id	sid	tid	token	lemma	pos
arestyrurj-156	1	1	aresty	aresty	PROPN
arestyrurj-156	1	2	rutgers	rutgers	PROPN
arestyrurj-156	1	3	undergraduate	undergraduate	PROPN
arestyrurj-156	1	4	research	research	PROPN
arestyrurj-156	1	5	journal	journal	PROPN
arestyrurj-156	1	6	,	,	PUNCT
arestyrurj-156	1	7	volume	volume	NOUN
arestyrurj-156	1	8	i	i	PRON
arestyrurj-156	1	9	,	,	PUNCT
arestyrurj-156	1	10	issue	issue	NOUN
arestyrurj-156	1	11	ii	ii	NOUN
arestyrurj-156	1	12	this	this	DET
arestyrurj-156	1	13	work	work	NOUN
arestyrurj-156	1	14	is	be	AUX
arestyrurj-156	1	15	licensed	license	VERB
arestyrurj-156	1	16	under	under	ADP
arestyrurj-156	1	17	a	a	DET
arestyrurj-156	1	18	creative	creative	ADJ
arestyrurj-156	1	19	commons	common	NOUN
arestyrurj-156	1	20	attribution	attribution	NOUN
arestyrurj-156	1	21	-	-	PUNCT
arestyrurj-156	1	22	noncommercial	noncommercial	ADJ
arestyrurj-156	1	23	-	-	PUNCT
arestyrurj-156	1	24	sharealike	sharealike	ADJ
arestyrurj-156	1	25	4.0	4.0	NUM
arestyrurj-156	1	26	international	international	ADJ
arestyrurj-156	1	27	license	license	NOUN
arestyrurj-156	1	28	.	.	PUNCT
arestyrurj-156	2	1	control	control	NOUN
arestyrurj-156	2	2	of	of	ADP
arestyrurj-156	2	3	satellites	satellite	NOUN
arestyrurj-156	2	4	with	with	ADP
arestyrurj-156	2	5	onboard	onboard	ADP
arestyrurj-156	2	6	robotic	robotic	ADJ
arestyrurj-156	2	7	manipulators	manipulator	NOUN
arestyrurj-156	2	8	robert	robert	PROPN
arestyrurj-156	2	9	buckelew	buckelew	PROPN
arestyrurj-156	2	10	,	,	PUNCT
arestyrurj-156	2	11	ethan	ethan	PROPN
arestyrurj-156	2	12	catalanello	catalanello	PROPN
arestyrurj-156	2	13	,	,	PUNCT
arestyrurj-156	2	14	annalisa	annalisa	PROPN
arestyrurj-156	2	15	scacchioli	scacchioli	NOUN
arestyrurj-156	2	16	(	(	PUNCT
arestyrurj-156	2	17	faculty	faculty	NOUN
arestyrurj-156	2	18	advisor	advisor	NOUN
arestyrurj-156	2	19	)	)	PUNCT
arestyrurj-156	2	20	✵	✵	PROPN
arestyrurj-156	2	21	abstract	abstract	ADJ
arestyrurj-156	2	22	free	free	ADV
arestyrurj-156	2	23	-	-	PUNCT
arestyrurj-156	2	24	floating	float	VERB
arestyrurj-156	2	25	satellites	satellite	NOUN
arestyrurj-156	2	26	with	with	ADP
arestyrurj-156	2	27	onboard	onboard	ADP
arestyrurj-156	2	28	robotic	robotic	ADJ
arestyrurj-156	2	29	manipulators	manipulator	NOUN
arestyrurj-156	2	30	are	be	AUX
arestyrurj-156	2	31	subjected	subject	VERB
arestyrurj-156	2	32	to	to	ADP
arestyrurj-156	2	33	widely	widely	ADV
arestyrurj-156	2	34	varying	vary	VERB
arestyrurj-156	2	35	loads	load	NOUN
arestyrurj-156	2	36	resulting	result	VERB
arestyrurj-156	2	37	from	from	ADP
arestyrurj-156	2	38	the	the	DET
arestyrurj-156	2	39	motion	motion	NOUN
arestyrurj-156	2	40	of	of	ADP
arestyrurj-156	2	41	the	the	DET
arestyrurj-156	2	42	robotic	robotic	ADJ
arestyrurj-156	2	43	manipulators	manipulator	NOUN
arestyrurj-156	2	44	.	.	PUNCT
arestyrurj-156	3	1	as	as	SCONJ
arestyrurj-156	3	2	there	there	PRON
arestyrurj-156	3	3	are	be	VERB
arestyrurj-156	3	4	no	no	DET
arestyrurj-156	3	5	fixed	fix	VERB
arestyrurj-156	3	6	supports	support	NOUN
arestyrurj-156	3	7	in	in	ADP
arestyrurj-156	3	8	space	space	NOUN
arestyrurj-156	3	9	,	,	PUNCT
arestyrurj-156	3	10	these	these	DET
arestyrurj-156	3	11	loads	load	NOUN
arestyrurj-156	3	12	will	will	AUX
arestyrurj-156	3	13	cause	cause	VERB
arestyrurj-156	3	14	the	the	DET
arestyrurj-156	3	15	satellite	satellite	NOUN
arestyrurj-156	3	16	to	to	PART
arestyrurj-156	3	17	move	move	VERB
arestyrurj-156	3	18	.	.	PUNCT
arestyrurj-156	4	1	by	by	ADP
arestyrurj-156	4	2	modelling	model	VERB
arestyrurj-156	4	3	the	the	DET
arestyrurj-156	4	4	motion	motion	NOUN
arestyrurj-156	4	5	of	of	ADP
arestyrurj-156	4	6	the	the	DET
arestyrurj-156	4	7	onboard	onboard	ADJ
arestyrurj-156	4	8	robotic	robotic	ADJ
arestyrurj-156	4	9	arms	arm	NOUN
arestyrurj-156	4	10	,	,	PUNCT
arestyrurj-156	4	11	determining	determine	VERB
arestyrurj-156	4	12	the	the	DET
arestyrurj-156	4	13	necessary	necessary	ADJ
arestyrurj-156	4	14	reaction	reaction	NOUN
arestyrurj-156	4	15	loads	load	NOUN
arestyrurj-156	4	16	(	(	PUNCT
arestyrurj-156	4	17	which	which	PRON
arestyrurj-156	4	18	must	must	AUX
arestyrurj-156	4	19	be	be	AUX
arestyrurj-156	4	20	supplied	supply	VERB
arestyrurj-156	4	21	by	by	ADP
arestyrurj-156	4	22	the	the	DET
arestyrurj-156	4	23	satellite	satellite	NOUN
arestyrurj-156	4	24	to	to	PART
arestyrurj-156	4	25	keep	keep	VERB
arestyrurj-156	4	26	the	the	DET
arestyrurj-156	4	27	arm	arm	NOUN
arestyrurj-156	4	28	fixed	fix	VERB
arestyrurj-156	4	29	)	)	PUNCT
arestyrurj-156	4	30	,	,	PUNCT
arestyrurj-156	4	31	and	and	CCONJ
arestyrurj-156	4	32	simulating	simulate	VERB
arestyrurj-156	4	33	the	the	DET
arestyrurj-156	4	34	resulting	result	VERB
arestyrurj-156	4	35	satellite	satellite	NOUN
arestyrurj-156	4	36	dynamics	dynamic	NOUN
arestyrurj-156	4	37	,	,	PUNCT
arestyrurj-156	4	38	we	we	PRON
arestyrurj-156	4	39	designed	design	VERB
arestyrurj-156	4	40	a	a	DET
arestyrurj-156	4	41	model	model	NOUN
arestyrurj-156	4	42	of	of	ADP
arestyrurj-156	4	43	a	a	DET
arestyrurj-156	4	44	satellite	satellite	NOUN
arestyrurj-156	4	45	-	-	PUNCT
arestyrurj-156	4	46	arm	arm	NOUN
arestyrurj-156	4	47	system	system	NOUN
arestyrurj-156	4	48	.	.	PUNCT
arestyrurj-156	5	1	we	we	PRON
arestyrurj-156	5	2	found	find	VERB
arestyrurj-156	5	3	that	that	SCONJ
arestyrurj-156	5	4	a	a	DET
arestyrurj-156	5	5	proportional	proportional	ADJ
arestyrurj-156	5	6	-	-	PUNCT
arestyrurj-156	5	7	integral	integral	ADJ
arestyrurj-156	5	8	-	-	PUNCT
arestyrurj-156	5	9	derivative	derivative	ADJ
arestyrurj-156	5	10	(	(	PUNCT
arestyrurj-156	5	11	pid	pid	NOUN
arestyrurj-156	5	12	)	)	PUNCT
arestyrurj-156	5	13	control	control	NOUN
arestyrurj-156	5	14	scheme	scheme	NOUN
arestyrurj-156	5	15	,	,	PUNCT
arestyrurj-156	5	16	with	with	ADP
arestyrurj-156	5	17	disturbance	disturbance	NOUN
arestyrurj-156	5	18	-	-	PUNCT
arestyrurj-156	5	19	estimating	estimate	VERB
arestyrurj-156	5	20	capabilities	capability	NOUN
arestyrurj-156	5	21	,	,	PUNCT
arestyrurj-156	5	22	was	be	AUX
arestyrurj-156	5	23	effective	effective	ADJ
arestyrurj-156	5	24	in	in	ADP
arestyrurj-156	5	25	maintaining	maintain	VERB
arestyrurj-156	5	26	satellite	satellite	NOUN
arestyrurj-156	5	27	position	position	NOUN
arestyrurj-156	5	28	and	and	CCONJ
arestyrurj-156	5	29	orientation	orientation	NOUN
arestyrurj-156	5	30	during	during	ADP
arestyrurj-156	5	31	the	the	DET
arestyrurj-156	5	32	operation	operation	NOUN
arestyrurj-156	5	33	of	of	ADP
arestyrurj-156	5	34	the	the	DET
arestyrurj-156	5	35	onboard	onboard	ADJ
arestyrurj-156	5	36	robotic	robotic	ADJ
arestyrurj-156	5	37	manipulator	manipulator	NOUN
arestyrurj-156	5	38	.	.	PUNCT
arestyrurj-156	6	1	the	the	DET
arestyrurj-156	6	2	matlab	matlab	PROPN
arestyrurj-156	6	3	-	-	PUNCT
arestyrurj-156	6	4	based	base	VERB
arestyrurj-156	6	5	simulink	simulink	PROPN
arestyrurj-156	6	6	modeling	modeling	NOUN
arestyrurj-156	6	7	environment	environment	NOUN
arestyrurj-156	6	8	was	be	AUX
arestyrurj-156	6	9	used	use	VERB
arestyrurj-156	6	10	to	to	PART
arestyrurj-156	6	11	perform	perform	VERB
arestyrurj-156	6	12	the	the	DET
arestyrurj-156	6	13	simulations	simulation	NOUN
arestyrurj-156	6	14	of	of	ADP
arestyrurj-156	6	15	satellite	satellite	NOUN
arestyrurj-156	6	16	dynamics	dynamic	NOUN
arestyrurj-156	6	17	and	and	CCONJ
arestyrurj-156	6	18	control	control	NOUN
arestyrurj-156	6	19	.	.	PUNCT
arestyrurj-156	7	1	1	1	NUM
arestyrurj-156	7	2	introduction	introduction	NOUN
arestyrurj-156	7	3	the	the	DET
arestyrurj-156	7	4	operational	operational	ADJ
arestyrurj-156	7	5	success	success	NOUN
arestyrurj-156	7	6	of	of	ADP
arestyrurj-156	7	7	several	several	ADJ
arestyrurj-156	7	8	fields	field	NOUN
arestyrurj-156	7	9	,	,	PUNCT
arestyrurj-156	7	10	including	include	VERB
arestyrurj-156	7	11	communication	communication	NOUN
arestyrurj-156	7	12	technology	technology	NOUN
arestyrurj-156	7	13	and	and	CCONJ
arestyrurj-156	7	14	space	space	NOUN
arestyrurj-156	7	15	exploration	exploration	NOUN
arestyrurj-156	7	16	,	,	PUNCT
arestyrurj-156	7	17	is	be	AUX
arestyrurj-156	7	18	dependent	dependent	ADJ
arestyrurj-156	7	19	on	on	ADP
arestyrurj-156	7	20	a	a	DET
arestyrurj-156	7	21	functional	functional	ADJ
arestyrurj-156	7	22	space	space	NOUN
arestyrurj-156	7	23	satellite	satellite	NOUN
arestyrurj-156	7	24	infrastructure	infrastructure	NOUN
arestyrurj-156	7	25	.	.	PUNCT
arestyrurj-156	8	1	an	an	DET
arestyrurj-156	8	2	advanced	advanced	ADJ
arestyrurj-156	8	3	satellite	satellite	NOUN
arestyrurj-156	8	4	network	network	NOUN
arestyrurj-156	8	5	,	,	PUNCT
arestyrurj-156	8	6	such	such	ADJ
arestyrurj-156	8	7	as	as	ADP
arestyrurj-156	8	8	a	a	DET
arestyrurj-156	8	9	constellation	constellation	NOUN
arestyrurj-156	8	10	of	of	ADP
arestyrurj-156	8	11	communications	communication	NOUN
arestyrurj-156	8	12	satellites	satellite	NOUN
arestyrurj-156	8	13	,	,	PUNCT
arestyrurj-156	8	14	will	will	AUX
arestyrurj-156	8	15	require	require	VERB
arestyrurj-156	8	16	routine	routine	ADJ
arestyrurj-156	8	17	maintenance	maintenance	NOUN
arestyrurj-156	8	18	to	to	PART
arestyrurj-156	8	19	maximize	maximize	VERB
arestyrurj-156	8	20	its	its	PRON
arestyrurj-156	8	21	functional	functional	ADJ
arestyrurj-156	8	22	lifetime[1	lifetime[1	NOUN
arestyrurj-156	8	23	]	]	PUNCT
arestyrurj-156	8	24	.	.	PUNCT
arestyrurj-156	9	1	the	the	DET
arestyrurj-156	9	2	defense	defense	NOUN
arestyrurj-156	9	3	advanced	advanced	ADJ
arestyrurj-156	9	4	research	research	NOUN
arestyrurj-156	9	5	projects	project	NOUN
arestyrurj-156	9	6	agency	agency	NOUN
arestyrurj-156	9	7	(	(	PUNCT
arestyrurj-156	9	8	darpa	darpa	PROPN
arestyrurj-156	9	9	)	)	PUNCT
arestyrurj-156	9	10	has	have	AUX
arestyrurj-156	9	11	proposed	propose	VERB
arestyrurj-156	9	12	technology	technology	NOUN
arestyrurj-156	9	13	to	to	PART
arestyrurj-156	9	14	perform	perform	VERB
arestyrurj-156	9	15	robotic	robotic	ADJ
arestyrurj-156	9	16	servicing	servicing	NOUN
arestyrurj-156	9	17	of	of	ADP
arestyrurj-156	9	18	on	on	ADP
arestyrurj-156	9	19	-	-	PUNCT
arestyrurj-156	9	20	orbit	orbit	NOUN
arestyrurj-156	9	21	satellites[2	satellites[2	PROPN
arestyrurj-156	9	22	]	]	PUNCT
arestyrurj-156	9	23	.	.	PUNCT
arestyrurj-156	10	1	the	the	DET
arestyrurj-156	10	2	project	project	NOUN
arestyrurj-156	10	3	is	be	AUX
arestyrurj-156	10	4	titled	title	VERB
arestyrurj-156	10	5	robotic	robotic	ADJ
arestyrurj-156	10	6	servicing	servicing	NOUN
arestyrurj-156	10	7	of	of	ADP
arestyrurj-156	10	8	geosynchronous	geosynchronous	ADJ
arestyrurj-156	10	9	satellites	satellite	NOUN
arestyrurj-156	10	10	(	(	PUNCT
arestyrurj-156	10	11	rsgs	rsgs	PROPN
arestyrurj-156	10	12	)	)	PUNCT
arestyrurj-156	10	13	and	and	CCONJ
arestyrurj-156	10	14	involves	involve	VERB
arestyrurj-156	10	15	satellitemounted	satellitemounte	VERB
arestyrurj-156	10	16	robotic	robotic	ADJ
arestyrurj-156	10	17	arms	arm	NOUN
arestyrurj-156	10	18	which	which	PRON
arestyrurj-156	10	19	can	can	AUX
arestyrurj-156	10	20	perform	perform	VERB
arestyrurj-156	10	21	operations	operation	NOUN
arestyrurj-156	10	22	on	on	ADP
arestyrurj-156	10	23	other	other	ADJ
arestyrurj-156	10	24	satellites	satellite	NOUN
arestyrurj-156	10	25	.	.	PUNCT
arestyrurj-156	11	1	potential	potential	ADJ
arestyrurj-156	11	2	missions	mission	NOUN
arestyrurj-156	11	3	for	for	ADP
arestyrurj-156	11	4	the	the	DET
arestyrurj-156	11	5	“	"	PUNCT
arestyrurj-156	11	6	nurse	nurse	NOUN
arestyrurj-156	11	7	”	"	PUNCT
arestyrurj-156	11	8	satellite	satellite	NOUN
arestyrurj-156	11	9	include	include	VERB
arestyrurj-156	11	10	inspection	inspection	NOUN
arestyrurj-156	11	11	,	,	PUNCT
arestyrurj-156	11	12	installation	installation	NOUN
arestyrurj-156	11	13	,	,	PUNCT
arestyrurj-156	11	14	and	and	CCONJ
arestyrurj-156	11	15	repair	repair	NOUN
arestyrurj-156	11	16	of	of	ADP
arestyrurj-156	11	17	on	on	ADP
arestyrurj-156	11	18	-	-	PUNCT
arestyrurj-156	11	19	orbit	orbit	NOUN
arestyrurj-156	11	20	satellites	satellite	NOUN
arestyrurj-156	11	21	as	as	ADV
arestyrurj-156	11	22	well	well	ADV
arestyrurj-156	11	23	as	as	ADP
arestyrurj-156	11	24	their	their	PRON
arestyrurj-156	11	25	relocation	relocation	NOUN
arestyrurj-156	11	26	to	to	ADP
arestyrurj-156	11	27	new	new	ADJ
arestyrurj-156	11	28	orbits	orbit	NOUN
arestyrurj-156	11	29	.	.	PUNCT
arestyrurj-156	12	1	in	in	ADP
arestyrurj-156	12	2	general	general	ADJ
arestyrurj-156	12	3	,	,	PUNCT
arestyrurj-156	12	4	the	the	DET
arestyrurj-156	12	5	motion	motion	NOUN
arestyrurj-156	12	6	of	of	ADP
arestyrurj-156	12	7	robotic	robotic	ADJ
arestyrurj-156	12	8	manipulators	manipulator	NOUN
arestyrurj-156	12	9	and	and	CCONJ
arestyrurj-156	12	10	the	the	DET
arestyrurj-156	12	11	body	body	NOUN
arestyrurj-156	12	12	to	to	PART
arestyrurj-156	12	13	which	which	PRON
arestyrurj-156	12	14	they	they	PRON
arestyrurj-156	12	15	are	be	AUX
arestyrurj-156	12	16	mounted	mount	VERB
arestyrurj-156	12	17	are	be	AUX
arestyrurj-156	12	18	coupled	couple	VERB
arestyrurj-156	12	19	—	—	PUNCT
arestyrurj-156	12	20	that	that	ADV
arestyrurj-156	12	21	is	is	ADV
arestyrurj-156	12	22	,	,	PUNCT
arestyrurj-156	12	23	the	the	DET
arestyrurj-156	12	24	motion	motion	NOUN
arestyrurj-156	12	25	of	of	ADP
arestyrurj-156	12	26	one	one	NUM
arestyrurj-156	12	27	tends	tend	VERB
arestyrurj-156	12	28	to	to	PART
arestyrurj-156	12	29	influence	influence	VERB
arestyrurj-156	12	30	the	the	DET
arestyrurj-156	12	31	motion	motion	NOUN
arestyrurj-156	12	32	of	of	ADP
arestyrurj-156	12	33	the	the	DET
arestyrurj-156	12	34	other	other	ADJ
arestyrurj-156	12	35	.	.	PUNCT
arestyrurj-156	13	1	the	the	DET
arestyrurj-156	13	2	magnitude	magnitude	NOUN
arestyrurj-156	13	3	of	of	ADP
arestyrurj-156	13	4	this	this	DET
arestyrurj-156	13	5	effect	effect	NOUN
arestyrurj-156	13	6	depends	depend	VERB
arestyrurj-156	13	7	on	on	ADP
arestyrurj-156	13	8	the	the	DET
arestyrurj-156	13	9	inertial	inertial	ADJ
arestyrurj-156	13	10	properties	property	NOUN
arestyrurj-156	13	11	of	of	ADP
arestyrurj-156	13	12	the	the	DET
arestyrurj-156	13	13	bodies	body	NOUN
arestyrurj-156	13	14	and	and	CCONJ
arestyrurj-156	13	15	the	the	DET
arestyrurj-156	13	16	interaction	interaction	NOUN
arestyrurj-156	13	17	forces	force	NOUN
arestyrurj-156	13	18	involved	involve	VERB
arestyrurj-156	13	19	.	.	PUNCT
arestyrurj-156	14	1	in	in	ADP
arestyrurj-156	14	2	a	a	DET
arestyrurj-156	14	3	microgravity	microgravity	NOUN
arestyrurj-156	14	4	environment	environment	NOUN
arestyrurj-156	14	5	such	such	ADJ
arestyrurj-156	14	6	as	as	ADP
arestyrurj-156	14	7	low	low	ADJ
arestyrurj-156	14	8	earth	earth	NOUN
arestyrurj-156	14	9	orbit	orbit	NOUN
arestyrurj-156	14	10	(	(	PUNCT
arestyrurj-156	14	11	leo	leo	PROPN
arestyrurj-156	14	12	)	)	PUNCT
arestyrurj-156	14	13	,	,	PUNCT
arestyrurj-156	14	14	no	no	DET
arestyrurj-156	14	15	dissipative	dissipative	ADJ
arestyrurj-156	14	16	reaction	reaction	NOUN
arestyrurj-156	14	17	forces	force	NOUN
arestyrurj-156	14	18	exist	exist	VERB
arestyrurj-156	14	19	unlike	unlike	ADP
arestyrurj-156	14	20	those	those	PRON
arestyrurj-156	14	21	present	present	ADJ
arestyrurj-156	14	22	in	in	ADP
arestyrurj-156	14	23	operations	operation	NOUN
arestyrurj-156	14	24	performed	perform	VERB
arestyrurj-156	14	25	on	on	ADP
arestyrurj-156	14	26	and	and	CCONJ
arestyrurj-156	14	27	near	near	ADP
arestyrurj-156	14	28	the	the	DET
arestyrurj-156	14	29	earth	earth	NOUN
arestyrurj-156	14	30	’s	’s	PART
arestyrurj-156	14	31	surface	surface	NOUN
arestyrurj-156	14	32	.	.	PUNCT
arestyrurj-156	15	1	therefore	therefore	ADV
arestyrurj-156	15	2	,	,	PUNCT
arestyrurj-156	15	3	the	the	DET
arestyrurj-156	15	4	motion	motion	NOUN
arestyrurj-156	15	5	of	of	ADP
arestyrurj-156	15	6	satellite	satellite	NOUN
arestyrurj-156	15	7	-	-	PUNCT
arestyrurj-156	15	8	mounted	mount	VERB
arestyrurj-156	15	9	robotic	robotic	ADJ
arestyrurj-156	15	10	manipulators	manipulator	NOUN
arestyrurj-156	15	11	will	will	AUX
arestyrurj-156	15	12	have	have	VERB
arestyrurj-156	15	13	significant	significant	ADJ
arestyrurj-156	15	14	effects	effect	NOUN
arestyrurj-156	15	15	on	on	ADP
arestyrurj-156	15	16	satellite	satellite	NOUN
arestyrurj-156	15	17	attitude	attitude	NOUN
arestyrurj-156	15	18	(	(	PUNCT
arestyrurj-156	15	19	the	the	DET
arestyrurj-156	15	20	direction	direction	NOUN
arestyrurj-156	15	21	the	the	DET
arestyrurj-156	15	22	satellite	satellite	NOUN
arestyrurj-156	15	23	is	be	AUX
arestyrurj-156	15	24	pointing	point	VERB
arestyrurj-156	15	25	)	)	PUNCT
arestyrurj-156	16	1	[	[	X
arestyrurj-156	16	2	3	3	NUM
arestyrurj-156	16	3	]	]	PUNCT
arestyrurj-156	16	4	.	.	PUNCT
arestyrurj-156	17	1	it	it	PRON
arestyrurj-156	17	2	is	be	AUX
arestyrurj-156	17	3	desirable	desirable	ADJ
arestyrurj-156	17	4	to	to	PART
arestyrurj-156	17	5	reduce	reduce	VERB
arestyrurj-156	17	6	the	the	DET
arestyrurj-156	17	7	effects	effect	NOUN
arestyrurj-156	17	8	of	of	ADP
arestyrurj-156	17	9	robotic	robotic	ADJ
arestyrurj-156	17	10	manipulator	manipulator	NOUN
arestyrurj-156	17	11	disturbances	disturbance	NOUN
arestyrurj-156	17	12	on	on	ADP
arestyrurj-156	17	13	satellite	satellite	NOUN
arestyrurj-156	17	14	position	position	NOUN
arestyrurj-156	17	15	and	and	CCONJ
arestyrurj-156	17	16	attitude	attitude	NOUN
arestyrurj-156	17	17	using	use	VERB
arestyrurj-156	17	18	an	an	DET
arestyrurj-156	17	19	attitude	attitude	NOUN
arestyrurj-156	17	20	control	control	NOUN
arestyrurj-156	17	21	system	system	NOUN
arestyrurj-156	17	22	(	(	PUNCT
arestyrurj-156	17	23	acs	acs	PROPN
arestyrurj-156	17	24	)	)	PUNCT
arestyrurj-156	17	25	.	.	PUNCT
arestyrurj-156	18	1	an	an	DET
arestyrurj-156	18	2	acs	acs	PROPN
arestyrurj-156	18	3	measures	measure	VERB
arestyrurj-156	18	4	satellite	satellite	NOUN
arestyrurj-156	18	5	position	position	NOUN
arestyrurj-156	18	6	and	and	CCONJ
arestyrurj-156	18	7	orientation	orientation	NOUN
arestyrurj-156	18	8	with	with	ADP
arestyrurj-156	18	9	respect	respect	NOUN
arestyrurj-156	18	10	to	to	ADP
arestyrurj-156	18	11	reference	reference	NOUN
arestyrurj-156	18	12	values	value	NOUN
arestyrurj-156	18	13	.	.	PUNCT
arestyrurj-156	19	1	it	it	PRON
arestyrurj-156	19	2	uses	use	VERB
arestyrurj-156	19	3	mechanical	mechanical	ADJ
arestyrurj-156	19	4	actuators	actuator	NOUN
arestyrurj-156	19	5	(	(	PUNCT
arestyrurj-156	19	6	e.g.	e.g.	ADV
arestyrurj-156	19	7	,	,	PUNCT
arestyrurj-156	19	8	reaction	reaction	NOUN
arestyrurj-156	19	9	wheels	wheel	NOUN
arestyrurj-156	19	10	,	,	PUNCT
arestyrurj-156	19	11	gas	gas	NOUN
arestyrurj-156	19	12	jet	jet	NOUN
arestyrurj-156	19	13	thrusters	thruster	NOUN
arestyrurj-156	19	14	)	)	PUNCT
arestyrurj-156	19	15	to	to	PART
arestyrurj-156	19	16	reject	reject	VERB
arestyrurj-156	19	17	disturbances	disturbance	NOUN
arestyrurj-156	19	18	.	.	PUNCT
arestyrurj-156	20	1	in	in	ADP
arestyrurj-156	20	2	this	this	DET
arestyrurj-156	20	3	project	project	NOUN
arestyrurj-156	20	4	,	,	PUNCT
arestyrurj-156	20	5	we	we	PRON
arestyrurj-156	20	6	model	model	VERB
arestyrurj-156	20	7	the	the	DET
arestyrurj-156	20	8	dynamics	dynamic	NOUN
arestyrurj-156	20	9	of	of	ADP
arestyrurj-156	20	10	the	the	DET
arestyrurj-156	20	11	frend	frend	PROPN
arestyrurj-156	20	12	mark	mark	PROPN
arestyrurj-156	20	13	ii	ii	PROPN
arestyrurj-156	20	14	robotic	robotic	ADJ
arestyrurj-156	20	15	arm	arm	NOUN
arestyrurj-156	20	16	and	and	CCONJ
arestyrurj-156	20	17	simulate	simulate	VERB
arestyrurj-156	20	18	the	the	DET
arestyrurj-156	20	19	motion	motion	NOUN
arestyrurj-156	20	20	of	of	ADP
arestyrurj-156	20	21	a	a	DET
arestyrurj-156	20	22	base	base	NOUN
arestyrurj-156	20	23	satellite	satellite	NOUN
arestyrurj-156	20	24	subjected	subject	VERB
arestyrurj-156	20	25	to	to	ADP
arestyrurj-156	20	26	disturbances	disturbance	NOUN
arestyrurj-156	20	27	from	from	ADP
arestyrurj-156	20	28	the	the	DET
arestyrurj-156	20	29	robotic	robotic	ADJ
arestyrurj-156	20	30	arm	arm	NOUN
arestyrurj-156	20	31	motion	motion	NOUN
arestyrurj-156	20	32	.	.	PUNCT
arestyrurj-156	21	1	additionally	additionally	ADV
arestyrurj-156	21	2	,	,	PUNCT
arestyrurj-156	21	3	we	we	PRON
arestyrurj-156	21	4	designed	design	VERB
arestyrurj-156	21	5	a	a	DET
arestyrurj-156	21	6	control	control	NOUN
arestyrurj-156	21	7	scheme	scheme	NOUN
arestyrurj-156	21	8	using	use	VERB
arestyrurj-156	21	9	a	a	DET
arestyrurj-156	21	10	basic	basic	ADJ
arestyrurj-156	21	11	pid	pid	NOUN
arestyrurj-156	21	12	(	(	PUNCT
arestyrurj-156	21	13	proportional	proportional	ADJ
arestyrurj-156	21	14	-	-	PUNCT
arestyrurj-156	21	15	integral	integral	ADJ
arestyrurj-156	21	16	-	-	PUNCT
arestyrurj-156	21	17	derivative	derivative	ADJ
arestyrurj-156	21	18	)	)	PUNCT
arestyrurj-156	21	19	controller	controller	NOUN
arestyrurj-156	21	20	.	.	PUNCT
arestyrurj-156	22	1	pid	pid	NOUN
arestyrurj-156	22	2	controllers	controller	NOUN
arestyrurj-156	22	3	feature	feature	VERB
arestyrurj-156	22	4	three	three	NUM
arestyrurj-156	22	5	gains	gain	NOUN
arestyrurj-156	22	6	—	—	PUNCT
arestyrurj-156	22	7	proportional	proportional	ADJ
arestyrurj-156	22	8	,	,	PUNCT
arestyrurj-156	22	9	integral	integral	ADJ
arestyrurj-156	22	10	,	,	PUNCT
arestyrurj-156	22	11	and	and	CCONJ
arestyrurj-156	22	12	derivative	derivative	NOUN
arestyrurj-156	22	13	—	—	PUNCT
arestyrurj-156	22	14	which	which	PRON
arestyrurj-156	22	15	determine	determine	VERB
arestyrurj-156	22	16	the	the	DET
arestyrurj-156	22	17	control	control	NOUN
arestyrurj-156	22	18	input	input	NOUN
arestyrurj-156	22	19	signal	signal	NOUN
arestyrurj-156	22	20	based	base	VERB
arestyrurj-156	22	21	on	on	ADP
arestyrurj-156	22	22	the	the	DET
arestyrurj-156	22	23	magnitude	magnitude	NOUN
arestyrurj-156	22	24	,	,	PUNCT
arestyrurj-156	22	25	time	time	NOUN
arestyrurj-156	22	26	integration	integration	NOUN
arestyrurj-156	22	27	,	,	PUNCT
arestyrurj-156	22	28	and	and	CCONJ
arestyrurj-156	22	29	time	time	NOUN
arestyrurj-156	22	30	rate	rate	NOUN
arestyrurj-156	22	31	of	of	ADP
arestyrurj-156	22	32	change	change	NOUN
arestyrurj-156	22	33	of	of	ADP
arestyrurj-156	22	34	the	the	DET
arestyrurj-156	22	35	error	error	NOUN
arestyrurj-156	22	36	signal	signal	NOUN
arestyrurj-156	22	37	respectively	respectively	ADV
arestyrurj-156	22	38	.	.	PUNCT
arestyrurj-156	23	1	the	the	DET
arestyrurj-156	23	2	goal	goal	NOUN
arestyrurj-156	23	3	is	be	AUX
arestyrurj-156	23	4	to	to	PART
arestyrurj-156	23	5	reduce	reduce	VERB
arestyrurj-156	23	6	the	the	DET
arestyrurj-156	23	7	perturbations	perturbation	NOUN
arestyrurj-156	23	8	arising	arise	VERB
arestyrurj-156	23	9	from	from	ADP
arestyrurj-156	23	10	operation	operation	NOUN
arestyrurj-156	23	11	of	of	ADP
arestyrurj-156	23	12	the	the	DET
arestyrurj-156	23	13	robotic	robotic	ADJ
arestyrurj-156	23	14	arm	arm	NOUN
arestyrurj-156	23	15	,	,	PUNCT
arestyrurj-156	23	16	resulting	result	VERB
arestyrurj-156	23	17	in	in	ADP
arestyrurj-156	23	18	a	a	DET
arestyrurj-156	23	19	satellite	satellite	NOUN
arestyrurj-156	23	20	that	that	PRON
arestyrurj-156	23	21	maintains	maintain	VERB
arestyrurj-156	23	22	its	its	PRON
arestyrurj-156	23	23	position	position	NOUN
arestyrurj-156	23	24	and	and	CCONJ
arestyrurj-156	23	25	attitude	attitude	NOUN
arestyrurj-156	23	26	.	.	PUNCT
arestyrurj-156	24	1	while	while	SCONJ
arestyrurj-156	24	2	extensive	extensive	ADJ
arestyrurj-156	24	3	work	work	NOUN
arestyrurj-156	24	4	has	have	AUX
arestyrurj-156	24	5	been	be	AUX
arestyrurj-156	24	6	performed	perform	VERB
arestyrurj-156	24	7	in	in	ADP
arestyrurj-156	24	8	this	this	DET
arestyrurj-156	24	9	area	area	NOUN
arestyrurj-156	24	10	utilizing	utilize	VERB
arestyrurj-156	24	11	complex	complex	ADJ
arestyrurj-156	24	12	,	,	PUNCT
arestyrurj-156	24	13	nonlinear	nonlinear	ADJ
arestyrurj-156	24	14	controls	control	NOUN
arestyrurj-156	24	15	,	,	PUNCT
arestyrurj-156	24	16	we	we	PRON
arestyrurj-156	24	17	wanted	want	VERB
arestyrurj-156	24	18	to	to	PART
arestyrurj-156	24	19	evaluate	evaluate	VERB
arestyrurj-156	24	20	the	the	DET
arestyrurj-156	24	21	effectiveness	effectiveness	NOUN
arestyrurj-156	24	22	of	of	ADP
arestyrurj-156	24	23	a	a	DET
arestyrurj-156	24	24	much	much	ADV
arestyrurj-156	24	25	simpler	simple	ADJ
arestyrurj-156	24	26	,	,	PUNCT
arestyrurj-156	24	27	linear	linear	ADJ
arestyrurj-156	24	28	control	control	NOUN
arestyrurj-156	24	29	scheme	scheme	NOUN
arestyrurj-156	24	30	,	,	PUNCT
arestyrurj-156	24	31	as	as	SCONJ
arestyrurj-156	24	32	it	it	PRON
arestyrurj-156	24	33	was	be	AUX
arestyrurj-156	24	34	assumed	assume	VERB
arestyrurj-156	24	35	the	the	DET
arestyrurj-156	24	36	perturbations	perturbation	NOUN
arestyrurj-156	24	37	arising	arise	VERB
arestyrurj-156	24	38	from	from	ADP
arestyrurj-156	24	39	the	the	DET
arestyrurj-156	24	40	robotic	robotic	ADJ
arestyrurj-156	24	41	arm	arm	NOUN
arestyrurj-156	24	42	would	would	AUX
arestyrurj-156	24	43	be	be	AUX
arestyrurj-156	24	44	very	very	ADV
arestyrurj-156	24	45	small	small	ADJ
arestyrurj-156	24	46	.	.	PUNCT
arestyrurj-156	25	1	we	we	PRON
arestyrurj-156	25	2	believed	believe	VERB
arestyrurj-156	25	3	that	that	SCONJ
arestyrurj-156	25	4	these	these	DET
arestyrurj-156	25	5	small	small	ADJ
arestyrurj-156	25	6	perturbations	perturbation	NOUN
arestyrurj-156	25	7	would	would	AUX
arestyrurj-156	25	8	be	be	AUX
arestyrurj-156	25	9	well	well	ADV
arestyrurj-156	25	10	approximated	approximate	VERB
arestyrurj-156	25	11	by	by	ADP
arestyrurj-156	25	12	linear	linear	PROPN
arestyrurj-156	25	13	control	control	PROPN
arestyrurj-156	25	14	theory	theory	NOUN
arestyrurj-156	25	15	,	,	PUNCT
arestyrurj-156	25	16	and	and	CCONJ
arestyrurj-156	25	17	thus	thus	ADV
arestyrurj-156	25	18	that	that	DET
arestyrurj-156	25	19	linear	linear	ADJ
arestyrurj-156	25	20	controllers	controller	NOUN
arestyrurj-156	25	21	would	would	AUX
arestyrurj-156	25	22	be	be	AUX
arestyrurj-156	25	23	sufficient	sufficient	ADJ
arestyrurj-156	25	24	at	at	ADP
arestyrurj-156	25	25	stabilizing	stabilize	VERB
arestyrurj-156	25	26	the	the	DET
arestyrurj-156	25	27	system	system	NOUN
arestyrurj-156	25	28	.	.	PUNCT
arestyrurj-156	26	1	this	this	DET
arestyrurj-156	26	2	belief	belief	NOUN
arestyrurj-156	26	3	/	/	SYM
arestyrurj-156	26	4	idea	idea	NOUN
arestyrurj-156	26	5	,	,	PUNCT
arestyrurj-156	26	6	combined	combine	VERB
arestyrurj-156	26	7	with	with	ADP
arestyrurj-156	26	8	the	the	DET
arestyrurj-156	26	9	aresty	aresty	PROPN
arestyrurj-156	26	10	rutgers	rutgers	PROPN
arestyrurj-156	26	11	undergraduate	undergraduate	PROPN
arestyrurj-156	26	12	research	research	PROPN
arestyrurj-156	26	13	journal	journal	PROPN
arestyrurj-156	26	14	,	,	PUNCT
arestyrurj-156	26	15	volume	volume	NOUN
arestyrurj-156	26	16	i	i	PRON
arestyrurj-156	26	17	,	,	PUNCT
arestyrurj-156	26	18	issue	issue	VERB
arestyrurj-156	26	19	ii	ii	PROPN
arestyrurj-156	26	20	development	development	NOUN
arestyrurj-156	26	21	of	of	ADP
arestyrurj-156	26	22	the	the	DET
arestyrurj-156	26	23	modular	modular	ADJ
arestyrurj-156	26	24	simulation	simulation	NOUN
arestyrurj-156	26	25	for	for	ADP
arestyrurj-156	26	26	control	control	NOUN
arestyrurj-156	26	27	design	design	NOUN
arestyrurj-156	26	28	,	,	PUNCT
arestyrurj-156	26	29	serves	serve	VERB
arestyrurj-156	26	30	as	as	ADP
arestyrurj-156	26	31	the	the	DET
arestyrurj-156	26	32	novel	novel	ADJ
arestyrurj-156	26	33	contribution	contribution	NOUN
arestyrurj-156	26	34	of	of	ADP
arestyrurj-156	26	35	our	our	PRON
arestyrurj-156	26	36	project	project	NOUN
arestyrurj-156	26	37	.	.	PUNCT
arestyrurj-156	27	1	we	we	PRON
arestyrurj-156	27	2	have	have	AUX
arestyrurj-156	27	3	created	create	VERB
arestyrurj-156	27	4	an	an	DET
arestyrurj-156	27	5	environment	environment	NOUN
arestyrurj-156	27	6	that	that	PRON
arestyrurj-156	27	7	allows	allow	VERB
arestyrurj-156	27	8	for	for	ADP
arestyrurj-156	27	9	control	control	NOUN
arestyrurj-156	27	10	refinement	refinement	NOUN
arestyrurj-156	27	11	without	without	ADP
arestyrurj-156	27	12	requiring	require	VERB
arestyrurj-156	27	13	rigorous	rigorous	ADJ
arestyrurj-156	27	14	mathematical	mathematical	ADJ
arestyrurj-156	27	15	proofs	proof	NOUN
arestyrurj-156	27	16	.	.	PUNCT
arestyrurj-156	28	1	2	2	NUM
arestyrurj-156	28	2	methodology	methodology	NOUN
arestyrurj-156	28	3	the	the	DET
arestyrurj-156	28	4	robotic	robotic	ADJ
arestyrurj-156	28	5	arm	arm	NOUN
arestyrurj-156	28	6	proposed	propose	VERB
arestyrurj-156	28	7	by	by	ADP
arestyrurj-156	28	8	darpa	darpa	PROPN
arestyrurj-156	28	9	for	for	ADP
arestyrurj-156	28	10	the	the	DET
arestyrurj-156	28	11	robotic	robotic	ADJ
arestyrurj-156	28	12	servicing	servicing	NOUN
arestyrurj-156	28	13	of	of	ADP
arestyrurj-156	28	14	geosynchronous	geosynchronous	ADJ
arestyrurj-156	28	15	satellites	satellite	NOUN
arestyrurj-156	28	16	(	(	PUNCT
arestyrurj-156	28	17	rsgs	rsgs	NOUN
arestyrurj-156	28	18	)	)	PUNCT
arestyrurj-156	28	19	program	program	NOUN
arestyrurj-156	28	20	is	be	AUX
arestyrurj-156	28	21	the	the	DET
arestyrurj-156	28	22	frend	frend	PROPN
arestyrurj-156	28	23	mark	mark	PROPN
arestyrurj-156	28	24	ii	ii	PROPN
arestyrurj-156	28	25	(	(	PUNCT
arestyrurj-156	28	26	hereafter	hereafter	ADV
arestyrurj-156	28	27	referred	refer	VERB
arestyrurj-156	28	28	to	to	ADP
arestyrurj-156	28	29	as	as	ADP
arestyrurj-156	28	30	the	the	DET
arestyrurj-156	28	31	frend	frend	NOUN
arestyrurj-156	28	32	)	)	PUNCT
arestyrurj-156	28	33	,	,	PUNCT
arestyrurj-156	28	34	a	a	DET
arestyrurj-156	28	35	7	7	NUM
arestyrurj-156	28	36	-	-	PUNCT
arestyrurj-156	28	37	joint	joint	ADJ
arestyrurj-156	28	38	3d	3d	NUM
arestyrurj-156	28	39	manipulator	manipulator	NOUN
arestyrurj-156	28	40	which	which	PRON
arestyrurj-156	28	41	will	will	AUX
arestyrurj-156	28	42	be	be	AUX
arestyrurj-156	28	43	responsible	responsible	ADJ
arestyrurj-156	28	44	for	for	ADP
arestyrurj-156	28	45	performing	perform	VERB
arestyrurj-156	28	46	operations	operation	NOUN
arestyrurj-156	28	47	on	on	ADP
arestyrurj-156	28	48	the	the	DET
arestyrurj-156	28	49	“	"	PUNCT
arestyrurj-156	28	50	patient	patient	ADJ
arestyrurj-156	28	51	”	"	PUNCT
arestyrurj-156	28	52	satellite	satellite	NOUN
arestyrurj-156	28	53	.	.	PUNCT
arestyrurj-156	29	1	an	an	DET
arestyrurj-156	29	2	illustration	illustration	NOUN
arestyrurj-156	29	3	of	of	ADP
arestyrurj-156	29	4	the	the	DET
arestyrurj-156	29	5	frend	frend	NOUN
arestyrurj-156	29	6	arm	arm	NOUN
arestyrurj-156	29	7	is	be	AUX
arestyrurj-156	29	8	shown	show	VERB
arestyrurj-156	29	9	in	in	ADP
arestyrurj-156	29	10	figure	figure	NOUN
arestyrurj-156	29	11	1	1	NUM
arestyrurj-156	29	12	.	.	PUNCT
arestyrurj-156	30	1	the	the	DET
arestyrurj-156	30	2	robotics	robotic	NOUN
arestyrurj-156	30	3	,	,	PUNCT
arestyrurj-156	30	4	vision	vision	NOUN
arestyrurj-156	30	5	,	,	PUNCT
arestyrurj-156	30	6	and	and	CCONJ
arestyrurj-156	30	7	control	control	NOUN
arestyrurj-156	30	8	toolbox	toolbox	NOUN
arestyrurj-156	30	9	,	,	PUNCT
arestyrurj-156	30	10	a	a	DET
arestyrurj-156	30	11	third	third	ADJ
arestyrurj-156	30	12	-	-	PUNCT
arestyrurj-156	30	13	party	party	NOUN
arestyrurj-156	30	14	matlab	matlab	NOUN
arestyrurj-156	30	15	-	-	PUNCT
arestyrurj-156	30	16	based	base	VERB
arestyrurj-156	30	17	toolbox	toolbox	NOUN
arestyrurj-156	30	18	for	for	ADP
arestyrurj-156	30	19	robotics	robotic	NOUN
arestyrurj-156	30	20	applications	application	NOUN
arestyrurj-156	30	21	(	(	PUNCT
arestyrurj-156	30	22	hereafter	hereafter	ADV
arestyrurj-156	30	23	referred	refer	VERB
arestyrurj-156	30	24	to	to	ADP
arestyrurj-156	30	25	as	as	ADP
arestyrurj-156	30	26	“	"	PUNCT
arestyrurj-156	30	27	the	the	DET
arestyrurj-156	30	28	toolbox	toolbox	NOUN
arestyrurj-156	30	29	”	"	PUNCT
arestyrurj-156	30	30	)	)	PUNCT
arestyrurj-156	30	31	was	be	AUX
arestyrurj-156	30	32	used	use	VERB
arestyrurj-156	30	33	to	to	PART
arestyrurj-156	30	34	develop	develop	VERB
arestyrurj-156	30	35	a	a	DET
arestyrurj-156	30	36	model	model	NOUN
arestyrurj-156	30	37	of	of	ADP
arestyrurj-156	30	38	the	the	DET
arestyrurj-156	30	39	frend	frend	NOUN
arestyrurj-156	30	40	and	and	CCONJ
arestyrurj-156	30	41	to	to	PART
arestyrurj-156	30	42	perform	perform	VERB
arestyrurj-156	30	43	dynamics	dynamic	NOUN
arestyrurj-156	30	44	calculations	calculation	NOUN
arestyrurj-156	30	45	.	.	PUNCT
arestyrurj-156	31	1	the	the	DET
arestyrurj-156	31	2	results	result	NOUN
arestyrurj-156	31	3	of	of	ADP
arestyrurj-156	31	4	these	these	DET
arestyrurj-156	31	5	dynamics	dynamic	NOUN
arestyrurj-156	31	6	calculations	calculation	NOUN
arestyrurj-156	31	7	,	,	PUNCT
arestyrurj-156	31	8	based	base	VERB
arestyrurj-156	31	9	on	on	ADP
arestyrurj-156	31	10	the	the	DET
arestyrurj-156	31	11	frend	frend	PROPN
arestyrurj-156	31	12	model	model	NOUN
arestyrurj-156	31	13	,	,	PUNCT
arestyrurj-156	31	14	were	be	AUX
arestyrurj-156	31	15	used	use	VERB
arestyrurj-156	31	16	as	as	ADP
arestyrurj-156	31	17	inputs	input	NOUN
arestyrurj-156	31	18	to	to	ADP
arestyrurj-156	31	19	the	the	DET
arestyrurj-156	31	20	satellite	satellite	NOUN
arestyrurj-156	31	21	dynamics	dynamic	NOUN
arestyrurj-156	31	22	simulation	simulation	NOUN
arestyrurj-156	31	23	.	.	PUNCT
arestyrurj-156	32	1	these	these	DET
arestyrurj-156	32	2	results	result	NOUN
arestyrurj-156	32	3	effectively	effectively	ADV
arestyrurj-156	32	4	modeled	model	VERB
arestyrurj-156	32	5	the	the	DET
arestyrurj-156	32	6	disturbances	disturbance	NOUN
arestyrurj-156	32	7	to	to	ADP
arestyrurj-156	32	8	the	the	DET
arestyrurj-156	32	9	satellite	satellite	NOUN
arestyrurj-156	32	10	arising	arise	VERB
arestyrurj-156	32	11	from	from	ADP
arestyrurj-156	32	12	the	the	DET
arestyrurj-156	32	13	motion	motion	NOUN
arestyrurj-156	32	14	of	of	ADP
arestyrurj-156	32	15	the	the	DET
arestyrurj-156	32	16	robotic	robotic	ADJ
arestyrurj-156	32	17	arm	arm	NOUN
arestyrurj-156	32	18	.	.	PUNCT
arestyrurj-156	33	1	frend	frend	PROPN
arestyrurj-156	33	2	arm	arm	NOUN
arestyrurj-156	33	3	modelling	model	VERB
arestyrurj-156	33	4	the	the	DET
arestyrurj-156	33	5	toolbox	toolbox	NOUN
arestyrurj-156	33	6	is	be	AUX
arestyrurj-156	33	7	capable	capable	ADJ
arestyrurj-156	33	8	of	of	ADP
arestyrurj-156	33	9	modelling	model	VERB
arestyrurj-156	33	10	and	and	CCONJ
arestyrurj-156	33	11	performing	perform	VERB
arestyrurj-156	33	12	calculations	calculation	NOUN
arestyrurj-156	33	13	on	on	ADP
arestyrurj-156	33	14	any	any	DET
arestyrurj-156	33	15	robotic	robotic	ADJ
arestyrurj-156	33	16	arm	arm	NOUN
arestyrurj-156	33	17	so	so	ADV
arestyrurj-156	33	18	long	long	ADV
arestyrurj-156	33	19	as	as	SCONJ
arestyrurj-156	33	20	the	the	DET
arestyrurj-156	33	21	arm	arm	NOUN
arestyrurj-156	33	22	’s	’s	PART
arestyrurj-156	33	23	relevant	relevant	ADJ
arestyrurj-156	33	24	parameters	parameter	NOUN
arestyrurj-156	33	25	are	be	AUX
arestyrurj-156	33	26	provided	provide	VERB
arestyrurj-156	33	27	.	.	PUNCT
arestyrurj-156	34	1	the	the	DET
arestyrurj-156	34	2	relevant	relevant	ADJ
arestyrurj-156	34	3	parameters	parameter	NOUN
arestyrurj-156	34	4	are	be	AUX
arestyrurj-156	34	5	inertial	inertial	ADJ
arestyrurj-156	34	6	parameters	parameter	NOUN
arestyrurj-156	34	7	,	,	PUNCT
arestyrurj-156	34	8	including	include	VERB
arestyrurj-156	34	9	the	the	DET
arestyrurj-156	34	10	mass	mass	NOUN
arestyrurj-156	34	11	and	and	CCONJ
arestyrurj-156	34	12	inertia	inertia	NOUN
arestyrurj-156	34	13	matrix	matrix	NOUN
arestyrurj-156	34	14	and	and	CCONJ
arestyrurj-156	34	15	denavit	denavit	PROPN
arestyrurj-156	34	16	-	-	PUNCT
arestyrurj-156	34	17	hartenberg	hartenberg	PROPN
arestyrurj-156	34	18	parameters	parameter	NOUN
arestyrurj-156	34	19	(	(	PUNCT
arestyrurj-156	34	20	which	which	PRON
arestyrurj-156	34	21	describe	describe	VERB
arestyrurj-156	34	22	arm	arm	NOUN
arestyrurj-156	34	23	geometry	geometry	NOUN
arestyrurj-156	34	24	)	)	PUNCT
arestyrurj-156	34	25	.	.	PUNCT
arestyrurj-156	35	1	the	the	DET
arestyrurj-156	35	2	denavit	denavit	PROPN
arestyrurj-156	35	3	-	-	PUNCT
arestyrurj-156	35	4	hartenberg	hartenberg	PROPN
arestyrurj-156	35	5	parameters	parameter	NOUN
arestyrurj-156	35	6	used	use	VERB
arestyrurj-156	35	7	in	in	ADP
arestyrurj-156	35	8	the	the	DET
arestyrurj-156	35	9	frend	frend	NOUN
arestyrurj-156	35	10	model	model	NOUN
arestyrurj-156	35	11	were	be	AUX
arestyrurj-156	35	12	defined	define	VERB
arestyrurj-156	35	13	according	accord	VERB
arestyrurj-156	35	14	to	to	ADP
arestyrurj-156	35	15	the	the	DET
arestyrurj-156	35	16	definitions	definition	NOUN
arestyrurj-156	35	17	shown	show	VERB
arestyrurj-156	35	18	in	in	ADP
arestyrurj-156	35	19	figure	figure	NOUN
arestyrurj-156	35	20	2	2	NUM
arestyrurj-156	35	21	and	and	CCONJ
arestyrurj-156	35	22	measurements	measurement	NOUN
arestyrurj-156	35	23	taken	take	VERB
arestyrurj-156	35	24	from	from	ADP
arestyrurj-156	35	25	figure	figure	NOUN
arestyrurj-156	35	26	3	3	NUM
arestyrurj-156	35	27	.	.	PUNCT
arestyrurj-156	36	1	the	the	DET
arestyrurj-156	36	2	denavit	denavit	PROPN
arestyrurj-156	36	3	-	-	PUNCT
arestyrurj-156	36	4	hartenberg	hartenberg	PROPN
arestyrurj-156	36	5	parameters	parameter	NOUN
arestyrurj-156	36	6	are	be	AUX
arestyrurj-156	36	7	shown	show	VERB
arestyrurj-156	36	8	in	in	ADP
arestyrurj-156	36	9	supplemental	supplemental	ADJ
arestyrurj-156	36	10	table	table	NOUN
arestyrurj-156	36	11	s1	s1	PROPN
arestyrurj-156	36	12	.	.	PUNCT
arestyrurj-156	37	1	figure	figure	NOUN
arestyrurj-156	37	2	1	1	NUM
arestyrurj-156	37	3	:	:	PUNCT
arestyrurj-156	37	4	darpa	darpa	PROPN
arestyrurj-156	37	5	rendering	rendering	NOUN
arestyrurj-156	37	6	of	of	ADP
arestyrurj-156	37	7	the	the	DET
arestyrurj-156	37	8	frend	frend	PROPN
arestyrurj-156	37	9	mark	mark	PROPN
arestyrurj-156	37	10	ii	ii	PROPN
arestyrurj-156	37	11	arm[4	arm[4	PROPN
arestyrurj-156	37	12	]	]	PUNCT
arestyrurj-156	38	1	it	it	PRON
arestyrurj-156	38	2	is	be	AUX
arestyrurj-156	38	3	desirable	desirable	ADJ
arestyrurj-156	38	4	to	to	PART
arestyrurj-156	38	5	reduce	reduce	VERB
arestyrurj-156	38	6	the	the	DET
arestyrurj-156	38	7	effects	effect	NOUN
arestyrurj-156	38	8	of	of	ADP
arestyrurj-156	38	9	robotic	robotic	ADJ
arestyrurj-156	38	10	manipulator	manipulator	NOUN
arestyrurj-156	38	11	disturbances	disturbance	NOUN
arestyrurj-156	38	12	on	on	ADP
arestyrurj-156	38	13	satellite	satellite	NOUN
arestyrurj-156	38	14	position	position	NOUN
arestyrurj-156	38	15	and	and	CCONJ
arestyrurj-156	38	16	attitude	attitude	NOUN
arestyrurj-156	38	17	using	use	VERB
arestyrurj-156	38	18	an	an	DET
arestyrurj-156	38	19	attitude	attitude	NOUN
arestyrurj-156	38	20	control	control	NOUN
arestyrurj-156	38	21	system	system	NOUN
arestyrurj-156	38	22	(	(	PUNCT
arestyrurj-156	38	23	acs	acs	PROPN
arestyrurj-156	38	24	)	)	PUNCT
arestyrurj-156	38	25	.	.	PUNCT
arestyrurj-156	39	1	aresty	aresty	PROPN
arestyrurj-156	39	2	rutgers	rutgers	PROPN
arestyrurj-156	39	3	undergraduate	undergraduate	PROPN
arestyrurj-156	39	4	research	research	PROPN
arestyrurj-156	39	5	journal	journal	PROPN
arestyrurj-156	39	6	,	,	PUNCT
arestyrurj-156	39	7	volume	volume	NOUN
arestyrurj-156	39	8	i	i	PRON
arestyrurj-156	39	9	,	,	PUNCT
arestyrurj-156	39	10	issue	issue	NOUN
arestyrurj-156	39	11	ii	ii	NOUN
arestyrurj-156	39	12	none	none	NOUN
arestyrurj-156	39	13	of	of	ADP
arestyrurj-156	39	14	the	the	DET
arestyrurj-156	39	15	required	require	VERB
arestyrurj-156	39	16	parameters	parameter	NOUN
arestyrurj-156	39	17	for	for	ADP
arestyrurj-156	39	18	the	the	DET
arestyrurj-156	39	19	frend	frend	NOUN
arestyrurj-156	39	20	were	be	AUX
arestyrurj-156	39	21	publicly	publicly	ADV
arestyrurj-156	39	22	accessible	accessible	ADJ
arestyrurj-156	39	23	,	,	PUNCT
arestyrurj-156	39	24	so	so	CCONJ
arestyrurj-156	39	25	the	the	DET
arestyrurj-156	39	26	measurements	measurement	NOUN
arestyrurj-156	39	27	were	be	AUX
arestyrurj-156	39	28	approximated	approximate	VERB
arestyrurj-156	39	29	using	use	VERB
arestyrurj-156	39	30	pixel	pixel	ADJ
arestyrurj-156	39	31	measurements	measurement	NOUN
arestyrurj-156	39	32	from	from	ADP
arestyrurj-156	39	33	schematics	schematic	NOUN
arestyrurj-156	39	34	and	and	CCONJ
arestyrurj-156	39	35	images	image	NOUN
arestyrurj-156	39	36	that	that	PRON
arestyrurj-156	39	37	were	be	AUX
arestyrurj-156	39	38	publicly	publicly	ADV
arestyrurj-156	39	39	available	available	ADJ
arestyrurj-156	39	40	.	.	PUNCT
arestyrurj-156	40	1	knowing	know	VERB
arestyrurj-156	40	2	this	this	DET
arestyrurj-156	40	3	information	information	NOUN
arestyrurj-156	40	4	,	,	PUNCT
arestyrurj-156	40	5	an	an	DET
arestyrurj-156	40	6	image	image	NOUN
arestyrurj-156	40	7	editing	edit	VERB
arestyrurj-156	40	8	software	software	NOUN
arestyrurj-156	40	9	can	can	AUX
arestyrurj-156	40	10	be	be	AUX
arestyrurj-156	40	11	used	use	VERB
arestyrurj-156	40	12	to	to	PART
arestyrurj-156	40	13	analyze	analyze	VERB
arestyrurj-156	40	14	the	the	DET
arestyrurj-156	40	15	schematic	schematic	ADJ
arestyrurj-156	40	16	in	in	ADP
arestyrurj-156	40	17	figure	figure	NOUN
arestyrurj-156	40	18	3	3	NUM
arestyrurj-156	40	19	in	in	ADP
arestyrurj-156	40	20	order	order	NOUN
arestyrurj-156	40	21	to	to	PART
arestyrurj-156	40	22	define	define	VERB
arestyrurj-156	40	23	a	a	DET
arestyrurj-156	40	24	pixel	pixel	ADJ
arestyrurj-156	40	25	scale	scale	NOUN
arestyrurj-156	40	26	which	which	PRON
arestyrurj-156	40	27	relates	relate	VERB
arestyrurj-156	40	28	real	real	ADJ
arestyrurj-156	40	29	-	-	PUNCT
arestyrurj-156	40	30	world	world	NOUN
arestyrurj-156	40	31	dimensions	dimension	NOUN
arestyrurj-156	40	32	to	to	PART
arestyrurj-156	40	33	pixel	pixel	NOUN
arestyrurj-156	40	34	dimensions	dimension	NOUN
arestyrurj-156	40	35	.	.	PUNCT
arestyrurj-156	41	1	the	the	DET
arestyrurj-156	41	2	geometry	geometry	NOUN
arestyrurj-156	41	3	of	of	ADP
arestyrurj-156	41	4	the	the	DET
arestyrurj-156	41	5	arm	arm	NOUN
arestyrurj-156	41	6	was	be	AUX
arestyrurj-156	41	7	then	then	ADV
arestyrurj-156	41	8	calculated	calculate	VERB
arestyrurj-156	41	9	from	from	ADP
arestyrurj-156	41	10	the	the	DET
arestyrurj-156	41	11	schematic	schematic	ADJ
arestyrurj-156	41	12	in	in	ADP
arestyrurj-156	41	13	figure	figure	NOUN
arestyrurj-156	41	14	3	3	NUM
arestyrurj-156	41	15	and	and	CCONJ
arestyrurj-156	41	16	used	use	VERB
arestyrurj-156	41	17	to	to	PART
arestyrurj-156	41	18	compute	compute	VERB
arestyrurj-156	41	19	the	the	DET
arestyrurj-156	41	20	inertia	inertia	NOUN
arestyrurj-156	41	21	tensor	tensor	NOUN
arestyrurj-156	41	22	.	.	PUNCT
arestyrurj-156	42	1	each	each	DET
arestyrurj-156	42	2	link	link	NOUN
arestyrurj-156	42	3	is	be	AUX
arestyrurj-156	42	4	assumed	assume	VERB
arestyrurj-156	42	5	to	to	PART
arestyrurj-156	42	6	be	be	AUX
arestyrurj-156	42	7	a	a	DET
arestyrurj-156	42	8	cylinder	cylinder	NOUN
arestyrurj-156	42	9	of	of	ADP
arestyrurj-156	42	10	solid	solid	ADJ
arestyrurj-156	42	11	aluminum	aluminum	NOUN
arestyrurj-156	42	12	having	have	VERB
arestyrurj-156	42	13	a	a	DET
arestyrurj-156	42	14	density	density	NOUN
arestyrurj-156	42	15	of	of	ADP
arestyrurj-156	42	16	2700	2700	NUM
arestyrurj-156	42	17	𝑘𝑘𝑘𝑘	𝑘𝑘𝑘𝑘	NOUN
arestyrurj-156	42	18	𝑚𝑚3	𝑚𝑚3	NOUN
arestyrurj-156	42	19	and	and	CCONJ
arestyrurj-156	42	20	a	a	DET
arestyrurj-156	42	21	center	center	NOUN
arestyrurj-156	42	22	of	of	ADP
arestyrurj-156	42	23	mass	mass	NOUN
arestyrurj-156	42	24	located	locate	VERB
arestyrurj-156	42	25	at	at	ADP
arestyrurj-156	42	26	the	the	DET
arestyrurj-156	42	27	geometric	geometric	ADJ
arestyrurj-156	42	28	center	center	NOUN
arestyrurj-156	42	29	.	.	PUNCT
arestyrurj-156	43	1	this	this	DET
arestyrurj-156	43	2	assumption	assumption	NOUN
arestyrurj-156	43	3	of	of	ADP
arestyrurj-156	43	4	material	material	NOUN
arestyrurj-156	43	5	composition	composition	NOUN
arestyrurj-156	43	6	represents	represent	VERB
arestyrurj-156	43	7	a	a	DET
arestyrurj-156	43	8	“	"	PUNCT
arestyrurj-156	43	9	worst	bad	ADJ
arestyrurj-156	43	10	case	case	NOUN
arestyrurj-156	43	11	scenario	scenario	NOUN
arestyrurj-156	43	12	”	"	PUNCT
arestyrurj-156	43	13	as	as	SCONJ
arestyrurj-156	43	14	the	the	DET
arestyrurj-156	43	15	actual	actual	ADJ
arestyrurj-156	43	16	arm	arm	NOUN
arestyrurj-156	43	17	is	be	AUX
arestyrurj-156	43	18	not	not	PART
arestyrurj-156	43	19	solid	solid	ADJ
arestyrurj-156	43	20	aluminum[4	aluminum[4	NOUN
arestyrurj-156	43	21	]	]	PUNCT
arestyrurj-156	43	22	.	.	PUNCT
arestyrurj-156	44	1	the	the	DET
arestyrurj-156	44	2	computed	compute	VERB
arestyrurj-156	44	3	dynamic	dynamic	ADJ
arestyrurj-156	44	4	parameters	parameter	NOUN
arestyrurj-156	44	5	are	be	AUX
arestyrurj-156	44	6	shown	show	VERB
arestyrurj-156	44	7	in	in	ADP
arestyrurj-156	44	8	supplemental	supplemental	ADJ
arestyrurj-156	44	9	table	table	NOUN
arestyrurj-156	44	10	s2	s2	NOUN
arestyrurj-156	44	11	and	and	CCONJ
arestyrurj-156	44	12	then	then	ADV
arestyrurj-156	44	13	inertia	inertia	NOUN
arestyrurj-156	44	14	matrices	matrix	NOUN
arestyrurj-156	44	15	are	be	AUX
arestyrurj-156	44	16	shown	show	VERB
arestyrurj-156	44	17	in	in	ADP
arestyrurj-156	44	18	supplemental	supplemental	ADJ
arestyrurj-156	44	19	table	table	NOUN
arestyrurj-156	44	20	s3	s3	PROPN
arestyrurj-156	44	21	.	.	PUNCT
arestyrurj-156	45	1	above	above	ADV
arestyrurj-156	45	2	:	:	PUNCT
arestyrurj-156	45	3	figure	figure	VERB
arestyrurj-156	45	4	2	2	NUM
arestyrurj-156	45	5	:	:	PUNCT
arestyrurj-156	45	6	graphic	graphic	ADJ
arestyrurj-156	45	7	definition	definition	NOUN
arestyrurj-156	45	8	of	of	ADP
arestyrurj-156	45	9	denavit	denavit	PROPN
arestyrurj-156	45	10	-	-	PUNCT
arestyrurj-156	45	11	hartenberg	hartenberg	PROPN
arestyrurj-156	45	12	parameters[5	parameters[5	PROPN
arestyrurj-156	45	13	]	]	X
arestyrurj-156	45	14	right	right	NOUN
arestyrurj-156	45	15	:	:	PUNCT
arestyrurj-156	45	16	figure	figure	VERB
arestyrurj-156	45	17	3	3	NUM
arestyrurj-156	45	18	:	:	PUNCT
arestyrurj-156	45	19	schematic	schematic	ADJ
arestyrurj-156	45	20	of	of	ADP
arestyrurj-156	45	21	the	the	DET
arestyrurj-156	45	22	frend	frend	PROPN
arestyrurj-156	45	23	mark	mark	PROPN
arestyrurj-156	45	24	ii	ii	PROPN
arestyrurj-156	45	25	showing	show	VERB
arestyrurj-156	45	26	the	the	DET
arestyrurj-156	45	27	relative	relative	ADJ
arestyrurj-156	45	28	orientations	orientation	NOUN
arestyrurj-156	45	29	of	of	ADP
arestyrurj-156	45	30	link	link	NOUN
arestyrurj-156	45	31	reference	reference	NOUN
arestyrurj-156	45	32	frames[4	frames[4	PROPN
arestyrurj-156	45	33	]	]	X
arestyrurj-156	45	34	aresty	aresty	PROPN
arestyrurj-156	45	35	rutgers	rutgers	PROPN
arestyrurj-156	45	36	undergraduate	undergraduate	PROPN
arestyrurj-156	45	37	research	research	PROPN
arestyrurj-156	45	38	journal	journal	PROPN
arestyrurj-156	45	39	,	,	PUNCT
arestyrurj-156	45	40	volume	volume	NOUN
arestyrurj-156	45	41	i	i	PRON
arestyrurj-156	45	42	,	,	PUNCT
arestyrurj-156	45	43	issue	issue	NOUN
arestyrurj-156	45	44	ii	ii	NOUN
arestyrurj-156	46	1	[	[	X
arestyrurj-156	46	2	a	a	X
arestyrurj-156	46	3	]	]	X
arestyrurj-156	46	4	gravity	gravity	NOUN
arestyrurj-156	46	5	was	be	AUX
arestyrurj-156	46	6	neglected	neglect	VERB
arestyrurj-156	46	7	in	in	ADP
arestyrurj-156	46	8	our	our	PRON
arestyrurj-156	46	9	simulation	simulation	NOUN
arestyrurj-156	46	10	because	because	SCONJ
arestyrurj-156	46	11	the	the	DET
arestyrurj-156	46	12	satellite	satellite	NOUN
arestyrurj-156	46	13	is	be	AUX
arestyrurj-156	46	14	in	in	ADP
arestyrurj-156	46	15	space	space	NOUN
arestyrurj-156	46	16	.	.	PUNCT
arestyrurj-156	47	1	the	the	DET
arestyrurj-156	47	2	toolbox	toolbox	NOUN
arestyrurj-156	47	3	features	feature	VERB
arestyrurj-156	47	4	a	a	DET
arestyrurj-156	47	5	function	function	NOUN
arestyrurj-156	47	6	that	that	PRON
arestyrurj-156	47	7	can	can	AUX
arestyrurj-156	47	8	numerically	numerically	ADV
arestyrurj-156	47	9	evaluate	evaluate	VERB
arestyrurj-156	47	10	the	the	DET
arestyrurj-156	47	11	robot	robot	NOUN
arestyrurj-156	47	12	dynamics	dynamic	NOUN
arestyrurj-156	47	13	equation	equation	NOUN
arestyrurj-156	47	14	(	(	PUNCT
arestyrurj-156	47	15	equation	equation	NOUN
arestyrurj-156	47	16	(	(	PUNCT
arestyrurj-156	47	17	1	1	NUM
arestyrurj-156	47	18	)	)	PUNCT
arestyrurj-156	47	19	)	)	PUNCT
arestyrurj-156	47	20	.	.	PUNCT
arestyrurj-156	48	1	this	this	PRON
arestyrurj-156	48	2	is	be	AUX
arestyrurj-156	48	3	a	a	DET
arestyrurj-156	48	4	system	system	NOUN
arestyrurj-156	48	5	of	of	ADP
arestyrurj-156	48	6	coupled	couple	VERB
arestyrurj-156	48	7	differential	differential	ADJ
arestyrurj-156	48	8	equations	equation	NOUN
arestyrurj-156	48	9	that	that	PRON
arestyrurj-156	48	10	relates	relate	VERB
arestyrurj-156	48	11	the	the	DET
arestyrurj-156	48	12	joints	joint	NOUN
arestyrurj-156	48	13	’	’	PART
arestyrurj-156	48	14	angular	angular	ADJ
arestyrurj-156	48	15	kinematics	kinematic	NOUN
arestyrurj-156	48	16	(	(	PUNCT
arestyrurj-156	48	17	𝑞𝑞	𝑞𝑞	PROPN
arestyrurj-156	48	18	,	,	PUNCT
arestyrurj-156	48	19	�	�	PROPN
arestyrurj-156	48	20	̇	̇	PROPN
arestyrurj-156	48	21	�	�	PROPN
arestyrurj-156	48	22	𝑞	𝑞	PROPN
arestyrurj-156	48	23	,	,	PUNCT
arestyrurj-156	48	24	�	�	PROPN
arestyrurj-156	48	25	̈	̈	X
arestyrurj-156	48	26	�	�	NOUN
arestyrurj-156	48	27	𝑞	𝑞	NOUN
arestyrurj-156	48	28	)	)	PUNCT
arestyrurj-156	48	29	of	of	ADP
arestyrurj-156	48	30	the	the	DET
arestyrurj-156	48	31	robotic	robotic	ADJ
arestyrurj-156	48	32	arm	arm	NOUN
arestyrurj-156	48	33	joints	joint	NOUN
arestyrurj-156	48	34	to	to	ADP
arestyrurj-156	48	35	the	the	DET
arestyrurj-156	48	36	joint	joint	ADJ
arestyrurj-156	48	37	torques	torque	NOUN
arestyrurj-156	48	38	(	(	PUNCT
arestyrurj-156	48	39	𝑄𝑄	𝑄𝑄	PROPN
arestyrurj-156	48	40	)	)	PUNCT
arestyrurj-156	48	41	and	and	CCONJ
arestyrurj-156	48	42	other	other	ADJ
arestyrurj-156	48	43	external	external	ADJ
arestyrurj-156	48	44	loads	load	NOUN
arestyrurj-156	48	45	(	(	PUNCT
arestyrurj-156	48	46	end	end	NOUN
arestyrurj-156	48	47	effector	effector	NOUN
arestyrurj-156	48	48	wrench	wrench	NOUN
arestyrurj-156	48	49	𝑊𝑊	𝑊𝑊	PROPN
arestyrurj-156	48	50	and	and	CCONJ
arestyrurj-156	48	51	gravity	gravity	NOUN
arestyrurj-156	48	52	torque	torque	NOUN
arestyrurj-156	48	53	𝐺𝐺(𝑞𝑞)[a	𝐺𝐺(𝑞𝑞)[a	PROPN
arestyrurj-156	48	54	]	]	X
arestyrurj-156	48	55	)	)	PUNCT
arestyrurj-156	48	56	acting	act	VERB
arestyrurj-156	48	57	on	on	ADP
arestyrurj-156	48	58	the	the	DET
arestyrurj-156	48	59	arm	arm	NOUN
arestyrurj-156	48	60	.	.	PUNCT
arestyrurj-156	49	1	solving	solve	VERB
arestyrurj-156	49	2	these	these	DET
arestyrurj-156	49	3	differential	differential	ADJ
arestyrurj-156	49	4	equations	equation	NOUN
arestyrurj-156	49	5	yields	yield	VERB
arestyrurj-156	49	6	the	the	DET
arestyrurj-156	49	7	joint	joint	ADJ
arestyrurj-156	49	8	torques	torque	NOUN
arestyrurj-156	49	9	and	and	CCONJ
arestyrurj-156	49	10	the	the	DET
arestyrurj-156	49	11	reaction	reaction	NOUN
arestyrurj-156	49	12	loads	load	VERB
arestyrurj-156	49	13	at	at	ADP
arestyrurj-156	49	14	the	the	DET
arestyrurj-156	49	15	base	base	NOUN
arestyrurj-156	49	16	of	of	ADP
arestyrurj-156	49	17	the	the	DET
arestyrurj-156	49	18	arm	arm	NOUN
arestyrurj-156	49	19	.	.	PUNCT
arestyrurj-156	50	1	𝑄𝑄(𝑞𝑞	𝑄𝑄(𝑞𝑞	PROPN
arestyrurj-156	50	2	,	,	PUNCT
arestyrurj-156	50	3	�	�	PROPN
arestyrurj-156	50	4	̇	̇	PROPN
arestyrurj-156	50	5	�	�	PROPN
arestyrurj-156	50	6	𝑞	𝑞	PROPN
arestyrurj-156	50	7	,	,	PUNCT
arestyrurj-156	50	8	�	�	PROPN
arestyrurj-156	50	9	̈	̈	X
arestyrurj-156	50	10	�	�	NOUN
arestyrurj-156	50	11	𝑞	𝑞	NOUN
arestyrurj-156	50	12	)	)	PUNCT
arestyrurj-156	50	13	=	=	SYM
arestyrurj-156	50	14	𝑀𝑀(𝑞𝑞)	𝑀𝑀(𝑞𝑞)	NOUN
arestyrurj-156	50	15	�	�	PROPN
arestyrurj-156	50	16	̈	̈	X
arestyrurj-156	50	17	�	�	NOUN
arestyrurj-156	50	18	𝑞	𝑞	NOUN
arestyrurj-156	50	19	+	+	PROPN
arestyrurj-156	50	20	𝐶𝐶(𝑞𝑞	𝐶𝐶(𝑞𝑞	PROPN
arestyrurj-156	50	21	,	,	PUNCT
arestyrurj-156	50	22	�	�	PROPN
arestyrurj-156	50	23	̇	̇	PROPN
arestyrurj-156	50	24	�	�	PROPN
arestyrurj-156	50	25	𝑞)	𝑞)	SYM
arestyrurj-156	50	26	�	�	PROPN
arestyrurj-156	50	27	̇	̇	NOUN
arestyrurj-156	50	28	�	�	PROPN
arestyrurj-156	50	29	𝑞	𝑞	PROPN
arestyrurj-156	50	30	+	+	PROPN
arestyrurj-156	50	31	𝐹𝐹(	𝐹𝐹(	PROPN
arestyrurj-156	50	32	�	�	PROPN
arestyrurj-156	50	33	̇	̇	PROPN
arestyrurj-156	50	34	�	�	PROPN
arestyrurj-156	50	35	𝑞	𝑞	NOUN
arestyrurj-156	50	36	)	)	PUNCT
arestyrurj-156	50	37	+	+	CCONJ
arestyrurj-156	50	38	𝐺𝐺(𝑞𝑞	𝐺𝐺(𝑞𝑞	PROPN
arestyrurj-156	50	39	)	)	PUNCT
arestyrurj-156	51	1	+	+	CCONJ
arestyrurj-156	51	2	𝐽𝐽(𝑞𝑞)𝑇𝑇𝑊𝑊	𝐽𝐽(𝑞𝑞)𝑇𝑇𝑊𝑊	X
arestyrurj-156	51	3	the	the	DET
arestyrurj-156	51	4	parameters	parameter	NOUN
arestyrurj-156	51	5	of	of	ADP
arestyrurj-156	51	6	equation	equation	NOUN
arestyrurj-156	51	7	(	(	PUNCT
arestyrurj-156	51	8	1	1	X
arestyrurj-156	51	9	)	)	PUNCT
arestyrurj-156	51	10	are	be	AUX
arestyrurj-156	51	11	defined	define	VERB
arestyrurj-156	51	12	in	in	ADP
arestyrurj-156	51	13	table	table	NOUN
arestyrurj-156	51	14	1	1	NUM
arestyrurj-156	51	15	below	below	ADV
arestyrurj-156	51	16	.	.	PUNCT
arestyrurj-156	52	1	the	the	DET
arestyrurj-156	52	2	joint	joint	ADJ
arestyrurj-156	52	3	torques	torque	NOUN
arestyrurj-156	52	4	𝑄𝑄(𝑞𝑞	𝑄𝑄(𝑞𝑞	PROPN
arestyrurj-156	52	5	,	,	PUNCT
arestyrurj-156	52	6	�	�	PROPN
arestyrurj-156	52	7	̇	̇	PROPN
arestyrurj-156	52	8	�	�	PROPN
arestyrurj-156	52	9	𝑞	𝑞	PROPN
arestyrurj-156	52	10	,	,	PUNCT
arestyrurj-156	52	11	�	�	PROPN
arestyrurj-156	52	12	̈	̈	X
arestyrurj-156	52	13	�	�	NOUN
arestyrurj-156	52	14	𝑞	𝑞	NOUN
arestyrurj-156	52	15	)	)	PUNCT
arestyrurj-156	52	16	obtained	obtain	VERB
arestyrurj-156	52	17	through	through	ADP
arestyrurj-156	52	18	the	the	DET
arestyrurj-156	52	19	solution	solution	NOUN
arestyrurj-156	52	20	of	of	ADP
arestyrurj-156	52	21	the	the	DET
arestyrurj-156	52	22	differential	differential	ADJ
arestyrurj-156	52	23	equation	equation	NOUN
arestyrurj-156	52	24	can	can	AUX
arestyrurj-156	52	25	be	be	AUX
arestyrurj-156	52	26	utilized	utilize	VERB
arestyrurj-156	52	27	to	to	PART
arestyrurj-156	52	28	solve	solve	VERB
arestyrurj-156	52	29	for	for	ADP
arestyrurj-156	52	30	the	the	DET
arestyrurj-156	52	31	reaction	reaction	NOUN
arestyrurj-156	52	32	forces	force	NOUN
arestyrurj-156	52	33	as	as	ADV
arestyrurj-156	52	34	well	well	ADV
arestyrurj-156	52	35	as	as	ADP
arestyrurj-156	52	36	the	the	DET
arestyrurj-156	52	37	moments	moment	NOUN
arestyrurj-156	52	38	the	the	DET
arestyrurj-156	52	39	arm	arm	NOUN
arestyrurj-156	52	40	will	will	AUX
arestyrurj-156	52	41	induce	induce	VERB
arestyrurj-156	52	42	on	on	ADP
arestyrurj-156	52	43	the	the	DET
arestyrurj-156	52	44	satellite	satellite	NOUN
arestyrurj-156	52	45	.	.	PUNCT
arestyrurj-156	53	1	thus	thus	ADV
arestyrurj-156	53	2	,	,	PUNCT
arestyrurj-156	53	3	these	these	DET
arestyrurj-156	53	4	loads	load	NOUN
arestyrurj-156	53	5	will	will	AUX
arestyrurj-156	53	6	be	be	AUX
arestyrurj-156	53	7	utilized	utilize	VERB
arestyrurj-156	53	8	in	in	ADP
arestyrurj-156	53	9	the	the	DET
arestyrurj-156	53	10	simulation	simulation	NOUN
arestyrurj-156	53	11	as	as	ADP
arestyrurj-156	53	12	the	the	DET
arestyrurj-156	53	13	external	external	ADJ
arestyrurj-156	53	14	disturbance	disturbance	NOUN
arestyrurj-156	53	15	the	the	DET
arestyrurj-156	53	16	satellite	satellite	NOUN
arestyrurj-156	53	17	is	be	AUX
arestyrurj-156	53	18	subjected	subject	VERB
arestyrurj-156	53	19	to	to	ADP
arestyrurj-156	53	20	.	.	PUNCT
arestyrurj-156	54	1	satellite	satellite	NOUN
arestyrurj-156	54	2	modelling	modelling	NOUN
arestyrurj-156	54	3	to	to	PART
arestyrurj-156	54	4	model	model	VERB
arestyrurj-156	54	5	the	the	DET
arestyrurj-156	54	6	effects	effect	NOUN
arestyrurj-156	54	7	of	of	ADP
arestyrurj-156	54	8	robotic	robotic	ADJ
arestyrurj-156	54	9	arm	arm	NOUN
arestyrurj-156	54	10	motion	motion	NOUN
arestyrurj-156	54	11	on	on	ADP
arestyrurj-156	54	12	satellite	satellite	NOUN
arestyrurj-156	54	13	position	position	NOUN
arestyrurj-156	54	14	and	and	CCONJ
arestyrurj-156	54	15	attitude	attitude	NOUN
arestyrurj-156	55	1	,	,	PUNCT
arestyrurj-156	55	2	we	we	PRON
arestyrurj-156	55	3	utilized	utilize	VERB
arestyrurj-156	55	4	the	the	DET
arestyrurj-156	55	5	aerospace	aerospace	NOUN
arestyrurj-156	55	6	blockset	blockset	NOUN
arestyrurj-156	55	7	’s	’s	PART
arestyrurj-156	55	8	“	"	PUNCT
arestyrurj-156	55	9	6dof	6dof	NOUN
arestyrurj-156	55	10	”	"	PUNCT
arestyrurj-156	55	11	(	(	PUNCT
arestyrurj-156	55	12	six	six	NUM
arestyrurj-156	55	13	degree	degree	NOUN
arestyrurj-156	55	14	-	-	PUNCT
arestyrurj-156	55	15	of	of	ADP
arestyrurj-156	55	16	-	-	PUNCT
arestyrurj-156	55	17	freedom	freedom	NOUN
arestyrurj-156	55	18	)	)	PUNCT
arestyrurj-156	55	19	block	block	NOUN
arestyrurj-156	55	20	in	in	ADP
arestyrurj-156	55	21	the	the	DET
arestyrurj-156	55	22	matlab	matlab	PROPN
arestyrurj-156	55	23	-	-	PUNCT
arestyrurj-156	55	24	based	base	VERB
arestyrurj-156	55	25	simulink	simulink	PROPN
arestyrurj-156	55	26	modeling	modeling	NOUN
arestyrurj-156	55	27	environment	environment	NOUN
arestyrurj-156	55	28	.	.	PUNCT
arestyrurj-156	56	1	this	this	DET
arestyrurj-156	56	2	block	block	NOUN
arestyrurj-156	56	3	implements	implement	VERB
arestyrurj-156	56	4	the	the	DET
arestyrurj-156	56	5	equations	equation	NOUN
arestyrurj-156	56	6	of	of	ADP
arestyrurj-156	56	7	motion	motion	NOUN
arestyrurj-156	56	8	described	describe	VERB
arestyrurj-156	56	9	in	in	ADP
arestyrurj-156	56	10	equations	equation	NOUN
arestyrurj-156	56	11	(	(	PUNCT
arestyrurj-156	56	12	2	2	NUM
arestyrurj-156	56	13	)	)	PUNCT
arestyrurj-156	56	14	and	and	CCONJ
arestyrurj-156	56	15	(	(	PUNCT
arestyrurj-156	56	16	3	3	NUM
arestyrurj-156	56	17	)	)	PUNCT
arestyrurj-156	56	18	,	,	PUNCT
arestyrurj-156	56	19	which	which	PRON
arestyrurj-156	56	20	are	be	AUX
arestyrurj-156	56	21	the	the	DET
arestyrurj-156	56	22	differential	differential	ADJ
arestyrurj-156	56	23	equations	equation	NOUN
arestyrurj-156	56	24	describing	describe	VERB
arestyrurj-156	56	25	translational	translational	ADJ
arestyrurj-156	56	26	motion	motion	NOUN
arestyrurj-156	56	27	and	and	CCONJ
arestyrurj-156	56	28	angular	angular	ADJ
arestyrurj-156	56	29	motion	motion	NOUN
arestyrurj-156	56	30	,	,	PUNCT
arestyrurj-156	56	31	respectively	respectively	ADV
arestyrurj-156	56	32	.	.	PUNCT
arestyrurj-156	57	1	the	the	DET
arestyrurj-156	57	2	parameters	parameter	NOUN
arestyrurj-156	57	3	of	of	ADP
arestyrurj-156	57	4	these	these	DET
arestyrurj-156	57	5	equations	equation	NOUN
arestyrurj-156	57	6	are	be	AUX
arestyrurj-156	57	7	defined	define	VERB
arestyrurj-156	57	8	explicitly	explicitly	ADV
arestyrurj-156	57	9	in	in	ADP
arestyrurj-156	57	10	supplemental	supplemental	ADJ
arestyrurj-156	57	11	table	table	NOUN
arestyrurj-156	57	12	s5	s5	PROPN
arestyrurj-156	57	13	.	.	PUNCT
arestyrurj-156	58	1	�	�	PROPN
arestyrurj-156	58	2	̈	̈	X
arestyrurj-156	58	3	�	�	NOUN
arestyrurj-156	58	4	𝑥	𝑥	NOUN
arestyrurj-156	58	5	=	=	SYM
arestyrurj-156	58	6	∑	∑	PUNCT
arestyrurj-156	58	7	𝐹𝐹𝑗𝑗(𝑡𝑡)𝑁𝑁	𝐹𝐹𝑗𝑗(𝑡𝑡)𝑁𝑁	NOUN
arestyrurj-156	58	8	𝑗𝑗=1	𝑗𝑗=1	NOUN
arestyrurj-156	58	9	𝑚𝑚	𝑚𝑚	ADP
arestyrurj-156	58	10	�	�	PROPN
arestyrurj-156	58	11	̈	̈	X
arestyrurj-156	58	12	�	�	NOUN
arestyrurj-156	58	13	𝜃(𝑡𝑡	𝜃(𝑡𝑡	NOUN
arestyrurj-156	58	14	)	)	PUNCT
arestyrurj-156	58	15	=	=	SYM
arestyrurj-156	58	16	𝐼𝐼−1	𝐼𝐼−1	PROPN
arestyrurj-156	58	17	�	�	PROPN
arestyrurj-156	58	18	�	�	PROPN
arestyrurj-156	58	19	�	�	NOUN
arestyrurj-156	58	20	𝑀𝑀(𝑡𝑡	𝑀𝑀(𝑡𝑡	NOUN
arestyrurj-156	58	21	)	)	PUNCT
arestyrurj-156	59	1	+	+	CCONJ
arestyrurj-156	59	2	𝑟𝑟𝑗𝑗	𝑟𝑟𝑗𝑗	ADJ
arestyrurj-156	59	3	×	×	PROPN
arestyrurj-156	59	4	𝐹𝐹𝑗𝑗(𝑡𝑡	𝐹𝐹𝑗𝑗(𝑡𝑡	NUM
arestyrurj-156	59	5	)	)	PUNCT
arestyrurj-156	59	6	�	�	PROPN
arestyrurj-156	59	7	−	−	PROPN
arestyrurj-156	59	8	�	�	PROPN
arestyrurj-156	59	9	̇	̇	PROPN
arestyrurj-156	59	10	�	�	NOUN
arestyrurj-156	59	11	𝜃(𝑡𝑡	𝜃(𝑡𝑡	NOUN
arestyrurj-156	59	12	)	)	PUNCT
arestyrurj-156	59	13	×	×	PROPN
arestyrurj-156	59	14	�	�	PROPN
arestyrurj-156	59	15	𝐼𝐼	𝐼𝐼	PROPN
arestyrurj-156	59	16	�	�	PROPN
arestyrurj-156	59	17	̇	̇	PROPN
arestyrurj-156	59	18	�	�	NOUN
arestyrurj-156	59	19	𝜃(𝑡𝑡	𝜃(𝑡𝑡	NOUN
arestyrurj-156	59	20	)	)	PUNCT
arestyrurj-156	60	1	�	�	PROPN
arestyrurj-156	60	2	𝑁𝑁	𝑁𝑁	PROPN
arestyrurj-156	60	3	𝑗𝑗=1	𝑗𝑗=1	PROPN
arestyrurj-156	60	4	�	�	PROPN
arestyrurj-156	60	5	𝑞𝑞	𝑞𝑞	PROPN
arestyrurj-156	60	6	,	,	PUNCT
arestyrurj-156	60	7	�	�	PROPN
arestyrurj-156	60	8	̇	̇	PROPN
arestyrurj-156	60	9	�	�	PROPN
arestyrurj-156	60	10	𝑞	𝑞	PROPN
arestyrurj-156	60	11	,	,	PUNCT
arestyrurj-156	60	12	�	�	PROPN
arestyrurj-156	60	13	̈	̈	X
arestyrurj-156	60	14	�	�	PROPN
arestyrurj-156	60	15	𝑞	𝑞	NOUN
arestyrurj-156	60	16	joint	joint	ADJ
arestyrurj-156	60	17	angular	angular	ADJ
arestyrurj-156	60	18	position	position	NOUN
arestyrurj-156	60	19	,	,	PUNCT
arestyrurj-156	60	20	velocity	velocity	NOUN
arestyrurj-156	60	21	,	,	PUNCT
arestyrurj-156	60	22	and	and	CCONJ
arestyrurj-156	60	23	acceleration	acceleration	NOUN
arestyrurj-156	60	24	respectively	respectively	ADV
arestyrurj-156	60	25	𝑄𝑄	𝑄𝑄	NOUN
arestyrurj-156	60	26	vector	vector	NOUN
arestyrurj-156	60	27	of	of	ADP
arestyrurj-156	60	28	generalized	generalized	ADJ
arestyrurj-156	60	29	joint	joint	ADJ
arestyrurj-156	60	30	torques	torque	NOUN
arestyrurj-156	60	31	–	–	PUNCT
arestyrurj-156	60	32	torques	torque	NOUN
arestyrurj-156	60	33	required	require	VERB
arestyrurj-156	60	34	at	at	ADP
arestyrurj-156	60	35	each	each	DET
arestyrurj-156	60	36	joint	joint	NOUN
arestyrurj-156	60	37	to	to	PART
arestyrurj-156	60	38	achieve	achieve	VERB
arestyrurj-156	60	39	the	the	DET
arestyrurj-156	60	40	motion	motion	NOUN
arestyrurj-156	60	41	described	describe	VERB
arestyrurj-156	60	42	by	by	ADP
arestyrurj-156	60	43	(	(	PUNCT
arestyrurj-156	60	44	𝑞𝑞	𝑞𝑞	PROPN
arestyrurj-156	60	45	,	,	PUNCT
arestyrurj-156	60	46	�	�	PROPN
arestyrurj-156	60	47	̇	̇	PROPN
arestyrurj-156	60	48	�	�	PROPN
arestyrurj-156	60	49	𝑞	𝑞	PROPN
arestyrurj-156	60	50	,	,	PUNCT
arestyrurj-156	60	51	�	�	PROPN
arestyrurj-156	60	52	̈	̈	X
arestyrurj-156	60	53	�	�	NOUN
arestyrurj-156	60	54	𝑞	𝑞	NOUN
arestyrurj-156	60	55	)	)	PUNCT
arestyrurj-156	60	56	𝑀𝑀(𝑞𝑞	𝑀𝑀(𝑞𝑞	PROPN
arestyrurj-156	60	57	)	)	PUNCT
arestyrurj-156	60	58	joint	joint	ADJ
arestyrurj-156	60	59	-	-	PUNCT
arestyrurj-156	60	60	space	space	NOUN
arestyrurj-156	60	61	inertia	inertia	NOUN
arestyrurj-156	60	62	matrix	matrix	NOUN
arestyrurj-156	60	63	–	–	PUNCT
arestyrurj-156	60	64	describes	describe	VERB
arestyrurj-156	60	65	the	the	DET
arestyrurj-156	60	66	moment	moment	NOUN
arestyrurj-156	60	67	of	of	ADP
arestyrurj-156	60	68	inertia	inertia	NOUN
arestyrurj-156	60	69	of	of	ADP
arestyrurj-156	60	70	each	each	DET
arestyrurj-156	60	71	link	link	NOUN
arestyrurj-156	60	72	in	in	ADP
arestyrurj-156	60	73	matrix	matrix	NOUN
arestyrurj-156	60	74	form	form	NOUN
arestyrurj-156	60	75	𝐶𝐶(𝑞𝑞	𝐶𝐶(𝑞𝑞	PROPN
arestyrurj-156	60	76	,	,	PUNCT
arestyrurj-156	60	77	�	�	PROPN
arestyrurj-156	60	78	̇	̇	PROPN
arestyrurj-156	60	79	�	�	PROPN
arestyrurj-156	60	80	𝑞	𝑞	NOUN
arestyrurj-156	60	81	)	)	PUNCT
arestyrurj-156	60	82	coriolis	corioli	NOUN
arestyrurj-156	60	83	and	and	CCONJ
arestyrurj-156	60	84	centripetal	centripetal	ADJ
arestyrurj-156	60	85	coupling	coupling	NOUN
arestyrurj-156	60	86	matrix	matrix	NOUN
arestyrurj-156	60	87	–	–	PUNCT
arestyrurj-156	60	88	describes	describe	VERB
arestyrurj-156	60	89	centripetal	centripetal	ADJ
arestyrurj-156	60	90	forces	force	NOUN
arestyrurj-156	60	91	due	due	ADP
arestyrurj-156	60	92	to	to	ADP
arestyrurj-156	60	93	rotation	rotation	NOUN
arestyrurj-156	60	94	of	of	ADP
arestyrurj-156	60	95	the	the	DET
arestyrurj-156	60	96	links	link	NOUN
arestyrurj-156	60	97	𝐹𝐹(	𝐹𝐹(	NOUN
arestyrurj-156	60	98	�	�	PROPN
arestyrurj-156	60	99	̇	̇	PROPN
arestyrurj-156	60	100	�	�	PROPN
arestyrurj-156	60	101	𝑞	𝑞	PART
arestyrurj-156	60	102	)	)	PUNCT
arestyrurj-156	60	103	friction	friction	NOUN
arestyrurj-156	60	104	matrix	matrix	NOUN
arestyrurj-156	60	105	–	–	PUNCT
arestyrurj-156	60	106	describes	describe	VERB
arestyrurj-156	60	107	torques	torque	NOUN
arestyrurj-156	60	108	from	from	ADP
arestyrurj-156	60	109	friction	friction	NOUN
arestyrurj-156	60	110	present	present	ADJ
arestyrurj-156	60	111	in	in	ADP
arestyrurj-156	60	112	the	the	DET
arestyrurj-156	60	113	joints	joint	NOUN
arestyrurj-156	60	114	𝐺𝐺(𝑞𝑞	𝐺𝐺(𝑞𝑞	PROPN
arestyrurj-156	60	115	)	)	PUNCT
arestyrurj-156	60	116	gravity	gravity	NOUN
arestyrurj-156	60	117	load	load	NOUN
arestyrurj-156	60	118	–	–	PUNCT
arestyrurj-156	60	119	describes	describe	VERB
arestyrurj-156	60	120	torques	torque	NOUN
arestyrurj-156	60	121	originating	originate	VERB
arestyrurj-156	60	122	from	from	ADP
arestyrurj-156	60	123	gravity	gravity	NOUN
arestyrurj-156	60	124	acting	act	VERB
arestyrurj-156	60	125	on	on	ADP
arestyrurj-156	60	126	the	the	DET
arestyrurj-156	60	127	links	link	NOUN
arestyrurj-156	60	128	𝐽𝐽(𝑞𝑞	𝐽𝐽(𝑞𝑞	PROPN
arestyrurj-156	60	129	)	)	PUNCT
arestyrurj-156	60	130	manipulator	manipulator	NOUN
arestyrurj-156	60	131	jacobian	jacobian	ADJ
arestyrurj-156	60	132	matrix	matrix	NOUN
arestyrurj-156	60	133	–	–	PUNCT
arestyrurj-156	60	134	describes	describe	VERB
arestyrurj-156	60	135	the	the	DET
arestyrurj-156	60	136	sensitivity	sensitivity	NOUN
arestyrurj-156	60	137	of	of	ADP
arestyrurj-156	60	138	the	the	DET
arestyrurj-156	60	139	end	end	NOUN
arestyrurj-156	60	140	effector	effector	NOUN
arestyrurj-156	60	141	to	to	ADP
arestyrurj-156	60	142	the	the	DET
arestyrurj-156	60	143	motion	motion	NOUN
arestyrurj-156	60	144	of	of	ADP
arestyrurj-156	60	145	each	each	DET
arestyrurj-156	60	146	joint	joint	ADJ
arestyrurj-156	60	147	𝑊𝑊	𝑊𝑊	PROPN
arestyrurj-156	60	148	end	end	VERB
arestyrurj-156	60	149	effector	effector	NOUN
arestyrurj-156	60	150	wrench	wrench	NOUN
arestyrurj-156	60	151	–	–	PUNCT
arestyrurj-156	60	152	describes	describe	VERB
arestyrurj-156	60	153	the	the	DET
arestyrurj-156	60	154	load	load	NOUN
arestyrurj-156	60	155	on	on	ADP
arestyrurj-156	60	156	the	the	DET
arestyrurj-156	60	157	end	end	NOUN
arestyrurj-156	60	158	effector	effector	NOUN
arestyrurj-156	60	159	table	table	NOUN
arestyrurj-156	60	160	1	1	NUM
arestyrurj-156	60	161	:	:	PUNCT
arestyrurj-156	60	162	definition	definition	NOUN
arestyrurj-156	60	163	of	of	ADP
arestyrurj-156	60	164	terms	term	NOUN
arestyrurj-156	60	165	in	in	ADP
arestyrurj-156	60	166	equation	equation	NOUN
arestyrurj-156	60	167	(	(	PUNCT
arestyrurj-156	60	168	1	1	NUM
arestyrurj-156	60	169	)	)	PUNCT
arestyrurj-156	60	170	(	(	PUNCT
arestyrurj-156	60	171	1	1	X
arestyrurj-156	60	172	)	)	PUNCT
arestyrurj-156	60	173	(	(	PUNCT
arestyrurj-156	60	174	2	2	NUM
arestyrurj-156	60	175	)	)	PUNCT
arestyrurj-156	60	176	(	(	PUNCT
arestyrurj-156	60	177	3	3	X
arestyrurj-156	60	178	)	)	PUNCT
arestyrurj-156	60	179	aresty	aresty	ADJ
arestyrurj-156	60	180	rutgers	rutgers	PROPN
arestyrurj-156	60	181	undergraduate	undergraduate	PROPN
arestyrurj-156	60	182	research	research	PROPN
arestyrurj-156	60	183	journal	journal	PROPN
arestyrurj-156	60	184	,	,	PUNCT
arestyrurj-156	60	185	volume	volume	NOUN
arestyrurj-156	60	186	i	i	PRON
arestyrurj-156	60	187	,	,	PUNCT
arestyrurj-156	60	188	issue	issue	NOUN
arestyrurj-156	60	189	ii	ii	NOUN
arestyrurj-156	60	190	since	since	SCONJ
arestyrurj-156	60	191	there	there	PRON
arestyrurj-156	60	192	is	be	VERB
arestyrurj-156	60	193	no	no	DET
arestyrurj-156	60	194	satellite	satellite	NOUN
arestyrurj-156	60	195	design	design	NOUN
arestyrurj-156	60	196	specified	specify	VERB
arestyrurj-156	60	197	for	for	ADP
arestyrurj-156	60	198	the	the	DET
arestyrurj-156	60	199	rsgs	rsgs	NOUN
arestyrurj-156	60	200	program	program	NOUN
arestyrurj-156	60	201	,	,	PUNCT
arestyrurj-156	60	202	we	we	PRON
arestyrurj-156	60	203	assumed	assume	VERB
arestyrurj-156	60	204	a	a	DET
arestyrurj-156	60	205	generic	generic	ADJ
arestyrurj-156	60	206	small	small	ADJ
arestyrurj-156	60	207	satellite	satellite	NOUN
arestyrurj-156	60	208	configuration	configuration	NOUN
arestyrurj-156	60	209	.	.	PUNCT
arestyrurj-156	61	1	we	we	PRON
arestyrurj-156	61	2	take	take	VERB
arestyrurj-156	61	3	the	the	DET
arestyrurj-156	61	4	satellite	satellite	NOUN
arestyrurj-156	61	5	to	to	PART
arestyrurj-156	61	6	be	be	AUX
arestyrurj-156	61	7	a	a	DET
arestyrurj-156	61	8	rectangular	rectangular	ADJ
arestyrurj-156	61	9	prism	prism	NOUN
arestyrurj-156	61	10	of	of	ADP
arestyrurj-156	61	11	2𝑚𝑚	2𝑚𝑚	ADJ
arestyrurj-156	61	12	×	×	NOUN
arestyrurj-156	61	13	1𝑚𝑚	1𝑚𝑚	ADJ
arestyrurj-156	61	14	×	×	NOUN
arestyrurj-156	61	15	1𝑚𝑚	1𝑚𝑚	NOUN
arestyrurj-156	61	16	with	with	ADP
arestyrurj-156	61	17	two	two	NUM
arestyrurj-156	61	18	thin	thin	ADJ
arestyrurj-156	61	19	rectangular	rectangular	ADJ
arestyrurj-156	61	20	solar	solar	ADJ
arestyrurj-156	61	21	arrays	array	NOUN
arestyrurj-156	61	22	fixed	fix	VERB
arestyrurj-156	61	23	at	at	ADP
arestyrurj-156	61	24	opposing	oppose	VERB
arestyrurj-156	61	25	ends	end	NOUN
arestyrurj-156	61	26	3𝑚𝑚	3𝑚𝑚	ADJ
arestyrurj-156	61	27	×	×	PROPN
arestyrurj-156	61	28	1.5𝑚𝑚	1.5𝑚𝑚	NUM
arestyrurj-156	61	29	×	×	NOUN
arestyrurj-156	61	30	.0055𝑚𝑚	.0055𝑚𝑚	PROPN
arestyrurj-156	61	31	located	locate	VERB
arestyrurj-156	61	32	.	.	PUNCT
arestyrurj-156	62	1	5𝑚𝑚	5𝑚𝑚	NOUN
arestyrurj-156	62	2	from	from	ADP
arestyrurj-156	62	3	the	the	DET
arestyrurj-156	62	4	satellite	satellite	NOUN
arestyrurj-156	62	5	body	body	NOUN
arestyrurj-156	62	6	.	.	PUNCT
arestyrurj-156	63	1	the	the	DET
arestyrurj-156	63	2	density	density	NOUN
arestyrurj-156	63	3	of	of	ADP
arestyrurj-156	63	4	the	the	DET
arestyrurj-156	63	5	satellite	satellite	NOUN
arestyrurj-156	63	6	was	be	AUX
arestyrurj-156	63	7	assumed	assume	VERB
arestyrurj-156	63	8	to	to	PART
arestyrurj-156	63	9	be	be	AUX
arestyrurj-156	63	10	200	200	NUM
arestyrurj-156	63	11	𝑘𝑘𝑘𝑘	𝑘𝑘𝑘𝑘	NOUN
arestyrurj-156	63	12	𝑚𝑚3	𝑚𝑚3	PROPN
arestyrurj-156	63	13	,	,	PUNCT
arestyrurj-156	63	14	which	which	PRON
arestyrurj-156	63	15	is	be	AUX
arestyrurj-156	63	16	an	an	DET
arestyrurj-156	63	17	approximate	approximate	ADJ
arestyrurj-156	63	18	mass	mass	NOUN
arestyrurj-156	63	19	density	density	NOUN
arestyrurj-156	63	20	for	for	ADP
arestyrurj-156	63	21	spacecraft	spacecraft	NOUN
arestyrurj-156	63	22	of	of	ADP
arestyrurj-156	63	23	this	this	PRON
arestyrurj-156	63	24	size[9	size[9	PROPN
arestyrurj-156	63	25	]	]	PUNCT
arestyrurj-156	63	26	and	and	CCONJ
arestyrurj-156	63	27	the	the	DET
arestyrurj-156	63	28	solar	solar	ADJ
arestyrurj-156	63	29	panels	panel	NOUN
arestyrurj-156	63	30	were	be	AUX
arestyrurj-156	63	31	assumed	assume	VERB
arestyrurj-156	63	32	to	to	PART
arestyrurj-156	63	33	be	be	AUX
arestyrurj-156	63	34	identical	identical	ADJ
arestyrurj-156	63	35	to	to	ADP
arestyrurj-156	63	36	those	those	PRON
arestyrurj-156	63	37	manufactured	manufacture	VERB
arestyrurj-156	63	38	by	by	ADP
arestyrurj-156	63	39	spectrolab	spectrolab	PROPN
arestyrurj-156	63	40	,	,	PUNCT
arestyrurj-156	63	41	a	a	DET
arestyrurj-156	63	42	manufacturer	manufacturer	NOUN
arestyrurj-156	63	43	of	of	ADP
arestyrurj-156	63	44	satellites	satellite	NOUN
arestyrurj-156	63	45	for	for	ADP
arestyrurj-156	63	46	use	use	NOUN
arestyrurj-156	63	47	in	in	ADP
arestyrurj-156	63	48	space	space	NOUN
arestyrurj-156	63	49	,	,	PUNCT
arestyrurj-156	63	50	and	and	CCONJ
arestyrurj-156	63	51	have	have	VERB
arestyrurj-156	63	52	a	a	DET
arestyrurj-156	63	53	planar	planar	ADJ
arestyrurj-156	63	54	density	density	NOUN
arestyrurj-156	63	55	of	of	ADP
arestyrurj-156	63	56	2.06	2.06	NUM
arestyrurj-156	63	57	𝑘𝑘𝑘𝑘	𝑘𝑘𝑘𝑘	NOUN
arestyrurj-156	63	58	𝑚𝑚2	𝑚𝑚2	NOUN
arestyrurj-156	64	1	[	[	X
arestyrurj-156	64	2	10	10	NUM
arestyrurj-156	64	3	]	]	PUNCT
arestyrurj-156	64	4	.	.	PUNCT
arestyrurj-156	65	1	this	this	PRON
arestyrurj-156	65	2	means	mean	VERB
arestyrurj-156	65	3	that	that	SCONJ
arestyrurj-156	65	4	the	the	DET
arestyrurj-156	65	5	entire	entire	ADJ
arestyrurj-156	65	6	satellite	satellite	NOUN
arestyrurj-156	65	7	has	have	VERB
arestyrurj-156	65	8	a	a	DET
arestyrurj-156	65	9	mass	mass	NOUN
arestyrurj-156	65	10	of	of	ADP
arestyrurj-156	65	11	𝑚𝑚	𝑚𝑚	ADP
arestyrurj-156	65	12	=	=	PROPN
arestyrurj-156	65	13	411.9305362785	411.9305362785	NUM
arestyrurj-156	65	14	𝑘𝑘𝑘𝑘	𝑘𝑘𝑘𝑘	NOUN
arestyrurj-156	65	15	,	,	PUNCT
arestyrurj-156	65	16	and	and	CCONJ
arestyrurj-156	65	17	the	the	DET
arestyrurj-156	65	18	inertia	inertia	NOUN
arestyrurj-156	65	19	tensor	tensor	NOUN
arestyrurj-156	65	20	is	be	AUX
arestyrurj-156	65	21	shown	show	VERB
arestyrurj-156	65	22	below	below	ADP
arestyrurj-156	65	23	:	:	PUNCT
arestyrurj-156	65	24	𝐼𝐼	𝐼𝐼	PROPN
arestyrurj-156	65	25	=	=	SYM
arestyrurj-156	65	26	(	(	PUNCT
arestyrurj-156	65	27	303.02687565826	303.02687565826	NUM
arestyrurj-156	65	28	0	0	NUM
arestyrurj-156	65	29	0	0	NUM
arestyrurj-156	65	30	0	0	NUM
arestyrurj-156	65	31	170.14297228667	170.14297228667	NUM
arestyrurj-156	65	32	0	0	NUM
arestyrurj-156	65	33	0	0	NUM
arestyrurj-156	65	34	0	0	NUM
arestyrurj-156	65	35	199.55068127826	199.55068127826	NUM
arestyrurj-156	65	36	)	)	PUNCT
arestyrurj-156	65	37	𝑘𝑘𝑘𝑘	𝑘𝑘𝑘𝑘	NOUN
arestyrurj-156	65	38	∙	∙	PROPN
arestyrurj-156	65	39	𝑚𝑚2	𝑚𝑚2	NOUN
arestyrurj-156	65	40	controller	controller	NOUN
arestyrurj-156	65	41	modelling	model	VERB
arestyrurj-156	65	42	recall	recall	NOUN
arestyrurj-156	65	43	that	that	SCONJ
arestyrurj-156	65	44	our	our	PRON
arestyrurj-156	65	45	objective	objective	NOUN
arestyrurj-156	65	46	is	be	AUX
arestyrurj-156	65	47	to	to	PART
arestyrurj-156	65	48	maintain	maintain	VERB
arestyrurj-156	65	49	the	the	DET
arestyrurj-156	65	50	translational	translational	ADJ
arestyrurj-156	65	51	position	position	NOUN
arestyrurj-156	65	52	as	as	ADV
arestyrurj-156	65	53	well	well	ADV
arestyrurj-156	65	54	as	as	ADP
arestyrurj-156	65	55	the	the	DET
arestyrurj-156	65	56	angular	angular	ADJ
arestyrurj-156	65	57	position	position	NOUN
arestyrurj-156	65	58	(	(	PUNCT
arestyrurj-156	65	59	or	or	CCONJ
arestyrurj-156	65	60	attitude	attitude	NOUN
arestyrurj-156	65	61	)	)	PUNCT
arestyrurj-156	65	62	of	of	ADP
arestyrurj-156	65	63	the	the	DET
arestyrurj-156	65	64	satellite	satellite	NOUN
arestyrurj-156	65	65	throughout	throughout	ADP
arestyrurj-156	65	66	operation	operation	NOUN
arestyrurj-156	65	67	of	of	ADP
arestyrurj-156	65	68	the	the	DET
arestyrurj-156	65	69	on	on	ADP
arestyrurj-156	65	70	-	-	PUNCT
arestyrurj-156	65	71	board	board	NOUN
arestyrurj-156	65	72	robotic	robotic	ADJ
arestyrurj-156	65	73	arm	arm	NOUN
arestyrurj-156	65	74	.	.	PUNCT
arestyrurj-156	66	1	to	to	PART
arestyrurj-156	66	2	accomplish	accomplish	VERB
arestyrurj-156	66	3	satellite	satellite	NOUN
arestyrurj-156	66	4	position	position	NOUN
arestyrurj-156	66	5	and	and	CCONJ
arestyrurj-156	66	6	attitude	attitude	NOUN
arestyrurj-156	66	7	control	control	NOUN
arestyrurj-156	66	8	,	,	PUNCT
arestyrurj-156	66	9	pid	pid	NOUN
arestyrurj-156	66	10	controllers	controller	NOUN
arestyrurj-156	66	11	,	,	PUNCT
arestyrurj-156	66	12	which	which	PRON
arestyrurj-156	66	13	represents	represent	VERB
arestyrurj-156	66	14	a	a	DET
arestyrurj-156	66	15	basic	basic	ADJ
arestyrurj-156	66	16	function	function	NOUN
arestyrurj-156	66	17	for	for	ADP
arestyrurj-156	66	18	the	the	DET
arestyrurj-156	66	19	control	control	NOUN
arestyrurj-156	66	20	of	of	ADP
arestyrurj-156	66	21	linear	linear	PROPN
arestyrurj-156	66	22	systems	system	NOUN
arestyrurj-156	66	23	,	,	PUNCT
arestyrurj-156	66	24	were	be	AUX
arestyrurj-156	66	25	implemented	implement	VERB
arestyrurj-156	66	26	for	for	ADP
arestyrurj-156	66	27	each	each	PRON
arestyrurj-156	66	28	of	of	ADP
arestyrurj-156	66	29	the	the	DET
arestyrurj-156	66	30	six	six	NUM
arestyrurj-156	66	31	degrees	degree	NOUN
arestyrurj-156	66	32	of	of	ADP
arestyrurj-156	66	33	freedom	freedom	NOUN
arestyrurj-156	66	34	,	,	PUNCT
arestyrurj-156	66	35	namely	namely	ADV
arestyrurj-156	66	36	the	the	DET
arestyrurj-156	66	37	three	three	NUM
arestyrurj-156	66	38	translational	translational	ADJ
arestyrurj-156	66	39	coordinates	coordinate	NOUN
arestyrurj-156	66	40	(	(	PUNCT
arestyrurj-156	66	41	𝑥𝑥,𝑦𝑦	𝑥𝑥,𝑦𝑦	ADJ
arestyrurj-156	66	42	,	,	PUNCT
arestyrurj-156	66	43	𝑧𝑧	𝑧𝑧	NOUN
arestyrurj-156	66	44	)	)	PUNCT
arestyrurj-156	66	45	of	of	ADP
arestyrurj-156	66	46	satellite	satellite	NOUN
arestyrurj-156	66	47	position	position	NOUN
arestyrurj-156	66	48	and	and	CCONJ
arestyrurj-156	66	49	the	the	DET
arestyrurj-156	66	50	three	three	NUM
arestyrurj-156	66	51	euler	euler	NOUN
arestyrurj-156	66	52	angles	angle	NOUN
arestyrurj-156	66	53	(	(	PUNCT
arestyrurj-156	66	54	𝜙𝜙,𝜃𝜃,𝜓𝜓	𝜙𝜙,𝜃𝜃,𝜓𝜓	PROPN
arestyrurj-156	66	55	)	)	PUNCT
arestyrurj-156	66	56	defining	define	VERB
arestyrurj-156	66	57	satellite	satellite	NOUN
arestyrurj-156	66	58	roll	roll	NOUN
arestyrurj-156	66	59	,	,	PUNCT
arestyrurj-156	66	60	pitch	pitch	NOUN
arestyrurj-156	66	61	,	,	PUNCT
arestyrurj-156	66	62	and	and	CCONJ
arestyrurj-156	66	63	yaw	yaw	NOUN
arestyrurj-156	66	64	,	,	PUNCT
arestyrurj-156	66	65	respectively	respectively	ADV
arestyrurj-156	66	66	.	.	PUNCT
arestyrurj-156	67	1	the	the	DET
arestyrurj-156	67	2	optimal	optimal	ADJ
arestyrurj-156	67	3	values	value	NOUN
arestyrurj-156	67	4	of	of	ADP
arestyrurj-156	67	5	the	the	DET
arestyrurj-156	67	6	pid	pid	NOUN
arestyrurj-156	67	7	controller	controller	NOUN
arestyrurj-156	67	8	gains	gain	NOUN
arestyrurj-156	67	9	,	,	PUNCT
arestyrurj-156	67	10	𝐾𝐾𝑃𝑃	𝐾𝐾𝑃𝑃	PROPN
arestyrurj-156	67	11	,	,	PUNCT
arestyrurj-156	67	12	𝐾𝐾𝐼𝐼	𝐾𝐾𝐼𝐼	PROPN
arestyrurj-156	67	13	,	,	PUNCT
arestyrurj-156	67	14	and	and	CCONJ
arestyrurj-156	67	15	𝐾𝐾𝐷𝐷	𝐾𝐾𝐷𝐷	PROPN
arestyrurj-156	67	16	are	be	AUX
arestyrurj-156	67	17	determined	determine	VERB
arestyrurj-156	67	18	automatically	automatically	ADV
arestyrurj-156	67	19	using	use	VERB
arestyrurj-156	67	20	the	the	DET
arestyrurj-156	67	21	matlab	matlab	PROPN
arestyrurj-156	67	22	pid	pid	NOUN
arestyrurj-156	67	23	tuner	tuner	NOUN
arestyrurj-156	67	24	tool	tool	PROPN
arestyrurj-156	67	25	.	.	PUNCT
arestyrurj-156	68	1	the	the	DET
arestyrurj-156	68	2	optimal	optimal	ADJ
arestyrurj-156	68	3	gains	gain	NOUN
arestyrurj-156	68	4	for	for	ADP
arestyrurj-156	68	5	the	the	DET
arestyrurj-156	68	6	rsgs	rsgs	NOUN
arestyrurj-156	68	7	model	model	NOUN
arestyrurj-156	68	8	satellite	satellite	NOUN
arestyrurj-156	68	9	are	be	AUX
arestyrurj-156	68	10	shown	show	VERB
arestyrurj-156	68	11	in	in	ADP
arestyrurj-156	68	12	supplemental	supplemental	ADJ
arestyrurj-156	68	13	table	table	NOUN
arestyrurj-156	68	14	s4	s4	NOUN
arestyrurj-156	68	15	.	.	PUNCT
arestyrurj-156	69	1	3	3	NUM
arestyrurj-156	69	2	results	result	NOUN
arestyrurj-156	69	3	as	as	ADP
arestyrurj-156	69	4	a	a	DET
arestyrurj-156	69	5	result	result	NOUN
arestyrurj-156	69	6	of	of	ADP
arestyrurj-156	69	7	this	this	DET
arestyrurj-156	69	8	project	project	NOUN
arestyrurj-156	69	9	,	,	PUNCT
arestyrurj-156	69	10	we	we	PRON
arestyrurj-156	69	11	have	have	AUX
arestyrurj-156	69	12	developed	develop	VERB
arestyrurj-156	69	13	a	a	DET
arestyrurj-156	69	14	multiple	multiple	ADJ
arestyrurj-156	69	15	component	component	NOUN
arestyrurj-156	69	16	model	model	NOUN
arestyrurj-156	69	17	in	in	ADP
arestyrurj-156	69	18	which	which	PRON
arestyrurj-156	69	19	a	a	DET
arestyrurj-156	69	20	user	user	NOUN
arestyrurj-156	69	21	can	can	AUX
arestyrurj-156	69	22	define	define	VERB
arestyrurj-156	69	23	a	a	DET
arestyrurj-156	69	24	robotic	robotic	ADJ
arestyrurj-156	69	25	arm	arm	NOUN
arestyrurj-156	69	26	configuration	configuration	NOUN
arestyrurj-156	69	27	and	and	CCONJ
arestyrurj-156	69	28	trajectory	trajectory	NOUN
arestyrurj-156	69	29	as	as	ADV
arestyrurj-156	69	30	well	well	ADV
arestyrurj-156	69	31	as	as	ADP
arestyrurj-156	69	32	the	the	DET
arestyrurj-156	69	33	inertial	inertial	ADJ
arestyrurj-156	69	34	parameters	parameter	NOUN
arestyrurj-156	69	35	of	of	ADP
arestyrurj-156	69	36	a	a	DET
arestyrurj-156	69	37	satellite	satellite	NOUN
arestyrurj-156	69	38	.	.	PUNCT
arestyrurj-156	70	1	the	the	DET
arestyrurj-156	70	2	user	user	NOUN
arestyrurj-156	70	3	can	can	AUX
arestyrurj-156	70	4	then	then	ADV
arestyrurj-156	70	5	simulate	simulate	VERB
arestyrurj-156	70	6	the	the	DET
arestyrurj-156	70	7	motion	motion	NOUN
arestyrurj-156	70	8	response	response	NOUN
arestyrurj-156	70	9	of	of	ADP
arestyrurj-156	70	10	the	the	DET
arestyrurj-156	70	11	satellite	satellite	NOUN
arestyrurj-156	70	12	to	to	ADP
arestyrurj-156	70	13	disturbances	disturbance	NOUN
arestyrurj-156	70	14	arising	arise	VERB
arestyrurj-156	70	15	from	from	ADP
arestyrurj-156	70	16	motion	motion	NOUN
arestyrurj-156	70	17	of	of	ADP
arestyrurj-156	70	18	the	the	DET
arestyrurj-156	70	19	arm	arm	NOUN
arestyrurj-156	70	20	and	and	CCONJ
arestyrurj-156	70	21	employ	employ	VERB
arestyrurj-156	70	22	a	a	DET
arestyrurj-156	70	23	predictive	predictive	ADJ
arestyrurj-156	70	24	control	control	NOUN
arestyrurj-156	70	25	scheme	scheme	NOUN
arestyrurj-156	70	26	to	to	PART
arestyrurj-156	70	27	maintain	maintain	VERB
arestyrurj-156	70	28	a	a	DET
arestyrurj-156	70	29	reference	reference	NOUN
arestyrurj-156	70	30	satellite	satellite	NOUN
arestyrurj-156	70	31	position	position	NOUN
arestyrurj-156	70	32	and	and	CCONJ
arestyrurj-156	70	33	attitude	attitude	NOUN
arestyrurj-156	70	34	.	.	PUNCT
arestyrurj-156	71	1	a	a	DET
arestyrurj-156	71	2	simplified	simplify	VERB
arestyrurj-156	71	3	simulink	simulink	NOUN
arestyrurj-156	71	4	block	block	NOUN
arestyrurj-156	71	5	diagram	diagram	NOUN
arestyrurj-156	71	6	demonstrating	demonstrate	VERB
arestyrurj-156	71	7	the	the	DET
arestyrurj-156	71	8	fundamental	fundamental	ADJ
arestyrurj-156	71	9	logic	logic	NOUN
arestyrurj-156	71	10	behind	behind	ADP
arestyrurj-156	71	11	the	the	DET
arestyrurj-156	71	12	model	model	NOUN
arestyrurj-156	71	13	is	be	AUX
arestyrurj-156	71	14	shown	show	VERB
arestyrurj-156	71	15	in	in	ADP
arestyrurj-156	71	16	figure	figure	NOUN
arestyrurj-156	71	17	4	4	NUM
arestyrurj-156	71	18	.	.	PUNCT
arestyrurj-156	71	19	as	as	SCONJ
arestyrurj-156	71	20	shown	show	VERB
arestyrurj-156	71	21	in	in	ADP
arestyrurj-156	71	22	the	the	DET
arestyrurj-156	71	23	figure	figure	NOUN
arestyrurj-156	71	24	,	,	PUNCT
arestyrurj-156	71	25	the	the	DET
arestyrurj-156	71	26	controller	controller	NOUN
arestyrurj-156	71	27	(	(	PUNCT
arestyrurj-156	71	28	which	which	PRON
arestyrurj-156	71	29	is	be	AUX
arestyrurj-156	71	30	a	a	DET
arestyrurj-156	71	31	pid	pid	NOUN
arestyrurj-156	71	32	controller	controller	NOUN
arestyrurj-156	71	33	in	in	ADP
arestyrurj-156	71	34	this	this	DET
arestyrurj-156	71	35	case	case	NOUN
arestyrurj-156	71	36	)	)	PUNCT
arestyrurj-156	71	37	receives	receive	VERB
arestyrurj-156	71	38	the	the	DET
arestyrurj-156	71	39	translational	translational	ADJ
arestyrurj-156	71	40	position	position	NOUN
arestyrurj-156	71	41	and	and	CCONJ
arestyrurj-156	71	42	angular	angular	ADJ
arestyrurj-156	71	43	position	position	NOUN
arestyrurj-156	71	44	offset	offset	VERB
arestyrurj-156	71	45	as	as	ADV
arestyrurj-156	71	46	well	well	ADV
arestyrurj-156	71	47	as	as	ADP
arestyrurj-156	71	48	an	an	DET
arestyrurj-156	71	49	estimation	estimation	NOUN
arestyrurj-156	71	50	of	of	ADP
arestyrurj-156	71	51	the	the	DET
arestyrurj-156	71	52	incoming	incoming	ADJ
arestyrurj-156	71	53	arm	arm	NOUN
arestyrurj-156	71	54	loads	load	NOUN
arestyrurj-156	71	55	which	which	PRON
arestyrurj-156	71	56	it	it	PRON
arestyrurj-156	71	57	then	then	ADV
arestyrurj-156	71	58	uses	use	VERB
arestyrurj-156	71	59	to	to	PART
arestyrurj-156	71	60	calculate	calculate	VERB
arestyrurj-156	71	61	the	the	DET
arestyrurj-156	71	62	necessary	necessary	ADJ
arestyrurj-156	71	63	control	control	NOUN
arestyrurj-156	71	64	force	force	NOUN
arestyrurj-156	71	65	/	/	SYM
arestyrurj-156	71	66	torque	torque	NOUN
arestyrurj-156	71	67	.	.	PUNCT
arestyrurj-156	72	1	𝑥𝑥(𝑡𝑡	𝑥𝑥(𝑡𝑡	NOUN
arestyrurj-156	72	2	)	)	PUNCT
arestyrurj-156	73	1	vector	vector	NOUN
arestyrurj-156	73	2	of	of	ADP
arestyrurj-156	73	3	satellite	satellite	NOUN
arestyrurj-156	73	4	positional	positional	ADJ
arestyrurj-156	73	5	coordinates	coordinate	NOUN
arestyrurj-156	73	6	𝜃𝜃(𝑡𝑡	𝜃𝜃(𝑡𝑡	PROPN
arestyrurj-156	73	7	)	)	PUNCT
arestyrurj-156	73	8	vector	vector	NOUN
arestyrurj-156	73	9	of	of	ADP
arestyrurj-156	73	10	satellite	satellite	NOUN
arestyrurj-156	73	11	angular	angular	ADJ
arestyrurj-156	73	12	position	position	NOUN
arestyrurj-156	73	13	coordinates	coordinate	NOUN
arestyrurj-156	73	14	𝐹𝐹𝑗𝑗(𝑡𝑡	𝐹𝐹𝑗𝑗(𝑡𝑡	NOUN
arestyrurj-156	73	15	)	)	PUNCT
arestyrurj-156	73	16	vector	vector	NOUN
arestyrurj-156	73	17	of	of	ADP
arestyrurj-156	73	18	translational	translational	ADJ
arestyrurj-156	73	19	force	force	NOUN
arestyrurj-156	73	20	caused	cause	VERB
arestyrurj-156	73	21	by	by	ADP
arestyrurj-156	73	22	robotic	robotic	ADJ
arestyrurj-156	73	23	arm	arm	NOUN
arestyrurj-156	73	24	𝑗𝑗	𝑗𝑗	ADP
arestyrurj-156	73	25	𝑀𝑀𝑗𝑗(𝑡𝑡	𝑀𝑀𝑗𝑗(𝑡𝑡	PROPN
arestyrurj-156	73	26	)	)	PUNCT
arestyrurj-156	73	27	vector	vector	NOUN
arestyrurj-156	73	28	of	of	ADP
arestyrurj-156	73	29	moments	moment	NOUN
arestyrurj-156	73	30	caused	cause	VERB
arestyrurj-156	73	31	by	by	ADP
arestyrurj-156	73	32	robotic	robotic	ADJ
arestyrurj-156	73	33	arm	arm	NOUN
arestyrurj-156	73	34	𝑗𝑗	𝑗𝑗	ADP
arestyrurj-156	73	35	𝑚𝑚	𝑚𝑚	ADP
arestyrurj-156	73	36	satellite	satellite	NOUN
arestyrurj-156	73	37	mass	mass	NOUN
arestyrurj-156	73	38	𝐼𝐼	𝐼𝐼	PROPN
arestyrurj-156	73	39	satellite	satellite	NOUN
arestyrurj-156	73	40	inertia	inertia	NOUN
arestyrurj-156	73	41	tensor	tensor	NOUN
arestyrurj-156	73	42	𝑟𝑟𝑗𝑗	𝑟𝑟𝑗𝑗	ADJ
arestyrurj-156	73	43	vector	vector	NOUN
arestyrurj-156	73	44	defining	define	VERB
arestyrurj-156	73	45	the	the	DET
arestyrurj-156	73	46	base	base	NOUN
arestyrurj-156	73	47	of	of	ADP
arestyrurj-156	73	48	arm	arm	NOUN
arestyrurj-156	73	49	𝑗𝑗	𝑗𝑗	ADP
arestyrurj-156	73	50	relative	relative	ADJ
arestyrurj-156	73	51	to	to	ADP
arestyrurj-156	73	52	the	the	DET
arestyrurj-156	73	53	satellite	satellite	NOUN
arestyrurj-156	73	54	com	com	NOUN
arestyrurj-156	73	55	table	table	NOUN
arestyrurj-156	73	56	2	2	NUM
arestyrurj-156	73	57	:	:	PUNCT
arestyrurj-156	73	58	definition	definition	NOUN
arestyrurj-156	73	59	of	of	ADP
arestyrurj-156	73	60	terms	term	NOUN
arestyrurj-156	73	61	in	in	ADP
arestyrurj-156	73	62	equations	equation	NOUN
arestyrurj-156	73	63	(	(	PUNCT
arestyrurj-156	73	64	2	2	NUM
arestyrurj-156	73	65	)	)	PUNCT
arestyrurj-156	73	66	and	and	CCONJ
arestyrurj-156	73	67	(	(	PUNCT
arestyrurj-156	73	68	3	3	X
arestyrurj-156	73	69	)	)	PUNCT
arestyrurj-156	73	70	aresty	aresty	ADJ
arestyrurj-156	73	71	rutgers	rutgers	PROPN
arestyrurj-156	73	72	undergraduate	undergraduate	PROPN
arestyrurj-156	73	73	research	research	PROPN
arestyrurj-156	73	74	journal	journal	PROPN
arestyrurj-156	73	75	,	,	PUNCT
arestyrurj-156	73	76	volume	volume	NOUN
arestyrurj-156	73	77	i	i	PRON
arestyrurj-156	73	78	,	,	PUNCT
arestyrurj-156	73	79	issue	issue	VERB
arestyrurj-156	73	80	ii	ii	NOUN
arestyrurj-156	73	81	the	the	DET
arestyrurj-156	73	82	objective	objective	NOUN
arestyrurj-156	73	83	of	of	ADP
arestyrurj-156	73	84	this	this	DET
arestyrurj-156	73	85	work	work	NOUN
arestyrurj-156	73	86	is	be	AUX
arestyrurj-156	73	87	to	to	PART
arestyrurj-156	73	88	demonstrate	demonstrate	VERB
arestyrurj-156	73	89	the	the	DET
arestyrurj-156	73	90	use	use	NOUN
arestyrurj-156	73	91	of	of	ADP
arestyrurj-156	73	92	a	a	DET
arestyrurj-156	73	93	pid	pid	NOUN
arestyrurj-156	73	94	controller	controller	NOUN
arestyrurj-156	73	95	with	with	ADP
arestyrurj-156	73	96	load	load	NOUN
arestyrurj-156	73	97	estimative	estimative	ADJ
arestyrurj-156	73	98	capacity	capacity	NOUN
arestyrurj-156	73	99	in	in	ADP
arestyrurj-156	73	100	the	the	DET
arestyrurj-156	73	101	control	control	NOUN
arestyrurj-156	73	102	of	of	ADP
arestyrurj-156	73	103	position	position	NOUN
arestyrurj-156	73	104	and	and	CCONJ
arestyrurj-156	73	105	attitude	attitude	NOUN
arestyrurj-156	73	106	of	of	ADP
arestyrurj-156	73	107	satellites	satellite	NOUN
arestyrurj-156	73	108	with	with	ADP
arestyrurj-156	73	109	onboard	onboard	ADJ
arestyrurj-156	73	110	robotic	robotic	ADJ
arestyrurj-156	73	111	manipulators	manipulator	NOUN
arestyrurj-156	73	112	.	.	PUNCT
arestyrurj-156	74	1	the	the	DET
arestyrurj-156	74	2	simulation	simulation	NOUN
arestyrurj-156	74	3	was	be	AUX
arestyrurj-156	74	4	run	run	VERB
arestyrurj-156	74	5	for	for	ADP
arestyrurj-156	74	6	multiple	multiple	ADJ
arestyrurj-156	74	7	scenarios	scenario	NOUN
arestyrurj-156	74	8	:	:	PUNCT
arestyrurj-156	74	9	without	without	ADP
arestyrurj-156	74	10	control	control	NOUN
arestyrurj-156	74	11	,	,	PUNCT
arestyrurj-156	74	12	with	with	ADP
arestyrurj-156	74	13	non	non	ADJ
arestyrurj-156	74	14	-	-	ADJ
arestyrurj-156	74	15	predictive	predictive	ADJ
arestyrurj-156	74	16	control	control	NOUN
arestyrurj-156	74	17	,	,	PUNCT
arestyrurj-156	74	18	and	and	CCONJ
arestyrurj-156	74	19	with	with	ADP
arestyrurj-156	74	20	the	the	DET
arestyrurj-156	74	21	load	load	NOUN
arestyrurj-156	74	22	estimating	estimate	VERB
arestyrurj-156	74	23	controller	controller	NOUN
arestyrurj-156	74	24	.	.	PUNCT
arestyrurj-156	75	1	for	for	ADP
arestyrurj-156	75	2	runs	run	NOUN
arestyrurj-156	75	3	with	with	ADP
arestyrurj-156	75	4	the	the	DET
arestyrurj-156	75	5	controller	controller	NOUN
arestyrurj-156	75	6	,	,	PUNCT
arestyrurj-156	75	7	it	it	PRON
arestyrurj-156	75	8	is	be	AUX
arestyrurj-156	75	9	assumed	assume	VERB
arestyrurj-156	75	10	that	that	SCONJ
arestyrurj-156	75	11	the	the	DET
arestyrurj-156	75	12	satellite	satellite	NOUN
arestyrurj-156	75	13	has	have	VERB
arestyrurj-156	75	14	an	an	DET
arestyrurj-156	75	15	ideal	ideal	ADJ
arestyrurj-156	75	16	control	control	NOUN
arestyrurj-156	75	17	actuator	actuator	NOUN
arestyrurj-156	75	18	onboard	onboard	NOUN
arestyrurj-156	75	19	that	that	PRON
arestyrurj-156	75	20	can	can	AUX
arestyrurj-156	75	21	instantly	instantly	ADV
arestyrurj-156	75	22	induce	induce	VERB
arestyrurj-156	75	23	the	the	DET
arestyrurj-156	75	24	required	require	VERB
arestyrurj-156	75	25	torques	torque	NOUN
arestyrurj-156	75	26	or	or	CCONJ
arestyrurj-156	75	27	forces	force	NOUN
arestyrurj-156	75	28	determined	determine	VERB
arestyrurj-156	75	29	by	by	ADP
arestyrurj-156	75	30	the	the	DET
arestyrurj-156	75	31	pid	pid	NOUN
arestyrurj-156	75	32	controller	controller	NOUN
arestyrurj-156	75	33	.	.	PUNCT
arestyrurj-156	76	1	it	it	PRON
arestyrurj-156	76	2	is	be	AUX
arestyrurj-156	76	3	important	important	ADJ
arestyrurj-156	76	4	to	to	PART
arestyrurj-156	76	5	note	note	VERB
arestyrurj-156	76	6	that	that	SCONJ
arestyrurj-156	76	7	this	this	PRON
arestyrurj-156	76	8	is	be	AUX
arestyrurj-156	76	9	a	a	DET
arestyrurj-156	76	10	preliminary	preliminary	ADJ
arestyrurj-156	76	11	assumption	assumption	NOUN
arestyrurj-156	76	12	used	use	VERB
arestyrurj-156	76	13	to	to	PART
arestyrurj-156	76	14	evaluate	evaluate	VERB
arestyrurj-156	76	15	the	the	DET
arestyrurj-156	76	16	effectiveness	effectiveness	NOUN
arestyrurj-156	76	17	of	of	ADP
arestyrurj-156	76	18	the	the	DET
arestyrurj-156	76	19	control	control	NOUN
arestyrurj-156	76	20	scheme	scheme	NOUN
arestyrurj-156	76	21	rather	rather	ADV
arestyrurj-156	76	22	than	than	SCONJ
arestyrurj-156	76	23	to	to	PART
arestyrurj-156	76	24	evaluate	evaluate	VERB
arestyrurj-156	76	25	its	its	PRON
arestyrurj-156	76	26	performance	performance	NOUN
arestyrurj-156	76	27	in	in	ADP
arestyrurj-156	76	28	a	a	DET
arestyrurj-156	76	29	realistic	realistic	ADJ
arestyrurj-156	76	30	application	application	NOUN
arestyrurj-156	76	31	.	.	PUNCT
arestyrurj-156	77	1	the	the	DET
arestyrurj-156	77	2	position	position	NOUN
arestyrurj-156	77	3	and	and	CCONJ
arestyrurj-156	77	4	at	at	ADP
arestyrurj-156	77	5	left	left	ADV
arestyrurj-156	77	6	:	:	PUNCT
arestyrurj-156	77	7	figure	figure	VERB
arestyrurj-156	77	8	4	4	NUM
arestyrurj-156	77	9	:	:	PUNCT
arestyrurj-156	77	10	simplified	simplified	ADJ
arestyrurj-156	77	11	block	block	NOUN
arestyrurj-156	77	12	diagram	diagram	NOUN
arestyrurj-156	77	13	describing	describe	VERB
arestyrurj-156	77	14	the	the	DET
arestyrurj-156	77	15	logical	logical	ADJ
arestyrurj-156	77	16	relations	relation	NOUN
arestyrurj-156	77	17	between	between	ADP
arestyrurj-156	77	18	the	the	DET
arestyrurj-156	77	19	disturbance	disturbance	NOUN
arestyrurj-156	77	20	load	load	NOUN
arestyrurj-156	77	21	,	,	PUNCT
arestyrurj-156	77	22	satellite	satellite	NOUN
arestyrurj-156	77	23	,	,	PUNCT
arestyrurj-156	77	24	and	and	CCONJ
arestyrurj-156	77	25	controller	controller	NOUN
arestyrurj-156	77	26	below	below	ADV
arestyrurj-156	77	27	:	:	PUNCT
arestyrurj-156	77	28	figure	figure	VERB
arestyrurj-156	77	29	5	5	NUM
arestyrurj-156	77	30	:	:	PUNCT
arestyrurj-156	77	31	disturbance	disturbance	NOUN
arestyrurj-156	77	32	forces	force	NOUN
arestyrurj-156	77	33	and	and	CCONJ
arestyrurj-156	77	34	moments	moment	NOUN
arestyrurj-156	77	35	acting	act	VERB
arestyrurj-156	77	36	on	on	ADP
arestyrurj-156	77	37	the	the	DET
arestyrurj-156	77	38	satellite	satellite	NOUN
arestyrurj-156	77	39	throughout	throughout	ADP
arestyrurj-156	77	40	the	the	DET
arestyrurj-156	77	41	arm	arm	NOUN
arestyrurj-156	77	42	’s	’s	PART
arestyrurj-156	77	43	trajectory	trajectory	NOUN
arestyrurj-156	77	44	the	the	DET
arestyrurj-156	77	45	forces	force	NOUN
arestyrurj-156	77	46	and	and	CCONJ
arestyrurj-156	77	47	moments	moment	NOUN
arestyrurj-156	77	48	of	of	ADP
arestyrurj-156	77	49	the	the	DET
arestyrurj-156	77	50	satellite	satellite	NOUN
arestyrurj-156	77	51	disturbance	disturbance	NOUN
arestyrurj-156	77	52	load	load	NOUN
arestyrurj-156	77	53	are	be	AUX
arestyrurj-156	77	54	plotted	plot	VERB
arestyrurj-156	77	55	against	against	ADP
arestyrurj-156	77	56	time	time	NOUN
arestyrurj-156	77	57	in	in	ADP
arestyrurj-156	77	58	figure	figure	NOUN
arestyrurj-156	77	59	5	5	NUM
arestyrurj-156	77	60	.	.	PUNCT
arestyrurj-156	77	61	aresty	aresty	ADJ
arestyrurj-156	77	62	rutgers	rutgers	PROPN
arestyrurj-156	77	63	undergraduate	undergraduate	PROPN
arestyrurj-156	77	64	research	research	PROPN
arestyrurj-156	77	65	journal	journal	PROPN
arestyrurj-156	77	66	,	,	PUNCT
arestyrurj-156	77	67	volume	volume	NOUN
arestyrurj-156	77	68	i	i	PRON
arestyrurj-156	77	69	,	,	PUNCT
arestyrurj-156	77	70	issue	issue	NOUN
arestyrurj-156	77	71	ii	ii	NUM
arestyrurj-156	77	72	titude	titude	NOUN
arestyrurj-156	77	73	responses	response	NOUN
arestyrurj-156	77	74	of	of	ADP
arestyrurj-156	77	75	the	the	DET
arestyrurj-156	77	76	satellite	satellite	NOUN
arestyrurj-156	77	77	both	both	CCONJ
arestyrurj-156	77	78	with	with	ADP
arestyrurj-156	77	79	and	and	CCONJ
arestyrurj-156	77	80	without	without	ADP
arestyrurj-156	77	81	control	control	NOUN
arestyrurj-156	77	82	are	be	AUX
arestyrurj-156	77	83	compared	compare	VERB
arestyrurj-156	77	84	in	in	ADP
arestyrurj-156	77	85	figure	figure	NOUN
arestyrurj-156	77	86	6	6	NUM
arestyrurj-156	77	87	.	.	PUNCT
arestyrurj-156	78	1	the	the	DET
arestyrurj-156	78	2	left	left	ADJ
arestyrurj-156	78	3	side	side	NOUN
arestyrurj-156	78	4	of	of	ADP
arestyrurj-156	78	5	figure	figure	NOUN
arestyrurj-156	78	6	6	6	NUM
arestyrurj-156	78	7	shows	show	VERB
arestyrurj-156	78	8	the	the	DET
arestyrurj-156	78	9	uncontrolled	uncontrolled	ADJ
arestyrurj-156	78	10	case	case	NOUN
arestyrurj-156	78	11	:	:	PUNCT
arestyrurj-156	78	12	notice	notice	VERB
arestyrurj-156	78	13	that	that	SCONJ
arestyrurj-156	78	14	the	the	DET
arestyrurj-156	78	15	angular	angular	ADJ
arestyrurj-156	78	16	and	and	CCONJ
arestyrurj-156	78	17	translational	translational	ADJ
arestyrurj-156	78	18	positions	position	NOUN
arestyrurj-156	78	19	diverge	diverge	VERB
arestyrurj-156	78	20	from	from	ADP
arestyrurj-156	78	21	the	the	DET
arestyrurj-156	78	22	reference	reference	NOUN
arestyrurj-156	78	23	(	(	PUNCT
arestyrurj-156	78	24	initial	initial	ADJ
arestyrurj-156	78	25	condition	condition	NOUN
arestyrurj-156	78	26	)	)	PUNCT
arestyrurj-156	78	27	.	.	PUNCT
arestyrurj-156	79	1	the	the	DET
arestyrurj-156	79	2	controlled	control	VERB
arestyrurj-156	79	3	case	case	NOUN
arestyrurj-156	79	4	is	be	AUX
arestyrurj-156	79	5	shown	show	VERB
arestyrurj-156	79	6	on	on	ADP
arestyrurj-156	79	7	the	the	DET
arestyrurj-156	79	8	right	right	ADJ
arestyrurj-156	79	9	side	side	NOUN
arestyrurj-156	79	10	of	of	ADP
arestyrurj-156	79	11	figure	figure	NOUN
arestyrurj-156	79	12	6	6	NUM
arestyrurj-156	79	13	.	.	PUNCT
arestyrurj-156	79	14	notice	notice	VERB
arestyrurj-156	79	15	how	how	SCONJ
arestyrurj-156	79	16	the	the	DET
arestyrurj-156	79	17	satellite	satellite	NOUN
arestyrurj-156	79	18	’s	’s	PART
arestyrurj-156	79	19	deviation	deviation	NOUN
arestyrurj-156	79	20	from	from	ADP
arestyrurj-156	79	21	the	the	DET
arestyrurj-156	79	22	reference	reference	NOUN
arestyrurj-156	79	23	was	be	AUX
arestyrurj-156	79	24	drastically	drastically	ADV
arestyrurj-156	79	25	reduced	reduce	VERB
arestyrurj-156	79	26	compared	compare	VERB
arestyrurj-156	79	27	to	to	ADP
arestyrurj-156	79	28	the	the	DET
arestyrurj-156	79	29	uncontrolled	uncontrolled	ADJ
arestyrurj-156	79	30	case	case	NOUN
arestyrurj-156	79	31	and	and	CCONJ
arestyrurj-156	79	32	that	that	SCONJ
arestyrurj-156	79	33	the	the	DET
arestyrurj-156	79	34	satellite	satellite	NOUN
arestyrurj-156	79	35	returned	return	VERB
arestyrurj-156	79	36	to	to	ADP
arestyrurj-156	79	37	the	the	DET
arestyrurj-156	79	38	initial	initial	ADJ
arestyrurj-156	79	39	reference	reference	NOUN
arestyrurj-156	79	40	state	state	NOUN
arestyrurj-156	79	41	(	(	PUNCT
arestyrurj-156	79	42	position	position	NOUN
arestyrurj-156	79	43	of	of	ADP
arestyrurj-156	79	44	(	(	PUNCT
arestyrurj-156	79	45	0	0	NUM
arestyrurj-156	79	46	,	,	PUNCT
arestyrurj-156	79	47	0	0	NUM
arestyrurj-156	79	48	,	,	PUNCT
arestyrurj-156	79	49	0	0	NUM
arestyrurj-156	79	50	)	)	PUNCT
arestyrurj-156	79	51	and	and	CCONJ
arestyrurj-156	79	52	angular	angular	ADJ
arestyrurj-156	79	53	position	position	NOUN
arestyrurj-156	79	54	of	of	ADP
arestyrurj-156	79	55	(	(	PUNCT
arestyrurj-156	79	56	0	0	NUM
arestyrurj-156	79	57	,	,	PUNCT
arestyrurj-156	79	58	0	0	NUM
arestyrurj-156	79	59	,	,	PUNCT
arestyrurj-156	79	60	0	0	NUM
arestyrurj-156	79	61	)	)	PUNCT
arestyrurj-156	79	62	)	)	PUNCT
arestyrurj-156	79	63	after	after	SCONJ
arestyrurj-156	79	64	the	the	DET
arestyrurj-156	79	65	disturbance	disturbance	NOUN
arestyrurj-156	79	66	loads	load	NOUN
arestyrurj-156	79	67	ceased	cease	VERB
arestyrurj-156	79	68	.	.	PUNCT
arestyrurj-156	80	1	it	it	PRON
arestyrurj-156	80	2	is	be	AUX
arestyrurj-156	80	3	important	important	ADJ
arestyrurj-156	80	4	to	to	PART
arestyrurj-156	80	5	note	note	VERB
arestyrurj-156	80	6	that	that	SCONJ
arestyrurj-156	80	7	this	this	DET
arestyrurj-156	80	8	simulation	simulation	NOUN
arestyrurj-156	80	9	represents	represent	VERB
arestyrurj-156	80	10	a	a	DET
arestyrurj-156	80	11	“	"	PUNCT
arestyrurj-156	80	12	worst	bad	ADJ
arestyrurj-156	80	13	case	case	NOUN
arestyrurj-156	80	14	scenario	scenario	NOUN
arestyrurj-156	80	15	”	"	PUNCT
arestyrurj-156	80	16	for	for	ADP
arestyrurj-156	80	17	the	the	DET
arestyrurj-156	80	18	satellite	satellite	NOUN
arestyrurj-156	80	19	,	,	PUNCT
arestyrurj-156	80	20	as	as	SCONJ
arestyrurj-156	80	21	several	several	ADJ
arestyrurj-156	80	22	assumptions	assumption	NOUN
arestyrurj-156	80	23	were	be	AUX
arestyrurj-156	80	24	made	make	VERB
arestyrurj-156	80	25	that	that	PRON
arestyrurj-156	80	26	negatively	negatively	ADV
arestyrurj-156	80	27	impact	impact	VERB
arestyrurj-156	80	28	the	the	DET
arestyrurj-156	80	29	control	control	NOUN
arestyrurj-156	80	30	effectiveness	effectiveness	NOUN
arestyrurj-156	80	31	.	.	PUNCT
arestyrurj-156	81	1	despite	despite	SCONJ
arestyrurj-156	81	2	these	these	DET
arestyrurj-156	81	3	assumptions	assumption	NOUN
arestyrurj-156	81	4	,	,	PUNCT
arestyrurj-156	81	5	the	the	DET
arestyrurj-156	81	6	pid	pid	NOUN
arestyrurj-156	81	7	controller	controller	NOUN
arestyrurj-156	81	8	was	be	AUX
arestyrurj-156	81	9	very	very	ADV
arestyrurj-156	81	10	effective	effective	ADJ
arestyrurj-156	81	11	at	at	ADP
arestyrurj-156	81	12	stabilizing	stabilize	VERB
arestyrurj-156	81	13	the	the	DET
arestyrurj-156	81	14	system	system	NOUN
arestyrurj-156	81	15	.	.	PUNCT
arestyrurj-156	82	1	thus	thus	ADV
arestyrurj-156	82	2	,	,	PUNCT
arestyrurj-156	82	3	we	we	PRON
arestyrurj-156	82	4	have	have	AUX
arestyrurj-156	82	5	succeeded	succeed	VERB
arestyrurj-156	82	6	in	in	ADP
arestyrurj-156	82	7	designing	design	VERB
arestyrurj-156	82	8	an	an	DET
arestyrurj-156	82	9	effective	effective	ADJ
arestyrurj-156	82	10	controller	controller	NOUN
arestyrurj-156	82	11	for	for	ADP
arestyrurj-156	82	12	the	the	DET
arestyrurj-156	82	13	satellite	satellite	NOUN
arestyrurj-156	82	14	.	.	PUNCT
arestyrurj-156	83	1	4	4	NUM
arestyrurj-156	83	2	discussion	discussion	NOUN
arestyrurj-156	83	3	of	of	ADP
arestyrurj-156	83	4	simulation	simulation	NOUN
arestyrurj-156	83	5	results	result	VERB
arestyrurj-156	83	6	the	the	DET
arestyrurj-156	83	7	use	use	NOUN
arestyrurj-156	83	8	of	of	ADP
arestyrurj-156	83	9	the	the	DET
arestyrurj-156	83	10	proportional	proportional	ADJ
arestyrurj-156	83	11	-	-	PUNCT
arestyrurj-156	83	12	integral	integral	ADJ
arestyrurj-156	83	13	-	-	PUNCT
arestyrurj-156	83	14	derivative	derivative	ADJ
arestyrurj-156	83	15	control	control	NOUN
arestyrurj-156	83	16	scheme	scheme	NOUN
arestyrurj-156	83	17	with	with	ADP
arestyrurj-156	83	18	load	load	NOUN
arestyrurj-156	83	19	prediction	prediction	NOUN
arestyrurj-156	83	20	resulted	result	VERB
arestyrurj-156	83	21	in	in	ADP
arestyrurj-156	83	22	a	a	DET
arestyrurj-156	83	23	very	very	ADV
arestyrurj-156	83	24	accurate	accurate	ADJ
arestyrurj-156	83	25	satellite	satellite	NOUN
arestyrurj-156	83	26	response	response	NOUN
arestyrurj-156	83	27	.	.	PUNCT
arestyrurj-156	84	1	the	the	DET
arestyrurj-156	84	2	maximum	maximum	ADJ
arestyrurj-156	84	3	deviations	deviation	NOUN
arestyrurj-156	84	4	from	from	ADP
arestyrurj-156	84	5	reference	reference	NOUN
arestyrurj-156	84	6	position	position	NOUN
arestyrurj-156	84	7	and	and	CCONJ
arestyrurj-156	84	8	attitude	attitude	NOUN
arestyrurj-156	84	9	were	be	AUX
arestyrurj-156	84	10	.	.	PUNCT
arestyrurj-156	85	1	07	07	NUM
arestyrurj-156	85	2	𝑚𝑚𝑚𝑚	𝑚𝑚𝑚𝑚	NUM
arestyrurj-156	85	3	and	and	CCONJ
arestyrurj-156	85	4	1.26	1.26	NUM
arestyrurj-156	85	5	°	°	NOUN
arestyrurj-156	85	6	respectively	respectively	ADV
arestyrurj-156	85	7	.	.	PUNCT
arestyrurj-156	86	1	without	without	ADP
arestyrurj-156	86	2	the	the	DET
arestyrurj-156	86	3	use	use	NOUN
arestyrurj-156	86	4	of	of	ADP
arestyrurj-156	86	5	the	the	DET
arestyrurj-156	86	6	controller	controller	NOUN
arestyrurj-156	86	7	,	,	PUNCT
arestyrurj-156	86	8	the	the	DET
arestyrurj-156	86	9	satellite	satellite	NOUN
arestyrurj-156	86	10	motion	motion	NOUN
arestyrurj-156	86	11	would	would	AUX
arestyrurj-156	86	12	continue	continue	VERB
arestyrurj-156	86	13	indefinitely	indefinitely	ADV
arestyrurj-156	86	14	following	follow	VERB
arestyrurj-156	86	15	a	a	DET
arestyrurj-156	86	16	disturbance	disturbance	NOUN
arestyrurj-156	86	17	.	.	PUNCT
arestyrurj-156	87	1	these	these	DET
arestyrurj-156	87	2	results	result	NOUN
arestyrurj-156	87	3	provide	provide	VERB
arestyrurj-156	87	4	evidence	evidence	NOUN
arestyrurj-156	87	5	that	that	SCONJ
arestyrurj-156	87	6	such	such	DET
arestyrurj-156	87	7	a	a	DET
arestyrurj-156	87	8	control	control	NOUN
arestyrurj-156	87	9	scheme	scheme	NOUN
arestyrurj-156	87	10	could	could	AUX
arestyrurj-156	87	11	effectively	effectively	ADV
arestyrurj-156	87	12	maintain	maintain	VERB
arestyrurj-156	87	13	satellite	satellite	NOUN
arestyrurj-156	87	14	position	position	NOUN
arestyrurj-156	87	15	and	and	CCONJ
arestyrurj-156	87	16	attitude	attitude	NOUN
arestyrurj-156	87	17	during	during	ADP
arestyrurj-156	87	18	robotic	robotic	ADJ
arestyrurj-156	87	19	servicing	servicing	NOUN
arestyrurj-156	87	20	operations	operation	NOUN
arestyrurj-156	87	21	.	.	PUNCT
arestyrurj-156	88	1	the	the	DET
arestyrurj-156	88	2	use	use	NOUN
arestyrurj-156	88	3	of	of	ADP
arestyrurj-156	88	4	calculated	calculate	VERB
arestyrurj-156	88	5	robotic	robotic	ADJ
arestyrurj-156	88	6	arm	arm	NOUN
arestyrurj-156	88	7	disturbances	disturbance	NOUN
arestyrurj-156	88	8	as	as	ADP
arestyrurj-156	88	9	load	load	NOUN
arestyrurj-156	88	10	predictions	prediction	NOUN
arestyrurj-156	88	11	is	be	AUX
arestyrurj-156	88	12	a	a	DET
arestyrurj-156	88	13	reasonable	reasonable	ADJ
arestyrurj-156	88	14	assumption	assumption	NOUN
arestyrurj-156	88	15	when	when	SCONJ
arestyrurj-156	88	16	considering	consider	VERB
arestyrurj-156	88	17	the	the	DET
arestyrurj-156	88	18	actual	actual	ADJ
arestyrurj-156	88	19	implementation	implementation	NOUN
arestyrurj-156	88	20	of	of	ADP
arestyrurj-156	88	21	robotic	robotic	ADJ
arestyrurj-156	88	22	servicing	servicing	NOUN
arestyrurj-156	88	23	missions	mission	NOUN
arestyrurj-156	88	24	.	.	PUNCT
arestyrurj-156	89	1	if	if	SCONJ
arestyrurj-156	89	2	a	a	DET
arestyrurj-156	89	3	space	space	NOUN
arestyrurj-156	89	4	organization	organization	NOUN
arestyrurj-156	89	5	were	be	AUX
arestyrurj-156	89	6	to	to	PART
arestyrurj-156	89	7	implement	implement	VERB
arestyrurj-156	89	8	satellitemounted	satellitemounte	VERB
arestyrurj-156	89	9	robotic	robotic	ADJ
arestyrurj-156	89	10	arms	arm	NOUN
arestyrurj-156	89	11	for	for	ADP
arestyrurj-156	89	12	maintenance	maintenance	NOUN
arestyrurj-156	89	13	purposes	purpose	NOUN
arestyrurj-156	89	14	,	,	PUNCT
arestyrurj-156	89	15	figure	figure	VERB
arestyrurj-156	89	16	6	6	NUM
arestyrurj-156	89	17	:	:	PUNCT
arestyrurj-156	89	18	comparison	comparison	NOUN
arestyrurj-156	89	19	of	of	ADP
arestyrurj-156	89	20	system	system	NOUN
arestyrurj-156	89	21	response	response	NOUN
arestyrurj-156	89	22	between	between	ADP
arestyrurj-156	89	23	uncontrolled	uncontrolled	ADJ
arestyrurj-156	89	24	(	(	PUNCT
arestyrurj-156	89	25	left	left	ADJ
arestyrurj-156	89	26	)	)	PUNCT
arestyrurj-156	89	27	and	and	CCONJ
arestyrurj-156	89	28	controlled	control	VERB
arestyrurj-156	89	29	(	(	PUNCT
arestyrurj-156	89	30	right	right	ADJ
arestyrurj-156	89	31	)	)	PUNCT
arestyrurj-156	89	32	satellite	satellite	NOUN
arestyrurj-156	89	33	position	position	NOUN
arestyrurj-156	89	34	(	(	PUNCT
arestyrurj-156	89	35	top	top	ADJ
arestyrurj-156	89	36	)	)	PUNCT
arestyrurj-156	89	37	and	and	CCONJ
arestyrurj-156	89	38	angular	angular	ADJ
arestyrurj-156	89	39	position	position	NOUN
arestyrurj-156	89	40	(	(	PUNCT
arestyrurj-156	89	41	bottom	bottom	ADJ
arestyrurj-156	89	42	)	)	PUNCT
arestyrurj-156	89	43	aresty	aresty	ADJ
arestyrurj-156	89	44	rutgers	rutgers	PROPN
arestyrurj-156	89	45	undergraduate	undergraduate	PROPN
arestyrurj-156	89	46	research	research	PROPN
arestyrurj-156	89	47	journal	journal	PROPN
arestyrurj-156	89	48	,	,	PUNCT
arestyrurj-156	89	49	volume	volume	NOUN
arestyrurj-156	89	50	i	i	PRON
arestyrurj-156	89	51	,	,	PUNCT
arestyrurj-156	89	52	issue	issue	VERB
arestyrurj-156	89	53	ii	ii	NOUN
arestyrurj-156	89	54	the	the	DET
arestyrurj-156	89	55	simulation	simulation	NOUN
arestyrurj-156	89	56	of	of	ADP
arestyrurj-156	89	57	the	the	DET
arestyrurj-156	89	58	robot	robot	NOUN
arestyrurj-156	89	59	dynamics	dynamic	NOUN
arestyrurj-156	89	60	prior	prior	ADV
arestyrurj-156	89	61	to	to	ADP
arestyrurj-156	89	62	the	the	DET
arestyrurj-156	89	63	execution	execution	NOUN
arestyrurj-156	89	64	of	of	ADP
arestyrurj-156	89	65	the	the	DET
arestyrurj-156	89	66	mission	mission	NOUN
arestyrurj-156	89	67	would	would	AUX
arestyrurj-156	89	68	result	result	VERB
arestyrurj-156	89	69	in	in	ADP
arestyrurj-156	89	70	a	a	DET
arestyrurj-156	89	71	more	more	ADV
arestyrurj-156	89	72	accurately	accurately	ADV
arestyrurj-156	89	73	controlled	control	VERB
arestyrurj-156	89	74	system	system	NOUN
arestyrurj-156	89	75	during	during	ADP
arestyrurj-156	89	76	operation	operation	NOUN
arestyrurj-156	89	77	,	,	PUNCT
arestyrurj-156	89	78	as	as	SCONJ
arestyrurj-156	89	79	the	the	DET
arestyrurj-156	89	80	result	result	NOUN
arestyrurj-156	89	81	of	of	ADP
arestyrurj-156	89	82	the	the	DET
arestyrurj-156	89	83	simulation	simulation	NOUN
arestyrurj-156	89	84	would	would	AUX
arestyrurj-156	89	85	be	be	AUX
arestyrurj-156	89	86	used	use	VERB
arestyrurj-156	89	87	as	as	ADP
arestyrurj-156	89	88	the	the	DET
arestyrurj-156	89	89	load	load	NOUN
arestyrurj-156	89	90	estimation	estimation	NOUN
arestyrurj-156	89	91	.	.	PUNCT
arestyrurj-156	90	1	in	in	ADP
arestyrurj-156	90	2	addition	addition	NOUN
arestyrurj-156	90	3	to	to	ADP
arestyrurj-156	90	4	the	the	DET
arestyrurj-156	90	5	load	load	NOUN
arestyrurj-156	90	6	prediction	prediction	NOUN
arestyrurj-156	90	7	,	,	PUNCT
arestyrurj-156	90	8	the	the	DET
arestyrurj-156	90	9	pid	pid	NOUN
arestyrurj-156	90	10	controllers	controller	NOUN
arestyrurj-156	90	11	add	add	VERB
arestyrurj-156	90	12	robustness	robustness	NOUN
arestyrurj-156	90	13	to	to	ADP
arestyrurj-156	90	14	the	the	DET
arestyrurj-156	90	15	scheme	scheme	NOUN
arestyrurj-156	90	16	,	,	PUNCT
arestyrurj-156	90	17	adjusting	adjust	VERB
arestyrurj-156	90	18	for	for	ADP
arestyrurj-156	90	19	additional	additional	ADJ
arestyrurj-156	90	20	perturbations	perturbation	NOUN
arestyrurj-156	90	21	arising	arise	VERB
arestyrurj-156	90	22	from	from	ADP
arestyrurj-156	90	23	the	the	DET
arestyrurj-156	90	24	operational	operational	ADJ
arestyrurj-156	90	25	environment	environment	NOUN
arestyrurj-156	90	26	.	.	PUNCT
arestyrurj-156	91	1	5	5	NUM
arestyrurj-156	91	2	conclusions	conclusion	NOUN
arestyrurj-156	91	3	and	and	CCONJ
arestyrurj-156	91	4	future	future	ADJ
arestyrurj-156	91	5	work	work	NOUN
arestyrurj-156	91	6	the	the	DET
arestyrurj-156	91	7	goal	goal	NOUN
arestyrurj-156	91	8	of	of	ADP
arestyrurj-156	91	9	this	this	DET
arestyrurj-156	91	10	project	project	NOUN
arestyrurj-156	91	11	was	be	AUX
arestyrurj-156	91	12	to	to	PART
arestyrurj-156	91	13	create	create	VERB
arestyrurj-156	91	14	a	a	DET
arestyrurj-156	91	15	dynamics	dynamic	NOUN
arestyrurj-156	91	16	simulation	simulation	NOUN
arestyrurj-156	91	17	of	of	ADP
arestyrurj-156	91	18	a	a	DET
arestyrurj-156	91	19	robotic	robotic	ADJ
arestyrurj-156	91	20	manipulator	manipulator	NOUN
arestyrurj-156	91	21	and	and	CCONJ
arestyrurj-156	91	22	satellite	satellite	NOUN
arestyrurj-156	91	23	in	in	ADP
arestyrurj-156	91	24	order	order	NOUN
arestyrurj-156	91	25	to	to	PART
arestyrurj-156	91	26	develop	develop	VERB
arestyrurj-156	91	27	a	a	DET
arestyrurj-156	91	28	model	model	NOUN
arestyrurj-156	91	29	-	-	PUNCT
arestyrurj-156	91	30	based	base	VERB
arestyrurj-156	91	31	control	control	NOUN
arestyrurj-156	91	32	algorithm	algorithm	NOUN
arestyrurj-156	91	33	for	for	ADP
arestyrurj-156	91	34	maintaining	maintain	VERB
arestyrurj-156	91	35	satellite	satellite	NOUN
arestyrurj-156	91	36	position	position	NOUN
arestyrurj-156	91	37	and	and	CCONJ
arestyrurj-156	91	38	orientation	orientation	NOUN
arestyrurj-156	91	39	.	.	PUNCT
arestyrurj-156	92	1	even	even	ADV
arestyrurj-156	92	2	with	with	ADP
arestyrurj-156	92	3	a	a	DET
arestyrurj-156	92	4	very	very	ADV
arestyrurj-156	92	5	basic	basic	ADJ
arestyrurj-156	92	6	pid	pid	NOUN
arestyrurj-156	92	7	feedback	feedback	NOUN
arestyrurj-156	92	8	control	control	NOUN
arestyrurj-156	92	9	scheme	scheme	NOUN
arestyrurj-156	92	10	,	,	PUNCT
arestyrurj-156	92	11	the	the	DET
arestyrurj-156	92	12	results	result	NOUN
arestyrurj-156	92	13	of	of	ADP
arestyrurj-156	92	14	the	the	DET
arestyrurj-156	92	15	simulation	simulation	NOUN
arestyrurj-156	92	16	were	be	AUX
arestyrurj-156	92	17	very	very	ADV
arestyrurj-156	92	18	promising	promising	ADJ
arestyrurj-156	92	19	.	.	PUNCT
arestyrurj-156	93	1	the	the	DET
arestyrurj-156	93	2	arm	arm	NOUN
arestyrurj-156	93	3	load	load	NOUN
arestyrurj-156	93	4	estimation	estimation	NOUN
arestyrurj-156	93	5	technique	technique	NOUN
arestyrurj-156	93	6	allowed	allow	VERB
arestyrurj-156	93	7	the	the	DET
arestyrurj-156	93	8	controller	controller	NOUN
arestyrurj-156	93	9	to	to	PART
arestyrurj-156	93	10	effectively	effectively	ADV
arestyrurj-156	93	11	eliminate	eliminate	VERB
arestyrurj-156	93	12	translational	translational	ADJ
arestyrurj-156	93	13	and	and	CCONJ
arestyrurj-156	93	14	angular	angular	ADJ
arestyrurj-156	93	15	displacement	displacement	NOUN
arestyrurj-156	93	16	.	.	PUNCT
arestyrurj-156	94	1	we	we	PRON
arestyrurj-156	94	2	believe	believe	VERB
arestyrurj-156	94	3	that	that	SCONJ
arestyrurj-156	94	4	this	this	DET
arestyrurj-156	94	5	research	research	NOUN
arestyrurj-156	94	6	offers	offer	VERB
arestyrurj-156	94	7	a	a	DET
arestyrurj-156	94	8	framework	framework	NOUN
arestyrurj-156	94	9	for	for	ADP
arestyrurj-156	94	10	future	future	ADJ
arestyrurj-156	94	11	investigation	investigation	NOUN
arestyrurj-156	94	12	into	into	ADP
arestyrurj-156	94	13	more	more	ADV
arestyrurj-156	94	14	advanced	advanced	ADJ
arestyrurj-156	94	15	control	control	NOUN
arestyrurj-156	94	16	methods	method	NOUN
arestyrurj-156	94	17	,	,	PUNCT
arestyrurj-156	94	18	including	include	VERB
arestyrurj-156	94	19	nonlinear	nonlinear	ADJ
arestyrurj-156	94	20	approaches	approach	NOUN
arestyrurj-156	94	21	such	such	ADJ
arestyrurj-156	94	22	at	at	ADP
arestyrurj-156	94	23	lyapunov	lyapunov	PROPN
arestyrurj-156	94	24	theory	theory	NOUN
arestyrurj-156	94	25	,	,	PUNCT
arestyrurj-156	94	26	which	which	PRON
arestyrurj-156	94	27	incorporates	incorporate	VERB
arestyrurj-156	94	28	the	the	DET
arestyrurj-156	94	29	nonlinear	nonlinear	ADJ
arestyrurj-156	94	30	system	system	NOUN
arestyrurj-156	94	31	model	model	NOUN
arestyrurj-156	94	32	into	into	ADP
arestyrurj-156	94	33	the	the	DET
arestyrurj-156	94	34	controls	control	NOUN
arestyrurj-156	94	35	equation	equation	NOUN
arestyrurj-156	94	36	.	.	PUNCT
arestyrurj-156	95	1	we	we	PRON
arestyrurj-156	95	2	also	also	ADV
arestyrurj-156	95	3	hope	hope	VERB
arestyrurj-156	95	4	to	to	PART
arestyrurj-156	95	5	develop	develop	VERB
arestyrurj-156	95	6	a	a	DET
arestyrurj-156	95	7	more	more	ADV
arestyrurj-156	95	8	accurate	accurate	ADJ
arestyrurj-156	95	9	satellite	satellite	NOUN
arestyrurj-156	95	10	model	model	NOUN
arestyrurj-156	95	11	that	that	PRON
arestyrurj-156	95	12	includes	include	VERB
arestyrurj-156	95	13	realistic	realistic	ADJ
arestyrurj-156	95	14	actuators	actuator	NOUN
arestyrurj-156	95	15	,	,	PUNCT
arestyrurj-156	95	16	such	such	ADJ
arestyrurj-156	95	17	as	as	ADP
arestyrurj-156	95	18	reaction	reaction	NOUN
arestyrurj-156	95	19	wheels	wheel	NOUN
arestyrurj-156	95	20	and	and	CCONJ
arestyrurj-156	95	21	gas	gas	NOUN
arestyrurj-156	95	22	thrusters	thruster	NOUN
arestyrurj-156	95	23	,	,	PUNCT
arestyrurj-156	95	24	to	to	PART
arestyrurj-156	95	25	better	well	ADV
arestyrurj-156	95	26	evaluate	evaluate	VERB
arestyrurj-156	95	27	the	the	DET
arestyrurj-156	95	28	effectiveness	effectiveness	NOUN
arestyrurj-156	95	29	of	of	ADP
arestyrurj-156	95	30	the	the	DET
arestyrurj-156	95	31	control	control	NOUN
arestyrurj-156	95	32	scheme	scheme	NOUN
arestyrurj-156	95	33	.	.	PUNCT
arestyrurj-156	96	1	with	with	ADP
arestyrurj-156	96	2	this	this	PRON
arestyrurj-156	96	3	,	,	PUNCT
arestyrurj-156	96	4	we	we	PRON
arestyrurj-156	96	5	also	also	ADV
arestyrurj-156	96	6	hope	hope	VERB
arestyrurj-156	96	7	to	to	PART
arestyrurj-156	96	8	investigate	investigate	VERB
arestyrurj-156	96	9	various	various	ADJ
arestyrurj-156	96	10	satellite	satellite	NOUN
arestyrurj-156	96	11	/	/	SYM
arestyrurj-156	96	12	arm	arm	NOUN
arestyrurj-156	96	13	designs	design	NOUN
arestyrurj-156	96	14	and	and	CCONJ
arestyrurj-156	96	15	to	to	PART
arestyrurj-156	96	16	determine	determine	VERB
arestyrurj-156	96	17	which	which	DET
arestyrurj-156	96	18	configuration	configuration	NOUN
arestyrurj-156	96	19	is	be	AUX
arestyrurj-156	96	20	most	most	ADV
arestyrurj-156	96	21	effective	effective	ADJ
arestyrurj-156	96	22	.	.	PUNCT
arestyrurj-156	97	1	this	this	PRON
arestyrurj-156	97	2	was	be	AUX
arestyrurj-156	97	3	inspired	inspire	VERB
arestyrurj-156	97	4	by	by	ADP
arestyrurj-156	97	5	dapra	dapra	NOUN
arestyrurj-156	97	6	’s	’s	PART
arestyrurj-156	97	7	robotic	robotic	ADJ
arestyrurj-156	97	8	servicing	servicing	NOUN
arestyrurj-156	97	9	of	of	ADP
arestyrurj-156	97	10	geosynchronous	geosynchronous	ADJ
arestyrurj-156	97	11	satellites	satellite	NOUN
arestyrurj-156	97	12	(	(	PUNCT
arestyrurj-156	97	13	rsgs)[4	rsgs)[4	X
arestyrurj-156	97	14	]	]	X
arestyrurj-156	97	15	proposal	proposal	NOUN
arestyrurj-156	97	16	,	,	PUNCT
arestyrurj-156	97	17	which	which	PRON
arestyrurj-156	97	18	aims	aim	VERB
arestyrurj-156	97	19	to	to	PART
arestyrurj-156	97	20	extend	extend	VERB
arestyrurj-156	97	21	the	the	DET
arestyrurj-156	97	22	operational	operational	ADJ
arestyrurj-156	97	23	lives	life	NOUN
arestyrurj-156	97	24	of	of	ADP
arestyrurj-156	97	25	satellites	satellite	NOUN
arestyrurj-156	97	26	located	locate	VERB
arestyrurj-156	97	27	in	in	ADP
arestyrurj-156	97	28	geostationary	geostationary	ADJ
arestyrurj-156	97	29	orbit	orbit	NOUN
arestyrurj-156	97	30	through	through	ADP
arestyrurj-156	97	31	issue	issue	NOUN
arestyrurj-156	97	32	diagnosis	diagnosis	NOUN
arestyrurj-156	97	33	,	,	PUNCT
arestyrurj-156	97	34	repair	repair	NOUN
arestyrurj-156	97	35	,	,	PUNCT
arestyrurj-156	97	36	and	and	CCONJ
arestyrurj-156	97	37	upgrades	upgrade	NOUN
arestyrurj-156	97	38	.	.	PUNCT
arestyrurj-156	98	1	the	the	DET
arestyrurj-156	98	2	implications	implication	NOUN
arestyrurj-156	98	3	of	of	ADP
arestyrurj-156	98	4	this	this	DET
arestyrurj-156	98	5	proposal	proposal	NOUN
arestyrurj-156	98	6	include	include	VERB
arestyrurj-156	98	7	lowering	lower	VERB
arestyrurj-156	98	8	the	the	DET
arestyrurj-156	98	9	cost	cost	NOUN
arestyrurj-156	98	10	of	of	ADP
arestyrurj-156	98	11	operation	operation	NOUN
arestyrurj-156	98	12	for	for	ADP
arestyrurj-156	98	13	geosynchronous	geosynchronous	ADJ
arestyrurj-156	98	14	satellites	satellite	NOUN
arestyrurj-156	98	15	,	,	PUNCT
arestyrurj-156	98	16	thereby	thereby	ADV
arestyrurj-156	98	17	encouraging	encourage	VERB
arestyrurj-156	98	18	more	more	ADJ
arestyrurj-156	98	19	private	private	ADJ
arestyrurj-156	98	20	companies	company	NOUN
arestyrurj-156	98	21	to	to	PART
arestyrurj-156	98	22	contribute	contribute	VERB
arestyrurj-156	98	23	to	to	ADP
arestyrurj-156	98	24	space	space	NOUN
arestyrurj-156	98	25	infrastructure	infrastructure	NOUN
arestyrurj-156	98	26	.	.	PUNCT
arestyrurj-156	99	1	this	this	PRON
arestyrurj-156	99	2	,	,	PUNCT
arestyrurj-156	99	3	in	in	ADP
arestyrurj-156	99	4	turn	turn	NOUN
arestyrurj-156	99	5	,	,	PUNCT
arestyrurj-156	99	6	aligns	align	VERB
arestyrurj-156	99	7	closely	closely	ADV
arestyrurj-156	99	8	with	with	ADP
arestyrurj-156	99	9	the	the	DET
arestyrurj-156	99	10	nasa	nasa	PROPN
arestyrurj-156	99	11	space	space	NOUN
arestyrurj-156	99	12	technology	technology	NOUN
arestyrurj-156	99	13	mission	mission	NOUN
arestyrurj-156	99	14	directorate[18	directorate[18	PROPN
arestyrurj-156	99	15	]	]	PUNCT
arestyrurj-156	99	16	,	,	PUNCT
arestyrurj-156	99	17	as	as	SCONJ
arestyrurj-156	99	18	contributing	contribute	VERB
arestyrurj-156	99	19	to	to	ADP
arestyrurj-156	99	20	this	this	DET
arestyrurj-156	99	21	earth	earth	NOUN
arestyrurj-156	99	22	-	-	PUNCT
arestyrurj-156	99	23	based	base	VERB
arestyrurj-156	99	24	infrastructure	infrastructure	NOUN
arestyrurj-156	99	25	will	will	AUX
arestyrurj-156	99	26	facilitate	facilitate	VERB
arestyrurj-156	99	27	future	future	ADJ
arestyrurj-156	99	28	missions	mission	NOUN
arestyrurj-156	99	29	carried	carry	VERB
arestyrurj-156	99	30	out	out	ADP
arestyrurj-156	99	31	to	to	ADP
arestyrurj-156	99	32	the	the	DET
arestyrurj-156	99	33	moon	moon	NOUN
arestyrurj-156	99	34	any	any	PRON
arestyrurj-156	99	35	beyond	beyond	ADP
arestyrurj-156	99	36	.	.	PUNCT
arestyrurj-156	100	1	we	we	PRON
arestyrurj-156	100	2	hope	hope	VERB
arestyrurj-156	100	3	future	future	ADJ
arestyrurj-156	100	4	work	work	NOUN
arestyrurj-156	100	5	on	on	ADP
arestyrurj-156	100	6	this	this	DET
arestyrurj-156	100	7	project	project	NOUN
arestyrurj-156	100	8	will	will	AUX
arestyrurj-156	100	9	incentivize	incentivize	VERB
arestyrurj-156	100	10	more	more	ADJ
arestyrurj-156	100	11	private	private	ADJ
arestyrurj-156	100	12	companies	company	NOUN
arestyrurj-156	100	13	to	to	PART
arestyrurj-156	100	14	begin	begin	VERB
arestyrurj-156	100	15	developing	develop	VERB
arestyrurj-156	100	16	autonomous	autonomous	ADJ
arestyrurj-156	100	17	,	,	PUNCT
arestyrurj-156	100	18	robotic	robotic	ADJ
arestyrurj-156	100	19	satellite	satellite	NOUN
arestyrurj-156	100	20	systems	system	NOUN
arestyrurj-156	100	21	to	to	PART
arestyrurj-156	100	22	further	further	ADJ
arestyrurj-156	100	23	humanities	humanity	NOUN
arestyrurj-156	100	24	reach	reach	VERB
arestyrurj-156	100	25	beyond	beyond	ADP
arestyrurj-156	100	26	planet	planet	NOUN
arestyrurj-156	100	27	earth∎	earth∎	PUNCT
arestyrurj-156	100	28	6	6	NUM
arestyrurj-156	100	29	acknowledgements	acknowledgement	NOUN
arestyrurj-156	100	30	the	the	DET
arestyrurj-156	100	31	authors	author	NOUN
arestyrurj-156	100	32	would	would	AUX
arestyrurj-156	100	33	like	like	VERB
arestyrurj-156	100	34	to	to	PART
arestyrurj-156	100	35	acknowledge	acknowledge	VERB
arestyrurj-156	100	36	the	the	DET
arestyrurj-156	100	37	help	help	NOUN
arestyrurj-156	100	38	of	of	ADP
arestyrurj-156	100	39	others	other	NOUN
arestyrurj-156	100	40	who	who	PRON
arestyrurj-156	100	41	contributed	contribute	VERB
arestyrurj-156	100	42	to	to	ADP
arestyrurj-156	100	43	the	the	DET
arestyrurj-156	100	44	success	success	NOUN
arestyrurj-156	100	45	of	of	ADP
arestyrurj-156	100	46	this	this	DET
arestyrurj-156	100	47	project	project	NOUN
arestyrurj-156	100	48	.	.	PUNCT
arestyrurj-156	101	1	we	we	PRON
arestyrurj-156	101	2	thank	thank	VERB
arestyrurj-156	101	3	our	our	PRON
arestyrurj-156	101	4	aresty	aresty	ADJ
arestyrurj-156	101	5	research	research	PROPN
arestyrurj-156	101	6	advisor	advisor	PROPN
arestyrurj-156	101	7	,	,	PUNCT
arestyrurj-156	101	8	dr	dr	PROPN
arestyrurj-156	101	9	.	.	PROPN
arestyrurj-156	101	10	annalisa	annalisa	PROPN
arestyrurj-156	101	11	scacchioli	scacchioli	NOUN
arestyrurj-156	101	12	,	,	PUNCT
arestyrurj-156	101	13	for	for	ADP
arestyrurj-156	101	14	her	her	PRON
arestyrurj-156	101	15	continuous	continuous	ADJ
arestyrurj-156	101	16	guidance	guidance	NOUN
arestyrurj-156	101	17	and	and	CCONJ
arestyrurj-156	101	18	encouragement	encouragement	NOUN
arestyrurj-156	101	19	throughout	throughout	ADP
arestyrurj-156	101	20	the	the	DET
arestyrurj-156	101	21	duration	duration	NOUN
arestyrurj-156	101	22	of	of	ADP
arestyrurj-156	101	23	the	the	DET
arestyrurj-156	101	24	project	project	NOUN
arestyrurj-156	101	25	.	.	PUNCT
arestyrurj-156	102	1	we	we	PRON
arestyrurj-156	102	2	thank	thank	VERB
arestyrurj-156	102	3	dr	dr	PROPN
arestyrurj-156	102	4	.	.	PROPN
arestyrurj-156	102	5	aaron	aaron	PROPN
arestyrurj-156	102	6	mazzeo	mazzeo	NOUN
arestyrurj-156	102	7	for	for	ADP
arestyrurj-156	102	8	introducing	introduce	VERB
arestyrurj-156	102	9	us	we	PRON
arestyrurj-156	102	10	to	to	ADP
arestyrurj-156	102	11	the	the	DET
arestyrurj-156	102	12	robotics	robotic	NOUN
arestyrurj-156	102	13	toolbox	toolbox	NOUN
arestyrurj-156	102	14	.	.	PUNCT
arestyrurj-156	103	1	we	we	PRON
arestyrurj-156	103	2	thank	thank	VERB
arestyrurj-156	103	3	dr	dr	PROPN
arestyrurj-156	103	4	.	.	PROPN
arestyrurj-156	103	5	laurent	laurent	PROPN
arestyrurj-156	103	6	burlion	burlion	PROPN
arestyrurj-156	103	7	for	for	ADP
arestyrurj-156	103	8	his	his	PRON
arestyrurj-156	103	9	discussion	discussion	NOUN
arestyrurj-156	103	10	about	about	ADP
arestyrurj-156	103	11	control	control	NOUN
arestyrurj-156	103	12	methodologies	methodology	NOUN
arestyrurj-156	103	13	and	and	CCONJ
arestyrurj-156	103	14	satellite	satellite	NOUN
arestyrurj-156	103	15	attitude	attitude	NOUN
arestyrurj-156	103	16	dynamics	dynamic	NOUN
arestyrurj-156	103	17	.	.	PUNCT
arestyrurj-156	104	1	we	we	PRON
arestyrurj-156	104	2	thank	thank	VERB
arestyrurj-156	104	3	mike	mike	PROPN
arestyrurj-156	104	4	vivar	vivar	NOUN
arestyrurj-156	104	5	for	for	ADP
arestyrurj-156	104	6	his	his	PRON
arestyrurj-156	104	7	recommendation	recommendation	NOUN
arestyrurj-156	104	8	of	of	ADP
arestyrurj-156	104	9	the	the	DET
arestyrurj-156	104	10	robotics	robotic	NOUN
arestyrurj-156	104	11	toolbox	toolbox	NOUN
arestyrurj-156	104	12	.	.	PUNCT
arestyrurj-156	105	1	finally	finally	ADV
arestyrurj-156	105	2	,	,	PUNCT
arestyrurj-156	105	3	we	we	PRON
arestyrurj-156	105	4	thank	thank	VERB
arestyrurj-156	105	5	our	our	PRON
arestyrurj-156	105	6	undergraduate	undergraduate	NOUN
arestyrurj-156	105	7	peers	peer	NOUN
arestyrurj-156	105	8	,	,	PUNCT
arestyrurj-156	105	9	especially	especially	ADV
arestyrurj-156	105	10	michael	michael	PROPN
arestyrurj-156	105	11	higgins	higgins	PROPN
arestyrurj-156	105	12	and	and	CCONJ
arestyrurj-156	105	13	aaron	aaron	PROPN
arestyrurj-156	105	14	pfister	pfister	PROPN
arestyrurj-156	105	15	,	,	PUNCT
arestyrurj-156	105	16	for	for	ADP
arestyrurj-156	105	17	their	their	PRON
arestyrurj-156	105	18	continued	continue	VERB
arestyrurj-156	105	19	interest	interest	NOUN
arestyrurj-156	105	20	in	in	ADP
arestyrurj-156	105	21	our	our	PRON
arestyrurj-156	105	22	project	project	NOUN
arestyrurj-156	105	23	.	.	PUNCT
arestyrurj-156	106	1	7	7	NUM
arestyrurj-156	106	2	references	reference	NOUN
arestyrurj-156	106	3	[	[	X
arestyrurj-156	106	4	1	1	NUM
arestyrurj-156	106	5	]	]	PUNCT
arestyrurj-156	106	6	f.	f.	PROPN
arestyrurj-156	106	7	garcia	garcia	PROPN
arestyrurj-156	106	8	,	,	PUNCT
arestyrurj-156	106	9	l.	l.	PROPN
arestyrurj-156	106	10	peret	peret	PROPN
arestyrurj-156	106	11	,	,	PUNCT
arestyrurj-156	106	12	g.	g.	PROPN
arestyrurj-156	106	13	verfaillie	verfaillie	PROPN
arestyrurj-156	106	14	,	,	PUNCT
arestyrurj-156	106	15	deployment	deployment	NOUN
arestyrurj-156	106	16	and	and	CCONJ
arestyrurj-156	106	17	maintenance	maintenance	NOUN
arestyrurj-156	106	18	of	of	ADP
arestyrurj-156	106	19	a	a	DET
arestyrurj-156	106	20	constellation	constellation	NOUN
arestyrurj-156	106	21	of	of	ADP
arestyrurj-156	106	22	satellites	satellite	NOUN
arestyrurj-156	106	23	:	:	PUNCT
arestyrurj-156	106	24	a	a	DET
arestyrurj-156	106	25	benchmark	benchmark	NOUN
arestyrurj-156	106	26	,	,	PUNCT
arestyrurj-156	106	27	2003	2003	NUM
arestyrurj-156	106	28	.	.	PUNCT
arestyrurj-156	107	1	[	[	X
arestyrurj-156	107	2	2	2	NUM
arestyrurj-156	107	3	]	]	PUNCT
arestyrurj-156	107	4	defense	defense	NOUN
arestyrurj-156	107	5	advanced	advanced	ADJ
arestyrurj-156	107	6	research	research	NOUN
arestyrurj-156	107	7	projects	project	NOUN
arestyrurj-156	107	8	agency	agency	NOUN
arestyrurj-156	107	9	.	.	PUNCT
arestyrurj-156	108	1	robotic	robotic	ADJ
arestyrurj-156	108	2	servicing	servicing	NOUN
arestyrurj-156	108	3	of	of	ADP
arestyrurj-156	108	4	geosynchronous	geosynchronous	ADJ
arestyrurj-156	108	5	satellites	satellite	NOUN
arestyrurj-156	108	6	(	(	PUNCT
arestyrurj-156	108	7	rsgs	rsgs	PROPN
arestyrurj-156	108	8	)	)	PUNCT
arestyrurj-156	108	9	.	.	PUNCT
arestyrurj-156	109	1	https://www.darpa.mil/program/robotic-servicing-of-geosynchronous-satellites	https://www.darpa.mil/program/robotic-servicing-of-geosynchronous-satellite	NOUN
arestyrurj-156	110	1	[	[	X
arestyrurj-156	110	2	3	3	NUM
arestyrurj-156	110	3	]	]	PUNCT
arestyrurj-156	110	4	a.	a.	NOUN
arestyrurj-156	110	5	antonello	antonello	PROPN
arestyrurj-156	110	6	,	,	PUNCT
arestyrurj-156	110	7	p.	p.	NOUN
arestyrurj-156	110	8	tsiotras	tsiotra	NOUN
arestyrurj-156	110	9	,	,	PUNCT
arestyrurj-156	110	10	a.	a.	PROPN
arestyrurj-156	110	11	valverde	valverde	PROPN
arestyrurj-156	110	12	,	,	PUNCT
arestyrurj-156	110	13	free	free	ADV
arestyrurj-156	110	14	-	-	PUNCT
arestyrurj-156	110	15	flying	fly	VERB
arestyrurj-156	110	16	spacecraftmounted	spacecraftmounte	VERB
arestyrurj-156	110	17	manipulators	manipulator	NOUN
arestyrurj-156	110	18	:	:	PUNCT
arestyrurj-156	110	19	a	a	DET
arestyrurj-156	110	20	tool	tool	NOUN
arestyrurj-156	110	21	for	for	ADP
arestyrurj-156	110	22	simulating	simulate	VERB
arestyrurj-156	110	23	dynamics	dynamic	NOUN
arestyrurj-156	110	24	and	and	CCONJ
arestyrurj-156	110	25	control	control	NOUN
arestyrurj-156	110	26	,	,	PUNCT
arestyrurj-156	110	27	2019	2019	NUM
arestyrurj-156	110	28	.	.	PUNCT
arestyrurj-156	111	1	[	[	X
arestyrurj-156	111	2	4	4	NUM
arestyrurj-156	111	3	]	]	X
arestyrurj-156	111	4	defense	defense	NOUN
arestyrurj-156	111	5	advanced	advanced	ADJ
arestyrurj-156	111	6	research	research	NOUN
arestyrurj-156	111	7	projects	project	NOUN
arestyrurj-156	111	8	agency	agency	NOUN
arestyrurj-156	111	9	.	.	PUNCT
arestyrurj-156	112	1	(	(	PUNCT
arestyrurj-156	112	2	2019	2019	NUM
arestyrurj-156	112	3	,	,	PUNCT
arestyrurj-156	112	4	may	may	AUX
arestyrurj-156	112	5	22	22	NUM
arestyrurj-156	112	6	)	)	PUNCT
arestyrurj-156	112	7	.	.	PUNCT
arestyrurj-156	113	1	robotic	robotic	ADJ
arestyrurj-156	113	2	servicing	servicing	NOUN
arestyrurj-156	113	3	of	of	ADP
arestyrurj-156	113	4	geosynchronous	geosynchronous	ADJ
arestyrurj-156	113	5	satellites	satellite	NOUN
arestyrurj-156	113	6	proposers	proposer	NOUN
arestyrurj-156	113	7	day	day	NOUN
arestyrurj-156	113	8	.	.	PUNCT
arestyrurj-156	114	1	[	[	X
arestyrurj-156	114	2	5	5	NUM
arestyrurj-156	114	3	]	]	X
arestyrurj-156	114	4	p.i	p.i	PROPN
arestyrurj-156	114	5	.	.	PROPN
arestyrurj-156	114	6	corke	corke	PROPN
arestyrurj-156	114	7	,	,	PUNCT
arestyrurj-156	114	8	“	"	PUNCT
arestyrurj-156	114	9	robotics	robotic	NOUN
arestyrurj-156	114	10	,	,	PUNCT
arestyrurj-156	114	11	vision	vision	NOUN
arestyrurj-156	114	12	&	&	CCONJ
arestyrurj-156	114	13	control	control	PROPN
arestyrurj-156	114	14	”	"	PUNCT
arestyrurj-156	114	15	,	,	PUNCT
arestyrurj-156	114	16	springer	springer	NOUN
arestyrurj-156	114	17	2017	2017	NUM
arestyrurj-156	114	18	,	,	PUNCT
arestyrurj-156	114	19	isbn	isbn	ADJ
arestyrurj-156	114	20	978	978	NUM
arestyrurj-156	114	21	-	-	SYM
arestyrurj-156	114	22	3	3	NUM
arestyrurj-156	114	23	-	-	NUM
arestyrurj-156	114	24	319	319	NUM
arestyrurj-156	114	25	-	-	PUNCT
arestyrurj-156	114	26	54413	54413	NUM
arestyrurj-156	114	27	-	-	SYM
arestyrurj-156	114	28	7	7	NUM
arestyrurj-156	114	29	.	.	PUNCT
arestyrurj-156	115	1	[	[	X
arestyrurj-156	115	2	6	6	NUM
arestyrurj-156	115	3	]	]	X
arestyrurj-156	115	4	mathworks	mathwork	NOUN
arestyrurj-156	115	5	.	.	PUNCT
arestyrurj-156	116	1	6dof	6dof	NOUN
arestyrurj-156	116	2	(	(	PUNCT
arestyrurj-156	116	3	euler	euler	NOUN
arestyrurj-156	116	4	angles	angle	NOUN
arestyrurj-156	116	5	)	)	PUNCT
arestyrurj-156	116	6	.	.	PUNCT
arestyrurj-156	116	7	https://www.mathworks.com/help/aeroblks/6dofeulerangles.html	https://www.mathworks.com/help/aeroblks/6dofeulerangles.html	PUNCT
arestyrurj-156	117	1	[	[	X
arestyrurj-156	117	2	7	7	X
arestyrurj-156	117	3	]	]	X
arestyrurj-156	117	4	p.c	p.c	PROPN
arestyrurj-156	117	5	.	.	PROPN
arestyrurj-156	117	6	hughes	hughes	PROPN
arestyrurj-156	117	7	,	,	PUNCT
arestyrurj-156	117	8	“	"	PUNCT
arestyrurj-156	117	9	spacecraft	spacecraft	NOUN
arestyrurj-156	117	10	attitude	attitude	NOUN
arestyrurj-156	117	11	dynamics	dynamic	NOUN
arestyrurj-156	117	12	”	"	PUNCT
arestyrurj-156	117	13	,	,	PUNCT
arestyrurj-156	117	14	dover	dover	PROPN
arestyrurj-156	117	15	publications	publication	NOUN
arestyrurj-156	117	16	2004	2004	NUM
arestyrurj-156	117	17	,	,	PUNCT
arestyrurj-156	117	18	isbn	isbn	ADJ
arestyrurj-156	117	19	0	0	NUM
arestyrurj-156	117	20	-	-	SYM
arestyrurj-156	117	21	486	486	NUM
arestyrurj-156	117	22	-	-	PUNCT
arestyrurj-156	117	23	43925	43925	NUM
arestyrurj-156	117	24	-	-	SYM
arestyrurj-156	117	25	9	9	NUM
arestyrurj-156	118	1	[	[	SYM
arestyrurj-156	118	2	8	8	NUM
arestyrurj-156	118	3	]	]	X
arestyrurj-156	118	4	northrop	northrop	PROPN
arestyrurj-156	118	5	grumman	grumman	PROPN
arestyrurj-156	118	6	.	.	PUNCT
arestyrurj-156	119	1	space	space	NOUN
arestyrurj-156	119	2	logistics	logistic	NOUN
arestyrurj-156	119	3	services	service	NOUN
arestyrurj-156	119	4	.	.	PUNCT
arestyrurj-156	120	1	https://www.northropgrumman.com/space/space-logistics-services/	https://www.northropgrumman.com/space/space-logistics-services/	PROPN
arestyrurj-156	120	2	[	[	X
arestyrurj-156	120	3	9	9	NUM
arestyrurj-156	120	4	]	]	X
arestyrurj-156	120	5	phipps	phipps	PROPN
arestyrurj-156	120	6	,	,	PUNCT
arestyrurj-156	120	7	claude	claude	PROPN
arestyrurj-156	120	8	&	&	CCONJ
arestyrurj-156	120	9	albrecht	albrecht	PROPN
arestyrurj-156	120	10	,	,	PUNCT
arestyrurj-156	120	11	g.	g.	PROPN
arestyrurj-156	120	12	&	&	CCONJ
arestyrurj-156	120	13	friedman	friedman	PROPN
arestyrurj-156	120	14	,	,	PUNCT
arestyrurj-156	120	15	h.	h.	PROPN
arestyrurj-156	120	16	&	&	CCONJ
arestyrurj-156	120	17	gavel	gavel	PROPN
arestyrurj-156	120	18	,	,	PUNCT
arestyrurj-156	120	19	d.	d.	PROPN
arestyrurj-156	120	20	&	&	CCONJ
arestyrurj-156	120	21	george	george	PROPN
arestyrurj-156	120	22	,	,	PUNCT
arestyrurj-156	120	23	e.	e.	PROPN
arestyrurj-156	120	24	&	&	CCONJ
arestyrurj-156	120	25	murray	murray	PROPN
arestyrurj-156	120	26	,	,	PUNCT
arestyrurj-156	120	27	j.	j.	PROPN
arestyrurj-156	120	28	&	&	CCONJ
arestyrurj-156	120	29	ho	ho	PROPN
arestyrurj-156	120	30	,	,	PUNCT
arestyrurj-156	120	31	chunching	chunching	NOUN
arestyrurj-156	120	32	&	&	CCONJ
arestyrurj-156	120	33	priedhorsky	priedhorsky	PROPN
arestyrurj-156	120	34	,	,	PUNCT
arestyrurj-156	120	35	w.	w.	PROPN
arestyrurj-156	120	36	&	&	CCONJ
arestyrurj-156	120	37	michaelis	michaelis	PROPN
arestyrurj-156	120	38	,	,	PUNCT
arestyrurj-156	120	39	m.m	m.m	PROPN
arestyrurj-156	120	40	.	.	PROPN
arestyrurj-156	120	41	&	&	CCONJ
arestyrurj-156	120	42	reilly	reilly	PROPN
arestyrurj-156	120	43	,	,	PUNCT
arestyrurj-156	120	44	j.p	j.p	PROPN
arestyrurj-156	120	45	..	..	PUNCT
arestyrurj-156	120	46	(	(	PUNCT
arestyrurj-156	120	47	1996	1996	NUM
arestyrurj-156	120	48	)	)	PUNCT
arestyrurj-156	120	49	.	.	PUNCT
arestyrurj-156	121	1	orion	orion	NOUN
arestyrurj-156	121	2	:	:	PUNCT
arestyrurj-156	121	3	clearing	clear	VERB
arestyrurj-156	121	4	near	near	ADP
arestyrurj-156	121	5	-	-	PUNCT
arestyrurj-156	121	6	earth	earth	NOUN
arestyrurj-156	121	7	space	space	NOUN
arestyrurj-156	121	8	debris	debris	NOUN
arestyrurj-156	121	9	using	use	VERB
arestyrurj-156	121	10	a	a	DET
arestyrurj-156	121	11	20	20	NUM
arestyrurj-156	121	12	-	-	PUNCT
arestyrurj-156	121	13	kw	kw	NOUN
arestyrurj-156	121	14	,	,	PUNCT
arestyrurj-156	121	15	530	530	NUM
arestyrurj-156	121	16	-	-	PUNCT
arestyrurj-156	121	17	nm	nm	NOUN
arestyrurj-156	121	18	,	,	PUNCT
arestyrurj-156	121	19	earth	earth	NOUN
arestyrurj-156	121	20	-	-	PUNCT
arestyrurj-156	121	21	based	base	VERB
arestyrurj-156	121	22	,	,	PUNCT
arestyrurj-156	121	23	repetitively	repetitively	ADV
arestyrurj-156	121	24	pulsed	pulse	VERB
arestyrurj-156	121	25	laser	laser	NOUN
arestyrurj-156	121	26	.	.	PUNCT
arestyrurj-156	122	1	march	march	PROPN
arestyrurj-156	122	2	1996	1996	NUM
arestyrurj-156	122	3	.	.	PUNCT
arestyrurj-156	123	1	[	[	X
arestyrurj-156	123	2	10	10	NUM
arestyrurj-156	123	3	]	]	X
arestyrurj-156	123	4	spectrolab	spectrolab	NOUN
arestyrurj-156	123	5	.	.	PUNCT
arestyrurj-156	124	1	space	space	NOUN
arestyrurj-156	124	2	solar	solar	ADJ
arestyrurj-156	124	3	panels	panel	NOUN
arestyrurj-156	124	4	.	.	PUNCT
arestyrurj-156	125	1	https://www.spectrolab.com/datasheets/panel/panels.pdf	https://www.spectrolab.com/datasheets/panel/panels.pdf	VERB
arestyrurj-156	126	1	[	[	X
arestyrurj-156	126	2	11	11	NUM
arestyrurj-156	126	3	]	]	PUNCT
arestyrurj-156	126	4	mathworks	mathworks	PROPN
arestyrurj-156	126	5	.	.	PUNCT
arestyrurj-156	127	1	open	open	ADJ
arestyrurj-156	127	2	pid	pid	NOUN
arestyrurj-156	127	3	tuner	tuner	NOUN
arestyrurj-156	127	4	.	.	PUNCT
arestyrurj-156	128	1	https://www.mathworks.com/help/slcontrol/ug/designing-controllers-with-the-pid-tuner.html	https://www.mathworks.com/help/slcontrol/ug/designing-controllers-with-the-pid-tuner.html	PROPN
arestyrurj-156	129	1	[	[	X
arestyrurj-156	129	2	12	12	NUM
arestyrurj-156	129	3	]	]	X
arestyrurj-156	129	4	g.f	g.f	PROPN
arestyrurj-156	129	5	.	.	PROPN
arestyrurj-156	129	6	franklin	franklin	PROPN
arestyrurj-156	129	7	,	,	PUNCT
arestyrurj-156	129	8	j.d	j.d	PROPN
arestyrurj-156	129	9	.	.	PROPN
arestyrurj-156	129	10	powell	powell	PROPN
arestyrurj-156	129	11	,	,	PUNCT
arestyrurj-156	129	12	a.	a.	PROPN
arestyrurj-156	129	13	emami	emami	PROPN
arestyrurj-156	129	14	-	-	PUNCT
arestyrurj-156	129	15	naeini	naeini	PROPN
arestyrurj-156	129	16	,	,	PUNCT
arestyrurj-156	129	17	“	"	PUNCT
arestyrurj-156	129	18	feedback	feedback	NOUN
arestyrurj-156	129	19	control	control	NOUN
arestyrurj-156	129	20	of	of	ADP
arestyrurj-156	129	21	dynamic	dynamic	ADJ
arestyrurj-156	129	22	systems	system	NOUN
arestyrurj-156	129	23	”	"	PUNCT
arestyrurj-156	129	24	,	,	PUNCT
arestyrurj-156	129	25	pearson	pearson	PROPN
arestyrurj-156	129	26	2015	2015	NUM
arestyrurj-156	129	27	,	,	PUNCT
arestyrurj-156	129	28	isbn	isbn	ADJ
arestyrurj-156	129	29	978	978	NUM
arestyrurj-156	129	30	-	-	SYM
arestyrurj-156	129	31	0	0	NUM
arestyrurj-156	129	32	-	-	PUNCT
arestyrurj-156	129	33	13349659	13349659	NUM
arestyrurj-156	129	34	-	-	SYM
arestyrurj-156	129	35	8	8	NUM
arestyrurj-156	129	36	[	[	SYM
arestyrurj-156	129	37	13	13	NUM
arestyrurj-156	129	38	]	]	PUNCT
arestyrurj-156	129	39	mathworks	mathworks	PROPN
arestyrurj-156	129	40	.	.	PUNCT
arestyrurj-156	129	41	sgolayfilt	sgolayfilt	VERB
arestyrurj-156	129	42	.	.	PUNCT
arestyrurj-156	130	1	https://www.mathworks.com/help/signal/ref/sgolayfilt.html	https://www.mathworks.com/help/signal/ref/sgolayfilt.html	NOUN
arestyrurj-156	130	2	https://www.darpa.mil/program/robotic-servicing-of-geosynchronous-satellites	https://www.darpa.mil/program/robotic-servicing-of-geosynchronous-satellites	ADP
arestyrurj-156	130	3	https://www.darpa.mil/program/robotic-servicing-of-geosynchronous-satellites	https://www.darpa.mil/program/robotic-servicing-of-geosynchronous-satellites	ADV
arestyrurj-156	130	4	https://www.mathworks.com/help/aeroblks/6dofeulerangles.html	https://www.mathworks.com/help/aeroblks/6dofeulerangles.html	NOUN
arestyrurj-156	130	5	https://www.northropgrumman.com/space/space-logistics-services/	https://www.northropgrumman.com/space/space-logistics-services/	PROPN
arestyrurj-156	130	6	https://www.northropgrumman.com/space/space-logistics-services/	https://www.northropgrumman.com/space/space-logistics-services/	PROPN
arestyrurj-156	130	7	https://www.spectrolab.com/datasheets/panel/panels.pdf	https://www.spectrolab.com/datasheets/panel/panels.pdf	VERB
arestyrurj-156	130	8	https://www.mathworks.com/help/slcontrol/ug/designing-controllers-with-the-pid-tuner.html	https://www.mathworks.com/help/slcontrol/ug/designing-controllers-with-the-pid-tuner.html	PROPN
arestyrurj-156	130	9	https://www.mathworks.com/help/slcontrol/ug/designing-controllers-with-the-pid-tuner.html	https://www.mathworks.com/help/slcontrol/ug/designing-controllers-with-the-pid-tuner.html	PROPN
arestyrurj-156	131	1	https://www.mathworks.com/help/signal/ref/sgolayfilt.html	https://www.mathworks.com/help/signal/ref/sgolayfilt.html	PROPN
arestyrurj-156	131	2	aresty	aresty	ADJ
arestyrurj-156	131	3	rutgers	rutgers	PROPN
arestyrurj-156	131	4	undergraduate	undergraduate	PROPN
arestyrurj-156	131	5	research	research	PROPN
arestyrurj-156	131	6	journal	journal	PROPN
arestyrurj-156	131	7	,	,	PUNCT
arestyrurj-156	131	8	volume	volume	NOUN
arestyrurj-156	131	9	i	i	PRON
arestyrurj-156	131	10	,	,	PUNCT
arestyrurj-156	131	11	issue	issue	NOUN
arestyrurj-156	131	12	ii	ii	NOUN
arestyrurj-156	131	13	[	[	X
arestyrurj-156	131	14	14	14	NUM
arestyrurj-156	131	15	]	]	X
arestyrurj-156	131	16	c.j	c.j	PROPN
arestyrurj-156	131	17	.	.	PROPN
arestyrurj-156	131	18	damaren	damaren	PROPN
arestyrurj-156	131	19	,	,	PUNCT
arestyrurj-156	131	20	a.h.j	a.h.j	PROPN
arestyrurj-156	131	21	.	.	PUNCT
arestyrurj-156	132	1	de	de	PROPN
arestyrurj-156	132	2	ruiter	ruiter	NOUN
arestyrurj-156	132	3	,	,	PUNCT
arestyrurj-156	132	4	j.r	j.r	PROPN
arestyrurj-156	132	5	.	.	PROPN
arestyrurj-156	132	6	forbes	forbes	PROPN
arestyrurj-156	132	7	,	,	PUNCT
arestyrurj-156	132	8	“	"	PUNCT
arestyrurj-156	132	9	spacecraft	spacecraft	NOUN
arestyrurj-156	132	10	dynamics	dynamic	NOUN
arestyrurj-156	132	11	and	and	CCONJ
arestyrurj-156	132	12	control	control	NOUN
arestyrurj-156	132	13	:	:	PUNCT
arestyrurj-156	132	14	an	an	DET
arestyrurj-156	132	15	introduction	introduction	NOUN
arestyrurj-156	132	16	”	"	PUNCT
arestyrurj-156	132	17	,	,	PUNCT
arestyrurj-156	132	18	wiley	wiley	NOUN
arestyrurj-156	132	19	2013	2013	NUM
arestyrurj-156	132	20	,	,	PUNCT
arestyrurj-156	132	21	isbn	isbn	ADJ
arestyrurj-156	132	22	9781	9781	NUM
arestyrurj-156	132	23	-	-	SYM
arestyrurj-156	132	24	118	118	NUM
arestyrurj-156	132	25	-	-	PUNCT
arestyrurj-156	132	26	34236	34236	NUM
arestyrurj-156	132	27	-	-	SYM
arestyrurj-156	132	28	7	7	NUM
arestyrurj-156	133	1	[	[	SYM
arestyrurj-156	133	2	15	15	NUM
arestyrurj-156	133	3	]	]	X
arestyrurj-156	133	4	s.a	s.a	PROPN
arestyrurj-156	133	5	.	.	PROPN
arestyrurj-156	133	6	rawashdeh	rawashdeh	PROPN
arestyrurj-156	133	7	,	,	PUNCT
arestyrurj-156	133	8	attitude	attitude	VERB
arestyrurj-156	133	9	analysis	analysis	NOUN
arestyrurj-156	133	10	of	of	ADP
arestyrurj-156	133	11	small	small	ADJ
arestyrurj-156	133	12	satellites	satellite	NOUN
arestyrurj-156	133	13	using	use	VERB
arestyrurj-156	133	14	model	model	NOUN
arestyrurj-156	133	15	-	-	PUNCT
arestyrurj-156	133	16	based	base	VERB
arestyrurj-156	133	17	simulation	simulation	NOUN
arestyrurj-156	133	18	,	,	PUNCT
arestyrurj-156	133	19	international	international	ADJ
arestyrurj-156	133	20	journal	journal	NOUN
arestyrurj-156	133	21	of	of	ADP
arestyrurj-156	133	22	aerospace	aerospace	PROPN
arestyrurj-156	133	23	engineering	engineering	NOUN
arestyrurj-156	133	24	,	,	PUNCT
arestyrurj-156	133	25	2019	2019	NUM
arestyrurj-156	133	26	.	.	PUNCT
arestyrurj-156	134	1	[	[	X
arestyrurj-156	134	2	16	16	NUM
arestyrurj-156	134	3	]	]	PUNCT
arestyrurj-156	134	4	r.	r.	PROPN
arestyrurj-156	134	5	hernandez	hernandez	PROPN
arestyrurj-156	134	6	-	-	PUNCT
arestyrurj-156	134	7	alvarado	alvarado	PROPN
arestyrurj-156	134	8	,	,	PUNCT
arestyrurj-156	134	9	l.g	l.g	PROPN
arestyrurj-156	134	10	.	.	PUNCT
arestyrurj-156	134	11	garcia	garcia	PROPN
arestyrurj-156	134	12	-	-	PUNCT
arestyrurj-156	134	13	valdovinos	valdovinos	PROPN
arestyrurj-156	134	14	,	,	PUNCT
arestyrurj-156	134	15	et	et	NOUN
arestyrurj-156	134	16	.	.	PUNCT
arestyrurj-156	135	1	al	al	PROPN
arestyrurj-156	135	2	.	.	PROPN
arestyrurj-156	135	3	,	,	PUNCT
arestyrurj-156	135	4	neural	neural	ADJ
arestyrurj-156	135	5	network	network	NOUN
arestyrurj-156	135	6	-	-	PUNCT
arestyrurj-156	135	7	based	base	VERB
arestyrurj-156	135	8	self	self	NOUN
arestyrurj-156	135	9	-	-	PUNCT
arestyrurj-156	135	10	tuning	tune	VERB
arestyrurj-156	135	11	pid	pid	NOUN
arestyrurj-156	135	12	control	control	NOUN
arestyrurj-156	135	13	for	for	ADP
arestyrurj-156	135	14	underwater	underwater	ADJ
arestyrurj-156	135	15	vehicles	vehicle	NOUN
arestyrurj-156	135	16	,	,	PUNCT
arestyrurj-156	135	17	sensors	sensor	NOUN
arestyrurj-156	135	18	,	,	PUNCT
arestyrurj-156	135	19	2016	2016	NUM
arestyrurj-156	135	20	.	.	PUNCT
arestyrurj-156	136	1	[	[	X
arestyrurj-156	136	2	17	17	NUM
arestyrurj-156	136	3	]	]	X
arestyrurj-156	136	4	h.e.soken	h.e.soken	VERB
arestyrurj-156	136	5	,	,	PUNCT
arestyrurj-156	136	6	c.	c.	PROPN
arestyrurj-156	136	7	hajiyev	hajiyev	PROPN
arestyrurj-156	136	8	,	,	PUNCT
arestyrurj-156	136	9	s.	s.	PROPN
arestyrurj-156	136	10	sakai	sakai	PROPN
arestyrurj-156	136	11	,	,	PUNCT
arestyrurj-156	136	12	robust	robust	ADJ
arestyrurj-156	136	13	kalman	kalman	NOUN
arestyrurj-156	136	14	filtering	filter	VERB
arestyrurj-156	136	15	for	for	ADP
arestyrurj-156	136	16	small	small	ADJ
arestyrurj-156	136	17	satellite	satellite	NOUN
arestyrurj-156	136	18	attitude	attitude	NOUN
arestyrurj-156	136	19	estimation	estimation	NOUN
arestyrurj-156	136	20	in	in	ADP
arestyrurj-156	136	21	the	the	DET
arestyrurj-156	136	22	presence	presence	NOUN
arestyrurj-156	136	23	of	of	ADP
arestyrurj-156	136	24	measurement	measurement	NOUN
arestyrurj-156	136	25	faults	fault	NOUN
arestyrurj-156	136	26	,	,	PUNCT
arestyrurj-156	136	27	european	european	PROPN
arestyrurj-156	136	28	journal	journal	PROPN
arestyrurj-156	136	29	of	of	ADP
arestyrurj-156	136	30	control	control	PROPN
arestyrurj-156	136	31	,	,	PUNCT
arestyrurj-156	136	32	2013	2013	NUM
arestyrurj-156	136	33	.	.	PUNCT
arestyrurj-156	137	1	[	[	X
arestyrurj-156	137	2	18	18	NUM
arestyrurj-156	137	3	]	]	X
arestyrurj-156	137	4	nasa	nasa	PROPN
arestyrurj-156	137	5	.	.	PUNCT
arestyrurj-156	138	1	space	space	NOUN
arestyrurj-156	138	2	technology	technology	NOUN
arestyrurj-156	138	3	mission	mission	NOUN
arestyrurj-156	138	4	directorate	directorate	NOUN
arestyrurj-156	138	5	.	.	PUNCT
arestyrurj-156	139	1	https://www.nasa.gov/directorates/spacetech/about_us/index.html	https://www.nasa.gov/directorates/spacetech/about_us/index.html	PROPN
arestyrurj-156	139	2	https://www.nasa.gov/directorates/spacetech/about_us/index.html	https://www.nasa.gov/directorates/spacetech/about_us/index.html	NUM
arestyrurj-156	139	3	aresty	aresty	ADJ
arestyrurj-156	139	4	rutgers	rutgers	PROPN
arestyrurj-156	139	5	undergraduate	undergraduate	PROPN
arestyrurj-156	139	6	research	research	PROPN
arestyrurj-156	139	7	journal	journal	PROPN
arestyrurj-156	139	8	,	,	PUNCT
arestyrurj-156	139	9	volume	volume	NOUN
arestyrurj-156	139	10	i	i	PRON
arestyrurj-156	139	11	,	,	PUNCT
arestyrurj-156	139	12	issue	issue	VERB
arestyrurj-156	139	13	ii	ii	NUM
arestyrurj-156	139	14	8	8	NUM
arestyrurj-156	139	15	supplementary	supplementary	ADJ
arestyrurj-156	139	16	tables	table	NOUN
arestyrurj-156	139	17	joint	joint	ADJ
arestyrurj-156	139	18	𝑑𝑑	𝑑𝑑	NOUN
arestyrurj-156	139	19	𝑎𝑎	𝑎𝑎	NOUN
arestyrurj-156	139	20	𝛼𝛼	𝛼𝛼	AUX
arestyrurj-156	139	21	offset	offset	VERB
arestyrurj-156	139	22	1	1	NUM
arestyrurj-156	139	23	0.3469785	0.3469785	NUM
arestyrurj-156	139	24	0	0	NUM
arestyrurj-156	140	1	−	−	NOUN
arestyrurj-156	140	2	𝜋𝜋	𝜋𝜋	ADP
arestyrurj-156	140	3	2	2	NUM
arestyrurj-156	140	4	0	0	NUM
arestyrurj-156	140	5	2	2	NUM
arestyrurj-156	140	6	0.2517295	0.2517295	NUM
arestyrurj-156	140	7	0	0	NUM
arestyrurj-156	140	8	−	−	NOUN
arestyrurj-156	140	9	𝜋𝜋	𝜋𝜋	ADP
arestyrurj-156	140	10	2	2	NUM
arestyrurj-156	140	11	0	0	NUM
arestyrurj-156	140	12	3	3	NUM
arestyrurj-156	140	13	0.8776515	0.8776515	NUM
arestyrurj-156	140	14	0	0	NUM
arestyrurj-156	140	15	𝜋𝜋	𝜋𝜋	ADP
arestyrurj-156	140	16	2	2	NUM
arestyrurj-156	140	17	0	0	NUM
arestyrurj-156	140	18	4	4	NUM
arestyrurj-156	140	19	0.2122692	0.2122692	NUM
arestyrurj-156	140	20	0	0	NUM
arestyrurj-156	140	21	−	−	NOUN
arestyrurj-156	140	22	𝜋𝜋	𝜋𝜋	ADP
arestyrurj-156	140	23	2	2	NUM
arestyrurj-156	140	24	0	0	NUM
arestyrurj-156	140	25	5	5	NUM
arestyrurj-156	140	26	0.1592019	0.1592019	NUM
arestyrurj-156	140	27	0	0	NUM
arestyrurj-156	140	28	�	�	PROPN
arestyrurj-156	140	29	127	127	NUM
arestyrurj-156	140	30	449	449	NUM
arestyrurj-156	140	31	�	�	PROPN
arestyrurj-156	140	32	0	0	NUM
arestyrurj-156	140	33	5a	5a	NUM
arestyrurj-156	140	34	0.6349236746	0.6349236746	NUM
arestyrurj-156	140	35	0	0	NUM
arestyrurj-156	141	1	−	−	NUM
arestyrurj-156	141	2	�	�	PROPN
arestyrurj-156	141	3	127	127	NUM
arestyrurj-156	141	4	449	449	NUM
arestyrurj-156	141	5	�	�	PROPN
arestyrurj-156	141	6	0	0	NUM
arestyrurj-156	141	7	5b	5b	NUM
arestyrurj-156	141	8	0.1074953	0.1074953	NUM
arestyrurj-156	141	9	0	0	NUM
arestyrurj-156	141	10	𝜋𝜋	𝜋𝜋	ADP
arestyrurj-156	141	11	2	2	NUM
arestyrurj-156	141	12	0	0	NUM
arestyrurj-156	141	13	6	6	NUM
arestyrurj-156	141	14	0.1728089	0.1728089	NUM
arestyrurj-156	141	15	0	0	NUM
arestyrurj-156	142	1	−	−	NOUN
arestyrurj-156	142	2	𝜋𝜋	𝜋𝜋	ADP
arestyrurj-156	142	3	2	2	NUM
arestyrurj-156	142	4	0	0	NUM
arestyrurj-156	142	5	7	7	NUM
arestyrurj-156	142	6	0.2000229	0.2000229	NUM
arestyrurj-156	142	7	0	0	NUM
arestyrurj-156	142	8	0	0	NUM
arestyrurj-156	142	9	0	0	NUM
arestyrurj-156	142	10	link	link	NOUN
arestyrurj-156	142	11	𝑚𝑚	𝑚𝑚	ADP
arestyrurj-156	142	12	(	(	PUNCT
arestyrurj-156	142	13	𝑘𝑘𝑘𝑘	𝑘𝑘𝑘𝑘	NOUN
arestyrurj-156	142	14	)	)	PUNCT
arestyrurj-156	142	15	𝑟𝑟	𝑟𝑟	X
arestyrurj-156	142	16	(	(	PUNCT
arestyrurj-156	142	17	𝑚𝑚	𝑚𝑚	NOUN
arestyrurj-156	142	18	)	)	PUNCT
arestyrurj-156	142	19	𝐿𝐿	𝐿𝐿	PROPN
arestyrurj-156	142	20	(	(	PUNCT
arestyrurj-156	142	21	𝑚𝑚	𝑚𝑚	NOUN
arestyrurj-156	142	22	)	)	PUNCT
arestyrurj-156	143	1	1	1	NUM
arestyrurj-156	143	2	2.45581930238976	2.45581930238976	NUM
arestyrurj-156	143	3	0.0530673	0.0530673	NUM
arestyrurj-156	143	4	0.3469785	0.3469785	NUM
arestyrurj-156	143	5	2	2	NUM
arestyrurj-156	143	6	1.78167282722394	1.78167282722394	NUM
arestyrurj-156	143	7	0.0530673	0.0530673	NUM
arestyrurj-156	143	8	0.2517295	0.2517295	NUM
arestyrurj-156	143	9	3	3	NUM
arestyrurj-156	143	10	8.64176380422475	8.64176380422475	NUM
arestyrurj-156	143	11	0.0625922	0.0625922	NUM
arestyrurj-156	143	12	0.8776515	0.8776515	NUM
arestyrurj-156	143	13	4	4	NUM
arestyrurj-156	143	14	0.802308387477559	0.802308387477559	NUM
arestyrurj-156	143	15	0.03877995	0.03877995	NUM
arestyrurj-156	143	16	0.2122692	0.2122692	NUM
arestyrurj-156	143	17	5	5	NUM
arestyrurj-156	143	18	0.540058000435033	0.540058000435033	NUM
arestyrurj-156	143	19	0.0367389	0.0367389	NUM
arestyrurj-156	143	20	0.1592019	0.1592019	NUM
arestyrurj-156	143	21	5a	5a	NUM
arestyrurj-156	143	22	2.15384119253858	2.15384119253858	NUM
arestyrurj-156	143	23	0.0367389	0.0367389	NUM
arestyrurj-156	143	24	0.6349236746	0.6349236746	NUM
arestyrurj-156	143	25	5b	5b	NUM
arestyrurj-156	143	26	0.364654547302287	0.364654547302287	NUM
arestyrurj-156	143	27	0.0367389	0.0367389	NUM
arestyrurj-156	143	28	0.1074953	0.1074953	NUM
arestyrurj-156	143	29	6	6	NUM
arestyrurj-156	143	30	0.425389148502536	0.425389148502536	NUM
arestyrurj-156	143	31	0.0312961	0.0312961	NUM
arestyrurj-156	143	32	0.1728089	0.1728089	NUM
arestyrurj-156	143	33	7	7	NUM
arestyrurj-156	143	34	0.536125954214708	0.536125954214708	NUM
arestyrurj-156	143	35	0.0326568	0.0326568	NUM
arestyrurj-156	143	36	0.2000229	0.2000229	NUM
arestyrurj-156	143	37	supplemental	supplemental	ADJ
arestyrurj-156	143	38	table	table	NOUN
arestyrurj-156	143	39	s1	s1	NOUN
arestyrurj-156	143	40	:	:	PUNCT
arestyrurj-156	143	41	denavit	denavit	PROPN
arestyrurj-156	143	42	-	-	PUNCT
arestyrurj-156	143	43	hartenberg	hartenberg	PROPN
arestyrurj-156	143	44	parameters	parameter	NOUN
arestyrurj-156	143	45	for	for	ADP
arestyrurj-156	143	46	the	the	DET
arestyrurj-156	143	47	frend	frend	PROPN
arestyrurj-156	143	48	mark	mark	PROPN
arestyrurj-156	143	49	ii	ii	PROPN
arestyrurj-156	143	50	arm	arm	PROPN
arestyrurj-156	143	51	model	model	NOUN
arestyrurj-156	143	52	.	.	PUNCT
arestyrurj-156	144	1	supplemental	supplemental	ADJ
arestyrurj-156	144	2	table	table	NOUN
arestyrurj-156	144	3	s2	s2	PROPN
arestyrurj-156	144	4	:	:	PUNCT
arestyrurj-156	144	5	mass	mass	ADJ
arestyrurj-156	144	6	,	,	PUNCT
arestyrurj-156	144	7	radius	radius	NOUN
arestyrurj-156	144	8	,	,	PUNCT
arestyrurj-156	144	9	and	and	CCONJ
arestyrurj-156	144	10	length	length	NOUN
arestyrurj-156	144	11	of	of	ADP
arestyrurj-156	144	12	each	each	DET
arestyrurj-156	144	13	cylindrical	cylindrical	ADJ
arestyrurj-156	144	14	link	link	NOUN
arestyrurj-156	144	15	object	object	NOUN
arestyrurj-156	144	16	used	use	VERB
arestyrurj-156	144	17	in	in	ADP
arestyrurj-156	144	18	the	the	DET
arestyrurj-156	144	19	definition	definition	NOUN
arestyrurj-156	144	20	of	of	ADP
arestyrurj-156	144	21	the	the	DET
arestyrurj-156	144	22	frend	frend	NOUN
arestyrurj-156	144	23	arm	arm	PROPN
arestyrurj-156	144	24	model	model	PROPN
arestyrurj-156	144	25	aresty	aresty	PROPN
arestyrurj-156	144	26	rutgers	rutgers	PROPN
arestyrurj-156	144	27	undergraduate	undergraduate	PROPN
arestyrurj-156	144	28	research	research	PROPN
arestyrurj-156	144	29	journal	journal	PROPN
arestyrurj-156	144	30	,	,	PUNCT
arestyrurj-156	144	31	volume	volume	NOUN
arestyrurj-156	144	32	i	i	PRON
arestyrurj-156	144	33	,	,	PUNCT
arestyrurj-156	144	34	issue	issue	PROPN
arestyrurj-156	144	35	ii	ii	NOUN
arestyrurj-156	144	36	link	link	NOUN
arestyrurj-156	144	37	𝐼𝐼	𝐼𝐼	PROPN
arestyrurj-156	144	38	(	(	PUNCT
arestyrurj-156	144	39	𝑘𝑘𝑘𝑘	𝑘𝑘𝑘𝑘	NOUN
arestyrurj-156	144	40	∙	∙	PROPN
arestyrurj-156	144	41	𝑚𝑚2	𝑚𝑚2	NOUN
arestyrurj-156	144	42	)	)	PUNCT
arestyrurj-156	144	43	1	1	NUM
arestyrurj-156	144	44	(	(	PUNCT
arestyrurj-156	144	45	0.00778041772567878	0.00778041772567878	NUM
arestyrurj-156	144	46	0	0	NUM
arestyrurj-156	144	47	0	0	NUM
arestyrurj-156	144	48	0	0	NUM
arestyrurj-156	144	49	0.0116706265885182	0.0116706265885182	NUM
arestyrurj-156	144	50	0	0	NUM
arestyrurj-156	144	51	0	0	NUM
arestyrurj-156	144	52	0	0	NUM
arestyrurj-156	144	53	0.00778041772567878	0.00778041772567878	NUM
arestyrurj-156	144	54	)	)	PUNCT
arestyrurj-156	144	55	2	2	NUM
arestyrurj-156	144	56	(	(	PUNCT
arestyrurj-156	144	57	0.0056446167813748	0.0056446167813748	NUM
arestyrurj-156	144	58	0	0	NUM
arestyrurj-156	144	59	0	0	NUM
arestyrurj-156	144	60	0	0	NUM
arestyrurj-156	144	61	0.0084669251720622	0.0084669251720622	NUM
arestyrurj-156	144	62	0	0	NUM
arestyrurj-156	144	63	0	0	SYM
arestyrurj-156	144	64	0	0	NUM
arestyrurj-156	144	65	0.0056446167813748	0.0056446167813748	NUM
arestyrurj-156	144	66	)	)	PUNCT
arestyrurj-156	144	67	3	3	NUM
arestyrurj-156	144	68	(	(	PUNCT
arestyrurj-156	144	69	0.0380886296066415	0.0380886296066415	NUM
arestyrurj-156	144	70	0	0	NUM
arestyrurj-156	144	71	0	0	NUM
arestyrurj-156	144	72	0	0	NUM
arestyrurj-156	145	1	0.0571329444099623	0.0571329444099623	NUM
arestyrurj-156	145	2	0	0	NUM
arestyrurj-156	145	3	0	0	SYM
arestyrurj-156	145	4	0	0	NUM
arestyrurj-156	145	5	0.0380886296066415	0.0380886296066415	NUM
arestyrurj-156	145	6	)	)	PUNCT
arestyrurj-156	145	7	4	4	NUM
arestyrurj-156	145	8	(	(	PUNCT
arestyrurj-156	145	9	0.00135740156152532	0.00135740156152532	NUM
arestyrurj-156	145	10	0	0	NUM
arestyrurj-156	145	11	0	0	NUM
arestyrurj-156	145	12	0	0	NUM
arestyrurj-156	146	1	0.00203610234228798	0.00203610234228798	NUM
arestyrurj-156	146	2	0	0	NUM
arestyrurj-156	146	3	0	0	NUM
arestyrurj-156	146	4	0	0	NUM
arestyrurj-156	146	5	0.00135740156152532	0.00135740156152532	NUM
arestyrurj-156	146	6	)	)	PUNCT
arestyrurj-156	146	7	5	5	NUM
arestyrurj-156	146	8	(	(	PUNCT
arestyrurj-156	146	9	0.00082005923636261	0.00082005923636261	NUM
arestyrurj-156	146	10	0	0	NUM
arestyrurj-156	146	11	0	0	NUM
arestyrurj-156	146	12	0	0	NUM
arestyrurj-156	146	13	0.00085043340488162	0.00085043340488162	NUM
arestyrurj-156	146	14	0.00010738583988220	0.00010738583988220	NUM
arestyrurj-156	146	15	0	0	NUM
arestyrurj-156	146	16	0.00010738583988220	0.00010738583988220	NUM
arestyrurj-156	146	17	0.001199714686025	0.001199714686025	NUM
arestyrurj-156	146	18	)	)	PUNCT
arestyrurj-156	146	19	5a	5a	NUM
arestyrurj-156	146	20	(	(	PUNCT
arestyrurj-156	146	21	0.003270532724590	0.003270532724590	NUM
arestyrurj-156	146	22	0	0	NUM
arestyrurj-156	146	23	0	0	NUM
arestyrurj-156	146	24	0	0	NUM
arestyrurj-156	146	25	0.003391669964095	0.003391669964095	NUM
arestyrurj-156	146	26	−	−	NOUN
arestyrurj-156	146	27	0.00042827260265995	0.00042827260265995	NUM
arestyrurj-156	146	28	0	0	NUM
arestyrurj-156	147	1	−	−	NUM
arestyrurj-156	147	2	0.00042827260265995	0.00042827260265995	NUM
arestyrurj-156	147	3	0.004784661847380	0.004784661847380	NUM
arestyrurj-156	147	4	)	)	PUNCT
arestyrurj-156	147	5	5b	5b	NOUN
arestyrurj-156	147	6	(	(	PUNCT
arestyrurj-156	147	7	0.000553715210877318	0.000553715210877318	NUM
arestyrurj-156	147	8	0	0	NUM
arestyrurj-156	147	9	0	0	NUM
arestyrurj-156	147	10	0	0	NUM
arestyrurj-156	148	1	0.000830572816315976	0.000830572816315976	NUM
arestyrurj-156	148	2	0	0	NUM
arestyrurj-156	148	3	0	0	SYM
arestyrurj-156	148	4	0	0	NUM
arestyrurj-156	148	5	0.000553715210877318	0.000553715210877318	NUM
arestyrurj-156	148	6	)	)	PUNCT
arestyrurj-156	148	7	6	6	NUM
arestyrurj-156	148	8	(	(	PUNCT
arestyrurj-156	148	9	0.000468726352717391	0.000468726352717391	NUM
arestyrurj-156	148	10	0	0	NUM
arestyrurj-156	148	11	0	0	NUM
arestyrurj-156	148	12	0	0	NUM
arestyrurj-156	148	13	0.000703089529076087	0.000703089529076087	NUM
arestyrurj-156	148	14	0	0	NUM
arestyrurj-156	148	15	0	0	NUM
arestyrurj-156	148	16	0	0	NUM
arestyrurj-156	148	17	0.000468726352717391	0.000468726352717391	NUM
arestyrurj-156	148	18	)	)	PUNCT
arestyrurj-156	148	19	7	7	NUM
arestyrurj-156	148	20	(	(	PUNCT
arestyrurj-156	148	21	0.000643230468209275	0.000643230468209275	NUM
arestyrurj-156	148	22	0	0	NUM
arestyrurj-156	148	23	0	0	NUM
arestyrurj-156	148	24	0	0	NUM
arestyrurj-156	148	25	0.000643230468209275	0.000643230468209275	NUM
arestyrurj-156	148	26	0	0	NUM
arestyrurj-156	148	27	0	0	NUM
arestyrurj-156	148	28	0	0	NUM
arestyrurj-156	148	29	0.000964845702313913	0.000964845702313913	NUM
arestyrurj-156	148	30	)	)	PUNCT
arestyrurj-156	148	31	𝐾𝐾𝑃𝑃	𝐾𝐾𝑃𝑃	PROPN
arestyrurj-156	148	32	𝐾𝐾𝐼𝐼	𝐾𝐾𝐼𝐼	PROPN
arestyrurj-156	149	1	𝐾𝐾𝐷𝐷	𝐾𝐾𝐷𝐷	PROPN
arestyrurj-156	149	2	force	force	NOUN
arestyrurj-156	149	3	617.061827129926	617.061827129926	NUM
arestyrurj-156	149	4	35.6866537699081	35.6866537699081	NUM
arestyrurj-156	149	5	2667.42085820047	2667.42085820047	NUM
arestyrurj-156	149	6	moment	moment	NOUN
arestyrurj-156	149	7	102.843637854979	102.843637854979	NUM
arestyrurj-156	149	8	5.94777562634487	5.94777562634487	NUM
arestyrurj-156	149	9	444.570143033412	444.570143033412	NUM
arestyrurj-156	149	10	supplemental	supplemental	ADJ
arestyrurj-156	149	11	table	table	NOUN
arestyrurj-156	149	12	s3	s3	PROPN
arestyrurj-156	149	13	:	:	PUNCT
arestyrurj-156	149	14	inertia	inertia	NOUN
arestyrurj-156	149	15	tensors	tensor	NOUN
arestyrurj-156	149	16	for	for	ADP
arestyrurj-156	149	17	each	each	DET
arestyrurj-156	149	18	link	link	NOUN
arestyrurj-156	149	19	of	of	ADP
arestyrurj-156	149	20	the	the	DET
arestyrurj-156	149	21	frend	frend	PROPN
arestyrurj-156	149	22	mk	mk	PROPN
arestyrurj-156	149	23	.	.	PUNCT
arestyrurj-156	149	24	ii	ii	PROPN
arestyrurj-156	149	25	arm	arm	PROPN
arestyrurj-156	149	26	model	model	NOUN
arestyrurj-156	149	27	supplemental	supplemental	ADJ
arestyrurj-156	149	28	table	table	NOUN
arestyrurj-156	149	29	s3	s3	PROPN
arestyrurj-156	149	30	:	:	PUNCT
arestyrurj-156	149	31	proportional	proportional	ADJ
arestyrurj-156	149	32	,	,	PUNCT
arestyrurj-156	149	33	integral	integral	ADJ
arestyrurj-156	149	34	,	,	PUNCT
arestyrurj-156	149	35	and	and	CCONJ
arestyrurj-156	149	36	derivative	derivative	ADJ
arestyrurj-156	149	37	gains	gain	NOUN
arestyrurj-156	149	38	for	for	ADP
arestyrurj-156	149	39	the	the	DET
arestyrurj-156	149	40	force	force	NOUN
arestyrurj-156	149	41	and	and	CCONJ
arestyrurj-156	149	42	moment	moment	VERB
arestyrurj-156	149	43	pid	pid	PRON
arestyrurj-156	149	44	controllers	controller	NOUN