id	sid	tid	token	lemma	pos
american_scientific_journal-1917	1	1	195	195	NUM
american_scientific_journal-1917	1	2	american	american	ADJ
american_scientific_journal-1917	1	3	scientific	scientific	ADJ
american_scientific_journal-1917	1	4	research	research	NOUN
american_scientific_journal-1917	1	5	journal	journal	NOUN
american_scientific_journal-1917	1	6	for	for	ADP
american_scientific_journal-1917	1	7	engineering	engineering	NOUN
american_scientific_journal-1917	1	8	,	,	PUNCT
american_scientific_journal-1917	1	9	technology	technology	NOUN
american_scientific_journal-1917	1	10	,	,	PUNCT
american_scientific_journal-1917	1	11	and	and	CCONJ
american_scientific_journal-1917	1	12	sciences	science	NOUN
american_scientific_journal-1917	1	13	(	(	PUNCT
american_scientific_journal-1917	1	14	asrjets	asrjet	NOUN
american_scientific_journal-1917	1	15	)	)	PUNCT
american_scientific_journal-1917	1	16	issn	issn	PROPN
american_scientific_journal-1917	1	17	(	(	PUNCT
american_scientific_journal-1917	1	18	print	print	NOUN
american_scientific_journal-1917	1	19	)	)	PUNCT
american_scientific_journal-1917	1	20	2313	2313	NUM
american_scientific_journal-1917	1	21	-	-	SYM
american_scientific_journal-1917	1	22	4410	4410	NUM
american_scientific_journal-1917	1	23	,	,	PUNCT
american_scientific_journal-1917	1	24	issn	issn	PROPN
american_scientific_journal-1917	1	25	(	(	PUNCT
american_scientific_journal-1917	1	26	online	online	ADJ
american_scientific_journal-1917	1	27	)	)	PUNCT
american_scientific_journal-1917	1	28	2313	2313	NUM
american_scientific_journal-1917	1	29	-	-	SYM
american_scientific_journal-1917	1	30	4402	4402	NUM
american_scientific_journal-1917	1	31	©	©	PROPN
american_scientific_journal-1917	1	32	global	global	ADJ
american_scientific_journal-1917	1	33	society	society	NOUN
american_scientific_journal-1917	1	34	of	of	ADP
american_scientific_journal-1917	1	35	scientific	scientific	ADJ
american_scientific_journal-1917	1	36	research	research	NOUN
american_scientific_journal-1917	1	37	and	and	CCONJ
american_scientific_journal-1917	1	38	researchers	researcher	NOUN
american_scientific_journal-1917	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-1917	1	40	analysis	analysis	NOUN
american_scientific_journal-1917	1	41	,	,	PUNCT
american_scientific_journal-1917	1	42	design	design	NOUN
american_scientific_journal-1917	1	43	,	,	PUNCT
american_scientific_journal-1917	1	44	and	and	CCONJ
american_scientific_journal-1917	1	45	implementation	implementation	NOUN
american_scientific_journal-1917	1	46	of	of	ADP
american_scientific_journal-1917	1	47	an	an	DET
american_scientific_journal-1917	1	48	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	1	49	mobile	mobile	ADJ
american_scientific_journal-1917	1	50	robot	robot	NOUN
american_scientific_journal-1917	1	51	platform	platform	NOUN
american_scientific_journal-1917	1	52	omar	omar	PROPN
american_scientific_journal-1917	1	53	yaseen	yaseen	PROPN
american_scientific_journal-1917	1	54	ismaela	ismaela	PROPN
american_scientific_journal-1917	1	55	*	*	PROPN
american_scientific_journal-1917	1	56	,	,	PUNCT
american_scientific_journal-1917	1	57	john	john	PROPN
american_scientific_journal-1917	1	58	hedleyb	hedleyb	PROPN
american_scientific_journal-1917	1	59	arasty	arasty	PROPN
american_scientific_journal-1917	1	60	distric	distric	PROPN
american_scientific_journal-1917	1	61	,	,	PUNCT
american_scientific_journal-1917	1	62	erbil	erbil	PROPN
american_scientific_journal-1917	1	63	44001	44001	NUM
american_scientific_journal-1917	1	64	,	,	PUNCT
american_scientific_journal-1917	1	65	iraq	iraq	PROPN
american_scientific_journal-1917	1	66	bnewcastle	bnewcastle	PROPN
american_scientific_journal-1917	1	67	university	university	PROPN
american_scientific_journal-1917	1	68	,	,	PUNCT
american_scientific_journal-1917	1	69	address	address	NOUN
american_scientific_journal-1917	1	70	,	,	PUNCT
american_scientific_journal-1917	1	71	newcastle	newcastle	PROPN
american_scientific_journal-1917	1	72	upon	upon	SCONJ
american_scientific_journal-1917	1	73	tyne	tyne	PROPN
american_scientific_journal-1917	1	74	ne1	ne1	PROPN
american_scientific_journal-1917	1	75	7ru	7ru	PROPN
american_scientific_journal-1917	1	76	,	,	PUNCT
american_scientific_journal-1917	1	77	uk	uk	PROPN
american_scientific_journal-1917	1	78	aemail	aemail	NOUN
american_scientific_journal-1917	1	79	:	:	PUNCT
american_scientific_journal-1917	1	80	omar_mechatronics@yahoo.com	omar_mechatronics@yahoo.com	X
american_scientific_journal-1917	1	81	bemail	bemail	NOUN
american_scientific_journal-1917	1	82	:	:	PUNCT
american_scientific_journal-1917	1	83	john.hedley@ncl.ac.com	john.hedley@ncl.ac.com	X
american_scientific_journal-1917	1	84	abstract	abstract	ADJ
american_scientific_journal-1917	1	85	in	in	ADP
american_scientific_journal-1917	1	86	this	this	DET
american_scientific_journal-1917	1	87	paper	paper	NOUN
american_scientific_journal-1917	1	88	,	,	PUNCT
american_scientific_journal-1917	1	89	an	an	DET
american_scientific_journal-1917	1	90	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	1	91	mobile	mobile	ADJ
american_scientific_journal-1917	1	92	robot	robot	NOUN
american_scientific_journal-1917	1	93	is	be	AUX
american_scientific_journal-1917	1	94	designed	design	VERB
american_scientific_journal-1917	1	95	,	,	PUNCT
american_scientific_journal-1917	1	96	analysed	analyse	VERB
american_scientific_journal-1917	1	97	,	,	PUNCT
american_scientific_journal-1917	1	98	evaluated	evaluated	ADJ
american_scientific_journal-1917	1	99	and	and	CCONJ
american_scientific_journal-1917	1	100	developed	develop	VERB
american_scientific_journal-1917	1	101	.	.	PUNCT
american_scientific_journal-1917	2	1	a	a	DET
american_scientific_journal-1917	2	2	suitable	suitable	ADJ
american_scientific_journal-1917	2	3	design	design	NOUN
american_scientific_journal-1917	2	4	,	,	PUNCT
american_scientific_journal-1917	2	5	of	of	ADP
american_scientific_journal-1917	2	6	the	the	DET
american_scientific_journal-1917	2	7	robot	robot	NOUN
american_scientific_journal-1917	2	8	is	be	AUX
american_scientific_journal-1917	2	9	offered	offer	VERB
american_scientific_journal-1917	2	10	considering	consider	VERB
american_scientific_journal-1917	2	11	a	a	DET
american_scientific_journal-1917	2	12	number	number	NOUN
american_scientific_journal-1917	2	13	of	of	ADP
american_scientific_journal-1917	2	14	practical	practical	ADJ
american_scientific_journal-1917	2	15	factors	factor	NOUN
american_scientific_journal-1917	2	16	.	.	PUNCT
american_scientific_journal-1917	3	1	the	the	DET
american_scientific_journal-1917	3	2	methodology	methodology	NOUN
american_scientific_journal-1917	3	3	and	and	CCONJ
american_scientific_journal-1917	3	4	operation	operation	NOUN
american_scientific_journal-1917	3	5	of	of	ADP
american_scientific_journal-1917	3	6	its	its	PRON
american_scientific_journal-1917	3	7	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	3	8	locomotion	locomotion	NOUN
american_scientific_journal-1917	3	9	is	be	AUX
american_scientific_journal-1917	3	10	analysed	analyse	VERB
american_scientific_journal-1917	3	11	by	by	ADP
american_scientific_journal-1917	3	12	deducing	deduce	VERB
american_scientific_journal-1917	3	13	a	a	DET
american_scientific_journal-1917	3	14	range	range	NOUN
american_scientific_journal-1917	3	15	of	of	ADP
american_scientific_journal-1917	3	16	applicable	applicable	ADJ
american_scientific_journal-1917	3	17	equations	equation	NOUN
american_scientific_journal-1917	3	18	for	for	ADP
american_scientific_journal-1917	3	19	the	the	DET
american_scientific_journal-1917	3	20	robot	robot	NOUN
american_scientific_journal-1917	3	21	kinematics	kinematic	NOUN
american_scientific_journal-1917	3	22	,	,	PUNCT
american_scientific_journal-1917	3	23	and	and	CCONJ
american_scientific_journal-1917	3	24	trajectory	trajectory	NOUN
american_scientific_journal-1917	3	25	plotting	plotting	NOUN
american_scientific_journal-1917	3	26	.	.	PUNCT
american_scientific_journal-1917	4	1	the	the	DET
american_scientific_journal-1917	4	2	velocity	velocity	NOUN
american_scientific_journal-1917	4	3	pi	pi	NOUN
american_scientific_journal-1917	4	4	algorithm	algorithm	NOUN
american_scientific_journal-1917	4	5	is	be	AUX
american_scientific_journal-1917	4	6	used	use	VERB
american_scientific_journal-1917	4	7	to	to	PART
american_scientific_journal-1917	4	8	control	control	VERB
american_scientific_journal-1917	4	9	the	the	DET
american_scientific_journal-1917	4	10	robot	robot	NOUN
american_scientific_journal-1917	4	11	wheels	wheel	NOUN
american_scientific_journal-1917	4	12	’	'	PUNCT
american_scientific_journal-1917	4	13	speeds	speed	NOUN
american_scientific_journal-1917	4	14	.	.	PUNCT
american_scientific_journal-1917	5	1	several	several	ADJ
american_scientific_journal-1917	5	2	tests	test	NOUN
american_scientific_journal-1917	5	3	were	be	AUX
american_scientific_journal-1917	5	4	applied	apply	VERB
american_scientific_journal-1917	5	5	to	to	ADP
american_scientific_journal-1917	5	6	the	the	DET
american_scientific_journal-1917	5	7	robot	robot	NOUN
american_scientific_journal-1917	5	8	platform	platform	NOUN
american_scientific_journal-1917	5	9	such	such	ADJ
american_scientific_journal-1917	5	10	as	as	ADP
american_scientific_journal-1917	5	11	repeatability	repeatability	NOUN
american_scientific_journal-1917	5	12	and	and	CCONJ
american_scientific_journal-1917	5	13	manoeuvrability	manoeuvrability	NOUN
american_scientific_journal-1917	5	14	tests	test	NOUN
american_scientific_journal-1917	5	15	.	.	PUNCT
american_scientific_journal-1917	6	1	reasonable	reasonable	ADJ
american_scientific_journal-1917	6	2	results	result	NOUN
american_scientific_journal-1917	6	3	were	be	AUX
american_scientific_journal-1917	6	4	shown	show	VERB
american_scientific_journal-1917	6	5	after	after	ADP
american_scientific_journal-1917	6	6	applying	apply	VERB
american_scientific_journal-1917	6	7	the	the	DET
american_scientific_journal-1917	6	8	analyses	analysis	NOUN
american_scientific_journal-1917	6	9	via	via	ADP
american_scientific_journal-1917	6	10	computer	computer	NOUN
american_scientific_journal-1917	6	11	programming	programming	NOUN
american_scientific_journal-1917	6	12	.	.	PUNCT
american_scientific_journal-1917	7	1	the	the	DET
american_scientific_journal-1917	7	2	designed	design	VERB
american_scientific_journal-1917	7	3	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	7	4	robot	robot	NOUN
american_scientific_journal-1917	7	5	platform	platform	NOUN
american_scientific_journal-1917	7	6	is	be	AUX
american_scientific_journal-1917	7	7	able	able	ADJ
american_scientific_journal-1917	7	8	to	to	PART
american_scientific_journal-1917	7	9	move	move	VERB
american_scientific_journal-1917	7	10	instantaneously	instantaneously	ADV
american_scientific_journal-1917	7	11	in	in	ADP
american_scientific_journal-1917	7	12	any	any	DET
american_scientific_journal-1917	7	13	direction	direction	NOUN
american_scientific_journal-1917	7	14	at	at	ADP
american_scientific_journal-1917	7	15	any	any	DET
american_scientific_journal-1917	7	16	angle	angle	NOUN
american_scientific_journal-1917	7	17	,	,	PUNCT
american_scientific_journal-1917	7	18	without	without	ADP
american_scientific_journal-1917	7	19	or	or	CCONJ
american_scientific_journal-1917	7	20	with	with	ADP
american_scientific_journal-1917	7	21	changing	change	VERB
american_scientific_journal-1917	7	22	the	the	DET
american_scientific_journal-1917	7	23	orientation	orientation	NOUN
american_scientific_journal-1917	7	24	of	of	ADP
american_scientific_journal-1917	7	25	the	the	DET
american_scientific_journal-1917	7	26	robot	robot	NOUN
american_scientific_journal-1917	7	27	.	.	PUNCT
american_scientific_journal-1917	8	1	keywords	keyword	NOUN
american_scientific_journal-1917	8	2	:	:	PUNCT
american_scientific_journal-1917	8	3	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	8	4	;	;	PUNCT
american_scientific_journal-1917	8	5	kinematics	kinematic	NOUN
american_scientific_journal-1917	8	6	;	;	PUNCT
american_scientific_journal-1917	8	7	trajectory	trajectory	NOUN
american_scientific_journal-1917	8	8	plotting	plotting	NOUN
american_scientific_journal-1917	8	9	;	;	PUNCT
american_scientific_journal-1917	8	10	velocity	velocity	NOUN
american_scientific_journal-1917	8	11	pi	pi	NOUN
american_scientific_journal-1917	8	12	algorithm	algorithm	NOUN
american_scientific_journal-1917	8	13	;	;	PUNCT
american_scientific_journal-1917	8	14	manoeuvrability	manoeuvrability	NOUN
american_scientific_journal-1917	8	15	.	.	PUNCT
american_scientific_journal-1917	9	1	1	1	X
american_scientific_journal-1917	9	2	.	.	X
american_scientific_journal-1917	9	3	introduction	introduction	NOUN
american_scientific_journal-1917	9	4	in	in	ADP
american_scientific_journal-1917	9	5	recent	recent	ADJ
american_scientific_journal-1917	9	6	years	year	NOUN
american_scientific_journal-1917	9	7	,	,	PUNCT
american_scientific_journal-1917	9	8	using	use	VERB
american_scientific_journal-1917	9	9	mobile	mobile	ADJ
american_scientific_journal-1917	9	10	robots	robot	NOUN
american_scientific_journal-1917	9	11	in	in	ADP
american_scientific_journal-1917	9	12	technical	technical	ADJ
american_scientific_journal-1917	9	13	,	,	PUNCT
american_scientific_journal-1917	9	14	industrial	industrial	ADJ
american_scientific_journal-1917	9	15	,	,	PUNCT
american_scientific_journal-1917	9	16	and	and	CCONJ
american_scientific_journal-1917	9	17	educational	educational	ADJ
american_scientific_journal-1917	9	18	applications	application	NOUN
american_scientific_journal-1917	9	19	has	have	AUX
american_scientific_journal-1917	9	20	been	be	AUX
american_scientific_journal-1917	9	21	increased	increase	VERB
american_scientific_journal-1917	9	22	.	.	PUNCT
american_scientific_journal-1917	10	1	the	the	DET
american_scientific_journal-1917	10	2	freely	freely	ADJ
american_scientific_journal-1917	10	3	movement	movement	NOUN
american_scientific_journal-1917	10	4	of	of	ADP
american_scientific_journal-1917	10	5	an	an	DET
american_scientific_journal-1917	10	6	autonomous	autonomous	ADJ
american_scientific_journal-1917	10	7	mobile	mobile	ADJ
american_scientific_journal-1917	10	8	robot	robot	NOUN
american_scientific_journal-1917	10	9	within	within	ADP
american_scientific_journal-1917	10	10	the	the	DET
american_scientific_journal-1917	10	11	work	work	NOUN
american_scientific_journal-1917	10	12	space	space	NOUN
american_scientific_journal-1917	10	13	from	from	ADP
american_scientific_journal-1917	10	14	one	one	NUM
american_scientific_journal-1917	10	15	location	location	NOUN
american_scientific_journal-1917	10	16	to	to	ADP
american_scientific_journal-1917	10	17	another	another	PRON
american_scientific_journal-1917	10	18	becomes	become	VERB
american_scientific_journal-1917	10	19	necessary	necessary	ADJ
american_scientific_journal-1917	10	20	[	[	X
american_scientific_journal-1917	10	21	1	1	NUM
american_scientific_journal-1917	10	22	]	]	PUNCT
american_scientific_journal-1917	10	23	.	.	PUNCT
american_scientific_journal-1917	11	1	the	the	DET
american_scientific_journal-1917	11	2	mobile	mobile	PROPN
american_scientific_journal-1917	11	3	robot	robot	NOUN
american_scientific_journal-1917	11	4	wheel	wheel	NOUN
american_scientific_journal-1917	11	5	design	design	NOUN
american_scientific_journal-1917	11	6	is	be	AUX
american_scientific_journal-1917	11	7	a	a	DET
american_scientific_journal-1917	11	8	very	very	ADV
american_scientific_journal-1917	11	9	important	important	ADJ
american_scientific_journal-1917	11	10	factor	factor	NOUN
american_scientific_journal-1917	11	11	that	that	PRON
american_scientific_journal-1917	11	12	gives	give	VERB
american_scientific_journal-1917	11	13	the	the	DET
american_scientific_journal-1917	11	14	mobile	mobile	ADJ
american_scientific_journal-1917	11	15	robot	robot	NOUN
american_scientific_journal-1917	11	16	the	the	DET
american_scientific_journal-1917	11	17	ability	ability	NOUN
american_scientific_journal-1917	11	18	of	of	ADP
american_scientific_journal-1917	11	19	moving	move	VERB
american_scientific_journal-1917	11	20	freely	freely	ADV
american_scientific_journal-1917	11	21	in	in	ADP
american_scientific_journal-1917	11	22	tight	tight	ADJ
american_scientific_journal-1917	11	23	areas	area	NOUN
american_scientific_journal-1917	11	24	as	as	ADV
american_scientific_journal-1917	11	25	well	well	ADV
american_scientific_journal-1917	11	26	as	as	ADP
american_scientific_journal-1917	11	27	avoiding	avoid	VERB
american_scientific_journal-1917	11	28	obstacles	obstacle	NOUN
american_scientific_journal-1917	11	29	.	.	PUNCT
american_scientific_journal-1917	12	1	this	this	DET
american_scientific_journal-1917	12	2	design	design	NOUN
american_scientific_journal-1917	12	3	specifies	specify	VERB
american_scientific_journal-1917	12	4	the	the	DET
american_scientific_journal-1917	12	5	degree	degree	NOUN
american_scientific_journal-1917	12	6	of	of	ADP
american_scientific_journal-1917	12	7	mobility	mobility	NOUN
american_scientific_journal-1917	12	8	and	and	CCONJ
american_scientific_journal-1917	12	9	manoeuvrability	manoeuvrability	NOUN
american_scientific_journal-1917	12	10	of	of	ADP
american_scientific_journal-1917	12	11	the	the	DET
american_scientific_journal-1917	12	12	mobile	mobile	NOUN
american_scientific_journal-1917	12	13	robot	robot	NOUN
american_scientific_journal-1917	12	14	.	.	PUNCT
american_scientific_journal-1917	13	1	the	the	DET
american_scientific_journal-1917	13	2	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	13	3	term	term	NOUN
american_scientific_journal-1917	13	4	means	mean	VERB
american_scientific_journal-1917	13	5	that	that	SCONJ
american_scientific_journal-1917	13	6	the	the	DET
american_scientific_journal-1917	13	7	capability	capability	NOUN
american_scientific_journal-1917	13	8	of	of	ADP
american_scientific_journal-1917	13	9	moving	move	VERB
american_scientific_journal-1917	13	10	instantaneously	instantaneously	ADV
american_scientific_journal-1917	13	11	from	from	ADP
american_scientific_journal-1917	13	12	any	any	DET
american_scientific_journal-1917	13	13	configuration	configuration	NOUN
american_scientific_journal-1917	13	14	in	in	ADP
american_scientific_journal-1917	13	15	any	any	DET
american_scientific_journal-1917	13	16	direction	direction	NOUN
american_scientific_journal-1917	13	17	[	[	X
american_scientific_journal-1917	13	18	2	2	NUM
american_scientific_journal-1917	13	19	]	]	PUNCT
american_scientific_journal-1917	13	20	.	.	PUNCT
american_scientific_journal-1917	14	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-1917	15	1	*	*	PUNCT
american_scientific_journal-1917	15	2	corresponding	correspond	VERB
american_scientific_journal-1917	15	3	author	author	NOUN
american_scientific_journal-1917	15	4	.	.	PUNCT
american_scientific_journal-1917	16	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-1917	16	2	american	american	PROPN
american_scientific_journal-1917	16	3	scientific	scientific	PROPN
american_scientific_journal-1917	16	4	research	research	NOUN
american_scientific_journal-1917	16	5	journal	journal	NOUN
american_scientific_journal-1917	16	6	for	for	ADP
american_scientific_journal-1917	16	7	engineering	engineering	NOUN
american_scientific_journal-1917	16	8	,	,	PUNCT
american_scientific_journal-1917	16	9	technology	technology	NOUN
american_scientific_journal-1917	16	10	,	,	PUNCT
american_scientific_journal-1917	16	11	and	and	CCONJ
american_scientific_journal-1917	16	12	sciences	science	NOUN
american_scientific_journal-1917	16	13	(	(	PUNCT
american_scientific_journal-1917	16	14	asrjets	asrjet	NOUN
american_scientific_journal-1917	16	15	)	)	PUNCT
american_scientific_journal-1917	16	16	(	(	PUNCT
american_scientific_journal-1917	16	17	2016	2016	NUM
american_scientific_journal-1917	16	18	)	)	PUNCT
american_scientific_journal-1917	16	19	volume	volume	NOUN
american_scientific_journal-1917	16	20	22	22	NUM
american_scientific_journal-1917	16	21	,	,	PUNCT
american_scientific_journal-1917	16	22	no	no	DET
american_scientific_journal-1917	16	23	1	1	NUM
american_scientific_journal-1917	16	24	,	,	PUNCT
american_scientific_journal-1917	16	25	pp	pp	ADV
american_scientific_journal-1917	16	26	195	195	NUM
american_scientific_journal-1917	16	27	-	-	SYM
american_scientific_journal-1917	16	28	209	209	NUM
american_scientific_journal-1917	16	29	196	196	NUM
american_scientific_journal-1917	16	30	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	16	31	(	(	PUNCT
american_scientific_journal-1917	16	32	holonomic	holonomic	ADJ
american_scientific_journal-1917	16	33	)	)	PUNCT
american_scientific_journal-1917	16	34	platforms	platform	NOUN
american_scientific_journal-1917	16	35	compared	compare	VERB
american_scientific_journal-1917	16	36	with	with	ADP
american_scientific_journal-1917	16	37	the	the	DET
american_scientific_journal-1917	16	38	conventional	conventional	ADJ
american_scientific_journal-1917	16	39	(	(	PUNCT
american_scientific_journal-1917	16	40	non	non	ADJ
american_scientific_journal-1917	16	41	-	-	ADJ
american_scientific_journal-1917	16	42	holonomic	holonomic	ADJ
american_scientific_journal-1917	16	43	)	)	PUNCT
american_scientific_journal-1917	16	44	vehicles	vehicle	NOUN
american_scientific_journal-1917	16	45	,	,	PUNCT
american_scientific_journal-1917	16	46	have	have	VERB
american_scientific_journal-1917	16	47	many	many	ADJ
american_scientific_journal-1917	16	48	advantages	advantage	NOUN
american_scientific_journal-1917	16	49	such	such	ADJ
american_scientific_journal-1917	16	50	as	as	ADP
american_scientific_journal-1917	16	51	moving	move	VERB
american_scientific_journal-1917	16	52	sideways	sideways	ADV
american_scientific_journal-1917	16	53	and	and	CCONJ
american_scientific_journal-1917	16	54	follow	follow	VERB
american_scientific_journal-1917	16	55	complex	complex	ADJ
american_scientific_journal-1917	16	56	trajectories	trajectory	NOUN
american_scientific_journal-1917	16	57	[	[	X
american_scientific_journal-1917	16	58	3,4	3,4	NUM
american_scientific_journal-1917	16	59	]	]	PUNCT
american_scientific_journal-1917	16	60	.	.	PUNCT
american_scientific_journal-1917	17	1	this	this	DET
american_scientific_journal-1917	17	2	kind	kind	NOUN
american_scientific_journal-1917	17	3	of	of	ADP
american_scientific_journal-1917	17	4	mobile	mobile	ADJ
american_scientific_journal-1917	17	5	robots	robot	NOUN
american_scientific_journal-1917	17	6	is	be	AUX
american_scientific_journal-1917	17	7	desirable	desirable	ADJ
american_scientific_journal-1917	17	8	for	for	ADP
american_scientific_journal-1917	17	9	applications	application	NOUN
american_scientific_journal-1917	17	10	in	in	ADP
american_scientific_journal-1917	17	11	narrow	narrow	ADJ
american_scientific_journal-1917	17	12	environments	environment	NOUN
american_scientific_journal-1917	17	13	and	and	CCONJ
american_scientific_journal-1917	17	14	has	have	VERB
american_scientific_journal-1917	17	15	wide	wide	ADJ
american_scientific_journal-1917	17	16	application	application	NOUN
american_scientific_journal-1917	17	17	prospect	prospect	NOUN
american_scientific_journal-1917	17	18	.	.	PUNCT
american_scientific_journal-1917	18	1	there	there	PRON
american_scientific_journal-1917	18	2	are	be	VERB
american_scientific_journal-1917	18	3	two	two	NUM
american_scientific_journal-1917	18	4	kinds	kind	NOUN
american_scientific_journal-1917	18	5	for	for	ADP
american_scientific_journal-1917	18	6	platforms	platform	NOUN
american_scientific_journal-1917	18	7	with	with	ADP
american_scientific_journal-1917	18	8	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	18	9	wheels	wheel	NOUN
american_scientific_journal-1917	18	10	:	:	PUNCT
american_scientific_journal-1917	18	11	special	special	ADJ
american_scientific_journal-1917	18	12	wheels	wheel	NOUN
american_scientific_journal-1917	18	13	’	'	PUNCT
american_scientific_journal-1917	18	14	kind	kind	NOUN
american_scientific_journal-1917	18	15	and	and	CCONJ
american_scientific_journal-1917	18	16	conventional	conventional	ADJ
american_scientific_journal-1917	18	17	wheels	wheel	NOUN
american_scientific_journal-1917	18	18	’	'	PUNCT
american_scientific_journal-1917	18	19	kind	kind	NOUN
american_scientific_journal-1917	18	20	.	.	PUNCT
american_scientific_journal-1917	19	1	special	special	ADJ
american_scientific_journal-1917	19	2	wheels	wheel	NOUN
american_scientific_journal-1917	19	3	have	have	VERB
american_scientific_journal-1917	19	4	a	a	DET
american_scientific_journal-1917	19	5	passive	passive	ADJ
american_scientific_journal-1917	19	6	moving	moving	NOUN
american_scientific_journal-1917	19	7	direction	direction	NOUN
american_scientific_journal-1917	19	8	and	and	CCONJ
american_scientific_journal-1917	19	9	an	an	DET
american_scientific_journal-1917	19	10	active	active	ADJ
american_scientific_journal-1917	19	11	tracking	tracking	NOUN
american_scientific_journal-1917	19	12	direction	direction	NOUN
american_scientific_journal-1917	19	13	and	and	CCONJ
american_scientific_journal-1917	19	14	they	they	PRON
american_scientific_journal-1917	19	15	are	be	AUX
american_scientific_journal-1917	19	16	mostly	mostly	ADV
american_scientific_journal-1917	19	17	studied	study	VERB
american_scientific_journal-1917	19	18	for	for	ADP
american_scientific_journal-1917	19	19	the	the	DET
american_scientific_journal-1917	19	20	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	19	21	platforms	platform	NOUN
american_scientific_journal-1917	19	22	.	.	PUNCT
american_scientific_journal-1917	20	1	previous	previous	ADJ
american_scientific_journal-1917	20	2	researchers	researcher	NOUN
american_scientific_journal-1917	20	3	have	have	AUX
american_scientific_journal-1917	20	4	developed	develop	VERB
american_scientific_journal-1917	20	5	and	and	CCONJ
american_scientific_journal-1917	20	6	proposed	propose	VERB
american_scientific_journal-1917	20	7	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	20	8	robot	robot	NOUN
american_scientific_journal-1917	20	9	platforms	platform	NOUN
american_scientific_journal-1917	20	10	using	use	VERB
american_scientific_journal-1917	20	11	a	a	DET
american_scientific_journal-1917	20	12	wide	wide	ADJ
american_scientific_journal-1917	20	13	variety	variety	NOUN
american_scientific_journal-1917	20	14	wheels	wheel	NOUN
american_scientific_journal-1917	20	15	’	'	PUNCT
american_scientific_journal-1917	20	16	kinds	kind	NOUN
american_scientific_journal-1917	20	17	including	include	VERB
american_scientific_journal-1917	20	18	mecanum	mecanum	ADJ
american_scientific_journal-1917	20	19	,	,	PUNCT
american_scientific_journal-1917	20	20	roller	roller	NOUN
american_scientific_journal-1917	20	21	,	,	PUNCT
american_scientific_journal-1917	20	22	and	and	CCONJ
american_scientific_journal-1917	20	23	spherical	spherical	ADJ
american_scientific_journal-1917	20	24	wheels	wheel	NOUN
american_scientific_journal-1917	20	25	.	.	PUNCT
american_scientific_journal-1917	21	1	the	the	DET
american_scientific_journal-1917	21	2	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	21	3	mobile	mobile	ADJ
american_scientific_journal-1917	21	4	robots	robot	NOUN
american_scientific_journal-1917	21	5	show	show	VERB
american_scientific_journal-1917	21	6	their	their	PRON
american_scientific_journal-1917	21	7	positive	positive	ADJ
american_scientific_journal-1917	21	8	performance	performance	NOUN
american_scientific_journal-1917	21	9	in	in	ADP
american_scientific_journal-1917	21	10	competitions	competition	NOUN
american_scientific_journal-1917	21	11	such	such	ADJ
american_scientific_journal-1917	21	12	as	as	ADP
american_scientific_journal-1917	21	13	the	the	DET
american_scientific_journal-1917	21	14	robocup	robocup	PROPN
american_scientific_journal-1917	21	15	and	and	CCONJ
american_scientific_journal-1917	21	16	search	search	NOUN
american_scientific_journal-1917	21	17	and	and	CCONJ
american_scientific_journal-1917	21	18	rescue	rescue	NOUN
american_scientific_journal-1917	21	19	international	international	ADJ
american_scientific_journal-1917	21	20	competition	competition	NOUN
american_scientific_journal-1917	21	21	[	[	X
american_scientific_journal-1917	21	22	5	5	NUM
american_scientific_journal-1917	21	23	]	]	PUNCT
american_scientific_journal-1917	21	24	.	.	PUNCT
american_scientific_journal-1917	22	1	a	a	DET
american_scientific_journal-1917	22	2	positive	positive	ADJ
american_scientific_journal-1917	22	3	trajectory	trajectory	NOUN
american_scientific_journal-1917	22	4	planning	planning	NOUN
american_scientific_journal-1917	22	5	and	and	CCONJ
american_scientific_journal-1917	22	6	trajectory	trajectory	NOUN
american_scientific_journal-1917	22	7	following	follow	VERB
american_scientific_journal-1917	22	8	that	that	PRON
american_scientific_journal-1917	22	9	is	be	AUX
american_scientific_journal-1917	22	10	necessary	necessary	ADJ
american_scientific_journal-1917	22	11	in	in	ADP
american_scientific_journal-1917	22	12	this	this	DET
american_scientific_journal-1917	22	13	type	type	NOUN
american_scientific_journal-1917	22	14	of	of	ADP
american_scientific_journal-1917	22	15	competitions	competition	NOUN
american_scientific_journal-1917	22	16	,	,	PUNCT
american_scientific_journal-1917	22	17	can	can	AUX
american_scientific_journal-1917	22	18	be	be	AUX
american_scientific_journal-1917	22	19	achieved	achieve	VERB
american_scientific_journal-1917	22	20	by	by	ADP
american_scientific_journal-1917	22	21	using	use	VERB
american_scientific_journal-1917	22	22	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	22	23	platforms	platform	NOUN
american_scientific_journal-1917	22	24	.	.	PUNCT
american_scientific_journal-1917	23	1	the	the	DET
american_scientific_journal-1917	23	2	aim	aim	NOUN
american_scientific_journal-1917	23	3	of	of	ADP
american_scientific_journal-1917	23	4	this	this	DET
american_scientific_journal-1917	23	5	study	study	NOUN
american_scientific_journal-1917	23	6	is	be	AUX
american_scientific_journal-1917	23	7	to	to	ADP
american_scientific_journal-1917	23	8	analysis	analysis	NOUN
american_scientific_journal-1917	23	9	,	,	PUNCT
american_scientific_journal-1917	23	10	design	design	NOUN
american_scientific_journal-1917	23	11	,	,	PUNCT
american_scientific_journal-1917	23	12	and	and	CCONJ
american_scientific_journal-1917	23	13	implementation	implementation	NOUN
american_scientific_journal-1917	23	14	of	of	ADP
american_scientific_journal-1917	23	15	an	an	DET
american_scientific_journal-1917	23	16	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	23	17	robot	robot	NOUN
american_scientific_journal-1917	23	18	platform	platform	NOUN
american_scientific_journal-1917	23	19	as	as	ADP
american_scientific_journal-1917	23	20	the	the	DET
american_scientific_journal-1917	23	21	base	base	NOUN
american_scientific_journal-1917	23	22	for	for	ADP
american_scientific_journal-1917	23	23	development	development	NOUN
american_scientific_journal-1917	23	24	of	of	ADP
american_scientific_journal-1917	23	25	mobile	mobile	ADJ
american_scientific_journal-1917	23	26	robot	robot	NOUN
american_scientific_journal-1917	23	27	projects	project	NOUN
american_scientific_journal-1917	23	28	such	such	ADJ
american_scientific_journal-1917	23	29	as	as	ADP
american_scientific_journal-1917	23	30	robocup	robocup	PROPN
american_scientific_journal-1917	23	31	competitions	competition	NOUN
american_scientific_journal-1917	23	32	or	or	CCONJ
american_scientific_journal-1917	23	33	search	search	NOUN
american_scientific_journal-1917	23	34	and	and	CCONJ
american_scientific_journal-1917	23	35	rescue	rescue	NOUN
american_scientific_journal-1917	23	36	.	.	PUNCT
american_scientific_journal-1917	24	1	the	the	DET
american_scientific_journal-1917	24	2	factors	factor	NOUN
american_scientific_journal-1917	24	3	to	to	PART
american_scientific_journal-1917	24	4	be	be	AUX
american_scientific_journal-1917	24	5	taken	take	VERB
american_scientific_journal-1917	24	6	into	into	ADP
american_scientific_journal-1917	24	7	consideration	consideration	NOUN
american_scientific_journal-1917	24	8	,	,	PUNCT
american_scientific_journal-1917	24	9	for	for	ADP
american_scientific_journal-1917	24	10	the	the	DET
american_scientific_journal-1917	24	11	design	design	NOUN
american_scientific_journal-1917	24	12	and	and	CCONJ
american_scientific_journal-1917	24	13	operation	operation	NOUN
american_scientific_journal-1917	24	14	of	of	ADP
american_scientific_journal-1917	24	15	the	the	DET
american_scientific_journal-1917	24	16	robot	robot	NOUN
american_scientific_journal-1917	24	17	,	,	PUNCT
american_scientific_journal-1917	24	18	are	be	AUX
american_scientific_journal-1917	24	19	to	to	PART
american_scientific_journal-1917	24	20	be	be	AUX
american_scientific_journal-1917	24	21	based	base	VERB
american_scientific_journal-1917	24	22	on	on	ADP
american_scientific_journal-1917	24	23	practical	practical	ADJ
american_scientific_journal-1917	24	24	requirements	requirement	NOUN
american_scientific_journal-1917	24	25	and	and	CCONJ
american_scientific_journal-1917	24	26	limitations	limitation	NOUN
american_scientific_journal-1917	24	27	as	as	ADV
american_scientific_journal-1917	24	28	well	well	ADV
american_scientific_journal-1917	24	29	as	as	ADP
american_scientific_journal-1917	24	30	a	a	DET
american_scientific_journal-1917	24	31	comprehensive	comprehensive	ADJ
american_scientific_journal-1917	24	32	theoretical	theoretical	ADJ
american_scientific_journal-1917	24	33	analysis	analysis	NOUN
american_scientific_journal-1917	24	34	.	.	PUNCT
american_scientific_journal-1917	25	1	the	the	DET
american_scientific_journal-1917	25	2	robot	robot	NOUN
american_scientific_journal-1917	25	3	performance	performance	NOUN
american_scientific_journal-1917	25	4	can	can	AUX
american_scientific_journal-1917	25	5	be	be	AUX
american_scientific_journal-1917	25	6	tested	test	VERB
american_scientific_journal-1917	25	7	by	by	ADP
american_scientific_journal-1917	25	8	applying	apply	VERB
american_scientific_journal-1917	25	9	different	different	ADJ
american_scientific_journal-1917	25	10	algorithms	algorithm	NOUN
american_scientific_journal-1917	25	11	.	.	PUNCT
american_scientific_journal-1917	26	1	the	the	DET
american_scientific_journal-1917	26	2	study	study	NOUN
american_scientific_journal-1917	26	3	objectives	objective	NOUN
american_scientific_journal-1917	26	4	can	can	AUX
american_scientific_journal-1917	26	5	be	be	AUX
american_scientific_journal-1917	26	6	summarised	summarise	VERB
american_scientific_journal-1917	26	7	as	as	ADP
american_scientific_journal-1917	26	8	:	:	PUNCT
american_scientific_journal-1917	26	9	•	•	NOUN
american_scientific_journal-1917	26	10	mechanical	mechanical	ADJ
american_scientific_journal-1917	26	11	design	design	NOUN
american_scientific_journal-1917	26	12	and	and	CCONJ
american_scientific_journal-1917	26	13	manufacturing	manufacturing	NOUN
american_scientific_journal-1917	26	14	of	of	ADP
american_scientific_journal-1917	26	15	the	the	DET
american_scientific_journal-1917	26	16	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	26	17	robot	robot	NOUN
american_scientific_journal-1917	26	18	platform	platform	NOUN
american_scientific_journal-1917	26	19	.	.	PUNCT
american_scientific_journal-1917	27	1	•	•	NUM
american_scientific_journal-1917	27	2	design	design	NOUN
american_scientific_journal-1917	27	3	and	and	CCONJ
american_scientific_journal-1917	27	4	select	select	ADJ
american_scientific_journal-1917	27	5	electronics	electronic	NOUN
american_scientific_journal-1917	27	6	circuits	circuit	NOUN
american_scientific_journal-1917	27	7	that	that	PRON
american_scientific_journal-1917	27	8	driving	drive	VERB
american_scientific_journal-1917	27	9	the	the	DET
american_scientific_journal-1917	27	10	robot	robot	NOUN
american_scientific_journal-1917	27	11	,	,	PUNCT
american_scientific_journal-1917	27	12	collecting	collect	VERB
american_scientific_journal-1917	27	13	the	the	DET
american_scientific_journal-1917	27	14	sensors	sensor	NOUN
american_scientific_journal-1917	27	15	(	(	PUNCT
american_scientific_journal-1917	27	16	i.e.	i.e.	X
american_scientific_journal-1917	27	17	encoder	encoder	NOUN
american_scientific_journal-1917	27	18	)	)	PUNCT
american_scientific_journal-1917	27	19	data	datum	NOUN
american_scientific_journal-1917	27	20	and	and	CCONJ
american_scientific_journal-1917	27	21	process	process	VERB
american_scientific_journal-1917	27	22	them	they	PRON
american_scientific_journal-1917	27	23	,	,	PUNCT
american_scientific_journal-1917	27	24	and	and	CCONJ
american_scientific_journal-1917	27	25	performing	perform	VERB
american_scientific_journal-1917	27	26	a	a	DET
american_scientific_journal-1917	27	27	communication	communication	NOUN
american_scientific_journal-1917	27	28	with	with	ADP
american_scientific_journal-1917	27	29	a	a	DET
american_scientific_journal-1917	27	30	laptop	laptop	NOUN
american_scientific_journal-1917	27	31	to	to	ADP
american_scientific_journal-1917	27	32	plot	plot	NOUN
american_scientific_journal-1917	27	33	.	.	PUNCT
american_scientific_journal-1917	28	1	•	•	NUM
american_scientific_journal-1917	28	2	proper	proper	ADJ
american_scientific_journal-1917	28	3	selection	selection	NOUN
american_scientific_journal-1917	28	4	of	of	ADP
american_scientific_journal-1917	28	5	robot	robot	NOUN
american_scientific_journal-1917	28	6	materials	material	NOUN
american_scientific_journal-1917	28	7	to	to	PART
american_scientific_journal-1917	28	8	achieve	achieve	VERB
american_scientific_journal-1917	28	9	the	the	DET
american_scientific_journal-1917	28	10	following	follow	VERB
american_scientific_journal-1917	28	11	criteria	criterion	NOUN
american_scientific_journal-1917	28	12	:	:	PUNCT
american_scientific_journal-1917	29	1	speed	speed	NOUN
american_scientific_journal-1917	29	2	,	,	PUNCT
american_scientific_journal-1917	29	3	manoeuvrability	manoeuvrability	NOUN
american_scientific_journal-1917	29	4	,	,	PUNCT
american_scientific_journal-1917	29	5	1	1	NUM
american_scientific_journal-1917	29	6	/	/	SYM
american_scientific_journal-1917	29	7	cost	cost	NOUN
american_scientific_journal-1917	29	8	,	,	PUNCT
american_scientific_journal-1917	29	9	and	and	CCONJ
american_scientific_journal-1917	29	10	aesthetics	aesthetic	NOUN
american_scientific_journal-1917	29	11	.	.	PUNCT
american_scientific_journal-1917	30	1	•	•	NUM
american_scientific_journal-1917	30	2	control	control	VERB
american_scientific_journal-1917	30	3	the	the	DET
american_scientific_journal-1917	30	4	robot	robot	NOUN
american_scientific_journal-1917	30	5	motion	motion	NOUN
american_scientific_journal-1917	30	6	due	due	ADP
american_scientific_journal-1917	30	7	to	to	ADP
american_scientific_journal-1917	30	8	the	the	DET
american_scientific_journal-1917	30	9	kinematics	kinematic	NOUN
american_scientific_journal-1917	30	10	analysis	analysis	NOUN
american_scientific_journal-1917	30	11	and	and	CCONJ
american_scientific_journal-1917	30	12	the	the	DET
american_scientific_journal-1917	30	13	path	path	NOUN
american_scientific_journal-1917	30	14	planning	planning	NOUN
american_scientific_journal-1917	30	15	.	.	PUNCT
american_scientific_journal-1917	31	1	•	•	NUM
american_scientific_journal-1917	31	2	test	test	NOUN
american_scientific_journal-1917	31	3	the	the	DET
american_scientific_journal-1917	31	4	robot	robot	NOUN
american_scientific_journal-1917	31	5	performance	performance	NOUN
american_scientific_journal-1917	31	6	(	(	PUNCT
american_scientific_journal-1917	31	7	i.e.	i.e.	X
american_scientific_journal-1917	31	8	speed	speed	NOUN
american_scientific_journal-1917	31	9	,	,	PUNCT
american_scientific_journal-1917	31	10	acceleration	acceleration	NOUN
american_scientific_journal-1917	31	11	,	,	PUNCT
american_scientific_journal-1917	31	12	and	and	CCONJ
american_scientific_journal-1917	31	13	repeatability	repeatability	NOUN
american_scientific_journal-1917	31	14	)	)	PUNCT
american_scientific_journal-1917	31	15	.	.	PUNCT
american_scientific_journal-1917	32	1	2	2	X
american_scientific_journal-1917	32	2	.	.	X
american_scientific_journal-1917	32	3	design	design	NOUN
american_scientific_journal-1917	32	4	and	and	CCONJ
american_scientific_journal-1917	32	5	specifications	specification	NOUN
american_scientific_journal-1917	32	6	by	by	ADP
american_scientific_journal-1917	32	7	taking	take	VERB
american_scientific_journal-1917	32	8	into	into	ADP
american_scientific_journal-1917	32	9	account	account	NOUN
american_scientific_journal-1917	32	10	all	all	DET
american_scientific_journal-1917	32	11	the	the	DET
american_scientific_journal-1917	32	12	limitations	limitation	NOUN
american_scientific_journal-1917	32	13	involved	involve	VERB
american_scientific_journal-1917	32	14	in	in	ADP
american_scientific_journal-1917	32	15	the	the	DET
american_scientific_journal-1917	32	16	recent	recent	ADJ
american_scientific_journal-1917	32	17	developments	development	NOUN
american_scientific_journal-1917	32	18	,	,	PUNCT
american_scientific_journal-1917	32	19	the	the	DET
american_scientific_journal-1917	32	20	design	design	NOUN
american_scientific_journal-1917	32	21	of	of	ADP
american_scientific_journal-1917	32	22	‘	'	PUNCT
american_scientific_journal-1917	32	23	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	32	24	robot	robot	NOUN
american_scientific_journal-1917	32	25	’	'	PUNCT
american_scientific_journal-1917	32	26	has	have	VERB
american_scientific_journal-1917	32	27	to	to	PART
american_scientific_journal-1917	32	28	consider	consider	VERB
american_scientific_journal-1917	32	29	a	a	DET
american_scientific_journal-1917	32	30	range	range	NOUN
american_scientific_journal-1917	32	31	of	of	ADP
american_scientific_journal-1917	32	32	factors	factor	NOUN
american_scientific_journal-1917	32	33	to	to	PART
american_scientific_journal-1917	32	34	eliminate	eliminate	VERB
american_scientific_journal-1917	32	35	most	most	ADJ
american_scientific_journal-1917	32	36	(	(	PUNCT
american_scientific_journal-1917	32	37	or	or	CCONJ
american_scientific_journal-1917	32	38	all	all	PRON
american_scientific_journal-1917	32	39	)	)	PUNCT
american_scientific_journal-1917	32	40	of	of	ADP
american_scientific_journal-1917	32	41	the	the	DET
american_scientific_journal-1917	32	42	drawbacks	drawback	NOUN
american_scientific_journal-1917	32	43	and	and	CCONJ
american_scientific_journal-1917	32	44	limitations	limitation	NOUN
american_scientific_journal-1917	32	45	.	.	PUNCT
american_scientific_journal-1917	33	1	for	for	ADP
american_scientific_journal-1917	33	2	that	that	PRON
american_scientific_journal-1917	33	3	,	,	PUNCT
american_scientific_journal-1917	33	4	a	a	DET
american_scientific_journal-1917	33	5	detailed	detailed	ADJ
american_scientific_journal-1917	33	6	evaluation	evaluation	NOUN
american_scientific_journal-1917	33	7	is	be	AUX
american_scientific_journal-1917	33	8	required	require	VERB
american_scientific_journal-1917	33	9	to	to	PART
american_scientific_journal-1917	33	10	select	select	VERB
american_scientific_journal-1917	33	11	the	the	DET
american_scientific_journal-1917	33	12	optimal	optimal	ADJ
american_scientific_journal-1917	33	13	design	design	NOUN
american_scientific_journal-1917	33	14	of	of	ADP
american_scientific_journal-1917	33	15	three	three	NUM
american_scientific_journal-1917	33	16	omni	omni	ADJ
american_scientific_journal-1917	33	17	-	-	PUNCT
american_scientific_journal-1917	33	18	wheels	wheel	NOUN
american_scientific_journal-1917	33	19	mobile	mobile	ADJ
american_scientific_journal-1917	33	20	robot	robot	NOUN
american_scientific_journal-1917	33	21	.	.	PUNCT
american_scientific_journal-1917	34	1	2.1	2.1	NUM
american_scientific_journal-1917	34	2	.	.	PUNCT
american_scientific_journal-1917	34	3	robot	robot	NOUN
american_scientific_journal-1917	34	4	platforms	platform	NOUN
american_scientific_journal-1917	34	5	design	design	VERB
american_scientific_journal-1917	34	6	the	the	DET
american_scientific_journal-1917	34	7	design	design	NOUN
american_scientific_journal-1917	34	8	is	be	AUX
american_scientific_journal-1917	34	9	based	base	VERB
american_scientific_journal-1917	34	10	on	on	ADP
american_scientific_journal-1917	34	11	three	three	NUM
american_scientific_journal-1917	34	12	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	34	13	wheels	wheel	NOUN
american_scientific_journal-1917	34	14	with	with	ADP
american_scientific_journal-1917	34	15	120	120	NUM
american_scientific_journal-1917	34	16	degrees	degree	NOUN
american_scientific_journal-1917	34	17	between	between	ADP
american_scientific_journal-1917	34	18	each	each	DET
american_scientific_journal-1917	34	19	other	other	ADJ
american_scientific_journal-1917	34	20	.	.	PUNCT
american_scientific_journal-1917	35	1	several	several	ADJ
american_scientific_journal-1917	35	2	criteria	criterion	NOUN
american_scientific_journal-1917	35	3	need	need	VERB
american_scientific_journal-1917	35	4	to	to	PART
american_scientific_journal-1917	35	5	be	be	AUX
american_scientific_journal-1917	35	6	considered	consider	VERB
american_scientific_journal-1917	35	7	in	in	ADP
american_scientific_journal-1917	35	8	the	the	DET
american_scientific_journal-1917	35	9	design	design	NOUN
american_scientific_journal-1917	35	10	of	of	ADP
american_scientific_journal-1917	35	11	the	the	DET
american_scientific_journal-1917	35	12	robot	robot	NOUN
american_scientific_journal-1917	35	13	platforms	platform	NOUN
american_scientific_journal-1917	35	14	:	:	PUNCT
american_scientific_journal-1917	35	15	•	•	NUM
american_scientific_journal-1917	35	16	robot	robot	NOUN
american_scientific_journal-1917	35	17	main	main	ADJ
american_scientific_journal-1917	35	18	platform	platform	NOUN
american_scientific_journal-1917	35	19	dimensions	dimension	NOUN
american_scientific_journal-1917	35	20	.	.	PUNCT
american_scientific_journal-1917	36	1	•	•	NOUN
american_scientific_journal-1917	36	2	mounting	mount	VERB
american_scientific_journal-1917	36	3	of	of	ADP
american_scientific_journal-1917	36	4	other	other	ADJ
american_scientific_journal-1917	36	5	parts	part	NOUN
american_scientific_journal-1917	36	6	(	(	PUNCT
american_scientific_journal-1917	36	7	e.g.	e.g.	ADV
american_scientific_journal-1917	36	8	spacers	spacer	NOUN
american_scientific_journal-1917	36	9	,	,	PUNCT
american_scientific_journal-1917	36	10	motors	motor	NOUN
american_scientific_journal-1917	36	11	,	,	PUNCT
american_scientific_journal-1917	36	12	electronics	electronic	NOUN
american_scientific_journal-1917	36	13	circuits	circuit	NOUN
american_scientific_journal-1917	36	14	,	,	PUNCT
american_scientific_journal-1917	36	15	battery	battery	NOUN
american_scientific_journal-1917	36	16	sensors	sensor	NOUN
american_scientific_journal-1917	36	17	and	and	CCONJ
american_scientific_journal-1917	36	18	voltage	voltage	NOUN
american_scientific_journal-1917	36	19	regulator	regulator	NOUN
american_scientific_journal-1917	36	20	)	)	PUNCT
american_scientific_journal-1917	36	21	.	.	PUNCT
american_scientific_journal-1917	37	1	american	american	PROPN
american_scientific_journal-1917	37	2	scientific	scientific	ADJ
american_scientific_journal-1917	37	3	research	research	PROPN
american_scientific_journal-1917	37	4	journal	journal	NOUN
american_scientific_journal-1917	37	5	for	for	ADP
american_scientific_journal-1917	37	6	engineering	engineering	NOUN
american_scientific_journal-1917	37	7	,	,	PUNCT
american_scientific_journal-1917	37	8	technology	technology	NOUN
american_scientific_journal-1917	37	9	,	,	PUNCT
american_scientific_journal-1917	37	10	and	and	CCONJ
american_scientific_journal-1917	37	11	sciences	science	NOUN
american_scientific_journal-1917	37	12	(	(	PUNCT
american_scientific_journal-1917	37	13	asrjets	asrjet	NOUN
american_scientific_journal-1917	37	14	)	)	PUNCT
american_scientific_journal-1917	37	15	(	(	PUNCT
american_scientific_journal-1917	37	16	2016	2016	NUM
american_scientific_journal-1917	37	17	)	)	PUNCT
american_scientific_journal-1917	37	18	volume	volume	NOUN
american_scientific_journal-1917	37	19	22	22	NUM
american_scientific_journal-1917	37	20	,	,	PUNCT
american_scientific_journal-1917	37	21	no	no	DET
american_scientific_journal-1917	37	22	1	1	NUM
american_scientific_journal-1917	37	23	,	,	PUNCT
american_scientific_journal-1917	37	24	pp	pp	ADV
american_scientific_journal-1917	37	25	195	195	NUM
american_scientific_journal-1917	37	26	-	-	SYM
american_scientific_journal-1917	37	27	209	209	NUM
american_scientific_journal-1917	37	28	197	197	NUM
american_scientific_journal-1917	37	29	•	•	NOUN
american_scientific_journal-1917	37	30	response	response	NOUN
american_scientific_journal-1917	37	31	(	(	PUNCT
american_scientific_journal-1917	37	32	minimize	minimize	VERB
american_scientific_journal-1917	37	33	mass	mass	NOUN
american_scientific_journal-1917	37	34	and	and	CCONJ
american_scientific_journal-1917	37	35	inertia	inertia	NOUN
american_scientific_journal-1917	37	36	)	)	PUNCT
american_scientific_journal-1917	37	37	,	,	PUNCT
american_scientific_journal-1917	37	38	and	and	CCONJ
american_scientific_journal-1917	37	39	stability	stability	NOUN
american_scientific_journal-1917	37	40	.	.	PUNCT
american_scientific_journal-1917	38	1	•	•	NUM
american_scientific_journal-1917	38	2	positive	positive	ADJ
american_scientific_journal-1917	38	3	look	look	NOUN
american_scientific_journal-1917	38	4	and	and	CCONJ
american_scientific_journal-1917	38	5	minimizing	minimize	VERB
american_scientific_journal-1917	38	6	the	the	DET
american_scientific_journal-1917	38	7	cost	cost	NOUN
american_scientific_journal-1917	38	8	.	.	PUNCT
american_scientific_journal-1917	39	1	the	the	DET
american_scientific_journal-1917	39	2	robot	robot	NOUN
american_scientific_journal-1917	39	3	designed	design	VERB
american_scientific_journal-1917	39	4	by	by	ADP
american_scientific_journal-1917	39	5	using	use	VERB
american_scientific_journal-1917	39	6	autodesk	autodesk	PROPN
american_scientific_journal-1917	39	7	inventor	inventor	NOUN
american_scientific_journal-1917	39	8	software	software	NOUN
american_scientific_journal-1917	39	9	and	and	CCONJ
american_scientific_journal-1917	39	10	the	the	DET
american_scientific_journal-1917	39	11	robot	robot	NOUN
american_scientific_journal-1917	39	12	is	be	AUX
american_scientific_journal-1917	39	13	based	base	VERB
american_scientific_journal-1917	39	14	on	on	ADP
american_scientific_journal-1917	39	15	three	three	NUM
american_scientific_journal-1917	39	16	platforms	platform	NOUN
american_scientific_journal-1917	39	17	.	.	PUNCT
american_scientific_journal-1917	40	1	the	the	DET
american_scientific_journal-1917	40	2	3d	3d	PROPN
american_scientific_journal-1917	40	3	models	model	NOUN
american_scientific_journal-1917	40	4	for	for	ADP
american_scientific_journal-1917	40	5	the	the	DET
american_scientific_journal-1917	40	6	platforms	platform	NOUN
american_scientific_journal-1917	40	7	were	be	AUX
american_scientific_journal-1917	40	8	created	create	VERB
american_scientific_journal-1917	40	9	as	as	SCONJ
american_scientific_journal-1917	40	10	shown	show	VERB
american_scientific_journal-1917	40	11	in	in	ADP
american_scientific_journal-1917	40	12	figure	figure	NOUN
american_scientific_journal-1917	40	13	1	1	NUM
american_scientific_journal-1917	40	14	.	.	PUNCT
american_scientific_journal-1917	41	1	the	the	DET
american_scientific_journal-1917	41	2	thickness	thickness	NOUN
american_scientific_journal-1917	41	3	of	of	ADP
american_scientific_journal-1917	41	4	the	the	DET
american_scientific_journal-1917	41	5	upper	upper	ADJ
american_scientific_journal-1917	41	6	and	and	CCONJ
american_scientific_journal-1917	41	7	mid	mid	ADJ
american_scientific_journal-1917	41	8	platforms	platform	NOUN
american_scientific_journal-1917	41	9	is	be	AUX
american_scientific_journal-1917	41	10	3	3	NUM
american_scientific_journal-1917	41	11	mm	mm	NOUN
american_scientific_journal-1917	41	12	,	,	PUNCT
american_scientific_journal-1917	41	13	but	but	CCONJ
american_scientific_journal-1917	41	14	the	the	DET
american_scientific_journal-1917	41	15	lower	low	ADJ
american_scientific_journal-1917	41	16	platform	platform	NOUN
american_scientific_journal-1917	41	17	has	have	VERB
american_scientific_journal-1917	41	18	a	a	DET
american_scientific_journal-1917	41	19	thickness	thickness	NOUN
american_scientific_journal-1917	41	20	of	of	ADP
american_scientific_journal-1917	41	21	5	5	NUM
american_scientific_journal-1917	41	22	mm	mm	NOUN
american_scientific_journal-1917	41	23	because	because	SCONJ
american_scientific_journal-1917	41	24	it	it	PRON
american_scientific_journal-1917	41	25	is	be	AUX
american_scientific_journal-1917	41	26	needed	need	VERB
american_scientific_journal-1917	41	27	to	to	PART
american_scientific_journal-1917	41	28	handle	handle	VERB
american_scientific_journal-1917	41	29	a	a	DET
american_scientific_journal-1917	41	30	higher	high	ADJ
american_scientific_journal-1917	41	31	loading	loading	NOUN
american_scientific_journal-1917	41	32	.	.	PUNCT
american_scientific_journal-1917	42	1	the	the	DET
american_scientific_journal-1917	42	2	robot	robot	NOUN
american_scientific_journal-1917	42	3	platform	platform	NOUN
american_scientific_journal-1917	42	4	has	have	AUX
american_scientific_journal-1917	42	5	made	make	VERB
american_scientific_journal-1917	42	6	from	from	ADP
american_scientific_journal-1917	42	7	acrylic	acrylic	ADJ
american_scientific_journal-1917	42	8	sheet	sheet	NOUN
american_scientific_journal-1917	42	9	.	.	PUNCT
american_scientific_journal-1917	43	1	figure	figure	NOUN
american_scientific_journal-1917	43	2	1	1	NUM
american_scientific_journal-1917	43	3	:	:	PUNCT
american_scientific_journal-1917	43	4	robot	robot	NOUN
american_scientific_journal-1917	43	5	platform	platform	NOUN
american_scientific_journal-1917	43	6	(	(	PUNCT
american_scientific_journal-1917	43	7	a	a	X
american_scientific_journal-1917	43	8	)	)	PUNCT
american_scientific_journal-1917	43	9	upper	upper	ADJ
american_scientific_journal-1917	43	10	robot	robot	NOUN
american_scientific_journal-1917	43	11	platform	platform	NOUN
american_scientific_journal-1917	43	12	(	(	PUNCT
american_scientific_journal-1917	43	13	b	b	NOUN
american_scientific_journal-1917	43	14	)	)	PUNCT
american_scientific_journal-1917	43	15	mid	mid	ADJ
american_scientific_journal-1917	43	16	robot	robot	NOUN
american_scientific_journal-1917	43	17	platform	platform	NOUN
american_scientific_journal-1917	43	18	(	(	PUNCT
american_scientific_journal-1917	43	19	c	c	NOUN
american_scientific_journal-1917	43	20	)	)	PUNCT
american_scientific_journal-1917	43	21	base	base	NOUN
american_scientific_journal-1917	43	22	robot	robot	NOUN
american_scientific_journal-1917	43	23	platform	platform	NOUN
american_scientific_journal-1917	43	24	.	.	PUNCT
american_scientific_journal-1917	44	1	2.2	2.2	NUM
american_scientific_journal-1917	44	2	robot	robot	NOUN
american_scientific_journal-1917	44	3	controller	controller	NOUN
american_scientific_journal-1917	44	4	selection	selection	NOUN
american_scientific_journal-1917	44	5	it	it	PRON
american_scientific_journal-1917	44	6	has	have	AUX
american_scientific_journal-1917	44	7	been	be	AUX
american_scientific_journal-1917	44	8	decided	decide	VERB
american_scientific_journal-1917	44	9	to	to	PART
american_scientific_journal-1917	44	10	select	select	VERB
american_scientific_journal-1917	44	11	the	the	DET
american_scientific_journal-1917	44	12	arduino	arduino	NOUN
american_scientific_journal-1917	44	13	microcontroller	microcontroller	NOUN
american_scientific_journal-1917	44	14	to	to	PART
american_scientific_journal-1917	44	15	be	be	AUX
american_scientific_journal-1917	44	16	the	the	DET
american_scientific_journal-1917	44	17	controller	controller	NOUN
american_scientific_journal-1917	44	18	for	for	ADP
american_scientific_journal-1917	44	19	the	the	DET
american_scientific_journal-1917	44	20	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	44	21	mobile	mobile	NOUN
american_scientific_journal-1917	44	22	for	for	ADP
american_scientific_journal-1917	44	23	the	the	DET
american_scientific_journal-1917	44	24	following	follow	VERB
american_scientific_journal-1917	44	25	reasons	reason	NOUN
american_scientific_journal-1917	44	26	[	[	X
american_scientific_journal-1917	44	27	6	6	NUM
american_scientific_journal-1917	44	28	]	]	SYM
american_scientific_journal-1917	44	29	:	:	PUNCT
american_scientific_journal-1917	44	30	•	•	NOUN
american_scientific_journal-1917	44	31	inexpensive	inexpensive	ADJ
american_scientific_journal-1917	44	32	.	.	PUNCT
american_scientific_journal-1917	45	1	•	•	NOUN
american_scientific_journal-1917	45	2	clear	clear	ADJ
american_scientific_journal-1917	45	3	,	,	PUNCT
american_scientific_journal-1917	45	4	simple	simple	ADJ
american_scientific_journal-1917	45	5	programming	programming	NOUN
american_scientific_journal-1917	45	6	environment	environment	NOUN
american_scientific_journal-1917	45	7	.	.	PUNCT
american_scientific_journal-1917	46	1	•	•	NUM
american_scientific_journal-1917	46	2	extensible	extensible	ADJ
american_scientific_journal-1917	46	3	and	and	CCONJ
american_scientific_journal-1917	46	4	open	open	ADJ
american_scientific_journal-1917	46	5	source	source	NOUN
american_scientific_journal-1917	46	6	software	software	NOUN
american_scientific_journal-1917	46	7	and	and	CCONJ
american_scientific_journal-1917	46	8	hardware	hardware	NOUN
american_scientific_journal-1917	46	9	.	.	PUNCT
american_scientific_journal-1917	47	1	•	•	NUM
american_scientific_journal-1917	47	2	cross	cross	NOUN
american_scientific_journal-1917	47	3	–	–	PUNCT
american_scientific_journal-1917	47	4	platform	platform	NOUN
american_scientific_journal-1917	47	5	.	.	PUNCT
american_scientific_journal-1917	48	1	arduino	arduino	NOUN
american_scientific_journal-1917	48	2	is	be	AUX
american_scientific_journal-1917	48	3	based	base	VERB
american_scientific_journal-1917	48	4	on	on	ADP
american_scientific_journal-1917	48	5	a	a	DET
american_scientific_journal-1917	48	6	microcontroller	microcontroller	NOUN
american_scientific_journal-1917	48	7	board	board	NOUN
american_scientific_journal-1917	48	8	that	that	PRON
american_scientific_journal-1917	48	9	has	have	VERB
american_scientific_journal-1917	48	10	a	a	DET
american_scientific_journal-1917	48	11	physical	physical	ADJ
american_scientific_journal-1917	48	12	computing	computing	NOUN
american_scientific_journal-1917	48	13	open	open	ADJ
american_scientific_journal-1917	48	14	source	source	NOUN
american_scientific_journal-1917	48	15	platform	platform	NOUN
american_scientific_journal-1917	48	16	.	.	PUNCT
american_scientific_journal-1917	49	1	it	it	PRON
american_scientific_journal-1917	49	2	can	can	AUX
american_scientific_journal-1917	49	3	take	take	VERB
american_scientific_journal-1917	49	4	the	the	DET
american_scientific_journal-1917	49	5	inputs	input	NOUN
american_scientific_journal-1917	49	6	from	from	ADP
american_scientific_journal-1917	49	7	a	a	DET
american_scientific_journal-1917	49	8	variety	variety	NOUN
american_scientific_journal-1917	49	9	of	of	ADP
american_scientific_journal-1917	49	10	sensors	sensor	NOUN
american_scientific_journal-1917	49	11	and	and	CCONJ
american_scientific_journal-1917	49	12	controls	control	VERB
american_scientific_journal-1917	49	13	many	many	ADJ
american_scientific_journal-1917	49	14	types	type	NOUN
american_scientific_journal-1917	49	15	of	of	ADP
american_scientific_journal-1917	49	16	actuators	actuator	NOUN
american_scientific_journal-1917	49	17	.	.	PUNCT
american_scientific_journal-1917	50	1	arduino	arduino	NOUN
american_scientific_journal-1917	50	2	can	can	AUX
american_scientific_journal-1917	50	3	work	work	VERB
american_scientific_journal-1917	50	4	independently	independently	ADV
american_scientific_journal-1917	50	5	(	(	PUNCT
american_scientific_journal-1917	50	6	standalone	standalone	NOUN
american_scientific_journal-1917	50	7	)	)	PUNCT
american_scientific_journal-1917	50	8	to	to	PART
american_scientific_journal-1917	50	9	control	control	VERB
american_scientific_journal-1917	50	10	the	the	DET
american_scientific_journal-1917	50	11	projects	project	NOUN
american_scientific_journal-1917	50	12	or	or	CCONJ
american_scientific_journal-1917	50	13	to	to	PART
american_scientific_journal-1917	50	14	communicate	communicate	VERB
american_scientific_journal-1917	50	15	with	with	ADP
american_scientific_journal-1917	50	16	software	software	NOUN
american_scientific_journal-1917	50	17	in	in	ADP
american_scientific_journal-1917	50	18	the	the	DET
american_scientific_journal-1917	50	19	computer	computer	NOUN
american_scientific_journal-1917	50	20	.	.	PUNCT
american_scientific_journal-1917	51	1	in	in	ADP
american_scientific_journal-1917	51	2	the	the	DET
american_scientific_journal-1917	51	3	project	project	NOUN
american_scientific_journal-1917	51	4	the	the	DET
american_scientific_journal-1917	51	5	arduino	arduino	NOUN
american_scientific_journal-1917	51	6	is	be	AUX
american_scientific_journal-1917	51	7	doing	do	VERB
american_scientific_journal-1917	51	8	the	the	DET
american_scientific_journal-1917	51	9	following	following	NOUN
american_scientific_journal-1917	51	10	:	:	PUNCT
american_scientific_journal-1917	51	11	a	a	DET
american_scientific_journal-1917	51	12	b	b	X
american_scientific_journal-1917	51	13	c	c	PROPN
american_scientific_journal-1917	51	14	american	american	PROPN
american_scientific_journal-1917	51	15	scientific	scientific	PROPN
american_scientific_journal-1917	51	16	research	research	PROPN
american_scientific_journal-1917	51	17	journal	journal	NOUN
american_scientific_journal-1917	51	18	for	for	ADP
american_scientific_journal-1917	51	19	engineering	engineering	NOUN
american_scientific_journal-1917	51	20	,	,	PUNCT
american_scientific_journal-1917	51	21	technology	technology	NOUN
american_scientific_journal-1917	51	22	,	,	PUNCT
american_scientific_journal-1917	51	23	and	and	CCONJ
american_scientific_journal-1917	51	24	sciences	science	NOUN
american_scientific_journal-1917	51	25	(	(	PUNCT
american_scientific_journal-1917	51	26	asrjets	asrjet	NOUN
american_scientific_journal-1917	51	27	)	)	PUNCT
american_scientific_journal-1917	51	28	(	(	PUNCT
american_scientific_journal-1917	51	29	2016	2016	NUM
american_scientific_journal-1917	51	30	)	)	PUNCT
american_scientific_journal-1917	51	31	volume	volume	NOUN
american_scientific_journal-1917	51	32	22	22	NUM
american_scientific_journal-1917	51	33	,	,	PUNCT
american_scientific_journal-1917	51	34	no	no	DET
american_scientific_journal-1917	51	35	1	1	NUM
american_scientific_journal-1917	51	36	,	,	PUNCT
american_scientific_journal-1917	51	37	pp	pp	ADV
american_scientific_journal-1917	51	38	195	195	NUM
american_scientific_journal-1917	51	39	-	-	SYM
american_scientific_journal-1917	51	40	209	209	NUM
american_scientific_journal-1917	51	41	198	198	NUM
american_scientific_journal-1917	51	42	•	•	NOUN
american_scientific_journal-1917	51	43	perform	perform	VERB
american_scientific_journal-1917	51	44	pispeed	pispeed	ADJ
american_scientific_journal-1917	51	45	algorithm	algorithm	NOUN
american_scientific_journal-1917	51	46	to	to	PART
american_scientific_journal-1917	51	47	control	control	VERB
american_scientific_journal-1917	51	48	the	the	DET
american_scientific_journal-1917	51	49	three	three	NUM
american_scientific_journal-1917	51	50	motors	motor	NOUN
american_scientific_journal-1917	51	51	speed	speed	NOUN
american_scientific_journal-1917	51	52	,	,	PUNCT
american_scientific_journal-1917	51	53	therefore	therefore	ADV
american_scientific_journal-1917	51	54	,	,	PUNCT
american_scientific_journal-1917	51	55	acquires	acquire	VERB
american_scientific_journal-1917	51	56	the	the	DET
american_scientific_journal-1917	51	57	required	require	VERB
american_scientific_journal-1917	51	58	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	51	59	wheels	wheel	NOUN
american_scientific_journal-1917	51	60	speed	speed	NOUN
american_scientific_journal-1917	51	61	.	.	PUNCT
american_scientific_journal-1917	52	1	•	•	NUM
american_scientific_journal-1917	52	2	apply	apply	VERB
american_scientific_journal-1917	52	3	the	the	DET
american_scientific_journal-1917	52	4	robot	robot	NOUN
american_scientific_journal-1917	52	5	kinematics	kinematic	NOUN
american_scientific_journal-1917	52	6	analysis	analysis	NOUN
american_scientific_journal-1917	52	7	to	to	PART
american_scientific_journal-1917	52	8	get	get	VERB
american_scientific_journal-1917	52	9	the	the	DET
american_scientific_journal-1917	52	10	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	52	11	movement	movement	NOUN
american_scientific_journal-1917	52	12	.	.	PUNCT
american_scientific_journal-1917	53	1	•	•	NUM
american_scientific_journal-1917	53	2	collect	collect	VERB
american_scientific_journal-1917	53	3	the	the	DET
american_scientific_journal-1917	53	4	data	datum	NOUN
american_scientific_journal-1917	53	5	from	from	ADP
american_scientific_journal-1917	53	6	the	the	DET
american_scientific_journal-1917	53	7	hall	hall	NOUN
american_scientific_journal-1917	53	8	effect	effect	NOUN
american_scientific_journal-1917	53	9	sensor	sensor	NOUN
american_scientific_journal-1917	53	10	then	then	ADV
american_scientific_journal-1917	53	11	apply	apply	VERB
american_scientific_journal-1917	53	12	the	the	DET
american_scientific_journal-1917	53	13	suitable	suitable	ADJ
american_scientific_journal-1917	53	14	algorithms	algorithm	NOUN
american_scientific_journal-1917	53	15	to	to	PART
american_scientific_journal-1917	53	16	make	make	VERB
american_scientific_journal-1917	53	17	use	use	NOUN
american_scientific_journal-1917	53	18	of	of	ADP
american_scientific_journal-1917	53	19	this	this	DET
american_scientific_journal-1917	53	20	data	data	NOUN
american_scientific_journal-1917	53	21	.	.	PUNCT
american_scientific_journal-1917	54	1	•	•	NUM
american_scientific_journal-1917	54	2	perform	perform	VERB
american_scientific_journal-1917	54	3	path	path	NOUN
american_scientific_journal-1917	54	4	planning	planning	NOUN
american_scientific_journal-1917	54	5	algorithm	algorithm	NOUN
american_scientific_journal-1917	54	6	for	for	ADP
american_scientific_journal-1917	54	7	the	the	DET
american_scientific_journal-1917	54	8	robot	robot	NOUN
american_scientific_journal-1917	54	9	.	.	PUNCT
american_scientific_journal-1917	55	1	•	•	NUM
american_scientific_journal-1917	55	2	transmit	transmit	VERB
american_scientific_journal-1917	55	3	the	the	DET
american_scientific_journal-1917	55	4	data	datum	NOUN
american_scientific_journal-1917	55	5	from	from	ADP
american_scientific_journal-1917	55	6	the	the	DET
american_scientific_journal-1917	55	7	robot	robot	NOUN
american_scientific_journal-1917	55	8	to	to	ADP
american_scientific_journal-1917	55	9	the	the	DET
american_scientific_journal-1917	55	10	laptop	laptop	NOUN
american_scientific_journal-1917	55	11	in	in	ADP
american_scientific_journal-1917	55	12	order	order	NOUN
american_scientific_journal-1917	55	13	to	to	PART
american_scientific_journal-1917	55	14	study	study	VERB
american_scientific_journal-1917	55	15	it	it	PRON
american_scientific_journal-1917	55	16	.	.	PUNCT
american_scientific_journal-1917	56	1	the	the	DET
american_scientific_journal-1917	56	2	final	final	ADJ
american_scientific_journal-1917	56	3	assembled	assemble	VERB
american_scientific_journal-1917	56	4	model	model	NOUN
american_scientific_journal-1917	56	5	,	,	PUNCT
american_scientific_journal-1917	56	6	including	include	VERB
american_scientific_journal-1917	56	7	all	all	DET
american_scientific_journal-1917	56	8	the	the	DET
american_scientific_journal-1917	56	9	mechanical	mechanical	ADJ
american_scientific_journal-1917	56	10	and	and	CCONJ
american_scientific_journal-1917	56	11	electrical	electrical	ADJ
american_scientific_journal-1917	56	12	components	component	NOUN
american_scientific_journal-1917	56	13	is	be	AUX
american_scientific_journal-1917	56	14	illustrated	illustrate	VERB
american_scientific_journal-1917	56	15	in	in	ADP
american_scientific_journal-1917	56	16	figure	figure	NOUN
american_scientific_journal-1917	56	17	2	2	NUM
american_scientific_journal-1917	56	18	.	.	PUNCT
american_scientific_journal-1917	56	19	figure	figure	NOUN
american_scientific_journal-1917	56	20	2	2	NUM
american_scientific_journal-1917	56	21	:	:	PUNCT
american_scientific_journal-1917	56	22	final	final	ADJ
american_scientific_journal-1917	56	23	assembled	assemble	VERB
american_scientific_journal-1917	56	24	model	model	NOUN
american_scientific_journal-1917	56	25	with	with	ADP
american_scientific_journal-1917	56	26	all	all	DET
american_scientific_journal-1917	56	27	electrical	electrical	ADJ
american_scientific_journal-1917	56	28	and	and	CCONJ
american_scientific_journal-1917	56	29	mechanical	mechanical	ADJ
american_scientific_journal-1917	56	30	component	component	NOUN
american_scientific_journal-1917	56	31	.	.	PUNCT
american_scientific_journal-1917	57	1	3	3	X
american_scientific_journal-1917	57	2	.	.	X
american_scientific_journal-1917	57	3	methodology	methodology	NOUN
american_scientific_journal-1917	57	4	this	this	DET
american_scientific_journal-1917	57	5	section	section	NOUN
american_scientific_journal-1917	57	6	starts	start	VERB
american_scientific_journal-1917	57	7	by	by	ADP
american_scientific_journal-1917	57	8	developing	develop	VERB
american_scientific_journal-1917	57	9	a	a	DET
american_scientific_journal-1917	57	10	kinematics	kinematic	NOUN
american_scientific_journal-1917	57	11	analysis	analysis	NOUN
american_scientific_journal-1917	57	12	model	model	NOUN
american_scientific_journal-1917	57	13	for	for	ADP
american_scientific_journal-1917	57	14	the	the	DET
american_scientific_journal-1917	57	15	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	57	16	mobile	mobile	ADJ
american_scientific_journal-1917	57	17	robot	robot	NOUN
american_scientific_journal-1917	57	18	,	,	PUNCT
american_scientific_journal-1917	57	19	which	which	PRON
american_scientific_journal-1917	57	20	is	be	AUX
american_scientific_journal-1917	57	21	then	then	ADV
american_scientific_journal-1917	57	22	followed	follow	VERB
american_scientific_journal-1917	57	23	by	by	ADP
american_scientific_journal-1917	57	24	the	the	DET
american_scientific_journal-1917	57	25	robot	robot	NOUN
american_scientific_journal-1917	57	26	trajectory	trajectory	NOUN
american_scientific_journal-1917	57	27	plotting	plotting	NOUN
american_scientific_journal-1917	57	28	.	.	PUNCT
american_scientific_journal-1917	58	1	after	after	ADP
american_scientific_journal-1917	58	2	that	that	PRON
american_scientific_journal-1917	58	3	,	,	PUNCT
american_scientific_journal-1917	58	4	the	the	DET
american_scientific_journal-1917	58	5	omni	omni	ADJ
american_scientific_journal-1917	58	6	-	-	PUNCT
american_scientific_journal-1917	58	7	wheel	wheel	NOUN
american_scientific_journal-1917	58	8	speed	speed	NOUN
american_scientific_journal-1917	58	9	control	control	NOUN
american_scientific_journal-1917	58	10	methodology	methodology	NOUN
american_scientific_journal-1917	58	11	(	(	PUNCT
american_scientific_journal-1917	58	12	discrete	discrete	ADJ
american_scientific_journal-1917	58	13	pi	pi	NOUN
american_scientific_journal-1917	58	14	algorithm	algorithm	NOUN
american_scientific_journal-1917	58	15	)	)	PUNCT
american_scientific_journal-1917	58	16	is	be	AUX
american_scientific_journal-1917	58	17	described	describe	VERB
american_scientific_journal-1917	58	18	in	in	ADP
american_scientific_journal-1917	58	19	details	detail	NOUN
american_scientific_journal-1917	58	20	.	.	PUNCT
american_scientific_journal-1917	59	1	finally	finally	ADV
american_scientific_journal-1917	59	2	,	,	PUNCT
american_scientific_journal-1917	59	3	the	the	DET
american_scientific_journal-1917	59	4	robot	robot	NOUN
american_scientific_journal-1917	59	5	performance	performance	NOUN
american_scientific_journal-1917	59	6	measurement	measurement	NOUN
american_scientific_journal-1917	59	7	methodology	methodology	NOUN
american_scientific_journal-1917	59	8	is	be	AUX
american_scientific_journal-1917	59	9	defined	define	VERB
american_scientific_journal-1917	59	10	.	.	PUNCT
american_scientific_journal-1917	60	1	3.1	3.1	NUM
american_scientific_journal-1917	60	2	kinematics	kinematic	NOUN
american_scientific_journal-1917	60	3	analysis	analysis	NOUN
american_scientific_journal-1917	60	4	to	to	PART
american_scientific_journal-1917	60	5	have	have	VERB
american_scientific_journal-1917	60	6	a	a	DET
american_scientific_journal-1917	60	7	precise	precise	ADJ
american_scientific_journal-1917	60	8	control	control	NOUN
american_scientific_journal-1917	60	9	over	over	ADP
american_scientific_journal-1917	60	10	the	the	DET
american_scientific_journal-1917	60	11	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	60	12	robot	robot	NOUN
american_scientific_journal-1917	60	13	movement	movement	NOUN
american_scientific_journal-1917	60	14	in	in	ADP
american_scientific_journal-1917	60	15	the	the	DET
american_scientific_journal-1917	60	16	environment	environment	NOUN
american_scientific_journal-1917	60	17	,	,	PUNCT
american_scientific_journal-1917	60	18	developing	develop	VERB
american_scientific_journal-1917	60	19	a	a	DET
american_scientific_journal-1917	60	20	kinematics	kinematics	NOUN
american_scientific_journal-1917	60	21	model	model	NOUN
american_scientific_journal-1917	60	22	for	for	ADP
american_scientific_journal-1917	60	23	the	the	DET
american_scientific_journal-1917	60	24	robot	robot	NOUN
american_scientific_journal-1917	60	25	is	be	AUX
american_scientific_journal-1917	60	26	needed	need	VERB
american_scientific_journal-1917	60	27	.	.	PUNCT
american_scientific_journal-1917	61	1	figure	figure	NOUN
american_scientific_journal-1917	61	2	3	3	NUM
american_scientific_journal-1917	61	3	illustrates	illustrate	VERB
american_scientific_journal-1917	61	4	the	the	DET
american_scientific_journal-1917	61	5	kinematics	kinematic	NOUN
american_scientific_journal-1917	61	6	diagram	diagram	NOUN
american_scientific_journal-1917	61	7	of	of	ADP
american_scientific_journal-1917	61	8	the	the	DET
american_scientific_journal-1917	61	9	robot	robot	NOUN
american_scientific_journal-1917	61	10	.	.	PUNCT
american_scientific_journal-1917	62	1	before	before	ADP
american_scientific_journal-1917	62	2	presenting	present	VERB
american_scientific_journal-1917	62	3	the	the	DET
american_scientific_journal-1917	62	4	equations	equation	NOUN
american_scientific_journal-1917	62	5	,	,	PUNCT
american_scientific_journal-1917	62	6	it	it	PRON
american_scientific_journal-1917	62	7	is	be	AUX
american_scientific_journal-1917	62	8	required	require	VERB
american_scientific_journal-1917	62	9	to	to	PART
american_scientific_journal-1917	62	10	define	define	VERB
american_scientific_journal-1917	62	11	terminologies	terminology	NOUN
american_scientific_journal-1917	62	12	such	such	ADJ
american_scientific_journal-1917	62	13	as	as	ADP
american_scientific_journal-1917	62	14	the	the	DET
american_scientific_journal-1917	62	15	local	local	ADJ
american_scientific_journal-1917	62	16	frame	frame	NOUN
american_scientific_journal-1917	62	17	and	and	CCONJ
american_scientific_journal-1917	62	18	the	the	DET
american_scientific_journal-1917	62	19	global	global	ADJ
american_scientific_journal-1917	62	20	frame	frame	NOUN
american_scientific_journal-1917	62	21	.	.	PUNCT
american_scientific_journal-1917	63	1	the	the	DET
american_scientific_journal-1917	63	2	local	local	ADJ
american_scientific_journal-1917	63	3	frame	frame	NOUN
american_scientific_journal-1917	63	4	[	[	X
american_scientific_journal-1917	63	5	xl	xl	PROPN
american_scientific_journal-1917	63	6	,	,	PUNCT
american_scientific_journal-1917	63	7	yl	yl	NOUN
american_scientific_journal-1917	63	8	]	]	PUNCT
american_scientific_journal-1917	63	9	is	be	AUX
american_scientific_journal-1917	63	10	the	the	DET
american_scientific_journal-1917	63	11	frame	frame	NOUN
american_scientific_journal-1917	63	12	attached	attach	VERB
american_scientific_journal-1917	63	13	to	to	ADP
american_scientific_journal-1917	63	14	the	the	DET
american_scientific_journal-1917	63	15	robot	robot	NOUN
american_scientific_journal-1917	63	16	body	body	NOUN
american_scientific_journal-1917	63	17	.	.	PUNCT
american_scientific_journal-1917	64	1	the	the	DET
american_scientific_journal-1917	64	2	centre	centre	NOUN
american_scientific_journal-1917	64	3	of	of	ADP
american_scientific_journal-1917	64	4	gravity	gravity	NOUN
american_scientific_journal-1917	64	5	of	of	ADP
american_scientific_journal-1917	64	6	the	the	DET
american_scientific_journal-1917	64	7	robot	robot	NOUN
american_scientific_journal-1917	64	8	is	be	AUX
american_scientific_journal-1917	64	9	coincided	coincide	VERB
american_scientific_journal-1917	64	10	with	with	ADP
american_scientific_journal-1917	64	11	the	the	DET
american_scientific_journal-1917	64	12	centre	centre	NOUN
american_scientific_journal-1917	64	13	of	of	ADP
american_scientific_journal-1917	64	14	this	this	DET
american_scientific_journal-1917	64	15	local	local	ADJ
american_scientific_journal-1917	64	16	frame	frame	NOUN
american_scientific_journal-1917	64	17	.	.	PUNCT
american_scientific_journal-1917	65	1	the	the	DET
american_scientific_journal-1917	65	2	three	three	NUM
american_scientific_journal-1917	65	3	omni	omni	ADJ
american_scientific_journal-1917	65	4	-	-	PUNCT
american_scientific_journal-1917	65	5	wheels	wheel	NOUN
american_scientific_journal-1917	65	6	are	be	AUX
american_scientific_journal-1917	65	7	placed	place	VERB
american_scientific_journal-1917	65	8	relative	relative	ADJ
american_scientific_journal-1917	65	9	to	to	ADP
american_scientific_journal-1917	65	10	the	the	DET
american_scientific_journal-1917	65	11	local	local	ADJ
american_scientific_journal-1917	65	12	frame	frame	NOUN
american_scientific_journal-1917	65	13	at	at	ADP
american_scientific_journal-1917	65	14	an	an	DET
american_scientific_journal-1917	65	15	angle	angle	NOUN
american_scientific_journal-1917	65	16	αi	αi	NOUN
american_scientific_journal-1917	65	17	(	(	PUNCT
american_scientific_journal-1917	65	18	i	i	NOUN
american_scientific_journal-1917	65	19	=	=	NOUN
american_scientific_journal-1917	65	20	1	1	NUM
american_scientific_journal-1917	65	21	,	,	PUNCT
american_scientific_journal-1917	65	22	2	2	NUM
american_scientific_journal-1917	65	23	,	,	PUNCT
american_scientific_journal-1917	65	24	3	3	NUM
american_scientific_journal-1917	65	25	)	)	PUNCT
american_scientific_journal-1917	65	26	.	.	PUNCT
american_scientific_journal-1917	66	1	if	if	SCONJ
american_scientific_journal-1917	66	2	count	count	NOUN
american_scientific_journal-1917	66	3	degrees	degree	NOUN
american_scientific_journal-1917	66	4	in	in	ADP
american_scientific_journal-1917	66	5	the	the	DET
american_scientific_journal-1917	66	6	clockwise	clockwise	NOUN
american_scientific_journal-1917	66	7	direction	direction	NOUN
american_scientific_journal-1917	66	8	as	as	ADP
american_scientific_journal-1917	66	9	positive	positive	ADJ
american_scientific_journal-1917	66	10	and	and	CCONJ
american_scientific_journal-1917	66	11	the	the	DET
american_scientific_journal-1917	66	12	local	local	ADJ
american_scientific_journal-1917	66	13	axis	axis	NOUN
american_scientific_journal-1917	66	14	xl	xl	PROPN
american_scientific_journal-1917	66	15	is	be	AUX
american_scientific_journal-1917	66	16	taken	take	VERB
american_scientific_journal-1917	66	17	as	as	ADP
american_scientific_journal-1917	66	18	starting	start	VERB
american_scientific_journal-1917	66	19	point	point	NOUN
american_scientific_journal-1917	66	20	then	then	ADV
american_scientific_journal-1917	66	21	,	,	PUNCT
american_scientific_journal-1917	66	22	α1	α1	PROPN
american_scientific_journal-1917	66	23	=	=	SYM
american_scientific_journal-1917	66	24	0	0	NUM
american_scientific_journal-1917	66	25	°	°	NUM
american_scientific_journal-1917	66	26	,	,	PUNCT
american_scientific_journal-1917	66	27	α2	α2	PROPN
american_scientific_journal-1917	66	28	=	=	SYM
american_scientific_journal-1917	66	29	american	american	ADJ
american_scientific_journal-1917	66	30	scientific	scientific	ADJ
american_scientific_journal-1917	66	31	research	research	NOUN
american_scientific_journal-1917	66	32	journal	journal	NOUN
american_scientific_journal-1917	66	33	for	for	ADP
american_scientific_journal-1917	66	34	engineering	engineering	NOUN
american_scientific_journal-1917	66	35	,	,	PUNCT
american_scientific_journal-1917	66	36	technology	technology	NOUN
american_scientific_journal-1917	66	37	,	,	PUNCT
american_scientific_journal-1917	66	38	and	and	CCONJ
american_scientific_journal-1917	66	39	sciences	science	NOUN
american_scientific_journal-1917	66	40	(	(	PUNCT
american_scientific_journal-1917	66	41	asrjets	asrjet	NOUN
american_scientific_journal-1917	66	42	)	)	PUNCT
american_scientific_journal-1917	66	43	(	(	PUNCT
american_scientific_journal-1917	66	44	2016	2016	NUM
american_scientific_journal-1917	66	45	)	)	PUNCT
american_scientific_journal-1917	66	46	volume	volume	NOUN
american_scientific_journal-1917	66	47	22	22	NUM
american_scientific_journal-1917	66	48	,	,	PUNCT
american_scientific_journal-1917	66	49	no	no	DET
american_scientific_journal-1917	66	50	1	1	NUM
american_scientific_journal-1917	66	51	,	,	PUNCT
american_scientific_journal-1917	66	52	pp	pp	ADV
american_scientific_journal-1917	66	53	195	195	NUM
american_scientific_journal-1917	66	54	-	-	SYM
american_scientific_journal-1917	66	55	209	209	NUM
american_scientific_journal-1917	66	56	199	199	NUM
american_scientific_journal-1917	66	57	120	120	NUM
american_scientific_journal-1917	66	58	°	°	NOUN
american_scientific_journal-1917	66	59	and	and	CCONJ
american_scientific_journal-1917	66	60	α3	α3	NOUN
american_scientific_journal-1917	66	61	=	=	NOUN
american_scientific_journal-1917	66	62	240	240	NUM
american_scientific_journal-1917	66	63	°	°	NUM
american_scientific_journal-1917	66	64	.	.	PUNCT
american_scientific_journal-1917	67	1	the	the	DET
american_scientific_journal-1917	67	2	global	global	ADJ
american_scientific_journal-1917	67	3	frame	frame	NOUN
american_scientific_journal-1917	67	4	[	[	X
american_scientific_journal-1917	67	5	x	x	X
american_scientific_journal-1917	67	6	,	,	PUNCT
american_scientific_journal-1917	67	7	y	y	PROPN
american_scientific_journal-1917	67	8	]	]	PUNCT
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american_scientific_journal-1917	67	10	the	the	DET
american_scientific_journal-1917	67	11	environment	environment	NOUN
american_scientific_journal-1917	67	12	of	of	ADP
american_scientific_journal-1917	67	13	the	the	DET
american_scientific_journal-1917	67	14	robot	robot	NOUN
american_scientific_journal-1917	67	15	.	.	PUNCT
american_scientific_journal-1917	68	1	the	the	DET
american_scientific_journal-1917	68	2	robot	robot	NOUN
american_scientific_journal-1917	68	3	’s	’s	PART
american_scientific_journal-1917	68	4	orientation	orientation	NOUN
american_scientific_journal-1917	68	5	and	and	CCONJ
american_scientific_journal-1917	68	6	location	location	NOUN
american_scientific_journal-1917	68	7	in	in	ADP
american_scientific_journal-1917	68	8	this	this	DET
american_scientific_journal-1917	68	9	global	global	ADJ
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american_scientific_journal-1917	68	11	can	can	AUX
american_scientific_journal-1917	68	12	be	be	AUX
american_scientific_journal-1917	68	13	denoted	denote	VERB
american_scientific_journal-1917	68	14	as	as	ADP
american_scientific_journal-1917	68	15	(	(	PUNCT
american_scientific_journal-1917	68	16	x	x	NOUN
american_scientific_journal-1917	68	17	,	,	PUNCT
american_scientific_journal-1917	68	18	y	y	PROPN
american_scientific_journal-1917	68	19	,	,	PUNCT
american_scientific_journal-1917	68	20	θ	θ	PROPN
american_scientific_journal-1917	68	21	)	)	PUNCT
american_scientific_journal-1917	68	22	.	.	PUNCT
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american_scientific_journal-1917	69	2	global	global	ADJ
american_scientific_journal-1917	69	3	velocity	velocity	NOUN
american_scientific_journal-1917	69	4	of	of	ADP
american_scientific_journal-1917	69	5	the	the	DET
american_scientific_journal-1917	69	6	robot	robot	NOUN
american_scientific_journal-1917	69	7	can	can	AUX
american_scientific_journal-1917	69	8	be	be	AUX
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american_scientific_journal-1917	69	11	(	(	PUNCT
american_scientific_journal-1917	69	12	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-1917	69	13	,	,	PUNCT
american_scientific_journal-1917	69	14	̇	̇	PROPN
american_scientific_journal-1917	69	15	�	�	PROPN
american_scientific_journal-1917	69	16	̇	̇	PROPN
american_scientific_journal-1917	69	17	�	�	PROPN
american_scientific_journal-1917	69	18	𝑦	𝑦	PROPN
american_scientific_journal-1917	69	19	,	,	PUNCT
american_scientific_journal-1917	69	20	�	�	PROPN
american_scientific_journal-1917	69	21	̇	̇	PROPN
american_scientific_journal-1917	69	22	�	�	PROPN
american_scientific_journal-1917	69	23	𝜃	𝜃	NOUN
american_scientific_journal-1917	69	24	)	)	PUNCT
american_scientific_journal-1917	69	25	.	.	PUNCT
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american_scientific_journal-1917	70	2	addition	addition	NOUN
american_scientific_journal-1917	70	3	,	,	PUNCT
american_scientific_journal-1917	70	4	figure	figure	NOUN
american_scientific_journal-1917	70	5	3	3	NUM
american_scientific_journal-1917	70	6	shows	show	VERB
american_scientific_journal-1917	70	7	that	that	SCONJ
american_scientific_journal-1917	70	8	the	the	DET
american_scientific_journal-1917	70	9	elements	element	NOUN
american_scientific_journal-1917	70	10	link	link	VERB
american_scientific_journal-1917	70	11	the	the	DET
american_scientific_journal-1917	70	12	robot	robot	NOUN
american_scientific_journal-1917	70	13	with	with	ADP
american_scientific_journal-1917	70	14	the	the	DET
american_scientific_journal-1917	70	15	environment	environment	NOUN
american_scientific_journal-1917	70	16	are	be	AUX
american_scientific_journal-1917	70	17	the	the	DET
american_scientific_journal-1917	70	18	wheels	wheel	NOUN
american_scientific_journal-1917	70	19	(	(	PUNCT
american_scientific_journal-1917	70	20	wheel	wheel	NOUN
american_scientific_journal-1917	70	21	hubs	hub	NOUN
american_scientific_journal-1917	70	22	)	)	PUNCT
american_scientific_journal-1917	70	23	,	,	PUNCT
american_scientific_journal-1917	70	24	thus	thus	ADV
american_scientific_journal-1917	70	25	it	it	PRON
american_scientific_journal-1917	70	26	will	will	AUX
american_scientific_journal-1917	70	27	be	be	AUX
american_scientific_journal-1917	70	28	the	the	DET
american_scientific_journal-1917	70	29	starting	starting	NOUN
american_scientific_journal-1917	70	30	point	point	NOUN
american_scientific_journal-1917	70	31	to	to	PART
american_scientific_journal-1917	70	32	do	do	VERB
american_scientific_journal-1917	70	33	the	the	DET
american_scientific_journal-1917	70	34	kinematics	kinematic	NOUN
american_scientific_journal-1917	70	35	analysis	analysis	NOUN
american_scientific_journal-1917	70	36	.	.	PUNCT
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american_scientific_journal-1917	71	2	3	3	NUM
american_scientific_journal-1917	71	3	:	:	PUNCT
american_scientific_journal-1917	71	4	kinematic	kinematic	ADJ
american_scientific_journal-1917	71	5	diagram	diagram	NOUN
american_scientific_journal-1917	71	6	of	of	ADP
american_scientific_journal-1917	71	7	the	the	DET
american_scientific_journal-1917	71	8	robot	robot	NOUN
american_scientific_journal-1917	71	9	.	.	PUNCT
american_scientific_journal-1917	72	1	the	the	DET
american_scientific_journal-1917	72	2	angular	angular	ADJ
american_scientific_journal-1917	72	3	velocity	velocity	NOUN
american_scientific_journal-1917	72	4	of	of	ADP
american_scientific_journal-1917	72	5	the	the	DET
american_scientific_journal-1917	72	6	wheels	wheel	NOUN
american_scientific_journal-1917	72	7	(	(	PUNCT
american_scientific_journal-1917	72	8	�	�	PROPN
american_scientific_journal-1917	72	9	̇	̇	NOUN
american_scientific_journal-1917	72	10	�	�	NOUN
american_scientific_journal-1917	72	11	𝜙𝑖𝑖	𝜙𝑖𝑖	NOUN
american_scientific_journal-1917	72	12	)	)	PUNCT
american_scientific_journal-1917	72	13	can	can	AUX
american_scientific_journal-1917	72	14	be	be	AUX
american_scientific_journal-1917	72	15	defined	define	VERB
american_scientific_journal-1917	72	16	from	from	ADP
american_scientific_journal-1917	72	17	the	the	DET
american_scientific_journal-1917	72	18	following	follow	VERB
american_scientific_journal-1917	72	19	equation	equation	NOUN
american_scientific_journal-1917	72	20	[	[	X
american_scientific_journal-1917	72	21	7	7	NUM
american_scientific_journal-1917	72	22	]	]	SYM
american_scientific_journal-1917	72	23	:	:	PUNCT
american_scientific_journal-1917	72	24	�	�	PROPN
american_scientific_journal-1917	72	25	𝜙𝜙1̇	𝜙𝜙1̇	PUNCT
american_scientific_journal-1917	72	26	�	�	PROPN
american_scientific_journal-1917	72	27	̇	̇	PROPN
american_scientific_journal-1917	72	28	�	�	PROPN
american_scientific_journal-1917	72	29	𝜙2	𝜙2	PROPN
american_scientific_journal-1917	72	30	�	�	PROPN
american_scientific_journal-1917	72	31	̇	̇	PROPN
american_scientific_journal-1917	72	32	�	�	PROPN
american_scientific_journal-1917	72	33	𝜙3	𝜙3	PROPN
american_scientific_journal-1917	72	34	�	�	PROPN
american_scientific_journal-1917	72	35	=	=	SYM
american_scientific_journal-1917	72	36	1	1	NUM
american_scientific_journal-1917	72	37	𝑟𝑟	𝑟𝑟	NUM
american_scientific_journal-1917	72	38	�	�	PROPN
american_scientific_journal-1917	72	39	−	−	PROPN
american_scientific_journal-1917	72	40	sin(𝜃𝜃	sin(𝜃𝜃	NOUN
american_scientific_journal-1917	72	41	)	)	PUNCT
american_scientific_journal-1917	72	42	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1917	72	43	)	)	PUNCT
american_scientific_journal-1917	72	44	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1917	72	45	−sin(𝜃𝜃	−sin(𝜃𝜃	PROPN
american_scientific_journal-1917	72	46	+	+	CCONJ
american_scientific_journal-1917	72	47	𝛼𝛼2	𝛼𝛼2	PROPN
american_scientific_journal-1917	72	48	)	)	PUNCT
american_scientific_journal-1917	72	49	cos(𝜃𝜃	cos(𝜃𝜃	X
american_scientific_journal-1917	72	50	+	+	CCONJ
american_scientific_journal-1917	73	1	𝛼𝛼2	𝛼𝛼2	ADJ
american_scientific_journal-1917	73	2	)	)	PUNCT
american_scientific_journal-1917	73	3	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1917	73	4	−	−	PROPN
american_scientific_journal-1917	73	5	sin(𝜃𝜃	sin(𝜃𝜃	PROPN
american_scientific_journal-1917	73	6	+	+	CCONJ
american_scientific_journal-1917	73	7	𝛼𝛼3	𝛼𝛼3	NOUN
american_scientific_journal-1917	73	8	)	)	PUNCT
american_scientific_journal-1917	73	9	cos(𝜃𝜃	cos(𝜃𝜃	X
american_scientific_journal-1917	73	10	+	+	CCONJ
american_scientific_journal-1917	73	11	𝛼𝛼3	𝛼𝛼3	NOUN
american_scientific_journal-1917	73	12	)	)	PUNCT
american_scientific_journal-1917	73	13	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1917	73	14	�	�	PROPN
american_scientific_journal-1917	73	15	�	�	PROPN
american_scientific_journal-1917	73	16	cos(𝜃𝜃	cos(𝜃𝜃	PROPN
american_scientific_journal-1917	73	17	)	)	PUNCT
american_scientific_journal-1917	73	18	0	0	NUM
american_scientific_journal-1917	73	19	0	0	NUM
american_scientific_journal-1917	73	20	0	0	NUM
american_scientific_journal-1917	73	21	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1917	73	22	)	)	PUNCT
american_scientific_journal-1917	73	23	0	0	NUM
american_scientific_journal-1917	73	24	0	0	NUM
american_scientific_journal-1917	73	25	0	0	NUM
american_scientific_journal-1917	73	26	1	1	NUM
american_scientific_journal-1917	73	27	�	�	PROPN
american_scientific_journal-1917	73	28	�	�	PROPN
american_scientific_journal-1917	73	29	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-1917	73	30	�	�	PROPN
american_scientific_journal-1917	73	31	̇	̇	NOUN
american_scientific_journal-1917	73	32	�	�	PROPN
american_scientific_journal-1917	73	33	𝐿	𝐿	PROPN
american_scientific_journal-1917	73	34	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-1917	73	35	�	�	PROPN
american_scientific_journal-1917	73	36	̇	̇	NOUN
american_scientific_journal-1917	73	37	�	�	PROPN
american_scientific_journal-1917	73	38	𝐿	𝐿	PROPN
american_scientific_journal-1917	73	39	�	�	PROPN
american_scientific_journal-1917	73	40	̇	̇	PROPN
american_scientific_journal-1917	73	41	�	�	PROPN
american_scientific_journal-1917	73	42	𝜃	𝜃	PRON
american_scientific_journal-1917	73	43	�	�	PROPN
american_scientific_journal-1917	73	44	(	(	PUNCT
american_scientific_journal-1917	73	45	1	1	NUM
american_scientific_journal-1917	73	46	)	)	PUNCT
american_scientific_journal-1917	73	47	for	for	ADP
american_scientific_journal-1917	73	48	easier	easy	ADJ
american_scientific_journal-1917	73	49	implementation	implementation	NOUN
american_scientific_journal-1917	73	50	in	in	ADP
american_scientific_journal-1917	73	51	programming	programming	NOUN
american_scientific_journal-1917	73	52	applications	application	NOUN
american_scientific_journal-1917	73	53	,	,	PUNCT
american_scientific_journal-1917	73	54	equation	equation	NOUN
american_scientific_journal-1917	73	55	(	(	PUNCT
american_scientific_journal-1917	73	56	1	1	X
american_scientific_journal-1917	73	57	)	)	PUNCT
american_scientific_journal-1917	73	58	can	can	AUX
american_scientific_journal-1917	73	59	be	be	AUX
american_scientific_journal-1917	73	60	expanded	expand	VERB
american_scientific_journal-1917	73	61	into	into	ADP
american_scientific_journal-1917	73	62	three	three	NUM
american_scientific_journal-1917	73	63	separate	separate	ADJ
american_scientific_journal-1917	73	64	equations	equation	NOUN
american_scientific_journal-1917	73	65	:	:	PUNCT
american_scientific_journal-1917	73	66	𝜙𝜙1̇	𝜙𝜙1̇	X
american_scientific_journal-1917	74	1	=	=	PUNCT
american_scientific_journal-1917	74	2	�	�	PROPN
american_scientific_journal-1917	74	3	−	−	NOUN
american_scientific_journal-1917	74	4	sin(𝜃𝜃	sin(𝜃𝜃	NOUN
american_scientific_journal-1917	74	5	)	)	PUNCT
american_scientific_journal-1917	74	6	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1917	74	7	)	)	PUNCT
american_scientific_journal-1917	74	8	�	�	PROPN
american_scientific_journal-1917	74	9	̇	̇	PROPN
american_scientific_journal-1917	74	10	�	�	PROPN
american_scientific_journal-1917	74	11	𝑥𝐿𝐿	𝑥𝐿𝐿	ADJ
american_scientific_journal-1917	74	12	+	+	NUM
american_scientific_journal-1917	74	13	𝑐𝑐𝑐𝑐𝑠𝑠2	𝑐𝑐𝑐𝑐𝑠𝑠2	X
american_scientific_journal-1917	74	14	(	(	PUNCT
american_scientific_journal-1917	74	15	𝜃𝜃)𝑦𝑦	𝜃𝜃)𝑦𝑦	PUNCT
american_scientific_journal-1917	74	16	�	�	NOUN
american_scientific_journal-1917	74	17	̇	̇	NOUN
american_scientific_journal-1917	74	18	�	�	PROPN
american_scientific_journal-1917	74	19	𝐿	𝐿	PROPN
american_scientific_journal-1917	74	20	+	+	CCONJ
american_scientific_journal-1917	74	21	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1917	74	22	�	�	PROPN
american_scientific_journal-1917	74	23	̇	̇	PROPN
american_scientific_journal-1917	74	24	�	�	PROPN
american_scientific_journal-1917	74	25	𝜃	𝜃	SYM
american_scientific_journal-1917	74	26	�	�	PROPN
american_scientific_journal-1917	74	27	/𝑟𝑟	/𝑟𝑟	SYM
american_scientific_journal-1917	74	28	�	�	PROPN
american_scientific_journal-1917	74	29	̇	̇	PROPN
american_scientific_journal-1917	74	30	�	�	PROPN
american_scientific_journal-1917	74	31	𝜙2	𝜙2	NOUN
american_scientific_journal-1917	74	32	=	=	SYM
american_scientific_journal-1917	74	33	�	�	PROPN
american_scientific_journal-1917	74	34	−	−	PROPN
american_scientific_journal-1917	74	35	sin(𝜃𝜃	sin(𝜃𝜃	NOUN
american_scientific_journal-1917	74	36	+	+	NUM
american_scientific_journal-1917	74	37	𝛼𝛼2	𝛼𝛼2	ADJ
american_scientific_journal-1917	74	38	)	)	PUNCT
american_scientific_journal-1917	74	39	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1917	74	40	)	)	PUNCT
american_scientific_journal-1917	74	41	�	�	PROPN
american_scientific_journal-1917	74	42	̇	̇	PROPN
american_scientific_journal-1917	74	43	�	�	PROPN
american_scientific_journal-1917	74	44	𝑥𝐿𝐿	𝑥𝐿𝐿	ADJ
american_scientific_journal-1917	74	45	+	+	NUM
american_scientific_journal-1917	74	46	𝑐𝑐𝑐𝑐𝑠𝑠	𝑐𝑐𝑐𝑐𝑠𝑠	PROPN
american_scientific_journal-1917	74	47	(	(	PUNCT
american_scientific_journal-1917	74	48	𝜃𝜃	𝜃𝜃	PROPN
american_scientific_journal-1917	74	49	+	+	X
american_scientific_journal-1917	74	50	𝛼𝛼2)cos	𝛼𝛼2)cos	PROPN
american_scientific_journal-1917	74	51	(	(	PUNCT
american_scientific_journal-1917	74	52	𝜃𝜃	𝜃𝜃	ADJ
american_scientific_journal-1917	74	53	)	)	PUNCT
american_scientific_journal-1917	74	54	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-1917	74	55	�	�	PROPN
american_scientific_journal-1917	74	56	̇	̇	NOUN
american_scientific_journal-1917	74	57	�	�	PROPN
american_scientific_journal-1917	74	58	𝐿	𝐿	PROPN
american_scientific_journal-1917	74	59	+	+	CCONJ
american_scientific_journal-1917	74	60	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1917	74	61	�	�	PROPN
american_scientific_journal-1917	74	62	̇	̇	PROPN
american_scientific_journal-1917	74	63	�	�	PROPN
american_scientific_journal-1917	74	64	𝜃	𝜃	SYM
american_scientific_journal-1917	74	65	�	�	PROPN
american_scientific_journal-1917	74	66	/𝑟𝑟	/𝑟𝑟	SYM
american_scientific_journal-1917	74	67	�	�	PROPN
american_scientific_journal-1917	74	68	̇	̇	PROPN
american_scientific_journal-1917	74	69	�	�	PROPN
american_scientific_journal-1917	74	70	𝜙3	𝜙3	NOUN
american_scientific_journal-1917	74	71	=	=	SYM
american_scientific_journal-1917	74	72	�	�	PROPN
american_scientific_journal-1917	74	73	−	−	NOUN
american_scientific_journal-1917	74	74	sin(𝜃𝜃	sin(𝜃𝜃	NOUN
american_scientific_journal-1917	75	1	+	+	CCONJ
american_scientific_journal-1917	75	2	𝛼𝛼3	𝛼𝛼3	PROPN
american_scientific_journal-1917	75	3	)	)	PUNCT
american_scientific_journal-1917	75	4	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1917	75	5	)	)	PUNCT
american_scientific_journal-1917	75	6	�	�	PROPN
american_scientific_journal-1917	75	7	̇	̇	PROPN
american_scientific_journal-1917	75	8	�	�	PROPN
american_scientific_journal-1917	75	9	𝑥𝐿𝐿	𝑥𝐿𝐿	ADJ
american_scientific_journal-1917	75	10	+	+	NUM
american_scientific_journal-1917	75	11	𝑐𝑐𝑐𝑐𝑠𝑠	𝑐𝑐𝑐𝑐𝑠𝑠	PROPN
american_scientific_journal-1917	75	12	(	(	PUNCT
american_scientific_journal-1917	75	13	𝜃𝜃	𝜃𝜃	PROPN
american_scientific_journal-1917	75	14	+	+	X
american_scientific_journal-1917	75	15	𝛼𝛼3)cos	𝛼𝛼3)cos	PROPN
american_scientific_journal-1917	75	16	(	(	PUNCT
american_scientific_journal-1917	75	17	𝜃𝜃	𝜃𝜃	ADJ
american_scientific_journal-1917	75	18	)	)	PUNCT
american_scientific_journal-1917	75	19	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-1917	75	20	�	�	PROPN
american_scientific_journal-1917	75	21	̇	̇	NOUN
american_scientific_journal-1917	75	22	�	�	PROPN
american_scientific_journal-1917	75	23	𝐿	𝐿	PROPN
american_scientific_journal-1917	75	24	+	+	CCONJ
american_scientific_journal-1917	75	25	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1917	75	26	�	�	PROPN
american_scientific_journal-1917	75	27	̇	̇	PROPN
american_scientific_journal-1917	75	28	�	�	PROPN
american_scientific_journal-1917	75	29	𝜃	𝜃	NOUN
american_scientific_journal-1917	75	30	�	�	PROPN
american_scientific_journal-1917	75	31	/𝑟𝑟	/𝑟𝑟	X
american_scientific_journal-1917	75	32	(	(	PUNCT
american_scientific_journal-1917	75	33	2	2	NUM
american_scientific_journal-1917	75	34	)	)	PUNCT
american_scientific_journal-1917	75	35	3.2	3.2	NUM
american_scientific_journal-1917	75	36	robot	robot	NOUN
american_scientific_journal-1917	75	37	trajectory	trajectory	NOUN
american_scientific_journal-1917	75	38	plotting	plotting	NOUN
american_scientific_journal-1917	75	39	trajectory	trajectory	NOUN
american_scientific_journal-1917	75	40	is	be	AUX
american_scientific_journal-1917	75	41	the	the	DET
american_scientific_journal-1917	75	42	path	path	NOUN
american_scientific_journal-1917	75	43	that	that	PRON
american_scientific_journal-1917	75	44	a	a	DET
american_scientific_journal-1917	75	45	robot	robot	NOUN
american_scientific_journal-1917	75	46	follows	follow	VERB
american_scientific_journal-1917	75	47	through	through	ADP
american_scientific_journal-1917	75	48	space	space	NOUN
american_scientific_journal-1917	75	49	as	as	ADP
american_scientific_journal-1917	75	50	a	a	DET
american_scientific_journal-1917	75	51	function	function	NOUN
american_scientific_journal-1917	75	52	of	of	ADP
american_scientific_journal-1917	75	53	time	time	NOUN
american_scientific_journal-1917	75	54	.	.	PUNCT
american_scientific_journal-1917	76	1	it	it	PRON
american_scientific_journal-1917	76	2	helps	help	VERB
american_scientific_journal-1917	76	3	to	to	PART
american_scientific_journal-1917	76	4	study	study	VERB
american_scientific_journal-1917	76	5	the	the	DET
american_scientific_journal-1917	76	6	robot	robot	NOUN
american_scientific_journal-1917	76	7	american	american	PROPN
american_scientific_journal-1917	76	8	scientific	scientific	PROPN
american_scientific_journal-1917	76	9	research	research	PROPN
american_scientific_journal-1917	76	10	journal	journal	NOUN
american_scientific_journal-1917	76	11	for	for	ADP
american_scientific_journal-1917	76	12	engineering	engineering	NOUN
american_scientific_journal-1917	76	13	,	,	PUNCT
american_scientific_journal-1917	76	14	technology	technology	NOUN
american_scientific_journal-1917	76	15	,	,	PUNCT
american_scientific_journal-1917	76	16	and	and	CCONJ
american_scientific_journal-1917	76	17	sciences	science	NOUN
american_scientific_journal-1917	76	18	(	(	PUNCT
american_scientific_journal-1917	76	19	asrjets	asrjet	NOUN
american_scientific_journal-1917	76	20	)	)	PUNCT
american_scientific_journal-1917	76	21	(	(	PUNCT
american_scientific_journal-1917	76	22	2016	2016	NUM
american_scientific_journal-1917	76	23	)	)	PUNCT
american_scientific_journal-1917	76	24	volume	volume	NOUN
american_scientific_journal-1917	76	25	22	22	NUM
american_scientific_journal-1917	76	26	,	,	PUNCT
american_scientific_journal-1917	76	27	no	no	DET
american_scientific_journal-1917	76	28	1	1	NUM
american_scientific_journal-1917	76	29	,	,	PUNCT
american_scientific_journal-1917	76	30	pp	pp	ADV
american_scientific_journal-1917	76	31	195	195	NUM
american_scientific_journal-1917	76	32	-	-	SYM
american_scientific_journal-1917	76	33	209	209	NUM
american_scientific_journal-1917	76	34	200	200	NUM
american_scientific_journal-1917	76	35	kinematics	kinematic	NOUN
american_scientific_journal-1917	76	36	model	model	NOUN
american_scientific_journal-1917	76	37	behaviour	behaviour	NOUN
american_scientific_journal-1917	76	38	and	and	CCONJ
american_scientific_journal-1917	76	39	path	path	NOUN
american_scientific_journal-1917	76	40	planning	planning	NOUN
american_scientific_journal-1917	76	41	.	.	PUNCT
american_scientific_journal-1917	77	1	to	to	PART
american_scientific_journal-1917	77	2	develop	develop	VERB
american_scientific_journal-1917	77	3	a	a	DET
american_scientific_journal-1917	77	4	trajectory	trajectory	NOUN
american_scientific_journal-1917	77	5	plotting	plot	VERB
american_scientific_journal-1917	77	6	model	model	NOUN
american_scientific_journal-1917	77	7	for	for	ADP
american_scientific_journal-1917	77	8	the	the	DET
american_scientific_journal-1917	77	9	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	77	10	mobile	mobile	ADJ
american_scientific_journal-1917	77	11	robot	robot	NOUN
american_scientific_journal-1917	77	12	,	,	PUNCT
american_scientific_journal-1917	77	13	first	first	ADV
american_scientific_journal-1917	77	14	it	it	PRON
american_scientific_journal-1917	77	15	is	be	AUX
american_scientific_journal-1917	77	16	needed	need	VERB
american_scientific_journal-1917	77	17	to	to	PART
american_scientific_journal-1917	77	18	derive	derive	VERB
american_scientific_journal-1917	77	19	the	the	DET
american_scientific_journal-1917	77	20	forward	forward	ADJ
american_scientific_journal-1917	77	21	kinematics	kinematic	NOUN
american_scientific_journal-1917	77	22	for	for	ADP
american_scientific_journal-1917	77	23	the	the	DET
american_scientific_journal-1917	77	24	robot	robot	NOUN
american_scientific_journal-1917	77	25	.	.	PUNCT
american_scientific_journal-1917	78	1	then	then	ADV
american_scientific_journal-1917	78	2	the	the	DET
american_scientific_journal-1917	78	3	robot	robot	NOUN
american_scientific_journal-1917	78	4	position	position	NOUN
american_scientific_journal-1917	78	5	equations	equation	NOUN
american_scientific_journal-1917	78	6	can	can	AUX
american_scientific_journal-1917	78	7	be	be	AUX
american_scientific_journal-1917	78	8	calculated	calculate	VERB
american_scientific_journal-1917	78	9	.	.	PUNCT
american_scientific_journal-1917	79	1	the	the	DET
american_scientific_journal-1917	79	2	forward	forward	ADJ
american_scientific_journal-1917	79	3	kinematics	kinematic	NOUN
american_scientific_journal-1917	79	4	model	model	NOUN
american_scientific_journal-1917	79	5	can	can	AUX
american_scientific_journal-1917	79	6	be	be	AUX
american_scientific_journal-1917	79	7	developed	develop	VERB
american_scientific_journal-1917	79	8	from	from	ADP
american_scientific_journal-1917	79	9	equations	equation	NOUN
american_scientific_journal-1917	79	10	(	(	PUNCT
american_scientific_journal-1917	79	11	3	3	NUM
american_scientific_journal-1917	79	12	,	,	PUNCT
american_scientific_journal-1917	79	13	4	4	NUM
american_scientific_journal-1917	79	14	and	and	CCONJ
american_scientific_journal-1917	79	15	5	5	NUM
american_scientific_journal-1917	79	16	)	)	PUNCT
american_scientific_journal-1917	79	17	as	as	ADP
american_scientific_journal-1917	79	18	follow	follow	VERB
american_scientific_journal-1917	79	19	[	[	X
american_scientific_journal-1917	79	20	8,9	8,9	NUM
american_scientific_journal-1917	79	21	]	]	X
american_scientific_journal-1917	79	22	:	:	PUNCT
american_scientific_journal-1917	79	23	�	�	PROPN
american_scientific_journal-1917	79	24	̇	̇	PROPN
american_scientific_journal-1917	79	25	�	�	PROPN
american_scientific_journal-1917	79	26	𝑥𝐿𝐿	𝑥𝐿𝐿	VERB
american_scientific_journal-1917	79	27	=	=	SYM
american_scientific_journal-1917	79	28	𝑟𝑟	𝑟𝑟	NUM
american_scientific_journal-1917	79	29	×	×	PROPN
american_scientific_journal-1917	79	30	�	�	PROPN
american_scientific_journal-1917	79	31	𝜙𝜙3	𝜙𝜙3	ADP
american_scientific_journal-1917	79	32	√3	√3	PROPN
american_scientific_journal-1917	79	33	̇	̇	VERB
american_scientific_journal-1917	79	34	−	−	PROPN
american_scientific_journal-1917	79	35	𝜙𝜙2	𝜙𝜙2	PROPN
american_scientific_journal-1917	79	36	√3	√3	PROPN
american_scientific_journal-1917	79	37	̇	̇	VERB
american_scientific_journal-1917	79	38	�	�	PROPN
american_scientific_journal-1917	79	39	(	(	PUNCT
american_scientific_journal-1917	79	40	3	3	NUM
american_scientific_journal-1917	79	41	)	)	PUNCT
american_scientific_journal-1917	79	42	�	�	PROPN
american_scientific_journal-1917	79	43	̇	̇	PROPN
american_scientific_journal-1917	79	44	�	�	PROPN
american_scientific_journal-1917	79	45	𝑦𝐿𝐿	𝑦𝐿𝐿	NOUN
american_scientific_journal-1917	79	46	=	=	SYM
american_scientific_journal-1917	79	47	𝑟𝑟	𝑟𝑟	NUM
american_scientific_journal-1917	79	48	×	×	PROPN
american_scientific_journal-1917	79	49	�	�	PROPN
american_scientific_journal-1917	79	50	−	−	PROPN
american_scientific_journal-1917	79	51	𝜙𝜙2	𝜙𝜙2	PROPN
american_scientific_journal-1917	79	52	3	3	NUM
american_scientific_journal-1917	79	53	̇	̇	NOUN
american_scientific_journal-1917	79	54	+	+	CCONJ
american_scientific_journal-1917	79	55	2	2	NUM
american_scientific_journal-1917	79	56	×	×	NOUN
american_scientific_journal-1917	79	57	𝜙𝜙1̇	𝜙𝜙1̇	ADP
american_scientific_journal-1917	79	58	3	3	NUM
american_scientific_journal-1917	79	59	−	−	NOUN
american_scientific_journal-1917	79	60	𝜙𝜙3̇	𝜙𝜙3̇	PUNCT
american_scientific_journal-1917	79	61	3	3	NUM
american_scientific_journal-1917	79	62	�	�	PROPN
american_scientific_journal-1917	79	63	(	(	PUNCT
american_scientific_journal-1917	79	64	4	4	NUM
american_scientific_journal-1917	79	65	)	)	PUNCT
american_scientific_journal-1917	80	1	�	�	PROPN
american_scientific_journal-1917	80	2	̇	̇	PROPN
american_scientific_journal-1917	80	3	�	�	PROPN
american_scientific_journal-1917	80	4	𝜃	𝜃	NOUN
american_scientific_journal-1917	80	5	=	=	SYM
american_scientific_journal-1917	80	6	𝑟𝑟	𝑟𝑟	ADP
american_scientific_journal-1917	80	7	3	3	NUM
american_scientific_journal-1917	80	8	×	×	NOUN
american_scientific_journal-1917	80	9	𝑙𝑙	𝑙𝑙	PROPN
american_scientific_journal-1917	80	10	×	×	PROPN
american_scientific_journal-1917	80	11	�	�	PROPN
american_scientific_journal-1917	80	12	−	−	NOUN
american_scientific_journal-1917	80	13	𝜙𝜙1̇	𝜙𝜙1̇	NOUN
american_scientific_journal-1917	81	1	−	−	NOUN
american_scientific_journal-1917	81	2	𝜙𝜙2̇	𝜙𝜙2̇	ADV
american_scientific_journal-1917	81	3	−	−	NUM
american_scientific_journal-1917	81	4	𝜙𝜙3̇	𝜙𝜙3̇	SYM
american_scientific_journal-1917	81	5	�	�	PROPN
american_scientific_journal-1917	81	6	(	(	PUNCT
american_scientific_journal-1917	81	7	5	5	NUM
american_scientific_journal-1917	81	8	)	)	PUNCT
american_scientific_journal-1917	81	9	the	the	DET
american_scientific_journal-1917	81	10	robot	robot	NOUN
american_scientific_journal-1917	81	11	trajectory	trajectory	NOUN
american_scientific_journal-1917	81	12	is	be	AUX
american_scientific_journal-1917	81	13	drawn	draw	VERB
american_scientific_journal-1917	81	14	in	in	ADP
american_scientific_journal-1917	81	15	global	global	ADJ
american_scientific_journal-1917	81	16	frame	frame	NOUN
american_scientific_journal-1917	81	17	.	.	PUNCT
american_scientific_journal-1917	82	1	then	then	ADV
american_scientific_journal-1917	82	2	to	to	PART
american_scientific_journal-1917	82	3	convert	convert	VERB
american_scientific_journal-1917	82	4	from	from	ADP
american_scientific_journal-1917	82	5	local	local	ADJ
american_scientific_journal-1917	82	6	frame	frame	NOUN
american_scientific_journal-1917	82	7	to	to	ADP
american_scientific_journal-1917	82	8	global	global	ADJ
american_scientific_journal-1917	82	9	frame	frame	NOUN
american_scientific_journal-1917	82	10	as	as	SCONJ
american_scientific_journal-1917	82	11	shown	show	VERB
american_scientific_journal-1917	82	12	in	in	ADP
american_scientific_journal-1917	82	13	equation	equation	NOUN
american_scientific_journal-1917	82	14	(	(	PUNCT
american_scientific_journal-1917	82	15	6	6	NUM
american_scientific_journal-1917	82	16	and	and	CCONJ
american_scientific_journal-1917	82	17	7	7	NUM
american_scientific_journal-1917	82	18	)	)	PUNCT
american_scientific_journal-1917	82	19	�	�	PROPN
american_scientific_journal-1917	82	20	̇	̇	NOUN
american_scientific_journal-1917	82	21	�	�	PROPN
american_scientific_journal-1917	82	22	𝑥	𝑥	NOUN
american_scientific_journal-1917	82	23	=	=	PUNCT
american_scientific_journal-1917	82	24	�	�	PROPN
american_scientific_journal-1917	82	25	̇	̇	PROPN
american_scientific_journal-1917	82	26	�	�	PROPN
american_scientific_journal-1917	82	27	𝑥𝐿𝐿	𝑥𝐿𝐿	VERB
american_scientific_journal-1917	82	28	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1917	82	29	)	)	PUNCT
american_scientific_journal-1917	82	30	−	−	PROPN
american_scientific_journal-1917	82	31	�	�	PROPN
american_scientific_journal-1917	82	32	̇	̇	PROPN
american_scientific_journal-1917	82	33	�	�	PROPN
american_scientific_journal-1917	82	34	𝑦𝐿𝐿	𝑦𝐿𝐿	NOUN
american_scientific_journal-1917	82	35	sin(𝜃𝜃	sin(𝜃𝜃	NOUN
american_scientific_journal-1917	82	36	)	)	PUNCT
american_scientific_journal-1917	82	37	(	(	PUNCT
american_scientific_journal-1917	82	38	6	6	NUM
american_scientific_journal-1917	82	39	)	)	PUNCT
american_scientific_journal-1917	82	40	�	�	PROPN
american_scientific_journal-1917	82	41	̇	̇	PROPN
american_scientific_journal-1917	82	42	�	�	PROPN
american_scientific_journal-1917	82	43	𝑦	𝑦	NOUN
american_scientific_journal-1917	82	44	=	=	SYM
american_scientific_journal-1917	82	45	�	�	PROPN
american_scientific_journal-1917	82	46	̇	̇	PROPN
american_scientific_journal-1917	82	47	�	�	PROPN
american_scientific_journal-1917	82	48	𝑥𝐿𝐿	𝑥𝐿𝐿	VERB
american_scientific_journal-1917	82	49	sin(𝜃𝜃	sin(𝜃𝜃	NOUN
american_scientific_journal-1917	82	50	)	)	PUNCT
american_scientific_journal-1917	83	1	+	+	ADJ
american_scientific_journal-1917	83	2	�	�	PROPN
american_scientific_journal-1917	83	3	̇	̇	PROPN
american_scientific_journal-1917	83	4	�	�	PROPN
american_scientific_journal-1917	83	5	𝑦𝐿𝐿	𝑦𝐿𝐿	PROPN
american_scientific_journal-1917	83	6	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1917	83	7	)	)	PUNCT
american_scientific_journal-1917	83	8	(	(	PUNCT
american_scientific_journal-1917	83	9	7	7	X
american_scientific_journal-1917	83	10	)	)	PUNCT
american_scientific_journal-1917	83	11	finally	finally	ADV
american_scientific_journal-1917	84	1	,	,	PUNCT
american_scientific_journal-1917	84	2	the	the	DET
american_scientific_journal-1917	84	3	trajectory	trajectory	NOUN
american_scientific_journal-1917	84	4	can	can	AUX
american_scientific_journal-1917	84	5	be	be	AUX
american_scientific_journal-1917	84	6	plotted	plot	VERB
american_scientific_journal-1917	84	7	from	from	ADP
american_scientific_journal-1917	84	8	the	the	DET
american_scientific_journal-1917	84	9	following	following	ADJ
american_scientific_journal-1917	84	10	equations	equation	NOUN
american_scientific_journal-1917	84	11	:	:	PUNCT
american_scientific_journal-1917	84	12	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-1917	84	13	=	=	PROPN
american_scientific_journal-1917	84	14	�	�	PROPN
american_scientific_journal-1917	84	15	̇	̇	NOUN
american_scientific_journal-1917	84	16	�	�	PROPN
american_scientific_journal-1917	84	17	𝑥	𝑥	NOUN
american_scientific_journal-1917	84	18	×	×	PROPN
american_scientific_journal-1917	84	19	𝑡𝑡	𝑡𝑡	PROPN
american_scientific_journal-1917	84	20	(	(	PUNCT
american_scientific_journal-1917	84	21	8)	8)	NUM
american_scientific_journal-1917	84	22	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-1917	84	23	=	=	PUNCT
american_scientific_journal-1917	84	24	�	�	PROPN
american_scientific_journal-1917	84	25	̇	̇	PROPN
american_scientific_journal-1917	84	26	�	�	PROPN
american_scientific_journal-1917	84	27	𝑦	𝑦	NOUN
american_scientific_journal-1917	84	28	×	×	NOUN
american_scientific_journal-1917	84	29	𝑡𝑡	𝑡𝑡	ADJ
american_scientific_journal-1917	84	30	(	(	PUNCT
american_scientific_journal-1917	84	31	9	9	NUM
american_scientific_journal-1917	84	32	)	)	PUNCT
american_scientific_journal-1917	84	33	𝜃𝜃	𝜃𝜃	PROPN
american_scientific_journal-1917	84	34	=	=	PROPN
american_scientific_journal-1917	84	35	�	�	PROPN
american_scientific_journal-1917	84	36	̇	̇	PROPN
american_scientific_journal-1917	84	37	�	�	PROPN
american_scientific_journal-1917	84	38	𝜃	𝜃	NUM
american_scientific_journal-1917	84	39	×	×	NOUN
american_scientific_journal-1917	84	40	𝑡𝑡	𝑡𝑡	ADJ
american_scientific_journal-1917	84	41	(	(	PUNCT
american_scientific_journal-1917	84	42	10	10	NUM
american_scientific_journal-1917	84	43	)	)	PUNCT
american_scientific_journal-1917	84	44	where	where	SCONJ
american_scientific_journal-1917	84	45	:	:	PUNCT
american_scientific_journal-1917	84	46	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-1917	84	47	,	,	PUNCT
american_scientific_journal-1917	84	48	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-1917	84	49	are	be	AUX
american_scientific_journal-1917	84	50	the	the	DET
american_scientific_journal-1917	84	51	robot	robot	NOUN
american_scientific_journal-1917	84	52	offsets	offset	NOUN
american_scientific_journal-1917	84	53	from	from	ADP
american_scientific_journal-1917	84	54	the	the	DET
american_scientific_journal-1917	84	55	global	global	ADJ
american_scientific_journal-1917	84	56	coordinates	coordinate	NOUN
american_scientific_journal-1917	84	57	reference	reference	NOUN
american_scientific_journal-1917	84	58	point	point	NOUN
american_scientific_journal-1917	84	59	(	(	PUNCT
american_scientific_journal-1917	84	60	along	along	ADP
american_scientific_journal-1917	84	61	the	the	DET
american_scientific_journal-1917	84	62	x	x	NOUN
american_scientific_journal-1917	84	63	-	-	NOUN
american_scientific_journal-1917	84	64	axis	axis	ADJ
american_scientific_journal-1917	84	65	and	and	CCONJ
american_scientific_journal-1917	84	66	y	y	NOUN
american_scientific_journal-1917	84	67	-	-	PUNCT
american_scientific_journal-1917	84	68	axis	axis	NOUN
american_scientific_journal-1917	84	69	respectively	respectively	ADV
american_scientific_journal-1917	84	70	)	)	PUNCT
american_scientific_journal-1917	84	71	and	and	CCONJ
american_scientific_journal-1917	84	72	𝜃𝜃	𝜃𝜃	PROPN
american_scientific_journal-1917	84	73	is	be	AUX
american_scientific_journal-1917	84	74	the	the	DET
american_scientific_journal-1917	84	75	robot	robot	NOUN
american_scientific_journal-1917	84	76	orientation	orientation	NOUN
american_scientific_journal-1917	84	77	with	with	ADP
american_scientific_journal-1917	84	78	respect	respect	NOUN
american_scientific_journal-1917	84	79	to	to	ADP
american_scientific_journal-1917	84	80	the	the	DET
american_scientific_journal-1917	84	81	global	global	ADJ
american_scientific_journal-1917	84	82	coordinates	coordinate	NOUN
american_scientific_journal-1917	84	83	.	.	PUNCT
american_scientific_journal-1917	85	1	3.3	3.3	NUM
american_scientific_journal-1917	85	2	discrete	discrete	ADJ
american_scientific_journal-1917	85	3	pi	pi	NOUN
american_scientific_journal-1917	85	4	algorithm	algorithm	NOUN
american_scientific_journal-1917	85	5	the	the	DET
american_scientific_journal-1917	85	6	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	85	7	robot	robot	NOUN
american_scientific_journal-1917	85	8	is	be	AUX
american_scientific_journal-1917	85	9	controlled	control	VERB
american_scientific_journal-1917	85	10	by	by	ADP
american_scientific_journal-1917	85	11	a	a	DET
american_scientific_journal-1917	85	12	digital	digital	ADJ
american_scientific_journal-1917	85	13	system	system	NOUN
american_scientific_journal-1917	85	14	.	.	PUNCT
american_scientific_journal-1917	86	1	the	the	DET
american_scientific_journal-1917	86	2	digital	digital	ADJ
american_scientific_journal-1917	86	3	system	system	NOUN
american_scientific_journal-1917	86	4	operates	operate	VERB
american_scientific_journal-1917	86	5	in	in	ADP
american_scientific_journal-1917	86	6	the	the	DET
american_scientific_journal-1917	86	7	discrete	discrete	ADJ
american_scientific_journal-1917	86	8	domain	domain	NOUN
american_scientific_journal-1917	86	9	while	while	SCONJ
american_scientific_journal-1917	86	10	the	the	DET
american_scientific_journal-1917	86	11	analogue	analogue	NOUN
american_scientific_journal-1917	86	12	electronics	electronic	NOUN
american_scientific_journal-1917	86	13	operate	operate	VERB
american_scientific_journal-1917	86	14	in	in	ADP
american_scientific_journal-1917	86	15	the	the	DET
american_scientific_journal-1917	86	16	continuous	continuous	ADJ
american_scientific_journal-1917	86	17	domain	domain	NOUN
american_scientific_journal-1917	86	18	.	.	PUNCT
american_scientific_journal-1917	87	1	this	this	PRON
american_scientific_journal-1917	87	2	indicates	indicate	VERB
american_scientific_journal-1917	87	3	that	that	SCONJ
american_scientific_journal-1917	87	4	any	any	DET
american_scientific_journal-1917	87	5	implementation	implementation	NOUN
american_scientific_journal-1917	87	6	of	of	ADP
american_scientific_journal-1917	87	7	a	a	DET
american_scientific_journal-1917	87	8	control	control	NOUN
american_scientific_journal-1917	87	9	law	law	NOUN
american_scientific_journal-1917	87	10	should	should	AUX
american_scientific_journal-1917	87	11	be	be	AUX
american_scientific_journal-1917	87	12	made	make	VERB
american_scientific_journal-1917	87	13	in	in	ADP
american_scientific_journal-1917	87	14	discrete	discrete	ADJ
american_scientific_journal-1917	87	15	form	form	NOUN
american_scientific_journal-1917	87	16	.	.	PUNCT
american_scientific_journal-1917	88	1	in	in	ADP
american_scientific_journal-1917	88	2	a	a	DET
american_scientific_journal-1917	88	3	discrete	discrete	ADJ
american_scientific_journal-1917	88	4	system	system	NOUN
american_scientific_journal-1917	88	5	the	the	DET
american_scientific_journal-1917	88	6	integral	integral	ADJ
american_scientific_journal-1917	88	7	control	control	NOUN
american_scientific_journal-1917	88	8	action	action	NOUN
american_scientific_journal-1917	88	9	is	be	AUX
american_scientific_journal-1917	88	10	represented	represent	VERB
american_scientific_journal-1917	88	11	by	by	ADP
american_scientific_journal-1917	88	12	difference	difference	NOUN
american_scientific_journal-1917	88	13	equation	equation	NOUN
american_scientific_journal-1917	88	14	.	.	PUNCT
american_scientific_journal-1917	89	1	figure	figure	NOUN
american_scientific_journal-1917	89	2	4	4	NUM
american_scientific_journal-1917	89	3	shows	show	NOUN
american_scientific_journal-1917	89	4	sampling	sampling	NOUN
american_scientific_journal-1917	89	5	of	of	ADP
american_scientific_journal-1917	89	6	an	an	DET
american_scientific_journal-1917	89	7	analogue	analogue	NOUN
american_scientific_journal-1917	89	8	signal	signal	NOUN
american_scientific_journal-1917	89	9	to	to	ADP
american_scientific_journal-1917	89	10	a	a	DET
american_scientific_journal-1917	89	11	discrete	discrete	ADJ
american_scientific_journal-1917	89	12	signal	signal	NOUN
american_scientific_journal-1917	89	13	.	.	PUNCT
american_scientific_journal-1917	90	1	where	where	SCONJ
american_scientific_journal-1917	90	2	k	k	PROPN
american_scientific_journal-1917	90	3	in	in	ADP
american_scientific_journal-1917	90	4	figure	figure	NOUN
american_scientific_journal-1917	90	5	4	4	NUM
american_scientific_journal-1917	90	6	represents	represent	VERB
american_scientific_journal-1917	90	7	the	the	DET
american_scientific_journal-1917	90	8	sample	sample	NOUN
american_scientific_journal-1917	90	9	number	number	NOUN
american_scientific_journal-1917	90	10	,	,	PUNCT
american_scientific_journal-1917	90	11	and	and	CCONJ
american_scientific_journal-1917	90	12	t	t	PROPN
american_scientific_journal-1917	90	13	is	be	AUX
american_scientific_journal-1917	90	14	the	the	DET
american_scientific_journal-1917	90	15	sample	sample	NOUN
american_scientific_journal-1917	90	16	period	period	NOUN
american_scientific_journal-1917	90	17	.	.	PUNCT
american_scientific_journal-1917	91	1	e(k	e(k	NOUN
american_scientific_journal-1917	91	2	)	)	PUNCT
american_scientific_journal-1917	91	3	is	be	AUX
american_scientific_journal-1917	91	4	the	the	DET
american_scientific_journal-1917	91	5	error	error	NOUN
american_scientific_journal-1917	91	6	at	at	ADP
american_scientific_journal-1917	91	7	the	the	DET
american_scientific_journal-1917	91	8	kth	kth	PROPN
american_scientific_journal-1917	91	9	sample	sample	NOUN
american_scientific_journal-1917	91	10	period	period	NOUN
american_scientific_journal-1917	91	11	.	.	PUNCT
american_scientific_journal-1917	92	1	the	the	DET
american_scientific_journal-1917	92	2	velocity	velocity	NOUN
american_scientific_journal-1917	92	3	pi	pi	NOUN
american_scientific_journal-1917	92	4	algorithm	algorithm	NOUN
american_scientific_journal-1917	92	5	can	can	AUX
american_scientific_journal-1917	92	6	be	be	AUX
american_scientific_journal-1917	92	7	written	write	VERB
american_scientific_journal-1917	92	8	as	as	ADP
american_scientific_journal-1917	92	9	[	[	X
american_scientific_journal-1917	92	10	10,11	10,11	NOUN
american_scientific_journal-1917	92	11	]	]	NOUN
american_scientific_journal-1917	92	12	:	:	PUNCT
american_scientific_journal-1917	92	13	𝑢𝑢𝑘𝑘	𝑢𝑢𝑘𝑘	PROPN
american_scientific_journal-1917	93	1	=	=	PUNCT
american_scientific_journal-1917	93	2	𝑢𝑢𝑘𝑘−1	𝑢𝑢𝑘𝑘−1	NOUN
american_scientific_journal-1917	94	1	+	+	PUNCT
american_scientific_journal-1917	94	2	𝐾𝐾𝑝𝑝[𝑒𝑒𝑘𝑘	𝐾𝐾𝑝𝑝[𝑒𝑒𝑘𝑘	PROPN
american_scientific_journal-1917	94	3	−	−	VERB
american_scientific_journal-1917	94	4	𝑒𝑒𝑘𝑘−1	𝑒𝑒𝑘𝑘−1	PUNCT
american_scientific_journal-1917	94	5	]	]	PUNCT
american_scientific_journal-1917	95	1	+	+	CCONJ
american_scientific_journal-1917	95	2	𝐾𝐾𝑖𝑖	𝐾𝐾𝑖𝑖	PROPN
american_scientific_journal-1917	95	3	𝑒𝑒𝑘𝑘	𝑒𝑒𝑘𝑘	NOUN
american_scientific_journal-1917	95	4	(	(	PUNCT
american_scientific_journal-1917	95	5	11	11	NUM
american_scientific_journal-1917	95	6	)	)	PUNCT
american_scientific_journal-1917	95	7	in	in	ADP
american_scientific_journal-1917	95	8	more	more	ADJ
american_scientific_journal-1917	95	9	compact	compact	ADJ
american_scientific_journal-1917	95	10	form	form	NOUN
american_scientific_journal-1917	95	11	:	:	PUNCT
american_scientific_journal-1917	95	12	∆	∆	PROPN
american_scientific_journal-1917	95	13	𝑢𝑢(𝑘𝑘	𝑢𝑢(𝑘𝑘	PRON
american_scientific_journal-1917	95	14	)	)	PUNCT
american_scientific_journal-1917	95	15	=	=	PUNCT
american_scientific_journal-1917	96	1	𝑢𝑢𝑘𝑘−1	𝑢𝑢𝑘𝑘−1	PROPN
american_scientific_journal-1917	96	2	−	−	PROPN
american_scientific_journal-1917	96	3	𝑢𝑢𝑘𝑘	𝑢𝑢𝑘𝑘	PROPN
american_scientific_journal-1917	96	4	=	=	PRON
american_scientific_journal-1917	96	5	𝐾𝐾𝑝𝑝[𝑒𝑒𝑘𝑘	𝐾𝐾𝑝𝑝[𝑒𝑒𝑘𝑘	X
american_scientific_journal-1917	96	6	−	−	PROPN
american_scientific_journal-1917	96	7	𝑒𝑒𝑘𝑘−1	𝑒𝑒𝑘𝑘−1	X
american_scientific_journal-1917	96	8	]	]	X
american_scientific_journal-1917	96	9	+	+	CCONJ
american_scientific_journal-1917	96	10	𝐾𝐾𝑖𝑖	𝐾𝐾𝑖𝑖	PROPN
american_scientific_journal-1917	96	11	𝑒𝑒𝑘𝑘	𝑒𝑒𝑘𝑘	NOUN
american_scientific_journal-1917	96	12	(	(	PUNCT
american_scientific_journal-1917	96	13	12	12	NUM
american_scientific_journal-1917	96	14	)	)	PUNCT
american_scientific_journal-1917	96	15	american	american	ADJ
american_scientific_journal-1917	96	16	scientific	scientific	ADJ
american_scientific_journal-1917	96	17	research	research	NOUN
american_scientific_journal-1917	96	18	journal	journal	NOUN
american_scientific_journal-1917	96	19	for	for	ADP
american_scientific_journal-1917	96	20	engineering	engineering	NOUN
american_scientific_journal-1917	96	21	,	,	PUNCT
american_scientific_journal-1917	96	22	technology	technology	NOUN
american_scientific_journal-1917	96	23	,	,	PUNCT
american_scientific_journal-1917	96	24	and	and	CCONJ
american_scientific_journal-1917	96	25	sciences	science	NOUN
american_scientific_journal-1917	96	26	(	(	PUNCT
american_scientific_journal-1917	96	27	asrjets	asrjet	NOUN
american_scientific_journal-1917	96	28	)	)	PUNCT
american_scientific_journal-1917	96	29	(	(	PUNCT
american_scientific_journal-1917	96	30	2016	2016	NUM
american_scientific_journal-1917	96	31	)	)	PUNCT
american_scientific_journal-1917	96	32	volume	volume	NOUN
american_scientific_journal-1917	96	33	22	22	NUM
american_scientific_journal-1917	96	34	,	,	PUNCT
american_scientific_journal-1917	96	35	no	no	DET
american_scientific_journal-1917	96	36	1	1	NUM
american_scientific_journal-1917	96	37	,	,	PUNCT
american_scientific_journal-1917	96	38	pp	pp	ADV
american_scientific_journal-1917	96	39	195	195	NUM
american_scientific_journal-1917	96	40	-	-	SYM
american_scientific_journal-1917	96	41	209	209	NUM
american_scientific_journal-1917	96	42	201	201	NUM
american_scientific_journal-1917	96	43	figure	figure	NOUN
american_scientific_journal-1917	96	44	4	4	NUM
american_scientific_journal-1917	96	45	:	:	PUNCT
american_scientific_journal-1917	96	46	sampling	sample	VERB
american_scientific_journal-1917	96	47	of	of	ADP
american_scientific_journal-1917	96	48	an	an	DET
american_scientific_journal-1917	96	49	analogue	analogue	NOUN
american_scientific_journal-1917	96	50	signal	signal	NOUN
american_scientific_journal-1917	96	51	to	to	ADP
american_scientific_journal-1917	96	52	a	a	DET
american_scientific_journal-1917	96	53	discrete	discrete	ADJ
american_scientific_journal-1917	96	54	signal	signal	NOUN
american_scientific_journal-1917	96	55	.	.	PUNCT
american_scientific_journal-1917	97	1	3.4	3.4	NUM
american_scientific_journal-1917	97	2	robot	robot	NOUN
american_scientific_journal-1917	97	3	performance	performance	NOUN
american_scientific_journal-1917	97	4	measurement	measurement	NOUN
american_scientific_journal-1917	97	5	the	the	DET
american_scientific_journal-1917	97	6	robot	robot	NOUN
american_scientific_journal-1917	97	7	performance	performance	NOUN
american_scientific_journal-1917	97	8	can	can	AUX
american_scientific_journal-1917	97	9	be	be	AUX
american_scientific_journal-1917	97	10	tested	test	VERB
american_scientific_journal-1917	97	11	by	by	ADP
american_scientific_journal-1917	97	12	applying	apply	VERB
american_scientific_journal-1917	97	13	different	different	ADJ
american_scientific_journal-1917	97	14	algorithms	algorithm	NOUN
american_scientific_journal-1917	97	15	,	,	PUNCT
american_scientific_journal-1917	97	16	using	use	VERB
american_scientific_journal-1917	97	17	various	various	ADJ
american_scientific_journal-1917	97	18	sensors	sensor	NOUN
american_scientific_journal-1917	97	19	and	and	CCONJ
american_scientific_journal-1917	97	20	motion	motion	NOUN
american_scientific_journal-1917	97	21	capacities	capacity	NOUN
american_scientific_journal-1917	97	22	or	or	CCONJ
american_scientific_journal-1917	97	23	by	by	ADP
american_scientific_journal-1917	97	24	defining	define	VERB
american_scientific_journal-1917	97	25	benchmarks	benchmark	NOUN
american_scientific_journal-1917	97	26	such	such	ADJ
american_scientific_journal-1917	97	27	robocup	robocup	PROPN
american_scientific_journal-1917	97	28	competitions	competition	NOUN
american_scientific_journal-1917	97	29	,	,	PUNCT
american_scientific_journal-1917	97	30	or	or	CCONJ
american_scientific_journal-1917	97	31	search	search	NOUN
american_scientific_journal-1917	97	32	and	and	CCONJ
american_scientific_journal-1917	97	33	rescue	rescue	NOUN
american_scientific_journal-1917	97	34	.	.	PUNCT
american_scientific_journal-1917	98	1	a	a	DET
american_scientific_journal-1917	98	2	robot	robot	NOUN
american_scientific_journal-1917	98	3	must	must	AUX
american_scientific_journal-1917	98	4	have	have	AUX
american_scientific_journal-1917	98	5	sensing	sense	VERB
american_scientific_journal-1917	98	6	,	,	PUNCT
american_scientific_journal-1917	98	7	decisional	decisional	ADJ
american_scientific_journal-1917	98	8	and	and	CCONJ
american_scientific_journal-1917	98	9	actuation	actuation	NOUN
american_scientific_journal-1917	98	10	capabilities	capability	NOUN
american_scientific_journal-1917	98	11	to	to	PART
american_scientific_journal-1917	98	12	be	be	AUX
american_scientific_journal-1917	98	13	autonomous	autonomous	ADJ
american_scientific_journal-1917	98	14	.	.	PUNCT
american_scientific_journal-1917	99	1	metrics	metric	NOUN
american_scientific_journal-1917	99	2	and	and	CCONJ
american_scientific_journal-1917	99	3	indicators	indicator	NOUN
american_scientific_journal-1917	99	4	are	be	AUX
american_scientific_journal-1917	99	5	needed	need	VERB
american_scientific_journal-1917	99	6	to	to	PART
american_scientific_journal-1917	99	7	be	be	AUX
american_scientific_journal-1917	99	8	defined	define	VERB
american_scientific_journal-1917	99	9	to	to	PART
american_scientific_journal-1917	99	10	achieve	achieve	VERB
american_scientific_journal-1917	99	11	a	a	DET
american_scientific_journal-1917	99	12	useful	useful	ADJ
american_scientific_journal-1917	99	13	evaluation	evaluation	NOUN
american_scientific_journal-1917	99	14	.	.	PUNCT
american_scientific_journal-1917	100	1	the	the	DET
american_scientific_journal-1917	100	2	following	follow	VERB
american_scientific_journal-1917	100	3	attributes	attribute	NOUN
american_scientific_journal-1917	100	4	can	can	AUX
american_scientific_journal-1917	100	5	characterize	characterize	VERB
american_scientific_journal-1917	100	6	the	the	DET
american_scientific_journal-1917	100	7	task	task	NOUN
american_scientific_journal-1917	100	8	execution	execution	NOUN
american_scientific_journal-1917	100	9	[	[	X
american_scientific_journal-1917	100	10	12	12	NUM
american_scientific_journal-1917	100	11	]	]	X
american_scientific_journal-1917	100	12	:	:	PUNCT
american_scientific_journal-1917	100	13	•	•	NUM
american_scientific_journal-1917	100	14	energy	energy	NOUN
american_scientific_journal-1917	100	15	consumption	consumption	NOUN
american_scientific_journal-1917	100	16	.	.	PUNCT
american_scientific_journal-1917	101	1	•	•	NUM
american_scientific_journal-1917	101	2	time	time	NOUN
american_scientific_journal-1917	101	3	limit	limit	NOUN
american_scientific_journal-1917	101	4	.	.	PUNCT
american_scientific_journal-1917	102	1	•	•	NUM
american_scientific_journal-1917	102	2	robot	robot	NOUN
american_scientific_journal-1917	102	3	reactivity	reactivity	NOUN
american_scientific_journal-1917	102	4	.	.	PUNCT
american_scientific_journal-1917	103	1	•	•	NOUN
american_scientific_journal-1917	103	2	reactivity	reactivity	NOUN
american_scientific_journal-1917	103	3	is	be	AUX
american_scientific_journal-1917	103	4	the	the	DET
american_scientific_journal-1917	103	5	time	time	NOUN
american_scientific_journal-1917	103	6	required	require	VERB
american_scientific_journal-1917	103	7	by	by	ADP
american_scientific_journal-1917	103	8	the	the	DET
american_scientific_journal-1917	103	9	system	system	NOUN
american_scientific_journal-1917	103	10	to	to	PART
american_scientific_journal-1917	103	11	respond	respond	VERB
american_scientific_journal-1917	103	12	to	to	ADP
american_scientific_journal-1917	103	13	events	event	NOUN
american_scientific_journal-1917	103	14	.	.	PUNCT
american_scientific_journal-1917	104	1	it	it	PRON
american_scientific_journal-1917	104	2	is	be	AUX
american_scientific_journal-1917	104	3	divided	divide	VERB
american_scientific_journal-1917	104	4	into	into	ADP
american_scientific_journal-1917	104	5	two	two	NUM
american_scientific_journal-1917	104	6	parts	part	NOUN
american_scientific_journal-1917	104	7	:	:	PUNCT
american_scientific_journal-1917	104	8	time	time	NOUN
american_scientific_journal-1917	104	9	to	to	ADP
american_scientific_journal-1917	104	10	processing	process	VERB
american_scientific_journal-1917	104	11	the	the	DET
american_scientific_journal-1917	104	12	event	event	NOUN
american_scientific_journal-1917	104	13	and	and	CCONJ
american_scientific_journal-1917	104	14	time	time	NOUN
american_scientific_journal-1917	104	15	for	for	ADP
american_scientific_journal-1917	104	16	event	event	NOUN
american_scientific_journal-1917	104	17	detection	detection	NOUN
american_scientific_journal-1917	104	18	.	.	PUNCT
american_scientific_journal-1917	105	1	•	•	NUM
american_scientific_journal-1917	105	2	robot	robot	NOUN
american_scientific_journal-1917	105	3	robustness	robustness	NOUN
american_scientific_journal-1917	105	4	.	.	PUNCT
american_scientific_journal-1917	106	1	•	•	NOUN
american_scientific_journal-1917	106	2	robustness	robustness	NOUN
american_scientific_journal-1917	106	3	is	be	AUX
american_scientific_journal-1917	106	4	the	the	DET
american_scientific_journal-1917	106	5	robot	robot	NOUN
american_scientific_journal-1917	106	6	’s	’s	PART
american_scientific_journal-1917	106	7	capability	capability	NOUN
american_scientific_journal-1917	106	8	to	to	PART
american_scientific_journal-1917	106	9	adapt	adapt	VERB
american_scientific_journal-1917	106	10	to	to	ADP
american_scientific_journal-1917	106	11	the	the	DET
american_scientific_journal-1917	106	12	change	change	NOUN
american_scientific_journal-1917	106	13	in	in	ADP
american_scientific_journal-1917	106	14	the	the	DET
american_scientific_journal-1917	106	15	environment	environment	NOUN
american_scientific_journal-1917	106	16	.	.	PUNCT
american_scientific_journal-1917	107	1	the	the	DET
american_scientific_journal-1917	107	2	robot	robot	NOUN
american_scientific_journal-1917	107	3	capacity	capacity	NOUN
american_scientific_journal-1917	107	4	to	to	PART
american_scientific_journal-1917	107	5	act	act	VERB
american_scientific_journal-1917	107	6	robustly	robustly	ADV
american_scientific_journal-1917	107	7	with	with	ADP
american_scientific_journal-1917	107	8	respect	respect	NOUN
american_scientific_journal-1917	107	9	to	to	ADP
american_scientific_journal-1917	107	10	environment	environment	NOUN
american_scientific_journal-1917	107	11	variations	variation	NOUN
american_scientific_journal-1917	107	12	defines	define	VERB
american_scientific_journal-1917	107	13	its	its	PRON
american_scientific_journal-1917	107	14	autonomy	autonomy	NOUN
american_scientific_journal-1917	107	15	.	.	PUNCT
american_scientific_journal-1917	108	1	•	•	NUM
american_scientific_journal-1917	108	2	the	the	DET
american_scientific_journal-1917	108	3	environment	environment	NOUN
american_scientific_journal-1917	108	4	as	as	ADP
american_scientific_journal-1917	108	5	such	such	ADJ
american_scientific_journal-1917	108	6	.	.	PUNCT
american_scientific_journal-1917	109	1	•	•	NOUN
american_scientific_journal-1917	109	2	the	the	DET
american_scientific_journal-1917	109	3	environment	environment	NOUN
american_scientific_journal-1917	109	4	is	be	AUX
american_scientific_journal-1917	109	5	described	describe	VERB
american_scientific_journal-1917	109	6	by	by	ADP
american_scientific_journal-1917	109	7	a	a	DET
american_scientific_journal-1917	109	8	complexity	complexity	NOUN
american_scientific_journal-1917	109	9	value	value	NOUN
american_scientific_journal-1917	109	10	and	and	CCONJ
american_scientific_journal-1917	109	11	by	by	ADP
american_scientific_journal-1917	109	12	a	a	DET
american_scientific_journal-1917	109	13	size	size	NOUN
american_scientific_journal-1917	109	14	.	.	PUNCT
american_scientific_journal-1917	110	1	the	the	DET
american_scientific_journal-1917	110	2	complexity	complexity	NOUN
american_scientific_journal-1917	110	3	influences	influence	VERB
american_scientific_journal-1917	110	4	robot	robot	NOUN
american_scientific_journal-1917	110	5	robustness	robustness	NOUN
american_scientific_journal-1917	110	6	and	and	CCONJ
american_scientific_journal-1917	110	7	reactivity	reactivity	NOUN
american_scientific_journal-1917	110	8	.	.	PUNCT
american_scientific_journal-1917	111	1	the	the	DET
american_scientific_journal-1917	111	2	environment	environment	NOUN
american_scientific_journal-1917	111	3	size	size	NOUN
american_scientific_journal-1917	111	4	influences	influence	VERB
american_scientific_journal-1917	111	5	task	task	NOUN
american_scientific_journal-1917	111	6	duration	duration	NOUN
american_scientific_journal-1917	111	7	and	and	CCONJ
american_scientific_journal-1917	111	8	energy	energy	NOUN
american_scientific_journal-1917	111	9	consumption	consumption	NOUN
american_scientific_journal-1917	111	10	.	.	PUNCT
american_scientific_journal-1917	112	1	•	•	NUM
american_scientific_journal-1917	112	2	the	the	DET
american_scientific_journal-1917	112	3	quantity	quantity	NOUN
american_scientific_journal-1917	112	4	of	of	ADP
american_scientific_journal-1917	112	5	information	information	NOUN
american_scientific_journal-1917	112	6	that	that	PRON
american_scientific_journal-1917	112	7	robot	robot	NOUN
american_scientific_journal-1917	112	8	has	have	VERB
american_scientific_journal-1917	112	9	about	about	ADP
american_scientific_journal-1917	112	10	the	the	DET
american_scientific_journal-1917	112	11	environment	environment	NOUN
american_scientific_journal-1917	112	12	.	.	PUNCT
american_scientific_journal-1917	113	1	•	•	NUM
american_scientific_journal-1917	113	2	the	the	DET
american_scientific_journal-1917	113	3	robot	robot	NOUN
american_scientific_journal-1917	113	4	performance	performance	NOUN
american_scientific_journal-1917	113	5	(	(	PUNCT
american_scientific_journal-1917	113	6	such	such	ADJ
american_scientific_journal-1917	113	7	as	as	ADP
american_scientific_journal-1917	113	8	velocity	velocity	NOUN
american_scientific_journal-1917	113	9	,	,	PUNCT
american_scientific_journal-1917	113	10	time	time	NOUN
american_scientific_journal-1917	113	11	or	or	CCONJ
american_scientific_journal-1917	113	12	power	power	NOUN
american_scientific_journal-1917	113	13	consumption	consumption	NOUN
american_scientific_journal-1917	113	14	)	)	PUNCT
american_scientific_journal-1917	113	15	can	can	AUX
american_scientific_journal-1917	113	16	be	be	AUX
american_scientific_journal-1917	113	17	linked	link	VERB
american_scientific_journal-1917	113	18	to	to	ADP
american_scientific_journal-1917	113	19	environment	environment	NOUN
american_scientific_journal-1917	113	20	information	information	NOUN
american_scientific_journal-1917	113	21	and	and	CCONJ
american_scientific_journal-1917	113	22	parameters	parameter	NOUN
american_scientific_journal-1917	113	23	.	.	PUNCT
american_scientific_journal-1917	114	1	•	•	NUM
american_scientific_journal-1917	114	2	robot	robot	NOUN
american_scientific_journal-1917	114	3	repeatability	repeatability	NOUN
american_scientific_journal-1917	114	4	.	.	PUNCT
american_scientific_journal-1917	115	1	•	•	NUM
american_scientific_journal-1917	115	2	robot	robot	NOUN
american_scientific_journal-1917	115	3	kinematic	kinematic	PROPN
american_scientific_journal-1917	115	4	model	model	NOUN
american_scientific_journal-1917	115	5	evaluation	evaluation	NOUN
american_scientific_journal-1917	115	6	.	.	PUNCT
american_scientific_journal-1917	116	1	4	4	X
american_scientific_journal-1917	116	2	.	.	X
american_scientific_journal-1917	116	3	calibration	calibration	NOUN
american_scientific_journal-1917	116	4	and	and	CCONJ
american_scientific_journal-1917	116	5	test	test	NOUN
american_scientific_journal-1917	116	6	adjustments	adjustment	NOUN
american_scientific_journal-1917	116	7	and	and	CCONJ
american_scientific_journal-1917	116	8	tests	test	NOUN
american_scientific_journal-1917	116	9	are	be	AUX
american_scientific_journal-1917	116	10	required	require	VERB
american_scientific_journal-1917	116	11	to	to	PART
american_scientific_journal-1917	116	12	acquire	acquire	VERB
american_scientific_journal-1917	116	13	results	result	NOUN
american_scientific_journal-1917	116	14	that	that	PRON
american_scientific_journal-1917	116	15	are	be	AUX
american_scientific_journal-1917	116	16	more	more	ADV
american_scientific_journal-1917	116	17	applicable	applicable	ADJ
american_scientific_journal-1917	116	18	practically	practically	ADV
american_scientific_journal-1917	116	19	with	with	ADP
american_scientific_journal-1917	116	20	factors	factor	NOUN
american_scientific_journal-1917	116	21	that	that	PRON
american_scientific_journal-1917	116	22	may	may	AUX
american_scientific_journal-1917	116	23	have	have	AUX
american_scientific_journal-1917	116	24	been	be	AUX
american_scientific_journal-1917	116	25	discounted	discount	VERB
american_scientific_journal-1917	116	26	(	(	PUNCT
american_scientific_journal-1917	116	27	or	or	CCONJ
american_scientific_journal-1917	116	28	were	be	AUX
american_scientific_journal-1917	116	29	difficult	difficult	ADJ
american_scientific_journal-1917	116	30	to	to	PART
american_scientific_journal-1917	116	31	measure	measure	VERB
american_scientific_journal-1917	116	32	)	)	PUNCT
american_scientific_journal-1917	116	33	theoretically	theoretically	ADV
american_scientific_journal-1917	116	34	.	.	PUNCT
american_scientific_journal-1917	117	1	american	american	PROPN
american_scientific_journal-1917	117	2	scientific	scientific	ADJ
american_scientific_journal-1917	117	3	research	research	PROPN
american_scientific_journal-1917	117	4	journal	journal	NOUN
american_scientific_journal-1917	117	5	for	for	ADP
american_scientific_journal-1917	117	6	engineering	engineering	NOUN
american_scientific_journal-1917	117	7	,	,	PUNCT
american_scientific_journal-1917	117	8	technology	technology	NOUN
american_scientific_journal-1917	117	9	,	,	PUNCT
american_scientific_journal-1917	117	10	and	and	CCONJ
american_scientific_journal-1917	117	11	sciences	science	NOUN
american_scientific_journal-1917	117	12	(	(	PUNCT
american_scientific_journal-1917	117	13	asrjets	asrjet	NOUN
american_scientific_journal-1917	117	14	)	)	PUNCT
american_scientific_journal-1917	117	15	(	(	PUNCT
american_scientific_journal-1917	117	16	2016	2016	NUM
american_scientific_journal-1917	117	17	)	)	PUNCT
american_scientific_journal-1917	117	18	volume	volume	NOUN
american_scientific_journal-1917	117	19	22	22	NUM
american_scientific_journal-1917	117	20	,	,	PUNCT
american_scientific_journal-1917	117	21	no	no	DET
american_scientific_journal-1917	117	22	1	1	NUM
american_scientific_journal-1917	117	23	,	,	PUNCT
american_scientific_journal-1917	117	24	pp	pp	ADV
american_scientific_journal-1917	117	25	195	195	NUM
american_scientific_journal-1917	117	26	-	-	SYM
american_scientific_journal-1917	117	27	209	209	NUM
american_scientific_journal-1917	117	28	202	202	NUM
american_scientific_journal-1917	117	29	4.1	4.1	NUM
american_scientific_journal-1917	117	30	tuning	tune	VERB
american_scientific_journal-1917	117	31	the	the	DET
american_scientific_journal-1917	117	32	velocity	velocity	NOUN
american_scientific_journal-1917	117	33	pi	pi	NOUN
american_scientific_journal-1917	117	34	algorithm	algorithm	NOUN
american_scientific_journal-1917	117	35	parameters	parameter	NOUN
american_scientific_journal-1917	117	36	to	to	PART
american_scientific_journal-1917	117	37	get	get	VERB
american_scientific_journal-1917	117	38	the	the	DET
american_scientific_journal-1917	117	39	desired	desire	VERB
american_scientific_journal-1917	117	40	motor	motor	NOUN
american_scientific_journal-1917	117	41	velocity	velocity	NOUN
american_scientific_journal-1917	117	42	response	response	NOUN
american_scientific_journal-1917	117	43	,	,	PUNCT
american_scientific_journal-1917	117	44	the	the	DET
american_scientific_journal-1917	117	45	velocity	velocity	NOUN
american_scientific_journal-1917	117	46	pi	pi	NOUN
american_scientific_journal-1917	117	47	algorithm	algorithm	NOUN
american_scientific_journal-1917	117	48	gains	gain	NOUN
american_scientific_journal-1917	117	49	(	(	PUNCT
american_scientific_journal-1917	117	50	𝐾𝐾𝑝𝑝	𝐾𝐾𝑝𝑝	PROPN
american_scientific_journal-1917	117	51	and	and	CCONJ
american_scientific_journal-1917	117	52	𝐾𝐾𝑖𝑖	𝐾𝐾𝑖𝑖	NUM
american_scientific_journal-1917	117	53	)	)	PUNCT
american_scientific_journal-1917	117	54	must	must	AUX
american_scientific_journal-1917	117	55	be	be	AUX
american_scientific_journal-1917	117	56	tuned	tune	VERB
american_scientific_journal-1917	117	57	.	.	PUNCT
american_scientific_journal-1917	118	1	the	the	DET
american_scientific_journal-1917	118	2	robot	robot	NOUN
american_scientific_journal-1917	118	3	is	be	AUX
american_scientific_journal-1917	118	4	connected	connect	VERB
american_scientific_journal-1917	118	5	to	to	ADP
american_scientific_journal-1917	118	6	a	a	DET
american_scientific_journal-1917	118	7	laptop	laptop	NOUN
american_scientific_journal-1917	118	8	through	through	ADP
american_scientific_journal-1917	118	9	a	a	DET
american_scientific_journal-1917	118	10	usb	usb	NOUN
american_scientific_journal-1917	118	11	cable	cable	NOUN
american_scientific_journal-1917	118	12	in	in	ADP
american_scientific_journal-1917	118	13	order	order	NOUN
american_scientific_journal-1917	118	14	to	to	PART
american_scientific_journal-1917	118	15	instantaneously	instantaneously	ADV
american_scientific_journal-1917	118	16	monitoring	monitor	VERB
american_scientific_journal-1917	118	17	and	and	CCONJ
american_scientific_journal-1917	118	18	storing	store	VERB
american_scientific_journal-1917	118	19	the	the	DET
american_scientific_journal-1917	118	20	robot	robot	NOUN
american_scientific_journal-1917	118	21	wheels	wheel	NOUN
american_scientific_journal-1917	118	22	’	'	PUNCT
american_scientific_journal-1917	118	23	velocity	velocity	NOUN
american_scientific_journal-1917	118	24	.	.	PUNCT
american_scientific_journal-1917	119	1	then	then	ADV
american_scientific_journal-1917	119	2	the	the	DET
american_scientific_journal-1917	119	3	collected	collect	VERB
american_scientific_journal-1917	119	4	data	datum	NOUN
american_scientific_journal-1917	119	5	are	be	AUX
american_scientific_journal-1917	119	6	plotted	plot	VERB
american_scientific_journal-1917	119	7	in	in	ADP
american_scientific_journal-1917	119	8	matlap	matlap	NOUN
american_scientific_journal-1917	119	9	software	software	NOUN
american_scientific_journal-1917	119	10	to	to	PART
american_scientific_journal-1917	119	11	study	study	VERB
american_scientific_journal-1917	119	12	the	the	DET
american_scientific_journal-1917	119	13	velocity	velocity	NOUN
american_scientific_journal-1917	119	14	response	response	NOUN
american_scientific_journal-1917	119	15	performance	performance	NOUN
american_scientific_journal-1917	119	16	.	.	PUNCT
american_scientific_journal-1917	120	1	a	a	DET
american_scientific_journal-1917	120	2	manual	manual	ADJ
american_scientific_journal-1917	120	3	tuning	tuning	NOUN
american_scientific_journal-1917	120	4	is	be	AUX
american_scientific_journal-1917	120	5	used	use	VERB
american_scientific_journal-1917	120	6	to	to	PART
american_scientific_journal-1917	120	7	adjust	adjust	VERB
american_scientific_journal-1917	120	8	the	the	DET
american_scientific_journal-1917	120	9	pi	pi	NOUN
american_scientific_journal-1917	120	10	gains	gain	NOUN
american_scientific_journal-1917	120	11	(	(	PUNCT
american_scientific_journal-1917	120	12	𝐾𝐾𝑝𝑝	𝐾𝐾𝑝𝑝	PROPN
american_scientific_journal-1917	120	13	and	and	CCONJ
american_scientific_journal-1917	120	14	𝐾𝐾𝑖𝑖	𝐾𝐾𝑖𝑖	NUM
american_scientific_journal-1917	120	15	)	)	PUNCT
american_scientific_journal-1917	120	16	.	.	PUNCT
american_scientific_journal-1917	121	1	the	the	DET
american_scientific_journal-1917	121	2	tuning	tuning	NOUN
american_scientific_journal-1917	121	3	procedure	procedure	NOUN
american_scientific_journal-1917	121	4	is	be	AUX
american_scientific_journal-1917	121	5	run	run	VERB
american_scientific_journal-1917	121	6	for	for	ADP
american_scientific_journal-1917	121	7	both	both	DET
american_scientific_journal-1917	121	8	load	load	NOUN
american_scientific_journal-1917	121	9	and	and	CCONJ
american_scientific_journal-1917	121	10	no	no	DET
american_scientific_journal-1917	121	11	-	-	PUNCT
american_scientific_journal-1917	121	12	load	load	NOUN
american_scientific_journal-1917	121	13	conditions	condition	NOUN
american_scientific_journal-1917	121	14	(	(	PUNCT
american_scientific_journal-1917	121	15	see	see	VERB
american_scientific_journal-1917	121	16	figure	figure	NOUN
american_scientific_journal-1917	121	17	5	5	NUM
american_scientific_journal-1917	121	18	)	)	PUNCT
american_scientific_journal-1917	121	19	.	.	PUNCT
american_scientific_journal-1917	122	1	figure	figure	VERB
american_scientific_journal-1917	122	2	5	5	NUM
american_scientific_journal-1917	122	3	:	:	PUNCT
american_scientific_journal-1917	122	4	tuning	tune	VERB
american_scientific_journal-1917	122	5	the	the	DET
american_scientific_journal-1917	122	6	velocity	velocity	NOUN
american_scientific_journal-1917	122	7	pi	pi	NOUN
american_scientific_journal-1917	122	8	algorithm	algorithm	NOUN
american_scientific_journal-1917	122	9	parameters	parameter	NOUN
american_scientific_journal-1917	122	10	(	(	PUNCT
american_scientific_journal-1917	122	11	a	a	PRON
american_scientific_journal-1917	122	12	)	)	PUNCT
american_scientific_journal-1917	122	13	load	load	NOUN
american_scientific_journal-1917	122	14	(	(	PUNCT
american_scientific_journal-1917	122	15	b	b	NOUN
american_scientific_journal-1917	122	16	)	)	PUNCT
american_scientific_journal-1917	122	17	no	no	DET
american_scientific_journal-1917	122	18	load	load	NOUN
american_scientific_journal-1917	122	19	.	.	PUNCT
american_scientific_journal-1917	123	1	a	a	DET
american_scientific_journal-1917	123	2	sample	sample	NOUN
american_scientific_journal-1917	123	3	of	of	ADP
american_scientific_journal-1917	123	4	three	three	NUM
american_scientific_journal-1917	123	5	reading	reading	NOUN
american_scientific_journal-1917	123	6	of	of	ADP
american_scientific_journal-1917	123	7	‘	'	PUNCT
american_scientific_journal-1917	123	8	tuning	tune	VERB
american_scientific_journal-1917	123	9	for	for	ADP
american_scientific_journal-1917	123	10	performance	performance	NOUN
american_scientific_journal-1917	123	11	’	'	PUNCT
american_scientific_journal-1917	123	12	results	result	NOUN
american_scientific_journal-1917	123	13	at	at	ADP
american_scientific_journal-1917	123	14	wheel	wheel	NOUN
american_scientific_journal-1917	123	15	velocity	velocity	NOUN
american_scientific_journal-1917	123	16	=	=	SYM
american_scientific_journal-1917	123	17	15	15	NUM
american_scientific_journal-1917	123	18	rad	rad	PROPN
american_scientific_journal-1917	123	19	/	/	SYM
american_scientific_journal-1917	123	20	sec	sec	PROPN
american_scientific_journal-1917	123	21	are	be	AUX
american_scientific_journal-1917	123	22	shown	show	VERB
american_scientific_journal-1917	123	23	in	in	ADP
american_scientific_journal-1917	123	24	table	table	NOUN
american_scientific_journal-1917	123	25	1	1	NUM
american_scientific_journal-1917	123	26	.	.	PUNCT
american_scientific_journal-1917	123	27	table	table	NOUN
american_scientific_journal-1917	123	28	1	1	NUM
american_scientific_journal-1917	123	29	:	:	PUNCT
american_scientific_journal-1917	123	30	results	result	NOUN
american_scientific_journal-1917	123	31	of	of	ADP
american_scientific_journal-1917	123	32	'	'	PUNCT
american_scientific_journal-1917	123	33	tuning	tune	VERB
american_scientific_journal-1917	123	34	for	for	ADP
american_scientific_journal-1917	123	35	performance	performance	NOUN
american_scientific_journal-1917	123	36	'	'	PUNCT
american_scientific_journal-1917	123	37	experiment	experiment	NOUN
american_scientific_journal-1917	123	38	for	for	ADP
american_scientific_journal-1917	123	39	velocity	velocity	NOUN
american_scientific_journal-1917	123	40	control	control	NOUN
american_scientific_journal-1917	123	41	.	.	PUNCT
american_scientific_journal-1917	124	1	the	the	DET
american_scientific_journal-1917	124	2	best	good	ADJ
american_scientific_journal-1917	124	3	system	system	NOUN
american_scientific_journal-1917	124	4	response	response	NOUN
american_scientific_journal-1917	124	5	is	be	AUX
american_scientific_journal-1917	124	6	when	when	SCONJ
american_scientific_journal-1917	124	7	𝐾𝐾𝑝𝑝	𝐾𝐾𝑝𝑝	PROPN
american_scientific_journal-1917	124	8	=	=	NOUN
american_scientific_journal-1917	124	9	0.1	0.1	NUM
american_scientific_journal-1917	124	10	and	and	CCONJ
american_scientific_journal-1917	124	11	𝐾𝐾𝑖𝑖	𝐾𝐾𝑖𝑖	PROPN
american_scientific_journal-1917	124	12	=	=	PUNCT
american_scientific_journal-1917	124	13	0.3	0.3	NUM
american_scientific_journal-1917	124	14	,	,	PUNCT
american_scientific_journal-1917	124	15	because	because	SCONJ
american_scientific_journal-1917	124	16	of	of	ADP
american_scientific_journal-1917	124	17	that	that	PRON
american_scientific_journal-1917	124	18	,	,	PUNCT
american_scientific_journal-1917	124	19	it	it	PRON
american_scientific_journal-1917	124	20	has	have	AUX
american_scientific_journal-1917	124	21	been	be	AUX
american_scientific_journal-1917	124	22	decided	decide	VERB
american_scientific_journal-1917	124	23	to	to	PART
american_scientific_journal-1917	124	24	choose	choose	VERB
american_scientific_journal-1917	124	25	this	this	DET
american_scientific_journal-1917	124	26	gains	gain	NOUN
american_scientific_journal-1917	124	27	value	value	NOUN
american_scientific_journal-1917	124	28	in	in	ADP
american_scientific_journal-1917	124	29	the	the	DET
american_scientific_journal-1917	124	30	project	project	NOUN
american_scientific_journal-1917	124	31	.	.	PUNCT
american_scientific_journal-1917	125	1	from	from	ADP
american_scientific_journal-1917	125	2	tuning	tune	VERB
american_scientific_journal-1917	125	3	the	the	DET
american_scientific_journal-1917	125	4	velocity	velocity	NOUN
american_scientific_journal-1917	125	5	pi	pi	NOUN
american_scientific_journal-1917	125	6	algorithm	algorithm	NOUN
american_scientific_journal-1917	125	7	parameters	parameter	NOUN
american_scientific_journal-1917	125	8	,	,	PUNCT
american_scientific_journal-1917	125	9	it	it	PRON
american_scientific_journal-1917	125	10	has	have	AUX
american_scientific_journal-1917	125	11	been	be	AUX
american_scientific_journal-1917	125	12	concluded	conclude	VERB
american_scientific_journal-1917	125	13	the	the	DET
american_scientific_journal-1917	125	14	following	following	NOUN
american_scientific_journal-1917	125	15	:	:	PUNCT
american_scientific_journal-1917	125	16	performance	performance	NOUN
american_scientific_journal-1917	125	17	indicator	indicator	NOUN
american_scientific_journal-1917	125	18	kp=0.1	kp=0.1	PROPN
american_scientific_journal-1917	125	19	ki=0.1	ki=0.1	PROPN
american_scientific_journal-1917	125	20	kp=0.1	kp=0.1	PROPN
american_scientific_journal-1917	125	21	ki=0.3	ki=0.3	PROPN
american_scientific_journal-1917	125	22	kp=0.1	kp=0.1	PROPN
american_scientific_journal-1917	125	23	ki=0.5	ki=0.5	NOUN
american_scientific_journal-1917	125	24	loading	loading	NOUN
american_scientific_journal-1917	125	25	condition	condition	NOUN
american_scientific_journal-1917	125	26	settling	settling	NOUN
american_scientific_journal-1917	125	27	time	time	NOUN
american_scientific_journal-1917	125	28	(	(	PUNCT
american_scientific_journal-1917	125	29	sec	sec	PROPN
american_scientific_journal-1917	125	30	)	)	PUNCT
american_scientific_journal-1917	125	31	7.5	7.5	NUM
american_scientific_journal-1917	125	32	6	6	NUM
american_scientific_journal-1917	125	33	8	8	NUM
american_scientific_journal-1917	125	34	no	no	DET
american_scientific_journal-1917	125	35	load	load	NOUN
american_scientific_journal-1917	125	36	8	8	NUM
american_scientific_journal-1917	125	37	4	4	NUM
american_scientific_journal-1917	125	38	3.5	3.5	NUM
american_scientific_journal-1917	125	39	load	load	NOUN
american_scientific_journal-1917	125	40	overshoot	overshoot	NOUN
american_scientific_journal-1917	125	41	no	no	DET
american_scientific_journal-1917	125	42	overshoot	overshoot	NOUN
american_scientific_journal-1917	125	43	9	9	NUM
american_scientific_journal-1917	125	44	%	%	NOUN
american_scientific_journal-1917	125	45	10	10	NUM
american_scientific_journal-1917	125	46	%	%	NOUN
american_scientific_journal-1917	125	47	no	no	DET
american_scientific_journal-1917	125	48	load	load	NOUN
american_scientific_journal-1917	125	49	no	no	DET
american_scientific_journal-1917	125	50	overshoot	overshoot	NOUN
american_scientific_journal-1917	125	51	3	3	NUM
american_scientific_journal-1917	125	52	%	%	NOUN
american_scientific_journal-1917	125	53	7	7	NUM
american_scientific_journal-1917	125	54	%	%	NOUN
american_scientific_journal-1917	125	55	load	load	NOUN
american_scientific_journal-1917	125	56	rise	rise	NOUN
american_scientific_journal-1917	125	57	time	time	NOUN
american_scientific_journal-1917	125	58	(	(	PUNCT
american_scientific_journal-1917	125	59	sec	sec	PROPN
american_scientific_journal-1917	125	60	)	)	PUNCT
american_scientific_journal-1917	125	61	4	4	NUM
american_scientific_journal-1917	125	62	0.5	0.5	NUM
american_scientific_journal-1917	125	63	1	1	NUM
american_scientific_journal-1917	125	64	no	no	DET
american_scientific_journal-1917	125	65	load	load	NOUN
american_scientific_journal-1917	125	66	1.5	1.5	NUM
american_scientific_journal-1917	125	67	1	1	NUM
american_scientific_journal-1917	125	68	0.6	0.6	NUM
american_scientific_journal-1917	125	69	load	load	NOUN
american_scientific_journal-1917	125	70	b	b	PROPN
american_scientific_journal-1917	125	71	a	a	DET
american_scientific_journal-1917	125	72	american	american	ADJ
american_scientific_journal-1917	125	73	scientific	scientific	ADJ
american_scientific_journal-1917	125	74	research	research	NOUN
american_scientific_journal-1917	125	75	journal	journal	NOUN
american_scientific_journal-1917	125	76	for	for	ADP
american_scientific_journal-1917	125	77	engineering	engineering	NOUN
american_scientific_journal-1917	125	78	,	,	PUNCT
american_scientific_journal-1917	125	79	technology	technology	NOUN
american_scientific_journal-1917	125	80	,	,	PUNCT
american_scientific_journal-1917	125	81	and	and	CCONJ
american_scientific_journal-1917	125	82	sciences	science	NOUN
american_scientific_journal-1917	125	83	(	(	PUNCT
american_scientific_journal-1917	125	84	asrjets	asrjet	NOUN
american_scientific_journal-1917	125	85	)	)	PUNCT
american_scientific_journal-1917	125	86	(	(	PUNCT
american_scientific_journal-1917	125	87	2016	2016	NUM
american_scientific_journal-1917	125	88	)	)	PUNCT
american_scientific_journal-1917	125	89	volume	volume	NOUN
american_scientific_journal-1917	125	90	22	22	NUM
american_scientific_journal-1917	125	91	,	,	PUNCT
american_scientific_journal-1917	125	92	no	no	DET
american_scientific_journal-1917	125	93	1	1	NUM
american_scientific_journal-1917	125	94	,	,	PUNCT
american_scientific_journal-1917	125	95	pp	pp	ADV
american_scientific_journal-1917	125	96	195	195	NUM
american_scientific_journal-1917	125	97	-	-	SYM
american_scientific_journal-1917	125	98	209	209	NUM
american_scientific_journal-1917	125	99	203	203	NUM
american_scientific_journal-1917	125	100	•	•	NOUN
american_scientific_journal-1917	125	101	both	both	PRON
american_scientific_journal-1917	125	102	tuning	tune	VERB
american_scientific_journal-1917	125	103	parameters	parameter	NOUN
american_scientific_journal-1917	125	104	(	(	PUNCT
american_scientific_journal-1917	125	105	𝐾𝐾𝑝𝑝	𝐾𝐾𝑝𝑝	PROPN
american_scientific_journal-1917	125	106	and	and	CCONJ
american_scientific_journal-1917	125	107	𝐾𝐾𝑖𝑖	𝐾𝐾𝑖𝑖	NUM
american_scientific_journal-1917	125	108	)	)	PUNCT
american_scientific_journal-1917	125	109	can	can	AUX
american_scientific_journal-1917	125	110	interact	interact	VERB
american_scientific_journal-1917	125	111	with	with	ADP
american_scientific_journal-1917	125	112	each	each	DET
american_scientific_journal-1917	125	113	other	other	ADJ
american_scientific_journal-1917	125	114	and	and	CCONJ
american_scientific_journal-1917	125	115	their	their	PRON
american_scientific_journal-1917	125	116	effect	effect	NOUN
american_scientific_journal-1917	125	117	must	must	AUX
american_scientific_journal-1917	125	118	be	be	AUX
american_scientific_journal-1917	125	119	balanced	balance	VERB
american_scientific_journal-1917	125	120	.	.	PUNCT
american_scientific_journal-1917	126	1	•	•	CCONJ
american_scientific_journal-1917	126	2	the	the	DET
american_scientific_journal-1917	126	3	oscillatory	oscillatory	ADJ
american_scientific_journal-1917	126	4	or	or	CCONJ
american_scientific_journal-1917	126	5	rolling	rolling	ADJ
american_scientific_journal-1917	126	6	behaviour	behaviour	NOUN
american_scientific_journal-1917	126	7	of	of	ADP
american_scientific_journal-1917	126	8	the	the	DET
american_scientific_journal-1917	126	9	motor	motor	NOUN
american_scientific_journal-1917	126	10	response	response	NOUN
american_scientific_journal-1917	126	11	,	,	PUNCT
american_scientific_journal-1917	126	12	tends	tend	VERB
american_scientific_journal-1917	126	13	to	to	PART
american_scientific_journal-1917	126	14	be	be	AUX
american_scientific_journal-1917	126	15	increased	increase	VERB
american_scientific_journal-1917	126	16	by	by	ADP
american_scientific_journal-1917	126	17	the	the	DET
american_scientific_journal-1917	126	18	integral	integral	ADJ
american_scientific_journal-1917	126	19	term	term	NOUN
american_scientific_journal-1917	126	20	.	.	PUNCT
american_scientific_journal-1917	127	1	•	•	NUM
american_scientific_journal-1917	127	2	pi	pi	NOUN
american_scientific_journal-1917	127	3	control	control	NOUN
american_scientific_journal-1917	127	4	gives	give	VERB
american_scientific_journal-1917	127	5	a	a	DET
american_scientific_journal-1917	127	6	slow	slow	ADJ
american_scientific_journal-1917	127	7	but	but	CCONJ
american_scientific_journal-1917	127	8	more	more	ADV
american_scientific_journal-1917	127	9	accurate	accurate	ADJ
american_scientific_journal-1917	127	10	response	response	NOUN
american_scientific_journal-1917	127	11	than	than	ADP
american_scientific_journal-1917	127	12	p	p	NOUN
american_scientific_journal-1917	127	13	control	control	NOUN
american_scientific_journal-1917	127	14	.	.	PUNCT
american_scientific_journal-1917	128	1	•	•	ADV
american_scientific_journal-1917	128	2	there	there	PRON
american_scientific_journal-1917	128	3	is	be	VERB
american_scientific_journal-1917	128	4	usually	usually	ADV
american_scientific_journal-1917	128	5	an	an	DET
american_scientific_journal-1917	128	6	overshoot	overshoot	NOUN
american_scientific_journal-1917	128	7	in	in	ADP
american_scientific_journal-1917	128	8	velocity	velocity	NOUN
american_scientific_journal-1917	128	9	control	control	NOUN
american_scientific_journal-1917	128	10	.	.	PUNCT
american_scientific_journal-1917	129	1	4.2	4.2	NUM
american_scientific_journal-1917	129	2	theoretical	theoretical	ADJ
american_scientific_journal-1917	129	3	evaluation	evaluation	NOUN
american_scientific_journal-1917	129	4	for	for	ADP
american_scientific_journal-1917	129	5	the	the	DET
american_scientific_journal-1917	129	6	robot	robot	NOUN
american_scientific_journal-1917	129	7	kinematics	kinematic	NOUN
american_scientific_journal-1917	129	8	the	the	DET
american_scientific_journal-1917	129	9	equations	equation	NOUN
american_scientific_journal-1917	129	10	derived	derive	VERB
american_scientific_journal-1917	129	11	for	for	ADP
american_scientific_journal-1917	129	12	‘	'	PUNCT
american_scientific_journal-1917	129	13	inverse	inverse	ADJ
american_scientific_journal-1917	129	14	kinematics	kinematic	NOUN
american_scientific_journal-1917	129	15	’	'	PUNCT
american_scientific_journal-1917	129	16	(	(	PUNCT
american_scientific_journal-1917	129	17	in	in	ADP
american_scientific_journal-1917	129	18	section	section	NOUN
american_scientific_journal-1917	129	19	4.1	4.1	NUM
american_scientific_journal-1917	129	20	)	)	PUNCT
american_scientific_journal-1917	129	21	is	be	AUX
american_scientific_journal-1917	129	22	required	require	VERB
american_scientific_journal-1917	129	23	to	to	PART
american_scientific_journal-1917	129	24	be	be	AUX
american_scientific_journal-1917	129	25	verified	verify	VERB
american_scientific_journal-1917	129	26	prior	prior	ADV
american_scientific_journal-1917	129	27	to	to	ADP
american_scientific_journal-1917	129	28	applying	apply	VERB
american_scientific_journal-1917	129	29	and	and	CCONJ
american_scientific_journal-1917	129	30	testing	test	VERB
american_scientific_journal-1917	129	31	it	it	PRON
american_scientific_journal-1917	129	32	physically	physically	ADV
american_scientific_journal-1917	129	33	in	in	ADP
american_scientific_journal-1917	129	34	order	order	NOUN
american_scientific_journal-1917	129	35	to	to	PART
american_scientific_journal-1917	129	36	prevent	prevent	VERB
american_scientific_journal-1917	129	37	any	any	DET
american_scientific_journal-1917	129	38	unpredicted	unpredicted	ADJ
american_scientific_journal-1917	129	39	result	result	NOUN
american_scientific_journal-1917	129	40	.	.	PUNCT
american_scientific_journal-1917	130	1	in	in	ADP
american_scientific_journal-1917	130	2	order	order	NOUN
american_scientific_journal-1917	130	3	to	to	PART
american_scientific_journal-1917	130	4	verify	verify	VERB
american_scientific_journal-1917	130	5	the	the	DET
american_scientific_journal-1917	130	6	inverse	inverse	NOUN
american_scientific_journal-1917	130	7	kinematic	kinematic	NOUN
american_scientific_journal-1917	130	8	analysis	analysis	NOUN
american_scientific_journal-1917	130	9	,	,	PUNCT
american_scientific_journal-1917	130	10	an	an	DET
american_scientific_journal-1917	130	11	arbitrary	arbitrary	ADJ
american_scientific_journal-1917	130	12	robot	robot	NOUN
american_scientific_journal-1917	130	13	local	local	ADJ
american_scientific_journal-1917	130	14	velocity	velocity	NOUN
american_scientific_journal-1917	130	15	and	and	CCONJ
american_scientific_journal-1917	130	16	direction	direction	NOUN
american_scientific_journal-1917	130	17	are	be	AUX
american_scientific_journal-1917	130	18	selected	select	VERB
american_scientific_journal-1917	130	19	as	as	ADP
american_scientific_journal-1917	130	20	following	follow	VERB
american_scientific_journal-1917	130	21	:	:	PUNCT
american_scientific_journal-1917	130	22	the	the	DET
american_scientific_journal-1917	130	23	local	local	ADJ
american_scientific_journal-1917	130	24	velocity	velocity	NOUN
american_scientific_journal-1917	130	25	of	of	ADP
american_scientific_journal-1917	130	26	the	the	DET
american_scientific_journal-1917	130	27	robot	robot	NOUN
american_scientific_journal-1917	130	28	�	�	PROPN
american_scientific_journal-1917	130	29	̇	̇	PROPN
american_scientific_journal-1917	130	30	�	�	PROPN
american_scientific_journal-1917	130	31	𝑥𝐿𝐿=	𝑥𝐿𝐿=	PROPN
american_scientific_journal-1917	130	32	0.5	0.5	NUM
american_scientific_journal-1917	130	33	m	m	PROPN
american_scientific_journal-1917	130	34	/	/	SYM
american_scientific_journal-1917	130	35	sec	sec	PROPN
american_scientific_journal-1917	130	36	,	,	PUNCT
american_scientific_journal-1917	130	37	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-1917	130	38	�	�	PROPN
american_scientific_journal-1917	130	39	̇	̇	NOUN
american_scientific_journal-1917	130	40	�	�	PROPN
american_scientific_journal-1917	130	41	𝐿	𝐿	NOUN
american_scientific_journal-1917	130	42	=	=	SYM
american_scientific_journal-1917	130	43	0	0	NUM
american_scientific_journal-1917	130	44	m	m	PROPN
american_scientific_journal-1917	130	45	/	/	SYM
american_scientific_journal-1917	130	46	sec	sec	PROPN
american_scientific_journal-1917	130	47	,	,	PUNCT
american_scientific_journal-1917	130	48	and	and	CCONJ
american_scientific_journal-1917	130	49	�	�	PROPN
american_scientific_journal-1917	130	50	̇	̇	PROPN
american_scientific_journal-1917	130	51	�	�	PROPN
american_scientific_journal-1917	130	52	𝜃	𝜃	NOUN
american_scientific_journal-1917	130	53	=	=	SYM
american_scientific_journal-1917	130	54	0	0	NUM
american_scientific_journal-1917	130	55	rad	rad	PROPN
american_scientific_journal-1917	130	56	/	/	SYM
american_scientific_journal-1917	130	57	sec	sec	PROPN
american_scientific_journal-1917	130	58	and	and	CCONJ
american_scientific_journal-1917	130	59	choose	choose	VERB
american_scientific_journal-1917	130	60	𝜃𝜃=	𝜃𝜃=	PROPN
american_scientific_journal-1917	130	61	0o	0o	PROPN
american_scientific_journal-1917	130	62	.	.	PUNCT
american_scientific_journal-1917	131	1	𝜙𝜙1̇	𝜙𝜙1̇	X
american_scientific_journal-1917	132	1	=	=	PUNCT
american_scientific_journal-1917	132	2	�	�	PROPN
american_scientific_journal-1917	132	3	−	−	NOUN
american_scientific_journal-1917	132	4	sin(𝜃𝜃	sin(𝜃𝜃	NOUN
american_scientific_journal-1917	132	5	)	)	PUNCT
american_scientific_journal-1917	132	6	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1917	132	7	)	)	PUNCT
american_scientific_journal-1917	132	8	�	�	PROPN
american_scientific_journal-1917	132	9	̇	̇	PROPN
american_scientific_journal-1917	132	10	�	�	PROPN
american_scientific_journal-1917	132	11	𝑥𝐿𝐿	𝑥𝐿𝐿	ADJ
american_scientific_journal-1917	132	12	+	+	NUM
american_scientific_journal-1917	132	13	𝑐𝑐𝑐𝑐𝑠𝑠2	𝑐𝑐𝑐𝑐𝑠𝑠2	X
american_scientific_journal-1917	132	14	(	(	PUNCT
american_scientific_journal-1917	132	15	𝜃𝜃)𝑦𝑦	𝜃𝜃)𝑦𝑦	PUNCT
american_scientific_journal-1917	132	16	�	�	NOUN
american_scientific_journal-1917	132	17	̇	̇	NOUN
american_scientific_journal-1917	132	18	�	�	PROPN
american_scientific_journal-1917	132	19	𝐿	𝐿	PROPN
american_scientific_journal-1917	132	20	+	+	CCONJ
american_scientific_journal-1917	132	21	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1917	132	22	�	�	PROPN
american_scientific_journal-1917	132	23	̇	̇	PROPN
american_scientific_journal-1917	132	24	�	�	PROPN
american_scientific_journal-1917	132	25	𝜃	𝜃	NOUN
american_scientific_journal-1917	132	26	�	�	PROPN
american_scientific_journal-1917	132	27	/𝑟𝑟	/𝑟𝑟	PUNCT
american_scientific_journal-1917	132	28	=	=	SYM
american_scientific_journal-1917	132	29	(	(	PUNCT
american_scientific_journal-1917	132	30	−	−	PROPN
american_scientific_journal-1917	132	31	sin(0	sin(0	NOUN
american_scientific_journal-1917	132	32	)	)	PUNCT
american_scientific_journal-1917	132	33	cos(0	cos(0	PUNCT
american_scientific_journal-1917	132	34	)	)	PUNCT
american_scientific_journal-1917	133	1	×	×	NOUN
american_scientific_journal-1917	133	2	0.5	0.5	NUM
american_scientific_journal-1917	134	1	+	+	CCONJ
american_scientific_journal-1917	134	2	𝑐𝑐𝑐𝑐𝑠𝑠2	𝑐𝑐𝑐𝑐𝑠𝑠2	X
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american_scientific_journal-1917	144	32	)	)	PUNCT
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american_scientific_journal-1917	144	36	)	)	PUNCT
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american_scientific_journal-1917	144	45	=	=	SYM
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american_scientific_journal-1917	144	47	×	×	PROPN
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american_scientific_journal-1917	144	52	−	−	PROPN
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american_scientific_journal-1917	144	54	√3	√3	PROPN
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american_scientific_journal-1917	144	56	�	�	PROPN
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american_scientific_journal-1917	145	3	×	×	PROPN
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american_scientific_journal-1917	145	10	)	)	PUNCT
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american_scientific_journal-1917	145	16	𝑠𝑠𝑒𝑒𝑐𝑐	𝑠𝑠𝑒𝑒𝑐𝑐	PROPN
american_scientific_journal-1917	145	17	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-1917	145	18	�	�	PROPN
american_scientific_journal-1917	145	19	̇	̇	VERB
american_scientific_journal-1917	145	20	�	�	PROPN
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american_scientific_journal-1917	145	22	=	=	SYM
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american_scientific_journal-1917	145	24	×	×	PROPN
american_scientific_journal-1917	145	25	�	�	PROPN
american_scientific_journal-1917	145	26	−	−	PROPN
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american_scientific_journal-1917	145	28	3	3	NUM
american_scientific_journal-1917	145	29	̇	̇	NOUN
american_scientific_journal-1917	145	30	+	+	CCONJ
american_scientific_journal-1917	145	31	2	2	NUM
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american_scientific_journal-1917	145	34	3	3	NUM
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american_scientific_journal-1917	145	41	×	×	PROPN
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american_scientific_journal-1917	145	46	)	)	PUNCT
american_scientific_journal-1917	145	47	3	3	NUM
american_scientific_journal-1917	145	48	+	+	SYM
american_scientific_journal-1917	145	49	2	2	NUM
american_scientific_journal-1917	145	50	×	×	NOUN
american_scientific_journal-1917	145	51	0	0	NUM
american_scientific_journal-1917	145	52	3	3	NUM
american_scientific_journal-1917	145	53	−	−	PROPN
american_scientific_journal-1917	145	54	8.49	8.49	NUM
american_scientific_journal-1917	145	55	3	3	NUM
american_scientific_journal-1917	145	56	�	�	NOUN
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american_scientific_journal-1917	145	58	0	0	NUM
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american_scientific_journal-1917	145	60	𝑠𝑠𝑒𝑒𝑐𝑐	𝑠𝑠𝑒𝑒𝑐𝑐	PROPN
american_scientific_journal-1917	145	61	�	�	PROPN
american_scientific_journal-1917	145	62	̇	̇	PROPN
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american_scientific_journal-1917	145	67	3	3	NUM
american_scientific_journal-1917	145	68	×	×	NOUN
american_scientific_journal-1917	145	69	𝑙𝑙	𝑙𝑙	PROPN
american_scientific_journal-1917	145	70	×	×	PROPN
american_scientific_journal-1917	145	71	�	�	PROPN
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american_scientific_journal-1917	145	76	−	−	NUM
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american_scientific_journal-1917	145	78	�	�	X
american_scientific_journal-1917	145	79	=	=	SYM
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american_scientific_journal-1917	145	90	)	)	PUNCT
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american_scientific_journal-1917	145	93	)	)	PUNCT
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american_scientific_journal-1917	145	97	𝑠𝑠𝑒𝑒𝑐𝑐	𝑠𝑠𝑒𝑒𝑐𝑐	VERB
american_scientific_journal-1917	145	98	american	american	PROPN
american_scientific_journal-1917	145	99	scientific	scientific	ADJ
american_scientific_journal-1917	145	100	research	research	NOUN
american_scientific_journal-1917	145	101	journal	journal	NOUN
american_scientific_journal-1917	145	102	for	for	ADP
american_scientific_journal-1917	145	103	engineering	engineering	NOUN
american_scientific_journal-1917	145	104	,	,	PUNCT
american_scientific_journal-1917	145	105	technology	technology	NOUN
american_scientific_journal-1917	145	106	,	,	PUNCT
american_scientific_journal-1917	145	107	and	and	CCONJ
american_scientific_journal-1917	145	108	sciences	science	NOUN
american_scientific_journal-1917	145	109	(	(	PUNCT
american_scientific_journal-1917	145	110	asrjets	asrjet	NOUN
american_scientific_journal-1917	145	111	)	)	PUNCT
american_scientific_journal-1917	145	112	(	(	PUNCT
american_scientific_journal-1917	145	113	2016	2016	NUM
american_scientific_journal-1917	145	114	)	)	PUNCT
american_scientific_journal-1917	145	115	volume	volume	NOUN
american_scientific_journal-1917	145	116	22	22	NUM
american_scientific_journal-1917	145	117	,	,	PUNCT
american_scientific_journal-1917	145	118	no	no	DET
american_scientific_journal-1917	145	119	1	1	NUM
american_scientific_journal-1917	145	120	,	,	PUNCT
american_scientific_journal-1917	145	121	pp	pp	ADV
american_scientific_journal-1917	145	122	195	195	NUM
american_scientific_journal-1917	145	123	-	-	SYM
american_scientific_journal-1917	145	124	209	209	NUM
american_scientific_journal-1917	145	125	204	204	NUM
american_scientific_journal-1917	145	126	the	the	DET
american_scientific_journal-1917	145	127	results	result	NOUN
american_scientific_journal-1917	145	128	prove	prove	VERB
american_scientific_journal-1917	145	129	that	that	SCONJ
american_scientific_journal-1917	145	130	the	the	DET
american_scientific_journal-1917	145	131	equations	equation	NOUN
american_scientific_journal-1917	145	132	and	and	CCONJ
american_scientific_journal-1917	145	133	methodology	methodology	NOUN
american_scientific_journal-1917	145	134	of	of	ADP
american_scientific_journal-1917	145	135	inverse	inverse	NOUN
american_scientific_journal-1917	145	136	kinematics	kinematic	NOUN
american_scientific_journal-1917	145	137	are	be	AUX
american_scientific_journal-1917	145	138	accurate	accurate	ADJ
american_scientific_journal-1917	145	139	.	.	PUNCT
american_scientific_journal-1917	146	1	5	5	X
american_scientific_journal-1917	146	2	.	.	X
american_scientific_journal-1917	146	3	practical	practical	ADJ
american_scientific_journal-1917	146	4	results	result	NOUN
american_scientific_journal-1917	146	5	the	the	DET
american_scientific_journal-1917	146	6	practical	practical	ADJ
american_scientific_journal-1917	146	7	results	result	NOUN
american_scientific_journal-1917	146	8	are	be	AUX
american_scientific_journal-1917	146	9	shown	show	VERB
american_scientific_journal-1917	146	10	and	and	CCONJ
american_scientific_journal-1917	146	11	discussed	discuss	VERB
american_scientific_journal-1917	146	12	in	in	ADP
american_scientific_journal-1917	146	13	this	this	DET
american_scientific_journal-1917	146	14	section	section	NOUN
american_scientific_journal-1917	146	15	.	.	PUNCT
american_scientific_journal-1917	147	1	5.1	5.1	NUM
american_scientific_journal-1917	147	2	robot	robot	NOUN
american_scientific_journal-1917	147	3	repeatability	repeatability	NOUN
american_scientific_journal-1917	147	4	test	test	NOUN
american_scientific_journal-1917	147	5	repeatability	repeatability	NOUN
american_scientific_journal-1917	147	6	is	be	AUX
american_scientific_journal-1917	147	7	an	an	DET
american_scientific_journal-1917	147	8	important	important	ADJ
american_scientific_journal-1917	147	9	measurement	measurement	NOUN
american_scientific_journal-1917	147	10	for	for	ADP
american_scientific_journal-1917	147	11	the	the	DET
american_scientific_journal-1917	147	12	robot	robot	NOUN
american_scientific_journal-1917	147	13	performance	performance	NOUN
american_scientific_journal-1917	147	14	.	.	PUNCT
american_scientific_journal-1917	148	1	in	in	ADP
american_scientific_journal-1917	148	2	this	this	DET
american_scientific_journal-1917	148	3	test	test	NOUN
american_scientific_journal-1917	148	4	,	,	PUNCT
american_scientific_journal-1917	148	5	the	the	DET
american_scientific_journal-1917	148	6	robot	robot	NOUN
american_scientific_journal-1917	148	7	was	be	AUX
american_scientific_journal-1917	148	8	programmed	program	VERB
american_scientific_journal-1917	148	9	to	to	PART
american_scientific_journal-1917	148	10	perform	perform	VERB
american_scientific_journal-1917	148	11	a	a	DET
american_scientific_journal-1917	148	12	specific	specific	ADJ
american_scientific_journal-1917	148	13	cycle	cycle	NOUN
american_scientific_journal-1917	148	14	routine	routine	NOUN
american_scientific_journal-1917	148	15	.	.	PUNCT
american_scientific_journal-1917	149	1	then	then	ADV
american_scientific_journal-1917	149	2	the	the	DET
american_scientific_journal-1917	149	3	ability	ability	NOUN
american_scientific_journal-1917	149	4	of	of	ADP
american_scientific_journal-1917	149	5	robot	robot	NOUN
american_scientific_journal-1917	149	6	to	to	PART
american_scientific_journal-1917	149	7	return	return	VERB
american_scientific_journal-1917	149	8	to	to	ADP
american_scientific_journal-1917	149	9	the	the	DET
american_scientific_journal-1917	149	10	same	same	ADJ
american_scientific_journal-1917	149	11	mark	mark	NOUN
american_scientific_journal-1917	149	12	point	point	NOUN
american_scientific_journal-1917	149	13	with	with	ADP
american_scientific_journal-1917	149	14	only	only	ADV
american_scientific_journal-1917	149	15	the	the	DET
american_scientific_journal-1917	149	16	smallest	small	ADJ
american_scientific_journal-1917	149	17	amount	amount	NOUN
american_scientific_journal-1917	149	18	of	of	ADP
american_scientific_journal-1917	149	19	variation	variation	NOUN
american_scientific_journal-1917	149	20	has	have	AUX
american_scientific_journal-1917	149	21	been	be	AUX
american_scientific_journal-1917	149	22	considered	consider	VERB
american_scientific_journal-1917	149	23	by	by	ADP
american_scientific_journal-1917	149	24	measuring	measure	VERB
american_scientific_journal-1917	149	25	the	the	DET
american_scientific_journal-1917	149	26	error	error	NOUN
american_scientific_journal-1917	149	27	distances	distance	NOUN
american_scientific_journal-1917	149	28	between	between	ADP
american_scientific_journal-1917	149	29	the	the	DET
american_scientific_journal-1917	149	30	reference	reference	NOUN
american_scientific_journal-1917	149	31	position	position	NOUN
american_scientific_journal-1917	149	32	and	and	CCONJ
american_scientific_journal-1917	149	33	the	the	DET
american_scientific_journal-1917	149	34	different	different	ADJ
american_scientific_journal-1917	149	35	attempts	attempt	NOUN
american_scientific_journal-1917	149	36	position	position	NOUN
american_scientific_journal-1917	149	37	.	.	PUNCT
american_scientific_journal-1917	150	1	figure	figure	NOUN
american_scientific_journal-1917	150	2	6	6	NUM
american_scientific_journal-1917	150	3	shows	show	VERB
american_scientific_journal-1917	150	4	a	a	DET
american_scientific_journal-1917	150	5	triangle	triangle	NOUN
american_scientific_journal-1917	150	6	path	path	NOUN
american_scientific_journal-1917	150	7	that	that	PRON
american_scientific_journal-1917	150	8	the	the	DET
american_scientific_journal-1917	150	9	robot	robot	NOUN
american_scientific_journal-1917	150	10	was	be	AUX
american_scientific_journal-1917	150	11	programmed	program	VERB
american_scientific_journal-1917	150	12	to	to	PART
american_scientific_journal-1917	150	13	move	move	VERB
american_scientific_journal-1917	150	14	in	in	ADP
american_scientific_journal-1917	150	15	to	to	PART
american_scientific_journal-1917	150	16	perform	perform	VERB
american_scientific_journal-1917	150	17	the	the	DET
american_scientific_journal-1917	150	18	repeatability	repeatability	NOUN
american_scientific_journal-1917	150	19	test	test	NOUN
american_scientific_journal-1917	150	20	.	.	PUNCT
american_scientific_journal-1917	151	1	figure	figure	VERB
american_scientific_journal-1917	151	2	6	6	NUM
american_scientific_journal-1917	151	3	:	:	PUNCT
american_scientific_journal-1917	151	4	robot	robot	NOUN
american_scientific_journal-1917	151	5	repeatability	repeatability	NOUN
american_scientific_journal-1917	151	6	test	test	NOUN
american_scientific_journal-1917	151	7	.	.	PUNCT
american_scientific_journal-1917	152	1	the	the	DET
american_scientific_journal-1917	152	2	test	test	NOUN
american_scientific_journal-1917	152	3	conditions	condition	NOUN
american_scientific_journal-1917	152	4	include	include	VERB
american_scientific_journal-1917	152	5	:	:	PUNCT
american_scientific_journal-1917	152	6	•	•	ADP
american_scientific_journal-1917	152	7	the	the	DET
american_scientific_journal-1917	152	8	same	same	ADJ
american_scientific_journal-1917	152	9	procedure	procedure	NOUN
american_scientific_journal-1917	152	10	,	,	PUNCT
american_scientific_journal-1917	152	11	•	•	DET
american_scientific_journal-1917	152	12	the	the	DET
american_scientific_journal-1917	152	13	same	same	ADJ
american_scientific_journal-1917	152	14	observer	observer	NOUN
american_scientific_journal-1917	152	15	,	,	PUNCT
american_scientific_journal-1917	152	16	•	•	DET
american_scientific_journal-1917	152	17	the	the	DET
american_scientific_journal-1917	152	18	same	same	ADJ
american_scientific_journal-1917	152	19	measuring	measuring	NOUN
american_scientific_journal-1917	152	20	instrument	instrument	NOUN
american_scientific_journal-1917	152	21	,	,	PUNCT
american_scientific_journal-1917	152	22	used	use	VERB
american_scientific_journal-1917	152	23	under	under	ADP
american_scientific_journal-1917	152	24	the	the	DET
american_scientific_journal-1917	152	25	same	same	ADJ
american_scientific_journal-1917	152	26	conditions	condition	NOUN
american_scientific_journal-1917	152	27	,	,	PUNCT
american_scientific_journal-1917	152	28	•	•	DET
american_scientific_journal-1917	152	29	the	the	DET
american_scientific_journal-1917	152	30	same	same	ADJ
american_scientific_journal-1917	152	31	location	location	NOUN
american_scientific_journal-1917	152	32	,	,	PUNCT
american_scientific_journal-1917	152	33	•	•	NUM
american_scientific_journal-1917	152	34	repetition	repetition	NOUN
american_scientific_journal-1917	152	35	over	over	ADP
american_scientific_journal-1917	152	36	a	a	DET
american_scientific_journal-1917	152	37	short	short	ADJ
american_scientific_journal-1917	152	38	period	period	NOUN
american_scientific_journal-1917	152	39	of	of	ADP
american_scientific_journal-1917	152	40	time	time	NOUN
american_scientific_journal-1917	152	41	.	.	PUNCT
american_scientific_journal-1917	153	1	the	the	DET
american_scientific_journal-1917	153	2	test	test	NOUN
american_scientific_journal-1917	153	3	cycle	cycle	NOUN
american_scientific_journal-1917	153	4	is	be	AUX
american_scientific_journal-1917	153	5	:	:	PUNCT
american_scientific_journal-1917	153	6	move	move	VERB
american_scientific_journal-1917	153	7	with	with	ADP
american_scientific_journal-1917	153	8	velocity	velocity	NOUN
american_scientific_journal-1917	153	9	=	=	SYM
american_scientific_journal-1917	153	10	1	1	NUM
american_scientific_journal-1917	153	11	m	m	PROPN
american_scientific_journal-1917	153	12	/	/	SYM
american_scientific_journal-1917	153	13	sec	sec	PROPN
american_scientific_journal-1917	153	14	,	,	PUNCT
american_scientific_journal-1917	153	15	and	and	CCONJ
american_scientific_journal-1917	153	16	θ	θ	PROPN
american_scientific_journal-1917	153	17	=	=	SYM
american_scientific_journal-1917	153	18	0	0	X
american_scientific_journal-1917	153	19	.	.	X
american_scientific_journal-1917	153	20	move	move	VERB
american_scientific_journal-1917	153	21	with	with	ADP
american_scientific_journal-1917	153	22	t	t	NOUN
american_scientific_journal-1917	153	23	velocity	velocity	NOUN
american_scientific_journal-1917	153	24	=	=	SYM
american_scientific_journal-1917	153	25	1	1	NUM
american_scientific_journal-1917	153	26	m	m	PROPN
american_scientific_journal-1917	153	27	/	/	SYM
american_scientific_journal-1917	153	28	sec	sec	PROPN
american_scientific_journal-1917	153	29	,	,	PUNCT
american_scientific_journal-1917	153	30	and	and	CCONJ
american_scientific_journal-1917	153	31	θ	θ	PROPN
american_scientific_journal-1917	153	32	=	=	SYM
american_scientific_journal-1917	153	33	120	120	NUM
american_scientific_journal-1917	153	34	.	.	PUNCT
american_scientific_journal-1917	154	1	robot	robot	NOUN
american_scientific_journal-1917	154	2	triangle	triangle	PROPN
american_scientific_journal-1917	154	3	path	path	PROPN
american_scientific_journal-1917	154	4	american	american	PROPN
american_scientific_journal-1917	154	5	scientific	scientific	PROPN
american_scientific_journal-1917	154	6	research	research	PROPN
american_scientific_journal-1917	154	7	journal	journal	NOUN
american_scientific_journal-1917	154	8	for	for	ADP
american_scientific_journal-1917	154	9	engineering	engineering	NOUN
american_scientific_journal-1917	154	10	,	,	PUNCT
american_scientific_journal-1917	154	11	technology	technology	NOUN
american_scientific_journal-1917	154	12	,	,	PUNCT
american_scientific_journal-1917	154	13	and	and	CCONJ
american_scientific_journal-1917	154	14	sciences	science	NOUN
american_scientific_journal-1917	154	15	(	(	PUNCT
american_scientific_journal-1917	154	16	asrjets	asrjet	NOUN
american_scientific_journal-1917	154	17	)	)	PUNCT
american_scientific_journal-1917	154	18	(	(	PUNCT
american_scientific_journal-1917	154	19	2016	2016	NUM
american_scientific_journal-1917	154	20	)	)	PUNCT
american_scientific_journal-1917	154	21	volume	volume	NOUN
american_scientific_journal-1917	154	22	22	22	NUM
american_scientific_journal-1917	154	23	,	,	PUNCT
american_scientific_journal-1917	154	24	no	no	DET
american_scientific_journal-1917	154	25	1	1	NUM
american_scientific_journal-1917	154	26	,	,	PUNCT
american_scientific_journal-1917	154	27	pp	pp	ADV
american_scientific_journal-1917	154	28	195	195	NUM
american_scientific_journal-1917	154	29	-	-	SYM
american_scientific_journal-1917	154	30	209	209	NUM
american_scientific_journal-1917	154	31	205	205	NUM
american_scientific_journal-1917	154	32	move	move	NOUN
american_scientific_journal-1917	154	33	with	with	ADP
american_scientific_journal-1917	154	34	velocity	velocity	NOUN
american_scientific_journal-1917	154	35	=	=	SYM
american_scientific_journal-1917	154	36	1	1	NUM
american_scientific_journal-1917	154	37	m	m	PROPN
american_scientific_journal-1917	154	38	/	/	SYM
american_scientific_journal-1917	154	39	sec	sec	PROPN
american_scientific_journal-1917	154	40	,	,	PUNCT
american_scientific_journal-1917	154	41	and	and	CCONJ
american_scientific_journal-1917	154	42	θ	θ	PROPN
american_scientific_journal-1917	154	43	=	=	SYM
american_scientific_journal-1917	154	44	240	240	NUM
american_scientific_journal-1917	154	45	.	.	PUNCT
american_scientific_journal-1917	155	1	figure	figure	VERB
american_scientific_journal-1917	155	2	7	7	NUM
american_scientific_journal-1917	155	3	:	:	PUNCT
american_scientific_journal-1917	155	4	errors	error	NOUN
american_scientific_journal-1917	155	5	in	in	ADP
american_scientific_journal-1917	155	6	robot	robot	NOUN
american_scientific_journal-1917	155	7	positions	position	NOUN
american_scientific_journal-1917	155	8	marked	mark	VERB
american_scientific_journal-1917	155	9	on	on	ADP
american_scientific_journal-1917	155	10	the	the	DET
american_scientific_journal-1917	155	11	ground	ground	NOUN
american_scientific_journal-1917	155	12	at	at	ADP
american_scientific_journal-1917	155	13	the	the	DET
american_scientific_journal-1917	155	14	end	end	NOUN
american_scientific_journal-1917	155	15	of	of	ADP
american_scientific_journal-1917	155	16	each	each	DET
american_scientific_journal-1917	155	17	cycle	cycle	NOUN
american_scientific_journal-1917	155	18	.	.	PUNCT
american_scientific_journal-1917	156	1	at	at	ADP
american_scientific_journal-1917	156	2	the	the	DET
american_scientific_journal-1917	156	3	end	end	NOUN
american_scientific_journal-1917	156	4	of	of	ADP
american_scientific_journal-1917	156	5	each	each	DET
american_scientific_journal-1917	156	6	cycle	cycle	NOUN
american_scientific_journal-1917	156	7	,	,	PUNCT
american_scientific_journal-1917	156	8	the	the	DET
american_scientific_journal-1917	156	9	robot	robot	NOUN
american_scientific_journal-1917	156	10	position	position	NOUN
american_scientific_journal-1917	156	11	was	be	AUX
american_scientific_journal-1917	156	12	marked	mark	VERB
american_scientific_journal-1917	156	13	on	on	ADP
american_scientific_journal-1917	156	14	the	the	DET
american_scientific_journal-1917	156	15	ground	ground	NOUN
american_scientific_journal-1917	156	16	as	as	SCONJ
american_scientific_journal-1917	156	17	shown	show	VERB
american_scientific_journal-1917	156	18	in	in	ADP
american_scientific_journal-1917	156	19	figure	figure	NOUN
american_scientific_journal-1917	156	20	7	7	NUM
american_scientific_journal-1917	156	21	.	.	PUNCT
american_scientific_journal-1917	157	1	then	then	ADV
american_scientific_journal-1917	157	2	the	the	DET
american_scientific_journal-1917	157	3	error	error	NOUN
american_scientific_journal-1917	157	4	distances	distance	NOUN
american_scientific_journal-1917	157	5	were	be	AUX
american_scientific_journal-1917	157	6	measured	measure	VERB
american_scientific_journal-1917	157	7	by	by	ADP
american_scientific_journal-1917	157	8	using	use	VERB
american_scientific_journal-1917	157	9	a	a	DET
american_scientific_journal-1917	157	10	measure	measure	NOUN
american_scientific_journal-1917	157	11	tape	tape	NOUN
american_scientific_journal-1917	157	12	.	.	PUNCT
american_scientific_journal-1917	158	1	in	in	ADP
american_scientific_journal-1917	158	2	this	this	DET
american_scientific_journal-1917	158	3	test	test	NOUN
american_scientific_journal-1917	158	4	,	,	PUNCT
american_scientific_journal-1917	158	5	it	it	PRON
american_scientific_journal-1917	158	6	has	have	AUX
american_scientific_journal-1917	158	7	been	be	AUX
american_scientific_journal-1917	158	8	noticed	notice	VERB
american_scientific_journal-1917	158	9	that	that	SCONJ
american_scientific_journal-1917	158	10	the	the	DET
american_scientific_journal-1917	158	11	robot	robot	NOUN
american_scientific_journal-1917	158	12	almost	almost	ADV
american_scientific_journal-1917	158	13	successfully	successfully	ADV
american_scientific_journal-1917	158	14	follows	follow	VERB
american_scientific_journal-1917	158	15	the	the	DET
american_scientific_journal-1917	158	16	triangle	triangle	NOUN
american_scientific_journal-1917	158	17	path	path	NOUN
american_scientific_journal-1917	158	18	.	.	PUNCT
american_scientific_journal-1917	159	1	table	table	NOUN
american_scientific_journal-1917	159	2	2	2	NUM
american_scientific_journal-1917	159	3	shows	show	VERB
american_scientific_journal-1917	159	4	the	the	DET
american_scientific_journal-1917	159	5	error	error	NOUN
american_scientific_journal-1917	159	6	at	at	ADP
american_scientific_journal-1917	159	7	each	each	DET
american_scientific_journal-1917	159	8	cycle	cycle	NOUN
american_scientific_journal-1917	159	9	(	(	PUNCT
american_scientific_journal-1917	159	10	attempt	attempt	NOUN
american_scientific_journal-1917	159	11	)	)	PUNCT
american_scientific_journal-1917	159	12	.	.	PUNCT
american_scientific_journal-1917	160	1	table	table	NOUN
american_scientific_journal-1917	160	2	2	2	NUM
american_scientific_journal-1917	160	3	:	:	PUNCT
american_scientific_journal-1917	160	4	error	error	NOUN
american_scientific_journal-1917	160	5	in	in	ADP
american_scientific_journal-1917	160	6	robot	robot	NOUN
american_scientific_journal-1917	160	7	position	position	NOUN
american_scientific_journal-1917	160	8	at	at	ADP
american_scientific_journal-1917	160	9	each	each	DET
american_scientific_journal-1917	160	10	cycle	cycle	NOUN
american_scientific_journal-1917	160	11	(	(	PUNCT
american_scientific_journal-1917	160	12	attempt	attempt	NOUN
american_scientific_journal-1917	160	13	)	)	PUNCT
american_scientific_journal-1917	160	14	.	.	PUNCT
american_scientific_journal-1917	161	1	form	form	NOUN
american_scientific_journal-1917	161	2	table	table	NOUN
american_scientific_journal-1917	161	3	2	2	NUM
american_scientific_journal-1917	161	4	,	,	PUNCT
american_scientific_journal-1917	161	5	it	it	PRON
american_scientific_journal-1917	161	6	has	have	AUX
american_scientific_journal-1917	161	7	been	be	AUX
american_scientific_journal-1917	161	8	noticed	notice	VERB
american_scientific_journal-1917	161	9	that	that	SCONJ
american_scientific_journal-1917	161	10	the	the	DET
american_scientific_journal-1917	161	11	errors	error	NOUN
american_scientific_journal-1917	161	12	in	in	ADP
american_scientific_journal-1917	161	13	robot	robot	NOUN
american_scientific_journal-1917	161	14	position	position	NOUN
american_scientific_journal-1917	161	15	is	be	AUX
american_scientific_journal-1917	161	16	less	less	ADJ
american_scientific_journal-1917	161	17	than	than	ADP
american_scientific_journal-1917	161	18	5	5	NUM
american_scientific_journal-1917	161	19	cm	cm	NOUN
american_scientific_journal-1917	161	20	for	for	ADP
american_scientific_journal-1917	161	21	all	all	DET
american_scientific_journal-1917	161	22	attempts	attempt	NOUN
american_scientific_journal-1917	161	23	.	.	PUNCT
american_scientific_journal-1917	162	1	these	these	DET
american_scientific_journal-1917	162	2	error	error	NOUN
american_scientific_journal-1917	162	3	values	value	NOUN
american_scientific_journal-1917	162	4	are	be	AUX
american_scientific_journal-1917	162	5	within	within	ADP
american_scientific_journal-1917	162	6	the	the	DET
american_scientific_journal-1917	162	7	acceptable	acceptable	ADJ
american_scientific_journal-1917	162	8	limit	limit	NOUN
american_scientific_journal-1917	162	9	for	for	ADP
american_scientific_journal-1917	162	10	robot	robot	NOUN
american_scientific_journal-1917	162	11	working	work	VERB
american_scientific_journal-1917	162	12	in	in	ADP
american_scientific_journal-1917	162	13	this	this	DET
american_scientific_journal-1917	162	14	environment	environment	NOUN
american_scientific_journal-1917	162	15	.	.	PUNCT
american_scientific_journal-1917	163	1	the	the	DET
american_scientific_journal-1917	163	2	error	error	NOUN
american_scientific_journal-1917	163	3	in	in	ADP
american_scientific_journal-1917	163	4	robot	robot	NOUN
american_scientific_journal-1917	163	5	position	position	NOUN
american_scientific_journal-1917	163	6	could	could	AUX
american_scientific_journal-1917	163	7	be	be	AUX
american_scientific_journal-1917	163	8	systematic	systematic	ADJ
american_scientific_journal-1917	163	9	or	or	CCONJ
american_scientific_journal-1917	163	10	non	non	ADJ
american_scientific_journal-1917	163	11	-	-	ADJ
american_scientific_journal-1917	163	12	systematic	systematic	ADJ
american_scientific_journal-1917	163	13	,	,	PUNCT
american_scientific_journal-1917	163	14	such	such	ADJ
american_scientific_journal-1917	163	15	as	as	ADP
american_scientific_journal-1917	163	16	the	the	DET
american_scientific_journal-1917	163	17	odometry	odometry	NOUN
american_scientific_journal-1917	163	18	error	error	NOUN
american_scientific_journal-1917	163	19	.	.	PUNCT
american_scientific_journal-1917	164	1	factors	factor	NOUN
american_scientific_journal-1917	164	2	such	such	ADJ
american_scientific_journal-1917	164	3	as	as	ADP
american_scientific_journal-1917	164	4	the	the	DET
american_scientific_journal-1917	164	5	error	error	NOUN
american_scientific_journal-1917	164	6	between	between	ADP
american_scientific_journal-1917	164	7	the	the	DET
american_scientific_journal-1917	164	8	desired	desire	VERB
american_scientific_journal-1917	164	9	wheels	wheel	NOUN
american_scientific_journal-1917	164	10	velocity	velocity	NOUN
american_scientific_journal-1917	164	11	and	and	CCONJ
american_scientific_journal-1917	164	12	the	the	DET
american_scientific_journal-1917	164	13	actual	actual	ADJ
american_scientific_journal-1917	164	14	wheel	wheel	NOUN
american_scientific_journal-1917	164	15	’s	’s	PART
american_scientific_journal-1917	164	16	velocity	velocity	NOUN
american_scientific_journal-1917	164	17	,	,	PUNCT
american_scientific_journal-1917	164	18	and	and	CCONJ
american_scientific_journal-1917	164	19	contact	contact	NOUN
american_scientific_journal-1917	164	20	surface	surface	NOUN
american_scientific_journal-1917	164	21	(	(	PUNCT
american_scientific_journal-1917	164	22	i.e.	i.e.	X
american_scientific_journal-1917	164	23	friction	friction	NOUN
american_scientific_journal-1917	164	24	between	between	ADP
american_scientific_journal-1917	164	25	the	the	DET
american_scientific_journal-1917	164	26	ground	ground	NOUN
american_scientific_journal-1917	164	27	and	and	CCONJ
american_scientific_journal-1917	164	28	the	the	DET
american_scientific_journal-1917	164	29	robot	robot	NOUN
american_scientific_journal-1917	164	30	wheels	wheel	NOUN
american_scientific_journal-1917	164	31	,	,	PUNCT
american_scientific_journal-1917	164	32	and	and	CCONJ
american_scientific_journal-1917	164	33	surface	surface	NOUN
american_scientific_journal-1917	164	34	conditions	condition	NOUN
american_scientific_journal-1917	164	35	)	)	PUNCT
american_scientific_journal-1917	164	36	appear	appear	VERB
american_scientific_journal-1917	164	37	to	to	PART
american_scientific_journal-1917	164	38	be	be	AUX
american_scientific_journal-1917	164	39	the	the	DET
american_scientific_journal-1917	164	40	reason	reason	NOUN
american_scientific_journal-1917	164	41	behind	behind	ADP
american_scientific_journal-1917	164	42	the	the	DET
american_scientific_journal-1917	164	43	robot	robot	NOUN
american_scientific_journal-1917	164	44	position	position	NOUN
american_scientific_journal-1917	164	45	differences	difference	NOUN
american_scientific_journal-1917	164	46	.	.	PUNCT
american_scientific_journal-1917	165	1	if	if	SCONJ
american_scientific_journal-1917	165	2	the	the	DET
american_scientific_journal-1917	165	3	repeatability	repeatability	NOUN
american_scientific_journal-1917	165	4	test	test	NOUN
american_scientific_journal-1917	165	5	applied	apply	VERB
american_scientific_journal-1917	165	6	in	in	ADP
american_scientific_journal-1917	165	7	better	well	ADJ
american_scientific_journal-1917	165	8	surface	surface	NOUN
american_scientific_journal-1917	165	9	,	,	PUNCT
american_scientific_journal-1917	165	10	the	the	DET
american_scientific_journal-1917	165	11	position	position	NOUN
american_scientific_journal-1917	165	12	error	error	NOUN
american_scientific_journal-1917	165	13	could	could	AUX
american_scientific_journal-1917	165	14	be	be	AUX
american_scientific_journal-1917	165	15	reduced	reduce	VERB
american_scientific_journal-1917	165	16	.	.	PUNCT
american_scientific_journal-1917	166	1	an	an	DET
american_scientific_journal-1917	166	2	improvement	improvement	NOUN
american_scientific_journal-1917	166	3	in	in	ADP
american_scientific_journal-1917	166	4	robot	robot	NOUN
american_scientific_journal-1917	166	5	system	system	NOUN
american_scientific_journal-1917	166	6	(	(	PUNCT
american_scientific_journal-1917	166	7	such	such	ADJ
american_scientific_journal-1917	166	8	as	as	ADP
american_scientific_journal-1917	166	9	using	use	VERB
american_scientific_journal-1917	166	10	a	a	DET
american_scientific_journal-1917	166	11	different	different	ADJ
american_scientific_journal-1917	166	12	wheel	wheel	NOUN
american_scientific_journal-1917	166	13	design	design	NOUN
american_scientific_journal-1917	166	14	,	,	PUNCT
american_scientific_journal-1917	166	15	changing	change	VERB
american_scientific_journal-1917	166	16	the	the	DET
american_scientific_journal-1917	166	17	wheel	wheel	NOUN
american_scientific_journal-1917	166	18	’s	’s	PART
american_scientific_journal-1917	166	19	velocity	velocity	NOUN
american_scientific_journal-1917	166	20	control	control	NOUN
american_scientific_journal-1917	166	21	algorithm	algorithm	PROPN
american_scientific_journal-1917	166	22	)	)	PUNCT
american_scientific_journal-1917	166	23	could	could	AUX
american_scientific_journal-1917	166	24	be	be	AUX
american_scientific_journal-1917	166	25	have	have	VERB
american_scientific_journal-1917	166	26	a	a	DET
american_scientific_journal-1917	166	27	positive	positive	ADJ
american_scientific_journal-1917	166	28	effect	effect	NOUN
american_scientific_journal-1917	166	29	on	on	ADP
american_scientific_journal-1917	166	30	the	the	DET
american_scientific_journal-1917	166	31	measurements	measurement	NOUN
american_scientific_journal-1917	166	32	repeatability	repeatability	NOUN
american_scientific_journal-1917	166	33	.	.	PUNCT
american_scientific_journal-1917	167	1	for	for	ADP
american_scientific_journal-1917	167	2	current	current	ADJ
american_scientific_journal-1917	167	3	robot	robot	NOUN
american_scientific_journal-1917	167	4	design	design	NOUN
american_scientific_journal-1917	167	5	it	it	PRON
american_scientific_journal-1917	167	6	can	can	AUX
american_scientific_journal-1917	167	7	be	be	AUX
american_scientific_journal-1917	167	8	said	say	VERB
american_scientific_journal-1917	167	9	that	that	SCONJ
american_scientific_journal-1917	167	10	the	the	DET
american_scientific_journal-1917	167	11	measurements	measurement	NOUN
american_scientific_journal-1917	167	12	in	in	ADP
american_scientific_journal-1917	167	13	table	table	NOUN
american_scientific_journal-1917	167	14	2	2	NUM
american_scientific_journal-1917	167	15	are	be	AUX
american_scientific_journal-1917	167	16	repeatable	repeatable	ADJ
american_scientific_journal-1917	167	17	because	because	SCONJ
american_scientific_journal-1917	167	18	the	the	DET
american_scientific_journal-1917	167	19	robot	robot	NOUN
american_scientific_journal-1917	167	20	position	position	NOUN
american_scientific_journal-1917	167	21	variations	variation	NOUN
american_scientific_journal-1917	167	22	are	be	AUX
american_scientific_journal-1917	167	23	smaller	small	ADJ
american_scientific_journal-1917	167	24	than	than	ADP
american_scientific_journal-1917	167	25	the	the	DET
american_scientific_journal-1917	167	26	agreed	agree	VERB
american_scientific_journal-1917	167	27	limit	limit	NOUN
american_scientific_journal-1917	167	28	.	.	PUNCT
american_scientific_journal-1917	168	1	5.2	5.2	NUM
american_scientific_journal-1917	168	2	test	test	NOUN
american_scientific_journal-1917	168	3	the	the	DET
american_scientific_journal-1917	168	4	robot	robot	NOUN
american_scientific_journal-1917	168	5	velocity	velocity	NOUN
american_scientific_journal-1917	168	6	and	and	CCONJ
american_scientific_journal-1917	168	7	acceleration	acceleration	NOUN
american_scientific_journal-1917	168	8	limitations	limitation	NOUN
american_scientific_journal-1917	168	9	in	in	ADP
american_scientific_journal-1917	168	10	this	this	DET
american_scientific_journal-1917	168	11	test	test	NOUN
american_scientific_journal-1917	168	12	,	,	PUNCT
american_scientific_journal-1917	168	13	the	the	DET
american_scientific_journal-1917	168	14	maximum	maximum	ADJ
american_scientific_journal-1917	168	15	velocity	velocity	NOUN
american_scientific_journal-1917	168	16	and	and	CCONJ
american_scientific_journal-1917	168	17	acceleration	acceleration	NOUN
american_scientific_journal-1917	168	18	of	of	ADP
american_scientific_journal-1917	168	19	the	the	DET
american_scientific_journal-1917	168	20	robot	robot	NOUN
american_scientific_journal-1917	168	21	have	have	AUX
american_scientific_journal-1917	168	22	been	be	AUX
american_scientific_journal-1917	168	23	measured	measure	VERB
american_scientific_journal-1917	168	24	.	.	PUNCT
american_scientific_journal-1917	169	1	cycle	cycle	NOUN
american_scientific_journal-1917	169	2	no	no	DET
american_scientific_journal-1917	169	3	1	1	NUM
american_scientific_journal-1917	169	4	2	2	NUM
american_scientific_journal-1917	169	5	3	3	NUM
american_scientific_journal-1917	169	6	4	4	NUM
american_scientific_journal-1917	169	7	5	5	NUM
american_scientific_journal-1917	169	8	6	6	NUM
american_scientific_journal-1917	169	9	7	7	NUM
american_scientific_journal-1917	169	10	8	8	NUM
american_scientific_journal-1917	169	11	9	9	NUM
american_scientific_journal-1917	169	12	10	10	NUM
american_scientific_journal-1917	169	13	error	error	NOUN
american_scientific_journal-1917	169	14	(	(	PUNCT
american_scientific_journal-1917	169	15	cm	cm	NOUN
american_scientific_journal-1917	169	16	)	)	PUNCT
american_scientific_journal-1917	169	17	3.75	3.75	NUM
american_scientific_journal-1917	169	18	3.5	3.5	NUM
american_scientific_journal-1917	169	19	3.25	3.25	NUM
american_scientific_journal-1917	169	20	4.5	4.5	NUM
american_scientific_journal-1917	169	21	4	4	NUM
american_scientific_journal-1917	169	22	3.75	3.75	NUM
american_scientific_journal-1917	169	23	3.9	3.9	NUM
american_scientific_journal-1917	169	24	3	3	NUM
american_scientific_journal-1917	169	25	3.25	3.25	NUM
american_scientific_journal-1917	169	26	4.25	4.25	NUM
american_scientific_journal-1917	169	27	robot	robot	NOUN
american_scientific_journal-1917	169	28	position	position	NOUN
american_scientific_journal-1917	169	29	american	american	PROPN
american_scientific_journal-1917	169	30	scientific	scientific	ADJ
american_scientific_journal-1917	169	31	research	research	NOUN
american_scientific_journal-1917	169	32	journal	journal	NOUN
american_scientific_journal-1917	169	33	for	for	ADP
american_scientific_journal-1917	169	34	engineering	engineering	NOUN
american_scientific_journal-1917	169	35	,	,	PUNCT
american_scientific_journal-1917	169	36	technology	technology	NOUN
american_scientific_journal-1917	169	37	,	,	PUNCT
american_scientific_journal-1917	169	38	and	and	CCONJ
american_scientific_journal-1917	169	39	sciences	science	NOUN
american_scientific_journal-1917	169	40	(	(	PUNCT
american_scientific_journal-1917	169	41	asrjets	asrjet	NOUN
american_scientific_journal-1917	169	42	)	)	PUNCT
american_scientific_journal-1917	169	43	(	(	PUNCT
american_scientific_journal-1917	169	44	2016	2016	NUM
american_scientific_journal-1917	169	45	)	)	PUNCT
american_scientific_journal-1917	169	46	volume	volume	NOUN
american_scientific_journal-1917	169	47	22	22	NUM
american_scientific_journal-1917	169	48	,	,	PUNCT
american_scientific_journal-1917	169	49	no	no	DET
american_scientific_journal-1917	169	50	1	1	NUM
american_scientific_journal-1917	169	51	,	,	PUNCT
american_scientific_journal-1917	169	52	pp	pp	ADV
american_scientific_journal-1917	169	53	195	195	NUM
american_scientific_journal-1917	169	54	-	-	SYM
american_scientific_journal-1917	169	55	209	209	NUM
american_scientific_journal-1917	169	56	206	206	NUM
american_scientific_journal-1917	169	57	both	both	DET
american_scientific_journal-1917	169	58	values	value	NOUN
american_scientific_journal-1917	169	59	are	be	AUX
american_scientific_journal-1917	169	60	collected	collect	VERB
american_scientific_journal-1917	169	61	by	by	ADP
american_scientific_journal-1917	169	62	using	use	VERB
american_scientific_journal-1917	169	63	two	two	NUM
american_scientific_journal-1917	169	64	methods	method	NOUN
american_scientific_journal-1917	169	65	,	,	PUNCT
american_scientific_journal-1917	169	66	one	one	NUM
american_scientific_journal-1917	169	67	of	of	ADP
american_scientific_journal-1917	169	68	them	they	PRON
american_scientific_journal-1917	169	69	by	by	ADP
american_scientific_journal-1917	169	70	connecting	connect	VERB
american_scientific_journal-1917	169	71	the	the	DET
american_scientific_journal-1917	169	72	robot	robot	NOUN
american_scientific_journal-1917	169	73	to	to	ADP
american_scientific_journal-1917	169	74	the	the	DET
american_scientific_journal-1917	169	75	laptop	laptop	NOUN
american_scientific_journal-1917	169	76	and	and	CCONJ
american_scientific_journal-1917	169	77	them	they	PRON
american_scientific_journal-1917	169	78	read	read	VERB
american_scientific_journal-1917	169	79	the	the	DET
american_scientific_journal-1917	169	80	values	value	NOUN
american_scientific_journal-1917	169	81	,	,	PUNCT
american_scientific_journal-1917	169	82	the	the	DET
american_scientific_journal-1917	169	83	other	other	ADJ
american_scientific_journal-1917	169	84	method	method	NOUN
american_scientific_journal-1917	169	85	by	by	ADP
american_scientific_journal-1917	169	86	using	use	VERB
american_scientific_journal-1917	169	87	a	a	DET
american_scientific_journal-1917	169	88	measure	measure	NOUN
american_scientific_journal-1917	169	89	tape	tape	NOUN
american_scientific_journal-1917	169	90	and	and	CCONJ
american_scientific_journal-1917	169	91	stopwatch	stopwatch	NOUN
american_scientific_journal-1917	169	92	as	as	SCONJ
american_scientific_journal-1917	169	93	shown	show	VERB
american_scientific_journal-1917	169	94	in	in	ADP
american_scientific_journal-1917	169	95	figure	figure	NOUN
american_scientific_journal-1917	169	96	8	8	NUM
american_scientific_journal-1917	169	97	.	.	PUNCT
american_scientific_journal-1917	170	1	figure	figure	NOUN
american_scientific_journal-1917	170	2	8	8	NUM
american_scientific_journal-1917	170	3	:	:	PUNCT
american_scientific_journal-1917	170	4	using	use	VERB
american_scientific_journal-1917	170	5	a	a	DET
american_scientific_journal-1917	170	6	measure	measure	NOUN
american_scientific_journal-1917	170	7	tape	tape	NOUN
american_scientific_journal-1917	170	8	and	and	CCONJ
american_scientific_journal-1917	170	9	stopwatch	stopwatch	NOUN
american_scientific_journal-1917	170	10	to	to	PART
american_scientific_journal-1917	170	11	measure	measure	VERB
american_scientific_journal-1917	170	12	the	the	DET
american_scientific_journal-1917	170	13	robot	robot	NOUN
american_scientific_journal-1917	170	14	linear	linear	NOUN
american_scientific_journal-1917	170	15	and	and	CCONJ
american_scientific_journal-1917	170	16	velocities	velocity	NOUN
american_scientific_journal-1917	170	17	.	.	PUNCT
american_scientific_journal-1917	171	1	the	the	DET
american_scientific_journal-1917	171	2	procedure	procedure	NOUN
american_scientific_journal-1917	171	3	is	be	AUX
american_scientific_journal-1917	171	4	to	to	PART
american_scientific_journal-1917	171	5	:	:	PUNCT
american_scientific_journal-1917	171	6	•	•	NUM
american_scientific_journal-1917	171	7	drive	drive	VERB
american_scientific_journal-1917	171	8	two	two	NUM
american_scientific_journal-1917	171	9	wheels	wheel	NOUN
american_scientific_journal-1917	171	10	with	with	ADP
american_scientific_journal-1917	171	11	the	the	DET
american_scientific_journal-1917	171	12	rated	rate	VERB
american_scientific_journal-1917	171	13	voltage	voltage	NOUN
american_scientific_journal-1917	171	14	(	(	PUNCT
american_scientific_journal-1917	171	15	+12	+12	PROPN
american_scientific_journal-1917	171	16	v	v	NOUN
american_scientific_journal-1917	171	17	)	)	PUNCT
american_scientific_journal-1917	171	18	in	in	ADP
american_scientific_journal-1917	171	19	order	order	NOUN
american_scientific_journal-1917	171	20	to	to	PART
american_scientific_journal-1917	171	21	move	move	VERB
american_scientific_journal-1917	171	22	the	the	DET
american_scientific_journal-1917	171	23	robot	robot	NOUN
american_scientific_journal-1917	171	24	forward	forward	ADV
american_scientific_journal-1917	171	25	with	with	ADP
american_scientific_journal-1917	171	26	the	the	DET
american_scientific_journal-1917	171	27	maximum	maximum	ADJ
american_scientific_journal-1917	171	28	linear	linear	ADJ
american_scientific_journal-1917	171	29	velocity	velocity	NOUN
american_scientific_journal-1917	171	30	and	and	CCONJ
american_scientific_journal-1917	171	31	acceleration	acceleration	NOUN
american_scientific_journal-1917	171	32	,	,	PUNCT
american_scientific_journal-1917	171	33	then	then	ADV
american_scientific_journal-1917	171	34	record	record	VERB
american_scientific_journal-1917	171	35	the	the	DET
american_scientific_journal-1917	171	36	results	result	NOUN
american_scientific_journal-1917	171	37	by	by	ADP
american_scientific_journal-1917	171	38	using	use	VERB
american_scientific_journal-1917	171	39	the	the	DET
american_scientific_journal-1917	171	40	two	two	NUM
american_scientific_journal-1917	171	41	method	method	NOUN
american_scientific_journal-1917	171	42	.	.	PUNCT
american_scientific_journal-1917	172	1	•	•	NUM
american_scientific_journal-1917	172	2	drive	drive	VERB
american_scientific_journal-1917	172	3	the	the	DET
american_scientific_journal-1917	172	4	three	three	NUM
american_scientific_journal-1917	172	5	robot	robot	NOUN
american_scientific_journal-1917	172	6	wheels	wheel	NOUN
american_scientific_journal-1917	172	7	with	with	ADP
american_scientific_journal-1917	172	8	the	the	DET
american_scientific_journal-1917	172	9	rated	rate	VERB
american_scientific_journal-1917	172	10	voltage	voltage	NOUN
american_scientific_journal-1917	172	11	(	(	PUNCT
american_scientific_journal-1917	172	12	+12	+12	PROPN
american_scientific_journal-1917	172	13	v	v	NOUN
american_scientific_journal-1917	172	14	)	)	PUNCT
american_scientific_journal-1917	172	15	in	in	ADP
american_scientific_journal-1917	172	16	order	order	NOUN
american_scientific_journal-1917	172	17	to	to	PART
american_scientific_journal-1917	172	18	rotate	rotate	VERB
american_scientific_journal-1917	172	19	the	the	DET
american_scientific_journal-1917	172	20	robot	robot	NOUN
american_scientific_journal-1917	172	21	with	with	ADP
american_scientific_journal-1917	172	22	the	the	DET
american_scientific_journal-1917	172	23	maximum	maximum	ADJ
american_scientific_journal-1917	172	24	angular	angular	ADJ
american_scientific_journal-1917	172	25	velocity	velocity	NOUN
american_scientific_journal-1917	172	26	and	and	CCONJ
american_scientific_journal-1917	172	27	acceleration	acceleration	NOUN
american_scientific_journal-1917	172	28	,	,	PUNCT
american_scientific_journal-1917	172	29	then	then	ADV
american_scientific_journal-1917	172	30	record	record	VERB
american_scientific_journal-1917	172	31	the	the	DET
american_scientific_journal-1917	172	32	results	result	NOUN
american_scientific_journal-1917	172	33	by	by	ADP
american_scientific_journal-1917	172	34	using	use	VERB
american_scientific_journal-1917	172	35	the	the	DET
american_scientific_journal-1917	172	36	two	two	NUM
american_scientific_journal-1917	172	37	method	method	NOUN
american_scientific_journal-1917	172	38	.	.	PUNCT
american_scientific_journal-1917	173	1	both	both	DET
american_scientific_journal-1917	173	2	procedures	procedure	NOUN
american_scientific_journal-1917	173	3	are	be	AUX
american_scientific_journal-1917	173	4	shown	show	VERB
american_scientific_journal-1917	173	5	in	in	ADP
american_scientific_journal-1917	173	6	table	table	NOUN
american_scientific_journal-1917	173	7	3	3	NUM
american_scientific_journal-1917	173	8	.	.	PUNCT
american_scientific_journal-1917	173	9	table	table	NOUN
american_scientific_journal-1917	173	10	3	3	NUM
american_scientific_journal-1917	173	11	:	:	PUNCT
american_scientific_journal-1917	173	12	velocity	velocity	NOUN
american_scientific_journal-1917	173	13	and	and	CCONJ
american_scientific_journal-1917	173	14	acceleration	acceleration	NOUN
american_scientific_journal-1917	173	15	limitations	limitation	NOUN
american_scientific_journal-1917	173	16	of	of	ADP
american_scientific_journal-1917	173	17	the	the	DET
american_scientific_journal-1917	173	18	robot	robot	NOUN
american_scientific_journal-1917	173	19	.	.	PUNCT
american_scientific_journal-1917	174	1	property	property	NOUN
american_scientific_journal-1917	174	2	first	first	ADJ
american_scientific_journal-1917	174	3	method	method	NOUN
american_scientific_journal-1917	174	4	second	second	ADJ
american_scientific_journal-1917	174	5	method	method	NOUN
american_scientific_journal-1917	174	6	maximum	maximum	ADJ
american_scientific_journal-1917	174	7	linear	linear	ADJ
american_scientific_journal-1917	174	8	velocity	velocity	NOUN
american_scientific_journal-1917	174	9	1.13	1.13	NUM
american_scientific_journal-1917	174	10	m	m	NOUN
american_scientific_journal-1917	174	11	/	/	SYM
american_scientific_journal-1917	174	12	sec	sec	PROPN
american_scientific_journal-1917	174	13	1.1	1.1	NUM
american_scientific_journal-1917	174	14	m	m	NOUN
american_scientific_journal-1917	174	15	/	/	SYM
american_scientific_journal-1917	174	16	sec	sec	PROPN
american_scientific_journal-1917	174	17	maximum	maximum	ADJ
american_scientific_journal-1917	174	18	linear	linear	ADJ
american_scientific_journal-1917	174	19	acceleration	acceleration	NOUN
american_scientific_journal-1917	174	20	0.869	0.869	NUM
american_scientific_journal-1917	174	21	m	m	PROPN
american_scientific_journal-1917	174	22	/	/	SYM
american_scientific_journal-1917	174	23	sec2	sec2	NOUN
american_scientific_journal-1917	174	24	x	x	SYM
american_scientific_journal-1917	174	25	maximum	maximum	ADJ
american_scientific_journal-1917	174	26	angular	angular	ADJ
american_scientific_journal-1917	174	27	velocity	velocity	NOUN
american_scientific_journal-1917	174	28	7.5	7.5	NUM
american_scientific_journal-1917	174	29	rad	rad	NOUN
american_scientific_journal-1917	174	30	/	/	SYM
american_scientific_journal-1917	174	31	sec	sec	PROPN
american_scientific_journal-1917	174	32	7.4	7.4	NUM
american_scientific_journal-1917	174	33	rad	rad	PROPN
american_scientific_journal-1917	174	34	/	/	SYM
american_scientific_journal-1917	174	35	sec	sec	PROPN
american_scientific_journal-1917	174	36	maximum	maximum	ADJ
american_scientific_journal-1917	174	37	linear	linear	PROPN
american_scientific_journal-1917	174	38	acceleration	acceleration	NOUN
american_scientific_journal-1917	174	39	6.63	6.63	NUM
american_scientific_journal-1917	174	40	rad	rad	PROPN
american_scientific_journal-1917	174	41	/	/	SYM
american_scientific_journal-1917	174	42	sec	sec	PROPN
american_scientific_journal-1917	174	43	x	x	SYM
american_scientific_journal-1917	174	44	5.3	5.3	NUM
american_scientific_journal-1917	174	45	forward	forward	ADJ
american_scientific_journal-1917	174	46	motion	motion	NOUN
american_scientific_journal-1917	174	47	test	test	NOUN
american_scientific_journal-1917	174	48	in	in	ADP
american_scientific_journal-1917	174	49	this	this	DET
american_scientific_journal-1917	174	50	test	test	NOUN
american_scientific_journal-1917	174	51	,	,	PUNCT
american_scientific_journal-1917	174	52	the	the	DET
american_scientific_journal-1917	174	53	robot	robot	NOUN
american_scientific_journal-1917	174	54	was	be	AUX
american_scientific_journal-1917	174	55	moving	move	VERB
american_scientific_journal-1917	174	56	forward	forward	ADV
american_scientific_journal-1917	174	57	while	while	SCONJ
american_scientific_journal-1917	174	58	maintaining	maintain	VERB
american_scientific_journal-1917	174	59	wheels	wheel	NOUN
american_scientific_journal-1917	174	60	’	'	PUNCT
american_scientific_journal-1917	174	61	velocities	velocity	NOUN
american_scientific_journal-1917	174	62	of	of	ADP
american_scientific_journal-1917	174	63	𝜙𝜙1̇	𝜙𝜙1̇	X
american_scientific_journal-1917	175	1	=	=	NOUN
american_scientific_journal-1917	175	2	0,𝜙𝜙2̇	0,𝜙𝜙2̇	NOUN
american_scientific_journal-1917	175	3	=	=	SYM
american_scientific_journal-1917	175	4	10	10	NUM
american_scientific_journal-1917	175	5	𝑟𝑟𝑟𝑟𝑟𝑟	𝑟𝑟𝑟𝑟𝑟𝑟	X
american_scientific_journal-1917	175	6	𝑠𝑠𝑠𝑠𝑠𝑠	𝑠𝑠𝑠𝑠𝑠𝑠	NOUN
american_scientific_journal-1917	175	7	,	,	PUNCT
american_scientific_journal-1917	175	8	𝜙𝜙3̇	𝜙𝜙3̇	PUNCT
american_scientific_journal-1917	175	9	=	=	SYM
american_scientific_journal-1917	175	10	−10	−10	X
american_scientific_journal-1917	175	11	𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠𝑒𝑒𝑐𝑐	𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠𝑒𝑒𝑐𝑐	ADJ
american_scientific_journal-1917	175	12	.	.	PUNCT
american_scientific_journal-1917	176	1	the	the	DET
american_scientific_journal-1917	176	2	results	result	NOUN
american_scientific_journal-1917	176	3	have	have	AUX
american_scientific_journal-1917	176	4	been	be	AUX
american_scientific_journal-1917	176	5	collected	collect	VERB
american_scientific_journal-1917	176	6	and	and	CCONJ
american_scientific_journal-1917	176	7	then	then	ADV
american_scientific_journal-1917	176	8	plotted	plot	VERB
american_scientific_journal-1917	176	9	by	by	ADP
american_scientific_journal-1917	176	10	using	use	VERB
american_scientific_journal-1917	176	11	matlab	matlab	PROPN
american_scientific_journal-1917	176	12	software	software	NOUN
american_scientific_journal-1917	176	13	as	as	SCONJ
american_scientific_journal-1917	176	14	shown	show	VERB
american_scientific_journal-1917	176	15	in	in	ADP
american_scientific_journal-1917	176	16	figure	figure	NOUN
american_scientific_journal-1917	176	17	9	9	NUM
american_scientific_journal-1917	176	18	.	.	PUNCT
american_scientific_journal-1917	177	1	as	as	SCONJ
american_scientific_journal-1917	177	2	seen	see	VERB
american_scientific_journal-1917	177	3	from	from	ADP
american_scientific_journal-1917	177	4	figure	figure	NOUN
american_scientific_journal-1917	177	5	9	9	NUM
american_scientific_journal-1917	177	6	,	,	PUNCT
american_scientific_journal-1917	177	7	there	there	PRON
american_scientific_journal-1917	177	8	are	be	VERB
american_scientific_journal-1917	177	9	small	small	ADJ
american_scientific_journal-1917	177	10	different	different	ADJ
american_scientific_journal-1917	177	11	between	between	ADP
american_scientific_journal-1917	177	12	the	the	DET
american_scientific_journal-1917	177	13	velocity	velocity	NOUN
american_scientific_journal-1917	177	14	response	response	NOUN
american_scientific_journal-1917	177	15	of	of	ADP
american_scientific_journal-1917	177	16	the	the	DET
american_scientific_journal-1917	177	17	two	two	NUM
american_scientific_journal-1917	177	18	wheels	wheel	NOUN
american_scientific_journal-1917	177	19	.	.	PUNCT
american_scientific_journal-1917	178	1	this	this	DET
american_scientific_journal-1917	178	2	small	small	ADJ
american_scientific_journal-1917	178	3	difference	difference	NOUN
american_scientific_journal-1917	178	4	will	will	AUX
american_scientific_journal-1917	178	5	cause	cause	VERB
american_scientific_journal-1917	178	6	the	the	DET
american_scientific_journal-1917	178	7	robot	robot	NOUN
american_scientific_journal-1917	178	8	to	to	PART
american_scientific_journal-1917	178	9	drift	drift	VERB
american_scientific_journal-1917	178	10	from	from	ADP
american_scientific_journal-1917	178	11	the	the	DET
american_scientific_journal-1917	178	12	desired	desire	VERB
american_scientific_journal-1917	178	13	straight	straight	ADJ
american_scientific_journal-1917	178	14	path	path	NOUN
american_scientific_journal-1917	178	15	by	by	ADP
american_scientific_journal-1917	178	16	a	a	DET
american_scientific_journal-1917	178	17	small	small	ADJ
american_scientific_journal-1917	178	18	distance	distance	NOUN
american_scientific_journal-1917	178	19	.	.	PUNCT
american_scientific_journal-1917	179	1	from	from	ADP
american_scientific_journal-1917	179	2	the	the	DET
american_scientific_journal-1917	179	3	trajectory	trajectory	NOUN
american_scientific_journal-1917	179	4	plot	plot	NOUN
american_scientific_journal-1917	179	5	measurement	measurement	NOUN
american_scientific_journal-1917	179	6	tape	tape	NOUN
american_scientific_journal-1917	179	7	american	american	PROPN
american_scientific_journal-1917	179	8	scientific	scientific	ADJ
american_scientific_journal-1917	179	9	research	research	NOUN
american_scientific_journal-1917	179	10	journal	journal	NOUN
american_scientific_journal-1917	179	11	for	for	ADP
american_scientific_journal-1917	179	12	engineering	engineering	NOUN
american_scientific_journal-1917	179	13	,	,	PUNCT
american_scientific_journal-1917	179	14	technology	technology	NOUN
american_scientific_journal-1917	179	15	,	,	PUNCT
american_scientific_journal-1917	179	16	and	and	CCONJ
american_scientific_journal-1917	179	17	sciences	science	NOUN
american_scientific_journal-1917	179	18	(	(	PUNCT
american_scientific_journal-1917	179	19	asrjets	asrjet	NOUN
american_scientific_journal-1917	179	20	)	)	PUNCT
american_scientific_journal-1917	179	21	(	(	PUNCT
american_scientific_journal-1917	179	22	2016	2016	NUM
american_scientific_journal-1917	179	23	)	)	PUNCT
american_scientific_journal-1917	179	24	volume	volume	NOUN
american_scientific_journal-1917	179	25	22	22	NUM
american_scientific_journal-1917	179	26	,	,	PUNCT
american_scientific_journal-1917	179	27	no	no	DET
american_scientific_journal-1917	179	28	1	1	NUM
american_scientific_journal-1917	179	29	,	,	PUNCT
american_scientific_journal-1917	179	30	pp	pp	ADV
american_scientific_journal-1917	179	31	195	195	NUM
american_scientific_journal-1917	179	32	-	-	SYM
american_scientific_journal-1917	179	33	209	209	NUM
american_scientific_journal-1917	179	34	207	207	NUM
american_scientific_journal-1917	179	35	(	(	PUNCT
american_scientific_journal-1917	179	36	see	see	VERB
american_scientific_journal-1917	179	37	figure	figure	NOUN
american_scientific_journal-1917	179	38	9	9	NUM
american_scientific_journal-1917	179	39	)	)	PUNCT
american_scientific_journal-1917	179	40	it	it	PRON
american_scientific_journal-1917	179	41	can	can	AUX
american_scientific_journal-1917	179	42	see	see	VERB
american_scientific_journal-1917	179	43	that	that	SCONJ
american_scientific_journal-1917	179	44	at	at	ADP
american_scientific_journal-1917	179	45	an	an	DET
american_scientific_journal-1917	179	46	x	x	ADJ
american_scientific_journal-1917	179	47	-	-	ADJ
american_scientific_journal-1917	179	48	axis	axis	ADJ
american_scientific_journal-1917	179	49	distance	distance	NOUN
american_scientific_journal-1917	179	50	of	of	ADP
american_scientific_journal-1917	179	51	2.5	2.5	NUM
american_scientific_journal-1917	179	52	m	m	NOUN
american_scientific_journal-1917	179	53	,	,	PUNCT
american_scientific_journal-1917	179	54	there	there	PRON
american_scientific_journal-1917	179	55	is	be	VERB
american_scientific_journal-1917	179	56	a	a	DET
american_scientific_journal-1917	179	57	drift	drift	NOUN
american_scientific_journal-1917	179	58	of	of	ADP
american_scientific_journal-1917	179	59	0.15	0.15	NUM
american_scientific_journal-1917	179	60	m	m	NOUN
american_scientific_journal-1917	179	61	towards	towards	ADP
american_scientific_journal-1917	179	62	the	the	DET
american_scientific_journal-1917	179	63	y	y	NOUN
american_scientific_journal-1917	179	64	-	-	PUNCT
american_scientific_journal-1917	179	65	direction	direction	NOUN
american_scientific_journal-1917	179	66	.	.	PUNCT
american_scientific_journal-1917	180	1	this	this	DET
american_scientific_journal-1917	180	2	amount	amount	NOUN
american_scientific_journal-1917	180	3	of	of	ADP
american_scientific_journal-1917	180	4	drift	drift	NOUN
american_scientific_journal-1917	180	5	is	be	AUX
american_scientific_journal-1917	180	6	with	with	ADP
american_scientific_journal-1917	180	7	the	the	DET
american_scientific_journal-1917	180	8	acceptable	acceptable	ADJ
american_scientific_journal-1917	180	9	limit	limit	NOUN
american_scientific_journal-1917	180	10	.	.	PUNCT
american_scientific_journal-1917	181	1	the	the	DET
american_scientific_journal-1917	181	2	robot	robot	NOUN
american_scientific_journal-1917	181	3	shows	show	VERB
american_scientific_journal-1917	181	4	a	a	DET
american_scientific_journal-1917	181	5	fast	fast	ADJ
american_scientific_journal-1917	181	6	response	response	NOUN
american_scientific_journal-1917	181	7	and	and	CCONJ
american_scientific_journal-1917	181	8	the	the	DET
american_scientific_journal-1917	181	9	overshoot	overshoot	NOUN
american_scientific_journal-1917	181	10	in	in	ADP
american_scientific_journal-1917	181	11	velocity	velocity	NOUN
american_scientific_journal-1917	181	12	was	be	AUX
american_scientific_journal-1917	181	13	acceptable	acceptable	ADJ
american_scientific_journal-1917	181	14	.	.	PUNCT
american_scientific_journal-1917	182	1	the	the	DET
american_scientific_journal-1917	182	2	error	error	NOUN
american_scientific_journal-1917	182	3	in	in	ADP
american_scientific_journal-1917	182	4	wheels	wheel	NOUN
american_scientific_journal-1917	182	5	’	'	PUNCT
american_scientific_journal-1917	182	6	velocities	velocity	NOUN
american_scientific_journal-1917	182	7	could	could	AUX
american_scientific_journal-1917	182	8	be	be	AUX
american_scientific_journal-1917	182	9	comes	come	VERB
american_scientific_journal-1917	182	10	from	from	ADP
american_scientific_journal-1917	182	11	factors	factor	NOUN
american_scientific_journal-1917	182	12	such	such	ADJ
american_scientific_journal-1917	182	13	as	as	ADP
american_scientific_journal-1917	182	14	the	the	DET
american_scientific_journal-1917	182	15	slip	slip	NOUN
american_scientific_journal-1917	182	16	in	in	ADP
american_scientific_journal-1917	182	17	the	the	DET
american_scientific_journal-1917	182	18	robot	robot	NOUN
american_scientific_journal-1917	182	19	wheels	wheel	NOUN
american_scientific_journal-1917	182	20	,	,	PUNCT
american_scientific_journal-1917	182	21	the	the	DET
american_scientific_journal-1917	182	22	surface	surface	NOUN
american_scientific_journal-1917	182	23	condition	condition	NOUN
american_scientific_journal-1917	182	24	,	,	PUNCT
american_scientific_journal-1917	182	25	and	and	CCONJ
american_scientific_journal-1917	182	26	systematic	systematic	ADJ
american_scientific_journal-1917	182	27	error	error	NOUN
american_scientific_journal-1917	182	28	.	.	PUNCT
american_scientific_journal-1917	183	1	in	in	ADP
american_scientific_journal-1917	183	2	conclude	conclude	VERB
american_scientific_journal-1917	183	3	it	it	PRON
american_scientific_journal-1917	183	4	can	can	AUX
american_scientific_journal-1917	183	5	say	say	VERB
american_scientific_journal-1917	183	6	that	that	SCONJ
american_scientific_journal-1917	183	7	the	the	DET
american_scientific_journal-1917	183	8	robot	robot	NOUN
american_scientific_journal-1917	183	9	has	have	VERB
american_scientific_journal-1917	183	10	a	a	DET
american_scientific_journal-1917	183	11	positive	positive	ADJ
american_scientific_journal-1917	183	12	performance	performance	NOUN
american_scientific_journal-1917	183	13	in	in	ADP
american_scientific_journal-1917	183	14	this	this	DET
american_scientific_journal-1917	183	15	test	test	NOUN
american_scientific_journal-1917	183	16	.	.	PUNCT
american_scientific_journal-1917	184	1	figure	figure	VERB
american_scientific_journal-1917	184	2	9	9	NUM
american_scientific_journal-1917	184	3	:	:	PUNCT
american_scientific_journal-1917	184	4	robot	robot	NOUN
american_scientific_journal-1917	184	5	data	datum	NOUN
american_scientific_journal-1917	184	6	while	while	SCONJ
american_scientific_journal-1917	184	7	moving	move	VERB
american_scientific_journal-1917	184	8	forward	forward	ADV
american_scientific_journal-1917	184	9	with	with	ADP
american_scientific_journal-1917	184	10	𝝓𝝓𝟏𝟏̇	𝝓𝝓𝟏𝟏̇	PROPN
american_scientific_journal-1917	184	11	=	=	SYM
american_scientific_journal-1917	184	12	𝟎𝟎	𝟎𝟎	NUM
american_scientific_journal-1917	184	13	,	,	PUNCT
american_scientific_journal-1917	184	14	(	(	PUNCT
american_scientific_journal-1917	184	15	𝝓𝝓𝟐𝟐)̇	𝝓𝝓𝟐𝟐)̇	NOUN
american_scientific_journal-1917	184	16	=	=	SYM
american_scientific_journal-1917	184	17	𝟏𝟏𝟎𝟎	𝟏𝟏𝟎𝟎	NUM
american_scientific_journal-1917	184	18	𝒓𝒓𝒓𝒓𝒓𝒓/𝒔𝒔𝒔𝒔𝒔𝒔,𝝓𝝓𝟑𝟑	𝒓𝒓𝒓𝒓𝒓𝒓/𝒔𝒔𝒔𝒔𝒔𝒔,𝝓𝝓𝟑𝟑	X
american_scientific_journal-1917	184	19	̇	̇	NOUN
american_scientific_journal-1917	184	20	=	=	SYM
american_scientific_journal-1917	184	21	−𝟏𝟏𝟎𝟎	−𝟏𝟏𝟎𝟎	PROPN
american_scientific_journal-1917	184	22	𝒓𝒓𝒓𝒓𝒓𝒓/𝒔𝒔𝒔𝒔𝒔𝒔.	𝒓𝒓𝒓𝒓𝒓𝒓/𝒔𝒔𝒔𝒔𝒔𝒔.	ADJ
american_scientific_journal-1917	184	23	5.4	5.4	NUM
american_scientific_journal-1917	184	24	manoeuvrability	manoeuvrability	NOUN
american_scientific_journal-1917	184	25	test	test	NOUN
american_scientific_journal-1917	184	26	this	this	DET
american_scientific_journal-1917	184	27	test	test	NOUN
american_scientific_journal-1917	184	28	was	be	AUX
american_scientific_journal-1917	184	29	performed	perform	VERB
american_scientific_journal-1917	184	30	to	to	PART
american_scientific_journal-1917	184	31	prove	prove	VERB
american_scientific_journal-1917	184	32	that	that	SCONJ
american_scientific_journal-1917	184	33	the	the	DET
american_scientific_journal-1917	184	34	robot	robot	NOUN
american_scientific_journal-1917	184	35	is	be	AUX
american_scientific_journal-1917	184	36	capable	capable	ADJ
american_scientific_journal-1917	184	37	of	of	ADP
american_scientific_journal-1917	184	38	doing	do	VERB
american_scientific_journal-1917	184	39	an	an	DET
american_scientific_journal-1917	184	40	arbitrary	arbitrary	ADJ
american_scientific_journal-1917	184	41	motion	motion	NOUN
american_scientific_journal-1917	184	42	in	in	ADP
american_scientific_journal-1917	184	43	an	an	DET
american_scientific_journal-1917	184	44	arbitrary	arbitrary	ADJ
american_scientific_journal-1917	184	45	direction	direction	NOUN
american_scientific_journal-1917	184	46	without	without	ADP
american_scientific_journal-1917	184	47	changing	change	VERB
american_scientific_journal-1917	184	48	the	the	DET
american_scientific_journal-1917	184	49	direction	direction	NOUN
american_scientific_journal-1917	184	50	of	of	ADP
american_scientific_journal-1917	184	51	wheels	wheel	NOUN
american_scientific_journal-1917	184	52	.	.	PUNCT
american_scientific_journal-1917	185	1	an	an	DET
american_scientific_journal-1917	185	2	arbitrary	arbitrary	ADJ
american_scientific_journal-1917	185	3	starting	starting	NOUN
american_scientific_journal-1917	185	4	angle	angle	NOUN
american_scientific_journal-1917	185	5	was	be	AUX
american_scientific_journal-1917	185	6	applied	apply	VERB
american_scientific_journal-1917	185	7	to	to	ADP
american_scientific_journal-1917	185	8	the	the	DET
american_scientific_journal-1917	185	9	robot	robot	NOUN
american_scientific_journal-1917	185	10	and	and	CCONJ
american_scientific_journal-1917	185	11	the	the	DET
american_scientific_journal-1917	185	12	robot	robot	NOUN
american_scientific_journal-1917	185	13	movement	movement	NOUN
american_scientific_journal-1917	185	14	was	be	AUX
american_scientific_journal-1917	185	15	studied	study	VERB
american_scientific_journal-1917	185	16	.	.	PUNCT
american_scientific_journal-1917	186	1	in	in	ADP
american_scientific_journal-1917	186	2	order	order	NOUN
american_scientific_journal-1917	186	3	to	to	PART
american_scientific_journal-1917	186	4	verify	verify	VERB
american_scientific_journal-1917	186	5	that	that	SCONJ
american_scientific_journal-1917	186	6	,	,	PUNCT
american_scientific_journal-1917	186	7	a	a	DET
american_scientific_journal-1917	186	8	study	study	NOUN
american_scientific_journal-1917	186	9	for	for	ADP
american_scientific_journal-1917	186	10	the	the	DET
american_scientific_journal-1917	186	11	robot	robot	NOUN
american_scientific_journal-1917	186	12	movement	movement	NOUN
american_scientific_journal-1917	186	13	with	with	ADP
american_scientific_journal-1917	186	14	𝜃𝜃	𝜃𝜃	PROPN
american_scientific_journal-1917	186	15	=	=	SYM
american_scientific_journal-1917	186	16	65𝑜𝑜	65𝑜𝑜	NOUN
american_scientific_journal-1917	186	17	and	and	CCONJ
american_scientific_journal-1917	186	18	robot	robot	NOUN
american_scientific_journal-1917	186	19	linear	linear	ADJ
american_scientific_journal-1917	186	20	velocity	velocity	NOUN
american_scientific_journal-1917	186	21	=	=	SYM
american_scientific_journal-1917	186	22	1	1	NUM
american_scientific_journal-1917	186	23	m	m	NOUN
american_scientific_journal-1917	186	24	/	/	SYM
american_scientific_journal-1917	186	25	sec	sec	PROPN
american_scientific_journal-1917	186	26	will	will	AUX
american_scientific_journal-1917	186	27	be	be	AUX
american_scientific_journal-1917	186	28	mention	mention	VERB
american_scientific_journal-1917	186	29	in	in	ADP
american_scientific_journal-1917	186	30	this	this	DET
american_scientific_journal-1917	186	31	dissertation	dissertation	NOUN
american_scientific_journal-1917	186	32	.	.	PUNCT
american_scientific_journal-1917	187	1	the	the	DET
american_scientific_journal-1917	187	2	robot	robot	NOUN
american_scientific_journal-1917	187	3	has	have	AUX
american_scientific_journal-1917	187	4	successfully	successfully	ADV
american_scientific_journal-1917	187	5	moved	move	VERB
american_scientific_journal-1917	187	6	from	from	ADP
american_scientific_journal-1917	187	7	starting	start	VERB
american_scientific_journal-1917	187	8	with	with	ADP
american_scientific_journal-1917	187	9	65𝑜𝑜	65𝑜𝑜	NOUN
american_scientific_journal-1917	187	10	,	,	PUNCT
american_scientific_journal-1917	187	11	and	and	CCONJ
american_scientific_journal-1917	187	12	it	it	PRON
american_scientific_journal-1917	187	13	shows	show	VERB
american_scientific_journal-1917	187	14	a	a	DET
american_scientific_journal-1917	187	15	positive	positive	ADJ
american_scientific_journal-1917	187	16	manoeuvrability	manoeuvrability	NOUN
american_scientific_journal-1917	187	17	capability	capability	NOUN
american_scientific_journal-1917	187	18	.	.	PUNCT
american_scientific_journal-1917	188	1	to	to	PART
american_scientific_journal-1917	188	2	study	study	VERB
american_scientific_journal-1917	188	3	the	the	DET
american_scientific_journal-1917	188	4	error	error	NOUN
american_scientific_journal-1917	188	5	in	in	ADP
american_scientific_journal-1917	188	6	the	the	DET
american_scientific_journal-1917	188	7	robot	robot	NOUN
american_scientific_journal-1917	188	8	orientation	orientation	NOUN
american_scientific_journal-1917	188	9	,	,	PUNCT
american_scientific_journal-1917	188	10	the	the	DET
american_scientific_journal-1917	188	11	robot	robot	NOUN
american_scientific_journal-1917	188	12	was	be	AUX
american_scientific_journal-1917	188	13	moved	move	VERB
american_scientific_journal-1917	188	14	for	for	ADP
american_scientific_journal-1917	188	15	4	4	NUM
american_scientific_journal-1917	188	16	𝑚𝑚	𝑚𝑚	ADV
american_scientific_journal-1917	188	17	in	in	ADP
american_scientific_journal-1917	188	18	the	the	DET
american_scientific_journal-1917	188	19	x	x	ADJ
american_scientific_journal-1917	188	20	-	-	ADJ
american_scientific_journal-1917	188	21	axis	axis	ADJ
american_scientific_journal-1917	188	22	direction	direction	NOUN
american_scientific_journal-1917	188	23	and	and	CCONJ
american_scientific_journal-1917	188	24	then	then	ADV
american_scientific_journal-1917	188	25	the	the	DET
american_scientific_journal-1917	188	26	distance	distance	NOUN
american_scientific_journal-1917	188	27	and	and	CCONJ
american_scientific_journal-1917	188	28	orientation	orientation	NOUN
american_scientific_journal-1917	188	29	drifts	drift	NOUN
american_scientific_journal-1917	188	30	have	have	AUX
american_scientific_journal-1917	188	31	been	be	AUX
american_scientific_journal-1917	188	32	calculated	calculate	VERB
american_scientific_journal-1917	188	33	.	.	PUNCT
american_scientific_journal-1917	189	1	after	after	ADP
american_scientific_journal-1917	189	2	moving	move	VERB
american_scientific_journal-1917	189	3	4	4	NUM
american_scientific_journal-1917	189	4	𝑚𝑚	𝑚𝑚	ADV
american_scientific_journal-1917	189	5	in	in	ADP
american_scientific_journal-1917	189	6	the	the	DET
american_scientific_journal-1917	189	7	x	x	NOUN
american_scientific_journal-1917	189	8	-	-	NOUN
american_scientific_journal-1917	189	9	direction	direction	NOUN
american_scientific_journal-1917	189	10	,	,	PUNCT
american_scientific_journal-1917	189	11	the	the	DET
american_scientific_journal-1917	189	12	robot	robot	NOUN
american_scientific_journal-1917	189	13	actual	actual	ADJ
american_scientific_journal-1917	189	14	trajectory	trajectory	NOUN
american_scientific_journal-1917	189	15	has	have	AUX
american_scientific_journal-1917	189	16	been	be	AUX
american_scientific_journal-1917	189	17	plotted	plot	VERB
american_scientific_journal-1917	189	18	by	by	ADP
american_scientific_journal-1917	189	19	using	use	VERB
american_scientific_journal-1917	189	20	matlab	matlab	PROPN
american_scientific_journal-1917	189	21	program	program	NOUN
american_scientific_journal-1917	189	22	form	form	NOUN
american_scientific_journal-1917	189	23	the	the	DET
american_scientific_journal-1917	189	24	collected	collect	VERB
american_scientific_journal-1917	189	25	robot	robot	NOUN
american_scientific_journal-1917	189	26	velocities	velocity	NOUN
american_scientific_journal-1917	189	27	as	as	SCONJ
american_scientific_journal-1917	189	28	shown	show	VERB
american_scientific_journal-1917	189	29	in	in	ADP
american_scientific_journal-1917	189	30	figure	figure	NOUN
american_scientific_journal-1917	189	31	10	10	NUM
american_scientific_journal-1917	189	32	.	.	PUNCT
american_scientific_journal-1917	190	1	as	as	SCONJ
american_scientific_journal-1917	190	2	seen	see	VERB
american_scientific_journal-1917	190	3	in	in	ADP
american_scientific_journal-1917	190	4	figure	figure	NOUN
american_scientific_journal-1917	190	5	10	10	NUM
american_scientific_journal-1917	190	6	,	,	PUNCT
american_scientific_journal-1917	190	7	when	when	SCONJ
american_scientific_journal-1917	190	8	the	the	DET
american_scientific_journal-1917	190	9	robot	robot	NOUN
american_scientific_journal-1917	190	10	moves	move	VERB
american_scientific_journal-1917	190	11	distance	distance	NOUN
american_scientific_journal-1917	190	12	of	of	ADP
american_scientific_journal-1917	190	13	4	4	NUM
american_scientific_journal-1917	190	14	𝑚𝑚	𝑚𝑚	ADV
american_scientific_journal-1917	190	15	in	in	ADP
american_scientific_journal-1917	190	16	the	the	DET
american_scientific_journal-1917	190	17	x	x	NOUN
american_scientific_journal-1917	190	18	-	-	NOUN
american_scientific_journal-1917	190	19	direction	direction	NOUN
american_scientific_journal-1917	190	20	,	,	PUNCT
american_scientific_journal-1917	190	21	it	it	PRON
american_scientific_journal-1917	190	22	moves	move	VERB
american_scientific_journal-1917	190	23	a	a	DET
american_scientific_journal-1917	190	24	distance	distance	NOUN
american_scientific_journal-1917	190	25	of	of	ADP
american_scientific_journal-1917	190	26	about	about	ADV
american_scientific_journal-1917	190	27	9	9	NUM
american_scientific_journal-1917	190	28	𝑚𝑚	𝑚𝑚	ADP
american_scientific_journal-1917	190	29	in	in	ADP
american_scientific_journal-1917	190	30	the	the	DET
american_scientific_journal-1917	190	31	y	y	NOUN
american_scientific_journal-1917	190	32	-	-	PUNCT
american_scientific_journal-1917	190	33	axis	axis	NOUN
american_scientific_journal-1917	190	34	.	.	PUNCT
american_scientific_journal-1917	191	1	by	by	ADP
american_scientific_journal-1917	191	2	applying	apply	VERB
american_scientific_journal-1917	191	3	pythagoras	pythagoras	PROPN
american_scientific_journal-1917	191	4	:	:	PUNCT
american_scientific_journal-1917	191	5	robot	robot	NOUN
american_scientific_journal-1917	191	6	moved	move	VERB
american_scientific_journal-1917	191	7	distance	distance	NOUN
american_scientific_journal-1917	191	8	=	=	SYM
american_scientific_journal-1917	191	9	�	�	PROPN
american_scientific_journal-1917	191	10	(	(	PUNCT
american_scientific_journal-1917	191	11	4)2	4)2	PROPN
american_scientific_journal-1917	192	1	+	+	CCONJ
american_scientific_journal-1917	193	1	(	(	PUNCT
american_scientific_journal-1917	193	2	9)2	9)2	NUM
american_scientific_journal-1917	193	3	=	=	NOUN
american_scientific_journal-1917	193	4	9.85	9.85	NUM
american_scientific_journal-1917	193	5	𝑚𝑚	𝑚𝑚	ADP
american_scientific_journal-1917	193	6	after	after	ADP
american_scientific_journal-1917	193	7	moving	move	VERB
american_scientific_journal-1917	193	8	4	4	NUM
american_scientific_journal-1917	193	9	𝑚𝑚	𝑚𝑚	ADV
american_scientific_journal-1917	193	10	in	in	ADP
american_scientific_journal-1917	193	11	the	the	DET
american_scientific_journal-1917	193	12	x	x	ADJ
american_scientific_journal-1917	193	13	-	-	ADJ
american_scientific_journal-1917	193	14	axis	axis	ADJ
american_scientific_journal-1917	193	15	direction	direction	NOUN
american_scientific_journal-1917	193	16	,	,	PUNCT
american_scientific_journal-1917	193	17	the	the	DET
american_scientific_journal-1917	193	18	robot	robot	NOUN
american_scientific_journal-1917	193	19	has	have	VERB
american_scientific_journal-1917	193	20	an	an	DET
american_scientific_journal-1917	193	21	angle	angle	NOUN
american_scientific_journal-1917	193	22	with	with	ADP
american_scientific_journal-1917	193	23	the	the	DET
american_scientific_journal-1917	193	24	x	x	NOUN
american_scientific_journal-1917	193	25	-	-	NOUN
american_scientific_journal-1917	193	26	axis	axis	ADJ
american_scientific_journal-1917	193	27	=	=	PUNCT
american_scientific_journal-1917	193	28	tan−1	tan−1	PROPN
american_scientific_journal-1917	193	29	�	�	PROPN
american_scientific_journal-1917	193	30	9	9	NUM
american_scientific_journal-1917	193	31	4	4	NUM
american_scientific_journal-1917	193	32	�	�	NOUN
american_scientific_journal-1917	193	33	=	=	PUNCT
american_scientific_journal-1917	193	34	66	66	NUM
american_scientific_journal-1917	193	35	°	°	PRON
american_scientific_journal-1917	193	36	then	then	ADV
american_scientific_journal-1917	193	37	,	,	PUNCT
american_scientific_journal-1917	193	38	there	there	PRON
american_scientific_journal-1917	193	39	is	be	VERB
american_scientific_journal-1917	193	40	an	an	DET
american_scientific_journal-1917	193	41	error	error	NOUN
american_scientific_journal-1917	193	42	in	in	ADP
american_scientific_journal-1917	193	43	the	the	PRON
american_scientific_journal-1917	193	44	in	in	ADP
american_scientific_journal-1917	193	45	the	the	DET
american_scientific_journal-1917	193	46	angle	angle	NOUN
american_scientific_journal-1917	193	47	by	by	ADP
american_scientific_journal-1917	193	48	66	66	NUM
american_scientific_journal-1917	193	49	−	−	NOUN
american_scientific_journal-1917	193	50	65	65	NUM
american_scientific_journal-1917	193	51	=	=	SYM
american_scientific_journal-1917	193	52	1	1	NUM
american_scientific_journal-1917	193	53	°	°	NOUN
american_scientific_journal-1917	193	54	this	this	PRON
american_scientific_journal-1917	193	55	will	will	AUX
american_scientific_journal-1917	193	56	cause	cause	VERB
american_scientific_journal-1917	193	57	a	a	DET
american_scientific_journal-1917	193	58	drift	drift	NOUN
american_scientific_journal-1917	193	59	towards	towards	ADP
american_scientific_journal-1917	193	60	the	the	DET
american_scientific_journal-1917	193	61	y	y	ADJ
american_scientific_journal-1917	193	62	-	-	PUNCT
american_scientific_journal-1917	193	63	axis	axis	NOUN
american_scientific_journal-1917	193	64	direction	direction	NOUN
american_scientific_journal-1917	193	65	by	by	ADP
american_scientific_journal-1917	193	66	9	9	NUM
american_scientific_journal-1917	193	67	−	−	PROPN
american_scientific_journal-1917	193	68	8.58	8.58	NUM
american_scientific_journal-1917	193	69	=	=	NOUN
american_scientific_journal-1917	193	70	0.42	0.42	NUM
american_scientific_journal-1917	193	71	𝑚𝑚	𝑚𝑚	ADP
american_scientific_journal-1917	193	72	american	american	ADJ
american_scientific_journal-1917	193	73	scientific	scientific	ADJ
american_scientific_journal-1917	193	74	research	research	NOUN
american_scientific_journal-1917	193	75	journal	journal	NOUN
american_scientific_journal-1917	193	76	for	for	ADP
american_scientific_journal-1917	193	77	engineering	engineering	NOUN
american_scientific_journal-1917	193	78	,	,	PUNCT
american_scientific_journal-1917	193	79	technology	technology	NOUN
american_scientific_journal-1917	193	80	,	,	PUNCT
american_scientific_journal-1917	193	81	and	and	CCONJ
american_scientific_journal-1917	193	82	sciences	science	NOUN
american_scientific_journal-1917	193	83	(	(	PUNCT
american_scientific_journal-1917	193	84	asrjets	asrjet	NOUN
american_scientific_journal-1917	193	85	)	)	PUNCT
american_scientific_journal-1917	193	86	(	(	PUNCT
american_scientific_journal-1917	193	87	2016	2016	NUM
american_scientific_journal-1917	193	88	)	)	PUNCT
american_scientific_journal-1917	193	89	volume	volume	NOUN
american_scientific_journal-1917	193	90	22	22	NUM
american_scientific_journal-1917	193	91	,	,	PUNCT
american_scientific_journal-1917	193	92	no	no	DET
american_scientific_journal-1917	193	93	1	1	NUM
american_scientific_journal-1917	193	94	,	,	PUNCT
american_scientific_journal-1917	193	95	pp	pp	ADV
american_scientific_journal-1917	193	96	195	195	NUM
american_scientific_journal-1917	193	97	-	-	SYM
american_scientific_journal-1917	193	98	209	209	NUM
american_scientific_journal-1917	193	99	208	208	NUM
american_scientific_journal-1917	193	100	the	the	DET
american_scientific_journal-1917	193	101	drift	drift	NOUN
american_scientific_journal-1917	193	102	in	in	ADP
american_scientific_journal-1917	193	103	distance	distance	NOUN
american_scientific_journal-1917	193	104	may	may	AUX
american_scientific_journal-1917	193	105	come	come	VERB
american_scientific_journal-1917	193	106	from	from	ADP
american_scientific_journal-1917	193	107	several	several	ADJ
american_scientific_journal-1917	193	108	factors	factor	NOUN
american_scientific_journal-1917	193	109	such	such	ADJ
american_scientific_journal-1917	193	110	as	as	ADP
american_scientific_journal-1917	193	111	the	the	DET
american_scientific_journal-1917	193	112	slip	slip	NOUN
american_scientific_journal-1917	193	113	in	in	ADP
american_scientific_journal-1917	193	114	the	the	DET
american_scientific_journal-1917	193	115	robot	robot	NOUN
american_scientific_journal-1917	193	116	wheels	wheel	NOUN
american_scientific_journal-1917	193	117	,	,	PUNCT
american_scientific_journal-1917	193	118	the	the	DET
american_scientific_journal-1917	193	119	surface	surface	NOUN
american_scientific_journal-1917	193	120	condition	condition	NOUN
american_scientific_journal-1917	193	121	,	,	PUNCT
american_scientific_journal-1917	193	122	and	and	CCONJ
american_scientific_journal-1917	193	123	systematic	systematic	ADJ
american_scientific_journal-1917	193	124	error	error	NOUN
american_scientific_journal-1917	193	125	.	.	PUNCT
american_scientific_journal-1917	194	1	in	in	ADP
american_scientific_journal-1917	194	2	conclude	conclude	VERB
american_scientific_journal-1917	194	3	the	the	DET
american_scientific_journal-1917	194	4	drift	drift	NOUN
american_scientific_journal-1917	194	5	in	in	ADP
american_scientific_journal-1917	194	6	distance	distance	NOUN
american_scientific_journal-1917	194	7	will	will	AUX
american_scientific_journal-1917	194	8	be	be	AUX
american_scientific_journal-1917	194	9	acceptable	acceptable	ADJ
american_scientific_journal-1917	194	10	for	for	ADP
american_scientific_journal-1917	194	11	short	short	ADJ
american_scientific_journal-1917	194	12	distances	distance	NOUN
american_scientific_journal-1917	194	13	,	,	PUNCT
american_scientific_journal-1917	194	14	however	however	ADV
american_scientific_journal-1917	194	15	when	when	SCONJ
american_scientific_journal-1917	194	16	the	the	DET
american_scientific_journal-1917	194	17	robot	robot	NOUN
american_scientific_journal-1917	194	18	moves	move	VERB
american_scientific_journal-1917	194	19	for	for	ADP
american_scientific_journal-1917	194	20	large	large	ADJ
american_scientific_journal-1917	194	21	distances	distance	NOUN
american_scientific_journal-1917	194	22	the	the	DET
american_scientific_journal-1917	194	23	error	error	NOUN
american_scientific_journal-1917	194	24	will	will	AUX
american_scientific_journal-1917	194	25	be	be	AUX
american_scientific_journal-1917	194	26	bigger	big	ADJ
american_scientific_journal-1917	194	27	and	and	CCONJ
american_scientific_journal-1917	194	28	the	the	DET
american_scientific_journal-1917	194	29	drift	drift	NOUN
american_scientific_journal-1917	194	30	may	may	AUX
american_scientific_journal-1917	194	31	cause	cause	VERB
american_scientific_journal-1917	194	32	a	a	DET
american_scientific_journal-1917	194	33	problem	problem	NOUN
american_scientific_journal-1917	194	34	.	.	PUNCT
american_scientific_journal-1917	195	1	figure	figure	NOUN
american_scientific_journal-1917	195	2	10	10	NUM
american_scientific_journal-1917	195	3	:	:	PUNCT
american_scientific_journal-1917	195	4	robot	robot	NOUN
american_scientific_journal-1917	195	5	actual	actual	ADJ
american_scientific_journal-1917	195	6	trajectory	trajectory	NOUN
american_scientific_journal-1917	195	7	with	with	ADP
american_scientific_journal-1917	195	8	𝜽𝜽	𝜽𝜽	PROPN
american_scientific_journal-1917	195	9	=	=	SYM
american_scientific_journal-1917	195	10	𝟔𝟔𝟔𝟔	𝟔𝟔𝟔𝟔	NUM
american_scientific_journal-1917	195	11	°	°	NUM
american_scientific_journal-1917	195	12	and	and	CCONJ
american_scientific_journal-1917	195	13	robot	robot	NOUN
american_scientific_journal-1917	195	14	linear	linear	ADJ
american_scientific_journal-1917	195	15	velocity	velocity	NOUN
american_scientific_journal-1917	195	16	=	=	SYM
american_scientific_journal-1917	195	17	1	1	NUM
american_scientific_journal-1917	195	18	m	m	PROPN
american_scientific_journal-1917	195	19	/	/	SYM
american_scientific_journal-1917	195	20	sec	sec	PROPN
american_scientific_journal-1917	195	21	.	.	PROPN
american_scientific_journal-1917	195	22	6	6	NUM
american_scientific_journal-1917	195	23	.	.	PUNCT
american_scientific_journal-1917	196	1	conclusions	conclusion	NOUN
american_scientific_journal-1917	196	2	the	the	DET
american_scientific_journal-1917	196	3	aim	aim	NOUN
american_scientific_journal-1917	196	4	of	of	ADP
american_scientific_journal-1917	196	5	the	the	DET
american_scientific_journal-1917	196	6	research	research	NOUN
american_scientific_journal-1917	196	7	was	be	AUX
american_scientific_journal-1917	196	8	to	to	ADP
american_scientific_journal-1917	196	9	analysis	analysis	NOUN
american_scientific_journal-1917	196	10	,	,	PUNCT
american_scientific_journal-1917	196	11	design	design	NOUN
american_scientific_journal-1917	196	12	,	,	PUNCT
american_scientific_journal-1917	196	13	and	and	CCONJ
american_scientific_journal-1917	196	14	implementation	implementation	NOUN
american_scientific_journal-1917	196	15	of	of	ADP
american_scientific_journal-1917	196	16	an	an	DET
american_scientific_journal-1917	196	17	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	196	18	robot	robot	NOUN
american_scientific_journal-1917	196	19	platform	platform	NOUN
american_scientific_journal-1917	196	20	as	as	ADP
american_scientific_journal-1917	196	21	the	the	DET
american_scientific_journal-1917	196	22	base	base	NOUN
american_scientific_journal-1917	196	23	for	for	ADP
american_scientific_journal-1917	196	24	development	development	NOUN
american_scientific_journal-1917	196	25	of	of	ADP
american_scientific_journal-1917	196	26	mobile	mobile	ADJ
american_scientific_journal-1917	196	27	robot	robot	NOUN
american_scientific_journal-1917	196	28	projects	project	NOUN
american_scientific_journal-1917	196	29	such	such	ADJ
american_scientific_journal-1917	196	30	as	as	ADP
american_scientific_journal-1917	196	31	robocup	robocup	PROPN
american_scientific_journal-1917	196	32	competitions	competition	NOUN
american_scientific_journal-1917	196	33	or	or	CCONJ
american_scientific_journal-1917	196	34	search	search	NOUN
american_scientific_journal-1917	196	35	and	and	CCONJ
american_scientific_journal-1917	196	36	rescue	rescue	NOUN
american_scientific_journal-1917	196	37	.	.	PUNCT
american_scientific_journal-1917	197	1	a	a	DET
american_scientific_journal-1917	197	2	detailed	detailed	ADJ
american_scientific_journal-1917	197	3	evaluation	evaluation	NOUN
american_scientific_journal-1917	197	4	for	for	ADP
american_scientific_journal-1917	197	5	the	the	DET
american_scientific_journal-1917	197	6	three	three	NUM
american_scientific_journal-1917	197	7	omni	omni	ADJ
american_scientific_journal-1917	197	8	-	-	PUNCT
american_scientific_journal-1917	197	9	wheels	wheel	NOUN
american_scientific_journal-1917	197	10	robot	robot	NOUN
american_scientific_journal-1917	197	11	platform	platform	NOUN
american_scientific_journal-1917	197	12	design	design	NOUN
american_scientific_journal-1917	197	13	has	have	AUX
american_scientific_journal-1917	197	14	been	be	AUX
american_scientific_journal-1917	197	15	discussed	discuss	VERB
american_scientific_journal-1917	197	16	in	in	ADP
american_scientific_journal-1917	197	17	terms	term	NOUN
american_scientific_journal-1917	197	18	of	of	ADP
american_scientific_journal-1917	197	19	the	the	DET
american_scientific_journal-1917	197	20	mechanical	mechanical	ADJ
american_scientific_journal-1917	197	21	and	and	CCONJ
american_scientific_journal-1917	197	22	controller	controller	NOUN
american_scientific_journal-1917	197	23	design	design	NOUN
american_scientific_journal-1917	197	24	requirements	requirement	NOUN
american_scientific_journal-1917	197	25	.	.	PUNCT
american_scientific_journal-1917	198	1	some	some	PRON
american_scientific_journal-1917	198	2	of	of	ADP
american_scientific_journal-1917	198	3	the	the	DET
american_scientific_journal-1917	198	4	mechanical	mechanical	ADJ
american_scientific_journal-1917	198	5	parts	part	NOUN
american_scientific_journal-1917	198	6	were	be	AUX
american_scientific_journal-1917	198	7	manufactured	manufacture	VERB
american_scientific_journal-1917	198	8	in	in	ADP
american_scientific_journal-1917	198	9	the	the	DET
american_scientific_journal-1917	198	10	workshop	workshop	NOUN
american_scientific_journal-1917	198	11	,	,	PUNCT
american_scientific_journal-1917	198	12	then	then	ADV
american_scientific_journal-1917	198	13	all	all	DET
american_scientific_journal-1917	198	14	the	the	DET
american_scientific_journal-1917	198	15	mechanical	mechanical	ADJ
american_scientific_journal-1917	198	16	and	and	CCONJ
american_scientific_journal-1917	198	17	electrical	electrical	ADJ
american_scientific_journal-1917	198	18	components	component	NOUN
american_scientific_journal-1917	198	19	were	be	AUX
american_scientific_journal-1917	198	20	assembled	assemble	VERB
american_scientific_journal-1917	198	21	together	together	ADV
american_scientific_journal-1917	198	22	in	in	ADP
american_scientific_journal-1917	198	23	order	order	NOUN
american_scientific_journal-1917	198	24	to	to	PART
american_scientific_journal-1917	198	25	implement	implement	VERB
american_scientific_journal-1917	198	26	the	the	DET
american_scientific_journal-1917	198	27	robot	robot	NOUN
american_scientific_journal-1917	198	28	.	.	PUNCT
american_scientific_journal-1917	199	1	inverse	inverse	NOUN
american_scientific_journal-1917	199	2	kinematics	kinematic	NOUN
american_scientific_journal-1917	199	3	analyses	analysis	NOUN
american_scientific_journal-1917	199	4	and	and	CCONJ
american_scientific_journal-1917	199	5	trajectory	trajectory	NOUN
american_scientific_journal-1917	199	6	plotting	plot	VERB
american_scientific_journal-1917	199	7	equations	equation	NOUN
american_scientific_journal-1917	199	8	were	be	AUX
american_scientific_journal-1917	199	9	presented	present	VERB
american_scientific_journal-1917	199	10	,	,	PUNCT
american_scientific_journal-1917	199	11	evaluated	evaluate	VERB
american_scientific_journal-1917	199	12	and	and	CCONJ
american_scientific_journal-1917	199	13	then	then	ADV
american_scientific_journal-1917	199	14	successfully	successfully	ADV
american_scientific_journal-1917	199	15	applied	apply	VERB
american_scientific_journal-1917	199	16	on	on	ADP
american_scientific_journal-1917	199	17	the	the	DET
american_scientific_journal-1917	199	18	robot	robot	NOUN
american_scientific_journal-1917	199	19	.	.	PUNCT
american_scientific_journal-1917	200	1	the	the	DET
american_scientific_journal-1917	200	2	velocity	velocity	NOUN
american_scientific_journal-1917	200	3	pi	pi	NOUN
american_scientific_journal-1917	200	4	algorithm	algorithm	NOUN
american_scientific_journal-1917	200	5	is	be	AUX
american_scientific_journal-1917	200	6	used	use	VERB
american_scientific_journal-1917	200	7	to	to	PART
american_scientific_journal-1917	200	8	control	control	VERB
american_scientific_journal-1917	200	9	the	the	DET
american_scientific_journal-1917	200	10	robot	robot	NOUN
american_scientific_journal-1917	200	11	wheels	wheel	NOUN
american_scientific_journal-1917	200	12	’	'	PUNCT
american_scientific_journal-1917	200	13	speeds	speed	NOUN
american_scientific_journal-1917	200	14	.	.	PUNCT
american_scientific_journal-1917	201	1	several	several	ADJ
american_scientific_journal-1917	201	2	tests	test	NOUN
american_scientific_journal-1917	201	3	were	be	AUX
american_scientific_journal-1917	201	4	applied	apply	VERB
american_scientific_journal-1917	201	5	to	to	ADP
american_scientific_journal-1917	201	6	the	the	DET
american_scientific_journal-1917	201	7	robot	robot	NOUN
american_scientific_journal-1917	201	8	platform	platform	NOUN
american_scientific_journal-1917	201	9	such	such	ADJ
american_scientific_journal-1917	201	10	as	as	ADP
american_scientific_journal-1917	201	11	repeatability	repeatability	NOUN
american_scientific_journal-1917	201	12	and	and	CCONJ
american_scientific_journal-1917	201	13	manoeuvrability	manoeuvrability	NOUN
american_scientific_journal-1917	201	14	tests	test	NOUN
american_scientific_journal-1917	201	15	.	.	PUNCT
american_scientific_journal-1917	202	1	in	in	ADP
american_scientific_journal-1917	202	2	all	all	DET
american_scientific_journal-1917	202	3	tests	test	NOUN
american_scientific_journal-1917	202	4	,	,	PUNCT
american_scientific_journal-1917	202	5	the	the	DET
american_scientific_journal-1917	202	6	data	datum	NOUN
american_scientific_journal-1917	202	7	were	be	AUX
american_scientific_journal-1917	202	8	collected	collect	VERB
american_scientific_journal-1917	202	9	by	by	ADP
american_scientific_journal-1917	202	10	the	the	DET
american_scientific_journal-1917	202	11	laptop	laptop	NOUN
american_scientific_journal-1917	202	12	and	and	CCONJ
american_scientific_journal-1917	202	13	has	have	AUX
american_scientific_journal-1917	202	14	been	be	AUX
american_scientific_journal-1917	202	15	plotted	plot	VERB
american_scientific_journal-1917	202	16	and	and	CCONJ
american_scientific_journal-1917	202	17	evaluated	evaluate	VERB
american_scientific_journal-1917	202	18	.	.	PUNCT
american_scientific_journal-1917	203	1	the	the	DET
american_scientific_journal-1917	203	2	robot	robot	NOUN
american_scientific_journal-1917	203	3	showed	show	VERB
american_scientific_journal-1917	203	4	the	the	DET
american_scientific_journal-1917	203	5	desired	desire	VERB
american_scientific_journal-1917	203	6	performance	performance	NOUN
american_scientific_journal-1917	203	7	in	in	ADP
american_scientific_journal-1917	203	8	these	these	DET
american_scientific_journal-1917	203	9	tests	test	NOUN
american_scientific_journal-1917	203	10	.	.	PUNCT
american_scientific_journal-1917	204	1	in	in	ADP
american_scientific_journal-1917	204	2	conclusion	conclusion	NOUN
american_scientific_journal-1917	204	3	,	,	PUNCT
american_scientific_journal-1917	204	4	the	the	DET
american_scientific_journal-1917	204	5	primary	primary	ADJ
american_scientific_journal-1917	204	6	aims	aim	NOUN
american_scientific_journal-1917	204	7	and	and	CCONJ
american_scientific_journal-1917	204	8	objectives	objective	NOUN
american_scientific_journal-1917	204	9	of	of	ADP
american_scientific_journal-1917	204	10	this	this	DET
american_scientific_journal-1917	204	11	dissertation	dissertation	NOUN
american_scientific_journal-1917	204	12	has	have	AUX
american_scientific_journal-1917	204	13	been	be	AUX
american_scientific_journal-1917	204	14	successfully	successfully	ADV
american_scientific_journal-1917	204	15	accomplished	accomplish	VERB
american_scientific_journal-1917	204	16	,	,	PUNCT
american_scientific_journal-1917	204	17	since	since	SCONJ
american_scientific_journal-1917	204	18	the	the	DET
american_scientific_journal-1917	204	19	robot	robot	NOUN
american_scientific_journal-1917	204	20	design	design	NOUN
american_scientific_journal-1917	204	21	was	be	AUX
american_scientific_journal-1917	204	22	effectively	effectively	ADV
american_scientific_journal-1917	204	23	developed	develop	VERB
american_scientific_journal-1917	204	24	and	and	CCONJ
american_scientific_journal-1917	204	25	all	all	DET
american_scientific_journal-1917	204	26	the	the	DET
american_scientific_journal-1917	204	27	analyses	analysis	NOUN
american_scientific_journal-1917	204	28	,	,	PUNCT
american_scientific_journal-1917	204	29	once	once	ADV
american_scientific_journal-1917	204	30	applied	apply	VERB
american_scientific_journal-1917	204	31	on	on	ADP
american_scientific_journal-1917	204	32	the	the	DET
american_scientific_journal-1917	204	33	actual	actual	ADJ
american_scientific_journal-1917	204	34	prototype	prototype	NOUN
american_scientific_journal-1917	204	35	,	,	PUNCT
american_scientific_journal-1917	204	36	showed	show	VERB
american_scientific_journal-1917	204	37	expected	expect	VERB
american_scientific_journal-1917	204	38	results	result	NOUN
american_scientific_journal-1917	204	39	.	.	PUNCT
american_scientific_journal-1917	205	1	however	however	ADV
american_scientific_journal-1917	205	2	,	,	PUNCT
american_scientific_journal-1917	205	3	in	in	ADP
american_scientific_journal-1917	205	4	order	order	NOUN
american_scientific_journal-1917	205	5	to	to	PART
american_scientific_journal-1917	205	6	improve	improve	VERB
american_scientific_journal-1917	205	7	the	the	DET
american_scientific_journal-1917	205	8	efficiency	efficiency	NOUN
american_scientific_journal-1917	205	9	of	of	ADP
american_scientific_journal-1917	205	10	the	the	DET
american_scientific_journal-1917	205	11	existing	exist	VERB
american_scientific_journal-1917	205	12	design	design	NOUN
american_scientific_journal-1917	205	13	and	and	CCONJ
american_scientific_journal-1917	205	14	due	due	ADP
american_scientific_journal-1917	205	15	to	to	ADP
american_scientific_journal-1917	205	16	the	the	DET
american_scientific_journal-1917	205	17	aspiration	aspiration	NOUN
american_scientific_journal-1917	205	18	of	of	ADP
american_scientific_journal-1917	205	19	the	the	DET
american_scientific_journal-1917	205	20	scope	scope	NOUN
american_scientific_journal-1917	205	21	of	of	ADP
american_scientific_journal-1917	205	22	this	this	DET
american_scientific_journal-1917	205	23	research	research	NOUN
american_scientific_journal-1917	205	24	,	,	PUNCT
american_scientific_journal-1917	205	25	further	further	ADJ
american_scientific_journal-1917	205	26	adjustments	adjustment	NOUN
american_scientific_journal-1917	205	27	may	may	AUX
american_scientific_journal-1917	205	28	be	be	AUX
american_scientific_journal-1917	205	29	performed	perform	VERB
american_scientific_journal-1917	205	30	in	in	ADP
american_scientific_journal-1917	205	31	future	future	NOUN
american_scientific_journal-1917	205	32	.	.	PUNCT
american_scientific_journal-1917	206	1	7	7	X
american_scientific_journal-1917	206	2	.	.	X
american_scientific_journal-1917	206	3	future	future	ADJ
american_scientific_journal-1917	206	4	work	work	NOUN
american_scientific_journal-1917	206	5	•	•	NOUN
american_scientific_journal-1917	206	6	with	with	ADP
american_scientific_journal-1917	206	7	a	a	DET
american_scientific_journal-1917	206	8	more	more	ADV
american_scientific_journal-1917	206	9	sophisticated	sophisticated	ADJ
american_scientific_journal-1917	206	10	path	path	NOUN
american_scientific_journal-1917	206	11	planning	planning	NOUN
american_scientific_journal-1917	206	12	algorithm	algorithm	NOUN
american_scientific_journal-1917	206	13	and	and	CCONJ
american_scientific_journal-1917	206	14	analyses	analysis	NOUN
american_scientific_journal-1917	206	15	,	,	PUNCT
american_scientific_journal-1917	206	16	it	it	PRON
american_scientific_journal-1917	206	17	would	would	AUX
american_scientific_journal-1917	206	18	be	be	AUX
american_scientific_journal-1917	206	19	possible	possible	ADJ
american_scientific_journal-1917	206	20	for	for	SCONJ
american_scientific_journal-1917	206	21	this	this	DET
american_scientific_journal-1917	206	22	robot	robot	NOUN
american_scientific_journal-1917	206	23	to	to	PART
american_scientific_journal-1917	206	24	follow	follow	VERB
american_scientific_journal-1917	206	25	complex	complex	ADJ
american_scientific_journal-1917	206	26	trajectories	trajectory	NOUN
american_scientific_journal-1917	206	27	.	.	PUNCT
american_scientific_journal-1917	207	1	this	this	PRON
american_scientific_journal-1917	207	2	will	will	AUX
american_scientific_journal-1917	207	3	support	support	VERB
american_scientific_journal-1917	207	4	the	the	DET
american_scientific_journal-1917	207	5	robot	robot	NOUN
american_scientific_journal-1917	207	6	to	to	PART
american_scientific_journal-1917	207	7	follow	follow	VERB
american_scientific_journal-1917	207	8	the	the	DET
american_scientific_journal-1917	207	9	object	object	NOUN
american_scientific_journal-1917	207	10	(	(	PUNCT
american_scientific_journal-1917	207	11	i.e.	i.e.	X
american_scientific_journal-1917	207	12	ball	ball	NOUN
american_scientific_journal-1917	207	13	)	)	PUNCT
american_scientific_journal-1917	207	14	with	with	ADP
american_scientific_journal-1917	207	15	a	a	DET
american_scientific_journal-1917	207	16	smoother	smooth	ADJ
american_scientific_journal-1917	207	17	path	path	NOUN
american_scientific_journal-1917	207	18	.	.	PUNCT
american_scientific_journal-1917	208	1	•	•	NUM
american_scientific_journal-1917	208	2	by	by	ADP
american_scientific_journal-1917	208	3	adding	add	VERB
american_scientific_journal-1917	208	4	more	more	ADJ
american_scientific_journal-1917	208	5	sensors	sensor	NOUN
american_scientific_journal-1917	208	6	to	to	ADP
american_scientific_journal-1917	208	7	the	the	DET
american_scientific_journal-1917	208	8	robot	robot	NOUN
american_scientific_journal-1917	208	9	such	such	ADJ
american_scientific_journal-1917	208	10	as	as	ADP
american_scientific_journal-1917	208	11	camera	camera	NOUN
american_scientific_journal-1917	208	12	,	,	PUNCT
american_scientific_journal-1917	208	13	sonar	sonar	NOUN
american_scientific_journal-1917	208	14	,	,	PUNCT
american_scientific_journal-1917	208	15	and	and	CCONJ
american_scientific_journal-1917	208	16	compass	compass	NOUN
american_scientific_journal-1917	208	17	,	,	PUNCT
american_scientific_journal-1917	208	18	it	it	PRON
american_scientific_journal-1917	208	19	would	would	AUX
american_scientific_journal-1917	208	20	be	be	AUX
american_scientific_journal-1917	208	21	possible	possible	ADJ
american_scientific_journal-1917	208	22	for	for	SCONJ
american_scientific_journal-1917	208	23	this	this	DET
american_scientific_journal-1917	208	24	robot	robot	NOUN
american_scientific_journal-1917	208	25	to	to	PART
american_scientific_journal-1917	208	26	perform	perform	VERB
american_scientific_journal-1917	208	27	navigation	navigation	NOUN
american_scientific_journal-1917	208	28	applications	application	NOUN
american_scientific_journal-1917	208	29	.	.	PUNCT
american_scientific_journal-1917	209	1	•	•	NUM
american_scientific_journal-1917	209	2	by	by	ADP
american_scientific_journal-1917	209	3	adding	add	VERB
american_scientific_journal-1917	209	4	a	a	DET
american_scientific_journal-1917	209	5	kicking	kicking	NOUN
american_scientific_journal-1917	209	6	mechanism	mechanism	NOUN
american_scientific_journal-1917	209	7	and	and	CCONJ
american_scientific_journal-1917	209	8	with	with	ADP
american_scientific_journal-1917	209	9	few	few	ADJ
american_scientific_journal-1917	209	10	modification	modification	NOUN
american_scientific_journal-1917	209	11	,	,	PUNCT
american_scientific_journal-1917	209	12	it	it	PRON
american_scientific_journal-1917	209	13	would	would	AUX
american_scientific_journal-1917	209	14	be	be	AUX
american_scientific_journal-1917	209	15	possible	possible	ADJ
american_scientific_journal-1917	209	16	for	for	SCONJ
american_scientific_journal-1917	209	17	this	this	DET
american_scientific_journal-1917	209	18	robot	robot	NOUN
american_scientific_journal-1917	209	19	to	to	PART
american_scientific_journal-1917	209	20	be	be	AUX
american_scientific_journal-1917	209	21	tested	test	VERB
american_scientific_journal-1917	209	22	in	in	ADP
american_scientific_journal-1917	209	23	robocup	robocup	PROPN
american_scientific_journal-1917	209	24	competitions	competition	NOUN
american_scientific_journal-1917	209	25	.	.	PUNCT
american_scientific_journal-1917	210	1	•	•	NUM
american_scientific_journal-1917	210	2	building	build	VERB
american_scientific_journal-1917	210	3	a	a	DET
american_scientific_journal-1917	210	4	team	team	NOUN
american_scientific_journal-1917	210	5	of	of	ADP
american_scientific_journal-1917	210	6	robots	robot	NOUN
american_scientific_journal-1917	210	7	(	(	PUNCT
american_scientific_journal-1917	210	8	with	with	ADP
american_scientific_journal-1917	210	9	few	few	ADJ
american_scientific_journal-1917	210	10	modifications	modification	NOUN
american_scientific_journal-1917	210	11	)	)	PUNCT
american_scientific_journal-1917	210	12	and	and	CCONJ
american_scientific_journal-1917	210	13	preform	preform	NOUN
american_scientific_journal-1917	210	14	communication	communication	NOUN
american_scientific_journal-1917	210	15	between	between	ADP
american_scientific_journal-1917	210	16	them	they	PRON
american_scientific_journal-1917	210	17	to	to	ADP
american_scientific_journal-1917	210	18	american	american	ADJ
american_scientific_journal-1917	210	19	scientific	scientific	ADJ
american_scientific_journal-1917	210	20	research	research	NOUN
american_scientific_journal-1917	210	21	journal	journal	NOUN
american_scientific_journal-1917	210	22	for	for	ADP
american_scientific_journal-1917	210	23	engineering	engineering	NOUN
american_scientific_journal-1917	210	24	,	,	PUNCT
american_scientific_journal-1917	210	25	technology	technology	NOUN
american_scientific_journal-1917	210	26	,	,	PUNCT
american_scientific_journal-1917	210	27	and	and	CCONJ
american_scientific_journal-1917	210	28	sciences	science	NOUN
american_scientific_journal-1917	210	29	(	(	PUNCT
american_scientific_journal-1917	210	30	asrjets	asrjet	NOUN
american_scientific_journal-1917	210	31	)	)	PUNCT
american_scientific_journal-1917	210	32	(	(	PUNCT
american_scientific_journal-1917	210	33	2016	2016	NUM
american_scientific_journal-1917	210	34	)	)	PUNCT
american_scientific_journal-1917	210	35	volume	volume	NOUN
american_scientific_journal-1917	210	36	22	22	NUM
american_scientific_journal-1917	210	37	,	,	PUNCT
american_scientific_journal-1917	210	38	no	no	DET
american_scientific_journal-1917	210	39	1	1	NUM
american_scientific_journal-1917	210	40	,	,	PUNCT
american_scientific_journal-1917	210	41	pp	pp	ADV
american_scientific_journal-1917	210	42	195	195	NUM
american_scientific_journal-1917	210	43	-	-	SYM
american_scientific_journal-1917	210	44	209	209	NUM
american_scientific_journal-1917	210	45	209	209	NUM
american_scientific_journal-1917	210	46	establish	establish	VERB
american_scientific_journal-1917	210	47	search	search	NOUN
american_scientific_journal-1917	210	48	and	and	CCONJ
american_scientific_journal-1917	210	49	rescue	rescue	NOUN
american_scientific_journal-1917	210	50	application	application	NOUN
american_scientific_journal-1917	210	51	.	.	PUNCT
american_scientific_journal-1917	211	1	references	reference	NOUN
american_scientific_journal-1917	211	2	[	[	X
american_scientific_journal-1917	211	3	1	1	X
american_scientific_journal-1917	211	4	]	]	PUNCT
american_scientific_journal-1917	211	5	t.	t.	PROPN
american_scientific_journal-1917	211	6	p.	p.	PROPN
american_scientific_journal-1917	211	7	do	do	AUX
american_scientific_journal-1917	211	8	nascimento	nascimento	PROPN
american_scientific_journal-1917	211	9	,	,	PUNCT
american_scientific_journal-1917	211	10	a.	a.	PROPN
american_scientific_journal-1917	211	11	l.	l.	PROPN
american_scientific_journal-1917	211	12	da	da	PROPN
american_scientific_journal-1917	211	13	costa	costa	PROPN
american_scientific_journal-1917	211	14	,	,	PUNCT
american_scientific_journal-1917	211	15	and	and	CCONJ
american_scientific_journal-1917	211	16	c.	c.	PROPN
american_scientific_journal-1917	211	17	c.	c.	PROPN
american_scientific_journal-1917	211	18	paim	paim	PROPN
american_scientific_journal-1917	211	19	,	,	PUNCT
american_scientific_journal-1917	211	20	"	"	PUNCT
american_scientific_journal-1917	211	21	axebot	axebot	NOUN
american_scientific_journal-1917	211	22	robot	robot	NOUN
american_scientific_journal-1917	211	23	the	the	DET
american_scientific_journal-1917	211	24	mechanical	mechanical	ADJ
american_scientific_journal-1917	211	25	design	design	NOUN
american_scientific_journal-1917	211	26	for	for	ADP
american_scientific_journal-1917	211	27	an	an	DET
american_scientific_journal-1917	211	28	autonomous	autonomous	ADJ
american_scientific_journal-1917	211	29	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	211	30	mobile	mobile	ADJ
american_scientific_journal-1917	211	31	robot	robot	NOUN
american_scientific_journal-1917	211	32	,	,	PUNCT
american_scientific_journal-1917	211	33	"	"	PUNCT
american_scientific_journal-1917	211	34	in	in	ADP
american_scientific_journal-1917	211	35	electronics	electronic	NOUN
american_scientific_journal-1917	211	36	,	,	PUNCT
american_scientific_journal-1917	211	37	robotics	robotic	NOUN
american_scientific_journal-1917	211	38	and	and	CCONJ
american_scientific_journal-1917	211	39	automotive	automotive	ADJ
american_scientific_journal-1917	211	40	mechanics	mechanic	NOUN
american_scientific_journal-1917	211	41	conference	conference	NOUN
american_scientific_journal-1917	211	42	,	,	PUNCT
american_scientific_journal-1917	211	43	2009	2009	NUM
american_scientific_journal-1917	211	44	.	.	PUNCT
american_scientific_journal-1917	212	1	cerma'09	cerma'09	NOUN
american_scientific_journal-1917	212	2	.	.	PROPN
american_scientific_journal-1917	212	3	,	,	PUNCT
american_scientific_journal-1917	212	4	2009	2009	NUM
american_scientific_journal-1917	212	5	,	,	PUNCT
american_scientific_journal-1917	212	6	pp	pp	ADJ
american_scientific_journal-1917	212	7	.	.	PUNCT
american_scientific_journal-1917	213	1	187	187	NUM
american_scientific_journal-1917	213	2	-	-	SYM
american_scientific_journal-1917	213	3	192	192	NUM
american_scientific_journal-1917	213	4	.	.	PUNCT
american_scientific_journal-1917	214	1	[	[	X
american_scientific_journal-1917	214	2	2	2	NUM
american_scientific_journal-1917	214	3	]	]	PUNCT
american_scientific_journal-1917	214	4	doroftei	doroftei	NOUN
american_scientific_journal-1917	214	5	,	,	PUNCT
american_scientific_journal-1917	214	6	i.	i.	PROPN
american_scientific_journal-1917	214	7	,	,	PUNCT
american_scientific_journal-1917	214	8	grosu	grosu	PROPN
american_scientific_journal-1917	214	9	,	,	PUNCT
american_scientific_journal-1917	214	10	v.	v.	PROPN
american_scientific_journal-1917	214	11	&	&	CCONJ
american_scientific_journal-1917	214	12	spinu	spinu	PROPN
american_scientific_journal-1917	214	13	,	,	PUNCT
american_scientific_journal-1917	214	14	v.	v.	ADP
american_scientific_journal-1917	214	15	2007	2007	NUM
american_scientific_journal-1917	214	16	.	.	PUNCT
american_scientific_journal-1917	215	1	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	215	2	mobile	mobile	ADJ
american_scientific_journal-1917	215	3	robot	robot	NOUN
american_scientific_journal-1917	215	4	–	–	PUNCT
american_scientific_journal-1917	215	5	design	design	NOUN
american_scientific_journal-1917	215	6	and	and	CCONJ
american_scientific_journal-1917	215	7	implementation	implementation	NOUN
american_scientific_journal-1917	215	8	,	,	PUNCT
american_scientific_journal-1917	215	9	na	na	NOUN
american_scientific_journal-1917	215	10	.	.	PUNCT
american_scientific_journal-1917	216	1	[	[	X
american_scientific_journal-1917	216	2	3	3	NUM
american_scientific_journal-1917	216	3	]	]	PUNCT
american_scientific_journal-1917	216	4	borenstein	borenstein	NOUN
american_scientific_journal-1917	216	5	,	,	PUNCT
american_scientific_journal-1917	216	6	j.	j.	PROPN
american_scientific_journal-1917	216	7	,	,	PUNCT
american_scientific_journal-1917	216	8	feng	feng	PROPN
american_scientific_journal-1917	216	9	,	,	PUNCT
american_scientific_journal-1917	216	10	l.	l.	PROPN
american_scientific_journal-1917	216	11	&	&	CCONJ
american_scientific_journal-1917	216	12	everett	everett	PROPN
american_scientific_journal-1917	216	13	,	,	PUNCT
american_scientific_journal-1917	216	14	h.	h.	PROPN
american_scientific_journal-1917	216	15	1996	1996	NUM
american_scientific_journal-1917	216	16	.	.	PUNCT
american_scientific_journal-1917	217	1	navigating	navigate	VERB
american_scientific_journal-1917	217	2	mobile	mobile	ADJ
american_scientific_journal-1917	217	3	robots	robot	NOUN
american_scientific_journal-1917	217	4	:	:	PUNCT
american_scientific_journal-1917	217	5	systems	system	NOUN
american_scientific_journal-1917	217	6	and	and	CCONJ
american_scientific_journal-1917	217	7	techniques	technique	NOUN
american_scientific_journal-1917	217	8	,	,	PUNCT
american_scientific_journal-1917	217	9	ak	ak	PROPN
american_scientific_journal-1917	217	10	peters	peters	PROPN
american_scientific_journal-1917	217	11	,	,	PUNCT
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american_scientific_journal-1917	217	13	.	.	PUNCT
american_scientific_journal-1917	218	1	[	[	X
american_scientific_journal-1917	218	2	4	4	NUM
american_scientific_journal-1917	218	3	]	]	SYM
american_scientific_journal-1917	218	4	ma	ma	PROPN
american_scientific_journal-1917	218	5	,	,	PUNCT
american_scientific_journal-1917	218	6	s.	s.	PROPN
american_scientific_journal-1917	218	7	,	,	PUNCT
american_scientific_journal-1917	218	8	ren	ren	PROPN
american_scientific_journal-1917	218	9	,	,	PUNCT
american_scientific_journal-1917	218	10	c.	c.	PROPN
american_scientific_journal-1917	218	11	&	&	CCONJ
american_scientific_journal-1917	218	12	ye	ye	PROPN
american_scientific_journal-1917	218	13	,	,	PUNCT
american_scientific_journal-1917	218	14	c.	c.	PROPN
american_scientific_journal-1917	218	15	an	an	DET
american_scientific_journal-1917	218	16	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	218	17	mobile	mobile	ADJ
american_scientific_journal-1917	218	18	robot	robot	NOUN
american_scientific_journal-1917	218	19	:	:	PUNCT
american_scientific_journal-1917	218	20	concept	concept	NOUN
american_scientific_journal-1917	218	21	and	and	CCONJ
american_scientific_journal-1917	218	22	analysis	analysis	NOUN
american_scientific_journal-1917	218	23	.	.	PUNCT
american_scientific_journal-1917	218	24	robotics	robotic	NOUN
american_scientific_journal-1917	218	25	and	and	CCONJ
american_scientific_journal-1917	218	26	biomimetics	biomimetic	NOUN
american_scientific_journal-1917	218	27	(	(	PUNCT
american_scientific_journal-1917	218	28	robio	robio	NOUN
american_scientific_journal-1917	218	29	)	)	PUNCT
american_scientific_journal-1917	218	30	,	,	PUNCT
american_scientific_journal-1917	218	31	2012	2012	NUM
american_scientific_journal-1917	218	32	ieee	ieee	PROPN
american_scientific_journal-1917	218	33	international	international	ADJ
american_scientific_journal-1917	218	34	conference	conference	NOUN
american_scientific_journal-1917	218	35	on	on	ADP
american_scientific_journal-1917	218	36	,	,	PUNCT
american_scientific_journal-1917	218	37	2012	2012	NUM
american_scientific_journal-1917	218	38	.	.	PUNCT
american_scientific_journal-1917	219	1	ieee	ieee	NOUN
american_scientific_journal-1917	219	2	,	,	PUNCT
american_scientific_journal-1917	219	3	920	920	NUM
american_scientific_journal-1917	219	4	-	-	SYM
american_scientific_journal-1917	219	5	925	925	NUM
american_scientific_journal-1917	219	6	.	.	PUNCT
american_scientific_journal-1917	220	1	[	[	X
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american_scientific_journal-1917	220	3	]	]	PUNCT
american_scientific_journal-1917	220	4	e.	e.	PROPN
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american_scientific_journal-1917	220	6	and	and	CCONJ
american_scientific_journal-1917	220	7	a.	a.	NOUN
american_scientific_journal-1917	220	8	weitzenfeld	weitzenfeld	NOUN
american_scientific_journal-1917	220	9	,	,	PUNCT
american_scientific_journal-1917	220	10	"	"	PUNCT
american_scientific_journal-1917	220	11	robocup	robocup	PROPN
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american_scientific_journal-1917	220	13	-	-	PUNCT
american_scientific_journal-1917	220	14	size	size	NOUN
american_scientific_journal-1917	220	15	league	league	NOUN
american_scientific_journal-1917	220	16	:	:	PUNCT
american_scientific_journal-1917	220	17	using	use	VERB
american_scientific_journal-1917	220	18	neural	neural	ADJ
american_scientific_journal-1917	220	19	networks	network	NOUN
american_scientific_journal-1917	220	20	to	to	PART
american_scientific_journal-1917	220	21	learn	learn	VERB
american_scientific_journal-1917	220	22	color	color	NOUN
american_scientific_journal-1917	220	23	segmentation	segmentation	NOUN
american_scientific_journal-1917	220	24	during	during	ADP
american_scientific_journal-1917	220	25	visual	visual	ADJ
american_scientific_journal-1917	220	26	processing	processing	NOUN
american_scientific_journal-1917	220	27	,	,	PUNCT
american_scientific_journal-1917	220	28	"	"	PUNCT
american_scientific_journal-1917	220	29	in	in	ADP
american_scientific_journal-1917	220	30	robotic	robotic	ADJ
american_scientific_journal-1917	220	31	symposium	symposium	NOUN
american_scientific_journal-1917	220	32	,	,	PUNCT
american_scientific_journal-1917	220	33	2008	2008	NUM
american_scientific_journal-1917	220	34	.	.	PUNCT
american_scientific_journal-1917	221	1	lars'08	lars'08	PROPN
american_scientific_journal-1917	221	2	.	.	PUNCT
american_scientific_journal-1917	221	3	ieee	ieee	PROPN
american_scientific_journal-1917	221	4	latin	latin	PROPN
american_scientific_journal-1917	221	5	american	american	PROPN
american_scientific_journal-1917	221	6	,	,	PUNCT
american_scientific_journal-1917	221	7	2008	2008	NUM
american_scientific_journal-1917	221	8	,	,	PUNCT
american_scientific_journal-1917	221	9	pp	pp	ADJ
american_scientific_journal-1917	221	10	.	.	PUNCT
american_scientific_journal-1917	222	1	14	14	NUM
american_scientific_journal-1917	222	2	-	-	SYM
american_scientific_journal-1917	222	3	19	19	NUM
american_scientific_journal-1917	222	4	.	.	PUNCT
american_scientific_journal-1917	223	1	[	[	X
american_scientific_journal-1917	223	2	6	6	NUM
american_scientific_journal-1917	223	3	]	]	PUNCT
american_scientific_journal-1917	223	4	a.	a.	PROPN
american_scientific_journal-1917	223	5	d.	d.	PROPN
american_scientific_journal-1917	223	6	team	team	PROPN
american_scientific_journal-1917	223	7	.	.	PUNCT
american_scientific_journal-1917	224	1	(	(	PUNCT
american_scientific_journal-1917	224	2	2010	2010	NUM
american_scientific_journal-1917	224	3	)	)	PUNCT
american_scientific_journal-1917	224	4	.	.	PUNCT
american_scientific_journal-1917	225	1	introduction	introduction	NOUN
american_scientific_journal-1917	225	2	about	about	ADP
american_scientific_journal-1917	225	3	arduino	arduino	NOUN
american_scientific_journal-1917	225	4	.	.	PUNCT
american_scientific_journal-1917	226	1	available	available	ADJ
american_scientific_journal-1917	226	2	:	:	PUNCT
american_scientific_journal-1917	226	3	http://arduino.cc/en/guide/introduction	http://arduino.cc/en/guide/introduction	NOUN
american_scientific_journal-1917	227	1	[	[	X
american_scientific_journal-1917	227	2	7	7	X
american_scientific_journal-1917	227	3	]	]	PUNCT
american_scientific_journal-1917	227	4	t.	t.	PROPN
american_scientific_journal-1917	227	5	a.	a.	NOUN
american_scientific_journal-1917	227	6	baede	baede	PROPN
american_scientific_journal-1917	227	7	,	,	PUNCT
american_scientific_journal-1917	227	8	"	"	PUNCT
american_scientific_journal-1917	227	9	motion	motion	NOUN
american_scientific_journal-1917	227	10	control	control	NOUN
american_scientific_journal-1917	227	11	of	of	ADP
american_scientific_journal-1917	227	12	an	an	DET
american_scientific_journal-1917	227	13	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	227	14	mobile	mobile	ADJ
american_scientific_journal-1917	227	15	robot	robot	NOUN
american_scientific_journal-1917	227	16	,	,	PUNCT
american_scientific_journal-1917	227	17	"	"	PUNCT
american_scientific_journal-1917	227	18	traineeship	traineeship	NOUN
american_scientific_journal-1917	227	19	report	report	NOUN
american_scientific_journal-1917	227	20	dct	dct	PROPN
american_scientific_journal-1917	227	21	2006	2006	NUM
american_scientific_journal-1917	227	22	,	,	PUNCT
american_scientific_journal-1917	227	23	2006	2006	NUM
american_scientific_journal-1917	227	24	.	.	PUNCT
american_scientific_journal-1917	228	1	[	[	X
american_scientific_journal-1917	228	2	8	8	X
american_scientific_journal-1917	228	3	]	]	PUNCT
american_scientific_journal-1917	228	4	j.	j.	PROPN
american_scientific_journal-1917	228	5	hedley	hedley	PROPN
american_scientific_journal-1917	228	6	,	,	PUNCT
american_scientific_journal-1917	228	7	"	"	PUNCT
american_scientific_journal-1917	228	8	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1917	228	9	robot	robot	NOUN
american_scientific_journal-1917	228	10	kinematics	kinematic	NOUN
american_scientific_journal-1917	228	11	modelling	modelling	NOUN
american_scientific_journal-1917	228	12	,	,	PUNCT
american_scientific_journal-1917	228	13	"	"	PUNCT
american_scientific_journal-1917	228	14	lecture	lecture	NOUN
american_scientific_journal-1917	228	15	note	note	NOUN
american_scientific_journal-1917	228	16	,	,	PUNCT
american_scientific_journal-1917	228	17	2014	2014	NUM
american_scientific_journal-1917	228	18	.	.	PUNCT
american_scientific_journal-1917	229	1	[	[	X
american_scientific_journal-1917	229	2	9	9	NUM
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american_scientific_journal-1917	229	7	,	,	PUNCT
american_scientific_journal-1917	229	8	"	"	PUNCT
american_scientific_journal-1917	229	9	kinematic	kinematic	ADJ
american_scientific_journal-1917	229	10	and	and	CCONJ
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american_scientific_journal-1917	229	12	analysis	analysis	NOUN
american_scientific_journal-1917	229	13	of	of	ADP
american_scientific_journal-1917	229	14	mobile	mobile	ADJ
american_scientific_journal-1917	229	15	robot	robot	NOUN
american_scientific_journal-1917	229	16	,	,	PUNCT
american_scientific_journal-1917	229	17	"	"	PUNCT
american_scientific_journal-1917	229	18	2004	2004	NUM
american_scientific_journal-1917	229	19	.	.	PUNCT
american_scientific_journal-1917	230	1	[	[	X
american_scientific_journal-1917	230	2	10	10	NUM
american_scientific_journal-1917	230	3	]	]	X
american_scientific_journal-1917	230	4	r.	r.	PROPN
american_scientific_journal-1917	230	5	bicker	bicker	PROPN
american_scientific_journal-1917	230	6	,	,	PUNCT
american_scientific_journal-1917	230	7	"	"	PUNCT
american_scientific_journal-1917	230	8	velocity	velocity	NOUN
american_scientific_journal-1917	230	9	pi	pi	NOUN
american_scientific_journal-1917	230	10	algorithm	algorithm	NOUN
american_scientific_journal-1917	230	11	,	,	PUNCT
american_scientific_journal-1917	230	12	"	"	PUNCT
american_scientific_journal-1917	230	13	lecture	lecture	NOUN
american_scientific_journal-1917	230	14	note	note	NOUN
american_scientific_journal-1917	230	15	,	,	PUNCT
american_scientific_journal-1917	230	16	2014	2014	NUM
american_scientific_journal-1917	230	17	.	.	PUNCT
american_scientific_journal-1917	231	1	52	52	NUM
american_scientific_journal-1917	232	1	[	[	SYM
american_scientific_journal-1917	232	2	11	11	NUM
american_scientific_journal-1917	232	3	]	]	PUNCT
american_scientific_journal-1917	232	4	j.	j.	PROPN
american_scientific_journal-1917	232	5	moreno	moreno	PROPN
american_scientific_journal-1917	232	6	–	–	PUNCT
american_scientific_journal-1917	232	7	valenzuela	valenzuela	PROPN
american_scientific_journal-1917	232	8	and	and	CCONJ
american_scientific_journal-1917	232	9	v.	v.	ADP
american_scientific_journal-1917	232	10	santibáñez	santibáñez	NOUN
american_scientific_journal-1917	232	11	,	,	PUNCT
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american_scientific_journal-1917	232	14	saturated	saturate	VERB
american_scientific_journal-1917	232	15	pi	pi	NOUN
american_scientific_journal-1917	232	16	joint	joint	ADJ
american_scientific_journal-1917	232	17	velocity	velocity	NOUN
american_scientific_journal-1917	232	18	control	control	NOUN
american_scientific_journal-1917	232	19	for	for	ADP
american_scientific_journal-1917	232	20	robot	robot	NOUN
american_scientific_journal-1917	232	21	manipulators	manipulator	NOUN
american_scientific_journal-1917	232	22	,	,	PUNCT
american_scientific_journal-1917	232	23	"	"	PUNCT
american_scientific_journal-1917	232	24	asian	asian	ADJ
american_scientific_journal-1917	232	25	journal	journal	NOUN
american_scientific_journal-1917	232	26	of	of	ADP
american_scientific_journal-1917	232	27	control	control	NOUN
american_scientific_journal-1917	232	28	,	,	PUNCT
american_scientific_journal-1917	232	29	vol	vol	NOUN
american_scientific_journal-1917	232	30	.	.	PROPN
american_scientific_journal-1917	232	31	15	15	NUM
american_scientific_journal-1917	232	32	,	,	PUNCT
american_scientific_journal-1917	232	33	pp	pp	ADJ
american_scientific_journal-1917	232	34	.	.	PUNCT
american_scientific_journal-1917	233	1	64	64	NUM
american_scientific_journal-1917	233	2	-	-	SYM
american_scientific_journal-1917	233	3	79	79	NUM
american_scientific_journal-1917	233	4	,	,	PUNCT
american_scientific_journal-1917	233	5	2013	2013	NUM
american_scientific_journal-1917	233	6	.	.	PUNCT
american_scientific_journal-1917	234	1	[	[	X
american_scientific_journal-1917	234	2	12	12	NUM
american_scientific_journal-1917	234	3	]	]	X
american_scientific_journal-1917	234	4	d.	d.	PROPN
american_scientific_journal-1917	234	5	conrad	conrad	PROPN
american_scientific_journal-1917	234	6	and	and	CCONJ
american_scientific_journal-1917	234	7	g.	g.	PROPN
american_scientific_journal-1917	234	8	n.	n.	PROPN
american_scientific_journal-1917	234	9	desouza	desouza	PROPN
american_scientific_journal-1917	234	10	,	,	PUNCT
american_scientific_journal-1917	234	11	"	"	PUNCT
american_scientific_journal-1917	234	12	homography	homography	NOUN
american_scientific_journal-1917	234	13	-	-	PUNCT
american_scientific_journal-1917	234	14	based	base	VERB
american_scientific_journal-1917	234	15	ground	ground	NOUN
american_scientific_journal-1917	234	16	plane	plane	NOUN
american_scientific_journal-1917	234	17	detection	detection	NOUN
american_scientific_journal-1917	234	18	for	for	ADP
american_scientific_journal-1917	234	19	mobile	mobile	NOUN
american_scientific_journal-1917	234	20	robot	robot	NOUN
american_scientific_journal-1917	234	21	navigation	navigation	NOUN
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american_scientific_journal-1917	234	28	"	"	PUNCT
american_scientific_journal-1917	234	29	in	in	ADP
american_scientific_journal-1917	234	30	robotics	robotic	NOUN
american_scientific_journal-1917	234	31	and	and	CCONJ
american_scientific_journal-1917	234	32	automation	automation	NOUN
american_scientific_journal-1917	234	33	(	(	PUNCT
american_scientific_journal-1917	234	34	icra	icra	PROPN
american_scientific_journal-1917	234	35	)	)	PUNCT
american_scientific_journal-1917	234	36	,	,	PUNCT
american_scientific_journal-1917	234	37	2010	2010	NUM
american_scientific_journal-1917	234	38	ieee	ieee	PROPN
american_scientific_journal-1917	234	39	international	international	ADJ
american_scientific_journal-1917	234	40	conference	conference	NOUN
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american_scientific_journal-1917	234	42	,	,	PUNCT
american_scientific_journal-1917	234	43	2010	2010	NUM
american_scientific_journal-1917	234	44	,	,	PUNCT
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american_scientific_journal-1917	234	46	.	.	PUNCT
american_scientific_journal-1917	235	1	910	910	NUM
american_scientific_journal-1917	235	2	-	-	SYM
american_scientific_journal-1917	235	3	915	915	NUM
american_scientific_journal-1917	235	4	.	.	PUNCT