id	sid	tid	token	lemma	pos
arestyrurj-158	1	1	aresty	aresty	PROPN
arestyrurj-158	1	2	rutgers	rutgers	PROPN
arestyrurj-158	1	3	undergraduate	undergraduate	PROPN
arestyrurj-158	1	4	research	research	PROPN
arestyrurj-158	1	5	journal	journal	PROPN
arestyrurj-158	1	6	,	,	PUNCT
arestyrurj-158	1	7	volume	volume	NOUN
arestyrurj-158	1	8	i	i	PRON
arestyrurj-158	1	9	,	,	PUNCT
arestyrurj-158	1	10	issue	issue	NOUN
arestyrurj-158	1	11	ii	ii	NOUN
arestyrurj-158	1	12	this	this	DET
arestyrurj-158	1	13	work	work	NOUN
arestyrurj-158	1	14	is	be	AUX
arestyrurj-158	1	15	licensed	license	VERB
arestyrurj-158	1	16	under	under	ADP
arestyrurj-158	1	17	a	a	DET
arestyrurj-158	1	18	creative	creative	ADJ
arestyrurj-158	1	19	commons	common	NOUN
arestyrurj-158	1	20	attribution	attribution	NOUN
arestyrurj-158	1	21	-	-	PUNCT
arestyrurj-158	1	22	noncommercial	noncommercial	ADJ
arestyrurj-158	1	23	-	-	PUNCT
arestyrurj-158	1	24	sharealike	sharealike	ADJ
arestyrurj-158	1	25	4.0	4.0	NUM
arestyrurj-158	1	26	international	international	ADJ
arestyrurj-158	1	27	license	license	NOUN
arestyrurj-158	1	28	.	.	PUNCT
arestyrurj-158	2	1	sliding	slide	VERB
arestyrurj-158	2	2	mode	mode	NOUN
arestyrurj-158	2	3	-	-	PUNCT
arestyrurj-158	2	4	based	base	VERB
arestyrurj-158	2	5	traction	traction	NOUN
arestyrurj-158	2	6	control	control	NOUN
arestyrurj-158	2	7	for	for	ADP
arestyrurj-158	2	8	an	an	DET
arestyrurj-158	2	9	autonomous	autonomous	ADJ
arestyrurj-158	2	10	martian	martian	ADJ
arestyrurj-158	2	11	rover	rover	PROPN
arestyrurj-158	2	12	julian	julian	PROPN
arestyrurj-158	2	13	bowne	bowne	PROPN
arestyrurj-158	2	14	,	,	PUNCT
arestyrurj-158	2	15	dr	dr	PROPN
arestyrurj-158	2	16	.	.	PROPN
arestyrurj-158	2	17	annalisa	annalisa	PROPN
arestyrurj-158	2	18	scacchioli	scacchioli	NOUN
arestyrurj-158	2	19	(	(	PUNCT
arestyrurj-158	2	20	faculty	faculty	NOUN
arestyrurj-158	2	21	advisor	advisor	NOUN
arestyrurj-158	2	22	)	)	PUNCT
arestyrurj-158	2	23	✵	✵	PROPN
arestyrurj-158	2	24	abstract	abstract	ADP
arestyrurj-158	2	25	a	a	DET
arestyrurj-158	2	26	traction	traction	NOUN
arestyrurj-158	2	27	control	control	NOUN
arestyrurj-158	2	28	system	system	NOUN
arestyrurj-158	2	29	was	be	AUX
arestyrurj-158	2	30	developed	develop	VERB
arestyrurj-158	2	31	for	for	ADP
arestyrurj-158	2	32	an	an	DET
arestyrurj-158	2	33	autonomous	autonomous	ADJ
arestyrurj-158	2	34	martian	martian	ADJ
arestyrurj-158	2	35	rover	rover	NOUN
arestyrurj-158	2	36	using	use	VERB
arestyrurj-158	2	37	a	a	DET
arestyrurj-158	2	38	sliding	slide	VERB
arestyrurj-158	2	39	mode	mode	NOUN
arestyrurj-158	2	40	controller	controller	NOUN
arestyrurj-158	2	41	.	.	PUNCT
arestyrurj-158	3	1	the	the	DET
arestyrurj-158	3	2	main	main	ADJ
arestyrurj-158	3	3	inspiration	inspiration	NOUN
arestyrurj-158	3	4	for	for	ADP
arestyrurj-158	3	5	this	this	DET
arestyrurj-158	3	6	project	project	NOUN
arestyrurj-158	3	7	was	be	AUX
arestyrurj-158	3	8	nasa	nasa	PROPN
arestyrurj-158	3	9	’s	’s	PART
arestyrurj-158	3	10	mars	mars	PROPN
arestyrurj-158	3	11	rover	rover	PROPN
arestyrurj-158	3	12	,	,	PUNCT
arestyrurj-158	3	13	curiosity	curiosity	NOUN
arestyrurj-158	3	14	,	,	PUNCT
arestyrurj-158	3	15	which	which	PRON
arestyrurj-158	3	16	suffered	suffer	VERB
arestyrurj-158	3	17	severe	severe	ADJ
arestyrurj-158	3	18	wheel	wheel	NOUN
arestyrurj-158	3	19	damage	damage	NOUN
arestyrurj-158	3	20	due	due	ADP
arestyrurj-158	3	21	to	to	ADP
arestyrurj-158	3	22	the	the	DET
arestyrurj-158	3	23	lack	lack	NOUN
arestyrurj-158	3	24	of	of	ADP
arestyrurj-158	3	25	an	an	DET
arestyrurj-158	3	26	effective	effective	ADJ
arestyrurj-158	3	27	traction	traction	NOUN
arestyrurj-158	3	28	control	control	NOUN
arestyrurj-158	3	29	system	system	NOUN
arestyrurj-158	3	30	.	.	PUNCT
arestyrurj-158	4	1	a	a	DET
arestyrurj-158	4	2	control	control	NOUN
arestyrurj-158	4	3	system	system	NOUN
arestyrurj-158	4	4	was	be	AUX
arestyrurj-158	4	5	sought	seek	VERB
arestyrurj-158	4	6	out	out	ADP
arestyrurj-158	4	7	to	to	PART
arestyrurj-158	4	8	effectively	effectively	ADV
arestyrurj-158	4	9	prevent	prevent	VERB
arestyrurj-158	4	10	wheel	wheel	NOUN
arestyrurj-158	4	11	damage	damage	NOUN
arestyrurj-158	4	12	,	,	PUNCT
arestyrurj-158	4	13	slippage	slippage	NOUN
arestyrurj-158	4	14	,	,	PUNCT
arestyrurj-158	4	15	and	and	CCONJ
arestyrurj-158	4	16	soil	soil	NOUN
arestyrurj-158	4	17	failure	failure	NOUN
arestyrurj-158	4	18	for	for	ADP
arestyrurj-158	4	19	a	a	DET
arestyrurj-158	4	20	martian	martian	ADJ
arestyrurj-158	4	21	rover	rover	NOUN
arestyrurj-158	4	22	.	.	PUNCT
arestyrurj-158	5	1	it	it	PRON
arestyrurj-158	5	2	was	be	AUX
arestyrurj-158	5	3	initially	initially	ADV
arestyrurj-158	5	4	hypothesized	hypothesize	VERB
arestyrurj-158	5	5	that	that	SCONJ
arestyrurj-158	5	6	a	a	DET
arestyrurj-158	5	7	sliding	slide	VERB
arestyrurj-158	5	8	mode	mode	NOUN
arestyrurj-158	5	9	controller	controller	NOUN
arestyrurj-158	5	10	would	would	AUX
arestyrurj-158	5	11	be	be	AUX
arestyrurj-158	5	12	most	most	ADV
arestyrurj-158	5	13	effective	effective	ADJ
arestyrurj-158	5	14	to	to	PART
arestyrurj-158	5	15	control	control	VERB
arestyrurj-158	5	16	the	the	DET
arestyrurj-158	5	17	vehicle	vehicle	NOUN
arestyrurj-158	5	18	’s	’s	PART
arestyrurj-158	5	19	traction	traction	NOUN
arestyrurj-158	5	20	.	.	PUNCT
arestyrurj-158	6	1	a	a	DET
arestyrurj-158	6	2	simulink	simulink	PROPN
arestyrurj-158	6	3	model	model	NOUN
arestyrurj-158	6	4	was	be	AUX
arestyrurj-158	6	5	created	create	VERB
arestyrurj-158	6	6	with	with	ADP
arestyrurj-158	6	7	a	a	DET
arestyrurj-158	6	8	deformable	deformable	ADJ
arestyrurj-158	6	9	soil	soil	NOUN
arestyrurj-158	6	10	-	-	PUNCT
arestyrurj-158	6	11	rigid	rigid	ADJ
arestyrurj-158	6	12	tire	tire	NOUN
arestyrurj-158	6	13	mathematical	mathematical	ADJ
arestyrurj-158	6	14	model	model	NOUN
arestyrurj-158	6	15	in	in	ADP
arestyrurj-158	6	16	order	order	NOUN
arestyrurj-158	6	17	to	to	PART
arestyrurj-158	6	18	simulate	simulate	VERB
arestyrurj-158	6	19	the	the	DET
arestyrurj-158	6	20	traction	traction	NOUN
arestyrurj-158	6	21	control	control	NOUN
arestyrurj-158	6	22	system	system	NOUN
arestyrurj-158	6	23	.	.	PUNCT
arestyrurj-158	7	1	the	the	DET
arestyrurj-158	7	2	sliding	slide	VERB
arestyrurj-158	7	3	mode	mode	NOUN
arestyrurj-158	7	4	controller	controller	NOUN
arestyrurj-158	7	5	was	be	AUX
arestyrurj-158	7	6	tested	test	VERB
arestyrurj-158	7	7	to	to	PART
arestyrurj-158	7	8	be	be	AUX
arestyrurj-158	7	9	more	more	ADV
arestyrurj-158	7	10	robust	robust	ADJ
arestyrurj-158	7	11	and	and	CCONJ
arestyrurj-158	7	12	stable	stable	ADJ
arestyrurj-158	7	13	compared	compare	VERB
arestyrurj-158	7	14	to	to	ADP
arestyrurj-158	7	15	a	a	DET
arestyrurj-158	7	16	proportional	proportional	ADJ
arestyrurj-158	7	17	-	-	PUNCT
arestyrurj-158	7	18	integral	integral	ADJ
arestyrurj-158	7	19	-	-	PUNCT
arestyrurj-158	7	20	derivative	derivative	ADJ
arestyrurj-158	7	21	(	(	PUNCT
arestyrurj-158	7	22	pid	pid	NOUN
arestyrurj-158	7	23	)	)	PUNCT
arestyrurj-158	7	24	controller	controller	NOUN
arestyrurj-158	7	25	for	for	ADP
arestyrurj-158	7	26	the	the	DET
arestyrurj-158	7	27	rover	rover	NOUN
arestyrurj-158	7	28	.	.	PUNCT
arestyrurj-158	8	1	the	the	DET
arestyrurj-158	8	2	results	result	NOUN
arestyrurj-158	8	3	elaborate	elaborate	VERB
arestyrurj-158	8	4	the	the	DET
arestyrurj-158	8	5	possible	possible	ADJ
arestyrurj-158	8	6	applications	application	NOUN
arestyrurj-158	8	7	for	for	ADP
arestyrurj-158	8	8	this	this	DET
arestyrurj-158	8	9	project	project	NOUN
arestyrurj-158	8	10	,	,	PUNCT
arestyrurj-158	8	11	which	which	PRON
arestyrurj-158	8	12	spans	span	VERB
arestyrurj-158	8	13	across	across	ADP
arestyrurj-158	8	14	commercial	commercial	ADJ
arestyrurj-158	8	15	and	and	CCONJ
arestyrurj-158	8	16	military	military	ADJ
arestyrurj-158	8	17	rovers	rover	NOUN
arestyrurj-158	8	18	,	,	PUNCT
arestyrurj-158	8	19	rescue	rescue	NOUN
arestyrurj-158	8	20	robots	robot	NOUN
arestyrurj-158	8	21	,	,	PUNCT
arestyrurj-158	8	22	and	and	CCONJ
arestyrurj-158	8	23	planetary	planetary	ADJ
arestyrurj-158	8	24	rovers	rover	NOUN
arestyrurj-158	8	25	in	in	ADP
arestyrurj-158	8	26	the	the	DET
arestyrurj-158	8	27	private	private	ADJ
arestyrurj-158	8	28	and	and	CCONJ
arestyrurj-158	8	29	global	global	ADJ
arestyrurj-158	8	30	space	space	NOUN
arestyrurj-158	8	31	industry	industry	NOUN
arestyrurj-158	8	32	.	.	PUNCT
arestyrurj-158	9	1	1	1	NUM
arestyrurj-158	9	2	introduction	introduction	NOUN
arestyrurj-158	9	3	traction	traction	NOUN
arestyrurj-158	9	4	control	control	NOUN
arestyrurj-158	9	5	has	have	AUX
arestyrurj-158	9	6	been	be	AUX
arestyrurj-158	9	7	a	a	DET
arestyrurj-158	9	8	growing	grow	VERB
arestyrurj-158	9	9	concern	concern	NOUN
arestyrurj-158	9	10	for	for	ADP
arestyrurj-158	9	11	the	the	DET
arestyrurj-158	9	12	robotics	robotic	NOUN
arestyrurj-158	9	13	and	and	CCONJ
arestyrurj-158	9	14	automotive	automotive	ADJ
arestyrurj-158	9	15	industry	industry	NOUN
arestyrurj-158	9	16	.	.	PUNCT
arestyrurj-158	10	1	for	for	ADP
arestyrurj-158	10	2	example	example	NOUN
arestyrurj-158	10	3	,	,	PUNCT
arestyrurj-158	10	4	traction	traction	PROPN
arestyrurj-158	10	5	control	control	NOUN
arestyrurj-158	10	6	can	can	AUX
arestyrurj-158	10	7	be	be	AUX
arestyrurj-158	10	8	applied	apply	VERB
arestyrurj-158	10	9	to	to	ADP
arestyrurj-158	10	10	hybrid	hybrid	ADJ
arestyrurj-158	10	11	cars	car	NOUN
arestyrurj-158	10	12	,	,	PUNCT
arestyrurj-158	10	13	rescue	rescue	NOUN
arestyrurj-158	10	14	robots	robot	NOUN
arestyrurj-158	10	15	,	,	PUNCT
arestyrurj-158	10	16	and	and	CCONJ
arestyrurj-158	10	17	planetary	planetary	ADJ
arestyrurj-158	10	18	rovers	rover	NOUN
arestyrurj-158	10	19	[	[	X
arestyrurj-158	10	20	2,8,12	2,8,12	NUM
arestyrurj-158	10	21	]	]	PUNCT
arestyrurj-158	10	22	.	.	PUNCT
arestyrurj-158	11	1	the	the	DET
arestyrurj-158	11	2	main	main	ADJ
arestyrurj-158	11	3	inspiration	inspiration	NOUN
arestyrurj-158	11	4	for	for	ADP
arestyrurj-158	11	5	this	this	DET
arestyrurj-158	11	6	research	research	NOUN
arestyrurj-158	11	7	was	be	AUX
arestyrurj-158	11	8	the	the	DET
arestyrurj-158	11	9	severe	severe	ADJ
arestyrurj-158	11	10	damage	damage	NOUN
arestyrurj-158	11	11	of	of	ADP
arestyrurj-158	11	12	the	the	DET
arestyrurj-158	11	13	wheels	wheel	NOUN
arestyrurj-158	11	14	of	of	ADP
arestyrurj-158	11	15	the	the	DET
arestyrurj-158	11	16	mars	mars	PROPN
arestyrurj-158	11	17	rover	rover	NOUN
arestyrurj-158	11	18	,	,	PUNCT
arestyrurj-158	11	19	curiosity	curiosity	NOUN
arestyrurj-158	11	20	,	,	PUNCT
arestyrurj-158	11	21	that	that	PRON
arestyrurj-158	11	22	resulted	result	VERB
arestyrurj-158	11	23	from	from	ADP
arestyrurj-158	11	24	an	an	DET
arestyrurj-158	11	25	incomplete	incomplete	ADJ
arestyrurj-158	11	26	understanding	understanding	NOUN
arestyrurj-158	11	27	of	of	ADP
arestyrurj-158	11	28	the	the	DET
arestyrurj-158	11	29	martian	martian	ADJ
arestyrurj-158	11	30	terrain	terrain	NOUN
arestyrurj-158	11	31	and	and	CCONJ
arestyrurj-158	11	32	a	a	DET
arestyrurj-158	11	33	lack	lack	NOUN
arestyrurj-158	11	34	of	of	ADP
arestyrurj-158	11	35	a	a	DET
arestyrurj-158	11	36	suitable	suitable	ADJ
arestyrurj-158	11	37	traction	traction	NOUN
arestyrurj-158	11	38	control	control	NOUN
arestyrurj-158	11	39	system[1	system[1	PROPN
arestyrurj-158	11	40	]	]	X
arestyrurj-158	11	41	.	.	PUNCT
arestyrurj-158	12	1	nasa	nasa	PROPN
arestyrurj-158	12	2	later	later	ADV
arestyrurj-158	12	3	produced	produce	VERB
arestyrurj-158	12	4	an	an	DET
arestyrurj-158	12	5	algorithm	algorithm	NOUN
arestyrurj-158	12	6	to	to	PART
arestyrurj-158	12	7	reduce	reduce	VERB
arestyrurj-158	12	8	further	further	ADJ
arestyrurj-158	12	9	damage	damage	NOUN
arestyrurj-158	12	10	to	to	ADP
arestyrurj-158	12	11	the	the	DET
arestyrurj-158	12	12	wheels	wheel	NOUN
arestyrurj-158	12	13	and	and	CCONJ
arestyrurj-158	12	14	to	to	PART
arestyrurj-158	12	15	continue	continue	VERB
arestyrurj-158	12	16	its	its	PRON
arestyrurj-158	12	17	exploration	exploration	NOUN
arestyrurj-158	12	18	of	of	ADP
arestyrurj-158	12	19	mars	mar	NOUN
arestyrurj-158	12	20	,	,	PUNCT
arestyrurj-158	12	21	but	but	CCONJ
arestyrurj-158	12	22	this	this	DET
arestyrurj-158	12	23	method	method	NOUN
arestyrurj-158	12	24	was	be	AUX
arestyrurj-158	12	25	not	not	PART
arestyrurj-158	12	26	in	in	ADP
arestyrurj-158	12	27	the	the	DET
arestyrurj-158	12	28	scope	scope	NOUN
arestyrurj-158	12	29	of	of	ADP
arestyrurj-158	12	30	difficulty	difficulty	NOUN
arestyrurj-158	12	31	for	for	ADP
arestyrurj-158	12	32	this	this	DET
arestyrurj-158	12	33	project[14	project[14	PROPN
arestyrurj-158	12	34	]	]	PUNCT
arestyrurj-158	12	35	.	.	PUNCT
arestyrurj-158	13	1	instead	instead	ADV
arestyrurj-158	13	2	,	,	PUNCT
arestyrurj-158	13	3	a	a	DET
arestyrurj-158	13	4	similar	similar	ADJ
arestyrurj-158	13	5	approach	approach	NOUN
arestyrurj-158	13	6	to	to	ADP
arestyrurj-158	13	7	kazuya	kazuya	PROPN
arestyrurj-158	13	8	yoshida	yoshida	PROPN
arestyrurj-158	13	9	's	's	PART
arestyrurj-158	13	10	article	article	NOUN
arestyrurj-158	13	11	about	about	ADP
arestyrurj-158	13	12	slip	slip	NOUN
arestyrurj-158	13	13	-	-	PUNCT
arestyrurj-158	13	14	based	base	VERB
arestyrurj-158	13	15	traction	traction	NOUN
arestyrurj-158	13	16	control	control	NOUN
arestyrurj-158	13	17	was	be	AUX
arestyrurj-158	13	18	followed[17	followed[17	VERB
arestyrurj-158	13	19	]	]	X
arestyrurj-158	13	20	.	.	PUNCT
arestyrurj-158	14	1	the	the	DET
arestyrurj-158	14	2	goal	goal	NOUN
arestyrurj-158	14	3	of	of	ADP
arestyrurj-158	14	4	this	this	DET
arestyrurj-158	14	5	research	research	NOUN
arestyrurj-158	14	6	is	be	AUX
arestyrurj-158	14	7	to	to	PART
arestyrurj-158	14	8	create	create	VERB
arestyrurj-158	14	9	a	a	DET
arestyrurj-158	14	10	simulation	simulation	NOUN
arestyrurj-158	14	11	to	to	PART
arestyrurj-158	14	12	test	test	VERB
arestyrurj-158	14	13	a	a	DET
arestyrurj-158	14	14	model	model	NOUN
arestyrurj-158	14	15	-	-	PUNCT
arestyrurj-158	14	16	based	base	VERB
arestyrurj-158	14	17	traction	traction	NOUN
arestyrurj-158	14	18	control	control	NOUN
arestyrurj-158	14	19	system	system	NOUN
arestyrurj-158	14	20	for	for	ADP
arestyrurj-158	14	21	a	a	DET
arestyrurj-158	14	22	martian	martian	ADJ
arestyrurj-158	14	23	rover	rover	NOUN
arestyrurj-158	14	24	,	,	PUNCT
arestyrurj-158	14	25	like	like	ADP
arestyrurj-158	14	26	curiosity	curiosity	NOUN
arestyrurj-158	14	27	.	.	PUNCT
arestyrurj-158	15	1	this	this	DET
arestyrurj-158	15	2	project	project	NOUN
arestyrurj-158	15	3	consists	consist	VERB
arestyrurj-158	15	4	of	of	ADP
arestyrurj-158	15	5	two	two	NUM
arestyrurj-158	15	6	main	main	ADJ
arestyrurj-158	15	7	components	component	NOUN
arestyrurj-158	15	8	:	:	PUNCT
arestyrurj-158	15	9	mathematical	mathematical	ADJ
arestyrurj-158	15	10	modeling	modeling	NOUN
arestyrurj-158	15	11	of	of	ADP
arestyrurj-158	15	12	the	the	DET
arestyrurj-158	15	13	vehicle	vehicle	NOUN
arestyrurj-158	15	14	-	-	PUNCT
arestyrurj-158	15	15	terrain	terrain	NOUN
arestyrurj-158	15	16	interaction	interaction	NOUN
arestyrurj-158	15	17	and	and	CCONJ
arestyrurj-158	15	18	the	the	DET
arestyrurj-158	15	19	controller	controller	NOUN
arestyrurj-158	15	20	,	,	PUNCT
arestyrurj-158	15	21	which	which	PRON
arestyrurj-158	15	22	generates	generate	VERB
arestyrurj-158	15	23	a	a	DET
arestyrurj-158	15	24	voltage	voltage	NOUN
arestyrurj-158	15	25	applied	apply	VERB
arestyrurj-158	15	26	to	to	ADP
arestyrurj-158	15	27	the	the	DET
arestyrurj-158	15	28	wheel	wheel	NOUN
arestyrurj-158	15	29	’s	’s	PART
arestyrurj-158	15	30	electric	electric	ADJ
arestyrurj-158	15	31	motor	motor	NOUN
arestyrurj-158	15	32	.	.	PUNCT
arestyrurj-158	16	1	this	this	DET
arestyrurj-158	16	2	voltage	voltage	NOUN
arestyrurj-158	16	3	forces	force	VERB
arestyrurj-158	16	4	the	the	DET
arestyrurj-158	16	5	slip	slip	NOUN
arestyrurj-158	16	6	ratio	ratio	NOUN
arestyrurj-158	16	7	to	to	PART
arestyrurj-158	16	8	approach	approach	VERB
arestyrurj-158	16	9	a	a	DET
arestyrurj-158	16	10	desired	desire	VERB
arestyrurj-158	16	11	value	value	NOUN
arestyrurj-158	16	12	.	.	PUNCT
arestyrurj-158	17	1	in	in	ADP
arestyrurj-158	17	2	other	other	ADJ
arestyrurj-158	17	3	words	word	NOUN
arestyrurj-158	17	4	,	,	PUNCT
arestyrurj-158	17	5	the	the	DET
arestyrurj-158	17	6	controller	controller	NOUN
arestyrurj-158	17	7	accelerates	accelerate	VERB
arestyrurj-158	17	8	the	the	DET
arestyrurj-158	17	9	vehicle	vehicle	NOUN
arestyrurj-158	17	10	efficiently	efficiently	ADV
arestyrurj-158	17	11	in	in	ADP
arestyrurj-158	17	12	the	the	DET
arestyrurj-158	17	13	deformable	deformable	ADJ
arestyrurj-158	17	14	martian	martian	ADJ
arestyrurj-158	17	15	terrain	terrain	NOUN
arestyrurj-158	17	16	.	.	PUNCT
arestyrurj-158	18	1	in	in	ADP
arestyrurj-158	18	2	yoshida	yoshida	PROPN
arestyrurj-158	18	3	's	's	PART
arestyrurj-158	18	4	research	research	NOUN
arestyrurj-158	18	5	,	,	PUNCT
arestyrurj-158	18	6	a	a	DET
arestyrurj-158	18	7	slip	slip	NOUN
arestyrurj-158	18	8	-	-	PUNCT
arestyrurj-158	18	9	based	base	VERB
arestyrurj-158	18	10	model	model	NOUN
arestyrurj-158	18	11	was	be	AUX
arestyrurj-158	18	12	developed	develop	VERB
arestyrurj-158	18	13	using	use	VERB
arestyrurj-158	18	14	the	the	DET
arestyrurj-158	18	15	terramechanics	terramechanic	NOUN
arestyrurj-158	18	16	,	,	PUNCT
arestyrurj-158	18	17	which	which	PRON
arestyrurj-158	18	18	is	be	AUX
arestyrurj-158	18	19	the	the	DET
arestyrurj-158	18	20	study	study	NOUN
arestyrurj-158	18	21	of	of	ADP
arestyrurj-158	18	22	soil	soil	NOUN
arestyrurj-158	18	23	properties	property	NOUN
arestyrurj-158	18	24	,	,	PUNCT
arestyrurj-158	18	25	of	of	ADP
arestyrurj-158	18	26	a	a	DET
arestyrurj-158	18	27	rigid	rigid	ADJ
arestyrurj-158	18	28	wheel	wheel	NOUN
arestyrurj-158	18	29	on	on	ADP
arestyrurj-158	18	30	loosedeformable	loosedeformable	ADJ
arestyrurj-158	18	31	soil[17	soil[17	NOUN
arestyrurj-158	18	32	]	]	X
arestyrurj-158	18	33	.	.	PUNCT
arestyrurj-158	19	1	the	the	DET
arestyrurj-158	19	2	terrain	terrain	NOUN
arestyrurj-158	19	3	model	model	NOUN
arestyrurj-158	19	4	used	use	VERB
arestyrurj-158	19	5	in	in	ADP
arestyrurj-158	19	6	this	this	DET
arestyrurj-158	19	7	article	article	NOUN
arestyrurj-158	19	8	was	be	AUX
arestyrurj-158	19	9	the	the	DET
arestyrurj-158	19	10	deformable	deformable	ADJ
arestyrurj-158	19	11	soil	soil	NOUN
arestyrurj-158	19	12	-	-	PUNCT
arestyrurj-158	19	13	rigid	rigid	ADJ
arestyrurj-158	19	14	tire	tire	NOUN
arestyrurj-158	19	15	model	model	NOUN
arestyrurj-158	19	16	,	,	PUNCT
arestyrurj-158	19	17	which	which	PRON
arestyrurj-158	19	18	was	be	AUX
arestyrurj-158	19	19	then	then	ADV
arestyrurj-158	19	20	adopted	adopt	VERB
arestyrurj-158	19	21	into	into	ADP
arestyrurj-158	19	22	the	the	DET
arestyrurj-158	19	23	current	current	ADJ
arestyrurj-158	19	24	project[15	project[15	NOUN
arestyrurj-158	19	25	]	]	PUNCT
arestyrurj-158	19	26	.	.	PUNCT
arestyrurj-158	20	1	this	this	DET
arestyrurj-158	20	2	figure	figure	NOUN
arestyrurj-158	20	3	1	1	NUM
arestyrurj-158	20	4	:	:	PUNCT
arestyrurj-158	20	5	one	one	NUM
arestyrurj-158	20	6	of	of	ADP
arestyrurj-158	20	7	curiosity	curiosity	NOUN
arestyrurj-158	20	8	’s	’s	PART
arestyrurj-158	20	9	damaged	damage	VERB
arestyrurj-158	20	10	wheels	wheel	NOUN
arestyrurj-158	20	11	.	.	PUNCT
arestyrurj-158	21	1	description	description	NOUN
arestyrurj-158	21	2	:	:	PUNCT
arestyrurj-158	21	3	the	the	DET
arestyrurj-158	21	4	holes	hole	NOUN
arestyrurj-158	21	5	present	present	ADJ
arestyrurj-158	21	6	on	on	ADP
arestyrurj-158	21	7	the	the	DET
arestyrurj-158	21	8	middle	middle	ADJ
arestyrurj-158	21	9	tire	tire	NOUN
arestyrurj-158	21	10	,	,	PUNCT
arestyrurj-158	21	11	on	on	ADP
arestyrurj-158	21	12	the	the	DET
arestyrurj-158	21	13	right	right	ADJ
arestyrurj-158	21	14	side	side	NOUN
arestyrurj-158	21	15	of	of	ADP
arestyrurj-158	21	16	the	the	DET
arestyrurj-158	21	17	image	image	NOUN
arestyrurj-158	21	18	,	,	PUNCT
arestyrurj-158	21	19	was	be	AUX
arestyrurj-158	21	20	caused	cause	VERB
arestyrurj-158	21	21	by	by	ADP
arestyrurj-158	21	22	sharp	sharp	ADJ
arestyrurj-158	21	23	rocks	rock	NOUN
arestyrurj-158	21	24	found	find	VERB
arestyrurj-158	21	25	in	in	ADP
arestyrurj-158	21	26	gale	gale	NOUN
arestyrurj-158	21	27	crater	crater	NOUN
arestyrurj-158	21	28	.	.	PUNCT
arestyrurj-158	22	1	due	due	ADP
arestyrurj-158	22	2	to	to	ADP
arestyrurj-158	22	3	the	the	DET
arestyrurj-158	22	4	lack	lack	NOUN
arestyrurj-158	22	5	of	of	ADP
arestyrurj-158	22	6	a	a	DET
arestyrurj-158	22	7	traction	traction	NOUN
arestyrurj-158	22	8	control	control	NOUN
arestyrurj-158	22	9	system	system	NOUN
arestyrurj-158	22	10	,	,	PUNCT
arestyrurj-158	22	11	the	the	DET
arestyrurj-158	22	12	damage	damage	NOUN
arestyrurj-158	22	13	to	to	ADP
arestyrurj-158	22	14	the	the	DET
arestyrurj-158	22	15	tire	tire	NOUN
arestyrurj-158	22	16	grew	grow	VERB
arestyrurj-158	22	17	rapidly	rapidly	ADV
arestyrurj-158	22	18	.	.	PUNCT
arestyrurj-158	23	1	aresty	aresty	ADJ
arestyrurj-158	23	2	rutgers	rutgers	PROPN
arestyrurj-158	23	3	undergraduate	undergraduate	PROPN
arestyrurj-158	23	4	research	research	PROPN
arestyrurj-158	23	5	journal	journal	PROPN
arestyrurj-158	23	6	,	,	PUNCT
arestyrurj-158	23	7	volume	volume	NOUN
arestyrurj-158	23	8	i	i	PRON
arestyrurj-158	23	9	,	,	PUNCT
arestyrurj-158	23	10	issue	issue	PROPN
arestyrurj-158	23	11	ii	ii	PROPN
arestyrurj-158	23	12	model	model	NOUN
arestyrurj-158	23	13	consists	consist	VERB
arestyrurj-158	23	14	of	of	ADP
arestyrurj-158	23	15	several	several	ADJ
arestyrurj-158	23	16	equations	equation	NOUN
arestyrurj-158	23	17	of	of	ADP
arestyrurj-158	23	18	terramechanics	terramechanic	NOUN
arestyrurj-158	23	19	;	;	PUNCT
arestyrurj-158	23	20	specifically	specifically	ADV
arestyrurj-158	23	21	the	the	DET
arestyrurj-158	23	22	interaction	interaction	NOUN
arestyrurj-158	23	23	of	of	ADP
arestyrurj-158	23	24	wheeled	wheeled	ADJ
arestyrurj-158	23	25	vehicles	vehicle	NOUN
arestyrurj-158	23	26	on	on	ADP
arestyrurj-158	23	27	various	various	ADJ
arestyrurj-158	23	28	surfaces	surface	NOUN
arestyrurj-158	23	29	.	.	PUNCT
arestyrurj-158	24	1	the	the	DET
arestyrurj-158	24	2	equations	equation	NOUN
arestyrurj-158	24	3	involved	involve	VERB
arestyrurj-158	24	4	model	model	NOUN
arestyrurj-158	24	5	soil	soil	NOUN
arestyrurj-158	24	6	that	that	PRON
arestyrurj-158	24	7	is	be	AUX
arestyrurj-158	24	8	deformed	deform	VERB
arestyrurj-158	24	9	by	by	ADP
arestyrurj-158	24	10	the	the	DET
arestyrurj-158	24	11	vehicle	vehicle	NOUN
arestyrurj-158	24	12	’s	’s	PART
arestyrurj-158	24	13	wheels	wheel	NOUN
arestyrurj-158	24	14	,	,	PUNCT
arestyrurj-158	24	15	as	as	ADV
arestyrurj-158	24	16	well	well	ADV
arestyrurj-158	24	17	as	as	ADP
arestyrurj-158	24	18	the	the	DET
arestyrurj-158	24	19	resistive	resistive	ADJ
arestyrurj-158	24	20	and	and	CCONJ
arestyrurj-158	24	21	driving	driving	NOUN
arestyrurj-158	24	22	force	force	NOUN
arestyrurj-158	24	23	and	and	CCONJ
arestyrurj-158	24	24	torque	torque	NOUN
arestyrurj-158	24	25	generated	generate	VERB
arestyrurj-158	24	26	by	by	ADP
arestyrurj-158	24	27	the	the	DET
arestyrurj-158	24	28	soil	soil	NOUN
arestyrurj-158	24	29	.	.	PUNCT
arestyrurj-158	25	1	these	these	DET
arestyrurj-158	25	2	relations	relation	NOUN
arestyrurj-158	25	3	allow	allow	VERB
arestyrurj-158	25	4	for	for	ADP
arestyrurj-158	25	5	a	a	DET
arestyrurj-158	25	6	more	more	ADV
arestyrurj-158	25	7	accurate	accurate	ADJ
arestyrurj-158	25	8	simulation	simulation	NOUN
arestyrurj-158	25	9	for	for	ADP
arestyrurj-158	25	10	the	the	DET
arestyrurj-158	25	11	soil	soil	NOUN
arestyrurj-158	25	12	and	and	CCONJ
arestyrurj-158	25	13	vehicle	vehicle	NOUN
arestyrurj-158	25	14	interaction	interaction	NOUN
arestyrurj-158	25	15	.	.	PUNCT
arestyrurj-158	26	1	this	this	DET
arestyrurj-158	26	2	model	model	NOUN
arestyrurj-158	26	3	was	be	AUX
arestyrurj-158	26	4	also	also	ADV
arestyrurj-158	26	5	chosen	choose	VERB
arestyrurj-158	26	6	based	base	VERB
arestyrurj-158	26	7	on	on	ADP
arestyrurj-158	26	8	the	the	DET
arestyrurj-158	26	9	computing	computing	NOUN
arestyrurj-158	26	10	restrictions	restriction	NOUN
arestyrurj-158	26	11	of	of	ADP
arestyrurj-158	26	12	the	the	DET
arestyrurj-158	26	13	computer	computer	NOUN
arestyrurj-158	26	14	used	use	VERB
arestyrurj-158	26	15	.	.	PUNCT
arestyrurj-158	27	1	more	more	ADV
arestyrurj-158	27	2	advanced	advanced	ADJ
arestyrurj-158	27	3	options	option	NOUN
arestyrurj-158	27	4	like	like	ADP
arestyrurj-158	27	5	finite	finite	PROPN
arestyrurj-158	27	6	element	element	NOUN
arestyrurj-158	27	7	models	model	NOUN
arestyrurj-158	27	8	require	require	VERB
arestyrurj-158	27	9	computers	computer	NOUN
arestyrurj-158	27	10	with	with	ADP
arestyrurj-158	27	11	higher	high	ADJ
arestyrurj-158	27	12	level	level	NOUN
arestyrurj-158	27	13	of	of	ADP
arestyrurj-158	27	14	performance	performance	NOUN
arestyrurj-158	27	15	.	.	PUNCT
arestyrurj-158	28	1	another	another	DET
arestyrurj-158	28	2	key	key	ADJ
arestyrurj-158	28	3	component	component	NOUN
arestyrurj-158	28	4	is	be	AUX
arestyrurj-158	28	5	the	the	DET
arestyrurj-158	28	6	controller	controller	NOUN
arestyrurj-158	28	7	.	.	PUNCT
arestyrurj-158	29	1	in	in	ADP
arestyrurj-158	29	2	yoshida	yoshida	PROPN
arestyrurj-158	29	3	's	's	PART
arestyrurj-158	29	4	research	research	NOUN
arestyrurj-158	29	5	,	,	PUNCT
arestyrurj-158	29	6	a	a	DET
arestyrurj-158	29	7	proportional	proportional	ADJ
arestyrurj-158	29	8	-	-	PUNCT
arestyrurj-158	29	9	integral	integral	ADJ
arestyrurj-158	29	10	-	-	PUNCT
arestyrurj-158	29	11	derivative	derivative	ADJ
arestyrurj-158	29	12	controller	controller	NOUN
arestyrurj-158	29	13	(	(	PUNCT
arestyrurj-158	29	14	pid	pid	NOUN
arestyrurj-158	29	15	)	)	PUNCT
arestyrurj-158	29	16	was	be	AUX
arestyrurj-158	29	17	used	use	VERB
arestyrurj-158	29	18	to	to	PART
arestyrurj-158	29	19	control	control	VERB
arestyrurj-158	29	20	the	the	DET
arestyrurj-158	29	21	slippage[17	slippage[17	NOUN
arestyrurj-158	29	22	]	]	PUNCT
arestyrurj-158	29	23	.	.	PUNCT
arestyrurj-158	30	1	after	after	ADP
arestyrurj-158	30	2	thorough	thorough	ADJ
arestyrurj-158	30	3	investigation	investigation	NOUN
arestyrurj-158	30	4	,	,	PUNCT
arestyrurj-158	30	5	a	a	DET
arestyrurj-158	30	6	faster	fast	ADJ
arestyrurj-158	30	7	and	and	CCONJ
arestyrurj-158	30	8	more	more	ADV
arestyrurj-158	30	9	robust	robust	ADJ
arestyrurj-158	30	10	method	method	NOUN
arestyrurj-158	30	11	was	be	AUX
arestyrurj-158	30	12	sought	seek	VERB
arestyrurj-158	30	13	out	out	ADP
arestyrurj-158	30	14	.	.	PUNCT
arestyrurj-158	31	1	a	a	DET
arestyrurj-158	31	2	faster	fast	ADJ
arestyrurj-158	31	3	method	method	NOUN
arestyrurj-158	31	4	specifically	specifically	ADV
arestyrurj-158	31	5	meant	mean	VERB
arestyrurj-158	31	6	a	a	DET
arestyrurj-158	31	7	quicker	quick	ADJ
arestyrurj-158	31	8	settling	settling	NOUN
arestyrurj-158	31	9	time	time	NOUN
arestyrurj-158	31	10	(	(	PUNCT
arestyrurj-158	31	11	time	time	NOUN
arestyrurj-158	31	12	to	to	PART
arestyrurj-158	31	13	reach	reach	VERB
arestyrurj-158	31	14	2	2	NUM
arestyrurj-158	31	15	%	%	NOUN
arestyrurj-158	31	16	of	of	ADP
arestyrurj-158	31	17	the	the	DET
arestyrurj-158	31	18	desired	desire	VERB
arestyrurj-158	31	19	slip	slip	NOUN
arestyrurj-158	31	20	ratio	ratio	NOUN
arestyrurj-158	31	21	value	value	NOUN
arestyrurj-158	31	22	)	)	PUNCT
arestyrurj-158	31	23	,	,	PUNCT
arestyrurj-158	31	24	and	and	CCONJ
arestyrurj-158	31	25	more	more	ADV
arestyrurj-158	31	26	robust	robust	ADJ
arestyrurj-158	31	27	method	method	NOUN
arestyrurj-158	31	28	meant	mean	VERB
arestyrurj-158	31	29	a	a	DET
arestyrurj-158	31	30	controller	controller	NOUN
arestyrurj-158	31	31	that	that	PRON
arestyrurj-158	31	32	functions	function	VERB
arestyrurj-158	31	33	better	well	ADV
arestyrurj-158	31	34	with	with	ADP
arestyrurj-158	31	35	more	more	ADJ
arestyrurj-158	31	36	uncertainties	uncertainty	NOUN
arestyrurj-158	31	37	.	.	PUNCT
arestyrurj-158	32	1	the	the	DET
arestyrurj-158	32	2	sliding	slide	VERB
arestyrurj-158	32	3	mode	mode	NOUN
arestyrurj-158	32	4	controller	controller	NOUN
arestyrurj-158	32	5	was	be	AUX
arestyrurj-158	32	6	used	use	VERB
arestyrurj-158	32	7	for	for	ADP
arestyrurj-158	32	8	its	its	PRON
arestyrurj-158	32	9	robustness	robustness	NOUN
arestyrurj-158	32	10	and	and	CCONJ
arestyrurj-158	32	11	effectiveness[5	effectiveness[5	NOUN
arestyrurj-158	32	12	]	]	PUNCT
arestyrurj-158	32	13	.	.	PUNCT
arestyrurj-158	33	1	the	the	DET
arestyrurj-158	33	2	more	more	ADV
arestyrurj-158	33	3	advanced	advanced	ADJ
arestyrurj-158	33	4	controller	controller	NOUN
arestyrurj-158	33	5	is	be	AUX
arestyrurj-158	33	6	a	a	DET
arestyrurj-158	33	7	nonlinear	nonlinear	ADJ
arestyrurj-158	33	8	control	control	NOUN
arestyrurj-158	33	9	method	method	NOUN
arestyrurj-158	33	10	that	that	PRON
arestyrurj-158	33	11	uses	use	VERB
arestyrurj-158	33	12	a	a	DET
arestyrurj-158	33	13	discontinuous	discontinuous	ADJ
arestyrurj-158	33	14	control	control	NOUN
arestyrurj-158	33	15	signal	signal	NOUN
arestyrurj-158	33	16	.	.	PUNCT
arestyrurj-158	34	1	it	it	PRON
arestyrurj-158	34	2	is	be	AUX
arestyrurj-158	34	3	a	a	DET
arestyrurj-158	34	4	type	type	NOUN
arestyrurj-158	34	5	of	of	ADP
arestyrurj-158	34	6	variable	variable	ADJ
arestyrurj-158	34	7	structure	structure	NOUN
arestyrurj-158	34	8	control	control	NOUN
arestyrurj-158	34	9	,	,	PUNCT
arestyrurj-158	34	10	meaning	mean	VERB
arestyrurj-158	34	11	it	it	PRON
arestyrurj-158	34	12	alters	alter	VERB
arestyrurj-158	34	13	the	the	DET
arestyrurj-158	34	14	dynamics	dynamic	NOUN
arestyrurj-158	34	15	of	of	ADP
arestyrurj-158	34	16	a	a	DET
arestyrurj-158	34	17	nonlinear	nonlinear	ADJ
arestyrurj-158	34	18	system	system	NOUN
arestyrurj-158	34	19	by	by	ADP
arestyrurj-158	34	20	applying	apply	VERB
arestyrurj-158	34	21	a	a	DET
arestyrurj-158	34	22	switching	switch	VERB
arestyrurj-158	34	23	control	control	NOUN
arestyrurj-158	34	24	.	.	PUNCT
arestyrurj-158	35	1	mathworks	mathworks	PROPN
arestyrurj-158	35	2	’	'	PUNCT
arestyrurj-158	35	3	softwares	software	NOUN
arestyrurj-158	35	4	matlab	matlab	PROPN
arestyrurj-158	35	5	and	and	CCONJ
arestyrurj-158	35	6	simulink	simulink	PROPN
arestyrurj-158	35	7	were	be	AUX
arestyrurj-158	35	8	integral	integral	ADJ
arestyrurj-158	35	9	tools	tool	NOUN
arestyrurj-158	35	10	used	use	VERB
arestyrurj-158	35	11	for	for	ADP
arestyrurj-158	35	12	this	this	DET
arestyrurj-158	35	13	research[9	research[9	NOUN
arestyrurj-158	35	14	]	]	PUNCT
arestyrurj-158	35	15	.	.	PUNCT
arestyrurj-158	36	1	matlab	matlab	PROPN
arestyrurj-158	36	2	is	be	AUX
arestyrurj-158	36	3	a	a	DET
arestyrurj-158	36	4	programming	programming	NOUN
arestyrurj-158	36	5	tool	tool	NOUN
arestyrurj-158	36	6	with	with	ADP
arestyrurj-158	36	7	its	its	PRON
arestyrurj-158	36	8	own	own	ADJ
arestyrurj-158	36	9	language	language	NOUN
arestyrurj-158	36	10	that	that	PRON
arestyrurj-158	36	11	expresses	express	VERB
arestyrurj-158	36	12	matrix	matrix	VERB
arestyrurj-158	36	13	math	math	NOUN
arestyrurj-158	36	14	more	more	ADV
arestyrurj-158	36	15	directly	directly	ADV
arestyrurj-158	36	16	.	.	PUNCT
arestyrurj-158	37	1	simulink	simulink	PROPN
arestyrurj-158	37	2	is	be	AUX
arestyrurj-158	37	3	a	a	DET
arestyrurj-158	37	4	program	program	NOUN
arestyrurj-158	37	5	for	for	ADP
arestyrurj-158	37	6	modeling	modeling	NOUN
arestyrurj-158	37	7	,	,	PUNCT
arestyrurj-158	37	8	simulating	simulate	VERB
arestyrurj-158	37	9	,	,	PUNCT
arestyrurj-158	37	10	and	and	CCONJ
arestyrurj-158	37	11	analyzing	analyze	VERB
arestyrurj-158	37	12	dynamical	dynamical	ADJ
arestyrurj-158	37	13	systems	system	NOUN
arestyrurj-158	37	14	.	.	PUNCT
arestyrurj-158	38	1	its	its	PRON
arestyrurj-158	38	2	main	main	ADJ
arestyrurj-158	38	3	interface	interface	NOUN
arestyrurj-158	38	4	is	be	AUX
arestyrurj-158	38	5	a	a	DET
arestyrurj-158	38	6	block	block	NOUN
arestyrurj-158	38	7	diagramming	diagram	VERB
arestyrurj-158	38	8	tool	tool	NOUN
arestyrurj-158	38	9	that	that	PRON
arestyrurj-158	38	10	allows	allow	VERB
arestyrurj-158	38	11	the	the	DET
arestyrurj-158	38	12	user	user	NOUN
arestyrurj-158	38	13	to	to	PART
arestyrurj-158	38	14	model	model	VERB
arestyrurj-158	38	15	and	and	CCONJ
arestyrurj-158	38	16	simulate	simulate	VERB
arestyrurj-158	38	17	a	a	DET
arestyrurj-158	38	18	system	system	NOUN
arestyrurj-158	38	19	made	make	VERB
arestyrurj-158	38	20	up	up	ADP
arestyrurj-158	38	21	of	of	ADP
arestyrurj-158	38	22	various	various	ADJ
arestyrurj-158	38	23	interconnected	interconnected	ADJ
arestyrurj-158	38	24	equations	equation	NOUN
arestyrurj-158	38	25	.	.	PUNCT
arestyrurj-158	39	1	they	they	PRON
arestyrurj-158	39	2	were	be	AUX
arestyrurj-158	39	3	ideal	ideal	ADJ
arestyrurj-158	39	4	for	for	ADP
arestyrurj-158	39	5	this	this	DET
arestyrurj-158	39	6	project	project	NOUN
arestyrurj-158	39	7	because	because	SCONJ
arestyrurj-158	39	8	simulink	simulink	PROPN
arestyrurj-158	39	9	and	and	CCONJ
arestyrurj-158	39	10	matlab	matlab	PROPN
arestyrurj-158	39	11	are	be	AUX
arestyrurj-158	39	12	frequently	frequently	ADV
arestyrurj-158	39	13	used	use	VERB
arestyrurj-158	39	14	for	for	ADP
arestyrurj-158	39	15	professional	professional	ADJ
arestyrurj-158	39	16	vehicle	vehicle	NOUN
arestyrurj-158	39	17	based	base	VERB
arestyrurj-158	39	18	-	-	PUNCT
arestyrurj-158	39	19	control	control	NOUN
arestyrurj-158	39	20	system	system	NOUN
arestyrurj-158	39	21	design	design	NOUN
arestyrurj-158	39	22	in	in	ADP
arestyrurj-158	39	23	the	the	DET
arestyrurj-158	39	24	field	field	NOUN
arestyrurj-158	39	25	.	.	PUNCT
arestyrurj-158	40	1	simulink	simulink	PROPN
arestyrurj-158	40	2	is	be	AUX
arestyrurj-158	40	3	user	user	NOUN
arestyrurj-158	40	4	-	-	PUNCT
arestyrurj-158	40	5	friendly	friendly	ADJ
arestyrurj-158	40	6	for	for	ADP
arestyrurj-158	40	7	mathematical	mathematical	ADJ
arestyrurj-158	40	8	modeling	modeling	NOUN
arestyrurj-158	40	9	because	because	SCONJ
arestyrurj-158	40	10	of	of	ADP
arestyrurj-158	40	11	its	its	PRON
arestyrurj-158	40	12	block	block	NOUN
arestyrurj-158	40	13	-	-	PUNCT
arestyrurj-158	40	14	based	base	VERB
arestyrurj-158	40	15	coding	coding	NOUN
arestyrurj-158	40	16	.	.	PUNCT
arestyrurj-158	41	1	this	this	PRON
arestyrurj-158	41	2	means	mean	VERB
arestyrurj-158	41	3	that	that	SCONJ
arestyrurj-158	41	4	instead	instead	ADV
arestyrurj-158	41	5	of	of	ADP
arestyrurj-158	41	6	writing	write	VERB
arestyrurj-158	41	7	lines	line	NOUN
arestyrurj-158	41	8	of	of	ADP
arestyrurj-158	41	9	code	code	NOUN
arestyrurj-158	41	10	,	,	PUNCT
arestyrurj-158	41	11	the	the	DET
arestyrurj-158	41	12	control	control	NOUN
arestyrurj-158	41	13	system	system	NOUN
arestyrurj-158	41	14	can	can	AUX
arestyrurj-158	41	15	be	be	AUX
arestyrurj-158	41	16	designed	design	VERB
arestyrurj-158	41	17	with	with	ADP
arestyrurj-158	41	18	simple	simple	ADJ
arestyrurj-158	41	19	“	"	PUNCT
arestyrurj-158	41	20	blocks	block	NOUN
arestyrurj-158	41	21	”	"	PUNCT
arestyrurj-158	41	22	that	that	PRON
arestyrurj-158	41	23	represent	represent	VERB
arestyrurj-158	41	24	mathematical	mathematical	ADJ
arestyrurj-158	41	25	operations	operation	NOUN
arestyrurj-158	41	26	and	and	CCONJ
arestyrurj-158	41	27	tasks	task	NOUN
arestyrurj-158	41	28	.	.	PUNCT
arestyrurj-158	42	1	matlab	matlab	PROPN
arestyrurj-158	42	2	was	be	AUX
arestyrurj-158	42	3	useful	useful	ADJ
arestyrurj-158	42	4	for	for	ADP
arestyrurj-158	42	5	inputting	inputte	VERB
arestyrurj-158	42	6	initial	initial	ADJ
arestyrurj-158	42	7	conditions	condition	NOUN
arestyrurj-158	42	8	and	and	CCONJ
arestyrurj-158	42	9	extracting	extract	VERB
arestyrurj-158	42	10	results	result	NOUN
arestyrurj-158	42	11	for	for	ADP
arestyrurj-158	42	12	plots	plot	NOUN
arestyrurj-158	42	13	.	.	PUNCT
arestyrurj-158	43	1	both	both	PRON
arestyrurj-158	43	2	of	of	ADP
arestyrurj-158	43	3	these	these	DET
arestyrurj-158	43	4	softwares	software	NOUN
arestyrurj-158	43	5	were	be	AUX
arestyrurj-158	43	6	used	use	VERB
arestyrurj-158	43	7	together	together	ADV
arestyrurj-158	43	8	to	to	PART
arestyrurj-158	43	9	simulate	simulate	VERB
arestyrurj-158	43	10	and	and	CCONJ
arestyrurj-158	43	11	extract	extract	VERB
arestyrurj-158	43	12	results	result	NOUN
arestyrurj-158	43	13	.	.	PUNCT
arestyrurj-158	44	1	2	2	NUM
arestyrurj-158	44	2	modeling	model	VERB
arestyrurj-158	44	3	a	a	DET
arestyrurj-158	44	4	negative	negative	ADJ
arestyrurj-158	44	5	feedback	feedback	NOUN
arestyrurj-158	44	6	system	system	NOUN
arestyrurj-158	44	7	occurs	occur	VERB
arestyrurj-158	44	8	when	when	SCONJ
arestyrurj-158	44	9	the	the	DET
arestyrurj-158	44	10	output	output	NOUN
arestyrurj-158	44	11	of	of	ADP
arestyrurj-158	44	12	a	a	DET
arestyrurj-158	44	13	system	system	NOUN
arestyrurj-158	44	14	is	be	AUX
arestyrurj-158	44	15	fed	feed	VERB
arestyrurj-158	44	16	back	back	ADV
arestyrurj-158	44	17	into	into	ADP
arestyrurj-158	44	18	itself	itself	PRON
arestyrurj-158	44	19	in	in	ADP
arestyrurj-158	44	20	order	order	NOUN
arestyrurj-158	44	21	to	to	PART
arestyrurj-158	44	22	influence	influence	VERB
arestyrurj-158	44	23	its	its	PRON
arestyrurj-158	44	24	output	output	NOUN
arestyrurj-158	44	25	.	.	PUNCT
arestyrurj-158	45	1	these	these	DET
arestyrurj-158	45	2	system	system	NOUN
arestyrurj-158	45	3	configurations	configuration	NOUN
arestyrurj-158	45	4	are	be	AUX
arestyrurj-158	45	5	required	require	VERB
arestyrurj-158	45	6	for	for	ADP
arestyrurj-158	45	7	most	most	ADJ
arestyrurj-158	45	8	control	control	NOUN
arestyrurj-158	45	9	methods	method	NOUN
arestyrurj-158	45	10	.	.	PUNCT
arestyrurj-158	46	1	in	in	ADP
arestyrurj-158	46	2	order	order	NOUN
arestyrurj-158	46	3	to	to	PART
arestyrurj-158	46	4	model	model	VERB
arestyrurj-158	46	5	a	a	DET
arestyrurj-158	46	6	traction	traction	NOUN
arestyrurj-158	46	7	control	control	NOUN
arestyrurj-158	46	8	system	system	NOUN
arestyrurj-158	46	9	with	with	ADP
arestyrurj-158	46	10	block	block	NOUN
arestyrurj-158	46	11	diagrams	diagram	NOUN
arestyrurj-158	46	12	in	in	ADP
arestyrurj-158	46	13	simulink	simulink	PROPN
arestyrurj-158	46	14	,	,	PUNCT
arestyrurj-158	46	15	three	three	NUM
arestyrurj-158	46	16	basic	basic	ADJ
arestyrurj-158	46	17	components	component	NOUN
arestyrurj-158	46	18	of	of	ADP
arestyrurj-158	46	19	a	a	DET
arestyrurj-158	46	20	negative	negative	ADJ
arestyrurj-158	46	21	feedback	feedback	NOUN
arestyrurj-158	46	22	loop	loop	NOUN
arestyrurj-158	46	23	are	be	AUX
arestyrurj-158	46	24	needed	need	VERB
arestyrurj-158	46	25	:	:	PUNCT
arestyrurj-158	47	1	1	1	X
arestyrurj-158	47	2	.	.	X
arestyrurj-158	47	3	the	the	DET
arestyrurj-158	47	4	plant	plant	NOUN
arestyrurj-158	47	5	is	be	AUX
arestyrurj-158	47	6	the	the	DET
arestyrurj-158	47	7	mathematical	mathematical	ADJ
arestyrurj-158	47	8	model	model	NOUN
arestyrurj-158	47	9	of	of	ADP
arestyrurj-158	47	10	the	the	DET
arestyrurj-158	47	11	dynamic	dynamic	ADJ
arestyrurj-158	47	12	equations	equation	NOUN
arestyrurj-158	47	13	of	of	ADP
arestyrurj-158	47	14	the	the	DET
arestyrurj-158	47	15	problem	problem	NOUN
arestyrurj-158	47	16	.	.	PUNCT
arestyrurj-158	48	1	2	2	X
arestyrurj-158	48	2	.	.	X
arestyrurj-158	48	3	the	the	DET
arestyrurj-158	48	4	actuator	actuator	NOUN
arestyrurj-158	48	5	is	be	AUX
arestyrurj-158	48	6	the	the	DET
arestyrurj-158	48	7	controlled	control	VERB
arestyrurj-158	48	8	motor	motor	NOUN
arestyrurj-158	48	9	.	.	PUNCT
arestyrurj-158	49	1	3	3	X
arestyrurj-158	49	2	.	.	X
arestyrurj-158	49	3	the	the	DET
arestyrurj-158	49	4	controller	controller	NOUN
arestyrurj-158	49	5	is	be	AUX
arestyrurj-158	49	6	inputted	inputte	VERB
arestyrurj-158	49	7	with	with	ADP
arestyrurj-158	49	8	the	the	DET
arestyrurj-158	49	9	error	error	NOUN
arestyrurj-158	49	10	of	of	ADP
arestyrurj-158	49	11	the	the	DET
arestyrurj-158	49	12	feedback	feedback	NOUN
arestyrurj-158	49	13	loop	loop	NOUN
arestyrurj-158	49	14	(	(	PUNCT
arestyrurj-158	49	15	the	the	DET
arestyrurj-158	49	16	desired	desire	VERB
arestyrurj-158	49	17	slip	slip	NOUN
arestyrurj-158	49	18	ratio	ratio	NOUN
arestyrurj-158	49	19	minus	minus	ADP
arestyrurj-158	49	20	the	the	DET
arestyrurj-158	49	21	plant	plant	NOUN
arestyrurj-158	49	22	’s	’s	PART
arestyrurj-158	49	23	modeled	model	VERB
arestyrurj-158	49	24	slip	slip	NOUN
arestyrurj-158	49	25	ratio	ratio	NOUN
arestyrurj-158	49	26	)	)	PUNCT
arestyrurj-158	49	27	and	and	CCONJ
arestyrurj-158	49	28	outputs	output	VERB
arestyrurj-158	49	29	the	the	DET
arestyrurj-158	49	30	voltage	voltage	NOUN
arestyrurj-158	49	31	applied	apply	VERB
arestyrurj-158	49	32	to	to	ADP
arestyrurj-158	49	33	the	the	DET
arestyrurj-158	49	34	actuator	actuator	NOUN
arestyrurj-158	49	35	.	.	PUNCT
arestyrurj-158	50	1	to	to	PART
arestyrurj-158	50	2	begin	begin	VERB
arestyrurj-158	50	3	understanding	understand	VERB
arestyrurj-158	50	4	the	the	DET
arestyrurj-158	50	5	problem	problem	NOUN
arestyrurj-158	50	6	of	of	ADP
arestyrurj-158	50	7	slip	slip	NOUN
arestyrurj-158	50	8	-	-	PUNCT
arestyrurj-158	50	9	based	base	VERB
arestyrurj-158	50	10	traction	traction	NOUN
arestyrurj-158	50	11	control	control	NOUN
arestyrurj-158	50	12	on	on	ADP
arestyrurj-158	50	13	deformable	deformable	ADJ
arestyrurj-158	50	14	soil	soil	NOUN
arestyrurj-158	50	15	,	,	PUNCT
arestyrurj-158	50	16	a	a	DET
arestyrurj-158	50	17	basic	basic	ADJ
arestyrurj-158	50	18	understanding	understanding	NOUN
arestyrurj-158	50	19	of	of	ADP
arestyrurj-158	50	20	a	a	DET
arestyrurj-158	50	21	vehicle	vehicle	NOUN
arestyrurj-158	50	22	control	control	NOUN
arestyrurj-158	50	23	system	system	NOUN
arestyrurj-158	50	24	was	be	AUX
arestyrurj-158	50	25	established	establish	VERB
arestyrurj-158	50	26	through	through	ADP
arestyrurj-158	50	27	the	the	DET
arestyrurj-158	50	28	exploration	exploration	NOUN
arestyrurj-158	50	29	of	of	ADP
arestyrurj-158	50	30	a	a	DET
arestyrurj-158	50	31	simple	simple	ADJ
arestyrurj-158	50	32	anti	anti	ADJ
arestyrurj-158	50	33	-	-	ADJ
arestyrurj-158	50	34	lock	lock	ADJ
arestyrurj-158	50	35	braking	brake	VERB
arestyrurj-158	50	36	system	system	NOUN
arestyrurj-158	50	37	(	(	PUNCT
arestyrurj-158	50	38	abs	ab	NOUN
arestyrurj-158	50	39	)	)	PUNCT
arestyrurj-158	50	40	.	.	PUNCT
arestyrurj-158	51	1	two	two	NUM
arestyrurj-158	51	2	examples	example	NOUN
arestyrurj-158	51	3	were	be	AUX
arestyrurj-158	51	4	used	use	VERB
arestyrurj-158	51	5	as	as	ADP
arestyrurj-158	51	6	a	a	DET
arestyrurj-158	51	7	starting	starting	NOUN
arestyrurj-158	51	8	point	point	NOUN
arestyrurj-158	51	9	:	:	PUNCT
arestyrurj-158	51	10	the	the	DET
arestyrurj-158	51	11	first	first	ADJ
arestyrurj-158	51	12	being	be	AUX
arestyrurj-158	51	13	an	an	DET
arestyrurj-158	51	14	example	example	NOUN
arestyrurj-158	51	15	from	from	ADP
arestyrurj-158	51	16	mathworks	mathwork	NOUN
arestyrurj-158	51	17	'	'	PART
arestyrurj-158	51	18	website	website	NOUN
arestyrurj-158	51	19	and	and	CCONJ
arestyrurj-158	51	20	the	the	DET
arestyrurj-158	51	21	second	second	ADJ
arestyrurj-158	51	22	being	be	AUX
arestyrurj-158	51	23	a	a	DET
arestyrurj-158	51	24	rudimentary	rudimentary	ADJ
arestyrurj-158	51	25	simulink	simulink	NOUN
arestyrurj-158	51	26	block	block	NOUN
arestyrurj-158	51	27	diagram[4,10	diagram[4,10	PROPN
arestyrurj-158	51	28	]	]	PUNCT
arestyrurj-158	51	29	.	.	PUNCT
arestyrurj-158	52	1	the	the	DET
arestyrurj-158	52	2	second	second	ADJ
arestyrurj-158	52	3	example	example	NOUN
arestyrurj-158	52	4	incorporates	incorporate	VERB
arestyrurj-158	52	5	the	the	DET
arestyrurj-158	52	6	quarter	quarter	NOUN
arestyrurj-158	52	7	car	car	NOUN
arestyrurj-158	52	8	model	model	NOUN
arestyrurj-158	52	9	for	for	ADP
arestyrurj-158	52	10	the	the	DET
arestyrurj-158	52	11	vehicle	vehicle	NOUN
arestyrurj-158	52	12	's	's	PART
arestyrurj-158	52	13	motion	motion	NOUN
arestyrurj-158	52	14	equations	equation	NOUN
arestyrurj-158	52	15	.	.	PUNCT
arestyrurj-158	53	1	equation	equation	NOUN
arestyrurj-158	53	2	set	set	VERB
arestyrurj-158	53	3	1	1	NUM
arestyrurj-158	53	4	:	:	PUNCT
arestyrurj-158	53	5	vehicle	vehicle	NOUN
arestyrurj-158	53	6	model	model	NOUN
arestyrurj-158	53	7	and	and	CCONJ
arestyrurj-158	53	8	slip	slip	VERB
arestyrurj-158	53	9	ratio	ratio	NOUN
arestyrurj-158	53	10	.	.	PUNCT
arestyrurj-158	54	1	aresty	aresty	PROPN
arestyrurj-158	54	2	rutgers	rutgers	PROPN
arestyrurj-158	54	3	undergraduate	undergraduate	PROPN
arestyrurj-158	54	4	research	research	PROPN
arestyrurj-158	54	5	journal	journal	PROPN
arestyrurj-158	54	6	,	,	PUNCT
arestyrurj-158	54	7	volume	volume	NOUN
arestyrurj-158	54	8	i	i	PRON
arestyrurj-158	54	9	,	,	PUNCT
arestyrurj-158	54	10	issue	issue	VERB
arestyrurj-158	54	11	ii	ii	NOUN
arestyrurj-158	54	12	the	the	DET
arestyrurj-158	54	13	first	first	ADJ
arestyrurj-158	54	14	set	set	NOUN
arestyrurj-158	54	15	of	of	ADP
arestyrurj-158	54	16	equations	equation	NOUN
arestyrurj-158	54	17	modeled	model	VERB
arestyrurj-158	54	18	were	be	AUX
arestyrurj-158	54	19	the	the	DET
arestyrurj-158	54	20	vehicle	vehicle	NOUN
arestyrurj-158	54	21	's	's	PART
arestyrurj-158	54	22	motion	motion	NOUN
arestyrurj-158	54	23	equations	equation	NOUN
arestyrurj-158	54	24	.	.	PUNCT
arestyrurj-158	55	1	the	the	DET
arestyrurj-158	55	2	quarter	quarter	NOUN
arestyrurj-158	55	3	car	car	NOUN
arestyrurj-158	55	4	model	model	NOUN
arestyrurj-158	55	5	was	be	AUX
arestyrurj-158	55	6	used	use	VERB
arestyrurj-158	55	7	,	,	PUNCT
arestyrurj-158	55	8	which	which	PRON
arestyrurj-158	55	9	isolates	isolate	VERB
arestyrurj-158	55	10	each	each	DET
arestyrurj-158	55	11	individual	individual	ADJ
arestyrurj-158	55	12	wheel	wheel	NOUN
arestyrurj-158	55	13	to	to	PART
arestyrurj-158	55	14	carry	carry	VERB
arestyrurj-158	55	15	the	the	DET
arestyrurj-158	55	16	load	load	NOUN
arestyrurj-158	55	17	of	of	ADP
arestyrurj-158	55	18	a	a	DET
arestyrurj-158	55	19	quarter	quarter	NOUN
arestyrurj-158	55	20	of	of	ADP
arestyrurj-158	55	21	the	the	DET
arestyrurj-158	55	22	car	car	NOUN
arestyrurj-158	55	23	's	's	PART
arestyrurj-158	55	24	weight	weight	NOUN
arestyrurj-158	55	25	.	.	PUNCT
arestyrurj-158	56	1	this	this	PRON
arestyrurj-158	56	2	allows	allow	VERB
arestyrurj-158	56	3	the	the	DET
arestyrurj-158	56	4	problem	problem	NOUN
arestyrurj-158	56	5	to	to	PART
arestyrurj-158	56	6	be	be	AUX
arestyrurj-158	56	7	simplified	simplify	VERB
arestyrurj-158	56	8	to	to	ADP
arestyrurj-158	56	9	controlling	control	VERB
arestyrurj-158	56	10	a	a	DET
arestyrurj-158	56	11	single	single	ADJ
arestyrurj-158	56	12	wheel	wheel	NOUN
arestyrurj-158	56	13	’s	’s	PART
arestyrurj-158	56	14	slip	slip	NOUN
arestyrurj-158	56	15	.	.	PUNCT
arestyrurj-158	57	1	the	the	DET
arestyrurj-158	57	2	derived	derive	VERB
arestyrurj-158	57	3	equations	equation	NOUN
arestyrurj-158	57	4	are	be	AUX
arestyrurj-158	57	5	newton	newton	PROPN
arestyrurj-158	57	6	's	's	PART
arestyrurj-158	57	7	second	second	ADJ
arestyrurj-158	57	8	law	law	NOUN
arestyrurj-158	57	9	for	for	ADP
arestyrurj-158	57	10	a	a	DET
arestyrurj-158	57	11	quarter	quarter	NOUN
arestyrurj-158	57	12	mass	mass	NOUN
arestyrurj-158	57	13	vehicle	vehicle	NOUN
arestyrurj-158	57	14	and	and	CCONJ
arestyrurj-158	57	15	newton	newton	PROPN
arestyrurj-158	57	16	's	's	PART
arestyrurj-158	57	17	second	second	ADJ
arestyrurj-158	57	18	law	law	NOUN
arestyrurj-158	57	19	for	for	ADP
arestyrurj-158	57	20	circular	circular	ADJ
arestyrurj-158	57	21	motion	motion	NOUN
arestyrurj-158	57	22	for	for	ADP
arestyrurj-158	57	23	the	the	DET
arestyrurj-158	57	24	wheel	wheel	NOUN
arestyrurj-158	57	25	.	.	PUNCT
arestyrurj-158	58	1	the	the	DET
arestyrurj-158	58	2	input	input	NOUN
arestyrurj-158	58	3	variables	variable	VERB
arestyrurj-158	58	4	in	in	ADP
arestyrurj-158	58	5	the	the	DET
arestyrurj-158	58	6	quarter	quarter	NOUN
arestyrurj-158	58	7	car	car	NOUN
arestyrurj-158	58	8	equations	equation	NOUN
arestyrurj-158	58	9	are	be	AUX
arestyrurj-158	58	10	the	the	DET
arestyrurj-158	58	11	driving	drive	VERB
arestyrurj-158	58	12	force	force	NOUN
arestyrurj-158	58	13	,	,	PUNCT
arestyrurj-158	58	14	resistive	resistive	ADJ
arestyrurj-158	58	15	force	force	NOUN
arestyrurj-158	58	16	,	,	PUNCT
arestyrurj-158	58	17	motor	motor	NOUN
arestyrurj-158	58	18	torque	torque	NOUN
arestyrurj-158	58	19	,	,	PUNCT
arestyrurj-158	58	20	and	and	CCONJ
arestyrurj-158	58	21	soil	soil	NOUN
arestyrurj-158	58	22	torque	torque	NOUN
arestyrurj-158	58	23	(	(	PUNCT
arestyrurj-158	58	24	reaction	reaction	NOUN
arestyrurj-158	58	25	torque	torque	NOUN
arestyrurj-158	58	26	generated	generate	VERB
arestyrurj-158	58	27	by	by	ADP
arestyrurj-158	58	28	the	the	DET
arestyrurj-158	58	29	soil	soil	NOUN
arestyrurj-158	58	30	)	)	PUNCT
arestyrurj-158	58	31	.	.	PUNCT
arestyrurj-158	59	1	the	the	DET
arestyrurj-158	59	2	acceleration	acceleration	NOUN
arestyrurj-158	59	3	taken	take	VERB
arestyrurj-158	59	4	by	by	ADP
arestyrurj-158	59	5	the	the	DET
arestyrurj-158	59	6	two	two	NUM
arestyrurj-158	59	7	equations	equation	NOUN
arestyrurj-158	59	8	are	be	AUX
arestyrurj-158	59	9	integrated	integrate	VERB
arestyrurj-158	59	10	to	to	PART
arestyrurj-158	59	11	calculate	calculate	VERB
arestyrurj-158	59	12	the	the	DET
arestyrurj-158	59	13	velocity	velocity	NOUN
arestyrurj-158	59	14	of	of	ADP
arestyrurj-158	59	15	the	the	DET
arestyrurj-158	59	16	vehicle	vehicle	NOUN
arestyrurj-158	59	17	and	and	CCONJ
arestyrurj-158	59	18	the	the	DET
arestyrurj-158	59	19	angular	angular	ADJ
arestyrurj-158	59	20	velocity	velocity	NOUN
arestyrurj-158	59	21	of	of	ADP
arestyrurj-158	59	22	the	the	DET
arestyrurj-158	59	23	wheel	wheel	NOUN
arestyrurj-158	59	24	.	.	PUNCT
arestyrurj-158	60	1	these	these	DET
arestyrurj-158	60	2	values	value	NOUN
arestyrurj-158	60	3	along	along	ADP
arestyrurj-158	60	4	with	with	ADP
arestyrurj-158	60	5	the	the	DET
arestyrurj-158	60	6	wheel	wheel	NOUN
arestyrurj-158	60	7	’s	’s	PART
arestyrurj-158	60	8	radius	radius	NOUN
arestyrurj-158	60	9	is	be	AUX
arestyrurj-158	60	10	used	use	VERB
arestyrurj-158	60	11	to	to	PART
arestyrurj-158	60	12	calculate	calculate	VERB
arestyrurj-158	60	13	the	the	DET
arestyrurj-158	60	14	slip	slip	NOUN
arestyrurj-158	60	15	ratio	ratio	NOUN
arestyrurj-158	60	16	.	.	PUNCT
arestyrurj-158	61	1	in	in	ADP
arestyrurj-158	61	2	order	order	NOUN
arestyrurj-158	61	3	to	to	PART
arestyrurj-158	61	4	develop	develop	VERB
arestyrurj-158	61	5	a	a	DET
arestyrurj-158	61	6	relation	relation	NOUN
arestyrurj-158	61	7	for	for	ADP
arestyrurj-158	61	8	the	the	DET
arestyrurj-158	61	9	slip	slip	NOUN
arestyrurj-158	61	10	ratio	ratio	NOUN
arestyrurj-158	61	11	and	and	CCONJ
arestyrurj-158	61	12	the	the	DET
arestyrurj-158	61	13	forces	force	NOUN
arestyrurj-158	61	14	and	and	CCONJ
arestyrurj-158	61	15	torques	torque	NOUN
arestyrurj-158	61	16	generated	generate	VERB
arestyrurj-158	61	17	by	by	ADP
arestyrurj-158	61	18	the	the	DET
arestyrurj-158	61	19	soil	soil	NOUN
arestyrurj-158	61	20	onto	onto	ADP
arestyrurj-158	61	21	the	the	DET
arestyrurj-158	61	22	wheel	wheel	NOUN
arestyrurj-158	61	23	,	,	PUNCT
arestyrurj-158	61	24	a	a	DET
arestyrurj-158	61	25	soil	soil	NOUN
arestyrurj-158	61	26	-	-	PUNCT
arestyrurj-158	61	27	vehicle	vehicle	NOUN
arestyrurj-158	61	28	mathematical	mathematical	ADJ
arestyrurj-158	61	29	model	model	NOUN
arestyrurj-158	61	30	must	must	AUX
arestyrurj-158	61	31	be	be	AUX
arestyrurj-158	61	32	utilized	utilize	VERB
arestyrurj-158	61	33	.	.	PUNCT
arestyrurj-158	62	1	a	a	DET
arestyrurj-158	62	2	simple	simple	ADJ
arestyrurj-158	62	3	model	model	NOUN
arestyrurj-158	62	4	that	that	PRON
arestyrurj-158	62	5	was	be	AUX
arestyrurj-158	62	6	initially	initially	ADV
arestyrurj-158	62	7	used	use	VERB
arestyrurj-158	62	8	for	for	ADP
arestyrurj-158	62	9	testing	test	VERB
arestyrurj-158	62	10	the	the	DET
arestyrurj-158	62	11	controller	controller	NOUN
arestyrurj-158	62	12	was	be	AUX
arestyrurj-158	62	13	the	the	DET
arestyrurj-158	62	14	pacejka	pacejka	NOUN
arestyrurj-158	62	15	’s	’s	PART
arestyrurj-158	62	16	magic	magic	ADJ
arestyrurj-158	62	17	tire	tire	NOUN
arestyrurj-158	62	18	formula[11	formula[11	NOUN
arestyrurj-158	62	19	]	]	PUNCT
arestyrurj-158	62	20	.	.	PUNCT
arestyrurj-158	63	1	it	it	PRON
arestyrurj-158	63	2	is	be	AUX
arestyrurj-158	63	3	a	a	DET
arestyrurj-158	63	4	trigonometric	trigonometric	ADJ
arestyrurj-158	63	5	function	function	NOUN
arestyrurj-158	63	6	(	(	PUNCT
arestyrurj-158	63	7	made	make	VERB
arestyrurj-158	63	8	up	up	ADP
arestyrurj-158	63	9	of	of	ADP
arestyrurj-158	63	10	sine	sine	NOUN
arestyrurj-158	63	11	and	and	CCONJ
arestyrurj-158	63	12	arctangent	arctangent	NOUN
arestyrurj-158	63	13	)	)	PUNCT
arestyrurj-158	63	14	with	with	ADP
arestyrurj-158	63	15	generally	generally	ADV
arestyrurj-158	63	16	four	four	NUM
arestyrurj-158	63	17	terrain	terrain	NOUN
arestyrurj-158	63	18	specific	specific	ADJ
arestyrurj-158	63	19	coefficients	coefficient	NOUN
arestyrurj-158	63	20	.	.	PUNCT
arestyrurj-158	64	1	the	the	DET
arestyrurj-158	64	2	more	more	ADV
arestyrurj-158	64	3	complex	complex	ADJ
arestyrurj-158	64	4	model	model	NOUN
arestyrurj-158	64	5	that	that	PRON
arestyrurj-158	64	6	was	be	AUX
arestyrurj-158	64	7	used	use	VERB
arestyrurj-158	64	8	for	for	ADP
arestyrurj-158	64	9	the	the	DET
arestyrurj-158	64	10	final	final	ADJ
arestyrurj-158	64	11	results	result	NOUN
arestyrurj-158	64	12	was	be	AUX
arestyrurj-158	64	13	the	the	DET
arestyrurj-158	64	14	deformable	deformable	ADJ
arestyrurj-158	64	15	soil	soil	NOUN
arestyrurj-158	64	16	-	-	PUNCT
arestyrurj-158	64	17	rigid	rigid	ADJ
arestyrurj-158	64	18	tire	tire	NOUN
arestyrurj-158	64	19	model	model	NOUN
arestyrurj-158	64	20	.	.	PUNCT
arestyrurj-158	65	1	it	it	PRON
arestyrurj-158	65	2	is	be	AUX
arestyrurj-158	65	3	composed	compose	VERB
arestyrurj-158	65	4	of	of	ADP
arestyrurj-158	65	5	three	three	NUM
arestyrurj-158	65	6	integrals	integral	NOUN
arestyrurj-158	65	7	to	to	PART
arestyrurj-158	65	8	calculate	calculate	VERB
arestyrurj-158	65	9	the	the	DET
arestyrurj-158	65	10	two	two	NUM
arestyrurj-158	65	11	forces	force	NOUN
arestyrurj-158	65	12	and	and	CCONJ
arestyrurj-158	65	13	one	one	NUM
arestyrurj-158	65	14	torque	torque	NOUN
arestyrurj-158	65	15	.	.	PUNCT
arestyrurj-158	66	1	the	the	DET
arestyrurj-158	66	2	integrated	integrate	VERB
arestyrurj-158	66	3	functions	function	NOUN
arestyrurj-158	66	4	are	be	AUX
arestyrurj-158	66	5	the	the	DET
arestyrurj-158	66	6	components	component	NOUN
arestyrurj-158	66	7	of	of	ADP
arestyrurj-158	66	8	shear	shear	NOUN
arestyrurj-158	66	9	and	and	CCONJ
arestyrurj-158	66	10	normal	normal	ADJ
arestyrurj-158	66	11	stress	stress	NOUN
arestyrurj-158	66	12	produced	produce	VERB
arestyrurj-158	66	13	by	by	ADP
arestyrurj-158	66	14	the	the	DET
arestyrurj-158	66	15	soil	soil	NOUN
arestyrurj-158	66	16	.	.	PUNCT
arestyrurj-158	67	1	the	the	DET
arestyrurj-158	67	2	martian	martian	ADJ
arestyrurj-158	67	3	soil	soil	NOUN
arestyrurj-158	67	4	is	be	AUX
arestyrurj-158	67	5	represented	represent	VERB
arestyrurj-158	67	6	by	by	ADP
arestyrurj-158	67	7	certain	certain	ADJ
arestyrurj-158	67	8	soil	soil	NOUN
arestyrurj-158	67	9	coefficients	coefficient	NOUN
arestyrurj-158	67	10	in	in	ADP
arestyrurj-158	67	11	the	the	DET
arestyrurj-158	67	12	equations	equation	NOUN
arestyrurj-158	67	13	to	to	PART
arestyrurj-158	67	14	calculate	calculate	VERB
arestyrurj-158	67	15	the	the	DET
arestyrurj-158	67	16	shear	shear	NOUN
arestyrurj-158	67	17	and	and	CCONJ
arestyrurj-158	67	18	normal	normal	ADJ
arestyrurj-158	67	19	stress	stress	NOUN
arestyrurj-158	67	20	as	as	ADP
arestyrurj-158	67	21	functions	function	NOUN
arestyrurj-158	67	22	of	of	ADP
arestyrurj-158	67	23	slip	slip	NOUN
arestyrurj-158	67	24	.	.	PUNCT
arestyrurj-158	68	1	figure	figure	NOUN
arestyrurj-158	68	2	2	2	NUM
arestyrurj-158	68	3	:	:	PUNCT
arestyrurj-158	68	4	vehicle	vehicle	NOUN
arestyrurj-158	68	5	model	model	NOUN
arestyrurj-158	68	6	.	.	PUNCT
arestyrurj-158	69	1	description	description	NOUN
arestyrurj-158	69	2	:	:	PUNCT
arestyrurj-158	69	3	this	this	DET
arestyrurj-158	69	4	diagram	diagram	NOUN
arestyrurj-158	69	5	represents	represent	VERB
arestyrurj-158	69	6	a	a	DET
arestyrurj-158	69	7	simplified	simplified	ADJ
arestyrurj-158	69	8	model	model	NOUN
arestyrurj-158	69	9	,	,	PUNCT
arestyrurj-158	69	10	which	which	PRON
arestyrurj-158	69	11	focuses	focus	VERB
arestyrurj-158	69	12	on	on	ADP
arestyrurj-158	69	13	a	a	DET
arestyrurj-158	69	14	single	single	ADJ
arestyrurj-158	69	15	wheel	wheel	NOUN
arestyrurj-158	69	16	’s	’s	PART
arestyrurj-158	69	17	dynamics	dynamic	NOUN
arestyrurj-158	69	18	.	.	PUNCT
arestyrurj-158	70	1	𝑀𝑀	𝑀𝑀	PROPN
arestyrurj-158	70	2	is	be	AUX
arestyrurj-158	70	3	the	the	DET
arestyrurj-158	70	4	mass	mass	NOUN
arestyrurj-158	70	5	of	of	ADP
arestyrurj-158	70	6	the	the	DET
arestyrurj-158	70	7	car	car	NOUN
arestyrurj-158	70	8	,	,	PUNCT
arestyrurj-158	70	9	𝑟𝑟	𝑟𝑟	X
arestyrurj-158	70	10	is	be	AUX
arestyrurj-158	70	11	the	the	DET
arestyrurj-158	70	12	radius	radius	NOUN
arestyrurj-158	70	13	of	of	ADP
arestyrurj-158	70	14	the	the	DET
arestyrurj-158	70	15	wheel	wheel	NOUN
arestyrurj-158	70	16	,	,	PUNCT
arestyrurj-158	70	17	𝑣𝑣𝑥𝑥	𝑣𝑣𝑥𝑥	NOUN
arestyrurj-158	70	18	is	be	AUX
arestyrurj-158	70	19	the	the	DET
arestyrurj-158	70	20	vehicle	vehicle	NOUN
arestyrurj-158	70	21	’s	’s	PART
arestyrurj-158	70	22	velocity	velocity	NOUN
arestyrurj-158	70	23	,	,	PUNCT
arestyrurj-158	70	24	𝜔𝜔	𝜔𝜔	SCONJ
arestyrurj-158	70	25	is	be	AUX
arestyrurj-158	70	26	the	the	DET
arestyrurj-158	70	27	angular	angular	ADJ
arestyrurj-158	70	28	velocity	velocity	NOUN
arestyrurj-158	70	29	of	of	ADP
arestyrurj-158	70	30	the	the	DET
arestyrurj-158	70	31	wheel	wheel	NOUN
arestyrurj-158	70	32	,	,	PUNCT
arestyrurj-158	70	33	𝐹𝐹𝑑𝑑	𝐹𝐹𝑑𝑑	PROPN
arestyrurj-158	70	34	is	be	AUX
arestyrurj-158	70	35	the	the	DET
arestyrurj-158	70	36	driving	drive	VERB
arestyrurj-158	70	37	force	force	NOUN
arestyrurj-158	70	38	,	,	PUNCT
arestyrurj-158	70	39	and	and	CCONJ
arestyrurj-158	70	40	𝑇𝑇𝑚𝑚	𝑇𝑇𝑚𝑚	PROPN
arestyrurj-158	70	41	is	be	AUX
arestyrurj-158	70	42	the	the	DET
arestyrurj-158	70	43	motor	motor	NOUN
arestyrurj-158	70	44	torque	torque	NOUN
arestyrurj-158	70	45	.	.	PUNCT
arestyrurj-158	71	1	table	table	NOUN
arestyrurj-158	71	2	1	1	NUM
arestyrurj-158	71	3	:	:	PUNCT
arestyrurj-158	71	4	vehicle	vehicle	NOUN
arestyrurj-158	71	5	model	model	NOUN
arestyrurj-158	71	6	and	and	CCONJ
arestyrurj-158	71	7	slip	slip	VERB
arestyrurj-158	71	8	ratio	ratio	NOUN
arestyrurj-158	71	9	variables	variable	NOUN
arestyrurj-158	71	10	.	.	PUNCT
arestyrurj-158	72	1	aresty	aresty	ADJ
arestyrurj-158	72	2	rutgers	rutgers	PROPN
arestyrurj-158	72	3	undergraduate	undergraduate	PROPN
arestyrurj-158	72	4	research	research	PROPN
arestyrurj-158	72	5	journal	journal	PROPN
arestyrurj-158	72	6	,	,	PUNCT
arestyrurj-158	72	7	volume	volume	NOUN
arestyrurj-158	72	8	i	i	PRON
arestyrurj-158	72	9	,	,	PUNCT
arestyrurj-158	72	10	issue	issue	NOUN
arestyrurj-158	72	11	ii	ii	NUM
arestyrurj-158	72	12	figure	figure	NOUN
arestyrurj-158	72	13	3	3	NUM
arestyrurj-158	72	14	:	:	PUNCT
arestyrurj-158	72	15	deformable	deformable	ADJ
arestyrurj-158	72	16	soil	soil	NOUN
arestyrurj-158	72	17	-	-	PUNCT
arestyrurj-158	72	18	rigid	rigid	ADJ
arestyrurj-158	72	19	tire	tire	NOUN
arestyrurj-158	72	20	model	model	NOUN
arestyrurj-158	72	21	.	.	PUNCT
arestyrurj-158	73	1	description	description	NOUN
arestyrurj-158	73	2	:	:	PUNCT
arestyrurj-158	73	3	the	the	DET
arestyrurj-158	73	4	diagram	diagram	NOUN
arestyrurj-158	73	5	represents	represent	VERB
arestyrurj-158	73	6	the	the	DET
arestyrurj-158	73	7	tire	tire	NOUN
arestyrurj-158	73	8	interaction	interaction	NOUN
arestyrurj-158	73	9	with	with	ADP
arestyrurj-158	73	10	de	de	ADJ
arestyrurj-158	73	11	-	-	ADJ
arestyrurj-158	73	12	formable	formable	ADJ
arestyrurj-158	73	13	soil	soil	NOUN
arestyrurj-158	73	14	.	.	PUNCT
arestyrurj-158	74	1	the	the	DET
arestyrurj-158	74	2	main	main	ADJ
arestyrurj-158	74	3	focus	focus	NOUN
arestyrurj-158	74	4	of	of	ADP
arestyrurj-158	74	5	the	the	DET
arestyrurj-158	74	6	diagram	diagram	NOUN
arestyrurj-158	74	7	is	be	AUX
arestyrurj-158	74	8	the	the	DET
arestyrurj-158	74	9	shear	shear	NOUN
arestyrurj-158	74	10	and	and	CCONJ
arestyrurj-158	74	11	normal	normal	ADJ
arestyrurj-158	74	12	stresses	stress	NOUN
arestyrurj-158	74	13	represented	represent	VERB
arestyrurj-158	74	14	by	by	ADP
arestyrurj-158	74	15	𝜏𝜏	𝜏𝜏	ADJ
arestyrurj-158	74	16	and	and	CCONJ
arestyrurj-158	74	17	𝜎𝜎	𝜎𝜎	ADJ
arestyrurj-158	74	18	,	,	PUNCT
arestyrurj-158	74	19	respectively	respectively	ADV
arestyrurj-158	74	20	.	.	PUNCT
arestyrurj-158	75	1	the	the	DET
arestyrurj-158	75	2	stress	stress	NOUN
arestyrurj-158	75	3	is	be	AUX
arestyrurj-158	75	4	experienced	experience	VERB
arestyrurj-158	75	5	by	by	ADP
arestyrurj-158	75	6	the	the	DET
arestyrurj-158	75	7	tire	tire	NOUN
arestyrurj-158	75	8	,	,	PUNCT
arestyrurj-158	75	9	and	and	CCONJ
arestyrurj-158	75	10	two	two	NUM
arestyrurj-158	75	11	resultant	resultant	NOUN
arestyrurj-158	75	12	forces	force	NOUN
arestyrurj-158	75	13	are	be	AUX
arestyrurj-158	75	14	generated	generate	VERB
arestyrurj-158	75	15	,	,	PUNCT
arestyrurj-158	75	16	the	the	DET
arestyrurj-158	75	17	driving	drive	VERB
arestyrurj-158	75	18	force	force	NOUN
arestyrurj-158	75	19	𝐹𝐹𝑑𝑑	𝐹𝐹𝑑𝑑	PROPN
arestyrurj-158	75	20	and	and	CCONJ
arestyrurj-158	75	21	the	the	DET
arestyrurj-158	75	22	resistive	resistive	ADJ
arestyrurj-158	75	23	force	force	NOUN
arestyrurj-158	75	24	𝐹𝐹𝑅𝑅.	𝐹𝐹𝑅𝑅.	NUM
arestyrurj-158	75	25	equation	equation	NOUN
arestyrurj-158	75	26	set	set	VERB
arestyrurj-158	75	27	2	2	NUM
arestyrurj-158	75	28	:	:	PUNCT
arestyrurj-158	75	29	terramechanics	terramechanic	NOUN
arestyrurj-158	75	30	equations	equation	NOUN
arestyrurj-158	75	31	.	.	PUNCT
arestyrurj-158	76	1	table	table	NOUN
arestyrurj-158	76	2	2	2	NUM
arestyrurj-158	76	3	:	:	PUNCT
arestyrurj-158	76	4	terramechanics	terramechanic	NOUN
arestyrurj-158	76	5	variables	variable	NOUN
arestyrurj-158	76	6	.	.	PUNCT
arestyrurj-158	77	1	aresty	aresty	ADJ
arestyrurj-158	77	2	rutgers	rutgers	PROPN
arestyrurj-158	77	3	undergraduate	undergraduate	PROPN
arestyrurj-158	77	4	research	research	PROPN
arestyrurj-158	77	5	journal	journal	PROPN
arestyrurj-158	77	6	,	,	PUNCT
arestyrurj-158	77	7	volume	volume	NOUN
arestyrurj-158	77	8	i	i	PRON
arestyrurj-158	77	9	,	,	PUNCT
arestyrurj-158	77	10	issue	issue	NOUN
arestyrurj-158	77	11	ii	ii	NOUN
arestyrurj-158	77	12	parameters	parameter	NOUN
arestyrurj-158	77	13	used	use	VERB
arestyrurj-158	77	14	in	in	ADP
arestyrurj-158	77	15	this	this	DET
arestyrurj-158	77	16	project	project	NOUN
arestyrurj-158	77	17	for	for	ADP
arestyrurj-158	77	18	the	the	DET
arestyrurj-158	77	19	equations	equation	NOUN
arestyrurj-158	77	20	mentioned	mention	VERB
arestyrurj-158	77	21	earlier	early	ADV
arestyrurj-158	77	22	came	come	VERB
arestyrurj-158	77	23	from	from	ADP
arestyrurj-158	77	24	two	two	NUM
arestyrurj-158	77	25	sources	source	NOUN
arestyrurj-158	77	26	.	.	PUNCT
arestyrurj-158	78	1	these	these	PRON
arestyrurj-158	78	2	include	include	VERB
arestyrurj-158	78	3	yoshida	yoshida	PROPN
arestyrurj-158	78	4	’s	’s	PART
arestyrurj-158	78	5	article	article	NOUN
arestyrurj-158	78	6	for	for	ADP
arestyrurj-158	78	7	soil	soil	NOUN
arestyrurj-158	78	8	properties	property	NOUN
arestyrurj-158	78	9	and	and	CCONJ
arestyrurj-158	78	10	nasa	nasa	PROPN
arestyrurj-158	78	11	’s	’s	PART
arestyrurj-158	78	12	curiosity	curiosity	NOUN
arestyrurj-158	78	13	specifications	specification	NOUN
arestyrurj-158	78	14	for	for	ADP
arestyrurj-158	78	15	the	the	DET
arestyrurj-158	78	16	rover	rover	NOUN
arestyrurj-158	78	17	’s	’s	PART
arestyrurj-158	78	18	dimensions	dimension	NOUN
arestyrurj-158	78	19	and	and	CCONJ
arestyrurj-158	78	20	mass[13,17	mass[13,17	NOUN
arestyrurj-158	78	21	]	]	PUNCT
arestyrurj-158	78	22	.	.	PUNCT
arestyrurj-158	79	1	below	below	ADV
arestyrurj-158	79	2	is	be	AUX
arestyrurj-158	79	3	a	a	DET
arestyrurj-158	79	4	table	table	NOUN
arestyrurj-158	79	5	of	of	ADP
arestyrurj-158	79	6	the	the	DET
arestyrurj-158	79	7	parameters	parameter	NOUN
arestyrurj-158	79	8	:	:	PUNCT
arestyrurj-158	79	9	in	in	ADP
arestyrurj-158	79	10	order	order	NOUN
arestyrurj-158	79	11	to	to	PART
arestyrurj-158	79	12	utilize	utilize	VERB
arestyrurj-158	79	13	the	the	DET
arestyrurj-158	79	14	deformable	deformable	ADJ
arestyrurj-158	79	15	soil	soil	NOUN
arestyrurj-158	79	16	-	-	PUNCT
arestyrurj-158	79	17	rigid	rigid	ADJ
arestyrurj-158	79	18	tire	tire	NOUN
arestyrurj-158	79	19	model	model	NOUN
arestyrurj-158	79	20	,	,	PUNCT
arestyrurj-158	79	21	the	the	DET
arestyrurj-158	79	22	integrals	integral	NOUN
arestyrurj-158	79	23	to	to	PART
arestyrurj-158	79	24	calculate	calculate	VERB
arestyrurj-158	79	25	the	the	DET
arestyrurj-158	79	26	forces	force	NOUN
arestyrurj-158	79	27	and	and	CCONJ
arestyrurj-158	79	28	torque	torque	NOUN
arestyrurj-158	79	29	must	must	AUX
arestyrurj-158	79	30	be	be	AUX
arestyrurj-158	79	31	solved	solve	VERB
arestyrurj-158	79	32	.	.	PUNCT
arestyrurj-158	80	1	several	several	ADJ
arestyrurj-158	80	2	methods	method	NOUN
arestyrurj-158	80	3	were	be	AUX
arestyrurj-158	80	4	considered	consider	VERB
arestyrurj-158	80	5	for	for	ADP
arestyrurj-158	80	6	finding	find	VERB
arestyrurj-158	80	7	the	the	DET
arestyrurj-158	80	8	solutions	solution	NOUN
arestyrurj-158	80	9	.	.	PUNCT
arestyrurj-158	81	1	first	first	ADV
arestyrurj-158	81	2	,	,	PUNCT
arestyrurj-158	81	3	an	an	DET
arestyrurj-158	81	4	analytical	analytical	ADJ
arestyrurj-158	81	5	method	method	NOUN
arestyrurj-158	81	6	was	be	AUX
arestyrurj-158	81	7	investigated	investigate	VERB
arestyrurj-158	81	8	.	.	PUNCT
arestyrurj-158	82	1	however	however	ADV
arestyrurj-158	82	2	,	,	PUNCT
arestyrurj-158	82	3	using	use	VERB
arestyrurj-158	82	4	matlab	matlab	PROPN
arestyrurj-158	82	5	's	's	PART
arestyrurj-158	82	6	symbolic	symbolic	ADJ
arestyrurj-158	82	7	toolbox	toolbox	NOUN
arestyrurj-158	82	8	(	(	PUNCT
arestyrurj-158	82	9	a	a	DET
arestyrurj-158	82	10	solver	solver	NOUN
arestyrurj-158	82	11	that	that	PRON
arestyrurj-158	82	12	can	can	AUX
arestyrurj-158	82	13	be	be	AUX
arestyrurj-158	82	14	used	use	VERB
arestyrurj-158	82	15	for	for	ADP
arestyrurj-158	82	16	integrals	integral	NOUN
arestyrurj-158	82	17	)	)	PUNCT
arestyrurj-158	82	18	only	only	ADV
arestyrurj-158	82	19	resulted	result	VERB
arestyrurj-158	82	20	in	in	ADP
arestyrurj-158	82	21	a	a	DET
arestyrurj-158	82	22	non	non	ADJ
arestyrurj-158	82	23	-	-	ADJ
arestyrurj-158	82	24	simplified	simplified	ADJ
arestyrurj-158	82	25	output	output	NOUN
arestyrurj-158	82	26	.	.	PUNCT
arestyrurj-158	83	1	since	since	SCONJ
arestyrurj-158	83	2	the	the	DET
arestyrurj-158	83	3	equations	equation	NOUN
arestyrurj-158	83	4	only	only	ADV
arestyrurj-158	83	5	can	can	AUX
arestyrurj-158	83	6	be	be	AUX
arestyrurj-158	83	7	solved	solve	VERB
arestyrurj-158	83	8	numerically	numerically	ADV
arestyrurj-158	83	9	,	,	PUNCT
arestyrurj-158	83	10	taylor	taylor	PROPN
arestyrurj-158	83	11	series	series	PROPN
arestyrurj-158	83	12	approximations	approximation	NOUN
arestyrurj-158	83	13	were	be	AUX
arestyrurj-158	83	14	used	use	VERB
arestyrurj-158	83	15	.	.	PUNCT
arestyrurj-158	84	1	adding	add	VERB
arestyrurj-158	84	2	higher	high	ADJ
arestyrurj-158	84	3	order	order	NOUN
arestyrurj-158	84	4	derivatives	derivative	NOUN
arestyrurj-158	84	5	to	to	ADP
arestyrurj-158	84	6	the	the	DET
arestyrurj-158	84	7	approximations	approximation	NOUN
arestyrurj-158	84	8	makes	make	VERB
arestyrurj-158	84	9	it	it	PRON
arestyrurj-158	84	10	more	more	ADV
arestyrurj-158	84	11	accurate	accurate	ADJ
arestyrurj-158	84	12	,	,	PUNCT
arestyrurj-158	84	13	which	which	PRON
arestyrurj-158	84	14	is	be	AUX
arestyrurj-158	84	15	shown	show	VERB
arestyrurj-158	84	16	in	in	ADP
arestyrurj-158	84	17	the	the	DET
arestyrurj-158	84	18	graph	graph	NOUN
arestyrurj-158	84	19	below	below	ADV
arestyrurj-158	84	20	.	.	PUNCT
arestyrurj-158	85	1	the	the	DET
arestyrurj-158	85	2	5th	5th	ADJ
arestyrurj-158	85	3	order	order	NOUN
arestyrurj-158	85	4	approximations	approximation	NOUN
arestyrurj-158	85	5	were	be	AUX
arestyrurj-158	85	6	utilized	utilize	VERB
arestyrurj-158	85	7	in	in	ADP
arestyrurj-158	85	8	simulink	simulink	NOUN
arestyrurj-158	85	9	to	to	PART
arestyrurj-158	85	10	complete	complete	VERB
arestyrurj-158	85	11	the	the	DET
arestyrurj-158	85	12	mathematical	mathematical	ADJ
arestyrurj-158	85	13	model	model	NOUN
arestyrurj-158	85	14	.	.	PUNCT
arestyrurj-158	86	1	this	this	DET
arestyrurj-158	86	2	approximation	approximation	NOUN
arestyrurj-158	86	3	was	be	AUX
arestyrurj-158	86	4	sufficient	sufficient	ADJ
arestyrurj-158	86	5	since	since	SCONJ
arestyrurj-158	86	6	higher	high	ADJ
arestyrurj-158	86	7	slip	slip	NOUN
arestyrurj-158	86	8	ratio	ratio	NOUN
arestyrurj-158	86	9	values	value	NOUN
arestyrurj-158	86	10	(	(	PUNCT
arestyrurj-158	86	11	closer	close	ADJ
arestyrurj-158	86	12	to	to	ADP
arestyrurj-158	86	13	one	one	NUM
arestyrurj-158	86	14	)	)	PUNCT
arestyrurj-158	86	15	do	do	AUX
arestyrurj-158	86	16	not	not	PART
arestyrurj-158	86	17	occur	occur	VERB
arestyrurj-158	86	18	in	in	ADP
arestyrurj-158	86	19	the	the	DET
arestyrurj-158	86	20	simulation	simulation	NOUN
arestyrurj-158	86	21	.	.	PUNCT
arestyrurj-158	87	1	the	the	DET
arestyrurj-158	87	2	slip	slip	NOUN
arestyrurj-158	87	3	ratio	ratio	NOUN
arestyrurj-158	87	4	was	be	AUX
arestyrurj-158	87	5	determined	determined	ADJ
arestyrurj-158	87	6	to	to	PART
arestyrurj-158	87	7	be	be	AUX
arestyrurj-158	87	8	the	the	DET
arestyrurj-158	87	9	state	state	NOUN
arestyrurj-158	87	10	variable	variable	NOUN
arestyrurj-158	87	11	,	,	PUNCT
arestyrurj-158	87	12	which	which	PRON
arestyrurj-158	87	13	means	mean	VERB
arestyrurj-158	87	14	it	it	PRON
arestyrurj-158	87	15	is	be	AUX
arestyrurj-158	87	16	a	a	DET
arestyrurj-158	87	17	variable	variable	NOUN
arestyrurj-158	87	18	that	that	PRON
arestyrurj-158	87	19	describes	describe	VERB
arestyrurj-158	87	20	the	the	DET
arestyrurj-158	87	21	state	state	NOUN
arestyrurj-158	87	22	of	of	ADP
arestyrurj-158	87	23	the	the	DET
arestyrurj-158	87	24	system	system	NOUN
arestyrurj-158	87	25	.	.	PUNCT
arestyrurj-158	88	1	the	the	DET
arestyrurj-158	88	2	friction	friction	NOUN
arestyrurj-158	88	3	or	or	CCONJ
arestyrurj-158	88	4	driving	driving	NOUN
arestyrurj-158	88	5	force	force	NOUN
arestyrurj-158	88	6	,	,	PUNCT
arestyrurj-158	88	7	which	which	PRON
arestyrurj-158	88	8	is	be	AUX
arestyrurj-158	88	9	maximized	maximize	VERB
arestyrurj-158	88	10	for	for	ADP
arestyrurj-158	88	11	the	the	DET
arestyrurj-158	88	12	ideal	ideal	ADJ
arestyrurj-158	88	13	performance	performance	NOUN
arestyrurj-158	88	14	of	of	ADP
arestyrurj-158	88	15	the	the	DET
arestyrurj-158	88	16	simulated	simulate	VERB
arestyrurj-158	88	17	vehicle	vehicle	NOUN
arestyrurj-158	88	18	,	,	PUNCT
arestyrurj-158	88	19	is	be	AUX
arestyrurj-158	88	20	a	a	DET
arestyrurj-158	88	21	function	function	NOUN
arestyrurj-158	88	22	of	of	ADP
arestyrurj-158	88	23	this	this	DET
arestyrurj-158	88	24	slip	slip	NOUN
arestyrurj-158	88	25	ratio	ratio	NOUN
arestyrurj-158	88	26	.	.	PUNCT
arestyrurj-158	89	1	the	the	DET
arestyrurj-158	89	2	voltage	voltage	NOUN
arestyrurj-158	89	3	is	be	AUX
arestyrurj-158	89	4	the	the	DET
arestyrurj-158	89	5	control	control	NOUN
arestyrurj-158	89	6	variable	variable	NOUN
arestyrurj-158	89	7	which	which	PRON
arestyrurj-158	89	8	is	be	AUX
arestyrurj-158	89	9	then	then	ADV
arestyrurj-158	89	10	inputted	inputte	VERB
arestyrurj-158	89	11	into	into	ADP
arestyrurj-158	89	12	a	a	DET
arestyrurj-158	89	13	dc	dc	PROPN
arestyrurj-158	89	14	motor	motor	NOUN
arestyrurj-158	89	15	to	to	PART
arestyrurj-158	89	16	generate	generate	VERB
arestyrurj-158	89	17	a	a	DET
arestyrurj-158	89	18	corresponding	corresponding	ADJ
arestyrurj-158	89	19	motor	motor	NOUN
arestyrurj-158	89	20	torque	torque	NOUN
arestyrurj-158	89	21	.	.	PUNCT
arestyrurj-158	90	1	a	a	DET
arestyrurj-158	90	2	model	model	NOUN
arestyrurj-158	90	3	of	of	ADP
arestyrurj-158	90	4	a	a	DET
arestyrurj-158	90	5	dc	dc	PROPN
arestyrurj-158	90	6	motor	motor	NOUN
arestyrurj-158	90	7	was	be	AUX
arestyrurj-158	90	8	required	require	VERB
arestyrurj-158	90	9	for	for	ADP
arestyrurj-158	90	10	the	the	DET
arestyrurj-158	90	11	actuator	actuator	NOUN
arestyrurj-158	90	12	of	of	ADP
arestyrurj-158	90	13	the	the	DET
arestyrurj-158	90	14	simulation	simulation	NOUN
arestyrurj-158	90	15	.	.	PUNCT
arestyrurj-158	91	1	after	after	ADP
arestyrurj-158	91	2	investigation	investigation	NOUN
arestyrurj-158	91	3	,	,	PUNCT
arestyrurj-158	91	4	the	the	DET
arestyrurj-158	91	5	armature	armature	NOUN
arestyrurj-158	91	6	circuit	circuit	NOUN
arestyrurj-158	91	7	was	be	AUX
arestyrurj-158	91	8	a	a	DET
arestyrurj-158	91	9	good	good	ADJ
arestyrurj-158	91	10	starting	starting	NOUN
arestyrurj-158	91	11	point	point	NOUN
arestyrurj-158	91	12	to	to	PART
arestyrurj-158	91	13	model	model	VERB
arestyrurj-158	91	14	an	an	DET
arestyrurj-158	91	15	ideal	ideal	ADJ
arestyrurj-158	91	16	motor[3	motor[3	NOUN
arestyrurj-158	91	17	]	]	PUNCT
arestyrurj-158	91	18	.	.	PUNCT
arestyrurj-158	92	1	the	the	DET
arestyrurj-158	92	2	simple	simple	ADJ
arestyrurj-158	92	3	armature	armature	NOUN
arestyrurj-158	92	4	circuit	circuit	NOUN
arestyrurj-158	92	5	consists	consist	VERB
arestyrurj-158	92	6	of	of	ADP
arestyrurj-158	92	7	a	a	DET
arestyrurj-158	92	8	voltage	voltage	NOUN
arestyrurj-158	92	9	source	source	NOUN
arestyrurj-158	92	10	,	,	PUNCT
arestyrurj-158	92	11	resistor	resistor	NOUN
arestyrurj-158	92	12	,	,	PUNCT
arestyrurj-158	92	13	inductor	inductor	NOUN
arestyrurj-158	92	14	,	,	PUNCT
arestyrurj-158	92	15	and	and	CCONJ
arestyrurj-158	92	16	rotor	rotor	NOUN
arestyrurj-158	92	17	with	with	ADP
arestyrurj-158	92	18	a	a	DET
arestyrurj-158	92	19	fixed	fix	VERB
arestyrurj-158	92	20	magnetic	magnetic	ADJ
arestyrurj-158	92	21	field	field	NOUN
arestyrurj-158	92	22	.	.	PUNCT
arestyrurj-158	93	1	for	for	ADP
arestyrurj-158	93	2	the	the	DET
arestyrurj-158	93	3	dc	dc	PROPN
arestyrurj-158	93	4	motor	motor	PROPN
arestyrurj-158	93	5	,	,	PUNCT
arestyrurj-158	93	6	newton	newton	PROPN
arestyrurj-158	93	7	’s	’s	PART
arestyrurj-158	93	8	second	second	ADJ
arestyrurj-158	93	9	law	law	NOUN
arestyrurj-158	93	10	and	and	CCONJ
arestyrurj-158	93	11	kirchhoff	kirchhoff	NOUN
arestyrurj-158	93	12	’s	’s	PART
arestyrurj-158	93	13	voltage	voltage	NOUN
arestyrurj-158	93	14	law	law	NOUN
arestyrurj-158	93	15	were	be	AUX
arestyrurj-158	93	16	derived	derive	VERB
arestyrurj-158	93	17	.	.	PUNCT
arestyrurj-158	94	1	also	also	ADV
arestyrurj-158	94	2	,	,	PUNCT
arestyrurj-158	94	3	proportional	proportional	ADJ
arestyrurj-158	94	4	relations	relation	NOUN
arestyrurj-158	94	5	were	be	AUX
arestyrurj-158	94	6	determined	determine	VERB
arestyrurj-158	94	7	for	for	ADP
arestyrurj-158	94	8	the	the	DET
arestyrurj-158	94	9	torque	torque	NOUN
arestyrurj-158	94	10	and	and	CCONJ
arestyrurj-158	94	11	electromotive	electromotive	ADJ
arestyrurj-158	94	12	force	force	NOUN
arestyrurj-158	94	13	.	.	PUNCT
arestyrurj-158	95	1	by	by	ADP
arestyrurj-158	95	2	utilizing	utilize	VERB
arestyrurj-158	95	3	these	these	DET
arestyrurj-158	95	4	equations	equation	NOUN
arestyrurj-158	95	5	,	,	PUNCT
arestyrurj-158	95	6	an	an	DET
arestyrurj-158	95	7	input	input	NOUN
arestyrurj-158	95	8	of	of	ADP
arestyrurj-158	95	9	voltage	voltage	NOUN
arestyrurj-158	95	10	produces	produce	VERB
arestyrurj-158	95	11	a	a	DET
arestyrurj-158	95	12	corresponding	corresponding	ADJ
arestyrurj-158	95	13	motor	motor	NOUN
arestyrurj-158	95	14	torque	torque	NOUN
arestyrurj-158	95	15	.	.	PUNCT
arestyrurj-158	96	1	table	table	NOUN
arestyrurj-158	96	2	3	3	NUM
arestyrurj-158	96	3	:	:	PUNCT
arestyrurj-158	96	4	parameters	parameter	NOUN
arestyrurj-158	96	5	for	for	ADP
arestyrurj-158	96	6	the	the	DET
arestyrurj-158	96	7	overall	overall	ADJ
arestyrurj-158	96	8	system	system	NOUN
arestyrurj-158	96	9	.	.	PUNCT
arestyrurj-158	97	1	aresty	aresty	PROPN
arestyrurj-158	97	2	rutgers	rutgers	PROPN
arestyrurj-158	97	3	undergraduate	undergraduate	PROPN
arestyrurj-158	97	4	research	research	PROPN
arestyrurj-158	97	5	journal	journal	PROPN
arestyrurj-158	97	6	,	,	PUNCT
arestyrurj-158	97	7	volume	volume	NOUN
arestyrurj-158	97	8	i	i	PRON
arestyrurj-158	97	9	,	,	PUNCT
arestyrurj-158	97	10	issue	issue	NOUN
arestyrurj-158	97	11	ii	ii	NOUN
arestyrurj-158	97	12	list	list	NOUN
arestyrurj-158	97	13	of	of	ADP
arestyrurj-158	97	14	relevant	relevant	ADJ
arestyrurj-158	97	15	terms	term	NOUN
arestyrurj-158	97	16	negative	negative	ADJ
arestyrurj-158	97	17	feedback	feedback	NOUN
arestyrurj-158	97	18	loop	loop	NOUN
arestyrurj-158	97	19	–	–	PUNCT
arestyrurj-158	97	20	a	a	DET
arestyrurj-158	97	21	system	system	NOUN
arestyrurj-158	97	22	where	where	SCONJ
arestyrurj-158	97	23	the	the	DET
arestyrurj-158	97	24	output	output	NOUN
arestyrurj-158	97	25	is	be	AUX
arestyrurj-158	97	26	fed	feed	VERB
arestyrurj-158	97	27	back	back	ADV
arestyrurj-158	97	28	into	into	ADP
arestyrurj-158	97	29	itself	itself	PRON
arestyrurj-158	97	30	in	in	ADP
arestyrurj-158	97	31	order	order	NOUN
arestyrurj-158	97	32	to	to	PART
arestyrurj-158	97	33	influence	influence	VERB
arestyrurj-158	97	34	its	its	PRON
arestyrurj-158	97	35	future	future	ADJ
arestyrurj-158	97	36	output	output	NOUN
arestyrurj-158	97	37	.	.	PUNCT
arestyrurj-158	98	1	plant	plant	NOUN
arestyrurj-158	98	2	–	–	PUNCT
arestyrurj-158	98	3	the	the	DET
arestyrurj-158	98	4	mathematical	mathematical	ADJ
arestyrurj-158	98	5	model	model	NOUN
arestyrurj-158	98	6	that	that	PRON
arestyrurj-158	98	7	has	have	VERB
arestyrurj-158	98	8	an	an	DET
arestyrurj-158	98	9	input	input	NOUN
arestyrurj-158	98	10	and	and	CCONJ
arestyrurj-158	98	11	output	output	NOUN
arestyrurj-158	98	12	(	(	PUNCT
arestyrurj-158	98	13	without	without	ADP
arestyrurj-158	98	14	a	a	DET
arestyrurj-158	98	15	feedback	feedback	NOUN
arestyrurj-158	98	16	loop	loop	NOUN
arestyrurj-158	98	17	)	)	PUNCT
arestyrurj-158	98	18	actuator	actuator	NOUN
arestyrurj-158	98	19	–	–	PUNCT
arestyrurj-158	98	20	the	the	DET
arestyrurj-158	98	21	component	component	NOUN
arestyrurj-158	98	22	of	of	ADP
arestyrurj-158	98	23	a	a	DET
arestyrurj-158	98	24	system	system	NOUN
arestyrurj-158	98	25	which	which	PRON
arestyrurj-158	98	26	is	be	AUX
arestyrurj-158	98	27	responsible	responsible	ADJ
arestyrurj-158	98	28	for	for	ADP
arestyrurj-158	98	29	moving	move	VERB
arestyrurj-158	98	30	or	or	CCONJ
arestyrurj-158	98	31	controlling	control	VERB
arestyrurj-158	98	32	a	a	DET
arestyrurj-158	98	33	device	device	NOUN
arestyrurj-158	98	34	or	or	CCONJ
arestyrurj-158	98	35	machine	machine	NOUN
arestyrurj-158	98	36	.	.	PUNCT
arestyrurj-158	99	1	controller	controller	NOUN
arestyrurj-158	99	2	–	–	PUNCT
arestyrurj-158	99	3	the	the	DET
arestyrurj-158	99	4	component	component	NOUN
arestyrurj-158	99	5	of	of	ADP
arestyrurj-158	99	6	a	a	DET
arestyrurj-158	99	7	system	system	NOUN
arestyrurj-158	99	8	that	that	PRON
arestyrurj-158	99	9	uses	use	VERB
arestyrurj-158	99	10	the	the	DET
arestyrurj-158	99	11	system	system	NOUN
arestyrurj-158	99	12	’s	’s	PART
arestyrurj-158	99	13	state	state	NOUN
arestyrurj-158	99	14	to	to	PART
arestyrurj-158	99	15	control	control	VERB
arestyrurj-158	99	16	its	its	PRON
arestyrurj-158	99	17	output	output	NOUN
arestyrurj-158	99	18	.	.	PUNCT
arestyrurj-158	100	1	quarter	quarter	NOUN
arestyrurj-158	100	2	car	car	NOUN
arestyrurj-158	100	3	model	model	NOUN
arestyrurj-158	100	4	–	–	PUNCT
arestyrurj-158	100	5	a	a	DET
arestyrurj-158	100	6	model	model	NOUN
arestyrurj-158	100	7	that	that	PRON
arestyrurj-158	100	8	simplifies	simplify	VERB
arestyrurj-158	100	9	a	a	DET
arestyrurj-158	100	10	vehicle	vehicle	NOUN
arestyrurj-158	100	11	into	into	ADP
arestyrurj-158	100	12	an	an	DET
arestyrurj-158	100	13	isolated	isolated	ADJ
arestyrurj-158	100	14	wheel	wheel	NOUN
arestyrurj-158	100	15	and	and	CCONJ
arestyrurj-158	100	16	a	a	DET
arestyrurj-158	100	17	quarter	quarter	NOUN
arestyrurj-158	100	18	of	of	ADP
arestyrurj-158	100	19	the	the	DET
arestyrurj-158	100	20	total	total	ADJ
arestyrurj-158	100	21	mass	mass	PROPN
arestyrurj-158	100	22	.	.	PUNCT
arestyrurj-158	101	1	newton	newton	PROPN
arestyrurj-158	101	2	’s	’s	PART
arestyrurj-158	101	3	second	second	ADJ
arestyrurj-158	101	4	law	law	NOUN
arestyrurj-158	101	5	–	–	PUNCT
arestyrurj-158	101	6	the	the	DET
arestyrurj-158	101	7	acceleration	acceleration	NOUN
arestyrurj-158	101	8	is	be	AUX
arestyrurj-158	101	9	directly	directly	ADV
arestyrurj-158	101	10	proportional	proportional	ADJ
arestyrurj-158	101	11	to	to	ADP
arestyrurj-158	101	12	the	the	DET
arestyrurj-158	101	13	magnitude	magnitude	NOUN
arestyrurj-158	101	14	of	of	ADP
arestyrurj-158	101	15	the	the	DET
arestyrurj-158	101	16	net	net	ADJ
arestyrurj-158	101	17	force	force	NOUN
arestyrurj-158	101	18	,	,	PUNCT
arestyrurj-158	101	19	and	and	CCONJ
arestyrurj-158	101	20	inversely	inversely	ADV
arestyrurj-158	101	21	proportional	proportional	ADJ
arestyrurj-158	101	22	to	to	ADP
arestyrurj-158	101	23	the	the	DET
arestyrurj-158	101	24	mass	mass	PROPN
arestyrurj-158	101	25	.	.	PUNCT
arestyrurj-158	102	1	slip	slip	VERB
arestyrurj-158	102	2	ratio	ratio	NOUN
arestyrurj-158	102	3	–	–	PUNCT
arestyrurj-158	102	4	the	the	DET
arestyrurj-158	102	5	value	value	NOUN
arestyrurj-158	102	6	expressed	express	VERB
arestyrurj-158	102	7	in	in	ADP
arestyrurj-158	102	8	a	a	DET
arestyrurj-158	102	9	ratio	ratio	NOUN
arestyrurj-158	102	10	that	that	PRON
arestyrurj-158	102	11	represents	represent	VERB
arestyrurj-158	102	12	the	the	DET
arestyrurj-158	102	13	slipping	slip	VERB
arestyrurj-158	102	14	behavior	behavior	NOUN
arestyrurj-158	102	15	of	of	ADP
arestyrurj-158	102	16	a	a	DET
arestyrurj-158	102	17	vehicle	vehicle	NOUN
arestyrurj-158	102	18	’s	’s	PART
arestyrurj-158	102	19	wheel	wheel	NOUN
arestyrurj-158	102	20	.	.	PUNCT
arestyrurj-158	103	1	driving	drive	VERB
arestyrurj-158	103	2	force	force	NOUN
arestyrurj-158	103	3	–	–	PUNCT
arestyrurj-158	103	4	the	the	DET
arestyrurj-158	103	5	force	force	NOUN
arestyrurj-158	103	6	,	,	PUNCT
arestyrurj-158	103	7	also	also	ADV
arestyrurj-158	103	8	called	call	VERB
arestyrurj-158	103	9	the	the	DET
arestyrurj-158	103	10	friction	friction	NOUN
arestyrurj-158	103	11	force	force	NOUN
arestyrurj-158	103	12	,	,	PUNCT
arestyrurj-158	103	13	is	be	AUX
arestyrurj-158	103	14	the	the	DET
arestyrurj-158	103	15	force	force	NOUN
arestyrurj-158	103	16	that	that	PRON
arestyrurj-158	103	17	causes	cause	VERB
arestyrurj-158	103	18	the	the	DET
arestyrurj-158	103	19	vehicle	vehicle	NOUN
arestyrurj-158	103	20	to	to	PART
arestyrurj-158	103	21	accelerate	accelerate	VERB
arestyrurj-158	103	22	forward	forward	ADV
arestyrurj-158	103	23	.	.	PUNCT
arestyrurj-158	104	1	pacejka	pacejka	PROPN
arestyrurj-158	104	2	’s	’s	PART
arestyrurj-158	104	3	magic	magic	ADJ
arestyrurj-158	104	4	tire	tire	NOUN
arestyrurj-158	104	5	formula	formula	NOUN
arestyrurj-158	104	6	–	–	PUNCT
arestyrurj-158	104	7	a	a	DET
arestyrurj-158	104	8	simple	simple	ADJ
arestyrurj-158	104	9	formula	formula	NOUN
arestyrurj-158	104	10	that	that	PRON
arestyrurj-158	104	11	uses	use	VERB
arestyrurj-158	104	12	the	the	DET
arestyrurj-158	104	13	slip	slip	NOUN
arestyrurj-158	104	14	ratio	ratio	NOUN
arestyrurj-158	104	15	as	as	ADP
arestyrurj-158	104	16	an	an	DET
arestyrurj-158	104	17	input	input	NOUN
arestyrurj-158	104	18	and	and	CCONJ
arestyrurj-158	104	19	outputs	output	VERB
arestyrurj-158	104	20	the	the	DET
arestyrurj-158	104	21	driving	drive	VERB
arestyrurj-158	104	22	force	force	NOUN
arestyrurj-158	104	23	.	.	PUNCT
arestyrurj-158	105	1	different	different	ADJ
arestyrurj-158	105	2	plugins	plugin	NOUN
arestyrurj-158	105	3	of	of	ADP
arestyrurj-158	105	4	coefficients	coefficient	NOUN
arestyrurj-158	105	5	can	can	AUX
arestyrurj-158	105	6	model	model	VERB
arestyrurj-158	105	7	different	different	ADJ
arestyrurj-158	105	8	terrains	terrain	NOUN
arestyrurj-158	105	9	.	.	PUNCT
arestyrurj-158	106	1	deformable	deformable	ADJ
arestyrurj-158	106	2	soil	soil	NOUN
arestyrurj-158	106	3	-	-	PUNCT
arestyrurj-158	106	4	rigid	rigid	ADJ
arestyrurj-158	106	5	tire	tire	NOUN
arestyrurj-158	106	6	model	model	NOUN
arestyrurj-158	106	7	–	–	PUNCT
arestyrurj-158	106	8	a	a	DET
arestyrurj-158	106	9	set	set	NOUN
arestyrurj-158	106	10	of	of	ADP
arestyrurj-158	106	11	equations	equation	NOUN
arestyrurj-158	106	12	that	that	PRON
arestyrurj-158	106	13	model	model	VERB
arestyrurj-158	106	14	a	a	DET
arestyrurj-158	106	15	complex	complex	ADJ
arestyrurj-158	106	16	deformable	deformable	ADJ
arestyrurj-158	106	17	soil	soil	NOUN
arestyrurj-158	106	18	like	like	ADP
arestyrurj-158	106	19	the	the	DET
arestyrurj-158	106	20	martian	martian	ADJ
arestyrurj-158	106	21	terrain	terrain	NOUN
arestyrurj-158	106	22	.	.	PUNCT
arestyrurj-158	107	1	taylor	taylor	PROPN
arestyrurj-158	107	2	series	series	PROPN
arestyrurj-158	107	3	approximation	approximation	NOUN
arestyrurj-158	107	4	–	–	PUNCT
arestyrurj-158	107	5	a	a	DET
arestyrurj-158	107	6	way	way	NOUN
arestyrurj-158	107	7	of	of	ADP
arestyrurj-158	107	8	approximating	approximate	VERB
arestyrurj-158	107	9	complex	complex	ADJ
arestyrurj-158	107	10	functions	function	NOUN
arestyrurj-158	107	11	,	,	PUNCT
arestyrurj-158	107	12	using	use	VERB
arestyrurj-158	107	13	values	value	NOUN
arestyrurj-158	107	14	of	of	ADP
arestyrurj-158	107	15	its	its	PRON
arestyrurj-158	107	16	derivative	derivative	NOUN
arestyrurj-158	107	17	.	.	PUNCT
arestyrurj-158	108	1	higher	high	ADJ
arestyrurj-158	108	2	order	order	NOUN
arestyrurj-158	108	3	expansions	expansion	NOUN
arestyrurj-158	108	4	(	(	PUNCT
arestyrurj-158	108	5	more	more	ADJ
arestyrurj-158	108	6	derivatives	derivative	NOUN
arestyrurj-158	108	7	)	)	PUNCT
arestyrurj-158	108	8	allow	allow	VERB
arestyrurj-158	108	9	for	for	ADP
arestyrurj-158	108	10	a	a	DET
arestyrurj-158	108	11	more	more	ADV
arestyrurj-158	108	12	accurate	accurate	ADJ
arestyrurj-158	108	13	approximation	approximation	NOUN
arestyrurj-158	108	14	.	.	PUNCT
arestyrurj-158	109	1	shear	shear	NOUN
arestyrurj-158	109	2	stress	stress	NOUN
arestyrurj-158	109	3	–	–	PUNCT
arestyrurj-158	109	4	the	the	DET
arestyrurj-158	109	5	force	force	NOUN
arestyrurj-158	109	6	applied	apply	VERB
arestyrurj-158	109	7	to	to	ADP
arestyrurj-158	109	8	an	an	DET
arestyrurj-158	109	9	object	object	NOUN
arestyrurj-158	109	10	in	in	ADP
arestyrurj-158	109	11	the	the	DET
arestyrurj-158	109	12	direction	direction	NOUN
arestyrurj-158	109	13	parallel	parallel	ADJ
arestyrurj-158	109	14	to	to	ADP
arestyrurj-158	109	15	the	the	DET
arestyrurj-158	109	16	cross	cross	ADJ
arestyrurj-158	109	17	-	-	ADJ
arestyrurj-158	109	18	sectional	sectional	ADJ
arestyrurj-158	109	19	area	area	NOUN
arestyrurj-158	109	20	.	.	PUNCT
arestyrurj-158	110	1	normal	normal	ADJ
arestyrurj-158	110	2	stress	stress	NOUN
arestyrurj-158	110	3	–	–	PUNCT
arestyrurj-158	110	4	the	the	DET
arestyrurj-158	110	5	force	force	NOUN
arestyrurj-158	110	6	applied	apply	VERB
arestyrurj-158	110	7	to	to	ADP
arestyrurj-158	110	8	an	an	DET
arestyrurj-158	110	9	object	object	NOUN
arestyrurj-158	110	10	in	in	ADP
arestyrurj-158	110	11	the	the	DET
arestyrurj-158	110	12	direction	direction	NOUN
arestyrurj-158	110	13	normal	normal	ADJ
arestyrurj-158	110	14	to	to	ADP
arestyrurj-158	110	15	the	the	DET
arestyrurj-158	110	16	cross	cross	ADJ
arestyrurj-158	110	17	-	-	ADJ
arestyrurj-158	110	18	sectional	sectional	ADJ
arestyrurj-158	110	19	area	area	NOUN
arestyrurj-158	110	20	.	.	PUNCT
arestyrurj-158	111	1	armature	armature	NOUN
arestyrurj-158	111	2	circuit	circuit	NOUN
arestyrurj-158	111	3	–	–	PUNCT
arestyrurj-158	111	4	an	an	DET
arestyrurj-158	111	5	electrical	electrical	ADJ
arestyrurj-158	111	6	circuit	circuit	NOUN
arestyrurj-158	111	7	that	that	PRON
arestyrurj-158	111	8	involves	involve	VERB
arestyrurj-158	111	9	a	a	DET
arestyrurj-158	111	10	rotating	rotate	VERB
arestyrurj-158	111	11	part	part	NOUN
arestyrurj-158	111	12	or	or	CCONJ
arestyrurj-158	111	13	in	in	ADP
arestyrurj-158	111	14	the	the	DET
arestyrurj-158	111	15	case	case	NOUN
arestyrurj-158	111	16	of	of	ADP
arestyrurj-158	111	17	a	a	DET
arestyrurj-158	111	18	dc	dc	PROPN
arestyrurj-158	111	19	motor	motor	NOUN
arestyrurj-158	111	20	,	,	PUNCT
arestyrurj-158	111	21	an	an	DET
arestyrurj-158	111	22	input	input	NOUN
arestyrurj-158	111	23	current	current	NOUN
arestyrurj-158	111	24	that	that	PRON
arestyrurj-158	111	25	interacts	interact	VERB
arestyrurj-158	111	26	with	with	ADP
arestyrurj-158	111	27	a	a	DET
arestyrurj-158	111	28	fixed	fix	VERB
arestyrurj-158	111	29	magnetic	magnetic	ADJ
arestyrurj-158	111	30	field	field	NOUN
arestyrurj-158	111	31	to	to	PART
arestyrurj-158	111	32	produce	produce	VERB
arestyrurj-158	111	33	a	a	DET
arestyrurj-158	111	34	torque	torque	NOUN
arestyrurj-158	111	35	.	.	PUNCT
arestyrurj-158	112	1	kirchhoff	kirchhoff	PROPN
arestyrurj-158	112	2	's	's	PART
arestyrurj-158	112	3	voltage	voltage	NOUN
arestyrurj-158	112	4	law	law	NOUN
arestyrurj-158	112	5	–	–	PUNCT
arestyrurj-158	112	6	a	a	DET
arestyrurj-158	112	7	form	form	NOUN
arestyrurj-158	112	8	of	of	ADP
arestyrurj-158	112	9	conservation	conservation	NOUN
arestyrurj-158	112	10	of	of	ADP
arestyrurj-158	112	11	energy	energy	NOUN
arestyrurj-158	112	12	for	for	ADP
arestyrurj-158	112	13	a	a	DET
arestyrurj-158	112	14	closed	closed	ADJ
arestyrurj-158	112	15	electrical	electrical	ADJ
arestyrurj-158	112	16	circuit	circuit	NOUN
arestyrurj-158	112	17	.	.	PUNCT
arestyrurj-158	113	1	the	the	DET
arestyrurj-158	113	2	law	law	NOUN
arestyrurj-158	113	3	states	state	VERB
arestyrurj-158	113	4	that	that	SCONJ
arestyrurj-158	113	5	the	the	DET
arestyrurj-158	113	6	sum	sum	NOUN
arestyrurj-158	113	7	of	of	ADP
arestyrurj-158	113	8	the	the	DET
arestyrurj-158	113	9	voltage	voltage	NOUN
arestyrurj-158	113	10	around	around	ADP
arestyrurj-158	113	11	a	a	DET
arestyrurj-158	113	12	circuit	circuit	NOUN
arestyrurj-158	113	13	must	must	AUX
arestyrurj-158	113	14	equal	equal	VERB
arestyrurj-158	113	15	zero	zero	NUM
arestyrurj-158	113	16	.	.	PUNCT
arestyrurj-158	114	1	figure	figure	NOUN
arestyrurj-158	114	2	4	4	NUM
arestyrurj-158	114	3	:	:	PUNCT
arestyrurj-158	114	4	taylor	taylor	PROPN
arestyrurj-158	114	5	series	series	PROPN
arestyrurj-158	114	6	approximation	approximation	NOUN
arestyrurj-158	114	7	for	for	ADP
arestyrurj-158	114	8	driving	drive	VERB
arestyrurj-158	114	9	force	force	NOUN
arestyrurj-158	114	10	.	.	PUNCT
arestyrurj-158	115	1	description	description	NOUN
arestyrurj-158	115	2	:	:	PUNCT
arestyrurj-158	115	3	this	this	DET
arestyrurj-158	115	4	graph	graph	NOUN
arestyrurj-158	115	5	shows	show	VERB
arestyrurj-158	115	6	the	the	DET
arestyrurj-158	115	7	increase	increase	NOUN
arestyrurj-158	115	8	in	in	ADP
arestyrurj-158	115	9	the	the	DET
arestyrurj-158	115	10	accuracy	accuracy	NOUN
arestyrurj-158	115	11	of	of	ADP
arestyrurj-158	115	12	the	the	DET
arestyrurj-158	115	13	taylor	taylor	PROPN
arestyrurj-158	115	14	series	series	PROPN
arestyrurj-158	115	15	approximation	approximation	NOUN
arestyrurj-158	115	16	as	as	ADP
arestyrurj-158	115	17	higher	high	ADJ
arestyrurj-158	115	18	order	order	NOUN
arestyrurj-158	115	19	derivatives	derivative	NOUN
arestyrurj-158	115	20	are	be	AUX
arestyrurj-158	115	21	added	add	VERB
arestyrurj-158	115	22	.	.	PUNCT
arestyrurj-158	116	1	the	the	DET
arestyrurj-158	116	2	approximations	approximation	NOUN
arestyrurj-158	116	3	are	be	AUX
arestyrurj-158	116	4	compared	compare	VERB
arestyrurj-158	116	5	to	to	ADP
arestyrurj-158	116	6	the	the	DET
arestyrurj-158	116	7	numerical	numerical	ADJ
arestyrurj-158	116	8	curve	curve	NOUN
arestyrurj-158	116	9	,	,	PUNCT
arestyrurj-158	116	10	which	which	PRON
arestyrurj-158	116	11	is	be	AUX
arestyrurj-158	116	12	colored	color	VERB
arestyrurj-158	116	13	blue	blue	ADJ
arestyrurj-158	116	14	.	.	PUNCT
arestyrurj-158	117	1	figure	figure	NOUN
arestyrurj-158	117	2	5	5	NUM
arestyrurj-158	117	3	:	:	PUNCT
arestyrurj-158	117	4	dc	dc	PROPN
arestyrurj-158	117	5	motor	motor	NOUN
arestyrurj-158	117	6	armature	armature	NOUN
arestyrurj-158	117	7	circuit	circuit	NOUN
arestyrurj-158	117	8	.	.	PUNCT
arestyrurj-158	118	1	description	description	NOUN
arestyrurj-158	118	2	:	:	PUNCT
arestyrurj-158	118	3	this	this	DET
arestyrurj-158	118	4	diagram	diagram	NOUN
arestyrurj-158	118	5	shows	show	VERB
arestyrurj-158	118	6	the	the	DET
arestyrurj-158	118	7	electrical	electrical	ADJ
arestyrurj-158	118	8	circuit	circuit	NOUN
arestyrurj-158	118	9	on	on	ADP
arestyrurj-158	118	10	the	the	DET
arestyrurj-158	118	11	left	left	NOUN
arestyrurj-158	118	12	,	,	PUNCT
arestyrurj-158	118	13	and	and	CCONJ
arestyrurj-158	118	14	the	the	DET
arestyrurj-158	118	15	rotor	rotor	NOUN
arestyrurj-158	118	16	and	and	CCONJ
arestyrurj-158	118	17	electric	electric	ADJ
arestyrurj-158	118	18	field	field	NOUN
arestyrurj-158	118	19	on	on	ADP
arestyrurj-158	118	20	the	the	DET
arestyrurj-158	118	21	right	right	NOUN
arestyrurj-158	118	22	.	.	PUNCT
arestyrurj-158	119	1	the	the	DET
arestyrurj-158	119	2	circuit	circuit	NOUN
arestyrurj-158	119	3	contains	contain	VERB
arestyrurj-158	119	4	a	a	DET
arestyrurj-158	119	5	voltage	voltage	NOUN
arestyrurj-158	119	6	source	source	NOUN
arestyrurj-158	119	7	,	,	PUNCT
arestyrurj-158	119	8	a	a	DET
arestyrurj-158	119	9	resistor	resistor	NOUN
arestyrurj-158	119	10	,	,	PUNCT
arestyrurj-158	119	11	an	an	DET
arestyrurj-158	119	12	inductor	inductor	NOUN
arestyrurj-158	119	13	,	,	PUNCT
arestyrurj-158	119	14	and	and	CCONJ
arestyrurj-158	119	15	a	a	DET
arestyrurj-158	119	16	rotor	rotor	NOUN
arestyrurj-158	119	17	.	.	PUNCT
arestyrurj-158	120	1	aresty	aresty	PROPN
arestyrurj-158	120	2	rutgers	rutgers	PROPN
arestyrurj-158	120	3	undergraduate	undergraduate	PROPN
arestyrurj-158	120	4	research	research	PROPN
arestyrurj-158	120	5	journal	journal	PROPN
arestyrurj-158	120	6	,	,	PUNCT
arestyrurj-158	120	7	volume	volume	NOUN
arestyrurj-158	120	8	i	i	PRON
arestyrurj-158	120	9	,	,	PUNCT
arestyrurj-158	120	10	issue	issue	VERB
arestyrurj-158	120	11	ii	ii	PROPN
arestyrurj-158	120	12	3	3	NUM
arestyrurj-158	120	13	the	the	DET
arestyrurj-158	120	14	controller	controller	NOUN
arestyrurj-158	120	15	the	the	DET
arestyrurj-158	120	16	purpose	purpose	NOUN
arestyrurj-158	120	17	of	of	ADP
arestyrurj-158	120	18	the	the	DET
arestyrurj-158	120	19	controller	controller	NOUN
arestyrurj-158	120	20	is	be	AUX
arestyrurj-158	120	21	to	to	PART
arestyrurj-158	120	22	output	output	VERB
arestyrurj-158	120	23	a	a	DET
arestyrurj-158	120	24	motor	motor	NOUN
arestyrurj-158	120	25	voltage	voltage	NOUN
arestyrurj-158	120	26	signal	signal	NOUN
arestyrurj-158	120	27	to	to	PART
arestyrurj-158	120	28	force	force	VERB
arestyrurj-158	120	29	the	the	DET
arestyrurj-158	120	30	slip	slip	NOUN
arestyrurj-158	120	31	ratio	ratio	NOUN
arestyrurj-158	120	32	to	to	PART
arestyrurj-158	120	33	approach	approach	VERB
arestyrurj-158	120	34	the	the	DET
arestyrurj-158	120	35	desired	desire	VERB
arestyrurj-158	120	36	value	value	NOUN
arestyrurj-158	120	37	.	.	PUNCT
arestyrurj-158	121	1	the	the	DET
arestyrurj-158	121	2	pid	pid	NOUN
arestyrurj-158	121	3	controller	controller	NOUN
arestyrurj-158	121	4	was	be	AUX
arestyrurj-158	121	5	first	first	ADV
arestyrurj-158	121	6	experimented	experiment	VERB
arestyrurj-158	121	7	with	with	ADP
arestyrurj-158	121	8	and	and	CCONJ
arestyrurj-158	121	9	later	later	ADV
arestyrurj-158	121	10	used	use	VERB
arestyrurj-158	121	11	to	to	PART
arestyrurj-158	121	12	compare	compare	VERB
arestyrurj-158	121	13	final	final	ADJ
arestyrurj-158	121	14	results	result	NOUN
arestyrurj-158	121	15	.	.	PUNCT
arestyrurj-158	122	1	it	it	PRON
arestyrurj-158	122	2	consists	consist	VERB
arestyrurj-158	122	3	of	of	ADP
arestyrurj-158	122	4	a	a	DET
arestyrurj-158	122	5	proportional	proportional	ADJ
arestyrurj-158	122	6	gain	gain	NOUN
arestyrurj-158	122	7	,	,	PUNCT
arestyrurj-158	122	8	an	an	DET
arestyrurj-158	122	9	integral	integral	ADJ
arestyrurj-158	122	10	gain	gain	NOUN
arestyrurj-158	122	11	,	,	PUNCT
arestyrurj-158	122	12	and	and	CCONJ
arestyrurj-158	122	13	a	a	DET
arestyrurj-158	122	14	derivative	derivative	ADJ
arestyrurj-158	122	15	gain	gain	NOUN
arestyrurj-158	122	16	.	.	PUNCT
arestyrurj-158	123	1	these	these	DET
arestyrurj-158	123	2	multiplicative	multiplicative	ADJ
arestyrurj-158	123	3	coefficients	coefficient	NOUN
arestyrurj-158	123	4	allow	allow	VERB
arestyrurj-158	123	5	the	the	DET
arestyrurj-158	123	6	user	user	NOUN
arestyrurj-158	123	7	to	to	PART
arestyrurj-158	123	8	tune	tune	VERB
arestyrurj-158	123	9	the	the	DET
arestyrurj-158	123	10	controller	controller	NOUN
arestyrurj-158	123	11	for	for	ADP
arestyrurj-158	123	12	different	different	ADJ
arestyrurj-158	123	13	dynamical	dynamical	ADJ
arestyrurj-158	123	14	systems	system	NOUN
arestyrurj-158	123	15	.	.	PUNCT
arestyrurj-158	124	1	the	the	DET
arestyrurj-158	124	2	sliding	slide	VERB
arestyrurj-158	124	3	mode	mode	NOUN
arestyrurj-158	124	4	controller	controller	NOUN
arestyrurj-158	124	5	is	be	AUX
arestyrurj-158	124	6	a	a	DET
arestyrurj-158	124	7	more	more	ADV
arestyrurj-158	124	8	advanced	advanced	ADJ
arestyrurj-158	124	9	method	method	NOUN
arestyrurj-158	124	10	than	than	ADP
arestyrurj-158	124	11	the	the	DET
arestyrurj-158	124	12	pid	pid	PROPN
arestyrurj-158	124	13	.	.	PUNCT
arestyrurj-158	125	1	the	the	DET
arestyrurj-158	125	2	controller	controller	NOUN
arestyrurj-158	125	3	,	,	PUNCT
arestyrurj-158	125	4	essentially	essentially	ADV
arestyrurj-158	125	5	,	,	PUNCT
arestyrurj-158	125	6	has	have	VERB
arestyrurj-158	125	7	a	a	DET
arestyrurj-158	125	8	phase	phase	NOUN
arestyrurj-158	125	9	where	where	SCONJ
arestyrurj-158	125	10	the	the	DET
arestyrurj-158	125	11	state	state	NOUN
arestyrurj-158	125	12	variables	variable	NOUN
arestyrurj-158	125	13	are	be	AUX
arestyrurj-158	125	14	forced	force	VERB
arestyrurj-158	125	15	to	to	PART
arestyrurj-158	125	16	approach	approach	VERB
arestyrurj-158	125	17	a	a	DET
arestyrurj-158	125	18	function	function	NOUN
arestyrurj-158	125	19	called	call	VERB
arestyrurj-158	125	20	the	the	DET
arestyrurj-158	125	21	sliding	slide	VERB
arestyrurj-158	125	22	surface	surface	NOUN
arestyrurj-158	125	23	.	.	PUNCT
arestyrurj-158	126	1	once	once	ADV
arestyrurj-158	126	2	on	on	ADP
arestyrurj-158	126	3	the	the	DET
arestyrurj-158	126	4	surface	surface	NOUN
arestyrurj-158	126	5	,	,	PUNCT
arestyrurj-158	126	6	the	the	DET
arestyrurj-158	126	7	sliding	slide	VERB
arestyrurj-158	126	8	phase	phase	NOUN
arestyrurj-158	126	9	begins	begin	VERB
arestyrurj-158	126	10	by	by	ADP
arestyrurj-158	126	11	trying	try	VERB
arestyrurj-158	126	12	to	to	PART
arestyrurj-158	126	13	bring	bring	VERB
arestyrurj-158	126	14	this	this	DET
arestyrurj-158	126	15	sliding	slide	VERB
arestyrurj-158	126	16	function	function	NOUN
arestyrurj-158	126	17	to	to	ADP
arestyrurj-158	126	18	zero	zero	NUM
arestyrurj-158	126	19	(	(	PUNCT
arestyrurj-158	126	20	as	as	ADV
arestyrurj-158	126	21	well	well	ADV
arestyrurj-158	126	22	as	as	ADP
arestyrurj-158	126	23	the	the	DET
arestyrurj-158	126	24	error	error	NOUN
arestyrurj-158	126	25	of	of	ADP
arestyrurj-158	126	26	the	the	DET
arestyrurj-158	126	27	desired	desire	VERB
arestyrurj-158	126	28	and	and	CCONJ
arestyrurj-158	126	29	modeled	model	VERB
arestyrurj-158	126	30	slip	slip	NOUN
arestyrurj-158	126	31	ratios	ratio	NOUN
arestyrurj-158	126	32	)	)	PUNCT
arestyrurj-158	126	33	.	.	PUNCT
arestyrurj-158	127	1	figure	figure	VERB
arestyrurj-158	127	2	7	7	NUM
arestyrurj-158	127	3	:	:	PUNCT
arestyrurj-158	127	4	simulink	simulink	NOUN
arestyrurj-158	127	5	model	model	NOUN
arestyrurj-158	127	6	.	.	PUNCT
arestyrurj-158	128	1	description	description	NOUN
arestyrurj-158	128	2	:	:	PUNCT
arestyrurj-158	128	3	the	the	DET
arestyrurj-158	128	4	three	three	NUM
arestyrurj-158	128	5	main	main	ADJ
arestyrurj-158	128	6	components	component	NOUN
arestyrurj-158	128	7	(	(	PUNCT
arestyrurj-158	128	8	left	leave	VERB
arestyrurj-158	128	9	to	to	ADP
arestyrurj-158	128	10	right	right	ADJ
arestyrurj-158	128	11	)	)	PUNCT
arestyrurj-158	128	12	are	be	AUX
arestyrurj-158	128	13	the	the	DET
arestyrurj-158	128	14	controller	controller	NOUN
arestyrurj-158	128	15	,	,	PUNCT
arestyrurj-158	128	16	labeled	label	VERB
arestyrurj-158	128	17	smc	smc	PROPN
arestyrurj-158	128	18	for	for	ADP
arestyrurj-158	128	19	sliding	slide	VERB
arestyrurj-158	128	20	mode	mode	NOUN
arestyrurj-158	128	21	controller	controller	NOUN
arestyrurj-158	128	22	,	,	PUNCT
arestyrurj-158	128	23	the	the	DET
arestyrurj-158	128	24	actuator	actuator	NOUN
arestyrurj-158	128	25	,	,	PUNCT
arestyrurj-158	128	26	which	which	PRON
arestyrurj-158	128	27	is	be	AUX
arestyrurj-158	128	28	the	the	DET
arestyrurj-158	128	29	dc	dc	PROPN
arestyrurj-158	128	30	motor	motor	NOUN
arestyrurj-158	128	31	,	,	PUNCT
arestyrurj-158	128	32	and	and	CCONJ
arestyrurj-158	128	33	the	the	DET
arestyrurj-158	128	34	plant	plant	NOUN
arestyrurj-158	128	35	,	,	PUNCT
arestyrurj-158	128	36	which	which	PRON
arestyrurj-158	128	37	is	be	AUX
arestyrurj-158	128	38	the	the	DET
arestyrurj-158	128	39	deformable	deformable	ADJ
arestyrurj-158	128	40	soil	soil	NOUN
arestyrurj-158	128	41	-	-	PUNCT
arestyrurj-158	128	42	rigid	rigid	ADJ
arestyrurj-158	128	43	tire	tire	NOUN
arestyrurj-158	128	44	model	model	NOUN
arestyrurj-158	128	45	.	.	PUNCT
arestyrurj-158	129	1	the	the	DET
arestyrurj-158	129	2	smc	smc	PROPN
arestyrurj-158	129	3	is	be	AUX
arestyrurj-158	129	4	inputted	inputte	VERB
arestyrurj-158	129	5	with	with	ADP
arestyrurj-158	129	6	three	three	NUM
arestyrurj-158	129	7	tuning	tuning	NOUN
arestyrurj-158	129	8	coefficients	coefficient	NOUN
arestyrurj-158	129	9	labeled	label	VERB
arestyrurj-158	129	10	k	k	PROPN
arestyrurj-158	129	11	,	,	PUNCT
arestyrurj-158	129	12	lambda	lambda	NOUN
arestyrurj-158	129	13	,	,	PUNCT
arestyrurj-158	129	14	and	and	CCONJ
arestyrurj-158	129	15	psi	psi	NOUN
arestyrurj-158	129	16	as	as	ADV
arestyrurj-158	129	17	well	well	ADV
arestyrurj-158	129	18	as	as	ADP
arestyrurj-158	129	19	the	the	DET
arestyrurj-158	129	20	error	error	NOUN
arestyrurj-158	129	21	and	and	CCONJ
arestyrurj-158	129	22	its	its	PRON
arestyrurj-158	129	23	rate	rate	NOUN
arestyrurj-158	129	24	of	of	ADP
arestyrurj-158	129	25	change	change	NOUN
arestyrurj-158	129	26	.	.	PUNCT
arestyrurj-158	130	1	it	it	PRON
arestyrurj-158	130	2	then	then	ADV
arestyrurj-158	130	3	outputs	output	VERB
arestyrurj-158	130	4	a	a	DET
arestyrurj-158	130	5	voltage	voltage	NOUN
arestyrurj-158	130	6	applied	apply	VERB
arestyrurj-158	130	7	to	to	ADP
arestyrurj-158	130	8	the	the	DET
arestyrurj-158	130	9	actuator	actuator	NOUN
arestyrurj-158	130	10	.	.	PUNCT
arestyrurj-158	131	1	the	the	DET
arestyrurj-158	131	2	actuator	actuator	NOUN
arestyrurj-158	131	3	then	then	ADV
arestyrurj-158	131	4	outputs	output	VERB
arestyrurj-158	131	5	the	the	DET
arestyrurj-158	131	6	motor	motor	NOUN
arestyrurj-158	131	7	torque	torque	NOUN
arestyrurj-158	131	8	,	,	PUNCT
arestyrurj-158	131	9	which	which	PRON
arestyrurj-158	131	10	is	be	AUX
arestyrurj-158	131	11	inputted	inputte	VERB
arestyrurj-158	131	12	into	into	ADP
arestyrurj-158	131	13	the	the	DET
arestyrurj-158	131	14	plant	plant	NOUN
arestyrurj-158	131	15	.	.	PUNCT
arestyrurj-158	132	1	based	base	VERB
arestyrurj-158	132	2	on	on	ADP
arestyrurj-158	132	3	the	the	DET
arestyrurj-158	132	4	vehicle	vehicle	NOUN
arestyrurj-158	132	5	-	-	PUNCT
arestyrurj-158	132	6	terrain	terrain	NOUN
arestyrurj-158	132	7	model	model	NOUN
arestyrurj-158	132	8	,	,	PUNCT
arestyrurj-158	132	9	the	the	DET
arestyrurj-158	132	10	plant	plant	NOUN
arestyrurj-158	132	11	outputs	output	VERB
arestyrurj-158	132	12	the	the	DET
arestyrurj-158	132	13	slip	slip	NOUN
arestyrurj-158	132	14	ratio	ratio	NOUN
arestyrurj-158	132	15	which	which	PRON
arestyrurj-158	132	16	is	be	AUX
arestyrurj-158	132	17	fed	feed	VERB
arestyrurj-158	132	18	back	back	ADV
arestyrurj-158	132	19	into	into	ADP
arestyrurj-158	132	20	the	the	DET
arestyrurj-158	132	21	system	system	NOUN
arestyrurj-158	132	22	to	to	PART
arestyrurj-158	132	23	calculate	calculate	VERB
arestyrurj-158	132	24	the	the	DET
arestyrurj-158	132	25	error	error	NOUN
arestyrurj-158	132	26	.	.	PUNCT
arestyrurj-158	133	1	this	this	PRON
arestyrurj-158	133	2	completes	complete	VERB
arestyrurj-158	133	3	the	the	DET
arestyrurj-158	133	4	negative	negative	ADJ
arestyrurj-158	133	5	feedback	feedback	NOUN
arestyrurj-158	133	6	loop	loop	NOUN
arestyrurj-158	133	7	that	that	PRON
arestyrurj-158	133	8	simulates	simulate	VERB
arestyrurj-158	133	9	a	a	DET
arestyrurj-158	133	10	traction	traction	NOUN
arestyrurj-158	133	11	control	control	NOUN
arestyrurj-158	133	12	system	system	NOUN
arestyrurj-158	133	13	for	for	ADP
arestyrurj-158	133	14	a	a	DET
arestyrurj-158	133	15	martian	martian	ADJ
arestyrurj-158	133	16	rover	rover	NOUN
arestyrurj-158	133	17	.	.	PUNCT
arestyrurj-158	134	1	figure	figure	VERB
arestyrurj-158	134	2	6	6	NUM
arestyrurj-158	134	3	:	:	PUNCT
arestyrurj-158	134	4	sliding	slide	VERB
arestyrurj-158	134	5	mode	mode	NOUN
arestyrurj-158	134	6	behavior	behavior	NOUN
arestyrurj-158	134	7	.	.	PUNCT
arestyrurj-158	135	1	description	description	NOUN
arestyrurj-158	135	2	:	:	PUNCT
arestyrurj-158	135	3	first	first	ADV
arestyrurj-158	135	4	,	,	PUNCT
arestyrurj-158	135	5	the	the	DET
arestyrurj-158	135	6	sliding	slide	VERB
arestyrurj-158	135	7	mode	mode	NOUN
arestyrurj-158	135	8	controller	controller	NOUN
arestyrurj-158	135	9	forces	force	VERB
arestyrurj-158	135	10	the	the	DET
arestyrurj-158	135	11	system	system	NOUN
arestyrurj-158	135	12	onto	onto	ADP
arestyrurj-158	135	13	the	the	DET
arestyrurj-158	135	14	sliding	slide	VERB
arestyrurj-158	135	15	surface	surface	NOUN
arestyrurj-158	135	16	,	,	PUNCT
arestyrurj-158	135	17	denoted	denote	VERB
arestyrurj-158	135	18	by	by	ADP
arestyrurj-158	135	19	the	the	DET
arestyrurj-158	135	20	reaching	reach	VERB
arestyrurj-158	135	21	phase	phase	NOUN
arestyrurj-158	135	22	.	.	PUNCT
arestyrurj-158	136	1	then	then	ADV
arestyrurj-158	136	2	,	,	PUNCT
arestyrurj-158	136	3	it	it	PRON
arestyrurj-158	136	4	oscillates	oscillate	VERB
arestyrurj-158	136	5	about	about	ADP
arestyrurj-158	136	6	this	this	DET
arestyrurj-158	136	7	surface	surface	NOUN
arestyrurj-158	136	8	until	until	SCONJ
arestyrurj-158	136	9	the	the	DET
arestyrurj-158	136	10	error	error	NOUN
arestyrurj-158	136	11	is	be	AUX
arestyrurj-158	136	12	zero	zero	NUM
arestyrurj-158	136	13	,	,	PUNCT
arestyrurj-158	136	14	which	which	PRON
arestyrurj-158	136	15	is	be	AUX
arestyrurj-158	136	16	called	call	VERB
arestyrurj-158	136	17	the	the	DET
arestyrurj-158	136	18	sliding	slide	VERB
arestyrurj-158	136	19	phase	phase	NOUN
arestyrurj-158	136	20	.	.	PUNCT
arestyrurj-158	137	1	aresty	aresty	PROPN
arestyrurj-158	137	2	rutgers	rutgers	PROPN
arestyrurj-158	137	3	undergraduate	undergraduate	PROPN
arestyrurj-158	137	4	research	research	PROPN
arestyrurj-158	137	5	journal	journal	PROPN
arestyrurj-158	137	6	,	,	PUNCT
arestyrurj-158	137	7	volume	volume	NOUN
arestyrurj-158	137	8	i	i	PRON
arestyrurj-158	137	9	,	,	PUNCT
arestyrurj-158	137	10	issue	issue	VERB
arestyrurj-158	137	11	ii	ii	NOUN
arestyrurj-158	137	12	the	the	DET
arestyrurj-158	137	13	mathematics	mathematic	NOUN
arestyrurj-158	137	14	behind	behind	ADP
arestyrurj-158	137	15	the	the	DET
arestyrurj-158	137	16	sliding	slide	VERB
arestyrurj-158	137	17	mode	mode	NOUN
arestyrurj-158	137	18	is	be	AUX
arestyrurj-158	137	19	divided	divide	VERB
arestyrurj-158	137	20	into	into	ADP
arestyrurj-158	137	21	the	the	DET
arestyrurj-158	137	22	sliding	slide	VERB
arestyrurj-158	137	23	surface	surface	NOUN
arestyrurj-158	137	24	design	design	NOUN
arestyrurj-158	137	25	and	and	CCONJ
arestyrurj-158	137	26	the	the	DET
arestyrurj-158	137	27	control	control	NOUN
arestyrurj-158	137	28	input	input	NOUN
arestyrurj-158	137	29	design	design	NOUN
arestyrurj-158	137	30	.	.	PUNCT
arestyrurj-158	138	1	for	for	ADP
arestyrurj-158	138	2	the	the	DET
arestyrurj-158	138	3	sliding	slide	VERB
arestyrurj-158	138	4	surface	surface	NOUN
arestyrurj-158	138	5	design	design	NOUN
arestyrurj-158	138	6	,	,	PUNCT
arestyrurj-158	138	7	the	the	DET
arestyrurj-158	138	8	function	function	NOUN
arestyrurj-158	138	9	is	be	AUX
arestyrurj-158	138	10	made	make	VERB
arestyrurj-158	138	11	up	up	ADP
arestyrurj-158	138	12	of	of	ADP
arestyrurj-158	138	13	the	the	DET
arestyrurj-158	138	14	error	error	NOUN
arestyrurj-158	138	15	and	and	CCONJ
arestyrurj-158	138	16	a	a	DET
arestyrurj-158	138	17	certain	certain	ADJ
arestyrurj-158	138	18	number	number	NOUN
arestyrurj-158	138	19	of	of	ADP
arestyrurj-158	138	20	its	its	PRON
arestyrurj-158	138	21	derivatives	derivative	NOUN
arestyrurj-158	138	22	.	.	PUNCT
arestyrurj-158	139	1	for	for	ADP
arestyrurj-158	139	2	the	the	DET
arestyrurj-158	139	3	control	control	NOUN
arestyrurj-158	139	4	input	input	NOUN
arestyrurj-158	139	5	design	design	NOUN
arestyrurj-158	139	6	,	,	PUNCT
arestyrurj-158	139	7	the	the	DET
arestyrurj-158	139	8	task	task	NOUN
arestyrurj-158	139	9	is	be	AUX
arestyrurj-158	139	10	to	to	PART
arestyrurj-158	139	11	steer	steer	VERB
arestyrurj-158	139	12	the	the	DET
arestyrurj-158	139	13	sliding	slide	VERB
arestyrurj-158	139	14	surface	surface	NOUN
arestyrurj-158	139	15	function	function	NOUN
arestyrurj-158	139	16	towards	towards	ADP
arestyrurj-158	139	17	zero	zero	NUM
arestyrurj-158	139	18	(	(	PUNCT
arestyrurj-158	139	19	in	in	ADP
arestyrurj-158	139	20	other	other	ADJ
arestyrurj-158	139	21	words	word	NOUN
arestyrurj-158	139	22	,	,	PUNCT
arestyrurj-158	139	23	to	to	PART
arestyrurj-158	139	24	reduce	reduce	VERB
arestyrurj-158	139	25	the	the	DET
arestyrurj-158	139	26	error	error	NOUN
arestyrurj-158	139	27	)	)	PUNCT
arestyrurj-158	139	28	.	.	PUNCT
arestyrurj-158	140	1	the	the	DET
arestyrurj-158	140	2	control	control	NOUN
arestyrurj-158	140	3	input	input	NOUN
arestyrurj-158	140	4	for	for	ADP
arestyrurj-158	140	5	this	this	DET
arestyrurj-158	140	6	project	project	NOUN
arestyrurj-158	140	7	is	be	AUX
arestyrurj-158	140	8	the	the	DET
arestyrurj-158	140	9	voltage	voltage	NOUN
arestyrurj-158	140	10	applied	apply	VERB
arestyrurj-158	140	11	to	to	ADP
arestyrurj-158	140	12	the	the	DET
arestyrurj-158	140	13	electric	electric	ADJ
arestyrurj-158	140	14	motor	motor	NOUN
arestyrurj-158	140	15	powering	power	VERB
arestyrurj-158	140	16	the	the	DET
arestyrurj-158	140	17	wheel	wheel	NOUN
arestyrurj-158	140	18	.	.	PUNCT
arestyrurj-158	141	1	in	in	ADP
arestyrurj-158	141	2	the	the	DET
arestyrurj-158	141	3	context	context	NOUN
arestyrurj-158	141	4	of	of	ADP
arestyrurj-158	141	5	the	the	DET
arestyrurj-158	141	6	problem	problem	NOUN
arestyrurj-158	141	7	,	,	PUNCT
arestyrurj-158	141	8	figure	figure	VERB
arestyrurj-158	141	9	6	6	NUM
arestyrurj-158	141	10	variables	variable	NOUN
arestyrurj-158	141	11	(	(	PUNCT
arestyrurj-158	141	12	x1	x1	PROPN
arestyrurj-158	141	13	and	and	CCONJ
arestyrurj-158	141	14	x2	x2	NUM
arestyrurj-158	141	15	)	)	PUNCT
arestyrurj-158	141	16	are	be	AUX
arestyrurj-158	141	17	the	the	DET
arestyrurj-158	141	18	wheel	wheel	NOUN
arestyrurj-158	141	19	’s	’s	PART
arestyrurj-158	141	20	angular	angular	ADJ
arestyrurj-158	141	21	velocity	velocity	NOUN
arestyrurj-158	141	22	and	and	CCONJ
arestyrurj-158	141	23	the	the	DET
arestyrurj-158	141	24	vehicle	vehicle	NOUN
arestyrurj-158	141	25	’s	’s	PART
arestyrurj-158	141	26	velocity	velocity	NOUN
arestyrurj-158	141	27	,	,	PUNCT
arestyrurj-158	141	28	respectively	respectively	ADV
arestyrurj-158	141	29	.	.	PUNCT
arestyrurj-158	142	1	these	these	DET
arestyrurj-158	142	2	variables	variable	NOUN
arestyrurj-158	142	3	are	be	AUX
arestyrurj-158	142	4	the	the	DET
arestyrurj-158	142	5	state	state	NOUN
arestyrurj-158	142	6	variables	variable	NOUN
arestyrurj-158	142	7	of	of	ADP
arestyrurj-158	142	8	the	the	DET
arestyrurj-158	142	9	system	system	NOUN
arestyrurj-158	142	10	because	because	SCONJ
arestyrurj-158	142	11	they	they	PRON
arestyrurj-158	142	12	are	be	AUX
arestyrurj-158	142	13	used	use	VERB
arestyrurj-158	142	14	to	to	PART
arestyrurj-158	142	15	calculate	calculate	VERB
arestyrurj-158	142	16	the	the	DET
arestyrurj-158	142	17	slip	slip	NOUN
arestyrurj-158	142	18	ratio	ratio	NOUN
arestyrurj-158	142	19	.	.	PUNCT
arestyrurj-158	143	1	similar	similar	ADJ
arestyrurj-158	143	2	to	to	ADP
arestyrurj-158	143	3	the	the	DET
arestyrurj-158	143	4	pid	pid	NOUN
arestyrurj-158	143	5	controller	controller	NOUN
arestyrurj-158	143	6	,	,	PUNCT
arestyrurj-158	143	7	the	the	DET
arestyrurj-158	143	8	sliding	slide	VERB
arestyrurj-158	143	9	mode	mode	NOUN
arestyrurj-158	143	10	controller	controller	NOUN
arestyrurj-158	143	11	has	have	VERB
arestyrurj-158	143	12	coefficients	coefficient	NOUN
arestyrurj-158	143	13	for	for	ADP
arestyrurj-158	143	14	tuning	tune	VERB
arestyrurj-158	143	15	.	.	PUNCT
arestyrurj-158	144	1	these	these	DET
arestyrurj-158	144	2	coefficients	coefficient	NOUN
arestyrurj-158	144	3	are	be	AUX
arestyrurj-158	144	4	involved	involve	VERB
arestyrurj-158	144	5	in	in	ADP
arestyrurj-158	144	6	the	the	DET
arestyrurj-158	144	7	equations	equation	NOUN
arestyrurj-158	144	8	for	for	ADP
arestyrurj-158	144	9	the	the	DET
arestyrurj-158	144	10	sliding	slide	VERB
arestyrurj-158	144	11	surface	surface	NOUN
arestyrurj-158	144	12	function	function	NOUN
arestyrurj-158	144	13	and	and	CCONJ
arestyrurj-158	144	14	the	the	DET
arestyrurj-158	144	15	control	control	NOUN
arestyrurj-158	144	16	input	input	NOUN
arestyrurj-158	144	17	function	function	NOUN
arestyrurj-158	144	18	.	.	PUNCT
arestyrurj-158	145	1	after	after	ADP
arestyrurj-158	145	2	modeling	model	VERB
arestyrurj-158	145	3	the	the	DET
arestyrurj-158	145	4	necessary	necessary	ADJ
arestyrurj-158	145	5	mechanisms	mechanism	NOUN
arestyrurj-158	145	6	for	for	ADP
arestyrurj-158	145	7	controlling	control	VERB
arestyrurj-158	145	8	slip	slip	NOUN
arestyrurj-158	145	9	,	,	PUNCT
arestyrurj-158	145	10	the	the	DET
arestyrurj-158	145	11	models	model	NOUN
arestyrurj-158	145	12	must	must	AUX
arestyrurj-158	145	13	be	be	AUX
arestyrurj-158	145	14	integrated	integrate	VERB
arestyrurj-158	145	15	into	into	ADP
arestyrurj-158	145	16	simulink	simulink	NOUN
arestyrurj-158	145	17	for	for	ADP
arestyrurj-158	145	18	creating	create	VERB
arestyrurj-158	145	19	the	the	DET
arestyrurj-158	145	20	simulations	simulation	NOUN
arestyrurj-158	145	21	.	.	PUNCT
arestyrurj-158	146	1	to	to	PART
arestyrurj-158	146	2	create	create	VERB
arestyrurj-158	146	3	the	the	DET
arestyrurj-158	146	4	negative	negative	ADJ
arestyrurj-158	146	5	feedback	feedback	NOUN
arestyrurj-158	146	6	system	system	NOUN
arestyrurj-158	146	7	,	,	PUNCT
arestyrurj-158	146	8	different	different	ADJ
arestyrurj-158	146	9	blocks	block	NOUN
arestyrurj-158	146	10	for	for	ADP
arestyrurj-158	146	11	mathematical	mathematical	ADJ
arestyrurj-158	146	12	computation	computation	NOUN
arestyrurj-158	146	13	are	be	AUX
arestyrurj-158	146	14	incorporated	incorporate	VERB
arestyrurj-158	146	15	to	to	PART
arestyrurj-158	146	16	create	create	VERB
arestyrurj-158	146	17	a	a	DET
arestyrurj-158	146	18	block	block	NOUN
arestyrurj-158	146	19	diagram	diagram	NOUN
arestyrurj-158	146	20	version	version	NOUN
arestyrurj-158	146	21	of	of	ADP
arestyrurj-158	146	22	the	the	DET
arestyrurj-158	146	23	equations	equation	NOUN
arestyrurj-158	146	24	for	for	ADP
arestyrurj-158	146	25	the	the	DET
arestyrurj-158	146	26	model	model	NOUN
arestyrurj-158	146	27	and	and	CCONJ
arestyrurj-158	146	28	controller	controller	NOUN
arestyrurj-158	146	29	.	.	PUNCT
arestyrurj-158	147	1	once	once	ADV
arestyrurj-158	147	2	all	all	DET
arestyrurj-158	147	3	the	the	DET
arestyrurj-158	147	4	coefficients	coefficient	NOUN
arestyrurj-158	147	5	and	and	CCONJ
arestyrurj-158	147	6	initial	initial	ADJ
arestyrurj-158	147	7	conditions	condition	NOUN
arestyrurj-158	147	8	have	have	AUX
arestyrurj-158	147	9	been	be	AUX
arestyrurj-158	147	10	inputted	inputte	VERB
arestyrurj-158	147	11	,	,	PUNCT
arestyrurj-158	147	12	the	the	DET
arestyrurj-158	147	13	simulation	simulation	NOUN
arestyrurj-158	147	14	can	can	AUX
arestyrurj-158	147	15	commence	commence	VERB
arestyrurj-158	147	16	.	.	PUNCT
arestyrurj-158	148	1	list	list	NOUN
arestyrurj-158	148	2	of	of	ADP
arestyrurj-158	148	3	relevant	relevant	ADJ
arestyrurj-158	148	4	terms	term	NOUN
arestyrurj-158	148	5	pid	pid	NOUN
arestyrurj-158	148	6	controller	controller	NOUN
arestyrurj-158	148	7	–	–	PUNCT
arestyrurj-158	148	8	proportional	proportional	ADJ
arestyrurj-158	148	9	-	-	PUNCT
arestyrurj-158	148	10	integral	integral	ADJ
arestyrurj-158	148	11	-	-	PUNCT
arestyrurj-158	148	12	derivative	derivative	ADJ
arestyrurj-158	148	13	controller	controller	NOUN
arestyrurj-158	148	14	.	.	PUNCT
arestyrurj-158	149	1	it	it	PRON
arestyrurj-158	149	2	uses	use	VERB
arestyrurj-158	149	3	a	a	DET
arestyrurj-158	149	4	balance	balance	NOUN
arestyrurj-158	149	5	of	of	ADP
arestyrurj-158	149	6	the	the	DET
arestyrurj-158	149	7	three	three	NUM
arestyrurj-158	149	8	to	to	PART
arestyrurj-158	149	9	minimize	minimize	VERB
arestyrurj-158	149	10	the	the	DET
arestyrurj-158	149	11	error	error	NOUN
arestyrurj-158	149	12	of	of	ADP
arestyrurj-158	149	13	the	the	DET
arestyrurj-158	149	14	control	control	NOUN
arestyrurj-158	149	15	system	system	NOUN
arestyrurj-158	149	16	.	.	PUNCT
arestyrurj-158	150	1	sliding	slide	VERB
arestyrurj-158	150	2	mode	mode	NOUN
arestyrurj-158	150	3	controller	controller	NOUN
arestyrurj-158	150	4	–	–	PUNCT
arestyrurj-158	150	5	a	a	DET
arestyrurj-158	150	6	nonlinear	nonlinear	ADJ
arestyrurj-158	150	7	control	control	NOUN
arestyrurj-158	150	8	method	method	NOUN
arestyrurj-158	150	9	that	that	PRON
arestyrurj-158	150	10	alters	alter	VERB
arestyrurj-158	150	11	the	the	DET
arestyrurj-158	150	12	dynamics	dynamic	NOUN
arestyrurj-158	150	13	of	of	ADP
arestyrurj-158	150	14	a	a	DET
arestyrurj-158	150	15	system	system	NOUN
arestyrurj-158	150	16	with	with	ADP
arestyrurj-158	150	17	a	a	DET
arestyrurj-158	150	18	discontinuous	discontinuous	ADJ
arestyrurj-158	150	19	control	control	NOUN
arestyrurj-158	150	20	signal	signal	NOUN
arestyrurj-158	150	21	that	that	SCONJ
arestyrurj-158	150	22	forces	force	VERB
arestyrurj-158	150	23	the	the	DET
arestyrurj-158	150	24	system	system	NOUN
arestyrurj-158	150	25	to	to	PART
arestyrurj-158	150	26	“	"	PUNCT
arestyrurj-158	150	27	slide	slide	NOUN
arestyrurj-158	150	28	”	"	PUNCT
arestyrurj-158	150	29	along	along	ADP
arestyrurj-158	150	30	a	a	DET
arestyrurj-158	150	31	function	function	NOUN
arestyrurj-158	150	32	that	that	PRON
arestyrurj-158	150	33	minimizes	minimize	VERB
arestyrurj-158	150	34	the	the	DET
arestyrurj-158	150	35	error	error	NOUN
arestyrurj-158	150	36	.	.	PUNCT
arestyrurj-158	151	1	sliding	slide	VERB
arestyrurj-158	151	2	surface	surface	NOUN
arestyrurj-158	151	3	–	–	PUNCT
arestyrurj-158	151	4	the	the	DET
arestyrurj-158	151	5	bounded	bounded	ADJ
arestyrurj-158	151	6	function	function	NOUN
arestyrurj-158	151	7	in	in	ADP
arestyrurj-158	151	8	which	which	PRON
arestyrurj-158	151	9	the	the	DET
arestyrurj-158	151	10	sliding	slide	VERB
arestyrurj-158	151	11	mode	mode	NOUN
arestyrurj-158	151	12	controller	controller	NOUN
arestyrurj-158	151	13	forces	force	VERB
arestyrurj-158	151	14	the	the	DET
arestyrurj-158	151	15	system	system	NOUN
arestyrurj-158	151	16	onto	onto	ADP
arestyrurj-158	151	17	.	.	PUNCT
arestyrurj-158	152	1	control	control	NOUN
arestyrurj-158	152	2	input	input	NOUN
arestyrurj-158	152	3	–	–	PUNCT
arestyrurj-158	152	4	the	the	DET
arestyrurj-158	152	5	manipulated	manipulate	VERB
arestyrurj-158	152	6	discontinuous	discontinuous	ADJ
arestyrurj-158	152	7	signal	signal	NOUN
arestyrurj-158	152	8	that	that	PRON
arestyrurj-158	152	9	forces	force	VERB
arestyrurj-158	152	10	the	the	DET
arestyrurj-158	152	11	system	system	NOUN
arestyrurj-158	152	12	onto	onto	ADP
arestyrurj-158	152	13	the	the	DET
arestyrurj-158	152	14	sliding	slide	VERB
arestyrurj-158	152	15	surface	surface	NOUN
arestyrurj-158	152	16	.	.	PUNCT
arestyrurj-158	153	1	tuning	tune	VERB
arestyrurj-158	153	2	–	–	PUNCT
arestyrurj-158	153	3	the	the	DET
arestyrurj-158	153	4	way	way	NOUN
arestyrurj-158	153	5	a	a	DET
arestyrurj-158	153	6	control	control	NOUN
arestyrurj-158	153	7	method	method	NOUN
arestyrurj-158	153	8	is	be	AUX
arestyrurj-158	153	9	customized	customize	VERB
arestyrurj-158	153	10	for	for	ADP
arestyrurj-158	153	11	the	the	DET
arestyrurj-158	153	12	appropriate	appropriate	ADJ
arestyrurj-158	153	13	scenario	scenario	NOUN
arestyrurj-158	153	14	.	.	PUNCT
arestyrurj-158	154	1	state	state	NOUN
arestyrurj-158	154	2	variables	variable	NOUN
arestyrurj-158	154	3	–	–	PUNCT
arestyrurj-158	154	4	variables	variable	NOUN
arestyrurj-158	154	5	that	that	PRON
arestyrurj-158	154	6	describe	describe	VERB
arestyrurj-158	154	7	the	the	DET
arestyrurj-158	154	8	mathematical	mathematical	ADJ
arestyrurj-158	154	9	state	state	NOUN
arestyrurj-158	154	10	of	of	ADP
arestyrurj-158	154	11	the	the	DET
arestyrurj-158	154	12	dynamical	dynamical	ADJ
arestyrurj-158	154	13	system	system	NOUN
arestyrurj-158	154	14	.	.	PUNCT
arestyrurj-158	155	1	4	4	NUM
arestyrurj-158	155	2	results	result	VERB
arestyrurj-158	155	3	the	the	DET
arestyrurj-158	155	4	results	result	NOUN
arestyrurj-158	155	5	for	for	ADP
arestyrurj-158	155	6	the	the	DET
arestyrurj-158	155	7	preliminary	preliminary	ADJ
arestyrurj-158	155	8	pacejka	pacejka	PROPN
arestyrurj-158	155	9	model	model	PROPN
arestyrurj-158	155	10	simulation	simulation	PROPN
arestyrurj-158	155	11	showed	show	VERB
arestyrurj-158	155	12	the	the	DET
arestyrurj-158	155	13	working	work	VERB
arestyrurj-158	155	14	pid	pid	NOUN
arestyrurj-158	155	15	controller	controller	NOUN
arestyrurj-158	155	16	and	and	CCONJ
arestyrurj-158	155	17	different	different	ADJ
arestyrurj-158	155	18	traction	traction	NOUN
arestyrurj-158	155	19	control	control	NOUN
arestyrurj-158	155	20	responses	response	NOUN
arestyrurj-158	155	21	for	for	ADP
arestyrurj-158	155	22	each	each	PRON
arestyrurj-158	155	23	of	of	ADP
arestyrurj-158	155	24	the	the	DET
arestyrurj-158	155	25	terrains	terrain	NOUN
arestyrurj-158	155	26	:	:	PUNCT
arestyrurj-158	155	27	dry	dry	ADJ
arestyrurj-158	155	28	asphalt	asphalt	NOUN
arestyrurj-158	155	29	,	,	PUNCT
arestyrurj-158	155	30	wet	wet	ADJ
arestyrurj-158	155	31	asphalt	asphalt	NOUN
arestyrurj-158	155	32	,	,	PUNCT
arestyrurj-158	155	33	concrete	concrete	ADJ
arestyrurj-158	155	34	,	,	PUNCT
arestyrurj-158	155	35	snow	snow	NOUN
arestyrurj-158	155	36	,	,	PUNCT
arestyrurj-158	155	37	and	and	CCONJ
arestyrurj-158	155	38	ice	ice	NOUN
arestyrurj-158	155	39	.	.	PUNCT
arestyrurj-158	156	1	the	the	DET
arestyrurj-158	156	2	desired	desire	VERB
arestyrurj-158	156	3	slip	slip	NOUN
arestyrurj-158	156	4	ratio	ratio	NOUN
arestyrurj-158	156	5	was	be	AUX
arestyrurj-158	156	6	different	different	ADJ
arestyrurj-158	156	7	for	for	ADP
arestyrurj-158	156	8	the	the	DET
arestyrurj-158	156	9	terrains	terrain	NOUN
arestyrurj-158	156	10	.	.	PUNCT
arestyrurj-158	157	1	the	the	DET
arestyrurj-158	157	2	value	value	NOUN
arestyrurj-158	157	3	was	be	AUX
arestyrurj-158	157	4	determined	determine	VERB
arestyrurj-158	157	5	by	by	ADP
arestyrurj-158	157	6	maximizing	maximize	VERB
arestyrurj-158	157	7	the	the	DET
arestyrurj-158	157	8	driving	drive	VERB
arestyrurj-158	157	9	force	force	NOUN
arestyrurj-158	157	10	using	use	VERB
arestyrurj-158	157	11	the	the	DET
arestyrurj-158	157	12	pacejka	pacejka	NOUN
arestyrurj-158	157	13	’s	’s	PART
arestyrurj-158	157	14	magic	magic	ADJ
arestyrurj-158	157	15	tire	tire	NOUN
arestyrurj-158	157	16	formula	formula	NOUN
arestyrurj-158	157	17	.	.	PUNCT
arestyrurj-158	158	1	when	when	SCONJ
arestyrurj-158	158	2	looking	look	VERB
arestyrurj-158	158	3	at	at	ADP
arestyrurj-158	158	4	the	the	DET
arestyrurj-158	158	5	plots	plot	NOUN
arestyrurj-158	158	6	,	,	PUNCT
arestyrurj-158	158	7	it	it	PRON
arestyrurj-158	158	8	is	be	AUX
arestyrurj-158	158	9	evident	evident	ADJ
arestyrurj-158	158	10	that	that	SCONJ
arestyrurj-158	158	11	the	the	DET
arestyrurj-158	158	12	pid	pid	NOUN
arestyrurj-158	158	13	controller	controller	NOUN
arestyrurj-158	158	14	overshoots	overshoot	NOUN
arestyrurj-158	158	15	the	the	DET
arestyrurj-158	158	16	desired	desire	VERB
arestyrurj-158	158	17	slip	slip	NOUN
arestyrurj-158	158	18	ratio	ratio	NOUN
arestyrurj-158	158	19	.	.	PUNCT
arestyrurj-158	159	1	additionally	additionally	ADV
arestyrurj-158	159	2	,	,	PUNCT
arestyrurj-158	159	3	the	the	DET
arestyrurj-158	159	4	oscillations	oscillation	NOUN
arestyrurj-158	159	5	in	in	ADP
arestyrurj-158	159	6	the	the	DET
arestyrurj-158	159	7	response	response	NOUN
arestyrurj-158	159	8	are	be	AUX
arestyrurj-158	159	9	not	not	PART
arestyrurj-158	159	10	minimized	minimize	VERB
arestyrurj-158	159	11	.	.	PUNCT
arestyrurj-158	160	1	when	when	SCONJ
arestyrurj-158	160	2	comparing	compare	VERB
arestyrurj-158	160	3	the	the	DET
arestyrurj-158	160	4	different	different	ADJ
arestyrurj-158	160	5	responses	response	NOUN
arestyrurj-158	160	6	,	,	PUNCT
arestyrurj-158	160	7	the	the	DET
arestyrurj-158	160	8	pid	pid	NOUN
arestyrurj-158	160	9	’s	’s	PART
arestyrurj-158	160	10	response	response	NOUN
arestyrurj-158	160	11	for	for	ADP
arestyrurj-158	160	12	ice	ice	NOUN
arestyrurj-158	160	13	had	have	VERB
arestyrurj-158	160	14	more	more	ADJ
arestyrurj-158	160	15	oscillations	oscillation	NOUN
arestyrurj-158	160	16	at	at	ADP
arestyrurj-158	160	17	a	a	DET
arestyrurj-158	160	18	higher	high	ADJ
arestyrurj-158	160	19	frequency	frequency	NOUN
arestyrurj-158	160	20	.	.	PUNCT
arestyrurj-158	161	1	this	this	PRON
arestyrurj-158	161	2	shows	show	VERB
arestyrurj-158	161	3	the	the	DET
arestyrurj-158	161	4	lack	lack	NOUN
arestyrurj-158	161	5	of	of	ADP
arestyrurj-158	161	6	robustness	robustness	NOUN
arestyrurj-158	161	7	for	for	ADP
arestyrurj-158	161	8	the	the	DET
arestyrurj-158	161	9	pid	pid	NOUN
arestyrurj-158	161	10	controller	controller	NOUN
arestyrurj-158	161	11	.	.	PUNCT
arestyrurj-158	162	1	the	the	DET
arestyrurj-158	162	2	rise	rise	NOUN
arestyrurj-158	162	3	and	and	CCONJ
arestyrurj-158	162	4	settling	settle	VERB
arestyrurj-158	162	5	time	time	NOUN
arestyrurj-158	162	6	for	for	ADP
arestyrurj-158	162	7	the	the	DET
arestyrurj-158	162	8	plots	plot	NOUN
arestyrurj-158	162	9	were	be	AUX
arestyrurj-158	162	10	nearly	nearly	ADV
arestyrurj-158	162	11	identical	identical	ADJ
arestyrurj-158	162	12	for	for	ADP
arestyrurj-158	162	13	the	the	DET
arestyrurj-158	162	14	five	five	NUM
arestyrurj-158	162	15	terrains	terrain	NOUN
arestyrurj-158	162	16	.	.	PUNCT
arestyrurj-158	163	1	these	these	DET
arestyrurj-158	163	2	preliminary	preliminary	ADJ
arestyrurj-158	163	3	results	result	NOUN
arestyrurj-158	163	4	were	be	AUX
arestyrurj-158	163	5	useful	useful	ADJ
arestyrurj-158	163	6	to	to	PART
arestyrurj-158	163	7	see	see	VERB
arestyrurj-158	163	8	the	the	DET
arestyrurj-158	163	9	behavior	behavior	NOUN
arestyrurj-158	163	10	of	of	ADP
arestyrurj-158	163	11	the	the	DET
arestyrurj-158	163	12	pid	pid	NOUN
arestyrurj-158	163	13	for	for	ADP
arestyrurj-158	163	14	the	the	DET
arestyrurj-158	163	15	simulated	simulated	ADJ
arestyrurj-158	163	16	wheel	wheel	NOUN
arestyrurj-158	163	17	and	and	CCONJ
arestyrurj-158	163	18	vehicle	vehicle	NOUN
arestyrurj-158	163	19	.	.	PUNCT
arestyrurj-158	164	1	in	in	ADP
arestyrurj-158	164	2	addition	addition	NOUN
arestyrurj-158	164	3	,	,	PUNCT
arestyrurj-158	164	4	these	these	DET
arestyrurj-158	164	5	results	result	NOUN
arestyrurj-158	164	6	already	already	ADV
arestyrurj-158	164	7	show	show	VERB
arestyrurj-158	164	8	the	the	DET
arestyrurj-158	164	9	limitations	limitation	NOUN
arestyrurj-158	164	10	of	of	ADP
arestyrurj-158	164	11	the	the	DET
arestyrurj-158	164	12	pid	pid	NOUN
arestyrurj-158	164	13	controller	controller	NOUN
arestyrurj-158	164	14	for	for	ADP
arestyrurj-158	164	15	a	a	DET
arestyrurj-158	164	16	simpler	simple	ADJ
arestyrurj-158	164	17	terrain	terrain	NOUN
arestyrurj-158	164	18	model	model	NOUN
arestyrurj-158	164	19	represented	represent	VERB
arestyrurj-158	164	20	by	by	ADP
arestyrurj-158	164	21	the	the	DET
arestyrurj-158	164	22	overshoot	overshoot	NOUN
arestyrurj-158	164	23	and	and	CCONJ
arestyrurj-158	164	24	oscillations	oscillation	NOUN
arestyrurj-158	164	25	.	.	PUNCT
arestyrurj-158	165	1	the	the	DET
arestyrurj-158	165	2	main	main	ADJ
arestyrurj-158	165	3	results	result	NOUN
arestyrurj-158	165	4	of	of	ADP
arestyrurj-158	165	5	this	this	DET
arestyrurj-158	165	6	project	project	NOUN
arestyrurj-158	165	7	illustrate	illustrate	VERB
arestyrurj-158	165	8	how	how	SCONJ
arestyrurj-158	165	9	a	a	DET
arestyrurj-158	165	10	sliding	slide	VERB
arestyrurj-158	165	11	mode	mode	NOUN
arestyrurj-158	165	12	-	-	PUNCT
arestyrurj-158	165	13	based	base	VERB
arestyrurj-158	165	14	traction	traction	NOUN
arestyrurj-158	165	15	control	control	NOUN
arestyrurj-158	165	16	system	system	NOUN
arestyrurj-158	165	17	works	work	VERB
arestyrurj-158	165	18	on	on	ADP
arestyrurj-158	165	19	a	a	DET
arestyrurj-158	165	20	simplified	simplified	ADJ
arestyrurj-158	165	21	martian	martian	ADJ
arestyrurj-158	165	22	terrain	terrain	NOUN
arestyrurj-158	165	23	using	use	VERB
arestyrurj-158	165	24	a	a	DET
arestyrurj-158	165	25	deformable	deformable	ADJ
arestyrurj-158	165	26	soil	soil	NOUN
arestyrurj-158	165	27	-	-	PUNCT
arestyrurj-158	165	28	rigid	rigid	ADJ
arestyrurj-158	165	29	tire	tire	NOUN
arestyrurj-158	165	30	model	model	NOUN
arestyrurj-158	165	31	.	.	PUNCT
arestyrurj-158	166	1	the	the	DET
arestyrurj-158	166	2	sliding	slide	VERB
arestyrurj-158	166	3	mode	mode	NOUN
arestyrurj-158	166	4	controller	controller	NOUN
arestyrurj-158	166	5	outperformed	outperform	VERB
arestyrurj-158	166	6	the	the	DET
arestyrurj-158	166	7	pid	pid	NOUN
arestyrurj-158	166	8	controller	controller	NOUN
arestyrurj-158	166	9	in	in	ADP
arestyrurj-158	166	10	stabilizing	stabilize	VERB
arestyrurj-158	166	11	the	the	DET
arestyrurj-158	166	12	slip	slip	NOUN
arestyrurj-158	166	13	ratio	ratio	NOUN
arestyrurj-158	166	14	to	to	ADP
arestyrurj-158	166	15	a	a	DET
arestyrurj-158	166	16	value	value	NOUN
arestyrurj-158	166	17	of	of	ADP
arestyrurj-158	166	18	0.16	0.16	NUM
arestyrurj-158	166	19	.	.	PUNCT
arestyrurj-158	167	1	looking	look	VERB
arestyrurj-158	167	2	at	at	ADP
arestyrurj-158	167	3	the	the	DET
arestyrurj-158	167	4	step	step	NOUN
arestyrurj-158	167	5	responses	response	NOUN
arestyrurj-158	167	6	,	,	PUNCT
arestyrurj-158	167	7	the	the	DET
arestyrurj-158	167	8	sliding	slide	VERB
arestyrurj-158	167	9	mode	mode	NOUN
arestyrurj-158	167	10	controller	controller	NOUN
arestyrurj-158	167	11	did	do	AUX
arestyrurj-158	167	12	not	not	PART
arestyrurj-158	167	13	overshoot	overshoot	VERB
arestyrurj-158	167	14	the	the	DET
arestyrurj-158	167	15	desired	desire	VERB
arestyrurj-158	167	16	value	value	NOUN
arestyrurj-158	167	17	,	,	PUNCT
arestyrurj-158	167	18	while	while	SCONJ
arestyrurj-158	167	19	the	the	DET
arestyrurj-158	167	20	pid	pid	NOUN
arestyrurj-158	167	21	did	do	VERB
arestyrurj-158	167	22	.	.	PUNCT
arestyrurj-158	168	1	in	in	ADP
arestyrurj-158	168	2	addition	addition	NOUN
arestyrurj-158	168	3	,	,	PUNCT
arestyrurj-158	168	4	the	the	DET
arestyrurj-158	168	5	response	response	NOUN
arestyrurj-158	168	6	of	of	ADP
arestyrurj-158	168	7	the	the	DET
arestyrurj-158	168	8	sliding	slide	VERB
arestyrurj-158	168	9	mode	mode	NOUN
arestyrurj-158	168	10	controller	controller	NOUN
arestyrurj-158	168	11	was	be	AUX
arestyrurj-158	168	12	critically	critically	ADV
arestyrurj-158	168	13	damped	damp	VERB
arestyrurj-158	168	14	,	,	PUNCT
arestyrurj-158	168	15	which	which	PRON
arestyrurj-158	168	16	was	be	AUX
arestyrurj-158	168	17	ideal	ideal	ADJ
arestyrurj-158	168	18	.	.	PUNCT
arestyrurj-158	169	1	the	the	DET
arestyrurj-158	169	2	initial	initial	ADJ
arestyrurj-158	169	3	response	response	NOUN
arestyrurj-158	169	4	for	for	ADP
arestyrurj-158	169	5	the	the	DET
arestyrurj-158	169	6	sliding	slide	VERB
arestyrurj-158	169	7	mode	mode	NOUN
arestyrurj-158	169	8	controller	controller	NOUN
arestyrurj-158	169	9	was	be	AUX
arestyrurj-158	169	10	also	also	ADV
arestyrurj-158	169	11	faster	fast	ADJ
arestyrurj-158	169	12	,	,	PUNCT
arestyrurj-158	169	13	which	which	PRON
arestyrurj-158	169	14	is	be	AUX
arestyrurj-158	169	15	desirable	desirable	ADJ
arestyrurj-158	169	16	for	for	ADP
arestyrurj-158	169	17	a	a	DET
arestyrurj-158	169	18	traction	traction	NOUN
arestyrurj-158	169	19	control	control	NOUN
arestyrurj-158	169	20	system	system	NOUN
arestyrurj-158	169	21	.	.	PUNCT
arestyrurj-158	170	1	this	this	PRON
arestyrurj-158	170	2	is	be	AUX
arestyrurj-158	170	3	evident	evident	ADJ
arestyrurj-158	170	4	in	in	ADP
arestyrurj-158	170	5	the	the	DET
arestyrurj-158	170	6	faster	fast	ADJ
arestyrurj-158	170	7	settling	settling	NOUN
arestyrurj-158	170	8	time	time	NOUN
arestyrurj-158	170	9	,	,	PUNCT
arestyrurj-158	170	10	which	which	PRON
arestyrurj-158	170	11	was	be	AUX
arestyrurj-158	170	12	reduced	reduce	VERB
arestyrurj-158	170	13	by	by	ADP
arestyrurj-158	170	14	around	around	ADP
arestyrurj-158	170	15	a	a	DET
arestyrurj-158	170	16	factor	factor	NOUN
arestyrurj-158	170	17	of	of	ADP
arestyrurj-158	170	18	7	7	NUM
arestyrurj-158	170	19	(	(	PUNCT
arestyrurj-158	170	20	decreased	decrease	VERB
arestyrurj-158	170	21	from	from	ADP
arestyrurj-158	170	22	0.7	0.7	NUM
arestyrurj-158	170	23	to	to	PART
arestyrurj-158	170	24	0.1	0.1	NUM
arestyrurj-158	170	25	seconds	second	NOUN
arestyrurj-158	170	26	)	)	PUNCT
arestyrurj-158	170	27	.	.	PUNCT
arestyrurj-158	171	1	additionally	additionally	ADV
arestyrurj-158	171	2	,	,	PUNCT
arestyrurj-158	171	3	the	the	DET
arestyrurj-158	171	4	rise	rise	NOUN
arestyrurj-158	171	5	time	time	NOUN
arestyrurj-158	171	6	was	be	AUX
arestyrurj-158	171	7	reduced	reduce	VERB
arestyrurj-158	171	8	by	by	ADP
arestyrurj-158	171	9	around	around	ADP
arestyrurj-158	171	10	a	a	DET
arestyrurj-158	171	11	factor	factor	NOUN
arestyrurj-158	171	12	of	of	ADP
arestyrurj-158	171	13	3	3	NUM
arestyrurj-158	171	14	.	.	PUNCT
arestyrurj-158	171	15	looking	look	VERB
arestyrurj-158	171	16	at	at	ADP
arestyrurj-158	171	17	the	the	DET
arestyrurj-158	171	18	tracking	tracking	NOUN
arestyrurj-158	171	19	error	error	NOUN
arestyrurj-158	171	20	plots	plot	NOUN
arestyrurj-158	171	21	,	,	PUNCT
arestyrurj-158	171	22	the	the	DET
arestyrurj-158	171	23	error	error	NOUN
arestyrurj-158	171	24	for	for	ADP
arestyrurj-158	171	25	the	the	DET
arestyrurj-158	171	26	sliding	slide	VERB
arestyrurj-158	171	27	mode	mode	NOUN
arestyrurj-158	171	28	controller	controller	NOUN
arestyrurj-158	171	29	response	response	NOUN
arestyrurj-158	171	30	shows	show	VERB
arestyrurj-158	171	31	a	a	DET
arestyrurj-158	171	32	single	single	ADJ
arestyrurj-158	171	33	peak	peak	NOUN
arestyrurj-158	171	34	with	with	ADP
arestyrurj-158	171	35	a	a	DET
arestyrurj-158	171	36	very	very	ADV
arestyrurj-158	171	37	small	small	ADJ
arestyrurj-158	171	38	width	width	NOUN
arestyrurj-158	171	39	.	.	PUNCT
arestyrurj-158	172	1	the	the	DET
arestyrurj-158	172	2	same	same	ADJ
arestyrurj-158	172	3	peak	peak	NOUN
arestyrurj-158	172	4	is	be	AUX
arestyrurj-158	172	5	evident	evident	ADJ
arestyrurj-158	172	6	in	in	ADP
arestyrurj-158	172	7	the	the	DET
arestyrurj-158	172	8	pid	pid	NOUN
arestyrurj-158	172	9	response	response	NOUN
arestyrurj-158	172	10	,	,	PUNCT
arestyrurj-158	172	11	but	but	CCONJ
arestyrurj-158	172	12	it	it	PRON
arestyrurj-158	172	13	is	be	AUX
arestyrurj-158	172	14	wider	wide	ADJ
arestyrurj-158	172	15	.	.	PUNCT
arestyrurj-158	173	1	this	this	PRON
arestyrurj-158	173	2	means	mean	VERB
arestyrurj-158	173	3	the	the	DET
arestyrurj-158	173	4	width	width	NOUN
arestyrurj-158	173	5	of	of	ADP
arestyrurj-158	173	6	the	the	DET
arestyrurj-158	173	7	initial	initial	ADJ
arestyrurj-158	173	8	error	error	NOUN
arestyrurj-158	173	9	pulse	pulse	NOUN
arestyrurj-158	173	10	is	be	AUX
arestyrurj-158	173	11	significantly	significantly	ADV
arestyrurj-158	173	12	reduced	reduce	VERB
arestyrurj-158	173	13	.	.	PUNCT
arestyrurj-158	174	1	this	this	PRON
arestyrurj-158	174	2	further	further	ADJ
arestyrurj-158	174	3	supports	support	VERB
arestyrurj-158	174	4	that	that	SCONJ
arestyrurj-158	174	5	the	the	DET
arestyrurj-158	174	6	sliding	slide	VERB
arestyrurj-158	174	7	mode	mode	NOUN
arestyrurj-158	174	8	controller	controller	NOUN
arestyrurj-158	174	9	has	have	VERB
arestyrurj-158	174	10	better	well	ADJ
arestyrurj-158	174	11	performance	performance	NOUN
arestyrurj-158	174	12	for	for	ADP
arestyrurj-158	174	13	minimizing	minimize	VERB
arestyrurj-158	174	14	the	the	DET
arestyrurj-158	174	15	error	error	NOUN
arestyrurj-158	174	16	.	.	PUNCT
arestyrurj-158	175	1	to	to	PART
arestyrurj-158	175	2	finalize	finalize	VERB
arestyrurj-158	175	3	,	,	PUNCT
arestyrurj-158	175	4	the	the	DET
arestyrurj-158	175	5	sliding	slide	VERB
arestyrurj-158	175	6	mode	mode	NOUN
arestyrurj-158	175	7	controller	controller	NOUN
arestyrurj-158	175	8	is	be	AUX
arestyrurj-158	175	9	more	more	ADV
arestyrurj-158	175	10	practical	practical	ADJ
arestyrurj-158	175	11	for	for	ADP
arestyrurj-158	175	12	a	a	DET
arestyrurj-158	175	13	physical	physical	ADJ
arestyrurj-158	175	14	rover	rover	NOUN
arestyrurj-158	175	15	because	because	SCONJ
arestyrurj-158	175	16	of	of	ADP
arestyrurj-158	175	17	its	its	PRON
arestyrurj-158	175	18	faster	fast	ADJ
arestyrurj-158	175	19	and	and	CCONJ
arestyrurj-158	175	20	more	more	ADV
arestyrurj-158	175	21	efficient	efficient	ADJ
arestyrurj-158	175	22	response	response	NOUN
arestyrurj-158	175	23	.	.	PUNCT
arestyrurj-158	176	1	aresty	aresty	ADJ
arestyrurj-158	176	2	rutgers	rutgers	PROPN
arestyrurj-158	176	3	undergraduate	undergraduate	PROPN
arestyrurj-158	176	4	research	research	PROPN
arestyrurj-158	176	5	journal	journal	PROPN
arestyrurj-158	176	6	,	,	PUNCT
arestyrurj-158	176	7	volume	volume	NOUN
arestyrurj-158	176	8	i	i	PRON
arestyrurj-158	176	9	,	,	PUNCT
arestyrurj-158	176	10	issue	issue	NOUN
arestyrurj-158	176	11	ii	ii	NUM
arestyrurj-158	176	12	figure	figure	NOUN
arestyrurj-158	176	13	8	8	NUM
arestyrurj-158	176	14	:	:	PUNCT
arestyrurj-158	176	15	preliminary	preliminary	ADJ
arestyrurj-158	176	16	pid	pid	NOUN
arestyrurj-158	176	17	with	with	ADP
arestyrurj-158	176	18	pacejka	pacejka	PROPN
arestyrurj-158	176	19	’s	’s	PART
arestyrurj-158	176	20	magic	magic	ADJ
arestyrurj-158	176	21	tire	tire	NOUN
arestyrurj-158	176	22	formula	formula	NOUN
arestyrurj-158	176	23	for	for	ADP
arestyrurj-158	176	24	dry	dry	ADJ
arestyrurj-158	176	25	asphalt	asphalt	NOUN
arestyrurj-158	176	26	.	.	PUNCT
arestyrurj-158	177	1	description	description	NOUN
arestyrurj-158	177	2	:	:	PUNCT
arestyrurj-158	177	3	the	the	DET
arestyrurj-158	177	4	plot	plot	NOUN
arestyrurj-158	177	5	shows	show	VERB
arestyrurj-158	177	6	the	the	DET
arestyrurj-158	177	7	slip	slip	NOUN
arestyrurj-158	177	8	ratio	ratio	NOUN
arestyrurj-158	177	9	being	be	AUX
arestyrurj-158	177	10	controlled	control	VERB
arestyrurj-158	177	11	to	to	PART
arestyrurj-158	177	12	achieve	achieve	VERB
arestyrurj-158	177	13	the	the	DET
arestyrurj-158	177	14	desired	desire	VERB
arestyrurj-158	177	15	value	value	NOUN
arestyrurj-158	177	16	for	for	ADP
arestyrurj-158	177	17	dry	dry	ADJ
arestyrurj-158	177	18	asphalt	asphalt	NOUN
arestyrurj-158	177	19	.	.	PUNCT
arestyrurj-158	178	1	figure	figure	NOUN
arestyrurj-158	178	2	9	9	NUM
arestyrurj-158	178	3	:	:	PUNCT
arestyrurj-158	178	4	preliminary	preliminary	ADJ
arestyrurj-158	178	5	pid	pid	NOUN
arestyrurj-158	178	6	with	with	ADP
arestyrurj-158	178	7	pacejka	pacejka	PROPN
arestyrurj-158	178	8	’s	’s	PART
arestyrurj-158	178	9	magic	magic	ADJ
arestyrurj-158	178	10	tire	tire	NOUN
arestyrurj-158	178	11	formula	formula	NOUN
arestyrurj-158	178	12	for	for	ADP
arestyrurj-158	178	13	wet	wet	ADJ
arestyrurj-158	178	14	asphalt	asphalt	NOUN
arestyrurj-158	178	15	.	.	PUNCT
arestyrurj-158	179	1	description	description	NOUN
arestyrurj-158	179	2	:	:	PUNCT
arestyrurj-158	179	3	the	the	DET
arestyrurj-158	179	4	plot	plot	NOUN
arestyrurj-158	179	5	shows	show	VERB
arestyrurj-158	179	6	the	the	DET
arestyrurj-158	179	7	slip	slip	NOUN
arestyrurj-158	179	8	ratio	ratio	NOUN
arestyrurj-158	179	9	being	be	AUX
arestyrurj-158	179	10	controlled	control	VERB
arestyrurj-158	179	11	to	to	PART
arestyrurj-158	179	12	achieve	achieve	VERB
arestyrurj-158	179	13	the	the	DET
arestyrurj-158	179	14	desired	desire	VERB
arestyrurj-158	179	15	value	value	NOUN
arestyrurj-158	179	16	for	for	ADP
arestyrurj-158	179	17	wet	wet	ADJ
arestyrurj-158	179	18	asphalt	asphalt	NOUN
arestyrurj-158	179	19	.	.	PUNCT
arestyrurj-158	180	1	figure	figure	NOUN
arestyrurj-158	180	2	10	10	NUM
arestyrurj-158	180	3	:	:	PUNCT
arestyrurj-158	180	4	preliminary	preliminary	ADJ
arestyrurj-158	180	5	pid	pid	NOUN
arestyrurj-158	180	6	with	with	ADP
arestyrurj-158	180	7	pacejka	pacejka	PROPN
arestyrurj-158	180	8	’s	’s	PART
arestyrurj-158	180	9	magic	magic	ADJ
arestyrurj-158	180	10	tire	tire	NOUN
arestyrurj-158	180	11	formula	formula	NOUN
arestyrurj-158	180	12	for	for	ADP
arestyrurj-158	180	13	dry	dry	ADJ
arestyrurj-158	180	14	concrete	concrete	NOUN
arestyrurj-158	180	15	.	.	PUNCT
arestyrurj-158	181	1	description	description	NOUN
arestyrurj-158	181	2	:	:	PUNCT
arestyrurj-158	181	3	the	the	DET
arestyrurj-158	181	4	plot	plot	NOUN
arestyrurj-158	181	5	shows	show	VERB
arestyrurj-158	181	6	the	the	DET
arestyrurj-158	181	7	slip	slip	NOUN
arestyrurj-158	181	8	ratio	ratio	NOUN
arestyrurj-158	181	9	being	be	AUX
arestyrurj-158	181	10	controlled	control	VERB
arestyrurj-158	181	11	to	to	PART
arestyrurj-158	181	12	achieve	achieve	VERB
arestyrurj-158	181	13	the	the	DET
arestyrurj-158	181	14	desired	desire	VERB
arestyrurj-158	181	15	value	value	NOUN
arestyrurj-158	181	16	for	for	ADP
arestyrurj-158	181	17	dry	dry	ADJ
arestyrurj-158	181	18	concrete	concrete	NOUN
arestyrurj-158	181	19	.	.	PUNCT
arestyrurj-158	182	1	figure	figure	NOUN
arestyrurj-158	182	2	11	11	NUM
arestyrurj-158	182	3	:	:	PUNCT
arestyrurj-158	182	4	preliminary	preliminary	ADJ
arestyrurj-158	182	5	pid	pid	NOUN
arestyrurj-158	182	6	with	with	ADP
arestyrurj-158	182	7	pacejka	pacejka	PROPN
arestyrurj-158	182	8	’s	’s	PART
arestyrurj-158	182	9	magic	magic	ADJ
arestyrurj-158	182	10	tire	tire	NOUN
arestyrurj-158	182	11	formula	formula	NOUN
arestyrurj-158	182	12	for	for	ADP
arestyrurj-158	182	13	ice	ice	NOUN
arestyrurj-158	182	14	.	.	PUNCT
arestyrurj-158	183	1	description	description	NOUN
arestyrurj-158	183	2	:	:	PUNCT
arestyrurj-158	183	3	the	the	DET
arestyrurj-158	183	4	plot	plot	NOUN
arestyrurj-158	183	5	shows	show	VERB
arestyrurj-158	183	6	the	the	DET
arestyrurj-158	183	7	slip	slip	NOUN
arestyrurj-158	183	8	ratio	ratio	NOUN
arestyrurj-158	183	9	being	be	AUX
arestyrurj-158	183	10	controlled	control	VERB
arestyrurj-158	183	11	to	to	PART
arestyrurj-158	183	12	achieve	achieve	VERB
arestyrurj-158	183	13	the	the	DET
arestyrurj-158	183	14	desired	desire	VERB
arestyrurj-158	183	15	value	value	NOUN
arestyrurj-158	183	16	for	for	ADP
arestyrurj-158	183	17	ice	ice	NOUN
arestyrurj-158	183	18	.	.	PUNCT
arestyrurj-158	184	1	figure	figure	NOUN
arestyrurj-158	184	2	12	12	NUM
arestyrurj-158	184	3	:	:	PUNCT
arestyrurj-158	184	4	preliminary	preliminary	ADJ
arestyrurj-158	184	5	pid	pid	NOUN
arestyrurj-158	184	6	with	with	ADP
arestyrurj-158	184	7	pacejka	pacejka	PROPN
arestyrurj-158	184	8	’s	’s	PART
arestyrurj-158	184	9	magic	magic	ADJ
arestyrurj-158	184	10	tire	tire	NOUN
arestyrurj-158	184	11	formula	formula	NOUN
arestyrurj-158	184	12	for	for	ADP
arestyrurj-158	184	13	snow	snow	NOUN
arestyrurj-158	184	14	.	.	PUNCT
arestyrurj-158	185	1	description	description	NOUN
arestyrurj-158	185	2	:	:	PUNCT
arestyrurj-158	185	3	the	the	DET
arestyrurj-158	185	4	plot	plot	NOUN
arestyrurj-158	185	5	shows	show	VERB
arestyrurj-158	185	6	the	the	DET
arestyrurj-158	185	7	slip	slip	NOUN
arestyrurj-158	185	8	ratio	ratio	NOUN
arestyrurj-158	185	9	being	be	AUX
arestyrurj-158	185	10	controlled	control	VERB
arestyrurj-158	185	11	to	to	PART
arestyrurj-158	185	12	achieve	achieve	VERB
arestyrurj-158	185	13	the	the	DET
arestyrurj-158	185	14	desired	desire	VERB
arestyrurj-158	185	15	value	value	NOUN
arestyrurj-158	185	16	for	for	ADP
arestyrurj-158	185	17	snow	snow	NOUN
arestyrurj-158	185	18	.	.	PUNCT
arestyrurj-158	186	1	aresty	aresty	ADJ
arestyrurj-158	186	2	rutgers	rutgers	PROPN
arestyrurj-158	186	3	undergraduate	undergraduate	PROPN
arestyrurj-158	186	4	research	research	PROPN
arestyrurj-158	186	5	journal	journal	PROPN
arestyrurj-158	186	6	,	,	PUNCT
arestyrurj-158	186	7	volume	volume	NOUN
arestyrurj-158	186	8	i	i	PRON
arestyrurj-158	186	9	,	,	PUNCT
arestyrurj-158	186	10	issue	issue	NOUN
arestyrurj-158	186	11	ii	ii	NUM
arestyrurj-158	186	12	figure	figure	NOUN
arestyrurj-158	186	13	13	13	NUM
arestyrurj-158	186	14	:	:	PUNCT
arestyrurj-158	186	15	step	step	NOUN
arestyrurj-158	186	16	response	response	NOUN
arestyrurj-158	186	17	using	use	VERB
arestyrurj-158	186	18	pid	pid	PROPN
arestyrurj-158	186	19	.	.	PUNCT
arestyrurj-158	187	1	description	description	NOUN
arestyrurj-158	187	2	:	:	PUNCT
arestyrurj-158	187	3	the	the	DET
arestyrurj-158	187	4	slip	slip	NOUN
arestyrurj-158	187	5	ratio	ratio	NOUN
arestyrurj-158	187	6	was	be	AUX
arestyrurj-158	187	7	successfully	successfully	ADV
arestyrurj-158	187	8	controlled	control	VERB
arestyrurj-158	187	9	using	use	VERB
arestyrurj-158	187	10	the	the	DET
arestyrurj-158	187	11	pid	pid	NOUN
arestyrurj-158	187	12	controller	controller	NOUN
arestyrurj-158	187	13	.	.	PUNCT
arestyrurj-158	188	1	however	however	ADV
arestyrurj-158	188	2	,	,	PUNCT
arestyrurj-158	188	3	it	it	PRON
arestyrurj-158	188	4	overshot	overshoot	VERB
arestyrurj-158	188	5	the	the	DET
arestyrurj-158	188	6	desired	desire	VERB
arestyrurj-158	188	7	slip	slip	NOUN
arestyrurj-158	188	8	ratio	ratio	NOUN
arestyrurj-158	188	9	,	,	PUNCT
arestyrurj-158	188	10	and	and	CCONJ
arestyrurj-158	188	11	it	it	PRON
arestyrurj-158	188	12	created	create	VERB
arestyrurj-158	188	13	many	many	ADJ
arestyrurj-158	188	14	oscillations	oscillation	NOUN
arestyrurj-158	188	15	.	.	PUNCT
arestyrurj-158	189	1	figure	figure	VERB
arestyrurj-158	189	2	14	14	NUM
arestyrurj-158	189	3	:	:	PUNCT
arestyrurj-158	189	4	tracking	track	VERB
arestyrurj-158	189	5	error	error	NOUN
arestyrurj-158	189	6	using	use	VERB
arestyrurj-158	189	7	pid	pid	PROPN
arestyrurj-158	189	8	.	.	PUNCT
arestyrurj-158	190	1	description	description	NOUN
arestyrurj-158	190	2	:	:	PUNCT
arestyrurj-158	190	3	the	the	DET
arestyrurj-158	190	4	error	error	NOUN
arestyrurj-158	190	5	plot	plot	NOUN
arestyrurj-158	190	6	shows	show	VERB
arestyrurj-158	190	7	the	the	DET
arestyrurj-158	190	8	delay	delay	NOUN
arestyrurj-158	190	9	in	in	ADP
arestyrurj-158	190	10	the	the	DET
arestyrurj-158	190	11	pid	pid	NOUN
arestyrurj-158	190	12	controller	controller	NOUN
arestyrurj-158	190	13	’s	’s	PART
arestyrurj-158	190	14	response	response	NOUN
arestyrurj-158	190	15	and	and	CCONJ
arestyrurj-158	190	16	the	the	DET
arestyrurj-158	190	17	oscillations	oscillation	NOUN
arestyrurj-158	190	18	present	present	ADJ
arestyrurj-158	190	19	.	.	PUNCT
arestyrurj-158	191	1	figure	figure	VERB
arestyrurj-158	191	2	15	15	NUM
arestyrurj-158	191	3	:	:	PUNCT
arestyrurj-158	191	4	step	step	NOUN
arestyrurj-158	191	5	response	response	NOUN
arestyrurj-158	191	6	using	use	VERB
arestyrurj-158	191	7	sliding	slide	VERB
arestyrurj-158	191	8	mode	mode	NOUN
arestyrurj-158	191	9	.	.	PUNCT
arestyrurj-158	192	1	description	description	NOUN
arestyrurj-158	192	2	:	:	PUNCT
arestyrurj-158	192	3	the	the	DET
arestyrurj-158	192	4	plot	plot	NOUN
arestyrurj-158	192	5	shows	show	VERB
arestyrurj-158	192	6	the	the	DET
arestyrurj-158	192	7	step	step	NOUN
arestyrurj-158	192	8	response	response	NOUN
arestyrurj-158	192	9	of	of	ADP
arestyrurj-158	192	10	the	the	DET
arestyrurj-158	192	11	sliding	slide	VERB
arestyrurj-158	192	12	mode	mode	NOUN
arestyrurj-158	192	13	controller	controller	NOUN
arestyrurj-158	192	14	.	.	PUNCT
arestyrurj-158	193	1	the	the	DET
arestyrurj-158	193	2	controller	controller	NOUN
arestyrurj-158	193	3	had	have	VERB
arestyrurj-158	193	4	a	a	DET
arestyrurj-158	193	5	critically	critically	ADV
arestyrurj-158	193	6	damped	damp	VERB
arestyrurj-158	193	7	response	response	NOUN
arestyrurj-158	193	8	with	with	ADP
arestyrurj-158	193	9	a	a	DET
arestyrurj-158	193	10	faster	fast	ADJ
arestyrurj-158	193	11	rise	rise	NOUN
arestyrurj-158	193	12	and	and	CCONJ
arestyrurj-158	193	13	settling	settle	VERB
arestyrurj-158	193	14	time	time	NOUN
arestyrurj-158	193	15	compared	compare	VERB
arestyrurj-158	193	16	to	to	ADP
arestyrurj-158	193	17	the	the	DET
arestyrurj-158	193	18	pid	pid	PROPN
arestyrurj-158	193	19	.	.	PROPN
arestyrurj-158	193	20	figure	figure	NOUN
arestyrurj-158	193	21	16	16	NUM
arestyrurj-158	193	22	:	:	PUNCT
arestyrurj-158	193	23	tracking	track	VERB
arestyrurj-158	193	24	error	error	NOUN
arestyrurj-158	193	25	using	use	VERB
arestyrurj-158	193	26	sliding	slide	VERB
arestyrurj-158	193	27	mode	mode	NOUN
arestyrurj-158	193	28	.	.	PUNCT
arestyrurj-158	194	1	description	description	NOUN
arestyrurj-158	194	2	:	:	PUNCT
arestyrurj-158	194	3	the	the	DET
arestyrurj-158	194	4	plot	plot	NOUN
arestyrurj-158	194	5	shows	show	VERB
arestyrurj-158	194	6	the	the	DET
arestyrurj-158	194	7	tracking	tracking	NOUN
arestyrurj-158	194	8	error	error	NOUN
arestyrurj-158	194	9	of	of	ADP
arestyrurj-158	194	10	the	the	DET
arestyrurj-158	194	11	sliding	slide	VERB
arestyrurj-158	194	12	mode	mode	NOUN
arestyrurj-158	194	13	controller	controller	NOUN
arestyrurj-158	194	14	.	.	PUNCT
arestyrurj-158	195	1	the	the	DET
arestyrurj-158	195	2	error	error	NOUN
arestyrurj-158	195	3	decreases	decrease	VERB
arestyrurj-158	195	4	rapidly	rapidly	ADV
arestyrurj-158	195	5	and	and	CCONJ
arestyrurj-158	195	6	does	do	AUX
arestyrurj-158	195	7	not	not	PART
arestyrurj-158	195	8	oscillate	oscillate	VERB
arestyrurj-158	195	9	like	like	ADP
arestyrurj-158	195	10	the	the	DET
arestyrurj-158	195	11	pid	pid	PROPN
arestyrurj-158	195	12	’s	’s	PART
arestyrurj-158	195	13	tracking	tracking	NOUN
arestyrurj-158	195	14	error	error	NOUN
arestyrurj-158	195	15	.	.	PUNCT
arestyrurj-158	196	1	aresty	aresty	PROPN
arestyrurj-158	196	2	rutgers	rutgers	PROPN
arestyrurj-158	196	3	undergraduate	undergraduate	PROPN
arestyrurj-158	196	4	research	research	PROPN
arestyrurj-158	196	5	journal	journal	PROPN
arestyrurj-158	196	6	,	,	PUNCT
arestyrurj-158	196	7	volume	volume	NOUN
arestyrurj-158	196	8	i	i	PRON
arestyrurj-158	196	9	,	,	PUNCT
arestyrurj-158	196	10	issue	issue	VERB
arestyrurj-158	196	11	ii	ii	NOUN
arestyrurj-158	196	12	5	5	NUM
arestyrurj-158	196	13	conclusion	conclusion	NOUN
arestyrurj-158	196	14	slip	slip	NOUN
arestyrurj-158	196	15	-	-	PUNCT
arestyrurj-158	196	16	based	base	VERB
arestyrurj-158	196	17	traction	traction	NOUN
arestyrurj-158	196	18	control	control	NOUN
arestyrurj-158	196	19	is	be	AUX
arestyrurj-158	196	20	a	a	DET
arestyrurj-158	196	21	very	very	ADV
arestyrurj-158	196	22	useful	useful	ADJ
arestyrurj-158	196	23	tool	tool	NOUN
arestyrurj-158	196	24	for	for	ADP
arestyrurj-158	196	25	autonomous	autonomous	ADJ
arestyrurj-158	196	26	rovers	rover	NOUN
arestyrurj-158	196	27	.	.	PUNCT
arestyrurj-158	197	1	these	these	DET
arestyrurj-158	197	2	techniques	technique	NOUN
arestyrurj-158	197	3	can	can	AUX
arestyrurj-158	197	4	be	be	AUX
arestyrurj-158	197	5	applied	apply	VERB
arestyrurj-158	197	6	for	for	ADP
arestyrurj-158	197	7	a	a	DET
arestyrurj-158	197	8	wide	wide	ADJ
arestyrurj-158	197	9	-	-	PUNCT
arestyrurj-158	197	10	range	range	NOUN
arestyrurj-158	197	11	of	of	ADP
arestyrurj-158	197	12	purposes	purpose	NOUN
arestyrurj-158	197	13	:	:	PUNCT
arestyrurj-158	197	14	planetary	planetary	ADJ
arestyrurj-158	197	15	exploration	exploration	NOUN
arestyrurj-158	197	16	,	,	PUNCT
arestyrurj-158	197	17	rescue	rescue	NOUN
arestyrurj-158	197	18	missions	mission	NOUN
arestyrurj-158	197	19	,	,	PUNCT
arestyrurj-158	197	20	and	and	CCONJ
arestyrurj-158	197	21	commercial	commercial	ADJ
arestyrurj-158	197	22	and	and	CCONJ
arestyrurj-158	197	23	military	military	ADJ
arestyrurj-158	197	24	endeavors	endeavor	NOUN
arestyrurj-158	197	25	.	.	PUNCT
arestyrurj-158	198	1	the	the	DET
arestyrurj-158	198	2	simulations	simulation	NOUN
arestyrurj-158	198	3	were	be	AUX
arestyrurj-158	198	4	the	the	DET
arestyrurj-158	198	5	beginnings	beginning	NOUN
arestyrurj-158	198	6	of	of	ADP
arestyrurj-158	198	7	creating	create	VERB
arestyrurj-158	198	8	an	an	DET
arestyrurj-158	198	9	autonomous	autonomous	ADJ
arestyrurj-158	198	10	rover	rover	NOUN
arestyrurj-158	198	11	with	with	ADP
arestyrurj-158	198	12	a	a	DET
arestyrurj-158	198	13	traction	traction	NOUN
arestyrurj-158	198	14	control	control	NOUN
arestyrurj-158	198	15	system	system	NOUN
arestyrurj-158	198	16	.	.	PUNCT
arestyrurj-158	199	1	the	the	DET
arestyrurj-158	199	2	results	result	NOUN
arestyrurj-158	199	3	showed	show	VERB
arestyrurj-158	199	4	the	the	DET
arestyrurj-158	199	5	validity	validity	NOUN
arestyrurj-158	199	6	of	of	ADP
arestyrurj-158	199	7	the	the	DET
arestyrurj-158	199	8	mathematical	mathematical	ADJ
arestyrurj-158	199	9	modeling	modeling	NOUN
arestyrurj-158	199	10	and	and	CCONJ
arestyrurj-158	199	11	the	the	DET
arestyrurj-158	199	12	controller	controller	NOUN
arestyrurj-158	199	13	design	design	NOUN
arestyrurj-158	199	14	,	,	PUNCT
arestyrurj-158	199	15	which	which	PRON
arestyrurj-158	199	16	opened	open	VERB
arestyrurj-158	199	17	a	a	DET
arestyrurj-158	199	18	doorway	doorway	NOUN
arestyrurj-158	199	19	for	for	ADP
arestyrurj-158	199	20	furthering	further	VERB
arestyrurj-158	199	21	the	the	DET
arestyrurj-158	199	22	complexity	complexity	NOUN
arestyrurj-158	199	23	of	of	ADP
arestyrurj-158	199	24	this	this	DET
arestyrurj-158	199	25	research	research	NOUN
arestyrurj-158	199	26	.	.	PUNCT
arestyrurj-158	200	1	to	to	PART
arestyrurj-158	200	2	summarize	summarize	VERB
arestyrurj-158	200	3	,	,	PUNCT
arestyrurj-158	200	4	the	the	DET
arestyrurj-158	200	5	negative	negative	ADJ
arestyrurj-158	200	6	feedback	feedback	NOUN
arestyrurj-158	200	7	-	-	PUNCT
arestyrurj-158	200	8	traction	traction	NOUN
arestyrurj-158	200	9	control	control	NOUN
arestyrurj-158	200	10	system	system	NOUN
arestyrurj-158	200	11	was	be	AUX
arestyrurj-158	200	12	broken	break	VERB
arestyrurj-158	200	13	down	down	ADP
arestyrurj-158	200	14	into	into	ADP
arestyrurj-158	200	15	three	three	NUM
arestyrurj-158	200	16	components	component	NOUN
arestyrurj-158	200	17	:	:	PUNCT
arestyrurj-158	200	18	the	the	DET
arestyrurj-158	200	19	plant	plant	NOUN
arestyrurj-158	200	20	,	,	PUNCT
arestyrurj-158	200	21	the	the	DET
arestyrurj-158	200	22	actuator	actuator	NOUN
arestyrurj-158	200	23	,	,	PUNCT
arestyrurj-158	200	24	and	and	CCONJ
arestyrurj-158	200	25	the	the	DET
arestyrurj-158	200	26	controller	controller	NOUN
arestyrurj-158	200	27	.	.	PUNCT
arestyrurj-158	201	1	the	the	DET
arestyrurj-158	201	2	plant	plant	NOUN
arestyrurj-158	201	3	was	be	AUX
arestyrurj-158	201	4	the	the	DET
arestyrurj-158	201	5	mathematical	mathematical	ADJ
arestyrurj-158	201	6	model	model	NOUN
arestyrurj-158	201	7	of	of	ADP
arestyrurj-158	201	8	the	the	DET
arestyrurj-158	201	9	vehicle	vehicle	NOUN
arestyrurj-158	201	10	and	and	CCONJ
arestyrurj-158	201	11	terrain	terrain	NOUN
arestyrurj-158	201	12	interaction	interaction	NOUN
arestyrurj-158	201	13	(	(	PUNCT
arestyrurj-158	201	14	mostly	mostly	ADV
arestyrurj-158	201	15	the	the	DET
arestyrurj-158	201	16	deformable	deformable	ADJ
arestyrurj-158	201	17	soil	soil	NOUN
arestyrurj-158	201	18	-	-	PUNCT
arestyrurj-158	201	19	rigid	rigid	ADJ
arestyrurj-158	201	20	tire	tire	NOUN
arestyrurj-158	201	21	model	model	NOUN
arestyrurj-158	201	22	)	)	PUNCT
arestyrurj-158	201	23	.	.	PUNCT
arestyrurj-158	202	1	the	the	DET
arestyrurj-158	202	2	actuator	actuator	NOUN
arestyrurj-158	202	3	was	be	AUX
arestyrurj-158	202	4	the	the	DET
arestyrurj-158	202	5	hypothetical	hypothetical	ADJ
arestyrurj-158	202	6	dc	dc	PROPN
arestyrurj-158	202	7	motor	motor	NOUN
arestyrurj-158	202	8	that	that	PRON
arestyrurj-158	202	9	powered	power	VERB
arestyrurj-158	202	10	the	the	DET
arestyrurj-158	202	11	wheels	wheel	NOUN
arestyrurj-158	202	12	(	(	PUNCT
arestyrurj-158	202	13	modeled	model	VERB
arestyrurj-158	202	14	according	accord	VERB
arestyrurj-158	202	15	to	to	ADP
arestyrurj-158	202	16	a	a	DET
arestyrurj-158	202	17	simple	simple	ADJ
arestyrurj-158	202	18	armature	armature	NOUN
arestyrurj-158	202	19	circuit	circuit	NOUN
arestyrurj-158	202	20	)	)	PUNCT
arestyrurj-158	202	21	.	.	PUNCT
arestyrurj-158	203	1	the	the	DET
arestyrurj-158	203	2	(	(	PUNCT
arestyrurj-158	203	3	final	final	ADJ
arestyrurj-158	203	4	)	)	PUNCT
arestyrurj-158	203	5	controller	controller	NOUN
arestyrurj-158	203	6	was	be	AUX
arestyrurj-158	203	7	the	the	DET
arestyrurj-158	203	8	sliding	slide	VERB
arestyrurj-158	203	9	mode	mode	NOUN
arestyrurj-158	203	10	,	,	PUNCT
arestyrurj-158	203	11	which	which	PRON
arestyrurj-158	203	12	worked	work	VERB
arestyrurj-158	203	13	more	more	ADV
arestyrurj-158	203	14	efficiently	efficiently	ADV
arestyrurj-158	203	15	than	than	ADP
arestyrurj-158	203	16	the	the	DET
arestyrurj-158	203	17	pid	pid	NOUN
arestyrurj-158	203	18	.	.	PUNCT
arestyrurj-158	204	1	all	all	PRON
arestyrurj-158	204	2	of	of	ADP
arestyrurj-158	204	3	these	these	PRON
arestyrurj-158	204	4	combined	combine	VERB
arestyrurj-158	204	5	with	with	ADP
arestyrurj-158	204	6	the	the	DET
arestyrurj-158	204	7	correct	correct	ADJ
arestyrurj-158	204	8	initial	initial	ADJ
arestyrurj-158	204	9	conditions	condition	NOUN
arestyrurj-158	204	10	simulated	simulate	VERB
arestyrurj-158	204	11	a	a	DET
arestyrurj-158	204	12	slip	slip	NOUN
arestyrurj-158	204	13	-	-	PUNCT
arestyrurj-158	204	14	based	base	VERB
arestyrurj-158	204	15	traction	traction	NOUN
arestyrurj-158	204	16	control	control	NOUN
arestyrurj-158	204	17	system	system	NOUN
arestyrurj-158	204	18	for	for	ADP
arestyrurj-158	204	19	a	a	DET
arestyrurj-158	204	20	rover	rover	NOUN
arestyrurj-158	204	21	on	on	ADP
arestyrurj-158	204	22	mars	mar	NOUN
arestyrurj-158	204	23	.	.	PUNCT
arestyrurj-158	205	1	in	in	ADP
arestyrurj-158	205	2	conclusion	conclusion	NOUN
arestyrurj-158	205	3	,	,	PUNCT
arestyrurj-158	205	4	the	the	DET
arestyrurj-158	205	5	method	method	NOUN
arestyrurj-158	205	6	utilized	utilize	VERB
arestyrurj-158	205	7	led	lead	VERB
arestyrurj-158	205	8	to	to	ADP
arestyrurj-158	205	9	a	a	DET
arestyrurj-158	205	10	better	well	ADJ
arestyrurj-158	205	11	understanding	understanding	NOUN
arestyrurj-158	205	12	of	of	ADP
arestyrurj-158	205	13	the	the	DET
arestyrurj-158	205	14	physics	physics	NOUN
arestyrurj-158	205	15	of	of	ADP
arestyrurj-158	205	16	deformable	deformable	ADJ
arestyrurj-158	205	17	soil	soil	NOUN
arestyrurj-158	205	18	and	and	CCONJ
arestyrurj-158	205	19	the	the	DET
arestyrurj-158	205	20	limitations	limitation	NOUN
arestyrurj-158	205	21	of	of	ADP
arestyrurj-158	205	22	a	a	DET
arestyrurj-158	205	23	model	model	NOUN
arestyrurj-158	205	24	-	-	PUNCT
arestyrurj-158	205	25	based	base	VERB
arestyrurj-158	205	26	traction	traction	NOUN
arestyrurj-158	205	27	control	control	NOUN
arestyrurj-158	205	28	system	system	NOUN
arestyrurj-158	205	29	.	.	PUNCT
arestyrurj-158	206	1	in	in	ADP
arestyrurj-158	206	2	addition	addition	NOUN
arestyrurj-158	206	3	,	,	PUNCT
arestyrurj-158	206	4	the	the	DET
arestyrurj-158	206	5	results	result	NOUN
arestyrurj-158	206	6	confirmed	confirm	VERB
arestyrurj-158	206	7	the	the	DET
arestyrurj-158	206	8	hypothesis	hypothesis	NOUN
arestyrurj-158	206	9	that	that	PRON
arestyrurj-158	206	10	a	a	DET
arestyrurj-158	206	11	sliding	slide	VERB
arestyrurj-158	206	12	mode	mode	NOUN
arestyrurj-158	206	13	controller	controller	NOUN
arestyrurj-158	206	14	would	would	AUX
arestyrurj-158	206	15	be	be	AUX
arestyrurj-158	206	16	more	more	ADV
arestyrurj-158	206	17	effective	effective	ADJ
arestyrurj-158	206	18	than	than	ADP
arestyrurj-158	206	19	a	a	DET
arestyrurj-158	206	20	pid	pid	NOUN
arestyrurj-158	206	21	controller	controller	NOUN
arestyrurj-158	206	22	.	.	PUNCT
arestyrurj-158	207	1	this	this	DET
arestyrurj-158	207	2	project	project	NOUN
arestyrurj-158	207	3	further	far	ADV
arestyrurj-158	207	4	confirms	confirm	VERB
arestyrurj-158	207	5	the	the	DET
arestyrurj-158	207	6	use	use	NOUN
arestyrurj-158	207	7	of	of	ADP
arestyrurj-158	207	8	a	a	DET
arestyrurj-158	207	9	sliding	slide	VERB
arestyrurj-158	207	10	mode	mode	NOUN
arestyrurj-158	207	11	controller	controller	NOUN
arestyrurj-158	207	12	for	for	ADP
arestyrurj-158	207	13	a	a	DET
arestyrurj-158	207	14	traction	traction	NOUN
arestyrurj-158	207	15	control	control	NOUN
arestyrurj-158	207	16	system	system	NOUN
arestyrurj-158	207	17	,	,	PUNCT
arestyrurj-158	207	18	which	which	PRON
arestyrurj-158	207	19	has	have	AUX
arestyrurj-158	207	20	been	be	AUX
arestyrurj-158	207	21	tested	test	VERB
arestyrurj-158	207	22	in	in	ADP
arestyrurj-158	207	23	recent	recent	ADJ
arestyrurj-158	207	24	research[6	research[6	NOUN
arestyrurj-158	207	25	]	]	PUNCT
arestyrurj-158	207	26	.	.	PUNCT
arestyrurj-158	208	1	this	this	DET
arestyrurj-158	208	2	project	project	NOUN
arestyrurj-158	208	3	can	can	AUX
arestyrurj-158	208	4	be	be	AUX
arestyrurj-158	208	5	a	a	DET
arestyrurj-158	208	6	trailblazer	trailblazer	NOUN
arestyrurj-158	208	7	for	for	ADP
arestyrurj-158	208	8	sliding	slide	VERB
arestyrurj-158	208	9	mode	mode	NOUN
arestyrurj-158	208	10	controller	controller	NOUN
arestyrurj-158	208	11	research	research	NOUN
arestyrurj-158	208	12	specifically	specifically	ADV
arestyrurj-158	208	13	for	for	ADP
arestyrurj-158	208	14	a	a	DET
arestyrurj-158	208	15	martian	martian	ADJ
arestyrurj-158	208	16	rover	rover	NOUN
arestyrurj-158	208	17	.	.	PUNCT
arestyrurj-158	209	1	the	the	DET
arestyrurj-158	209	2	computational	computational	ADJ
arestyrurj-158	209	3	results	result	NOUN
arestyrurj-158	209	4	will	will	AUX
arestyrurj-158	209	5	be	be	AUX
arestyrurj-158	209	6	used	use	VERB
arestyrurj-158	209	7	on	on	ADP
arestyrurj-158	209	8	a	a	DET
arestyrurj-158	209	9	physical	physical	ADJ
arestyrurj-158	209	10	rover	rover	NOUN
arestyrurj-158	209	11	in	in	ADP
arestyrurj-158	209	12	order	order	NOUN
arestyrurj-158	209	13	to	to	PART
arestyrurj-158	209	14	make	make	VERB
arestyrurj-158	209	15	mars	mar	NOUN
arestyrurj-158	209	16	exploration	exploration	NOUN
arestyrurj-158	209	17	easier	easy	ADJ
arestyrurj-158	209	18	and	and	CCONJ
arestyrurj-158	209	19	more	more	ADV
arestyrurj-158	209	20	efficient	efficient	ADJ
arestyrurj-158	209	21	.	.	PUNCT
arestyrurj-158	210	1	for	for	ADP
arestyrurj-158	210	2	future	future	ADJ
arestyrurj-158	210	3	works	work	NOUN
arestyrurj-158	210	4	,	,	PUNCT
arestyrurj-158	210	5	the	the	DET
arestyrurj-158	210	6	traction	traction	NOUN
arestyrurj-158	210	7	control	control	NOUN
arestyrurj-158	210	8	system	system	NOUN
arestyrurj-158	210	9	will	will	AUX
arestyrurj-158	210	10	be	be	AUX
arestyrurj-158	210	11	tested	test	VERB
arestyrurj-158	210	12	on	on	ADP
arestyrurj-158	210	13	a	a	DET
arestyrurj-158	210	14	physical	physical	ADJ
arestyrurj-158	210	15	rover	rover	NOUN
arestyrurj-158	210	16	(	(	PUNCT
arestyrurj-158	210	17	prototype	prototype	NOUN
arestyrurj-158	210	18	being	be	AUX
arestyrurj-158	210	19	assembled	assemble	VERB
arestyrurj-158	210	20	in	in	ADP
arestyrurj-158	210	21	the	the	DET
arestyrurj-158	210	22	picture	picture	NOUN
arestyrurj-158	210	23	above	above	ADV
arestyrurj-158	210	24	)	)	PUNCT
arestyrurj-158	210	25	and	and	CCONJ
arestyrurj-158	210	26	on	on	ADP
arestyrurj-158	210	27	a	a	DET
arestyrurj-158	210	28	deformable	deformable	ADJ
arestyrurj-158	210	29	test	test	NOUN
arestyrurj-158	210	30	bed	bed	NOUN
arestyrurj-158	210	31	.	.	PUNCT
arestyrurj-158	211	1	in	in	ADP
arestyrurj-158	211	2	addition	addition	NOUN
arestyrurj-158	211	3	,	,	PUNCT
arestyrurj-158	211	4	theoretical	theoretical	ADJ
arestyrurj-158	211	5	work	work	NOUN
arestyrurj-158	211	6	about	about	ADP
arestyrurj-158	211	7	using	use	VERB
arestyrurj-158	211	8	a	a	DET
arestyrurj-158	211	9	sliding	slide	VERB
arestyrurj-158	211	10	mode	mode	NOUN
arestyrurj-158	211	11	controller	controller	NOUN
arestyrurj-158	211	12	integrated	integrate	VERB
arestyrurj-158	211	13	with	with	ADP
arestyrurj-158	211	14	data	data	NOUN
arestyrurj-158	211	15	-	-	PUNCT
arestyrurj-158	211	16	driven	drive	VERB
arestyrurj-158	211	17	modeling	modeling	NOUN
arestyrurj-158	211	18	and	and	CCONJ
arestyrurj-158	211	19	control	control	NOUN
arestyrurj-158	211	20	will	will	AUX
arestyrurj-158	211	21	be	be	AUX
arestyrurj-158	211	22	researched	research	VERB
arestyrurj-158	211	23	in	in	ADP
arestyrurj-158	211	24	order	order	NOUN
arestyrurj-158	211	25	to	to	PART
arestyrurj-158	211	26	advance	advance	VERB
arestyrurj-158	211	27	this	this	DET
arestyrurj-158	211	28	technique	technique	NOUN
arestyrurj-158	211	29	.	.	PUNCT
arestyrurj-158	212	1	these	these	DET
arestyrurj-158	212	2	results	result	NOUN
arestyrurj-158	212	3	will	will	AUX
arestyrurj-158	212	4	be	be	AUX
arestyrurj-158	212	5	compared	compare	VERB
arestyrurj-158	212	6	to	to	ADP
arestyrurj-158	212	7	that	that	PRON
arestyrurj-158	212	8	of	of	ADP
arestyrurj-158	212	9	the	the	DET
arestyrurj-158	212	10	taylor	taylor	PROPN
arestyrurj-158	212	11	series	series	PROPN
arestyrurj-158	212	12	approximation∎	approximation∎	PROPN
arestyrurj-158	212	13	6	6	NUM
arestyrurj-158	212	14	acknowledgements	acknowledgement	NOUN
arestyrurj-158	212	15	i	i	PRON
arestyrurj-158	212	16	would	would	AUX
arestyrurj-158	212	17	like	like	VERB
arestyrurj-158	212	18	to	to	PART
arestyrurj-158	212	19	thank	thank	VERB
arestyrurj-158	212	20	my	my	PRON
arestyrurj-158	212	21	research	research	NOUN
arestyrurj-158	212	22	advisor	advisor	PROPN
arestyrurj-158	212	23	dr	dr	PROPN
arestyrurj-158	212	24	.	.	PROPN
arestyrurj-158	212	25	annalisa	annalisa	PROPN
arestyrurj-158	212	26	scacchioli	scacchioli	NOUN
arestyrurj-158	212	27	for	for	ADP
arestyrurj-158	212	28	her	her	PRON
arestyrurj-158	212	29	phenomenal	phenomenal	ADJ
arestyrurj-158	212	30	guidance	guidance	NOUN
arestyrurj-158	212	31	.	.	PUNCT
arestyrurj-158	213	1	she	she	PRON
arestyrurj-158	213	2	has	have	AUX
arestyrurj-158	213	3	always	always	ADV
arestyrurj-158	213	4	been	be	AUX
arestyrurj-158	213	5	so	so	ADV
arestyrurj-158	213	6	supportive	supportive	ADJ
arestyrurj-158	213	7	of	of	ADP
arestyrurj-158	213	8	me	i	PRON
arestyrurj-158	213	9	,	,	PUNCT
arestyrurj-158	213	10	and	and	CCONJ
arestyrurj-158	213	11	without	without	ADP
arestyrurj-158	213	12	her	she	PRON
arestyrurj-158	213	13	this	this	DET
arestyrurj-158	213	14	project	project	NOUN
arestyrurj-158	213	15	would	would	AUX
arestyrurj-158	213	16	never	never	ADV
arestyrurj-158	213	17	have	have	AUX
arestyrurj-158	213	18	come	come	VERB
arestyrurj-158	213	19	to	to	ADP
arestyrurj-158	213	20	fruition	fruition	NOUN
arestyrurj-158	213	21	.	.	PUNCT
arestyrurj-158	214	1	also	also	ADV
arestyrurj-158	214	2	,	,	PUNCT
arestyrurj-158	214	3	i	i	PRON
arestyrurj-158	214	4	would	would	AUX
arestyrurj-158	214	5	like	like	VERB
arestyrurj-158	214	6	to	to	PART
arestyrurj-158	214	7	thank	thank	VERB
arestyrurj-158	214	8	the	the	DET
arestyrurj-158	214	9	aresty	aresty	ADJ
arestyrurj-158	214	10	research	research	NOUN
arestyrurj-158	214	11	program	program	NOUN
arestyrurj-158	214	12	for	for	ADP
arestyrurj-158	214	13	giving	give	VERB
arestyrurj-158	214	14	me	i	PRON
arestyrurj-158	214	15	this	this	DET
arestyrurj-158	214	16	amazing	amazing	ADJ
arestyrurj-158	214	17	opportunity	opportunity	NOUN
arestyrurj-158	214	18	.	.	PUNCT
arestyrurj-158	215	1	finally	finally	ADV
arestyrurj-158	215	2	,	,	PUNCT
arestyrurj-158	215	3	i	i	PRON
arestyrurj-158	215	4	would	would	AUX
arestyrurj-158	215	5	also	also	ADV
arestyrurj-158	215	6	like	like	VERB
arestyrurj-158	215	7	to	to	PART
arestyrurj-158	215	8	thank	thank	VERB
arestyrurj-158	215	9	arjun	arjun	PROPN
arestyrurj-158	215	10	singh	singh	PROPN
arestyrurj-158	215	11	,	,	PUNCT
arestyrurj-158	215	12	vishal	vishal	PROPN
arestyrurj-158	215	13	rachapudi	rachapudi	PROPN
arestyrurj-158	215	14	,	,	PUNCT
arestyrurj-158	215	15	and	and	CCONJ
arestyrurj-158	215	16	galileo	galileo	PROPN
arestyrurj-158	215	17	wang	wang	PROPN
arestyrurj-158	215	18	for	for	ADP
arestyrurj-158	215	19	their	their	PRON
arestyrurj-158	215	20	impeccable	impeccable	ADJ
arestyrurj-158	215	21	assistance	assistance	NOUN
arestyrurj-158	215	22	,	,	PUNCT
arestyrurj-158	215	23	which	which	PRON
arestyrurj-158	215	24	led	lead	VERB
arestyrurj-158	215	25	to	to	ADP
arestyrurj-158	215	26	the	the	DET
arestyrurj-158	215	27	creation	creation	NOUN
arestyrurj-158	215	28	of	of	ADP
arestyrurj-158	215	29	the	the	DET
arestyrurj-158	215	30	prototype	prototype	NOUN
arestyrurj-158	215	31	rover	rover	NOUN
arestyrurj-158	215	32	.	.	PUNCT
arestyrurj-158	216	1	7	7	NUM
arestyrurj-158	216	2	references	reference	NOUN
arestyrurj-158	216	3	[	[	X
arestyrurj-158	216	4	1	1	NUM
arestyrurj-158	216	5	]	]	PUNCT
arestyrurj-158	216	6	arvidson	arvidson	NOUN
arestyrurj-158	216	7	,	,	PUNCT
arestyrurj-158	216	8	r.	r.	PROPN
arestyrurj-158	216	9	,	,	PUNCT
arestyrurj-158	216	10	degrosse	degrosse	NOUN
arestyrurj-158	216	11	,	,	PUNCT
arestyrurj-158	216	12	p.	p.	NOUN
arestyrurj-158	216	13	,	,	PUNCT
arestyrurj-158	216	14	grotzinger	grotzinger	PROPN
arestyrurj-158	216	15	,	,	PUNCT
arestyrurj-158	216	16	j.	j.	PROPN
arestyrurj-158	216	17	,	,	PUNCT
arestyrurj-158	216	18	heverly	heverly	ADV
arestyrurj-158	216	19	,	,	PUNCT
arestyrurj-158	216	20	m.	m.	NOUN
arestyrurj-158	216	21	,	,	PUNCT
arestyrurj-158	216	22	shechet	shechet	NOUN
arestyrurj-158	216	23	,	,	PUNCT
arestyrurj-158	216	24	j.	j.	PROPN
arestyrurj-158	216	25	,	,	PUNCT
arestyrurj-158	216	26	moreland	moreland	PROPN
arestyrurj-158	216	27	,	,	PUNCT
arestyrurj-158	216	28	s.	s.	PROPN
arestyrurj-158	216	29	,	,	PUNCT
arestyrurj-158	216	30	newby	newby	NOUN
arestyrurj-158	216	31	,	,	PUNCT
arestyrurj-158	216	32	m.	m.	NOUN
arestyrurj-158	216	33	,	,	PUNCT
arestyrurj-158	216	34	stein	stein	PROPN
arestyrurj-158	216	35	,	,	PUNCT
arestyrurj-158	216	36	n.	n.	PROPN
arestyrurj-158	216	37	,	,	PUNCT
arestyrurj-158	216	38	steffy	steffy	PROPN
arestyrurj-158	216	39	,	,	PUNCT
arestyrurj-158	216	40	a.	a.	PROPN
arestyrurj-158	216	41	,	,	PUNCT
arestyrurj-158	216	42	zhou	zhou	PROPN
arestyrurj-158	216	43	,	,	PUNCT
arestyrurj-158	216	44	f.	f.	PROPN
arestyrurj-158	216	45	,	,	PUNCT
arestyrurj-158	216	46	zastrow	zastrow	PROPN
arestyrurj-158	216	47	,	,	PUNCT
arestyrurj-158	216	48	a.	a.	PROPN
arestyrurj-158	216	49	,	,	PUNCT
arestyrurj-158	216	50	vasavada	vasavada	PROPN
arestyrurj-158	216	51	,	,	PUNCT
arestyrurj-158	216	52	a.	a.	NOUN
arestyrurj-158	216	53	,	,	PUNCT
arestyrurj-158	216	54	fraeman	fraeman	NOUN
arestyrurj-158	216	55	,	,	PUNCT
arestyrurj-158	216	56	a.	a.	PROPN
arestyrurj-158	216	57	,	,	PUNCT
arestyrurj-158	216	58	&	&	CCONJ
arestyrurj-158	216	59	stilly	stilly	PROPN
arestyrurj-158	216	60	,	,	PUNCT
arestyrurj-158	216	61	e.	e.	PROPN
arestyrurj-158	216	62	(	(	PUNCT
arestyrurj-158	216	63	2017	2017	NUM
arestyrurj-158	216	64	)	)	PUNCT
arestyrurj-158	216	65	.	.	PUNCT
arestyrurj-158	217	1	relating	relate	VERB
arestyrurj-158	217	2	geologic	geologic	ADJ
arestyrurj-158	217	3	units	unit	NOUN
arestyrurj-158	217	4	and	and	CCONJ
arestyrurj-158	217	5	mobility	mobility	NOUN
arestyrurj-158	217	6	system	system	NOUN
arestyrurj-158	217	7	kinematics	kinematic	NOUN
arestyrurj-158	217	8	contributing	contribute	VERB
arestyrurj-158	217	9	to	to	ADP
arestyrurj-158	217	10	curiosity	curiosity	NOUN
arestyrurj-158	217	11	wheel	wheel	NOUN
arestyrurj-158	217	12	damage	damage	NOUN
arestyrurj-158	217	13	at	at	ADP
arestyrurj-158	217	14	gale	gale	NOUN
arestyrurj-158	217	15	crater	crater	NOUN
arestyrurj-158	217	16	,	,	PUNCT
arestyrurj-158	217	17	mars	mar	NOUN
arestyrurj-158	217	18	.	.	PUNCT
arestyrurj-158	218	1	journal	journal	NOUN
arestyrurj-158	218	2	of	of	ADP
arestyrurj-158	218	3	terramechanics	terramechanic	NOUN
arestyrurj-158	218	4	,	,	PUNCT
arestyrurj-158	218	5	73	73	NUM
arestyrurj-158	218	6	,	,	PUNCT
arestyrurj-158	218	7	73–93	73–93	NUM
arestyrurj-158	218	8	.	.	PUNCT
arestyrurj-158	219	1	https://doi.org/10.1016/j.jterra.2017.03.001	https://doi.org/10.1016/j.jterra.2017.03.001	VERB
arestyrurj-158	219	2	[	[	X
arestyrurj-158	219	3	2	2	NUM
arestyrurj-158	219	4	]	]	X
arestyrurj-158	219	5	gonzalez	gonzalez	PROPN
arestyrurj-158	219	6	,	,	PUNCT
arestyrurj-158	219	7	r.	r.	PROPN
arestyrurj-158	219	8	,	,	PUNCT
arestyrurj-158	219	9	apostolopoulos	apostolopoulos	PROPN
arestyrurj-158	219	10	,	,	PUNCT
arestyrurj-158	219	11	d.	d.	PROPN
arestyrurj-158	219	12	&	&	CCONJ
arestyrurj-158	219	13	iagnemma	iagnemma	PROPN
arestyrurj-158	219	14	,	,	PUNCT
arestyrurj-158	219	15	k.	k.	PROPN
arestyrurj-158	219	16	improving	improve	VERB
arestyrurj-158	219	17	rover	rover	NOUN
arestyrurj-158	219	18	mobility	mobility	NOUN
arestyrurj-158	219	19	through	through	ADP
arestyrurj-158	219	20	traction	traction	PROPN
arestyrurj-158	219	21	control	control	NOUN
arestyrurj-158	219	22	:	:	PUNCT
arestyrurj-158	219	23	simulating	simulate	VERB
arestyrurj-158	219	24	rovers	rover	NOUN
arestyrurj-158	219	25	on	on	ADP
arestyrurj-158	219	26	the	the	DET
arestyrurj-158	219	27	moon	moon	NOUN
arestyrurj-158	219	28	.	.	PUNCT
arestyrurj-158	220	1	auton	auton	PROPN
arestyrurj-158	220	2	robot	robot	PROPN
arestyrurj-158	220	3	43	43	NUM
arestyrurj-158	220	4	,	,	PUNCT
arestyrurj-158	220	5	1977–1988	1977–1988	NUM
arestyrurj-158	220	6	(	(	PUNCT
arestyrurj-158	220	7	2019	2019	NUM
arestyrurj-158	220	8	)	)	PUNCT
arestyrurj-158	220	9	.	.	PUNCT
arestyrurj-158	221	1	https://doi.org/10.1007/s10514-019-09846-3	https://doi.org/10.1007/s10514-019-09846-3	NUM
arestyrurj-158	221	2	figure	figure	NOUN
arestyrurj-158	221	3	17	17	NUM
arestyrurj-158	221	4	:	:	PUNCT
arestyrurj-158	221	5	rover	rover	NOUN
arestyrurj-158	221	6	prototype	prototype	NOUN
arestyrurj-158	221	7	.	.	PUNCT
arestyrurj-158	222	1	description	description	NOUN
arestyrurj-158	222	2	:	:	PUNCT
arestyrurj-158	222	3	the	the	DET
arestyrurj-158	222	4	prototype	prototype	NOUN
arestyrurj-158	222	5	is	be	AUX
arestyrurj-158	222	6	a	a	DET
arestyrurj-158	222	7	six	six	NUM
arestyrurj-158	222	8	-	-	PUNCT
arestyrurj-158	222	9	wheeled	wheel	VERB
arestyrurj-158	222	10	,	,	PUNCT
arestyrurj-158	222	11	rocker	rocker	NOUN
arestyrurj-158	222	12	-	-	PUNCT
arestyrurj-158	222	13	bogie	bogie	NOUN
arestyrurj-158	222	14	suspension	suspension	NOUN
arestyrurj-158	222	15	rover	rover	NOUN
arestyrurj-158	222	16	.	.	PUNCT
arestyrurj-158	223	1	the	the	DET
arestyrurj-158	223	2	frame	frame	NOUN
arestyrurj-158	223	3	and	and	CCONJ
arestyrurj-158	223	4	wheels	wheel	NOUN
arestyrurj-158	223	5	were	be	AUX
arestyrurj-158	223	6	3d	3d	NUM
arestyrurj-158	223	7	printed	print	VERB
arestyrurj-158	223	8	.	.	PUNCT
arestyrurj-158	224	1	the	the	DET
arestyrurj-158	224	2	computer	computer	NOUN
arestyrurj-158	224	3	onboard	onboard	ADP
arestyrurj-158	224	4	the	the	DET
arestyrurj-158	224	5	rover	rover	NOUN
arestyrurj-158	224	6	is	be	AUX
arestyrurj-158	224	7	an	an	DET
arestyrurj-158	224	8	arduino	arduino	NOUN
arestyrurj-158	224	9	uno	uno	NOUN
arestyrurj-158	224	10	.	.	PUNCT
arestyrurj-158	225	1	the	the	DET
arestyrurj-158	225	2	green	green	PROPN
arestyrurj-158	225	3	cylinders	cylinder	NOUN
arestyrurj-158	225	4	are	be	AUX
arestyrurj-158	225	5	lipo	lipo	NOUN
arestyrurj-158	225	6	batteries	battery	NOUN
arestyrurj-158	225	7	to	to	PART
arestyrurj-158	225	8	power	power	VERB
arestyrurj-158	225	9	the	the	DET
arestyrurj-158	225	10	rover	rover	NOUN
arestyrurj-158	225	11	.	.	PUNCT
arestyrurj-158	226	1	the	the	DET
arestyrurj-158	226	2	motor	motor	NOUN
arestyrurj-158	226	3	and	and	CCONJ
arestyrurj-158	226	4	electronic	electronic	ADJ
arestyrurj-158	226	5	speed	speed	NOUN
arestyrurj-158	226	6	controllers	controller	NOUN
arestyrurj-158	226	7	have	have	AUX
arestyrurj-158	226	8	not	not	PART
arestyrurj-158	226	9	been	be	AUX
arestyrurj-158	226	10	added	add	VERB
arestyrurj-158	226	11	yet	yet	ADV
arestyrurj-158	226	12	.	.	PUNCT
arestyrurj-158	227	1	https://doi.org/10.1016/j.jterra.2017.03.001	https://doi.org/10.1016/j.jterra.2017.03.001	VERB
arestyrurj-158	227	2	https://doi.org/10.1007/s10514-019-09846-3	https://doi.org/10.1007/s10514-019-09846-3	NUM
arestyrurj-158	227	3	aresty	aresty	PROPN
arestyrurj-158	227	4	rutgers	rutgers	PROPN
arestyrurj-158	227	5	undergraduate	undergraduate	PROPN
arestyrurj-158	227	6	research	research	PROPN
arestyrurj-158	227	7	journal	journal	PROPN
arestyrurj-158	227	8	,	,	PUNCT
arestyrurj-158	227	9	volume	volume	NOUN
arestyrurj-158	227	10	i	i	PRON
arestyrurj-158	227	11	,	,	PUNCT
arestyrurj-158	227	12	issue	issue	NOUN
arestyrurj-158	227	13	ii	ii	NOUN
arestyrurj-158	228	1	[	[	X
arestyrurj-158	228	2	3	3	NUM
arestyrurj-158	228	3	]	]	PUNCT
arestyrurj-158	228	4	dc	dc	PROPN
arestyrurj-158	228	5	motor	motor	NOUN
arestyrurj-158	228	6	speed	speed	NOUN
arestyrurj-158	228	7	:	:	PUNCT
arestyrurj-158	228	8	simulink	simulink	NOUN
arestyrurj-158	228	9	modeling	modeling	NOUN
arestyrurj-158	228	10	.	.	PUNCT
arestyrurj-158	229	1	control	control	NOUN
arestyrurj-158	229	2	tutorials	tutorial	NOUN
arestyrurj-158	229	3	for	for	ADP
arestyrurj-158	229	4	matlab	matlab	PROPN
arestyrurj-158	229	5	and	and	CCONJ
arestyrurj-158	229	6	simulink	simulink	PROPN
arestyrurj-158	229	7	motor	motor	NOUN
arestyrurj-158	229	8	speed	speed	NOUN
arestyrurj-158	229	9	:	:	PUNCT
arestyrurj-158	229	10	simulink	simulink	NOUN
arestyrurj-158	229	11	modeling	modeling	NOUN
arestyrurj-158	229	12	.	.	PUNCT
arestyrurj-158	230	1	http://ctms.engin.umich.edu/ctms/index.php	http://ctms.engin.umich.edu/ctms/index.php	VERB
arestyrurj-158	230	2	?	?	PUNCT
arestyrurj-158	231	1	example	example	NOUN
arestyrurj-158	232	1	=	=	NOUN
arestyrurj-158	232	2	motorspeed§ion	motorspeed§ion	NOUN
arestyrurj-158	232	3	=	=	NOUN
arestyrurj-158	232	4	simulinkmodeling#1	simulinkmodeling#1	NOUN
arestyrurj-158	232	5	[	[	SYM
arestyrurj-158	232	6	4	4	NUM
arestyrurj-158	232	7	]	]	PUNCT
arestyrurj-158	232	8	emheisen	emheisen	NOUN
arestyrurj-158	232	9	,	,	PUNCT
arestyrurj-158	232	10	a.	a.	NOUN
arestyrurj-158	232	11	,	,	PUNCT
arestyrurj-158	232	12	ahmed	ahmed	PROPN
arestyrurj-158	232	13	,	,	PUNCT
arestyrurj-158	232	14	a.	a.	PROPN
arestyrurj-158	232	15	,	,	PUNCT
arestyrurj-158	232	16	alhusein	alhusein	PROPN
arestyrurj-158	232	17	,	,	PUNCT
arestyrurj-158	232	18	n.	n.	NOUN
arestyrurj-158	232	19	,	,	PUNCT
arestyrurj-158	232	20	sakeb	sakeb	NOUN
arestyrurj-158	232	21	,	,	PUNCT
arestyrurj-158	232	22	a.	a.	NOUN
arestyrurj-158	232	23	,	,	PUNCT
arestyrurj-158	232	24	&	&	CCONJ
arestyrurj-158	232	25	abdulhamid	abdulhamid	PROPN
arestyrurj-158	232	26	,	,	PUNCT
arestyrurj-158	232	27	a.	a.	NOUN
arestyrurj-158	232	28	(	(	PUNCT
arestyrurj-158	232	29	2015	2015	NUM
arestyrurj-158	232	30	)	)	PUNCT
arestyrurj-158	232	31	.	.	PUNCT
arestyrurj-158	233	1	car	car	NOUN
arestyrurj-158	233	2	wheel	wheel	NOUN
arestyrurj-158	233	3	slip	slip	VERB
arestyrurj-158	233	4	modelling	modelling	NOUN
arestyrurj-158	233	5	,	,	PUNCT
arestyrurj-158	233	6	simulation	simulation	NOUN
arestyrurj-158	233	7	,	,	PUNCT
arestyrurj-158	233	8	and	and	CCONJ
arestyrurj-158	233	9	control	control	NOUN
arestyrurj-158	233	10	using	use	VERB
arestyrurj-158	233	11	quarter	quarter	NOUN
arestyrurj-158	233	12	car	car	NOUN
arestyrurj-158	233	13	model	model	NOUN
arestyrurj-158	233	14	,	,	PUNCT
arestyrurj-158	233	15	international	international	ADJ
arestyrurj-158	233	16	journal	journal	NOUN
arestyrurj-158	233	17	of	of	ADP
arestyrurj-158	233	18	engineering	engineering	NOUN
arestyrurj-158	233	19	trends	trend	NOUN
arestyrurj-158	233	20	and	and	CCONJ
arestyrurj-158	233	21	technology	technology	NOUN
arestyrurj-158	233	22	(	(	PUNCT
arestyrurj-158	233	23	ijett	ijett	NOUN
arestyrurj-158	233	24	)	)	PUNCT
arestyrurj-158	233	25	,	,	PUNCT
arestyrurj-158	233	26	vol	vol	NOUN
arestyrurj-158	233	27	.	.	PROPN
arestyrurj-158	233	28	28	28	NUM
arestyrurj-158	233	29	,	,	PUNCT
arestyrurj-158	233	30	no	no	INTJ
arestyrurj-158	233	31	.	.	NOUN
arestyrurj-158	233	32	6	6	NUM
arestyrurj-158	233	33	,	,	PUNCT
arestyrurj-158	233	34	291–293	291–293	NUM
arestyrurj-158	233	35	.	.	PUNCT
arestyrurj-158	234	1	[	[	X
arestyrurj-158	234	2	5	5	NUM
arestyrurj-158	234	3	]	]	PUNCT
arestyrurj-158	234	4	example	example	NOUN
arestyrurj-158	234	5	on	on	ADP
arestyrurj-158	234	6	sliding	slide	VERB
arestyrurj-158	234	7	mode	mode	NOUN
arestyrurj-158	234	8	control	control	NOUN
arestyrurj-158	234	9	.	.	PUNCT
arestyrurj-158	235	1	example	example	NOUN
arestyrurj-158	235	2	on	on	ADP
arestyrurj-158	235	3	sliding	slide	VERB
arestyrurj-158	235	4	mode	mode	NOUN
arestyrurj-158	235	5	control	control	NOUN
arestyrurj-158	235	6	file	file	NOUN
arestyrurj-158	235	7	exchange	exchange	NOUN
arestyrurj-158	235	8	matlab	matlab	PROPN
arestyrurj-158	235	9	central	central	PROPN
arestyrurj-158	235	10	.	.	PUNCT
arestyrurj-158	236	1	https://www.mathworks.com/matlabcentral/	https://www.mathworks.com/matlabcentral/	PRON
arestyrurj-158	236	2	fileexchange/52429	fileexchange/52429	ADJ
arestyrurj-158	236	3	-	-	PUNCT
arestyrurj-158	236	4	example	example	NOUN
arestyrurj-158	236	5	-	-	PUNCT
arestyrurj-158	236	6	on	on	ADP
arestyrurj-158	236	7	-	-	PUNCT
arestyrurj-158	236	8	sliding	sliding	ADJ
arestyrurj-158	236	9	-	-	PUNCT
arestyrurj-158	236	10	mode	mode	NOUN
arestyrurj-158	236	11	-	-	PUNCT
arestyrurj-158	236	12	control	control	NOUN
arestyrurj-158	236	13	[	[	X
arestyrurj-158	236	14	6	6	NUM
arestyrurj-158	236	15	]	]	X
arestyrurj-158	236	16	han	han	PROPN
arestyrurj-158	236	17	,	,	PUNCT
arestyrurj-158	236	18	k.	k.	PROPN
arestyrurj-158	236	19	,	,	PUNCT
arestyrurj-158	236	20	choi	choi	NOUN
arestyrurj-158	236	21	,	,	PUNCT
arestyrurj-158	236	22	m.	m.	NOUN
arestyrurj-158	236	23	,	,	PUNCT
arestyrurj-158	236	24	lee	lee	PROPN
arestyrurj-158	236	25	,	,	PUNCT
arestyrurj-158	236	26	b.	b.	PROPN
arestyrurj-158	236	27	,	,	PUNCT
arestyrurj-158	236	28	&	&	CCONJ
arestyrurj-158	236	29	choi	choi	PROPN
arestyrurj-158	236	30	,	,	PUNCT
arestyrurj-158	236	31	s.	s.	PROPN
arestyrurj-158	236	32	b.	b.	PROPN
arestyrurj-158	237	1	(	(	PUNCT
arestyrurj-158	237	2	2018	2018	NUM
arestyrurj-158	237	3	)	)	PUNCT
arestyrurj-158	237	4	.	.	PUNCT
arestyrurj-158	238	1	development	development	NOUN
arestyrurj-158	238	2	of	of	ADP
arestyrurj-158	238	3	a	a	DET
arestyrurj-158	238	4	traction	traction	NOUN
arestyrurj-158	238	5	control	control	NOUN
arestyrurj-158	238	6	system	system	NOUN
arestyrurj-158	238	7	using	use	VERB
arestyrurj-158	238	8	a	a	DET
arestyrurj-158	238	9	special	special	ADJ
arestyrurj-158	238	10	type	type	NOUN
arestyrurj-158	238	11	of	of	ADP
arestyrurj-158	238	12	sliding	slide	VERB
arestyrurj-158	238	13	mode	mode	NOUN
arestyrurj-158	238	14	controller	controller	NOUN
arestyrurj-158	238	15	for	for	ADP
arestyrurj-158	238	16	hybrid	hybrid	ADJ
arestyrurj-158	238	17	4wd	4wd	ADJ
arestyrurj-158	238	18	vehicles	vehicle	NOUN
arestyrurj-158	238	19	.	.	PUNCT
arestyrurj-158	239	1	ieee	ieee	NOUN
arestyrurj-158	239	2	transactions	transaction	NOUN
arestyrurj-158	239	3	on	on	ADP
arestyrurj-158	239	4	vehicular	vehicular	ADJ
arestyrurj-158	239	5	technology	technology	NOUN
arestyrurj-158	239	6	,	,	PUNCT
arestyrurj-158	239	7	vol	vol	NOUN
arestyrurj-158	239	8	.	.	PROPN
arestyrurj-158	239	9	67	67	NUM
arestyrurj-158	239	10	,	,	PUNCT
arestyrurj-158	239	11	no	no	INTJ
arestyrurj-158	239	12	.	.	NOUN
arestyrurj-158	239	13	1	1	NUM
arestyrurj-158	239	14	,	,	PUNCT
arestyrurj-158	239	15	pp	pp	ADJ
arestyrurj-158	239	16	.	.	PUNCT
arestyrurj-158	239	17	264	264	NUM
arestyrurj-158	239	18	-	-	SYM
arestyrurj-158	239	19	274	274	NUM
arestyrurj-158	239	20	[	[	X
arestyrurj-158	239	21	7	7	NUM
arestyrurj-158	239	22	]	]	X
arestyrurj-158	239	23	iagnemma	iagnemma	NOUN
arestyrurj-158	239	24	,	,	PUNCT
arestyrurj-158	239	25	k.	k.	PROPN
arestyrurj-158	239	26	,	,	PUNCT
arestyrurj-158	239	27	&	&	CCONJ
arestyrurj-158	239	28	dubowsky	dubowsky	PROPN
arestyrurj-158	239	29	,	,	PUNCT
arestyrurj-158	239	30	s.	s.	PROPN
arestyrurj-158	239	31	(	(	PUNCT
arestyrurj-158	239	32	2004	2004	NUM
arestyrurj-158	239	33	)	)	PUNCT
arestyrurj-158	239	34	.	.	PUNCT
arestyrurj-158	240	1	mobile	mobile	ADJ
arestyrurj-158	240	2	robots	robot	NOUN
arestyrurj-158	240	3	in	in	ADP
arestyrurj-158	240	4	rough	rough	ADJ
arestyrurj-158	240	5	terrain	terrain	NOUN
arestyrurj-158	240	6	.	.	PUNCT
arestyrurj-158	241	1	berlin	berlin	PROPN
arestyrurj-158	241	2	heidelberg	heidelberg	PROPN
arestyrurj-158	241	3	:	:	PUNCT
arestyrurj-158	241	4	springer	springer	NOUN
arestyrurj-158	241	5	-	-	PUNCT
arestyrurj-158	241	6	verlag	verlag	PROPN
arestyrurj-158	241	7	.	.	PUNCT
arestyrurj-158	242	1	[	[	X
arestyrurj-158	242	2	8	8	NUM
arestyrurj-158	242	3	]	]	SYM
arestyrurj-158	242	4	li	li	PROPN
arestyrurj-158	242	5	,	,	PUNCT
arestyrurj-158	242	6	s.	s.	PROPN
arestyrurj-158	242	7	,	,	PUNCT
arestyrurj-158	242	8	liao	liao	PROPN
arestyrurj-158	242	9	,	,	PUNCT
arestyrurj-158	242	10	c.	c.	PROPN
arestyrurj-158	242	11	,	,	PUNCT
arestyrurj-158	242	12	chen	chen	PROPN
arestyrurj-158	242	13	,	,	PUNCT
arestyrurj-158	242	14	s.	s.	PROPN
arestyrurj-158	242	15	,	,	PUNCT
arestyrurj-158	242	16	&	&	CCONJ
arestyrurj-158	242	17	wang	wang	PROPN
arestyrurj-158	242	18	,	,	PUNCT
arestyrurj-158	242	19	l.	l.	PROPN
arestyrurj-158	242	20	traction	traction	PROPN
arestyrurj-158	242	21	control	control	NOUN
arestyrurj-158	242	22	of	of	ADP
arestyrurj-158	242	23	hybrid	hybrid	ADJ
arestyrurj-158	242	24	electric	electric	ADJ
arestyrurj-158	242	25	vehicle	vehicle	NOUN
arestyrurj-158	242	26	.	.	PUNCT
arestyrurj-158	242	27	2009	2009	NUM
arestyrurj-158	242	28	ieee	ieee	NOUN
arestyrurj-158	242	29	vehicle	vehicle	NOUN
arestyrurj-158	242	30	power	power	NOUN
arestyrurj-158	242	31	and	and	CCONJ
arestyrurj-158	242	32	propulsion	propulsion	NOUN
arestyrurj-158	242	33	conference	conference	NOUN
arestyrurj-158	242	34	,	,	PUNCT
arestyrurj-158	242	35	dearborn	dearborn	PROPN
arestyrurj-158	242	36	,	,	PUNCT
arestyrurj-158	242	37	mi	mi	PROPN
arestyrurj-158	242	38	,	,	PUNCT
arestyrurj-158	242	39	2009	2009	NUM
arestyrurj-158	242	40	,	,	PUNCT
arestyrurj-158	242	41	pp	pp	ADJ
arestyrurj-158	242	42	.	.	PUNCT
arestyrurj-158	242	43	1535	1535	NUM
arestyrurj-158	242	44	-	-	SYM
arestyrurj-158	242	45	1540	1540	NUM
arestyrurj-158	242	46	,	,	PUNCT
arestyrurj-158	242	47	doi	doi	NOUN
arestyrurj-158	242	48	:	:	PUNCT
arestyrurj-158	242	49	10.1109	10.1109	NUM
arestyrurj-158	242	50	/	/	SYM
arestyrurj-158	242	51	vppc.2009.5289563	vppc.2009.5289563	NOUN
arestyrurj-158	242	52	.	.	PUNCT
arestyrurj-158	243	1	[	[	X
arestyrurj-158	243	2	9	9	NUM
arestyrurj-158	243	3	]	]	SYM
arestyrurj-158	243	4	matlab	matlab	PROPN
arestyrurj-158	243	5	.	.	PUNCT
arestyrurj-158	244	1	(	(	PUNCT
arestyrurj-158	244	2	2019	2019	NUM
arestyrurj-158	244	3	)	)	PUNCT
arestyrurj-158	244	4	.	.	PUNCT
arestyrurj-158	245	1	version	version	NOUN
arestyrurj-158	245	2	9.7.0	9.7.0	NUM
arestyrurj-158	245	3	(	(	PUNCT
arestyrurj-158	245	4	r2019b	r2019b	NOUN
arestyrurj-158	245	5	)	)	PUNCT
arestyrurj-158	245	6	.	.	PUNCT
arestyrurj-158	246	1	natick	natick	PROPN
arestyrurj-158	246	2	,	,	PUNCT
arestyrurj-158	246	3	massachusetts	massachusetts	PROPN
arestyrurj-158	246	4	:	:	PUNCT
arestyrurj-158	246	5	the	the	DET
arestyrurj-158	246	6	mathworks	mathworks	PROPN
arestyrurj-158	246	7	inc	inc	PROPN
arestyrurj-158	246	8	.	.	PUNCT
arestyrurj-158	247	1	[	[	X
arestyrurj-158	247	2	10	10	NUM
arestyrurj-158	247	3	]	]	X
arestyrurj-158	247	4	modeling	model	VERB
arestyrurj-158	247	5	an	an	DET
arestyrurj-158	247	6	anti	anti	ADJ
arestyrurj-158	247	7	-	-	ADJ
arestyrurj-158	247	8	lock	lock	ADJ
arestyrurj-158	247	9	braking	brake	VERB
arestyrurj-158	247	10	system	system	NOUN
arestyrurj-158	247	11	.	.	PUNCT
arestyrurj-158	248	1	matlab	matlab	PROPN
arestyrurj-158	248	2	&	&	CCONJ
arestyrurj-158	248	3	simulink	simulink	PROPN
arestyrurj-158	248	4	.	.	PUNCT
arestyrurj-158	249	1	https://www.mathworks.com/help/simulink/slref/modeling-an-antilock-braking-system.html	https://www.mathworks.com/help/simulink/slref/modeling-an-antilock-braking-system.html	PROPN
arestyrurj-158	250	1	[	[	X
arestyrurj-158	250	2	11	11	NUM
arestyrurj-158	250	3	]	]	X
arestyrurj-158	250	4	pacejka	pacejka	NOUN
arestyrurj-158	250	5	,	,	PUNCT
arestyrurj-158	250	6	h.	h.	PROPN
arestyrurj-158	250	7	b.	b.	PROPN
arestyrurj-158	250	8	(	(	PUNCT
arestyrurj-158	250	9	2002	2002	NUM
arestyrurj-158	250	10	)	)	PUNCT
arestyrurj-158	250	11	.	.	PUNCT
arestyrurj-158	251	1	tire	tire	NOUN
arestyrurj-158	251	2	and	and	CCONJ
arestyrurj-158	251	3	vehicle	vehicle	NOUN
arestyrurj-158	251	4	dynamics	dynamic	NOUN
arestyrurj-158	251	5	.	.	PUNCT
arestyrurj-158	252	1	society	society	NOUN
arestyrurj-158	252	2	of	of	ADP
arestyrurj-158	252	3	automotive	automotive	ADJ
arestyrurj-158	252	4	engineers	engineer	NOUN
arestyrurj-158	252	5	.	.	PUNCT
arestyrurj-158	253	1	[	[	X
arestyrurj-158	253	2	12	12	NUM
arestyrurj-158	253	3	]	]	X
arestyrurj-158	253	4	reina	reina	PROPN
arestyrurj-158	253	5	,	,	PUNCT
arestyrurj-158	253	6	g.	g.	PROPN
arestyrurj-158	253	7	,	,	PUNCT
arestyrurj-158	253	8	giannoccaro	giannoccaro	NOUN
arestyrurj-158	253	9	,	,	PUNCT
arestyrurj-158	253	10	n.i	n.i	PROPN
arestyrurj-158	253	11	.	.	PROPN
arestyrurj-158	253	12	,	,	PUNCT
arestyrurj-158	253	13	&	&	CCONJ
arestyrurj-158	253	14	messina	messina	PROPN
arestyrurj-158	253	15	,	,	PUNCT
arestyrurj-158	253	16	a.	a.	PROPN
arestyrurj-158	253	17	(	(	PUNCT
arestyrurj-158	253	18	2013	2013	NUM
arestyrurj-158	253	19	)	)	PUNCT
arestyrurj-158	253	20	.	.	PUNCT
arestyrurj-158	254	1	traction	traction	PROPN
arestyrurj-158	254	2	control	control	NOUN
arestyrurj-158	254	3	for	for	ADP
arestyrurj-158	254	4	four	four	NUM
arestyrurj-158	254	5	-	-	PUNCT
arestyrurj-158	254	6	wheel	wheel	NOUN
arestyrurj-158	254	7	drive	drive	NOUN
arestyrurj-158	254	8	robots	robot	NOUN
arestyrurj-158	254	9	.	.	PUNCT
arestyrurj-158	255	1	[	[	X
arestyrurj-158	255	2	13	13	NUM
arestyrurj-158	255	3	]	]	X
arestyrurj-158	255	4	summary	summary	NOUN
arestyrurj-158	255	5	.	.	PUNCT
arestyrurj-158	256	1	nasa	nasa	PROPN
arestyrurj-158	256	2	,	,	PUNCT
arestyrurj-158	256	3	9	9	NUM
arestyrurj-158	256	4	sept	sept	PROPN
arestyrurj-158	256	5	.	.	PROPN
arestyrurj-158	256	6	2019	2019	NUM
arestyrurj-158	256	7	,	,	PUNCT
arestyrurj-158	256	8	https://mars.nasa.gov/msl/spacecraft/rover/summary/	https://mars.nasa.gov/msl/spacecraft/rover/summary/	X
arestyrurj-158	256	9	[	[	X
arestyrurj-158	256	10	14	14	NUM
arestyrurj-158	256	11	]	]	X
arestyrurj-158	256	12	toupet	toupet	NOUN
arestyrurj-158	256	13	,	,	PUNCT
arestyrurj-158	256	14	o.	o.	PROPN
arestyrurj-158	256	15	,	,	PUNCT
arestyrurj-158	256	16	biesiadecki	biesiadecki	PROPN
arestyrurj-158	256	17	,	,	PUNCT
arestyrurj-158	256	18	j.	j.	PROPN
arestyrurj-158	256	19	,	,	PUNCT
arestyrurj-158	256	20	rankin	rankin	PROPN
arestyrurj-158	256	21	,	,	PUNCT
arestyrurj-158	256	22	a.	a.	PROPN
arestyrurj-158	256	23	,	,	PUNCT
arestyrurj-158	256	24	steffy	steffy	PROPN
arestyrurj-158	256	25	,	,	PUNCT
arestyrurj-158	256	26	a.	a.	NOUN
arestyrurj-158	256	27	,	,	PUNCT
arestyrurj-158	256	28	meirion	meirion	NOUN
arestyrurj-158	256	29	-	-	PUNCT
arestyrurj-158	256	30	griffith	griffith	PROPN
arestyrurj-158	256	31	,	,	PUNCT
arestyrurj-158	256	32	g.	g.	PROPN
arestyrurj-158	256	33	,	,	PUNCT
arestyrurj-158	256	34	levine	levine	PROPN
arestyrurj-158	256	35	,	,	PUNCT
arestyrurj-158	256	36	d.	d.	PROPN
arestyrurj-158	256	37	,	,	PUNCT
arestyrurj-158	256	38	schadegg	schadegg	NOUN
arestyrurj-158	256	39	,	,	PUNCT
arestyrurj-158	256	40	m.	m.	NOUN
arestyrurj-158	256	41	,	,	PUNCT
arestyrurj-158	256	42	&	&	CCONJ
arestyrurj-158	256	43	maimone	maimone	NOUN
arestyrurj-158	256	44	,	,	PUNCT
arestyrurj-158	256	45	m.	m.	NOUN
arestyrurj-158	256	46	(	(	PUNCT
arestyrurj-158	256	47	2018	2018	NUM
arestyrurj-158	256	48	)	)	PUNCT
arestyrurj-158	256	49	.	.	PUNCT
arestyrurj-158	257	1	traction	traction	PROPN
arestyrurj-158	257	2	control	control	NOUN
arestyrurj-158	257	3	design	design	NOUN
arestyrurj-158	257	4	and	and	CCONJ
arestyrurj-158	257	5	integration	integration	NOUN
arestyrurj-158	257	6	onboard	onboard	ADP
arestyrurj-158	257	7	the	the	DET
arestyrurj-158	257	8	mars	mars	PROPN
arestyrurj-158	257	9	science	science	PROPN
arestyrurj-158	257	10	laboratory	laboratory	PROPN
arestyrurj-158	257	11	curiosity	curiosity	NOUN
arestyrurj-158	257	12	rover	rover	NOUN
arestyrurj-158	257	13	.	.	PUNCT
arestyrurj-158	258	1	2018	2018	NUM
arestyrurj-158	258	2	ieee	ieee	PROPN
arestyrurj-158	258	3	aerospace	aerospace	NOUN
arestyrurj-158	258	4	conference	conference	NOUN
arestyrurj-158	258	5	.	.	PUNCT
arestyrurj-158	259	1	[	[	X
arestyrurj-158	259	2	15	15	NUM
arestyrurj-158	259	3	]	]	X
arestyrurj-158	259	4	wong	wong	PROPN
arestyrurj-158	259	5	,	,	PUNCT
arestyrurj-158	259	6	j.	j.	PROPN
arestyrurj-158	259	7	y.	y.	PROPN
arestyrurj-158	259	8	(	(	PUNCT
arestyrurj-158	259	9	1978	1978	NUM
arestyrurj-158	259	10	)	)	PUNCT
arestyrurj-158	259	11	.	.	PUNCT
arestyrurj-158	260	1	chapter	chapter	NOUN
arestyrurj-158	260	2	2	2	NUM
arestyrurj-158	260	3	.	.	PUNCT
arestyrurj-158	261	1	in	in	ADP
arestyrurj-158	261	2	theory	theory	NOUN
arestyrurj-158	261	3	of	of	ADP
arestyrurj-158	261	4	ground	ground	NOUN
arestyrurj-158	261	5	vehicles	vehicle	NOUN
arestyrurj-158	261	6	.	.	PUNCT
arestyrurj-158	262	1	john	john	PROPN
arestyrurj-158	262	2	wiley	wiley	PROPN
arestyrurj-158	262	3	&	&	CCONJ
arestyrurj-158	262	4	sons	son	NOUN
arestyrurj-158	262	5	.	.	PUNCT
arestyrurj-158	263	1	[	[	X
arestyrurj-158	263	2	16	16	NUM
arestyrurj-158	263	3	]	]	X
arestyrurj-158	263	4	yoshida	yoshida	PROPN
arestyrurj-158	263	5	,	,	PUNCT
arestyrurj-158	263	6	k.	k.	PROPN
arestyrurj-158	263	7	,	,	PUNCT
arestyrurj-158	263	8	hamano	hamano	NOUN
arestyrurj-158	263	9	,	,	PUNCT
arestyrurj-158	263	10	h.	h.	PROPN
arestyrurj-158	263	11	(	(	PUNCT
arestyrurj-158	263	12	2002	2002	NUM
arestyrurj-158	263	13	)	)	PUNCT
arestyrurj-158	263	14	motion	motion	NOUN
arestyrurj-158	263	15	dynamics	dynamic	NOUN
arestyrurj-158	263	16	of	of	ADP
arestyrurj-158	263	17	a	a	DET
arestyrurj-158	263	18	rover	rover	NOUN
arestyrurj-158	263	19	with	with	ADP
arestyrurj-158	263	20	slip	slip	NOUN
arestyrurj-158	263	21	-	-	PUNCT
arestyrurj-158	263	22	based	base	VERB
arestyrurj-158	263	23	traction	traction	NOUN
arestyrurj-158	263	24	model	model	NOUN
arestyrurj-158	263	25	,	,	PUNCT
arestyrurj-158	263	26	proc	proc	NOUN
arestyrurj-158	263	27	.	.	PROPN
arestyrurj-158	263	28	2002	2002	NUM
arestyrurj-158	263	29	ieee	ieee	PROPN
arestyrurj-158	263	30	int	int	NOUN
arestyrurj-158	263	31	.	.	PUNCT
arestyrurj-158	263	32	conf	conf	PROPN
arestyrurj-158	263	33	.	.	PUNCT
arestyrurj-158	264	1	on	on	ADP
arestyrurj-158	264	2	robotics	robotic	NOUN
arestyrurj-158	264	3	and	and	CCONJ
arestyrurj-158	264	4	automation	automation	NOUN
arestyrurj-158	264	5	,	,	PUNCT
arestyrurj-158	264	6	3155	3155	NUM
arestyrurj-158	264	7	-	-	SYM
arestyrurj-158	264	8	3160	3160	NUM
arestyrurj-158	264	9	.	.	PUNCT
arestyrurj-158	265	1	[	[	X
arestyrurj-158	265	2	17	17	NUM
arestyrurj-158	265	3	]	]	X
arestyrurj-158	265	4	yoshida	yoshida	PROPN
arestyrurj-158	265	5	,	,	PUNCT
arestyrurj-158	265	6	k.	k.	PROPN
arestyrurj-158	265	7	,	,	PUNCT
arestyrurj-158	265	8	hamano	hamano	NOUN
arestyrurj-158	265	9	,	,	PUNCT
arestyrurj-158	265	10	h.	h.	PROPN
arestyrurj-158	265	11	,	,	PUNCT
arestyrurj-158	265	12	&	&	CCONJ
arestyrurj-158	265	13	watanabe	watanabe	PROPN
arestyrurj-158	265	14	,	,	PUNCT
arestyrurj-158	265	15	t.	t.	PROPN
arestyrurj-158	265	16	(	(	PUNCT
arestyrurj-158	265	17	2003	2003	NUM
arestyrurj-158	265	18	)	)	PUNCT
arestyrurj-158	265	19	.	.	PUNCT
arestyrurj-158	265	20	slip	slip	NOUN
arestyrurj-158	265	21	-	-	PUNCT
arestyrurj-158	265	22	based	base	VERB
arestyrurj-158	265	23	traction	traction	NOUN
arestyrurj-158	265	24	control	control	NOUN
arestyrurj-158	265	25	of	of	ADP
arestyrurj-158	265	26	a	a	DET
arestyrurj-158	265	27	planetary	planetary	ADJ
arestyrurj-158	265	28	rover	rover	NOUN
arestyrurj-158	265	29	.	.	PUNCT
arestyrurj-158	266	1	b.	b.	PROPN
arestyrurj-158	266	2	siciliano	siciliano	PROPN
arestyrurj-158	266	3	and	and	CCONJ
arestyrurj-158	266	4	p.	p.	PROPN
arestyrurj-158	266	5	dario	dario	NOUN
arestyrurj-158	266	6	(	(	PUNCT
arestyrurj-158	266	7	eds	eds	PROPN
arestyrurj-158	266	8	.	.	PROPN
arestyrurj-158	266	9	):	):	PUNCT
arestyrurj-158	266	10	experimental	experimental	ADJ
arestyrurj-158	266	11	robotics	robotic	NOUN
arestyrurj-158	266	12	viii	viii	NOUN
arestyrurj-158	266	13	,	,	PUNCT
arestyrurj-158	266	14	star	star	NOUN
arestyrurj-158	266	15	5	5	NUM
arestyrurj-158	266	16	,	,	PUNCT
arestyrurj-158	266	17	pp	pp	ADJ
arestyrurj-158	266	18	.	.	PUNCT
arestyrurj-158	267	1	644–653	644–653	NUM
arestyrurj-158	267	2	.	.	PUNCT
arestyrurj-158	268	1	http://ctms.engin.umich.edu/ctms/index.php?example=motorspeed%c2%a7ion=simulinkmodeling#1	http://ctms.engin.umich.edu/ctms/index.php?example=motorspeed%c2%a7ion=simulinkmodeling#1	PROPN
arestyrurj-158	268	2	http://ctms.engin.umich.edu/ctms/index.php?example=motorspeed%c2%a7ion=simulinkmodeling#1	http://ctms.engin.umich.edu/ctms/index.php?example=motorspeed%c2%a7ion=simulinkmodeling#1	PROPN
arestyrurj-158	268	3	https://www.mathworks.com/matlabcentral/fileexchange/52429-example-on-sliding-mode-control	https://www.mathworks.com/matlabcentral/fileexchange/52429-example-on-sliding-mode-control	NOUN
arestyrurj-158	268	4	https://www.mathworks.com/matlabcentral/fileexchange/52429-example-on-sliding-mode-control	https://www.mathworks.com/matlabcentral/fileexchange/52429-example-on-sliding-mode-control	NOUN
arestyrurj-158	268	5	https://www.mathworks.com/help/simulink/slref/modeling-an-anti-lock-braking-system.html	https://www.mathworks.com/help/simulink/slref/modeling-an-anti-lock-braking-system.html	PROPN
arestyrurj-158	268	6	https://www.mathworks.com/help/simulink/slref/modeling-an-anti-lock-braking-system.html	https://www.mathworks.com/help/simulink/slref/modeling-an-anti-lock-braking-system.html	PROPN
arestyrurj-158	268	7	https://mars.nasa.gov/msl/spacecraft/rover/summary/	https://mars.nasa.gov/msl/spacecraft/rover/summary/	NOUN