id	sid	tid	token	lemma	pos
american_scientific_journal-3609	1	1	23	23	NUM
american_scientific_journal-3609	1	2	american	american	ADJ
american_scientific_journal-3609	1	3	scientific	scientific	ADJ
american_scientific_journal-3609	1	4	research	research	NOUN
american_scientific_journal-3609	1	5	journal	journal	NOUN
american_scientific_journal-3609	1	6	for	for	ADP
american_scientific_journal-3609	1	7	engineering	engineering	NOUN
american_scientific_journal-3609	1	8	,	,	PUNCT
american_scientific_journal-3609	1	9	technology	technology	NOUN
american_scientific_journal-3609	1	10	,	,	PUNCT
american_scientific_journal-3609	1	11	and	and	CCONJ
american_scientific_journal-3609	1	12	sciences	science	NOUN
american_scientific_journal-3609	1	13	(	(	PUNCT
american_scientific_journal-3609	1	14	asrjets	asrjet	NOUN
american_scientific_journal-3609	1	15	)	)	PUNCT
american_scientific_journal-3609	1	16	issn	issn	PROPN
american_scientific_journal-3609	1	17	(	(	PUNCT
american_scientific_journal-3609	1	18	print	print	NOUN
american_scientific_journal-3609	1	19	)	)	PUNCT
american_scientific_journal-3609	1	20	2313	2313	NUM
american_scientific_journal-3609	1	21	-	-	SYM
american_scientific_journal-3609	1	22	4410	4410	NUM
american_scientific_journal-3609	1	23	,	,	PUNCT
american_scientific_journal-3609	1	24	issn	issn	PROPN
american_scientific_journal-3609	1	25	(	(	PUNCT
american_scientific_journal-3609	1	26	online	online	ADJ
american_scientific_journal-3609	1	27	)	)	PUNCT
american_scientific_journal-3609	1	28	2313	2313	NUM
american_scientific_journal-3609	1	29	-	-	SYM
american_scientific_journal-3609	1	30	4402	4402	NUM
american_scientific_journal-3609	1	31	©	©	PROPN
american_scientific_journal-3609	1	32	global	global	ADJ
american_scientific_journal-3609	1	33	society	society	NOUN
american_scientific_journal-3609	1	34	of	of	ADP
american_scientific_journal-3609	1	35	scientific	scientific	ADJ
american_scientific_journal-3609	1	36	research	research	NOUN
american_scientific_journal-3609	1	37	and	and	CCONJ
american_scientific_journal-3609	1	38	researchers	researcher	NOUN
american_scientific_journal-3609	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	VERB
american_scientific_journal-3609	1	40	autonomous	autonomous	ADJ
american_scientific_journal-3609	1	41	parallel	parallel	ADJ
american_scientific_journal-3609	1	42	parking	parking	NOUN
american_scientific_journal-3609	1	43	of	of	ADP
american_scientific_journal-3609	1	44	a	a	DET
american_scientific_journal-3609	1	45	car	car	NOUN
american_scientific_journal-3609	1	46	-	-	PUNCT
american_scientific_journal-3609	1	47	like	like	ADJ
american_scientific_journal-3609	1	48	mobile	mobile	NOUN
american_scientific_journal-3609	1	49	robot	robot	NOUN
american_scientific_journal-3609	1	50	with	with	ADP
american_scientific_journal-3609	1	51	geometric	geometric	ADJ
american_scientific_journal-3609	1	52	path	path	NOUN
american_scientific_journal-3609	1	53	planning	plan	VERB
american_scientific_journal-3609	1	54	soe	soe	PROPN
american_scientific_journal-3609	1	55	yu	yu	PROPN
american_scientific_journal-3609	1	56	maung	maung	PROPN
american_scientific_journal-3609	1	57	maunga	maunga	PROPN
american_scientific_journal-3609	1	58	*	*	PROPN
american_scientific_journal-3609	1	59	,	,	PUNCT
american_scientific_journal-3609	1	60	yin	yin	PROPN
american_scientific_journal-3609	1	61	yin	yin	PROPN
american_scientific_journal-3609	1	62	ayeb	ayeb	PROPN
american_scientific_journal-3609	1	63	,	,	PUNCT
american_scientific_journal-3609	1	64	nu	nu	PROPN
american_scientific_journal-3609	1	65	nu	nu	X
american_scientific_journal-3609	1	66	winc	winc	PROPN
american_scientific_journal-3609	1	67	aph.d	aph.d	PROPN
american_scientific_journal-3609	1	68	candidate	candidate	NOUN
american_scientific_journal-3609	1	69	,	,	PUNCT
american_scientific_journal-3609	1	70	department	department	NOUN
american_scientific_journal-3609	1	71	of	of	ADP
american_scientific_journal-3609	1	72	mechatronics	mechatronic	NOUN
american_scientific_journal-3609	1	73	engineering	engineering	PROPN
american_scientific_journal-3609	1	74	,	,	PUNCT
american_scientific_journal-3609	1	75	mandalay	mandalay	NOUN
american_scientific_journal-3609	1	76	technological	technological	ADJ
american_scientific_journal-3609	1	77	university	university	NOUN
american_scientific_journal-3609	1	78	,	,	PUNCT
american_scientific_journal-3609	1	79	myanmar	myanmar	PROPN
american_scientific_journal-3609	1	80	blecturer	blecturer	NOUN
american_scientific_journal-3609	1	81	,	,	PUNCT
american_scientific_journal-3609	1	82	department	department	NOUN
american_scientific_journal-3609	1	83	of	of	ADP
american_scientific_journal-3609	1	84	mechatronics	mechatronic	NOUN
american_scientific_journal-3609	1	85	engineering	engineering	PROPN
american_scientific_journal-3609	1	86	,	,	PUNCT
american_scientific_journal-3609	1	87	mandalay	mandalay	NOUN
american_scientific_journal-3609	1	88	technological	technological	ADJ
american_scientific_journal-3609	1	89	university	university	NOUN
american_scientific_journal-3609	1	90	,	,	PUNCT
american_scientific_journal-3609	1	91	myanmar	myanmar	PROPN
american_scientific_journal-3609	1	92	cprofessor	cprofessor	NOUN
american_scientific_journal-3609	1	93	,	,	PUNCT
american_scientific_journal-3609	1	94	department	department	NOUN
american_scientific_journal-3609	1	95	of	of	ADP
american_scientific_journal-3609	1	96	mechatronics	mechatronic	NOUN
american_scientific_journal-3609	1	97	engineering	engineering	PROPN
american_scientific_journal-3609	1	98	,	,	PUNCT
american_scientific_journal-3609	1	99	mandalay	mandalay	NOUN
american_scientific_journal-3609	1	100	technological	technological	ADJ
american_scientific_journal-3609	1	101	university	university	NOUN
american_scientific_journal-3609	1	102	,	,	PUNCT
american_scientific_journal-3609	1	103	myanmar	myanmar	PROPN
american_scientific_journal-3609	1	104	aemail	aemail	NOUN
american_scientific_journal-3609	1	105	:	:	PUNCT
american_scientific_journal-3609	1	106	soeyumaungmaung@gmail.com	soeyumaungmaung@gmail.com	X
american_scientific_journal-3609	1	107	bemail	bemail	NOUN
american_scientific_journal-3609	1	108	:	:	PUNCT
american_scientific_journal-3609	1	109	yinyinrose7@gmail.com	yinyinrose7@gmail.com	X
american_scientific_journal-3609	1	110	cemail	cemail	NOUN
american_scientific_journal-3609	1	111	:	:	PUNCT
american_scientific_journal-3609	2	1	malnuwin@gmail.com	malnuwin@gmail.com	X
american_scientific_journal-3609	2	2	abstract	abstract	ADJ
american_scientific_journal-3609	2	3	with	with	ADP
american_scientific_journal-3609	2	4	the	the	DET
american_scientific_journal-3609	2	5	advancement	advancement	NOUN
american_scientific_journal-3609	2	6	of	of	ADP
american_scientific_journal-3609	2	7	technology	technology	NOUN
american_scientific_journal-3609	2	8	making	make	VERB
american_scientific_journal-3609	2	9	everything	everything	PRON
american_scientific_journal-3609	2	10	so	so	ADV
american_scientific_journal-3609	2	11	convenient	convenient	ADJ
american_scientific_journal-3609	2	12	in	in	ADP
american_scientific_journal-3609	2	13	these	these	DET
american_scientific_journal-3609	2	14	days	day	NOUN
american_scientific_journal-3609	2	15	and	and	CCONJ
american_scientific_journal-3609	2	16	ages	age	NOUN
american_scientific_journal-3609	2	17	,	,	PUNCT
american_scientific_journal-3609	2	18	autonomous	autonomous	ADJ
american_scientific_journal-3609	2	19	system	system	NOUN
american_scientific_journal-3609	2	20	is	be	AUX
american_scientific_journal-3609	2	21	very	very	ADV
american_scientific_journal-3609	2	22	interesting	interesting	ADJ
american_scientific_journal-3609	2	23	area	area	NOUN
american_scientific_journal-3609	2	24	in	in	ADP
american_scientific_journal-3609	2	25	the	the	DET
american_scientific_journal-3609	2	26	innovating	innovate	VERB
american_scientific_journal-3609	2	27	technology	technology	NOUN
american_scientific_journal-3609	2	28	.	.	PUNCT
american_scientific_journal-3609	3	1	one	one	NUM
american_scientific_journal-3609	3	2	of	of	ADP
american_scientific_journal-3609	3	3	the	the	DET
american_scientific_journal-3609	3	4	advanced	advanced	ADJ
american_scientific_journal-3609	3	5	booming	booming	ADJ
american_scientific_journal-3609	3	6	technologies	technology	NOUN
american_scientific_journal-3609	3	7	for	for	ADP
american_scientific_journal-3609	3	8	the	the	DET
american_scientific_journal-3609	3	9	improvement	improvement	NOUN
american_scientific_journal-3609	3	10	of	of	ADP
american_scientific_journal-3609	3	11	human	human	ADJ
american_scientific_journal-3609	3	12	race	race	NOUN
american_scientific_journal-3609	3	13	is	be	AUX
american_scientific_journal-3609	3	14	autonomous	autonomous	ADJ
american_scientific_journal-3609	3	15	taxi	taxi	NOUN
american_scientific_journal-3609	3	16	mobile	mobile	NOUN
american_scientific_journal-3609	3	17	transportation	transportation	NOUN
american_scientific_journal-3609	3	18	system	system	NOUN
american_scientific_journal-3609	3	19	.	.	PUNCT
american_scientific_journal-3609	4	1	it	it	PRON
american_scientific_journal-3609	4	2	is	be	AUX
american_scientific_journal-3609	4	3	working	work	VERB
american_scientific_journal-3609	4	4	well	well	ADV
american_scientific_journal-3609	4	5	in	in	ADP
american_scientific_journal-3609	4	6	a	a	DET
american_scientific_journal-3609	4	7	district	district	NOUN
american_scientific_journal-3609	4	8	area	area	NOUN
american_scientific_journal-3609	4	9	but	but	CCONJ
american_scientific_journal-3609	4	10	it	it	PRON
american_scientific_journal-3609	4	11	still	still	ADV
american_scientific_journal-3609	4	12	thrives	thrive	VERB
american_scientific_journal-3609	4	13	on	on	ADP
american_scientific_journal-3609	4	14	making	make	VERB
american_scientific_journal-3609	4	15	more	more	ADV
american_scientific_journal-3609	4	16	comfortable	comfortable	ADJ
american_scientific_journal-3609	4	17	.	.	PUNCT
american_scientific_journal-3609	5	1	this	this	DET
american_scientific_journal-3609	5	2	research	research	NOUN
american_scientific_journal-3609	5	3	will	will	AUX
american_scientific_journal-3609	5	4	be	be	AUX
american_scientific_journal-3609	5	5	one	one	NUM
american_scientific_journal-3609	5	6	point	point	NOUN
american_scientific_journal-3609	5	7	of	of	ADP
american_scientific_journal-3609	5	8	supporting	support	VERB
american_scientific_journal-3609	5	9	roles	role	NOUN
american_scientific_journal-3609	5	10	for	for	ADP
american_scientific_journal-3609	5	11	automobile	automobile	NOUN
american_scientific_journal-3609	5	12	in	in	ADP
american_scientific_journal-3609	5	13	parallel	parallel	ADJ
american_scientific_journal-3609	5	14	parking	parking	NOUN
american_scientific_journal-3609	5	15	.	.	PUNCT
american_scientific_journal-3609	6	1	an	an	DET
american_scientific_journal-3609	6	2	autonomous	autonomous	ADJ
american_scientific_journal-3609	6	3	parallel	parallel	ADJ
american_scientific_journal-3609	6	4	parking	parking	NOUN
american_scientific_journal-3609	6	5	of	of	ADP
american_scientific_journal-3609	6	6	a	a	DET
american_scientific_journal-3609	6	7	car	car	NOUN
american_scientific_journal-3609	6	8	-	-	PUNCT
american_scientific_journal-3609	6	9	like	like	ADJ
american_scientific_journal-3609	6	10	mobile	mobile	NOUN
american_scientific_journal-3609	6	11	robot	robot	NOUN
american_scientific_journal-3609	6	12	has	have	AUX
american_scientific_journal-3609	6	13	been	be	AUX
american_scientific_journal-3609	6	14	developed	develop	VERB
american_scientific_journal-3609	6	15	in	in	ADP
american_scientific_journal-3609	6	16	this	this	DET
american_scientific_journal-3609	6	17	study	study	NOUN
american_scientific_journal-3609	6	18	.	.	PUNCT
american_scientific_journal-3609	7	1	the	the	DET
american_scientific_journal-3609	7	2	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	7	3	range	range	NOUN
american_scientific_journal-3609	7	4	sensors	sensor	NOUN
american_scientific_journal-3609	7	5	are	be	AUX
american_scientific_journal-3609	7	6	used	use	VERB
american_scientific_journal-3609	7	7	to	to	PART
american_scientific_journal-3609	7	8	detect	detect	VERB
american_scientific_journal-3609	7	9	the	the	DET
american_scientific_journal-3609	7	10	working	work	VERB
american_scientific_journal-3609	7	11	environments	environment	NOUN
american_scientific_journal-3609	7	12	and	and	CCONJ
american_scientific_journal-3609	7	13	design	design	VERB
american_scientific_journal-3609	7	14	an	an	DET
american_scientific_journal-3609	7	15	s	s	ADV
american_scientific_journal-3609	7	16	-	-	PUNCT
american_scientific_journal-3609	7	17	shaped	shape	VERB
american_scientific_journal-3609	7	18	trajectory	trajectory	NOUN
american_scientific_journal-3609	7	19	between	between	ADP
american_scientific_journal-3609	7	20	two	two	NUM
american_scientific_journal-3609	7	21	parallel	parallel	ADJ
american_scientific_journal-3609	7	22	parked	park	VERB
american_scientific_journal-3609	7	23	vehicles	vehicle	NOUN
american_scientific_journal-3609	7	24	.	.	PUNCT
american_scientific_journal-3609	8	1	one	one	NUM
american_scientific_journal-3609	8	2	trail	trail	NOUN
american_scientific_journal-3609	8	3	maneuver	maneuver	NOUN
american_scientific_journal-3609	8	4	system	system	NOUN
american_scientific_journal-3609	8	5	is	be	AUX
american_scientific_journal-3609	8	6	used	use	VERB
american_scientific_journal-3609	8	7	to	to	PART
american_scientific_journal-3609	8	8	be	be	AUX
american_scientific_journal-3609	8	9	moving	move	VERB
american_scientific_journal-3609	8	10	along	along	ADP
american_scientific_journal-3609	8	11	the	the	DET
american_scientific_journal-3609	8	12	sshaped	sshape	VERB
american_scientific_journal-3609	8	13	trajectory	trajectory	NOUN
american_scientific_journal-3609	8	14	parking	parking	NOUN
american_scientific_journal-3609	8	15	path	path	NOUN
american_scientific_journal-3609	8	16	.	.	PUNCT
american_scientific_journal-3609	9	1	the	the	DET
american_scientific_journal-3609	9	2	s	s	ADV
american_scientific_journal-3609	9	3	-	-	PUNCT
american_scientific_journal-3609	9	4	shaped	shape	VERB
american_scientific_journal-3609	9	5	trajectory	trajectory	NOUN
american_scientific_journal-3609	9	6	is	be	AUX
american_scientific_journal-3609	9	7	purely	purely	ADV
american_scientific_journal-3609	9	8	based	base	VERB
american_scientific_journal-3609	9	9	on	on	ADP
american_scientific_journal-3609	9	10	the	the	DET
american_scientific_journal-3609	9	11	geometric	geometric	ADJ
american_scientific_journal-3609	9	12	approach	approach	NOUN
american_scientific_journal-3609	9	13	path	path	NOUN
american_scientific_journal-3609	9	14	planning	planning	NOUN
american_scientific_journal-3609	9	15	method	method	NOUN
american_scientific_journal-3609	9	16	.	.	PUNCT
american_scientific_journal-3609	10	1	the	the	DET
american_scientific_journal-3609	10	2	proposed	propose	VERB
american_scientific_journal-3609	10	3	method	method	NOUN
american_scientific_journal-3609	10	4	is	be	AUX
american_scientific_journal-3609	10	5	not	not	PART
american_scientific_journal-3609	10	6	dependent	dependent	ADJ
american_scientific_journal-3609	10	7	on	on	ADP
american_scientific_journal-3609	10	8	the	the	DET
american_scientific_journal-3609	10	9	initial	initial	ADJ
american_scientific_journal-3609	10	10	pose	pose	NOUN
american_scientific_journal-3609	10	11	of	of	ADP
american_scientific_journal-3609	10	12	the	the	DET
american_scientific_journal-3609	10	13	robot	robot	NOUN
american_scientific_journal-3609	10	14	but	but	CCONJ
american_scientific_journal-3609	10	15	it	it	PRON
american_scientific_journal-3609	10	16	must	must	AUX
american_scientific_journal-3609	10	17	be	be	AUX
american_scientific_journal-3609	10	18	parallel	parallel	ADJ
american_scientific_journal-3609	10	19	with	with	ADP
american_scientific_journal-3609	10	20	the	the	DET
american_scientific_journal-3609	10	21	parking	parking	NOUN
american_scientific_journal-3609	10	22	space	space	NOUN
american_scientific_journal-3609	10	23	.	.	PUNCT
american_scientific_journal-3609	11	1	sensor	sensor	NOUN
american_scientific_journal-3609	11	2	data	datum	NOUN
american_scientific_journal-3609	11	3	are	be	AUX
american_scientific_journal-3609	11	4	used	use	VERB
american_scientific_journal-3609	11	5	as	as	ADP
american_scientific_journal-3609	11	6	the	the	DET
american_scientific_journal-3609	11	7	main	main	ADJ
american_scientific_journal-3609	11	8	decision	decision	NOUN
american_scientific_journal-3609	11	9	part	part	NOUN
american_scientific_journal-3609	11	10	to	to	PART
american_scientific_journal-3609	11	11	change	change	VERB
american_scientific_journal-3609	11	12	the	the	DET
american_scientific_journal-3609	11	13	parking	parking	NOUN
american_scientific_journal-3609	11	14	states	state	NOUN
american_scientific_journal-3609	11	15	instance	instance	NOUN
american_scientific_journal-3609	11	16	of	of	ADP
american_scientific_journal-3609	11	17	to	to	PART
american_scientific_journal-3609	11	18	find	find	VERB
american_scientific_journal-3609	11	19	the	the	DET
american_scientific_journal-3609	11	20	parking	parking	NOUN
american_scientific_journal-3609	11	21	space	space	NOUN
american_scientific_journal-3609	11	22	and	and	CCONJ
american_scientific_journal-3609	11	23	adjust	adjust	VERB
american_scientific_journal-3609	11	24	robot	robot	NOUN
american_scientific_journal-3609	11	25	orientation	orientation	NOUN
american_scientific_journal-3609	11	26	.	.	PUNCT
american_scientific_journal-3609	12	1	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	12	2	filter	filter	NOUN
american_scientific_journal-3609	12	3	is	be	AUX
american_scientific_journal-3609	12	4	applied	apply	VERB
american_scientific_journal-3609	12	5	to	to	PART
american_scientific_journal-3609	12	6	stabilize	stabilize	VERB
american_scientific_journal-3609	12	7	the	the	DET
american_scientific_journal-3609	12	8	sensor	sensor	NOUN
american_scientific_journal-3609	12	9	data	datum	NOUN
american_scientific_journal-3609	12	10	and	and	CCONJ
american_scientific_journal-3609	12	11	give	give	VERB
american_scientific_journal-3609	12	12	a	a	DET
american_scientific_journal-3609	12	13	quick	quick	ADJ
american_scientific_journal-3609	12	14	response	response	NOUN
american_scientific_journal-3609	12	15	input	input	NOUN
american_scientific_journal-3609	12	16	.	.	PUNCT
american_scientific_journal-3609	13	1	the	the	DET
american_scientific_journal-3609	13	2	working	work	VERB
american_scientific_journal-3609	13	3	environment	environment	NOUN
american_scientific_journal-3609	13	4	is	be	AUX
american_scientific_journal-3609	13	5	constrained	constrain	VERB
american_scientific_journal-3609	13	6	by	by	ADP
american_scientific_journal-3609	13	7	the	the	DET
american_scientific_journal-3609	13	8	wall	wall	NOUN
american_scientific_journal-3609	13	9	and	and	CCONJ
american_scientific_journal-3609	13	10	sensor	sensor	NOUN
american_scientific_journal-3609	13	11	arrangement	arrangement	NOUN
american_scientific_journal-3609	13	12	.	.	PUNCT
american_scientific_journal-3609	14	1	visual	visual	ADJ
american_scientific_journal-3609	14	2	studio	studio	NOUN
american_scientific_journal-3609	14	3	2013	2013	NUM
american_scientific_journal-3609	14	4	is	be	AUX
american_scientific_journal-3609	14	5	used	use	VERB
american_scientific_journal-3609	14	6	for	for	ADP
american_scientific_journal-3609	14	7	the	the	DET
american_scientific_journal-3609	14	8	user	user	NOUN
american_scientific_journal-3609	14	9	interface	interface	NOUN
american_scientific_journal-3609	14	10	window	window	NOUN
american_scientific_journal-3609	14	11	.	.	PUNCT
american_scientific_journal-3609	15	1	the	the	DET
american_scientific_journal-3609	15	2	effectiveness	effectiveness	NOUN
american_scientific_journal-3609	15	3	of	of	ADP
american_scientific_journal-3609	15	4	the	the	DET
american_scientific_journal-3609	15	5	proposed	propose	VERB
american_scientific_journal-3609	15	6	method	method	NOUN
american_scientific_journal-3609	15	7	is	be	AUX
american_scientific_journal-3609	15	8	demonstrated	demonstrate	VERB
american_scientific_journal-3609	15	9	through	through	ADP
american_scientific_journal-3609	15	10	some	some	DET
american_scientific_journal-3609	15	11	experimental	experimental	ADJ
american_scientific_journal-3609	15	12	results	result	NOUN
american_scientific_journal-3609	15	13	with	with	ADP
american_scientific_journal-3609	15	14	a	a	DET
american_scientific_journal-3609	15	15	car	car	NOUN
american_scientific_journal-3609	15	16	-	-	PUNCT
american_scientific_journal-3609	15	17	like	like	ADJ
american_scientific_journal-3609	15	18	mobile	mobile	NOUN
american_scientific_journal-3609	15	19	robot	robot	NOUN
american_scientific_journal-3609	15	20	.	.	PUNCT
american_scientific_journal-3609	16	1	keywords	keyword	NOUN
american_scientific_journal-3609	16	2	:	:	PUNCT
american_scientific_journal-3609	16	3	parallel	parallel	ADJ
american_scientific_journal-3609	16	4	parking	parking	NOUN
american_scientific_journal-3609	16	5	;	;	PUNCT
american_scientific_journal-3609	16	6	geometric	geometric	ADJ
american_scientific_journal-3609	16	7	path	path	NOUN
american_scientific_journal-3609	16	8	planning	planning	NOUN
american_scientific_journal-3609	16	9	;	;	PUNCT
american_scientific_journal-3609	16	10	car	car	NOUN
american_scientific_journal-3609	16	11	-	-	PUNCT
american_scientific_journal-3609	16	12	like	like	ADJ
american_scientific_journal-3609	16	13	mobile	mobile	NOUN
american_scientific_journal-3609	16	14	robot	robot	NOUN
american_scientific_journal-3609	16	15	;	;	PUNCT
american_scientific_journal-3609	16	16	s	s	X
american_scientific_journal-3609	16	17	-	-	PUNCT
american_scientific_journal-3609	16	18	shaped	shape	VERB
american_scientific_journal-3609	16	19	trajectory	trajectory	NOUN
american_scientific_journal-3609	16	20	;	;	PUNCT
american_scientific_journal-3609	16	21	one	one	NUM
american_scientific_journal-3609	16	22	trail	trail	NOUN
american_scientific_journal-3609	16	23	.	.	PUNCT
american_scientific_journal-3609	17	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-3609	18	1	*	*	PUNCT
american_scientific_journal-3609	18	2	corresponding	correspond	VERB
american_scientific_journal-3609	18	3	author	author	NOUN
american_scientific_journal-3609	18	4	.	.	PUNCT
american_scientific_journal-3609	19	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-3609	19	2	american	american	PROPN
american_scientific_journal-3609	19	3	scientific	scientific	PROPN
american_scientific_journal-3609	19	4	research	research	NOUN
american_scientific_journal-3609	19	5	journal	journal	NOUN
american_scientific_journal-3609	19	6	for	for	ADP
american_scientific_journal-3609	19	7	engineering	engineering	NOUN
american_scientific_journal-3609	19	8	,	,	PUNCT
american_scientific_journal-3609	19	9	technology	technology	NOUN
american_scientific_journal-3609	19	10	,	,	PUNCT
american_scientific_journal-3609	19	11	and	and	CCONJ
american_scientific_journal-3609	19	12	sciences	science	NOUN
american_scientific_journal-3609	19	13	(	(	PUNCT
american_scientific_journal-3609	19	14	asrjets	asrjet	NOUN
american_scientific_journal-3609	19	15	)	)	PUNCT
american_scientific_journal-3609	19	16	(	(	PUNCT
american_scientific_journal-3609	19	17	2017	2017	NUM
american_scientific_journal-3609	19	18	)	)	PUNCT
american_scientific_journal-3609	19	19	volume	volume	NOUN
american_scientific_journal-3609	19	20	38	38	NUM
american_scientific_journal-3609	19	21	,	,	PUNCT
american_scientific_journal-3609	19	22	no	no	DET
american_scientific_journal-3609	19	23	2	2	NUM
american_scientific_journal-3609	19	24	,	,	PUNCT
american_scientific_journal-3609	19	25	pp	pp	ADV
american_scientific_journal-3609	19	26	23	23	NUM
american_scientific_journal-3609	19	27	-	-	SYM
american_scientific_journal-3609	19	28	41	41	NUM
american_scientific_journal-3609	19	29	24	24	NUM
american_scientific_journal-3609	19	30	1	1	NUM
american_scientific_journal-3609	19	31	.	.	PUNCT
american_scientific_journal-3609	20	1	introduction	introduction	NOUN
american_scientific_journal-3609	20	2	parking	parking	NOUN
american_scientific_journal-3609	20	3	control	control	NOUN
american_scientific_journal-3609	20	4	system	system	NOUN
american_scientific_journal-3609	20	5	has	have	AUX
american_scientific_journal-3609	20	6	recently	recently	ADV
american_scientific_journal-3609	20	7	attracted	attract	VERB
american_scientific_journal-3609	20	8	considerable	considerable	ADJ
american_scientific_journal-3609	20	9	attention	attention	NOUN
american_scientific_journal-3609	20	10	in	in	ADP
american_scientific_journal-3609	20	11	the	the	DET
american_scientific_journal-3609	20	12	control	control	NOUN
american_scientific_journal-3609	20	13	community	community	NOUN
american_scientific_journal-3609	20	14	.	.	PUNCT
american_scientific_journal-3609	21	1	the	the	DET
american_scientific_journal-3609	21	2	biggest	big	ADJ
american_scientific_journal-3609	21	3	problem	problem	NOUN
american_scientific_journal-3609	21	4	people	people	NOUN
american_scientific_journal-3609	21	5	face	face	VERB
american_scientific_journal-3609	21	6	while	while	SCONJ
american_scientific_journal-3609	21	7	driving	drive	VERB
american_scientific_journal-3609	21	8	is	be	AUX
american_scientific_journal-3609	21	9	not	not	PART
american_scientific_journal-3609	21	10	actually	actually	ADV
american_scientific_journal-3609	21	11	driving	drive	VERB
american_scientific_journal-3609	21	12	the	the	DET
american_scientific_journal-3609	21	13	car	car	NOUN
american_scientific_journal-3609	21	14	,	,	PUNCT
american_scientific_journal-3609	21	15	but	but	CCONJ
american_scientific_journal-3609	21	16	parking	park	VERB
american_scientific_journal-3609	21	17	it	it	PRON
american_scientific_journal-3609	21	18	.	.	PUNCT
american_scientific_journal-3609	22	1	many	many	ADJ
american_scientific_journal-3609	22	2	researchers	researcher	NOUN
american_scientific_journal-3609	22	3	have	have	AUX
american_scientific_journal-3609	22	4	tried	try	VERB
american_scientific_journal-3609	22	5	to	to	PART
american_scientific_journal-3609	22	6	find	find	VERB
american_scientific_journal-3609	22	7	the	the	DET
american_scientific_journal-3609	22	8	optimized	optimize	VERB
american_scientific_journal-3609	22	9	solution	solution	NOUN
american_scientific_journal-3609	22	10	in	in	ADP
american_scientific_journal-3609	22	11	different	different	ADJ
american_scientific_journal-3609	22	12	ways	way	NOUN
american_scientific_journal-3609	22	13	to	to	PART
american_scientific_journal-3609	22	14	alleviate	alleviate	VERB
american_scientific_journal-3609	22	15	the	the	DET
american_scientific_journal-3609	22	16	driver	driver	NOUN
american_scientific_journal-3609	22	17	’s	’s	PART
american_scientific_journal-3609	22	18	parking	parking	NOUN
american_scientific_journal-3609	22	19	burden	burden	NOUN
american_scientific_journal-3609	22	20	.	.	PUNCT
american_scientific_journal-3609	23	1	there	there	PRON
american_scientific_journal-3609	23	2	are	be	VERB
american_scientific_journal-3609	23	3	many	many	ADJ
american_scientific_journal-3609	23	4	types	type	NOUN
american_scientific_journal-3609	23	5	of	of	ADP
american_scientific_journal-3609	23	6	parking	parking	NOUN
american_scientific_journal-3609	23	7	method	method	NOUN
american_scientific_journal-3609	23	8	:	:	PUNCT
american_scientific_journal-3609	23	9	bay	bay	NOUN
american_scientific_journal-3609	23	10	parking	parking	NOUN
american_scientific_journal-3609	23	11	(	(	PUNCT
american_scientific_journal-3609	23	12	90	90	NUM
american_scientific_journal-3609	23	13	degree	degree	NOUN
american_scientific_journal-3609	23	14	)	)	PUNCT
american_scientific_journal-3609	23	15	,	,	PUNCT
american_scientific_journal-3609	23	16	slide	slide	NOUN
american_scientific_journal-3609	23	17	parking	parking	NOUN
american_scientific_journal-3609	23	18	(	(	PUNCT
american_scientific_journal-3609	23	19	45	45	NUM
american_scientific_journal-3609	23	20	or	or	CCONJ
american_scientific_journal-3609	23	21	65	65	NUM
american_scientific_journal-3609	23	22	degree	degree	NOUN
american_scientific_journal-3609	23	23	)	)	PUNCT
american_scientific_journal-3609	23	24	,	,	PUNCT
american_scientific_journal-3609	23	25	and	and	CCONJ
american_scientific_journal-3609	23	26	parallel	parallel	ADJ
american_scientific_journal-3609	23	27	parking	parking	NOUN
american_scientific_journal-3609	23	28	(	(	PUNCT
american_scientific_journal-3609	23	29	180	180	NUM
american_scientific_journal-3609	23	30	degree	degree	NOUN
american_scientific_journal-3609	23	31	)	)	PUNCT
american_scientific_journal-3609	23	32	.	.	PUNCT
american_scientific_journal-3609	24	1	among	among	ADP
american_scientific_journal-3609	24	2	them	they	PRON
american_scientific_journal-3609	24	3	,	,	PUNCT
american_scientific_journal-3609	24	4	parallel	parallel	ADJ
american_scientific_journal-3609	24	5	parking	parking	NOUN
american_scientific_journal-3609	24	6	is	be	AUX
american_scientific_journal-3609	24	7	the	the	DET
american_scientific_journal-3609	24	8	most	most	ADV
american_scientific_journal-3609	24	9	difficult	difficult	ADJ
american_scientific_journal-3609	24	10	parking	parking	NOUN
american_scientific_journal-3609	24	11	method	method	NOUN
american_scientific_journal-3609	24	12	even	even	ADV
american_scientific_journal-3609	24	13	experience	experience	NOUN
american_scientific_journal-3609	24	14	driver	driver	NOUN
american_scientific_journal-3609	24	15	may	may	AUX
american_scientific_journal-3609	24	16	cause	cause	VERB
american_scientific_journal-3609	24	17	collision	collision	NOUN
american_scientific_journal-3609	24	18	.	.	PUNCT
american_scientific_journal-3609	25	1	parallel	parallel	ADJ
american_scientific_journal-3609	25	2	parking	parking	NOUN
american_scientific_journal-3609	25	3	means	mean	VERB
american_scientific_journal-3609	25	4	on	on	ADP
american_scientific_journal-3609	25	5	a	a	DET
american_scientific_journal-3609	25	6	road	road	NOUN
american_scientific_journal-3609	25	7	where	where	SCONJ
american_scientific_journal-3609	25	8	cars	car	NOUN
american_scientific_journal-3609	25	9	are	be	AUX
american_scientific_journal-3609	25	10	parked	park	VERB
american_scientific_journal-3609	25	11	in	in	ADP
american_scientific_journal-3609	25	12	front	front	NOUN
american_scientific_journal-3609	25	13	of	of	ADP
american_scientific_journal-3609	25	14	each	each	DET
american_scientific_journal-3609	25	15	other	other	ADJ
american_scientific_journal-3609	25	16	,	,	PUNCT
american_scientific_journal-3609	25	17	bumper	bumper	NOUN
american_scientific_journal-3609	25	18	to	to	PART
american_scientific_journal-3609	25	19	bumper	bumper	VERB
american_scientific_journal-3609	25	20	,	,	PUNCT
american_scientific_journal-3609	25	21	length	length	NOUN
american_scientific_journal-3609	25	22	wise	wise	ADV
american_scientific_journal-3609	25	23	and	and	CCONJ
american_scientific_journal-3609	25	24	there	there	PRON
american_scientific_journal-3609	25	25	exists	exist	VERB
american_scientific_journal-3609	25	26	a	a	DET
american_scientific_journal-3609	25	27	gap	gap	NOUN
american_scientific_journal-3609	25	28	,	,	PUNCT
american_scientific_journal-3609	25	29	the	the	DET
american_scientific_journal-3609	25	30	car	car	NOUN
american_scientific_journal-3609	25	31	can	can	AUX
american_scientific_journal-3609	25	32	be	be	AUX
american_scientific_journal-3609	25	33	parked	park	VERB
american_scientific_journal-3609	25	34	between	between	ADP
american_scientific_journal-3609	25	35	it	it	PRON
american_scientific_journal-3609	25	36	,	,	PUNCT
american_scientific_journal-3609	25	37	in	in	ADP
american_scientific_journal-3609	25	38	parallel	parallel	ADJ
american_scientific_journal-3609	25	39	[	[	X
american_scientific_journal-3609	25	40	1	1	NUM
american_scientific_journal-3609	25	41	]	]	PUNCT
american_scientific_journal-3609	25	42	.	.	PUNCT
american_scientific_journal-3609	26	1	a	a	DET
american_scientific_journal-3609	26	2	rule	rule	NOUN
american_scientific_journal-3609	26	3	based	base	VERB
american_scientific_journal-3609	26	4	parallel	parallel	ADJ
american_scientific_journal-3609	26	5	parking	parking	NOUN
american_scientific_journal-3609	26	6	system	system	NOUN
american_scientific_journal-3609	26	7	for	for	ADP
american_scientific_journal-3609	26	8	a	a	DET
american_scientific_journal-3609	26	9	prototype	prototype	NOUN
american_scientific_journal-3609	26	10	mobile	mobile	NOUN
american_scientific_journal-3609	26	11	robot	robot	NOUN
american_scientific_journal-3609	26	12	has	have	AUX
american_scientific_journal-3609	26	13	been	be	AUX
american_scientific_journal-3609	26	14	developed	develop	VERB
american_scientific_journal-3609	26	15	in	in	ADP
american_scientific_journal-3609	26	16	this	this	DET
american_scientific_journal-3609	26	17	research	research	NOUN
american_scientific_journal-3609	26	18	.	.	PUNCT
american_scientific_journal-3609	27	1	this	this	DET
american_scientific_journal-3609	27	2	kind	kind	NOUN
american_scientific_journal-3609	27	3	of	of	ADP
american_scientific_journal-3609	27	4	system	system	NOUN
american_scientific_journal-3609	27	5	is	be	AUX
american_scientific_journal-3609	27	6	designed	design	VERB
american_scientific_journal-3609	27	7	to	to	PART
american_scientific_journal-3609	27	8	improve	improve	VERB
american_scientific_journal-3609	27	9	comfort	comfort	NOUN
american_scientific_journal-3609	27	10	and	and	CCONJ
american_scientific_journal-3609	27	11	security	security	NOUN
american_scientific_journal-3609	27	12	of	of	ADP
american_scientific_journal-3609	27	13	driving	drive	VERB
american_scientific_journal-3609	27	14	in	in	ADP
american_scientific_journal-3609	27	15	constrained	constrained	ADJ
american_scientific_journal-3609	27	16	environments	environment	NOUN
american_scientific_journal-3609	27	17	where	where	SCONJ
american_scientific_journal-3609	27	18	a	a	DET
american_scientific_journal-3609	27	19	lot	lot	NOUN
american_scientific_journal-3609	27	20	of	of	ADP
american_scientific_journal-3609	27	21	attentions	attention	NOUN
american_scientific_journal-3609	27	22	and	and	CCONJ
american_scientific_journal-3609	27	23	experiences	experience	NOUN
american_scientific_journal-3609	27	24	are	be	AUX
american_scientific_journal-3609	27	25	needed	need	VERB
american_scientific_journal-3609	27	26	to	to	PART
american_scientific_journal-3609	27	27	maneuver	maneuver	VERB
american_scientific_journal-3609	27	28	the	the	DET
american_scientific_journal-3609	27	29	vehicle	vehicle	NOUN
american_scientific_journal-3609	27	30	.	.	PUNCT
american_scientific_journal-3609	28	1	since	since	SCONJ
american_scientific_journal-3609	28	2	the	the	DET
american_scientific_journal-3609	28	3	task	task	NOUN
american_scientific_journal-3609	28	4	of	of	ADP
american_scientific_journal-3609	28	5	parallel	parallel	ADJ
american_scientific_journal-3609	28	6	parking	parking	NOUN
american_scientific_journal-3609	28	7	requires	require	VERB
american_scientific_journal-3609	28	8	many	many	ADJ
american_scientific_journal-3609	28	9	repeated	repeat	VERB
american_scientific_journal-3609	28	10	maneuvers	maneuver	NOUN
american_scientific_journal-3609	28	11	in	in	ADP
american_scientific_journal-3609	28	12	a	a	DET
american_scientific_journal-3609	28	13	very	very	ADV
american_scientific_journal-3609	28	14	limited	limited	ADJ
american_scientific_journal-3609	28	15	space	space	NOUN
american_scientific_journal-3609	28	16	,	,	PUNCT
american_scientific_journal-3609	28	17	its	its	PRON
american_scientific_journal-3609	28	18	nature	nature	NOUN
american_scientific_journal-3609	28	19	is	be	AUX
american_scientific_journal-3609	28	20	different	different	ADJ
american_scientific_journal-3609	28	21	from	from	ADP
american_scientific_journal-3609	28	22	the	the	DET
american_scientific_journal-3609	28	23	normal	normal	ADJ
american_scientific_journal-3609	28	24	driving	driving	NOUN
american_scientific_journal-3609	28	25	in	in	ADP
american_scientific_journal-3609	28	26	a	a	DET
american_scientific_journal-3609	28	27	huge	huge	ADJ
american_scientific_journal-3609	28	28	environment	environment	NOUN
american_scientific_journal-3609	28	29	.	.	PUNCT
american_scientific_journal-3609	29	1	there	there	PRON
american_scientific_journal-3609	29	2	are	be	VERB
american_scientific_journal-3609	29	3	two	two	NUM
american_scientific_journal-3609	29	4	different	different	ADJ
american_scientific_journal-3609	29	5	approaches	approach	NOUN
american_scientific_journal-3609	29	6	to	to	PART
american_scientific_journal-3609	29	7	solve	solve	VERB
american_scientific_journal-3609	29	8	the	the	DET
american_scientific_journal-3609	29	9	parking	parking	NOUN
american_scientific_journal-3609	29	10	problem	problem	NOUN
american_scientific_journal-3609	29	11	.	.	PUNCT
american_scientific_journal-3609	30	1	the	the	DET
american_scientific_journal-3609	30	2	first	first	ADJ
american_scientific_journal-3609	30	3	one	one	NUM
american_scientific_journal-3609	30	4	,	,	PUNCT
american_scientific_journal-3609	30	5	the	the	DET
american_scientific_journal-3609	30	6	trajectory	trajectory	NOUN
american_scientific_journal-3609	30	7	planning	planning	NOUN
american_scientific_journal-3609	30	8	approach	approach	NOUN
american_scientific_journal-3609	30	9	,	,	PUNCT
american_scientific_journal-3609	30	10	needs	need	VERB
american_scientific_journal-3609	30	11	a	a	DET
american_scientific_journal-3609	30	12	mapping	mapping	NOUN
american_scientific_journal-3609	30	13	and	and	CCONJ
american_scientific_journal-3609	30	14	auto	auto	NOUN
american_scientific_journal-3609	30	15	-	-	PUNCT
american_scientific_journal-3609	30	16	localization	localization	NOUN
american_scientific_journal-3609	30	17	algorithms	algorithm	NOUN
american_scientific_journal-3609	30	18	.	.	PUNCT
american_scientific_journal-3609	31	1	in	in	ADP
american_scientific_journal-3609	31	2	addition	addition	NOUN
american_scientific_journal-3609	31	3	to	to	ADP
american_scientific_journal-3609	31	4	this	this	PRON
american_scientific_journal-3609	31	5	,	,	PUNCT
american_scientific_journal-3609	31	6	it	it	PRON
american_scientific_journal-3609	31	7	generates	generate	VERB
american_scientific_journal-3609	31	8	paths	path	NOUN
american_scientific_journal-3609	31	9	by	by	ADP
american_scientific_journal-3609	31	10	using	use	VERB
american_scientific_journal-3609	31	11	the	the	DET
american_scientific_journal-3609	31	12	dynamic	dynamic	ADJ
american_scientific_journal-3609	31	13	and	and	CCONJ
american_scientific_journal-3609	31	14	kinematics	kinematics	NOUN
american_scientific_journal-3609	31	15	models	model	NOUN
american_scientific_journal-3609	31	16	of	of	ADP
american_scientific_journal-3609	31	17	the	the	DET
american_scientific_journal-3609	31	18	vehicle	vehicle	NOUN
american_scientific_journal-3609	31	19	and	and	CCONJ
american_scientific_journal-3609	31	20	vehicle	vehicle	NOUN
american_scientific_journal-3609	31	21	constraints	constraint	NOUN
american_scientific_journal-3609	31	22	.	.	PUNCT
american_scientific_journal-3609	32	1	then	then	ADV
american_scientific_journal-3609	32	2	,	,	PUNCT
american_scientific_journal-3609	32	3	it	it	PRON
american_scientific_journal-3609	32	4	controls	control	VERB
american_scientific_journal-3609	32	5	the	the	DET
american_scientific_journal-3609	32	6	vehicle	vehicle	NOUN
american_scientific_journal-3609	32	7	velocity	velocity	NOUN
american_scientific_journal-3609	32	8	and	and	CCONJ
american_scientific_journal-3609	32	9	the	the	DET
american_scientific_journal-3609	32	10	steering	steering	NOUN
american_scientific_journal-3609	32	11	angle	angle	NOUN
american_scientific_journal-3609	32	12	to	to	PART
american_scientific_journal-3609	32	13	ensure	ensure	VERB
american_scientific_journal-3609	32	14	a	a	DET
american_scientific_journal-3609	32	15	position	position	NOUN
american_scientific_journal-3609	32	16	in	in	ADP
american_scientific_journal-3609	32	17	the	the	DET
american_scientific_journal-3609	32	18	mapped	map	VERB
american_scientific_journal-3609	32	19	environment	environment	NOUN
american_scientific_journal-3609	32	20	[	[	X
american_scientific_journal-3609	32	21	2	2	NUM
american_scientific_journal-3609	32	22	-	-	SYM
american_scientific_journal-3609	32	23	6	6	NUM
american_scientific_journal-3609	32	24	]	]	PUNCT
american_scientific_journal-3609	32	25	.	.	PUNCT
american_scientific_journal-3609	33	1	on	on	ADP
american_scientific_journal-3609	33	2	the	the	DET
american_scientific_journal-3609	33	3	other	other	ADJ
american_scientific_journal-3609	33	4	hand	hand	NOUN
american_scientific_journal-3609	33	5	,	,	PUNCT
american_scientific_journal-3609	33	6	the	the	DET
american_scientific_journal-3609	33	7	second	second	ADJ
american_scientific_journal-3609	33	8	approach	approach	NOUN
american_scientific_journal-3609	33	9	tries	try	VERB
american_scientific_journal-3609	33	10	to	to	PART
american_scientific_journal-3609	33	11	mimic	mimic	VERB
american_scientific_journal-3609	33	12	the	the	DET
american_scientific_journal-3609	33	13	skills	skill	NOUN
american_scientific_journal-3609	33	14	of	of	ADP
american_scientific_journal-3609	33	15	an	an	DET
american_scientific_journal-3609	33	16	experienced	experienced	ADJ
american_scientific_journal-3609	33	17	driver	driver	NOUN
american_scientific_journal-3609	33	18	by	by	ADP
american_scientific_journal-3609	33	19	using	use	VERB
american_scientific_journal-3609	33	20	artificial	artificial	ADJ
american_scientific_journal-3609	33	21	intelligence	intelligence	NOUN
american_scientific_journal-3609	33	22	techniques	technique	NOUN
american_scientific_journal-3609	33	23	such	such	ADJ
american_scientific_journal-3609	33	24	as	as	ADP
american_scientific_journal-3609	33	25	finite	finite	PROPN
american_scientific_journal-3609	33	26	automaton	automaton	NOUN
american_scientific_journal-3609	33	27	,	,	PUNCT
american_scientific_journal-3609	33	28	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	33	29	logic	logic	NOUN
american_scientific_journal-3609	33	30	(	(	PUNCT
american_scientific_journal-3609	33	31	e.g.	e.g.	ADV
american_scientific_journal-3609	33	32	zhao	zhao	X
american_scientific_journal-3609	33	33	and	and	CCONJ
american_scientific_journal-3609	33	34	collins	collins	PROPN
american_scientific_journal-3609	33	35	jr	jr	PROPN
american_scientific_journal-3609	34	1	[	[	X
american_scientific_journal-3609	34	2	7	7	NUM
american_scientific_journal-3609	34	3	]	]	PUNCT
american_scientific_journal-3609	34	4	)	)	PUNCT
american_scientific_journal-3609	34	5	or	or	CCONJ
american_scientific_journal-3609	34	6	artificial	artificial	ADJ
american_scientific_journal-3609	34	7	neural	neural	ADJ
american_scientific_journal-3609	34	8	networks	network	NOUN
american_scientific_journal-3609	34	9	(	(	PUNCT
american_scientific_journal-3609	34	10	e.g.	e.g.	ADV
american_scientific_journal-3609	34	11	jenkins	jenkin	NOUN
american_scientific_journal-3609	34	12	and	and	CCONJ
american_scientific_journal-3609	34	13	yuhas	yuha	VERB
american_scientific_journal-3609	34	14	[	[	X
american_scientific_journal-3609	34	15	8	8	NUM
american_scientific_journal-3609	34	16	]	]	PUNCT
american_scientific_journal-3609	34	17	.	.	PUNCT
american_scientific_journal-3609	35	1	these	these	DET
american_scientific_journal-3609	35	2	methods	method	NOUN
american_scientific_journal-3609	35	3	do	do	AUX
american_scientific_journal-3609	35	4	not	not	PART
american_scientific_journal-3609	35	5	need	need	VERB
american_scientific_journal-3609	35	6	any	any	DET
american_scientific_journal-3609	35	7	path	path	NOUN
american_scientific_journal-3609	35	8	planning	planning	NOUN
american_scientific_journal-3609	35	9	and	and	CCONJ
american_scientific_journal-3609	35	10	their	their	PRON
american_scientific_journal-3609	35	11	associated	associate	VERB
american_scientific_journal-3609	35	12	tracking	tracking	NOUN
american_scientific_journal-3609	35	13	control	control	NOUN
american_scientific_journal-3609	35	14	but	but	CCONJ
american_scientific_journal-3609	35	15	they	they	PRON
american_scientific_journal-3609	35	16	are	be	AUX
american_scientific_journal-3609	35	17	limited	limit	VERB
american_scientific_journal-3609	35	18	to	to	ADP
american_scientific_journal-3609	35	19	the	the	DET
american_scientific_journal-3609	35	20	experience	experience	NOUN
american_scientific_journal-3609	35	21	of	of	ADP
american_scientific_journal-3609	35	22	human	human	ADJ
american_scientific_journal-3609	35	23	experts	expert	NOUN
american_scientific_journal-3609	35	24	and	and	CCONJ
american_scientific_journal-3609	35	25	not	not	PART
american_scientific_journal-3609	35	26	easily	easily	ADV
american_scientific_journal-3609	35	27	extended	extend	VERB
american_scientific_journal-3609	35	28	to	to	ADP
american_scientific_journal-3609	35	29	more	more	ADV
american_scientific_journal-3609	35	30	general	general	ADJ
american_scientific_journal-3609	35	31	cases	case	NOUN
american_scientific_journal-3609	35	32	[	[	X
american_scientific_journal-3609	35	33	9	9	NUM
american_scientific_journal-3609	35	34	]	]	PUNCT
american_scientific_journal-3609	35	35	.	.	PUNCT
american_scientific_journal-3609	36	1	this	this	DET
american_scientific_journal-3609	36	2	research	research	NOUN
american_scientific_journal-3609	36	3	deals	deal	VERB
american_scientific_journal-3609	36	4	with	with	ADP
american_scientific_journal-3609	36	5	the	the	DET
american_scientific_journal-3609	36	6	first	first	ADJ
american_scientific_journal-3609	36	7	approach	approach	NOUN
american_scientific_journal-3609	36	8	.	.	PUNCT
american_scientific_journal-3609	37	1	in	in	ADP
american_scientific_journal-3609	37	2	real	real	ADJ
american_scientific_journal-3609	37	3	life	life	NOUN
american_scientific_journal-3609	37	4	,	,	PUNCT
american_scientific_journal-3609	37	5	when	when	SCONJ
american_scientific_journal-3609	37	6	the	the	DET
american_scientific_journal-3609	37	7	parking	parking	NOUN
american_scientific_journal-3609	37	8	space	space	NOUN
american_scientific_journal-3609	37	9	is	be	AUX
american_scientific_journal-3609	37	10	large	large	ADJ
american_scientific_journal-3609	37	11	enough	enough	ADV
american_scientific_journal-3609	37	12	,	,	PUNCT
american_scientific_journal-3609	37	13	human	human	ADJ
american_scientific_journal-3609	37	14	driver	driver	NOUN
american_scientific_journal-3609	37	15	usually	usually	ADV
american_scientific_journal-3609	37	16	steers	steer	VERB
american_scientific_journal-3609	37	17	the	the	DET
american_scientific_journal-3609	37	18	front	front	ADJ
american_scientific_journal-3609	37	19	wheel	wheel	NOUN
american_scientific_journal-3609	37	20	to	to	ADP
american_scientific_journal-3609	37	21	maximum	maximum	ADJ
american_scientific_journal-3609	37	22	angle	angle	NOUN
american_scientific_journal-3609	37	23	for	for	ADP
american_scientific_journal-3609	37	24	retrieving	retrieve	VERB
american_scientific_journal-3609	37	25	.	.	PUNCT
american_scientific_journal-3609	38	1	when	when	SCONJ
american_scientific_journal-3609	38	2	the	the	DET
american_scientific_journal-3609	38	3	vehicle	vehicle	NOUN
american_scientific_journal-3609	38	4	is	be	AUX
american_scientific_journal-3609	38	5	retrieved	retrieve	VERB
american_scientific_journal-3609	38	6	,	,	PUNCT
american_scientific_journal-3609	38	7	the	the	DET
american_scientific_journal-3609	38	8	driver	driver	NOUN
american_scientific_journal-3609	38	9	steers	steer	VERB
american_scientific_journal-3609	38	10	the	the	DET
american_scientific_journal-3609	38	11	front	front	ADJ
american_scientific_journal-3609	38	12	wheel	wheel	NOUN
american_scientific_journal-3609	38	13	to	to	ADP
american_scientific_journal-3609	38	14	maximum	maximum	ADJ
american_scientific_journal-3609	38	15	angle	angle	NOUN
american_scientific_journal-3609	38	16	again	again	ADV
american_scientific_journal-3609	38	17	but	but	CCONJ
american_scientific_journal-3609	38	18	in	in	ADP
american_scientific_journal-3609	38	19	reverse	reverse	ADJ
american_scientific_journal-3609	38	20	direction	direction	NOUN
american_scientific_journal-3609	38	21	until	until	SCONJ
american_scientific_journal-3609	38	22	the	the	DET
american_scientific_journal-3609	38	23	car	car	NOUN
american_scientific_journal-3609	38	24	is	be	AUX
american_scientific_journal-3609	38	25	parallel	parallel	ADJ
american_scientific_journal-3609	38	26	to	to	ADP
american_scientific_journal-3609	38	27	the	the	DET
american_scientific_journal-3609	38	28	road	road	NOUN
american_scientific_journal-3609	38	29	.	.	PUNCT
american_scientific_journal-3609	39	1	the	the	DET
american_scientific_journal-3609	39	2	problem	problem	NOUN
american_scientific_journal-3609	39	3	of	of	ADP
american_scientific_journal-3609	39	4	retrieving	retrieve	VERB
american_scientific_journal-3609	39	5	the	the	DET
american_scientific_journal-3609	39	6	vehicle	vehicle	NOUN
american_scientific_journal-3609	39	7	from	from	ADP
american_scientific_journal-3609	39	8	the	the	DET
american_scientific_journal-3609	39	9	parking	parking	NOUN
american_scientific_journal-3609	39	10	slot	slot	NOUN
american_scientific_journal-3609	39	11	has	have	AUX
american_scientific_journal-3609	39	12	been	be	AUX
american_scientific_journal-3609	39	13	solved	solve	VERB
american_scientific_journal-3609	39	14	by	by	ADP
american_scientific_journal-3609	39	15	lo	lo	PROPN
american_scientific_journal-3609	39	16	and	and	CCONJ
american_scientific_journal-3609	39	17	his	his	PRON
american_scientific_journal-3609	39	18	colleagues	colleague	NOUN
american_scientific_journal-3609	39	19	[	[	X
american_scientific_journal-3609	39	20	10	10	NUM
american_scientific_journal-3609	39	21	]	]	PUNCT
american_scientific_journal-3609	39	22	.	.	PUNCT
american_scientific_journal-3609	40	1	since	since	SCONJ
american_scientific_journal-3609	40	2	this	this	DET
american_scientific_journal-3609	40	3	procedure	procedure	NOUN
american_scientific_journal-3609	40	4	is	be	AUX
american_scientific_journal-3609	40	5	reversible	reversible	ADJ
american_scientific_journal-3609	40	6	,	,	PUNCT
american_scientific_journal-3609	40	7	it	it	PRON
american_scientific_journal-3609	40	8	can	can	AUX
american_scientific_journal-3609	40	9	be	be	AUX
american_scientific_journal-3609	40	10	applied	apply	VERB
american_scientific_journal-3609	40	11	in	in	ADP
american_scientific_journal-3609	40	12	parallel	parallel	ADJ
american_scientific_journal-3609	40	13	parking	parking	NOUN
american_scientific_journal-3609	40	14	problem	problem	NOUN
american_scientific_journal-3609	40	15	.	.	PUNCT
american_scientific_journal-3609	41	1	this	this	DET
american_scientific_journal-3609	41	2	steering	steering	NOUN
american_scientific_journal-3609	41	3	scenario	scenario	NOUN
american_scientific_journal-3609	41	4	forms	form	VERB
american_scientific_journal-3609	41	5	a	a	DET
american_scientific_journal-3609	41	6	simple	simple	ADJ
american_scientific_journal-3609	41	7	path	path	NOUN
american_scientific_journal-3609	41	8	composed	compose	VERB
american_scientific_journal-3609	41	9	by	by	ADP
american_scientific_journal-3609	41	10	two	two	NUM
american_scientific_journal-3609	41	11	identical	identical	ADJ
american_scientific_journal-3609	41	12	minimum	minimum	ADJ
american_scientific_journal-3609	41	13	circles	circle	NOUN
american_scientific_journal-3609	41	14	connected	connect	VERB
american_scientific_journal-3609	41	15	by	by	ADP
american_scientific_journal-3609	41	16	a	a	DET
american_scientific_journal-3609	41	17	tangent	tangent	ADJ
american_scientific_journal-3609	41	18	point	point	NOUN
american_scientific_journal-3609	41	19	.	.	PUNCT
american_scientific_journal-3609	42	1	in	in	ADP
american_scientific_journal-3609	42	2	order	order	NOUN
american_scientific_journal-3609	42	3	to	to	PART
american_scientific_journal-3609	42	4	use	use	VERB
american_scientific_journal-3609	42	5	this	this	DET
american_scientific_journal-3609	42	6	path	path	NOUN
american_scientific_journal-3609	42	7	for	for	ADP
american_scientific_journal-3609	42	8	parallel	parallel	ADJ
american_scientific_journal-3609	42	9	parking	parking	NOUN
american_scientific_journal-3609	42	10	,	,	PUNCT
american_scientific_journal-3609	42	11	it	it	PRON
american_scientific_journal-3609	42	12	is	be	AUX
american_scientific_journal-3609	42	13	necessary	necessary	ADJ
american_scientific_journal-3609	42	14	to	to	PART
american_scientific_journal-3609	42	15	know	know	VERB
american_scientific_journal-3609	42	16	the	the	DET
american_scientific_journal-3609	42	17	correct	correct	ADJ
american_scientific_journal-3609	42	18	position	position	NOUN
american_scientific_journal-3609	42	19	where	where	SCONJ
american_scientific_journal-3609	42	20	to	to	PART
american_scientific_journal-3609	42	21	begin	begin	VERB
american_scientific_journal-3609	42	22	the	the	DET
american_scientific_journal-3609	42	23	parking	parking	NOUN
american_scientific_journal-3609	42	24	maneuvers	maneuver	NOUN
american_scientific_journal-3609	42	25	in	in	ADP
american_scientific_journal-3609	42	26	accordance	accordance	NOUN
american_scientific_journal-3609	42	27	with	with	ADP
american_scientific_journal-3609	42	28	the	the	DET
american_scientific_journal-3609	42	29	initial	initial	ADJ
american_scientific_journal-3609	42	30	position	position	NOUN
american_scientific_journal-3609	42	31	of	of	ADP
american_scientific_journal-3609	42	32	the	the	DET
american_scientific_journal-3609	42	33	car	car	NOUN
american_scientific_journal-3609	42	34	.	.	PUNCT
american_scientific_journal-3609	43	1	geometric	geometric	ADJ
american_scientific_journal-3609	43	2	approach	approach	NOUN
american_scientific_journal-3609	43	3	path	path	NOUN
american_scientific_journal-3609	43	4	planning	planning	NOUN
american_scientific_journal-3609	43	5	method	method	NOUN
american_scientific_journal-3609	43	6	will	will	AUX
american_scientific_journal-3609	43	7	help	help	VERB
american_scientific_journal-3609	43	8	to	to	PART
american_scientific_journal-3609	43	9	solve	solve	VERB
american_scientific_journal-3609	43	10	this	this	DET
american_scientific_journal-3609	43	11	problem	problem	NOUN
american_scientific_journal-3609	43	12	.	.	PUNCT
american_scientific_journal-3609	44	1	in	in	ADP
american_scientific_journal-3609	44	2	this	this	DET
american_scientific_journal-3609	44	3	approach	approach	NOUN
american_scientific_journal-3609	44	4	,	,	PUNCT
american_scientific_journal-3609	44	5	parking	parking	NOUN
american_scientific_journal-3609	44	6	path	path	NOUN
american_scientific_journal-3609	44	7	will	will	AUX
american_scientific_journal-3609	44	8	be	be	AUX
american_scientific_journal-3609	44	9	changed	change	VERB
american_scientific_journal-3609	44	10	in	in	ADP
american_scientific_journal-3609	44	11	accordance	accordance	NOUN
american_scientific_journal-3609	44	12	with	with	ADP
american_scientific_journal-3609	44	13	the	the	DET
american_scientific_journal-3609	44	14	initial	initial	ADJ
american_scientific_journal-3609	44	15	position	position	NOUN
american_scientific_journal-3609	44	16	of	of	ADP
american_scientific_journal-3609	44	17	the	the	DET
american_scientific_journal-3609	44	18	car	car	NOUN
american_scientific_journal-3609	44	19	;	;	PUNCT
american_scientific_journal-3609	44	20	the	the	DET
american_scientific_journal-3609	44	21	only	only	ADJ
american_scientific_journal-3609	44	22	constraint	constraint	NOUN
american_scientific_journal-3609	44	23	is	be	AUX
american_scientific_journal-3609	44	24	the	the	DET
american_scientific_journal-3609	44	25	car	car	NOUN
american_scientific_journal-3609	44	26	must	must	AUX
american_scientific_journal-3609	44	27	be	be	AUX
american_scientific_journal-3609	44	28	parallel	parallel	ADJ
american_scientific_journal-3609	44	29	with	with	ADP
american_scientific_journal-3609	44	30	parking	parking	NOUN
american_scientific_journal-3609	44	31	space	space	NOUN
american_scientific_journal-3609	44	32	.	.	PUNCT
american_scientific_journal-3609	45	1	1.1	1.1	NUM
american_scientific_journal-3609	45	2	.	.	PUNCT
american_scientific_journal-3609	45	3	system	system	NOUN
american_scientific_journal-3609	45	4	overview	overview	VERB
american_scientific_journal-3609	45	5	the	the	DET
american_scientific_journal-3609	45	6	goal	goal	NOUN
american_scientific_journal-3609	45	7	is	be	AUX
american_scientific_journal-3609	45	8	essentially	essentially	ADV
american_scientific_journal-3609	45	9	to	to	PART
american_scientific_journal-3609	45	10	park	park	VERB
american_scientific_journal-3609	45	11	the	the	DET
american_scientific_journal-3609	45	12	mobile	mobile	NOUN
american_scientific_journal-3609	45	13	robot	robot	NOUN
american_scientific_journal-3609	45	14	between	between	ADP
american_scientific_journal-3609	45	15	two	two	NUM
american_scientific_journal-3609	45	16	parallel	parallel	ADJ
american_scientific_journal-3609	45	17	posture	posture	NOUN
american_scientific_journal-3609	45	18	cars	car	NOUN
american_scientific_journal-3609	45	19	for	for	ADP
american_scientific_journal-3609	45	20	narrow	narrow	ADJ
american_scientific_journal-3609	45	21	parking	parking	NOUN
american_scientific_journal-3609	45	22	space	space	NOUN
american_scientific_journal-3609	45	23	in	in	ADP
american_scientific_journal-3609	45	24	an	an	DET
american_scientific_journal-3609	45	25	obstacle	obstacle	NOUN
american_scientific_journal-3609	45	26	free	free	ADJ
american_scientific_journal-3609	45	27	environment	environment	NOUN
american_scientific_journal-3609	45	28	.	.	PUNCT
american_scientific_journal-3609	46	1	the	the	DET
american_scientific_journal-3609	46	2	operation	operation	NOUN
american_scientific_journal-3609	46	3	block	block	NOUN
american_scientific_journal-3609	46	4	diagram	diagram	NOUN
american_scientific_journal-3609	46	5	of	of	ADP
american_scientific_journal-3609	46	6	the	the	DET
american_scientific_journal-3609	46	7	parking	parking	NOUN
american_scientific_journal-3609	46	8	procedure	procedure	NOUN
american_scientific_journal-3609	46	9	is	be	AUX
american_scientific_journal-3609	46	10	shown	show	VERB
american_scientific_journal-3609	46	11	in	in	ADP
american_scientific_journal-3609	46	12	figure.1	figure.1	NOUN
american_scientific_journal-3609	46	13	.	.	PUNCT
american_scientific_journal-3609	47	1	firstly	firstly	ADV
american_scientific_journal-3609	47	2	,	,	PUNCT
american_scientific_journal-3609	47	3	the	the	DET
american_scientific_journal-3609	47	4	robot	robot	NOUN
american_scientific_journal-3609	47	5	will	will	AUX
american_scientific_journal-3609	47	6	move	move	VERB
american_scientific_journal-3609	47	7	straight	straight	ADV
american_scientific_journal-3609	47	8	forward	forward	ADV
american_scientific_journal-3609	47	9	by	by	ADP
american_scientific_journal-3609	47	10	calibrating	calibrate	VERB
american_scientific_journal-3609	47	11	with	with	ADP
american_scientific_journal-3609	47	12	the	the	DET
american_scientific_journal-3609	47	13	wall	wall	NOUN
american_scientific_journal-3609	47	14	.	.	PUNCT
american_scientific_journal-3609	48	1	in	in	ADP
american_scientific_journal-3609	48	2	this	this	DET
american_scientific_journal-3609	48	3	state	state	NOUN
american_scientific_journal-3609	48	4	,	,	PUNCT
american_scientific_journal-3609	48	5	the	the	DET
american_scientific_journal-3609	48	6	robot	robot	NOUN
american_scientific_journal-3609	48	7	will	will	AUX
american_scientific_journal-3609	48	8	be	be	AUX
american_scientific_journal-3609	48	9	working	work	VERB
american_scientific_journal-3609	48	10	with	with	ADP
american_scientific_journal-3609	48	11	calibration	calibration	NOUN
american_scientific_journal-3609	48	12	system	system	NOUN
american_scientific_journal-3609	48	13	.	.	PUNCT
american_scientific_journal-3609	49	1	simultaneously	simultaneously	ADV
american_scientific_journal-3609	49	2	,	,	PUNCT
american_scientific_journal-3609	49	3	the	the	DET
american_scientific_journal-3609	49	4	robot	robot	NOUN
american_scientific_journal-3609	49	5	will	will	AUX
american_scientific_journal-3609	49	6	be	be	AUX
american_scientific_journal-3609	49	7	searching	search	VERB
american_scientific_journal-3609	49	8	the	the	DET
american_scientific_journal-3609	49	9	parking	parking	NOUN
american_scientific_journal-3609	49	10	space	space	NOUN
american_scientific_journal-3609	49	11	.	.	PUNCT
american_scientific_journal-3609	50	1	if	if	SCONJ
american_scientific_journal-3609	50	2	the	the	DET
american_scientific_journal-3609	50	3	robot	robot	NOUN
american_scientific_journal-3609	50	4	detects	detect	VERB
american_scientific_journal-3609	50	5	the	the	DET
american_scientific_journal-3609	50	6	parking	parking	NOUN
american_scientific_journal-3609	50	7	space	space	NOUN
american_scientific_journal-3609	50	8	,	,	PUNCT
american_scientific_journal-3609	50	9	odometry	odometry	NOUN
american_scientific_journal-3609	50	10	system	system	NOUN
american_scientific_journal-3609	50	11	is	be	AUX
american_scientific_journal-3609	50	12	used	use	VERB
american_scientific_journal-3609	50	13	to	to	PART
american_scientific_journal-3609	50	14	measure	measure	VERB
american_scientific_journal-3609	50	15	the	the	DET
american_scientific_journal-3609	50	16	length	length	NOUN
american_scientific_journal-3609	50	17	of	of	ADP
american_scientific_journal-3609	50	18	parking	parking	NOUN
american_scientific_journal-3609	50	19	slot	slot	NOUN
american_scientific_journal-3609	50	20	.	.	PUNCT
american_scientific_journal-3609	51	1	then	then	ADV
american_scientific_journal-3609	51	2	,	,	PUNCT
american_scientific_journal-3609	51	3	the	the	DET
american_scientific_journal-3609	51	4	robot	robot	NOUN
american_scientific_journal-3609	51	5	will	will	AUX
american_scientific_journal-3609	51	6	decide	decide	VERB
american_scientific_journal-3609	51	7	there	there	PRON
american_scientific_journal-3609	51	8	have	have	VERB
american_scientific_journal-3609	51	9	enough	enough	ADJ
american_scientific_journal-3609	51	10	parking	parking	NOUN
american_scientific_journal-3609	51	11	space	space	NOUN
american_scientific_journal-3609	51	12	or	or	CCONJ
american_scientific_journal-3609	51	13	not	not	PART
american_scientific_journal-3609	51	14	by	by	ADP
american_scientific_journal-3609	51	15	comparing	compare	VERB
american_scientific_journal-3609	51	16	with	with	ADP
american_scientific_journal-3609	51	17	actual	actual	ADJ
american_scientific_journal-3609	51	18	detecting	detecting	NOUN
american_scientific_journal-3609	51	19	length	length	NOUN
american_scientific_journal-3609	51	20	of	of	ADP
american_scientific_journal-3609	51	21	the	the	DET
american_scientific_journal-3609	51	22	parking	parking	NOUN
american_scientific_journal-3609	51	23	space	space	NOUN
american_scientific_journal-3609	51	24	and	and	CCONJ
american_scientific_journal-3609	51	25	minimum	minimum	ADJ
american_scientific_journal-3609	51	26	theoretical	theoretical	ADJ
american_scientific_journal-3609	51	27	length	length	NOUN
american_scientific_journal-3609	51	28	of	of	ADP
american_scientific_journal-3609	51	29	the	the	DET
american_scientific_journal-3609	51	30	parking	parking	NOUN
american_scientific_journal-3609	51	31	space	space	NOUN
american_scientific_journal-3609	51	32	.	.	PUNCT
american_scientific_journal-3609	52	1	the	the	DET
american_scientific_journal-3609	52	2	minimum	minimum	ADJ
american_scientific_journal-3609	52	3	theoretical	theoretical	ADJ
american_scientific_journal-3609	52	4	length	length	NOUN
american_scientific_journal-3609	52	5	of	of	ADP
american_scientific_journal-3609	52	6	the	the	DET
american_scientific_journal-3609	52	7	parking	parking	NOUN
american_scientific_journal-3609	52	8	space	space	NOUN
american_scientific_journal-3609	52	9	can	can	AUX
american_scientific_journal-3609	52	10	get	get	VERB
american_scientific_journal-3609	52	11	from	from	ADP
american_scientific_journal-3609	52	12	the	the	DET
american_scientific_journal-3609	52	13	idea	idea	NOUN
american_scientific_journal-3609	52	14	of	of	ADP
american_scientific_journal-3609	52	15	retrieving	retrieve	VERB
american_scientific_journal-3609	52	16	the	the	DET
american_scientific_journal-3609	52	17	vehicle	vehicle	NOUN
american_scientific_journal-3609	52	18	from	from	ADP
american_scientific_journal-3609	52	19	the	the	DET
american_scientific_journal-3609	52	20	parking	parking	NOUN
american_scientific_journal-3609	52	21	slot	slot	NOUN
american_scientific_journal-3609	52	22	that	that	PRON
american_scientific_journal-3609	52	23	can	can	AUX
american_scientific_journal-3609	52	24	change	change	VERB
american_scientific_journal-3609	52	25	according	accord	VERB
american_scientific_journal-3609	52	26	to	to	ADP
american_scientific_journal-3609	52	27	the	the	DET
american_scientific_journal-3609	52	28	mobile	mobile	ADJ
american_scientific_journal-3609	52	29	robot	robot	NOUN
american_scientific_journal-3609	52	30	geometry	geometry	NOUN
american_scientific_journal-3609	52	31	.	.	PUNCT
american_scientific_journal-3609	53	1	american	american	PROPN
american_scientific_journal-3609	53	2	scientific	scientific	ADJ
american_scientific_journal-3609	53	3	research	research	PROPN
american_scientific_journal-3609	53	4	journal	journal	NOUN
american_scientific_journal-3609	53	5	for	for	ADP
american_scientific_journal-3609	53	6	engineering	engineering	NOUN
american_scientific_journal-3609	53	7	,	,	PUNCT
american_scientific_journal-3609	53	8	technology	technology	NOUN
american_scientific_journal-3609	53	9	,	,	PUNCT
american_scientific_journal-3609	53	10	and	and	CCONJ
american_scientific_journal-3609	53	11	sciences	science	NOUN
american_scientific_journal-3609	53	12	(	(	PUNCT
american_scientific_journal-3609	53	13	asrjets	asrjet	NOUN
american_scientific_journal-3609	53	14	)	)	PUNCT
american_scientific_journal-3609	53	15	(	(	PUNCT
american_scientific_journal-3609	53	16	2017	2017	NUM
american_scientific_journal-3609	53	17	)	)	PUNCT
american_scientific_journal-3609	53	18	volume	volume	NOUN
american_scientific_journal-3609	53	19	38	38	NUM
american_scientific_journal-3609	53	20	,	,	PUNCT
american_scientific_journal-3609	53	21	no	no	DET
american_scientific_journal-3609	53	22	2	2	NUM
american_scientific_journal-3609	53	23	,	,	PUNCT
american_scientific_journal-3609	53	24	pp	pp	ADV
american_scientific_journal-3609	53	25	23	23	NUM
american_scientific_journal-3609	53	26	-	-	SYM
american_scientific_journal-3609	53	27	41	41	NUM
american_scientific_journal-3609	53	28	25	25	NUM
american_scientific_journal-3609	53	29	sensors	sensor	NOUN
american_scientific_journal-3609	53	30	can	can	AUX
american_scientific_journal-3609	53	31	not	not	PART
american_scientific_journal-3609	53	32	measure	measure	VERB
american_scientific_journal-3609	53	33	the	the	DET
american_scientific_journal-3609	53	34	exact	exact	ADJ
american_scientific_journal-3609	53	35	depth	depth	NOUN
american_scientific_journal-3609	53	36	of	of	ADP
american_scientific_journal-3609	53	37	the	the	DET
american_scientific_journal-3609	53	38	space	space	NOUN
american_scientific_journal-3609	53	39	if	if	SCONJ
american_scientific_journal-3609	53	40	there	there	PRON
american_scientific_journal-3609	53	41	is	be	VERB
american_scientific_journal-3609	53	42	no	no	DET
american_scientific_journal-3609	53	43	wall	wall	NOUN
american_scientific_journal-3609	53	44	and	and	CCONJ
american_scientific_journal-3609	53	45	generally	generally	ADV
american_scientific_journal-3609	53	46	parking	parking	NOUN
american_scientific_journal-3609	53	47	is	be	AUX
american_scientific_journal-3609	53	48	done	do	VERB
american_scientific_journal-3609	53	49	in	in	ADP
american_scientific_journal-3609	53	50	a	a	DET
american_scientific_journal-3609	53	51	line	line	NOUN
american_scientific_journal-3609	53	52	with	with	ADP
american_scientific_journal-3609	53	53	neighbouring	neighbouring	ADJ
american_scientific_journal-3609	53	54	vehicles	vehicle	NOUN
american_scientific_journal-3609	53	55	.	.	PUNCT
american_scientific_journal-3609	54	1	therefore	therefore	ADV
american_scientific_journal-3609	54	2	,	,	PUNCT
american_scientific_journal-3609	54	3	it	it	PRON
american_scientific_journal-3609	54	4	can	can	AUX
american_scientific_journal-3609	54	5	be	be	AUX
american_scientific_journal-3609	54	6	assumed	assume	VERB
american_scientific_journal-3609	54	7	in	in	ADP
american_scientific_journal-3609	54	8	the	the	DET
american_scientific_journal-3609	54	9	real	real	ADJ
american_scientific_journal-3609	54	10	world	world	NOUN
american_scientific_journal-3609	54	11	that	that	SCONJ
american_scientific_journal-3609	54	12	the	the	DET
american_scientific_journal-3609	54	13	depth	depth	NOUN
american_scientific_journal-3609	54	14	of	of	ADP
american_scientific_journal-3609	54	15	the	the	DET
american_scientific_journal-3609	54	16	space	space	NOUN
american_scientific_journal-3609	54	17	is	be	AUX
american_scientific_journal-3609	54	18	equal	equal	ADJ
american_scientific_journal-3609	54	19	to	to	ADP
american_scientific_journal-3609	54	20	the	the	DET
american_scientific_journal-3609	54	21	width	width	NOUN
american_scientific_journal-3609	54	22	of	of	ADP
american_scientific_journal-3609	54	23	the	the	DET
american_scientific_journal-3609	54	24	vehicle	vehicle	NOUN
american_scientific_journal-3609	54	25	.	.	PUNCT
american_scientific_journal-3609	55	1	if	if	SCONJ
american_scientific_journal-3609	55	2	parking	parking	NOUN
american_scientific_journal-3609	55	3	spaces	space	NOUN
american_scientific_journal-3609	55	4	are	be	AUX
american_scientific_journal-3609	55	5	enough	enough	ADJ
american_scientific_journal-3609	55	6	,	,	PUNCT
american_scientific_journal-3609	55	7	the	the	DET
american_scientific_journal-3609	55	8	robot	robot	NOUN
american_scientific_journal-3609	55	9	will	will	AUX
american_scientific_journal-3609	55	10	take	take	VERB
american_scientific_journal-3609	55	11	the	the	DET
american_scientific_journal-3609	55	12	lateral	lateral	ADJ
american_scientific_journal-3609	55	13	displacement	displacement	ADJ
american_scientific_journal-3609	55	14	value	value	NOUN
american_scientific_journal-3609	55	15	with	with	ADP
american_scientific_journal-3609	55	16	the	the	DET
american_scientific_journal-3609	55	17	front	front	ADJ
american_scientific_journal-3609	55	18	car	car	NOUN
american_scientific_journal-3609	55	19	and	and	CCONJ
american_scientific_journal-3609	55	20	insert	insert	VERB
american_scientific_journal-3609	55	21	in	in	ADP
american_scientific_journal-3609	55	22	geometric	geometric	ADJ
american_scientific_journal-3609	55	23	equation	equation	NOUN
american_scientific_journal-3609	55	24	.	.	PUNCT
american_scientific_journal-3609	56	1	then	then	ADV
american_scientific_journal-3609	56	2	,	,	PUNCT
american_scientific_journal-3609	56	3	the	the	DET
american_scientific_journal-3609	56	4	robot	robot	NOUN
american_scientific_journal-3609	56	5	will	will	AUX
american_scientific_journal-3609	56	6	know	know	VERB
american_scientific_journal-3609	56	7	where	where	SCONJ
american_scientific_journal-3609	56	8	the	the	DET
american_scientific_journal-3609	56	9	starting	starting	NOUN
american_scientific_journal-3609	56	10	point	point	NOUN
american_scientific_journal-3609	56	11	is	be	AUX
american_scientific_journal-3609	56	12	to	to	PART
american_scientific_journal-3609	56	13	move	move	VERB
american_scientific_journal-3609	56	14	along	along	ADP
american_scientific_journal-3609	56	15	the	the	DET
american_scientific_journal-3609	56	16	s	s	NOUN
american_scientific_journal-3609	56	17	-	-	PUNCT
american_scientific_journal-3609	56	18	shaped	shape	VERB
american_scientific_journal-3609	56	19	trajectory	trajectory	NOUN
american_scientific_journal-3609	56	20	parking	parking	NOUN
american_scientific_journal-3609	56	21	path	path	NOUN
american_scientific_journal-3609	56	22	.	.	PUNCT
american_scientific_journal-3609	57	1	after	after	ADP
american_scientific_journal-3609	57	2	that	that	PRON
american_scientific_journal-3609	57	3	,	,	PUNCT
american_scientific_journal-3609	57	4	the	the	DET
american_scientific_journal-3609	57	5	car	car	NOUN
american_scientific_journal-3609	57	6	will	will	AUX
american_scientific_journal-3609	57	7	move	move	VERB
american_scientific_journal-3609	57	8	from	from	ADP
american_scientific_journal-3609	57	9	the	the	DET
american_scientific_journal-3609	57	10	initial	initial	ADJ
american_scientific_journal-3609	57	11	position	position	NOUN
american_scientific_journal-3609	57	12	to	to	ADP
american_scientific_journal-3609	57	13	the	the	DET
american_scientific_journal-3609	57	14	starting	starting	NOUN
american_scientific_journal-3609	57	15	position	position	NOUN
american_scientific_journal-3609	57	16	.	.	PUNCT
american_scientific_journal-3609	58	1	then	then	ADV
american_scientific_journal-3609	58	2	,	,	PUNCT
american_scientific_journal-3609	58	3	the	the	DET
american_scientific_journal-3609	58	4	robot	robot	NOUN
american_scientific_journal-3609	58	5	will	will	AUX
american_scientific_journal-3609	58	6	move	move	VERB
american_scientific_journal-3609	58	7	backward	backward	ADV
american_scientific_journal-3609	58	8	along	along	ADP
american_scientific_journal-3609	58	9	the	the	DET
american_scientific_journal-3609	58	10	two	two	NUM
american_scientific_journal-3609	58	11	tangential	tangential	ADJ
american_scientific_journal-3609	58	12	arcs	arc	NOUN
american_scientific_journal-3609	58	13	with	with	ADP
american_scientific_journal-3609	58	14	the	the	DET
american_scientific_journal-3609	58	15	maximum	maximum	ADJ
american_scientific_journal-3609	58	16	right	right	ADJ
american_scientific_journal-3609	58	17	steering	steering	NOUN
american_scientific_journal-3609	58	18	angle	angle	NOUN
american_scientific_journal-3609	58	19	for	for	ADP
american_scientific_journal-3609	58	20	the	the	DET
american_scientific_journal-3609	58	21	first	first	ADJ
american_scientific_journal-3609	58	22	arc	arc	NOUN
american_scientific_journal-3609	58	23	and	and	CCONJ
american_scientific_journal-3609	58	24	maximum	maximum	ADJ
american_scientific_journal-3609	58	25	left	left	ADJ
american_scientific_journal-3609	58	26	steering	steering	NOUN
american_scientific_journal-3609	58	27	angle	angle	NOUN
american_scientific_journal-3609	58	28	for	for	ADP
american_scientific_journal-3609	58	29	the	the	DET
american_scientific_journal-3609	58	30	second	second	ADJ
american_scientific_journal-3609	58	31	arc	arc	NOUN
american_scientific_journal-3609	58	32	like	like	ADP
american_scientific_journal-3609	58	33	the	the	DET
american_scientific_journal-3609	58	34	s	s	NOUN
american_scientific_journal-3609	58	35	-	-	PUNCT
american_scientific_journal-3609	58	36	shaped	shape	VERB
american_scientific_journal-3609	58	37	trajectory	trajectory	NOUN
american_scientific_journal-3609	58	38	parking	parking	NOUN
american_scientific_journal-3609	58	39	path	path	NOUN
american_scientific_journal-3609	58	40	.	.	PUNCT
american_scientific_journal-3609	59	1	after	after	ADP
american_scientific_journal-3609	59	2	moving	move	VERB
american_scientific_journal-3609	59	3	this	this	DET
american_scientific_journal-3609	59	4	maneuver	maneuver	NOUN
american_scientific_journal-3609	59	5	,	,	PUNCT
american_scientific_journal-3609	59	6	the	the	DET
american_scientific_journal-3609	59	7	parking	parking	NOUN
american_scientific_journal-3609	59	8	procedure	procedure	NOUN
american_scientific_journal-3609	59	9	is	be	AUX
american_scientific_journal-3609	59	10	finished	finish	VERB
american_scientific_journal-3609	59	11	.	.	PUNCT
american_scientific_journal-3609	60	1	searching	search	VERB
american_scientific_journal-3609	60	2	the	the	DET
american_scientific_journal-3609	60	3	parking	parking	NOUN
american_scientific_journal-3609	60	4	space	space	NOUN
american_scientific_journal-3609	60	5	enough	enough	ADJ
american_scientific_journal-3609	60	6	parking	parking	NOUN
american_scientific_journal-3609	60	7	space	space	NOUN
american_scientific_journal-3609	60	8	take	take	VERB
american_scientific_journal-3609	60	9	position	position	NOUN
american_scientific_journal-3609	60	10	at	at	ADP
american_scientific_journal-3609	60	11	the	the	DET
american_scientific_journal-3609	60	12	start	start	NOUN
american_scientific_journal-3609	60	13	point	point	NOUN
american_scientific_journal-3609	61	1	yes	yes	INTJ
american_scientific_journal-3609	61	2	no	no	DET
american_scientific_journal-3609	61	3	moving	move	VERB
american_scientific_journal-3609	61	4	along	along	ADP
american_scientific_journal-3609	61	5	the	the	DET
american_scientific_journal-3609	61	6	s	s	NOUN
american_scientific_journal-3609	61	7	-	-	PUNCT
american_scientific_journal-3609	61	8	shape	shape	NOUN
american_scientific_journal-3609	61	9	trajectory	trajectory	NOUN
american_scientific_journal-3609	61	10	end	end	NOUN
american_scientific_journal-3609	61	11	moving	move	VERB
american_scientific_journal-3609	61	12	straight	straight	ADV
american_scientific_journal-3609	61	13	forward	forward	ADV
american_scientific_journal-3609	61	14	by	by	ADP
american_scientific_journal-3609	61	15	calibrating	calibrate	VERB
american_scientific_journal-3609	61	16	with	with	ADP
american_scientific_journal-3609	61	17	the	the	DET
american_scientific_journal-3609	61	18	wall	wall	NOUN
american_scientific_journal-3609	61	19	start	start	VERB
american_scientific_journal-3609	61	20	state	state	PROPN
american_scientific_journal-3609	61	21	0	0	NUM
american_scientific_journal-3609	61	22	state	state	NOUN
american_scientific_journal-3609	61	23	1&2	1&2	NUM
american_scientific_journal-3609	61	24	state	state	NOUN
american_scientific_journal-3609	61	25	3	3	NUM
american_scientific_journal-3609	61	26	state	state	NOUN
american_scientific_journal-3609	61	27	4	4	NUM
american_scientific_journal-3609	61	28	calibration	calibration	NOUN
american_scientific_journal-3609	61	29	odometry	odometry	NOUN
american_scientific_journal-3609	61	30	geometric	geometric	ADJ
american_scientific_journal-3609	61	31	path	path	NOUN
american_scientific_journal-3609	61	32	planning	planning	NOUN
american_scientific_journal-3609	61	33	figure	figure	NOUN
american_scientific_journal-3609	61	34	1	1	NUM
american_scientific_journal-3609	61	35	:	:	PUNCT
american_scientific_journal-3609	61	36	operation	operation	NOUN
american_scientific_journal-3609	61	37	block	block	NOUN
american_scientific_journal-3609	61	38	2	2	NUM
american_scientific_journal-3609	61	39	.	.	PUNCT
american_scientific_journal-3609	61	40	mobile	mobile	ADJ
american_scientific_journal-3609	61	41	robot	robot	NOUN
american_scientific_journal-3609	61	42	design	design	NOUN
american_scientific_journal-3609	61	43	and	and	CCONJ
american_scientific_journal-3609	61	44	sensor	sensor	NOUN
american_scientific_journal-3609	61	45	arrangement	arrangement	NOUN
american_scientific_journal-3609	61	46	2.1	2.1	NUM
american_scientific_journal-3609	61	47	.	.	PUNCT
american_scientific_journal-3609	62	1	mobile	mobile	ADJ
american_scientific_journal-3609	62	2	robot	robot	NOUN
american_scientific_journal-3609	62	3	design	design	NOUN
american_scientific_journal-3609	62	4	in	in	ADP
american_scientific_journal-3609	62	5	this	this	DET
american_scientific_journal-3609	62	6	research	research	NOUN
american_scientific_journal-3609	62	7	,	,	PUNCT
american_scientific_journal-3609	62	8	mobile	mobile	ADJ
american_scientific_journal-3609	62	9	robot	robot	NOUN
american_scientific_journal-3609	62	10	model	model	NOUN
american_scientific_journal-3609	62	11	is	be	AUX
american_scientific_journal-3609	62	12	like	like	ADP
american_scientific_journal-3609	62	13	a	a	DET
american_scientific_journal-3609	62	14	car	car	NOUN
american_scientific_journal-3609	62	15	which	which	PRON
american_scientific_journal-3609	62	16	has	have	VERB
american_scientific_journal-3609	62	17	four	four	NUM
american_scientific_journal-3609	62	18	wheels	wheel	NOUN
american_scientific_journal-3609	62	19	.	.	PUNCT
american_scientific_journal-3609	63	1	two	two	NUM
american_scientific_journal-3609	63	2	wheels	wheel	NOUN
american_scientific_journal-3609	63	3	in	in	ADP
american_scientific_journal-3609	63	4	the	the	DET
american_scientific_journal-3609	63	5	rear	rear	NOUN
american_scientific_journal-3609	63	6	are	be	AUX
american_scientific_journal-3609	63	7	connected	connect	VERB
american_scientific_journal-3609	63	8	with	with	ADP
american_scientific_journal-3609	63	9	one	one	NUM
american_scientific_journal-3609	63	10	shaft	shaft	NOUN
american_scientific_journal-3609	63	11	and	and	CCONJ
american_scientific_journal-3609	63	12	dc	dc	PROPN
american_scientific_journal-3609	63	13	motor	motor	NOUN
american_scientific_journal-3609	63	14	is	be	AUX
american_scientific_journal-3609	63	15	used	use	VERB
american_scientific_journal-3609	63	16	to	to	PART
american_scientific_journal-3609	63	17	drive	drive	VERB
american_scientific_journal-3609	63	18	this	this	DET
american_scientific_journal-3609	63	19	shaft	shaft	NOUN
american_scientific_journal-3609	63	20	.	.	PUNCT
american_scientific_journal-3609	64	1	optical	optical	ADJ
american_scientific_journal-3609	64	2	encoder	encoder	NOUN
american_scientific_journal-3609	64	3	is	be	AUX
american_scientific_journal-3609	64	4	fixed	fix	VERB
american_scientific_journal-3609	64	5	with	with	SCONJ
american_scientific_journal-3609	64	6	the	the	DET
american_scientific_journal-3609	64	7	shaft	shaft	NOUN
american_scientific_journal-3609	64	8	to	to	PART
american_scientific_journal-3609	64	9	know	know	VERB
american_scientific_journal-3609	64	10	and	and	CCONJ
american_scientific_journal-3609	64	11	control	control	VERB
american_scientific_journal-3609	64	12	the	the	DET
american_scientific_journal-3609	64	13	robot	robot	NOUN
american_scientific_journal-3609	64	14	movement	movement	NOUN
american_scientific_journal-3609	64	15	.	.	PUNCT
american_scientific_journal-3609	65	1	two	two	NUM
american_scientific_journal-3609	65	2	steer	steer	NOUN
american_scientific_journal-3609	65	3	wheels	wheel	NOUN
american_scientific_journal-3609	65	4	are	be	AUX
american_scientific_journal-3609	65	5	connected	connect	VERB
american_scientific_journal-3609	65	6	like	like	ADP
american_scientific_journal-3609	65	7	a	a	DET
american_scientific_journal-3609	65	8	link	link	NOUN
american_scientific_journal-3609	65	9	with	with	ADP
american_scientific_journal-3609	65	10	a	a	DET
american_scientific_journal-3609	65	11	servo	servo	NOUN
american_scientific_journal-3609	65	12	motor	motor	NOUN
american_scientific_journal-3609	65	13	.	.	PUNCT
american_scientific_journal-3609	66	1	steering	steering	NOUN
american_scientific_journal-3609	66	2	angle	angle	NOUN
american_scientific_journal-3609	66	3	will	will	AUX
american_scientific_journal-3609	66	4	become	become	VERB
american_scientific_journal-3609	66	5	according	accord	VERB
american_scientific_journal-3609	66	6	to	to	ADP
american_scientific_journal-3609	66	7	the	the	DET
american_scientific_journal-3609	66	8	servo	servo	NOUN
american_scientific_journal-3609	66	9	motor	motor	NOUN
american_scientific_journal-3609	66	10	rotation	rotation	NOUN
american_scientific_journal-3609	66	11	.	.	PUNCT
american_scientific_journal-3609	67	1	robot	robot	NOUN
american_scientific_journal-3609	67	2	chassis	chassis	NOUN
american_scientific_journal-3609	67	3	is	be	AUX
american_scientific_journal-3609	67	4	made	make	VERB
american_scientific_journal-3609	67	5	with	with	ADP
american_scientific_journal-3609	67	6	formica	formica	NOUN
american_scientific_journal-3609	67	7	to	to	PART
american_scientific_journal-3609	67	8	be	be	AUX
american_scientific_journal-3609	67	9	light	light	ADJ
american_scientific_journal-3609	67	10	the	the	DET
american_scientific_journal-3609	67	11	robot	robot	NOUN
american_scientific_journal-3609	67	12	’s	’s	PART
american_scientific_journal-3609	67	13	body	body	NOUN
american_scientific_journal-3609	67	14	.	.	PUNCT
american_scientific_journal-3609	68	1	the	the	DET
american_scientific_journal-3609	68	2	robot	robot	NOUN
american_scientific_journal-3609	68	3	’s	’s	PART
american_scientific_journal-3609	68	4	frame	frame	NOUN
american_scientific_journal-3609	68	5	is	be	AUX
american_scientific_journal-3609	68	6	designed	design	VERB
american_scientific_journal-3609	68	7	with	with	ADP
american_scientific_journal-3609	68	8	auto	auto	NOUN
american_scientific_journal-3609	68	9	cad	cad	NOUN
american_scientific_journal-3609	68	10	software	software	NOUN
american_scientific_journal-3609	68	11	and	and	CCONJ
american_scientific_journal-3609	68	12	cut	cut	VERB
american_scientific_journal-3609	68	13	with	with	ADP
american_scientific_journal-3609	68	14	the	the	DET
american_scientific_journal-3609	68	15	laser	laser	NOUN
american_scientific_journal-3609	68	16	cutter	cutter	NOUN
american_scientific_journal-3609	68	17	to	to	PART
american_scientific_journal-3609	68	18	reduce	reduce	VERB
american_scientific_journal-3609	68	19	the	the	DET
american_scientific_journal-3609	68	20	mechanical	mechanical	ADJ
american_scientific_journal-3609	68	21	damping	damping	NOUN
american_scientific_journal-3609	68	22	.	.	PUNCT
american_scientific_journal-3609	69	1	the	the	DET
american_scientific_journal-3609	69	2	prototype	prototype	NOUN
american_scientific_journal-3609	69	3	model	model	NOUN
american_scientific_journal-3609	69	4	of	of	ADP
american_scientific_journal-3609	69	5	the	the	DET
american_scientific_journal-3609	69	6	car	car	NOUN
american_scientific_journal-3609	69	7	used	use	VERB
american_scientific_journal-3609	69	8	in	in	ADP
american_scientific_journal-3609	69	9	this	this	DET
american_scientific_journal-3609	69	10	research	research	NOUN
american_scientific_journal-3609	69	11	is	be	AUX
american_scientific_journal-3609	69	12	1:10	1:10	NUM
american_scientific_journal-3609	69	13	scale	scale	NOUN
american_scientific_journal-3609	69	14	of	of	ADP
american_scientific_journal-3609	69	15	mark	mark	PROPN
american_scientific_journal-3609	69	16	ii	ii	PROPN
american_scientific_journal-3609	69	17	.	.	PUNCT
american_scientific_journal-3609	70	1	the	the	DET
american_scientific_journal-3609	70	2	design	design	NOUN
american_scientific_journal-3609	70	3	of	of	ADP
american_scientific_journal-3609	70	4	mobile	mobile	NOUN
american_scientific_journal-3609	70	5	robot	robot	NOUN
american_scientific_journal-3609	70	6	and	and	CCONJ
american_scientific_journal-3609	70	7	its	its	PRON
american_scientific_journal-3609	70	8	parameters	parameter	NOUN
american_scientific_journal-3609	70	9	are	be	AUX
american_scientific_journal-3609	70	10	shown	show	VERB
american_scientific_journal-3609	70	11	in	in	ADP
american_scientific_journal-3609	70	12	figure.2	figure.2	PROPN
american_scientific_journal-3609	70	13	.	.	PUNCT
american_scientific_journal-3609	70	14	american	american	PROPN
american_scientific_journal-3609	70	15	scientific	scientific	ADJ
american_scientific_journal-3609	70	16	research	research	PROPN
american_scientific_journal-3609	70	17	journal	journal	NOUN
american_scientific_journal-3609	70	18	for	for	ADP
american_scientific_journal-3609	70	19	engineering	engineering	NOUN
american_scientific_journal-3609	70	20	,	,	PUNCT
american_scientific_journal-3609	70	21	technology	technology	NOUN
american_scientific_journal-3609	70	22	,	,	PUNCT
american_scientific_journal-3609	70	23	and	and	CCONJ
american_scientific_journal-3609	70	24	sciences	science	NOUN
american_scientific_journal-3609	70	25	(	(	PUNCT
american_scientific_journal-3609	70	26	asrjets	asrjet	NOUN
american_scientific_journal-3609	70	27	)	)	PUNCT
american_scientific_journal-3609	70	28	(	(	PUNCT
american_scientific_journal-3609	70	29	2017	2017	NUM
american_scientific_journal-3609	70	30	)	)	PUNCT
american_scientific_journal-3609	70	31	volume	volume	NOUN
american_scientific_journal-3609	70	32	38	38	NUM
american_scientific_journal-3609	70	33	,	,	PUNCT
american_scientific_journal-3609	70	34	no	no	DET
american_scientific_journal-3609	70	35	2	2	NUM
american_scientific_journal-3609	70	36	,	,	PUNCT
american_scientific_journal-3609	70	37	pp	pp	ADV
american_scientific_journal-3609	70	38	23	23	NUM
american_scientific_journal-3609	70	39	-	-	SYM
american_scientific_journal-3609	70	40	41	41	NUM
american_scientific_journal-3609	70	41	26	26	NUM
american_scientific_journal-3609	70	42	figure	figure	NOUN
american_scientific_journal-3609	70	43	2	2	NUM
american_scientific_journal-3609	70	44	:	:	PUNCT
american_scientific_journal-3609	70	45	prototype	prototype	NOUN
american_scientific_journal-3609	70	46	design	design	NOUN
american_scientific_journal-3609	70	47	and	and	CCONJ
american_scientific_journal-3609	70	48	parameter	parameter	NOUN
american_scientific_journal-3609	70	49	2.2	2.2	NUM
american_scientific_journal-3609	70	50	.	.	PUNCT
american_scientific_journal-3609	71	1	sensor	sensor	NOUN
american_scientific_journal-3609	71	2	arrangement	arrangement	NOUN
american_scientific_journal-3609	71	3	the	the	DET
american_scientific_journal-3609	71	4	two	two	NUM
american_scientific_journal-3609	71	5	hc	hc	PROPN
american_scientific_journal-3609	71	6	-	-	PUNCT
american_scientific_journal-3609	71	7	sr04	sr04	PROPN
american_scientific_journal-3609	71	8	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	71	9	sensors	sensor	NOUN
american_scientific_journal-3609	71	10	are	be	AUX
american_scientific_journal-3609	71	11	used	use	VERB
american_scientific_journal-3609	71	12	in	in	ADP
american_scientific_journal-3609	71	13	this	this	DET
american_scientific_journal-3609	71	14	research	research	NOUN
american_scientific_journal-3609	71	15	.	.	PUNCT
american_scientific_journal-3609	72	1	each	each	DET
american_scientific_journal-3609	72	2	one	one	NOUN
american_scientific_journal-3609	72	3	is	be	AUX
american_scientific_journal-3609	72	4	fixed	fix	VERB
american_scientific_journal-3609	72	5	at	at	ADP
american_scientific_journal-3609	72	6	the	the	DET
american_scientific_journal-3609	72	7	right	right	ADJ
american_scientific_journal-3609	72	8	side	side	NOUN
american_scientific_journal-3609	72	9	of	of	ADP
american_scientific_journal-3609	72	10	the	the	DET
american_scientific_journal-3609	72	11	robot	robot	NOUN
american_scientific_journal-3609	72	12	above	above	ADP
american_scientific_journal-3609	72	13	the	the	DET
american_scientific_journal-3609	72	14	rear	rear	ADJ
american_scientific_journal-3609	72	15	and	and	CCONJ
american_scientific_journal-3609	72	16	front	front	ADJ
american_scientific_journal-3609	72	17	wheels	wheel	NOUN
american_scientific_journal-3609	72	18	’	'	PUNCT
american_scientific_journal-3609	72	19	axle	axle	NOUN
american_scientific_journal-3609	72	20	.	.	PUNCT
american_scientific_journal-3609	73	1	it	it	PRON
american_scientific_journal-3609	73	2	transmits	transmit	VERB
american_scientific_journal-3609	73	3	sound	sound	ADJ
american_scientific_journal-3609	73	4	wave	wave	NOUN
american_scientific_journal-3609	73	5	like	like	ADP
american_scientific_journal-3609	73	6	a	a	DET
american_scientific_journal-3609	73	7	v	v	NOUN
american_scientific_journal-3609	73	8	-	-	PUNCT
american_scientific_journal-3609	73	9	shape	shape	NOUN
american_scientific_journal-3609	73	10	in	in	ADP
american_scientific_journal-3609	73	11	every	every	DET
american_scientific_journal-3609	73	12	10µs	10µs	NOUN
american_scientific_journal-3609	73	13	and	and	CCONJ
american_scientific_journal-3609	73	14	collect	collect	VERB
american_scientific_journal-3609	73	15	reflection	reflection	NOUN
american_scientific_journal-3609	73	16	wave	wave	NOUN
american_scientific_journal-3609	73	17	duration	duration	NOUN
american_scientific_journal-3609	73	18	to	to	PART
american_scientific_journal-3609	73	19	calculate	calculate	VERB
american_scientific_journal-3609	73	20	the	the	DET
american_scientific_journal-3609	73	21	measuring	measure	VERB
american_scientific_journal-3609	73	22	distance	distance	NOUN
american_scientific_journal-3609	73	23	.	.	PUNCT
american_scientific_journal-3609	74	1	according	accord	VERB
american_scientific_journal-3609	74	2	to	to	ADP
american_scientific_journal-3609	74	3	the	the	DET
american_scientific_journal-3609	74	4	sensors	sensor	NOUN
american_scientific_journal-3609	74	5	arrangement	arrangement	NOUN
american_scientific_journal-3609	74	6	,	,	PUNCT
american_scientific_journal-3609	74	7	there	there	PRON
american_scientific_journal-3609	74	8	has	have	VERB
american_scientific_journal-3609	74	9	a	a	DET
american_scientific_journal-3609	74	10	constraint	constraint	NOUN
american_scientific_journal-3609	74	11	on	on	ADP
american_scientific_journal-3609	74	12	a	a	DET
american_scientific_journal-3609	74	13	measuring	measure	VERB
american_scientific_journal-3609	74	14	distance	distance	NOUN
american_scientific_journal-3609	74	15	shown	show	VERB
american_scientific_journal-3609	74	16	in	in	ADP
american_scientific_journal-3609	74	17	figure.3	figure.3	PROPN
american_scientific_journal-3609	74	18	.	.	PUNCT
american_scientific_journal-3609	75	1	the	the	DET
american_scientific_journal-3609	75	2	best	good	ADJ
american_scientific_journal-3609	75	3	data	datum	NOUN
american_scientific_journal-3609	75	4	collection	collection	NOUN
american_scientific_journal-3609	75	5	angle	angle	NOUN
american_scientific_journal-3609	75	6	for	for	ADP
american_scientific_journal-3609	75	7	sensor	sensor	NOUN
american_scientific_journal-3609	75	8	is	be	AUX
american_scientific_journal-3609	75	9	15	15	NUM
american_scientific_journal-3609	75	10	(	(	PUNCT
american_scientific_journal-3609	75	11	degree	degree	NOUN
american_scientific_journal-3609	75	12	)	)	PUNCT
american_scientific_journal-3609	75	13	.	.	PUNCT
american_scientific_journal-3609	76	1	the	the	DET
american_scientific_journal-3609	76	2	two	two	NUM
american_scientific_journal-3609	76	3	sensor	sensor	NOUN
american_scientific_journal-3609	76	4	data	datum	NOUN
american_scientific_journal-3609	76	5	will	will	AUX
american_scientific_journal-3609	76	6	be	be	AUX
american_scientific_journal-3609	76	7	confused	confuse	VERB
american_scientific_journal-3609	76	8	in	in	ADP
american_scientific_journal-3609	76	9	one	one	NUM
american_scientific_journal-3609	76	10	point	point	NOUN
american_scientific_journal-3609	76	11	because	because	SCONJ
american_scientific_journal-3609	76	12	these	these	PRON
american_scientific_journal-3609	76	13	are	be	AUX
american_scientific_journal-3609	76	14	fixed	fix	VERB
american_scientific_journal-3609	76	15	parallel	parallel	ADJ
american_scientific_journal-3609	76	16	in	in	ADP
american_scientific_journal-3609	76	17	one	one	NUM
american_scientific_journal-3609	76	18	side	side	NOUN
american_scientific_journal-3609	76	19	.	.	PUNCT
american_scientific_journal-3609	77	1	from	from	ADP
american_scientific_journal-3609	77	2	this	this	DET
american_scientific_journal-3609	77	3	constraint	constraint	NOUN
american_scientific_journal-3609	77	4	,	,	PUNCT
american_scientific_journal-3609	77	5	the	the	DET
american_scientific_journal-3609	77	6	parking	parking	NOUN
american_scientific_journal-3609	77	7	robot	robot	NOUN
american_scientific_journal-3609	77	8	will	will	AUX
american_scientific_journal-3609	77	9	be	be	AUX
american_scientific_journal-3609	77	10	working	work	VERB
american_scientific_journal-3609	77	11	well	well	ADV
american_scientific_journal-3609	77	12	in	in	ADP
american_scientific_journal-3609	77	13	60.69	60.69	NUM
american_scientific_journal-3609	77	14	(	(	PUNCT
american_scientific_journal-3609	77	15	cm	cm	NOUN
american_scientific_journal-3609	77	16	)	)	PUNCT
american_scientific_journal-3609	77	17	.	.	PUNCT
american_scientific_journal-3609	78	1	figure	figure	VERB
american_scientific_journal-3609	78	2	3	3	NUM
american_scientific_journal-3609	78	3	:	:	PUNCT
american_scientific_journal-3609	78	4	sensor	sensor	NOUN
american_scientific_journal-3609	78	5	arrangement	arrangement	NOUN
american_scientific_journal-3609	78	6	in	in	ADP
american_scientific_journal-3609	78	7	prototype	prototype	NOUN
american_scientific_journal-3609	78	8	design	design	NOUN
american_scientific_journal-3609	78	9	and	and	CCONJ
american_scientific_journal-3609	78	10	noisy	noisy	ADJ
american_scientific_journal-3609	78	11	free	free	ADJ
american_scientific_journal-3609	78	12	distance	distance	NOUN
american_scientific_journal-3609	78	13	there	there	PRON
american_scientific_journal-3609	78	14	still	still	ADV
american_scientific_journal-3609	78	15	has	have	VERB
american_scientific_journal-3609	78	16	another	another	DET
american_scientific_journal-3609	78	17	problem	problem	NOUN
american_scientific_journal-3609	78	18	with	with	ADP
american_scientific_journal-3609	78	19	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	78	20	sensor	sensor	NOUN
american_scientific_journal-3609	78	21	.	.	PUNCT
american_scientific_journal-3609	79	1	it	it	PRON
american_scientific_journal-3609	79	2	works	work	VERB
american_scientific_journal-3609	79	3	well	well	ADV
american_scientific_journal-3609	79	4	in	in	ADP
american_scientific_journal-3609	79	5	flat	flat	ADJ
american_scientific_journal-3609	79	6	surface	surface	NOUN
american_scientific_journal-3609	79	7	.	.	PUNCT
american_scientific_journal-3609	80	1	if	if	SCONJ
american_scientific_journal-3609	80	2	the	the	DET
american_scientific_journal-3609	80	3	detection	detection	NOUN
american_scientific_journal-3609	80	4	surface	surface	NOUN
american_scientific_journal-3609	80	5	is	be	AUX
american_scientific_journal-3609	80	6	not	not	PART
american_scientific_journal-3609	80	7	flat	flat	ADJ
american_scientific_journal-3609	80	8	,	,	PUNCT
american_scientific_journal-3609	80	9	the	the	DET
american_scientific_journal-3609	80	10	reflection	reflection	NOUN
american_scientific_journal-3609	80	11	wave	wave	NOUN
american_scientific_journal-3609	80	12	can	can	AUX
american_scientific_journal-3609	80	13	be	be	AUX
american_scientific_journal-3609	80	14	confused	confuse	VERB
american_scientific_journal-3609	80	15	and	and	CCONJ
american_scientific_journal-3609	80	16	the	the	DET
american_scientific_journal-3609	80	17	correct	correct	ADJ
american_scientific_journal-3609	80	18	data	datum	NOUN
american_scientific_journal-3609	80	19	can	can	AUX
american_scientific_journal-3609	80	20	not	not	PART
american_scientific_journal-3609	80	21	get	get	VERB
american_scientific_journal-3609	80	22	.	.	PUNCT
american_scientific_journal-3609	81	1	the	the	DET
american_scientific_journal-3609	81	2	other	other	ADJ
american_scientific_journal-3609	81	3	weak	weak	ADJ
american_scientific_journal-3609	81	4	point	point	NOUN
american_scientific_journal-3609	81	5	is	be	AUX
american_scientific_journal-3609	81	6	sensor	sensor	NOUN
american_scientific_journal-3609	81	7	data	datum	NOUN
american_scientific_journal-3609	81	8	that	that	PRON
american_scientific_journal-3609	81	9	are	be	AUX
american_scientific_journal-3609	81	10	not	not	PART
american_scientific_journal-3609	81	11	stable	stable	ADJ
american_scientific_journal-3609	81	12	even	even	ADV
american_scientific_journal-3609	81	13	in	in	ADP
american_scientific_journal-3609	81	14	a	a	DET
american_scientific_journal-3609	81	15	flat	flat	ADJ
american_scientific_journal-3609	81	16	surface	surface	NOUN
american_scientific_journal-3609	81	17	.	.	PUNCT
american_scientific_journal-3609	82	1	from	from	ADP
american_scientific_journal-3609	82	2	these	these	DET
american_scientific_journal-3609	82	3	facts	fact	NOUN
american_scientific_journal-3609	82	4	,	,	PUNCT
american_scientific_journal-3609	82	5	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	82	6	sensor	sensor	NOUN
american_scientific_journal-3609	82	7	is	be	AUX
american_scientific_journal-3609	82	8	not	not	PART
american_scientific_journal-3609	82	9	suitable	suitable	ADJ
american_scientific_journal-3609	82	10	in	in	ADP
american_scientific_journal-3609	82	11	a	a	DET
american_scientific_journal-3609	82	12	precision	precision	NOUN
american_scientific_journal-3609	82	13	case	case	NOUN
american_scientific_journal-3609	82	14	.	.	PUNCT
american_scientific_journal-3609	83	1	however	however	ADV
american_scientific_journal-3609	83	2	,	,	PUNCT
american_scientific_journal-3609	83	3	in	in	ADP
american_scientific_journal-3609	83	4	this	this	DET
american_scientific_journal-3609	83	5	research	research	NOUN
american_scientific_journal-3609	83	6	it	it	PRON
american_scientific_journal-3609	83	7	was	be	AUX
american_scientific_journal-3609	83	8	used	use	VERB
american_scientific_journal-3609	83	9	for	for	ADP
american_scientific_journal-3609	83	10	the	the	DET
american_scientific_journal-3609	83	11	facts	fact	NOUN
american_scientific_journal-3609	83	12	of	of	ADP
american_scientific_journal-3609	83	13	cheaper	cheap	ADJ
american_scientific_journal-3609	83	14	and	and	CCONJ
american_scientific_journal-3609	83	15	easy	easy	ADJ
american_scientific_journal-3609	83	16	to	to	PART
american_scientific_journal-3609	83	17	get	get	VERB
american_scientific_journal-3609	83	18	.	.	PUNCT
american_scientific_journal-3609	84	1	these	these	DET
american_scientific_journal-3609	84	2	errors	error	NOUN
american_scientific_journal-3609	84	3	can	can	AUX
american_scientific_journal-3609	84	4	be	be	AUX
american_scientific_journal-3609	84	5	corrected	correct	VERB
american_scientific_journal-3609	84	6	by	by	ADP
american_scientific_journal-3609	84	7	using	use	VERB
american_scientific_journal-3609	84	8	filter	filter	NOUN
american_scientific_journal-3609	84	9	such	such	ADJ
american_scientific_journal-3609	84	10	as	as	ADP
american_scientific_journal-3609	84	11	average	average	ADJ
american_scientific_journal-3609	84	12	filter	filter	NOUN
american_scientific_journal-3609	84	13	and	and	CCONJ
american_scientific_journal-3609	84	14	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	84	15	filter	filter	NOUN
american_scientific_journal-3609	84	16	.	.	PUNCT
american_scientific_journal-3609	85	1	experimental	experimental	ADJ
american_scientific_journal-3609	85	2	test	test	NOUN
american_scientific_journal-3609	85	3	can	can	AUX
american_scientific_journal-3609	85	4	validate	validate	VERB
american_scientific_journal-3609	85	5	these	these	DET
american_scientific_journal-3609	85	6	facts	fact	NOUN
american_scientific_journal-3609	85	7	with	with	ADP
american_scientific_journal-3609	85	8	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	85	9	filter	filter	NOUN
american_scientific_journal-3609	85	10	shown	show	VERB
american_scientific_journal-3609	85	11	in	in	ADP
american_scientific_journal-3609	85	12	figure.4	figure.4	PROPN
american_scientific_journal-3609	85	13	.	.	PUNCT
american_scientific_journal-3609	86	1	american	american	PROPN
american_scientific_journal-3609	86	2	scientific	scientific	PROPN
american_scientific_journal-3609	86	3	research	research	PROPN
american_scientific_journal-3609	86	4	journal	journal	NOUN
american_scientific_journal-3609	86	5	for	for	ADP
american_scientific_journal-3609	86	6	engineering	engineering	NOUN
american_scientific_journal-3609	86	7	,	,	PUNCT
american_scientific_journal-3609	86	8	technology	technology	NOUN
american_scientific_journal-3609	86	9	,	,	PUNCT
american_scientific_journal-3609	86	10	and	and	CCONJ
american_scientific_journal-3609	86	11	sciences	science	NOUN
american_scientific_journal-3609	86	12	(	(	PUNCT
american_scientific_journal-3609	86	13	asrjets	asrjet	NOUN
american_scientific_journal-3609	86	14	)	)	PUNCT
american_scientific_journal-3609	86	15	(	(	PUNCT
american_scientific_journal-3609	86	16	2017	2017	NUM
american_scientific_journal-3609	86	17	)	)	PUNCT
american_scientific_journal-3609	86	18	volume	volume	NOUN
american_scientific_journal-3609	86	19	38	38	NUM
american_scientific_journal-3609	86	20	,	,	PUNCT
american_scientific_journal-3609	86	21	no	no	DET
american_scientific_journal-3609	86	22	2	2	NUM
american_scientific_journal-3609	86	23	,	,	PUNCT
american_scientific_journal-3609	86	24	pp	pp	ADV
american_scientific_journal-3609	86	25	23	23	NUM
american_scientific_journal-3609	86	26	-	-	SYM
american_scientific_journal-3609	86	27	41	41	NUM
american_scientific_journal-3609	86	28	27	27	NUM
american_scientific_journal-3609	86	29	figure	figure	NOUN
american_scientific_journal-3609	86	30	4	4	NUM
american_scientific_journal-3609	86	31	:	:	PUNCT
american_scientific_journal-3609	86	32	filtering	filter	VERB
american_scientific_journal-3609	86	33	with	with	ADP
american_scientific_journal-3609	86	34	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	86	35	logic	logic	NOUN
american_scientific_journal-3609	86	36	and	and	CCONJ
american_scientific_journal-3609	86	37	constraint	constraint	NOUN
american_scientific_journal-3609	86	38	detecting	detecting	NOUN
american_scientific_journal-3609	86	39	distance	distance	NOUN
american_scientific_journal-3609	86	40	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	86	41	filter	filter	NOUN
american_scientific_journal-3609	86	42	is	be	AUX
american_scientific_journal-3609	86	43	more	more	ADV
american_scientific_journal-3609	86	44	suitable	suitable	ADJ
american_scientific_journal-3609	86	45	than	than	ADP
american_scientific_journal-3609	86	46	the	the	DET
american_scientific_journal-3609	86	47	average	average	ADJ
american_scientific_journal-3609	86	48	filter	filter	NOUN
american_scientific_journal-3609	86	49	for	for	ADP
american_scientific_journal-3609	86	50	this	this	DET
american_scientific_journal-3609	86	51	research	research	NOUN
american_scientific_journal-3609	86	52	.	.	PUNCT
american_scientific_journal-3609	87	1	average	average	ADJ
american_scientific_journal-3609	87	2	filter	filter	NOUN
american_scientific_journal-3609	87	3	makes	make	VERB
american_scientific_journal-3609	87	4	long	long	ADJ
american_scientific_journal-3609	87	5	programming	programming	NOUN
american_scientific_journal-3609	87	6	time	time	NOUN
american_scientific_journal-3609	87	7	based	base	VERB
american_scientific_journal-3609	87	8	on	on	ADP
american_scientific_journal-3609	87	9	the	the	DET
american_scientific_journal-3609	87	10	number	number	NOUN
american_scientific_journal-3609	87	11	of	of	ADP
american_scientific_journal-3609	87	12	sample	sample	NOUN
american_scientific_journal-3609	87	13	data	datum	NOUN
american_scientific_journal-3609	87	14	and	and	CCONJ
american_scientific_journal-3609	87	15	it	it	PRON
american_scientific_journal-3609	87	16	can	can	AUX
american_scientific_journal-3609	87	17	not	not	PART
american_scientific_journal-3609	87	18	get	get	VERB
american_scientific_journal-3609	87	19	quick	quick	ADJ
american_scientific_journal-3609	87	20	response	response	NOUN
american_scientific_journal-3609	87	21	.	.	PUNCT
american_scientific_journal-3609	88	1	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	88	2	filter	filter	NOUN
american_scientific_journal-3609	88	3	can	can	AUX
american_scientific_journal-3609	88	4	get	get	VERB
american_scientific_journal-3609	88	5	quick	quick	ADJ
american_scientific_journal-3609	88	6	response	response	NOUN
american_scientific_journal-3609	88	7	on	on	ADP
american_scientific_journal-3609	88	8	data	datum	NOUN
american_scientific_journal-3609	88	9	and	and	CCONJ
american_scientific_journal-3609	88	10	it	it	PRON
american_scientific_journal-3609	88	11	is	be	AUX
american_scientific_journal-3609	88	12	shown	show	VERB
american_scientific_journal-3609	88	13	in	in	ADP
american_scientific_journal-3609	88	14	equation	equation	NOUN
american_scientific_journal-3609	88	15	(	(	PUNCT
american_scientific_journal-3609	88	16	1	1	NUM
american_scientific_journal-3609	88	17	)	)	PUNCT
american_scientific_journal-3609	88	18	.	.	PUNCT
american_scientific_journal-3609	89	1	the	the	DET
american_scientific_journal-3609	89	2	sum	sum	NOUN
american_scientific_journal-3609	89	3	of	of	ADP
american_scientific_journal-3609	89	4	coefficient	coefficient	NOUN
american_scientific_journal-3609	89	5	value	value	NOUN
american_scientific_journal-3609	89	6	must	must	AUX
american_scientific_journal-3609	89	7	be	be	AUX
american_scientific_journal-3609	89	8	‘	'	PUNCT
american_scientific_journal-3609	89	9	1	1	NUM
american_scientific_journal-3609	89	10	’	'	PUNCT
american_scientific_journal-3609	89	11	.	.	PUNCT
american_scientific_journal-3609	90	1	to	to	PART
american_scientific_journal-3609	90	2	be	be	AUX
american_scientific_journal-3609	90	3	quick	quick	ADJ
american_scientific_journal-3609	90	4	response	response	NOUN
american_scientific_journal-3609	90	5	relied	rely	VERB
american_scientific_journal-3609	90	6	on	on	ADP
american_scientific_journal-3609	90	7	income	income	NOUN
american_scientific_journal-3609	90	8	data	datum	NOUN
american_scientific_journal-3609	90	9	,	,	PUNCT
american_scientific_journal-3609	90	10	the	the	DET
american_scientific_journal-3609	90	11	coefficient	coefficient	NOUN
american_scientific_journal-3609	90	12	of	of	ADP
american_scientific_journal-3609	90	13	income	income	NOUN
american_scientific_journal-3609	90	14	data	datum	NOUN
american_scientific_journal-3609	90	15	should	should	AUX
american_scientific_journal-3609	90	16	be	be	AUX
american_scientific_journal-3609	90	17	greater	great	ADJ
american_scientific_journal-3609	90	18	than	than	ADP
american_scientific_journal-3609	90	19	the	the	DET
american_scientific_journal-3609	90	20	coefficient	coefficient	NOUN
american_scientific_journal-3609	90	21	of	of	ADP
american_scientific_journal-3609	90	22	old	old	ADJ
american_scientific_journal-3609	90	23	data	datum	NOUN
american_scientific_journal-3609	90	24	.	.	PUNCT
american_scientific_journal-3609	91	1	according	accord	VERB
american_scientific_journal-3609	91	2	to	to	ADP
american_scientific_journal-3609	91	3	the	the	DET
american_scientific_journal-3609	91	4	chart	chart	NOUN
american_scientific_journal-3609	91	5	,	,	PUNCT
american_scientific_journal-3609	91	6	it	it	PRON
american_scientific_journal-3609	91	7	can	can	AUX
american_scientific_journal-3609	91	8	be	be	AUX
american_scientific_journal-3609	91	9	seen	see	VERB
american_scientific_journal-3609	91	10	that	that	SCONJ
american_scientific_journal-3609	91	11	sharp	sharp	ADJ
american_scientific_journal-3609	91	12	noise	noise	NOUN
american_scientific_journal-3609	91	13	can	can	AUX
american_scientific_journal-3609	91	14	be	be	AUX
american_scientific_journal-3609	91	15	stable	stable	ADJ
american_scientific_journal-3609	91	16	with	with	ADP
american_scientific_journal-3609	91	17	filter	filter	NOUN
american_scientific_journal-3609	91	18	.	.	PUNCT
american_scientific_journal-3609	92	1	unstable	unstable	ADJ
american_scientific_journal-3609	92	2	condition	condition	NOUN
american_scientific_journal-3609	92	3	is	be	AUX
american_scientific_journal-3609	92	4	occurred	occur	VERB
american_scientific_journal-3609	92	5	during	during	ADP
american_scientific_journal-3609	92	6	27	27	NUM
american_scientific_journal-3609	92	7	to	to	PART
american_scientific_journal-3609	92	8	38	38	NUM
american_scientific_journal-3609	92	9	seconds	second	NOUN
american_scientific_journal-3609	92	10	because	because	SCONJ
american_scientific_journal-3609	92	11	the	the	DET
american_scientific_journal-3609	92	12	sensor	sensor	NOUN
american_scientific_journal-3609	92	13	detecting	detect	VERB
american_scientific_journal-3609	92	14	distance	distance	NOUN
american_scientific_journal-3609	92	15	is	be	AUX
american_scientific_journal-3609	92	16	over	over	ADP
american_scientific_journal-3609	92	17	the	the	DET
american_scientific_journal-3609	92	18	constraint	constraint	NOUN
american_scientific_journal-3609	92	19	distance	distance	NOUN
american_scientific_journal-3609	92	20	.	.	PUNCT
american_scientific_journal-3609	93	1	data_update	data_update	VERB
american_scientific_journal-3609	93	2	=	=	SYM
american_scientific_journal-3609	93	3	(	(	PUNCT
american_scientific_journal-3609	93	4	income	income	NOUN
american_scientific_journal-3609	93	5	data*x	data*x	NUM
american_scientific_journal-3609	93	6	)	)	PUNCT
american_scientific_journal-3609	94	1	+	+	CCONJ
american_scientific_journal-3609	94	2	(	(	PUNCT
american_scientific_journal-3609	94	3	old	old	ADJ
american_scientific_journal-3609	94	4	data*y	data*y	PROPN
american_scientific_journal-3609	94	5	)	)	PUNCT
american_scientific_journal-3609	94	6	(	(	PUNCT
american_scientific_journal-3609	94	7	1	1	X
american_scientific_journal-3609	94	8	)	)	PUNCT
american_scientific_journal-3609	94	9	3	3	NUM
american_scientific_journal-3609	94	10	.	.	NOUN
american_scientific_journal-3609	94	11	path	path	NOUN
american_scientific_journal-3609	94	12	planning	plan	VERB
american_scientific_journal-3609	94	13	3.1	3.1	NUM
american_scientific_journal-3609	94	14	.	.	PUNCT
american_scientific_journal-3609	95	1	one	one	NUM
american_scientific_journal-3609	95	2	trail	trail	NOUN
american_scientific_journal-3609	95	3	maneuver	maneuver	NOUN
american_scientific_journal-3609	95	4	system	system	NOUN
american_scientific_journal-3609	95	5	parallel	parallel	ADJ
american_scientific_journal-3609	95	6	parking	parking	NOUN
american_scientific_journal-3609	95	7	in	in	ADP
american_scientific_journal-3609	95	8	one	one	NUM
american_scientific_journal-3609	95	9	trail	trail	NOUN
american_scientific_journal-3609	95	10	maneuver	maneuver	NOUN
american_scientific_journal-3609	95	11	is	be	AUX
american_scientific_journal-3609	95	12	used	use	VERB
american_scientific_journal-3609	95	13	in	in	ADP
american_scientific_journal-3609	95	14	this	this	DET
american_scientific_journal-3609	95	15	research	research	NOUN
american_scientific_journal-3609	95	16	.	.	PUNCT
american_scientific_journal-3609	96	1	it	it	PRON
american_scientific_journal-3609	96	2	means	mean	VERB
american_scientific_journal-3609	96	3	that	that	SCONJ
american_scientific_journal-3609	96	4	the	the	DET
american_scientific_journal-3609	96	5	car	car	NOUN
american_scientific_journal-3609	96	6	can	can	AUX
american_scientific_journal-3609	96	7	be	be	AUX
american_scientific_journal-3609	96	8	retrieved	retrieve	VERB
american_scientific_journal-3609	96	9	without	without	ADP
american_scientific_journal-3609	96	10	reversing	reverse	VERB
american_scientific_journal-3609	96	11	the	the	DET
american_scientific_journal-3609	96	12	longitudinal	longitudinal	ADJ
american_scientific_journal-3609	96	13	velocity	velocity	NOUN
american_scientific_journal-3609	96	14	then	then	ADV
american_scientific_journal-3609	96	15	the	the	DET
american_scientific_journal-3609	96	16	car	car	NOUN
american_scientific_journal-3609	96	17	can	can	AUX
american_scientific_journal-3609	96	18	be	be	AUX
american_scientific_journal-3609	96	19	parked	park	VERB
american_scientific_journal-3609	96	20	without	without	ADP
american_scientific_journal-3609	96	21	velocity	velocity	NOUN
american_scientific_journal-3609	96	22	sign	sign	NOUN
american_scientific_journal-3609	96	23	changes	change	NOUN
american_scientific_journal-3609	96	24	too	too	ADV
american_scientific_journal-3609	97	1	[	[	X
american_scientific_journal-3609	97	2	11	11	NUM
american_scientific_journal-3609	97	3	-	-	SYM
american_scientific_journal-3609	97	4	13	13	NUM
american_scientific_journal-3609	97	5	]	]	PUNCT
american_scientific_journal-3609	97	6	.	.	PUNCT
american_scientific_journal-3609	98	1	according	accord	VERB
american_scientific_journal-3609	98	2	to	to	ADP
american_scientific_journal-3609	98	3	this	this	DET
american_scientific_journal-3609	98	4	maneuver	maneuver	NOUN
american_scientific_journal-3609	98	5	,	,	PUNCT
american_scientific_journal-3609	98	6	tangent	tangent	ADJ
american_scientific_journal-3609	98	7	point	point	NOUN
american_scientific_journal-3609	98	8	is	be	AUX
american_scientific_journal-3609	98	9	the	the	DET
american_scientific_journal-3609	98	10	ways	way	NOUN
american_scientific_journal-3609	98	11	to	to	PART
american_scientific_journal-3609	98	12	change	change	VERB
american_scientific_journal-3609	98	13	the	the	DET
american_scientific_journal-3609	98	14	steering	steering	NOUN
american_scientific_journal-3609	98	15	angle	angle	NOUN
american_scientific_journal-3609	98	16	from	from	ADP
american_scientific_journal-3609	98	17	maximum	maximum	ADJ
american_scientific_journal-3609	98	18	left	left	NOUN
american_scientific_journal-3609	98	19	to	to	ADP
american_scientific_journal-3609	98	20	maximum	maximum	ADJ
american_scientific_journal-3609	98	21	right	right	NOUN
american_scientific_journal-3609	98	22	.	.	PUNCT
american_scientific_journal-3609	99	1	s	s	X
american_scientific_journal-3609	99	2	-	-	PUNCT
american_scientific_journal-3609	99	3	shape	shape	NOUN
american_scientific_journal-3609	99	4	trajectory	trajectory	NOUN
american_scientific_journal-3609	99	5	is	be	AUX
american_scientific_journal-3609	99	6	formed	form	VERB
american_scientific_journal-3609	99	7	by	by	ADP
american_scientific_journal-3609	99	8	the	the	DET
american_scientific_journal-3609	99	9	combination	combination	NOUN
american_scientific_journal-3609	99	10	of	of	ADP
american_scientific_journal-3609	99	11	two	two	NUM
american_scientific_journal-3609	99	12	circular	circular	ADJ
american_scientific_journal-3609	99	13	arcs	arc	NOUN
american_scientific_journal-3609	99	14	connected	connect	VERB
american_scientific_journal-3609	99	15	by	by	ADP
american_scientific_journal-3609	99	16	a	a	DET
american_scientific_journal-3609	99	17	tangent	tangent	ADJ
american_scientific_journal-3609	99	18	point	point	NOUN
american_scientific_journal-3609	99	19	.	.	PUNCT
american_scientific_journal-3609	100	1	the	the	DET
american_scientific_journal-3609	100	2	forming	forming	NOUN
american_scientific_journal-3609	100	3	of	of	ADP
american_scientific_journal-3609	100	4	s	s	NOUN
american_scientific_journal-3609	100	5	-	-	PUNCT
american_scientific_journal-3609	100	6	shape	shape	NOUN
american_scientific_journal-3609	100	7	trajectory	trajectory	NOUN
american_scientific_journal-3609	100	8	in	in	ADP
american_scientific_journal-3609	100	9	one	one	NUM
american_scientific_journal-3609	100	10	trail	trail	NOUN
american_scientific_journal-3609	100	11	maneuver	maneuver	NOUN
american_scientific_journal-3609	100	12	system	system	NOUN
american_scientific_journal-3609	100	13	is	be	AUX
american_scientific_journal-3609	100	14	shown	show	VERB
american_scientific_journal-3609	100	15	in	in	ADP
american_scientific_journal-3609	100	16	figure.5	figure.5	PROPN
american_scientific_journal-3609	100	17	.	.	PUNCT
american_scientific_journal-3609	101	1	american	american	PROPN
american_scientific_journal-3609	101	2	scientific	scientific	ADJ
american_scientific_journal-3609	101	3	research	research	PROPN
american_scientific_journal-3609	101	4	journal	journal	NOUN
american_scientific_journal-3609	101	5	for	for	ADP
american_scientific_journal-3609	101	6	engineering	engineering	NOUN
american_scientific_journal-3609	101	7	,	,	PUNCT
american_scientific_journal-3609	101	8	technology	technology	NOUN
american_scientific_journal-3609	101	9	,	,	PUNCT
american_scientific_journal-3609	101	10	and	and	CCONJ
american_scientific_journal-3609	101	11	sciences	science	NOUN
american_scientific_journal-3609	101	12	(	(	PUNCT
american_scientific_journal-3609	101	13	asrjets	asrjet	NOUN
american_scientific_journal-3609	101	14	)	)	PUNCT
american_scientific_journal-3609	101	15	(	(	PUNCT
american_scientific_journal-3609	101	16	2017	2017	NUM
american_scientific_journal-3609	101	17	)	)	PUNCT
american_scientific_journal-3609	101	18	volume	volume	NOUN
american_scientific_journal-3609	101	19	38	38	NUM
american_scientific_journal-3609	101	20	,	,	PUNCT
american_scientific_journal-3609	101	21	no	no	DET
american_scientific_journal-3609	101	22	2	2	NUM
american_scientific_journal-3609	101	23	,	,	PUNCT
american_scientific_journal-3609	101	24	pp	pp	ADV
american_scientific_journal-3609	101	25	23	23	NUM
american_scientific_journal-3609	101	26	-	-	SYM
american_scientific_journal-3609	101	27	41	41	NUM
american_scientific_journal-3609	101	28	28	28	NUM
american_scientific_journal-3609	101	29	figure	figure	NOUN
american_scientific_journal-3609	101	30	5	5	NUM
american_scientific_journal-3609	101	31	:	:	PUNCT
american_scientific_journal-3609	101	32	parallel	parallel	ADJ
american_scientific_journal-3609	101	33	parking	parking	NOUN
american_scientific_journal-3609	101	34	in	in	ADP
american_scientific_journal-3609	101	35	s	s	NOUN
american_scientific_journal-3609	101	36	-	-	PUNCT
american_scientific_journal-3609	101	37	shape	shape	NOUN
american_scientific_journal-3609	101	38	trajectory	trajectory	NOUN
american_scientific_journal-3609	101	39	3.2	3.2	NUM
american_scientific_journal-3609	101	40	.	.	PUNCT
american_scientific_journal-3609	102	1	calculation	calculation	NOUN
american_scientific_journal-3609	102	2	of	of	ADP
american_scientific_journal-3609	102	3	the	the	DET
american_scientific_journal-3609	102	4	longitudinal	longitudinal	ADJ
american_scientific_journal-3609	102	5	starting	starting	NOUN
american_scientific_journal-3609	102	6	position	position	NOUN
american_scientific_journal-3609	102	7	and	and	CCONJ
american_scientific_journal-3609	102	8	turning	turn	VERB
american_scientific_journal-3609	102	9	position	position	NOUN
american_scientific_journal-3609	102	10	in	in	ADP
american_scientific_journal-3609	102	11	accordance	accordance	NOUN
american_scientific_journal-3609	102	12	with	with	ADP
american_scientific_journal-3609	102	13	the	the	DET
american_scientific_journal-3609	102	14	initial	initial	ADJ
american_scientific_journal-3609	102	15	lateral	lateral	ADJ
american_scientific_journal-3609	102	16	position	position	NOUN
american_scientific_journal-3609	102	17	when	when	SCONJ
american_scientific_journal-3609	102	18	the	the	DET
american_scientific_journal-3609	102	19	parking	parking	NOUN
american_scientific_journal-3609	102	20	procedure	procedure	NOUN
american_scientific_journal-3609	102	21	is	be	AUX
american_scientific_journal-3609	102	22	started	start	VERB
american_scientific_journal-3609	102	23	,	,	PUNCT
american_scientific_journal-3609	102	24	the	the	DET
american_scientific_journal-3609	102	25	robot	robot	NOUN
american_scientific_journal-3609	102	26	moves	move	VERB
american_scientific_journal-3609	102	27	in	in	ADP
american_scientific_journal-3609	102	28	the	the	DET
american_scientific_journal-3609	102	29	vicinity	vicinity	NOUN
american_scientific_journal-3609	102	30	of	of	ADP
american_scientific_journal-3609	102	31	the	the	DET
american_scientific_journal-3609	102	32	parking	parking	NOUN
american_scientific_journal-3609	102	33	space	space	NOUN
american_scientific_journal-3609	102	34	and	and	CCONJ
american_scientific_journal-3609	102	35	takes	take	VERB
american_scientific_journal-3609	102	36	position	position	NOUN
american_scientific_journal-3609	102	37	parallel	parallel	NOUN
american_scientific_journal-3609	102	38	with	with	ADP
american_scientific_journal-3609	102	39	the	the	DET
american_scientific_journal-3609	102	40	front	front	ADJ
american_scientific_journal-3609	102	41	car	car	NOUN
american_scientific_journal-3609	102	42	.	.	PUNCT
american_scientific_journal-3609	103	1	at	at	ADP
american_scientific_journal-3609	103	2	the	the	DET
american_scientific_journal-3609	103	3	same	same	ADJ
american_scientific_journal-3609	103	4	time	time	NOUN
american_scientific_journal-3609	103	5	,	,	PUNCT
american_scientific_journal-3609	103	6	the	the	DET
american_scientific_journal-3609	103	7	robot	robot	NOUN
american_scientific_journal-3609	103	8	will	will	AUX
american_scientific_journal-3609	103	9	measure	measure	VERB
american_scientific_journal-3609	103	10	the	the	DET
american_scientific_journal-3609	103	11	size	size	NOUN
american_scientific_journal-3609	103	12	of	of	ADP
american_scientific_journal-3609	103	13	the	the	DET
american_scientific_journal-3609	103	14	parking	parking	NOUN
american_scientific_journal-3609	103	15	space	space	NOUN
american_scientific_journal-3609	103	16	and	and	CCONJ
american_scientific_journal-3609	103	17	lateral	lateral	ADJ
american_scientific_journal-3609	103	18	displacement	displacement	NOUN
american_scientific_journal-3609	103	19	∆𝑦𝑦	∆𝑦𝑦	PRON
american_scientific_journal-3609	103	20	offset	offset	VERB
american_scientific_journal-3609	103	21	from	from	ADP
american_scientific_journal-3609	103	22	the	the	DET
american_scientific_journal-3609	103	23	front	front	ADJ
american_scientific_journal-3609	103	24	car	car	NOUN
american_scientific_journal-3609	103	25	.	.	PUNCT
american_scientific_journal-3609	104	1	if	if	SCONJ
american_scientific_journal-3609	104	2	longitudinal	longitudinal	ADJ
american_scientific_journal-3609	104	3	starting	start	VERB
american_scientific_journal-3609	104	4	position	position	NOUN
american_scientific_journal-3609	104	5	𝑥𝑥𝑠𝑠	𝑥𝑥𝑠𝑠	ADJ
american_scientific_journal-3609	104	6	and	and	CCONJ
american_scientific_journal-3609	104	7	turning	turn	VERB
american_scientific_journal-3609	104	8	position	position	NOUN
american_scientific_journal-3609	104	9	𝑃𝑃𝑡𝑡	𝑃𝑃𝑡𝑡	PROPN
american_scientific_journal-3609	104	10	in	in	ADP
american_scientific_journal-3609	104	11	accordance	accordance	NOUN
american_scientific_journal-3609	104	12	with	with	ADP
american_scientific_journal-3609	104	13	∆𝑦𝑦	∆𝑦𝑦	PRON
american_scientific_journal-3609	104	14	can	can	AUX
american_scientific_journal-3609	104	15	be	be	AUX
american_scientific_journal-3609	104	16	directly	directly	ADV
american_scientific_journal-3609	104	17	computed	compute	VERB
american_scientific_journal-3609	104	18	,	,	PUNCT
american_scientific_journal-3609	104	19	the	the	DET
american_scientific_journal-3609	104	20	robot	robot	NOUN
american_scientific_journal-3609	104	21	will	will	AUX
american_scientific_journal-3609	104	22	be	be	AUX
american_scientific_journal-3609	104	23	successfully	successfully	ADV
american_scientific_journal-3609	104	24	parked	park	VERB
american_scientific_journal-3609	104	25	along	along	ADP
american_scientific_journal-3609	104	26	the	the	DET
american_scientific_journal-3609	104	27	s	s	NOUN
american_scientific_journal-3609	104	28	-	-	PUNCT
american_scientific_journal-3609	104	29	shape	shape	NOUN
american_scientific_journal-3609	104	30	trajectory	trajectory	NOUN
american_scientific_journal-3609	104	31	.	.	PUNCT
american_scientific_journal-3609	105	1	figure.6	figure.6	PROPN
american_scientific_journal-3609	105	2	is	be	AUX
american_scientific_journal-3609	105	3	shown	show	VERB
american_scientific_journal-3609	105	4	geometrical	geometrical	ADJ
american_scientific_journal-3609	105	5	information	information	NOUN
american_scientific_journal-3609	105	6	diagram	diagram	NOUN
american_scientific_journal-3609	105	7	for	for	ADP
american_scientific_journal-3609	105	8	finding	find	VERB
american_scientific_journal-3609	105	9	longitudinal	longitudinal	ADJ
american_scientific_journal-3609	105	10	starting	starting	NOUN
american_scientific_journal-3609	105	11	position	position	NOUN
american_scientific_journal-3609	105	12	𝑥𝑥𝑠𝑠	𝑥𝑥𝑠𝑠	ADJ
american_scientific_journal-3609	105	13	and	and	CCONJ
american_scientific_journal-3609	105	14	turning	turning	NOUN
american_scientific_journal-3609	105	15	point	point	NOUN
american_scientific_journal-3609	105	16	𝑃𝑃𝑡𝑡.	𝑃𝑃𝑡𝑡.	ADV
american_scientific_journal-3609	105	17	figure	figure	NOUN
american_scientific_journal-3609	105	18	6	6	NUM
american_scientific_journal-3609	105	19	:	:	PUNCT
american_scientific_journal-3609	105	20	geometrical	geometrical	ADJ
american_scientific_journal-3609	105	21	calculation	calculation	NOUN
american_scientific_journal-3609	105	22	of	of	ADP
american_scientific_journal-3609	105	23	initial	initial	ADJ
american_scientific_journal-3609	105	24	position	position	NOUN
american_scientific_journal-3609	105	25	to	to	ADP
american_scientific_journal-3609	105	26	starting	start	VERB
american_scientific_journal-3609	105	27	position	position	NOUN
american_scientific_journal-3609	105	28	american	american	PROPN
american_scientific_journal-3609	105	29	scientific	scientific	ADJ
american_scientific_journal-3609	105	30	research	research	NOUN
american_scientific_journal-3609	105	31	journal	journal	NOUN
american_scientific_journal-3609	105	32	for	for	ADP
american_scientific_journal-3609	105	33	engineering	engineering	NOUN
american_scientific_journal-3609	105	34	,	,	PUNCT
american_scientific_journal-3609	105	35	technology	technology	NOUN
american_scientific_journal-3609	105	36	,	,	PUNCT
american_scientific_journal-3609	105	37	and	and	CCONJ
american_scientific_journal-3609	105	38	sciences	science	NOUN
american_scientific_journal-3609	105	39	(	(	PUNCT
american_scientific_journal-3609	105	40	asrjets	asrjet	NOUN
american_scientific_journal-3609	105	41	)	)	PUNCT
american_scientific_journal-3609	105	42	(	(	PUNCT
american_scientific_journal-3609	105	43	2017	2017	NUM
american_scientific_journal-3609	105	44	)	)	PUNCT
american_scientific_journal-3609	105	45	volume	volume	NOUN
american_scientific_journal-3609	105	46	38	38	NUM
american_scientific_journal-3609	105	47	,	,	PUNCT
american_scientific_journal-3609	105	48	no	no	DET
american_scientific_journal-3609	105	49	2	2	NUM
american_scientific_journal-3609	105	50	,	,	PUNCT
american_scientific_journal-3609	105	51	pp	pp	ADV
american_scientific_journal-3609	105	52	23	23	NUM
american_scientific_journal-3609	105	53	-	-	SYM
american_scientific_journal-3609	105	54	41	41	NUM
american_scientific_journal-3609	105	55	29	29	NUM
american_scientific_journal-3609	105	56	firstly	firstly	ADV
american_scientific_journal-3609	105	57	,	,	PUNCT
american_scientific_journal-3609	105	58	the	the	DET
american_scientific_journal-3609	105	59	robot	robot	NOUN
american_scientific_journal-3609	105	60	will	will	AUX
american_scientific_journal-3609	105	61	move	move	VERB
american_scientific_journal-3609	105	62	longitudinally	longitudinally	ADJ
american_scientific_journal-3609	105	63	𝑥𝑥𝑖𝑖	𝑥𝑥𝑖𝑖	NOUN
american_scientific_journal-3609	105	64	to	to	PART
american_scientific_journal-3609	105	65	𝑥𝑥𝑠𝑠	𝑥𝑥𝑠𝑠	X
american_scientific_journal-3609	105	66	and	and	CCONJ
american_scientific_journal-3609	105	67	then	then	ADV
american_scientific_journal-3609	105	68	started	start	VERB
american_scientific_journal-3609	105	69	steer	steer	VERB
american_scientific_journal-3609	105	70	maximum	maximum	NOUN
american_scientific_journal-3609	105	71	to	to	ADP
american_scientific_journal-3609	105	72	the	the	DET
american_scientific_journal-3609	105	73	right	right	NOUN
american_scientific_journal-3609	105	74	while	while	SCONJ
american_scientific_journal-3609	105	75	moving	move	VERB
american_scientific_journal-3609	105	76	back	back	ADV
american_scientific_journal-3609	105	77	to	to	ADP
american_scientific_journal-3609	105	78	the	the	DET
american_scientific_journal-3609	105	79	𝑃𝑃𝑡𝑡	𝑃𝑃𝑡𝑡	PROPN
american_scientific_journal-3609	105	80	.	.	PUNCT
american_scientific_journal-3609	106	1	then	then	ADV
american_scientific_journal-3609	106	2	counter	counter	NOUN
american_scientific_journal-3609	106	3	-	-	NOUN
american_scientific_journal-3609	106	4	steer	steer	NOUN
american_scientific_journal-3609	106	5	will	will	AUX
american_scientific_journal-3609	106	6	be	be	AUX
american_scientific_journal-3609	106	7	turned	turn	VERB
american_scientific_journal-3609	106	8	to	to	ADP
american_scientific_journal-3609	106	9	the	the	DET
american_scientific_journal-3609	106	10	left	left	NOUN
american_scientific_journal-3609	106	11	and	and	CCONJ
american_scientific_journal-3609	106	12	the	the	DET
american_scientific_journal-3609	106	13	robot	robot	NOUN
american_scientific_journal-3609	106	14	will	will	AUX
american_scientific_journal-3609	106	15	enter	enter	VERB
american_scientific_journal-3609	106	16	into	into	ADP
american_scientific_journal-3609	106	17	the	the	DET
american_scientific_journal-3609	106	18	parking	parking	NOUN
american_scientific_journal-3609	106	19	slot	slot	NOUN
american_scientific_journal-3609	106	20	.	.	PUNCT
american_scientific_journal-3609	107	1	in	in	ADP
american_scientific_journal-3609	107	2	this	this	DET
american_scientific_journal-3609	107	3	section	section	NOUN
american_scientific_journal-3609	107	4	,	,	PUNCT
american_scientific_journal-3609	107	5	analytical	analytical	ADJ
american_scientific_journal-3609	107	6	calculation	calculation	NOUN
american_scientific_journal-3609	107	7	is	be	AUX
american_scientific_journal-3609	107	8	developed	develop	VERB
american_scientific_journal-3609	107	9	for	for	ADP
american_scientific_journal-3609	107	10	these	these	DET
american_scientific_journal-3609	107	11	relationships	relationship	NOUN
american_scientific_journal-3609	107	12	.	.	PUNCT
american_scientific_journal-3609	108	1	in	in	ADP
american_scientific_journal-3609	108	2	this	this	DET
american_scientific_journal-3609	108	3	research	research	NOUN
american_scientific_journal-3609	108	4	,	,	PUNCT
american_scientific_journal-3609	108	5	the	the	DET
american_scientific_journal-3609	108	6	path	path	NOUN
american_scientific_journal-3609	108	7	planning	planning	NOUN
american_scientific_journal-3609	108	8	strategy	strategy	NOUN
american_scientific_journal-3609	108	9	is	be	AUX
american_scientific_journal-3609	108	10	come	come	VERB
american_scientific_journal-3609	108	11	from	from	ADP
american_scientific_journal-3609	108	12	final	final	ADJ
american_scientific_journal-3609	108	13	position	position	NOUN
american_scientific_journal-3609	108	14	to	to	ADP
american_scientific_journal-3609	108	15	the	the	DET
american_scientific_journal-3609	108	16	starting	starting	NOUN
american_scientific_journal-3609	108	17	position	position	NOUN
american_scientific_journal-3609	108	18	of	of	ADP
american_scientific_journal-3609	108	19	the	the	DET
american_scientific_journal-3609	108	20	parking	parking	NOUN
american_scientific_journal-3609	108	21	procedure	procedure	NOUN
american_scientific_journal-3609	108	22	.	.	PUNCT
american_scientific_journal-3609	109	1	the	the	DET
american_scientific_journal-3609	109	2	final	final	ADJ
american_scientific_journal-3609	109	3	position	position	NOUN
american_scientific_journal-3609	109	4	of	of	ADP
american_scientific_journal-3609	109	5	the	the	DET
american_scientific_journal-3609	109	6	robot	robot	NOUN
american_scientific_journal-3609	109	7	is	be	AUX
american_scientific_journal-3609	109	8	equal	equal	ADJ
american_scientific_journal-3609	109	9	to	to	ADP
american_scientific_journal-3609	109	10	the	the	DET
american_scientific_journal-3609	109	11	𝐿𝐿𝑚𝑚𝑖𝑖𝑚𝑚	𝐿𝐿𝑚𝑚𝑖𝑖𝑚𝑚	PROPN
american_scientific_journal-3609	109	12	−	−	PROPN
american_scientific_journal-3609	110	1	𝑝𝑝	𝑝𝑝	NOUN
american_scientific_journal-3609	110	2	.	.	PUNCT
american_scientific_journal-3609	111	1	the	the	DET
american_scientific_journal-3609	111	2	icr	icr	PROPN
american_scientific_journal-3609	111	3	of	of	ADP
american_scientific_journal-3609	111	4	𝐶𝐶1(𝑥𝑥𝑓𝑓	𝐶𝐶1(𝑥𝑥𝑓𝑓	PROPN
american_scientific_journal-3609	111	5	,	,	PUNCT
american_scientific_journal-3609	111	6	𝑦𝑦𝑓𝑓	𝑦𝑦𝑓𝑓	NOUN
american_scientific_journal-3609	111	7	)	)	PUNCT
american_scientific_journal-3609	111	8	is	be	AUX
american_scientific_journal-3609	111	9	always	always	ADV
american_scientific_journal-3609	111	10	perpendicular	perpendicular	ADJ
american_scientific_journal-3609	111	11	to	to	ADP
american_scientific_journal-3609	111	12	the	the	DET
american_scientific_journal-3609	111	13	final	final	ADJ
american_scientific_journal-3609	111	14	position	position	NOUN
american_scientific_journal-3609	111	15	of	of	ADP
american_scientific_journal-3609	111	16	the	the	DET
american_scientific_journal-3609	111	17	parking	parking	NOUN
american_scientific_journal-3609	111	18	maneuver	maneuver	NOUN
american_scientific_journal-3609	111	19	with	with	ADP
american_scientific_journal-3609	111	20	a	a	DET
american_scientific_journal-3609	111	21	distance	distance	NOUN
american_scientific_journal-3609	111	22	of	of	ADP
american_scientific_journal-3609	111	23	𝑅𝑅𝑖𝑖	𝑅𝑅𝑖𝑖	PUNCT
american_scientific_journal-3609	111	24	+	+	CCONJ
american_scientific_journal-3609	111	25	𝑤𝑤/2	𝑤𝑤/2	ADJ
american_scientific_journal-3609	111	26	and	and	CCONJ
american_scientific_journal-3609	111	27	defined	define	VERB
american_scientific_journal-3609	111	28	this	this	DET
american_scientific_journal-3609	111	29	distance	distance	NOUN
american_scientific_journal-3609	111	30	with	with	ADP
american_scientific_journal-3609	111	31	radius	radius	PROPN
american_scientific_journal-3609	111	32	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	111	33	�	�	PROPN
american_scientific_journal-3609	111	34	.	.	PUNCT
american_scientific_journal-3609	112	1	the	the	DET
american_scientific_journal-3609	112	2	origin	origin	NOUN
american_scientific_journal-3609	112	3	of	of	ADP
american_scientific_journal-3609	112	4	coordinate	coordinate	NOUN
american_scientific_journal-3609	112	5	(	(	PUNCT
american_scientific_journal-3609	112	6	0	0	NUM
american_scientific_journal-3609	112	7	,	,	PUNCT
american_scientific_journal-3609	112	8	0	0	NUM
american_scientific_journal-3609	112	9	)	)	PUNCT
american_scientific_journal-3609	112	10	is	be	AUX
american_scientific_journal-3609	112	11	denoted	denote	VERB
american_scientific_journal-3609	112	12	at𝐶𝐶1(𝑥𝑥𝑓𝑓	at𝐶𝐶1(𝑥𝑥𝑓𝑓	PROPN
american_scientific_journal-3609	112	13	,	,	PUNCT
american_scientific_journal-3609	112	14	𝑦𝑦𝑓𝑓	𝑦𝑦𝑓𝑓	PROPN
american_scientific_journal-3609	112	15	)	)	PUNCT
american_scientific_journal-3609	112	16	.	.	PUNCT
american_scientific_journal-3609	113	1	similarly	similarly	ADV
american_scientific_journal-3609	113	2	,	,	PUNCT
american_scientific_journal-3609	113	3	the	the	DET
american_scientific_journal-3609	113	4	icr	icr	PROPN
american_scientific_journal-3609	113	5	of	of	ADP
american_scientific_journal-3609	113	6	𝐶𝐶2	𝐶𝐶2	PROPN
american_scientific_journal-3609	113	7	is	be	AUX
american_scientific_journal-3609	113	8	always	always	ADV
american_scientific_journal-3609	113	9	perpendicular	perpendicular	ADJ
american_scientific_journal-3609	113	10	to	to	ADP
american_scientific_journal-3609	113	11	the	the	DET
american_scientific_journal-3609	113	12	starting	starting	NOUN
american_scientific_journal-3609	113	13	position	position	NOUN
american_scientific_journal-3609	113	14	of	of	ADP
american_scientific_journal-3609	113	15	parking	parking	NOUN
american_scientific_journal-3609	113	16	maneuver	maneuver	NOUN
american_scientific_journal-3609	113	17	(	(	PUNCT
american_scientific_journal-3609	113	18	𝑥𝑥𝑠𝑠	𝑥𝑥𝑠𝑠	ADJ
american_scientific_journal-3609	113	19	,	,	PUNCT
american_scientific_journal-3609	113	20	𝑦𝑦𝑠𝑠	𝑦𝑦𝑠𝑠	NOUN
american_scientific_journal-3609	113	21	)	)	PUNCT
american_scientific_journal-3609	113	22	with	with	ADP
american_scientific_journal-3609	113	23	a	a	DET
american_scientific_journal-3609	113	24	distance	distance	NOUN
american_scientific_journal-3609	113	25	of	of	ADP
american_scientific_journal-3609	113	26	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	113	27	�	�	PROPN
american_scientific_journal-3609	113	28	.	.	PUNCT
american_scientific_journal-3609	114	1	each	each	DET
american_scientific_journal-3609	114	2	radius	radius	NOUN
american_scientific_journal-3609	114	3	of	of	ADP
american_scientific_journal-3609	114	4	these	these	DET
american_scientific_journal-3609	114	5	two	two	NUM
american_scientific_journal-3609	114	6	circles	circle	NOUN
american_scientific_journal-3609	114	7	is	be	AUX
american_scientific_journal-3609	114	8	the	the	DET
american_scientific_journal-3609	114	9	same	same	ADJ
american_scientific_journal-3609	114	10	and	and	CCONJ
american_scientific_journal-3609	114	11	their	their	PRON
american_scientific_journal-3609	114	12	arcs	arc	NOUN
american_scientific_journal-3609	114	13	are	be	AUX
american_scientific_journal-3609	114	14	tangentially	tangentially	ADV
american_scientific_journal-3609	114	15	connected	connect	VERB
american_scientific_journal-3609	114	16	.	.	PUNCT
american_scientific_journal-3609	115	1	the	the	DET
american_scientific_journal-3609	115	2	circle	circle	NOUN
american_scientific_journal-3609	115	3	of	of	ADP
american_scientific_journal-3609	115	4	center	center	PROPN
american_scientific_journal-3609	115	5	𝐶𝐶1	𝐶𝐶1	PROPN
american_scientific_journal-3609	115	6	is	be	AUX
american_scientific_journal-3609	115	7	always	always	ADV
american_scientific_journal-3609	115	8	in	in	ADP
american_scientific_journal-3609	115	9	a	a	DET
american_scientific_journal-3609	115	10	fixed	fix	VERB
american_scientific_journal-3609	115	11	position	position	NOUN
american_scientific_journal-3609	115	12	at	at	ADP
american_scientific_journal-3609	115	13	the	the	DET
american_scientific_journal-3609	115	14	end	end	NOUN
american_scientific_journal-3609	115	15	of	of	ADP
american_scientific_journal-3609	115	16	the	the	DET
american_scientific_journal-3609	115	17	maneuver	maneuver	NOUN
american_scientific_journal-3609	115	18	and	and	CCONJ
american_scientific_journal-3609	115	19	the	the	DET
american_scientific_journal-3609	115	20	circle	circle	NOUN
american_scientific_journal-3609	115	21	of	of	ADP
american_scientific_journal-3609	115	22	center	center	PROPN
american_scientific_journal-3609	115	23	𝐶𝐶2	𝐶𝐶2	PROPN
american_scientific_journal-3609	115	24	is	be	AUX
american_scientific_journal-3609	115	25	moving	move	VERB
american_scientific_journal-3609	115	26	tangentially	tangentially	ADV
american_scientific_journal-3609	115	27	connected	connect	VERB
american_scientific_journal-3609	115	28	along	along	ADP
american_scientific_journal-3609	115	29	the	the	DET
american_scientific_journal-3609	115	30	arc	arc	NOUN
american_scientific_journal-3609	115	31	of	of	ADP
american_scientific_journal-3609	115	32	𝐶𝐶1	𝐶𝐶1	PROPN
american_scientific_journal-3609	115	33	in	in	ADP
american_scientific_journal-3609	115	34	accordance	accordance	NOUN
american_scientific_journal-3609	115	35	with	with	ADP
american_scientific_journal-3609	115	36	the	the	DET
american_scientific_journal-3609	115	37	lateral	lateral	ADJ
american_scientific_journal-3609	115	38	displacement	displacement	NOUN
american_scientific_journal-3609	115	39	∆𝑦𝑦	∆𝑦𝑦	PRON
american_scientific_journal-3609	115	40	shown	show	VERB
american_scientific_journal-3609	115	41	in	in	ADP
american_scientific_journal-3609	115	42	figure.6	figure.6	NOUN
american_scientific_journal-3609	115	43	.	.	PUNCT
american_scientific_journal-3609	116	1	it	it	PRON
american_scientific_journal-3609	116	2	seems	seem	VERB
american_scientific_journal-3609	116	3	like	like	SCONJ
american_scientific_journal-3609	116	4	center	center	NOUN
american_scientific_journal-3609	116	5	𝐶𝐶2	𝐶𝐶2	PROPN
american_scientific_journal-3609	116	6	is	be	AUX
american_scientific_journal-3609	116	7	moving	move	VERB
american_scientific_journal-3609	116	8	on	on	ADP
american_scientific_journal-3609	116	9	the	the	DET
american_scientific_journal-3609	116	10	arc	arc	NOUN
american_scientific_journal-3609	116	11	of	of	ADP
american_scientific_journal-3609	116	12	radius	radius	NOUN
american_scientific_journal-3609	116	13	2	2	NUM
american_scientific_journal-3609	116	14	×	×	NOUN
american_scientific_journal-3609	116	15	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	116	16	�	�	PROPN
american_scientific_journal-3609	116	17	with	with	ADP
american_scientific_journal-3609	116	18	center	center	PROPN
american_scientific_journal-3609	116	19	𝐶𝐶1	𝐶𝐶1	PROPN
american_scientific_journal-3609	116	20	.	.	PUNCT
american_scientific_journal-3609	117	1	the	the	DET
american_scientific_journal-3609	117	2	initial	initial	ADJ
american_scientific_journal-3609	117	3	position	position	NOUN
american_scientific_journal-3609	117	4	of	of	ADP
american_scientific_journal-3609	117	5	the	the	DET
american_scientific_journal-3609	117	6	car	car	NOUN
american_scientific_journal-3609	117	7	can	can	AUX
american_scientific_journal-3609	117	8	be	be	AUX
american_scientific_journal-3609	117	9	calculated	calculate	VERB
american_scientific_journal-3609	117	10	as	as	ADP
american_scientific_journal-3609	117	11	follow	follow	NOUN
american_scientific_journal-3609	117	12	:	:	PUNCT
american_scientific_journal-3609	117	13	𝑥𝑥𝑖𝑖	𝑥𝑥𝑖𝑖	NOUN
american_scientific_journal-3609	117	14	=	=	SYM
american_scientific_journal-3609	117	15	𝐿𝐿𝑚𝑚𝑖𝑖𝑚𝑚	𝐿𝐿𝑚𝑚𝑖𝑖𝑚𝑚	PROPN
american_scientific_journal-3609	117	16	−	−	PROPN
american_scientific_journal-3609	117	17	𝑝𝑝	𝑝𝑝	NOUN
american_scientific_journal-3609	117	18	+	+	NOUN
american_scientific_journal-3609	117	19	∆𝑥𝑥	∆𝑥𝑥	NOUN
american_scientific_journal-3609	117	20	(	(	PUNCT
american_scientific_journal-3609	117	21	2	2	NUM
american_scientific_journal-3609	117	22	)	)	PUNCT
american_scientific_journal-3609	117	23	𝑦𝑦𝑖𝑖	𝑦𝑦𝑖𝑖	NOUN
american_scientific_journal-3609	117	24	=	=	SYM
american_scientific_journal-3609	117	25	�	�	PROPN
american_scientific_journal-3609	117	26	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	117	27	�	�	PROPN
american_scientific_journal-3609	117	28	+	+	SYM
american_scientific_journal-3609	117	29	𝑤𝑤	𝑤𝑤	ADP
american_scientific_journal-3609	117	30	2	2	NUM
american_scientific_journal-3609	117	31	�	�	NOUN
american_scientific_journal-3609	117	32	+	+	CCONJ
american_scientific_journal-3609	118	1	[	[	X
american_scientific_journal-3609	118	2	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	118	3	�	�	PROPN
american_scientific_journal-3609	118	4	−	−	PROPN
american_scientific_journal-3609	118	5	�	�	PROPN
american_scientific_journal-3609	118	6	∆𝑦𝑦	∆𝑦𝑦	NOUN
american_scientific_journal-3609	118	7	+	+	SYM
american_scientific_journal-3609	118	8	𝑤𝑤	𝑤𝑤	NOUN
american_scientific_journal-3609	118	9	+	+	CCONJ
american_scientific_journal-3609	118	10	𝑤𝑤	𝑤𝑤	X
american_scientific_journal-3609	118	11	2	2	NUM
american_scientific_journal-3609	118	12	�	�	PROPN
american_scientific_journal-3609	118	13	(	(	PUNCT
american_scientific_journal-3609	118	14	3	3	NUM
american_scientific_journal-3609	118	15	)	)	PUNCT
american_scientific_journal-3609	118	16	the	the	DET
american_scientific_journal-3609	118	17	radius	radius	NOUN
american_scientific_journal-3609	118	18	of	of	ADP
american_scientific_journal-3609	118	19	initial	initial	ADJ
american_scientific_journal-3609	118	20	position	position	NOUN
american_scientific_journal-3609	118	21	with	with	ADP
american_scientific_journal-3609	118	22	the	the	DET
american_scientific_journal-3609	118	23	center	center	NOUN
american_scientific_journal-3609	118	24	of	of	ADP
american_scientific_journal-3609	118	25	𝐶𝐶1	𝐶𝐶1	PROPN
american_scientific_journal-3609	118	26	can	can	AUX
american_scientific_journal-3609	118	27	be	be	AUX
american_scientific_journal-3609	118	28	calculated	calculate	VERB
american_scientific_journal-3609	118	29	by	by	ADP
american_scientific_journal-3609	118	30	using	use	VERB
american_scientific_journal-3609	118	31	circular	circular	ADJ
american_scientific_journal-3609	118	32	equation	equation	NOUN
american_scientific_journal-3609	118	33	:	:	PUNCT
american_scientific_journal-3609	118	34	𝑥𝑥𝑖𝑖2	𝑥𝑥𝑖𝑖2	PROPN
american_scientific_journal-3609	119	1	+	+	SYM
american_scientific_journal-3609	119	2	𝑦𝑦𝑖𝑖2	𝑦𝑦𝑖𝑖2	NOUN
american_scientific_journal-3609	119	3	=	=	PUNCT
american_scientific_journal-3609	119	4	𝑟𝑟𝑖𝑖2	𝑟𝑟𝑖𝑖2	PROPN
american_scientific_journal-3609	119	5	(	(	PUNCT
american_scientific_journal-3609	119	6	4	4	X
american_scientific_journal-3609	119	7	)	)	PUNCT
american_scientific_journal-3609	119	8	the	the	DET
american_scientific_journal-3609	119	9	initial	initial	ADJ
american_scientific_journal-3609	119	10	position	position	NOUN
american_scientific_journal-3609	119	11	and	and	CCONJ
american_scientific_journal-3609	119	12	starting	start	VERB
american_scientific_journal-3609	119	13	position	position	NOUN
american_scientific_journal-3609	119	14	of	of	ADP
american_scientific_journal-3609	119	15	lateral	lateral	ADJ
american_scientific_journal-3609	119	16	displacement	displacement	NOUN
american_scientific_journal-3609	119	17	are	be	AUX
american_scientific_journal-3609	119	18	the	the	DET
american_scientific_journal-3609	119	19	same	same	ADJ
american_scientific_journal-3609	119	20	:	:	PUNCT
american_scientific_journal-3609	119	21	𝑦𝑦𝑖𝑖	𝑦𝑦𝑖𝑖	NOUN
american_scientific_journal-3609	119	22	=	=	SYM
american_scientific_journal-3609	119	23	𝑦𝑦𝑠𝑠	𝑦𝑦𝑠𝑠	NOUN
american_scientific_journal-3609	119	24	(	(	PUNCT
american_scientific_journal-3609	119	25	5	5	NUM
american_scientific_journal-3609	119	26	)	)	PUNCT
american_scientific_journal-3609	119	27	the	the	DET
american_scientific_journal-3609	119	28	radius	radius	NOUN
american_scientific_journal-3609	119	29	of	of	ADP
american_scientific_journal-3609	119	30	starting	start	VERB
american_scientific_journal-3609	119	31	position	position	NOUN
american_scientific_journal-3609	119	32	with	with	ADP
american_scientific_journal-3609	119	33	the	the	DET
american_scientific_journal-3609	119	34	center	center	NOUN
american_scientific_journal-3609	119	35	𝐶𝐶1	𝐶𝐶1	PROPN
american_scientific_journal-3609	119	36	is	be	AUX
american_scientific_journal-3609	119	37	𝑟𝑟𝑠𝑠	𝑟𝑟𝑠𝑠	VERB
american_scientific_journal-3609	119	38	=	=	SYM
american_scientific_journal-3609	119	39	2	2	NUM
american_scientific_journal-3609	119	40	×	×	PROPN
american_scientific_journal-3609	119	41	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	119	42	�	�	PROPN
american_scientific_journal-3609	119	43	(	(	PUNCT
american_scientific_journal-3609	119	44	6	6	NUM
american_scientific_journal-3609	119	45	)	)	PUNCT
american_scientific_journal-3609	119	46	now	now	ADV
american_scientific_journal-3609	119	47	,	,	PUNCT
american_scientific_journal-3609	119	48	the	the	DET
american_scientific_journal-3609	119	49	longitudinal	longitudinal	ADJ
american_scientific_journal-3609	119	50	starting	starting	NOUN
american_scientific_journal-3609	119	51	position	position	NOUN
american_scientific_journal-3609	119	52	𝑥𝑥𝑠𝑠can	𝑥𝑥𝑠𝑠can	AUX
american_scientific_journal-3609	119	53	be	be	AUX
american_scientific_journal-3609	119	54	calculated	calculate	VERB
american_scientific_journal-3609	119	55	by	by	ADP
american_scientific_journal-3609	119	56	subtracting	subtract	VERB
american_scientific_journal-3609	119	57	the	the	DET
american_scientific_journal-3609	119	58	circular	circular	ADJ
american_scientific_journal-3609	119	59	equation	equation	NOUN
american_scientific_journal-3609	119	60	:	:	PUNCT
american_scientific_journal-3609	120	1	−	−	X
american_scientific_journal-3609	120	2	𝑥𝑥𝑠𝑠2	𝑥𝑥𝑠𝑠2	NOUN
american_scientific_journal-3609	121	1	+	+	CCONJ
american_scientific_journal-3609	121	2	𝑦𝑦𝑠𝑠2	𝑦𝑦𝑠𝑠2	NOUN
american_scientific_journal-3609	121	3	=	=	SYM
american_scientific_journal-3609	121	4	𝑟𝑟𝑠𝑠2	𝑟𝑟𝑠𝑠2	X
american_scientific_journal-3609	121	5	𝑥𝑥𝑖𝑖2	𝑥𝑥𝑖𝑖2	PROPN
american_scientific_journal-3609	122	1	+	+	CCONJ
american_scientific_journal-3609	122	2	𝑦𝑦𝑖𝑖2	𝑦𝑦𝑖𝑖2	NOUN
american_scientific_journal-3609	122	3	=	=	PUNCT
american_scientific_journal-3609	122	4	𝑟𝑟𝑖𝑖2	𝑟𝑟𝑖𝑖2	PROPN
american_scientific_journal-3609	122	5	𝑥𝑥𝑠𝑠2	𝑥𝑥𝑠𝑠2	NOUN
american_scientific_journal-3609	123	1	−	−	DET
american_scientific_journal-3609	123	2	𝑥𝑥𝑖𝑖2	𝑥𝑥𝑖𝑖2	NOUN
american_scientific_journal-3609	124	1	=	=	X
american_scientific_journal-3609	124	2	𝑟𝑟𝑠𝑠2	𝑟𝑟𝑠𝑠2	PROPN
american_scientific_journal-3609	125	1	−	−	X
american_scientific_journal-3609	125	2	𝑟𝑟𝑖𝑖2	𝑟𝑟𝑖𝑖2	PROPN
american_scientific_journal-3609	125	3	𝑥𝑥𝑠𝑠2	𝑥𝑥𝑠𝑠2	X
american_scientific_journal-3609	126	1	=	=	PUNCT
american_scientific_journal-3609	126	2	𝑟𝑟𝑠𝑠2	𝑟𝑟𝑠𝑠2	X
american_scientific_journal-3609	127	1	−	−	PROPN
american_scientific_journal-3609	127	2	𝑟𝑟𝑖𝑖2	𝑟𝑟𝑖𝑖2	PROPN
american_scientific_journal-3609	128	1	+	+	CCONJ
american_scientific_journal-3609	128	2	𝑥𝑥𝑖𝑖2	𝑥𝑥𝑖𝑖2	NOUN
american_scientific_journal-3609	128	3	𝑟𝑟𝑠𝑠	𝑟𝑟𝑠𝑠	VERB
american_scientific_journal-3609	128	4	=	=	SYM
american_scientific_journal-3609	128	5	2	2	NUM
american_scientific_journal-3609	128	6	×	×	PROPN
american_scientific_journal-3609	128	7	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	128	8	�	�	PROPN
american_scientific_journal-3609	128	9	(	(	PUNCT
american_scientific_journal-3609	128	10	7	7	NUM
american_scientific_journal-3609	128	11	)	)	PUNCT
american_scientific_journal-3609	128	12	now	now	ADV
american_scientific_journal-3609	128	13	,	,	PUNCT
american_scientific_journal-3609	128	14	the	the	DET
american_scientific_journal-3609	128	15	point	point	NOUN
american_scientific_journal-3609	128	16	𝑃𝑃𝑡𝑡(𝑥𝑥𝑡𝑡	𝑃𝑃𝑡𝑡(𝑥𝑥𝑡𝑡	NOUN
american_scientific_journal-3609	128	17	,	,	PUNCT
american_scientific_journal-3609	128	18	𝑦𝑦𝑡𝑡	𝑦𝑦𝑡𝑡	NOUN
american_scientific_journal-3609	128	19	)	)	PUNCT
american_scientific_journal-3609	128	20	can	can	AUX
american_scientific_journal-3609	128	21	be	be	AUX
american_scientific_journal-3609	128	22	calculated	calculate	VERB
american_scientific_journal-3609	128	23	that	that	PRON
american_scientific_journal-3609	128	24	is	be	AUX
american_scientific_journal-3609	128	25	where	where	SCONJ
american_scientific_journal-3609	128	26	the	the	DET
american_scientific_journal-3609	128	27	vehicle	vehicle	NOUN
american_scientific_journal-3609	128	28	counter	counter	NOUN
american_scientific_journal-3609	128	29	-	-	NOUN
american_scientific_journal-3609	128	30	steers	steer	NOUN
american_scientific_journal-3609	128	31	.	.	PUNCT
american_scientific_journal-3609	128	32	𝑦𝑦𝑡𝑡	𝑦𝑦𝑡𝑡	NOUN
american_scientific_journal-3609	129	1	=	=	SYM
american_scientific_journal-3609	129	2	𝑦𝑦𝑠𝑠	𝑦𝑦𝑠𝑠	ADJ
american_scientific_journal-3609	129	3	2	2	NUM
american_scientific_journal-3609	129	4	(	(	PUNCT
american_scientific_journal-3609	129	5	8)	8)	NUM
american_scientific_journal-3609	129	6	american	american	ADJ
american_scientific_journal-3609	129	7	scientific	scientific	ADJ
american_scientific_journal-3609	129	8	research	research	NOUN
american_scientific_journal-3609	129	9	journal	journal	NOUN
american_scientific_journal-3609	129	10	for	for	ADP
american_scientific_journal-3609	129	11	engineering	engineering	NOUN
american_scientific_journal-3609	129	12	,	,	PUNCT
american_scientific_journal-3609	129	13	technology	technology	NOUN
american_scientific_journal-3609	129	14	,	,	PUNCT
american_scientific_journal-3609	129	15	and	and	CCONJ
american_scientific_journal-3609	129	16	sciences	science	NOUN
american_scientific_journal-3609	129	17	(	(	PUNCT
american_scientific_journal-3609	129	18	asrjets	asrjet	NOUN
american_scientific_journal-3609	129	19	)	)	PUNCT
american_scientific_journal-3609	129	20	(	(	PUNCT
american_scientific_journal-3609	129	21	2017	2017	NUM
american_scientific_journal-3609	129	22	)	)	PUNCT
american_scientific_journal-3609	129	23	volume	volume	NOUN
american_scientific_journal-3609	129	24	38	38	NUM
american_scientific_journal-3609	129	25	,	,	PUNCT
american_scientific_journal-3609	129	26	no	no	DET
american_scientific_journal-3609	129	27	2	2	NUM
american_scientific_journal-3609	129	28	,	,	PUNCT
american_scientific_journal-3609	129	29	pp	pp	ADV
american_scientific_journal-3609	129	30	23	23	NUM
american_scientific_journal-3609	129	31	-	-	SYM
american_scientific_journal-3609	129	32	41	41	NUM
american_scientific_journal-3609	129	33	30	30	NUM
american_scientific_journal-3609	129	34	𝑥𝑥𝑡𝑡	𝑥𝑥𝑡𝑡	NOUN
american_scientific_journal-3609	129	35	=	=	SYM
american_scientific_journal-3609	129	36	𝑥𝑥𝑠𝑠	𝑥𝑥𝑠𝑠	X
american_scientific_journal-3609	129	37	2	2	NUM
american_scientific_journal-3609	129	38	(	(	PUNCT
american_scientific_journal-3609	129	39	9	9	NUM
american_scientific_journal-3609	129	40	)	)	PUNCT
american_scientific_journal-3609	129	41	the	the	DET
american_scientific_journal-3609	129	42	central	central	ADJ
american_scientific_journal-3609	129	43	angle	angle	NOUN
american_scientific_journal-3609	129	44	can	can	AUX
american_scientific_journal-3609	129	45	be	be	AUX
american_scientific_journal-3609	129	46	calculated	calculate	VERB
american_scientific_journal-3609	129	47	from	from	ADP
american_scientific_journal-3609	129	48	the	the	DET
american_scientific_journal-3609	129	49	two	two	NUM
american_scientific_journal-3609	129	50	circles	circle	NOUN
american_scientific_journal-3609	129	51	’	'	PUNCT
american_scientific_journal-3609	129	52	tangent	tangent	NOUN
american_scientific_journal-3609	129	53	point	point	NOUN
american_scientific_journal-3609	129	54	easily	easily	ADV
american_scientific_journal-3609	129	55	.	.	PUNCT
american_scientific_journal-3609	130	1	𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝑟𝑟𝐶𝐶𝐶𝐶	𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝑟𝑟𝐶𝐶𝐶𝐶	AUX
american_scientific_journal-3609	130	2	𝐶𝐶𝐶𝐶𝑎𝑎𝐶𝐶𝐶𝐶	𝐶𝐶𝐶𝐶𝑎𝑎𝐶𝐶𝐶𝐶	NOUN
american_scientific_journal-3609	130	3	=	=	SYM
american_scientific_journal-3609	130	4	𝑠𝑠𝑠𝑠𝐶𝐶−1	𝑠𝑠𝑠𝑠𝐶𝐶−1	X
american_scientific_journal-3609	130	5	�	�	NOUN
american_scientific_journal-3609	130	6	𝑥𝑥𝑡𝑡	𝑥𝑥𝑡𝑡	VERB
american_scientific_journal-3609	130	7	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	130	8	�	�	PROPN
american_scientific_journal-3609	130	9	(	(	PUNCT
american_scientific_journal-3609	130	10	𝐷𝐷𝐶𝐶𝑎𝑎𝑟𝑟𝐶𝐶𝐶𝐶	𝐷𝐷𝐶𝐶𝑎𝑎𝑟𝑟𝐶𝐶𝐶𝐶	NOUN
american_scientific_journal-3609	130	11	)	)	PUNCT
american_scientific_journal-3609	130	12	(	(	PUNCT
american_scientific_journal-3609	130	13	10	10	NUM
american_scientific_journal-3609	130	14	)	)	PUNCT
american_scientific_journal-3609	130	15	the	the	DET
american_scientific_journal-3609	130	16	arc	arc	NOUN
american_scientific_journal-3609	130	17	length	length	NOUN
american_scientific_journal-3609	130	18	is	be	AUX
american_scientific_journal-3609	130	19	calculated	calculate	VERB
american_scientific_journal-3609	130	20	for	for	SCONJ
american_scientific_journal-3609	130	21	the	the	DET
american_scientific_journal-3609	130	22	robot	robot	NOUN
american_scientific_journal-3609	130	23	to	to	PART
american_scientific_journal-3609	130	24	be	be	AUX
american_scientific_journal-3609	130	25	followed	follow	VERB
american_scientific_journal-3609	130	26	the	the	DET
american_scientific_journal-3609	130	27	s	s	NOUN
american_scientific_journal-3609	130	28	-	-	PUNCT
american_scientific_journal-3609	130	29	shape	shape	NOUN
american_scientific_journal-3609	130	30	path	path	NOUN
american_scientific_journal-3609	130	31	.	.	PUNCT
american_scientific_journal-3609	131	1	arc	arc	NOUN
american_scientific_journal-3609	131	2	length	length	NOUN
american_scientific_journal-3609	132	1	=	=	SYM
american_scientific_journal-3609	132	2	𝑅𝑅	𝑅𝑅	PROPN
american_scientific_journal-3609	132	3	×	×	PROPN
american_scientific_journal-3609	132	4	�	�	PROPN
american_scientific_journal-3609	132	5	𝑐𝑐𝐶𝐶𝐶𝐶𝐶𝐶𝑟𝑟𝐶𝐶𝐶𝐶	𝑐𝑐𝐶𝐶𝐶𝐶𝐶𝐶𝑟𝑟𝐶𝐶𝐶𝐶	X
american_scientific_journal-3609	132	6	𝐶𝐶𝐶𝐶𝑎𝑎𝐶𝐶𝐶𝐶	𝐶𝐶𝐶𝐶𝑎𝑎𝐶𝐶𝐶𝐶	NOUN
american_scientific_journal-3609	132	7	×	×	VERB
american_scientific_journal-3609	132	8	180	180	NUM
american_scientific_journal-3609	132	9	𝜋𝜋	𝜋𝜋	PRON
american_scientific_journal-3609	132	10	�	�	PROPN
american_scientific_journal-3609	132	11	(	(	PUNCT
american_scientific_journal-3609	132	12	11	11	NUM
american_scientific_journal-3609	132	13	)	)	PUNCT
american_scientific_journal-3609	132	14	3.3	3.3	NUM
american_scientific_journal-3609	132	15	.	.	PUNCT
american_scientific_journal-3609	133	1	safety	safety	NOUN
american_scientific_journal-3609	133	2	path	path	NOUN
american_scientific_journal-3609	133	3	significant	significant	ADJ
american_scientific_journal-3609	133	4	and	and	CCONJ
american_scientific_journal-3609	133	5	practical	practical	ADJ
american_scientific_journal-3609	133	6	keys	key	NOUN
american_scientific_journal-3609	133	7	issues	issue	NOUN
american_scientific_journal-3609	133	8	in	in	ADP
american_scientific_journal-3609	133	9	motion	motion	NOUN
american_scientific_journal-3609	133	10	planning	planning	NOUN
american_scientific_journal-3609	133	11	are	be	AUX
american_scientific_journal-3609	133	12	safety	safety	NOUN
american_scientific_journal-3609	133	13	and	and	CCONJ
american_scientific_journal-3609	133	14	optimality	optimality	NOUN
american_scientific_journal-3609	133	15	.	.	PUNCT
american_scientific_journal-3609	134	1	firstly	firstly	ADV
american_scientific_journal-3609	134	2	,	,	PUNCT
american_scientific_journal-3609	134	3	predefined	predefine	VERB
american_scientific_journal-3609	134	4	collision	collision	NOUN
american_scientific_journal-3609	134	5	free	free	ADJ
american_scientific_journal-3609	134	6	path	path	NOUN
american_scientific_journal-3609	134	7	must	must	AUX
american_scientific_journal-3609	134	8	be	be	AUX
american_scientific_journal-3609	134	9	considered	consider	VERB
american_scientific_journal-3609	134	10	based	base	VERB
american_scientific_journal-3609	134	11	on	on	ADP
american_scientific_journal-3609	134	12	the	the	DET
american_scientific_journal-3609	134	13	geometry	geometry	NOUN
american_scientific_journal-3609	134	14	of	of	ADP
american_scientific_journal-3609	134	15	the	the	DET
american_scientific_journal-3609	134	16	vehicle	vehicle	NOUN
american_scientific_journal-3609	134	17	.	.	PUNCT
american_scientific_journal-3609	135	1	the	the	DET
american_scientific_journal-3609	135	2	test	test	NOUN
american_scientific_journal-3609	135	3	of	of	ADP
american_scientific_journal-3609	135	4	the	the	DET
american_scientific_journal-3609	135	5	robot	robot	NOUN
american_scientific_journal-3609	135	6	maneuver	maneuver	NOUN
american_scientific_journal-3609	135	7	is	be	AUX
american_scientific_journal-3609	135	8	in	in	ADP
american_scientific_journal-3609	135	9	an	an	DET
american_scientific_journal-3609	135	10	obstacle	obstacle	NOUN
american_scientific_journal-3609	135	11	free	free	PROPN
american_scientific_journal-3609	135	12	indoor	indoor	ADJ
american_scientific_journal-3609	135	13	environment	environment	NOUN
american_scientific_journal-3609	135	14	.	.	PUNCT
american_scientific_journal-3609	136	1	front	front	ADJ
american_scientific_journal-3609	136	2	and	and	CCONJ
american_scientific_journal-3609	136	3	rear	rear	ADJ
american_scientific_journal-3609	136	4	parallel	parallel	ADJ
american_scientific_journal-3609	136	5	posture	posture	NOUN
american_scientific_journal-3609	136	6	cars	car	NOUN
american_scientific_journal-3609	136	7	are	be	AUX
american_scientific_journal-3609	136	8	only	only	ADV
american_scientific_journal-3609	136	9	needed	need	VERB
american_scientific_journal-3609	136	10	to	to	PART
american_scientific_journal-3609	136	11	count	count	VERB
american_scientific_journal-3609	136	12	for	for	ADP
american_scientific_journal-3609	136	13	the	the	DET
american_scientific_journal-3609	136	14	probability	probability	NOUN
american_scientific_journal-3609	136	15	of	of	ADP
american_scientific_journal-3609	136	16	collision	collision	NOUN
american_scientific_journal-3609	136	17	.	.	PUNCT
american_scientific_journal-3609	137	1	according	accord	VERB
american_scientific_journal-3609	137	2	to	to	ADP
american_scientific_journal-3609	137	3	the	the	DET
american_scientific_journal-3609	137	4	path	path	NOUN
american_scientific_journal-3609	137	5	planning	planning	NOUN
american_scientific_journal-3609	137	6	in	in	ADP
american_scientific_journal-3609	137	7	section	section	NOUN
american_scientific_journal-3609	137	8	b	b	PROPN
american_scientific_journal-3609	137	9	,	,	PUNCT
american_scientific_journal-3609	137	10	it	it	PRON
american_scientific_journal-3609	137	11	can	can	AUX
american_scientific_journal-3609	137	12	be	be	AUX
american_scientific_journal-3609	137	13	seen	see	VERB
american_scientific_journal-3609	137	14	that	that	SCONJ
american_scientific_journal-3609	137	15	the	the	DET
american_scientific_journal-3609	137	16	robot	robot	NOUN
american_scientific_journal-3609	137	17	will	will	AUX
american_scientific_journal-3609	137	18	be	be	AUX
american_scientific_journal-3609	137	19	parked	park	VERB
american_scientific_journal-3609	137	20	along	along	ADP
american_scientific_journal-3609	137	21	the	the	DET
american_scientific_journal-3609	137	22	yellow	yellow	ADJ
american_scientific_journal-3609	137	23	colour	colour	NOUN
american_scientific_journal-3609	137	24	s	s	NOUN
american_scientific_journal-3609	137	25	-	-	PUNCT
american_scientific_journal-3609	137	26	shaped	shape	VERB
american_scientific_journal-3609	137	27	path	path	NOUN
american_scientific_journal-3609	137	28	and	and	CCONJ
american_scientific_journal-3609	137	29	the	the	DET
american_scientific_journal-3609	137	30	red	red	ADJ
american_scientific_journal-3609	137	31	circle	circle	NOUN
american_scientific_journal-3609	137	32	is	be	AUX
american_scientific_journal-3609	137	33	the	the	DET
american_scientific_journal-3609	137	34	front	front	ADJ
american_scientific_journal-3609	137	35	bumper	bumper	NOUN
american_scientific_journal-3609	137	36	moving	move	VERB
american_scientific_journal-3609	137	37	path	path	NOUN
american_scientific_journal-3609	137	38	.	.	PUNCT
american_scientific_journal-3609	138	1	the	the	DET
american_scientific_journal-3609	138	2	front	front	ADJ
american_scientific_journal-3609	138	3	bumper	bumper	NOUN
american_scientific_journal-3609	138	4	of	of	ADP
american_scientific_journal-3609	138	5	the	the	DET
american_scientific_journal-3609	138	6	robot	robot	NOUN
american_scientific_journal-3609	138	7	has	have	VERB
american_scientific_journal-3609	138	8	high	high	ADJ
american_scientific_journal-3609	138	9	probability	probability	NOUN
american_scientific_journal-3609	138	10	of	of	ADP
american_scientific_journal-3609	138	11	collision	collision	NOUN
american_scientific_journal-3609	138	12	with	with	ADP
american_scientific_journal-3609	138	13	the	the	DET
american_scientific_journal-3609	138	14	front	front	ADJ
american_scientific_journal-3609	138	15	car	car	NOUN
american_scientific_journal-3609	138	16	rear	rear	NOUN
american_scientific_journal-3609	138	17	bumper	bumper	NOUN
american_scientific_journal-3609	138	18	shown	show	VERB
american_scientific_journal-3609	138	19	in	in	ADP
american_scientific_journal-3609	138	20	figure.7	figure.7	NOUN
american_scientific_journal-3609	138	21	.	.	PUNCT
american_scientific_journal-3609	139	1	∆𝑠𝑠	∆𝑠𝑠	PROPN
american_scientific_journal-3609	139	2	is	be	AUX
american_scientific_journal-3609	139	3	the	the	DET
american_scientific_journal-3609	139	4	distance	distance	NOUN
american_scientific_journal-3609	139	5	to	to	PART
american_scientific_journal-3609	139	6	move	move	VERB
american_scientific_journal-3609	139	7	from	from	ADP
american_scientific_journal-3609	139	8	initial	initial	ADJ
american_scientific_journal-3609	139	9	point	point	NOUN
american_scientific_journal-3609	139	10	to	to	ADP
american_scientific_journal-3609	139	11	the	the	DET
american_scientific_journal-3609	139	12	starting	starting	NOUN
american_scientific_journal-3609	139	13	point	point	NOUN
american_scientific_journal-3609	139	14	and	and	CCONJ
american_scientific_journal-3609	139	15	the	the	DET
american_scientific_journal-3609	139	16	parking	parking	NOUN
american_scientific_journal-3609	139	17	maneuver	maneuver	NOUN
american_scientific_journal-3609	139	18	will	will	AUX
american_scientific_journal-3609	139	19	start	start	VERB
american_scientific_journal-3609	139	20	at	at	ADP
american_scientific_journal-3609	139	21	this	this	DET
american_scientific_journal-3609	139	22	point	point	NOUN
american_scientific_journal-3609	139	23	.	.	PUNCT
american_scientific_journal-3609	140	1	the	the	DET
american_scientific_journal-3609	140	2	changing	changing	NOUN
american_scientific_journal-3609	140	3	of	of	ADP
american_scientific_journal-3609	140	4	starting	start	VERB
american_scientific_journal-3609	140	5	point	point	NOUN
american_scientific_journal-3609	140	6	will	will	AUX
american_scientific_journal-3609	140	7	act	act	VERB
american_scientific_journal-3609	140	8	on	on	ADP
american_scientific_journal-3609	140	9	the	the	DET
american_scientific_journal-3609	140	10	parking	parking	NOUN
american_scientific_journal-3609	140	11	path	path	NOUN
american_scientific_journal-3609	140	12	.	.	PUNCT
american_scientific_journal-3609	141	1	the	the	DET
american_scientific_journal-3609	141	2	parking	parking	NOUN
american_scientific_journal-3609	141	3	path	path	NOUN
american_scientific_journal-3609	141	4	can	can	AUX
american_scientific_journal-3609	141	5	be	be	AUX
american_scientific_journal-3609	141	6	moved	move	VERB
american_scientific_journal-3609	141	7	by	by	ADP
american_scientific_journal-3609	141	8	subtracting	subtract	VERB
american_scientific_journal-3609	141	9	some	some	DET
american_scientific_journal-3609	141	10	distance	distance	NOUN
american_scientific_journal-3609	141	11	d	d	NOUN
american_scientific_journal-3609	141	12	from	from	ADP
american_scientific_journal-3609	141	13	the	the	DET
american_scientific_journal-3609	141	14	∆𝑠𝑠.	∆𝑠𝑠.	NOUN
american_scientific_journal-3609	141	15	finally	finally	ADV
american_scientific_journal-3609	141	16	,	,	PUNCT
american_scientific_journal-3609	141	17	the	the	DET
american_scientific_journal-3609	141	18	green	green	PROPN
american_scientific_journal-3609	141	19	circle	circle	PROPN
american_scientific_journal-3609	141	20	bumper	bumper	NOUN
american_scientific_journal-3609	141	21	collision	collision	PROPN
american_scientific_journal-3609	141	22	free	free	ADJ
american_scientific_journal-3609	141	23	path	path	NOUN
american_scientific_journal-3609	141	24	is	be	AUX
american_scientific_journal-3609	141	25	got	get	VERB
american_scientific_journal-3609	141	26	from	from	ADP
american_scientific_journal-3609	141	27	moving	move	VERB
american_scientific_journal-3609	141	28	the	the	DET
american_scientific_journal-3609	141	29	yellow	yellow	ADJ
american_scientific_journal-3609	141	30	colour	colour	NOUN
american_scientific_journal-3609	141	31	s	s	ADV
american_scientific_journal-3609	141	32	-	-	PUNCT
american_scientific_journal-3609	141	33	shaped	shape	VERB
american_scientific_journal-3609	141	34	path	path	NOUN
american_scientific_journal-3609	141	35	to	to	ADP
american_scientific_journal-3609	141	36	the	the	DET
american_scientific_journal-3609	141	37	purple	purple	ADJ
american_scientific_journal-3609	141	38	colour	colour	NOUN
american_scientific_journal-3609	141	39	s	s	NOUN
american_scientific_journal-3609	141	40	-	-	PUNCT
american_scientific_journal-3609	141	41	shaped	shape	VERB
american_scientific_journal-3609	141	42	path	path	NOUN
american_scientific_journal-3609	141	43	.	.	PUNCT
american_scientific_journal-3609	142	1	figure	figure	VERB
american_scientific_journal-3609	142	2	7	7	NUM
american_scientific_journal-3609	142	3	:	:	PUNCT
american_scientific_journal-3609	142	4	geometrical	geometrical	ADJ
american_scientific_journal-3609	142	5	calculation	calculation	NOUN
american_scientific_journal-3609	142	6	of	of	ADP
american_scientific_journal-3609	142	7	initial	initial	ADJ
american_scientific_journal-3609	142	8	position	position	NOUN
american_scientific_journal-3609	142	9	to	to	ADP
american_scientific_journal-3609	142	10	starting	start	VERB
american_scientific_journal-3609	142	11	position	position	NOUN
american_scientific_journal-3609	142	12	american	american	PROPN
american_scientific_journal-3609	142	13	scientific	scientific	ADJ
american_scientific_journal-3609	142	14	research	research	NOUN
american_scientific_journal-3609	142	15	journal	journal	NOUN
american_scientific_journal-3609	142	16	for	for	ADP
american_scientific_journal-3609	142	17	engineering	engineering	NOUN
american_scientific_journal-3609	142	18	,	,	PUNCT
american_scientific_journal-3609	142	19	technology	technology	NOUN
american_scientific_journal-3609	142	20	,	,	PUNCT
american_scientific_journal-3609	142	21	and	and	CCONJ
american_scientific_journal-3609	142	22	sciences	science	NOUN
american_scientific_journal-3609	142	23	(	(	PUNCT
american_scientific_journal-3609	142	24	asrjets	asrjet	NOUN
american_scientific_journal-3609	142	25	)	)	PUNCT
american_scientific_journal-3609	142	26	(	(	PUNCT
american_scientific_journal-3609	142	27	2017	2017	NUM
american_scientific_journal-3609	142	28	)	)	PUNCT
american_scientific_journal-3609	142	29	volume	volume	NOUN
american_scientific_journal-3609	142	30	38	38	NUM
american_scientific_journal-3609	142	31	,	,	PUNCT
american_scientific_journal-3609	142	32	no	no	DET
american_scientific_journal-3609	142	33	2	2	NUM
american_scientific_journal-3609	142	34	,	,	PUNCT
american_scientific_journal-3609	142	35	pp	pp	ADV
american_scientific_journal-3609	142	36	23	23	NUM
american_scientific_journal-3609	142	37	-	-	SYM
american_scientific_journal-3609	142	38	41	41	NUM
american_scientific_journal-3609	142	39	31	31	NUM
american_scientific_journal-3609	142	40	4	4	NUM
american_scientific_journal-3609	142	41	.	.	PUNCT
american_scientific_journal-3609	143	1	minimum	minimum	ADJ
american_scientific_journal-3609	143	2	and	and	CCONJ
american_scientific_journal-3609	143	3	maximum	maximum	ADJ
american_scientific_journal-3609	143	4	lateral	lateral	ADJ
american_scientific_journal-3609	143	5	distance	distance	NOUN
american_scientific_journal-3609	143	6	lateral	lateral	ADJ
american_scientific_journal-3609	143	7	distance	distance	NOUN
american_scientific_journal-3609	143	8	means	mean	VERB
american_scientific_journal-3609	143	9	the	the	DET
american_scientific_journal-3609	143	10	amount	amount	NOUN
american_scientific_journal-3609	143	11	of	of	ADP
american_scientific_journal-3609	143	12	space	space	NOUN
american_scientific_journal-3609	143	13	between	between	ADP
american_scientific_journal-3609	143	14	the	the	DET
american_scientific_journal-3609	143	15	parking	parking	NOUN
american_scientific_journal-3609	143	16	robot	robot	NOUN
american_scientific_journal-3609	143	17	and	and	CCONJ
american_scientific_journal-3609	143	18	the	the	DET
american_scientific_journal-3609	143	19	second	second	ADJ
american_scientific_journal-3609	143	20	car	car	NOUN
american_scientific_journal-3609	143	21	parallel	parallel	NOUN
american_scientific_journal-3609	143	22	offset	offset	NOUN
american_scientific_journal-3609	143	23	.	.	PUNCT
american_scientific_journal-3609	144	1	the	the	DET
american_scientific_journal-3609	144	2	sshape	sshape	NOUN
american_scientific_journal-3609	144	3	trajectory	trajectory	NOUN
american_scientific_journal-3609	144	4	parking	parking	NOUN
american_scientific_journal-3609	144	5	path	path	NOUN
american_scientific_journal-3609	144	6	can	can	AUX
american_scientific_journal-3609	144	7	be	be	AUX
american_scientific_journal-3609	144	8	changed	change	VERB
american_scientific_journal-3609	144	9	based	base	VERB
american_scientific_journal-3609	144	10	on	on	ADP
american_scientific_journal-3609	144	11	the	the	DET
american_scientific_journal-3609	144	12	lateral	lateral	ADJ
american_scientific_journal-3609	144	13	distance	distance	NOUN
american_scientific_journal-3609	144	14	.	.	PUNCT
american_scientific_journal-3609	145	1	the	the	DET
american_scientific_journal-3609	145	2	larger	large	ADJ
american_scientific_journal-3609	145	3	the	the	DET
american_scientific_journal-3609	145	4	lateral	lateral	ADJ
american_scientific_journal-3609	145	5	distance	distance	NOUN
american_scientific_journal-3609	145	6	is	be	AUX
american_scientific_journal-3609	145	7	,	,	PUNCT
american_scientific_journal-3609	145	8	the	the	PRON
american_scientific_journal-3609	145	9	longer	long	ADJ
american_scientific_journal-3609	145	10	the	the	DET
american_scientific_journal-3609	145	11	parking	parking	NOUN
american_scientific_journal-3609	145	12	path	path	NOUN
american_scientific_journal-3609	145	13	follows	follow	VERB
american_scientific_journal-3609	145	14	.	.	PUNCT
american_scientific_journal-3609	146	1	the	the	DET
american_scientific_journal-3609	146	2	geometrical	geometrical	ADJ
american_scientific_journal-3609	146	3	calculations	calculation	NOUN
american_scientific_journal-3609	146	4	of	of	ADP
american_scientific_journal-3609	146	5	minimum	minimum	ADJ
american_scientific_journal-3609	146	6	and	and	CCONJ
american_scientific_journal-3609	146	7	maximum	maximum	ADJ
american_scientific_journal-3609	146	8	lateral	lateral	ADJ
american_scientific_journal-3609	146	9	distance	distance	NOUN
american_scientific_journal-3609	146	10	are	be	AUX
american_scientific_journal-3609	146	11	shown	show	VERB
american_scientific_journal-3609	146	12	in	in	ADP
american_scientific_journal-3609	146	13	figure	figure	NOUN
american_scientific_journal-3609	146	14	8	8	NUM
american_scientific_journal-3609	146	15	and	and	CCONJ
american_scientific_journal-3609	146	16	10	10	NUM
american_scientific_journal-3609	146	17	.	.	X
american_scientific_journal-3609	147	1	4.1	4.1	NUM
american_scientific_journal-3609	147	2	.	.	PUNCT
american_scientific_journal-3609	148	1	minimum	minimum	ADJ
american_scientific_journal-3609	148	2	lateral	lateral	ADJ
american_scientific_journal-3609	148	3	distance	distance	NOUN
american_scientific_journal-3609	148	4	figure	figure	NOUN
american_scientific_journal-3609	148	5	8	8	NUM
american_scientific_journal-3609	148	6	:	:	PUNCT
american_scientific_journal-3609	148	7	parking	parking	NOUN
american_scientific_journal-3609	148	8	with	with	ADP
american_scientific_journal-3609	148	9	minimum	minimum	ADJ
american_scientific_journal-3609	148	10	lateral	lateral	ADJ
american_scientific_journal-3609	148	11	distance	distance	NOUN
american_scientific_journal-3609	148	12	circular	circular	ADJ
american_scientific_journal-3609	148	13	equation	equation	NOUN
american_scientific_journal-3609	148	14	;	;	PUNCT
american_scientific_journal-3609	148	15	(	(	PUNCT
american_scientific_journal-3609	148	16	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-3609	148	17	−	−	PRON
american_scientific_journal-3609	148	18	ℎ)2	ℎ)2	NOUN
american_scientific_journal-3609	148	19	+	+	CCONJ
american_scientific_journal-3609	148	20	(	(	PUNCT
american_scientific_journal-3609	148	21	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-3609	148	22	−	−	PROPN
american_scientific_journal-3609	148	23	𝑘𝑘)2	𝑘𝑘)2	PROPN
american_scientific_journal-3609	148	24	=	=	PUNCT
american_scientific_journal-3609	149	1	𝑟𝑟2	𝑟𝑟2	INTJ
american_scientific_journal-3609	149	2	(	(	PUNCT
american_scientific_journal-3609	149	3	12	12	NUM
american_scientific_journal-3609	149	4	)	)	PUNCT
american_scientific_journal-3609	149	5	center	center	NOUN
american_scientific_journal-3609	149	6	of	of	ADP
american_scientific_journal-3609	149	7	coordinate	coordinate	NOUN
american_scientific_journal-3609	149	8	𝐶𝐶𝑓𝑓	𝐶𝐶𝑓𝑓	PROPN
american_scientific_journal-3609	149	9	(	(	PUNCT
american_scientific_journal-3609	149	10	0,0	0,0	NOUN
american_scientific_journal-3609	149	11	)	)	PUNCT
american_scientific_journal-3609	149	12	is	be	AUX
american_scientific_journal-3609	149	13	used	use	VERB
american_scientific_journal-3609	149	14	as	as	ADP
american_scientific_journal-3609	149	15	origin	origin	NOUN
american_scientific_journal-3609	149	16	.	.	PUNCT
american_scientific_journal-3609	150	1	the	the	DET
american_scientific_journal-3609	150	2	red	red	ADJ
american_scientific_journal-3609	150	3	circle	circle	NOUN
american_scientific_journal-3609	150	4	is	be	AUX
american_scientific_journal-3609	150	5	for	for	ADP
american_scientific_journal-3609	150	6	the	the	DET
american_scientific_journal-3609	150	7	second	second	ADJ
american_scientific_journal-3609	150	8	circle	circle	NOUN
american_scientific_journal-3609	150	9	moving	moving	NOUN
american_scientific_journal-3609	150	10	center	center	NOUN
american_scientific_journal-3609	150	11	point	point	NOUN
american_scientific_journal-3609	150	12	to	to	PART
american_scientific_journal-3609	150	13	be	be	AUX
american_scientific_journal-3609	150	14	tangentially	tangentially	ADV
american_scientific_journal-3609	150	15	connected	connect	VERB
american_scientific_journal-3609	150	16	with	with	ADP
american_scientific_journal-3609	150	17	the	the	DET
american_scientific_journal-3609	150	18	violet	violet	PROPN
american_scientific_journal-3609	150	19	circle	circle	NOUN
american_scientific_journal-3609	150	20	.	.	PUNCT
american_scientific_journal-3609	151	1	(	(	PUNCT
american_scientific_journal-3609	151	2	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-3609	151	3	−	−	PROPN
american_scientific_journal-3609	151	4	0)2	0)2	NOUN
american_scientific_journal-3609	152	1	+	+	CCONJ
american_scientific_journal-3609	152	2	(	(	PUNCT
american_scientific_journal-3609	152	3	𝑦𝑦	𝑦𝑦	ADP
american_scientific_journal-3609	152	4	−	−	NOUN
american_scientific_journal-3609	152	5	0)2	0)2	NUM
american_scientific_journal-3609	152	6	=	=	PUNCT
american_scientific_journal-3609	153	1	𝑟𝑟𝑠𝑠2	𝑟𝑟𝑠𝑠2	X
american_scientific_journal-3609	153	2	(	(	PUNCT
american_scientific_journal-3609	153	3	13	13	NUM
american_scientific_journal-3609	153	4	)	)	PUNCT
american_scientific_journal-3609	153	5	american	american	ADJ
american_scientific_journal-3609	153	6	scientific	scientific	ADJ
american_scientific_journal-3609	153	7	research	research	NOUN
american_scientific_journal-3609	153	8	journal	journal	NOUN
american_scientific_journal-3609	153	9	for	for	ADP
american_scientific_journal-3609	153	10	engineering	engineering	NOUN
american_scientific_journal-3609	153	11	,	,	PUNCT
american_scientific_journal-3609	153	12	technology	technology	NOUN
american_scientific_journal-3609	153	13	,	,	PUNCT
american_scientific_journal-3609	153	14	and	and	CCONJ
american_scientific_journal-3609	153	15	sciences	science	NOUN
american_scientific_journal-3609	153	16	(	(	PUNCT
american_scientific_journal-3609	153	17	asrjets	asrjet	NOUN
american_scientific_journal-3609	153	18	)	)	PUNCT
american_scientific_journal-3609	153	19	(	(	PUNCT
american_scientific_journal-3609	153	20	2017	2017	NUM
american_scientific_journal-3609	153	21	)	)	PUNCT
american_scientific_journal-3609	153	22	volume	volume	NOUN
american_scientific_journal-3609	153	23	38	38	NUM
american_scientific_journal-3609	153	24	,	,	PUNCT
american_scientific_journal-3609	153	25	no	no	DET
american_scientific_journal-3609	153	26	2	2	NUM
american_scientific_journal-3609	153	27	,	,	PUNCT
american_scientific_journal-3609	153	28	pp	pp	ADV
american_scientific_journal-3609	153	29	23	23	NUM
american_scientific_journal-3609	153	30	-	-	SYM
american_scientific_journal-3609	153	31	41	41	NUM
american_scientific_journal-3609	153	32	32	32	NUM
american_scientific_journal-3609	153	33	to	to	PART
american_scientific_journal-3609	153	34	avoid	avoid	VERB
american_scientific_journal-3609	153	35	collision	collision	NOUN
american_scientific_journal-3609	153	36	with	with	ADP
american_scientific_journal-3609	153	37	the	the	DET
american_scientific_journal-3609	153	38	second	second	ADJ
american_scientific_journal-3609	153	39	car	car	NOUN
american_scientific_journal-3609	153	40	,	,	PUNCT
american_scientific_journal-3609	153	41	the	the	DET
american_scientific_journal-3609	153	42	parking	parking	NOUN
american_scientific_journal-3609	153	43	robot	robot	NOUN
american_scientific_journal-3609	153	44	rear	rear	ADJ
american_scientific_journal-3609	153	45	moving	moving	NOUN
american_scientific_journal-3609	153	46	path	path	NOUN
american_scientific_journal-3609	153	47	and	and	CCONJ
american_scientific_journal-3609	153	48	its	its	PRON
american_scientific_journal-3609	153	49	circular	circular	ADJ
american_scientific_journal-3609	153	50	equation	equation	NOUN
american_scientific_journal-3609	153	51	is	be	AUX
american_scientific_journal-3609	153	52	:	:	PUNCT
american_scientific_journal-3609	153	53	ℎ	ℎ	PROPN
american_scientific_journal-3609	153	54	=	=	SYM
american_scientific_journal-3609	153	55	𝐿𝐿𝑚𝑚𝑖𝑖𝑚𝑚	𝐿𝐿𝑚𝑚𝑖𝑖𝑚𝑚	PROPN
american_scientific_journal-3609	153	56	−	−	PROPN
american_scientific_journal-3609	153	57	𝑃𝑃1	𝑃𝑃1	PROPN
american_scientific_journal-3609	153	58	𝑘𝑘	𝑘𝑘	NOUN
american_scientific_journal-3609	153	59	=	=	PUNCT
american_scientific_journal-3609	154	1	𝑅𝑅𝑖𝑖	𝑅𝑅𝑖𝑖	X
american_scientific_journal-3609	154	2	(	(	PUNCT
american_scientific_journal-3609	154	3	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-3609	154	4	−	−	PROPN
american_scientific_journal-3609	154	5	ℎ)2	ℎ)2	NOUN
american_scientific_journal-3609	154	6	+	+	CCONJ
american_scientific_journal-3609	154	7	(	(	PUNCT
american_scientific_journal-3609	154	8	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-3609	154	9	−	−	PROPN
american_scientific_journal-3609	154	10	𝑘𝑘)2	𝑘𝑘)2	PROPN
american_scientific_journal-3609	154	11	=	=	PUNCT
american_scientific_journal-3609	154	12	𝑟𝑟𝑠𝑠2	𝑟𝑟𝑠𝑠2	X
american_scientific_journal-3609	154	13	(	(	PUNCT
american_scientific_journal-3609	154	14	14	14	NUM
american_scientific_journal-3609	154	15	)	)	PUNCT
american_scientific_journal-3609	154	16	by	by	ADP
american_scientific_journal-3609	154	17	solving	solve	VERB
american_scientific_journal-3609	154	18	equations	equation	NOUN
american_scientific_journal-3609	154	19	(	(	PUNCT
american_scientific_journal-3609	154	20	13	13	NUM
american_scientific_journal-3609	154	21	)	)	PUNCT
american_scientific_journal-3609	154	22	and	and	CCONJ
american_scientific_journal-3609	154	23	(	(	PUNCT
american_scientific_journal-3609	154	24	14	14	NUM
american_scientific_journal-3609	154	25	)	)	PUNCT
american_scientific_journal-3609	154	26	,	,	PUNCT
american_scientific_journal-3609	154	27	it	it	PRON
american_scientific_journal-3609	154	28	can	can	AUX
american_scientific_journal-3609	154	29	be	be	AUX
american_scientific_journal-3609	154	30	got	get	VERB
american_scientific_journal-3609	154	31	two	two	NUM
american_scientific_journal-3609	154	32	tangent	tangent	ADJ
american_scientific_journal-3609	154	33	points	point	NOUN
american_scientific_journal-3609	154	34	(	(	PUNCT
american_scientific_journal-3609	154	35	x1	x1	PROPN
american_scientific_journal-3609	154	36	,	,	PUNCT
american_scientific_journal-3609	154	37	y1	y1	PROPN
american_scientific_journal-3609	154	38	)	)	PUNCT
american_scientific_journal-3609	154	39	and	and	CCONJ
american_scientific_journal-3609	154	40	(	(	PUNCT
american_scientific_journal-3609	154	41	x2	x2	PROPN
american_scientific_journal-3609	154	42	,	,	PUNCT
american_scientific_journal-3609	154	43	y2	y2	PROPN
american_scientific_journal-3609	154	44	)	)	PUNCT
american_scientific_journal-3609	154	45	.	.	PUNCT
american_scientific_journal-3609	155	1	the	the	DET
american_scientific_journal-3609	155	2	larger	large	ADJ
american_scientific_journal-3609	155	3	x	x	NOUN
american_scientific_journal-3609	155	4	and	and	CCONJ
american_scientific_journal-3609	155	5	smaller	small	ADJ
american_scientific_journal-3609	155	6	y	y	NOUN
american_scientific_journal-3609	155	7	as	as	ADP
american_scientific_journal-3609	155	8	(	(	PUNCT
american_scientific_journal-3609	155	9	xs	xs	PROPN
american_scientific_journal-3609	155	10	,	,	PUNCT
american_scientific_journal-3609	155	11	ys	ys	NOUN
american_scientific_journal-3609	155	12	)	)	PUNCT
american_scientific_journal-3609	155	13	will	will	AUX
american_scientific_journal-3609	155	14	be	be	AUX
american_scientific_journal-3609	155	15	defined	define	VERB
american_scientific_journal-3609	155	16	as	as	ADP
american_scientific_journal-3609	155	17	c2	c2	PROPN
american_scientific_journal-3609	155	18	center	center	PROPN
american_scientific_journal-3609	155	19	point	point	NOUN
american_scientific_journal-3609	155	20	.	.	PUNCT
american_scientific_journal-3609	156	1	and	and	CCONJ
american_scientific_journal-3609	156	2	then	then	ADV
american_scientific_journal-3609	156	3	,	,	PUNCT
american_scientific_journal-3609	156	4	the	the	DET
american_scientific_journal-3609	156	5	minimum	minimum	ADJ
american_scientific_journal-3609	156	6	lateral	lateral	ADJ
american_scientific_journal-3609	156	7	distance	distance	NOUN
american_scientific_journal-3609	156	8	can	can	AUX
american_scientific_journal-3609	156	9	be	be	AUX
american_scientific_journal-3609	156	10	calculated	calculate	VERB
american_scientific_journal-3609	156	11	.	.	PUNCT
american_scientific_journal-3609	157	1	figure	figure	VERB
american_scientific_journal-3609	157	2	9	9	NUM
american_scientific_journal-3609	157	3	:	:	PUNCT
american_scientific_journal-3609	157	4	finding	find	VERB
american_scientific_journal-3609	157	5	the	the	DET
american_scientific_journal-3609	157	6	minimum	minimum	ADJ
american_scientific_journal-3609	157	7	lateral	lateral	ADJ
american_scientific_journal-3609	157	8	distance	distance	NOUN
american_scientific_journal-3609	157	9	𝑑𝑑	𝑑𝑑	X
american_scientific_journal-3609	158	1	=	=	SYM
american_scientific_journal-3609	158	2	�	�	PROPN
american_scientific_journal-3609	158	3	𝑅𝑅𝑖𝑖2	𝑅𝑅𝑖𝑖2	NUM
american_scientific_journal-3609	158	4	−	−	PROPN
american_scientific_journal-3609	158	5	(	(	PUNCT
american_scientific_journal-3609	159	1	𝑥𝑥𝑠𝑠	𝑥𝑥𝑠𝑠	ADJ
american_scientific_journal-3609	159	2	−	−	PROPN
american_scientific_journal-3609	159	3	(	(	PUNCT
american_scientific_journal-3609	159	4	𝐿𝐿𝑚𝑚𝑖𝑖𝑚𝑚	𝐿𝐿𝑚𝑚𝑖𝑖𝑚𝑚	PROPN
american_scientific_journal-3609	159	5	−	−	PROPN
american_scientific_journal-3609	159	6	𝑃𝑃1))2	𝑃𝑃1))2	PROPN
american_scientific_journal-3609	159	7	(	(	PUNCT
american_scientific_journal-3609	159	8	15	15	NUM
american_scientific_journal-3609	159	9	)	)	PUNCT
american_scientific_journal-3609	159	10	∆𝑦𝑦𝑚𝑚𝑖𝑖𝑚𝑚	∆𝑦𝑦𝑚𝑚𝑖𝑖𝑚𝑚	NOUN
american_scientific_journal-3609	159	11	=	=	PUNCT
american_scientific_journal-3609	159	12	𝑅𝑅𝑖𝑖	𝑅𝑅𝑖𝑖	PRON
american_scientific_journal-3609	159	13	−	−	PROPN
american_scientific_journal-3609	159	14	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3609	159	15	(	(	PUNCT
american_scientific_journal-3609	159	16	16	16	NUM
american_scientific_journal-3609	159	17	)	)	PUNCT
american_scientific_journal-3609	159	18	4.2	4.2	NUM
american_scientific_journal-3609	159	19	.	.	PUNCT
american_scientific_journal-3609	160	1	maximum	maximum	ADJ
american_scientific_journal-3609	160	2	lateral	lateral	ADJ
american_scientific_journal-3609	160	3	distance	distance	NOUN
american_scientific_journal-3609	160	4	figure	figure	NOUN
american_scientific_journal-3609	160	5	10	10	NUM
american_scientific_journal-3609	160	6	:	:	PUNCT
american_scientific_journal-3609	160	7	parking	parking	NOUN
american_scientific_journal-3609	160	8	with	with	ADP
american_scientific_journal-3609	160	9	maximum	maximum	ADJ
american_scientific_journal-3609	160	10	lateral	lateral	ADJ
american_scientific_journal-3609	160	11	distance	distance	NOUN
american_scientific_journal-3609	160	12	∆𝑦𝑦𝑚𝑚𝑚𝑚𝑥𝑥	∆𝑦𝑦𝑚𝑚𝑚𝑚𝑥𝑥	ADJ
american_scientific_journal-3609	160	13	=	=	SYM
american_scientific_journal-3609	160	14	2𝑅𝑅𝑖𝑖	2𝑅𝑅𝑖𝑖	NUM
american_scientific_journal-3609	160	15	(	(	PUNCT
american_scientific_journal-3609	160	16	17	17	NUM
american_scientific_journal-3609	160	17	)	)	PUNCT
american_scientific_journal-3609	160	18	american	american	ADJ
american_scientific_journal-3609	160	19	scientific	scientific	ADJ
american_scientific_journal-3609	160	20	research	research	NOUN
american_scientific_journal-3609	160	21	journal	journal	NOUN
american_scientific_journal-3609	160	22	for	for	ADP
american_scientific_journal-3609	160	23	engineering	engineering	NOUN
american_scientific_journal-3609	160	24	,	,	PUNCT
american_scientific_journal-3609	160	25	technology	technology	NOUN
american_scientific_journal-3609	160	26	,	,	PUNCT
american_scientific_journal-3609	160	27	and	and	CCONJ
american_scientific_journal-3609	160	28	sciences	science	NOUN
american_scientific_journal-3609	160	29	(	(	PUNCT
american_scientific_journal-3609	160	30	asrjets	asrjet	NOUN
american_scientific_journal-3609	160	31	)	)	PUNCT
american_scientific_journal-3609	160	32	(	(	PUNCT
american_scientific_journal-3609	160	33	2017	2017	NUM
american_scientific_journal-3609	160	34	)	)	PUNCT
american_scientific_journal-3609	160	35	volume	volume	NOUN
american_scientific_journal-3609	160	36	38	38	NUM
american_scientific_journal-3609	160	37	,	,	PUNCT
american_scientific_journal-3609	160	38	no	no	DET
american_scientific_journal-3609	160	39	2	2	NUM
american_scientific_journal-3609	160	40	,	,	PUNCT
american_scientific_journal-3609	160	41	pp	pp	ADV
american_scientific_journal-3609	160	42	23	23	NUM
american_scientific_journal-3609	160	43	-	-	SYM
american_scientific_journal-3609	160	44	41	41	NUM
american_scientific_journal-3609	160	45	33	33	NUM
american_scientific_journal-3609	160	46	5	5	NUM
american_scientific_journal-3609	160	47	.	.	PUNCT
american_scientific_journal-3609	160	48	working	work	VERB
american_scientific_journal-3609	160	49	environment	environment	NOUN
american_scientific_journal-3609	160	50	and	and	CCONJ
american_scientific_journal-3609	160	51	parking	parking	NOUN
american_scientific_journal-3609	160	52	algorithm	algorithm	NOUN
american_scientific_journal-3609	160	53	5.1	5.1	NUM
american_scientific_journal-3609	160	54	.	.	PUNCT
american_scientific_journal-3609	161	1	working	work	VERB
american_scientific_journal-3609	161	2	environment	environment	NOUN
american_scientific_journal-3609	161	3	in	in	ADP
american_scientific_journal-3609	161	4	this	this	DET
american_scientific_journal-3609	161	5	research	research	NOUN
american_scientific_journal-3609	161	6	,	,	PUNCT
american_scientific_journal-3609	161	7	the	the	DET
american_scientific_journal-3609	161	8	parking	parking	NOUN
american_scientific_journal-3609	161	9	will	will	AUX
american_scientific_journal-3609	161	10	be	be	AUX
american_scientific_journal-3609	161	11	done	do	VERB
american_scientific_journal-3609	161	12	in	in	ADP
american_scientific_journal-3609	161	13	a	a	DET
american_scientific_journal-3609	161	14	known	know	VERB
american_scientific_journal-3609	161	15	environment	environment	NOUN
american_scientific_journal-3609	161	16	.	.	PUNCT
american_scientific_journal-3609	162	1	it	it	PRON
american_scientific_journal-3609	162	2	is	be	AUX
american_scientific_journal-3609	162	3	assumed	assume	VERB
american_scientific_journal-3609	162	4	that	that	SCONJ
american_scientific_journal-3609	162	5	there	there	PRON
american_scientific_journal-3609	162	6	has	have	VERB
american_scientific_journal-3609	162	7	a	a	DET
american_scientific_journal-3609	162	8	wall	wall	NOUN
american_scientific_journal-3609	162	9	that	that	PRON
american_scientific_journal-3609	162	10	is	be	AUX
american_scientific_journal-3609	162	11	right	right	ADJ
american_scientific_journal-3609	162	12	side	side	NOUN
american_scientific_journal-3609	162	13	of	of	ADP
american_scientific_journal-3609	162	14	the	the	DET
american_scientific_journal-3609	162	15	parking	parking	NOUN
american_scientific_journal-3609	162	16	robot	robot	NOUN
american_scientific_journal-3609	162	17	and	and	CCONJ
american_scientific_journal-3609	162	18	there	there	PRON
american_scientific_journal-3609	162	19	have	have	VERB
american_scientific_journal-3609	162	20	a	a	DET
american_scientific_journal-3609	162	21	gap	gap	NOUN
american_scientific_journal-3609	162	22	between	between	ADP
american_scientific_journal-3609	162	23	the	the	DET
american_scientific_journal-3609	162	24	robot	robot	NOUN
american_scientific_journal-3609	162	25	and	and	CCONJ
american_scientific_journal-3609	162	26	the	the	DET
american_scientific_journal-3609	162	27	wall	wall	NOUN
american_scientific_journal-3609	162	28	.	.	PUNCT
american_scientific_journal-3609	163	1	the	the	DET
american_scientific_journal-3609	163	2	gap	gap	NOUN
american_scientific_journal-3609	163	3	distance	distance	NOUN
american_scientific_journal-3609	163	4	is	be	AUX
american_scientific_journal-3609	163	5	constraint	constraint	NOUN
american_scientific_journal-3609	163	6	on	on	ADP
american_scientific_journal-3609	163	7	two	two	NUM
american_scientific_journal-3609	163	8	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	163	9	sensors	sensor	NOUN
american_scientific_journal-3609	163	10	working	working	NOUN
american_scientific_journal-3609	163	11	area	area	NOUN
american_scientific_journal-3609	163	12	.	.	PUNCT
american_scientific_journal-3609	164	1	it	it	PRON
american_scientific_journal-3609	164	2	has	have	AUX
american_scientific_journal-3609	164	3	explained	explain	VERB
american_scientific_journal-3609	164	4	in	in	ADP
american_scientific_journal-3609	164	5	section	section	PROPN
american_scientific_journal-3609	164	6	iii	iii	PROPN
american_scientific_journal-3609	164	7	.	.	PUNCT
american_scientific_journal-3609	165	1	according	accord	VERB
american_scientific_journal-3609	165	2	to	to	ADP
american_scientific_journal-3609	165	3	the	the	DET
american_scientific_journal-3609	165	4	prototype	prototype	NOUN
american_scientific_journal-3609	165	5	design	design	NOUN
american_scientific_journal-3609	165	6	and	and	CCONJ
american_scientific_journal-3609	165	7	sensor	sensor	NOUN
american_scientific_journal-3609	165	8	constraint	constraint	NOUN
american_scientific_journal-3609	165	9	area	area	NOUN
american_scientific_journal-3609	165	10	,	,	PUNCT
american_scientific_journal-3609	165	11	the	the	DET
american_scientific_journal-3609	165	12	maximum	maximum	ADJ
american_scientific_journal-3609	165	13	gap	gap	NOUN
american_scientific_journal-3609	165	14	length	length	NOUN
american_scientific_journal-3609	165	15	is	be	AUX
american_scientific_journal-3609	165	16	60.69	60.69	NUM
american_scientific_journal-3609	165	17	(	(	PUNCT
american_scientific_journal-3609	165	18	cm	cm	NOUN
american_scientific_journal-3609	165	19	)	)	PUNCT
american_scientific_journal-3609	165	20	and	and	CCONJ
american_scientific_journal-3609	165	21	the	the	DET
american_scientific_journal-3609	165	22	two	two	NUM
american_scientific_journal-3609	165	23	front	front	ADJ
american_scientific_journal-3609	165	24	and	and	CCONJ
american_scientific_journal-3609	165	25	rear	rear	ADJ
american_scientific_journal-3609	165	26	parked	parked	ADJ
american_scientific_journal-3609	165	27	cars	car	NOUN
american_scientific_journal-3609	165	28	can	can	AUX
american_scientific_journal-3609	165	29	be	be	AUX
american_scientific_journal-3609	165	30	located	locate	VERB
american_scientific_journal-3609	165	31	in	in	ADP
american_scientific_journal-3609	165	32	this	this	DET
american_scientific_journal-3609	165	33	range	range	NOUN
american_scientific_journal-3609	165	34	.	.	PUNCT
american_scientific_journal-3609	166	1	it	it	PRON
american_scientific_journal-3609	166	2	was	be	AUX
american_scientific_journal-3609	166	3	also	also	ADV
american_scientific_journal-3609	166	4	needed	need	VERB
american_scientific_journal-3609	166	5	to	to	PART
american_scientific_journal-3609	166	6	count	count	VERB
american_scientific_journal-3609	166	7	minimum	minimum	ADJ
american_scientific_journal-3609	166	8	detecting	detecting	NOUN
american_scientific_journal-3609	166	9	length	length	NOUN
american_scientific_journal-3609	166	10	(	(	PUNCT
american_scientific_journal-3609	166	11	2	2	NUM
american_scientific_journal-3609	166	12	cm	cm	NOUN
american_scientific_journal-3609	166	13	)	)	PUNCT
american_scientific_journal-3609	166	14	of	of	ADP
american_scientific_journal-3609	166	15	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	166	16	sensor	sensor	NOUN
american_scientific_journal-3609	166	17	.	.	PUNCT
american_scientific_journal-3609	167	1	therefore	therefore	ADV
american_scientific_journal-3609	167	2	,	,	PUNCT
american_scientific_journal-3609	167	3	the	the	DET
american_scientific_journal-3609	167	4	maximum	maximum	ADV
american_scientific_journal-3609	167	5	located	locate	VERB
american_scientific_journal-3609	167	6	length	length	NOUN
american_scientific_journal-3609	167	7	is	be	AUX
american_scientific_journal-3609	167	8	(	(	PUNCT
american_scientific_journal-3609	167	9	60.96cm-2	60.96cm-2	NOUN
american_scientific_journal-3609	167	10	cm	cm	NOUN
american_scientific_journal-3609	167	11	)	)	PUNCT
american_scientific_journal-3609	167	12	and	and	CCONJ
american_scientific_journal-3609	167	13	the	the	DET
american_scientific_journal-3609	167	14	minimum	minimum	NOUN
american_scientific_journal-3609	167	15	located	locate	VERB
american_scientific_journal-3609	167	16	length	length	NOUN
american_scientific_journal-3609	167	17	can	can	AUX
american_scientific_journal-3609	167	18	be	be	AUX
american_scientific_journal-3609	167	19	approximately	approximately	ADV
american_scientific_journal-3609	167	20	zero	zero	NUM
american_scientific_journal-3609	167	21	.	.	PUNCT
american_scientific_journal-3609	168	1	for	for	ADP
american_scientific_journal-3609	168	2	the	the	DET
american_scientific_journal-3609	168	3	parking	parking	NOUN
american_scientific_journal-3609	168	4	robot	robot	NOUN
american_scientific_journal-3609	168	5	,	,	PUNCT
american_scientific_journal-3609	168	6	the	the	DET
american_scientific_journal-3609	168	7	minimum	minimum	NOUN
american_scientific_journal-3609	168	8	offset	offset	NOUN
american_scientific_journal-3609	168	9	from	from	ADP
american_scientific_journal-3609	168	10	the	the	DET
american_scientific_journal-3609	168	11	wall	wall	NOUN
american_scientific_journal-3609	168	12	must	must	AUX
american_scientific_journal-3609	168	13	be	be	AUX
american_scientific_journal-3609	168	14	at	at	ADP
american_scientific_journal-3609	168	15	least	least	ADJ
american_scientific_journal-3609	168	16	its	its	PRON
american_scientific_journal-3609	168	17	width	width	NOUN
american_scientific_journal-3609	168	18	when	when	SCONJ
american_scientific_journal-3609	168	19	the	the	DET
american_scientific_journal-3609	168	20	parked	park	VERB
american_scientific_journal-3609	168	21	cars	car	NOUN
american_scientific_journal-3609	168	22	are	be	AUX
american_scientific_journal-3609	168	23	located	locate	VERB
american_scientific_journal-3609	168	24	at	at	ADP
american_scientific_journal-3609	168	25	the	the	DET
american_scientific_journal-3609	168	26	minimum	minimum	ADJ
american_scientific_journal-3609	168	27	offset	offset	NOUN
american_scientific_journal-3609	168	28	.	.	PUNCT
american_scientific_journal-3609	169	1	for	for	ADP
american_scientific_journal-3609	169	2	the	the	DET
american_scientific_journal-3609	169	3	parking	parking	NOUN
american_scientific_journal-3609	169	4	robot	robot	NOUN
american_scientific_journal-3609	169	5	,	,	PUNCT
american_scientific_journal-3609	169	6	left	leave	VERB
american_scientific_journal-3609	169	7	side	side	NOUN
american_scientific_journal-3609	169	8	of	of	ADP
american_scientific_journal-3609	169	9	the	the	DET
american_scientific_journal-3609	169	10	two	two	NUM
american_scientific_journal-3609	169	11	parked	park	VERB
american_scientific_journal-3609	169	12	car	car	NOUN
american_scientific_journal-3609	169	13	should	should	AUX
american_scientific_journal-3609	169	14	be	be	AUX
american_scientific_journal-3609	169	15	approximately	approximately	ADV
american_scientific_journal-3609	169	16	marginally	marginally	ADV
american_scientific_journal-3609	169	17	parallel	parallel	ADJ
american_scientific_journal-3609	169	18	.	.	PUNCT
american_scientific_journal-3609	170	1	the	the	DET
american_scientific_journal-3609	170	2	predefined	predefine	VERB
american_scientific_journal-3609	170	3	working	working	NOUN
american_scientific_journal-3609	170	4	environment	environment	NOUN
american_scientific_journal-3609	170	5	and	and	CCONJ
american_scientific_journal-3609	170	6	the	the	DET
american_scientific_journal-3609	170	7	whole	whole	ADJ
american_scientific_journal-3609	170	8	parking	parking	NOUN
american_scientific_journal-3609	170	9	procedure	procedure	NOUN
american_scientific_journal-3609	170	10	are	be	AUX
american_scientific_journal-3609	170	11	shown	show	VERB
american_scientific_journal-3609	170	12	in	in	ADP
american_scientific_journal-3609	170	13	figure	figure	NOUN
american_scientific_journal-3609	170	14	.	.	PUNCT
american_scientific_journal-3609	171	1	11	11	NUM
american_scientific_journal-3609	171	2	.	.	X
american_scientific_journal-3609	171	3	figure	figure	NOUN
american_scientific_journal-3609	171	4	11	11	NUM
american_scientific_journal-3609	171	5	:	:	PUNCT
american_scientific_journal-3609	171	6	predefined	predefine	VERB
american_scientific_journal-3609	171	7	working	working	NOUN
american_scientific_journal-3609	171	8	environment	environment	NOUN
american_scientific_journal-3609	171	9	and	and	CCONJ
american_scientific_journal-3609	171	10	parking	parking	NOUN
american_scientific_journal-3609	171	11	procedure	procedure	NOUN
american_scientific_journal-3609	171	12	5.2	5.2	NUM
american_scientific_journal-3609	171	13	.	.	PUNCT
american_scientific_journal-3609	172	1	parking	parking	NOUN
american_scientific_journal-3609	172	2	algorithm	algorithm	NOUN
american_scientific_journal-3609	172	3	there	there	PRON
american_scientific_journal-3609	172	4	are	be	VERB
american_scientific_journal-3609	172	5	five	five	NUM
american_scientific_journal-3609	172	6	states	state	NOUN
american_scientific_journal-3609	172	7	in	in	ADP
american_scientific_journal-3609	172	8	the	the	DET
american_scientific_journal-3609	172	9	overall	overall	ADJ
american_scientific_journal-3609	172	10	parking	parking	NOUN
american_scientific_journal-3609	172	11	procedure	procedure	NOUN
american_scientific_journal-3609	172	12	.	.	PUNCT
american_scientific_journal-3609	173	1	the	the	DET
american_scientific_journal-3609	173	2	changing	changing	NOUN
american_scientific_journal-3609	173	3	of	of	ADP
american_scientific_journal-3609	173	4	each	each	DET
american_scientific_journal-3609	173	5	state	state	NOUN
american_scientific_journal-3609	173	6	depends	depend	VERB
american_scientific_journal-3609	173	7	on	on	ADP
american_scientific_journal-3609	173	8	the	the	DET
american_scientific_journal-3609	173	9	sensor	sensor	NOUN
american_scientific_journal-3609	173	10	data	datum	NOUN
american_scientific_journal-3609	173	11	differences	difference	NOUN
american_scientific_journal-3609	173	12	.	.	PUNCT
american_scientific_journal-3609	174	1	the	the	DET
american_scientific_journal-3609	174	2	two	two	NUM
american_scientific_journal-3609	174	3	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	174	4	sensors	sensor	NOUN
american_scientific_journal-3609	174	5	are	be	AUX
american_scientific_journal-3609	174	6	fixed	fix	VERB
american_scientific_journal-3609	174	7	at	at	ADP
american_scientific_journal-3609	174	8	the	the	DET
american_scientific_journal-3609	174	9	right	right	ADJ
american_scientific_journal-3609	174	10	side	side	NOUN
american_scientific_journal-3609	174	11	of	of	ADP
american_scientific_journal-3609	174	12	the	the	DET
american_scientific_journal-3609	174	13	robot	robot	NOUN
american_scientific_journal-3609	174	14	and	and	CCONJ
american_scientific_journal-3609	174	15	it	it	PRON
american_scientific_journal-3609	174	16	was	be	AUX
american_scientific_journal-3609	174	17	defined	define	VERB
american_scientific_journal-3609	174	18	front	front	ADJ
american_scientific_journal-3609	174	19	one	one	NUM
american_scientific_journal-3609	174	20	is	be	AUX
american_scientific_journal-3609	174	21	u1	u1	NOUN
american_scientific_journal-3609	174	22	and	and	CCONJ
american_scientific_journal-3609	174	23	rear	rear	ADJ
american_scientific_journal-3609	174	24	one	one	NUM
american_scientific_journal-3609	174	25	is	be	AUX
american_scientific_journal-3609	174	26	u2	u2	NOUN
american_scientific_journal-3609	174	27	.	.	PUNCT
american_scientific_journal-3609	175	1	the	the	DET
american_scientific_journal-3609	175	2	detail	detail	NOUN
american_scientific_journal-3609	175	3	procedure	procedure	NOUN
american_scientific_journal-3609	175	4	can	can	AUX
american_scientific_journal-3609	175	5	be	be	AUX
american_scientific_journal-3609	175	6	well	well	ADV
american_scientific_journal-3609	175	7	known	know	VERB
american_scientific_journal-3609	175	8	from	from	ADP
american_scientific_journal-3609	175	9	the	the	DET
american_scientific_journal-3609	175	10	program	program	NOUN
american_scientific_journal-3609	175	11	flow	flow	NOUN
american_scientific_journal-3609	175	12	chart	chart	NOUN
american_scientific_journal-3609	175	13	shown	show	VERB
american_scientific_journal-3609	175	14	in	in	ADP
american_scientific_journal-3609	175	15	figure	figure	NOUN
american_scientific_journal-3609	175	16	.	.	PUNCT
american_scientific_journal-3609	176	1	12	12	NUM
american_scientific_journal-3609	176	2	.	.	PUNCT
american_scientific_journal-3609	176	3	u12	u12	PROPN
american_scientific_journal-3609	176	4	difference	difference	NOUN
american_scientific_journal-3609	176	5	=	=	SYM
american_scientific_journal-3609	176	6	u1	u1	NOUN
american_scientific_journal-3609	176	7	update	update	NOUN
american_scientific_journal-3609	176	8	u2	u2	NOUN
american_scientific_journal-3609	176	9	update	update	NOUN
american_scientific_journal-3609	176	10	;	;	PUNCT
american_scientific_journal-3609	176	11	u1	u1	NOUN
american_scientific_journal-3609	176	12	difference	difference	NOUN
american_scientific_journal-3609	176	13	=	=	SYM
american_scientific_journal-3609	176	14	u1	u1	NOUN
american_scientific_journal-3609	176	15	update	update	NOUN
american_scientific_journal-3609	176	16	u1	u1	NOUN
american_scientific_journal-3609	176	17	old	old	ADJ
american_scientific_journal-3609	176	18	;	;	PUNCT
american_scientific_journal-3609	176	19	u2	u2	NOUN
american_scientific_journal-3609	176	20	difference	difference	NOUN
american_scientific_journal-3609	176	21	=	=	NOUN
american_scientific_journal-3609	176	22	u2	u2	NOUN
american_scientific_journal-3609	176	23	update	update	NOUN
american_scientific_journal-3609	176	24	u2	u2	PROPN
american_scientific_journal-3609	176	25	old	old	ADJ
american_scientific_journal-3609	176	26	;	;	PUNCT
american_scientific_journal-3609	176	27	american	american	ADJ
american_scientific_journal-3609	176	28	scientific	scientific	ADJ
american_scientific_journal-3609	176	29	research	research	NOUN
american_scientific_journal-3609	176	30	journal	journal	NOUN
american_scientific_journal-3609	176	31	for	for	ADP
american_scientific_journal-3609	176	32	engineering	engineering	NOUN
american_scientific_journal-3609	176	33	,	,	PUNCT
american_scientific_journal-3609	176	34	technology	technology	NOUN
american_scientific_journal-3609	176	35	,	,	PUNCT
american_scientific_journal-3609	176	36	and	and	CCONJ
american_scientific_journal-3609	176	37	sciences	science	NOUN
american_scientific_journal-3609	176	38	(	(	PUNCT
american_scientific_journal-3609	176	39	asrjets	asrjet	NOUN
american_scientific_journal-3609	176	40	)	)	PUNCT
american_scientific_journal-3609	176	41	(	(	PUNCT
american_scientific_journal-3609	176	42	2017	2017	NUM
american_scientific_journal-3609	176	43	)	)	PUNCT
american_scientific_journal-3609	176	44	volume	volume	NOUN
american_scientific_journal-3609	176	45	38	38	NUM
american_scientific_journal-3609	176	46	,	,	PUNCT
american_scientific_journal-3609	176	47	no	no	DET
american_scientific_journal-3609	176	48	2	2	NUM
american_scientific_journal-3609	176	49	,	,	PUNCT
american_scientific_journal-3609	176	50	pp	pp	ADV
american_scientific_journal-3609	176	51	23	23	NUM
american_scientific_journal-3609	176	52	-	-	SYM
american_scientific_journal-3609	176	53	41	41	NUM
american_scientific_journal-3609	176	54	34	34	NUM
american_scientific_journal-3609	176	55	start	start	NOUN
american_scientific_journal-3609	176	56	u12	u12	NOUN
american_scientific_journal-3609	176	57	difference	difference	NOUN
american_scientific_journal-3609	176	58	<	<	X
american_scientific_journal-3609	176	59	-w	-w	PUNCT
american_scientific_journal-3609	176	60	no	no	DET
american_scientific_journal-3609	176	61	calibration	calibration	NOUN
american_scientific_journal-3609	176	62	on	on	ADP
american_scientific_journal-3609	176	63	u1	u1	NOUN
american_scientific_journal-3609	176	64	difference	difference	NOUN
american_scientific_journal-3609	176	65	>	>	X
american_scientific_journal-3609	176	66	w	w	VERB
american_scientific_journal-3609	177	1	no	no	INTJ
american_scientific_journal-3609	177	2	yes	yes	INTJ
american_scientific_journal-3609	177	3	calibration	calibration	NOUN
american_scientific_journal-3609	177	4	off	off	ADP
american_scientific_journal-3609	177	5	yes	yes	INTJ
american_scientific_journal-3609	177	6	calibration	calibration	NOUN
american_scientific_journal-3609	177	7	on	on	ADP
american_scientific_journal-3609	177	8	u1	u1	NOUN
american_scientific_journal-3609	177	9	difference	difference	NOUN
american_scientific_journal-3609	177	10	<	<	X
american_scientific_journal-3609	177	11	-w	-w	PUNCT
american_scientific_journal-3609	178	1	yes	yes	INTJ
american_scientific_journal-3609	178	2	no	no	DET
american_scientific_journal-3609	178	3	issue	issue	NOUN
american_scientific_journal-3609	178	4	actual	actual	ADJ
american_scientific_journal-3609	178	5	parking	parking	NOUN
american_scientific_journal-3609	178	6	length	length	NOUN
american_scientific_journal-3609	178	7	actual	actual	ADJ
american_scientific_journal-3609	178	8	parking	parking	NOUN
american_scientific_journal-3609	178	9	length	length	NOUN
american_scientific_journal-3609	178	10	desire	desire	NOUN
american_scientific_journal-3609	178	11	parking	parking	NOUN
american_scientific_journal-3609	178	12	length	length	NOUN
american_scientific_journal-3609	178	13	>	>	PUNCT
american_scientific_journal-3609	179	1	no	no	DET
american_scientific_journal-3609	179	2	u2	u2	NOUN
american_scientific_journal-3609	179	3	difference	difference	NOUN
american_scientific_journal-3609	179	4	<	<	X
american_scientific_journal-3609	179	5	-w	-w	PUNCT
american_scientific_journal-3609	180	1	yes	yes	INTJ
american_scientific_journal-3609	180	2	no	no	DET
american_scientific_journal-3609	180	3	u2	u2	NOUN
american_scientific_journal-3609	180	4	difference	difference	NOUN
american_scientific_journal-3609	180	5	>	>	X
american_scientific_journal-3609	181	1	w	w	NOUN
american_scientific_journal-3609	182	1	no	no	INTJ
american_scientific_journal-3609	183	1	yes	yes	INTJ
american_scientific_journal-3609	183	2	yes	yes	INTJ
american_scientific_journal-3609	183	3	calibration	calibration	NOUN
american_scientific_journal-3609	183	4	off	off	ADP
american_scientific_journal-3609	184	1	yes	yes	INTJ
american_scientific_journal-3609	184	2	no	no	DET
american_scientific_journal-3609	184	3	u1	u1	NOUN
american_scientific_journal-3609	184	4	difference	difference	NOUN
american_scientific_journal-3609	184	5	<	<	X
american_scientific_journal-3609	184	6	-w	-w	PUNCT
american_scientific_journal-3609	184	7	no	no	DET
american_scientific_journal-3609	184	8	u2	u2	NOUN
american_scientific_journal-3609	184	9	difference	difference	NOUN
american_scientific_journal-3609	184	10	<	<	X
american_scientific_journal-3609	184	11	-w	-w	PUNCT
american_scientific_journal-3609	184	12	u1	u1	PROPN
american_scientific_journal-3609	184	13	difference	difference	NOUN
american_scientific_journal-3609	184	14	>	>	PUNCT
american_scientific_journal-3609	185	1	w	w	INTJ
american_scientific_journal-3609	186	1	yes	yes	INTJ
american_scientific_journal-3609	186	2	yes	yes	INTJ
american_scientific_journal-3609	187	1	no	no	INTJ
american_scientific_journal-3609	187	2	no	no	DET
american_scientific_journal-3609	187	3	u2	u2	NOUN
american_scientific_journal-3609	187	4	difference	difference	NOUN
american_scientific_journal-3609	187	5	>	>	X
american_scientific_journal-3609	188	1	w	w	NOUN
american_scientific_journal-3609	189	1	yes	yes	INTJ
american_scientific_journal-3609	189	2	no	no	DET
american_scientific_journal-3609	189	3	end	end	NOUN
american_scientific_journal-3609	189	4	car	car	NOUN
american_scientific_journal-3609	189	5	movement	movement	NOUN
american_scientific_journal-3609	189	6	=	=	SYM
american_scientific_journal-3609	189	7	xs	xs	PROPN
american_scientific_journal-3609	189	8	starting	start	VERB
american_scientific_journal-3609	189	9	point	point	NOUN
american_scientific_journal-3609	189	10	(	(	PUNCT
american_scientific_journal-3609	189	11	xs	xs	PROPN
american_scientific_journal-3609	189	12	)	)	PUNCT
american_scientific_journal-3609	189	13	central	central	ADJ
american_scientific_journal-3609	189	14	angle	angle	NOUN
american_scientific_journal-3609	189	15	arc	arc	NOUN
american_scientific_journal-3609	189	16	length	length	NOUN
american_scientific_journal-3609	189	17	tangent	tangent	NOUN
american_scientific_journal-3609	189	18	point	point	NOUN
american_scientific_journal-3609	189	19	insert	insert	NOUN
american_scientific_journal-3609	189	20	in	in	ADP
american_scientific_journal-3609	189	21	geometric	geometric	ADJ
american_scientific_journal-3609	189	22	equations	equation	NOUN
american_scientific_journal-3609	189	23	lateral	lateral	ADJ
american_scientific_journal-3609	189	24	displacement	displacement	NOUN
american_scientific_journal-3609	189	25	(	(	PUNCT
american_scientific_journal-3609	189	26	∆y	∆y	PROPN
american_scientific_journal-3609	189	27	)	)	PUNCT
american_scientific_journal-3609	190	1	no	no	PRON
american_scientific_journal-3609	190	2	yes	yes	INTJ
american_scientific_journal-3609	190	3	turn	turn	VERB
american_scientific_journal-3609	190	4	steering	steer	VERB
american_scientific_journal-3609	190	5	angle	angle	NOUN
american_scientific_journal-3609	190	6	to	to	ADP
american_scientific_journal-3609	190	7	the	the	DET
american_scientific_journal-3609	190	8	maximum	maximum	ADJ
american_scientific_journal-3609	190	9	right	right	ADJ
american_scientific_journal-3609	190	10	turn	turn	NOUN
american_scientific_journal-3609	190	11	steering	steer	VERB
american_scientific_journal-3609	190	12	angle	angle	NOUN
american_scientific_journal-3609	190	13	to	to	ADP
american_scientific_journal-3609	190	14	the	the	DET
american_scientific_journal-3609	190	15	maximum	maximum	ADJ
american_scientific_journal-3609	190	16	left	left	ADJ
american_scientific_journal-3609	190	17	car	car	NOUN
american_scientific_journal-3609	190	18	movement	movement	NOUN
american_scientific_journal-3609	190	19	arc	arc	NOUN
american_scientific_journal-3609	190	20	length	length	NOUN
american_scientific_journal-3609	190	21	=	=	SYM
american_scientific_journal-3609	190	22	car	car	NOUN
american_scientific_journal-3609	190	23	movement	movement	NOUN
american_scientific_journal-3609	190	24	arc	arc	NOUN
american_scientific_journal-3609	190	25	length	length	NOUN
american_scientific_journal-3609	191	1	=	=	NOUN
american_scientific_journal-3609	192	1	yes	yes	INTJ
american_scientific_journal-3609	193	1	yes	yes	INTJ
american_scientific_journal-3609	194	1	no	no	INTJ
american_scientific_journal-3609	194	2	no	no	DET
american_scientific_journal-3609	194	3	figure	figure	NOUN
american_scientific_journal-3609	194	4	12	12	NUM
american_scientific_journal-3609	194	5	:	:	PUNCT
american_scientific_journal-3609	194	6	program	program	NOUN
american_scientific_journal-3609	194	7	flow	flow	NOUN
american_scientific_journal-3609	194	8	chart	chart	NOUN
american_scientific_journal-3609	194	9	american	american	PROPN
american_scientific_journal-3609	194	10	scientific	scientific	ADJ
american_scientific_journal-3609	194	11	research	research	NOUN
american_scientific_journal-3609	194	12	journal	journal	NOUN
american_scientific_journal-3609	194	13	for	for	ADP
american_scientific_journal-3609	194	14	engineering	engineering	NOUN
american_scientific_journal-3609	194	15	,	,	PUNCT
american_scientific_journal-3609	194	16	technology	technology	NOUN
american_scientific_journal-3609	194	17	,	,	PUNCT
american_scientific_journal-3609	194	18	and	and	CCONJ
american_scientific_journal-3609	194	19	sciences	science	NOUN
american_scientific_journal-3609	194	20	(	(	PUNCT
american_scientific_journal-3609	194	21	asrjets	asrjet	NOUN
american_scientific_journal-3609	194	22	)	)	PUNCT
american_scientific_journal-3609	194	23	(	(	PUNCT
american_scientific_journal-3609	194	24	2017	2017	NUM
american_scientific_journal-3609	194	25	)	)	PUNCT
american_scientific_journal-3609	194	26	volume	volume	NOUN
american_scientific_journal-3609	194	27	38	38	NUM
american_scientific_journal-3609	194	28	,	,	PUNCT
american_scientific_journal-3609	194	29	no	no	DET
american_scientific_journal-3609	194	30	2	2	NUM
american_scientific_journal-3609	194	31	,	,	PUNCT
american_scientific_journal-3609	194	32	pp	pp	ADV
american_scientific_journal-3609	194	33	23	23	NUM
american_scientific_journal-3609	194	34	-	-	SYM
american_scientific_journal-3609	194	35	41	41	NUM
american_scientific_journal-3609	194	36	35	35	NUM
american_scientific_journal-3609	194	37	state	state	NOUN
american_scientific_journal-3609	194	38	0	0	NUM
american_scientific_journal-3609	194	39	:	:	PUNCT
american_scientific_journal-3609	194	40	firstly	firstly	ADV
american_scientific_journal-3609	194	41	,	,	PUNCT
american_scientific_journal-3609	194	42	the	the	DET
american_scientific_journal-3609	194	43	robot	robot	NOUN
american_scientific_journal-3609	194	44	will	will	AUX
american_scientific_journal-3609	194	45	be	be	AUX
american_scientific_journal-3609	194	46	moving	move	VERB
american_scientific_journal-3609	194	47	straight	straight	ADV
american_scientific_journal-3609	194	48	forward	forward	ADV
american_scientific_journal-3609	194	49	along	along	ADP
american_scientific_journal-3609	194	50	the	the	DET
american_scientific_journal-3609	194	51	wall	wall	NOUN
american_scientific_journal-3609	194	52	relying	rely	VERB
american_scientific_journal-3609	194	53	on	on	ADP
american_scientific_journal-3609	194	54	the	the	DET
american_scientific_journal-3609	194	55	sensors	sensor	NOUN
american_scientific_journal-3609	194	56	difference	difference	NOUN
american_scientific_journal-3609	194	57	calibration	calibration	NOUN
american_scientific_journal-3609	194	58	.	.	PUNCT
american_scientific_journal-3609	195	1	the	the	DET
american_scientific_journal-3609	195	2	steering	steering	NOUN
american_scientific_journal-3609	195	3	angle	angle	NOUN
american_scientific_journal-3609	195	4	will	will	AUX
american_scientific_journal-3609	195	5	adjust	adjust	VERB
american_scientific_journal-3609	195	6	based	base	VERB
american_scientific_journal-3609	195	7	on	on	ADP
american_scientific_journal-3609	195	8	the	the	DET
american_scientific_journal-3609	195	9	front	front	ADJ
american_scientific_journal-3609	195	10	and	and	CCONJ
american_scientific_journal-3609	195	11	rear	rear	ADJ
american_scientific_journal-3609	195	12	sensor	sensor	NOUN
american_scientific_journal-3609	195	13	data	datum	NOUN
american_scientific_journal-3609	195	14	differences	difference	NOUN
american_scientific_journal-3609	195	15	.	.	PUNCT
american_scientific_journal-3609	196	1	calibration	calibration	NOUN
american_scientific_journal-3609	196	2	system	system	NOUN
american_scientific_journal-3609	196	3	is	be	AUX
american_scientific_journal-3609	196	4	used	use	VERB
american_scientific_journal-3609	196	5	in	in	ADP
american_scientific_journal-3609	196	6	this	this	DET
american_scientific_journal-3609	196	7	state	state	NOUN
american_scientific_journal-3609	196	8	.	.	PUNCT
american_scientific_journal-3609	197	1	90	90	NUM
american_scientific_journal-3609	197	2	degree	degree	NOUN
american_scientific_journal-3609	197	3	is	be	AUX
american_scientific_journal-3609	197	4	the	the	DET
american_scientific_journal-3609	197	5	fixed	fix	VERB
american_scientific_journal-3609	197	6	standard	standard	ADJ
american_scientific_journal-3609	197	7	steering	steering	NOUN
american_scientific_journal-3609	197	8	angle	angle	NOUN
american_scientific_journal-3609	197	9	for	for	ADP
american_scientific_journal-3609	197	10	the	the	DET
american_scientific_journal-3609	197	11	straight	straight	ADJ
american_scientific_journal-3609	197	12	ahead	ahead	ADV
american_scientific_journal-3609	197	13	and	and	CCONJ
american_scientific_journal-3609	197	14	the	the	DET
american_scientific_journal-3609	197	15	coefficient	coefficient	NOUN
american_scientific_journal-3609	197	16	1.5	1.5	NUM
american_scientific_journal-3609	197	17	is	be	AUX
american_scientific_journal-3609	197	18	calculated	calculate	VERB
american_scientific_journal-3609	197	19	from	from	ADP
american_scientific_journal-3609	197	20	the	the	DET
american_scientific_journal-3609	197	21	relation	relation	NOUN
american_scientific_journal-3609	197	22	of	of	ADP
american_scientific_journal-3609	197	23	steering	steering	NOUN
american_scientific_journal-3609	197	24	angle	angle	NOUN
american_scientific_journal-3609	197	25	and	and	CCONJ
american_scientific_journal-3609	197	26	sensor	sensor	NOUN
american_scientific_journal-3609	197	27	difference	difference	NOUN
american_scientific_journal-3609	197	28	.	.	PUNCT
american_scientific_journal-3609	198	1	if	if	SCONJ
american_scientific_journal-3609	198	2	(	(	PUNCT
american_scientific_journal-3609	198	3	u12	u12	PROPN
american_scientific_journal-3609	198	4	difference>1	difference>1	NOUN
american_scientific_journal-3609	198	5	)	)	PUNCT
american_scientific_journal-3609	198	6	;	;	PUNCT
american_scientific_journal-3609	198	7	the	the	DET
american_scientific_journal-3609	198	8	robot	robot	NOUN
american_scientific_journal-3609	198	9	is	be	AUX
american_scientific_journal-3609	198	10	heading	head	VERB
american_scientific_journal-3609	198	11	to	to	ADP
american_scientific_journal-3609	198	12	the	the	DET
american_scientific_journal-3609	198	13	left	left	NOUN
american_scientific_journal-3609	198	14	,	,	PUNCT
american_scientific_journal-3609	198	15	change	change	VERB
american_scientific_journal-3609	198	16	steering	steering	NOUN
american_scientific_journal-3609	198	17	angle	angle	NOUN
american_scientific_journal-3609	198	18	to	to	ADP
american_scientific_journal-3609	198	19	the	the	DET
american_scientific_journal-3609	198	20	right	right	ADJ
american_scientific_journal-3609	198	21	{	{	PUNCT
american_scientific_journal-3609	198	22	90-(1.5*u23	90-(1.5*u23	NUM
american_scientific_journal-3609	198	23	difference	difference	NOUN
american_scientific_journal-3609	198	24	)	)	PUNCT
american_scientific_journal-3609	198	25	}	}	PUNCT
american_scientific_journal-3609	198	26	if	if	SCONJ
american_scientific_journal-3609	198	27	(	(	PUNCT
american_scientific_journal-3609	198	28	u12	u12	PROPN
american_scientific_journal-3609	198	29	difference<-1	difference<-1	PROPN
american_scientific_journal-3609	198	30	)	)	PUNCT
american_scientific_journal-3609	198	31	;	;	PUNCT
american_scientific_journal-3609	198	32	the	the	DET
american_scientific_journal-3609	198	33	robot	robot	NOUN
american_scientific_journal-3609	198	34	is	be	AUX
american_scientific_journal-3609	198	35	heading	head	VERB
american_scientific_journal-3609	198	36	to	to	ADP
american_scientific_journal-3609	198	37	the	the	DET
american_scientific_journal-3609	198	38	right	right	NOUN
american_scientific_journal-3609	198	39	,	,	PUNCT
american_scientific_journal-3609	198	40	change	change	VERB
american_scientific_journal-3609	198	41	steering	steering	NOUN
american_scientific_journal-3609	198	42	angle	angle	NOUN
american_scientific_journal-3609	198	43	to	to	ADP
american_scientific_journal-3609	198	44	the	the	DET
american_scientific_journal-3609	198	45	left	left	ADJ
american_scientific_journal-3609	198	46	{	{	PUNCT
american_scientific_journal-3609	198	47	90+(1.5*u23	90+(1.5*u23	NUM
american_scientific_journal-3609	198	48	difference	difference	NOUN
american_scientific_journal-3609	198	49	)	)	PUNCT
american_scientific_journal-3609	198	50	}	}	PUNCT
american_scientific_journal-3609	198	51	state	state	NOUN
american_scientific_journal-3609	198	52	1	1	NUM
american_scientific_journal-3609	198	53	:	:	PUNCT
american_scientific_journal-3609	198	54	in	in	ADP
american_scientific_journal-3609	198	55	this	this	DET
american_scientific_journal-3609	198	56	state	state	NOUN
american_scientific_journal-3609	198	57	,	,	PUNCT
american_scientific_journal-3609	198	58	the	the	DET
american_scientific_journal-3609	198	59	parking	parking	NOUN
american_scientific_journal-3609	198	60	robot	robot	NOUN
american_scientific_journal-3609	198	61	detects	detect	VERB
american_scientific_journal-3609	198	62	the	the	DET
american_scientific_journal-3609	198	63	first	first	ADJ
american_scientific_journal-3609	198	64	car	car	NOUN
american_scientific_journal-3609	198	65	and	and	CCONJ
american_scientific_journal-3609	198	66	starts	start	VERB
american_scientific_journal-3609	198	67	counting	count	VERB
american_scientific_journal-3609	198	68	the	the	DET
american_scientific_journal-3609	198	69	first	first	ADJ
american_scientific_journal-3609	198	70	car	car	NOUN
american_scientific_journal-3609	198	71	length	length	NOUN
american_scientific_journal-3609	198	72	.	.	PUNCT
american_scientific_journal-3609	199	1	it	it	PRON
american_scientific_journal-3609	199	2	is	be	AUX
american_scientific_journal-3609	199	3	assumed	assume	VERB
american_scientific_journal-3609	199	4	that	that	SCONJ
american_scientific_journal-3609	199	5	the	the	DET
american_scientific_journal-3609	199	6	robot	robot	NOUN
american_scientific_journal-3609	199	7	is	be	AUX
american_scientific_journal-3609	199	8	moving	move	VERB
american_scientific_journal-3609	199	9	straight	straight	ADV
american_scientific_journal-3609	199	10	,	,	PUNCT
american_scientific_journal-3609	199	11	so	so	ADV
american_scientific_journal-3609	199	12	calibrate	calibrate	ADJ
american_scientific_journal-3609	199	13	state	state	NOUN
american_scientific_journal-3609	199	14	will	will	AUX
american_scientific_journal-3609	199	15	be	be	AUX
american_scientific_journal-3609	199	16	off	off	ADP
american_scientific_journal-3609	199	17	and	and	CCONJ
american_scientific_journal-3609	199	18	robot	robot	NOUN
american_scientific_journal-3609	199	19	is	be	AUX
american_scientific_journal-3609	199	20	moving	move	VERB
american_scientific_journal-3609	199	21	with	with	ADP
american_scientific_journal-3609	199	22	fixed	fix	VERB
american_scientific_journal-3609	199	23	steering	steering	NOUN
american_scientific_journal-3609	199	24	angle	angle	NOUN
american_scientific_journal-3609	199	25	.	.	PUNCT
american_scientific_journal-3609	200	1	if	if	SCONJ
american_scientific_journal-3609	200	2	(	(	PUNCT
american_scientific_journal-3609	200	3	u12	u12	PROPN
american_scientific_journal-3609	200	4	difference<-w	difference<-w	PROPN
american_scientific_journal-3609	200	5	&	&	CCONJ
american_scientific_journal-3609	200	6	&	&	CCONJ
american_scientific_journal-3609	200	7	state==0	state==0	ADJ
american_scientific_journal-3609	200	8	)	)	PUNCT
american_scientific_journal-3609	200	9	state=1	state=1	PROPN
american_scientific_journal-3609	200	10	;	;	PUNCT
american_scientific_journal-3609	200	11	state	state	NOUN
american_scientific_journal-3609	200	12	2	2	NUM
american_scientific_journal-3609	200	13	:	:	PUNCT
american_scientific_journal-3609	200	14	robot	robot	NOUN
american_scientific_journal-3609	200	15	detects	detect	NOUN
american_scientific_journal-3609	200	16	the	the	DET
american_scientific_journal-3609	200	17	end	end	NOUN
american_scientific_journal-3609	200	18	of	of	ADP
american_scientific_journal-3609	200	19	first	first	ADJ
american_scientific_journal-3609	200	20	car	car	NOUN
american_scientific_journal-3609	200	21	and	and	CCONJ
american_scientific_journal-3609	200	22	starts	start	VERB
american_scientific_journal-3609	200	23	counting	count	VERB
american_scientific_journal-3609	200	24	the	the	DET
american_scientific_journal-3609	200	25	parking	parking	NOUN
american_scientific_journal-3609	200	26	length	length	NOUN
american_scientific_journal-3609	200	27	.	.	PUNCT
american_scientific_journal-3609	201	1	and	and	CCONJ
american_scientific_journal-3609	201	2	then	then	ADV
american_scientific_journal-3609	201	3	,	,	PUNCT
american_scientific_journal-3609	201	4	the	the	DET
american_scientific_journal-3609	201	5	robot	robot	NOUN
american_scientific_journal-3609	201	6	will	will	AUX
american_scientific_journal-3609	201	7	make	make	VERB
american_scientific_journal-3609	201	8	decision	decision	NOUN
american_scientific_journal-3609	201	9	parking	parking	NOUN
american_scientific_journal-3609	201	10	or	or	CCONJ
american_scientific_journal-3609	201	11	not	not	PART
american_scientific_journal-3609	201	12	.	.	PUNCT
american_scientific_journal-3609	202	1	there	there	PRON
american_scientific_journal-3609	202	2	have	have	VERB
american_scientific_journal-3609	202	3	also	also	ADV
american_scientific_journal-3609	202	4	calibration	calibration	NOUN
american_scientific_journal-3609	202	5	in	in	ADP
american_scientific_journal-3609	202	6	state	state	NOUN
american_scientific_journal-3609	202	7	2	2	NUM
american_scientific_journal-3609	202	8	based	base	VERB
american_scientific_journal-3609	202	9	on	on	ADP
american_scientific_journal-3609	202	10	the	the	DET
american_scientific_journal-3609	202	11	parking	parking	NOUN
american_scientific_journal-3609	202	12	length	length	NOUN
american_scientific_journal-3609	202	13	.	.	PUNCT
american_scientific_journal-3609	203	1	firstly	firstly	ADV
american_scientific_journal-3609	203	2	,	,	PUNCT
american_scientific_journal-3609	203	3	u1	u1	NOUN
american_scientific_journal-3609	203	4	difference	difference	NOUN
american_scientific_journal-3609	203	5	will	will	AUX
american_scientific_journal-3609	203	6	be	be	AUX
american_scientific_journal-3609	203	7	greater	great	ADJ
american_scientific_journal-3609	203	8	than	than	ADP
american_scientific_journal-3609	203	9	the	the	DET
american_scientific_journal-3609	203	10	parking	parking	NOUN
american_scientific_journal-3609	203	11	car	car	NOUN
american_scientific_journal-3609	203	12	width	width	NOUN
american_scientific_journal-3609	203	13	.	.	PUNCT
american_scientific_journal-3609	204	1	it	it	PRON
american_scientific_journal-3609	204	2	was	be	AUX
american_scientific_journal-3609	204	3	assumed	assume	VERB
american_scientific_journal-3609	204	4	the	the	DET
american_scientific_journal-3609	204	5	parking	parking	NOUN
american_scientific_journal-3609	204	6	robot	robot	NOUN
american_scientific_journal-3609	204	7	is	be	AUX
american_scientific_journal-3609	204	8	over	over	ADP
american_scientific_journal-3609	204	9	the	the	DET
american_scientific_journal-3609	204	10	first	first	ADJ
american_scientific_journal-3609	204	11	car	car	NOUN
american_scientific_journal-3609	204	12	.	.	PUNCT
american_scientific_journal-3609	205	1	if	if	SCONJ
american_scientific_journal-3609	205	2	u1	u1	NOUN
american_scientific_journal-3609	205	3	difference	difference	NOUN
american_scientific_journal-3609	205	4	less	less	ADJ
american_scientific_journal-3609	205	5	than	than	ADP
american_scientific_journal-3609	205	6	again	again	ADV
american_scientific_journal-3609	205	7	the	the	DET
american_scientific_journal-3609	205	8	parking	parking	NOUN
american_scientific_journal-3609	205	9	car	car	NOUN
american_scientific_journal-3609	205	10	width	width	NOUN
american_scientific_journal-3609	205	11	before	before	ADP
american_scientific_journal-3609	205	12	u2	u2	NOUN
american_scientific_journal-3609	205	13	difference	difference	NOUN
american_scientific_journal-3609	205	14	greater	great	ADJ
american_scientific_journal-3609	205	15	than	than	ADP
american_scientific_journal-3609	205	16	the	the	DET
american_scientific_journal-3609	205	17	parking	parking	NOUN
american_scientific_journal-3609	205	18	car	car	NOUN
american_scientific_journal-3609	205	19	width	width	NOUN
american_scientific_journal-3609	205	20	,	,	PUNCT
american_scientific_journal-3609	205	21	the	the	DET
american_scientific_journal-3609	205	22	robot	robot	NOUN
american_scientific_journal-3609	205	23	will	will	AUX
american_scientific_journal-3609	205	24	decide	decide	VERB
american_scientific_journal-3609	205	25	there	there	PRON
american_scientific_journal-3609	205	26	has	have	VERB
american_scientific_journal-3609	205	27	no	no	DET
american_scientific_journal-3609	205	28	enough	enough	ADJ
american_scientific_journal-3609	205	29	parking	parking	NOUN
american_scientific_journal-3609	205	30	space	space	NOUN
american_scientific_journal-3609	205	31	and	and	CCONJ
american_scientific_journal-3609	205	32	go	go	VERB
american_scientific_journal-3609	205	33	to	to	ADP
american_scientific_journal-3609	205	34	state	state	NOUN
american_scientific_journal-3609	205	35	0	0	NUM
american_scientific_journal-3609	205	36	.	.	PUNCT
american_scientific_journal-3609	206	1	if	if	SCONJ
american_scientific_journal-3609	206	2	the	the	DET
american_scientific_journal-3609	206	3	rear	rear	ADJ
american_scientific_journal-3609	206	4	sensor	sensor	NOUN
american_scientific_journal-3609	206	5	u2	u2	NOUN
american_scientific_journal-3609	206	6	is	be	AUX
american_scientific_journal-3609	206	7	over	over	ADP
american_scientific_journal-3609	206	8	the	the	DET
american_scientific_journal-3609	206	9	first	first	ADJ
american_scientific_journal-3609	206	10	car	car	NOUN
american_scientific_journal-3609	206	11	and	and	CCONJ
american_scientific_journal-3609	206	12	the	the	DET
american_scientific_journal-3609	206	13	front	front	ADJ
american_scientific_journal-3609	206	14	sensor	sensor	NOUN
american_scientific_journal-3609	206	15	u1	u1	NOUN
american_scientific_journal-3609	206	16	is	be	AUX
american_scientific_journal-3609	206	17	still	still	ADV
american_scientific_journal-3609	206	18	in	in	ADP
american_scientific_journal-3609	206	19	the	the	DET
american_scientific_journal-3609	206	20	parking	parking	NOUN
american_scientific_journal-3609	206	21	space	space	NOUN
american_scientific_journal-3609	206	22	at	at	ADP
american_scientific_journal-3609	206	23	that	that	DET
american_scientific_journal-3609	206	24	time	time	NOUN
american_scientific_journal-3609	206	25	calibration	calibration	NOUN
american_scientific_journal-3609	206	26	will	will	AUX
american_scientific_journal-3609	206	27	be	be	AUX
american_scientific_journal-3609	206	28	making	make	VERB
american_scientific_journal-3609	206	29	.	.	PUNCT
american_scientific_journal-3609	207	1	the	the	DET
american_scientific_journal-3609	207	2	robot	robot	NOUN
american_scientific_journal-3609	207	3	will	will	AUX
american_scientific_journal-3609	207	4	decide	decide	VERB
american_scientific_journal-3609	207	5	again	again	ADV
american_scientific_journal-3609	207	6	make	make	VERB
american_scientific_journal-3609	207	7	parking	parking	NOUN
american_scientific_journal-3609	207	8	or	or	CCONJ
american_scientific_journal-3609	207	9	not	not	PART
american_scientific_journal-3609	207	10	when	when	SCONJ
american_scientific_journal-3609	207	11	the	the	DET
american_scientific_journal-3609	207	12	front	front	ADJ
american_scientific_journal-3609	207	13	sensor	sensor	NOUN
american_scientific_journal-3609	207	14	u1	u1	NOUN
american_scientific_journal-3609	207	15	detect	detect	VERB
american_scientific_journal-3609	207	16	the	the	DET
american_scientific_journal-3609	207	17	second	second	ADJ
american_scientific_journal-3609	207	18	car	car	NOUN
american_scientific_journal-3609	207	19	at	at	ADP
american_scientific_journal-3609	207	20	that	that	DET
american_scientific_journal-3609	207	21	time	time	NOUN
american_scientific_journal-3609	207	22	calibration	calibration	NOUN
american_scientific_journal-3609	207	23	will	will	AUX
american_scientific_journal-3609	207	24	be	be	AUX
american_scientific_journal-3609	207	25	off	off	ADP
american_scientific_journal-3609	207	26	.	.	PUNCT
american_scientific_journal-3609	208	1	there	there	PRON
american_scientific_journal-3609	208	2	has	have	VERB
american_scientific_journal-3609	208	3	enough	enough	ADJ
american_scientific_journal-3609	208	4	parking	parking	NOUN
american_scientific_journal-3609	208	5	space	space	NOUN
american_scientific_journal-3609	208	6	or	or	CCONJ
american_scientific_journal-3609	208	7	not	not	PART
american_scientific_journal-3609	208	8	which	which	PRON
american_scientific_journal-3609	208	9	can	can	AUX
american_scientific_journal-3609	208	10	be	be	AUX
american_scientific_journal-3609	208	11	known	know	VERB
american_scientific_journal-3609	208	12	by	by	ADP
american_scientific_journal-3609	208	13	comparing	compare	VERB
american_scientific_journal-3609	208	14	actual	actual	ADJ
american_scientific_journal-3609	208	15	detected	detect	VERB
american_scientific_journal-3609	208	16	length	length	NOUN
american_scientific_journal-3609	208	17	of	of	ADP
american_scientific_journal-3609	208	18	the	the	DET
american_scientific_journal-3609	208	19	parking	parking	NOUN
american_scientific_journal-3609	208	20	space	space	NOUN
american_scientific_journal-3609	208	21	and	and	CCONJ
american_scientific_journal-3609	208	22	minimum	minimum	NOUN
american_scientific_journal-3609	208	23	length	length	NOUN
american_scientific_journal-3609	208	24	of	of	ADP
american_scientific_journal-3609	208	25	the	the	DET
american_scientific_journal-3609	208	26	parking	parking	NOUN
american_scientific_journal-3609	208	27	space	space	NOUN
american_scientific_journal-3609	208	28	.	.	PUNCT
american_scientific_journal-3609	209	1	if	if	SCONJ
american_scientific_journal-3609	209	2	the	the	DET
american_scientific_journal-3609	209	3	actual	actual	ADJ
american_scientific_journal-3609	209	4	parking	parking	NOUN
american_scientific_journal-3609	209	5	length	length	NOUN
american_scientific_journal-3609	209	6	is	be	AUX
american_scientific_journal-3609	209	7	greater	great	ADJ
american_scientific_journal-3609	209	8	than	than	ADP
american_scientific_journal-3609	209	9	the	the	DET
american_scientific_journal-3609	209	10	minimum	minimum	ADJ
american_scientific_journal-3609	209	11	parking	parking	NOUN
american_scientific_journal-3609	209	12	length	length	NOUN
american_scientific_journal-3609	209	13	the	the	DET
american_scientific_journal-3609	209	14	robot	robot	NOUN
american_scientific_journal-3609	209	15	will	will	AUX
american_scientific_journal-3609	209	16	make	make	VERB
american_scientific_journal-3609	209	17	parking	parking	NOUN
american_scientific_journal-3609	209	18	.	.	PUNCT
american_scientific_journal-3609	210	1	if	if	SCONJ
american_scientific_journal-3609	210	2	not	not	PART
american_scientific_journal-3609	210	3	,	,	PUNCT
american_scientific_journal-3609	210	4	the	the	DET
american_scientific_journal-3609	210	5	robot	robot	NOUN
american_scientific_journal-3609	210	6	will	will	AUX
american_scientific_journal-3609	210	7	find	find	VERB
american_scientific_journal-3609	210	8	the	the	DET
american_scientific_journal-3609	210	9	next	next	ADJ
american_scientific_journal-3609	210	10	parking	parking	NOUN
american_scientific_journal-3609	210	11	space	space	NOUN
american_scientific_journal-3609	210	12	and	and	CCONJ
american_scientific_journal-3609	210	13	go	go	VERB
american_scientific_journal-3609	210	14	to	to	ADP
american_scientific_journal-3609	210	15	state	state	NOUN
american_scientific_journal-3609	210	16	0	0	NUM
american_scientific_journal-3609	210	17	.	.	PUNCT
american_scientific_journal-3609	211	1	if	if	SCONJ
american_scientific_journal-3609	211	2	(	(	PUNCT
american_scientific_journal-3609	211	3	u1	u1	NOUN
american_scientific_journal-3609	211	4	difference	difference	NOUN
american_scientific_journal-3609	211	5	>	>	X
american_scientific_journal-3609	211	6	w	w	PROPN
american_scientific_journal-3609	211	7	&	&	CCONJ
american_scientific_journal-3609	211	8	&	&	CCONJ
american_scientific_journal-3609	211	9	state==1	state==1	NOUN
american_scientific_journal-3609	211	10	)	)	PUNCT
american_scientific_journal-3609	212	1	state=2	state=2	CCONJ
american_scientific_journal-3609	212	2	;	;	PUNCT
american_scientific_journal-3609	212	3	if	if	SCONJ
american_scientific_journal-3609	212	4	(	(	PUNCT
american_scientific_journal-3609	212	5	u1	u1	NOUN
american_scientific_journal-3609	212	6	difference	difference	NOUN
american_scientific_journal-3609	212	7	>	>	X
american_scientific_journal-3609	212	8	w	w	PROPN
american_scientific_journal-3609	212	9	&	&	CCONJ
american_scientific_journal-3609	212	10	&	&	CCONJ
american_scientific_journal-3609	212	11	u2	u2	PROPN
american_scientific_journal-3609	212	12	difference	difference	PROPN
american_scientific_journal-3609	212	13	>	>	X
american_scientific_journal-3609	212	14	w	w	NOUN
american_scientific_journal-3609	212	15	)	)	PUNCT
american_scientific_journal-3609	212	16	calibrate	calibrate	VERB
american_scientific_journal-3609	212	17	on	on	ADP
american_scientific_journal-3609	212	18	;	;	PUNCT
american_scientific_journal-3609	212	19	if	if	SCONJ
american_scientific_journal-3609	212	20	(	(	PUNCT
american_scientific_journal-3609	212	21	actual	actual	ADJ
american_scientific_journal-3609	212	22	parking	parking	NOUN
american_scientific_journal-3609	212	23	length	length	NOUN
american_scientific_journal-3609	212	24	<	<	X
american_scientific_journal-3609	212	25	minimum	minimum	ADJ
american_scientific_journal-3609	212	26	parking	parking	NOUN
american_scientific_journal-3609	212	27	length	length	NOUN
american_scientific_journal-3609	212	28	)	)	PUNCT
american_scientific_journal-3609	212	29	not	not	PART
american_scientific_journal-3609	212	30	parking	park	VERB
american_scientific_journal-3609	212	31	if	if	SCONJ
american_scientific_journal-3609	212	32	(	(	PUNCT
american_scientific_journal-3609	212	33	actual	actual	ADJ
american_scientific_journal-3609	212	34	parking	parking	NOUN
american_scientific_journal-3609	212	35	length	length	NOUN
american_scientific_journal-3609	212	36	>	>	X
american_scientific_journal-3609	212	37	minimum	minimum	ADJ
american_scientific_journal-3609	212	38	parking	parking	NOUN
american_scientific_journal-3609	212	39	length	length	NOUN
american_scientific_journal-3609	212	40	)	)	PUNCT
american_scientific_journal-3609	212	41	make	make	VERB
american_scientific_journal-3609	212	42	parking	parking	NOUN
american_scientific_journal-3609	212	43	state	state	NOUN
american_scientific_journal-3609	212	44	3	3	NUM
american_scientific_journal-3609	212	45	:	:	PUNCT
american_scientific_journal-3609	212	46	the	the	DET
american_scientific_journal-3609	212	47	car	car	NOUN
american_scientific_journal-3609	212	48	will	will	AUX
american_scientific_journal-3609	212	49	stop	stop	VERB
american_scientific_journal-3609	212	50	when	when	SCONJ
american_scientific_journal-3609	212	51	the	the	DET
american_scientific_journal-3609	212	52	rear	rear	ADJ
american_scientific_journal-3609	212	53	sensor	sensor	NOUN
american_scientific_journal-3609	212	54	detected	detect	VERB
american_scientific_journal-3609	212	55	the	the	DET
american_scientific_journal-3609	212	56	second	second	ADJ
american_scientific_journal-3609	212	57	car	car	NOUN
american_scientific_journal-3609	212	58	.	.	PUNCT
american_scientific_journal-3609	213	1	simultaneously	simultaneously	ADV
american_scientific_journal-3609	213	2	,	,	PUNCT
american_scientific_journal-3609	213	3	the	the	DET
american_scientific_journal-3609	213	4	lateral	lateral	ADJ
american_scientific_journal-3609	213	5	displacement	displacement	ADJ
american_scientific_journal-3609	213	6	value	value	NOUN
american_scientific_journal-3609	213	7	(	(	PUNCT
american_scientific_journal-3609	213	8	delta	delta	NOUN
american_scientific_journal-3609	213	9	y	y	PROPN
american_scientific_journal-3609	213	10	)	)	PUNCT
american_scientific_journal-3609	213	11	can	can	AUX
american_scientific_journal-3609	213	12	get	get	VERB
american_scientific_journal-3609	213	13	from	from	ADP
american_scientific_journal-3609	213	14	the	the	DET
american_scientific_journal-3609	213	15	u2	u2	NOUN
american_scientific_journal-3609	213	16	update	update	NOUN
american_scientific_journal-3609	213	17	.	.	PUNCT
american_scientific_journal-3609	214	1	starting	start	VERB
american_scientific_journal-3609	214	2	position	position	NOUN
american_scientific_journal-3609	214	3	,	,	PUNCT
american_scientific_journal-3609	214	4	central	central	ADJ
american_scientific_journal-3609	214	5	angle	angle	NOUN
american_scientific_journal-3609	214	6	,	,	PUNCT
american_scientific_journal-3609	214	7	tangent	tangent	ADJ
american_scientific_journal-3609	214	8	point	point	NOUN
american_scientific_journal-3609	214	9	and	and	CCONJ
american_scientific_journal-3609	214	10	arc	arc	NOUN
american_scientific_journal-3609	214	11	length	length	NOUN
american_scientific_journal-3609	214	12	can	can	AUX
american_scientific_journal-3609	214	13	be	be	AUX
american_scientific_journal-3609	214	14	calculated	calculate	VERB
american_scientific_journal-3609	214	15	from	from	ADP
american_scientific_journal-3609	214	16	the	the	DET
american_scientific_journal-3609	214	17	geometric	geometric	ADJ
american_scientific_journal-3609	214	18	equations	equation	NOUN
american_scientific_journal-3609	214	19	by	by	ADP
american_scientific_journal-3609	214	20	inserting	insert	VERB
american_scientific_journal-3609	214	21	the	the	DET
american_scientific_journal-3609	214	22	lateral	lateral	ADJ
american_scientific_journal-3609	214	23	displacement	displacement	ADJ
american_scientific_journal-3609	214	24	value	value	NOUN
american_scientific_journal-3609	214	25	.	.	PUNCT
american_scientific_journal-3609	215	1	and	and	CCONJ
american_scientific_journal-3609	215	2	then	then	ADV
american_scientific_journal-3609	215	3	,	,	PUNCT
american_scientific_journal-3609	215	4	the	the	DET
american_scientific_journal-3609	215	5	robot	robot	NOUN
american_scientific_journal-3609	215	6	will	will	AUX
american_scientific_journal-3609	215	7	move	move	VERB
american_scientific_journal-3609	215	8	toward	toward	ADP
american_scientific_journal-3609	215	9	the	the	DET
american_scientific_journal-3609	215	10	starting	starting	NOUN
american_scientific_journal-3609	215	11	position	position	NOUN
american_scientific_journal-3609	215	12	.	.	PUNCT
american_scientific_journal-3609	216	1	if	if	SCONJ
american_scientific_journal-3609	216	2	(	(	PUNCT
american_scientific_journal-3609	216	3	u2	u2	NOUN
american_scientific_journal-3609	216	4	difference	difference	NOUN
american_scientific_journal-3609	216	5	<	<	X
american_scientific_journal-3609	216	6	-w	-w	PROPN
american_scientific_journal-3609	216	7	&	&	CCONJ
american_scientific_journal-3609	216	8	&	&	CCONJ
american_scientific_journal-3609	216	9	state==2	state==2	PROPN
american_scientific_journal-3609	216	10	)	)	PUNCT
american_scientific_journal-3609	216	11	state=3	state=3	PROPN
american_scientific_journal-3609	216	12	;	;	PUNCT
american_scientific_journal-3609	216	13	state	state	NOUN
american_scientific_journal-3609	216	14	4	4	NUM
american_scientific_journal-3609	216	15	:	:	PUNCT
american_scientific_journal-3609	216	16	s	s	NUM
american_scientific_journal-3609	216	17	-	-	PUNCT
american_scientific_journal-3609	216	18	shape	shape	NOUN
american_scientific_journal-3609	216	19	path	path	NOUN
american_scientific_journal-3609	216	20	is	be	AUX
american_scientific_journal-3609	216	21	formed	form	VERB
american_scientific_journal-3609	216	22	by	by	ADP
american_scientific_journal-3609	216	23	two	two	NUM
american_scientific_journal-3609	216	24	identical	identical	ADJ
american_scientific_journal-3609	216	25	circle	circle	NOUN
american_scientific_journal-3609	216	26	tangentially	tangentially	ADV
american_scientific_journal-3609	216	27	connected	connect	VERB
american_scientific_journal-3609	216	28	and	and	CCONJ
american_scientific_journal-3609	216	29	it	it	PRON
american_scientific_journal-3609	216	30	can	can	AUX
american_scientific_journal-3609	216	31	be	be	AUX
american_scientific_journal-3609	216	32	divided	divide	VERB
american_scientific_journal-3609	216	33	into	into	ADP
american_scientific_journal-3609	216	34	two	two	NUM
american_scientific_journal-3609	216	35	arc	arc	NOUN
american_scientific_journal-3609	216	36	american	american	ADJ
american_scientific_journal-3609	216	37	scientific	scientific	ADJ
american_scientific_journal-3609	216	38	research	research	NOUN
american_scientific_journal-3609	216	39	journal	journal	NOUN
american_scientific_journal-3609	216	40	for	for	ADP
american_scientific_journal-3609	216	41	engineering	engineering	NOUN
american_scientific_journal-3609	216	42	,	,	PUNCT
american_scientific_journal-3609	216	43	technology	technology	NOUN
american_scientific_journal-3609	216	44	,	,	PUNCT
american_scientific_journal-3609	216	45	and	and	CCONJ
american_scientific_journal-3609	216	46	sciences	science	NOUN
american_scientific_journal-3609	216	47	(	(	PUNCT
american_scientific_journal-3609	216	48	asrjets	asrjet	NOUN
american_scientific_journal-3609	216	49	)	)	PUNCT
american_scientific_journal-3609	216	50	(	(	PUNCT
american_scientific_journal-3609	216	51	2017	2017	NUM
american_scientific_journal-3609	216	52	)	)	PUNCT
american_scientific_journal-3609	216	53	volume	volume	NOUN
american_scientific_journal-3609	216	54	38	38	NUM
american_scientific_journal-3609	216	55	,	,	PUNCT
american_scientific_journal-3609	216	56	no	no	DET
american_scientific_journal-3609	216	57	2	2	NUM
american_scientific_journal-3609	216	58	,	,	PUNCT
american_scientific_journal-3609	216	59	pp	pp	ADV
american_scientific_journal-3609	216	60	23	23	NUM
american_scientific_journal-3609	216	61	-	-	SYM
american_scientific_journal-3609	216	62	41	41	NUM
american_scientific_journal-3609	216	63	36	36	NUM
american_scientific_journal-3609	216	64	length	length	NOUN
american_scientific_journal-3609	216	65	.	.	PUNCT
american_scientific_journal-3609	217	1	firstly	firstly	ADV
american_scientific_journal-3609	217	2	,	,	PUNCT
american_scientific_journal-3609	217	3	the	the	DET
american_scientific_journal-3609	217	4	robot	robot	NOUN
american_scientific_journal-3609	217	5	will	will	AUX
american_scientific_journal-3609	217	6	move	move	VERB
american_scientific_journal-3609	217	7	backward	backward	ADV
american_scientific_journal-3609	217	8	along	along	ADP
american_scientific_journal-3609	217	9	the	the	DET
american_scientific_journal-3609	217	10	s	s	NOUN
american_scientific_journal-3609	217	11	-	-	PUNCT
american_scientific_journal-3609	217	12	shape	shape	NOUN
american_scientific_journal-3609	217	13	path	path	NOUN
american_scientific_journal-3609	217	14	with	with	ADP
american_scientific_journal-3609	217	15	maximum	maximum	ADJ
american_scientific_journal-3609	217	16	right	right	ADJ
american_scientific_journal-3609	217	17	steering	steering	NOUN
american_scientific_journal-3609	217	18	angle	angle	NOUN
american_scientific_journal-3609	217	19	until	until	SCONJ
american_scientific_journal-3609	217	20	the	the	DET
american_scientific_journal-3609	217	21	robot	robot	NOUN
american_scientific_journal-3609	217	22	reaches	reach	VERB
american_scientific_journal-3609	217	23	the	the	DET
american_scientific_journal-3609	217	24	tangent	tangent	NOUN
american_scientific_journal-3609	217	25	point	point	NOUN
american_scientific_journal-3609	217	26	.	.	PUNCT
american_scientific_journal-3609	218	1	after	after	ADP
american_scientific_journal-3609	218	2	that	that	PRON
american_scientific_journal-3609	218	3	,	,	PUNCT
american_scientific_journal-3609	218	4	the	the	DET
american_scientific_journal-3609	218	5	robot	robot	NOUN
american_scientific_journal-3609	218	6	will	will	AUX
american_scientific_journal-3609	218	7	turn	turn	VERB
american_scientific_journal-3609	218	8	the	the	DET
american_scientific_journal-3609	218	9	maximum	maximum	ADJ
american_scientific_journal-3609	218	10	left	left	ADJ
american_scientific_journal-3609	218	11	steer	steer	NOUN
american_scientific_journal-3609	218	12	again	again	ADV
american_scientific_journal-3609	218	13	and	and	CCONJ
american_scientific_journal-3609	218	14	move	move	VERB
american_scientific_journal-3609	218	15	along	along	ADP
american_scientific_journal-3609	218	16	the	the	DET
american_scientific_journal-3609	218	17	second	second	ADJ
american_scientific_journal-3609	218	18	arc	arc	NOUN
american_scientific_journal-3609	218	19	.	.	PUNCT
american_scientific_journal-3609	219	1	then	then	ADV
american_scientific_journal-3609	219	2	the	the	DET
american_scientific_journal-3609	219	3	parking	parking	NOUN
american_scientific_journal-3609	219	4	will	will	AUX
american_scientific_journal-3609	219	5	be	be	AUX
american_scientific_journal-3609	219	6	finished	finish	VERB
american_scientific_journal-3609	219	7	.	.	PUNCT
american_scientific_journal-3609	220	1	6	6	X
american_scientific_journal-3609	220	2	.	.	X
american_scientific_journal-3609	220	3	interfacing	interface	VERB
american_scientific_journal-3609	220	4	system	system	NOUN
american_scientific_journal-3609	220	5	visual	visual	ADJ
american_scientific_journal-3609	220	6	studio	studio	NOUN
american_scientific_journal-3609	220	7	2013	2013	NUM
american_scientific_journal-3609	220	8	is	be	AUX
american_scientific_journal-3609	220	9	used	use	VERB
american_scientific_journal-3609	220	10	for	for	ADP
american_scientific_journal-3609	220	11	the	the	DET
american_scientific_journal-3609	220	12	user	user	NOUN
american_scientific_journal-3609	220	13	interface	interface	NOUN
american_scientific_journal-3609	220	14	window	window	NOUN
american_scientific_journal-3609	220	15	.	.	PUNCT
american_scientific_journal-3609	221	1	the	the	DET
american_scientific_journal-3609	221	2	purpose	purpose	NOUN
american_scientific_journal-3609	221	3	of	of	ADP
american_scientific_journal-3609	221	4	using	use	VERB
american_scientific_journal-3609	221	5	interface	interface	NOUN
american_scientific_journal-3609	221	6	is	be	AUX
american_scientific_journal-3609	221	7	to	to	PART
american_scientific_journal-3609	221	8	test	test	VERB
american_scientific_journal-3609	221	9	the	the	DET
american_scientific_journal-3609	221	10	parking	parking	NOUN
american_scientific_journal-3609	221	11	algorithm	algorithm	NOUN
american_scientific_journal-3609	221	12	and	and	CCONJ
american_scientific_journal-3609	221	13	to	to	PART
american_scientific_journal-3609	221	14	know	know	VERB
american_scientific_journal-3609	221	15	the	the	DET
american_scientific_journal-3609	221	16	operating	operate	VERB
american_scientific_journal-3609	221	17	sequence	sequence	NOUN
american_scientific_journal-3609	221	18	in	in	ADP
american_scientific_journal-3609	221	19	detail	detail	NOUN
american_scientific_journal-3609	221	20	.	.	PUNCT
american_scientific_journal-3609	222	1	the	the	DET
american_scientific_journal-3609	222	2	prototype	prototype	NOUN
american_scientific_journal-3609	222	3	model	model	NOUN
american_scientific_journal-3609	222	4	can	can	AUX
american_scientific_journal-3609	222	5	also	also	ADV
american_scientific_journal-3609	222	6	be	be	AUX
american_scientific_journal-3609	222	7	controlled	control	VERB
american_scientific_journal-3609	222	8	by	by	ADP
american_scientific_journal-3609	222	9	interface	interface	NOUN
american_scientific_journal-3609	222	10	window	window	NOUN
american_scientific_journal-3609	222	11	.	.	PUNCT
american_scientific_journal-3609	223	1	there	there	PRON
american_scientific_journal-3609	223	2	have	have	VERB
american_scientific_journal-3609	223	3	four	four	NUM
american_scientific_journal-3609	223	4	interface	interface	NOUN
american_scientific_journal-3609	223	5	windows	window	NOUN
american_scientific_journal-3609	223	6	in	in	ADP
american_scientific_journal-3609	223	7	user	user	NOUN
american_scientific_journal-3609	223	8	interface	interface	NOUN
american_scientific_journal-3609	223	9	and	and	CCONJ
american_scientific_journal-3609	223	10	all	all	DET
american_scientific_journal-3609	223	11	the	the	DET
american_scientific_journal-3609	223	12	windows	window	NOUN
american_scientific_journal-3609	223	13	are	be	AUX
american_scientific_journal-3609	223	14	connected	connect	VERB
american_scientific_journal-3609	223	15	with	with	ADP
american_scientific_journal-3609	223	16	a	a	DET
american_scientific_journal-3609	223	17	cascade	cascade	NOUN
american_scientific_journal-3609	223	18	system	system	NOUN
american_scientific_journal-3609	223	19	.	.	PUNCT
american_scientific_journal-3609	224	1	car	car	NOUN
american_scientific_journal-3609	224	2	parameter	parameter	NOUN
american_scientific_journal-3609	224	3	window	window	NOUN
american_scientific_journal-3609	224	4	can	can	AUX
american_scientific_journal-3609	224	5	be	be	AUX
american_scientific_journal-3609	224	6	seen	see	VERB
american_scientific_journal-3609	224	7	in	in	ADP
american_scientific_journal-3609	224	8	figure.13	figure.13	PROPN
american_scientific_journal-3609	224	9	.	.	PUNCT
american_scientific_journal-3609	225	1	in	in	ADP
american_scientific_journal-3609	225	2	this	this	DET
american_scientific_journal-3609	225	3	window	window	NOUN
american_scientific_journal-3609	225	4	,	,	PUNCT
american_scientific_journal-3609	225	5	it	it	PRON
american_scientific_journal-3609	225	6	can	can	AUX
american_scientific_journal-3609	225	7	be	be	AUX
american_scientific_journal-3609	225	8	defined	define	VERB
american_scientific_journal-3609	225	9	as	as	ADP
american_scientific_journal-3609	225	10	steering	steering	NOUN
american_scientific_journal-3609	225	11	angle	angle	NOUN
american_scientific_journal-3609	225	12	,	,	PUNCT
american_scientific_journal-3609	225	13	safety	safety	NOUN
american_scientific_journal-3609	225	14	region	region	NOUN
american_scientific_journal-3609	225	15	and	and	CCONJ
american_scientific_journal-3609	225	16	the	the	DET
american_scientific_journal-3609	225	17	parameters	parameter	NOUN
american_scientific_journal-3609	225	18	of	of	ADP
american_scientific_journal-3609	225	19	prototype	prototype	NOUN
american_scientific_journal-3609	225	20	model	model	NOUN
american_scientific_journal-3609	225	21	.	.	PUNCT
american_scientific_journal-3609	226	1	different	different	ADJ
american_scientific_journal-3609	226	2	model	model	NOUN
american_scientific_journal-3609	226	3	can	can	AUX
american_scientific_journal-3609	226	4	also	also	ADV
american_scientific_journal-3609	226	5	be	be	AUX
american_scientific_journal-3609	226	6	saved	save	VERB
american_scientific_journal-3609	226	7	in	in	ADP
american_scientific_journal-3609	226	8	this	this	DET
american_scientific_journal-3609	226	9	window	window	NOUN
american_scientific_journal-3609	226	10	for	for	ADP
american_scientific_journal-3609	226	11	the	the	DET
american_scientific_journal-3609	226	12	purpose	purpose	NOUN
american_scientific_journal-3609	226	13	of	of	ADP
american_scientific_journal-3609	226	14	easy	easy	ADJ
american_scientific_journal-3609	226	15	usage	usage	NOUN
american_scientific_journal-3609	226	16	.	.	PUNCT
american_scientific_journal-3609	227	1	connect	connect	NOUN
american_scientific_journal-3609	227	2	button	button	NOUN
american_scientific_journal-3609	227	3	is	be	AUX
american_scientific_journal-3609	227	4	used	use	VERB
american_scientific_journal-3609	227	5	to	to	PART
american_scientific_journal-3609	227	6	interface	interface	VERB
american_scientific_journal-3609	227	7	with	with	ADP
american_scientific_journal-3609	227	8	the	the	DET
american_scientific_journal-3609	227	9	prototype	prototype	NOUN
american_scientific_journal-3609	227	10	model	model	NOUN
american_scientific_journal-3609	227	11	and	and	CCONJ
american_scientific_journal-3609	227	12	interface	interface	NOUN
american_scientific_journal-3609	227	13	window	window	NOUN
american_scientific_journal-3609	227	14	.	.	PUNCT
american_scientific_journal-3609	228	1	after	after	SCONJ
american_scientific_journal-3609	228	2	the	the	DET
american_scientific_journal-3609	228	3	parameters	parameter	NOUN
american_scientific_journal-3609	228	4	has	have	AUX
american_scientific_journal-3609	228	5	defined	define	VERB
american_scientific_journal-3609	228	6	,	,	PUNCT
american_scientific_journal-3609	228	7	the	the	DET
american_scientific_journal-3609	228	8	confirm	confirm	NOUN
american_scientific_journal-3609	228	9	button	button	NOUN
american_scientific_journal-3609	228	10	is	be	AUX
american_scientific_journal-3609	228	11	used	use	VERB
american_scientific_journal-3609	228	12	to	to	PART
american_scientific_journal-3609	228	13	change	change	VERB
american_scientific_journal-3609	228	14	the	the	DET
american_scientific_journal-3609	228	15	next	next	ADJ
american_scientific_journal-3609	228	16	window	window	NOUN
american_scientific_journal-3609	228	17	.	.	PUNCT
american_scientific_journal-3609	229	1	figure	figure	NOUN
american_scientific_journal-3609	229	2	13	13	NUM
american_scientific_journal-3609	229	3	:	:	PUNCT
american_scientific_journal-3609	229	4	car	car	NOUN
american_scientific_journal-3609	229	5	parameter	parameter	NOUN
american_scientific_journal-3609	229	6	window	window	NOUN
american_scientific_journal-3609	229	7	the	the	DET
american_scientific_journal-3609	229	8	second	second	ADJ
american_scientific_journal-3609	229	9	window	window	NOUN
american_scientific_journal-3609	229	10	is	be	AUX
american_scientific_journal-3609	229	11	main	main	ADJ
american_scientific_journal-3609	229	12	panel	panel	NOUN
american_scientific_journal-3609	229	13	window	window	NOUN
american_scientific_journal-3609	229	14	shown	show	VERB
american_scientific_journal-3609	229	15	in	in	ADP
american_scientific_journal-3609	229	16	figure.14	figure.14	PROPN
american_scientific_journal-3609	229	17	.	.	PUNCT
american_scientific_journal-3609	230	1	according	accord	VERB
american_scientific_journal-3609	230	2	to	to	ADP
american_scientific_journal-3609	230	3	the	the	DET
american_scientific_journal-3609	230	4	operation	operation	NOUN
american_scientific_journal-3609	230	5	sequences	sequence	NOUN
american_scientific_journal-3609	230	6	,	,	PUNCT
american_scientific_journal-3609	230	7	each	each	DET
american_scientific_journal-3609	230	8	state	state	NOUN
american_scientific_journal-3609	230	9	and	and	CCONJ
american_scientific_journal-3609	230	10	its	its	PRON
american_scientific_journal-3609	230	11	description	description	NOUN
american_scientific_journal-3609	230	12	are	be	AUX
american_scientific_journal-3609	230	13	described	describe	VERB
american_scientific_journal-3609	230	14	at	at	ADP
american_scientific_journal-3609	230	15	the	the	DET
american_scientific_journal-3609	230	16	top	top	NOUN
american_scientific_journal-3609	230	17	of	of	ADP
american_scientific_journal-3609	230	18	the	the	DET
american_scientific_journal-3609	230	19	window	window	NOUN
american_scientific_journal-3609	230	20	text	text	NOUN
american_scientific_journal-3609	230	21	box	box	NOUN
american_scientific_journal-3609	230	22	.	.	PUNCT
american_scientific_journal-3609	231	1	front	front	NOUN
american_scientific_journal-3609	231	2	and	and	CCONJ
american_scientific_journal-3609	231	3	rear	rear	ADJ
american_scientific_journal-3609	231	4	sensors	sensor	NOUN
american_scientific_journal-3609	231	5	data	datum	NOUN
american_scientific_journal-3609	231	6	are	be	AUX
american_scientific_journal-3609	231	7	described	describe	VERB
american_scientific_journal-3609	231	8	at	at	ADP
american_scientific_journal-3609	231	9	the	the	DET
american_scientific_journal-3609	231	10	right	right	ADJ
american_scientific_journal-3609	231	11	side	side	NOUN
american_scientific_journal-3609	231	12	of	of	ADP
american_scientific_journal-3609	231	13	the	the	DET
american_scientific_journal-3609	231	14	model	model	NOUN
american_scientific_journal-3609	231	15	picture	picture	NOUN
american_scientific_journal-3609	231	16	.	.	PUNCT
american_scientific_journal-3609	232	1	the	the	DET
american_scientific_journal-3609	232	2	other	other	ADJ
american_scientific_journal-3609	232	3	important	important	ADJ
american_scientific_journal-3609	232	4	data	datum	NOUN
american_scientific_journal-3609	232	5	are	be	AUX
american_scientific_journal-3609	232	6	also	also	ADV
american_scientific_journal-3609	232	7	described	describe	VERB
american_scientific_journal-3609	232	8	in	in	ADP
american_scientific_journal-3609	232	9	this	this	DET
american_scientific_journal-3609	232	10	window	window	NOUN
american_scientific_journal-3609	232	11	.	.	PUNCT
american_scientific_journal-3609	233	1	the	the	DET
american_scientific_journal-3609	233	2	start	start	NOUN
american_scientific_journal-3609	233	3	button	button	NOUN
american_scientific_journal-3609	233	4	is	be	AUX
american_scientific_journal-3609	233	5	used	use	VERB
american_scientific_journal-3609	233	6	to	to	PART
american_scientific_journal-3609	233	7	start	start	VERB
american_scientific_journal-3609	233	8	the	the	DET
american_scientific_journal-3609	233	9	operation	operation	NOUN
american_scientific_journal-3609	233	10	.	.	PUNCT
american_scientific_journal-3609	234	1	real	real	ADJ
american_scientific_journal-3609	234	2	time	time	NOUN
american_scientific_journal-3609	234	3	graph	graph	NOUN
american_scientific_journal-3609	234	4	window	window	NOUN
american_scientific_journal-3609	234	5	and	and	CCONJ
american_scientific_journal-3609	234	6	reference	reference	NOUN
american_scientific_journal-3609	234	7	path	path	NOUN
american_scientific_journal-3609	234	8	data	data	PROPN
american_scientific_journal-3609	234	9	window	window	NOUN
american_scientific_journal-3609	234	10	can	can	AUX
american_scientific_journal-3609	234	11	be	be	AUX
american_scientific_journal-3609	234	12	changed	change	VERB
american_scientific_journal-3609	234	13	from	from	ADP
american_scientific_journal-3609	234	14	this	this	DET
american_scientific_journal-3609	234	15	window	window	NOUN
american_scientific_journal-3609	234	16	.	.	PUNCT
american_scientific_journal-3609	235	1	american	american	ADJ
american_scientific_journal-3609	235	2	scientific	scientific	ADJ
american_scientific_journal-3609	235	3	research	research	PROPN
american_scientific_journal-3609	235	4	journal	journal	NOUN
american_scientific_journal-3609	235	5	for	for	ADP
american_scientific_journal-3609	235	6	engineering	engineering	NOUN
american_scientific_journal-3609	235	7	,	,	PUNCT
american_scientific_journal-3609	235	8	technology	technology	NOUN
american_scientific_journal-3609	235	9	,	,	PUNCT
american_scientific_journal-3609	235	10	and	and	CCONJ
american_scientific_journal-3609	235	11	sciences	science	NOUN
american_scientific_journal-3609	235	12	(	(	PUNCT
american_scientific_journal-3609	235	13	asrjets	asrjet	NOUN
american_scientific_journal-3609	235	14	)	)	PUNCT
american_scientific_journal-3609	235	15	(	(	PUNCT
american_scientific_journal-3609	235	16	2017	2017	NUM
american_scientific_journal-3609	235	17	)	)	PUNCT
american_scientific_journal-3609	235	18	volume	volume	NOUN
american_scientific_journal-3609	235	19	38	38	NUM
american_scientific_journal-3609	235	20	,	,	PUNCT
american_scientific_journal-3609	235	21	no	no	DET
american_scientific_journal-3609	235	22	2	2	NUM
american_scientific_journal-3609	235	23	,	,	PUNCT
american_scientific_journal-3609	235	24	pp	pp	ADV
american_scientific_journal-3609	235	25	23	23	NUM
american_scientific_journal-3609	235	26	-	-	SYM
american_scientific_journal-3609	235	27	41	41	NUM
american_scientific_journal-3609	235	28	37	37	NUM
american_scientific_journal-3609	235	29	figure	figure	NOUN
american_scientific_journal-3609	235	30	14	14	NUM
american_scientific_journal-3609	235	31	:	:	PUNCT
american_scientific_journal-3609	235	32	main	main	ADJ
american_scientific_journal-3609	235	33	panel	panel	NOUN
american_scientific_journal-3609	235	34	window	window	NOUN
american_scientific_journal-3609	235	35	in	in	ADP
american_scientific_journal-3609	235	36	real	real	ADJ
american_scientific_journal-3609	235	37	time	time	NOUN
american_scientific_journal-3609	235	38	graph	graph	NOUN
american_scientific_journal-3609	235	39	window	window	NOUN
american_scientific_journal-3609	235	40	,	,	PUNCT
american_scientific_journal-3609	235	41	all	all	DET
american_scientific_journal-3609	235	42	the	the	DET
american_scientific_journal-3609	235	43	operating	operating	NOUN
american_scientific_journal-3609	235	44	data	datum	NOUN
american_scientific_journal-3609	235	45	are	be	AUX
american_scientific_journal-3609	235	46	drawing	draw	VERB
american_scientific_journal-3609	235	47	with	with	ADP
american_scientific_journal-3609	235	48	real	real	ADJ
american_scientific_journal-3609	235	49	time	time	NOUN
american_scientific_journal-3609	235	50	shown	show	VERB
american_scientific_journal-3609	235	51	in	in	ADP
american_scientific_journal-3609	235	52	figure.15	figure.15	NOUN
american_scientific_journal-3609	235	53	.	.	PUNCT
american_scientific_journal-3609	236	1	the	the	DET
american_scientific_journal-3609	236	2	changing	changing	NOUN
american_scientific_journal-3609	236	3	of	of	ADP
american_scientific_journal-3609	236	4	steering	steering	NOUN
american_scientific_journal-3609	236	5	angle	angle	NOUN
american_scientific_journal-3609	236	6	,	,	PUNCT
american_scientific_journal-3609	236	7	car	car	NOUN
american_scientific_journal-3609	236	8	movement	movement	NOUN
american_scientific_journal-3609	236	9	,	,	PUNCT
american_scientific_journal-3609	236	10	state	state	NOUN
american_scientific_journal-3609	236	11	and	and	CCONJ
american_scientific_journal-3609	236	12	distance	distance	NOUN
american_scientific_journal-3609	236	13	can	can	AUX
american_scientific_journal-3609	236	14	be	be	AUX
american_scientific_journal-3609	236	15	well	well	ADV
american_scientific_journal-3609	236	16	known	know	VERB
american_scientific_journal-3609	236	17	from	from	ADP
american_scientific_journal-3609	236	18	this	this	DET
american_scientific_journal-3609	236	19	window	window	NOUN
american_scientific_journal-3609	236	20	.	.	PUNCT
american_scientific_journal-3609	237	1	all	all	DET
american_scientific_journal-3609	237	2	the	the	DET
american_scientific_journal-3609	237	3	charts	chart	NOUN
american_scientific_journal-3609	237	4	are	be	AUX
american_scientific_journal-3609	237	5	working	work	VERB
american_scientific_journal-3609	237	6	at	at	ADP
american_scientific_journal-3609	237	7	the	the	DET
american_scientific_journal-3609	237	8	same	same	ADJ
american_scientific_journal-3609	237	9	time	time	NOUN
american_scientific_journal-3609	237	10	and	and	CCONJ
american_scientific_journal-3609	237	11	linking	link	VERB
american_scientific_journal-3609	237	12	each	each	DET
american_scientific_journal-3609	237	13	other	other	ADJ
american_scientific_journal-3609	237	14	.	.	PUNCT
american_scientific_journal-3609	238	1	figure	figure	VERB
american_scientific_journal-3609	238	2	15	15	NUM
american_scientific_journal-3609	238	3	:	:	PUNCT
american_scientific_journal-3609	238	4	real	real	ADJ
american_scientific_journal-3609	238	5	time	time	NOUN
american_scientific_journal-3609	238	6	graph	graph	NOUN
american_scientific_journal-3609	238	7	window	window	NOUN
american_scientific_journal-3609	238	8	localization	localization	NOUN
american_scientific_journal-3609	238	9	and	and	CCONJ
american_scientific_journal-3609	238	10	coordinate	coordinate	NOUN
american_scientific_journal-3609	238	11	data	datum	NOUN
american_scientific_journal-3609	238	12	are	be	AUX
american_scientific_journal-3609	238	13	described	describe	VERB
american_scientific_journal-3609	238	14	in	in	ADP
american_scientific_journal-3609	238	15	this	this	DET
american_scientific_journal-3609	238	16	path	path	NOUN
american_scientific_journal-3609	238	17	data	data	NOUN
american_scientific_journal-3609	238	18	window	window	NOUN
american_scientific_journal-3609	238	19	shown	show	VERB
american_scientific_journal-3609	238	20	in	in	ADP
american_scientific_journal-3609	238	21	figure.16	figure.16	PROPN
american_scientific_journal-3609	238	22	.	.	PUNCT
american_scientific_journal-3609	239	1	the	the	DET
american_scientific_journal-3609	239	2	data	datum	NOUN
american_scientific_journal-3609	239	3	in	in	ADP
american_scientific_journal-3609	239	4	each	each	DET
american_scientific_journal-3609	239	5	text	text	NOUN
american_scientific_journal-3609	239	6	box	box	NOUN
american_scientific_journal-3609	239	7	is	be	AUX
american_scientific_journal-3609	239	8	coming	come	VERB
american_scientific_journal-3609	239	9	from	from	ADP
american_scientific_journal-3609	239	10	the	the	DET
american_scientific_journal-3609	239	11	geometric	geometric	ADJ
american_scientific_journal-3609	239	12	path	path	NOUN
american_scientific_journal-3609	239	13	planning	planning	NOUN
american_scientific_journal-3609	239	14	equations	equation	NOUN
american_scientific_journal-3609	239	15	.	.	PUNCT
american_scientific_journal-3609	240	1	the	the	DET
american_scientific_journal-3609	240	2	blank	blank	ADJ
american_scientific_journal-3609	240	3	text	text	NOUN
american_scientific_journal-3609	240	4	boxes	box	NOUN
american_scientific_journal-3609	240	5	can	can	AUX
american_scientific_journal-3609	240	6	calculate	calculate	VERB
american_scientific_journal-3609	240	7	data	datum	NOUN
american_scientific_journal-3609	240	8	after	after	ADP
american_scientific_journal-3609	240	9	knowing	know	VERB
american_scientific_journal-3609	240	10	the	the	DET
american_scientific_journal-3609	240	11	lateral	lateral	ADJ
american_scientific_journal-3609	240	12	distance	distance	NOUN
american_scientific_journal-3609	240	13	value	value	NOUN
american_scientific_journal-3609	240	14	.	.	PUNCT
american_scientific_journal-3609	241	1	american	american	ADJ
american_scientific_journal-3609	241	2	scientific	scientific	ADJ
american_scientific_journal-3609	241	3	research	research	PROPN
american_scientific_journal-3609	241	4	journal	journal	NOUN
american_scientific_journal-3609	241	5	for	for	ADP
american_scientific_journal-3609	241	6	engineering	engineering	NOUN
american_scientific_journal-3609	241	7	,	,	PUNCT
american_scientific_journal-3609	241	8	technology	technology	NOUN
american_scientific_journal-3609	241	9	,	,	PUNCT
american_scientific_journal-3609	241	10	and	and	CCONJ
american_scientific_journal-3609	241	11	sciences	science	NOUN
american_scientific_journal-3609	241	12	(	(	PUNCT
american_scientific_journal-3609	241	13	asrjets	asrjet	NOUN
american_scientific_journal-3609	241	14	)	)	PUNCT
american_scientific_journal-3609	241	15	(	(	PUNCT
american_scientific_journal-3609	241	16	2017	2017	NUM
american_scientific_journal-3609	241	17	)	)	PUNCT
american_scientific_journal-3609	241	18	volume	volume	NOUN
american_scientific_journal-3609	241	19	38	38	NUM
american_scientific_journal-3609	241	20	,	,	PUNCT
american_scientific_journal-3609	241	21	no	no	DET
american_scientific_journal-3609	241	22	2	2	NUM
american_scientific_journal-3609	241	23	,	,	PUNCT
american_scientific_journal-3609	241	24	pp	pp	ADV
american_scientific_journal-3609	241	25	23	23	NUM
american_scientific_journal-3609	241	26	-	-	SYM
american_scientific_journal-3609	241	27	41	41	NUM
american_scientific_journal-3609	241	28	38	38	NUM
american_scientific_journal-3609	241	29	figure	figure	NOUN
american_scientific_journal-3609	241	30	16	16	NUM
american_scientific_journal-3609	241	31	:	:	PUNCT
american_scientific_journal-3609	241	32	path	path	NOUN
american_scientific_journal-3609	241	33	data	data	PROPN
american_scientific_journal-3609	241	34	window	window	NOUN
american_scientific_journal-3609	241	35	7	7	NUM
american_scientific_journal-3609	241	36	.	.	PUNCT
american_scientific_journal-3609	241	37	experimental	experimental	ADJ
american_scientific_journal-3609	241	38	result	result	NOUN
american_scientific_journal-3609	241	39	in	in	ADP
american_scientific_journal-3609	241	40	this	this	DET
american_scientific_journal-3609	241	41	section	section	NOUN
american_scientific_journal-3609	241	42	,	,	PUNCT
american_scientific_journal-3609	241	43	experimental	experimental	ADJ
american_scientific_journal-3609	241	44	result	result	NOUN
american_scientific_journal-3609	241	45	of	of	ADP
american_scientific_journal-3609	241	46	parking	parking	NOUN
american_scientific_journal-3609	241	47	procedure	procedure	NOUN
american_scientific_journal-3609	241	48	is	be	AUX
american_scientific_journal-3609	241	49	presented	present	VERB
american_scientific_journal-3609	241	50	step	step	NOUN
american_scientific_journal-3609	241	51	by	by	ADP
american_scientific_journal-3609	241	52	step	step	NOUN
american_scientific_journal-3609	241	53	shown	show	VERB
american_scientific_journal-3609	241	54	in	in	ADP
american_scientific_journal-3609	241	55	figure	figure	NOUN
american_scientific_journal-3609	241	56	.	.	PUNCT
american_scientific_journal-3609	242	1	17	17	NUM
american_scientific_journal-3609	242	2	.	.	PUNCT
american_scientific_journal-3609	243	1	firstly	firstly	ADV
american_scientific_journal-3609	243	2	,	,	PUNCT
american_scientific_journal-3609	243	3	the	the	DET
american_scientific_journal-3609	243	4	robot	robot	NOUN
american_scientific_journal-3609	243	5	is	be	AUX
american_scientific_journal-3609	243	6	finding	find	VERB
american_scientific_journal-3609	243	7	the	the	DET
american_scientific_journal-3609	243	8	parking	parking	NOUN
american_scientific_journal-3609	243	9	space	space	NOUN
american_scientific_journal-3609	243	10	by	by	ADP
american_scientific_journal-3609	243	11	using	use	VERB
american_scientific_journal-3609	243	12	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	243	13	sensors	sensor	NOUN
american_scientific_journal-3609	243	14	as	as	SCONJ
american_scientific_journal-3609	243	15	shown	show	VERB
american_scientific_journal-3609	243	16	in	in	ADP
american_scientific_journal-3609	243	17	figure.17(a	figure.17(a	PROPN
american_scientific_journal-3609	243	18	)	)	PUNCT
american_scientific_journal-3609	243	19	.	.	PUNCT
american_scientific_journal-3609	244	1	if	if	SCONJ
american_scientific_journal-3609	244	2	the	the	DET
american_scientific_journal-3609	244	3	length	length	NOUN
american_scientific_journal-3609	244	4	of	of	ADP
american_scientific_journal-3609	244	5	the	the	DET
american_scientific_journal-3609	244	6	parking	parking	NOUN
american_scientific_journal-3609	244	7	space	space	NOUN
american_scientific_journal-3609	244	8	is	be	AUX
american_scientific_journal-3609	244	9	not	not	PART
american_scientific_journal-3609	244	10	large	large	ADJ
american_scientific_journal-3609	244	11	enough	enough	ADV
american_scientific_journal-3609	244	12	,	,	PUNCT
american_scientific_journal-3609	244	13	the	the	DET
american_scientific_journal-3609	244	14	robot	robot	NOUN
american_scientific_journal-3609	244	15	will	will	AUX
american_scientific_journal-3609	244	16	not	not	PART
american_scientific_journal-3609	244	17	be	be	AUX
american_scientific_journal-3609	244	18	parked	park	VERB
american_scientific_journal-3609	244	19	.	.	PUNCT
american_scientific_journal-3609	245	1	(	(	PUNCT
american_scientific_journal-3609	245	2	a	a	X
american_scientific_journal-3609	245	3	)	)	PUNCT
american_scientific_journal-3609	245	4	(	(	PUNCT
american_scientific_journal-3609	245	5	b	b	X
american_scientific_journal-3609	245	6	)	)	PUNCT
american_scientific_journal-3609	245	7	(	(	PUNCT
american_scientific_journal-3609	245	8	c	c	X
american_scientific_journal-3609	245	9	)	)	PUNCT
american_scientific_journal-3609	245	10	(	(	PUNCT
american_scientific_journal-3609	245	11	d	d	X
american_scientific_journal-3609	245	12	)	)	PUNCT
american_scientific_journal-3609	245	13	(	(	PUNCT
american_scientific_journal-3609	245	14	e	e	NOUN
american_scientific_journal-3609	245	15	)	)	PUNCT
american_scientific_journal-3609	245	16	figure	figure	NOUN
american_scientific_journal-3609	245	17	17	17	NUM
american_scientific_journal-3609	245	18	:	:	PUNCT
american_scientific_journal-3609	245	19	experimental	experimental	ADJ
american_scientific_journal-3609	245	20	test	test	NOUN
american_scientific_journal-3609	245	21	for	for	ADP
american_scientific_journal-3609	245	22	overall	overall	ADJ
american_scientific_journal-3609	245	23	parking	parking	NOUN
american_scientific_journal-3609	245	24	procedure	procedure	NOUN
american_scientific_journal-3609	245	25	american	american	ADJ
american_scientific_journal-3609	245	26	scientific	scientific	ADJ
american_scientific_journal-3609	245	27	research	research	NOUN
american_scientific_journal-3609	245	28	journal	journal	NOUN
american_scientific_journal-3609	245	29	for	for	ADP
american_scientific_journal-3609	245	30	engineering	engineering	NOUN
american_scientific_journal-3609	245	31	,	,	PUNCT
american_scientific_journal-3609	245	32	technology	technology	NOUN
american_scientific_journal-3609	245	33	,	,	PUNCT
american_scientific_journal-3609	245	34	and	and	CCONJ
american_scientific_journal-3609	245	35	sciences	science	NOUN
american_scientific_journal-3609	245	36	(	(	PUNCT
american_scientific_journal-3609	245	37	asrjets	asrjet	NOUN
american_scientific_journal-3609	245	38	)	)	PUNCT
american_scientific_journal-3609	245	39	(	(	PUNCT
american_scientific_journal-3609	245	40	2017	2017	NUM
american_scientific_journal-3609	245	41	)	)	PUNCT
american_scientific_journal-3609	245	42	volume	volume	NOUN
american_scientific_journal-3609	245	43	38	38	NUM
american_scientific_journal-3609	245	44	,	,	PUNCT
american_scientific_journal-3609	245	45	no	no	DET
american_scientific_journal-3609	245	46	2	2	NUM
american_scientific_journal-3609	245	47	,	,	PUNCT
american_scientific_journal-3609	245	48	pp	pp	ADV
american_scientific_journal-3609	245	49	23	23	NUM
american_scientific_journal-3609	245	50	-	-	SYM
american_scientific_journal-3609	245	51	41	41	NUM
american_scientific_journal-3609	245	52	39	39	NUM
american_scientific_journal-3609	245	53	when	when	SCONJ
american_scientific_journal-3609	245	54	the	the	DET
american_scientific_journal-3609	245	55	robot	robot	NOUN
american_scientific_journal-3609	245	56	gets	get	VERB
american_scientific_journal-3609	245	57	the	the	DET
american_scientific_journal-3609	245	58	minimum	minimum	ADJ
american_scientific_journal-3609	245	59	parking	parking	NOUN
american_scientific_journal-3609	245	60	space	space	NOUN
american_scientific_journal-3609	245	61	,	,	PUNCT
american_scientific_journal-3609	245	62	the	the	DET
american_scientific_journal-3609	245	63	robot	robot	NOUN
american_scientific_journal-3609	245	64	will	will	AUX
american_scientific_journal-3609	245	65	move	move	VERB
american_scientific_journal-3609	245	66	from	from	ADP
american_scientific_journal-3609	245	67	initial	initial	ADJ
american_scientific_journal-3609	245	68	parallel	parallel	ADJ
american_scientific_journal-3609	245	69	position	position	NOUN
american_scientific_journal-3609	245	70	to	to	ADP
american_scientific_journal-3609	245	71	the	the	DET
american_scientific_journal-3609	245	72	starting	starting	NOUN
american_scientific_journal-3609	245	73	position	position	NOUN
american_scientific_journal-3609	245	74	according	accord	VERB
american_scientific_journal-3609	245	75	to	to	ADP
american_scientific_journal-3609	245	76	the	the	DET
american_scientific_journal-3609	245	77	lateral	lateral	ADJ
american_scientific_journal-3609	245	78	distance	distance	NOUN
american_scientific_journal-3609	245	79	.	.	PUNCT
american_scientific_journal-3609	246	1	in	in	ADP
american_scientific_journal-3609	246	2	figure.17(b	figure.17(b	PROPN
american_scientific_journal-3609	246	3	)	)	PUNCT
american_scientific_journal-3609	246	4	,	,	PUNCT
american_scientific_journal-3609	246	5	the	the	DET
american_scientific_journal-3609	246	6	robot	robot	NOUN
american_scientific_journal-3609	246	7	stops	stop	VERB
american_scientific_journal-3609	246	8	at	at	ADP
american_scientific_journal-3609	246	9	the	the	DET
american_scientific_journal-3609	246	10	initial	initial	ADJ
american_scientific_journal-3609	246	11	position	position	NOUN
american_scientific_journal-3609	246	12	.	.	PUNCT
american_scientific_journal-3609	247	1	figure.17(c	figure.17(c	PROPN
american_scientific_journal-3609	247	2	)	)	PUNCT
american_scientific_journal-3609	247	3	shows	show	VERB
american_scientific_journal-3609	247	4	the	the	DET
american_scientific_journal-3609	247	5	robot	robot	NOUN
american_scientific_journal-3609	247	6	which	which	PRON
american_scientific_journal-3609	247	7	is	be	AUX
american_scientific_journal-3609	247	8	entering	enter	VERB
american_scientific_journal-3609	247	9	to	to	ADP
american_scientific_journal-3609	247	10	the	the	DET
american_scientific_journal-3609	247	11	parking	parking	NOUN
american_scientific_journal-3609	247	12	slot	slot	NOUN
american_scientific_journal-3609	247	13	with	with	ADP
american_scientific_journal-3609	247	14	maximum	maximum	ADJ
american_scientific_journal-3609	247	15	right	right	ADJ
american_scientific_journal-3609	247	16	steering	steering	NOUN
american_scientific_journal-3609	247	17	.	.	PUNCT
american_scientific_journal-3609	248	1	firstly	firstly	ADV
american_scientific_journal-3609	248	2	,	,	PUNCT
american_scientific_journal-3609	248	3	the	the	DET
american_scientific_journal-3609	248	4	servo	servo	NOUN
american_scientific_journal-3609	248	5	motor	motor	NOUN
american_scientific_journal-3609	248	6	rotates	rotate	NOUN
american_scientific_journal-3609	248	7	to	to	PART
american_scientific_journal-3609	248	8	become	become	VERB
american_scientific_journal-3609	248	9	maximum	maximum	ADJ
american_scientific_journal-3609	248	10	right	right	ADJ
american_scientific_journal-3609	248	11	steering	steering	NOUN
american_scientific_journal-3609	248	12	and	and	CCONJ
american_scientific_journal-3609	248	13	then	then	ADV
american_scientific_journal-3609	248	14	dc	dc	PROPN
american_scientific_journal-3609	248	15	motor	motor	NOUN
american_scientific_journal-3609	248	16	will	will	AUX
american_scientific_journal-3609	248	17	rotate	rotate	VERB
american_scientific_journal-3609	248	18	the	the	DET
american_scientific_journal-3609	248	19	rear	rear	ADJ
american_scientific_journal-3609	248	20	shaft	shaft	NOUN
american_scientific_journal-3609	248	21	with	with	ADP
american_scientific_journal-3609	248	22	constant	constant	ADJ
american_scientific_journal-3609	248	23	speed	speed	NOUN
american_scientific_journal-3609	248	24	until	until	ADP
american_scientific_journal-3609	248	25	the	the	DET
american_scientific_journal-3609	248	26	counter	counter	NOUN
american_scientific_journal-3609	248	27	steering	steering	NOUN
american_scientific_journal-3609	248	28	point	point	NOUN
american_scientific_journal-3609	248	29	.	.	PUNCT
american_scientific_journal-3609	249	1	in	in	ADP
american_scientific_journal-3609	249	2	figure.17(d	figure.17(d	PROPN
american_scientific_journal-3609	249	3	)	)	PUNCT
american_scientific_journal-3609	249	4	,	,	PUNCT
american_scientific_journal-3609	249	5	when	when	SCONJ
american_scientific_journal-3609	249	6	the	the	DET
american_scientific_journal-3609	249	7	robot	robot	NOUN
american_scientific_journal-3609	249	8	reaches	reach	VERB
american_scientific_journal-3609	249	9	at	at	ADP
american_scientific_journal-3609	249	10	the	the	DET
american_scientific_journal-3609	249	11	counter	counter	NOUN
american_scientific_journal-3609	249	12	steering	steering	NOUN
american_scientific_journal-3609	249	13	point	point	NOUN
american_scientific_journal-3609	249	14	,	,	PUNCT
american_scientific_journal-3609	249	15	the	the	DET
american_scientific_journal-3609	249	16	servo	servo	NOUN
american_scientific_journal-3609	249	17	motor	motor	NOUN
american_scientific_journal-3609	249	18	will	will	AUX
american_scientific_journal-3609	249	19	rotate	rotate	VERB
american_scientific_journal-3609	249	20	again	again	ADV
american_scientific_journal-3609	249	21	to	to	PART
american_scientific_journal-3609	249	22	become	become	VERB
american_scientific_journal-3609	249	23	maximum	maximum	ADJ
american_scientific_journal-3609	249	24	left	left	ADJ
american_scientific_journal-3609	249	25	steering	steering	NOUN
american_scientific_journal-3609	249	26	and	and	CCONJ
american_scientific_journal-3609	249	27	the	the	DET
american_scientific_journal-3609	249	28	robot	robot	NOUN
american_scientific_journal-3609	249	29	will	will	AUX
american_scientific_journal-3609	249	30	move	move	VERB
american_scientific_journal-3609	249	31	back	back	ADV
american_scientific_journal-3609	249	32	to	to	ADP
american_scientific_journal-3609	249	33	the	the	DET
american_scientific_journal-3609	249	34	final	final	ADJ
american_scientific_journal-3609	249	35	point	point	NOUN
american_scientific_journal-3609	249	36	.	.	PUNCT
american_scientific_journal-3609	250	1	while	while	SCONJ
american_scientific_journal-3609	250	2	the	the	DET
american_scientific_journal-3609	250	3	steering	steering	NOUN
american_scientific_journal-3609	250	4	angle	angle	NOUN
american_scientific_journal-3609	250	5	is	be	AUX
american_scientific_journal-3609	250	6	changing	change	VERB
american_scientific_journal-3609	250	7	,	,	PUNCT
american_scientific_journal-3609	250	8	the	the	DET
american_scientific_journal-3609	250	9	linear	linear	ADJ
american_scientific_journal-3609	250	10	velocity	velocity	NOUN
american_scientific_journal-3609	250	11	will	will	AUX
american_scientific_journal-3609	250	12	be	be	AUX
american_scientific_journal-3609	250	13	zero	zero	NUM
american_scientific_journal-3609	250	14	.	.	PUNCT
american_scientific_journal-3609	251	1	the	the	DET
american_scientific_journal-3609	251	2	robot	robot	NOUN
american_scientific_journal-3609	251	3	stops	stop	VERB
american_scientific_journal-3609	251	4	at	at	ADP
american_scientific_journal-3609	251	5	the	the	DET
american_scientific_journal-3609	251	6	end	end	NOUN
american_scientific_journal-3609	251	7	of	of	ADP
american_scientific_journal-3609	251	8	the	the	DET
american_scientific_journal-3609	251	9	second	second	ADJ
american_scientific_journal-3609	251	10	parking	parking	NOUN
american_scientific_journal-3609	251	11	length	length	NOUN
american_scientific_journal-3609	251	12	as	as	SCONJ
american_scientific_journal-3609	251	13	shown	show	VERB
american_scientific_journal-3609	251	14	in	in	ADP
american_scientific_journal-3609	251	15	figure.17(e	figure.17(e	PROPN
american_scientific_journal-3609	251	16	)	)	PUNCT
american_scientific_journal-3609	251	17	.	.	PUNCT
american_scientific_journal-3609	252	1	after	after	ADP
american_scientific_journal-3609	252	2	that	that	PRON
american_scientific_journal-3609	252	3	,	,	PUNCT
american_scientific_journal-3609	252	4	the	the	DET
american_scientific_journal-3609	252	5	robot	robot	NOUN
american_scientific_journal-3609	252	6	will	will	AUX
american_scientific_journal-3609	252	7	be	be	AUX
american_scientific_journal-3609	252	8	parallel	parallel	ADJ
american_scientific_journal-3609	252	9	with	with	ADP
american_scientific_journal-3609	252	10	the	the	DET
american_scientific_journal-3609	252	11	two	two	NUM
american_scientific_journal-3609	252	12	parked	parked	ADJ
american_scientific_journal-3609	252	13	cars	car	NOUN
american_scientific_journal-3609	252	14	.	.	PUNCT
american_scientific_journal-3609	253	1	figure	figure	VERB
american_scientific_journal-3609	253	2	18	18	NUM
american_scientific_journal-3609	253	3	:	:	PUNCT
american_scientific_journal-3609	253	4	testing	testing	NOUN
american_scientific_journal-3609	253	5	of	of	ADP
american_scientific_journal-3609	253	6	overall	overall	ADJ
american_scientific_journal-3609	253	7	parking	parking	NOUN
american_scientific_journal-3609	253	8	procedure	procedure	NOUN
american_scientific_journal-3609	253	9	the	the	DET
american_scientific_journal-3609	253	10	experimental	experimental	ADJ
american_scientific_journal-3609	253	11	result	result	NOUN
american_scientific_journal-3609	253	12	is	be	AUX
american_scientific_journal-3609	253	13	validated	validate	VERB
american_scientific_journal-3609	253	14	with	with	ADP
american_scientific_journal-3609	253	15	the	the	DET
american_scientific_journal-3609	253	16	visual	visual	ADJ
american_scientific_journal-3609	253	17	basic	basic	ADJ
american_scientific_journal-3609	253	18	simulink	simulink	NOUN
american_scientific_journal-3609	253	19	shown	show	VERB
american_scientific_journal-3609	253	20	in	in	ADP
american_scientific_journal-3609	253	21	figure.18	figure.18	PROPN
american_scientific_journal-3609	253	22	.	.	PUNCT
american_scientific_journal-3609	254	1	according	accord	VERB
american_scientific_journal-3609	254	2	to	to	ADP
american_scientific_journal-3609	254	3	the	the	DET
american_scientific_journal-3609	254	4	overall	overall	ADJ
american_scientific_journal-3609	254	5	parking	parking	NOUN
american_scientific_journal-3609	254	6	chart	chart	NOUN
american_scientific_journal-3609	254	7	,	,	PUNCT
american_scientific_journal-3609	254	8	it	it	PRON
american_scientific_journal-3609	254	9	can	can	AUX
american_scientific_journal-3609	254	10	be	be	AUX
american_scientific_journal-3609	254	11	seen	see	VERB
american_scientific_journal-3609	254	12	that	that	SCONJ
american_scientific_journal-3609	254	13	the	the	DET
american_scientific_journal-3609	254	14	parking	parking	NOUN
american_scientific_journal-3609	254	15	is	be	AUX
american_scientific_journal-3609	254	16	done	do	VERB
american_scientific_journal-3609	254	17	three	three	NUM
american_scientific_journal-3609	254	18	times	time	NOUN
american_scientific_journal-3609	254	19	in	in	ADP
american_scientific_journal-3609	254	20	50s	50	NOUN
american_scientific_journal-3609	254	21	.	.	PUNCT
american_scientific_journal-3609	255	1	the	the	DET
american_scientific_journal-3609	255	2	function	function	NOUN
american_scientific_journal-3609	255	3	of	of	ADP
american_scientific_journal-3609	255	4	each	each	DET
american_scientific_journal-3609	255	5	chart	chart	NOUN
american_scientific_journal-3609	255	6	is	be	AUX
american_scientific_journal-3609	255	7	operated	operate	VERB
american_scientific_journal-3609	255	8	at	at	ADP
american_scientific_journal-3609	255	9	the	the	DET
american_scientific_journal-3609	255	10	same	same	ADJ
american_scientific_journal-3609	255	11	time	time	NOUN
american_scientific_journal-3609	255	12	and	and	CCONJ
american_scientific_journal-3609	255	13	related	relate	VERB
american_scientific_journal-3609	255	14	to	to	ADP
american_scientific_journal-3609	255	15	each	each	DET
american_scientific_journal-3609	255	16	other	other	ADJ
american_scientific_journal-3609	255	17	.	.	PUNCT
american_scientific_journal-3609	256	1	it	it	PRON
american_scientific_journal-3609	256	2	can	can	AUX
american_scientific_journal-3609	256	3	be	be	AUX
american_scientific_journal-3609	256	4	known	know	VERB
american_scientific_journal-3609	256	5	that	that	SCONJ
american_scientific_journal-3609	256	6	doing	do	VERB
american_scientific_journal-3609	256	7	parking	parking	NOUN
american_scientific_journal-3609	256	8	is	be	AUX
american_scientific_journal-3609	256	9	obviously	obviously	ADV
american_scientific_journal-3609	256	10	seen	see	VERB
american_scientific_journal-3609	256	11	from	from	ADP
american_scientific_journal-3609	256	12	steering	steer	VERB
american_scientific_journal-3609	256	13	angle	angle	NOUN
american_scientific_journal-3609	256	14	chart	chart	NOUN
american_scientific_journal-3609	256	15	and	and	CCONJ
american_scientific_journal-3609	256	16	state	state	NOUN
american_scientific_journal-3609	256	17	chart	chart	NOUN
american_scientific_journal-3609	256	18	.	.	PUNCT
american_scientific_journal-3609	257	1	in	in	ADP
american_scientific_journal-3609	257	2	steer	steer	NOUN
american_scientific_journal-3609	257	3	angle	angle	NOUN
american_scientific_journal-3609	257	4	chart	chart	NOUN
american_scientific_journal-3609	257	5	,	,	PUNCT
american_scientific_journal-3609	257	6	the	the	DET
american_scientific_journal-3609	257	7	rectangular	rectangular	ADJ
american_scientific_journal-3609	257	8	wave	wave	NOUN
american_scientific_journal-3609	257	9	means	mean	VERB
american_scientific_journal-3609	257	10	the	the	DET
american_scientific_journal-3609	257	11	robot	robot	NOUN
american_scientific_journal-3609	257	12	is	be	AUX
american_scientific_journal-3609	257	13	moving	move	VERB
american_scientific_journal-3609	257	14	along	along	ADP
american_scientific_journal-3609	257	15	the	the	DET
american_scientific_journal-3609	257	16	s	s	NOUN
american_scientific_journal-3609	257	17	-	-	PUNCT
american_scientific_journal-3609	257	18	shape	shape	NOUN
american_scientific_journal-3609	257	19	path	path	NOUN
american_scientific_journal-3609	257	20	.	.	PUNCT
american_scientific_journal-3609	258	1	the	the	DET
american_scientific_journal-3609	258	2	value	value	NOUN
american_scientific_journal-3609	258	3	of	of	ADP
american_scientific_journal-3609	258	4	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3609	258	5	1	1	NUM
american_scientific_journal-3609	258	6	and	and	CCONJ
american_scientific_journal-3609	258	7	2	2	NUM
american_scientific_journal-3609	258	8	differences	difference	NOUN
american_scientific_journal-3609	258	9	is	be	AUX
american_scientific_journal-3609	258	10	used	use	VERB
american_scientific_journal-3609	258	11	as	as	ADP
american_scientific_journal-3609	258	12	the	the	DET
american_scientific_journal-3609	258	13	input	input	NOUN
american_scientific_journal-3609	258	14	for	for	ADP
american_scientific_journal-3609	258	15	the	the	DET
american_scientific_journal-3609	258	16	changing	changing	NOUN
american_scientific_journal-3609	258	17	of	of	ADP
american_scientific_journal-3609	258	18	parking	parking	NOUN
american_scientific_journal-3609	258	19	state	state	NOUN
american_scientific_journal-3609	258	20	.	.	PUNCT
american_scientific_journal-3609	259	1	the	the	DET
american_scientific_journal-3609	259	2	steering	steering	NOUN
american_scientific_journal-3609	259	3	angle	angle	NOUN
american_scientific_journal-3609	259	4	will	will	AUX
american_scientific_journal-3609	259	5	also	also	ADV
american_scientific_journal-3609	259	6	be	be	AUX
american_scientific_journal-3609	259	7	variable	variable	ADJ
american_scientific_journal-3609	259	8	with	with	ADP
american_scientific_journal-3609	259	9	this	this	DET
american_scientific_journal-3609	259	10	difference	difference	NOUN
american_scientific_journal-3609	259	11	in	in	ADP
american_scientific_journal-3609	259	12	calibration	calibration	NOUN
american_scientific_journal-3609	259	13	state	state	NOUN
american_scientific_journal-3609	259	14	.	.	PUNCT
american_scientific_journal-3609	260	1	robot	robot	NOUN
american_scientific_journal-3609	260	2	movement	movement	NOUN
american_scientific_journal-3609	260	3	is	be	AUX
american_scientific_journal-3609	260	4	decided	decide	VERB
american_scientific_journal-3609	260	5	whether	whether	SCONJ
american_scientific_journal-3609	260	6	the	the	DET
american_scientific_journal-3609	260	7	parking	parking	NOUN
american_scientific_journal-3609	260	8	space	space	NOUN
american_scientific_journal-3609	260	9	is	be	AUX
american_scientific_journal-3609	260	10	enough	enough	ADJ
american_scientific_journal-3609	260	11	or	or	CCONJ
american_scientific_journal-3609	260	12	not	not	PART
american_scientific_journal-3609	260	13	in	in	ADP
american_scientific_journal-3609	260	14	state	state	NOUN
american_scientific_journal-3609	260	15	2	2	NUM
american_scientific_journal-3609	260	16	.	.	PUNCT
american_scientific_journal-3609	260	17	if	if	SCONJ
american_scientific_journal-3609	260	18	the	the	DET
american_scientific_journal-3609	260	19	parking	parking	NOUN
american_scientific_journal-3609	260	20	spaces	space	NOUN
american_scientific_journal-3609	260	21	are	be	AUX
american_scientific_journal-3609	260	22	not	not	PART
american_scientific_journal-3609	260	23	enough	enough	ADJ
american_scientific_journal-3609	260	24	,	,	PUNCT
american_scientific_journal-3609	260	25	the	the	DET
american_scientific_journal-3609	260	26	robot	robot	NOUN
american_scientific_journal-3609	260	27	will	will	AUX
american_scientific_journal-3609	260	28	be	be	AUX
american_scientific_journal-3609	260	29	finding	find	VERB
american_scientific_journal-3609	260	30	the	the	DET
american_scientific_journal-3609	260	31	next	next	ADJ
american_scientific_journal-3609	260	32	parking	parking	NOUN
american_scientific_journal-3609	260	33	space	space	NOUN
american_scientific_journal-3609	260	34	.	.	PUNCT
american_scientific_journal-3609	261	1	american	american	ADJ
american_scientific_journal-3609	261	2	scientific	scientific	ADJ
american_scientific_journal-3609	261	3	research	research	PROPN
american_scientific_journal-3609	261	4	journal	journal	NOUN
american_scientific_journal-3609	261	5	for	for	ADP
american_scientific_journal-3609	261	6	engineering	engineering	NOUN
american_scientific_journal-3609	261	7	,	,	PUNCT
american_scientific_journal-3609	261	8	technology	technology	NOUN
american_scientific_journal-3609	261	9	,	,	PUNCT
american_scientific_journal-3609	261	10	and	and	CCONJ
american_scientific_journal-3609	261	11	sciences	science	NOUN
american_scientific_journal-3609	261	12	(	(	PUNCT
american_scientific_journal-3609	261	13	asrjets	asrjet	NOUN
american_scientific_journal-3609	261	14	)	)	PUNCT
american_scientific_journal-3609	261	15	(	(	PUNCT
american_scientific_journal-3609	261	16	2017	2017	NUM
american_scientific_journal-3609	261	17	)	)	PUNCT
american_scientific_journal-3609	261	18	volume	volume	NOUN
american_scientific_journal-3609	261	19	38	38	NUM
american_scientific_journal-3609	261	20	,	,	PUNCT
american_scientific_journal-3609	261	21	no	no	DET
american_scientific_journal-3609	261	22	2	2	NUM
american_scientific_journal-3609	261	23	,	,	PUNCT
american_scientific_journal-3609	261	24	pp	pp	ADV
american_scientific_journal-3609	261	25	23	23	NUM
american_scientific_journal-3609	261	26	-	-	SYM
american_scientific_journal-3609	261	27	41	41	NUM
american_scientific_journal-3609	261	28	40	40	NUM
american_scientific_journal-3609	261	29	8	8	NUM
american_scientific_journal-3609	261	30	.	.	PUNCT
american_scientific_journal-3609	262	1	conclusion	conclusion	NOUN
american_scientific_journal-3609	262	2	an	an	DET
american_scientific_journal-3609	262	3	autonomous	autonomous	ADJ
american_scientific_journal-3609	262	4	parallel	parallel	ADJ
american_scientific_journal-3609	262	5	parking	parking	NOUN
american_scientific_journal-3609	262	6	of	of	ADP
american_scientific_journal-3609	262	7	a	a	DET
american_scientific_journal-3609	262	8	car	car	NOUN
american_scientific_journal-3609	262	9	-	-	PUNCT
american_scientific_journal-3609	262	10	like	like	ADJ
american_scientific_journal-3609	262	11	mobile	mobile	NOUN
american_scientific_journal-3609	262	12	robot	robot	NOUN
american_scientific_journal-3609	262	13	based	base	VERB
american_scientific_journal-3609	262	14	on	on	ADP
american_scientific_journal-3609	262	15	geometric	geometric	ADJ
american_scientific_journal-3609	262	16	approach	approach	NOUN
american_scientific_journal-3609	262	17	path	path	NOUN
american_scientific_journal-3609	262	18	planning	planning	NOUN
american_scientific_journal-3609	262	19	method	method	NOUN
american_scientific_journal-3609	262	20	has	have	AUX
american_scientific_journal-3609	262	21	been	be	AUX
american_scientific_journal-3609	262	22	presented	present	VERB
american_scientific_journal-3609	262	23	in	in	ADP
american_scientific_journal-3609	262	24	this	this	DET
american_scientific_journal-3609	262	25	paper	paper	NOUN
american_scientific_journal-3609	262	26	.	.	PUNCT
american_scientific_journal-3609	263	1	the	the	DET
american_scientific_journal-3609	263	2	experimental	experimental	ADJ
american_scientific_journal-3609	263	3	results	result	NOUN
american_scientific_journal-3609	263	4	confirmed	confirm	VERB
american_scientific_journal-3609	263	5	our	our	PRON
american_scientific_journal-3609	263	6	system	system	NOUN
american_scientific_journal-3609	263	7	is	be	AUX
american_scientific_journal-3609	263	8	effective	effective	ADJ
american_scientific_journal-3609	263	9	and	and	CCONJ
american_scientific_journal-3609	263	10	feasible	feasible	ADJ
american_scientific_journal-3609	263	11	for	for	ADP
american_scientific_journal-3609	263	12	parallel	parallel	ADJ
american_scientific_journal-3609	263	13	parking	parking	NOUN
american_scientific_journal-3609	263	14	problem	problem	NOUN
american_scientific_journal-3609	263	15	.	.	PUNCT
american_scientific_journal-3609	264	1	the	the	DET
american_scientific_journal-3609	264	2	s	s	NOUN
american_scientific_journal-3609	264	3	-	-	PUNCT
american_scientific_journal-3609	264	4	shaped	shape	VERB
american_scientific_journal-3609	264	5	trajectory	trajectory	NOUN
american_scientific_journal-3609	264	6	based	base	VERB
american_scientific_journal-3609	264	7	on	on	ADP
american_scientific_journal-3609	264	8	the	the	DET
american_scientific_journal-3609	264	9	geometric	geometric	ADJ
american_scientific_journal-3609	264	10	path	path	NOUN
american_scientific_journal-3609	264	11	planning	planning	NOUN
american_scientific_journal-3609	264	12	was	be	AUX
american_scientific_journal-3609	264	13	designed	design	VERB
american_scientific_journal-3609	264	14	by	by	ADP
american_scientific_journal-3609	264	15	using	use	VERB
american_scientific_journal-3609	264	16	the	the	DET
american_scientific_journal-3609	264	17	sensor	sensor	NOUN
american_scientific_journal-3609	264	18	measurement	measurement	NOUN
american_scientific_journal-3609	264	19	of	of	ADP
american_scientific_journal-3609	264	20	the	the	DET
american_scientific_journal-3609	264	21	known	know	VERB
american_scientific_journal-3609	264	22	working	working	NOUN
american_scientific_journal-3609	264	23	environment	environment	NOUN
american_scientific_journal-3609	264	24	.	.	PUNCT
american_scientific_journal-3609	265	1	the	the	DET
american_scientific_journal-3609	265	2	noisy	noisy	ADJ
american_scientific_journal-3609	265	3	sensor	sensor	NOUN
american_scientific_journal-3609	265	4	data	datum	NOUN
american_scientific_journal-3609	265	5	were	be	AUX
american_scientific_journal-3609	265	6	reduced	reduce	VERB
american_scientific_journal-3609	265	7	and	and	CCONJ
american_scientific_journal-3609	265	8	the	the	DET
american_scientific_journal-3609	265	9	quick	quick	ADJ
american_scientific_journal-3609	265	10	response	response	NOUN
american_scientific_journal-3609	265	11	inputs	input	NOUN
american_scientific_journal-3609	265	12	were	be	AUX
american_scientific_journal-3609	265	13	given	give	VERB
american_scientific_journal-3609	265	14	by	by	ADP
american_scientific_journal-3609	265	15	using	use	VERB
american_scientific_journal-3609	265	16	the	the	DET
american_scientific_journal-3609	265	17	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	265	18	filter	filter	NOUN
american_scientific_journal-3609	265	19	.	.	PUNCT
american_scientific_journal-3609	266	1	according	accord	VERB
american_scientific_journal-3609	266	2	to	to	ADP
american_scientific_journal-3609	266	3	the	the	DET
american_scientific_journal-3609	266	4	result	result	NOUN
american_scientific_journal-3609	266	5	,	,	PUNCT
american_scientific_journal-3609	266	6	our	our	PRON
american_scientific_journal-3609	266	7	approach	approach	NOUN
american_scientific_journal-3609	266	8	was	be	AUX
american_scientific_journal-3609	266	9	able	able	ADJ
american_scientific_journal-3609	266	10	to	to	PART
american_scientific_journal-3609	266	11	park	park	VERB
american_scientific_journal-3609	266	12	in	in	ADP
american_scientific_journal-3609	266	13	a	a	DET
american_scientific_journal-3609	266	14	narrow	narrow	ADJ
american_scientific_journal-3609	266	15	parking	parking	NOUN
american_scientific_journal-3609	266	16	space	space	NOUN
american_scientific_journal-3609	266	17	without	without	ADP
american_scientific_journal-3609	266	18	collision	collision	NOUN
american_scientific_journal-3609	266	19	.	.	PUNCT
american_scientific_journal-3609	267	1	9	9	X
american_scientific_journal-3609	267	2	.	.	X
american_scientific_journal-3609	267	3	recommendations	recommendation	NOUN
american_scientific_journal-3609	267	4	in	in	ADP
american_scientific_journal-3609	267	5	this	this	DET
american_scientific_journal-3609	267	6	research	research	NOUN
american_scientific_journal-3609	267	7	,	,	PUNCT
american_scientific_journal-3609	267	8	parallel	parallel	ADJ
american_scientific_journal-3609	267	9	parking	parking	NOUN
american_scientific_journal-3609	267	10	problem	problem	NOUN
american_scientific_journal-3609	267	11	has	have	AUX
american_scientific_journal-3609	267	12	been	be	AUX
american_scientific_journal-3609	267	13	solved	solve	VERB
american_scientific_journal-3609	267	14	well	well	ADV
american_scientific_journal-3609	267	15	with	with	ADP
american_scientific_journal-3609	267	16	the	the	DET
american_scientific_journal-3609	267	17	prototype	prototype	NOUN
american_scientific_journal-3609	267	18	model	model	NOUN
american_scientific_journal-3609	267	19	but	but	CCONJ
american_scientific_journal-3609	267	20	there	there	PRON
american_scientific_journal-3609	267	21	have	have	VERB
american_scientific_journal-3609	267	22	constraints	constraint	NOUN
american_scientific_journal-3609	267	23	and	and	CCONJ
american_scientific_journal-3609	267	24	limitations	limitation	NOUN
american_scientific_journal-3609	267	25	.	.	PUNCT
american_scientific_journal-3609	268	1	steering	steering	NOUN
american_scientific_journal-3609	268	2	angle	angle	NOUN
american_scientific_journal-3609	268	3	can	can	AUX
american_scientific_journal-3609	268	4	be	be	AUX
american_scientific_journal-3609	268	5	variable	variable	ADJ
american_scientific_journal-3609	268	6	to	to	ADP
american_scientific_journal-3609	268	7	maximum	maximum	ADJ
american_scientific_journal-3609	268	8	20	20	NUM
american_scientific_journal-3609	268	9	degree	degree	NOUN
american_scientific_journal-3609	268	10	according	accord	VERB
american_scientific_journal-3609	268	11	to	to	ADP
american_scientific_journal-3609	268	12	the	the	DET
american_scientific_journal-3609	268	13	mechanical	mechanical	ADJ
american_scientific_journal-3609	268	14	design	design	NOUN
american_scientific_journal-3609	268	15	of	of	ADP
american_scientific_journal-3609	268	16	the	the	DET
american_scientific_journal-3609	268	17	mobile	mobile	ADJ
american_scientific_journal-3609	268	18	robot	robot	NOUN
american_scientific_journal-3609	268	19	for	for	ADP
american_scientific_journal-3609	268	20	the	the	DET
american_scientific_journal-3609	268	21	parking	parking	NOUN
american_scientific_journal-3609	268	22	.	.	PUNCT
american_scientific_journal-3609	269	1	the	the	DET
american_scientific_journal-3609	269	2	working	work	VERB
american_scientific_journal-3609	269	3	environment	environment	NOUN
american_scientific_journal-3609	269	4	should	should	AUX
american_scientific_journal-3609	269	5	be	be	AUX
american_scientific_journal-3609	269	6	obstacle	obstacle	VERB
american_scientific_journal-3609	269	7	free	free	ADJ
american_scientific_journal-3609	269	8	indoor	indoor	ADJ
american_scientific_journal-3609	269	9	environment	environment	NOUN
american_scientific_journal-3609	269	10	.	.	PUNCT
american_scientific_journal-3609	270	1	the	the	DET
american_scientific_journal-3609	270	2	maximum	maximum	ADJ
american_scientific_journal-3609	270	3	offset	offset	NOUN
american_scientific_journal-3609	270	4	between	between	ADP
american_scientific_journal-3609	270	5	the	the	DET
american_scientific_journal-3609	270	6	wall	wall	NOUN
american_scientific_journal-3609	270	7	and	and	CCONJ
american_scientific_journal-3609	270	8	the	the	DET
american_scientific_journal-3609	270	9	robot	robot	NOUN
american_scientific_journal-3609	270	10	is	be	AUX
american_scientific_journal-3609	270	11	60.69	60.69	NUM
american_scientific_journal-3609	270	12	cm	cm	NOUN
american_scientific_journal-3609	270	13	based	base	VERB
american_scientific_journal-3609	270	14	on	on	ADP
american_scientific_journal-3609	270	15	the	the	DET
american_scientific_journal-3609	270	16	sensor	sensor	NOUN
american_scientific_journal-3609	270	17	arrangement	arrangement	NOUN
american_scientific_journal-3609	270	18	.	.	PUNCT
american_scientific_journal-3609	271	1	the	the	DET
american_scientific_journal-3609	271	2	initial	initial	ADJ
american_scientific_journal-3609	271	3	pose	pose	NOUN
american_scientific_journal-3609	271	4	of	of	ADP
american_scientific_journal-3609	271	5	the	the	DET
american_scientific_journal-3609	271	6	robot	robot	NOUN
american_scientific_journal-3609	271	7	must	must	AUX
american_scientific_journal-3609	271	8	be	be	AUX
american_scientific_journal-3609	271	9	parallel	parallel	ADJ
american_scientific_journal-3609	271	10	with	with	ADP
american_scientific_journal-3609	271	11	parking	parking	NOUN
american_scientific_journal-3609	271	12	space	space	NOUN
american_scientific_journal-3609	271	13	and	and	CCONJ
american_scientific_journal-3609	271	14	the	the	DET
american_scientific_journal-3609	271	15	position	position	NOUN
american_scientific_journal-3609	271	16	of	of	ADP
american_scientific_journal-3609	271	17	parking	parking	NOUN
american_scientific_journal-3609	271	18	environment	environment	NOUN
american_scientific_journal-3609	271	19	has	have	VERB
american_scientific_journal-3609	271	20	to	to	PART
american_scientific_journal-3609	271	21	parallel	parallel	VERB
american_scientific_journal-3609	271	22	parking	parking	NOUN
american_scientific_journal-3609	271	23	pattern	pattern	NOUN
american_scientific_journal-3609	271	24	.	.	PUNCT
american_scientific_journal-3609	272	1	acknowledgements	acknowledgement	NOUN
american_scientific_journal-3609	272	2	first	first	ADV
american_scientific_journal-3609	272	3	of	of	ADP
american_scientific_journal-3609	272	4	all	all	PRON
american_scientific_journal-3609	272	5	,	,	PUNCT
american_scientific_journal-3609	272	6	to	to	ADP
american_scientific_journal-3609	272	7	his	his	PRON
american_scientific_journal-3609	272	8	parents	parent	NOUN
american_scientific_journal-3609	272	9	,	,	PUNCT
american_scientific_journal-3609	272	10	a	a	DET
american_scientific_journal-3609	272	11	million	million	NUM
american_scientific_journal-3609	272	12	thanks	thank	NOUN
american_scientific_journal-3609	272	13	to	to	ADP
american_scientific_journal-3609	272	14	them	they	PRON
american_scientific_journal-3609	272	15	for	for	ADP
american_scientific_journal-3609	272	16	the	the	DET
american_scientific_journal-3609	272	17	non	non	ADJ
american_scientific_journal-3609	272	18	-	-	ADJ
american_scientific_journal-3609	272	19	stop	stop	ADJ
american_scientific_journal-3609	272	20	encouragements	encouragement	NOUN
american_scientific_journal-3609	272	21	and	and	CCONJ
american_scientific_journal-3609	272	22	supports	support	NOUN
american_scientific_journal-3609	272	23	,	,	PUNCT
american_scientific_journal-3609	272	24	for	for	ADP
american_scientific_journal-3609	272	25	being	be	AUX
american_scientific_journal-3609	272	26	there	there	ADV
american_scientific_journal-3609	272	27	not	not	PART
american_scientific_journal-3609	272	28	only	only	ADV
american_scientific_journal-3609	272	29	during	during	ADP
american_scientific_journal-3609	272	30	pleasant	pleasant	ADJ
american_scientific_journal-3609	272	31	times	time	NOUN
american_scientific_journal-3609	272	32	but	but	CCONJ
american_scientific_journal-3609	272	33	also	also	ADV
american_scientific_journal-3609	272	34	during	during	ADP
american_scientific_journal-3609	272	35	tough	tough	ADJ
american_scientific_journal-3609	272	36	times	time	NOUN
american_scientific_journal-3609	272	37	.	.	PUNCT
american_scientific_journal-3609	273	1	the	the	DET
american_scientific_journal-3609	273	2	author	author	NOUN
american_scientific_journal-3609	273	3	is	be	AUX
american_scientific_journal-3609	273	4	thankful	thankful	ADJ
american_scientific_journal-3609	273	5	to	to	ADP
american_scientific_journal-3609	273	6	all	all	DET
american_scientific_journal-3609	273	7	teachers	teacher	NOUN
american_scientific_journal-3609	273	8	in	in	ADP
american_scientific_journal-3609	273	9	department	department	PROPN
american_scientific_journal-3609	273	10	of	of	ADP
american_scientific_journal-3609	273	11	mechatronic	mechatronic	ADJ
american_scientific_journal-3609	273	12	engineering	engineering	NOUN
american_scientific_journal-3609	273	13	,	,	PUNCT
american_scientific_journal-3609	273	14	mandalay	mandalay	NOUN
american_scientific_journal-3609	273	15	technological	technological	ADJ
american_scientific_journal-3609	273	16	university	university	NOUN
american_scientific_journal-3609	273	17	for	for	ADP
american_scientific_journal-3609	273	18	their	their	PRON
american_scientific_journal-3609	273	19	effective	effective	ADJ
american_scientific_journal-3609	273	20	guidance	guidance	NOUN
american_scientific_journal-3609	273	21	,	,	PUNCT
american_scientific_journal-3609	273	22	helpful	helpful	ADJ
american_scientific_journal-3609	273	23	suggestions	suggestion	NOUN
american_scientific_journal-3609	273	24	and	and	CCONJ
american_scientific_journal-3609	273	25	supervision	supervision	NOUN
american_scientific_journal-3609	273	26	for	for	ADP
american_scientific_journal-3609	273	27	this	this	DET
american_scientific_journal-3609	273	28	paper	paper	NOUN
american_scientific_journal-3609	273	29	.	.	PUNCT
american_scientific_journal-3609	274	1	references	reference	NOUN
american_scientific_journal-3609	274	2	[	[	X
american_scientific_journal-3609	274	3	1	1	NUM
american_scientific_journal-3609	274	4	]	]	PUNCT
american_scientific_journal-3609	274	5	igor	igor	PROPN
american_scientific_journal-3609	274	6	e.	e.	PROPN
american_scientific_journal-3609	274	7	paromtchik	paromtchik	PROPN
american_scientific_journal-3609	274	8	,	,	PUNCT
american_scientific_journal-3609	274	9	christian	christian	ADJ
american_scientific_journal-3609	274	10	laugier	laugier	NOUN
american_scientific_journal-3609	274	11	,	,	PUNCT
american_scientific_journal-3609	274	12	“	"	PUNCT
american_scientific_journal-3609	274	13	autonomous	autonomous	ADJ
american_scientific_journal-3609	274	14	parallel	parallel	ADJ
american_scientific_journal-3609	274	15	parking	parking	NOUN
american_scientific_journal-3609	274	16	of	of	ADP
american_scientific_journal-3609	274	17	a	a	DET
american_scientific_journal-3609	274	18	nonholonomic	nonholonomic	ADJ
american_scientific_journal-3609	274	19	vehicle	vehicle	NOUN
american_scientific_journal-3609	274	20	”	"	PUNCT
american_scientific_journal-3609	274	21	,	,	PUNCT
american_scientific_journal-3609	274	22	in	in	ADP
american_scientific_journal-3609	274	23	proceedings	proceeding	NOUN
american_scientific_journal-3609	274	24	of	of	ADP
american_scientific_journal-3609	274	25	the	the	DET
american_scientific_journal-3609	274	26	intelligent	intelligent	ADJ
american_scientific_journal-3609	274	27	vehicles	vehicle	NOUN
american_scientific_journal-3609	274	28	symposium	symposium	NOUN
american_scientific_journal-3609	274	29	,	,	PUNCT
american_scientific_journal-3609	274	30	pp.13	pp.13	NOUN
american_scientific_journal-3609	274	31	-	-	PUNCT
american_scientific_journal-3609	274	32	18	18	NUM
american_scientific_journal-3609	274	33	,	,	PUNCT
american_scientific_journal-3609	274	34	1996	1996	NUM
american_scientific_journal-3609	274	35	.	.	PUNCT
american_scientific_journal-3609	275	1	[	[	X
american_scientific_journal-3609	275	2	2	2	NUM
american_scientific_journal-3609	275	3	]	]	X
american_scientific_journal-3609	275	4	kleber	kleber	PROPN
american_scientific_journal-3609	275	5	de	de	PROPN
american_scientific_journal-3609	275	6	oliveira	oliveira	PROPN
american_scientific_journal-3609	275	7	andrade	andrade	PROPN
american_scientific_journal-3609	275	8	,	,	PUNCT
american_scientific_journal-3609	275	9	andré	andré	PROPN
american_scientific_journal-3609	275	10	carmona	carmona	PROPN
american_scientific_journal-3609	275	11	hernandes	hernandes	PROPN
american_scientific_journal-3609	275	12	and	and	CCONJ
american_scientific_journal-3609	275	13	marcelo	marcelo	PROPN
american_scientific_journal-3609	275	14	becker	becker	PROPN
american_scientific_journal-3609	275	15	“	"	PUNCT
american_scientific_journal-3609	275	16	a	a	DET
american_scientific_journal-3609	275	17	rule	rule	NOUN
american_scientific_journal-3609	275	18	-	-	PUNCT
american_scientific_journal-3609	275	19	based	base	VERB
american_scientific_journal-3609	275	20	controller	controller	NOUN
american_scientific_journal-3609	275	21	simulation	simulation	NOUN
american_scientific_journal-3609	275	22	for	for	ADP
american_scientific_journal-3609	275	23	an	an	DET
american_scientific_journal-3609	275	24	autonomous	autonomous	ADJ
american_scientific_journal-3609	275	25	parallel	parallel	ADJ
american_scientific_journal-3609	275	26	parking	parking	NOUN
american_scientific_journal-3609	275	27	of	of	ADP
american_scientific_journal-3609	275	28	a	a	DET
american_scientific_journal-3609	275	29	car	car	NOUN
american_scientific_journal-3609	275	30	-	-	PUNCT
american_scientific_journal-3609	275	31	like	like	ADJ
american_scientific_journal-3609	275	32	robot	robot	NOUN
american_scientific_journal-3609	275	33	using	use	VERB
american_scientific_journal-3609	275	34	laser	laser	NOUN
american_scientific_journal-3609	275	35	sensors	sensor	NOUN
american_scientific_journal-3609	275	36	”	"	PUNCT
american_scientific_journal-3609	275	37	,	,	PUNCT
american_scientific_journal-3609	275	38	mobile	mobile	ADJ
american_scientific_journal-3609	275	39	robotics	robotic	NOUN
american_scientific_journal-3609	275	40	lab	lab	NOUN
american_scientific_journal-3609	275	41	–	–	PUNCT
american_scientific_journal-3609	275	42	center	center	NOUN
american_scientific_journal-3609	275	43	for	for	ADP
american_scientific_journal-3609	275	44	robotics	robotic	NOUN
american_scientific_journal-3609	275	45	of	of	ADP
american_scientific_journal-3609	275	46	são	são	PROPN
american_scientific_journal-3609	275	47	carlos	carlos	PROPN
american_scientific_journal-3609	275	48	,	,	PUNCT
american_scientific_journal-3609	275	49	brazil	brazil	PROPN
american_scientific_journal-3609	275	50	,	,	PUNCT
american_scientific_journal-3609	275	51	2012	2012	NUM
american_scientific_journal-3609	275	52	.	.	PUNCT
american_scientific_journal-3609	276	1	[	[	X
american_scientific_journal-3609	276	2	3	3	NUM
american_scientific_journal-3609	276	3	]	]	X
american_scientific_journal-3609	276	4	demirli	demirli	NOUN
american_scientific_journal-3609	276	5	,	,	PUNCT
american_scientific_journal-3609	276	6	k.	k.	PROPN
american_scientific_journal-3609	276	7	,	,	PUNCT
american_scientific_journal-3609	276	8	khoshnejad	khoshnejad	PROPN
american_scientific_journal-3609	276	9	,	,	PUNCT
american_scientific_journal-3609	276	10	m.	m.	NOUN
american_scientific_journal-3609	276	11	“	"	PUNCT
american_scientific_journal-3609	276	12	autonomous	autonomous	ADJ
american_scientific_journal-3609	276	13	parallel	parallel	ADJ
american_scientific_journal-3609	276	14	parking	parking	NOUN
american_scientific_journal-3609	276	15	of	of	ADP
american_scientific_journal-3609	276	16	a	a	DET
american_scientific_journal-3609	276	17	car	car	NOUN
american_scientific_journal-3609	276	18	-	-	PUNCT
american_scientific_journal-3609	276	19	like	like	ADJ
american_scientific_journal-3609	276	20	mobile	mobile	NOUN
american_scientific_journal-3609	276	21	robot	robot	NOUN
american_scientific_journal-3609	276	22	by	by	ADP
american_scientific_journal-3609	276	23	a	a	DET
american_scientific_journal-3609	276	24	neuro	neuro	ADJ
american_scientific_journal-3609	276	25	-	-	PUNCT
american_scientific_journal-3609	276	26	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	276	27	sensor	sensor	NOUN
american_scientific_journal-3609	276	28	based	base	VERB
american_scientific_journal-3609	276	29	controller	controller	NOUN
american_scientific_journal-3609	276	30	,	,	PUNCT
american_scientific_journal-3609	276	31	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	276	32	sets	set	NOUN
american_scientific_journal-3609	276	33	and	and	CCONJ
american_scientific_journal-3609	276	34	systems	system	NOUN
american_scientific_journal-3609	276	35	”	"	PUNCT
american_scientific_journal-3609	276	36	,	,	PUNCT
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american_scientific_journal-3609	276	38	,	,	PUNCT
american_scientific_journal-3609	276	39	n.19	n.19	NOUN
american_scientific_journal-3609	276	40	,	,	PUNCT
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american_scientific_journal-3609	276	42	-	-	SYM
american_scientific_journal-3609	276	43	2891	2891	NUM
american_scientific_journal-3609	276	44	,	,	PUNCT
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american_scientific_journal-3609	276	46	.	.	PUNCT
american_scientific_journal-3609	277	1	[	[	X
american_scientific_journal-3609	277	2	4	4	NUM
american_scientific_journal-3609	277	3	]	]	X
american_scientific_journal-3609	277	4	dudek	dudek	PROPN
american_scientific_journal-3609	277	5	,	,	PUNCT
american_scientific_journal-3609	277	6	g.	g.	PROPN
american_scientific_journal-3609	277	7	,	,	PUNCT
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american_scientific_journal-3609	277	9	,	,	PUNCT
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american_scientific_journal-3609	277	11	“	"	PUNCT
american_scientific_journal-3609	277	12	computational	computational	ADJ
american_scientific_journal-3609	277	13	principles	principle	NOUN
american_scientific_journal-3609	277	14	of	of	ADP
american_scientific_journal-3609	277	15	mobile	mobile	ADJ
american_scientific_journal-3609	277	16	robotics	robotic	NOUN
american_scientific_journal-3609	277	17	”	"	PUNCT
american_scientific_journal-3609	277	18	.	.	PUNCT
american_scientific_journal-3609	278	1	cambridge	cambridge	PROPN
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american_scientific_journal-3609	278	3	press	press	PROPN
american_scientific_journal-3609	278	4	,	,	PUNCT
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american_scientific_journal-3609	278	7	,	,	PUNCT
american_scientific_journal-3609	278	8	ny	ny	PROPN
american_scientific_journal-3609	278	9	,	,	PUNCT
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american_scientific_journal-3609	278	11	,	,	PUNCT
american_scientific_journal-3609	278	12	2000	2000	NUM
american_scientific_journal-3609	278	13	.	.	PUNCT
american_scientific_journal-3609	279	1	[	[	X
american_scientific_journal-3609	279	2	5	5	NUM
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american_scientific_journal-3609	279	4	jiang	jiang	PROPN
american_scientific_journal-3609	279	5	,	,	PUNCT
american_scientific_journal-3609	279	6	k.	k.	PROPN
american_scientific_journal-3609	279	7	,	,	PUNCT
american_scientific_journal-3609	279	8	seneviratne	seneviratne	PROPN
american_scientific_journal-3609	279	9	,	,	PUNCT
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american_scientific_journal-3609	279	11	.	.	PUNCT
american_scientific_journal-3609	280	1	“	"	PUNCT
american_scientific_journal-3609	280	2	a	a	DET
american_scientific_journal-3609	280	3	sensor	sensor	NOUN
american_scientific_journal-3609	280	4	guided	guide	VERB
american_scientific_journal-3609	280	5	autonomous	autonomous	ADJ
american_scientific_journal-3609	280	6	parking	parking	NOUN
american_scientific_journal-3609	280	7	system	system	NOUN
american_scientific_journal-3609	280	8	for	for	ADP
american_scientific_journal-3609	280	9	nonholonomic	nonholonomic	ADJ
american_scientific_journal-3609	280	10	mobile	mobile	ADJ
american_scientific_journal-3609	280	11	robot	robot	NOUN
american_scientific_journal-3609	280	12	”	"	PUNCT
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american_scientific_journal-3609	280	14	.	.	PUNCT
american_scientific_journal-3609	281	1	of	of	ADP
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american_scientific_journal-3609	281	6	.	.	PUNCT
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american_scientific_journal-3609	281	8	&	&	CCONJ
american_scientific_journal-3609	281	9	automation	automation	PROPN
american_scientific_journal-3609	281	10	,	,	PUNCT
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american_scientific_journal-3609	281	12	.	.	PROPN
american_scientific_journal-3609	281	13	1	1	NUM
american_scientific_journal-3609	281	14	,	,	PUNCT
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american_scientific_journal-3609	281	16	.	.	PUNCT
american_scientific_journal-3609	281	17	311	311	NUM
american_scientific_journal-3609	281	18	-	-	SYM
american_scientific_journal-3609	281	19	316	316	NUM
american_scientific_journal-3609	281	20	,	,	PUNCT
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american_scientific_journal-3609	281	22	.	.	PUNCT
american_scientific_journal-3609	282	1	american	american	ADJ
american_scientific_journal-3609	282	2	scientific	scientific	ADJ
american_scientific_journal-3609	282	3	research	research	PROPN
american_scientific_journal-3609	282	4	journal	journal	NOUN
american_scientific_journal-3609	282	5	for	for	ADP
american_scientific_journal-3609	282	6	engineering	engineering	NOUN
american_scientific_journal-3609	282	7	,	,	PUNCT
american_scientific_journal-3609	282	8	technology	technology	NOUN
american_scientific_journal-3609	282	9	,	,	PUNCT
american_scientific_journal-3609	282	10	and	and	CCONJ
american_scientific_journal-3609	282	11	sciences	science	NOUN
american_scientific_journal-3609	282	12	(	(	PUNCT
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american_scientific_journal-3609	282	17	)	)	PUNCT
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american_scientific_journal-3609	282	20	,	,	PUNCT
american_scientific_journal-3609	282	21	no	no	DET
american_scientific_journal-3609	282	22	2	2	NUM
american_scientific_journal-3609	282	23	,	,	PUNCT
american_scientific_journal-3609	282	24	pp	pp	ADV
american_scientific_journal-3609	282	25	23	23	NUM
american_scientific_journal-3609	282	26	-	-	SYM
american_scientific_journal-3609	282	27	41	41	NUM
american_scientific_journal-3609	282	28	41	41	NUM
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american_scientific_journal-3609	283	7	,	,	PUNCT
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american_scientific_journal-3609	283	9	,	,	PUNCT
american_scientific_journal-3609	283	10	t.	t.	ADJ
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american_scientific_journal-3609	283	12	-	-	PUNCT
american_scientific_journal-3609	283	13	based	base	VERB
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american_scientific_journal-3609	283	16	for	for	ADP
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american_scientific_journal-3609	283	28	,	,	PUNCT
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american_scientific_journal-3609	283	33	pp	pp	ADJ
american_scientific_journal-3609	283	34	.	.	PUNCT
american_scientific_journal-3609	284	1	216	216	NUM
american_scientific_journal-3609	284	2	-	-	SYM
american_scientific_journal-3609	284	3	222	222	NUM
american_scientific_journal-3609	284	4	,	,	PUNCT
american_scientific_journal-3609	284	5	1998	1998	NUM
american_scientific_journal-3609	284	6	.	.	PUNCT
american_scientific_journal-3609	285	1	[	[	X
american_scientific_journal-3609	285	2	7	7	NUM
american_scientific_journal-3609	285	3	]	]	X
american_scientific_journal-3609	285	4	zhao	zhao	PROPN
american_scientific_journal-3609	285	5	and	and	CCONJ
american_scientific_journal-3609	285	6	e.	e.	PROPN
american_scientific_journal-3609	285	7	g.	g.	PROPN
american_scientific_journal-3609	285	8	collins	collins	PROPN
american_scientific_journal-3609	285	9	jr	jr	PROPN
american_scientific_journal-3609	285	10	.	.	PUNCT
american_scientific_journal-3609	285	11	“	"	PUNCT
american_scientific_journal-3609	285	12	robust	robust	ADJ
american_scientific_journal-3609	285	13	automatic	automatic	ADJ
american_scientific_journal-3609	285	14	parallel	parallel	ADJ
american_scientific_journal-3609	285	15	parking	parking	NOUN
american_scientific_journal-3609	285	16	in	in	ADP
american_scientific_journal-3609	285	17	tight	tight	ADJ
american_scientific_journal-3609	285	18	spaces	space	NOUN
american_scientific_journal-3609	285	19	via	via	ADP
american_scientific_journal-3609	285	20	fuzzy	fuzzy	ADJ
american_scientific_journal-3609	285	21	logic	logic	NOUN
american_scientific_journal-3609	285	22	robotics	robotic	NOUN
american_scientific_journal-3609	285	23	and	and	CCONJ
american_scientific_journal-3609	285	24	autonomous	autonomous	ADJ
american_scientific_journal-3609	285	25	systems	system	NOUN
american_scientific_journal-3609	285	26	”	"	PUNCT
american_scientific_journal-3609	285	27	,	,	PUNCT
american_scientific_journal-3609	285	28	51	51	NUM
american_scientific_journal-3609	285	29	(	(	PUNCT
american_scientific_journal-3609	285	30	2005	2005	NUM
american_scientific_journal-3609	285	31	)	)	PUNCT
american_scientific_journal-3609	285	32	111	111	NUM
american_scientific_journal-3609	285	33	-	-	SYM
american_scientific_journal-3609	285	34	127	127	NUM
american_scientific_journal-3609	285	35	.	.	PUNCT
american_scientific_journal-3609	286	1	[	[	X
american_scientific_journal-3609	286	2	8	8	NUM
american_scientific_journal-3609	286	3	]	]	X
american_scientific_journal-3609	286	4	e.	e.	PROPN
american_scientific_journal-3609	286	5	jenkins	jenkins	PROPN
american_scientific_journal-3609	286	6	and	and	CCONJ
american_scientific_journal-3609	286	7	h.	h.	PROPN
american_scientific_journal-3609	286	8	p.	p.	PROPN
american_scientific_journal-3609	286	9	yuhas	yuha	VERB
american_scientific_journal-3609	286	10	.	.	PUNCT
american_scientific_journal-3609	287	1	“	"	PUNCT
american_scientific_journal-3609	287	2	a	a	DET
american_scientific_journal-3609	287	3	simplified	simplified	ADJ
american_scientific_journal-3609	287	4	neural	neural	ADJ
american_scientific_journal-3609	287	5	network	network	NOUN
american_scientific_journal-3609	287	6	solution	solution	NOUN
american_scientific_journal-3609	287	7	through	through	ADP
american_scientific_journal-3609	287	8	problem	problem	NOUN
american_scientific_journal-3609	287	9	decomposition	decomposition	NOUN
american_scientific_journal-3609	287	10	:	:	PUNCT
american_scientific_journal-3609	287	11	the	the	DET
american_scientific_journal-3609	287	12	case	case	NOUN
american_scientific_journal-3609	287	13	of	of	ADP
american_scientific_journal-3609	287	14	the	the	DET
american_scientific_journal-3609	287	15	truck	truck	NOUN
american_scientific_journal-3609	287	16	backer	backer	NOUN
american_scientific_journal-3609	287	17	-	-	PUNCT
american_scientific_journal-3609	287	18	upper	upper	ADJ
american_scientific_journal-3609	287	19	.	.	PUNCT
american_scientific_journal-3609	287	20	”	"	PUNCT
american_scientific_journal-3609	288	1	ieee	ieee	NOUN
american_scientific_journal-3609	288	2	transactions	transaction	NOUN
american_scientific_journal-3609	288	3	on	on	ADP
american_scientific_journal-3609	288	4	neural	neural	ADJ
american_scientific_journal-3609	288	5	network	network	NOUN
american_scientific_journal-3609	288	6	.	.	PUNCT
american_scientific_journal-3609	289	1	vol	vol	NOUN
american_scientific_journal-3609	289	2	.	.	PUNCT
american_scientific_journal-3609	290	1	4.,no.4	4.,no.4	NUM
american_scientific_journal-3609	290	2	.	.	PROPN
american_scientific_journal-3609	291	1	july	july	PROPN
american_scientific_journal-3609	291	2	1993	1993	NUM
american_scientific_journal-3609	292	1	[	[	X
american_scientific_journal-3609	292	2	9	9	NUM
american_scientific_journal-3609	292	3	]	]	SYM
american_scientific_journal-3609	292	4	laumond	laumond	NOUN
american_scientific_journal-3609	292	5	,	,	PUNCT
american_scientific_journal-3609	292	6	p.	p.	PROPN
american_scientific_journal-3609	292	7	e.	e.	PROPN
american_scientific_journal-3609	292	8	jacobs	jacobs	PROPN
american_scientific_journal-3609	292	9	,	,	PUNCT
american_scientific_journal-3609	292	10	m.	m.	PROPN
american_scientific_journal-3609	292	11	t	t	PROPN
american_scientific_journal-3609	292	12	aix	aix	PROPN
american_scientific_journal-3609	292	13	and	and	CCONJ
american_scientific_journal-3609	292	14	r.	r.	PROPN
american_scientific_journal-3609	292	15	m.	m.	PROPN
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american_scientific_journal-3609	292	17	“	"	PUNCT
american_scientific_journal-3609	292	18	a	a	DET
american_scientific_journal-3609	292	19	motion	motion	NOUN
american_scientific_journal-3609	292	20	planner	planner	NOUN
american_scientific_journal-3609	292	21	for	for	ADP
american_scientific_journal-3609	292	22	nonholonomic	nonholonomic	ADJ
american_scientific_journal-3609	292	23	mobile	mobile	ADJ
american_scientific_journal-3609	292	24	robots	robot	NOUN
american_scientific_journal-3609	292	25	”	"	PUNCT
american_scientific_journal-3609	292	26	ieee	ieee	PROPN
american_scientific_journal-3609	292	27	trans	tran	NOUN
american_scientific_journal-3609	292	28	.	.	PUNCT
american_scientific_journal-3609	293	1	robotics	robotic	NOUN
american_scientific_journal-3609	293	2	and	and	CCONJ
american_scientific_journal-3609	293	3	automation	automation	NOUN
american_scientific_journal-3609	293	4	,	,	PUNCT
american_scientific_journal-3609	293	5	vol	vol	NOUN
american_scientific_journal-3609	293	6	.	.	PROPN
american_scientific_journal-3609	293	7	10	10	NUM
american_scientific_journal-3609	293	8	(	(	PUNCT
american_scientific_journal-3609	293	9	5	5	NUM
american_scientific_journal-3609	293	10	)	)	PUNCT
american_scientific_journal-3609	293	11	,	,	PUNCT
american_scientific_journal-3609	293	12	october	october	PROPN
american_scientific_journal-3609	293	13	,	,	PUNCT
american_scientific_journal-3609	293	14	1994	1994	NUM
american_scientific_journal-3609	293	15	.	.	PUNCT
american_scientific_journal-3609	294	1	[	[	X
american_scientific_journal-3609	294	2	10	10	NUM
american_scientific_journal-3609	294	3	]	]	PUNCT
american_scientific_journal-3609	294	4	k.	k.	PROPN
american_scientific_journal-3609	294	5	lo	lo	PROPN
american_scientific_journal-3609	294	6	,	,	PUNCT
american_scientific_journal-3609	294	7	a.	a.	PROPN
american_scientific_journal-3609	294	8	b.	b.	PROPN
american_scientific_journal-3609	294	9	rad	rad	PROPN
american_scientific_journal-3609	294	10	,	,	PUNCT
american_scientific_journal-3609	294	11	c.	c.	PROPN
american_scientific_journal-3609	294	12	w.	w.	PROPN
american_scientific_journal-3609	294	13	wong	wong	PROPN
american_scientific_journal-3609	294	14	and	and	CCONJ
american_scientific_journal-3609	294	15	m.	m.	PROPN
american_scientific_journal-3609	294	16	l.	l.	PROPN
american_scientific_journal-3609	294	17	ho	ho	PROPN
american_scientific_journal-3609	294	18	“	"	PUNCT
american_scientific_journal-3609	294	19	automatic	automatic	ADJ
american_scientific_journal-3609	294	20	parallel	parallel	ADJ
american_scientific_journal-3609	294	21	parking	parking	NOUN
american_scientific_journal-3609	294	22	”	"	PUNCT
american_scientific_journal-3609	294	23	ieee	ieee	NOUN
american_scientific_journal-3609	294	24	conf	conf	NOUN
american_scientific_journal-3609	294	25	.	.	PUNCT
american_scientific_journal-3609	295	1	intelligent	intelligent	ADJ
american_scientific_journal-3609	295	2	transportation	transportation	NOUN
american_scientific_journal-3609	295	3	systems	system	NOUN
american_scientific_journal-3609	295	4	,	,	PUNCT
american_scientific_journal-3609	295	5	october	october	PROPN
american_scientific_journal-3609	295	6	,	,	PUNCT
american_scientific_journal-3609	295	7	2003	2003	NUM
american_scientific_journal-3609	295	8	.	.	PUNCT
american_scientific_journal-3609	296	1	[	[	X
american_scientific_journal-3609	296	2	11	11	NUM
american_scientific_journal-3609	296	3	]	]	PUNCT
american_scientific_journal-3609	296	4	bourke	bourke	PROPN
american_scientific_journal-3609	296	5	.	.	PUNCT
american_scientific_journal-3609	297	1	“	"	PUNCT
american_scientific_journal-3609	297	2	intersection	intersection	NOUN
american_scientific_journal-3609	297	3	of	of	ADP
american_scientific_journal-3609	297	4	the	the	DET
american_scientific_journal-3609	297	5	two	two	NUM
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american_scientific_journal-3609	297	9	,	,	PUNCT
american_scientific_journal-3609	297	10	1997	1997	NUM
american_scientific_journal-3609	297	11	.	.	PUNCT
american_scientific_journal-3609	298	1	[	[	X
american_scientific_journal-3609	298	2	12	12	NUM
american_scientific_journal-3609	298	3	]	]	PUNCT
american_scientific_journal-3609	298	4	sungwoo	sungwoo	NOUN
american_scientific_journal-3609	298	5	choi	choi	NOUN
american_scientific_journal-3609	298	6	,	,	PUNCT
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american_scientific_journal-3609	298	9	and	and	CCONJ
american_scientific_journal-3609	298	10	brigitte	brigitte	PROPN
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american_scientific_journal-3609	298	12	-	-	PUNCT
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american_scientific_journal-3609	298	14	“	"	PUNCT
american_scientific_journal-3609	298	15	easy	easy	ADJ
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american_scientific_journal-3609	298	17	planning	planning	NOUN
american_scientific_journal-3609	298	18	and	and	CCONJ
american_scientific_journal-3609	298	19	robust	robust	ADJ
american_scientific_journal-3609	298	20	control	control	NOUN
american_scientific_journal-3609	298	21	for	for	ADP
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american_scientific_journal-3609	298	23	parallel	parallel	ADJ
american_scientific_journal-3609	298	24	parking	parking	NOUN
american_scientific_journal-3609	298	25	”	"	PUNCT
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american_scientific_journal-3609	298	29	18th	18th	ADJ
american_scientific_journal-3609	298	30	ifac	ifac	NOUN
american_scientific_journal-3609	298	31	world	world	PROPN
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american_scientific_journal-3609	298	33	milano	milano	PROPN
american_scientific_journal-3609	298	34	(	(	PUNCT
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american_scientific_journal-3609	298	36	)	)	PUNCT
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american_scientific_journal-3609	298	41	.	.	PUNCT
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american_scientific_journal-3609	299	2	13	13	NUM
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american_scientific_journal-3609	299	5	,	,	PUNCT
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american_scientific_journal-3609	299	8	,	,	PUNCT
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american_scientific_journal-3609	299	10	y	y	PROPN
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american_scientific_journal-3609	299	12	,	,	PUNCT
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american_scientific_journal-3609	299	21	-	-	PUNCT
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american_scientific_journal-3609	299	23	mobile	mobile	NOUN
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american_scientific_journal-3609	299	25	for	for	ADP
american_scientific_journal-3609	299	26	parking	parking	NOUN
american_scientific_journal-3609	299	27	problem	problem	NOUN
american_scientific_journal-3609	299	28	”	"	PUNCT
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american_scientific_journal-3609	299	30	.	.	PUNCT
american_scientific_journal-3609	300	1	ieee	ieee	PROPN
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american_scientific_journal-3609	300	3	.	.	PUNCT
american_scientific_journal-3609	301	1	conf.robotics	conf.robotic	NOUN
american_scientific_journal-3609	301	2	and	and	CCONJ
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american_scientific_journal-3609	301	4	,	,	PUNCT
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american_scientific_journal-3609	301	6	.	.	PUNCT