1686 2 48 the the DET american_scientific_journal-1686 2 49 horizontal horizontal ADJ american_scientific_journal-1686 2 50 position position NOUN american_scientific_journal-1686 2 51 of of ADP american_scientific_journal-1686 2 52 the the DET american_scientific_journal-1686 2 53 robot robot NOUN american_scientific_journal-1686 2 54 arm arm NOUN american_scientific_journal-1686 2 55 and and CCONJ american_scientific_journal-1686 2 56 calculate calculate VERB american_scientific_journal-1686 2 57 the the DET american_scientific_journal-1686 2 58 direct direct ADJ american_scientific_journal-1686 2 59 kinematics kinematic NOUN american_scientific_journal-1686 2 60 for for ADP american_scientific_journal-1686 2 61 the the DET american_scientific_journal-1686 2 62 end end NOUN american_scientific_journal-1686 2 63 effect effect NOUN american_scientific_journal-1686 2 64 , , PUNCT american_scientific_journal-1686 2 65 after after SCONJ american_scientific_journal-1686 2 66 add add VERB american_scientific_journal-1686 2 67 electrical electrical ADJ american_scientific_journal-1686 2 68 actuator actuator NOUN american_scientific_journal-1686 2 69 fit fit ADJ american_scientific_journal-1686 2 70 with with ADP american_scientific_journal-1686 2 71 maximum maximum ADJ american_scientific_journal-1686 2 72 torque torque NOUN american_scientific_journal-1686 2 73 on on ADP american_scientific_journal-1686 2 74 the the DET american_scientific_journal-1686 2 75 arm arm NOUN american_scientific_journal-1686 2 76 and and CCONJ american_scientific_journal-1686 2 77 added add VERB american_scientific_journal-1686 2 78 position position NOUN american_scientific_journal-1686 2 79 sensors sensor NOUN american_scientific_journal-1686 2 80 and and CCONJ american_scientific_journal-1686 2 81 driver driver NOUN american_scientific_journal-1686 2 82 ( ( PUNCT american_scientific_journal-1686 2 83 h h NOUN american_scientific_journal-1686 2 84 - - PUNCT american_scientific_journal-1686 2 85 bridge bridge NOUN american_scientific_journal-1686 2 86 ) ) PUNCT american_scientific_journal-1686 2 87 , , PUNCT american_scientific_journal-1686 2 88 electrical electrical ADJ american_scientific_journal-1686 2 89 component component NOUN american_scientific_journal-1686 2 90 has have AUX american_scientific_journal-1686 2 91 assembled assemble VERB american_scientific_journal-1686 2 92 and and CCONJ american_scientific_journal-1686 2 93 connected connect VERB american_scientific_journal-1686 2 94 with with ADP american_scientific_journal-1686 2 95 micro micro ADJ american_scientific_journal-1686 2 96 controller controller NOUN american_scientific_journal-1686 2 97 ( ( PUNCT american_scientific_journal-1686 2 98 arduino arduino NOUN american_scientific_journal-1686 2 99 due due ADJ american_scientific_journal-1686 2 100 ) ) PUNCT american_scientific_journal-1686 2 101 witch witch NOUN american_scientific_journal-1686 2 102 programming programming NOUN american_scientific_journal-1686 2 103 as as ADP american_scientific_journal-1686 2 104 proportional proportional ADJ american_scientific_journal-1686 2 105 integral integral ADJ american_scientific_journal-1686 2 106 differential differential NOUN american_scientific_journal-1686 2 107 ( ( PUNCT american_scientific_journal-1686 2 108 pid pid NOUN american_scientific_journal-1686 2 109 ) ) PUNCT american_scientific_journal-1686 2 110 controller controller NOUN american_scientific_journal-1686 2 111 . . PUNCT american_scientific_journal-1686 3 1 then then ADV american_scientific_journal-1686 3 2 added add VERB american_scientific_journal-1686 3 3 the the DET american_scientific_journal-1686 3 4 flex flex ADJ american_scientific_journal-1686 3 5 sensor sensor NOUN american_scientific_journal-1686 3 6 position position NOUN american_scientific_journal-1686 3 7 to to ADP american_scientific_journal-1686 3 8 human human ADJ american_scientific_journal-1686 3 9 arm arm NOUN american_scientific_journal-1686 3 10 to to PART american_scientific_journal-1686 3 11 measure measure VERB american_scientific_journal-1686 3 12 the the DET american_scientific_journal-1686 3 13 angels angel NOUN american_scientific_journal-1686 3 14 of of ADP american_scientific_journal-1686 3 15 joint joint NOUN american_scientific_journal-1686 3 16 , , PUNCT american_scientific_journal-1686 3 17 this this DET american_scientific_journal-1686 3 18 sensor sensor NOUN american_scientific_journal-1686 3 19 is be AUX american_scientific_journal-1686 3 20 connected connect VERB american_scientific_journal-1686 3 21 to to ADP american_scientific_journal-1686 3 22 microcontroller microcontroller NOUN american_scientific_journal-1686 3 23 arduino arduino NOUN american_scientific_journal-1686 3 24 uno uno PROPN american_scientific_journal-1686 3 25 and and CCONJ american_scientific_journal-1686 3 26 programmed program VERB american_scientific_journal-1686 3 27 to to PART american_scientific_journal-1686 3 28 process process VERB american_scientific_journal-1686 3 29 the the DET american_scientific_journal-1686 3 30 zero zero NUM american_scientific_journal-1686 3 31 and and CCONJ american_scientific_journal-1686 3 32 span span VERB american_scientific_journal-1686 3 33 function function NOUN american_scientific_journal-1686 3 34 for for ADP american_scientific_journal-1686 3 35 sensors sensor NOUN american_scientific_journal-1686 3 36 and and CCONJ american_scientific_journal-1686 3 37 send send VERB american_scientific_journal-1686 3 38 the the DET american_scientific_journal-1686 3 39 data datum NOUN american_scientific_journal-1686 3 40 by by ADP american_scientific_journal-1686 3 41 wireless wireless ADJ american_scientific_journal-1686 3 42 shield shield NOUN american_scientific_journal-1686 3 43 via via ADP american_scientific_journal-1686 3 44 rs rs PROPN american_scientific_journal-1686 3 45 port port NOUN american_scientific_journal-1686 3 46 to to ADP american_scientific_journal-1686 3 47 the the DET american_scientific_journal-1686 3 48 arduino arduino NOUN american_scientific_journal-1686 3 49 due due ADJ american_scientific_journal-1686 3 50 and and CCONJ american_scientific_journal-1686 3 51 run run VERB american_scientific_journal-1686 3 52 the the DET american_scientific_journal-1686 3 53 system system NOUN american_scientific_journal-1686 3 54 . . PUNCT american_scientific_journal-1686 4 1 keywords keyword NOUN american_scientific_journal-1686 4 2 : : PUNCT american_scientific_journal-1686 4 3 pwm pwm NOUN american_scientific_journal-1686 4 4 ; ; PUNCT american_scientific_journal-1686 4 5 pid pid NOUN american_scientific_journal-1686 4 6 ; ; PUNCT american_scientific_journal-1686 4 7 arduino arduino NOUN american_scientific_journal-1686 4 8 due due ADJ american_scientific_journal-1686 4 9 ; ; PUNCT american_scientific_journal-1686 4 10 dof dof NOUN american_scientific_journal-1686 4 11 ; ; PUNCT american_scientific_journal-1686 4 12 servo servo NOUN american_scientific_journal-1686 4 13 . . PUNCT american_scientific_journal-1686 5 1 1 1 X american_scientific_journal-1686 5 2 . . X american_scientific_journal-1686 5 3 introduction introduction NOUN american_scientific_journal-1686 5 4 mimicry mimicry NOUN american_scientific_journal-1686 5 5 robot robot NOUN american_scientific_journal-1686 5 6 arm arm NOUN american_scientific_journal-1686 5 7 of of ADP american_scientific_journal-1686 5 8 the the DET american_scientific_journal-1686 5 9 human human ADJ american_scientific_journal-1686 5 10 arm arm NOUN american_scientific_journal-1686 5 11 an an DET american_scientific_journal-1686 5 12 important important ADJ american_scientific_journal-1686 5 13 topic topic NOUN american_scientific_journal-1686 5 14 since since SCONJ american_scientific_journal-1686 5 15 many many ADJ american_scientific_journal-1686 5 16 applications application NOUN american_scientific_journal-1686 5 17 require require VERB american_scientific_journal-1686 5 18 the the DET american_scientific_journal-1686 5 19 use use NOUN american_scientific_journal-1686 5 20 of of ADP american_scientific_journal-1686 5 21 the the DET american_scientific_journal-1686 5 22 robot robot NOUN american_scientific_journal-1686 5 23 manually manually ADV american_scientific_journal-1686 5 24 by by ADP american_scientific_journal-1686 5 25 giving give VERB american_scientific_journal-1686 5 26 orders order NOUN american_scientific_journal-1686 5 27 from from ADP american_scientific_journal-1686 5 28 the the DET american_scientific_journal-1686 5 29 human human ADJ american_scientific_journal-1686 5 30 hand hand NOUN american_scientific_journal-1686 5 31 such such ADJ american_scientific_journal-1686 5 32 as as ADP american_scientific_journal-1686 5 33 robots robot NOUN american_scientific_journal-1686 5 34 that that PRON american_scientific_journal-1686 5 35 deal deal VERB american_scientific_journal-1686 5 36 with with ADP american_scientific_journal-1686 5 37 dangerous dangerous ADJ american_scientific_journal-1686 5 38 materials material NOUN american_scientific_journal-1686 5 39 , , PUNCT american_scientific_journal-1686 5 40 in in ADP american_scientific_journal-1686 5 41 nuclear nuclear ADJ american_scientific_journal-1686 5 42 and and CCONJ american_scientific_journal-1686 5 43 military military ADJ american_scientific_journal-1686 5 44 applications application NOUN american_scientific_journal-1686 5 45 . . PUNCT american_scientific_journal-1686 6 1 a a DET american_scientific_journal-1686 6 2 large large ADJ american_scientific_journal-1686 6 3 number number NOUN american_scientific_journal-1686 6 4 of of ADP american_scientific_journal-1686 6 5 studies study NOUN american_scientific_journal-1686 6 6 on on ADP american_scientific_journal-1686 6 7 the the DET american_scientific_journal-1686 6 8 control control NOUN american_scientific_journal-1686 6 9 robot robot NOUN american_scientific_journal-1686 6 10 arm arm NOUN american_scientific_journal-1686 6 11 through through ADP american_scientific_journal-1686 6 12 the the DET american_scientific_journal-1686 6 13 human human ADJ american_scientific_journal-1686 6 14 hand hand NOUN american_scientific_journal-1686 6 15 such such ADJ american_scientific_journal-1686 6 16 as as ADP american_scientific_journal-1686 6 17 vision vision NOUN american_scientific_journal-1686 6 18 based base VERB american_scientific_journal-1686 6 19 system system NOUN american_scientific_journal-1686 6 20 by by ADP american_scientific_journal-1686 6 21 tracking track VERB american_scientific_journal-1686 6 22 markers marker NOUN american_scientific_journal-1686 6 23 placed place VERB american_scientific_journal-1686 6 24 at at ADP american_scientific_journal-1686 6 25 a a DET american_scientific_journal-1686 6 26 dorsal dorsal NOUN american_scientific_journal-1686 6 27 side side NOUN american_scientific_journal-1686 6 28 of of ADP american_scientific_journal-1686 6 29 human human ADJ american_scientific_journal-1686 6 30 hand hand NOUN american_scientific_journal-1686 6 31 using use VERB american_scientific_journal-1686 6 32 cameras camera NOUN american_scientific_journal-1686 6 33 to to PART american_scientific_journal-1686 6 34 estimate estimate VERB american_scientific_journal-1686 6 35 the the DET american_scientific_journal-1686 6 36 3d 3d NUM american_scientific_journal-1686 6 37 position position NOUN american_scientific_journal-1686 6 38 of of ADP american_scientific_journal-1686 6 39 hand hand NOUN american_scientific_journal-1686 6 40 to to PART american_scientific_journal-1686 6 41 control control VERB american_scientific_journal-1686 6 42 the the DET american_scientific_journal-1686 6 43 robot robot NOUN american_scientific_journal-1686 6 44 were be AUX american_scientific_journal-1686 6 45 proposed propose VERB american_scientific_journal-1686 6 46 [ [ PUNCT american_scientific_journal-1686 6 47 1 1 NUM american_scientific_journal-1686 6 48 , , PUNCT american_scientific_journal-1686 6 49 2 2 NUM american_scientific_journal-1686 6 50 ] ] PUNCT american_scientific_journal-1686 6 51 . . PUNCT american_scientific_journal-1686 7 1 electromechanical electromechanical ADJ american_scientific_journal-1686 7 2 devices device NOUN american_scientific_journal-1686 7 3 ( ( PUNCT american_scientific_journal-1686 7 4 potentiometer potentiometer NOUN american_scientific_journal-1686 7 5 and and CCONJ american_scientific_journal-1686 7 6 metal metal NOUN american_scientific_journal-1686 7 7 parts part NOUN american_scientific_journal-1686 7 8 ) ) PUNCT american_scientific_journal-1686 7 9 , , PUNCT american_scientific_journal-1686 7 10 are be AUX american_scientific_journal-1686 7 11 worn wear VERB american_scientific_journal-1686 7 12 by by ADP american_scientific_journal-1686 7 13 the the DET american_scientific_journal-1686 7 14 operator operator NOUN american_scientific_journal-1686 7 15 arm arm NOUN american_scientific_journal-1686 7 16 to to PART american_scientific_journal-1686 7 17 sense sense VERB american_scientific_journal-1686 7 18 the the DET american_scientific_journal-1686 7 19 motion motion NOUN american_scientific_journal-1686 7 20 of of ADP american_scientific_journal-1686 7 21 arm arm NOUN american_scientific_journal-1686 7 22 [ [ X american_scientific_journal-1686 7 23 3 3 NUM american_scientific_journal-1686 7 24 ] ] PUNCT american_scientific_journal-1686 7 25 . . PUNCT american_scientific_journal-1686 8 1 ----------------------------------------------------------------------- ----------------------------------------------------------------------- PUNCT american_scientific_journal-1686 9 1 * * PUNCT american_scientific_journal-1686 9 2 corresponding correspond VERB american_scientific_journal-1686 9 3 author author NOUN american_scientific_journal-1686 9 4 . . PUNCT american_scientific_journal-1686 10 1 http://asrjetsjournal.org/ http://asrjetsjournal.org/ PROPN american_scientific_journal-1686 10 2 american american PROPN american_scientific_journal-1686 10 3 scientific scientific PROPN american_scientific_journal-1686 10 4 research research NOUN american_scientific_journal-1686 10 5 journal journal NOUN american_scientific_journal-1686 10 6 for for ADP american_scientific_journal-1686 10 7 engineering engineering NOUN american_scientific_journal-1686 10 8 , , PUNCT american_scientific_journal-1686 10 9 technology technology NOUN american_scientific_journal-1686 10 10 , , PUNCT american_scientific_journal-1686 10 11 and and CCONJ american_scientific_journal-1686 10 12 sciences science NOUN american_scientific_journal-1686 10 13 ( ( PUNCT american_scientific_journal-1686 10 14 asrjets asrjet NOUN american_scientific_journal-1686 10 15 ) ) PUNCT american_scientific_journal-1686 10 16 ( ( PUNCT american_scientific_journal-1686 10 17 2016 2016 NUM american_scientific_journal-1686 10 18 ) ) PUNCT american_scientific_journal-1686 10 19 volume volume NOUN american_scientific_journal-1686 10 20 19 19 NUM american_scientific_journal-1686 10 21 , , PUNCT american_scientific_journal-1686 10 22 no no DET american_scientific_journal-1686 10 23 1 1 NUM american_scientific_journal-1686 10 24 , , PUNCT american_scientific_journal-1686 10 25 pp pp ADV american_scientific_journal-1686 10 26 178 178 NUM american_scientific_journal-1686 10 27 - - SYM american_scientific_journal-1686 10 28 190 190 NUM american_scientific_journal-1686 10 29 179 179 NUM american_scientific_journal-1686 10 30 emg emg NOUN american_scientific_journal-1686 10 31 ( ( PUNCT american_scientific_journal-1686 10 32 electromyography electromyography NOUN american_scientific_journal-1686 10 33 ) ) PUNCT american_scientific_journal-1686 10 34 signals signal NOUN american_scientific_journal-1686 10 35 which which PRON american_scientific_journal-1686 10 36 are be AUX american_scientific_journal-1686 10 37 measured measure VERB american_scientific_journal-1686 10 38 using use VERB american_scientific_journal-1686 10 39 non non ADJ american_scientific_journal-1686 10 40 - - ADJ american_scientific_journal-1686 10 41 invasive invasive ADJ american_scientific_journal-1686 10 42 electrodes electrode NOUN american_scientific_journal-1686 10 43 are be AUX american_scientific_journal-1686 10 44 placed place VERB american_scientific_journal-1686 10 45 at at ADP american_scientific_journal-1686 10 46 specific specific ADJ american_scientific_journal-1686 10 47 locations location NOUN american_scientific_journal-1686 10 48 of of ADP american_scientific_journal-1686 10 49 human human ADJ american_scientific_journal-1686 10 50 arm arm NOUN american_scientific_journal-1686 10 51 and and CCONJ american_scientific_journal-1686 10 52 represent represent VERB american_scientific_journal-1686 10 53 the the DET american_scientific_journal-1686 10 54 activity activity NOUN american_scientific_journal-1686 10 55 of of ADP american_scientific_journal-1686 10 56 human human ADJ american_scientific_journal-1686 10 57 arm arm NOUN american_scientific_journal-1686 10 58 muscles muscle NOUN american_scientific_journal-1686 10 59 due due ADP american_scientific_journal-1686 10 60 to to ADP american_scientific_journal-1686 10 61 motion motion NOUN american_scientific_journal-1686 10 62 to to PART american_scientific_journal-1686 10 63 drive drive VERB american_scientific_journal-1686 10 64 the the DET american_scientific_journal-1686 10 65 robot robot NOUN american_scientific_journal-1686 10 66 [ [ X american_scientific_journal-1686 10 67 4 4 NUM american_scientific_journal-1686 10 68 ] ] PUNCT american_scientific_journal-1686 10 69 . . PUNCT american_scientific_journal-1686 11 1 micro micro ADJ american_scientific_journal-1686 11 2 - - ADJ american_scientific_journal-1686 11 3 electro electro ADJ american_scientific_journal-1686 11 4 - - PUNCT american_scientific_journal-1686 11 5 mechanical mechanical ADJ american_scientific_journal-1686 11 6 systems system NOUN american_scientific_journal-1686 11 7 ( ( PUNCT american_scientific_journal-1686 11 8 mems mem NOUN american_scientific_journal-1686 11 9 ) ) PUNCT american_scientific_journal-1686 11 10 was be AUX american_scientific_journal-1686 11 11 used use VERB american_scientific_journal-1686 11 12 to to PART american_scientific_journal-1686 11 13 estimate estimate VERB american_scientific_journal-1686 11 14 the the DET american_scientific_journal-1686 11 15 3d 3d NUM american_scientific_journal-1686 11 16 position position NOUN american_scientific_journal-1686 11 17 and and CCONJ american_scientific_journal-1686 11 18 orientation orientation NOUN american_scientific_journal-1686 11 19 of of ADP american_scientific_journal-1686 11 20 human human ADJ american_scientific_journal-1686 11 21 hand hand NOUN american_scientific_journal-1686 11 22 by by ADP american_scientific_journal-1686 11 23 integrating integrate VERB american_scientific_journal-1686 11 24 inertial inertial ADJ american_scientific_journal-1686 11 25 sensors sensor NOUN american_scientific_journal-1686 11 26 such such ADJ american_scientific_journal-1686 11 27 as as ADP american_scientific_journal-1686 11 28 gyroscope gyroscope NOUN american_scientific_journal-1686 11 29 , , PUNCT american_scientific_journal-1686 11 30 accelerometer accelerometer NOUN american_scientific_journal-1686 11 31 and and CCONJ american_scientific_journal-1686 11 32 magnetometer magnetometer NOUN american_scientific_journal-1686 11 33 [ [ X american_scientific_journal-1686 11 34 5 5 NUM american_scientific_journal-1686 11 35 ] ] PUNCT american_scientific_journal-1686 11 36 . . PUNCT american_scientific_journal-1686 12 1 this this DET american_scientific_journal-1686 12 2 paper paper NOUN american_scientific_journal-1686 12 3 present present NOUN american_scientific_journal-1686 12 4 controlling control VERB american_scientific_journal-1686 12 5 to to ADP american_scientific_journal-1686 12 6 robot robot NOUN american_scientific_journal-1686 12 7 arm arm NOUN american_scientific_journal-1686 12 8 by by ADP american_scientific_journal-1686 12 9 using use VERB american_scientific_journal-1686 12 10 flex flex ADJ american_scientific_journal-1686 12 11 sensors sensor NOUN american_scientific_journal-1686 12 12 fixed fix VERB american_scientific_journal-1686 12 13 on on ADP american_scientific_journal-1686 12 14 human human ADJ american_scientific_journal-1686 12 15 hand hand NOUN american_scientific_journal-1686 12 16 and and CCONJ american_scientific_journal-1686 12 17 send send VERB american_scientific_journal-1686 12 18 the the DET american_scientific_journal-1686 12 19 data datum NOUN american_scientific_journal-1686 12 20 wireless wireless NOUN american_scientific_journal-1686 12 21 via via ADP american_scientific_journal-1686 12 22 rs rs NOUN american_scientific_journal-1686 12 23 - - PUNCT american_scientific_journal-1686 12 24 port port NOUN american_scientific_journal-1686 12 25 . . PUNCT american_scientific_journal-1686 13 1 2 2 X american_scientific_journal-1686 13 2 . . X american_scientific_journal-1686 13 3 mechanical mechanical ADJ american_scientific_journal-1686 13 4 stricture stricture NOUN american_scientific_journal-1686 13 5 analysis analysis NOUN american_scientific_journal-1686 13 6 figure figure NOUN american_scientific_journal-1686 13 7 1 1 NUM american_scientific_journal-1686 13 8 : : PUNCT american_scientific_journal-1686 13 9 side side ADJ american_scientific_journal-1686 13 10 view view NOUN american_scientific_journal-1686 13 11 of of ADP american_scientific_journal-1686 13 12 robot robot NOUN american_scientific_journal-1686 13 13 arm arm VERB american_scientific_journal-1686 13 14 the the DET american_scientific_journal-1686 13 15 robot robot NOUN american_scientific_journal-1686 13 16 arm arm NOUN american_scientific_journal-1686 13 17 which which PRON american_scientific_journal-1686 13 18 has have AUX american_scientific_journal-1686 13 19 been be AUX american_scientific_journal-1686 13 20 built build VERB american_scientific_journal-1686 13 21 in in ADP american_scientific_journal-1686 13 22 this this DET american_scientific_journal-1686 13 23 research research NOUN american_scientific_journal-1686 13 24 created create VERB american_scientific_journal-1686 13 25 three three NUM american_scientific_journal-1686 13 26 links link NOUN american_scientific_journal-1686 13 27 connected connect VERB american_scientific_journal-1686 13 28 by by ADP american_scientific_journal-1686 13 29 joints joint NOUN american_scientific_journal-1686 13 30 has have VERB american_scientific_journal-1686 13 31 five five NUM american_scientific_journal-1686 13 32 degrees degree NOUN american_scientific_journal-1686 13 33 of of ADP american_scientific_journal-1686 13 34 freedom freedom NOUN american_scientific_journal-1686 13 35 ( ( PUNCT american_scientific_journal-1686 13 36 5 5 NUM american_scientific_journal-1686 13 37 dof dof NOUN american_scientific_journal-1686 13 38 ) ) PUNCT american_scientific_journal-1686 13 39 , , PUNCT american_scientific_journal-1686 13 40 every every DET american_scientific_journal-1686 13 41 joint joint NOUN american_scientific_journal-1686 13 42 is be AUX american_scientific_journal-1686 13 43 connected connect VERB american_scientific_journal-1686 13 44 with with ADP american_scientific_journal-1686 13 45 electrical electrical ADJ american_scientific_journal-1686 13 46 actuator actuator NOUN american_scientific_journal-1686 13 47 , , PUNCT american_scientific_journal-1686 13 48 that that PRON american_scientific_journal-1686 13 49 show show VERB american_scientific_journal-1686 13 50 in in ADP american_scientific_journal-1686 13 51 figure figure NOUN american_scientific_journal-1686 13 52 1 1 NUM american_scientific_journal-1686 14 1 when when SCONJ american_scientific_journal-1686 14 2 : : PUNCT american_scientific_journal-1686 14 3 𝑋𝑋1 𝑋𝑋1 NOUN american_scientific_journal-1686 14 4 … … PUNCT american_scientific_journal-1686 14 5 . . PUNCT american_scientific_journal-1686 15 1 𝑋𝑋7 𝑋𝑋7 PROPN american_scientific_journal-1686 15 2 : : PUNCT american_scientific_journal-1686 15 3 effect effect VERB american_scientific_journal-1686 15 4 distance distance NOUN american_scientific_journal-1686 15 5 between between ADP american_scientific_journal-1686 15 6 the the DET american_scientific_journal-1686 15 7 mass mass NOUN american_scientific_journal-1686 15 8 and and CCONJ american_scientific_journal-1686 15 9 joint joint ADJ american_scientific_journal-1686 15 10 a a DET american_scientific_journal-1686 15 11 𝑀𝑀1 𝑀𝑀1 NOUN american_scientific_journal-1686 15 12 … … PUNCT american_scientific_journal-1686 15 13 … … PUNCT american_scientific_journal-1686 15 14 𝑀𝑀𝐸𝐸 𝑀𝑀𝐸𝐸 NOUN american_scientific_journal-1686 15 15 : : PUNCT american_scientific_journal-1686 15 16 mass mass PROPN american_scientific_journal-1686 15 17 𝑇𝑇1 𝑇𝑇1 PROPN american_scientific_journal-1686 15 18 … … PUNCT american_scientific_journal-1686 15 19 .. .. PUNCT american_scientific_journal-1686 15 20 𝑇𝑇3 𝑇𝑇3 PROPN american_scientific_journal-1686 15 21 : : PUNCT american_scientific_journal-1686 15 22 torque torque NOUN american_scientific_journal-1686 15 23 at at ADP american_scientific_journal-1686 15 24 the the DET american_scientific_journal-1686 15 25 joints joint NOUN american_scientific_journal-1686 15 26 the the DET american_scientific_journal-1686 15 27 torque torque NOUN american_scientific_journal-1686 15 28 in in ADP american_scientific_journal-1686 15 29 the the DET american_scientific_journal-1686 15 30 joint joint NOUN american_scientific_journal-1686 15 31 a a NOUN american_scientific_journal-1686 15 32 is be AUX american_scientific_journal-1686 15 33 given give VERB american_scientific_journal-1686 15 34 by by ADP american_scientific_journal-1686 15 35 the the DET american_scientific_journal-1686 15 36 equation equation NOUN american_scientific_journal-1686 15 37 𝑇𝑇1 𝑇𝑇1 NOUN american_scientific_journal-1686 15 38 = = PUNCT american_scientific_journal-1686 15 39 𝑋𝑋1.𝑀𝑀1 𝑋𝑋1.𝑀𝑀1 NOUN american_scientific_journal-1686 15 40 + + CCONJ american_scientific_journal-1686 15 41 𝑋𝑋2.𝑀𝑀2 𝑋𝑋2.𝑀𝑀2 NOUN american_scientific_journal-1686 15 42 + + CCONJ american_scientific_journal-1686 15 43 𝑋𝑋3 𝑋𝑋3 PROPN american_scientific_journal-1686 15 44 .𝑀𝑀3 .𝑀𝑀3 PUNCT american_scientific_journal-1686 16 1 + + CCONJ american_scientific_journal-1686 16 2 𝑋𝑋4.𝑀𝑀3 𝑋𝑋4.𝑀𝑀3 NOUN american_scientific_journal-1686 16 3 + + CCONJ american_scientific_journal-1686 16 4 𝑋𝑋5.𝑀𝑀5 𝑋𝑋5.𝑀𝑀5 ADJ american_scientific_journal-1686 16 5 + + CCONJ american_scientific_journal-1686 16 6 𝑋𝑋6.𝑀𝑀6 𝑋𝑋6.𝑀𝑀6 NOUN american_scientific_journal-1686 16 7 + + CCONJ american_scientific_journal-1686 16 8 𝑋𝑋7.𝑀𝑀𝐸𝐸 𝑋𝑋7.𝑀𝑀𝐸𝐸 NUM american_scientific_journal-1686 16 9 … … PUNCT american_scientific_journal-1686 16 10 .. .. PUNCT american_scientific_journal-1686 16 11 ( ( PUNCT american_scientific_journal-1686 16 12 1 1 X american_scientific_journal-1686 16 13 ) ) PUNCT american_scientific_journal-1686 16 14 and and CCONJ american_scientific_journal-1686 16 15 the the DET american_scientific_journal-1686 16 16 distance distance NOUN american_scientific_journal-1686 16 17 of of ADP american_scientific_journal-1686 16 18 𝑋𝑋1 𝑋𝑋1 PROPN american_scientific_journal-1686 16 19 … … PUNCT american_scientific_journal-1686 16 20 . . PUNCT american_scientific_journal-1686 17 1 𝑋𝑋7 𝑋𝑋7 PROPN american_scientific_journal-1686 17 2 is be AUX american_scientific_journal-1686 17 3 given give VERB american_scientific_journal-1686 17 4 by by ADP american_scientific_journal-1686 17 5 : : PUNCT american_scientific_journal-1686 17 6 𝑋𝑋1 𝑋𝑋1 NOUN american_scientific_journal-1686 17 7 = = SYM american_scientific_journal-1686 17 8 1 1 NUM american_scientific_journal-1686 17 9 2 2 NUM american_scientific_journal-1686 17 10 . . PUNCT american_scientific_journal-1686 18 1 𝐿𝐿1 𝐿𝐿1 PROPN american_scientific_journal-1686 18 2 . . PUNCT american_scientific_journal-1686 19 1 cos𝛼𝛼1 cos𝛼𝛼1 PROPN american_scientific_journal-1686 19 2 … … PUNCT american_scientific_journal-1686 19 3 … … PUNCT american_scientific_journal-1686 19 4 … … PUNCT american_scientific_journal-1686 19 5 … … PUNCT american_scientific_journal-1686 19 6 … … PUNCT american_scientific_journal-1686 19 7 … … PUNCT american_scientific_journal-1686 19 8 … … PUNCT american_scientific_journal-1686 19 9 … … PUNCT american_scientific_journal-1686 19 10 … … PUNCT american_scientific_journal-1686 19 11 … … PUNCT american_scientific_journal-1686 19 12 … … PUNCT american_scientific_journal-1686 19 13 … … SYM american_scientific_journal-1686 19 14 . . PUNCT american_scientific_journal-1686 19 15 … … PUNCT american_scientific_journal-1686 19 16 .(2 .(2 X american_scientific_journal-1686 19 17 ) ) PUNCT american_scientific_journal-1686 20 1 𝑋𝑋2 𝑋𝑋2 PROPN american_scientific_journal-1686 20 2 = = SYM american_scientific_journal-1686 20 3 𝑋𝑋01 𝑋𝑋01 PROPN american_scientific_journal-1686 20 4 . . PUNCT american_scientific_journal-1686 20 5 cos𝛼𝛼1 cos𝛼𝛼1 PROPN american_scientific_journal-1686 20 6 … … PUNCT american_scientific_journal-1686 20 7 … … PUNCT american_scientific_journal-1686 20 8 … … PUNCT american_scientific_journal-1686 20 9 … … PUNCT american_scientific_journal-1686 20 10 … … PUNCT american_scientific_journal-1686 20 11 … … PUNCT american_scientific_journal-1686 20 12 … … PUNCT american_scientific_journal-1686 20 13 … … PUNCT american_scientific_journal-1686 20 14 …… …… NOUN american_scientific_journal-1686 20 15 …… …… NOUN american_scientific_journal-1686 20 16 …… …… NOUN american_scientific_journal-1686 20 17 .. .. PUNCT american_scientific_journal-1686 20 18 … … PUNCT american_scientific_journal-1686 20 19 . . PUNCT american_scientific_journal-1686 21 1 ( ( PUNCT american_scientific_journal-1686 21 2 3 3 X american_scientific_journal-1686 21 3 ) ) PUNCT american_scientific_journal-1686 21 4 𝑋𝑋3 𝑋𝑋3 PROPN american_scientific_journal-1686 21 5 = = SYM american_scientific_journal-1686 21 6 𝐿𝐿1 𝐿𝐿1 PROPN american_scientific_journal-1686 21 7 . . PUNCT american_scientific_journal-1686 22 1 cos𝛼𝛼1 cos𝛼𝛼1 PROPN american_scientific_journal-1686 23 1 + + CCONJ american_scientific_journal-1686 23 2 1 1 NUM american_scientific_journal-1686 23 3 2 2 NUM american_scientific_journal-1686 23 4 οΏ½ οΏ½ PROPN american_scientific_journal-1686 23 5 .𝐿𝐿2 .𝐿𝐿2 NOUN american_scientific_journal-1686 23 6 . . PUNCT american_scientific_journal-1686 24 1 cos𝛼𝛼2 cos𝛼𝛼2 PROPN american_scientific_journal-1686 24 2 …… …… NOUN american_scientific_journal-1686 24 3 …… …… NOUN american_scientific_journal-1686 24 4 …… …… NOUN american_scientific_journal-1686 24 5 . . PUNCT american_scientific_journal-1686 25 1 … … PUNCT american_scientific_journal-1686 25 2 ( ( PUNCT american_scientific_journal-1686 25 3 4 4 X american_scientific_journal-1686 25 4 ) ) PUNCT american_scientific_journal-1686 25 5 american american ADJ american_scientific_journal-1686 25 6 scientific scientific ADJ american_scientific_journal-1686 25 7 research research NOUN american_scientific_journal-1686 25 8 journal journal NOUN american_scientific_journal-1686 25 9 for for ADP american_scientific_journal-1686 25 10 engineering engineering NOUN american_scientific_journal-1686 25 11 , , PUNCT american_scientific_journal-1686 25 12 technology technology NOUN american_scientific_journal-1686 25 13 , , PUNCT american_scientific_journal-1686 25 14 and and CCONJ american_scientific_journal-1686 25 15 sciences science NOUN american_scientific_journal-1686 25 16 ( ( PUNCT american_scientific_journal-1686 25 17 asrjets asrjet NOUN american_scientific_journal-1686 25 18 ) ) PUNCT american_scientific_journal-1686 25 19 ( ( PUNCT american_scientific_journal-1686 25 20 2016 2016 NUM american_scientific_journal-1686 25 21 ) ) PUNCT american_scientific_journal-1686 25 22 volume volume NOUN american_scientific_journal-1686 25 23 19 19 NUM american_scientific_journal-1686 25 24 , , PUNCT american_scientific_journal-1686 25 25 no no DET american_scientific_journal-1686 25 26 1 1 NUM american_scientific_journal-1686 25 27 , , PUNCT american_scientific_journal-1686 25 28 pp pp ADV american_scientific_journal-1686 25 29 178 178 NUM american_scientific_journal-1686 25 30 - - SYM american_scientific_journal-1686 25 31 190 190 NUM american_scientific_journal-1686 25 32 180 180 NUM american_scientific_journal-1686 25 33 𝑋𝑋4 𝑋𝑋4 PROPN american_scientific_journal-1686 25 34 = = SYM american_scientific_journal-1686 25 35 𝐿𝐿1 𝐿𝐿1 PROPN american_scientific_journal-1686 25 36 . . PUNCT american_scientific_journal-1686 25 37 cos𝛼𝛼1 cos𝛼𝛼1 PROPN american_scientific_journal-1686 26 1 + + CCONJ american_scientific_journal-1686 27 1 𝑋𝑋02 𝑋𝑋02 PROPN american_scientific_journal-1686 27 2 . . PUNCT american_scientific_journal-1686 27 3 cos𝛼𝛼2 cos𝛼𝛼2 PROPN american_scientific_journal-1686 27 4 … … PUNCT american_scientific_journal-1686 27 5 … … PUNCT american_scientific_journal-1686 27 6 … … PUNCT american_scientific_journal-1686 27 7 … … PUNCT american_scientific_journal-1686 27 8 … … PUNCT american_scientific_journal-1686 27 9 … … PUNCT american_scientific_journal-1686 27 10 … … SYM american_scientific_journal-1686 27 11 .(5 .(5 NOUN american_scientific_journal-1686 27 12 ) ) PUNCT american_scientific_journal-1686 28 1 𝑋𝑋5 𝑋𝑋5 PROPN american_scientific_journal-1686 28 2 = = PUNCT american_scientific_journal-1686 28 3 𝐿𝐿1 𝐿𝐿1 PROPN american_scientific_journal-1686 28 4 . . PUNCT american_scientific_journal-1686 29 1 cos𝛼𝛼1 cos𝛼𝛼1 PROPN american_scientific_journal-1686 30 1 + + PROPN american_scientific_journal-1686 30 2 𝐿𝐿2 𝐿𝐿2 PROPN american_scientific_journal-1686 30 3 . . PUNCT american_scientific_journal-1686 30 4 cos𝛼𝛼2 cos𝛼𝛼2 PROPN american_scientific_journal-1686 31 1 + + CCONJ american_scientific_journal-1686 32 1 𝑋𝑋03 𝑋𝑋03 PROPN american_scientific_journal-1686 32 2 . . PUNCT american_scientific_journal-1686 33 1 cos𝛼𝛼3 cos𝛼𝛼3 PROPN american_scientific_journal-1686 33 2 … … PUNCT american_scientific_journal-1686 33 3 … … PUNCT american_scientific_journal-1686 33 4 .. .. PUNCT american_scientific_journal-1686 33 5 ( ( PUNCT american_scientific_journal-1686 33 6 6 6 NUM american_scientific_journal-1686 33 7 ) ) PUNCT american_scientific_journal-1686 33 8 𝑋𝑋6 𝑋𝑋6 PROPN american_scientific_journal-1686 33 9 = = SYM american_scientific_journal-1686 33 10 𝐿𝐿1 𝐿𝐿1 PROPN american_scientific_journal-1686 33 11 . . PUNCT american_scientific_journal-1686 34 1 cos𝛼𝛼1 cos𝛼𝛼1 PROPN american_scientific_journal-1686 35 1 + + PROPN american_scientific_journal-1686 35 2 𝐿𝐿2 𝐿𝐿2 PROPN american_scientific_journal-1686 35 3 . . PUNCT american_scientific_journal-1686 35 4 cos𝛼𝛼2 cos𝛼𝛼2 PROPN american_scientific_journal-1686 36 1 + + CCONJ american_scientific_journal-1686 36 2 1 1 NUM american_scientific_journal-1686 36 3 2 2 NUM american_scientific_journal-1686 36 4 οΏ½ οΏ½ NOUN american_scientific_journal-1686 36 5 . . PUNCT american_scientific_journal-1686 37 1 𝐿𝐿3 𝐿𝐿3 PROPN american_scientific_journal-1686 37 2 . . PUNCT american_scientific_journal-1686 38 1 cos𝛼𝛼3 cos𝛼𝛼3 PROPN american_scientific_journal-1686 38 2 … … PUNCT american_scientific_journal-1686 38 3 ( ( PUNCT american_scientific_journal-1686 38 4 7 7 X american_scientific_journal-1686 38 5 ) ) PUNCT american_scientific_journal-1686 38 6 𝑋𝑋7 𝑋𝑋7 PROPN american_scientific_journal-1686 38 7 = = SYM american_scientific_journal-1686 38 8 𝐿𝐿1 𝐿𝐿1 PROPN american_scientific_journal-1686 38 9 . . PUNCT american_scientific_journal-1686 39 1 cos𝛼𝛼1 cos𝛼𝛼1 PROPN american_scientific_journal-1686 40 1 + + PROPN american_scientific_journal-1686 40 2 𝐿𝐿2 𝐿𝐿2 PROPN american_scientific_journal-1686 40 3 . . PUNCT american_scientific_journal-1686 40 4 cos𝛼𝛼2 cos𝛼𝛼2 PROPN american_scientific_journal-1686 41 1 + + CCONJ american_scientific_journal-1686 42 1 𝑋𝑋04 𝑋𝑋04 PROPN american_scientific_journal-1686 42 2 . . PUNCT american_scientific_journal-1686 43 1 cos𝛼𝛼3 cos𝛼𝛼3 PROPN american_scientific_journal-1686 43 2 … … SYM american_scientific_journal-1686 43 3 … … PUNCT american_scientific_journal-1686 43 4 … … PUNCT american_scientific_journal-1686 43 5 (8 (8 NOUN american_scientific_journal-1686 43 6 ) ) PUNCT american_scientific_journal-1686 43 7 and and CCONJ american_scientific_journal-1686 43 8 𝛼𝛼1 𝛼𝛼1 NOUN american_scientific_journal-1686 43 9 = = SYM american_scientific_journal-1686 43 10 βˆ…1 βˆ…1 NOUN american_scientific_journal-1686 43 11 , , PUNCT american_scientific_journal-1686 43 12 𝛼𝛼2 𝛼𝛼2 PROPN american_scientific_journal-1686 43 13 = = NOUN american_scientific_journal-1686 43 14 βˆ…1 βˆ…1 NOUN american_scientific_journal-1686 43 15 + + CCONJ american_scientific_journal-1686 43 16 βˆ…2 βˆ…2 NOUN american_scientific_journal-1686 43 17 , , PUNCT american_scientific_journal-1686 43 18 𝛼𝛼3 𝛼𝛼3 NOUN american_scientific_journal-1686 43 19 = = PUNCT american_scientific_journal-1686 44 1 βˆ…1 βˆ…1 X american_scientific_journal-1686 44 2 + + CCONJ american_scientific_journal-1686 44 3 βˆ…2 βˆ…2 VERB american_scientific_journal-1686 44 4 + + CCONJ american_scientific_journal-1686 44 5 βˆ…3 βˆ…3 NOUN american_scientific_journal-1686 44 6 in in ADP american_scientific_journal-1686 44 7 the the DET american_scientific_journal-1686 44 8 same same ADJ american_scientific_journal-1686 44 9 way way NOUN american_scientific_journal-1686 44 10 for for ADP american_scientific_journal-1686 44 11 the the DET american_scientific_journal-1686 44 12 𝑇𝑇2 𝑇𝑇2 PROPN american_scientific_journal-1686 44 13 and and CCONJ american_scientific_journal-1686 44 14 𝑇𝑇3 𝑇𝑇3 PROPN american_scientific_journal-1686 44 15 𝑇𝑇2 𝑇𝑇2 PROPN american_scientific_journal-1686 44 16 = = PROPN american_scientific_journal-1686 44 17 𝑋𝑋8.𝑀𝑀3 𝑋𝑋8.𝑀𝑀3 PROPN american_scientific_journal-1686 44 18 + + CCONJ american_scientific_journal-1686 44 19 𝑋𝑋9.𝑀𝑀4 𝑋𝑋9.𝑀𝑀4 NOUN american_scientific_journal-1686 45 1 + + CCONJ american_scientific_journal-1686 45 2 𝑋𝑋10 𝑋𝑋10 ADV american_scientific_journal-1686 45 3 .𝑀𝑀5 .𝑀𝑀5 PROPN american_scientific_journal-1686 46 1 + + CCONJ american_scientific_journal-1686 46 2 𝑋𝑋11.𝑀𝑀6 𝑋𝑋11.𝑀𝑀6 ADJ american_scientific_journal-1686 46 3 + + CCONJ american_scientific_journal-1686 46 4 𝑋𝑋12.𝑀𝑀𝐸𝐸 𝑋𝑋12.𝑀𝑀𝐸𝐸 NOUN american_scientific_journal-1686 46 5 …… …… NOUN american_scientific_journal-1686 46 6 .. .. PUNCT american_scientific_journal-1686 46 7 ( ( PUNCT american_scientific_journal-1686 46 8 9 9 X american_scientific_journal-1686 46 9 ) ) PUNCT american_scientific_journal-1686 46 10 𝑇𝑇3 𝑇𝑇3 NOUN american_scientific_journal-1686 47 1 = = PUNCT american_scientific_journal-1686 47 2 𝑋𝑋13.𝑀𝑀5 𝑋𝑋13.𝑀𝑀5 ADJ american_scientific_journal-1686 47 3 + + PUNCT american_scientific_journal-1686 47 4 𝑋𝑋14.𝑀𝑀6 𝑋𝑋14.𝑀𝑀6 ADJ american_scientific_journal-1686 47 5 + + X american_scientific_journal-1686 47 6 𝑋𝑋15 𝑋𝑋15 PROPN american_scientific_journal-1686 47 7 .𝑀𝑀𝐸𝐸 .𝑀𝑀𝐸𝐸 PROPN american_scientific_journal-1686 47 8 … … PUNCT american_scientific_journal-1686 47 9 … … PUNCT american_scientific_journal-1686 47 10 … … PUNCT american_scientific_journal-1686 47 11 … … PUNCT american_scientific_journal-1686 47 12 … … PUNCT american_scientific_journal-1686 47 13 … … PUNCT american_scientific_journal-1686 47 14 … … PUNCT american_scientific_journal-1686 47 15 … … PUNCT american_scientific_journal-1686 47 16 … … PUNCT american_scientific_journal-1686 47 17 .. .. PUNCT american_scientific_journal-1686 47 18 … … PUNCT american_scientific_journal-1686 47 19 (10 (10 SYM american_scientific_journal-1686 47 20 ) ) PUNCT american_scientific_journal-1686 47 21 table table NOUN american_scientific_journal-1686 47 22 1 1 NUM american_scientific_journal-1686 47 23 : : PUNCT american_scientific_journal-1686 47 24 the the DET american_scientific_journal-1686 47 25 wight wight NOUN american_scientific_journal-1686 47 26 of of ADP american_scientific_journal-1686 47 27 mass mass NOUN american_scientific_journal-1686 47 28 and and CCONJ american_scientific_journal-1686 47 29 distance distance NOUN american_scientific_journal-1686 47 30 𝑀𝑀2 𝑀𝑀2 PROPN american_scientific_journal-1686 47 31 = = PROPN american_scientific_journal-1686 47 32 1.78 1.78 NUM american_scientific_journal-1686 47 33 kgm kgm PROPN american_scientific_journal-1686 47 34 𝑀𝑀1 𝑀𝑀1 PROPN american_scientific_journal-1686 47 35 = = PROPN american_scientific_journal-1686 47 36 1.49 1.49 NUM american_scientific_journal-1686 47 37 kgm kgm PROPN american_scientific_journal-1686 47 38 𝐿𝐿1 𝐿𝐿1 PROPN american_scientific_journal-1686 47 39 = = NUM american_scientific_journal-1686 47 40 34 34 NUM american_scientific_journal-1686 47 41 cm cm NOUN american_scientific_journal-1686 47 42 𝑀𝑀3 𝑀𝑀3 NOUN american_scientific_journal-1686 48 1 = = PROPN american_scientific_journal-1686 48 2 1.62 1.62 NUM american_scientific_journal-1686 48 3 kgm kgm PROPN american_scientific_journal-1686 48 4 𝐿𝐿2= 𝐿𝐿2= PROPN american_scientific_journal-1686 48 5 42.5 42.5 NUM american_scientific_journal-1686 48 6 cm cm NOUN american_scientific_journal-1686 48 7 𝐿𝐿2= 𝐿𝐿2= PROPN american_scientific_journal-1686 48 8 42.5 42.5 NUM american_scientific_journal-1686 48 9 cm cm NOUN american_scientific_journal-1686 48 10 𝑀𝑀5= 𝑀𝑀5= PROPN american_scientific_journal-1686 48 11 0.155 0.155 NUM american_scientific_journal-1686 48 12 kgm kgm PROPN american_scientific_journal-1686 48 13 𝐿𝐿3 𝐿𝐿3 PROPN american_scientific_journal-1686 48 14 = = PUNCT american_scientific_journal-1686 48 15 20 20 NUM american_scientific_journal-1686 48 16 cm cm NOUN american_scientific_journal-1686 48 17 𝑀𝑀4 𝑀𝑀4 PROPN american_scientific_journal-1686 48 18 = = PROPN american_scientific_journal-1686 48 19 0.62 0.62 NUM american_scientific_journal-1686 48 20 kgm kgm NOUN american_scientific_journal-1686 48 21 𝑋𝑋01= 𝑋𝑋01= PROPN american_scientific_journal-1686 48 22 28 28 NUM american_scientific_journal-1686 48 23 cm cm NOUN american_scientific_journal-1686 48 24 𝑀𝑀𝐸𝐸 𝑀𝑀𝐸𝐸 PROPN american_scientific_journal-1686 48 25 = = SYM american_scientific_journal-1686 48 26 0 0 NUM american_scientific_journal-1686 49 1 kgm kgm PROPN american_scientific_journal-1686 49 2 𝑀𝑀6 𝑀𝑀6 PROPN american_scientific_journal-1686 49 3 = = PROPN american_scientific_journal-1686 49 4 0.74 0.74 NUM american_scientific_journal-1686 49 5 kgm kgm PROPN american_scientific_journal-1686 49 6 𝑋𝑋03 𝑋𝑋03 PROPN american_scientific_journal-1686 49 7 = = PUNCT american_scientific_journal-1686 49 8 16 16 NUM american_scientific_journal-1686 49 9 cm cm NOUN american_scientific_journal-1686 49 10 𝑋𝑋02 𝑋𝑋02 PROPN american_scientific_journal-1686 49 11 = = PROPN american_scientific_journal-1686 49 12 38 38 NUM american_scientific_journal-1686 49 13 cm cm NOUN american_scientific_journal-1686 49 14 from from ADP american_scientific_journal-1686 49 15 the the DET american_scientific_journal-1686 49 16 table table NOUN american_scientific_journal-1686 49 17 1 1 NUM american_scientific_journal-1686 49 18 we we PRON american_scientific_journal-1686 49 19 get get VERB american_scientific_journal-1686 49 20 the the DET american_scientific_journal-1686 49 21 maximum maximum ADJ american_scientific_journal-1686 49 22 torque torque NOUN american_scientific_journal-1686 49 23 𝑇𝑇1 𝑇𝑇1 NOUN american_scientific_journal-1686 49 24 = = PUNCT american_scientific_journal-1686 50 1 275.6475 275.6475 NUM american_scientific_journal-1686 50 2 π‘˜π‘˜π‘˜π‘˜π‘˜π‘˜ π‘˜π‘˜π‘˜π‘˜π‘˜π‘˜ NOUN american_scientific_journal-1686 50 3 . . PUNCT american_scientific_journal-1686 51 1 π‘π‘π‘˜π‘˜ π‘π‘π‘˜π‘˜ PROPN american_scientific_journal-1686 51 2 , , PUNCT american_scientific_journal-1686 51 3 𝑇𝑇2=105.9 𝑇𝑇2=105.9 NOUN american_scientific_journal-1686 51 4 kgm.cm kgm.cm NOUN american_scientific_journal-1686 51 5 , , PUNCT american_scientific_journal-1686 51 6 𝑇𝑇3 𝑇𝑇3 PROPN american_scientific_journal-1686 51 7 = = PROPN american_scientific_journal-1686 51 8 9.88 9.88 NUM american_scientific_journal-1686 51 9 kgm.cm kgm.cm NOUN american_scientific_journal-1686 51 10 so so SCONJ american_scientific_journal-1686 51 11 the the DET american_scientific_journal-1686 51 12 direct direct ADJ american_scientific_journal-1686 51 13 kinematics kinematic NOUN american_scientific_journal-1686 51 14 equations equation NOUN american_scientific_journal-1686 51 15 of of ADP american_scientific_journal-1686 51 16 the the DET american_scientific_journal-1686 51 17 end end NOUN american_scientific_journal-1686 51 18 effect effect NOUN american_scientific_journal-1686 51 19 is be AUX american_scientific_journal-1686 51 20 drive drive ADJ american_scientific_journal-1686 51 21 and and CCONJ american_scientific_journal-1686 51 22 given give VERB american_scientific_journal-1686 51 23 as as ADP american_scientific_journal-1686 51 24 : : PUNCT american_scientific_journal-1686 51 25 𝑋𝑋3 𝑋𝑋3 PROPN american_scientific_journal-1686 51 26 = = PUNCT american_scientific_journal-1686 52 1 [ [ X american_scientific_journal-1686 52 2 𝑙𝑙1 𝑙𝑙1 X american_scientific_journal-1686 52 3 . . PUNCT american_scientific_journal-1686 52 4 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 VERB american_scientific_journal-1686 52 5 ) ) PUNCT american_scientific_journal-1686 53 1 + + CCONJ american_scientific_journal-1686 53 2 𝑙𝑙2 𝑙𝑙2 NOUN american_scientific_journal-1686 53 3 . . PUNCT american_scientific_journal-1686 54 1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 ADJ american_scientific_journal-1686 54 2 + + CCONJ american_scientific_journal-1686 54 3 βˆ…2 βˆ…2 VERB american_scientific_journal-1686 54 4 ) ) PUNCT american_scientific_journal-1686 54 5 + + CCONJ american_scientific_journal-1686 54 6 𝑙𝑙3 𝑙𝑙3 ADJ american_scientific_journal-1686 54 7 . . PUNCT american_scientific_journal-1686 55 1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 ADJ american_scientific_journal-1686 55 2 + + CCONJ american_scientific_journal-1686 55 3 βˆ…2 βˆ…2 VERB american_scientific_journal-1686 55 4 + + CCONJ american_scientific_journal-1686 55 5 βˆ…3 βˆ…3 NOUN american_scientific_journal-1686 55 6 ) ) PUNCT american_scientific_journal-1686 55 7 ] ] PUNCT american_scientific_journal-1686 55 8 . . PUNCT american_scientific_journal-1686 56 1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…π‘π‘ 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…π‘π‘ X american_scientific_journal-1686 56 2 ) ) PUNCT american_scientific_journal-1686 56 3 … … PUNCT american_scientific_journal-1686 56 4 … … PUNCT american_scientific_journal-1686 56 5 … … PUNCT american_scientific_journal-1686 56 6 … … PUNCT american_scientific_journal-1686 56 7 .. .. PUNCT american_scientific_journal-1686 56 8 ( ( PUNCT american_scientific_journal-1686 56 9 11 11 NUM american_scientific_journal-1686 56 10 ) ) PUNCT american_scientific_journal-1686 56 11 π‘Œπ‘Œ3 π‘Œπ‘Œ3 PROPN american_scientific_journal-1686 56 12 = = PUNCT american_scientific_journal-1686 56 13 𝑙𝑙1 𝑙𝑙1 PROPN american_scientific_journal-1686 56 14 . . PUNCT american_scientific_journal-1686 56 15 sin(βˆ…1 sin(βˆ…1 NOUN american_scientific_journal-1686 56 16 ) ) PUNCT american_scientific_journal-1686 57 1 + + CCONJ american_scientific_journal-1686 57 2 𝑙𝑙2 𝑙𝑙2 NOUN american_scientific_journal-1686 57 3 . . PUNCT american_scientific_journal-1686 58 1 sin(βˆ…1 sin(βˆ…1 VERB american_scientific_journal-1686 58 2 + + CCONJ american_scientific_journal-1686 58 3 βˆ…2 βˆ…2 VERB american_scientific_journal-1686 58 4 ) ) PUNCT american_scientific_journal-1686 58 5 + + X american_scientific_journal-1686 58 6 𝑙𝑙3 𝑙𝑙3 ADJ american_scientific_journal-1686 58 7 . . PUNCT american_scientific_journal-1686 59 1 sin(βˆ…1 sin(βˆ…1 VERB american_scientific_journal-1686 59 2 + + CCONJ american_scientific_journal-1686 59 3 βˆ…2 βˆ…2 VERB american_scientific_journal-1686 59 4 + + CCONJ american_scientific_journal-1686 59 5 βˆ…3) βˆ…3) PROPN american_scientific_journal-1686 59 6 … … SYM american_scientific_journal-1686 59 7 … … SYM american_scientific_journal-1686 59 8 … … PUNCT american_scientific_journal-1686 59 9 … … PUNCT american_scientific_journal-1686 59 10 … … PUNCT american_scientific_journal-1686 59 11 … … PUNCT american_scientific_journal-1686 59 12 … … PUNCT american_scientific_journal-1686 59 13 … … PUNCT american_scientific_journal-1686 59 14 … … PUNCT american_scientific_journal-1686 59 15 … … PUNCT american_scientific_journal-1686 59 16 .. .. PUNCT american_scientific_journal-1686 59 17 (12 (12 NUM american_scientific_journal-1686 59 18 ) ) PUNCT american_scientific_journal-1686 60 1 𝑍𝑍3 𝑍𝑍3 PROPN american_scientific_journal-1686 60 2 = = PUNCT american_scientific_journal-1686 61 1 [ [ X american_scientific_journal-1686 61 2 𝑙𝑙1 𝑙𝑙1 X american_scientific_journal-1686 61 3 . . PUNCT american_scientific_journal-1686 61 4 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 VERB american_scientific_journal-1686 61 5 ) ) PUNCT american_scientific_journal-1686 62 1 + + CCONJ american_scientific_journal-1686 62 2 𝑙𝑙2 𝑙𝑙2 NOUN american_scientific_journal-1686 62 3 . . PUNCT american_scientific_journal-1686 63 1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 ADJ american_scientific_journal-1686 63 2 + + CCONJ american_scientific_journal-1686 63 3 βˆ…2 βˆ…2 VERB american_scientific_journal-1686 63 4 ) ) PUNCT american_scientific_journal-1686 63 5 + + CCONJ american_scientific_journal-1686 63 6 𝑙𝑙3 𝑙𝑙3 ADJ american_scientific_journal-1686 63 7 . . PUNCT american_scientific_journal-1686 64 1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 𝑐𝑐𝑐𝑐𝑐𝑐(βˆ…1 ADJ american_scientific_journal-1686 64 2 + + CCONJ american_scientific_journal-1686 64 3 βˆ…2 βˆ…2 VERB american_scientific_journal-1686 64 4 + + CCONJ american_scientific_journal-1686 64 5 βˆ…3 βˆ…3 NOUN american_scientific_journal-1686 64 6 ) ) PUNCT american_scientific_journal-1686 64 7 ] ] PUNCT american_scientific_journal-1686 64 8 . . PUNCT american_scientific_journal-1686 65 1 sin(βˆ…π‘§π‘§) sin(βˆ…π‘§π‘§) PROPN american_scientific_journal-1686 65 2 … … SYM american_scientific_journal-1686 65 3 … … PUNCT american_scientific_journal-1686 65 4 … … PUNCT american_scientific_journal-1686 65 5 .(13 .(13 SYM american_scientific_journal-1686 65 6 ) ) PUNCT american_scientific_journal-1686 65 7 2.1 2.1 NUM american_scientific_journal-1686 65 8 electrical electrical ADJ american_scientific_journal-1686 65 9 section section NOUN american_scientific_journal-1686 65 10 this this DET american_scientific_journal-1686 65 11 part part NOUN american_scientific_journal-1686 65 12 included include VERB american_scientific_journal-1686 65 13 building build VERB american_scientific_journal-1686 65 14 a a DET american_scientific_journal-1686 65 15 servo servo NOUN american_scientific_journal-1686 65 16 motor motor NOUN american_scientific_journal-1686 65 17 that that SCONJ american_scientific_journal-1686 65 18 consisting consist VERB american_scientific_journal-1686 65 19 of of ADP american_scientific_journal-1686 65 20 dc dc PROPN american_scientific_journal-1686 65 21 motor motor NOUN american_scientific_journal-1686 65 22 , , PUNCT american_scientific_journal-1686 65 23 gearbox gearbox NOUN american_scientific_journal-1686 65 24 , , PUNCT american_scientific_journal-1686 65 25 electronic electronic ADJ american_scientific_journal-1686 65 26 driver driver NOUN american_scientific_journal-1686 65 27 , , PUNCT american_scientific_journal-1686 65 28 microcontroller microcontroller NOUN american_scientific_journal-1686 65 29 , , PUNCT american_scientific_journal-1686 65 30 and and CCONJ american_scientific_journal-1686 65 31 the the DET american_scientific_journal-1686 65 32 position position NOUN american_scientific_journal-1686 65 33 sensor sensor NOUN american_scientific_journal-1686 65 34 the the DET american_scientific_journal-1686 65 35 electronic electronic ADJ american_scientific_journal-1686 65 36 driver driver NOUN american_scientific_journal-1686 65 37 is be AUX american_scientific_journal-1686 65 38 design design NOUN american_scientific_journal-1686 65 39 and and CCONJ american_scientific_journal-1686 65 40 build build VERB american_scientific_journal-1686 65 41 to to PART american_scientific_journal-1686 65 42 works work VERB american_scientific_journal-1686 65 43 efficiently efficiently ADV american_scientific_journal-1686 65 44 within within ADP american_scientific_journal-1686 65 45 the the DET american_scientific_journal-1686 65 46 wide wide ADJ american_scientific_journal-1686 65 47 scope scope NOUN american_scientific_journal-1686 65 48 of of ADP american_scientific_journal-1686 65 49 dc dc PROPN american_scientific_journal-1686 65 50 motor motor PROPN american_scientific_journal-1686 65 51 limited limit VERB american_scientific_journal-1686 65 52 by by ADP american_scientific_journal-1686 65 53 voltage voltage NOUN american_scientific_journal-1686 65 54 and and CCONJ american_scientific_journal-1686 65 55 current current ADJ american_scientific_journal-1686 65 56 values value NOUN american_scientific_journal-1686 65 57 , , PUNCT american_scientific_journal-1686 65 58 in in ADP american_scientific_journal-1686 65 59 this this DET american_scientific_journal-1686 65 60 work work NOUN american_scientific_journal-1686 65 61 have have AUX american_scientific_journal-1686 65 62 been be AUX american_scientific_journal-1686 65 63 using use VERB american_scientific_journal-1686 65 64 a a DET american_scientific_journal-1686 65 65 new new ADJ american_scientific_journal-1686 65 66 innovative innovative ADJ american_scientific_journal-1686 65 67 way way NOUN american_scientific_journal-1686 65 68 in in ADP american_scientific_journal-1686 65 69 directional directional ADJ american_scientific_journal-1686 65 70 control control NOUN american_scientific_journal-1686 65 71 , , PUNCT american_scientific_journal-1686 65 72 the the DET american_scientific_journal-1686 65 73 driver driver NOUN american_scientific_journal-1686 65 74 consist consist VERB american_scientific_journal-1686 65 75 the the DET american_scientific_journal-1686 65 76 three three NUM american_scientific_journal-1686 65 77 input input NOUN american_scientific_journal-1686 65 78 tow tow NOUN american_scientific_journal-1686 65 79 of of ADP american_scientific_journal-1686 65 80 this this DET american_scientific_journal-1686 65 81 input input NOUN american_scientific_journal-1686 65 82 for for ADP american_scientific_journal-1686 65 83 the the DET american_scientific_journal-1686 65 84 direct direct NOUN american_scientific_journal-1686 65 85 of of ADP american_scientific_journal-1686 65 86 motor motor NOUN american_scientific_journal-1686 65 87 and and CCONJ american_scientific_journal-1686 65 88 the the DET american_scientific_journal-1686 65 89 third third ADJ american_scientific_journal-1686 65 90 input input NOUN american_scientific_journal-1686 65 91 for for ADP american_scientific_journal-1686 65 92 speed speed NOUN american_scientific_journal-1686 65 93 control control NOUN american_scientific_journal-1686 65 94 , , PUNCT american_scientific_journal-1686 65 95 we we PRON american_scientific_journal-1686 65 96 sprate sprate VERB american_scientific_journal-1686 65 97 the the DET american_scientific_journal-1686 65 98 direction direction NOUN american_scientific_journal-1686 65 99 from from ADP american_scientific_journal-1686 65 100 the the DET american_scientific_journal-1686 65 101 speed speed NOUN american_scientific_journal-1686 65 102 . . PUNCT american_scientific_journal-1686 66 1 american american ADJ american_scientific_journal-1686 66 2 scientific scientific ADJ american_scientific_journal-1686 66 3 research research PROPN american_scientific_journal-1686 66 4 journal journal NOUN american_scientific_journal-1686 66 5 for for ADP american_scientific_journal-1686 66 6 engineering engineering NOUN american_scientific_journal-1686 66 7 , , PUNCT american_scientific_journal-1686 66 8 technology technology NOUN american_scientific_journal-1686 66 9 , , PUNCT american_scientific_journal-1686 66 10 and and CCONJ american_scientific_journal-1686 66 11 sciences science NOUN american_scientific_journal-1686 66 12 ( ( PUNCT american_scientific_journal-1686 66 13 asrjets asrjet NOUN american_scientific_journal-1686 66 14 ) ) PUNCT american_scientific_journal-1686 66 15 ( ( PUNCT american_scientific_journal-1686 66 16 2016 2016 NUM american_scientific_journal-1686 66 17 ) ) PUNCT american_scientific_journal-1686 66 18 volume volume NOUN american_scientific_journal-1686 66 19 19 19 NUM american_scientific_journal-1686 66 20 , , PUNCT american_scientific_journal-1686 66 21 no no DET american_scientific_journal-1686 66 22 1 1 NUM american_scientific_journal-1686 66 23 , , PUNCT american_scientific_journal-1686 66 24 pp pp ADV american_scientific_journal-1686 66 25 178 178 NUM american_scientific_journal-1686 66 26 - - SYM american_scientific_journal-1686 66 27 190 190 NUM american_scientific_journal-1686 66 28 181 181 NUM american_scientific_journal-1686 66 29 2.2 2.2 NUM american_scientific_journal-1686 66 30 design design NOUN american_scientific_journal-1686 66 31 and and CCONJ american_scientific_journal-1686 66 32 modeling model VERB american_scientific_journal-1686 66 33 the the DET american_scientific_journal-1686 66 34 servo servo NOUN american_scientific_journal-1686 66 35 motor motor NOUN american_scientific_journal-1686 66 36 from from ADP american_scientific_journal-1686 66 37 practical practical ADJ american_scientific_journal-1686 66 38 experience experience NOUN american_scientific_journal-1686 66 39 was be AUX american_scientific_journal-1686 66 40 calculated calculate VERB american_scientific_journal-1686 66 41 the the DET american_scientific_journal-1686 66 42 transfer transfer NOUN american_scientific_journal-1686 66 43 function function NOUN american_scientific_journal-1686 66 44 and and CCONJ american_scientific_journal-1686 66 45 gear gear NOUN american_scientific_journal-1686 66 46 ratio ratio NOUN american_scientific_journal-1686 66 47 of of ADP american_scientific_journal-1686 66 48 the the DET american_scientific_journal-1686 66 49 dc dc PROPN american_scientific_journal-1686 66 50 motor motor NOUN american_scientific_journal-1686 66 51 that that PRON american_scientific_journal-1686 66 52 use use VERB american_scientific_journal-1686 66 53 in in ADP american_scientific_journal-1686 66 54 this this DET american_scientific_journal-1686 66 55 project project NOUN american_scientific_journal-1686 66 56 . . PUNCT american_scientific_journal-1686 67 1 the the DET american_scientific_journal-1686 67 2 transfer transfer NOUN american_scientific_journal-1686 67 3 function function NOUN american_scientific_journal-1686 67 4 is be AUX american_scientific_journal-1686 67 5 given give VERB american_scientific_journal-1686 67 6 by by ADP american_scientific_journal-1686 67 7 : : PUNCT american_scientific_journal-1686 67 8 𝐺𝐺(𝑆𝑆 𝐺𝐺(𝑆𝑆 NOUN american_scientific_journal-1686 67 9 ) ) PUNCT american_scientific_journal-1686 67 10 = = PUNCT american_scientific_journal-1686 68 1 98.982 98.982 NUM american_scientific_journal-1686 68 2 0.019𝑠𝑠+1 0.019𝑠𝑠+1 NUM american_scientific_journal-1686 68 3 and and CCONJ american_scientific_journal-1686 68 4 the the DET american_scientific_journal-1686 68 5 gear gear NOUN american_scientific_journal-1686 68 6 ratio ratio NOUN american_scientific_journal-1686 68 7 of of ADP american_scientific_journal-1686 68 8 gear gear NOUN american_scientific_journal-1686 68 9 box box NOUN american_scientific_journal-1686 68 10 = = NOUN american_scientific_journal-1686 68 11 1 1 NUM american_scientific_journal-1686 68 12 54 54 NUM american_scientific_journal-1686 68 13 in in ADP american_scientific_journal-1686 68 14 this this DET american_scientific_journal-1686 68 15 research research NOUN american_scientific_journal-1686 68 16 was be AUX american_scientific_journal-1686 68 17 to to PART american_scientific_journal-1686 68 18 use use VERB american_scientific_journal-1686 68 19 a a DET american_scientific_journal-1686 68 20 new new ADJ american_scientific_journal-1686 68 21 control control NOUN american_scientific_journal-1686 68 22 system system NOUN american_scientific_journal-1686 68 23 by by ADP american_scientific_journal-1686 68 24 segmenting segment VERB american_scientific_journal-1686 68 25 error error NOUN american_scientific_journal-1686 68 26 signal signal NOUN american_scientific_journal-1686 68 27 resulting result VERB american_scientific_journal-1686 68 28 from from ADP american_scientific_journal-1686 68 29 subtract subtract NOUN american_scientific_journal-1686 68 30 the the DET american_scientific_journal-1686 68 31 feedback feedback NOUN american_scientific_journal-1686 68 32 signal signal NOUN american_scientific_journal-1686 68 33 from from ADP american_scientific_journal-1686 68 34 the the DET american_scientific_journal-1686 68 35 reference reference NOUN american_scientific_journal-1686 68 36 signal signal NOUN american_scientific_journal-1686 68 37 to to ADP american_scientific_journal-1686 68 38 the the DET american_scientific_journal-1686 68 39 two two NUM american_scientific_journal-1686 68 40 parts part NOUN american_scientific_journal-1686 68 41 , , PUNCT american_scientific_journal-1686 68 42 the the DET american_scientific_journal-1686 68 43 first first ADJ american_scientific_journal-1686 68 44 is be AUX american_scientific_journal-1686 68 45 give give VERB american_scientific_journal-1686 68 46 a a DET american_scientific_journal-1686 68 47 logical logical ADJ american_scientific_journal-1686 68 48 rotation rotation NOUN american_scientific_journal-1686 68 49 order order NOUN american_scientific_journal-1686 68 50 to to ADP american_scientific_journal-1686 68 51 the the DET american_scientific_journal-1686 68 52 electronic electronic ADJ american_scientific_journal-1686 68 53 driver driver NOUN american_scientific_journal-1686 68 54 in in ADP american_scientific_journal-1686 68 55 one one NUM american_scientific_journal-1686 68 56 of of ADP american_scientific_journal-1686 68 57 the the DET american_scientific_journal-1686 68 58 directions direction NOUN american_scientific_journal-1686 68 59 , , PUNCT american_scientific_journal-1686 68 60 the the DET american_scientific_journal-1686 68 61 second second ADJ american_scientific_journal-1686 68 62 parts part NOUN american_scientific_journal-1686 68 63 it it PRON american_scientific_journal-1686 68 64 takes take VERB american_scientific_journal-1686 68 65 error error NOUN american_scientific_journal-1686 68 66 signal signal NOUN american_scientific_journal-1686 68 67 and and CCONJ american_scientific_journal-1686 68 68 enters enter VERB american_scientific_journal-1686 68 69 to to ADP american_scientific_journal-1686 68 70 the the DET american_scientific_journal-1686 68 71 proportional proportional ADJ american_scientific_journal-1686 68 72 integral integral ADJ american_scientific_journal-1686 68 73 differential differential ADJ american_scientific_journal-1686 68 74 controller controller NOUN american_scientific_journal-1686 68 75 and and CCONJ american_scientific_journal-1686 68 76 then then ADV american_scientific_journal-1686 68 77 take take VERB american_scientific_journal-1686 68 78 the the DET american_scientific_journal-1686 68 79 absolute absolute ADJ american_scientific_journal-1686 68 80 value value NOUN american_scientific_journal-1686 68 81 of of ADP american_scientific_journal-1686 68 82 the the DET american_scientific_journal-1686 68 83 output output NOUN american_scientific_journal-1686 68 84 to to PART american_scientific_journal-1686 68 85 convert convert VERB american_scientific_journal-1686 68 86 the the DET american_scientific_journal-1686 68 87 pulse pulse NOUN american_scientific_journal-1686 68 88 width width NOUN american_scientific_journal-1686 68 89 modulating modulating NOUN american_scientific_journal-1686 68 90 ( ( PUNCT american_scientific_journal-1686 68 91 pwm pwm NOUN american_scientific_journal-1686 68 92 ) ) PUNCT american_scientific_journal-1686 68 93 pulses pulse NOUN american_scientific_journal-1686 68 94 and and CCONJ american_scientific_journal-1686 68 95 enters enter VERB american_scientific_journal-1686 68 96 the the DET american_scientific_journal-1686 68 97 electronic electronic ADJ american_scientific_journal-1686 68 98 driver driver NOUN american_scientific_journal-1686 68 99 as as ADP american_scientific_journal-1686 68 100 a a DET american_scientific_journal-1686 68 101 input input NOUN american_scientific_journal-1686 68 102 to to PART american_scientific_journal-1686 68 103 control control VERB american_scientific_journal-1686 68 104 by by ADP american_scientific_journal-1686 68 105 the the DET american_scientific_journal-1686 68 106 speed speed NOUN american_scientific_journal-1686 68 107 of of ADP american_scientific_journal-1686 68 108 dc dc PROPN american_scientific_journal-1686 68 109 motor motor NOUN american_scientific_journal-1686 68 110 . . PUNCT american_scientific_journal-1686 69 1 the the DET american_scientific_journal-1686 69 2 figure figure NOUN american_scientific_journal-1686 69 3 2 2 NUM american_scientific_journal-1686 69 4 shown show VERB american_scientific_journal-1686 69 5 the the DET american_scientific_journal-1686 69 6 modeling modeling NOUN american_scientific_journal-1686 69 7 of of ADP american_scientific_journal-1686 69 8 practical practical ADJ american_scientific_journal-1686 69 9 servo servo NOUN american_scientific_journal-1686 69 10 motor motor NOUN american_scientific_journal-1686 69 11 . . PUNCT american_scientific_journal-1686 70 1 figure figure NOUN american_scientific_journal-1686 70 2 2 2 NUM american_scientific_journal-1686 70 3 : : PUNCT american_scientific_journal-1686 70 4 modeling model VERB american_scientific_journal-1686 70 5 the the DET american_scientific_journal-1686 70 6 practical practical ADJ american_scientific_journal-1686 70 7 servo servo NOUN american_scientific_journal-1686 70 8 motor motor NOUN american_scientific_journal-1686 70 9 by by ADP american_scientific_journal-1686 70 10 matlab matlab PROPN american_scientific_journal-1686 70 11 american american PROPN american_scientific_journal-1686 70 12 scientific scientific PROPN american_scientific_journal-1686 70 13 research research PROPN american_scientific_journal-1686 70 14 journal journal NOUN american_scientific_journal-1686 70 15 for for ADP american_scientific_journal-1686 70 16 engineering engineering NOUN american_scientific_journal-1686 70 17 , , PUNCT american_scientific_journal-1686 70 18 technology technology NOUN american_scientific_journal-1686 70 19 , , PUNCT american_scientific_journal-1686 70 20 and and CCONJ american_scientific_journal-1686 70 21 sciences science NOUN american_scientific_journal-1686 70 22 ( ( PUNCT american_scientific_journal-1686 70 23 asrjets asrjet NOUN american_scientific_journal-1686 70 24 ) ) PUNCT american_scientific_journal-1686 70 25 ( ( PUNCT american_scientific_journal-1686 70 26 2016 2016 NUM american_scientific_journal-1686 70 27 ) ) PUNCT american_scientific_journal-1686 70 28 volume volume NOUN american_scientific_journal-1686 70 29 19 19 NUM american_scientific_journal-1686 70 30 , , PUNCT american_scientific_journal-1686 70 31 no no DET american_scientific_journal-1686 70 32 1 1 NUM american_scientific_journal-1686 70 33 , , PUNCT american_scientific_journal-1686 70 34 pp pp ADV american_scientific_journal-1686 70 35 178 178 NUM american_scientific_journal-1686 70 36 - - SYM american_scientific_journal-1686 70 37 190 190 NUM american_scientific_journal-1686 70 38 182 182 NUM american_scientific_journal-1686 70 39 the the DET american_scientific_journal-1686 70 40 result result NOUN american_scientific_journal-1686 70 41 of of ADP american_scientific_journal-1686 70 42 run run VERB american_scientific_journal-1686 70 43 the the DET american_scientific_journal-1686 70 44 simulink simulink NOUN american_scientific_journal-1686 70 45 is be AUX american_scientific_journal-1686 70 46 shown show VERB american_scientific_journal-1686 70 47 in in ADP american_scientific_journal-1686 70 48 figure figure NOUN american_scientific_journal-1686 70 49 3 3 NUM american_scientific_journal-1686 70 50 , , PUNCT american_scientific_journal-1686 70 51 4 4 NUM american_scientific_journal-1686 70 52 , , PUNCT american_scientific_journal-1686 70 53 5 5 NUM american_scientific_journal-1686 70 54 . . X american_scientific_journal-1686 70 55 figure figure NOUN american_scientific_journal-1686 70 56 3 3 NUM american_scientific_journal-1686 70 57 : : PUNCT american_scientific_journal-1686 70 58 set set VERB american_scientific_journal-1686 70 59 point point NOUN american_scientific_journal-1686 70 60 with with ADP american_scientific_journal-1686 70 61 feedback feedback NOUN american_scientific_journal-1686 70 62 figure figure NOUN american_scientific_journal-1686 70 63 4 4 NUM american_scientific_journal-1686 70 64 : : PUNCT american_scientific_journal-1686 70 65 high high ADJ american_scientific_journal-1686 70 66 and and CCONJ american_scientific_journal-1686 70 67 low low ADJ american_scientific_journal-1686 70 68 speed speed NOUN american_scientific_journal-1686 70 69 with with ADP american_scientific_journal-1686 70 70 pulse pulse NOUN american_scientific_journal-1686 70 71 control control NOUN american_scientific_journal-1686 70 72 figure figure NOUN american_scientific_journal-1686 70 73 5 5 NUM american_scientific_journal-1686 70 74 : : PUNCT american_scientific_journal-1686 70 75 zoom zoom NOUN american_scientific_journal-1686 70 76 of of ADP american_scientific_journal-1686 70 77 pulse pulse NOUN american_scientific_journal-1686 70 78 of of ADP american_scientific_journal-1686 70 79 control control NOUN american_scientific_journal-1686 70 80 speed speed PROPN american_scientific_journal-1686 70 81 american american ADJ american_scientific_journal-1686 70 82 scientific scientific ADJ american_scientific_journal-1686 70 83 research research NOUN american_scientific_journal-1686 70 84 journal journal NOUN american_scientific_journal-1686 70 85 for for ADP american_scientific_journal-1686 70 86 engineering engineering NOUN american_scientific_journal-1686 70 87 , , PUNCT american_scientific_journal-1686 70 88 technology technology NOUN american_scientific_journal-1686 70 89 , , PUNCT american_scientific_journal-1686 70 90 and and CCONJ american_scientific_journal-1686 70 91 sciences science NOUN american_scientific_journal-1686 70 92 ( ( PUNCT american_scientific_journal-1686 70 93 asrjets asrjet NOUN american_scientific_journal-1686 70 94 ) ) PUNCT american_scientific_journal-1686 70 95 ( ( PUNCT american_scientific_journal-1686 70 96 2016 2016 NUM american_scientific_journal-1686 70 97 ) ) PUNCT american_scientific_journal-1686 70 98 volume volume NOUN american_scientific_journal-1686 70 99 19 19 NUM american_scientific_journal-1686 70 100 , , PUNCT american_scientific_journal-1686 70 101 no no DET american_scientific_journal-1686 70 102 1 1 NUM american_scientific_journal-1686 70 103 , , PUNCT american_scientific_journal-1686 70 104 pp pp ADV american_scientific_journal-1686 70 105 178 178 NUM american_scientific_journal-1686 70 106 - - SYM american_scientific_journal-1686 70 107 190 190 NUM american_scientific_journal-1686 70 108 183 183 NUM american_scientific_journal-1686 70 109 after after ADP american_scientific_journal-1686 70 110 tuning tune VERB american_scientific_journal-1686 70 111 pid pid NOUN american_scientific_journal-1686 70 112 controller controller NOUN american_scientific_journal-1686 70 113 , , PUNCT american_scientific_journal-1686 70 114 get get VERB american_scientific_journal-1686 70 115 to to ADP american_scientific_journal-1686 70 116 the the DET american_scientific_journal-1686 70 117 result result NOUN american_scientific_journal-1686 70 118 in in ADP american_scientific_journal-1686 70 119 figure figure NOUN american_scientific_journal-1686 70 120 shown show VERB american_scientific_journal-1686 70 121 6 6 NUM american_scientific_journal-1686 70 122 , , PUNCT american_scientific_journal-1686 70 123 7 7 NUM american_scientific_journal-1686 70 124 , , PUNCT american_scientific_journal-1686 70 125 8 8 NUM american_scientific_journal-1686 70 126 . . PUNCT american_scientific_journal-1686 71 1 figure figure NOUN american_scientific_journal-1686 71 2 6 6 NUM american_scientific_journal-1686 71 3 : : PUNCT american_scientific_journal-1686 71 4 set set VERB american_scientific_journal-1686 71 5 point point NOUN american_scientific_journal-1686 71 6 with with ADP american_scientific_journal-1686 71 7 feedback feedback NOUN american_scientific_journal-1686 71 8 figure figure NOUN american_scientific_journal-1686 71 9 7 7 NUM american_scientific_journal-1686 71 10 : : PUNCT american_scientific_journal-1686 71 11 high high ADJ american_scientific_journal-1686 71 12 and and CCONJ american_scientific_journal-1686 71 13 low low ADJ american_scientific_journal-1686 71 14 speed speed NOUN american_scientific_journal-1686 71 15 with with ADP american_scientific_journal-1686 71 16 pulse pulse NOUN american_scientific_journal-1686 71 17 control control NOUN american_scientific_journal-1686 71 18 figure figure NOUN american_scientific_journal-1686 71 19 8 8 NUM american_scientific_journal-1686 71 20 : : PUNCT american_scientific_journal-1686 71 21 zoom zoom NOUN american_scientific_journal-1686 71 22 of of ADP american_scientific_journal-1686 71 23 pulse pulse NOUN american_scientific_journal-1686 71 24 of of ADP american_scientific_journal-1686 71 25 control control NOUN american_scientific_journal-1686 71 26 speed speed PROPN american_scientific_journal-1686 71 27 american american ADJ american_scientific_journal-1686 71 28 scientific scientific ADJ american_scientific_journal-1686 71 29 research research NOUN american_scientific_journal-1686 71 30 journal journal NOUN american_scientific_journal-1686 71 31 for for ADP american_scientific_journal-1686 71 32 engineering engineering NOUN american_scientific_journal-1686 71 33 , , PUNCT american_scientific_journal-1686 71 34 technology technology NOUN american_scientific_journal-1686 71 35 , , PUNCT american_scientific_journal-1686 71 36 and and CCONJ american_scientific_journal-1686 71 37 sciences science NOUN american_scientific_journal-1686 71 38 ( ( PUNCT american_scientific_journal-1686 71 39 asrjets asrjet NOUN american_scientific_journal-1686 71 40 ) ) PUNCT american_scientific_journal-1686 71 41 ( ( PUNCT american_scientific_journal-1686 71 42 2016 2016 NUM american_scientific_journal-1686 71 43 ) ) PUNCT american_scientific_journal-1686 71 44 volume volume NOUN american_scientific_journal-1686 71 45 19 19 NUM american_scientific_journal-1686 71 46 , , PUNCT american_scientific_journal-1686 71 47 no no DET american_scientific_journal-1686 71 48 1 1 NUM american_scientific_journal-1686 71 49 , , PUNCT american_scientific_journal-1686 71 50 pp pp ADV american_scientific_journal-1686 71 51 178 178 NUM american_scientific_journal-1686 71 52 - - SYM american_scientific_journal-1686 71 53 190 190 NUM american_scientific_journal-1686 71 54 184 184 NUM american_scientific_journal-1686 71 55 2.3 2.3 NUM american_scientific_journal-1686 71 56 final final ADJ american_scientific_journal-1686 71 57 stricture stricture NOUN american_scientific_journal-1686 71 58 the the DET american_scientific_journal-1686 71 59 final final ADJ american_scientific_journal-1686 71 60 design design NOUN american_scientific_journal-1686 71 61 of of ADP american_scientific_journal-1686 71 62 the the DET american_scientific_journal-1686 71 63 system system NOUN american_scientific_journal-1686 71 64 is be AUX american_scientific_journal-1686 71 65 shown show VERB american_scientific_journal-1686 71 66 in in ADP american_scientific_journal-1686 71 67 figure figure NOUN american_scientific_journal-1686 71 68 9 9 NUM american_scientific_journal-1686 71 69 , , PUNCT american_scientific_journal-1686 71 70 10 10 NUM american_scientific_journal-1686 71 71 figure figure NOUN american_scientific_journal-1686 71 72 9 9 NUM american_scientific_journal-1686 71 73 : : PUNCT american_scientific_journal-1686 71 74 servo servo NOUN american_scientific_journal-1686 71 75 system system NOUN american_scientific_journal-1686 71 76 on on ADP american_scientific_journal-1686 71 77 robot robot NOUN american_scientific_journal-1686 71 78 arm arm NOUN american_scientific_journal-1686 71 79 joint joint ADJ american_scientific_journal-1686 71 80 figure figure NOUN american_scientific_journal-1686 71 81 10 10 NUM american_scientific_journal-1686 71 82 : : PUNCT american_scientific_journal-1686 71 83 sensors sensor NOUN american_scientific_journal-1686 71 84 system system NOUN american_scientific_journal-1686 71 85 on on ADP american_scientific_journal-1686 71 86 the the DET american_scientific_journal-1686 71 87 human human ADJ american_scientific_journal-1686 71 88 arm arm NOUN american_scientific_journal-1686 72 1 3 3 X american_scientific_journal-1686 72 2 . . PUNCT american_scientific_journal-1686 72 3 software software VERB american_scientific_journal-1686 72 4 the the DET american_scientific_journal-1686 72 5 program program NOUN american_scientific_journal-1686 72 6 algorithm algorithm NOUN american_scientific_journal-1686 72 7 was be AUX american_scientific_journal-1686 72 8 implemented implement VERB american_scientific_journal-1686 72 9 through through ADP american_scientific_journal-1686 72 10 arduino arduino NOUN american_scientific_journal-1686 72 11 environment environment NOUN american_scientific_journal-1686 72 12 on on ADP american_scientific_journal-1686 72 13 the the DET american_scientific_journal-1686 72 14 microcontroller microcontroller NOUN american_scientific_journal-1686 72 15 due due ADJ american_scientific_journal-1686 72 16 . . PUNCT american_scientific_journal-1686 73 1 where where SCONJ american_scientific_journal-1686 73 2 the the DET american_scientific_journal-1686 73 3 use use NOUN american_scientific_journal-1686 73 4 of of ADP american_scientific_journal-1686 73 5 new new ADJ american_scientific_journal-1686 73 6 algorithm algorithm NOUN american_scientific_journal-1686 73 7 has have VERB american_scientific_journal-1686 73 8 the the DET american_scientific_journal-1686 73 9 ability ability NOUN american_scientific_journal-1686 73 10 to to PART american_scientific_journal-1686 73 11 deal deal VERB american_scientific_journal-1686 73 12 with with ADP american_scientific_journal-1686 73 13 any any DET american_scientific_journal-1686 73 14 dc dc PROPN american_scientific_journal-1686 73 15 motor motor NOUN american_scientific_journal-1686 73 16 and and CCONJ american_scientific_journal-1686 73 17 use use NOUN american_scientific_journal-1686 73 18 as as ADP american_scientific_journal-1686 73 19 a a DET american_scientific_journal-1686 73 20 servo servo NOUN american_scientific_journal-1686 73 21 motor motor NOUN american_scientific_journal-1686 73 22 , , PUNCT american_scientific_journal-1686 73 23 since since SCONJ american_scientific_journal-1686 73 24 it it PRON american_scientific_journal-1686 73 25 does do AUX american_scientific_journal-1686 73 26 not not PART american_scientific_journal-1686 73 27 depend depend VERB american_scientific_journal-1686 73 28 on on ADP american_scientific_journal-1686 73 29 constant constant ADJ american_scientific_journal-1686 73 30 time time NOUN american_scientific_journal-1686 73 31 of of ADP american_scientific_journal-1686 73 32 motor motor NOUN american_scientific_journal-1686 73 33 , , PUNCT american_scientific_journal-1686 73 34 but but CCONJ american_scientific_journal-1686 73 35 her her PRON american_scientific_journal-1686 73 36 ability ability NOUN american_scientific_journal-1686 73 37 to to ADP american_scientific_journal-1686 73 38 simulation simulation NOUN american_scientific_journal-1686 73 39 motor motor NOUN american_scientific_journal-1686 73 40 through through ADP american_scientific_journal-1686 73 41 conditional conditional ADJ american_scientific_journal-1686 73 42 orders order NOUN american_scientific_journal-1686 73 43 ( ( PUNCT american_scientific_journal-1686 73 44 if if SCONJ american_scientific_journal-1686 73 45 … … PUNCT american_scientific_journal-1686 73 46 then then ADV american_scientific_journal-1686 73 47 ) ) PUNCT american_scientific_journal-1686 73 48 to to PART american_scientific_journal-1686 73 49 get get VERB american_scientific_journal-1686 73 50 the the DET american_scientific_journal-1686 73 51 best good ADJ american_scientific_journal-1686 73 52 as as ADP american_scientific_journal-1686 73 53 a a DET american_scientific_journal-1686 73 54 result result NOUN american_scientific_journal-1686 73 55 of of ADP american_scientific_journal-1686 73 56 the the DET american_scientific_journal-1686 73 57 position position NOUN american_scientific_journal-1686 73 58 , , PUNCT american_scientific_journal-1686 73 59 as as ADV american_scientific_journal-1686 73 60 well well ADV american_scientific_journal-1686 73 61 as as ADP american_scientific_journal-1686 73 62 been be AUX american_scientific_journal-1686 73 63 designed design VERB american_scientific_journal-1686 73 64 the the DET american_scientific_journal-1686 73 65 algorithm algorithm NOUN american_scientific_journal-1686 73 66 controller controller NOUN american_scientific_journal-1686 73 67 pid pid NOUN american_scientific_journal-1686 73 68 type type NOUN american_scientific_journal-1686 73 69 , , PUNCT american_scientific_journal-1686 73 70 was be AUX american_scientific_journal-1686 73 71 chosen choose VERB american_scientific_journal-1686 73 72 microcontroller microcontroller NOUN american_scientific_journal-1686 73 73 arduino arduino NOUN american_scientific_journal-1686 73 74 due due ADJ american_scientific_journal-1686 73 75 . . PUNCT american_scientific_journal-1686 74 1 dc dc PROPN american_scientific_journal-1686 74 2 motor motor PROPN american_scientific_journal-1686 74 3 driver driver PROPN american_scientific_journal-1686 74 4 wireless wireless NOUN american_scientific_journal-1686 74 5 – – PUNCT american_scientific_journal-1686 74 6 900mhz 900mhz NUM american_scientific_journal-1686 74 7 serial serial ADJ american_scientific_journal-1686 74 8 communication communication NOUN american_scientific_journal-1686 74 9 power power NOUN american_scientific_journal-1686 74 10 supply supply NOUN american_scientific_journal-1686 74 11 unit unit NOUN american_scientific_journal-1686 74 12 24 24 NUM american_scientific_journal-1686 74 13 , , PUNCT american_scientific_journal-1686 74 14 12 12 NUM american_scientific_journal-1686 74 15 , , PUNCT american_scientific_journal-1686 74 16 5 5 NUM american_scientific_journal-1686 74 17 vdc vdc PROPN american_scientific_journal-1686 74 18 40x04 40x04 NUM american_scientific_journal-1686 74 19 lcd lcd NOUN american_scientific_journal-1686 74 20 display display NOUN american_scientific_journal-1686 74 21 position position NOUN american_scientific_journal-1686 74 22 sensor sensor NOUN american_scientific_journal-1686 74 23 dc dc PROPN american_scientific_journal-1686 74 24 motor motor NOUN american_scientific_journal-1686 74 25 with with ADP american_scientific_journal-1686 74 26 gear gear NOUN american_scientific_journal-1686 74 27 box box PROPN american_scientific_journal-1686 74 28 wireless wireless NOUN american_scientific_journal-1686 74 29 – – PUNCT american_scientific_journal-1686 74 30 900mhz 900mhz NUM american_scientific_journal-1686 74 31 serial serial ADJ american_scientific_journal-1686 74 32 communication communication NOUN american_scientific_journal-1686 74 33 battery battery NOUN american_scientific_journal-1686 74 34 9v 9v NOUN american_scientific_journal-1686 74 35 filter filter NOUN american_scientific_journal-1686 74 36 0 0 NUM american_scientific_journal-1686 74 37 arduino arduino PROPN american_scientific_journal-1686 74 38 uno uno PROPN american_scientific_journal-1686 74 39 flex flex PROPN american_scientific_journal-1686 74 40 sensor sensor PROPN american_scientific_journal-1686 74 41 0 0 NUM american_scientific_journal-1686 74 42 flex flex ADJ american_scientific_journal-1686 74 43 sensor sensor NOUN american_scientific_journal-1686 74 44 1 1 NUM american_scientific_journal-1686 74 45 flex flex ADJ american_scientific_journal-1686 74 46 sensor sensor NOUN american_scientific_journal-1686 74 47 2 2 NUM american_scientific_journal-1686 74 48 flex flex ADJ american_scientific_journal-1686 74 49 sensor sensor NOUN american_scientific_journal-1686 74 50 3 3 NUM american_scientific_journal-1686 74 51 filter filter NOUN american_scientific_journal-1686 74 52 1 1 NUM american_scientific_journal-1686 74 53 filter filter NOUN american_scientific_journal-1686 74 54 2 2 NUM american_scientific_journal-1686 74 55 filter filter NOUN american_scientific_journal-1686 74 56 3 3 NUM american_scientific_journal-1686 74 57 flex flex ADJ american_scientific_journal-1686 74 58 sensor sensor NOUN american_scientific_journal-1686 74 59 4 4 NUM american_scientific_journal-1686 74 60 filter filter NOUN american_scientific_journal-1686 74 61 4 4 NUM american_scientific_journal-1686 74 62 american american ADJ american_scientific_journal-1686 74 63 scientific scientific ADJ american_scientific_journal-1686 74 64 research research NOUN american_scientific_journal-1686 74 65 journal journal NOUN american_scientific_journal-1686 74 66 for for ADP american_scientific_journal-1686 74 67 engineering engineering NOUN american_scientific_journal-1686 74 68 , , PUNCT american_scientific_journal-1686 74 69 technology technology NOUN american_scientific_journal-1686 74 70 , , PUNCT american_scientific_journal-1686 74 71 and and CCONJ american_scientific_journal-1686 74 72 sciences science NOUN american_scientific_journal-1686 74 73 ( ( PUNCT american_scientific_journal-1686 74 74 asrjets asrjet NOUN american_scientific_journal-1686 74 75 ) ) PUNCT american_scientific_journal-1686 74 76 ( ( PUNCT american_scientific_journal-1686 74 77 2016 2016 NUM american_scientific_journal-1686 74 78 ) ) PUNCT american_scientific_journal-1686 74 79 volume volume NOUN american_scientific_journal-1686 74 80 19 19 NUM american_scientific_journal-1686 74 81 , , PUNCT american_scientific_journal-1686 74 82 no no DET american_scientific_journal-1686 74 83 1 1 NUM american_scientific_journal-1686 74 84 , , PUNCT american_scientific_journal-1686 74 85 pp pp ADV american_scientific_journal-1686 74 86 178 178 NUM american_scientific_journal-1686 74 87 - - SYM american_scientific_journal-1686 74 88 190 190 NUM american_scientific_journal-1686 74 89 185 185 NUM american_scientific_journal-1686 74 90 sampling sampling NOUN american_scientific_journal-1686 74 91 time time NOUN american_scientific_journal-1686 74 92 1 1 NUM american_scientific_journal-1686 74 93 mili mili PROPN american_scientific_journal-1686 74 94 sec sec PROPN american_scientific_journal-1686 74 95 . . PROPN american_scientific_journal-1686 74 96 , , PUNCT american_scientific_journal-1686 74 97 the the DET american_scientific_journal-1686 74 98 flowchart flowchart NOUN american_scientific_journal-1686 74 99 shows show VERB american_scientific_journal-1686 74 100 the the DET american_scientific_journal-1686 74 101 progress progress NOUN american_scientific_journal-1686 74 102 of of ADP american_scientific_journal-1686 74 103 the the DET american_scientific_journal-1686 74 104 program program NOUN american_scientific_journal-1686 74 105 , , PUNCT american_scientific_journal-1686 74 106 which which PRON american_scientific_journal-1686 74 107 includes include VERB american_scientific_journal-1686 74 108 more more ADJ american_scientific_journal-1686 74 109 than than SCONJ american_scientific_journal-1686 74 110 flowchart flowchart NOUN american_scientific_journal-1686 74 111 first first ADJ american_scientific_journal-1686 74 112 main main ADJ american_scientific_journal-1686 74 113 remaining remain VERB american_scientific_journal-1686 74 114 programs program NOUN american_scientific_journal-1686 74 115 routine routine ADJ american_scientific_journal-1686 74 116 . . PUNCT american_scientific_journal-1686 75 1 flow flow NOUN american_scientific_journal-1686 75 2 chart chart NOUN american_scientific_journal-1686 75 3 1 1 NUM american_scientific_journal-1686 75 4 : : PUNCT american_scientific_journal-1686 75 5 algorithm algorithm NOUN american_scientific_journal-1686 75 6 of of ADP american_scientific_journal-1686 75 7 main main ADJ american_scientific_journal-1686 75 8 program program NOUN american_scientific_journal-1686 75 9 flow flow NOUN american_scientific_journal-1686 75 10 chart chart NOUN american_scientific_journal-1686 75 11 2 2 NUM american_scientific_journal-1686 75 12 : : PUNCT american_scientific_journal-1686 75 13 algorithm algorithm NOUN american_scientific_journal-1686 75 14 of of ADP american_scientific_journal-1686 75 15 routine routine ADJ american_scientific_journal-1686 75 16 program program NOUN american_scientific_journal-1686 75 17 american american PROPN american_scientific_journal-1686 75 18 scientific scientific PROPN american_scientific_journal-1686 75 19 research research PROPN american_scientific_journal-1686 75 20 journal journal NOUN american_scientific_journal-1686 75 21 for for ADP american_scientific_journal-1686 75 22 engineering engineering NOUN american_scientific_journal-1686 75 23 , , PUNCT american_scientific_journal-1686 75 24 technology technology NOUN american_scientific_journal-1686 75 25 , , PUNCT american_scientific_journal-1686 75 26 and and CCONJ american_scientific_journal-1686 75 27 sciences science NOUN american_scientific_journal-1686 75 28 ( ( PUNCT american_scientific_journal-1686 75 29 asrjets asrjet NOUN american_scientific_journal-1686 75 30 ) ) PUNCT american_scientific_journal-1686 75 31 ( ( PUNCT american_scientific_journal-1686 75 32 2016 2016 NUM american_scientific_journal-1686 75 33 ) ) PUNCT american_scientific_journal-1686 75 34 volume volume NOUN american_scientific_journal-1686 75 35 19 19 NUM american_scientific_journal-1686 75 36 , , PUNCT american_scientific_journal-1686 75 37 no no DET american_scientific_journal-1686 75 38 1 1 NUM american_scientific_journal-1686 75 39 , , PUNCT american_scientific_journal-1686 75 40 pp pp ADV american_scientific_journal-1686 75 41 178 178 NUM american_scientific_journal-1686 75 42 - - SYM american_scientific_journal-1686 75 43 190 190 NUM american_scientific_journal-1686 75 44 186 186 NUM american_scientific_journal-1686 75 45 the the DET american_scientific_journal-1686 75 46 pid pid NOUN american_scientific_journal-1686 75 47 controller controller NOUN american_scientific_journal-1686 75 48 algorithm algorithm NOUN american_scientific_journal-1686 75 49 was be AUX american_scientific_journal-1686 75 50 experimented experiment VERB american_scientific_journal-1686 75 51 from from ADP american_scientific_journal-1686 75 52 took take VERB american_scientific_journal-1686 75 53 the the DET american_scientific_journal-1686 75 54 reference reference NOUN american_scientific_journal-1686 75 55 signal signal NOUN american_scientific_journal-1686 75 56 and and CCONJ american_scientific_journal-1686 75 57 the the DET american_scientific_journal-1686 75 58 feedback feedback NOUN american_scientific_journal-1686 75 59 signal signal NOUN american_scientific_journal-1686 75 60 then then ADV american_scientific_journal-1686 75 61 enters enter VERB american_scientific_journal-1686 75 62 to to ADP american_scientific_journal-1686 75 63 the the DET american_scientific_journal-1686 75 64 oscilloscope oscilloscope NOUN american_scientific_journal-1686 75 65 and and CCONJ american_scientific_journal-1686 75 66 read read VERB american_scientific_journal-1686 75 67 the the DET american_scientific_journal-1686 75 68 error error NOUN american_scientific_journal-1686 75 69 of of ADP american_scientific_journal-1686 75 70 sum sum NOUN american_scientific_journal-1686 75 71 register register VERB american_scientific_journal-1686 75 72 the the DET american_scientific_journal-1686 75 73 integral integral ADJ american_scientific_journal-1686 75 74 part part NOUN american_scientific_journal-1686 75 75 of of ADP american_scientific_journal-1686 75 76 pid pid NOUN american_scientific_journal-1686 75 77 controller controller NOUN american_scientific_journal-1686 75 78 from from ADP american_scientific_journal-1686 75 79 the the DET american_scientific_journal-1686 75 80 inside inside NOUN american_scientific_journal-1686 75 81 of of ADP american_scientific_journal-1686 75 82 the the DET american_scientific_journal-1686 75 83 microcontroller microcontroller NOUN american_scientific_journal-1686 75 84 via via ADP american_scientific_journal-1686 75 85 rs rs PROPN american_scientific_journal-1686 75 86 port port NOUN american_scientific_journal-1686 75 87 and and CCONJ american_scientific_journal-1686 75 88 the the DET american_scientific_journal-1686 75 89 same same ADJ american_scientific_journal-1686 75 90 for for ADP american_scientific_journal-1686 75 91 the the DET american_scientific_journal-1686 75 92 differential differential ADJ american_scientific_journal-1686 75 93 part part NOUN american_scientific_journal-1686 75 94 the the DET american_scientific_journal-1686 75 95 figure figure NOUN american_scientific_journal-1686 75 96 11 11 NUM american_scientific_journal-1686 75 97 shown show VERB american_scientific_journal-1686 75 98 the the DET american_scientific_journal-1686 75 99 response response NOUN american_scientific_journal-1686 75 100 of of ADP american_scientific_journal-1686 75 101 deferential deferential ADJ american_scientific_journal-1686 75 102 part part NOUN american_scientific_journal-1686 75 103 response response NOUN american_scientific_journal-1686 75 104 . . PUNCT american_scientific_journal-1686 76 1 figure figure VERB american_scientific_journal-1686 76 2 11 11 NUM american_scientific_journal-1686 76 3 : : PUNCT american_scientific_journal-1686 76 4 the the DET american_scientific_journal-1686 76 5 deferential deferential ADJ american_scientific_journal-1686 76 6 part part NOUN american_scientific_journal-1686 76 7 of of ADP american_scientific_journal-1686 76 8 pid pid NOUN american_scientific_journal-1686 76 9 controller controller NOUN american_scientific_journal-1686 76 10 response response NOUN american_scientific_journal-1686 76 11 figure figure NOUN american_scientific_journal-1686 76 12 12 12 NUM american_scientific_journal-1686 76 13 : : PUNCT american_scientific_journal-1686 76 14 the the DET american_scientific_journal-1686 76 15 position position NOUN american_scientific_journal-1686 76 16 response response NOUN american_scientific_journal-1686 76 17 of of ADP american_scientific_journal-1686 76 18 servo servo NOUN american_scientific_journal-1686 76 19 motor motor NOUN american_scientific_journal-1686 76 20 with with ADP american_scientific_journal-1686 76 21 pid pid NOUN american_scientific_journal-1686 76 22 on on ADP american_scientific_journal-1686 76 23 the the DET american_scientific_journal-1686 76 24 basis basis NOUN american_scientific_journal-1686 76 25 of of ADP american_scientific_journal-1686 76 26 these these DET american_scientific_journal-1686 76 27 practical practical ADJ american_scientific_journal-1686 76 28 results result NOUN american_scientific_journal-1686 76 29 were be AUX american_scientific_journal-1686 76 30 chosen choose VERB american_scientific_journal-1686 76 31 as as ADP american_scientific_journal-1686 76 32 sampling sample VERB american_scientific_journal-1686 76 33 time time NOUN american_scientific_journal-1686 76 34 to to PART american_scientific_journal-1686 76 35 fit fit VERB american_scientific_journal-1686 76 36 in in ADP american_scientific_journal-1686 76 37 control control NOUN american_scientific_journal-1686 76 38 system system NOUN american_scientific_journal-1686 76 39 , , PUNCT american_scientific_journal-1686 76 40 and and CCONJ american_scientific_journal-1686 76 41 run run VERB american_scientific_journal-1686 76 42 the the DET american_scientific_journal-1686 76 43 servo servo NOUN american_scientific_journal-1686 76 44 system system NOUN american_scientific_journal-1686 76 45 completed complete VERB american_scientific_journal-1686 76 46 and and CCONJ american_scientific_journal-1686 76 47 we we PRON american_scientific_journal-1686 76 48 get get VERB american_scientific_journal-1686 76 49 the the DET american_scientific_journal-1686 76 50 result result NOUN american_scientific_journal-1686 76 51 shown show VERB american_scientific_journal-1686 76 52 in in ADP american_scientific_journal-1686 76 53 figure figure NOUN american_scientific_journal-1686 76 54 12 12 NUM american_scientific_journal-1686 76 55 american american ADJ american_scientific_journal-1686 76 56 scientific scientific ADJ american_scientific_journal-1686 76 57 research research NOUN american_scientific_journal-1686 76 58 journal journal NOUN american_scientific_journal-1686 76 59 for for ADP american_scientific_journal-1686 76 60 engineering engineering NOUN american_scientific_journal-1686 76 61 , , PUNCT american_scientific_journal-1686 76 62 technology technology NOUN american_scientific_journal-1686 76 63 , , PUNCT american_scientific_journal-1686 76 64 and and CCONJ american_scientific_journal-1686 76 65 sciences science NOUN american_scientific_journal-1686 76 66 ( ( PUNCT american_scientific_journal-1686 76 67 asrjets asrjet NOUN american_scientific_journal-1686 76 68 ) ) PUNCT american_scientific_journal-1686 76 69 ( ( PUNCT american_scientific_journal-1686 76 70 2016 2016 NUM american_scientific_journal-1686 76 71 ) ) PUNCT american_scientific_journal-1686 76 72 volume volume NOUN american_scientific_journal-1686 76 73 19 19 NUM american_scientific_journal-1686 76 74 , , PUNCT american_scientific_journal-1686 76 75 no no DET american_scientific_journal-1686 76 76 1 1 NUM american_scientific_journal-1686 76 77 , , PUNCT american_scientific_journal-1686 76 78 pp pp ADV american_scientific_journal-1686 76 79 178 178 NUM american_scientific_journal-1686 76 80 - - SYM american_scientific_journal-1686 76 81 190 190 NUM american_scientific_journal-1686 76 82 187 187 NUM american_scientific_journal-1686 76 83 figure figure NOUN american_scientific_journal-1686 76 84 13 13 NUM american_scientific_journal-1686 76 85 : : PUNCT american_scientific_journal-1686 76 86 the the DET american_scientific_journal-1686 76 87 position position NOUN american_scientific_journal-1686 76 88 response response NOUN american_scientific_journal-1686 76 89 of of ADP american_scientific_journal-1686 76 90 servo servo NOUN american_scientific_journal-1686 76 91 motor motor NOUN american_scientific_journal-1686 76 92 after after ADP american_scientific_journal-1686 76 93 tuning tune VERB american_scientific_journal-1686 76 94 pid pid NOUN american_scientific_journal-1686 76 95 after after ADP american_scientific_journal-1686 76 96 tuning tune VERB american_scientific_journal-1686 76 97 the the DET american_scientific_journal-1686 76 98 pid pid NOUN american_scientific_journal-1686 76 99 controller controller NOUN american_scientific_journal-1686 76 100 we we PRON american_scientific_journal-1686 76 101 get get VERB american_scientific_journal-1686 76 102 the the DET american_scientific_journal-1686 76 103 perfect perfect ADJ american_scientific_journal-1686 76 104 result result NOUN american_scientific_journal-1686 76 105 of of ADP american_scientific_journal-1686 76 106 response response NOUN american_scientific_journal-1686 76 107 as as SCONJ american_scientific_journal-1686 76 108 shown show VERB american_scientific_journal-1686 76 109 in in ADP american_scientific_journal-1686 76 110 figure figure NOUN american_scientific_journal-1686 76 111 13 13 NUM american_scientific_journal-1686 76 112 figure figure NOUN american_scientific_journal-1686 76 113 14 14 NUM american_scientific_journal-1686 76 114 : : PUNCT american_scientific_journal-1686 76 115 accuracy accuracy NOUN american_scientific_journal-1686 76 116 test test NOUN american_scientific_journal-1686 76 117 of of ADP american_scientific_journal-1686 76 118 servo servo NOUN american_scientific_journal-1686 76 119 motor motor NOUN american_scientific_journal-1686 76 120 in in ADP american_scientific_journal-1686 76 121 the the DET american_scientific_journal-1686 76 122 same same ADJ american_scientific_journal-1686 76 123 test test NOUN american_scientific_journal-1686 76 124 the the DET american_scientific_journal-1686 76 125 accuracy accuracy NOUN american_scientific_journal-1686 76 126 of of ADP american_scientific_journal-1686 76 127 the the DET american_scientific_journal-1686 76 128 servo servo NOUN american_scientific_journal-1686 76 129 system system NOUN american_scientific_journal-1686 76 130 , , PUNCT american_scientific_journal-1686 76 131 the the DET american_scientific_journal-1686 76 132 figure figure NOUN american_scientific_journal-1686 76 133 14 14 NUM american_scientific_journal-1686 76 134 shown show VERB american_scientific_journal-1686 76 135 that that SCONJ american_scientific_journal-1686 76 136 as as ADV american_scientific_journal-1686 76 137 well well ADV american_scientific_journal-1686 76 138 was be AUX american_scientific_journal-1686 76 139 designed design VERB american_scientific_journal-1686 76 140 algorithm algorithm NOUN american_scientific_journal-1686 76 141 that that PRON american_scientific_journal-1686 76 142 transfers transfer VERB american_scientific_journal-1686 76 143 the the DET american_scientific_journal-1686 76 144 signal signal NOUN american_scientific_journal-1686 76 145 via via ADP american_scientific_journal-1686 76 146 the the DET american_scientific_journal-1686 76 147 serial serial ADJ american_scientific_journal-1686 76 148 port port NOUN american_scientific_journal-1686 76 149 through through ADP american_scientific_journal-1686 76 150 a a DET american_scientific_journal-1686 76 151 wireless wireless ADJ american_scientific_journal-1686 76 152 card card NOUN american_scientific_journal-1686 76 153 xbee xbee PROPN american_scientific_journal-1686 76 154 shield shield PROPN american_scientific_journal-1686 76 155 , , PUNCT american_scientific_journal-1686 76 156 the the DET american_scientific_journal-1686 76 157 microcontroller microcontroller NOUN american_scientific_journal-1686 76 158 from from ADP american_scientific_journal-1686 76 159 human human ADJ american_scientific_journal-1686 76 160 side side NOUN american_scientific_journal-1686 76 161 is be AUX american_scientific_journal-1686 76 162 take take VERB american_scientific_journal-1686 76 163 the the DET american_scientific_journal-1686 76 164 sensors sensor NOUN american_scientific_journal-1686 76 165 signal signal VERB american_scientific_journal-1686 76 166 that that SCONJ american_scientific_journal-1686 76 167 fixed fix VERB american_scientific_journal-1686 76 168 on on ADP american_scientific_journal-1686 76 169 human human ADJ american_scientific_journal-1686 76 170 arm arm NOUN american_scientific_journal-1686 76 171 then then ADV american_scientific_journal-1686 76 172 send send VERB american_scientific_journal-1686 76 173 the the DET american_scientific_journal-1686 76 174 code code NOUN american_scientific_journal-1686 76 175 to to ADP american_scientific_journal-1686 76 176 the the DET american_scientific_journal-1686 76 177 microcontroller microcontroller NOUN american_scientific_journal-1686 76 178 at at ADP american_scientific_journal-1686 76 179 the the DET american_scientific_journal-1686 76 180 robot robot NOUN american_scientific_journal-1686 76 181 arm arm NOUN american_scientific_journal-1686 76 182 side side NOUN american_scientific_journal-1686 76 183 , , PUNCT american_scientific_journal-1686 76 184 when when SCONJ american_scientific_journal-1686 76 185 it it PRON american_scientific_journal-1686 76 186 can can AUX american_scientific_journal-1686 76 187 to to PART american_scientific_journal-1686 76 188 decode decode VERB american_scientific_journal-1686 76 189 this this DET american_scientific_journal-1686 76 190 code code NOUN american_scientific_journal-1686 76 191 the the DET american_scientific_journal-1686 76 192 robot robot NOUN american_scientific_journal-1686 76 193 arm arm NOUN american_scientific_journal-1686 76 194 microcontroller microcontroller NOUN american_scientific_journal-1686 76 195 send send VERB american_scientific_journal-1686 76 196 the the DET american_scientific_journal-1686 76 197 accept accept NOUN american_scientific_journal-1686 76 198 to to ADP american_scientific_journal-1686 76 199 the the DET american_scientific_journal-1686 76 200 human human ADJ american_scientific_journal-1686 76 201 arm arm NOUN american_scientific_journal-1686 76 202 microcontroller microcontroller NOUN american_scientific_journal-1686 76 203 that that PRON american_scientific_journal-1686 76 204 send send VERB american_scientific_journal-1686 76 205 synchronize synchronize VERB american_scientific_journal-1686 76 206 number number NOUN american_scientific_journal-1686 76 207 to to PART american_scientific_journal-1686 76 208 synchronization synchronization VERB american_scientific_journal-1686 76 209 two two NUM american_scientific_journal-1686 76 210 microcontroller microcontroller NOUN american_scientific_journal-1686 76 211 at at ADP american_scientific_journal-1686 76 212 last last ADJ american_scientific_journal-1686 76 213 send send VERB american_scientific_journal-1686 76 214 five five NUM american_scientific_journal-1686 76 215 angle angle NOUN american_scientific_journal-1686 76 216 value value NOUN american_scientific_journal-1686 76 217 to to ADP american_scientific_journal-1686 76 218 the the DET american_scientific_journal-1686 76 219 robot robot NOUN american_scientific_journal-1686 76 220 arm arm NOUN american_scientific_journal-1686 76 221 microcontroller microcontroller NOUN american_scientific_journal-1686 76 222 to to PART american_scientific_journal-1686 76 223 control control VERB american_scientific_journal-1686 76 224 by by ADP american_scientific_journal-1686 76 225 robot robot NOUN american_scientific_journal-1686 76 226 arm arm NOUN american_scientific_journal-1686 76 227 servo servo NOUN american_scientific_journal-1686 76 228 . . PUNCT american_scientific_journal-1686 77 1 the the DET american_scientific_journal-1686 77 2 flow flow ADJ american_scientific_journal-1686 77 3 chart chart NOUN american_scientific_journal-1686 77 4 american american PROPN american_scientific_journal-1686 77 5 scientific scientific ADJ american_scientific_journal-1686 77 6 research research NOUN american_scientific_journal-1686 77 7 journal journal NOUN american_scientific_journal-1686 77 8 for for ADP american_scientific_journal-1686 77 9 engineering engineering NOUN american_scientific_journal-1686 77 10 , , PUNCT american_scientific_journal-1686 77 11 technology technology NOUN american_scientific_journal-1686 77 12 , , PUNCT american_scientific_journal-1686 77 13 and and CCONJ american_scientific_journal-1686 77 14 sciences science NOUN american_scientific_journal-1686 77 15 ( ( PUNCT american_scientific_journal-1686 77 16 asrjets asrjet NOUN american_scientific_journal-1686 77 17 ) ) PUNCT american_scientific_journal-1686 77 18 ( ( PUNCT american_scientific_journal-1686 77 19 2016 2016 NUM american_scientific_journal-1686 77 20 ) ) PUNCT american_scientific_journal-1686 77 21 volume volume NOUN american_scientific_journal-1686 77 22 19 19 NUM american_scientific_journal-1686 77 23 , , PUNCT american_scientific_journal-1686 77 24 no no DET american_scientific_journal-1686 77 25 1 1 NUM american_scientific_journal-1686 77 26 , , PUNCT american_scientific_journal-1686 77 27 pp pp ADV american_scientific_journal-1686 77 28 178 178 NUM american_scientific_journal-1686 77 29 - - SYM american_scientific_journal-1686 77 30 190 190 NUM american_scientific_journal-1686 77 31 188 188 NUM american_scientific_journal-1686 77 32 shown show VERB american_scientific_journal-1686 77 33 the the DET american_scientific_journal-1686 77 34 send send NOUN american_scientific_journal-1686 77 35 code code NOUN american_scientific_journal-1686 77 36 and and CCONJ american_scientific_journal-1686 77 37 received receive VERB american_scientific_journal-1686 77 38 accept accept VERB american_scientific_journal-1686 77 39 no no ADV american_scientific_journal-1686 77 40 . . PUNCT american_scientific_journal-1686 78 1 and and CCONJ american_scientific_journal-1686 78 2 the the DET american_scientific_journal-1686 78 3 figure figure NOUN american_scientific_journal-1686 78 4 shown show VERB american_scientific_journal-1686 78 5 the the DET american_scientific_journal-1686 78 6 human human ADJ american_scientific_journal-1686 78 7 arm arm NOUN american_scientific_journal-1686 78 8 sensors sensor NOUN american_scientific_journal-1686 78 9 and and CCONJ american_scientific_journal-1686 78 10 robot robot NOUN american_scientific_journal-1686 78 11 arm arm NOUN american_scientific_journal-1686 78 12 . . PUNCT american_scientific_journal-1686 79 1 flow flow VERB american_scientific_journal-1686 79 2 chart chart NOUN american_scientific_journal-1686 79 3 3 3 NUM american_scientific_journal-1686 79 4 : : PUNCT american_scientific_journal-1686 79 5 algorithm algorithm NOUN american_scientific_journal-1686 79 6 of of ADP american_scientific_journal-1686 79 7 send send VERB american_scientific_journal-1686 79 8 conde conde PROPN american_scientific_journal-1686 79 9 and and CCONJ american_scientific_journal-1686 79 10 received receive VERB american_scientific_journal-1686 79 11 the the DET american_scientific_journal-1686 79 12 accept accept ADJ american_scientific_journal-1686 79 13 figure figure NOUN american_scientific_journal-1686 79 14 15 15 NUM american_scientific_journal-1686 79 15 : : PUNCT american_scientific_journal-1686 79 16 human human ADJ american_scientific_journal-1686 79 17 sensor sensor NOUN american_scientific_journal-1686 79 18 american american ADJ american_scientific_journal-1686 79 19 scientific scientific ADJ american_scientific_journal-1686 79 20 research research NOUN american_scientific_journal-1686 79 21 journal journal NOUN american_scientific_journal-1686 79 22 for for ADP american_scientific_journal-1686 79 23 engineering engineering NOUN american_scientific_journal-1686 79 24 , , PUNCT american_scientific_journal-1686 79 25 technology technology NOUN american_scientific_journal-1686 79 26 , , PUNCT american_scientific_journal-1686 79 27 and and CCONJ american_scientific_journal-1686 79 28 sciences science NOUN american_scientific_journal-1686 79 29 ( ( PUNCT american_scientific_journal-1686 79 30 asrjets asrjet NOUN american_scientific_journal-1686 79 31 ) ) PUNCT american_scientific_journal-1686 79 32 ( ( PUNCT american_scientific_journal-1686 79 33 2016 2016 NUM american_scientific_journal-1686 79 34 ) ) PUNCT american_scientific_journal-1686 79 35 volume volume NOUN american_scientific_journal-1686 79 36 19 19 NUM american_scientific_journal-1686 79 37 , , PUNCT american_scientific_journal-1686 79 38 no no DET american_scientific_journal-1686 79 39 1 1 NUM american_scientific_journal-1686 79 40 , , PUNCT american_scientific_journal-1686 79 41 pp pp ADV american_scientific_journal-1686 79 42 178 178 NUM american_scientific_journal-1686 79 43 - - SYM american_scientific_journal-1686 79 44 190 190 NUM american_scientific_journal-1686 79 45 189 189 NUM american_scientific_journal-1686 79 46 4 4 NUM american_scientific_journal-1686 79 47 . . PUNCT american_scientific_journal-1686 79 48 conclusion conclusion NOUN american_scientific_journal-1686 79 49 and and CCONJ american_scientific_journal-1686 79 50 recommendation recommendation NOUN american_scientific_journal-1686 79 51 β€’ β€’ NOUN american_scientific_journal-1686 79 52 through through ADP american_scientific_journal-1686 79 53 mathematical mathematical ADJ american_scientific_journal-1686 79 54 analysis analysis NOUN american_scientific_journal-1686 79 55 of of ADP american_scientific_journal-1686 79 56 the the DET american_scientific_journal-1686 79 57 structure structure NOUN american_scientific_journal-1686 79 58 of of ADP american_scientific_journal-1686 79 59 the the DET american_scientific_journal-1686 79 60 robotic robotic ADJ american_scientific_journal-1686 79 61 arm arm NOUN american_scientific_journal-1686 79 62 show show VERB american_scientific_journal-1686 79 63 that that SCONJ american_scientific_journal-1686 79 64 the the DET american_scientific_journal-1686 79 65 installation installation NOUN american_scientific_journal-1686 79 66 of of ADP american_scientific_journal-1686 79 67 the the DET american_scientific_journal-1686 79 68 electrical electrical ADJ american_scientific_journal-1686 79 69 operator operator NOUN american_scientific_journal-1686 79 70 in in ADP american_scientific_journal-1686 79 71 the the DET american_scientific_journal-1686 79 72 joint joint ADJ american_scientific_journal-1686 79 73 closest close ADJ american_scientific_journal-1686 79 74 to to ADP american_scientific_journal-1686 79 75 the the DET american_scientific_journal-1686 79 76 base base NOUN american_scientific_journal-1686 79 77 link link NOUN american_scientific_journal-1686 79 78 will will AUX american_scientific_journal-1686 79 79 reduce reduce VERB american_scientific_journal-1686 79 80 the the DET american_scientific_journal-1686 79 81 dynamic dynamic ADJ american_scientific_journal-1686 79 82 torque torque NOUN american_scientific_journal-1686 79 83 on on ADP american_scientific_journal-1686 79 84 the the DET american_scientific_journal-1686 79 85 base base NOUN american_scientific_journal-1686 79 86 operator operator NOUN american_scientific_journal-1686 79 87 . . PUNCT american_scientific_journal-1686 80 1 β€’ β€’ ADV american_scientific_journal-1686 80 2 through through ADP american_scientific_journal-1686 80 3 practical practical ADJ american_scientific_journal-1686 80 4 experiments experiment NOUN american_scientific_journal-1686 80 5 found find VERB american_scientific_journal-1686 80 6 that that SCONJ american_scientific_journal-1686 80 7 measuring measure VERB american_scientific_journal-1686 80 8 the the DET american_scientific_journal-1686 80 9 transfer transfer NOUN american_scientific_journal-1686 80 10 time time NOUN american_scientific_journal-1686 80 11 of of ADP american_scientific_journal-1686 80 12 the the DET american_scientific_journal-1686 80 13 system system NOUN american_scientific_journal-1686 80 14 is be AUX american_scientific_journal-1686 80 15 important important ADJ american_scientific_journal-1686 80 16 in in ADP american_scientific_journal-1686 80 17 the the DET american_scientific_journal-1686 80 18 process process NOUN american_scientific_journal-1686 80 19 of of ADP american_scientific_journal-1686 80 20 building build VERB american_scientific_journal-1686 80 21 a a DET american_scientific_journal-1686 80 22 proportional proportional ADJ american_scientific_journal-1686 80 23 differential differential ADJ american_scientific_journal-1686 80 24 integrative integrative ADJ american_scientific_journal-1686 80 25 controller controller NOUN american_scientific_journal-1686 80 26 algorithm algorithm NOUN american_scientific_journal-1686 80 27 pid pid NOUN american_scientific_journal-1686 80 28 controller controller NOUN american_scientific_journal-1686 80 29 and and CCONJ american_scientific_journal-1686 80 30 is be AUX american_scientific_journal-1686 80 31 intended intend VERB american_scientific_journal-1686 80 32 transmission transmission NOUN american_scientific_journal-1686 80 33 speed speed NOUN american_scientific_journal-1686 80 34 from from ADP american_scientific_journal-1686 80 35 zero zero NUM american_scientific_journal-1686 80 36 to to ADP american_scientific_journal-1686 80 37 rated rate VERB american_scientific_journal-1686 80 38 value value NOUN american_scientific_journal-1686 80 39 and and CCONJ american_scientific_journal-1686 80 40 vice vice ADV american_scientific_journal-1686 80 41 versa versa NOUN american_scientific_journal-1686 80 42 in in ADP american_scientific_journal-1686 80 43 the the DET american_scientific_journal-1686 80 44 case case NOUN american_scientific_journal-1686 80 45 of of ADP american_scientific_journal-1686 80 46 break break VERB american_scientific_journal-1686 80 47 the the DET american_scientific_journal-1686 80 48 motor motor NOUN american_scientific_journal-1686 80 49 , , PUNCT american_scientific_journal-1686 80 50 because because SCONJ american_scientific_journal-1686 80 51 the the DET american_scientific_journal-1686 80 52 integrative integrative ADJ american_scientific_journal-1686 80 53 and and CCONJ american_scientific_journal-1686 80 54 differential differential NOUN american_scientific_journal-1686 80 55 depends depend VERB american_scientific_journal-1686 80 56 on on ADP american_scientific_journal-1686 80 57 the the DET american_scientific_journal-1686 80 58 time time NOUN american_scientific_journal-1686 80 59 , , PUNCT american_scientific_journal-1686 80 60 the the DET american_scientific_journal-1686 80 61 section section NOUN american_scientific_journal-1686 80 62 integrative integrative NOUN american_scientific_journal-1686 80 63 is be AUX american_scientific_journal-1686 80 64 a a DET american_scientific_journal-1686 80 65 process process NOUN american_scientific_journal-1686 80 66 error error NOUN american_scientific_journal-1686 80 67 against against ADP american_scientific_journal-1686 80 68 time time NOUN american_scientific_journal-1686 80 69 to to PART american_scientific_journal-1686 80 70 collect collect VERB american_scientific_journal-1686 80 71 so so SCONJ american_scientific_journal-1686 80 72 the the DET american_scientific_journal-1686 80 73 combination combination NOUN american_scientific_journal-1686 80 74 of of ADP american_scientific_journal-1686 80 75 the the DET american_scientific_journal-1686 80 76 time time NOUN american_scientific_journal-1686 80 77 should should AUX american_scientific_journal-1686 80 78 be be AUX american_scientific_journal-1686 80 79 up up ADV american_scientific_journal-1686 80 80 close close ADV american_scientific_journal-1686 80 81 to to ADP american_scientific_journal-1686 80 82 the the DET american_scientific_journal-1686 80 83 time time NOUN american_scientific_journal-1686 80 84 of of ADP american_scientific_journal-1686 80 85 transition transition NOUN american_scientific_journal-1686 80 86 for for ADP american_scientific_journal-1686 80 87 example example NOUN american_scientific_journal-1686 80 88 , , PUNCT american_scientific_journal-1686 80 89 travel travel NOUN american_scientific_journal-1686 80 90 time time NOUN american_scientific_journal-1686 80 91 is be AUX american_scientific_journal-1686 80 92 1 1 NUM american_scientific_journal-1686 80 93 second second ADJ american_scientific_journal-1686 80 94 and and CCONJ american_scientific_journal-1686 80 95 the the DET american_scientific_journal-1686 80 96 time time NOUN american_scientific_journal-1686 80 97 of of ADP american_scientific_journal-1686 80 98 error error NOUN american_scientific_journal-1686 80 99 collection collection NOUN american_scientific_journal-1686 80 100 1 1 NUM american_scientific_journal-1686 80 101 millisecond millisecond NOUN american_scientific_journal-1686 80 102 , , PUNCT american_scientific_journal-1686 80 103 is be AUX american_scientific_journal-1686 80 104 going go VERB american_scientific_journal-1686 80 105 to to PART american_scientific_journal-1686 80 106 cause cause VERB american_scientific_journal-1686 80 107 a a DET american_scientific_journal-1686 80 108 backlog backlog NOUN american_scientific_journal-1686 80 109 in in ADP american_scientific_journal-1686 80 110 the the DET american_scientific_journal-1686 80 111 wrong wrong NOUN american_scientific_journal-1686 80 112 a a DET american_scientific_journal-1686 80 113 large large ADJ american_scientific_journal-1686 80 114 amount amount NOUN american_scientific_journal-1686 80 115 before before ADP american_scientific_journal-1686 80 116 reaching reach VERB american_scientific_journal-1686 80 117 the the DET american_scientific_journal-1686 80 118 required require VERB american_scientific_journal-1686 80 119 and and CCONJ american_scientific_journal-1686 80 120 the the DET american_scientific_journal-1686 80 121 best good ADJ american_scientific_journal-1686 80 122 case case NOUN american_scientific_journal-1686 80 123 method method NOUN american_scientific_journal-1686 80 124 has have VERB american_scientific_journal-1686 80 125 experience experience NOUN american_scientific_journal-1686 80 126 in in ADP american_scientific_journal-1686 80 127 practice practice NOUN american_scientific_journal-1686 80 128 is be AUX american_scientific_journal-1686 80 129 by by ADP american_scientific_journal-1686 80 130 dividing divide VERB american_scientific_journal-1686 80 131 the the DET american_scientific_journal-1686 80 132 sum sum NOUN american_scientific_journal-1686 80 133 of of ADP american_scientific_journal-1686 80 134 error error NOUN american_scientific_journal-1686 80 135 reasonable reasonable ADJ american_scientific_journal-1686 80 136 limits limit NOUN american_scientific_journal-1686 80 137 and and CCONJ american_scientific_journal-1686 80 138 not not PART american_scientific_journal-1686 80 139 reduce reduce VERB american_scientific_journal-1686 80 140 sampling sample VERB american_scientific_journal-1686 80 141 time time NOUN american_scientific_journal-1686 80 142 sampling sample VERB american_scientific_journal-1686 80 143 time time NOUN american_scientific_journal-1686 80 144 of of ADP american_scientific_journal-1686 80 145 the the DET american_scientific_journal-1686 80 146 error error NOUN american_scientific_journal-1686 80 147 rate rate NOUN american_scientific_journal-1686 80 148 . . PUNCT american_scientific_journal-1686 81 1 β€’ β€’ NOUN american_scientific_journal-1686 81 2 through through ADP american_scientific_journal-1686 81 3 practical practical ADJ american_scientific_journal-1686 81 4 experiences experience NOUN american_scientific_journal-1686 81 5 in in ADP american_scientific_journal-1686 81 6 sending send VERB american_scientific_journal-1686 81 7 a a DET american_scientific_journal-1686 81 8 series series NOUN american_scientific_journal-1686 81 9 of of ADP american_scientific_journal-1686 81 10 bits bit NOUN american_scientific_journal-1686 81 11 that that PRON american_scientific_journal-1686 81 12 have have VERB american_scientific_journal-1686 81 13 their their PRON american_scientific_journal-1686 81 14 own own ADJ american_scientific_journal-1686 81 15 width width NOUN american_scientific_journal-1686 81 16 that that PRON american_scientific_journal-1686 81 17 is be AUX american_scientific_journal-1686 81 18 observed observe VERB american_scientific_journal-1686 81 19 when when SCONJ american_scientific_journal-1686 81 20 they they PRON american_scientific_journal-1686 81 21 arrive arrive VERB american_scientific_journal-1686 81 22 through through ADP american_scientific_journal-1686 81 23 transport transport NOUN american_scientific_journal-1686 81 24 it it PRON american_scientific_journal-1686 81 25 does do AUX american_scientific_journal-1686 81 26 not not PART american_scientific_journal-1686 81 27 reach reach VERB american_scientific_journal-1686 81 28 all all PRON american_scientific_journal-1686 81 29 of of ADP american_scientific_journal-1686 81 30 the the DET american_scientific_journal-1686 81 31 same same ADJ american_scientific_journal-1686 81 32 width width NOUN american_scientific_journal-1686 81 33 and and CCONJ american_scientific_journal-1686 81 34 explain explain VERB american_scientific_journal-1686 81 35 the the DET american_scientific_journal-1686 81 36 reason reason NOUN american_scientific_journal-1686 81 37 for for ADP american_scientific_journal-1686 81 38 that that DET american_scientific_journal-1686 81 39 distortions distortion NOUN american_scientific_journal-1686 81 40 and and CCONJ american_scientific_journal-1686 81 41 objections objection NOUN american_scientific_journal-1686 81 42 encountered encounter VERB american_scientific_journal-1686 81 43 on on ADP american_scientific_journal-1686 81 44 the the DET american_scientific_journal-1686 81 45 way way NOUN american_scientific_journal-1686 81 46 to to ADP american_scientific_journal-1686 81 47 that that PRON american_scientific_journal-1686 81 48 necessitated necessitate VERB american_scientific_journal-1686 81 49 the the DET american_scientific_journal-1686 81 50 receiving receive VERB american_scientific_journal-1686 81 51 mode mode NOUN american_scientific_journal-1686 81 52 algorithm algorithm NOUN american_scientific_journal-1686 81 53 process process NOUN american_scientific_journal-1686 81 54 that that PRON american_scientific_journal-1686 81 55 takes take VERB american_scientific_journal-1686 81 56 a a DET american_scientific_journal-1686 81 57 range range NOUN american_scientific_journal-1686 81 58 of of ADP american_scientific_journal-1686 81 59 pulse pulse NOUN american_scientific_journal-1686 81 60 width width ADJ american_scientific_journal-1686 81 61 receiving receiving NOUN american_scientific_journal-1686 81 62 . . PUNCT american_scientific_journal-1686 82 1 reference reference NOUN american_scientific_journal-1686 83 1 [ [ X american_scientific_journal-1686 83 2 1 1 NUM american_scientific_journal-1686 83 3 ] ] PUNCT american_scientific_journal-1686 83 4 . . PUNCT american_scientific_journal-1686 84 1 geoff geoff PROPN american_scientific_journal-1686 84 2 williams williams PROPN american_scientific_journal-1686 84 3 " " PUNCT american_scientific_journal-1686 84 4 cnc cnc ADJ american_scientific_journal-1686 84 5 robotics robotic NOUN american_scientific_journal-1686 84 6 build build VERB american_scientific_journal-1686 84 7 your your PRON american_scientific_journal-1686 84 8 own own ADJ american_scientific_journal-1686 84 9 workshop workshop NOUN american_scientific_journal-1686 84 10 bot bot NOUN american_scientific_journal-1686 84 11 " " PUNCT american_scientific_journal-1686 84 12 copyright copyright NOUN american_scientific_journal-1686 84 13 2003 2003 NUM american_scientific_journal-1686 84 14 , , PUNCT american_scientific_journal-1686 84 15 the the DET american_scientific_journal-1686 84 16 mcgraw mcgraw NOUN american_scientific_journal-1686 84 17 - - PUNCT american_scientific_journal-1686 84 18 hili hili NOUN american_scientific_journal-1686 84 19 [ [ X american_scientific_journal-1686 84 20 2 2 NUM american_scientific_journal-1686 84 21 ] ] PUNCT american_scientific_journal-1686 84 22 . . PUNCT american_scientific_journal-1686 85 1 brandi brandi PROPN american_scientific_journal-1686 85 2 house house PROPN american_scientific_journal-1686 85 3 " " PUNCT american_scientific_journal-1686 85 4 a a DET american_scientific_journal-1686 85 5 voice voice NOUN american_scientific_journal-1686 85 6 controlled control VERB american_scientific_journal-1686 85 7 robot robot NOUN american_scientific_journal-1686 85 8 arm arm NOUN american_scientific_journal-1686 85 9 " " PUNCT american_scientific_journal-1686 85 10 2009 2009 NUM american_scientific_journal-1686 85 11 , , PUNCT american_scientific_journal-1686 85 12 international international ADJ american_scientific_journal-1686 85 13 journal journal NOUN american_scientific_journal-1686 85 14 of of ADP american_scientific_journal-1686 85 15 scientific scientific ADJ american_scientific_journal-1686 85 16 and and CCONJ american_scientific_journal-1686 85 17 research research NOUN american_scientific_journal-1686 85 18 [ [ X american_scientific_journal-1686 85 19 3 3 NUM american_scientific_journal-1686 85 20 ] ] PUNCT american_scientific_journal-1686 85 21 . . PUNCT american_scientific_journal-1686 86 1 antoine antoine PROPN american_scientific_journal-1686 86 2 de de PROPN american_scientific_journal-1686 86 3 rengerv rengerv PROPN american_scientific_journal-1686 86 4 Β΄ Β΄ PROPN american_scientific_journal-1686 86 5 " " PUNCT american_scientific_journal-1686 86 6 emergent emergent VERB american_scientific_journal-1686 86 7 imitative imitative ADJ american_scientific_journal-1686 86 8 behavior behavior NOUN american_scientific_journal-1686 86 9 on on ADP american_scientific_journal-1686 86 10 a a DET american_scientific_journal-1686 86 11 robotic robotic ADJ american_scientific_journal-1686 86 12 arm arm NOUN american_scientific_journal-1686 86 13 based base VERB american_scientific_journal-1686 86 14 on on ADP american_scientific_journal-1686 86 15 visuo visuo NOUN american_scientific_journal-1686 86 16 - - PUNCT american_scientific_journal-1686 86 17 motor motor NOUN american_scientific_journal-1686 86 18 associative associative NOUN american_scientific_journal-1686 86 19 memories memory NOUN american_scientific_journal-1686 86 20 " " PUNCT american_scientific_journal-1686 86 21 2010 2010 NUM american_scientific_journal-1686 86 22 , , PUNCT american_scientific_journal-1686 86 23 ieee ieee NOUN american_scientific_journal-1686 86 24 / / SYM american_scientific_journal-1686 86 25 rsj rsj NOUN american_scientific_journal-1686 86 26 international international ADJ american_scientific_journal-1686 86 27 conference conference NOUN american_scientific_journal-1686 86 28 on on ADP american_scientific_journal-1686 86 29 intelligent intelligent ADJ american_scientific_journal-1686 86 30 robots robot NOUN american_scientific_journal-1686 86 31 and and CCONJ american_scientific_journal-1686 86 32 systems system NOUN american_scientific_journal-1686 86 33 [ [ X american_scientific_journal-1686 86 34 4 4 NUM american_scientific_journal-1686 86 35 ] ] PUNCT american_scientific_journal-1686 86 36 . . PUNCT american_scientific_journal-1686 87 1 mohammed mohammed PROPN american_scientific_journal-1686 87 2 z. z. PROPN american_scientific_journal-1686 87 3 al al PROPN american_scientific_journal-1686 87 4 - - PUNCT american_scientific_journal-1686 87 5 faiz faiz PROPN american_scientific_journal-1686 87 6 " " PUNCT american_scientific_journal-1686 87 7 human human ADJ american_scientific_journal-1686 87 8 arm arm NOUN american_scientific_journal-1686 87 9 simulation simulation NOUN american_scientific_journal-1686 87 10 based base VERB american_scientific_journal-1686 87 11 on on ADP american_scientific_journal-1686 87 12 matlab matlab PROPN american_scientific_journal-1686 87 13 with with ADP american_scientific_journal-1686 87 14 virtual virtual ADJ american_scientific_journal-1686 87 15 enviroment enviroment NOUN american_scientific_journal-1686 87 16 " " PUNCT american_scientific_journal-1686 87 17 , , PUNCT american_scientific_journal-1686 87 18 2011 2011 NUM american_scientific_journal-1686 87 19 , , PUNCT american_scientific_journal-1686 87 20 ijccce ijccce NOUN american_scientific_journal-1686 87 21 engineering engineering NOUN american_scientific_journal-1686 87 22 conference conference NOUN american_scientific_journal-1686 87 23 of of ADP american_scientific_journal-1686 87 24 control control NOUN american_scientific_journal-1686 87 25 , , PUNCT american_scientific_journal-1686 87 26 computers computer NOUN american_scientific_journal-1686 87 27 and and CCONJ american_scientific_journal-1686 87 28 mechatronics mechatronic NOUN american_scientific_journal-1686 87 29 [ [ X american_scientific_journal-1686 87 30 5 5 NUM american_scientific_journal-1686 87 31 ] ] PUNCT american_scientific_journal-1686 87 32 . . PUNCT american_scientific_journal-1686 88 1 hsien hsien PROPN american_scientific_journal-1686 88 2 - - PROPN american_scientific_journal-1686 88 3 i i PRON american_scientific_journal-1686 88 4 lin lin PROPN american_scientific_journal-1686 88 5 " " PUNCT american_scientific_journal-1686 88 6 evaluation evaluation NOUN american_scientific_journal-1686 88 7 of of ADP american_scientific_journal-1686 88 8 human human ADJ american_scientific_journal-1686 88 9 - - PUNCT american_scientific_journal-1686 88 10 robot robot NOUN american_scientific_journal-1686 88 11 arm arm NOUN american_scientific_journal-1686 88 12 movement movement NOUN american_scientific_journal-1686 88 13 imitation imitation NOUN american_scientific_journal-1686 88 14 " " PUNCT american_scientific_journal-1686 88 15 2011 2011 NUM american_scientific_journal-1686 88 16 , , PUNCT american_scientific_journal-1686 88 17 ieee ieee NOUN american_scientific_journal-1686 88 18 / / SYM american_scientific_journal-1686 88 19 rsj rsj NOUN american_scientific_journal-1686 88 20 asian asian ADJ american_scientific_journal-1686 88 21 control control PROPN american_scientific_journal-1686 88 22 conference conference NOUN american_scientific_journal-1686 89 1 [ [ X american_scientific_journal-1686 89 2 6 6 NUM american_scientific_journal-1686 89 3 ] ] PUNCT american_scientific_journal-1686 89 4 . . PUNCT american_scientific_journal-1686 90 1 jon jon PROPN american_scientific_journal-1686 90 2 wilson wilson PROPN american_scientific_journal-1686 90 3 " " PUNCT american_scientific_journal-1686 90 4 sensor sensor NOUN american_scientific_journal-1686 90 5 technology technology NOUN american_scientific_journal-1686 90 6 handbook handbook NOUN american_scientific_journal-1686 90 7 " " PUNCT american_scientific_journal-1686 90 8 copyright copyright NOUN american_scientific_journal-1686 90 9 2005 2005 NUM american_scientific_journal-1686 90 10 , , PUNCT american_scientific_journal-1686 90 11 elsevier elsevier PROPN american_scientific_journal-1686 90 12 inc inc PROPN american_scientific_journal-1686 90 13 . . PUNCT american_scientific_journal-1686 91 1 [ [ X american_scientific_journal-1686 91 2 7 7 NUM american_scientific_journal-1686 91 3 ] ] PUNCT american_scientific_journal-1686 91 4 . . PUNCT american_scientific_journal-1686 92 1 john john PROPN american_scientific_journal-1686 92 2 g. g. PROPN american_scientific_journal-1686 92 3 webster webster PROPN american_scientific_journal-1686 92 4 " " PUNCT american_scientific_journal-1686 92 5 measurement measurement NOUN american_scientific_journal-1686 92 6 , , PUNCT american_scientific_journal-1686 92 7 instrumentation instrumentation NOUN american_scientific_journal-1686 92 8 , , PUNCT american_scientific_journal-1686 92 9 and and CCONJ american_scientific_journal-1686 92 10 sensors sensor NOUN american_scientific_journal-1686 92 11 handbook handbook NOUN american_scientific_journal-1686 92 12 " " PUNCT american_scientific_journal-1686 92 13 1999 1999 NUM american_scientific_journal-1686 92 14 , , PUNCT american_scientific_journal-1686 92 15 crc crc PROPN american_scientific_journal-1686 92 16 press press PROPN american_scientific_journal-1686 92 17 llc llc PROPN american_scientific_journal-1686 92 18 . . PUNCT american_scientific_journal-1686 93 1 [ [ X american_scientific_journal-1686 93 2 8 8 NUM american_scientific_journal-1686 93 3 ] ] PUNCT american_scientific_journal-1686 93 4 . . PUNCT american_scientific_journal-1686 94 1 jacob jacob PROPN american_scientific_journal-1686 94 2 fraden fraden ADJ american_scientific_journal-1686 94 3 " " PUNCT american_scientific_journal-1686 94 4 handbook handbook NOUN american_scientific_journal-1686 94 5 of of ADP american_scientific_journal-1686 94 6 modern modern ADJ american_scientific_journal-1686 94 7 sensors sensor NOUN american_scientific_journal-1686 94 8 " " PUNCT american_scientific_journal-1686 94 9 2010 2010 NUM american_scientific_journal-1686 94 10 , , PUNCT american_scientific_journal-1686 94 11 springer springer NOUN american_scientific_journal-1686 94 12 new new PROPN american_scientific_journal-1686 94 13 york york PROPN american_scientific_journal-1686 94 14 . . PUNCT american_scientific_journal-1686 95 1 [ [ X american_scientific_journal-1686 95 2 9 9 NUM american_scientific_journal-1686 95 3 ] ] PUNCT american_scientific_journal-1686 95 4 . . PUNCT american_scientific_journal-1686 96 1 robert robert PROPN american_scientific_journal-1686 96 2 h. h. PROPN american_scientific_journal-1686 96 3 bishop bishop PROPN american_scientific_journal-1686 96 4 " " PUNCT american_scientific_journal-1686 96 5 the the DET american_scientific_journal-1686 96 6 mechatronics mechatronic NOUN american_scientific_journal-1686 96 7 handbook handbook NOUN american_scientific_journal-1686 96 8 " " PUNCT american_scientific_journal-1686 96 9 2002 2002 NUM american_scientific_journal-1686 96 10 , , PUNCT american_scientific_journal-1686 96 11 crc crc PROPN american_scientific_journal-1686 96 12 press press PROPN american_scientific_journal-1686 96 13 llc llc PROPN american_scientific_journal-1686 96 14 . . PUNCT american_scientific_journal-1686 97 1 american american PROPN american_scientific_journal-1686 97 2 scientific scientific ADJ american_scientific_journal-1686 97 3 research research PROPN american_scientific_journal-1686 97 4 journal journal NOUN american_scientific_journal-1686 97 5 for for ADP american_scientific_journal-1686 97 6 engineering engineering NOUN american_scientific_journal-1686 97 7 , , PUNCT american_scientific_journal-1686 97 8 technology technology NOUN american_scientific_journal-1686 97 9 , , PUNCT american_scientific_journal-1686 97 10 and and CCONJ american_scientific_journal-1686 97 11 sciences science NOUN american_scientific_journal-1686 97 12 ( ( PUNCT american_scientific_journal-1686 97 13 asrjets asrjet NOUN american_scientific_journal-1686 97 14 ) ) PUNCT american_scientific_journal-1686 97 15 ( ( PUNCT american_scientific_journal-1686 97 16 2016 2016 NUM american_scientific_journal-1686 97 17 ) ) PUNCT american_scientific_journal-1686 97 18 volume volume NOUN american_scientific_journal-1686 97 19 19 19 NUM american_scientific_journal-1686 97 20 , , PUNCT american_scientific_journal-1686 97 21 no no DET american_scientific_journal-1686 97 22 1 1 NUM american_scientific_journal-1686 97 23 , , PUNCT american_scientific_journal-1686 97 24 pp pp ADV american_scientific_journal-1686 97 25 178 178 NUM american_scientific_journal-1686 97 26 - - SYM american_scientific_journal-1686 97 27 190 190 NUM american_scientific_journal-1686 97 28 190 190 NUM american_scientific_journal-1686 98 1 [ [ X american_scientific_journal-1686 98 2 10 10 NUM american_scientific_journal-1686 98 3 ] ] PUNCT american_scientific_journal-1686 98 4 . . PUNCT american_scientific_journal-1686 99 1 t. t. PROPN american_scientific_journal-1686 99 2 kilian kilian PROPN american_scientific_journal-1686 99 3 " " PUNCT american_scientific_journal-1686 99 4 modern modern ADJ american_scientific_journal-1686 99 5 control control NOUN american_scientific_journal-1686 99 6 technology technology NOUN american_scientific_journal-1686 99 7 components component NOUN american_scientific_journal-1686 99 8 and and CCONJ american_scientific_journal-1686 99 9 systems system NOUN american_scientific_journal-1686 99 10 " " PUNCT american_scientific_journal-1686 99 11 , , PUNCT american_scientific_journal-1686 99 12 2006 2006 NUM american_scientific_journal-1686 99 13 , , PUNCT american_scientific_journal-1686 99 14 delmar delmar PROPN american_scientific_journal-1686 99 15 . . PUNCT american_scientific_journal-1686 100 1 [ [ X american_scientific_journal-1686 100 2 11 11 NUM american_scientific_journal-1686 100 3 ] ] PUNCT american_scientific_journal-1686 100 4 . . PUNCT american_scientific_journal-1686 101 1 marialena marialena PROPN american_scientific_journal-1686 101 2 vagia vagia ADJ american_scientific_journal-1686 101 3 " " PUNCT american_scientific_journal-1686 101 4 pid pid NOUN american_scientific_journal-1686 101 5 controller controller NOUN american_scientific_journal-1686 101 6 design design NOUN american_scientific_journal-1686 101 7 approaches approach NOUN american_scientific_journal-1686 101 8 – – PUNCT american_scientific_journal-1686 101 9 theory theory NOUN american_scientific_journal-1686 101 10 tuning tuning NOUN american_scientific_journal-1686 101 11 and and CCONJ american_scientific_journal-1686 101 12 application application NOUN american_scientific_journal-1686 101 13 to to ADP american_scientific_journal-1686 101 14 frontier frontier NOUN american_scientific_journal-1686 101 15 areas area NOUN american_scientific_journal-1686 101 16 " " PUNCT american_scientific_journal-1686 101 17 2012 2012 NUM american_scientific_journal-1686 101 18 , , PUNCT american_scientific_journal-1686 101 19 intech intech PROPN american_scientific_journal-1686 101 20 . . PUNCT