id	sid	tid	token	lemma	pos
american_scientific_journal-1931	1	1	231	231	NUM
american_scientific_journal-1931	1	2	american	american	ADJ
american_scientific_journal-1931	1	3	scientific	scientific	ADJ
american_scientific_journal-1931	1	4	research	research	NOUN
american_scientific_journal-1931	1	5	journal	journal	NOUN
american_scientific_journal-1931	1	6	for	for	ADP
american_scientific_journal-1931	1	7	engineering	engineering	NOUN
american_scientific_journal-1931	1	8	,	,	PUNCT
american_scientific_journal-1931	1	9	technology	technology	NOUN
american_scientific_journal-1931	1	10	,	,	PUNCT
american_scientific_journal-1931	1	11	and	and	CCONJ
american_scientific_journal-1931	1	12	sciences	science	NOUN
american_scientific_journal-1931	1	13	(	(	PUNCT
american_scientific_journal-1931	1	14	asrjets	asrjet	NOUN
american_scientific_journal-1931	1	15	)	)	PUNCT
american_scientific_journal-1931	1	16	issn	issn	PROPN
american_scientific_journal-1931	1	17	(	(	PUNCT
american_scientific_journal-1931	1	18	print	print	NOUN
american_scientific_journal-1931	1	19	)	)	PUNCT
american_scientific_journal-1931	1	20	2313	2313	NUM
american_scientific_journal-1931	1	21	-	-	SYM
american_scientific_journal-1931	1	22	4410	4410	NUM
american_scientific_journal-1931	1	23	,	,	PUNCT
american_scientific_journal-1931	1	24	issn	issn	PROPN
american_scientific_journal-1931	1	25	(	(	PUNCT
american_scientific_journal-1931	1	26	online	online	ADJ
american_scientific_journal-1931	1	27	)	)	PUNCT
american_scientific_journal-1931	1	28	2313	2313	NUM
american_scientific_journal-1931	1	29	-	-	SYM
american_scientific_journal-1931	1	30	4402	4402	NUM
american_scientific_journal-1931	1	31	©	©	PROPN
american_scientific_journal-1931	1	32	global	global	ADJ
american_scientific_journal-1931	1	33	society	society	NOUN
american_scientific_journal-1931	1	34	of	of	ADP
american_scientific_journal-1931	1	35	scientific	scientific	ADJ
american_scientific_journal-1931	1	36	research	research	NOUN
american_scientific_journal-1931	1	37	and	and	CCONJ
american_scientific_journal-1931	1	38	researchers	researcher	NOUN
american_scientific_journal-1931	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-1931	1	40	development	development	NOUN
american_scientific_journal-1931	1	41	of	of	ADP
american_scientific_journal-1931	1	42	an	an	DET
american_scientific_journal-1931	1	43	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	1	44	mobile	mobile	ADJ
american_scientific_journal-1931	1	45	robot	robot	NOUN
american_scientific_journal-1931	1	46	using	use	VERB
american_scientific_journal-1931	1	47	embedded	embed	VERB
american_scientific_journal-1931	1	48	color	color	NOUN
american_scientific_journal-1931	1	49	vision	vision	NOUN
american_scientific_journal-1931	1	50	system	system	NOUN
american_scientific_journal-1931	1	51	for	for	ADP
american_scientific_journal-1931	1	52	ball	ball	NOUN
american_scientific_journal-1931	1	53	following	follow	VERB
american_scientific_journal-1931	1	54	omar	omar	PROPN
american_scientific_journal-1931	1	55	yaseen	yaseen	PROPN
american_scientific_journal-1931	1	56	ismaela	ismaela	PROPN
american_scientific_journal-1931	1	57	*	*	PROPN
american_scientific_journal-1931	1	58	,	,	PUNCT
american_scientific_journal-1931	1	59	john	john	PROPN
american_scientific_journal-1931	1	60	hedleyb	hedleyb	PROPN
american_scientific_journal-1931	1	61	arasty	arasty	PROPN
american_scientific_journal-1931	1	62	district	district	PROPN
american_scientific_journal-1931	1	63	,	,	PUNCT
american_scientific_journal-1931	1	64	erbil	erbil	PROPN
american_scientific_journal-1931	1	65	44001	44001	NUM
american_scientific_journal-1931	1	66	,	,	PUNCT
american_scientific_journal-1931	1	67	iraq	iraq	PROPN
american_scientific_journal-1931	1	68	bnewcastle	bnewcastle	PROPN
american_scientific_journal-1931	1	69	university	university	PROPN
american_scientific_journal-1931	1	70	,	,	PUNCT
american_scientific_journal-1931	1	71	address	address	NOUN
american_scientific_journal-1931	1	72	,	,	PUNCT
american_scientific_journal-1931	1	73	newcastle	newcastle	PROPN
american_scientific_journal-1931	1	74	upon	upon	SCONJ
american_scientific_journal-1931	1	75	tyne	tyne	PROPN
american_scientific_journal-1931	1	76	ne1	ne1	PROPN
american_scientific_journal-1931	1	77	7ru	7ru	PROPN
american_scientific_journal-1931	1	78	,	,	PUNCT
american_scientific_journal-1931	1	79	uk	uk	PROPN
american_scientific_journal-1931	1	80	aemail	aemail	NOUN
american_scientific_journal-1931	1	81	:	:	PUNCT
american_scientific_journal-1931	1	82	omar_mechatronics@yahoo.com	omar_mechatronics@yahoo.com	X
american_scientific_journal-1931	1	83	bemail	bemail	NOUN
american_scientific_journal-1931	1	84	:	:	PUNCT
american_scientific_journal-1931	1	85	john.hedley@ncl.ac.com	john.hedley@ncl.ac.com	X
american_scientific_journal-1931	1	86	abstract	abstract	ADJ
american_scientific_journal-1931	1	87	in	in	ADP
american_scientific_journal-1931	1	88	this	this	DET
american_scientific_journal-1931	1	89	paper	paper	NOUN
american_scientific_journal-1931	1	90	,	,	PUNCT
american_scientific_journal-1931	1	91	three	three	NUM
american_scientific_journal-1931	1	92	omni	omni	ADJ
american_scientific_journal-1931	1	93	-	-	PUNCT
american_scientific_journal-1931	1	94	wheels	wheel	NOUN
american_scientific_journal-1931	1	95	mobile	mobile	ADJ
american_scientific_journal-1931	1	96	robot	robot	NOUN
american_scientific_journal-1931	1	97	is	be	AUX
american_scientific_journal-1931	1	98	developed	develop	VERB
american_scientific_journal-1931	1	99	by	by	ADP
american_scientific_journal-1931	1	100	using	use	VERB
american_scientific_journal-1931	1	101	a	a	DET
american_scientific_journal-1931	1	102	low	low	ADJ
american_scientific_journal-1931	1	103	cost	cost	NOUN
american_scientific_journal-1931	1	104	embedded	embed	VERB
american_scientific_journal-1931	1	105	color	color	NOUN
american_scientific_journal-1931	1	106	vision	vision	NOUN
american_scientific_journal-1931	1	107	system	system	NOUN
american_scientific_journal-1931	1	108	(	(	PUNCT
american_scientific_journal-1931	1	109	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	1	110	pixy	pixy	NOUN
american_scientific_journal-1931	1	111	)	)	PUNCT
american_scientific_journal-1931	1	112	for	for	ADP
american_scientific_journal-1931	1	113	tracking	tracking	NOUN
american_scientific_journal-1931	1	114	and	and	CCONJ
american_scientific_journal-1931	1	115	following	follow	VERB
american_scientific_journal-1931	1	116	a	a	DET
american_scientific_journal-1931	1	117	ball	ball	NOUN
american_scientific_journal-1931	1	118	.	.	PUNCT
american_scientific_journal-1931	2	1	the	the	DET
american_scientific_journal-1931	2	2	ball	ball	NOUN
american_scientific_journal-1931	2	3	detection	detection	NOUN
american_scientific_journal-1931	2	4	is	be	AUX
american_scientific_journal-1931	2	5	done	do	VERB
american_scientific_journal-1931	2	6	by	by	ADP
american_scientific_journal-1931	2	7	distinguish	distinguish	VERB
american_scientific_journal-1931	2	8	its	its	PRON
american_scientific_journal-1931	2	9	colour	colour	NOUN
american_scientific_journal-1931	2	10	from	from	ADP
american_scientific_journal-1931	2	11	the	the	DET
american_scientific_journal-1931	2	12	environment	environment	NOUN
american_scientific_journal-1931	2	13	.	.	PUNCT
american_scientific_journal-1931	3	1	a	a	DET
american_scientific_journal-1931	3	2	suitable	suitable	ADJ
american_scientific_journal-1931	3	3	design	design	NOUN
american_scientific_journal-1931	3	4	,	,	PUNCT
american_scientific_journal-1931	3	5	of	of	ADP
american_scientific_journal-1931	3	6	the	the	DET
american_scientific_journal-1931	3	7	robot	robot	NOUN
american_scientific_journal-1931	3	8	is	be	AUX
american_scientific_journal-1931	3	9	offered	offer	VERB
american_scientific_journal-1931	3	10	considering	consider	VERB
american_scientific_journal-1931	3	11	a	a	DET
american_scientific_journal-1931	3	12	number	number	NOUN
american_scientific_journal-1931	3	13	of	of	ADP
american_scientific_journal-1931	3	14	practical	practical	ADJ
american_scientific_journal-1931	3	15	factors	factor	NOUN
american_scientific_journal-1931	3	16	.	.	PUNCT
american_scientific_journal-1931	4	1	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	4	2	pixy	pixy	NOUN
american_scientific_journal-1931	4	3	gives	give	VERB
american_scientific_journal-1931	4	4	the	the	DET
american_scientific_journal-1931	4	5	robot	robot	NOUN
american_scientific_journal-1931	4	6	the	the	DET
american_scientific_journal-1931	4	7	ability	ability	NOUN
american_scientific_journal-1931	4	8	to	to	PART
american_scientific_journal-1931	4	9	detect	detect	VERB
american_scientific_journal-1931	4	10	many	many	ADJ
american_scientific_journal-1931	4	11	of	of	ADP
american_scientific_journal-1931	4	12	multi	multi	ADJ
american_scientific_journal-1931	4	13	coloured	coloured	ADJ
american_scientific_journal-1931	4	14	objects	object	NOUN
american_scientific_journal-1931	4	15	at	at	ADP
american_scientific_journal-1931	4	16	the	the	DET
american_scientific_journal-1931	4	17	same	same	ADJ
american_scientific_journal-1931	4	18	time	time	NOUN
american_scientific_journal-1931	4	19	.	.	PUNCT
american_scientific_journal-1931	5	1	the	the	DET
american_scientific_journal-1931	5	2	robot	robot	NOUN
american_scientific_journal-1931	5	3	motion	motion	NOUN
american_scientific_journal-1931	5	4	is	be	AUX
american_scientific_journal-1931	5	5	controlled	control	VERB
american_scientific_journal-1931	5	6	due	due	ADP
american_scientific_journal-1931	5	7	to	to	ADP
american_scientific_journal-1931	5	8	the	the	DET
american_scientific_journal-1931	5	9	kinematics	kinematic	NOUN
american_scientific_journal-1931	5	10	analysis	analysis	NOUN
american_scientific_journal-1931	5	11	and	and	CCONJ
american_scientific_journal-1931	5	12	the	the	DET
american_scientific_journal-1931	5	13	path	path	NOUN
american_scientific_journal-1931	5	14	planning	planning	NOUN
american_scientific_journal-1931	5	15	.	.	PUNCT
american_scientific_journal-1931	6	1	the	the	DET
american_scientific_journal-1931	6	2	velocity	velocity	NOUN
american_scientific_journal-1931	6	3	pi	pi	NOUN
american_scientific_journal-1931	6	4	algorithm	algorithm	NOUN
american_scientific_journal-1931	6	5	is	be	AUX
american_scientific_journal-1931	6	6	used	use	VERB
american_scientific_journal-1931	6	7	to	to	PART
american_scientific_journal-1931	6	8	control	control	VERB
american_scientific_journal-1931	6	9	the	the	DET
american_scientific_journal-1931	6	10	robot	robot	NOUN
american_scientific_journal-1931	6	11	wheels	wheel	NOUN
american_scientific_journal-1931	6	12	’	'	PUNCT
american_scientific_journal-1931	6	13	speeds	speed	NOUN
american_scientific_journal-1931	6	14	.	.	PUNCT
american_scientific_journal-1931	7	1	the	the	DET
american_scientific_journal-1931	7	2	robot	robot	NOUN
american_scientific_journal-1931	7	3	sensors	sensor	NOUN
american_scientific_journal-1931	7	4	(	(	PUNCT
american_scientific_journal-1931	7	5	i.e.	i.e.	X
american_scientific_journal-1931	7	6	cmucam	cmucam	PROPN
american_scientific_journal-1931	7	7	5	5	NUM
american_scientific_journal-1931	7	8	camera	camera	NOUN
american_scientific_journal-1931	7	9	,	,	PUNCT
american_scientific_journal-1931	7	10	and	and	CCONJ
american_scientific_journal-1931	7	11	encoder	encoder	NOUN
american_scientific_journal-1931	7	12	)	)	PUNCT
american_scientific_journal-1931	7	13	data	datum	NOUN
american_scientific_journal-1931	7	14	are	be	AUX
american_scientific_journal-1931	7	15	collected	collect	VERB
american_scientific_journal-1931	7	16	and	and	CCONJ
american_scientific_journal-1931	7	17	processed	process	VERB
american_scientific_journal-1931	7	18	then	then	ADV
american_scientific_journal-1931	7	19	,	,	PUNCT
american_scientific_journal-1931	7	20	transmitted	transmit	VERB
american_scientific_journal-1931	7	21	to	to	ADP
american_scientific_journal-1931	7	22	a	a	DET
american_scientific_journal-1931	7	23	laptop	laptop	NOUN
american_scientific_journal-1931	7	24	by	by	ADP
american_scientific_journal-1931	7	25	the	the	DET
american_scientific_journal-1931	7	26	wireless	wireless	ADJ
american_scientific_journal-1931	7	27	communication	communication	NOUN
american_scientific_journal-1931	7	28	.	.	PUNCT
american_scientific_journal-1931	8	1	a	a	DET
american_scientific_journal-1931	8	2	graphical	graphical	ADJ
american_scientific_journal-1931	8	3	user	user	NOUN
american_scientific_journal-1931	8	4	interface	interface	NOUN
american_scientific_journal-1931	8	5	(	(	PUNCT
american_scientific_journal-1931	8	6	gui	gui	NOUN
american_scientific_journal-1931	8	7	)	)	PUNCT
american_scientific_journal-1931	8	8	is	be	AUX
american_scientific_journal-1931	8	9	designed	design	VERB
american_scientific_journal-1931	8	10	by	by	ADP
american_scientific_journal-1931	8	11	using	use	VERB
american_scientific_journal-1931	8	12	matlab	matlab	PROPN
american_scientific_journal-1931	8	13	program	program	NOUN
american_scientific_journal-1931	8	14	in	in	ADP
american_scientific_journal-1931	8	15	this	this	DET
american_scientific_journal-1931	8	16	project	project	NOUN
american_scientific_journal-1931	8	17	.	.	PUNCT
american_scientific_journal-1931	9	1	this	this	DET
american_scientific_journal-1931	9	2	gui	gui	NOUN
american_scientific_journal-1931	9	3	is	be	AUX
american_scientific_journal-1931	9	4	displaying	display	VERB
american_scientific_journal-1931	9	5	the	the	DET
american_scientific_journal-1931	9	6	transmitted	transmit	VERB
american_scientific_journal-1931	9	7	robot	robot	NOUN
american_scientific_journal-1931	9	8	data	datum	NOUN
american_scientific_journal-1931	9	9	such	such	ADJ
american_scientific_journal-1931	9	10	as	as	ADP
american_scientific_journal-1931	9	11	the	the	DET
american_scientific_journal-1931	9	12	ball	ball	NOUN
american_scientific_journal-1931	9	13	distance	distance	NOUN
american_scientific_journal-1931	9	14	and	and	CCONJ
american_scientific_journal-1931	9	15	the	the	DET
american_scientific_journal-1931	9	16	robot	robot	NOUN
american_scientific_journal-1931	9	17	velocity	velocity	NOUN
american_scientific_journal-1931	9	18	in	in	ADP
american_scientific_journal-1931	9	19	order	order	NOUN
american_scientific_journal-1931	9	20	to	to	PART
american_scientific_journal-1931	9	21	support	support	VERB
american_scientific_journal-1931	9	22	studying	study	VERB
american_scientific_journal-1931	9	23	the	the	DET
american_scientific_journal-1931	9	24	robot	robot	NOUN
american_scientific_journal-1931	9	25	performance	performance	NOUN
american_scientific_journal-1931	9	26	.	.	PUNCT
american_scientific_journal-1931	10	1	the	the	DET
american_scientific_journal-1931	10	2	robot	robot	NOUN
american_scientific_journal-1931	10	3	shows	show	VERB
american_scientific_journal-1931	10	4	a	a	DET
american_scientific_journal-1931	10	5	positive	positive	ADJ
american_scientific_journal-1931	10	6	performance	performance	NOUN
american_scientific_journal-1931	10	7	after	after	ADP
american_scientific_journal-1931	10	8	the	the	DET
american_scientific_journal-1931	10	9	demonstration	demonstration	NOUN
american_scientific_journal-1931	10	10	.	.	PUNCT
american_scientific_journal-1931	11	1	the	the	DET
american_scientific_journal-1931	11	2	designed	design	VERB
american_scientific_journal-1931	11	3	robot	robot	NOUN
american_scientific_journal-1931	11	4	can	can	AUX
american_scientific_journal-1931	11	5	be	be	AUX
american_scientific_journal-1931	11	6	used	use	VERB
american_scientific_journal-1931	11	7	later	later	ADV
american_scientific_journal-1931	11	8	for	for	ADP
american_scientific_journal-1931	11	9	developing	develop	VERB
american_scientific_journal-1931	11	10	a	a	DET
american_scientific_journal-1931	11	11	self	self	NOUN
american_scientific_journal-1931	11	12	-	-	PUNCT
american_scientific_journal-1931	11	13	located	locate	VERB
american_scientific_journal-1931	11	14	small	small	ADJ
american_scientific_journal-1931	11	15	sized	sized	ADJ
american_scientific_journal-1931	11	16	robocup	robocup	PROPN
american_scientific_journal-1931	11	17	competition	competition	NOUN
american_scientific_journal-1931	11	18	.	.	PUNCT
american_scientific_journal-1931	12	1	keywords	keyword	NOUN
american_scientific_journal-1931	12	2	:	:	PUNCT
american_scientific_journal-1931	12	3	omni	omni	ADJ
american_scientific_journal-1931	12	4	-	-	PUNCT
american_scientific_journal-1931	12	5	wheels	wheel	NOUN
american_scientific_journal-1931	12	6	;	;	PUNCT
american_scientific_journal-1931	12	7	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	12	8	pixy	pixy	NOUN
american_scientific_journal-1931	12	9	;	;	PUNCT
american_scientific_journal-1931	12	10	velocity	velocity	NOUN
american_scientific_journal-1931	12	11	pi	pi	NOUN
american_scientific_journal-1931	12	12	algorithm	algorithm	PROPN
american_scientific_journal-1931	12	13	;	;	PUNCT
american_scientific_journal-1931	12	14	gui	gui	NOUN
american_scientific_journal-1931	12	15	;	;	PUNCT
american_scientific_journal-1931	12	16	matlab	matlab	PROPN
american_scientific_journal-1931	12	17	;	;	PUNCT
american_scientific_journal-1931	12	18	robocup	robocup	PROPN
american_scientific_journal-1931	12	19	.	.	PUNCT
american_scientific_journal-1931	13	1	1	1	X
american_scientific_journal-1931	13	2	.	.	X
american_scientific_journal-1931	13	3	introduction	introduction	NOUN
american_scientific_journal-1931	13	4	in	in	ADP
american_scientific_journal-1931	13	5	many	many	ADJ
american_scientific_journal-1931	13	6	mobile	mobile	ADJ
american_scientific_journal-1931	13	7	robots	robot	NOUN
american_scientific_journal-1931	13	8	’	'	PUNCT
american_scientific_journal-1931	13	9	applications	application	NOUN
american_scientific_journal-1931	13	10	,	,	PUNCT
american_scientific_journal-1931	13	11	the	the	DET
american_scientific_journal-1931	13	12	robot	robot	NOUN
american_scientific_journal-1931	13	13	is	be	AUX
american_scientific_journal-1931	13	14	required	require	VERB
american_scientific_journal-1931	13	15	to	to	PART
american_scientific_journal-1931	13	16	have	have	VERB
american_scientific_journal-1931	13	17	the	the	DET
american_scientific_journal-1931	13	18	ability	ability	NOUN
american_scientific_journal-1931	13	19	to	to	PART
american_scientific_journal-1931	13	20	interact	interact	VERB
american_scientific_journal-1931	13	21	with	with	ADP
american_scientific_journal-1931	13	22	the	the	DET
american_scientific_journal-1931	13	23	environment	environment	NOUN
american_scientific_journal-1931	13	24	along	along	ADP
american_scientific_journal-1931	13	25	with	with	ADP
american_scientific_journal-1931	13	26	adapting	adapt	VERB
american_scientific_journal-1931	13	27	itself	itself	PRON
american_scientific_journal-1931	13	28	to	to	ADP
american_scientific_journal-1931	13	29	the	the	DET
american_scientific_journal-1931	13	30	external	external	ADJ
american_scientific_journal-1931	13	31	situation	situation	NOUN
american_scientific_journal-1931	14	1	[	[	X
american_scientific_journal-1931	14	2	1	1	NUM
american_scientific_journal-1931	14	3	]	]	PUNCT
american_scientific_journal-1931	14	4	.	.	PUNCT
american_scientific_journal-1931	15	1	predicting	predict	VERB
american_scientific_journal-1931	15	2	and	and	CCONJ
american_scientific_journal-1931	15	3	estimating	estimating	NOUN
american_scientific_journal-1931	15	4	of	of	ADP
american_scientific_journal-1931	15	5	the	the	DET
american_scientific_journal-1931	15	6	moving	move	VERB
american_scientific_journal-1931	15	7	objects	object	NOUN
american_scientific_journal-1931	15	8	motion	motion	NOUN
american_scientific_journal-1931	15	9	are	be	AUX
american_scientific_journal-1931	15	10	the	the	DET
american_scientific_journal-1931	15	11	basis	basis	NOUN
american_scientific_journal-1931	15	12	for	for	ADP
american_scientific_journal-1931	15	13	the	the	DET
american_scientific_journal-1931	15	14	interaction	interaction	NOUN
american_scientific_journal-1931	15	15	tasks	task	NOUN
american_scientific_journal-1931	15	16	.	.	PUNCT
american_scientific_journal-1931	16	1	----------------------------------------------------------------------	----------------------------------------------------------------------	PUNCT
american_scientific_journal-1931	17	1	*	*	PUNCT
american_scientific_journal-1931	17	2	corresponding	correspond	VERB
american_scientific_journal-1931	17	3	author	author	NOUN
american_scientific_journal-1931	17	4	.	.	PUNCT
american_scientific_journal-1931	18	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-1931	18	2	american	american	PROPN
american_scientific_journal-1931	18	3	scientific	scientific	PROPN
american_scientific_journal-1931	18	4	research	research	NOUN
american_scientific_journal-1931	18	5	journal	journal	NOUN
american_scientific_journal-1931	18	6	for	for	ADP
american_scientific_journal-1931	18	7	engineering	engineering	NOUN
american_scientific_journal-1931	18	8	,	,	PUNCT
american_scientific_journal-1931	18	9	technology	technology	NOUN
american_scientific_journal-1931	18	10	,	,	PUNCT
american_scientific_journal-1931	18	11	and	and	CCONJ
american_scientific_journal-1931	18	12	sciences	science	NOUN
american_scientific_journal-1931	18	13	(	(	PUNCT
american_scientific_journal-1931	18	14	asrjets	asrjet	NOUN
american_scientific_journal-1931	18	15	)	)	PUNCT
american_scientific_journal-1931	18	16	(	(	PUNCT
american_scientific_journal-1931	18	17	2016	2016	NUM
american_scientific_journal-1931	18	18	)	)	PUNCT
american_scientific_journal-1931	18	19	volume	volume	NOUN
american_scientific_journal-1931	18	20	22	22	NUM
american_scientific_journal-1931	18	21	,	,	PUNCT
american_scientific_journal-1931	18	22	no	no	DET
american_scientific_journal-1931	18	23	1	1	NUM
american_scientific_journal-1931	18	24	,	,	PUNCT
american_scientific_journal-1931	18	25	pp	pp	ADV
american_scientific_journal-1931	18	26	231	231	NUM
american_scientific_journal-1931	18	27	-	-	SYM
american_scientific_journal-1931	18	28	242	242	NUM
american_scientific_journal-1931	18	29	232	232	NUM
american_scientific_journal-1931	18	30	for	for	ADP
american_scientific_journal-1931	18	31	instance	instance	NOUN
american_scientific_journal-1931	18	32	,	,	PUNCT
american_scientific_journal-1931	18	33	it	it	PRON
american_scientific_journal-1931	18	34	is	be	AUX
american_scientific_journal-1931	18	35	very	very	ADV
american_scientific_journal-1931	18	36	essential	essential	ADJ
american_scientific_journal-1931	18	37	to	to	PART
american_scientific_journal-1931	18	38	detect	detect	VERB
american_scientific_journal-1931	18	39	and	and	CCONJ
american_scientific_journal-1931	18	40	predict	predict	VERB
american_scientific_journal-1931	18	41	the	the	DET
american_scientific_journal-1931	18	42	ball	ball	NOUN
american_scientific_journal-1931	18	43	’s	’s	PART
american_scientific_journal-1931	18	44	position	position	NOUN
american_scientific_journal-1931	18	45	when	when	SCONJ
american_scientific_journal-1931	18	46	a	a	DET
american_scientific_journal-1931	18	47	robot	robot	NOUN
american_scientific_journal-1931	18	48	plays	play	VERB
american_scientific_journal-1931	18	49	the	the	DET
american_scientific_journal-1931	18	50	soccer	soccer	NOUN
american_scientific_journal-1931	18	51	[	[	X
american_scientific_journal-1931	18	52	2	2	NUM
american_scientific_journal-1931	18	53	]	]	PUNCT
american_scientific_journal-1931	18	54	.	.	PUNCT
american_scientific_journal-1931	19	1	one	one	NUM
american_scientific_journal-1931	19	2	way	way	NOUN
american_scientific_journal-1931	19	3	of	of	ADP
american_scientific_journal-1931	19	4	tracking	track	VERB
american_scientific_journal-1931	19	5	the	the	DET
american_scientific_journal-1931	19	6	ball	ball	NOUN
american_scientific_journal-1931	19	7	is	be	AUX
american_scientific_journal-1931	19	8	by	by	ADP
american_scientific_journal-1931	19	9	detecting	detect	VERB
american_scientific_journal-1931	19	10	it	it	PRON
american_scientific_journal-1931	19	11	’s	’	VERB
american_scientific_journal-1931	19	12	colour	colour	NOUN
american_scientific_journal-1931	19	13	.	.	PUNCT
american_scientific_journal-1931	20	1	this	this	PRON
american_scientific_journal-1931	20	2	can	can	AUX
american_scientific_journal-1931	20	3	be	be	AUX
american_scientific_journal-1931	20	4	done	do	VERB
american_scientific_journal-1931	20	5	by	by	ADP
american_scientific_journal-1931	20	6	using	use	VERB
american_scientific_journal-1931	20	7	a	a	DET
american_scientific_journal-1931	20	8	proper	proper	ADJ
american_scientific_journal-1931	20	9	vision	vision	NOUN
american_scientific_journal-1931	20	10	system	system	NOUN
american_scientific_journal-1931	20	11	.	.	PUNCT
american_scientific_journal-1931	21	1	the	the	DET
american_scientific_journal-1931	21	2	flexibility	flexibility	NOUN
american_scientific_journal-1931	21	3	of	of	ADP
american_scientific_journal-1931	21	4	vision	vision	NOUN
american_scientific_journal-1931	21	5	sensors	sensor	NOUN
american_scientific_journal-1931	21	6	makes	make	VERB
american_scientific_journal-1931	21	7	it	it	PRON
american_scientific_journal-1931	21	8	so	so	ADV
american_scientific_journal-1931	21	9	beneficial	beneficial	ADJ
american_scientific_journal-1931	21	10	.	.	PUNCT
american_scientific_journal-1931	22	1	an	an	DET
american_scientific_journal-1931	22	2	image	image	NOUN
american_scientific_journal-1931	22	3	sensor	sensor	NOUN
american_scientific_journal-1931	22	4	can	can	AUX
american_scientific_journal-1931	22	5	detect	detect	VERB
american_scientific_journal-1931	22	6	or	or	CCONJ
american_scientific_journal-1931	22	7	sense	sense	VERB
american_scientific_journal-1931	22	8	practically	practically	ADV
american_scientific_journal-1931	22	9	anything	anything	PRON
american_scientific_journal-1931	22	10	by	by	ADP
american_scientific_journal-1931	22	11	applying	apply	VERB
american_scientific_journal-1931	22	12	the	the	DET
american_scientific_journal-1931	22	13	right	right	ADJ
american_scientific_journal-1931	22	14	algorithm	algorithm	NOUN
american_scientific_journal-1931	22	15	.	.	PUNCT
american_scientific_journal-1931	23	1	despite	despite	SCONJ
american_scientific_journal-1931	23	2	of	of	ADP
american_scientific_journal-1931	23	3	that	that	PRON
american_scientific_journal-1931	23	4	,	,	PUNCT
american_scientific_journal-1931	23	5	there	there	PRON
american_scientific_journal-1931	23	6	are	be	VERB
american_scientific_journal-1931	23	7	two	two	NUM
american_scientific_journal-1931	23	8	drawbacks	drawback	NOUN
american_scientific_journal-1931	23	9	with	with	ADP
american_scientific_journal-1931	23	10	vision	vision	NOUN
american_scientific_journal-1931	23	11	sensors	sensor	NOUN
american_scientific_journal-1931	23	12	.	.	PUNCT
american_scientific_journal-1931	24	1	firstly	firstly	ADV
american_scientific_journal-1931	24	2	,	,	PUNCT
american_scientific_journal-1931	24	3	a	a	DET
american_scientific_journal-1931	24	4	large	large	ADJ
american_scientific_journal-1931	24	5	amount	amount	NOUN
american_scientific_journal-1931	24	6	of	of	ADP
american_scientific_journal-1931	24	7	data	datum	NOUN
american_scientific_journal-1931	24	8	(	(	PUNCT
american_scientific_journal-1931	24	9	usually	usually	ADV
american_scientific_journal-1931	24	10	in	in	ADP
american_scientific_journal-1931	24	11	mb	mb	PROPN
american_scientific_journal-1931	24	12	/	/	SYM
american_scientific_journal-1931	24	13	s	s	PART
american_scientific_journal-1931	24	14	)	)	PUNCT
american_scientific_journal-1931	24	15	is	be	AUX
american_scientific_journal-1931	24	16	obtained	obtain	VERB
american_scientific_journal-1931	24	17	outputted	output	VERB
american_scientific_journal-1931	24	18	from	from	ADP
american_scientific_journal-1931	24	19	the	the	DET
american_scientific_journal-1931	24	20	image	image	NOUN
american_scientific_journal-1931	24	21	sensors	sensor	NOUN
american_scientific_journal-1931	24	22	.	.	PUNCT
american_scientific_journal-1931	25	1	secondly	secondly	ADV
american_scientific_journal-1931	25	2	,	,	PUNCT
american_scientific_journal-1931	25	3	this	this	DET
american_scientific_journal-1931	25	4	data	data	NOUN
american_scientific_journal-1931	25	5	size	size	NOUN
american_scientific_journal-1931	25	6	needs	need	VERB
american_scientific_journal-1931	25	7	a	a	DET
american_scientific_journal-1931	25	8	powerful	powerful	ADJ
american_scientific_journal-1931	25	9	processor	processor	NOUN
american_scientific_journal-1931	25	10	.	.	PUNCT
american_scientific_journal-1931	26	1	even	even	ADV
american_scientific_journal-1931	26	2	if	if	SCONJ
american_scientific_journal-1931	26	3	the	the	DET
american_scientific_journal-1931	26	4	processor	processor	NOUN
american_scientific_journal-1931	26	5	can	can	AUX
american_scientific_journal-1931	26	6	carry	carry	VERB
american_scientific_journal-1931	26	7	on	on	ADP
american_scientific_journal-1931	26	8	with	with	ADP
american_scientific_journal-1931	26	9	this	this	DET
american_scientific_journal-1931	26	10	data	datum	NOUN
american_scientific_journal-1931	26	11	,	,	PUNCT
american_scientific_journal-1931	26	12	it	it	PRON
american_scientific_journal-1931	26	13	would	would	AUX
american_scientific_journal-1931	26	14	not	not	PART
american_scientific_journal-1931	26	15	be	be	AUX
american_scientific_journal-1931	26	16	having	have	VERB
american_scientific_journal-1931	26	17	the	the	DET
american_scientific_journal-1931	26	18	enough	enough	ADJ
american_scientific_journal-1931	26	19	processing	processing	NOUN
american_scientific_journal-1931	26	20	power	power	NOUN
american_scientific_journal-1931	26	21	for	for	ADP
american_scientific_journal-1931	26	22	other	other	ADJ
american_scientific_journal-1931	26	23	tasks	task	NOUN
american_scientific_journal-1931	26	24	.	.	PUNCT
american_scientific_journal-1931	27	1	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	27	2	pixy	pixy	NOUN
american_scientific_journal-1931	27	3	is	be	AUX
american_scientific_journal-1931	27	4	a	a	DET
american_scientific_journal-1931	27	5	low	low	ADJ
american_scientific_journal-1931	27	6	cost	cost	NOUN
american_scientific_journal-1931	27	7	,	,	PUNCT
american_scientific_journal-1931	27	8	fast	fast	ADJ
american_scientific_journal-1931	27	9	vision	vision	NOUN
american_scientific_journal-1931	27	10	sensor	sensor	NOUN
american_scientific_journal-1931	27	11	.	.	PUNCT
american_scientific_journal-1931	28	1	it	it	PRON
american_scientific_journal-1931	28	2	can	can	AUX
american_scientific_journal-1931	28	3	be	be	AUX
american_scientific_journal-1931	28	4	connected	connect	VERB
american_scientific_journal-1931	28	5	directly	directly	ADV
american_scientific_journal-1931	28	6	to	to	ADP
american_scientific_journal-1931	28	7	arduino	arduino	NOUN
american_scientific_journal-1931	28	8	and	and	CCONJ
american_scientific_journal-1931	28	9	other	other	ADJ
american_scientific_journal-1931	28	10	controllers	controller	NOUN
american_scientific_journal-1931	28	11	.	.	PUNCT
american_scientific_journal-1931	29	1	a	a	DET
american_scientific_journal-1931	29	2	quick	quick	ADJ
american_scientific_journal-1931	29	3	teaching	teaching	NOUN
american_scientific_journal-1931	29	4	can	can	AUX
american_scientific_journal-1931	29	5	be	be	AUX
american_scientific_journal-1931	29	6	performed	perform	VERB
american_scientific_journal-1931	29	7	in	in	ADP
american_scientific_journal-1931	29	8	this	this	DET
american_scientific_journal-1931	29	9	sensor	sensor	NOUN
american_scientific_journal-1931	29	10	to	to	PART
american_scientific_journal-1931	29	11	detect	detect	VERB
american_scientific_journal-1931	29	12	objects	object	NOUN
american_scientific_journal-1931	29	13	.	.	PUNCT
american_scientific_journal-1931	30	1	cmucam5pixy	cmucam5pixy	NOUN
american_scientific_journal-1931	30	2	addresses	address	VERB
american_scientific_journal-1931	30	3	vision	vision	NOUN
american_scientific_journal-1931	30	4	sensors	sensor	NOUN
american_scientific_journal-1931	30	5	problems	problem	NOUN
american_scientific_journal-1931	30	6	by	by	ADP
american_scientific_journal-1931	30	7	combining	combine	VERB
american_scientific_journal-1931	30	8	the	the	DET
american_scientific_journal-1931	30	9	image	image	NOUN
american_scientific_journal-1931	30	10	sensor	sensor	NOUN
american_scientific_journal-1931	30	11	with	with	ADP
american_scientific_journal-1931	30	12	a	a	DET
american_scientific_journal-1931	30	13	powerful	powerful	ADJ
american_scientific_journal-1931	30	14	processor	processor	NOUN
american_scientific_journal-1931	30	15	.	.	PUNCT
american_scientific_journal-1931	31	1	after	after	ADP
american_scientific_journal-1931	31	2	processing	process	VERB
american_scientific_journal-1931	31	3	the	the	DET
american_scientific_journal-1931	31	4	images	image	NOUN
american_scientific_journal-1931	31	5	by	by	ADP
american_scientific_journal-1931	31	6	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	31	7	pixy	pixy	NOUN
american_scientific_journal-1931	31	8	,	,	PUNCT
american_scientific_journal-1931	31	9	the	the	DET
american_scientific_journal-1931	31	10	only	only	ADJ
american_scientific_journal-1931	31	11	useful	useful	ADJ
american_scientific_journal-1931	31	12	information	information	NOUN
american_scientific_journal-1931	31	13	will	will	AUX
american_scientific_journal-1931	31	14	be	be	AUX
american_scientific_journal-1931	31	15	sent	send	VERB
american_scientific_journal-1931	31	16	to	to	ADP
american_scientific_journal-1931	31	17	the	the	DET
american_scientific_journal-1931	31	18	microcontroller	microcontroller	NOUN
american_scientific_journal-1931	31	19	.	.	PUNCT
american_scientific_journal-1931	32	1	it	it	PRON
american_scientific_journal-1931	32	2	does	do	VERB
american_scientific_journal-1931	32	3	this	this	PRON
american_scientific_journal-1931	32	4	very	very	ADV
american_scientific_journal-1931	32	5	fast	fast	ADV
american_scientific_journal-1931	32	6	(	(	PUNCT
american_scientific_journal-1931	32	7	frame	frame	NOUN
american_scientific_journal-1931	32	8	rate	rate	NOUN
american_scientific_journal-1931	32	9	50	50	NUM
american_scientific_journal-1931	32	10	hz	hz	NOUN
american_scientific_journal-1931	32	11	)	)	PUNCT
american_scientific_journal-1931	32	12	.	.	PUNCT
american_scientific_journal-1931	33	1	an	an	DET
american_scientific_journal-1931	33	2	interface	interface	NOUN
american_scientific_journal-1931	33	3	,	,	PUNCT
american_scientific_journal-1931	33	4	such	such	ADJ
american_scientific_journal-1931	33	5	as	as	ADP
american_scientific_journal-1931	33	6	uart	uart	PROPN
american_scientific_journal-1931	33	7	serial	serial	NOUN
american_scientific_journal-1931	33	8	,	,	PUNCT
american_scientific_journal-1931	33	9	spi	spi	NOUN
american_scientific_journal-1931	33	10	,	,	PUNCT
american_scientific_journal-1931	33	11	i2c	i2c	NOUN
american_scientific_journal-1931	33	12	,	,	PUNCT
american_scientific_journal-1931	33	13	digital	digital	ADJ
american_scientific_journal-1931	33	14	out	out	ADV
american_scientific_journal-1931	33	15	,	,	PUNCT
american_scientific_journal-1931	33	16	or	or	CCONJ
american_scientific_journal-1931	33	17	analog	analog	NOUN
american_scientific_journal-1931	33	18	out	out	ADP
american_scientific_journal-1931	33	19	can	can	AUX
american_scientific_journal-1931	33	20	be	be	AUX
american_scientific_journal-1931	33	21	used	use	VERB
american_scientific_journal-1931	33	22	to	to	PART
american_scientific_journal-1931	33	23	transmit	transmit	VERB
american_scientific_journal-1931	33	24	this	this	DET
american_scientific_journal-1931	33	25	information	information	NOUN
american_scientific_journal-1931	33	26	.	.	PUNCT
american_scientific_journal-1931	34	1	so	so	ADV
american_scientific_journal-1931	34	2	a	a	DET
american_scientific_journal-1931	34	3	plenty	plenty	NOUN
american_scientific_journal-1931	34	4	of	of	ADP
american_scientific_journal-1931	34	5	processing	processing	NOUN
american_scientific_journal-1931	34	6	power	power	NOUN
american_scientific_journal-1931	34	7	will	will	AUX
american_scientific_journal-1931	34	8	be	be	AUX
american_scientific_journal-1931	34	9	available	available	ADJ
american_scientific_journal-1931	34	10	in	in	ADP
american_scientific_journal-1931	34	11	arduino	arduino	NOUN
american_scientific_journal-1931	34	12	or	or	CCONJ
american_scientific_journal-1931	34	13	other	other	ADJ
american_scientific_journal-1931	34	14	microcontroller	microcontroller	NOUN
american_scientific_journal-1931	34	15	when	when	SCONJ
american_scientific_journal-1931	34	16	it	it	PRON
american_scientific_journal-1931	34	17	connects	connect	VERB
american_scientific_journal-1931	34	18	to	to	ADP
american_scientific_journal-1931	34	19	the	the	DET
american_scientific_journal-1931	34	20	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	34	21	pixy	pixy	NOUN
american_scientific_journal-1931	34	22	.	.	PUNCT
american_scientific_journal-1931	35	1	it	it	PRON
american_scientific_journal-1931	35	2	can	can	AUX
american_scientific_journal-1931	35	3	detect	detect	VERB
american_scientific_journal-1931	35	4	hundreds	hundred	NOUN
american_scientific_journal-1931	35	5	of	of	ADP
american_scientific_journal-1931	35	6	objects	object	NOUN
american_scientific_journal-1931	35	7	with	with	ADP
american_scientific_journal-1931	35	8	multi	multi	ADJ
american_scientific_journal-1931	35	9	colours	colour	NOUN
american_scientific_journal-1931	35	10	at	at	ADP
american_scientific_journal-1931	35	11	the	the	DET
american_scientific_journal-1931	35	12	same	same	ADJ
american_scientific_journal-1931	35	13	time	time	NOUN
american_scientific_journal-1931	35	14	[	[	X
american_scientific_journal-1931	35	15	3	3	NUM
american_scientific_journal-1931	35	16	]	]	PUNCT
american_scientific_journal-1931	35	17	.	.	PUNCT
american_scientific_journal-1931	36	1	figure	figure	NOUN
american_scientific_journal-1931	36	2	1	1	NUM
american_scientific_journal-1931	36	3	is	be	AUX
american_scientific_journal-1931	36	4	illustrated	illustrate	VERB
american_scientific_journal-1931	36	5	the	the	DET
american_scientific_journal-1931	36	6	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	36	7	pixy	pixy	NOUN
american_scientific_journal-1931	36	8	.	.	PUNCT
american_scientific_journal-1931	37	1	figure	figure	VERB
american_scientific_journal-1931	37	2	1	1	NUM
american_scientific_journal-1931	37	3	:	:	PUNCT
american_scientific_journal-1931	37	4	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	37	5	pixy	pixy	NOUN
american_scientific_journal-1931	37	6	.	.	PUNCT
american_scientific_journal-1931	38	1	the	the	DET
american_scientific_journal-1931	38	2	aim	aim	NOUN
american_scientific_journal-1931	38	3	of	of	ADP
american_scientific_journal-1931	38	4	the	the	DET
american_scientific_journal-1931	38	5	research	research	NOUN
american_scientific_journal-1931	38	6	is	be	AUX
american_scientific_journal-1931	38	7	to	to	ADP
american_scientific_journal-1931	38	8	developing	develop	VERB
american_scientific_journal-1931	38	9	of	of	ADP
american_scientific_journal-1931	38	10	an	an	DET
american_scientific_journal-1931	38	11	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	38	12	mobile	mobile	ADJ
american_scientific_journal-1931	38	13	robot	robot	NOUN
american_scientific_journal-1931	38	14	using	use	VERB
american_scientific_journal-1931	38	15	low	low	ADJ
american_scientific_journal-1931	38	16	cost	cost	NOUN
american_scientific_journal-1931	38	17	embedded	embed	VERB
american_scientific_journal-1931	38	18	color	color	NOUN
american_scientific_journal-1931	38	19	vision	vision	NOUN
american_scientific_journal-1931	38	20	system	system	NOUN
american_scientific_journal-1931	38	21	for	for	ADP
american_scientific_journal-1931	38	22	ball	ball	NOUN
american_scientific_journal-1931	38	23	tracking	track	VERB
american_scientific_journal-1931	38	24	so	so	ADV
american_scientific_journal-1931	38	25	,	,	PUNCT
american_scientific_journal-1931	38	26	this	this	DET
american_scientific_journal-1931	38	27	robot	robot	NOUN
american_scientific_journal-1931	38	28	can	can	AUX
american_scientific_journal-1931	38	29	be	be	AUX
american_scientific_journal-1931	38	30	used	use	VERB
american_scientific_journal-1931	38	31	later	later	ADV
american_scientific_journal-1931	38	32	in	in	ADP
american_scientific_journal-1931	38	33	developing	develop	VERB
american_scientific_journal-1931	38	34	a	a	DET
american_scientific_journal-1931	38	35	self	self	NOUN
american_scientific_journal-1931	38	36	-	-	PUNCT
american_scientific_journal-1931	38	37	located	locate	VERB
american_scientific_journal-1931	38	38	small	small	ADJ
american_scientific_journal-1931	38	39	sized	sized	ADJ
american_scientific_journal-1931	38	40	robocup	robocup	PROPN
american_scientific_journal-1931	38	41	competition	competition	NOUN
american_scientific_journal-1931	38	42	.	.	PUNCT
american_scientific_journal-1931	39	1	the	the	DET
american_scientific_journal-1931	39	2	factors	factor	NOUN
american_scientific_journal-1931	39	3	to	to	PART
american_scientific_journal-1931	39	4	be	be	AUX
american_scientific_journal-1931	39	5	taken	take	VERB
american_scientific_journal-1931	39	6	into	into	ADP
american_scientific_journal-1931	39	7	consideration	consideration	NOUN
american_scientific_journal-1931	39	8	,	,	PUNCT
american_scientific_journal-1931	39	9	for	for	ADP
american_scientific_journal-1931	39	10	the	the	DET
american_scientific_journal-1931	39	11	design	design	NOUN
american_scientific_journal-1931	39	12	and	and	CCONJ
american_scientific_journal-1931	39	13	operation	operation	NOUN
american_scientific_journal-1931	39	14	of	of	ADP
american_scientific_journal-1931	39	15	the	the	DET
american_scientific_journal-1931	39	16	robot	robot	NOUN
american_scientific_journal-1931	39	17	,	,	PUNCT
american_scientific_journal-1931	39	18	are	be	AUX
american_scientific_journal-1931	39	19	to	to	PART
american_scientific_journal-1931	39	20	be	be	AUX
american_scientific_journal-1931	39	21	based	base	VERB
american_scientific_journal-1931	39	22	on	on	ADP
american_scientific_journal-1931	39	23	practical	practical	ADJ
american_scientific_journal-1931	39	24	requirements	requirement	NOUN
american_scientific_journal-1931	39	25	and	and	CCONJ
american_scientific_journal-1931	39	26	limitations	limitation	NOUN
american_scientific_journal-1931	39	27	as	as	ADV
american_scientific_journal-1931	39	28	well	well	ADV
american_scientific_journal-1931	39	29	as	as	ADP
american_scientific_journal-1931	39	30	a	a	DET
american_scientific_journal-1931	39	31	comprehensive	comprehensive	ADJ
american_scientific_journal-1931	39	32	theoretical	theoretical	ADJ
american_scientific_journal-1931	39	33	analysis	analysis	NOUN
american_scientific_journal-1931	39	34	.	.	PUNCT
american_scientific_journal-1931	40	1	2	2	X
american_scientific_journal-1931	40	2	.	.	X
american_scientific_journal-1931	40	3	methodology	methodology	NOUN
american_scientific_journal-1931	40	4	this	this	DET
american_scientific_journal-1931	40	5	section	section	NOUN
american_scientific_journal-1931	40	6	starts	start	VERB
american_scientific_journal-1931	40	7	by	by	ADP
american_scientific_journal-1931	40	8	developing	develop	VERB
american_scientific_journal-1931	40	9	theoretical	theoretical	ADJ
american_scientific_journal-1931	40	10	analysis	analysis	NOUN
american_scientific_journal-1931	40	11	for	for	ADP
american_scientific_journal-1931	40	12	the	the	DET
american_scientific_journal-1931	40	13	object	object	NOUN
american_scientific_journal-1931	40	14	and	and	CCONJ
american_scientific_journal-1931	40	15	image	image	NOUN
american_scientific_journal-1931	40	16	distances	distance	NOUN
american_scientific_journal-1931	40	17	then	then	ADV
american_scientific_journal-1931	40	18	it	it	PRON
american_scientific_journal-1931	40	19	shows	show	VERB
american_scientific_journal-1931	40	20	the	the	DET
american_scientific_journal-1931	40	21	kinematics	kinematic	NOUN
american_scientific_journal-1931	40	22	analysis	analysis	NOUN
american_scientific_journal-1931	40	23	model	model	NOUN
american_scientific_journal-1931	40	24	for	for	ADP
american_scientific_journal-1931	40	25	the	the	DET
american_scientific_journal-1931	40	26	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	40	27	mobile	mobile	ADJ
american_scientific_journal-1931	40	28	robot	robot	NOUN
american_scientific_journal-1931	40	29	,	,	PUNCT
american_scientific_journal-1931	40	30	which	which	PRON
american_scientific_journal-1931	40	31	is	be	AUX
american_scientific_journal-1931	40	32	then	then	ADV
american_scientific_journal-1931	40	33	followed	follow	VERB
american_scientific_journal-1931	40	34	by	by	ADP
american_scientific_journal-1931	40	35	the	the	DET
american_scientific_journal-1931	40	36	robot	robot	NOUN
american_scientific_journal-1931	40	37	omni	omni	PROPN
american_scientific_journal-1931	40	38	wheels	wheel	VERB
american_scientific_journal-1931	40	39	velocity	velocity	NOUN
american_scientific_journal-1931	40	40	control	control	NOUN
american_scientific_journal-1931	40	41	and	and	CCONJ
american_scientific_journal-1931	40	42	the	the	DET
american_scientific_journal-1931	40	43	path	path	NOUN
american_scientific_journal-1931	40	44	planning	planning	NOUN
american_scientific_journal-1931	40	45	.	.	PUNCT
american_scientific_journal-1931	41	1	after	after	ADP
american_scientific_journal-1931	41	2	that	that	PRON
american_scientific_journal-1931	41	3	,	,	PUNCT
american_scientific_journal-1931	41	4	the	the	DET
american_scientific_journal-1931	41	5	ball	ball	NOUN
american_scientific_journal-1931	41	6	following	follow	VERB
american_scientific_journal-1931	41	7	algorithm	algorithm	NOUN
american_scientific_journal-1931	41	8	is	be	AUX
american_scientific_journal-1931	41	9	presented	present	VERB
american_scientific_journal-1931	41	10	in	in	ADP
american_scientific_journal-1931	41	11	flow	flow	NOUN
american_scientific_journal-1931	41	12	chart	chart	NOUN
american_scientific_journal-1931	41	13	.	.	PUNCT
american_scientific_journal-1931	42	1	finally	finally	ADV
american_scientific_journal-1931	42	2	,	,	PUNCT
american_scientific_journal-1931	42	3	the	the	DET
american_scientific_journal-1931	42	4	robot	robot	NOUN
american_scientific_journal-1931	42	5	graphical	graphical	ADJ
american_scientific_journal-1931	42	6	user	user	NOUN
american_scientific_journal-1931	42	7	interface	interface	PROPN
american_scientific_journal-1931	42	8	(	(	PUNCT
american_scientific_journal-1931	42	9	gui	gui	NOUN
american_scientific_journal-1931	42	10	)	)	PUNCT
american_scientific_journal-1931	42	11	design	design	NOUN
american_scientific_journal-1931	42	12	is	be	AUX
american_scientific_journal-1931	42	13	illustrated	illustrate	VERB
american_scientific_journal-1931	42	14	.	.	PUNCT
american_scientific_journal-1931	43	1	american	american	PROPN
american_scientific_journal-1931	43	2	scientific	scientific	ADJ
american_scientific_journal-1931	43	3	research	research	PROPN
american_scientific_journal-1931	43	4	journal	journal	NOUN
american_scientific_journal-1931	43	5	for	for	ADP
american_scientific_journal-1931	43	6	engineering	engineering	NOUN
american_scientific_journal-1931	43	7	,	,	PUNCT
american_scientific_journal-1931	43	8	technology	technology	NOUN
american_scientific_journal-1931	43	9	,	,	PUNCT
american_scientific_journal-1931	43	10	and	and	CCONJ
american_scientific_journal-1931	43	11	sciences	science	NOUN
american_scientific_journal-1931	43	12	(	(	PUNCT
american_scientific_journal-1931	43	13	asrjets	asrjet	NOUN
american_scientific_journal-1931	43	14	)	)	PUNCT
american_scientific_journal-1931	43	15	(	(	PUNCT
american_scientific_journal-1931	43	16	2016	2016	NUM
american_scientific_journal-1931	43	17	)	)	PUNCT
american_scientific_journal-1931	43	18	volume	volume	NOUN
american_scientific_journal-1931	43	19	22	22	NUM
american_scientific_journal-1931	43	20	,	,	PUNCT
american_scientific_journal-1931	43	21	no	no	DET
american_scientific_journal-1931	43	22	1	1	NUM
american_scientific_journal-1931	43	23	,	,	PUNCT
american_scientific_journal-1931	43	24	pp	pp	ADV
american_scientific_journal-1931	43	25	231	231	NUM
american_scientific_journal-1931	43	26	-	-	SYM
american_scientific_journal-1931	43	27	242	242	NUM
american_scientific_journal-1931	43	28	233	233	NUM
american_scientific_journal-1931	43	29	2.1	2.1	NUM
american_scientific_journal-1931	43	30	.	.	PUNCT
american_scientific_journal-1931	44	1	object	object	NOUN
american_scientific_journal-1931	44	2	and	and	CCONJ
american_scientific_journal-1931	44	3	image	image	NOUN
american_scientific_journal-1931	44	4	distances	distance	NOUN
american_scientific_journal-1931	44	5	figure	figure	VERB
american_scientific_journal-1931	44	6	2	2	NUM
american_scientific_journal-1931	44	7	:	:	PUNCT
american_scientific_journal-1931	44	8	lens	len	VERB
american_scientific_journal-1931	44	9	analysis	analysis	NOUN
american_scientific_journal-1931	44	10	that	that	PRON
american_scientific_journal-1931	44	11	shows	show	VERB
american_scientific_journal-1931	44	12	the	the	DET
american_scientific_journal-1931	44	13	object	object	NOUN
american_scientific_journal-1931	44	14	and	and	CCONJ
american_scientific_journal-1931	44	15	image	image	NOUN
american_scientific_journal-1931	44	16	relationship	relationship	NOUN
american_scientific_journal-1931	44	17	light	light	NOUN
american_scientific_journal-1931	44	18	can	can	AUX
american_scientific_journal-1931	44	19	pass	pass	VERB
american_scientific_journal-1931	44	20	through	through	ADP
american_scientific_journal-1931	44	21	vacuum	vacuum	NOUN
american_scientific_journal-1931	44	22	or	or	CCONJ
american_scientific_journal-1931	44	23	clear	clear	ADJ
american_scientific_journal-1931	44	24	materials	material	NOUN
american_scientific_journal-1931	44	25	,	,	PUNCT
american_scientific_journal-1931	44	26	but	but	CCONJ
american_scientific_journal-1931	44	27	through	through	ADP
american_scientific_journal-1931	44	28	a	a	DET
american_scientific_journal-1931	44	29	vacuum	vacuum	NOUN
american_scientific_journal-1931	44	30	its	its	PRON
american_scientific_journal-1931	44	31	speed	speed	NOUN
american_scientific_journal-1931	44	32	will	will	AUX
american_scientific_journal-1931	44	33	be	be	AUX
american_scientific_journal-1931	44	34	faster	fast	ADJ
american_scientific_journal-1931	44	35	.	.	PUNCT
american_scientific_journal-1931	45	1	the	the	DET
american_scientific_journal-1931	45	2	direction	direction	NOUN
american_scientific_journal-1931	45	3	of	of	ADP
american_scientific_journal-1931	45	4	a	a	DET
american_scientific_journal-1931	45	5	light	light	ADJ
american_scientific_journal-1931	45	6	ray	ray	NOUN
american_scientific_journal-1931	45	7	changes	change	NOUN
american_scientific_journal-1931	45	8	when	when	SCONJ
american_scientific_journal-1931	45	9	strikes	strike	VERB
american_scientific_journal-1931	45	10	the	the	DET
american_scientific_journal-1931	45	11	interface	interface	NOUN
american_scientific_journal-1931	45	12	surface	surface	NOUN
american_scientific_journal-1931	45	13	between	between	ADP
american_scientific_journal-1931	45	14	two	two	NUM
american_scientific_journal-1931	45	15	media	medium	NOUN
american_scientific_journal-1931	45	16	at	at	ADP
american_scientific_journal-1931	45	17	a	a	DET
american_scientific_journal-1931	45	18	non	non	ADJ
american_scientific_journal-1931	45	19	-	-	ADJ
american_scientific_journal-1931	45	20	orthogonal	orthogonal	ADJ
american_scientific_journal-1931	45	21	angle	angle	NOUN
american_scientific_journal-1931	45	22	.	.	PUNCT
american_scientific_journal-1931	46	1	this	this	DET
american_scientific_journal-1931	46	2	bending	bending	NOUN
american_scientific_journal-1931	46	3	of	of	ADP
american_scientific_journal-1931	46	4	ray	ray	NOUN
american_scientific_journal-1931	46	5	of	of	ADP
american_scientific_journal-1931	46	6	light	light	NOUN
american_scientific_journal-1931	46	7	is	be	AUX
american_scientific_journal-1931	46	8	named	name	VERB
american_scientific_journal-1931	46	9	as	as	ADP
american_scientific_journal-1931	46	10	refraction	refraction	NOUN
american_scientific_journal-1931	46	11	.	.	PUNCT
american_scientific_journal-1931	47	1	a	a	DET
american_scientific_journal-1931	47	2	lens	lens	NOUN
american_scientific_journal-1931	47	3	is	be	AUX
american_scientific_journal-1931	47	4	an	an	DET
american_scientific_journal-1931	47	5	optical	optical	ADJ
american_scientific_journal-1931	47	6	device	device	NOUN
american_scientific_journal-1931	47	7	(	(	PUNCT
american_scientific_journal-1931	47	8	a	a	DET
american_scientific_journal-1931	47	9	piece	piece	NOUN
american_scientific_journal-1931	47	10	of	of	ADP
american_scientific_journal-1931	47	11	glass	glass	NOUN
american_scientific_journal-1931	47	12	)	)	PUNCT
american_scientific_journal-1931	47	13	which	which	PRON
american_scientific_journal-1931	47	14	refracts	refract	VERB
american_scientific_journal-1931	47	15	and	and	CCONJ
american_scientific_journal-1931	47	16	transmits	transmit	NOUN
american_scientific_journal-1931	47	17	light	light	ADJ
american_scientific_journal-1931	47	18	,	,	PUNCT
american_scientific_journal-1931	47	19	diverging	diverge	VERB
american_scientific_journal-1931	47	20	or	or	CCONJ
american_scientific_journal-1931	47	21	converging	converge	VERB
american_scientific_journal-1931	47	22	the	the	DET
american_scientific_journal-1931	47	23	beam	beam	NOUN
american_scientific_journal-1931	47	24	.	.	PUNCT
american_scientific_journal-1931	48	1	a	a	DET
american_scientific_journal-1931	48	2	section	section	NOUN
american_scientific_journal-1931	48	3	of	of	ADP
american_scientific_journal-1931	48	4	a	a	DET
american_scientific_journal-1931	48	5	differently	differently	ADV
american_scientific_journal-1931	48	6	-	-	PUNCT
american_scientific_journal-1931	48	7	sized	sized	ADJ
american_scientific_journal-1931	48	8	spherical	spherical	ADJ
american_scientific_journal-1931	48	9	surface	surface	NOUN
american_scientific_journal-1931	48	10	on	on	ADP
american_scientific_journal-1931	48	11	one	one	NUM
american_scientific_journal-1931	48	12	side	side	NOUN
american_scientific_journal-1931	48	13	and	and	CCONJ
american_scientific_journal-1931	48	14	a	a	DET
american_scientific_journal-1931	48	15	section	section	NOUN
american_scientific_journal-1931	48	16	of	of	ADP
american_scientific_journal-1931	48	17	spherical	spherical	ADJ
american_scientific_journal-1931	48	18	surface	surface	NOUN
american_scientific_journal-1931	48	19	on	on	ADP
american_scientific_journal-1931	48	20	the	the	DET
american_scientific_journal-1931	48	21	other	other	ADJ
american_scientific_journal-1931	48	22	are	be	AUX
american_scientific_journal-1931	48	23	shaping	shape	VERB
american_scientific_journal-1931	48	24	the	the	DET
american_scientific_journal-1931	48	25	lens	len	NOUN
american_scientific_journal-1931	48	26	.	.	PUNCT
american_scientific_journal-1931	49	1	these	these	DET
american_scientific_journal-1931	49	2	sections	section	NOUN
american_scientific_journal-1931	49	3	cause	cause	VERB
american_scientific_journal-1931	49	4	the	the	DET
american_scientific_journal-1931	49	5	light	light	NOUN
american_scientific_journal-1931	49	6	to	to	PART
american_scientific_journal-1931	49	7	spread	spread	VERB
american_scientific_journal-1931	49	8	out	out	ADP
american_scientific_journal-1931	49	9	either	either	CCONJ
american_scientific_journal-1931	49	10	after	after	SCONJ
american_scientific_journal-1931	49	11	light	light	ADJ
american_scientific_journal-1931	49	12	beams	beam	NOUN
american_scientific_journal-1931	49	13	converge	converge	VERB
american_scientific_journal-1931	49	14	to	to	ADP
american_scientific_journal-1931	49	15	an	an	DET
american_scientific_journal-1931	49	16	area	area	NOUN
american_scientific_journal-1931	49	17	or	or	CCONJ
american_scientific_journal-1931	49	18	immediately	immediately	ADV
american_scientific_journal-1931	49	19	from	from	ADP
american_scientific_journal-1931	49	20	the	the	DET
american_scientific_journal-1931	49	21	glass	glass	NOUN
american_scientific_journal-1931	49	22	.	.	PUNCT
american_scientific_journal-1931	50	1	can	can	AUX
american_scientific_journal-1931	50	2	be	be	AUX
american_scientific_journal-1931	50	3	defined	define	VERB
american_scientific_journal-1931	50	4	from	from	ADP
american_scientific_journal-1931	50	5	the	the	DET
american_scientific_journal-1931	50	6	different	different	ADJ
american_scientific_journal-1931	50	7	sizes	size	NOUN
american_scientific_journal-1931	50	8	of	of	ADP
american_scientific_journal-1931	50	9	the	the	DET
american_scientific_journal-1931	50	10	spheres	sphere	NOUN
american_scientific_journal-1931	50	11	.	.	PUNCT
american_scientific_journal-1931	51	1	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	51	2	pixy	pixy	NOUN
american_scientific_journal-1931	51	3	uses	use	VERB
american_scientific_journal-1931	51	4	m12	m12	PROPN
american_scientific_journal-1931	51	5	lens	lens	NOUN
american_scientific_journal-1931	51	6	type	type	NOUN
american_scientific_journal-1931	51	7	.	.	PUNCT
american_scientific_journal-1931	52	1	figure	figure	NOUN
american_scientific_journal-1931	52	2	2	2	NUM
american_scientific_journal-1931	52	3	illustrates	illustrate	VERB
american_scientific_journal-1931	52	4	lens	lens	NOUN
american_scientific_journal-1931	52	5	analysis	analysis	NOUN
american_scientific_journal-1931	52	6	[	[	X
american_scientific_journal-1931	52	7	4	4	NUM
american_scientific_journal-1931	52	8	]	]	PUNCT
american_scientific_journal-1931	52	9	:	:	PUNCT
american_scientific_journal-1931	52	10	where	where	SCONJ
american_scientific_journal-1931	52	11	:	:	PUNCT
american_scientific_journal-1931	52	12	do	do	AUX
american_scientific_journal-1931	52	13	:	:	PUNCT
american_scientific_journal-1931	52	14	is	be	AUX
american_scientific_journal-1931	52	15	the	the	DET
american_scientific_journal-1931	52	16	distance	distance	NOUN
american_scientific_journal-1931	52	17	from	from	ADP
american_scientific_journal-1931	52	18	the	the	DET
american_scientific_journal-1931	52	19	centre	centre	NOUN
american_scientific_journal-1931	52	20	of	of	ADP
american_scientific_journal-1931	52	21	the	the	DET
american_scientific_journal-1931	52	22	lens	lens	NOUN
american_scientific_journal-1931	52	23	to	to	ADP
american_scientific_journal-1931	52	24	the	the	DET
american_scientific_journal-1931	52	25	object	object	NOUN
american_scientific_journal-1931	52	26	(	(	PUNCT
american_scientific_journal-1931	52	27	measured	measure	VERB
american_scientific_journal-1931	52	28	along	along	ADP
american_scientific_journal-1931	52	29	the	the	DET
american_scientific_journal-1931	52	30	axis	axis	NOUN
american_scientific_journal-1931	52	31	)	)	PUNCT
american_scientific_journal-1931	52	32	.	.	PUNCT
american_scientific_journal-1931	53	1	di	di	NOUN
american_scientific_journal-1931	53	2	:	:	PUNCT
american_scientific_journal-1931	53	3	is	be	AUX
american_scientific_journal-1931	53	4	the	the	DET
american_scientific_journal-1931	53	5	distance	distance	NOUN
american_scientific_journal-1931	53	6	from	from	ADP
american_scientific_journal-1931	53	7	the	the	DET
american_scientific_journal-1931	53	8	centre	centre	NOUN
american_scientific_journal-1931	53	9	of	of	ADP
american_scientific_journal-1931	53	10	the	the	DET
american_scientific_journal-1931	53	11	lens	lens	NOUN
american_scientific_journal-1931	53	12	to	to	ADP
american_scientific_journal-1931	53	13	the	the	DET
american_scientific_journal-1931	53	14	image	image	NOUN
american_scientific_journal-1931	53	15	(	(	PUNCT
american_scientific_journal-1931	53	16	measured	measure	VERB
american_scientific_journal-1931	53	17	along	along	ADP
american_scientific_journal-1931	53	18	the	the	DET
american_scientific_journal-1931	53	19	axis	axis	NOUN
american_scientific_journal-1931	53	20	)	)	PUNCT
american_scientific_journal-1931	53	21	.	.	PUNCT
american_scientific_journal-1931	54	1	f	f	X
american_scientific_journal-1931	54	2	:	:	PUNCT
american_scientific_journal-1931	54	3	is	be	AUX
american_scientific_journal-1931	54	4	the	the	DET
american_scientific_journal-1931	54	5	focal	focal	ADJ
american_scientific_journal-1931	54	6	length	length	NOUN
american_scientific_journal-1931	54	7	of	of	ADP
american_scientific_journal-1931	54	8	the	the	DET
american_scientific_journal-1931	54	9	lens	len	NOUN
american_scientific_journal-1931	54	10	.	.	PUNCT
american_scientific_journal-1931	55	1	ho	ho	PROPN
american_scientific_journal-1931	55	2	:	:	PUNCT
american_scientific_journal-1931	55	3	is	be	AUX
american_scientific_journal-1931	55	4	the	the	DET
american_scientific_journal-1931	55	5	object	object	NOUN
american_scientific_journal-1931	55	6	height	height	NOUN
american_scientific_journal-1931	55	7	.	.	PUNCT
american_scientific_journal-1931	56	1	hi	hi	INTJ
american_scientific_journal-1931	56	2	:	:	PUNCT
american_scientific_journal-1931	56	3	is	be	AUX
american_scientific_journal-1931	56	4	the	the	DET
american_scientific_journal-1931	56	5	image	image	NOUN
american_scientific_journal-1931	56	6	height	height	NOUN
american_scientific_journal-1931	56	7	.	.	PUNCT
american_scientific_journal-1931	57	1	the	the	DET
american_scientific_journal-1931	57	2	quantitative	quantitative	ADJ
american_scientific_journal-1931	57	3	relationship	relationship	NOUN
american_scientific_journal-1931	57	4	between	between	ADP
american_scientific_journal-1931	57	5	the	the	DET
american_scientific_journal-1931	57	6	image	image	NOUN
american_scientific_journal-1931	57	7	distance	distance	NOUN
american_scientific_journal-1931	57	8	(	(	PUNCT
american_scientific_journal-1931	57	9	di	di	NOUN
american_scientific_journal-1931	57	10	)	)	PUNCT
american_scientific_journal-1931	57	11	,	,	PUNCT
american_scientific_journal-1931	57	12	the	the	DET
american_scientific_journal-1931	57	13	object	object	NOUN
american_scientific_journal-1931	57	14	distance	distance	NOUN
american_scientific_journal-1931	57	15	(	(	PUNCT
american_scientific_journal-1931	57	16	do	do	NOUN
american_scientific_journal-1931	57	17	)	)	PUNCT
american_scientific_journal-1931	57	18	,	,	PUNCT
american_scientific_journal-1931	57	19	and	and	CCONJ
american_scientific_journal-1931	57	20	the	the	DET
american_scientific_journal-1931	57	21	focal	focal	ADJ
american_scientific_journal-1931	57	22	length	length	NOUN
american_scientific_journal-1931	57	23	(	(	PUNCT
american_scientific_journal-1931	57	24	f	f	X
american_scientific_journal-1931	57	25	)	)	PUNCT
american_scientific_journal-1931	57	26	can	can	AUX
american_scientific_journal-1931	57	27	be	be	AUX
american_scientific_journal-1931	57	28	expressed	express	VERB
american_scientific_journal-1931	57	29	by	by	ADP
american_scientific_journal-1931	57	30	the	the	DET
american_scientific_journal-1931	57	31	lens	lens	NOUN
american_scientific_journal-1931	57	32	equation	equation	NOUN
american_scientific_journal-1931	57	33	.	.	PUNCT
american_scientific_journal-1931	58	1	the	the	DET
american_scientific_journal-1931	58	2	equation	equation	NOUN
american_scientific_journal-1931	58	3	is	be	AUX
american_scientific_journal-1931	58	4	stated	state	VERB
american_scientific_journal-1931	58	5	as	as	ADP
american_scientific_journal-1931	58	6	:	:	PUNCT
american_scientific_journal-1931	58	7	http://en.wikipedia.org/wiki/optics	http://en.wikipedia.org/wiki/optic	NOUN
american_scientific_journal-1931	58	8	http://en.wikipedia.org/wiki/refraction	http://en.wikipedia.org/wiki/refraction	NOUN
american_scientific_journal-1931	58	9	http://en.wikipedia.org/wiki/transmittance	http://en.wikipedia.org/wiki/transmittance	NOUN
american_scientific_journal-1931	58	10	http://en.wikipedia.org/wiki/light	http://en.wikipedia.org/wiki/light	PROPN
american_scientific_journal-1931	58	11	http://en.wikipedia.org/wiki/light_beam	http://en.wikipedia.org/wiki/light_beam	NOUN
american_scientific_journal-1931	58	12	american	american	PROPN
american_scientific_journal-1931	58	13	scientific	scientific	ADJ
american_scientific_journal-1931	58	14	research	research	PROPN
american_scientific_journal-1931	58	15	journal	journal	NOUN
american_scientific_journal-1931	58	16	for	for	ADP
american_scientific_journal-1931	58	17	engineering	engineering	NOUN
american_scientific_journal-1931	58	18	,	,	PUNCT
american_scientific_journal-1931	58	19	technology	technology	NOUN
american_scientific_journal-1931	58	20	,	,	PUNCT
american_scientific_journal-1931	58	21	and	and	CCONJ
american_scientific_journal-1931	58	22	sciences	science	NOUN
american_scientific_journal-1931	58	23	(	(	PUNCT
american_scientific_journal-1931	58	24	asrjets	asrjet	NOUN
american_scientific_journal-1931	58	25	)	)	PUNCT
american_scientific_journal-1931	58	26	(	(	PUNCT
american_scientific_journal-1931	58	27	2016	2016	NUM
american_scientific_journal-1931	58	28	)	)	PUNCT
american_scientific_journal-1931	58	29	volume	volume	NOUN
american_scientific_journal-1931	58	30	22	22	NUM
american_scientific_journal-1931	58	31	,	,	PUNCT
american_scientific_journal-1931	58	32	no	no	DET
american_scientific_journal-1931	58	33	1	1	NUM
american_scientific_journal-1931	58	34	,	,	PUNCT
american_scientific_journal-1931	58	35	pp	pp	ADV
american_scientific_journal-1931	58	36	231	231	NUM
american_scientific_journal-1931	58	37	-	-	SYM
american_scientific_journal-1931	58	38	242	242	NUM
american_scientific_journal-1931	59	1	234	234	NUM
american_scientific_journal-1931	59	2	1	1	NUM
american_scientific_journal-1931	59	3	f	f	NOUN
american_scientific_journal-1931	59	4	=	=	SYM
american_scientific_journal-1931	59	5	1	1	NUM
american_scientific_journal-1931	59	6	do	do	VERB
american_scientific_journal-1931	59	7	+	+	CCONJ
american_scientific_journal-1931	59	8	1	1	NUM
american_scientific_journal-1931	59	9	di	di	X
american_scientific_journal-1931	59	10	(	(	PUNCT
american_scientific_journal-1931	59	11	1	1	NUM
american_scientific_journal-1931	59	12	)	)	PUNCT
american_scientific_journal-1931	59	13	the	the	DET
american_scientific_journal-1931	59	14	magnification	magnification	NOUN
american_scientific_journal-1931	59	15	equation	equation	NOUN
american_scientific_journal-1931	59	16	relates	relate	VERB
american_scientific_journal-1931	59	17	the	the	DET
american_scientific_journal-1931	59	18	ratio	ratio	NOUN
american_scientific_journal-1931	59	19	of	of	ADP
american_scientific_journal-1931	59	20	the	the	DET
american_scientific_journal-1931	59	21	image	image	NOUN
american_scientific_journal-1931	59	22	height	height	NOUN
american_scientific_journal-1931	59	23	and	and	CCONJ
american_scientific_journal-1931	59	24	object	object	VERB
american_scientific_journal-1931	59	25	height	height	NOUN
american_scientific_journal-1931	59	26	to	to	ADP
american_scientific_journal-1931	59	27	ratio	ratio	NOUN
american_scientific_journal-1931	59	28	of	of	ADP
american_scientific_journal-1931	59	29	image	image	NOUN
american_scientific_journal-1931	59	30	distance	distance	NOUN
american_scientific_journal-1931	59	31	and	and	CCONJ
american_scientific_journal-1931	59	32	object	object	VERB
american_scientific_journal-1931	59	33	distance	distance	NOUN
american_scientific_journal-1931	59	34	.	.	PUNCT
american_scientific_journal-1931	60	1	the	the	DET
american_scientific_journal-1931	60	2	magnification	magnification	NOUN
american_scientific_journal-1931	60	3	equation	equation	NOUN
american_scientific_journal-1931	60	4	is	be	AUX
american_scientific_journal-1931	60	5	stated	state	VERB
american_scientific_journal-1931	60	6	as	as	ADP
american_scientific_journal-1931	60	7	:	:	PUNCT
american_scientific_journal-1931	60	8	m	m	VERB
american_scientific_journal-1931	60	9	=	=	PUNCT
american_scientific_journal-1931	60	10	hi	hi	INTJ
american_scientific_journal-1931	60	11	ho	ho	PROPN
american_scientific_journal-1931	60	12	=	=	SYM
american_scientific_journal-1931	60	13	−	−	PROPN
american_scientific_journal-1931	60	14	di	di	NOUN
american_scientific_journal-1931	60	15	do	do	AUX
american_scientific_journal-1931	60	16	(	(	PUNCT
american_scientific_journal-1931	60	17	2	2	NUM
american_scientific_journal-1931	60	18	)	)	PUNCT
american_scientific_journal-1931	60	19	equation	equation	NOUN
american_scientific_journal-1931	60	20	(	(	PUNCT
american_scientific_journal-1931	60	21	1	1	NUM
american_scientific_journal-1931	60	22	)	)	PUNCT
american_scientific_journal-1931	60	23	and	and	CCONJ
american_scientific_journal-1931	60	24	equation	equation	NOUN
american_scientific_journal-1931	60	25	(	(	PUNCT
american_scientific_journal-1931	60	26	2	2	X
american_scientific_journal-1931	60	27	)	)	PUNCT
american_scientific_journal-1931	60	28	can	can	AUX
american_scientific_journal-1931	60	29	be	be	AUX
american_scientific_journal-1931	60	30	combined	combine	VERB
american_scientific_journal-1931	60	31	to	to	PART
american_scientific_journal-1931	60	32	give	give	VERB
american_scientific_journal-1931	60	33	information	information	NOUN
american_scientific_journal-1931	60	34	about	about	ADP
american_scientific_journal-1931	60	35	the	the	DET
american_scientific_journal-1931	60	36	object	object	NOUN
american_scientific_journal-1931	60	37	distance	distance	NOUN
american_scientific_journal-1931	60	38	if	if	SCONJ
american_scientific_journal-1931	60	39	the	the	DET
american_scientific_journal-1931	60	40	image	image	NOUN
american_scientific_journal-1931	60	41	distance	distance	NOUN
american_scientific_journal-1931	60	42	,	,	PUNCT
american_scientific_journal-1931	60	43	object	object	VERB
american_scientific_journal-1931	60	44	height	height	NOUN
american_scientific_journal-1931	60	45	,	,	PUNCT
american_scientific_journal-1931	60	46	and	and	CCONJ
american_scientific_journal-1931	60	47	focal	focal	ADJ
american_scientific_journal-1931	60	48	length	length	NOUN
american_scientific_journal-1931	60	49	are	be	AUX
american_scientific_journal-1931	60	50	known	know	VERB
american_scientific_journal-1931	60	51	.	.	PUNCT
american_scientific_journal-1931	61	1	equation	equation	NOUN
american_scientific_journal-1931	61	2	(	(	PUNCT
american_scientific_journal-1931	61	3	2	2	X
american_scientific_journal-1931	61	4	)	)	PUNCT
american_scientific_journal-1931	61	5	can	can	AUX
american_scientific_journal-1931	61	6	be	be	AUX
american_scientific_journal-1931	61	7	rewritten	rewrite	VERB
american_scientific_journal-1931	61	8	as	as	ADP
american_scientific_journal-1931	61	9	:	:	PUNCT
american_scientific_journal-1931	61	10	di	di	X
american_scientific_journal-1931	61	11	=	=	NOUN
american_scientific_journal-1931	61	12	hi	hi	INTJ
american_scientific_journal-1931	62	1	×	×	INTJ
american_scientific_journal-1931	62	2	do	do	AUX
american_scientific_journal-1931	62	3	ho	ho	PROPN
american_scientific_journal-1931	62	4	(	(	PUNCT
american_scientific_journal-1931	62	5	3	3	NUM
american_scientific_journal-1931	62	6	)	)	PUNCT
american_scientific_journal-1931	62	7	sub	sub	NOUN
american_scientific_journal-1931	62	8	equation	equation	NOUN
american_scientific_journal-1931	62	9	(	(	PUNCT
american_scientific_journal-1931	62	10	3	3	NUM
american_scientific_journal-1931	62	11	)	)	PUNCT
american_scientific_journal-1931	62	12	into	into	ADP
american_scientific_journal-1931	62	13	equation	equation	NOUN
american_scientific_journal-1931	62	14	(	(	PUNCT
american_scientific_journal-1931	62	15	1	1	NUM
american_scientific_journal-1931	62	16	):	):	PUNCT
american_scientific_journal-1931	62	17	1	1	NUM
american_scientific_journal-1931	62	18	f	f	NOUN
american_scientific_journal-1931	62	19	=	=	SYM
american_scientific_journal-1931	62	20	1	1	NUM
american_scientific_journal-1931	62	21	do	do	VERB
american_scientific_journal-1931	62	22	+	+	CCONJ
american_scientific_journal-1931	62	23	ho	ho	PROPN
american_scientific_journal-1931	63	1	hi	hi	INTJ
american_scientific_journal-1931	64	1	×	×	PROPN
american_scientific_journal-1931	65	1	do	do	AUX
american_scientific_journal-1931	65	2	rearrange	rearrange	VERB
american_scientific_journal-1931	65	3	this	this	PRON
american_scientific_journal-1931	65	4	to	to	PART
american_scientific_journal-1931	65	5	give	give	VERB
american_scientific_journal-1931	65	6	the	the	DET
american_scientific_journal-1931	65	7	object	object	NOUN
american_scientific_journal-1931	65	8	distance	distance	NOUN
american_scientific_journal-1931	65	9	as	as	ADP
american_scientific_journal-1931	65	10	:	:	PUNCT
american_scientific_journal-1931	65	11	do	do	AUX
american_scientific_journal-1931	65	12	=	=	PUNCT
american_scientific_journal-1931	65	13	(	(	PUNCT
american_scientific_journal-1931	65	14	f	f	PROPN
american_scientific_journal-1931	65	15	×	×	PROPN
american_scientific_journal-1931	65	16	ho	ho	PROPN
american_scientific_journal-1931	65	17	)	)	PUNCT
american_scientific_journal-1931	65	18	∙	∙	PROPN
american_scientific_journal-1931	65	19	1	1	NUM
american_scientific_journal-1931	65	20	di	di	NOUN
american_scientific_journal-1931	65	21	+	+	X
american_scientific_journal-1931	65	22	f	f	X
american_scientific_journal-1931	65	23	(	(	PUNCT
american_scientific_journal-1931	65	24	4	4	NUM
american_scientific_journal-1931	65	25	)	)	PUNCT
american_scientific_journal-1931	65	26	2.2	2.2	NUM
american_scientific_journal-1931	65	27	.	.	PUNCT
american_scientific_journal-1931	66	1	robot	robot	NOUN
american_scientific_journal-1931	66	2	kinematics	kinematic	NOUN
american_scientific_journal-1931	66	3	the	the	DET
american_scientific_journal-1931	66	4	designed	design	VERB
american_scientific_journal-1931	66	5	robot	robot	NOUN
american_scientific_journal-1931	66	6	has	have	VERB
american_scientific_journal-1931	66	7	three	three	NUM
american_scientific_journal-1931	66	8	omni	omni	ADJ
american_scientific_journal-1931	66	9	-	-	PUNCT
american_scientific_journal-1931	66	10	wheels	wheel	NOUN
american_scientific_journal-1931	66	11	.	.	PUNCT
american_scientific_journal-1931	67	1	the	the	DET
american_scientific_journal-1931	67	2	angular	angular	ADJ
american_scientific_journal-1931	67	3	velocity	velocity	NOUN
american_scientific_journal-1931	67	4	of	of	ADP
american_scientific_journal-1931	67	5	the	the	DET
american_scientific_journal-1931	67	6	wheels	wheel	NOUN
american_scientific_journal-1931	67	7	(	(	PUNCT
american_scientific_journal-1931	67	8	�	�	PROPN
american_scientific_journal-1931	67	9	̇	̇	NOUN
american_scientific_journal-1931	67	10	�	�	NOUN
american_scientific_journal-1931	67	11	𝜙𝑖𝑖	𝜙𝑖𝑖	NOUN
american_scientific_journal-1931	67	12	)	)	PUNCT
american_scientific_journal-1931	67	13	can	can	AUX
american_scientific_journal-1931	67	14	be	be	AUX
american_scientific_journal-1931	67	15	defined	define	VERB
american_scientific_journal-1931	67	16	from	from	ADP
american_scientific_journal-1931	67	17	the	the	DET
american_scientific_journal-1931	67	18	following	follow	VERB
american_scientific_journal-1931	67	19	equation	equation	NOUN
american_scientific_journal-1931	67	20	[	[	X
american_scientific_journal-1931	67	21	5,6	5,6	NUM
american_scientific_journal-1931	67	22	]	]	SYM
american_scientific_journal-1931	67	23	:	:	PUNCT
american_scientific_journal-1931	67	24	�	�	PROPN
american_scientific_journal-1931	67	25	𝜙𝜙1̇	𝜙𝜙1̇	PUNCT
american_scientific_journal-1931	67	26	�	�	PROPN
american_scientific_journal-1931	67	27	̇	̇	PROPN
american_scientific_journal-1931	67	28	�	�	PROPN
american_scientific_journal-1931	67	29	𝜙2	𝜙2	PROPN
american_scientific_journal-1931	67	30	�	�	PROPN
american_scientific_journal-1931	67	31	̇	̇	PROPN
american_scientific_journal-1931	67	32	�	�	PROPN
american_scientific_journal-1931	67	33	𝜙3	𝜙3	PROPN
american_scientific_journal-1931	67	34	�	�	PROPN
american_scientific_journal-1931	67	35	=	=	SYM
american_scientific_journal-1931	67	36	1	1	NUM
american_scientific_journal-1931	67	37	𝑟𝑟	𝑟𝑟	NUM
american_scientific_journal-1931	67	38	�	�	PROPN
american_scientific_journal-1931	67	39	−	−	PROPN
american_scientific_journal-1931	67	40	sin(𝜃𝜃	sin(𝜃𝜃	NOUN
american_scientific_journal-1931	67	41	)	)	PUNCT
american_scientific_journal-1931	67	42	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1931	67	43	)	)	PUNCT
american_scientific_journal-1931	67	44	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1931	67	45	−sin(𝜃𝜃	−sin(𝜃𝜃	PROPN
american_scientific_journal-1931	67	46	+	+	CCONJ
american_scientific_journal-1931	67	47	𝛼𝛼2	𝛼𝛼2	PROPN
american_scientific_journal-1931	67	48	)	)	PUNCT
american_scientific_journal-1931	67	49	cos(𝜃𝜃	cos(𝜃𝜃	X
american_scientific_journal-1931	67	50	+	+	CCONJ
american_scientific_journal-1931	68	1	𝛼𝛼2	𝛼𝛼2	ADJ
american_scientific_journal-1931	68	2	)	)	PUNCT
american_scientific_journal-1931	68	3	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1931	68	4	−	−	PROPN
american_scientific_journal-1931	68	5	sin(𝜃𝜃	sin(𝜃𝜃	PROPN
american_scientific_journal-1931	68	6	+	+	CCONJ
american_scientific_journal-1931	68	7	𝛼𝛼3	𝛼𝛼3	NOUN
american_scientific_journal-1931	68	8	)	)	PUNCT
american_scientific_journal-1931	68	9	cos(𝜃𝜃	cos(𝜃𝜃	X
american_scientific_journal-1931	68	10	+	+	CCONJ
american_scientific_journal-1931	68	11	𝛼𝛼3	𝛼𝛼3	NOUN
american_scientific_journal-1931	68	12	)	)	PUNCT
american_scientific_journal-1931	68	13	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1931	68	14	�	�	PROPN
american_scientific_journal-1931	68	15	�	�	PROPN
american_scientific_journal-1931	68	16	cos(𝜃𝜃	cos(𝜃𝜃	PROPN
american_scientific_journal-1931	68	17	)	)	PUNCT
american_scientific_journal-1931	68	18	0	0	NUM
american_scientific_journal-1931	68	19	0	0	NUM
american_scientific_journal-1931	68	20	0	0	NUM
american_scientific_journal-1931	68	21	cos(𝜃𝜃	cos(𝜃𝜃	NOUN
american_scientific_journal-1931	68	22	)	)	PUNCT
american_scientific_journal-1931	68	23	0	0	NUM
american_scientific_journal-1931	68	24	0	0	NUM
american_scientific_journal-1931	68	25	0	0	NUM
american_scientific_journal-1931	68	26	1	1	NUM
american_scientific_journal-1931	68	27	�	�	PROPN
american_scientific_journal-1931	68	28	�	�	PROPN
american_scientific_journal-1931	68	29	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-1931	68	30	�	�	PROPN
american_scientific_journal-1931	68	31	̇	̇	NOUN
american_scientific_journal-1931	68	32	�	�	PROPN
american_scientific_journal-1931	68	33	𝐿	𝐿	PROPN
american_scientific_journal-1931	68	34	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-1931	68	35	�	�	PROPN
american_scientific_journal-1931	68	36	̇	̇	NOUN
american_scientific_journal-1931	68	37	�	�	PROPN
american_scientific_journal-1931	68	38	𝐿	𝐿	PROPN
american_scientific_journal-1931	68	39	�	�	PROPN
american_scientific_journal-1931	68	40	̇	̇	PROPN
american_scientific_journal-1931	68	41	�	�	PROPN
american_scientific_journal-1931	68	42	𝜃	𝜃	PRON
american_scientific_journal-1931	68	43	�	�	PROPN
american_scientific_journal-1931	68	44	(	(	PUNCT
american_scientific_journal-1931	68	45	5	5	NUM
american_scientific_journal-1931	68	46	)	)	PUNCT
american_scientific_journal-1931	68	47	where	where	SCONJ
american_scientific_journal-1931	68	48	:	:	PUNCT
american_scientific_journal-1931	68	49	α1	α1	PROPN
american_scientific_journal-1931	68	50	=	=	SYM
american_scientific_journal-1931	68	51	0	0	NUM
american_scientific_journal-1931	68	52	°	°	NUM
american_scientific_journal-1931	68	53	,	,	PUNCT
american_scientific_journal-1931	68	54	α2	α2	NOUN
american_scientific_journal-1931	68	55	=	=	SYM
american_scientific_journal-1931	68	56	120	120	NUM
american_scientific_journal-1931	68	57	°	°	NUM
american_scientific_journal-1931	68	58	and	and	CCONJ
american_scientific_journal-1931	68	59	α3	α3	NOUN
american_scientific_journal-1931	68	60	=	=	NOUN
american_scientific_journal-1931	68	61	240	240	NUM
american_scientific_journal-1931	68	62	°	°	NUM
american_scientific_journal-1931	68	63	.	.	PUNCT
american_scientific_journal-1931	69	1	(	(	PUNCT
american_scientific_journal-1931	69	2	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-1931	69	3	,	,	PUNCT
american_scientific_journal-1931	69	4	̇	̇	PROPN
american_scientific_journal-1931	69	5	�	�	PROPN
american_scientific_journal-1931	69	6	̇	̇	PROPN
american_scientific_journal-1931	69	7	�	�	PROPN
american_scientific_journal-1931	69	8	𝑦	𝑦	PROPN
american_scientific_journal-1931	69	9	,	,	PUNCT
american_scientific_journal-1931	69	10	�	�	PROPN
american_scientific_journal-1931	69	11	̇	̇	PROPN
american_scientific_journal-1931	69	12	�	�	PROPN
american_scientific_journal-1931	69	13	𝜃	𝜃	NOUN
american_scientific_journal-1931	69	14	)	)	PUNCT
american_scientific_journal-1931	69	15	are	be	AUX
american_scientific_journal-1931	69	16	the	the	DET
american_scientific_journal-1931	69	17	global	global	ADJ
american_scientific_journal-1931	69	18	velocity	velocity	NOUN
american_scientific_journal-1931	69	19	of	of	ADP
american_scientific_journal-1931	69	20	the	the	DET
american_scientific_journal-1931	69	21	robot	robot	NOUN
american_scientific_journal-1931	69	22	.	.	PUNCT
american_scientific_journal-1931	70	1	𝜃𝜃	𝜃𝜃	PROPN
american_scientific_journal-1931	70	2	is	be	AUX
american_scientific_journal-1931	70	3	the	the	DET
american_scientific_journal-1931	70	4	robot	robot	NOUN
american_scientific_journal-1931	70	5	orientation	orientation	NOUN
american_scientific_journal-1931	70	6	with	with	ADP
american_scientific_journal-1931	70	7	respect	respect	NOUN
american_scientific_journal-1931	70	8	to	to	ADP
american_scientific_journal-1931	70	9	the	the	DET
american_scientific_journal-1931	70	10	global	global	ADJ
american_scientific_journal-1931	70	11	coordinates	coordinate	NOUN
american_scientific_journal-1931	70	12	.	.	PUNCT
american_scientific_journal-1931	71	1	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-1931	71	2	is	be	AUX
american_scientific_journal-1931	71	3	the	the	DET
american_scientific_journal-1931	71	4	distance	distance	NOUN
american_scientific_journal-1931	71	5	(	(	PUNCT
american_scientific_journal-1931	71	6	along	along	ADP
american_scientific_journal-1931	71	7	a	a	DET
american_scientific_journal-1931	71	8	radial	radial	ADJ
american_scientific_journal-1931	71	9	path	path	NOUN
american_scientific_journal-1931	71	10	)	)	PUNCT
american_scientific_journal-1931	71	11	from	from	ADP
american_scientific_journal-1931	71	12	the	the	DET
american_scientific_journal-1931	71	13	wheels	wheel	NOUN
american_scientific_journal-1931	71	14	to	to	ADP
american_scientific_journal-1931	71	15	the	the	DET
american_scientific_journal-1931	71	16	centre	centre	NOUN
american_scientific_journal-1931	71	17	of	of	ADP
american_scientific_journal-1931	71	18	gravity	gravity	NOUN
american_scientific_journal-1931	71	19	of	of	ADP
american_scientific_journal-1931	71	20	the	the	DET
american_scientific_journal-1931	71	21	robot	robot	NOUN
american_scientific_journal-1931	71	22	.	.	PUNCT
american_scientific_journal-1931	72	1	the	the	DET
american_scientific_journal-1931	72	2	value	value	NOUN
american_scientific_journal-1931	72	3	of	of	ADP
american_scientific_journal-1931	72	4	r	r	NOUN
american_scientific_journal-1931	72	5	is	be	AUX
american_scientific_journal-1931	72	6	0.13	0.13	NUM
american_scientific_journal-1931	72	7	m.	m.	NOUN
american_scientific_journal-1931	72	8	𝑟𝑟	𝑟𝑟	X
american_scientific_journal-1931	72	9	is	be	AUX
american_scientific_journal-1931	72	10	an	an	DET
american_scientific_journal-1931	72	11	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	72	12	wheel	wheel	NOUN
american_scientific_journal-1931	72	13	radius	radius	NOUN
american_scientific_journal-1931	72	14	:	:	PUNCT
american_scientific_journal-1931	72	15	0.051	0.051	NUM
american_scientific_journal-1931	72	16	m.	m.	NOUN
american_scientific_journal-1931	72	17	2.3	2.3	NUM
american_scientific_journal-1931	72	18	.	.	PUNCT
american_scientific_journal-1931	73	1	omniwheels	omniwheel	VERB
american_scientific_journal-1931	73	2	velocity	velocity	NOUN
american_scientific_journal-1931	73	3	control	control	NOUN
american_scientific_journal-1931	73	4	in	in	ADP
american_scientific_journal-1931	73	5	velocity	velocity	NOUN
american_scientific_journal-1931	73	6	control	control	NOUN
american_scientific_journal-1931	73	7	,	,	PUNCT
american_scientific_journal-1931	73	8	the	the	DET
american_scientific_journal-1931	73	9	control	control	NOUN
american_scientific_journal-1931	73	10	action	action	NOUN
american_scientific_journal-1931	73	11	is	be	AUX
american_scientific_journal-1931	73	12	calculated	calculate	VERB
american_scientific_journal-1931	73	13	based	base	VERB
american_scientific_journal-1931	73	14	on	on	ADP
american_scientific_journal-1931	73	15	the	the	DET
american_scientific_journal-1931	73	16	difference	difference	NOUN
american_scientific_journal-1931	73	17	between	between	ADP
american_scientific_journal-1931	73	18	the	the	DET
american_scientific_journal-1931	73	19	reference	reference	NOUN
american_scientific_journal-1931	73	20	velocities	velocity	NOUN
american_scientific_journal-1931	73	21	american	american	PROPN
american_scientific_journal-1931	73	22	scientific	scientific	ADJ
american_scientific_journal-1931	73	23	research	research	NOUN
american_scientific_journal-1931	73	24	journal	journal	NOUN
american_scientific_journal-1931	73	25	for	for	ADP
american_scientific_journal-1931	73	26	engineering	engineering	NOUN
american_scientific_journal-1931	73	27	,	,	PUNCT
american_scientific_journal-1931	73	28	technology	technology	NOUN
american_scientific_journal-1931	73	29	,	,	PUNCT
american_scientific_journal-1931	73	30	and	and	CCONJ
american_scientific_journal-1931	73	31	sciences	science	NOUN
american_scientific_journal-1931	73	32	(	(	PUNCT
american_scientific_journal-1931	73	33	asrjets	asrjet	NOUN
american_scientific_journal-1931	73	34	)	)	PUNCT
american_scientific_journal-1931	73	35	(	(	PUNCT
american_scientific_journal-1931	73	36	2016	2016	NUM
american_scientific_journal-1931	73	37	)	)	PUNCT
american_scientific_journal-1931	73	38	volume	volume	NOUN
american_scientific_journal-1931	73	39	22	22	NUM
american_scientific_journal-1931	73	40	,	,	PUNCT
american_scientific_journal-1931	73	41	no	no	DET
american_scientific_journal-1931	73	42	1	1	NUM
american_scientific_journal-1931	73	43	,	,	PUNCT
american_scientific_journal-1931	73	44	pp	pp	ADV
american_scientific_journal-1931	73	45	231	231	NUM
american_scientific_journal-1931	73	46	-	-	SYM
american_scientific_journal-1931	73	47	242	242	NUM
american_scientific_journal-1931	73	48	235	235	NUM
american_scientific_journal-1931	73	49	(	(	PUNCT
american_scientific_journal-1931	73	50	�	�	PROPN
american_scientific_journal-1931	73	51	̇	̇	PROPN
american_scientific_journal-1931	73	52	�	�	PROPN
american_scientific_journal-1931	73	53	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,1	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,1	NOUN
american_scientific_journal-1931	73	54	,	,	PUNCT
american_scientific_journal-1931	73	55	�	�	PROPN
american_scientific_journal-1931	73	56	̇	̇	PROPN
american_scientific_journal-1931	73	57	�	�	PROPN
american_scientific_journal-1931	73	58	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,2	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,2	PROPN
american_scientific_journal-1931	73	59	,	,	PUNCT
american_scientific_journal-1931	73	60	�	�	PROPN
american_scientific_journal-1931	73	61	̇	̇	PROPN
american_scientific_journal-1931	73	62	�	�	NOUN
american_scientific_journal-1931	73	63	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,3	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,3	NOUN
american_scientific_journal-1931	73	64	)	)	PUNCT
american_scientific_journal-1931	73	65	and	and	CCONJ
american_scientific_journal-1931	73	66	the	the	DET
american_scientific_journal-1931	73	67	actual	actual	ADJ
american_scientific_journal-1931	73	68	angular	angular	ADJ
american_scientific_journal-1931	73	69	velocities	velocity	NOUN
american_scientific_journal-1931	73	70	(	(	PUNCT
american_scientific_journal-1931	73	71	�	�	PROPN
american_scientific_journal-1931	73	72	̇	̇	PROPN
american_scientific_journal-1931	73	73	�	�	PROPN
american_scientific_journal-1931	73	74	𝜙1	𝜙1	NOUN
american_scientific_journal-1931	73	75	,	,	PUNCT
american_scientific_journal-1931	73	76	�	�	PROPN
american_scientific_journal-1931	73	77	̇	̇	PROPN
american_scientific_journal-1931	73	78	�	�	PROPN
american_scientific_journal-1931	73	79	𝜙2	𝜙2	PROPN
american_scientific_journal-1931	73	80	,	,	PUNCT
american_scientific_journal-1931	73	81	�	�	PROPN
american_scientific_journal-1931	73	82	̇	̇	PROPN
american_scientific_journal-1931	73	83	�	�	PROPN
american_scientific_journal-1931	73	84	𝜙3	𝜙3	NOUN
american_scientific_journal-1931	73	85	)	)	PUNCT
american_scientific_journal-1931	73	86	.	.	PUNCT
american_scientific_journal-1931	74	1	this	this	PRON
american_scientific_journal-1931	74	2	can	can	AUX
american_scientific_journal-1931	74	3	be	be	AUX
american_scientific_journal-1931	74	4	expressed	express	VERB
american_scientific_journal-1931	74	5	in	in	ADP
american_scientific_journal-1931	74	6	a	a	DET
american_scientific_journal-1931	74	7	mathematical	mathematical	ADJ
american_scientific_journal-1931	74	8	sense	sense	NOUN
american_scientific_journal-1931	74	9	as	as	ADP
american_scientific_journal-1931	74	10	[	[	X
american_scientific_journal-1931	74	11	7,8	7,8	NUM
american_scientific_journal-1931	74	12	]	]	PUNCT
american_scientific_journal-1931	74	13	:	:	PUNCT
american_scientific_journal-1931	74	14	𝑒𝑒𝑖𝑖	𝑒𝑒𝑖𝑖	NOUN
american_scientific_journal-1931	74	15	=	=	SYM
american_scientific_journal-1931	74	16	�	�	PROPN
american_scientific_journal-1931	74	17	̇	̇	PROPN
american_scientific_journal-1931	74	18	�	�	PROPN
american_scientific_journal-1931	74	19	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,𝑖𝑖	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,𝑖𝑖	PROPN
american_scientific_journal-1931	74	20	−	−	PROPN
american_scientific_journal-1931	74	21	�	�	PROPN
american_scientific_journal-1931	74	22	̇	̇	PROPN
american_scientific_journal-1931	74	23	�	�	PROPN
american_scientific_journal-1931	74	24	𝜙𝑖𝑖	𝜙𝑖𝑖	NOUN
american_scientific_journal-1931	74	25	(	(	PUNCT
american_scientific_journal-1931	74	26	6	6	NUM
american_scientific_journal-1931	74	27	)	)	PUNCT
american_scientific_journal-1931	74	28	here	here	ADV
american_scientific_journal-1931	74	29	ei	ei	X
american_scientific_journal-1931	74	30	is	be	AUX
american_scientific_journal-1931	74	31	the	the	DET
american_scientific_journal-1931	74	32	tracking	tracking	NOUN
american_scientific_journal-1931	74	33	error	error	NOUN
american_scientific_journal-1931	74	34	[	[	X
american_scientific_journal-1931	74	35	rad	rad	PROPN
american_scientific_journal-1931	74	36	/	/	SYM
american_scientific_journal-1931	74	37	sec	sec	PROPN
american_scientific_journal-1931	74	38	]	]	PUNCT
american_scientific_journal-1931	74	39	and	and	CCONJ
american_scientific_journal-1931	74	40	the	the	DET
american_scientific_journal-1931	74	41	subscript	subscript	NOUN
american_scientific_journal-1931	74	42	i	i	PRON
american_scientific_journal-1931	74	43	(=	(=	VERB
american_scientific_journal-1931	74	44	1	1	NUM
american_scientific_journal-1931	74	45	,	,	PUNCT
american_scientific_journal-1931	74	46	2	2	NUM
american_scientific_journal-1931	74	47	,	,	PUNCT
american_scientific_journal-1931	74	48	3	3	NUM
american_scientific_journal-1931	74	49	)	)	PUNCT
american_scientific_journal-1931	74	50	indicates	indicate	VERB
american_scientific_journal-1931	74	51	which	which	DET
american_scientific_journal-1931	74	52	wheel	wheel	NOUN
american_scientific_journal-1931	74	53	is	be	AUX
american_scientific_journal-1931	74	54	considered	consider	VERB
american_scientific_journal-1931	74	55	.	.	PUNCT
american_scientific_journal-1931	75	1	figure	figure	VERB
american_scientific_journal-1931	75	2	3	3	NUM
american_scientific_journal-1931	75	3	shows	show	VERB
american_scientific_journal-1931	75	4	the	the	DET
american_scientific_journal-1931	75	5	block	block	NOUN
american_scientific_journal-1931	75	6	diagram	diagram	NOUN
american_scientific_journal-1931	75	7	of	of	ADP
american_scientific_journal-1931	75	8	the	the	DET
american_scientific_journal-1931	75	9	closed	closed	ADJ
american_scientific_journal-1931	75	10	loop	loop	NOUN
american_scientific_journal-1931	75	11	motor	motor	NOUN
american_scientific_journal-1931	75	12	speed	speed	NOUN
american_scientific_journal-1931	75	13	control	control	NOUN
american_scientific_journal-1931	75	14	system	system	NOUN
american_scientific_journal-1931	75	15	that	that	PRON
american_scientific_journal-1931	75	16	is	be	AUX
american_scientific_journal-1931	75	17	used	use	VERB
american_scientific_journal-1931	75	18	in	in	ADP
american_scientific_journal-1931	75	19	this	this	DET
american_scientific_journal-1931	75	20	project	project	NOUN
american_scientific_journal-1931	75	21	to	to	PART
american_scientific_journal-1931	75	22	control	control	VERB
american_scientific_journal-1931	75	23	the	the	DET
american_scientific_journal-1931	75	24	omni	omni	ADJ
american_scientific_journal-1931	75	25	-	-	PUNCT
american_scientific_journal-1931	75	26	wheels	wheel	NOUN
american_scientific_journal-1931	75	27	velocity	velocity	NOUN
american_scientific_journal-1931	75	28	.	.	PUNCT
american_scientific_journal-1931	76	1	to	to	PART
american_scientific_journal-1931	76	2	reach	reach	VERB
american_scientific_journal-1931	76	3	the	the	DET
american_scientific_journal-1931	76	4	required	require	VERB
american_scientific_journal-1931	76	5	velocity	velocity	NOUN
american_scientific_journal-1931	76	6	,	,	PUNCT
american_scientific_journal-1931	76	7	the	the	DET
american_scientific_journal-1931	76	8	delivered	deliver	VERB
american_scientific_journal-1931	76	9	power	power	NOUN
american_scientific_journal-1931	76	10	to	to	ADP
american_scientific_journal-1931	76	11	the	the	DET
american_scientific_journal-1931	76	12	motor	motor	NOUN
american_scientific_journal-1931	76	13	is	be	AUX
american_scientific_journal-1931	76	14	controlled	control	VERB
american_scientific_journal-1931	76	15	by	by	ADP
american_scientific_journal-1931	76	16	the	the	DET
american_scientific_journal-1931	76	17	closed	closed	ADJ
american_scientific_journal-1931	76	18	loop	loop	NOUN
american_scientific_journal-1931	76	19	controller	controller	NOUN
american_scientific_journal-1931	76	20	.	.	PUNCT
american_scientific_journal-1931	77	1	adjusting	adjust	VERB
american_scientific_journal-1931	77	2	the	the	DET
american_scientific_journal-1931	77	3	supplied	supply	VERB
american_scientific_journal-1931	77	4	electrical	electrical	ADJ
american_scientific_journal-1931	77	5	power	power	NOUN
american_scientific_journal-1931	77	6	to	to	ADP
american_scientific_journal-1931	77	7	the	the	DET
american_scientific_journal-1931	77	8	motor	motor	NOUN
american_scientific_journal-1931	77	9	is	be	AUX
american_scientific_journal-1931	77	10	usually	usually	ADV
american_scientific_journal-1931	77	11	done	do	VERB
american_scientific_journal-1931	77	12	by	by	ADP
american_scientific_journal-1931	77	13	pulse	pulse	NOUN
american_scientific_journal-1931	77	14	width	width	ADJ
american_scientific_journal-1931	77	15	modulation	modulation	NOUN
american_scientific_journal-1931	77	16	(	(	PUNCT
american_scientific_journal-1931	77	17	pwm	pwm	NOUN
american_scientific_journal-1931	77	18	)	)	PUNCT
american_scientific_journal-1931	77	19	technique	technique	NOUN
american_scientific_journal-1931	77	20	.	.	PUNCT
american_scientific_journal-1931	78	1	figure	figure	NOUN
american_scientific_journal-1931	78	2	3	3	NUM
american_scientific_journal-1931	78	3	:	:	PUNCT
american_scientific_journal-1931	78	4	block	block	NOUN
american_scientific_journal-1931	78	5	diagram	diagram	NOUN
american_scientific_journal-1931	78	6	of	of	ADP
american_scientific_journal-1931	78	7	the	the	DET
american_scientific_journal-1931	78	8	closed	closed	ADJ
american_scientific_journal-1931	78	9	loop	loop	NOUN
american_scientific_journal-1931	78	10	motor	motor	NOUN
american_scientific_journal-1931	78	11	speed	speed	NOUN
american_scientific_journal-1931	78	12	control	control	NOUN
american_scientific_journal-1931	78	13	system	system	NOUN
american_scientific_journal-1931	78	14	in	in	ADP
american_scientific_journal-1931	78	15	figure	figure	NOUN
american_scientific_journal-1931	78	16	3	3	NUM
american_scientific_journal-1931	78	17	,	,	PUNCT
american_scientific_journal-1931	78	18	the	the	DET
american_scientific_journal-1931	78	19	actual	actual	ADJ
american_scientific_journal-1931	78	20	motor	motor	NOUN
american_scientific_journal-1931	78	21	speed	speed	NOUN
american_scientific_journal-1931	78	22	is	be	AUX
american_scientific_journal-1931	78	23	measured	measure	VERB
american_scientific_journal-1931	78	24	by	by	ADP
american_scientific_journal-1931	78	25	the	the	DET
american_scientific_journal-1931	78	26	encoder	encoder	NOUN
american_scientific_journal-1931	78	27	(	(	PUNCT
american_scientific_journal-1931	78	28	hall	hall	NOUN
american_scientific_journal-1931	78	29	effect	effect	NOUN
american_scientific_journal-1931	78	30	sensor	sensor	NOUN
american_scientific_journal-1931	78	31	)	)	PUNCT
american_scientific_journal-1931	78	32	then	then	ADV
american_scientific_journal-1931	78	33	it	it	PRON
american_scientific_journal-1931	78	34	entered	enter	VERB
american_scientific_journal-1931	78	35	to	to	ADP
american_scientific_journal-1931	78	36	the	the	DET
american_scientific_journal-1931	78	37	arduino	arduino	NOUN
american_scientific_journal-1931	78	38	board	board	NOUN
american_scientific_journal-1931	78	39	to	to	PART
american_scientific_journal-1931	78	40	be	be	AUX
american_scientific_journal-1931	78	41	compared	compare	VERB
american_scientific_journal-1931	78	42	with	with	ADP
american_scientific_journal-1931	78	43	desired	desire	VERB
american_scientific_journal-1931	78	44	motor	motor	NOUN
american_scientific_journal-1931	78	45	speed	speed	NOUN
american_scientific_journal-1931	78	46	.	.	PUNCT
american_scientific_journal-1931	79	1	a	a	DET
american_scientific_journal-1931	79	2	suitable	suitable	ADJ
american_scientific_journal-1931	79	3	controlling	control	VERB
american_scientific_journal-1931	79	4	algorithm	algorithm	NOUN
american_scientific_journal-1931	79	5	(	(	PUNCT
american_scientific_journal-1931	79	6	in	in	ADP
american_scientific_journal-1931	79	7	this	this	DET
american_scientific_journal-1931	79	8	project	project	NOUN
american_scientific_journal-1931	79	9	proportionalintegral	proportionalintegral	ADJ
american_scientific_journal-1931	79	10	(	(	PUNCT
american_scientific_journal-1931	79	11	pi	pi	NOUN
american_scientific_journal-1931	79	12	)	)	PUNCT
american_scientific_journal-1931	79	13	speed	speed	NOUN
american_scientific_journal-1931	79	14	algorithm	algorithm	NOUN
american_scientific_journal-1931	79	15	)	)	PUNCT
american_scientific_journal-1931	79	16	is	be	AUX
american_scientific_journal-1931	79	17	written	write	VERB
american_scientific_journal-1931	79	18	inside	inside	ADP
american_scientific_journal-1931	79	19	the	the	DET
american_scientific_journal-1931	79	20	arduino	arduino	NOUN
american_scientific_journal-1931	79	21	microcontroller	microcontroller	NOUN
american_scientific_journal-1931	79	22	.	.	PUNCT
american_scientific_journal-1931	80	1	the	the	DET
american_scientific_journal-1931	80	2	arduino	arduino	NOUN
american_scientific_journal-1931	80	3	controls	control	VERB
american_scientific_journal-1931	80	4	the	the	DET
american_scientific_journal-1931	80	5	driver	driver	NOUN
american_scientific_journal-1931	80	6	circuit	circuit	NOUN
american_scientific_journal-1931	80	7	(	(	PUNCT
american_scientific_journal-1931	80	8	l298n	l298n	PROPN
american_scientific_journal-1931	80	9	h	h	NOUN
american_scientific_journal-1931	80	10	-	-	PUNCT
american_scientific_journal-1931	80	11	bridge	bridge	NOUN
american_scientific_journal-1931	80	12	board	board	NOUN
american_scientific_journal-1931	80	13	)	)	PUNCT
american_scientific_journal-1931	80	14	to	to	PART
american_scientific_journal-1931	80	15	give	give	VERB
american_scientific_journal-1931	80	16	the	the	DET
american_scientific_journal-1931	80	17	motor	motor	NOUN
american_scientific_journal-1931	80	18	the	the	DET
american_scientific_journal-1931	80	19	required	require	VERB
american_scientific_journal-1931	80	20	power	power	NOUN
american_scientific_journal-1931	80	21	level	level	NOUN
american_scientific_journal-1931	80	22	.	.	PUNCT
american_scientific_journal-1931	81	1	2.4	2.4	NUM
american_scientific_journal-1931	81	2	.	.	PUNCT
american_scientific_journal-1931	82	1	robot	robot	NOUN
american_scientific_journal-1931	82	2	path	path	NOUN
american_scientific_journal-1931	82	3	planning	planning	NOUN
american_scientific_journal-1931	82	4	for	for	ADP
american_scientific_journal-1931	82	5	following	follow	VERB
american_scientific_journal-1931	82	6	a	a	DET
american_scientific_journal-1931	82	7	ball	ball	NOUN
american_scientific_journal-1931	82	8	path	path	NOUN
american_scientific_journal-1931	82	9	planning	planning	NOUN
american_scientific_journal-1931	82	10	is	be	AUX
american_scientific_journal-1931	82	11	an	an	DET
american_scientific_journal-1931	82	12	important	important	ADJ
american_scientific_journal-1931	82	13	primitive	primitive	NOUN
american_scientific_journal-1931	82	14	for	for	ADP
american_scientific_journal-1931	82	15	the	the	DET
american_scientific_journal-1931	82	16	robot	robot	NOUN
american_scientific_journal-1931	82	17	that	that	PRON
american_scientific_journal-1931	82	18	lets	let	VERB
american_scientific_journal-1931	82	19	the	the	DET
american_scientific_journal-1931	82	20	robot	robot	NOUN
american_scientific_journal-1931	82	21	find	find	VERB
american_scientific_journal-1931	82	22	the	the	DET
american_scientific_journal-1931	82	23	optimal	optimal	ADJ
american_scientific_journal-1931	82	24	or	or	CCONJ
american_scientific_journal-1931	82	25	shortest	short	ADJ
american_scientific_journal-1931	82	26	path	path	NOUN
american_scientific_journal-1931	82	27	between	between	ADP
american_scientific_journal-1931	82	28	the	the	DET
american_scientific_journal-1931	82	29	robot	robot	NOUN
american_scientific_journal-1931	82	30	and	and	CCONJ
american_scientific_journal-1931	82	31	the	the	DET
american_scientific_journal-1931	82	32	ball	ball	NOUN
american_scientific_journal-1931	82	33	.	.	PUNCT
american_scientific_journal-1931	83	1	optimal	optimal	ADJ
american_scientific_journal-1931	83	2	paths	path	NOUN
american_scientific_journal-1931	83	3	could	could	AUX
american_scientific_journal-1931	83	4	be	be	AUX
american_scientific_journal-1931	83	5	paths	path	NOUN
american_scientific_journal-1931	83	6	that	that	PRON
american_scientific_journal-1931	83	7	minimize	minimize	VERB
american_scientific_journal-1931	83	8	the	the	DET
american_scientific_journal-1931	83	9	braking	braking	NOUN
american_scientific_journal-1931	83	10	amount	amount	NOUN
american_scientific_journal-1931	83	11	,	,	PUNCT
american_scientific_journal-1931	83	12	the	the	DET
american_scientific_journal-1931	83	13	amount	amount	NOUN
american_scientific_journal-1931	83	14	of	of	ADP
american_scientific_journal-1931	83	15	turning	turning	NOUN
american_scientific_journal-1931	83	16	,	,	PUNCT
american_scientific_journal-1931	83	17	or	or	CCONJ
american_scientific_journal-1931	83	18	�	�	PROPN
american_scientific_journal-1931	83	19	̇	̇	VERB
american_scientific_journal-1931	83	20	�	�	PROPN
american_scientific_journal-1931	83	21	𝜙𝑖𝑖	𝜙𝑖𝑖	NOUN
american_scientific_journal-1931	83	22	�	�	PROPN
american_scientific_journal-1931	83	23	̇	̇	PROPN
american_scientific_journal-1931	83	24	�	�	PROPN
american_scientific_journal-1931	83	25	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,𝑖𝑖	𝜙𝑟𝑟𝑟𝑟𝑟𝑟,𝑖𝑖	NOUN
american_scientific_journal-1931	83	26	desired	desire	VERB
american_scientific_journal-1931	83	27	speed	speed	NOUN
american_scientific_journal-1931	83	28	controller	controller	NOUN
american_scientific_journal-1931	83	29	arduino	arduino	NOUN
american_scientific_journal-1931	83	30	mega	mega	X
american_scientific_journal-1931	83	31	2560	2560	NUM
american_scientific_journal-1931	83	32	driver	driver	NOUN
american_scientific_journal-1931	83	33	circuit	circuit	NOUN
american_scientific_journal-1931	83	34	l298n	l298n	PROPN
american_scientific_journal-1931	83	35	motor	motor	NOUN
american_scientific_journal-1931	83	36	whee	whee	PROPN
american_scientific_journal-1931	83	37	l	l	PROPN
american_scientific_journal-1931	83	38	encoder	encoder	NOUN
american_scientific_journal-1931	83	39	hall	hall	PROPN
american_scientific_journal-1931	83	40	effect	effect	VERB
american_scientific_journal-1931	83	41	actual	actual	ADJ
american_scientific_journal-1931	83	42	speed	speed	NOUN
american_scientific_journal-1931	83	43	_	_	PUNCT
american_scientific_journal-1931	84	1	+	+	CCONJ
american_scientific_journal-1931	84	2	e	e	X
american_scientific_journal-1931	84	3	american	american	ADJ
american_scientific_journal-1931	84	4	scientific	scientific	ADJ
american_scientific_journal-1931	84	5	research	research	NOUN
american_scientific_journal-1931	84	6	journal	journal	NOUN
american_scientific_journal-1931	84	7	for	for	ADP
american_scientific_journal-1931	84	8	engineering	engineering	NOUN
american_scientific_journal-1931	84	9	,	,	PUNCT
american_scientific_journal-1931	84	10	technology	technology	NOUN
american_scientific_journal-1931	84	11	,	,	PUNCT
american_scientific_journal-1931	84	12	and	and	CCONJ
american_scientific_journal-1931	84	13	sciences	science	NOUN
american_scientific_journal-1931	84	14	(	(	PUNCT
american_scientific_journal-1931	84	15	asrjets	asrjet	NOUN
american_scientific_journal-1931	84	16	)	)	PUNCT
american_scientific_journal-1931	84	17	(	(	PUNCT
american_scientific_journal-1931	84	18	2016	2016	NUM
american_scientific_journal-1931	84	19	)	)	PUNCT
american_scientific_journal-1931	84	20	volume	volume	NOUN
american_scientific_journal-1931	84	21	22	22	NUM
american_scientific_journal-1931	84	22	,	,	PUNCT
american_scientific_journal-1931	84	23	no	no	DET
american_scientific_journal-1931	84	24	1	1	NUM
american_scientific_journal-1931	84	25	,	,	PUNCT
american_scientific_journal-1931	84	26	pp	pp	ADV
american_scientific_journal-1931	84	27	231	231	NUM
american_scientific_journal-1931	84	28	-	-	SYM
american_scientific_journal-1931	84	29	242	242	NUM
american_scientific_journal-1931	84	30	236	236	NUM
american_scientific_journal-1931	84	31	whatever	whatever	PRON
american_scientific_journal-1931	84	32	following	follow	VERB
american_scientific_journal-1931	84	33	the	the	DET
american_scientific_journal-1931	84	34	ball	ball	NOUN
american_scientific_journal-1931	84	35	application	application	NOUN
american_scientific_journal-1931	84	36	requires	require	VERB
american_scientific_journal-1931	84	37	.	.	PUNCT
american_scientific_journal-1931	85	1	the	the	DET
american_scientific_journal-1931	85	2	algorithm	algorithm	NOUN
american_scientific_journal-1931	85	3	that	that	PRON
american_scientific_journal-1931	85	4	is	be	AUX
american_scientific_journal-1931	85	5	use	use	NOUN
american_scientific_journal-1931	85	6	to	to	PART
american_scientific_journal-1931	85	7	perform	perform	VERB
american_scientific_journal-1931	85	8	the	the	DET
american_scientific_journal-1931	85	9	path	path	NOUN
american_scientific_journal-1931	85	10	planning	planning	NOUN
american_scientific_journal-1931	85	11	is	be	AUX
american_scientific_journal-1931	85	12	photography	photography	NOUN
american_scientific_journal-1931	85	13	illustrated	illustrate	VERB
american_scientific_journal-1931	85	14	as	as	SCONJ
american_scientific_journal-1931	85	15	shown	show	VERB
american_scientific_journal-1931	85	16	in	in	ADP
american_scientific_journal-1931	85	17	figure	figure	NOUN
american_scientific_journal-1931	85	18	4	4	NUM
american_scientific_journal-1931	85	19	.	.	PUNCT
american_scientific_journal-1931	85	20	figure	figure	VERB
american_scientific_journal-1931	85	21	4	4	NUM
american_scientific_journal-1931	85	22	:	:	PUNCT
american_scientific_journal-1931	85	23	robot	robot	NOUN
american_scientific_journal-1931	85	24	path	path	NOUN
american_scientific_journal-1931	85	25	planning	planning	NOUN
american_scientific_journal-1931	85	26	as	as	SCONJ
american_scientific_journal-1931	85	27	seen	see	VERB
american_scientific_journal-1931	85	28	from	from	ADP
american_scientific_journal-1931	85	29	figure	figure	NOUN
american_scientific_journal-1931	85	30	4	4	NUM
american_scientific_journal-1931	85	31	,	,	PUNCT
american_scientific_journal-1931	85	32	the	the	DET
american_scientific_journal-1931	85	33	robot	robot	NOUN
american_scientific_journal-1931	85	34	path	path	NOUN
american_scientific_journal-1931	85	35	planning	planning	NOUN
american_scientific_journal-1931	85	36	will	will	AUX
american_scientific_journal-1931	85	37	be	be	AUX
american_scientific_journal-1931	85	38	a	a	DET
american_scientific_journal-1931	85	39	combination	combination	NOUN
american_scientific_journal-1931	85	40	of	of	ADP
american_scientific_journal-1931	85	41	translation	translation	NOUN
american_scientific_journal-1931	85	42	and	and	CCONJ
american_scientific_journal-1931	85	43	rotation	rotation	NOUN
american_scientific_journal-1931	85	44	movement	movement	NOUN
american_scientific_journal-1931	85	45	to	to	PART
american_scientific_journal-1931	85	46	generate	generate	VERB
american_scientific_journal-1931	85	47	a	a	DET
american_scientific_journal-1931	85	48	curve	curve	NOUN
american_scientific_journal-1931	85	49	motion	motion	NOUN
american_scientific_journal-1931	85	50	.	.	PUNCT
american_scientific_journal-1931	86	1	at	at	ADP
american_scientific_journal-1931	86	2	the	the	DET
american_scientific_journal-1931	86	3	end	end	NOUN
american_scientific_journal-1931	86	4	of	of	ADP
american_scientific_journal-1931	86	5	the	the	DET
american_scientific_journal-1931	86	6	motion	motion	NOUN
american_scientific_journal-1931	86	7	the	the	DET
american_scientific_journal-1931	86	8	robot	robot	NOUN
american_scientific_journal-1931	86	9	will	will	AUX
american_scientific_journal-1931	86	10	be	be	AUX
american_scientific_journal-1931	86	11	facing	face	VERB
american_scientific_journal-1931	86	12	the	the	DET
american_scientific_journal-1931	86	13	ball	ball	NOUN
american_scientific_journal-1931	86	14	.	.	PUNCT
american_scientific_journal-1931	87	1	2.5	2.5	NUM
american_scientific_journal-1931	87	2	.	.	PUNCT
american_scientific_journal-1931	88	1	ball	ball	NOUN
american_scientific_journal-1931	88	2	following	follow	VERB
american_scientific_journal-1931	88	3	algorithm	algorithm	NOUN
american_scientific_journal-1931	88	4	figure	figure	NOUN
american_scientific_journal-1931	88	5	5	5	NUM
american_scientific_journal-1931	88	6	:	:	PUNCT
american_scientific_journal-1931	88	7	flow	flow	VERB
american_scientific_journal-1931	88	8	chart	chart	NOUN
american_scientific_journal-1931	88	9	for	for	ADP
american_scientific_journal-1931	88	10	ball	ball	NOUN
american_scientific_journal-1931	88	11	following	follow	VERB
american_scientific_journal-1931	88	12	algorithm	algorithm	NOUN
american_scientific_journal-1931	88	13	the	the	DET
american_scientific_journal-1931	88	14	fundamental	fundamental	ADJ
american_scientific_journal-1931	88	15	structure	structure	NOUN
american_scientific_journal-1931	88	16	of	of	ADP
american_scientific_journal-1931	88	17	the	the	DET
american_scientific_journal-1931	88	18	programming	programming	NOUN
american_scientific_journal-1931	88	19	including	include	VERB
american_scientific_journal-1931	88	20	the	the	DET
american_scientific_journal-1931	88	21	operations	operation	NOUN
american_scientific_journal-1931	88	22	and	and	CCONJ
american_scientific_journal-1931	88	23	decisions	decision	NOUN
american_scientific_journal-1931	88	24	to	to	PART
american_scientific_journal-1931	88	25	be	be	AUX
american_scientific_journal-1931	88	26	followed	follow	VERB
american_scientific_journal-1931	88	27	by	by	ADP
american_scientific_journal-1931	88	28	the	the	DET
american_scientific_journal-1931	88	29	robot	robot	NOUN
american_scientific_journal-1931	88	30	autonomously	autonomously	ADV
american_scientific_journal-1931	88	31	when	when	SCONJ
american_scientific_journal-1931	88	32	detect	detect	VERB
american_scientific_journal-1931	88	33	and	and	CCONJ
american_scientific_journal-1931	88	34	follow	follow	VERB
american_scientific_journal-1931	88	35	the	the	DET
american_scientific_journal-1931	88	36	ball	ball	NOUN
american_scientific_journal-1931	88	37	is	be	AUX
american_scientific_journal-1931	88	38	illustrated	illustrate	VERB
american_scientific_journal-1931	88	39	as	as	ADP
american_scientific_journal-1931	88	40	an	an	DET
american_scientific_journal-1931	88	41	algorithmic	algorithmic	ADJ
american_scientific_journal-1931	88	42	flowchart	flowchart	NOUN
american_scientific_journal-1931	88	43	in	in	ADP
american_scientific_journal-1931	88	44	figure	figure	NOUN
american_scientific_journal-1931	88	45	5	5	NUM
american_scientific_journal-1931	88	46	.	.	PUNCT
american_scientific_journal-1931	88	47	american	american	PROPN
american_scientific_journal-1931	88	48	scientific	scientific	ADJ
american_scientific_journal-1931	88	49	research	research	PROPN
american_scientific_journal-1931	88	50	journal	journal	NOUN
american_scientific_journal-1931	88	51	for	for	ADP
american_scientific_journal-1931	88	52	engineering	engineering	NOUN
american_scientific_journal-1931	88	53	,	,	PUNCT
american_scientific_journal-1931	88	54	technology	technology	NOUN
american_scientific_journal-1931	88	55	,	,	PUNCT
american_scientific_journal-1931	88	56	and	and	CCONJ
american_scientific_journal-1931	88	57	sciences	science	NOUN
american_scientific_journal-1931	88	58	(	(	PUNCT
american_scientific_journal-1931	88	59	asrjets	asrjet	NOUN
american_scientific_journal-1931	88	60	)	)	PUNCT
american_scientific_journal-1931	88	61	(	(	PUNCT
american_scientific_journal-1931	88	62	2016	2016	NUM
american_scientific_journal-1931	88	63	)	)	PUNCT
american_scientific_journal-1931	88	64	volume	volume	NOUN
american_scientific_journal-1931	88	65	22	22	NUM
american_scientific_journal-1931	88	66	,	,	PUNCT
american_scientific_journal-1931	88	67	no	no	DET
american_scientific_journal-1931	88	68	1	1	NUM
american_scientific_journal-1931	88	69	,	,	PUNCT
american_scientific_journal-1931	88	70	pp	pp	ADV
american_scientific_journal-1931	88	71	231	231	NUM
american_scientific_journal-1931	88	72	-	-	SYM
american_scientific_journal-1931	88	73	242	242	NUM
american_scientific_journal-1931	88	74	237	237	NUM
american_scientific_journal-1931	88	75	2.6	2.6	NUM
american_scientific_journal-1931	88	76	.	.	PUNCT
american_scientific_journal-1931	89	1	robot	robot	NOUN
american_scientific_journal-1931	89	2	graphical	graphical	ADJ
american_scientific_journal-1931	89	3	user	user	NOUN
american_scientific_journal-1931	89	4	interface	interface	PROPN
american_scientific_journal-1931	89	5	(	(	PUNCT
american_scientific_journal-1931	89	6	gui	gui	NOUN
american_scientific_journal-1931	89	7	)	)	PUNCT
american_scientific_journal-1931	89	8	design	design	NOUN
american_scientific_journal-1931	89	9	figure	figure	NOUN
american_scientific_journal-1931	89	10	6	6	NUM
american_scientific_journal-1931	89	11	:	:	PUNCT
american_scientific_journal-1931	89	12	robot	robot	NOUN
american_scientific_journal-1931	89	13	gui	gui	NOUN
american_scientific_journal-1931	89	14	in	in	ADP
american_scientific_journal-1931	89	15	this	this	DET
american_scientific_journal-1931	89	16	project	project	NOUN
american_scientific_journal-1931	89	17	,	,	PUNCT
american_scientific_journal-1931	89	18	a	a	DET
american_scientific_journal-1931	89	19	gui	gui	NOUN
american_scientific_journal-1931	89	20	has	have	AUX
american_scientific_journal-1931	89	21	been	be	AUX
american_scientific_journal-1931	89	22	designed	design	VERB
american_scientific_journal-1931	89	23	by	by	ADP
american_scientific_journal-1931	89	24	using	use	VERB
american_scientific_journal-1931	89	25	matlab	matlab	PROPN
american_scientific_journal-1931	89	26	program	program	NOUN
american_scientific_journal-1931	89	27	[	[	X
american_scientific_journal-1931	89	28	9	9	NUM
american_scientific_journal-1931	89	29	]	]	PUNCT
american_scientific_journal-1931	89	30	.	.	PUNCT
american_scientific_journal-1931	90	1	this	this	DET
american_scientific_journal-1931	90	2	gui	gui	NOUN
american_scientific_journal-1931	90	3	is	be	AUX
american_scientific_journal-1931	90	4	displaying	display	VERB
american_scientific_journal-1931	90	5	some	some	PRON
american_scientific_journal-1931	90	6	of	of	ADP
american_scientific_journal-1931	90	7	robot	robot	NOUN
american_scientific_journal-1931	90	8	data	datum	NOUN
american_scientific_journal-1931	90	9	in	in	ADP
american_scientific_journal-1931	90	10	order	order	NOUN
american_scientific_journal-1931	90	11	to	to	PART
american_scientific_journal-1931	90	12	support	support	VERB
american_scientific_journal-1931	90	13	studying	study	VERB
american_scientific_journal-1931	90	14	the	the	DET
american_scientific_journal-1931	90	15	robot	robot	NOUN
american_scientific_journal-1931	90	16	performance	performance	NOUN
american_scientific_journal-1931	90	17	.	.	PUNCT
american_scientific_journal-1931	91	1	the	the	DET
american_scientific_journal-1931	91	2	designed	design	VERB
american_scientific_journal-1931	91	3	gui	gui	NOUN
american_scientific_journal-1931	91	4	is	be	AUX
american_scientific_journal-1931	91	5	shown	show	VERB
american_scientific_journal-1931	91	6	in	in	ADP
american_scientific_journal-1931	91	7	figure	figure	NOUN
american_scientific_journal-1931	91	8	6	6	NUM
american_scientific_journal-1931	91	9	.	.	PUNCT
american_scientific_journal-1931	91	10	by	by	ADP
american_scientific_journal-1931	91	11	pressing	press	VERB
american_scientific_journal-1931	91	12	the	the	DET
american_scientific_journal-1931	91	13	‘	'	PUNCT
american_scientific_journal-1931	91	14	start	start	NOUN
american_scientific_journal-1931	91	15	’	'	PUNCT
american_scientific_journal-1931	91	16	button	button	NOUN
american_scientific_journal-1931	91	17	that	that	PRON
american_scientific_journal-1931	91	18	is	be	AUX
american_scientific_journal-1931	91	19	shown	show	VERB
american_scientific_journal-1931	91	20	in	in	ADP
american_scientific_journal-1931	91	21	figure	figure	NOUN
american_scientific_journal-1931	91	22	6	6	NUM
american_scientific_journal-1931	91	23	,	,	PUNCT
american_scientific_journal-1931	91	24	the	the	DET
american_scientific_journal-1931	91	25	program	program	NOUN
american_scientific_journal-1931	91	26	starts	start	VERB
american_scientific_journal-1931	91	27	acquiring	acquire	VERB
american_scientific_journal-1931	91	28	the	the	DET
american_scientific_journal-1931	91	29	data	datum	NOUN
american_scientific_journal-1931	91	30	from	from	ADP
american_scientific_journal-1931	91	31	the	the	DET
american_scientific_journal-1931	91	32	robot	robot	NOUN
american_scientific_journal-1931	91	33	and	and	CCONJ
american_scientific_journal-1931	91	34	then	then	ADV
american_scientific_journal-1931	91	35	displaying	display	VERB
american_scientific_journal-1931	91	36	the	the	DET
american_scientific_journal-1931	91	37	robot	robot	NOUN
american_scientific_journal-1931	91	38	speed	speed	NOUN
american_scientific_journal-1931	91	39	,	,	PUNCT
american_scientific_journal-1931	91	40	ball	ball	NOUN
american_scientific_journal-1931	91	41	distance	distance	NOUN
american_scientific_journal-1931	91	42	,	,	PUNCT
american_scientific_journal-1931	91	43	and	and	CCONJ
american_scientific_journal-1931	91	44	the	the	DET
american_scientific_journal-1931	91	45	robot	robot	NOUN
american_scientific_journal-1931	91	46	trajectory	trajectory	NOUN
american_scientific_journal-1931	91	47	.	.	PUNCT
american_scientific_journal-1931	92	1	the	the	DET
american_scientific_journal-1931	92	2	‘	'	PUNCT
american_scientific_journal-1931	92	3	stop	stop	VERB
american_scientific_journal-1931	92	4	’	'	PUNCT
american_scientific_journal-1931	92	5	button	button	NOUN
american_scientific_journal-1931	92	6	is	be	AUX
american_scientific_journal-1931	92	7	used	use	VERB
american_scientific_journal-1931	92	8	to	to	PART
american_scientific_journal-1931	92	9	halt	halt	VERB
american_scientific_journal-1931	92	10	the	the	DET
american_scientific_journal-1931	92	11	program	program	NOUN
american_scientific_journal-1931	92	12	execution	execution	NOUN
american_scientific_journal-1931	92	13	and	and	CCONJ
american_scientific_journal-1931	92	14	the	the	DET
american_scientific_journal-1931	92	15	‘	'	PUNCT
american_scientific_journal-1931	92	16	exit	exit	NOUN
american_scientific_journal-1931	92	17	’	'	PUNCT
american_scientific_journal-1931	92	18	button	button	NOUN
american_scientific_journal-1931	92	19	to	to	PART
american_scientific_journal-1931	92	20	quit	quit	VERB
american_scientific_journal-1931	92	21	from	from	ADP
american_scientific_journal-1931	92	22	the	the	DET
american_scientific_journal-1931	92	23	gui	gui	NOUN
american_scientific_journal-1931	92	24	window	window	NOUN
american_scientific_journal-1931	92	25	.	.	PUNCT
american_scientific_journal-1931	93	1	3	3	X
american_scientific_journal-1931	93	2	.	.	NOUN
american_scientific_journal-1931	93	3	results	result	NOUN
american_scientific_journal-1931	93	4	and	and	CCONJ
american_scientific_journal-1931	93	5	discussion	discussion	NOUN
american_scientific_journal-1931	93	6	this	this	DET
american_scientific_journal-1931	93	7	section	section	NOUN
american_scientific_journal-1931	93	8	discusses	discuss	VERB
american_scientific_journal-1931	93	9	all	all	DET
american_scientific_journal-1931	93	10	the	the	DET
american_scientific_journal-1931	93	11	calibrations	calibration	NOUN
american_scientific_journal-1931	93	12	,	,	PUNCT
american_scientific_journal-1931	93	13	theoretical	theoretical	ADJ
american_scientific_journal-1931	93	14	and	and	CCONJ
american_scientific_journal-1931	93	15	practical	practical	ADJ
american_scientific_journal-1931	93	16	tests	test	NOUN
american_scientific_journal-1931	93	17	,	,	PUNCT
american_scientific_journal-1931	93	18	and	and	CCONJ
american_scientific_journal-1931	93	19	evaluations	evaluation	NOUN
american_scientific_journal-1931	93	20	,	,	PUNCT
american_scientific_journal-1931	93	21	performed	perform	VERB
american_scientific_journal-1931	93	22	on	on	ADP
american_scientific_journal-1931	93	23	the	the	DET
american_scientific_journal-1931	93	24	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	93	25	robot	robot	NOUN
american_scientific_journal-1931	93	26	,	,	PUNCT
american_scientific_journal-1931	93	27	along	along	ADP
american_scientific_journal-1931	93	28	with	with	ADP
american_scientific_journal-1931	93	29	the	the	DET
american_scientific_journal-1931	93	30	practical	practical	ADJ
american_scientific_journal-1931	93	31	and	and	CCONJ
american_scientific_journal-1931	93	32	theoretical	theoretical	ADJ
american_scientific_journal-1931	93	33	results	result	NOUN
american_scientific_journal-1931	93	34	obtained	obtain	VERB
american_scientific_journal-1931	93	35	after	after	ADP
american_scientific_journal-1931	93	36	applying	apply	VERB
american_scientific_journal-1931	93	37	the	the	DET
american_scientific_journal-1931	93	38	analyses	analysis	NOUN
american_scientific_journal-1931	93	39	and	and	CCONJ
american_scientific_journal-1931	93	40	methodology	methodology	NOUN
american_scientific_journal-1931	93	41	that	that	PRON
american_scientific_journal-1931	93	42	were	be	AUX
american_scientific_journal-1931	93	43	studied	study	VERB
american_scientific_journal-1931	93	44	and	and	CCONJ
american_scientific_journal-1931	93	45	deduced	deduce	VERB
american_scientific_journal-1931	93	46	in	in	ADP
american_scientific_journal-1931	93	47	section	section	NOUN
american_scientific_journal-1931	93	48	2	2	NUM
american_scientific_journal-1931	93	49	.	.	SYM
american_scientific_journal-1931	93	50	3.1	3.1	NUM
american_scientific_journal-1931	93	51	.	.	PUNCT
american_scientific_journal-1931	93	52	adjusting	adjust	VERB
american_scientific_journal-1931	93	53	the	the	DET
american_scientific_journal-1931	93	54	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	93	55	pixy	pixy	NOUN
american_scientific_journal-1931	93	56	parameters	parameter	VERB
american_scientific_journal-1931	93	57	a	a	DET
american_scientific_journal-1931	93	58	robustness	robustness	NOUN
american_scientific_journal-1931	93	59	teaching	teaching	NOUN
american_scientific_journal-1931	93	60	for	for	SCONJ
american_scientific_journal-1931	93	61	the	the	DET
american_scientific_journal-1931	93	62	the	the	DET
american_scientific_journal-1931	93	63	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	93	64	pixy	pixy	NOUN
american_scientific_journal-1931	93	65	parameters	parameter	NOUN
american_scientific_journal-1931	93	66	are	be	AUX
american_scientific_journal-1931	93	67	adjusted	adjust	VERB
american_scientific_journal-1931	93	68	by	by	ADP
american_scientific_journal-1931	93	69	using	use	VERB
american_scientific_journal-1931	93	70	pixymon	pixymon	NOUN
american_scientific_journal-1931	93	71	software	software	NOUN
american_scientific_journal-1931	93	72	to	to	PART
american_scientific_journal-1931	93	73	detect	detect	VERB
american_scientific_journal-1931	93	74	the	the	DET
american_scientific_journal-1931	93	75	ball	ball	NOUN
american_scientific_journal-1931	93	76	in	in	ADP
american_scientific_journal-1931	93	77	the	the	DET
american_scientific_journal-1931	93	78	desired	desire	VERB
american_scientific_journal-1931	93	79	operating	operating	NOUN
american_scientific_journal-1931	93	80	environment	environment	NOUN
american_scientific_journal-1931	93	81	.	.	PUNCT
american_scientific_journal-1931	94	1	the	the	DET
american_scientific_journal-1931	94	2	final	final	ADJ
american_scientific_journal-1931	94	3	selected	select	VERB
american_scientific_journal-1931	94	4	parameters	parameter	NOUN
american_scientific_journal-1931	94	5	are	be	AUX
american_scientific_journal-1931	94	6	shown	show	VERB
american_scientific_journal-1931	94	7	in	in	ADP
american_scientific_journal-1931	94	8	table	table	NOUN
american_scientific_journal-1931	94	9	1	1	NUM
american_scientific_journal-1931	94	10	.	.	PUNCT
american_scientific_journal-1931	94	11	table	table	NOUN
american_scientific_journal-1931	94	12	1	1	NUM
american_scientific_journal-1931	94	13	:	:	PUNCT
american_scientific_journal-1931	94	14	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	94	15	pixy	pixy	NOUN
american_scientific_journal-1931	94	16	final	final	ADJ
american_scientific_journal-1931	94	17	selected	select	VERB
american_scientific_journal-1931	94	18	parameters	parameter	NOUN
american_scientific_journal-1931	94	19	parameter	parameter	PROPN
american_scientific_journal-1931	94	20	value	value	NOUN
american_scientific_journal-1931	94	21	max	max	PROPN
american_scientific_journal-1931	94	22	blocks	block	NOUN
american_scientific_journal-1931	94	23	per	per	ADP
american_scientific_journal-1931	94	24	frame	frame	NOUN
american_scientific_journal-1931	94	25	1	1	NUM
american_scientific_journal-1931	94	26	max	max	NOUN
american_scientific_journal-1931	94	27	blocks	block	NOUN
american_scientific_journal-1931	94	28	per	per	ADP
american_scientific_journal-1931	94	29	colour	colour	NOUN
american_scientific_journal-1931	94	30	1	1	NUM
american_scientific_journal-1931	94	31	minimum	minimum	NOUN
american_scientific_journal-1931	94	32	saturation	saturation	NOUN
american_scientific_journal-1931	94	33	10	10	NUM
american_scientific_journal-1931	94	34	hue	hue	NOUN
american_scientific_journal-1931	94	35	spread	spread	VERB
american_scientific_journal-1931	94	36	1	1	NUM
american_scientific_journal-1931	94	37	saturation	saturation	NOUN
american_scientific_journal-1931	94	38	spread	spread	VERB
american_scientific_journal-1931	94	39	1	1	NUM
american_scientific_journal-1931	94	40	data	datum	NOUN
american_scientific_journal-1931	94	41	out	out	ADP
american_scientific_journal-1931	94	42	port	port	NOUN
american_scientific_journal-1931	94	43	(	(	PUNCT
american_scientific_journal-1931	94	44	i2c	i2c	NOUN
american_scientific_journal-1931	94	45	)	)	PUNCT
american_scientific_journal-1931	94	46	1	1	NUM
american_scientific_journal-1931	94	47	brightness	brightness	NOUN
american_scientific_journal-1931	94	48	of	of	ADP
american_scientific_journal-1931	94	49	camera	camera	NOUN
american_scientific_journal-1931	94	50	120	120	NUM
american_scientific_journal-1931	94	51	min	min	NOUN
american_scientific_journal-1931	94	52	block	block	NOUN
american_scientific_journal-1931	94	53	area	area	NOUN
american_scientific_journal-1931	94	54	in	in	ADP
american_scientific_journal-1931	94	55	pixels	pixel	NOUN
american_scientific_journal-1931	94	56	15	15	NUM
american_scientific_journal-1931	94	57	american	american	ADJ
american_scientific_journal-1931	94	58	scientific	scientific	ADJ
american_scientific_journal-1931	94	59	research	research	NOUN
american_scientific_journal-1931	94	60	journal	journal	NOUN
american_scientific_journal-1931	94	61	for	for	ADP
american_scientific_journal-1931	94	62	engineering	engineering	NOUN
american_scientific_journal-1931	94	63	,	,	PUNCT
american_scientific_journal-1931	94	64	technology	technology	NOUN
american_scientific_journal-1931	94	65	,	,	PUNCT
american_scientific_journal-1931	94	66	and	and	CCONJ
american_scientific_journal-1931	94	67	sciences	science	NOUN
american_scientific_journal-1931	94	68	(	(	PUNCT
american_scientific_journal-1931	94	69	asrjets	asrjet	NOUN
american_scientific_journal-1931	94	70	)	)	PUNCT
american_scientific_journal-1931	94	71	(	(	PUNCT
american_scientific_journal-1931	94	72	2016	2016	NUM
american_scientific_journal-1931	94	73	)	)	PUNCT
american_scientific_journal-1931	94	74	volume	volume	NOUN
american_scientific_journal-1931	94	75	22	22	NUM
american_scientific_journal-1931	94	76	,	,	PUNCT
american_scientific_journal-1931	94	77	no	no	DET
american_scientific_journal-1931	94	78	1	1	NUM
american_scientific_journal-1931	94	79	,	,	PUNCT
american_scientific_journal-1931	94	80	pp	pp	ADV
american_scientific_journal-1931	94	81	231	231	NUM
american_scientific_journal-1931	94	82	-	-	SYM
american_scientific_journal-1931	94	83	242	242	NUM
american_scientific_journal-1931	94	84	238	238	NUM
american_scientific_journal-1931	94	85	the	the	DET
american_scientific_journal-1931	94	86	result	result	NOUN
american_scientific_journal-1931	94	87	of	of	ADP
american_scientific_journal-1931	94	88	what	what	PRON
american_scientific_journal-1931	94	89	the	the	DET
american_scientific_journal-1931	94	90	robot	robot	NOUN
american_scientific_journal-1931	94	91	see	see	VERB
american_scientific_journal-1931	94	92	in	in	ADP
american_scientific_journal-1931	94	93	the	the	DET
american_scientific_journal-1931	94	94	working	working	NOUN
american_scientific_journal-1931	94	95	environment	environment	NOUN
american_scientific_journal-1931	94	96	after	after	ADP
american_scientific_journal-1931	94	97	adjusting	adjust	VERB
american_scientific_journal-1931	94	98	the	the	DET
american_scientific_journal-1931	94	99	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	94	100	pixy	pixy	NOUN
american_scientific_journal-1931	94	101	parameters	parameter	NOUN
american_scientific_journal-1931	94	102	is	be	AUX
american_scientific_journal-1931	94	103	illustrated	illustrate	VERB
american_scientific_journal-1931	94	104	in	in	ADP
american_scientific_journal-1931	94	105	figure	figure	NOUN
american_scientific_journal-1931	94	106	7	7	NUM
american_scientific_journal-1931	94	107	.	.	PUNCT
american_scientific_journal-1931	94	108	figure	figure	VERB
american_scientific_journal-1931	94	109	7	7	NUM
american_scientific_journal-1931	94	110	:	:	PUNCT
american_scientific_journal-1931	94	111	robot	robot	NOUN
american_scientific_journal-1931	94	112	camera	camera	NOUN
american_scientific_journal-1931	94	113	vision	vision	NOUN
american_scientific_journal-1931	94	114	from	from	ADP
american_scientific_journal-1931	94	115	figure	figure	NOUN
american_scientific_journal-1931	94	116	7	7	NUM
american_scientific_journal-1931	94	117	its	its	PRON
american_scientific_journal-1931	94	118	concluded	conclude	VERB
american_scientific_journal-1931	94	119	that	that	SCONJ
american_scientific_journal-1931	94	120	to	to	PART
american_scientific_journal-1931	94	121	detect	detect	VERB
american_scientific_journal-1931	94	122	the	the	DET
american_scientific_journal-1931	94	123	ball	ball	NOUN
american_scientific_journal-1931	94	124	is	be	AUX
american_scientific_journal-1931	94	125	required	require	VERB
american_scientific_journal-1931	94	126	to	to	PART
american_scientific_journal-1931	94	127	avoid	avoid	VERB
american_scientific_journal-1931	94	128	any	any	DET
american_scientific_journal-1931	94	129	colour	colour	NOUN
american_scientific_journal-1931	94	130	interference	interference	NOUN
american_scientific_journal-1931	94	131	.	.	PUNCT
american_scientific_journal-1931	95	1	although	although	SCONJ
american_scientific_journal-1931	95	2	the	the	DET
american_scientific_journal-1931	95	3	colour	colour	NOUN
american_scientific_journal-1931	95	4	filtering	filtering	NOUN
american_scientific_journal-1931	95	5	algorithm	algorithm	NOUN
american_scientific_journal-1931	95	6	within	within	ADP
american_scientific_journal-1931	95	7	the	the	DET
american_scientific_journal-1931	95	8	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	95	9	pixy	pixy	NOUN
american_scientific_journal-1931	95	10	is	be	AUX
american_scientific_journal-1931	95	11	positive	positive	ADJ
american_scientific_journal-1931	95	12	in	in	ADP
american_scientific_journal-1931	95	13	the	the	DET
american_scientific_journal-1931	95	14	sense	sense	NOUN
american_scientific_journal-1931	95	15	that	that	SCONJ
american_scientific_journal-1931	95	16	it	it	PRON
american_scientific_journal-1931	95	17	can	can	AUX
american_scientific_journal-1931	95	18	process	process	VERB
american_scientific_journal-1931	95	19	an	an	DET
american_scientific_journal-1931	95	20	entire	entire	ADJ
american_scientific_journal-1931	95	21	frame	frame	NOUN
american_scientific_journal-1931	95	22	very	very	ADV
american_scientific_journal-1931	95	23	fast	fast	ADV
american_scientific_journal-1931	95	24	,	,	PUNCT
american_scientific_journal-1931	95	25	discrimination	discrimination	NOUN
american_scientific_journal-1931	95	26	can	can	AUX
american_scientific_journal-1931	95	27	sometimes	sometimes	ADV
american_scientific_journal-1931	95	28	be	be	AUX
american_scientific_journal-1931	95	29	a	a	DET
american_scientific_journal-1931	95	30	problem	problem	NOUN
american_scientific_journal-1931	95	31	.	.	PUNCT
american_scientific_journal-1931	96	1	generally	generally	ADV
american_scientific_journal-1931	96	2	,	,	PUNCT
american_scientific_journal-1931	96	3	two	two	NUM
american_scientific_journal-1931	96	4	types	type	NOUN
american_scientific_journal-1931	96	5	of	of	ADP
american_scientific_journal-1931	96	6	errors	error	NOUN
american_scientific_journal-1931	96	7	may	may	AUX
american_scientific_journal-1931	96	8	occur	occur	VERB
american_scientific_journal-1931	96	9	,	,	PUNCT
american_scientific_journal-1931	96	10	the	the	DET
american_scientific_journal-1931	96	11	first	first	ADJ
american_scientific_journal-1931	96	12	one	one	NUM
american_scientific_journal-1931	96	13	when	when	SCONJ
american_scientific_journal-1931	96	14	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	96	15	pixy	pixy	NOUN
american_scientific_journal-1931	96	16	considers	consider	VERB
american_scientific_journal-1931	96	17	the	the	DET
american_scientific_journal-1931	96	18	ball	ball	NOUN
american_scientific_journal-1931	96	19	matches	match	VERB
american_scientific_journal-1931	96	20	a	a	DET
american_scientific_journal-1931	96	21	particular	particular	ADJ
american_scientific_journal-1931	96	22	colour	colour	NOUN
american_scientific_journal-1931	96	23	,	,	PUNCT
american_scientific_journal-1931	96	24	but	but	CCONJ
american_scientific_journal-1931	96	25	it	it	PRON
american_scientific_journal-1931	96	26	is	be	AUX
american_scientific_journal-1931	96	27	not	not	PART
american_scientific_journal-1931	96	28	the	the	DET
american_scientific_journal-1931	96	29	correct	correct	ADJ
american_scientific_journal-1931	96	30	object	object	NOUN
american_scientific_journal-1931	96	31	but	but	CCONJ
american_scientific_journal-1931	96	32	an	an	DET
american_scientific_journal-1931	96	33	object	object	NOUN
american_scientific_journal-1931	96	34	with	with	ADP
american_scientific_journal-1931	96	35	a	a	DET
american_scientific_journal-1931	96	36	similar	similar	ADJ
american_scientific_journal-1931	96	37	hue	hue	NOUN
american_scientific_journal-1931	96	38	.	.	PUNCT
american_scientific_journal-1931	97	1	the	the	DET
american_scientific_journal-1931	97	2	second	second	ADJ
american_scientific_journal-1931	97	3	error	error	NOUN
american_scientific_journal-1931	97	4	type	type	NOUN
american_scientific_journal-1931	97	5	is	be	AUX
american_scientific_journal-1931	97	6	when	when	SCONJ
american_scientific_journal-1931	97	7	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	97	8	pixy	pixy	NOUN
american_scientific_journal-1931	97	9	be	be	VERB
american_scientific_journal-1931	97	10	unsuccessful	unsuccessful	ADJ
american_scientific_journal-1931	97	11	to	to	PART
american_scientific_journal-1931	97	12	detect	detect	VERB
american_scientific_journal-1931	97	13	the	the	DET
american_scientific_journal-1931	97	14	ball	ball	NOUN
american_scientific_journal-1931	97	15	that	that	PRON
american_scientific_journal-1931	97	16	is	be	AUX
american_scientific_journal-1931	97	17	required	require	VERB
american_scientific_journal-1931	97	18	to	to	PART
american_scientific_journal-1931	97	19	detect	detect	VERB
american_scientific_journal-1931	97	20	with	with	ADP
american_scientific_journal-1931	97	21	a	a	DET
american_scientific_journal-1931	97	22	particular	particular	ADJ
american_scientific_journal-1931	97	23	colour	colour	NOUN
american_scientific_journal-1931	97	24	.	.	PUNCT
american_scientific_journal-1931	98	1	these	these	DET
american_scientific_journal-1931	98	2	errors	error	NOUN
american_scientific_journal-1931	98	3	can	can	AUX
american_scientific_journal-1931	98	4	be	be	AUX
american_scientific_journal-1931	98	5	eliminated	eliminate	VERB
american_scientific_journal-1931	98	6	by	by	ADP
american_scientific_journal-1931	98	7	adjusting	adjust	VERB
american_scientific_journal-1931	98	8	several	several	ADJ
american_scientific_journal-1931	98	9	parameters	parameter	NOUN
american_scientific_journal-1931	98	10	within	within	ADP
american_scientific_journal-1931	98	11	the	the	DET
american_scientific_journal-1931	98	12	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	98	13	pixy	pixy	NOUN
american_scientific_journal-1931	98	14	such	such	ADJ
american_scientific_journal-1931	98	15	as	as	ADP
american_scientific_journal-1931	98	16	the	the	DET
american_scientific_journal-1931	98	17	brightness	brightness	NOUN
american_scientific_journal-1931	98	18	,	,	PUNCT
american_scientific_journal-1931	98	19	the	the	DET
american_scientific_journal-1931	98	20	min	min	NOUN
american_scientific_journal-1931	98	21	saturation	saturation	NOUN
american_scientific_journal-1931	98	22	and	and	CCONJ
american_scientific_journal-1931	98	23	the	the	DET
american_scientific_journal-1931	98	24	hue	hue	NOUN
american_scientific_journal-1931	98	25	spread	spread	NOUN
american_scientific_journal-1931	98	26	.	.	PUNCT
american_scientific_journal-1931	99	1	3.2	3.2	NUM
american_scientific_journal-1931	99	2	.	.	PUNCT
american_scientific_journal-1931	100	1	ball	ball	NOUN
american_scientific_journal-1931	100	2	distance	distance	NOUN
american_scientific_journal-1931	100	3	calibration	calibration	NOUN
american_scientific_journal-1931	100	4	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	100	5	pixy	pixy	NOUN
american_scientific_journal-1931	100	6	does	do	AUX
american_scientific_journal-1931	100	7	not	not	PART
american_scientific_journal-1931	100	8	give	give	VERB
american_scientific_journal-1931	100	9	a	a	DET
american_scientific_journal-1931	100	10	distance	distance	NOUN
american_scientific_journal-1931	100	11	measurement	measurement	NOUN
american_scientific_journal-1931	100	12	between	between	ADP
american_scientific_journal-1931	100	13	the	the	DET
american_scientific_journal-1931	100	14	image	image	NOUN
american_scientific_journal-1931	100	15	sensor	sensor	NOUN
american_scientific_journal-1931	100	16	and	and	CCONJ
american_scientific_journal-1931	100	17	the	the	DET
american_scientific_journal-1931	100	18	detecting	detect	VERB
american_scientific_journal-1931	100	19	ball	ball	NOUN
american_scientific_journal-1931	100	20	.	.	PUNCT
american_scientific_journal-1931	101	1	this	this	DET
american_scientific_journal-1931	101	2	distance	distance	NOUN
american_scientific_journal-1931	101	3	can	can	AUX
american_scientific_journal-1931	101	4	be	be	AUX
american_scientific_journal-1931	101	5	calculated	calculate	VERB
american_scientific_journal-1931	101	6	with	with	ADP
american_scientific_journal-1931	101	7	respect	respect	NOUN
american_scientific_journal-1931	101	8	to	to	ADP
american_scientific_journal-1931	101	9	other	other	ADJ
american_scientific_journal-1931	101	10	information	information	NOUN
american_scientific_journal-1931	101	11	(	(	PUNCT
american_scientific_journal-1931	101	12	i.e.	i.e.	X
american_scientific_journal-1931	101	13	ball	ball	NOUN
american_scientific_journal-1931	101	14	height	height	NOUN
american_scientific_journal-1931	101	15	from	from	ADP
american_scientific_journal-1931	101	16	image	image	NOUN
american_scientific_journal-1931	101	17	sensor	sensor	NOUN
american_scientific_journal-1931	101	18	)	)	PUNCT
american_scientific_journal-1931	101	19	.	.	PUNCT
american_scientific_journal-1931	102	1	as	as	ADP
american_scientific_journal-1931	102	2	a	a	DET
american_scientific_journal-1931	102	3	result	result	NOUN
american_scientific_journal-1931	102	4	of	of	ADP
american_scientific_journal-1931	102	5	that	that	SCONJ
american_scientific_journal-1931	102	6	the	the	DET
american_scientific_journal-1931	102	7	distance	distance	NOUN
american_scientific_journal-1931	102	8	between	between	ADP
american_scientific_journal-1931	102	9	the	the	DET
american_scientific_journal-1931	102	10	spotting	spot	VERB
american_scientific_journal-1931	102	11	ball	ball	NOUN
american_scientific_journal-1931	102	12	and	and	CCONJ
american_scientific_journal-1931	102	13	the	the	DET
american_scientific_journal-1931	102	14	robot	robot	NOUN
american_scientific_journal-1931	102	15	platform	platform	NOUN
american_scientific_journal-1931	102	16	will	will	AUX
american_scientific_journal-1931	102	17	be	be	AUX
american_scientific_journal-1931	102	18	known	know	VERB
american_scientific_journal-1931	102	19	.	.	PUNCT
american_scientific_journal-1931	103	1	figure	figure	NOUN
american_scientific_journal-1931	103	2	8	8	NUM
american_scientific_journal-1931	103	3	shows	show	VERB
american_scientific_journal-1931	103	4	the	the	DET
american_scientific_journal-1931	103	5	distance	distance	NOUN
american_scientific_journal-1931	103	6	calibration	calibration	NOUN
american_scientific_journal-1931	103	7	that	that	PRON
american_scientific_journal-1931	103	8	has	have	AUX
american_scientific_journal-1931	103	9	been	be	AUX
american_scientific_journal-1931	103	10	done	do	VERB
american_scientific_journal-1931	103	11	between	between	ADP
american_scientific_journal-1931	103	12	the	the	DET
american_scientific_journal-1931	103	13	ball	ball	NOUN
american_scientific_journal-1931	103	14	(	(	PUNCT
american_scientific_journal-1931	103	15	in	in	ADP
american_scientific_journal-1931	103	16	this	this	DET
american_scientific_journal-1931	103	17	case	case	NOUN
american_scientific_journal-1931	103	18	an	an	DET
american_scientific_journal-1931	103	19	golf	golf	NOUN
american_scientific_journal-1931	103	20	size	size	NOUN
american_scientific_journal-1931	103	21	orange	orange	PROPN
american_scientific_journal-1931	103	22	ball	ball	PROPN
american_scientific_journal-1931	103	23	)	)	PUNCT
american_scientific_journal-1931	103	24	and	and	CCONJ
american_scientific_journal-1931	103	25	the	the	DET
american_scientific_journal-1931	103	26	vision	vision	NOUN
american_scientific_journal-1931	103	27	sensor	sensor	NOUN
american_scientific_journal-1931	103	28	which	which	PRON
american_scientific_journal-1931	103	29	placed	place	VERB
american_scientific_journal-1931	103	30	on	on	ADP
american_scientific_journal-1931	103	31	the	the	DET
american_scientific_journal-1931	103	32	robot	robot	NOUN
american_scientific_journal-1931	103	33	base	base	NOUN
american_scientific_journal-1931	103	34	.	.	PUNCT
american_scientific_journal-1931	104	1	in	in	ADP
american_scientific_journal-1931	104	2	figure	figure	NOUN
american_scientific_journal-1931	104	3	8	8	NUM
american_scientific_journal-1931	104	4	,	,	PUNCT
american_scientific_journal-1931	104	5	a	a	DET
american_scientific_journal-1931	104	6	measure	measure	NOUN
american_scientific_journal-1931	104	7	tape	tape	NOUN
american_scientific_journal-1931	104	8	is	be	AUX
american_scientific_journal-1931	104	9	used	use	VERB
american_scientific_journal-1931	104	10	to	to	PART
american_scientific_journal-1931	104	11	physically	physically	ADV
american_scientific_journal-1931	104	12	obtain	obtain	VERB
american_scientific_journal-1931	104	13	the	the	DET
american_scientific_journal-1931	104	14	actual	actual	ADJ
american_scientific_journal-1931	104	15	distance	distance	NOUN
american_scientific_journal-1931	104	16	between	between	ADP
american_scientific_journal-1931	104	17	the	the	DET
american_scientific_journal-1931	104	18	image	image	NOUN
american_scientific_journal-1931	104	19	sensor	sensor	NOUN
american_scientific_journal-1931	104	20	and	and	CCONJ
american_scientific_journal-1931	104	21	the	the	DET
american_scientific_journal-1931	104	22	ball	ball	NOUN
american_scientific_journal-1931	104	23	.	.	PUNCT
american_scientific_journal-1931	105	1	in	in	ADP
american_scientific_journal-1931	105	2	this	this	DET
american_scientific_journal-1931	105	3	test	test	NOUN
american_scientific_journal-1931	105	4	,	,	PUNCT
american_scientific_journal-1931	105	5	it	it	PRON
american_scientific_journal-1931	105	6	is	be	AUX
american_scientific_journal-1931	105	7	required	require	VERB
american_scientific_journal-1931	105	8	to	to	PART
american_scientific_journal-1931	105	9	always	always	ADV
american_scientific_journal-1931	105	10	see	see	VERB
american_scientific_journal-1931	105	11	the	the	DET
american_scientific_journal-1931	105	12	full	full	ADJ
american_scientific_journal-1931	105	13	object	object	NOUN
american_scientific_journal-1931	105	14	,	,	PUNCT
american_scientific_journal-1931	105	15	also	also	ADV
american_scientific_journal-1931	105	16	the	the	DET
american_scientific_journal-1931	105	17	ball	ball	NOUN
american_scientific_journal-1931	105	18	is	be	AUX
american_scientific_journal-1931	105	19	needed	need	VERB
american_scientific_journal-1931	105	20	to	to	PART
american_scientific_journal-1931	105	21	face	face	VERB
american_scientific_journal-1931	105	22	the	the	DET
american_scientific_journal-1931	105	23	image	image	NOUN
american_scientific_journal-1931	105	24	sensor	sensor	NOUN
american_scientific_journal-1931	105	25	lens	lens	NOUN
american_scientific_journal-1931	105	26	(	(	PUNCT
american_scientific_journal-1931	105	27	x=319	x=319	PROPN
american_scientific_journal-1931	105	28	pixels	pixels	PROPN
american_scientific_journal-1931	105	29	,	,	PUNCT
american_scientific_journal-1931	105	30	y=199	y=199	NOUN
american_scientific_journal-1931	105	31	pixels	pixel	NOUN
american_scientific_journal-1931	105	32	)	)	PUNCT
american_scientific_journal-1931	105	33	in	in	ADP
american_scientific_journal-1931	105	34	order	order	NOUN
american_scientific_journal-1931	105	35	to	to	PART
american_scientific_journal-1931	105	36	get	get	VERB
american_scientific_journal-1931	105	37	correct	correct	ADJ
american_scientific_journal-1931	105	38	readings	reading	NOUN
american_scientific_journal-1931	105	39	.	.	PUNCT
american_scientific_journal-1931	106	1	the	the	DET
american_scientific_journal-1931	106	2	data	datum	NOUN
american_scientific_journal-1931	106	3	from	from	ADP
american_scientific_journal-1931	106	4	the	the	DET
american_scientific_journal-1931	106	5	vision	vision	NOUN
american_scientific_journal-1931	106	6	sensor	sensor	NOUN
american_scientific_journal-1931	106	7	are	be	AUX
american_scientific_journal-1931	106	8	collected	collect	VERB
american_scientific_journal-1931	106	9	by	by	ADP
american_scientific_journal-1931	106	10	the	the	DET
american_scientific_journal-1931	106	11	arduino	arduino	NOUN
american_scientific_journal-1931	106	12	mega	mega	VERB
american_scientific_journal-1931	106	13	2560	2560	NUM
american_scientific_journal-1931	106	14	microcontroller	microcontroller	NOUN
american_scientific_journal-1931	106	15	board	board	NOUN
american_scientific_journal-1931	106	16	and	and	CCONJ
american_scientific_journal-1931	106	17	then	then	ADV
american_scientific_journal-1931	106	18	sent	send	VERB
american_scientific_journal-1931	106	19	to	to	ADP
american_scientific_journal-1931	106	20	the	the	DET
american_scientific_journal-1931	106	21	computer	computer	NOUN
american_scientific_journal-1931	106	22	to	to	PART
american_scientific_journal-1931	106	23	be	be	AUX
american_scientific_journal-1931	106	24	displayed	display	VERB
american_scientific_journal-1931	106	25	.	.	PUNCT
american_scientific_journal-1931	107	1	at	at	ADP
american_scientific_journal-1931	107	2	the	the	DET
american_scientific_journal-1931	107	3	beginning	beginning	NOUN
american_scientific_journal-1931	107	4	,	,	PUNCT
american_scientific_journal-1931	107	5	the	the	DET
american_scientific_journal-1931	107	6	orange	orange	PROPN
american_scientific_journal-1931	107	7	ball	ball	PROPN
american_scientific_journal-1931	107	8	is	be	AUX
american_scientific_journal-1931	107	9	placed	place	VERB
american_scientific_journal-1931	107	10	at	at	ADP
american_scientific_journal-1931	107	11	zero	zero	NUM
american_scientific_journal-1931	107	12	distance	distance	NOUN
american_scientific_journal-1931	107	13	from	from	ADP
american_scientific_journal-1931	107	14	the	the	DET
american_scientific_journal-1931	107	15	robot	robot	NOUN
american_scientific_journal-1931	107	16	body	body	NOUN
american_scientific_journal-1931	107	17	.	.	PUNCT
american_scientific_journal-1931	108	1	then	then	ADV
american_scientific_journal-1931	108	2	it	it	PRON
american_scientific_journal-1931	108	3	moved	move	VERB
american_scientific_journal-1931	108	4	with	with	ADP
american_scientific_journal-1931	108	5	5	5	NUM
american_scientific_journal-1931	108	6	cm	cm	NOUN
american_scientific_journal-1931	108	7	steps	step	NOUN
american_scientific_journal-1931	108	8	while	while	SCONJ
american_scientific_journal-1931	108	9	recording	record	VERB
american_scientific_journal-1931	108	10	the	the	DET
american_scientific_journal-1931	108	11	orange	orange	PROPN
american_scientific_journal-1931	108	12	ball	ball	PROPN
american_scientific_journal-1931	108	13	green	green	PROPN
american_scientific_journal-1931	108	14	surface	surface	PROPN
american_scientific_journal-1931	108	15	reflection	reflection	NOUN
american_scientific_journal-1931	108	16	noise	noise	PROPN
american_scientific_journal-1931	108	17	american	american	PROPN
american_scientific_journal-1931	108	18	scientific	scientific	ADJ
american_scientific_journal-1931	108	19	research	research	NOUN
american_scientific_journal-1931	108	20	journal	journal	NOUN
american_scientific_journal-1931	108	21	for	for	ADP
american_scientific_journal-1931	108	22	engineering	engineering	NOUN
american_scientific_journal-1931	108	23	,	,	PUNCT
american_scientific_journal-1931	108	24	technology	technology	NOUN
american_scientific_journal-1931	108	25	,	,	PUNCT
american_scientific_journal-1931	108	26	and	and	CCONJ
american_scientific_journal-1931	108	27	sciences	science	NOUN
american_scientific_journal-1931	108	28	(	(	PUNCT
american_scientific_journal-1931	108	29	asrjets	asrjet	NOUN
american_scientific_journal-1931	108	30	)	)	PUNCT
american_scientific_journal-1931	108	31	(	(	PUNCT
american_scientific_journal-1931	108	32	2016	2016	NUM
american_scientific_journal-1931	108	33	)	)	PUNCT
american_scientific_journal-1931	108	34	volume	volume	NOUN
american_scientific_journal-1931	108	35	22	22	NUM
american_scientific_journal-1931	108	36	,	,	PUNCT
american_scientific_journal-1931	108	37	no	no	DET
american_scientific_journal-1931	108	38	1	1	NUM
american_scientific_journal-1931	108	39	,	,	PUNCT
american_scientific_journal-1931	108	40	pp	pp	ADV
american_scientific_journal-1931	108	41	231	231	NUM
american_scientific_journal-1931	108	42	-	-	SYM
american_scientific_journal-1931	108	43	242	242	NUM
american_scientific_journal-1931	108	44	239	239	NUM
american_scientific_journal-1931	108	45	actual	actual	ADJ
american_scientific_journal-1931	108	46	distance	distance	NOUN
american_scientific_journal-1931	108	47	and	and	CCONJ
american_scientific_journal-1931	108	48	the	the	DET
american_scientific_journal-1931	108	49	image	image	NOUN
american_scientific_journal-1931	108	50	sensor	sensor	NOUN
american_scientific_journal-1931	108	51	readings	reading	NOUN
american_scientific_journal-1931	108	52	each	each	DET
american_scientific_journal-1931	108	53	time	time	NOUN
american_scientific_journal-1931	108	54	.	.	PUNCT
american_scientific_journal-1931	109	1	it	it	PRON
american_scientific_journal-1931	109	2	is	be	AUX
american_scientific_journal-1931	109	3	noticed	notice	VERB
american_scientific_journal-1931	109	4	that	that	SCONJ
american_scientific_journal-1931	109	5	after	after	ADP
american_scientific_journal-1931	109	6	180	180	NUM
american_scientific_journal-1931	109	7	cm	cm	NOUN
american_scientific_journal-1931	109	8	distance	distance	NOUN
american_scientific_journal-1931	109	9	the	the	DET
american_scientific_journal-1931	109	10	image	image	NOUN
american_scientific_journal-1931	109	11	sensor	sensor	NOUN
american_scientific_journal-1931	109	12	readings	reading	NOUN
american_scientific_journal-1931	109	13	are	be	AUX
american_scientific_journal-1931	109	14	started	start	VERB
american_scientific_journal-1931	109	15	to	to	PART
american_scientific_journal-1931	109	16	give	give	VERB
american_scientific_journal-1931	109	17	the	the	DET
american_scientific_journal-1931	109	18	same	same	ADJ
american_scientific_journal-1931	109	19	value	value	NOUN
american_scientific_journal-1931	109	20	due	due	ADP
american_scientific_journal-1931	109	21	to	to	ADP
american_scientific_journal-1931	109	22	this	this	DET
american_scientific_journal-1931	109	23	ball	ball	NOUN
american_scientific_journal-1931	109	24	size	size	NOUN
american_scientific_journal-1931	109	25	.	.	PUNCT
american_scientific_journal-1931	110	1	from	from	ADP
american_scientific_journal-1931	110	2	the	the	DET
american_scientific_journal-1931	110	3	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	110	4	pixy	pixy	NOUN
american_scientific_journal-1931	110	5	object	object	VERB
american_scientific_journal-1931	110	6	height	height	NOUN
american_scientific_journal-1931	110	7	readings	reading	NOUN
american_scientific_journal-1931	110	8	,	,	PUNCT
american_scientific_journal-1931	110	9	the	the	DET
american_scientific_journal-1931	110	10	calibration	calibration	NOUN
american_scientific_journal-1931	110	11	line	line	NOUN
american_scientific_journal-1931	110	12	has	have	AUX
american_scientific_journal-1931	110	13	been	be	AUX
american_scientific_journal-1931	110	14	plotted	plot	VERB
american_scientific_journal-1931	110	15	as	as	SCONJ
american_scientific_journal-1931	110	16	shown	show	VERB
american_scientific_journal-1931	110	17	in	in	ADP
american_scientific_journal-1931	110	18	figure	figure	NOUN
american_scientific_journal-1931	110	19	9	9	NUM
american_scientific_journal-1931	110	20	.	.	PUNCT
american_scientific_journal-1931	110	21	figure	figure	VERB
american_scientific_journal-1931	110	22	8	8	NUM
american_scientific_journal-1931	110	23	:	:	PUNCT
american_scientific_journal-1931	110	24	distance	distance	NOUN
american_scientific_journal-1931	110	25	calibration	calibration	NOUN
american_scientific_journal-1931	110	26	between	between	ADP
american_scientific_journal-1931	110	27	the	the	DET
american_scientific_journal-1931	110	28	ball	ball	NOUN
american_scientific_journal-1931	110	29	and	and	CCONJ
american_scientific_journal-1931	110	30	the	the	DET
american_scientific_journal-1931	110	31	robot	robot	NOUN
american_scientific_journal-1931	110	32	from	from	ADP
american_scientific_journal-1931	110	33	figure	figure	NOUN
american_scientific_journal-1931	110	34	9	9	NUM
american_scientific_journal-1931	110	35	the	the	DET
american_scientific_journal-1931	110	36	distance	distance	NOUN
american_scientific_journal-1931	110	37	calibration	calibration	NOUN
american_scientific_journal-1931	110	38	equation	equation	NOUN
american_scientific_journal-1931	110	39	is	be	AUX
american_scientific_journal-1931	110	40	:	:	PUNCT
american_scientific_journal-1931	110	41	𝑑𝑑𝑜𝑜	𝑑𝑑𝑜𝑜	ADJ
american_scientific_journal-1931	110	42	=	=	SYM
american_scientific_journal-1931	110	43	8700	8700	NUM
american_scientific_journal-1931	110	44	𝑑𝑑𝑖𝑖	𝑑𝑑𝑖𝑖	NOUN
american_scientific_journal-1931	110	45	+	+	CCONJ
american_scientific_journal-1931	110	46	35	35	NUM
american_scientific_journal-1931	110	47	by	by	ADP
american_scientific_journal-1931	110	48	making	make	VERB
american_scientific_journal-1931	110	49	comparison	comparison	NOUN
american_scientific_journal-1931	110	50	with	with	ADP
american_scientific_journal-1931	110	51	equation	equation	NOUN
american_scientific_journal-1931	110	52	(	(	PUNCT
american_scientific_journal-1931	110	53	4	4	NUM
american_scientific_journal-1931	110	54	)	)	PUNCT
american_scientific_journal-1931	110	55	in	in	ADP
american_scientific_journal-1931	110	56	section	section	NOUN
american_scientific_journal-1931	110	57	(	(	PUNCT
american_scientific_journal-1931	110	58	2	2	NUM
american_scientific_journal-1931	110	59	):	):	PUNCT
american_scientific_journal-1931	110	60	𝑓𝑓	𝑓𝑓	PROPN
american_scientific_journal-1931	110	61	×	×	PROPN
american_scientific_journal-1931	110	62	ℎ𝑜𝑜	ℎ𝑜𝑜	NOUN
american_scientific_journal-1931	110	63	=	=	PUNCT
american_scientific_journal-1931	110	64	8700	8700	NUM
american_scientific_journal-1931	110	65	the	the	DET
american_scientific_journal-1931	110	66	ball	ball	NOUN
american_scientific_journal-1931	110	67	actual	actual	ADJ
american_scientific_journal-1931	110	68	size	size	NOUN
american_scientific_journal-1931	110	69	(	(	PUNCT
american_scientific_journal-1931	110	70	ℎ𝑜𝑜	ℎ𝑜𝑜	NOUN
american_scientific_journal-1931	110	71	)	)	PUNCT
american_scientific_journal-1931	110	72	=	=	SYM
american_scientific_journal-1931	111	1	41	41	NUM
american_scientific_journal-1931	111	2	mm	mm	INTJ
american_scientific_journal-1931	111	3	then	then	ADV
american_scientific_journal-1931	111	4	the	the	DET
american_scientific_journal-1931	111	5	above	above	ADJ
american_scientific_journal-1931	111	6	equation	equation	NOUN
american_scientific_journal-1931	111	7	can	can	AUX
american_scientific_journal-1931	111	8	be	be	AUX
american_scientific_journal-1931	111	9	modified	modify	VERB
american_scientific_journal-1931	111	10	to	to	PART
american_scientific_journal-1931	111	11	be	be	AUX
american_scientific_journal-1931	111	12	for	for	ADP
american_scientific_journal-1931	111	13	any	any	DET
american_scientific_journal-1931	111	14	ball	ball	NOUN
american_scientific_journal-1931	111	15	as	as	ADP
american_scientific_journal-1931	111	16	:	:	PUNCT
american_scientific_journal-1931	111	17	𝑑𝑑𝑜𝑜	𝑑𝑑𝑜𝑜	NOUN
american_scientific_journal-1931	111	18	=	=	PROPN
american_scientific_journal-1931	111	19	212.2	212.2	NUM
american_scientific_journal-1931	111	20	×	×	NOUN
american_scientific_journal-1931	111	21	ℎ𝑜𝑜	ℎ𝑜𝑜	NOUN
american_scientific_journal-1931	111	22	ℎ𝑖𝑖	ℎ𝑖𝑖	NOUN
american_scientific_journal-1931	111	23	+	+	CCONJ
american_scientific_journal-1931	111	24	35	35	NUM
american_scientific_journal-1931	111	25	(	(	PUNCT
american_scientific_journal-1931	111	26	5.1	5.1	NUM
american_scientific_journal-1931	111	27	)	)	PUNCT
american_scientific_journal-1931	111	28	note	note	VERB
american_scientific_journal-1931	111	29	that	that	SCONJ
american_scientific_journal-1931	111	30	for	for	ADP
american_scientific_journal-1931	111	31	large	large	ADJ
american_scientific_journal-1931	111	32	ball	ball	NOUN
american_scientific_journal-1931	111	33	size	size	NOUN
american_scientific_journal-1931	111	34	the	the	DET
american_scientific_journal-1931	111	35	measuring	measure	VERB
american_scientific_journal-1931	111	36	distance	distance	NOUN
american_scientific_journal-1931	111	37	range	range	NOUN
american_scientific_journal-1931	111	38	will	will	AUX
american_scientific_journal-1931	111	39	be	be	AUX
american_scientific_journal-1931	111	40	larger	large	ADJ
american_scientific_journal-1931	111	41	.	.	PUNCT
american_scientific_journal-1931	112	1	3.3	3.3	NUM
american_scientific_journal-1931	112	2	.	.	PUNCT
american_scientific_journal-1931	112	3	robot	robot	NOUN
american_scientific_journal-1931	112	4	‘	'	PUNCT
american_scientific_journal-1931	112	5	following	follow	VERB
american_scientific_journal-1931	112	6	the	the	DET
american_scientific_journal-1931	112	7	ball	ball	NOUN
american_scientific_journal-1931	112	8	’	'	PUNCT
american_scientific_journal-1931	112	9	demonstration	demonstration	NOUN
american_scientific_journal-1931	112	10	figure	figure	NOUN
american_scientific_journal-1931	112	11	10	10	NUM
american_scientific_journal-1931	112	12	demonstrates	demonstrate	VERB
american_scientific_journal-1931	112	13	the	the	DET
american_scientific_journal-1931	112	14	robot	robot	NOUN
american_scientific_journal-1931	112	15	‘	'	PUNCT
american_scientific_journal-1931	112	16	following	follow	VERB
american_scientific_journal-1931	112	17	the	the	DET
american_scientific_journal-1931	112	18	ball	ball	NOUN
american_scientific_journal-1931	112	19	’	'	PUNCT
american_scientific_journal-1931	112	20	application	application	NOUN
american_scientific_journal-1931	112	21	.	.	PUNCT
american_scientific_journal-1931	113	1	figure	figure	NOUN
american_scientific_journal-1931	113	2	10a	10a	NUM
american_scientific_journal-1931	113	3	,	,	PUNCT
american_scientific_journal-1931	113	4	shows	show	VERB
american_scientific_journal-1931	113	5	the	the	DET
american_scientific_journal-1931	113	6	initial	initial	ADJ
american_scientific_journal-1931	113	7	position	position	NOUN
american_scientific_journal-1931	113	8	for	for	ADP
american_scientific_journal-1931	113	9	the	the	DET
american_scientific_journal-1931	113	10	robot	robot	NOUN
american_scientific_journal-1931	113	11	and	and	CCONJ
american_scientific_journal-1931	113	12	the	the	DET
american_scientific_journal-1931	113	13	ball	ball	NOUN
american_scientific_journal-1931	113	14	.	.	PUNCT
american_scientific_journal-1931	114	1	when	when	SCONJ
american_scientific_journal-1931	114	2	the	the	DET
american_scientific_journal-1931	114	3	robot	robot	NOUN
american_scientific_journal-1931	114	4	turns	turn	VERB
american_scientific_journal-1931	114	5	on	on	ADP
american_scientific_journal-1931	114	6	,	,	PUNCT
american_scientific_journal-1931	114	7	it	it	PRON
american_scientific_journal-1931	114	8	starts	start	VERB
american_scientific_journal-1931	114	9	to	to	PART
american_scientific_journal-1931	114	10	apply	apply	VERB
american_scientific_journal-1931	114	11	the	the	DET
american_scientific_journal-1931	114	12	ball	ball	NOUN
american_scientific_journal-1931	114	13	following	follow	VERB
american_scientific_journal-1931	114	14	algorithm	algorithm	NOUN
american_scientific_journal-1931	114	15	that	that	PRON
american_scientific_journal-1931	114	16	discussed	discuss	VERB
american_scientific_journal-1931	114	17	in	in	ADP
american_scientific_journal-1931	114	18	section	section	NOUN
american_scientific_journal-1931	114	19	(	(	PUNCT
american_scientific_journal-1931	114	20	2	2	NUM
american_scientific_journal-1931	114	21	)	)	PUNCT
american_scientific_journal-1931	114	22	.	.	PUNCT
american_scientific_journal-1931	115	1	while	while	SCONJ
american_scientific_journal-1931	115	2	the	the	DET
american_scientific_journal-1931	115	3	robot	robot	NOUN
american_scientific_journal-1931	115	4	is	be	AUX
american_scientific_journal-1931	115	5	detecting	detect	VERB
american_scientific_journal-1931	115	6	the	the	DET
american_scientific_journal-1931	115	7	ball	ball	NOUN
american_scientific_journal-1931	115	8	,	,	PUNCT
american_scientific_journal-1931	115	9	the	the	DET
american_scientific_journal-1931	115	10	path	path	NOUN
american_scientific_journal-1931	115	11	planning	planning	NOUN
american_scientific_journal-1931	115	12	algorithm	algorithm	NOUN
american_scientific_journal-1931	115	13	is	be	AUX
american_scientific_journal-1931	115	14	applied	apply	VERB
american_scientific_journal-1931	115	15	.	.	PUNCT
american_scientific_journal-1931	116	1	figures	figure	NOUN
american_scientific_journal-1931	116	2	(	(	PUNCT
american_scientific_journal-1931	116	3	10	10	NUM
american_scientific_journal-1931	116	4	b	b	NOUN
american_scientific_journal-1931	116	5	,	,	PUNCT
american_scientific_journal-1931	116	6	c	c	PROPN
american_scientific_journal-1931	116	7	and	and	CCONJ
american_scientific_journal-1931	116	8	d	d	X
american_scientific_journal-1931	116	9	)	)	PUNCT
american_scientific_journal-1931	116	10	show	show	VERB
american_scientific_journal-1931	116	11	the	the	DET
american_scientific_journal-1931	116	12	robot	robot	NOUN
american_scientific_journal-1931	116	13	movement	movement	NOUN
american_scientific_journal-1931	116	14	until	until	SCONJ
american_scientific_journal-1931	116	15	reaches	reach	VERB
american_scientific_journal-1931	116	16	to	to	ADP
american_scientific_journal-1931	116	17	the	the	DET
american_scientific_journal-1931	116	18	ball	ball	NOUN
american_scientific_journal-1931	116	19	.	.	PUNCT
american_scientific_journal-1931	117	1	at	at	ADP
american_scientific_journal-1931	117	2	the	the	DET
american_scientific_journal-1931	117	3	end	end	NOUN
american_scientific_journal-1931	117	4	of	of	ADP
american_scientific_journal-1931	117	5	the	the	DET
american_scientific_journal-1931	117	6	motion	motion	NOUN
american_scientific_journal-1931	117	7	the	the	DET
american_scientific_journal-1931	117	8	robot	robot	NOUN
american_scientific_journal-1931	117	9	will	will	AUX
american_scientific_journal-1931	117	10	be	be	AUX
american_scientific_journal-1931	117	11	facing	face	VERB
american_scientific_journal-1931	117	12	the	the	DET
american_scientific_journal-1931	117	13	ball	ball	NOUN
american_scientific_journal-1931	117	14	.	.	PUNCT
american_scientific_journal-1931	118	1	the	the	DET
american_scientific_journal-1931	118	2	robot	robot	NOUN
american_scientific_journal-1931	118	3	performance	performance	NOUN
american_scientific_journal-1931	118	4	in	in	ADP
american_scientific_journal-1931	118	5	terms	term	NOUN
american_scientific_journal-1931	118	6	of	of	ADP
american_scientific_journal-1931	118	7	following	follow	VERB
american_scientific_journal-1931	118	8	the	the	DET
american_scientific_journal-1931	118	9	desired	desire	VERB
american_scientific_journal-1931	118	10	curved	curved	ADJ
american_scientific_journal-1931	118	11	motion	motion	NOUN
american_scientific_journal-1931	118	12	was	be	AUX
american_scientific_journal-1931	118	13	evaluated	evaluate	VERB
american_scientific_journal-1931	118	14	.	.	PUNCT
american_scientific_journal-1931	119	1	in	in	ADP
american_scientific_journal-1931	119	2	addition	addition	NOUN
american_scientific_journal-1931	119	3	,	,	PUNCT
american_scientific_journal-1931	119	4	the	the	DET
american_scientific_journal-1931	119	5	velocity	velocity	NOUN
american_scientific_journal-1931	119	6	,	,	PUNCT
american_scientific_journal-1931	119	7	acceleration	acceleration	NOUN
american_scientific_journal-1931	119	8	and	and	CCONJ
american_scientific_journal-1931	119	9	deceleration	deceleration	NOUN
american_scientific_journal-1931	119	10	of	of	ADP
american_scientific_journal-1931	119	11	the	the	DET
american_scientific_journal-1931	119	12	robot	robot	NOUN
american_scientific_journal-1931	119	13	were	be	AUX
american_scientific_journal-1931	119	14	tuned	tune	VERB
american_scientific_journal-1931	119	15	to	to	PART
american_scientific_journal-1931	119	16	get	get	VERB
american_scientific_journal-1931	119	17	the	the	DET
american_scientific_journal-1931	119	18	best	good	ADJ
american_scientific_journal-1931	119	19	performance	performance	NOUN
american_scientific_journal-1931	119	20	in	in	ADP
american_scientific_journal-1931	119	21	this	this	DET
american_scientific_journal-1931	119	22	task	task	NOUN
american_scientific_journal-1931	119	23	.	.	PUNCT
american_scientific_journal-1931	120	1	at	at	ADP
american_scientific_journal-1931	120	2	the	the	DET
american_scientific_journal-1931	120	3	end	end	NOUN
american_scientific_journal-1931	120	4	the	the	DET
american_scientific_journal-1931	120	5	laptop	laptop	NOUN
american_scientific_journal-1931	120	6	ball	ball	PROPN
american_scientific_journal-1931	120	7	camera	camera	NOUN
american_scientific_journal-1931	120	8	view	view	NOUN
american_scientific_journal-1931	120	9	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	120	10	robot	robot	NOUN
american_scientific_journal-1931	120	11	communication	communication	NOUN
american_scientific_journal-1931	120	12	cable	cable	NOUN
american_scientific_journal-1931	120	13	american	american	PROPN
american_scientific_journal-1931	120	14	scientific	scientific	ADJ
american_scientific_journal-1931	120	15	research	research	NOUN
american_scientific_journal-1931	120	16	journal	journal	NOUN
american_scientific_journal-1931	120	17	for	for	ADP
american_scientific_journal-1931	120	18	engineering	engineering	NOUN
american_scientific_journal-1931	120	19	,	,	PUNCT
american_scientific_journal-1931	120	20	technology	technology	NOUN
american_scientific_journal-1931	120	21	,	,	PUNCT
american_scientific_journal-1931	120	22	and	and	CCONJ
american_scientific_journal-1931	120	23	sciences	science	NOUN
american_scientific_journal-1931	120	24	(	(	PUNCT
american_scientific_journal-1931	120	25	asrjets	asrjet	NOUN
american_scientific_journal-1931	120	26	)	)	PUNCT
american_scientific_journal-1931	120	27	(	(	PUNCT
american_scientific_journal-1931	120	28	2016	2016	NUM
american_scientific_journal-1931	120	29	)	)	PUNCT
american_scientific_journal-1931	120	30	volume	volume	NOUN
american_scientific_journal-1931	120	31	22	22	NUM
american_scientific_journal-1931	120	32	,	,	PUNCT
american_scientific_journal-1931	120	33	no	no	DET
american_scientific_journal-1931	120	34	1	1	NUM
american_scientific_journal-1931	120	35	,	,	PUNCT
american_scientific_journal-1931	120	36	pp	pp	ADV
american_scientific_journal-1931	120	37	231	231	NUM
american_scientific_journal-1931	120	38	-	-	SYM
american_scientific_journal-1931	120	39	242	242	NUM
american_scientific_journal-1931	120	40	240	240	NUM
american_scientific_journal-1931	120	41	robot	robot	NOUN
american_scientific_journal-1931	120	42	had	have	VERB
american_scientific_journal-1931	120	43	a	a	DET
american_scientific_journal-1931	120	44	positive	positive	ADJ
american_scientific_journal-1931	120	45	kinematics	kinematic	NOUN
american_scientific_journal-1931	120	46	performance	performance	NOUN
american_scientific_journal-1931	120	47	and	and	CCONJ
american_scientific_journal-1931	120	48	the	the	DET
american_scientific_journal-1931	120	49	path	path	NOUN
american_scientific_journal-1931	120	50	that	that	PRON
american_scientific_journal-1931	120	51	robot	robot	NOUN
american_scientific_journal-1931	120	52	followed	follow	VERB
american_scientific_journal-1931	120	53	was	be	AUX
american_scientific_journal-1931	120	54	very	very	ADV
american_scientific_journal-1931	120	55	close	close	ADJ
american_scientific_journal-1931	120	56	to	to	ADP
american_scientific_journal-1931	120	57	the	the	DET
american_scientific_journal-1931	120	58	desired	desire	VERB
american_scientific_journal-1931	120	59	one	one	NUM
american_scientific_journal-1931	120	60	.	.	PUNCT
american_scientific_journal-1931	121	1	a	a	DET
american_scientific_journal-1931	121	2	snapshot	snapshot	NOUN
american_scientific_journal-1931	121	3	for	for	ADP
american_scientific_journal-1931	121	4	the	the	DET
american_scientific_journal-1931	121	5	robot	robot	NOUN
american_scientific_journal-1931	121	6	gui	gui	NOUN
american_scientific_journal-1931	121	7	is	be	AUX
american_scientific_journal-1931	121	8	shown	show	VERB
american_scientific_journal-1931	121	9	in	in	ADP
american_scientific_journal-1931	121	10	figure	figure	NOUN
american_scientific_journal-1931	121	11	11	11	NUM
american_scientific_journal-1931	121	12	.	.	PUNCT
american_scientific_journal-1931	122	1	figure	figure	VERB
american_scientific_journal-1931	122	2	9	9	NUM
american_scientific_journal-1931	122	3	:	:	PUNCT
american_scientific_journal-1931	122	4	object	object	NOUN
american_scientific_journal-1931	122	5	(	(	PUNCT
american_scientific_journal-1931	122	6	ball	ball	NOUN
american_scientific_journal-1931	122	7	)	)	PUNCT
american_scientific_journal-1931	122	8	distance	distance	NOUN
american_scientific_journal-1931	122	9	calibration	calibration	NOUN
american_scientific_journal-1931	122	10	curve	curve	NOUN
american_scientific_journal-1931	122	11	.	.	PUNCT
american_scientific_journal-1931	123	1	figure	figure	VERB
american_scientific_journal-1931	123	2	10	10	NUM
american_scientific_journal-1931	123	3	:	:	PUNCT
american_scientific_journal-1931	123	4	demonstration	demonstration	NOUN
american_scientific_journal-1931	123	5	of	of	ADP
american_scientific_journal-1931	123	6	the	the	DET
american_scientific_journal-1931	123	7	robot	robot	NOUN
american_scientific_journal-1931	123	8	‘	'	PUNCT
american_scientific_journal-1931	123	9	following	follow	VERB
american_scientific_journal-1931	123	10	the	the	DET
american_scientific_journal-1931	123	11	ball	ball	NOUN
american_scientific_journal-1931	123	12	’	'	PUNCT
american_scientific_journal-1931	123	13	application	application	NOUN
american_scientific_journal-1931	123	14	.	.	PUNCT
american_scientific_journal-1931	124	1	figure	figure	NOUN
american_scientific_journal-1931	124	2	11	11	NUM
american_scientific_journal-1931	124	3	:	:	PUNCT
american_scientific_journal-1931	124	4	snapshot	snapshot	NOUN
american_scientific_journal-1931	124	5	for	for	ADP
american_scientific_journal-1931	124	6	the	the	DET
american_scientific_journal-1931	124	7	robot	robot	NOUN
american_scientific_journal-1931	124	8	gui	gui	NOUN
american_scientific_journal-1931	125	1	do	do	VERB
american_scientific_journal-1931	125	2	=	=	SYM
american_scientific_journal-1931	125	3	8700	8700	NUM
american_scientific_journal-1931	125	4	/	/	SYM
american_scientific_journal-1931	125	5	hi	hi	INTJ
american_scientific_journal-1931	126	1	+	+	CCONJ
american_scientific_journal-1931	126	2	35	35	NUM
american_scientific_journal-1931	126	3	0	0	NUM
american_scientific_journal-1931	126	4	500	500	NUM
american_scientific_journal-1931	126	5	1000	1000	NUM
american_scientific_journal-1931	126	6	1500	1500	NUM
american_scientific_journal-1931	126	7	2000	2000	NUM
american_scientific_journal-1931	126	8	0	0	NUM
american_scientific_journal-1931	126	9	0.05	0.05	NUM
american_scientific_journal-1931	126	10	0.1	0.1	NUM
american_scientific_journal-1931	126	11	0.15	0.15	NUM
american_scientific_journal-1931	126	12	0.2	0.2	NUM
american_scientific_journal-1931	126	13	0.25	0.25	NUM
american_scientific_journal-1931	126	14	o	o	NOUN
american_scientific_journal-1931	126	15	bj	bj	ADP
american_scientific_journal-1931	126	16	ec	ec	PROPN
american_scientific_journal-1931	126	17	t	t	PROPN
american_scientific_journal-1931	126	18	(	(	PUNCT
american_scientific_journal-1931	126	19	ba	ba	PROPN
american_scientific_journal-1931	126	20	ll	ll	NOUN
american_scientific_journal-1931	126	21	)	)	PUNCT
american_scientific_journal-1931	126	22	d	d	AUX
american_scientific_journal-1931	126	23	ist	ist	VERB
american_scientific_journal-1931	126	24	an	an	DET
american_scientific_journal-1931	126	25	ce	ce	PROPN
american_scientific_journal-1931	126	26	(	(	PUNCT
american_scientific_journal-1931	126	27	m	m	PROPN
american_scientific_journal-1931	126	28	m	m	VERB
american_scientific_journal-1931	126	29	)	)	PUNCT
american_scientific_journal-1931	126	30	1	1	NUM
american_scientific_journal-1931	126	31	/	/	SYM
american_scientific_journal-1931	126	32	height	height	NOUN
american_scientific_journal-1931	126	33	(	(	PUNCT
american_scientific_journal-1931	126	34	1	1	NUM
american_scientific_journal-1931	126	35	/	/	SYM
american_scientific_journal-1931	126	36	pixels	pixel	NOUN
american_scientific_journal-1931	126	37	)	)	PUNCT
american_scientific_journal-1931	126	38	distance	distance	NOUN
american_scientific_journal-1931	126	39	calibration	calibration	NOUN
american_scientific_journal-1931	126	40	b	b	PROPN
american_scientific_journal-1931	126	41	c	c	NOUN
american_scientific_journal-1931	127	1	d	d	X
american_scientific_journal-1931	127	2	a	a	DET
american_scientific_journal-1931	127	3	american	american	ADJ
american_scientific_journal-1931	127	4	scientific	scientific	ADJ
american_scientific_journal-1931	127	5	research	research	NOUN
american_scientific_journal-1931	127	6	journal	journal	NOUN
american_scientific_journal-1931	127	7	for	for	ADP
american_scientific_journal-1931	127	8	engineering	engineering	NOUN
american_scientific_journal-1931	127	9	,	,	PUNCT
american_scientific_journal-1931	127	10	technology	technology	NOUN
american_scientific_journal-1931	127	11	,	,	PUNCT
american_scientific_journal-1931	127	12	and	and	CCONJ
american_scientific_journal-1931	127	13	sciences	science	NOUN
american_scientific_journal-1931	127	14	(	(	PUNCT
american_scientific_journal-1931	127	15	asrjets	asrjet	NOUN
american_scientific_journal-1931	127	16	)	)	PUNCT
american_scientific_journal-1931	127	17	(	(	PUNCT
american_scientific_journal-1931	127	18	2016	2016	NUM
american_scientific_journal-1931	127	19	)	)	PUNCT
american_scientific_journal-1931	127	20	volume	volume	NOUN
american_scientific_journal-1931	127	21	22	22	NUM
american_scientific_journal-1931	127	22	,	,	PUNCT
american_scientific_journal-1931	127	23	no	no	DET
american_scientific_journal-1931	127	24	1	1	NUM
american_scientific_journal-1931	127	25	,	,	PUNCT
american_scientific_journal-1931	127	26	pp	pp	ADV
american_scientific_journal-1931	127	27	231	231	NUM
american_scientific_journal-1931	127	28	-	-	SYM
american_scientific_journal-1931	127	29	242	242	NUM
american_scientific_journal-1931	127	30	241	241	NUM
american_scientific_journal-1931	127	31	4	4	NUM
american_scientific_journal-1931	127	32	.	.	PUNCT
american_scientific_journal-1931	127	33	conclusions	conclusion	NOUN
american_scientific_journal-1931	127	34	the	the	DET
american_scientific_journal-1931	127	35	aim	aim	NOUN
american_scientific_journal-1931	127	36	of	of	ADP
american_scientific_journal-1931	127	37	the	the	DET
american_scientific_journal-1931	127	38	research	research	NOUN
american_scientific_journal-1931	127	39	was	be	AUX
american_scientific_journal-1931	127	40	to	to	ADP
american_scientific_journal-1931	127	41	developing	develop	VERB
american_scientific_journal-1931	127	42	of	of	ADP
american_scientific_journal-1931	127	43	an	an	DET
american_scientific_journal-1931	127	44	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	127	45	mobile	mobile	ADJ
american_scientific_journal-1931	127	46	robot	robot	NOUN
american_scientific_journal-1931	127	47	using	use	VERB
american_scientific_journal-1931	127	48	low	low	ADJ
american_scientific_journal-1931	127	49	cost	cost	NOUN
american_scientific_journal-1931	127	50	embedded	embed	VERB
american_scientific_journal-1931	127	51	color	color	NOUN
american_scientific_journal-1931	127	52	vision	vision	NOUN
american_scientific_journal-1931	127	53	system	system	NOUN
american_scientific_journal-1931	127	54	(	(	PUNCT
american_scientific_journal-1931	127	55	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	127	56	pixy	pixy	NOUN
american_scientific_journal-1931	127	57	)	)	PUNCT
american_scientific_journal-1931	127	58	for	for	ADP
american_scientific_journal-1931	127	59	ball	ball	NOUN
american_scientific_journal-1931	127	60	tracking	tracking	NOUN
american_scientific_journal-1931	127	61	and	and	CCONJ
american_scientific_journal-1931	127	62	following	follow	VERB
american_scientific_journal-1931	127	63	.	.	PUNCT
american_scientific_journal-1931	128	1	a	a	DET
american_scientific_journal-1931	128	2	detailed	detailed	ADJ
american_scientific_journal-1931	128	3	evaluation	evaluation	NOUN
american_scientific_journal-1931	128	4	of	of	ADP
american_scientific_journal-1931	128	5	using	use	VERB
american_scientific_journal-1931	128	6	the	the	DET
american_scientific_journal-1931	128	7	vision	vision	NOUN
american_scientific_journal-1931	128	8	system	system	NOUN
american_scientific_journal-1931	128	9	with	with	ADP
american_scientific_journal-1931	128	10	in	in	ADP
american_scientific_journal-1931	128	11	the	the	DET
american_scientific_journal-1931	128	12	three	three	NUM
american_scientific_journal-1931	128	13	wheels	wheel	NOUN
american_scientific_journal-1931	128	14	’	'	PUNCT
american_scientific_journal-1931	128	15	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	128	16	robot	robot	NOUN
american_scientific_journal-1931	128	17	has	have	AUX
american_scientific_journal-1931	128	18	been	be	AUX
american_scientific_journal-1931	128	19	discussed	discuss	VERB
american_scientific_journal-1931	128	20	.	.	PUNCT
american_scientific_journal-1931	129	1	the	the	DET
american_scientific_journal-1931	129	2	robot	robot	NOUN
american_scientific_journal-1931	129	3	was	be	AUX
american_scientific_journal-1931	129	4	having	have	VERB
american_scientific_journal-1931	129	5	the	the	DET
american_scientific_journal-1931	129	6	ability	ability	NOUN
american_scientific_journal-1931	129	7	to	to	PART
american_scientific_journal-1931	129	8	detect	detect	VERB
american_scientific_journal-1931	129	9	many	many	ADJ
american_scientific_journal-1931	129	10	of	of	ADP
american_scientific_journal-1931	129	11	multi	multi	ADJ
american_scientific_journal-1931	129	12	coloured	coloured	ADJ
american_scientific_journal-1931	129	13	objects	object	NOUN
american_scientific_journal-1931	129	14	at	at	ADP
american_scientific_journal-1931	129	15	the	the	DET
american_scientific_journal-1931	129	16	same	same	ADJ
american_scientific_journal-1931	129	17	time	time	NOUN
american_scientific_journal-1931	129	18	by	by	ADP
american_scientific_journal-1931	129	19	using	use	VERB
american_scientific_journal-1931	129	20	the	the	DET
american_scientific_journal-1931	129	21	(	(	PUNCT
american_scientific_journal-1931	129	22	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	129	23	pixy	pixy	NOUN
american_scientific_journal-1931	129	24	)	)	PUNCT
american_scientific_journal-1931	129	25	.	.	PUNCT
american_scientific_journal-1931	130	1	kinematics	kinematic	NOUN
american_scientific_journal-1931	130	2	analyses	analysis	NOUN
american_scientific_journal-1931	130	3	and	and	CCONJ
american_scientific_journal-1931	130	4	path	path	NOUN
american_scientific_journal-1931	130	5	planning	planning	NOUN
american_scientific_journal-1931	130	6	were	be	AUX
american_scientific_journal-1931	130	7	evaluated	evaluate	VERB
american_scientific_journal-1931	130	8	and	and	CCONJ
american_scientific_journal-1931	130	9	then	then	ADV
american_scientific_journal-1931	130	10	successfully	successfully	ADV
american_scientific_journal-1931	130	11	applied	apply	VERB
american_scientific_journal-1931	130	12	on	on	ADP
american_scientific_journal-1931	130	13	the	the	DET
american_scientific_journal-1931	130	14	robot	robot	NOUN
american_scientific_journal-1931	130	15	.	.	PUNCT
american_scientific_journal-1931	131	1	the	the	DET
american_scientific_journal-1931	131	2	robot	robot	NOUN
american_scientific_journal-1931	131	3	wheels	wheel	NOUN
american_scientific_journal-1931	131	4	’	'	PUNCT
american_scientific_journal-1931	131	5	velocity	velocity	NOUN
american_scientific_journal-1931	131	6	was	be	AUX
american_scientific_journal-1931	131	7	closed	close	VERB
american_scientific_journal-1931	131	8	looped	loop	VERB
american_scientific_journal-1931	131	9	control	control	NOUN
american_scientific_journal-1931	131	10	by	by	ADP
american_scientific_journal-1931	131	11	using	use	VERB
american_scientific_journal-1931	131	12	the	the	DET
american_scientific_journal-1931	131	13	velocity	velocity	NOUN
american_scientific_journal-1931	131	14	pi	pi	NOUN
american_scientific_journal-1931	131	15	algorithm	algorithm	NOUN
american_scientific_journal-1931	131	16	and	and	CCONJ
american_scientific_journal-1931	131	17	showed	show	VERB
american_scientific_journal-1931	131	18	a	a	DET
american_scientific_journal-1931	131	19	positive	positive	ADJ
american_scientific_journal-1931	131	20	response	response	NOUN
american_scientific_journal-1931	131	21	while	while	SCONJ
american_scientific_journal-1931	131	22	following	follow	VERB
american_scientific_journal-1931	131	23	the	the	DET
american_scientific_journal-1931	131	24	ball	ball	NOUN
american_scientific_journal-1931	131	25	.	.	PUNCT
american_scientific_journal-1931	132	1	the	the	DET
american_scientific_journal-1931	132	2	demonstration	demonstration	NOUN
american_scientific_journal-1931	132	3	for	for	ADP
american_scientific_journal-1931	132	4	the	the	DET
american_scientific_journal-1931	132	5	robot	robot	NOUN
american_scientific_journal-1931	132	6	following	follow	VERB
american_scientific_journal-1931	132	7	the	the	DET
american_scientific_journal-1931	132	8	ball	ball	NOUN
american_scientific_journal-1931	132	9	has	have	AUX
american_scientific_journal-1931	132	10	been	be	AUX
american_scientific_journal-1931	132	11	successfully	successfully	ADV
american_scientific_journal-1931	132	12	done	do	VERB
american_scientific_journal-1931	132	13	by	by	ADP
american_scientific_journal-1931	132	14	using	use	VERB
american_scientific_journal-1931	132	15	a	a	DET
american_scientific_journal-1931	132	16	golf	golf	NOUN
american_scientific_journal-1931	132	17	size	size	NOUN
american_scientific_journal-1931	132	18	orange	orange	PROPN
american_scientific_journal-1931	132	19	ball	ball	PROPN
american_scientific_journal-1931	132	20	and	and	CCONJ
american_scientific_journal-1931	132	21	a	a	DET
american_scientific_journal-1931	132	22	green	green	ADJ
american_scientific_journal-1931	132	23	field	field	NOUN
american_scientific_journal-1931	132	24	to	to	PART
american_scientific_journal-1931	132	25	be	be	AUX
american_scientific_journal-1931	132	26	close	close	ADJ
american_scientific_journal-1931	132	27	to	to	ADP
american_scientific_journal-1931	132	28	the	the	DET
american_scientific_journal-1931	132	29	robocup	robocup	PROPN
american_scientific_journal-1931	132	30	competition	competition	NOUN
american_scientific_journal-1931	132	31	standards	standard	NOUN
american_scientific_journal-1931	132	32	.	.	PUNCT
american_scientific_journal-1931	133	1	the	the	DET
american_scientific_journal-1931	133	2	ball	ball	NOUN
american_scientific_journal-1931	133	3	detection	detection	NOUN
american_scientific_journal-1931	133	4	was	be	AUX
american_scientific_journal-1931	133	5	done	do	VERB
american_scientific_journal-1931	133	6	by	by	ADP
american_scientific_journal-1931	133	7	distinguish	distinguish	VERB
american_scientific_journal-1931	133	8	its	its	PRON
american_scientific_journal-1931	133	9	colour	colour	NOUN
american_scientific_journal-1931	133	10	from	from	ADP
american_scientific_journal-1931	133	11	the	the	DET
american_scientific_journal-1931	133	12	environment	environment	NOUN
american_scientific_journal-1931	133	13	.	.	PUNCT
american_scientific_journal-1931	134	1	the	the	DET
american_scientific_journal-1931	134	2	robot	robot	NOUN
american_scientific_journal-1931	134	3	sensors	sensor	NOUN
american_scientific_journal-1931	134	4	(	(	PUNCT
american_scientific_journal-1931	134	5	i.e.	i.e.	X
american_scientific_journal-1931	134	6	cmucam	cmucam	PROPN
american_scientific_journal-1931	134	7	5	5	NUM
american_scientific_journal-1931	134	8	camera	camera	NOUN
american_scientific_journal-1931	134	9	,	,	PUNCT
american_scientific_journal-1931	134	10	and	and	CCONJ
american_scientific_journal-1931	134	11	encoder	encoder	NOUN
american_scientific_journal-1931	134	12	)	)	PUNCT
american_scientific_journal-1931	134	13	data	datum	NOUN
american_scientific_journal-1931	134	14	were	be	AUX
american_scientific_journal-1931	134	15	collected	collect	VERB
american_scientific_journal-1931	134	16	and	and	CCONJ
american_scientific_journal-1931	134	17	processed	process	VERB
american_scientific_journal-1931	134	18	then	then	ADV
american_scientific_journal-1931	134	19	,	,	PUNCT
american_scientific_journal-1931	134	20	transmitted	transmit	VERB
american_scientific_journal-1931	134	21	through	through	ADP
american_scientific_journal-1931	134	22	wireless	wireless	ADJ
american_scientific_journal-1931	134	23	communication	communication	NOUN
american_scientific_journal-1931	134	24	to	to	ADP
american_scientific_journal-1931	134	25	the	the	DET
american_scientific_journal-1931	134	26	laptop	laptop	NOUN
american_scientific_journal-1931	134	27	in	in	ADP
american_scientific_journal-1931	134	28	order	order	NOUN
american_scientific_journal-1931	134	29	to	to	PART
american_scientific_journal-1931	134	30	graphically	graphically	ADV
american_scientific_journal-1931	134	31	illustrated	illustrate	VERB
american_scientific_journal-1931	134	32	.	.	PUNCT
american_scientific_journal-1931	135	1	this	this	DET
american_scientific_journal-1931	135	2	gui	gui	NOUN
american_scientific_journal-1931	135	3	was	be	AUX
american_scientific_journal-1931	135	4	designed	design	VERB
american_scientific_journal-1931	135	5	by	by	ADP
american_scientific_journal-1931	135	6	using	use	VERB
american_scientific_journal-1931	135	7	matlab	matlab	PROPN
american_scientific_journal-1931	135	8	program	program	NOUN
american_scientific_journal-1931	135	9	and	and	CCONJ
american_scientific_journal-1931	135	10	was	be	AUX
american_scientific_journal-1931	135	11	continuously	continuously	ADV
american_scientific_journal-1931	135	12	displaying	display	VERB
american_scientific_journal-1931	135	13	the	the	DET
american_scientific_journal-1931	135	14	ball	ball	NOUN
american_scientific_journal-1931	135	15	distance	distance	NOUN
american_scientific_journal-1931	135	16	from	from	ADP
american_scientific_journal-1931	135	17	the	the	DET
american_scientific_journal-1931	135	18	robot	robot	NOUN
american_scientific_journal-1931	135	19	,	,	PUNCT
american_scientific_journal-1931	135	20	the	the	DET
american_scientific_journal-1931	135	21	instantaneous	instantaneous	ADJ
american_scientific_journal-1931	135	22	velocity	velocity	NOUN
american_scientific_journal-1931	135	23	of	of	ADP
american_scientific_journal-1931	135	24	the	the	DET
american_scientific_journal-1931	135	25	robot	robot	NOUN
american_scientific_journal-1931	135	26	and	and	CCONJ
american_scientific_journal-1931	135	27	the	the	DET
american_scientific_journal-1931	135	28	robot	robot	NOUN
american_scientific_journal-1931	135	29	trajectory	trajectory	NOUN
american_scientific_journal-1931	135	30	while	while	SCONJ
american_scientific_journal-1931	135	31	following	follow	VERB
american_scientific_journal-1931	135	32	the	the	DET
american_scientific_journal-1931	135	33	ball	ball	NOUN
american_scientific_journal-1931	135	34	.	.	PUNCT
american_scientific_journal-1931	136	1	this	this	PRON
american_scientific_journal-1931	136	2	has	have	AUX
american_scientific_journal-1931	136	3	supported	support	VERB
american_scientific_journal-1931	136	4	in	in	ADP
american_scientific_journal-1931	136	5	studying	study	VERB
american_scientific_journal-1931	136	6	the	the	DET
american_scientific_journal-1931	136	7	robot	robot	NOUN
american_scientific_journal-1931	136	8	performance	performance	NOUN
american_scientific_journal-1931	136	9	.	.	PUNCT
american_scientific_journal-1931	137	1	in	in	ADP
american_scientific_journal-1931	137	2	conclusion	conclusion	NOUN
american_scientific_journal-1931	137	3	,	,	PUNCT
american_scientific_journal-1931	137	4	the	the	DET
american_scientific_journal-1931	137	5	primary	primary	ADJ
american_scientific_journal-1931	137	6	aims	aim	NOUN
american_scientific_journal-1931	137	7	and	and	CCONJ
american_scientific_journal-1931	137	8	objectives	objective	NOUN
american_scientific_journal-1931	137	9	of	of	ADP
american_scientific_journal-1931	137	10	this	this	DET
american_scientific_journal-1931	137	11	research	research	NOUN
american_scientific_journal-1931	137	12	has	have	AUX
american_scientific_journal-1931	137	13	been	be	AUX
american_scientific_journal-1931	137	14	successfully	successfully	ADV
american_scientific_journal-1931	137	15	accomplished	accomplish	VERB
american_scientific_journal-1931	137	16	,	,	PUNCT
american_scientific_journal-1931	137	17	since	since	SCONJ
american_scientific_journal-1931	137	18	the	the	DET
american_scientific_journal-1931	137	19	robot	robot	NOUN
american_scientific_journal-1931	137	20	ball	ball	NOUN
american_scientific_journal-1931	137	21	tracking	tracking	NOUN
american_scientific_journal-1931	137	22	and	and	CCONJ
american_scientific_journal-1931	137	23	following	follow	VERB
american_scientific_journal-1931	137	24	application	application	NOUN
american_scientific_journal-1931	137	25	was	be	AUX
american_scientific_journal-1931	137	26	effectively	effectively	ADV
american_scientific_journal-1931	137	27	developed	develop	VERB
american_scientific_journal-1931	137	28	and	and	CCONJ
american_scientific_journal-1931	137	29	all	all	DET
american_scientific_journal-1931	137	30	the	the	DET
american_scientific_journal-1931	137	31	analyses	analysis	NOUN
american_scientific_journal-1931	137	32	,	,	PUNCT
american_scientific_journal-1931	137	33	once	once	ADV
american_scientific_journal-1931	137	34	applied	apply	VERB
american_scientific_journal-1931	137	35	on	on	ADP
american_scientific_journal-1931	137	36	the	the	DET
american_scientific_journal-1931	137	37	actual	actual	ADJ
american_scientific_journal-1931	137	38	prototype	prototype	NOUN
american_scientific_journal-1931	137	39	,	,	PUNCT
american_scientific_journal-1931	137	40	showed	show	VERB
american_scientific_journal-1931	137	41	expected	expect	VERB
american_scientific_journal-1931	137	42	results	result	NOUN
american_scientific_journal-1931	137	43	.	.	PUNCT
american_scientific_journal-1931	138	1	however	however	ADV
american_scientific_journal-1931	138	2	,	,	PUNCT
american_scientific_journal-1931	138	3	in	in	ADP
american_scientific_journal-1931	138	4	order	order	NOUN
american_scientific_journal-1931	138	5	to	to	PART
american_scientific_journal-1931	138	6	improve	improve	VERB
american_scientific_journal-1931	138	7	the	the	DET
american_scientific_journal-1931	138	8	efficiency	efficiency	NOUN
american_scientific_journal-1931	138	9	of	of	ADP
american_scientific_journal-1931	138	10	the	the	DET
american_scientific_journal-1931	138	11	existing	exist	VERB
american_scientific_journal-1931	138	12	design	design	NOUN
american_scientific_journal-1931	138	13	and	and	CCONJ
american_scientific_journal-1931	138	14	due	due	ADP
american_scientific_journal-1931	138	15	to	to	ADP
american_scientific_journal-1931	138	16	the	the	DET
american_scientific_journal-1931	138	17	aspiration	aspiration	NOUN
american_scientific_journal-1931	138	18	of	of	ADP
american_scientific_journal-1931	138	19	the	the	DET
american_scientific_journal-1931	138	20	scope	scope	NOUN
american_scientific_journal-1931	138	21	of	of	ADP
american_scientific_journal-1931	138	22	this	this	DET
american_scientific_journal-1931	138	23	research	research	NOUN
american_scientific_journal-1931	138	24	,	,	PUNCT
american_scientific_journal-1931	138	25	further	further	ADJ
american_scientific_journal-1931	138	26	adjustments	adjustment	NOUN
american_scientific_journal-1931	138	27	may	may	AUX
american_scientific_journal-1931	138	28	be	be	AUX
american_scientific_journal-1931	138	29	performed	perform	VERB
american_scientific_journal-1931	138	30	in	in	ADP
american_scientific_journal-1931	138	31	future	future	NOUN
american_scientific_journal-1931	138	32	.	.	PUNCT
american_scientific_journal-1931	139	1	5	5	X
american_scientific_journal-1931	139	2	.	.	X
american_scientific_journal-1931	139	3	future	future	ADJ
american_scientific_journal-1931	139	4	work	work	NOUN
american_scientific_journal-1931	139	5	it	it	PRON
american_scientific_journal-1931	139	6	would	would	AUX
american_scientific_journal-1931	139	7	be	be	AUX
american_scientific_journal-1931	139	8	possible	possible	ADJ
american_scientific_journal-1931	139	9	for	for	SCONJ
american_scientific_journal-1931	139	10	this	this	DET
american_scientific_journal-1931	139	11	robot	robot	NOUN
american_scientific_journal-1931	139	12	to	to	PART
american_scientific_journal-1931	139	13	be	be	AUX
american_scientific_journal-1931	139	14	tested	test	VERB
american_scientific_journal-1931	139	15	in	in	ADP
american_scientific_journal-1931	139	16	small	small	ADJ
american_scientific_journal-1931	139	17	league	league	PROPN
american_scientific_journal-1931	139	18	robocup	robocup	PROPN
american_scientific_journal-1931	139	19	competitions	competition	NOUN
american_scientific_journal-1931	139	20	after	after	ADP
american_scientific_journal-1931	139	21	doing	do	VERB
american_scientific_journal-1931	139	22	few	few	ADJ
american_scientific_journal-1931	139	23	modifications	modification	NOUN
american_scientific_journal-1931	139	24	to	to	ADP
american_scientific_journal-1931	139	25	the	the	DET
american_scientific_journal-1931	139	26	robot	robot	NOUN
american_scientific_journal-1931	139	27	body	body	NOUN
american_scientific_journal-1931	139	28	such	such	ADJ
american_scientific_journal-1931	139	29	as	as	ADP
american_scientific_journal-1931	139	30	adding	add	VERB
american_scientific_journal-1931	139	31	a	a	DET
american_scientific_journal-1931	139	32	kicking	kicking	NOUN
american_scientific_journal-1931	139	33	mechanism	mechanism	NOUN
american_scientific_journal-1931	139	34	and	and	CCONJ
american_scientific_journal-1931	139	35	extra	extra	ADJ
american_scientific_journal-1931	139	36	sensors	sensor	NOUN
american_scientific_journal-1931	139	37	.	.	PUNCT
american_scientific_journal-1931	140	1	with	with	ADP
american_scientific_journal-1931	140	2	a	a	DET
american_scientific_journal-1931	140	3	more	more	ADV
american_scientific_journal-1931	140	4	sophisticated	sophisticated	ADJ
american_scientific_journal-1931	140	5	path	path	NOUN
american_scientific_journal-1931	140	6	planning	planning	NOUN
american_scientific_journal-1931	140	7	algorithm	algorithm	NOUN
american_scientific_journal-1931	140	8	and	and	CCONJ
american_scientific_journal-1931	140	9	analyses	analysis	NOUN
american_scientific_journal-1931	140	10	,	,	PUNCT
american_scientific_journal-1931	140	11	it	it	PRON
american_scientific_journal-1931	140	12	would	would	AUX
american_scientific_journal-1931	140	13	be	be	AUX
american_scientific_journal-1931	140	14	possible	possible	ADJ
american_scientific_journal-1931	140	15	for	for	SCONJ
american_scientific_journal-1931	140	16	this	this	DET
american_scientific_journal-1931	140	17	robot	robot	NOUN
american_scientific_journal-1931	140	18	to	to	PART
american_scientific_journal-1931	140	19	follow	follow	VERB
american_scientific_journal-1931	140	20	complex	complex	ADJ
american_scientific_journal-1931	140	21	trajectories	trajectory	NOUN
american_scientific_journal-1931	140	22	.	.	PUNCT
american_scientific_journal-1931	141	1	this	this	PRON
american_scientific_journal-1931	141	2	will	will	AUX
american_scientific_journal-1931	141	3	support	support	VERB
american_scientific_journal-1931	141	4	the	the	DET
american_scientific_journal-1931	141	5	robot	robot	NOUN
american_scientific_journal-1931	141	6	to	to	PART
american_scientific_journal-1931	141	7	follow	follow	VERB
american_scientific_journal-1931	141	8	the	the	DET
american_scientific_journal-1931	141	9	ball	ball	NOUN
american_scientific_journal-1931	141	10	with	with	ADP
american_scientific_journal-1931	141	11	a	a	DET
american_scientific_journal-1931	141	12	smoother	smooth	ADJ
american_scientific_journal-1931	141	13	path	path	NOUN
american_scientific_journal-1931	141	14	.	.	PUNCT
american_scientific_journal-1931	142	1	it	it	PRON
american_scientific_journal-1931	142	2	is	be	AUX
american_scientific_journal-1931	142	3	also	also	ADV
american_scientific_journal-1931	142	4	possible	possible	ADJ
american_scientific_journal-1931	142	5	to	to	PART
american_scientific_journal-1931	142	6	build	build	VERB
american_scientific_journal-1931	142	7	a	a	DET
american_scientific_journal-1931	142	8	team	team	NOUN
american_scientific_journal-1931	142	9	of	of	ADP
american_scientific_journal-1931	142	10	robots	robot	NOUN
american_scientific_journal-1931	142	11	and	and	CCONJ
american_scientific_journal-1931	142	12	perform	perform	VERB
american_scientific_journal-1931	142	13	a	a	DET
american_scientific_journal-1931	142	14	communication	communication	NOUN
american_scientific_journal-1931	142	15	between	between	ADP
american_scientific_journal-1931	142	16	them	they	PRON
american_scientific_journal-1931	142	17	.	.	PUNCT
american_scientific_journal-1931	143	1	references	reference	NOUN
american_scientific_journal-1931	143	2	[	[	X
american_scientific_journal-1931	143	3	1	1	NUM
american_scientific_journal-1931	143	4	]	]	PUNCT
american_scientific_journal-1931	143	5	x.	x.	NOUN
american_scientific_journal-1931	143	6	li	li	PROPN
american_scientific_journal-1931	143	7	and	and	CCONJ
american_scientific_journal-1931	143	8	a.	a.	PROPN
american_scientific_journal-1931	143	9	zell	zell	PROPN
american_scientific_journal-1931	143	10	.	.	PUNCT
american_scientific_journal-1931	144	1	h∞	h∞	X
american_scientific_journal-1931	144	2	"	"	PUNCT
american_scientific_journal-1931	144	3	filtering	filter	VERB
american_scientific_journal-1931	144	4	for	for	ADP
american_scientific_journal-1931	144	5	a	a	DET
american_scientific_journal-1931	144	6	mobile	mobile	ADJ
american_scientific_journal-1931	144	7	robot	robot	NOUN
american_scientific_journal-1931	144	8	tracking	track	VERB
american_scientific_journal-1931	144	9	a	a	DET
american_scientific_journal-1931	144	10	free	free	ADJ
american_scientific_journal-1931	144	11	rolling	rolling	NOUN
american_scientific_journal-1931	144	12	ball	ball	NOUN
american_scientific_journal-1931	144	13	,	,	PUNCT
american_scientific_journal-1931	144	14	"	"	PUNCT
american_scientific_journal-1931	144	15	in	in	ADP
american_scientific_journal-1931	144	16	:	:	PUNCT
american_scientific_journal-1931	144	17	robot	robot	NOUN
american_scientific_journal-1931	144	18	soccer	soccer	NOUN
american_scientific_journal-1931	144	19	world	world	PROPN
american_scientific_journal-1931	144	20	cup	cup	PROPN
american_scientific_journal-1931	144	21	,	,	PUNCT
american_scientific_journal-1931	144	22	springer	springer	NOUN
american_scientific_journal-1931	144	23	berlin	berlin	PROPN
american_scientific_journal-1931	144	24	heidelberg	heidelberg	PROPN
american_scientific_journal-1931	144	25	,	,	PUNCT
american_scientific_journal-1931	144	26	2006	2006	NUM
american_scientific_journal-1931	144	27	,	,	PUNCT
american_scientific_journal-1931	144	28	pp	pp	ADV
american_scientific_journal-1931	144	29	.	.	PUNCT
american_scientific_journal-1931	145	1	296	296	NUM
american_scientific_journal-1931	145	2	-	-	SYM
american_scientific_journal-1931	145	3	303	303	NUM
american_scientific_journal-1931	145	4	.	.	PUNCT
american_scientific_journal-1931	146	1	[	[	X
american_scientific_journal-1931	146	2	2	2	X
american_scientific_journal-1931	146	3	]	]	PUNCT
american_scientific_journal-1931	146	4	e.	e.	PROPN
american_scientific_journal-1931	146	5	torres	torres	PROPN
american_scientific_journal-1931	146	6	and	and	CCONJ
american_scientific_journal-1931	146	7	a.	a.	NOUN
american_scientific_journal-1931	146	8	weitzenfeld	weitzenfeld	NOUN
american_scientific_journal-1931	146	9	,	,	PUNCT
american_scientific_journal-1931	146	10	"	"	PUNCT
american_scientific_journal-1931	146	11	robocup	robocup	PROPN
american_scientific_journal-1931	146	12	small	small	ADJ
american_scientific_journal-1931	146	13	-	-	PUNCT
american_scientific_journal-1931	146	14	size	size	NOUN
american_scientific_journal-1931	146	15	league	league	NOUN
american_scientific_journal-1931	146	16	:	:	PUNCT
american_scientific_journal-1931	146	17	using	use	VERB
american_scientific_journal-1931	146	18	neural	neural	ADJ
american_scientific_journal-1931	146	19	networks	network	NOUN
american_scientific_journal-1931	146	20	to	to	PART
american_scientific_journal-1931	146	21	learn	learn	VERB
american_scientific_journal-1931	146	22	color	color	NOUN
american_scientific_journal-1931	146	23	segmentation	segmentation	NOUN
american_scientific_journal-1931	146	24	during	during	ADP
american_scientific_journal-1931	146	25	visual	visual	ADJ
american_scientific_journal-1931	146	26	processing	processing	NOUN
american_scientific_journal-1931	146	27	,	,	PUNCT
american_scientific_journal-1931	146	28	"	"	PUNCT
american_scientific_journal-1931	146	29	in	in	ADP
american_scientific_journal-1931	146	30	robotic	robotic	ADJ
american_scientific_journal-1931	146	31	symposium	symposium	NOUN
american_scientific_journal-1931	146	32	,	,	PUNCT
american_scientific_journal-1931	146	33	2008	2008	NUM
american_scientific_journal-1931	146	34	.	.	PUNCT
american_scientific_journal-1931	147	1	lars'08	lars'08	PROPN
american_scientific_journal-1931	147	2	.	.	PUNCT
american_scientific_journal-1931	147	3	ieee	ieee	PROPN
american_scientific_journal-1931	147	4	latin	latin	PROPN
american_scientific_journal-1931	147	5	american	american	PROPN
american_scientific_journal-1931	147	6	,	,	PUNCT
american_scientific_journal-1931	147	7	2008	2008	NUM
american_scientific_journal-1931	147	8	,	,	PUNCT
american_scientific_journal-1931	147	9	pp	pp	ADJ
american_scientific_journal-1931	147	10	.	.	PUNCT
american_scientific_journal-1931	148	1	14	14	NUM
american_scientific_journal-1931	148	2	-	-	SYM
american_scientific_journal-1931	148	3	19	19	NUM
american_scientific_journal-1931	148	4	.	.	PUNCT
american_scientific_journal-1931	149	1	[	[	X
american_scientific_journal-1931	149	2	3	3	NUM
american_scientific_journal-1931	149	3	]	]	X
american_scientific_journal-1931	149	4	scott	scott	PROPN
american_scientific_journal-1931	149	5	.	.	PUNCT
american_scientific_journal-1931	150	1	(	(	PUNCT
american_scientific_journal-1931	150	2	2014	2014	NUM
american_scientific_journal-1931	150	3	,	,	PUNCT
american_scientific_journal-1931	150	4	20	20	NUM
american_scientific_journal-1931	150	5	august	august	NUM
american_scientific_journal-1931	150	6	)	)	PUNCT
american_scientific_journal-1931	150	7	.	.	PUNCT
american_scientific_journal-1931	151	1	cmucam5	cmucam5	NOUN
american_scientific_journal-1931	151	2	pixy	pixy	NOUN
american_scientific_journal-1931	151	3	.	.	PUNCT
american_scientific_journal-1931	152	1	available	available	ADJ
american_scientific_journal-1931	152	2	:	:	PUNCT
american_scientific_journal-1931	153	1	http://www.cmucam.org/.	http://www.cmucam.org/.	NOUN
american_scientific_journal-1931	153	2	[	[	X
american_scientific_journal-1931	153	3	4	4	X
american_scientific_journal-1931	153	4	]	]	PUNCT
american_scientific_journal-1931	153	5	b.	b.	PROPN
american_scientific_journal-1931	153	6	chen	chen	PROPN
american_scientific_journal-1931	153	7	,	,	PUNCT
american_scientific_journal-1931	153	8	r.	r.	PROPN
american_scientific_journal-1931	153	9	kantowski	kantowski	PROPN
american_scientific_journal-1931	153	10	,	,	PUNCT
american_scientific_journal-1931	153	11	and	and	CCONJ
american_scientific_journal-1931	153	12	x.	x.	NOUN
american_scientific_journal-1931	153	13	dai	dai	PROPN
american_scientific_journal-1931	153	14	,	,	PUNCT
american_scientific_journal-1931	153	15	"	"	PUNCT
american_scientific_journal-1931	153	16	a	a	DET
american_scientific_journal-1931	153	17	simple	simple	ADJ
american_scientific_journal-1931	153	18	gravitational	gravitational	ADJ
american_scientific_journal-1931	153	19	lens	lens	NOUN
american_scientific_journal-1931	153	20	model	model	NOUN
american_scientific_journal-1931	153	21	for	for	ADP
american_scientific_journal-1931	153	22	cosmic	cosmic	ADJ
american_scientific_journal-1931	153	23	voids	voids	NOUN
american_scientific_journal-1931	153	24	,	,	PUNCT
american_scientific_journal-1931	153	25	"	"	PUNCT
american_scientific_journal-1931	153	26	arxiv	arxiv	PROPN
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american_scientific_journal-1931	153	29	,	,	PUNCT
american_scientific_journal-1931	153	30	2013	2013	NUM
american_scientific_journal-1931	153	31	.	.	PUNCT
american_scientific_journal-1931	154	1	http://www.cmucam.org/	http://www.cmucam.org/	X
american_scientific_journal-1931	154	2	american	american	PROPN
american_scientific_journal-1931	154	3	scientific	scientific	PROPN
american_scientific_journal-1931	154	4	research	research	PROPN
american_scientific_journal-1931	154	5	journal	journal	NOUN
american_scientific_journal-1931	154	6	for	for	ADP
american_scientific_journal-1931	154	7	engineering	engineering	NOUN
american_scientific_journal-1931	154	8	,	,	PUNCT
american_scientific_journal-1931	154	9	technology	technology	NOUN
american_scientific_journal-1931	154	10	,	,	PUNCT
american_scientific_journal-1931	154	11	and	and	CCONJ
american_scientific_journal-1931	154	12	sciences	science	NOUN
american_scientific_journal-1931	154	13	(	(	PUNCT
american_scientific_journal-1931	154	14	asrjets	asrjet	NOUN
american_scientific_journal-1931	154	15	)	)	PUNCT
american_scientific_journal-1931	154	16	(	(	PUNCT
american_scientific_journal-1931	154	17	2016	2016	NUM
american_scientific_journal-1931	154	18	)	)	PUNCT
american_scientific_journal-1931	154	19	volume	volume	NOUN
american_scientific_journal-1931	154	20	22	22	NUM
american_scientific_journal-1931	154	21	,	,	PUNCT
american_scientific_journal-1931	154	22	no	no	DET
american_scientific_journal-1931	154	23	1	1	NUM
american_scientific_journal-1931	154	24	,	,	PUNCT
american_scientific_journal-1931	154	25	pp	pp	ADV
american_scientific_journal-1931	154	26	231	231	NUM
american_scientific_journal-1931	154	27	-	-	SYM
american_scientific_journal-1931	154	28	242	242	NUM
american_scientific_journal-1931	154	29	242	242	NUM
american_scientific_journal-1931	154	30	[	[	X
american_scientific_journal-1931	154	31	5	5	NUM
american_scientific_journal-1931	154	32	]	]	PUNCT
american_scientific_journal-1931	154	33	t.	t.	PROPN
american_scientific_journal-1931	154	34	a.	a.	NOUN
american_scientific_journal-1931	154	35	baede	baede	PROPN
american_scientific_journal-1931	154	36	,	,	PUNCT
american_scientific_journal-1931	154	37	"	"	PUNCT
american_scientific_journal-1931	154	38	motion	motion	NOUN
american_scientific_journal-1931	154	39	control	control	NOUN
american_scientific_journal-1931	154	40	of	of	ADP
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american_scientific_journal-1931	154	42	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	154	43	mobile	mobile	ADJ
american_scientific_journal-1931	154	44	robot	robot	NOUN
american_scientific_journal-1931	154	45	,	,	PUNCT
american_scientific_journal-1931	154	46	"	"	PUNCT
american_scientific_journal-1931	154	47	traineeship	traineeship	NOUN
american_scientific_journal-1931	154	48	report	report	NOUN
american_scientific_journal-1931	154	49	dct	dct	PROPN
american_scientific_journal-1931	154	50	2006	2006	NUM
american_scientific_journal-1931	154	51	,	,	PUNCT
american_scientific_journal-1931	154	52	2006	2006	NUM
american_scientific_journal-1931	154	53	.	.	PUNCT
american_scientific_journal-1931	155	1	[	[	X
american_scientific_journal-1931	155	2	6	6	NUM
american_scientific_journal-1931	155	3	]	]	SYM
american_scientific_journal-1931	155	4	ma	ma	PROPN
american_scientific_journal-1931	155	5	,	,	PUNCT
american_scientific_journal-1931	155	6	s.	s.	PROPN
american_scientific_journal-1931	155	7	,	,	PUNCT
american_scientific_journal-1931	155	8	ren	ren	PROPN
american_scientific_journal-1931	155	9	,	,	PUNCT
american_scientific_journal-1931	155	10	c.	c.	PROPN
american_scientific_journal-1931	155	11	&	&	CCONJ
american_scientific_journal-1931	155	12	ye	ye	PROPN
american_scientific_journal-1931	155	13	,	,	PUNCT
american_scientific_journal-1931	155	14	c.	c.	PROPN
american_scientific_journal-1931	155	15	an	an	DET
american_scientific_journal-1931	155	16	omnidirectional	omnidirectional	ADJ
american_scientific_journal-1931	155	17	mobile	mobile	ADJ
american_scientific_journal-1931	155	18	robot	robot	NOUN
american_scientific_journal-1931	155	19	:	:	PUNCT
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american_scientific_journal-1931	155	21	and	and	CCONJ
american_scientific_journal-1931	155	22	analysis	analysis	NOUN
american_scientific_journal-1931	155	23	.	.	PUNCT
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american_scientific_journal-1931	155	25	and	and	CCONJ
american_scientific_journal-1931	155	26	biomimetics	biomimetic	NOUN
american_scientific_journal-1931	155	27	(	(	PUNCT
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american_scientific_journal-1931	155	29	)	)	PUNCT
american_scientific_journal-1931	155	30	,	,	PUNCT
american_scientific_journal-1931	155	31	2012	2012	NUM
american_scientific_journal-1931	155	32	ieee	ieee	PROPN
american_scientific_journal-1931	155	33	international	international	ADJ
american_scientific_journal-1931	155	34	conference	conference	NOUN
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american_scientific_journal-1931	155	36	,	,	PUNCT
american_scientific_journal-1931	155	37	2012	2012	NUM
american_scientific_journal-1931	155	38	.	.	PUNCT
american_scientific_journal-1931	156	1	ieee	ieee	NOUN
american_scientific_journal-1931	156	2	,	,	PUNCT
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american_scientific_journal-1931	156	4	-	-	SYM
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american_scientific_journal-1931	156	6	.	.	PUNCT
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american_scientific_journal-1931	157	3	]	]	PUNCT
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american_scientific_journal-1931	157	5	j.	j.	PROPN
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american_scientific_journal-1931	157	7	and	and	CCONJ
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american_scientific_journal-1931	157	10	,	,	PUNCT
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american_scientific_journal-1931	157	13	:	:	PUNCT
american_scientific_journal-1931	157	14	courier	courier	PROPN
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american_scientific_journal-1931	157	17	,	,	PUNCT
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american_scientific_journal-1931	157	19	.	.	PUNCT
american_scientific_journal-1931	158	1	[	[	X
american_scientific_journal-1931	158	2	8	8	NUM
american_scientific_journal-1931	158	3	]	]	X
american_scientific_journal-1931	158	4	g.	g.	PROPN
american_scientific_journal-1931	158	5	a.	a.	PROPN
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american_scientific_journal-1931	158	7	,	,	PUNCT
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american_scientific_journal-1931	158	11	,	,	PUNCT
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american_scientific_journal-1931	158	15	,	,	PUNCT
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american_scientific_journal-1931	158	17	m.	m.	PROPN
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american_scientific_journal-1931	158	20	,	,	PUNCT
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american_scientific_journal-1931	158	31	,	,	PUNCT
american_scientific_journal-1931	158	32	"	"	PUNCT
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american_scientific_journal-1931	158	34	:	:	PUNCT
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american_scientific_journal-1931	158	37	,	,	PUNCT
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american_scientific_journal-1931	158	39	.	.	PUNCT
american_scientific_journal-1931	159	1	[	[	X
american_scientific_journal-1931	159	2	9	9	NUM
american_scientific_journal-1931	159	3	]	]	PUNCT
american_scientific_journal-1931	159	4	a.	a.	NOUN
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american_scientific_journal-1931	159	10	,	,	PUNCT
american_scientific_journal-1931	159	11	"	"	PUNCT
american_scientific_journal-1931	159	12	matlab	matlab	PROPN
american_scientific_journal-1931	159	13	gui	gui	NOUN
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american_scientific_journal-1931	159	20	"	"	PUNCT
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american_scientific_journal-1931	159	26	6th	6th	ADJ
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american_scientific_journal-1931	159	29	conference	conference	NOUN
american_scientific_journal-1931	159	30	on	on	ADP
american_scientific_journal-1931	159	31	engineering	engineering	NOUN
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american_scientific_journal-1931	159	36	pp	pp	ADV
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american_scientific_journal-1931	159	39	.	.	PUNCT