id	sid	eid	entity	type
arestyrurj-158	1	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	1	2	4.0	CARDINAL
arestyrurj-158	2	1	martian	NORP
arestyrurj-158	2	2	julian bowne	PERSON
arestyrurj-158	2	3	dr.	PERSON
arestyrurj-158	2	4	annalisa	PERSON
arestyrurj-158	3	1	nasa	ORG
arestyrurj-158	4	1	martian	NORP
arestyrurj-158	9	1	1	CARDINAL
arestyrurj-158	10	1	2,8,12	CARDINAL
arestyrurj-158	12	1	nasa	ORG
arestyrurj-158	13	1	kazuya yoshida's	PERSON
arestyrurj-158	14	1	martian	NORP
arestyrurj-158	15	1	two	CARDINAL
arestyrurj-158	18	1	yoshida	PERSON
arestyrurj-158	20	1	1	CARDINAL
arestyrurj-158	20	2	one	CARDINAL
arestyrurj-158	23	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	29	1	yoshida	PERSON
arestyrurj-158	31	1	2%	PERCENT
arestyrurj-158	35	1	mathworks	PERSON
arestyrurj-158	36	1	matlab	ORG
arestyrurj-158	44	1	2	CARDINAL
arestyrurj-158	46	1	three	CARDINAL
arestyrurj-158	47	1	1	CARDINAL
arestyrurj-158	48	1	2	CARDINAL
arestyrurj-158	49	1	3	CARDINAL
arestyrurj-158	51	1	two	CARDINAL
arestyrurj-158	51	2	first	ORDINAL
arestyrurj-158	51	3	mathworks	PERSON
arestyrurj-158	51	4	second	ORDINAL
arestyrurj-158	52	1	second	ORDINAL
arestyrurj-158	52	2	quarter	CARDINAL
arestyrurj-158	53	1	1	CARDINAL
arestyrurj-158	54	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	54	2	first	ORDINAL
arestyrurj-158	55	1	quarter	CARDINAL
arestyrurj-158	55	2	a quarter	CARDINAL
arestyrurj-158	57	1	newton	ORG
arestyrurj-158	57	2	second	ORDINAL
arestyrurj-158	57	3	quarter	CARDINAL
arestyrurj-158	57	4	newton	GPE
arestyrurj-158	57	5	second	ORDINAL
arestyrurj-158	58	1	quarter	CARDINAL
arestyrurj-158	59	1	two	CARDINAL
arestyrurj-158	63	1	four	CARDINAL
arestyrurj-158	65	1	three	CARDINAL
arestyrurj-158	65	2	two	CARDINAL
arestyrurj-158	65	3	one	CARDINAL
arestyrurj-158	67	1	martian	NORP
arestyrurj-158	68	1	2	CARDINAL
arestyrurj-158	70	1	𝑀𝑀	ORG
arestyrurj-158	70	2	𝑇𝑇𝑚𝑚	ORG
arestyrurj-158	71	1	1	CARDINAL
arestyrurj-158	72	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	72	2	3	CARDINAL
arestyrurj-158	75	1	two	CARDINAL
arestyrurj-158	75	2	2	CARDINAL
arestyrurj-158	76	1	2	CARDINAL
arestyrurj-158	77	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	77	2	two	CARDINAL
arestyrurj-158	78	1	yoshida	ORG
arestyrurj-158	78	2	nasa	ORG
arestyrurj-158	78	3	mass[13,17	GPE
arestyrurj-158	81	1	first	ORDINAL
arestyrurj-158	83	1	taylor series	PERSON
arestyrurj-158	85	1	5th	ORDINAL
arestyrurj-158	93	1	the dc motor	GPE
arestyrurj-158	93	2	newton	GPE
arestyrurj-158	93	3	second	ORDINAL
arestyrurj-158	93	4	kirchhoff	ORG
arestyrurj-158	96	1	3	CARDINAL
arestyrurj-158	97	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	100	1	quarter	CARDINAL
arestyrurj-158	100	2	a quarter	CARDINAL
arestyrurj-158	101	1	newton	GPE
arestyrurj-158	101	2	second	ORDINAL
arestyrurj-158	104	1	pacejka	ORG
arestyrurj-158	107	1	taylor	PERSON
arestyrurj-158	112	1	kirchhoff	ORG
arestyrurj-158	113	1	zero	CARDINAL
arestyrurj-158	114	1	4	CARDINAL
arestyrurj-158	114	2	taylor	PERSON
arestyrurj-158	117	1	5	CARDINAL
arestyrurj-158	117	2	dc motor armature circuit	ORG
arestyrurj-158	120	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	120	2	3	CARDINAL
arestyrurj-158	121	1	first	ORDINAL
arestyrurj-158	126	1	zero	CARDINAL
arestyrurj-158	127	1	7	CARDINAL
arestyrurj-158	128	1	three	CARDINAL
arestyrurj-158	128	2	smc	ORG
arestyrurj-158	128	3	the dc motor	GPE
arestyrurj-158	129	1	smc	ORG
arestyrurj-158	129	2	three	CARDINAL
arestyrurj-158	133	1	martian	NORP
arestyrurj-158	134	1	6	CARDINAL
arestyrurj-158	135	1	first	ORDINAL
arestyrurj-158	136	1	zero	CARDINAL
arestyrurj-158	137	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	139	1	zero	CARDINAL
arestyrurj-158	141	1	6	CARDINAL
arestyrurj-158	149	1	three	CARDINAL
arestyrurj-158	155	1	4	CARDINAL
arestyrurj-158	162	1	five	CARDINAL
arestyrurj-158	166	1	0.16	CARDINAL
arestyrurj-158	170	1	7	CARDINAL
arestyrurj-158	170	2	0.7 to 0.1 seconds	TIME
arestyrurj-158	171	1	3	CARDINAL
arestyrurj-158	176	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	176	2	8	CARDINAL
arestyrurj-158	176	3	pacejka	ORG
arestyrurj-158	178	1	9	CARDINAL
arestyrurj-158	178	2	pacejka	ORG
arestyrurj-158	180	1	10	CARDINAL
arestyrurj-158	180	2	pacejka	ORG
arestyrurj-158	182	1	11	CARDINAL
arestyrurj-158	182	2	pacejka	ORG
arestyrurj-158	184	1	12	CARDINAL
arestyrurj-158	184	2	pacejka	ORG
arestyrurj-158	186	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	186	2	13	CARDINAL
arestyrurj-158	189	1	14	CARDINAL
arestyrurj-158	191	1	15	CARDINAL
arestyrurj-158	193	1	16	CARDINAL
arestyrurj-158	196	1	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	196	2	5	CARDINAL
arestyrurj-158	200	1	three	CARDINAL
arestyrurj-158	204	1	mars	LOC
arestyrurj-158	212	1	taylor	PERSON
arestyrurj-158	212	2	6	CARDINAL
arestyrurj-158	212	3	annalisa scacchioli	PERSON
arestyrurj-158	215	1	arjun singh	PERSON
arestyrurj-158	215	2	vishal rachapudi	PERSON
arestyrurj-158	215	3	galileo wang	PERSON
arestyrurj-158	216	1	7	CARDINAL
arestyrurj-158	216	2	1	CARDINAL
arestyrurj-158	216	3	r.	NORP
arestyrurj-158	216	4	j., heverly	PERSON
arestyrurj-158	216	5	m.	PERSON
arestyrurj-158	216	6	shechet	PERSON
arestyrurj-158	216	7	j., moreland	PERSON
arestyrurj-158	216	8	s.	PERSON
arestyrurj-158	216	9	m., stein, n., steffy, a.	PERSON
arestyrurj-158	216	10	zhou	PERSON
arestyrurj-158	216	11	a.	GPE
arestyrurj-158	216	12	a.	PERSON
arestyrurj-158	216	13	a., & stilly	ORG
arestyrurj-158	216	14	2017	CARDINAL
arestyrurj-158	217	1	mars	LOC
arestyrurj-158	218	1	journal of terramechanics	ORG
arestyrurj-158	218	2	73	DATE
arestyrurj-158	219	1	2	CARDINAL
arestyrurj-158	219	2	gonzalez	PERSON
arestyrurj-158	219	3	r.	NORP
arestyrurj-158	219	4	apostolopoulos	ORG
arestyrurj-158	219	5	d. & iagnemma	ORG
arestyrurj-158	220	1	auton	ORG
arestyrurj-158	220	2	43	CARDINAL
arestyrurj-158	220	3	2019	DATE
arestyrurj-158	221	1	17	CARDINAL
arestyrurj-158	222	1	six	CARDINAL
arestyrurj-158	222	2	rocker-bogie	PERSON
arestyrurj-158	223	1	3d	CARDINAL
arestyrurj-158	227	1	https://doi.org/10.1016/j.jterra.2017.03.001	ORG
arestyrurj-158	227	2	aresty rutgers undergraduate research journal	ORG
arestyrurj-158	228	1	3	CARDINAL
arestyrurj-158	232	1	simulinkmodeling#1	CARDINAL
arestyrurj-158	232	2	4	CARDINAL
arestyrurj-158	232	3	ahmed, a.	PERSON
arestyrurj-158	232	4	a., & abdulhamid	ORG
arestyrurj-158	232	5	a.	PERSON
arestyrurj-158	232	6	2015	CARDINAL
arestyrurj-158	233	1	quarter	CARDINAL
arestyrurj-158	233	2	28	CARDINAL
arestyrurj-158	233	3	6	CARDINAL
arestyrurj-158	233	4	291–293	CARDINAL
arestyrurj-158	234	1	5	CARDINAL
arestyrurj-158	236	1	6	CARDINAL
arestyrurj-158	236	2	han	NORP
arestyrurj-158	236	3	m., lee	PERSON
arestyrurj-158	236	4	b., & choi	ORG
arestyrurj-158	236	5	s. b.	PERSON
arestyrurj-158	237	1	2018	DATE
arestyrurj-158	239	1	67	CARDINAL
arestyrurj-158	239	2	1	CARDINAL
arestyrurj-158	239	3	264-274	CARDINAL
arestyrurj-158	239	4	7	CARDINAL
arestyrurj-158	239	5	s.	PERSON
arestyrurj-158	239	6	2004	DATE
arestyrurj-158	241	1	berlin	GPE
arestyrurj-158	242	1	s.	PERSON
arestyrurj-158	242	2	liao	PERSON
arestyrurj-158	242	3	c., chen	PERSON
arestyrurj-158	242	4	s., & wang	ORG
arestyrurj-158	242	5	2009	DATE
arestyrurj-158	242	6	dearborn	GPE
arestyrurj-158	242	7	mi	GPE
arestyrurj-158	242	8	2009	DATE
arestyrurj-158	242	9	1535-1540	CARDINAL
arestyrurj-158	242	10	10.1109	CARDINAL
arestyrurj-158	243	1	9	CARDINAL
arestyrurj-158	244	1	2019	CARDINAL
arestyrurj-158	245	1	9.7.0	CARDINAL
arestyrurj-158	246	1	natick	GPE
arestyrurj-158	246	2	massachusetts	GPE
arestyrurj-158	246	3	the mathworks inc	ORG
arestyrurj-158	247	1	10	CARDINAL
arestyrurj-158	248	1	matlab & simulink	ORG
arestyrurj-158	250	1	11	CARDINAL
arestyrurj-158	250	2	h. b.	PERSON
arestyrurj-158	250	3	2002	DATE
arestyrurj-158	253	1	12	CARDINAL
arestyrurj-158	253	2	g.	PERSON
arestyrurj-158	253	3	giannoccaro	PERSON
arestyrurj-158	253	4	n.i.	GPE
arestyrurj-158	253	5	2013	DATE
arestyrurj-158	254	1	four	CARDINAL
arestyrurj-158	255	1	13	CARDINAL
arestyrurj-158	256	1	nasa	ORG
arestyrurj-158	256	2	9	CARDINAL
arestyrurj-158	256	3	sept. 2019	DATE
arestyrurj-158	256	4	14	CARDINAL
arestyrurj-158	256	5	j., rankin, a.	ORG
arestyrurj-158	256	6	steffy, a.	ORG
arestyrurj-158	256	7	levine	PERSON
arestyrurj-158	256	8	d.	NORP
arestyrurj-158	256	9	schadegg	GPE
arestyrurj-158	256	10	m., & maimone	ORG
arestyrurj-158	256	11	2018	DATE
arestyrurj-158	258	1	2018	DATE
arestyrurj-158	259	1	15	CARDINAL
arestyrurj-158	259	2	j. y.	PERSON
arestyrurj-158	259	3	1978	DATE
arestyrurj-158	260	1	chapter 2.	LAW
arestyrurj-158	262	1	john wiley & sons	ORG
arestyrurj-158	263	1	16	CARDINAL
arestyrurj-158	263	2	k.	PERSON
arestyrurj-158	263	3	2002	DATE
arestyrurj-158	263	4	2002	DATE
arestyrurj-158	264	1	3155-3160	DATE
arestyrurj-158	265	1	17	CARDINAL
arestyrurj-158	265	2	k.	PERSON
arestyrurj-158	265	3	h., & watanabe	ORG
arestyrurj-158	265	4	t.	GPE
arestyrurj-158	265	5	2003	DATE
arestyrurj-158	266	1	b. siciliano	PERSON
arestyrurj-158	266	2	p. dario	PERSON
arestyrurj-158	266	3	5	CARDINAL
arestyrurj-158	267	1	644–653	CARDINAL