id	sid	tid	token	lemma	pos
asir-56442	1	1	applied	apply	VERB
asir-56442	1	2	science	science	NOUN
asir-56442	1	3	and	and	CCONJ
asir-56442	1	4	innovative	innovative	ADJ
asir-56442	1	5	research	research	NOUN
asir-56442	1	6	issn	issn	VERB
asir-56442	1	7	2474	2474	NUM
asir-56442	1	8	-	-	SYM
asir-56442	1	9	4972	4972	NUM
asir-56442	1	10	(	(	PUNCT
asir-56442	1	11	print	print	NOUN
asir-56442	1	12	)	)	PUNCT
asir-56442	1	13	issn	issn	VERB
asir-56442	1	14	2474	2474	NUM
asir-56442	1	15	-	-	SYM
asir-56442	1	16	4980	4980	NUM
asir-56442	1	17	(	(	PUNCT
asir-56442	1	18	online	online	ADJ
asir-56442	1	19	)	)	PUNCT
asir-56442	1	20	vol	vol	NOUN
asir-56442	1	21	.	.	NOUN
asir-56442	2	1	9	9	NUM
asir-56442	2	2	,	,	PUNCT
asir-56442	2	3	no	no	INTJ
asir-56442	2	4	.	.	NOUN
asir-56442	2	5	3	3	NUM
asir-56442	2	6	,	,	PUNCT
asir-56442	2	7	2025	2025	NUM
asir-56442	2	8	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-56442	2	9	40	40	NUM
asir-56442	2	10	original	original	ADJ
asir-56442	2	11	paper	paper	NOUN
asir-56442	2	12	from	from	ADP
asir-56442	2	13	touch	touch	NOUN
asir-56442	2	14	to	to	ADP
asir-56442	2	15	voice	voice	NOUN
asir-56442	2	16	:	:	PUNCT
asir-56442	2	17	the	the	DET
asir-56442	2	18	role	role	NOUN
asir-56442	2	19	of	of	ADP
asir-56442	2	20	smart	smart	ADJ
asir-56442	2	21	devices	device	NOUN
asir-56442	2	22	in	in	ADP
asir-56442	2	23	enhancing	enhance	VERB
asir-56442	2	24	navigation	navigation	NOUN
asir-56442	2	25	and	and	CCONJ
asir-56442	2	26	interaction	interaction	NOUN
asir-56442	2	27	for	for	ADP
asir-56442	2	28	the	the	DET
asir-56442	2	29	visually	visually	ADV
asir-56442	2	30	impaired	impair	VERB
asir-56442	2	31	kaiyi	kaiyi	PROPN
asir-56442	2	32	shi	shi	PROPN
asir-56442	2	33	st	st	PROPN
asir-56442	2	34	.	.	PROPN
asir-56442	2	35	georges	georges	PROPN
asir-56442	2	36	school	school	PROPN
asir-56442	2	37	,	,	PUNCT
asir-56442	2	38	4175	4175	NUM
asir-56442	2	39	west	west	PROPN
asir-56442	2	40	29th	29th	PROPN
asir-56442	2	41	avenue	avenue	PROPN
asir-56442	2	42	,	,	PUNCT
asir-56442	2	43	vancouver	vancouver	PROPN
asir-56442	2	44	,	,	PUNCT
asir-56442	2	45	bc	bc	PROPN
asir-56442	2	46	,	,	PUNCT
asir-56442	2	47	v6s	v6s	PROPN
asir-56442	2	48	1v1	1v1	NUM
asir-56442	2	49	,	,	PUNCT
asir-56442	2	50	canada	canada	PROPN
asir-56442	2	51	received	receive	VERB
asir-56442	2	52	:	:	PUNCT
asir-56442	2	53	august	august	PROPN
asir-56442	2	54	3	3	NUM
asir-56442	2	55	,	,	PUNCT
asir-56442	2	56	2025	2025	NUM
asir-56442	2	57	accepted	accept	VERB
asir-56442	2	58	:	:	PUNCT
asir-56442	2	59	august	august	PROPN
asir-56442	2	60	25	25	NUM
asir-56442	2	61	,	,	PUNCT
asir-56442	2	62	2025	2025	NUM
asir-56442	2	63	online	online	ADV
asir-56442	2	64	published	publish	VERB
asir-56442	2	65	:	:	PUNCT
asir-56442	2	66	august	august	PROPN
asir-56442	2	67	29	29	NUM
asir-56442	2	68	,	,	PUNCT
asir-56442	2	69	2025	2025	NUM
asir-56442	2	70	doi:10.22158	doi:10.22158	NOUN
asir-56442	2	71	/	/	SYM
asir-56442	2	72	asir.v9n3p40	asir.v9n3p40	PROPN
asir-56442	2	73	url	url	PROPN
asir-56442	2	74	:	:	PUNCT
asir-56442	2	75	http://doi.org/10.22158/asir.v9n3p40	http://doi.org/10.22158/asir.v9n3p40	PRON
asir-56442	2	76	abstract	abstract	ADJ
asir-56442	2	77	smart	smart	ADJ
asir-56442	2	78	devices	device	NOUN
asir-56442	2	79	integrate	integrate	VERB
asir-56442	2	80	haptic	haptic	ADJ
asir-56442	2	81	feedback	feedback	NOUN
asir-56442	2	82	and	and	CCONJ
asir-56442	2	83	voice	voice	NOUN
asir-56442	2	84	interaction	interaction	NOUN
asir-56442	2	85	technologies	technology	NOUN
asir-56442	2	86	to	to	PART
asir-56442	2	87	provide	provide	VERB
asir-56442	2	88	innovative	innovative	ADJ
asir-56442	2	89	solutions	solution	NOUN
asir-56442	2	90	for	for	ADP
asir-56442	2	91	navigation	navigation	NOUN
asir-56442	2	92	and	and	CCONJ
asir-56442	2	93	information	information	NOUN
asir-56442	2	94	interaction	interaction	NOUN
asir-56442	2	95	for	for	ADP
asir-56442	2	96	the	the	DET
asir-56442	2	97	visually	visually	ADV
asir-56442	2	98	impaired	impaired	ADJ
asir-56442	2	99	.	.	PUNCT
asir-56442	3	1	this	this	DET
asir-56442	3	2	paper	paper	NOUN
asir-56442	3	3	explains	explain	VERB
asir-56442	3	4	the	the	DET
asir-56442	3	5	fundamental	fundamental	ADJ
asir-56442	3	6	principles	principle	NOUN
asir-56442	3	7	of	of	ADP
asir-56442	3	8	core	core	NOUN
asir-56442	3	9	technologies	technology	NOUN
asir-56442	3	10	such	such	ADJ
asir-56442	3	11	as	as	ADP
asir-56442	3	12	sensors	sensor	NOUN
asir-56442	3	13	,	,	PUNCT
asir-56442	3	14	voice	voice	NOUN
asir-56442	3	15	recognition	recognition	NOUN
asir-56442	3	16	,	,	PUNCT
asir-56442	3	17	and	and	CCONJ
asir-56442	3	18	haptic	haptic	ADJ
asir-56442	3	19	feedback	feedback	NOUN
asir-56442	3	20	,	,	PUNCT
asir-56442	3	21	as	as	ADV
asir-56442	3	22	well	well	ADV
asir-56442	3	23	as	as	ADP
asir-56442	3	24	the	the	DET
asir-56442	3	25	architecture	architecture	NOUN
asir-56442	3	26	of	of	ADP
asir-56442	3	27	auxiliary	auxiliary	ADJ
asir-56442	3	28	navigation	navigation	NOUN
asir-56442	3	29	systems	system	NOUN
asir-56442	3	30	.	.	PUNCT
asir-56442	4	1	it	it	PRON
asir-56442	4	2	analyzes	analyze	VERB
asir-56442	4	3	the	the	DET
asir-56442	4	4	integration	integration	NOUN
asir-56442	4	5	patterns	pattern	NOUN
asir-56442	4	6	and	and	CCONJ
asir-56442	4	7	optimization	optimization	NOUN
asir-56442	4	8	strategies	strategy	NOUN
asir-56442	4	9	of	of	ADP
asir-56442	4	10	haptic	haptic	ADJ
asir-56442	4	11	and	and	CCONJ
asir-56442	4	12	voice	voice	NOUN
asir-56442	4	13	interaction	interaction	NOUN
asir-56442	4	14	,	,	PUNCT
asir-56442	4	15	and	and	CCONJ
asir-56442	4	16	explores	explore	VERB
asir-56442	4	17	the	the	DET
asir-56442	4	18	challenges	challenge	NOUN
asir-56442	4	19	faced	face	VERB
asir-56442	4	20	by	by	ADP
asir-56442	4	21	current	current	ADJ
asir-56442	4	22	technologies	technology	NOUN
asir-56442	4	23	in	in	ADP
asir-56442	4	24	terms	term	NOUN
asir-56442	4	25	of	of	ADP
asir-56442	4	26	recognition	recognition	NOUN
asir-56442	4	27	accuracy	accuracy	NOUN
asir-56442	4	28	,	,	PUNCT
asir-56442	4	29	latency	latency	NOUN
asir-56442	4	30	,	,	PUNCT
asir-56442	4	31	and	and	CCONJ
asir-56442	4	32	battery	battery	NOUN
asir-56442	4	33	life	life	NOUN
asir-56442	4	34	through	through	ADP
asir-56442	4	35	practical	practical	ADJ
asir-56442	4	36	applications	application	NOUN
asir-56442	4	37	such	such	ADJ
asir-56442	4	38	as	as	ADP
asir-56442	4	39	outdoor	outdoor	ADJ
asir-56442	4	40	and	and	CCONJ
asir-56442	4	41	indoor	indoor	ADJ
asir-56442	4	42	navigation	navigation	NOUN
asir-56442	4	43	.	.	PUNCT
asir-56442	5	1	the	the	DET
asir-56442	5	2	paper	paper	NOUN
asir-56442	5	3	also	also	ADV
asir-56442	5	4	proposes	propose	VERB
asir-56442	5	5	targeted	target	VERB
asir-56442	5	6	improvement	improvement	NOUN
asir-56442	5	7	measures	measure	NOUN
asir-56442	5	8	to	to	PART
asir-56442	5	9	provide	provide	VERB
asir-56442	5	10	technical	technical	ADJ
asir-56442	5	11	references	reference	NOUN
asir-56442	5	12	for	for	ADP
asir-56442	5	13	enhancing	enhance	VERB
asir-56442	5	14	the	the	DET
asir-56442	5	15	efficiency	efficiency	NOUN
asir-56442	5	16	of	of	ADP
asir-56442	5	17	navigation	navigation	NOUN
asir-56442	5	18	and	and	CCONJ
asir-56442	5	19	interaction	interaction	NOUN
asir-56442	5	20	experiences	experience	NOUN
asir-56442	5	21	for	for	ADP
asir-56442	5	22	the	the	DET
asir-56442	5	23	visually	visually	ADV
asir-56442	5	24	impaired	impaired	ADJ
asir-56442	5	25	.	.	PUNCT
asir-56442	6	1	keywords	keyword	VERB
asir-56442	6	2	smart	smart	ADJ
asir-56442	6	3	devices	device	NOUN
asir-56442	6	4	,	,	PUNCT
asir-56442	6	5	blind	blind	ADJ
asir-56442	6	6	navigation	navigation	NOUN
asir-56442	6	7	,	,	PUNCT
asir-56442	6	8	haptic	haptic	ADJ
asir-56442	6	9	feedback	feedback	NOUN
asir-56442	6	10	,	,	PUNCT
asir-56442	6	11	voice	voice	NOUN
asir-56442	6	12	interaction	interaction	NOUN
asir-56442	6	13	,	,	PUNCT
asir-56442	6	14	multimodal	multimodal	ADJ
asir-56442	6	15	fusion	fusion	NOUN
asir-56442	6	16	1	1	NUM
asir-56442	6	17	.	.	PUNCT
asir-56442	7	1	introduction	introduction	NOUN
asir-56442	7	2	blind	blind	ADJ
asir-56442	7	3	individuals	individual	NOUN
asir-56442	7	4	face	face	VERB
asir-56442	7	5	challenges	challenge	NOUN
asir-56442	7	6	in	in	ADP
asir-56442	7	7	mobility	mobility	NOUN
asir-56442	7	8	and	and	CCONJ
asir-56442	7	9	information	information	NOUN
asir-56442	7	10	interaction	interaction	NOUN
asir-56442	7	11	.	.	PUNCT
asir-56442	8	1	while	while	SCONJ
asir-56442	8	2	existing	exist	VERB
asir-56442	8	3	guide	guide	NOUN
asir-56442	8	4	dogs	dog	NOUN
asir-56442	8	5	or	or	CCONJ
asir-56442	8	6	white	white	ADJ
asir-56442	8	7	canes	cane	NOUN
asir-56442	8	8	have	have	AUX
asir-56442	8	9	addressed	address	VERB
asir-56442	8	10	safety	safety	NOUN
asir-56442	8	11	concerns	concern	NOUN
asir-56442	8	12	during	during	ADP
asir-56442	8	13	travel	travel	NOUN
asir-56442	8	14	,	,	PUNCT
asir-56442	8	15	they	they	PRON
asir-56442	8	16	fall	fall	VERB
asir-56442	8	17	short	short	ADV
asir-56442	8	18	in	in	ADP
asir-56442	8	19	providing	provide	VERB
asir-56442	8	20	real	real	ADJ
asir-56442	8	21	-	-	PUNCT
asir-56442	8	22	time	time	NOUN
asir-56442	8	23	navigation	navigation	NOUN
asir-56442	8	24	and	and	CCONJ
asir-56442	8	25	interaction	interaction	NOUN
asir-56442	8	26	in	in	ADP
asir-56442	8	27	complex	complex	ADJ
asir-56442	8	28	environments	environment	NOUN
asir-56442	8	29	.	.	PUNCT
asir-56442	9	1	in	in	ADP
asir-56442	9	2	recent	recent	ADJ
asir-56442	9	3	years	year	NOUN
asir-56442	9	4	,	,	PUNCT
asir-56442	9	5	rapid	rapid	ADJ
asir-56442	9	6	advancements	advancement	NOUN
asir-56442	9	7	in	in	ADP
asir-56442	9	8	sensor	sensor	NOUN
asir-56442	9	9	technology	technology	NOUN
asir-56442	9	10	,	,	PUNCT
asir-56442	9	11	speech	speech	NOUN
asir-56442	9	12	recognition	recognition	NOUN
asir-56442	9	13	,	,	PUNCT
asir-56442	9	14	and	and	CCONJ
asir-56442	9	15	wearable	wearable	ADJ
asir-56442	9	16	devices	device	NOUN
asir-56442	9	17	have	have	AUX
asir-56442	9	18	emerged	emerge	VERB
asir-56442	9	19	.	.	PUNCT
asir-56442	10	1	enhancing	enhance	VERB
asir-56442	10	2	navigation	navigation	NOUN
asir-56442	10	3	and	and	CCONJ
asir-56442	10	4	interaction	interaction	NOUN
asir-56442	10	5	capabilities	capability	NOUN
asir-56442	10	6	through	through	ADP
asir-56442	10	7	smart	smart	ADJ
asir-56442	10	8	devices	device	NOUN
asir-56442	10	9	has	have	AUX
asir-56442	10	10	become	become	VERB
asir-56442	10	11	a	a	DET
asir-56442	10	12	key	key	ADJ
asir-56442	10	13	strategy	strategy	NOUN
asir-56442	10	14	for	for	ADP
asir-56442	10	15	improving	improve	VERB
asir-56442	10	16	the	the	DET
asir-56442	10	17	experience	experience	NOUN
asir-56442	10	18	of	of	ADP
asir-56442	10	19	blind	blind	ADJ
asir-56442	10	20	individuals	individual	NOUN
asir-56442	10	21	.	.	PUNCT
asir-56442	11	1	haptic	haptic	ADJ
asir-56442	11	2	feedback	feedback	NOUN
asir-56442	11	3	,	,	PUNCT
asir-56442	11	4	as	as	ADP
asir-56442	11	5	an	an	DET
asir-56442	11	6	artificial	artificial	ADJ
asir-56442	11	7	tactile	tactile	ADJ
asir-56442	11	8	input	input	NOUN
asir-56442	11	9	method	method	NOUN
asir-56442	11	10	that	that	PRON
asir-56442	11	11	conveys	convey	VERB
asir-56442	11	12	spatial	spatial	ADJ
asir-56442	11	13	and	and	CCONJ
asir-56442	11	14	environmental	environmental	ADJ
asir-56442	11	15	information	information	NOUN
asir-56442	11	16	through	through	ADP
asir-56442	11	17	vibrations	vibration	NOUN
asir-56442	11	18	or	or	CCONJ
asir-56442	11	19	dot	dot	NOUN
asir-56442	11	20	patterns	pattern	NOUN
asir-56442	11	21	,	,	PUNCT
asir-56442	11	22	combined	combine	VERB
asir-56442	11	23	with	with	ADP
asir-56442	11	24	speech	speech	NOUN
asir-56442	11	25	recognition	recognition	NOUN
asir-56442	11	26	and	and	CCONJ
asir-56442	11	27	natural	natural	ADJ
asir-56442	11	28	language	language	NOUN
asir-56442	11	29	processing	processing	NOUN
asir-56442	11	30	(	(	PUNCT
asir-56442	11	31	nlp	nlp	NOUN
asir-56442	11	32	)	)	PUNCT
asir-56442	11	33	,	,	PUNCT
asir-56442	11	34	which	which	PRON
asir-56442	11	35	enables	enable	VERB
asir-56442	11	36	natural	natural	ADJ
asir-56442	11	37	and	and	CCONJ
asir-56442	11	38	cost	cost	NOUN
asir-56442	11	39	-	-	PUNCT
asir-56442	11	40	effective	effective	ADJ
asir-56442	11	41	information	information	NOUN
asir-56442	11	42	interaction	interaction	NOUN
asir-56442	11	43	,	,	PUNCT
asir-56442	11	44	can	can	AUX
asir-56442	11	45	further	far	ADV
asir-56442	11	46	enhance	enhance	VERB
asir-56442	11	47	the	the	DET
asir-56442	11	48	reliability	reliability	NOUN
asir-56442	11	49	of	of	ADP
asir-56442	11	50	environmental	environmental	ADJ
asir-56442	11	51	perception	perception	NOUN
asir-56442	11	52	,	,	PUNCT
asir-56442	11	53	improve	improve	VERB
asir-56442	11	54	the	the	DET
asir-56442	11	55	quality	quality	NOUN
asir-56442	11	56	of	of	ADP
asir-56442	11	57	human	human	ADJ
asir-56442	11	58	-	-	PUNCT
asir-56442	11	59	machine	machine	NOUN
asir-56442	11	60	interaction	interaction	NOUN
asir-56442	11	61	,	,	PUNCT
asir-56442	11	62	and	and	CCONJ
asir-56442	11	63	ultimately	ultimately	ADV
asir-56442	11	64	enhance	enhance	VERB
asir-56442	11	65	the	the	DET
asir-56442	11	66	mobility	mobility	NOUN
asir-56442	11	67	experience	experience	NOUN
asir-56442	11	68	.	.	PUNCT
asir-56442	12	1	this	this	DET
asir-56442	12	2	paper	paper	NOUN
asir-56442	12	3	will	will	AUX
asir-56442	12	4	systematically	systematically	ADV
asir-56442	12	5	analyze	analyze	VERB
asir-56442	12	6	the	the	DET
asir-56442	12	7	technological	technological	ADJ
asir-56442	12	8	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-56442	12	9	applied	apply	VERB
asir-56442	12	10	science	science	NOUN
asir-56442	12	11	and	and	CCONJ
asir-56442	12	12	innovative	innovative	ADJ
asir-56442	12	13	research	research	NOUN
asir-56442	12	14	vol	vol	NOUN
asir-56442	12	15	.	.	PUNCT
asir-56442	13	1	9	9	NUM
asir-56442	13	2	,	,	PUNCT
asir-56442	13	3	no	no	INTJ
asir-56442	13	4	.	.	NOUN
asir-56442	13	5	3	3	NUM
asir-56442	13	6	,	,	PUNCT
asir-56442	13	7	2025	2025	NUM
asir-56442	13	8	41	41	NUM
asir-56442	13	9	published	publish	VERB
asir-56442	13	10	by	by	ADP
asir-56442	13	11	scholink	scholink	PROPN
asir-56442	13	12	inc	inc	PROPN
asir-56442	13	13	.	.	PROPN
asir-56442	13	14	foundations	foundations	PROPN
asir-56442	13	15	,	,	PUNCT
asir-56442	13	16	integration	integration	NOUN
asir-56442	13	17	models	model	NOUN
asir-56442	13	18	,	,	PUNCT
asir-56442	13	19	application	application	NOUN
asir-56442	13	20	practices	practice	NOUN
asir-56442	13	21	,	,	PUNCT
asir-56442	13	22	and	and	CCONJ
asir-56442	13	23	challenges	challenge	NOUN
asir-56442	13	24	of	of	ADP
asir-56442	13	25	smart	smart	ADJ
asir-56442	13	26	devices	device	NOUN
asir-56442	13	27	in	in	ADP
asir-56442	13	28	navigation	navigation	NOUN
asir-56442	13	29	and	and	CCONJ
asir-56442	13	30	interaction	interaction	NOUN
asir-56442	13	31	for	for	ADP
asir-56442	13	32	the	the	DET
asir-56442	13	33	visually	visually	ADV
asir-56442	13	34	impaired	impair	VERB
asir-56442	13	35	,	,	PUNCT
asir-56442	13	36	with	with	ADP
asir-56442	13	37	the	the	DET
asir-56442	13	38	aim	aim	NOUN
asir-56442	13	39	of	of	ADP
asir-56442	13	40	providing	provide	VERB
asir-56442	13	41	references	reference	NOUN
asir-56442	13	42	for	for	ADP
asir-56442	13	43	the	the	DET
asir-56442	13	44	development	development	NOUN
asir-56442	13	45	and	and	CCONJ
asir-56442	13	46	optimization	optimization	NOUN
asir-56442	13	47	of	of	ADP
asir-56442	13	48	accessible	accessible	ADJ
asir-56442	13	49	technologies	technology	NOUN
asir-56442	13	50	.	.	PUNCT
asir-56442	14	1	2	2	X
asir-56442	14	2	.	.	X
asir-56442	14	3	technical	technical	ADJ
asir-56442	14	4	foundation	foundation	PROPN
asir-56442	14	5	of	of	ADP
asir-56442	14	6	smart	smart	ADJ
asir-56442	14	7	devices	device	NOUN
asir-56442	14	8	and	and	CCONJ
asir-56442	14	9	assisted	assist	VERB
asir-56442	14	10	navigation	navigation	NOUN
asir-56442	14	11	2.1	2.1	NUM
asir-56442	14	12	sensor	sensor	NOUN
asir-56442	14	13	technology	technology	NOUN
asir-56442	14	14	sensors	sensor	NOUN
asir-56442	14	15	serve	serve	VERB
asir-56442	14	16	as	as	ADP
asir-56442	14	17	the	the	DET
asir-56442	14	18	“	"	PUNCT
asir-56442	14	19	eyes	eye	NOUN
asir-56442	14	20	”	"	PUNCT
asir-56442	14	21	of	of	ADP
asir-56442	14	22	smart	smart	ADJ
asir-56442	14	23	devices	device	NOUN
asir-56442	14	24	and	and	CCONJ
asir-56442	14	25	are	be	AUX
asir-56442	14	26	critical	critical	ADJ
asir-56442	14	27	for	for	ADP
asir-56442	14	28	environmental	environmental	ADJ
asir-56442	14	29	perception	perception	NOUN
asir-56442	14	30	and	and	CCONJ
asir-56442	14	31	the	the	DET
asir-56442	14	32	stability	stability	NOUN
asir-56442	14	33	of	of	ADP
asir-56442	14	34	human	human	ADJ
asir-56442	14	35	-	-	PUNCT
asir-56442	14	36	machine	machine	NOUN
asir-56442	14	37	interaction	interaction	NOUN
asir-56442	14	38	.	.	PUNCT
asir-56442	15	1	lidar	lidar	NOUN
asir-56442	15	2	(	(	PUNCT
asir-56442	15	3	light	light	ADJ
asir-56442	15	4	detection	detection	NOUN
asir-56442	15	5	and	and	CCONJ
asir-56442	15	6	ranging	ranging	NOUN
asir-56442	15	7	)	)	PUNCT
asir-56442	15	8	can	can	AUX
asir-56442	15	9	create	create	VERB
asir-56442	15	10	a	a	DET
asir-56442	15	11	three	three	NUM
asir-56442	15	12	-	-	PUNCT
asir-56442	15	13	dimensional	dimensional	ADJ
asir-56442	15	14	point	point	NOUN
asir-56442	15	15	cloud	cloud	NOUN
asir-56442	15	16	of	of	ADP
asir-56442	15	17	the	the	DET
asir-56442	15	18	environment	environment	NOUN
asir-56442	15	19	for	for	ADP
asir-56442	15	20	path	path	NOUN
asir-56442	15	21	planning	planning	NOUN
asir-56442	15	22	;	;	PUNCT
asir-56442	15	23	image	image	NOUN
asir-56442	15	24	sensors	sensor	NOUN
asir-56442	15	25	combined	combine	VERB
asir-56442	15	26	with	with	ADP
asir-56442	15	27	deep	deep	ADJ
asir-56442	15	28	learning	learning	NOUN
asir-56442	15	29	can	can	AUX
asir-56442	15	30	identify	identify	VERB
asir-56442	15	31	semantic	semantic	ADJ
asir-56442	15	32	information	information	NOUN
asir-56442	15	33	such	such	ADJ
asir-56442	15	34	as	as	ADP
asir-56442	15	35	tactile	tactile	ADJ
asir-56442	15	36	paving	paving	NOUN
asir-56442	15	37	and	and	CCONJ
asir-56442	15	38	house	house	NOUN
asir-56442	15	39	numbers	number	NOUN
asir-56442	15	40	;	;	PUNCT
asir-56442	15	41	ultrasonic	ultrasonic	ADJ
asir-56442	15	42	sensors	sensor	NOUN
asir-56442	15	43	are	be	AUX
asir-56442	15	44	used	use	VERB
asir-56442	15	45	for	for	ADP
asir-56442	15	46	close	close	ADJ
asir-56442	15	47	-	-	PUNCT
asir-56442	15	48	range	range	NOUN
asir-56442	15	49	obstacle	obstacle	NOUN
asir-56442	15	50	detection	detection	NOUN
asir-56442	15	51	,	,	PUNCT
asir-56442	15	52	compensating	compensate	VERB
asir-56442	15	53	for	for	ADP
asir-56442	15	54	lidar	lidar	NOUN
asir-56442	15	55	's	's	PART
asir-56442	15	56	inability	inability	NOUN
asir-56442	15	57	to	to	PART
asir-56442	15	58	perceive	perceive	VERB
asir-56442	15	59	transparent	transparent	ADJ
asir-56442	15	60	media	medium	NOUN
asir-56442	15	61	;	;	PUNCT
asir-56442	15	62	and	and	CCONJ
asir-56442	15	63	inertial	inertial	ADJ
asir-56442	15	64	measurement	measurement	NOUN
asir-56442	15	65	units	unit	NOUN
asir-56442	15	66	(	(	PUNCT
asir-56442	15	67	imus	imus	PROPN
asir-56442	15	68	)	)	PUNCT
asir-56442	15	69	combined	combine	VERB
asir-56442	15	70	with	with	ADP
asir-56442	15	71	stride	stride	ADJ
asir-56442	15	72	estimation	estimation	NOUN
asir-56442	15	73	technology	technology	NOUN
asir-56442	15	74	can	can	AUX
asir-56442	15	75	maintain	maintain	VERB
asir-56442	15	76	indoor	indoor	ADJ
asir-56442	15	77	positioning	positioning	NOUN
asir-56442	15	78	accuracy	accuracy	NOUN
asir-56442	15	79	when	when	SCONJ
asir-56442	15	80	gps	gps	PROPN
asir-56442	15	81	is	be	AUX
asir-56442	15	82	interrupted	interrupt	VERB
asir-56442	15	83	.	.	PUNCT
asir-56442	16	1	2.2	2.2	NUM
asir-56442	16	2	speech	speech	NOUN
asir-56442	16	3	recognition	recognition	NOUN
asir-56442	16	4	and	and	CCONJ
asir-56442	16	5	natural	natural	ADJ
asir-56442	16	6	language	language	NOUN
asir-56442	16	7	processing	processing	NOUN
asir-56442	16	8	(	(	PUNCT
asir-56442	16	9	nlp	nlp	NOUN
asir-56442	16	10	)	)	PUNCT
asir-56442	16	11	technology	technology	NOUN
asir-56442	16	12	basics	basic	NOUN
asir-56442	16	13	voice	voice	NOUN
asir-56442	16	14	interaction	interaction	NOUN
asir-56442	16	15	provides	provide	VERB
asir-56442	16	16	visually	visually	ADV
asir-56442	16	17	impaired	impair	VERB
asir-56442	16	18	individuals	individual	NOUN
asir-56442	16	19	with	with	ADP
asir-56442	16	20	a	a	DET
asir-56442	16	21	contactless	contactless	ADJ
asir-56442	16	22	channel	channel	NOUN
asir-56442	16	23	for	for	ADP
asir-56442	16	24	receiving	receive	VERB
asir-56442	16	25	information	information	NOUN
asir-56442	16	26	.	.	PUNCT
asir-56442	17	1	the	the	DET
asir-56442	17	2	primary	primary	ADJ
asir-56442	17	3	metrics	metric	NOUN
asir-56442	17	4	for	for	ADP
asir-56442	17	5	this	this	DET
asir-56442	17	6	task	task	NOUN
asir-56442	17	7	are	be	AUX
asir-56442	17	8	noise	noise	NOUN
asir-56442	17	9	resistance	resistance	NOUN
asir-56442	17	10	and	and	CCONJ
asir-56442	17	11	semantic	semantic	ADJ
asir-56442	17	12	understanding	understanding	NOUN
asir-56442	17	13	.	.	PUNCT
asir-56442	18	1	the	the	DET
asir-56442	18	2	perceptron	perceptron	PROPN
asir-56442	18	3	uses	use	VERB
asir-56442	18	4	mfc	mfc	PROPN
asir-56442	18	5	to	to	PART
asir-56442	18	6	achieve	achieve	VERB
asir-56442	18	7	an	an	DET
asir-56442	18	8	error	error	NOUN
asir-56442	18	9	rate	rate	NOUN
asir-56442	18	10	of	of	ADP
asir-56442	18	11	approximately	approximately	ADV
asir-56442	18	12	5	5	NUM
asir-56442	18	13	%	%	NOUN
asir-56442	18	14	per	per	ADP
asir-56442	18	15	word	word	NOUN
asir-56442	18	16	in	in	ADP
asir-56442	18	17	an	an	DET
asir-56442	18	18	end	end	NOUN
asir-56442	18	19	-	-	PUNCT
asir-56442	18	20	to	to	ADP
asir-56442	18	21	-	-	PUNCT
asir-56442	18	22	end	end	NOUN
asir-56442	18	23	model	model	NOUN
asir-56442	18	24	recognition	recognition	NOUN
asir-56442	18	25	scenario	scenario	NOUN
asir-56442	18	26	on	on	ADP
asir-56442	18	27	an	an	DET
asir-56442	18	28	empty	empty	ADJ
asir-56442	18	29	room	room	NOUN
asir-56442	18	30	noise	noise	NOUN
asir-56442	18	31	dataset	dataset	NOUN
asir-56442	18	32	.	.	PUNCT
asir-56442	19	1	in	in	ADP
asir-56442	19	2	outdoor	outdoor	ADJ
asir-56442	19	3	noisy	noisy	ADJ
asir-56442	19	4	environments	environment	NOUN
asir-56442	19	5	,	,	PUNCT
asir-56442	19	6	a	a	DET
asir-56442	19	7	beamformer	beamformer	NOUN
asir-56442	19	8	is	be	AUX
asir-56442	19	9	employed	employ	VERB
asir-56442	19	10	to	to	PART
asir-56442	19	11	suppress	suppress	VERB
asir-56442	19	12	speakers	speaker	NOUN
asir-56442	19	13	not	not	PART
asir-56442	19	14	participating	participate	VERB
asir-56442	19	15	in	in	ADP
asir-56442	19	16	the	the	DET
asir-56442	19	17	target	target	NOUN
asir-56442	19	18	conversation	conversation	NOUN
asir-56442	19	19	,	,	PUNCT
asir-56442	19	20	combined	combine	VERB
asir-56442	19	21	with	with	ADP
asir-56442	19	22	voice	voice	NOUN
asir-56442	19	23	activity	activity	NOUN
asir-56442	19	24	detection	detection	NOUN
asir-56442	19	25	(	(	PUNCT
asir-56442	19	26	voa	voa	PROPN
asir-56442	19	27	)	)	PUNCT
asir-56442	19	28	to	to	PART
asir-56442	19	29	reduce	reduce	VERB
asir-56442	19	30	unwanted	unwanted	ADJ
asir-56442	19	31	noise	noise	NOUN
asir-56442	19	32	from	from	ADP
asir-56442	19	33	the	the	DET
asir-56442	19	34	environment	environment	NOUN
asir-56442	19	35	,	,	PUNCT
asir-56442	19	36	achieving	achieve	VERB
asir-56442	19	37	a	a	DET
asir-56442	19	38	correct	correct	ADJ
asir-56442	19	39	recognition	recognition	NOUN
asir-56442	19	40	rate	rate	NOUN
asir-56442	19	41	of	of	ADP
asir-56442	19	42	up	up	ADP
asir-56442	19	43	to	to	PART
asir-56442	19	44	85	85	NUM
asir-56442	19	45	%	%	NOUN
asir-56442	19	46	.	.	PUNCT
asir-56442	20	1	nlp	nlp	NOUN
asir-56442	20	2	primarily	primarily	ADV
asir-56442	20	3	focuses	focus	VERB
asir-56442	20	4	on	on	ADP
asir-56442	20	5	user	user	NOUN
asir-56442	20	6	command	command	NOUN
asir-56442	20	7	semantic	semantic	ADJ
asir-56442	20	8	understanding	understanding	NOUN
asir-56442	20	9	,	,	PUNCT
asir-56442	20	10	i.e.	i.e.	X
asir-56442	20	11	,	,	PUNCT
asir-56442	20	12	modeling	model	VERB
asir-56442	20	13	sentences	sentence	NOUN
asir-56442	20	14	based	base	VERB
asir-56442	20	15	on	on	ADP
asir-56442	20	16	bert	bert	PROPN
asir-56442	20	17	model	model	PROPN
asir-56442	20	18	initialization	initialization	PROPN
asir-56442	20	19	methods	method	NOUN
asir-56442	20	20	,	,	PUNCT
asir-56442	20	21	such	such	ADJ
asir-56442	20	22	as	as	ADP
asir-56442	20	23	understanding	understand	VERB
asir-56442	20	24	“	"	PUNCT
asir-56442	20	25	can	can	AUX
asir-56442	20	26	i	i	PRON
asir-56442	20	27	sit	sit	VERB
asir-56442	20	28	down	down	ADP
asir-56442	20	29	nearby	nearby	ADV
asir-56442	20	30	?	?	PUNCT
asir-56442	20	31	”	"	PUNCT
asir-56442	21	1	this	this	PRON
asir-56442	21	2	involves	involve	VERB
asir-56442	21	3	searching	search	VERB
asir-56442	21	4	for	for	ADP
asir-56442	21	5	relevant	relevant	ADJ
asir-56442	21	6	domain	domain	NOUN
asir-56442	21	7	vocabulary	vocabulary	NOUN
asir-56442	21	8	and	and	CCONJ
asir-56442	21	9	returning	return	VERB
asir-56442	21	10	terms	term	NOUN
asir-56442	21	11	like	like	ADP
asir-56442	21	12	‘	'	PUNCT
asir-56442	21	13	chair	chair	NOUN
asir-56442	21	14	’	'	PUNCT
asir-56442	21	15	or	or	CCONJ
asir-56442	21	16	“	"	PUNCT
asir-56442	21	17	stool	stool	VERB
asir-56442	21	18	,	,	PUNCT
asir-56442	21	19	”	"	PUNCT
asir-56442	21	20	then	then	ADV
asir-56442	21	21	using	use	VERB
asir-56442	21	22	a	a	DET
asir-56442	21	23	path	path	NOUN
asir-56442	21	24	planning	planning	NOUN
asir-56442	21	25	system	system	NOUN
asir-56442	21	26	to	to	PART
asir-56442	21	27	return	return	VERB
asir-56442	21	28	an	an	DET
asir-56442	21	29	appropriate	appropriate	ADJ
asir-56442	21	30	route	route	NOUN
asir-56442	21	31	based	base	VERB
asir-56442	21	32	on	on	ADP
asir-56442	21	33	the	the	DET
asir-56442	21	34	user	user	NOUN
asir-56442	21	35	's	's	PART
asir-56442	21	36	current	current	ADJ
asir-56442	21	37	location	location	NOUN
asir-56442	21	38	.	.	PUNCT
asir-56442	22	1	2.3	2.3	NUM
asir-56442	22	2	principles	principle	NOUN
asir-56442	22	3	of	of	ADP
asir-56442	22	4	haptic	haptic	ADJ
asir-56442	22	5	feedback	feedback	NOUN
asir-56442	22	6	and	and	CCONJ
asir-56442	22	7	wearable	wearable	ADJ
asir-56442	22	8	interaction	interaction	NOUN
asir-56442	22	9	technology	technology	NOUN
asir-56442	22	10	haptic	haptic	ADJ
asir-56442	22	11	feedback	feedback	NOUN
asir-56442	22	12	transmits	transmit	VERB
asir-56442	22	13	spatial	spatial	ADJ
asir-56442	22	14	information	information	NOUN
asir-56442	22	15	to	to	ADP
asir-56442	22	16	humans	human	NOUN
asir-56442	22	17	through	through	ADP
asir-56442	22	18	mechanical	mechanical	ADJ
asir-56442	22	19	vibrations	vibration	NOUN
asir-56442	22	20	or	or	CCONJ
asir-56442	22	21	changes	change	NOUN
asir-56442	22	22	in	in	ADP
asir-56442	22	23	pressure	pressure	NOUN
asir-56442	22	24	.	.	PUNCT
asir-56442	23	1	the	the	DET
asir-56442	23	2	vibration	vibration	NOUN
asir-56442	23	3	frequency	frequency	NOUN
asir-56442	23	4	range	range	NOUN
asir-56442	23	5	of	of	ADP
asir-56442	23	6	common	common	ADJ
asir-56442	23	7	eccentric	eccentric	ADJ
asir-56442	23	8	motors	motor	NOUN
asir-56442	23	9	is	be	AUX
asir-56442	23	10	50–200	50–200	PROPN
asir-56442	23	11	hz	hz	VERB
asir-56442	23	12	,	,	PUNCT
asir-56442	23	13	with	with	ADP
asir-56442	23	14	frequencies	frequency	NOUN
asir-56442	23	15	between	between	ADP
asir-56442	23	16	100–150	100–150	PROPN
asir-56442	23	17	hz	hz	VERB
asir-56442	23	18	yielding	yield	VERB
asir-56442	23	19	the	the	DET
asir-56442	23	20	best	good	ADJ
asir-56442	23	21	results	result	NOUN
asir-56442	23	22	in	in	ADP
asir-56442	23	23	perception	perception	NOUN
asir-56442	23	24	and	and	CCONJ
asir-56442	23	25	recognition	recognition	NOUN
asir-56442	23	26	.	.	PUNCT
asir-56442	24	1	therefore	therefore	ADV
asir-56442	24	2	,	,	PUNCT
asir-56442	24	3	navigation	navigation	NOUN
asir-56442	24	4	information	information	NOUN
asir-56442	24	5	is	be	AUX
asir-56442	24	6	encoded	encode	VERB
asir-56442	24	7	as	as	SCONJ
asir-56442	24	8	follows	follow	VERB
asir-56442	24	9	:	:	PUNCT
asir-56442	24	10	a	a	DET
asir-56442	24	11	120	120	NUM
asir-56442	24	12	hz	hz	VERB
asir-56442	24	13	vibration	vibration	NOUN
asir-56442	24	14	from	from	ADP
asir-56442	24	15	the	the	DET
asir-56442	24	16	left	left	ADJ
asir-56442	24	17	motor	motor	NOUN
asir-56442	24	18	indicates	indicate	VERB
asir-56442	24	19	a	a	DET
asir-56442	24	20	left	left	ADJ
asir-56442	24	21	turn	turn	NOUN
asir-56442	24	22	,	,	PUNCT
asir-56442	24	23	the	the	DET
asir-56442	24	24	same	same	ADJ
asir-56442	24	25	frequency	frequency	NOUN
asir-56442	24	26	from	from	ADP
asir-56442	24	27	the	the	DET
asir-56442	24	28	right	right	ADJ
asir-56442	24	29	motor	motor	NOUN
asir-56442	24	30	indicates	indicate	VERB
asir-56442	24	31	a	a	DET
asir-56442	24	32	right	right	ADJ
asir-56442	24	33	turn	turn	NOUN
asir-56442	24	34	,	,	PUNCT
asir-56442	24	35	and	and	CCONJ
asir-56442	24	36	alternating	alternate	VERB
asir-56442	24	37	vibrations	vibration	NOUN
asir-56442	24	38	from	from	ADP
asir-56442	24	39	the	the	DET
asir-56442	24	40	front	front	ADJ
asir-56442	24	41	and	and	CCONJ
asir-56442	24	42	rear	rear	ADJ
asir-56442	24	43	motors	motor	NOUN
asir-56442	24	44	indicate	indicate	VERB
asir-56442	24	45	straight	straight	ADV
asir-56442	24	46	ahead	ahead	ADV
asir-56442	24	47	.	.	PUNCT
asir-56442	25	1	distance	distance	NOUN
asir-56442	25	2	information	information	NOUN
asir-56442	25	3	can	can	AUX
asir-56442	25	4	be	be	AUX
asir-56442	25	5	encoded	encode	VERB
asir-56442	25	6	using	use	VERB
asir-56442	25	7	a	a	DET
asir-56442	25	8	combination	combination	NOUN
asir-56442	25	9	of	of	ADP
asir-56442	25	10	vibration	vibration	NOUN
asir-56442	25	11	intensity	intensity	NOUN
asir-56442	25	12	and	and	CCONJ
asir-56442	25	13	intervals	interval	NOUN
asir-56442	25	14	,	,	PUNCT
asir-56442	25	15	such	such	ADJ
asir-56442	25	16	as	as	ADP
asir-56442	25	17	strong	strong	ADJ
asir-56442	25	18	vibration	vibration	NOUN
asir-56442	25	19	plus	plus	CCONJ
asir-56442	25	20	short	short	ADJ
asir-56442	25	21	intervals	interval	NOUN
asir-56442	25	22	indicating	indicate	VERB
asir-56442	25	23	an	an	DET
asir-56442	25	24	obstacle	obstacle	NOUN
asir-56442	25	25	within	within	ADP
asir-56442	25	26	5	5	NUM
asir-56442	25	27	meters	meter	NOUN
asir-56442	25	28	,	,	PUNCT
asir-56442	25	29	and	and	CCONJ
asir-56442	25	30	weak	weak	ADJ
asir-56442	25	31	vibration	vibration	NOUN
asir-56442	25	32	plus	plus	CCONJ
asir-56442	25	33	long	long	ADJ
asir-56442	25	34	intervals	interval	NOUN
asir-56442	25	35	indicating	indicate	VERB
asir-56442	25	36	an	an	DET
asir-56442	25	37	object	object	NOUN
asir-56442	25	38	more	more	ADJ
asir-56442	25	39	than	than	ADP
asir-56442	25	40	10	10	NUM
asir-56442	25	41	meters	meter	NOUN
asir-56442	25	42	ahead	ahead	ADV
asir-56442	25	43	.	.	PUNCT
asir-56442	26	1	flexible	flexible	ADJ
asir-56442	26	2	haptic	haptic	ADJ
asir-56442	26	3	arrays	array	NOUN
asir-56442	26	4	can	can	AUX
asir-56442	26	5	simulate	simulate	VERB
asir-56442	26	6	graphical	graphical	ADJ
asir-56442	26	7	information	information	NOUN
asir-56442	26	8	by	by	ADP
asir-56442	26	9	using	use	VERB
asir-56442	26	10	an	an	DET
asir-56442	26	11	array	array	NOUN
asir-56442	26	12	of	of	ADP
asir-56442	26	13	raised	raise	VERB
asir-56442	26	14	contact	contact	NOUN
asir-56442	26	15	points	point	NOUN
asir-56442	26	16	at	at	ADP
asir-56442	26	17	different	different	ADJ
asir-56442	26	18	positions	position	NOUN
asir-56442	26	19	to	to	PART
asir-56442	26	20	represent	represent	VERB
asir-56442	26	21	simple	simple	ADJ
asir-56442	26	22	graphics	graphic	NOUN
asir-56442	26	23	.	.	PUNCT
asir-56442	27	1	individual	individual	ADJ
asir-56442	27	2	point	point	NOUN
asir-56442	27	3	pressure	pressure	NOUN
asir-56442	27	4	control	control	NOUN
asir-56442	27	5	is	be	AUX
asir-56442	27	6	accurate	accurate	ADJ
asir-56442	27	7	to	to	ADP
asir-56442	27	8	within	within	ADP
asir-56442	27	9	0.01	0.01	NUM
asir-56442	27	10	n	n	CCONJ
asir-56442	27	11	,	,	PUNCT
asir-56442	27	12	ensuring	ensure	VERB
asir-56442	27	13	the	the	DET
asir-56442	27	14	accurate	accurate	ADJ
asir-56442	27	15	identification	identification	NOUN
asir-56442	27	16	of	of	ADP
asir-56442	27	17	fine	fine	ADJ
asir-56442	27	18	details	detail	NOUN
asir-56442	27	19	such	such	ADJ
asir-56442	27	20	as	as	ADP
asir-56442	27	21	simple	simple	ADJ
asir-56442	27	22	braille	braille	NOUN
asir-56442	27	23	symbols	symbol	NOUN
asir-56442	27	24	(	(	PUNCT
asir-56442	27	25	zhao	zhao	PROPN
asir-56442	27	26	jinku	jinku	PROPN
asir-56442	27	27	,	,	PUNCT
asir-56442	27	28	kang	kang	PROPN
asir-56442	27	29	zhenyu	zhenyu	PROPN
asir-56442	27	30	,	,	PUNCT
asir-56442	27	31	&	&	CCONJ
asir-56442	27	32	xiong	xiong	PROPN
asir-56442	27	33	geya	geya	PROPN
asir-56442	27	34	,	,	PUNCT
asir-56442	27	35	2024	2024	NUM
asir-56442	27	36	)	)	PUNCT
asir-56442	27	37	.	.	PUNCT
asir-56442	28	1	electromyography	electromyography	NOUN
asir-56442	28	2	(	(	PUNCT
asir-56442	28	3	emg	emg	NOUN
asir-56442	28	4	)	)	PUNCT
asir-56442	28	5	sensors	sensor	NOUN
asir-56442	28	6	detect	detect	VERB
asir-56442	28	7	muscle	muscle	NOUN
asir-56442	28	8	electrical	electrical	ADJ
asir-56442	28	9	signals	signal	NOUN
asir-56442	28	10	in	in	ADP
asir-56442	28	11	the	the	DET
asir-56442	28	12	forearm	forearm	NOUN
asir-56442	28	13	to	to	ADP
asir-56442	28	14	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-56442	28	15	applied	apply	VERB
asir-56442	28	16	science	science	NOUN
asir-56442	28	17	and	and	CCONJ
asir-56442	28	18	innovative	innovative	ADJ
asir-56442	28	19	research	research	NOUN
asir-56442	28	20	vol	vol	NOUN
asir-56442	28	21	.	.	PUNCT
asir-56442	29	1	9	9	NUM
asir-56442	29	2	,	,	PUNCT
asir-56442	29	3	no	no	INTJ
asir-56442	29	4	.	.	NOUN
asir-56442	29	5	3	3	NUM
asir-56442	29	6	,	,	PUNCT
asir-56442	29	7	2025	2025	NUM
asir-56442	29	8	42	42	NUM
asir-56442	29	9	published	publish	VERB
asir-56442	29	10	by	by	ADP
asir-56442	29	11	scholink	scholink	PROPN
asir-56442	29	12	inc	inc	PROPN
asir-56442	29	13	.	.	PROPN
asir-56442	29	14	recognize	recognize	VERB
asir-56442	29	15	gesture	gesture	NOUN
asir-56442	29	16	commands	command	NOUN
asir-56442	29	17	,	,	PUNCT
asir-56442	29	18	achieving	achieve	VERB
asir-56442	29	19	a	a	DET
asir-56442	29	20	recognition	recognition	NOUN
asir-56442	29	21	rate	rate	NOUN
asir-56442	29	22	of	of	ADP
asir-56442	29	23	over	over	ADP
asir-56442	29	24	90	90	NUM
asir-56442	29	25	%	%	NOUN
asir-56442	29	26	,	,	PUNCT
asir-56442	29	27	thereby	thereby	ADV
asir-56442	29	28	providing	provide	VERB
asir-56442	29	29	users	user	NOUN
asir-56442	29	30	with	with	ADP
asir-56442	29	31	an	an	DET
asir-56442	29	32	alternative	alternative	ADJ
asir-56442	29	33	interaction	interaction	NOUN
asir-56442	29	34	method	method	NOUN
asir-56442	29	35	when	when	SCONJ
asir-56442	29	36	both	both	DET
asir-56442	29	37	hands	hand	NOUN
asir-56442	29	38	are	be	AUX
asir-56442	29	39	occupied	occupy	VERB
asir-56442	29	40	.	.	PUNCT
asir-56442	30	1	2.4	2.4	NUM
asir-56442	30	2	overall	overall	ADJ
asir-56442	30	3	architecture	architecture	NOUN
asir-56442	30	4	of	of	ADP
asir-56442	30	5	the	the	DET
asir-56442	30	6	auxiliary	auxiliary	ADJ
asir-56442	30	7	navigation	navigation	NOUN
asir-56442	30	8	system	system	NOUN
asir-56442	30	9	the	the	DET
asir-56442	30	10	auxiliary	auxiliary	ADJ
asir-56442	30	11	navigation	navigation	NOUN
asir-56442	30	12	system	system	NOUN
asir-56442	30	13	adopts	adopt	VERB
asir-56442	30	14	a	a	DET
asir-56442	30	15	three	three	NUM
asir-56442	30	16	-	-	PUNCT
asir-56442	30	17	layer	layer	NOUN
asir-56442	30	18	architecture	architecture	NOUN
asir-56442	30	19	of	of	ADP
asir-56442	30	20	“	"	PUNCT
asir-56442	30	21	perception	perception	NOUN
asir-56442	30	22	-	-	PUNCT
asir-56442	30	23	decision	decision	NOUN
asir-56442	30	24	-	-	PUNCT
asir-56442	30	25	interaction	interaction	NOUN
asir-56442	30	26	.	.	PUNCT
asir-56442	30	27	”	"	PUNCT
asir-56442	31	1	each	each	DET
asir-56442	31	2	module	module	NOUN
asir-56442	31	3	achieves	achieve	VERB
asir-56442	31	4	data	datum	NOUN
asir-56442	31	5	interconnection	interconnection	NOUN
asir-56442	31	6	through	through	ADP
asir-56442	31	7	a	a	DET
asir-56442	31	8	low	low	ADJ
asir-56442	31	9	-	-	PUNCT
asir-56442	31	10	latency	latency	NOUN
asir-56442	31	11	bus	bus	NOUN
asir-56442	31	12	(	(	PUNCT
asir-56442	31	13	such	such	ADJ
asir-56442	31	14	as	as	ADP
asir-56442	31	15	ros2	ros2	NOUN
asir-56442	31	16	)	)	PUNCT
asir-56442	31	17	,	,	PUNCT
asir-56442	31	18	as	as	SCONJ
asir-56442	31	19	shown	show	VERB
asir-56442	31	20	in	in	ADP
asir-56442	31	21	figure	figure	NOUN
asir-56442	31	22	1	1	NUM
asir-56442	31	23	.	.	PUNCT
asir-56442	31	24	figure	figure	NOUN
asir-56442	31	25	1	1	NUM
asir-56442	31	26	.	.	PUNCT
asir-56442	31	27	auxiliary	auxiliary	ADJ
asir-56442	31	28	navigation	navigation	NOUN
asir-56442	31	29	system	system	NOUN
asir-56442	31	30	architecture	architecture	VERB
asir-56442	31	31	the	the	DET
asir-56442	31	32	perception	perception	NOUN
asir-56442	31	33	layer	layer	NOUN
asir-56442	31	34	is	be	AUX
asir-56442	31	35	responsible	responsible	ADJ
asir-56442	31	36	for	for	ADP
asir-56442	31	37	collecting	collect	VERB
asir-56442	31	38	environmental	environmental	ADJ
asir-56442	31	39	and	and	CCONJ
asir-56442	31	40	user	user	NOUN
asir-56442	31	41	status	status	NOUN
asir-56442	31	42	data	data	PROPN
asir-56442	31	43	:	:	PUNCT
asir-56442	31	44	the	the	DET
asir-56442	31	45	lidar	lidar	NOUN
asir-56442	31	46	and	and	CCONJ
asir-56442	31	47	camera	camera	NOUN
asir-56442	31	48	array	array	NOUN
asir-56442	31	49	perform	perform	VERB
asir-56442	31	50	synchronized	synchronized	ADJ
asir-56442	31	51	sampling	sample	VERB
asir-56442	31	52	to	to	PART
asir-56442	31	53	form	form	VERB
asir-56442	31	54	joint	joint	ADJ
asir-56442	31	55	obstacle	obstacle	NOUN
asir-56442	31	56	detection	detection	NOUN
asir-56442	31	57	information	information	NOUN
asir-56442	31	58	,	,	PUNCT
asir-56442	31	59	while	while	SCONJ
asir-56442	31	60	the	the	DET
asir-56442	31	61	gps	gps	PROPN
asir-56442	31	62	and	and	CCONJ
asir-56442	31	63	imu	imu	NOUN
asir-56442	31	64	use	use	NOUN
asir-56442	31	65	kalman	kalman	NOUN
asir-56442	31	66	filtering	filter	VERB
asir-56442	31	67	to	to	PART
asir-56442	31	68	form	form	VERB
asir-56442	31	69	positioning	positioning	NOUN
asir-56442	31	70	data	datum	NOUN
asir-56442	31	71	.	.	PUNCT
asir-56442	32	1	the	the	DET
asir-56442	32	2	voice	voice	NOUN
asir-56442	32	3	pickup	pickup	NOUN
asir-56442	32	4	array	array	VERB
asir-56442	32	5	captures	capture	VERB
asir-56442	32	6	the	the	DET
asir-56442	32	7	user	user	NOUN
asir-56442	32	8	's	's	PART
asir-56442	32	9	voice	voice	NOUN
asir-56442	32	10	and	and	CCONJ
asir-56442	32	11	performs	perform	VERB
asir-56442	32	12	preprocessing	preprocesse	VERB
asir-56442	32	13	to	to	PART
asir-56442	32	14	reduce	reduce	VERB
asir-56442	32	15	noise	noise	NOUN
asir-56442	32	16	.	.	PUNCT
asir-56442	33	1	decision	decision	NOUN
asir-56442	33	2	layer	layer	NOUN
asir-56442	33	3	:	:	PUNCT
asir-56442	33	4	the	the	DET
asir-56442	33	5	core	core	NOUN
asir-56442	33	6	control	control	NOUN
asir-56442	33	7	module	module	NOUN
asir-56442	33	8	includes	include	VERB
asir-56442	33	9	path	path	NOUN
asir-56442	33	10	planning	planning	NOUN
asir-56442	33	11	and	and	CCONJ
asir-56442	33	12	scene	scene	NOUN
asir-56442	33	13	understanding	understanding	NOUN
asir-56442	33	14	:	:	PUNCT
asir-56442	33	15	path	path	NOUN
asir-56442	33	16	planning	planning	NOUN
asir-56442	33	17	uses	use	VERB
asir-56442	33	18	the	the	DET
asir-56442	33	19	a	a	PRON
asir-56442	33	20	*	*	ADJ
asir-56442	33	21	algorithm	algorithm	NOUN
asir-56442	33	22	and	and	CCONJ
asir-56442	33	23	simultaneously	simultaneously	ADV
asir-56442	33	24	considers	consider	VERB
asir-56442	33	25	obstacles	obstacle	NOUN
asir-56442	33	26	and	and	CCONJ
asir-56442	33	27	road	road	NOUN
asir-56442	33	28	conditions	condition	NOUN
asir-56442	33	29	in	in	ADP
asir-56442	33	30	the	the	DET
asir-56442	33	31	environment	environment	NOUN
asir-56442	33	32	to	to	PART
asir-56442	33	33	obtain	obtain	VERB
asir-56442	33	34	a	a	DET
asir-56442	33	35	navigation	navigation	NOUN
asir-56442	33	36	planning	planning	NOUN
asir-56442	33	37	path	path	NOUN
asir-56442	33	38	,	,	PUNCT
asir-56442	33	39	while	while	SCONJ
asir-56442	33	40	also	also	ADV
asir-56442	33	41	re	re	VERB
asir-56442	33	42	-	-	VERB
asir-56442	33	43	planning	plan	VERB
asir-56442	33	44	the	the	DET
asir-56442	33	45	local	local	ADJ
asir-56442	33	46	path	path	NOUN
asir-56442	33	47	in	in	ADP
asir-56442	33	48	response	response	NOUN
asir-56442	33	49	to	to	ADP
asir-56442	33	50	foreseeable	foreseeable	ADJ
asir-56442	33	51	obstacles	obstacle	NOUN
asir-56442	33	52	(	(	PUNCT
asir-56442	33	53	such	such	ADJ
asir-56442	33	54	as	as	ADP
asir-56442	33	55	pedestrians	pedestrian	NOUN
asir-56442	33	56	suddenly	suddenly	ADV
asir-56442	33	57	walking	walk	VERB
asir-56442	33	58	in	in	ADP
asir-56442	33	59	front	front	NOUN
asir-56442	33	60	of	of	ADP
asir-56442	33	61	the	the	DET
asir-56442	33	62	vehicle	vehicle	NOUN
asir-56442	33	63	)	)	PUNCT
asir-56442	33	64	;	;	PUNCT
asir-56442	33	65	the	the	DET
asir-56442	33	66	scene	scene	NOUN
asir-56442	33	67	understanding	understand	VERB
asir-56442	33	68	module	module	NOUN
asir-56442	33	69	uses	use	VERB
asir-56442	33	70	machine	machine	NOUN
asir-56442	33	71	learning	learning	NOUN
asir-56442	33	72	(	(	PUNCT
asir-56442	33	73	such	such	ADJ
asir-56442	33	74	as	as	ADP
asir-56442	33	75	resnet	resnet	NOUN
asir-56442	33	76	)	)	PUNCT
asir-56442	33	77	to	to	PART
asir-56442	33	78	identify	identify	VERB
asir-56442	33	79	the	the	DET
asir-56442	33	80	corresponding	corresponding	ADJ
asir-56442	33	81	scene	scene	NOUN
asir-56442	33	82	(	(	PUNCT
asir-56442	33	83	such	such	ADJ
asir-56442	33	84	as	as	ADP
asir-56442	33	85	“	"	PUNCT
asir-56442	33	86	sidewalk	sidewalk	NOUN
asir-56442	33	87	,	,	PUNCT
asir-56442	33	88	”	"	PUNCT
asir-56442	33	89	“	"	PUNCT
asir-56442	33	90	stairs	stair	NOUN
asir-56442	33	91	,	,	PUNCT
asir-56442	33	92	”	"	PUNCT
asir-56442	33	93	“	"	PUNCT
asir-56442	33	94	shopping	shopping	NOUN
asir-56442	33	95	mall	mall	NOUN
asir-56442	33	96	”	"	PUNCT
asir-56442	33	97	)	)	PUNCT
asir-56442	33	98	in	in	ADP
asir-56442	33	99	the	the	DET
asir-56442	33	100	input	input	NOUN
asir-56442	33	101	environment	environment	NOUN
asir-56442	33	102	image	image	NOUN
asir-56442	33	103	and	and	CCONJ
asir-56442	33	104	switch	switch	VERB
asir-56442	33	105	to	to	ADP
asir-56442	33	106	an	an	DET
asir-56442	33	107	adaptive	adaptive	ADJ
asir-56442	33	108	interaction	interaction	NOUN
asir-56442	33	109	mode	mode	NOUN
asir-56442	33	110	(	(	PUNCT
asir-56442	33	111	e.g.	e.g.	ADV
asir-56442	33	112	,	,	PUNCT
asir-56442	33	113	increasing	increase	VERB
asir-56442	33	114	tactile	tactile	ADJ
asir-56442	33	115	perception	perception	NOUN
asir-56442	33	116	intensity	intensity	NOUN
asir-56442	33	117	in	in	ADP
asir-56442	33	118	staircase	staircase	NOUN
asir-56442	33	119	scenarios	scenario	NOUN
asir-56442	33	120	)	)	PUNCT
asir-56442	33	121	.	.	PUNCT
asir-56442	34	1	interaction	interaction	NOUN
asir-56442	34	2	layer	layer	NOUN
asir-56442	34	3	data	datum	NOUN
asir-56442	34	4	:	:	PUNCT
asir-56442	34	5	voice	voice	NOUN
asir-56442	34	6	interaction	interaction	NOUN
asir-56442	34	7	converts	convert	VERB
asir-56442	34	8	data	datum	NOUN
asir-56442	34	9	decisions	decision	NOUN
asir-56442	34	10	into	into	ADP
asir-56442	34	11	voice	voice	NOUN
asir-56442	34	12	commands	command	NOUN
asir-56442	34	13	(	(	PUNCT
asir-56442	34	14	e.g.	e.g.	ADV
asir-56442	34	15	,	,	PUNCT
asir-56442	34	16	“	"	PUNCT
asir-56442	34	17	there	there	PRON
asir-56442	34	18	are	be	VERB
asir-56442	34	19	steps	step	NOUN
asir-56442	34	20	3	3	NUM
asir-56442	34	21	meters	meter	NOUN
asir-56442	34	22	ahead	ahead	ADV
asir-56442	34	23	;	;	PUNCT
asir-56442	34	24	lift	lift	VERB
asir-56442	34	25	your	your	PRON
asir-56442	34	26	foot	foot	NOUN
asir-56442	34	27	”	"	PUNCT
asir-56442	34	28	)	)	PUNCT
asir-56442	34	29	,	,	PUNCT
asir-56442	34	30	while	while	SCONJ
asir-56442	34	31	tactile	tactile	ADJ
asir-56442	34	32	interaction	interaction	NOUN
asir-56442	34	33	encodes	encode	VERB
asir-56442	34	34	directional	directional	ADJ
asir-56442	34	35	information	information	NOUN
asir-56442	34	36	as	as	ADP
asir-56442	34	37	vibrations	vibration	NOUN
asir-56442	34	38	on	on	ADP
asir-56442	34	39	an	an	DET
asir-56442	34	40	array	array	NOUN
asir-56442	34	41	for	for	ADP
asir-56442	34	42	output	output	NOUN
asir-56442	34	43	.	.	PUNCT
asir-56442	35	1	during	during	ADP
asir-56442	35	2	navigation	navigation	NOUN
asir-56442	35	3	on	on	ADP
asir-56442	35	4	complex	complex	ADJ
asir-56442	35	5	roads	road	NOUN
asir-56442	35	6	,	,	PUNCT
asir-56442	35	7	simplified	simplify	VERB
asir-56442	35	8	map	map	NOUN
asir-56442	35	9	symbols	symbol	NOUN
asir-56442	35	10	are	be	AUX
asir-56442	35	11	used	use	VERB
asir-56442	35	12	as	as	ADP
asir-56442	35	13	output	output	NOUN
asir-56442	35	14	,	,	PUNCT
asir-56442	35	15	and	and	CCONJ
asir-56442	35	16	the	the	DET
asir-56442	35	17	system	system	NOUN
asir-56442	35	18	's	's	PART
asir-56442	35	19	energy	energy	NOUN
asir-56442	35	20	management	management	NOUN
asir-56442	35	21	is	be	AUX
asir-56442	35	22	embedded	embed	VERB
asir-56442	35	23	to	to	PART
asir-56442	35	24	control	control	VERB
asir-56442	35	25	sensor	sensor	NOUN
asir-56442	35	26	usage	usage	NOUN
asir-56442	35	27	based	base	VERB
asir-56442	35	28	on	on	ADP
asir-56442	35	29	battery	battery	NOUN
asir-56442	35	30	levels	level	NOUN
asir-56442	35	31	.	.	PUNCT
asir-56442	36	1	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-56442	36	2	applied	apply	VERB
asir-56442	36	3	science	science	NOUN
asir-56442	36	4	and	and	CCONJ
asir-56442	36	5	innovative	innovative	ADJ
asir-56442	36	6	research	research	NOUN
asir-56442	36	7	vol	vol	NOUN
asir-56442	36	8	.	.	PUNCT
asir-56442	37	1	9	9	NUM
asir-56442	37	2	,	,	PUNCT
asir-56442	37	3	no	no	INTJ
asir-56442	37	4	.	.	NOUN
asir-56442	37	5	3	3	NUM
asir-56442	37	6	,	,	PUNCT
asir-56442	37	7	2025	2025	NUM
asir-56442	37	8	43	43	NUM
asir-56442	37	9	published	publish	VERB
asir-56442	37	10	by	by	ADP
asir-56442	37	11	scholink	scholink	PROPN
asir-56442	37	12	inc	inc	PROPN
asir-56442	37	13	.	.	PROPN
asir-56442	38	1	3	3	X
asir-56442	38	2	.	.	X
asir-56442	38	3	integration	integration	NOUN
asir-56442	38	4	of	of	ADP
asir-56442	38	5	haptic	haptic	ADJ
asir-56442	38	6	and	and	CCONJ
asir-56442	38	7	voice	voice	NOUN
asir-56442	38	8	interaction	interaction	NOUN
asir-56442	38	9	3.1	3.1	NUM
asir-56442	38	10	navigation	navigation	NOUN
asir-56442	38	11	applications	application	NOUN
asir-56442	38	12	of	of	ADP
asir-56442	38	13	haptic	haptic	ADJ
asir-56442	38	14	feedback	feedback	NOUN
asir-56442	38	15	haptic	haptic	ADJ
asir-56442	38	16	feedback	feedback	NOUN
asir-56442	38	17	is	be	AUX
asir-56442	38	18	the	the	DET
asir-56442	38	19	core	core	NOUN
asir-56442	38	20	method	method	NOUN
asir-56442	38	21	for	for	ADP
asir-56442	38	22	achieving	achieve	VERB
asir-56442	38	23	rapid	rapid	ADJ
asir-56442	38	24	spatial	spatial	ADJ
asir-56442	38	25	positioning	positioning	NOUN
asir-56442	38	26	and	and	CCONJ
asir-56442	38	27	alarm	alarm	NOUN
asir-56442	38	28	transmission	transmission	NOUN
asir-56442	38	29	in	in	ADP
asir-56442	38	30	white	white	ADJ
asir-56442	38	31	cane	cane	NOUN
asir-56442	38	32	navigation	navigation	NOUN
asir-56442	38	33	for	for	ADP
asir-56442	38	34	the	the	DET
asir-56442	38	35	blind	blind	ADJ
asir-56442	38	36	.	.	PUNCT
asir-56442	39	1	wrist	wrist	NOUN
asir-56442	39	2	-	-	PUNCT
asir-56442	39	3	mounted	mount	VERB
asir-56442	39	4	white	white	ADJ
asir-56442	39	5	canes	cane	NOUN
asir-56442	39	6	use	use	VERB
asir-56442	39	7	vibrators	vibrator	NOUN
asir-56442	39	8	to	to	PART
asir-56442	39	9	encode	encode	VERB
asir-56442	39	10	direction	direction	NOUN
asir-56442	39	11	,	,	PUNCT
asir-56442	39	12	such	such	ADJ
asir-56442	39	13	as	as	ADP
asir-56442	39	14	horizontal	horizontal	ADJ
asir-56442	39	15	vibrations	vibration	NOUN
asir-56442	39	16	indicating	indicate	VERB
asir-56442	39	17	forward	forward	ADJ
asir-56442	39	18	movement	movement	NOUN
asir-56442	39	19	and	and	CCONJ
asir-56442	39	20	left	left	ADJ
asir-56442	39	21	/	/	SYM
asir-56442	39	22	right	right	ADJ
asir-56442	39	23	vibrations	vibration	NOUN
asir-56442	39	24	indicating	indicate	VERB
asir-56442	39	25	turns	turn	VERB
asir-56442	39	26	;	;	PUNCT
asir-56442	39	27	vibration	vibration	NOUN
asir-56442	39	28	intervals	interval	NOUN
asir-56442	39	29	can	can	AUX
asir-56442	39	30	be	be	AUX
asir-56442	39	31	adjusted	adjust	VERB
asir-56442	39	32	based	base	VERB
asir-56442	39	33	on	on	ADP
asir-56442	39	34	distance	distance	NOUN
asir-56442	39	35	changes	change	NOUN
asir-56442	39	36	to	to	PART
asir-56442	39	37	indicate	indicate	VERB
asir-56442	39	38	the	the	DET
asir-56442	39	39	distance	distance	NOUN
asir-56442	39	40	traveled	travel	VERB
asir-56442	39	41	.	.	PUNCT
asir-56442	40	1	foot	foot	NOUN
asir-56442	40	2	pressure	pressure	NOUN
asir-56442	40	3	sensors	sensor	NOUN
asir-56442	40	4	can	can	AUX
asir-56442	40	5	detect	detect	VERB
asir-56442	40	6	ground	ground	NOUN
asir-56442	40	7	conditions	condition	NOUN
asir-56442	40	8	,	,	PUNCT
asir-56442	40	9	with	with	ADP
asir-56442	40	10	heel	heel	NOUN
asir-56442	40	11	vibrations	vibration	NOUN
asir-56442	40	12	indicating	indicate	VERB
asir-56442	40	13	protrusions	protrusion	NOUN
asir-56442	40	14	and	and	CCONJ
asir-56442	40	15	forefoot	forefoot	VERB
asir-56442	40	16	vibrations	vibration	NOUN
asir-56442	40	17	indicating	indicate	VERB
asir-56442	40	18	depressions	depression	NOUN
asir-56442	40	19	,	,	PUNCT
asir-56442	40	20	with	with	ADP
asir-56442	40	21	vibration	vibration	NOUN
asir-56442	40	22	duration	duration	NOUN
asir-56442	40	23	correlated	correlate	VERB
asir-56442	40	24	to	to	ADP
asir-56442	40	25	height	height	NOUN
asir-56442	40	26	(	(	PUNCT
asir-56442	40	27	guo	guo	PROPN
asir-56442	40	28	zhanmiao	zhanmiao	PROPN
asir-56442	40	29	&	&	CCONJ
asir-56442	40	30	wang	wang	PROPN
asir-56442	40	31	bo	bo	PROPN
asir-56442	40	32	,	,	PUNCT
asir-56442	40	33	2023	2023	NUM
asir-56442	40	34	)	)	PUNCT
asir-56442	40	35	.	.	PUNCT
asir-56442	41	1	in	in	ADP
asir-56442	41	2	complex	complex	ADJ
asir-56442	41	3	intersections	intersection	NOUN
asir-56442	41	4	or	or	CCONJ
asir-56442	41	5	information	information	NOUN
asir-56442	41	6	-	-	PUNCT
asir-56442	41	7	rich	rich	ADJ
asir-56442	41	8	environments	environment	NOUN
asir-56442	41	9	,	,	PUNCT
asir-56442	41	10	a	a	DET
asir-56442	41	11	waist	waist	NOUN
asir-56442	41	12	-	-	PUNCT
asir-56442	41	13	mounted	mount	VERB
asir-56442	41	14	haptic	haptic	ADJ
asir-56442	41	15	array	array	NOUN
asir-56442	41	16	can	can	AUX
asir-56442	41	17	encode	encode	VERB
asir-56442	41	18	commands	command	NOUN
asir-56442	41	19	such	such	ADJ
asir-56442	41	20	as	as	ADP
asir-56442	41	21	“	"	PUNCT
asir-56442	41	22	straight	straight	ADV
asir-56442	41	23	ahead	ahead	ADV
asir-56442	41	24	+	+	CCONJ
asir-56442	41	25	vehicle	vehicle	NOUN
asir-56442	41	26	approaching	approach	VERB
asir-56442	41	27	from	from	ADP
asir-56442	41	28	the	the	DET
asir-56442	41	29	right	right	NOUN
asir-56442	41	30	,	,	PUNCT
asir-56442	41	31	”	"	PUNCT
asir-56442	41	32	achieving	achieve	VERB
asir-56442	41	33	92	92	NUM
asir-56442	41	34	%	%	NOUN
asir-56442	41	35	accuracy	accuracy	NOUN
asir-56442	41	36	,	,	PUNCT
asir-56442	41	37	with	with	ADP
asir-56442	41	38	haptic	haptic	ADJ
asir-56442	41	39	feedback	feedback	NOUN
asir-56442	41	40	response	response	NOUN
asir-56442	41	41	speeds	speed	NOUN
asir-56442	41	42	significantly	significantly	ADV
asir-56442	41	43	faster	fast	ADV
asir-56442	41	44	than	than	ADP
asir-56442	41	45	voice	voice	NOUN
asir-56442	41	46	guidance	guidance	NOUN
asir-56442	41	47	.	.	PUNCT
asir-56442	42	1	3.2	3.2	NUM
asir-56442	42	2	voice	voice	NOUN
asir-56442	42	3	interaction	interaction	NOUN
asir-56442	42	4	for	for	ADP
asir-56442	42	5	navigation	navigation	NOUN
asir-56442	42	6	and	and	CCONJ
asir-56442	42	7	information	information	NOUN
asir-56442	42	8	retrieval	retrieval	NOUN
asir-56442	42	9	voice	voice	NOUN
asir-56442	42	10	interaction	interaction	NOUN
asir-56442	42	11	provides	provide	VERB
asir-56442	42	12	granular	granular	ADJ
asir-56442	42	13	information	information	NOUN
asir-56442	42	14	delivery	delivery	NOUN
asir-56442	42	15	and	and	CCONJ
asir-56442	42	16	operational	operational	ADJ
asir-56442	42	17	commands	command	NOUN
asir-56442	42	18	,	,	PUNCT
asir-56442	42	19	enabling	enable	VERB
asir-56442	42	20	contactless	contactless	NOUN
asir-56442	42	21	navigation	navigation	NOUN
asir-56442	42	22	.	.	PUNCT
asir-56442	43	1	the	the	DET
asir-56442	43	2	system	system	NOUN
asir-56442	43	3	design	design	NOUN
asir-56442	43	4	incorporates	incorporate	VERB
asir-56442	43	5	multi	multi	ADJ
asir-56442	43	6	-	-	ADJ
asir-56442	43	7	layered	layered	ADJ
asir-56442	43	8	semantic	semantic	ADJ
asir-56442	43	9	dialogue	dialogue	NOUN
asir-56442	43	10	:	:	PUNCT
asir-56442	43	11	the	the	DET
asir-56442	43	12	conventional	conventional	ADJ
asir-56442	43	13	navigation	navigation	NOUN
asir-56442	43	14	semantic	semantic	ADJ
asir-56442	43	15	layer	layer	NOUN
asir-56442	43	16	provides	provide	VERB
asir-56442	43	17	current	current	ADJ
asir-56442	43	18	location	location	NOUN
asir-56442	43	19	and	and	CCONJ
asir-56442	43	20	direction	direction	NOUN
asir-56442	43	21	information	information	NOUN
asir-56442	43	22	via	via	ADP
asir-56442	43	23	short	short	ADJ
asir-56442	43	24	voice	voice	NOUN
asir-56442	43	25	prompts	prompt	NOUN
asir-56442	43	26	;	;	PUNCT
asir-56442	43	27	the	the	DET
asir-56442	43	28	information	information	NOUN
asir-56442	43	29	question	question	NOUN
asir-56442	43	30	-	-	PUNCT
asir-56442	43	31	answering	answer	VERB
asir-56442	43	32	layer	layer	NOUN
asir-56442	43	33	uses	use	VERB
asir-56442	43	34	natural	natural	ADJ
asir-56442	43	35	language	language	NOUN
asir-56442	43	36	understanding	understanding	NOUN
asir-56442	43	37	and	and	CCONJ
asir-56442	43	38	entity	entity	NOUN
asir-56442	43	39	linking	link	VERB
asir-56442	43	40	technology	technology	NOUN
asir-56442	43	41	to	to	PART
asir-56442	43	42	extract	extract	VERB
asir-56442	43	43	structured	structured	ADJ
asir-56442	43	44	answers	answer	NOUN
asir-56442	43	45	from	from	ADP
asir-56442	43	46	the	the	DET
asir-56442	43	47	poi	poi	PROPN
asir-56442	43	48	database	database	NOUN
asir-56442	43	49	,	,	PUNCT
asir-56442	43	50	such	such	ADJ
asir-56442	43	51	as	as	ADP
asir-56442	43	52	“	"	PUNCT
asir-56442	43	53	when	when	SCONJ
asir-56442	43	54	does	do	AUX
asir-56442	43	55	the	the	DET
asir-56442	43	56	nearest	near	ADJ
asir-56442	43	57	bank	bank	NOUN
asir-56442	43	58	open	open	ADJ
asir-56442	43	59	?	?	PUNCT
asir-56442	43	60	”	"	PUNCT
asir-56442	43	61	;	;	PUNCT
asir-56442	43	62	the	the	DET
asir-56442	43	63	command	command	NOUN
asir-56442	43	64	control	control	NOUN
asir-56442	43	65	layer	layer	NOUN
asir-56442	43	66	supports	support	VERB
asir-56442	43	67	context	context	NOUN
asir-56442	43	68	-	-	PUNCT
asir-56442	43	69	related	relate	VERB
asir-56442	43	70	operations	operation	NOUN
asir-56442	43	71	,	,	PUNCT
asir-56442	43	72	such	such	ADJ
asir-56442	43	73	as	as	ADP
asir-56442	43	74	“	"	PUNCT
asir-56442	43	75	cancel	cancel	VERB
asir-56442	43	76	the	the	DET
asir-56442	43	77	previous	previous	ADJ
asir-56442	43	78	route	route	NOUN
asir-56442	43	79	,	,	PUNCT
asir-56442	43	80	”	"	PUNCT
asir-56442	43	81	combined	combine	VERB
asir-56442	43	82	with	with	ADP
asir-56442	43	83	dialogue	dialogue	NOUN
asir-56442	43	84	state	state	NOUN
asir-56442	43	85	tracking	tracking	NOUN
asir-56442	43	86	to	to	PART
asir-56442	43	87	ensure	ensure	VERB
asir-56442	43	88	continuity	continuity	NOUN
asir-56442	43	89	.	.	PUNCT
asir-56442	44	1	the	the	DET
asir-56442	44	2	overall	overall	ADJ
asir-56442	44	3	voice	voice	NOUN
asir-56442	44	4	recognition	recognition	NOUN
asir-56442	44	5	and	and	CCONJ
asir-56442	44	6	understanding	understanding	NOUN
asir-56442	44	7	accuracy	accuracy	NOUN
asir-56442	44	8	is	be	AUX
asir-56442	44	9	high	high	ADJ
asir-56442	44	10	,	,	PUNCT
asir-56442	44	11	with	with	ADP
asir-56442	44	12	command	command	NOUN
asir-56442	44	13	control	control	NOUN
asir-56442	44	14	recognition	recognition	NOUN
asir-56442	44	15	reaching	reach	VERB
asir-56442	44	16	over	over	ADP
asir-56442	44	17	88	88	NUM
asir-56442	44	18	%	%	NOUN
asir-56442	44	19	,	,	PUNCT
asir-56442	44	20	providing	provide	VERB
asir-56442	44	21	users	user	NOUN
asir-56442	44	22	with	with	ADP
asir-56442	44	23	an	an	DET
asir-56442	44	24	efficient	efficient	ADJ
asir-56442	44	25	and	and	CCONJ
asir-56442	44	26	convenient	convenient	ADJ
asir-56442	44	27	navigation	navigation	NOUN
asir-56442	44	28	experience	experience	NOUN
asir-56442	44	29	.	.	PUNCT
asir-56442	45	1	3.3	3.3	NUM
asir-56442	45	2	fusion	fusion	NOUN
asir-56442	45	3	algorithm	algorithm	NOUN
asir-56442	45	4	for	for	ADP
asir-56442	45	5	multimodal	multimodal	NOUN
asir-56442	45	6	interaction	interaction	NOUN
asir-56442	45	7	in	in	ADP
asir-56442	45	8	the	the	DET
asir-56442	45	9	multimodal	multimodal	ADJ
asir-56442	45	10	fusion	fusion	NOUN
asir-56442	45	11	algorithm	algorithm	NOUN
asir-56442	45	12	,	,	PUNCT
asir-56442	45	13	the	the	DET
asir-56442	45	14	information	information	NOUN
asir-56442	45	15	synchronization	synchronization	NOUN
asir-56442	45	16	and	and	CCONJ
asir-56442	45	17	time	time	NOUN
asir-56442	45	18	-	-	PUNCT
asir-56442	45	19	domain	domain	NOUN
asir-56442	45	20	equalization	equalization	NOUN
asir-56442	45	21	of	of	ADP
asir-56442	45	22	tactile	tactile	ADJ
asir-56442	45	23	perception	perception	NOUN
asir-56442	45	24	data	datum	NOUN
asir-56442	45	25	and	and	CCONJ
asir-56442	45	26	voice	voice	NOUN
asir-56442	45	27	commands	command	NOUN
asir-56442	45	28	,	,	PUNCT
asir-56442	45	29	as	as	ADV
asir-56442	45	30	well	well	ADV
asir-56442	45	31	as	as	ADP
asir-56442	45	32	the	the	DET
asir-56442	45	33	adaptive	adaptive	ADJ
asir-56442	45	34	control	control	NOUN
asir-56442	45	35	of	of	ADP
asir-56442	45	36	proportional	proportional	ADJ
asir-56442	45	37	factors	factor	NOUN
asir-56442	45	38	,	,	PUNCT
asir-56442	45	39	are	be	AUX
asir-56442	45	40	implemented	implement	VERB
asir-56442	45	41	.	.	PUNCT
asir-56442	46	1	in	in	ADP
asir-56442	46	2	the	the	DET
asir-56442	46	3	information	information	NOUN
asir-56442	46	4	synchronization	synchronization	NOUN
asir-56442	46	5	component	component	NOUN
asir-56442	46	6	,	,	PUNCT
asir-56442	46	7	an	an	DET
asir-56442	46	8	event	event	NOUN
asir-56442	46	9	-	-	PUNCT
asir-56442	46	10	based	base	VERB
asir-56442	46	11	triggering	triggering	NOUN
asir-56442	46	12	mechanism	mechanism	NOUN
asir-56442	46	13	is	be	AUX
asir-56442	46	14	employed	employ	VERB
asir-56442	46	15	to	to	PART
asir-56442	46	16	synchronize	synchronize	VERB
asir-56442	46	17	tactile	tactile	ADJ
asir-56442	46	18	vibration	vibration	NOUN
asir-56442	46	19	and	and	CCONJ
asir-56442	46	20	speech	speech	NOUN
asir-56442	46	21	recognition	recognition	NOUN
asir-56442	46	22	output	output	NOUN
asir-56442	46	23	.	.	PUNCT
asir-56442	47	1	the	the	DET
asir-56442	47	2	principle	principle	NOUN
asir-56442	47	3	is	be	AUX
asir-56442	47	4	that	that	SCONJ
asir-56442	47	5	when	when	SCONJ
asir-56442	47	6	the	the	DET
asir-56442	47	7	robot	robot	NOUN
asir-56442	47	8	collides	collide	VERB
asir-56442	47	9	with	with	ADP
asir-56442	47	10	an	an	DET
asir-56442	47	11	object	object	NOUN
asir-56442	47	12	,	,	PUNCT
asir-56442	47	13	it	it	PRON
asir-56442	47	14	triggers	trigger	VERB
asir-56442	47	15	both	both	PRON
asir-56442	47	16	tactile	tactile	ADJ
asir-56442	47	17	vibration	vibration	NOUN
asir-56442	47	18	and	and	CCONJ
asir-56442	47	19	speech	speech	NOUN
asir-56442	47	20	recognition	recognition	NOUN
asir-56442	47	21	output	output	NOUN
asir-56442	47	22	,	,	PUNCT
asir-56442	47	23	ensuring	ensure	VERB
asir-56442	47	24	the	the	DET
asir-56442	47	25	synchronous	synchronous	ADJ
asir-56442	47	26	reception	reception	NOUN
asir-56442	47	27	of	of	ADP
asir-56442	47	28	information	information	NOUN
asir-56442	47	29	.	.	PUNCT
asir-56442	48	1	proportional	proportional	ADJ
asir-56442	48	2	factor	factor	NOUN
asir-56442	48	3	adaptive	adaptive	ADJ
asir-56442	48	4	control	control	NOUN
asir-56442	48	5	involves	involve	VERB
asir-56442	48	6	dividing	divide	VERB
asir-56442	48	7	the	the	DET
asir-56442	48	8	working	work	VERB
asir-56442	48	9	environment	environment	NOUN
asir-56442	48	10	into	into	ADP
asir-56442	48	11	different	different	ADJ
asir-56442	48	12	complexity	complexity	NOUN
asir-56442	48	13	levels	level	NOUN
asir-56442	48	14	based	base	VERB
asir-56442	48	15	on	on	ADP
asir-56442	48	16	uncertainty	uncertainty	NOUN
asir-56442	48	17	for	for	ADP
asir-56442	48	18	scene	scene	NOUN
asir-56442	48	19	planning	planning	NOUN
asir-56442	48	20	.	.	PUNCT
asir-56442	49	1	the	the	DET
asir-56442	49	2	proportional	proportional	ADJ
asir-56442	49	3	factor	factor	NOUN
asir-56442	49	4	w	w	NOUN
asir-56442	49	5	is	be	AUX
asir-56442	49	6	defined	define	VERB
asir-56442	49	7	as	as	ADP
asir-56442	49	8	:	:	PUNCT
asir-56442	49	9	w	w	X
asir-56442	49	10	=	=	NOUN
asir-56442	49	11	α·senv+(1−α)·ctask	α·senv+(1−α)·ctask	NOUN
asir-56442	49	12	among	among	ADP
asir-56442	49	13	these	these	PRON
asir-56442	49	14	,	,	PUNCT
asir-56442	49	15	senv	senv	NOUN
asir-56442	49	16	represents	represent	VERB
asir-56442	49	17	environmental	environmental	ADJ
asir-56442	49	18	complexity	complexity	NOUN
asir-56442	49	19	,	,	PUNCT
asir-56442	49	20	ctask	ctask	NOUN
asir-56442	49	21	represents	represent	VERB
asir-56442	49	22	task	task	NOUN
asir-56442	49	23	complexity	complexity	NOUN
asir-56442	49	24	,	,	PUNCT
asir-56442	49	25	and	and	CCONJ
asir-56442	49	26	α	α	NOUN
asir-56442	49	27	represents	represent	VERB
asir-56442	49	28	the	the	DET
asir-56442	49	29	scene	scene	NOUN
asir-56442	49	30	weighting	weight	VERB
asir-56442	49	31	coefficient	coefficient	NOUN
asir-56442	49	32	.	.	PUNCT
asir-56442	50	1	when	when	SCONJ
asir-56442	50	2	w	w	ADP
asir-56442	50	3	>	>	X
asir-56442	50	4	0.6	0.6	NUM
asir-56442	50	5	,	,	PUNCT
asir-56442	50	6	the	the	DET
asir-56442	50	7	weight	weight	NOUN
asir-56442	50	8	of	of	ADP
asir-56442	50	9	auditory	auditory	ADJ
asir-56442	50	10	feedback	feedback	NOUN
asir-56442	50	11	is	be	AUX
asir-56442	50	12	increased	increase	VERB
asir-56442	50	13	to	to	ADP
asir-56442	50	14	60	60	NUM
asir-56442	50	15	%	%	NOUN
asir-56442	50	16	,	,	PUNCT
asir-56442	50	17	while	while	SCONJ
asir-56442	50	18	tactile	tactile	ADJ
asir-56442	50	19	feedback	feedback	NOUN
asir-56442	50	20	retains	retain	VERB
asir-56442	50	21	core	core	ADJ
asir-56442	50	22	directional	directional	ADJ
asir-56442	50	23	information	information	NOUN
asir-56442	50	24	(	(	PUNCT
asir-56442	50	25	zhang	zhang	PROPN
asir-56442	50	26	fangfang	fangfang	PROPN
asir-56442	50	27	,	,	PUNCT
asir-56442	50	28	li	li	PROPN
asir-56442	50	29	xiaoxuan	xiaoxuan	PROPN
asir-56442	50	30	,	,	PUNCT
asir-56442	50	31	&	&	CCONJ
asir-56442	50	32	yang	yang	PROPN
asir-56442	50	33	shuqiang	shuqiang	PROPN
asir-56442	50	34	,	,	PUNCT
asir-56442	50	35	et	et	PROPN
asir-56442	50	36	al	al	PROPN
asir-56442	50	37	.	.	PROPN
asir-56442	50	38	,	,	PUNCT
asir-56442	50	39	2024	2024	NUM
asir-56442	50	40	)	)	PUNCT
asir-56442	50	41	;	;	PUNCT
asir-56442	50	42	when	when	SCONJ
asir-56442	50	43	w	w	ADP
asir-56442	50	44	<	<	X
asir-56442	50	45	0.3	0.3	NUM
asir-56442	50	46	,	,	PUNCT
asir-56442	50	47	the	the	DET
asir-56442	50	48	weight	weight	NOUN
asir-56442	50	49	of	of	ADP
asir-56442	50	50	tactile	tactile	ADJ
asir-56442	50	51	feedback	feedback	NOUN
asir-56442	50	52	is	be	AUX
asir-56442	50	53	increased	increase	VERB
asir-56442	50	54	to	to	ADP
asir-56442	50	55	70	70	NUM
asir-56442	50	56	%	%	NOUN
asir-56442	50	57	,	,	PUNCT
asir-56442	50	58	and	and	CCONJ
asir-56442	50	59	auditory	auditory	ADJ
asir-56442	50	60	feedback	feedback	NOUN
asir-56442	50	61	is	be	AUX
asir-56442	50	62	simplified	simplify	VERB
asir-56442	50	63	to	to	ADP
asir-56442	50	64	single	single	ADJ
asir-56442	50	65	-	-	PUNCT
asir-56442	50	66	syllable	syllable	NOUN
asir-56442	50	67	prompts	prompt	NOUN
asir-56442	50	68	(	(	PUNCT
asir-56442	50	69	e.g.	e.g.	ADV
asir-56442	50	70	,	,	PUNCT
asir-56442	50	71	“	"	PUNCT
asir-56442	50	72	left	leave	VERB
asir-56442	50	73	,	,	PUNCT
asir-56442	50	74	”	"	PUNCT
asir-56442	50	75	“	"	PUNCT
asir-56442	50	76	right	right	ADJ
asir-56442	50	77	”	"	PUNCT
asir-56442	50	78	)	)	PUNCT
asir-56442	50	79	.	.	PUNCT
asir-56442	51	1	this	this	DET
asir-56442	51	2	algorithm	algorithm	NOUN
asir-56442	51	3	improves	improve	VERB
asir-56442	51	4	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-56442	51	5	applied	apply	VERB
asir-56442	51	6	science	science	NOUN
asir-56442	51	7	and	and	CCONJ
asir-56442	51	8	innovative	innovative	ADJ
asir-56442	51	9	research	research	NOUN
asir-56442	51	10	vol	vol	NOUN
asir-56442	51	11	.	.	PUNCT
asir-56442	52	1	9	9	NUM
asir-56442	52	2	,	,	PUNCT
asir-56442	52	3	no	no	INTJ
asir-56442	52	4	.	.	NOUN
asir-56442	52	5	3	3	NUM
asir-56442	52	6	,	,	PUNCT
asir-56442	52	7	2025	2025	NUM
asir-56442	52	8	44	44	NUM
asir-56442	52	9	published	publish	VERB
asir-56442	52	10	by	by	ADP
asir-56442	52	11	scholink	scholink	PROPN
asir-56442	52	12	inc	inc	PROPN
asir-56442	52	13	.	.	PUNCT
asir-56442	53	1	the	the	DET
asir-56442	53	2	information	information	NOUN
asir-56442	53	3	transmission	transmission	NOUN
asir-56442	53	4	efficiency	efficiency	NOUN
asir-56442	53	5	of	of	ADP
asir-56442	53	6	multimodal	multimodal	NOUN
asir-56442	53	7	interaction	interaction	NOUN
asir-56442	53	8	by	by	ADP
asir-56442	53	9	40	40	NUM
asir-56442	53	10	%	%	NOUN
asir-56442	53	11	compared	compare	VERB
asir-56442	53	12	to	to	ADP
asir-56442	53	13	single	single	ADJ
asir-56442	53	14	-	-	PUNCT
asir-56442	53	15	modal	modal	NOUN
asir-56442	53	16	interaction	interaction	NOUN
asir-56442	53	17	.	.	PUNCT
asir-56442	54	1	3.4	3.4	NUM
asir-56442	54	2	human	human	ADJ
asir-56442	54	3	-	-	PUNCT
asir-56442	54	4	computer	computer	NOUN
asir-56442	54	5	interaction	interaction	NOUN
asir-56442	54	6	experience	experience	NOUN
asir-56442	54	7	optimization	optimization	NOUN
asir-56442	54	8	strategy	strategy	NOUN
asir-56442	54	9	experience	experience	NOUN
asir-56442	54	10	optimization	optimization	NOUN
asir-56442	54	11	focuses	focus	VERB
asir-56442	54	12	on	on	ADP
asir-56442	54	13	personalized	personalized	ADJ
asir-56442	54	14	adaptation	adaptation	NOUN
asir-56442	54	15	and	and	CCONJ
asir-56442	54	16	cognitive	cognitive	ADJ
asir-56442	54	17	load	load	NOUN
asir-56442	54	18	control	control	NOUN
asir-56442	54	19	.	.	PUNCT
asir-56442	55	1	tactile	tactile	ADJ
asir-56442	55	2	preference	preference	NOUN
asir-56442	55	3	parameters	parameter	NOUN
asir-56442	55	4	are	be	AUX
asir-56442	55	5	generated	generate	VERB
asir-56442	55	6	through	through	ADP
asir-56442	55	7	user	user	NOUN
asir-56442	55	8	behavior	behavior	NOUN
asir-56442	55	9	modeling	modeling	NOUN
asir-56442	55	10	:	:	PUNCT
asir-56442	55	11	a	a	DET
asir-56442	55	12	random	random	ADJ
asir-56442	55	13	forest	forest	NOUN
asir-56442	55	14	model	model	NOUN
asir-56442	55	15	trained	train	VERB
asir-56442	55	16	on	on	ADP
asir-56442	55	17	500	500	NUM
asir-56442	55	18	interaction	interaction	NOUN
asir-56442	55	19	data	datum	NOUN
asir-56442	55	20	points	point	NOUN
asir-56442	55	21	can	can	AUX
asir-56442	55	22	predict	predict	VERB
asir-56442	55	23	user	user	NOUN
asir-56442	55	24	preferences	preference	NOUN
asir-56442	55	25	for	for	ADP
asir-56442	55	26	vibration	vibration	NOUN
asir-56442	55	27	frequency	frequency	NOUN
asir-56442	55	28	and	and	CCONJ
asir-56442	55	29	intensity	intensity	NOUN
asir-56442	55	30	,	,	PUNCT
asir-56442	55	31	with	with	ADP
asir-56442	55	32	an	an	DET
asir-56442	55	33	adaptation	adaptation	NOUN
asir-56442	55	34	accuracy	accuracy	NOUN
asir-56442	55	35	rate	rate	NOUN
asir-56442	55	36	of	of	ADP
asir-56442	55	37	85	85	NUM
asir-56442	55	38	%	%	NOUN
asir-56442	55	39	.	.	PUNCT
asir-56442	56	1	voice	voice	NOUN
asir-56442	56	2	interaction	interaction	NOUN
asir-56442	56	3	employs	employ	VERB
asir-56442	56	4	adaptive	adaptive	ADJ
asir-56442	56	5	speech	speech	NOUN
asir-56442	56	6	rate	rate	NOUN
asir-56442	56	7	adjustment	adjustment	NOUN
asir-56442	56	8	:	:	PUNCT
asir-56442	56	9	if	if	SCONJ
asir-56442	56	10	the	the	DET
asir-56442	56	11	user	user	NOUN
asir-56442	56	12	response	response	NOUN
asir-56442	56	13	time	time	NOUN
asir-56442	56	14	exceeds	exceed	VERB
asir-56442	56	15	2	2	NUM
asir-56442	56	16	seconds	second	NOUN
asir-56442	56	17	(	(	PUNCT
asir-56442	56	18	e.g.	e.g.	ADV
asir-56442	56	19	,	,	PUNCT
asir-56442	56	20	command	command	VERB
asir-56442	56	21	confirmation	confirmation	NOUN
asir-56442	56	22	delay	delay	NOUN
asir-56442	56	23	)	)	PUNCT
asir-56442	56	24	,	,	PUNCT
asir-56442	56	25	the	the	DET
asir-56442	56	26	speech	speech	NOUN
asir-56442	56	27	rate	rate	NOUN
asir-56442	56	28	is	be	AUX
asir-56442	56	29	automatically	automatically	ADV
asir-56442	56	30	reduced	reduce	VERB
asir-56442	56	31	by	by	ADP
asir-56442	56	32	15	15	NUM
asir-56442	56	33	%	%	NOUN
asir-56442	56	34	,	,	PUNCT
asir-56442	56	35	and	and	CCONJ
asir-56442	56	36	key	key	ADJ
asir-56442	56	37	words	word	NOUN
asir-56442	56	38	are	be	AUX
asir-56442	56	39	emphasized	emphasize	VERB
asir-56442	56	40	(	(	PUNCT
asir-56442	56	41	e.g.	e.g.	ADV
asir-56442	56	42	,	,	PUNCT
asir-56442	56	43	“	"	PUNCT
asir-56442	56	44	turn	turn	VERB
asir-56442	56	45	left	leave	VERB
asir-56442	56	46	in	in	ADP
asir-56442	56	47	5	5	NUM
asir-56442	56	48	meters	meter	NOUN
asir-56442	56	49	”	"	PUNCT
asir-56442	56	50	)	)	PUNCT
asir-56442	56	51	.	.	PUNCT
asir-56442	57	1	to	to	PART
asir-56442	57	2	prevent	prevent	VERB
asir-56442	57	3	information	information	NOUN
asir-56442	57	4	overload	overload	NOUN
asir-56442	57	5	,	,	PUNCT
asir-56442	57	6	the	the	DET
asir-56442	57	7	system	system	NOUN
asir-56442	57	8	sets	set	VERB
asir-56442	57	9	an	an	DET
asir-56442	57	10	“	"	PUNCT
asir-56442	57	11	attention	attention	NOUN
asir-56442	57	12	threshold	threshold	NOUN
asir-56442	57	13	”	"	PUNCT
asir-56442	57	14	:	:	PUNCT
asir-56442	57	15	when	when	SCONJ
asir-56442	57	16	three	three	NUM
asir-56442	57	17	or	or	CCONJ
asir-56442	57	18	more	more	ADJ
asir-56442	57	19	obstacle	obstacle	NOUN
asir-56442	57	20	alerts	alert	NOUN
asir-56442	57	21	are	be	AUX
asir-56442	57	22	triggered	trigger	VERB
asir-56442	57	23	within	within	ADP
asir-56442	57	24	10	10	NUM
asir-56442	57	25	seconds	second	NOUN
asir-56442	57	26	,	,	PUNCT
asir-56442	57	27	the	the	DET
asir-56442	57	28	system	system	NOUN
asir-56442	57	29	automatically	automatically	ADV
asir-56442	57	30	filters	filter	VERB
asir-56442	57	31	out	out	ADP
asir-56442	57	32	secondary	secondary	ADJ
asir-56442	57	33	information	information	NOUN
asir-56442	57	34	,	,	PUNCT
asir-56442	57	35	retaining	retain	VERB
asir-56442	57	36	only	only	ADJ
asir-56442	57	37	emergency	emergency	NOUN
asir-56442	57	38	warnings	warning	NOUN
asir-56442	57	39	,	,	PUNCT
asir-56442	57	40	to	to	PART
asir-56442	57	41	keep	keep	VERB
asir-56442	57	42	information	information	NOUN
asir-56442	57	43	density	density	NOUN
asir-56442	57	44	within	within	ADP
asir-56442	57	45	70	70	NUM
asir-56442	57	46	%	%	NOUN
asir-56442	57	47	of	of	ADP
asir-56442	57	48	the	the	DET
asir-56442	57	49	user	user	NOUN
asir-56442	57	50	's	's	PART
asir-56442	57	51	cognitive	cognitive	ADJ
asir-56442	57	52	capacity	capacity	NOUN
asir-56442	57	53	,	,	PUNCT
asir-56442	57	54	thereby	thereby	ADV
asir-56442	57	55	reducing	reduce	VERB
asir-56442	57	56	interaction	interaction	NOUN
asir-56442	57	57	fatigue	fatigue	NOUN
asir-56442	57	58	.	.	PUNCT
asir-56442	58	1	4	4	X
asir-56442	58	2	.	.	NOUN
asir-56442	58	3	practical	practical	ADJ
asir-56442	58	4	applications	application	NOUN
asir-56442	58	5	of	of	ADP
asir-56442	58	6	smart	smart	ADJ
asir-56442	58	7	devices	device	NOUN
asir-56442	58	8	in	in	ADP
asir-56442	58	9	navigation	navigation	NOUN
asir-56442	58	10	for	for	ADP
asir-56442	58	11	the	the	DET
asir-56442	58	12	blind	blind	ADJ
asir-56442	58	13	4.1	4.1	NUM
asir-56442	58	14	outdoor	outdoor	ADJ
asir-56442	58	15	navigation	navigation	NOUN
asir-56442	58	16	outdoor	outdoor	NOUN
asir-56442	58	17	navigation	navigation	NOUN
asir-56442	58	18	relies	rely	VERB
asir-56442	58	19	on	on	ADP
asir-56442	58	20	multi	multi	ADJ
asir-56442	58	21	-	-	ADJ
asir-56442	58	22	source	source	NOUN
asir-56442	58	23	positioning	positioning	NOUN
asir-56442	58	24	and	and	CCONJ
asir-56442	58	25	dynamic	dynamic	ADJ
asir-56442	58	26	path	path	NOUN
asir-56442	58	27	planning	planning	NOUN
asir-56442	58	28	,	,	PUNCT
asir-56442	58	29	primarily	primarily	ADV
asir-56442	58	30	addressing	address	VERB
asir-56442	58	31	complex	complex	ADJ
asir-56442	58	32	traffic	traffic	NOUN
asir-56442	58	33	scenarios	scenario	NOUN
asir-56442	58	34	and	and	CCONJ
asir-56442	58	35	unstable	unstable	ADJ
asir-56442	58	36	signal	signal	NOUN
asir-56442	58	37	conditions	condition	NOUN
asir-56442	58	38	.	.	PUNCT
asir-56442	59	1	the	the	DET
asir-56442	59	2	bone	bone	NOUN
asir-56442	59	3	-	-	PUNCT
asir-56442	59	4	conduction	conduction	NOUN
asir-56442	59	5	smart	smart	ADJ
asir-56442	59	6	cane	cane	NOUN
asir-56442	59	7	employs	employ	VERB
asir-56442	59	8	gps	gps	PROPN
asir-56442	59	9	/	/	SYM
asir-56442	59	10	beidou	beidou	NOUN
asir-56442	59	11	dual	dual	ADJ
asir-56442	59	12	-	-	PUNCT
asir-56442	59	13	mode	mode	NOUN
asir-56442	59	14	positioning	positioning	NOUN
asir-56442	59	15	and	and	CCONJ
asir-56442	59	16	utilizes	utilize	VERB
asir-56442	59	17	differential	differential	ADJ
asir-56442	59	18	positioning	positioning	NOUN
asir-56442	59	19	(	(	PUNCT
asir-56442	59	20	rtk	rtk	NOUN
asir-56442	59	21	)	)	PUNCT
asir-56442	59	22	to	to	PART
asir-56442	59	23	maintain	maintain	VERB
asir-56442	59	24	positioning	positioning	NOUN
asir-56442	59	25	accuracy	accuracy	NOUN
asir-56442	59	26	within	within	ADP
asir-56442	59	27	1	1	NUM
asir-56442	59	28	meter	meter	NOUN
asir-56442	59	29	.	.	PUNCT
asir-56442	60	1	in	in	ADP
asir-56442	60	2	densely	densely	ADV
asir-56442	60	3	populated	populate	VERB
asir-56442	60	4	urban	urban	ADJ
asir-56442	60	5	environments	environment	NOUN
asir-56442	60	6	,	,	PUNCT
asir-56442	60	7	it	it	PRON
asir-56442	60	8	combines	combine	VERB
asir-56442	60	9	inertial	inertial	ADJ
asir-56442	60	10	navigation	navigation	NOUN
asir-56442	60	11	(	(	PUNCT
asir-56442	60	12	imu	imu	NOUN
asir-56442	60	13	)	)	PUNCT
asir-56442	60	14	with	with	ADP
asir-56442	60	15	pdr	pdr	PROPN
asir-56442	60	16	algorithms	algorithm	NOUN
asir-56442	60	17	for	for	ADP
asir-56442	60	18	short	short	ADJ
asir-56442	60	19	-	-	PUNCT
asir-56442	60	20	term	term	NOUN
asir-56442	60	21	navigation	navigation	NOUN
asir-56442	60	22	positioning	positioning	NOUN
asir-56442	60	23	.	.	PUNCT
asir-56442	61	1	navigation	navigation	NOUN
asir-56442	61	2	information	information	NOUN
asir-56442	61	3	is	be	AUX
asir-56442	61	4	conveyed	convey	VERB
asir-56442	61	5	via	via	ADP
asir-56442	61	6	bone	bone	NOUN
asir-56442	61	7	conduction	conduction	NOUN
asir-56442	61	8	as	as	ADP
asir-56442	61	9	a	a	DET
asir-56442	61	10	“	"	PUNCT
asir-56442	61	11	distance	distance	NOUN
asir-56442	61	12	+	+	CCONJ
asir-56442	61	13	landmark	landmark	NOUN
asir-56442	61	14	”	"	PUNCT
asir-56442	61	15	description	description	NOUN
asir-56442	61	16	(	(	PUNCT
asir-56442	61	17	e.g.	e.g.	ADV
asir-56442	61	18	,	,	PUNCT
asir-56442	61	19	“	"	PUNCT
asir-56442	61	20	proceed	proceed	VERB
asir-56442	61	21	straight	straight	ADV
asir-56442	61	22	on	on	ADP
asir-56442	61	23	the	the	DET
asir-56442	61	24	blind	blind	ADJ
asir-56442	61	25	path	path	NOUN
asir-56442	61	26	for	for	ADP
asir-56442	61	27	20	20	NUM
asir-56442	61	28	meters	meter	NOUN
asir-56442	61	29	,	,	PUNCT
asir-56442	61	30	upcoming	upcoming	ADJ
asir-56442	61	31	intersection	intersection	NOUN
asir-56442	61	32	with	with	ADP
asir-56442	61	33	traffic	traffic	NOUN
asir-56442	61	34	lights	light	NOUN
asir-56442	61	35	,	,	PUNCT
asir-56442	61	36	current	current	ADJ
asir-56442	61	37	green	green	ADJ
asir-56442	61	38	light	light	NOUN
asir-56442	61	39	”	"	PUNCT
asir-56442	61	40	)	)	PUNCT
asir-56442	61	41	,	,	PUNCT
asir-56442	61	42	while	while	SCONJ
asir-56442	61	43	wrist	wrist	NOUN
asir-56442	61	44	vibrations	vibration	VERB
asir-56442	61	45	alert	alert	NOUN
asir-56442	61	46	users	user	NOUN
asir-56442	61	47	to	to	PART
asir-56442	61	48	turns	turn	VERB
asir-56442	61	49	.	.	PUNCT
asir-56442	62	1	signal	signal	NOUN
asir-56442	62	2	-	-	PUNCT
asir-56442	62	3	protected	protect	VERB
asir-56442	62	4	crosswalks	crosswalk	NOUN
asir-56442	62	5	utilize	utilize	VERB
asir-56442	62	6	5	5	NUM
asir-56442	62	7	g	g	NOUN
asir-56442	62	8	to	to	PART
asir-56442	62	9	connect	connect	VERB
asir-56442	62	10	the	the	DET
asir-56442	62	11	smart	smart	ADJ
asir-56442	62	12	cane	cane	NOUN
asir-56442	62	13	to	to	ADP
asir-56442	62	14	traffic	traffic	NOUN
asir-56442	62	15	signal	signal	NOUN
asir-56442	62	16	controllers	controller	NOUN
asir-56442	62	17	,	,	PUNCT
asir-56442	62	18	sensing	sense	VERB
asir-56442	62	19	signal	signal	NOUN
asir-56442	62	20	light	light	ADJ
asir-56442	62	21	states	state	NOUN
asir-56442	62	22	,	,	PUNCT
asir-56442	62	23	and	and	CCONJ
asir-56442	62	24	combine	combine	VERB
asir-56442	62	25	lidar	lidar	NOUN
asir-56442	62	26	to	to	ADP
asir-56442	62	27	perceive	perceive	ADJ
asir-56442	62	28	vehicle	vehicle	NOUN
asir-56442	62	29	speeds	speed	NOUN
asir-56442	62	30	at	at	ADP
asir-56442	62	31	intersections	intersection	NOUN
asir-56442	62	32	,	,	PUNCT
asir-56442	62	33	thereby	thereby	ADV
asir-56442	62	34	achieving	achieve	VERB
asir-56442	62	35	an	an	DET
asir-56442	62	36	89	89	NUM
asir-56442	62	37	%	%	NOUN
asir-56442	62	38	success	success	NOUN
asir-56442	62	39	rate	rate	NOUN
asir-56442	62	40	for	for	ADP
asir-56442	62	41	pedestrians	pedestrian	NOUN
asir-56442	62	42	crossing	cross	VERB
asir-56442	62	43	the	the	DET
asir-56442	62	44	street	street	NOUN
asir-56442	62	45	.	.	PUNCT
asir-56442	63	1	4.2	4.2	NUM
asir-56442	63	2	indoor	indoor	ADJ
asir-56442	63	3	navigation	navigation	NOUN
asir-56442	63	4	indoor	indoor	NOUN
asir-56442	63	5	navigation	navigation	NOUN
asir-56442	63	6	breaks	break	NOUN
asir-56442	63	7	through	through	ADP
asir-56442	63	8	the	the	DET
asir-56442	63	9	limitations	limitation	NOUN
asir-56442	63	10	of	of	ADP
asir-56442	63	11	gps	gps	PROPN
asir-56442	63	12	signal	signal	VERB
asir-56442	63	13	blind	blind	ADJ
asir-56442	63	14	spots	spot	NOUN
asir-56442	63	15	and	and	CCONJ
asir-56442	63	16	creates	create	VERB
asir-56442	63	17	a	a	DET
asir-56442	63	18	positioning	positioning	NOUN
asir-56442	63	19	method	method	NOUN
asir-56442	63	20	of	of	ADP
asir-56442	63	21	“	"	PUNCT
asir-56442	63	22	scene	scene	NOUN
asir-56442	63	23	recognition	recognition	NOUN
asir-56442	63	24	+	+	CCONJ
asir-56442	63	25	map	map	NOUN
asir-56442	63	26	matching	matching	NOUN
asir-56442	63	27	.	.	PUNCT
asir-56442	63	28	”	"	PUNCT
asir-56442	64	1	uwb	uwb	PROPN
asir-56442	64	2	positioning	positioning	NOUN
asir-56442	64	3	base	base	NOUN
asir-56442	64	4	stations	station	NOUN
asir-56442	64	5	are	be	AUX
asir-56442	64	6	installed	instal	VERB
asir-56442	64	7	in	in	ADP
asir-56442	64	8	shopping	shopping	NOUN
asir-56442	64	9	malls	mall	NOUN
asir-56442	64	10	and	and	CCONJ
asir-56442	64	11	office	office	NOUN
asir-56442	64	12	buildings	building	NOUN
asir-56442	64	13	.	.	PUNCT
asir-56442	65	1	the	the	DET
asir-56442	65	2	uwb	uwb	PROPN
asir-56442	65	3	signals	signal	NOUN
asir-56442	65	4	recognized	recognize	VERB
asir-56442	65	5	by	by	ADP
asir-56442	65	6	smart	smart	ADJ
asir-56442	65	7	bracelets	bracelet	NOUN
asir-56442	65	8	are	be	AUX
asir-56442	65	9	used	use	VERB
asir-56442	65	10	in	in	ADP
asir-56442	65	11	ultra	ultra	ADJ
asir-56442	65	12	-	-	ADJ
asir-56442	65	13	wideband	wideband	ADJ
asir-56442	65	14	positioning	positioning	NOUN
asir-56442	65	15	algorithms	algorithm	NOUN
asir-56442	65	16	to	to	PART
asir-56442	65	17	achieve	achieve	VERB
asir-56442	65	18	sub	sub	ADJ
asir-56442	65	19	-	-	ADJ
asir-56442	65	20	meter	meter	NOUN
asir-56442	65	21	positioning	positioning	NOUN
asir-56442	65	22	through	through	ADP
asir-56442	65	23	the	the	DET
asir-56442	65	24	time	time	NOUN
asir-56442	65	25	difference	difference	NOUN
asir-56442	65	26	of	of	ADP
asir-56442	65	27	arrival	arrival	NOUN
asir-56442	65	28	(	(	PUNCT
asir-56442	65	29	tdoa	tdoa	NOUN
asir-56442	65	30	)	)	PUNCT
asir-56442	65	31	algorithm	algorithm	NOUN
asir-56442	65	32	,	,	PUNCT
asir-56442	65	33	while	while	SCONJ
asir-56442	65	34	matching	match	VERB
asir-56442	65	35	with	with	ADP
asir-56442	65	36	indoor	indoor	ADJ
asir-56442	65	37	vector	vector	NOUN
asir-56442	65	38	maps	map	NOUN
asir-56442	65	39	to	to	PART
asir-56442	65	40	complete	complete	VERB
asir-56442	65	41	navigation	navigation	NOUN
asir-56442	65	42	.	.	PUNCT
asir-56442	66	1	during	during	ADP
asir-56442	66	2	navigation	navigation	NOUN
asir-56442	66	3	,	,	PUNCT
asir-56442	66	4	the	the	DET
asir-56442	66	5	device	device	NOUN
asir-56442	66	6	simultaneously	simultaneously	ADV
asir-56442	66	7	uses	use	VERB
asir-56442	66	8	visual	visual	ADJ
asir-56442	66	9	sensors	sensor	NOUN
asir-56442	66	10	to	to	PART
asir-56442	66	11	read	read	VERB
asir-56442	66	12	ceiling	ceiling	NOUN
asir-56442	66	13	markers	marker	NOUN
asir-56442	66	14	(	(	PUNCT
asir-56442	66	15	e.g.	e.g.	ADV
asir-56442	66	16	,	,	PUNCT
asir-56442	66	17	store	store	NOUN
asir-56442	66	18	numbers	number	NOUN
asir-56442	66	19	)	)	PUNCT
asir-56442	66	20	and	and	CCONJ
asir-56442	66	21	ground	ground	NOUN
asir-56442	66	22	-	-	PUNCT
asir-56442	66	23	level	level	NOUN
asir-56442	66	24	directional	directional	ADJ
asir-56442	66	25	arrows	arrow	NOUN
asir-56442	66	26	(	(	PUNCT
asir-56442	66	27	lines	line	NOUN
asir-56442	66	28	)	)	PUNCT
asir-56442	66	29	,	,	PUNCT
asir-56442	66	30	and	and	CCONJ
asir-56442	66	31	issues	issue	NOUN
asir-56442	66	32	voice	voice	VERB
asir-56442	66	33	prompts	prompt	NOUN
asir-56442	66	34	such	such	ADJ
asir-56442	66	35	as	as	ADP
asir-56442	66	36	,	,	PUNCT
asir-56442	66	37	“	"	PUNCT
asir-56442	66	38	proceed	proceed	VERB
asir-56442	66	39	straight	straight	ADV
asir-56442	66	40	ahead	ahead	ADV
asir-56442	66	41	for	for	ADP
asir-56442	66	42	10	10	NUM
asir-56442	66	43	meters	meter	NOUN
asir-56442	66	44	to	to	PART
asir-56442	66	45	reach	reach	VERB
asir-56442	66	46	the	the	DET
asir-56442	66	47	clothing	clothing	NOUN
asir-56442	66	48	section	section	NOUN
asir-56442	66	49	on	on	ADP
asir-56442	66	50	the	the	DET
asir-56442	66	51	3rd	3rd	ADJ
asir-56442	66	52	floor	floor	NOUN
asir-56442	66	53	via	via	ADP
asir-56442	66	54	the	the	DET
asir-56442	66	55	escalator	escalator	NOUN
asir-56442	66	56	.	.	PUNCT
asir-56442	66	57	”	"	PUNCT
asir-56442	67	1	additionally	additionally	ADV
asir-56442	67	2	,	,	PUNCT
asir-56442	67	3	the	the	DET
asir-56442	67	4	smart	smart	ADJ
asir-56442	67	5	bracelet	bracelet	NOUN
asir-56442	67	6	sends	send	VERB
asir-56442	67	7	tactile	tactile	ADJ
asir-56442	67	8	feedback	feedback	NOUN
asir-56442	67	9	signals	signal	NOUN
asir-56442	67	10	to	to	ADP
asir-56442	67	11	the	the	DET
asir-56442	67	12	user	user	NOUN
asir-56442	67	13	's	's	PART
asir-56442	67	14	feet	foot	NOUN
asir-56442	67	15	based	base	VERB
asir-56442	67	16	on	on	ADP
asir-56442	67	17	their	their	PRON
asir-56442	67	18	sensory	sensory	ADJ
asir-56442	67	19	input	input	NOUN
asir-56442	67	20	.	.	PUNCT
asir-56442	68	1	additionally	additionally	ADV
asir-56442	68	2	,	,	PUNCT
asir-56442	68	3	in	in	ADP
asir-56442	68	4	large	large	ADJ
asir-56442	68	5	-	-	PUNCT
asir-56442	68	6	scale	scale	NOUN
asir-56442	68	7	applications	application	NOUN
asir-56442	68	8	,	,	PUNCT
asir-56442	68	9	“	"	PUNCT
asir-56442	68	10	segmented	segment	VERB
asir-56442	68	11	navigation	navigation	NOUN
asir-56442	68	12	”	"	PUNCT
asir-56442	68	13	can	can	AUX
asir-56442	68	14	be	be	AUX
asir-56442	68	15	employed	employ	VERB
asir-56442	68	16	,	,	PUNCT
asir-56442	68	17	where	where	SCONJ
asir-56442	68	18	longer	long	ADJ
asir-56442	68	19	routes	route	NOUN
asir-56442	68	20	are	be	AUX
asir-56442	68	21	divided	divide	VERB
asir-56442	68	22	into	into	ADP
asir-56442	68	23	segments	segment	NOUN
asir-56442	68	24	such	such	ADJ
asir-56442	68	25	as	as	ADP
asir-56442	68	26	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-56442	68	27	applied	apply	VERB
asir-56442	68	28	science	science	NOUN
asir-56442	68	29	and	and	CCONJ
asir-56442	68	30	innovative	innovative	ADJ
asir-56442	68	31	research	research	NOUN
asir-56442	68	32	vol	vol	NOUN
asir-56442	68	33	.	.	PUNCT
asir-56442	69	1	9	9	NUM
asir-56442	69	2	,	,	PUNCT
asir-56442	69	3	no	no	INTJ
asir-56442	69	4	.	.	NOUN
asir-56442	69	5	3	3	NUM
asir-56442	69	6	,	,	PUNCT
asir-56442	69	7	2025	2025	NUM
asir-56442	69	8	45	45	NUM
asir-56442	69	9	published	publish	VERB
asir-56442	69	10	by	by	ADP
asir-56442	69	11	scholink	scholink	PROPN
asir-56442	69	12	inc	inc	PROPN
asir-56442	69	13	.	.	PUNCT
asir-56442	70	1	“	"	PUNCT
asir-56442	70	2	security	security	NOUN
asir-56442	70	3	check	check	NOUN
asir-56442	70	4	→	→	SYM
asir-56442	70	5	boarding	boarding	NOUN
asir-56442	70	6	gate	gate	NOUN
asir-56442	70	7	.	.	PUNCT
asir-56442	70	8	”	"	PUNCT
asir-56442	71	1	after	after	ADP
asir-56442	71	2	segmentation	segmentation	NOUN
asir-56442	71	3	,	,	PUNCT
asir-56442	71	4	each	each	DET
asir-56442	71	5	stage	stage	NOUN
asir-56442	71	6	is	be	AUX
asir-56442	71	7	completed	complete	VERB
asir-56442	71	8	with	with	ADP
asir-56442	71	9	voice	voice	NOUN
asir-56442	71	10	prompts	prompt	NOUN
asir-56442	71	11	to	to	PART
asir-56442	71	12	reduce	reduce	VERB
asir-56442	71	13	memory	memory	NOUN
asir-56442	71	14	load	load	NOUN
asir-56442	71	15	and	and	CCONJ
asir-56442	71	16	enhance	enhance	VERB
asir-56442	71	17	positional	positional	ADJ
asir-56442	71	18	continuity	continuity	NOUN
asir-56442	71	19	.	.	PUNCT
asir-56442	72	1	4.3	4.3	NUM
asir-56442	72	2	obstacle	obstacle	NOUN
asir-56442	72	3	recognition	recognition	NOUN
asir-56442	72	4	and	and	CCONJ
asir-56442	72	5	avoidance	avoidance	NOUN
asir-56442	72	6	obstacle	obstacle	NOUN
asir-56442	72	7	recognition	recognition	NOUN
asir-56442	72	8	and	and	CCONJ
asir-56442	72	9	avoidance	avoidance	NOUN
asir-56442	72	10	utilize	utilize	VERB
asir-56442	72	11	a	a	DET
asir-56442	72	12	“	"	PUNCT
asir-56442	72	13	multi	multi	ADJ
asir-56442	72	14	-	-	ADJ
asir-56442	72	15	sensor	sensor	ADJ
asir-56442	72	16	fusion	fusion	NOUN
asir-56442	72	17	+	+	CCONJ
asir-56442	72	18	hierarchical	hierarchical	ADJ
asir-56442	72	19	response	response	NOUN
asir-56442	72	20	”	"	PUNCT
asir-56442	72	21	technical	technical	ADJ
asir-56442	72	22	process	process	NOUN
asir-56442	72	23	to	to	PART
asir-56442	72	24	achieve	achieve	VERB
asir-56442	72	25	closed	close	VERB
asir-56442	72	26	-	-	PUNCT
asir-56442	72	27	loop	loop	NOUN
asir-56442	72	28	control	control	NOUN
asir-56442	72	29	from	from	ADP
asir-56442	72	30	detection	detection	NOUN
asir-56442	72	31	to	to	ADP
asir-56442	72	32	avoidance	avoidance	NOUN
asir-56442	72	33	,	,	PUNCT
asir-56442	72	34	as	as	SCONJ
asir-56442	72	35	shown	show	VERB
asir-56442	72	36	in	in	ADP
asir-56442	72	37	figure	figure	NOUN
asir-56442	72	38	2	2	NUM
asir-56442	72	39	.	.	PUNCT
asir-56442	72	40	figure	figure	NOUN
asir-56442	72	41	2	2	NUM
asir-56442	72	42	.	.	PUNCT
asir-56442	72	43	obstacle	obstacle	NOUN
asir-56442	72	44	recognition	recognition	NOUN
asir-56442	72	45	and	and	CCONJ
asir-56442	72	46	obstacle	obstacle	NOUN
asir-56442	72	47	avoidance	avoidance	NOUN
asir-56442	72	48	flow	flow	NOUN
asir-56442	72	49	environmental	environmental	ADJ
asir-56442	72	50	perception	perception	NOUN
asir-56442	72	51	layer	layer	NOUN
asir-56442	72	52	collaboration	collaboration	NOUN
asir-56442	72	53	:	:	PUNCT
asir-56442	72	54	lidar	lidar	NOUN
asir-56442	72	55	scans	scan	VERB
asir-56442	72	56	the	the	DET
asir-56442	72	57	three	three	NUM
asir-56442	72	58	-	-	PUNCT
asir-56442	72	59	dimensional	dimensional	ADJ
asir-56442	72	60	environment	environment	NOUN
asir-56442	72	61	within	within	ADP
asir-56442	72	62	10	10	NUM
asir-56442	72	63	meters	meter	NOUN
asir-56442	72	64	ahead	ahead	ADV
asir-56442	72	65	to	to	PART
asir-56442	72	66	generate	generate	VERB
asir-56442	72	67	point	point	NOUN
asir-56442	72	68	cloud	cloud	NOUN
asir-56442	72	69	data	datum	NOUN
asir-56442	72	70	,	,	PUNCT
asir-56442	72	71	and	and	CCONJ
asir-56442	72	72	distinguishes	distinguish	VERB
asir-56442	72	73	between	between	ADP
asir-56442	72	74	dynamic	dynamic	ADJ
asir-56442	72	75	human	human	ADJ
asir-56442	72	76	obstacles	obstacle	NOUN
asir-56442	72	77	and	and	CCONJ
asir-56442	72	78	static	static	ADJ
asir-56442	72	79	vehicle	vehicle	NOUN
asir-56442	72	80	obstacles	obstacle	NOUN
asir-56442	72	81	(	(	PUNCT
asir-56442	72	82	including	include	VERB
asir-56442	72	83	guardrails	guardrail	NOUN
asir-56442	72	84	,	,	PUNCT
asir-56442	72	85	pillars	pillar	NOUN
asir-56442	72	86	,	,	PUNCT
asir-56442	72	87	etc	etc	X
asir-56442	72	88	.	.	X
asir-56442	72	89	)	)	PUNCT
asir-56442	72	90	in	in	ADP
asir-56442	72	91	the	the	DET
asir-56442	72	92	environment	environment	NOUN
asir-56442	72	93	through	through	ADP
asir-56442	72	94	clustering	cluster	VERB
asir-56442	72	95	processing	processing	NOUN
asir-56442	72	96	.	.	PUNCT
asir-56442	73	1	video	video	NOUN
asir-56442	73	2	images	image	NOUN
asir-56442	73	3	captured	capture	VERB
asir-56442	73	4	by	by	ADP
asir-56442	73	5	the	the	DET
asir-56442	73	6	camera	camera	NOUN
asir-56442	73	7	are	be	AUX
asir-56442	73	8	classified	classify	VERB
asir-56442	73	9	and	and	CCONJ
asir-56442	73	10	detected	detect	VERB
asir-56442	73	11	by	by	ADP
asir-56442	73	12	the	the	DET
asir-56442	73	13	yolov8	yolov8	PROPN
asir-56442	73	14	model	model	NOUN
asir-56442	73	15	,	,	PUNCT
asir-56442	73	16	and	and	CCONJ
asir-56442	73	17	obstacles	obstacle	NOUN
asir-56442	73	18	are	be	AUX
asir-56442	73	19	labeled	label	VERB
asir-56442	73	20	.	.	PUNCT
asir-56442	74	1	ultrasonic	ultrasonic	ADJ
asir-56442	74	2	waves	wave	NOUN
asir-56442	74	3	supplement	supplement	VERB
asir-56442	74	4	the	the	DET
asir-56442	74	5	scan	scan	NOUN
asir-56442	74	6	within	within	ADP
asir-56442	74	7	5	5	NUM
asir-56442	74	8	meters	meter	NOUN
asir-56442	74	9	to	to	PART
asir-56442	74	10	prevent	prevent	VERB
asir-56442	74	11	small	small	ADJ
asir-56442	74	12	obstacles	obstacle	NOUN
asir-56442	74	13	from	from	ADP
asir-56442	74	14	being	be	AUX
asir-56442	74	15	undetected	undetected	ADJ
asir-56442	74	16	.	.	PUNCT
asir-56442	75	1	decision	decision	NOUN
asir-56442	75	2	-	-	PUNCT
asir-56442	75	3	making	make	VERB
asir-56442	75	4	layer	layer	NOUN
asir-56442	75	5	threat	threat	NOUN
asir-56442	75	6	level	level	NOUN
asir-56442	75	7	calculation	calculation	NOUN
asir-56442	75	8	:	:	PUNCT
asir-56442	75	9	generate	generate	VERB
asir-56442	75	10	a	a	DET
asir-56442	75	11	threat	threat	NOUN
asir-56442	75	12	index	index	NOUN
asir-56442	75	13	based	base	VERB
asir-56442	75	14	on	on	ADP
asir-56442	75	15	obstacle	obstacle	NOUN
asir-56442	75	16	distance	distance	NOUN
asir-56442	75	17	(	(	PUNCT
asir-56442	75	18	d	d	NOUN
asir-56442	75	19	)	)	PUNCT
asir-56442	75	20	,	,	PUNCT
asir-56442	75	21	movement	movement	NOUN
asir-56442	75	22	speed	speed	NOUN
asir-56442	75	23	(	(	PUNCT
asir-56442	75	24	v	v	NOUN
asir-56442	75	25	)	)	PUNCT
asir-56442	75	26	,	,	PUNCT
asir-56442	75	27	and	and	CCONJ
asir-56442	75	28	size	size	NOUN
asir-56442	75	29	(	(	PUNCT
asir-56442	75	30	s	s	NOUN
asir-56442	75	31	)	)	PUNCT
asir-56442	75	32	.	.	PUNCT
asir-56442	76	1	svdt	svdt	PROPN
asir-56442	76	2	0.3	0.3	NUM
asir-56442	77	1	+	+	NOUN
asir-56442	77	2	0.3+)(1/*0.4=	0.3+)(1/*0.4=	NOUN
asir-56442	77	3	when	when	SCONJ
asir-56442	77	4	t	t	PROPN
asir-56442	77	5	>	>	X
asir-56442	77	6	0.7	0.7	NUM
asir-56442	77	7	,	,	PUNCT
asir-56442	77	8	it	it	PRON
asir-56442	77	9	is	be	AUX
asir-56442	77	10	determined	determined	ADJ
asir-56442	77	11	to	to	PART
asir-56442	77	12	be	be	AUX
asir-56442	77	13	a	a	DET
asir-56442	77	14	high	high	ADJ
asir-56442	77	15	threat	threat	NOUN
asir-56442	77	16	.	.	PUNCT
asir-56442	78	1	the	the	DET
asir-56442	78	2	response	response	NOUN
asir-56442	78	3	layer	layer	NOUN
asir-56442	78	4	executes	execute	VERB
asir-56442	78	5	obstacle	obstacle	NOUN
asir-56442	78	6	avoidance	avoidance	NOUN
asir-56442	78	7	strategies	strategy	NOUN
asir-56442	78	8	:	:	PUNCT
asir-56442	78	9	high	high	ADJ
asir-56442	78	10	-	-	PUNCT
asir-56442	78	11	threat	threat	NOUN
asir-56442	78	12	obstacles	obstacle	NOUN
asir-56442	78	13	trigger	trigger	VERB
asir-56442	78	14	an	an	DET
asir-56442	78	15	“	"	PUNCT
asir-56442	78	16	emergency	emergency	NOUN
asir-56442	78	17	braking	braking	NOUN
asir-56442	78	18	”	"	PUNCT
asir-56442	78	19	alert	alert	NOUN
asir-56442	78	20	(	(	PUNCT
asir-56442	78	21	e.g.	e.g.	ADV
asir-56442	78	22	,	,	PUNCT
asir-56442	78	23	“	"	PUNCT
asir-56442	78	24	there	there	PRON
asir-56442	78	25	is	be	VERB
asir-56442	78	26	a	a	DET
asir-56442	78	27	bicycle	bicycle	NOUN
asir-56442	78	28	approaching	approach	VERB
asir-56442	78	29	rapidly	rapidly	ADV
asir-56442	78	30	2	2	NUM
asir-56442	78	31	meters	meter	NOUN
asir-56442	78	32	ahead	ahead	ADV
asir-56442	78	33	;	;	PUNCT
asir-56442	78	34	please	please	INTJ
asir-56442	78	35	stop	stop	VERB
asir-56442	78	36	”	"	PUNCT
asir-56442	78	37	)	)	PUNCT
asir-56442	78	38	,	,	PUNCT
asir-56442	78	39	simultaneously	simultaneously	ADV
asir-56442	78	40	activating	activate	VERB
asir-56442	78	41	strong	strong	ADJ
asir-56442	78	42	vibrations	vibration	NOUN
asir-56442	78	43	in	in	ADP
asir-56442	78	44	the	the	DET
asir-56442	78	45	waist	waist	NOUN
asir-56442	78	46	area	area	NOUN
asir-56442	78	47	;	;	PUNCT
asir-56442	78	48	medium	medium	ADJ
asir-56442	78	49	-	-	PUNCT
asir-56442	78	50	threat	threat	NOUN
asir-56442	78	51	obstacles	obstacle	NOUN
asir-56442	78	52	(	(	PUNCT
asir-56442	78	53	0.3	0.3	NUM
asir-56442	78	54	<	<	X
asir-56442	78	55	t	t	X
asir-56442	78	56	≤	≤	NUM
asir-56442	78	57	0.7	0.7	NUM
asir-56442	78	58	)	)	PUNCT
asir-56442	78	59	prompt	prompt	VERB
asir-56442	78	60	the	the	DET
asir-56442	78	61	user	user	NOUN
asir-56442	78	62	to	to	PART
asir-56442	78	63	change	change	VERB
asir-56442	78	64	direction	direction	NOUN
asir-56442	78	65	(	(	PUNCT
asir-56442	78	66	e.g.	e.g.	ADV
asir-56442	78	67	,	,	PUNCT
asir-56442	78	68	“	"	PUNCT
asir-56442	78	69	there	there	PRON
asir-56442	78	70	is	be	VERB
asir-56442	78	71	a	a	DET
asir-56442	78	72	pillar	pillar	NOUN
asir-56442	78	73	3	3	NUM
asir-56442	78	74	meters	meter	NOUN
asir-56442	78	75	to	to	ADP
asir-56442	78	76	the	the	DET
asir-56442	78	77	right	right	NOUN
asir-56442	78	78	;	;	PUNCT
asir-56442	78	79	it	it	PRON
asir-56442	78	80	is	be	AUX
asir-56442	78	81	recommended	recommend	VERB
asir-56442	78	82	to	to	PART
asir-56442	78	83	shift	shift	VERB
asir-56442	78	84	left	leave	VERB
asir-56442	78	85	by	by	ADP
asir-56442	78	86	0.5	0.5	NUM
asir-56442	78	87	meters	meter	NOUN
asir-56442	78	88	”	"	PUNCT
asir-56442	78	89	)	)	PUNCT
asir-56442	78	90	;	;	PUNCT
asir-56442	78	91	low	low	ADJ
asir-56442	78	92	-	-	PUNCT
asir-56442	78	93	threat	threat	NOUN
asir-56442	78	94	(	(	PUNCT
asir-56442	78	95	t	t	NOUN
asir-56442	78	96	≤	≤	NUM
asir-56442	78	97	0.3	0.3	NUM
asir-56442	78	98	)	)	PUNCT
asir-56442	78	99	situations	situation	NOUN
asir-56442	78	100	are	be	AUX
asir-56442	78	101	indicated	indicate	VERB
asir-56442	78	102	by	by	ADP
asir-56442	78	103	a	a	DET
asir-56442	78	104	gentle	gentle	ADJ
asir-56442	78	105	voice	voice	NOUN
asir-56442	78	106	prompt	prompt	NOUN
asir-56442	78	107	(	(	PUNCT
asir-56442	78	108	hu	hu	PROPN
asir-56442	78	109	geyou	geyou	PROPN
asir-56442	78	110	,	,	PUNCT
asir-56442	78	111	li	li	PROPN
asir-56442	78	112	lieqi	lieqi	PROPN
asir-56442	78	113	,	,	PUNCT
asir-56442	78	114	xiao	xiao	PROPN
asir-56442	78	115	jinfeng	jinfeng	PROPN
asir-56442	78	116	,	,	PUNCT
asir-56442	78	117	et	et	PROPN
asir-56442	78	118	al	al	PROPN
asir-56442	78	119	.	.	PROPN
asir-56442	78	120	,	,	PUNCT
asir-56442	78	121	2022	2022	NUM
asir-56442	78	122	)	)	PUNCT
asir-56442	78	123	.	.	PUNCT
asir-56442	79	1	the	the	DET
asir-56442	79	2	entire	entire	ADJ
asir-56442	79	3	process	process	NOUN
asir-56442	79	4	is	be	AUX
asir-56442	79	5	delayed	delay	VERB
asir-56442	79	6	by	by	ADP
asir-56442	79	7	less	less	ADJ
asir-56442	79	8	than	than	ADP
asir-56442	79	9	200	200	NUM
asir-56442	79	10	milliseconds	millisecond	NOUN
asir-56442	79	11	,	,	PUNCT
asir-56442	79	12	with	with	SCONJ
asir-56442	79	13	an	an	DET
asir-56442	79	14	obstacle	obstacle	NOUN
asir-56442	79	15	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-56442	79	16	applied	apply	VERB
asir-56442	79	17	science	science	NOUN
asir-56442	79	18	and	and	CCONJ
asir-56442	79	19	innovative	innovative	ADJ
asir-56442	79	20	research	research	NOUN
asir-56442	79	21	vol	vol	NOUN
asir-56442	79	22	.	.	PUNCT
asir-56442	80	1	9	9	NUM
asir-56442	80	2	,	,	PUNCT
asir-56442	80	3	no	no	INTJ
asir-56442	80	4	.	.	NOUN
asir-56442	80	5	3	3	NUM
asir-56442	80	6	,	,	PUNCT
asir-56442	80	7	2025	2025	NUM
asir-56442	80	8	46	46	NUM
asir-56442	80	9	published	publish	VERB
asir-56442	80	10	by	by	ADP
asir-56442	80	11	scholink	scholink	PROPN
asir-56442	80	12	inc	inc	PROPN
asir-56442	80	13	.	.	PROPN
asir-56442	80	14	avoidance	avoidance	NOUN
asir-56442	80	15	success	success	NOUN
asir-56442	80	16	rate	rate	NOUN
asir-56442	80	17	of	of	ADP
asir-56442	80	18	92	92	NUM
asir-56442	80	19	%	%	NOUN
asir-56442	80	20	.	.	PUNCT
asir-56442	81	1	4.4	4.4	NUM
asir-56442	81	2	real	real	ADJ
asir-56442	81	3	-	-	PUNCT
asir-56442	81	4	time	time	NOUN
asir-56442	81	5	information	information	NOUN
asir-56442	81	6	services	service	NOUN
asir-56442	81	7	real	real	ADJ
asir-56442	81	8	-	-	PUNCT
asir-56442	81	9	time	time	NOUN
asir-56442	81	10	information	information	NOUN
asir-56442	81	11	services	service	NOUN
asir-56442	81	12	establish	establish	VERB
asir-56442	81	13	an	an	DET
asir-56442	81	14	“	"	PUNCT
asir-56442	81	15	active	active	ADJ
asir-56442	81	16	push	push	NOUN
asir-56442	81	17	+	+	CCONJ
asir-56442	81	18	on	on	ADP
asir-56442	81	19	-	-	PUNCT
asir-56442	81	20	demand	demand	NOUN
asir-56442	81	21	query	query	NOUN
asir-56442	81	22	”	"	PUNCT
asir-56442	81	23	information	information	NOUN
asir-56442	81	24	interaction	interaction	NOUN
asir-56442	81	25	model	model	NOUN
asir-56442	81	26	,	,	PUNCT
asir-56442	81	27	integrating	integrate	VERB
asir-56442	81	28	navigation	navigation	NOUN
asir-56442	81	29	with	with	ADP
asir-56442	81	30	lifestyle	lifestyle	NOUN
asir-56442	81	31	service	service	NOUN
asir-56442	81	32	scenarios	scenario	NOUN
asir-56442	81	33	.	.	PUNCT
asir-56442	82	1	the	the	DET
asir-56442	82	2	active	active	ADJ
asir-56442	82	3	push	push	NOUN
asir-56442	82	4	feature	feature	NOUN
asir-56442	82	5	is	be	AUX
asir-56442	82	6	triggered	trigger	VERB
asir-56442	82	7	based	base	VERB
asir-56442	82	8	on	on	ADP
asir-56442	82	9	time	time	NOUN
asir-56442	82	10	and	and	CCONJ
asir-56442	82	11	location	location	NOUN
asir-56442	82	12	,	,	PUNCT
asir-56442	82	13	such	such	ADJ
asir-56442	82	14	as	as	ADP
asir-56442	82	15	during	during	ADP
asir-56442	82	16	commuting	commute	VERB
asir-56442	82	17	hours	hour	NOUN
asir-56442	82	18	,	,	PUNCT
asir-56442	82	19	prompting	prompt	VERB
asir-56442	82	20	users	user	NOUN
asir-56442	82	21	with	with	ADP
asir-56442	82	22	“	"	PUNCT
asir-56442	82	23	heavy	heavy	ADJ
asir-56442	82	24	traffic	traffic	NOUN
asir-56442	82	25	ahead	ahead	ADV
asir-56442	82	26	at	at	ADP
asir-56442	82	27	the	the	DET
asir-56442	82	28	intersection	intersection	NOUN
asir-56442	82	29	during	during	ADP
asir-56442	82	30	rush	rush	NOUN
asir-56442	82	31	hour	hour	NOUN
asir-56442	82	32	;	;	PUNCT
asir-56442	82	33	we	we	PRON
asir-56442	82	34	recommend	recommend	VERB
asir-56442	82	35	taking	take	VERB
asir-56442	82	36	an	an	DET
asir-56442	82	37	alternate	alternate	ADJ
asir-56442	82	38	route	route	NOUN
asir-56442	82	39	via	via	ADP
asir-56442	82	40	xx	xx	NUM
asir-56442	82	41	road	road	NOUN
asir-56442	82	42	to	to	PART
asir-56442	82	43	save	save	VERB
asir-56442	82	44	8	8	NUM
asir-56442	82	45	minutes	minute	NOUN
asir-56442	82	46	”	"	PUNCT
asir-56442	82	47	;	;	PUNCT
asir-56442	82	48	or	or	CCONJ
asir-56442	82	49	in	in	ADP
asir-56442	82	50	retail	retail	ADJ
asir-56442	82	51	scenarios	scenario	NOUN
asir-56442	82	52	,	,	PUNCT
asir-56442	82	53	pushing	push	VERB
asir-56442	82	54	notifications	notification	NOUN
asir-56442	82	55	like	like	ADP
asir-56442	82	56	“	"	PUNCT
asir-56442	82	57	a	a	DET
asir-56442	82	58	nearby	nearby	ADJ
asir-56442	82	59	supermarket	supermarket	NOUN
asir-56442	82	60	is	be	AUX
asir-56442	82	61	currently	currently	ADV
asir-56442	82	62	running	run	VERB
asir-56442	82	63	a	a	DET
asir-56442	82	64	promotion	promotion	NOUN
asir-56442	82	65	;	;	PUNCT
asir-56442	82	66	would	would	AUX
asir-56442	82	67	you	you	PRON
asir-56442	82	68	like	like	VERB
asir-56442	82	69	to	to	PART
asir-56442	82	70	view	view	VERB
asir-56442	82	71	details	detail	NOUN
asir-56442	82	72	?	?	PUNCT
asir-56442	82	73	”	"	PUNCT
asir-56442	83	1	on	on	ADP
asir-56442	83	2	-	-	PUNCT
asir-56442	83	3	demand	demand	NOUN
asir-56442	83	4	queries	query	NOUN
asir-56442	83	5	support	support	VERB
asir-56442	83	6	natural	natural	ADJ
asir-56442	83	7	language	language	NOUN
asir-56442	83	8	interaction	interaction	NOUN
asir-56442	83	9	.	.	PUNCT
asir-56442	84	1	when	when	SCONJ
asir-56442	84	2	a	a	DET
asir-56442	84	3	user	user	NOUN
asir-56442	84	4	asks	ask	VERB
asir-56442	84	5	,	,	PUNCT
asir-56442	84	6	“	"	PUNCT
asir-56442	84	7	where	where	SCONJ
asir-56442	84	8	is	be	AUX
asir-56442	84	9	the	the	DET
asir-56442	84	10	nearest	near	ADJ
asir-56442	84	11	accessible	accessible	ADJ
asir-56442	84	12	restroom	restroom	NOUN
asir-56442	84	13	?	?	PUNCT
asir-56442	84	14	”	"	PUNCT
asir-56442	85	1	the	the	DET
asir-56442	85	2	system	system	NOUN
asir-56442	85	3	uses	use	VERB
asir-56442	85	4	nlp	nlp	NOUN
asir-56442	85	5	to	to	PART
asir-56442	85	6	analyze	analyze	VERB
asir-56442	85	7	the	the	DET
asir-56442	85	8	intent	intent	NOUN
asir-56442	85	9	,	,	PUNCT
asir-56442	85	10	retrieves	retrieve	VERB
asir-56442	85	11	information	information	NOUN
asir-56442	85	12	from	from	ADP
asir-56442	85	13	the	the	DET
asir-56442	85	14	poi	poi	PROPN
asir-56442	85	15	database	database	NOUN
asir-56442	85	16	,	,	PUNCT
asir-56442	85	17	and	and	CCONJ
asir-56442	85	18	responds	respond	VERB
asir-56442	85	19	with	with	ADP
asir-56442	85	20	,	,	PUNCT
asir-56442	85	21	“	"	PUNCT
asir-56442	85	22	8	8	NUM
asir-56442	85	23	meters	meter	NOUN
asir-56442	85	24	away	away	ADV
asir-56442	85	25	,	,	PUNCT
asir-56442	85	26	at	at	ADP
asir-56442	85	27	the	the	DET
asir-56442	85	28	end	end	NOUN
asir-56442	85	29	of	of	ADP
asir-56442	85	30	the	the	DET
asir-56442	85	31	left	left	ADJ
asir-56442	85	32	corridor	corridor	NOUN
asir-56442	85	33	,	,	PUNCT
asir-56442	85	34	requiring	require	VERB
asir-56442	85	35	two	two	NUM
asir-56442	85	36	turns	turn	NOUN
asir-56442	85	37	,	,	PUNCT
asir-56442	85	38	”	"	PUNCT
asir-56442	85	39	while	while	SCONJ
asir-56442	85	40	automatically	automatically	ADV
asir-56442	85	41	planning	plan	VERB
asir-56442	85	42	the	the	DET
asir-56442	85	43	direct	direct	ADJ
asir-56442	85	44	route	route	NOUN
asir-56442	85	45	.	.	PUNCT
asir-56442	86	1	the	the	DET
asir-56442	86	2	device	device	NOUN
asir-56442	86	3	integrates	integrate	VERB
asir-56442	86	4	public	public	ADJ
asir-56442	86	5	service	service	NOUN
asir-56442	86	6	interfaces	interface	NOUN
asir-56442	86	7	,	,	PUNCT
asir-56442	86	8	enabling	enable	VERB
asir-56442	86	9	queries	query	NOUN
asir-56442	86	10	for	for	ADP
asir-56442	86	11	bus	bus	NOUN
asir-56442	86	12	arrival	arrival	NOUN
asir-56442	86	13	times	time	NOUN
asir-56442	86	14	and	and	CCONJ
asir-56442	86	15	weather	weather	NOUN
asir-56442	86	16	forecasts	forecast	NOUN
asir-56442	86	17	.	.	PUNCT
asir-56442	87	1	information	information	NOUN
asir-56442	87	2	retrieval	retrieval	NOUN
asir-56442	87	3	response	response	NOUN
asir-56442	87	4	time	time	NOUN
asir-56442	87	5	is	be	AUX
asir-56442	87	6	<	<	X
asir-56442	87	7	1.5	1.5	NUM
asir-56442	87	8	seconds	second	NOUN
asir-56442	87	9	,	,	PUNCT
asir-56442	87	10	with	with	ADP
asir-56442	87	11	service	service	NOUN
asir-56442	87	12	coverage	coverage	NOUN
asir-56442	87	13	improved	improve	VERB
asir-56442	87	14	by	by	ADP
asir-56442	87	15	75	75	NUM
asir-56442	87	16	%	%	NOUN
asir-56442	87	17	compared	compare	VERB
asir-56442	87	18	to	to	ADP
asir-56442	87	19	traditional	traditional	ADJ
asir-56442	87	20	guide	guide	NOUN
asir-56442	87	21	devices	device	NOUN
asir-56442	87	22	.	.	PUNCT
asir-56442	88	1	5	5	X
asir-56442	88	2	.	.	PUNCT
asir-56442	88	3	technical	technical	ADJ
asir-56442	88	4	challenges	challenge	NOUN
asir-56442	88	5	and	and	CCONJ
asir-56442	88	6	optimization	optimization	NOUN
asir-56442	88	7	strategies	strategy	NOUN
asir-56442	88	8	5.1	5.1	NUM
asir-56442	88	9	speech	speech	NOUN
asir-56442	88	10	recognition	recognition	NOUN
asir-56442	88	11	accuracy	accuracy	NOUN
asir-56442	88	12	and	and	CCONJ
asir-56442	88	13	environmental	environmental	ADJ
asir-56442	88	14	noise	noise	NOUN
asir-56442	88	15	interference	interference	NOUN
asir-56442	88	16	in	in	ADP
asir-56442	88	17	outdoor	outdoor	ADJ
asir-56442	88	18	noise	noise	NOUN
asir-56442	88	19	environments	environment	NOUN
asir-56442	88	20	,	,	PUNCT
asir-56442	88	21	the	the	DET
asir-56442	88	22	word	word	NOUN
asir-56442	88	23	error	error	NOUN
asir-56442	88	24	rate	rate	NOUN
asir-56442	88	25	(	(	PUNCT
asir-56442	88	26	wer	wer	NOUN
asir-56442	88	27	)	)	PUNCT
asir-56442	88	28	of	of	ADP
asir-56442	88	29	speech	speech	NOUN
asir-56442	88	30	recognition	recognition	NOUN
asir-56442	88	31	exceeds	exceed	VERB
asir-56442	88	32	35	35	NUM
asir-56442	88	33	%	%	NOUN
asir-56442	88	34	,	,	PUNCT
asir-56442	88	35	primarily	primarily	ADV
asir-56442	88	36	due	due	ADP
asir-56442	88	37	to	to	ADP
asir-56442	88	38	the	the	DET
asir-56442	88	39	masking	masking	NOUN
asir-56442	88	40	effect	effect	NOUN
asir-56442	88	41	of	of	ADP
asir-56442	88	42	engine	engine	NOUN
asir-56442	88	43	noise	noise	NOUN
asir-56442	88	44	and	and	CCONJ
asir-56442	88	45	human	human	ADJ
asir-56442	88	46	voice	voice	NOUN
asir-56442	88	47	interference	interference	NOUN
asir-56442	88	48	on	on	ADP
asir-56442	88	49	acoustic	acoustic	ADJ
asir-56442	88	50	features	feature	NOUN
asir-56442	88	51	.	.	PUNCT
asir-56442	89	1	current	current	ADJ
asir-56442	89	2	speech	speech	NOUN
asir-56442	89	3	recognition	recognition	NOUN
asir-56442	89	4	technology	technology	NOUN
asir-56442	89	5	struggles	struggle	VERB
asir-56442	89	6	with	with	ADP
asir-56442	89	7	non	non	ADJ
asir-56442	89	8	-	-	ADJ
asir-56442	89	9	stationary	stationary	ADJ
asir-56442	89	10	noise	noise	NOUN
asir-56442	89	11	reduction	reduction	NOUN
asir-56442	89	12	methods	method	NOUN
asir-56442	89	13	(	(	PUNCT
asir-56442	89	14	such	such	ADJ
asir-56442	89	15	as	as	ADP
asir-56442	89	16	spectral	spectral	ADJ
asir-56442	89	17	subtraction	subtraction	NOUN
asir-56442	89	18	)	)	PUNCT
asir-56442	89	19	,	,	PUNCT
asir-56442	89	20	leading	lead	VERB
asir-56442	89	21	to	to	ADP
asir-56442	89	22	misidentification	misidentification	NOUN
asir-56442	89	23	of	of	ADP
asir-56442	89	24	commands	command	NOUN
asir-56442	89	25	.	.	PUNCT
asir-56442	90	1	differences	difference	NOUN
asir-56442	90	2	in	in	ADP
asir-56442	90	3	accent	accent	ADJ
asir-56442	90	4	and	and	CCONJ
asir-56442	90	5	speaking	speak	VERB
asir-56442	90	6	speed	speed	NOUN
asir-56442	90	7	reduce	reduce	VERB
asir-56442	90	8	speech	speech	NOUN
asir-56442	90	9	recognition	recognition	NOUN
asir-56442	90	10	robustness	robustness	NOUN
asir-56442	90	11	;	;	PUNCT
asir-56442	90	12	when	when	SCONJ
asir-56442	90	13	users	user	NOUN
asir-56442	90	14	speak	speak	VERB
asir-56442	90	15	quickly	quickly	ADV
asir-56442	90	16	(	(	PUNCT
asir-56442	90	17	over	over	ADP
asir-56442	90	18	180	180	NUM
asir-56442	90	19	words	word	NOUN
asir-56442	90	20	per	per	ADP
asir-56442	90	21	minute	minute	NOUN
asir-56442	90	22	)	)	PUNCT
asir-56442	90	23	,	,	PUNCT
asir-56442	90	24	the	the	DET
asir-56442	90	25	end	end	NOUN
asir-56442	90	26	-	-	PUNCT
asir-56442	90	27	to	to	ADP
asir-56442	90	28	-	-	PUNCT
asir-56442	90	29	end	end	NOUN
asir-56442	90	30	model	model	NOUN
asir-56442	90	31	's	's	PART
asir-56442	90	32	semantic	semantic	ADJ
asir-56442	90	33	recognition	recognition	NOUN
asir-56442	90	34	accuracy	accuracy	NOUN
asir-56442	90	35	decreases	decrease	NOUN
asir-56442	90	36	by	by	ADP
asir-56442	90	37	20	20	NUM
asir-56442	90	38	%	%	NOUN
asir-56442	90	39	.	.	PUNCT
asir-56442	91	1	5.2	5.2	NUM
asir-56442	91	2	delay	delay	NOUN
asir-56442	91	3	,	,	PUNCT
asir-56442	91	4	energy	energy	NOUN
asir-56442	91	5	consumption	consumption	NOUN
asir-56442	91	6	,	,	PUNCT
asir-56442	91	7	and	and	CCONJ
asir-56442	91	8	comfort	comfort	NOUN
asir-56442	91	9	issues	issue	NOUN
asir-56442	91	10	in	in	ADP
asir-56442	91	11	haptic	haptic	ADJ
asir-56442	91	12	feedback	feedback	NOUN
asir-56442	91	13	haptic	haptic	ADJ
asir-56442	91	14	feedback	feedback	NOUN
asir-56442	91	15	systems	system	NOUN
asir-56442	91	16	face	face	VERB
asir-56442	91	17	three	three	NUM
asir-56442	91	18	technical	technical	ADJ
asir-56442	91	19	challenges	challenge	NOUN
asir-56442	91	20	:	:	PUNCT
asir-56442	91	21	first	first	ADJ
asir-56442	91	22	,	,	PUNCT
asir-56442	91	23	signal	signal	ADJ
asir-56442	91	24	transmission	transmission	NOUN
asir-56442	91	25	delay	delay	NOUN
asir-56442	91	26	,	,	PUNCT
asir-56442	91	27	with	with	ADP
asir-56442	91	28	response	response	NOUN
asir-56442	91	29	times	time	NOUN
asir-56442	91	30	from	from	ADP
asir-56442	91	31	the	the	DET
asir-56442	91	32	decision	decision	NOUN
asir-56442	91	33	-	-	PUNCT
asir-56442	91	34	making	make	VERB
asir-56442	91	35	layer	layer	NOUN
asir-56442	91	36	to	to	ADP
asir-56442	91	37	the	the	DET
asir-56442	91	38	actuator	actuator	NOUN
asir-56442	91	39	often	often	ADV
asir-56442	91	40	exceeding	exceed	VERB
asir-56442	91	41	100	100	NUM
asir-56442	91	42	ms	ms	NOUN
asir-56442	91	43	,	,	PUNCT
asir-56442	91	44	leading	lead	VERB
asir-56442	91	45	to	to	ADP
asir-56442	91	46	action	action	NOUN
asir-56442	91	47	lag	lag	NOUN
asir-56442	91	48	in	in	ADP
asir-56442	91	49	fast	fast	ADV
asir-56442	91	50	-	-	PUNCT
asir-56442	91	51	moving	move	VERB
asir-56442	91	52	scenarios	scenario	NOUN
asir-56442	91	53	(	(	PUNCT
asir-56442	91	54	e.g.	e.g.	ADV
asir-56442	91	55	,	,	PUNCT
asir-56442	91	56	crossing	cross	VERB
asir-56442	91	57	the	the	DET
asir-56442	91	58	street	street	NOUN
asir-56442	91	59	)	)	PUNCT
asir-56442	91	60	;	;	PUNCT
asir-56442	91	61	second	second	X
asir-56442	91	62	,	,	PUNCT
asir-56442	91	63	excessive	excessive	ADJ
asir-56442	91	64	energy	energy	NOUN
asir-56442	91	65	consumption	consumption	NOUN
asir-56442	91	66	,	,	PUNCT
asir-56442	91	67	with	with	ADP
asir-56442	91	68	motor	motor	NOUN
asir-56442	91	69	power	power	NOUN
asir-56442	91	70	consumption	consumption	NOUN
asir-56442	91	71	reaching	reach	VERB
asir-56442	91	72	200	200	NUM
asir-56442	91	73	mw	mw	NOUN
asir-56442	91	74	in	in	ADP
asir-56442	91	75	continuous	continuous	ADJ
asir-56442	91	76	vibration	vibration	NOUN
asir-56442	91	77	mode	mode	NOUN
asir-56442	91	78	,	,	PUNCT
asir-56442	91	79	accounting	account	VERB
asir-56442	91	80	for	for	ADP
asir-56442	91	81	40	40	NUM
asir-56442	91	82	%	%	NOUN
asir-56442	91	83	of	of	ADP
asir-56442	91	84	the	the	DET
asir-56442	91	85	device	device	NOUN
asir-56442	91	86	's	's	PART
asir-56442	91	87	total	total	ADJ
asir-56442	91	88	energy	energy	NOUN
asir-56442	91	89	consumption	consumption	NOUN
asir-56442	91	90	and	and	CCONJ
asir-56442	91	91	significantly	significantly	ADV
asir-56442	91	92	reducing	reduce	VERB
asir-56442	91	93	battery	battery	NOUN
asir-56442	91	94	life	life	NOUN
asir-56442	91	95	;	;	PUNCT
asir-56442	91	96	third	third	ADJ
asir-56442	91	97	,	,	PUNCT
asir-56442	91	98	insufficient	insufficient	ADJ
asir-56442	91	99	wearable	wearable	ADJ
asir-56442	91	100	comfort	comfort	NOUN
asir-56442	91	101	,	,	PUNCT
asir-56442	91	102	as	as	SCONJ
asir-56442	91	103	rigid	rigid	ADJ
asir-56442	91	104	vibration	vibration	NOUN
asir-56442	91	105	modules	module	NOUN
asir-56442	91	106	in	in	ADP
asir-56442	91	107	prolonged	prolonged	ADJ
asir-56442	91	108	contact	contact	NOUN
asir-56442	91	109	with	with	ADP
asir-56442	91	110	the	the	DET
asir-56442	91	111	skin	skin	NOUN
asir-56442	91	112	can	can	AUX
asir-56442	91	113	cause	cause	VERB
asir-56442	91	114	a	a	DET
asir-56442	91	115	sense	sense	NOUN
asir-56442	91	116	of	of	ADP
asir-56442	91	117	pressure	pressure	NOUN
asir-56442	91	118	,	,	PUNCT
asir-56442	91	119	with	with	ADP
asir-56442	91	120	80	80	NUM
asir-56442	91	121	%	%	NOUN
asir-56442	91	122	of	of	ADP
asir-56442	91	123	users	user	NOUN
asir-56442	91	124	reporting	report	VERB
asir-56442	91	125	discomfort	discomfort	NOUN
asir-56442	91	126	after	after	ADP
asir-56442	91	127	continuous	continuous	ADJ
asir-56442	91	128	use	use	NOUN
asir-56442	91	129	for	for	ADP
asir-56442	91	130	two	two	NUM
asir-56442	91	131	hours	hour	NOUN
asir-56442	91	132	.	.	PUNCT
asir-56442	92	1	5.3	5.3	NUM
asir-56442	92	2	limitations	limitation	NOUN
asir-56442	92	3	of	of	ADP
asir-56442	92	4	device	device	NOUN
asir-56442	92	5	miniaturization	miniaturization	NOUN
asir-56442	92	6	and	and	CCONJ
asir-56442	92	7	battery	battery	NOUN
asir-56442	92	8	life	life	NOUN
asir-56442	92	9	currently	currently	ADV
asir-56442	92	10	,	,	PUNCT
asir-56442	92	11	smart	smart	ADJ
asir-56442	92	12	white	white	ADJ
asir-56442	92	13	canes	cane	NOUN
asir-56442	92	14	integrated	integrate	VERB
asir-56442	92	15	with	with	ADP
asir-56442	92	16	lidar	lidar	NOUN
asir-56442	92	17	and	and	CCONJ
asir-56442	92	18	multiple	multiple	ADJ
asir-56442	92	19	sensors	sensor	NOUN
asir-56442	92	20	typically	typically	ADV
asir-56442	92	21	weigh	weigh	VERB
asir-56442	92	22	over	over	ADP
asir-56442	92	23	500	500	NUM
asir-56442	92	24	g	g	NOUN
asir-56442	92	25	,	,	PUNCT
asir-56442	92	26	exceeding	exceed	VERB
asir-56442	92	27	the	the	DET
asir-56442	92	28	weight	weight	NOUN
asir-56442	92	29	threshold	threshold	NOUN
asir-56442	92	30	that	that	PRON
asir-56442	92	31	blind	blind	ADJ
asir-56442	92	32	individuals	individual	NOUN
asir-56442	92	33	can	can	AUX
asir-56442	92	34	comfortably	comfortably	ADV
asir-56442	92	35	hold	hold	VERB
asir-56442	92	36	.	.	PUNCT
asir-56442	93	1	miniaturization	miniaturization	NOUN
asir-56442	93	2	results	result	NOUN
asir-56442	93	3	in	in	ADP
asir-56442	93	4	compromises	compromise	NOUN
asir-56442	93	5	in	in	ADP
asir-56442	93	6	sensor	sensor	NOUN
asir-56442	93	7	performance	performance	NOUN
asir-56442	93	8	.	.	PUNCT
asir-56442	94	1	in	in	ADP
asir-56442	94	2	terms	term	NOUN
asir-56442	94	3	of	of	ADP
asir-56442	94	4	battery	battery	NOUN
asir-56442	94	5	life	life	NOUN
asir-56442	94	6	,	,	PUNCT
asir-56442	94	7	the	the	DET
asir-56442	94	8	device	device	NOUN
asir-56442	94	9	can	can	AUX
asir-56442	94	10	operate	operate	VERB
asir-56442	94	11	continuously	continuously	ADV
asir-56442	94	12	for	for	ADP
asir-56442	94	13	only	only	ADV
asir-56442	94	14	4–6	4–6	NUM
asir-56442	94	15	hours	hour	NOUN
asir-56442	94	16	in	in	ADP
asir-56442	94	17	full	full	ADJ
asir-56442	94	18	-	-	PUNCT
asir-56442	94	19	function	function	NOUN
asir-56442	94	20	mode	mode	NOUN
asir-56442	94	21	,	,	PUNCT
asir-56442	94	22	primarily	primarily	ADV
asir-56442	94	23	due	due	ADP
asir-56442	94	24	to	to	ADP
asir-56442	94	25	the	the	DET
asir-56442	94	26	power	power	NOUN
asir-56442	94	27	consumption	consumption	NOUN
asir-56442	94	28	demands	demand	NOUN
asir-56442	94	29	of	of	ADP
asir-56442	94	30	high	high	ADJ
asir-56442	94	31	-	-	PUNCT
asir-56442	94	32	density	density	NOUN
asir-56442	94	33	computing	computing	NOUN
asir-56442	94	34	(	(	PUNCT
asir-56442	94	35	such	such	ADJ
asir-56442	94	36	as	as	ADP
asir-56442	94	37	real	real	ADJ
asir-56442	94	38	-	-	PUNCT
asir-56442	94	39	time	time	NOUN
asir-56442	94	40	slam	slam	NOUN
asir-56442	94	41	)	)	PUNCT
asir-56442	94	42	and	and	CCONJ
asir-56442	94	43	multi	multi	ADJ
asir-56442	94	44	-	-	ADJ
asir-56442	94	45	modal	modal	ADJ
asir-56442	94	46	interaction	interaction	NOUN
asir-56442	94	47	.	.	PUNCT
asir-56442	95	1	additionally	additionally	ADV
asir-56442	95	2	,	,	PUNCT
asir-56442	95	3	battery	battery	NOUN
asir-56442	95	4	capacity	capacity	NOUN
asir-56442	95	5	decreases	decrease	VERB
asir-56442	95	6	by	by	ADP
asir-56442	95	7	30	30	NUM
asir-56442	95	8	%	%	NOUN
asir-56442	95	9	in	in	ADP
asir-56442	95	10	low	low	ADJ
asir-56442	95	11	-	-	PUNCT
asir-56442	95	12	temperature	temperature	NOUN
asir-56442	95	13	environments	environment	NOUN
asir-56442	95	14	(	(	PUNCT
asir-56442	95	15	<	<	X
asir-56442	95	16	0	0	NUM
asir-56442	95	17	°	°	NOUN
asir-56442	95	18	c	c	NOUN
asir-56442	95	19	)	)	PUNCT
asir-56442	95	20	.	.	PUNCT
asir-56442	96	1	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-56442	96	2	applied	apply	VERB
asir-56442	96	3	science	science	NOUN
asir-56442	96	4	and	and	CCONJ
asir-56442	96	5	innovative	innovative	ADJ
asir-56442	96	6	research	research	NOUN
asir-56442	96	7	vol	vol	NOUN
asir-56442	96	8	.	.	PUNCT
asir-56442	97	1	9	9	NUM
asir-56442	97	2	,	,	PUNCT
asir-56442	97	3	no	no	INTJ
asir-56442	97	4	.	.	NOUN
asir-56442	97	5	3	3	NUM
asir-56442	97	6	,	,	PUNCT
asir-56442	97	7	2025	2025	NUM
asir-56442	97	8	47	47	NUM
asir-56442	97	9	published	publish	VERB
asir-56442	97	10	by	by	ADP
asir-56442	97	11	scholink	scholink	PROPN
asir-56442	97	12	inc	inc	PROPN
asir-56442	97	13	.	.	PROPN
asir-56442	97	14	5.4	5.4	NUM
asir-56442	97	15	improvement	improvement	NOUN
asir-56442	97	16	measures	measure	NOUN
asir-56442	97	17	to	to	PART
asir-56442	97	18	address	address	VERB
asir-56442	97	19	noise	noise	NOUN
asir-56442	97	20	interference	interference	NOUN
asir-56442	97	21	,	,	PUNCT
asir-56442	97	22	a	a	DET
asir-56442	97	23	“	"	PUNCT
asir-56442	97	24	microphone	microphone	NOUN
asir-56442	97	25	array	array	NOUN
asir-56442	97	26	+	+	CCONJ
asir-56442	97	27	deep	deep	ADJ
asir-56442	97	28	learning	learning	NOUN
asir-56442	97	29	”	"	PUNCT
asir-56442	97	30	fusion	fusion	NOUN
asir-56442	97	31	solution	solution	NOUN
asir-56442	97	32	is	be	AUX
asir-56442	97	33	adopted	adopt	VERB
asir-56442	97	34	.	.	PUNCT
asir-56442	98	1	using	use	VERB
asir-56442	98	2	4microphone	4microphone	NUM
asir-56442	98	3	beamforming	beamforme	VERB
asir-56442	98	4	technology	technology	NOUN
asir-56442	98	5	,	,	PUNCT
asir-56442	98	6	voice	voice	NOUN
asir-56442	98	7	signals	signal	NOUN
asir-56442	98	8	within	within	ADP
asir-56442	98	9	1.5	1.5	NUM
asir-56442	98	10	meters	meter	NOUN
asir-56442	98	11	are	be	AUX
asir-56442	98	12	captured	capture	VERB
asir-56442	98	13	more	more	ADV
asir-56442	98	14	clearly	clearly	ADV
asir-56442	98	15	.	.	PUNCT
asir-56442	99	1	a	a	DET
asir-56442	99	2	noise	noise	NOUN
asir-56442	99	3	adaptation	adaptation	NOUN
asir-56442	99	4	training	training	NOUN
asir-56442	99	5	(	(	PUNCT
asir-56442	99	6	nat	nat	NOUN
asir-56442	99	7	)	)	PUNCT
asir-56442	99	8	model	model	NOUN
asir-56442	99	9	based	base	VERB
asir-56442	99	10	on	on	ADP
asir-56442	99	11	the	the	DET
asir-56442	99	12	transformer	transformer	NOUN
asir-56442	99	13	architecture	architecture	NOUN
asir-56442	99	14	is	be	AUX
asir-56442	99	15	employed	employ	VERB
asir-56442	99	16	to	to	PART
asir-56442	99	17	adapt	adapt	VERB
asir-56442	99	18	to	to	PART
asir-56442	99	19	noise	noise	NOUN
asir-56442	99	20	reduction	reduction	NOUN
asir-56442	99	21	processing	processing	NOUN
asir-56442	99	22	in	in	ADP
asir-56442	99	23	noisy	noisy	ADJ
asir-56442	99	24	environments	environment	NOUN
asir-56442	99	25	,	,	PUNCT
asir-56442	99	26	achieving	achieve	VERB
asir-56442	99	27	a	a	DET
asir-56442	99	28	word	word	NOUN
asir-56442	99	29	error	error	NOUN
asir-56442	99	30	rate	rate	NOUN
asir-56442	99	31	(	(	PUNCT
asir-56442	99	32	wer	wer	NOUN
asir-56442	99	33	)	)	PUNCT
asir-56442	99	34	below	below	ADP
asir-56442	99	35	15	15	NUM
asir-56442	99	36	%	%	NOUN
asir-56442	99	37	when	when	SCONJ
asir-56442	99	38	the	the	DET
asir-56442	99	39	signal	signal	NOUN
asir-56442	99	40	-	-	PUNCT
asir-56442	99	41	to	to	ADP
asir-56442	99	42	-	-	PUNCT
asir-56442	99	43	noise	noise	NOUN
asir-56442	99	44	ratio	ratio	NOUN
asir-56442	99	45	(	(	PUNCT
asir-56442	99	46	snr	snr	PROPN
asir-56442	99	47	)	)	PUNCT
asir-56442	99	48	exceeds	exceed	VERB
asir-56442	99	49	12	12	NUM
asir-56442	99	50	db	db	NOUN
asir-56442	99	51	;	;	PUNCT
asir-56442	99	52	a	a	DET
asir-56442	99	53	command	command	NOUN
asir-56442	99	54	keyword	keyword	NOUN
asir-56442	99	55	detection	detection	NOUN
asir-56442	99	56	mechanism	mechanism	NOUN
asir-56442	99	57	is	be	AUX
asir-56442	99	58	added	add	VERB
asir-56442	99	59	to	to	PART
asir-56442	99	60	reduce	reduce	VERB
asir-56442	99	61	the	the	DET
asir-56442	99	62	likelihood	likelihood	NOUN
asir-56442	99	63	of	of	ADP
asir-56442	99	64	misexecution	misexecution	NOUN
asir-56442	99	65	.	.	PUNCT
asir-56442	100	1	haptic	haptic	ADJ
asir-56442	100	2	feedback	feedback	NOUN
asir-56442	100	3	uses	use	VERB
asir-56442	100	4	mems	mem	NOUN
asir-56442	100	5	piezoelectric	piezoelectric	NOUN
asir-56442	100	6	film	film	NOUN
asir-56442	100	7	technology	technology	NOUN
asir-56442	100	8	to	to	PART
asir-56442	100	9	replace	replace	VERB
asir-56442	100	10	the	the	DET
asir-56442	100	11	original	original	ADJ
asir-56442	100	12	electromagnetic	electromagnetic	ADJ
asir-56442	100	13	motor	motor	NOUN
asir-56442	100	14	,	,	PUNCT
asir-56442	100	15	reducing	reduce	VERB
asir-56442	100	16	touch	touch	NOUN
asir-56442	100	17	response	response	NOUN
asir-56442	100	18	time	time	NOUN
asir-56442	100	19	to	to	ADP
asir-56442	100	20	50	50	NUM
asir-56442	100	21	ms	ms	NOUN
asir-56442	100	22	and	and	CCONJ
asir-56442	100	23	lowering	lower	VERB
asir-56442	100	24	energy	energy	NOUN
asir-56442	100	25	consumption	consumption	NOUN
asir-56442	100	26	by	by	ADP
asir-56442	100	27	60	60	NUM
asir-56442	100	28	%	%	NOUN
asir-56442	100	29	.	.	PUNCT
asir-56442	101	1	a	a	DET
asir-56442	101	2	flexible	flexible	ADJ
asir-56442	101	3	curved	curved	ADJ
asir-56442	101	4	contact	contact	NOUN
asir-56442	101	5	surface	surface	NOUN
asir-56442	101	6	is	be	AUX
asir-56442	101	7	designed	design	VERB
asir-56442	101	8	,	,	PUNCT
asir-56442	101	9	with	with	ADP
asir-56442	101	10	vibration	vibration	NOUN
asir-56442	101	11	contact	contact	NOUN
asir-56442	101	12	points	point	NOUN
asir-56442	101	13	adjusted	adjust	VERB
asir-56442	101	14	based	base	VERB
asir-56442	101	15	on	on	ADP
asir-56442	101	16	local	local	ADJ
asir-56442	101	17	pressure	pressure	NOUN
asir-56442	101	18	sensor	sensor	NOUN
asir-56442	101	19	recognition	recognition	NOUN
asir-56442	101	20	to	to	PART
asir-56442	101	21	enhance	enhance	VERB
asir-56442	101	22	wearing	wear	VERB
asir-56442	101	23	comfort	comfort	NOUN
asir-56442	101	24	(	(	PUNCT
asir-56442	101	25	wu	wu	PROPN
asir-56442	101	26	wenxin	wenxin	PROPN
asir-56442	101	27	,	,	PUNCT
asir-56442	101	28	li	li	PROPN
asir-56442	101	29	zhiyuan	zhiyuan	PROPN
asir-56442	101	30	,	,	PUNCT
asir-56442	101	31	chen	chen	PROPN
asir-56442	101	32	yifan	yifan	PROPN
asir-56442	101	33	,	,	PUNCT
asir-56442	101	34	et	et	PROPN
asir-56442	101	35	al	al	PROPN
asir-56442	101	36	.	.	PROPN
asir-56442	101	37	,	,	PUNCT
asir-56442	101	38	2021	2021	NUM
asir-56442	101	39	)	)	PUNCT
asir-56442	101	40	.	.	PUNCT
asir-56442	102	1	the	the	DET
asir-56442	102	2	terminal	terminal	ADJ
asir-56442	102	3	layer	layer	NOUN
asir-56442	102	4	features	feature	VERB
asir-56442	102	5	a	a	DET
asir-56442	102	6	“	"	PUNCT
asir-56442	102	7	modular	modular	ADJ
asir-56442	102	8	low	low	ADJ
asir-56442	102	9	-	-	PUNCT
asir-56442	102	10	power	power	NOUN
asir-56442	102	11	design	design	NOUN
asir-56442	102	12	,	,	PUNCT
asir-56442	102	13	”	"	PUNCT
asir-56442	102	14	replacing	replace	VERB
asir-56442	102	15	the	the	DET
asir-56442	102	16	existing	exist	VERB
asir-56442	102	17	sbc	sbc	NOUN
asir-56442	102	18	and	and	CCONJ
asir-56442	102	19	edge	edge	NOUN
asir-56442	102	20	boards	board	NOUN
asir-56442	102	21	with	with	ADP
asir-56442	102	22	a	a	DET
asir-56442	102	23	7	7	NUM
asir-56442	102	24	nm	nm	NOUN
asir-56442	102	25	edge	edge	NOUN
asir-56442	102	26	computing	compute	VERB
asir-56442	102	27	soc	soc	NOUN
asir-56442	102	28	,	,	PUNCT
asir-56442	102	29	reducing	reduce	VERB
asir-56442	102	30	slam	slam	NOUN
asir-56442	102	31	computational	computational	ADJ
asir-56442	102	32	power	power	NOUN
asir-56442	102	33	consumption	consumption	NOUN
asir-56442	102	34	from	from	ADP
asir-56442	102	35	3w	3w	NUM
asir-56442	102	36	to	to	ADP
asir-56442	102	37	1.2w	1.2w	NUM
asir-56442	102	38	;	;	PUNCT
asir-56442	102	39	using	use	VERB
asir-56442	102	40	layered	layered	ADJ
asir-56442	102	41	soft	soft	ADJ
asir-56442	102	42	-	-	PUNCT
asir-56442	102	43	pack	pack	NOUN
asir-56442	102	44	batteries	battery	NOUN
asir-56442	102	45	combined	combine	VERB
asir-56442	102	46	with	with	ADP
asir-56442	102	47	an	an	DET
asir-56442	102	48	adaptive	adaptive	ADJ
asir-56442	102	49	low	low	ADJ
asir-56442	102	50	-	-	PUNCT
asir-56442	102	51	power	power	NOUN
asir-56442	102	52	architecture	architecture	NOUN
asir-56442	102	53	extends	extend	VERB
asir-56442	102	54	battery	battery	NOUN
asir-56442	102	55	life	life	NOUN
asir-56442	102	56	to	to	ADP
asir-56442	102	57	10	10	NUM
asir-56442	102	58	hours	hour	NOUN
asir-56442	102	59	.	.	PUNCT
asir-56442	103	1	the	the	DET
asir-56442	103	2	integrated	integrate	VERB
asir-56442	103	3	structure	structure	NOUN
asir-56442	103	4	featuring	feature	VERB
asir-56442	103	5	a	a	DET
asir-56442	103	6	carbon	carbon	NOUN
asir-56442	103	7	fiber	fiber	NOUN
asir-56442	103	8	frame	frame	NOUN
asir-56442	103	9	,	,	PUNCT
asir-56442	103	10	haptic	haptic	ADJ
asir-56442	103	11	units	unit	NOUN
asir-56442	103	12	,	,	PUNCT
asir-56442	103	13	and	and	CCONJ
asir-56442	103	14	a	a	DET
asir-56442	103	15	strap	strap	NOUN
asir-56442	103	16	board	board	NOUN
asir-56442	103	17	keeps	keep	VERB
asir-56442	103	18	the	the	DET
asir-56442	103	19	weight	weight	NOUN
asir-56442	103	20	under	under	ADP
asir-56442	103	21	350	350	NUM
asir-56442	103	22	g.	g.	NOUN
asir-56442	103	23	6	6	NUM
asir-56442	103	24	.	.	PUNCT
asir-56442	104	1	conclusion	conclusion	NOUN
asir-56442	104	2	smart	smart	ADJ
asir-56442	104	3	devices	device	NOUN
asir-56442	104	4	demonstrate	demonstrate	VERB
asir-56442	104	5	significant	significant	ADJ
asir-56442	104	6	technical	technical	ADJ
asir-56442	104	7	advantages	advantage	NOUN
asir-56442	104	8	in	in	ADP
asir-56442	104	9	navigation	navigation	NOUN
asir-56442	104	10	and	and	CCONJ
asir-56442	104	11	interaction	interaction	NOUN
asir-56442	104	12	for	for	ADP
asir-56442	104	13	the	the	DET
asir-56442	104	14	visually	visually	ADV
asir-56442	104	15	impaired	impaired	ADJ
asir-56442	104	16	.	.	PUNCT
asir-56442	105	1	the	the	DET
asir-56442	105	2	integration	integration	NOUN
asir-56442	105	3	of	of	ADP
asir-56442	105	4	haptic	haptic	ADJ
asir-56442	105	5	feedback	feedback	NOUN
asir-56442	105	6	and	and	CCONJ
asir-56442	105	7	voice	voice	NOUN
asir-56442	105	8	interaction	interaction	NOUN
asir-56442	105	9	effectively	effectively	ADV
asir-56442	105	10	enhances	enhance	VERB
asir-56442	105	11	travel	travel	NOUN
asir-56442	105	12	safety	safety	NOUN
asir-56442	105	13	and	and	CCONJ
asir-56442	105	14	information	information	NOUN
asir-56442	105	15	retrieval	retrieval	NOUN
asir-56442	105	16	efficiency	efficiency	NOUN
asir-56442	105	17	.	.	PUNCT
asir-56442	106	1	however	however	ADV
asir-56442	106	2	,	,	PUNCT
asir-56442	106	3	practical	practical	ADJ
asir-56442	106	4	applications	application	NOUN
asir-56442	106	5	still	still	ADV
asir-56442	106	6	face	face	VERB
asir-56442	106	7	challenges	challenge	NOUN
asir-56442	106	8	such	such	ADJ
asir-56442	106	9	as	as	ADP
asir-56442	106	10	noise	noise	NOUN
asir-56442	106	11	interference	interference	NOUN
asir-56442	106	12	in	in	ADP
asir-56442	106	13	voice	voice	NOUN
asir-56442	106	14	recognition	recognition	NOUN
asir-56442	106	15	,	,	PUNCT
asir-56442	106	16	vibration	vibration	NOUN
asir-56442	106	17	-	-	PUNCT
asir-56442	106	18	induced	induce	VERB
asir-56442	106	19	latency	latency	NOUN
asir-56442	106	20	,	,	PUNCT
asir-56442	106	21	power	power	NOUN
asir-56442	106	22	consumption	consumption	NOUN
asir-56442	106	23	,	,	PUNCT
asir-56442	106	24	and	and	CCONJ
asir-56442	106	25	the	the	DET
asir-56442	106	26	miniaturization	miniaturization	NOUN
asir-56442	106	27	and	and	CCONJ
asir-56442	106	28	battery	battery	NOUN
asir-56442	106	29	life	life	NOUN
asir-56442	106	30	of	of	ADP
asir-56442	106	31	wearable	wearable	ADJ
asir-56442	106	32	devices	device	NOUN
asir-56442	106	33	.	.	PUNCT
asir-56442	107	1	therefore	therefore	ADV
asir-56442	107	2	,	,	PUNCT
asir-56442	107	3	future	future	ADJ
asir-56442	107	4	efforts	effort	NOUN
asir-56442	107	5	should	should	AUX
asir-56442	107	6	focus	focus	VERB
asir-56442	107	7	on	on	ADP
asir-56442	107	8	continuously	continuously	ADV
asir-56442	107	9	improving	improve	VERB
asir-56442	107	10	multi	multi	ADJ
asir-56442	107	11	-	-	ADJ
asir-56442	107	12	modal	modal	ADJ
asir-56442	107	13	joint	joint	ADJ
asir-56442	107	14	optimization	optimization	NOUN
asir-56442	107	15	algorithms	algorithm	NOUN
asir-56442	107	16	,	,	PUNCT
asir-56442	107	17	optimizing	optimize	VERB
asir-56442	107	18	human	human	ADJ
asir-56442	107	19	-	-	PUNCT
asir-56442	107	20	machine	machine	NOUN
asir-56442	107	21	interaction	interaction	NOUN
asir-56442	107	22	,	,	PUNCT
asir-56442	107	23	and	and	CCONJ
asir-56442	107	24	designing	design	VERB
asir-56442	107	25	lowpower	lowpower	NOUN
asir-56442	107	26	components	component	NOUN
asir-56442	107	27	to	to	PART
asir-56442	107	28	promote	promote	VERB
asir-56442	107	29	the	the	DET
asir-56442	107	30	widespread	widespread	ADJ
asir-56442	107	31	adoption	adoption	NOUN
asir-56442	107	32	of	of	ADP
asir-56442	107	33	smart	smart	ADJ
asir-56442	107	34	devices	device	NOUN
asir-56442	107	35	in	in	ADP
asir-56442	107	36	blind	blind	ADJ
asir-56442	107	37	navigation	navigation	NOUN
asir-56442	107	38	,	,	PUNCT
asir-56442	107	39	thereby	thereby	ADV
asir-56442	107	40	improving	improve	VERB
asir-56442	107	41	the	the	DET
asir-56442	107	42	quality	quality	NOUN
asir-56442	107	43	of	of	ADP
asir-56442	107	44	life	life	NOUN
asir-56442	107	45	for	for	ADP
asir-56442	107	46	the	the	DET
asir-56442	107	47	visually	visually	ADV
asir-56442	107	48	impaired	impaired	ADJ
asir-56442	107	49	.	.	PUNCT
asir-56442	108	1	references	reference	NOUN
asir-56442	108	2	guo	guo	PROPN
asir-56442	108	3	zhanmiao	zhanmiao	PROPN
asir-56442	108	4	,	,	PUNCT
asir-56442	108	5	&	&	CCONJ
asir-56442	108	6	wang	wang	PROPN
asir-56442	108	7	bo	bo	PROPN
asir-56442	108	8	.	.	PUNCT
asir-56442	109	1	(	(	PUNCT
asir-56442	109	2	2023	2023	NUM
asir-56442	109	3	)	)	PUNCT
asir-56442	109	4	.	.	PUNCT
asir-56442	110	1	simulation	simulation	NOUN
asir-56442	110	2	and	and	CCONJ
asir-56442	110	3	experimental	experimental	ADJ
asir-56442	110	4	study	study	NOUN
asir-56442	110	5	on	on	ADP
asir-56442	110	6	multi	multi	ADJ
asir-56442	110	7	functional	functional	ADJ
asir-56442	110	8	intelligent	intelligent	ADJ
asir-56442	110	9	blind	blind	ADJ
asir-56442	110	10	navigation	navigation	NOUN
asir-56442	110	11	system	system	NOUN
asir-56442	110	12	.	.	PUNCT
asir-56442	111	1	industrial	industrial	ADJ
asir-56442	111	2	control	control	PROPN
asir-56442	111	3	computer	computer	NOUN
asir-56442	111	4	,	,	PUNCT
asir-56442	111	5	36(11	36(11	NUM
asir-56442	111	6	)	)	PUNCT
asir-56442	111	7	,	,	PUNCT
asir-56442	111	8	166	166	NUM
asir-56442	111	9	-	-	SYM
asir-56442	111	10	169	169	NUM
asir-56442	111	11	.	.	PUNCT
asir-56442	112	1	hu	hu	PROPN
asir-56442	112	2	geyou	geyou	PROPN
asir-56442	112	3	,	,	PUNCT
asir-56442	112	4	li	li	PROPN
asir-56442	112	5	lieqi	lieqi	PROPN
asir-56442	112	6	,	,	PUNCT
asir-56442	112	7	xiao	xiao	PROPN
asir-56442	112	8	jinfeng	jinfeng	PROPN
asir-56442	112	9	,	,	PUNCT
asir-56442	112	10	et	et	PROPN
asir-56442	112	11	al	al	PROPN
asir-56442	112	12	.	.	PROPN
asir-56442	112	13	(	(	PUNCT
asir-56442	112	14	2022	2022	NUM
asir-56442	112	15	)	)	PUNCT
asir-56442	112	16	.	.	PUNCT
asir-56442	113	1	development	development	NOUN
asir-56442	113	2	of	of	ADP
asir-56442	113	3	a	a	DET
asir-56442	113	4	wearable	wearable	ADJ
asir-56442	113	5	intelligent	intelligent	ADJ
asir-56442	113	6	navigation	navigation	NOUN
asir-56442	113	7	device	device	NOUN
asir-56442	113	8	for	for	ADP
asir-56442	113	9	blind	blind	ADJ
asir-56442	113	10	people	people	NOUN
asir-56442	113	11	based	base	VERB
asir-56442	113	12	on	on	ADP
asir-56442	113	13	visual	visual	ADJ
asir-56442	113	14	detection	detection	NOUN
asir-56442	113	15	technology	technology	NOUN
asir-56442	113	16	.	.	PUNCT
asir-56442	114	1	software	software	NOUN
asir-56442	114	2	,	,	PUNCT
asir-56442	114	3	43(07	43(07	NUM
asir-56442	114	4	)	)	PUNCT
asir-56442	114	5	,	,	PUNCT
asir-56442	114	6	7	7	NUM
asir-56442	114	7	-	-	SYM
asir-56442	114	8	9	9	NUM
asir-56442	114	9	.	.	PUNCT
asir-56442	114	10	wu	wu	PROPN
asir-56442	114	11	wenxin	wenxin	PROPN
asir-56442	114	12	,	,	PUNCT
asir-56442	114	13	li	li	PROPN
asir-56442	114	14	zhiyuan	zhiyuan	PROPN
asir-56442	114	15	,	,	PUNCT
asir-56442	114	16	chen	chen	PROPN
asir-56442	114	17	yifan	yifan	PROPN
asir-56442	114	18	,	,	PUNCT
asir-56442	114	19	et	et	PROPN
asir-56442	114	20	al	al	PROPN
asir-56442	114	21	.	.	PROPN
asir-56442	114	22	(	(	PUNCT
asir-56442	114	23	2021	2021	NUM
asir-56442	114	24	)	)	PUNCT
asir-56442	114	25	.	.	PUNCT
asir-56442	115	1	design	design	NOUN
asir-56442	115	2	of	of	ADP
asir-56442	115	3	an	an	DET
asir-56442	115	4	iot	iot	ADJ
asir-56442	115	5	blind	blind	ADJ
asir-56442	115	6	intelligent	intelligent	ADJ
asir-56442	115	7	navigation	navigation	NOUN
asir-56442	115	8	system	system	NOUN
asir-56442	115	9	.	.	PUNCT
asir-56442	116	1	equipment	equipment	NOUN
asir-56442	116	2	manufacturing	manufacturing	NOUN
asir-56442	116	3	technology	technology	NOUN
asir-56442	116	4	,	,	PUNCT
asir-56442	116	5	2021(07	2021(07	NUM
asir-56442	116	6	)	)	PUNCT
asir-56442	116	7	,	,	PUNCT
asir-56442	116	8	139	139	NUM
asir-56442	116	9	-	-	SYM
asir-56442	116	10	141	141	NUM
asir-56442	116	11	+	+	NOUN
asir-56442	116	12	162	162	NUM
asir-56442	116	13	.	.	PUNCT
asir-56442	117	1	zhang	zhang	PROPN
asir-56442	117	2	fangfang	fangfang	PROPN
asir-56442	117	3	,	,	PUNCT
asir-56442	117	4	li	li	PROPN
asir-56442	117	5	xiaoxuan	xiaoxuan	PROPN
asir-56442	117	6	,	,	PUNCT
asir-56442	117	7	yang	yang	PROPN
asir-56442	117	8	shuqiang	shuqiang	PROPN
asir-56442	117	9	,	,	PUNCT
asir-56442	117	10	et	et	PROPN
asir-56442	117	11	al	al	PROPN
asir-56442	117	12	.	.	PUNCT
asir-56442	117	13	(	(	PUNCT
asir-56442	117	14	2024	2024	NUM
asir-56442	117	15	)	)	PUNCT
asir-56442	117	16	.	.	PUNCT
asir-56442	118	1	design	design	NOUN
asir-56442	118	2	of	of	ADP
asir-56442	118	3	intelligent	intelligent	ADJ
asir-56442	118	4	blind	blind	ADJ
asir-56442	118	5	navigation	navigation	NOUN
asir-56442	118	6	cane	cane	NOUN
asir-56442	118	7	.	.	PUNCT
asir-56442	119	1	electronics	electronic	NOUN
asir-56442	119	2	quality	quality	NOUN
asir-56442	119	3	,	,	PUNCT
asir-56442	119	4	2024(01	2024(01	NUM
asir-56442	119	5	)	)	PUNCT
asir-56442	119	6	,	,	PUNCT
asir-56442	119	7	51	51	NUM
asir-56442	119	8	-	-	SYM
asir-56442	119	9	57	57	NUM
asir-56442	119	10	.	.	PUNCT
asir-56442	120	1	zhao	zhao	PROPN
asir-56442	120	2	jinku	jinku	PROPN
asir-56442	120	3	,	,	PUNCT
asir-56442	120	4	kang	kang	PROPN
asir-56442	120	5	zhenyu	zhenyu	PROPN
asir-56442	120	6	,	,	PUNCT
asir-56442	120	7	&	&	CCONJ
asir-56442	120	8	xiong	xiong	PROPN
asir-56442	120	9	geya	geya	PROPN
asir-56442	120	10	.	.	PUNCT
asir-56442	121	1	(	(	PUNCT
asir-56442	121	2	2024	2024	NUM
asir-56442	121	3	)	)	PUNCT
asir-56442	121	4	.	.	PUNCT
asir-56442	122	1	design	design	NOUN
asir-56442	122	2	scheme	scheme	NOUN
asir-56442	122	3	of	of	ADP
asir-56442	122	4	intelligent	intelligent	ADJ
asir-56442	122	5	voice	voice	NOUN
asir-56442	122	6	blind	blind	ADJ
asir-56442	122	7	cane	cane	NOUN
asir-56442	122	8	.	.	PUNCT
asir-56442	123	1	internet	internet	NOUN
asir-56442	123	2	of	of	ADP
asir-56442	123	3	things	thing	NOUN
asir-56442	123	4	technologies	technology	NOUN
asir-56442	123	5	,	,	PUNCT
asir-56442	123	6	14(02	14(02	NUM
asir-56442	123	7	)	)	PUNCT
asir-56442	123	8	,	,	PUNCT
asir-56442	123	9	149	149	NUM
asir-56442	123	10	-	-	SYM
asir-56442	123	11	151	151	NUM
asir-56442	123	12	.	.	PUNCT