id	sid	tid	token	lemma	pos
american_scientific_journal-5566	1	1	133	133	NUM
american_scientific_journal-5566	1	2	american	american	ADJ
american_scientific_journal-5566	1	3	scientific	scientific	ADJ
american_scientific_journal-5566	1	4	research	research	NOUN
american_scientific_journal-5566	1	5	journal	journal	NOUN
american_scientific_journal-5566	1	6	for	for	ADP
american_scientific_journal-5566	1	7	engineering	engineering	NOUN
american_scientific_journal-5566	1	8	,	,	PUNCT
american_scientific_journal-5566	1	9	technology	technology	NOUN
american_scientific_journal-5566	1	10	,	,	PUNCT
american_scientific_journal-5566	1	11	and	and	CCONJ
american_scientific_journal-5566	1	12	sciences	science	NOUN
american_scientific_journal-5566	1	13	(	(	PUNCT
american_scientific_journal-5566	1	14	asrjets	asrjet	NOUN
american_scientific_journal-5566	1	15	)	)	PUNCT
american_scientific_journal-5566	1	16	issn	issn	PROPN
american_scientific_journal-5566	1	17	(	(	PUNCT
american_scientific_journal-5566	1	18	print	print	NOUN
american_scientific_journal-5566	1	19	)	)	PUNCT
american_scientific_journal-5566	1	20	2313	2313	NUM
american_scientific_journal-5566	1	21	-	-	SYM
american_scientific_journal-5566	1	22	4410	4410	NUM
american_scientific_journal-5566	1	23	,	,	PUNCT
american_scientific_journal-5566	1	24	issn	issn	PROPN
american_scientific_journal-5566	1	25	(	(	PUNCT
american_scientific_journal-5566	1	26	online	online	ADJ
american_scientific_journal-5566	1	27	)	)	PUNCT
american_scientific_journal-5566	1	28	2313	2313	NUM
american_scientific_journal-5566	1	29	-	-	SYM
american_scientific_journal-5566	1	30	4402	4402	NUM
american_scientific_journal-5566	1	31	©	©	PROPN
american_scientific_journal-5566	1	32	global	global	ADJ
american_scientific_journal-5566	1	33	society	society	NOUN
american_scientific_journal-5566	1	34	of	of	ADP
american_scientific_journal-5566	1	35	scientific	scientific	ADJ
american_scientific_journal-5566	1	36	research	research	NOUN
american_scientific_journal-5566	1	37	and	and	CCONJ
american_scientific_journal-5566	1	38	researchers	researcher	NOUN
american_scientific_journal-5566	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	VERB
american_scientific_journal-5566	1	40	an	an	DET
american_scientific_journal-5566	1	41	intelligent	intelligent	ADJ
american_scientific_journal-5566	1	42	obstacle	obstacle	NOUN
american_scientific_journal-5566	1	43	and	and	CCONJ
american_scientific_journal-5566	1	44	edge	edge	NOUN
american_scientific_journal-5566	1	45	recognition	recognition	NOUN
american_scientific_journal-5566	1	46	system	system	NOUN
american_scientific_journal-5566	1	47	using	use	VERB
american_scientific_journal-5566	1	48	bug	bug	NOUN
american_scientific_journal-5566	1	49	algorithm	algorithm	PROPN
american_scientific_journal-5566	1	50	md	md	PROPN
american_scientific_journal-5566	1	51	.	.	PROPN
american_scientific_journal-5566	1	52	arif	arif	PROPN
american_scientific_journal-5566	1	53	istiek	istiek	PROPN
american_scientific_journal-5566	1	54	neloy	neloy	PROPN
american_scientific_journal-5566	1	55	a	a	DET
american_scientific_journal-5566	1	56	,	,	PUNCT
american_scientific_journal-5566	1	57	vicky	vicky	PROPN
american_scientific_journal-5566	1	58	barua	barua	PROPN
american_scientific_journal-5566	1	59	b	b	PROPN
american_scientific_journal-5566	2	1	*	*	PROPN
american_scientific_journal-5566	2	2	,	,	PUNCT
american_scientific_journal-5566	2	3	mithun	mithun	PROPN
american_scientific_journal-5566	2	4	das	das	PROPN
american_scientific_journal-5566	2	5	c	c	PROPN
american_scientific_journal-5566	2	6	,	,	PUNCT
american_scientific_journal-5566	2	7	parthiba	parthiba	PROPN
american_scientific_journal-5566	2	8	barua	barua	PROPN
american_scientific_journal-5566	2	9	d	d	PROPN
american_scientific_journal-5566	2	10	,	,	PUNCT
american_scientific_journal-5566	2	11	shahid	shahid	PROPN
american_scientific_journal-5566	2	12	uddin	uddin	PROPN
american_scientific_journal-5566	2	13	rahat	rahat	PROPN
american_scientific_journal-5566	2	14	e	e	PROPN
american_scientific_journal-5566	2	15	,	,	PUNCT
american_scientific_journal-5566	2	16	abhijit	abhijit	PROPN
american_scientific_journal-5566	2	17	pathak	pathak	PROPN
american_scientific_journal-5566	2	18	f	f	PROPN
american_scientific_journal-5566	2	19	a	a	PRON
american_scientific_journal-5566	2	20	,	,	PUNCT
american_scientific_journal-5566	2	21	b	b	NOUN
american_scientific_journal-5566	2	22	,	,	PUNCT
american_scientific_journal-5566	2	23	c	c	NOUN
american_scientific_journal-5566	2	24	,	,	PUNCT
american_scientific_journal-5566	2	25	d	d	NOUN
american_scientific_journal-5566	2	26	,	,	PUNCT
american_scientific_journal-5566	2	27	e	e	NOUN
american_scientific_journal-5566	2	28	,	,	PUNCT
american_scientific_journal-5566	2	29	f	f	PROPN
american_scientific_journal-5566	2	30	department	department	PROPN
american_scientific_journal-5566	2	31	of	of	ADP
american_scientific_journal-5566	2	32	computer	computer	NOUN
american_scientific_journal-5566	2	33	science	science	NOUN
american_scientific_journal-5566	2	34	and	and	CCONJ
american_scientific_journal-5566	2	35	engineering	engineering	NOUN
american_scientific_journal-5566	2	36	,	,	PUNCT
american_scientific_journal-5566	2	37	bgc	bgc	PROPN
american_scientific_journal-5566	2	38	trust	trust	PROPN
american_scientific_journal-5566	2	39	university	university	PROPN
american_scientific_journal-5566	2	40	bangladesh	bangladesh	PROPN
american_scientific_journal-5566	2	41	,	,	PUNCT
american_scientific_journal-5566	2	42	chandanaish	chandanaish	NOUN
american_scientific_journal-5566	2	43	4382	4382	NUM
american_scientific_journal-5566	2	44	,	,	PUNCT
american_scientific_journal-5566	2	45	chattogram	chattogram	PROPN
american_scientific_journal-5566	2	46	,	,	PUNCT
american_scientific_journal-5566	2	47	bangladesh	bangladesh	VERB
american_scientific_journal-5566	2	48	a	a	DET
american_scientific_journal-5566	2	49	email	email	NOUN
american_scientific_journal-5566	2	50	:	:	PUNCT
american_scientific_journal-5566	2	51	arifistiekofficial@gmail.com	arifistiekofficial@gmail.com	X
american_scientific_journal-5566	2	52	,	,	PUNCT
american_scientific_journal-5566	2	53	b	b	X
american_scientific_journal-5566	2	54	email	email	NOUN
american_scientific_journal-5566	2	55	:	:	PUNCT
american_scientific_journal-5566	2	56	vickybaruaofficial@gmail.com	vickybaruaofficial@gmail.com	X
american_scientific_journal-5566	2	57	c	c	X
american_scientific_journal-5566	2	58	email	email	NOUN
american_scientific_journal-5566	2	59	:	:	PUNCT
american_scientific_journal-5566	2	60	mithunpriyon505@gmail.com	mithunpriyon505@gmail.com	X
american_scientific_journal-5566	2	61	,	,	PUNCT
american_scientific_journal-5566	2	62	d	d	X
american_scientific_journal-5566	2	63	email	email	NOUN
american_scientific_journal-5566	2	64	:	:	PUNCT
american_scientific_journal-5566	2	65	niloybarua777@gmail.com	niloybarua777@gmail.com	X
american_scientific_journal-5566	2	66	e	e	NOUN
american_scientific_journal-5566	2	67	email	email	NOUN
american_scientific_journal-5566	2	68	:	:	PUNCT
american_scientific_journal-5566	2	69	shahid.rahat.official@gmail.com	shahid.rahat.official@gmail.com	X
american_scientific_journal-5566	2	70	,	,	PUNCT
american_scientific_journal-5566	2	71	e	e	PROPN
american_scientific_journal-5566	2	72	email	email	NOUN
american_scientific_journal-5566	2	73	:	:	PUNCT
american_scientific_journal-5566	2	74	abhijitpathak3@gmail.com	abhijitpathak3@gmail.com	X
american_scientific_journal-5566	2	75	abstract	abstract	ADJ
american_scientific_journal-5566	2	76	obstacle	obstacle	NOUN
american_scientific_journal-5566	2	77	avoidance	avoidance	NOUN
american_scientific_journal-5566	2	78	is	be	AUX
american_scientific_journal-5566	2	79	an	an	DET
american_scientific_journal-5566	2	80	important	important	ADJ
american_scientific_journal-5566	2	81	task	task	NOUN
american_scientific_journal-5566	2	82	in	in	ADP
american_scientific_journal-5566	2	83	robotics	robotic	NOUN
american_scientific_journal-5566	2	84	as	as	ADP
american_scientific_journal-5566	2	85	the	the	DET
american_scientific_journal-5566	2	86	autonomous	autonomous	PROPN
american_scientific_journal-5566	2	87	robot	robot	NOUN
american_scientific_journal-5566	2	88	's	's	PART
american_scientific_journal-5566	2	89	aim	aim	NOUN
american_scientific_journal-5566	2	90	is	be	AUX
american_scientific_journal-5566	2	91	to	to	PART
american_scientific_journal-5566	2	92	reach	reach	VERB
american_scientific_journal-5566	2	93	the	the	DET
american_scientific_journal-5566	2	94	destination	destination	NOUN
american_scientific_journal-5566	2	95	without	without	ADP
american_scientific_journal-5566	2	96	collision	collision	NOUN
american_scientific_journal-5566	2	97	.	.	PUNCT
american_scientific_journal-5566	3	1	one	one	NUM
american_scientific_journal-5566	3	2	type	type	NOUN
american_scientific_journal-5566	3	3	of	of	ADP
american_scientific_journal-5566	3	4	autonomous	autonomous	ADJ
american_scientific_journal-5566	3	5	robot	robot	NOUN
american_scientific_journal-5566	3	6	that	that	PRON
american_scientific_journal-5566	3	7	can	can	AUX
american_scientific_journal-5566	3	8	detect	detect	VERB
american_scientific_journal-5566	3	9	obstacles	obstacle	NOUN
american_scientific_journal-5566	3	10	and	and	CCONJ
american_scientific_journal-5566	3	11	edges	edge	NOUN
american_scientific_journal-5566	3	12	and	and	CCONJ
american_scientific_journal-5566	3	13	take	take	VERB
american_scientific_journal-5566	3	14	alternative	alternative	ADJ
american_scientific_journal-5566	3	15	paths	path	NOUN
american_scientific_journal-5566	3	16	free	free	ADJ
american_scientific_journal-5566	3	17	of	of	ADP
american_scientific_journal-5566	3	18	obstacles	obstacle	NOUN
american_scientific_journal-5566	3	19	and	and	CCONJ
american_scientific_journal-5566	3	20	edges	edge	NOUN
american_scientific_journal-5566	3	21	is	be	AUX
american_scientific_journal-5566	3	22	a	a	DET
american_scientific_journal-5566	3	23	real	real	ADJ
american_scientific_journal-5566	3	24	-	-	PUNCT
american_scientific_journal-5566	3	25	time	time	NOUN
american_scientific_journal-5566	3	26	obstacle	obstacle	NOUN
american_scientific_journal-5566	3	27	avoiding	avoid	VERB
american_scientific_journal-5566	3	28	edge	edge	NOUN
american_scientific_journal-5566	3	29	detection	detection	NOUN
american_scientific_journal-5566	3	30	robot	robot	NOUN
american_scientific_journal-5566	3	31	.	.	PUNCT
american_scientific_journal-5566	4	1	this	this	DET
american_scientific_journal-5566	4	2	paper	paper	NOUN
american_scientific_journal-5566	4	3	proposes	propose	VERB
american_scientific_journal-5566	4	4	a	a	DET
american_scientific_journal-5566	4	5	robotic	robotic	ADJ
american_scientific_journal-5566	4	6	robot	robot	NOUN
american_scientific_journal-5566	4	7	with	with	ADP
american_scientific_journal-5566	4	8	an	an	DET
american_scientific_journal-5566	4	9	intelligence	intelligence	NOUN
american_scientific_journal-5566	4	10	built	build	VERB
american_scientific_journal-5566	4	11	into	into	ADP
american_scientific_journal-5566	4	12	it	it	PRON
american_scientific_journal-5566	4	13	that	that	PRON
american_scientific_journal-5566	4	14	guides	guide	VERB
american_scientific_journal-5566	4	15	itself	itself	PRON
american_scientific_journal-5566	4	16	whenever	whenever	SCONJ
american_scientific_journal-5566	4	17	an	an	DET
american_scientific_journal-5566	4	18	obstacle	obstacle	NOUN
american_scientific_journal-5566	4	19	comes	come	VERB
american_scientific_journal-5566	4	20	along	along	ADP
american_scientific_journal-5566	4	21	its	its	PRON
american_scientific_journal-5566	4	22	way	way	NOUN
american_scientific_journal-5566	4	23	by	by	ADP
american_scientific_journal-5566	4	24	bug	bug	NOUN
american_scientific_journal-5566	4	25	algorithm	algorithm	NOUN
american_scientific_journal-5566	4	26	.	.	PUNCT
american_scientific_journal-5566	5	1	this	this	DET
american_scientific_journal-5566	5	2	robotic	robotic	ADJ
american_scientific_journal-5566	5	3	robot	robot	NOUN
american_scientific_journal-5566	5	4	is	be	AUX
american_scientific_journal-5566	5	5	constructed	construct	VERB
american_scientific_journal-5566	5	6	using	use	VERB
american_scientific_journal-5566	5	7	at	at	ADP
american_scientific_journal-5566	5	8	mega	mega	ADJ
american_scientific_journal-5566	5	9	8	8	NUM
american_scientific_journal-5566	5	10	families‟	families‟	PROPN
american_scientific_journal-5566	5	11	micro	micro	NOUN
american_scientific_journal-5566	5	12	-	-	NOUN
american_scientific_journal-5566	5	13	controller	controller	NOUN
american_scientific_journal-5566	5	14	(	(	PUNCT
american_scientific_journal-5566	5	15	arduino	arduino	PROPN
american_scientific_journal-5566	5	16	uno	uno	PROPN
american_scientific_journal-5566	5	17	r3	r3	PROPN
american_scientific_journal-5566	5	18	)	)	PUNCT
american_scientific_journal-5566	5	19	.	.	PUNCT
american_scientific_journal-5566	6	1	the	the	DET
american_scientific_journal-5566	6	2	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	6	3	sensor	sensor	NOUN
american_scientific_journal-5566	6	4	is	be	AUX
american_scientific_journal-5566	6	5	used	use	VERB
american_scientific_journal-5566	6	6	to	to	PART
american_scientific_journal-5566	6	7	detect	detect	VERB
american_scientific_journal-5566	6	8	any	any	DET
american_scientific_journal-5566	6	9	obstacle	obstacle	NOUN
american_scientific_journal-5566	6	10	with	with	ADP
american_scientific_journal-5566	6	11	edges	edge	NOUN
american_scientific_journal-5566	6	12	and	and	CCONJ
american_scientific_journal-5566	6	13	sends	send	VERB
american_scientific_journal-5566	6	14	a	a	DET
american_scientific_journal-5566	6	15	command	command	NOUN
american_scientific_journal-5566	6	16	to	to	ADP
american_scientific_journal-5566	6	17	the	the	DET
american_scientific_journal-5566	6	18	microcontroller	microcontroller	NOUN
american_scientific_journal-5566	6	19	.	.	PUNCT
american_scientific_journal-5566	7	1	the	the	DET
american_scientific_journal-5566	7	2	micro	micro	NOUN
american_scientific_journal-5566	7	3	-	-	NOUN
american_scientific_journal-5566	7	4	controller	controller	NOUN
american_scientific_journal-5566	7	5	,	,	PUNCT
american_scientific_journal-5566	7	6	based	base	VERB
american_scientific_journal-5566	7	7	on	on	ADP
american_scientific_journal-5566	7	8	the	the	DET
american_scientific_journal-5566	7	9	received	receive	VERB
american_scientific_journal-5566	7	10	input	input	NOUN
american_scientific_journal-5566	7	11	signal	signal	NOUN
american_scientific_journal-5566	7	12	,	,	PUNCT
american_scientific_journal-5566	7	13	redirects	redirect	VERB
american_scientific_journal-5566	7	14	the	the	DET
american_scientific_journal-5566	7	15	robot	robot	NOUN
american_scientific_journal-5566	7	16	to	to	PART
american_scientific_journal-5566	7	17	push	push	VERB
american_scientific_journal-5566	7	18	in	in	ADP
american_scientific_journal-5566	7	19	an	an	DET
american_scientific_journal-5566	7	20	alternative	alternative	ADJ
american_scientific_journal-5566	7	21	direction	direction	NOUN
american_scientific_journal-5566	7	22	by	by	ADP
american_scientific_journal-5566	7	23	actuating	actuate	VERB
american_scientific_journal-5566	7	24	the	the	DET
american_scientific_journal-5566	7	25	motors	motor	NOUN
american_scientific_journal-5566	7	26	that	that	PRON
american_scientific_journal-5566	7	27	are	be	AUX
american_scientific_journal-5566	7	28	interfaced	interface	VERB
american_scientific_journal-5566	7	29	with	with	ADP
american_scientific_journal-5566	7	30	it	it	PRON
american_scientific_journal-5566	7	31	via	via	ADP
american_scientific_journal-5566	7	32	a	a	DET
american_scientific_journal-5566	7	33	motor	motor	NOUN
american_scientific_journal-5566	7	34	driver	driver	NOUN
american_scientific_journal-5566	7	35	.	.	PUNCT
american_scientific_journal-5566	8	1	depending	depend	VERB
american_scientific_journal-5566	8	2	on	on	ADP
american_scientific_journal-5566	8	3	the	the	DET
american_scientific_journal-5566	8	4	situation	situation	NOUN
american_scientific_journal-5566	8	5	the	the	DET
american_scientific_journal-5566	8	6	robot	robot	NOUN
american_scientific_journal-5566	8	7	is	be	AUX
american_scientific_journal-5566	8	8	able	able	ADJ
american_scientific_journal-5566	8	9	to	to	PART
american_scientific_journal-5566	8	10	choose	choose	VERB
american_scientific_journal-5566	8	11	the	the	DET
american_scientific_journal-5566	8	12	correct	correct	ADJ
american_scientific_journal-5566	8	13	path	path	NOUN
american_scientific_journal-5566	9	1	[	[	X
american_scientific_journal-5566	9	2	1	1	NUM
american_scientific_journal-5566	9	3	]	]	PUNCT
american_scientific_journal-5566	9	4	.	.	PUNCT
american_scientific_journal-5566	10	1	a	a	DET
american_scientific_journal-5566	10	2	decision	decision	NOUN
american_scientific_journal-5566	10	3	making	make	VERB
american_scientific_journal-5566	10	4	process	process	NOUN
american_scientific_journal-5566	10	5	of	of	ADP
american_scientific_journal-5566	10	6	obstacle	obstacle	NOUN
american_scientific_journal-5566	10	7	avoiding	avoid	VERB
american_scientific_journal-5566	10	8	edge	edge	NOUN
american_scientific_journal-5566	10	9	detection	detection	NOUN
american_scientific_journal-5566	10	10	occurs	occur	VERB
american_scientific_journal-5566	10	11	spontaneously	spontaneously	ADV
american_scientific_journal-5566	10	12	here	here	ADV
american_scientific_journal-5566	10	13	.	.	PUNCT
american_scientific_journal-5566	11	1	this	this	DET
american_scientific_journal-5566	11	2	robot	robot	NOUN
american_scientific_journal-5566	11	3	was	be	AUX
american_scientific_journal-5566	11	4	designed	design	VERB
american_scientific_journal-5566	11	5	to	to	PART
american_scientific_journal-5566	11	6	think	think	VERB
american_scientific_journal-5566	11	7	about	about	ADP
american_scientific_journal-5566	11	8	its	its	PRON
american_scientific_journal-5566	11	9	day	day	NOUN
american_scientific_journal-5566	11	10	-	-	PUNCT
american_scientific_journal-5566	11	11	to	to	ADP
american_scientific_journal-5566	11	12	-	-	PUNCT
american_scientific_journal-5566	11	13	day	day	NOUN
american_scientific_journal-5566	11	14	potentialities	potentiality	NOUN
american_scientific_journal-5566	11	15	.	.	PUNCT
american_scientific_journal-5566	12	1	keywords	keyword	NOUN
american_scientific_journal-5566	12	2	:	:	PUNCT
american_scientific_journal-5566	12	3	arduino	arduino	NOUN
american_scientific_journal-5566	12	4	;	;	PUNCT
american_scientific_journal-5566	12	5	artificial	artificial	ADJ
american_scientific_journal-5566	12	6	intelligence	intelligence	NOUN
american_scientific_journal-5566	12	7	;	;	PUNCT
american_scientific_journal-5566	12	8	edge	edge	NOUN
american_scientific_journal-5566	12	9	detection	detection	NOUN
american_scientific_journal-5566	12	10	;	;	PUNCT
american_scientific_journal-5566	12	11	obstacle	obstacle	NOUN
american_scientific_journal-5566	12	12	avoidance	avoidance	NOUN
american_scientific_journal-5566	12	13	;	;	PUNCT
american_scientific_journal-5566	12	14	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	12	15	sensor	sensor	NOUN
american_scientific_journal-5566	12	16	;	;	PUNCT
american_scientific_journal-5566	12	17	robotics	robotic	NOUN
american_scientific_journal-5566	12	18	.	.	PUNCT
american_scientific_journal-5566	13	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-5566	14	1	*	*	PUNCT
american_scientific_journal-5566	14	2	corresponding	correspond	VERB
american_scientific_journal-5566	14	3	author	author	NOUN
american_scientific_journal-5566	14	4	american	american	PROPN
american_scientific_journal-5566	14	5	scientific	scientific	PROPN
american_scientific_journal-5566	14	6	research	research	PROPN
american_scientific_journal-5566	14	7	journal	journal	NOUN
american_scientific_journal-5566	14	8	for	for	ADP
american_scientific_journal-5566	14	9	engineering	engineering	NOUN
american_scientific_journal-5566	14	10	,	,	PUNCT
american_scientific_journal-5566	14	11	technology	technology	NOUN
american_scientific_journal-5566	14	12	,	,	PUNCT
american_scientific_journal-5566	14	13	and	and	CCONJ
american_scientific_journal-5566	14	14	sciences	science	NOUN
american_scientific_journal-5566	14	15	(	(	PUNCT
american_scientific_journal-5566	14	16	asrjets	asrjet	NOUN
american_scientific_journal-5566	14	17	)	)	PUNCT
american_scientific_journal-5566	14	18	(	(	PUNCT
american_scientific_journal-5566	14	19	2020	2020	NUM
american_scientific_journal-5566	14	20	)	)	PUNCT
american_scientific_journal-5566	14	21	volume	volume	NOUN
american_scientific_journal-5566	14	22	64	64	NUM
american_scientific_journal-5566	14	23	,	,	PUNCT
american_scientific_journal-5566	14	24	no	no	DET
american_scientific_journal-5566	14	25	1	1	NUM
american_scientific_journal-5566	14	26	,	,	PUNCT
american_scientific_journal-5566	14	27	pp	pp	ADV
american_scientific_journal-5566	14	28	133	133	NUM
american_scientific_journal-5566	14	29	-	-	SYM
american_scientific_journal-5566	14	30	143	143	NUM
american_scientific_journal-5566	14	31	134	134	NUM
american_scientific_journal-5566	14	32	1	1	NUM
american_scientific_journal-5566	14	33	.	.	PUNCT
american_scientific_journal-5566	15	1	introduction	introduction	NOUN
american_scientific_journal-5566	15	2	the	the	DET
american_scientific_journal-5566	15	3	obstacle	obstacle	NOUN
american_scientific_journal-5566	15	4	and	and	CCONJ
american_scientific_journal-5566	15	5	edge	edge	NOUN
american_scientific_journal-5566	15	6	detection	detection	NOUN
american_scientific_journal-5566	15	7	robot	robot	NOUN
american_scientific_journal-5566	15	8	is	be	AUX
american_scientific_journal-5566	15	9	a	a	DET
american_scientific_journal-5566	15	10	decision	decision	NOUN
american_scientific_journal-5566	15	11	-	-	PUNCT
american_scientific_journal-5566	15	12	maker	maker	NOUN
american_scientific_journal-5566	15	13	robot	robot	NOUN
american_scientific_journal-5566	15	14	which	which	PRON
american_scientific_journal-5566	15	15	can	can	AUX
american_scientific_journal-5566	15	16	take	take	VERB
american_scientific_journal-5566	15	17	its	its	PRON
american_scientific_journal-5566	15	18	own	own	ADJ
american_scientific_journal-5566	15	19	decision	decision	NOUN
american_scientific_journal-5566	15	20	depending	depend	VERB
american_scientific_journal-5566	15	21	on	on	ADP
american_scientific_journal-5566	15	22	the	the	DET
american_scientific_journal-5566	15	23	real	real	ADJ
american_scientific_journal-5566	15	24	-	-	PUNCT
american_scientific_journal-5566	15	25	time	time	NOUN
american_scientific_journal-5566	15	26	situation	situation	NOUN
american_scientific_journal-5566	15	27	.	.	PUNCT
american_scientific_journal-5566	16	1	if	if	SCONJ
american_scientific_journal-5566	16	2	any	any	DET
american_scientific_journal-5566	16	3	obstacle	obstacle	NOUN
american_scientific_journal-5566	16	4	or	or	CCONJ
american_scientific_journal-5566	16	5	edge	edge	NOUN
american_scientific_journal-5566	16	6	appears	appear	VERB
american_scientific_journal-5566	16	7	,	,	PUNCT
american_scientific_journal-5566	16	8	it	it	PRON
american_scientific_journal-5566	16	9	can	can	AUX
american_scientific_journal-5566	16	10	sense	sense	VERB
american_scientific_journal-5566	16	11	it	it	PRON
american_scientific_journal-5566	16	12	and	and	CCONJ
american_scientific_journal-5566	16	13	take	take	VERB
american_scientific_journal-5566	16	14	an	an	DET
american_scientific_journal-5566	16	15	alternative	alternative	ADJ
american_scientific_journal-5566	16	16	route	route	NOUN
american_scientific_journal-5566	16	17	free	free	ADJ
american_scientific_journal-5566	16	18	of	of	ADP
american_scientific_journal-5566	16	19	obstacles	obstacle	NOUN
american_scientific_journal-5566	16	20	or	or	CCONJ
american_scientific_journal-5566	16	21	edges	edge	NOUN
american_scientific_journal-5566	16	22	.	.	PUNCT
american_scientific_journal-5566	17	1	the	the	DET
american_scientific_journal-5566	17	2	following	follow	VERB
american_scientific_journal-5566	17	3	are	be	AUX
american_scientific_journal-5566	17	4	some	some	DET
american_scientific_journal-5566	17	5	simple	simple	ADJ
american_scientific_journal-5566	17	6	tasks	task	NOUN
american_scientific_journal-5566	17	7	that	that	PRON
american_scientific_journal-5566	17	8	can	can	AUX
american_scientific_journal-5566	17	9	be	be	AUX
american_scientific_journal-5566	17	10	performed	perform	VERB
american_scientific_journal-5566	17	11	through	through	ADP
american_scientific_journal-5566	17	12	the	the	DET
american_scientific_journal-5566	17	13	robot	robot	NOUN
american_scientific_journal-5566	17	14	:	:	PUNCT
american_scientific_journal-5566	17	15			NOUN
american_scientific_journal-5566	17	16	as	as	ADV
american_scientific_journal-5566	17	17	long	long	ADV
american_scientific_journal-5566	17	18	as	as	SCONJ
american_scientific_journal-5566	17	19	it	it	PRON
american_scientific_journal-5566	17	20	can	can	AUX
american_scientific_journal-5566	17	21	not	not	PART
american_scientific_journal-5566	17	22	locate	locate	VERB
american_scientific_journal-5566	17	23	an	an	DET
american_scientific_journal-5566	17	24	obstacle	obstacle	NOUN
american_scientific_journal-5566	17	25	it	it	PRON
american_scientific_journal-5566	17	26	pushes	push	VERB
american_scientific_journal-5566	17	27	forward	forward	ADV
american_scientific_journal-5566	17	28	at	at	ADP
american_scientific_journal-5566	17	29	constant	constant	ADJ
american_scientific_journal-5566	17	30	speed	speed	NOUN
american_scientific_journal-5566	17	31	and	and	CCONJ
american_scientific_journal-5566	17	32	can	can	AUX
american_scientific_journal-5566	17	33	sense	sense	VERB
american_scientific_journal-5566	17	34	a	a	DET
american_scientific_journal-5566	17	35	smooth	smooth	ADJ
american_scientific_journal-5566	17	36	surface	surface	NOUN
american_scientific_journal-5566	17	37	instantly	instantly	ADV
american_scientific_journal-5566	17	38	if	if	SCONJ
american_scientific_journal-5566	17	39	it	it	PRON
american_scientific_journal-5566	17	40	is	be	AUX
american_scientific_journal-5566	17	41	put	put	VERB
american_scientific_journal-5566	17	42	in	in	ADP
american_scientific_journal-5566	17	43	front	front	NOUN
american_scientific_journal-5566	17	44	of	of	ADP
american_scientific_journal-5566	17	45	it	it	PRON
american_scientific_journal-5566	17	46	.	.	PUNCT
american_scientific_journal-5566	18	1			X
american_scientific_journal-5566	18	2	similar	similar	ADJ
american_scientific_journal-5566	18	3	to	to	ADP
american_scientific_journal-5566	18	4	the	the	DET
american_scientific_journal-5566	18	5	obstacle	obstacle	NOUN
american_scientific_journal-5566	18	6	it	it	PRON
american_scientific_journal-5566	18	7	continues	continue	VERB
american_scientific_journal-5566	18	8	at	at	ADP
american_scientific_journal-5566	18	9	constant	constant	ADJ
american_scientific_journal-5566	18	10	speed	speed	NOUN
american_scientific_journal-5566	18	11	until	until	SCONJ
american_scientific_journal-5566	18	12	an	an	DET
american_scientific_journal-5566	18	13	edge	edge	NOUN
american_scientific_journal-5566	18	14	is	be	AUX
american_scientific_journal-5566	18	15	found	find	VERB
american_scientific_journal-5566	18	16	.	.	PUNCT
american_scientific_journal-5566	19	1	it	it	PRON
american_scientific_journal-5566	19	2	can	can	AUX
american_scientific_journal-5566	19	3	detect	detect	VERB
american_scientific_journal-5566	19	4	any	any	DET
american_scientific_journal-5566	19	5	kind	kind	NOUN
american_scientific_journal-5566	19	6	of	of	ADP
american_scientific_journal-5566	19	7	edge	edge	NOUN
american_scientific_journal-5566	19	8	from	from	ADP
american_scientific_journal-5566	19	9	a	a	DET
american_scientific_journal-5566	19	10	range	range	NOUN
american_scientific_journal-5566	19	11	of	of	ADP
american_scientific_journal-5566	19	12	just	just	ADV
american_scientific_journal-5566	19	13	5	5	NUM
american_scientific_journal-5566	19	14	cm	cm	NOUN
american_scientific_journal-5566	19	15	.	.	PUNCT
american_scientific_journal-5566	20	1			PRON
american_scientific_journal-5566	21	1	it	it	PRON
american_scientific_journal-5566	21	2	has	have	VERB
american_scientific_journal-5566	21	3	the	the	DET
american_scientific_journal-5566	21	4	ability	ability	NOUN
american_scientific_journal-5566	21	5	to	to	PART
american_scientific_journal-5566	21	6	take	take	VERB
american_scientific_journal-5566	21	7	rational	rational	ADJ
american_scientific_journal-5566	21	8	decisions	decision	NOUN
american_scientific_journal-5566	21	9	to	to	PART
american_scientific_journal-5566	21	10	find	find	VERB
american_scientific_journal-5566	21	11	the	the	DET
american_scientific_journal-5566	21	12	best	good	ADJ
american_scientific_journal-5566	21	13	way	way	NOUN
american_scientific_journal-5566	21	14	to	to	PART
american_scientific_journal-5566	21	15	travel	travel	VERB
american_scientific_journal-5566	21	16	efficiently	efficiently	ADV
american_scientific_journal-5566	21	17	in	in	ADP
american_scientific_journal-5566	21	18	its	its	PRON
american_scientific_journal-5566	21	19	own	own	ADJ
american_scientific_journal-5566	21	20	way	way	NOUN
american_scientific_journal-5566	21	21	.	.	PUNCT
american_scientific_journal-5566	22	1			PRON
american_scientific_journal-5566	22	2	both	both	CCONJ
american_scientific_journal-5566	22	3	the	the	DET
american_scientific_journal-5566	22	4	edge	edge	NOUN
american_scientific_journal-5566	22	5	and	and	CCONJ
american_scientific_journal-5566	22	6	the	the	DET
american_scientific_journal-5566	22	7	obstacle	obstacle	NOUN
american_scientific_journal-5566	22	8	detection	detection	NOUN
american_scientific_journal-5566	22	9	system	system	NOUN
american_scientific_journal-5566	22	10	will	will	AUX
american_scientific_journal-5566	22	11	operate	operate	VERB
american_scientific_journal-5566	22	12	at	at	ADP
american_scientific_journal-5566	22	13	the	the	DET
american_scientific_journal-5566	22	14	same	same	ADJ
american_scientific_journal-5566	22	15	time	time	NOUN
american_scientific_journal-5566	22	16	.	.	PUNCT
american_scientific_journal-5566	23	1	2	2	X
american_scientific_journal-5566	23	2	.	.	X
american_scientific_journal-5566	23	3	prototype	prototype	NOUN
american_scientific_journal-5566	23	4	design	design	VERB
american_scientific_journal-5566	23	5	the	the	DET
american_scientific_journal-5566	23	6	hardware	hardware	NOUN
american_scientific_journal-5566	23	7	needed	need	VERB
american_scientific_journal-5566	23	8	to	to	PART
american_scientific_journal-5566	23	9	finish	finish	VERB
american_scientific_journal-5566	23	10	this	this	DET
american_scientific_journal-5566	23	11	project	project	NOUN
american_scientific_journal-5566	23	12	is	be	AUX
american_scientific_journal-5566	23	13	as	as	SCONJ
american_scientific_journal-5566	23	14	follows	follow	VERB
american_scientific_journal-5566	23	15	:	:	PUNCT
american_scientific_journal-5566	23	16	o	o	NOUN
american_scientific_journal-5566	23	17	arduino	arduino	PROPN
american_scientific_journal-5566	23	18	uno	uno	PROPN
american_scientific_journal-5566	23	19	r3	r3	PROPN
american_scientific_journal-5566	23	20	o	o	PROPN
american_scientific_journal-5566	23	21	motor	motor	NOUN
american_scientific_journal-5566	23	22	shield	shield	NOUN
american_scientific_journal-5566	23	23	l293d	l293d	PROPN
american_scientific_journal-5566	23	24	o	o	PROPN
american_scientific_journal-5566	23	25	2x	2x	NUM
american_scientific_journal-5566	23	26	dc	dc	PROPN
american_scientific_journal-5566	23	27	motors	motors	PROPN
american_scientific_journal-5566	23	28	o	o	PROPN
american_scientific_journal-5566	24	1	3x	3x	X
american_scientific_journal-5566	24	2	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	24	3	sonar	sonar	ADJ
american_scientific_journal-5566	24	4	sensor	sensor	NOUN
american_scientific_journal-5566	24	5	hc	hc	PROPN
american_scientific_journal-5566	24	6	-	-	PUNCT
american_scientific_journal-5566	24	7	sr04	sr04	PROPN
american_scientific_journal-5566	24	8	o	o	NOUN
american_scientific_journal-5566	24	9	sg90	sg90	PROPN
american_scientific_journal-5566	24	10	micro	micro	NOUN
american_scientific_journal-5566	24	11	servo	servo	NOUN
american_scientific_journal-5566	24	12	motor	motor	NOUN
american_scientific_journal-5566	24	13	the	the	DET
american_scientific_journal-5566	24	14	system	system	NOUN
american_scientific_journal-5566	24	15	structure	structure	NOUN
american_scientific_journal-5566	24	16	starts	start	VERB
american_scientific_journal-5566	24	17	with	with	ADP
american_scientific_journal-5566	24	18	a	a	DET
american_scientific_journal-5566	24	19	robot	robot	NOUN
american_scientific_journal-5566	24	20	chassis	chassis	NOUN
american_scientific_journal-5566	24	21	kit	kit	NOUN
american_scientific_journal-5566	24	22	that	that	PRON
american_scientific_journal-5566	24	23	is	be	AUX
american_scientific_journal-5566	24	24	driven	drive	VERB
american_scientific_journal-5566	24	25	by	by	ADP
american_scientific_journal-5566	24	26	two	two	NUM
american_scientific_journal-5566	24	27	wheels	wheel	NOUN
american_scientific_journal-5566	24	28	.	.	PUNCT
american_scientific_journal-5566	25	1	the	the	DET
american_scientific_journal-5566	25	2	arduino	arduino	NOUN
american_scientific_journal-5566	25	3	uno	uno	PROPN
american_scientific_journal-5566	25	4	r3	r3	PROPN
american_scientific_journal-5566	25	5	sits	sit	VERB
american_scientific_journal-5566	25	6	above	above	ADP
american_scientific_journal-5566	25	7	the	the	DET
american_scientific_journal-5566	25	8	chassis	chassis	NOUN
american_scientific_journal-5566	25	9	,	,	PUNCT
american_scientific_journal-5566	25	10	and	and	CCONJ
american_scientific_journal-5566	25	11	the	the	DET
american_scientific_journal-5566	25	12	l293d	l293d	PROPN
american_scientific_journal-5566	25	13	motor	motor	NOUN
american_scientific_journal-5566	25	14	shield	shield	NOUN
american_scientific_journal-5566	25	15	aligns	align	VERB
american_scientific_journal-5566	25	16	with	with	ADP
american_scientific_journal-5566	25	17	the	the	DET
american_scientific_journal-5566	25	18	arduino	arduino	NOUN
american_scientific_journal-5566	25	19	uno	uno	PROPN
american_scientific_journal-5566	25	20	r3	r3	PROPN
american_scientific_journal-5566	25	21	.	.	PUNCT
american_scientific_journal-5566	26	1	two	two	NUM
american_scientific_journal-5566	26	2	dc	dc	PROPN
american_scientific_journal-5566	26	3	motors	motor	NOUN
american_scientific_journal-5566	26	4	are	be	AUX
american_scientific_journal-5566	26	5	attached	attach	VERB
american_scientific_journal-5566	26	6	in	in	ADP
american_scientific_journal-5566	26	7	the	the	DET
american_scientific_journal-5566	26	8	motor	motor	NOUN
american_scientific_journal-5566	26	9	shield	shield	NOUN
american_scientific_journal-5566	26	10	slot	slot	NOUN
american_scientific_journal-5566	26	11	m1	m1	PROPN
american_scientific_journal-5566	26	12	and	and	CCONJ
american_scientific_journal-5566	26	13	m2	m2	PROPN
american_scientific_journal-5566	26	14	.	.	PROPN
american_scientific_journal-5566	27	1	in	in	ADP
american_scientific_journal-5566	27	2	the	the	DET
american_scientific_journal-5566	27	3	second	second	ADJ
american_scientific_journal-5566	27	4	slot	slot	NOUN
american_scientific_journal-5566	27	5	the	the	DET
american_scientific_journal-5566	27	6	sg90	sg90	PROPN
american_scientific_journal-5566	27	7	servo	servo	NOUN
american_scientific_journal-5566	27	8	motor	motor	NOUN
american_scientific_journal-5566	27	9	is	be	AUX
american_scientific_journal-5566	27	10	connected	connect	VERB
american_scientific_journal-5566	27	11	.	.	PUNCT
american_scientific_journal-5566	28	1	three	three	NUM
american_scientific_journal-5566	28	2	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	28	3	sensors	sensor	NOUN
american_scientific_journal-5566	28	4	are	be	AUX
american_scientific_journal-5566	28	5	connected	connect	VERB
american_scientific_journal-5566	28	6	to	to	ADP
american_scientific_journal-5566	28	7	the	the	DET
american_scientific_journal-5566	28	8	motor	motor	NOUN
american_scientific_journal-5566	28	9	shield	shield	NOUN
american_scientific_journal-5566	28	10	in	in	ADP
american_scientific_journal-5566	28	11	pins	pin	NOUN
american_scientific_journal-5566	28	12	a0	a0	PROPN
american_scientific_journal-5566	28	13	-	-	PUNCT
american_scientific_journal-5566	28	14	a5	a5	PROPN
american_scientific_journal-5566	28	15	.	.	PUNCT
american_scientific_journal-5566	29	1	a	a	DET
american_scientific_journal-5566	29	2	lithium	lithium	NOUN
american_scientific_journal-5566	29	3	polymer	polymer	NOUN
american_scientific_journal-5566	29	4	ion	ion	NOUN
american_scientific_journal-5566	29	5	battery	battery	NOUN
american_scientific_journal-5566	29	6	powers	power	NOUN
american_scientific_journal-5566	29	7	the	the	DET
american_scientific_journal-5566	29	8	entire	entire	ADJ
american_scientific_journal-5566	29	9	system	system	NOUN
american_scientific_journal-5566	29	10	.	.	PUNCT
american_scientific_journal-5566	30	1	the	the	DET
american_scientific_journal-5566	30	2	jumper	jumper	NOUN
american_scientific_journal-5566	30	3	wires	wire	NOUN
american_scientific_journal-5566	30	4	convey	convey	VERB
american_scientific_journal-5566	30	5	all	all	DET
american_scientific_journal-5566	30	6	necessary	necessary	ADJ
american_scientific_journal-5566	30	7	connections	connection	NOUN
american_scientific_journal-5566	30	8	.	.	PUNCT
american_scientific_journal-5566	31	1	the	the	DET
american_scientific_journal-5566	31	2	11v	11v	NUM
american_scientific_journal-5566	31	3	lithium	lithium	NOUN
american_scientific_journal-5566	31	4	polymer	polymer	NOUN
american_scientific_journal-5566	31	5	ion	ion	NOUN
american_scientific_journal-5566	31	6	battery	battery	NOUN
american_scientific_journal-5566	31	7	was	be	AUX
american_scientific_journal-5566	31	8	used	use	VERB
american_scientific_journal-5566	31	9	because	because	SCONJ
american_scientific_journal-5566	31	10	the	the	DET
american_scientific_journal-5566	31	11	motor	motor	NOUN
american_scientific_journal-5566	31	12	shield	shield	NOUN
american_scientific_journal-5566	31	13	needs	need	VERB
american_scientific_journal-5566	31	14	a	a	DET
american_scientific_journal-5566	31	15	lot	lot	NOUN
american_scientific_journal-5566	31	16	of	of	ADP
american_scientific_journal-5566	31	17	power	power	NOUN
american_scientific_journal-5566	31	18	to	to	PART
american_scientific_journal-5566	31	19	work	work	VERB
american_scientific_journal-5566	31	20	efficiently	efficiently	ADV
american_scientific_journal-5566	31	21	.	.	PUNCT
american_scientific_journal-5566	32	1	the	the	DET
american_scientific_journal-5566	32	2	m1	m1	PROPN
american_scientific_journal-5566	32	3	and	and	CCONJ
american_scientific_journal-5566	32	4	m2	m2	PROPN
american_scientific_journal-5566	32	5	slots	slot	NOUN
american_scientific_journal-5566	32	6	used	use	VERB
american_scientific_journal-5566	32	7	here	here	ADV
american_scientific_journal-5566	32	8	to	to	PART
american_scientific_journal-5566	32	9	connect	connect	VERB
american_scientific_journal-5566	32	10	the	the	DET
american_scientific_journal-5566	32	11	dc	dc	PROPN
american_scientific_journal-5566	32	12	motors	motors	PROPN
american_scientific_journal-5566	32	13	.	.	PUNCT
american_scientific_journal-5566	33	1	but	but	CCONJ
american_scientific_journal-5566	33	2	user	user	NOUN
american_scientific_journal-5566	33	3	can	can	AUX
american_scientific_journal-5566	33	4	use	use	VERB
american_scientific_journal-5566	33	5	any	any	PRON
american_scientific_journal-5566	33	6	of	of	ADP
american_scientific_journal-5566	33	7	four	four	NUM
american_scientific_journal-5566	33	8	slots	slot	NOUN
american_scientific_journal-5566	33	9	to	to	PART
american_scientific_journal-5566	33	10	provide	provide	VERB
american_scientific_journal-5566	33	11	the	the	DET
american_scientific_journal-5566	33	12	connection	connection	NOUN
american_scientific_journal-5566	33	13	.	.	PUNCT
american_scientific_journal-5566	34	1	one	one	NUM
american_scientific_journal-5566	34	2	thing	thing	NOUN
american_scientific_journal-5566	34	3	to	to	PART
american_scientific_journal-5566	34	4	note	note	VERB
american_scientific_journal-5566	34	5	here	here	ADV
american_scientific_journal-5566	34	6	is	be	AUX
american_scientific_journal-5566	34	7	that	that	SCONJ
american_scientific_journal-5566	34	8	two	two	NUM
american_scientific_journal-5566	34	9	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	34	10	sensors	sensor	NOUN
american_scientific_journal-5566	34	11	are	be	AUX
american_scientific_journal-5566	34	12	used	use	VERB
american_scientific_journal-5566	34	13	to	to	PART
american_scientific_journal-5566	34	14	detect	detect	VERB
american_scientific_journal-5566	34	15	the	the	DET
american_scientific_journal-5566	34	16	edge	edge	NOUN
american_scientific_journal-5566	34	17	and	and	CCONJ
american_scientific_journal-5566	34	18	spread	spread	VERB
american_scientific_journal-5566	34	19	slightly	slightly	ADV
american_scientific_journal-5566	34	20	further	far	ADV
american_scientific_journal-5566	34	21	from	from	ADP
american_scientific_journal-5566	34	22	the	the	DET
american_scientific_journal-5566	34	23	robot	robot	NOUN
american_scientific_journal-5566	34	24	with	with	ADP
american_scientific_journal-5566	34	25	two	two	NUM
american_scientific_journal-5566	34	26	simple	simple	ADJ
american_scientific_journal-5566	34	27	extenders	extender	NOUN
american_scientific_journal-5566	34	28	(	(	PUNCT
american_scientific_journal-5566	34	29	user	user	NOUN
american_scientific_journal-5566	34	30	can	can	AUX
american_scientific_journal-5566	34	31	use	use	VERB
american_scientific_journal-5566	34	32	any	any	DET
american_scientific_journal-5566	34	33	kind	kind	NOUN
american_scientific_journal-5566	34	34	of	of	ADP
american_scientific_journal-5566	34	35	small	small	ADJ
american_scientific_journal-5566	34	36	stick	stick	NOUN
american_scientific_journal-5566	34	37	or	or	CCONJ
american_scientific_journal-5566	34	38	piece	piece	NOUN
american_scientific_journal-5566	34	39	of	of	ADP
american_scientific_journal-5566	34	40	metal	metal	NOUN
american_scientific_journal-5566	34	41	or	or	CCONJ
american_scientific_journal-5566	34	42	3d	3d	NUM
american_scientific_journal-5566	34	43	printed	print	VERB
american_scientific_journal-5566	34	44	arm	arm	NOUN
american_scientific_journal-5566	34	45	)	)	PUNCT
american_scientific_journal-5566	34	46	.	.	PUNCT
american_scientific_journal-5566	35	1	the	the	DET
american_scientific_journal-5566	35	2	third	third	ADJ
american_scientific_journal-5566	35	3	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	35	4	sensor	sensor	NOUN
american_scientific_journal-5566	35	5	is	be	AUX
american_scientific_journal-5566	35	6	located	locate	VERB
american_scientific_journal-5566	35	7	above	above	ADP
american_scientific_journal-5566	35	8	the	the	DET
american_scientific_journal-5566	35	9	servo	servo	NOUN
american_scientific_journal-5566	35	10	motor	motor	NOUN
american_scientific_journal-5566	35	11	(	(	PUNCT
american_scientific_journal-5566	35	12	figure	figure	NOUN
american_scientific_journal-5566	35	13	1	1	NUM
american_scientific_journal-5566	35	14	)	)	PUNCT
american_scientific_journal-5566	35	15	.	.	PUNCT
american_scientific_journal-5566	36	1	two	two	NUM
american_scientific_journal-5566	36	2	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	36	3	sensors	sensor	NOUN
american_scientific_journal-5566	36	4	will	will	AUX
american_scientific_journal-5566	36	5	be	be	AUX
american_scientific_journal-5566	36	6	extended	extend	VERB
american_scientific_journal-5566	36	7	a	a	DET
american_scientific_journal-5566	36	8	little	little	ADJ
american_scientific_journal-5566	36	9	bit	bit	NOUN
american_scientific_journal-5566	36	10	so	so	SCONJ
american_scientific_journal-5566	36	11	the	the	DET
american_scientific_journal-5566	36	12	robot	robot	NOUN
american_scientific_journal-5566	36	13	can	can	AUX
american_scientific_journal-5566	36	14	stop	stop	VERB
american_scientific_journal-5566	36	15	while	while	SCONJ
american_scientific_journal-5566	36	16	detecting	detect	VERB
american_scientific_journal-5566	36	17	the	the	DET
american_scientific_journal-5566	36	18	edge	edge	NOUN
american_scientific_journal-5566	36	19	at	at	ADP
american_scientific_journal-5566	36	20	the	the	DET
american_scientific_journal-5566	36	21	correct	correct	ADJ
american_scientific_journal-5566	36	22	time	time	NOUN
american_scientific_journal-5566	36	23	.	.	PUNCT
american_scientific_journal-5566	37	1	and	and	CCONJ
american_scientific_journal-5566	37	2	because	because	SCONJ
american_scientific_journal-5566	37	3	of	of	ADP
american_scientific_journal-5566	37	4	the	the	DET
american_scientific_journal-5566	37	5	inertia	inertia	NOUN
american_scientific_journal-5566	37	6	,	,	PUNCT
american_scientific_journal-5566	37	7	it	it	PRON
american_scientific_journal-5566	37	8	takes	take	VERB
american_scientific_journal-5566	37	9	some	some	DET
american_scientific_journal-5566	37	10	time	time	NOUN
american_scientific_journal-5566	37	11	to	to	PART
american_scientific_journal-5566	37	12	stop	stop	VERB
american_scientific_journal-5566	37	13	.	.	PUNCT
american_scientific_journal-5566	38	1	the	the	DET
american_scientific_journal-5566	38	2	snapshots	snapshot	NOUN
american_scientific_journal-5566	38	3	of	of	ADP
american_scientific_journal-5566	38	4	the	the	DET
american_scientific_journal-5566	38	5	prototype	prototype	NOUN
american_scientific_journal-5566	38	6	are	be	AUX
american_scientific_journal-5566	38	7	shown	show	VERB
american_scientific_journal-5566	38	8	in	in	ADP
american_scientific_journal-5566	38	9	the	the	DET
american_scientific_journal-5566	38	10	figure	figure	NOUN
american_scientific_journal-5566	38	11	1	1	NUM
american_scientific_journal-5566	38	12	.	.	PUNCT
american_scientific_journal-5566	38	13	american	american	PROPN
american_scientific_journal-5566	38	14	scientific	scientific	ADJ
american_scientific_journal-5566	38	15	research	research	PROPN
american_scientific_journal-5566	38	16	journal	journal	NOUN
american_scientific_journal-5566	38	17	for	for	ADP
american_scientific_journal-5566	38	18	engineering	engineering	NOUN
american_scientific_journal-5566	38	19	,	,	PUNCT
american_scientific_journal-5566	38	20	technology	technology	NOUN
american_scientific_journal-5566	38	21	,	,	PUNCT
american_scientific_journal-5566	38	22	and	and	CCONJ
american_scientific_journal-5566	38	23	sciences	science	NOUN
american_scientific_journal-5566	38	24	(	(	PUNCT
american_scientific_journal-5566	38	25	asrjets	asrjet	NOUN
american_scientific_journal-5566	38	26	)	)	PUNCT
american_scientific_journal-5566	38	27	(	(	PUNCT
american_scientific_journal-5566	38	28	2020	2020	NUM
american_scientific_journal-5566	38	29	)	)	PUNCT
american_scientific_journal-5566	38	30	volume	volume	NOUN
american_scientific_journal-5566	38	31	64	64	NUM
american_scientific_journal-5566	38	32	,	,	PUNCT
american_scientific_journal-5566	38	33	no	no	DET
american_scientific_journal-5566	38	34	1	1	NUM
american_scientific_journal-5566	38	35	,	,	PUNCT
american_scientific_journal-5566	38	36	pp	pp	ADV
american_scientific_journal-5566	38	37	133	133	NUM
american_scientific_journal-5566	38	38	-	-	SYM
american_scientific_journal-5566	38	39	143	143	NUM
american_scientific_journal-5566	38	40	135	135	NUM
american_scientific_journal-5566	38	41	figure	figure	NOUN
american_scientific_journal-5566	38	42	1	1	NUM
american_scientific_journal-5566	38	43	:	:	PUNCT
american_scientific_journal-5566	38	44	snapshots	snapshot	NOUN
american_scientific_journal-5566	38	45	of	of	ADP
american_scientific_journal-5566	38	46	the	the	DET
american_scientific_journal-5566	38	47	prototype	prototype	NOUN
american_scientific_journal-5566	38	48	3	3	X
american_scientific_journal-5566	38	49	.	.	PUNCT
american_scientific_journal-5566	38	50	technical	technical	ADJ
american_scientific_journal-5566	38	51	parts	part	NOUN
american_scientific_journal-5566	38	52	3.1	3.1	NUM
american_scientific_journal-5566	38	53	.	.	PUNCT
american_scientific_journal-5566	38	54	block	block	NOUN
american_scientific_journal-5566	38	55	diagram	diagram	NOUN
american_scientific_journal-5566	38	56	figure	figure	NOUN
american_scientific_journal-5566	38	57	2	2	NUM
american_scientific_journal-5566	38	58	:	:	PUNCT
american_scientific_journal-5566	38	59	block	block	NOUN
american_scientific_journal-5566	38	60	diagram	diagram	NOUN
american_scientific_journal-5566	38	61	of	of	ADP
american_scientific_journal-5566	38	62	the	the	DET
american_scientific_journal-5566	38	63	system	system	NOUN
american_scientific_journal-5566	38	64	in	in	ADP
american_scientific_journal-5566	38	65	the	the	DET
american_scientific_journal-5566	38	66	block	block	NOUN
american_scientific_journal-5566	38	67	diagram	diagram	NOUN
american_scientific_journal-5566	38	68	of	of	ADP
american_scientific_journal-5566	38	69	the	the	DET
american_scientific_journal-5566	38	70	system	system	NOUN
american_scientific_journal-5566	38	71	,	,	PUNCT
american_scientific_journal-5566	38	72	the	the	DET
american_scientific_journal-5566	38	73	arduino	arduino	NOUN
american_scientific_journal-5566	38	74	uno	uno	PROPN
american_scientific_journal-5566	38	75	r3	r3	PROPN
american_scientific_journal-5566	38	76	sends	send	VERB
american_scientific_journal-5566	38	77	a	a	DET
american_scientific_journal-5566	38	78	signal	signal	NOUN
american_scientific_journal-5566	38	79	to	to	ADP
american_scientific_journal-5566	38	80	the	the	DET
american_scientific_journal-5566	38	81	l293d	l293d	PROPN
american_scientific_journal-5566	38	82	motor	motor	NOUN
american_scientific_journal-5566	38	83	shield	shield	NOUN
american_scientific_journal-5566	38	84	that	that	PRON
american_scientific_journal-5566	38	85	can	can	AUX
american_scientific_journal-5566	38	86	control	control	VERB
american_scientific_journal-5566	38	87	four	four	NUM
american_scientific_journal-5566	38	88	dc	dc	PROPN
american_scientific_journal-5566	38	89	motors	motor	NOUN
american_scientific_journal-5566	38	90	at	at	ADP
american_scientific_journal-5566	38	91	a	a	DET
american_scientific_journal-5566	38	92	time	time	NOUN
american_scientific_journal-5566	38	93	.	.	PUNCT
american_scientific_journal-5566	39	1	two	two	NUM
american_scientific_journal-5566	39	2	servo	servo	NOUN
american_scientific_journal-5566	39	3	motors	motor	NOUN
american_scientific_journal-5566	39	4	can	can	AUX
american_scientific_journal-5566	39	5	also	also	ADV
american_scientific_journal-5566	39	6	be	be	AUX
american_scientific_journal-5566	39	7	controlled	control	VERB
american_scientific_journal-5566	39	8	by	by	ADP
american_scientific_journal-5566	39	9	the	the	DET
american_scientific_journal-5566	39	10	motor	motor	NOUN
american_scientific_journal-5566	39	11	shield	shield	NOUN
american_scientific_journal-5566	39	12	.	.	PUNCT
american_scientific_journal-5566	40	1	but	but	CCONJ
american_scientific_journal-5566	40	2	here	here	ADV
american_scientific_journal-5566	40	3	only	only	ADV
american_scientific_journal-5566	40	4	two	two	NUM
american_scientific_journal-5566	40	5	dc	dc	PROPN
american_scientific_journal-5566	40	6	motors	motor	NOUN
american_scientific_journal-5566	40	7	and	and	CCONJ
american_scientific_journal-5566	40	8	one	one	NUM
american_scientific_journal-5566	40	9	servomotor	servomotor	NOUN
american_scientific_journal-5566	40	10	were	be	AUX
american_scientific_journal-5566	40	11	used	use	VERB
american_scientific_journal-5566	40	12	receiving	receive	VERB
american_scientific_journal-5566	40	13	signals	signal	NOUN
american_scientific_journal-5566	40	14	from	from	ADP
american_scientific_journal-5566	40	15	the	the	DET
american_scientific_journal-5566	40	16	shield	shield	NOUN
american_scientific_journal-5566	40	17	of	of	ADP
american_scientific_journal-5566	40	18	the	the	DET
american_scientific_journal-5566	40	19	motor	motor	NOUN
american_scientific_journal-5566	40	20	[	[	X
american_scientific_journal-5566	40	21	2	2	NUM
american_scientific_journal-5566	40	22	]	]	PUNCT
american_scientific_journal-5566	40	23	.	.	PUNCT
american_scientific_journal-5566	41	1	and	and	CCONJ
american_scientific_journal-5566	41	2	the	the	DET
american_scientific_journal-5566	41	3	motor	motor	NOUN
american_scientific_journal-5566	41	4	shield	shield	NOUN
american_scientific_journal-5566	41	5	receives	receive	VERB
american_scientific_journal-5566	41	6	the	the	DET
american_scientific_journal-5566	41	7	signal	signal	NOUN
american_scientific_journal-5566	41	8	from	from	ADP
american_scientific_journal-5566	41	9	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	41	10	sensors	sensor	NOUN
american_scientific_journal-5566	41	11	as	as	ADP
american_scientific_journal-5566	41	12	the	the	DET
american_scientific_journal-5566	41	13	measuring	measure	VERB
american_scientific_journal-5566	41	14	distance	distance	NOUN
american_scientific_journal-5566	41	15	.	.	PUNCT
american_scientific_journal-5566	42	1	the	the	DET
american_scientific_journal-5566	42	2	overall	overall	ADJ
american_scientific_journal-5566	42	3	system	system	NOUN
american_scientific_journal-5566	42	4	's	's	PART
american_scientific_journal-5566	42	5	block	block	NOUN
american_scientific_journal-5566	42	6	diagram	diagram	NOUN
american_scientific_journal-5566	42	7	is	be	AUX
american_scientific_journal-5566	42	8	shown	show	VERB
american_scientific_journal-5566	42	9	in	in	ADP
american_scientific_journal-5566	42	10	figure	figure	NOUN
american_scientific_journal-5566	42	11	2	2	NUM
american_scientific_journal-5566	42	12	below	below	ADV
american_scientific_journal-5566	42	13	.	.	PUNCT
american_scientific_journal-5566	43	1	3.2	3.2	NUM
american_scientific_journal-5566	43	2	.	.	PUNCT
american_scientific_journal-5566	44	1	system	system	NOUN
american_scientific_journal-5566	44	2	architecture	architecture	NOUN
american_scientific_journal-5566	44	3	american	american	ADJ
american_scientific_journal-5566	44	4	scientific	scientific	ADJ
american_scientific_journal-5566	44	5	research	research	NOUN
american_scientific_journal-5566	44	6	journal	journal	NOUN
american_scientific_journal-5566	44	7	for	for	ADP
american_scientific_journal-5566	44	8	engineering	engineering	NOUN
american_scientific_journal-5566	44	9	,	,	PUNCT
american_scientific_journal-5566	44	10	technology	technology	NOUN
american_scientific_journal-5566	44	11	,	,	PUNCT
american_scientific_journal-5566	44	12	and	and	CCONJ
american_scientific_journal-5566	44	13	sciences	science	NOUN
american_scientific_journal-5566	44	14	(	(	PUNCT
american_scientific_journal-5566	44	15	asrjets	asrjet	NOUN
american_scientific_journal-5566	44	16	)	)	PUNCT
american_scientific_journal-5566	44	17	(	(	PUNCT
american_scientific_journal-5566	44	18	2020	2020	NUM
american_scientific_journal-5566	44	19	)	)	PUNCT
american_scientific_journal-5566	44	20	volume	volume	NOUN
american_scientific_journal-5566	44	21	64	64	NUM
american_scientific_journal-5566	44	22	,	,	PUNCT
american_scientific_journal-5566	44	23	no	no	DET
american_scientific_journal-5566	44	24	1	1	NUM
american_scientific_journal-5566	44	25	,	,	PUNCT
american_scientific_journal-5566	44	26	pp	pp	ADV
american_scientific_journal-5566	44	27	133	133	NUM
american_scientific_journal-5566	44	28	-	-	SYM
american_scientific_journal-5566	44	29	143	143	NUM
american_scientific_journal-5566	44	30	136	136	NUM
american_scientific_journal-5566	44	31	here	here	ADV
american_scientific_journal-5566	44	32	motor	motor	NOUN
american_scientific_journal-5566	44	33	shield	shield	NOUN
american_scientific_journal-5566	44	34	l293d	l293d	PROPN
american_scientific_journal-5566	44	35	has	have	AUX
american_scientific_journal-5566	44	36	been	be	AUX
american_scientific_journal-5566	44	37	used	use	VERB
american_scientific_journal-5566	44	38	for	for	ADP
american_scientific_journal-5566	44	39	avoiding	avoid	VERB
american_scientific_journal-5566	44	40	edge	edge	NOUN
american_scientific_journal-5566	44	41	and	and	CCONJ
american_scientific_journal-5566	44	42	hazard	hazard	NOUN
american_scientific_journal-5566	44	43	paths	path	NOUN
american_scientific_journal-5566	44	44	.	.	PUNCT
american_scientific_journal-5566	45	1	it	it	PRON
american_scientific_journal-5566	45	2	's	be	AUX
american_scientific_journal-5566	45	3	like	like	ADP
american_scientific_journal-5566	45	4	an	an	DET
american_scientific_journal-5566	45	5	interface	interface	NOUN
american_scientific_journal-5566	45	6	between	between	ADP
american_scientific_journal-5566	45	7	arduino	arduino	NOUN
american_scientific_journal-5566	45	8	and	and	CCONJ
american_scientific_journal-5566	45	9	the	the	DET
american_scientific_journal-5566	45	10	dc	dc	PROPN
american_scientific_journal-5566	45	11	motors	motors	PROPN
american_scientific_journal-5566	45	12	.	.	PUNCT
american_scientific_journal-5566	46	1	it	it	PRON
american_scientific_journal-5566	46	2	can	can	AUX
american_scientific_journal-5566	46	3	manage	manage	VERB
american_scientific_journal-5566	46	4	4	4	NUM
american_scientific_journal-5566	46	5	dc	dc	PROPN
american_scientific_journal-5566	46	6	motors	motor	NOUN
american_scientific_journal-5566	46	7	at	at	ADP
american_scientific_journal-5566	46	8	a	a	DET
american_scientific_journal-5566	46	9	time	time	NOUN
american_scientific_journal-5566	46	10	.	.	PUNCT
american_scientific_journal-5566	47	1	but	but	CCONJ
american_scientific_journal-5566	47	2	only	only	ADV
american_scientific_journal-5566	47	3	need	need	VERB
american_scientific_journal-5566	47	4	two	two	NUM
american_scientific_journal-5566	47	5	of	of	ADP
american_scientific_journal-5566	47	6	these	these	PRON
american_scientific_journal-5566	47	7	for	for	ADP
american_scientific_journal-5566	47	8	this	this	DET
american_scientific_journal-5566	47	9	robot	robot	NOUN
american_scientific_journal-5566	47	10	.	.	PUNCT
american_scientific_journal-5566	48	1	the	the	DET
american_scientific_journal-5566	48	2	motor	motor	NOUN
american_scientific_journal-5566	48	3	1	1	NUM
american_scientific_journal-5566	48	4	has	have	AUX
american_scientific_journal-5566	48	5	been	be	AUX
american_scientific_journal-5566	48	6	connected	connect	VERB
american_scientific_journal-5566	48	7	to	to	ADP
american_scientific_journal-5566	48	8	the	the	DET
american_scientific_journal-5566	48	9	slot	slot	NOUN
american_scientific_journal-5566	48	10	m1	m1	NOUN
american_scientific_journal-5566	48	11	and	and	CCONJ
american_scientific_journal-5566	48	12	the	the	DET
american_scientific_journal-5566	48	13	motor	motor	NOUN
american_scientific_journal-5566	48	14	2	2	NUM
american_scientific_journal-5566	48	15	has	have	AUX
american_scientific_journal-5566	48	16	been	be	AUX
american_scientific_journal-5566	48	17	connected	connect	VERB
american_scientific_journal-5566	48	18	to	to	ADP
american_scientific_journal-5566	48	19	the	the	DET
american_scientific_journal-5566	48	20	m2	m2	PROPN
american_scientific_journal-5566	48	21	slot	slot	NOUN
american_scientific_journal-5566	48	22	of	of	ADP
american_scientific_journal-5566	48	23	the	the	DET
american_scientific_journal-5566	48	24	motor	motor	NOUN
american_scientific_journal-5566	48	25	shield	shield	NOUN
american_scientific_journal-5566	48	26	.	.	PUNCT
american_scientific_journal-5566	49	1	the	the	DET
american_scientific_journal-5566	49	2	l293d	l293d	PROPN
american_scientific_journal-5566	49	3	engine	engine	NOUN
american_scientific_journal-5566	49	4	shield	shield	NOUN
american_scientific_journal-5566	49	5	can	can	AUX
american_scientific_journal-5566	49	6	also	also	ADV
american_scientific_journal-5566	49	7	power	power	VERB
american_scientific_journal-5566	49	8	to	to	ADP
american_scientific_journal-5566	49	9	2	2	NUM
american_scientific_journal-5566	49	10	servo	servo	NOUN
american_scientific_journal-5566	49	11	motors	motor	NOUN
american_scientific_journal-5566	49	12	at	at	ADP
american_scientific_journal-5566	49	13	a	a	DET
american_scientific_journal-5566	49	14	time	time	NOUN
american_scientific_journal-5566	49	15	.	.	PUNCT
american_scientific_journal-5566	50	1	here	here	ADV
american_scientific_journal-5566	50	2	one	one	NUM
american_scientific_journal-5566	50	3	sg90	sg90	PROPN
american_scientific_journal-5566	50	4	servo	servo	NOUN
american_scientific_journal-5566	50	5	has	have	AUX
american_scientific_journal-5566	50	6	been	be	AUX
american_scientific_journal-5566	50	7	used	use	VERB
american_scientific_journal-5566	50	8	which	which	PRON
american_scientific_journal-5566	50	9	is	be	AUX
american_scientific_journal-5566	50	10	connected	connect	VERB
american_scientific_journal-5566	50	11	to	to	ADP
american_scientific_journal-5566	50	12	the	the	DET
american_scientific_journal-5566	50	13	1st	1st	ADJ
american_scientific_journal-5566	50	14	terminal	terminal	NOUN
american_scientific_journal-5566	50	15	for	for	ADP
american_scientific_journal-5566	50	16	the	the	DET
american_scientific_journal-5566	50	17	servo	servo	NOUN
american_scientific_journal-5566	50	18	motor	motor	NOUN
american_scientific_journal-5566	50	19	.	.	PUNCT
american_scientific_journal-5566	51	1	moreover	moreover	ADV
american_scientific_journal-5566	51	2	,	,	PUNCT
american_scientific_journal-5566	51	3	three	three	NUM
american_scientific_journal-5566	51	4	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	51	5	sensors	sensor	NOUN
american_scientific_journal-5566	51	6	have	have	AUX
american_scientific_journal-5566	51	7	been	be	AUX
american_scientific_journal-5566	51	8	used	use	VERB
american_scientific_journal-5566	51	9	.	.	PUNCT
american_scientific_journal-5566	52	1	both	both	PRON
american_scientific_journal-5566	52	2	ground	ground	NOUN
american_scientific_journal-5566	52	3	and	and	CCONJ
american_scientific_journal-5566	52	4	vcc	vcc	NOUN
american_scientific_journal-5566	52	5	pins	pin	NOUN
american_scientific_journal-5566	52	6	from	from	ADP
american_scientific_journal-5566	52	7	all	all	DET
american_scientific_journal-5566	52	8	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	52	9	sensors	sensor	NOUN
american_scientific_journal-5566	52	10	have	have	AUX
american_scientific_journal-5566	52	11	been	be	AUX
american_scientific_journal-5566	52	12	connected	connect	VERB
american_scientific_journal-5566	52	13	to	to	ADP
american_scientific_journal-5566	52	14	the	the	DET
american_scientific_journal-5566	52	15	motor	motor	NOUN
american_scientific_journal-5566	52	16	shield	shield	NOUN
american_scientific_journal-5566	52	17	ground	ground	NOUN
american_scientific_journal-5566	52	18	and	and	CCONJ
american_scientific_journal-5566	52	19	5v	5v	NOUN
american_scientific_journal-5566	52	20	pin	pin	NOUN
american_scientific_journal-5566	52	21	respectively	respectively	ADV
american_scientific_journal-5566	52	22	.	.	PUNCT
american_scientific_journal-5566	53	1	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	53	2	1	1	NUM
american_scientific_journal-5566	53	3	echo	echo	NOUN
american_scientific_journal-5566	53	4	pin	pin	NOUN
american_scientific_journal-5566	53	5	connected	connect	VERB
american_scientific_journal-5566	53	6	to	to	ADP
american_scientific_journal-5566	53	7	a2	a2	PROPN
american_scientific_journal-5566	53	8	and	and	CCONJ
american_scientific_journal-5566	53	9	a3	a3	PROPN
american_scientific_journal-5566	53	10	trig	trig	PROPN
american_scientific_journal-5566	53	11	pin	pin	NOUN
american_scientific_journal-5566	53	12	attached	attach	VERB
american_scientific_journal-5566	53	13	.	.	PUNCT
american_scientific_journal-5566	54	1	for	for	ADP
american_scientific_journal-5566	54	2	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	54	3	2	2	NUM
american_scientific_journal-5566	54	4	echo	echo	NOUN
american_scientific_journal-5566	54	5	pin	pin	NOUN
american_scientific_journal-5566	54	6	linked	link	VERB
american_scientific_journal-5566	54	7	to	to	ADP
american_scientific_journal-5566	54	8	a1	a1	VERB
american_scientific_journal-5566	54	9	and	and	CCONJ
american_scientific_journal-5566	54	10	trig	trig	NOUN
american_scientific_journal-5566	54	11	pin	pin	NOUN
american_scientific_journal-5566	54	12	connected	connect	VERB
american_scientific_journal-5566	54	13	to	to	ADP
american_scientific_journal-5566	54	14	a0	a0	PROPN
american_scientific_journal-5566	54	15	.	.	PUNCT
american_scientific_journal-5566	55	1	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	55	2	3	3	NUM
american_scientific_journal-5566	55	3	echoes	echo	NOUN
american_scientific_journal-5566	55	4	and	and	CCONJ
american_scientific_journal-5566	55	5	trigger	trigger	NOUN
american_scientific_journal-5566	55	6	pin	pin	NOUN
american_scientific_journal-5566	55	7	connected	connect	VERB
american_scientific_journal-5566	55	8	to	to	ADP
american_scientific_journal-5566	55	9	a4	a4	NOUN
american_scientific_journal-5566	55	10	and	and	CCONJ
american_scientific_journal-5566	55	11	a5	a5	NOUN
american_scientific_journal-5566	55	12	,	,	PUNCT
american_scientific_journal-5566	55	13	respectively	respectively	ADV
american_scientific_journal-5566	55	14	.	.	PUNCT
american_scientific_journal-5566	55	15	11v	11v	NOUN
american_scientific_journal-5566	55	16	lithium	lithium	NOUN
american_scientific_journal-5566	55	17	polymer	polymer	NOUN
american_scientific_journal-5566	55	18	battery	battery	NOUN
american_scientific_journal-5566	55	19	to	to	PART
american_scientific_journal-5566	55	20	power	power	VERB
american_scientific_journal-5566	55	21	the	the	DET
american_scientific_journal-5566	55	22	entire	entire	ADJ
american_scientific_journal-5566	55	23	device	device	NOUN
american_scientific_journal-5566	55	24	has	have	AUX
american_scientific_journal-5566	55	25	been	be	AUX
american_scientific_journal-5566	55	26	connected	connect	VERB
american_scientific_journal-5566	55	27	by	by	ADP
american_scientific_journal-5566	55	28	a	a	DET
american_scientific_journal-5566	55	29	connection	connection	NOUN
american_scientific_journal-5566	55	30	to	to	ADP
american_scientific_journal-5566	55	31	the	the	DET
american_scientific_journal-5566	55	32	motor	motor	NOUN
american_scientific_journal-5566	55	33	shield	shield	NOUN
american_scientific_journal-5566	55	34	's	's	PART
american_scientific_journal-5566	55	35	external	external	ADJ
american_scientific_journal-5566	55	36	power	power	NOUN
american_scientific_journal-5566	55	37	supply	supply	NOUN
american_scientific_journal-5566	55	38	terminal	terminal	NOUN
american_scientific_journal-5566	55	39	.	.	PUNCT
american_scientific_journal-5566	56	1	in	in	ADP
american_scientific_journal-5566	56	2	addition	addition	NOUN
american_scientific_journal-5566	56	3	,	,	PUNCT
american_scientific_journal-5566	56	4	the	the	DET
american_scientific_journal-5566	56	5	motor	motor	NOUN
american_scientific_journal-5566	56	6	shield	shield	NOUN
american_scientific_journal-5566	56	7	needed	need	VERB
american_scientific_journal-5566	56	8	external	external	ADJ
american_scientific_journal-5566	56	9	power	power	NOUN
american_scientific_journal-5566	56	10	supply	supply	NOUN
american_scientific_journal-5566	56	11	,	,	PUNCT
american_scientific_journal-5566	56	12	and	and	CCONJ
american_scientific_journal-5566	56	13	no	no	DET
american_scientific_journal-5566	56	14	additional	additional	ADJ
american_scientific_journal-5566	56	15	power	power	NOUN
american_scientific_journal-5566	56	16	was	be	AUX
american_scientific_journal-5566	56	17	necessary	necessary	ADJ
american_scientific_journal-5566	56	18	for	for	ADP
american_scientific_journal-5566	56	19	the	the	DET
american_scientific_journal-5566	56	20	arduino	arduino	NOUN
american_scientific_journal-5566	56	21	itself	itself	PRON
american_scientific_journal-5566	56	22	.	.	PUNCT
american_scientific_journal-5566	57	1	the	the	DET
american_scientific_journal-5566	57	2	architecture	architecture	NOUN
american_scientific_journal-5566	57	3	of	of	ADP
american_scientific_journal-5566	57	4	the	the	DET
american_scientific_journal-5566	57	5	system	system	NOUN
american_scientific_journal-5566	57	6	is	be	AUX
american_scientific_journal-5566	57	7	shown	show	VERB
american_scientific_journal-5566	57	8	in	in	ADP
american_scientific_journal-5566	57	9	figure	figure	NOUN
american_scientific_journal-5566	57	10	3	3	NUM
american_scientific_journal-5566	57	11	.	.	PUNCT
american_scientific_journal-5566	57	12	figure	figure	VERB
american_scientific_journal-5566	57	13	3	3	NUM
american_scientific_journal-5566	57	14	:	:	PUNCT
american_scientific_journal-5566	57	15	architecture	architecture	NOUN
american_scientific_journal-5566	57	16	of	of	ADP
american_scientific_journal-5566	57	17	the	the	DET
american_scientific_journal-5566	57	18	system	system	NOUN
american_scientific_journal-5566	57	19	3.3	3.3	NUM
american_scientific_journal-5566	57	20	.	.	PUNCT
american_scientific_journal-5566	58	1	working	work	VERB
american_scientific_journal-5566	58	2	principle	principle	NOUN
american_scientific_journal-5566	58	3	of	of	ADP
american_scientific_journal-5566	58	4	the	the	DET
american_scientific_journal-5566	58	5	system	system	NOUN
american_scientific_journal-5566	58	6	using	use	VERB
american_scientific_journal-5566	58	7	bug	bug	NOUN
american_scientific_journal-5566	58	8	algorithm	algorithm	NOUN
american_scientific_journal-5566	58	9	primitive	primitive	ADJ
american_scientific_journal-5566	58	10	algorithms	algorithm	NOUN
american_scientific_journal-5566	58	11	used	use	VERB
american_scientific_journal-5566	58	12	to	to	PART
american_scientific_journal-5566	58	13	stop	stop	VERB
american_scientific_journal-5566	58	14	the	the	DET
american_scientific_journal-5566	58	15	robot	robot	NOUN
american_scientific_journal-5566	58	16	to	to	PART
american_scientific_journal-5566	58	17	avoid	avoid	VERB
american_scientific_journal-5566	58	18	the	the	DET
american_scientific_journal-5566	58	19	collision	collision	NOUN
american_scientific_journal-5566	58	20	but	but	CCONJ
american_scientific_journal-5566	58	21	modern	modern	ADJ
american_scientific_journal-5566	58	22	techniques	technique	NOUN
american_scientific_journal-5566	58	23	allow	allow	VERB
american_scientific_journal-5566	58	24	the	the	DET
american_scientific_journal-5566	58	25	robot	robot	NOUN
american_scientific_journal-5566	58	26	to	to	PART
american_scientific_journal-5566	58	27	bypass	bypass	VERB
american_scientific_journal-5566	58	28	obstacle	obstacle	NOUN
american_scientific_journal-5566	58	29	using	use	VERB
american_scientific_journal-5566	58	30	some	some	DET
american_scientific_journal-5566	58	31	form	form	NOUN
american_scientific_journal-5566	58	32	of	of	ADP
american_scientific_journal-5566	58	33	quantitative	quantitative	ADJ
american_scientific_journal-5566	58	34	calculation	calculation	NOUN
american_scientific_journal-5566	58	35	of	of	ADP
american_scientific_journal-5566	58	36	obstacle	obstacle	NOUN
american_scientific_journal-5566	58	37	dimensions	dimension	NOUN
american_scientific_journal-5566	58	38	.	.	PUNCT
american_scientific_journal-5566	59	1	primitive	primitive	ADJ
american_scientific_journal-5566	59	2	algorithms	algorithm	NOUN
american_scientific_journal-5566	59	3	used	use	VERB
american_scientific_journal-5566	59	4	to	to	PART
american_scientific_journal-5566	59	5	stop	stop	VERB
american_scientific_journal-5566	59	6	the	the	DET
american_scientific_journal-5566	59	7	robot	robot	NOUN
american_scientific_journal-5566	59	8	to	to	PART
american_scientific_journal-5566	59	9	avoid	avoid	VERB
american_scientific_journal-5566	59	10	the	the	DET
american_scientific_journal-5566	59	11	collision	collision	NOUN
american_scientific_journal-5566	59	12	but	but	CCONJ
american_scientific_journal-5566	59	13	modern	modern	ADJ
american_scientific_journal-5566	59	14	techniques	technique	NOUN
american_scientific_journal-5566	59	15	allow	allow	VERB
american_scientific_journal-5566	59	16	the	the	DET
american_scientific_journal-5566	59	17	robot	robot	NOUN
american_scientific_journal-5566	59	18	to	to	PART
american_scientific_journal-5566	59	19	bypass	bypass	VERB
american_scientific_journal-5566	59	20	obstacles	obstacle	NOUN
american_scientific_journal-5566	59	21	using	use	VERB
american_scientific_journal-5566	59	22	some	some	DET
american_scientific_journal-5566	59	23	form	form	NOUN
american_scientific_journal-5566	59	24	of	of	ADP
american_scientific_journal-5566	59	25	quantitative	quantitative	ADJ
american_scientific_journal-5566	59	26	measurement	measurement	NOUN
american_scientific_journal-5566	59	27	of	of	ADP
american_scientific_journal-5566	59	28	the	the	DET
american_scientific_journal-5566	59	29	dimensions	dimension	NOUN
american_scientific_journal-5566	59	30	of	of	ADP
american_scientific_journal-5566	59	31	obstacles	obstacle	NOUN
american_scientific_journal-5566	59	32	[	[	X
american_scientific_journal-5566	59	33	3	3	NUM
american_scientific_journal-5566	59	34	]	]	PUNCT
american_scientific_journal-5566	59	35	.	.	PUNCT
american_scientific_journal-5566	60	1	american	american	PROPN
american_scientific_journal-5566	60	2	scientific	scientific	ADJ
american_scientific_journal-5566	60	3	research	research	PROPN
american_scientific_journal-5566	60	4	journal	journal	NOUN
american_scientific_journal-5566	60	5	for	for	ADP
american_scientific_journal-5566	60	6	engineering	engineering	NOUN
american_scientific_journal-5566	60	7	,	,	PUNCT
american_scientific_journal-5566	60	8	technology	technology	NOUN
american_scientific_journal-5566	60	9	,	,	PUNCT
american_scientific_journal-5566	60	10	and	and	CCONJ
american_scientific_journal-5566	60	11	sciences	science	NOUN
american_scientific_journal-5566	60	12	(	(	PUNCT
american_scientific_journal-5566	60	13	asrjets	asrjet	NOUN
american_scientific_journal-5566	60	14	)	)	PUNCT
american_scientific_journal-5566	60	15	(	(	PUNCT
american_scientific_journal-5566	60	16	2020	2020	NUM
american_scientific_journal-5566	60	17	)	)	PUNCT
american_scientific_journal-5566	60	18	volume	volume	NOUN
american_scientific_journal-5566	60	19	64	64	NUM
american_scientific_journal-5566	60	20	,	,	PUNCT
american_scientific_journal-5566	60	21	no	no	DET
american_scientific_journal-5566	60	22	1	1	NUM
american_scientific_journal-5566	60	23	,	,	PUNCT
american_scientific_journal-5566	60	24	pp	pp	ADV
american_scientific_journal-5566	60	25	133	133	NUM
american_scientific_journal-5566	60	26	-	-	SYM
american_scientific_journal-5566	60	27	143	143	NUM
american_scientific_journal-5566	60	28	137	137	NUM
american_scientific_journal-5566	60	29	(	(	PUNCT
american_scientific_journal-5566	60	30	a)bug	a)bug	PROPN
american_scientific_journal-5566	60	31	1	1	NUM
american_scientific_journal-5566	60	32	(	(	PUNCT
american_scientific_journal-5566	60	33	b	b	NOUN
american_scientific_journal-5566	60	34	)	)	PUNCT
american_scientific_journal-5566	60	35	bug	bug	NOUN
american_scientific_journal-5566	60	36	2	2	NUM
american_scientific_journal-5566	60	37	figure	figure	NOUN
american_scientific_journal-5566	60	38	4	4	NUM
american_scientific_journal-5566	60	39	:	:	PUNCT
american_scientific_journal-5566	60	40	path	path	NOUN
american_scientific_journal-5566	60	41	planning	planning	NOUN
american_scientific_journal-5566	60	42	with	with	ADP
american_scientific_journal-5566	60	43	bug	bug	NOUN
american_scientific_journal-5566	60	44	algorithm	algorithm	NOUN
american_scientific_journal-5566	60	45	[	[	X
american_scientific_journal-5566	60	46	5	5	X
american_scientific_journal-5566	60	47	]	]	PUNCT
american_scientific_journal-5566	60	48	the	the	DET
american_scientific_journal-5566	60	49	robot	robot	NOUN
american_scientific_journal-5566	60	50	implements	implement	VERB
american_scientific_journal-5566	60	51	the	the	DET
american_scientific_journal-5566	60	52	steps	step	NOUN
american_scientific_journal-5566	60	53	below	below	ADV
american_scientific_journal-5566	60	54	in	in	ADP
american_scientific_journal-5566	60	55	the	the	DET
american_scientific_journal-5566	60	56	bug	bug	NOUN
american_scientific_journal-5566	60	57	1	1	NUM
american_scientific_journal-5566	60	58	algorithm	algorithm	NOUN
american_scientific_journal-5566	60	59	:	:	PUNCT
american_scientific_journal-5566	60	60	•	•	ADP
american_scientific_journal-5566	60	61	the	the	DET
american_scientific_journal-5566	60	62	robot	robot	NOUN
american_scientific_journal-5566	60	63	is	be	AUX
american_scientific_journal-5566	60	64	bound	bind	VERB
american_scientific_journal-5566	60	65	for	for	ADP
american_scientific_journal-5566	60	66	the	the	DET
american_scientific_journal-5566	60	67	destination	destination	NOUN
american_scientific_journal-5566	60	68	.	.	PUNCT
american_scientific_journal-5566	61	1	•	•	INTJ
american_scientific_journal-5566	61	2	if	if	SCONJ
american_scientific_journal-5566	61	3	the	the	DET
american_scientific_journal-5566	61	4	robot	robot	NOUN
american_scientific_journal-5566	61	5	meets	meet	VERB
american_scientific_journal-5566	61	6	an	an	DET
american_scientific_journal-5566	61	7	obstacle	obstacle	NOUN
american_scientific_journal-5566	61	8	,	,	PUNCT
american_scientific_journal-5566	61	9	it	it	PRON
american_scientific_journal-5566	61	10	circumnavigates	circumnavigate	VERB
american_scientific_journal-5566	61	11	it	it	PRON
american_scientific_journal-5566	61	12	and	and	CCONJ
american_scientific_journal-5566	61	13	stores	store	NOUN
american_scientific_journal-5566	61	14	/	/	SYM
american_scientific_journal-5566	61	15	remembers	remember	VERB
american_scientific_journal-5566	61	16	how	how	SCONJ
american_scientific_journal-5566	61	17	close	close	ADJ
american_scientific_journal-5566	61	18	it	it	PRON
american_scientific_journal-5566	61	19	was	be	AUX
american_scientific_journal-5566	61	20	to	to	ADP
american_scientific_journal-5566	61	21	the	the	DET
american_scientific_journal-5566	61	22	target	target	NOUN
american_scientific_journal-5566	61	23	at	at	ADP
american_scientific_journal-5566	61	24	each	each	DET
american_scientific_journal-5566	61	25	point	point	NOUN
american_scientific_journal-5566	61	26	.	.	PUNCT
american_scientific_journal-5566	62	1	•	•	NUM
american_scientific_journal-5566	62	2	after	after	ADP
american_scientific_journal-5566	62	3	circumnavigating	circumnavigate	VERB
american_scientific_journal-5566	62	4	the	the	DET
american_scientific_journal-5566	62	5	obstacle	obstacle	NOUN
american_scientific_journal-5566	62	6	,	,	PUNCT
american_scientific_journal-5566	62	7	the	the	DET
american_scientific_journal-5566	62	8	robot	robot	NOUN
american_scientific_journal-5566	62	9	returns	return	VERB
american_scientific_journal-5566	62	10	by	by	ADP
american_scientific_journal-5566	62	11	wall	wall	NOUN
american_scientific_journal-5566	62	12	-	-	PUNCT
american_scientific_journal-5566	62	13	following	following	NOUN
american_scientific_journal-5566	62	14	to	to	ADP
american_scientific_journal-5566	62	15	the	the	DET
american_scientific_journal-5566	62	16	point	point	NOUN
american_scientific_journal-5566	62	17	that	that	PRON
american_scientific_journal-5566	62	18	is	be	AUX
american_scientific_journal-5566	62	19	nearest	near	ADJ
american_scientific_journal-5566	62	20	to	to	ADP
american_scientific_journal-5566	62	21	the	the	DET
american_scientific_journal-5566	62	22	obstacle	obstacle	NOUN
american_scientific_journal-5566	62	23	and	and	CCONJ
american_scientific_journal-5566	62	24	then	then	ADV
american_scientific_journal-5566	62	25	continues	continue	VERB
american_scientific_journal-5566	62	26	on	on	ADP
american_scientific_journal-5566	62	27	the	the	DET
american_scientific_journal-5566	62	28	route	route	NOUN
american_scientific_journal-5566	62	29	to	to	ADP
american_scientific_journal-5566	62	30	the	the	DET
american_scientific_journal-5566	62	31	destination	destination	NOUN
american_scientific_journal-5566	62	32	.	.	PUNCT
american_scientific_journal-5566	63	1	figure	figure	NOUN
american_scientific_journal-5566	63	2	4(a	4(a	NUM
american_scientific_journal-5566	63	3	)	)	PUNCT
american_scientific_journal-5566	63	4	illustrates	illustrate	VERB
american_scientific_journal-5566	63	5	how	how	SCONJ
american_scientific_journal-5566	63	6	a	a	DET
american_scientific_journal-5566	63	7	point	point	NOUN
american_scientific_journal-5566	63	8	robot	robot	NOUN
american_scientific_journal-5566	63	9	uses	use	VERB
american_scientific_journal-5566	63	10	the	the	DET
american_scientific_journal-5566	63	11	bug	bug	NOUN
american_scientific_journal-5566	63	12	1	1	NUM
american_scientific_journal-5566	63	13	algorithm	algorithm	NOUN
american_scientific_journal-5566	63	14	to	to	PART
american_scientific_journal-5566	63	15	navigate	navigate	VERB
american_scientific_journal-5566	63	16	an	an	DET
american_scientific_journal-5566	63	17	area	area	NOUN
american_scientific_journal-5566	63	18	with	with	ADP
american_scientific_journal-5566	63	19	two	two	NUM
american_scientific_journal-5566	63	20	obstacles	obstacle	NOUN
american_scientific_journal-5566	63	21	to	to	ADP
american_scientific_journal-5566	63	22	reaching	reach	VERB
american_scientific_journal-5566	63	23	the	the	DET
american_scientific_journal-5566	63	24	target	target	NOUN
american_scientific_journal-5566	63	25	.	.	PUNCT
american_scientific_journal-5566	64	1	the	the	DET
american_scientific_journal-5566	64	2	bug	bug	NOUN
american_scientific_journal-5566	64	3	1	1	NUM
american_scientific_journal-5566	64	4	algorithm	algorithm	NOUN
american_scientific_journal-5566	64	5	could	could	AUX
american_scientific_journal-5566	64	6	be	be	AUX
american_scientific_journal-5566	64	7	costly	costly	ADJ
american_scientific_journal-5566	64	8	.	.	PUNCT
american_scientific_journal-5566	65	1	if	if	SCONJ
american_scientific_journal-5566	65	2	the	the	DET
american_scientific_journal-5566	65	3	cost	cost	NOUN
american_scientific_journal-5566	65	4	of	of	ADP
american_scientific_journal-5566	65	5	the	the	DET
american_scientific_journal-5566	65	6	straight	straight	ADJ
american_scientific_journal-5566	65	7	line	line	NOUN
american_scientific_journal-5566	65	8	path	path	NOUN
american_scientific_journal-5566	65	9	from	from	ADP
american_scientific_journal-5566	65	10	the	the	DET
american_scientific_journal-5566	65	11	beginning	beginning	NOUN
american_scientific_journal-5566	65	12	to	to	ADP
american_scientific_journal-5566	65	13	the	the	DET
american_scientific_journal-5566	65	14	destination	destination	NOUN
american_scientific_journal-5566	65	15	is	be	AUX
american_scientific_journal-5566	65	16	d	d	NOUN
american_scientific_journal-5566	65	17	and	and	CCONJ
american_scientific_journal-5566	65	18	the	the	DET
american_scientific_journal-5566	65	19	diameter	diameter	NOUN
american_scientific_journal-5566	65	20	of	of	ADP
american_scientific_journal-5566	65	21	the	the	DET
american_scientific_journal-5566	65	22	obstacle	obstacle	NOUN
american_scientific_journal-5566	65	23	is	be	AUX
american_scientific_journal-5566	65	24	pi	pi	NOUN
american_scientific_journal-5566	65	25	,	,	PUNCT
american_scientific_journal-5566	65	26	the	the	DET
american_scientific_journal-5566	65	27	distance	distance	NOUN
american_scientific_journal-5566	65	28	d	d	ADP
american_scientific_journal-5566	65	29	traveled	travel	VERB
american_scientific_journal-5566	65	30	by	by	ADP
american_scientific_journal-5566	65	31	the	the	DET
american_scientific_journal-5566	65	32	robot	robot	NOUN
american_scientific_journal-5566	65	33	is	be	AUX
american_scientific_journal-5566	65	34	bounded	bound	VERB
american_scientific_journal-5566	65	35	by	by	ADP
american_scientific_journal-5566	65	36	d=	d=	NUM
american_scientific_journal-5566	65	37	dd	dd	NOUN
american_scientific_journal-5566	65	38	+	+	NUM
american_scientific_journal-5566	65	39	12	12	NUM
american_scientific_journal-5566	65	40	pi	pi	NOUN
american_scientific_journal-5566	65	41	.	.	PUNCT
american_scientific_journal-5566	66	1	therefore	therefore	ADV
american_scientific_journal-5566	66	2	,	,	PUNCT
american_scientific_journal-5566	66	3	the	the	DET
american_scientific_journal-5566	66	4	bug	bug	NOUN
american_scientific_journal-5566	66	5	2	2	NUM
american_scientific_journal-5566	66	6	algorithm	algorithm	NOUN
american_scientific_journal-5566	66	7	was	be	AUX
american_scientific_journal-5566	66	8	proposed	propose	VERB
american_scientific_journal-5566	66	9	to	to	PART
american_scientific_journal-5566	66	10	avoid	avoid	VERB
american_scientific_journal-5566	66	11	circumnavigating	circumnavigate	VERB
american_scientific_journal-5566	66	12	the	the	DET
american_scientific_journal-5566	66	13	obstacle	obstacle	NOUN
american_scientific_journal-5566	66	14	[	[	X
american_scientific_journal-5566	66	15	6	6	NUM
american_scientific_journal-5566	66	16	]	]	PUNCT
american_scientific_journal-5566	66	17	.	.	PUNCT
american_scientific_journal-5566	67	1	the	the	DET
american_scientific_journal-5566	67	2	robot	robot	NOUN
american_scientific_journal-5566	67	3	follows	follow	VERB
american_scientific_journal-5566	67	4	the	the	DET
american_scientific_journal-5566	67	5	following	follow	VERB
american_scientific_journal-5566	67	6	steps	step	NOUN
american_scientific_journal-5566	67	7	within	within	ADP
american_scientific_journal-5566	67	8	the	the	DET
american_scientific_journal-5566	67	9	bug	bug	NOUN
american_scientific_journal-5566	67	10	2	2	NUM
american_scientific_journal-5566	67	11	algorithm	algorithm	NOUN
american_scientific_journal-5566	67	12	:	:	PUNCT
american_scientific_journal-5566	67	13	•	•	ADP
american_scientific_journal-5566	67	14	the	the	DET
american_scientific_journal-5566	67	15	robot	robot	NOUN
american_scientific_journal-5566	67	16	heads	head	VERB
american_scientific_journal-5566	67	17	towards	towards	ADP
american_scientific_journal-5566	67	18	the	the	DET
american_scientific_journal-5566	67	19	m	m	NOUN
american_scientific_journal-5566	67	20	-	-	PUNCT
american_scientific_journal-5566	67	21	line	line	NOUN
american_scientific_journal-5566	67	22	destination	destination	NOUN
american_scientific_journal-5566	67	23	,	,	PUNCT
american_scientific_journal-5566	67	24	which	which	PRON
american_scientific_journal-5566	67	25	is	be	AUX
american_scientific_journal-5566	67	26	identified	identify	VERB
american_scientific_journal-5566	67	27	as	as	ADP
american_scientific_journal-5566	67	28	the	the	DET
american_scientific_journal-5566	67	29	line	line	NOUN
american_scientific_journal-5566	67	30	that	that	PRON
american_scientific_journal-5566	67	31	joins	join	VERB
american_scientific_journal-5566	67	32	the	the	DET
american_scientific_journal-5566	67	33	starting	starting	NOUN
american_scientific_journal-5566	67	34	location	location	NOUN
american_scientific_journal-5566	67	35	and	and	CCONJ
american_scientific_journal-5566	67	36	the	the	DET
american_scientific_journal-5566	67	37	destination	destination	NOUN
american_scientific_journal-5566	67	38	.	.	PUNCT
american_scientific_journal-5566	68	1	•	•	INTJ
american_scientific_journal-5566	68	2	if	if	SCONJ
american_scientific_journal-5566	68	3	an	an	DET
american_scientific_journal-5566	68	4	obstacle	obstacle	NOUN
american_scientific_journal-5566	68	5	is	be	AUX
american_scientific_journal-5566	68	6	detected	detect	VERB
american_scientific_journal-5566	68	7	,	,	PUNCT
american_scientific_journal-5566	68	8	the	the	DET
american_scientific_journal-5566	68	9	robot	robot	NOUN
american_scientific_journal-5566	68	10	will	will	AUX
american_scientific_journal-5566	68	11	pursue	pursue	VERB
american_scientific_journal-5566	68	12	it	it	PRON
american_scientific_journal-5566	68	13	until	until	ADP
american_scientific_journal-5566	68	14	the	the	DET
american_scientific_journal-5566	68	15	time	time	NOUN
american_scientific_journal-5566	68	16	it	it	PRON
american_scientific_journal-5566	68	17	finds	find	VERB
american_scientific_journal-5566	68	18	the	the	DET
american_scientific_journal-5566	68	19	m	m	NOUN
american_scientific_journal-5566	68	20	-	-	NOUN
american_scientific_journal-5566	68	21	line	line	NOUN
american_scientific_journal-5566	68	22	closer	close	ADJ
american_scientific_journal-5566	68	23	to	to	ADP
american_scientific_journal-5566	68	24	the	the	DET
american_scientific_journal-5566	68	25	target	target	NOUN
american_scientific_journal-5566	68	26	again	again	ADV
american_scientific_journal-5566	68	27	.	.	PUNCT
american_scientific_journal-5566	69	1	•	•	NOUN
american_scientific_journal-5566	69	2	the	the	DET
american_scientific_journal-5566	69	3	robot	robot	NOUN
american_scientific_journal-5566	69	4	then	then	ADV
american_scientific_journal-5566	69	5	leaves	leave	VERB
american_scientific_journal-5566	69	6	the	the	DET
american_scientific_journal-5566	69	7	obstacle	obstacle	NOUN
american_scientific_journal-5566	69	8	and	and	CCONJ
american_scientific_journal-5566	69	9	starts	start	VERB
american_scientific_journal-5566	69	10	on	on	ADP
american_scientific_journal-5566	69	11	the	the	DET
american_scientific_journal-5566	69	12	m	m	NOUN
american_scientific_journal-5566	69	13	-	-	NOUN
american_scientific_journal-5566	69	14	line	line	NOUN
american_scientific_journal-5566	69	15	again	again	ADV
american_scientific_journal-5566	69	16	towards	towards	ADP
american_scientific_journal-5566	69	17	the	the	DET
american_scientific_journal-5566	69	18	target	target	NOUN
american_scientific_journal-5566	69	19	.	.	PUNCT
american_scientific_journal-5566	70	1	figure	figure	NOUN
american_scientific_journal-5566	70	2	4(b	4(b	NUM
american_scientific_journal-5566	70	3	)	)	PUNCT
american_scientific_journal-5566	70	4	illustrates	illustrate	VERB
american_scientific_journal-5566	70	5	how	how	SCONJ
american_scientific_journal-5566	70	6	a	a	DET
american_scientific_journal-5566	70	7	point	point	NOUN
american_scientific_journal-5566	70	8	robot	robot	NOUN
american_scientific_journal-5566	70	9	uses	use	VERB
american_scientific_journal-5566	70	10	the	the	DET
american_scientific_journal-5566	70	11	bug	bug	NOUN
american_scientific_journal-5566	70	12	2	2	NUM
american_scientific_journal-5566	70	13	algorithm	algorithm	NOUN
american_scientific_journal-5566	70	14	to	to	PART
american_scientific_journal-5566	70	15	traverse	traverse	VERB
american_scientific_journal-5566	70	16	an	an	DET
american_scientific_journal-5566	70	17	area	area	NOUN
american_scientific_journal-5566	70	18	with	with	ADP
american_scientific_journal-5566	70	19	two	two	NUM
american_scientific_journal-5566	70	20	obstacles	obstacle	NOUN
american_scientific_journal-5566	70	21	to	to	PART
american_scientific_journal-5566	70	22	reach	reach	VERB
american_scientific_journal-5566	70	23	the	the	DET
american_scientific_journal-5566	70	24	destination	destination	NOUN
american_scientific_journal-5566	70	25	.	.	PUNCT
american_scientific_journal-5566	71	1	it	it	PRON
american_scientific_journal-5566	71	2	would	would	AUX
american_scientific_journal-5566	71	3	be	be	AUX
american_scientific_journal-5566	71	4	more	more	ADJ
american_scientific_journal-5566	71	5	cost	cost	NOUN
american_scientific_journal-5566	71	6	-	-	PUNCT
american_scientific_journal-5566	71	7	effective	effective	ADJ
american_scientific_journal-5566	71	8	if	if	SCONJ
american_scientific_journal-5566	71	9	the	the	DET
american_scientific_journal-5566	71	10	robot	robot	NOUN
american_scientific_journal-5566	71	11	could	could	AUX
american_scientific_journal-5566	71	12	travel	travel	VERB
american_scientific_journal-5566	71	13	directly	directly	ADV
american_scientific_journal-5566	71	14	to	to	ADP
american_scientific_journal-5566	71	15	the	the	DET
american_scientific_journal-5566	71	16	destination	destination	NOUN
american_scientific_journal-5566	71	17	as	as	ADV
american_scientific_journal-5566	71	18	soon	soon	ADV
american_scientific_journal-5566	71	19	as	as	SCONJ
american_scientific_journal-5566	71	20	a	a	DET
american_scientific_journal-5566	71	21	straight	straight	ADJ
american_scientific_journal-5566	71	22	line	line	NOUN
american_scientific_journal-5566	71	23	path	path	NOUN
american_scientific_journal-5566	71	24	from	from	ADP
american_scientific_journal-5566	71	25	its	its	PRON
american_scientific_journal-5566	71	26	present	present	ADJ
american_scientific_journal-5566	71	27	position	position	NOUN
american_scientific_journal-5566	71	28	to	to	ADP
american_scientific_journal-5566	71	29	the	the	DET
american_scientific_journal-5566	71	30	destination	destination	NOUN
american_scientific_journal-5566	71	31	becomes	become	VERB
american_scientific_journal-5566	71	32	feasible	feasible	ADJ
american_scientific_journal-5566	71	33	.	.	PUNCT
american_scientific_journal-5566	72	1	bug	bug	NOUN
american_scientific_journal-5566	72	2	1	1	NUM
american_scientific_journal-5566	72	3	is	be	AUX
american_scientific_journal-5566	72	4	therefore	therefore	ADV
american_scientific_journal-5566	72	5	an	an	DET
american_scientific_journal-5566	72	6	exhaustive	exhaustive	ADJ
american_scientific_journal-5566	72	7	search	search	NOUN
american_scientific_journal-5566	72	8	algorithm	algorithm	NOUN
american_scientific_journal-5566	72	9	as	as	SCONJ
american_scientific_journal-5566	72	10	it	it	PRON
american_scientific_journal-5566	72	11	looks	look	VERB
american_scientific_journal-5566	72	12	at	at	ADP
american_scientific_journal-5566	72	13	all	all	DET
american_scientific_journal-5566	72	14	choices	choice	NOUN
american_scientific_journal-5566	72	15	but	but	CCONJ
american_scientific_journal-5566	72	16	bug	bug	NOUN
american_scientific_journal-5566	72	17	2	2	NUM
american_scientific_journal-5566	72	18	is	be	AUX
american_scientific_journal-5566	72	19	a	a	DET
american_scientific_journal-5566	72	20	greedy	greedy	ADJ
american_scientific_journal-5566	72	21	algorithm	algorithm	NOUN
american_scientific_journal-5566	72	22	.	.	PUNCT
american_scientific_journal-5566	73	1	bug	bug	NOUN
american_scientific_journal-5566	73	2	2	2	NUM
american_scientific_journal-5566	73	3	outperforms	outperform	NOUN
american_scientific_journal-5566	73	4	bug	bug	NOUN
american_scientific_journal-5566	73	5	1	1	NUM
american_scientific_journal-5566	73	6	in	in	ADP
american_scientific_journal-5566	73	7	many	many	ADJ
american_scientific_journal-5566	73	8	instances	instance	NOUN
american_scientific_journal-5566	73	9	,	,	PUNCT
american_scientific_journal-5566	73	10	but	but	CCONJ
american_scientific_journal-5566	73	11	bug	bug	NOUN
american_scientific_journal-5566	73	12	1	1	NUM
american_scientific_journal-5566	73	13	does	do	AUX
american_scientific_journal-5566	73	14	have	have	VERB
american_scientific_journal-5566	73	15	a	a	DET
american_scientific_journal-5566	73	16	more	more	ADV
american_scientific_journal-5566	73	17	predictable	predictable	ADJ
american_scientific_journal-5566	73	18	efficiency	efficiency	NOUN
american_scientific_journal-5566	73	19	.	.	PUNCT
american_scientific_journal-5566	74	1	nevertheless	nevertheless	ADV
american_scientific_journal-5566	74	2	,	,	PUNCT
american_scientific_journal-5566	74	3	in	in	ADP
american_scientific_journal-5566	74	4	the	the	DET
american_scientific_journal-5566	74	5	real	real	ADJ
american_scientific_journal-5566	74	6	world	world	NOUN
american_scientific_journal-5566	74	7	,	,	PUNCT
american_scientific_journal-5566	74	8	we	we	PRON
american_scientific_journal-5566	74	9	have	have	VERB
american_scientific_journal-5566	74	10	sensors	sensor	NOUN
american_scientific_journal-5566	74	11	american	american	ADJ
american_scientific_journal-5566	74	12	scientific	scientific	ADJ
american_scientific_journal-5566	74	13	research	research	NOUN
american_scientific_journal-5566	74	14	journal	journal	NOUN
american_scientific_journal-5566	74	15	for	for	ADP
american_scientific_journal-5566	74	16	engineering	engineering	NOUN
american_scientific_journal-5566	74	17	,	,	PUNCT
american_scientific_journal-5566	74	18	technology	technology	NOUN
american_scientific_journal-5566	74	19	,	,	PUNCT
american_scientific_journal-5566	74	20	and	and	CCONJ
american_scientific_journal-5566	74	21	sciences	science	NOUN
american_scientific_journal-5566	74	22	(	(	PUNCT
american_scientific_journal-5566	74	23	asrjets	asrjet	NOUN
american_scientific_journal-5566	74	24	)	)	PUNCT
american_scientific_journal-5566	74	25	(	(	PUNCT
american_scientific_journal-5566	74	26	2020	2020	NUM
american_scientific_journal-5566	74	27	)	)	PUNCT
american_scientific_journal-5566	74	28	volume	volume	NOUN
american_scientific_journal-5566	74	29	64	64	NUM
american_scientific_journal-5566	74	30	,	,	PUNCT
american_scientific_journal-5566	74	31	no	no	DET
american_scientific_journal-5566	74	32	1	1	NUM
american_scientific_journal-5566	74	33	,	,	PUNCT
american_scientific_journal-5566	74	34	pp	pp	ADV
american_scientific_journal-5566	74	35	133	133	NUM
american_scientific_journal-5566	74	36	-	-	SYM
american_scientific_journal-5566	74	37	143	143	NUM
american_scientific_journal-5566	74	38	138	138	NUM
american_scientific_journal-5566	74	39	such	such	ADJ
american_scientific_journal-5566	74	40	as	as	ADP
american_scientific_journal-5566	74	41	range	range	NOUN
american_scientific_journal-5566	74	42	sensors	sensor	NOUN
american_scientific_journal-5566	74	43	that	that	PRON
american_scientific_journal-5566	74	44	are	be	AUX
american_scientific_journal-5566	74	45	more	more	ADV
american_scientific_journal-5566	74	46	powerful	powerful	ADJ
american_scientific_journal-5566	74	47	than	than	ADP
american_scientific_journal-5566	74	48	a	a	DET
american_scientific_journal-5566	74	49	touch	touch	NOUN
american_scientific_journal-5566	74	50	sensor	sensor	NOUN
american_scientific_journal-5566	74	51	and	and	CCONJ
american_scientific_journal-5566	74	52	can	can	AUX
american_scientific_journal-5566	74	53	look	look	VERB
american_scientific_journal-5566	74	54	ahead	ahead	ADV
american_scientific_journal-5566	74	55	to	to	ADP
american_scientific_journal-5566	74	56	a	a	DET
american_scientific_journal-5566	74	57	limited	limited	ADJ
american_scientific_journal-5566	74	58	range	range	NOUN
american_scientific_journal-5566	74	59	[	[	X
american_scientific_journal-5566	74	60	4	4	NUM
american_scientific_journal-5566	74	61	]	]	PUNCT
american_scientific_journal-5566	74	62	.	.	PUNCT
american_scientific_journal-5566	75	1	then	then	ADV
american_scientific_journal-5566	75	2	we	we	PRON
american_scientific_journal-5566	75	3	implement	implement	VERB
american_scientific_journal-5566	75	4	the	the	DET
american_scientific_journal-5566	75	5	tangent	tangent	NOUN
american_scientific_journal-5566	75	6	error	error	NOUN
american_scientific_journal-5566	75	7	algorithm	algorithm	NOUN
american_scientific_journal-5566	75	8	.	.	PUNCT
american_scientific_journal-5566	76	1	here	here	ADV
american_scientific_journal-5566	76	2	,	,	PUNCT
american_scientific_journal-5566	76	3	the	the	DET
american_scientific_journal-5566	76	4	working	working	NOUN
american_scientific_journal-5566	76	5	principle	principle	NOUN
american_scientific_journal-5566	76	6	has	have	AUX
american_scientific_journal-5566	76	7	given	give	VERB
american_scientific_journal-5566	76	8	below	below	ADV
american_scientific_journal-5566	76	9	:	:	PUNCT
american_scientific_journal-5566	76	10	step	step	NOUN
american_scientific_journal-5566	76	11	1	1	NUM
american_scientific_journal-5566	76	12	:	:	PUNCT
american_scientific_journal-5566	76	13	start	start	VERB
american_scientific_journal-5566	76	14	step	step	NOUN
american_scientific_journal-5566	76	15	2	2	NUM
american_scientific_journal-5566	76	16	:	:	PUNCT
american_scientific_journal-5566	76	17	initialization	initialization	NOUN
american_scientific_journal-5566	76	18	step	step	NOUN
american_scientific_journal-5566	76	19	3	3	NUM
american_scientific_journal-5566	76	20	:	:	PUNCT
american_scientific_journal-5566	76	21	is	be	AUX
american_scientific_journal-5566	76	22	there	there	PRON
american_scientific_journal-5566	76	23	any	any	DET
american_scientific_journal-5566	76	24	obstacle	obstacle	NOUN
american_scientific_journal-5566	76	25	or	or	CCONJ
american_scientific_journal-5566	76	26	edge	edge	NOUN
american_scientific_journal-5566	76	27	?	?	PUNCT
american_scientific_journal-5566	77	1	(	(	PUNCT
american_scientific_journal-5566	77	2	a	a	X
american_scientific_journal-5566	77	3	)	)	PUNCT
american_scientific_journal-5566	77	4	if	if	SCONJ
american_scientific_journal-5566	77	5	yes	yes	ADV
american_scientific_journal-5566	77	6	,	,	PUNCT
american_scientific_journal-5566	77	7	go	go	VERB
american_scientific_journal-5566	77	8	to	to	PART
american_scientific_journal-5566	77	9	step	step	VERB
american_scientific_journal-5566	77	10	5	5	NUM
american_scientific_journal-5566	77	11	(	(	PUNCT
american_scientific_journal-5566	77	12	b	b	NOUN
american_scientific_journal-5566	77	13	)	)	PUNCT
american_scientific_journal-5566	77	14	no	no	NOUN
american_scientific_journal-5566	77	15	,	,	PUNCT
american_scientific_journal-5566	77	16	run	run	VERB
american_scientific_journal-5566	77	17	the	the	DET
american_scientific_journal-5566	77	18	robot	robot	NOUN
american_scientific_journal-5566	77	19	in	in	ADP
american_scientific_journal-5566	77	20	forward	forward	ADJ
american_scientific_journal-5566	77	21	direction	direction	NOUN
american_scientific_journal-5566	77	22	step	step	NOUN
american_scientific_journal-5566	77	23	4	4	NUM
american_scientific_journal-5566	77	24	:	:	PUNCT
american_scientific_journal-5566	77	25	if	if	SCONJ
american_scientific_journal-5566	77	26	there	there	PRON
american_scientific_journal-5566	77	27	is	be	VERB
american_scientific_journal-5566	77	28	any	any	DET
american_scientific_journal-5566	77	29	obstacle	obstacle	NOUN
american_scientific_journal-5566	77	30	or	or	CCONJ
american_scientific_journal-5566	77	31	edge	edge	NOUN
american_scientific_journal-5566	77	32	found	find	VERB
american_scientific_journal-5566	77	33	(	(	PUNCT
american_scientific_journal-5566	77	34	a	a	X
american_scientific_journal-5566	77	35	)	)	PUNCT
american_scientific_journal-5566	77	36	yes	yes	INTJ
american_scientific_journal-5566	77	37	,	,	PUNCT
american_scientific_journal-5566	77	38	move	move	VERB
american_scientific_journal-5566	77	39	backward	backward	ADV
american_scientific_journal-5566	77	40	(	(	PUNCT
american_scientific_journal-5566	77	41	b	b	NOUN
american_scientific_journal-5566	77	42	)	)	PUNCT
american_scientific_journal-5566	77	43	no	no	NOUN
american_scientific_journal-5566	77	44	,	,	PUNCT
american_scientific_journal-5566	77	45	go	go	VERB
american_scientific_journal-5566	77	46	to	to	PART
american_scientific_journal-5566	77	47	step	step	VERB
american_scientific_journal-5566	77	48	3	3	NUM
american_scientific_journal-5566	77	49	step	step	NOUN
american_scientific_journal-5566	77	50	5	5	NUM
american_scientific_journal-5566	77	51	:	:	PUNCT
american_scientific_journal-5566	77	52	distance	distance	NOUN
american_scientific_journal-5566	77	53	measurement	measurement	NOUN
american_scientific_journal-5566	77	54	to	to	PART
american_scientific_journal-5566	77	55	turn	turn	VERB
american_scientific_journal-5566	77	56	left	left	ADJ
american_scientific_journal-5566	77	57	or	or	CCONJ
american_scientific_journal-5566	77	58	right	right	ADJ
american_scientific_journal-5566	77	59	if	if	SCONJ
american_scientific_journal-5566	77	60	right	right	ADJ
american_scientific_journal-5566	77	61	distance	distance	NOUN
american_scientific_journal-5566	77	62	>	>	X
american_scientific_journal-5566	78	1	left	leave	VERB
american_scientific_journal-5566	78	2	distance	distance	NOUN
american_scientific_journal-5566	78	3	(	(	PUNCT
american_scientific_journal-5566	78	4	a	a	X
american_scientific_journal-5566	78	5	)	)	PUNCT
american_scientific_journal-5566	78	6	yes	yes	INTJ
american_scientific_journal-5566	78	7	,	,	PUNCT
american_scientific_journal-5566	78	8	turn	turn	VERB
american_scientific_journal-5566	78	9	right	right	ADJ
american_scientific_journal-5566	78	10	(	(	PUNCT
american_scientific_journal-5566	78	11	b	b	NOUN
american_scientific_journal-5566	78	12	)	)	PUNCT
american_scientific_journal-5566	78	13	no	no	NOUN
american_scientific_journal-5566	78	14	,	,	PUNCT
american_scientific_journal-5566	78	15	turn	turn	VERB
american_scientific_journal-5566	78	16	left	left	ADJ
american_scientific_journal-5566	78	17	step	step	NOUN
american_scientific_journal-5566	78	18	6	6	NUM
american_scientific_journal-5566	78	19	:	:	PUNCT
american_scientific_journal-5566	78	20	continue	continue	VERB
american_scientific_journal-5566	78	21	step	step	NOUN
american_scientific_journal-5566	78	22	3	3	NUM
american_scientific_journal-5566	78	23	step	step	NOUN
american_scientific_journal-5566	78	24	7	7	NUM
american_scientific_journal-5566	78	25	:	:	PUNCT
american_scientific_journal-5566	78	26	if	if	SCONJ
american_scientific_journal-5566	78	27	power	power	NOUN
american_scientific_journal-5566	78	28	failed	fail	VERB
american_scientific_journal-5566	78	29	go	go	VERB
american_scientific_journal-5566	78	30	to	to	PART
american_scientific_journal-5566	78	31	step	step	VERB
american_scientific_journal-5566	78	32	8	8	NUM
american_scientific_journal-5566	78	33	step	step	NOUN
american_scientific_journal-5566	78	34	8	8	NUM
american_scientific_journal-5566	78	35	:	:	PUNCT
american_scientific_journal-5566	78	36	stop	stop	VERB
american_scientific_journal-5566	78	37	3.4	3.4	NUM
american_scientific_journal-5566	78	38	.	.	PUNCT
american_scientific_journal-5566	79	1	system	system	NOUN
american_scientific_journal-5566	79	2	flowchart	flowchart	PROPN
american_scientific_journal-5566	79	3	the	the	DET
american_scientific_journal-5566	79	4	flowchart	flowchart	NOUN
american_scientific_journal-5566	79	5	of	of	ADP
american_scientific_journal-5566	79	6	the	the	DET
american_scientific_journal-5566	79	7	system	system	NOUN
american_scientific_journal-5566	79	8	is	be	AUX
american_scientific_journal-5566	79	9	given	give	VERB
american_scientific_journal-5566	79	10	in	in	ADP
american_scientific_journal-5566	79	11	figure	figure	NOUN
american_scientific_journal-5566	79	12	no	no	DET
american_scientific_journal-5566	79	13	4	4	NOUN
american_scientific_journal-5566	79	14	.	.	PUNCT
american_scientific_journal-5566	80	1	it	it	PRON
american_scientific_journal-5566	80	2	displays	display	VERB
american_scientific_journal-5566	80	3	the	the	DET
american_scientific_journal-5566	80	4	route	route	NOUN
american_scientific_journal-5566	80	5	taking	take	VERB
american_scientific_journal-5566	80	6	obstacle	obstacle	NOUN
american_scientific_journal-5566	80	7	decisions	decision	NOUN
american_scientific_journal-5566	80	8	in	in	ADP
american_scientific_journal-5566	80	9	the	the	DET
american_scientific_journal-5566	80	10	upper	upper	ADJ
american_scientific_journal-5566	80	11	flow	flow	NOUN
american_scientific_journal-5566	80	12	chart	chart	NOUN
american_scientific_journal-5566	80	13	,	,	PUNCT
american_scientific_journal-5566	80	14	avoiding	avoid	VERB
american_scientific_journal-5566	80	15	with	with	ADP
american_scientific_journal-5566	80	16	edge	edge	NOUN
american_scientific_journal-5566	80	17	detection	detection	NOUN
american_scientific_journal-5566	80	18	robot	robot	NOUN
american_scientific_journal-5566	80	19	.	.	PUNCT
american_scientific_journal-5566	81	1	unless	unless	SCONJ
american_scientific_journal-5566	81	2	we	we	PRON
american_scientific_journal-5566	81	3	start	start	VERB
american_scientific_journal-5566	81	4	from	from	ADP
american_scientific_journal-5566	81	5	the	the	DET
american_scientific_journal-5566	81	6	start	start	NOUN
american_scientific_journal-5566	81	7	,	,	PUNCT
american_scientific_journal-5566	81	8	the	the	DET
american_scientific_journal-5566	81	9	robot	robot	NOUN
american_scientific_journal-5566	81	10	will	will	AUX
american_scientific_journal-5566	81	11	not	not	PART
american_scientific_journal-5566	81	12	start	start	VERB
american_scientific_journal-5566	81	13	movement	movement	NOUN
american_scientific_journal-5566	81	14	first	first	ADV
american_scientific_journal-5566	81	15	of	of	ADP
american_scientific_journal-5566	81	16	all	all	PRON
american_scientific_journal-5566	81	17	after	after	ADP
american_scientific_journal-5566	81	18	turning	turn	VERB
american_scientific_journal-5566	81	19	the	the	DET
american_scientific_journal-5566	81	20	power	power	NOUN
american_scientific_journal-5566	81	21	on	on	ADP
american_scientific_journal-5566	81	22	.	.	PUNCT
american_scientific_journal-5566	82	1	the	the	DET
american_scientific_journal-5566	82	2	first	first	ADJ
american_scientific_journal-5566	82	3	thing	thing	NOUN
american_scientific_journal-5566	82	4	that	that	PRON
american_scientific_journal-5566	82	5	it	it	PRON
american_scientific_journal-5566	82	6	will	will	AUX
american_scientific_journal-5566	82	7	do	do	VERB
american_scientific_journal-5566	82	8	after	after	ADP
american_scientific_journal-5566	82	9	initialization	initialization	NOUN
american_scientific_journal-5566	82	10	is	be	AUX
american_scientific_journal-5566	82	11	to	to	PART
american_scientific_journal-5566	82	12	look	look	VERB
american_scientific_journal-5566	82	13	for	for	ADP
american_scientific_journal-5566	82	14	an	an	DET
american_scientific_journal-5566	82	15	obstacle	obstacle	NOUN
american_scientific_journal-5566	82	16	or	or	CCONJ
american_scientific_journal-5566	82	17	an	an	DET
american_scientific_journal-5566	82	18	edge	edge	NOUN
american_scientific_journal-5566	82	19	before	before	ADP
american_scientific_journal-5566	82	20	it	it	PRON
american_scientific_journal-5566	82	21	.	.	PUNCT
american_scientific_journal-5566	83	1	when	when	SCONJ
american_scientific_journal-5566	83	2	there	there	PRON
american_scientific_journal-5566	83	3	is	be	VERB
american_scientific_journal-5566	83	4	no	no	DET
american_scientific_journal-5566	83	5	barrier	barrier	NOUN
american_scientific_journal-5566	83	6	or	or	CCONJ
american_scientific_journal-5566	83	7	edge	edge	VERB
american_scientific_journal-5566	83	8	the	the	DET
american_scientific_journal-5566	83	9	robot	robot	NOUN
american_scientific_journal-5566	83	10	can	can	AUX
american_scientific_journal-5566	83	11	step	step	VERB
american_scientific_journal-5566	83	12	forward	forward	ADV
american_scientific_journal-5566	83	13	freely	freely	ADV
american_scientific_journal-5566	83	14	.	.	PUNCT
american_scientific_journal-5566	84	1	and	and	CCONJ
american_scientific_journal-5566	84	2	it	it	PRON
american_scientific_journal-5566	84	3	'll	will	AUX
american_scientific_journal-5566	84	4	look	look	VERB
american_scientific_journal-5566	84	5	for	for	ADP
american_scientific_journal-5566	84	6	challenge	challenge	NOUN
american_scientific_journal-5566	84	7	and	and	CCONJ
american_scientific_journal-5566	84	8	edge	edge	NOUN
american_scientific_journal-5566	84	9	in	in	ADP
american_scientific_journal-5566	84	10	every	every	DET
american_scientific_journal-5566	84	11	moment	moment	NOUN
american_scientific_journal-5566	84	12	in	in	ADP
american_scientific_journal-5566	84	13	its	its	PRON
american_scientific_journal-5566	84	14	way	way	NOUN
american_scientific_journal-5566	84	15	of	of	ADP
american_scientific_journal-5566	84	16	moving	move	VERB
american_scientific_journal-5566	84	17	forward	forward	ADV
american_scientific_journal-5566	84	18	.	.	PUNCT
american_scientific_journal-5566	85	1	it	it	PRON
american_scientific_journal-5566	85	2	will	will	AUX
american_scientific_journal-5566	85	3	push	push	VERB
american_scientific_journal-5566	85	4	along	along	ADP
american_scientific_journal-5566	85	5	easily	easily	ADV
american_scientific_journal-5566	85	6	,	,	PUNCT
american_scientific_journal-5566	85	7	as	as	ADV
american_scientific_journal-5566	85	8	long	long	ADV
american_scientific_journal-5566	85	9	as	as	SCONJ
american_scientific_journal-5566	85	10	there	there	PRON
american_scientific_journal-5566	85	11	are	be	VERB
american_scientific_journal-5566	85	12	no	no	DET
american_scientific_journal-5566	85	13	gaps	gap	NOUN
american_scientific_journal-5566	85	14	and	and	CCONJ
american_scientific_journal-5566	85	15	edges	edge	NOUN
american_scientific_journal-5566	85	16	.	.	PUNCT
american_scientific_journal-5566	86	1	it	it	PRON
american_scientific_journal-5566	86	2	will	will	AUX
american_scientific_journal-5566	86	3	take	take	VERB
american_scientific_journal-5566	86	4	the	the	DET
american_scientific_journal-5566	86	5	same	same	ADJ
american_scientific_journal-5566	86	6	action	action	NOUN
american_scientific_journal-5566	86	7	,	,	PUNCT
american_scientific_journal-5566	86	8	regardless	regardless	ADV
american_scientific_journal-5566	86	9	of	of	ADP
american_scientific_journal-5566	86	10	when	when	SCONJ
american_scientific_journal-5566	86	11	faced	face	VERB
american_scientific_journal-5566	86	12	with	with	ADP
american_scientific_journal-5566	86	13	the	the	DET
american_scientific_journal-5566	86	14	challenge	challenge	NOUN
american_scientific_journal-5566	86	15	or	or	CCONJ
american_scientific_journal-5566	86	16	bottom	bottom	NOUN
american_scientific_journal-5566	86	17	.	.	PUNCT
american_scientific_journal-5566	87	1	american	american	ADJ
american_scientific_journal-5566	87	2	scientific	scientific	ADJ
american_scientific_journal-5566	87	3	research	research	PROPN
american_scientific_journal-5566	87	4	journal	journal	NOUN
american_scientific_journal-5566	87	5	for	for	ADP
american_scientific_journal-5566	87	6	engineering	engineering	NOUN
american_scientific_journal-5566	87	7	,	,	PUNCT
american_scientific_journal-5566	87	8	technology	technology	NOUN
american_scientific_journal-5566	87	9	,	,	PUNCT
american_scientific_journal-5566	87	10	and	and	CCONJ
american_scientific_journal-5566	87	11	sciences	science	NOUN
american_scientific_journal-5566	87	12	(	(	PUNCT
american_scientific_journal-5566	87	13	asrjets	asrjet	NOUN
american_scientific_journal-5566	87	14	)	)	PUNCT
american_scientific_journal-5566	87	15	(	(	PUNCT
american_scientific_journal-5566	87	16	2020	2020	NUM
american_scientific_journal-5566	87	17	)	)	PUNCT
american_scientific_journal-5566	87	18	volume	volume	NOUN
american_scientific_journal-5566	87	19	64	64	NUM
american_scientific_journal-5566	87	20	,	,	PUNCT
american_scientific_journal-5566	87	21	no	no	DET
american_scientific_journal-5566	87	22	1	1	NUM
american_scientific_journal-5566	87	23	,	,	PUNCT
american_scientific_journal-5566	87	24	pp	pp	ADV
american_scientific_journal-5566	87	25	133	133	NUM
american_scientific_journal-5566	87	26	-	-	SYM
american_scientific_journal-5566	87	27	143	143	NUM
american_scientific_journal-5566	87	28	139	139	NUM
american_scientific_journal-5566	87	29	figure	figure	NOUN
american_scientific_journal-5566	87	30	5	5	NUM
american_scientific_journal-5566	87	31	:	:	PUNCT
american_scientific_journal-5566	87	32	flowchart	flowchart	NOUN
american_scientific_journal-5566	87	33	of	of	ADP
american_scientific_journal-5566	87	34	the	the	DET
american_scientific_journal-5566	87	35	system	system	NOUN
american_scientific_journal-5566	87	36	it	it	PRON
american_scientific_journal-5566	87	37	could	could	AUX
american_scientific_journal-5566	87	38	be	be	AUX
american_scientific_journal-5566	87	39	right	right	ADJ
american_scientific_journal-5566	87	40	at	at	ADP
american_scientific_journal-5566	87	41	the	the	DET
american_scientific_journal-5566	87	42	beginning	beginning	NOUN
american_scientific_journal-5566	87	43	of	of	ADP
american_scientific_journal-5566	87	44	its	its	PRON
american_scientific_journal-5566	87	45	journey	journey	NOUN
american_scientific_journal-5566	87	46	,	,	PUNCT
american_scientific_journal-5566	87	47	or	or	CCONJ
american_scientific_journal-5566	87	48	in	in	ADP
american_scientific_journal-5566	87	49	the	the	DET
american_scientific_journal-5566	87	50	middle	middle	NOUN
american_scientific_journal-5566	87	51	of	of	ADP
american_scientific_journal-5566	87	52	the	the	DET
american_scientific_journal-5566	87	53	path	path	NOUN
american_scientific_journal-5566	87	54	.	.	PUNCT
american_scientific_journal-5566	88	1	for	for	ADP
american_scientific_journal-5566	88	2	some	some	DET
american_scientific_journal-5566	88	3	space	space	NOUN
american_scientific_journal-5566	88	4	,	,	PUNCT
american_scientific_journal-5566	88	5	the	the	DET
american_scientific_journal-5566	88	6	first	first	ADJ
american_scientific_journal-5566	88	7	thing	thing	NOUN
american_scientific_journal-5566	88	8	that	that	PRON
american_scientific_journal-5566	88	9	it	it	PRON
american_scientific_journal-5566	88	10	will	will	AUX
american_scientific_journal-5566	88	11	do	do	VERB
american_scientific_journal-5566	88	12	after	after	ADP
american_scientific_journal-5566	88	13	detecting	detect	VERB
american_scientific_journal-5566	88	14	an	an	DET
american_scientific_journal-5566	88	15	obstacle	obstacle	NOUN
american_scientific_journal-5566	88	16	or	or	CCONJ
american_scientific_journal-5566	88	17	edge	edge	NOUN
american_scientific_journal-5566	88	18	comes	come	VERB
american_scientific_journal-5566	88	19	backward	backward	ADV
american_scientific_journal-5566	88	20	(	(	PUNCT
american_scientific_journal-5566	88	21	3	3	NUM
american_scientific_journal-5566	88	22	cm	cm	NOUN
american_scientific_journal-5566	88	23	)	)	PUNCT
american_scientific_journal-5566	88	24	.	.	PUNCT
american_scientific_journal-5566	89	1	the	the	DET
american_scientific_journal-5566	89	2	obstacle	obstacle	NOUN
american_scientific_journal-5566	89	3	detection	detection	NOUN
american_scientific_journal-5566	89	4	range	range	NOUN
american_scientific_journal-5566	89	5	is	be	AUX
american_scientific_journal-5566	89	6	15	15	NUM
american_scientific_journal-5566	89	7	cm	cm	NOUN
american_scientific_journal-5566	89	8	which	which	PRON
american_scientific_journal-5566	89	9	may	may	AUX
american_scientific_journal-5566	89	10	be	be	AUX
american_scientific_journal-5566	89	11	modified	modify	VERB
american_scientific_journal-5566	89	12	depending	depend	VERB
american_scientific_journal-5566	89	13	on	on	ADP
american_scientific_journal-5566	89	14	the	the	DET
american_scientific_journal-5566	89	15	robot	robot	NOUN
american_scientific_journal-5566	89	16	's	's	PART
american_scientific_journal-5566	89	17	speed	speed	NOUN
american_scientific_journal-5566	89	18	.	.	PUNCT
american_scientific_journal-5566	90	1	it	it	PRON
american_scientific_journal-5566	90	2	will	will	AUX
american_scientific_journal-5566	90	3	stop	stop	VERB
american_scientific_journal-5566	90	4	and	and	CCONJ
american_scientific_journal-5566	90	5	look	look	VERB
american_scientific_journal-5566	90	6	right	right	ADJ
american_scientific_journal-5566	90	7	and	and	CCONJ
american_scientific_journal-5566	90	8	left	leave	VERB
american_scientific_journal-5566	90	9	respectively	respectively	ADV
american_scientific_journal-5566	90	10	,	,	PUNCT
american_scientific_journal-5566	90	11	after	after	ADP
american_scientific_journal-5566	90	12	going	go	VERB
american_scientific_journal-5566	90	13	backward	backward	ADV
american_scientific_journal-5566	90	14	.	.	PUNCT
american_scientific_journal-5566	91	1	looking	look	VERB
american_scientific_journal-5566	91	2	right	right	ADV
american_scientific_journal-5566	91	3	and	and	CCONJ
american_scientific_journal-5566	91	4	left	leave	VERB
american_scientific_journal-5566	91	5	here	here	ADV
american_scientific_journal-5566	91	6	means	mean	VERB
american_scientific_journal-5566	91	7	measuring	measure	VERB
american_scientific_journal-5566	91	8	the	the	DET
american_scientific_journal-5566	91	9	distance	distance	NOUN
american_scientific_journal-5566	91	10	between	between	ADP
american_scientific_journal-5566	91	11	right	right	ADV
american_scientific_journal-5566	91	12	and	and	CCONJ
american_scientific_journal-5566	91	13	left	leave	VERB
american_scientific_journal-5566	91	14	via	via	ADP
american_scientific_journal-5566	91	15	an	an	DET
american_scientific_journal-5566	91	16	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	91	17	sensor	sensor	NOUN
american_scientific_journal-5566	91	18	.	.	PUNCT
american_scientific_journal-5566	92	1	based	base	VERB
american_scientific_journal-5566	92	2	on	on	ADP
american_scientific_journal-5566	92	3	the	the	DET
american_scientific_journal-5566	92	4	room	room	NOUN
american_scientific_journal-5566	92	5	on	on	ADP
american_scientific_journal-5566	92	6	the	the	DET
american_scientific_journal-5566	92	7	right	right	NOUN
american_scientific_journal-5566	92	8	or	or	CCONJ
american_scientific_journal-5566	92	9	left	leave	VERB
american_scientific_journal-5566	92	10	,	,	PUNCT
american_scientific_journal-5566	92	11	the	the	DET
american_scientific_journal-5566	92	12	robot	robot	NOUN
american_scientific_journal-5566	92	13	will	will	AUX
american_scientific_journal-5566	92	14	move	move	VERB
american_scientific_journal-5566	92	15	to	to	ADP
american_scientific_journal-5566	92	16	the	the	DET
american_scientific_journal-5566	92	17	side	side	NOUN
american_scientific_journal-5566	92	18	which	which	PRON
american_scientific_journal-5566	92	19	has	have	VERB
american_scientific_journal-5566	92	20	the	the	DET
american_scientific_journal-5566	92	21	more	more	ADJ
american_scientific_journal-5566	92	22	space	space	NOUN
american_scientific_journal-5566	92	23	than	than	ADP
american_scientific_journal-5566	92	24	the	the	DET
american_scientific_journal-5566	92	25	other	other	ADJ
american_scientific_journal-5566	92	26	.	.	PUNCT
american_scientific_journal-5566	93	1	then	then	ADV
american_scientific_journal-5566	93	2	,	,	PUNCT
american_scientific_journal-5566	93	3	it	it	PRON
american_scientific_journal-5566	93	4	will	will	AUX
american_scientific_journal-5566	93	5	continue	continue	VERB
american_scientific_journal-5566	93	6	its	its	PRON
american_scientific_journal-5566	93	7	procedure	procedure	NOUN
american_scientific_journal-5566	93	8	again	again	ADV
american_scientific_journal-5566	93	9	from	from	ADP
american_scientific_journal-5566	93	10	the	the	DET
american_scientific_journal-5566	93	11	very	very	ADJ
american_scientific_journal-5566	93	12	beginning	beginning	NOUN
american_scientific_journal-5566	93	13	.	.	PUNCT
american_scientific_journal-5566	94	1	a	a	DET
american_scientific_journal-5566	94	2	question	question	NOUN
american_scientific_journal-5566	94	3	arises	arise	VERB
american_scientific_journal-5566	94	4	here	here	ADV
american_scientific_journal-5566	94	5	.	.	PUNCT
american_scientific_journal-5566	95	1	what	what	PRON
american_scientific_journal-5566	95	2	will	will	AUX
american_scientific_journal-5566	95	3	happen	happen	VERB
american_scientific_journal-5566	95	4	if	if	SCONJ
american_scientific_journal-5566	95	5	the	the	DET
american_scientific_journal-5566	95	6	two	two	NUM
american_scientific_journal-5566	95	7	distances	distance	NOUN
american_scientific_journal-5566	95	8	are	be	AUX
american_scientific_journal-5566	95	9	the	the	DET
american_scientific_journal-5566	95	10	same	same	ADJ
american_scientific_journal-5566	95	11	?	?	PUNCT
american_scientific_journal-5566	96	1	with	with	ADP
american_scientific_journal-5566	96	2	one	one	NUM
american_scientific_journal-5566	96	3	-	-	PUNCT
american_scientific_journal-5566	96	4	tenth	tenth	NOUN
american_scientific_journal-5566	96	5	of	of	ADP
american_scientific_journal-5566	96	6	a	a	DET
american_scientific_journal-5566	96	7	meter	meter	NOUN
american_scientific_journal-5566	96	8	of	of	ADP
american_scientific_journal-5566	96	9	distance	distance	NOUN
american_scientific_journal-5566	96	10	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	96	11	measurements	measurement	NOUN
american_scientific_journal-5566	96	12	,	,	PUNCT
american_scientific_journal-5566	96	13	this	this	PRON
american_scientific_journal-5566	96	14	is	be	AUX
american_scientific_journal-5566	96	15	most	most	ADV
american_scientific_journal-5566	96	16	likely	likely	ADJ
american_scientific_journal-5566	96	17	not	not	PART
american_scientific_journal-5566	96	18	going	go	VERB
american_scientific_journal-5566	96	19	to	to	PART
american_scientific_journal-5566	96	20	happen	happen	VERB
american_scientific_journal-5566	96	21	.	.	PUNCT
american_scientific_journal-5566	97	1	now	now	ADV
american_scientific_journal-5566	97	2	let	let	VERB
american_scientific_journal-5566	97	3	's	us	PRON
american_scientific_journal-5566	97	4	get	get	VERB
american_scientific_journal-5566	97	5	into	into	ADP
american_scientific_journal-5566	97	6	another	another	DET
american_scientific_journal-5566	97	7	portion	portion	NOUN
american_scientific_journal-5566	97	8	,	,	PUNCT
american_scientific_journal-5566	97	9	what	what	PRON
american_scientific_journal-5566	97	10	if	if	SCONJ
american_scientific_journal-5566	97	11	an	an	DET
american_scientific_journal-5566	97	12	edge	edge	NOUN
american_scientific_journal-5566	97	13	is	be	AUX
american_scientific_journal-5566	97	14	detected	detect	VERB
american_scientific_journal-5566	97	15	?	?	PUNCT
american_scientific_journal-5566	98	1	the	the	DET
american_scientific_journal-5566	98	2	robot	robot	NOUN
american_scientific_journal-5566	98	3	will	will	AUX
american_scientific_journal-5566	98	4	follow	follow	VERB
american_scientific_journal-5566	98	5	the	the	DET
american_scientific_journal-5566	98	6	same	same	ADJ
american_scientific_journal-5566	98	7	procedures	procedure	NOUN
american_scientific_journal-5566	98	8	for	for	ADP
american_scientific_journal-5566	98	9	obstacles	obstacle	NOUN
american_scientific_journal-5566	98	10	.	.	PUNCT
american_scientific_journal-5566	99	1	whenever	whenever	SCONJ
american_scientific_journal-5566	99	2	an	an	DET
american_scientific_journal-5566	99	3	edge	edge	NOUN
american_scientific_journal-5566	99	4	is	be	AUX
american_scientific_journal-5566	99	5	detected	detect	VERB
american_scientific_journal-5566	99	6	,	,	PUNCT
american_scientific_journal-5566	99	7	it	it	PRON
american_scientific_journal-5566	99	8	stops	stop	VERB
american_scientific_journal-5566	99	9	,	,	PUNCT
american_scientific_journal-5566	99	10	returns	return	VERB
american_scientific_journal-5566	99	11	backward	backward	ADV
american_scientific_journal-5566	99	12	and	and	CCONJ
american_scientific_journal-5566	99	13	turns	turn	VERB
american_scientific_journal-5566	99	14	to	to	ADP
american_scientific_journal-5566	99	15	the	the	DET
american_scientific_journal-5566	99	16	right	right	NOUN
american_scientific_journal-5566	99	17	or	or	CCONJ
american_scientific_journal-5566	99	18	to	to	ADP
american_scientific_journal-5566	99	19	the	the	DET
american_scientific_journal-5566	99	20	left	left	NOUN
american_scientific_journal-5566	99	21	depending	depend	VERB
american_scientific_journal-5566	99	22	on	on	ADP
american_scientific_journal-5566	99	23	the	the	DET
american_scientific_journal-5566	99	24	greater	great	ADJ
american_scientific_journal-5566	99	25	distance	distance	NOUN
american_scientific_journal-5566	99	26	and	and	CCONJ
american_scientific_journal-5566	99	27	continues	continue	VERB
american_scientific_journal-5566	99	28	to	to	PART
american_scientific_journal-5566	99	29	move	move	VERB
american_scientific_journal-5566	99	30	forward	forward	ADV
american_scientific_journal-5566	99	31	until	until	SCONJ
american_scientific_journal-5566	99	32	it	it	PRON
american_scientific_journal-5566	99	33	finds	find	VERB
american_scientific_journal-5566	99	34	another	another	DET
american_scientific_journal-5566	99	35	obstacle	obstacle	NOUN
american_scientific_journal-5566	99	36	or	or	CCONJ
american_scientific_journal-5566	99	37	edge	edge	NOUN
american_scientific_journal-5566	99	38	.	.	PUNCT
american_scientific_journal-5566	100	1	there	there	PRON
american_scientific_journal-5566	100	2	is	be	VERB
american_scientific_journal-5566	100	3	no	no	DET
american_scientific_journal-5566	100	4	risk	risk	NOUN
american_scientific_journal-5566	100	5	of	of	ADP
american_scientific_journal-5566	100	6	slipping	slip	VERB
american_scientific_journal-5566	100	7	or	or	CCONJ
american_scientific_journal-5566	100	8	falling	fall	VERB
american_scientific_journal-5566	100	9	from	from	ADP
american_scientific_journal-5566	100	10	the	the	DET
american_scientific_journal-5566	100	11	top	top	NOUN
american_scientific_journal-5566	100	12	for	for	ADP
american_scientific_journal-5566	100	13	searching	search	VERB
american_scientific_journal-5566	100	14	the	the	DET
american_scientific_journal-5566	100	15	edges	edge	NOUN
american_scientific_journal-5566	100	16	and	and	CCONJ
american_scientific_journal-5566	100	17	obstacles	obstacle	NOUN
american_scientific_journal-5566	100	18	.	.	PUNCT
american_scientific_journal-5566	101	1	here	here	ADV
american_scientific_journal-5566	101	2	we	we	PRON
american_scientific_journal-5566	101	3	never	never	ADV
american_scientific_journal-5566	101	4	have	have	VERB
american_scientific_journal-5566	101	5	to	to	PART
american_scientific_journal-5566	101	6	apply	apply	VERB
american_scientific_journal-5566	101	7	the	the	DET
american_scientific_journal-5566	101	8	pressure	pressure	NOUN
american_scientific_journal-5566	101	9	to	to	PART
american_scientific_journal-5566	101	10	find	find	VERB
american_scientific_journal-5566	101	11	the	the	DET
american_scientific_journal-5566	101	12	side	side	NOUN
american_scientific_journal-5566	101	13	where	where	SCONJ
american_scientific_journal-5566	101	14	there	there	PRON
american_scientific_journal-5566	101	15	is	be	VERB
american_scientific_journal-5566	101	16	no	no	DET
american_scientific_journal-5566	101	17	edge	edge	NOUN
american_scientific_journal-5566	101	18	,	,	PUNCT
american_scientific_journal-5566	101	19	the	the	DET
american_scientific_journal-5566	101	20	robot	robot	NOUN
american_scientific_journal-5566	101	21	will	will	AUX
american_scientific_journal-5566	101	22	stop	stop	VERB
american_scientific_journal-5566	101	23	anyway	anyway	ADV
american_scientific_journal-5566	101	24	when	when	SCONJ
american_scientific_journal-5566	101	25	it	it	PRON
american_scientific_journal-5566	101	26	senses	sense	VERB
american_scientific_journal-5566	101	27	an	an	DET
american_scientific_journal-5566	101	28	edge	edge	NOUN
american_scientific_journal-5566	101	29	.	.	PUNCT
american_scientific_journal-5566	102	1	3.5	3.5	NUM
american_scientific_journal-5566	102	2	.	.	PUNCT
american_scientific_journal-5566	102	3	decision	decision	NOUN
american_scientific_journal-5566	102	4	making	make	VERB
american_scientific_journal-5566	102	5	process	process	NOUN
american_scientific_journal-5566	102	6	through	through	ADP
american_scientific_journal-5566	102	7	distance	distance	NOUN
american_scientific_journal-5566	102	8	measurement	measurement	NOUN
american_scientific_journal-5566	102	9	the	the	DET
american_scientific_journal-5566	102	10	table	table	NOUN
american_scientific_journal-5566	102	11	1	1	NUM
american_scientific_journal-5566	102	12	below	below	ADP
american_scientific_journal-5566	102	13	shows	show	NOUN
american_scientific_journal-5566	102	14	when	when	SCONJ
american_scientific_journal-5566	102	15	the	the	DET
american_scientific_journal-5566	102	16	robot	robot	NOUN
american_scientific_journal-5566	102	17	will	will	AUX
american_scientific_journal-5566	102	18	stop	stop	VERB
american_scientific_journal-5566	102	19	and	and	CCONJ
american_scientific_journal-5566	102	20	when	when	SCONJ
american_scientific_journal-5566	102	21	it	it	PRON
american_scientific_journal-5566	102	22	will	will	AUX
american_scientific_journal-5566	102	23	move	move	VERB
american_scientific_journal-5566	102	24	forward	forward	ADV
american_scientific_journal-5566	102	25	based	base	VERB
american_scientific_journal-5566	102	26	on	on	ADP
american_scientific_journal-5566	102	27	the	the	DET
american_scientific_journal-5566	102	28	value	value	NOUN
american_scientific_journal-5566	102	29	of	of	ADP
american_scientific_journal-5566	102	30	the	the	DET
american_scientific_journal-5566	102	31	distance	distance	NOUN
american_scientific_journal-5566	102	32	measurement	measurement	NOUN
american_scientific_journal-5566	102	33	which	which	PRON
american_scientific_journal-5566	102	34	it	it	PRON
american_scientific_journal-5566	102	35	will	will	AUX
american_scientific_journal-5566	102	36	get	get	VERB
american_scientific_journal-5566	102	37	from	from	ADP
american_scientific_journal-5566	102	38	three	three	NUM
american_scientific_journal-5566	102	39	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	102	40	sensors	sensor	NOUN
american_scientific_journal-5566	102	41	.	.	PUNCT
american_scientific_journal-5566	103	1	american	american	ADJ
american_scientific_journal-5566	103	2	scientific	scientific	ADJ
american_scientific_journal-5566	103	3	research	research	PROPN
american_scientific_journal-5566	103	4	journal	journal	NOUN
american_scientific_journal-5566	103	5	for	for	ADP
american_scientific_journal-5566	103	6	engineering	engineering	NOUN
american_scientific_journal-5566	103	7	,	,	PUNCT
american_scientific_journal-5566	103	8	technology	technology	NOUN
american_scientific_journal-5566	103	9	,	,	PUNCT
american_scientific_journal-5566	103	10	and	and	CCONJ
american_scientific_journal-5566	103	11	sciences	science	NOUN
american_scientific_journal-5566	103	12	(	(	PUNCT
american_scientific_journal-5566	103	13	asrjets	asrjet	NOUN
american_scientific_journal-5566	103	14	)	)	PUNCT
american_scientific_journal-5566	103	15	(	(	PUNCT
american_scientific_journal-5566	103	16	2020	2020	NUM
american_scientific_journal-5566	103	17	)	)	PUNCT
american_scientific_journal-5566	103	18	volume	volume	NOUN
american_scientific_journal-5566	103	19	64	64	NUM
american_scientific_journal-5566	103	20	,	,	PUNCT
american_scientific_journal-5566	103	21	no	no	DET
american_scientific_journal-5566	103	22	1	1	NUM
american_scientific_journal-5566	103	23	,	,	PUNCT
american_scientific_journal-5566	103	24	pp	pp	ADV
american_scientific_journal-5566	103	25	133	133	NUM
american_scientific_journal-5566	103	26	-	-	SYM
american_scientific_journal-5566	103	27	143	143	NUM
american_scientific_journal-5566	103	28	140	140	NUM
american_scientific_journal-5566	103	29	table	table	NOUN
american_scientific_journal-5566	103	30	1	1	NUM
american_scientific_journal-5566	103	31	:	:	PUNCT
american_scientific_journal-5566	103	32	decision	decision	NOUN
american_scientific_journal-5566	103	33	making	making	NOUN
american_scientific_journal-5566	103	34	process	process	NOUN
american_scientific_journal-5566	103	35	through	through	ADP
american_scientific_journal-5566	103	36	distance	distance	NOUN
american_scientific_journal-5566	103	37	measurement	measurement	NOUN
american_scientific_journal-5566	103	38	right	right	ADJ
american_scientific_journal-5566	103	39	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	103	40	value	value	NOUN
american_scientific_journal-5566	103	41	left	leave	VERB
american_scientific_journal-5566	103	42	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	103	43	value	value	NOUN
american_scientific_journal-5566	103	44	middle	middle	ADJ
american_scientific_journal-5566	103	45	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	103	46	value	value	NOUN
american_scientific_journal-5566	103	47	decision	decision	NOUN
american_scientific_journal-5566	103	48	<	<	X
american_scientific_journal-5566	103	49	5	5	NUM
american_scientific_journal-5566	103	50	cm	cm	NOUN
american_scientific_journal-5566	103	51	≥5	≥5	NUM
american_scientific_journal-5566	103	52	cm	cm	NOUN
american_scientific_journal-5566	103	53	>	>	SYM
american_scientific_journal-5566	103	54	15	15	NUM
american_scientific_journal-5566	103	55	cm	cm	NOUN
american_scientific_journal-5566	103	56	stop	stop	VERB
american_scientific_journal-5566	103	57	robot	robot	NOUN
american_scientific_journal-5566	103	58	<	<	NOUN
american_scientific_journal-5566	103	59	5	5	NUM
american_scientific_journal-5566	103	60	cm	cm	NUM
american_scientific_journal-5566	103	61	≥5	≥5	NUM
american_scientific_journal-5566	103	62	cm	cm	NOUN
american_scientific_journal-5566	103	63	≤15	≤15	NOUN
american_scientific_journal-5566	103	64	cm	cm	PROPN
american_scientific_journal-5566	103	65	stop	stop	VERB
american_scientific_journal-5566	103	66	robot	robot	NOUN
american_scientific_journal-5566	103	67	<	<	NOUN
american_scientific_journal-5566	103	68	5	5	NUM
american_scientific_journal-5566	103	69	cm	cm	NOUN
american_scientific_journal-5566	103	70	<	<	NOUN
american_scientific_journal-5566	103	71	5	5	NUM
american_scientific_journal-5566	103	72	cm	cm	NOUN
american_scientific_journal-5566	103	73	>	>	SYM
american_scientific_journal-5566	103	74	15	15	NUM
american_scientific_journal-5566	103	75	cm	cm	NOUN
american_scientific_journal-5566	103	76	move	move	VERB
american_scientific_journal-5566	103	77	forward	forward	ADV
american_scientific_journal-5566	103	78	<	<	X
american_scientific_journal-5566	103	79	5	5	NUM
american_scientific_journal-5566	103	80	cm	cm	NOUN
american_scientific_journal-5566	103	81	<	<	NOUN
american_scientific_journal-5566	103	82	5	5	NUM
american_scientific_journal-5566	103	83	cm	cm	NOUN
american_scientific_journal-5566	103	84	≤15	≤15	NOUN
american_scientific_journal-5566	103	85	cm	cm	PROPN
american_scientific_journal-5566	103	86	stop	stop	VERB
american_scientific_journal-5566	103	87	robot	robot	NOUN
american_scientific_journal-5566	103	88	≥5	≥5	NUM
american_scientific_journal-5566	103	89	cm	cm	NOUN
american_scientific_journal-5566	103	90	≥5	≥5	NUM
american_scientific_journal-5566	103	91	cm	cm	NOUN
american_scientific_journal-5566	103	92	>	>	SYM
american_scientific_journal-5566	103	93	15	15	NUM
american_scientific_journal-5566	103	94	cm	cm	NOUN
american_scientific_journal-5566	103	95	stop	stop	VERB
american_scientific_journal-5566	103	96	robot	robot	NOUN
american_scientific_journal-5566	103	97	≥5	≥5	NUM
american_scientific_journal-5566	103	98	cm	cm	NOUN
american_scientific_journal-5566	103	99	≥5	≥5	NUM
american_scientific_journal-5566	103	100	cm	cm	NOUN
american_scientific_journal-5566	103	101	≤15	≤15	NOUN
american_scientific_journal-5566	103	102	cm	cm	PROPN
american_scientific_journal-5566	103	103	stop	stop	VERB
american_scientific_journal-5566	103	104	robot	robot	NOUN
american_scientific_journal-5566	103	105	≥5	≥5	NUM
american_scientific_journal-5566	103	106	cm	cm	NOUN
american_scientific_journal-5566	103	107	<	<	NOUN
american_scientific_journal-5566	103	108	5	5	NUM
american_scientific_journal-5566	103	109	cm	cm	NOUN
american_scientific_journal-5566	103	110	>	>	SYM
american_scientific_journal-5566	103	111	15	15	NUM
american_scientific_journal-5566	103	112	cm	cm	NOUN
american_scientific_journal-5566	103	113	stop	stop	VERB
american_scientific_journal-5566	103	114	robot	robot	NOUN
american_scientific_journal-5566	103	115	≥5	≥5	NUM
american_scientific_journal-5566	103	116	cm	cm	NOUN
american_scientific_journal-5566	103	117	<	<	NOUN
american_scientific_journal-5566	103	118	5	5	NUM
american_scientific_journal-5566	103	119	cm	cm	NOUN
american_scientific_journal-5566	103	120	≤15	≤15	PROPN
american_scientific_journal-5566	103	121	cm	cm	PROPN
american_scientific_journal-5566	103	122	stop	stop	VERB
american_scientific_journal-5566	103	123	robot	robot	NOUN
american_scientific_journal-5566	103	124	one	one	NUM
american_scientific_journal-5566	103	125	thing	thing	NOUN
american_scientific_journal-5566	103	126	to	to	PART
american_scientific_journal-5566	103	127	note	note	VERB
american_scientific_journal-5566	103	128	here	here	ADV
american_scientific_journal-5566	103	129	again	again	ADV
american_scientific_journal-5566	103	130	is	be	AUX
american_scientific_journal-5566	103	131	that	that	SCONJ
american_scientific_journal-5566	103	132	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	103	133	sensors	sensor	NOUN
american_scientific_journal-5566	103	134	right	right	ADV
american_scientific_journal-5566	103	135	and	and	CCONJ
american_scientific_journal-5566	103	136	left	leave	VERB
american_scientific_journal-5566	103	137	,	,	PUNCT
american_scientific_journal-5566	103	138	both	both	DET
american_scientific_journal-5566	103	139	facing	face	VERB
american_scientific_journal-5566	103	140	down	down	ADP
american_scientific_journal-5566	103	141	to	to	PART
american_scientific_journal-5566	103	142	detect	detect	VERB
american_scientific_journal-5566	103	143	the	the	DET
american_scientific_journal-5566	103	144	edge	edge	NOUN
american_scientific_journal-5566	103	145	and	and	CCONJ
american_scientific_journal-5566	103	146	for	for	ADP
american_scientific_journal-5566	103	147	detecting	detect	VERB
american_scientific_journal-5566	103	148	obstacles	obstacle	NOUN
american_scientific_journal-5566	103	149	the	the	DET
american_scientific_journal-5566	103	150	middle	middle	ADJ
american_scientific_journal-5566	103	151	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	103	152	sensor	sensor	NOUN
american_scientific_journal-5566	103	153	faces	face	VERB
american_scientific_journal-5566	103	154	forward	forward	ADV
american_scientific_journal-5566	103	155	.	.	PUNCT
american_scientific_journal-5566	104	1	when	when	SCONJ
american_scientific_journal-5566	104	2	the	the	DET
american_scientific_journal-5566	104	3	right	right	NOUN
american_scientific_journal-5566	104	4	and	and	CCONJ
american_scientific_journal-5566	104	5	left	leave	VERB
american_scientific_journal-5566	104	6	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	104	7	sensor	sensor	NOUN
american_scientific_journal-5566	104	8	has	have	VERB
american_scientific_journal-5566	104	9	a	a	DET
american_scientific_journal-5566	104	10	value	value	NOUN
american_scientific_journal-5566	104	11	of	of	ADP
american_scientific_journal-5566	104	12	more	more	ADJ
american_scientific_journal-5566	104	13	than	than	ADP
american_scientific_journal-5566	104	14	or	or	CCONJ
american_scientific_journal-5566	104	15	equal	equal	ADJ
american_scientific_journal-5566	104	16	to	to	ADP
american_scientific_journal-5566	104	17	5	5	NUM
american_scientific_journal-5566	104	18	cm	cm	NOUN
american_scientific_journal-5566	104	19	,	,	PUNCT
american_scientific_journal-5566	104	20	the	the	DET
american_scientific_journal-5566	104	21	robot	robot	NOUN
american_scientific_journal-5566	104	22	will	will	AUX
american_scientific_journal-5566	104	23	take	take	VERB
american_scientific_journal-5566	104	24	it	it	PRON
american_scientific_journal-5566	104	25	as	as	ADP
american_scientific_journal-5566	104	26	an	an	DET
american_scientific_journal-5566	104	27	edge	edge	NOUN
american_scientific_journal-5566	104	28	and	and	CCONJ
american_scientific_journal-5566	104	29	start	start	VERB
american_scientific_journal-5566	104	30	searching	search	VERB
american_scientific_journal-5566	104	31	for	for	ADP
american_scientific_journal-5566	104	32	an	an	DET
american_scientific_journal-5566	104	33	alternative	alternative	ADJ
american_scientific_journal-5566	104	34	path	path	NOUN
american_scientific_journal-5566	104	35	.	.	PUNCT
american_scientific_journal-5566	105	1	and	and	CCONJ
american_scientific_journal-5566	105	2	when	when	SCONJ
american_scientific_journal-5566	105	3	the	the	DET
american_scientific_journal-5566	105	4	reading	reading	NOUN
american_scientific_journal-5566	105	5	of	of	ADP
american_scientific_journal-5566	105	6	the	the	DET
american_scientific_journal-5566	105	7	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	105	8	sensor	sensor	NOUN
american_scientific_journal-5566	105	9	in	in	ADP
american_scientific_journal-5566	105	10	the	the	DET
american_scientific_journal-5566	105	11	front	front	NOUN
american_scientific_journal-5566	105	12	of	of	ADP
american_scientific_journal-5566	105	13	the	the	DET
american_scientific_journal-5566	105	14	middle	middle	ADJ
american_scientific_journal-5566	105	15	face	face	NOUN
american_scientific_journal-5566	105	16	is	be	AUX
american_scientific_journal-5566	105	17	less	less	ADJ
american_scientific_journal-5566	105	18	than	than	ADP
american_scientific_journal-5566	105	19	15	15	NUM
american_scientific_journal-5566	105	20	cm	cm	NOUN
american_scientific_journal-5566	105	21	,	,	PUNCT
american_scientific_journal-5566	105	22	the	the	DET
american_scientific_journal-5566	105	23	system	system	NOUN
american_scientific_journal-5566	105	24	can	can	AUX
american_scientific_journal-5566	105	25	consider	consider	VERB
american_scientific_journal-5566	105	26	it	it	PRON
american_scientific_journal-5566	105	27	an	an	DET
american_scientific_journal-5566	105	28	obstacle	obstacle	NOUN
american_scientific_journal-5566	105	29	and	and	CCONJ
american_scientific_journal-5566	105	30	immediately	immediately	ADV
american_scientific_journal-5566	105	31	stop	stop	VERB
american_scientific_journal-5566	105	32	the	the	DET
american_scientific_journal-5566	105	33	robot	robot	NOUN
american_scientific_journal-5566	105	34	.	.	PUNCT
american_scientific_journal-5566	106	1	when	when	SCONJ
american_scientific_journal-5566	106	2	we	we	PRON
american_scientific_journal-5566	106	3	look	look	VERB
american_scientific_journal-5566	106	4	through	through	ADP
american_scientific_journal-5566	106	5	the	the	DET
american_scientific_journal-5566	106	6	entire	entire	ADJ
american_scientific_journal-5566	106	7	table	table	NOUN
american_scientific_journal-5566	106	8	we	we	PRON
american_scientific_journal-5566	106	9	will	will	AUX
american_scientific_journal-5566	106	10	see	see	VERB
american_scientific_journal-5566	106	11	that	that	SCONJ
american_scientific_journal-5566	106	12	there	there	PRON
american_scientific_journal-5566	106	13	is	be	VERB
american_scientific_journal-5566	106	14	only	only	ADV
american_scientific_journal-5566	106	15	one	one	NUM
american_scientific_journal-5566	106	16	sweet	sweet	ADJ
american_scientific_journal-5566	106	17	spot	spot	NOUN
american_scientific_journal-5566	106	18	where	where	SCONJ
american_scientific_journal-5566	106	19	the	the	DET
american_scientific_journal-5566	106	20	robot	robot	NOUN
american_scientific_journal-5566	106	21	can	can	AUX
american_scientific_journal-5566	106	22	push	push	VERB
american_scientific_journal-5566	106	23	forward	forward	ADV
american_scientific_journal-5566	106	24	.	.	PUNCT
american_scientific_journal-5566	107	1	the	the	DET
american_scientific_journal-5566	107	2	sweet	sweet	ADJ
american_scientific_journal-5566	107	3	spot	spot	NOUN
american_scientific_journal-5566	107	4	is	be	AUX
american_scientific_journal-5566	107	5	when	when	SCONJ
american_scientific_journal-5566	107	6	the	the	DET
american_scientific_journal-5566	107	7	mean	mean	ADJ
american_scientific_journal-5566	107	8	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	107	9	value	value	NOUN
american_scientific_journal-5566	107	10	is	be	AUX
american_scientific_journal-5566	107	11	greater	great	ADJ
american_scientific_journal-5566	107	12	than	than	ADP
american_scientific_journal-5566	107	13	15	15	NUM
american_scientific_journal-5566	107	14	cm	cm	NOUN
american_scientific_journal-5566	107	15	with	with	ADP
american_scientific_journal-5566	107	16	an	an	DET
american_scientific_journal-5566	107	17	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	107	18	right	right	NOUN
american_scientific_journal-5566	107	19	and	and	CCONJ
american_scientific_journal-5566	107	20	left	leave	VERB
american_scientific_journal-5566	107	21	sensor	sensor	NOUN
american_scientific_journal-5566	107	22	value	value	NOUN
american_scientific_journal-5566	107	23	less	less	ADJ
american_scientific_journal-5566	107	24	than	than	ADP
american_scientific_journal-5566	107	25	5	5	NUM
american_scientific_journal-5566	107	26	cm	cm	NOUN
american_scientific_journal-5566	107	27	.	.	PUNCT
american_scientific_journal-5566	108	1	3.6	3.6	NUM
american_scientific_journal-5566	108	2	.	.	PUNCT
american_scientific_journal-5566	109	1	path	path	NOUN
american_scientific_journal-5566	109	2	planning	planning	NOUN
american_scientific_journal-5566	109	3	to	to	PART
american_scientific_journal-5566	109	4	detect	detect	VERB
american_scientific_journal-5566	109	5	obstacle	obstacle	NOUN
american_scientific_journal-5566	109	6	and	and	CCONJ
american_scientific_journal-5566	109	7	edge	edge	NOUN
american_scientific_journal-5566	109	8	figure	figure	NOUN
american_scientific_journal-5566	109	9	5	5	NUM
american_scientific_journal-5566	109	10	demonstrates	demonstrate	VERB
american_scientific_journal-5566	109	11	the	the	DET
american_scientific_journal-5566	109	12	robot	robot	NOUN
american_scientific_journal-5566	109	13	's	's	PART
american_scientific_journal-5566	109	14	route	route	NOUN
american_scientific_journal-5566	109	15	planning	plan	VERB
american_scientific_journal-5566	109	16	with	with	ADP
american_scientific_journal-5566	109	17	obstacles	obstacle	NOUN
american_scientific_journal-5566	109	18	and	and	CCONJ
american_scientific_journal-5566	109	19	boundaries	boundary	NOUN
american_scientific_journal-5566	109	20	.	.	PUNCT
american_scientific_journal-5566	110	1	figure	figure	VERB
american_scientific_journal-5566	110	2	6	6	NUM
american_scientific_journal-5566	110	3	:	:	PUNCT
american_scientific_journal-5566	110	4	path	path	NOUN
american_scientific_journal-5566	110	5	planning	planning	NOUN
american_scientific_journal-5566	110	6	of	of	ADP
american_scientific_journal-5566	110	7	the	the	DET
american_scientific_journal-5566	110	8	robot	robot	NOUN
american_scientific_journal-5566	110	9	with	with	ADP
american_scientific_journal-5566	110	10	obstacles	obstacle	NOUN
american_scientific_journal-5566	110	11	and	and	CCONJ
american_scientific_journal-5566	110	12	edges	edge	NOUN
american_scientific_journal-5566	110	13	here	here	ADV
american_scientific_journal-5566	110	14	4	4	NUM
american_scientific_journal-5566	110	15	obstacles	obstacle	NOUN
american_scientific_journal-5566	110	16	and	and	CCONJ
american_scientific_journal-5566	110	17	4	4	NUM
american_scientific_journal-5566	110	18	edges	edge	NOUN
american_scientific_journal-5566	110	19	on	on	ADP
american_scientific_journal-5566	110	20	a	a	DET
american_scientific_journal-5566	110	21	board	board	NOUN
american_scientific_journal-5566	110	22	.	.	PUNCT
american_scientific_journal-5566	111	1	and	and	CCONJ
american_scientific_journal-5566	111	2	there	there	PRON
american_scientific_journal-5566	111	3	are	be	VERB
american_scientific_journal-5566	111	4	two	two	NUM
american_scientific_journal-5566	111	5	stages	stage	NOUN
american_scientific_journal-5566	111	6	,	,	PUNCT
american_scientific_journal-5566	111	7	'	'	PUNCT
american_scientific_journal-5566	111	8	start	start	VERB
american_scientific_journal-5566	111	9	'	'	PUNCT
american_scientific_journal-5566	111	10	from	from	ADP
american_scientific_journal-5566	111	11	where	where	SCONJ
american_scientific_journal-5566	111	12	the	the	DET
american_scientific_journal-5566	111	13	robot	robot	NOUN
american_scientific_journal-5566	111	14	begins	begin	VERB
american_scientific_journal-5566	111	15	and	and	CCONJ
american_scientific_journal-5566	111	16	american	american	ADJ
american_scientific_journal-5566	111	17	scientific	scientific	ADJ
american_scientific_journal-5566	111	18	research	research	NOUN
american_scientific_journal-5566	111	19	journal	journal	NOUN
american_scientific_journal-5566	111	20	for	for	ADP
american_scientific_journal-5566	111	21	engineering	engineering	NOUN
american_scientific_journal-5566	111	22	,	,	PUNCT
american_scientific_journal-5566	111	23	technology	technology	NOUN
american_scientific_journal-5566	111	24	,	,	PUNCT
american_scientific_journal-5566	111	25	and	and	CCONJ
american_scientific_journal-5566	111	26	sciences	science	NOUN
american_scientific_journal-5566	111	27	(	(	PUNCT
american_scientific_journal-5566	111	28	asrjets	asrjet	NOUN
american_scientific_journal-5566	111	29	)	)	PUNCT
american_scientific_journal-5566	111	30	(	(	PUNCT
american_scientific_journal-5566	111	31	2020	2020	NUM
american_scientific_journal-5566	111	32	)	)	PUNCT
american_scientific_journal-5566	111	33	volume	volume	NOUN
american_scientific_journal-5566	111	34	64	64	NUM
american_scientific_journal-5566	111	35	,	,	PUNCT
american_scientific_journal-5566	111	36	no	no	DET
american_scientific_journal-5566	111	37	1	1	NUM
american_scientific_journal-5566	111	38	,	,	PUNCT
american_scientific_journal-5566	111	39	pp	pp	ADV
american_scientific_journal-5566	111	40	133	133	NUM
american_scientific_journal-5566	111	41	-	-	SYM
american_scientific_journal-5566	111	42	143	143	NUM
american_scientific_journal-5566	111	43	141	141	NUM
american_scientific_journal-5566	111	44	„	„	PUNCT
american_scientific_journal-5566	111	45	target	target	NOUN
american_scientific_journal-5566	111	46	'	'	PUNCT
american_scientific_journal-5566	111	47	from	from	ADP
american_scientific_journal-5566	111	48	where	where	SCONJ
american_scientific_journal-5566	111	49	the	the	DET
american_scientific_journal-5566	111	50	robot	robot	NOUN
american_scientific_journal-5566	111	51	will	will	AUX
american_scientific_journal-5566	111	52	reach	reach	VERB
american_scientific_journal-5566	111	53	the	the	DET
american_scientific_journal-5566	111	54	robot	robot	NOUN
american_scientific_journal-5566	111	55	will	will	AUX
american_scientific_journal-5566	111	56	start	start	VERB
american_scientific_journal-5566	111	57	from	from	ADP
american_scientific_journal-5566	111	58	the	the	DET
american_scientific_journal-5566	111	59	'	'	PUNCT
american_scientific_journal-5566	111	60	start	start	NOUN
american_scientific_journal-5566	111	61	'	'	PUNCT
american_scientific_journal-5566	111	62	then	then	ADV
american_scientific_journal-5566	111	63	locate	locate	VERB
american_scientific_journal-5566	111	64	the	the	DET
american_scientific_journal-5566	111	65	first	first	ADJ
american_scientific_journal-5566	111	66	obstacle	obstacle	NOUN
american_scientific_journal-5566	111	67	at	at	ADP
american_scientific_journal-5566	111	68	the	the	DET
american_scientific_journal-5566	111	69	very	very	ADJ
american_scientific_journal-5566	111	70	beginning	beginning	NOUN
american_scientific_journal-5566	111	71	,	,	PUNCT
american_scientific_journal-5566	111	72	obstacle	obstacle	NOUN
american_scientific_journal-5566	111	73	1	1	NUM
american_scientific_journal-5566	111	74	and	and	CCONJ
american_scientific_journal-5566	111	75	then	then	ADV
american_scientific_journal-5566	111	76	turn	turn	VERB
american_scientific_journal-5566	111	77	left	left	ADJ
american_scientific_journal-5566	111	78	using	use	VERB
american_scientific_journal-5566	111	79	its	its	PRON
american_scientific_journal-5566	111	80	algorithm	algorithm	NOUN
american_scientific_journal-5566	111	81	and	and	CCONJ
american_scientific_journal-5566	111	82	continue	continue	VERB
american_scientific_journal-5566	111	83	to	to	PART
american_scientific_journal-5566	111	84	move	move	VERB
american_scientific_journal-5566	111	85	forward	forward	ADV
american_scientific_journal-5566	111	86	.	.	PUNCT
american_scientific_journal-5566	112	1	whenever	whenever	SCONJ
american_scientific_journal-5566	112	2	it	it	PRON
american_scientific_journal-5566	112	3	notices	notice	VERB
american_scientific_journal-5566	112	4	the	the	DET
american_scientific_journal-5566	112	5	edge	edge	NOUN
american_scientific_journal-5566	112	6	it	it	PRON
american_scientific_journal-5566	112	7	will	will	AUX
american_scientific_journal-5566	112	8	look	look	VERB
american_scientific_journal-5566	112	9	for	for	ADP
american_scientific_journal-5566	112	10	an	an	DET
american_scientific_journal-5566	112	11	alternative	alternative	ADJ
american_scientific_journal-5566	112	12	path	path	NOUN
american_scientific_journal-5566	112	13	and	and	CCONJ
american_scientific_journal-5566	112	14	it	it	PRON
american_scientific_journal-5566	112	15	will	will	AUX
american_scientific_journal-5566	112	16	see	see	VERB
american_scientific_journal-5566	112	17	that	that	DET
american_scientific_journal-5566	112	18	obstacle	obstacle	NOUN
american_scientific_journal-5566	112	19	2	2	NUM
american_scientific_journal-5566	112	20	blocks	block	NOUN
american_scientific_journal-5566	112	21	the	the	DET
american_scientific_journal-5566	112	22	left	left	ADJ
american_scientific_journal-5566	112	23	side	side	NOUN
american_scientific_journal-5566	112	24	and	and	CCONJ
american_scientific_journal-5566	112	25	turn	turn	VERB
american_scientific_journal-5566	112	26	right	right	ADJ
american_scientific_journal-5566	112	27	.	.	PUNCT
american_scientific_journal-5566	113	1	then	then	ADV
american_scientific_journal-5566	113	2	it	it	PRON
american_scientific_journal-5566	113	3	will	will	AUX
american_scientific_journal-5566	113	4	start	start	VERB
american_scientific_journal-5566	113	5	moving	move	VERB
american_scientific_journal-5566	113	6	forward	forward	ADV
american_scientific_journal-5566	113	7	once	once	ADV
american_scientific_journal-5566	113	8	more	more	ADJ
american_scientific_journal-5566	113	9	until	until	SCONJ
american_scientific_journal-5566	113	10	it	it	PRON
american_scientific_journal-5566	113	11	reaches	reach	VERB
american_scientific_journal-5566	113	12	obstacle	obstacle	NOUN
american_scientific_journal-5566	113	13	3	3	NUM
american_scientific_journal-5566	113	14	.	.	PUNCT
american_scientific_journal-5566	114	1	when	when	SCONJ
american_scientific_journal-5566	114	2	detecting	detect	VERB
american_scientific_journal-5566	114	3	obstacle	obstacle	NOUN
american_scientific_journal-5566	114	4	3	3	NUM
american_scientific_journal-5566	114	5	,	,	PUNCT
american_scientific_journal-5566	114	6	both	both	CCONJ
american_scientific_journal-5566	114	7	the	the	DET
american_scientific_journal-5566	114	8	right	right	NOUN
american_scientific_journal-5566	114	9	and	and	CCONJ
american_scientific_journal-5566	114	10	the	the	DET
american_scientific_journal-5566	114	11	left	left	ADJ
american_scientific_journal-5566	114	12	side	side	NOUN
american_scientific_journal-5566	114	13	will	will	AUX
american_scientific_journal-5566	114	14	find	find	VERB
american_scientific_journal-5566	114	15	out	out	ADP
american_scientific_journal-5566	114	16	that	that	SCONJ
american_scientific_journal-5566	114	17	they	they	PRON
american_scientific_journal-5566	114	18	have	have	VERB
american_scientific_journal-5566	114	19	the	the	DET
american_scientific_journal-5566	114	20	same	same	ADJ
american_scientific_journal-5566	114	21	gap	gap	NOUN
american_scientific_journal-5566	114	22	(	(	PUNCT
american_scientific_journal-5566	114	23	this	this	PRON
american_scientific_journal-5566	114	24	is	be	AUX
american_scientific_journal-5566	114	25	because	because	SCONJ
american_scientific_journal-5566	114	26	there	there	PRON
american_scientific_journal-5566	114	27	is	be	VERB
american_scientific_journal-5566	114	28	nothing	nothing	PRON
american_scientific_journal-5566	114	29	in	in	ADP
american_scientific_journal-5566	114	30	the	the	DET
american_scientific_journal-5566	114	31	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	114	32	sensor	sensor	NOUN
american_scientific_journal-5566	114	33	range	range	NOUN
american_scientific_journal-5566	114	34	)	)	PUNCT
american_scientific_journal-5566	114	35	.	.	PUNCT
american_scientific_journal-5566	115	1	we	we	PRON
american_scientific_journal-5566	115	2	have	have	AUX
american_scientific_journal-5566	115	3	already	already	ADV
american_scientific_journal-5566	115	4	mentioned	mention	VERB
american_scientific_journal-5566	115	5	in	in	ADP
american_scientific_journal-5566	115	6	the	the	DET
american_scientific_journal-5566	115	7	algorithm	algorithm	NOUN
american_scientific_journal-5566	115	8	that	that	SCONJ
american_scientific_journal-5566	115	9	if	if	SCONJ
american_scientific_journal-5566	115	10	but	but	CCONJ
american_scientific_journal-5566	115	11	of	of	ADP
american_scientific_journal-5566	115	12	the	the	DET
american_scientific_journal-5566	115	13	distances	distance	NOUN
american_scientific_journal-5566	115	14	our	our	PRON
american_scientific_journal-5566	115	15	similar	similar	ADJ
american_scientific_journal-5566	115	16	robot	robot	NOUN
american_scientific_journal-5566	115	17	automatically	automatically	ADV
american_scientific_journal-5566	115	18	selects	select	VERB
american_scientific_journal-5566	115	19	the	the	DET
american_scientific_journal-5566	115	20	right	right	ADJ
american_scientific_journal-5566	115	21	side	side	NOUN
american_scientific_journal-5566	115	22	to	to	PART
american_scientific_journal-5566	115	23	make	make	VERB
american_scientific_journal-5566	115	24	its	its	PRON
american_scientific_journal-5566	115	25	way	way	NOUN
american_scientific_journal-5566	115	26	.	.	PUNCT
american_scientific_journal-5566	116	1	again	again	ADV
american_scientific_journal-5566	116	2	it	it	PRON
american_scientific_journal-5566	116	3	will	will	AUX
american_scientific_journal-5566	116	4	start	start	VERB
american_scientific_journal-5566	116	5	moving	move	VERB
american_scientific_journal-5566	116	6	forward	forward	ADV
american_scientific_journal-5566	116	7	after	after	ADP
american_scientific_journal-5566	116	8	turning	turn	VERB
american_scientific_journal-5566	116	9	right	right	ADV
american_scientific_journal-5566	116	10	and	and	CCONJ
american_scientific_journal-5566	116	11	eventually	eventually	ADV
american_scientific_journal-5566	116	12	it	it	PRON
american_scientific_journal-5566	116	13	will	will	AUX
american_scientific_journal-5566	116	14	detect	detect	VERB
american_scientific_journal-5566	116	15	obstacle	obstacle	NOUN
american_scientific_journal-5566	116	16	4	4	NUM
american_scientific_journal-5566	116	17	.	.	PUNCT
american_scientific_journal-5566	117	1	and	and	CCONJ
american_scientific_journal-5566	117	2	the	the	DET
american_scientific_journal-5566	117	3	algorithm	algorithm	NOUN
american_scientific_journal-5566	117	4	will	will	AUX
american_scientific_journal-5566	117	5	once	once	ADV
american_scientific_journal-5566	117	6	again	again	ADV
american_scientific_journal-5566	117	7	help	help	VERB
american_scientific_journal-5566	117	8	it	it	PRON
american_scientific_journal-5566	117	9	turn	turn	VERB
american_scientific_journal-5566	117	10	left	left	ADJ
american_scientific_journal-5566	117	11	and	and	CCONJ
american_scientific_journal-5566	117	12	reach	reach	VERB
american_scientific_journal-5566	117	13	the	the	DET
american_scientific_journal-5566	117	14	goal	goal	NOUN
american_scientific_journal-5566	117	15	.	.	PUNCT
american_scientific_journal-5566	118	1	4	4	X
american_scientific_journal-5566	118	2	.	.	X
american_scientific_journal-5566	118	3	applications	application	NOUN
american_scientific_journal-5566	118	4	there	there	PRON
american_scientific_journal-5566	118	5	is	be	VERB
american_scientific_journal-5566	118	6	an	an	DET
american_scientific_journal-5566	118	7	immense	immense	ADJ
american_scientific_journal-5566	118	8	amount	amount	NOUN
american_scientific_journal-5566	118	9	of	of	ADP
american_scientific_journal-5566	118	10	obstacle	obstacle	NOUN
american_scientific_journal-5566	118	11	and	and	CCONJ
american_scientific_journal-5566	118	12	edge	edge	VERB
american_scientific_journal-5566	118	13	potential	potential	ADJ
american_scientific_journal-5566	118	14	avoiding	avoid	VERB
american_scientific_journal-5566	118	15	robots	robot	NOUN
american_scientific_journal-5566	118	16	in	in	ADP
american_scientific_journal-5566	118	17	different	different	ADJ
american_scientific_journal-5566	118	18	sectors	sector	NOUN
american_scientific_journal-5566	118	19	.	.	PUNCT
american_scientific_journal-5566	119	1	the	the	DET
american_scientific_journal-5566	119	2	following	follow	VERB
american_scientific_journal-5566	119	3	are	be	AUX
american_scientific_journal-5566	119	4	some	some	DET
american_scientific_journal-5566	119	5	significant	significant	ADJ
american_scientific_journal-5566	119	6	ones	one	NOUN
american_scientific_journal-5566	119	7	:	:	PUNCT
american_scientific_journal-5566	119	8	•	•	ADV
american_scientific_journal-5566	119	9	from	from	ADP
american_scientific_journal-5566	119	10	bangladesh	bangladesh	NOUN
american_scientific_journal-5566	119	11	's	's	PART
american_scientific_journal-5566	119	12	perspective	perspective	NOUN
american_scientific_journal-5566	119	13	,	,	PUNCT
american_scientific_journal-5566	119	14	most	most	ADJ
american_scientific_journal-5566	119	15	of	of	ADP
american_scientific_journal-5566	119	16	the	the	DET
american_scientific_journal-5566	119	17	rural	rural	ADJ
american_scientific_journal-5566	119	18	roads	road	NOUN
american_scientific_journal-5566	119	19	are	be	AUX
american_scientific_journal-5566	119	20	without	without	ADP
american_scientific_journal-5566	119	21	a	a	DET
american_scientific_journal-5566	119	22	guardrail	guardrail	NOUN
american_scientific_journal-5566	119	23	.	.	PUNCT
american_scientific_journal-5566	120	1	that	that	PRON
american_scientific_journal-5566	120	2	's	be	AUX
american_scientific_journal-5566	120	3	why	why	SCONJ
american_scientific_journal-5566	120	4	there	there	PRON
american_scientific_journal-5566	120	5	is	be	VERB
american_scientific_journal-5566	120	6	always	always	ADV
american_scientific_journal-5566	120	7	a	a	DET
american_scientific_journal-5566	120	8	risk	risk	NOUN
american_scientific_journal-5566	120	9	that	that	SCONJ
american_scientific_journal-5566	120	10	it	it	PRON
american_scientific_journal-5566	120	11	will	will	AUX
american_scientific_journal-5566	120	12	fall	fall	VERB
american_scientific_journal-5566	120	13	through	through	ADP
american_scientific_journal-5566	120	14	the	the	DET
american_scientific_journal-5566	120	15	edge	edge	NOUN
american_scientific_journal-5566	120	16	.	.	PUNCT
american_scientific_journal-5566	121	1	this	this	DET
american_scientific_journal-5566	121	2	module	module	NOUN
american_scientific_journal-5566	121	3	can	can	AUX
american_scientific_journal-5566	121	4	be	be	AUX
american_scientific_journal-5566	121	5	integrated	integrate	VERB
american_scientific_journal-5566	121	6	into	into	ADP
american_scientific_journal-5566	121	7	the	the	DET
american_scientific_journal-5566	121	8	robot	robot	NOUN
american_scientific_journal-5566	121	9	and	and	CCONJ
american_scientific_journal-5566	121	10	will	will	AUX
american_scientific_journal-5566	121	11	help	help	VERB
american_scientific_journal-5566	121	12	to	to	PART
american_scientific_journal-5566	121	13	deal	deal	VERB
american_scientific_journal-5566	121	14	with	with	ADP
american_scientific_journal-5566	121	15	unwanted	unwanted	ADJ
american_scientific_journal-5566	121	16	incidents	incident	NOUN
american_scientific_journal-5566	121	17	.	.	PUNCT
american_scientific_journal-5566	122	1	•	•	NUM
american_scientific_journal-5566	122	2	in	in	ADP
american_scientific_journal-5566	122	3	the	the	DET
american_scientific_journal-5566	122	4	case	case	NOUN
american_scientific_journal-5566	122	5	of	of	ADP
american_scientific_journal-5566	122	6	multi	multi	ADJ
american_scientific_journal-5566	122	7	-	-	ADJ
american_scientific_journal-5566	122	8	story	story	ADJ
american_scientific_journal-5566	122	9	building	building	NOUN
american_scientific_journal-5566	122	10	construction	construction	NOUN
american_scientific_journal-5566	122	11	,	,	PUNCT
american_scientific_journal-5566	122	12	different	different	ADJ
american_scientific_journal-5566	122	13	building	building	NOUN
american_scientific_journal-5566	122	14	materials	material	NOUN
american_scientific_journal-5566	122	15	falling	fall	VERB
american_scientific_journal-5566	122	16	from	from	ADP
american_scientific_journal-5566	122	17	unfinished	unfinished	ADJ
american_scientific_journal-5566	122	18	floors	floor	NOUN
american_scientific_journal-5566	122	19	are	be	AUX
american_scientific_journal-5566	122	20	quite	quite	ADV
american_scientific_journal-5566	122	21	normal	normal	ADJ
american_scientific_journal-5566	122	22	.	.	PUNCT
american_scientific_journal-5566	123	1	such	such	ADJ
american_scientific_journal-5566	123	2	products	product	NOUN
american_scientific_journal-5566	123	3	can	can	AUX
american_scientific_journal-5566	123	4	be	be	AUX
american_scientific_journal-5566	123	5	transported	transport	VERB
american_scientific_journal-5566	123	6	very	very	ADV
american_scientific_journal-5566	123	7	easily	easily	ADV
american_scientific_journal-5566	123	8	across	across	ADP
american_scientific_journal-5566	123	9	the	the	DET
american_scientific_journal-5566	123	10	edge	edge	NOUN
american_scientific_journal-5566	123	11	.	.	PUNCT
american_scientific_journal-5566	124	1	•	•	NUM
american_scientific_journal-5566	124	2	from	from	ADP
american_scientific_journal-5566	124	3	the	the	DET
american_scientific_journal-5566	124	4	perspective	perspective	NOUN
american_scientific_journal-5566	124	5	of	of	ADP
american_scientific_journal-5566	124	6	bangladesh	bangladesh	NOUN
american_scientific_journal-5566	124	7	,	,	PUNCT
american_scientific_journal-5566	124	8	most	most	ADJ
american_scientific_journal-5566	124	9	of	of	ADP
american_scientific_journal-5566	124	10	the	the	DET
american_scientific_journal-5566	124	11	roads	road	NOUN
american_scientific_journal-5566	124	12	through	through	ADP
american_scientific_journal-5566	124	13	the	the	DET
american_scientific_journal-5566	124	14	mountains	mountain	NOUN
american_scientific_journal-5566	124	15	don‟t	don‟t	X
american_scientific_journal-5566	124	16	have	have	VERB
american_scientific_journal-5566	124	17	any	any	DET
american_scientific_journal-5566	124	18	guardrail	guardrail	NOUN
american_scientific_journal-5566	124	19	.	.	PUNCT
american_scientific_journal-5566	125	1	that‟s	that‟s	ADV
american_scientific_journal-5566	125	2	why	why	SCONJ
american_scientific_journal-5566	125	3	there	there	PRON
american_scientific_journal-5566	125	4	is	be	VERB
american_scientific_journal-5566	125	5	always	always	ADV
american_scientific_journal-5566	125	6	a	a	DET
american_scientific_journal-5566	125	7	risk	risk	NOUN
american_scientific_journal-5566	125	8	of	of	ADP
american_scientific_journal-5566	125	9	falling	fall	VERB
american_scientific_journal-5566	125	10	through	through	ADP
american_scientific_journal-5566	125	11	the	the	DET
american_scientific_journal-5566	125	12	edge	edge	NOUN
american_scientific_journal-5566	125	13	.	.	PUNCT
american_scientific_journal-5566	126	1	this	this	DET
american_scientific_journal-5566	126	2	module	module	NOUN
american_scientific_journal-5566	126	3	can	can	AUX
american_scientific_journal-5566	126	4	be	be	AUX
american_scientific_journal-5566	126	5	equipped	equip	VERB
american_scientific_journal-5566	126	6	in	in	ADP
american_scientific_journal-5566	126	7	the	the	DET
american_scientific_journal-5566	126	8	robot	robot	NOUN
american_scientific_journal-5566	126	9	and	and	CCONJ
american_scientific_journal-5566	126	10	it	it	PRON
american_scientific_journal-5566	126	11	will	will	AUX
american_scientific_journal-5566	126	12	help	help	VERB
american_scientific_journal-5566	126	13	to	to	PART
american_scientific_journal-5566	126	14	face	face	VERB
american_scientific_journal-5566	126	15	uninvited	uninvited	ADJ
american_scientific_journal-5566	126	16	accidents	accident	NOUN
american_scientific_journal-5566	126	17	.	.	PUNCT
american_scientific_journal-5566	127	1	•	•	NUM
american_scientific_journal-5566	127	2	in	in	ADP
american_scientific_journal-5566	127	3	the	the	DET
american_scientific_journal-5566	127	4	case	case	NOUN
american_scientific_journal-5566	127	5	of	of	ADP
american_scientific_journal-5566	127	6	multistoried	multistorie	VERB
american_scientific_journal-5566	127	7	building	building	NOUN
american_scientific_journal-5566	127	8	construction	construction	NOUN
american_scientific_journal-5566	127	9	,	,	PUNCT
american_scientific_journal-5566	127	10	it	it	PRON
american_scientific_journal-5566	127	11	is	be	AUX
american_scientific_journal-5566	127	12	pretty	pretty	ADV
american_scientific_journal-5566	127	13	common	common	ADJ
american_scientific_journal-5566	127	14	,	,	PUNCT
american_scientific_journal-5566	127	15	falling	fall	VERB
american_scientific_journal-5566	127	16	various	various	ADJ
american_scientific_journal-5566	127	17	construction	construction	NOUN
american_scientific_journal-5566	127	18	materials	material	NOUN
american_scientific_journal-5566	127	19	from	from	ADP
american_scientific_journal-5566	127	20	incomplete	incomplete	ADJ
american_scientific_journal-5566	127	21	floors	floor	NOUN
american_scientific_journal-5566	127	22	.	.	PUNCT
american_scientific_journal-5566	128	1	these	these	DET
american_scientific_journal-5566	128	2	materials	material	NOUN
american_scientific_journal-5566	128	3	can	can	AUX
american_scientific_journal-5566	128	4	be	be	AUX
american_scientific_journal-5566	128	5	carried	carry	VERB
american_scientific_journal-5566	128	6	very	very	ADV
american_scientific_journal-5566	128	7	efficient	efficient	ADJ
american_scientific_journal-5566	128	8	through	through	ADP
american_scientific_journal-5566	128	9	the	the	DET
american_scientific_journal-5566	128	10	edge	edge	NOUN
american_scientific_journal-5566	128	11	and	and	CCONJ
american_scientific_journal-5566	128	12	obstacle	obstacle	NOUN
american_scientific_journal-5566	128	13	avoiding	avoid	VERB
american_scientific_journal-5566	128	14	robot	robot	NOUN
american_scientific_journal-5566	128	15	.	.	PUNCT
american_scientific_journal-5566	129	1	•	•	ADV
american_scientific_journal-5566	129	2	there	there	PRON
american_scientific_journal-5566	129	3	are	be	VERB
american_scientific_journal-5566	129	4	a	a	DET
american_scientific_journal-5566	129	5	lot	lot	NOUN
american_scientific_journal-5566	129	6	of	of	ADP
american_scientific_journal-5566	129	7	disable	disable	ADJ
american_scientific_journal-5566	129	8	people	people	NOUN
american_scientific_journal-5566	129	9	depended	depend	VERB
american_scientific_journal-5566	129	10	on	on	ADP
american_scientific_journal-5566	129	11	wheelchair	wheelchair	NOUN
american_scientific_journal-5566	129	12	.	.	PUNCT
american_scientific_journal-5566	130	1	this	this	DET
american_scientific_journal-5566	130	2	idea	idea	NOUN
american_scientific_journal-5566	130	3	can	can	AUX
american_scientific_journal-5566	130	4	be	be	AUX
american_scientific_journal-5566	130	5	implemented	implement	VERB
american_scientific_journal-5566	130	6	in	in	ADP
american_scientific_journal-5566	130	7	wheelchairs	wheelchairs	NOUN
american_scientific_journal-5566	130	8	as	as	SCONJ
american_scientific_journal-5566	130	9	it	it	PRON
american_scientific_journal-5566	130	10	can	can	AUX
american_scientific_journal-5566	130	11	detect	detect	VERB
american_scientific_journal-5566	130	12	obstacle	obstacle	NOUN
american_scientific_journal-5566	130	13	and	and	CCONJ
american_scientific_journal-5566	130	14	edge	edge	VERB
american_scientific_journal-5566	130	15	autonomously	autonomously	ADV
american_scientific_journal-5566	130	16	.	.	PUNCT
american_scientific_journal-5566	131	1	5	5	X
american_scientific_journal-5566	131	2	.	.	X
american_scientific_journal-5566	131	3	limitations	limitation	NOUN
american_scientific_journal-5566	131	4	as	as	SCONJ
american_scientific_journal-5566	131	5	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	131	6	sensor	sensor	NOUN
american_scientific_journal-5566	131	7	measures	measure	VERB
american_scientific_journal-5566	131	8	the	the	DET
american_scientific_journal-5566	131	9	distance	distance	NOUN
american_scientific_journal-5566	131	10	through	through	ADP
american_scientific_journal-5566	131	11	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	131	12	sound	sound	NOUN
american_scientific_journal-5566	131	13	,	,	PUNCT
american_scientific_journal-5566	131	14	sometimes	sometimes	ADV
american_scientific_journal-5566	131	15	it	it	PRON
american_scientific_journal-5566	131	16	becomes	become	VERB
american_scientific_journal-5566	131	17	difficult	difficult	ADJ
american_scientific_journal-5566	131	18	for	for	SCONJ
american_scientific_journal-5566	131	19	the	the	DET
american_scientific_journal-5566	131	20	robot	robot	NOUN
american_scientific_journal-5566	131	21	to	to	PART
american_scientific_journal-5566	131	22	measure	measure	VERB
american_scientific_journal-5566	131	23	the	the	DET
american_scientific_journal-5566	131	24	distances	distance	NOUN
american_scientific_journal-5566	131	25	accurately	accurately	ADV
american_scientific_journal-5566	131	26	due	due	ADP
american_scientific_journal-5566	131	27	to	to	ADP
american_scientific_journal-5566	131	28	rough	rough	ADJ
american_scientific_journal-5566	131	29	edges	edge	NOUN
american_scientific_journal-5566	131	30	.	.	PUNCT
american_scientific_journal-5566	132	1	it	it	PRON
american_scientific_journal-5566	132	2	can	can	AUX
american_scientific_journal-5566	132	3	lead	lead	VERB
american_scientific_journal-5566	132	4	to	to	ADP
american_scientific_journal-5566	132	5	wrong	wrong	ADJ
american_scientific_journal-5566	132	6	decisions	decision	NOUN
american_scientific_journal-5566	132	7	.	.	PUNCT
american_scientific_journal-5566	133	1	that	that	PRON
american_scientific_journal-5566	133	2	's	be	AUX
american_scientific_journal-5566	133	3	why	why	SCONJ
american_scientific_journal-5566	133	4	when	when	SCONJ
american_scientific_journal-5566	133	5	we	we	PRON
american_scientific_journal-5566	133	6	are	be	AUX
american_scientific_journal-5566	133	7	using	use	VERB
american_scientific_journal-5566	133	8	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	133	9	sensors	sensor	NOUN
american_scientific_journal-5566	133	10	the	the	DET
american_scientific_journal-5566	133	11	obstacles	obstacle	NOUN
american_scientific_journal-5566	133	12	and	and	CCONJ
american_scientific_journal-5566	133	13	edges	edge	NOUN
american_scientific_journal-5566	133	14	have	have	VERB
american_scientific_journal-5566	133	15	to	to	PART
american_scientific_journal-5566	133	16	be	be	AUX
american_scientific_journal-5566	133	17	as	as	ADV
american_scientific_journal-5566	133	18	smooth	smooth	ADJ
american_scientific_journal-5566	133	19	as	as	ADP
american_scientific_journal-5566	133	20	possible	possible	ADJ
american_scientific_journal-5566	133	21	.	.	PUNCT
american_scientific_journal-5566	134	1	this	this	DET
american_scientific_journal-5566	134	2	problem	problem	NOUN
american_scientific_journal-5566	134	3	may	may	AUX
american_scientific_journal-5566	134	4	not	not	PART
american_scientific_journal-5566	134	5	occur	occur	VERB
american_scientific_journal-5566	134	6	if	if	SCONJ
american_scientific_journal-5566	134	7	we	we	PRON
american_scientific_journal-5566	134	8	use	use	VERB
american_scientific_journal-5566	134	9	ir	ir	PROPN
american_scientific_journal-5566	134	10	sensor	sensor	NOUN
american_scientific_journal-5566	134	11	instead	instead	ADV
american_scientific_journal-5566	134	12	of	of	ADP
american_scientific_journal-5566	134	13	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	134	14	sensors	sensor	NOUN
american_scientific_journal-5566	134	15	.	.	PUNCT
american_scientific_journal-5566	135	1	but	but	CCONJ
american_scientific_journal-5566	135	2	we	we	PRON
american_scientific_journal-5566	135	3	do	do	AUX
american_scientific_journal-5566	135	4	prefer	prefer	VERB
american_scientific_journal-5566	135	5	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	135	6	sensor	sensor	NOUN
american_scientific_journal-5566	135	7	as	as	SCONJ
american_scientific_journal-5566	135	8	ir	ir	PROPN
american_scientific_journal-5566	135	9	sensors	sensor	NOUN
american_scientific_journal-5566	135	10	are	be	AUX
american_scientific_journal-5566	135	11	sensitive	sensitive	ADJ
american_scientific_journal-5566	135	12	to	to	ADP
american_scientific_journal-5566	135	13	light	light	NOUN
american_scientific_journal-5566	135	14	.	.	PUNCT
american_scientific_journal-5566	136	1	again	again	ADV
american_scientific_journal-5566	136	2	if	if	SCONJ
american_scientific_journal-5566	136	3	any	any	DET
american_scientific_journal-5566	136	4	obstacle	obstacle	NOUN
american_scientific_journal-5566	136	5	is	be	AUX
american_scientific_journal-5566	136	6	located	locate	VERB
american_scientific_journal-5566	136	7	under	under	ADP
american_scientific_journal-5566	136	8	the	the	DET
american_scientific_journal-5566	136	9	range	range	NOUN
american_scientific_journal-5566	136	10	of	of	ADP
american_scientific_journal-5566	136	11	the	the	DET
american_scientific_journal-5566	136	12	front	front	ADJ
american_scientific_journal-5566	136	13	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	136	14	sensor	sensor	NOUN
american_scientific_journal-5566	136	15	,	,	PUNCT
american_scientific_journal-5566	136	16	it	it	PRON
american_scientific_journal-5566	136	17	is	be	AUX
american_scientific_journal-5566	136	18	most	most	ADV
american_scientific_journal-5566	136	19	likely	likely	ADJ
american_scientific_journal-5566	136	20	to	to	PART
american_scientific_journal-5566	136	21	avoid	avoid	VERB
american_scientific_journal-5566	136	22	the	the	DET
american_scientific_journal-5566	136	23	obstacle	obstacle	NOUN
american_scientific_journal-5566	136	24	.	.	PUNCT
american_scientific_journal-5566	137	1	the	the	DET
american_scientific_journal-5566	137	2	robot	robot	NOUN
american_scientific_journal-5566	137	3	can	can	AUX
american_scientific_journal-5566	137	4	overcome	overcome	VERB
american_scientific_journal-5566	137	5	this	this	DET
american_scientific_journal-5566	137	6	limitation	limitation	NOUN
american_scientific_journal-5566	137	7	if	if	SCONJ
american_scientific_journal-5566	137	8	the	the	DET
american_scientific_journal-5566	137	9	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	137	10	sensor	sensor	NOUN
american_scientific_journal-5566	137	11	is	be	AUX
american_scientific_journal-5566	137	12	placed	place	VERB
american_scientific_journal-5566	137	13	very	very	ADV
american_scientific_journal-5566	137	14	close	close	ADV
american_scientific_journal-5566	137	15	to	to	ADP
american_scientific_journal-5566	137	16	the	the	DET
american_scientific_journal-5566	137	17	surface	surface	NOUN
american_scientific_journal-5566	137	18	.	.	PUNCT
american_scientific_journal-5566	138	1	the	the	DET
american_scientific_journal-5566	138	2	last	last	ADJ
american_scientific_journal-5566	138	3	point	point	NOUN
american_scientific_journal-5566	138	4	is	be	AUX
american_scientific_journal-5566	138	5	,	,	PUNCT
american_scientific_journal-5566	138	6	this	this	DET
american_scientific_journal-5566	138	7	prototype	prototype	NOUN
american_scientific_journal-5566	138	8	has	have	AUX
american_scientific_journal-5566	138	9	not	not	PART
american_scientific_journal-5566	138	10	been	be	AUX
american_scientific_journal-5566	138	11	designed	design	VERB
american_scientific_journal-5566	138	12	to	to	PART
american_scientific_journal-5566	138	13	go	go	VERB
american_scientific_journal-5566	138	14	through	through	ADP
american_scientific_journal-5566	138	15	any	any	DET
american_scientific_journal-5566	138	16	slop	slop	NOUN
american_scientific_journal-5566	138	17	.	.	PUNCT
american_scientific_journal-5566	139	1	it	it	PRON
american_scientific_journal-5566	139	2	should	should	AUX
american_scientific_journal-5566	139	3	be	be	AUX
american_scientific_journal-5566	139	4	designed	design	VERB
american_scientific_journal-5566	139	5	differently	differently	ADV
american_scientific_journal-5566	139	6	to	to	PART
american_scientific_journal-5566	139	7	overcome	overcome	VERB
american_scientific_journal-5566	139	8	this	this	DET
american_scientific_journal-5566	139	9	limitation	limitation	NOUN
american_scientific_journal-5566	139	10	.	.	PUNCT
american_scientific_journal-5566	140	1	american	american	ADJ
american_scientific_journal-5566	140	2	scientific	scientific	ADJ
american_scientific_journal-5566	140	3	research	research	PROPN
american_scientific_journal-5566	140	4	journal	journal	NOUN
american_scientific_journal-5566	140	5	for	for	ADP
american_scientific_journal-5566	140	6	engineering	engineering	NOUN
american_scientific_journal-5566	140	7	,	,	PUNCT
american_scientific_journal-5566	140	8	technology	technology	NOUN
american_scientific_journal-5566	140	9	,	,	PUNCT
american_scientific_journal-5566	140	10	and	and	CCONJ
american_scientific_journal-5566	140	11	sciences	science	NOUN
american_scientific_journal-5566	140	12	(	(	PUNCT
american_scientific_journal-5566	140	13	asrjets	asrjet	NOUN
american_scientific_journal-5566	140	14	)	)	PUNCT
american_scientific_journal-5566	140	15	(	(	PUNCT
american_scientific_journal-5566	140	16	2020	2020	NUM
american_scientific_journal-5566	140	17	)	)	PUNCT
american_scientific_journal-5566	140	18	volume	volume	NOUN
american_scientific_journal-5566	140	19	64	64	NUM
american_scientific_journal-5566	140	20	,	,	PUNCT
american_scientific_journal-5566	140	21	no	no	DET
american_scientific_journal-5566	140	22	1	1	NUM
american_scientific_journal-5566	140	23	,	,	PUNCT
american_scientific_journal-5566	140	24	pp	pp	ADV
american_scientific_journal-5566	140	25	133	133	NUM
american_scientific_journal-5566	140	26	-	-	SYM
american_scientific_journal-5566	140	27	143	143	NUM
american_scientific_journal-5566	140	28	142	142	NUM
american_scientific_journal-5566	140	29	6	6	NUM
american_scientific_journal-5566	140	30	.	.	PUNCT
american_scientific_journal-5566	141	1	future	future	ADJ
american_scientific_journal-5566	141	2	recommendations	recommendation	NOUN
american_scientific_journal-5566	141	3			NOUN
american_scientific_journal-5566	141	4	if	if	SCONJ
american_scientific_journal-5566	141	5	the	the	DET
american_scientific_journal-5566	141	6	current	current	ADJ
american_scientific_journal-5566	141	7	project	project	NOUN
american_scientific_journal-5566	141	8	is	be	AUX
american_scientific_journal-5566	141	9	interfaced	interface	VERB
american_scientific_journal-5566	141	10	with	with	ADP
american_scientific_journal-5566	141	11	a	a	DET
american_scientific_journal-5566	141	12	camera	camera	NOUN
american_scientific_journal-5566	141	13	robot	robot	NOUN
american_scientific_journal-5566	141	14	it	it	PRON
american_scientific_journal-5566	141	15	is	be	AUX
american_scientific_journal-5566	141	16	possible	possible	ADJ
american_scientific_journal-5566	141	17	to	to	PART
american_scientific_journal-5566	141	18	drive	drive	VERB
american_scientific_journal-5566	141	19	beyond	beyond	ADP
american_scientific_journal-5566	141	20	line	line	NOUN
american_scientific_journal-5566	141	21	of	of	ADP
american_scientific_journal-5566	141	22	sight	sight	NOUN
american_scientific_journal-5566	141	23	&	&	CCONJ
american_scientific_journal-5566	141	24	range	range	NOUN
american_scientific_journal-5566	141	25	as	as	SCONJ
american_scientific_journal-5566	141	26	networks	network	NOUN
american_scientific_journal-5566	141	27	have	have	VERB
american_scientific_journal-5566	141	28	a	a	DET
american_scientific_journal-5566	141	29	very	very	ADV
american_scientific_journal-5566	141	30	wide	wide	ADJ
american_scientific_journal-5566	141	31	range	range	NOUN
american_scientific_journal-5566	141	32	.	.	PUNCT
american_scientific_journal-5566	142	1			NOUN
american_scientific_journal-5566	142	2	use	use	NOUN
american_scientific_journal-5566	142	3	as	as	ADP
american_scientific_journal-5566	142	4	a	a	DET
american_scientific_journal-5566	142	5	firefighting	firefighting	NOUN
american_scientific_journal-5566	142	6	robot	robot	NOUN
american_scientific_journal-5566	142	7	:	:	PUNCT
american_scientific_journal-5566	142	8	we	we	PRON
american_scientific_journal-5566	142	9	can	can	AUX
american_scientific_journal-5566	142	10	use	use	VERB
american_scientific_journal-5566	142	11	this	this	DET
american_scientific_journal-5566	142	12	robot	robot	NOUN
american_scientific_journal-5566	142	13	as	as	ADP
american_scientific_journal-5566	142	14	a	a	DET
american_scientific_journal-5566	142	15	firefighting	firefighting	NOUN
american_scientific_journal-5566	142	16	robot	robot	NOUN
american_scientific_journal-5566	142	17	by	by	ADP
american_scientific_journal-5566	142	18	adding	add	VERB
american_scientific_journal-5566	142	19	temperature	temperature	NOUN
american_scientific_journal-5566	142	20	sensor	sensor	NOUN
american_scientific_journal-5566	142	21	,	,	PUNCT
american_scientific_journal-5566	142	22	water	water	NOUN
american_scientific_journal-5566	142	23	tank	tank	NOUN
american_scientific_journal-5566	142	24	and	and	CCONJ
american_scientific_journal-5566	142	25	making	make	VERB
american_scientific_journal-5566	142	26	some	some	DET
american_scientific_journal-5566	142	27	programming	programming	NOUN
american_scientific_journal-5566	142	28	changes	change	NOUN
american_scientific_journal-5566	142	29	.	.	PUNCT
american_scientific_journal-5566	143	1			PRON
american_scientific_journal-5566	143	2	we	we	PRON
american_scientific_journal-5566	143	3	will	will	AUX
american_scientific_journal-5566	143	4	extend	extend	VERB
american_scientific_journal-5566	143	5	this	this	DET
american_scientific_journal-5566	143	6	project	project	NOUN
american_scientific_journal-5566	143	7	by	by	ADP
american_scientific_journal-5566	143	8	ir	ir	PROPN
american_scientific_journal-5566	143	9	(	(	PUNCT
american_scientific_journal-5566	143	10	or	or	CCONJ
american_scientific_journal-5566	143	11	)	)	PUNCT
american_scientific_journal-5566	143	12	rf	rf	ADJ
american_scientific_journal-5566	143	13	(	(	PUNCT
american_scientific_journal-5566	143	14	or	or	CCONJ
american_scientific_journal-5566	143	15	)	)	PUNCT
american_scientific_journal-5566	143	16	zigbee	zigbee	PROPN
american_scientific_journal-5566	143	17	using	use	VERB
american_scientific_journal-5566	143	18	wireless	wireless	ADJ
american_scientific_journal-5566	143	19	technology	technology	NOUN
american_scientific_journal-5566	143	20	.	.	PUNCT
american_scientific_journal-5566	144	1			NOUN
american_scientific_journal-5566	144	2	use	use	NOUN
american_scientific_journal-5566	144	3	of	of	ADP
american_scientific_journal-5566	144	4	the	the	DET
american_scientific_journal-5566	144	5	mobile	mobile	ADJ
american_scientific_journal-5566	144	6	phone	phone	NOUN
american_scientific_journal-5566	144	7	we	we	PRON
american_scientific_journal-5566	144	8	can	can	AUX
american_scientific_journal-5566	144	9	use	use	VERB
american_scientific_journal-5566	144	10	the	the	DET
american_scientific_journal-5566	144	11	dtmf	dtmf	ADJ
american_scientific_journal-5566	144	12	receiver	receiver	NOUN
american_scientific_journal-5566	144	13	.	.	PUNCT
american_scientific_journal-5566	145	1			NOUN
american_scientific_journal-5566	145	2	this	this	DET
american_scientific_journal-5566	145	3	robot	robot	NOUN
american_scientific_journal-5566	145	4	can	can	AUX
american_scientific_journal-5566	145	5	be	be	AUX
american_scientific_journal-5566	145	6	used	use	VERB
american_scientific_journal-5566	145	7	to	to	PART
american_scientific_journal-5566	145	8	select	select	VERB
american_scientific_journal-5566	145	9	and	and	CCONJ
american_scientific_journal-5566	145	10	position	position	VERB
american_scientific_journal-5566	145	11	the	the	DET
american_scientific_journal-5566	145	12	appropriate	appropriate	ADJ
american_scientific_journal-5566	145	13	object	object	NOUN
american_scientific_journal-5566	145	14	by	by	ADP
american_scientific_journal-5566	145	15	giving	give	VERB
american_scientific_journal-5566	145	16	the	the	DET
american_scientific_journal-5566	145	17	robot	robot	NOUN
american_scientific_journal-5566	145	18	directions	direction	NOUN
american_scientific_journal-5566	145	19	but	but	CCONJ
american_scientific_journal-5566	145	20	it	it	PRON
american_scientific_journal-5566	145	21	should	should	AUX
american_scientific_journal-5566	145	22	remove	remove	VERB
american_scientific_journal-5566	145	23	the	the	DET
american_scientific_journal-5566	145	24	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	145	25	sensor	sensor	NOUN
american_scientific_journal-5566	145	26	depending	depend	VERB
american_scientific_journal-5566	145	27	on	on	ADP
american_scientific_journal-5566	145	28	the	the	DET
american_scientific_journal-5566	145	29	application	application	NOUN
american_scientific_journal-5566	145	30	.	.	PUNCT
american_scientific_journal-5566	146	1	7	7	X
american_scientific_journal-5566	146	2	.	.	X
american_scientific_journal-5566	146	3	future	future	NOUN
american_scientific_journal-5566	146	4	works	work	VERB
american_scientific_journal-5566	146	5	an	an	DET
american_scientific_journal-5566	146	6	essential	essential	ADJ
american_scientific_journal-5566	146	7	area	area	NOUN
american_scientific_journal-5566	146	8	of	of	ADP
american_scientific_journal-5566	146	9	robotics	robotic	NOUN
american_scientific_journal-5566	146	10	research	research	NOUN
american_scientific_journal-5566	146	11	is	be	AUX
american_scientific_journal-5566	146	12	enabling	enable	VERB
american_scientific_journal-5566	146	13	robots	robot	NOUN
american_scientific_journal-5566	146	14	to	to	PART
american_scientific_journal-5566	146	15	adapt	adapt	VERB
american_scientific_journal-5566	146	16	to	to	ADP
american_scientific_journal-5566	146	17	their	their	PRON
american_scientific_journal-5566	146	18	environment	environment	NOUN
american_scientific_journal-5566	146	19	.	.	PUNCT
american_scientific_journal-5566	147	1	whether	whether	SCONJ
american_scientific_journal-5566	147	2	this	this	PRON
american_scientific_journal-5566	147	3	is	be	AUX
american_scientific_journal-5566	147	4	an	an	DET
american_scientific_journal-5566	147	5	underwater	underwater	ADJ
american_scientific_journal-5566	147	6	environment	environment	NOUN
american_scientific_journal-5566	147	7	,	,	PUNCT
american_scientific_journal-5566	147	8	on	on	ADP
american_scientific_journal-5566	147	9	land	land	NOUN
american_scientific_journal-5566	147	10	,	,	PUNCT
american_scientific_journal-5566	147	11	underground	underground	ADV
american_scientific_journal-5566	147	12	,	,	PUNCT
american_scientific_journal-5566	147	13	in	in	ADP
american_scientific_journal-5566	147	14	the	the	DET
american_scientific_journal-5566	147	15	air	air	NOUN
american_scientific_journal-5566	147	16	or	or	CCONJ
american_scientific_journal-5566	147	17	in	in	ADP
american_scientific_journal-5566	147	18	space	space	NOUN
american_scientific_journal-5566	147	19	.	.	PUNCT
american_scientific_journal-5566	148	1	a	a	DET
american_scientific_journal-5566	148	2	fully	fully	ADV
american_scientific_journal-5566	148	3	autonomous	autonomous	ADJ
american_scientific_journal-5566	148	4	robot	robot	NOUN
american_scientific_journal-5566	148	5	is	be	AUX
american_scientific_journal-5566	148	6	capable	capable	ADJ
american_scientific_journal-5566	148	7	of	of	ADP
american_scientific_journal-5566	148	8	working	work	VERB
american_scientific_journal-5566	148	9	•	•	NUM
american_scientific_journal-5566	148	10	work	work	NOUN
american_scientific_journal-5566	148	11	for	for	ADP
american_scientific_journal-5566	148	12	an	an	DET
american_scientific_journal-5566	148	13	extended	extended	ADJ
american_scientific_journal-5566	148	14	period	period	NOUN
american_scientific_journal-5566	148	15	of	of	ADP
american_scientific_journal-5566	148	16	time	time	NOUN
american_scientific_journal-5566	148	17	without	without	ADP
american_scientific_journal-5566	148	18	human	human	ADJ
american_scientific_journal-5566	148	19	intervention	intervention	NOUN
american_scientific_journal-5566	148	20	or	or	CCONJ
american_scientific_journal-5566	148	21	a	a	DET
american_scientific_journal-5566	148	22	power	power	NOUN
american_scientific_journal-5566	148	23	supply	supply	NOUN
american_scientific_journal-5566	148	24	requirement	requirement	NOUN
american_scientific_journal-5566	148	25	.	.	PUNCT
american_scientific_journal-5566	149	1	•	•	PROPN
american_scientific_journal-5566	149	2	evite	evite	PROPN
american_scientific_journal-5566	149	3	harmful	harmful	ADJ
american_scientific_journal-5566	149	4	circumstances	circumstance	NOUN
american_scientific_journal-5566	149	5	.	.	PUNCT
american_scientific_journal-5566	150	1	the	the	DET
american_scientific_journal-5566	150	2	most	most	ADV
american_scientific_journal-5566	150	3	effective	effective	ADJ
american_scientific_journal-5566	150	4	method	method	NOUN
american_scientific_journal-5566	150	5	to	to	PART
american_scientific_journal-5566	150	6	increase	increase	VERB
american_scientific_journal-5566	150	7	my	my	PRON
american_scientific_journal-5566	150	8	robot	robot	NOUN
american_scientific_journal-5566	150	9	's	's	PART
american_scientific_journal-5566	150	10	accuracy	accuracy	NOUN
american_scientific_journal-5566	150	11	is	be	AUX
american_scientific_journal-5566	150	12	to	to	PART
american_scientific_journal-5566	150	13	include	include	VERB
american_scientific_journal-5566	150	14	better	well	ADJ
american_scientific_journal-5566	150	15	sensors	sensor	NOUN
american_scientific_journal-5566	150	16	,	,	PUNCT
american_scientific_journal-5566	150	17	although	although	SCONJ
american_scientific_journal-5566	150	18	the	the	DET
american_scientific_journal-5566	150	19	cost	cost	NOUN
american_scientific_journal-5566	150	20	of	of	ADP
american_scientific_journal-5566	150	21	the	the	DET
american_scientific_journal-5566	150	22	project	project	NOUN
american_scientific_journal-5566	150	23	may	may	AUX
american_scientific_journal-5566	150	24	increase	increase	VERB
american_scientific_journal-5566	150	25	but	but	CCONJ
american_scientific_journal-5566	150	26	the	the	DET
american_scientific_journal-5566	150	27	accuracy	accuracy	NOUN
american_scientific_journal-5566	150	28	will	will	AUX
american_scientific_journal-5566	150	29	definitely	definitely	ADV
american_scientific_journal-5566	150	30	increase	increase	VERB
american_scientific_journal-5566	150	31	as	as	ADV
american_scientific_journal-5566	150	32	well	well	ADV
american_scientific_journal-5566	150	33	as	as	ADP
american_scientific_journal-5566	150	34	the	the	DET
american_scientific_journal-5566	150	35	space	space	NOUN
american_scientific_journal-5566	150	36	of	of	ADP
american_scientific_journal-5566	150	37	problem	problem	NOUN
american_scientific_journal-5566	150	38	where	where	SCONJ
american_scientific_journal-5566	150	39	the	the	DET
american_scientific_journal-5566	150	40	robot	robot	NOUN
american_scientific_journal-5566	150	41	can	can	AUX
american_scientific_journal-5566	150	42	be	be	AUX
american_scientific_journal-5566	150	43	used	use	VERB
american_scientific_journal-5566	150	44	.	.	PUNCT
american_scientific_journal-5566	151	1	better	well	ADJ
american_scientific_journal-5566	151	2	actuators	actuator	NOUN
american_scientific_journal-5566	151	3	will	will	AUX
american_scientific_journal-5566	151	4	make	make	VERB
american_scientific_journal-5566	151	5	robot	robot	NOUN
american_scientific_journal-5566	151	6	faster	fast	ADV
american_scientific_journal-5566	151	7	and	and	CCONJ
american_scientific_journal-5566	151	8	more	more	ADV
american_scientific_journal-5566	151	9	efficient	efficient	ADJ
american_scientific_journal-5566	151	10	8	8	NUM
american_scientific_journal-5566	151	11	.	.	PUNCT
american_scientific_journal-5566	152	1	conclusion	conclusion	NOUN
american_scientific_journal-5566	152	2	this	this	PRON
american_scientific_journal-5566	152	3	project‟s	project‟s	ADV
american_scientific_journal-5566	152	4	aims	aim	VERB
american_scientific_journal-5566	152	5	at	at	ADP
american_scientific_journal-5566	152	6	creating	create	VERB
american_scientific_journal-5566	152	7	an	an	DET
american_scientific_journal-5566	152	8	autonomous	autonomous	ADJ
american_scientific_journal-5566	152	9	robot	robot	NOUN
american_scientific_journal-5566	152	10	that	that	PRON
american_scientific_journal-5566	152	11	intelligently	intelligently	ADV
american_scientific_journal-5566	152	12	detects	detect	VERB
american_scientific_journal-5566	152	13	the	the	DET
american_scientific_journal-5566	152	14	obstacle	obstacle	NOUN
american_scientific_journal-5566	152	15	in	in	ADP
american_scientific_journal-5566	152	16	its	its	PRON
american_scientific_journal-5566	152	17	path	path	NOUN
american_scientific_journal-5566	152	18	and	and	CCONJ
american_scientific_journal-5566	152	19	navigates	navigate	VERB
american_scientific_journal-5566	152	20	according	accord	VERB
american_scientific_journal-5566	152	21	to	to	ADP
american_scientific_journal-5566	152	22	the	the	DET
american_scientific_journal-5566	152	23	behavior	behavior	NOUN
american_scientific_journal-5566	152	24	we	we	PRON
american_scientific_journal-5566	152	25	are	be	AUX
american_scientific_journal-5566	152	26	setting	set	VERB
american_scientific_journal-5566	152	27	for	for	ADP
american_scientific_journal-5566	152	28	it	it	PRON
american_scientific_journal-5566	152	29	the	the	DET
american_scientific_journal-5566	152	30	above	above	ADJ
american_scientific_journal-5566	152	31	arduino	arduino	NOUN
american_scientific_journal-5566	152	32	controller	controller	NOUN
american_scientific_journal-5566	152	33	and	and	CCONJ
american_scientific_journal-5566	152	34	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	152	35	sensor	sensor	NOUN
american_scientific_journal-5566	152	36	have	have	AUX
american_scientific_journal-5566	152	37	been	be	AUX
american_scientific_journal-5566	152	38	studied	study	VERB
american_scientific_journal-5566	152	39	and	and	CCONJ
american_scientific_journal-5566	152	40	the	the	DET
american_scientific_journal-5566	152	41	ultrasonic	ultrasonic	ADJ
american_scientific_journal-5566	152	42	sensor	sensor	NOUN
american_scientific_journal-5566	152	43	has	have	AUX
american_scientific_journal-5566	152	44	been	be	AUX
american_scientific_journal-5566	152	45	selected	select	VERB
american_scientific_journal-5566	152	46	as	as	SCONJ
american_scientific_journal-5566	152	47	the	the	DET
american_scientific_journal-5566	152	48	control	control	NOUN
american_scientific_journal-5566	152	49	result	result	NOUN
american_scientific_journal-5566	152	50	has	have	AUX
american_scientific_journal-5566	152	51	been	be	AUX
american_scientific_journal-5566	152	52	developed	develop	VERB
american_scientific_journal-5566	152	53	to	to	PART
american_scientific_journal-5566	152	54	satisfy	satisfy	VERB
american_scientific_journal-5566	152	55	its	its	PRON
american_scientific_journal-5566	152	56	use	use	NOUN
american_scientific_journal-5566	152	57	in	in	ADP
american_scientific_journal-5566	152	58	the	the	DET
american_scientific_journal-5566	152	59	car	car	NOUN
american_scientific_journal-5566	152	60	prototype	prototype	NOUN
american_scientific_journal-5566	152	61	system	system	NOUN
american_scientific_journal-5566	152	62	.	.	PUNCT
american_scientific_journal-5566	153	1	the	the	DET
american_scientific_journal-5566	153	2	main	main	ADJ
american_scientific_journal-5566	153	3	task	task	NOUN
american_scientific_journal-5566	153	4	was	be	AUX
american_scientific_journal-5566	153	5	used	use	VERB
american_scientific_journal-5566	153	6	to	to	PART
american_scientific_journal-5566	153	7	sense	sense	VERB
american_scientific_journal-5566	153	8	the	the	DET
american_scientific_journal-5566	153	9	obstacle	obstacle	NOUN
american_scientific_journal-5566	153	10	and	and	CCONJ
american_scientific_journal-5566	153	11	avoid	avoid	VERB
american_scientific_journal-5566	153	12	it	it	PRON
american_scientific_journal-5566	153	13	.	.	PUNCT
american_scientific_journal-5566	154	1	by	by	ADP
american_scientific_journal-5566	154	2	coding	code	VERB
american_scientific_journal-5566	154	3	the	the	DET
american_scientific_journal-5566	154	4	algorithm	algorithm	NOUN
american_scientific_journal-5566	154	5	in	in	ADP
american_scientific_journal-5566	154	6	c	c	PROPN
american_scientific_journal-5566	154	7	,	,	PUNCT
american_scientific_journal-5566	154	8	successfully	successfully	ADV
american_scientific_journal-5566	154	9	implementing	implement	VERB
american_scientific_journal-5566	154	10	the	the	DET
american_scientific_journal-5566	154	11	obstacle	obstacle	NOUN
american_scientific_journal-5566	154	12	avoidance	avoidance	NOUN
american_scientific_journal-5566	154	13	algorithm	algorithm	NOUN
american_scientific_journal-5566	154	14	was	be	AUX
american_scientific_journal-5566	154	15	also	also	ADV
american_scientific_journal-5566	154	16	achieved	achieve	VERB
american_scientific_journal-5566	154	17	with	with	ADP
american_scientific_journal-5566	154	18	minimal	minimal	ADJ
american_scientific_journal-5566	154	19	errors	error	NOUN
american_scientific_journal-5566	154	20	.	.	PUNCT
american_scientific_journal-5566	155	1	obstacle	obstacle	NOUN
american_scientific_journal-5566	155	2	avoidance	avoidance	NOUN
american_scientific_journal-5566	155	3	is	be	AUX
american_scientific_journal-5566	155	4	a	a	DET
american_scientific_journal-5566	155	5	very	very	ADV
american_scientific_journal-5566	155	6	useful	useful	ADJ
american_scientific_journal-5566	155	7	technique	technique	NOUN
american_scientific_journal-5566	155	8	which	which	PRON
american_scientific_journal-5566	155	9	can	can	AUX
american_scientific_journal-5566	155	10	be	be	AUX
american_scientific_journal-5566	155	11	used	use	VERB
american_scientific_journal-5566	155	12	in	in	ADP
american_scientific_journal-5566	155	13	cars	car	NOUN
american_scientific_journal-5566	155	14	to	to	PART
american_scientific_journal-5566	155	15	prevent	prevent	VERB
american_scientific_journal-5566	155	16	many	many	ADJ
american_scientific_journal-5566	155	17	accidents	accident	NOUN
american_scientific_journal-5566	155	18	and	and	CCONJ
american_scientific_journal-5566	155	19	life	life	NOUN
american_scientific_journal-5566	155	20	losses	loss	NOUN
american_scientific_journal-5566	155	21	.	.	PUNCT
american_scientific_journal-5566	156	1	references	reference	NOUN
american_scientific_journal-5566	156	2	[	[	X
american_scientific_journal-5566	156	3	1	1	NUM
american_scientific_journal-5566	156	4	]	]	X
american_scientific_journal-5566	156	5	khatib	khatib	PROPN
american_scientific_journal-5566	156	6	,	,	PUNCT
american_scientific_journal-5566	156	7	o.	o.	INTJ
american_scientific_journal-5566	156	8	,	,	PUNCT
american_scientific_journal-5566	156	9	real	real	ADJ
american_scientific_journal-5566	156	10	-	-	PUNCT
american_scientific_journal-5566	156	11	time	time	NOUN
american_scientific_journal-5566	156	12	obstacle	obstacle	NOUN
american_scientific_journal-5566	156	13	avoidance	avoidance	NOUN
american_scientific_journal-5566	156	14	for	for	ADP
american_scientific_journal-5566	156	15	manipulators	manipulator	NOUN
american_scientific_journal-5566	156	16	and	and	CCONJ
american_scientific_journal-5566	156	17	mobilerobots	mobilerobot	NOUN
american_scientific_journal-5566	156	18	,	,	PUNCT
american_scientific_journal-5566	156	19	.	.	PUNCT
american_scientific_journal-5566	156	20	5	5	NUM
american_scientific_journal-5566	156	21	,	,	PUNCT
american_scientific_journal-5566	156	22	1986	1986	NUM
american_scientific_journal-5566	156	23	.	.	PUNCT
american_scientific_journal-5566	157	1	the	the	DET
american_scientific_journal-5566	157	2	international	international	ADJ
american_scientific_journal-5566	157	3	journal	journal	NOUN
american_scientific_journal-5566	157	4	of	of	ADP
american_scientific_journal-5566	157	5	robotics	robotic	NOUN
american_scientific_journal-5566	157	6	research	research	NOUN
american_scientific_journal-5566	157	7	:	:	PUNCT
american_scientific_journal-5566	157	8	p.	p.	NOUN
american_scientific_journal-5566	157	9	90	90	NUM
american_scientific_journal-5566	157	10	-	-	SYM
american_scientific_journal-5566	157	11	98	98	NUM
american_scientific_journal-5566	157	12	.	.	PUNCT
american_scientific_journal-5566	158	1	[	[	X
american_scientific_journal-5566	158	2	2	2	NUM
american_scientific_journal-5566	158	3	]	]	PUNCT
american_scientific_journal-5566	158	4	z.	z.	PROPN
american_scientific_journal-5566	158	5	yi	yi	PROPN
american_scientific_journal-5566	158	6	,	,	PUNCT
american_scientific_journal-5566	158	7	y.	y.	PROPN
american_scientific_journal-5566	158	8	khing	khing	PROPN
american_scientific_journal-5566	158	9	,	,	PUNCT
american_scientific_journal-5566	158	10	c.	c.	PROPN
american_scientific_journal-5566	158	11	chin	chin	PROPN
american_scientific_journal-5566	158	12	seng	seng	PROPN
american_scientific_journal-5566	158	13	,	,	PUNCT
american_scientific_journal-5566	158	14	and	and	CCONJ
american_scientific_journal-5566	158	15	z.	z.	PROPN
american_scientific_journal-5566	158	16	xiao	xiao	PROPN
american_scientific_journal-5566	158	17	wei	wei	PROPN
american_scientific_journal-5566	158	18	,	,	PUNCT
american_scientific_journal-5566	158	19	“	"	PUNCT
american_scientific_journal-5566	158	20	multiultrasonic	multiultrasonic	ADJ
american_scientific_journal-5566	158	21	sensor	sensor	NOUN
american_scientific_journal-5566	158	22	fusion	fusion	NOUN
american_scientific_journal-5566	158	23	for	for	ADP
american_scientific_journal-5566	158	24	mobile	mobile	ADJ
american_scientific_journal-5566	158	25	robots	robot	NOUN
american_scientific_journal-5566	158	26	”	"	PUNCT
american_scientific_journal-5566	158	27	,	,	PUNCT
american_scientific_journal-5566	158	28	american	american	ADJ
american_scientific_journal-5566	158	29	scientific	scientific	ADJ
american_scientific_journal-5566	158	30	research	research	NOUN
american_scientific_journal-5566	158	31	journal	journal	NOUN
american_scientific_journal-5566	158	32	for	for	ADP
american_scientific_journal-5566	158	33	engineering	engineering	NOUN
american_scientific_journal-5566	158	34	,	,	PUNCT
american_scientific_journal-5566	158	35	technology	technology	NOUN
american_scientific_journal-5566	158	36	,	,	PUNCT
american_scientific_journal-5566	158	37	and	and	CCONJ
american_scientific_journal-5566	158	38	sciences	science	NOUN
american_scientific_journal-5566	158	39	(	(	PUNCT
american_scientific_journal-5566	158	40	asrjets	asrjet	NOUN
american_scientific_journal-5566	158	41	)	)	PUNCT
american_scientific_journal-5566	158	42	(	(	PUNCT
american_scientific_journal-5566	158	43	2020	2020	NUM
american_scientific_journal-5566	158	44	)	)	PUNCT
american_scientific_journal-5566	158	45	volume	volume	NOUN
american_scientific_journal-5566	158	46	64	64	NUM
american_scientific_journal-5566	158	47	,	,	PUNCT
american_scientific_journal-5566	158	48	no	no	DET
american_scientific_journal-5566	158	49	1	1	NUM
american_scientific_journal-5566	158	50	,	,	PUNCT
american_scientific_journal-5566	158	51	pp	pp	ADV
american_scientific_journal-5566	158	52	133	133	NUM
american_scientific_journal-5566	158	53	-	-	SYM
american_scientific_journal-5566	158	54	143	143	NUM
american_scientific_journal-5566	158	55	143	143	NUM
american_scientific_journal-5566	158	56	proceedings	proceeding	NOUN
american_scientific_journal-5566	158	57	of	of	ADP
american_scientific_journal-5566	158	58	intelligent	intelligent	ADJ
american_scientific_journal-5566	158	59	vehicle	vehicle	NOUN
american_scientific_journal-5566	158	60	symposium	symposium	NOUN
american_scientific_journal-5566	158	61	,	,	PUNCT
american_scientific_journal-5566	158	62	pp	pp	ADJ
american_scientific_journal-5566	158	63	.	.	PUNCT
american_scientific_journal-5566	159	1	387	387	NUM
american_scientific_journal-5566	159	2	-	-	SYM
american_scientific_journal-5566	159	3	391	391	NUM
american_scientific_journal-5566	159	4	,	,	PUNCT
american_scientific_journal-5566	159	5	2000	2000	NUM
american_scientific_journal-5566	159	6	.	.	PUNCT
american_scientific_journal-5566	160	1	[	[	X
american_scientific_journal-5566	160	2	3	3	X
american_scientific_journal-5566	160	3	]	]	PUNCT
american_scientific_journal-5566	160	4	m.	m.	NOUN
american_scientific_journal-5566	160	5	ohaib	ohaib	PROPN
american_scientific_journal-5566	160	6	,	,	PUNCT
american_scientific_journal-5566	160	7	s.m	s.m	PROPN
american_scientific_journal-5566	160	8	pasha	pasha	PROPN
american_scientific_journal-5566	160	9	,	,	PUNCT
american_scientific_journal-5566	160	10	n.	n.	PROPN
american_scientific_journal-5566	160	11	javaid	javaid	PROPN
american_scientific_journal-5566	160	12	,	,	PUNCT
american_scientific_journal-5566	160	13	j	j	PROPN
american_scientific_journal-5566	160	14	iqbal	iqbal	PROPN
american_scientific_journal-5566	160	15	,	,	PUNCT
american_scientific_journal-5566	160	16	“	"	PUNCT
american_scientific_journal-5566	160	17	intelligent	intelligent	ADJ
american_scientific_journal-5566	160	18	bug	bug	NOUN
american_scientific_journal-5566	160	19	algorithm	algorithm	NOUN
american_scientific_journal-5566	160	20	(	(	PUNCT
american_scientific_journal-5566	160	21	iba	iba	PROPN
american_scientific_journal-5566	160	22	):	):	PUNCT
american_scientific_journal-5566	160	23	a	a	DET
american_scientific_journal-5566	160	24	novel	novel	ADJ
american_scientific_journal-5566	160	25	strategy	strategy	NOUN
american_scientific_journal-5566	160	26	to	to	PART
american_scientific_journal-5566	160	27	navigate	navigate	VERB
american_scientific_journal-5566	160	28	mobile	mobile	ADJ
american_scientific_journal-5566	160	29	robots	robot	NOUN
american_scientific_journal-5566	160	30	autonomously	autonomously	ADV
american_scientific_journal-5566	160	31	”	"	PUNCT
american_scientific_journal-5566	161	1	[	[	X
american_scientific_journal-5566	161	2	4	4	NUM
american_scientific_journal-5566	161	3	]	]	X
american_scientific_journal-5566	161	4	j.c	j.c	PROPN
american_scientific_journal-5566	161	5	.	.	PROPN
american_scientific_journal-5566	161	6	baker	baker	PROPN
american_scientific_journal-5566	161	7	,	,	PUNCT
american_scientific_journal-5566	161	8	a	a	DET
american_scientific_journal-5566	161	9	simon	simon	NOUN
american_scientific_journal-5566	161	10	,	,	PUNCT
american_scientific_journal-5566	161	11	“	"	PUNCT
american_scientific_journal-5566	161	12	sensor	sensor	NOUN
american_scientific_journal-5566	161	13	and	and	CCONJ
american_scientific_journal-5566	161	14	navigation	navigation	NOUN
american_scientific_journal-5566	161	15	data	datum	NOUN
american_scientific_journal-5566	161	16	fusion	fusion	NOUN
american_scientific_journal-5566	161	17	for	for	ADP
american_scientific_journal-5566	161	18	an	an	DET
american_scientific_journal-5566	161	19	autonomous	autonomous	ADJ
american_scientific_journal-5566	161	20	guided	guide	VERB
american_scientific_journal-5566	161	21	vehicle	vehicle	NOUN
american_scientific_journal-5566	161	22	”	"	PUNCT
american_scientific_journal-5566	161	23	,	,	PUNCT
american_scientific_journal-5566	161	24	proceedings	proceeding	NOUN
american_scientific_journal-5566	161	25	of	of	ADP
american_scientific_journal-5566	161	26	intelligent	intelligent	ADJ
american_scientific_journal-5566	161	27	vehicle	vehicle	NOUN
american_scientific_journal-5566	161	28	symposium	symposium	NOUN
american_scientific_journal-5566	161	29	,	,	PUNCT
american_scientific_journal-5566	161	30	pp	pp	ADJ
american_scientific_journal-5566	161	31	.	.	PUNCT
american_scientific_journal-5566	162	1	156	156	NUM
american_scientific_journal-5566	162	2	-	-	SYM
american_scientific_journal-5566	162	3	161	161	NUM
american_scientific_journal-5566	162	4	,	,	PUNCT
american_scientific_journal-5566	162	5	2000	2000	NUM
american_scientific_journal-5566	162	6	.	.	PUNCT
american_scientific_journal-5566	163	1	[	[	X
american_scientific_journal-5566	163	2	5	5	X
american_scientific_journal-5566	163	3	]	]	PUNCT
american_scientific_journal-5566	163	4	buniyamin	buniyamin	NOUN
american_scientific_journal-5566	163	5	n.	n.	PROPN
american_scientific_journal-5566	163	6	,	,	PUNCT
american_scientific_journal-5566	163	7	wan	wan	PROPN
american_scientific_journal-5566	163	8	ngah	ngah	PROPN
american_scientific_journal-5566	163	9	w.a.j	w.a.j	PROPN
american_scientific_journal-5566	163	10	.	.	PUNCT
american_scientific_journal-5566	163	11	,	,	PUNCT
american_scientific_journal-5566	163	12	sariff	sariff	PROPN
american_scientific_journal-5566	163	13	n.	n.	PROPN
american_scientific_journal-5566	163	14	,	,	PUNCT
american_scientific_journal-5566	163	15	mohamad	mohamad	PROPN
american_scientific_journal-5566	163	16	z.	z.	PROPN
american_scientific_journal-5566	163	17	,	,	PUNCT
american_scientific_journal-5566	163	18	“	"	PUNCT
american_scientific_journal-5566	163	19	a	a	DET
american_scientific_journal-5566	163	20	simple	simple	ADJ
american_scientific_journal-5566	163	21	local	local	ADJ
american_scientific_journal-5566	163	22	path	path	NOUN
american_scientific_journal-5566	163	23	planning	planning	NOUN
american_scientific_journal-5566	163	24	algorithm	algorithm	NOUN
american_scientific_journal-5566	163	25	for	for	ADP
american_scientific_journal-5566	163	26	autonomous	autonomous	ADJ
american_scientific_journal-5566	163	27	mobile	mobile	ADJ
american_scientific_journal-5566	163	28	robots	robot	NOUN
american_scientific_journal-5566	163	29	”	"	PUNCT
american_scientific_journal-5566	163	30	,	,	PUNCT
american_scientific_journal-5566	163	31	international	international	ADJ
american_scientific_journal-5566	163	32	journal	journal	NOUN
american_scientific_journal-5566	163	33	of	of	ADP
american_scientific_journal-5566	163	34	systems	system	NOUN
american_scientific_journal-5566	163	35	applications	application	NOUN
american_scientific_journal-5566	163	36	,	,	PUNCT
american_scientific_journal-5566	163	37	engineering	engineering	NOUN
american_scientific_journal-5566	163	38	&	&	CCONJ
american_scientific_journal-5566	163	39	development	development	NOUN
american_scientific_journal-5566	163	40	,	,	PUNCT
american_scientific_journal-5566	163	41	issue	issue	NOUN
american_scientific_journal-5566	163	42	2	2	NUM
american_scientific_journal-5566	163	43	,	,	PUNCT
american_scientific_journal-5566	163	44	volume	volume	NOUN
american_scientific_journal-5566	163	45	5	5	NUM
american_scientific_journal-5566	163	46	,	,	PUNCT
american_scientific_journal-5566	163	47	2011	2011	NUM
american_scientific_journal-5566	163	48	[	[	X
american_scientific_journal-5566	163	49	6	6	NUM
american_scientific_journal-5566	163	50	]	]	X
american_scientific_journal-5566	163	51	g.d	g.d	NOUN
american_scientific_journal-5566	163	52	.	.	PROPN
american_scientific_journal-5566	163	53	hager	hager	PROPN
american_scientific_journal-5566	163	54	,	,	PUNCT
american_scientific_journal-5566	163	55	z.	z.	PROPN
american_scientific_journal-5566	163	56	dodds	dodds	PROPN
american_scientific_journal-5566	163	57	,	,	PUNCT
american_scientific_journal-5566	163	58	“	"	PUNCT
american_scientific_journal-5566	163	59	robotic	robotic	ADJ
american_scientific_journal-5566	163	60	motion	motion	NOUN
american_scientific_journal-5566	163	61	planning	planning	NOUN
american_scientific_journal-5566	163	62	:	:	PUNCT
american_scientific_journal-5566	163	63	bug	bug	NOUN
american_scientific_journal-5566	163	64	algorithms	algorithm	NOUN
american_scientific_journal-5566	163	65	”	"	PUNCT
american_scientific_journal-5566	163	66	,	,	PUNCT
american_scientific_journal-5566	163	67	unpublished	unpublished	ADJ
american_scientific_journal-5566	163	68	.	.	PUNCT