id	sid	tid	token	lemma	pos
american_scientific_journal-4437	1	1	134	134	NUM
american_scientific_journal-4437	1	2	american	american	ADJ
american_scientific_journal-4437	1	3	scientific	scientific	ADJ
american_scientific_journal-4437	1	4	research	research	NOUN
american_scientific_journal-4437	1	5	journal	journal	NOUN
american_scientific_journal-4437	1	6	for	for	ADP
american_scientific_journal-4437	1	7	engineering	engineering	NOUN
american_scientific_journal-4437	1	8	,	,	PUNCT
american_scientific_journal-4437	1	9	technology	technology	NOUN
american_scientific_journal-4437	1	10	,	,	PUNCT
american_scientific_journal-4437	1	11	and	and	CCONJ
american_scientific_journal-4437	1	12	sciences	science	NOUN
american_scientific_journal-4437	1	13	(	(	PUNCT
american_scientific_journal-4437	1	14	asrjets	asrjet	NOUN
american_scientific_journal-4437	1	15	)	)	PUNCT
american_scientific_journal-4437	1	16	issn	issn	PROPN
american_scientific_journal-4437	1	17	(	(	PUNCT
american_scientific_journal-4437	1	18	print	print	NOUN
american_scientific_journal-4437	1	19	)	)	PUNCT
american_scientific_journal-4437	1	20	2313	2313	NUM
american_scientific_journal-4437	1	21	-	-	SYM
american_scientific_journal-4437	1	22	4410	4410	NUM
american_scientific_journal-4437	1	23	,	,	PUNCT
american_scientific_journal-4437	1	24	issn	issn	PROPN
american_scientific_journal-4437	1	25	(	(	PUNCT
american_scientific_journal-4437	1	26	online	online	ADJ
american_scientific_journal-4437	1	27	)	)	PUNCT
american_scientific_journal-4437	1	28	2313	2313	NUM
american_scientific_journal-4437	1	29	-	-	SYM
american_scientific_journal-4437	1	30	4402	4402	NUM
american_scientific_journal-4437	1	31	©	©	PROPN
american_scientific_journal-4437	1	32	global	global	ADJ
american_scientific_journal-4437	1	33	society	society	NOUN
american_scientific_journal-4437	1	34	of	of	ADP
american_scientific_journal-4437	1	35	scientific	scientific	ADJ
american_scientific_journal-4437	1	36	research	research	NOUN
american_scientific_journal-4437	1	37	and	and	CCONJ
american_scientific_journal-4437	1	38	researchers	researcher	NOUN
american_scientific_journal-4437	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-4437	1	40	wi	wi	PROPN
american_scientific_journal-4437	1	41	-	-	PUNCT
american_scientific_journal-4437	1	42	fi	fi	NOUN
american_scientific_journal-4437	1	43	localization	localization	NOUN
american_scientific_journal-4437	1	44	with	with	ADP
american_scientific_journal-4437	1	45	a	a	DET
american_scientific_journal-4437	1	46	case	case	NOUN
american_scientific_journal-4437	1	47	study	study	NOUN
american_scientific_journal-4437	1	48	of	of	ADP
american_scientific_journal-4437	1	49	mobile	mobile	ADJ
american_scientific_journal-4437	1	50	robot	robot	NOUN
american_scientific_journal-4437	1	51	asst	asst	NOUN
american_scientific_journal-4437	1	52	.	.	PUNCT
american_scientific_journal-4437	2	1	prof	prof	PROPN
american_scientific_journal-4437	2	2	.	.	PUNCT
american_scientific_journal-4437	3	1	dr	dr	PROPN
american_scientific_journal-4437	3	2	.	.	PROPN
american_scientific_journal-4437	3	3	hamid	hamid	PROPN
american_scientific_journal-4437	3	4	m.	m.	PROPN
american_scientific_journal-4437	3	5	hasana*,atheer	hasana*,atheer	PROPN
american_scientific_journal-4437	3	6	j.	j.	PROPN
american_scientific_journal-4437	3	7	baqirb	baqirb	PROPN
american_scientific_journal-4437	3	8	a	a	PRON
american_scientific_journal-4437	3	9	,	,	PUNCT
american_scientific_journal-4437	3	10	buniversity	buniversity	NOUN
american_scientific_journal-4437	3	11	of	of	ADP
american_scientific_journal-4437	3	12	technology	technology	NOUN
american_scientific_journal-4437	3	13	,	,	PUNCT
american_scientific_journal-4437	3	14	control	control	NOUN
american_scientific_journal-4437	3	15	and	and	CCONJ
american_scientific_journal-4437	3	16	systems	systems	PROPN
american_scientific_journal-4437	3	17	eng	eng	PROPN
american_scientific_journal-4437	3	18	.	.	PROPN
american_scientific_journal-4437	3	19	dept	dept	PROPN
american_scientific_journal-4437	3	20	.	.	PUNCT
american_scientific_journal-4437	4	1	iraq	iraq	PROPN
american_scientific_journal-4437	4	2	aemail	aemail	NOUN
american_scientific_journal-4437	4	3	:	:	PUNCT
american_scientific_journal-4437	4	4	hamid2012net@gmail.com	hamid2012net@gmail.com	X
american_scientific_journal-4437	4	5	,	,	PUNCT
american_scientific_journal-4437	4	6	bemail	bemail	NOUN
american_scientific_journal-4437	4	7	:	:	PUNCT
american_scientific_journal-4437	4	8	atheerjaafer@yahoo.com	atheerjaafer@yahoo.com	X
american_scientific_journal-4437	5	1	abstract	abstract	ADJ
american_scientific_journal-4437	5	2	estimating	estimate	VERB
american_scientific_journal-4437	5	3	the	the	DET
american_scientific_journal-4437	5	4	location	location	NOUN
american_scientific_journal-4437	5	5	of	of	ADP
american_scientific_journal-4437	5	6	the	the	DET
american_scientific_journal-4437	5	7	mobile	mobile	ADJ
american_scientific_journal-4437	5	8	robot	robot	NOUN
american_scientific_journal-4437	5	9	in	in	ADP
american_scientific_journal-4437	5	10	an	an	DET
american_scientific_journal-4437	5	11	indoor	indoor	ADJ
american_scientific_journal-4437	5	12	environment	environment	NOUN
american_scientific_journal-4437	5	13	is	be	AUX
american_scientific_journal-4437	5	14	a	a	DET
american_scientific_journal-4437	5	15	fundamental	fundamental	ADJ
american_scientific_journal-4437	5	16	challenge	challenge	NOUN
american_scientific_journal-4437	5	17	nowadays	nowadays	ADV
american_scientific_journal-4437	5	18	.	.	PUNCT
american_scientific_journal-4437	6	1	the	the	DET
american_scientific_journal-4437	6	2	accuracy	accuracy	NOUN
american_scientific_journal-4437	6	3	of	of	ADP
american_scientific_journal-4437	6	4	positioning	positioning	NOUN
american_scientific_journal-4437	6	5	mechanisms	mechanism	NOUN
american_scientific_journal-4437	6	6	such	such	ADJ
american_scientific_journal-4437	6	7	as	as	ADP
american_scientific_journal-4437	6	8	gps	gps	PROPN
american_scientific_journal-4437	6	9	is	be	AUX
american_scientific_journal-4437	6	10	often	often	ADV
american_scientific_journal-4437	6	11	limited	limit	VERB
american_scientific_journal-4437	6	12	for	for	ADP
american_scientific_journal-4437	6	13	indoor	indoor	ADJ
american_scientific_journal-4437	6	14	environments	environment	NOUN
american_scientific_journal-4437	6	15	.	.	PUNCT
american_scientific_journal-4437	7	1	in	in	ADP
american_scientific_journal-4437	7	2	this	this	DET
american_scientific_journal-4437	7	3	study	study	NOUN
american_scientific_journal-4437	7	4	,	,	PUNCT
american_scientific_journal-4437	7	5	we	we	PRON
american_scientific_journal-4437	7	6	develop	develop	VERB
american_scientific_journal-4437	7	7	the	the	DET
american_scientific_journal-4437	7	8	feasibility	feasibility	NOUN
american_scientific_journal-4437	7	9	of	of	ADP
american_scientific_journal-4437	7	10	building	build	VERB
american_scientific_journal-4437	7	11	an	an	DET
american_scientific_journal-4437	7	12	indoor	indoor	ADJ
american_scientific_journal-4437	7	13	localization	localization	NOUN
american_scientific_journal-4437	7	14	system	system	NOUN
american_scientific_journal-4437	7	15	that	that	PRON
american_scientific_journal-4437	7	16	is	be	AUX
american_scientific_journal-4437	7	17	cost	cost	VERB
american_scientific_journal-4437	7	18	effective	effective	ADJ
american_scientific_journal-4437	7	19	for	for	ADP
american_scientific_journal-4437	7	20	large	large	ADJ
american_scientific_journal-4437	7	21	scale	scale	NOUN
american_scientific_journal-4437	7	22	deployments	deployment	NOUN
american_scientific_journal-4437	7	23	,	,	PUNCT
american_scientific_journal-4437	7	24	can	can	AUX
american_scientific_journal-4437	7	25	operate	operate	VERB
american_scientific_journal-4437	7	26	over	over	ADP
american_scientific_journal-4437	7	27	existing	exist	VERB
american_scientific_journal-4437	7	28	wi	wi	PROPN
american_scientific_journal-4437	7	29	-	-	PUNCT
american_scientific_journal-4437	7	30	fi	fi	NOUN
american_scientific_journal-4437	7	31	networks	network	NOUN
american_scientific_journal-4437	7	32	,	,	PUNCT
american_scientific_journal-4437	7	33	and	and	CCONJ
american_scientific_journal-4437	7	34	can	can	AUX
american_scientific_journal-4437	7	35	provide	provide	VERB
american_scientific_journal-4437	7	36	flexibility	flexibility	NOUN
american_scientific_journal-4437	7	37	to	to	PART
american_scientific_journal-4437	7	38	accommodate	accommodate	VERB
american_scientific_journal-4437	7	39	new	new	ADJ
american_scientific_journal-4437	7	40	sensor	sensor	NOUN
american_scientific_journal-4437	7	41	observations	observation	NOUN
american_scientific_journal-4437	7	42	as	as	SCONJ
american_scientific_journal-4437	7	43	they	they	PRON
american_scientific_journal-4437	7	44	become	become	VERB
american_scientific_journal-4437	7	45	available	available	ADJ
american_scientific_journal-4437	7	46	.	.	PUNCT
american_scientific_journal-4437	8	1	this	this	DET
american_scientific_journal-4437	8	2	paper	paper	NOUN
american_scientific_journal-4437	8	3	focuses	focus	VERB
american_scientific_journal-4437	8	4	on	on	ADP
american_scientific_journal-4437	8	5	the	the	DET
american_scientific_journal-4437	8	6	use	use	NOUN
american_scientific_journal-4437	8	7	of	of	ADP
american_scientific_journal-4437	8	8	wi	wi	PROPN
american_scientific_journal-4437	8	9	-	-	PUNCT
american_scientific_journal-4437	8	10	fi	fi	NOUN
american_scientific_journal-4437	8	11	for	for	ADP
american_scientific_journal-4437	8	12	communicating	communicate	VERB
american_scientific_journal-4437	8	13	with	with	ADP
american_scientific_journal-4437	8	14	and	and	CCONJ
american_scientific_journal-4437	8	15	localizing	localize	VERB
american_scientific_journal-4437	8	16	the	the	DET
american_scientific_journal-4437	8	17	robotby	robotby	NOUN
american_scientific_journal-4437	8	18	wi	wi	PROPN
american_scientific_journal-4437	8	19	-	-	PUNCT
american_scientific_journal-4437	8	20	fi	fi	NOUN
american_scientific_journal-4437	8	21	received	receive	VERB
american_scientific_journal-4437	8	22	signal	signal	NOUN
american_scientific_journal-4437	8	23	strength	strength	NOUN
american_scientific_journal-4437	8	24	indication	indication	NOUN
american_scientific_journal-4437	8	25	(	(	PUNCT
american_scientific_journal-4437	8	26	rssi	rssi	NOUN
american_scientific_journal-4437	8	27	)	)	PUNCT
american_scientific_journal-4437	8	28	to	to	PART
american_scientific_journal-4437	8	29	calculate	calculate	VERB
american_scientific_journal-4437	8	30	the	the	DET
american_scientific_journal-4437	8	31	distance	distance	NOUN
american_scientific_journal-4437	8	32	between	between	ADP
american_scientific_journal-4437	8	33	the	the	DET
american_scientific_journal-4437	8	34	robot	robot	NOUN
american_scientific_journal-4437	8	35	and	and	CCONJ
american_scientific_journal-4437	8	36	access	access	NOUN
american_scientific_journal-4437	8	37	point	point	NOUN
american_scientific_journal-4437	8	38	(	(	PUNCT
american_scientific_journal-4437	8	39	ap	ap	PROPN
american_scientific_journal-4437	8	40	)	)	PUNCT
american_scientific_journal-4437	8	41	.	.	PUNCT
american_scientific_journal-4437	9	1	also	also	ADV
american_scientific_journal-4437	9	2	we	we	PRON
american_scientific_journal-4437	9	3	need	need	VERB
american_scientific_journal-4437	9	4	to	to	PART
american_scientific_journal-4437	9	5	figure	figure	VERB
american_scientific_journal-4437	9	6	out	out	ADP
american_scientific_journal-4437	9	7	the	the	DET
american_scientific_journal-4437	9	8	accurate	accurate	ADJ
american_scientific_journal-4437	9	9	orientation	orientation	NOUN
american_scientific_journal-4437	9	10	of	of	ADP
american_scientific_journal-4437	9	11	the	the	DET
american_scientific_journal-4437	9	12	platform	platform	NOUN
american_scientific_journal-4437	9	13	in	in	ADP
american_scientific_journal-4437	9	14	2d	2d	PROPN
american_scientific_journal-4437	9	15	environment	environment	NOUN
american_scientific_journal-4437	9	16	.	.	PUNCT
american_scientific_journal-4437	10	1	keywords	keyword	NOUN
american_scientific_journal-4437	10	2	:	:	PUNCT
american_scientific_journal-4437	10	3	localization	localization	NOUN
american_scientific_journal-4437	10	4	;	;	PUNCT
american_scientific_journal-4437	10	5	mobile	mobile	NOUN
american_scientific_journal-4437	10	6	robot	robot	NOUN
american_scientific_journal-4437	10	7	;	;	PUNCT
american_scientific_journal-4437	11	1	wi	wi	PROPN
american_scientific_journal-4437	11	2	-	-	PUNCT
american_scientific_journal-4437	11	3	fi	fi	NOUN
american_scientific_journal-4437	11	4	.	.	NOUN
american_scientific_journal-4437	11	5	1	1	NUM
american_scientific_journal-4437	11	6	.	.	X
american_scientific_journal-4437	11	7	introduction	introduction	NOUN
american_scientific_journal-4437	11	8	successful	successful	ADJ
american_scientific_journal-4437	11	9	localization	localization	NOUN
american_scientific_journal-4437	11	10	is	be	AUX
american_scientific_journal-4437	11	11	a	a	DET
american_scientific_journal-4437	11	12	very	very	ADV
american_scientific_journal-4437	11	13	important	important	ADJ
american_scientific_journal-4437	11	14	issue	issue	NOUN
american_scientific_journal-4437	11	15	for	for	ADP
american_scientific_journal-4437	11	16	indoor	indoor	ADJ
american_scientific_journal-4437	11	17	mobile	mobile	ADJ
american_scientific_journal-4437	11	18	robots	robot	NOUN
american_scientific_journal-4437	11	19	[	[	X
american_scientific_journal-4437	11	20	1	1	NUM
american_scientific_journal-4437	11	21	]	]	PUNCT
american_scientific_journal-4437	11	22	.	.	PUNCT
american_scientific_journal-4437	12	1	in	in	ADP
american_scientific_journal-4437	12	2	the	the	DET
american_scientific_journal-4437	12	3	past	past	NOUN
american_scientific_journal-4437	12	4	,	,	PUNCT
american_scientific_journal-4437	12	5	a	a	DET
american_scientific_journal-4437	12	6	variety	variety	NOUN
american_scientific_journal-4437	12	7	of	of	ADP
american_scientific_journal-4437	12	8	approaches	approach	NOUN
american_scientific_journal-4437	12	9	to	to	ADP
american_scientific_journal-4437	12	10	localization	localization	NOUN
american_scientific_journal-4437	12	11	have	have	AUX
american_scientific_journal-4437	12	12	been	be	AUX
american_scientific_journal-4437	12	13	explored	explore	VERB
american_scientific_journal-4437	12	14	,	,	PUNCT
american_scientific_journal-4437	12	15	include	include	VERB
american_scientific_journal-4437	12	16	using	use	VERB
american_scientific_journal-4437	12	17	sonar	sonar	NOUN
american_scientific_journal-4437	12	18	[	[	X
american_scientific_journal-4437	12	19	2	2	NUM
american_scientific_journal-4437	12	20	]	]	PUNCT
american_scientific_journal-4437	12	21	,	,	PUNCT
american_scientific_journal-4437	12	22	laser	laser	NOUN
american_scientific_journal-4437	12	23	scanners	scanner	NOUN
american_scientific_journal-4437	12	24	[	[	X
american_scientific_journal-4437	12	25	3	3	NUM
american_scientific_journal-4437	12	26	]	]	PUNCT
american_scientific_journal-4437	12	27	,	,	PUNCT
american_scientific_journal-4437	12	28	kinematic	kinematic	NOUN
american_scientific_journal-4437	12	29	of	of	ADP
american_scientific_journal-4437	12	30	mobile	mobile	ADJ
american_scientific_journal-4437	12	31	robot	robot	NOUN
american_scientific_journal-4437	12	32	[	[	X
american_scientific_journal-4437	12	33	4	4	NUM
american_scientific_journal-4437	12	34	]	]	PUNCT
american_scientific_journal-4437	12	35	,	,	PUNCT
american_scientific_journal-4437	12	36	infrared	infrared	ADJ
american_scientific_journal-4437	12	37	beacons	beacon	NOUN
american_scientific_journal-4437	12	38	[	[	X
american_scientific_journal-4437	12	39	5	5	X
american_scientific_journal-4437	12	40	]	]	PUNCT
american_scientific_journal-4437	12	41	and	and	CCONJ
american_scientific_journal-4437	12	42	computer	computer	NOUN
american_scientific_journal-4437	12	43	vision	vision	NOUN
american_scientific_journal-4437	12	44	[	[	X
american_scientific_journal-4437	12	45	6	6	NUM
american_scientific_journal-4437	12	46	]	]	PUNCT
american_scientific_journal-4437	12	47	.	.	PUNCT
american_scientific_journal-4437	13	1	with	with	ADP
american_scientific_journal-4437	13	2	the	the	DET
american_scientific_journal-4437	13	3	increasing	increase	VERB
american_scientific_journal-4437	13	4	prevalence	prevalence	NOUN
american_scientific_journal-4437	13	5	of	of	ADP
american_scientific_journal-4437	13	6	wireless	wireless	ADJ
american_scientific_journal-4437	13	7	lan	lan	PROPN
american_scientific_journal-4437	13	8	,	,	PUNCT
american_scientific_journal-4437	13	9	“	"	PUNCT
american_scientific_journal-4437	13	10	wi	wi	PROPN
american_scientific_journal-4437	13	11	-	-	PUNCT
american_scientific_journal-4437	13	12	fi	fi	NOUN
american_scientific_journal-4437	13	13	,	,	PUNCT
american_scientific_journal-4437	13	14	”	"	PUNCT
american_scientific_journal-4437	13	15	considerable	considerable	ADJ
american_scientific_journal-4437	13	16	work	work	NOUN
american_scientific_journal-4437	13	17	has	have	AUX
american_scientific_journal-4437	13	18	been	be	AUX
american_scientific_journal-4437	13	19	done	do	VERB
american_scientific_journal-4437	13	20	on	on	ADP
american_scientific_journal-4437	13	21	using	use	VERB
american_scientific_journal-4437	13	22	signal	signal	NOUN
american_scientific_journal-4437	13	23	strength	strength	NOUN
american_scientific_journal-4437	13	24	measurements	measurement	NOUN
american_scientific_journal-4437	13	25	from	from	ADP
american_scientific_journal-4437	13	26	wi	wi	PROPN
american_scientific_journal-4437	13	27	-	-	PUNCT
american_scientific_journal-4437	13	28	fi	fi	NOUN
american_scientific_journal-4437	13	29	access	access	NOUN
american_scientific_journal-4437	13	30	points	point	NOUN
american_scientific_journal-4437	13	31	for	for	ADP
american_scientific_journal-4437	13	32	localization	localization	NOUN
american_scientific_journal-4437	13	33	[	[	X
american_scientific_journal-4437	13	34	7].wi	7].wi	NUM
american_scientific_journal-4437	13	35	-	-	PUNCT
american_scientific_journal-4437	13	36	fi	fi	NOUN
american_scientific_journal-4437	13	37	location	location	NOUN
american_scientific_journal-4437	13	38	determination	determination	NOUN
american_scientific_journal-4437	13	39	systems	system	NOUN
american_scientific_journal-4437	13	40	use	use	VERB
american_scientific_journal-4437	13	41	the	the	DET
american_scientific_journal-4437	13	42	popular	popular	ADJ
american_scientific_journal-4437	13	43	802.11b	802.11b	NUM
american_scientific_journal-4437	13	44	network	network	NOUN
american_scientific_journal-4437	13	45	infrastructure	infrastructure	NOUN
american_scientific_journal-4437	13	46	to	to	PART
american_scientific_journal-4437	13	47	determine	determine	VERB
american_scientific_journal-4437	13	48	the	the	DET
american_scientific_journal-4437	13	49	user	user	NOUN
american_scientific_journal-4437	13	50	location	location	NOUN
american_scientific_journal-4437	13	51	.	.	PUNCT
american_scientific_journal-4437	14	1	this	this	PRON
american_scientific_journal-4437	14	2	makes	make	VERB
american_scientific_journal-4437	14	3	these	these	DET
american_scientific_journal-4437	14	4	systems	system	NOUN
american_scientific_journal-4437	14	5	attractive	attractive	ADJ
american_scientific_journal-4437	14	6	in	in	ADP
american_scientific_journal-4437	14	7	indoor	indoor	ADJ
american_scientific_journal-4437	14	8	environments	environment	NOUN
american_scientific_journal-4437	14	9	where	where	SCONJ
american_scientific_journal-4437	14	10	traditional	traditional	ADJ
american_scientific_journal-4437	14	11	techniques	technique	NOUN
american_scientific_journal-4437	14	12	,	,	PUNCT
american_scientific_journal-4437	14	13	such	such	ADJ
american_scientific_journal-4437	14	14	as	as	ADP
american_scientific_journal-4437	14	15	global	global	ADJ
american_scientific_journal-4437	14	16	positioning	positioning	NOUN
american_scientific_journal-4437	14	17	system	system	NOUN
american_scientific_journal-4437	14	18	(	(	PUNCT
american_scientific_journal-4437	14	19	gps	gps	PROPN
american_scientific_journal-4437	14	20	)	)	PUNCT
american_scientific_journal-4437	14	21	fail	fail	VERB
american_scientific_journal-4437	14	22	[	[	X
american_scientific_journal-4437	14	23	8	8	NUM
american_scientific_journal-4437	14	24	,	,	PUNCT
american_scientific_journal-4437	14	25	9].wireless	9].wireless	NUM
american_scientific_journal-4437	14	26	networks	network	NOUN
american_scientific_journal-4437	14	27	have	have	AUX
american_scientific_journal-4437	14	28	become	become	VERB
american_scientific_journal-4437	14	29	a	a	DET
american_scientific_journal-4437	14	30	critical	critical	ADJ
american_scientific_journal-4437	14	31	component	component	NOUN
american_scientific_journal-4437	14	32	of	of	ADP
american_scientific_journal-4437	14	33	the	the	DET
american_scientific_journal-4437	14	34	networking	network	VERB
american_scientific_journal-4437	14	35	infrastructure	infrastructure	NOUN
american_scientific_journal-4437	14	36	and	and	CCONJ
american_scientific_journal-4437	14	37	are	be	AUX
american_scientific_journal-4437	14	38	available	available	ADJ
american_scientific_journal-4437	14	39	in	in	ADP
american_scientific_journal-4437	14	40	most	most	ADJ
american_scientific_journal-4437	14	41	corporate	corporate	ADJ
american_scientific_journal-4437	14	42	environments	environment	NOUN
american_scientific_journal-4437	14	43	(	(	PUNCT
american_scientific_journal-4437	14	44	universities	university	NOUN
american_scientific_journal-4437	14	45	,	,	PUNCT
american_scientific_journal-4437	14	46	airports	airport	NOUN
american_scientific_journal-4437	14	47	,	,	PUNCT
american_scientific_journal-4437	14	48	train	train	NOUN
american_scientific_journal-4437	14	49	stations	station	NOUN
american_scientific_journal-4437	14	50	,	,	PUNCT
american_scientific_journal-4437	14	51	tribunals	tribunal	NOUN
american_scientific_journal-4437	14	52	,	,	PUNCT
american_scientific_journal-4437	14	53	hospitals	hospital	NOUN
american_scientific_journal-4437	14	54	,	,	PUNCT
american_scientific_journal-4437	14	55	etc	etc	X
american_scientific_journal-4437	14	56	.	.	X
american_scientific_journal-4437	14	57	)	)	PUNCT
american_scientific_journal-4437	15	1	and	and	CCONJ
american_scientific_journal-4437	15	2	in	in	ADP
american_scientific_journal-4437	15	3	many	many	ADJ
american_scientific_journal-4437	15	4	commercial	commercial	ADJ
american_scientific_journal-4437	15	5	buildings	building	NOUN
american_scientific_journal-4437	15	6	(	(	PUNCT
american_scientific_journal-4437	15	7	cafes	cafe	NOUN
american_scientific_journal-4437	15	8	,	,	PUNCT
american_scientific_journal-4437	15	9	restaurants	restaurant	NOUN
american_scientific_journal-4437	15	10	,	,	PUNCT
american_scientific_journal-4437	15	11	cinemas	cinema	NOUN
american_scientific_journal-4437	15	12	,	,	PUNCT
american_scientific_journal-4437	15	13	shopping	shopping	NOUN
american_scientific_journal-4437	15	14	centers	center	NOUN
american_scientific_journal-4437	15	15	,	,	PUNCT
american_scientific_journal-4437	15	16	etc	etc	X
american_scientific_journal-4437	15	17	.	.	X
american_scientific_journal-4437	15	18	)	)	PUNCT
american_scientific_journal-4437	16	1	[	[	X
american_scientific_journal-4437	16	2	10	10	NUM
american_scientific_journal-4437	16	3	,	,	PUNCT
american_scientific_journal-4437	16	4	11	11	NUM
american_scientific_journal-4437	16	5	]	]	PUNCT
american_scientific_journal-4437	16	6	.	.	PUNCT
american_scientific_journal-4437	17	1	then	then	ADV
american_scientific_journal-4437	17	2	,	,	PUNCT
american_scientific_journal-4437	17	3	new	new	ADJ
american_scientific_journal-4437	17	4	homes	home	NOUN
american_scientific_journal-4437	17	5	are	be	AUX
american_scientific_journal-4437	17	6	slowly	slowly	ADV
american_scientific_journal-4437	17	7	starting	start	VERB
american_scientific_journal-4437	17	8	to	to	PART
american_scientific_journal-4437	17	9	add	add	VERB
american_scientific_journal-4437	17	10	wi	wi	PROPN
american_scientific_journal-4437	17	11	-	-	PUNCT
american_scientific_journal-4437	17	12	fi	fi	NOUN
american_scientific_journal-4437	17	13	services	service	NOUN
american_scientific_journal-4437	17	14	in	in	ADP
american_scientific_journal-4437	17	15	order	order	NOUN
american_scientific_journal-4437	17	16	to	to	PART
american_scientific_journal-4437	17	17	enable	enable	VERB
american_scientific_journal-4437	17	18	mobility	mobility	NOUN
american_scientific_journal-4437	17	19	to	to	PART
american_scientific_journal-4437	17	20	perform	perform	VERB
american_scientific_journal-4437	17	21	many	many	ADJ
american_scientific_journal-4437	17	22	routine	routine	ADJ
american_scientific_journal-4437	17	23	tasks.thorough	tasks.thorough	NOUN
american_scientific_journal-4437	17	24	studies	study	NOUN
american_scientific_journal-4437	17	25	of	of	ADP
american_scientific_journal-4437	17	26	wi	wi	PROPN
american_scientific_journal-4437	17	27	-	-	PUNCT
american_scientific_journal-4437	17	28	fi	fi	NOUN
american_scientific_journal-4437	17	29	signal	signal	ADJ
american_scientific_journal-4437	17	30	propagation	propagation	NOUN
american_scientific_journal-4437	17	31	properties	property	NOUN
american_scientific_journal-4437	17	32	.	.	PUNCT
american_scientific_journal-4437	18	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-4437	19	1	*	*	PUNCT
american_scientific_journal-4437	19	2	corresponding	correspond	VERB
american_scientific_journal-4437	19	3	author	author	NOUN
american_scientific_journal-4437	19	4	.	.	PUNCT
american_scientific_journal-4437	20	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-4437	20	2	american	american	PROPN
american_scientific_journal-4437	20	3	scientific	scientific	PROPN
american_scientific_journal-4437	20	4	research	research	NOUN
american_scientific_journal-4437	20	5	journal	journal	NOUN
american_scientific_journal-4437	20	6	for	for	ADP
american_scientific_journal-4437	20	7	engineering	engineering	NOUN
american_scientific_journal-4437	20	8	,	,	PUNCT
american_scientific_journal-4437	20	9	technology	technology	NOUN
american_scientific_journal-4437	20	10	,	,	PUNCT
american_scientific_journal-4437	20	11	and	and	CCONJ
american_scientific_journal-4437	20	12	sciences	science	NOUN
american_scientific_journal-4437	20	13	(	(	PUNCT
american_scientific_journal-4437	20	14	asrjets	asrjet	NOUN
american_scientific_journal-4437	20	15	)	)	PUNCT
american_scientific_journal-4437	20	16	(	(	PUNCT
american_scientific_journal-4437	20	17	2018	2018	NUM
american_scientific_journal-4437	20	18	)	)	PUNCT
american_scientific_journal-4437	20	19	volume	volume	NOUN
american_scientific_journal-4437	20	20	47	47	NUM
american_scientific_journal-4437	20	21	,	,	PUNCT
american_scientific_journal-4437	20	22	no	no	DET
american_scientific_journal-4437	20	23	1	1	NUM
american_scientific_journal-4437	20	24	,	,	PUNCT
american_scientific_journal-4437	20	25	pp	pp	ADV
american_scientific_journal-4437	20	26	134	134	NUM
american_scientific_journal-4437	20	27	-	-	SYM
american_scientific_journal-4437	20	28	144	144	NUM
american_scientific_journal-4437	20	29	135	135	NUM
american_scientific_journal-4437	20	30	these	these	DET
american_scientific_journal-4437	20	31	studies	study	NOUN
american_scientific_journal-4437	20	32	determine	determine	VERB
american_scientific_journal-4437	20	33	the	the	DET
american_scientific_journal-4437	20	34	relationship	relationship	NOUN
american_scientific_journal-4437	20	35	between	between	ADP
american_scientific_journal-4437	20	36	received	receive	VERB
american_scientific_journal-4437	20	37	signal	signal	NOUN
american_scientific_journal-4437	20	38	strength	strength	NOUN
american_scientific_journal-4437	20	39	(	(	PUNCT
american_scientific_journal-4437	20	40	rssi	rssi	NOUN
american_scientific_journal-4437	20	41	)	)	PUNCT
american_scientific_journal-4437	20	42	,	,	PUNCT
american_scientific_journal-4437	20	43	bandwidth	bandwidth	NOUN
american_scientific_journal-4437	20	44	,	,	PUNCT
american_scientific_journal-4437	20	45	link	link	VERB
american_scientific_journal-4437	20	46	quality	quality	NOUN
american_scientific_journal-4437	20	47	,	,	PUNCT
american_scientific_journal-4437	20	48	and	and	CCONJ
american_scientific_journal-4437	20	49	distance	distance	NOUN
american_scientific_journal-4437	20	50	,	,	PUNCT
american_scientific_journal-4437	20	51	which	which	PRON
american_scientific_journal-4437	20	52	is	be	AUX
american_scientific_journal-4437	20	53	required	require	VERB
american_scientific_journal-4437	20	54	for	for	ADP
american_scientific_journal-4437	20	55	understanding	understand	VERB
american_scientific_journal-4437	20	56	wi	wi	PROPN
american_scientific_journal-4437	20	57	-	-	PUNCT
american_scientific_journal-4437	20	58	fi	fi	NOUN
american_scientific_journal-4437	20	59	ap	ap	PROPN
american_scientific_journal-4437	20	60	deployment	deployment	NOUN
american_scientific_journal-4437	20	61	and	and	CCONJ
american_scientific_journal-4437	20	62	communication	communication	NOUN
american_scientific_journal-4437	20	63	[	[	X
american_scientific_journal-4437	20	64	12	12	NUM
american_scientific_journal-4437	20	65	]	]	PUNCT
american_scientific_journal-4437	20	66	.	.	PUNCT
american_scientific_journal-4437	21	1	there	there	PRON
american_scientific_journal-4437	21	2	are	be	VERB
american_scientific_journal-4437	21	3	multiple	multiple	ADJ
american_scientific_journal-4437	21	4	techniques	technique	NOUN
american_scientific_journal-4437	21	5	implemented	implement	VERB
american_scientific_journal-4437	21	6	to	to	PART
american_scientific_journal-4437	21	7	determine	determine	VERB
american_scientific_journal-4437	21	8	location	location	NOUN
american_scientific_journal-4437	21	9	,	,	PUNCT
american_scientific_journal-4437	21	10	one	one	NUM
american_scientific_journal-4437	21	11	of	of	ADP
american_scientific_journal-4437	21	12	them	they	PRON
american_scientific_journal-4437	21	13	is	be	AUX
american_scientific_journal-4437	21	14	called	call	VERB
american_scientific_journal-4437	21	15	wi	wi	PROPN
american_scientific_journal-4437	21	16	-	-	PUNCT
american_scientific_journal-4437	21	17	fi	fi	NOUN
american_scientific_journal-4437	21	18	fingerprinting	fingerprinting	NOUN
american_scientific_journal-4437	21	19	where	where	SCONJ
american_scientific_journal-4437	21	20	every	every	DET
american_scientific_journal-4437	21	21	point	point	NOUN
american_scientific_journal-4437	21	22	in	in	ADP
american_scientific_journal-4437	21	23	the	the	DET
american_scientific_journal-4437	21	24	region	region	NOUN
american_scientific_journal-4437	21	25	of	of	ADP
american_scientific_journal-4437	21	26	interest	interest	NOUN
american_scientific_journal-4437	21	27	is	be	AUX
american_scientific_journal-4437	21	28	covered	cover	VERB
american_scientific_journal-4437	21	29	by	by	ADP
american_scientific_journal-4437	21	30	at	at	ADV
american_scientific_journal-4437	21	31	least	least	ADJ
american_scientific_journal-4437	21	32	k	k	X
american_scientific_journal-4437	21	33	aps[13	aps[13	NOUN
american_scientific_journal-4437	21	34	]	]	X
american_scientific_journal-4437	21	35	.	.	PUNCT
american_scientific_journal-4437	22	1	another	another	DET
american_scientific_journal-4437	22	2	wi	wi	PROPN
american_scientific_journal-4437	22	3	-	-	PUNCT
american_scientific_journal-4437	22	4	fi	fi	NOUN
american_scientific_journal-4437	22	5	localization	localization	NOUN
american_scientific_journal-4437	22	6	technique	technique	NOUN
american_scientific_journal-4437	22	7	that	that	PRON
american_scientific_journal-4437	22	8	was	be	AUX
american_scientific_journal-4437	22	9	considered	consider	VERB
american_scientific_journal-4437	22	10	was	be	AUX
american_scientific_journal-4437	22	11	wi	wi	PROPN
american_scientific_journal-4437	22	12	-	-	PUNCT
american_scientific_journal-4437	22	13	fi	fi	NOUN
american_scientific_journal-4437	22	14	triangulation	triangulation	NOUN
american_scientific_journal-4437	22	15	[	[	X
american_scientific_journal-4437	22	16	14	14	NUM
american_scientific_journal-4437	22	17	]	]	PUNCT
american_scientific_journal-4437	22	18	,	,	PUNCT
american_scientific_journal-4437	22	19	this	this	DET
american_scientific_journal-4437	22	20	technology	technology	NOUN
american_scientific_journal-4437	22	21	uses	use	VERB
american_scientific_journal-4437	22	22	wi	wi	PROPN
american_scientific_journal-4437	22	23	-	-	PUNCT
american_scientific_journal-4437	22	24	fi	fi	NOUN
american_scientific_journal-4437	22	25	signals	signal	NOUN
american_scientific_journal-4437	22	26	to	to	PART
american_scientific_journal-4437	22	27	estimate	estimate	VERB
american_scientific_journal-4437	22	28	the	the	DET
american_scientific_journal-4437	22	29	distance	distance	NOUN
american_scientific_journal-4437	22	30	between	between	ADP
american_scientific_journal-4437	22	31	the	the	DET
american_scientific_journal-4437	22	32	user	user	NOUN
american_scientific_journal-4437	22	33	and	and	CCONJ
american_scientific_journal-4437	22	34	the	the	DET
american_scientific_journal-4437	22	35	transmitter	transmitter	NOUN
american_scientific_journal-4437	22	36	.	.	PUNCT
american_scientific_journal-4437	23	1	the	the	DET
american_scientific_journal-4437	23	2	distance	distance	NOUN
american_scientific_journal-4437	23	3	was	be	AUX
american_scientific_journal-4437	23	4	used	use	VERB
american_scientific_journal-4437	23	5	to	to	PART
american_scientific_journal-4437	23	6	generate	generate	VERB
american_scientific_journal-4437	23	7	a	a	DET
american_scientific_journal-4437	23	8	circle	circle	NOUN
american_scientific_journal-4437	23	9	around	around	ADP
american_scientific_journal-4437	23	10	each	each	DET
american_scientific_journal-4437	23	11	transmitter	transmitter	NOUN
american_scientific_journal-4437	23	12	.	.	PUNCT
american_scientific_journal-4437	24	1	then	then	ADV
american_scientific_journal-4437	24	2	,	,	PUNCT
american_scientific_journal-4437	24	3	by	by	ADP
american_scientific_journal-4437	24	4	getting	get	VERB
american_scientific_journal-4437	24	5	the	the	DET
american_scientific_journal-4437	24	6	intersection	intersection	NOUN
american_scientific_journal-4437	24	7	of	of	ADP
american_scientific_journal-4437	24	8	the	the	DET
american_scientific_journal-4437	24	9	three	three	NUM
american_scientific_journal-4437	24	10	circles	circle	NOUN
american_scientific_journal-4437	24	11	,	,	PUNCT
american_scientific_journal-4437	24	12	the	the	DET
american_scientific_journal-4437	24	13	location	location	NOUN
american_scientific_journal-4437	24	14	of	of	ADP
american_scientific_journal-4437	24	15	the	the	DET
american_scientific_journal-4437	24	16	user	user	NOUN
american_scientific_journal-4437	24	17	was	be	AUX
american_scientific_journal-4437	24	18	pinpointed	pinpoint	VERB
american_scientific_journal-4437	24	19	.	.	PUNCT
american_scientific_journal-4437	25	1	if	if	SCONJ
american_scientific_journal-4437	25	2	given	give	VERB
american_scientific_journal-4437	25	3	the	the	DET
american_scientific_journal-4437	25	4	correct	correct	ADJ
american_scientific_journal-4437	25	5	information	information	NOUN
american_scientific_journal-4437	25	6	,	,	PUNCT
american_scientific_journal-4437	25	7	it	it	PRON
american_scientific_journal-4437	25	8	will	will	AUX
american_scientific_journal-4437	25	9	produce	produce	VERB
american_scientific_journal-4437	25	10	a	a	DET
american_scientific_journal-4437	25	11	unique	unique	ADJ
american_scientific_journal-4437	25	12	answer	answer	NOUN
american_scientific_journal-4437	25	13	.	.	PUNCT
american_scientific_journal-4437	26	1	as	as	SCONJ
american_scientific_journal-4437	26	2	you	you	PRON
american_scientific_journal-4437	26	3	can	can	AUX
american_scientific_journal-4437	26	4	see	see	VERB
american_scientific_journal-4437	26	5	above	above	ADV
american_scientific_journal-4437	26	6	,	,	PUNCT
american_scientific_journal-4437	26	7	all	all	DET
american_scientific_journal-4437	26	8	techniques	technique	NOUN
american_scientific_journal-4437	26	9	are	be	AUX
american_scientific_journal-4437	26	10	depends	depend	VERB
american_scientific_journal-4437	26	11	on	on	ADP
american_scientific_journal-4437	26	12	more	more	ADJ
american_scientific_journal-4437	26	13	than	than	ADP
american_scientific_journal-4437	26	14	one	one	NUM
american_scientific_journal-4437	26	15	ap	ap	PROPN
american_scientific_journal-4437	26	16	,	,	PUNCT
american_scientific_journal-4437	26	17	in	in	ADP
american_scientific_journal-4437	26	18	this	this	DET
american_scientific_journal-4437	26	19	paper	paper	NOUN
american_scientific_journal-4437	26	20	we	we	PRON
american_scientific_journal-4437	26	21	try	try	VERB
american_scientific_journal-4437	26	22	to	to	PART
american_scientific_journal-4437	26	23	develop	develop	VERB
american_scientific_journal-4437	26	24	localization	localization	NOUN
american_scientific_journal-4437	26	25	technique	technique	NOUN
american_scientific_journal-4437	26	26	using	use	VERB
american_scientific_journal-4437	26	27	single	single	ADJ
american_scientific_journal-4437	26	28	ap	ap	PROPN
american_scientific_journal-4437	26	29	only	only	ADV
american_scientific_journal-4437	26	30	.	.	PUNCT
american_scientific_journal-4437	27	1	2	2	X
american_scientific_journal-4437	27	2	.	.	X
american_scientific_journal-4437	27	3	background	background	NOUN
american_scientific_journal-4437	27	4	to	to	PART
american_scientific_journal-4437	27	5	determine	determine	VERB
american_scientific_journal-4437	27	6	the	the	DET
american_scientific_journal-4437	27	7	robot	robot	NOUN
american_scientific_journal-4437	27	8	position	position	NOUN
american_scientific_journal-4437	27	9	we	we	PRON
american_scientific_journal-4437	27	10	need	need	VERB
american_scientific_journal-4437	27	11	the	the	DET
american_scientific_journal-4437	27	12	calculation	calculation	NOUN
american_scientific_journal-4437	27	13	of	of	ADP
american_scientific_journal-4437	27	14	the	the	DET
american_scientific_journal-4437	27	15	distance	distance	NOUN
american_scientific_journal-4437	27	16	between	between	ADP
american_scientific_journal-4437	27	17	the	the	DET
american_scientific_journal-4437	27	18	ap	ap	PROPN
american_scientific_journal-4437	27	19	and	and	CCONJ
american_scientific_journal-4437	27	20	the	the	DET
american_scientific_journal-4437	27	21	receiver	receiver	NOUN
american_scientific_journal-4437	27	22	which	which	PRON
american_scientific_journal-4437	27	23	mounted	mount	VERB
american_scientific_journal-4437	27	24	on	on	ADP
american_scientific_journal-4437	27	25	the	the	DET
american_scientific_journal-4437	27	26	robot	robot	NOUN
american_scientific_journal-4437	27	27	.	.	PUNCT
american_scientific_journal-4437	28	1	this	this	PRON
american_scientific_journal-4437	28	2	can	can	AUX
american_scientific_journal-4437	28	3	be	be	AUX
american_scientific_journal-4437	28	4	achieved	achieve	VERB
american_scientific_journal-4437	28	5	using	use	VERB
american_scientific_journal-4437	28	6	the	the	DET
american_scientific_journal-4437	28	7	path	path	NOUN
american_scientific_journal-4437	28	8	loss	loss	NOUN
american_scientific_journal-4437	28	9	equation	equation	NOUN
american_scientific_journal-4437	28	10	2.1	2.1	NUM
american_scientific_journal-4437	28	11	log	log	NOUN
american_scientific_journal-4437	28	12	distance	distance	NOUN
american_scientific_journal-4437	28	13	path	path	NOUN
american_scientific_journal-4437	28	14	loss	loss	NOUN
american_scientific_journal-4437	28	15	equation	equation	NOUN
american_scientific_journal-4437	28	16	in	in	ADP
american_scientific_journal-4437	28	17	this	this	DET
american_scientific_journal-4437	28	18	section	section	NOUN
american_scientific_journal-4437	28	19	,	,	PUNCT
american_scientific_journal-4437	28	20	localization	localization	NOUN
american_scientific_journal-4437	28	21	system	system	NOUN
american_scientific_journal-4437	28	22	designed	design	VERB
american_scientific_journal-4437	28	23	based	base	VERB
american_scientific_journal-4437	28	24	on	on	ADP
american_scientific_journal-4437	28	25	rssi	rssi	ADJ
american_scientific_journal-4437	28	26	signal	signal	NOUN
american_scientific_journal-4437	28	27	will	will	AUX
american_scientific_journal-4437	28	28	be	be	AUX
american_scientific_journal-4437	28	29	presented	present	VERB
american_scientific_journal-4437	28	30	based	base	VERB
american_scientific_journal-4437	28	31	on	on	ADP
american_scientific_journal-4437	28	32	the	the	DET
american_scientific_journal-4437	28	33	log	log	NOUN
american_scientific_journal-4437	28	34	-	-	PUNCT
american_scientific_journal-4437	28	35	distance	distance	NOUN
american_scientific_journal-4437	28	36	path	path	NOUN
american_scientific_journal-4437	28	37	loss	loss	NOUN
american_scientific_journal-4437	28	38	model	model	NOUN
american_scientific_journal-4437	29	1	[	[	X
american_scientific_journal-4437	29	2	9	9	NUM
american_scientific_journal-4437	29	3	]	]	PUNCT
american_scientific_journal-4437	29	4	shown	show	VERB
american_scientific_journal-4437	29	5	in	in	ADP
american_scientific_journal-4437	29	6	equation	equation	NOUN
american_scientific_journal-4437	29	7	(	(	PUNCT
american_scientific_journal-4437	29	8	1	1	NUM
american_scientific_journal-4437	29	9	)	)	PUNCT
american_scientific_journal-4437	29	10	.	.	PUNCT
american_scientific_journal-4437	30	1	pl	pl	PROPN
american_scientific_journal-4437	30	2	(	(	PUNCT
american_scientific_journal-4437	30	3	db	db	PROPN
american_scientific_journal-4437	30	4	)	)	PUNCT
american_scientific_journal-4437	30	5	=	=	SYM
american_scientific_journal-4437	30	6	pl	pl	X
american_scientific_journal-4437	30	7	(	(	PUNCT
american_scientific_journal-4437	30	8	d0	d0	NOUN
american_scientific_journal-4437	30	9	)	)	PUNCT
american_scientific_journal-4437	30	10	+10	+10	NOUN
american_scientific_journal-4437	30	11	n	n	PRON
american_scientific_journal-4437	30	12	log	log	NOUN
american_scientific_journal-4437	30	13	d	d	PROPN
american_scientific_journal-4437	30	14	d0	d0	PROPN
american_scientific_journal-4437	30	15	…	…	PUNCT
american_scientific_journal-4437	30	16	…	…	PUNCT
american_scientific_journal-4437	30	17	……	……	NOUN
american_scientific_journal-4437	30	18	……	……	NOUN
american_scientific_journal-4437	30	19	(	(	PUNCT
american_scientific_journal-4437	30	20	1	1	X
american_scientific_journal-4437	30	21	)	)	PUNCT
american_scientific_journal-4437	30	22	where	where	SCONJ
american_scientific_journal-4437	30	23	pl	pl	PROPN
american_scientific_journal-4437	30	24	indicates	indicate	VERB
american_scientific_journal-4437	30	25	the	the	DET
american_scientific_journal-4437	30	26	path	path	NOUN
american_scientific_journal-4437	30	27	loss	loss	NOUN
american_scientific_journal-4437	30	28	level	level	NOUN
american_scientific_journal-4437	30	29	,	,	PUNCT
american_scientific_journal-4437	30	30	the	the	DET
american_scientific_journal-4437	30	31	value	value	NOUN
american_scientific_journal-4437	30	32	of	of	ADP
american_scientific_journal-4437	30	33	n	n	NUM
american_scientific_journal-4437	30	34	depends	depend	VERB
american_scientific_journal-4437	30	35	on	on	ADP
american_scientific_journal-4437	30	36	the	the	DET
american_scientific_journal-4437	30	37	surroundings	surrounding	NOUN
american_scientific_journal-4437	30	38	and	and	CCONJ
american_scientific_journal-4437	30	39	building	building	NOUN
american_scientific_journal-4437	30	40	type	type	NOUN
american_scientific_journal-4437	30	41	(	(	PUNCT
american_scientific_journal-4437	30	42	assumed	assume	VERB
american_scientific_journal-4437	30	43	3.25	3.25	NUM
american_scientific_journal-4437	30	44	in	in	ADP
american_scientific_journal-4437	30	45	calculations	calculation	NOUN
american_scientific_journal-4437	30	46	)	)	PUNCT
american_scientific_journal-4437	30	47	,	,	PUNCT
american_scientific_journal-4437	30	48	d0	d0	PROPN
american_scientific_journal-4437	30	49	is	be	AUX
american_scientific_journal-4437	30	50	the	the	DET
american_scientific_journal-4437	30	51	close	close	VERB
american_scientific_journal-4437	30	52	-	-	PUNCT
american_scientific_journal-4437	30	53	in	in	ADP
american_scientific_journal-4437	30	54	reference	reference	NOUN
american_scientific_journal-4437	30	55	distance	distance	NOUN
american_scientific_journal-4437	30	56	which	which	PRON
american_scientific_journal-4437	30	57	is	be	AUX
american_scientific_journal-4437	30	58	determined	determine	VERB
american_scientific_journal-4437	30	59	from	from	ADP
american_scientific_journal-4437	30	60	measurements	measurement	NOUN
american_scientific_journal-4437	30	61	close	close	ADJ
american_scientific_journal-4437	30	62	to	to	ADP
american_scientific_journal-4437	30	63	the	the	DET
american_scientific_journal-4437	30	64	transmitter	transmitter	NOUN
american_scientific_journal-4437	30	65	,	,	PUNCT
american_scientific_journal-4437	30	66	d	d	PROPN
american_scientific_journal-4437	30	67	is	be	AUX
american_scientific_journal-4437	30	68	the	the	DET
american_scientific_journal-4437	30	69	distance	distance	NOUN
american_scientific_journal-4437	30	70	between	between	ADP
american_scientific_journal-4437	30	71	the	the	DET
american_scientific_journal-4437	30	72	transmitter	transmitter	NOUN
american_scientific_journal-4437	30	73	and	and	CCONJ
american_scientific_journal-4437	30	74	the	the	DET
american_scientific_journal-4437	30	75	receiver	receiver	NOUN
american_scientific_journal-4437	30	76	.	.	PUNCT
american_scientific_journal-4437	31	1	2.2	2.2	NUM
american_scientific_journal-4437	31	2	kalman	kalman	NOUN
american_scientific_journal-4437	31	3	filter	filter	NOUN
american_scientific_journal-4437	31	4	the	the	DET
american_scientific_journal-4437	31	5	kalman	kalman	PROPN
american_scientific_journal-4437	31	6	filter	filter	NOUN
american_scientific_journal-4437	31	7	is	be	AUX
american_scientific_journal-4437	31	8	a	a	DET
american_scientific_journal-4437	31	9	set	set	NOUN
american_scientific_journal-4437	31	10	of	of	ADP
american_scientific_journal-4437	31	11	mathematical	mathematical	ADJ
american_scientific_journal-4437	31	12	equations	equation	NOUN
american_scientific_journal-4437	31	13	that	that	PRON
american_scientific_journal-4437	31	14	provides	provide	VERB
american_scientific_journal-4437	31	15	an	an	DET
american_scientific_journal-4437	31	16	efficient	efficient	ADJ
american_scientific_journal-4437	31	17	computational	computational	ADJ
american_scientific_journal-4437	31	18	(	(	PUNCT
american_scientific_journal-4437	31	19	recursive	recursive	ADJ
american_scientific_journal-4437	31	20	)	)	PUNCT
american_scientific_journal-4437	31	21	solution	solution	NOUN
american_scientific_journal-4437	31	22	of	of	ADP
american_scientific_journal-4437	31	23	the	the	DET
american_scientific_journal-4437	31	24	least	least	ADJ
american_scientific_journal-4437	31	25	-	-	PUNCT
american_scientific_journal-4437	31	26	squares	square	NOUN
american_scientific_journal-4437	31	27	method	method	NOUN
american_scientific_journal-4437	31	28	.	.	PUNCT
american_scientific_journal-4437	32	1	the	the	DET
american_scientific_journal-4437	32	2	filter	filter	NOUN
american_scientific_journal-4437	32	3	is	be	AUX
american_scientific_journal-4437	32	4	very	very	ADV
american_scientific_journal-4437	32	5	powerful	powerful	ADJ
american_scientific_journal-4437	32	6	in	in	ADP
american_scientific_journal-4437	32	7	several	several	ADJ
american_scientific_journal-4437	32	8	aspects	aspect	NOUN
american_scientific_journal-4437	32	9	:	:	PUNCT
american_scientific_journal-4437	32	10	it	it	PRON
american_scientific_journal-4437	32	11	supports	support	VERB
american_scientific_journal-4437	32	12	estimations	estimation	NOUN
american_scientific_journal-4437	32	13	of	of	ADP
american_scientific_journal-4437	32	14	past	past	NOUN
american_scientific_journal-4437	32	15	,	,	PUNCT
american_scientific_journal-4437	32	16	present	present	ADJ
american_scientific_journal-4437	32	17	,	,	PUNCT
american_scientific_journal-4437	32	18	and	and	CCONJ
american_scientific_journal-4437	32	19	even	even	ADV
american_scientific_journal-4437	32	20	future	future	ADJ
american_scientific_journal-4437	32	21	states	state	NOUN
american_scientific_journal-4437	32	22	,	,	PUNCT
american_scientific_journal-4437	32	23	and	and	CCONJ
american_scientific_journal-4437	32	24	it	it	PRON
american_scientific_journal-4437	32	25	can	can	AUX
american_scientific_journal-4437	32	26	do	do	VERB
american_scientific_journal-4437	32	27	so	so	ADV
american_scientific_journal-4437	32	28	even	even	ADV
american_scientific_journal-4437	32	29	when	when	SCONJ
american_scientific_journal-4437	32	30	the	the	DET
american_scientific_journal-4437	32	31	precise	precise	ADJ
american_scientific_journal-4437	32	32	nature	nature	NOUN
american_scientific_journal-4437	32	33	of	of	ADP
american_scientific_journal-4437	32	34	the	the	DET
american_scientific_journal-4437	32	35	modeled	model	VERB
american_scientific_journal-4437	32	36	system	system	NOUN
american_scientific_journal-4437	32	37	is	be	AUX
american_scientific_journal-4437	32	38	unknown	unknown	ADJ
american_scientific_journal-4437	32	39	[	[	X
american_scientific_journal-4437	32	40	17	17	NUM
american_scientific_journal-4437	32	41	]	]	PUNCT
american_scientific_journal-4437	32	42	.	.	PUNCT
american_scientific_journal-4437	33	1	surly	surly	ADV
american_scientific_journal-4437	33	2	we	we	PRON
american_scientific_journal-4437	33	3	notice	notice	VERB
american_scientific_journal-4437	33	4	that	that	SCONJ
american_scientific_journal-4437	33	5	there	there	PRON
american_scientific_journal-4437	33	6	a	a	DET
american_scientific_journal-4437	33	7	huge	huge	ADJ
american_scientific_journal-4437	33	8	difference	difference	NOUN
american_scientific_journal-4437	33	9	between	between	ADP
american_scientific_journal-4437	33	10	true	true	ADJ
american_scientific_journal-4437	33	11	and	and	CCONJ
american_scientific_journal-4437	33	12	calculated	calculated	ADJ
american_scientific_journal-4437	33	13	readings	reading	NOUN
american_scientific_journal-4437	33	14	in	in	ADP
american_scientific_journal-4437	33	15	some	some	DET
american_scientific_journal-4437	33	16	points	point	NOUN
american_scientific_journal-4437	33	17	,	,	PUNCT
american_scientific_journal-4437	33	18	in	in	ADP
american_scientific_journal-4437	33	19	this	this	DET
american_scientific_journal-4437	33	20	paper	paper	NOUN
american_scientific_journal-4437	33	21	we	we	PRON
american_scientific_journal-4437	33	22	will	will	AUX
american_scientific_journal-4437	33	23	use	use	VERB
american_scientific_journal-4437	33	24	this	this	DET
american_scientific_journal-4437	33	25	filter	filter	NOUN
american_scientific_journal-4437	33	26	to	to	PART
american_scientific_journal-4437	33	27	find	find	VERB
american_scientific_journal-4437	33	28	an	an	DET
american_scientific_journal-4437	33	29	intermediate	intermediate	ADJ
american_scientific_journal-4437	33	30	path	path	NOUN
american_scientific_journal-4437	33	31	for	for	ADP
american_scientific_journal-4437	33	32	the	the	DET
american_scientific_journal-4437	33	33	robot	robot	NOUN
american_scientific_journal-4437	33	34	between	between	ADP
american_scientific_journal-4437	33	35	spacing	space	VERB
american_scientific_journal-4437	33	36	values	value	NOUN
american_scientific_journal-4437	33	37	[	[	X
american_scientific_journal-4437	33	38	18	18	NUM
american_scientific_journal-4437	33	39	]	]	PUNCT
american_scientific_journal-4437	33	40	.	.	PUNCT
american_scientific_journal-4437	34	1	kalman	kalman	PROPN
american_scientific_journal-4437	34	2	filter	filter	PROPN
american_scientific_journal-4437	34	3	can	can	AUX
american_scientific_journal-4437	34	4	be	be	AUX
american_scientific_journal-4437	34	5	described	describe	VERB
american_scientific_journal-4437	34	6	by	by	ADP
american_scientific_journal-4437	34	7	the	the	DET
american_scientific_journal-4437	34	8	following	follow	VERB
american_scientific_journal-4437	34	9	two	two	NUM
american_scientific_journal-4437	34	10	equations	equation	NOUN
american_scientific_journal-4437	34	11	:	:	PUNCT
american_scientific_journal-4437	34	12	state	state	NOUN
american_scientific_journal-4437	34	13	equation	equation	NOUN
american_scientific_journal-4437	34	14	:	:	PUNCT
american_scientific_journal-4437	34	15	american	american	PROPN
american_scientific_journal-4437	34	16	scientific	scientific	ADJ
american_scientific_journal-4437	34	17	research	research	PROPN
american_scientific_journal-4437	34	18	journal	journal	NOUN
american_scientific_journal-4437	34	19	for	for	ADP
american_scientific_journal-4437	34	20	engineering	engineering	NOUN
american_scientific_journal-4437	34	21	,	,	PUNCT
american_scientific_journal-4437	34	22	technology	technology	NOUN
american_scientific_journal-4437	34	23	,	,	PUNCT
american_scientific_journal-4437	34	24	and	and	CCONJ
american_scientific_journal-4437	34	25	sciences	science	NOUN
american_scientific_journal-4437	34	26	(	(	PUNCT
american_scientific_journal-4437	34	27	asrjets	asrjet	NOUN
american_scientific_journal-4437	34	28	)	)	PUNCT
american_scientific_journal-4437	34	29	(	(	PUNCT
american_scientific_journal-4437	34	30	2018	2018	NUM
american_scientific_journal-4437	34	31	)	)	PUNCT
american_scientific_journal-4437	34	32	volume	volume	NOUN
american_scientific_journal-4437	34	33	47	47	NUM
american_scientific_journal-4437	34	34	,	,	PUNCT
american_scientific_journal-4437	34	35	no	no	DET
american_scientific_journal-4437	34	36	1	1	NUM
american_scientific_journal-4437	34	37	,	,	PUNCT
american_scientific_journal-4437	34	38	pp	pp	ADV
american_scientific_journal-4437	34	39	134	134	NUM
american_scientific_journal-4437	34	40	-	-	SYM
american_scientific_journal-4437	34	41	144	144	NUM
american_scientific_journal-4437	34	42	136	136	NUM
american_scientific_journal-4437	34	43	𝑥𝑥𝑘𝑘+1	𝑥𝑥𝑘𝑘+1	NOUN
american_scientific_journal-4437	34	44	=	=	PUNCT
american_scientific_journal-4437	34	45	𝐴𝐴𝑥𝑥𝑘𝑘	𝐴𝐴𝑥𝑥𝑘𝑘	PROPN
american_scientific_journal-4437	34	46	+	+	PROPN
american_scientific_journal-4437	34	47	𝐵𝐵𝑢𝑢𝑘𝑘	𝐵𝐵𝑢𝑢𝑘𝑘	PROPN
american_scientific_journal-4437	34	48	+	+	NUM
american_scientific_journal-4437	34	49	𝑤𝑤𝑘𝑘	𝑤𝑤𝑘𝑘	NOUN
american_scientific_journal-4437	34	50	……	……	NOUN
american_scientific_journal-4437	34	51	.	.	PUNCT
american_scientific_journal-4437	35	1	…	…	PUNCT
american_scientific_journal-4437	35	2	.	.	PUNCT
american_scientific_journal-4437	36	1	(	(	PUNCT
american_scientific_journal-4437	36	2	2	2	X
american_scientific_journal-4437	36	3	)	)	PUNCT
american_scientific_journal-4437	36	4	output	output	NOUN
american_scientific_journal-4437	36	5	equation	equation	NOUN
american_scientific_journal-4437	36	6	:	:	PUNCT
american_scientific_journal-4437	36	7	𝑦𝑦𝑘𝑘	𝑦𝑦𝑘𝑘	NOUN
american_scientific_journal-4437	36	8	=	=	PUNCT
american_scientific_journal-4437	37	1	𝐶𝐶𝑥𝑥𝑘𝑘	𝐶𝐶𝑥𝑥𝑘𝑘	PROPN
american_scientific_journal-4437	37	2	+	+	NUM
american_scientific_journal-4437	37	3	𝑧𝑧𝑘𝑘	𝑧𝑧𝑘𝑘	PROPN
american_scientific_journal-4437	37	4	……	……	NOUN
american_scientific_journal-4437	37	5	……	……	NOUN
american_scientific_journal-4437	37	6	……	……	NOUN
american_scientific_journal-4437	37	7	……	……	NOUN
american_scientific_journal-4437	37	8	...	...	PUNCT
american_scientific_journal-4437	37	9	(	(	PUNCT
american_scientific_journal-4437	37	10	3	3	X
american_scientific_journal-4437	37	11	)	)	PUNCT
american_scientific_journal-4437	37	12	in	in	ADP
american_scientific_journal-4437	37	13	the	the	DET
american_scientific_journal-4437	37	14	above	above	ADJ
american_scientific_journal-4437	37	15	equations	equation	NOUN
american_scientific_journal-4437	37	16	a	a	DET
american_scientific_journal-4437	37	17	,	,	PUNCT
american_scientific_journal-4437	37	18	b	b	NOUN
american_scientific_journal-4437	37	19	,	,	PUNCT
american_scientific_journal-4437	37	20	and	and	CCONJ
american_scientific_journal-4437	37	21	c	c	PROPN
american_scientific_journal-4437	37	22	are	be	AUX
american_scientific_journal-4437	37	23	matrices	matrix	NOUN
american_scientific_journal-4437	37	24	;	;	PUNCT
american_scientific_journal-4437	37	25	k	k	X
american_scientific_journal-4437	37	26	is	be	AUX
american_scientific_journal-4437	37	27	the	the	DET
american_scientific_journal-4437	37	28	time	time	NOUN
american_scientific_journal-4437	37	29	index	index	NOUN
american_scientific_journal-4437	37	30	;	;	PUNCT
american_scientific_journal-4437	37	31	x	x	PRON
american_scientific_journal-4437	37	32	iscalled	iscalle	VERB
american_scientific_journal-4437	37	33	the	the	DET
american_scientific_journal-4437	37	34	state	state	NOUN
american_scientific_journal-4437	37	35	of	of	ADP
american_scientific_journal-4437	37	36	the	the	DET
american_scientific_journal-4437	37	37	system	system	NOUN
american_scientific_journal-4437	37	38	;	;	PUNCT
american_scientific_journal-4437	37	39	u	u	NOUN
american_scientific_journal-4437	37	40	is	be	AUX
american_scientific_journal-4437	37	41	aknown	aknown	ADJ
american_scientific_journal-4437	37	42	input	input	NOUN
american_scientific_journal-4437	37	43	to	to	ADP
american_scientific_journal-4437	37	44	the	the	DET
american_scientific_journal-4437	37	45	system	system	NOUN
american_scientific_journal-4437	37	46	;	;	PUNCT
american_scientific_journal-4437	37	47	y	y	PROPN
american_scientific_journal-4437	37	48	is	be	AUX
american_scientific_journal-4437	37	49	themeasured	themeasure	VERB
american_scientific_journal-4437	37	50	output	output	NOUN
american_scientific_journal-4437	37	51	;	;	PUNCT
american_scientific_journal-4437	37	52	and	and	CCONJ
american_scientific_journal-4437	37	53	w	w	NOUN
american_scientific_journal-4437	37	54	and	and	CCONJ
american_scientific_journal-4437	37	55	z	z	PROPN
american_scientific_journal-4437	37	56	are	be	AUX
american_scientific_journal-4437	37	57	thenoise	thenoise	ADJ
american_scientific_journal-4437	37	58	.	.	PUNCT
american_scientific_journal-4437	38	1	the	the	DET
american_scientific_journal-4437	38	2	variable	variable	ADJ
american_scientific_journal-4437	38	3	w	w	PROPN
american_scientific_journal-4437	38	4	is	be	AUX
american_scientific_journal-4437	38	5	called	call	VERB
american_scientific_journal-4437	38	6	theprocess	theprocess	NOUN
american_scientific_journal-4437	38	7	noise	noise	NOUN
american_scientific_journal-4437	38	8	,	,	PUNCT
american_scientific_journal-4437	38	9	and	and	CCONJ
american_scientific_journal-4437	38	10	z	z	NOUN
american_scientific_journal-4437	38	11	is	be	AUX
american_scientific_journal-4437	38	12	called	call	VERB
american_scientific_journal-4437	38	13	the	the	DET
american_scientific_journal-4437	38	14	measurementnoise	measurementnoise	NOUN
american_scientific_journal-4437	38	15	.	.	PUNCT
american_scientific_journal-4437	39	1	each	each	PRON
american_scientific_journal-4437	39	2	of	of	ADP
american_scientific_journal-4437	39	3	these	these	DET
american_scientific_journal-4437	39	4	quantitiesis	quantitiesis	NOUN
american_scientific_journal-4437	39	5	(	(	PUNCT
american_scientific_journal-4437	39	6	in	in	ADP
american_scientific_journal-4437	39	7	general	general	ADJ
american_scientific_journal-4437	39	8	)	)	PUNCT
american_scientific_journal-4437	39	9	vectors	vector	NOUN
american_scientific_journal-4437	39	10	and	and	CCONJ
american_scientific_journal-4437	39	11	thereforecontains	thereforecontain	NOUN
american_scientific_journal-4437	39	12	more	more	ADJ
american_scientific_journal-4437	39	13	than	than	ADP
american_scientific_journal-4437	39	14	one	one	NUM
american_scientific_journal-4437	39	15	element	element	NOUN
american_scientific_journal-4437	39	16	.	.	PUNCT
american_scientific_journal-4437	40	1	the	the	DET
american_scientific_journal-4437	40	2	vector	vector	NOUN
american_scientific_journal-4437	40	3	x	x	PUNCT
american_scientific_journal-4437	40	4	contains	contain	VERB
american_scientific_journal-4437	40	5	all	all	PRON
american_scientific_journal-4437	40	6	of	of	ADP
american_scientific_journal-4437	40	7	the	the	DET
american_scientific_journal-4437	40	8	information	information	NOUN
american_scientific_journal-4437	40	9	about	about	ADP
american_scientific_journal-4437	40	10	the	the	DET
american_scientific_journal-4437	40	11	present	present	ADJ
american_scientific_journal-4437	40	12	state	state	NOUN
american_scientific_journal-4437	40	13	of	of	ADP
american_scientific_journal-4437	40	14	the	the	DET
american_scientific_journal-4437	40	15	system	system	NOUN
american_scientific_journal-4437	40	16	,	,	PUNCT
american_scientific_journal-4437	40	17	so	so	CCONJ
american_scientific_journal-4437	40	18	if	if	SCONJ
american_scientific_journal-4437	40	19	we	we	PRON
american_scientific_journal-4437	40	20	will	will	AUX
american_scientific_journal-4437	40	21	measure	measure	VERB
american_scientific_journal-4437	40	22	the	the	DET
american_scientific_journal-4437	40	23	position	position	NOUN
american_scientific_journal-4437	40	24	every	every	DET
american_scientific_journal-4437	40	25	t	t	NOUN
american_scientific_journal-4437	40	26	seconds	second	NOUN
american_scientific_journal-4437	40	27	,	,	PUNCT
american_scientific_journal-4437	40	28	the	the	DET
american_scientific_journal-4437	40	29	a	a	NOUN
american_scientific_journal-4437	40	30	,	,	PUNCT
american_scientific_journal-4437	40	31	b	b	NOUN
american_scientific_journal-4437	40	32	and	and	CCONJ
american_scientific_journal-4437	40	33	c	c	NOUN
american_scientific_journal-4437	40	34	matrices	matrix	NOUN
american_scientific_journal-4437	40	35	will	will	AUX
american_scientific_journal-4437	40	36	be	be	AUX
american_scientific_journal-4437	40	37	.	.	PUNCT
american_scientific_journal-4437	41	1	where	where	SCONJ
american_scientific_journal-4437	41	2	𝐴𝐴	𝐴𝐴	PROPN
american_scientific_journal-4437	41	3	=	=	NOUN
american_scientific_journal-4437	41	4	│	│	ADJ
american_scientific_journal-4437	41	5	1	1	NUM
american_scientific_journal-4437	41	6	𝑇𝑇	𝑇𝑇	PROPN
american_scientific_journal-4437	41	7	0	0	NUM
american_scientific_journal-4437	41	8	1	1	NUM
american_scientific_journal-4437	41	9	│	│	NUM
american_scientific_journal-4437	41	10	𝐵𝐵	𝐵𝐵	PROPN
american_scientific_journal-4437	41	11	=	=	PUNCT
american_scientific_journal-4437	41	12	│	│	PUNCT
american_scientific_journal-4437	41	13	𝑇𝑇	𝑇𝑇	PROPN
american_scientific_journal-4437	41	14	2/2	2/2	NUM
american_scientific_journal-4437	41	15	𝑇𝑇	𝑇𝑇	PROPN
american_scientific_journal-4437	41	16	│	│	ADJ
american_scientific_journal-4437	41	17	𝐶𝐶	𝐶𝐶	NOUN
american_scientific_journal-4437	41	18	=	=	PUNCT
american_scientific_journal-4437	42	1	[	[	X
american_scientific_journal-4437	42	2	1	1	NUM
american_scientific_journal-4437	42	3	0	0	NUM
american_scientific_journal-4437	42	4	]	]	PUNCT
american_scientific_journal-4437	42	5	𝑤𝑤𝑘𝑘	𝑤𝑤𝑘𝑘	NOUN
american_scientific_journal-4437	42	6	=	=	SYM
american_scientific_journal-4437	42	7	15.3𝑧𝑧𝑘𝑘	15.3𝑧𝑧𝑘𝑘	PROPN
american_scientific_journal-4437	42	8	=	=	NUM
american_scientific_journal-4437	42	9	0.4	0.4	NUM
american_scientific_journal-4437	42	10	3	3	NUM
american_scientific_journal-4437	42	11	.	.	PUNCT
american_scientific_journal-4437	42	12	method	method	NOUN
american_scientific_journal-4437	42	13	and	and	CCONJ
american_scientific_journal-4437	42	14	tools	tool	NOUN
american_scientific_journal-4437	42	15	the	the	DET
american_scientific_journal-4437	42	16	range	range	NOUN
american_scientific_journal-4437	42	17	between	between	ADP
american_scientific_journal-4437	42	18	the	the	DET
american_scientific_journal-4437	42	19	wi	wi	PROPN
american_scientific_journal-4437	42	20	-	-	PUNCT
american_scientific_journal-4437	42	21	fi	fi	NOUN
american_scientific_journal-4437	42	22	source	source	NOUN
american_scientific_journal-4437	42	23	and	and	CCONJ
american_scientific_journal-4437	42	24	the	the	DET
american_scientific_journal-4437	42	25	receiver	receiver	NOUN
american_scientific_journal-4437	42	26	after	after	SCONJ
american_scientific_journal-4437	42	27	filtering	filtering	NOUN
american_scientific_journal-4437	42	28	is	be	AUX
american_scientific_journal-4437	42	29	used	use	VERB
american_scientific_journal-4437	42	30	with	with	ADP
american_scientific_journal-4437	42	31	combination	combination	NOUN
american_scientific_journal-4437	42	32	of	of	ADP
american_scientific_journal-4437	42	33	inertial	inertial	ADJ
american_scientific_journal-4437	42	34	measurement	measurement	NOUN
american_scientific_journal-4437	42	35	unit	unit	NOUN
american_scientific_journal-4437	42	36	(	(	PUNCT
american_scientific_journal-4437	42	37	imu	imu	NOUN
american_scientific_journal-4437	42	38	)	)	PUNCT
american_scientific_journal-4437	42	39	to	to	PART
american_scientific_journal-4437	42	40	accurately	accurately	ADV
american_scientific_journal-4437	42	41	determine	determine	VERB
american_scientific_journal-4437	42	42	the	the	DET
american_scientific_journal-4437	42	43	mobile	mobile	ADJ
american_scientific_journal-4437	42	44	robot	robot	NOUN
american_scientific_journal-4437	42	45	position	position	NOUN
american_scientific_journal-4437	42	46	.	.	PUNCT
american_scientific_journal-4437	43	1	real	real	ADJ
american_scientific_journal-4437	43	2	experimental	experimental	ADJ
american_scientific_journal-4437	43	3	environment	environment	NOUN
american_scientific_journal-4437	43	4	is	be	AUX
american_scientific_journal-4437	43	5	used	use	VERB
american_scientific_journal-4437	43	6	for	for	ADP
american_scientific_journal-4437	43	7	evaluation	evaluation	NOUN
american_scientific_journal-4437	43	8	,	,	PUNCT
american_scientific_journal-4437	43	9	which	which	PRON
american_scientific_journal-4437	43	10	consisting	consist	VERB
american_scientific_journal-4437	43	11	a	a	DET
american_scientific_journal-4437	43	12	prototype	prototype	NOUN
american_scientific_journal-4437	43	13	of	of	ADP
american_scientific_journal-4437	43	14	two	two	NUM
american_scientific_journal-4437	43	15	wheel	wheel	NOUN
american_scientific_journal-4437	43	16	drive	drive	NOUN
american_scientific_journal-4437	43	17	mobile	mobile	NOUN
american_scientific_journal-4437	43	18	robot	robot	NOUN
american_scientific_journal-4437	43	19	(	(	PUNCT
american_scientific_journal-4437	43	20	wmr	wmr	PROPN
american_scientific_journal-4437	43	21	)	)	PUNCT
american_scientific_journal-4437	43	22	with	with	ADP
american_scientific_journal-4437	43	23	(	(	PUNCT
american_scientific_journal-4437	43	24	ap	ap	PROPN
american_scientific_journal-4437	43	25	)	)	PUNCT
american_scientific_journal-4437	43	26	.	.	PUNCT
american_scientific_journal-4437	44	1	the	the	DET
american_scientific_journal-4437	44	2	prototype	prototype	NOUN
american_scientific_journal-4437	44	3	wmr	wmr	PROPN
american_scientific_journal-4437	44	4	plus	plus	CCONJ
american_scientific_journal-4437	44	5	wi	wi	PROPN
american_scientific_journal-4437	44	6	-	-	PUNCT
american_scientific_journal-4437	44	7	fi	fi	NOUN
american_scientific_journal-4437	44	8	receiver	receiver	NOUN
american_scientific_journal-4437	44	9	and	and	CCONJ
american_scientific_journal-4437	44	10	imu	imu	NOUN
american_scientific_journal-4437	44	11	was	be	AUX
american_scientific_journal-4437	44	12	built	build	VERB
american_scientific_journal-4437	44	13	from	from	ADP
american_scientific_journal-4437	44	14	scratch	scratch	NOUN
american_scientific_journal-4437	44	15	as	as	SCONJ
american_scientific_journal-4437	44	16	shown	show	VERB
american_scientific_journal-4437	44	17	in	in	ADP
american_scientific_journal-4437	44	18	figure	figure	NOUN
american_scientific_journal-4437	44	19	(	(	PUNCT
american_scientific_journal-4437	44	20	1	1	NUM
american_scientific_journal-4437	44	21	)	)	PUNCT
american_scientific_journal-4437	44	22	.	.	PUNCT
american_scientific_journal-4437	45	1	figure1	figure1	PROPN
american_scientific_journal-4437	45	2	:	:	PUNCT
american_scientific_journal-4437	46	1	wmr	wmr	PROPN
american_scientific_journal-4437	46	2	american	american	PROPN
american_scientific_journal-4437	46	3	scientific	scientific	PROPN
american_scientific_journal-4437	46	4	research	research	PROPN
american_scientific_journal-4437	46	5	journal	journal	NOUN
american_scientific_journal-4437	46	6	for	for	ADP
american_scientific_journal-4437	46	7	engineering	engineering	NOUN
american_scientific_journal-4437	46	8	,	,	PUNCT
american_scientific_journal-4437	46	9	technology	technology	NOUN
american_scientific_journal-4437	46	10	,	,	PUNCT
american_scientific_journal-4437	46	11	and	and	CCONJ
american_scientific_journal-4437	46	12	sciences	science	NOUN
american_scientific_journal-4437	46	13	(	(	PUNCT
american_scientific_journal-4437	46	14	asrjets	asrjet	NOUN
american_scientific_journal-4437	46	15	)	)	PUNCT
american_scientific_journal-4437	46	16	(	(	PUNCT
american_scientific_journal-4437	46	17	2018	2018	NUM
american_scientific_journal-4437	46	18	)	)	PUNCT
american_scientific_journal-4437	46	19	volume	volume	NOUN
american_scientific_journal-4437	46	20	47	47	NUM
american_scientific_journal-4437	46	21	,	,	PUNCT
american_scientific_journal-4437	46	22	no	no	DET
american_scientific_journal-4437	46	23	1	1	NUM
american_scientific_journal-4437	46	24	,	,	PUNCT
american_scientific_journal-4437	46	25	pp	pp	ADV
american_scientific_journal-4437	46	26	135	135	NUM
american_scientific_journal-4437	46	27	-	-	SYM
american_scientific_journal-4437	46	28	00	00	NUM
american_scientific_journal-4437	46	29	135	135	NUM
american_scientific_journal-4437	46	30	where	where	SCONJ
american_scientific_journal-4437	46	31	we	we	PRON
american_scientific_journal-4437	46	32	use	use	VERB
american_scientific_journal-4437	46	33	wi	wi	PROPN
american_scientific_journal-4437	46	34	-	-	PUNCT
american_scientific_journal-4437	46	35	fi	fi	NOUN
american_scientific_journal-4437	46	36	shield	shield	NOUN
american_scientific_journal-4437	46	37	as	as	ADP
american_scientific_journal-4437	46	38	a	a	DET
american_scientific_journal-4437	46	39	wi	wi	PROPN
american_scientific_journal-4437	46	40	-	-	PUNCT
american_scientific_journal-4437	46	41	fi	fi	NOUN
american_scientific_journal-4437	46	42	receiver	receiver	NOUN
american_scientific_journal-4437	46	43	,	,	PUNCT
american_scientific_journal-4437	46	44	mbu	mbu	PROPN
american_scientific_journal-4437	46	45	6050	6050	NUM
american_scientific_journal-4437	46	46	as	as	SCONJ
american_scientific_journal-4437	46	47	imu	imu	VERB
american_scientific_journal-4437	46	48	to	to	PART
american_scientific_journal-4437	46	49	compute	compute	VERB
american_scientific_journal-4437	46	50	orientation	orientation	NOUN
american_scientific_journal-4437	46	51	of	of	ADP
american_scientific_journal-4437	46	52	the	the	DET
american_scientific_journal-4437	46	53	robot	robot	NOUN
american_scientific_journal-4437	46	54	where	where	SCONJ
american_scientific_journal-4437	46	55	it	it	PRON
american_scientific_journal-4437	46	56	gives	give	VERB
american_scientific_journal-4437	46	57	us	we	PRON
american_scientific_journal-4437	46	58	three	three	NUM
american_scientific_journal-4437	46	59	values	value	NOUN
american_scientific_journal-4437	46	60	(	(	PUNCT
american_scientific_journal-4437	46	61	yaw	yaw	NOUN
american_scientific_journal-4437	46	62	,	,	PUNCT
american_scientific_journal-4437	46	63	pitch	pitch	NOUN
american_scientific_journal-4437	46	64	and	and	CCONJ
american_scientific_journal-4437	46	65	roll	roll	NOUN
american_scientific_journal-4437	46	66	)	)	PUNCT
american_scientific_journal-4437	46	67	here	here	ADV
american_scientific_journal-4437	46	68	we	we	PRON
american_scientific_journal-4437	46	69	just	just	ADV
american_scientific_journal-4437	46	70	benefit	benefit	VERB
american_scientific_journal-4437	46	71	from	from	ADP
american_scientific_journal-4437	46	72	yaw	yaw	NOUN
american_scientific_journal-4437	46	73	since	since	SCONJ
american_scientific_journal-4437	46	74	it	it	PRON
american_scientific_journal-4437	46	75	deal	deal	VERB
american_scientific_journal-4437	46	76	with	with	ADP
american_scientific_journal-4437	46	77	horizontal	horizontal	ADJ
american_scientific_journal-4437	46	78	movement	movement	NOUN
american_scientific_journal-4437	46	79	,	,	PUNCT
american_scientific_journal-4437	46	80	l298n	l298n	PROPN
american_scientific_journal-4437	46	81	motor	motor	NOUN
american_scientific_journal-4437	46	82	driver	driver	NOUN
american_scientific_journal-4437	46	83	with	with	ADP
american_scientific_journal-4437	46	84	two	two	NUM
american_scientific_journal-4437	46	85	motors	motor	NOUN
american_scientific_journal-4437	46	86	to	to	PART
american_scientific_journal-4437	46	87	control	control	VERB
american_scientific_journal-4437	46	88	robot	robot	NOUN
american_scientific_journal-4437	46	89	motion	motion	NOUN
american_scientific_journal-4437	46	90	[	[	X
american_scientific_journal-4437	46	91	16	16	NUM
american_scientific_journal-4437	46	92	]	]	PUNCT
american_scientific_journal-4437	46	93	,	,	PUNCT
american_scientific_journal-4437	46	94	arduino	arduino	PROPN
american_scientific_journal-4437	46	95	uno	uno	PROPN
american_scientific_journal-4437	46	96	and	and	CCONJ
american_scientific_journal-4437	46	97	one	one	NUM
american_scientific_journal-4437	46	98	ap	ap	PROPN
american_scientific_journal-4437	46	99	.	.	PUNCT
american_scientific_journal-4437	47	1	since	since	SCONJ
american_scientific_journal-4437	47	2	the	the	DET
american_scientific_journal-4437	47	3	equation	equation	NOUN
american_scientific_journal-4437	47	4	(	(	PUNCT
american_scientific_journal-4437	47	5	1	1	X
american_scientific_journal-4437	47	6	)	)	PUNCT
american_scientific_journal-4437	47	7	will	will	AUX
american_scientific_journal-4437	47	8	give	give	VERB
american_scientific_journal-4437	47	9	us	we	PRON
american_scientific_journal-4437	47	10	the	the	DET
american_scientific_journal-4437	47	11	distance	distance	NOUN
american_scientific_journal-4437	47	12	without	without	ADP
american_scientific_journal-4437	47	13	directions	direction	NOUN
american_scientific_journal-4437	47	14	in	in	ADP
american_scientific_journal-4437	47	15	term	term	NOUN
american_scientific_journal-4437	47	16	of(x	of(x	ADP
american_scientific_journal-4437	47	17	,	,	PUNCT
american_scientific_journal-4437	47	18	y	y	PROPN
american_scientific_journal-4437	47	19	)	)	PUNCT
american_scientific_journal-4437	47	20	,	,	PUNCT
american_scientific_journal-4437	47	21	we	we	PRON
american_scientific_journal-4437	47	22	can	can	AUX
american_scientific_journal-4437	47	23	benefit	benefit	VERB
american_scientific_journal-4437	47	24	from	from	ADP
american_scientific_journal-4437	47	25	yaw	yaw	NOUN
american_scientific_journal-4437	47	26	value	value	NOUN
american_scientific_journal-4437	47	27	obtained	obtain	VERB
american_scientific_journal-4437	47	28	from	from	ADP
american_scientific_journal-4437	47	29	imu	imu	NOUN
american_scientific_journal-4437	47	30	which	which	PRON
american_scientific_journal-4437	47	31	can	can	AUX
american_scientific_journal-4437	47	32	give	give	VERB
american_scientific_journal-4437	47	33	us	we	PRON
american_scientific_journal-4437	47	34	the	the	DET
american_scientific_journal-4437	47	35	robot	robot	NOUN
american_scientific_journal-4437	47	36	orientation	orientation	NOUN
american_scientific_journal-4437	47	37	.	.	PUNCT
american_scientific_journal-4437	48	1	to	to	PART
american_scientific_journal-4437	48	2	make	make	VERB
american_scientific_journal-4437	48	3	sure	sure	ADJ
american_scientific_journal-4437	48	4	of	of	ADP
american_scientific_journal-4437	48	5	our	our	PRON
american_scientific_journal-4437	48	6	calculations	calculation	NOUN
american_scientific_journal-4437	48	7	,	,	PUNCT
american_scientific_journal-4437	48	8	we	we	PRON
american_scientific_journal-4437	48	9	can	can	AUX
american_scientific_journal-4437	48	10	useal	useal	ADJ
american_scientific_journal-4437	48	11	-	-	PUNCT
american_scientific_journal-4437	48	12	kashi	kashi	NOUN
american_scientific_journal-4437	48	13	equation	equation	NOUN
american_scientific_journal-4437	48	14	as	as	SCONJ
american_scientific_journal-4437	48	15	shown	show	VERB
american_scientific_journal-4437	48	16	in	in	ADP
american_scientific_journal-4437	48	17	equation	equation	NOUN
american_scientific_journal-4437	48	18	(	(	PUNCT
american_scientific_journal-4437	48	19	4	4	NUM
american_scientific_journal-4437	48	20	)	)	PUNCT
american_scientific_journal-4437	48	21	for	for	ADP
american_scientific_journal-4437	48	22	corrections	correction	NOUN
american_scientific_journal-4437	48	23	[	[	X
american_scientific_journal-4437	48	24	17	17	NUM
american_scientific_journal-4437	48	25	]	]	PUNCT
american_scientific_journal-4437	48	26	.	.	PUNCT
american_scientific_journal-4437	49	1	𝑐𝑐2	𝑐𝑐2	PROPN
american_scientific_journal-4437	50	1	=	=	PUNCT
american_scientific_journal-4437	50	2	𝑎𝑎2	𝑎𝑎2	X
american_scientific_journal-4437	50	3	+	+	CCONJ
american_scientific_journal-4437	50	4	𝑏𝑏2	𝑏𝑏2	PROPN
american_scientific_journal-4437	50	5	−	−	PROPN
american_scientific_journal-4437	50	6	2𝑎𝑎𝑏𝑏	2𝑎𝑎𝑏𝑏	NUM
american_scientific_journal-4437	50	7	cos	cos	PROPN
american_scientific_journal-4437	50	8	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-4437	50	9	…	…	X
american_scientific_journal-4437	50	10	……	……	NOUN
american_scientific_journal-4437	50	11	……	……	NOUN
american_scientific_journal-4437	50	12	……	……	NOUN
american_scientific_journal-4437	50	13	..	..	PUNCT
american_scientific_journal-4437	50	14	(	(	PUNCT
american_scientific_journal-4437	50	15	4	4	X
american_scientific_journal-4437	50	16	)	)	PUNCT
american_scientific_journal-4437	50	17	where	where	SCONJ
american_scientific_journal-4437	50	18	x	x	PRON
american_scientific_journal-4437	50	19	is	be	AUX
american_scientific_journal-4437	50	20	the	the	DET
american_scientific_journal-4437	50	21	yaw	yaw	NOUN
american_scientific_journal-4437	50	22	value	value	NOUN
american_scientific_journal-4437	50	23	,	,	PUNCT
american_scientific_journal-4437	50	24	y	y	PROPN
american_scientific_journal-4437	50	25	is	be	AUX
american_scientific_journal-4437	50	26	the	the	DET
american_scientific_journal-4437	50	27	complementary	complementary	ADJ
american_scientific_journal-4437	50	28	of	of	ADP
american_scientific_journal-4437	50	29	yaw	yaw	NOUN
american_scientific_journal-4437	50	30	value	value	NOUN
american_scientific_journal-4437	50	31	(	(	PUNCT
american_scientific_journal-4437	50	32	180	180	NUM
american_scientific_journal-4437	50	33	x	x	NOUN
american_scientific_journal-4437	50	34	)	)	PUNCT
american_scientific_journal-4437	50	35	,	,	PUNCT
american_scientific_journal-4437	50	36	a	a	PRON
american_scientific_journal-4437	50	37	is	be	AUX
american_scientific_journal-4437	50	38	the	the	DET
american_scientific_journal-4437	50	39	distance	distance	NOUN
american_scientific_journal-4437	50	40	between	between	ADP
american_scientific_journal-4437	50	41	start	start	NOUN
american_scientific_journal-4437	50	42	point	point	NOUN
american_scientific_journal-4437	50	43	and	and	CCONJ
american_scientific_journal-4437	50	44	ap	ap	PROPN
american_scientific_journal-4437	50	45	,	,	PUNCT
american_scientific_journal-4437	50	46	bis	bi	VERB
american_scientific_journal-4437	50	47	the	the	DET
american_scientific_journal-4437	50	48	distance	distance	NOUN
american_scientific_journal-4437	50	49	between	between	ADP
american_scientific_journal-4437	50	50	start	start	NOUN
american_scientific_journal-4437	50	51	point	point	NOUN
american_scientific_journal-4437	50	52	and	and	CCONJ
american_scientific_journal-4437	50	53	robot	robot	NOUN
american_scientific_journal-4437	50	54	,	,	PUNCT
american_scientific_journal-4437	50	55	c	c	PROPN
american_scientific_journal-4437	50	56	is	be	AUX
american_scientific_journal-4437	50	57	the	the	DET
american_scientific_journal-4437	50	58	distance	distance	NOUN
american_scientific_journal-4437	50	59	between	between	ADP
american_scientific_journal-4437	50	60	the	the	DET
american_scientific_journal-4437	50	61	robot	robot	NOUN
american_scientific_journal-4437	50	62	and	and	CCONJ
american_scientific_journal-4437	50	63	ap	ap	PROPN
american_scientific_journal-4437	50	64	,	,	PUNCT
american_scientific_journal-4437	50	65	as	as	SCONJ
american_scientific_journal-4437	50	66	shown	show	VERB
american_scientific_journal-4437	50	67	in	in	ADP
american_scientific_journal-4437	50	68	fig	fig	NOUN
american_scientific_journal-4437	50	69	(	(	PUNCT
american_scientific_journal-4437	50	70	2	2	NUM
american_scientific_journal-4437	50	71	)	)	PUNCT
american_scientific_journal-4437	50	72	.	.	PUNCT
american_scientific_journal-4437	51	1	figure	figure	VERB
american_scientific_journal-4437	51	2	2	2	NUM
american_scientific_journal-4437	51	3	:	:	PUNCT
american_scientific_journal-4437	51	4	virtual	virtual	ADJ
american_scientific_journal-4437	51	5	triangle	triangle	NOUN
american_scientific_journal-4437	51	6	butting	butt	VERB
american_scientific_journal-4437	51	7	all	all	DET
american_scientific_journal-4437	51	8	values	value	NOUN
american_scientific_journal-4437	51	9	in	in	ADP
american_scientific_journal-4437	51	10	the	the	DET
american_scientific_journal-4437	51	11	equation	equation	NOUN
american_scientific_journal-4437	51	12	(	(	PUNCT
american_scientific_journal-4437	51	13	4	4	X
american_scientific_journal-4437	51	14	)	)	PUNCT
american_scientific_journal-4437	51	15	produce	produce	VERB
american_scientific_journal-4437	51	16	a	a	DET
american_scientific_journal-4437	51	17	second	second	ADJ
american_scientific_journal-4437	51	18	order	order	NOUN
american_scientific_journal-4437	51	19	equation	equation	NOUN
american_scientific_journal-4437	51	20	with	with	ADP
american_scientific_journal-4437	51	21	one	one	NUM
american_scientific_journal-4437	51	22	unknown	unknown	ADJ
american_scientific_journal-4437	51	23	value	value	NOUN
american_scientific_journal-4437	51	24	(	(	PUNCT
american_scientific_journal-4437	51	25	b	b	NOUN
american_scientific_journal-4437	51	26	)	)	PUNCT
american_scientific_journal-4437	51	27	,	,	PUNCT
american_scientific_journal-4437	51	28	then	then	ADV
american_scientific_journal-4437	51	29	the	the	DET
american_scientific_journal-4437	51	30	equation	equation	NOUN
american_scientific_journal-4437	51	31	will	will	AUX
american_scientific_journal-4437	51	32	become	become	VERB
american_scientific_journal-4437	51	33	.	.	PUNCT
american_scientific_journal-4437	52	1	𝑏𝑏2	𝑏𝑏2	PROPN
american_scientific_journal-4437	52	2	−	−	PROPN
american_scientific_journal-4437	53	1	(	(	PUNCT
american_scientific_journal-4437	53	2	2𝑎𝑎𝑐𝑐𝑎𝑎𝑎𝑎𝑦𝑦)𝑏𝑏	2𝑎𝑎𝑐𝑐𝑎𝑎𝑎𝑎𝑦𝑦)𝑏𝑏	NUM
american_scientific_journal-4437	53	3	+	+	CCONJ
american_scientific_journal-4437	53	4	(	(	PUNCT
american_scientific_journal-4437	53	5	𝑎𝑎2	𝑎𝑎2	X
american_scientific_journal-4437	53	6	−	−	NOUN
american_scientific_journal-4437	53	7	𝑐𝑐2	𝑐𝑐2	NOUN
american_scientific_journal-4437	53	8	)	)	PUNCT
american_scientific_journal-4437	53	9	=	=	SYM
american_scientific_journal-4437	53	10	0	0	NUM
american_scientific_journal-4437	53	11	…	…	PUNCT
american_scientific_journal-4437	53	12	…	…	PUNCT
american_scientific_journal-4437	53	13	……	……	NOUN
american_scientific_journal-4437	53	14	(	(	PUNCT
american_scientific_journal-4437	53	15	5	5	NUM
american_scientific_journal-4437	53	16	)	)	PUNCT
american_scientific_journal-4437	53	17	to	to	PART
american_scientific_journal-4437	53	18	solve	solve	VERB
american_scientific_journal-4437	53	19	this	this	DET
american_scientific_journal-4437	53	20	quadratic	quadratic	ADJ
american_scientific_journal-4437	53	21	equation	equation	NOUN
american_scientific_journal-4437	53	22	,	,	PUNCT
american_scientific_journal-4437	53	23	we	we	PRON
american_scientific_journal-4437	53	24	can	can	AUX
american_scientific_journal-4437	53	25	not	not	PART
american_scientific_journal-4437	53	26	use	use	VERB
american_scientific_journal-4437	53	27	the	the	DET
american_scientific_journal-4437	53	28	quadratic	quadratic	ADJ
american_scientific_journal-4437	53	29	formula	formula	NOUN
american_scientific_journal-4437	53	30	since	since	SCONJ
american_scientific_journal-4437	53	31	it	it	PRON
american_scientific_journal-4437	53	32	gives	give	VERB
american_scientific_journal-4437	53	33	an	an	DET
american_scientific_journal-4437	53	34	imaginary	imaginary	ADJ
american_scientific_journal-4437	53	35	results	result	NOUN
american_scientific_journal-4437	53	36	,	,	PUNCT
american_scientific_journal-4437	53	37	so	so	CCONJ
american_scientific_journal-4437	53	38	the	the	DET
american_scientific_journal-4437	53	39	best	good	ADJ
american_scientific_journal-4437	53	40	way	way	NOUN
american_scientific_journal-4437	53	41	to	to	PART
american_scientific_journal-4437	53	42	solve	solve	VERB
american_scientific_journal-4437	53	43	this	this	DET
american_scientific_journal-4437	53	44	problem	problem	NOUN
american_scientific_journal-4437	53	45	is	be	AUX
american_scientific_journal-4437	53	46	by	by	ADP
american_scientific_journal-4437	53	47	use	use	VERB
american_scientific_journal-4437	53	48	a	a	DET
american_scientific_journal-4437	53	49	simple	simple	ADJ
american_scientific_journal-4437	53	50	loop	loop	NOUN
american_scientific_journal-4437	53	51	program	program	NOUN
american_scientific_journal-4437	53	52	that	that	SCONJ
american_scientific_journal-4437	53	53	varying	vary	VERB
american_scientific_journal-4437	53	54	b	b	NOUN
american_scientific_journal-4437	53	55	value	value	NOUN
american_scientific_journal-4437	53	56	until	until	SCONJ
american_scientific_journal-4437	53	57	the	the	DET
american_scientific_journal-4437	53	58	equation	equation	NOUN
american_scientific_journal-4437	53	59	equal	equal	ADJ
american_scientific_journal-4437	53	60	to	to	ADP
american_scientific_journal-4437	53	61	zero	zero	NUM
american_scientific_journal-4437	53	62	,	,	PUNCT
american_scientific_journal-4437	53	63	as	as	SCONJ
american_scientific_journal-4437	53	64	follow	follow	VERB
american_scientific_journal-4437	53	65	in	in	ADP
american_scientific_journal-4437	53	66	figure	figure	NOUN
american_scientific_journal-4437	53	67	(	(	PUNCT
american_scientific_journal-4437	53	68	3	3	NUM
american_scientific_journal-4437	53	69	)	)	PUNCT
american_scientific_journal-4437	53	70	american	american	ADJ
american_scientific_journal-4437	53	71	scientific	scientific	ADJ
american_scientific_journal-4437	53	72	research	research	NOUN
american_scientific_journal-4437	53	73	journal	journal	NOUN
american_scientific_journal-4437	53	74	for	for	ADP
american_scientific_journal-4437	53	75	engineering	engineering	NOUN
american_scientific_journal-4437	53	76	,	,	PUNCT
american_scientific_journal-4437	53	77	technology	technology	NOUN
american_scientific_journal-4437	53	78	,	,	PUNCT
american_scientific_journal-4437	53	79	and	and	CCONJ
american_scientific_journal-4437	53	80	sciences	science	NOUN
american_scientific_journal-4437	53	81	(	(	PUNCT
american_scientific_journal-4437	53	82	asrjets	asrjet	NOUN
american_scientific_journal-4437	53	83	)	)	PUNCT
american_scientific_journal-4437	53	84	(	(	PUNCT
american_scientific_journal-4437	53	85	2018	2018	NUM
american_scientific_journal-4437	53	86	)	)	PUNCT
american_scientific_journal-4437	53	87	volume	volume	NOUN
american_scientific_journal-4437	53	88	47	47	NUM
american_scientific_journal-4437	53	89	,	,	PUNCT
american_scientific_journal-4437	53	90	no	no	DET
american_scientific_journal-4437	53	91	1	1	NUM
american_scientific_journal-4437	53	92	,	,	PUNCT
american_scientific_journal-4437	53	93	pp	pp	ADV
american_scientific_journal-4437	53	94	135	135	NUM
american_scientific_journal-4437	53	95	-	-	SYM
american_scientific_journal-4437	53	96	00	00	NUM
american_scientific_journal-4437	54	1	138	138	NUM
american_scientific_journal-4437	55	1	now	now	ADV
american_scientific_journal-4437	55	2	we	we	PRON
american_scientific_journal-4437	55	3	need	need	VERB
american_scientific_journal-4437	55	4	to	to	PART
american_scientific_journal-4437	55	5	generalize	generalize	VERB
american_scientific_journal-4437	55	6	this	this	DET
american_scientific_journal-4437	55	7	formula	formula	NOUN
american_scientific_journal-4437	55	8	to	to	PART
american_scientific_journal-4437	55	9	include	include	VERB
american_scientific_journal-4437	55	10	the	the	DET
american_scientific_journal-4437	55	11	second	second	ADJ
american_scientific_journal-4437	55	12	and	and	CCONJ
american_scientific_journal-4437	55	13	third	third	ADJ
american_scientific_journal-4437	55	14	position	position	NOUN
american_scientific_journal-4437	55	15	…	…	PUNCT
american_scientific_journal-4437	55	16	etc	etc	X
american_scientific_journal-4437	55	17	of	of	ADP
american_scientific_journal-4437	55	18	the	the	DET
american_scientific_journal-4437	55	19	robot	robot	NOUN
american_scientific_journal-4437	55	20	,	,	PUNCT
american_scientific_journal-4437	55	21	see	see	VERB
american_scientific_journal-4437	55	22	figure	figure	NOUN
american_scientific_journal-4437	55	23	(	(	PUNCT
american_scientific_journal-4437	55	24	4	4	NUM
american_scientific_journal-4437	55	25	)	)	PUNCT
american_scientific_journal-4437	55	26	where	where	SCONJ
american_scientific_journal-4437	55	27	it	it	PRON
american_scientific_journal-4437	55	28	is	be	AUX
american_scientific_journal-4437	55	29	an	an	DET
american_scientific_journal-4437	55	30	extension	extension	NOUN
american_scientific_journal-4437	55	31	of	of	ADP
american_scientific_journal-4437	55	32	figure	figure	NOUN
american_scientific_journal-4437	55	33	(	(	PUNCT
american_scientific_journal-4437	55	34	2	2	NUM
american_scientific_journal-4437	55	35	)	)	PUNCT
american_scientific_journal-4437	55	36	.	.	PUNCT
american_scientific_journal-4437	56	1	in	in	ADP
american_scientific_journal-4437	56	2	the	the	DET
american_scientific_journal-4437	56	3	second	second	ADJ
american_scientific_journal-4437	56	4	position	position	NOUN
american_scientific_journal-4437	56	5	the	the	DET
american_scientific_journal-4437	56	6	yaw	yaw	NOUN
american_scientific_journal-4437	56	7	value	value	NOUN
american_scientific_journal-4437	56	8	will	will	AUX
american_scientific_journal-4437	56	9	be	be	AUX
american_scientific_journal-4437	56	10	the	the	DET
american_scientific_journal-4437	56	11	difference	difference	NOUN
american_scientific_journal-4437	56	12	between	between	ADP
american_scientific_journal-4437	56	13	the	the	DET
american_scientific_journal-4437	56	14	last	last	ADJ
american_scientific_journal-4437	56	15	value	value	NOUN
american_scientific_journal-4437	56	16	and	and	CCONJ
american_scientific_journal-4437	56	17	the	the	DET
american_scientific_journal-4437	56	18	current	current	ADJ
american_scientific_journal-4437	56	19	value	value	NOUN
american_scientific_journal-4437	56	20	of	of	ADP
american_scientific_journal-4437	56	21	yaw	yaw	NOUN
american_scientific_journal-4437	56	22	,	,	PUNCT
american_scientific_journal-4437	56	23	while	while	SCONJ
american_scientific_journal-4437	56	24	the	the	DET
american_scientific_journal-4437	56	25	angle	angle	NOUN
american_scientific_journal-4437	56	26	between	between	ADP
american_scientific_journal-4437	56	27	the	the	DET
american_scientific_journal-4437	56	28	rib	rib	NOUN
american_scientific_journal-4437	56	29	c	c	NOUN
american_scientific_journal-4437	56	30	and	and	CCONJ
american_scientific_journal-4437	56	31	the	the	DET
american_scientific_journal-4437	56	32	extended	extended	ADJ
american_scientific_journal-4437	56	33	line	line	NOUN
american_scientific_journal-4437	56	34	from	from	ADP
american_scientific_journal-4437	56	35	rib	rib	PROPN
american_scientific_journal-4437	56	36	b	b	PROPN
american_scientific_journal-4437	56	37	equal	equal	ADJ
american_scientific_journal-4437	56	38	to	to	ADP
american_scientific_journal-4437	56	39	the	the	DET
american_scientific_journal-4437	56	40	summation	summation	NOUN
american_scientific_journal-4437	56	41	of	of	ADP
american_scientific_journal-4437	56	42	the	the	DET
american_scientific_journal-4437	56	43	yaw	yaw	NOUN
american_scientific_journal-4437	56	44	value	value	NOUN
american_scientific_journal-4437	56	45	and	and	CCONJ
american_scientific_journal-4437	56	46	robot	robot	NOUN
american_scientific_journal-4437	56	47	angle	angle	NOUN
american_scientific_journal-4437	56	48	,	,	PUNCT
american_scientific_journal-4437	56	49	also	also	ADV
american_scientific_journal-4437	56	50	the	the	DET
american_scientific_journal-4437	56	51	initial	initial	ADJ
american_scientific_journal-4437	56	52	orientation	orientation	NOUN
american_scientific_journal-4437	56	53	of	of	ADP
american_scientific_journal-4437	56	54	the	the	DET
american_scientific_journal-4437	56	55	robot	robot	NOUN
american_scientific_journal-4437	56	56	should	should	AUX
american_scientific_journal-4437	56	57	be	be	AUX
american_scientific_journal-4437	56	58	known	know	VERB
american_scientific_journal-4437	56	59	,	,	PUNCT
american_scientific_journal-4437	56	60	in	in	ADP
american_scientific_journal-4437	56	61	case	case	NOUN
american_scientific_journal-4437	56	62	of	of	ADP
american_scientific_journal-4437	56	63	figure	figure	NOUN
american_scientific_journal-4437	56	64	(	(	PUNCT
american_scientific_journal-4437	56	65	2	2	X
american_scientific_journal-4437	56	66	)	)	PUNCT
american_scientific_journal-4437	56	67	equals	equal	VERB
american_scientific_journal-4437	56	68	90˚	90˚	NUM
american_scientific_journal-4437	56	69	,	,	PUNCT
american_scientific_journal-4437	56	70	the	the	DET
american_scientific_journal-4437	56	71	relationship	relationship	NOUN
american_scientific_journal-4437	56	72	will	will	AUX
american_scientific_journal-4437	56	73	become	become	VERB
american_scientific_journal-4437	56	74	as	as	SCONJ
american_scientific_journal-4437	56	75	follows	follow	VERB
american_scientific_journal-4437	56	76	.	.	PUNCT
american_scientific_journal-4437	57	1	m	m	VERB
american_scientific_journal-4437	57	2	=	=	NOUN
american_scientific_journal-4437	57	3	robot	robot	NOUN
american_scientific_journal-4437	57	4	initial	initial	ADJ
american_scientific_journal-4437	57	5	orientation	orientation	NOUN
american_scientific_journal-4437	57	6	+	+	CCONJ
american_scientific_journal-4437	57	7	yaw1	yaw1	PROPN
american_scientific_journal-4437	57	8	+	+	NUM
american_scientific_journal-4437	57	9	robot	robot	NOUN
american_scientific_journal-4437	57	10	last	last	ADJ
american_scientific_journal-4437	57	11	angle	angle	NOUN
american_scientific_journal-4437	57	12	+	+	CCONJ
american_scientific_journal-4437	57	13	(	(	PUNCT
american_scientific_journal-4437	57	14	yaw2	yaw2	PROPN
american_scientific_journal-4437	57	15	yaw1	yaw1	PROPN
american_scientific_journal-4437	57	16	)	)	PUNCT
american_scientific_journal-4437	57	17	m	m	PROPN
american_scientific_journal-4437	58	1	=	=	NOUN
american_scientific_journal-4437	58	2	robot	robot	NOUN
american_scientific_journal-4437	58	3	initial	initial	ADJ
american_scientific_journal-4437	58	4	orientation	orientation	NOUN
american_scientific_journal-4437	58	5	+	+	CCONJ
american_scientific_journal-4437	58	6	yaw2	yaw2	NOUN
american_scientific_journal-4437	58	7	+	+	CCONJ
american_scientific_journal-4437	58	8	robot	robot	NOUN
american_scientific_journal-4437	58	9	last	last	ADJ
american_scientific_journal-4437	58	10	angle	angle	NOUN
american_scientific_journal-4437	58	11	…	…	PUNCT
american_scientific_journal-4437	58	12	……	……	NOUN
american_scientific_journal-4437	58	13	..	..	PUNCT
american_scientific_journal-4437	58	14	(	(	PUNCT
american_scientific_journal-4437	58	15	6	6	NUM
american_scientific_journal-4437	58	16	)	)	PUNCT
american_scientific_journal-4437	58	17	where	where	SCONJ
american_scientific_journal-4437	58	18	robot	robot	NOUN
american_scientific_journal-4437	58	19	initial	initial	ADJ
american_scientific_journal-4437	58	20	orientation	orientation	NOUN
american_scientific_journal-4437	58	21	:	:	PUNCT
american_scientific_journal-4437	58	22	is	be	AUX
american_scientific_journal-4437	58	23	the	the	DET
american_scientific_journal-4437	58	24	orientation	orientation	NOUN
american_scientific_journal-4437	58	25	at	at	ADP
american_scientific_journal-4437	58	26	the	the	DET
american_scientific_journal-4437	58	27	start	start	NOUN
american_scientific_journal-4437	58	28	position	position	NOUN
american_scientific_journal-4437	58	29	robot	robot	NOUN
american_scientific_journal-4437	58	30	last	last	ADJ
american_scientific_journal-4437	58	31	angle	angle	NOUN
american_scientific_journal-4437	58	32	:	:	PUNCT
american_scientific_journal-4437	58	33	the	the	DET
american_scientific_journal-4437	58	34	last	last	ADJ
american_scientific_journal-4437	58	35	angle	angle	NOUN
american_scientific_journal-4437	58	36	that	that	SCONJ
american_scientific_journal-4437	58	37	the	the	DET
american_scientific_journal-4437	58	38	robot	robot	NOUN
american_scientific_journal-4437	58	39	deviates	deviate	VERB
american_scientific_journal-4437	58	40	from	from	ADP
american_scientific_journal-4437	58	41	the	the	DET
american_scientific_journal-4437	58	42	ap	ap	PROPN
american_scientific_journal-4437	58	43	(	(	PUNCT
american_scientific_journal-4437	58	44	equal	equal	ADJ
american_scientific_journal-4437	58	45	z	z	NOUN
american_scientific_journal-4437	58	46	in	in	ADP
american_scientific_journal-4437	58	47	figure	figure	NOUN
american_scientific_journal-4437	58	48	2	2	NUM
american_scientific_journal-4437	58	49	)	)	PUNCT
american_scientific_journal-4437	58	50	since	since	SCONJ
american_scientific_journal-4437	58	51	yaw2	yaw2	NOUN
american_scientific_journal-4437	58	52	value	value	NOUN
american_scientific_journal-4437	58	53	in	in	ADP
american_scientific_journal-4437	58	54	the	the	DET
american_scientific_journal-4437	58	55	position	position	NOUN
american_scientific_journal-4437	58	56	2	2	NUM
american_scientific_journal-4437	58	57	equal	equal	ADJ
american_scientific_journal-4437	58	58	the	the	DET
american_scientific_journal-4437	58	59	current	current	ADJ
american_scientific_journal-4437	58	60	yaw	yaw	NOUN
american_scientific_journal-4437	58	61	value	value	NOUN
american_scientific_journal-4437	58	62	we	we	PRON
american_scientific_journal-4437	58	63	can	can	AUX
american_scientific_journal-4437	58	64	generalize	generalize	VERB
american_scientific_journal-4437	58	65	the	the	DET
american_scientific_journal-4437	58	66	relationship	relationship	NOUN
american_scientific_journal-4437	58	67	as	as	ADP
american_scientific_journal-4437	58	68	m	m	NOUN
american_scientific_journal-4437	58	69	=	=	VERB
american_scientific_journal-4437	58	70	robot	robot	NOUN
american_scientific_journal-4437	58	71	initial	initial	ADJ
american_scientific_journal-4437	58	72	orientation	orientation	NOUN
american_scientific_journal-4437	58	73	+	+	CCONJ
american_scientific_journal-4437	58	74	yaw	yaw	NOUN
american_scientific_journal-4437	58	75	+	+	CCONJ
american_scientific_journal-4437	58	76	robot	robot	NOUN
american_scientific_journal-4437	58	77	last	last	ADJ
american_scientific_journal-4437	58	78	angle	angle	NOUN
american_scientific_journal-4437	58	79	…	…	PUNCT
american_scientific_journal-4437	58	80	……	……	NOUN
american_scientific_journal-4437	58	81	.	.	PUNCT
american_scientific_journal-4437	58	82	…	…	PUNCT
american_scientific_journal-4437	58	83	.	.	PUNCT
american_scientific_journal-4437	59	1	(	(	PUNCT
american_scientific_journal-4437	59	2	7	7	NUM
american_scientific_journal-4437	59	3	)	)	PUNCT
american_scientific_journal-4437	59	4	where	where	SCONJ
american_scientific_journal-4437	59	5	yaw	yaw	NOUN
american_scientific_journal-4437	59	6	value	value	NOUN
american_scientific_journal-4437	59	7	is	be	AUX
american_scientific_journal-4437	59	8	the	the	DET
american_scientific_journal-4437	59	9	yaw	yaw	PROPN
american_scientific_journal-4437	59	10	current	current	ADJ
american_scientific_journal-4437	59	11	reading	reading	NOUN
american_scientific_journal-4437	59	12	that	that	PRON
american_scientific_journal-4437	59	13	taken	take	VERB
american_scientific_journal-4437	59	14	from	from	ADP
american_scientific_journal-4437	59	15	the	the	DET
american_scientific_journal-4437	59	16	mpu	mpu	NOUN
american_scientific_journal-4437	59	17	american	american	PROPN
american_scientific_journal-4437	59	18	scientific	scientific	PROPN
american_scientific_journal-4437	59	19	research	research	PROPN
american_scientific_journal-4437	59	20	journal	journal	NOUN
american_scientific_journal-4437	59	21	for	for	ADP
american_scientific_journal-4437	59	22	engineering	engineering	NOUN
american_scientific_journal-4437	59	23	,	,	PUNCT
american_scientific_journal-4437	59	24	technology	technology	NOUN
american_scientific_journal-4437	59	25	,	,	PUNCT
american_scientific_journal-4437	59	26	and	and	CCONJ
american_scientific_journal-4437	59	27	sciences	science	NOUN
american_scientific_journal-4437	59	28	(	(	PUNCT
american_scientific_journal-4437	59	29	asrjets	asrjet	NOUN
american_scientific_journal-4437	59	30	)	)	PUNCT
american_scientific_journal-4437	59	31	(	(	PUNCT
american_scientific_journal-4437	59	32	2018	2018	NUM
american_scientific_journal-4437	59	33	)	)	PUNCT
american_scientific_journal-4437	59	34	volume	volume	NOUN
american_scientific_journal-4437	59	35	47	47	NUM
american_scientific_journal-4437	59	36	,	,	PUNCT
american_scientific_journal-4437	59	37	no	no	DET
american_scientific_journal-4437	59	38	1	1	NUM
american_scientific_journal-4437	59	39	,	,	PUNCT
american_scientific_journal-4437	59	40	pp	pp	ADV
american_scientific_journal-4437	59	41	135	135	NUM
american_scientific_journal-4437	59	42	-	-	SYM
american_scientific_journal-4437	59	43	00	00	NUM
american_scientific_journal-4437	59	44	139	139	NUM
american_scientific_journal-4437	59	45	figure	figure	NOUN
american_scientific_journal-4437	59	46	4	4	NUM
american_scientific_journal-4437	59	47	:	:	PUNCT
american_scientific_journal-4437	59	48	robot	robot	NOUN
american_scientific_journal-4437	59	49	new	new	ADJ
american_scientific_journal-4437	59	50	position	position	NOUN
american_scientific_journal-4437	59	51	angle	angle	NOUN
american_scientific_journal-4437	59	52	calculation	calculation	NOUN
american_scientific_journal-4437	59	53	now	now	ADV
american_scientific_journal-4437	59	54	we	we	PRON
american_scientific_journal-4437	59	55	can	can	AUX
american_scientific_journal-4437	59	56	estimate	estimate	VERB
american_scientific_journal-4437	59	57	the	the	DET
american_scientific_journal-4437	59	58	(	(	PUNCT
american_scientific_journal-4437	59	59	x	x	NOUN
american_scientific_journal-4437	59	60	,	,	PUNCT
american_scientific_journal-4437	59	61	y	y	NOUN
american_scientific_journal-4437	59	62	)	)	PUNCT
american_scientific_journal-4437	59	63	values	value	NOUN
american_scientific_journal-4437	59	64	as	as	SCONJ
american_scientific_journal-4437	59	65	shown	show	VERB
american_scientific_journal-4437	59	66	in	in	ADP
american_scientific_journal-4437	59	67	table	table	NOUN
american_scientific_journal-4437	59	68	(	(	PUNCT
american_scientific_journal-4437	59	69	3	3	NUM
american_scientific_journal-4437	59	70	)	)	PUNCT
american_scientific_journal-4437	59	71	by	by	ADP
american_scientific_journal-4437	59	72	using	use	VERB
american_scientific_journal-4437	59	73	pythagorean	pythagorean	PROPN
american_scientific_journal-4437	59	74	theorem	theorem	NOUN
american_scientific_journal-4437	59	75	depending	depend	VERB
american_scientific_journal-4437	59	76	on	on	ADP
american_scientific_journal-4437	59	77	distance	distance	NOUN
american_scientific_journal-4437	59	78	and	and	CCONJ
american_scientific_journal-4437	59	79	angle	angle	NOUN
american_scientific_journal-4437	59	80	(	(	PUNCT
american_scientific_journal-4437	59	81	ɵ	ɵ	NOUN
american_scientific_journal-4437	59	82	)	)	PUNCT
american_scientific_journal-4437	59	83	values	value	NOUN
american_scientific_journal-4437	59	84	where	where	SCONJ
american_scientific_journal-4437	59	85	.	.	PUNCT
american_scientific_journal-4437	60	1	x	x	PUNCT
american_scientific_journal-4437	61	1	=	=	PUNCT
american_scientific_journal-4437	61	2	distance	distance	NOUN
american_scientific_journal-4437	61	3	*	*	PUNCT
american_scientific_journal-4437	61	4	cosɵ	cosɵ	NOUN
american_scientific_journal-4437	61	5	…	…	PUNCT
american_scientific_journal-4437	61	6	…	…	PUNCT
american_scientific_journal-4437	61	7	…	…	PUNCT
american_scientific_journal-4437	61	8	..	..	PUNCT
american_scientific_journal-4437	61	9	…	…	PUNCT
american_scientific_journal-4437	61	10	……	……	NOUN
american_scientific_journal-4437	61	11	..	..	PUNCT
american_scientific_journal-4437	61	12	(	(	PUNCT
american_scientific_journal-4437	61	13	8)	8)	NUM
american_scientific_journal-4437	61	14	y	y	NOUN
american_scientific_journal-4437	61	15	=	=	PUNCT
american_scientific_journal-4437	61	16	distance	distance	NOUN
american_scientific_journal-4437	61	17	*	*	PUNCT
american_scientific_journal-4437	61	18	sin	sin	NOUN
american_scientific_journal-4437	61	19	ɵ	ɵ	ADP
american_scientific_journal-4437	61	20	…	…	PUNCT
american_scientific_journal-4437	61	21	…	…	PUNCT
american_scientific_journal-4437	61	22	…	…	PUNCT
american_scientific_journal-4437	61	23	.	.	PUNCT
american_scientific_journal-4437	61	24	……	……	NOUN
american_scientific_journal-4437	61	25	……	……	NOUN
american_scientific_journal-4437	61	26	(	(	PUNCT
american_scientific_journal-4437	61	27	9	9	NUM
american_scientific_journal-4437	61	28	)	)	SYM
american_scientific_journal-4437	61	29	3.1	3.1	NUM
american_scientific_journal-4437	61	30	programming	programming	NOUN
american_scientific_journal-4437	61	31	section	section	NOUN
american_scientific_journal-4437	61	32	now	now	ADV
american_scientific_journal-4437	61	33	we	we	PRON
american_scientific_journal-4437	61	34	need	need	VERB
american_scientific_journal-4437	61	35	to	to	PART
american_scientific_journal-4437	61	36	program	program	VERB
american_scientific_journal-4437	61	37	the	the	DET
american_scientific_journal-4437	61	38	arduino	arduino	NOUN
american_scientific_journal-4437	61	39	microcontroller	microcontroller	NOUN
american_scientific_journal-4437	61	40	(	(	PUNCT
american_scientific_journal-4437	61	41	in	in	ADP
american_scientific_journal-4437	61	42	this	this	DET
american_scientific_journal-4437	61	43	prototype	prototype	NOUN
american_scientific_journal-4437	61	44	we	we	PRON
american_scientific_journal-4437	61	45	use	use	VERB
american_scientific_journal-4437	61	46	two	two	NUM
american_scientific_journal-4437	61	47	arduino	arduino	NOUN
american_scientific_journal-4437	61	48	pieces	piece	NOUN
american_scientific_journal-4437	61	49	)	)	PUNCT
american_scientific_journal-4437	61	50	the	the	DET
american_scientific_journal-4437	61	51	first	first	ADJ
american_scientific_journal-4437	61	52	one	one	NUM
american_scientific_journal-4437	61	53	(	(	PUNCT
american_scientific_journal-4437	61	54	arduino	arduino	PROPN
american_scientific_journal-4437	61	55	uno	uno	PROPN
american_scientific_journal-4437	61	56	)	)	PUNCT
american_scientific_journal-4437	61	57	to	to	PART
american_scientific_journal-4437	61	58	control	control	VERB
american_scientific_journal-4437	61	59	robot	robot	NOUN
american_scientific_journal-4437	61	60	movement	movement	NOUN
american_scientific_journal-4437	61	61	and	and	CCONJ
american_scientific_journal-4437	61	62	to	to	PART
american_scientific_journal-4437	61	63	connect	connect	VERB
american_scientific_journal-4437	61	64	with	with	ADP
american_scientific_journal-4437	61	65	wi	wi	PROPN
american_scientific_journal-4437	61	66	-	-	PUNCT
american_scientific_journal-4437	61	67	fi	fi	NOUN
american_scientific_journal-4437	61	68	shield	shield	NOUN
american_scientific_journal-4437	61	69	for	for	ADP
american_scientific_journal-4437	61	70	reading	read	VERB
american_scientific_journal-4437	61	71	rssi	rssi	ADJ
american_scientific_journal-4437	61	72	value	value	NOUN
american_scientific_journal-4437	61	73	,	,	PUNCT
american_scientific_journal-4437	61	74	the	the	DET
american_scientific_journal-4437	61	75	second	second	ADJ
american_scientific_journal-4437	61	76	one	one	NUM
american_scientific_journal-4437	61	77	(	(	PUNCT
american_scientific_journal-4437	61	78	arduino	arduino	NOUN
american_scientific_journal-4437	61	79	nano	nano	NOUN
american_scientific_journal-4437	61	80	)	)	PUNCT
american_scientific_journal-4437	61	81	to	to	PART
american_scientific_journal-4437	61	82	connect	connect	VERB
american_scientific_journal-4437	61	83	with	with	ADP
american_scientific_journal-4437	61	84	mpu	mpu	NOUN
american_scientific_journal-4437	61	85	6050	6050	NUM
american_scientific_journal-4437	61	86	for	for	ADP
american_scientific_journal-4437	61	87	reading	read	VERB
american_scientific_journal-4437	61	88	yaw	yaw	NOUN
american_scientific_journal-4437	61	89	value	value	NOUN
american_scientific_journal-4437	61	90	,	,	PUNCT
american_scientific_journal-4437	61	91	figure	figure	NOUN
american_scientific_journal-4437	61	92	(	(	PUNCT
american_scientific_journal-4437	61	93	4	4	NUM
american_scientific_journal-4437	61	94	)	)	PUNCT
american_scientific_journal-4437	61	95	shows	show	VERB
american_scientific_journal-4437	61	96	wi	wi	PROPN
american_scientific_journal-4437	61	97	-	-	PUNCT
american_scientific_journal-4437	61	98	fi	fi	NOUN
american_scientific_journal-4437	61	99	localization	localization	NOUN
american_scientific_journal-4437	61	100	block	block	NOUN
american_scientific_journal-4437	61	101	diagram	diagram	PROPN
american_scientific_journal-4437	61	102	.	.	PUNCT
american_scientific_journal-4437	62	1	hencewe	hencewe	PROPN
american_scientific_journal-4437	62	2	can	can	AUX
american_scientific_journal-4437	62	3	control	control	VERB
american_scientific_journal-4437	62	4	robot	robot	NOUN
american_scientific_journal-4437	62	5	movement	movement	NOUN
american_scientific_journal-4437	62	6	by	by	ADP
american_scientific_journal-4437	62	7	varying	vary	VERB
american_scientific_journal-4437	62	8	the	the	DET
american_scientific_journal-4437	62	9	bwm	bwm	NOUN
american_scientific_journal-4437	62	10	of	of	ADP
american_scientific_journal-4437	62	11	the	the	DET
american_scientific_journal-4437	62	12	two	two	NUM
american_scientific_journal-4437	62	13	dc	dc	PROPN
american_scientific_journal-4437	62	14	motors	motor	NOUN
american_scientific_journal-4437	62	15	,	,	PUNCT
american_scientific_journal-4437	62	16	change	change	VERB
american_scientific_journal-4437	62	17	the	the	DET
american_scientific_journal-4437	62	18	pin	pin	NOUN
american_scientific_journal-4437	62	19	mode	mode	NOUN
american_scientific_journal-4437	62	20	to	to	ADP
american_scientific_journal-4437	62	21	high	high	ADJ
american_scientific_journal-4437	62	22	or	or	CCONJ
american_scientific_journal-4437	62	23	low	low	ADJ
american_scientific_journal-4437	62	24	to	to	PART
american_scientific_journal-4437	62	25	control	control	VERB
american_scientific_journal-4437	62	26	wheel	wheel	NOUN
american_scientific_journal-4437	62	27	action	action	NOUN
american_scientific_journal-4437	62	28	forward	forward	ADV
american_scientific_journal-4437	62	29	or	or	CCONJ
american_scientific_journal-4437	62	30	backward	backward	ADV
american_scientific_journal-4437	62	31	,	,	PUNCT
american_scientific_journal-4437	62	32	and	and	CCONJ
american_scientific_journal-4437	62	33	you	you	PRON
american_scientific_journal-4437	62	34	can	can	AUX
american_scientific_journal-4437	62	35	put	put	VERB
american_scientific_journal-4437	62	36	delay	delay	NOUN
american_scientific_journal-4437	62	37	time	time	NOUN
american_scientific_journal-4437	62	38	for	for	ADP
american_scientific_journal-4437	62	39	reading	read	VERB
american_scientific_journal-4437	62	40	rssi	rssi	ADJ
american_scientific_journal-4437	62	41	value	value	NOUN
american_scientific_journal-4437	62	42	as	as	SCONJ
american_scientific_journal-4437	62	43	you	you	PRON
american_scientific_journal-4437	62	44	like	like	VERB
american_scientific_journal-4437	62	45	.	.	PUNCT
american_scientific_journal-4437	63	1	american	american	ADJ
american_scientific_journal-4437	63	2	scientific	scientific	ADJ
american_scientific_journal-4437	63	3	research	research	PROPN
american_scientific_journal-4437	63	4	journal	journal	NOUN
american_scientific_journal-4437	63	5	for	for	ADP
american_scientific_journal-4437	63	6	engineering	engineering	NOUN
american_scientific_journal-4437	63	7	,	,	PUNCT
american_scientific_journal-4437	63	8	technology	technology	NOUN
american_scientific_journal-4437	63	9	,	,	PUNCT
american_scientific_journal-4437	63	10	and	and	CCONJ
american_scientific_journal-4437	63	11	sciences	science	NOUN
american_scientific_journal-4437	63	12	(	(	PUNCT
american_scientific_journal-4437	63	13	asrjets	asrjet	NOUN
american_scientific_journal-4437	63	14	)	)	PUNCT
american_scientific_journal-4437	63	15	(	(	PUNCT
american_scientific_journal-4437	63	16	2018	2018	NUM
american_scientific_journal-4437	63	17	)	)	PUNCT
american_scientific_journal-4437	63	18	volume	volume	NOUN
american_scientific_journal-4437	63	19	47	47	NUM
american_scientific_journal-4437	63	20	,	,	PUNCT
american_scientific_journal-4437	63	21	no	no	DET
american_scientific_journal-4437	63	22	1	1	NUM
american_scientific_journal-4437	63	23	,	,	PUNCT
american_scientific_journal-4437	63	24	pp	pp	ADV
american_scientific_journal-4437	63	25	135	135	NUM
american_scientific_journal-4437	63	26	-	-	SYM
american_scientific_journal-4437	63	27	00	00	NUM
american_scientific_journal-4437	63	28	140	140	NUM
american_scientific_journal-4437	63	29	figure	figure	NOUN
american_scientific_journal-4437	63	30	5	5	NUM
american_scientific_journal-4437	63	31	:	:	PUNCT
american_scientific_journal-4437	63	32	wi	wi	PROPN
american_scientific_journal-4437	63	33	-	-	PUNCT
american_scientific_journal-4437	63	34	fi	fi	NOUN
american_scientific_journal-4437	63	35	localization	localization	NOUN
american_scientific_journal-4437	63	36	block	block	NOUN
american_scientific_journal-4437	63	37	diagram	diagram	PROPN
american_scientific_journal-4437	63	38	4	4	NUM
american_scientific_journal-4437	63	39	.	.	PUNCT
american_scientific_journal-4437	63	40	experiments	experiment	NOUN
american_scientific_journal-4437	63	41	and	and	CCONJ
american_scientific_journal-4437	63	42	results	result	NOUN
american_scientific_journal-4437	63	43	now	now	ADV
american_scientific_journal-4437	63	44	we	we	PRON
american_scientific_journal-4437	63	45	will	will	AUX
american_scientific_journal-4437	63	46	present	present	VERB
american_scientific_journal-4437	63	47	some	some	PRON
american_scientific_journal-4437	63	48	of	of	ADP
american_scientific_journal-4437	63	49	experiments	experiment	NOUN
american_scientific_journal-4437	63	50	where	where	SCONJ
american_scientific_journal-4437	63	51	we	we	PRON
american_scientific_journal-4437	63	52	will	will	AUX
american_scientific_journal-4437	63	53	move	move	VERB
american_scientific_journal-4437	63	54	the	the	DET
american_scientific_journal-4437	63	55	robot	robot	NOUN
american_scientific_journal-4437	63	56	in	in	ADP
american_scientific_journal-4437	63	57	different	different	ADJ
american_scientific_journal-4437	63	58	paths	path	NOUN
american_scientific_journal-4437	63	59	(	(	PUNCT
american_scientific_journal-4437	63	60	circle	circle	NOUN
american_scientific_journal-4437	63	61	path	path	NOUN
american_scientific_journal-4437	63	62	,	,	PUNCT
american_scientific_journal-4437	63	63	rectangle	rectangle	NOUN
american_scientific_journal-4437	63	64	path	path	NOUN
american_scientific_journal-4437	63	65	,	,	PUNCT
american_scientific_journal-4437	63	66	american	american	ADJ
american_scientific_journal-4437	63	67	scientific	scientific	ADJ
american_scientific_journal-4437	63	68	research	research	NOUN
american_scientific_journal-4437	63	69	journal	journal	NOUN
american_scientific_journal-4437	63	70	for	for	ADP
american_scientific_journal-4437	63	71	engineering	engineering	NOUN
american_scientific_journal-4437	63	72	,	,	PUNCT
american_scientific_journal-4437	63	73	technology	technology	NOUN
american_scientific_journal-4437	63	74	,	,	PUNCT
american_scientific_journal-4437	63	75	and	and	CCONJ
american_scientific_journal-4437	63	76	sciences	science	NOUN
american_scientific_journal-4437	63	77	(	(	PUNCT
american_scientific_journal-4437	63	78	asrjets	asrjet	NOUN
american_scientific_journal-4437	63	79	)	)	PUNCT
american_scientific_journal-4437	63	80	(	(	PUNCT
american_scientific_journal-4437	63	81	2018	2018	NUM
american_scientific_journal-4437	63	82	)	)	PUNCT
american_scientific_journal-4437	63	83	volume	volume	NOUN
american_scientific_journal-4437	63	84	47	47	NUM
american_scientific_journal-4437	63	85	,	,	PUNCT
american_scientific_journal-4437	63	86	no	no	DET
american_scientific_journal-4437	63	87	1	1	NUM
american_scientific_journal-4437	63	88	,	,	PUNCT
american_scientific_journal-4437	63	89	pp	pp	ADV
american_scientific_journal-4437	63	90	135	135	NUM
american_scientific_journal-4437	63	91	-	-	SYM
american_scientific_journal-4437	63	92	144	144	NUM
american_scientific_journal-4437	63	93	141	141	NUM
american_scientific_journal-4437	63	94	irregular	irregular	ADJ
american_scientific_journal-4437	63	95	path	path	NOUN
american_scientific_journal-4437	63	96	,	,	PUNCT
american_scientific_journal-4437	63	97	corridor	corridor	ADJ
american_scientific_journal-4437	63	98	path	path	NOUN
american_scientific_journal-4437	63	99	)	)	PUNCT
american_scientific_journal-4437	63	100	then	then	ADV
american_scientific_journal-4437	63	101	we	we	PRON
american_scientific_journal-4437	63	102	will	will	AUX
american_scientific_journal-4437	63	103	compare	compare	VERB
american_scientific_journal-4437	63	104	between	between	ADP
american_scientific_journal-4437	63	105	all	all	PRON
american_scientific_journal-4437	63	106	of	of	ADP
american_scientific_journal-4437	63	107	these	these	DET
american_scientific_journal-4437	63	108	paths	path	NOUN
american_scientific_journal-4437	63	109	,	,	PUNCT
american_scientific_journal-4437	63	110	see	see	VERB
american_scientific_journal-4437	63	111	figure	figure	NOUN
american_scientific_journal-4437	63	112	(	(	PUNCT
american_scientific_journal-4437	63	113	4	4	NUM
american_scientific_journal-4437	63	114	)	)	PUNCT
american_scientific_journal-4437	63	115	.	.	PUNCT
american_scientific_journal-4437	64	1	figure	figure	VERB
american_scientific_journal-4437	64	2	6	6	NUM
american_scientific_journal-4437	64	3	:	:	PUNCT
american_scientific_journal-4437	64	4	circle	circle	NOUN
american_scientific_journal-4437	64	5	path	path	NOUN
american_scientific_journal-4437	64	6	figure	figure	NOUN
american_scientific_journal-4437	64	7	7	7	NUM
american_scientific_journal-4437	64	8	:	:	PUNCT
american_scientific_journal-4437	64	9	rectangle	rectangle	NOUN
american_scientific_journal-4437	64	10	path	path	NOUN
american_scientific_journal-4437	64	11	american	american	PROPN
american_scientific_journal-4437	64	12	scientific	scientific	ADJ
american_scientific_journal-4437	64	13	research	research	PROPN
american_scientific_journal-4437	64	14	journal	journal	NOUN
american_scientific_journal-4437	64	15	for	for	ADP
american_scientific_journal-4437	64	16	engineering	engineering	NOUN
american_scientific_journal-4437	64	17	,	,	PUNCT
american_scientific_journal-4437	64	18	technology	technology	NOUN
american_scientific_journal-4437	64	19	,	,	PUNCT
american_scientific_journal-4437	64	20	and	and	CCONJ
american_scientific_journal-4437	64	21	sciences	science	NOUN
american_scientific_journal-4437	64	22	(	(	PUNCT
american_scientific_journal-4437	64	23	asrjets	asrjet	NOUN
american_scientific_journal-4437	64	24	)	)	PUNCT
american_scientific_journal-4437	64	25	(	(	PUNCT
american_scientific_journal-4437	64	26	2018	2018	NUM
american_scientific_journal-4437	64	27	)	)	PUNCT
american_scientific_journal-4437	64	28	volume	volume	NOUN
american_scientific_journal-4437	64	29	47	47	NUM
american_scientific_journal-4437	64	30	,	,	PUNCT
american_scientific_journal-4437	64	31	no	no	DET
american_scientific_journal-4437	64	32	1	1	NUM
american_scientific_journal-4437	64	33	,	,	PUNCT
american_scientific_journal-4437	64	34	pp	pp	ADV
american_scientific_journal-4437	64	35	135	135	NUM
american_scientific_journal-4437	64	36	-	-	SYM
american_scientific_journal-4437	64	37	144	144	NUM
american_scientific_journal-4437	64	38	142	142	NUM
american_scientific_journal-4437	64	39	figure	figure	NOUN
american_scientific_journal-4437	64	40	8	8	NUM
american_scientific_journal-4437	64	41	:	:	PUNCT
american_scientific_journal-4437	64	42	irregular	irregular	ADJ
american_scientific_journal-4437	64	43	path	path	NOUN
american_scientific_journal-4437	64	44	figure	figure	NOUN
american_scientific_journal-4437	64	45	9	9	NUM
american_scientific_journal-4437	64	46	:	:	PUNCT
american_scientific_journal-4437	64	47	corridor	corridor	ADJ
american_scientific_journal-4437	64	48	path	path	NOUN
american_scientific_journal-4437	64	49	american	american	PROPN
american_scientific_journal-4437	64	50	scientific	scientific	ADJ
american_scientific_journal-4437	64	51	research	research	PROPN
american_scientific_journal-4437	64	52	journal	journal	NOUN
american_scientific_journal-4437	64	53	for	for	ADP
american_scientific_journal-4437	64	54	engineering	engineering	NOUN
american_scientific_journal-4437	64	55	,	,	PUNCT
american_scientific_journal-4437	64	56	technology	technology	NOUN
american_scientific_journal-4437	64	57	,	,	PUNCT
american_scientific_journal-4437	64	58	and	and	CCONJ
american_scientific_journal-4437	64	59	sciences	science	NOUN
american_scientific_journal-4437	64	60	(	(	PUNCT
american_scientific_journal-4437	64	61	asrjets	asrjet	NOUN
american_scientific_journal-4437	64	62	)	)	PUNCT
american_scientific_journal-4437	64	63	(	(	PUNCT
american_scientific_journal-4437	64	64	2018	2018	NUM
american_scientific_journal-4437	64	65	)	)	PUNCT
american_scientific_journal-4437	64	66	volume	volume	NOUN
american_scientific_journal-4437	64	67	47	47	NUM
american_scientific_journal-4437	64	68	,	,	PUNCT
american_scientific_journal-4437	64	69	no	no	DET
american_scientific_journal-4437	64	70	1	1	NUM
american_scientific_journal-4437	64	71	,	,	PUNCT
american_scientific_journal-4437	64	72	pp	pp	ADV
american_scientific_journal-4437	64	73	135	135	NUM
american_scientific_journal-4437	64	74	-	-	SYM
american_scientific_journal-4437	64	75	144	144	NUM
american_scientific_journal-4437	64	76	143	143	NUM
american_scientific_journal-4437	64	77	as	as	SCONJ
american_scientific_journal-4437	64	78	shown	show	VERB
american_scientific_journal-4437	64	79	above	above	ADP
american_scientific_journal-4437	64	80	the	the	DET
american_scientific_journal-4437	64	81	green	green	ADJ
american_scientific_journal-4437	64	82	line	line	NOUN
american_scientific_journal-4437	64	83	is	be	AUX
american_scientific_journal-4437	64	84	the	the	DET
american_scientific_journal-4437	64	85	true	true	ADJ
american_scientific_journal-4437	64	86	path	path	NOUN
american_scientific_journal-4437	64	87	while	while	SCONJ
american_scientific_journal-4437	64	88	the	the	DET
american_scientific_journal-4437	64	89	blue	blue	NOUN
american_scientific_journal-4437	64	90	is	be	AUX
american_scientific_journal-4437	64	91	the	the	DET
american_scientific_journal-4437	64	92	calculated	calculate	VERB
american_scientific_journal-4437	64	93	results	result	NOUN
american_scientific_journal-4437	64	94	after	after	ADP
american_scientific_journal-4437	64	95	filtering	filter	VERB
american_scientific_journal-4437	64	96	.	.	PUNCT
american_scientific_journal-4437	65	1	table	table	NOUN
american_scientific_journal-4437	65	2	(	(	PUNCT
american_scientific_journal-4437	65	3	1	1	X
american_scientific_journal-4437	65	4	)	)	PUNCT
american_scientific_journal-4437	65	5	will	will	AUX
american_scientific_journal-4437	65	6	show	show	VERB
american_scientific_journal-4437	65	7	the	the	DET
american_scientific_journal-4437	65	8	mean	mean	ADJ
american_scientific_journal-4437	65	9	square	square	ADJ
american_scientific_journal-4437	65	10	error	error	NOUN
american_scientific_journal-4437	65	11	and	and	CCONJ
american_scientific_journal-4437	65	12	max	max	NOUN
american_scientific_journal-4437	65	13	error	error	NOUN
american_scientific_journal-4437	65	14	of	of	ADP
american_scientific_journal-4437	65	15	all	all	DET
american_scientific_journal-4437	65	16	paths	path	NOUN
american_scientific_journal-4437	65	17	.	.	PUNCT
american_scientific_journal-4437	66	1	table	table	NOUN
american_scientific_journal-4437	66	2	1	1	NUM
american_scientific_journal-4437	66	3	:	:	PUNCT
american_scientific_journal-4437	66	4	comparison	comparison	NOUN
american_scientific_journal-4437	66	5	between	between	ADP
american_scientific_journal-4437	66	6	all	all	DET
american_scientific_journal-4437	66	7	paths	path	NOUN
american_scientific_journal-4437	66	8	error	error	VERB
american_scientific_journal-4437	66	9	irregular	irregular	ADJ
american_scientific_journal-4437	66	10	path	path	NOUN
american_scientific_journal-4437	66	11	corridor	corridor	PROPN
american_scientific_journal-4437	66	12	path	path	PROPN
american_scientific_journal-4437	66	13	circle	circle	PROPN
american_scientific_journal-4437	66	14	path	path	PROPN
american_scientific_journal-4437	66	15	rectangle	rectangle	PROPN
american_scientific_journal-4437	66	16	path	path	PROPN
american_scientific_journal-4437	66	17	mse	mse	NOUN
american_scientific_journal-4437	66	18	for	for	ADP
american_scientific_journal-4437	66	19	calculated	calculate	VERB
american_scientific_journal-4437	66	20	values	value	NOUN
american_scientific_journal-4437	66	21	22.21	22.21	NUM
american_scientific_journal-4437	66	22	cm	cm	NOUN
american_scientific_journal-4437	66	23	141.5	141.5	NUM
american_scientific_journal-4437	66	24	cm	cm	NOUN
american_scientific_journal-4437	66	25	54.8	54.8	NUM
american_scientific_journal-4437	66	26	cm	cm	NOUN
american_scientific_journal-4437	66	27	44.38	44.38	NUM
american_scientific_journal-4437	66	28	cm	cm	NOUN
american_scientific_journal-4437	66	29	mse	mse	NOUN
american_scientific_journal-4437	66	30	for	for	ADP
american_scientific_journal-4437	66	31	filtered	filter	VERB
american_scientific_journal-4437	66	32	values	value	NOUN
american_scientific_journal-4437	66	33	15.55	15.55	NUM
american_scientific_journal-4437	66	34	cm	cm	NOUN
american_scientific_journal-4437	66	35	34.6	34.6	NUM
american_scientific_journal-4437	66	36	cm	cm	NOUN
american_scientific_journal-4437	66	37	31.88	31.88	NUM
american_scientific_journal-4437	66	38	cm	cm	NOUN
american_scientific_journal-4437	66	39	29.43	29.43	NUM
american_scientific_journal-4437	66	40	cm	cm	NOUN
american_scientific_journal-4437	66	41	max	max	NOUN
american_scientific_journal-4437	66	42	error	error	NOUN
american_scientific_journal-4437	66	43	in	in	ADP
american_scientific_journal-4437	66	44	calculated	calculate	VERB
american_scientific_journal-4437	66	45	path	path	NOUN
american_scientific_journal-4437	66	46	44	44	NUM
american_scientific_journal-4437	66	47	cm	cm	NOUN
american_scientific_journal-4437	66	48	394	394	NUM
american_scientific_journal-4437	66	49	cm	cm	NOUN
american_scientific_journal-4437	66	50	92	92	NUM
american_scientific_journal-4437	66	51	cm	cm	NOUN
american_scientific_journal-4437	66	52	102	102	NUM
american_scientific_journal-4437	66	53	cm	cm	NOUN
american_scientific_journal-4437	66	54	max	max	NOUN
american_scientific_journal-4437	66	55	error	error	NOUN
american_scientific_journal-4437	66	56	in	in	ADP
american_scientific_journal-4437	66	57	filtered	filter	VERB
american_scientific_journal-4437	66	58	path	path	NOUN
american_scientific_journal-4437	66	59	33	33	NUM
american_scientific_journal-4437	66	60	cm	cm	NOUN
american_scientific_journal-4437	66	61	83	83	NUM
american_scientific_journal-4437	66	62	cm	cm	NOUN
american_scientific_journal-4437	66	63	57	57	NUM
american_scientific_journal-4437	66	64	cm	cm	NOUN
american_scientific_journal-4437	66	65	67.32	67.32	NUM
american_scientific_journal-4437	66	66	cm	cm	NUM
american_scientific_journal-4437	66	67	5	5	NUM
american_scientific_journal-4437	66	68	.	.	PUNCT
american_scientific_journal-4437	66	69	conclusion	conclusion	NOUN
american_scientific_journal-4437	66	70	and	and	CCONJ
american_scientific_journal-4437	66	71	future	future	ADJ
american_scientific_journal-4437	66	72	work	work	NOUN
american_scientific_journal-4437	66	73	in	in	ADP
american_scientific_journal-4437	66	74	this	this	DET
american_scientific_journal-4437	66	75	paper	paper	NOUN
american_scientific_journal-4437	66	76	we	we	PRON
american_scientific_journal-4437	66	77	present	present	VERB
american_scientific_journal-4437	66	78	a	a	DET
american_scientific_journal-4437	66	79	wi	wi	PROPN
american_scientific_journal-4437	66	80	-	-	PUNCT
american_scientific_journal-4437	66	81	fi	fi	NOUN
american_scientific_journal-4437	66	82	technique	technique	NOUN
american_scientific_journal-4437	66	83	that	that	PRON
american_scientific_journal-4437	66	84	depend	depend	VERB
american_scientific_journal-4437	66	85	on	on	ADP
american_scientific_journal-4437	66	86	one	one	NUM
american_scientific_journal-4437	66	87	ap	ap	PROPN
american_scientific_journal-4437	66	88	and	and	CCONJ
american_scientific_journal-4437	66	89	to	to	PART
american_scientific_journal-4437	66	90	estimate	estimate	VERB
american_scientific_journal-4437	66	91	robot	robot	NOUN
american_scientific_journal-4437	66	92	localization	localization	NOUN
american_scientific_journal-4437	66	93	,	,	PUNCT
american_scientific_journal-4437	66	94	in	in	ADP
american_scientific_journal-4437	66	95	compare	compare	NOUN
american_scientific_journal-4437	66	96	with	with	ADP
american_scientific_journal-4437	66	97	another	another	DET
american_scientific_journal-4437	66	98	wi	wi	PROPN
american_scientific_journal-4437	66	99	-	-	PUNCT
american_scientific_journal-4437	66	100	fi	fi	NOUN
american_scientific_journal-4437	66	101	techniques	technique	NOUN
american_scientific_journal-4437	66	102	like	like	ADP
american_scientific_journal-4437	66	103	fingerprinting	fingerprinting	NOUN
american_scientific_journal-4437	66	104	which	which	PRON
american_scientific_journal-4437	66	105	depend	depend	VERB
american_scientific_journal-4437	66	106	on	on	ADP
american_scientific_journal-4437	66	107	k	k	PROPN
american_scientific_journal-4437	66	108	number	number	NOUN
american_scientific_journal-4437	66	109	of	of	ADP
american_scientific_journal-4437	66	110	aps	ap	NOUN
american_scientific_journal-4437	66	111	or	or	CCONJ
american_scientific_journal-4437	66	112	triangulation	triangulation	NOUN
american_scientific_journal-4437	66	113	technique	technique	NOUN
american_scientific_journal-4437	66	114	which	which	PRON
american_scientific_journal-4437	66	115	depend	depend	VERB
american_scientific_journal-4437	66	116	on	on	ADP
american_scientific_journal-4437	66	117	3	3	NUM
american_scientific_journal-4437	66	118	aps	ap	NOUN
american_scientific_journal-4437	66	119	,	,	PUNCT
american_scientific_journal-4437	66	120	we	we	PRON
american_scientific_journal-4437	66	121	try	try	VERB
american_scientific_journal-4437	66	122	to	to	PART
american_scientific_journal-4437	66	123	introduce	introduce	VERB
american_scientific_journal-4437	66	124	a	a	DET
american_scientific_journal-4437	66	125	technique	technique	NOUN
american_scientific_journal-4437	66	126	with	with	ADP
american_scientific_journal-4437	66	127	less	less	ADJ
american_scientific_journal-4437	66	128	infrastructure	infrastructure	NOUN
american_scientific_journal-4437	66	129	and	and	CCONJ
american_scientific_journal-4437	66	130	more	more	ADJ
american_scientific_journal-4437	66	131	efficiency	efficiency	NOUN
american_scientific_journal-4437	66	132	,	,	PUNCT
american_scientific_journal-4437	66	133	the	the	DET
american_scientific_journal-4437	66	134	challenge	challenge	NOUN
american_scientific_journal-4437	66	135	was	be	AUX
american_scientific_journal-4437	66	136	we	we	PRON
american_scientific_journal-4437	66	137	were	be	AUX
american_scientific_journal-4437	66	138	use	use	VERB
american_scientific_journal-4437	66	139	a	a	DET
american_scientific_journal-4437	66	140	cheap	cheap	ADJ
american_scientific_journal-4437	66	141	component	component	NOUN
american_scientific_journal-4437	66	142	to	to	PART
american_scientific_journal-4437	66	143	design	design	VERB
american_scientific_journal-4437	66	144	the	the	DET
american_scientific_journal-4437	66	145	robot	robot	NOUN
american_scientific_journal-4437	66	146	,	,	PUNCT
american_scientific_journal-4437	66	147	so	so	SCONJ
american_scientific_journal-4437	66	148	we	we	PRON
american_scientific_journal-4437	66	149	suffer	suffer	VERB
american_scientific_journal-4437	66	150	from	from	ADP
american_scientific_journal-4437	66	151	slipping	slip	VERB
american_scientific_journal-4437	66	152	and	and	CCONJ
american_scientific_journal-4437	66	153	the	the	DET
american_scientific_journal-4437	66	154	effect	effect	NOUN
american_scientific_journal-4437	66	155	of	of	ADP
american_scientific_journal-4437	66	156	noise	noise	NOUN
american_scientific_journal-4437	66	157	which	which	PRON
american_scientific_journal-4437	66	158	lead	lead	VERB
american_scientific_journal-4437	66	159	to	to	PART
american_scientific_journal-4437	66	160	reduce	reduce	VERB
american_scientific_journal-4437	66	161	resolution	resolution	NOUN
american_scientific_journal-4437	66	162	.	.	PUNCT
american_scientific_journal-4437	67	1	for	for	ADP
american_scientific_journal-4437	67	2	future	future	NOUN
american_scientific_journal-4437	67	3	,	,	PUNCT
american_scientific_journal-4437	67	4	we	we	PRON
american_scientific_journal-4437	67	5	think	think	VERB
american_scientific_journal-4437	67	6	that	that	SCONJ
american_scientific_journal-4437	67	7	using	use	VERB
american_scientific_journal-4437	67	8	more	more	ADV
american_scientific_journal-4437	67	9	efficient	efficient	ADJ
american_scientific_journal-4437	67	10	component	component	NOUN
american_scientific_journal-4437	67	11	will	will	AUX
american_scientific_journal-4437	67	12	serve	serve	VERB
american_scientific_journal-4437	67	13	the	the	DET
american_scientific_journal-4437	67	14	result	result	NOUN
american_scientific_journal-4437	67	15	,	,	PUNCT
american_scientific_journal-4437	67	16	like	like	ADP
american_scientific_journal-4437	67	17	using	use	VERB
american_scientific_journal-4437	67	18	more	more	ADV
american_scientific_journal-4437	67	19	precise	precise	ADJ
american_scientific_journal-4437	67	20	robot	robot	NOUN
american_scientific_journal-4437	67	21	platform	platform	NOUN
american_scientific_journal-4437	67	22	and	and	CCONJ
american_scientific_journal-4437	67	23	ap	ap	VERB
american_scientific_journal-4437	67	24	with	with	ADP
american_scientific_journal-4437	67	25	far	far	ADJ
american_scientific_journal-4437	67	26	range	range	NOUN
american_scientific_journal-4437	67	27	(	(	PUNCT
american_scientific_journal-4437	67	28	may	may	AUX
american_scientific_journal-4437	67	29	be	be	AUX
american_scientific_journal-4437	67	30	use	use	VERB
american_scientific_journal-4437	67	31	ac1900	ac1900	ADJ
american_scientific_journal-4437	67	32	smart	smart	ADJ
american_scientific_journal-4437	67	33	dual	dual	ADJ
american_scientific_journal-4437	67	34	-	-	PUNCT
american_scientific_journal-4437	67	35	band	band	NOUN
american_scientific_journal-4437	67	36	gigabit	gigabit	NOUN
american_scientific_journal-4437	67	37	wi	wi	PROPN
american_scientific_journal-4437	67	38	-	-	PUNCT
american_scientific_journal-4437	67	39	fi	fi	NOUN
american_scientific_journal-4437	67	40	router	router	NOUN
american_scientific_journal-4437	67	41	instead	instead	ADV
american_scientific_journal-4437	67	42	of	of	ADP
american_scientific_journal-4437	67	43	300	300	NUM
american_scientific_journal-4437	67	44	mbps	mbps	NOUN
american_scientific_journal-4437	67	45	wireless	wireless	NOUN
american_scientific_journal-4437	67	46	router	router	NOUN
american_scientific_journal-4437	67	47	that	that	PRON
american_scientific_journal-4437	67	48	we	we	PRON
american_scientific_journal-4437	67	49	used	use	VERB
american_scientific_journal-4437	67	50	it	it	PRON
american_scientific_journal-4437	67	51	currently	currently	ADV
american_scientific_journal-4437	67	52	)	)	PUNCT
american_scientific_journal-4437	67	53	.	.	PUNCT
american_scientific_journal-4437	68	1	references	reference	NOUN
american_scientific_journal-4437	68	2	[	[	X
american_scientific_journal-4437	68	3	1	1	NUM
american_scientific_journal-4437	68	4	]	]	PUNCT
american_scientific_journal-4437	68	5	m.	m.	NOUN
american_scientific_journal-4437	68	6	ocana	ocana	PROPN
american_scientific_journal-4437	68	7	,	,	PUNCT
american_scientific_journal-4437	68	8	l.	l.	PROPN
american_scientific_journal-4437	68	9	m.	m.	PROPN
american_scientific_journal-4437	68	10	bergasa	bergasa	PROPN
american_scientific_journal-4437	68	11	,	,	PUNCT
american_scientific_journal-4437	68	12	m.a	m.a	PROPN
american_scientific_journal-4437	68	13	.	.	PROPN
american_scientific_journal-4437	68	14	sotelo	sotelo	PROPN
american_scientific_journal-4437	68	15	,	,	PUNCT
american_scientific_journal-4437	68	16	j.	j.	PROPN
american_scientific_journal-4437	68	17	nuevo	nuevo	PROPN
american_scientific_journal-4437	68	18	*	*	PROPN
american_scientific_journal-4437	68	19	,	,	PUNCT
american_scientific_journal-4437	68	20	r.	r.	PROPN
american_scientific_journal-4437	68	21	flores.indoor	flores.indoor	PROPN
american_scientific_journal-4437	68	22	robot	robot	NOUN
american_scientific_journal-4437	68	23	localization	localization	NOUN
american_scientific_journal-4437	68	24	system	system	NOUN
american_scientific_journal-4437	68	25	using	use	VERB
american_scientific_journal-4437	68	26	wi	wi	PROPN
american_scientific_journal-4437	68	27	-	-	PUNCT
american_scientific_journal-4437	68	28	fi	fi	NOUN
american_scientific_journal-4437	68	29	signal	signal	ADJ
american_scientific_journal-4437	68	30	measure	measure	NOUN
american_scientific_journal-4437	68	31	and	and	CCONJ
american_scientific_journal-4437	68	32	minimizing	minimize	VERB
american_scientific_journal-4437	68	33	calibration	calibration	NOUN
american_scientific_journal-4437	68	34	effort.ieee	effort.ieee	NOUN
american_scientific_journal-4437	68	35	isie	isie	NOUN
american_scientific_journal-4437	68	36	2005	2005	NUM
american_scientific_journal-4437	68	37	,	,	PUNCT
american_scientific_journal-4437	68	38	june	june	PROPN
american_scientific_journal-4437	68	39	20	20	NUM
american_scientific_journal-4437	68	40	-	-	SYM
american_scientific_journal-4437	68	41	23	23	NUM
american_scientific_journal-4437	68	42	,	,	PUNCT
american_scientific_journal-4437	68	43	2005	2005	NUM
american_scientific_journal-4437	68	44	.	.	PUNCT
american_scientific_journal-4437	69	1	[	[	X
american_scientific_journal-4437	69	2	2	2	NUM
american_scientific_journal-4437	69	3	]	]	PUNCT
american_scientific_journal-4437	69	4	can	can	AUX
american_scientific_journal-4437	69	5	basaran	basaran	VERB
american_scientific_journal-4437	69	6	,	,	PUNCT
american_scientific_journal-4437	69	7	jong	jong	PROPN
american_scientific_journal-4437	69	8	-	-	PUNCT
american_scientific_journal-4437	69	9	wan	wan	PROPN
american_scientific_journal-4437	69	10	yoon	yoon	PROPN
american_scientific_journal-4437	69	11	,	,	PUNCT
american_scientific_journal-4437	69	12	sanghyuk	sanghyuk	NOUN
american_scientific_journal-4437	69	13	son	son	NOUN
american_scientific_journal-4437	69	14	and	and	CCONJ
american_scientific_journal-4437	69	15	taejoon	taejoon	ADV
american_scientific_journal-4437	69	16	park	park	NOUN
american_scientific_journal-4437	69	17	.	.	PUNCT
american_scientific_journal-4437	70	1	self	self	NOUN
american_scientific_journal-4437	70	2	-	-	PUNCT
american_scientific_journal-4437	70	3	configuring	configure	VERB
american_scientific_journal-4437	70	4	indoor	indoor	ADJ
american_scientific_journal-4437	70	5	localization	localization	NOUN
american_scientific_journal-4437	70	6	based	base	VERB
american_scientific_journal-4437	70	7	on	on	ADP
american_scientific_journal-4437	70	8	low	low	ADJ
american_scientific_journal-4437	70	9	-	-	PUNCT
american_scientific_journal-4437	70	10	cost	cost	NOUN
american_scientific_journal-4437	70	11	ultrasonic	ultrasonic	ADJ
american_scientific_journal-4437	70	12	range	range	NOUN
american_scientific_journal-4437	70	13	sensors	sensor	NOUN
american_scientific_journal-4437	70	14	.	.	PUNCT
american_scientific_journal-4437	71	1	issn	issn	PROPN
american_scientific_journal-4437	71	2	1424	1424	NUM
american_scientific_journal-4437	71	3	-	-	SYM
american_scientific_journal-4437	71	4	8220	8220	NUM
american_scientific_journal-4437	71	5	,	,	PUNCT
american_scientific_journal-4437	71	6	2014	2014	NUM
american_scientific_journal-4437	71	7	.	.	PUNCT
american_scientific_journal-4437	72	1	[	[	X
american_scientific_journal-4437	72	2	4	4	NUM
american_scientific_journal-4437	72	3	]	]	PUNCT
american_scientific_journal-4437	72	4	sandeep	sandeep	PROPN
american_scientific_journal-4437	72	5	k.	k.	PROPN
american_scientific_journal-4437	72	6	malu&jharnamajumdar.kinematics	malu&jharnamajumdar.kinematics	PROPN
american_scientific_journal-4437	72	7	,	,	PUNCT
american_scientific_journal-4437	72	8	localization	localization	NOUN
american_scientific_journal-4437	72	9	and	and	CCONJ
american_scientific_journal-4437	72	10	control	control	NOUN
american_scientific_journal-4437	72	11	of	of	ADP
american_scientific_journal-4437	72	12	differential	differential	ADJ
american_scientific_journal-4437	72	13	drive	drive	PROPN
american_scientific_journal-4437	72	14	mobile	mobile	ADJ
american_scientific_journal-4437	72	15	robot	robot	NOUN
american_scientific_journal-4437	72	16	.	.	PUNCT
american_scientific_journal-4437	73	1	global	global	ADJ
american_scientific_journal-4437	73	2	journal	journal	PROPN
american_scientific_journal-4437	73	3	of	of	ADP
american_scientific_journal-4437	73	4	researches	research	NOUN
american_scientific_journal-4437	73	5	in	in	ADP
american_scientific_journal-4437	73	6	engineering	engineering	NOUN
american_scientific_journal-4437	73	7	:	:	PUNCT
american_scientific_journal-4437	73	8	h	h	PROPN
american_scientific_journal-4437	73	9	robotics	robotic	NOUN
american_scientific_journal-4437	73	10	&	&	CCONJ
american_scientific_journal-4437	73	11	nano	nano	NOUN
american_scientific_journal-4437	73	12	-	-	PUNCT
american_scientific_journal-4437	73	13	tech	tech	NOUN
american_scientific_journal-4437	73	14	volume	volume	NOUN
american_scientific_journal-4437	73	15	14	14	NUM
american_scientific_journal-4437	73	16	issue	issue	NOUN
american_scientific_journal-4437	73	17	1	1	NUM
american_scientific_journal-4437	73	18	version	version	NOUN
american_scientific_journal-4437	73	19	1.0	1.0	NUM
american_scientific_journal-4437	73	20	year	year	NOUN
american_scientific_journal-4437	73	21	2014	2014	NUM
american_scientific_journal-4437	73	22	.	.	PUNCT
american_scientific_journal-4437	74	1	[	[	X
american_scientific_journal-4437	74	2	5	5	X
american_scientific_journal-4437	74	3	]	]	PUNCT
american_scientific_journal-4437	74	4	j.	j.	PROPN
american_scientific_journal-4437	74	5	krejsa	krejsa	PROPN
american_scientific_journal-4437	74	6	,	,	PUNCT
american_scientific_journal-4437	74	7	s.	s.	PROPN
american_scientific_journal-4437	74	8	vechet	vechet	PROPN
american_scientific_journal-4437	74	9	.	.	PUNCT
american_scientific_journal-4437	75	1	infrared	infrared	ADJ
american_scientific_journal-4437	75	2	beacons	beacon	NOUN
american_scientific_journal-4437	75	3	based	base	VERB
american_scientific_journal-4437	75	4	localization	localization	NOUN
american_scientific_journal-4437	75	5	of	of	ADP
american_scientific_journal-4437	75	6	mobile	mobile	NOUN
american_scientific_journal-4437	75	7	robot	robot	NOUN
american_scientific_journal-4437	75	8	.	.	PUNCT
american_scientific_journal-4437	76	1	electronicsand	electronicsand	PROPN
american_scientific_journal-4437	76	2	electrical	electrical	ADJ
american_scientific_journal-4437	76	3	engineering.issn	engineering.issn	PROPN
american_scientific_journal-4437	76	4	1392	1392	NUM
american_scientific_journal-4437	76	5	–	–	PUNCT
american_scientific_journal-4437	76	6	1215	1215	NUM
american_scientific_journal-4437	76	7	2012	2012	NUM
american_scientific_journal-4437	76	8	.	.	PUNCT
american_scientific_journal-4437	77	1	no	no	INTJ
american_scientific_journal-4437	77	2	.	.	NOUN
american_scientific_journal-4437	77	3	1(117	1(117	NUM
american_scientific_journal-4437	77	4	)	)	PUNCT
american_scientific_journal-4437	78	1	[	[	X
american_scientific_journal-4437	78	2	6	6	NUM
american_scientific_journal-4437	78	3	]	]	X
american_scientific_journal-4437	78	4	kevin	kevin	PROPN
american_scientific_journal-4437	78	5	r.	r.	PROPN
american_scientific_journal-4437	78	6	huggins	huggins	PROPN
american_scientific_journal-4437	78	7	.	.	PUNCT
american_scientific_journal-4437	79	1	computer	computer	NOUN
american_scientific_journal-4437	79	2	vision	vision	NOUN
american_scientific_journal-4437	79	3	localization	localization	NOUN
american_scientific_journal-4437	79	4	based	base	VERB
american_scientific_journal-4437	79	5	on	on	ADP
american_scientific_journal-4437	79	6	pseudo	pseudo	NOUN
american_scientific_journal-4437	79	7	-	-	NOUN
american_scientific_journal-4437	79	8	satellites	satellite	NOUN
american_scientific_journal-4437	79	9	.	.	PUNCT
american_scientific_journal-4437	80	1	master	master	NOUN
american_scientific_journal-4437	80	2	thesis.ohio	thesis.ohio	NUM
american_scientific_journal-4437	80	3	state	state	NOUN
american_scientific_journal-4437	80	4	university	university	NOUN
american_scientific_journal-4437	80	5	.	.	PUNCT
american_scientific_journal-4437	81	1	2009	2009	NUM
american_scientific_journal-4437	81	2	.	.	PUNCT
american_scientific_journal-4437	82	1	american	american	ADJ
american_scientific_journal-4437	82	2	scientific	scientific	ADJ
american_scientific_journal-4437	82	3	research	research	PROPN
american_scientific_journal-4437	82	4	journal	journal	NOUN
american_scientific_journal-4437	82	5	for	for	ADP
american_scientific_journal-4437	82	6	engineering	engineering	NOUN
american_scientific_journal-4437	82	7	,	,	PUNCT
american_scientific_journal-4437	82	8	technology	technology	NOUN
american_scientific_journal-4437	82	9	,	,	PUNCT
american_scientific_journal-4437	82	10	and	and	CCONJ
american_scientific_journal-4437	82	11	sciences	science	NOUN
american_scientific_journal-4437	82	12	(	(	PUNCT
american_scientific_journal-4437	82	13	asrjets	asrjet	NOUN
american_scientific_journal-4437	82	14	)	)	PUNCT
american_scientific_journal-4437	82	15	(	(	PUNCT
american_scientific_journal-4437	82	16	2018	2018	NUM
american_scientific_journal-4437	82	17	)	)	PUNCT
american_scientific_journal-4437	82	18	volume	volume	NOUN
american_scientific_journal-4437	82	19	47	47	NUM
american_scientific_journal-4437	82	20	,	,	PUNCT
american_scientific_journal-4437	82	21	no	no	DET
american_scientific_journal-4437	82	22	1	1	NUM
american_scientific_journal-4437	82	23	,	,	PUNCT
american_scientific_journal-4437	82	24	pp	pp	ADV
american_scientific_journal-4437	82	25	135	135	NUM
american_scientific_journal-4437	82	26	-	-	SYM
american_scientific_journal-4437	82	27	144	144	NUM
american_scientific_journal-4437	82	28	144	144	NUM
american_scientific_journal-4437	83	1	[	[	X
american_scientific_journal-4437	83	2	8	8	NUM
american_scientific_journal-4437	83	3	]	]	X
american_scientific_journal-4437	83	4	anisdrira	anisdrira	PROPN
american_scientific_journal-4437	83	5	.	.	PUNCT
american_scientific_journal-4437	84	1	gps	gps	PROPN
american_scientific_journal-4437	84	2	navigation	navigation	NOUN
american_scientific_journal-4437	84	3	for	for	ADP
american_scientific_journal-4437	84	4	outdoor	outdoor	ADJ
american_scientific_journal-4437	84	5	and	and	CCONJ
american_scientific_journal-4437	84	6	indoor	indoor	ADJ
american_scientific_journal-4437	84	7	environments.master	environments.master	PROPN
american_scientific_journal-4437	84	8	thesis.university	thesis.university	PROPN
american_scientific_journal-4437	84	9	of	of	ADP
american_scientific_journal-4437	84	10	tennessee	tennessee	PROPN
american_scientific_journal-4437	84	11	,	,	PUNCT
american_scientific_journal-4437	84	12	knoxville	knoxville	PROPN
american_scientific_journal-4437	84	13	.	.	PUNCT
american_scientific_journal-4437	85	1	2006	2006	NUM
american_scientific_journal-4437	85	2	.	.	PUNCT
american_scientific_journal-4437	86	1	[	[	X
american_scientific_journal-4437	86	2	9	9	NUM
american_scientific_journal-4437	86	3	]	]	PUNCT
american_scientific_journal-4437	86	4	marshall	marshall	PROPN
american_scientific_journal-4437	86	5	r.	r.	PROPN
american_scientific_journal-4437	86	6	sweatt	sweatt	PROPN
american_scientific_journal-4437	86	7	,	,	PUNCT
american_scientific_journal-4437	86	8	communication	communication	NOUN
american_scientific_journal-4437	86	9	and	and	CCONJ
american_scientific_journal-4437	86	10	localization	localization	NOUN
american_scientific_journal-4437	86	11	of	of	ADP
american_scientific_journal-4437	86	12	an	an	DET
american_scientific_journal-4437	86	13	autonomous	autonomous	ADJ
american_scientific_journal-4437	86	14	mobile	mobile	NOUN
american_scientific_journal-4437	86	15	robot.master	robot.master	NOUN
american_scientific_journal-4437	86	16	thesis.colorado	thesis.colorado	NOUN
american_scientific_journal-4437	86	17	school	school	NOUN
american_scientific_journal-4437	86	18	of	of	ADP
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american_scientific_journal-4437	86	20	.	.	PUNCT
american_scientific_journal-4437	87	1	2015	2015	NUM
american_scientific_journal-4437	87	2	.	.	PUNCT
american_scientific_journal-4437	88	1	[	[	X
american_scientific_journal-4437	88	2	10	10	NUM
american_scientific_journal-4437	88	3	]	]	X
american_scientific_journal-4437	88	4	alexandra	alexandra	PROPN
american_scientific_journal-4437	88	5	-	-	PUNCT
american_scientific_journal-4437	88	6	ioana	ioana	PROPN
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american_scientific_journal-4437	88	8	"	"	PUNCT
american_scientific_journal-4437	88	9	analyzing	analyze	VERB
american_scientific_journal-4437	88	10	the	the	DET
american_scientific_journal-4437	88	11	performance	performance	NOUN
american_scientific_journal-4437	88	12	of	of	ADP
american_scientific_journal-4437	88	13	a	a	DET
american_scientific_journal-4437	88	14	wifi	wifi	NOUN
american_scientific_journal-4437	88	15	tracking	tracking	NOUN
american_scientific_journal-4437	88	16	system	system	NOUN
american_scientific_journal-4437	88	17	"	"	PUNCT
american_scientific_journal-4437	88	18	master	master	NOUN
american_scientific_journal-4437	88	19	thesis	thesis	NOUN
american_scientific_journal-4437	88	20	,	,	PUNCT
american_scientific_journal-4437	88	21	free	free	ADJ
american_scientific_journal-4437	88	22	university	university	NOUN
american_scientific_journal-4437	88	23	of	of	ADP
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american_scientific_journal-4437	88	25	,	,	PUNCT
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american_scientific_journal-4437	88	27	.	.	PUNCT
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american_scientific_journal-4437	89	2	13	13	NUM
american_scientific_journal-4437	89	3	]	]	PUNCT
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american_scientific_journal-4437	89	5	li	li	PROPN
american_scientific_journal-4437	89	6	,	,	PUNCT
american_scientific_journal-4437	89	7	le	le	PROPN
american_scientific_journal-4437	89	8	wang	wang	PROPN
american_scientific_journal-4437	89	9	,	,	PUNCT
american_scientific_journal-4437	89	10	shiqiwu	shiqiwu	ADV
american_scientific_journal-4437	89	11	"	"	PUNCT
american_scientific_journal-4437	89	12	indoor	indoor	ADJ
american_scientific_journal-4437	89	13	positioning	positioning	NOUN
american_scientific_journal-4437	89	14	system	system	NOUN
american_scientific_journal-4437	89	15	using	use	VERB
american_scientific_journal-4437	89	16	wifi	wifi	NOUN
american_scientific_journal-4437	89	17	fingerprint	fingerprint	NOUN
american_scientific_journal-4437	89	18	"	"	PUNCT
american_scientific_journal-4437	89	19	stanford	stanford	PROPN
american_scientific_journal-4437	89	20	university	university	PROPN
american_scientific_journal-4437	89	21	,	,	PUNCT
american_scientific_journal-4437	89	22	2013	2013	NUM
american_scientific_journal-4437	89	23	.	.	PUNCT
american_scientific_journal-4437	90	1	[	[	X
american_scientific_journal-4437	90	2	15	15	NUM
american_scientific_journal-4437	90	3	]	]	X
american_scientific_journal-4437	90	4	john	john	PROPN
american_scientific_journal-4437	90	5	boxall	boxall	PROPN
american_scientific_journal-4437	90	6	.	.	PUNCT
american_scientific_journal-4437	91	1	l298n	l298n	PROPN
american_scientific_journal-4437	91	2	dual	dual	ADJ
american_scientific_journal-4437	91	3	motor	motor	NOUN
american_scientific_journal-4437	91	4	controller	controller	NOUN
american_scientific_journal-4437	91	5	module	module	NOUN
american_scientific_journal-4437	91	6	2a	2a	NUM
american_scientific_journal-4437	91	7	and	and	CCONJ
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american_scientific_journal-4437	91	9	.	.	PUNCT
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american_scientific_journal-4437	91	11	.	.	PUNCT
american_scientific_journal-4437	92	1	[	[	X
american_scientific_journal-4437	92	2	16	16	NUM
american_scientific_journal-4437	92	3	]	]	X
american_scientific_journal-4437	92	4	victor	victor	PROPN
american_scientific_journal-4437	92	5	katz	katz	PROPN
american_scientific_journal-4437	92	6	.	.	PUNCT
american_scientific_journal-4437	93	1	al	al	PROPN
american_scientific_journal-4437	93	2	-	-	PUNCT
american_scientific_journal-4437	93	3	kashi	kashi	PROPN
american_scientific_journal-4437	93	4	’s	’s	PART
american_scientific_journal-4437	93	5	law	law	NOUN
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american_scientific_journal-4437	93	8	.	.	PUNCT
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american_scientific_journal-4437	94	2	university	university	PROPN
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american_scientific_journal-4437	94	4	,	,	PUNCT
american_scientific_journal-4437	94	5	2007	2007	NUM
american_scientific_journal-4437	94	6	.	.	PUNCT
american_scientific_journal-4437	95	1	[	[	X
american_scientific_journal-4437	95	2	17	17	NUM
american_scientific_journal-4437	95	3	]	]	X
american_scientific_journal-4437	95	4	caius	caius	PROPN
american_scientific_journal-4437	95	5	suliman1	suliman1	PROPN
american_scientific_journal-4437	95	6	,	,	PUNCT
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american_scientific_journal-4437	95	9	,	,	PUNCT
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american_scientific_journal-4437	95	13	position	position	NOUN
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american_scientific_journal-4437	95	15	using	use	VERB
american_scientific_journal-4437	95	16	the	the	DET
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american_scientific_journal-4437	95	20	of	of	ADP
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american_scientific_journal-4437	95	24	of	of	ADP
american_scientific_journal-4437	95	25	tirgumuresvol	tirgumuresvol	NOUN
american_scientific_journal-4437	95	26	.	.	PUNCT
american_scientific_journal-4437	96	1	6	6	NUM
american_scientific_journal-4437	96	2	(	(	PUNCT
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american_scientific_journal-4437	96	4	)	)	PUNCT
american_scientific_journal-4437	96	5	,	,	PUNCT
american_scientific_journal-4437	96	6	2009	2009	NUM
american_scientific_journal-4437	96	7	issn	issn	PROPN
american_scientific_journal-4437	96	8	1841	1841	NUM
american_scientific_journal-4437	96	9	-	-	SYM
american_scientific_journal-4437	96	10	9267	9267	NUM
american_scientific_journal-4437	96	11	[	[	X
american_scientific_journal-4437	96	12	18	18	NUM
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american_scientific_journal-4437	96	17	,	,	PUNCT
american_scientific_journal-4437	96	18	"	"	PUNCT
american_scientific_journal-4437	96	19	a	a	DET
american_scientific_journal-4437	96	20	study	study	NOUN
american_scientific_journal-4437	96	21	of	of	ADP
american_scientific_journal-4437	96	22	risala	risala	PROPN
american_scientific_journal-4437	96	23	al	al	PROPN
american_scientific_journal-4437	96	24	-	-	PUNCT
american_scientific_journal-4437	96	25	watarwa’ljaib	watarwa’ljaib	PROPN
american_scientific_journal-4437	96	26	"	"	PUNCT
american_scientific_journal-4437	96	27	forum	forum	NOUN
american_scientific_journal-4437	96	28	geometricorum	geometricorum	PROPN
american_scientific_journal-4437	96	29	volume	volume	PROPN
american_scientific_journal-4437	96	30	15	15	NUM
american_scientific_journal-4437	96	31	(	(	PUNCT
american_scientific_journal-4437	96	32	2015	2015	NUM
american_scientific_journal-4437	96	33	)	)	PUNCT
american_scientific_journal-4437	96	34	229–242	229–242	NUM
american_scientific_journal-4437	96	35	.	.	PUNCT
american_scientific_journal-4437	97	1	[	[	X
american_scientific_journal-4437	97	2	19	19	NUM
american_scientific_journal-4437	97	3	]	]	X
american_scientific_journal-4437	97	4	maria	maria	PROPN
american_scientific_journal-4437	97	5	isabel	isabel	PROPN
american_scientific_journal-4437	97	6	ribeiro	ribeiro	PROPN
american_scientific_journal-4437	97	7	,	,	PUNCT
american_scientific_journal-4437	97	8	"	"	PUNCT
american_scientific_journal-4437	97	9	kalman	kalman	NOUN
american_scientific_journal-4437	97	10	and	and	CCONJ
american_scientific_journal-4437	97	11	extended	extended	ADJ
american_scientific_journal-4437	97	12	kalman	kalman	NOUN
american_scientific_journal-4437	97	13	filters	filter	NOUN
american_scientific_journal-4437	97	14	:	:	PUNCT
american_scientific_journal-4437	97	15	concept	concept	NOUN
american_scientific_journal-4437	97	16	,	,	PUNCT
american_scientific_journal-4437	97	17	derivation	derivation	NOUN
american_scientific_journal-4437	97	18	and	and	CCONJ
american_scientific_journal-4437	97	19	properties	property	NOUN
american_scientific_journal-4437	97	20	"	"	PUNCT
american_scientific_journal-4437	97	21	institute	institute	NOUN
american_scientific_journal-4437	97	22	for	for	ADP
american_scientific_journal-4437	97	23	systems	system	NOUN
american_scientific_journal-4437	97	24	and	and	CCONJ
american_scientific_journal-4437	97	25	robotics	robotic	NOUN
american_scientific_journal-4437	97	26	,	,	PUNCT
american_scientific_journal-4437	97	27	lisbon	lisbon	PROPN
american_scientific_journal-4437	97	28	,	,	PUNCT
american_scientific_journal-4437	97	29	portugal	portugal	PROPN
american_scientific_journal-4437	97	30	,	,	PUNCT
american_scientific_journal-4437	97	31	2004	2004	NUM
american_scientific_journal-4437	97	32	.	.	PUNCT