id	sid	tid	token	lemma	pos
american_scientific_journal-2190	1	1	91	91	NUM
american_scientific_journal-2190	1	2	american	american	ADJ
american_scientific_journal-2190	1	3	scientific	scientific	ADJ
american_scientific_journal-2190	1	4	research	research	NOUN
american_scientific_journal-2190	1	5	journal	journal	NOUN
american_scientific_journal-2190	1	6	for	for	ADP
american_scientific_journal-2190	1	7	engineering	engineering	NOUN
american_scientific_journal-2190	1	8	,	,	PUNCT
american_scientific_journal-2190	1	9	technology	technology	NOUN
american_scientific_journal-2190	1	10	,	,	PUNCT
american_scientific_journal-2190	1	11	and	and	CCONJ
american_scientific_journal-2190	1	12	sciences	science	NOUN
american_scientific_journal-2190	1	13	(	(	PUNCT
american_scientific_journal-2190	1	14	asrjets	asrjet	NOUN
american_scientific_journal-2190	1	15	)	)	PUNCT
american_scientific_journal-2190	1	16	issn	issn	PROPN
american_scientific_journal-2190	1	17	(	(	PUNCT
american_scientific_journal-2190	1	18	print	print	NOUN
american_scientific_journal-2190	1	19	)	)	PUNCT
american_scientific_journal-2190	1	20	2313	2313	NUM
american_scientific_journal-2190	1	21	-	-	SYM
american_scientific_journal-2190	1	22	4410	4410	NUM
american_scientific_journal-2190	1	23	,	,	PUNCT
american_scientific_journal-2190	1	24	issn	issn	PROPN
american_scientific_journal-2190	1	25	(	(	PUNCT
american_scientific_journal-2190	1	26	online	online	ADJ
american_scientific_journal-2190	1	27	)	)	PUNCT
american_scientific_journal-2190	1	28	2313	2313	NUM
american_scientific_journal-2190	1	29	-	-	SYM
american_scientific_journal-2190	1	30	4402	4402	NUM
american_scientific_journal-2190	1	31	©	©	PROPN
american_scientific_journal-2190	1	32	global	global	ADJ
american_scientific_journal-2190	1	33	society	society	NOUN
american_scientific_journal-2190	1	34	of	of	ADP
american_scientific_journal-2190	1	35	scientific	scientific	ADJ
american_scientific_journal-2190	1	36	research	research	NOUN
american_scientific_journal-2190	1	37	and	and	CCONJ
american_scientific_journal-2190	1	38	researchers	researcher	NOUN
american_scientific_journal-2190	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-2190	1	40	path	path	NOUN
american_scientific_journal-2190	1	41	planning	planning	NOUN
american_scientific_journal-2190	1	42	,	,	PUNCT
american_scientific_journal-2190	1	43	motion	motion	NOUN
american_scientific_journal-2190	1	44	control	control	NOUN
american_scientific_journal-2190	1	45	and	and	CCONJ
american_scientific_journal-2190	1	46	obstacle	obstacle	NOUN
american_scientific_journal-2190	1	47	detection	detection	NOUN
american_scientific_journal-2190	1	48	of	of	ADP
american_scientific_journal-2190	1	49	indoor	indoor	ADJ
american_scientific_journal-2190	1	50	mobile	mobile	PROPN
american_scientific_journal-2190	1	51	robot	robot	NOUN
american_scientific_journal-2190	1	52	ali	ali	PROPN
american_scientific_journal-2190	1	53	khaleel	khaleel	PROPN
american_scientific_journal-2190	1	54	mahmooda	mahmooda	PROPN
american_scientific_journal-2190	1	55	*	*	PROPN
american_scientific_journal-2190	1	56	,	,	PUNCT
american_scientific_journal-2190	1	57	robert	robert	PROPN
american_scientific_journal-2190	1	58	bickerb	bickerb	PROPN
american_scientific_journal-2190	1	59	ahay	ahay	PROPN
american_scientific_journal-2190	1	60	al	al	PROPN
american_scientific_journal-2190	1	61	-	-	PUNCT
american_scientific_journal-2190	1	62	jamiaa	jamiaa	PROPN
american_scientific_journal-2190	1	63	,	,	PUNCT
american_scientific_journal-2190	1	64	baghdad	baghdad	PROPN
american_scientific_journal-2190	1	65	14001,iraq	14001,iraq	NUM
american_scientific_journal-2190	1	66	bnewcastle	bnewcastle	NOUN
american_scientific_journal-2190	1	67	university	university	NOUN
american_scientific_journal-2190	1	68	,	,	PUNCT
american_scientific_journal-2190	1	69	address	address	NOUN
american_scientific_journal-2190	1	70	,	,	PUNCT
american_scientific_journal-2190	1	71	newcastle	newcastle	PROPN
american_scientific_journal-2190	1	72	upon	upon	SCONJ
american_scientific_journal-2190	1	73	tyne	tyne	PROPN
american_scientific_journal-2190	1	74	ne1	ne1	PROPN
american_scientific_journal-2190	1	75	7ru	7ru	PROPN
american_scientific_journal-2190	1	76	,	,	PUNCT
american_scientific_journal-2190	1	77	uk	uk	PROPN
american_scientific_journal-2190	1	78	aemail	aemail	NOUN
american_scientific_journal-2190	1	79	:	:	PUNCT
american_scientific_journal-2190	1	80	ali_khalil.mahmud@yahoo.com	ali_khalil.mahmud@yahoo.com	X
american_scientific_journal-2190	1	81	bemail	bemail	NOUN
american_scientific_journal-2190	1	82	:	:	PUNCT
american_scientific_journal-2190	1	83	robert.bicker@newcastle.com	robert.bicker@newcastle.com	X
american_scientific_journal-2190	1	84	abstract	abstract	NOUN
american_scientific_journal-2190	1	85	in	in	ADP
american_scientific_journal-2190	1	86	this	this	DET
american_scientific_journal-2190	1	87	paper	paper	NOUN
american_scientific_journal-2190	1	88	,	,	PUNCT
american_scientific_journal-2190	1	89	a	a	DET
american_scientific_journal-2190	1	90	*	*	X
american_scientific_journal-2190	1	91	path	path	NOUN
american_scientific_journal-2190	1	92	planning	planning	NOUN
american_scientific_journal-2190	1	93	algorithm	algorithm	NOUN
american_scientific_journal-2190	1	94	has	have	AUX
american_scientific_journal-2190	1	95	been	be	AUX
american_scientific_journal-2190	1	96	represented	represent	VERB
american_scientific_journal-2190	1	97	for	for	SCONJ
american_scientific_journal-2190	1	98	a	a	DET
american_scientific_journal-2190	1	99	mobile	mobile	ADJ
american_scientific_journal-2190	1	100	robot	robot	NOUN
american_scientific_journal-2190	1	101	to	to	PART
american_scientific_journal-2190	1	102	be	be	AUX
american_scientific_journal-2190	1	103	able	able	ADJ
american_scientific_journal-2190	1	104	to	to	PART
american_scientific_journal-2190	1	105	follow	follow	VERB
american_scientific_journal-2190	1	106	a	a	DET
american_scientific_journal-2190	1	107	constructed	construct	VERB
american_scientific_journal-2190	1	108	path	path	NOUN
american_scientific_journal-2190	1	109	from	from	ADP
american_scientific_journal-2190	1	110	its	its	PRON
american_scientific_journal-2190	1	111	current	current	ADJ
american_scientific_journal-2190	1	112	position	position	NOUN
american_scientific_journal-2190	1	113	to	to	ADP
american_scientific_journal-2190	1	114	a	a	DET
american_scientific_journal-2190	1	115	specified	specified	ADJ
american_scientific_journal-2190	1	116	goal	goal	NOUN
american_scientific_journal-2190	1	117	within	within	ADP
american_scientific_journal-2190	1	118	its	its	PRON
american_scientific_journal-2190	1	119	environment	environment	NOUN
american_scientific_journal-2190	1	120	.	.	PUNCT
american_scientific_journal-2190	2	1	to	to	PART
american_scientific_journal-2190	2	2	ensure	ensure	VERB
american_scientific_journal-2190	2	3	that	that	SCONJ
american_scientific_journal-2190	2	4	the	the	DET
american_scientific_journal-2190	2	5	mobile	mobile	NOUN
american_scientific_journal-2190	2	6	robot	robot	NOUN
american_scientific_journal-2190	2	7	follow	follow	VERB
american_scientific_journal-2190	2	8	the	the	DET
american_scientific_journal-2190	2	9	constructed	construct	VERB
american_scientific_journal-2190	2	10	path	path	NOUN
american_scientific_journal-2190	2	11	by	by	ADP
american_scientific_journal-2190	2	12	path	path	NOUN
american_scientific_journal-2190	2	13	planning	planning	NOUN
american_scientific_journal-2190	2	14	algorithm	algorithm	NOUN
american_scientific_journal-2190	2	15	,	,	PUNCT
american_scientific_journal-2190	2	16	a	a	DET
american_scientific_journal-2190	2	17	motion	motion	NOUN
american_scientific_journal-2190	2	18	control	control	NOUN
american_scientific_journal-2190	2	19	algorithm	algorithm	NOUN
american_scientific_journal-2190	2	20	has	have	AUX
american_scientific_journal-2190	2	21	been	be	AUX
american_scientific_journal-2190	2	22	built	build	VERB
american_scientific_journal-2190	2	23	.	.	PUNCT
american_scientific_journal-2190	3	1	in	in	ADP
american_scientific_journal-2190	3	2	the	the	DET
american_scientific_journal-2190	3	3	same	same	ADJ
american_scientific_journal-2190	3	4	time	time	NOUN
american_scientific_journal-2190	3	5	,	,	PUNCT
american_scientific_journal-2190	3	6	to	to	PART
american_scientific_journal-2190	3	7	detect	detect	VERB
american_scientific_journal-2190	3	8	static	static	ADJ
american_scientific_journal-2190	3	9	obstacles	obstacle	NOUN
american_scientific_journal-2190	3	10	and	and	CCONJ
american_scientific_journal-2190	3	11	avoid	avoid	VERB
american_scientific_journal-2190	3	12	collision	collision	NOUN
american_scientific_journal-2190	3	13	with	with	ADP
american_scientific_journal-2190	3	14	them	they	PRON
american_scientific_journal-2190	3	15	,	,	PUNCT
american_scientific_journal-2190	3	16	an	an	DET
american_scientific_journal-2190	3	17	obstacle	obstacle	NOUN
american_scientific_journal-2190	3	18	detection	detection	NOUN
american_scientific_journal-2190	3	19	algorithm	algorithm	NOUN
american_scientific_journal-2190	3	20	has	have	AUX
american_scientific_journal-2190	3	21	been	be	AUX
american_scientific_journal-2190	3	22	used	use	VERB
american_scientific_journal-2190	3	23	as	as	ADP
american_scientific_journal-2190	3	24	a	a	DET
american_scientific_journal-2190	3	25	final	final	ADJ
american_scientific_journal-2190	3	26	algorithm	algorithm	NOUN
american_scientific_journal-2190	3	27	that	that	PRON
american_scientific_journal-2190	3	28	will	will	AUX
american_scientific_journal-2190	3	29	be	be	AUX
american_scientific_journal-2190	3	30	used	use	VERB
american_scientific_journal-2190	3	31	as	as	ADP
american_scientific_journal-2190	3	32	a	a	DET
american_scientific_journal-2190	3	33	part	part	NOUN
american_scientific_journal-2190	3	34	of	of	ADP
american_scientific_journal-2190	3	35	the	the	DET
american_scientific_journal-2190	3	36	whole	whole	ADJ
american_scientific_journal-2190	3	37	system	system	NOUN
american_scientific_journal-2190	3	38	to	to	PART
american_scientific_journal-2190	3	39	give	give	VERB
american_scientific_journal-2190	3	40	the	the	DET
american_scientific_journal-2190	3	41	robot	robot	NOUN
american_scientific_journal-2190	3	42	the	the	DET
american_scientific_journal-2190	3	43	ability	ability	NOUN
american_scientific_journal-2190	3	44	to	to	PART
american_scientific_journal-2190	3	45	move	move	VERB
american_scientific_journal-2190	3	46	from	from	ADP
american_scientific_journal-2190	3	47	its	its	PRON
american_scientific_journal-2190	3	48	initial	initial	ADJ
american_scientific_journal-2190	3	49	known	know	VERB
american_scientific_journal-2190	3	50	position	position	NOUN
american_scientific_journal-2190	3	51	to	to	ADP
american_scientific_journal-2190	3	52	a	a	DET
american_scientific_journal-2190	3	53	specific	specific	ADJ
american_scientific_journal-2190	3	54	goal	goal	NOUN
american_scientific_journal-2190	3	55	in	in	ADP
american_scientific_journal-2190	3	56	an	an	DET
american_scientific_journal-2190	3	57	optimum	optimum	ADJ
american_scientific_journal-2190	3	58	way	way	NOUN
american_scientific_journal-2190	3	59	.	.	PUNCT
american_scientific_journal-2190	4	1	keywords	keyword	NOUN
american_scientific_journal-2190	4	2	:	:	PUNCT
american_scientific_journal-2190	4	3	kinematic	kinematic	ADJ
american_scientific_journal-2190	4	4	;	;	PUNCT
american_scientific_journal-2190	4	5	a	a	DET
american_scientific_journal-2190	4	6	*	*	X
american_scientific_journal-2190	4	7	algorithm	algorithm	NOUN
american_scientific_journal-2190	4	8	;	;	PUNCT
american_scientific_journal-2190	4	9	odometry	odometry	NOUN
american_scientific_journal-2190	4	10	;	;	PUNCT
american_scientific_journal-2190	4	11	kinematic	kinematic	ADJ
american_scientific_journal-2190	4	12	.	.	PUNCT
american_scientific_journal-2190	5	1	1	1	X
american_scientific_journal-2190	5	2	.	.	X
american_scientific_journal-2190	5	3	introduction	introduction	NOUN
american_scientific_journal-2190	5	4	mobile	mobile	ADJ
american_scientific_journal-2190	5	5	robotics	robotic	NOUN
american_scientific_journal-2190	5	6	is	be	AUX
american_scientific_journal-2190	5	7	a	a	DET
american_scientific_journal-2190	5	8	growing	grow	VERB
american_scientific_journal-2190	5	9	part	part	NOUN
american_scientific_journal-2190	5	10	in	in	ADP
american_scientific_journal-2190	5	11	the	the	DET
american_scientific_journal-2190	5	12	robotics	robotic	NOUN
american_scientific_journal-2190	5	13	field	field	NOUN
american_scientific_journal-2190	5	14	,	,	PUNCT
american_scientific_journal-2190	5	15	which	which	PRON
american_scientific_journal-2190	5	16	is	be	AUX
american_scientific_journal-2190	5	17	becoming	become	VERB
american_scientific_journal-2190	5	18	progressively	progressively	ADV
american_scientific_journal-2190	5	19	more	more	ADV
american_scientific_journal-2190	5	20	important	important	ADJ
american_scientific_journal-2190	5	21	,	,	PUNCT
american_scientific_journal-2190	5	22	useful	useful	ADJ
american_scientific_journal-2190	5	23	,	,	PUNCT
american_scientific_journal-2190	5	24	and	and	CCONJ
american_scientific_journal-2190	5	25	commonplace	commonplace	NOUN
american_scientific_journal-2190	5	26	in	in	ADP
american_scientific_journal-2190	5	27	modern	modern	ADJ
american_scientific_journal-2190	5	28	society	society	NOUN
american_scientific_journal-2190	5	29	.	.	PUNCT
american_scientific_journal-2190	6	1	for	for	ADP
american_scientific_journal-2190	6	2	the	the	DET
american_scientific_journal-2190	6	3	reason	reason	NOUN
american_scientific_journal-2190	6	4	that	that	SCONJ
american_scientific_journal-2190	6	5	they	they	PRON
american_scientific_journal-2190	6	6	are	be	AUX
american_scientific_journal-2190	6	7	providing	provide	VERB
american_scientific_journal-2190	6	8	the	the	DET
american_scientific_journal-2190	6	9	functionality	functionality	NOUN
american_scientific_journal-2190	6	10	,	,	PUNCT
american_scientific_journal-2190	6	11	mobility	mobility	NOUN
american_scientific_journal-2190	6	12	,	,	PUNCT
american_scientific_journal-2190	6	13	and	and	CCONJ
american_scientific_journal-2190	6	14	multi	multi	ADJ
american_scientific_journal-2190	6	15	-	-	ADJ
american_scientific_journal-2190	6	16	media	media	ADJ
american_scientific_journal-2190	6	17	possibilities	possibility	NOUN
american_scientific_journal-2190	6	18	in	in	ADP
american_scientific_journal-2190	6	19	all	all	DET
american_scientific_journal-2190	6	20	areas	area	NOUN
american_scientific_journal-2190	6	21	of	of	ADP
american_scientific_journal-2190	6	22	everyday	everyday	ADJ
american_scientific_journal-2190	6	23	life	life	NOUN
american_scientific_journal-2190	6	24	:	:	PUNCT
american_scientific_journal-2190	6	25	at	at	ADP
american_scientific_journal-2190	6	26	home	home	NOUN
american_scientific_journal-2190	6	27	,	,	PUNCT
american_scientific_journal-2190	6	28	at	at	ADP
american_scientific_journal-2190	6	29	work	work	NOUN
american_scientific_journal-2190	6	30	,	,	PUNCT
american_scientific_journal-2190	6	31	in	in	ADP
american_scientific_journal-2190	6	32	public	public	ADJ
american_scientific_journal-2190	6	33	environments	environment	NOUN
american_scientific_journal-2190	6	34	,	,	PUNCT
american_scientific_journal-2190	6	35	and	and	CCONJ
american_scientific_journal-2190	6	36	in	in	ADP
american_scientific_journal-2190	6	37	remote	remote	ADJ
american_scientific_journal-2190	6	38	locations	location	NOUN
american_scientific_journal-2190	6	39	such	such	ADJ
american_scientific_journal-2190	6	40	as	as	ADP
american_scientific_journal-2190	6	41	space	space	NOUN
american_scientific_journal-2190	6	42	and	and	CCONJ
american_scientific_journal-2190	6	43	deep	deep	ADJ
american_scientific_journal-2190	6	44	sea	sea	NOUN
american_scientific_journal-2190	6	45	,	,	PUNCT
american_scientific_journal-2190	6	46	they	they	PRON
american_scientific_journal-2190	6	47	are	be	AUX
american_scientific_journal-2190	6	48	being	be	AUX
american_scientific_journal-2190	6	49	employed	employ	VERB
american_scientific_journal-2190	6	50	not	not	PART
american_scientific_journal-2190	6	51	only	only	ADV
american_scientific_journal-2190	6	52	in	in	ADP
american_scientific_journal-2190	6	53	industry	industry	NOUN
american_scientific_journal-2190	6	54	but	but	CCONJ
american_scientific_journal-2190	6	55	also	also	ADV
american_scientific_journal-2190	6	56	in	in	ADP
american_scientific_journal-2190	6	57	service	service	NOUN
american_scientific_journal-2190	6	58	-	-	PUNCT
american_scientific_journal-2190	6	59	oriented	orient	VERB
american_scientific_journal-2190	6	60	applications	application	NOUN
american_scientific_journal-2190	6	61	.	.	PUNCT
american_scientific_journal-2190	7	1	the	the	DET
american_scientific_journal-2190	7	2	ability	ability	NOUN
american_scientific_journal-2190	7	3	of	of	ADP
american_scientific_journal-2190	7	4	mobile	mobile	ADJ
american_scientific_journal-2190	7	5	robots	robot	NOUN
american_scientific_journal-2190	7	6	to	to	PART
american_scientific_journal-2190	7	7	perform	perform	VERB
american_scientific_journal-2190	7	8	a	a	DET
american_scientific_journal-2190	7	9	significantly	significantly	ADV
american_scientific_journal-2190	7	10	extended	extended	ADJ
american_scientific_journal-2190	7	11	range	range	NOUN
american_scientific_journal-2190	7	12	of	of	ADP
american_scientific_journal-2190	7	13	tasks	task	NOUN
american_scientific_journal-2190	7	14	and	and	CCONJ
american_scientific_journal-2190	7	15	services	service	NOUN
american_scientific_journal-2190	7	16	many	many	ADJ
american_scientific_journal-2190	7	17	locations	location	NOUN
american_scientific_journal-2190	7	18	offer	offer	VERB
american_scientific_journal-2190	7	19	a	a	DET
american_scientific_journal-2190	7	20	great	great	ADJ
american_scientific_journal-2190	7	21	request	request	NOUN
american_scientific_journal-2190	7	22	for	for	ADP
american_scientific_journal-2190	7	23	specialized	specialized	ADJ
american_scientific_journal-2190	7	24	applications	application	NOUN
american_scientific_journal-2190	7	25	that	that	PRON
american_scientific_journal-2190	7	26	lead	lead	VERB
american_scientific_journal-2190	7	27	to	to	PART
american_scientific_journal-2190	7	28	increase	increase	VERB
american_scientific_journal-2190	7	29	the	the	DET
american_scientific_journal-2190	7	30	interest	interest	NOUN
american_scientific_journal-2190	7	31	in	in	ADP
american_scientific_journal-2190	7	32	mobile	mobile	ADJ
american_scientific_journal-2190	7	33	robots	robot	NOUN
american_scientific_journal-2190	7	34	.	.	PUNCT
american_scientific_journal-2190	8	1	this	this	PRON
american_scientific_journal-2190	8	2	leads	lead	VERB
american_scientific_journal-2190	8	3	to	to	PART
american_scientific_journal-2190	8	4	increase	increase	VERB
american_scientific_journal-2190	8	5	the	the	DET
american_scientific_journal-2190	8	6	interest	interest	NOUN
american_scientific_journal-2190	8	7	in	in	ADP
american_scientific_journal-2190	8	8	mobile	mobile	ADJ
american_scientific_journal-2190	8	9	robots	robot	NOUN
american_scientific_journal-2190	8	10	[	[	X
american_scientific_journal-2190	8	11	1	1	NUM
american_scientific_journal-2190	8	12	]	]	PUNCT
american_scientific_journal-2190	8	13	.	.	PUNCT
american_scientific_journal-2190	9	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-2190	10	1	*	*	PUNCT
american_scientific_journal-2190	10	2	corresponding	correspond	VERB
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american_scientific_journal-2190	10	4	.	.	PUNCT
american_scientific_journal-2190	11	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-2190	11	2	american	american	PROPN
american_scientific_journal-2190	11	3	scientific	scientific	PROPN
american_scientific_journal-2190	11	4	research	research	NOUN
american_scientific_journal-2190	11	5	journal	journal	NOUN
american_scientific_journal-2190	11	6	for	for	ADP
american_scientific_journal-2190	11	7	engineering	engineering	NOUN
american_scientific_journal-2190	11	8	,	,	PUNCT
american_scientific_journal-2190	11	9	technology	technology	NOUN
american_scientific_journal-2190	11	10	,	,	PUNCT
american_scientific_journal-2190	11	11	and	and	CCONJ
american_scientific_journal-2190	11	12	sciences	science	NOUN
american_scientific_journal-2190	11	13	(	(	PUNCT
american_scientific_journal-2190	11	14	asrjets	asrjet	NOUN
american_scientific_journal-2190	11	15	)	)	PUNCT
american_scientific_journal-2190	11	16	(	(	PUNCT
american_scientific_journal-2190	11	17	2016	2016	NUM
american_scientific_journal-2190	11	18	)	)	PUNCT
american_scientific_journal-2190	11	19	volume	volume	NOUN
american_scientific_journal-2190	11	20	26	26	NUM
american_scientific_journal-2190	11	21	,	,	PUNCT
american_scientific_journal-2190	11	22	no	no	DET
american_scientific_journal-2190	11	23	1	1	NUM
american_scientific_journal-2190	11	24	,	,	PUNCT
american_scientific_journal-2190	11	25	pp	pp	ADV
american_scientific_journal-2190	11	26	91	91	NUM
american_scientific_journal-2190	11	27	-	-	SYM
american_scientific_journal-2190	11	28	107	107	NUM
american_scientific_journal-2190	11	29	92	92	NUM
american_scientific_journal-2190	11	30	the	the	DET
american_scientific_journal-2190	11	31	mobile	mobile	ADJ
american_scientific_journal-2190	11	32	robots	robot	NOUN
american_scientific_journal-2190	11	33	have	have	VERB
american_scientific_journal-2190	11	34	potential	potential	ADJ
american_scientific_journal-2190	11	35	application	application	NOUN
american_scientific_journal-2190	11	36	in	in	ADP
american_scientific_journal-2190	11	37	many	many	ADJ
american_scientific_journal-2190	11	38	areas	area	NOUN
american_scientific_journal-2190	11	39	for	for	ADP
american_scientific_journal-2190	11	40	example	example	NOUN
american_scientific_journal-2190	11	41	:	:	PUNCT
american_scientific_journal-2190	11	42	•	•	NOUN
american_scientific_journal-2190	11	43	service	service	NOUN
american_scientific_journal-2190	11	44	robots	robot	NOUN
american_scientific_journal-2190	11	45	:	:	PUNCT
american_scientific_journal-2190	11	46	o	o	NOUN
american_scientific_journal-2190	11	47	transportation	transportation	NOUN
american_scientific_journal-2190	11	48	of	of	ADP
american_scientific_journal-2190	11	49	food	food	NOUN
american_scientific_journal-2190	11	50	and	and	CCONJ
american_scientific_journal-2190	11	51	medication	medication	NOUN
american_scientific_journal-2190	11	52	.	.	PUNCT
american_scientific_journal-2190	12	1	o	o	X
american_scientific_journal-2190	12	2	automatic	automatic	ADJ
american_scientific_journal-2190	12	3	cleaning	cleaning	NOUN
american_scientific_journal-2190	12	4	of	of	ADP
american_scientific_journal-2190	12	5	large	large	ADJ
american_scientific_journal-2190	12	6	areas	area	NOUN
american_scientific_journal-2190	12	7	(	(	PUNCT
american_scientific_journal-2190	12	8	e.g.	e.g.	ADV
american_scientific_journal-2190	12	9	airports	airport	NOUN
american_scientific_journal-2190	12	10	,	,	PUNCT
american_scientific_journal-2190	12	11	industrial	industrial	ADJ
american_scientific_journal-2190	12	12	sites	site	NOUN
american_scientific_journal-2190	12	13	,	,	PUNCT
american_scientific_journal-2190	12	14	supermarkets	supermarket	NOUN
american_scientific_journal-2190	12	15	,	,	PUNCT
american_scientific_journal-2190	12	16	domestic	domestic	ADJ
american_scientific_journal-2190	12	17	vacuumcleaner	vacuumcleaner	NOUN
american_scientific_journal-2190	12	18	)	)	PUNCT
american_scientific_journal-2190	12	19	.	.	PUNCT
american_scientific_journal-2190	13	1	o	o	PROPN
american_scientific_journal-2190	13	2	client	client	NOUN
american_scientific_journal-2190	13	3	support	support	NOUN
american_scientific_journal-2190	13	4	(	(	PUNCT
american_scientific_journal-2190	13	5	e.g.	e.g.	ADV
american_scientific_journal-2190	13	6	exhibitions	exhibition	NOUN
american_scientific_journal-2190	13	7	guides	guide	NOUN
american_scientific_journal-2190	13	8	,	,	PUNCT
american_scientific_journal-2190	13	9	museum	museum	NOUN
american_scientific_journal-2190	13	10	tours	tour	NOUN
american_scientific_journal-2190	13	11	)	)	PUNCT
american_scientific_journal-2190	13	12	o	o	NOUN
american_scientific_journal-2190	13	13	agricultural	agricultural	ADJ
american_scientific_journal-2190	13	14	:	:	PUNCT
american_scientific_journal-2190	13	15	planting	planting	NOUN
american_scientific_journal-2190	13	16	,	,	PUNCT
american_scientific_journal-2190	13	17	fruit	fruit	NOUN
american_scientific_journal-2190	13	18	and	and	CCONJ
american_scientific_journal-2190	13	19	vegetable	vegetable	NOUN
american_scientific_journal-2190	13	20	picking	picking	NOUN
american_scientific_journal-2190	13	21	.	.	PUNCT
american_scientific_journal-2190	14	1	o	o	NOUN
american_scientific_journal-2190	14	2	forests	forest	NOUN
american_scientific_journal-2190	14	3	:	:	PUNCT
american_scientific_journal-2190	14	4	cleaning	clean	VERB
american_scientific_journal-2190	14	5	,	,	PUNCT
american_scientific_journal-2190	14	6	tree	tree	NOUN
american_scientific_journal-2190	14	7	cutting	cutting	NOUN
american_scientific_journal-2190	14	8	and	and	CCONJ
american_scientific_journal-2190	14	9	fire	fire	NOUN
american_scientific_journal-2190	14	10	preventing	prevent	VERB
american_scientific_journal-2190	14	11	•	•	ADJ
american_scientific_journal-2190	14	12	space	space	NOUN
american_scientific_journal-2190	14	13	:	:	PUNCT
american_scientific_journal-2190	14	14	o	o	NOUN
american_scientific_journal-2190	14	15	space	space	NOUN
american_scientific_journal-2190	14	16	exploration	exploration	NOUN
american_scientific_journal-2190	14	17	o	o	NOUN
american_scientific_journal-2190	14	18	remote	remote	ADJ
american_scientific_journal-2190	14	19	inspection	inspection	NOUN
american_scientific_journal-2190	14	20	of	of	ADP
american_scientific_journal-2190	14	21	space	space	NOUN
american_scientific_journal-2190	14	22	stations	station	NOUN
american_scientific_journal-2190	14	23	•	•	ADV
american_scientific_journal-2190	14	24	elderly	elderly	ADJ
american_scientific_journal-2190	14	25	and	and	CCONJ
american_scientific_journal-2190	14	26	handicapped	handicapped	ADJ
american_scientific_journal-2190	14	27	o	o	NOUN
american_scientific_journal-2190	14	28	assistance	assistance	NOUN
american_scientific_journal-2190	14	29	to	to	ADP
american_scientific_journal-2190	14	30	handicapped	handicapped	ADJ
american_scientific_journal-2190	14	31	or	or	CCONJ
american_scientific_journal-2190	14	32	elderly	elderly	ADJ
american_scientific_journal-2190	14	33	people	people	NOUN
american_scientific_journal-2190	14	34	,	,	PUNCT
american_scientific_journal-2190	14	35	helping	help	VERB
american_scientific_journal-2190	14	36	in	in	ADP
american_scientific_journal-2190	14	37	transportation	transportation	NOUN
american_scientific_journal-2190	14	38	,	,	PUNCT
american_scientific_journal-2190	14	39	healthcare	healthcare	PROPN
american_scientific_journal-2190	15	1	[	[	X
american_scientific_journal-2190	15	2	2	2	NUM
american_scientific_journal-2190	15	3	]	]	PUNCT
american_scientific_journal-2190	15	4	.	.	PUNCT
american_scientific_journal-2190	16	1	the	the	DET
american_scientific_journal-2190	16	2	aim	aim	NOUN
american_scientific_journal-2190	16	3	of	of	ADP
american_scientific_journal-2190	16	4	this	this	DET
american_scientific_journal-2190	16	5	study	study	NOUN
american_scientific_journal-2190	16	6	is	be	AUX
american_scientific_journal-2190	16	7	to	to	PART
american_scientific_journal-2190	16	8	design	design	VERB
american_scientific_journal-2190	16	9	,	,	PUNCT
american_scientific_journal-2190	16	10	analyze	analyze	VERB
american_scientific_journal-2190	16	11	,	,	PUNCT
american_scientific_journal-2190	16	12	assesse	assesse	VERB
american_scientific_journal-2190	16	13	a	a	DET
american_scientific_journal-2190	16	14	set	set	NOUN
american_scientific_journal-2190	16	15	of	of	ADP
american_scientific_journal-2190	16	16	algorithms	algorithm	NOUN
american_scientific_journal-2190	16	17	to	to	PART
american_scientific_journal-2190	16	18	give	give	VERB
american_scientific_journal-2190	16	19	the	the	DET
american_scientific_journal-2190	16	20	robot	robot	NOUN
american_scientific_journal-2190	16	21	the	the	DET
american_scientific_journal-2190	16	22	ability	ability	NOUN
american_scientific_journal-2190	16	23	to	to	PART
american_scientific_journal-2190	16	24	follow	follow	VERB
american_scientific_journal-2190	16	25	the	the	DET
american_scientific_journal-2190	16	26	optimum	optimum	ADJ
american_scientific_journal-2190	16	27	path	path	NOUN
american_scientific_journal-2190	16	28	when	when	SCONJ
american_scientific_journal-2190	16	29	move	move	VERB
american_scientific_journal-2190	16	30	in	in	ADP
american_scientific_journal-2190	16	31	known	know	VERB
american_scientific_journal-2190	16	32	environment	environment	NOUN
american_scientific_journal-2190	16	33	form	form	NOUN
american_scientific_journal-2190	16	34	known	know	VERB
american_scientific_journal-2190	16	35	position	position	NOUN
american_scientific_journal-2190	16	36	to	to	ADP
american_scientific_journal-2190	16	37	a	a	DET
american_scientific_journal-2190	16	38	specific	specific	ADJ
american_scientific_journal-2190	16	39	goal	goal	NOUN
american_scientific_journal-2190	16	40	.	.	PUNCT
american_scientific_journal-2190	17	1	to	to	PART
american_scientific_journal-2190	17	2	achieve	achieve	VERB
american_scientific_journal-2190	17	3	the	the	DET
american_scientific_journal-2190	17	4	above	above	ADJ
american_scientific_journal-2190	17	5	aim	aim	NOUN
american_scientific_journal-2190	17	6	,	,	PUNCT
american_scientific_journal-2190	17	7	three	three	NUM
american_scientific_journal-2190	17	8	main	main	ADJ
american_scientific_journal-2190	17	9	algorithms	algorithm	NOUN
american_scientific_journal-2190	17	10	will	will	AUX
american_scientific_journal-2190	17	11	be	be	AUX
american_scientific_journal-2190	17	12	built	build	VERB
american_scientific_journal-2190	17	13	.	.	PUNCT
american_scientific_journal-2190	18	1	firstly	firstly	ADV
american_scientific_journal-2190	18	2	,	,	PUNCT
american_scientific_journal-2190	18	3	a	a	DET
american_scientific_journal-2190	18	4	path	path	NOUN
american_scientific_journal-2190	18	5	planning	planning	NOUN
american_scientific_journal-2190	18	6	algorithm	algorithm	NOUN
american_scientific_journal-2190	18	7	to	to	PART
american_scientific_journal-2190	18	8	construct	construct	VERB
american_scientific_journal-2190	18	9	the	the	DET
american_scientific_journal-2190	18	10	required	required	ADJ
american_scientific_journal-2190	18	11	path	path	NOUN
american_scientific_journal-2190	18	12	.	.	PUNCT
american_scientific_journal-2190	19	1	secondly	secondly	ADV
american_scientific_journal-2190	19	2	,	,	PUNCT
american_scientific_journal-2190	19	3	a	a	DET
american_scientific_journal-2190	19	4	motion	motion	NOUN
american_scientific_journal-2190	19	5	control	control	NOUN
american_scientific_journal-2190	19	6	algorithm	algorithm	NOUN
american_scientific_journal-2190	19	7	to	to	PART
american_scientific_journal-2190	19	8	successfully	successfully	ADV
american_scientific_journal-2190	19	9	follow	follow	VERB
american_scientific_journal-2190	19	10	the	the	DET
american_scientific_journal-2190	19	11	constructed	construct	VERB
american_scientific_journal-2190	19	12	path	path	NOUN
american_scientific_journal-2190	19	13	from	from	ADP
american_scientific_journal-2190	19	14	the	the	DET
american_scientific_journal-2190	19	15	first	first	ADJ
american_scientific_journal-2190	19	16	algorithm	algorithm	NOUN
american_scientific_journal-2190	19	17	.	.	PUNCT
american_scientific_journal-2190	20	1	finally	finally	ADV
american_scientific_journal-2190	20	2	,	,	PUNCT
american_scientific_journal-2190	20	3	an	an	DET
american_scientific_journal-2190	20	4	obstacle	obstacle	NOUN
american_scientific_journal-2190	20	5	detection	detection	NOUN
american_scientific_journal-2190	20	6	algorithm	algorithm	NOUN
american_scientific_journal-2190	20	7	to	to	PART
american_scientific_journal-2190	20	8	ensure	ensure	VERB
american_scientific_journal-2190	20	9	that	that	SCONJ
american_scientific_journal-2190	20	10	the	the	DET
american_scientific_journal-2190	20	11	robot	robot	NOUN
american_scientific_journal-2190	20	12	will	will	AUX
american_scientific_journal-2190	20	13	not	not	PART
american_scientific_journal-2190	20	14	hit	hit	VERB
american_scientific_journal-2190	20	15	any	any	DET
american_scientific_journal-2190	20	16	object	object	NOUN
american_scientific_journal-2190	20	17	while	while	SCONJ
american_scientific_journal-2190	20	18	move	move	VERB
american_scientific_journal-2190	20	19	to	to	ADP
american_scientific_journal-2190	20	20	its	its	PRON
american_scientific_journal-2190	20	21	goal	goal	NOUN
american_scientific_journal-2190	20	22	.	.	PUNCT
american_scientific_journal-2190	21	1	2	2	X
american_scientific_journal-2190	21	2	.	.	X
american_scientific_journal-2190	21	3	robot	robot	NOUN
american_scientific_journal-2190	21	4	kinematic	kinematic	VERB
american_scientific_journal-2190	21	5	to	to	PART
american_scientific_journal-2190	21	6	be	be	AUX
american_scientific_journal-2190	21	7	able	able	ADJ
american_scientific_journal-2190	21	8	to	to	PART
american_scientific_journal-2190	21	9	create	create	VERB
american_scientific_journal-2190	21	10	a	a	DET
american_scientific_journal-2190	21	11	control	control	NOUN
american_scientific_journal-2190	21	12	program	program	NOUN
american_scientific_journal-2190	21	13	for	for	ADP
american_scientific_journal-2190	21	14	mobile	mobile	ADJ
american_scientific_journal-2190	21	15	robot	robot	NOUN
american_scientific_journal-2190	21	16	hardware	hardware	NOUN
american_scientific_journal-2190	21	17	,	,	PUNCT
american_scientific_journal-2190	21	18	it	it	PRON
american_scientific_journal-2190	21	19	is	be	AUX
american_scientific_journal-2190	21	20	important	important	ADJ
american_scientific_journal-2190	21	21	to	to	PART
american_scientific_journal-2190	21	22	understand	understand	VERB
american_scientific_journal-2190	21	23	the	the	DET
american_scientific_journal-2190	21	24	mechanical	mechanical	ADJ
american_scientific_journal-2190	21	25	behavior	behavior	NOUN
american_scientific_journal-2190	21	26	of	of	ADP
american_scientific_journal-2190	21	27	that	that	DET
american_scientific_journal-2190	21	28	robot	robot	NOUN
american_scientific_journal-2190	21	29	.	.	PUNCT
american_scientific_journal-2190	22	1	the	the	DET
american_scientific_journal-2190	22	2	process	process	NOUN
american_scientific_journal-2190	22	3	of	of	ADP
american_scientific_journal-2190	22	4	understanding	understand	VERB
american_scientific_journal-2190	22	5	the	the	DET
american_scientific_journal-2190	22	6	behavior	behavior	NOUN
american_scientific_journal-2190	22	7	of	of	ADP
american_scientific_journal-2190	22	8	a	a	DET
american_scientific_journal-2190	22	9	mobile	mobile	ADJ
american_scientific_journal-2190	22	10	robot	robot	NOUN
american_scientific_journal-2190	22	11	starts	start	VERB
american_scientific_journal-2190	22	12	with	with	ADP
american_scientific_journal-2190	22	13	the	the	DET
american_scientific_journal-2190	22	14	procedure	procedure	NOUN
american_scientific_journal-2190	22	15	of	of	ADP
american_scientific_journal-2190	22	16	describing	describe	VERB
american_scientific_journal-2190	22	17	each	each	DET
american_scientific_journal-2190	22	18	wheel	wheel	NOUN
american_scientific_journal-2190	22	19	contribution	contribution	NOUN
american_scientific_journal-2190	22	20	for	for	ADP
american_scientific_journal-2190	22	21	the	the	DET
american_scientific_journal-2190	22	22	robot	robot	NOUN
american_scientific_journal-2190	22	23	motion	motion	NOUN
american_scientific_journal-2190	22	24	hence	hence	ADV
american_scientific_journal-2190	22	25	;	;	PUNCT
american_scientific_journal-2190	22	26	each	each	DET
american_scientific_journal-2190	22	27	wheel	wheel	NOUN
american_scientific_journal-2190	22	28	has	have	VERB
american_scientific_journal-2190	22	29	a	a	DET
american_scientific_journal-2190	22	30	role	role	NOUN
american_scientific_journal-2190	22	31	in	in	ADP
american_scientific_journal-2190	22	32	final	final	ADJ
american_scientific_journal-2190	22	33	robot	robot	NOUN
american_scientific_journal-2190	22	34	movement	movement	NOUN
american_scientific_journal-2190	22	35	.	.	PUNCT
american_scientific_journal-2190	23	1	this	this	DET
american_scientific_journal-2190	23	2	section	section	NOUN
american_scientific_journal-2190	23	3	describes	describe	VERB
american_scientific_journal-2190	23	4	the	the	DET
american_scientific_journal-2190	23	5	construction	construction	NOUN
american_scientific_journal-2190	23	6	of	of	ADP
american_scientific_journal-2190	23	7	simple	simple	ADJ
american_scientific_journal-2190	23	8	forward	forward	ADV
american_scientific_journal-2190	23	9	kinematic	kinematic	ADJ
american_scientific_journal-2190	23	10	model	model	NOUN
american_scientific_journal-2190	23	11	of	of	ADP
american_scientific_journal-2190	23	12	the	the	DET
american_scientific_journal-2190	23	13	robot	robot	NOUN
american_scientific_journal-2190	23	14	motion	motion	NOUN
american_scientific_journal-2190	23	15	.	.	PUNCT
american_scientific_journal-2190	24	1	then	then	ADV
american_scientific_journal-2190	24	2	derives	derive	VERB
american_scientific_journal-2190	24	3	equations	equation	NOUN
american_scientific_journal-2190	24	4	for	for	ADP
american_scientific_journal-2190	24	5	combine	combine	VERB
american_scientific_journal-2190	24	6	the	the	DET
american_scientific_journal-2190	24	7	kinematics	kinematic	NOUN
american_scientific_journal-2190	24	8	construction	construction	NOUN
american_scientific_journal-2190	24	9	of	of	ADP
american_scientific_journal-2190	24	10	wheels	wheel	NOUN
american_scientific_journal-2190	24	11	then	then	ADV
american_scientific_journal-2190	24	12	combine	combine	VERB
american_scientific_journal-2190	24	13	them	they	PRON
american_scientific_journal-2190	24	14	with	with	ADP
american_scientific_journal-2190	24	15	the	the	DET
american_scientific_journal-2190	24	16	kinematic	kinematic	ADJ
american_scientific_journal-2190	24	17	constraints	constraint	NOUN
american_scientific_journal-2190	24	18	of	of	ADP
american_scientific_journal-2190	24	19	the	the	DET
american_scientific_journal-2190	24	20	robot	robot	NOUN
american_scientific_journal-2190	24	21	to	to	PART
american_scientific_journal-2190	24	22	express	express	VERB
american_scientific_journal-2190	24	23	the	the	DET
american_scientific_journal-2190	24	24	whole	whole	ADJ
american_scientific_journal-2190	24	25	robot	robot	NOUN
american_scientific_journal-2190	24	26	’s	’s	PART
american_scientific_journal-2190	24	27	kinematic	kinematic	PROPN
american_scientific_journal-2190	24	28	.	.	PUNCT
american_scientific_journal-2190	25	1	with	with	ADP
american_scientific_journal-2190	25	2	these	these	DET
american_scientific_journal-2190	25	3	equations	equation	NOUN
american_scientific_journal-2190	25	4	,	,	PUNCT
american_scientific_journal-2190	25	5	the	the	DET
american_scientific_journal-2190	25	6	robot	robot	NOUN
american_scientific_journal-2190	25	7	’s	’s	PART
american_scientific_journal-2190	25	8	maneuverability	maneuverability	NOUN
american_scientific_journal-2190	25	9	will	will	AUX
american_scientific_journal-2190	25	10	be	be	AUX
american_scientific_journal-2190	25	11	defined	define	VERB
american_scientific_journal-2190	25	12	and	and	CCONJ
american_scientific_journal-2190	25	13	the	the	DET
american_scientific_journal-2190	25	14	path	path	NOUN
american_scientific_journal-2190	25	15	of	of	ADP
american_scientific_journal-2190	25	16	the	the	DET
american_scientific_journal-2190	25	17	robot	robot	NOUN
american_scientific_journal-2190	25	18	will	will	AUX
american_scientific_journal-2190	25	19	be	be	AUX
american_scientific_journal-2190	25	20	evaluated	evaluate	VERB
american_scientific_journal-2190	25	21	.	.	PUNCT
american_scientific_journal-2190	26	1	the	the	DET
american_scientific_journal-2190	26	2	ni	ni	PROPN
american_scientific_journal-2190	26	3	labview	labview	PROPN
american_scientific_journal-2190	26	4	robotics	robotic	NOUN
american_scientific_journal-2190	26	5	starter	starter	NOUN
american_scientific_journal-2190	26	6	kit	kit	NOUN
american_scientific_journal-2190	26	7	robot	robot	NOUN
american_scientific_journal-2190	26	8	has	have	VERB
american_scientific_journal-2190	26	9	two	two	NUM
american_scientific_journal-2190	26	10	wheels	wheel	NOUN
american_scientific_journal-2190	26	11	,	,	PUNCT
american_scientific_journal-2190	26	12	each	each	PRON
american_scientific_journal-2190	26	13	with	with	ADP
american_scientific_journal-2190	26	14	radius	radius	PROPN
american_scientific_journal-2190	26	15	r.	r.	PROPN
american_scientific_journal-2190	26	16	given	give	VERB
american_scientific_journal-2190	26	17	a	a	DET
american_scientific_journal-2190	26	18	point	point	NOUN
american_scientific_journal-2190	26	19	p	p	NOUN
american_scientific_journal-2190	26	20	in	in	ADP
american_scientific_journal-2190	26	21	the	the	DET
american_scientific_journal-2190	26	22	center	center	NOUN
american_scientific_journal-2190	26	23	between	between	ADP
american_scientific_journal-2190	26	24	the	the	DET
american_scientific_journal-2190	26	25	two	two	NUM
american_scientific_journal-2190	26	26	drive	drive	ADJ
american_scientific_journal-2190	26	27	wheels	wheel	NOUN
american_scientific_journal-2190	26	28	;	;	PUNCT
american_scientific_journal-2190	26	29	l	l	NOUN
american_scientific_journal-2190	26	30	is	be	AUX
american_scientific_journal-2190	26	31	the	the	DET
american_scientific_journal-2190	26	32	distance	distance	NOUN
american_scientific_journal-2190	26	33	from	from	ADP
american_scientific_journal-2190	26	34	the	the	DET
american_scientific_journal-2190	26	35	wheel	wheel	NOUN
american_scientific_journal-2190	26	36	to	to	ADP
american_scientific_journal-2190	26	37	p	p	PRON
american_scientific_journal-2190	26	38	,	,	PUNCT
american_scientific_journal-2190	26	39	the	the	DET
american_scientific_journal-2190	26	40	spinning	spin	VERB
american_scientific_journal-2190	26	41	speed	speed	NOUN
american_scientific_journal-2190	26	42	of	of	ADP
american_scientific_journal-2190	26	43	the	the	DET
american_scientific_journal-2190	26	44	right	right	NOUN
american_scientific_journal-2190	26	45	and	and	CCONJ
american_scientific_journal-2190	26	46	left	leave	VERB
american_scientific_journal-2190	26	47	wheels	wheel	NOUN
american_scientific_journal-2190	26	48	are	be	AUX
american_scientific_journal-2190	26	49	�	�	NOUN
american_scientific_journal-2190	26	50	̇	̇	VERB
american_scientific_journal-2190	26	51	�	�	PROPN
american_scientific_journal-2190	26	52	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	26	53	and	and	CCONJ
american_scientific_journal-2190	26	54	�	�	PROPN
american_scientific_journal-2190	26	55	̇	̇	PROPN
american_scientific_journal-2190	26	56	�	�	PROPN
american_scientific_journal-2190	26	57	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	26	58	respectively	respectively	ADV
american_scientific_journal-2190	26	59	;	;	PUNCT
american_scientific_journal-2190	26	60	θ	θ	PROPN
american_scientific_journal-2190	26	61	represent	represent	VERB
american_scientific_journal-2190	26	62	the	the	DET
american_scientific_journal-2190	26	63	angle	angle	NOUN
american_scientific_journal-2190	26	64	.	.	PUNCT
american_scientific_journal-2190	27	1	the	the	DET
american_scientific_journal-2190	27	2	overall	overall	ADJ
american_scientific_journal-2190	27	3	speed	speed	NOUN
american_scientific_journal-2190	27	4	of	of	ADP
american_scientific_journal-2190	27	5	the	the	DET
american_scientific_journal-2190	27	6	robot	robot	NOUN
american_scientific_journal-2190	27	7	will	will	AUX
american_scientific_journal-2190	27	8	be	be	AUX
american_scientific_journal-2190	27	9	predicted	predict	VERB
american_scientific_journal-2190	27	10	by	by	ADP
american_scientific_journal-2190	27	11	the	the	DET
american_scientific_journal-2190	27	12	forward	forward	ADJ
american_scientific_journal-2190	27	13	kinematic	kinematic	NOUN
american_scientific_journal-2190	27	14	in	in	ADP
american_scientific_journal-2190	27	15	the	the	DET
american_scientific_journal-2190	27	16	robot	robot	NOUN
american_scientific_journal-2190	27	17	reference	reference	NOUN
american_scientific_journal-2190	27	18	frame	frame	NOUN
american_scientific_journal-2190	27	19	:	:	PUNCT
american_scientific_journal-2190	27	20	american	american	PROPN
american_scientific_journal-2190	27	21	scientific	scientific	ADJ
american_scientific_journal-2190	27	22	research	research	PROPN
american_scientific_journal-2190	27	23	journal	journal	NOUN
american_scientific_journal-2190	27	24	for	for	ADP
american_scientific_journal-2190	27	25	engineering	engineering	NOUN
american_scientific_journal-2190	27	26	,	,	PUNCT
american_scientific_journal-2190	27	27	technology	technology	NOUN
american_scientific_journal-2190	27	28	,	,	PUNCT
american_scientific_journal-2190	27	29	and	and	CCONJ
american_scientific_journal-2190	27	30	sciences	science	NOUN
american_scientific_journal-2190	27	31	(	(	PUNCT
american_scientific_journal-2190	27	32	asrjets	asrjet	NOUN
american_scientific_journal-2190	27	33	)	)	PUNCT
american_scientific_journal-2190	27	34	(	(	PUNCT
american_scientific_journal-2190	27	35	2016	2016	NUM
american_scientific_journal-2190	27	36	)	)	PUNCT
american_scientific_journal-2190	27	37	volume	volume	NOUN
american_scientific_journal-2190	27	38	26	26	NUM
american_scientific_journal-2190	27	39	,	,	PUNCT
american_scientific_journal-2190	27	40	no	no	DET
american_scientific_journal-2190	27	41	1	1	NUM
american_scientific_journal-2190	27	42	,	,	PUNCT
american_scientific_journal-2190	27	43	pp	pp	ADV
american_scientific_journal-2190	27	44	91	91	NUM
american_scientific_journal-2190	27	45	-	-	SYM
american_scientific_journal-2190	27	46	107	107	NUM
american_scientific_journal-2190	28	1	93	93	NUM
american_scientific_journal-2190	28	2	𝜉𝜉	𝜉𝜉	NOUN
american_scientific_journal-2190	28	3	�	�	PROPN
american_scientific_journal-2190	28	4	̇	̇	NOUN
american_scientific_journal-2190	28	5	�	�	PROPN
american_scientific_journal-2190	28	6	𝑅	𝑅	PROPN
american_scientific_journal-2190	28	7	=	=	PROPN
american_scientific_journal-2190	28	8	�	�	PROPN
american_scientific_journal-2190	28	9	�	�	PROPN
american_scientific_journal-2190	28	10	̇	̇	PROPN
american_scientific_journal-2190	28	11	�	�	PROPN
american_scientific_journal-2190	28	12	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	28	13	�	�	PROPN
american_scientific_journal-2190	28	14	̇	̇	NOUN
american_scientific_journal-2190	28	15	�	�	PROPN
american_scientific_journal-2190	28	16	𝑌𝑅𝑅	𝑌𝑅𝑅	PROPN
american_scientific_journal-2190	28	17	�	�	PROPN
american_scientific_journal-2190	28	18	̇	̇	PROPN
american_scientific_journal-2190	28	19	�	�	PROPN
american_scientific_journal-2190	28	20	𝜃𝑅𝑅	𝜃𝑅𝑅	ADJ
american_scientific_journal-2190	28	21	�	�	NOUN
american_scientific_journal-2190	28	22	=	=	SYM
american_scientific_journal-2190	28	23	𝑓𝑓(𝐿𝐿	𝑓𝑓(𝐿𝐿	PROPN
american_scientific_journal-2190	28	24	,	,	PUNCT
american_scientific_journal-2190	28	25	𝑟𝑟,𝜃𝜃	𝑟𝑟,𝜃𝜃	NOUN
american_scientific_journal-2190	28	26	,	,	PUNCT
american_scientific_journal-2190	28	27	�	�	PROPN
american_scientific_journal-2190	28	28	̇	̇	PROPN
american_scientific_journal-2190	28	29	�	�	NOUN
american_scientific_journal-2190	28	30	𝜓1	𝜓1	NOUN
american_scientific_journal-2190	28	31	,	,	PUNCT
american_scientific_journal-2190	28	32	�	�	PROPN
american_scientific_journal-2190	28	33	̇	̇	PROPN
american_scientific_journal-2190	28	34	�	�	PROPN
american_scientific_journal-2190	28	35	𝜓2	𝜓2	NOUN
american_scientific_journal-2190	28	36	)	)	PUNCT
american_scientific_journal-2190	28	37	(	(	PUNCT
american_scientific_journal-2190	28	38	1	1	X
american_scientific_journal-2190	28	39	)	)	PUNCT
american_scientific_journal-2190	28	40	by	by	ADP
american_scientific_journal-2190	28	41	supposing	suppose	VERB
american_scientific_journal-2190	28	42	that	that	SCONJ
american_scientific_journal-2190	28	43	the	the	DET
american_scientific_journal-2190	28	44	local	local	ADJ
american_scientific_journal-2190	28	45	reference	reference	NOUN
american_scientific_journal-2190	28	46	frame	frame	NOUN
american_scientific_journal-2190	28	47	of	of	ADP
american_scientific_journal-2190	28	48	the	the	DET
american_scientific_journal-2190	28	49	robot	robot	NOUN
american_scientific_journal-2190	28	50	is	be	AUX
american_scientific_journal-2190	28	51	aligned	align	VERB
american_scientific_journal-2190	28	52	such	such	ADJ
american_scientific_journal-2190	28	53	that	that	SCONJ
american_scientific_journal-2190	28	54	the	the	DET
american_scientific_journal-2190	28	55	+	+	ADJ
american_scientific_journal-2190	28	56	xr	xr	NOUN
american_scientific_journal-2190	28	57	of	of	ADP
american_scientific_journal-2190	28	58	the	the	DET
american_scientific_journal-2190	28	59	robot	robot	NOUN
american_scientific_journal-2190	28	60	is	be	AUX
american_scientific_journal-2190	28	61	in	in	ADP
american_scientific_journal-2190	28	62	the	the	DET
american_scientific_journal-2190	28	63	direction	direction	NOUN
american_scientific_journal-2190	28	64	of	of	ADP
american_scientific_journal-2190	28	65	movement	movement	NOUN
american_scientific_journal-2190	28	66	as	as	SCONJ
american_scientific_journal-2190	28	67	shown	show	VERB
american_scientific_journal-2190	28	68	in	in	ADP
american_scientific_journal-2190	28	69	figure	figure	NOUN
american_scientific_journal-2190	28	70	(	(	PUNCT
american_scientific_journal-2190	28	71	2	2	NUM
american_scientific_journal-2190	28	72	)	)	PUNCT
american_scientific_journal-2190	28	73	figure	figure	NOUN
american_scientific_journal-2190	28	74	1	1	NUM
american_scientific_journal-2190	28	75	:	:	PUNCT
american_scientific_journal-2190	28	76	wheel	wheel	NOUN
american_scientific_journal-2190	28	77	to	to	PART
american_scientific_journal-2190	28	78	wheel	wheel	NOUN
american_scientific_journal-2190	28	79	distance	distance	NOUN
american_scientific_journal-2190	28	80	and	and	CCONJ
american_scientific_journal-2190	28	81	wheels	wheel	NOUN
american_scientific_journal-2190	28	82	radius	radius	NOUN
american_scientific_journal-2190	28	83	figure	figure	NOUN
american_scientific_journal-2190	28	84	2	2	NUM
american_scientific_journal-2190	28	85	:	:	PUNCT
american_scientific_journal-2190	28	86	mobile	mobile	ADJ
american_scientific_journal-2190	28	87	robot	robot	NOUN
american_scientific_journal-2190	28	88	coordinate	coordinate	NOUN
american_scientific_journal-2190	28	89	if	if	SCONJ
american_scientific_journal-2190	28	90	one	one	NUM
american_scientific_journal-2190	28	91	wheel	wheel	NOUN
american_scientific_journal-2190	28	92	spins	spin	VERB
american_scientific_journal-2190	28	93	while	while	SCONJ
american_scientific_journal-2190	28	94	the	the	DET
american_scientific_journal-2190	28	95	other	other	ADJ
american_scientific_journal-2190	28	96	wheel	wheel	NOUN
american_scientific_journal-2190	28	97	is	be	AUX
american_scientific_journal-2190	28	98	stationary	stationary	ADJ
american_scientific_journal-2190	28	99	and	and	CCONJ
american_scientific_journal-2190	28	100	contributes	contribute	VERB
american_scientific_journal-2190	28	101	nothing	nothing	PRON
american_scientific_journal-2190	28	102	,	,	PUNCT
american_scientific_journal-2190	28	103	because	because	SCONJ
american_scientific_journal-2190	28	104	point	point	NOUN
american_scientific_journal-2190	28	105	p	p	NOUN
american_scientific_journal-2190	28	106	is	be	AUX
american_scientific_journal-2190	28	107	halfway	halfway	ADV
american_scientific_journal-2190	28	108	between	between	ADP
american_scientific_journal-2190	28	109	the	the	DET
american_scientific_journal-2190	28	110	two	two	NUM
american_scientific_journal-2190	28	111	wheels	wheel	NOUN
american_scientific_journal-2190	28	112	,	,	PUNCT
american_scientific_journal-2190	28	113	the	the	DET
american_scientific_journal-2190	28	114	robot	robot	NOUN
american_scientific_journal-2190	28	115	will	will	AUX
american_scientific_journal-2190	28	116	move	move	VERB
american_scientific_journal-2190	28	117	instantaneously	instantaneously	ADV
american_scientific_journal-2190	28	118	with	with	ADP
american_scientific_journal-2190	28	119	half	half	DET
american_scientific_journal-2190	28	120	the	the	DET
american_scientific_journal-2190	28	121	speed	speed	NOUN
american_scientific_journal-2190	28	122	:	:	PUNCT
american_scientific_journal-2190	28	123	𝑟𝑟	𝑟𝑟	X
american_scientific_journal-2190	28	124	�	�	PROPN
american_scientific_journal-2190	28	125	̇	̇	PROPN
american_scientific_journal-2190	28	126	�	�	PROPN
american_scientific_journal-2190	28	127	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	28	128	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	28	129	=	=	SYM
american_scientific_journal-2190	28	130	�	�	PROPN
american_scientific_journal-2190	28	131	̇	̇	PROPN
american_scientific_journal-2190	28	132	�	�	PROPN
american_scientific_journal-2190	29	1	𝑋𝑅𝑅1	𝑋𝑅𝑅1	PROPN
american_scientific_journal-2190	29	2	𝐿𝐿	𝐿𝐿	PROPN
american_scientific_journal-2190	29	3	⟹	⟹	PUNCT
american_scientific_journal-2190	29	4	�	�	PROPN
american_scientific_journal-2190	29	5	̇	̇	PROPN
american_scientific_journal-2190	29	6	�	�	PROPN
american_scientific_journal-2190	29	7	𝑋𝑅𝑅1	𝑋𝑅𝑅1	PROPN
american_scientific_journal-2190	29	8	=	=	PROPN
american_scientific_journal-2190	29	9	1	1	NUM
american_scientific_journal-2190	29	10	2	2	NUM
american_scientific_journal-2190	29	11	𝑟𝑟	𝑟𝑟	ADP
american_scientific_journal-2190	29	12	�	�	PROPN
american_scientific_journal-2190	29	13	̇	̇	PROPN
american_scientific_journal-2190	29	14	�	�	PROPN
american_scientific_journal-2190	29	15	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	29	16	(	(	PUNCT
american_scientific_journal-2190	29	17	2	2	X
american_scientific_journal-2190	29	18	)	)	PUNCT
american_scientific_journal-2190	29	19	american	american	ADJ
american_scientific_journal-2190	29	20	scientific	scientific	ADJ
american_scientific_journal-2190	29	21	research	research	NOUN
american_scientific_journal-2190	29	22	journal	journal	NOUN
american_scientific_journal-2190	29	23	for	for	ADP
american_scientific_journal-2190	29	24	engineering	engineering	NOUN
american_scientific_journal-2190	29	25	,	,	PUNCT
american_scientific_journal-2190	29	26	technology	technology	NOUN
american_scientific_journal-2190	29	27	,	,	PUNCT
american_scientific_journal-2190	29	28	and	and	CCONJ
american_scientific_journal-2190	29	29	sciences	science	NOUN
american_scientific_journal-2190	29	30	(	(	PUNCT
american_scientific_journal-2190	29	31	asrjets	asrjet	NOUN
american_scientific_journal-2190	29	32	)	)	PUNCT
american_scientific_journal-2190	29	33	(	(	PUNCT
american_scientific_journal-2190	29	34	2016	2016	NUM
american_scientific_journal-2190	29	35	)	)	PUNCT
american_scientific_journal-2190	29	36	volume	volume	NOUN
american_scientific_journal-2190	29	37	26	26	NUM
american_scientific_journal-2190	29	38	,	,	PUNCT
american_scientific_journal-2190	29	39	no	no	DET
american_scientific_journal-2190	29	40	1	1	NUM
american_scientific_journal-2190	29	41	,	,	PUNCT
american_scientific_journal-2190	29	42	pp	pp	ADV
american_scientific_journal-2190	29	43	91	91	NUM
american_scientific_journal-2190	29	44	-	-	SYM
american_scientific_journal-2190	29	45	107	107	NUM
american_scientific_journal-2190	29	46	94	94	NUM
american_scientific_journal-2190	29	47	in	in	ADP
american_scientific_journal-2190	29	48	a	a	DET
american_scientific_journal-2190	29	49	differential	differential	ADJ
american_scientific_journal-2190	29	50	drive	drive	NOUN
american_scientific_journal-2190	29	51	mobile	mobile	ADJ
american_scientific_journal-2190	29	52	robot	robot	NOUN
american_scientific_journal-2190	29	53	,	,	PUNCT
american_scientific_journal-2190	29	54	these	these	DET
american_scientific_journal-2190	29	55	two	two	NUM
american_scientific_journal-2190	29	56	contributions	contribution	NOUN
american_scientific_journal-2190	29	57	can	can	AUX
american_scientific_journal-2190	29	58	simply	simply	ADV
american_scientific_journal-2190	29	59	be	be	AUX
american_scientific_journal-2190	29	60	added	add	VERB
american_scientific_journal-2190	29	61	to	to	PART
american_scientific_journal-2190	29	62	calculate	calculate	VERB
american_scientific_journal-2190	29	63	the	the	DET
american_scientific_journal-2190	29	64	�	�	PROPN
american_scientific_journal-2190	29	65	̇	̇	NOUN
american_scientific_journal-2190	29	66	�	�	PROPN
american_scientific_journal-2190	29	67	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	29	68	of	of	ADP
american_scientific_journal-2190	29	69	𝜉𝜉	𝜉𝜉	PROPN
american_scientific_journal-2190	29	70	�	�	PROPN
american_scientific_journal-2190	29	71	̇	̇	NOUN
american_scientific_journal-2190	29	72	�	�	PROPN
american_scientific_journal-2190	29	73	𝑅	𝑅	PROPN
american_scientific_journal-2190	29	74	the	the	DET
american_scientific_journal-2190	29	75	value	value	NOUN
american_scientific_journal-2190	29	76	of	of	ADP
american_scientific_journal-2190	29	77	�	�	PROPN
american_scientific_journal-2190	29	78	̇	̇	PROPN
american_scientific_journal-2190	29	79	�	�	NOUN
american_scientific_journal-2190	29	80	𝑌𝑅𝑅	𝑌𝑅𝑅	PROPN
american_scientific_journal-2190	29	81	is	be	AUX
american_scientific_journal-2190	29	82	always	always	ADV
american_scientific_journal-2190	29	83	zero	zero	NUM
american_scientific_journal-2190	29	84	because	because	SCONJ
american_scientific_journal-2190	29	85	the	the	DET
american_scientific_journal-2190	29	86	wheels	wheel	NOUN
american_scientific_journal-2190	29	87	can	can	AUX
american_scientific_journal-2190	29	88	not	not	PART
american_scientific_journal-2190	29	89	contribute	contribute	VERB
american_scientific_journal-2190	29	90	to	to	ADP
american_scientific_journal-2190	29	91	sideways	sideways	ADJ
american_scientific_journal-2190	29	92	motion	motion	NOUN
american_scientific_journal-2190	29	93	in	in	ADP
american_scientific_journal-2190	29	94	the	the	DET
american_scientific_journal-2190	29	95	reference	reference	NOUN
american_scientific_journal-2190	29	96	frame	frame	NOUN
american_scientific_journal-2190	29	97	of	of	ADP
american_scientific_journal-2190	29	98	the	the	DET
american_scientific_journal-2190	29	99	robot	robot	NOUN
american_scientific_journal-2190	29	100	�	�	PROPN
american_scientific_journal-2190	29	101	̇	̇	PROPN
american_scientific_journal-2190	29	102	�	�	NOUN
american_scientific_journal-2190	29	103	𝑌𝑅𝑅	𝑌𝑅𝑅	NOUN
american_scientific_journal-2190	29	104	=	=	SYM
american_scientific_journal-2190	29	105	0	0	NUM
american_scientific_journal-2190	29	106	.	.	PUNCT
american_scientific_journal-2190	30	1	finally	finally	ADV
american_scientific_journal-2190	30	2	,	,	PUNCT
american_scientific_journal-2190	30	3	it	it	PRON
american_scientific_journal-2190	30	4	is	be	AUX
american_scientific_journal-2190	30	5	essential	essential	ADJ
american_scientific_journal-2190	30	6	to	to	PART
american_scientific_journal-2190	30	7	compute	compute	VERB
american_scientific_journal-2190	30	8	the	the	DET
american_scientific_journal-2190	30	9	rotational	rotational	ADJ
american_scientific_journal-2190	30	10	component	component	NOUN
american_scientific_journal-2190	30	11	�	�	PROPN
american_scientific_journal-2190	30	12	̇	̇	PROPN
american_scientific_journal-2190	30	13	�	�	PROPN
american_scientific_journal-2190	30	14	𝜃	𝜃	NUM
american_scientific_journal-2190	30	15	of𝜉𝜉	of𝜉𝜉	NOUN
american_scientific_journal-2190	30	16	�	�	PROPN
american_scientific_journal-2190	30	17	̇	̇	NOUN
american_scientific_journal-2190	30	18	�	�	PROPN
american_scientific_journal-2190	30	19	𝑅.	𝑅.	NOUN
american_scientific_journal-2190	30	20	the	the	DET
american_scientific_journal-2190	30	21	contributions	contribution	NOUN
american_scientific_journal-2190	30	22	of	of	ADP
american_scientific_journal-2190	30	23	each	each	DET
american_scientific_journal-2190	30	24	wheel	wheel	NOUN
american_scientific_journal-2190	30	25	can	can	AUX
american_scientific_journal-2190	30	26	be	be	AUX
american_scientific_journal-2190	30	27	computed	compute	VERB
american_scientific_journal-2190	30	28	independently	independently	ADV
american_scientific_journal-2190	30	29	and	and	CCONJ
american_scientific_journal-2190	30	30	just	just	ADV
american_scientific_journal-2190	30	31	added	add	VERB
american_scientific_journal-2190	30	32	combining	combine	VERB
american_scientific_journal-2190	30	33	these	these	DET
american_scientific_journal-2190	30	34	individual	individual	ADJ
american_scientific_journal-2190	30	35	formulas	formula	NOUN
american_scientific_journal-2190	30	36	(	(	PUNCT
american_scientific_journal-2190	30	37	�	�	PROPN
american_scientific_journal-2190	30	38	̇	̇	NOUN
american_scientific_journal-2190	30	39	�	�	SYM
american_scientific_journal-2190	30	40	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	30	41	,	,	PUNCT
american_scientific_journal-2190	30	42	�	�	PROPN
american_scientific_journal-2190	30	43	̇	̇	PROPN
american_scientific_journal-2190	30	44	�	�	NOUN
american_scientific_journal-2190	30	45	𝑌𝑅𝑅	𝑌𝑅𝑅	PROPN
american_scientific_journal-2190	30	46	,	,	PUNCT
american_scientific_journal-2190	30	47	�	�	PROPN
american_scientific_journal-2190	30	48	̇	̇	PROPN
american_scientific_journal-2190	30	49	�	�	NOUN
american_scientific_journal-2190	30	50	𝜃𝑅𝑅	𝜃𝑅𝑅	NOUN
american_scientific_journal-2190	30	51	)	)	PUNCT
american_scientific_journal-2190	30	52	yields	yield	VERB
american_scientific_journal-2190	30	53	a	a	DET
american_scientific_journal-2190	30	54	kinematic	kinematic	ADJ
american_scientific_journal-2190	30	55	model	model	NOUN
american_scientific_journal-2190	30	56	for	for	ADP
american_scientific_journal-2190	30	57	the	the	DET
american_scientific_journal-2190	30	58	differential	differential	ADJ
american_scientific_journal-2190	30	59	-	-	PUNCT
american_scientific_journal-2190	30	60	drive	drive	NOUN
american_scientific_journal-2190	30	61	mobile	mobile	ADJ
american_scientific_journal-2190	30	62	robot	robot	NOUN
american_scientific_journal-2190	30	63	:	:	PUNCT
american_scientific_journal-2190	30	64	𝑟𝑟	𝑟𝑟	PROPN
american_scientific_journal-2190	30	65	�	�	PROPN
american_scientific_journal-2190	30	66	̇	̇	PROPN
american_scientific_journal-2190	30	67	�	�	PROPN
american_scientific_journal-2190	30	68	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	30	69	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	30	70	=	=	SYM
american_scientific_journal-2190	30	71	�	�	PROPN
american_scientific_journal-2190	30	72	̇	̇	PROPN
american_scientific_journal-2190	30	73	�	�	PROPN
american_scientific_journal-2190	30	74	𝑋𝑅𝑅2	𝑋𝑅𝑅2	PROPN
american_scientific_journal-2190	30	75	𝐿𝐿	𝐿𝐿	PROPN
american_scientific_journal-2190	30	76	⟹	⟹	PUNCT
american_scientific_journal-2190	30	77	�	�	PROPN
american_scientific_journal-2190	30	78	̇	̇	PROPN
american_scientific_journal-2190	30	79	�	�	PROPN
american_scientific_journal-2190	30	80	𝑋𝑅𝑅2	𝑋𝑅𝑅2	PROPN
american_scientific_journal-2190	30	81	=	=	PROPN
american_scientific_journal-2190	30	82	1	1	NUM
american_scientific_journal-2190	30	83	2	2	NUM
american_scientific_journal-2190	30	84	𝑟𝑟	𝑟𝑟	ADP
american_scientific_journal-2190	30	85	�	�	PROPN
american_scientific_journal-2190	30	86	̇	̇	PROPN
american_scientific_journal-2190	30	87	�	�	PROPN
american_scientific_journal-2190	30	88	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	30	89	(	(	PUNCT
american_scientific_journal-2190	30	90	3	3	NUM
american_scientific_journal-2190	30	91	)	)	PUNCT
american_scientific_journal-2190	30	92	�	�	PROPN
american_scientific_journal-2190	30	93	̇	̇	VERB
american_scientific_journal-2190	30	94	�	�	NOUN
american_scientific_journal-2190	30	95	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	30	96	=	=	SYM
american_scientific_journal-2190	30	97	1	1	NUM
american_scientific_journal-2190	30	98	2	2	NUM
american_scientific_journal-2190	30	99	𝑟𝑟	𝑟𝑟	ADP
american_scientific_journal-2190	30	100	�	�	PROPN
american_scientific_journal-2190	30	101	̇	̇	PROPN
american_scientific_journal-2190	30	102	�	�	PROPN
american_scientific_journal-2190	30	103	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	30	104	+	+	CCONJ
american_scientific_journal-2190	30	105	1	1	NUM
american_scientific_journal-2190	30	106	2	2	NUM
american_scientific_journal-2190	30	107	𝑟𝑟	𝑟𝑟	ADP
american_scientific_journal-2190	30	108	�	�	PROPN
american_scientific_journal-2190	30	109	̇	̇	PROPN
american_scientific_journal-2190	30	110	�	�	PROPN
american_scientific_journal-2190	30	111	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	30	112	(	(	PUNCT
american_scientific_journal-2190	30	113	4	4	NUM
american_scientific_journal-2190	30	114	)	)	PUNCT
american_scientific_journal-2190	30	115	𝑤𝑤1	𝑤𝑤1	NOUN
american_scientific_journal-2190	30	116	=	=	SYM
american_scientific_journal-2190	30	117	−𝑟𝑟	−𝑟𝑟	PROPN
american_scientific_journal-2190	30	118	�	�	PROPN
american_scientific_journal-2190	30	119	̇	̇	PROPN
american_scientific_journal-2190	30	120	�	�	PROPN
american_scientific_journal-2190	30	121	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	30	122	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	30	123	(	(	PUNCT
american_scientific_journal-2190	30	124	5	5	NUM
american_scientific_journal-2190	30	125	)	)	PUNCT
american_scientific_journal-2190	30	126	𝑤𝑤	𝑤𝑤	NOUN
american_scientific_journal-2190	30	127	=	=	SYM
american_scientific_journal-2190	30	128	�	�	PROPN
american_scientific_journal-2190	30	129	̇	̇	PROPN
american_scientific_journal-2190	30	130	�	�	PROPN
american_scientific_journal-2190	30	131	𝜃	𝜃	NOUN
american_scientific_journal-2190	30	132	=	=	SYM
american_scientific_journal-2190	30	133	−𝑟𝑟	−𝑟𝑟	PROPN
american_scientific_journal-2190	30	134	�	�	PROPN
american_scientific_journal-2190	30	135	̇	̇	PROPN
american_scientific_journal-2190	30	136	�	�	PROPN
american_scientific_journal-2190	30	137	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	30	138	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	30	139	+	+	CCONJ
american_scientific_journal-2190	30	140	𝑟𝑟	𝑟𝑟	PART
american_scientific_journal-2190	30	141	�	�	PROPN
american_scientific_journal-2190	30	142	̇	̇	NOUN
american_scientific_journal-2190	30	143	�	�	PROPN
american_scientific_journal-2190	30	144	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	30	145	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	30	146	(	(	PUNCT
american_scientific_journal-2190	30	147	6	6	NUM
american_scientific_journal-2190	30	148	)	)	PUNCT
american_scientific_journal-2190	30	149	𝜉𝜉	𝜉𝜉	PART
american_scientific_journal-2190	30	150	�	�	PROPN
american_scientific_journal-2190	30	151	̇	̇	NOUN
american_scientific_journal-2190	30	152	�	�	PROPN
american_scientific_journal-2190	30	153	𝑅	𝑅	NOUN
american_scientific_journal-2190	30	154	=	=	PROPN
american_scientific_journal-2190	30	155	⎣	⎣	ADJ
american_scientific_journal-2190	30	156	⎢	⎢	NOUN
american_scientific_journal-2190	30	157	⎢	⎢	NOUN
american_scientific_journal-2190	30	158	⎢	⎢	NOUN
american_scientific_journal-2190	30	159	⎡	⎡	NOUN
american_scientific_journal-2190	30	160	𝑟𝑟	𝑟𝑟	ADP
american_scientific_journal-2190	30	161	�	�	PROPN
american_scientific_journal-2190	30	162	̇	̇	PROPN
american_scientific_journal-2190	30	163	�	�	PROPN
american_scientific_journal-2190	30	164	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	30	165	2	2	NUM
american_scientific_journal-2190	30	166	+	+	NUM
american_scientific_journal-2190	30	167	𝑟𝑟	𝑟𝑟	PART
american_scientific_journal-2190	30	168	�	�	PROPN
american_scientific_journal-2190	30	169	̇	̇	NOUN
american_scientific_journal-2190	30	170	�	�	PROPN
american_scientific_journal-2190	30	171	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	30	172	2	2	NUM
american_scientific_journal-2190	30	173	0	0	NUM
american_scientific_journal-2190	30	174	−𝑟𝑟	−𝑟𝑟	PROPN
american_scientific_journal-2190	30	175	�	�	PROPN
american_scientific_journal-2190	30	176	̇	̇	PROPN
american_scientific_journal-2190	30	177	�	�	PROPN
american_scientific_journal-2190	30	178	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	30	179	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	30	180	+	+	CCONJ
american_scientific_journal-2190	30	181	𝑟𝑟	𝑟𝑟	PART
american_scientific_journal-2190	30	182	�	�	PROPN
american_scientific_journal-2190	30	183	̇	̇	NOUN
american_scientific_journal-2190	30	184	�	�	PROPN
american_scientific_journal-2190	30	185	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	30	186	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	30	187	⎦	⎦	NOUN
american_scientific_journal-2190	30	188	⎥	⎥	PROPN
american_scientific_journal-2190	30	189	⎥	⎥	PROPN
american_scientific_journal-2190	30	190	⎥	⎥	PROPN
american_scientific_journal-2190	30	191	⎤	⎤	PROPN
american_scientific_journal-2190	30	192	(	(	PUNCT
american_scientific_journal-2190	30	193	7	7	NUM
american_scientific_journal-2190	30	194	)	)	PUNCT
american_scientific_journal-2190	30	195	�	�	PROPN
american_scientific_journal-2190	30	196	̇	̇	PROPN
american_scientific_journal-2190	30	197	�	�	PROPN
american_scientific_journal-2190	30	198	𝑋𝑅𝑅1	𝑋𝑅𝑅1	PROPN
american_scientific_journal-2190	30	199	𝑟𝑟	𝑟𝑟	PROPN
american_scientific_journal-2190	30	200	�	�	PROPN
american_scientific_journal-2190	30	201	̇	̇	PROPN
american_scientific_journal-2190	30	202	�	�	PROPN
american_scientific_journal-2190	30	203	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	30	204	𝐿𝐿	𝐿𝐿	PROPN
american_scientific_journal-2190	30	205	𝐿𝐿	𝐿𝐿	PROPN
american_scientific_journal-2190	30	206	right	right	ADJ
american_scientific_journal-2190	30	207	wheel	wheel	PROPN
american_scientific_journal-2190	30	208	�	�	PROPN
american_scientific_journal-2190	30	209	̇	̇	PROPN
american_scientific_journal-2190	30	210	�	�	PROPN
american_scientific_journal-2190	30	211	𝑋𝑅𝑅2	𝑋𝑅𝑅2	PROPN
american_scientific_journal-2190	30	212	𝑟𝑟	𝑟𝑟	ADP
american_scientific_journal-2190	30	213	�	�	PROPN
american_scientific_journal-2190	30	214	̇	̇	PROPN
american_scientific_journal-2190	30	215	�	�	PROPN
american_scientific_journal-2190	30	216	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	31	1	𝐿𝐿	𝐿𝐿	PROPN
american_scientific_journal-2190	31	2	𝐿𝐿	𝐿𝐿	PROPN
american_scientific_journal-2190	31	3	left	leave	VERB
american_scientific_journal-2190	31	4	wheel	wheel	ADJ
american_scientific_journal-2190	31	5	american	american	ADJ
american_scientific_journal-2190	31	6	scientific	scientific	ADJ
american_scientific_journal-2190	31	7	research	research	NOUN
american_scientific_journal-2190	31	8	journal	journal	NOUN
american_scientific_journal-2190	31	9	for	for	ADP
american_scientific_journal-2190	31	10	engineering	engineering	NOUN
american_scientific_journal-2190	31	11	,	,	PUNCT
american_scientific_journal-2190	31	12	technology	technology	NOUN
american_scientific_journal-2190	31	13	,	,	PUNCT
american_scientific_journal-2190	31	14	and	and	CCONJ
american_scientific_journal-2190	31	15	sciences	science	NOUN
american_scientific_journal-2190	31	16	(	(	PUNCT
american_scientific_journal-2190	31	17	asrjets	asrjet	NOUN
american_scientific_journal-2190	31	18	)	)	PUNCT
american_scientific_journal-2190	31	19	(	(	PUNCT
american_scientific_journal-2190	31	20	2016	2016	NUM
american_scientific_journal-2190	31	21	)	)	PUNCT
american_scientific_journal-2190	31	22	volume	volume	NOUN
american_scientific_journal-2190	31	23	26	26	NUM
american_scientific_journal-2190	31	24	,	,	PUNCT
american_scientific_journal-2190	31	25	no	no	DET
american_scientific_journal-2190	31	26	1	1	NUM
american_scientific_journal-2190	31	27	,	,	PUNCT
american_scientific_journal-2190	31	28	pp	pp	ADV
american_scientific_journal-2190	31	29	91	91	NUM
american_scientific_journal-2190	31	30	-	-	SYM
american_scientific_journal-2190	31	31	107	107	NUM
american_scientific_journal-2190	31	32	95	95	NUM
american_scientific_journal-2190	31	33	3	3	NUM
american_scientific_journal-2190	31	34	.	.	PUNCT
american_scientific_journal-2190	31	35	path	path	NOUN
american_scientific_journal-2190	31	36	-	-	PUNCT
american_scientific_journal-2190	31	37	planning	planning	NOUN
american_scientific_journal-2190	31	38	,	,	PUNCT
american_scientific_journal-2190	31	39	motion	motion	NOUN
american_scientific_journal-2190	31	40	control	control	NOUN
american_scientific_journal-2190	31	41	and	and	CCONJ
american_scientific_journal-2190	31	42	obstacle	obstacle	NOUN
american_scientific_journal-2190	31	43	detection	detection	NOUN
american_scientific_journal-2190	31	44	subsystems	subsystem	NOUN
american_scientific_journal-2190	31	45	find	find	VERB
american_scientific_journal-2190	31	46	-	-	PUNCT
american_scientific_journal-2190	31	47	path	path	NOUN
american_scientific_journal-2190	31	48	problem	problem	NOUN
american_scientific_journal-2190	31	49	or	or	CCONJ
american_scientific_journal-2190	31	50	path	path	NOUN
american_scientific_journal-2190	31	51	planning	planning	NOUN
american_scientific_journal-2190	31	52	is	be	AUX
american_scientific_journal-2190	31	53	popular	popular	ADJ
american_scientific_journal-2190	31	54	in	in	ADP
american_scientific_journal-2190	31	55	robotics	robotic	NOUN
american_scientific_journal-2190	31	56	since	since	SCONJ
american_scientific_journal-2190	31	57	it	it	PRON
american_scientific_journal-2190	31	58	has	have	VERB
american_scientific_journal-2190	31	59	an	an	DET
american_scientific_journal-2190	31	60	essential	essential	ADJ
american_scientific_journal-2190	31	61	role	role	NOUN
american_scientific_journal-2190	31	62	in	in	ADP
american_scientific_journal-2190	31	63	the	the	DET
american_scientific_journal-2190	31	64	navigation	navigation	NOUN
american_scientific_journal-2190	31	65	of	of	ADP
american_scientific_journal-2190	31	66	autonomous	autonomous	ADJ
american_scientific_journal-2190	31	67	mobile	mobile	ADJ
american_scientific_journal-2190	31	68	robots	robot	NOUN
american_scientific_journal-2190	31	69	.	.	PUNCT
american_scientific_journal-2190	32	1	accurate	accurate	ADJ
american_scientific_journal-2190	32	2	path	path	NOUN
american_scientific_journal-2190	32	3	planning	planning	NOUN
american_scientific_journal-2190	32	4	is	be	AUX
american_scientific_journal-2190	32	5	very	very	ADV
american_scientific_journal-2190	32	6	important	important	ADJ
american_scientific_journal-2190	32	7	for	for	SCONJ
american_scientific_journal-2190	32	8	the	the	DET
american_scientific_journal-2190	32	9	robot	robot	NOUN
american_scientific_journal-2190	32	10	to	to	PART
american_scientific_journal-2190	32	11	be	be	AUX
american_scientific_journal-2190	32	12	able	able	ADJ
american_scientific_journal-2190	32	13	to	to	PART
american_scientific_journal-2190	32	14	track	track	VERB
american_scientific_journal-2190	32	15	an	an	DET
american_scientific_journal-2190	32	16	optimal	optimal	ADJ
american_scientific_journal-2190	32	17	path	path	NOUN
american_scientific_journal-2190	32	18	between	between	ADP
american_scientific_journal-2190	32	19	start	start	NOUN
american_scientific_journal-2190	32	20	position	position	NOUN
american_scientific_journal-2190	32	21	and	and	CCONJ
american_scientific_journal-2190	32	22	goal	goal	NOUN
american_scientific_journal-2190	32	23	position	position	NOUN
american_scientific_journal-2190	32	24	without	without	ADP
american_scientific_journal-2190	32	25	collision	collision	NOUN
american_scientific_journal-2190	32	26	with	with	ADP
american_scientific_journal-2190	32	27	obstacles	obstacle	NOUN
american_scientific_journal-2190	32	28	.	.	PUNCT
american_scientific_journal-2190	33	1	according	accord	VERB
american_scientific_journal-2190	33	2	to	to	ADP
american_scientific_journal-2190	33	3	[	[	X
american_scientific_journal-2190	33	4	3	3	NUM
american_scientific_journal-2190	33	5	]	]	PUNCT
american_scientific_journal-2190	33	6	,	,	PUNCT
american_scientific_journal-2190	33	7	there	there	PRON
american_scientific_journal-2190	33	8	are	be	VERB
american_scientific_journal-2190	33	9	two	two	NUM
american_scientific_journal-2190	33	10	main	main	ADJ
american_scientific_journal-2190	33	11	types	type	NOUN
american_scientific_journal-2190	33	12	of	of	ADP
american_scientific_journal-2190	33	13	path	path	NOUN
american_scientific_journal-2190	33	14	planning	planning	NOUN
american_scientific_journal-2190	33	15	:	:	PUNCT
american_scientific_journal-2190	33	16	global	global	ADJ
american_scientific_journal-2190	33	17	path	path	PROPN
american_scientific_journal-2190	33	18	planning	planning	PROPN
american_scientific_journal-2190	33	19	and	and	CCONJ
american_scientific_journal-2190	33	20	local	local	ADJ
american_scientific_journal-2190	33	21	path	path	NOUN
american_scientific_journal-2190	33	22	planning	planning	NOUN
american_scientific_journal-2190	33	23	.	.	PUNCT
american_scientific_journal-2190	34	1	global	global	ADJ
american_scientific_journal-2190	34	2	path	path	PROPN
american_scientific_journal-2190	34	3	planning	planning	NOUN
american_scientific_journal-2190	34	4	needs	need	VERB
american_scientific_journal-2190	34	5	all	all	DET
american_scientific_journal-2190	34	6	terrain	terrain	NOUN
american_scientific_journal-2190	34	7	to	to	PART
american_scientific_journal-2190	34	8	be	be	AUX
american_scientific_journal-2190	34	9	static	static	ADJ
american_scientific_journal-2190	34	10	.	.	PUNCT
american_scientific_journal-2190	35	1	in	in	ADP
american_scientific_journal-2190	35	2	addition	addition	NOUN
american_scientific_journal-2190	35	3	,	,	PUNCT
american_scientific_journal-2190	35	4	there	there	PRON
american_scientific_journal-2190	35	5	should	should	AUX
american_scientific_journal-2190	35	6	be	be	AUX
american_scientific_journal-2190	35	7	a	a	DET
american_scientific_journal-2190	35	8	complete	complete	ADJ
american_scientific_journal-2190	35	9	awareness	awareness	NOUN
american_scientific_journal-2190	35	10	about	about	ADP
american_scientific_journal-2190	35	11	the	the	DET
american_scientific_journal-2190	35	12	environment	environment	NOUN
american_scientific_journal-2190	35	13	.	.	PUNCT
american_scientific_journal-2190	36	1	in	in	ADP
american_scientific_journal-2190	36	2	contrast	contrast	NOUN
american_scientific_journal-2190	36	3	,	,	PUNCT
american_scientific_journal-2190	36	4	the	the	DET
american_scientific_journal-2190	36	5	implementation	implementation	NOUN
american_scientific_journal-2190	36	6	of	of	ADP
american_scientific_journal-2190	36	7	the	the	DET
american_scientific_journal-2190	36	8	local	local	ADJ
american_scientific_journal-2190	36	9	path	path	NOUN
american_scientific_journal-2190	36	10	planning	planning	NOUN
american_scientific_journal-2190	36	11	is	be	AUX
american_scientific_journal-2190	36	12	while	while	SCONJ
american_scientific_journal-2190	36	13	the	the	DET
american_scientific_journal-2190	36	14	robot	robot	NOUN
american_scientific_journal-2190	36	15	is	be	AUX
american_scientific_journal-2190	36	16	moving	move	VERB
american_scientific_journal-2190	36	17	.	.	PUNCT
american_scientific_journal-2190	37	1	therefore	therefore	ADV
american_scientific_journal-2190	37	2	,	,	PUNCT
american_scientific_journal-2190	37	3	the	the	DET
american_scientific_journal-2190	37	4	local	local	ADJ
american_scientific_journal-2190	37	5	path	path	NOUN
american_scientific_journal-2190	37	6	planning	planning	NOUN
american_scientific_journal-2190	37	7	has	have	VERB
american_scientific_journal-2190	37	8	the	the	DET
american_scientific_journal-2190	37	9	ability	ability	NOUN
american_scientific_journal-2190	37	10	to	to	PART
american_scientific_journal-2190	37	11	produce	produce	VERB
american_scientific_journal-2190	37	12	a	a	DET
american_scientific_journal-2190	37	13	new	new	ADJ
american_scientific_journal-2190	37	14	path	path	NOUN
american_scientific_journal-2190	37	15	when	when	SCONJ
american_scientific_journal-2190	37	16	there	there	PRON
american_scientific_journal-2190	37	17	is	be	VERB
american_scientific_journal-2190	37	18	a	a	DET
american_scientific_journal-2190	37	19	change	change	NOUN
american_scientific_journal-2190	37	20	in	in	ADP
american_scientific_journal-2190	37	21	the	the	DET
american_scientific_journal-2190	37	22	environment	environment	NOUN
american_scientific_journal-2190	37	23	.	.	PUNCT
american_scientific_journal-2190	38	1	for	for	ADP
american_scientific_journal-2190	38	2	this	this	DET
american_scientific_journal-2190	38	3	project	project	NOUN
american_scientific_journal-2190	38	4	the	the	DET
american_scientific_journal-2190	38	5	local	local	ADJ
american_scientific_journal-2190	38	6	path	path	NOUN
american_scientific_journal-2190	38	7	planning	planning	NOUN
american_scientific_journal-2190	38	8	will	will	AUX
american_scientific_journal-2190	38	9	be	be	AUX
american_scientific_journal-2190	38	10	used	use	VERB
american_scientific_journal-2190	38	11	since	since	SCONJ
american_scientific_journal-2190	38	12	the	the	DET
american_scientific_journal-2190	38	13	robot	robot	NOUN
american_scientific_journal-2190	38	14	needs	need	VERB
american_scientific_journal-2190	38	15	to	to	PART
american_scientific_journal-2190	38	16	check	check	VERB
american_scientific_journal-2190	38	17	if	if	SCONJ
american_scientific_journal-2190	38	18	there	there	PRON
american_scientific_journal-2190	38	19	is	be	VERB
american_scientific_journal-2190	38	20	an	an	DET
american_scientific_journal-2190	38	21	obstacle	obstacle	NOUN
american_scientific_journal-2190	38	22	within	within	ADP
american_scientific_journal-2190	38	23	its	its	PRON
american_scientific_journal-2190	38	24	path	path	NOUN
american_scientific_journal-2190	38	25	to	to	PART
american_scientific_journal-2190	38	26	avoid	avoid	VERB
american_scientific_journal-2190	38	27	it	it	PRON
american_scientific_journal-2190	38	28	by	by	ADP
american_scientific_journal-2190	38	29	change	change	VERB
american_scientific_journal-2190	38	30	its	its	PRON
american_scientific_journal-2190	38	31	path	path	NOUN
american_scientific_journal-2190	39	1	[	[	X
american_scientific_journal-2190	39	2	3	3	NUM
american_scientific_journal-2190	39	3	]	]	PUNCT
american_scientific_journal-2190	39	4	.	.	PUNCT
american_scientific_journal-2190	40	1	the	the	DET
american_scientific_journal-2190	40	2	general	general	ADJ
american_scientific_journal-2190	40	3	idea	idea	NOUN
american_scientific_journal-2190	40	4	of	of	ADP
american_scientific_journal-2190	40	5	local	local	ADJ
american_scientific_journal-2190	40	6	path	path	NOUN
american_scientific_journal-2190	40	7	planning	planning	NOUN
american_scientific_journal-2190	40	8	is	be	AUX
american_scientific_journal-2190	40	9	that	that	SCONJ
american_scientific_journal-2190	40	10	,	,	PUNCT
american_scientific_journal-2190	40	11	based	base	VERB
american_scientific_journal-2190	40	12	on	on	ADP
american_scientific_journal-2190	40	13	the	the	DET
american_scientific_journal-2190	40	14	current	current	ADJ
american_scientific_journal-2190	40	15	knowledge	knowledge	NOUN
american_scientific_journal-2190	40	16	,	,	PUNCT
american_scientific_journal-2190	40	17	a	a	DET
american_scientific_journal-2190	40	18	path	path	NOUN
american_scientific_journal-2190	40	19	is	be	AUX
american_scientific_journal-2190	40	20	selected	select	VERB
american_scientific_journal-2190	40	21	between	between	ADP
american_scientific_journal-2190	40	22	two	two	NUM
american_scientific_journal-2190	40	23	points	point	NOUN
american_scientific_journal-2190	40	24	.	.	PUNCT
american_scientific_journal-2190	41	1	then	then	ADV
american_scientific_journal-2190	41	2	,	,	PUNCT
american_scientific_journal-2190	41	3	when	when	SCONJ
american_scientific_journal-2190	41	4	the	the	DET
american_scientific_journal-2190	41	5	mobile	mobile	ADJ
american_scientific_journal-2190	41	6	robot	robot	NOUN
american_scientific_journal-2190	41	7	gets	get	VERB
american_scientific_journal-2190	41	8	new	new	ADJ
american_scientific_journal-2190	41	9	information	information	NOUN
american_scientific_journal-2190	41	10	form	form	VERB
american_scientific_journal-2190	41	11	the	the	DET
american_scientific_journal-2190	41	12	sensor	sensor	NOUN
american_scientific_journal-2190	41	13	about	about	ADP
american_scientific_journal-2190	41	14	the	the	DET
american_scientific_journal-2190	41	15	environment	environment	NOUN
american_scientific_journal-2190	41	16	,	,	PUNCT
american_scientific_journal-2190	41	17	the	the	DET
american_scientific_journal-2190	41	18	previous	previous	ADJ
american_scientific_journal-2190	41	19	path	path	NOUN
american_scientific_journal-2190	41	20	will	will	AUX
american_scientific_journal-2190	41	21	be	be	AUX
american_scientific_journal-2190	41	22	updated	update	VERB
american_scientific_journal-2190	41	23	since	since	SCONJ
american_scientific_journal-2190	41	24	there	there	PRON
american_scientific_journal-2190	41	25	could	could	AUX
american_scientific_journal-2190	41	26	be	be	AUX
american_scientific_journal-2190	41	27	an	an	DET
american_scientific_journal-2190	41	28	obstacle	obstacle	NOUN
american_scientific_journal-2190	41	29	in	in	ADP
american_scientific_journal-2190	41	30	the	the	DET
american_scientific_journal-2190	41	31	selected	select	VERB
american_scientific_journal-2190	41	32	path	path	NOUN
american_scientific_journal-2190	41	33	between	between	ADP
american_scientific_journal-2190	41	34	starting	start	VERB
american_scientific_journal-2190	41	35	point	point	NOUN
american_scientific_journal-2190	41	36	and	and	CCONJ
american_scientific_journal-2190	41	37	the	the	DET
american_scientific_journal-2190	41	38	goal	goal	NOUN
american_scientific_journal-2190	41	39	point	point	NOUN
american_scientific_journal-2190	41	40	[	[	X
american_scientific_journal-2190	41	41	4	4	NUM
american_scientific_journal-2190	41	42	]	]	PUNCT
american_scientific_journal-2190	41	43	.	.	PUNCT
american_scientific_journal-2190	42	1	for	for	ADP
american_scientific_journal-2190	42	2	this	this	DET
american_scientific_journal-2190	42	3	project	project	NOUN
american_scientific_journal-2190	42	4	,	,	PUNCT
american_scientific_journal-2190	42	5	the	the	DET
american_scientific_journal-2190	42	6	following	follow	VERB
american_scientific_journal-2190	42	7	steps	step	NOUN
american_scientific_journal-2190	42	8	will	will	AUX
american_scientific_journal-2190	42	9	summarize	summarize	VERB
american_scientific_journal-2190	42	10	the	the	DET
american_scientific_journal-2190	42	11	use	use	NOUN
american_scientific_journal-2190	42	12	of	of	ADP
american_scientific_journal-2190	42	13	path	path	NOUN
american_scientific_journal-2190	42	14	planning	planning	NOUN
american_scientific_journal-2190	42	15	and	and	CCONJ
american_scientific_journal-2190	42	16	obstacle	obstacle	NOUN
american_scientific_journal-2190	42	17	detection	detection	NOUN
american_scientific_journal-2190	42	18	:	:	PUNCT
american_scientific_journal-2190	42	19	•	•	NUM
american_scientific_journal-2190	42	20	step	step	NOUN
american_scientific_journal-2190	42	21	1	1	NUM
american_scientific_journal-2190	42	22	:	:	PUNCT
american_scientific_journal-2190	42	23	path	path	NOUN
american_scientific_journal-2190	42	24	planning	planning	NOUN
american_scientific_journal-2190	42	25	:	:	PUNCT
american_scientific_journal-2190	42	26	based	base	VERB
american_scientific_journal-2190	42	27	on	on	ADP
american_scientific_journal-2190	42	28	the	the	DET
american_scientific_journal-2190	42	29	current	current	ADJ
american_scientific_journal-2190	42	30	knowledge	knowledge	NOUN
american_scientific_journal-2190	42	31	of	of	ADP
american_scientific_journal-2190	42	32	the	the	DET
american_scientific_journal-2190	42	33	environment	environment	NOUN
american_scientific_journal-2190	42	34	,	,	PUNCT
american_scientific_journal-2190	42	35	a	a	DET
american_scientific_journal-2190	42	36	path	path	NOUN
american_scientific_journal-2190	42	37	between	between	ADP
american_scientific_journal-2190	42	38	the	the	DET
american_scientific_journal-2190	42	39	current	current	ADJ
american_scientific_journal-2190	42	40	node	node	NOUN
american_scientific_journal-2190	42	41	to	to	ADP
american_scientific_journal-2190	42	42	the	the	DET
american_scientific_journal-2190	42	43	target	target	NOUN
american_scientific_journal-2190	42	44	node	node	NOUN
american_scientific_journal-2190	42	45	will	will	AUX
american_scientific_journal-2190	42	46	be	be	AUX
american_scientific_journal-2190	42	47	planned	plan	VERB
american_scientific_journal-2190	42	48	using	use	VERB
american_scientific_journal-2190	42	49	a	a	DET
american_scientific_journal-2190	42	50	*	*	ADJ
american_scientific_journal-2190	42	51	path	path	NOUN
american_scientific_journal-2190	42	52	planning	planning	NOUN
american_scientific_journal-2190	42	53	algorithm	algorithm	NOUN
american_scientific_journal-2190	42	54	.	.	PUNCT
american_scientific_journal-2190	43	1	•	•	NUM
american_scientific_journal-2190	43	2	step	step	NOUN
american_scientific_journal-2190	43	3	2	2	NUM
american_scientific_journal-2190	43	4	:	:	PUNCT
american_scientific_journal-2190	43	5	sensing	sense	VERB
american_scientific_journal-2190	43	6	:	:	PUNCT
american_scientific_journal-2190	43	7	the	the	DET
american_scientific_journal-2190	43	8	mobile	mobile	NOUN
american_scientific_journal-2190	43	9	robot	robot	NOUN
american_scientific_journal-2190	43	10	will	will	AUX
american_scientific_journal-2190	43	11	take	take	VERB
american_scientific_journal-2190	43	12	the	the	DET
american_scientific_journal-2190	43	13	sensor	sensor	NOUN
american_scientific_journal-2190	43	14	data	datum	NOUN
american_scientific_journal-2190	43	15	and	and	CCONJ
american_scientific_journal-2190	43	16	detect	detect	VERB
american_scientific_journal-2190	43	17	the	the	DET
american_scientific_journal-2190	43	18	obstacles	obstacle	NOUN
american_scientific_journal-2190	43	19	position	position	NOUN
american_scientific_journal-2190	43	20	.	.	PUNCT
american_scientific_journal-2190	44	1	if	if	SCONJ
american_scientific_journal-2190	44	2	there	there	PRON
american_scientific_journal-2190	44	3	is	be	VERB
american_scientific_journal-2190	44	4	no	no	DET
american_scientific_journal-2190	44	5	obstacle	obstacle	NOUN
american_scientific_journal-2190	44	6	within	within	ADP
american_scientific_journal-2190	44	7	the	the	DET
american_scientific_journal-2190	44	8	planned	planned	ADJ
american_scientific_journal-2190	44	9	path	path	NOUN
american_scientific_journal-2190	44	10	go	go	VERB
american_scientific_journal-2190	44	11	to	to	PART
american_scientific_journal-2190	44	12	step	step	VERB
american_scientific_journal-2190	44	13	4	4	NUM
american_scientific_journal-2190	44	14	,	,	PUNCT
american_scientific_journal-2190	44	15	else	else	ADV
american_scientific_journal-2190	44	16	go	go	VERB
american_scientific_journal-2190	44	17	to	to	PART
american_scientific_journal-2190	44	18	step	step	VERB
american_scientific_journal-2190	44	19	3	3	NUM
american_scientific_journal-2190	44	20	.	.	NOUN
american_scientific_journal-2190	45	1	•	•	NUM
american_scientific_journal-2190	45	2	step	step	NOUN
american_scientific_journal-2190	45	3	3	3	NUM
american_scientific_journal-2190	45	4	:	:	PUNCT
american_scientific_journal-2190	45	5	re	re	VERB
american_scientific_journal-2190	45	6	-	-	VERB
american_scientific_journal-2190	45	7	plan	plan	VERB
american_scientific_journal-2190	45	8	the	the	DET
american_scientific_journal-2190	45	9	path	path	NOUN
american_scientific_journal-2190	45	10	:	:	PUNCT
american_scientific_journal-2190	45	11	for	for	ADP
american_scientific_journal-2190	45	12	the	the	DET
american_scientific_journal-2190	45	13	reason	reason	NOUN
american_scientific_journal-2190	45	14	that	that	SCONJ
american_scientific_journal-2190	45	15	the	the	DET
american_scientific_journal-2190	45	16	previous	previous	ADJ
american_scientific_journal-2190	45	17	path	path	NOUN
american_scientific_journal-2190	45	18	is	be	AUX
american_scientific_journal-2190	45	19	not	not	PART
american_scientific_journal-2190	45	20	available	available	ADJ
american_scientific_journal-2190	45	21	hence	hence	ADV
american_scientific_journal-2190	45	22	there	there	PRON
american_scientific_journal-2190	45	23	is	be	VERB
american_scientific_journal-2190	45	24	an	an	DET
american_scientific_journal-2190	45	25	obstacle	obstacle	NOUN
american_scientific_journal-2190	45	26	across	across	ADP
american_scientific_journal-2190	45	27	this	this	DET
american_scientific_journal-2190	45	28	path	path	NOUN
american_scientific_journal-2190	45	29	,	,	PUNCT
american_scientific_journal-2190	45	30	the	the	DET
american_scientific_journal-2190	45	31	a	a	PROPN
american_scientific_journal-2190	45	32	*	*	PUNCT
american_scientific_journal-2190	45	33	path	path	NOUN
american_scientific_journal-2190	45	34	planning	planning	NOUN
american_scientific_journal-2190	45	35	algorithm	algorithm	NOUN
american_scientific_journal-2190	45	36	will	will	AUX
american_scientific_journal-2190	45	37	be	be	AUX
american_scientific_journal-2190	45	38	used	use	VERB
american_scientific_journal-2190	45	39	again	again	ADV
american_scientific_journal-2190	45	40	for	for	ADP
american_scientific_journal-2190	45	41	path	path	NOUN
american_scientific_journal-2190	45	42	planning	planning	NOUN
american_scientific_journal-2190	45	43	.	.	PUNCT
american_scientific_journal-2190	46	1	•	•	NUM
american_scientific_journal-2190	46	2	step	step	NOUN
american_scientific_journal-2190	46	3	4	4	NUM
american_scientific_journal-2190	46	4	:	:	PUNCT
american_scientific_journal-2190	46	5	motion	motion	NOUN
american_scientific_journal-2190	46	6	control	control	NOUN
american_scientific_journal-2190	46	7	:	:	PUNCT
american_scientific_journal-2190	46	8	after	after	ADP
american_scientific_journal-2190	46	9	detecting	detect	VERB
american_scientific_journal-2190	46	10	the	the	DET
american_scientific_journal-2190	46	11	final	final	ADJ
american_scientific_journal-2190	46	12	path	path	NOUN
american_scientific_journal-2190	46	13	of	of	ADP
american_scientific_journal-2190	46	14	the	the	DET
american_scientific_journal-2190	46	15	mobile	mobile	NOUN
american_scientific_journal-2190	46	16	robot	robot	NOUN
american_scientific_journal-2190	46	17	,	,	PUNCT
american_scientific_journal-2190	46	18	the	the	DET
american_scientific_journal-2190	46	19	motors	motors	ADJ
american_scientific_journal-2190	46	20	velocity	velocity	NOUN
american_scientific_journal-2190	46	21	should	should	AUX
american_scientific_journal-2190	46	22	be	be	AUX
american_scientific_journal-2190	46	23	adjusted	adjust	VERB
american_scientific_journal-2190	46	24	in	in	ADP
american_scientific_journal-2190	46	25	order	order	NOUN
american_scientific_journal-2190	46	26	to	to	PART
american_scientific_journal-2190	46	27	follow	follow	VERB
american_scientific_journal-2190	46	28	the	the	DET
american_scientific_journal-2190	46	29	desired	desire	VERB
american_scientific_journal-2190	46	30	path	path	NOUN
american_scientific_journal-2190	46	31	[	[	X
american_scientific_journal-2190	46	32	2	2	NUM
american_scientific_journal-2190	46	33	]	]	PUNCT
american_scientific_journal-2190	46	34	.	.	PUNCT
american_scientific_journal-2190	47	1	3.1	3.1	NUM
american_scientific_journal-2190	47	2	the	the	DET
american_scientific_journal-2190	47	3	basic	basic	ADJ
american_scientific_journal-2190	47	4	approach	approach	NOUN
american_scientific_journal-2190	47	5	of	of	ADP
american_scientific_journal-2190	47	6	a	a	DET
american_scientific_journal-2190	47	7	*	*	X
american_scientific_journal-2190	47	8	path	path	NOUN
american_scientific_journal-2190	47	9	planning	planning	NOUN
american_scientific_journal-2190	47	10	algorithm	algorithm	NOUN
american_scientific_journal-2190	47	11	a	a	DET
american_scientific_journal-2190	47	12	*	*	PUNCT
american_scientific_journal-2190	47	13	algorithm	algorithm	NOUN
american_scientific_journal-2190	47	14	is	be	AUX
american_scientific_journal-2190	47	15	used	use	VERB
american_scientific_journal-2190	47	16	to	to	PART
american_scientific_journal-2190	47	17	select	select	VERB
american_scientific_journal-2190	47	18	the	the	DET
american_scientific_journal-2190	47	19	shortest	short	ADJ
american_scientific_journal-2190	47	20	path	path	NOUN
american_scientific_journal-2190	47	21	between	between	ADP
american_scientific_journal-2190	47	22	start	start	NOUN
american_scientific_journal-2190	47	23	and	and	CCONJ
american_scientific_journal-2190	47	24	goal	goal	NOUN
american_scientific_journal-2190	47	25	nodes	node	NOUN
american_scientific_journal-2190	47	26	by	by	ADP
american_scientific_journal-2190	47	27	efficiently	efficiently	ADV
american_scientific_journal-2190	47	28	compute	compute	VERB
american_scientific_journal-2190	47	29	optimal	optimal	ADJ
american_scientific_journal-2190	47	30	solutions	solution	NOUN
american_scientific_journal-2190	47	31	when	when	SCONJ
american_scientific_journal-2190	47	32	combine	combine	VERB
american_scientific_journal-2190	47	33	features	feature	NOUN
american_scientific_journal-2190	47	34	of	of	ADP
american_scientific_journal-2190	47	35	two	two	NUM
american_scientific_journal-2190	47	36	searches	search	NOUN
american_scientific_journal-2190	47	37	;	;	PUNCT
american_scientific_journal-2190	47	38	the	the	DET
american_scientific_journal-2190	47	39	uniform	uniform	ADJ
american_scientific_journal-2190	47	40	-	-	PUNCT
american_scientific_journal-2190	47	41	cost	cost	NOUN
american_scientific_journal-2190	47	42	search	search	NOUN
american_scientific_journal-2190	47	43	and	and	CCONJ
american_scientific_journal-2190	47	44	pure	pure	ADJ
american_scientific_journal-2190	47	45	heuristic	heuristic	ADJ
american_scientific_journal-2190	47	46	search	search	NOUN
american_scientific_journal-2190	47	47	.	.	PUNCT
american_scientific_journal-2190	48	1	for	for	ADP
american_scientific_journal-2190	48	2	the	the	DET
american_scientific_journal-2190	48	3	a	a	PROPN
american_scientific_journal-2190	48	4	*	*	PUNCT
american_scientific_journal-2190	48	5	search	search	NOUN
american_scientific_journal-2190	48	6	algorithm	algorithm	NOUN
american_scientific_journal-2190	48	7	,	,	PUNCT
american_scientific_journal-2190	48	8	the	the	DET
american_scientific_journal-2190	48	9	cost	cost	NOUN
american_scientific_journal-2190	48	10	associated	associate	VERB
american_scientific_journal-2190	48	11	with	with	ADP
american_scientific_journal-2190	48	12	a	a	DET
american_scientific_journal-2190	48	13	node	node	NOUN
american_scientific_journal-2190	48	14	is	be	AUX
american_scientific_journal-2190	48	15	f	f	PROPN
american_scientific_journal-2190	48	16	(	(	PUNCT
american_scientific_journal-2190	48	17	n	n	CCONJ
american_scientific_journal-2190	48	18	)	)	PUNCT
american_scientific_journal-2190	48	19	which	which	PRON
american_scientific_journal-2190	48	20	estimates	estimate	VERB
american_scientific_journal-2190	48	21	the	the	DET
american_scientific_journal-2190	48	22	lowest	low	ADJ
american_scientific_journal-2190	48	23	total	total	ADJ
american_scientific_journal-2190	48	24	cost	cost	NOUN
american_scientific_journal-2190	48	25	of	of	ADP
american_scientific_journal-2190	48	26	all	all	DET
american_scientific_journal-2190	48	27	paths	path	NOUN
american_scientific_journal-2190	48	28	going	go	VERB
american_scientific_journal-2190	48	29	through	through	ADP
american_scientific_journal-2190	48	30	node	node	PROPN
american_scientific_journal-2190	48	31	n.	n.	PROPN
american_scientific_journal-2190	48	32	f	f	PROPN
american_scientific_journal-2190	48	33	(	(	PUNCT
american_scientific_journal-2190	48	34	n	n	CCONJ
american_scientific_journal-2190	48	35	)	)	PUNCT
american_scientific_journal-2190	48	36	=	=	SYM
american_scientific_journal-2190	48	37	g(n	g(n	PROPN
american_scientific_journal-2190	48	38	)	)	PUNCT
american_scientific_journal-2190	49	1	+	+	CCONJ
american_scientific_journal-2190	50	1	h(n	h(n	PROPN
american_scientific_journal-2190	50	2	)	)	PUNCT
american_scientific_journal-2190	51	1	where	where	SCONJ
american_scientific_journal-2190	51	2	:	:	PUNCT
american_scientific_journal-2190	51	3	g	g	NOUN
american_scientific_journal-2190	51	4	(	(	PUNCT
american_scientific_journal-2190	51	5	n	n	CCONJ
american_scientific_journal-2190	51	6	)	)	PUNCT
american_scientific_journal-2190	51	7	=	=	NOUN
american_scientific_journal-2190	51	8	the	the	DET
american_scientific_journal-2190	51	9	cost	cost	NOUN
american_scientific_journal-2190	51	10	of	of	ADP
american_scientific_journal-2190	51	11	the	the	DET
american_scientific_journal-2190	51	12	path	path	NOUN
american_scientific_journal-2190	51	13	from	from	ADP
american_scientific_journal-2190	51	14	the	the	DET
american_scientific_journal-2190	51	15	initial	initial	ADJ
american_scientific_journal-2190	51	16	state	state	NOUN
american_scientific_journal-2190	51	17	to	to	PART
american_scientific_journal-2190	51	18	node	node	VERB
american_scientific_journal-2190	51	19	n.	n.	PROPN
american_scientific_journal-2190	51	20	h	h	PROPN
american_scientific_journal-2190	51	21	(	(	PUNCT
american_scientific_journal-2190	51	22	n	n	CCONJ
american_scientific_journal-2190	51	23	)	)	PUNCT
american_scientific_journal-2190	51	24	=	=	SYM
american_scientific_journal-2190	51	25	the	the	DET
american_scientific_journal-2190	51	26	heuristic	heuristic	ADJ
american_scientific_journal-2190	51	27	estimate	estimate	NOUN
american_scientific_journal-2190	51	28	or	or	CCONJ
american_scientific_journal-2190	51	29	the	the	DET
american_scientific_journal-2190	51	30	cost	cost	NOUN
american_scientific_journal-2190	51	31	or	or	CCONJ
american_scientific_journal-2190	51	32	a	a	DET
american_scientific_journal-2190	51	33	path	path	NOUN
american_scientific_journal-2190	51	34	from	from	ADP
american_scientific_journal-2190	51	35	node	node	PROPN
american_scientific_journal-2190	51	36	n	n	CCONJ
american_scientific_journal-2190	51	37	to	to	ADP
american_scientific_journal-2190	51	38	a	a	DET
american_scientific_journal-2190	51	39	goal	goal	NOUN
american_scientific_journal-2190	51	40	.	.	PUNCT
american_scientific_journal-2190	52	1	american	american	ADJ
american_scientific_journal-2190	52	2	scientific	scientific	ADJ
american_scientific_journal-2190	52	3	research	research	PROPN
american_scientific_journal-2190	52	4	journal	journal	NOUN
american_scientific_journal-2190	52	5	for	for	ADP
american_scientific_journal-2190	52	6	engineering	engineering	NOUN
american_scientific_journal-2190	52	7	,	,	PUNCT
american_scientific_journal-2190	52	8	technology	technology	NOUN
american_scientific_journal-2190	52	9	,	,	PUNCT
american_scientific_journal-2190	52	10	and	and	CCONJ
american_scientific_journal-2190	52	11	sciences	science	NOUN
american_scientific_journal-2190	52	12	(	(	PUNCT
american_scientific_journal-2190	52	13	asrjets	asrjet	NOUN
american_scientific_journal-2190	52	14	)	)	PUNCT
american_scientific_journal-2190	52	15	(	(	PUNCT
american_scientific_journal-2190	52	16	2016	2016	NUM
american_scientific_journal-2190	52	17	)	)	PUNCT
american_scientific_journal-2190	52	18	volume	volume	NOUN
american_scientific_journal-2190	52	19	26	26	NUM
american_scientific_journal-2190	52	20	,	,	PUNCT
american_scientific_journal-2190	52	21	no	no	DET
american_scientific_journal-2190	52	22	1	1	NUM
american_scientific_journal-2190	52	23	,	,	PUNCT
american_scientific_journal-2190	52	24	pp	pp	ADV
american_scientific_journal-2190	52	25	91	91	NUM
american_scientific_journal-2190	52	26	-	-	SYM
american_scientific_journal-2190	52	27	107	107	NUM
american_scientific_journal-2190	52	28	96	96	NUM
american_scientific_journal-2190	52	29	after	after	ADP
american_scientific_journal-2190	52	30	finding	find	VERB
american_scientific_journal-2190	52	31	f	f	PROPN
american_scientific_journal-2190	52	32	(	(	PUNCT
american_scientific_journal-2190	52	33	n	n	CCONJ
american_scientific_journal-2190	52	34	)	)	PUNCT
american_scientific_journal-2190	52	35	for	for	ADP
american_scientific_journal-2190	52	36	each	each	DET
american_scientific_journal-2190	52	37	point	point	NOUN
american_scientific_journal-2190	52	38	,	,	PUNCT
american_scientific_journal-2190	52	39	the	the	DET
american_scientific_journal-2190	52	40	node	node	NOUN
american_scientific_journal-2190	52	41	with	with	ADP
american_scientific_journal-2190	52	42	the	the	DET
american_scientific_journal-2190	52	43	lowest	low	ADJ
american_scientific_journal-2190	52	44	f	f	NOUN
american_scientific_journal-2190	52	45	(	(	PUNCT
american_scientific_journal-2190	52	46	n	n	CCONJ
american_scientific_journal-2190	52	47	)	)	PUNCT
american_scientific_journal-2190	52	48	will	will	AUX
american_scientific_journal-2190	52	49	be	be	AUX
american_scientific_journal-2190	52	50	chosen	choose	VERB
american_scientific_journal-2190	52	51	for	for	ADP
american_scientific_journal-2190	52	52	the	the	DET
american_scientific_journal-2190	52	53	expansion	expansion	NOUN
american_scientific_journal-2190	52	54	[	[	X
american_scientific_journal-2190	52	55	5	5	NUM
american_scientific_journal-2190	52	56	]	]	PUNCT
american_scientific_journal-2190	52	57	.	.	PUNCT
american_scientific_journal-2190	53	1	terminology	terminology	NOUN
american_scientific_journal-2190	53	2	:	:	PUNCT
american_scientific_journal-2190	53	3	1	1	NUM
american_scientific_journal-2190	53	4	calculate	calculate	NOUN
american_scientific_journal-2190	53	5	g(n	g(n	PROPN
american_scientific_journal-2190	53	6	)	)	PUNCT
american_scientific_journal-2190	53	7	the	the	DET
american_scientific_journal-2190	53	8	
	
	SPACE
american_scientific_journal-2190	53	9	cost	cost	NOUN
american_scientific_journal-2190	53	10	(	(	PUNCT
american_scientific_journal-2190	53	11	or	or	CCONJ
american_scientific_journal-2190	53	12	distance	distance	NOUN
american_scientific_journal-2190	53	13	)	)	PUNCT
american_scientific_journal-2190	53	14	of	of	ADP
american_scientific_journal-2190	53	15	the	the	DET
american_scientific_journal-2190	53	16	path	path	NOUN
american_scientific_journal-2190	53	17	from	from	ADP
american_scientific_journal-2190	53	18	the	the	DET
american_scientific_journal-2190	53	19	starting	starting	NOUN
american_scientific_journal-2190	53	20	point	point	NOUN
american_scientific_journal-2190	53	21	to	to	ADP
american_scientific_journal-2190	53	22	any	any	DET
american_scientific_journal-2190	53	23	vertex	vertex	NOUN
american_scientific_journal-2190	53	24	n	n	CCONJ
american_scientific_journal-2190	53	25	..	..	PUNCT
american_scientific_journal-2190	53	26	
 	
 	SPACE
american_scientific_journal-2190	53	27	2calculate	2calculate	NUM
american_scientific_journal-2190	53	28	h	h	NOUN
american_scientific_journal-2190	53	29	(	(	PUNCT
american_scientific_journal-2190	53	30	n	n	CCONJ
american_scientific_journal-2190	53	31	)	)	PUNCT
american_scientific_journal-2190	53	32	(	(	PUNCT
american_scientific_journal-2190	53	33	the	the	DET
american_scientific_journal-2190	53	34	
	
	SPACE
american_scientific_journal-2190	53	35	heuristic	heuristic	NOUN
american_scientific_journal-2190	53	36	
	
	SPACE
american_scientific_journal-2190	53	37	estimated	estimate	VERB
american_scientific_journal-2190	53	38	
	
	SPACE
american_scientific_journal-2190	53	39	cost	cost	NOUN
american_scientific_journal-2190	53	40	
	
	SPACE
american_scientific_journal-2190	53	41	from	from	ADP
american_scientific_journal-2190	53	42	
	
	SPACE
american_scientific_journal-2190	53	43	any	any	DET
american_scientific_journal-2190	53	44	
	
	SPACE
american_scientific_journal-2190	53	45	vertex	vertex	NOUN
american_scientific_journal-2190	53	46	
	
	SPACE
american_scientific_journal-2190	53	47	n	n	CCONJ
american_scientific_journal-2190	53	48	
	
	SPACE
american_scientific_journal-2190	53	49	to	to	ADP
american_scientific_journal-2190	53	50	
	
	SPACE
american_scientific_journal-2190	53	51	the	the	DET
american_scientific_journal-2190	53	52	
	
	SPACE
american_scientific_journal-2190	53	53	goal	goal	NOUN
american_scientific_journal-2190	53	54	)	)	PUNCT
american_scientific_journal-2190	53	55	.	.	PUNCT
american_scientific_journal-2190	53	56	

 	

 	SPACE
american_scientific_journal-2190	54	1	3calculate	3calculate	NUM
american_scientific_journal-2190	54	2	f	f	X
american_scientific_journal-2190	54	3	(	(	PUNCT
american_scientific_journal-2190	54	4	n	n	CCONJ
american_scientific_journal-2190	54	5	)	)	PUNCT
american_scientific_journal-2190	54	6	=	=	SYM
american_scientific_journal-2190	54	7	g	g	PROPN
american_scientific_journal-2190	54	8	(	(	PUNCT
american_scientific_journal-2190	54	9	n	n	CCONJ
american_scientific_journal-2190	54	10	)	)	PUNCT
american_scientific_journal-2190	54	11	+	+	NUM
american_scientific_journal-2190	54	12	h	h	NOUN
american_scientific_journal-2190	54	13	(	(	PUNCT
american_scientific_journal-2190	54	14	n	n	CCONJ
american_scientific_journal-2190	54	15	)	)	PUNCT
american_scientific_journal-2190	54	16	.	.	PUNCT
american_scientific_journal-2190	55	1	the	the	DET
american_scientific_journal-2190	55	2	value	value	NOUN
american_scientific_journal-2190	55	3	of	of	ADP
american_scientific_journal-2190	55	4	f	f	PROPN
american_scientific_journal-2190	55	5	(	(	PUNCT
american_scientific_journal-2190	55	6	n	n	CCONJ
american_scientific_journal-2190	55	7	)	)	PUNCT
american_scientific_journal-2190	55	8	will	will	AUX
american_scientific_journal-2190	55	9	be	be	AUX
american_scientific_journal-2190	55	10	used	use	VERB
american_scientific_journal-2190	55	11	by	by	ADP
american_scientific_journal-2190	55	12	a	a	PROPN
american_scientific_journal-2190	55	13	*	*	PUNCT
american_scientific_journal-2190	55	14	to	to	PART
american_scientific_journal-2190	55	15	select	select	VERB
american_scientific_journal-2190	55	16	the	the	DET
american_scientific_journal-2190	55	17	next	next	ADJ
american_scientific_journal-2190	55	18	step	step	NOUN
american_scientific_journal-2190	55	19	in	in	ADP
american_scientific_journal-2190	55	20	the	the	DET
american_scientific_journal-2190	55	21	path	path	NOUN
american_scientific_journal-2190	55	22	.	.	PUNCT
american_scientific_journal-2190	56	1	figure	figure	VERB
american_scientific_journal-2190	56	2	3	3	NUM
american_scientific_journal-2190	56	3	:	:	PUNCT
american_scientific_journal-2190	56	4	a	a	DET
american_scientific_journal-2190	56	5	*	*	PUNCT
american_scientific_journal-2190	56	6	path	path	NOUN
american_scientific_journal-2190	56	7	planning	planning	NOUN
american_scientific_journal-2190	56	8	steps	step	NOUN
american_scientific_journal-2190	56	9	[	[	X
american_scientific_journal-2190	56	10	6	6	NUM
american_scientific_journal-2190	56	11	]	]	PUNCT
american_scientific_journal-2190	56	12	it	it	PRON
american_scientific_journal-2190	56	13	is	be	AUX
american_scientific_journal-2190	56	14	important	important	ADJ
american_scientific_journal-2190	56	15	to	to	PART
american_scientific_journal-2190	56	16	notice	notice	VERB
american_scientific_journal-2190	56	17	this	this	DET
american_scientific_journal-2190	56	18	approach	approach	NOUN
american_scientific_journal-2190	56	19	has	have	VERB
american_scientific_journal-2190	56	20	the	the	DET
american_scientific_journal-2190	56	21	following	following	ADJ
american_scientific_journal-2190	56	22	assumption	assumption	NOUN
american_scientific_journal-2190	56	23	:	:	PUNCT
american_scientific_journal-2190	56	24	firstly	firstly	ADV
american_scientific_journal-2190	56	25	,	,	PUNCT
american_scientific_journal-2190	56	26	the	the	DET
american_scientific_journal-2190	56	27	region	region	NOUN
american_scientific_journal-2190	56	28	of	of	ADP
american_scientific_journal-2190	56	29	interest	interest	NOUN
american_scientific_journal-2190	56	30	is	be	AUX
american_scientific_journal-2190	56	31	larger	large	ADJ
american_scientific_journal-2190	56	32	than	than	ADP
american_scientific_journal-2190	56	33	the	the	DET
american_scientific_journal-2190	56	34	sensing	sense	VERB
american_scientific_journal-2190	56	35	range	range	NOUN
american_scientific_journal-2190	56	36	of	of	ADP
american_scientific_journal-2190	56	37	the	the	DET
american_scientific_journal-2190	56	38	sensor	sensor	NOUN
american_scientific_journal-2190	56	39	.	.	PUNCT
american_scientific_journal-2190	57	1	secondly	secondly	ADV
american_scientific_journal-2190	57	2	,	,	PUNCT
american_scientific_journal-2190	57	3	the	the	DET
american_scientific_journal-2190	57	4	sensor	sensor	NOUN
american_scientific_journal-2190	57	5	has	have	VERB
american_scientific_journal-2190	57	6	the	the	DET
american_scientific_journal-2190	57	7	ability	ability	NOUN
american_scientific_journal-2190	57	8	to	to	PART
american_scientific_journal-2190	57	9	measure	measure	VERB
american_scientific_journal-2190	57	10	180⁰	180⁰	NUM
american_scientific_journal-2190	57	11	(	(	PUNCT
american_scientific_journal-2190	57	12	from	from	ADP
american_scientific_journal-2190	57	13	-90⁰	-90⁰	PROPN
american_scientific_journal-2190	57	14	to	to	ADP
american_scientific_journal-2190	57	15	+90⁰.	+90⁰.	PROPN
american_scientific_journal-2190	57	16	finally	finally	ADV
american_scientific_journal-2190	57	17	,	,	PUNCT
american_scientific_journal-2190	57	18	the	the	DET
american_scientific_journal-2190	57	19	initial	initial	ADJ
american_scientific_journal-2190	57	20	position	position	NOUN
american_scientific_journal-2190	57	21	of	of	ADP
american_scientific_journal-2190	57	22	the	the	DET
american_scientific_journal-2190	57	23	robot	robot	NOUN
american_scientific_journal-2190	57	24	is	be	AUX
american_scientific_journal-2190	57	25	known	know	VERB
american_scientific_journal-2190	57	26	.	.	PUNCT
american_scientific_journal-2190	58	1	3.2	3.2	NUM
american_scientific_journal-2190	58	2	motion	motion	NOUN
american_scientific_journal-2190	58	3	control	control	NOUN
american_scientific_journal-2190	58	4	odometry	odometry	NOUN
american_scientific_journal-2190	58	5	is	be	AUX
american_scientific_journal-2190	58	6	the	the	DET
american_scientific_journal-2190	58	7	most	most	ADV
american_scientific_journal-2190	58	8	commonly	commonly	ADV
american_scientific_journal-2190	58	9	used	use	VERB
american_scientific_journal-2190	58	10	method	method	NOUN
american_scientific_journal-2190	58	11	for	for	ADP
american_scientific_journal-2190	58	12	the	the	DET
american_scientific_journal-2190	58	13	instantaneously	instantaneously	ADV
american_scientific_journal-2190	58	14	position	position	NOUN
american_scientific_journal-2190	58	15	determining	determining	NOUN
american_scientific_journal-2190	58	16	of	of	ADP
american_scientific_journal-2190	58	17	the	the	DET
american_scientific_journal-2190	58	18	mobile	mobile	ADJ
american_scientific_journal-2190	58	19	robot	robot	NOUN
american_scientific_journal-2190	58	20	,	,	PUNCT
american_scientific_journal-2190	58	21	hence	hence	ADV
american_scientific_journal-2190	58	22	real	real	ADJ
american_scientific_journal-2190	58	23	time	time	NOUN
american_scientific_journal-2190	58	24	positioning	positioning	NOUN
american_scientific_journal-2190	58	25	information	information	NOUN
american_scientific_journal-2190	58	26	is	be	AUX
american_scientific_journal-2190	58	27	easily	easily	ADV
american_scientific_journal-2190	58	28	accessible	accessible	ADJ
american_scientific_journal-2190	58	29	for	for	ADP
american_scientific_journal-2190	58	30	positioning	position	VERB
american_scientific_journal-2190	58	31	information	information	NOUN
american_scientific_journal-2190	58	32	[	[	X
american_scientific_journal-2190	58	33	7	7	NUM
american_scientific_journal-2190	58	34	]	]	PUNCT
american_scientific_journal-2190	58	35	.	.	PUNCT
american_scientific_journal-2190	59	1	odometry	odometry	NOUN
american_scientific_journal-2190	59	2	can	can	AUX
american_scientific_journal-2190	59	3	be	be	AUX
american_scientific_journal-2190	59	4	defined	define	VERB
american_scientific_journal-2190	59	5	as	as	ADP
american_scientific_journal-2190	59	6	the	the	DET
american_scientific_journal-2190	59	7	estimation	estimation	NOUN
american_scientific_journal-2190	59	8	of	of	ADP
american_scientific_journal-2190	59	9	the	the	DET
american_scientific_journal-2190	59	10	change	change	NOUN
american_scientific_journal-2190	59	11	in	in	ADP
american_scientific_journal-2190	59	12	the	the	DET
american_scientific_journal-2190	59	13	position	position	NOUN
american_scientific_journal-2190	59	14	of	of	ADP
american_scientific_journal-2190	59	15	a	a	DET
american_scientific_journal-2190	59	16	mobile	mobile	ADJ
american_scientific_journal-2190	59	17	robot	robot	NOUN
american_scientific_journal-2190	59	18	over	over	ADP
american_scientific_journal-2190	59	19	time	time	NOUN
american_scientific_journal-2190	59	20	by	by	ADP
american_scientific_journal-2190	59	21	using	use	VERB
american_scientific_journal-2190	59	22	the	the	DET
american_scientific_journal-2190	59	23	data	datum	NOUN
american_scientific_journal-2190	59	24	from	from	ADP
american_scientific_journal-2190	59	25	motion	motion	NOUN
american_scientific_journal-2190	59	26	sensors	sensor	NOUN
american_scientific_journal-2190	59	27	(	(	PUNCT
american_scientific_journal-2190	59	28	i.e.	i.e.	X
american_scientific_journal-2190	59	29	optical	optical	ADJ
american_scientific_journal-2190	59	30	encoder	encoder	NOUN
american_scientific_journal-2190	59	31	)	)	PUNCT
american_scientific_journal-2190	59	32	.	.	PUNCT
american_scientific_journal-2190	60	1	in	in	ADP
american_scientific_journal-2190	60	2	wheeled	wheel	VERB
american_scientific_journal-2190	60	3	mobile	mobile	ADJ
american_scientific_journal-2190	60	4	robot	robot	NOUN
american_scientific_journal-2190	60	5	,	,	PUNCT
american_scientific_journal-2190	60	6	the	the	DET
american_scientific_journal-2190	60	7	odometry	odometry	NOUN
american_scientific_journal-2190	60	8	used	use	VERB
american_scientific_journal-2190	60	9	to	to	PART
american_scientific_journal-2190	60	10	estimate	estimate	VERB
american_scientific_journal-2190	60	11	its	its	PRON
american_scientific_journal-2190	60	12	position	position	NOUN
american_scientific_journal-2190	60	13	relative	relative	ADJ
american_scientific_journal-2190	60	14	to	to	ADP
american_scientific_journal-2190	60	15	a	a	DET
american_scientific_journal-2190	60	16	starting	starting	NOUN
american_scientific_journal-2190	60	17	location	location	NOUN
american_scientific_journal-2190	60	18	.	.	PUNCT
american_scientific_journal-2190	61	1	the	the	DET
american_scientific_journal-2190	61	2	main	main	ADJ
american_scientific_journal-2190	61	3	benefit	benefit	NOUN
american_scientific_journal-2190	61	4	of	of	ADP
american_scientific_journal-2190	61	5	using	use	VERB
american_scientific_journal-2190	61	6	odometry	odometry	NOUN
american_scientific_journal-2190	61	7	in	in	ADP
american_scientific_journal-2190	61	8	most	most	ADV
american_scientific_journal-2190	61	9	practical	practical	ADJ
american_scientific_journal-2190	61	10	applications	application	NOUN
american_scientific_journal-2190	61	11	is	be	AUX
american_scientific_journal-2190	61	12	that	that	SCONJ
american_scientific_journal-2190	61	13	it	it	PRON
american_scientific_journal-2190	61	14	provides	provide	VERB
american_scientific_journal-2190	61	15	easily	easily	ADV
american_scientific_journal-2190	61	16	accessible	accessible	ADJ
american_scientific_journal-2190	61	17	to	to	ADP
american_scientific_journal-2190	61	18	positioning	position	VERB
american_scientific_journal-2190	61	19	information	information	NOUN
american_scientific_journal-2190	61	20	for	for	ADP
american_scientific_journal-2190	61	21	real	real	ADJ
american_scientific_journal-2190	61	22	time	time	NOUN
american_scientific_journal-2190	61	23	position	position	NOUN
american_scientific_journal-2190	61	24	measurements	measurement	NOUN
american_scientific_journal-2190	61	25	.	.	PUNCT
american_scientific_journal-2190	62	1	however	however	ADV
american_scientific_journal-2190	62	2	,	,	PUNCT
american_scientific_journal-2190	62	3	this	this	DET
american_scientific_journal-2190	62	4	method	method	NOUN
american_scientific_journal-2190	62	5	is	be	AUX
american_scientific_journal-2190	62	6	very	very	ADV
american_scientific_journal-2190	62	7	sensitive	sensitive	ADJ
american_scientific_journal-2190	62	8	to	to	ADP
american_scientific_journal-2190	62	9	errors	error	NOUN
american_scientific_journal-2190	62	10	that	that	PRON
american_scientific_journal-2190	62	11	produced	produce	VERB
american_scientific_journal-2190	62	12	as	as	ADP
american_scientific_journal-2190	62	13	a	a	DET
american_scientific_journal-2190	62	14	result	result	NOUN
american_scientific_journal-2190	62	15	of	of	ADP
american_scientific_journal-2190	62	16	integration	integration	NOUN
american_scientific_journal-2190	62	17	the	the	DET
american_scientific_journal-2190	62	18	velocity	velocity	NOUN
american_scientific_journal-2190	62	19	measurements	measurement	NOUN
american_scientific_journal-2190	62	20	over	over	ADP
american_scientific_journal-2190	62	21	time	time	NOUN
american_scientific_journal-2190	62	22	to	to	PART
american_scientific_journal-2190	62	23	give	give	VERB
american_scientific_journal-2190	62	24	the	the	DET
american_scientific_journal-2190	62	25	robot	robot	NOUN
american_scientific_journal-2190	62	26	position	position	NOUN
american_scientific_journal-2190	62	27	estimates	estimate	NOUN
american_scientific_journal-2190	62	28	.	.	PUNCT
american_scientific_journal-2190	63	1	for	for	ADP
american_scientific_journal-2190	63	2	this	this	DET
american_scientific_journal-2190	63	3	reason	reason	NOUN
american_scientific_journal-2190	63	4	,	,	PUNCT
american_scientific_journal-2190	63	5	this	this	DET
american_scientific_journal-2190	63	6	method	method	NOUN
american_scientific_journal-2190	63	7	needs	need	VERB
american_scientific_journal-2190	63	8	calibration	calibration	NOUN
american_scientific_journal-2190	63	9	and	and	CCONJ
american_scientific_journal-2190	63	10	processing	processing	NOUN
american_scientific_journal-2190	63	11	to	to	PART
american_scientific_journal-2190	63	12	give	give	VERB
american_scientific_journal-2190	63	13	accurate	accurate	ADJ
american_scientific_journal-2190	63	14	data	datum	NOUN
american_scientific_journal-2190	63	15	collection	collection	NOUN
american_scientific_journal-2190	63	16	[	[	X
american_scientific_journal-2190	63	17	8	8	NUM
american_scientific_journal-2190	63	18	]	]	PUNCT
american_scientific_journal-2190	63	19	.	.	PUNCT
american_scientific_journal-2190	64	1	after	after	ADP
american_scientific_journal-2190	64	2	calibrating	calibrate	VERB
american_scientific_journal-2190	64	3	the	the	DET
american_scientific_journal-2190	64	4	encoder	encoder	NOUN
american_scientific_journal-2190	64	5	to	to	PART
american_scientific_journal-2190	64	6	give	give	VERB
american_scientific_journal-2190	64	7	the	the	DET
american_scientific_journal-2190	64	8	nearest	near	ADJ
american_scientific_journal-2190	64	9	readings	reading	NOUN
american_scientific_journal-2190	64	10	to	to	ADP
american_scientific_journal-2190	64	11	the	the	DET
american_scientific_journal-2190	64	12	real	real	ADJ
american_scientific_journal-2190	64	13	robot	robot	NOUN
american_scientific_journal-2190	64	14	movement	movement	NOUN
american_scientific_journal-2190	64	15	,	,	PUNCT
american_scientific_journal-2190	64	16	it	it	PRON
american_scientific_journal-2190	64	17	will	will	AUX
american_scientific_journal-2190	64	18	be	be	AUX
american_scientific_journal-2190	64	19	a	a	DET
american_scientific_journal-2190	64	20	feedback	feedback	NOUN
american_scientific_journal-2190	64	21	signal	signal	NOUN
american_scientific_journal-2190	64	22	for	for	ADP
american_scientific_journal-2190	64	23	the	the	DET
american_scientific_journal-2190	64	24	motion	motion	NOUN
american_scientific_journal-2190	64	25	control	control	NOUN
american_scientific_journal-2190	64	26	.	.	PUNCT
american_scientific_journal-2190	65	1	american	american	ADJ
american_scientific_journal-2190	65	2	scientific	scientific	ADJ
american_scientific_journal-2190	65	3	research	research	PROPN
american_scientific_journal-2190	65	4	journal	journal	NOUN
american_scientific_journal-2190	65	5	for	for	ADP
american_scientific_journal-2190	65	6	engineering	engineering	NOUN
american_scientific_journal-2190	65	7	,	,	PUNCT
american_scientific_journal-2190	65	8	technology	technology	NOUN
american_scientific_journal-2190	65	9	,	,	PUNCT
american_scientific_journal-2190	65	10	and	and	CCONJ
american_scientific_journal-2190	65	11	sciences	science	NOUN
american_scientific_journal-2190	65	12	(	(	PUNCT
american_scientific_journal-2190	65	13	asrjets	asrjet	NOUN
american_scientific_journal-2190	65	14	)	)	PUNCT
american_scientific_journal-2190	65	15	(	(	PUNCT
american_scientific_journal-2190	65	16	2016	2016	NUM
american_scientific_journal-2190	65	17	)	)	PUNCT
american_scientific_journal-2190	65	18	volume	volume	NOUN
american_scientific_journal-2190	65	19	26	26	NUM
american_scientific_journal-2190	65	20	,	,	PUNCT
american_scientific_journal-2190	65	21	no	no	DET
american_scientific_journal-2190	65	22	1	1	NUM
american_scientific_journal-2190	65	23	,	,	PUNCT
american_scientific_journal-2190	65	24	pp	pp	ADV
american_scientific_journal-2190	65	25	91	91	NUM
american_scientific_journal-2190	65	26	-	-	SYM
american_scientific_journal-2190	65	27	107	107	NUM
american_scientific_journal-2190	65	28	97	97	NUM
american_scientific_journal-2190	65	29	after	after	ADP
american_scientific_journal-2190	65	30	achieving	achieve	VERB
american_scientific_journal-2190	65	31	the	the	DET
american_scientific_journal-2190	65	32	path	path	NOUN
american_scientific_journal-2190	65	33	planning	planning	NOUN
american_scientific_journal-2190	65	34	algorithm	algorithm	NOUN
american_scientific_journal-2190	65	35	,	,	PUNCT
american_scientific_journal-2190	65	36	it	it	PRON
american_scientific_journal-2190	65	37	is	be	AUX
american_scientific_journal-2190	65	38	essential	essential	ADJ
american_scientific_journal-2190	65	39	to	to	PART
american_scientific_journal-2190	65	40	give	give	VERB
american_scientific_journal-2190	65	41	accurate	accurate	ADJ
american_scientific_journal-2190	65	42	values	value	NOUN
american_scientific_journal-2190	65	43	for	for	ADP
american_scientific_journal-2190	65	44	the	the	DET
american_scientific_journal-2190	65	45	motor	motor	NOUN
american_scientific_journal-2190	65	46	velocities	velocity	NOUN
american_scientific_journal-2190	65	47	to	to	PART
american_scientific_journal-2190	65	48	ensure	ensure	VERB
american_scientific_journal-2190	65	49	that	that	SCONJ
american_scientific_journal-2190	65	50	the	the	DET
american_scientific_journal-2190	65	51	robot	robot	NOUN
american_scientific_journal-2190	65	52	follow	follow	VERB
american_scientific_journal-2190	65	53	the	the	DET
american_scientific_journal-2190	65	54	required	required	ADJ
american_scientific_journal-2190	65	55	path	path	NOUN
american_scientific_journal-2190	65	56	.	.	PUNCT
american_scientific_journal-2190	66	1	because	because	SCONJ
american_scientific_journal-2190	66	2	the	the	DET
american_scientific_journal-2190	66	3	map	map	NOUN
american_scientific_journal-2190	66	4	of	of	ADP
american_scientific_journal-2190	66	5	the	the	DET
american_scientific_journal-2190	66	6	environment	environment	NOUN
american_scientific_journal-2190	66	7	is	be	AUX
american_scientific_journal-2190	66	8	divided	divide	VERB
american_scientific_journal-2190	66	9	into	into	ADP
american_scientific_journal-2190	66	10	cells	cell	NOUN
american_scientific_journal-2190	66	11	,	,	PUNCT
american_scientific_journal-2190	66	12	the	the	DET
american_scientific_journal-2190	66	13	robot	robot	NOUN
american_scientific_journal-2190	66	14	movement	movement	NOUN
american_scientific_journal-2190	66	15	can	can	AUX
american_scientific_journal-2190	66	16	be	be	AUX
american_scientific_journal-2190	66	17	either	either	CCONJ
american_scientific_journal-2190	66	18	diagonal	diagonal	ADJ
american_scientific_journal-2190	66	19	or	or	CCONJ
american_scientific_journal-2190	66	20	orthogonal	orthogonal	ADJ
american_scientific_journal-2190	66	21	.	.	PUNCT
american_scientific_journal-2190	67	1	as	as	SCONJ
american_scientific_journal-2190	67	2	shown	show	VERB
american_scientific_journal-2190	67	3	in	in	ADP
american_scientific_journal-2190	67	4	figure	figure	NOUN
american_scientific_journal-2190	67	5	(	(	PUNCT
american_scientific_journal-2190	67	6	4	4	NUM
american_scientific_journal-2190	67	7	)	)	PUNCT
american_scientific_journal-2190	67	8	,	,	PUNCT
american_scientific_journal-2190	67	9	there	there	PRON
american_scientific_journal-2190	67	10	are	be	VERB
american_scientific_journal-2190	67	11	eight	eight	NUM
american_scientific_journal-2190	67	12	possible	possible	ADJ
american_scientific_journal-2190	67	13	directions	direction	NOUN
american_scientific_journal-2190	67	14	to	to	PART
american_scientific_journal-2190	67	15	move	move	VERB
american_scientific_journal-2190	67	16	(	(	PUNCT
american_scientific_journal-2190	67	17	a	a	PRON
american_scientific_journal-2190	67	18	,	,	PUNCT
american_scientific_journal-2190	67	19	b	b	NOUN
american_scientific_journal-2190	67	20	,	,	PUNCT
american_scientific_journal-2190	67	21	c	c	NOUN
american_scientific_journal-2190	67	22	,	,	PUNCT
american_scientific_journal-2190	67	23	d	d	NOUN
american_scientific_journal-2190	67	24	,	,	PUNCT
american_scientific_journal-2190	67	25	e	e	NOUN
american_scientific_journal-2190	67	26	,	,	PUNCT
american_scientific_journal-2190	67	27	f	f	PROPN
american_scientific_journal-2190	67	28	,	,	PUNCT
american_scientific_journal-2190	67	29	g	g	PROPN
american_scientific_journal-2190	67	30	and	and	CCONJ
american_scientific_journal-2190	67	31	h	h	NOUN
american_scientific_journal-2190	67	32	)	)	PUNCT
american_scientific_journal-2190	67	33	figure	figure	NOUN
american_scientific_journal-2190	67	34	4	4	NUM
american_scientific_journal-2190	67	35	:	:	PUNCT
american_scientific_journal-2190	67	36	possible	possible	ADJ
american_scientific_journal-2190	67	37	directions	direction	NOUN
american_scientific_journal-2190	67	38	of	of	ADP
american_scientific_journal-2190	67	39	robot	robot	NOUN
american_scientific_journal-2190	67	40	movement	movement	NOUN
american_scientific_journal-2190	67	41	to	to	PART
american_scientific_journal-2190	67	42	simplify	simplify	VERB
american_scientific_journal-2190	67	43	the	the	DET
american_scientific_journal-2190	67	44	algorithm	algorithm	NOUN
american_scientific_journal-2190	67	45	,	,	PUNCT
american_scientific_journal-2190	67	46	all	all	DET
american_scientific_journal-2190	67	47	these	these	DET
american_scientific_journal-2190	67	48	cases	case	NOUN
american_scientific_journal-2190	67	49	can	can	AUX
american_scientific_journal-2190	67	50	be	be	AUX
american_scientific_journal-2190	67	51	achieved	achieve	VERB
american_scientific_journal-2190	67	52	by	by	ADP
american_scientific_journal-2190	67	53	using	use	VERB
american_scientific_journal-2190	67	54	the	the	DET
american_scientific_journal-2190	67	55	same	same	ADJ
american_scientific_journal-2190	67	56	forward	forward	NOUN
american_scientific_journal-2190	67	57	and	and	CCONJ
american_scientific_journal-2190	67	58	angular	angular	ADJ
american_scientific_journal-2190	67	59	velocities	velocity	NOUN
american_scientific_journal-2190	67	60	just	just	ADV
american_scientific_journal-2190	67	61	by	by	ADP
american_scientific_journal-2190	67	62	adjusting	adjust	VERB
american_scientific_journal-2190	67	63	the	the	DET
american_scientific_journal-2190	67	64	time	time	NOUN
american_scientific_journal-2190	67	65	of	of	ADP
american_scientific_journal-2190	67	66	movement	movement	NOUN
american_scientific_journal-2190	67	67	.	.	PUNCT
american_scientific_journal-2190	68	1	the	the	DET
american_scientific_journal-2190	68	2	following	follow	VERB
american_scientific_journal-2190	68	3	flowchart	flowchart	PROPN
american_scientific_journal-2190	68	4	describes	describe	VERB
american_scientific_journal-2190	68	5	the	the	DET
american_scientific_journal-2190	68	6	complete	complete	ADJ
american_scientific_journal-2190	68	7	process	process	NOUN
american_scientific_journal-2190	68	8	of	of	ADP
american_scientific_journal-2190	68	9	motion	motion	NOUN
american_scientific_journal-2190	68	10	control	control	NOUN
american_scientific_journal-2190	68	11	:	:	PUNCT
american_scientific_journal-2190	68	12	figure	figure	VERB
american_scientific_journal-2190	68	13	19	19	NUM
american_scientific_journal-2190	68	14	:	:	PUNCT
american_scientific_journal-2190	68	15	motion	motion	NOUN
american_scientific_journal-2190	68	16	control	control	NOUN
american_scientific_journal-2190	68	17	algorithm	algorithm	PROPN
american_scientific_journal-2190	68	18	american	american	PROPN
american_scientific_journal-2190	68	19	scientific	scientific	PROPN
american_scientific_journal-2190	68	20	research	research	PROPN
american_scientific_journal-2190	68	21	journal	journal	NOUN
american_scientific_journal-2190	68	22	for	for	ADP
american_scientific_journal-2190	68	23	engineering	engineering	NOUN
american_scientific_journal-2190	68	24	,	,	PUNCT
american_scientific_journal-2190	68	25	technology	technology	NOUN
american_scientific_journal-2190	68	26	,	,	PUNCT
american_scientific_journal-2190	68	27	and	and	CCONJ
american_scientific_journal-2190	68	28	sciences	science	NOUN
american_scientific_journal-2190	68	29	(	(	PUNCT
american_scientific_journal-2190	68	30	asrjets	asrjet	NOUN
american_scientific_journal-2190	68	31	)	)	PUNCT
american_scientific_journal-2190	68	32	(	(	PUNCT
american_scientific_journal-2190	68	33	2016	2016	NUM
american_scientific_journal-2190	68	34	)	)	PUNCT
american_scientific_journal-2190	68	35	volume	volume	NOUN
american_scientific_journal-2190	68	36	26	26	NUM
american_scientific_journal-2190	68	37	,	,	PUNCT
american_scientific_journal-2190	68	38	no	no	DET
american_scientific_journal-2190	68	39	1	1	NUM
american_scientific_journal-2190	68	40	,	,	PUNCT
american_scientific_journal-2190	68	41	pp	pp	ADV
american_scientific_journal-2190	68	42	91	91	NUM
american_scientific_journal-2190	68	43	-	-	SYM
american_scientific_journal-2190	68	44	107	107	NUM
american_scientific_journal-2190	68	45	98	98	NUM
american_scientific_journal-2190	68	46	3.3	3.3	NUM
american_scientific_journal-2190	68	47	obstacle	obstacle	NOUN
american_scientific_journal-2190	68	48	detection	detection	NOUN
american_scientific_journal-2190	68	49	subsystem	subsystem	NOUN
american_scientific_journal-2190	68	50	obstacle	obstacle	NOUN
american_scientific_journal-2190	68	51	detection	detection	NOUN
american_scientific_journal-2190	68	52	algorithm	algorithm	NOUN
american_scientific_journal-2190	68	53	was	be	AUX
american_scientific_journal-2190	68	54	integrated	integrate	VERB
american_scientific_journal-2190	68	55	with	with	ADP
american_scientific_journal-2190	68	56	the	the	DET
american_scientific_journal-2190	68	57	path	path	NOUN
american_scientific_journal-2190	68	58	planning	planning	NOUN
american_scientific_journal-2190	68	59	algorithm	algorithm	NOUN
american_scientific_journal-2190	68	60	hence	hence	ADV
american_scientific_journal-2190	68	61	it	it	PRON
american_scientific_journal-2190	68	62	has	have	AUX
american_scientific_journal-2190	68	63	been	be	AUX
american_scientific_journal-2190	68	64	used	use	VERB
american_scientific_journal-2190	68	65	to	to	PART
american_scientific_journal-2190	68	66	modify	modify	VERB
american_scientific_journal-2190	68	67	the	the	DET
american_scientific_journal-2190	68	68	direction	direction	NOUN
american_scientific_journal-2190	68	69	of	of	ADP
american_scientific_journal-2190	68	70	the	the	DET
american_scientific_journal-2190	68	71	mobile	mobile	NOUN
american_scientific_journal-2190	68	72	robot	robot	NOUN
american_scientific_journal-2190	68	73	based	base	VERB
american_scientific_journal-2190	68	74	on	on	ADP
american_scientific_journal-2190	68	75	obstacles	obstacle	NOUN
american_scientific_journal-2190	68	76	detection	detection	NOUN
american_scientific_journal-2190	68	77	in	in	ADP
american_scientific_journal-2190	68	78	its	its	PRON
american_scientific_journal-2190	68	79	path	path	NOUN
american_scientific_journal-2190	68	80	.	.	PUNCT
american_scientific_journal-2190	69	1	it	it	PRON
american_scientific_journal-2190	69	2	executes	execute	VERB
american_scientific_journal-2190	69	3	this	this	DET
american_scientific_journal-2190	69	4	algorithm	algorithm	NOUN
american_scientific_journal-2190	69	5	to	to	PART
american_scientific_journal-2190	69	6	search	search	VERB
american_scientific_journal-2190	69	7	for	for	ADP
american_scientific_journal-2190	69	8	the	the	DET
american_scientific_journal-2190	69	9	obstacles	obstacle	NOUN
american_scientific_journal-2190	69	10	,	,	PUNCT
american_scientific_journal-2190	69	11	if	if	SCONJ
american_scientific_journal-2190	69	12	any	any	DET
american_scientific_journal-2190	69	13	obstacle	obstacle	NOUN
american_scientific_journal-2190	69	14	is	be	AUX
american_scientific_journal-2190	69	15	found	find	VERB
american_scientific_journal-2190	69	16	on	on	ADP
american_scientific_journal-2190	69	17	the	the	DET
american_scientific_journal-2190	69	18	mobile	mobile	ADJ
american_scientific_journal-2190	69	19	robot	robot	NOUN
american_scientific_journal-2190	69	20	path	path	NOUN
american_scientific_journal-2190	69	21	,	,	PUNCT
american_scientific_journal-2190	69	22	the	the	DET
american_scientific_journal-2190	69	23	old	old	ADJ
american_scientific_journal-2190	69	24	path	path	NOUN
american_scientific_journal-2190	69	25	will	will	AUX
american_scientific_journal-2190	69	26	be	be	AUX
american_scientific_journal-2190	69	27	replaced	replace	VERB
american_scientific_journal-2190	69	28	with	with	ADP
american_scientific_journal-2190	69	29	a	a	DET
american_scientific_journal-2190	69	30	new	new	ADJ
american_scientific_journal-2190	69	31	one	one	NOUN
american_scientific_journal-2190	69	32	to	to	PART
american_scientific_journal-2190	69	33	avoid	avoid	VERB
american_scientific_journal-2190	69	34	that	that	DET
american_scientific_journal-2190	69	35	obstacle	obstacle	NOUN
american_scientific_journal-2190	69	36	as	as	SCONJ
american_scientific_journal-2190	69	37	shown	show	VERB
american_scientific_journal-2190	69	38	if	if	SCONJ
american_scientific_journal-2190	69	39	figure	figure	NOUN
american_scientific_journal-2190	69	40	(	(	PUNCT
american_scientific_journal-2190	69	41	5	5	NUM
american_scientific_journal-2190	69	42	)	)	PUNCT
american_scientific_journal-2190	69	43	and	and	CCONJ
american_scientific_journal-2190	69	44	figure	figure	NOUN
american_scientific_journal-2190	69	45	(	(	PUNCT
american_scientific_journal-2190	69	46	6	6	NUM
american_scientific_journal-2190	69	47	)	)	PUNCT
american_scientific_journal-2190	69	48	where	where	SCONJ
american_scientific_journal-2190	69	49	figure	figure	NOUN
american_scientific_journal-2190	69	50	(	(	PUNCT
american_scientific_journal-2190	69	51	5	5	NUM
american_scientific_journal-2190	69	52	)	)	PUNCT
american_scientific_journal-2190	69	53	shows	show	VERB
american_scientific_journal-2190	69	54	the	the	DET
american_scientific_journal-2190	69	55	original	original	ADJ
american_scientific_journal-2190	69	56	path	path	NOUN
american_scientific_journal-2190	69	57	before	before	ADP
american_scientific_journal-2190	69	58	executing	execute	VERB
american_scientific_journal-2190	69	59	the	the	DET
american_scientific_journal-2190	69	60	obstacle	obstacle	NOUN
american_scientific_journal-2190	69	61	detection	detection	NOUN
american_scientific_journal-2190	69	62	algorithm	algorithm	NOUN
american_scientific_journal-2190	69	63	while	while	SCONJ
american_scientific_journal-2190	69	64	figure	figure	NOUN
american_scientific_journal-2190	69	65	(	(	PUNCT
american_scientific_journal-2190	69	66	6	6	NUM
american_scientific_journal-2190	69	67	)	)	PUNCT
american_scientific_journal-2190	69	68	shows	show	VERB
american_scientific_journal-2190	69	69	the	the	DET
american_scientific_journal-2190	69	70	modified	modified	ADJ
american_scientific_journal-2190	69	71	path	path	NOUN
american_scientific_journal-2190	69	72	depending	depend	VERB
american_scientific_journal-2190	69	73	on	on	ADP
american_scientific_journal-2190	69	74	the	the	DET
american_scientific_journal-2190	69	75	sensor	sensor	NOUN
american_scientific_journal-2190	69	76	readings	reading	NOUN
american_scientific_journal-2190	69	77	.	.	PUNCT
american_scientific_journal-2190	70	1	in	in	ADP
american_scientific_journal-2190	70	2	figure	figure	NOUN
american_scientific_journal-2190	70	3	(	(	PUNCT
american_scientific_journal-2190	70	4	6	6	NUM
american_scientific_journal-2190	70	5	)	)	PUNCT
american_scientific_journal-2190	70	6	the	the	DET
american_scientific_journal-2190	70	7	blue	blue	ADJ
american_scientific_journal-2190	70	8	squares	square	NOUN
american_scientific_journal-2190	70	9	represent	represent	VERB
american_scientific_journal-2190	70	10	the	the	DET
american_scientific_journal-2190	70	11	obstacles	obstacle	NOUN
american_scientific_journal-2190	70	12	that	that	PRON
american_scientific_journal-2190	70	13	are	be	AUX
american_scientific_journal-2190	70	14	not	not	PART
american_scientific_journal-2190	70	15	included	include	VERB
american_scientific_journal-2190	70	16	in	in	ADP
american_scientific_journal-2190	70	17	the	the	DET
american_scientific_journal-2190	70	18	map	map	NOUN
american_scientific_journal-2190	70	19	of	of	ADP
american_scientific_journal-2190	70	20	the	the	DET
american_scientific_journal-2190	70	21	environment	environment	NOUN
american_scientific_journal-2190	70	22	.	.	PUNCT
american_scientific_journal-2190	71	1	for	for	ADP
american_scientific_journal-2190	71	2	this	this	DET
american_scientific_journal-2190	71	3	reason	reason	NOUN
american_scientific_journal-2190	71	4	it	it	PRON
american_scientific_journal-2190	71	5	is	be	AUX
american_scientific_journal-2190	71	6	important	important	ADJ
american_scientific_journal-2190	71	7	to	to	PART
american_scientific_journal-2190	71	8	integrate	integrate	VERB
american_scientific_journal-2190	71	9	the	the	DET
american_scientific_journal-2190	71	10	path	path	NOUN
american_scientific_journal-2190	71	11	planning	planning	NOUN
american_scientific_journal-2190	71	12	algorithm	algorithm	NOUN
american_scientific_journal-2190	71	13	with	with	ADP
american_scientific_journal-2190	71	14	the	the	DET
american_scientific_journal-2190	71	15	obstacle	obstacle	NOUN
american_scientific_journal-2190	71	16	detection	detection	NOUN
american_scientific_journal-2190	71	17	algorithm	algorithm	NOUN
american_scientific_journal-2190	71	18	.	.	PUNCT
american_scientific_journal-2190	72	1	figure	figure	NOUN
american_scientific_journal-2190	72	2	5	5	NUM
american_scientific_journal-2190	72	3	:	:	PUNCT
american_scientific_journal-2190	72	4	planned	plan	VERB
american_scientific_journal-2190	72	5	path	path	NOUN
american_scientific_journal-2190	72	6	between	between	ADP
american_scientific_journal-2190	72	7	the	the	DET
american_scientific_journal-2190	72	8	starting	starting	NOUN
american_scientific_journal-2190	72	9	point	point	NOUN
american_scientific_journal-2190	72	10	and	and	CCONJ
american_scientific_journal-2190	72	11	the	the	DET
american_scientific_journal-2190	72	12	targrt	targrt	ADJ
american_scientific_journal-2190	72	13	figure	figure	NOUN
american_scientific_journal-2190	72	14	6	6	NUM
american_scientific_journal-2190	72	15	:	:	PUNCT
american_scientific_journal-2190	72	16	modified	modify	VERB
american_scientific_journal-2190	72	17	path	path	NOUN
american_scientific_journal-2190	72	18	after	after	ADP
american_scientific_journal-2190	72	19	map	map	NOUN
american_scientific_journal-2190	72	20	observation	observation	NOUN
american_scientific_journal-2190	72	21	american	american	PROPN
american_scientific_journal-2190	72	22	scientific	scientific	ADJ
american_scientific_journal-2190	72	23	research	research	NOUN
american_scientific_journal-2190	72	24	journal	journal	NOUN
american_scientific_journal-2190	72	25	for	for	ADP
american_scientific_journal-2190	72	26	engineering	engineering	NOUN
american_scientific_journal-2190	72	27	,	,	PUNCT
american_scientific_journal-2190	72	28	technology	technology	NOUN
american_scientific_journal-2190	72	29	,	,	PUNCT
american_scientific_journal-2190	72	30	and	and	CCONJ
american_scientific_journal-2190	72	31	sciences	science	NOUN
american_scientific_journal-2190	72	32	(	(	PUNCT
american_scientific_journal-2190	72	33	asrjets	asrjet	NOUN
american_scientific_journal-2190	72	34	)	)	PUNCT
american_scientific_journal-2190	72	35	(	(	PUNCT
american_scientific_journal-2190	72	36	2016	2016	NUM
american_scientific_journal-2190	72	37	)	)	PUNCT
american_scientific_journal-2190	72	38	volume	volume	NOUN
american_scientific_journal-2190	72	39	26	26	NUM
american_scientific_journal-2190	72	40	,	,	PUNCT
american_scientific_journal-2190	72	41	no	no	DET
american_scientific_journal-2190	72	42	1	1	NUM
american_scientific_journal-2190	72	43	,	,	PUNCT
american_scientific_journal-2190	72	44	pp	pp	ADV
american_scientific_journal-2190	72	45	91	91	NUM
american_scientific_journal-2190	72	46	-	-	SYM
american_scientific_journal-2190	72	47	107	107	NUM
american_scientific_journal-2190	72	48	99	99	NUM
american_scientific_journal-2190	72	49	the	the	DET
american_scientific_journal-2190	72	50	sensor	sensor	NOUN
american_scientific_journal-2190	72	51	information	information	NOUN
american_scientific_journal-2190	72	52	will	will	AUX
american_scientific_journal-2190	72	53	used	use	VERB
american_scientific_journal-2190	72	54	to	to	PART
american_scientific_journal-2190	72	55	continuously	continuously	ADV
american_scientific_journal-2190	72	56	update	update	VERB
american_scientific_journal-2190	72	57	the	the	DET
american_scientific_journal-2190	72	58	path	path	NOUN
american_scientific_journal-2190	72	59	.	.	PUNCT
american_scientific_journal-2190	73	1	for	for	ADP
american_scientific_journal-2190	73	2	this	this	DET
american_scientific_journal-2190	73	3	reason	reason	NOUN
american_scientific_journal-2190	73	4	,	,	PUNCT
american_scientific_journal-2190	73	5	the	the	DET
american_scientific_journal-2190	73	6	obstacle	obstacle	NOUN
american_scientific_journal-2190	73	7	avoidance	avoidance	NOUN
american_scientific_journal-2190	73	8	algorithm	algorithm	NOUN
american_scientific_journal-2190	73	9	with	with	ADP
american_scientific_journal-2190	73	10	the	the	DET
american_scientific_journal-2190	73	11	path	path	NOUN
american_scientific_journal-2190	73	12	planning	planning	NOUN
american_scientific_journal-2190	73	13	algorithm	algorithm	NOUN
american_scientific_journal-2190	73	14	will	will	AUX
american_scientific_journal-2190	73	15	constantly	constantly	ADV
american_scientific_journal-2190	73	16	re	re	VERB
american_scientific_journal-2190	73	17	-	-	VERB
american_scientific_journal-2190	73	18	plan	plan	VERB
american_scientific_journal-2190	73	19	the	the	DET
american_scientific_journal-2190	73	20	path	path	NOUN
american_scientific_journal-2190	73	21	so	so	SCONJ
american_scientific_journal-2190	73	22	this	this	DET
american_scientific_journal-2190	73	23	continuous	continuous	ADJ
american_scientific_journal-2190	73	24	re	re	NOUN
american_scientific_journal-2190	73	25	-	-	NOUN
american_scientific_journal-2190	73	26	planning	planning	NOUN
american_scientific_journal-2190	73	27	allows	allow	VERB
american_scientific_journal-2190	73	28	the	the	DET
american_scientific_journal-2190	73	29	mobile	mobile	ADJ
american_scientific_journal-2190	73	30	robot	robot	NOUN
american_scientific_journal-2190	73	31	to	to	PART
american_scientific_journal-2190	73	32	deal	deal	VERB
american_scientific_journal-2190	73	33	with	with	ADP
american_scientific_journal-2190	73	34	dynamic	dynamic	ADJ
american_scientific_journal-2190	73	35	environments	environment	NOUN
american_scientific_journal-2190	73	36	in	in	ADP
american_scientific_journal-2190	73	37	addition	addition	NOUN
american_scientific_journal-2190	73	38	to	to	PART
american_scientific_journal-2190	73	39	avoid	avoid	VERB
american_scientific_journal-2190	73	40	collision	collision	NOUN
american_scientific_journal-2190	73	41	.	.	PUNCT
american_scientific_journal-2190	74	1	the	the	DET
american_scientific_journal-2190	74	2	scanning	scan	VERB
american_scientific_journal-2190	74	3	range	range	NOUN
american_scientific_journal-2190	74	4	finder	finder	NOUN
american_scientific_journal-2190	74	5	urg-04lx	urg-04lx	PRON
american_scientific_journal-2190	74	6	will	will	AUX
american_scientific_journal-2190	74	7	be	be	AUX
american_scientific_journal-2190	74	8	used	use	VERB
american_scientific_journal-2190	74	9	to	to	PART
american_scientific_journal-2190	74	10	measure	measure	VERB
american_scientific_journal-2190	74	11	the	the	DET
american_scientific_journal-2190	74	12	environment	environment	NOUN
american_scientific_journal-2190	74	13	.	.	PUNCT
american_scientific_journal-2190	75	1	it	it	PRON
american_scientific_journal-2190	75	2	will	will	AUX
american_scientific_journal-2190	75	3	be	be	AUX
american_scientific_journal-2190	75	4	used	use	VERB
american_scientific_journal-2190	75	5	for	for	ADP
american_scientific_journal-2190	75	6	the	the	DET
american_scientific_journal-2190	75	7	obstacle	obstacle	NOUN
american_scientific_journal-2190	75	8	avoidance	avoidance	NOUN
american_scientific_journal-2190	75	9	in	in	ADP
american_scientific_journal-2190	75	10	addition	addition	NOUN
american_scientific_journal-2190	75	11	to	to	ADP
american_scientific_journal-2190	75	12	using	use	VERB
american_scientific_journal-2190	75	13	it	it	PRON
american_scientific_journal-2190	75	14	in	in	ADP
american_scientific_journal-2190	75	15	the	the	DET
american_scientific_journal-2190	75	16	localization	localization	NOUN
american_scientific_journal-2190	75	17	algorithm	algorithm	NOUN
american_scientific_journal-2190	75	18	[	[	X
american_scientific_journal-2190	75	19	7	7	NUM
american_scientific_journal-2190	75	20	]	]	PUNCT
american_scientific_journal-2190	75	21	.	.	PUNCT
american_scientific_journal-2190	76	1	4	4	X
american_scientific_journal-2190	76	2	.	.	X
american_scientific_journal-2190	76	3	software	software	NOUN
american_scientific_journal-2190	76	4	methodology	methodology	NOUN
american_scientific_journal-2190	76	5	the	the	DET
american_scientific_journal-2190	76	6	labview	labview	NOUN
american_scientific_journal-2190	76	7	robotics	robotic	NOUN
american_scientific_journal-2190	76	8	module	module	NOUN
american_scientific_journal-2190	76	9	includes	include	VERB
american_scientific_journal-2190	76	10	several	several	ADJ
american_scientific_journal-2190	76	11	path	path	NOUN
american_scientific_journal-2190	76	12	planning	planning	NOUN
american_scientific_journal-2190	76	13	algorithms	algorithm	NOUN
american_scientific_journal-2190	76	14	including	include	VERB
american_scientific_journal-2190	76	15	a	a	PRON
american_scientific_journal-2190	76	16	*	*	PUNCT
american_scientific_journal-2190	77	1	[	[	X
american_scientific_journal-2190	77	2	9	9	NUM
american_scientific_journal-2190	77	3	]	]	PUNCT
american_scientific_journal-2190	77	4	.	.	PUNCT
american_scientific_journal-2190	78	1	the	the	DET
american_scientific_journal-2190	78	2	following	follow	VERB
american_scientific_journal-2190	78	3	example	example	NOUN
american_scientific_journal-2190	78	4	will	will	AUX
american_scientific_journal-2190	78	5	be	be	AUX
american_scientific_journal-2190	78	6	used	use	VERB
american_scientific_journal-2190	78	7	in	in	ADP
american_scientific_journal-2190	78	8	the	the	DET
american_scientific_journal-2190	78	9	main	main	ADJ
american_scientific_journal-2190	78	10	program	program	NOUN
american_scientific_journal-2190	78	11	with	with	ADP
american_scientific_journal-2190	78	12	some	some	DET
american_scientific_journal-2190	78	13	modifications	modification	NOUN
american_scientific_journal-2190	78	14	to	to	PART
american_scientific_journal-2190	78	15	be	be	AUX
american_scientific_journal-2190	78	16	compatible	compatible	ADJ
american_scientific_journal-2190	78	17	with	with	ADP
american_scientific_journal-2190	78	18	the	the	DET
american_scientific_journal-2190	78	19	main	main	ADJ
american_scientific_journal-2190	78	20	localization	localization	NOUN
american_scientific_journal-2190	78	21	algorithm	algorithm	NOUN
american_scientific_journal-2190	78	22	.	.	PUNCT
american_scientific_journal-2190	79	1	the	the	DET
american_scientific_journal-2190	79	2	following	follow	VERB
american_scientific_journal-2190	79	3	steps	step	NOUN
american_scientific_journal-2190	79	4	have	have	AUX
american_scientific_journal-2190	79	5	been	be	AUX
american_scientific_journal-2190	79	6	followed	follow	VERB
american_scientific_journal-2190	79	7	:	:	PUNCT
american_scientific_journal-2190	79	8	•	•	ADP
american_scientific_journal-2190	79	9	building	build	VERB
american_scientific_journal-2190	79	10	the	the	DET
american_scientific_journal-2190	79	11	map	map	NOUN
american_scientific_journal-2190	79	12	:	:	PUNCT
american_scientific_journal-2190	79	13	figure	figure	VERB
american_scientific_journal-2190	79	14	20	20	NUM
american_scientific_journal-2190	79	15	in	in	ADP
american_scientific_journal-2190	79	16	labview	labview	NOUN
american_scientific_journal-2190	79	17	robotics	robotic	NOUN
american_scientific_journal-2190	79	18	,	,	PUNCT
american_scientific_journal-2190	79	19	a	a	DET
american_scientific_journal-2190	79	20	2d	2d	NUM
american_scientific_journal-2190	79	21	array	array	NOUN
american_scientific_journal-2190	79	22	of	of	ADP
american_scientific_journal-2190	79	23	non	non	ADJ
american_scientific_journal-2190	79	24	-	-	ADJ
american_scientific_journal-2190	79	25	zero	zero	ADJ
american_scientific_journal-2190	79	26	values	value	NOUN
american_scientific_journal-2190	79	27	is	be	AUX
american_scientific_journal-2190	79	28	used	use	VERB
american_scientific_journal-2190	79	29	to	to	PART
american_scientific_journal-2190	79	30	represent	represent	VERB
american_scientific_journal-2190	79	31	a	a	DET
american_scientific_journal-2190	79	32	map	map	NOUN
american_scientific_journal-2190	79	33	where	where	SCONJ
american_scientific_journal-2190	79	34	each	each	DET
american_scientific_journal-2190	79	35	value	value	NOUN
american_scientific_journal-2190	79	36	in	in	ADP
american_scientific_journal-2190	79	37	this	this	DET
american_scientific_journal-2190	79	38	map	map	NOUN
american_scientific_journal-2190	79	39	is	be	AUX
american_scientific_journal-2190	79	40	represented	represent	VERB
american_scientific_journal-2190	79	41	by	by	ADP
american_scientific_journal-2190	79	42	a	a	DET
american_scientific_journal-2190	79	43	cost	cost	NOUN
american_scientific_journal-2190	79	44	that	that	PRON
american_scientific_journal-2190	79	45	associated	associate	VERB
american_scientific_journal-2190	79	46	with	with	ADP
american_scientific_journal-2190	79	47	moving	move	VERB
american_scientific_journal-2190	79	48	from	from	ADP
american_scientific_journal-2190	79	49	one	one	NUM
american_scientific_journal-2190	79	50	node	node	NOUN
american_scientific_journal-2190	79	51	to	to	ADP
american_scientific_journal-2190	79	52	another	another	PRON
american_scientific_journal-2190	79	53	.	.	PUNCT
american_scientific_journal-2190	80	1	for	for	ADP
american_scientific_journal-2190	80	2	this	this	DET
american_scientific_journal-2190	80	3	project	project	NOUN
american_scientific_journal-2190	80	4	,	,	PUNCT
american_scientific_journal-2190	80	5	a	a	DET
american_scientific_journal-2190	80	6	simple	simple	ADJ
american_scientific_journal-2190	80	7	map	map	NOUN
american_scientific_journal-2190	80	8	of	of	ADP
american_scientific_journal-2190	80	9	two	two	NUM
american_scientific_journal-2190	80	10	values	value	NOUN
american_scientific_journal-2190	80	11	will	will	AUX
american_scientific_journal-2190	80	12	be	be	AUX
american_scientific_journal-2190	80	13	used	use	VERB
american_scientific_journal-2190	80	14	,	,	PUNCT
american_scientific_journal-2190	80	15	therefore	therefore	ADV
american_scientific_journal-2190	80	16	,	,	PUNCT
american_scientific_journal-2190	80	17	a	a	DET
american_scientific_journal-2190	80	18	2d	2d	NUM
american_scientific_journal-2190	80	19	array	array	NOUN
american_scientific_journal-2190	80	20	of	of	ADP
american_scientific_journal-2190	80	21	boolean	boolean	ADJ
american_scientific_journal-2190	80	22	values	value	NOUN
american_scientific_journal-2190	80	23	will	will	AUX
american_scientific_journal-2190	80	24	be	be	AUX
american_scientific_journal-2190	80	25	used	use	VERB
american_scientific_journal-2190	80	26	as	as	ADP
american_scientific_journal-2190	80	27	a	a	DET
american_scientific_journal-2190	80	28	map	map	NOUN
american_scientific_journal-2190	80	29	input	input	NOUN
american_scientific_journal-2190	80	30	.	.	PUNCT
american_scientific_journal-2190	81	1	•	•	NUM
american_scientific_journal-2190	81	2	plan	plan	VERB
american_scientific_journal-2190	81	3	the	the	DET
american_scientific_journal-2190	81	4	path	path	NOUN
american_scientific_journal-2190	81	5	:	:	PUNCT
american_scientific_journal-2190	81	6	the	the	DET
american_scientific_journal-2190	81	7	next	next	ADJ
american_scientific_journal-2190	81	8	step	step	NOUN
american_scientific_journal-2190	81	9	after	after	ADP
american_scientific_journal-2190	81	10	building	build	VERB
american_scientific_journal-2190	81	11	the	the	DET
american_scientific_journal-2190	81	12	map	map	NOUN
american_scientific_journal-2190	81	13	is	be	AUX
american_scientific_journal-2190	81	14	plan	plan	VERB
american_scientific_journal-2190	81	15	the	the	DET
american_scientific_journal-2190	81	16	path	path	NOUN
american_scientific_journal-2190	81	17	from	from	ADP
american_scientific_journal-2190	81	18	one	one	NUM
american_scientific_journal-2190	81	19	position	position	NOUN
american_scientific_journal-2190	81	20	to	to	ADP
american_scientific_journal-2190	81	21	another	another	PRON
american_scientific_journal-2190	81	22	.	.	PUNCT
american_scientific_journal-2190	82	1	to	to	PART
american_scientific_journal-2190	82	2	plan	plan	VERB
american_scientific_journal-2190	82	3	a	a	DET
american_scientific_journal-2190	82	4	path	path	NOUN
american_scientific_journal-2190	82	5	,	,	PUNCT
american_scientific_journal-2190	82	6	it	it	PRON
american_scientific_journal-2190	82	7	is	be	AUX
american_scientific_journal-2190	82	8	required	require	VERB
american_scientific_journal-2190	82	9	to	to	PART
american_scientific_journal-2190	82	10	detect	detect	VERB
american_scientific_journal-2190	82	11	the	the	DET
american_scientific_journal-2190	82	12	start	start	NOUN
american_scientific_journal-2190	82	13	and	and	CCONJ
american_scientific_journal-2190	82	14	target	target	VERB
american_scientific_journal-2190	82	15	positions	position	NOUN
american_scientific_journal-2190	82	16	on	on	ADP
american_scientific_journal-2190	82	17	the	the	DET
american_scientific_journal-2190	82	18	map	map	NOUN
american_scientific_journal-2190	82	19	to	to	PART
american_scientific_journal-2190	82	20	be	be	AUX
american_scientific_journal-2190	82	21	able	able	ADJ
american_scientific_journal-2190	82	22	to	to	PART
american_scientific_journal-2190	82	23	apply	apply	VERB
american_scientific_journal-2190	82	24	a	a	DET
american_scientific_journal-2190	82	25	*	*	ADJ
american_scientific_journal-2190	82	26	algorithm	algorithm	NOUN
american_scientific_journal-2190	82	27	in	in	ADP
american_scientific_journal-2190	82	28	order	order	NOUN
american_scientific_journal-2190	82	29	to	to	PART
american_scientific_journal-2190	82	30	provide	provide	VERB
american_scientific_journal-2190	82	31	the	the	DET
american_scientific_journal-2190	82	32	best	good	ADJ
american_scientific_journal-2190	82	33	american	american	ADJ
american_scientific_journal-2190	82	34	scientific	scientific	ADJ
american_scientific_journal-2190	82	35	research	research	NOUN
american_scientific_journal-2190	82	36	journal	journal	NOUN
american_scientific_journal-2190	82	37	for	for	ADP
american_scientific_journal-2190	82	38	engineering	engineering	NOUN
american_scientific_journal-2190	82	39	,	,	PUNCT
american_scientific_journal-2190	82	40	technology	technology	NOUN
american_scientific_journal-2190	82	41	,	,	PUNCT
american_scientific_journal-2190	82	42	and	and	CCONJ
american_scientific_journal-2190	82	43	sciences	science	NOUN
american_scientific_journal-2190	82	44	(	(	PUNCT
american_scientific_journal-2190	82	45	asrjets	asrjet	NOUN
american_scientific_journal-2190	82	46	)	)	PUNCT
american_scientific_journal-2190	82	47	(	(	PUNCT
american_scientific_journal-2190	82	48	2016	2016	NUM
american_scientific_journal-2190	82	49	)	)	PUNCT
american_scientific_journal-2190	82	50	volume	volume	NOUN
american_scientific_journal-2190	82	51	26	26	NUM
american_scientific_journal-2190	82	52	,	,	PUNCT
american_scientific_journal-2190	82	53	no	no	DET
american_scientific_journal-2190	82	54	1	1	NUM
american_scientific_journal-2190	82	55	,	,	PUNCT
american_scientific_journal-2190	82	56	pp	pp	ADV
american_scientific_journal-2190	82	57	91	91	NUM
american_scientific_journal-2190	82	58	-	-	SYM
american_scientific_journal-2190	82	59	107	107	NUM
american_scientific_journal-2190	82	60	100	100	NUM
american_scientific_journal-2190	82	61	path	path	NOUN
american_scientific_journal-2190	82	62	between	between	ADP
american_scientific_journal-2190	82	63	them	they	PRON
american_scientific_journal-2190	82	64	.	.	PUNCT
american_scientific_journal-2190	83	1	figure	figure	VERB
american_scientific_journal-2190	83	2	8	8	NUM
american_scientific_journal-2190	83	3	:	:	PUNCT
american_scientific_journal-2190	83	4	path	path	NOUN
american_scientific_journal-2190	83	5	planning	planning	NOUN
american_scientific_journal-2190	83	6	portion	portion	NOUN
american_scientific_journal-2190	83	7	of	of	ADP
american_scientific_journal-2190	83	8	the	the	DET
american_scientific_journal-2190	83	9	labview	labview	NOUN
american_scientific_journal-2190	83	10	code	code	NOUN
american_scientific_journal-2190	84	1	[	[	X
american_scientific_journal-2190	84	2	7	7	NUM
american_scientific_journal-2190	84	3	]	]	PUNCT
american_scientific_journal-2190	84	4	figure	figure	NOUN
american_scientific_journal-2190	84	5	9	9	NUM
american_scientific_journal-2190	84	6	:	:	PUNCT
american_scientific_journal-2190	84	7	final	final	ADJ
american_scientific_journal-2190	84	8	complete	complete	ADJ
american_scientific_journal-2190	84	9	algorithm	algorithm	NOUN
american_scientific_journal-2190	84	10	[	[	X
american_scientific_journal-2190	84	11	9	9	NUM
american_scientific_journal-2190	84	12	]	]	SYM
american_scientific_journal-2190	84	13	•	•	NOUN
american_scientific_journal-2190	84	14	display	display	VERB
american_scientific_journal-2190	84	15	the	the	DET
american_scientific_journal-2190	84	16	complete	complete	ADJ
american_scientific_journal-2190	84	17	algorithm	algorithm	NOUN
american_scientific_journal-2190	84	18	,	,	PUNCT
american_scientific_journal-2190	84	19	the	the	DET
american_scientific_journal-2190	84	20	maze	maze	NOUN
american_scientific_journal-2190	84	21	and	and	CCONJ
american_scientific_journal-2190	84	22	the	the	DET
american_scientific_journal-2190	84	23	planned	planned	ADJ
american_scientific_journal-2190	84	24	path	path	NOUN
american_scientific_journal-2190	84	25	.	.	PUNCT
american_scientific_journal-2190	85	1	figure	figure	NOUN
american_scientific_journal-2190	85	2	10	10	NUM
american_scientific_journal-2190	85	3	:	:	PUNCT
american_scientific_journal-2190	85	4	end	end	NOUN
american_scientific_journal-2190	85	5	result	result	NOUN
american_scientific_journal-2190	85	6	of	of	ADP
american_scientific_journal-2190	85	7	the	the	DET
american_scientific_journal-2190	85	8	a	a	PROPN
american_scientific_journal-2190	85	9	*	*	X
american_scientific_journal-2190	85	10	path	path	NOUN
american_scientific_journal-2190	85	11	planning	planning	NOUN
american_scientific_journal-2190	85	12	algorithm	algorithm	PROPN
american_scientific_journal-2190	85	13	american	american	PROPN
american_scientific_journal-2190	85	14	scientific	scientific	PROPN
american_scientific_journal-2190	85	15	research	research	PROPN
american_scientific_journal-2190	85	16	journal	journal	NOUN
american_scientific_journal-2190	85	17	for	for	ADP
american_scientific_journal-2190	85	18	engineering	engineering	NOUN
american_scientific_journal-2190	85	19	,	,	PUNCT
american_scientific_journal-2190	85	20	technology	technology	NOUN
american_scientific_journal-2190	85	21	,	,	PUNCT
american_scientific_journal-2190	85	22	and	and	CCONJ
american_scientific_journal-2190	85	23	sciences	science	NOUN
american_scientific_journal-2190	85	24	(	(	PUNCT
american_scientific_journal-2190	85	25	asrjets	asrjet	NOUN
american_scientific_journal-2190	85	26	)	)	PUNCT
american_scientific_journal-2190	85	27	(	(	PUNCT
american_scientific_journal-2190	85	28	2016	2016	NUM
american_scientific_journal-2190	85	29	)	)	PUNCT
american_scientific_journal-2190	85	30	volume	volume	NOUN
american_scientific_journal-2190	85	31	26	26	NUM
american_scientific_journal-2190	85	32	,	,	PUNCT
american_scientific_journal-2190	85	33	no	no	DET
american_scientific_journal-2190	85	34	1	1	NUM
american_scientific_journal-2190	85	35	,	,	PUNCT
american_scientific_journal-2190	85	36	pp	pp	ADV
american_scientific_journal-2190	85	37	91	91	NUM
american_scientific_journal-2190	85	38	-	-	SYM
american_scientific_journal-2190	85	39	107	107	NUM
american_scientific_journal-2190	85	40	101	101	NUM
american_scientific_journal-2190	85	41	the	the	DET
american_scientific_journal-2190	85	42	end	end	NOUN
american_scientific_journal-2190	85	43	result	result	NOUN
american_scientific_journal-2190	85	44	is	be	AUX
american_scientific_journal-2190	85	45	shown	show	VERB
american_scientific_journal-2190	85	46	in	in	ADP
american_scientific_journal-2190	85	47	figure	figure	NOUN
american_scientific_journal-2190	85	48	(	(	PUNCT
american_scientific_journal-2190	85	49	10	10	NUM
american_scientific_journal-2190	85	50	)	)	PUNCT
american_scientific_journal-2190	85	51	:	:	PUNCT
american_scientific_journal-2190	85	52	it	it	PRON
american_scientific_journal-2190	85	53	is	be	AUX
american_scientific_journal-2190	85	54	best	good	ADJ
american_scientific_journal-2190	85	55	to	to	PART
american_scientific_journal-2190	85	56	understand	understand	VERB
american_scientific_journal-2190	85	57	the	the	DET
american_scientific_journal-2190	85	58	algorithm	algorithm	NOUN
american_scientific_journal-2190	85	59	conceptually	conceptually	ADV
american_scientific_journal-2190	85	60	so	so	SCONJ
american_scientific_journal-2190	85	61	that	that	SCONJ
american_scientific_journal-2190	85	62	you	you	PRON
american_scientific_journal-2190	85	63	can	can	AUX
american_scientific_journal-2190	85	64	use	use	VERB
american_scientific_journal-2190	85	65	it	it	PRON
american_scientific_journal-2190	85	66	most	most	ADV
american_scientific_journal-2190	85	67	effectively	effectively	ADV
american_scientific_journal-2190	85	68	.	.	PUNCT
american_scientific_journal-2190	86	1	in	in	ADP
american_scientific_journal-2190	86	2	this	this	DET
american_scientific_journal-2190	86	3	tutorial	tutorial	NOUN
american_scientific_journal-2190	86	4	,	,	PUNCT
american_scientific_journal-2190	86	5	you	you	PRON
american_scientific_journal-2190	86	6	will	will	AUX
american_scientific_journal-2190	86	7	learn	learn	VERB
american_scientific_journal-2190	86	8	the	the	DET
american_scientific_journal-2190	86	9	concepts	concept	NOUN
american_scientific_journal-2190	86	10	behind	behind	ADP
american_scientific_journal-2190	86	11	a	a	PROPN
american_scientific_journal-2190	86	12	*	*	NOUN
american_scientific_journal-2190	86	13	as	as	ADV
american_scientific_journal-2190	86	14	well	well	ADV
american_scientific_journal-2190	86	15	as	as	ADP
american_scientific_journal-2190	86	16	see	see	VERB
american_scientific_journal-2190	86	17	a	a	DET
american_scientific_journal-2190	86	18	simple	simple	ADJ
american_scientific_journal-2190	86	19	example	example	NOUN
american_scientific_journal-2190	86	20	that	that	PRON
american_scientific_journal-2190	86	21	implements	implements	AUX
american_scientific_journal-2190	86	22	a	a	PRON
american_scientific_journal-2190	86	23	*	*	PUNCT
american_scientific_journal-2190	86	24	using	use	VERB
american_scientific_journal-2190	86	25	ni	ni	PROPN
american_scientific_journal-2190	86	26	labview	labview	NOUN
american_scientific_journal-2190	86	27	.	.	PUNCT
american_scientific_journal-2190	87	1	the	the	DET
american_scientific_journal-2190	87	2	final	final	ADJ
american_scientific_journal-2190	87	3	path	path	NOUN
american_scientific_journal-2190	87	4	planning	planning	NOUN
american_scientific_journal-2190	87	5	and	and	CCONJ
american_scientific_journal-2190	87	6	obstacle	obstacle	NOUN
american_scientific_journal-2190	87	7	detection	detection	NOUN
american_scientific_journal-2190	87	8	:	:	PUNCT
american_scientific_journal-2190	87	9	figure	figure	NOUN
american_scientific_journal-2190	87	10	21	21	NUM
american_scientific_journal-2190	87	11	5	5	NUM
american_scientific_journal-2190	87	12	.	.	PUNCT
american_scientific_journal-2190	88	1	test	test	NOUN
american_scientific_journal-2190	88	2	and	and	CCONJ
american_scientific_journal-2190	88	3	calibration	calibration	NOUN
american_scientific_journal-2190	88	4	this	this	DET
american_scientific_journal-2190	88	5	section	section	NOUN
american_scientific_journal-2190	88	6	includes	include	VERB
american_scientific_journal-2190	88	7	the	the	DET
american_scientific_journal-2190	88	8	calibration	calibration	NOUN
american_scientific_journal-2190	88	9	of	of	ADP
american_scientific_journal-2190	88	10	the	the	DET
american_scientific_journal-2190	88	11	system	system	NOUN
american_scientific_journal-2190	88	12	component	component	NOUN
american_scientific_journal-2190	88	13	to	to	PART
american_scientific_journal-2190	88	14	be	be	AUX
american_scientific_journal-2190	88	15	ready	ready	ADJ
american_scientific_journal-2190	88	16	and	and	CCONJ
american_scientific_journal-2190	88	17	efficient	efficient	ADJ
american_scientific_journal-2190	88	18	to	to	PART
american_scientific_journal-2190	88	19	use	use	VERB
american_scientific_journal-2190	88	20	in	in	ADP
american_scientific_journal-2190	88	21	the	the	DET
american_scientific_journal-2190	88	22	program	program	NOUN
american_scientific_journal-2190	88	23	.	.	PUNCT
american_scientific_journal-2190	89	1	this	this	PRON
american_scientific_journal-2190	89	2	include	include	VERB
american_scientific_journal-2190	89	3	two	two	NUM
american_scientific_journal-2190	89	4	main	main	ADJ
american_scientific_journal-2190	89	5	parts	part	NOUN
american_scientific_journal-2190	89	6	,	,	PUNCT
american_scientific_journal-2190	89	7	the	the	DET
american_scientific_journal-2190	89	8	first	first	ADJ
american_scientific_journal-2190	89	9	part	part	NOUN
american_scientific_journal-2190	89	10	include	include	VERB
american_scientific_journal-2190	89	11	the	the	DET
american_scientific_journal-2190	89	12	odometry	odometry	NOUN
american_scientific_journal-2190	89	13	calibration	calibration	NOUN
american_scientific_journal-2190	89	14	while	while	SCONJ
american_scientific_journal-2190	89	15	the	the	DET
american_scientific_journal-2190	89	16	second	second	ADJ
american_scientific_journal-2190	89	17	part	part	NOUN
american_scientific_journal-2190	89	18	is	be	AUX
american_scientific_journal-2190	89	19	the	the	DET
american_scientific_journal-2190	89	20	calibration	calibration	NOUN
american_scientific_journal-2190	89	21	of	of	ADP
american_scientific_journal-2190	89	22	the	the	DET
american_scientific_journal-2190	89	23	sensor	sensor	NOUN
american_scientific_journal-2190	89	24	readings	reading	VERB
american_scientific_journal-2190	89	25	.	.	PUNCT
american_scientific_journal-2190	90	1	5.1	5.1	NUM
american_scientific_journal-2190	90	2	odometry	odometry	NOUN
american_scientific_journal-2190	90	3	calibration	calibration	NOUN
american_scientific_journal-2190	90	4	american	american	PROPN
american_scientific_journal-2190	90	5	scientific	scientific	PROPN
american_scientific_journal-2190	90	6	research	research	PROPN
american_scientific_journal-2190	90	7	journal	journal	NOUN
american_scientific_journal-2190	90	8	for	for	ADP
american_scientific_journal-2190	90	9	engineering	engineering	NOUN
american_scientific_journal-2190	90	10	,	,	PUNCT
american_scientific_journal-2190	90	11	technology	technology	NOUN
american_scientific_journal-2190	90	12	,	,	PUNCT
american_scientific_journal-2190	90	13	and	and	CCONJ
american_scientific_journal-2190	90	14	sciences	science	NOUN
american_scientific_journal-2190	90	15	(	(	PUNCT
american_scientific_journal-2190	90	16	asrjets	asrjet	NOUN
american_scientific_journal-2190	90	17	)	)	PUNCT
american_scientific_journal-2190	90	18	(	(	PUNCT
american_scientific_journal-2190	90	19	2016	2016	NUM
american_scientific_journal-2190	90	20	)	)	PUNCT
american_scientific_journal-2190	90	21	volume	volume	NOUN
american_scientific_journal-2190	90	22	26	26	NUM
american_scientific_journal-2190	90	23	,	,	PUNCT
american_scientific_journal-2190	90	24	no	no	DET
american_scientific_journal-2190	90	25	1	1	NUM
american_scientific_journal-2190	90	26	,	,	PUNCT
american_scientific_journal-2190	90	27	pp	pp	ADV
american_scientific_journal-2190	90	28	91	91	NUM
american_scientific_journal-2190	90	29	-	-	SYM
american_scientific_journal-2190	90	30	107	107	NUM
american_scientific_journal-2190	90	31	102	102	NUM
american_scientific_journal-2190	90	32	for	for	ADP
american_scientific_journal-2190	90	33	odometry	odometry	NOUN
american_scientific_journal-2190	90	34	calibration	calibration	NOUN
american_scientific_journal-2190	90	35	,	,	PUNCT
american_scientific_journal-2190	90	36	two	two	NUM
american_scientific_journal-2190	90	37	main	main	ADJ
american_scientific_journal-2190	90	38	were	be	AUX
american_scientific_journal-2190	90	39	used	use	VERB
american_scientific_journal-2190	90	40	;	;	PUNCT
american_scientific_journal-2190	90	41	the	the	DET
american_scientific_journal-2190	90	42	first	first	ADJ
american_scientific_journal-2190	90	43	test	test	NOUN
american_scientific_journal-2190	90	44	is	be	AUX
american_scientific_journal-2190	90	45	for	for	ADP
american_scientific_journal-2190	90	46	the	the	DET
american_scientific_journal-2190	90	47	linear	linear	ADJ
american_scientific_journal-2190	90	48	odometry	odometry	NOUN
american_scientific_journal-2190	90	49	error	error	NOUN
american_scientific_journal-2190	90	50	and	and	CCONJ
american_scientific_journal-2190	90	51	the	the	DET
american_scientific_journal-2190	90	52	second	second	ADJ
american_scientific_journal-2190	90	53	test	test	NOUN
american_scientific_journal-2190	90	54	is	be	AUX
american_scientific_journal-2190	90	55	for	for	ADP
american_scientific_journal-2190	90	56	the	the	DET
american_scientific_journal-2190	90	57	angular	angular	ADJ
american_scientific_journal-2190	90	58	error	error	NOUN
american_scientific_journal-2190	90	59	•	•	NUM
american_scientific_journal-2190	90	60	linear	linear	PROPN
american_scientific_journal-2190	90	61	odometry	odometry	NOUN
american_scientific_journal-2190	90	62	calibration	calibration	NOUN
american_scientific_journal-2190	90	63	for	for	ADP
american_scientific_journal-2190	90	64	the	the	DET
american_scientific_journal-2190	90	65	linear	linear	PROPN
american_scientific_journal-2190	90	66	calibration	calibration	NOUN
american_scientific_journal-2190	90	67	,	,	PUNCT
american_scientific_journal-2190	90	68	known	know	VERB
american_scientific_journal-2190	90	69	velocities	velocity	NOUN
american_scientific_journal-2190	90	70	was	be	AUX
american_scientific_journal-2190	90	71	given	give	VERB
american_scientific_journal-2190	90	72	to	to	ADP
american_scientific_journal-2190	90	73	the	the	DET
american_scientific_journal-2190	90	74	motors	motor	NOUN
american_scientific_journal-2190	90	75	;	;	PUNCT
american_scientific_journal-2190	90	76	for	for	ADP
american_scientific_journal-2190	90	77	a	a	DET
american_scientific_journal-2190	90	78	specific	specific	ADJ
american_scientific_journal-2190	90	79	amount	amount	NOUN
american_scientific_journal-2190	90	80	of	of	ADP
american_scientific_journal-2190	90	81	time	time	NOUN
american_scientific_journal-2190	90	82	(	(	PUNCT
american_scientific_journal-2190	90	83	t	t	NOUN
american_scientific_journal-2190	90	84	)	)	PUNCT
american_scientific_journal-2190	90	85	,	,	PUNCT
american_scientific_journal-2190	90	86	the	the	DET
american_scientific_journal-2190	90	87	robot	robot	NOUN
american_scientific_journal-2190	90	88	will	will	AUX
american_scientific_journal-2190	90	89	move	move	VERB
american_scientific_journal-2190	90	90	a	a	DET
american_scientific_journal-2190	90	91	distance	distance	NOUN
american_scientific_journal-2190	90	92	(	(	PUNCT
american_scientific_journal-2190	90	93	d	d	NOUN
american_scientific_journal-2190	90	94	)	)	PUNCT
american_scientific_journal-2190	90	95	.	.	PUNCT
american_scientific_journal-2190	91	1	the	the	DET
american_scientific_journal-2190	91	2	error	error	NOUN
american_scientific_journal-2190	91	3	in	in	ADP
american_scientific_journal-2190	91	4	the	the	DET
american_scientific_journal-2190	91	5	readings	reading	NOUN
american_scientific_journal-2190	91	6	can	can	AUX
american_scientific_journal-2190	91	7	be	be	AUX
american_scientific_journal-2190	91	8	found	find	VERB
american_scientific_journal-2190	91	9	by	by	ADP
american_scientific_journal-2190	91	10	comparing	compare	VERB
american_scientific_journal-2190	91	11	the	the	DET
american_scientific_journal-2190	91	12	distance	distance	NOUN
american_scientific_journal-2190	91	13	calculated	calculate	VERB
american_scientific_journal-2190	91	14	theoretically	theoretically	ADV
american_scientific_journal-2190	91	15	,	,	PUNCT
american_scientific_journal-2190	91	16	by	by	ADP
american_scientific_journal-2190	91	17	applying	apply	VERB
american_scientific_journal-2190	91	18	robot	robot	NOUN
american_scientific_journal-2190	91	19	kinematics	kinematic	NOUN
american_scientific_journal-2190	91	20	,	,	PUNCT
american_scientific_journal-2190	91	21	with	with	ADP
american_scientific_journal-2190	91	22	the	the	DET
american_scientific_journal-2190	91	23	value	value	NOUN
american_scientific_journal-2190	91	24	measured	measure	VERB
american_scientific_journal-2190	91	25	practically	practically	ADV
american_scientific_journal-2190	91	26	.	.	PUNCT
american_scientific_journal-2190	92	1	from	from	ADP
american_scientific_journal-2190	92	2	equation	equation	NOUN
american_scientific_journal-2190	92	3	(	(	PUNCT
american_scientific_journal-2190	92	4	3	3	NUM
american_scientific_journal-2190	92	5	-	-	SYM
american_scientific_journal-2190	92	6	4	4	NUM
american_scientific_journal-2190	92	7	)	)	PUNCT
american_scientific_journal-2190	92	8	,	,	PUNCT
american_scientific_journal-2190	92	9	�	�	PROPN
american_scientific_journal-2190	92	10	̇	̇	PROPN
american_scientific_journal-2190	92	11	�	�	NOUN
american_scientific_journal-2190	92	12	𝑋r	𝑋r	PROPN
american_scientific_journal-2190	92	13	=	=	SYM
american_scientific_journal-2190	92	14	0.025(	0.025(	NUM
american_scientific_journal-2190	92	15	�	�	NOUN
american_scientific_journal-2190	92	16	̇	̇	NOUN
american_scientific_journal-2190	92	17	�	�	PROPN
american_scientific_journal-2190	92	18	𝛹r	𝛹r	PROPN
american_scientific_journal-2190	92	19	+	+	CCONJ
american_scientific_journal-2190	92	20	�	�	PROPN
american_scientific_journal-2190	92	21	̇	̇	NOUN
american_scientific_journal-2190	92	22	�	�	PROPN
american_scientific_journal-2190	92	23	𝛹l	𝛹l	PROPN
american_scientific_journal-2190	92	24	)	)	PUNCT
american_scientific_journal-2190	92	25	because	because	SCONJ
american_scientific_journal-2190	92	26	�	�	PROPN
american_scientific_journal-2190	92	27	̇	̇	VERB
american_scientific_journal-2190	92	28	�	�	NOUN
american_scientific_journal-2190	92	29	𝑋r	𝑋r	PROPN
american_scientific_journal-2190	92	30	=	=	SYM
american_scientific_journal-2190	92	31	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-2190	92	32	𝑡𝑡	𝑡𝑡	ADJ
american_scientific_journal-2190	92	33	,	,	PUNCT
american_scientific_journal-2190	92	34	𝑡𝑡	𝑡𝑡	NOUN
american_scientific_journal-2190	92	35	=	=	SYM
american_scientific_journal-2190	92	36	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-2190	92	37	�	�	PROPN
american_scientific_journal-2190	92	38	̇	̇	NOUN
american_scientific_journal-2190	92	39	�	�	NOUN
american_scientific_journal-2190	92	40	𝑋r	𝑋r	PROPN
american_scientific_journal-2190	92	41	figure	figure	NOUN
american_scientific_journal-2190	92	42	11	11	NUM
american_scientific_journal-2190	92	43	:	:	PUNCT
american_scientific_journal-2190	92	44	linear	linear	PROPN
american_scientific_journal-2190	92	45	odometry	odometry	NOUN
american_scientific_journal-2190	92	46	test	test	NOUN
american_scientific_journal-2190	92	47	this	this	DET
american_scientific_journal-2190	92	48	equation	equation	NOUN
american_scientific_journal-2190	92	49	will	will	AUX
american_scientific_journal-2190	92	50	be	be	AUX
american_scientific_journal-2190	92	51	used	use	VERB
american_scientific_journal-2190	92	52	to	to	PART
american_scientific_journal-2190	92	53	calculate	calculate	VERB
american_scientific_journal-2190	92	54	the	the	DET
american_scientific_journal-2190	92	55	required	require	VERB
american_scientific_journal-2190	92	56	time	time	NOUN
american_scientific_journal-2190	92	57	of	of	ADP
american_scientific_journal-2190	92	58	the	the	DET
american_scientific_journal-2190	92	59	robot	robot	NOUN
american_scientific_journal-2190	92	60	movement	movement	NOUN
american_scientific_journal-2190	92	61	to	to	PART
american_scientific_journal-2190	92	62	achieve	achieve	VERB
american_scientific_journal-2190	92	63	the	the	DET
american_scientific_journal-2190	92	64	required	require	VERB
american_scientific_journal-2190	92	65	distance	distance	NOUN
american_scientific_journal-2190	92	66	(	(	PUNCT
american_scientific_journal-2190	92	67	d	d	NOUN
american_scientific_journal-2190	92	68	)	)	PUNCT
american_scientific_journal-2190	92	69	.	.	PUNCT
american_scientific_journal-2190	93	1	there	there	PRON
american_scientific_journal-2190	93	2	are	be	VERB
american_scientific_journal-2190	93	3	three	three	NUM
american_scientific_journal-2190	93	4	different	different	ADJ
american_scientific_journal-2190	93	5	set	set	NOUN
american_scientific_journal-2190	93	6	of	of	ADP
american_scientific_journal-2190	93	7	velocities	velocity	NOUN
american_scientific_journal-2190	93	8	have	have	AUX
american_scientific_journal-2190	93	9	been	be	AUX
american_scientific_journal-2190	93	10	used	use	VERB
american_scientific_journal-2190	93	11	to	to	PART
american_scientific_journal-2190	93	12	test	test	VERB
american_scientific_journal-2190	93	13	the	the	DET
american_scientific_journal-2190	93	14	linear	linear	ADJ
american_scientific_journal-2190	93	15	encoder	encoder	NOUN
american_scientific_journal-2190	93	16	error	error	NOUN
american_scientific_journal-2190	93	17	;	;	PUNCT
american_scientific_journal-2190	93	18	the	the	DET
american_scientific_journal-2190	93	19	distance	distance	NOUN
american_scientific_journal-2190	93	20	used	use	VERB
american_scientific_journal-2190	93	21	for	for	ADP
american_scientific_journal-2190	93	22	this	this	DET
american_scientific_journal-2190	93	23	test	test	NOUN
american_scientific_journal-2190	93	24	is	be	AUX
american_scientific_journal-2190	93	25	(	(	PUNCT
american_scientific_journal-2190	93	26	4	4	NUM
american_scientific_journal-2190	93	27	m	m	NOUN
american_scientific_journal-2190	93	28	)	)	PUNCT
american_scientific_journal-2190	94	1	so	so	ADV
american_scientific_journal-2190	94	2	the	the	DET
american_scientific_journal-2190	94	3	x	x	SYM
american_scientific_journal-2190	94	4	=	=	NOUN
american_scientific_journal-2190	94	5	4	4	NUM
american_scientific_journal-2190	94	6	m	m	NOUN
american_scientific_journal-2190	94	7	(	(	PUNCT
american_scientific_journal-2190	94	8	400	400	NUM
american_scientific_journal-2190	94	9	cm	cm	NOUN
american_scientific_journal-2190	94	10	)	)	PUNCT
american_scientific_journal-2190	94	11	and	and	CCONJ
american_scientific_journal-2190	94	12	y	y	PROPN
american_scientific_journal-2190	94	13	=	=	PROPN
american_scientific_journal-2190	94	14	0	0	PROPN
american_scientific_journal-2190	94	15	(	(	PUNCT
american_scientific_journal-2190	94	16	forward	forward	ADJ
american_scientific_journal-2190	94	17	displacements	displacement	NOUN
american_scientific_journal-2190	94	18	only	only	ADV
american_scientific_journal-2190	94	19	)	)	PUNCT
american_scientific_journal-2190	94	20	test1	test1	NOUN
american_scientific_journal-2190	94	21	:	:	PUNCT
american_scientific_journal-2190	95	1	motors	motors	PROPN
american_scientific_journal-2190	95	2	velocity	velocity	NOUN
american_scientific_journal-2190	95	3	(	(	PUNCT
american_scientific_journal-2190	95	4	�	�	PROPN
american_scientific_journal-2190	95	5	̇	̇	PROPN
american_scientific_journal-2190	95	6	�	�	PROPN
american_scientific_journal-2190	95	7	𝛹r=	𝛹r=	PROPN
american_scientific_journal-2190	95	8	�	�	PROPN
american_scientific_journal-2190	95	9	̇	̇	NOUN
american_scientific_journal-2190	95	10	�	�	PROPN
american_scientific_journal-2190	95	11	𝛹l	𝛹l	NOUN
american_scientific_journal-2190	95	12	=	=	SYM
american_scientific_journal-2190	95	13	5	5	NUM
american_scientific_journal-2190	95	14	rad	rad	PROPN
american_scientific_journal-2190	95	15	/	/	SYM
american_scientific_journal-2190	95	16	s	s	NOUN
american_scientific_journal-2190	95	17	)	)	PUNCT
american_scientific_journal-2190	95	18	,	,	PUNCT
american_scientific_journal-2190	95	19	d=4	d=4	X
american_scientific_journal-2190	95	20	m	m	NOUN
american_scientific_journal-2190	95	21	calculation	calculation	NOUN
american_scientific_journal-2190	95	22	of	of	ADP
american_scientific_journal-2190	95	23	t	t	PROPN
american_scientific_journal-2190	95	24	value	value	NOUN
american_scientific_journal-2190	95	25	:	:	PUNCT
american_scientific_journal-2190	95	26	test	test	NOUN
american_scientific_journal-2190	95	27	2	2	NUM
american_scientific_journal-2190	95	28	:	:	PUNCT
american_scientific_journal-2190	95	29	motors	motors	ADJ
american_scientific_journal-2190	95	30	velocity	velocity	NOUN
american_scientific_journal-2190	95	31	(	(	PUNCT
american_scientific_journal-2190	95	32	�	�	PROPN
american_scientific_journal-2190	95	33	̇	̇	PROPN
american_scientific_journal-2190	95	34	�	�	PROPN
american_scientific_journal-2190	95	35	𝛹r=	𝛹r=	PROPN
american_scientific_journal-2190	95	36	�	�	PROPN
american_scientific_journal-2190	95	37	̇	̇	NOUN
american_scientific_journal-2190	95	38	�	�	PROPN
american_scientific_journal-2190	95	39	𝛹l	𝛹l	PROPN
american_scientific_journal-2190	95	40	=	=	SYM
american_scientific_journal-2190	95	41	10	10	NUM
american_scientific_journal-2190	95	42	rad	rad	PROPN
american_scientific_journal-2190	95	43	/	/	SYM
american_scientific_journal-2190	95	44	s	s	NOUN
american_scientific_journal-2190	95	45	)	)	PUNCT
american_scientific_journal-2190	95	46	,	,	PUNCT
american_scientific_journal-2190	95	47	d=4	d=4	X
american_scientific_journal-2190	95	48	m	m	NOUN
american_scientific_journal-2190	95	49	calculation	calculation	NOUN
american_scientific_journal-2190	95	50	of	of	ADP
american_scientific_journal-2190	95	51	t	t	PROPN
american_scientific_journal-2190	95	52	value	value	NOUN
american_scientific_journal-2190	95	53	:	:	PUNCT
american_scientific_journal-2190	95	54	test	test	NOUN
american_scientific_journal-2190	95	55	3	3	NUM
american_scientific_journal-2190	95	56	:	:	PUNCT
american_scientific_journal-2190	95	57	motors	motors	ADJ
american_scientific_journal-2190	95	58	velocity	velocity	NOUN
american_scientific_journal-2190	95	59	(	(	PUNCT
american_scientific_journal-2190	95	60	�	�	PROPN
american_scientific_journal-2190	95	61	̇	̇	PROPN
american_scientific_journal-2190	95	62	�	�	PROPN
american_scientific_journal-2190	95	63	𝛹r=	𝛹r=	PROPN
american_scientific_journal-2190	95	64	�	�	PROPN
american_scientific_journal-2190	95	65	̇	̇	NOUN
american_scientific_journal-2190	95	66	�	�	PROPN
american_scientific_journal-2190	95	67	𝛹l	𝛹l	PROPN
american_scientific_journal-2190	95	68	=	=	SYM
american_scientific_journal-2190	95	69	13.33	13.33	NUM
american_scientific_journal-2190	95	70	rad	rad	PROPN
american_scientific_journal-2190	95	71	/	/	SYM
american_scientific_journal-2190	95	72	s	s	NOUN
american_scientific_journal-2190	95	73	)	)	PUNCT
american_scientific_journal-2190	95	74	,	,	PUNCT
american_scientific_journal-2190	95	75	d=4	d=4	PROPN
american_scientific_journal-2190	95	76	m	m	PROPN
american_scientific_journal-2190	95	77	�	�	PROPN
american_scientific_journal-2190	95	78	̇	̇	VERB
american_scientific_journal-2190	95	79	�	�	NOUN
american_scientific_journal-2190	95	80	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	95	81	=	=	SYM
american_scientific_journal-2190	95	82	0.025	0.025	NUM
american_scientific_journal-2190	95	83	(	(	PUNCT
american_scientific_journal-2190	95	84	5	5	NUM
american_scientific_journal-2190	95	85	+	+	SYM
american_scientific_journal-2190	95	86	5	5	NUM
american_scientific_journal-2190	95	87	)	)	PUNCT
american_scientific_journal-2190	95	88	=	=	NOUN
american_scientific_journal-2190	95	89	0.25	0.25	NUM
american_scientific_journal-2190	95	90	𝑚𝑚	𝑚𝑚	ADP
american_scientific_journal-2190	95	91	𝑠𝑠	𝑠𝑠	ADV
american_scientific_journal-2190	95	92	,	,	PUNCT
american_scientific_journal-2190	95	93	𝑡𝑡	𝑡𝑡	PROPN
american_scientific_journal-2190	95	94	=	=	SYM
american_scientific_journal-2190	95	95	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-2190	95	96	�	�	PROPN
american_scientific_journal-2190	95	97	̇	̇	NOUN
american_scientific_journal-2190	95	98	�	�	NOUN
american_scientific_journal-2190	95	99	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	95	100	=	=	SYM
american_scientific_journal-2190	95	101	4	4	NUM
american_scientific_journal-2190	95	102	0.25	0.25	NUM
american_scientific_journal-2190	95	103	=	=	SYM
american_scientific_journal-2190	95	104	16	16	NUM
american_scientific_journal-2190	95	105	𝑠𝑠𝑠𝑠𝑠𝑠	𝑠𝑠𝑠𝑠𝑠𝑠	PROPN
american_scientific_journal-2190	95	106	�	�	PROPN
american_scientific_journal-2190	95	107	̇	̇	NOUN
american_scientific_journal-2190	95	108	�	�	NOUN
american_scientific_journal-2190	95	109	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	95	110	=	=	SYM
american_scientific_journal-2190	95	111	0.025	0.025	NUM
american_scientific_journal-2190	95	112	(	(	PUNCT
american_scientific_journal-2190	95	113	10	10	NUM
american_scientific_journal-2190	95	114	+	+	SYM
american_scientific_journal-2190	95	115	10	10	NUM
american_scientific_journal-2190	95	116	)	)	PUNCT
american_scientific_journal-2190	95	117	=	=	SYM
american_scientific_journal-2190	95	118	0.5	0.5	NUM
american_scientific_journal-2190	95	119	𝑚𝑚	𝑚𝑚	ADP
american_scientific_journal-2190	95	120	𝑠𝑠	𝑠𝑠	DET
american_scientific_journal-2190	95	121	𝑡𝑡	𝑡𝑡	PROPN
american_scientific_journal-2190	95	122	=	=	SYM
american_scientific_journal-2190	95	123	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-2190	95	124	�	�	PROPN
american_scientific_journal-2190	95	125	̇	̇	NOUN
american_scientific_journal-2190	95	126	�	�	NOUN
american_scientific_journal-2190	95	127	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	95	128	=	=	SYM
american_scientific_journal-2190	95	129	4	4	NUM
american_scientific_journal-2190	95	130	0.5	0.5	NUM
american_scientific_journal-2190	95	131	=	=	SYM
american_scientific_journal-2190	95	132	8	8	NUM
american_scientific_journal-2190	95	133	𝑠𝑠𝑠𝑠𝑠𝑠	𝑠𝑠𝑠𝑠𝑠𝑠	NOUN
american_scientific_journal-2190	95	134	american	american	ADJ
american_scientific_journal-2190	95	135	scientific	scientific	ADJ
american_scientific_journal-2190	95	136	research	research	NOUN
american_scientific_journal-2190	95	137	journal	journal	NOUN
american_scientific_journal-2190	95	138	for	for	ADP
american_scientific_journal-2190	95	139	engineering	engineering	NOUN
american_scientific_journal-2190	95	140	,	,	PUNCT
american_scientific_journal-2190	95	141	technology	technology	NOUN
american_scientific_journal-2190	95	142	,	,	PUNCT
american_scientific_journal-2190	95	143	and	and	CCONJ
american_scientific_journal-2190	95	144	sciences	science	NOUN
american_scientific_journal-2190	95	145	(	(	PUNCT
american_scientific_journal-2190	95	146	asrjets	asrjet	NOUN
american_scientific_journal-2190	95	147	)	)	PUNCT
american_scientific_journal-2190	95	148	(	(	PUNCT
american_scientific_journal-2190	95	149	2016	2016	NUM
american_scientific_journal-2190	95	150	)	)	PUNCT
american_scientific_journal-2190	95	151	volume	volume	NOUN
american_scientific_journal-2190	95	152	26	26	NUM
american_scientific_journal-2190	95	153	,	,	PUNCT
american_scientific_journal-2190	95	154	no	no	DET
american_scientific_journal-2190	95	155	1	1	NUM
american_scientific_journal-2190	95	156	,	,	PUNCT
american_scientific_journal-2190	95	157	pp	pp	ADV
american_scientific_journal-2190	95	158	91	91	NUM
american_scientific_journal-2190	95	159	-	-	SYM
american_scientific_journal-2190	95	160	107	107	NUM
american_scientific_journal-2190	95	161	103	103	NUM
american_scientific_journal-2190	95	162	calculation	calculation	NOUN
american_scientific_journal-2190	95	163	of	of	ADP
american_scientific_journal-2190	95	164	t	t	NOUN
american_scientific_journal-2190	95	165	value	value	NOUN
american_scientific_journal-2190	95	166	:	:	PUNCT
american_scientific_journal-2190	95	167	after	after	ADP
american_scientific_journal-2190	95	168	giving	give	VERB
american_scientific_journal-2190	95	169	motors	motor	NOUN
american_scientific_journal-2190	95	170	the	the	DET
american_scientific_journal-2190	95	171	required	require	VERB
american_scientific_journal-2190	95	172	velocities	velocity	NOUN
american_scientific_journal-2190	95	173	for	for	ADP
american_scientific_journal-2190	95	174	the	the	DET
american_scientific_journal-2190	95	175	calculated	calculate	VERB
american_scientific_journal-2190	95	176	period	period	NOUN
american_scientific_journal-2190	95	177	,	,	PUNCT
american_scientific_journal-2190	95	178	a	a	DET
american_scientific_journal-2190	95	179	practical	practical	ADJ
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american_scientific_journal-2190	117	33	.	.	PUNCT
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american_scientific_journal-2190	118	14	.	.	PUNCT
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american_scientific_journal-2190	119	13	�	�	PROPN
american_scientific_journal-2190	119	14	̇	̇	PROPN
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american_scientific_journal-2190	119	16	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	119	17	=	=	SYM
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american_scientific_journal-2190	119	24	=	=	SYM
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american_scientific_journal-2190	120	2	𝑚𝑚	𝑚𝑚	ADP
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american_scientific_journal-2190	120	4	,	,	PUNCT
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american_scientific_journal-2190	120	6	=	=	SYM
american_scientific_journal-2190	120	7	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-2190	120	8	�	�	PROPN
american_scientific_journal-2190	120	9	̇	̇	NOUN
american_scientific_journal-2190	120	10	�	�	NOUN
american_scientific_journal-2190	120	11	𝑋𝑅𝑅	𝑋𝑅𝑅	PROPN
american_scientific_journal-2190	120	12	=	=	SYM
american_scientific_journal-2190	120	13	4	4	NUM
american_scientific_journal-2190	120	14	0.667	0.667	NUM
american_scientific_journal-2190	120	15	=	=	SYM
american_scientific_journal-2190	120	16	6	6	NUM
american_scientific_journal-2190	120	17	𝑠𝑠𝑠𝑠𝑠𝑠	𝑠𝑠𝑠𝑠𝑠𝑠	VERB
american_scientific_journal-2190	120	18	american	american	ADJ
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american_scientific_journal-2190	120	24	,	,	PUNCT
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american_scientific_journal-2190	120	26	,	,	PUNCT
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american_scientific_journal-2190	120	33	2016	2016	NUM
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american_scientific_journal-2190	120	67	.	.	PUNCT
american_scientific_journal-2190	121	1	for	for	ADP
american_scientific_journal-2190	121	2	this	this	DET
american_scientific_journal-2190	121	3	test	test	NOUN
american_scientific_journal-2190	121	4	,	,	PUNCT
american_scientific_journal-2190	121	5	motors	motor	NOUN
american_scientific_journal-2190	121	6	speed	speed	NOUN
american_scientific_journal-2190	121	7	are	be	AUX
american_scientific_journal-2190	121	8	known	know	VERB
american_scientific_journal-2190	121	9	(	(	PUNCT
american_scientific_journal-2190	121	10	�	�	PROPN
american_scientific_journal-2190	121	11	̇	̇	PROPN
american_scientific_journal-2190	121	12	�	�	PROPN
american_scientific_journal-2190	121	13	𝛹r=	𝛹r=	PROPN
american_scientific_journal-2190	121	14	5	5	NUM
american_scientific_journal-2190	121	15	rad	rad	PROPN
american_scientific_journal-2190	121	16	/	/	SYM
american_scientific_journal-2190	121	17	s	s	PROPN
american_scientific_journal-2190	121	18	,	,	PUNCT
american_scientific_journal-2190	121	19	�	�	PROPN
american_scientific_journal-2190	121	20	̇	̇	NOUN
american_scientific_journal-2190	121	21	�	�	PROPN
american_scientific_journal-2190	121	22	𝛹l	𝛹l	NOUN
american_scientific_journal-2190	121	23	=	=	PUNCT
american_scientific_journal-2190	121	24	-5	-5	PROPN
american_scientific_journal-2190	121	25	)	)	PUNCT
american_scientific_journal-2190	121	26	;	;	PUNCT
american_scientific_journal-2190	121	27	also	also	ADV
american_scientific_journal-2190	121	28	,	,	PUNCT
american_scientific_journal-2190	121	29	the	the	DET
american_scientific_journal-2190	121	30	angle	angle	NOUN
american_scientific_journal-2190	121	31	that	that	PRON
american_scientific_journal-2190	121	32	the	the	DET
american_scientific_journal-2190	121	33	robot	robot	NOUN
american_scientific_journal-2190	121	34	has	have	VERB
american_scientific_journal-2190	121	35	to	to	PART
american_scientific_journal-2190	121	36	rotate	rotate	VERB
american_scientific_journal-2190	121	37	is	be	AUX
american_scientific_journal-2190	121	38	known	know	VERB
american_scientific_journal-2190	121	39	also	also	ADV
american_scientific_journal-2190	121	40	(	(	PUNCT
american_scientific_journal-2190	121	41	θ	θ	NOUN
american_scientific_journal-2190	121	42	=	=	SYM
american_scientific_journal-2190	121	43	90	90	NUM
american_scientific_journal-2190	121	44	°	°	NUM
american_scientific_journal-2190	121	45	)	)	PUNCT
american_scientific_journal-2190	121	46	and	and	CCONJ
american_scientific_journal-2190	121	47	it	it	PRON
american_scientific_journal-2190	121	48	is	be	AUX
american_scientific_journal-2190	121	49	required	require	VERB
american_scientific_journal-2190	121	50	to	to	PART
american_scientific_journal-2190	121	51	calculate	calculate	VERB
american_scientific_journal-2190	121	52	the	the	DET
american_scientific_journal-2190	121	53	time	time	NOUN
american_scientific_journal-2190	121	54	that	that	PRON
american_scientific_journal-2190	121	55	should	should	AUX
american_scientific_journal-2190	121	56	be	be	AUX
american_scientific_journal-2190	121	57	given	give	VERB
american_scientific_journal-2190	121	58	to	to	ADP
american_scientific_journal-2190	121	59	the	the	DET
american_scientific_journal-2190	121	60	robot	robot	NOUN
american_scientific_journal-2190	121	61	to	to	PART
american_scientific_journal-2190	121	62	rotate	rotate	VERB
american_scientific_journal-2190	121	63	90	90	NUM
american_scientific_journal-2190	121	64	°	°	NOUN
american_scientific_journal-2190	121	65	.	.	PUNCT
american_scientific_journal-2190	121	66	from	from	ADP
american_scientific_journal-2190	121	67	equation	equation	NOUN
american_scientific_journal-2190	121	68	(	(	PUNCT
american_scientific_journal-2190	121	69	7	7	NUM
american_scientific_journal-2190	121	70	):	):	PUNCT
american_scientific_journal-2190	121	71	figure	figure	NOUN
american_scientific_journal-2190	121	72	13	13	NUM
american_scientific_journal-2190	121	73	:	:	PUNCT
american_scientific_journal-2190	121	74	required	require	VERB
american_scientific_journal-2190	121	75	and	and	CCONJ
american_scientific_journal-2190	121	76	actual	actual	ADJ
american_scientific_journal-2190	121	77	robot	robot	NOUN
american_scientific_journal-2190	121	78	orientations	orientation	NOUN
american_scientific_journal-2190	121	79	figure	figure	NOUN
american_scientific_journal-2190	121	80	(	(	PUNCT
american_scientific_journal-2190	121	81	13	13	NUM
american_scientific_journal-2190	121	82	)	)	PUNCT
american_scientific_journal-2190	121	83	shows	show	VERB
american_scientific_journal-2190	121	84	the	the	DET
american_scientific_journal-2190	121	85	required	required	ADJ
american_scientific_journal-2190	121	86	and	and	CCONJ
american_scientific_journal-2190	121	87	actual	actual	ADJ
american_scientific_journal-2190	121	88	robot	robot	NOUN
american_scientific_journal-2190	121	89	orientations	orientation	NOUN
american_scientific_journal-2190	121	90	,	,	PUNCT
american_scientific_journal-2190	121	91	hence	hence	ADV
american_scientific_journal-2190	121	92	the	the	DET
american_scientific_journal-2190	121	93	robot	robot	NOUN
american_scientific_journal-2190	121	94	has	have	VERB
american_scientific_journal-2190	121	95	to	to	PART
american_scientific_journal-2190	121	96	rotate	rotate	VERB
american_scientific_journal-2190	121	97	90	90	NUM
american_scientific_journal-2190	121	98	°	°	NOUN
american_scientific_journal-2190	121	99	but	but	CCONJ
american_scientific_journal-2190	121	100	the	the	DET
american_scientific_journal-2190	121	101	actual	actual	ADJ
american_scientific_journal-2190	121	102	rotation	rotation	NOUN
american_scientific_journal-2190	121	103	is	be	AUX
american_scientific_journal-2190	121	104	about	about	ADV
american_scientific_journal-2190	121	105	105	105	NUM
american_scientific_journal-2190	121	106	°	°	NOUN
american_scientific_journal-2190	121	107	.	.	PUNCT
american_scientific_journal-2190	122	1	this	this	DET
american_scientific_journal-2190	122	2	test	test	NOUN
american_scientific_journal-2190	122	3	is	be	AUX
american_scientific_journal-2190	122	4	repeated	repeat	VERB
american_scientific_journal-2190	122	5	more	more	ADJ
american_scientific_journal-2190	122	6	than	than	ADP
american_scientific_journal-2190	122	7	one	one	NUM
american_scientific_journal-2190	122	8	time	time	NOUN
american_scientific_journal-2190	122	9	and	and	CCONJ
american_scientific_journal-2190	122	10	all	all	DET
american_scientific_journal-2190	122	11	the	the	DET
american_scientific_journal-2190	122	12	results	result	NOUN
american_scientific_journal-2190	122	13	almost	almost	ADV
american_scientific_journal-2190	122	14	the	the	DET
american_scientific_journal-2190	122	15	same	same	ADJ
american_scientific_journal-2190	122	16	.	.	PUNCT
american_scientific_journal-2190	123	1	despite	despite	SCONJ
american_scientific_journal-2190	123	2	this	this	DET
american_scientific_journal-2190	123	3	value	value	NOUN
american_scientific_journal-2190	123	4	of	of	ADP
american_scientific_journal-2190	123	5	error	error	NOUN
american_scientific_journal-2190	123	6	is	be	AUX
american_scientific_journal-2190	123	7	relatively	relatively	ADV
american_scientific_journal-2190	123	8	high	high	ADJ
american_scientific_journal-2190	123	9	(	(	PUNCT
american_scientific_journal-2190	123	10	15	15	NUM
american_scientific_journal-2190	123	11	°	°	NOUN
american_scientific_journal-2190	123	12	per	per	ADP
american_scientific_journal-2190	123	13	90	90	NUM
american_scientific_journal-2190	123	14	°	°	NUM
american_scientific_journal-2190	123	15	)	)	PUNCT
american_scientific_journal-2190	123	16	,	,	PUNCT
american_scientific_journal-2190	123	17	it	it	PRON
american_scientific_journal-2190	123	18	is	be	AUX
american_scientific_journal-2190	123	19	easy	easy	ADJ
american_scientific_journal-2190	123	20	to	to	PART
american_scientific_journal-2190	123	21	deal	deal	VERB
american_scientific_journal-2190	123	22	with	with	ADP
american_scientific_journal-2190	123	23	because	because	SCONJ
american_scientific_journal-2190	123	24	it	it	PRON
american_scientific_journal-2190	123	25	is	be	AUX
american_scientific_journal-2190	123	26	repeatable	repeatable	ADJ
american_scientific_journal-2190	123	27	.	.	PUNCT
american_scientific_journal-2190	124	1	in	in	ADP
american_scientific_journal-2190	124	2	other	other	ADJ
american_scientific_journal-2190	124	3	words	word	NOUN
american_scientific_journal-2190	124	4	,	,	PUNCT
american_scientific_journal-2190	124	5	by	by	ADP
american_scientific_journal-2190	124	6	inserting	insert	VERB
american_scientific_journal-2190	124	7	this	this	DET
american_scientific_journal-2190	124	8	value	value	NOUN
american_scientific_journal-2190	124	9	in	in	ADP
american_scientific_journal-2190	124	10	the	the	DET
american_scientific_journal-2190	124	11	calculations	calculation	NOUN
american_scientific_journal-2190	124	12	,	,	PUNCT
american_scientific_journal-2190	124	13	correct	correct	ADJ
american_scientific_journal-2190	124	14	rotation	rotation	NOUN
american_scientific_journal-2190	124	15	can	can	AUX
american_scientific_journal-2190	124	16	be	be	AUX
american_scientific_journal-2190	124	17	achieved	achieve	VERB
american_scientific_journal-2190	124	18	.	.	PUNCT
american_scientific_journal-2190	125	1	figure	figure	VERB
american_scientific_journal-2190	125	2	14	14	NUM
american_scientific_journal-2190	125	3	:	:	PUNCT
american_scientific_journal-2190	125	4	final	final	ADJ
american_scientific_journal-2190	125	5	odometry	odometry	NOUN
american_scientific_journal-2190	125	6	test	test	NOUN
american_scientific_journal-2190	125	7	�	�	PROPN
american_scientific_journal-2190	125	8	̇	̇	PROPN
american_scientific_journal-2190	125	9	�	�	PROPN
american_scientific_journal-2190	125	10	𝜃	𝜃	NOUN
american_scientific_journal-2190	125	11	=	=	SYM
american_scientific_journal-2190	125	12	−𝑟𝑟	−𝑟𝑟	PROPN
american_scientific_journal-2190	125	13	�	�	PROPN
american_scientific_journal-2190	125	14	̇	̇	PROPN
american_scientific_journal-2190	125	15	�	�	PROPN
american_scientific_journal-2190	125	16	𝜓𝐿𝐿	𝜓𝐿𝐿	PROPN
american_scientific_journal-2190	125	17	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	125	18	+	+	CCONJ
american_scientific_journal-2190	125	19	𝑟𝑟	𝑟𝑟	PART
american_scientific_journal-2190	125	20	�	�	PROPN
american_scientific_journal-2190	125	21	̇	̇	NOUN
american_scientific_journal-2190	125	22	�	�	PROPN
american_scientific_journal-2190	125	23	𝜓𝑅𝑅	𝜓𝑅𝑅	PROPN
american_scientific_journal-2190	125	24	2𝐿𝐿	2𝐿𝐿	NUM
american_scientific_journal-2190	125	25	=	=	SYM
american_scientific_journal-2190	125	26	−(−0.05×5	−(−0.05×5	NOUN
american_scientific_journal-2190	125	27	)	)	PUNCT
american_scientific_journal-2190	125	28	2×0.17	2×0.17	PROPN
american_scientific_journal-2190	126	1	+	+	CCONJ
american_scientific_journal-2190	126	2	0.05×5	0.05×5	NUM
american_scientific_journal-2190	126	3	2×0.17	2×0.17	PROPN
american_scientific_journal-2190	126	4	=	=	NOUN
american_scientific_journal-2190	126	5	1.471	1.471	NUM
american_scientific_journal-2190	126	6	𝑟𝑟𝑟𝑟𝑑𝑑/𝑠𝑠	𝑟𝑟𝑟𝑟𝑑𝑑/𝑠𝑠	PROPN
american_scientific_journal-2190	126	7	,	,	PUNCT
american_scientific_journal-2190	126	8	but	but	CCONJ
american_scientific_journal-2190	126	9	�	�	PROPN
american_scientific_journal-2190	126	10	̇	̇	PROPN
american_scientific_journal-2190	126	11	�	�	PROPN
american_scientific_journal-2190	126	12	𝜃	𝜃	NOUN
american_scientific_journal-2190	126	13	=	=	SYM
american_scientific_journal-2190	126	14	θ	θ	X
american_scientific_journal-2190	126	15	𝑡𝑡	𝑡𝑡	PROPN
american_scientific_journal-2190	126	16	,	,	PUNCT
american_scientific_journal-2190	126	17	𝑡𝑡	𝑡𝑡	PROPN
american_scientific_journal-2190	126	18	=	=	SYM
american_scientific_journal-2190	126	19	θ	θ	PROPN
american_scientific_journal-2190	126	20	�	�	PROPN
american_scientific_journal-2190	126	21	̇	̇	PROPN
american_scientific_journal-2190	126	22	�	�	PROPN
american_scientific_journal-2190	126	23	𝜃	𝜃	NOUN
american_scientific_journal-2190	126	24	=	=	SYM
american_scientific_journal-2190	126	25	90	90	NUM
american_scientific_journal-2190	126	26	×(𝜋𝜋÷180	×(𝜋𝜋÷180	NOUN
american_scientific_journal-2190	126	27	)	)	PUNCT
american_scientific_journal-2190	126	28	1.471	1.471	NUM
american_scientific_journal-2190	126	29	=	=	SYM
american_scientific_journal-2190	126	30	1068	1068	NUM
american_scientific_journal-2190	126	31	ms	ms	PROPN
american_scientific_journal-2190	126	32	american	american	PROPN
american_scientific_journal-2190	126	33	scientific	scientific	PROPN
american_scientific_journal-2190	126	34	research	research	PROPN
american_scientific_journal-2190	126	35	journal	journal	NOUN
american_scientific_journal-2190	126	36	for	for	ADP
american_scientific_journal-2190	126	37	engineering	engineering	NOUN
american_scientific_journal-2190	126	38	,	,	PUNCT
american_scientific_journal-2190	126	39	technology	technology	NOUN
american_scientific_journal-2190	126	40	,	,	PUNCT
american_scientific_journal-2190	126	41	and	and	CCONJ
american_scientific_journal-2190	126	42	sciences	science	NOUN
american_scientific_journal-2190	126	43	(	(	PUNCT
american_scientific_journal-2190	126	44	asrjets	asrjet	NOUN
american_scientific_journal-2190	126	45	)	)	PUNCT
american_scientific_journal-2190	126	46	(	(	PUNCT
american_scientific_journal-2190	126	47	2016	2016	NUM
american_scientific_journal-2190	126	48	)	)	PUNCT
american_scientific_journal-2190	126	49	volume	volume	NOUN
american_scientific_journal-2190	126	50	26	26	NUM
american_scientific_journal-2190	126	51	,	,	PUNCT
american_scientific_journal-2190	126	52	no	no	DET
american_scientific_journal-2190	126	53	1	1	NUM
american_scientific_journal-2190	126	54	,	,	PUNCT
american_scientific_journal-2190	126	55	pp	pp	ADV
american_scientific_journal-2190	126	56	91	91	NUM
american_scientific_journal-2190	126	57	-	-	SYM
american_scientific_journal-2190	126	58	107	107	NUM
american_scientific_journal-2190	126	59	105	105	NUM
american_scientific_journal-2190	126	60	the	the	DET
american_scientific_journal-2190	126	61	final	final	ADJ
american_scientific_journal-2190	126	62	step	step	NOUN
american_scientific_journal-2190	126	63	in	in	ADP
american_scientific_journal-2190	126	64	the	the	DET
american_scientific_journal-2190	126	65	odometry	odometry	NOUN
american_scientific_journal-2190	126	66	calibration	calibration	NOUN
american_scientific_journal-2190	126	67	is	be	AUX
american_scientific_journal-2190	126	68	testing	test	VERB
american_scientific_journal-2190	126	69	the	the	DET
american_scientific_journal-2190	126	70	linear	linear	ADJ
american_scientific_journal-2190	126	71	and	and	CCONJ
american_scientific_journal-2190	126	72	angular	angular	ADJ
american_scientific_journal-2190	126	73	robot	robot	NOUN
american_scientific_journal-2190	126	74	displacements	displacement	NOUN
american_scientific_journal-2190	126	75	as	as	SCONJ
american_scientific_journal-2190	126	76	shown	show	VERB
american_scientific_journal-2190	126	77	in	in	ADP
american_scientific_journal-2190	126	78	the	the	DET
american_scientific_journal-2190	126	79	figure	figure	NOUN
american_scientific_journal-2190	126	80	(	(	PUNCT
american_scientific_journal-2190	126	81	14	14	NUM
american_scientific_journal-2190	126	82	)	)	PUNCT
american_scientific_journal-2190	126	83	.	.	PUNCT
american_scientific_journal-2190	127	1	at	at	ADP
american_scientific_journal-2190	127	2	this	this	DET
american_scientific_journal-2190	127	3	test	test	NOUN
american_scientific_journal-2190	127	4	,	,	PUNCT
american_scientific_journal-2190	127	5	the	the	DET
american_scientific_journal-2190	127	6	robot	robot	NOUN
american_scientific_journal-2190	127	7	behave	behave	VERB
american_scientific_journal-2190	127	8	correctly	correctly	ADV
american_scientific_journal-2190	127	9	.	.	PUNCT
american_scientific_journal-2190	128	1	5.2	5.2	NUM
american_scientific_journal-2190	128	2	sensor	sensor	NOUN
american_scientific_journal-2190	128	3	calibration	calibration	NOUN
american_scientific_journal-2190	128	4	the	the	DET
american_scientific_journal-2190	128	5	sensor	sensor	NOUN
american_scientific_journal-2190	128	6	has	have	AUX
american_scientific_journal-2190	128	7	been	be	AUX
american_scientific_journal-2190	128	8	tested	test	VERB
american_scientific_journal-2190	128	9	before	before	ADP
american_scientific_journal-2190	128	10	connecting	connect	VERB
american_scientific_journal-2190	128	11	it	it	PRON
american_scientific_journal-2190	128	12	to	to	ADP
american_scientific_journal-2190	128	13	the	the	DET
american_scientific_journal-2190	128	14	robot	robot	NOUN
american_scientific_journal-2190	128	15	as	as	SCONJ
american_scientific_journal-2190	128	16	shown	show	VERB
american_scientific_journal-2190	128	17	in	in	ADP
american_scientific_journal-2190	128	18	figure	figure	NOUN
american_scientific_journal-2190	128	19	(	(	PUNCT
american_scientific_journal-2190	128	20	15	15	NUM
american_scientific_journal-2190	128	21	)	)	PUNCT
american_scientific_journal-2190	128	22	.	.	PUNCT
american_scientific_journal-2190	129	1	this	this	DET
american_scientific_journal-2190	129	2	test	test	NOUN
american_scientific_journal-2190	129	3	was	be	AUX
american_scientific_journal-2190	129	4	to	to	PART
american_scientific_journal-2190	129	5	find	find	VERB
american_scientific_journal-2190	129	6	the	the	DET
american_scientific_journal-2190	129	7	maximum	maximum	ADJ
american_scientific_journal-2190	129	8	reliable	reliable	ADJ
american_scientific_journal-2190	129	9	range	range	NOUN
american_scientific_journal-2190	129	10	for	for	ADP
american_scientific_journal-2190	129	11	the	the	DET
american_scientific_journal-2190	129	12	sensor	sensor	NOUN
american_scientific_journal-2190	129	13	.	.	PUNCT
american_scientific_journal-2190	130	1	despite	despite	SCONJ
american_scientific_journal-2190	130	2	that	that	SCONJ
american_scientific_journal-2190	130	3	the	the	DET
american_scientific_journal-2190	130	4	sensor	sensor	NOUN
american_scientific_journal-2190	130	5	has	have	VERB
american_scientific_journal-2190	130	6	the	the	DET
american_scientific_journal-2190	130	7	ability	ability	NOUN
american_scientific_journal-2190	130	8	to	to	PART
american_scientific_journal-2190	130	9	measure	measure	VERB
american_scientific_journal-2190	130	10	up	up	ADP
american_scientific_journal-2190	130	11	to	to	PART
american_scientific_journal-2190	130	12	5.6	5.6	NUM
american_scientific_journal-2190	130	13	m	m	NOUN
american_scientific_journal-2190	130	14	;	;	PUNCT
american_scientific_journal-2190	130	15	the	the	DET
american_scientific_journal-2190	130	16	reliable	reliable	ADJ
american_scientific_journal-2190	130	17	readings	reading	NOUN
american_scientific_journal-2190	130	18	are	be	AUX
american_scientific_journal-2190	130	19	within	within	ADP
american_scientific_journal-2190	130	20	4	4	NUM
american_scientific_journal-2190	130	21	m	m	NOUN
american_scientific_journal-2190	130	22	range	range	NOUN
american_scientific_journal-2190	130	23	.	.	PUNCT
american_scientific_journal-2190	131	1	for	for	ADP
american_scientific_journal-2190	131	2	this	this	DET
american_scientific_journal-2190	131	3	reason	reason	NOUN
american_scientific_journal-2190	131	4	,	,	PUNCT
american_scientific_journal-2190	131	5	the	the	DET
american_scientific_journal-2190	131	6	maximum	maximum	ADJ
american_scientific_journal-2190	131	7	range	range	NOUN
american_scientific_journal-2190	131	8	of	of	ADP
american_scientific_journal-2190	131	9	the	the	DET
american_scientific_journal-2190	131	10	sensor	sensor	NOUN
american_scientific_journal-2190	131	11	that	that	PRON
american_scientific_journal-2190	131	12	will	will	AUX
american_scientific_journal-2190	131	13	be	be	AUX
american_scientific_journal-2190	131	14	used	use	VERB
american_scientific_journal-2190	131	15	in	in	ADP
american_scientific_journal-2190	131	16	the	the	DET
american_scientific_journal-2190	131	17	program	program	NOUN
american_scientific_journal-2190	131	18	is	be	AUX
american_scientific_journal-2190	131	19	4	4	NUM
american_scientific_journal-2190	131	20	m.	m.	NOUN
american_scientific_journal-2190	131	21	figure	figure	NOUN
american_scientific_journal-2190	131	22	15	15	NUM
american_scientific_journal-2190	131	23	:	:	PUNCT
american_scientific_journal-2190	131	24	sensor	sensor	NOUN
american_scientific_journal-2190	131	25	calibration	calibration	NOUN
american_scientific_journal-2190	131	26	figure	figure	NOUN
american_scientific_journal-2190	131	27	16	16	NUM
american_scientific_journal-2190	131	28	:	:	PUNCT
american_scientific_journal-2190	131	29	sensor	sensor	NOUN
american_scientific_journal-2190	131	30	readings	reading	NOUN
american_scientific_journal-2190	131	31	for	for	ADP
american_scientific_journal-2190	131	32	zero	zero	NUM
american_scientific_journal-2190	131	33	distance	distance	NOUN
american_scientific_journal-2190	131	34	while	while	SCONJ
american_scientific_journal-2190	131	35	doing	do	VERB
american_scientific_journal-2190	131	36	the	the	DET
american_scientific_journal-2190	131	37	previous	previous	ADJ
american_scientific_journal-2190	131	38	test	test	NOUN
american_scientific_journal-2190	131	39	,	,	PUNCT
american_scientific_journal-2190	131	40	it	it	PRON
american_scientific_journal-2190	131	41	has	have	AUX
american_scientific_journal-2190	131	42	been	be	AUX
american_scientific_journal-2190	131	43	recognized	recognize	VERB
american_scientific_journal-2190	131	44	that	that	SCONJ
american_scientific_journal-2190	131	45	the	the	DET
american_scientific_journal-2190	131	46	sensor	sensor	NOUN
american_scientific_journal-2190	131	47	gives	give	VERB
american_scientific_journal-2190	131	48	zero	zero	NUM
american_scientific_journal-2190	131	49	distance	distance	NOUN
american_scientific_journal-2190	131	50	reading	reading	NOUN
american_scientific_journal-2190	131	51	when	when	SCONJ
american_scientific_journal-2190	131	52	there	there	PRON
american_scientific_journal-2190	131	53	is	be	VERB
american_scientific_journal-2190	131	54	no	no	DET
american_scientific_journal-2190	131	55	object	object	NOUN
american_scientific_journal-2190	131	56	in	in	ADP
american_scientific_journal-2190	131	57	its	its	PRON
american_scientific_journal-2190	131	58	field	field	NOUN
american_scientific_journal-2190	131	59	.	.	PUNCT
american_scientific_journal-2190	132	1	so	so	ADV
american_scientific_journal-2190	132	2	,	,	PUNCT
american_scientific_journal-2190	132	3	a	a	DET
american_scientific_journal-2190	132	4	calibration	calibration	NOUN
american_scientific_journal-2190	132	5	for	for	ADP
american_scientific_journal-2190	132	6	the	the	DET
american_scientific_journal-2190	132	7	sensor	sensor	NOUN
american_scientific_journal-2190	132	8	readings	reading	NOUN
american_scientific_journal-2190	132	9	has	have	AUX
american_scientific_journal-2190	132	10	been	be	AUX
american_scientific_journal-2190	132	11	made	make	VERB
american_scientific_journal-2190	132	12	.	.	PUNCT
american_scientific_journal-2190	133	1	the	the	DET
american_scientific_journal-2190	133	2	first	first	ADJ
american_scientific_journal-2190	133	3	part	part	NOUN
american_scientific_journal-2190	133	4	of	of	ADP
american_scientific_journal-2190	133	5	this	this	DET
american_scientific_journal-2190	133	6	calibration	calibration	NOUN
american_scientific_journal-2190	133	7	is	be	AUX
american_scientific_journal-2190	133	8	american	american	ADJ
american_scientific_journal-2190	133	9	scientific	scientific	ADJ
american_scientific_journal-2190	133	10	research	research	NOUN
american_scientific_journal-2190	133	11	journal	journal	NOUN
american_scientific_journal-2190	133	12	for	for	ADP
american_scientific_journal-2190	133	13	engineering	engineering	NOUN
american_scientific_journal-2190	133	14	,	,	PUNCT
american_scientific_journal-2190	133	15	technology	technology	NOUN
american_scientific_journal-2190	133	16	,	,	PUNCT
american_scientific_journal-2190	133	17	and	and	CCONJ
american_scientific_journal-2190	133	18	sciences	science	NOUN
american_scientific_journal-2190	133	19	(	(	PUNCT
american_scientific_journal-2190	133	20	asrjets	asrjet	NOUN
american_scientific_journal-2190	133	21	)	)	PUNCT
american_scientific_journal-2190	133	22	(	(	PUNCT
american_scientific_journal-2190	133	23	2016	2016	NUM
american_scientific_journal-2190	133	24	)	)	PUNCT
american_scientific_journal-2190	133	25	volume	volume	NOUN
american_scientific_journal-2190	133	26	26	26	NUM
american_scientific_journal-2190	133	27	,	,	PUNCT
american_scientific_journal-2190	133	28	no	no	DET
american_scientific_journal-2190	133	29	1	1	NUM
american_scientific_journal-2190	133	30	,	,	PUNCT
american_scientific_journal-2190	133	31	pp	pp	ADV
american_scientific_journal-2190	133	32	91	91	NUM
american_scientific_journal-2190	133	33	-	-	SYM
american_scientific_journal-2190	133	34	107	107	NUM
american_scientific_journal-2190	133	35	106	106	NUM
american_scientific_journal-2190	133	36	to	to	PART
american_scientific_journal-2190	133	37	test	test	VERB
american_scientific_journal-2190	133	38	the	the	DET
american_scientific_journal-2190	133	39	sensor	sensor	NOUN
american_scientific_journal-2190	133	40	readings	reading	NOUN
american_scientific_journal-2190	133	41	when	when	SCONJ
american_scientific_journal-2190	133	42	the	the	DET
american_scientific_journal-2190	133	43	actual	actual	ADJ
american_scientific_journal-2190	133	44	distance	distance	NOUN
american_scientific_journal-2190	133	45	from	from	ADP
american_scientific_journal-2190	133	46	the	the	DET
american_scientific_journal-2190	133	47	sensor	sensor	NOUN
american_scientific_journal-2190	133	48	to	to	ADP
american_scientific_journal-2190	133	49	the	the	DET
american_scientific_journal-2190	133	50	object	object	NOUN
american_scientific_journal-2190	133	51	is	be	AUX
american_scientific_journal-2190	133	52	zero	zero	NUM
american_scientific_journal-2190	133	53	.	.	PUNCT
american_scientific_journal-2190	134	1	as	as	SCONJ
american_scientific_journal-2190	134	2	shown	show	VERB
american_scientific_journal-2190	134	3	in	in	ADP
american_scientific_journal-2190	134	4	figure	figure	NOUN
american_scientific_journal-2190	134	5	(	(	PUNCT
american_scientific_journal-2190	134	6	16	16	NUM
american_scientific_journal-2190	134	7	)	)	PUNCT
american_scientific_journal-2190	134	8	,	,	PUNCT
american_scientific_journal-2190	134	9	the	the	DET
american_scientific_journal-2190	134	10	minimum	minimum	ADJ
american_scientific_journal-2190	134	11	sensor	sensor	NOUN
american_scientific_journal-2190	134	12	readings	reading	NOUN
american_scientific_journal-2190	134	13	when	when	SCONJ
american_scientific_journal-2190	134	14	there	there	PRON
american_scientific_journal-2190	134	15	is	be	VERB
american_scientific_journal-2190	134	16	an	an	DET
american_scientific_journal-2190	134	17	obstacle	obstacle	NOUN
american_scientific_journal-2190	134	18	in	in	ADP
american_scientific_journal-2190	134	19	the	the	DET
american_scientific_journal-2190	134	20	sensor	sensor	NOUN
american_scientific_journal-2190	134	21	field	field	NOUN
american_scientific_journal-2190	134	22	is	be	AUX
american_scientific_journal-2190	134	23	about	about	ADV
american_scientific_journal-2190	134	24	85	85	NUM
american_scientific_journal-2190	134	25	mm	mm	NOUN
american_scientific_journal-2190	134	26	.	.	PUNCT
american_scientific_journal-2190	135	1	from	from	ADP
american_scientific_journal-2190	135	2	this	this	DET
american_scientific_journal-2190	135	3	figure	figure	NOUN
american_scientific_journal-2190	135	4	,	,	PUNCT
american_scientific_journal-2190	135	5	it	it	PRON
american_scientific_journal-2190	135	6	can	can	AUX
american_scientific_journal-2190	135	7	be	be	AUX
american_scientific_journal-2190	135	8	concluded	conclude	VERB
american_scientific_journal-2190	135	9	that	that	SCONJ
american_scientific_journal-2190	135	10	the	the	DET
american_scientific_journal-2190	135	11	only	only	ADJ
american_scientific_journal-2190	135	12	case	case	NOUN
american_scientific_journal-2190	135	13	that	that	SCONJ
american_scientific_journal-2190	135	14	the	the	DET
american_scientific_journal-2190	135	15	sensor	sensor	NOUN
american_scientific_journal-2190	135	16	gives	give	VERB
american_scientific_journal-2190	135	17	distance	distance	NOUN
american_scientific_journal-2190	135	18	readings	reading	NOUN
american_scientific_journal-2190	135	19	equal	equal	ADJ
american_scientific_journal-2190	135	20	to	to	ADP
american_scientific_journal-2190	135	21	zero	zero	NUM
american_scientific_journal-2190	135	22	is	be	AUX
american_scientific_journal-2190	135	23	when	when	SCONJ
american_scientific_journal-2190	135	24	there	there	PRON
american_scientific_journal-2190	135	25	is	be	VERB
american_scientific_journal-2190	135	26	no	no	DET
american_scientific_journal-2190	135	27	object	object	NOUN
american_scientific_journal-2190	135	28	in	in	ADP
american_scientific_journal-2190	135	29	its	its	PRON
american_scientific_journal-2190	135	30	field	field	NOUN
american_scientific_journal-2190	135	31	.	.	PUNCT
american_scientific_journal-2190	136	1	for	for	ADP
american_scientific_journal-2190	136	2	this	this	DET
american_scientific_journal-2190	136	3	reason	reason	NOUN
american_scientific_journal-2190	136	4	,	,	PUNCT
american_scientific_journal-2190	136	5	the	the	DET
american_scientific_journal-2190	136	6	sensor	sensor	NOUN
american_scientific_journal-2190	136	7	readings	reading	NOUN
american_scientific_journal-2190	136	8	will	will	AUX
american_scientific_journal-2190	136	9	be	be	AUX
american_scientific_journal-2190	136	10	calibrated	calibrate	VERB
american_scientific_journal-2190	136	11	to	to	PART
american_scientific_journal-2190	136	12	give	give	VERB
american_scientific_journal-2190	136	13	5.6	5.6	NUM
american_scientific_journal-2190	136	14	m	m	NOUN
american_scientific_journal-2190	136	15	instead	instead	ADV
american_scientific_journal-2190	136	16	of	of	ADP
american_scientific_journal-2190	136	17	zero	zero	NUM
american_scientific_journal-2190	136	18	when	when	SCONJ
american_scientific_journal-2190	136	19	the	the	DET
american_scientific_journal-2190	136	20	sensor	sensor	NOUN
american_scientific_journal-2190	136	21	field	field	NOUN
american_scientific_journal-2190	136	22	is	be	AUX
american_scientific_journal-2190	136	23	empty	empty	ADJ
american_scientific_journal-2190	136	24	.	.	PUNCT
american_scientific_journal-2190	137	1	figure(17	figure(17	NOUN
american_scientific_journal-2190	137	2	)	)	PUNCT
american_scientific_journal-2190	137	3	shows	show	VERB
american_scientific_journal-2190	137	4	the	the	DET
american_scientific_journal-2190	137	5	block	block	NOUN
american_scientific_journal-2190	137	6	diagram	diagram	NOUN
american_scientific_journal-2190	137	7	of	of	ADP
american_scientific_journal-2190	137	8	the	the	DET
american_scientific_journal-2190	137	9	program	program	NOUN
american_scientific_journal-2190	137	10	that	that	PRON
american_scientific_journal-2190	137	11	has	have	AUX
american_scientific_journal-2190	137	12	been	be	AUX
american_scientific_journal-2190	137	13	used	use	VERB
american_scientific_journal-2190	137	14	to	to	PART
american_scientific_journal-2190	137	15	calibrate	calibrate	VERB
american_scientific_journal-2190	137	16	the	the	DET
american_scientific_journal-2190	137	17	sensor	sensor	NOUN
american_scientific_journal-2190	137	18	.	.	PUNCT
american_scientific_journal-2190	138	1	the	the	DET
american_scientific_journal-2190	138	2	main	main	ADJ
american_scientific_journal-2190	138	3	idea	idea	NOUN
american_scientific_journal-2190	138	4	in	in	ADP
american_scientific_journal-2190	138	5	this	this	DET
american_scientific_journal-2190	138	6	program	program	NOUN
american_scientific_journal-2190	138	7	is	be	AUX
american_scientific_journal-2190	138	8	comparing	compare	VERB
american_scientific_journal-2190	138	9	the	the	DET
american_scientific_journal-2190	138	10	sensor	sensor	NOUN
american_scientific_journal-2190	138	11	reading	read	VERB
american_scientific_journal-2190	138	12	with	with	ADP
american_scientific_journal-2190	138	13	very	very	ADV
american_scientific_journal-2190	138	14	small	small	ADJ
american_scientific_journal-2190	138	15	value	value	NOUN
american_scientific_journal-2190	138	16	,	,	PUNCT
american_scientific_journal-2190	138	17	which	which	PRON
american_scientific_journal-2190	138	18	is	be	AUX
american_scientific_journal-2190	138	19	10	10	NUM
american_scientific_journal-2190	138	20	mm	mm	NOUN
american_scientific_journal-2190	138	21	in	in	ADP
american_scientific_journal-2190	138	22	this	this	DET
american_scientific_journal-2190	138	23	program	program	NOUN
american_scientific_journal-2190	138	24	(	(	PUNCT
american_scientific_journal-2190	138	25	or	or	CCONJ
american_scientific_journal-2190	138	26	any	any	DET
american_scientific_journal-2190	138	27	value	value	NOUN
american_scientific_journal-2190	138	28	less	less	ADJ
american_scientific_journal-2190	138	29	than	than	ADP
american_scientific_journal-2190	138	30	85	85	NUM
american_scientific_journal-2190	138	31	mm	mm	NOUN
american_scientific_journal-2190	138	32	)	)	PUNCT
american_scientific_journal-2190	138	33	.	.	PUNCT
american_scientific_journal-2190	139	1	if	if	SCONJ
american_scientific_journal-2190	139	2	the	the	DET
american_scientific_journal-2190	139	3	sensor	sensor	NOUN
american_scientific_journal-2190	139	4	reading	read	VERB
american_scientific_journal-2190	139	5	is	be	AUX
american_scientific_journal-2190	139	6	less	less	ADJ
american_scientific_journal-2190	139	7	than	than	ADP
american_scientific_journal-2190	139	8	10	10	NUM
american_scientific_journal-2190	139	9	mm	mm	NOUN
american_scientific_journal-2190	139	10	,	,	PUNCT
american_scientific_journal-2190	139	11	return	return	VERB
american_scientific_journal-2190	139	12	sensor	sensor	NOUN
american_scientific_journal-2190	139	13	reading	read	VERB
american_scientific_journal-2190	139	14	as	as	ADP
american_scientific_journal-2190	139	15	5600	5600	NUM
american_scientific_journal-2190	139	16	mm	mm	PROPN
american_scientific_journal-2190	139	17	(	(	PUNCT
american_scientific_journal-2190	139	18	5.6	5.6	NUM
american_scientific_journal-2190	139	19	m	m	NOUN
american_scientific_journal-2190	139	20	)	)	PUNCT
american_scientific_journal-2190	139	21	.	.	PUNCT
american_scientific_journal-2190	140	1	else	else	ADV
american_scientific_journal-2190	140	2	,	,	PUNCT
american_scientific_journal-2190	140	3	return	return	VERB
american_scientific_journal-2190	140	4	the	the	DET
american_scientific_journal-2190	140	5	same	same	ADJ
american_scientific_journal-2190	140	6	value	value	NOUN
american_scientific_journal-2190	140	7	of	of	ADP
american_scientific_journal-2190	140	8	the	the	DET
american_scientific_journal-2190	140	9	sensor	sensor	NOUN
american_scientific_journal-2190	140	10	reading	reading	NOUN
american_scientific_journal-2190	140	11	.	.	PUNCT
american_scientific_journal-2190	141	1	figure	figure	NOUN
american_scientific_journal-2190	141	2	17	17	NUM
american_scientific_journal-2190	141	3	:	:	PUNCT
american_scientific_journal-2190	141	4	block	block	NOUN
american_scientific_journal-2190	141	5	diagram	diagram	NOUN
american_scientific_journal-2190	141	6	of	of	ADP
american_scientific_journal-2190	141	7	the	the	DET
american_scientific_journal-2190	141	8	sensor	sensor	NOUN
american_scientific_journal-2190	141	9	calibration	calibration	NOUN
american_scientific_journal-2190	141	10	program	program	NOUN
american_scientific_journal-2190	141	11	figure	figure	NOUN
american_scientific_journal-2190	141	12	18	18	NUM
american_scientific_journal-2190	141	13	:	:	PUNCT
american_scientific_journal-2190	141	14	modified	modify	VERB
american_scientific_journal-2190	141	15	sensor	sensor	NOUN
american_scientific_journal-2190	141	16	readings	reading	NOUN
american_scientific_journal-2190	141	17	after	after	ADP
american_scientific_journal-2190	141	18	achieving	achieve	VERB
american_scientific_journal-2190	141	19	the	the	DET
american_scientific_journal-2190	141	20	previous	previous	ADJ
american_scientific_journal-2190	141	21	calibration	calibration	NOUN
american_scientific_journal-2190	141	22	,	,	PUNCT
american_scientific_journal-2190	141	23	the	the	DET
american_scientific_journal-2190	141	24	sensor	sensor	NOUN
american_scientific_journal-2190	141	25	readings	reading	NOUN
american_scientific_journal-2190	141	26	became	become	VERB
american_scientific_journal-2190	141	27	as	as	SCONJ
american_scientific_journal-2190	141	28	shown	show	VERB
american_scientific_journal-2190	141	29	in	in	ADP
american_scientific_journal-2190	141	30	figure(18	figure(18	NOUN
american_scientific_journal-2190	141	31	)	)	PUNCT
american_scientific_journal-2190	141	32	american	american	ADJ
american_scientific_journal-2190	141	33	scientific	scientific	ADJ
american_scientific_journal-2190	141	34	research	research	NOUN
american_scientific_journal-2190	141	35	journal	journal	NOUN
american_scientific_journal-2190	141	36	for	for	ADP
american_scientific_journal-2190	141	37	engineering	engineering	NOUN
american_scientific_journal-2190	141	38	,	,	PUNCT
american_scientific_journal-2190	141	39	technology	technology	NOUN
american_scientific_journal-2190	141	40	,	,	PUNCT
american_scientific_journal-2190	141	41	and	and	CCONJ
american_scientific_journal-2190	141	42	sciences	science	NOUN
american_scientific_journal-2190	141	43	(	(	PUNCT
american_scientific_journal-2190	141	44	asrjets	asrjet	NOUN
american_scientific_journal-2190	141	45	)	)	PUNCT
american_scientific_journal-2190	141	46	(	(	PUNCT
american_scientific_journal-2190	141	47	2016	2016	NUM
american_scientific_journal-2190	141	48	)	)	PUNCT
american_scientific_journal-2190	141	49	volume	volume	NOUN
american_scientific_journal-2190	141	50	26	26	NUM
american_scientific_journal-2190	141	51	,	,	PUNCT
american_scientific_journal-2190	141	52	no	no	DET
american_scientific_journal-2190	141	53	1	1	NUM
american_scientific_journal-2190	141	54	,	,	PUNCT
american_scientific_journal-2190	141	55	pp	pp	ADV
american_scientific_journal-2190	141	56	91	91	NUM
american_scientific_journal-2190	141	57	-	-	SYM
american_scientific_journal-2190	141	58	107	107	NUM
american_scientific_journal-2190	141	59	107	107	NUM
american_scientific_journal-2190	141	60	6	6	NUM
american_scientific_journal-2190	141	61	.	.	PUNCT
american_scientific_journal-2190	142	1	conclusion	conclusion	NOUN
american_scientific_journal-2190	142	2	the	the	DET
american_scientific_journal-2190	142	3	aim	aim	NOUN
american_scientific_journal-2190	142	4	of	of	ADP
american_scientific_journal-2190	142	5	the	the	DET
american_scientific_journal-2190	142	6	research	research	NOUN
american_scientific_journal-2190	142	7	was	be	AUX
american_scientific_journal-2190	142	8	analyzing	analyze	VERB
american_scientific_journal-2190	142	9	and	and	CCONJ
american_scientific_journal-2190	142	10	implementing	implement	VERB
american_scientific_journal-2190	142	11	algorithms	algorithm	NOUN
american_scientific_journal-2190	142	12	for	for	ADP
american_scientific_journal-2190	142	13	a	a	DET
american_scientific_journal-2190	142	14	mobile	mobile	ADJ
american_scientific_journal-2190	142	15	robot	robot	NOUN
american_scientific_journal-2190	142	16	to	to	PART
american_scientific_journal-2190	142	17	has	have	VERB
american_scientific_journal-2190	142	18	the	the	DET
american_scientific_journal-2190	142	19	ability	ability	NOUN
american_scientific_journal-2190	142	20	to	to	PART
american_scientific_journal-2190	142	21	follow	follow	VERB
american_scientific_journal-2190	142	22	an	an	DET
american_scientific_journal-2190	142	23	optimum	optimum	ADJ
american_scientific_journal-2190	142	24	path	path	NOUN
american_scientific_journal-2190	142	25	when	when	SCONJ
american_scientific_journal-2190	142	26	move	move	VERB
american_scientific_journal-2190	142	27	from	from	ADP
american_scientific_journal-2190	142	28	its	its	PRON
american_scientific_journal-2190	142	29	position	position	NOUN
american_scientific_journal-2190	142	30	to	to	ADP
american_scientific_journal-2190	142	31	a	a	DET
american_scientific_journal-2190	142	32	specific	specific	ADJ
american_scientific_journal-2190	142	33	target	target	NOUN
american_scientific_journal-2190	142	34	position	position	NOUN
american_scientific_journal-2190	142	35	when	when	SCONJ
american_scientific_journal-2190	142	36	put	put	VERB
american_scientific_journal-2190	142	37	it	it	PRON
american_scientific_journal-2190	142	38	a	a	DET
american_scientific_journal-2190	142	39	known	know	VERB
american_scientific_journal-2190	142	40	environment	environment	NOUN
american_scientific_journal-2190	142	41	.	.	PUNCT
american_scientific_journal-2190	143	1	to	to	PART
american_scientific_journal-2190	143	2	achieve	achieve	VERB
american_scientific_journal-2190	143	3	this	this	DET
american_scientific_journal-2190	143	4	aim	aim	NOUN
american_scientific_journal-2190	143	5	,	,	PUNCT
american_scientific_journal-2190	143	6	there	there	PRON
american_scientific_journal-2190	143	7	are	be	VERB
american_scientific_journal-2190	143	8	three	three	NUM
american_scientific_journal-2190	143	9	algorithms	algorithm	NOUN
american_scientific_journal-2190	143	10	have	have	AUX
american_scientific_journal-2190	143	11	been	be	AUX
american_scientific_journal-2190	143	12	built	build	VERB
american_scientific_journal-2190	143	13	,	,	PUNCT
american_scientific_journal-2190	143	14	tested	test	VERB
american_scientific_journal-2190	143	15	and	and	CCONJ
american_scientific_journal-2190	143	16	evaluated	evaluate	VERB
american_scientific_journal-2190	143	17	,	,	PUNCT
american_scientific_journal-2190	143	18	path	path	NOUN
american_scientific_journal-2190	143	19	planning	planning	NOUN
american_scientific_journal-2190	143	20	,	,	PUNCT
american_scientific_journal-2190	143	21	motion	motion	NOUN
american_scientific_journal-2190	143	22	control	control	NOUN
american_scientific_journal-2190	143	23	and	and	CCONJ
american_scientific_journal-2190	143	24	obstacle	obstacle	VERB
american_scientific_journal-2190	143	25	detection	detection	NOUN
american_scientific_journal-2190	143	26	algorithms	algorithm	NOUN
american_scientific_journal-2190	143	27	.	.	PUNCT
american_scientific_journal-2190	144	1	in	in	ADP
american_scientific_journal-2190	144	2	addition	addition	NOUN
american_scientific_journal-2190	144	3	to	to	ADP
american_scientific_journal-2190	144	4	building	build	VERB
american_scientific_journal-2190	144	5	these	these	DET
american_scientific_journal-2190	144	6	algorithms	algorithm	NOUN
american_scientific_journal-2190	144	7	,	,	PUNCT
american_scientific_journal-2190	144	8	there	there	PRON
american_scientific_journal-2190	144	9	are	be	VERB
american_scientific_journal-2190	144	10	a	a	DET
american_scientific_journal-2190	144	11	set	set	NOUN
american_scientific_journal-2190	144	12	of	of	ADP
american_scientific_journal-2190	144	13	calibration	calibration	NOUN
american_scientific_journal-2190	144	14	steps	step	NOUN
american_scientific_journal-2190	144	15	were	be	AUX
american_scientific_journal-2190	144	16	done	do	VERB
american_scientific_journal-2190	144	17	.	.	PUNCT
american_scientific_journal-2190	145	1	the	the	DET
american_scientific_journal-2190	145	2	first	first	ADJ
american_scientific_journal-2190	145	3	calibration	calibration	NOUN
american_scientific_journal-2190	145	4	was	be	AUX
american_scientific_journal-2190	145	5	done	do	VERB
american_scientific_journal-2190	145	6	for	for	ADP
american_scientific_journal-2190	145	7	odometry	odometry	NOUN
american_scientific_journal-2190	145	8	.	.	PUNCT
american_scientific_journal-2190	146	1	this	this	DET
american_scientific_journal-2190	146	2	calibration	calibration	NOUN
american_scientific_journal-2190	146	3	has	have	VERB
american_scientific_journal-2190	146	4	two	two	NUM
american_scientific_journal-2190	146	5	main	main	ADJ
american_scientific_journal-2190	146	6	calibration	calibration	NOUN
american_scientific_journal-2190	146	7	types	type	NOUN
american_scientific_journal-2190	146	8	;	;	PUNCT
american_scientific_journal-2190	146	9	the	the	DET
american_scientific_journal-2190	146	10	first	first	ADJ
american_scientific_journal-2190	146	11	test	test	NOUN
american_scientific_journal-2190	146	12	was	be	AUX
american_scientific_journal-2190	146	13	to	to	PART
american_scientific_journal-2190	146	14	find	find	VERB
american_scientific_journal-2190	146	15	the	the	DET
american_scientific_journal-2190	146	16	linear	linear	ADJ
american_scientific_journal-2190	146	17	odometry	odometry	NOUN
american_scientific_journal-2190	146	18	error	error	NOUN
american_scientific_journal-2190	146	19	while	while	SCONJ
american_scientific_journal-2190	146	20	the	the	DET
american_scientific_journal-2190	146	21	second	second	ADJ
american_scientific_journal-2190	146	22	test	test	NOUN
american_scientific_journal-2190	146	23	was	be	AUX
american_scientific_journal-2190	146	24	to	to	PART
american_scientific_journal-2190	146	25	find	find	VERB
american_scientific_journal-2190	146	26	the	the	DET
american_scientific_journal-2190	146	27	angular	angular	ADJ
american_scientific_journal-2190	146	28	odometry	odometry	NOUN
american_scientific_journal-2190	146	29	error	error	NOUN
american_scientific_journal-2190	146	30	.	.	PUNCT
american_scientific_journal-2190	147	1	the	the	DET
american_scientific_journal-2190	147	2	second	second	ADJ
american_scientific_journal-2190	147	3	odometry	odometry	NOUN
american_scientific_journal-2190	147	4	was	be	AUX
american_scientific_journal-2190	147	5	for	for	ADP
american_scientific_journal-2190	147	6	the	the	DET
american_scientific_journal-2190	147	7	sensor	sensor	NOUN
american_scientific_journal-2190	147	8	that	that	PRON
american_scientific_journal-2190	147	9	will	will	AUX
american_scientific_journal-2190	147	10	be	be	AUX
american_scientific_journal-2190	147	11	used	use	VERB
american_scientific_journal-2190	147	12	to	to	PART
american_scientific_journal-2190	147	13	get	get	VERB
american_scientific_journal-2190	147	14	the	the	DET
american_scientific_journal-2190	147	15	environment	environment	NOUN
american_scientific_journal-2190	147	16	readings	reading	NOUN
american_scientific_journal-2190	147	17	.	.	PUNCT
american_scientific_journal-2190	148	1	references	reference	NOUN
american_scientific_journal-2190	148	2	[	[	X
american_scientific_journal-2190	148	3	1	1	NUM
american_scientific_journal-2190	148	4	]	]	PUNCT
american_scientific_journal-2190	148	5	b.	b.	PROPN
american_scientific_journal-2190	148	6	brumson	brumson	PROPN
american_scientific_journal-2190	148	7	.	.	PUNCT
american_scientific_journal-2190	149	1	(	(	PUNCT
american_scientific_journal-2190	149	2	2012	2012	NUM
american_scientific_journal-2190	149	3	,	,	PUNCT
american_scientific_journal-2190	149	4	20	20	NUM
american_scientific_journal-2190	149	5	august	august	NOUN
american_scientific_journal-2190	149	6	)	)	PUNCT
american_scientific_journal-2190	149	7	.	.	PUNCT
american_scientific_journal-2190	150	1	new	new	ADJ
american_scientific_journal-2190	150	2	applications	application	NOUN
american_scientific_journal-2190	150	3	for	for	ADP
american_scientific_journal-2190	150	4	mobile	mobile	ADJ
american_scientific_journal-2190	150	5	robots	robot	NOUN
american_scientific_journal-2190	150	6	.	.	PUNCT
american_scientific_journal-2190	151	1	available	available	ADJ
american_scientific_journal-2190	151	2	:	:	PUNCT
american_scientific_journal-2190	151	3	http://www.robotics.org/content-detail.cfm/industrial-robotics-industry-unsights/new-applications	http://www.robotics.org/content-detail.cfm/industrial-robotics-industry-unsights/new-application	NOUN
american_scientific_journal-2190	151	4	for	for	ADP
american_scientific_journal-2190	151	5	-	-	PUNCT
american_scientific_journal-2190	151	6	mobile	mobile	NOUN
american_scientific_journal-2190	151	7	-	-	PUNCT
american_scientific_journal-2190	151	8	robots	robot	NOUN
american_scientific_journal-2190	151	9	/	/	SYM
american_scientific_journal-2190	151	10	content	content	NOUN
american_scientific_journal-2190	151	11	id/3362	id/3362	PROPN
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american_scientific_journal-2190	151	13	2	2	NUM
american_scientific_journal-2190	151	14	]	]	PUNCT
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american_scientific_journal-2190	151	16	lima	lima	PROPN
american_scientific_journal-2190	151	17	and	and	CCONJ
american_scientific_journal-2190	151	18	m.	m.	PROPN
american_scientific_journal-2190	151	19	i.	i.	PROPN
american_scientific_journal-2190	151	20	ribeiro	ribeiro	PROPN
american_scientific_journal-2190	151	21	,	,	PUNCT
american_scientific_journal-2190	151	22	“	"	PUNCT
american_scientific_journal-2190	151	23	mobile	mobile	ADJ
american_scientific_journal-2190	151	24	robotics	robotic	NOUN
american_scientific_journal-2190	151	25	,	,	PUNCT
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american_scientific_journal-2190	151	27	institute	institute	NOUN
american_scientific_journal-2190	151	28	for	for	ADP
american_scientific_journal-2190	151	29	systems	system	NOUN
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american_scientific_journal-2190	151	31	robotics	robotic	NOUN
american_scientific_journal-2190	151	32	(	(	PUNCT
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american_scientific_journal-2190	151	34	/	/	SYM
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american_scientific_journal-2190	151	36	,	,	PUNCT
american_scientific_journal-2190	151	37	2012	2012	NUM
american_scientific_journal-2190	151	38	.	.	PUNCT
american_scientific_journal-2190	152	1	[	[	X
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american_scientific_journal-2190	152	4	r.	r.	PROPN
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american_scientific_journal-2190	152	6	,	,	PUNCT
american_scientific_journal-2190	152	7	“	"	PUNCT
american_scientific_journal-2190	152	8	design	design	NOUN
american_scientific_journal-2190	152	9	and	and	CCONJ
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american_scientific_journal-2190	152	11	of	of	ADP
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american_scientific_journal-2190	152	14	algorithm	algorithm	NOUN
american_scientific_journal-2190	152	15	for	for	ADP
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american_scientific_journal-2190	152	18	robot	robot	NOUN
american_scientific_journal-2190	152	19	in	in	ADP
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american_scientific_journal-2190	152	24	,	,	PUNCT
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american_scientific_journal-2190	152	27	journal	journal	NOUN
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american_scientific_journal-2190	152	29	research	research	NOUN
american_scientific_journal-2190	152	30	in	in	ADP
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american_scientific_journal-2190	152	32	and	and	CCONJ
american_scientific_journal-2190	152	33	technology	technology	NOUN
american_scientific_journal-2190	152	34	,	,	PUNCT
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american_scientific_journal-2190	152	36	.	.	PROPN
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american_scientific_journal-2190	152	38	,	,	PUNCT
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american_scientific_journal-2190	152	40	.	.	PUNCT
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american_scientific_journal-2190	153	3	]	]	PUNCT
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american_scientific_journal-2190	153	9	,	,	PUNCT
american_scientific_journal-2190	153	10	“	"	PUNCT
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american_scientific_journal-2190	153	13	and	and	CCONJ
american_scientific_journal-2190	153	14	navigation	navigation	NOUN
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american_scientific_journal-2190	153	17	robots	robot	NOUN
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american_scientific_journal-2190	153	21	,	,	PUNCT
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american_scientific_journal-2190	153	25	robots	robot	NOUN
american_scientific_journal-2190	153	26	and	and	CCONJ
american_scientific_journal-2190	153	27	systems	system	NOUN
american_scientific_journal-2190	153	28	,	,	PUNCT
american_scientific_journal-2190	153	29	2001	2001	NUM
american_scientific_journal-2190	153	30	ieee	ieee	NOUN
american_scientific_journal-2190	153	31	/	/	SYM
american_scientific_journal-2190	153	32	rsj	rsj	NOUN
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american_scientific_journal-2190	153	34	conference	conference	NOUN
american_scientific_journal-2190	153	35	on	on	ADP
american_scientific_journal-2190	153	36	,	,	PUNCT
american_scientific_journal-2190	153	37	2001	2001	NUM
american_scientific_journal-2190	153	38	,	,	PUNCT
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american_scientific_journal-2190	153	40	.	.	PUNCT
american_scientific_journal-2190	154	1	858	858	NUM
american_scientific_journal-2190	154	2	-	-	SYM
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american_scientific_journal-2190	154	4	.	.	PUNCT
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american_scientific_journal-2190	155	27	of	of	ADP
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american_scientific_journal-2190	155	29	mobile	mobile	ADJ
american_scientific_journal-2190	155	30	robot	robot	NOUN
american_scientific_journal-2190	155	31	,	,	PUNCT
american_scientific_journal-2190	155	32	”	"	PUNCT
american_scientific_journal-2190	155	33	international	international	ADJ
american_scientific_journal-2190	155	34	journal	journal	NOUN
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american_scientific_journal-2190	155	37	and	and	CCONJ
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american_scientific_journal-2190	155	39	(	(	PUNCT
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american_scientific_journal-2190	155	42	,	,	PUNCT
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american_scientific_journal-2190	155	46	,	,	PUNCT
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american_scientific_journal-2190	155	50	,	,	PUNCT
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american_scientific_journal-2190	156	6	.	.	PUNCT
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american_scientific_journal-2190	157	8	,	,	PUNCT
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american_scientific_journal-2190	157	36	,	,	PUNCT
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american_scientific_journal-2190	158	1	37	37	NUM
american_scientific_journal-2190	158	2	-	-	SYM
american_scientific_journal-2190	158	3	58	58	NUM
american_scientific_journal-2190	158	4	,	,	PUNCT
american_scientific_journal-2190	158	5	2009	2009	NUM
american_scientific_journal-2190	158	6	.	.	PUNCT
american_scientific_journal-2190	159	1	[	[	X
american_scientific_journal-2190	159	2	8	8	X
american_scientific_journal-2190	159	3	]	]	PUNCT
american_scientific_journal-2190	159	4	t.	t.	PROPN
american_scientific_journal-2190	159	5	yap	yap	PROPN
american_scientific_journal-2190	160	1	jr	jr	PROPN
american_scientific_journal-2190	160	2	“	"	PUNCT
american_scientific_journal-2190	160	3	mobile	mobile	ADJ
american_scientific_journal-2190	160	4	robot	robot	NOUN
american_scientific_journal-2190	160	5	navigation	navigation	NOUN
american_scientific_journal-2190	160	6	with	with	ADP
american_scientific_journal-2190	160	7	low	low	ADJ
american_scientific_journal-2190	160	8	cost	cost	NOUN
american_scientific_journal-2190	160	9	sensors	sensor	NOUN
american_scientific_journal-2190	160	10	,	,	PUNCT
american_scientific_journal-2190	160	11	”	"	PUNCT
american_scientific_journal-2190	160	12	university	university	NOUN
american_scientific_journal-2190	160	13	of	of	ADP
american_scientific_journal-2190	160	14	california	california	PROPN
american_scientific_journal-2190	160	15	riverside	riverside	PROPN
american_scientific_journal-2190	160	16	,	,	PUNCT
american_scientific_journal-2190	160	17	2009	2009	NUM
american_scientific_journal-2190	160	18	.	.	PUNCT
american_scientific_journal-2190	161	1	[	[	X
american_scientific_journal-2190	161	2	9	9	NUM
american_scientific_journal-2190	161	3	]	]	PUNCT
american_scientific_journal-2190	161	4	pjtanz	pjtanz	NOUN
american_scientific_journal-2190	161	5	.	.	PUNCT
american_scientific_journal-2190	162	1	(	(	PUNCT
american_scientific_journal-2190	162	2	2010	2010	NUM
american_scientific_journal-2190	162	3	,	,	PUNCT
american_scientific_journal-2190	162	4	4	4	NUM
american_scientific_journal-2190	162	5	august	august	NOUN
american_scientific_journal-2190	162	6	)	)	PUNCT
american_scientific_journal-2190	162	7	.	.	PUNCT
american_scientific_journal-2190	163	1	an	an	DET
american_scientific_journal-2190	163	2	introduction	introduction	NOUN
american_scientific_journal-2190	163	3	to	to	ADP
american_scientific_journal-2190	163	4	a	a	DET
american_scientific_journal-2190	163	5	path	path	NOUN
american_scientific_journal-2190	163	6	planning	planning	NOUN
american_scientific_journal-2190	163	7	(	(	PUNCT
american_scientific_journal-2190	163	8	using	use	VERB
american_scientific_journal-2190	163	9	labview	labview	NOUN
american_scientific_journal-2190	163	10	)	)	PUNCT
american_scientific_journal-2190	163	11	.	.	PUNCT
american_scientific_journal-2190	164	1	available	available	ADJ
american_scientific_journal-2190	164	2	:	:	PUNCT
american_scientific_journal-2190	164	3	https://decibel.ni.com/content/docs/doc-8983	https://decibel.ni.com/content/docs/doc-8983	VERB
american_scientific_journal-2190	164	4	.	.	PUNCT
american_scientific_journal-2190	165	1	http://www.robotics.org/content-detail.cfm/industrial-robotics-industry-unsights/new-applications%20-for-mobile-robots/content%20id/3362	http://www.robotics.org/content-detail.cfm/industrial-robotics-industry-unsights/new-applications%20-for-mobile-robots/content%20id/3362	PROPN
american_scientific_journal-2190	165	2	http://www.robotics.org/content-detail.cfm/industrial-robotics-industry-unsights/new-applications%20-for-mobile-robots/content%20id/3362	http://www.robotics.org/content-detail.cfm/industrial-robotics-industry-unsights/new-applications%20-for-mobile-robots/content%20id/3362	PROPN
american_scientific_journal-2190	165	3	https://decibel.ni.com/content/docs/doc-8983	https://decibel.ni.com/content/docs/doc-8983	PUNCT
american_scientific_journal-2190	165	4	5	5	X
american_scientific_journal-2190	165	5	.	.	PUNCT
american_scientific_journal-2190	165	6	test	test	NOUN
american_scientific_journal-2190	165	7	and	and	CCONJ
american_scientific_journal-2190	165	8	calibration	calibration	VERB
american_scientific_journal-2190	165	9	5.1	5.1	NUM
american_scientific_journal-2190	165	10	odometry	odometry	NOUN
american_scientific_journal-2190	165	11	calibration	calibration	NOUN
american_scientific_journal-2190	165	12			NOUN
american_scientific_journal-2190	166	1	linear	linear	PROPN
american_scientific_journal-2190	166	2	odometry	odometry	NOUN
american_scientific_journal-2190	166	3	calibration	calibration	NOUN
american_scientific_journal-2190	166	4			NOUN
american_scientific_journal-2190	166	5	angular	angular	PROPN
american_scientific_journal-2190	166	6	odometry	odometry	NOUN
american_scientific_journal-2190	166	7	calibration	calibration	NOUN
american_scientific_journal-2190	166	8	the	the	DET
american_scientific_journal-2190	166	9	final	final	ADJ
american_scientific_journal-2190	166	10	step	step	NOUN
american_scientific_journal-2190	166	11	in	in	ADP
american_scientific_journal-2190	166	12	the	the	DET
american_scientific_journal-2190	166	13	odometry	odometry	NOUN
american_scientific_journal-2190	166	14	calibration	calibration	NOUN
american_scientific_journal-2190	166	15	is	be	AUX
american_scientific_journal-2190	166	16	testing	test	VERB
american_scientific_journal-2190	166	17	the	the	DET
american_scientific_journal-2190	166	18	linear	linear	ADJ
american_scientific_journal-2190	166	19	and	and	CCONJ
american_scientific_journal-2190	166	20	angular	angular	ADJ
american_scientific_journal-2190	166	21	robot	robot	NOUN
american_scientific_journal-2190	166	22	displacements	displacement	NOUN
american_scientific_journal-2190	166	23	as	as	SCONJ
american_scientific_journal-2190	166	24	shown	show	VERB
american_scientific_journal-2190	166	25	in	in	ADP
american_scientific_journal-2190	166	26	the	the	DET
american_scientific_journal-2190	166	27	figure	figure	NOUN
american_scientific_journal-2190	166	28	(	(	PUNCT
american_scientific_journal-2190	166	29	14	14	NUM
american_scientific_journal-2190	166	30	)	)	PUNCT
american_scientific_journal-2190	166	31	.	.	PUNCT
american_scientific_journal-2190	167	1	at	at	ADP
american_scientific_journal-2190	167	2	this	this	DET
american_scientific_journal-2190	167	3	test	test	NOUN
american_scientific_journal-2190	167	4	,	,	PUNCT
american_scientific_journal-2190	167	5	the	the	DET
american_scientific_journal-2190	167	6	robot	robot	NOUN
american_scientific_journal-2190	167	7	behave	behave	VERB
american_scientific_journal-2190	167	8	correctly	correctly	ADV
american_scientific_journal-2190	167	9	.	.	PUNCT