id	sid	tid	token	lemma	pos
american_scientific_journal-2188	1	1	108	108	NUM
american_scientific_journal-2188	1	2	american	american	ADJ
american_scientific_journal-2188	1	3	scientific	scientific	ADJ
american_scientific_journal-2188	1	4	research	research	NOUN
american_scientific_journal-2188	1	5	journal	journal	NOUN
american_scientific_journal-2188	1	6	for	for	ADP
american_scientific_journal-2188	1	7	engineering	engineering	NOUN
american_scientific_journal-2188	1	8	,	,	PUNCT
american_scientific_journal-2188	1	9	technology	technology	NOUN
american_scientific_journal-2188	1	10	,	,	PUNCT
american_scientific_journal-2188	1	11	and	and	CCONJ
american_scientific_journal-2188	1	12	sciences	science	NOUN
american_scientific_journal-2188	1	13	(	(	PUNCT
american_scientific_journal-2188	1	14	asrjets	asrjet	NOUN
american_scientific_journal-2188	1	15	)	)	PUNCT
american_scientific_journal-2188	1	16	issn	issn	PROPN
american_scientific_journal-2188	1	17	(	(	PUNCT
american_scientific_journal-2188	1	18	print	print	NOUN
american_scientific_journal-2188	1	19	)	)	PUNCT
american_scientific_journal-2188	1	20	2313	2313	NUM
american_scientific_journal-2188	1	21	-	-	SYM
american_scientific_journal-2188	1	22	4410	4410	NUM
american_scientific_journal-2188	1	23	,	,	PUNCT
american_scientific_journal-2188	1	24	issn	issn	PROPN
american_scientific_journal-2188	1	25	(	(	PUNCT
american_scientific_journal-2188	1	26	online	online	ADJ
american_scientific_journal-2188	1	27	)	)	PUNCT
american_scientific_journal-2188	1	28	2313	2313	NUM
american_scientific_journal-2188	1	29	-	-	SYM
american_scientific_journal-2188	1	30	4402	4402	NUM
american_scientific_journal-2188	1	31	©	©	PROPN
american_scientific_journal-2188	1	32	global	global	ADJ
american_scientific_journal-2188	1	33	society	society	NOUN
american_scientific_journal-2188	1	34	of	of	ADP
american_scientific_journal-2188	1	35	scientific	scientific	ADJ
american_scientific_journal-2188	1	36	research	research	NOUN
american_scientific_journal-2188	1	37	and	and	CCONJ
american_scientific_journal-2188	1	38	researchers	researcher	NOUN
american_scientific_journal-2188	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-2188	1	40	localization	localization	NOUN
american_scientific_journal-2188	1	41	of	of	ADP
american_scientific_journal-2188	1	42	indoor	indoor	ADJ
american_scientific_journal-2188	1	43	mobile	mobile	ADJ
american_scientific_journal-2188	1	44	robot	robot	NOUN
american_scientific_journal-2188	1	45	using	use	VERB
american_scientific_journal-2188	1	46	monte	monte	PROPN
american_scientific_journal-2188	1	47	carlo	carlo	PROPN
american_scientific_journal-2188	1	48	localization	localization	NOUN
american_scientific_journal-2188	1	49	algorithm	algorithm	NOUN
american_scientific_journal-2188	1	50	(	(	PUNCT
american_scientific_journal-2188	1	51	mcl	mcl	PROPN
american_scientific_journal-2188	1	52	)	)	PUNCT
american_scientific_journal-2188	1	53	ali	ali	PROPN
american_scientific_journal-2188	1	54	khaleel	khaleel	PROPN
american_scientific_journal-2188	1	55	mahmooda	mahmooda	PROPN
american_scientific_journal-2188	1	56	*	*	PROPN
american_scientific_journal-2188	1	57	,	,	PUNCT
american_scientific_journal-2188	1	58	robert	robert	PROPN
american_scientific_journal-2188	1	59	bickerb	bickerb	PROPN
american_scientific_journal-2188	1	60	ahay	ahay	PROPN
american_scientific_journal-2188	1	61	al	al	PROPN
american_scientific_journal-2188	1	62	-	-	PUNCT
american_scientific_journal-2188	1	63	jamiaa	jamiaa	PROPN
american_scientific_journal-2188	1	64	,	,	PUNCT
american_scientific_journal-2188	1	65	baghdad	baghdad	PROPN
american_scientific_journal-2188	1	66	14001,iraq	14001,iraq	NUM
american_scientific_journal-2188	1	67	bnewcastle	bnewcastle	NOUN
american_scientific_journal-2188	1	68	university	university	NOUN
american_scientific_journal-2188	1	69	,	,	PUNCT
american_scientific_journal-2188	1	70	address	address	NOUN
american_scientific_journal-2188	1	71	,	,	PUNCT
american_scientific_journal-2188	1	72	newcastle	newcastle	PROPN
american_scientific_journal-2188	1	73	upon	upon	SCONJ
american_scientific_journal-2188	1	74	tyne	tyne	PROPN
american_scientific_journal-2188	1	75	ne1	ne1	PROPN
american_scientific_journal-2188	1	76	7ru	7ru	PROPN
american_scientific_journal-2188	1	77	,	,	PUNCT
american_scientific_journal-2188	1	78	uk	uk	PROPN
american_scientific_journal-2188	1	79	aemail	aemail	NOUN
american_scientific_journal-2188	1	80	:	:	PUNCT
american_scientific_journal-2188	1	81	ali_khalil.mahmud@yahoo.com	ali_khalil.mahmud@yahoo.com	X
american_scientific_journal-2188	1	82	bemail	bemail	NOUN
american_scientific_journal-2188	1	83	:	:	PUNCT
american_scientific_journal-2188	1	84	robert.bicker@newcastle.com	robert.bicker@newcastle.com	X
american_scientific_journal-2188	1	85	abstract	abstract	ADJ
american_scientific_journal-2188	1	86	one	one	NUM
american_scientific_journal-2188	1	87	of	of	ADP
american_scientific_journal-2188	1	88	the	the	DET
american_scientific_journal-2188	1	89	challenging	challenging	ADJ
american_scientific_journal-2188	1	90	issues	issue	NOUN
american_scientific_journal-2188	1	91	in	in	ADP
american_scientific_journal-2188	1	92	robotics	robotic	NOUN
american_scientific_journal-2188	1	93	is	be	AUX
american_scientific_journal-2188	1	94	to	to	PART
american_scientific_journal-2188	1	95	give	give	VERB
american_scientific_journal-2188	1	96	a	a	DET
american_scientific_journal-2188	1	97	mobile	mobile	ADJ
american_scientific_journal-2188	1	98	robot	robot	NOUN
american_scientific_journal-2188	1	99	the	the	DET
american_scientific_journal-2188	1	100	ability	ability	NOUN
american_scientific_journal-2188	1	101	to	to	PART
american_scientific_journal-2188	1	102	recognize	recognize	VERB
american_scientific_journal-2188	1	103	its	its	PRON
american_scientific_journal-2188	1	104	initial	initial	ADJ
american_scientific_journal-2188	1	105	pose	pose	NOUN
american_scientific_journal-2188	1	106	(	(	PUNCT
american_scientific_journal-2188	1	107	position	position	NOUN
american_scientific_journal-2188	1	108	and	and	CCONJ
american_scientific_journal-2188	1	109	orientation	orientation	NOUN
american_scientific_journal-2188	1	110	)	)	PUNCT
american_scientific_journal-2188	1	111	without	without	ADP
american_scientific_journal-2188	1	112	any	any	DET
american_scientific_journal-2188	1	113	human	human	ADJ
american_scientific_journal-2188	1	114	help	help	NOUN
american_scientific_journal-2188	1	115	.	.	PUNCT
american_scientific_journal-2188	2	1	in	in	ADP
american_scientific_journal-2188	2	2	this	this	DET
american_scientific_journal-2188	2	3	paper	paper	NOUN
american_scientific_journal-2188	2	4	,	,	PUNCT
american_scientific_journal-2188	2	5	the	the	DET
american_scientific_journal-2188	2	6	components	component	NOUN
american_scientific_journal-2188	2	7	of	of	ADP
american_scientific_journal-2188	2	8	a	a	DET
american_scientific_journal-2188	2	9	mobile	mobile	ADJ
american_scientific_journal-2188	2	10	robot	robot	NOUN
american_scientific_journal-2188	2	11	will	will	AUX
american_scientific_journal-2188	2	12	be	be	AUX
american_scientific_journal-2188	2	13	described	describe	VERB
american_scientific_journal-2188	2	14	in	in	ADP
american_scientific_journal-2188	2	15	addition	addition	NOUN
american_scientific_journal-2188	2	16	to	to	ADP
american_scientific_journal-2188	2	17	the	the	DET
american_scientific_journal-2188	2	18	specification	specification	NOUN
american_scientific_journal-2188	2	19	of	of	ADP
american_scientific_journal-2188	2	20	the	the	DET
american_scientific_journal-2188	2	21	sensor	sensor	NOUN
american_scientific_journal-2188	2	22	that	that	PRON
american_scientific_journal-2188	2	23	will	will	AUX
american_scientific_journal-2188	2	24	be	be	AUX
american_scientific_journal-2188	2	25	used	use	VERB
american_scientific_journal-2188	2	26	.	.	PUNCT
american_scientific_journal-2188	3	1	then	then	ADV
american_scientific_journal-2188	3	2	,	,	PUNCT
american_scientific_journal-2188	3	3	the	the	DET
american_scientific_journal-2188	3	4	map	map	NOUN
american_scientific_journal-2188	3	5	of	of	ADP
american_scientific_journal-2188	3	6	the	the	DET
american_scientific_journal-2188	3	7	environment	environment	NOUN
american_scientific_journal-2188	3	8	will	will	AUX
american_scientific_journal-2188	3	9	be	be	AUX
american_scientific_journal-2188	3	10	defined	define	VERB
american_scientific_journal-2188	3	11	since	since	SCONJ
american_scientific_journal-2188	3	12	it	it	PRON
american_scientific_journal-2188	3	13	is	be	AUX
american_scientific_journal-2188	3	14	pre	pre	ADJ
american_scientific_journal-2188	3	15	-	-	VERB
american_scientific_journal-2188	3	16	defined	define	VERB
american_scientific_journal-2188	3	17	and	and	CCONJ
american_scientific_journal-2188	3	18	stored	store	VERB
american_scientific_journal-2188	3	19	in	in	ADP
american_scientific_journal-2188	3	20	the	the	DET
american_scientific_journal-2188	3	21	memory	memory	NOUN
american_scientific_journal-2188	3	22	of	of	ADP
american_scientific_journal-2188	3	23	the	the	DET
american_scientific_journal-2188	3	24	robot	robot	NOUN
american_scientific_journal-2188	3	25	.	.	PUNCT
american_scientific_journal-2188	4	1	after	after	ADP
american_scientific_journal-2188	4	2	that	that	PRON
american_scientific_journal-2188	4	3	,	,	PUNCT
american_scientific_journal-2188	4	4	a	a	DET
american_scientific_journal-2188	4	5	localization	localization	NOUN
american_scientific_journal-2188	4	6	algorithm	algorithm	NOUN
american_scientific_journal-2188	4	7	has	have	AUX
american_scientific_journal-2188	4	8	been	be	AUX
american_scientific_journal-2188	4	9	designed	design	VERB
american_scientific_journal-2188	4	10	,	,	PUNCT
american_scientific_journal-2188	4	11	analysed	analyse	VERB
american_scientific_journal-2188	4	12	and	and	CCONJ
american_scientific_journal-2188	4	13	implemented	implement	VERB
american_scientific_journal-2188	4	14	to	to	PART
american_scientific_journal-2188	4	15	develop	develop	VERB
american_scientific_journal-2188	4	16	the	the	DET
american_scientific_journal-2188	4	17	ability	ability	NOUN
american_scientific_journal-2188	4	18	of	of	ADP
american_scientific_journal-2188	4	19	a	a	DET
american_scientific_journal-2188	4	20	mobile	mobile	ADJ
american_scientific_journal-2188	4	21	robot	robot	NOUN
american_scientific_journal-2188	4	22	to	to	PART
american_scientific_journal-2188	4	23	recognize	recognize	VERB
american_scientific_journal-2188	4	24	its	its	PRON
american_scientific_journal-2188	4	25	initial	initial	ADJ
american_scientific_journal-2188	4	26	pose	pose	NOUN
american_scientific_journal-2188	4	27	.	.	PUNCT
american_scientific_journal-2188	5	1	finally	finally	ADV
american_scientific_journal-2188	5	2	,	,	PUNCT
american_scientific_journal-2188	5	3	the	the	DET
american_scientific_journal-2188	5	4	final	final	ADJ
american_scientific_journal-2188	5	5	results	result	NOUN
american_scientific_journal-2188	5	6	that	that	PRON
american_scientific_journal-2188	5	7	have	have	AUX
american_scientific_journal-2188	5	8	been	be	AUX
american_scientific_journal-2188	5	9	taken	take	VERB
american_scientific_journal-2188	5	10	practically	practically	ADV
american_scientific_journal-2188	5	11	will	will	AUX
american_scientific_journal-2188	5	12	discussed	discuss	VERB
american_scientific_journal-2188	5	13	.	.	PUNCT
american_scientific_journal-2188	6	1	these	these	DET
american_scientific_journal-2188	6	2	result	result	NOUN
american_scientific_journal-2188	6	3	will	will	AUX
american_scientific_journal-2188	6	4	be	be	AUX
american_scientific_journal-2188	6	5	divided	divide	VERB
american_scientific_journal-2188	6	6	into	into	ADP
american_scientific_journal-2188	6	7	two	two	NUM
american_scientific_journal-2188	6	8	main	main	ADJ
american_scientific_journal-2188	6	9	sub	sub	NOUN
american_scientific_journal-2188	6	10	-	-	NOUN
american_scientific_journal-2188	6	11	sections	section	NOUN
american_scientific_journal-2188	6	12	;	;	PUNCT
american_scientific_journal-2188	6	13	the	the	DET
american_scientific_journal-2188	6	14	first	first	ADJ
american_scientific_journal-2188	6	15	section	section	NOUN
american_scientific_journal-2188	6	16	describes	describe	VERB
american_scientific_journal-2188	6	17	the	the	DET
american_scientific_journal-2188	6	18	particles	particle	NOUN
american_scientific_journal-2188	6	19	distribution	distribution	NOUN
american_scientific_journal-2188	6	20	over	over	ADP
american_scientific_journal-2188	6	21	the	the	DET
american_scientific_journal-2188	6	22	working	work	VERB
american_scientific_journal-2188	6	23	environment	environment	NOUN
american_scientific_journal-2188	6	24	and	and	CCONJ
american_scientific_journal-2188	6	25	their	their	PRON
american_scientific_journal-2188	6	26	position	position	NOUN
american_scientific_journal-2188	6	27	update	update	NOUN
american_scientific_journal-2188	6	28	over	over	ADP
american_scientific_journal-2188	6	29	a	a	DET
american_scientific_journal-2188	6	30	number	number	NOUN
american_scientific_journal-2188	6	31	of	of	ADP
american_scientific_journal-2188	6	32	iterations	iteration	NOUN
american_scientific_journal-2188	6	33	.	.	PUNCT
american_scientific_journal-2188	7	1	second	second	ADJ
american_scientific_journal-2188	7	2	section	section	NOUN
american_scientific_journal-2188	7	3	will	will	AUX
american_scientific_journal-2188	7	4	shows	show	VERB
american_scientific_journal-2188	7	5	the	the	DET
american_scientific_journal-2188	7	6	update	update	NOUN
american_scientific_journal-2188	7	7	in	in	ADP
american_scientific_journal-2188	7	8	the	the	DET
american_scientific_journal-2188	7	9	importance	importance	NOUN
american_scientific_journal-2188	7	10	weight	weight	NOUN
american_scientific_journal-2188	7	11	values	value	NOUN
american_scientific_journal-2188	7	12	over	over	ADP
american_scientific_journal-2188	7	13	a	a	DET
american_scientific_journal-2188	7	14	number	number	NOUN
american_scientific_journal-2188	7	15	of	of	ADP
american_scientific_journal-2188	7	16	iterations	iteration	NOUN
american_scientific_journal-2188	7	17	and	and	CCONJ
american_scientific_journal-2188	7	18	for	for	ADP
american_scientific_journal-2188	7	19	three	three	NUM
american_scientific_journal-2188	7	20	different	different	ADJ
american_scientific_journal-2188	7	21	number	number	NOUN
american_scientific_journal-2188	7	22	of	of	ADP
american_scientific_journal-2188	7	23	particles	particle	NOUN
american_scientific_journal-2188	7	24	.	.	PUNCT
american_scientific_journal-2188	8	1	keywords	keyword	NOUN
american_scientific_journal-2188	8	2	:	:	PUNCT
american_scientific_journal-2188	8	3	localization	localization	NOUN
american_scientific_journal-2188	8	4	;	;	PUNCT
american_scientific_journal-2188	8	5	particles	particle	NOUN
american_scientific_journal-2188	8	6	;	;	PUNCT
american_scientific_journal-2188	8	7	importance	importance	NOUN
american_scientific_journal-2188	8	8	weight	weight	NOUN
american_scientific_journal-2188	8	9	;	;	PUNCT
american_scientific_journal-2188	8	10	pose	pose	VERB
american_scientific_journal-2188	8	11	;	;	PUNCT
american_scientific_journal-2188	8	12	differential	differential	NOUN
american_scientific_journal-2188	8	13	drive	drive	NOUN
american_scientific_journal-2188	8	14	;	;	PUNCT
american_scientific_journal-2188	8	15	kinematic	kinematic	ADJ
american_scientific_journal-2188	8	16	;	;	PUNCT
american_scientific_journal-2188	8	17	global	global	ADJ
american_scientific_journal-2188	8	18	map	map	NOUN
american_scientific_journal-2188	8	19	.	.	PUNCT
american_scientific_journal-2188	9	1	1	1	X
american_scientific_journal-2188	9	2	.	.	X
american_scientific_journal-2188	9	3	introduction	introduction	NOUN
american_scientific_journal-2188	9	4	defining	define	VERB
american_scientific_journal-2188	9	5	the	the	DET
american_scientific_journal-2188	9	6	mobile	mobile	ADJ
american_scientific_journal-2188	9	7	robot	robot	NOUN
american_scientific_journal-2188	9	8	position	position	NOUN
american_scientific_journal-2188	9	9	and	and	CCONJ
american_scientific_journal-2188	9	10	orientation	orientation	NOUN
american_scientific_journal-2188	9	11	within	within	ADP
american_scientific_journal-2188	9	12	its	its	PRON
american_scientific_journal-2188	9	13	environment	environment	NOUN
american_scientific_journal-2188	9	14	is	be	AUX
american_scientific_journal-2188	9	15	identified	identify	VERB
american_scientific_journal-2188	9	16	as	as	ADP
american_scientific_journal-2188	9	17	mobile	mobile	ADJ
american_scientific_journal-2188	9	18	robot	robot	NOUN
american_scientific_journal-2188	9	19	localization	localization	NOUN
american_scientific_journal-2188	9	20	problem	problem	NOUN
american_scientific_journal-2188	9	21	.	.	PUNCT
american_scientific_journal-2188	10	1	accurate	accurate	ADJ
american_scientific_journal-2188	10	2	localization	localization	NOUN
american_scientific_journal-2188	10	3	of	of	ADP
american_scientific_journal-2188	10	4	the	the	DET
american_scientific_journal-2188	10	5	robot	robot	NOUN
american_scientific_journal-2188	10	6	is	be	AUX
american_scientific_journal-2188	10	7	very	very	ADV
american_scientific_journal-2188	10	8	important	important	ADJ
american_scientific_journal-2188	10	9	since	since	SCONJ
american_scientific_journal-2188	10	10	incorrect	incorrect	ADJ
american_scientific_journal-2188	10	11	estimations	estimation	NOUN
american_scientific_journal-2188	10	12	for	for	ADP
american_scientific_journal-2188	10	13	the	the	DET
american_scientific_journal-2188	10	14	position	position	NOUN
american_scientific_journal-2188	10	15	and	and	CCONJ
american_scientific_journal-2188	10	16	orientation	orientation	NOUN
american_scientific_journal-2188	10	17	of	of	ADP
american_scientific_journal-2188	10	18	the	the	DET
american_scientific_journal-2188	10	19	mobile	mobile	NOUN
american_scientific_journal-2188	10	20	robot	robot	NOUN
american_scientific_journal-2188	10	21	can	can	AUX
american_scientific_journal-2188	10	22	cause	cause	VERB
american_scientific_journal-2188	10	23	inaccurate	inaccurate	ADJ
american_scientific_journal-2188	10	24	behavior	behavior	NOUN
american_scientific_journal-2188	10	25	.	.	PUNCT
american_scientific_journal-2188	11	1	for	for	ADP
american_scientific_journal-2188	11	2	example	example	NOUN
american_scientific_journal-2188	11	3	,	,	PUNCT
american_scientific_journal-2188	11	4	if	if	SCONJ
american_scientific_journal-2188	11	5	a	a	DET
american_scientific_journal-2188	11	6	mobile	mobile	ADJ
american_scientific_journal-2188	11	7	robot	robot	NOUN
american_scientific_journal-2188	11	8	does	do	AUX
american_scientific_journal-2188	11	9	not	not	PART
american_scientific_journal-2188	11	10	have	have	VERB
american_scientific_journal-2188	11	11	an	an	DET
american_scientific_journal-2188	11	12	accurate	accurate	ADJ
american_scientific_journal-2188	11	13	localization	localization	NOUN
american_scientific_journal-2188	11	14	algorithm	algorithm	NOUN
american_scientific_journal-2188	11	15	,	,	PUNCT
american_scientific_journal-2188	11	16	it	it	PRON
american_scientific_journal-2188	11	17	will	will	AUX
american_scientific_journal-2188	11	18	lead	lead	VERB
american_scientific_journal-2188	11	19	to	to	PART
american_scientific_journal-2188	11	20	collide	collide	VERB
american_scientific_journal-2188	11	21	with	with	ADP
american_scientific_journal-2188	11	22	obstacles	obstacle	NOUN
american_scientific_journal-2188	11	23	or	or	CCONJ
american_scientific_journal-2188	11	24	objects	object	NOUN
american_scientific_journal-2188	11	25	in	in	ADP
american_scientific_journal-2188	11	26	the	the	DET
american_scientific_journal-2188	11	27	environment	environment	NOUN
american_scientific_journal-2188	11	28	or	or	CCONJ
american_scientific_journal-2188	11	29	enter	enter	VERB
american_scientific_journal-2188	11	30	the	the	DET
american_scientific_journal-2188	11	31	wrong	wrong	ADJ
american_scientific_journal-2188	11	32	room	room	NOUN
american_scientific_journal-2188	11	33	or	or	CCONJ
american_scientific_journal-2188	11	34	even	even	ADV
american_scientific_journal-2188	11	35	the	the	DET
american_scientific_journal-2188	11	36	wrong	wrong	ADJ
american_scientific_journal-2188	11	37	floor	floor	NOUN
american_scientific_journal-2188	11	38	in	in	ADP
american_scientific_journal-2188	11	39	the	the	DET
american_scientific_journal-2188	11	40	building	building	NOUN
american_scientific_journal-2188	11	41	.	.	PUNCT
american_scientific_journal-2188	12	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-2188	13	1	*	*	PUNCT
american_scientific_journal-2188	13	2	corresponding	correspond	VERB
american_scientific_journal-2188	13	3	author	author	NOUN
american_scientific_journal-2188	13	4	.	.	PUNCT
american_scientific_journal-2188	14	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-2188	14	2	american	american	PROPN
american_scientific_journal-2188	14	3	scientific	scientific	PROPN
american_scientific_journal-2188	14	4	research	research	NOUN
american_scientific_journal-2188	14	5	journal	journal	NOUN
american_scientific_journal-2188	14	6	for	for	ADP
american_scientific_journal-2188	14	7	engineering	engineering	NOUN
american_scientific_journal-2188	14	8	,	,	PUNCT
american_scientific_journal-2188	14	9	technology	technology	NOUN
american_scientific_journal-2188	14	10	,	,	PUNCT
american_scientific_journal-2188	14	11	and	and	CCONJ
american_scientific_journal-2188	14	12	sciences	science	NOUN
american_scientific_journal-2188	14	13	(	(	PUNCT
american_scientific_journal-2188	14	14	asrjets	asrjet	NOUN
american_scientific_journal-2188	14	15	)	)	PUNCT
american_scientific_journal-2188	14	16	(	(	PUNCT
american_scientific_journal-2188	14	17	2016	2016	NUM
american_scientific_journal-2188	14	18	)	)	PUNCT
american_scientific_journal-2188	14	19	volume	volume	NOUN
american_scientific_journal-2188	14	20	26	26	NUM
american_scientific_journal-2188	14	21	,	,	PUNCT
american_scientific_journal-2188	14	22	no	no	DET
american_scientific_journal-2188	14	23	1	1	NUM
american_scientific_journal-2188	14	24	,	,	PUNCT
american_scientific_journal-2188	14	25	pp	pp	ADV
american_scientific_journal-2188	14	26	108	108	NUM
american_scientific_journal-2188	14	27	-	-	SYM
american_scientific_journal-2188	14	28	126	126	NUM
american_scientific_journal-2188	14	29	109	109	NUM
american_scientific_journal-2188	14	30	thereby	thereby	ADV
american_scientific_journal-2188	14	31	preventing	prevent	VERB
american_scientific_journal-2188	14	32	the	the	DET
american_scientific_journal-2188	14	33	robot	robot	NOUN
american_scientific_journal-2188	14	34	from	from	ADP
american_scientific_journal-2188	14	35	completing	complete	VERB
american_scientific_journal-2188	14	36	its	its	PRON
american_scientific_journal-2188	14	37	detected	detect	VERB
american_scientific_journal-2188	14	38	goals	goal	NOUN
american_scientific_journal-2188	14	39	.	.	PUNCT
american_scientific_journal-2188	15	1	for	for	SCONJ
american_scientific_journal-2188	15	2	the	the	DET
american_scientific_journal-2188	15	3	mobile	mobile	ADJ
american_scientific_journal-2188	15	4	robot	robot	NOUN
american_scientific_journal-2188	15	5	to	to	PART
american_scientific_journal-2188	15	6	localize	localize	VERB
american_scientific_journal-2188	15	7	itself	itself	PRON
american_scientific_journal-2188	15	8	within	within	ADP
american_scientific_journal-2188	15	9	its	its	PRON
american_scientific_journal-2188	15	10	working	working	NOUN
american_scientific_journal-2188	15	11	environment	environment	NOUN
american_scientific_journal-2188	15	12	,	,	PUNCT
american_scientific_journal-2188	15	13	it	it	PRON
american_scientific_journal-2188	15	14	is	be	AUX
american_scientific_journal-2188	15	15	mostly	mostly	ADV
american_scientific_journal-2188	15	16	provided	provide	VERB
american_scientific_journal-2188	15	17	with	with	ADP
american_scientific_journal-2188	15	18	a	a	DET
american_scientific_journal-2188	15	19	map	map	NOUN
american_scientific_journal-2188	15	20	of	of	ADP
american_scientific_journal-2188	15	21	its	its	PRON
american_scientific_journal-2188	15	22	environment	environment	NOUN
american_scientific_journal-2188	15	23	and	and	CCONJ
american_scientific_journal-2188	15	24	it	it	PRON
american_scientific_journal-2188	15	25	is	be	AUX
american_scientific_journal-2188	15	26	equipped	equip	VERB
american_scientific_journal-2188	15	27	with	with	ADP
american_scientific_journal-2188	15	28	sensors	sensor	NOUN
american_scientific_journal-2188	15	29	to	to	PART
american_scientific_journal-2188	15	30	identify	identify	VERB
american_scientific_journal-2188	15	31	itself	itself	PRON
american_scientific_journal-2188	15	32	within	within	ADP
american_scientific_journal-2188	15	33	its	its	PRON
american_scientific_journal-2188	15	34	environment	environment	NOUN
american_scientific_journal-2188	15	35	.	.	PUNCT
american_scientific_journal-2188	16	1	by	by	ADP
american_scientific_journal-2188	16	2	using	use	VERB
american_scientific_journal-2188	16	3	the	the	DET
american_scientific_journal-2188	16	4	observations	observation	NOUN
american_scientific_journal-2188	16	5	(	(	PUNCT
american_scientific_journal-2188	16	6	measurements	measurement	NOUN
american_scientific_journal-2188	16	7	)	)	PUNCT
american_scientific_journal-2188	16	8	from	from	ADP
american_scientific_journal-2188	16	9	the	the	DET
american_scientific_journal-2188	16	10	sensors	sensor	NOUN
american_scientific_journal-2188	16	11	with	with	ADP
american_scientific_journal-2188	16	12	the	the	DET
american_scientific_journal-2188	16	13	map	map	NOUN
american_scientific_journal-2188	16	14	of	of	ADP
american_scientific_journal-2188	16	15	the	the	DET
american_scientific_journal-2188	16	16	environment	environment	NOUN
american_scientific_journal-2188	16	17	,	,	PUNCT
american_scientific_journal-2188	16	18	the	the	DET
american_scientific_journal-2188	16	19	robot	robot	NOUN
american_scientific_journal-2188	16	20	determines	determine	VERB
american_scientific_journal-2188	16	21	its	its	PRON
american_scientific_journal-2188	16	22	position	position	NOUN
american_scientific_journal-2188	16	23	and	and	CCONJ
american_scientific_journal-2188	16	24	orientation	orientation	NOUN
american_scientific_journal-2188	16	25	[	[	X
american_scientific_journal-2188	16	26	1	1	NUM
american_scientific_journal-2188	16	27	]	]	PUNCT
american_scientific_journal-2188	16	28	.	.	PUNCT
american_scientific_journal-2188	17	1	in	in	ADP
american_scientific_journal-2188	17	2	contrast	contrast	NOUN
american_scientific_journal-2188	17	3	to	to	ADP
american_scientific_journal-2188	17	4	the	the	DET
american_scientific_journal-2188	17	5	position	position	NOUN
american_scientific_journal-2188	17	6	tracking	tracking	NOUN
american_scientific_journal-2188	17	7	problem	problem	NOUN
american_scientific_journal-2188	17	8	,	,	PUNCT
american_scientific_journal-2188	17	9	where	where	SCONJ
american_scientific_journal-2188	17	10	the	the	DET
american_scientific_journal-2188	17	11	starting	starting	NOUN
american_scientific_journal-2188	17	12	position	position	NOUN
american_scientific_journal-2188	17	13	and	and	CCONJ
american_scientific_journal-2188	17	14	orientation	orientation	NOUN
american_scientific_journal-2188	17	15	of	of	ADP
american_scientific_journal-2188	17	16	the	the	DET
american_scientific_journal-2188	17	17	mobile	mobile	ADJ
american_scientific_journal-2188	17	18	robot	robot	NOUN
american_scientific_journal-2188	17	19	are	be	AUX
american_scientific_journal-2188	17	20	known	know	VERB
american_scientific_journal-2188	17	21	and	and	CCONJ
american_scientific_journal-2188	17	22	the	the	DET
american_scientific_journal-2188	17	23	robot	robot	NOUN
american_scientific_journal-2188	17	24	just	just	ADV
american_scientific_journal-2188	17	25	needs	need	VERB
american_scientific_journal-2188	17	26	to	to	PART
american_scientific_journal-2188	17	27	correct	correct	VERB
american_scientific_journal-2188	17	28	the	the	DET
american_scientific_journal-2188	17	29	small	small	ADJ
american_scientific_journal-2188	17	30	errors	error	NOUN
american_scientific_journal-2188	17	31	in	in	ADP
american_scientific_journal-2188	17	32	its	its	PRON
american_scientific_journal-2188	17	33	odometry	odometry	NOUN
american_scientific_journal-2188	17	34	,	,	PUNCT
american_scientific_journal-2188	17	35	the	the	DET
american_scientific_journal-2188	17	36	global	global	ADJ
american_scientific_journal-2188	17	37	localization	localization	NOUN
american_scientific_journal-2188	17	38	problem	problem	NOUN
american_scientific_journal-2188	17	39	will	will	AUX
american_scientific_journal-2188	17	40	be	be	AUX
american_scientific_journal-2188	17	41	solved	solve	VERB
american_scientific_journal-2188	17	42	in	in	ADP
american_scientific_journal-2188	17	43	this	this	DET
american_scientific_journal-2188	17	44	project	project	NOUN
american_scientific_journal-2188	17	45	where	where	SCONJ
american_scientific_journal-2188	17	46	the	the	DET
american_scientific_journal-2188	17	47	robot	robot	NOUN
american_scientific_journal-2188	17	48	’s	’s	PART
american_scientific_journal-2188	17	49	environment	environment	NOUN
american_scientific_journal-2188	17	50	is	be	AUX
american_scientific_journal-2188	17	51	known	know	VERB
american_scientific_journal-2188	17	52	but	but	CCONJ
american_scientific_journal-2188	17	53	the	the	DET
american_scientific_journal-2188	17	54	starting	starting	NOUN
american_scientific_journal-2188	17	55	point	point	NOUN
american_scientific_journal-2188	17	56	is	be	AUX
american_scientific_journal-2188	17	57	unknown	unknown	ADJ
american_scientific_journal-2188	17	58	and	and	CCONJ
american_scientific_journal-2188	17	59	the	the	DET
american_scientific_journal-2188	17	60	robot	robot	NOUN
american_scientific_journal-2188	17	61	has	have	VERB
american_scientific_journal-2188	17	62	to	to	PART
american_scientific_journal-2188	17	63	figure	figure	VERB
american_scientific_journal-2188	17	64	out	out	ADP
american_scientific_journal-2188	17	65	its	its	PRON
american_scientific_journal-2188	17	66	position	position	NOUN
american_scientific_journal-2188	17	67	in	in	ADP
american_scientific_journal-2188	17	68	the	the	DET
american_scientific_journal-2188	17	69	environment	environment	NOUN
american_scientific_journal-2188	17	70	.	.	PUNCT
american_scientific_journal-2188	18	1	figure	figure	VERB
american_scientific_journal-2188	18	2	1	1	NUM
american_scientific_journal-2188	18	3	:	:	PUNCT
american_scientific_journal-2188	18	4	difference	difference	NOUN
american_scientific_journal-2188	18	5	between	between	ADP
american_scientific_journal-2188	18	6	mcl	mcl	PROPN
american_scientific_journal-2188	18	7	and	and	CCONJ
american_scientific_journal-2188	18	8	kalman	kalman	PROPN
american_scientific_journal-2188	18	9	filter	filter	NOUN
american_scientific_journal-2188	18	10	many	many	ADJ
american_scientific_journal-2188	18	11	localization	localization	NOUN
american_scientific_journal-2188	18	12	algorithms	algorithm	NOUN
american_scientific_journal-2188	18	13	have	have	AUX
american_scientific_journal-2188	18	14	been	be	AUX
american_scientific_journal-2188	18	15	proposed	propose	VERB
american_scientific_journal-2188	18	16	.	.	PUNCT
american_scientific_journal-2188	19	1	typical	typical	ADJ
american_scientific_journal-2188	19	2	examples	example	NOUN
american_scientific_journal-2188	19	3	include	include	VERB
american_scientific_journal-2188	19	4	grid	grid	NOUN
american_scientific_journal-2188	19	5	localization	localization	NOUN
american_scientific_journal-2188	19	6	,	,	PUNCT
american_scientific_journal-2188	19	7	kalman	kalman	NOUN
american_scientific_journal-2188	19	8	filter	filter	PROPN
american_scientific_journal-2188	19	9	and	and	CCONJ
american_scientific_journal-2188	19	10	monte	monte	PROPN
american_scientific_journal-2188	19	11	carlo	carlo	PROPN
american_scientific_journal-2188	19	12	localization	localization	NOUN
american_scientific_journal-2188	19	13	.	.	PUNCT
american_scientific_journal-2188	20	1	grid	grid	NOUN
american_scientific_journal-2188	20	2	localization	localization	NOUN
american_scientific_journal-2188	20	3	is	be	AUX
american_scientific_journal-2188	20	4	commonly	commonly	ADV
american_scientific_journal-2188	20	5	used	use	VERB
american_scientific_journal-2188	20	6	for	for	ADP
american_scientific_journal-2188	20	7	the	the	DET
american_scientific_journal-2188	20	8	global	global	ADJ
american_scientific_journal-2188	20	9	localization	localization	NOUN
american_scientific_journal-2188	20	10	.	.	PUNCT
american_scientific_journal-2188	21	1	the	the	DET
american_scientific_journal-2188	21	2	approach	approach	NOUN
american_scientific_journal-2188	21	3	used	use	VERB
american_scientific_journal-2188	21	4	by	by	ADP
american_scientific_journal-2188	21	5	this	this	DET
american_scientific_journal-2188	21	6	method	method	NOUN
american_scientific_journal-2188	21	7	is	be	AUX
american_scientific_journal-2188	21	8	computing	compute	VERB
american_scientific_journal-2188	21	9	the	the	DET
american_scientific_journal-2188	21	10	positional	positional	ADJ
american_scientific_journal-2188	21	11	probabilities	probability	NOUN
american_scientific_journal-2188	21	12	for	for	ADP
american_scientific_journal-2188	21	13	each	each	DET
american_scientific_journal-2188	21	14	cell	cell	NOUN
american_scientific_journal-2188	21	15	in	in	ADP
american_scientific_journal-2188	21	16	the	the	DET
american_scientific_journal-2188	21	17	environment	environment	NOUN
american_scientific_journal-2188	21	18	.	.	PUNCT
american_scientific_journal-2188	22	1	for	for	ADP
american_scientific_journal-2188	22	2	this	this	DET
american_scientific_journal-2188	22	3	reason	reason	NOUN
american_scientific_journal-2188	22	4	,	,	PUNCT
american_scientific_journal-2188	22	5	it	it	PRON
american_scientific_journal-2188	22	6	needs	need	VERB
american_scientific_journal-2188	22	7	an	an	DET
american_scientific_journal-2188	22	8	enormous	enormous	ADJ
american_scientific_journal-2188	22	9	amount	amount	NOUN
american_scientific_journal-2188	22	10	of	of	ADP
american_scientific_journal-2188	22	11	computation	computation	NOUN
american_scientific_journal-2188	22	12	time	time	NOUN
american_scientific_journal-2188	22	13	.	.	PUNCT
american_scientific_journal-2188	23	1	another	another	DET
american_scientific_journal-2188	23	2	drawback	drawback	NOUN
american_scientific_journal-2188	23	3	of	of	ADP
american_scientific_journal-2188	23	4	this	this	DET
american_scientific_journal-2188	23	5	method	method	NOUN
american_scientific_journal-2188	23	6	is	be	AUX
american_scientific_journal-2188	23	7	that	that	SCONJ
american_scientific_journal-2188	23	8	the	the	DET
american_scientific_journal-2188	23	9	localization	localization	NOUN
american_scientific_journal-2188	23	10	accuracy	accuracy	NOUN
american_scientific_journal-2188	23	11	depends	depend	VERB
american_scientific_journal-2188	23	12	on	on	ADP
american_scientific_journal-2188	23	13	the	the	DET
american_scientific_journal-2188	23	14	size	size	NOUN
american_scientific_journal-2188	23	15	of	of	ADP
american_scientific_journal-2188	23	16	the	the	DET
american_scientific_journal-2188	23	17	cell	cell	NOUN
american_scientific_journal-2188	23	18	.	.	PUNCT
american_scientific_journal-2188	24	1	in	in	ADP
american_scientific_journal-2188	24	2	contrast	contrast	NOUN
american_scientific_journal-2188	24	3	,	,	PUNCT
american_scientific_journal-2188	24	4	the	the	DET
american_scientific_journal-2188	24	5	kalman	kalman	NOUN
american_scientific_journal-2188	24	6	filter	filter	NOUN
american_scientific_journal-2188	24	7	technique	technique	NOUN
american_scientific_journal-2188	24	8	is	be	AUX
american_scientific_journal-2188	24	9	generally	generally	ADV
american_scientific_journal-2188	24	10	used	use	VERB
american_scientific_journal-2188	24	11	in	in	ADP
american_scientific_journal-2188	24	12	local	local	ADJ
american_scientific_journal-2188	24	13	localization	localization	NOUN
american_scientific_journal-2188	24	14	,	,	PUNCT
american_scientific_journal-2188	24	15	which	which	PRON
american_scientific_journal-2188	24	16	uses	use	VERB
american_scientific_journal-2188	24	17	gaussian	gaussian	ADJ
american_scientific_journal-2188	24	18	distributions	distribution	NOUN
american_scientific_journal-2188	24	19	as	as	ADP
american_scientific_journal-2188	24	20	an	an	DET
american_scientific_journal-2188	24	21	error	error	NOUN
american_scientific_journal-2188	24	22	model	model	NOUN
american_scientific_journal-2188	24	23	.	.	PUNCT
american_scientific_journal-2188	25	1	according	accord	VERB
american_scientific_journal-2188	25	2	to	to	ADP
american_scientific_journal-2188	25	3	this	this	DET
american_scientific_journal-2188	25	4	technique	technique	NOUN
american_scientific_journal-2188	25	5	,	,	PUNCT
american_scientific_journal-2188	25	6	the	the	DET
american_scientific_journal-2188	25	7	robot	robot	NOUN
american_scientific_journal-2188	25	8	continuously	continuously	ADV
american_scientific_journal-2188	25	9	estimates	estimate	VERB
american_scientific_journal-2188	25	10	its	its	PRON
american_scientific_journal-2188	25	11	pose	pose	NOUN
american_scientific_journal-2188	25	12	by	by	ADP
american_scientific_journal-2188	25	13	using	use	VERB
american_scientific_journal-2188	25	14	the	the	DET
american_scientific_journal-2188	25	15	sensor	sensor	NOUN
american_scientific_journal-2188	25	16	data	datum	NOUN
american_scientific_journal-2188	25	17	to	to	PART
american_scientific_journal-2188	25	18	correct	correct	VERB
american_scientific_journal-2188	25	19	the	the	DET
american_scientific_journal-2188	25	20	odometric	odometric	ADJ
american_scientific_journal-2188	25	21	error	error	NOUN
american_scientific_journal-2188	25	22	.	.	PUNCT
american_scientific_journal-2188	26	1	another	another	DET
american_scientific_journal-2188	26	2	popular	popular	ADJ
american_scientific_journal-2188	26	3	localization	localization	NOUN
american_scientific_journal-2188	26	4	technique	technique	NOUN
american_scientific_journal-2188	26	5	used	use	VERB
american_scientific_journal-2188	26	6	in	in	ADP
american_scientific_journal-2188	26	7	global	global	ADJ
american_scientific_journal-2188	26	8	localization	localization	NOUN
american_scientific_journal-2188	26	9	is	be	AUX
american_scientific_journal-2188	26	10	monte	monte	PROPN
american_scientific_journal-2188	26	11	carlo	carlo	PROPN
american_scientific_journal-2188	26	12	localization	localization	PROPN
american_scientific_journal-2188	26	13	(	(	PUNCT
american_scientific_journal-2188	26	14	mcl	mcl	PROPN
american_scientific_journal-2188	26	15	)	)	PUNCT
american_scientific_journal-2188	26	16	.	.	PUNCT
american_scientific_journal-2188	27	1	for	for	ADP
american_scientific_journal-2188	27	2	global	global	ADJ
american_scientific_journal-2188	27	3	localization	localization	NOUN
american_scientific_journal-2188	27	4	,	,	PUNCT
american_scientific_journal-2188	27	5	this	this	DET
american_scientific_journal-2188	27	6	method	method	NOUN
american_scientific_journal-2188	27	7	is	be	AUX
american_scientific_journal-2188	27	8	better	well	ADJ
american_scientific_journal-2188	27	9	than	than	ADP
american_scientific_journal-2188	27	10	grid	grid	NOUN
american_scientific_journal-2188	27	11	localization	localization	NOUN
american_scientific_journal-2188	27	12	for	for	ADP
american_scientific_journal-2188	27	13	two	two	NUM
american_scientific_journal-2188	27	14	reasons	reason	NOUN
american_scientific_journal-2188	27	15	:	:	PUNCT
american_scientific_journal-2188	27	16	firstly	firstly	ADV
american_scientific_journal-2188	27	17	,	,	PUNCT
american_scientific_journal-2188	27	18	because	because	SCONJ
american_scientific_journal-2188	27	19	it	it	PRON
american_scientific_journal-2188	27	20	is	be	AUX
american_scientific_journal-2188	27	21	less	less	ADV
american_scientific_journal-2188	27	22	computationally	computationally	ADV
american_scientific_journal-2188	27	23	expensive	expensive	ADJ
american_scientific_journal-2188	27	24	since	since	SCONJ
american_scientific_journal-2188	27	25	it	it	PRON
american_scientific_journal-2188	27	26	compute	compute	VERB
american_scientific_journal-2188	27	27	the	the	DET
american_scientific_journal-2188	27	28	probability	probability	NOUN
american_scientific_journal-2188	27	29	only	only	ADV
american_scientific_journal-2188	27	30	for	for	ADP
american_scientific_journal-2188	27	31	random	random	ADJ
american_scientific_journal-2188	27	32	samples	sample	NOUN
american_scientific_journal-2188	27	33	,	,	PUNCT
american_scientific_journal-2188	27	34	whose	whose	DET
american_scientific_journal-2188	27	35	number	number	NOUN
american_scientific_journal-2188	27	36	is	be	AUX
american_scientific_journal-2188	27	37	much	much	ADV
american_scientific_journal-2188	27	38	smaller	small	ADJ
american_scientific_journal-2188	27	39	than	than	ADP
american_scientific_journal-2188	27	40	the	the	DET
american_scientific_journal-2188	27	41	cells	cell	NOUN
american_scientific_journal-2188	27	42	’	'	PUNCT
american_scientific_journal-2188	27	43	number	number	NOUN
american_scientific_journal-2188	27	44	.	.	PUNCT
american_scientific_journal-2188	28	1	secondly	secondly	ADV
american_scientific_journal-2188	28	2	,	,	PUNCT
american_scientific_journal-2188	28	3	its	its	PRON
american_scientific_journal-2188	28	4	result	result	NOUN
american_scientific_journal-2188	28	5	are	be	AUX
american_scientific_journal-2188	28	6	more	more	ADV
american_scientific_journal-2188	28	7	accurate	accurate	ADJ
american_scientific_journal-2188	28	8	than	than	ADP
american_scientific_journal-2188	28	9	grid	grid	NOUN
american_scientific_journal-2188	28	10	localization	localization	NOUN
american_scientific_journal-2188	28	11	since	since	SCONJ
american_scientific_journal-2188	28	12	the	the	DET
american_scientific_journal-2188	28	13	samples	sample	NOUN
american_scientific_journal-2188	28	14	can	can	AUX
american_scientific_journal-2188	28	15	take	take	VERB
american_scientific_journal-2188	28	16	any	any	DET
american_scientific_journal-2188	28	17	position	position	NOUN
american_scientific_journal-2188	28	18	and	and	CCONJ
american_scientific_journal-2188	28	19	direction	direction	NOUN
american_scientific_journal-2188	28	20	without	without	ADP
american_scientific_journal-2188	28	21	any	any	DET
american_scientific_journal-2188	28	22	effect	effect	NOUN
american_scientific_journal-2188	28	23	by	by	ADP
american_scientific_journal-2188	28	24	the	the	DET
american_scientific_journal-2188	28	25	cell	cell	NOUN
american_scientific_journal-2188	28	26	size	size	NOUN
american_scientific_journal-2188	28	27	.	.	PUNCT
american_scientific_journal-2188	29	1	in	in	ADP
american_scientific_journal-2188	29	2	contrast	contrast	NOUN
american_scientific_journal-2188	29	3	to	to	ADP
american_scientific_journal-2188	29	4	kalman	kalman	PROPN
american_scientific_journal-2188	29	5	filter	filter	NOUN
american_scientific_journal-2188	29	6	techniques	technique	NOUN
american_scientific_journal-2188	29	7	,	,	PUNCT
american_scientific_journal-2188	29	8	monte	monte	PROPN
american_scientific_journal-2188	29	9	carlo	carlo	PROPN
american_scientific_journal-2188	29	10	localization	localization	NOUN
american_scientific_journal-2188	29	11	have	have	VERB
american_scientific_journal-2188	29	12	the	the	DET
american_scientific_journal-2188	29	13	ability	ability	NOUN
american_scientific_journal-2188	29	14	to	to	PART
american_scientific_journal-2188	29	15	represent	represent	VERB
american_scientific_journal-2188	29	16	multi	multi	ADJ
american_scientific_journal-2188	29	17	-	-	ADJ
american_scientific_journal-2188	29	18	modal	modal	ADJ
american_scientific_journal-2188	29	19	distributions	distribution	NOUN
american_scientific_journal-2188	29	20	so	so	SCONJ
american_scientific_journal-2188	29	21	it	it	PRON
american_scientific_journal-2188	29	22	can	can	AUX
american_scientific_journal-2188	29	23	globally	globally	ADV
american_scientific_journal-2188	29	24	localize	localize	VERB
american_scientific_journal-2188	29	25	a	a	DET
american_scientific_journal-2188	29	26	robot	robot	NOUN
american_scientific_journal-2188	29	27	[	[	X
american_scientific_journal-2188	29	28	2	2	NUM
american_scientific_journal-2188	29	29	]	]	PUNCT
american_scientific_journal-2188	29	30	.	.	PUNCT
american_scientific_journal-2188	30	1	the	the	DET
american_scientific_journal-2188	30	2	aim	aim	NOUN
american_scientific_journal-2188	30	3	of	of	ADP
american_scientific_journal-2188	30	4	this	this	DET
american_scientific_journal-2188	30	5	study	study	NOUN
american_scientific_journal-2188	30	6	is	be	AUX
american_scientific_journal-2188	30	7	to	to	PART
american_scientific_journal-2188	30	8	investigate	investigate	VERB
american_scientific_journal-2188	30	9	and	and	CCONJ
american_scientific_journal-2188	30	10	analyse	analyse	VERB
american_scientific_journal-2188	30	11	a	a	DET
american_scientific_journal-2188	30	12	localization	localization	NOUN
american_scientific_journal-2188	30	13	algorithm	algorithm	NOUN
american_scientific_journal-2188	30	14	for	for	ADP
american_scientific_journal-2188	30	15	a	a	DET
american_scientific_journal-2188	30	16	wheeled	wheel	VERB
american_scientific_journal-2188	30	17	mobile	mobile	ADJ
american_scientific_journal-2188	30	18	robot	robot	NOUN
american_scientific_journal-2188	30	19	.	.	PUNCT
american_scientific_journal-2188	31	1	in	in	ADP
american_scientific_journal-2188	31	2	order	order	NOUN
american_scientific_journal-2188	31	3	to	to	PART
american_scientific_journal-2188	31	4	satisfy	satisfy	VERB
american_scientific_journal-2188	31	5	the	the	DET
american_scientific_journal-2188	31	6	above	above	ADJ
american_scientific_journal-2188	31	7	aim	aim	NOUN
american_scientific_journal-2188	31	8	,	,	PUNCT
american_scientific_journal-2188	31	9	pre	pre	ADJ
american_scientific_journal-2188	31	10	-	-	ADJ
american_scientific_journal-2188	31	11	defined	define	VERB
american_scientific_journal-2188	31	12	map	map	NOUN
american_scientific_journal-2188	31	13	should	should	AUX
american_scientific_journal-2188	31	14	be	be	AUX
american_scientific_journal-2188	31	15	recognized	recognize	VERB
american_scientific_journal-2188	31	16	,	,	PUNCT
american_scientific_journal-2188	31	17	analysed	analyse	VERB
american_scientific_journal-2188	31	18	and	and	CCONJ
american_scientific_journal-2188	31	19	stored	store	VERB
american_scientific_journal-2188	31	20	in	in	ADP
american_scientific_journal-2188	31	21	the	the	DET
american_scientific_journal-2188	31	22	memory	memory	NOUN
american_scientific_journal-2188	31	23	of	of	ADP
american_scientific_journal-2188	31	24	the	the	DET
american_scientific_journal-2188	31	25	robot	robot	NOUN
american_scientific_journal-2188	31	26	.	.	PUNCT
american_scientific_journal-2188	32	1	also	also	ADV
american_scientific_journal-2188	32	2	,	,	PUNCT
american_scientific_journal-2188	32	3	a	a	DET
american_scientific_journal-2188	32	4	high	high	ADJ
american_scientific_journal-2188	32	5	resolution	resolution	NOUN
american_scientific_journal-2188	32	6	,	,	PUNCT
american_scientific_journal-2188	32	7	high	high	ADJ
american_scientific_journal-2188	32	8	accuracy	accuracy	NOUN
american_scientific_journal-2188	32	9	,	,	PUNCT
american_scientific_journal-2188	32	10	and	and	CCONJ
american_scientific_journal-2188	32	11	wide	wide	ADJ
american_scientific_journal-2188	32	12	angle	angle	NOUN
american_scientific_journal-2188	32	13	sensor	sensor	NOUN
american_scientific_journal-2188	32	14	should	should	AUX
american_scientific_journal-2188	32	15	be	be	AUX
american_scientific_journal-2188	32	16	used	use	VERB
american_scientific_journal-2188	32	17	.	.	PUNCT
american_scientific_journal-2188	33	1	american	american	ADJ
american_scientific_journal-2188	33	2	scientific	scientific	ADJ
american_scientific_journal-2188	33	3	research	research	PROPN
american_scientific_journal-2188	33	4	journal	journal	NOUN
american_scientific_journal-2188	33	5	for	for	ADP
american_scientific_journal-2188	33	6	engineering	engineering	NOUN
american_scientific_journal-2188	33	7	,	,	PUNCT
american_scientific_journal-2188	33	8	technology	technology	NOUN
american_scientific_journal-2188	33	9	,	,	PUNCT
american_scientific_journal-2188	33	10	and	and	CCONJ
american_scientific_journal-2188	33	11	sciences	science	NOUN
american_scientific_journal-2188	33	12	(	(	PUNCT
american_scientific_journal-2188	33	13	asrjets	asrjet	NOUN
american_scientific_journal-2188	33	14	)	)	PUNCT
american_scientific_journal-2188	33	15	(	(	PUNCT
american_scientific_journal-2188	33	16	2016	2016	NUM
american_scientific_journal-2188	33	17	)	)	PUNCT
american_scientific_journal-2188	33	18	volume	volume	NOUN
american_scientific_journal-2188	33	19	26	26	NUM
american_scientific_journal-2188	33	20	,	,	PUNCT
american_scientific_journal-2188	33	21	no	no	DET
american_scientific_journal-2188	33	22	1	1	NUM
american_scientific_journal-2188	33	23	,	,	PUNCT
american_scientific_journal-2188	33	24	pp	pp	ADV
american_scientific_journal-2188	33	25	108	108	NUM
american_scientific_journal-2188	33	26	-	-	SYM
american_scientific_journal-2188	33	27	126	126	NUM
american_scientific_journal-2188	33	28	110	110	NUM
american_scientific_journal-2188	33	29	2	2	NUM
american_scientific_journal-2188	33	30	.	.	PUNCT
american_scientific_journal-2188	33	31	experimental	experimental	ADJ
american_scientific_journal-2188	33	32	system	system	NOUN
american_scientific_journal-2188	33	33	in	in	ADP
american_scientific_journal-2188	33	34	this	this	DET
american_scientific_journal-2188	33	35	section	section	NOUN
american_scientific_journal-2188	33	36	,	,	PUNCT
american_scientific_journal-2188	33	37	four	four	NUM
american_scientific_journal-2188	33	38	sections	section	NOUN
american_scientific_journal-2188	33	39	were	be	AUX
american_scientific_journal-2188	33	40	described	describe	VERB
american_scientific_journal-2188	33	41	.	.	PUNCT
american_scientific_journal-2188	34	1	first	first	ADV
american_scientific_journal-2188	34	2	of	of	ADP
american_scientific_journal-2188	34	3	all	all	PRON
american_scientific_journal-2188	34	4	,	,	PUNCT
american_scientific_journal-2188	34	5	the	the	DET
american_scientific_journal-2188	34	6	physical	physical	ADJ
american_scientific_journal-2188	34	7	robot	robot	NOUN
american_scientific_journal-2188	34	8	that	that	PRON
american_scientific_journal-2188	34	9	will	will	AUX
american_scientific_journal-2188	34	10	be	be	AUX
american_scientific_journal-2188	34	11	used	use	VERB
american_scientific_journal-2188	34	12	,	,	PUNCT
american_scientific_journal-2188	34	13	ni	ni	PROPN
american_scientific_journal-2188	34	14	labview	labview	PROPN
american_scientific_journal-2188	34	15	robotics	robotic	NOUN
american_scientific_journal-2188	34	16	starter	starter	PROPN
american_scientific_journal-2188	34	17	kit	kit	PROPN
american_scientific_journal-2188	34	18	.	.	PUNCT
american_scientific_journal-2188	35	1	the	the	DET
american_scientific_journal-2188	35	2	second	second	ADJ
american_scientific_journal-2188	35	3	section	section	NOUN
american_scientific_journal-2188	35	4	describes	describe	VERB
american_scientific_journal-2188	35	5	the	the	DET
american_scientific_journal-2188	35	6	sensor	sensor	NOUN
american_scientific_journal-2188	35	7	that	that	PRON
american_scientific_journal-2188	35	8	will	will	AUX
american_scientific_journal-2188	35	9	be	be	AUX
american_scientific_journal-2188	35	10	used	use	VERB
american_scientific_journal-2188	35	11	,	,	PUNCT
american_scientific_journal-2188	35	12	scanning	scan	VERB
american_scientific_journal-2188	35	13	range	range	NOUN
american_scientific_journal-2188	35	14	finder	finder	NOUN
american_scientific_journal-2188	35	15	(	(	PUNCT
american_scientific_journal-2188	35	16	sokuiki	sokuiki	PROPN
american_scientific_journal-2188	35	17	sensor	sensor	NOUN
american_scientific_journal-2188	35	18	)	)	PUNCT
american_scientific_journal-2188	35	19	urg-04lx	urg-04lx	PROPN
american_scientific_journal-2188	35	20	.	.	PUNCT
american_scientific_journal-2188	36	1	the	the	DET
american_scientific_journal-2188	36	2	third	third	ADJ
american_scientific_journal-2188	36	3	section	section	NOUN
american_scientific_journal-2188	36	4	describes	describe	VERB
american_scientific_journal-2188	36	5	the	the	DET
american_scientific_journal-2188	36	6	connection	connection	NOUN
american_scientific_journal-2188	36	7	of	of	ADP
american_scientific_journal-2188	36	8	all	all	DET
american_scientific_journal-2188	36	9	the	the	DET
american_scientific_journal-2188	36	10	hardware	hardware	NOUN
american_scientific_journal-2188	36	11	components	component	NOUN
american_scientific_journal-2188	36	12	and	and	CCONJ
american_scientific_journal-2188	36	13	finally	finally	ADV
american_scientific_journal-2188	36	14	in	in	ADP
american_scientific_journal-2188	36	15	the	the	DET
american_scientific_journal-2188	36	16	last	last	ADJ
american_scientific_journal-2188	36	17	section	section	NOUN
american_scientific_journal-2188	36	18	,	,	PUNCT
american_scientific_journal-2188	36	19	physical	physical	ADJ
american_scientific_journal-2188	36	20	environment	environment	NOUN
american_scientific_journal-2188	36	21	that	that	PRON
american_scientific_journal-2188	36	22	will	will	AUX
american_scientific_journal-2188	36	23	be	be	AUX
american_scientific_journal-2188	36	24	described	describe	VERB
american_scientific_journal-2188	36	25	in	in	ADP
american_scientific_journal-2188	36	26	details	detail	NOUN
american_scientific_journal-2188	36	27	.	.	PUNCT
american_scientific_journal-2188	37	1	2.1	2.1	NUM
american_scientific_journal-2188	37	2	ni	ni	PROPN
american_scientific_journal-2188	37	3	labview	labview	NOUN
american_scientific_journal-2188	37	4	robotics	robotic	NOUN
american_scientific_journal-2188	37	5	starter	starter	NOUN
american_scientific_journal-2188	37	6	kit	kit	NOUN
american_scientific_journal-2188	37	7	the	the	DET
american_scientific_journal-2188	37	8	mobile	mobile	NOUN
american_scientific_journal-2188	37	9	robot	robot	NOUN
american_scientific_journal-2188	37	10	used	use	VERB
american_scientific_journal-2188	37	11	is	be	AUX
american_scientific_journal-2188	37	12	the	the	DET
american_scientific_journal-2188	37	13	ni	ni	PROPN
american_scientific_journal-2188	37	14	labview	labview	PROPN
american_scientific_journal-2188	37	15	robotics	robotic	NOUN
american_scientific_journal-2188	37	16	starter	starter	NOUN
american_scientific_journal-2188	37	17	kit	kit	NOUN
american_scientific_journal-2188	37	18	.	.	PUNCT
american_scientific_journal-2188	38	1	it	it	PRON
american_scientific_journal-2188	38	2	is	be	AUX
american_scientific_journal-2188	38	3	a	a	DET
american_scientific_journal-2188	38	4	mobile	mobile	ADJ
american_scientific_journal-2188	38	5	robot	robot	NOUN
american_scientific_journal-2188	38	6	platform	platform	NOUN
american_scientific_journal-2188	38	7	that	that	PRON
american_scientific_journal-2188	38	8	features	feature	VERB
american_scientific_journal-2188	38	9	ni	ni	PROPN
american_scientific_journal-2188	38	10	single	single	ADJ
american_scientific_journal-2188	38	11	-	-	PUNCT
american_scientific_journal-2188	38	12	board	board	NOUN
american_scientific_journal-2188	38	13	rio	rio	PROPN
american_scientific_journal-2188	38	14	hardware	hardware	NOUN
american_scientific_journal-2188	38	15	for	for	ADP
american_scientific_journal-2188	38	16	embedded	embed	VERB
american_scientific_journal-2188	38	17	control	control	NOUN
american_scientific_journal-2188	38	18	,	,	PUNCT
american_scientific_journal-2188	38	19	motors	motor	NOUN
american_scientific_journal-2188	38	20	and	and	CCONJ
american_scientific_journal-2188	38	21	sensors	sensor	NOUN
american_scientific_journal-2188	38	22	.	.	PUNCT
american_scientific_journal-2188	39	1	2.1.1	2.1.1	NUM
american_scientific_journal-2188	39	2	robot	robot	NOUN
american_scientific_journal-2188	39	3	components	component	NOUN
american_scientific_journal-2188	39	4	figure	figure	VERB
american_scientific_journal-2188	39	5	2	2	NUM
american_scientific_journal-2188	39	6	:	:	PUNCT
american_scientific_journal-2188	39	7	ni	ni	PROPN
american_scientific_journal-2188	39	8	single	single	ADJ
american_scientific_journal-2188	39	9	-	-	PUNCT
american_scientific_journal-2188	39	10	board	board	NOUN
american_scientific_journal-2188	39	11	rio	rio	NOUN
american_scientific_journal-2188	39	12	the	the	DET
american_scientific_journal-2188	39	13	ni	ni	PROPN
american_scientific_journal-2188	39	14	robotics	robotics	PROPN
american_scientific_journal-2188	39	15	starter	starter	NOUN
american_scientific_journal-2188	39	16	kit	kit	NOUN
american_scientific_journal-2188	39	17	uses	use	VERB
american_scientific_journal-2188	39	18	an	an	DET
american_scientific_journal-2188	39	19	ni	ni	ADJ
american_scientific_journal-2188	39	20	single	single	ADJ
american_scientific_journal-2188	39	21	-	-	PUNCT
american_scientific_journal-2188	39	22	board	board	NOUN
american_scientific_journal-2188	39	23	rio	rio	NOUN
american_scientific_journal-2188	39	24	9631	9631	NUM
american_scientific_journal-2188	39	25	as	as	ADP
american_scientific_journal-2188	39	26	an	an	DET
american_scientific_journal-2188	39	27	embedded	embed	VERB
american_scientific_journal-2188	39	28	control	control	NOUN
american_scientific_journal-2188	39	29	platform	platform	NOUN
american_scientific_journal-2188	39	30	.	.	PUNCT
american_scientific_journal-2188	40	1	the	the	DET
american_scientific_journal-2188	40	2	singleboard	singleboard	PROPN
american_scientific_journal-2188	40	3	rio	rio	PROPN
american_scientific_journal-2188	40	4	controller	controller	PROPN
american_scientific_journal-2188	40	5	integrates	integrate	VERB
american_scientific_journal-2188	40	6	reconfigurable	reconfigurable	ADJ
american_scientific_journal-2188	40	7	field	field	NOUN
american_scientific_journal-2188	40	8	-	-	PUNCT
american_scientific_journal-2188	40	9	programmable	programmable	ADJ
american_scientific_journal-2188	40	10	gate	gate	NOUN
american_scientific_journal-2188	40	11	array	array	NOUN
american_scientific_journal-2188	40	12	(	(	PUNCT
american_scientific_journal-2188	40	13	fpga	fpga	PROPN
american_scientific_journal-2188	40	14	)	)	PUNCT
american_scientific_journal-2188	40	15	,	,	PUNCT
american_scientific_journal-2188	40	16	real	real	ADJ
american_scientific_journal-2188	40	17	-	-	PUNCT
american_scientific_journal-2188	40	18	time	time	NOUN
american_scientific_journal-2188	40	19	processor	processor	NOUN
american_scientific_journal-2188	40	20	,	,	PUNCT
american_scientific_journal-2188	40	21	and	and	CCONJ
american_scientific_journal-2188	40	22	digital	digital	ADJ
american_scientific_journal-2188	40	23	and	and	CCONJ
american_scientific_journal-2188	40	24	analogue	analogue	NOUN
american_scientific_journal-2188	40	25	i	i	PROPN
american_scientific_journal-2188	40	26	/	/	SYM
american_scientific_journal-2188	40	27	o	o	NOUN
american_scientific_journal-2188	40	28	on	on	ADP
american_scientific_journal-2188	40	29	a	a	DET
american_scientific_journal-2188	40	30	single	single	ADJ
american_scientific_journal-2188	40	31	board	board	NOUN
american_scientific_journal-2188	40	32	.	.	PUNCT
american_scientific_journal-2188	41	1	the	the	DET
american_scientific_journal-2188	41	2	robot	robot	NOUN
american_scientific_journal-2188	41	3	has	have	VERB
american_scientific_journal-2188	41	4	two	two	NUM
american_scientific_journal-2188	41	5	pitsco	pitsco	ADJ
american_scientific_journal-2188	41	6	education	education	NOUN
american_scientific_journal-2188	41	7	tetrix	tetrix	NOUN
american_scientific_journal-2188	41	8	4	4	NUM
american_scientific_journal-2188	41	9	in	in	ADP
american_scientific_journal-2188	41	10	(	(	PUNCT
american_scientific_journal-2188	41	11	10.16	10.16	NUM
american_scientific_journal-2188	41	12	cm	cm	NOUN
american_scientific_journal-2188	41	13	)	)	PUNCT
american_scientific_journal-2188	41	14	wheels	wheel	NOUN
american_scientific_journal-2188	41	15	in	in	ADP
american_scientific_journal-2188	41	16	addition	addition	NOUN
american_scientific_journal-2188	41	17	to	to	ADP
american_scientific_journal-2188	41	18	one	one	NUM
american_scientific_journal-2188	41	19	omniwheel	omniwheel	NOUN
american_scientific_journal-2188	41	20	for	for	ADP
american_scientific_journal-2188	41	21	steering	steering	NOUN
american_scientific_journal-2188	41	22	.	.	PUNCT
american_scientific_journal-2188	42	1	the	the	DET
american_scientific_journal-2188	42	2	robot	robot	NOUN
american_scientific_journal-2188	42	3	also	also	ADV
american_scientific_journal-2188	42	4	has	have	VERB
american_scientific_journal-2188	42	5	two	two	NUM
american_scientific_journal-2188	42	6	12	12	NUM
american_scientific_journal-2188	42	7	vdc	vdc	PROPN
american_scientific_journal-2188	42	8	motors	motor	NOUN
american_scientific_journal-2188	42	9	featuring	feature	VERB
american_scientific_journal-2188	42	10	152	152	NUM
american_scientific_journal-2188	42	11	rpm	rpm	NOUN
american_scientific_journal-2188	42	12	(	(	PUNCT
american_scientific_journal-2188	42	13	15.917	15.917	NUM
american_scientific_journal-2188	42	14	rad	rad	PROPN
american_scientific_journal-2188	42	15	/	/	SYM
american_scientific_journal-2188	42	16	s	s	NOUN
american_scientific_journal-2188	42	17	)	)	PUNCT
american_scientific_journal-2188	42	18	and	and	CCONJ
american_scientific_journal-2188	42	19	torque	torque	NOUN
american_scientific_journal-2188	42	20	of	of	ADP
american_scientific_journal-2188	42	21	300	300	NUM
american_scientific_journal-2188	42	22	oz	oz	NOUN
american_scientific_journal-2188	42	23	-	-	PUNCT
american_scientific_journal-2188	42	24	in	in	ADP
american_scientific_journal-2188	42	25	(	(	PUNCT
american_scientific_journal-2188	42	26	2.1185	2.1185	NUM
american_scientific_journal-2188	42	27	n.m	n.m	NOUN
american_scientific_journal-2188	42	28	)	)	PUNCT
american_scientific_journal-2188	42	29	.	.	PUNCT
american_scientific_journal-2188	43	1	for	for	ADP
american_scientific_journal-2188	43	2	each	each	DET
american_scientific_journal-2188	43	3	dc	dc	PROPN
american_scientific_journal-2188	43	4	motor	motor	NOUN
american_scientific_journal-2188	43	5	on	on	ADP
american_scientific_journal-2188	43	6	each	each	DET
american_scientific_journal-2188	43	7	side	side	NOUN
american_scientific_journal-2188	43	8	of	of	ADP
american_scientific_journal-2188	43	9	the	the	DET
american_scientific_journal-2188	43	10	robot	robot	NOUN
american_scientific_journal-2188	43	11	on	on	ADP
american_scientific_journal-2188	43	12	the	the	DET
american_scientific_journal-2188	43	13	front	front	ADJ
american_scientific_journal-2188	43	14	wheels	wheel	NOUN
american_scientific_journal-2188	43	15	,	,	PUNCT
american_scientific_journal-2188	43	16	a	a	DET
american_scientific_journal-2188	43	17	400	400	NUM
american_scientific_journal-2188	43	18	ppr	ppr	NOUN
american_scientific_journal-2188	43	19	(	(	PUNCT
american_scientific_journal-2188	43	20	pulse	pulse	NOUN
american_scientific_journal-2188	43	21	per	per	ADP
american_scientific_journal-2188	43	22	revolution	revolution	NOUN
american_scientific_journal-2188	43	23	)	)	PUNCT
american_scientific_journal-2188	43	24	encoder	encoder	NOUN
american_scientific_journal-2188	43	25	is	be	AUX
american_scientific_journal-2188	43	26	installed	instal	VERB
american_scientific_journal-2188	43	27	.	.	PUNCT
american_scientific_journal-2188	44	1	hence	hence	ADV
american_scientific_journal-2188	44	2	,	,	PUNCT
american_scientific_journal-2188	44	3	the	the	DET
american_scientific_journal-2188	44	4	motor	motor	NOUN
american_scientific_journal-2188	44	5	for	for	ADP
american_scientific_journal-2188	44	6	each	each	DET
american_scientific_journal-2188	44	7	side	side	NOUN
american_scientific_journal-2188	44	8	(	(	PUNCT
american_scientific_journal-2188	44	9	left	left	ADJ
american_scientific_journal-2188	44	10	and	and	CCONJ
american_scientific_journal-2188	44	11	right	right	ADJ
american_scientific_journal-2188	44	12	motors	motor	NOUN
american_scientific_journal-2188	44	13	)	)	PUNCT
american_scientific_journal-2188	44	14	can	can	AUX
american_scientific_journal-2188	44	15	be	be	AUX
american_scientific_journal-2188	44	16	controlled	control	VERB
american_scientific_journal-2188	44	17	separately	separately	ADV
american_scientific_journal-2188	44	18	.	.	PUNCT
american_scientific_journal-2188	45	1	also	also	ADV
american_scientific_journal-2188	45	2	,	,	PUNCT
american_scientific_journal-2188	45	3	the	the	DET
american_scientific_journal-2188	45	4	robot	robot	NOUN
american_scientific_journal-2188	45	5	has	have	VERB
american_scientific_journal-2188	45	6	ping	ping	NOUN
american_scientific_journal-2188	45	7	)	)	PUNCT
american_scientific_journal-2188	45	8	)	)	PUNCT
american_scientific_journal-2188	45	9	)	)	PUNCT
american_scientific_journal-2188	45	10	ultrasonic	ultrasonic	ADJ
american_scientific_journal-2188	45	11	distance	distance	NOUN
american_scientific_journal-2188	45	12	sensor	sensor	NOUN
american_scientific_journal-2188	45	13	.	.	PUNCT
american_scientific_journal-2188	46	1	this	this	DET
american_scientific_journal-2188	46	2	sensor	sensor	NOUN
american_scientific_journal-2188	46	3	used	use	VERB
american_scientific_journal-2188	46	4	to	to	PART
american_scientific_journal-2188	46	5	measure	measure	VERB
american_scientific_journal-2188	46	6	distance	distance	NOUN
american_scientific_journal-2188	46	7	from	from	ADP
american_scientific_journal-2188	46	8	2	2	NUM
american_scientific_journal-2188	46	9	cm	cm	NOUN
american_scientific_journal-2188	46	10	up	up	ADP
american_scientific_journal-2188	46	11	to	to	PART
american_scientific_journal-2188	46	12	3	3	NUM
american_scientific_journal-2188	46	13	m.	m.	NOUN
american_scientific_journal-2188	46	14	figure	figure	NOUN
american_scientific_journal-2188	46	15	3	3	NUM
american_scientific_journal-2188	46	16	:	:	PUNCT
american_scientific_journal-2188	46	17	ni	ni	PROPN
american_scientific_journal-2188	46	18	robotic	robotic	ADJ
american_scientific_journal-2188	46	19	starter	starter	ADJ
american_scientific_journal-2188	46	20	kit	kit	NOUN
american_scientific_journal-2188	46	21	1.0	1.0	NUM
american_scientific_journal-2188	46	22	hardware	hardware	NOUN
american_scientific_journal-2188	46	23	components	component	NOUN
american_scientific_journal-2188	46	24	.	.	PUNCT
american_scientific_journal-2188	47	1	american	american	ADJ
american_scientific_journal-2188	47	2	scientific	scientific	ADJ
american_scientific_journal-2188	47	3	research	research	PROPN
american_scientific_journal-2188	47	4	journal	journal	NOUN
american_scientific_journal-2188	47	5	for	for	ADP
american_scientific_journal-2188	47	6	engineering	engineering	NOUN
american_scientific_journal-2188	47	7	,	,	PUNCT
american_scientific_journal-2188	47	8	technology	technology	NOUN
american_scientific_journal-2188	47	9	,	,	PUNCT
american_scientific_journal-2188	47	10	and	and	CCONJ
american_scientific_journal-2188	47	11	sciences	science	NOUN
american_scientific_journal-2188	47	12	(	(	PUNCT
american_scientific_journal-2188	47	13	asrjets	asrjet	NOUN
american_scientific_journal-2188	47	14	)	)	PUNCT
american_scientific_journal-2188	47	15	(	(	PUNCT
american_scientific_journal-2188	47	16	2016	2016	NUM
american_scientific_journal-2188	47	17	)	)	PUNCT
american_scientific_journal-2188	47	18	volume	volume	NOUN
american_scientific_journal-2188	47	19	26	26	NUM
american_scientific_journal-2188	47	20	,	,	PUNCT
american_scientific_journal-2188	47	21	no	no	DET
american_scientific_journal-2188	47	22	1	1	NUM
american_scientific_journal-2188	47	23	,	,	PUNCT
american_scientific_journal-2188	47	24	pp	pp	ADV
american_scientific_journal-2188	47	25	108	108	NUM
american_scientific_journal-2188	47	26	-	-	SYM
american_scientific_journal-2188	47	27	126	126	NUM
american_scientific_journal-2188	47	28	111	111	NUM
american_scientific_journal-2188	47	29	2.1.2	2.1.2	NUM
american_scientific_journal-2188	47	30	software	software	NOUN
american_scientific_journal-2188	47	31	overview	overview	VERB
american_scientific_journal-2188	47	32	the	the	DET
american_scientific_journal-2188	47	33	ni	ni	PROPN
american_scientific_journal-2188	47	34	single	single	ADJ
american_scientific_journal-2188	47	35	-	-	PUNCT
american_scientific_journal-2188	47	36	board	board	NOUN
american_scientific_journal-2188	47	37	rio	rio	PROPN
american_scientific_journal-2188	47	38	9631	9631	NUM
american_scientific_journal-2188	47	39	was	be	AUX
american_scientific_journal-2188	47	40	programmed	program	VERB
american_scientific_journal-2188	47	41	using	use	VERB
american_scientific_journal-2188	47	42	ni	ni	PROPN
american_scientific_journal-2188	47	43	labview	labview	NOUN
american_scientific_journal-2188	47	44	robotics	robotic	NOUN
american_scientific_journal-2188	47	45	module	module	NOUN
american_scientific_journal-2188	47	46	2011	2011	NUM
american_scientific_journal-2188	47	47	.	.	PUNCT
american_scientific_journal-2188	48	1	national	national	PROPN
american_scientific_journal-2188	48	2	instrument	instrument	PROPN
american_scientific_journal-2188	48	3	’s	’s	PART
american_scientific_journal-2188	48	4	labview	labview	NOUN
american_scientific_journal-2188	48	5	robotics	robotic	NOUN
american_scientific_journal-2188	48	6	module	module	NOUN
american_scientific_journal-2188	48	7	2011	2011	NUM
american_scientific_journal-2188	48	8	is	be	AUX
american_scientific_journal-2188	48	9	a	a	DET
american_scientific_journal-2188	48	10	graphical	graphical	ADJ
american_scientific_journal-2188	48	11	programming	programming	NOUN
american_scientific_journal-2188	48	12	language	language	NOUN
american_scientific_journal-2188	48	13	that	that	PRON
american_scientific_journal-2188	48	14	includes	include	VERB
american_scientific_journal-2188	48	15	blocks	block	NOUN
american_scientific_journal-2188	48	16	for	for	ADP
american_scientific_journal-2188	48	17	ease	ease	NOUN
american_scientific_journal-2188	48	18	of	of	ADP
american_scientific_journal-2188	48	19	understanding	understanding	NOUN
american_scientific_journal-2188	48	20	.	.	PUNCT
american_scientific_journal-2188	49	1	the	the	DET
american_scientific_journal-2188	49	2	blocks	block	NOUN
american_scientific_journal-2188	49	3	involve	involve	VERB
american_scientific_journal-2188	49	4	all	all	DET
american_scientific_journal-2188	49	5	the	the	DET
american_scientific_journal-2188	49	6	fundamental	fundamental	ADJ
american_scientific_journal-2188	49	7	input	input	NOUN
american_scientific_journal-2188	49	8	and	and	CCONJ
american_scientific_journal-2188	49	9	output	output	NOUN
american_scientific_journal-2188	49	10	parameters	parameter	NOUN
american_scientific_journal-2188	49	11	that	that	PRON
american_scientific_journal-2188	49	12	are	be	AUX
american_scientific_journal-2188	49	13	required	require	VERB
american_scientific_journal-2188	49	14	for	for	ADP
american_scientific_journal-2188	49	15	different	different	ADJ
american_scientific_journal-2188	49	16	types	type	NOUN
american_scientific_journal-2188	49	17	of	of	ADP
american_scientific_journal-2188	49	18	functions	function	NOUN
american_scientific_journal-2188	49	19	.	.	PUNCT
american_scientific_journal-2188	50	1	labview	labview	NOUN
american_scientific_journal-2188	50	2	in	in	ADP
american_scientific_journal-2188	50	3	general	general	ADJ
american_scientific_journal-2188	50	4	,	,	PUNCT
american_scientific_journal-2188	50	5	has	have	VERB
american_scientific_journal-2188	50	6	two	two	NUM
american_scientific_journal-2188	50	7	windows	window	NOUN
american_scientific_journal-2188	50	8	:	:	PUNCT
american_scientific_journal-2188	50	9	front	front	ADJ
american_scientific_journal-2188	50	10	panel	panel	NOUN
american_scientific_journal-2188	50	11	for	for	ADP
american_scientific_journal-2188	50	12	representing	represent	VERB
american_scientific_journal-2188	50	13	all	all	DET
american_scientific_journal-2188	50	14	the	the	DET
american_scientific_journal-2188	50	15	inputs	input	NOUN
american_scientific_journal-2188	50	16	(	(	PUNCT
american_scientific_journal-2188	50	17	controls	control	NOUN
american_scientific_journal-2188	50	18	)	)	PUNCT
american_scientific_journal-2188	50	19	and	and	CCONJ
american_scientific_journal-2188	50	20	the	the	DET
american_scientific_journal-2188	50	21	outputs	output	NOUN
american_scientific_journal-2188	50	22	(	(	PUNCT
american_scientific_journal-2188	50	23	indicators	indicator	NOUN
american_scientific_journal-2188	50	24	)	)	PUNCT
american_scientific_journal-2188	50	25	for	for	ADP
american_scientific_journal-2188	50	26	providing	provide	VERB
american_scientific_journal-2188	50	27	user	user	NOUN
american_scientific_journal-2188	50	28	control	control	NOUN
american_scientific_journal-2188	50	29	and	and	CCONJ
american_scientific_journal-2188	50	30	block	block	NOUN
american_scientific_journal-2188	50	31	diagram	diagram	NOUN
american_scientific_journal-2188	50	32	for	for	ADP
american_scientific_journal-2188	50	33	writing	write	VERB
american_scientific_journal-2188	50	34	the	the	DET
american_scientific_journal-2188	50	35	codes	code	NOUN
american_scientific_journal-2188	50	36	.	.	PUNCT
american_scientific_journal-2188	51	1	for	for	ADP
american_scientific_journal-2188	51	2	the	the	DET
american_scientific_journal-2188	51	3	robotic	robotic	ADJ
american_scientific_journal-2188	51	4	starter	starter	ADJ
american_scientific_journal-2188	51	5	kit	kit	NOUN
american_scientific_journal-2188	51	6	1.0	1.0	NUM
american_scientific_journal-2188	51	7	.	.	PUNCT
american_scientific_journal-2188	52	1	robotics	robotic	NOUN
american_scientific_journal-2188	52	2	there	there	PRON
american_scientific_journal-2188	52	3	are	be	AUX
american_scientific_journal-2188	52	4	built	build	VERB
american_scientific_journal-2188	52	5	-	-	PUNCT
american_scientific_journal-2188	52	6	in	in	ADP
american_scientific_journal-2188	52	7	drag	drag	NOUN
american_scientific_journal-2188	52	8	and	and	CCONJ
american_scientific_journal-2188	52	9	drop	drop	VERB
american_scientific_journal-2188	52	10	blocks	block	NOUN
american_scientific_journal-2188	52	11	.	.	PUNCT
american_scientific_journal-2188	53	1	these	these	DET
american_scientific_journal-2188	53	2	blocks	block	NOUN
american_scientific_journal-2188	53	3	are	be	AUX
american_scientific_journal-2188	53	4	for	for	ADP
american_scientific_journal-2188	53	5	initializing	initialize	VERB
american_scientific_journal-2188	53	6	the	the	DET
american_scientific_journal-2188	53	7	robot	robot	NOUN
american_scientific_journal-2188	53	8	,	,	PUNCT
american_scientific_journal-2188	53	9	reading	read	VERB
american_scientific_journal-2188	53	10	/	/	PUNCT
american_scientific_journal-2188	53	11	writing	writing	NOUN
american_scientific_journal-2188	53	12	for	for	ADP
american_scientific_journal-2188	53	13	motor	motor	NOUN
american_scientific_journal-2188	53	14	control	control	NOUN
american_scientific_journal-2188	53	15	and	and	CCONJ
american_scientific_journal-2188	53	16	for	for	ADP
american_scientific_journal-2188	53	17	ultrasonic	ultrasonic	ADJ
american_scientific_journal-2188	53	18	sensor	sensor	NOUN
american_scientific_journal-2188	53	19	control	control	NOUN
american_scientific_journal-2188	53	20	[	[	X
american_scientific_journal-2188	53	21	3	3	NUM
american_scientific_journal-2188	53	22	]	]	PUNCT
american_scientific_journal-2188	53	23	.	.	PUNCT
american_scientific_journal-2188	54	1	figure	figure	VERB
american_scientific_journal-2188	54	2	4	4	NUM
american_scientific_journal-2188	54	3	:	:	PUNCT
american_scientific_journal-2188	54	4	functional	functional	ADJ
american_scientific_journal-2188	54	5	blocks	block	NOUN
american_scientific_journal-2188	54	6	for	for	ADP
american_scientific_journal-2188	54	7	ni	ni	PROPN
american_scientific_journal-2188	54	8	robotics	robotic	NOUN
american_scientific_journal-2188	54	9	module	module	NOUN
american_scientific_journal-2188	54	10	.	.	PUNCT
american_scientific_journal-2188	55	1	2.2	2.2	NUM
american_scientific_journal-2188	55	2	scanning	scan	VERB
american_scientific_journal-2188	55	3	range	range	NOUN
american_scientific_journal-2188	55	4	finder	finder	NOUN
american_scientific_journal-2188	55	5	(	(	PUNCT
american_scientific_journal-2188	55	6	sokuiki	sokuiki	PROPN
american_scientific_journal-2188	55	7	sensor	sensor	NOUN
american_scientific_journal-2188	55	8	)	)	PUNCT
american_scientific_journal-2188	55	9	urg-04lx	urg-04lx	VERB
american_scientific_journal-2188	55	10	laser	laser	NOUN
american_scientific_journal-2188	55	11	scanners	scanner	NOUN
american_scientific_journal-2188	55	12	are	be	AUX
american_scientific_journal-2188	55	13	currently	currently	ADV
american_scientific_journal-2188	55	14	one	one	NUM
american_scientific_journal-2188	55	15	of	of	ADP
american_scientific_journal-2188	55	16	the	the	DET
american_scientific_journal-2188	55	17	most	most	ADV
american_scientific_journal-2188	55	18	precise	precise	ADJ
american_scientific_journal-2188	55	19	sensors	sensor	NOUN
american_scientific_journal-2188	55	20	which	which	PRON
american_scientific_journal-2188	55	21	can	can	AUX
american_scientific_journal-2188	55	22	be	be	AUX
american_scientific_journal-2188	55	23	used	use	VERB
american_scientific_journal-2188	55	24	in	in	ADP
american_scientific_journal-2188	55	25	sensor	sensor	NOUN
american_scientific_journal-2188	55	26	-	-	PUNCT
american_scientific_journal-2188	55	27	based	base	VERB
american_scientific_journal-2188	55	28	robot	robot	NOUN
american_scientific_journal-2188	55	29	's	's	PART
american_scientific_journal-2188	55	30	navigation	navigation	NOUN
american_scientific_journal-2188	55	31	methods	method	NOUN
american_scientific_journal-2188	55	32	[	[	X
american_scientific_journal-2188	55	33	4	4	NUM
american_scientific_journal-2188	55	34	]	]	PUNCT
american_scientific_journal-2188	55	35	.	.	PUNCT
american_scientific_journal-2188	56	1	also	also	ADV
american_scientific_journal-2188	56	2	,	,	PUNCT
american_scientific_journal-2188	56	3	they	they	PRON
american_scientific_journal-2188	56	4	have	have	VERB
american_scientific_journal-2188	56	5	high	high	ADJ
american_scientific_journal-2188	56	6	resolution	resolution	NOUN
american_scientific_journal-2188	56	7	,	,	PUNCT
american_scientific_journal-2188	56	8	high	high	ADJ
american_scientific_journal-2188	56	9	accuracy	accuracy	NOUN
american_scientific_journal-2188	56	10	,	,	PUNCT
american_scientific_journal-2188	56	11	and	and	CCONJ
american_scientific_journal-2188	56	12	wide	wide	ADJ
american_scientific_journal-2188	56	13	angle	angle	NOUN
american_scientific_journal-2188	56	14	which	which	PRON
american_scientific_journal-2188	56	15	supplies	supply	VERB
american_scientific_journal-2188	56	16	the	the	DET
american_scientific_journal-2188	56	17	optimum	optimum	ADJ
american_scientific_journal-2188	56	18	solution	solution	NOUN
american_scientific_journal-2188	56	19	for	for	ADP
american_scientific_journal-2188	56	20	mobile	mobile	ADJ
american_scientific_journal-2188	56	21	robots	robot	NOUN
american_scientific_journal-2188	56	22	.	.	PUNCT
american_scientific_journal-2188	57	1	2.4.1	2.4.1	NUM
american_scientific_journal-2188	57	2	sensor	sensor	NOUN
american_scientific_journal-2188	57	3	specifications	specification	NOUN
american_scientific_journal-2188	57	4	urg-04lx	urg-04lx	PRON
american_scientific_journal-2188	57	5	uses	use	VERB
american_scientific_journal-2188	57	6	amplitude	amplitude	NOUN
american_scientific_journal-2188	57	7	modulated	modulate	VERB
american_scientific_journal-2188	57	8	laser	laser	NOUN
american_scientific_journal-2188	57	9	light	light	NOUN
american_scientific_journal-2188	57	10	since	since	SCONJ
american_scientific_journal-2188	57	11	the	the	DET
american_scientific_journal-2188	57	12	distance	distance	NOUN
american_scientific_journal-2188	57	13	to	to	ADP
american_scientific_journal-2188	57	14	the	the	DET
american_scientific_journal-2188	57	15	object	object	NOUN
american_scientific_journal-2188	57	16	can	can	AUX
american_scientific_journal-2188	57	17	be	be	AUX
american_scientific_journal-2188	57	18	measuredby	measuredby	ADJ
american_scientific_journal-2188	57	19	measuring	measure	VERB
american_scientific_journal-2188	57	20	the	the	DET
american_scientific_journal-2188	57	21	phase	phase	NOUN
american_scientific_journal-2188	57	22	shift	shift	NOUN
american_scientific_journal-2188	57	23	between	between	ADP
american_scientific_journal-2188	57	24	the	the	DET
american_scientific_journal-2188	57	25	emitted	emitted	ADJ
american_scientific_journal-2188	57	26	light	light	ADJ
american_scientific_journal-2188	57	27	wave	wave	NOUN
american_scientific_journal-2188	57	28	and	and	CCONJ
american_scientific_journal-2188	57	29	its	its	PRON
american_scientific_journal-2188	57	30	reflection	reflection	NOUN
american_scientific_journal-2188	57	31	.	.	PUNCT
american_scientific_journal-2188	58	1	this	this	DET
american_scientific_journal-2188	58	2	sensor	sensor	NOUN
american_scientific_journal-2188	58	3	has	have	AUX
american_scientific_journal-2188	58	4	been	be	AUX
american_scientific_journal-2188	58	5	developed	develop	VERB
american_scientific_journal-2188	58	6	by	by	ADP
american_scientific_journal-2188	58	7	the	the	DET
american_scientific_journal-2188	58	8	department	department	NOUN
american_scientific_journal-2188	58	9	of	of	ADP
american_scientific_journal-2188	58	10	engineering	engineering	NOUN
american_scientific_journal-2188	58	11	of	of	ADP
american_scientific_journal-2188	58	12	the	the	DET
american_scientific_journal-2188	58	13	hokuyo	hokuyo	PROPN
american_scientific_journal-2188	58	14	automatic	automatic	PROPN
american_scientific_journal-2188	58	15	co.	co.	PROPN
american_scientific_journal-2188	58	16	,	,	PUNCT
american_scientific_journal-2188	58	17	ltd	ltd	PROPN
american_scientific_journal-2188	58	18	.	.	PROPN
american_scientific_journal-2188	58	19	and	and	CCONJ
american_scientific_journal-2188	58	20	the	the	DET
american_scientific_journal-2188	58	21	intelligent	intelligent	ADJ
american_scientific_journal-2188	58	22	robot	robot	NOUN
american_scientific_journal-2188	58	23	laboratory	laboratory	NOUN
american_scientific_journal-2188	58	24	of	of	ADP
american_scientific_journal-2188	58	25	the	the	DET
american_scientific_journal-2188	58	26	university	university	PROPN
american_scientific_journal-2188	58	27	of	of	ADP
american_scientific_journal-2188	58	28	tsukuba	tsukuba	PROPN
american_scientific_journal-2188	58	29	in	in	ADP
american_scientific_journal-2188	58	30	japan	japan	PROPN
american_scientific_journal-2188	58	31	.	.	PUNCT
american_scientific_journal-2188	59	1	as	as	ADP
american_scientific_journal-2188	59	2	a	a	DET
american_scientific_journal-2188	59	3	result	result	NOUN
american_scientific_journal-2188	59	4	of	of	ADP
american_scientific_journal-2188	59	5	using	use	VERB
american_scientific_journal-2188	59	6	a	a	DET
american_scientific_journal-2188	59	7	brushless	brushless	NOUN
american_scientific_journal-2188	59	8	spindle	spindle	NOUN
american_scientific_journal-2188	59	9	motor	motor	NOUN
american_scientific_journal-2188	59	10	outer	outer	ADJ
american_scientific_journal-2188	59	11	router	router	NOUN
american_scientific_journal-2188	59	12	,	,	PUNCT
american_scientific_journal-2188	59	13	it	it	PRON
american_scientific_journal-2188	59	14	became	become	VERB
american_scientific_journal-2188	59	15	compact	compact	ADJ
american_scientific_journal-2188	59	16	where	where	SCONJ
american_scientific_journal-2188	59	17	its	its	PRON
american_scientific_journal-2188	59	18	size	size	NOUN
american_scientific_journal-2188	59	19	equals	equal	VERB
american_scientific_journal-2188	59	20	to	to	ADP
american_scientific_journal-2188	59	21	50x50x70	50x50x70	ADJ
american_scientific_journal-2188	59	22	mm	mm	NOUN
american_scientific_journal-2188	59	23	and	and	CCONJ
american_scientific_journal-2188	59	24	its	its	PRON
american_scientific_journal-2188	59	25	total	total	ADJ
american_scientific_journal-2188	59	26	weight	weight	NOUN
american_scientific_journal-2188	59	27	160	160	NUM
american_scientific_journal-2188	59	28	g.	g.	NOUN
american_scientific_journal-2188	59	29	the	the	DET
american_scientific_journal-2188	59	30	distance	distance	NOUN
american_scientific_journal-2188	59	31	that	that	PRON
american_scientific_journal-2188	59	32	can	can	AUX
american_scientific_journal-2188	59	33	be	be	AUX
american_scientific_journal-2188	59	34	measured	measure	VERB
american_scientific_journal-2188	59	35	by	by	ADP
american_scientific_journal-2188	59	36	this	this	DET
american_scientific_journal-2188	59	37	sensor	sensor	NOUN
american_scientific_journal-2188	59	38	is	be	AUX
american_scientific_journal-2188	59	39	between	between	ADP
american_scientific_journal-2188	59	40	2	2	NUM
american_scientific_journal-2188	59	41	cm	cm	NOUN
american_scientific_journal-2188	59	42	and	and	CCONJ
american_scientific_journal-2188	59	43	5.6	5.6	NUM
american_scientific_journal-2188	59	44	m	m	NOUN
american_scientific_journal-2188	59	45	with	with	ADP
american_scientific_journal-2188	59	46	linear	linear	ADJ
american_scientific_journal-2188	59	47	resolution	resolution	NOUN
american_scientific_journal-2188	59	48	of	of	ADP
american_scientific_journal-2188	59	49	1	1	NUM
american_scientific_journal-2188	59	50	mm	mm	NOUN
american_scientific_journal-2188	59	51	in	in	ADP
american_scientific_journal-2188	59	52	addition	addition	NOUN
american_scientific_journal-2188	59	53	to	to	ADP
american_scientific_journal-2188	59	54	0.36	0.36	NUM
american_scientific_journal-2188	59	55	◦	◦	NOUN
american_scientific_journal-2188	59	56	angular	angular	ADJ
american_scientific_journal-2188	59	57	resolution	resolution	NOUN
american_scientific_journal-2188	59	58	because	because	SCONJ
american_scientific_journal-2188	59	59	of	of	ADP
american_scientific_journal-2188	59	60	taking	take	VERB
american_scientific_journal-2188	59	61	683	683	NUM
american_scientific_journal-2188	59	62	steps	step	NOUN
american_scientific_journal-2188	59	63	on	on	ADP
american_scientific_journal-2188	59	64	240	240	NUM
american_scientific_journal-2188	59	65	◦	◦	NOUN
american_scientific_journal-2188	59	66	.	.	PUNCT
american_scientific_journal-2188	60	1	in	in	ADP
american_scientific_journal-2188	60	2	terms	term	NOUN
american_scientific_journal-2188	60	3	of	of	ADP
american_scientific_journal-2188	60	4	interface	interface	NOUN
american_scientific_journal-2188	60	5	and	and	CCONJ
american_scientific_journal-2188	60	6	data	datum	NOUN
american_scientific_journal-2188	60	7	transfer	transfer	NOUN
american_scientific_journal-2188	60	8	to	to	ADP
american_scientific_journal-2188	60	9	the	the	DET
american_scientific_journal-2188	60	10	host	host	NOUN
american_scientific_journal-2188	60	11	computer	computer	NOUN
american_scientific_journal-2188	60	12	,	,	PUNCT
american_scientific_journal-2188	60	13	the	the	DET
american_scientific_journal-2188	60	14	urg-04lx	urg-04lx	NUM
american_scientific_journal-2188	60	15	has	have	VERB
american_scientific_journal-2188	60	16	the	the	DET
american_scientific_journal-2188	60	17	ability	ability	NOUN
american_scientific_journal-2188	60	18	to	to	PART
american_scientific_journal-2188	60	19	use	use	VERB
american_scientific_journal-2188	60	20	two	two	NUM
american_scientific_journal-2188	60	21	types	type	NOUN
american_scientific_journal-2188	60	22	of	of	ADP
american_scientific_journal-2188	60	23	connections	connection	NOUN
american_scientific_journal-2188	60	24	:	:	PUNCT
american_scientific_journal-2188	60	25	full	full	ADJ
american_scientific_journal-2188	60	26	-	-	PUNCT
american_scientific_journal-2188	60	27	speed	speed	NOUN
american_scientific_journal-2188	60	28	usb	usb	NOUN
american_scientific_journal-2188	60	29	(	(	PUNCT
american_scientific_journal-2188	60	30	12mbps	12mbps	NUM
american_scientific_journal-2188	60	31	)	)	PUNCT
american_scientific_journal-2188	60	32	american	american	ADJ
american_scientific_journal-2188	60	33	scientific	scientific	ADJ
american_scientific_journal-2188	60	34	research	research	NOUN
american_scientific_journal-2188	60	35	journal	journal	NOUN
american_scientific_journal-2188	60	36	for	for	ADP
american_scientific_journal-2188	60	37	engineering	engineering	NOUN
american_scientific_journal-2188	60	38	,	,	PUNCT
american_scientific_journal-2188	60	39	technology	technology	NOUN
american_scientific_journal-2188	60	40	,	,	PUNCT
american_scientific_journal-2188	60	41	and	and	CCONJ
american_scientific_journal-2188	60	42	sciences	science	NOUN
american_scientific_journal-2188	60	43	(	(	PUNCT
american_scientific_journal-2188	60	44	asrjets	asrjet	NOUN
american_scientific_journal-2188	60	45	)	)	PUNCT
american_scientific_journal-2188	60	46	(	(	PUNCT
american_scientific_journal-2188	60	47	2016	2016	NUM
american_scientific_journal-2188	60	48	)	)	PUNCT
american_scientific_journal-2188	60	49	volume	volume	NOUN
american_scientific_journal-2188	60	50	26	26	NUM
american_scientific_journal-2188	60	51	,	,	PUNCT
american_scientific_journal-2188	60	52	no	no	DET
american_scientific_journal-2188	60	53	1	1	NUM
american_scientific_journal-2188	60	54	,	,	PUNCT
american_scientific_journal-2188	60	55	pp	pp	ADV
american_scientific_journal-2188	60	56	108	108	NUM
american_scientific_journal-2188	60	57	-	-	SYM
american_scientific_journal-2188	60	58	126	126	NUM
american_scientific_journal-2188	60	59	112	112	NUM
american_scientific_journal-2188	60	60	and	and	CCONJ
american_scientific_journal-2188	60	61	serial	serial	ADJ
american_scientific_journal-2188	60	62	port	port	NOUN
american_scientific_journal-2188	60	63	rs232	rs232	PROPN
american_scientific_journal-2188	60	64	with	with	ADP
american_scientific_journal-2188	60	65	data	datum	NOUN
american_scientific_journal-2188	60	66	transfer	transfer	NOUN
american_scientific_journal-2188	60	67	rates	rate	NOUN
american_scientific_journal-2188	60	68	between	between	ADP
american_scientific_journal-2188	60	69	19.2	19.2	NUM
american_scientific_journal-2188	60	70	and	and	CCONJ
american_scientific_journal-2188	60	71	750kbps	750kbps	PROPN
american_scientific_journal-2188	60	72	.	.	PUNCT
american_scientific_journal-2188	61	1	the	the	DET
american_scientific_journal-2188	61	2	time	time	NOUN
american_scientific_journal-2188	61	3	needed	need	VERB
american_scientific_journal-2188	61	4	to	to	PART
american_scientific_journal-2188	61	5	complete	complete	VERB
american_scientific_journal-2188	61	6	one	one	NUM
american_scientific_journal-2188	61	7	scan	scan	NOUN
american_scientific_journal-2188	61	8	is	be	AUX
american_scientific_journal-2188	61	9	100ms	100ms	ADJ
american_scientific_journal-2188	61	10	because	because	SCONJ
american_scientific_journal-2188	61	11	the	the	DET
american_scientific_journal-2188	61	12	spindle	spindle	NOUN
american_scientific_journal-2188	61	13	motor	motor	NOUN
american_scientific_journal-2188	61	14	is	be	AUX
american_scientific_journal-2188	61	15	rotating	rotate	VERB
american_scientific_journal-2188	61	16	at	at	ADP
american_scientific_journal-2188	61	17	600rpm	600rpm	NUM
american_scientific_journal-2188	61	18	[	[	X
american_scientific_journal-2188	61	19	5	5	NUM
american_scientific_journal-2188	61	20	]	]	PUNCT
american_scientific_journal-2188	61	21	.	.	PUNCT
american_scientific_journal-2188	62	1	figure	figure	NOUN
american_scientific_journal-2188	62	2	5	5	NUM
american_scientific_journal-2188	62	3	:	:	PUNCT
american_scientific_journal-2188	62	4	sensor	sensor	VERB
american_scientific_journal-2188	62	5	external	external	ADJ
american_scientific_journal-2188	62	6	dimension	dimension	NOUN
american_scientific_journal-2188	62	7	figure	figure	NOUN
american_scientific_journal-2188	62	8	6	6	NUM
american_scientific_journal-2188	62	9	:	:	PUNCT
american_scientific_journal-2188	62	10	the	the	DET
american_scientific_journal-2188	62	11	detectable	detectable	ADJ
american_scientific_journal-2188	62	12	area	area	NOUN
american_scientific_journal-2188	62	13	of	of	ADP
american_scientific_journal-2188	62	14	the	the	DET
american_scientific_journal-2188	62	15	sensor	sensor	NOUN
american_scientific_journal-2188	62	16	2.4.2	2.4.2	NUM
american_scientific_journal-2188	62	17	software	software	NOUN
american_scientific_journal-2188	62	18	overview	overview	NOUN
american_scientific_journal-2188	62	19	drivers	driver	NOUN
american_scientific_journal-2188	62	20	of	of	ADP
american_scientific_journal-2188	62	21	hokuyo	hokuyo	NOUN
american_scientific_journal-2188	62	22	urg-04lx	urg-04lx	PRON
american_scientific_journal-2188	62	23	have	have	AUX
american_scientific_journal-2188	62	24	been	be	AUX
american_scientific_journal-2188	62	25	integrated	integrate	VERB
american_scientific_journal-2188	62	26	in	in	ADP
american_scientific_journal-2188	62	27	labview	labview	NOUN
american_scientific_journal-2188	62	28	robotics	robotic	NOUN
american_scientific_journal-2188	62	29	.	.	PUNCT
american_scientific_journal-2188	63	1	this	this	DET
american_scientific_journal-2188	63	2	integration	integration	NOUN
american_scientific_journal-2188	63	3	creates	create	VERB
american_scientific_journal-2188	63	4	an	an	DET
american_scientific_journal-2188	63	5	optimum	optimum	ADJ
american_scientific_journal-2188	63	6	environment	environment	NOUN
american_scientific_journal-2188	63	7	for	for	ADP
american_scientific_journal-2188	63	8	testing	testing	NOUN
american_scientific_journal-2188	63	9	and	and	CCONJ
american_scientific_journal-2188	63	10	developing	develop	VERB
american_scientific_journal-2188	63	11	many	many	ADJ
american_scientific_journal-2188	63	12	algorithms	algorithm	NOUN
american_scientific_journal-2188	63	13	and	and	CCONJ
american_scientific_journal-2188	63	14	applications	application	NOUN
american_scientific_journal-2188	63	15	on	on	ADP
american_scientific_journal-2188	63	16	laser	laser	NOUN
american_scientific_journal-2188	63	17	range	range	NOUN
american_scientific_journal-2188	63	18	finders	finder	NOUN
american_scientific_journal-2188	63	19	including	include	VERB
american_scientific_journal-2188	63	20	autonomous	autonomous	ADJ
american_scientific_journal-2188	63	21	navigation	navigation	NOUN
american_scientific_journal-2188	63	22	,	,	PUNCT
american_scientific_journal-2188	63	23	mapping	mapping	NOUN
american_scientific_journal-2188	63	24	,	,	PUNCT
american_scientific_journal-2188	63	25	path	path	NOUN
american_scientific_journal-2188	63	26	planning	planning	NOUN
american_scientific_journal-2188	63	27	and	and	CCONJ
american_scientific_journal-2188	63	28	obstacle	obstacle	NOUN
american_scientific_journal-2188	63	29	avoidance	avoidance	NOUN
american_scientific_journal-2188	63	30	.	.	PUNCT
american_scientific_journal-2188	64	1	the	the	DET
american_scientific_journal-2188	64	2	scip	scip	PROPN
american_scientific_journal-2188	64	3	2.0	2.0	NUM
american_scientific_journal-2188	64	4	communications	communication	NOUN
american_scientific_journal-2188	64	5	protocol	protocol	NOUN
american_scientific_journal-2188	64	6	for	for	ADP
american_scientific_journal-2188	64	7	hokuyo	hokuyo	NOUN
american_scientific_journal-2188	64	8	’s	’s	PART
american_scientific_journal-2188	64	9	urg	urg	PROPN
american_scientific_journal-2188	64	10	family	family	PROPN
american_scientific_journal-2188	64	11	of	of	ADP
american_scientific_journal-2188	64	12	laser	laser	NOUN
american_scientific_journal-2188	64	13	range	range	NOUN
american_scientific_journal-2188	64	14	finders	finder	NOUN
american_scientific_journal-2188	64	15	combined	combine	VERB
american_scientific_journal-2188	64	16	with	with	ADP
american_scientific_journal-2188	64	17	the	the	DET
american_scientific_journal-2188	64	18	graphical	graphical	ADJ
american_scientific_journal-2188	64	19	programming	programming	NOUN
american_scientific_journal-2188	64	20	of	of	ADP
american_scientific_journal-2188	64	21	labview	labview	NOUN
american_scientific_journal-2188	64	22	delivers	deliver	VERB
american_scientific_journal-2188	64	23	a	a	DET
american_scientific_journal-2188	64	24	fast	fast	ADJ
american_scientific_journal-2188	64	25	-	-	PUNCT
american_scientific_journal-2188	64	26	track	track	NOUN
american_scientific_journal-2188	64	27	solution	solution	NOUN
american_scientific_journal-2188	64	28	for	for	ADP
american_scientific_journal-2188	64	29	improving	improve	VERB
american_scientific_journal-2188	64	30	and	and	CCONJ
american_scientific_journal-2188	64	31	developing	develop	VERB
american_scientific_journal-2188	64	32	autonomous	autonomous	ADJ
american_scientific_journal-2188	64	33	intelligent	intelligent	ADJ
american_scientific_journal-2188	64	34	robotic	robotic	ADJ
american_scientific_journal-2188	64	35	systems	system	NOUN
american_scientific_journal-2188	64	36	[	[	X
american_scientific_journal-2188	64	37	6	6	NUM
american_scientific_journal-2188	64	38	]	]	PUNCT
american_scientific_journal-2188	64	39	.	.	PUNCT
american_scientific_journal-2188	65	1	american	american	PROPN
american_scientific_journal-2188	65	2	scientific	scientific	ADJ
american_scientific_journal-2188	65	3	research	research	PROPN
american_scientific_journal-2188	65	4	journal	journal	NOUN
american_scientific_journal-2188	65	5	for	for	ADP
american_scientific_journal-2188	65	6	engineering	engineering	NOUN
american_scientific_journal-2188	65	7	,	,	PUNCT
american_scientific_journal-2188	65	8	technology	technology	NOUN
american_scientific_journal-2188	65	9	,	,	PUNCT
american_scientific_journal-2188	65	10	and	and	CCONJ
american_scientific_journal-2188	65	11	sciences	science	NOUN
american_scientific_journal-2188	65	12	(	(	PUNCT
american_scientific_journal-2188	65	13	asrjets	asrjet	NOUN
american_scientific_journal-2188	65	14	)	)	PUNCT
american_scientific_journal-2188	65	15	(	(	PUNCT
american_scientific_journal-2188	65	16	2016	2016	NUM
american_scientific_journal-2188	65	17	)	)	PUNCT
american_scientific_journal-2188	65	18	volume	volume	NOUN
american_scientific_journal-2188	65	19	26	26	NUM
american_scientific_journal-2188	65	20	,	,	PUNCT
american_scientific_journal-2188	65	21	no	no	DET
american_scientific_journal-2188	65	22	1	1	NUM
american_scientific_journal-2188	65	23	,	,	PUNCT
american_scientific_journal-2188	65	24	pp	pp	ADV
american_scientific_journal-2188	65	25	108	108	NUM
american_scientific_journal-2188	65	26	-	-	SYM
american_scientific_journal-2188	65	27	126	126	NUM
american_scientific_journal-2188	65	28	113	113	NUM
american_scientific_journal-2188	65	29	figure	figure	NOUN
american_scientific_journal-2188	65	30	7	7	NUM
american_scientific_journal-2188	65	31	:	:	PUNCT
american_scientific_journal-2188	65	32	functional	functional	ADJ
american_scientific_journal-2188	65	33	blocks	block	NOUN
american_scientific_journal-2188	65	34	for	for	ADP
american_scientific_journal-2188	65	35	hokuyo	hokuyo	NOUN
american_scientific_journal-2188	65	36	urg	urg	PROPN
american_scientific_journal-2188	65	37	series	series	PROPN
american_scientific_journal-2188	65	38	.	.	PUNCT
american_scientific_journal-2188	66	1	in	in	ADP
american_scientific_journal-2188	66	2	spite	spite	NOUN
american_scientific_journal-2188	66	3	of	of	ADP
american_scientific_journal-2188	66	4	that	that	SCONJ
american_scientific_journal-2188	66	5	the	the	DET
american_scientific_journal-2188	66	6	sensor	sensor	NOUN
american_scientific_journal-2188	66	7	has	have	VERB
american_scientific_journal-2188	66	8	the	the	DET
american_scientific_journal-2188	66	9	ability	ability	NOUN
american_scientific_journal-2188	66	10	to	to	PART
american_scientific_journal-2188	66	11	use	use	VERB
american_scientific_journal-2188	66	12	full	full	ADJ
american_scientific_journal-2188	66	13	-	-	PUNCT
american_scientific_journal-2188	66	14	speed	speed	NOUN
american_scientific_journal-2188	66	15	usb	usb	NOUN
american_scientific_journal-2188	66	16	(	(	PUNCT
american_scientific_journal-2188	66	17	12mbps	12mbps	NUM
american_scientific_journal-2188	66	18	)	)	PUNCT
american_scientific_journal-2188	66	19	,	,	PUNCT
american_scientific_journal-2188	66	20	the	the	DET
american_scientific_journal-2188	66	21	serial	serial	ADJ
american_scientific_journal-2188	66	22	port	port	NOUN
american_scientific_journal-2188	66	23	rs232	rs232	PROPN
american_scientific_journal-2188	66	24	with	with	ADP
american_scientific_journal-2188	66	25	data	datum	NOUN
american_scientific_journal-2188	66	26	transfer	transfer	NOUN
american_scientific_journal-2188	66	27	rates	rate	NOUN
american_scientific_journal-2188	66	28	between	between	ADP
american_scientific_journal-2188	66	29	19.2	19.2	NUM
american_scientific_journal-2188	66	30	and	and	CCONJ
american_scientific_journal-2188	66	31	750kbps	750kbps	PROPN
american_scientific_journal-2188	66	32	will	will	AUX
american_scientific_journal-2188	66	33	be	be	AUX
american_scientific_journal-2188	66	34	used	use	VERB
american_scientific_journal-2188	66	35	,	,	PUNCT
american_scientific_journal-2188	66	36	hence	hence	ADV
american_scientific_journal-2188	66	37	the	the	DET
american_scientific_journal-2188	66	38	ni	ni	PROPN
american_scientific_journal-2188	66	39	single	single	ADJ
american_scientific_journal-2188	66	40	-	-	PUNCT
american_scientific_journal-2188	66	41	board	board	NOUN
american_scientific_journal-2188	66	42	rio	rio	PROPN
american_scientific_journal-2188	66	43	9631	9631	NUM
american_scientific_journal-2188	66	44	(	(	PUNCT
american_scientific_journal-2188	66	45	sbrio	sbrio	NOUN
american_scientific_journal-2188	66	46	9631	9631	NUM
american_scientific_journal-2188	66	47	)	)	PUNCT
american_scientific_journal-2188	66	48	does	do	AUX
american_scientific_journal-2188	66	49	not	not	PART
american_scientific_journal-2188	66	50	have	have	AUX
american_scientific_journal-2188	66	51	a	a	DET
american_scientific_journal-2188	66	52	usb	usb	NOUN
american_scientific_journal-2188	66	53	port	port	NOUN
american_scientific_journal-2188	66	54	.	.	PUNCT
american_scientific_journal-2188	67	1	when	when	SCONJ
american_scientific_journal-2188	67	2	the	the	DET
american_scientific_journal-2188	67	3	serial	serial	ADJ
american_scientific_journal-2188	67	4	port	port	NOUN
american_scientific_journal-2188	67	5	is	be	AUX
american_scientific_journal-2188	67	6	used	use	VERB
american_scientific_journal-2188	67	7	to	to	PART
american_scientific_journal-2188	67	8	communicate	communicate	VERB
american_scientific_journal-2188	67	9	with	with	ADP
american_scientific_journal-2188	67	10	the	the	DET
american_scientific_journal-2188	67	11	sbrio	sbrio	NOUN
american_scientific_journal-2188	67	12	9631	9631	NUM
american_scientific_journal-2188	67	13	,	,	PUNCT
american_scientific_journal-2188	67	14	it	it	PRON
american_scientific_journal-2188	67	15	is	be	AUX
american_scientific_journal-2188	67	16	required	require	VERB
american_scientific_journal-2188	67	17	to	to	PART
american_scientific_journal-2188	67	18	provide	provide	VERB
american_scientific_journal-2188	67	19	it	it	PRON
american_scientific_journal-2188	67	20	with	with	ADP
american_scientific_journal-2188	67	21	external	external	ADJ
american_scientific_journal-2188	67	22	power	power	NOUN
american_scientific_journal-2188	67	23	(	(	PUNCT
american_scientific_journal-2188	67	24	5v	5v	PROPN
american_scientific_journal-2188	67	25	dc	dc	PROPN
american_scientific_journal-2188	67	26	)	)	PUNCT
american_scientific_journal-2188	67	27	hence	hence	ADV
american_scientific_journal-2188	67	28	it	it	PRON
american_scientific_journal-2188	67	29	does	do	AUX
american_scientific_journal-2188	67	30	not	not	PART
american_scientific_journal-2188	67	31	have	have	VERB
american_scientific_journal-2188	67	32	the	the	DET
american_scientific_journal-2188	67	33	ability	ability	NOUN
american_scientific_journal-2188	67	34	to	to	PART
american_scientific_journal-2188	67	35	provide	provide	VERB
american_scientific_journal-2188	67	36	the	the	DET
american_scientific_journal-2188	67	37	sufficient	sufficient	ADJ
american_scientific_journal-2188	67	38	power	power	NOUN
american_scientific_journal-2188	67	39	to	to	ADP
american_scientific_journal-2188	67	40	the	the	DET
american_scientific_journal-2188	67	41	sensor	sensor	NOUN
american_scientific_journal-2188	67	42	.	.	PUNCT
american_scientific_journal-2188	68	1	2.3	2.3	NUM
american_scientific_journal-2188	68	2	connection	connection	NOUN
american_scientific_journal-2188	68	3	of	of	ADP
american_scientific_journal-2188	68	4	the	the	DET
american_scientific_journal-2188	68	5	hardware	hardware	NOUN
american_scientific_journal-2188	68	6	components	component	NOUN
american_scientific_journal-2188	68	7	it	it	PRON
american_scientific_journal-2188	68	8	is	be	AUX
american_scientific_journal-2188	68	9	important	important	ADJ
american_scientific_journal-2188	68	10	to	to	PART
american_scientific_journal-2188	68	11	use	use	VERB
american_scientific_journal-2188	68	12	the	the	DET
american_scientific_journal-2188	68	13	optimum	optimum	ADJ
american_scientific_journal-2188	68	14	way	way	NOUN
american_scientific_journal-2188	68	15	to	to	PART
american_scientific_journal-2188	68	16	connect	connect	VERB
american_scientific_journal-2188	68	17	the	the	DET
american_scientific_journal-2188	68	18	hardware	hardware	NOUN
american_scientific_journal-2188	68	19	components	component	NOUN
american_scientific_journal-2188	68	20	together	together	ADV
american_scientific_journal-2188	68	21	.	.	PUNCT
american_scientific_journal-2188	69	1	the	the	DET
american_scientific_journal-2188	69	2	first	first	ADJ
american_scientific_journal-2188	69	3	step	step	NOUN
american_scientific_journal-2188	69	4	was	be	AUX
american_scientific_journal-2188	69	5	connecting	connect	VERB
american_scientific_journal-2188	69	6	the	the	DET
american_scientific_journal-2188	69	7	hokuyo	hokuyo	NOUN
american_scientific_journal-2188	69	8	urg-04lx	urg-04lx	PROPN
american_scientific_journal-2188	69	9	to	to	ADP
american_scientific_journal-2188	69	10	the	the	DET
american_scientific_journal-2188	69	11	ni	ni	PROPN
american_scientific_journal-2188	69	12	starter	starter	ADJ
american_scientific_journal-2188	69	13	kit	kit	NOUN
american_scientific_journal-2188	69	14	as	as	SCONJ
american_scientific_journal-2188	69	15	shown	show	VERB
american_scientific_journal-2188	69	16	in	in	ADP
american_scientific_journal-2188	69	17	figure	figure	NOUN
american_scientific_journal-2188	69	18	(	(	PUNCT
american_scientific_journal-2188	69	19	8)	8)	NUM
american_scientific_journal-2188	69	20	.	.	PUNCT
american_scientific_journal-2188	70	1	it	it	PRON
american_scientific_journal-2188	70	2	is	be	AUX
american_scientific_journal-2188	70	3	important	important	ADJ
american_scientific_journal-2188	70	4	to	to	PART
american_scientific_journal-2188	70	5	consider	consider	VERB
american_scientific_journal-2188	70	6	the	the	DET
american_scientific_journal-2188	70	7	alignment	alignment	NOUN
american_scientific_journal-2188	70	8	of	of	ADP
american_scientific_journal-2188	70	9	the	the	DET
american_scientific_journal-2188	70	10	sensor	sensor	NOUN
american_scientific_journal-2188	70	11	axes	axis	NOUN
american_scientific_journal-2188	70	12	with	with	ADP
american_scientific_journal-2188	70	13	the	the	DET
american_scientific_journal-2188	70	14	robot	robot	NOUN
american_scientific_journal-2188	70	15	axes	axis	NOUN
american_scientific_journal-2188	70	16	where	where	SCONJ
american_scientific_journal-2188	70	17	the	the	DET
american_scientific_journal-2188	70	18	difference	difference	NOUN
american_scientific_journal-2188	70	19	between	between	ADP
american_scientific_journal-2188	70	20	them	they	PRON
american_scientific_journal-2188	70	21	will	will	AUX
american_scientific_journal-2188	70	22	be	be	AUX
american_scientific_journal-2188	70	23	considered	consider	VERB
american_scientific_journal-2188	70	24	in	in	ADP
american_scientific_journal-2188	70	25	the	the	DET
american_scientific_journal-2188	70	26	calculations	calculation	NOUN
american_scientific_journal-2188	70	27	of	of	ADP
american_scientific_journal-2188	70	28	the	the	DET
american_scientific_journal-2188	70	29	distance	distance	NOUN
american_scientific_journal-2188	70	30	from	from	ADP
american_scientific_journal-2188	70	31	the	the	DET
american_scientific_journal-2188	70	32	robot	robot	NOUN
american_scientific_journal-2188	70	33	to	to	ADP
american_scientific_journal-2188	70	34	the	the	DET
american_scientific_journal-2188	70	35	object	object	NOUN
american_scientific_journal-2188	70	36	.	.	PUNCT
american_scientific_journal-2188	71	1	figure	figure	NOUN
american_scientific_journal-2188	71	2	8	8	NUM
american_scientific_journal-2188	71	3	:	:	PUNCT
american_scientific_journal-2188	71	4	hokuyo	hokuyo	NOUN
american_scientific_journal-2188	71	5	urg-04lx	urg-04lx	NUM
american_scientific_journal-2188	71	6	with	with	ADP
american_scientific_journal-2188	71	7	the	the	DET
american_scientific_journal-2188	71	8	ni	ni	PROPN
american_scientific_journal-2188	71	9	starter	starter	ADJ
american_scientific_journal-2188	71	10	kit	kit	NOUN
american_scientific_journal-2188	71	11	american	american	PROPN
american_scientific_journal-2188	71	12	scientific	scientific	ADJ
american_scientific_journal-2188	71	13	research	research	NOUN
american_scientific_journal-2188	71	14	journal	journal	NOUN
american_scientific_journal-2188	71	15	for	for	ADP
american_scientific_journal-2188	71	16	engineering	engineering	NOUN
american_scientific_journal-2188	71	17	,	,	PUNCT
american_scientific_journal-2188	71	18	technology	technology	NOUN
american_scientific_journal-2188	71	19	,	,	PUNCT
american_scientific_journal-2188	71	20	and	and	CCONJ
american_scientific_journal-2188	71	21	sciences	science	NOUN
american_scientific_journal-2188	71	22	(	(	PUNCT
american_scientific_journal-2188	71	23	asrjets	asrjet	NOUN
american_scientific_journal-2188	71	24	)	)	PUNCT
american_scientific_journal-2188	71	25	(	(	PUNCT
american_scientific_journal-2188	71	26	2016	2016	NUM
american_scientific_journal-2188	71	27	)	)	PUNCT
american_scientific_journal-2188	71	28	volume	volume	NOUN
american_scientific_journal-2188	71	29	26	26	NUM
american_scientific_journal-2188	71	30	,	,	PUNCT
american_scientific_journal-2188	71	31	no	no	DET
american_scientific_journal-2188	71	32	1	1	NUM
american_scientific_journal-2188	71	33	,	,	PUNCT
american_scientific_journal-2188	71	34	pp	pp	ADV
american_scientific_journal-2188	71	35	108	108	NUM
american_scientific_journal-2188	71	36	-	-	SYM
american_scientific_journal-2188	71	37	126	126	NUM
american_scientific_journal-2188	71	38	114	114	NUM
american_scientific_journal-2188	71	39	ni	ni	PROPN
american_scientific_journal-2188	71	40	labview	labview	NOUN
american_scientific_journal-2188	71	41	robotics	robotic	NOUN
american_scientific_journal-2188	71	42	starter	starter	NOUN
american_scientific_journal-2188	71	43	kit	kit	NOUN
american_scientific_journal-2188	71	44	connected	connect	VERB
american_scientific_journal-2188	71	45	to	to	ADP
american_scientific_journal-2188	71	46	the	the	DET
american_scientific_journal-2188	71	47	laptop	laptop	NOUN
american_scientific_journal-2188	71	48	using	use	VERB
american_scientific_journal-2188	71	49	a	a	DET
american_scientific_journal-2188	71	50	wireless	wireless	ADJ
american_scientific_journal-2188	71	51	connection	connection	NOUN
american_scientific_journal-2188	71	52	,	,	PUNCT
american_scientific_journal-2188	71	53	hence	hence	ADV
american_scientific_journal-2188	71	54	this	this	DET
american_scientific_journal-2188	71	55	connection	connection	NOUN
american_scientific_journal-2188	71	56	is	be	AUX
american_scientific_journal-2188	71	57	more	more	ADV
american_scientific_journal-2188	71	58	sufficient	sufficient	ADJ
american_scientific_journal-2188	71	59	than	than	ADP
american_scientific_journal-2188	71	60	using	use	VERB
american_scientific_journal-2188	71	61	wire	wire	NOUN
american_scientific_journal-2188	71	62	connection	connection	NOUN
american_scientific_journal-2188	71	63	because	because	SCONJ
american_scientific_journal-2188	71	64	it	it	PRON
american_scientific_journal-2188	71	65	will	will	AUX
american_scientific_journal-2188	71	66	strict	strict	VERB
american_scientific_journal-2188	71	67	the	the	DET
american_scientific_journal-2188	71	68	robot	robot	NOUN
american_scientific_journal-2188	71	69	movement	movement	NOUN
american_scientific_journal-2188	71	70	.	.	PUNCT
american_scientific_journal-2188	72	1	the	the	DET
american_scientific_journal-2188	72	2	wireless	wireless	ADJ
american_scientific_journal-2188	72	3	router	router	NOUN
american_scientific_journal-2188	72	4	is	be	AUX
american_scientific_journal-2188	72	5	used	use	VERB
american_scientific_journal-2188	72	6	in	in	ADP
american_scientific_journal-2188	72	7	this	this	DET
american_scientific_journal-2188	72	8	project	project	NOUN
american_scientific_journal-2188	72	9	to	to	ADP
american_scientific_journal-2188	72	10	transmit/	transmit/	NUM
american_scientific_journal-2188	72	11	receive	receive	VERB
american_scientific_journal-2188	72	12	date	date	NOUN
american_scientific_journal-2188	72	13	to	to	PART
american_scientific_journal-2188	72	14	/	/	SYM
american_scientific_journal-2188	72	15	from	from	ADP
american_scientific_journal-2188	72	16	the	the	DET
american_scientific_journal-2188	72	17	laptop	laptop	NOUN
american_scientific_journal-2188	72	18	.	.	PUNCT
american_scientific_journal-2188	73	1	for	for	ADP
american_scientific_journal-2188	73	2	the	the	DET
american_scientific_journal-2188	73	3	power	power	NOUN
american_scientific_journal-2188	73	4	requirements	requirement	NOUN
american_scientific_journal-2188	73	5	,	,	PUNCT
american_scientific_journal-2188	73	6	a	a	DET
american_scientific_journal-2188	73	7	dc	dc	PROPN
american_scientific_journal-2188	73	8	-	-	PUNCT
american_scientific_journal-2188	73	9	to	to	ADP
american_scientific_journal-2188	73	10	-	-	PUNCT
american_scientific_journal-2188	73	11	dc	dc	PROPN
american_scientific_journal-2188	73	12	convert	convert	NOUN
american_scientific_journal-2188	73	13	is	be	AUX
american_scientific_journal-2188	73	14	used	use	VERB
american_scientific_journal-2188	73	15	to	to	PART
american_scientific_journal-2188	73	16	convert	convert	VERB
american_scientific_journal-2188	73	17	12v	12v	NOUN
american_scientific_journal-2188	73	18	dc	dc	PROPN
american_scientific_journal-2188	73	19	battery	battery	NOUN
american_scientific_journal-2188	73	20	voltage	voltage	NOUN
american_scientific_journal-2188	73	21	to	to	ADP
american_scientific_journal-2188	73	22	5v	5v	PROPN
american_scientific_journal-2188	73	23	dc	dc	PROPN
american_scientific_journal-2188	73	24	for	for	ADP
american_scientific_journal-2188	73	25	the	the	DET
american_scientific_journal-2188	73	26	sensor	sensor	NOUN
american_scientific_journal-2188	73	27	figure	figure	NOUN
american_scientific_journal-2188	73	28	(	(	PUNCT
american_scientific_journal-2188	73	29	9	9	NUM
american_scientific_journal-2188	73	30	)	)	PUNCT
american_scientific_journal-2188	73	31	.	.	PUNCT
american_scientific_journal-2188	74	1	to	to	PART
american_scientific_journal-2188	74	2	supply	supply	VERB
american_scientific_journal-2188	74	3	power	power	NOUN
american_scientific_journal-2188	74	4	with	with	ADP
american_scientific_journal-2188	74	5	the	the	DET
american_scientific_journal-2188	74	6	data	datum	NOUN
american_scientific_journal-2188	74	7	from	from	ADP
american_scientific_journal-2188	74	8	the	the	DET
american_scientific_journal-2188	74	9	ni	ni	PROPN
american_scientific_journal-2188	74	10	starter	starter	ADJ
american_scientific_journal-2188	74	11	kit	kit	NOUN
american_scientific_journal-2188	74	12	to	to	ADP
american_scientific_journal-2188	74	13	the	the	DET
american_scientific_journal-2188	74	14	sensor	sensor	NOUN
american_scientific_journal-2188	74	15	the	the	DET
american_scientific_journal-2188	74	16	rs232	rs232	PROPN
american_scientific_journal-2188	74	17	modified	modify	VERB
american_scientific_journal-2188	74	18	by	by	ADP
american_scientific_journal-2188	74	19	adding	add	VERB
american_scientific_journal-2188	74	20	a	a	DET
american_scientific_journal-2188	74	21	power	power	NOUN
american_scientific_journal-2188	74	22	cable	cable	NOUN
american_scientific_journal-2188	74	23	to	to	ADP
american_scientific_journal-2188	74	24	the	the	DET
american_scientific_journal-2188	74	25	connector	connector	NOUN
american_scientific_journal-2188	74	26	as	as	SCONJ
american_scientific_journal-2188	74	27	shown	show	VERB
american_scientific_journal-2188	74	28	in	in	ADP
american_scientific_journal-2188	74	29	figure	figure	NOUN
american_scientific_journal-2188	74	30	(	(	PUNCT
american_scientific_journal-2188	74	31	10	10	NUM
american_scientific_journal-2188	74	32	)	)	PUNCT
american_scientific_journal-2188	74	33	figure	figure	NOUN
american_scientific_journal-2188	74	34	9	9	NUM
american_scientific_journal-2188	74	35	:	:	PUNCT
american_scientific_journal-2188	74	36	wireless	wireless	ADJ
american_scientific_journal-2188	74	37	router	router	NOUN
american_scientific_journal-2188	74	38	and	and	CCONJ
american_scientific_journal-2188	74	39	dc	dc	PROPN
american_scientific_journal-2188	74	40	-	-	PUNCT
american_scientific_journal-2188	74	41	to	to	ADP
american_scientific_journal-2188	74	42	-	-	PUNCT
american_scientific_journal-2188	74	43	dc	dc	PROPN
american_scientific_journal-2188	74	44	converter	converter	NOUN
american_scientific_journal-2188	74	45	figure	figure	NOUN
american_scientific_journal-2188	74	46	10	10	NUM
american_scientific_journal-2188	74	47	:	:	PUNCT
american_scientific_journal-2188	74	48	serial	serial	ADJ
american_scientific_journal-2188	74	49	port	port	NOUN
american_scientific_journal-2188	74	50	with	with	ADP
american_scientific_journal-2188	74	51	power	power	NOUN
american_scientific_journal-2188	74	52	connector	connector	NOUN
american_scientific_journal-2188	74	53	figure	figure	NOUN
american_scientific_journal-2188	74	54	11	11	NUM
american_scientific_journal-2188	74	55	:	:	PUNCT
american_scientific_journal-2188	74	56	final	final	ADJ
american_scientific_journal-2188	74	57	assembly	assembly	NOUN
american_scientific_journal-2188	74	58	of	of	ADP
american_scientific_journal-2188	74	59	ni	ni	PROPN
american_scientific_journal-2188	74	60	labview	labview	PROPN
american_scientific_journal-2188	74	61	starter	starter	NOUN
american_scientific_journal-2188	74	62	kit	kit	NOUN
american_scientific_journal-2188	74	63	1.0	1.0	NUM
american_scientific_journal-2188	74	64	with	with	ADP
american_scientific_journal-2188	74	65	‘	'	PUNCT
american_scientific_journal-2188	74	66	hokuyo	hokuyo	NOUN
american_scientific_journal-2188	74	67	urg-04lx	urg-04lx	NUM
american_scientific_journal-2188	74	68	sensor	sensor	NOUN
american_scientific_journal-2188	74	69	’	'	PUNCT
american_scientific_journal-2188	74	70	finally	finally	ADV
american_scientific_journal-2188	74	71	,	,	PUNCT
american_scientific_journal-2188	74	72	the	the	DET
american_scientific_journal-2188	74	73	parts	part	NOUN
american_scientific_journal-2188	74	74	will	will	AUX
american_scientific_journal-2188	74	75	connected	connect	VERB
american_scientific_journal-2188	74	76	together	together	ADV
american_scientific_journal-2188	74	77	as	as	SCONJ
american_scientific_journal-2188	74	78	shown	show	VERB
american_scientific_journal-2188	74	79	in	in	ADP
american_scientific_journal-2188	74	80	figure	figure	NOUN
american_scientific_journal-2188	74	81	(	(	PUNCT
american_scientific_journal-2188	74	82	11	11	NUM
american_scientific_journal-2188	74	83	)	)	PUNCT
american_scientific_journal-2188	74	84	american	american	ADJ
american_scientific_journal-2188	74	85	scientific	scientific	ADJ
american_scientific_journal-2188	74	86	research	research	NOUN
american_scientific_journal-2188	74	87	journal	journal	NOUN
american_scientific_journal-2188	74	88	for	for	ADP
american_scientific_journal-2188	74	89	engineering	engineering	NOUN
american_scientific_journal-2188	74	90	,	,	PUNCT
american_scientific_journal-2188	74	91	technology	technology	NOUN
american_scientific_journal-2188	74	92	,	,	PUNCT
american_scientific_journal-2188	74	93	and	and	CCONJ
american_scientific_journal-2188	74	94	sciences	science	NOUN
american_scientific_journal-2188	74	95	(	(	PUNCT
american_scientific_journal-2188	74	96	asrjets	asrjet	NOUN
american_scientific_journal-2188	74	97	)	)	PUNCT
american_scientific_journal-2188	74	98	(	(	PUNCT
american_scientific_journal-2188	74	99	2016	2016	NUM
american_scientific_journal-2188	74	100	)	)	PUNCT
american_scientific_journal-2188	74	101	volume	volume	NOUN
american_scientific_journal-2188	74	102	26	26	NUM
american_scientific_journal-2188	74	103	,	,	PUNCT
american_scientific_journal-2188	74	104	no	no	DET
american_scientific_journal-2188	74	105	1	1	NUM
american_scientific_journal-2188	74	106	,	,	PUNCT
american_scientific_journal-2188	74	107	pp	pp	ADV
american_scientific_journal-2188	74	108	108	108	NUM
american_scientific_journal-2188	74	109	-	-	SYM
american_scientific_journal-2188	74	110	126	126	NUM
american_scientific_journal-2188	74	111	115	115	NUM
american_scientific_journal-2188	74	112	2.4	2.4	NUM
american_scientific_journal-2188	74	113	identification	identification	NOUN
american_scientific_journal-2188	74	114	of	of	ADP
american_scientific_journal-2188	74	115	the	the	DET
american_scientific_journal-2188	74	116	workspace	workspace	NOUN
american_scientific_journal-2188	74	117	as	as	ADP
american_scientific_journal-2188	74	118	in	in	ADP
american_scientific_journal-2188	74	119	all	all	DET
american_scientific_journal-2188	74	120	kinds	kind	NOUN
american_scientific_journal-2188	74	121	of	of	ADP
american_scientific_journal-2188	74	122	sensor	sensor	NOUN
american_scientific_journal-2188	74	123	navigation	navigation	NOUN
american_scientific_journal-2188	74	124	it	it	PRON
american_scientific_journal-2188	74	125	is	be	AUX
american_scientific_journal-2188	74	126	necessary	necessary	ADJ
american_scientific_journal-2188	74	127	to	to	PART
american_scientific_journal-2188	74	128	define	define	VERB
american_scientific_journal-2188	74	129	a	a	DET
american_scientific_journal-2188	74	130	model	model	NOUN
american_scientific_journal-2188	74	131	map	map	NOUN
american_scientific_journal-2188	74	132	(	(	PUNCT
american_scientific_journal-2188	74	133	the	the	DET
american_scientific_journal-2188	74	134	global	global	ADJ
american_scientific_journal-2188	74	135	model	model	NOUN
american_scientific_journal-2188	74	136	)	)	PUNCT
american_scientific_journal-2188	74	137	to	to	PART
american_scientific_journal-2188	74	138	make	make	VERB
american_scientific_journal-2188	74	139	it	it	PRON
american_scientific_journal-2188	74	140	possible	possible	ADJ
american_scientific_journal-2188	74	141	to	to	PART
american_scientific_journal-2188	74	142	define	define	VERB
american_scientific_journal-2188	74	143	the	the	DET
american_scientific_journal-2188	74	144	robot	robot	NOUN
american_scientific_journal-2188	74	145	's	's	PART
american_scientific_journal-2188	74	146	localisation	localisation	NOUN
american_scientific_journal-2188	74	147	.	.	PUNCT
american_scientific_journal-2188	75	1	it	it	PRON
american_scientific_journal-2188	75	2	can	can	AUX
american_scientific_journal-2188	75	3	be	be	AUX
american_scientific_journal-2188	75	4	done	do	VERB
american_scientific_journal-2188	75	5	in	in	ADP
american_scientific_journal-2188	75	6	several	several	ADJ
american_scientific_journal-2188	75	7	ways	way	NOUN
american_scientific_journal-2188	75	8	.	.	PUNCT
american_scientific_journal-2188	76	1	the	the	DET
american_scientific_journal-2188	76	2	data	datum	NOUN
american_scientific_journal-2188	76	3	concerning	concern	VERB
american_scientific_journal-2188	76	4	the	the	DET
american_scientific_journal-2188	76	5	most	most	ADV
american_scientific_journal-2188	76	6	important	important	ADJ
american_scientific_journal-2188	76	7	obstacles	obstacle	NOUN
american_scientific_journal-2188	76	8	,	,	PUNCT
american_scientific_journal-2188	76	9	such	such	ADJ
american_scientific_journal-2188	76	10	as	as	ADP
american_scientific_journal-2188	76	11	for	for	ADP
american_scientific_journal-2188	76	12	example	example	NOUN
american_scientific_journal-2188	76	13	–	–	PUNCT
american_scientific_journal-2188	76	14	the	the	DET
american_scientific_journal-2188	76	15	walls	wall	NOUN
american_scientific_journal-2188	76	16	of	of	ADP
american_scientific_journal-2188	76	17	rooms	room	NOUN
american_scientific_journal-2188	76	18	,	,	PUNCT
american_scientific_journal-2188	76	19	can	can	AUX
american_scientific_journal-2188	76	20	be	be	AUX
american_scientific_journal-2188	76	21	introduced	introduce	VERB
american_scientific_journal-2188	76	22	from	from	ADP
american_scientific_journal-2188	76	23	the	the	DET
american_scientific_journal-2188	76	24	documentation	documentation	NOUN
american_scientific_journal-2188	76	25	.	.	PUNCT
american_scientific_journal-2188	77	1	the	the	DET
american_scientific_journal-2188	77	2	walls	wall	NOUN
american_scientific_journal-2188	77	3	on	on	ADP
american_scientific_journal-2188	77	4	the	the	DET
american_scientific_journal-2188	77	5	walls	wall	NOUN
american_scientific_journal-2188	77	6	'	'	PART
american_scientific_journal-2188	77	7	map	map	NOUN
american_scientific_journal-2188	77	8	that	that	PRON
american_scientific_journal-2188	77	9	are	be	AUX
american_scientific_journal-2188	77	10	defined	define	VERB
american_scientific_journal-2188	77	11	in	in	ADP
american_scientific_journal-2188	77	12	this	this	DET
american_scientific_journal-2188	77	13	way	way	NOUN
american_scientific_journal-2188	77	14	should	should	AUX
american_scientific_journal-2188	77	15	have	have	VERB
american_scientific_journal-2188	77	16	the	the	DET
american_scientific_journal-2188	77	17	maximum	maximum	ADJ
american_scientific_journal-2188	77	18	and	and	CCONJ
american_scientific_journal-2188	77	19	invariable	invariable	ADJ
american_scientific_journal-2188	77	20	certainty	certainty	NOUN
american_scientific_journal-2188	77	21	level	level	NOUN
american_scientific_journal-2188	77	22	.	.	PUNCT
american_scientific_journal-2188	78	1	then	then	ADV
american_scientific_journal-2188	78	2	,	,	PUNCT
american_scientific_journal-2188	78	3	the	the	DET
american_scientific_journal-2188	78	4	system	system	NOUN
american_scientific_journal-2188	78	5	creates	create	VERB
american_scientific_journal-2188	78	6	a	a	DET
american_scientific_journal-2188	78	7	bit	bit	NOUN
american_scientific_journal-2188	78	8	map	map	NOUN
american_scientific_journal-2188	78	9	of	of	ADP
american_scientific_journal-2188	78	10	obstacles	obstacle	NOUN
american_scientific_journal-2188	78	11	on	on	ADP
american_scientific_journal-2188	78	12	this	this	DET
american_scientific_journal-2188	78	13	basis	basis	NOUN
american_scientific_journal-2188	78	14	.	.	PUNCT
american_scientific_journal-2188	79	1	this	this	DET
american_scientific_journal-2188	79	2	method	method	NOUN
american_scientific_journal-2188	79	3	gives	give	VERB
american_scientific_journal-2188	79	4	the	the	DET
american_scientific_journal-2188	79	5	best	good	ADJ
american_scientific_journal-2188	79	6	accuracy	accuracy	NOUN
american_scientific_journal-2188	79	7	of	of	ADP
american_scientific_journal-2188	79	8	the	the	DET
american_scientific_journal-2188	79	9	map	map	NOUN
american_scientific_journal-2188	79	10	that	that	PRON
american_scientific_journal-2188	79	11	is	be	AUX
american_scientific_journal-2188	79	12	being	be	AUX
american_scientific_journal-2188	79	13	created	create	VERB
american_scientific_journal-2188	79	14	,	,	PUNCT
american_scientific_journal-2188	79	15	with	with	ADP
american_scientific_journal-2188	79	16	the	the	DET
american_scientific_journal-2188	79	17	assumption	assumption	NOUN
american_scientific_journal-2188	79	18	that	that	SCONJ
american_scientific_journal-2188	79	19	the	the	DET
american_scientific_journal-2188	79	20	building	building	NOUN
american_scientific_journal-2188	79	21	was	be	AUX
american_scientific_journal-2188	79	22	constructed	construct	VERB
american_scientific_journal-2188	79	23	according	accord	VERB
american_scientific_journal-2188	79	24	to	to	ADP
american_scientific_journal-2188	79	25	plan	plan	NOUN
american_scientific_journal-2188	79	26	.	.	PUNCT
american_scientific_journal-2188	80	1	for	for	ADP
american_scientific_journal-2188	80	2	this	this	DET
american_scientific_journal-2188	80	3	project	project	NOUN
american_scientific_journal-2188	80	4	,	,	PUNCT
american_scientific_journal-2188	80	5	the	the	DET
american_scientific_journal-2188	80	6	map	map	NOUN
american_scientific_journal-2188	80	7	of	of	ADP
american_scientific_journal-2188	80	8	the	the	DET
american_scientific_journal-2188	80	9	environment	environment	NOUN
american_scientific_journal-2188	80	10	is	be	AUX
american_scientific_journal-2188	80	11	pre	pre	ADJ
american_scientific_journal-2188	80	12	-	-	VERB
american_scientific_journal-2188	80	13	defined	define	VERB
american_scientific_journal-2188	80	14	and	and	CCONJ
american_scientific_journal-2188	80	15	stored	store	VERB
american_scientific_journal-2188	80	16	in	in	ADP
american_scientific_journal-2188	80	17	the	the	DET
american_scientific_journal-2188	80	18	memory	memory	NOUN
american_scientific_journal-2188	80	19	of	of	ADP
american_scientific_journal-2188	80	20	the	the	DET
american_scientific_journal-2188	80	21	robot	robot	NOUN
american_scientific_journal-2188	80	22	.	.	PUNCT
american_scientific_journal-2188	81	1	this	this	DET
american_scientific_journal-2188	81	2	section	section	NOUN
american_scientific_journal-2188	81	3	will	will	AUX
american_scientific_journal-2188	81	4	describe	describe	VERB
american_scientific_journal-2188	81	5	the	the	DET
american_scientific_journal-2188	81	6	environment	environment	NOUN
american_scientific_journal-2188	81	7	and	and	CCONJ
american_scientific_journal-2188	81	8	the	the	DET
american_scientific_journal-2188	81	9	method	method	NOUN
american_scientific_journal-2188	81	10	that	that	PRON
american_scientific_journal-2188	81	11	has	have	AUX
american_scientific_journal-2188	81	12	been	be	AUX
american_scientific_journal-2188	81	13	used	use	VERB
american_scientific_journal-2188	81	14	to	to	PART
american_scientific_journal-2188	81	15	represent	represent	VERB
american_scientific_journal-2188	81	16	this	this	DET
american_scientific_journal-2188	81	17	environment	environment	NOUN
american_scientific_journal-2188	81	18	.	.	PUNCT
american_scientific_journal-2188	82	1	2.4.3	2.4.3	NUM
american_scientific_journal-2188	82	2	physical	physical	ADJ
american_scientific_journal-2188	82	3	environment	environment	NOUN
american_scientific_journal-2188	82	4	figure	figure	NOUN
american_scientific_journal-2188	82	5	12	12	NUM
american_scientific_journal-2188	82	6	:	:	PUNCT
american_scientific_journal-2188	82	7	physical	physical	ADJ
american_scientific_journal-2188	82	8	environment	environment	NOUN
american_scientific_journal-2188	82	9	the	the	DET
american_scientific_journal-2188	82	10	environment	environment	NOUN
american_scientific_journal-2188	82	11	that	that	PRON
american_scientific_journal-2188	82	12	will	will	AUX
american_scientific_journal-2188	82	13	be	be	AUX
american_scientific_journal-2188	82	14	used	use	VERB
american_scientific_journal-2188	82	15	in	in	ADP
american_scientific_journal-2188	82	16	this	this	DET
american_scientific_journal-2188	82	17	project	project	NOUN
american_scientific_journal-2188	82	18	can	can	AUX
american_scientific_journal-2188	82	19	be	be	AUX
american_scientific_journal-2188	82	20	divided	divide	VERB
american_scientific_journal-2188	82	21	into	into	ADP
american_scientific_journal-2188	82	22	two	two	NUM
american_scientific_journal-2188	82	23	zones	zone	NOUN
american_scientific_journal-2188	82	24	:	:	PUNCT
american_scientific_journal-2188	82	25	zone	zone	NOUN
american_scientific_journal-2188	82	26	(	(	PUNCT
american_scientific_journal-2188	82	27	a	a	NOUN
american_scientific_journal-2188	82	28	)	)	PUNCT
american_scientific_journal-2188	82	29	and	and	CCONJ
american_scientific_journal-2188	82	30	zone	zone	NOUN
american_scientific_journal-2188	82	31	(	(	PUNCT
american_scientific_journal-2188	82	32	b	b	NOUN
american_scientific_journal-2188	82	33	)	)	PUNCT
american_scientific_journal-2188	82	34	where	where	SCONJ
american_scientific_journal-2188	82	35	the	the	DET
american_scientific_journal-2188	82	36	size	size	NOUN
american_scientific_journal-2188	82	37	of	of	ADP
american_scientific_journal-2188	82	38	zone	zone	NOUN
american_scientific_journal-2188	82	39	(	(	PUNCT
american_scientific_journal-2188	82	40	a	a	X
american_scientific_journal-2188	82	41	)	)	PUNCT
american_scientific_journal-2188	82	42	is	be	AUX
american_scientific_journal-2188	82	43	8m×	8m×	NUM
american_scientific_journal-2188	82	44	3.15	3.15	NUM
american_scientific_journal-2188	82	45	m	m	NOUN
american_scientific_journal-2188	82	46	while	while	SCONJ
american_scientific_journal-2188	82	47	the	the	DET
american_scientific_journal-2188	82	48	size	size	NOUN
american_scientific_journal-2188	82	49	of	of	ADP
american_scientific_journal-2188	82	50	zone	zone	NOUN
american_scientific_journal-2188	82	51	(	(	PUNCT
american_scientific_journal-2188	82	52	b	b	NOUN
american_scientific_journal-2188	82	53	)	)	PUNCT
american_scientific_journal-2188	82	54	is	be	AUX
american_scientific_journal-2188	82	55	7m×	7m×	NUM
american_scientific_journal-2188	82	56	2	2	NUM
american_scientific_journal-2188	82	57	m.	m.	NOUN
american_scientific_journal-2188	82	58	2.4.4	2.4.4	NUM
american_scientific_journal-2188	82	59	map	map	NOUN
american_scientific_journal-2188	82	60	representation	representation	NOUN
american_scientific_journal-2188	82	61	there	there	PRON
american_scientific_journal-2188	82	62	are	be	VERB
american_scientific_journal-2188	82	63	three	three	NUM
american_scientific_journal-2188	82	64	fundamental	fundamental	ADJ
american_scientific_journal-2188	82	65	points	point	NOUN
american_scientific_journal-2188	82	66	should	should	AUX
american_scientific_journal-2188	82	67	be	be	AUX
american_scientific_journal-2188	82	68	considered	consider	VERB
american_scientific_journal-2188	82	69	when	when	SCONJ
american_scientific_journal-2188	82	70	selecting	select	VERB
american_scientific_journal-2188	82	71	a	a	DET
american_scientific_journal-2188	82	72	specific	specific	ADJ
american_scientific_journal-2188	82	73	map	map	NOUN
american_scientific_journal-2188	82	74	representation	representation	NOUN
american_scientific_journal-2188	82	75	.	.	PUNCT
american_scientific_journal-2188	83	1	firstly	firstly	ADV
american_scientific_journal-2188	83	2	,	,	PUNCT
american_scientific_journal-2188	83	3	the	the	DET
american_scientific_journal-2188	83	4	precision	precision	NOUN
american_scientific_journal-2188	83	5	of	of	ADP
american_scientific_journal-2188	83	6	the	the	DET
american_scientific_journal-2188	83	7	map	map	NOUN
american_scientific_journal-2188	83	8	must	must	AUX
american_scientific_journal-2188	83	9	be	be	AUX
american_scientific_journal-2188	83	10	chosen	choose	VERB
american_scientific_journal-2188	83	11	appropriately	appropriately	ADV
american_scientific_journal-2188	83	12	to	to	PART
american_scientific_journal-2188	83	13	match	match	VERB
american_scientific_journal-2188	83	14	the	the	DET
american_scientific_journal-2188	83	15	precision	precision	NOUN
american_scientific_journal-2188	83	16	of	of	ADP
american_scientific_journal-2188	83	17	the	the	DET
american_scientific_journal-2188	83	18	robot	robot	NOUN
american_scientific_journal-2188	83	19	needs	need	VERB
american_scientific_journal-2188	83	20	to	to	PART
american_scientific_journal-2188	83	21	achieve	achieve	VERB
american_scientific_journal-2188	83	22	its	its	PRON
american_scientific_journal-2188	83	23	goals	goal	NOUN
american_scientific_journal-2188	83	24	.	.	PUNCT
american_scientific_journal-2188	84	1	secondly	secondly	ADV
american_scientific_journal-2188	84	2	,	,	PUNCT
american_scientific_journal-2188	84	3	the	the	DET
american_scientific_journal-2188	84	4	data	data	NOUN
american_scientific_journal-2188	84	5	types	type	NOUN
american_scientific_journal-2188	84	6	and	and	CCONJ
american_scientific_journal-2188	84	7	precision	precision	NOUN
american_scientific_journal-2188	84	8	of	of	ADP
american_scientific_journal-2188	84	9	the	the	DET
american_scientific_journal-2188	84	10	map	map	NOUN
american_scientific_journal-2188	84	11	must	must	AUX
american_scientific_journal-2188	84	12	match	match	VERB
american_scientific_journal-2188	84	13	the	the	DET
american_scientific_journal-2188	84	14	data	datum	NOUN
american_scientific_journal-2188	84	15	types	type	NOUN
american_scientific_journal-2188	84	16	and	and	CCONJ
american_scientific_journal-2188	84	17	precision	precision	NOUN
american_scientific_journal-2188	84	18	returned	return	VERB
american_scientific_journal-2188	84	19	by	by	ADP
american_scientific_journal-2188	84	20	the	the	DET
american_scientific_journal-2188	84	21	robot	robot	NOUN
american_scientific_journal-2188	84	22	’s	’s	PART
american_scientific_journal-2188	84	23	sensors	sensor	NOUN
american_scientific_journal-2188	84	24	.	.	PUNCT
american_scientific_journal-2188	85	1	finally	finally	ADV
american_scientific_journal-2188	85	2	,	,	PUNCT
american_scientific_journal-2188	85	3	the	the	DET
american_scientific_journal-2188	85	4	computational	computational	ADJ
american_scientific_journal-2188	85	5	complexity	complexity	NOUN
american_scientific_journal-2188	85	6	of	of	ADP
american_scientific_journal-2188	85	7	reasoning	reason	VERB
american_scientific_journal-2188	85	8	about	about	ADP
american_scientific_journal-2188	85	9	navigation	navigation	NOUN
american_scientific_journal-2188	85	10	and	and	CCONJ
american_scientific_journal-2188	85	11	localization	localization	NOUN
american_scientific_journal-2188	85	12	is	be	AUX
american_scientific_journal-2188	85	13	directly	directly	ADV
american_scientific_journal-2188	85	14	affected	affect	VERB
american_scientific_journal-2188	85	15	by	by	ADP
american_scientific_journal-2188	85	16	the	the	DET
american_scientific_journal-2188	85	17	complexity	complexity	NOUN
american_scientific_journal-2188	85	18	of	of	ADP
american_scientific_journal-2188	85	19	the	the	DET
american_scientific_journal-2188	85	20	map	map	NOUN
american_scientific_journal-2188	85	21	representation	representation	NOUN
american_scientific_journal-2188	85	22	[	[	X
american_scientific_journal-2188	85	23	7	7	NUM
american_scientific_journal-2188	85	24	]	]	PUNCT
american_scientific_journal-2188	85	25	.	.	PUNCT
american_scientific_journal-2188	86	1	for	for	ADP
american_scientific_journal-2188	86	2	this	this	DET
american_scientific_journal-2188	86	3	project	project	NOUN
american_scientific_journal-2188	86	4	,	,	PUNCT
american_scientific_journal-2188	86	5	grid	grid	NOUN
american_scientific_journal-2188	86	6	maps	map	NOUN
american_scientific_journal-2188	86	7	will	will	AUX
american_scientific_journal-2188	86	8	be	be	AUX
american_scientific_journal-2188	86	9	used	use	VERB
american_scientific_journal-2188	86	10	where	where	SCONJ
american_scientific_journal-2188	86	11	this	this	DET
american_scientific_journal-2188	86	12	type	type	NOUN
american_scientific_journal-2188	86	13	of	of	ADP
american_scientific_journal-2188	86	14	map	map	NOUN
american_scientific_journal-2188	86	15	representation	representation	NOUN
american_scientific_journal-2188	86	16	discretise	discretise	ADV
american_scientific_journal-2188	86	17	the	the	DET
american_scientific_journal-2188	86	18	environment	environment	NOUN
american_scientific_journal-2188	86	19	into	into	ADP
american_scientific_journal-2188	86	20	american	american	ADJ
american_scientific_journal-2188	86	21	scientific	scientific	ADJ
american_scientific_journal-2188	86	22	research	research	NOUN
american_scientific_journal-2188	86	23	journal	journal	NOUN
american_scientific_journal-2188	86	24	for	for	ADP
american_scientific_journal-2188	86	25	engineering	engineering	NOUN
american_scientific_journal-2188	86	26	,	,	PUNCT
american_scientific_journal-2188	86	27	technology	technology	NOUN
american_scientific_journal-2188	86	28	,	,	PUNCT
american_scientific_journal-2188	86	29	and	and	CCONJ
american_scientific_journal-2188	86	30	sciences	science	NOUN
american_scientific_journal-2188	86	31	(	(	PUNCT
american_scientific_journal-2188	86	32	asrjets	asrjet	NOUN
american_scientific_journal-2188	86	33	)	)	PUNCT
american_scientific_journal-2188	86	34	(	(	PUNCT
american_scientific_journal-2188	86	35	2016	2016	NUM
american_scientific_journal-2188	86	36	)	)	PUNCT
american_scientific_journal-2188	86	37	volume	volume	NOUN
american_scientific_journal-2188	86	38	26	26	NUM
american_scientific_journal-2188	86	39	,	,	PUNCT
american_scientific_journal-2188	86	40	no	no	DET
american_scientific_journal-2188	86	41	1	1	NUM
american_scientific_journal-2188	86	42	,	,	PUNCT
american_scientific_journal-2188	86	43	pp	pp	ADV
american_scientific_journal-2188	86	44	108	108	NUM
american_scientific_journal-2188	86	45	-	-	SYM
american_scientific_journal-2188	86	46	126	126	NUM
american_scientific_journal-2188	86	47	116	116	NUM
american_scientific_journal-2188	86	48	grid	grid	NOUN
american_scientific_journal-2188	86	49	cells	cell	NOUN
american_scientific_journal-2188	86	50	.	.	PUNCT
american_scientific_journal-2188	87	1	each	each	DET
american_scientific_journal-2188	87	2	cell	cell	NOUN
american_scientific_journal-2188	87	3	has	have	VERB
american_scientific_journal-2188	87	4	its	its	PRON
american_scientific_journal-2188	87	5	own	own	ADJ
american_scientific_journal-2188	87	6	information	information	NOUN
american_scientific_journal-2188	87	7	about	about	ADP
american_scientific_journal-2188	87	8	the	the	DET
american_scientific_journal-2188	87	9	area	area	NOUN
american_scientific_journal-2188	87	10	it	it	PRON
american_scientific_journal-2188	87	11	covers	cover	VERB
american_scientific_journal-2188	87	12	which	which	PRON
american_scientific_journal-2188	87	13	represented	represent	VERB
american_scientific_journal-2188	87	14	as	as	ADP
american_scientific_journal-2188	87	15	either	either	CCONJ
american_scientific_journal-2188	87	16	occupied	occupied	ADJ
american_scientific_journal-2188	87	17	or	or	CCONJ
american_scientific_journal-2188	87	18	free	free	ADJ
american_scientific_journal-2188	87	19	.	.	PUNCT
american_scientific_journal-2188	88	1	the	the	DET
american_scientific_journal-2188	88	2	used	use	VERB
american_scientific_journal-2188	88	3	map	map	NOUN
american_scientific_journal-2188	88	4	is	be	AUX
american_scientific_journal-2188	88	5	divided	divide	VERB
american_scientific_journal-2188	88	6	into	into	ADP
american_scientific_journal-2188	88	7	cells	cell	NOUN
american_scientific_journal-2188	88	8	with	with	ADP
american_scientific_journal-2188	88	9	size	size	NOUN
american_scientific_journal-2188	88	10	of	of	ADP
american_scientific_journal-2188	88	11	25	25	NUM
american_scientific_journal-2188	88	12	cm	cm	NOUN
american_scientific_journal-2188	88	13	×	×	NOUN
american_scientific_journal-2188	88	14	25	25	NUM
american_scientific_journal-2188	88	15	cm	cm	NOUN
american_scientific_journal-2188	88	16	so	so	SCONJ
american_scientific_journal-2188	88	17	the	the	DET
american_scientific_journal-2188	88	18	total	total	ADJ
american_scientific_journal-2188	88	19	environment	environment	NOUN
american_scientific_journal-2188	88	20	size	size	NOUN
american_scientific_journal-2188	88	21	will	will	AUX
american_scientific_journal-2188	88	22	be	be	AUX
american_scientific_journal-2188	88	23	(	(	PUNCT
american_scientific_journal-2188	88	24	30	30	NUM
american_scientific_journal-2188	88	25	cell	cell	NOUN
american_scientific_journal-2188	88	26	×	×	NOUN
american_scientific_journal-2188	88	27	42	42	NUM
american_scientific_journal-2188	88	28	cell	cell	NOUN
american_scientific_journal-2188	88	29	)	)	PUNCT
american_scientific_journal-2188	88	30	.	.	PUNCT
american_scientific_journal-2188	89	1	the	the	DET
american_scientific_journal-2188	89	2	choice	choice	NOUN
american_scientific_journal-2188	89	3	of	of	ADP
american_scientific_journal-2188	89	4	the	the	DET
american_scientific_journal-2188	89	5	cell	cell	NOUN
american_scientific_journal-2188	89	6	size	size	NOUN
american_scientific_journal-2188	89	7	was	be	AUX
american_scientific_journal-2188	89	8	depending	depend	VERB
american_scientific_journal-2188	89	9	on	on	ADP
american_scientific_journal-2188	89	10	both	both	CCONJ
american_scientific_journal-2188	89	11	the	the	DET
american_scientific_journal-2188	89	12	required	require	VERB
american_scientific_journal-2188	89	13	accuracy	accuracy	NOUN
american_scientific_journal-2188	89	14	and	and	CCONJ
american_scientific_journal-2188	89	15	computational	computational	ADJ
american_scientific_journal-2188	89	16	memory	memory	NOUN
american_scientific_journal-2188	89	17	where	where	SCONJ
american_scientific_journal-2188	89	18	the	the	DET
american_scientific_journal-2188	89	19	smaller	small	ADJ
american_scientific_journal-2188	89	20	grid	grid	NOUN
american_scientific_journal-2188	89	21	size	size	NOUN
american_scientific_journal-2188	89	22	the	the	DET
american_scientific_journal-2188	89	23	higher	high	ADJ
american_scientific_journal-2188	89	24	accuracy	accuracy	NOUN
american_scientific_journal-2188	89	25	but	but	CCONJ
american_scientific_journal-2188	89	26	this	this	PRON
american_scientific_journal-2188	89	27	needs	need	VERB
american_scientific_journal-2188	89	28	higher	high	ADJ
american_scientific_journal-2188	89	29	computational	computational	ADJ
american_scientific_journal-2188	89	30	memory	memory	NOUN
american_scientific_journal-2188	89	31	and	and	CCONJ
american_scientific_journal-2188	89	32	time	time	NOUN
american_scientific_journal-2188	89	33	consuming	consume	VERB
american_scientific_journal-2188	89	34	.	.	PUNCT
american_scientific_journal-2188	90	1	there	there	PRON
american_scientific_journal-2188	90	2	are	be	VERB
american_scientific_journal-2188	90	3	two	two	NUM
american_scientific_journal-2188	90	4	types	type	NOUN
american_scientific_journal-2188	90	5	of	of	ADP
american_scientific_journal-2188	90	6	data	datum	NOUN
american_scientific_journal-2188	90	7	are	be	AUX
american_scientific_journal-2188	90	8	included	include	VERB
american_scientific_journal-2188	90	9	in	in	ADP
american_scientific_journal-2188	90	10	the	the	DET
american_scientific_journal-2188	90	11	map	map	NOUN
american_scientific_journal-2188	90	12	which	which	PRON
american_scientific_journal-2188	90	13	are	be	AUX
american_scientific_journal-2188	90	14	1s	1s	NUM
american_scientific_journal-2188	90	15	and	and	CCONJ
american_scientific_journal-2188	90	16	100s	100	NOUN
american_scientific_journal-2188	90	17	hence	hence	ADV
american_scientific_journal-2188	90	18	1s	1s	NUM
american_scientific_journal-2188	90	19	means	mean	VERB
american_scientific_journal-2188	90	20	that	that	SCONJ
american_scientific_journal-2188	90	21	this	this	DET
american_scientific_journal-2188	90	22	cell	cell	NOUN
american_scientific_journal-2188	90	23	is	be	AUX
american_scientific_journal-2188	90	24	free	free	ADJ
american_scientific_journal-2188	90	25	and	and	CCONJ
american_scientific_journal-2188	90	26	its	its	PRON
american_scientific_journal-2188	90	27	allowed	allow	VERB
american_scientific_journal-2188	90	28	for	for	SCONJ
american_scientific_journal-2188	90	29	the	the	DET
american_scientific_journal-2188	90	30	robot	robot	NOUN
american_scientific_journal-2188	90	31	to	to	PART
american_scientific_journal-2188	90	32	move	move	VERB
american_scientific_journal-2188	90	33	in	in	ADP
american_scientific_journal-2188	90	34	it	it	PRON
american_scientific_journal-2188	90	35	while	while	SCONJ
american_scientific_journal-2188	90	36	100s	100	NOUN
american_scientific_journal-2188	90	37	means	mean	VERB
american_scientific_journal-2188	90	38	that	that	SCONJ
american_scientific_journal-2188	90	39	there	there	PRON
american_scientific_journal-2188	90	40	is	be	VERB
american_scientific_journal-2188	90	41	an	an	DET
american_scientific_journal-2188	90	42	object	object	NOUN
american_scientific_journal-2188	90	43	in	in	ADP
american_scientific_journal-2188	90	44	this	this	DET
american_scientific_journal-2188	90	45	area	area	NOUN
american_scientific_journal-2188	90	46	and	and	CCONJ
american_scientific_journal-2188	90	47	it	it	PRON
american_scientific_journal-2188	90	48	is	be	AUX
american_scientific_journal-2188	90	49	not	not	PART
american_scientific_journal-2188	90	50	allowed	allow	VERB
american_scientific_journal-2188	90	51	for	for	SCONJ
american_scientific_journal-2188	90	52	the	the	DET
american_scientific_journal-2188	90	53	robot	robot	NOUN
american_scientific_journal-2188	90	54	to	to	PART
american_scientific_journal-2188	90	55	move	move	VERB
american_scientific_journal-2188	90	56	in	in	ADP
american_scientific_journal-2188	90	57	this	this	DET
american_scientific_journal-2188	90	58	area	area	NOUN
american_scientific_journal-2188	90	59	.	.	PUNCT
american_scientific_journal-2188	91	1	the	the	DET
american_scientific_journal-2188	91	2	aim	aim	NOUN
american_scientific_journal-2188	91	3	of	of	ADP
american_scientific_journal-2188	91	4	using	use	VERB
american_scientific_journal-2188	91	5	1s	1	NOUN
american_scientific_journal-2188	91	6	and	and	CCONJ
american_scientific_journal-2188	91	7	100s	100	NOUN
american_scientific_journal-2188	91	8	is	be	AUX
american_scientific_journal-2188	91	9	to	to	PART
american_scientific_journal-2188	91	10	be	be	AUX
american_scientific_journal-2188	91	11	compatible	compatible	ADJ
american_scientific_journal-2188	91	12	with	with	ADP
american_scientific_journal-2188	91	13	the	the	DET
american_scientific_journal-2188	91	14	path	path	NOUN
american_scientific_journal-2188	91	15	planning	planning	NOUN
american_scientific_journal-2188	91	16	algorithm	algorithm	NOUN
american_scientific_journal-2188	91	17	that	that	PRON
american_scientific_journal-2188	91	18	will	will	AUX
american_scientific_journal-2188	91	19	discussed	discuss	VERB
american_scientific_journal-2188	91	20	in	in	ADP
american_scientific_journal-2188	91	21	details	detail	NOUN
american_scientific_journal-2188	91	22	in	in	ADP
american_scientific_journal-2188	91	23	chapter	chapter	NOUN
american_scientific_journal-2188	91	24	4	4	NUM
american_scientific_journal-2188	91	25	.	.	PUNCT
american_scientific_journal-2188	92	1	the	the	DET
american_scientific_journal-2188	92	2	path	path	NOUN
american_scientific_journal-2188	92	3	planning	planning	NOUN
american_scientific_journal-2188	92	4	algorithm	algorithm	NOUN
american_scientific_journal-2188	92	5	used	use	VERB
american_scientific_journal-2188	92	6	to	to	PART
american_scientific_journal-2188	92	7	plan	plan	VERB
american_scientific_journal-2188	92	8	a	a	DET
american_scientific_journal-2188	92	9	path	path	NOUN
american_scientific_journal-2188	92	10	zbetween	zbetween	VERB
american_scientific_journal-2188	92	11	the	the	DET
american_scientific_journal-2188	92	12	starting	starting	NOUN
american_scientific_journal-2188	92	13	point	point	NOUN
american_scientific_journal-2188	92	14	and	and	CCONJ
american_scientific_journal-2188	92	15	the	the	DET
american_scientific_journal-2188	92	16	target	target	NOUN
american_scientific_journal-2188	92	17	where	where	SCONJ
american_scientific_journal-2188	92	18	it	it	PRON
american_scientific_journal-2188	92	19	will	will	AUX
american_scientific_journal-2188	92	20	avoid	avoid	VERB
american_scientific_journal-2188	92	21	paths	path	NOUN
american_scientific_journal-2188	92	22	that	that	PRON
american_scientific_journal-2188	92	23	will	will	AUX
american_scientific_journal-2188	92	24	pass	pass	VERB
american_scientific_journal-2188	92	25	through	through	ADP
american_scientific_journal-2188	92	26	100s	100s	PROPN
american_scientific_journal-2188	92	27	.	.	PUNCT
american_scientific_journal-2188	93	1	figure	figure	VERB
american_scientific_journal-2188	93	2	13	13	NUM
american_scientific_journal-2188	93	3	:	:	PUNCT
american_scientific_journal-2188	93	4	map	map	VERB
american_scientific_journal-2188	93	5	representation	representation	NOUN
american_scientific_journal-2188	93	6	3	3	NUM
american_scientific_journal-2188	93	7	.	.	PUNCT
american_scientific_journal-2188	93	8	monte	monte	PROPN
american_scientific_journal-2188	93	9	carlo	carlo	PROPN
american_scientific_journal-2188	93	10	localization	localization	PROPN
american_scientific_journal-2188	93	11	algorithm	algorithm	NOUN
american_scientific_journal-2188	93	12	(	(	PUNCT
american_scientific_journal-2188	93	13	mcl	mcl	PROPN
american_scientific_journal-2188	93	14	)	)	PUNCT
american_scientific_journal-2188	93	15	monte	monte	PROPN
american_scientific_journal-2188	93	16	carlo	carlo	PROPN
american_scientific_journal-2188	93	17	localization	localization	PROPN
american_scientific_journal-2188	93	18	(	(	PUNCT
american_scientific_journal-2188	93	19	mcl	mcl	PROPN
american_scientific_journal-2188	93	20	)	)	PUNCT
american_scientific_journal-2188	93	21	is	be	AUX
american_scientific_journal-2188	93	22	a	a	DET
american_scientific_journal-2188	93	23	relatively	relatively	ADV
american_scientific_journal-2188	93	24	new	new	ADJ
american_scientific_journal-2188	93	25	method	method	NOUN
american_scientific_journal-2188	93	26	to	to	ADP
american_scientific_journal-2188	93	27	the	the	DET
american_scientific_journal-2188	93	28	problem	problem	NOUN
american_scientific_journal-2188	93	29	of	of	ADP
american_scientific_journal-2188	93	30	mobile	mobile	ADJ
american_scientific_journal-2188	93	31	robot	robot	NOUN
american_scientific_journal-2188	93	32	localization	localization	NOUN
american_scientific_journal-2188	93	33	.	.	PUNCT
american_scientific_journal-2188	94	1	it	it	PRON
american_scientific_journal-2188	94	2	estimates	estimate	VERB
american_scientific_journal-2188	94	3	a	a	DET
american_scientific_journal-2188	94	4	robot	robot	NOUN
american_scientific_journal-2188	94	5	’s	’s	PART
american_scientific_journal-2188	94	6	location	location	NOUN
american_scientific_journal-2188	94	7	in	in	ADP
american_scientific_journal-2188	94	8	a	a	DET
american_scientific_journal-2188	94	9	known	know	VERB
american_scientific_journal-2188	94	10	environment	environment	NOUN
american_scientific_journal-2188	94	11	when	when	SCONJ
american_scientific_journal-2188	94	12	the	the	DET
american_scientific_journal-2188	94	13	sensor	sensor	NOUN
american_scientific_journal-2188	94	14	and	and	CCONJ
american_scientific_journal-2188	94	15	movement	movement	NOUN
american_scientific_journal-2188	94	16	readings	reading	NOUN
american_scientific_journal-2188	94	17	are	be	AUX
american_scientific_journal-2188	94	18	given	give	VERB
american_scientific_journal-2188	94	19	[	[	X
american_scientific_journal-2188	94	20	8	8	NUM
american_scientific_journal-2188	94	21	]	]	PUNCT
american_scientific_journal-2188	94	22	.	.	PUNCT
american_scientific_journal-2188	95	1	among	among	ADP
american_scientific_journal-2188	95	2	many	many	ADJ
american_scientific_journal-2188	95	3	localization	localization	NOUN
american_scientific_journal-2188	95	4	techniques	technique	NOUN
american_scientific_journal-2188	95	5	,	,	PUNCT
american_scientific_journal-2188	95	6	monte	monte	PROPN
american_scientific_journal-2188	95	7	carlo	carlo	PROPN
american_scientific_journal-2188	95	8	localization	localization	NOUN
american_scientific_journal-2188	95	9	algorithm	algorithm	NOUN
american_scientific_journal-2188	95	10	has	have	AUX
american_scientific_journal-2188	95	11	become	become	VERB
american_scientific_journal-2188	95	12	a	a	DET
american_scientific_journal-2188	95	13	valuable	valuable	ADJ
american_scientific_journal-2188	95	14	and	and	CCONJ
american_scientific_journal-2188	95	15	widespread	widespread	ADJ
american_scientific_journal-2188	95	16	technique	technique	NOUN
american_scientific_journal-2188	95	17	in	in	ADP
american_scientific_journal-2188	95	18	recent	recent	ADJ
american_scientific_journal-2188	95	19	years	year	NOUN
american_scientific_journal-2188	95	20	because	because	SCONJ
american_scientific_journal-2188	95	21	of	of	ADP
american_scientific_journal-2188	95	22	having	have	VERB
american_scientific_journal-2188	95	23	many	many	ADJ
american_scientific_journal-2188	95	24	advantages	advantage	NOUN
american_scientific_journal-2188	95	25	that	that	PRON
american_scientific_journal-2188	95	26	are	be	AUX
american_scientific_journal-2188	95	27	not	not	PART
american_scientific_journal-2188	95	28	exist	exist	VERB
american_scientific_journal-2188	95	29	with	with	ADP
american_scientific_journal-2188	95	30	other	other	ADJ
american_scientific_journal-2188	95	31	localization	localization	NOUN
american_scientific_journal-2188	95	32	techniques	technique	NOUN
american_scientific_journal-2188	95	33	as	as	SCONJ
american_scientific_journal-2188	95	34	discussed	discuss	VERB
american_scientific_journal-2188	95	35	previously	previously	ADV
american_scientific_journal-2188	95	36	.	.	PUNCT
american_scientific_journal-2188	96	1	mcl	mcl	PROPN
american_scientific_journal-2188	96	2	using	use	VERB
american_scientific_journal-2188	96	3	a	a	DET
american_scientific_journal-2188	96	4	filter	filter	NOUN
american_scientific_journal-2188	96	5	known	know	VERB
american_scientific_journal-2188	96	6	as	as	ADP
american_scientific_journal-2188	96	7	particle	particle	NOUN
american_scientific_journal-2188	96	8	filter	filter	NOUN
american_scientific_journal-2188	96	9	;	;	PUNCT
american_scientific_journal-2188	96	10	the	the	DET
american_scientific_journal-2188	96	11	role	role	NOUN
american_scientific_journal-2188	96	12	of	of	ADP
american_scientific_journal-2188	96	13	this	this	DET
american_scientific_journal-2188	96	14	filter	filter	NOUN
american_scientific_journal-2188	96	15	is	be	AUX
american_scientific_journal-2188	96	16	representing	represent	VERB
american_scientific_journal-2188	96	17	posteriors	posterior	NOUN
american_scientific_journal-2188	96	18	by	by	ADP
american_scientific_journal-2188	96	19	finitely	finitely	ADV
american_scientific_journal-2188	96	20	many	many	ADJ
american_scientific_journal-2188	96	21	samples	sample	NOUN
american_scientific_journal-2188	96	22	hence	hence	ADV
american_scientific_journal-2188	96	23	it	it	PRON
american_scientific_journal-2188	96	24	can	can	AUX
american_scientific_journal-2188	96	25	characterize	characterize	VERB
american_scientific_journal-2188	96	26	a	a	DET
american_scientific_journal-2188	96	27	much	much	ADV
american_scientific_journal-2188	96	28	wider	wide	ADJ
american_scientific_journal-2188	96	29	space	space	NOUN
american_scientific_journal-2188	96	30	of	of	ADP
american_scientific_journal-2188	96	31	distributions	distribution	NOUN
american_scientific_journal-2188	96	32	than	than	ADP
american_scientific_journal-2188	96	33	gaussians	gaussian	NOUN
american_scientific_journal-2188	96	34	in	in	ADP
american_scientific_journal-2188	96	35	addition	addition	NOUN
american_scientific_journal-2188	96	36	to	to	ADP
american_scientific_journal-2188	96	37	modeling	model	VERB
american_scientific_journal-2188	96	38	nonlinear	nonlinear	ADJ
american_scientific_journal-2188	96	39	transformations	transformation	NOUN
american_scientific_journal-2188	96	40	of	of	ADP
american_scientific_journal-2188	96	41	random	random	ADJ
american_scientific_journal-2188	96	42	variables	variable	NOUN
american_scientific_journal-2188	96	43	.	.	PUNCT
american_scientific_journal-2188	97	1	3.1	3.1	NUM
american_scientific_journal-2188	97	2	.	.	PUNCT
american_scientific_journal-2188	97	3	basic	basic	ADJ
american_scientific_journal-2188	97	4	approach	approach	NOUN
american_scientific_journal-2188	97	5	of	of	ADP
american_scientific_journal-2188	97	6	mcl	mcl	PROPN
american_scientific_journal-2188	97	7	the	the	DET
american_scientific_journal-2188	97	8	mcl	mcl	PROPN
american_scientific_journal-2188	97	9	technique	technique	NOUN
american_scientific_journal-2188	97	10	to	to	ADP
american_scientific_journal-2188	97	11	localization	localization	NOUN
american_scientific_journal-2188	97	12	is	be	AUX
american_scientific_journal-2188	97	13	depend	depend	VERB
american_scientific_journal-2188	97	14	on	on	ADP
american_scientific_journal-2188	97	15	a	a	DET
american_scientific_journal-2188	97	16	collection	collection	NOUN
american_scientific_journal-2188	97	17	of	of	ADP
american_scientific_journal-2188	97	18	samples	sample	NOUN
american_scientific_journal-2188	97	19	(	(	PUNCT
american_scientific_journal-2188	97	20	which	which	PRON
american_scientific_journal-2188	97	21	are	be	AUX
american_scientific_journal-2188	97	22	normally	normally	ADV
american_scientific_journal-2188	97	23	known	know	VERB
american_scientific_journal-2188	97	24	as	as	ADP
american_scientific_journal-2188	97	25	particles	particle	NOUN
american_scientific_journal-2188	97	26	)	)	PUNCT
american_scientific_journal-2188	97	27	.	.	PUNCT
american_scientific_journal-2188	98	1	each	each	DET
american_scientific_journal-2188	98	2	particle	particle	NOUN
american_scientific_journal-2188	98	3	consist	consist	NOUN
american_scientific_journal-2188	98	4	of	of	ADP
american_scientific_journal-2188	98	5	potential	potential	ADJ
american_scientific_journal-2188	98	6	location	location	NOUN
american_scientific_journal-2188	98	7	of	of	ADP
american_scientific_journal-2188	98	8	the	the	DET
american_scientific_journal-2188	98	9	robot	robot	NOUN
american_scientific_journal-2188	98	10	currently	currently	ADV
american_scientific_journal-2188	98	11	occupy	occupy	VERB
american_scientific_journal-2188	98	12	in	in	ADP
american_scientific_journal-2188	98	13	addition	addition	NOUN
american_scientific_journal-2188	98	14	,	,	PUNCT
american_scientific_journal-2188	98	15	these	these	DET
american_scientific_journal-2188	98	16	particles	particle	NOUN
american_scientific_journal-2188	98	17	have	have	VERB
american_scientific_journal-2188	98	18	a	a	DET
american_scientific_journal-2188	98	19	value	value	NOUN
american_scientific_journal-2188	98	20	that	that	PRON
american_scientific_journal-2188	98	21	represents	represent	VERB
american_scientific_journal-2188	98	22	the	the	DET
american_scientific_journal-2188	98	23	robot	robot	NOUN
american_scientific_journal-2188	98	24	probability	probability	NOUN
american_scientific_journal-2188	98	25	of	of	ADP
american_scientific_journal-2188	98	26	currently	currently	ADV
american_scientific_journal-2188	98	27	being	be	AUX
american_scientific_journal-2188	98	28	at	at	ADP
american_scientific_journal-2188	98	29	that	that	DET
american_scientific_journal-2188	98	30	location	location	NOUN
american_scientific_journal-2188	98	31	.	.	PUNCT
american_scientific_journal-2188	99	1	the	the	DET
american_scientific_journal-2188	99	2	term	term	NOUN
american_scientific_journal-2188	99	3	‘	'	PUNCT
american_scientific_journal-2188	99	4	importance	importance	NOUN
american_scientific_journal-2188	99	5	american	american	ADJ
american_scientific_journal-2188	99	6	scientific	scientific	ADJ
american_scientific_journal-2188	99	7	research	research	NOUN
american_scientific_journal-2188	99	8	journal	journal	NOUN
american_scientific_journal-2188	99	9	for	for	ADP
american_scientific_journal-2188	99	10	engineering	engineering	NOUN
american_scientific_journal-2188	99	11	,	,	PUNCT
american_scientific_journal-2188	99	12	technology	technology	NOUN
american_scientific_journal-2188	99	13	,	,	PUNCT
american_scientific_journal-2188	99	14	and	and	CCONJ
american_scientific_journal-2188	99	15	sciences	science	NOUN
american_scientific_journal-2188	99	16	(	(	PUNCT
american_scientific_journal-2188	99	17	asrjets	asrjet	NOUN
american_scientific_journal-2188	99	18	)	)	PUNCT
american_scientific_journal-2188	99	19	(	(	PUNCT
american_scientific_journal-2188	99	20	2016	2016	NUM
american_scientific_journal-2188	99	21	)	)	PUNCT
american_scientific_journal-2188	99	22	volume	volume	NOUN
american_scientific_journal-2188	99	23	26	26	NUM
american_scientific_journal-2188	99	24	,	,	PUNCT
american_scientific_journal-2188	99	25	no	no	DET
american_scientific_journal-2188	99	26	1	1	NUM
american_scientific_journal-2188	99	27	,	,	PUNCT
american_scientific_journal-2188	99	28	pp	pp	ADV
american_scientific_journal-2188	99	29	108	108	NUM
american_scientific_journal-2188	99	30	-	-	SYM
american_scientific_journal-2188	99	31	126	126	NUM
american_scientific_journal-2188	99	32	117	117	NUM
american_scientific_journal-2188	99	33	weights	weight	NOUN
american_scientific_journal-2188	99	34	’	'	PUNCT
american_scientific_journal-2188	99	35	will	will	AUX
american_scientific_journal-2188	99	36	be	be	AUX
american_scientific_journal-2188	99	37	used	use	VERB
american_scientific_journal-2188	99	38	instead	instead	ADV
american_scientific_journal-2188	99	39	of	of	ADP
american_scientific_journal-2188	99	40	‘	'	PUNCT
american_scientific_journal-2188	99	41	probabilities	probability	NOUN
american_scientific_journal-2188	99	42	’	'	PUNCT
american_scientific_journal-2188	99	43	because	because	SCONJ
american_scientific_journal-2188	99	44	,	,	PUNCT
american_scientific_journal-2188	99	45	practically	practically	ADV
american_scientific_journal-2188	99	46	,	,	PUNCT
american_scientific_journal-2188	99	47	they	they	PRON
american_scientific_journal-2188	99	48	are	be	AUX
american_scientific_journal-2188	99	49	not	not	PART
american_scientific_journal-2188	99	50	probabilities	probability	NOUN
american_scientific_journal-2188	99	51	,	,	PUNCT
american_scientific_journal-2188	99	52	they	they	PRON
american_scientific_journal-2188	99	53	are	be	AUX
american_scientific_journal-2188	99	54	importance	importance	NOUN
american_scientific_journal-2188	99	55	weights	weight	NOUN
american_scientific_journal-2188	99	56	’	'	PUNCT
american_scientific_journal-2188	99	57	.	.	PUNCT
american_scientific_journal-2188	100	1	although	although	SCONJ
american_scientific_journal-2188	100	2	the	the	DET
american_scientific_journal-2188	100	3	higher	high	ADJ
american_scientific_journal-2188	100	4	particle	particle	NOUN
american_scientific_journal-2188	100	5	number	number	NOUN
american_scientific_journal-2188	100	6	leads	lead	VERB
american_scientific_journal-2188	100	7	the	the	DET
american_scientific_journal-2188	100	8	program	program	NOUN
american_scientific_journal-2188	100	9	to	to	PART
american_scientific_journal-2188	100	10	converge	converge	VERB
american_scientific_journal-2188	100	11	to	to	ADP
american_scientific_journal-2188	100	12	a	a	DET
american_scientific_journal-2188	100	13	correct	correct	ADJ
american_scientific_journal-2188	100	14	solution	solution	NOUN
american_scientific_journal-2188	100	15	,	,	PUNCT
american_scientific_journal-2188	100	16	it	it	PRON
american_scientific_journal-2188	100	17	is	be	AUX
american_scientific_journal-2188	100	18	not	not	PART
american_scientific_journal-2188	100	19	recommended	recommend	VERB
american_scientific_journal-2188	100	20	to	to	PART
american_scientific_journal-2188	100	21	use	use	VERB
american_scientific_journal-2188	100	22	very	very	ADV
american_scientific_journal-2188	100	23	high	high	ADJ
american_scientific_journal-2188	100	24	number	number	NOUN
american_scientific_journal-2188	100	25	of	of	ADP
american_scientific_journal-2188	100	26	particles	particle	NOUN
american_scientific_journal-2188	100	27	because	because	SCONJ
american_scientific_journal-2188	100	28	they	they	PRON
american_scientific_journal-2188	100	29	cost	cost	VERB
american_scientific_journal-2188	100	30	more	more	ADV
american_scientific_journal-2188	100	31	computational	computational	ADJ
american_scientific_journal-2188	100	32	time	time	NOUN
american_scientific_journal-2188	100	33	and	and	CCONJ
american_scientific_journal-2188	100	34	as	as	ADP
american_scientific_journal-2188	100	35	a	a	DET
american_scientific_journal-2188	100	36	result	result	NOUN
american_scientific_journal-2188	100	37	,	,	PUNCT
american_scientific_journal-2188	100	38	the	the	DET
american_scientific_journal-2188	100	39	robot	robot	NOUN
american_scientific_journal-2188	100	40	movement	movement	NOUN
american_scientific_journal-2188	100	41	will	will	AUX
american_scientific_journal-2188	100	42	be	be	AUX
american_scientific_journal-2188	100	43	slower	slow	ADJ
american_scientific_journal-2188	100	44	.	.	PUNCT
american_scientific_journal-2188	101	1	for	for	ADP
american_scientific_journal-2188	101	2	this	this	DET
american_scientific_journal-2188	101	3	reason	reason	NOUN
american_scientific_journal-2188	101	4	that	that	SCONJ
american_scientific_journal-2188	101	5	the	the	DET
american_scientific_journal-2188	101	6	robot	robot	NOUN
american_scientific_journal-2188	101	7	does	do	AUX
american_scientific_journal-2188	101	8	not	not	PART
american_scientific_journal-2188	101	9	know	know	VERB
american_scientific_journal-2188	101	10	where	where	SCONJ
american_scientific_journal-2188	101	11	it	it	PRON
american_scientific_journal-2188	101	12	is	be	AUX
american_scientific_journal-2188	101	13	when	when	SCONJ
american_scientific_journal-2188	101	14	the	the	DET
american_scientific_journal-2188	101	15	program	program	NOUN
american_scientific_journal-2188	101	16	begins	begin	VERB
american_scientific_journal-2188	101	17	,	,	PUNCT
american_scientific_journal-2188	101	18	the	the	DET
american_scientific_journal-2188	101	19	current	current	ADJ
american_scientific_journal-2188	101	20	particles	particle	NOUN
american_scientific_journal-2188	101	21	are	be	AUX
american_scientific_journal-2188	101	22	uniformly	uniformly	ADV
american_scientific_journal-2188	101	23	scattered	scatter	VERB
american_scientific_journal-2188	101	24	over	over	ADP
american_scientific_journal-2188	101	25	the	the	DET
american_scientific_journal-2188	101	26	range	range	NOUN
american_scientific_journal-2188	101	27	of	of	ADP
american_scientific_journal-2188	101	28	potential	potential	ADJ
american_scientific_journal-2188	101	29	locations	location	NOUN
american_scientific_journal-2188	101	30	and	and	CCONJ
american_scientific_journal-2188	101	31	the	the	DET
american_scientific_journal-2188	101	32	importance	importance	NOUN
american_scientific_journal-2188	101	33	weights	weight	VERB
american_scientific_journal-2188	101	34	for	for	ADP
american_scientific_journal-2188	101	35	these	these	DET
american_scientific_journal-2188	101	36	particles	particle	NOUN
american_scientific_journal-2188	101	37	are	be	AUX
american_scientific_journal-2188	101	38	all	all	ADV
american_scientific_journal-2188	101	39	the	the	DET
american_scientific_journal-2188	101	40	same	same	ADJ
american_scientific_journal-2188	101	41	.	.	PUNCT
american_scientific_journal-2188	102	1	over	over	ADP
american_scientific_journal-2188	102	2	time	time	NOUN
american_scientific_journal-2188	102	3	,	,	PUNCT
american_scientific_journal-2188	102	4	the	the	DET
american_scientific_journal-2188	102	5	particles	particle	NOUN
american_scientific_journal-2188	102	6	neighbouring	neighbour	VERB
american_scientific_journal-2188	102	7	the	the	DET
american_scientific_journal-2188	102	8	actual	actual	ADJ
american_scientific_journal-2188	102	9	current	current	ADJ
american_scientific_journal-2188	102	10	position	position	NOUN
american_scientific_journal-2188	102	11	of	of	ADP
american_scientific_journal-2188	102	12	the	the	DET
american_scientific_journal-2188	102	13	robot	robot	NOUN
american_scientific_journal-2188	102	14	should	should	AUX
american_scientific_journal-2188	102	15	become	become	VERB
american_scientific_journal-2188	102	16	more	more	ADV
american_scientific_journal-2188	102	17	anticipated	anticipated	ADJ
american_scientific_journal-2188	102	18	,	,	PUNCT
american_scientific_journal-2188	102	19	and	and	CCONJ
american_scientific_journal-2188	102	20	those	those	PRON
american_scientific_journal-2188	102	21	farther	far	ADV
american_scientific_journal-2188	102	22	away	away	ADV
american_scientific_journal-2188	102	23	less	less	ADV
american_scientific_journal-2188	102	24	anticipated	anticipated	ADJ
american_scientific_journal-2188	102	25	.	.	PUNCT
american_scientific_journal-2188	103	1	if	if	SCONJ
american_scientific_journal-2188	103	2	a	a	DET
american_scientific_journal-2188	103	3	line	line	NOUN
american_scientific_journal-2188	103	4	graph	graph	NOUN
american_scientific_journal-2188	103	5	was	be	AUX
american_scientific_journal-2188	103	6	created	create	VERB
american_scientific_journal-2188	103	7	which	which	PRON
american_scientific_journal-2188	103	8	plotted	plot	VERB
american_scientific_journal-2188	103	9	the	the	DET
american_scientific_journal-2188	103	10	importance	importance	NOUN
american_scientific_journal-2188	103	11	weight	weight	NOUN
american_scientific_journal-2188	103	12	verses	verses	ADP
american_scientific_journal-2188	103	13	particles	particle	NOUN
american_scientific_journal-2188	103	14	,	,	PUNCT
american_scientific_journal-2188	103	15	the	the	DET
american_scientific_journal-2188	103	16	graph	graph	NOUN
american_scientific_journal-2188	103	17	should	should	AUX
american_scientific_journal-2188	103	18	boost	boost	VERB
american_scientific_journal-2188	103	19	over	over	ADP
american_scientific_journal-2188	103	20	the	the	DET
american_scientific_journal-2188	103	21	actual	actual	ADJ
american_scientific_journal-2188	103	22	location	location	NOUN
american_scientific_journal-2188	103	23	.	.	PUNCT
american_scientific_journal-2188	104	1	is	be	AUX
american_scientific_journal-2188	104	2	it	it	PRON
american_scientific_journal-2188	104	3	important	important	ADJ
american_scientific_journal-2188	104	4	to	to	PART
american_scientific_journal-2188	104	5	notice	notice	VERB
american_scientific_journal-2188	104	6	that	that	SCONJ
american_scientific_journal-2188	104	7	it	it	PRON
american_scientific_journal-2188	104	8	is	be	AUX
american_scientific_journal-2188	104	9	a	a	DET
american_scientific_journal-2188	104	10	flat	flat	ADJ
american_scientific_journal-2188	104	11	line	line	NOUN
american_scientific_journal-2188	104	12	in	in	ADP
american_scientific_journal-2188	104	13	the	the	DET
american_scientific_journal-2188	104	14	beginning	beginning	NOUN
american_scientific_journal-2188	104	15	because	because	SCONJ
american_scientific_journal-2188	104	16	the	the	DET
american_scientific_journal-2188	104	17	robot	robot	NOUN
american_scientific_journal-2188	104	18	does	do	AUX
american_scientific_journal-2188	104	19	not	not	PART
american_scientific_journal-2188	104	20	know	know	VERB
american_scientific_journal-2188	104	21	its	its	PRON
american_scientific_journal-2188	104	22	current	current	ADJ
american_scientific_journal-2188	104	23	position	position	NOUN
american_scientific_journal-2188	104	24	.	.	PUNCT
american_scientific_journal-2188	105	1	to	to	PART
american_scientific_journal-2188	105	2	build	build	VERB
american_scientific_journal-2188	105	3	the	the	DET
american_scientific_journal-2188	105	4	mcl	mcl	PROPN
american_scientific_journal-2188	105	5	algorithm	algorithm	NOUN
american_scientific_journal-2188	105	6	,	,	PUNCT
american_scientific_journal-2188	105	7	the	the	DET
american_scientific_journal-2188	105	8	following	follow	VERB
american_scientific_journal-2188	105	9	steps	step	NOUN
american_scientific_journal-2188	105	10	should	should	AUX
american_scientific_journal-2188	105	11	be	be	AUX
american_scientific_journal-2188	105	12	followed	follow	VERB
american_scientific_journal-2188	105	13	:	:	PUNCT
american_scientific_journal-2188	105	14	•	•	X
american_scientific_journal-2188	105	15	generate	generate	VERB
american_scientific_journal-2188	105	16	a	a	DET
american_scientific_journal-2188	105	17	set	set	NOUN
american_scientific_journal-2188	105	18	of	of	ADP
american_scientific_journal-2188	105	19	particles	particle	NOUN
american_scientific_journal-2188	105	20	randomly	randomly	ADV
american_scientific_journal-2188	105	21	so	so	SCONJ
american_scientific_journal-2188	105	22	that	that	SCONJ
american_scientific_journal-2188	105	23	their	their	PRON
american_scientific_journal-2188	105	24	locations	location	NOUN
american_scientific_journal-2188	105	25	are	be	AUX
american_scientific_journal-2188	105	26	uniformly	uniformly	ADV
american_scientific_journal-2188	105	27	scattered	scatter	VERB
american_scientific_journal-2188	105	28	also	also	ADV
american_scientific_journal-2188	105	29	,	,	PUNCT
american_scientific_journal-2188	105	30	their	their	PRON
american_scientific_journal-2188	105	31	importance	importance	NOUN
american_scientific_journal-2188	105	32	weights	weight	NOUN
american_scientific_journal-2188	105	33	are	be	AUX
american_scientific_journal-2188	105	34	same	same	ADJ
american_scientific_journal-2188	105	35	.	.	PUNCT
american_scientific_journal-2188	106	1	figure	figure	NOUN
american_scientific_journal-2188	106	2	14	14	NUM
american_scientific_journal-2188	106	3	:	:	PUNCT
american_scientific_journal-2188	106	4	random	random	ADJ
american_scientific_journal-2188	106	5	particles	particle	NOUN
american_scientific_journal-2188	106	6	generating	generate	VERB
american_scientific_journal-2188	106	7	•	•	NUM
american_scientific_journal-2188	106	8	repeat	repeat	NOUN
american_scientific_journal-2188	106	9	until	until	SCONJ
american_scientific_journal-2188	106	10	done	do	VERB
american_scientific_journal-2188	106	11	with	with	ADP
american_scientific_journal-2188	106	12	the	the	DET
american_scientific_journal-2188	106	13	current	current	ADJ
american_scientific_journal-2188	106	14	set	set	NOUN
american_scientific_journal-2188	106	15	of	of	ADP
american_scientific_journal-2188	106	16	samples	sample	NOUN
american_scientific_journal-2188	106	17	:	:	PUNCT
american_scientific_journal-2188	106	18	a	a	X
american_scientific_journal-2188	106	19	)	)	PUNCT
american_scientific_journal-2188	106	20	move	move	NOUN
american_scientific_journal-2188	106	21	the	the	DET
american_scientific_journal-2188	106	22	robot	robot	NOUN
american_scientific_journal-2188	106	23	a	a	DET
american_scientific_journal-2188	106	24	fixed	fix	VERB
american_scientific_journal-2188	106	25	distance	distance	NOUN
american_scientific_journal-2188	106	26	(	(	PUNCT
american_scientific_journal-2188	106	27	motion	motion	NOUN
american_scientific_journal-2188	106	28	update	update	NOUN
american_scientific_journal-2188	106	29	)	)	PUNCT
american_scientific_journal-2188	106	30	,	,	PUNCT
american_scientific_journal-2188	106	31	and	and	CCONJ
american_scientific_journal-2188	106	32	next	next	ADV
american_scientific_journal-2188	106	33	take	take	VERB
american_scientific_journal-2188	106	34	a	a	DET
american_scientific_journal-2188	106	35	sensor	sensor	NOUN
american_scientific_journal-2188	106	36	reading	reading	NOUN
american_scientific_journal-2188	106	37	(	(	PUNCT
american_scientific_journal-2188	106	38	sensor	sensor	NOUN
american_scientific_journal-2188	106	39	update	update	NOUN
american_scientific_journal-2188	106	40	)	)	PUNCT
american_scientific_journal-2188	106	41	.	.	PUNCT
american_scientific_journal-2188	107	1	american	american	PROPN
american_scientific_journal-2188	107	2	scientific	scientific	ADJ
american_scientific_journal-2188	107	3	research	research	PROPN
american_scientific_journal-2188	107	4	journal	journal	NOUN
american_scientific_journal-2188	107	5	for	for	ADP
american_scientific_journal-2188	107	6	engineering	engineering	NOUN
american_scientific_journal-2188	107	7	,	,	PUNCT
american_scientific_journal-2188	107	8	technology	technology	NOUN
american_scientific_journal-2188	107	9	,	,	PUNCT
american_scientific_journal-2188	107	10	and	and	CCONJ
american_scientific_journal-2188	107	11	sciences	science	NOUN
american_scientific_journal-2188	107	12	(	(	PUNCT
american_scientific_journal-2188	107	13	asrjets	asrjet	NOUN
american_scientific_journal-2188	107	14	)	)	PUNCT
american_scientific_journal-2188	107	15	(	(	PUNCT
american_scientific_journal-2188	107	16	2016	2016	NUM
american_scientific_journal-2188	107	17	)	)	PUNCT
american_scientific_journal-2188	107	18	volume	volume	NOUN
american_scientific_journal-2188	107	19	26	26	NUM
american_scientific_journal-2188	107	20	,	,	PUNCT
american_scientific_journal-2188	107	21	no	no	DET
american_scientific_journal-2188	107	22	1	1	NUM
american_scientific_journal-2188	107	23	,	,	PUNCT
american_scientific_journal-2188	107	24	pp	pp	ADV
american_scientific_journal-2188	107	25	108	108	NUM
american_scientific_journal-2188	107	26	-	-	SYM
american_scientific_journal-2188	107	27	126	126	NUM
american_scientific_journal-2188	107	28	118	118	NUM
american_scientific_journal-2188	107	29	figure	figure	NOUN
american_scientific_journal-2188	107	30	15	15	NUM
american_scientific_journal-2188	107	31	:	:	PUNCT
american_scientific_journal-2188	107	32	motion	motion	NOUN
american_scientific_journal-2188	107	33	update	update	NOUN
american_scientific_journal-2188	107	34	figure	figure	NOUN
american_scientific_journal-2188	107	35	16	16	NUM
american_scientific_journal-2188	107	36	:	:	PUNCT
american_scientific_journal-2188	107	37	sensor	sensor	NOUN
american_scientific_journal-2188	107	38	update	update	NOUN
american_scientific_journal-2188	107	39	b	b	NOUN
american_scientific_journal-2188	107	40	)	)	PUNCT
american_scientific_journal-2188	107	41	pdate	pdate	NOUN
american_scientific_journal-2188	107	42	the	the	DET
american_scientific_journal-2188	107	43	location	location	NOUN
american_scientific_journal-2188	107	44	of	of	ADP
american_scientific_journal-2188	107	45	each	each	PRON
american_scientific_journal-2188	107	46	of	of	ADP
american_scientific_journal-2188	107	47	the	the	DET
american_scientific_journal-2188	107	48	particles	particle	NOUN
american_scientific_journal-2188	107	49	.	.	PUNCT
american_scientific_journal-2188	108	1	this	this	PRON
american_scientific_journal-2188	108	2	can	can	AUX
american_scientific_journal-2188	108	3	be	be	AUX
american_scientific_journal-2188	108	4	done	do	VERB
american_scientific_journal-2188	108	5	by	by	ADP
american_scientific_journal-2188	108	6	using	use	VERB
american_scientific_journal-2188	108	7	the	the	DET
american_scientific_journal-2188	108	8	motion	motion	NOUN
american_scientific_journal-2188	108	9	update	update	NOUN
american_scientific_journal-2188	108	10	.	.	PUNCT
american_scientific_journal-2188	109	1	c	c	X
american_scientific_journal-2188	109	2	)	)	PUNCT
american_scientific_journal-2188	109	3	appoint	appoint	VERB
american_scientific_journal-2188	109	4	the	the	DET
american_scientific_journal-2188	109	5	importance	importance	NOUN
american_scientific_journal-2188	109	6	weights	weight	NOUN
american_scientific_journal-2188	109	7	of	of	ADP
american_scientific_journal-2188	109	8	each	each	DET
american_scientific_journal-2188	109	9	particle	particle	NOUN
american_scientific_journal-2188	109	10	to	to	ADP
american_scientific_journal-2188	109	11	the	the	DET
american_scientific_journal-2188	109	12	possibility	possibility	NOUN
american_scientific_journal-2188	109	13	of	of	ADP
american_scientific_journal-2188	109	14	that	that	DET
american_scientific_journal-2188	109	15	sensor	sensor	NOUN
american_scientific_journal-2188	109	16	reading	reading	NOUN
american_scientific_journal-2188	109	17	(	(	PUNCT
american_scientific_journal-2188	109	18	sensor	sensor	NOUN
american_scientific_journal-2188	109	19	update	update	NOUN
american_scientific_journal-2188	109	20	)	)	PUNCT
american_scientific_journal-2188	109	21	given	give	VERB
american_scientific_journal-2188	109	22	that	that	DET
american_scientific_journal-2188	109	23	new	new	ADJ
american_scientific_journal-2188	109	24	location	location	NOUN
american_scientific_journal-2188	109	25	.	.	PUNCT
american_scientific_journal-2188	110	1	it	it	PRON
american_scientific_journal-2188	110	2	is	be	AUX
american_scientific_journal-2188	110	3	important	important	ADJ
american_scientific_journal-2188	110	4	to	to	PART
american_scientific_journal-2188	110	5	notice	notice	VERB
american_scientific_journal-2188	110	6	that	that	SCONJ
american_scientific_journal-2188	110	7	there	there	PRON
american_scientific_journal-2188	110	8	is	be	VERB
american_scientific_journal-2188	110	9	a	a	DET
american_scientific_journal-2188	110	10	difference	difference	NOUN
american_scientific_journal-2188	110	11	between	between	ADP
american_scientific_journal-2188	110	12	the	the	DET
american_scientific_journal-2188	110	13	actual	actual	ADJ
american_scientific_journal-2188	110	14	distance	distance	NOUN
american_scientific_journal-2188	110	15	and	and	CCONJ
american_scientific_journal-2188	110	16	the	the	DET
american_scientific_journal-2188	110	17	expected	expect	VERB
american_scientific_journal-2188	110	18	distance	distance	NOUN
american_scientific_journal-2188	110	19	so	so	SCONJ
american_scientific_journal-2188	110	20	it	it	PRON
american_scientific_journal-2188	110	21	is	be	AUX
american_scientific_journal-2188	110	22	essential	essential	ADJ
american_scientific_journal-2188	110	23	to	to	PART
american_scientific_journal-2188	110	24	add	add	VERB
american_scientific_journal-2188	110	25	a	a	DET
american_scientific_journal-2188	110	26	model	model	NOUN
american_scientific_journal-2188	110	27	for	for	ADP
american_scientific_journal-2188	110	28	the	the	DET
american_scientific_journal-2188	110	29	error	error	NOUN
american_scientific_journal-2188	110	30	to	to	ADP
american_scientific_journal-2188	110	31	the	the	DET
american_scientific_journal-2188	110	32	motion	motion	NOUN
american_scientific_journal-2188	110	33	model	model	NOUN
american_scientific_journal-2188	110	34	.	.	PUNCT
american_scientific_journal-2188	111	1	similarly	similarly	ADV
american_scientific_journal-2188	111	2	,	,	PUNCT
american_scientific_journal-2188	111	3	the	the	DET
american_scientific_journal-2188	111	4	sensor	sensor	NOUN
american_scientific_journal-2188	111	5	seems	seem	VERB
american_scientific_journal-2188	111	6	to	to	PART
american_scientific_journal-2188	111	7	indicate	indicate	VERB
american_scientific_journal-2188	111	8	a	a	DET
american_scientific_journal-2188	111	9	specific	specific	ADJ
american_scientific_journal-2188	111	10	object	object	NOUN
american_scientific_journal-2188	111	11	and	and	CCONJ
american_scientific_journal-2188	111	12	it	it	PRON
american_scientific_journal-2188	111	13	might	might	AUX
american_scientific_journal-2188	111	14	be	be	AUX
american_scientific_journal-2188	111	15	wrong	wrong	ADJ
american_scientific_journal-2188	111	16	,	,	PUNCT
american_scientific_journal-2188	111	17	and	and	CCONJ
american_scientific_journal-2188	111	18	take	take	VERB
american_scientific_journal-2188	111	19	into	into	ADP
american_scientific_journal-2188	111	20	consideration	consideration	NOUN
american_scientific_journal-2188	111	21	;	;	PUNCT
american_scientific_journal-2188	111	22	this	this	PRON
american_scientific_journal-2188	111	23	called	call	VERB
american_scientific_journal-2188	111	24	sensor	sensor	NOUN
american_scientific_journal-2188	111	25	model	model	NOUN
american_scientific_journal-2188	111	26	.	.	PUNCT
american_scientific_journal-2188	112	1	d	d	X
american_scientific_journal-2188	112	2	)	)	PUNCT
american_scientific_journal-2188	112	3	create	create	VERB
american_scientific_journal-2188	112	4	a	a	DET
american_scientific_journal-2188	112	5	new	new	ADJ
american_scientific_journal-2188	112	6	collection	collection	NOUN
american_scientific_journal-2188	112	7	of	of	ADP
american_scientific_journal-2188	112	8	particles	particle	NOUN
american_scientific_journal-2188	112	9	by	by	ADP
american_scientific_journal-2188	112	10	sampling	sample	VERB
american_scientific_journal-2188	112	11	and	and	CCONJ
american_scientific_journal-2188	112	12	replacing	replace	VERB
american_scientific_journal-2188	112	13	the	the	DET
american_scientific_journal-2188	112	14	current	current	ADJ
american_scientific_journal-2188	112	15	set	set	NOUN
american_scientific_journal-2188	112	16	of	of	ADP
american_scientific_journal-2188	112	17	particles	particle	NOUN
american_scientific_journal-2188	112	18	based	base	VERB
american_scientific_journal-2188	112	19	on	on	ADP
american_scientific_journal-2188	112	20	their	their	PRON
american_scientific_journal-2188	112	21	importance	importance	NOUN
american_scientific_journal-2188	112	22	weights	weight	NOUN
american_scientific_journal-2188	112	23	.	.	PUNCT
american_scientific_journal-2188	113	1	american	american	ADJ
american_scientific_journal-2188	113	2	scientific	scientific	ADJ
american_scientific_journal-2188	113	3	research	research	PROPN
american_scientific_journal-2188	113	4	journal	journal	NOUN
american_scientific_journal-2188	113	5	for	for	ADP
american_scientific_journal-2188	113	6	engineering	engineering	NOUN
american_scientific_journal-2188	113	7	,	,	PUNCT
american_scientific_journal-2188	113	8	technology	technology	NOUN
american_scientific_journal-2188	113	9	,	,	PUNCT
american_scientific_journal-2188	113	10	and	and	CCONJ
american_scientific_journal-2188	113	11	sciences	science	NOUN
american_scientific_journal-2188	113	12	(	(	PUNCT
american_scientific_journal-2188	113	13	asrjets	asrjet	NOUN
american_scientific_journal-2188	113	14	)	)	PUNCT
american_scientific_journal-2188	113	15	(	(	PUNCT
american_scientific_journal-2188	113	16	2016	2016	NUM
american_scientific_journal-2188	113	17	)	)	PUNCT
american_scientific_journal-2188	113	18	volume	volume	NOUN
american_scientific_journal-2188	113	19	26	26	NUM
american_scientific_journal-2188	113	20	,	,	PUNCT
american_scientific_journal-2188	113	21	no	no	DET
american_scientific_journal-2188	113	22	1	1	NUM
american_scientific_journal-2188	113	23	,	,	PUNCT
american_scientific_journal-2188	113	24	pp	pp	ADV
american_scientific_journal-2188	113	25	108	108	NUM
american_scientific_journal-2188	113	26	-	-	SYM
american_scientific_journal-2188	113	27	126	126	NUM
american_scientific_journal-2188	113	28	119	119	NUM
american_scientific_journal-2188	113	29	e	e	NOUN
american_scientific_journal-2188	113	30	)	)	PUNCT
american_scientific_journal-2188	113	31	make	make	VERB
american_scientific_journal-2188	113	32	these	these	DET
american_scientific_journal-2188	113	33	new	new	ADJ
american_scientific_journal-2188	113	34	collection	collection	NOUN
american_scientific_journal-2188	113	35	of	of	ADP
american_scientific_journal-2188	113	36	particles	particle	NOUN
american_scientific_journal-2188	113	37	become	become	VERB
american_scientific_journal-2188	113	38	the	the	DET
american_scientific_journal-2188	113	39	current	current	ADJ
american_scientific_journal-2188	113	40	set	set	NOUN
american_scientific_journal-2188	113	41	instead	instead	ADV
american_scientific_journal-2188	113	42	of	of	ADP
american_scientific_journal-2188	113	43	the	the	DET
american_scientific_journal-2188	113	44	old	old	ADJ
american_scientific_journal-2188	113	45	particles	particle	NOUN
american_scientific_journal-2188	113	46	.	.	PUNCT
american_scientific_journal-2188	114	1	step	step	NOUN
american_scientific_journal-2188	114	2	(	(	PUNCT
american_scientific_journal-2188	114	3	d	d	X
american_scientific_journal-2188	114	4	)	)	PUNCT
american_scientific_journal-2188	114	5	consider	consider	VERB
american_scientific_journal-2188	114	6	the	the	DET
american_scientific_journal-2188	114	7	most	most	ADV
american_scientific_journal-2188	114	8	important	important	ADJ
american_scientific_journal-2188	114	9	one	one	NUM
american_scientific_journal-2188	114	10	.	.	PUNCT
american_scientific_journal-2188	115	1	in	in	ADP
american_scientific_journal-2188	115	2	this	this	DET
american_scientific_journal-2188	115	3	step	step	NOUN
american_scientific_journal-2188	115	4	,	,	PUNCT
american_scientific_journal-2188	115	5	particles	particle	NOUN
american_scientific_journal-2188	115	6	will	will	AUX
american_scientific_journal-2188	115	7	be	be	AUX
american_scientific_journal-2188	115	8	chosen	choose	VERB
american_scientific_journal-2188	115	9	depending	depend	VERB
american_scientific_journal-2188	115	10	on	on	ADP
american_scientific_journal-2188	115	11	their	their	PRON
american_scientific_journal-2188	115	12	importance	importance	NOUN
american_scientific_journal-2188	115	13	weight	weight	NOUN
american_scientific_journal-2188	115	14	since	since	SCONJ
american_scientific_journal-2188	115	15	the	the	DET
american_scientific_journal-2188	115	16	particles	particle	NOUN
american_scientific_journal-2188	115	17	with	with	ADP
american_scientific_journal-2188	115	18	high	high	ADJ
american_scientific_journal-2188	115	19	importance	importance	NOUN
american_scientific_journal-2188	115	20	weight	weight	NOUN
american_scientific_journal-2188	115	21	are	be	AUX
american_scientific_journal-2188	115	22	more	more	ADV
american_scientific_journal-2188	115	23	likely	likely	ADJ
american_scientific_journal-2188	115	24	to	to	PART
american_scientific_journal-2188	115	25	be	be	AUX
american_scientific_journal-2188	115	26	chosen	choose	VERB
american_scientific_journal-2188	115	27	than	than	ADP
american_scientific_journal-2188	115	28	those	those	PRON
american_scientific_journal-2188	115	29	with	with	ADP
american_scientific_journal-2188	115	30	low	low	ADJ
american_scientific_journal-2188	115	31	importance	importance	NOUN
american_scientific_journal-2188	115	32	weight	weight	NOUN
american_scientific_journal-2188	115	33	.	.	PUNCT
american_scientific_journal-2188	116	1	at	at	ADP
american_scientific_journal-2188	116	2	the	the	DET
american_scientific_journal-2188	116	3	end	end	NOUN
american_scientific_journal-2188	116	4	of	of	ADP
american_scientific_journal-2188	116	5	the	the	DET
american_scientific_journal-2188	116	6	program	program	NOUN
american_scientific_journal-2188	116	7	,	,	PUNCT
american_scientific_journal-2188	116	8	there	there	PRON
american_scientific_journal-2188	116	9	will	will	AUX
american_scientific_journal-2188	116	10	be	be	AUX
american_scientific_journal-2188	116	11	a	a	DET
american_scientific_journal-2188	116	12	set	set	NOUN
american_scientific_journal-2188	116	13	of	of	ADP
american_scientific_journal-2188	116	14	particles	particle	NOUN
american_scientific_journal-2188	116	15	with	with	ADP
american_scientific_journal-2188	116	16	higher	high	ADJ
american_scientific_journal-2188	116	17	cumulative	cumulative	ADJ
american_scientific_journal-2188	116	18	importance	importance	NOUN
american_scientific_journal-2188	116	19	weights	weight	NOUN
american_scientific_journal-2188	116	20	than	than	ADP
american_scientific_journal-2188	116	21	those	those	PRON
american_scientific_journal-2188	116	22	generated	generate	VERB
american_scientific_journal-2188	116	23	in	in	ADP
american_scientific_journal-2188	116	24	the	the	DET
american_scientific_journal-2188	116	25	start	start	NOUN
american_scientific_journal-2188	116	26	of	of	ADP
american_scientific_journal-2188	116	27	the	the	DET
american_scientific_journal-2188	116	28	program	program	NOUN
american_scientific_journal-2188	116	29	.	.	PUNCT
american_scientific_journal-2188	117	1	in	in	ADP
american_scientific_journal-2188	117	2	addition	addition	NOUN
american_scientific_journal-2188	117	3	,	,	PUNCT
american_scientific_journal-2188	117	4	it	it	PRON
american_scientific_journal-2188	117	5	is	be	AUX
american_scientific_journal-2188	117	6	possible	possible	ADJ
american_scientific_journal-2188	117	7	that	that	SCONJ
american_scientific_journal-2188	117	8	more	more	ADJ
american_scientific_journal-2188	117	9	than	than	ADP
american_scientific_journal-2188	117	10	one	one	NUM
american_scientific_journal-2188	117	11	particle	particle	NOUN
american_scientific_journal-2188	117	12	are	be	AUX
american_scientific_journal-2188	117	13	placed	place	VERB
american_scientific_journal-2188	117	14	in	in	ADP
american_scientific_journal-2188	117	15	same	same	ADJ
american_scientific_journal-2188	117	16	location	location	NOUN
american_scientific_journal-2188	117	17	since	since	SCONJ
american_scientific_journal-2188	117	18	the	the	DET
american_scientific_journal-2188	117	19	estimated	estimate	VERB
american_scientific_journal-2188	117	20	location	location	NOUN
american_scientific_journal-2188	117	21	of	of	ADP
american_scientific_journal-2188	117	22	the	the	DET
american_scientific_journal-2188	117	23	robot	robot	NOUN
american_scientific_journal-2188	117	24	is	be	AUX
american_scientific_journal-2188	117	25	in	in	ADP
american_scientific_journal-2188	117	26	the	the	DET
american_scientific_journal-2188	117	27	area	area	NOUN
american_scientific_journal-2188	117	28	with	with	ADP
american_scientific_journal-2188	117	29	the	the	DET
american_scientific_journal-2188	117	30	most	most	ADJ
american_scientific_journal-2188	117	31	particles	particle	NOUN
american_scientific_journal-2188	117	32	.	.	PUNCT
american_scientific_journal-2188	118	1	3.2	3.2	NUM
american_scientific_journal-2188	118	2	basic	basic	ADJ
american_scientific_journal-2188	118	3	monte	monte	PROPN
american_scientific_journal-2188	118	4	carlo	carlo	PROPN
american_scientific_journal-2188	118	5	localization	localization	NOUN
american_scientific_journal-2188	118	6	algorithm	algorithm	NOUN
american_scientific_journal-2188	118	7	for	for	ADP
american_scientific_journal-2188	118	8	this	this	DET
american_scientific_journal-2188	118	9	project	project	NOUN
american_scientific_journal-2188	118	10	,	,	PUNCT
american_scientific_journal-2188	118	11	the	the	DET
american_scientific_journal-2188	118	12	following	follow	VERB
american_scientific_journal-2188	118	13	parameters	parameter	NOUN
american_scientific_journal-2188	118	14	will	will	AUX
american_scientific_journal-2188	118	15	be	be	AUX
american_scientific_journal-2188	118	16	used	use	VERB
american_scientific_journal-2188	118	17	[	[	PUNCT
american_scientific_journal-2188	118	18	8	8	NUM
american_scientific_journal-2188	118	19	]	]	SYM
american_scientific_journal-2188	118	20	:	:	PUNCT
american_scientific_journal-2188	118	21	•	•	NUM
american_scientific_journal-2188	118	22	n	n	NOUN
american_scientific_journal-2188	118	23	=	=	NOUN
american_scientific_journal-2188	118	24	number	number	NOUN
american_scientific_journal-2188	118	25	of	of	ADP
american_scientific_journal-2188	118	26	particles	particle	NOUN
american_scientific_journal-2188	118	27	.	.	PUNCT
american_scientific_journal-2188	119	1	•	•	NUM
american_scientific_journal-2188	119	2	st	st	PROPN
american_scientific_journal-2188	119	3	=	=	NOUN
american_scientific_journal-2188	119	4	current	current	ADJ
american_scientific_journal-2188	119	5	set	set	NOUN
american_scientific_journal-2188	119	6	of	of	ADP
american_scientific_journal-2188	119	7	samples	sample	NOUN
american_scientific_journal-2188	119	8	[	[	X
american_scientific_journal-2188	119	9	xt(i	xt(i	NUM
american_scientific_journal-2188	119	10	)	)	PUNCT
american_scientific_journal-2188	119	11	,	,	PUNCT
american_scientific_journal-2188	119	12	wt(i	wt(i	NUM
american_scientific_journal-2188	119	13	)	)	PUNCT
american_scientific_journal-2188	119	14	]	]	PUNCT
american_scientific_journal-2188	119	15	,	,	PUNCT
american_scientific_journal-2188	119	16	•	•	NUM
american_scientific_journal-2188	119	17	xt	xt	X
american_scientific_journal-2188	120	1	=	=	SYM
american_scientific_journal-2188	120	2	current	current	ADJ
american_scientific_journal-2188	120	3	location	location	NOUN
american_scientific_journal-2188	120	4	(	(	PUNCT
american_scientific_journal-2188	120	5	x	x	X
american_scientific_journal-2188	120	6	,	,	PUNCT
american_scientific_journal-2188	120	7	y	y	PROPN
american_scientific_journal-2188	120	8	,	,	PUNCT
american_scientific_journal-2188	120	9	θ	θ	PROPN
american_scientific_journal-2188	120	10	)	)	PUNCT
american_scientific_journal-2188	120	11	of	of	ADP
american_scientific_journal-2188	120	12	the	the	DET
american_scientific_journal-2188	120	13	particle	particle	NOUN
american_scientific_journal-2188	120	14	(	(	PUNCT
american_scientific_journal-2188	120	15	i	i	NOUN
american_scientific_journal-2188	120	16	)	)	PUNCT
american_scientific_journal-2188	120	17	at	at	ADP
american_scientific_journal-2188	120	18	the	the	DET
american_scientific_journal-2188	120	19	time	time	NOUN
american_scientific_journal-2188	120	20	t.	t.	PROPN
american_scientific_journal-2188	120	21	•	•	NOUN
american_scientific_journal-2188	120	22	wt(i	wt(i	NUM
american_scientific_journal-2188	120	23	)	)	PUNCT
american_scientific_journal-2188	121	1	=	=	SYM
american_scientific_journal-2188	121	2	importance	importance	NOUN
american_scientific_journal-2188	121	3	weight	weight	NOUN
american_scientific_journal-2188	121	4	for	for	ADP
american_scientific_journal-2188	121	5	the	the	DET
american_scientific_journal-2188	121	6	particle	particle	NOUN
american_scientific_journal-2188	121	7	(	(	PUNCT
american_scientific_journal-2188	121	8	i	i	NOUN
american_scientific_journal-2188	121	9	)	)	PUNCT
american_scientific_journal-2188	121	10	.	.	PUNCT
american_scientific_journal-2188	122	1	•	•	NUM
american_scientific_journal-2188	122	2	ut	ut	PROPN
american_scientific_journal-2188	122	3	=	=	PUNCT
american_scientific_journal-2188	122	4	distance	distance	NOUN
american_scientific_journal-2188	122	5	travelled	travel	VERB
american_scientific_journal-2188	122	6	by	by	ADP
american_scientific_journal-2188	122	7	the	the	DET
american_scientific_journal-2188	122	8	mobile	mobile	NOUN
american_scientific_journal-2188	122	9	robot	robot	NOUN
american_scientific_journal-2188	122	10	.	.	PUNCT
american_scientific_journal-2188	123	1	•	•	NUM
american_scientific_journal-2188	123	2	zt	zt	PROPN
american_scientific_journal-2188	123	3	=	=	SYM
american_scientific_journal-2188	123	4	current	current	ADJ
american_scientific_journal-2188	123	5	sensor	sensor	NOUN
american_scientific_journal-2188	123	6	readings	reading	VERB
american_scientific_journal-2188	123	7	in	in	ADP
american_scientific_journal-2188	123	8	addition	addition	NOUN
american_scientific_journal-2188	123	9	,	,	PUNCT
american_scientific_journal-2188	123	10	the	the	DET
american_scientific_journal-2188	123	11	number	number	NOUN
american_scientific_journal-2188	123	12	of	of	ADP
american_scientific_journal-2188	123	13	particle	particle	NOUN
american_scientific_journal-2188	123	14	that	that	PRON
american_scientific_journal-2188	123	15	will	will	AUX
american_scientific_journal-2188	123	16	used	use	VERB
american_scientific_journal-2188	123	17	is	be	AUX
american_scientific_journal-2188	123	18	1000	1000	NUM
american_scientific_journal-2188	123	19	particles	particle	NOUN
american_scientific_journal-2188	123	20	(	(	PUNCT
american_scientific_journal-2188	123	21	n=1000	n=1000	PROPN
american_scientific_journal-2188	123	22	)	)	PUNCT
american_scientific_journal-2188	123	23	1	1	NUM
american_scientific_journal-2188	123	24	)	)	PUNCT
american_scientific_journal-2188	123	25	inputs	input	NOUN
american_scientific_journal-2188	123	26	:	:	PUNCT
american_scientific_journal-2188	123	27	ut	ut	PROPN
american_scientific_journal-2188	123	28	,	,	PUNCT
american_scientific_journal-2188	123	29	zt	zt	PROPN
american_scientific_journal-2188	123	30	,	,	PUNCT
american_scientific_journal-2188	123	31	and	and	CCONJ
american_scientific_journal-2188	123	32	particles	particle	NOUN
american_scientific_journal-2188	123	33	set	set	VERB
american_scientific_journal-2188	123	34	st	st	PROPN
american_scientific_journal-2188	123	35	=	=	X
american_scientific_journal-2188	123	36	{	{	PUNCT
american_scientific_journal-2188	123	37	[	[	X
american_scientific_journal-2188	123	38	xt(i	xt(i	NUM
american_scientific_journal-2188	123	39	)	)	PUNCT
american_scientific_journal-2188	123	40	,	,	PUNCT
american_scientific_journal-2188	123	41	wt(i	wt(i	NUM
american_scientific_journal-2188	123	42	)	)	PUNCT
american_scientific_journal-2188	123	43	]	]	PUNCT
american_scientific_journal-2188	123	44	,	,	PUNCT
american_scientific_journal-2188	123	45	i=	i=	PROPN
american_scientific_journal-2188	123	46	1	1	NUM
american_scientific_journal-2188	123	47	,	,	PUNCT
american_scientific_journal-2188	123	48	…	…	PUNCT
american_scientific_journal-2188	123	49	..	..	PUNCT
american_scientific_journal-2188	123	50	,	,	PUNCT
american_scientific_journal-2188	123	51	n	n	CCONJ
american_scientific_journal-2188	123	52	}	}	PUNCT
american_scientific_journal-2188	123	53	2	2	NUM
american_scientific_journal-2188	123	54	)	)	PUNCT
american_scientific_journal-2188	123	55	for	for	ADP
american_scientific_journal-2188	123	56	i	i	PRON
american_scientific_journal-2188	123	57	=	=	NOUN
american_scientific_journal-2188	123	58	1	1	NUM
american_scientific_journal-2188	123	59	to	to	PART
american_scientific_journal-2188	123	60	n	n	PRON
american_scientific_journal-2188	123	61	do	do	VERB
american_scientific_journal-2188	123	62	//	//	NOUN
american_scientific_journal-2188	123	63	this	this	DET
american_scientific_journal-2188	123	64	step	step	NOUN
american_scientific_journal-2188	123	65	to	to	PART
american_scientific_journal-2188	123	66	update	update	VERB
american_scientific_journal-2188	123	67	the	the	DET
american_scientific_journal-2188	123	68	current	current	ADJ
american_scientific_journal-2188	123	69	set	set	NOUN
american_scientific_journal-2188	123	70	of	of	ADP
american_scientific_journal-2188	123	71	particles	particle	NOUN
american_scientific_journal-2188	123	72	.	.	PUNCT
american_scientific_journal-2188	124	1	a	a	DET
american_scientific_journal-2188	124	2	)	)	PUNCT
american_scientific_journal-2188	124	3	xt	xt	PUNCT
american_scientific_journal-2188	124	4	=	=	SYM
american_scientific_journal-2188	124	5	update	update	NOUN
american_scientific_journal-2188	124	6	distance(xt	distance(xt	NOUN
american_scientific_journal-2188	124	7	,	,	PUNCT
american_scientific_journal-2188	124	8	ut	ut	PROPN
american_scientific_journal-2188	124	9	)	)	PUNCT
american_scientific_journal-2188	124	10	//	//	NOUN
american_scientific_journal-2188	124	11	this	this	DET
american_scientific_journal-2188	124	12	step	step	NOUN
american_scientific_journal-2188	124	13	to	to	PART
american_scientific_journal-2188	124	14	compute	compute	VERB
american_scientific_journal-2188	124	15	the	the	DET
american_scientific_journal-2188	124	16	new	new	ADJ
american_scientific_journal-2188	124	17	location	location	NOUN
american_scientific_journal-2188	124	18	of	of	ADP
american_scientific_journal-2188	124	19	the	the	DET
american_scientific_journal-2188	124	20	particles	particle	NOUN
american_scientific_journal-2188	124	21	b	b	NOUN
american_scientific_journal-2188	124	22	)	)	PUNCT
american_scientific_journal-2188	124	23	wt(i	wt(i	NUM
american_scientific_journal-2188	124	24	)	)	PUNCT
american_scientific_journal-2188	125	1	=	=	SYM
american_scientific_journal-2188	125	2	probability	probability	NOUN
american_scientific_journal-2188	125	3	(	(	PUNCT
american_scientific_journal-2188	125	4	zt	zt	PROPN
american_scientific_journal-2188	125	5	|	|	ADV
american_scientific_journal-2188	125	6	xt(i	xt(i	NUM
american_scientific_journal-2188	125	7	)	)	PUNCT
american_scientific_journal-2188	125	8	)	)	PUNCT
american_scientific_journal-2188	126	1	//	//	PUNCT
american_scientific_journal-2188	126	2	compute	compute	VERB
american_scientific_journal-2188	126	3	the	the	DET
american_scientific_journal-2188	126	4	importance	importance	NOUN
american_scientific_journal-2188	126	5	weight(probability	weight(probability	NOUN
american_scientific_journal-2188	126	6	)	)	PUNCT
american_scientific_journal-2188	126	7	3	3	NUM
american_scientific_journal-2188	126	8	)	)	PUNCT
american_scientific_journal-2188	126	9	st+1	st+1	NOUN
american_scientific_journal-2188	127	1	=	=	SYM
american_scientific_journal-2188	127	2	0	0	NUM
american_scientific_journal-2188	127	3	//	//	NOUN
american_scientific_journal-2188	127	4	initialize	initialize	NOUN
american_scientific_journal-2188	127	5	there	there	ADV
american_scientific_journal-2188	127	6	values	value	NOUN
american_scientific_journal-2188	127	7	then	then	ADV
american_scientific_journal-2188	127	8	resample	resample	VERB
american_scientific_journal-2188	127	9	to	to	PART
american_scientific_journal-2188	127	10	get	get	VERB
american_scientific_journal-2188	127	11	the	the	DET
american_scientific_journal-2188	127	12	next	next	ADJ
american_scientific_journal-2188	127	13	generation	generation	NOUN
american_scientific_journal-2188	127	14	of	of	ADP
american_scientific_journal-2188	127	15	particles	particle	NOUN
american_scientific_journal-2188	127	16	4	4	NUM
american_scientific_journal-2188	127	17	)	)	PUNCT
american_scientific_journal-2188	127	18	for	for	ADP
american_scientific_journal-2188	127	19	i	i	PRON
american_scientific_journal-2188	127	20	=	=	NOUN
american_scientific_journal-2188	127	21	1	1	NUM
american_scientific_journal-2188	127	22	to	to	PART
american_scientific_journal-2188	127	23	n	n	PRON
american_scientific_journal-2188	127	24	do	do	VERB
american_scientific_journal-2188	127	25	a	a	DET
american_scientific_journal-2188	127	26	)	)	PUNCT
american_scientific_journal-2188	127	27	sample	sample	NOUN
american_scientific_journal-2188	127	28	an	an	DET
american_scientific_journal-2188	127	29	index	index	NOUN
american_scientific_journal-2188	127	30	j	j	NOUN
american_scientific_journal-2188	127	31	from	from	ADP
american_scientific_journal-2188	127	32	the	the	DET
american_scientific_journal-2188	127	33	distribution	distribution	NOUN
american_scientific_journal-2188	127	34	of	of	ADP
american_scientific_journal-2188	127	35	particles	particle	NOUN
american_scientific_journal-2188	127	36	given	give	VERB
american_scientific_journal-2188	127	37	by	by	ADP
american_scientific_journal-2188	127	38	the	the	DET
american_scientific_journal-2188	127	39	importance	importance	NOUN
american_scientific_journal-2188	127	40	weights	weight	VERB
american_scientific_journal-2188	127	41	in	in	ADP
american_scientific_journal-2188	127	42	st	st	PROPN
american_scientific_journal-2188	127	43	b	b	PROPN
american_scientific_journal-2188	127	44	)	)	PUNCT
american_scientific_journal-2188	127	45	add	add	VERB
american_scientific_journal-2188	127	46	(	(	PUNCT
american_scientific_journal-2188	127	47	xt(j	xt(j	NUM
american_scientific_journal-2188	127	48	)	)	PUNCT
american_scientific_journal-2188	127	49	,	,	PUNCT
american_scientific_journal-2188	127	50	xt(j	xt(j	NUM
american_scientific_journal-2188	127	51	)	)	PUNCT
american_scientific_journal-2188	127	52	)	)	PUNCT
american_scientific_journal-2188	127	53	to	to	ADP
american_scientific_journal-2188	127	54	st+1	st+1	PROPN
american_scientific_journal-2188	127	55	//	//	NUM
american_scientific_journal-2188	127	56	add	add	VERB
american_scientific_journal-2188	127	57	sample	sample	PROPN
american_scientific_journal-2188	127	58	j	j	PROPN
american_scientific_journal-2188	127	59	of	of	ADP
american_scientific_journal-2188	127	60	the	the	DET
american_scientific_journal-2188	127	61	index	index	NOUN
american_scientific_journal-2188	127	62	to	to	ADP
american_scientific_journal-2188	127	63	the	the	DET
american_scientific_journal-2188	127	64	set	set	NOUN
american_scientific_journal-2188	127	65	of	of	ADP
american_scientific_journal-2188	127	66	new	new	ADJ
american_scientific_journal-2188	127	67	particles	particle	NOUN
american_scientific_journal-2188	127	68	st+1	st+1	PROPN
american_scientific_journal-2188	127	69	american	american	PROPN
american_scientific_journal-2188	127	70	scientific	scientific	ADJ
american_scientific_journal-2188	127	71	research	research	NOUN
american_scientific_journal-2188	127	72	journal	journal	NOUN
american_scientific_journal-2188	127	73	for	for	ADP
american_scientific_journal-2188	127	74	engineering	engineering	NOUN
american_scientific_journal-2188	127	75	,	,	PUNCT
american_scientific_journal-2188	127	76	technology	technology	NOUN
american_scientific_journal-2188	127	77	,	,	PUNCT
american_scientific_journal-2188	127	78	and	and	CCONJ
american_scientific_journal-2188	127	79	sciences	science	NOUN
american_scientific_journal-2188	127	80	(	(	PUNCT
american_scientific_journal-2188	127	81	asrjets	asrjet	NOUN
american_scientific_journal-2188	127	82	)	)	PUNCT
american_scientific_journal-2188	127	83	(	(	PUNCT
american_scientific_journal-2188	127	84	2016	2016	NUM
american_scientific_journal-2188	127	85	)	)	PUNCT
american_scientific_journal-2188	127	86	volume	volume	NOUN
american_scientific_journal-2188	127	87	26	26	NUM
american_scientific_journal-2188	127	88	,	,	PUNCT
american_scientific_journal-2188	127	89	no	no	DET
american_scientific_journal-2188	127	90	1	1	NUM
american_scientific_journal-2188	127	91	,	,	PUNCT
american_scientific_journal-2188	127	92	pp	pp	ADV
american_scientific_journal-2188	127	93	108	108	NUM
american_scientific_journal-2188	127	94	-	-	SYM
american_scientific_journal-2188	127	95	126	126	NUM
american_scientific_journal-2188	127	96	120	120	NUM
american_scientific_journal-2188	127	97	5	5	NUM
american_scientific_journal-2188	127	98	)	)	PUNCT
american_scientific_journal-2188	127	99	return	return	VERB
american_scientific_journal-2188	127	100	st+1	st+1	NOUN
american_scientific_journal-2188	127	101	4	4	NUM
american_scientific_journal-2188	127	102	.	.	PUNCT
american_scientific_journal-2188	127	103	practical	practical	ADJ
american_scientific_journal-2188	127	104	results	result	NOUN
american_scientific_journal-2188	127	105	this	this	DET
american_scientific_journal-2188	127	106	section	section	NOUN
american_scientific_journal-2188	127	107	includes	include	VERB
american_scientific_journal-2188	127	108	the	the	DET
american_scientific_journal-2188	127	109	final	final	ADJ
american_scientific_journal-2188	127	110	results	result	NOUN
american_scientific_journal-2188	127	111	that	that	PRON
american_scientific_journal-2188	127	112	have	have	AUX
american_scientific_journal-2188	127	113	been	be	AUX
american_scientific_journal-2188	127	114	taken	take	VERB
american_scientific_journal-2188	127	115	practically	practically	ADV
american_scientific_journal-2188	127	116	.	.	PUNCT
american_scientific_journal-2188	128	1	the	the	DET
american_scientific_journal-2188	128	2	result	result	NOUN
american_scientific_journal-2188	128	3	will	will	AUX
american_scientific_journal-2188	128	4	be	be	AUX
american_scientific_journal-2188	128	5	divided	divide	VERB
american_scientific_journal-2188	128	6	into	into	ADP
american_scientific_journal-2188	128	7	two	two	NUM
american_scientific_journal-2188	128	8	main	main	ADJ
american_scientific_journal-2188	128	9	sub	sub	NOUN
american_scientific_journal-2188	128	10	-	-	NOUN
american_scientific_journal-2188	128	11	sections	section	NOUN
american_scientific_journal-2188	128	12	;	;	PUNCT
american_scientific_journal-2188	128	13	the	the	DET
american_scientific_journal-2188	128	14	first	first	ADJ
american_scientific_journal-2188	128	15	section	section	NOUN
american_scientific_journal-2188	128	16	describes	describe	VERB
american_scientific_journal-2188	128	17	the	the	DET
american_scientific_journal-2188	128	18	particles	particle	NOUN
american_scientific_journal-2188	128	19	distribution	distribution	NOUN
american_scientific_journal-2188	128	20	over	over	ADP
american_scientific_journal-2188	128	21	the	the	DET
american_scientific_journal-2188	128	22	working	work	VERB
american_scientific_journal-2188	128	23	environment	environment	NOUN
american_scientific_journal-2188	128	24	and	and	CCONJ
american_scientific_journal-2188	128	25	their	their	PRON
american_scientific_journal-2188	128	26	position	position	NOUN
american_scientific_journal-2188	128	27	update	update	NOUN
american_scientific_journal-2188	128	28	over	over	ADP
american_scientific_journal-2188	128	29	a	a	DET
american_scientific_journal-2188	128	30	number	number	NOUN
american_scientific_journal-2188	128	31	of	of	ADP
american_scientific_journal-2188	128	32	iterations	iteration	NOUN
american_scientific_journal-2188	128	33	;	;	PUNCT
american_scientific_journal-2188	128	34	these	these	DET
american_scientific_journal-2188	128	35	results	result	NOUN
american_scientific_journal-2188	128	36	will	will	AUX
american_scientific_journal-2188	128	37	be	be	AUX
american_scientific_journal-2188	128	38	repeated	repeat	VERB
american_scientific_journal-2188	128	39	with	with	ADP
american_scientific_journal-2188	128	40	two	two	NUM
american_scientific_journal-2188	128	41	different	different	ADJ
american_scientific_journal-2188	128	42	number	number	NOUN
american_scientific_journal-2188	128	43	of	of	ADP
american_scientific_journal-2188	128	44	particles	particle	NOUN
american_scientific_journal-2188	128	45	(	(	PUNCT
american_scientific_journal-2188	128	46	n=500	n=500	NUM
american_scientific_journal-2188	128	47	,	,	PUNCT
american_scientific_journal-2188	128	48	3000	3000	NUM
american_scientific_journal-2188	128	49	)	)	PUNCT
american_scientific_journal-2188	128	50	.	.	PUNCT
american_scientific_journal-2188	129	1	second	second	ADJ
american_scientific_journal-2188	129	2	section	section	NOUN
american_scientific_journal-2188	129	3	will	will	AUX
american_scientific_journal-2188	129	4	shows	show	VERB
american_scientific_journal-2188	129	5	the	the	DET
american_scientific_journal-2188	129	6	update	update	NOUN
american_scientific_journal-2188	129	7	in	in	ADP
american_scientific_journal-2188	129	8	the	the	DET
american_scientific_journal-2188	129	9	importance	importance	NOUN
american_scientific_journal-2188	129	10	weight	weight	NOUN
american_scientific_journal-2188	129	11	values	value	NOUN
american_scientific_journal-2188	129	12	over	over	ADP
american_scientific_journal-2188	129	13	a	a	DET
american_scientific_journal-2188	129	14	number	number	NOUN
american_scientific_journal-2188	129	15	of	of	ADP
american_scientific_journal-2188	129	16	iterations	iteration	NOUN
american_scientific_journal-2188	129	17	and	and	CCONJ
american_scientific_journal-2188	129	18	for	for	ADP
american_scientific_journal-2188	129	19	three	three	NUM
american_scientific_journal-2188	129	20	different	different	ADJ
american_scientific_journal-2188	129	21	number	number	NOUN
american_scientific_journal-2188	129	22	of	of	ADP
american_scientific_journal-2188	129	23	particles	particle	NOUN
american_scientific_journal-2188	129	24	.	.	PUNCT
american_scientific_journal-2188	130	1	4.1	4.1	NUM
american_scientific_journal-2188	130	2	particles	particle	NOUN
american_scientific_journal-2188	130	3	distribution	distribution	NOUN
american_scientific_journal-2188	130	4	this	this	DET
american_scientific_journal-2188	130	5	section	section	NOUN
american_scientific_journal-2188	130	6	shows	show	VERB
american_scientific_journal-2188	130	7	the	the	DET
american_scientific_journal-2188	130	8	result	result	NOUN
american_scientific_journal-2188	130	9	of	of	ADP
american_scientific_journal-2188	130	10	two	two	NUM
american_scientific_journal-2188	130	11	different	different	ADJ
american_scientific_journal-2188	130	12	sets	set	NOUN
american_scientific_journal-2188	130	13	of	of	ADP
american_scientific_journal-2188	130	14	particles	particle	NOUN
american_scientific_journal-2188	130	15	distribution	distribution	NOUN
american_scientific_journal-2188	130	16	.	.	PUNCT
american_scientific_journal-2188	131	1	the	the	DET
american_scientific_journal-2188	131	2	first	first	ADJ
american_scientific_journal-2188	131	3	results	result	NOUN
american_scientific_journal-2188	131	4	were	be	AUX
american_scientific_journal-2188	131	5	taken	take	VERB
american_scientific_journal-2188	131	6	for	for	ADP
american_scientific_journal-2188	131	7	n=500	n=500	NUM
american_scientific_journal-2188	131	8	as	as	SCONJ
american_scientific_journal-2188	131	9	shown	show	VERB
american_scientific_journal-2188	131	10	in	in	ADP
american_scientific_journal-2188	131	11	figure	figure	NOUN
american_scientific_journal-2188	131	12	(	(	PUNCT
american_scientific_journal-2188	131	13	17	17	NUM
american_scientific_journal-2188	131	14	)	)	PUNCT
american_scientific_journal-2188	131	15	.	.	PUNCT
american_scientific_journal-2188	132	1	this	this	DET
american_scientific_journal-2188	132	2	number	number	NOUN
american_scientific_journal-2188	132	3	of	of	ADP
american_scientific_journal-2188	132	4	iterations	iteration	NOUN
american_scientific_journal-2188	132	5	are	be	AUX
american_scientific_journal-2188	132	6	relatively	relatively	ADV
american_scientific_journal-2188	132	7	small	small	ADJ
american_scientific_journal-2188	132	8	with	with	ADP
american_scientific_journal-2188	132	9	respect	respect	NOUN
american_scientific_journal-2188	132	10	to	to	ADP
american_scientific_journal-2188	132	11	the	the	DET
american_scientific_journal-2188	132	12	environment	environment	NOUN
american_scientific_journal-2188	132	13	area	area	NOUN
american_scientific_journal-2188	132	14	so	so	SCONJ
american_scientific_journal-2188	132	15	it	it	PRON
american_scientific_journal-2188	132	16	is	be	AUX
american_scientific_journal-2188	132	17	expected	expect	VERB
american_scientific_journal-2188	132	18	to	to	PART
american_scientific_journal-2188	132	19	get	get	VERB
american_scientific_journal-2188	132	20	inaccurate	inaccurate	ADJ
american_scientific_journal-2188	132	21	results	result	NOUN
american_scientific_journal-2188	132	22	.	.	PUNCT
american_scientific_journal-2188	133	1	figure	figure	VERB
american_scientific_journal-2188	133	2	17	17	NUM
american_scientific_journal-2188	133	3	:	:	PUNCT
american_scientific_journal-2188	133	4	mobile	mobile	ADJ
american_scientific_journal-2188	133	5	robot	robot	NOUN
american_scientific_journal-2188	133	6	within	within	ADP
american_scientific_journal-2188	133	7	the	the	DET
american_scientific_journal-2188	133	8	environment	environment	NOUN
american_scientific_journal-2188	133	9	until	until	ADP
american_scientific_journal-2188	133	10	the	the	DET
american_scientific_journal-2188	133	11	fifth	fifth	ADJ
american_scientific_journal-2188	133	12	iteration	iteration	NOUN
american_scientific_journal-2188	133	13	(	(	PUNCT
american_scientific_journal-2188	133	14	i	i	NOUN
american_scientific_journal-2188	133	15	=	=	NOUN
american_scientific_journal-2188	133	16	5	5	NUM
american_scientific_journal-2188	133	17	)	)	PUNCT
american_scientific_journal-2188	133	18	,	,	PUNCT
american_scientific_journal-2188	133	19	the	the	DET
american_scientific_journal-2188	133	20	practical	practical	ADJ
american_scientific_journal-2188	133	21	distribution	distribution	NOUN
american_scientific_journal-2188	133	22	is	be	AUX
american_scientific_journal-2188	133	23	still	still	ADV
american_scientific_journal-2188	133	24	seems	seem	VERB
american_scientific_journal-2188	133	25	random	random	ADJ
american_scientific_journal-2188	133	26	but	but	CCONJ
american_scientific_journal-2188	133	27	,	,	PUNCT
american_scientific_journal-2188	133	28	at	at	ADP
american_scientific_journal-2188	133	29	the	the	DET
american_scientific_journal-2188	133	30	seventh	seventh	ADJ
american_scientific_journal-2188	133	31	iteration	iteration	NOUN
american_scientific_journal-2188	133	32	,	,	PUNCT
american_scientific_journal-2188	133	33	the	the	DET
american_scientific_journal-2188	133	34	particles	particle	NOUN
american_scientific_journal-2188	133	35	are	be	AUX
american_scientific_journal-2188	133	36	circulated	circulate	VERB
american_scientific_journal-2188	133	37	around	around	ADP
american_scientific_journal-2188	133	38	the	the	DET
american_scientific_journal-2188	133	39	real	real	ADJ
american_scientific_journal-2188	133	40	robot	robot	NOUN
american_scientific_journal-2188	133	41	’s	’s	PART
american_scientific_journal-2188	133	42	position	position	NOUN
american_scientific_journal-2188	133	43	.	.	PUNCT
american_scientific_journal-2188	134	1	obviously	obviously	ADV
american_scientific_journal-2188	134	2	,	,	PUNCT
american_scientific_journal-2188	134	3	the	the	DET
american_scientific_journal-2188	134	4	difference	difference	NOUN
american_scientific_journal-2188	134	5	between	between	ADP
american_scientific_journal-2188	134	6	the	the	DET
american_scientific_journal-2188	134	7	estimated	estimate	VERB
american_scientific_journal-2188	134	8	and	and	CCONJ
american_scientific_journal-2188	134	9	real	real	ADJ
american_scientific_journal-2188	134	10	robot	robot	NOUN
american_scientific_journal-2188	134	11	positions	position	NOUN
american_scientific_journal-2188	134	12	is	be	AUX
american_scientific_journal-2188	134	13	still	still	ADV
american_scientific_journal-2188	134	14	large	large	ADJ
american_scientific_journal-2188	134	15	so	so	ADV
american_scientific_journal-2188	134	16	,	,	PUNCT
american_scientific_journal-2188	134	17	the	the	DET
american_scientific_journal-2188	134	18	program	program	NOUN
american_scientific_journal-2188	134	19	will	will	AUX
american_scientific_journal-2188	134	20	be	be	AUX
american_scientific_journal-2188	134	21	executed	execute	VERB
american_scientific_journal-2188	134	22	for	for	ADP
american_scientific_journal-2188	134	23	more	more	ADJ
american_scientific_journal-2188	134	24	iterations	iteration	NOUN
american_scientific_journal-2188	134	25	.	.	PUNCT
american_scientific_journal-2188	135	1	at	at	ADP
american_scientific_journal-2188	135	2	the	the	DET
american_scientific_journal-2188	135	3	tenth	tenth	ADJ
american_scientific_journal-2188	135	4	and	and	CCONJ
american_scientific_journal-2188	135	5	fifteenth	fifteenth	NOUN
american_scientific_journal-2188	135	6	iterations	iteration	NOUN
american_scientific_journal-2188	135	7	,	,	PUNCT
american_scientific_journal-2188	135	8	the	the	DET
american_scientific_journal-2188	135	9	error	error	NOUN
american_scientific_journal-2188	135	10	became	become	VERB
american_scientific_journal-2188	135	11	smaller	small	ADJ
american_scientific_journal-2188	135	12	than	than	ADP
american_scientific_journal-2188	135	13	in	in	ADP
american_scientific_journal-2188	135	14	the	the	DET
american_scientific_journal-2188	135	15	seventh	seventh	ADJ
american_scientific_journal-2188	135	16	iteration	iteration	NOUN
american_scientific_journal-2188	135	17	,	,	PUNCT
american_scientific_journal-2188	135	18	but	but	CCONJ
american_scientific_journal-2188	135	19	is	be	AUX
american_scientific_journal-2188	135	20	still	still	ADV
american_scientific_journal-2188	135	21	not	not	PART
american_scientific_journal-2188	135	22	acceptable	acceptable	ADJ
american_scientific_journal-2188	135	23	.	.	PUNCT
american_scientific_journal-2188	136	1	for	for	ADP
american_scientific_journal-2188	136	2	this	this	DET
american_scientific_journal-2188	136	3	reason	reason	NOUN
american_scientific_journal-2188	136	4	,	,	PUNCT
american_scientific_journal-2188	136	5	the	the	DET
american_scientific_journal-2188	136	6	using	using	NOUN
american_scientific_journal-2188	136	7	of	of	ADP
american_scientific_journal-2188	136	8	500	500	NUM
american_scientific_journal-2188	136	9	particles	particle	NOUN
american_scientific_journal-2188	136	10	is	be	AUX
american_scientific_journal-2188	136	11	not	not	PART
american_scientific_journal-2188	136	12	recommended	recommend	VERB
american_scientific_journal-2188	136	13	.	.	PUNCT
american_scientific_journal-2188	137	1	for	for	ADP
american_scientific_journal-2188	137	2	this	this	DET
american_scientific_journal-2188	137	3	reason	reason	NOUN
american_scientific_journal-2188	137	4	,	,	PUNCT
american_scientific_journal-2188	137	5	another	another	DET
american_scientific_journal-2188	137	6	test	test	NOUN
american_scientific_journal-2188	137	7	has	have	AUX
american_scientific_journal-2188	137	8	been	be	AUX
american_scientific_journal-2188	137	9	done	do	VERB
american_scientific_journal-2188	137	10	with	with	ADP
american_scientific_journal-2188	137	11	higher	high	ADJ
american_scientific_journal-2188	137	12	iteration	iteration	NOUN
american_scientific_journal-2188	137	13	number	number	NOUN
american_scientific_journal-2188	137	14	.	.	PUNCT
american_scientific_journal-2188	138	1	american	american	ADJ
american_scientific_journal-2188	138	2	scientific	scientific	ADJ
american_scientific_journal-2188	138	3	research	research	PROPN
american_scientific_journal-2188	138	4	journal	journal	NOUN
american_scientific_journal-2188	138	5	for	for	ADP
american_scientific_journal-2188	138	6	engineering	engineering	NOUN
american_scientific_journal-2188	138	7	,	,	PUNCT
american_scientific_journal-2188	138	8	technology	technology	NOUN
american_scientific_journal-2188	138	9	,	,	PUNCT
american_scientific_journal-2188	138	10	and	and	CCONJ
american_scientific_journal-2188	138	11	sciences	science	NOUN
american_scientific_journal-2188	138	12	(	(	PUNCT
american_scientific_journal-2188	138	13	asrjets	asrjet	NOUN
american_scientific_journal-2188	138	14	)	)	PUNCT
american_scientific_journal-2188	138	15	(	(	PUNCT
american_scientific_journal-2188	138	16	2016	2016	NUM
american_scientific_journal-2188	138	17	)	)	PUNCT
american_scientific_journal-2188	138	18	volume	volume	NOUN
american_scientific_journal-2188	138	19	26	26	NUM
american_scientific_journal-2188	138	20	,	,	PUNCT
american_scientific_journal-2188	138	21	no	no	DET
american_scientific_journal-2188	138	22	1	1	NUM
american_scientific_journal-2188	138	23	,	,	PUNCT
american_scientific_journal-2188	138	24	pp	pp	ADV
american_scientific_journal-2188	138	25	108	108	NUM
american_scientific_journal-2188	138	26	-	-	SYM
american_scientific_journal-2188	138	27	126	126	NUM
american_scientific_journal-2188	138	28	121	121	NUM
american_scientific_journal-2188	138	29	figure	figure	NOUN
american_scientific_journal-2188	138	30	18	18	NUM
american_scientific_journal-2188	138	31	:	:	PUNCT
american_scientific_journal-2188	138	32	particles	particle	NOUN
american_scientific_journal-2188	138	33	distribution	distribution	NOUN
american_scientific_journal-2188	138	34	for	for	ADP
american_scientific_journal-2188	138	35	n=500	n=500	NUM
american_scientific_journal-2188	138	36	and	and	CCONJ
american_scientific_journal-2188	138	37	i=	i=	PRON
american_scientific_journal-2188	139	1	[	[	X
american_scientific_journal-2188	139	2	1	1	NUM
american_scientific_journal-2188	139	3	,	,	PUNCT
american_scientific_journal-2188	139	4	3	3	NUM
american_scientific_journal-2188	139	5	,	,	PUNCT
american_scientific_journal-2188	139	6	5	5	NUM
american_scientific_journal-2188	139	7	,	,	PUNCT
american_scientific_journal-2188	139	8	7	7	NUM
american_scientific_journal-2188	139	9	,	,	PUNCT
american_scientific_journal-2188	139	10	10	10	NUM
american_scientific_journal-2188	139	11	,	,	PUNCT
american_scientific_journal-2188	139	12	15	15	NUM
american_scientific_journal-2188	139	13	]	]	PUNCT
american_scientific_journal-2188	139	14	.	.	PUNCT
american_scientific_journal-2188	140	1	the	the	DET
american_scientific_journal-2188	140	2	second	second	ADJ
american_scientific_journal-2188	140	3	results	result	NOUN
american_scientific_journal-2188	140	4	were	be	AUX
american_scientific_journal-2188	140	5	taken	take	VERB
american_scientific_journal-2188	140	6	for	for	ADP
american_scientific_journal-2188	140	7	n=3000	n=3000	PROPN
american_scientific_journal-2188	140	8	as	as	SCONJ
american_scientific_journal-2188	140	9	shown	show	VERB
american_scientific_journal-2188	140	10	in	in	ADP
american_scientific_journal-2188	140	11	figure	figure	NOUN
american_scientific_journal-2188	140	12	(	(	PUNCT
american_scientific_journal-2188	140	13	18	18	NUM
american_scientific_journal-2188	140	14	)	)	PUNCT
american_scientific_journal-2188	140	15	.	.	PUNCT
american_scientific_journal-2188	141	1	in	in	ADP
american_scientific_journal-2188	141	2	contrast	contrast	NOUN
american_scientific_journal-2188	141	3	to	to	ADP
american_scientific_journal-2188	141	4	the	the	DET
american_scientific_journal-2188	141	5	previous	previous	ADJ
american_scientific_journal-2188	141	6	results	result	NOUN
american_scientific_journal-2188	141	7	,	,	PUNCT
american_scientific_journal-2188	141	8	these	these	DET
american_scientific_journal-2188	141	9	results	result	NOUN
american_scientific_journal-2188	141	10	is	be	AUX
american_scientific_journal-2188	141	11	expected	expect	VERB
american_scientific_journal-2188	141	12	to	to	PART
american_scientific_journal-2188	141	13	be	be	AUX
american_scientific_journal-2188	141	14	more	more	ADV
american_scientific_journal-2188	141	15	accurate	accurate	ADJ
american_scientific_journal-2188	141	16	because	because	SCONJ
american_scientific_journal-2188	141	17	the	the	DET
american_scientific_journal-2188	141	18	number	number	NOUN
american_scientific_journal-2188	141	19	of	of	ADP
american_scientific_journal-2188	141	20	iterations	iteration	NOUN
american_scientific_journal-2188	141	21	used	use	VERB
american_scientific_journal-2188	141	22	in	in	ADP
american_scientific_journal-2188	141	23	this	this	DET
american_scientific_journal-2188	141	24	program	program	NOUN
american_scientific_journal-2188	141	25	is	be	AUX
american_scientific_journal-2188	141	26	sufficient	sufficient	ADJ
american_scientific_journal-2188	141	27	to	to	PART
american_scientific_journal-2188	141	28	give	give	VERB
american_scientific_journal-2188	141	29	very	very	ADV
american_scientific_journal-2188	141	30	accurate	accurate	ADJ
american_scientific_journal-2188	141	31	results	result	NOUN
american_scientific_journal-2188	141	32	.	.	PUNCT
american_scientific_journal-2188	142	1	american	american	ADJ
american_scientific_journal-2188	142	2	scientific	scientific	ADJ
american_scientific_journal-2188	142	3	research	research	PROPN
american_scientific_journal-2188	142	4	journal	journal	NOUN
american_scientific_journal-2188	142	5	for	for	ADP
american_scientific_journal-2188	142	6	engineering	engineering	NOUN
american_scientific_journal-2188	142	7	,	,	PUNCT
american_scientific_journal-2188	142	8	technology	technology	NOUN
american_scientific_journal-2188	142	9	,	,	PUNCT
american_scientific_journal-2188	142	10	and	and	CCONJ
american_scientific_journal-2188	142	11	sciences	science	NOUN
american_scientific_journal-2188	142	12	(	(	PUNCT
american_scientific_journal-2188	142	13	asrjets	asrjet	NOUN
american_scientific_journal-2188	142	14	)	)	PUNCT
american_scientific_journal-2188	142	15	(	(	PUNCT
american_scientific_journal-2188	142	16	2016	2016	NUM
american_scientific_journal-2188	142	17	)	)	PUNCT
american_scientific_journal-2188	142	18	volume	volume	NOUN
american_scientific_journal-2188	142	19	26	26	NUM
american_scientific_journal-2188	142	20	,	,	PUNCT
american_scientific_journal-2188	142	21	no	no	DET
american_scientific_journal-2188	142	22	1	1	NUM
american_scientific_journal-2188	142	23	,	,	PUNCT
american_scientific_journal-2188	142	24	pp	pp	ADV
american_scientific_journal-2188	142	25	108	108	NUM
american_scientific_journal-2188	142	26	-	-	SYM
american_scientific_journal-2188	142	27	126	126	NUM
american_scientific_journal-2188	142	28	122	122	NUM
american_scientific_journal-2188	142	29	figure	figure	NOUN
american_scientific_journal-2188	142	30	19	19	NUM
american_scientific_journal-2188	142	31	:	:	PUNCT
american_scientific_journal-2188	142	32	particles	particle	NOUN
american_scientific_journal-2188	142	33	distribution	distribution	NOUN
american_scientific_journal-2188	142	34	for	for	ADP
american_scientific_journal-2188	142	35	n=3000	n=3000	PROPN
american_scientific_journal-2188	142	36	and	and	CCONJ
american_scientific_journal-2188	142	37	i=	i=	PRON
american_scientific_journal-2188	143	1	[	[	X
american_scientific_journal-2188	143	2	1	1	NUM
american_scientific_journal-2188	143	3	,	,	PUNCT
american_scientific_journal-2188	143	4	3	3	NUM
american_scientific_journal-2188	143	5	,	,	PUNCT
american_scientific_journal-2188	143	6	5	5	NUM
american_scientific_journal-2188	143	7	,	,	PUNCT
american_scientific_journal-2188	143	8	7	7	NUM
american_scientific_journal-2188	143	9	,	,	PUNCT
american_scientific_journal-2188	143	10	10	10	NUM
american_scientific_journal-2188	143	11	,	,	PUNCT
american_scientific_journal-2188	143	12	15	15	NUM
american_scientific_journal-2188	143	13	]	]	PUNCT
american_scientific_journal-2188	143	14	.	.	PUNCT
american_scientific_journal-2188	144	1	at	at	ADP
american_scientific_journal-2188	144	2	the	the	DET
american_scientific_journal-2188	144	3	first	first	ADJ
american_scientific_journal-2188	144	4	iteration	iteration	NOUN
american_scientific_journal-2188	144	5	(	(	PUNCT
american_scientific_journal-2188	144	6	i=1	i=1	X
american_scientific_journal-2188	144	7	)	)	PUNCT
american_scientific_journal-2188	144	8	,	,	PUNCT
american_scientific_journal-2188	144	9	the	the	DET
american_scientific_journal-2188	144	10	particles	particle	NOUN
american_scientific_journal-2188	144	11	started	start	VERB
american_scientific_journal-2188	144	12	changing	change	VERB
american_scientific_journal-2188	144	13	their	their	PRON
american_scientific_journal-2188	144	14	current	current	ADJ
american_scientific_journal-2188	144	15	position	position	NOUN
american_scientific_journal-2188	144	16	but	but	CCONJ
american_scientific_journal-2188	144	17	they	they	PRON
american_scientific_journal-2188	144	18	are	be	AUX
american_scientific_journal-2188	144	19	still	still	ADV
american_scientific_journal-2188	144	20	randolmly	randolmly	ADV
american_scientific_journal-2188	144	21	distributed	distribute	VERB
american_scientific_journal-2188	144	22	.	.	PUNCT
american_scientific_journal-2188	145	1	then	then	ADV
american_scientific_journal-2188	145	2	at	at	ADP
american_scientific_journal-2188	145	3	third	third	ADJ
american_scientific_journal-2188	145	4	iteration	iteration	NOUN
american_scientific_journal-2188	145	5	,	,	PUNCT
american_scientific_journal-2188	145	6	the	the	DET
american_scientific_journal-2188	145	7	practices	practice	NOUN
american_scientific_journal-2188	145	8	distribution	distribution	NOUN
american_scientific_journal-2188	145	9	started	start	VERB
american_scientific_journal-2188	145	10	to	to	PART
american_scientific_journal-2188	145	11	be	be	AUX
american_scientific_journal-2188	145	12	more	more	ADV
american_scientific_journal-2188	145	13	seperated	seperated	ADJ
american_scientific_journal-2188	145	14	,	,	PUNCT
american_scientific_journal-2188	145	15	hence	hence	ADV
american_scientific_journal-2188	145	16	the	the	DET
american_scientific_journal-2188	145	17	biggest	big	ADJ
american_scientific_journal-2188	145	18	group	group	NOUN
american_scientific_journal-2188	145	19	is	be	AUX
american_scientific_journal-2188	145	20	around	around	ADP
american_scientific_journal-2188	145	21	the	the	DET
american_scientific_journal-2188	145	22	actual	actual	ADJ
american_scientific_journal-2188	145	23	robot	robot	NOUN
american_scientific_journal-2188	145	24	position	position	NOUN
american_scientific_journal-2188	145	25	.	.	PUNCT
american_scientific_journal-2188	146	1	at	at	ADP
american_scientific_journal-2188	146	2	the	the	DET
american_scientific_journal-2188	146	3	fifth	fifth	ADJ
american_scientific_journal-2188	146	4	iteration	iteration	NOUN
american_scientific_journal-2188	146	5	,	,	PUNCT
american_scientific_journal-2188	146	6	the	the	DET
american_scientific_journal-2188	146	7	particles	particle	NOUN
american_scientific_journal-2188	146	8	distribution	distribution	NOUN
american_scientific_journal-2188	146	9	became	become	VERB
american_scientific_journal-2188	146	10	around	around	ADP
american_scientific_journal-2188	146	11	a	a	DET
american_scientific_journal-2188	146	12	specific	specific	ADJ
american_scientific_journal-2188	146	13	area	area	NOUN
american_scientific_journal-2188	146	14	in	in	ADP
american_scientific_journal-2188	146	15	the	the	DET
american_scientific_journal-2188	146	16	environment	environment	NOUN
american_scientific_journal-2188	146	17	which	which	PRON
american_scientific_journal-2188	146	18	is	be	AUX
american_scientific_journal-2188	146	19	the	the	DET
american_scientific_journal-2188	146	20	real	real	ADJ
american_scientific_journal-2188	146	21	position	position	NOUN
american_scientific_journal-2188	146	22	of	of	ADP
american_scientific_journal-2188	146	23	the	the	DET
american_scientific_journal-2188	146	24	robot	robot	NOUN
american_scientific_journal-2188	146	25	.	.	PUNCT
american_scientific_journal-2188	147	1	at	at	ADP
american_scientific_journal-2188	147	2	the	the	DET
american_scientific_journal-2188	147	3	seventh	seventh	ADJ
american_scientific_journal-2188	147	4	iteration	iteration	NOUN
american_scientific_journal-2188	147	5	,	,	PUNCT
american_scientific_journal-2188	147	6	the	the	DET
american_scientific_journal-2188	147	7	robot	robot	NOUN
american_scientific_journal-2188	147	8	position	position	NOUN
american_scientific_journal-2188	147	9	is	be	AUX
american_scientific_journal-2188	147	10	almost	almost	ADV
american_scientific_journal-2188	147	11	be	be	AUX
american_scientific_journal-2188	147	12	detected	detect	VERB
american_scientific_journal-2188	147	13	where	where	SCONJ
american_scientific_journal-2188	147	14	the	the	DET
american_scientific_journal-2188	147	15	estimated	estimate	VERB
american_scientific_journal-2188	147	16	robot	robot	NOUN
american_scientific_journal-2188	147	17	position	position	NOUN
american_scientific_journal-2188	147	18	is	be	AUX
american_scientific_journal-2188	147	19	(	(	PUNCT
american_scientific_journal-2188	147	20	xe	xe	PROPN
american_scientific_journal-2188	147	21	=	=	PROPN
american_scientific_journal-2188	147	22	13	13	NUM
american_scientific_journal-2188	147	23	,	,	PUNCT
american_scientific_journal-2188	147	24	ye	ye	NOUN
american_scientific_journal-2188	147	25	=	=	SYM
american_scientific_journal-2188	147	26	8)	8)	NUM
american_scientific_journal-2188	147	27	while	while	SCONJ
american_scientific_journal-2188	147	28	the	the	DET
american_scientific_journal-2188	147	29	real	real	ADJ
american_scientific_journal-2188	147	30	position	position	NOUN
american_scientific_journal-2188	147	31	of	of	ADP
american_scientific_journal-2188	147	32	the	the	DET
american_scientific_journal-2188	147	33	robot	robot	NOUN
american_scientific_journal-2188	147	34	is	be	AUX
american_scientific_journal-2188	147	35	(	(	PUNCT
american_scientific_journal-2188	147	36	x	x	X
american_scientific_journal-2188	147	37	=	=	NOUN
american_scientific_journal-2188	147	38	12	12	NUM
american_scientific_journal-2188	147	39	,	,	PUNCT
american_scientific_journal-2188	147	40	y	y	PROPN
american_scientific_journal-2188	147	41	=	=	SYM
american_scientific_journal-2188	147	42	8)	8)	NUM
american_scientific_journal-2188	147	43	.	.	PUNCT
american_scientific_journal-2188	148	1	this	this	PRON
american_scientific_journal-2188	148	2	means	mean	VERB
american_scientific_journal-2188	148	3	that	that	SCONJ
american_scientific_journal-2188	148	4	the	the	DET
american_scientific_journal-2188	148	5	robots	robot	NOUN
american_scientific_journal-2188	148	6	needs	need	VERB
american_scientific_journal-2188	148	7	more	more	ADJ
american_scientific_journal-2188	148	8	iterations	iteration	NOUN
american_scientific_journal-2188	148	9	to	to	PART
american_scientific_journal-2188	148	10	imporve	imporve	VERB
american_scientific_journal-2188	148	11	its	its	PRON
american_scientific_journal-2188	148	12	estimation	estimation	NOUN
american_scientific_journal-2188	148	13	for	for	ADP
american_scientific_journal-2188	148	14	the	the	DET
american_scientific_journal-2188	148	15	current	current	ADJ
american_scientific_journal-2188	148	16	position	position	NOUN
american_scientific_journal-2188	148	17	;	;	PUNCT
american_scientific_journal-2188	148	18	at	at	ADP
american_scientific_journal-2188	148	19	i	i	NOUN
american_scientific_journal-2188	148	20	=	=	NOUN
american_scientific_journal-2188	148	21	10	10	NUM
american_scientific_journal-2188	148	22	,	,	PUNCT
american_scientific_journal-2188	148	23	the	the	DET
american_scientific_journal-2188	148	24	robot	robot	NOUN
american_scientific_journal-2188	148	25	still	still	ADV
american_scientific_journal-2188	148	26	not	not	PART
american_scientific_journal-2188	148	27	sure	sure	ADJ
american_scientific_journal-2188	148	28	about	about	ADP
american_scientific_journal-2188	148	29	its	its	PRON
american_scientific_journal-2188	148	30	current	current	ADJ
american_scientific_journal-2188	148	31	position	position	NOUN
american_scientific_journal-2188	148	32	.	.	PUNCT
american_scientific_journal-2188	149	1	finally	finally	ADV
american_scientific_journal-2188	149	2	,	,	PUNCT
american_scientific_journal-2188	149	3	at	at	ADP
american_scientific_journal-2188	149	4	the	the	DET
american_scientific_journal-2188	149	5	iteration	iteration	NOUN
american_scientific_journal-2188	149	6	fifteen	fifteen	NUM
american_scientific_journal-2188	149	7	,	,	PUNCT
american_scientific_journal-2188	149	8	the	the	DET
american_scientific_journal-2188	149	9	robot	robot	NOUN
american_scientific_journal-2188	149	10	detect	detect	VERB
american_scientific_journal-2188	149	11	exactly	exactly	ADV
american_scientific_journal-2188	149	12	its	its	PRON
american_scientific_journal-2188	149	13	current	current	ADJ
american_scientific_journal-2188	149	14	position	position	NOUN
american_scientific_journal-2188	149	15	.	.	PUNCT
american_scientific_journal-2188	150	1	despite	despite	SCONJ
american_scientific_journal-2188	150	2	that	that	PRON
american_scientific_journal-2188	150	3	,	,	PUNCT
american_scientific_journal-2188	150	4	for	for	ADP
american_scientific_journal-2188	150	5	this	this	DET
american_scientific_journal-2188	150	6	number	number	NOUN
american_scientific_journal-2188	150	7	of	of	ADP
american_scientific_journal-2188	150	8	iterations	iteration	NOUN
american_scientific_journal-2188	150	9	,	,	PUNCT
american_scientific_journal-2188	150	10	this	this	DET
american_scientific_journal-2188	150	11	algorithms	algorithms	NOUN
american_scientific_journal-2188	150	12	takes	take	VERB
american_scientific_journal-2188	150	13	very	very	ADV
american_scientific_journal-2188	150	14	long	long	ADJ
american_scientific_journal-2188	150	15	time	time	NOUN
american_scientific_journal-2188	150	16	to	to	PART
american_scientific_journal-2188	150	17	be	be	AUX
american_scientific_journal-2188	150	18	executed	execute	VERB
american_scientific_journal-2188	150	19	(	(	PUNCT
american_scientific_journal-2188	150	20	about	about	ADV
american_scientific_journal-2188	150	21	20	20	NUM
american_scientific_journal-2188	150	22	seconds	second	NOUN
american_scientific_journal-2188	150	23	per	per	ADP
american_scientific_journal-2188	150	24	iteration	iteration	NOUN
american_scientific_journal-2188	150	25	)	)	PUNCT
american_scientific_journal-2188	150	26	,	,	PUNCT
american_scientific_journal-2188	150	27	it	it	PRON
american_scientific_journal-2188	150	28	gives	give	VERB
american_scientific_journal-2188	150	29	accurate	accurate	ADJ
american_scientific_journal-2188	150	30	results	result	NOUN
american_scientific_journal-2188	150	31	.	.	PUNCT
american_scientific_journal-2188	151	1	4.2	4.2	NUM
american_scientific_journal-2188	151	2	importance	importance	NOUN
american_scientific_journal-2188	151	3	weights	weight	VERB
american_scientific_journal-2188	151	4	to	to	PART
american_scientific_journal-2188	151	5	understand	understand	VERB
american_scientific_journal-2188	151	6	the	the	DET
american_scientific_journal-2188	151	7	result	result	NOUN
american_scientific_journal-2188	151	8	that	that	PRON
american_scientific_journal-2188	151	9	have	have	AUX
american_scientific_journal-2188	151	10	been	be	AUX
american_scientific_journal-2188	151	11	presented	present	VERB
american_scientific_journal-2188	151	12	previously	previously	ADV
american_scientific_journal-2188	151	13	,	,	PUNCT
american_scientific_journal-2188	151	14	it	it	PRON
american_scientific_journal-2188	151	15	is	be	AUX
american_scientific_journal-2188	151	16	important	important	ADJ
american_scientific_journal-2188	151	17	to	to	PART
american_scientific_journal-2188	151	18	discuss	discuss	VERB
american_scientific_journal-2188	151	19	the	the	DET
american_scientific_journal-2188	151	20	values	value	NOUN
american_scientific_journal-2188	151	21	of	of	ADP
american_scientific_journal-2188	151	22	the	the	DET
american_scientific_journal-2188	151	23	importance	importance	NOUN
american_scientific_journal-2188	151	24	weights	weight	VERB
american_scientific_journal-2188	151	25	at	at	ADP
american_scientific_journal-2188	151	26	each	each	DET
american_scientific_journal-2188	151	27	iteration	iteration	NOUN
american_scientific_journal-2188	151	28	.	.	PUNCT
american_scientific_journal-2188	152	1	for	for	ADP
american_scientific_journal-2188	152	2	this	this	DET
american_scientific_journal-2188	152	3	project	project	NOUN
american_scientific_journal-2188	152	4	,	,	PUNCT
american_scientific_journal-2188	152	5	the	the	DET
american_scientific_journal-2188	152	6	importance	importance	NOUN
american_scientific_journal-2188	152	7	weights	weight	NOUN
american_scientific_journal-2188	152	8	is	be	AUX
american_scientific_journal-2188	152	9	measuered	measuere	VERB
american_scientific_journal-2188	152	10	with	with	ADP
american_scientific_journal-2188	152	11	respect	respect	NOUN
american_scientific_journal-2188	152	12	to	to	ADP
american_scientific_journal-2188	152	13	the	the	DET
american_scientific_journal-2188	152	14	robot	robot	NOUN
american_scientific_journal-2188	152	15	position	position	NOUN
american_scientific_journal-2188	152	16	in	in	ADP
american_scientific_journal-2188	152	17	the	the	DET
american_scientific_journal-2188	152	18	x	x	NOUN
american_scientific_journal-2188	152	19	-	-	NOUN
american_scientific_journal-2188	152	20	axis	axis	ADJ
american_scientific_journal-2188	152	21	.	.	PUNCT
american_scientific_journal-2188	153	1	this	this	DET
american_scientific_journal-2188	153	2	section	section	NOUN
american_scientific_journal-2188	153	3	firstly	firstly	ADV
american_scientific_journal-2188	153	4	shows	show	VERB
american_scientific_journal-2188	153	5	the	the	DET
american_scientific_journal-2188	153	6	importance	importance	NOUN
american_scientific_journal-2188	153	7	weight	weight	NOUN
american_scientific_journal-2188	153	8	for	for	ADP
american_scientific_journal-2188	153	9	n=500	n=500	NUM
american_scientific_journal-2188	153	10	then	then	ADV
american_scientific_journal-2188	153	11	,	,	PUNCT
american_scientific_journal-2188	153	12	for	for	ADP
american_scientific_journal-2188	153	13	n=	n=	ADJ
american_scientific_journal-2188	153	14	3000	3000	NUM
american_scientific_journal-2188	153	15	.	.	PUNCT
american_scientific_journal-2188	154	1	it	it	PRON
american_scientific_journal-2188	154	2	is	be	AUX
american_scientific_journal-2188	154	3	importance	importance	NOUN
american_scientific_journal-2188	154	4	to	to	PART
american_scientific_journal-2188	154	5	notice	notice	VERB
american_scientific_journal-2188	154	6	that	that	SCONJ
american_scientific_journal-2188	154	7	the	the	DET
american_scientific_journal-2188	154	8	summation	summation	NOUN
american_scientific_journal-2188	154	9	of	of	ADP
american_scientific_journal-2188	154	10	the	the	DET
american_scientific_journal-2188	154	11	importance	importance	NOUN
american_scientific_journal-2188	154	12	weight	weight	NOUN
american_scientific_journal-2188	154	13	for	for	ADP
american_scientific_journal-2188	154	14	each	each	DET
american_scientific_journal-2188	154	15	iteration	iteration	NOUN
american_scientific_journal-2188	154	16	is	be	AUX
american_scientific_journal-2188	154	17	equal	equal	ADJ
american_scientific_journal-2188	154	18	to	to	ADP
american_scientific_journal-2188	154	19	1	1	NUM
american_scientific_journal-2188	154	20	hence	hence	ADV
american_scientific_journal-2188	154	21	,	,	PUNCT
american_scientific_journal-2188	154	22	these	these	DET
american_scientific_journal-2188	154	23	valuses	valuse	NOUN
american_scientific_journal-2188	154	24	are	be	AUX
american_scientific_journal-2188	154	25	normalized	normalize	VERB
american_scientific_journal-2188	154	26	.	.	PUNCT
american_scientific_journal-2188	155	1	as	as	ADP
american_scientific_journal-2188	155	2	a	a	DET
american_scientific_journal-2188	155	3	result	result	NOUN
american_scientific_journal-2188	155	4	,	,	PUNCT
american_scientific_journal-2188	155	5	thses	thse	VERB
american_scientific_journal-2188	155	6	values	value	NOUN
american_scientific_journal-2188	155	7	of	of	ADP
american_scientific_journal-2188	155	8	the	the	DET
american_scientific_journal-2188	155	9	importance	importance	NOUN
american_scientific_journal-2188	155	10	weight	weight	NOUN
american_scientific_journal-2188	155	11	can	can	AUX
american_scientific_journal-2188	155	12	be	be	AUX
american_scientific_journal-2188	155	13	use	use	NOUN
american_scientific_journal-2188	155	14	as	as	ADP
american_scientific_journal-2188	155	15	a	a	DET
american_scientific_journal-2188	155	16	percentage	percentage	NOUN
american_scientific_journal-2188	155	17	of	of	ADP
american_scientific_journal-2188	155	18	the	the	DET
american_scientific_journal-2188	155	19	probability	probability	NOUN
american_scientific_journal-2188	155	20	of	of	ADP
american_scientific_journal-2188	155	21	being	be	AUX
american_scientific_journal-2188	155	22	in	in	ADP
american_scientific_journal-2188	155	23	that	that	DET
american_scientific_journal-2188	155	24	position	position	NOUN
american_scientific_journal-2188	155	25	.	.	PUNCT
american_scientific_journal-2188	156	1	for	for	ADP
american_scientific_journal-2188	156	2	n=500	n=500	NUM
american_scientific_journal-2188	156	3	,	,	PUNCT
american_scientific_journal-2188	156	4	figure	figure	NOUN
american_scientific_journal-2188	156	5	(	(	PUNCT
american_scientific_journal-2188	156	6	19	19	NUM
american_scientific_journal-2188	156	7	)	)	PUNCT
american_scientific_journal-2188	156	8	explains	explain	VERB
american_scientific_journal-2188	156	9	the	the	DET
american_scientific_journal-2188	156	10	robot	robot	NOUN
american_scientific_journal-2188	156	11	reocgnition	reocgnition	NOUN
american_scientific_journal-2188	156	12	for	for	ADP
american_scientific_journal-2188	156	13	its	its	PRON
american_scientific_journal-2188	156	14	envorinment	envorinment	ADJ
american_scientific_journal-2188	156	15	hence	hence	ADV
american_scientific_journal-2188	156	16	,	,	PUNCT
american_scientific_journal-2188	156	17	at	at	ADP
american_scientific_journal-2188	156	18	the	the	DET
american_scientific_journal-2188	156	19	first	first	ADJ
american_scientific_journal-2188	156	20	iterations	iteration	NOUN
american_scientific_journal-2188	156	21	the	the	DET
american_scientific_journal-2188	156	22	difference	difference	NOUN
american_scientific_journal-2188	156	23	between	between	ADP
american_scientific_journal-2188	156	24	the	the	DET
american_scientific_journal-2188	156	25	importance	importance	NOUN
american_scientific_journal-2188	156	26	weight	weight	NOUN
american_scientific_journal-2188	156	27	valuses	valuse	NOUN
american_scientific_journal-2188	156	28	is	be	AUX
american_scientific_journal-2188	156	29	small	small	ADJ
american_scientific_journal-2188	156	30	.	.	PUNCT
american_scientific_journal-2188	157	1	in	in	ADP
american_scientific_journal-2188	157	2	other	other	ADJ
american_scientific_journal-2188	157	3	words	word	NOUN
american_scientific_journal-2188	157	4	,	,	PUNCT
american_scientific_journal-2188	157	5	the	the	DET
american_scientific_journal-2188	157	6	robot	robot	NOUN
american_scientific_journal-2188	157	7	can	can	AUX
american_scientific_journal-2188	157	8	not	not	PART
american_scientific_journal-2188	157	9	uncertainty	uncertainty	VERB
american_scientific_journal-2188	157	10	about	about	ADP
american_scientific_journal-2188	157	11	its	its	PRON
american_scientific_journal-2188	157	12	position	position	NOUN
american_scientific_journal-2188	157	13	is	be	AUX
american_scientific_journal-2188	157	14	very	very	ADV
american_scientific_journal-2188	157	15	high	high	ADJ
american_scientific_journal-2188	157	16	.	.	PUNCT
american_scientific_journal-2188	158	1	even	even	ADV
american_scientific_journal-2188	158	2	after	after	ADP
american_scientific_journal-2188	158	3	fifteen	fifteen	NUM
american_scientific_journal-2188	158	4	iterations	iteration	NOUN
american_scientific_journal-2188	158	5	,	,	PUNCT
american_scientific_journal-2188	158	6	the	the	DET
american_scientific_journal-2188	158	7	robot	robot	NOUN
american_scientific_journal-2188	158	8	wan	wan	NOUN
american_scientific_journal-2188	158	9	not	not	PART
american_scientific_journal-2188	158	10	able	able	ADJ
american_scientific_journal-2188	158	11	to	to	PART
american_scientific_journal-2188	158	12	american	american	VERB
american_scientific_journal-2188	158	13	scientific	scientific	ADJ
american_scientific_journal-2188	158	14	research	research	NOUN
american_scientific_journal-2188	158	15	journal	journal	NOUN
american_scientific_journal-2188	158	16	for	for	ADP
american_scientific_journal-2188	158	17	engineering	engineering	NOUN
american_scientific_journal-2188	158	18	,	,	PUNCT
american_scientific_journal-2188	158	19	technology	technology	NOUN
american_scientific_journal-2188	158	20	,	,	PUNCT
american_scientific_journal-2188	158	21	and	and	CCONJ
american_scientific_journal-2188	158	22	sciences	science	NOUN
american_scientific_journal-2188	158	23	(	(	PUNCT
american_scientific_journal-2188	158	24	asrjets	asrjet	NOUN
american_scientific_journal-2188	158	25	)	)	PUNCT
american_scientific_journal-2188	158	26	(	(	PUNCT
american_scientific_journal-2188	158	27	2016	2016	NUM
american_scientific_journal-2188	158	28	)	)	PUNCT
american_scientific_journal-2188	158	29	volume	volume	NOUN
american_scientific_journal-2188	158	30	26	26	NUM
american_scientific_journal-2188	158	31	,	,	PUNCT
american_scientific_journal-2188	158	32	no	no	DET
american_scientific_journal-2188	158	33	1	1	NUM
american_scientific_journal-2188	158	34	,	,	PUNCT
american_scientific_journal-2188	158	35	pp	pp	ADV
american_scientific_journal-2188	158	36	108	108	NUM
american_scientific_journal-2188	158	37	-	-	SYM
american_scientific_journal-2188	158	38	126	126	NUM
american_scientific_journal-2188	158	39	123	123	NUM
american_scientific_journal-2188	158	40	sellect	sellect	ADJ
american_scientific_journal-2188	158	41	single	single	ADJ
american_scientific_journal-2188	158	42	value	value	NOUN
american_scientific_journal-2188	158	43	for	for	ADP
american_scientific_journal-2188	158	44	its	its	PRON
american_scientific_journal-2188	158	45	postion	postion	NOUN
american_scientific_journal-2188	158	46	.	.	PUNCT
american_scientific_journal-2188	159	1	so	so	ADV
american_scientific_journal-2188	159	2	,	,	PUNCT
american_scientific_journal-2188	159	3	using	use	VERB
american_scientific_journal-2188	159	4	500	500	NUM
american_scientific_journal-2188	159	5	itreations	itreation	NOUN
american_scientific_journal-2188	159	6	can	can	AUX
american_scientific_journal-2188	159	7	not	not	PART
american_scientific_journal-2188	159	8	give	give	VERB
american_scientific_journal-2188	159	9	correct	correct	ADJ
american_scientific_journal-2188	159	10	estimation	estimation	NOUN
american_scientific_journal-2188	159	11	about	about	ADP
american_scientific_journal-2188	159	12	the	the	DET
american_scientific_journal-2188	159	13	robot	robot	NOUN
american_scientific_journal-2188	159	14	position	position	NOUN
american_scientific_journal-2188	159	15	.	.	PUNCT
american_scientific_journal-2188	160	1	(	(	PUNCT
american_scientific_journal-2188	160	2	a	a	X
american_scientific_journal-2188	160	3	)	)	PUNCT
american_scientific_journal-2188	160	4	n=500	n=500	NUM
american_scientific_journal-2188	160	5	,	,	PUNCT
american_scientific_journal-2188	160	6	i=1	i=1	X
american_scientific_journal-2188	160	7	.	.	PUNCT
american_scientific_journal-2188	161	1	(	(	PUNCT
american_scientific_journal-2188	161	2	b	b	X
american_scientific_journal-2188	161	3	)	)	PUNCT
american_scientific_journal-2188	161	4	n=500	n=500	NUM
american_scientific_journal-2188	161	5	,	,	PUNCT
american_scientific_journal-2188	161	6	i=3	i=3	X
american_scientific_journal-2188	161	7	.	.	PUNCT
american_scientific_journal-2188	162	1	(	(	PUNCT
american_scientific_journal-2188	162	2	c	c	X
american_scientific_journal-2188	162	3	)	)	PUNCT
american_scientific_journal-2188	162	4	n=500	n=500	NUM
american_scientific_journal-2188	162	5	,	,	PUNCT
american_scientific_journal-2188	162	6	i=5	i=5	ADP
american_scientific_journal-2188	162	7	.	.	PUNCT
american_scientific_journal-2188	163	1	(	(	PUNCT
american_scientific_journal-2188	163	2	d	d	X
american_scientific_journal-2188	163	3	)	)	PUNCT
american_scientific_journal-2188	163	4	n=500	n=500	NUM
american_scientific_journal-2188	163	5	,	,	PUNCT
american_scientific_journal-2188	163	6	i=7	i=7	PRON
american_scientific_journal-2188	163	7	.	.	PUNCT
american_scientific_journal-2188	164	1	(	(	PUNCT
american_scientific_journal-2188	164	2	e	e	NOUN
american_scientific_journal-2188	164	3	)	)	PUNCT
american_scientific_journal-2188	164	4	n=500	n=500	NUM
american_scientific_journal-2188	164	5	,	,	PUNCT
american_scientific_journal-2188	164	6	i=10	i=10	NOUN
american_scientific_journal-2188	164	7	.	.	PUNCT
american_scientific_journal-2188	165	1	(	(	PUNCT
american_scientific_journal-2188	165	2	f	f	X
american_scientific_journal-2188	165	3	)	)	PUNCT
american_scientific_journal-2188	165	4	n=500	n=500	NUM
american_scientific_journal-2188	165	5	,	,	PUNCT
american_scientific_journal-2188	165	6	i=15	i=15	PROPN
american_scientific_journal-2188	165	7	.	.	PUNCT
american_scientific_journal-2188	165	8	figure20	figure20	PROPN
american_scientific_journal-2188	165	9	:	:	PUNCT
american_scientific_journal-2188	165	10	importance	importance	NOUN
american_scientific_journal-2188	165	11	weights	weight	VERB
american_scientific_journal-2188	165	12	for	for	ADP
american_scientific_journal-2188	165	13	n	n	NOUN
american_scientific_journal-2188	165	14	=	=	NOUN
american_scientific_journal-2188	165	15	500	500	NUM
american_scientific_journal-2188	165	16	0	0	NUM
american_scientific_journal-2188	165	17	0.5	0.5	NUM
american_scientific_journal-2188	165	18	1	1	NUM
american_scientific_journal-2188	165	19	1	1	NUM
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american_scientific_journal-2188	184	40	rt	rt	PROPN
american_scientific_journal-2188	184	41	an	an	PROPN
american_scientific_journal-2188	184	42	ce	ce	PROPN
american_scientific_journal-2188	184	43	w	w	PROPN
american_scientific_journal-2188	184	44	ei	ei	PROPN
american_scientific_journal-2188	184	45	gh	gh	PROPN
american_scientific_journal-2188	184	46	t	t	PROPN
american_scientific_journal-2188	184	47	x(grid	x(grid	PROPN
american_scientific_journal-2188	184	48	)	)	PUNCT
american_scientific_journal-2188	184	49	0	0	NUM
american_scientific_journal-2188	184	50	0.5	0.5	NUM
american_scientific_journal-2188	184	51	1	1	NUM
american_scientific_journal-2188	184	52	1	1	NUM
american_scientific_journal-2188	184	53	4	4	NUM
american_scientific_journal-2188	184	54	7	7	NUM
american_scientific_journal-2188	184	55	10131619222528	10131619222528	NUM
american_scientific_journal-2188	184	56	i	i	PRON
american_scientific_journal-2188	184	57	m	m	VERB
american_scientific_journal-2188	184	58	po	po	INTJ
american_scientific_journal-2188	184	59	rt	rt	PROPN
american_scientific_journal-2188	184	60	an	an	PROPN
american_scientific_journal-2188	184	61	ce	ce	PROPN
american_scientific_journal-2188	184	62	w	w	PROPN
american_scientific_journal-2188	184	63	ei	ei	PROPN
american_scientific_journal-2188	184	64	gh	gh	PROPN
american_scientific_journal-2188	184	65	t	t	PROPN
american_scientific_journal-2188	184	66	x(grid	x(grid	PROPN
american_scientific_journal-2188	184	67	)	)	PUNCT
american_scientific_journal-2188	184	68	american	american	PROPN
american_scientific_journal-2188	184	69	scientific	scientific	ADJ
american_scientific_journal-2188	184	70	research	research	NOUN
american_scientific_journal-2188	184	71	journal	journal	NOUN
american_scientific_journal-2188	184	72	for	for	ADP
american_scientific_journal-2188	184	73	engineering	engineering	NOUN
american_scientific_journal-2188	184	74	,	,	PUNCT
american_scientific_journal-2188	184	75	technology	technology	NOUN
american_scientific_journal-2188	184	76	,	,	PUNCT
american_scientific_journal-2188	184	77	and	and	CCONJ
american_scientific_journal-2188	184	78	sciences	science	NOUN
american_scientific_journal-2188	184	79	(	(	PUNCT
american_scientific_journal-2188	184	80	asrjets	asrjet	NOUN
american_scientific_journal-2188	184	81	)	)	PUNCT
american_scientific_journal-2188	184	82	(	(	PUNCT
american_scientific_journal-2188	184	83	2016	2016	NUM
american_scientific_journal-2188	184	84	)	)	PUNCT
american_scientific_journal-2188	184	85	volume	volume	NOUN
american_scientific_journal-2188	184	86	26	26	NUM
american_scientific_journal-2188	184	87	,	,	PUNCT
american_scientific_journal-2188	184	88	no	no	DET
american_scientific_journal-2188	184	89	1	1	NUM
american_scientific_journal-2188	184	90	,	,	PUNCT
american_scientific_journal-2188	184	91	pp	pp	ADV
american_scientific_journal-2188	184	92	108	108	NUM
american_scientific_journal-2188	184	93	-	-	SYM
american_scientific_journal-2188	184	94	126	126	NUM
american_scientific_journal-2188	184	95	125	125	NUM
american_scientific_journal-2188	184	96	5	5	NUM
american_scientific_journal-2188	184	97	.	.	PUNCT
american_scientific_journal-2188	184	98	conclusion	conclusion	NOUN
american_scientific_journal-2188	184	99	this	this	DET
american_scientific_journal-2188	184	100	study	study	NOUN
american_scientific_journal-2188	184	101	dealt	deal	VERB
american_scientific_journal-2188	184	102	with	with	ADP
american_scientific_journal-2188	184	103	the	the	DET
american_scientific_journal-2188	184	104	localization	localization	NOUN
american_scientific_journal-2188	184	105	of	of	ADP
american_scientific_journal-2188	184	106	a	a	DET
american_scientific_journal-2188	184	107	mobile	mobile	ADJ
american_scientific_journal-2188	184	108	robot	robot	NOUN
american_scientific_journal-2188	184	109	to	to	PART
american_scientific_journal-2188	184	110	be	be	AUX
american_scientific_journal-2188	184	111	able	able	ADJ
american_scientific_journal-2188	184	112	to	to	PART
american_scientific_journal-2188	184	113	find	find	VERB
american_scientific_journal-2188	184	114	its	its	PRON
american_scientific_journal-2188	184	115	intial	intial	ADJ
american_scientific_journal-2188	184	116	position	position	NOUN
american_scientific_journal-2188	184	117	without	without	ADP
american_scientific_journal-2188	184	118	any	any	DET
american_scientific_journal-2188	184	119	human	human	ADJ
american_scientific_journal-2188	184	120	help	help	NOUN
american_scientific_journal-2188	184	121	.	.	PUNCT
american_scientific_journal-2188	185	1	this	this	PRON
american_scientific_journal-2188	185	2	achieved	achieve	VERB
american_scientific_journal-2188	185	3	by	by	ADP
american_scientific_journal-2188	185	4	designing	design	VERB
american_scientific_journal-2188	185	5	and	and	CCONJ
american_scientific_journal-2188	185	6	evaluating	evaluate	VERB
american_scientific_journal-2188	185	7	an	an	DET
american_scientific_journal-2188	185	8	algorithm	algorithm	NOUN
american_scientific_journal-2188	185	9	for	for	ADP
american_scientific_journal-2188	185	10	localization	localization	NOUN
american_scientific_journal-2188	185	11	.	.	PUNCT
american_scientific_journal-2188	186	1	a	a	DET
american_scientific_journal-2188	186	2	grid	grid	NOUN
american_scientific_journal-2188	186	3	maps	map	NOUN
american_scientific_journal-2188	186	4	has	have	AUX
american_scientific_journal-2188	186	5	been	be	AUX
american_scientific_journal-2188	186	6	used	use	VERB
american_scientific_journal-2188	186	7	as	as	ADP
american_scientific_journal-2188	186	8	a	a	DET
american_scientific_journal-2188	186	9	method	method	NOUN
american_scientific_journal-2188	186	10	to	to	PART
american_scientific_journal-2188	186	11	represent	represent	VERB
american_scientific_journal-2188	186	12	the	the	DET
american_scientific_journal-2188	186	13	map	map	NOUN
american_scientific_journal-2188	186	14	that	that	PRON
american_scientific_journal-2188	186	15	was	be	AUX
american_scientific_journal-2188	186	16	pre	pre	VERB
american_scientific_journal-2188	186	17	-	-	VERB
american_scientific_journal-2188	186	18	defined	define	VERB
american_scientific_journal-2188	186	19	and	and	CCONJ
american_scientific_journal-2188	186	20	stored	store	VERB
american_scientific_journal-2188	186	21	in	in	ADP
american_scientific_journal-2188	186	22	the	the	DET
american_scientific_journal-2188	186	23	memory	memory	NOUN
american_scientific_journal-2188	186	24	of	of	ADP
american_scientific_journal-2188	186	25	the	the	DET
american_scientific_journal-2188	186	26	robot	robot	NOUN
american_scientific_journal-2188	186	27	.	.	PUNCT
american_scientific_journal-2188	187	1	according	accord	VERB
american_scientific_journal-2188	187	2	to	to	ADP
american_scientific_journal-2188	187	3	the	the	DET
american_scientific_journal-2188	187	4	required	required	ADJ
american_scientific_journal-2188	187	5	accuracy	accuracy	NOUN
american_scientific_journal-2188	187	6	,	,	PUNCT
american_scientific_journal-2188	187	7	computional	computional	ADJ
american_scientific_journal-2188	187	8	time	time	NOUN
american_scientific_journal-2188	187	9	and	and	CCONJ
american_scientific_journal-2188	187	10	computational	computational	ADJ
american_scientific_journal-2188	187	11	memory	memory	NOUN
american_scientific_journal-2188	187	12	,	,	PUNCT
american_scientific_journal-2188	187	13	the	the	DET
american_scientific_journal-2188	187	14	the	the	DET
american_scientific_journal-2188	187	15	cell	cell	NOUN
american_scientific_journal-2188	187	16	size	size	NOUN
american_scientific_journal-2188	187	17	has	have	AUX
american_scientific_journal-2188	187	18	been	be	AUX
american_scientific_journal-2188	187	19	selected	select	VERB
american_scientific_journal-2188	187	20	.	.	PUNCT
american_scientific_journal-2188	188	1	also	also	ADV
american_scientific_journal-2188	188	2	,	,	PUNCT
american_scientific_journal-2188	188	3	laser	laser	NOUN
american_scientific_journal-2188	188	4	scanner	scanner	NOUN
american_scientific_journal-2188	188	5	sensor	sensor	NOUN
american_scientific_journal-2188	188	6	has	have	AUX
american_scientific_journal-2188	188	7	been	be	AUX
american_scientific_journal-2188	188	8	used	use	VERB
american_scientific_journal-2188	188	9	which	which	PRON
american_scientific_journal-2188	188	10	is	be	AUX
american_scientific_journal-2188	188	11	considered	consider	VERB
american_scientific_journal-2188	188	12	as	as	ADP
american_scientific_journal-2188	188	13	optimum	optimum	ADJ
american_scientific_journal-2188	188	14	solution	solution	NOUN
american_scientific_journal-2188	188	15	for	for	ADP
american_scientific_journal-2188	188	16	mobile	mobile	ADJ
american_scientific_journal-2188	188	17	robots	robot	NOUN
american_scientific_journal-2188	188	18	because	because	SCONJ
american_scientific_journal-2188	188	19	of	of	ADP
american_scientific_journal-2188	188	20	its	its	PRON
american_scientific_journal-2188	188	21	high	high	ADJ
american_scientific_journal-2188	188	22	resolution	resolution	NOUN
american_scientific_journal-2188	188	23	,	,	PUNCT
american_scientific_journal-2188	188	24	high	high	ADJ
american_scientific_journal-2188	188	25	accuracy	accuracy	NOUN
american_scientific_journal-2188	188	26	,	,	PUNCT
american_scientific_journal-2188	188	27	and	and	CCONJ
american_scientific_journal-2188	188	28	wide	wide	ADJ
american_scientific_journal-2188	188	29	angle	angle	NOUN
american_scientific_journal-2188	188	30	.	.	PUNCT
american_scientific_journal-2188	189	1	6	6	X
american_scientific_journal-2188	189	2	.	.	X
american_scientific_journal-2188	189	3	future	future	ADJ
american_scientific_journal-2188	189	4	work	work	NOUN
american_scientific_journal-2188	189	5	in	in	ADP
american_scientific_journal-2188	189	6	future	future	ADJ
american_scientific_journal-2188	189	7	work	work	NOUN
american_scientific_journal-2188	189	8	,	,	PUNCT
american_scientific_journal-2188	189	9	there	there	PRON
american_scientific_journal-2188	189	10	are	be	VERB
american_scientific_journal-2188	189	11	some	some	DET
american_scientific_journal-2188	189	12	limitations	limitation	NOUN
american_scientific_journal-2188	189	13	that	that	PRON
american_scientific_journal-2188	189	14	deserve	deserve	AUX
american_scientific_journal-2188	189	15	further	far	ADV
american_scientific_journal-2188	189	16	improving	improve	VERB
american_scientific_journal-2188	189	17	:	:	PUNCT
american_scientific_journal-2188	189	18	long	long	ADJ
american_scientific_journal-2188	189	19	processing	processing	NOUN
american_scientific_journal-2188	189	20	time	time	NOUN
american_scientific_journal-2188	189	21	of	of	ADP
american_scientific_journal-2188	189	22	mcl	mcl	PROPN
american_scientific_journal-2188	189	23	:	:	PUNCT
american_scientific_journal-2188	189	24	despite	despite	SCONJ
american_scientific_journal-2188	189	25	that	that	SCONJ
american_scientific_journal-2188	189	26	the	the	DET
american_scientific_journal-2188	189	27	methods	method	NOUN
american_scientific_journal-2188	189	28	gives	give	VERB
american_scientific_journal-2188	189	29	an	an	DET
american_scientific_journal-2188	189	30	accurate	accurate	ADJ
american_scientific_journal-2188	189	31	results	result	NOUN
american_scientific_journal-2188	189	32	,	,	PUNCT
american_scientific_journal-2188	189	33	the	the	DET
american_scientific_journal-2188	189	34	time	time	NOUN
american_scientific_journal-2188	189	35	to	to	PART
american_scientific_journal-2188	189	36	execute	execute	VERB
american_scientific_journal-2188	189	37	one	one	NUM
american_scientific_journal-2188	189	38	iteration	iteration	NOUN
american_scientific_journal-2188	189	39	is	be	AUX
american_scientific_journal-2188	189	40	long	long	ADJ
american_scientific_journal-2188	189	41	;	;	PUNCT
american_scientific_journal-2188	189	42	the	the	DET
american_scientific_journal-2188	189	43	main	main	ADJ
american_scientific_journal-2188	189	44	reason	reason	NOUN
american_scientific_journal-2188	189	45	of	of	ADP
american_scientific_journal-2188	189	46	this	this	PRON
american_scientific_journal-2188	189	47	is	be	AUX
american_scientific_journal-2188	189	48	the	the	DET
american_scientific_journal-2188	189	49	limitation	limitation	NOUN
american_scientific_journal-2188	189	50	in	in	ADP
american_scientific_journal-2188	189	51	the	the	DET
american_scientific_journal-2188	189	52	ni	ni	PROPN
american_scientific_journal-2188	189	53	starter	starter	ADJ
american_scientific_journal-2188	189	54	kit	kit	NOUN
american_scientific_journal-2188	189	55	1.0	1.0	NUM
american_scientific_journal-2188	189	56	(	(	PUNCT
american_scientific_journal-2188	189	57	266	266	NUM
american_scientific_journal-2188	189	58	mhz	mhz	NOUN
american_scientific_journal-2188	189	59	only	only	ADV
american_scientific_journal-2188	189	60	)	)	PUNCT
american_scientific_journal-2188	189	61	.	.	PUNCT
american_scientific_journal-2188	190	1	in	in	ADP
american_scientific_journal-2188	190	2	the	the	DET
american_scientific_journal-2188	190	3	future	future	NOUN
american_scientific_journal-2188	190	4	,	,	PUNCT
american_scientific_journal-2188	190	5	it	it	PRON
american_scientific_journal-2188	190	6	is	be	AUX
american_scientific_journal-2188	190	7	better	well	ADJ
american_scientific_journal-2188	190	8	to	to	PART
american_scientific_journal-2188	190	9	modify	modify	VERB
american_scientific_journal-2188	190	10	mcl	mcl	PROPN
american_scientific_journal-2188	190	11	to	to	PART
american_scientific_journal-2188	190	12	be	be	AUX
american_scientific_journal-2188	190	13	able	able	ADJ
american_scientific_journal-2188	190	14	to	to	PART
american_scientific_journal-2188	190	15	use	use	VERB
american_scientific_journal-2188	190	16	less	less	ADJ
american_scientific_journal-2188	190	17	particles	particle	NOUN
american_scientific_journal-2188	190	18	number	number	NOUN
american_scientific_journal-2188	190	19	but	but	CCONJ
american_scientific_journal-2188	190	20	in	in	ADP
american_scientific_journal-2188	190	21	the	the	DET
american_scientific_journal-2188	190	22	same	same	ADJ
american_scientific_journal-2188	190	23	time	time	NOUN
american_scientific_journal-2188	190	24	still	still	ADV
american_scientific_journal-2188	190	25	giving	give	VERB
american_scientific_journal-2188	190	26	accurate	accurate	ADJ
american_scientific_journal-2188	190	27	results	result	NOUN
american_scientific_journal-2188	190	28	.	.	PUNCT
american_scientific_journal-2188	191	1	failure	failure	NOUN
american_scientific_journal-2188	191	2	of	of	ADP
american_scientific_journal-2188	191	3	mcl	mcl	PROPN
american_scientific_journal-2188	191	4	:	:	PUNCT
american_scientific_journal-2188	191	5	when	when	SCONJ
american_scientific_journal-2188	191	6	is	be	AUX
american_scientific_journal-2188	191	7	no	no	DET
american_scientific_journal-2188	191	8	practices	practice	NOUN
american_scientific_journal-2188	191	9	around	around	ADP
american_scientific_journal-2188	191	10	the	the	DET
american_scientific_journal-2188	191	11	true	true	ADJ
american_scientific_journal-2188	191	12	location	location	NOUN
american_scientific_journal-2188	191	13	of	of	ADP
american_scientific_journal-2188	191	14	mobile	mobile	NOUN
american_scientific_journal-2188	191	15	,	,	PUNCT
american_scientific_journal-2188	191	16	or	or	CCONJ
american_scientific_journal-2188	191	17	the	the	DET
american_scientific_journal-2188	191	18	map	map	NOUN
american_scientific_journal-2188	191	19	is	be	AUX
american_scientific_journal-2188	191	20	symmetrical	symmetrical	ADJ
american_scientific_journal-2188	191	21	,	,	PUNCT
american_scientific_journal-2188	191	22	mcl	mcl	PROPN
american_scientific_journal-2188	191	23	may	may	AUX
american_scientific_journal-2188	191	24	fail	fail	VERB
american_scientific_journal-2188	191	25	to	to	PART
american_scientific_journal-2188	191	26	indicate	indicate	VERB
american_scientific_journal-2188	191	27	the	the	DET
american_scientific_journal-2188	191	28	correct	correct	ADJ
american_scientific_journal-2188	191	29	location	location	NOUN
american_scientific_journal-2188	191	30	of	of	ADP
american_scientific_journal-2188	191	31	the	the	DET
american_scientific_journal-2188	191	32	robot	robot	NOUN
american_scientific_journal-2188	191	33	.	.	PUNCT
american_scientific_journal-2188	192	1	the	the	DET
american_scientific_journal-2188	192	2	problem	problem	NOUN
american_scientific_journal-2188	192	3	is	be	AUX
american_scientific_journal-2188	192	4	that	that	SCONJ
american_scientific_journal-2188	192	5	mcl	mcl	PROPN
american_scientific_journal-2188	192	6	can	can	AUX
american_scientific_journal-2188	192	7	not	not	PART
american_scientific_journal-2188	192	8	verify	verify	VERB
american_scientific_journal-2188	192	9	whether	whether	SCONJ
american_scientific_journal-2188	192	10	its	its	PRON
american_scientific_journal-2188	192	11	result	result	NOUN
american_scientific_journal-2188	192	12	is	be	AUX
american_scientific_journal-2188	192	13	correct	correct	ADJ
american_scientific_journal-2188	192	14	or	or	CCONJ
american_scientific_journal-2188	192	15	not	not	PART
american_scientific_journal-2188	192	16	.	.	PUNCT
american_scientific_journal-2188	193	1	in	in	ADP
american_scientific_journal-2188	193	2	the	the	DET
american_scientific_journal-2188	193	3	future	future	ADJ
american_scientific_journal-2188	193	4	work	work	NOUN
american_scientific_journal-2188	193	5	,	,	PUNCT
american_scientific_journal-2188	193	6	more	more	ADJ
american_scientific_journal-2188	193	7	sensor	sensor	NOUN
american_scientific_journal-2188	193	8	readings	reading	NOUN
american_scientific_journal-2188	193	9	will	will	AUX
american_scientific_journal-2188	193	10	be	be	AUX
american_scientific_journal-2188	193	11	taken	take	VERB
american_scientific_journal-2188	193	12	.	.	PUNCT
american_scientific_journal-2188	194	1	in	in	ADP
american_scientific_journal-2188	194	2	addition	addition	NOUN
american_scientific_journal-2188	194	3	,	,	PUNCT
american_scientific_journal-2188	194	4	adding	add	VERB
american_scientific_journal-2188	194	5	path	path	NOUN
american_scientific_journal-2188	194	6	tracking	track	VERB
american_scientific_journal-2188	194	7	algorithm	algorithm	NOUN
american_scientific_journal-2188	194	8	to	to	PART
american_scientific_journal-2188	194	9	check	check	VERB
american_scientific_journal-2188	194	10	if	if	SCONJ
american_scientific_journal-2188	194	11	the	the	DET
american_scientific_journal-2188	194	12	estimated	estimate	VERB
american_scientific_journal-2188	194	13	position	position	NOUN
american_scientific_journal-2188	194	14	of	of	ADP
american_scientific_journal-2188	194	15	the	the	DET
american_scientific_journal-2188	194	16	robot	robot	NOUN
american_scientific_journal-2188	194	17	is	be	AUX
american_scientific_journal-2188	194	18	correct	correct	ADJ
american_scientific_journal-2188	194	19	while	while	SCONJ
american_scientific_journal-2188	194	20	executing	execute	VERB
american_scientific_journal-2188	194	21	the	the	DET
american_scientific_journal-2188	194	22	path	path	NOUN
american_scientific_journal-2188	194	23	planning	planning	NOUN
american_scientific_journal-2188	194	24	algorithm	algorithm	NOUN
american_scientific_journal-2188	194	25	.	.	PUNCT
american_scientific_journal-2188	195	1	references	reference	NOUN
american_scientific_journal-2188	195	2	[	[	X
american_scientific_journal-2188	195	3	1	1	X
american_scientific_journal-2188	195	4	]	]	PUNCT
american_scientific_journal-2188	195	5	t.	t.	PROPN
american_scientific_journal-2188	195	6	yap	yap	PROPN
american_scientific_journal-2188	195	7	jr	jr	PROPN
american_scientific_journal-2188	195	8	“	"	PUNCT
american_scientific_journal-2188	195	9	mobile	mobile	ADJ
american_scientific_journal-2188	195	10	robot	robot	NOUN
american_scientific_journal-2188	195	11	navigation	navigation	NOUN
american_scientific_journal-2188	195	12	with	with	ADP
american_scientific_journal-2188	195	13	low	low	ADJ
american_scientific_journal-2188	195	14	cost	cost	NOUN
american_scientific_journal-2188	195	15	sensors	sensor	NOUN
american_scientific_journal-2188	195	16	,	,	PUNCT
american_scientific_journal-2188	195	17	”	"	PUNCT
american_scientific_journal-2188	195	18	university	university	NOUN
american_scientific_journal-2188	195	19	of	of	ADP
american_scientific_journal-2188	195	20	california	california	PROPN
american_scientific_journal-2188	195	21	riverside	riverside	PROPN
american_scientific_journal-2188	195	22	,	,	PUNCT
american_scientific_journal-2188	195	23	2009	2009	NUM
american_scientific_journal-2188	195	24	.	.	PUNCT
american_scientific_journal-2188	196	1	[	[	X
american_scientific_journal-2188	196	2	2	2	NUM
american_scientific_journal-2188	196	3	]	]	PUNCT
american_scientific_journal-2188	196	4	d.	d.	PROPN
american_scientific_journal-2188	196	5	wu	wu	PROPN
american_scientific_journal-2188	196	6	,	,	PUNCT
american_scientific_journal-2188	196	7	j.	j.	PROPN
american_scientific_journal-2188	196	8	chen	chen	PROPN
american_scientific_journal-2188	196	9	,	,	PUNCT
american_scientific_journal-2188	196	10	and	and	CCONJ
american_scientific_journal-2188	196	11	y.wang	y.wang	NUM
american_scientific_journal-2188	196	12	,	,	PUNCT
american_scientific_journal-2188	196	13	“	"	PUNCT
american_scientific_journal-2188	196	14	bring	bring	VERB
american_scientific_journal-2188	196	15	consciousness	consciousness	NOUN
american_scientific_journal-2188	196	16	to	to	ADP
american_scientific_journal-2188	196	17	mobile	mobile	NOUN
american_scientific_journal-2188	196	18	robot	robot	NOUN
american_scientific_journal-2188	196	19	being	be	AUX
american_scientific_journal-2188	196	20	localized	localize	VERB
american_scientific_journal-2188	196	21	,	,	PUNCT
american_scientific_journal-2188	196	22	”	"	PUNCT
american_scientific_journal-2188	196	23	in	in	ADP
american_scientific_journal-2188	196	24	robotics	robotic	NOUN
american_scientific_journal-2188	196	25	and	and	CCONJ
american_scientific_journal-2188	196	26	biomimetics	biomimetic	NOUN
american_scientific_journal-2188	196	27	(	(	PUNCT
american_scientific_journal-2188	196	28	robio	robio	NOUN
american_scientific_journal-2188	196	29	)	)	PUNCT
american_scientific_journal-2188	196	30	,	,	PUNCT
american_scientific_journal-2188	196	31	2009	2009	NUM
american_scientific_journal-2188	196	32	ieee	ieee	PROPN
american_scientific_journal-2188	196	33	international	international	ADJ
american_scientific_journal-2188	196	34	conference	conference	NOUN
american_scientific_journal-2188	196	35	on	on	ADP
american_scientific_journal-2188	196	36	,	,	PUNCT
american_scientific_journal-2188	196	37	2009	2009	NUM
american_scientific_journal-2188	196	38	,	,	PUNCT
american_scientific_journal-2188	196	39	pp	pp	ADJ
american_scientific_journal-2188	196	40	.	.	PUNCT
american_scientific_journal-2188	197	1	741	741	NUM
american_scientific_journal-2188	197	2	-	-	SYM
american_scientific_journal-2188	197	3	746	746	NUM
american_scientific_journal-2188	197	4	[	[	X
american_scientific_journal-2188	197	5	3	3	NUM
american_scientific_journal-2188	197	6	]	]	PUNCT
american_scientific_journal-2188	197	7	a.	a.	NOUN
american_scientific_journal-2188	197	8	hossian	hossian	PROPN
american_scientific_journal-2188	197	9	,	,	PUNCT
american_scientific_journal-2188	197	10	“	"	PUNCT
american_scientific_journal-2188	197	11	undefined	undefined	ADJ
american_scientific_journal-2188	197	12	obstacle	obstacle	NOUN
american_scientific_journal-2188	197	13	avoidance	avoidance	NOUN
american_scientific_journal-2188	197	14	and	and	CCONJ
american_scientific_journal-2188	197	15	path	path	NOUN
american_scientific_journal-2188	197	16	planning	planning	NOUN
american_scientific_journal-2188	197	17	,	,	PUNCT
american_scientific_journal-2188	197	18	”	"	PUNCT
american_scientific_journal-2188	197	19	120th	120th	ADJ
american_scientific_journal-2188	197	20	asee	asee	ADJ
american_scientific_journal-2188	197	21	annual	annual	ADJ
american_scientific_journal-2188	197	22	conference	conference	NOUN
american_scientific_journal-2188	197	23	and	and	CCONJ
american_scientific_journal-2188	197	24	exposition	exposition	NOUN
american_scientific_journal-2188	197	25	2013	2013	NUM
american_scientific_journal-2188	197	26	.	.	PUNCT
american_scientific_journal-2188	198	1	[	[	X
american_scientific_journal-2188	198	2	4	4	X
american_scientific_journal-2188	198	3	]	]	PUNCT
american_scientific_journal-2188	198	4	k.	k.	PROPN
american_scientific_journal-2188	198	5	kozlowski	kozlowski	PROPN
american_scientific_journal-2188	198	6	,	,	PUNCT
american_scientific_journal-2188	198	7	robot	robot	NOUN
american_scientific_journal-2188	198	8	motion	motion	NOUN
american_scientific_journal-2188	198	9	and	and	CCONJ
american_scientific_journal-2188	198	10	control	control	NOUN
american_scientific_journal-2188	198	11	:	:	PUNCT
american_scientific_journal-2188	198	12	springer	springer	NOUN
american_scientific_journal-2188	198	13	,	,	PUNCT
american_scientific_journal-2188	198	14	2006	2006	NUM
american_scientific_journal-2188	198	15	.	.	PUNCT
american_scientific_journal-2188	199	1	[	[	X
american_scientific_journal-2188	199	2	5	5	NUM
american_scientific_journal-2188	199	3	]	]	PUNCT
american_scientific_journal-2188	199	4	l.kneip	l.kneip	PROPN
american_scientific_journal-2188	199	5	,	,	PUNCT
american_scientific_journal-2188	199	6	f.	f.	PROPN
american_scientific_journal-2188	199	7	tache	tache	PROPN
american_scientific_journal-2188	199	8	,	,	PUNCT
american_scientific_journal-2188	199	9	g.	g.	PROPN
american_scientific_journal-2188	199	10	caprari	caprari	PROPN
american_scientific_journal-2188	199	11	,	,	PUNCT
american_scientific_journal-2188	199	12	and	and	CCONJ
american_scientific_journal-2188	199	13	r.	r.	PROPN
american_scientific_journal-2188	199	14	siegwart	siegwart	PROPN
american_scientific_journal-2188	199	15	,	,	PUNCT
american_scientific_journal-2188	199	16	“	"	PUNCT
american_scientific_journal-2188	199	17	characterization	characterization	NOUN
american_scientific_journal-2188	199	18	of	of	ADP
american_scientific_journal-2188	199	19	the	the	DET
american_scientific_journal-2188	199	20	compact	compact	ADJ
american_scientific_journal-2188	199	21	hokuyo	hokuyo	NOUN
american_scientific_journal-2188	199	22	urg-04lx	urg-04lx	PROPN
american_scientific_journal-2188	199	23	2d	2d	PROPN
american_scientific_journal-2188	199	24	laser	laser	NOUN
american_scientific_journal-2188	199	25	range	range	NOUN
american_scientific_journal-2188	199	26	scanner	scanner	NOUN
american_scientific_journal-2188	199	27	,	,	PUNCT
american_scientific_journal-2188	199	28	“	"	PUNCT
american_scientific_journal-2188	199	29	in	in	ADP
american_scientific_journal-2188	199	30	robotics	robotic	NOUN
american_scientific_journal-2188	199	31	and	and	CCONJ
american_scientific_journal-2188	199	32	automation	automation	NOUN
american_scientific_journal-2188	199	33	,	,	PUNCT
american_scientific_journal-2188	199	34	2009	2009	NUM
american_scientific_journal-2188	199	35	,	,	PUNCT
american_scientific_journal-2188	199	36	icra’09	icra’09	PROPN
american_scientific_journal-2188	199	37	.	.	PROPN
american_scientific_journal-2188	199	38	ieee	ieee	PROPN
american_scientific_journal-2188	199	39	international	international	PROPN
american_scientific_journal-2188	199	40	conference	conference	NOUN
american_scientific_journal-2188	199	41	on	on	ADP
american_scientific_journal-2188	199	42	2009	2009	NUM
american_scientific_journal-2188	199	43	,	,	PUNCT
american_scientific_journal-2188	199	44	pp	pp	ADJ
american_scientific_journal-2188	199	45	.	.	PUNCT
american_scientific_journal-2188	200	1	1447	1447	NUM
american_scientific_journal-2188	200	2	-	-	SYM
american_scientific_journal-2188	200	3	1454	1454	NUM
american_scientific_journal-2188	200	4	.	.	PUNCT
american_scientific_journal-2188	201	1	[	[	X
american_scientific_journal-2188	201	2	6	6	NUM
american_scientific_journal-2188	201	3	]	]	PUNCT
american_scientific_journal-2188	201	4	e.	e.	PROPN
american_scientific_journal-2188	201	5	ivanjko	ivanjko	PROPN
american_scientific_journal-2188	201	6	,	,	PUNCT
american_scientific_journal-2188	201	7	i.	i.	PROPN
american_scientific_journal-2188	201	8	komsic	komsic	PROPN
american_scientific_journal-2188	201	9	,	,	PUNCT
american_scientific_journal-2188	201	10	and	and	CCONJ
american_scientific_journal-2188	201	11	petrovic	petrovic	NOUN
american_scientific_journal-2188	201	12	,	,	PUNCT
american_scientific_journal-2188	201	13	“	"	PUNCT
american_scientific_journal-2188	201	14	simple	simple	ADJ
american_scientific_journal-2188	201	15	off	off	ADP
american_scientific_journal-2188	201	16	-	-	PUNCT
american_scientific_journal-2188	201	17	line	line	NOUN
american_scientific_journal-2188	201	18	odometry	odometry	NOUN
american_scientific_journal-2188	201	19	calibration	calibration	NOUN
american_scientific_journal-2188	201	20	of	of	ADP
american_scientific_journal-2188	201	21	differential	differential	ADJ
american_scientific_journal-2188	201	22	drive	drive	PROPN
american_scientific_journal-2188	201	23	mobile	mobile	ADJ
american_scientific_journal-2188	201	24	robots	robot	NOUN
american_scientific_journal-2188	201	25	,	,	PUNCT
american_scientific_journal-2188	201	26	”	"	PUNCT
american_scientific_journal-2188	201	27	in	in	ADP
american_scientific_journal-2188	201	28	proceedings	proceeding	NOUN
american_scientific_journal-2188	201	29	of	of	ADP
american_scientific_journal-2188	201	30	16th	16th	ADJ
american_scientific_journal-2188	201	31	int	int	NOUN
american_scientific_journal-2188	201	32	.	.	PUNCT
american_scientific_journal-2188	202	1	workshop	workshop	NOUN
american_scientific_journal-2188	202	2	on	on	ADP
american_scientific_journal-2188	202	3	robotics	robotic	NOUN
american_scientific_journal-2188	202	4	in	in	ADP
american_scientific_journal-2188	202	5	alpe	alpe	PROPN
american_scientific_journal-2188	202	6	-	-	PUNCT
american_scientific_journal-2188	202	7	adriadamube	adriadamube	NOUN
american_scientific_journal-2188	202	8	region	region	NOUN
american_scientific_journal-2188	202	9	-	-	PUNCT
american_scientific_journal-2188	202	10	raad	raad	PROPN
american_scientific_journal-2188	202	11	,	,	PUNCT
american_scientific_journal-2188	202	12	2007	2007	NUM
american_scientific_journal-2188	202	13	.	.	PUNCT
american_scientific_journal-2188	203	1	american	american	ADJ
american_scientific_journal-2188	203	2	scientific	scientific	ADJ
american_scientific_journal-2188	203	3	research	research	PROPN
american_scientific_journal-2188	203	4	journal	journal	NOUN
american_scientific_journal-2188	203	5	for	for	ADP
american_scientific_journal-2188	203	6	engineering	engineering	NOUN
american_scientific_journal-2188	203	7	,	,	PUNCT
american_scientific_journal-2188	203	8	technology	technology	NOUN
american_scientific_journal-2188	203	9	,	,	PUNCT
american_scientific_journal-2188	203	10	and	and	CCONJ
american_scientific_journal-2188	203	11	sciences	science	NOUN
american_scientific_journal-2188	203	12	(	(	PUNCT
american_scientific_journal-2188	203	13	asrjets	asrjet	NOUN
american_scientific_journal-2188	203	14	)	)	PUNCT
american_scientific_journal-2188	203	15	(	(	PUNCT
american_scientific_journal-2188	203	16	2016	2016	NUM
american_scientific_journal-2188	203	17	)	)	PUNCT
american_scientific_journal-2188	203	18	volume	volume	NOUN
american_scientific_journal-2188	203	19	26	26	NUM
american_scientific_journal-2188	203	20	,	,	PUNCT
american_scientific_journal-2188	203	21	no	no	DET
american_scientific_journal-2188	203	22	1	1	NUM
american_scientific_journal-2188	203	23	,	,	PUNCT
american_scientific_journal-2188	203	24	pp	pp	ADV
american_scientific_journal-2188	203	25	108	108	NUM
american_scientific_journal-2188	203	26	-	-	SYM
american_scientific_journal-2188	203	27	126	126	NUM
american_scientific_journal-2188	203	28	126	126	NUM
american_scientific_journal-2188	204	1	[	[	X
american_scientific_journal-2188	204	2	7	7	NUM
american_scientific_journal-2188	204	3	]	]	X
american_scientific_journal-2188	204	4	r.	r.	PROPN
american_scientific_journal-2188	204	5	siegwart	siegwart	PROPN
american_scientific_journal-2188	204	6	,	,	PUNCT
american_scientific_journal-2188	204	7	i.	i.	PROPN
american_scientific_journal-2188	204	8	r.	r.	PROPN
american_scientific_journal-2188	204	9	nourbakhsh	nourbakhsh	PROPN
american_scientific_journal-2188	204	10	,	,	PUNCT
american_scientific_journal-2188	204	11	and	and	CCONJ
american_scientific_journal-2188	204	12	d.	d.	PROPN
american_scientific_journal-2188	204	13	scaramuzza	scaramuzza	PROPN
american_scientific_journal-2188	204	14	,	,	PUNCT
american_scientific_journal-2188	204	15	introduction	introduction	NOUN
american_scientific_journal-2188	204	16	to	to	ADP
american_scientific_journal-2188	204	17	autonomous	autonomous	ADJ
american_scientific_journal-2188	204	18	mobile	mobile	ADJ
american_scientific_journal-2188	204	19	robots	robot	NOUN
american_scientific_journal-2188	204	20	:	:	PUNCT
american_scientific_journal-2188	204	21	mit	mit	PROPN
american_scientific_journal-2188	204	22	press	press	NOUN
american_scientific_journal-2188	204	23	,	,	PUNCT
american_scientific_journal-2188	204	24	2011	2011	NUM
american_scientific_journal-2188	204	25	[	[	X
american_scientific_journal-2188	204	26	8	8	NUM
american_scientific_journal-2188	204	27	]	]	PUNCT
american_scientific_journal-2188	204	28	f.	f.	PROPN
american_scientific_journal-2188	204	29	k.	k.	PROPN
american_scientific_journal-2188	204	30	scott	scott	PROPN
american_scientific_journal-2188	204	31	anderson	anderson	PROPN
american_scientific_journal-2188	204	32	,	,	PUNCT
american_scientific_journal-2188	204	33	pam	pam	PROPN
american_scientific_journal-2188	204	34	lawhead	lawhead	PROPN
american_scientific_journal-2188	204	35	,	,	PUNCT
american_scientific_journal-2188	204	36	and	and	CCONJ
american_scientific_journal-2188	204	37	myles	myles	PROPN
american_scientific_journal-2188	204	38	mcnally	mcnally	PROPN
american_scientific_journal-2188	204	39	,	,	PUNCT
american_scientific_journal-2188	204	40	“	"	PUNCT
american_scientific_journal-2188	204	41	monte	monte	PROPN
american_scientific_journal-2188	204	42	carlo	carlo	PROPN
american_scientific_journal-2188	204	43	localization	localization	PROPN
american_scientific_journal-2188	204	44	”	"	PUNCT
american_scientific_journal-2188	204	45	2004	2004	NUM
american_scientific_journal-2188	204	46	.	.	PUNCT
american_scientific_journal-2188	205	1	2.1	2.1	NUM
american_scientific_journal-2188	205	2	ni	ni	PROPN
american_scientific_journal-2188	205	3	labview	labview	NOUN
american_scientific_journal-2188	205	4	robotics	robotic	NOUN
american_scientific_journal-2188	205	5	starter	starter	NOUN
american_scientific_journal-2188	205	6	kit	kit	NOUN
american_scientific_journal-2188	205	7	2.2	2.2	NUM
american_scientific_journal-2188	205	8	scanning	scanning	NOUN
american_scientific_journal-2188	205	9	range	range	NOUN
american_scientific_journal-2188	205	10	finder	finder	NOUN
american_scientific_journal-2188	205	11	(	(	PUNCT
american_scientific_journal-2188	205	12	sokuiki	sokuiki	PROPN
american_scientific_journal-2188	205	13	sensor	sensor	NOUN
american_scientific_journal-2188	205	14	)	)	PUNCT
american_scientific_journal-2188	205	15	urg-04lx	urg-04lx	PROPN
american_scientific_journal-2188	205	16	2.4.1	2.4.1	NUM
american_scientific_journal-2188	205	17	sensor	sensor	NOUN
american_scientific_journal-2188	205	18	specifications	specification	NOUN
american_scientific_journal-2188	205	19	2.4.2	2.4.2	NUM
american_scientific_journal-2188	205	20	software	software	NOUN
american_scientific_journal-2188	205	21	overview	overview	VERB
american_scientific_journal-2188	205	22	2.3	2.3	NUM
american_scientific_journal-2188	205	23	connection	connection	NOUN
american_scientific_journal-2188	205	24	of	of	ADP
american_scientific_journal-2188	205	25	the	the	DET
american_scientific_journal-2188	205	26	hardware	hardware	NOUN
american_scientific_journal-2188	205	27	components	component	NOUN
american_scientific_journal-2188	205	28	2.4	2.4	NUM
american_scientific_journal-2188	205	29	identification	identification	NOUN
american_scientific_journal-2188	205	30	of	of	ADP
american_scientific_journal-2188	205	31	the	the	DET
american_scientific_journal-2188	205	32	workspace	workspace	NOUN
american_scientific_journal-2188	205	33	2.4.3	2.4.3	NUM
american_scientific_journal-2188	205	34	physical	physical	ADJ
american_scientific_journal-2188	205	35	environment	environment	NOUN
american_scientific_journal-2188	205	36	2.4.4	2.4.4	NUM
american_scientific_journal-2188	205	37	map	map	NOUN
american_scientific_journal-2188	205	38	representation	representation	NOUN
american_scientific_journal-2188	205	39	4.2	4.2	NUM
american_scientific_journal-2188	205	40	importance	importance	NOUN
american_scientific_journal-2188	205	41	weights	weight	VERB
american_scientific_journal-2188	205	42	5	5	NUM
american_scientific_journal-2188	205	43	.	.	PUNCT
american_scientific_journal-2188	205	44	conclusion	conclusion	NOUN