id	sid	tid	token	lemma	pos
arestyrurj-167	1	1	aresty	aresty	PROPN
arestyrurj-167	1	2	rutgers	rutgers	PROPN
arestyrurj-167	1	3	undergraduate	undergraduate	PROPN
arestyrurj-167	1	4	research	research	PROPN
arestyrurj-167	1	5	journal	journal	PROPN
arestyrurj-167	1	6	,	,	PUNCT
arestyrurj-167	1	7	volume	volume	NOUN
arestyrurj-167	1	8	i	i	PRON
arestyrurj-167	1	9	,	,	PUNCT
arestyrurj-167	1	10	issue	issue	VERB
arestyrurj-167	1	11	iii	iii	NOUN
arestyrurj-167	1	12	this	this	DET
arestyrurj-167	1	13	work	work	NOUN
arestyrurj-167	1	14	is	be	AUX
arestyrurj-167	1	15	licensed	license	VERB
arestyrurj-167	1	16	under	under	ADP
arestyrurj-167	1	17	a	a	DET
arestyrurj-167	1	18	creative	creative	ADJ
arestyrurj-167	1	19	commons	common	NOUN
arestyrurj-167	1	20	attribution	attribution	NOUN
arestyrurj-167	1	21	-	-	PUNCT
arestyrurj-167	1	22	noncommercial	noncommercial	ADJ
arestyrurj-167	1	23	-	-	PUNCT
arestyrurj-167	1	24	sharealike	sharealike	ADJ
arestyrurj-167	1	25	4.0	4.0	NUM
arestyrurj-167	1	26	international	international	ADJ
arestyrurj-167	1	27	license	license	NOUN
arestyrurj-167	1	28	.	.	PUNCT
arestyrurj-167	2	1	cost	cost	NOUN
arestyrurj-167	2	2	-	-	PUNCT
arestyrurj-167	2	3	effective	effective	ADJ
arestyrurj-167	2	4	remote	remote	ADJ
arestyrurj-167	2	5	operated	operate	VERB
arestyrurj-167	2	6	vehicle	vehicle	NOUN
arestyrurj-167	2	7	zachary	zachary	NOUN
arestyrurj-167	2	8	smolder	smolder	NOUN
arestyrurj-167	2	9	,	,	PUNCT
arestyrurj-167	2	10	jingang	jingang	PROPN
arestyrurj-167	2	11	yi	yi	PROPN
arestyrurj-167	2	12	(	(	PUNCT
arestyrurj-167	2	13	faculty	faculty	NOUN
arestyrurj-167	2	14	advisor	advisor	NOUN
arestyrurj-167	2	15	)	)	PUNCT
arestyrurj-167	2	16	✵	✵	PROPN
arestyrurj-167	2	17	abstract	abstract	ADJ
arestyrurj-167	2	18	remote	remote	ADJ
arestyrurj-167	2	19	operated	operate	VERB
arestyrurj-167	2	20	vehicles	vehicle	NOUN
arestyrurj-167	2	21	(	(	PUNCT
arestyrurj-167	2	22	rovs	rovs	NOUN
arestyrurj-167	2	23	)	)	PUNCT
arestyrurj-167	2	24	are	be	AUX
arestyrurj-167	2	25	robotic	robotic	ADJ
arestyrurj-167	2	26	submersibles	submersible	NOUN
arestyrurj-167	2	27	controlled	control	VERB
arestyrurj-167	2	28	typically	typically	ADV
arestyrurj-167	2	29	by	by	ADP
arestyrurj-167	2	30	a	a	DET
arestyrurj-167	2	31	person	person	NOUN
arestyrurj-167	2	32	at	at	ADP
arestyrurj-167	2	33	the	the	DET
arestyrurj-167	2	34	surface	surface	NOUN
arestyrurj-167	2	35	of	of	ADP
arestyrurj-167	2	36	a	a	DET
arestyrurj-167	2	37	water	water	NOUN
arestyrurj-167	2	38	body	body	NOUN
arestyrurj-167	2	39	.	.	PUNCT
arestyrurj-167	3	1	rovs	rovs	NOUN
arestyrurj-167	3	2	can	can	AUX
arestyrurj-167	3	3	be	be	AUX
arestyrurj-167	3	4	applied	apply	VERB
arestyrurj-167	3	5	to	to	ADP
arestyrurj-167	3	6	surveillance	surveillance	NOUN
arestyrurj-167	3	7	,	,	PUNCT
arestyrurj-167	3	8	environmental	environmental	ADJ
arestyrurj-167	3	9	,	,	PUNCT
arestyrurj-167	3	10	and	and	CCONJ
arestyrurj-167	3	11	data	data	NOUN
arestyrurj-167	3	12	recording	recording	NOUN
arestyrurj-167	3	13	jobs	job	NOUN
arestyrurj-167	3	14	or	or	CCONJ
arestyrurj-167	3	15	tasks	task	NOUN
arestyrurj-167	3	16	.	.	PUNCT
arestyrurj-167	4	1	the	the	DET
arestyrurj-167	4	2	vehicle	vehicle	NOUN
arestyrurj-167	4	3	design	design	NOUN
arestyrurj-167	4	4	may	may	AUX
arestyrurj-167	4	5	be	be	AUX
arestyrurj-167	4	6	modified	modify	VERB
arestyrurj-167	4	7	to	to	PART
arestyrurj-167	4	8	remove	remove	VERB
arestyrurj-167	4	9	or	or	CCONJ
arestyrurj-167	4	10	add	add	VERB
arestyrurj-167	4	11	additional	additional	ADJ
arestyrurj-167	4	12	capabilities	capability	NOUN
arestyrurj-167	4	13	depending	depend	VERB
arestyrurj-167	4	14	upon	upon	SCONJ
arestyrurj-167	4	15	the	the	DET
arestyrurj-167	4	16	specific	specific	ADJ
arestyrurj-167	4	17	purpose	purpose	NOUN
arestyrurj-167	4	18	of	of	ADP
arestyrurj-167	4	19	the	the	DET
arestyrurj-167	4	20	rov	rov	PROPN
arestyrurj-167	4	21	.	.	PUNCT
arestyrurj-167	5	1	in	in	ADP
arestyrurj-167	5	2	this	this	DET
arestyrurj-167	5	3	paper	paper	NOUN
arestyrurj-167	5	4	,	,	PUNCT
arestyrurj-167	5	5	we	we	PRON
arestyrurj-167	5	6	explore	explore	VERB
arestyrurj-167	5	7	using	use	VERB
arestyrurj-167	5	8	remote	remote	ADJ
arestyrurj-167	5	9	operated	operate	VERB
arestyrurj-167	5	10	vehicles	vehicle	NOUN
arestyrurj-167	5	11	as	as	ADP
arestyrurj-167	5	12	a	a	DET
arestyrurj-167	5	13	cheap	cheap	ADJ
arestyrurj-167	5	14	and	and	CCONJ
arestyrurj-167	5	15	affordable	affordable	ADJ
arestyrurj-167	5	16	water	water	NOUN
arestyrurj-167	5	17	exploration	exploration	NOUN
arestyrurj-167	5	18	platform	platform	NOUN
arestyrurj-167	5	19	.	.	PUNCT
arestyrurj-167	6	1	rov	rov	PROPN
arestyrurj-167	6	2	’s	’s	PART
arestyrurj-167	6	3	high	high	ADJ
arestyrurj-167	6	4	cost	cost	NOUN
arestyrurj-167	6	5	is	be	AUX
arestyrurj-167	6	6	a	a	DET
arestyrurj-167	6	7	prohibitive	prohibitive	ADJ
arestyrurj-167	6	8	barrier	barrier	NOUN
arestyrurj-167	6	9	to	to	ADP
arestyrurj-167	6	10	entry	entry	NOUN
arestyrurj-167	6	11	,	,	PUNCT
arestyrurj-167	6	12	preventing	prevent	VERB
arestyrurj-167	6	13	widespread	widespread	ADJ
arestyrurj-167	6	14	adoption	adoption	NOUN
arestyrurj-167	6	15	of	of	ADP
arestyrurj-167	6	16	rov	rov	PROPN
arestyrurj-167	6	17	for	for	ADP
arestyrurj-167	6	18	personal	personal	ADJ
arestyrurj-167	6	19	,	,	PUNCT
arestyrurj-167	6	20	research	research	NOUN
arestyrurj-167	6	21	,	,	PUNCT
arestyrurj-167	6	22	and	and	CCONJ
arestyrurj-167	6	23	conservation	conservation	NOUN
arestyrurj-167	6	24	uses	use	NOUN
arestyrurj-167	6	25	.	.	PUNCT
arestyrurj-167	7	1	to	to	PART
arestyrurj-167	7	2	address	address	VERB
arestyrurj-167	7	3	this	this	DET
arestyrurj-167	7	4	problem	problem	NOUN
arestyrurj-167	7	5	,	,	PUNCT
arestyrurj-167	7	6	our	our	PRON
arestyrurj-167	7	7	paper	paper	NOUN
arestyrurj-167	7	8	explores	explore	VERB
arestyrurj-167	7	9	a	a	DET
arestyrurj-167	7	10	cost	cost	NOUN
arestyrurj-167	7	11	effective	effective	ADJ
arestyrurj-167	7	12	rov	rov	NOUN
arestyrurj-167	7	13	with	with	ADP
arestyrurj-167	7	14	video	video	NOUN
arestyrurj-167	7	15	capturing	capturing	NOUN
arestyrurj-167	7	16	and	and	CCONJ
arestyrurj-167	7	17	directional	directional	ADJ
arestyrurj-167	7	18	control	control	NOUN
arestyrurj-167	7	19	capabilities	capability	NOUN
arestyrurj-167	7	20	.	.	PUNCT
arestyrurj-167	8	1	using	use	VERB
arestyrurj-167	8	2	state	state	NOUN
arestyrurj-167	8	3	-	-	PUNCT
arestyrurj-167	8	4	of	of	ADP
arestyrurj-167	8	5	-	-	PUNCT
arestyrurj-167	8	6	the	the	DET
arestyrurj-167	8	7	-	-	PUNCT
arestyrurj-167	8	8	art	art	NOUN
arestyrurj-167	8	9	robotic	robotic	ADJ
arestyrurj-167	8	10	technologies	technology	NOUN
arestyrurj-167	8	11	,	,	PUNCT
arestyrurj-167	8	12	a	a	DET
arestyrurj-167	8	13	cost	cost	NOUN
arestyrurj-167	8	14	-	-	PUNCT
arestyrurj-167	8	15	effective	effective	ADJ
arestyrurj-167	8	16	competitive	competitive	ADJ
arestyrurj-167	8	17	rov	rov	NOUN
arestyrurj-167	8	18	is	be	AUX
arestyrurj-167	8	19	designed	design	VERB
arestyrurj-167	8	20	and	and	CCONJ
arestyrurj-167	8	21	constructed	construct	VERB
arestyrurj-167	8	22	.	.	PUNCT
arestyrurj-167	9	1	this	this	DET
arestyrurj-167	9	2	rov	rov	PROPN
arestyrurj-167	9	3	was	be	AUX
arestyrurj-167	9	4	tested	test	VERB
arestyrurj-167	9	5	to	to	ADP
arestyrurj-167	9	6	a	a	DET
arestyrurj-167	9	7	depth	depth	NOUN
arestyrurj-167	9	8	of	of	ADP
arestyrurj-167	9	9	7	7	NUM
arestyrurj-167	9	10	meters	meter	NOUN
arestyrurj-167	9	11	and	and	CCONJ
arestyrurj-167	9	12	has	have	VERB
arestyrurj-167	9	13	the	the	DET
arestyrurj-167	9	14	potential	potential	NOUN
arestyrurj-167	9	15	to	to	PART
arestyrurj-167	9	16	reach	reach	VERB
arestyrurj-167	9	17	depths	depth	NOUN
arestyrurj-167	9	18	of	of	ADP
arestyrurj-167	9	19	up	up	ADP
arestyrurj-167	9	20	to	to	PART
arestyrurj-167	9	21	30	30	NUM
arestyrurj-167	9	22	meters	meter	NOUN
arestyrurj-167	9	23	per	per	ADP
arestyrurj-167	9	24	its	its	PRON
arestyrurj-167	9	25	design	design	NOUN
arestyrurj-167	9	26	.	.	PUNCT
arestyrurj-167	10	1	1	1	NUM
arestyrurj-167	10	2	introduction	introduction	NOUN
arestyrurj-167	10	3	the	the	DET
arestyrurj-167	10	4	field	field	NOUN
arestyrurj-167	10	5	of	of	ADP
arestyrurj-167	10	6	robotics	robotic	NOUN
arestyrurj-167	10	7	has	have	AUX
arestyrurj-167	10	8	always	always	ADV
arestyrurj-167	10	9	been	be	AUX
arestyrurj-167	10	10	known	know	VERB
arestyrurj-167	10	11	for	for	ADP
arestyrurj-167	10	12	high	high	ADJ
arestyrurj-167	10	13	costs	cost	NOUN
arestyrurj-167	10	14	,	,	PUNCT
arestyrurj-167	10	15	especially	especially	ADV
arestyrurj-167	10	16	when	when	SCONJ
arestyrurj-167	10	17	remotely	remotely	ADV
arestyrurj-167	10	18	operated	operate	VERB
arestyrurj-167	10	19	vehicles	vehicle	NOUN
arestyrurj-167	10	20	(	(	PUNCT
arestyrurj-167	10	21	rovs	rovs	NOUN
arestyrurj-167	10	22	)	)	PUNCT
arestyrurj-167	10	23	are	be	AUX
arestyrurj-167	10	24	taken	take	VERB
arestyrurj-167	10	25	into	into	ADP
arestyrurj-167	10	26	context.[4	context.[4	NOUN
arestyrurj-167	10	27	]	]	PUNCT
arestyrurj-167	10	28	to	to	PART
arestyrurj-167	10	29	reduce	reduce	VERB
arestyrurj-167	10	30	these	these	DET
arestyrurj-167	10	31	costs	cost	NOUN
arestyrurj-167	10	32	,	,	PUNCT
arestyrurj-167	10	33	corners	corner	NOUN
arestyrurj-167	10	34	are	be	AUX
arestyrurj-167	10	35	typically	typically	ADV
arestyrurj-167	10	36	cut	cut	VERB
arestyrurj-167	10	37	.	.	PUNCT
arestyrurj-167	11	1	this	this	PRON
arestyrurj-167	11	2	can	can	AUX
arestyrurj-167	11	3	include	include	VERB
arestyrurj-167	11	4	implementing	implement	VERB
arestyrurj-167	11	5	a	a	DET
arestyrurj-167	11	6	rov	rov	NOUN
arestyrurj-167	11	7	with	with	ADP
arestyrurj-167	11	8	a	a	DET
arestyrurj-167	11	9	low	low	ADJ
arestyrurj-167	11	10	resolution	resolution	NOUN
arestyrurj-167	11	11	camera	camera	NOUN
arestyrurj-167	11	12	as	as	ADV
arestyrurj-167	11	13	well	well	ADV
arestyrurj-167	11	14	as	as	ADP
arestyrurj-167	11	15	building	build	VERB
arestyrurj-167	11	16	rovs	rovs	NOUN
arestyrurj-167	11	17	out	out	ADP
arestyrurj-167	11	18	of	of	ADP
arestyrurj-167	11	19	flimsy	flimsy	ADJ
arestyrurj-167	11	20	materials	material	NOUN
arestyrurj-167	11	21	.	.	PUNCT
arestyrurj-167	12	1	current	current	ADJ
arestyrurj-167	12	2	rovs	rovs	NOUN
arestyrurj-167	12	3	on	on	ADP
arestyrurj-167	12	4	the	the	DET
arestyrurj-167	12	5	market	market	NOUN
arestyrurj-167	12	6	include	include	VERB
arestyrurj-167	12	7	blue	blue	ADJ
arestyrurj-167	12	8	robotics	robotic	NOUN
arestyrurj-167	12	9	,	,	PUNCT
arestyrurj-167	12	10	bluerov2	bluerov2	NOUN
arestyrurj-167	12	11	,	,	PUNCT
arestyrurj-167	12	12	and	and	CCONJ
arestyrurj-167	12	13	geneinno	geneinno	NOUN
arestyrurj-167	12	14	’s	’s	PART
arestyrurj-167	12	15	tether	tether	NOUN
arestyrurj-167	12	16	titan	titan	NOUN
arestyrurj-167	12	17	.	.	PUNCT
arestyrurj-167	13	1	these	these	DET
arestyrurj-167	13	2	rovs	rovs	NOUN
arestyrurj-167	13	3	,	,	PUNCT
arestyrurj-167	13	4	similar	similar	ADJ
arestyrurj-167	13	5	to	to	ADP
arestyrurj-167	13	6	others	other	NOUN
arestyrurj-167	13	7	,	,	PUNCT
arestyrurj-167	13	8	are	be	AUX
arestyrurj-167	13	9	expensive	expensive	ADJ
arestyrurj-167	13	10	,	,	PUNCT
arestyrurj-167	13	11	typically	typically	ADV
arestyrurj-167	13	12	costing	cost	VERB
arestyrurj-167	13	13	more	more	ADJ
arestyrurj-167	13	14	than	than	ADP
arestyrurj-167	13	15	one	one	NUM
arestyrurj-167	13	16	thousand	thousand	NUM
arestyrurj-167	13	17	dollars	dollar	NOUN
arestyrurj-167	13	18	.	.	PUNCT
arestyrurj-167	14	1	furthermore	furthermore	ADV
arestyrurj-167	14	2	,	,	PUNCT
arestyrurj-167	14	3	much	much	ADJ
arestyrurj-167	14	4	of	of	ADP
arestyrurj-167	14	5	the	the	DET
arestyrurj-167	14	6	market	market	NOUN
arestyrurj-167	14	7	is	be	AUX
arestyrurj-167	14	8	saturated	saturate	VERB
arestyrurj-167	14	9	at	at	ADP
arestyrurj-167	14	10	this	this	DET
arestyrurj-167	14	11	high	high	ADJ
arestyrurj-167	14	12	price	price	NOUN
arestyrurj-167	14	13	point	point	NOUN
arestyrurj-167	14	14	but	but	CCONJ
arestyrurj-167	14	15	with	with	ADP
arestyrurj-167	14	16	limited	limited	ADJ
arestyrurj-167	14	17	capabilities	capability	NOUN
arestyrurj-167	14	18	in	in	ADP
arestyrurj-167	14	19	the	the	DET
arestyrurj-167	14	20	rovs	rovs	NOUN
arestyrurj-167	14	21	.	.	PUNCT
arestyrurj-167	15	1	most	most	ADJ
arestyrurj-167	15	2	of	of	ADP
arestyrurj-167	15	3	these	these	DET
arestyrurj-167	15	4	rovs	rovs	NOUN
arestyrurj-167	15	5	are	be	AUX
arestyrurj-167	15	6	not	not	PART
arestyrurj-167	15	7	able	able	ADJ
arestyrurj-167	15	8	to	to	PART
arestyrurj-167	15	9	be	be	AUX
arestyrurj-167	15	10	programmed	program	VERB
arestyrurj-167	15	11	and	and	CCONJ
arestyrurj-167	15	12	can	can	AUX
arestyrurj-167	15	13	only	only	ADV
arestyrurj-167	15	14	be	be	AUX
arestyrurj-167	15	15	controlled	control	VERB
arestyrurj-167	15	16	with	with	ADP
arestyrurj-167	15	17	the	the	DET
arestyrurj-167	15	18	manufacturer	manufacturer	NOUN
arestyrurj-167	15	19	's	's	PART
arestyrurj-167	15	20	program	program	NOUN
arestyrurj-167	15	21	or	or	CCONJ
arestyrurj-167	15	22	application	application	NOUN
arestyrurj-167	15	23	.	.	PUNCT
arestyrurj-167	16	1	the	the	DET
arestyrurj-167	16	2	idea	idea	NOUN
arestyrurj-167	16	3	of	of	ADP
arestyrurj-167	16	4	creating	create	VERB
arestyrurj-167	16	5	cost	cost	NOUN
arestyrurj-167	16	6	-	-	PUNCT
arestyrurj-167	16	7	effective	effective	ADJ
arestyrurj-167	16	8	robotics	robotic	NOUN
arestyrurj-167	16	9	without	without	ADP
arestyrurj-167	16	10	compromising	compromise	VERB
arestyrurj-167	16	11	missions	mission	NOUN
arestyrurj-167	16	12	is	be	AUX
arestyrurj-167	16	13	one	one	NUM
arestyrurj-167	16	14	that	that	PRON
arestyrurj-167	16	15	we	we	PRON
arestyrurj-167	16	16	seek	seek	VERB
arestyrurj-167	16	17	to	to	PART
arestyrurj-167	16	18	explore	explore	VERB
arestyrurj-167	16	19	throughout	throughout	ADP
arestyrurj-167	16	20	this	this	DET
arestyrurj-167	16	21	research	research	NOUN
arestyrurj-167	16	22	.	.	PUNCT
arestyrurj-167	17	1	our	our	PRON
arestyrurj-167	17	2	target	target	NOUN
arestyrurj-167	17	3	audience	audience	NOUN
arestyrurj-167	17	4	is	be	AUX
arestyrurj-167	17	5	the	the	DET
arestyrurj-167	17	6	rov	rov	PROPN
arestyrurj-167	17	7	community	community	NOUN
arestyrurj-167	17	8	at	at	ADP
arestyrurj-167	17	9	large	large	ADJ
arestyrurj-167	17	10	:	:	PUNCT
arestyrurj-167	17	11	specifically	specifically	ADV
arestyrurj-167	17	12	,	,	PUNCT
arestyrurj-167	17	13	our	our	PRON
arestyrurj-167	17	14	research	research	NOUN
arestyrurj-167	17	15	is	be	AUX
arestyrurj-167	17	16	aimed	aim	VERB
arestyrurj-167	17	17	at	at	ADP
arestyrurj-167	17	18	those	those	PRON
arestyrurj-167	17	19	who	who	PRON
arestyrurj-167	17	20	want	want	VERB
arestyrurj-167	17	21	an	an	DET
arestyrurj-167	17	22	open	open	ADJ
arestyrurj-167	17	23	-	-	PUNCT
arestyrurj-167	17	24	source	source	NOUN
arestyrurj-167	17	25	,	,	PUNCT
arestyrurj-167	17	26	versatile	versatile	ADJ
arestyrurj-167	17	27	,	,	PUNCT
arestyrurj-167	17	28	and	and	CCONJ
arestyrurj-167	17	29	quality	quality	NOUN
arestyrurj-167	17	30	rovs	rovs	NOUN
arestyrurj-167	17	31	sold	sell	VERB
arestyrurj-167	17	32	at	at	ADP
arestyrurj-167	17	33	a	a	DET
arestyrurj-167	17	34	cost	cost	NOUN
arestyrurj-167	17	35	-	-	PUNCT
arestyrurj-167	17	36	effective	effective	ADJ
arestyrurj-167	17	37	price	price	NOUN
arestyrurj-167	17	38	.	.	PUNCT
arestyrurj-167	18	1	in	in	ADP
arestyrurj-167	18	2	addition	addition	NOUN
arestyrurj-167	18	3	to	to	ADP
arestyrurj-167	18	4	creating	create	VERB
arestyrurj-167	18	5	software	software	NOUN
arestyrurj-167	18	6	to	to	PART
arestyrurj-167	18	7	control	control	VERB
arestyrurj-167	18	8	the	the	DET
arestyrurj-167	18	9	rov	rov	PROPN
arestyrurj-167	18	10	,	,	PUNCT
arestyrurj-167	18	11	we	we	PRON
arestyrurj-167	18	12	seek	seek	VERB
arestyrurj-167	18	13	to	to	PART
arestyrurj-167	18	14	give	give	VERB
arestyrurj-167	18	15	the	the	DET
arestyrurj-167	18	16	community	community	NOUN
arestyrurj-167	18	17	the	the	DET
arestyrurj-167	18	18	ability	ability	NOUN
arestyrurj-167	18	19	to	to	PART
arestyrurj-167	18	20	add	add	VERB
arestyrurj-167	18	21	any	any	DET
arestyrurj-167	18	22	water	water	NOUN
arestyrurj-167	18	23	instruments	instrument	NOUN
arestyrurj-167	18	24	and	and	CCONJ
arestyrurj-167	18	25	tools	tool	NOUN
arestyrurj-167	18	26	to	to	ADP
arestyrurj-167	18	27	the	the	DET
arestyrurj-167	18	28	rov	rov	PROPN
arestyrurj-167	18	29	,	,	PUNCT
arestyrurj-167	18	30	allowing	allow	VERB
arestyrurj-167	18	31	the	the	DET
arestyrurj-167	18	32	robot	robot	NOUN
arestyrurj-167	18	33	to	to	PART
arestyrurj-167	18	34	be	be	AUX
arestyrurj-167	18	35	marketable	marketable	ADJ
arestyrurj-167	18	36	towards	towards	ADP
arestyrurj-167	18	37	research	research	NOUN
arestyrurj-167	18	38	or	or	CCONJ
arestyrurj-167	18	39	conservation	conservation	NOUN
arestyrurj-167	18	40	organizations	organization	NOUN
arestyrurj-167	18	41	.	.	PUNCT
arestyrurj-167	19	1	the	the	DET
arestyrurj-167	19	2	goal	goal	NOUN
arestyrurj-167	19	3	of	of	ADP
arestyrurj-167	19	4	this	this	DET
arestyrurj-167	19	5	project	project	NOUN
arestyrurj-167	19	6	is	be	AUX
arestyrurj-167	19	7	to	to	PART
arestyrurj-167	19	8	design	design	VERB
arestyrurj-167	19	9	and	and	CCONJ
arestyrurj-167	19	10	fabricate	fabricate	VERB
arestyrurj-167	19	11	a	a	DET
arestyrurj-167	19	12	costeffective	costeffective	ADJ
arestyrurj-167	19	13	rov	rov	NOUN
arestyrurj-167	19	14	system	system	NOUN
arestyrurj-167	19	15	that	that	PRON
arestyrurj-167	19	16	has	have	VERB
arestyrurj-167	19	17	similar	similar	ADJ
arestyrurj-167	19	18	functionality	functionality	NOUN
arestyrurj-167	19	19	and	and	CCONJ
arestyrurj-167	19	20	performance	performance	NOUN
arestyrurj-167	19	21	to	to	ADP
arestyrurj-167	19	22	its	its	PRON
arestyrurj-167	19	23	higher	higher	ADV
arestyrurj-167	19	24	-	-	PUNCT
arestyrurj-167	19	25	priced	price	VERB
arestyrurj-167	19	26	counterparts	counterpart	NOUN
arestyrurj-167	19	27	.	.	PUNCT
arestyrurj-167	20	1	the	the	DET
arestyrurj-167	20	2	process	process	NOUN
arestyrurj-167	20	3	of	of	ADP
arestyrurj-167	20	4	designing	designing	NOUN
arestyrurj-167	20	5	and	and	CCONJ
arestyrurj-167	20	6	building	build	VERB
arestyrurj-167	20	7	the	the	DET
arestyrurj-167	20	8	rov	rov	PROPN
arestyrurj-167	20	9	as	as	ADV
arestyrurj-167	20	10	well	well	ADV
arestyrurj-167	20	11	as	as	ADP
arestyrurj-167	20	12	later	later	ADJ
arestyrurj-167	20	13	design	design	NOUN
arestyrurj-167	20	14	changes	change	NOUN
arestyrurj-167	20	15	are	be	AUX
arestyrurj-167	20	16	detailed	detail	VERB
arestyrurj-167	20	17	below	below	ADV
arestyrurj-167	20	18	.	.	PUNCT
arestyrurj-167	21	1	2	2	NUM
arestyrurj-167	21	2	methodology	methodology	NOUN
arestyrurj-167	21	3	in	in	ADP
arestyrurj-167	21	4	order	order	NOUN
arestyrurj-167	21	5	to	to	PART
arestyrurj-167	21	6	facilitate	facilitate	VERB
arestyrurj-167	21	7	the	the	DET
arestyrurj-167	21	8	fabrication	fabrication	NOUN
arestyrurj-167	21	9	of	of	ADP
arestyrurj-167	21	10	the	the	DET
arestyrurj-167	21	11	rov	rov	PROPN
arestyrurj-167	21	12	,	,	PUNCT
arestyrurj-167	21	13	several	several	ADJ
arestyrurj-167	21	14	criteria	criterion	NOUN
arestyrurj-167	21	15	were	be	AUX
arestyrurj-167	21	16	specified	specify	VERB
arestyrurj-167	21	17	to	to	PART
arestyrurj-167	21	18	come	come	VERB
arestyrurj-167	21	19	up	up	ADP
arestyrurj-167	21	20	with	with	ADP
arestyrurj-167	21	21	the	the	DET
arestyrurj-167	21	22	initial	initial	ADJ
arestyrurj-167	21	23	layout	layout	NOUN
arestyrurj-167	21	24	of	of	ADP
arestyrurj-167	21	25	the	the	DET
arestyrurj-167	21	26	robot	robot	NOUN
arestyrurj-167	21	27	.	.	PUNCT
arestyrurj-167	22	1	some	some	PRON
arestyrurj-167	22	2	of	of	ADP
arestyrurj-167	22	3	these	these	DET
arestyrurj-167	22	4	initial	initial	ADJ
arestyrurj-167	22	5	ideas	idea	NOUN
arestyrurj-167	22	6	can	can	AUX
arestyrurj-167	22	7	be	be	AUX
arestyrurj-167	22	8	seen	see	VERB
arestyrurj-167	22	9	in	in	ADP
arestyrurj-167	22	10	the	the	DET
arestyrurj-167	22	11	sketches	sketch	NOUN
arestyrurj-167	22	12	in	in	ADP
arestyrurj-167	22	13	figure	figure	NOUN
arestyrurj-167	22	14	1	1	NUM
arestyrurj-167	22	15	.	.	PUNCT
arestyrurj-167	23	1	the	the	DET
arestyrurj-167	23	2	rov	rov	PROPN
arestyrurj-167	23	3	would	would	AUX
arestyrurj-167	23	4	have	have	VERB
arestyrurj-167	23	5	to	to	PART
arestyrurj-167	23	6	have	have	VERB
arestyrurj-167	23	7	the	the	DET
arestyrurj-167	23	8	following	follow	VERB
arestyrurj-167	23	9	components	component	NOUN
arestyrurj-167	23	10	:	:	PUNCT
arestyrurj-167	24	1	1	1	X
arestyrurj-167	24	2	.	.	X
arestyrurj-167	24	3	hull	hull	NOUN
arestyrurj-167	24	4	and	and	CCONJ
arestyrurj-167	24	5	outer	outer	ADJ
arestyrurj-167	24	6	structure	structure	NOUN
arestyrurj-167	24	7	;	;	PUNCT
arestyrurj-167	24	8	2	2	X
arestyrurj-167	24	9	.	.	X
arestyrurj-167	24	10	waterproof	waterproof	ADJ
arestyrurj-167	24	11	enclosure	enclosure	PROPN
arestyrurj-167	24	12	for	for	ADP
arestyrurj-167	24	13	electronics	electronic	NOUN
arestyrurj-167	24	14	;	;	PUNCT
arestyrurj-167	24	15	3	3	X
arestyrurj-167	24	16	.	.	X
arestyrurj-167	24	17	thrusters	thruster	NOUN
arestyrurj-167	24	18	;	;	PUNCT
arestyrurj-167	24	19	and	and	CCONJ
arestyrurj-167	24	20	4	4	X
arestyrurj-167	24	21	.	.	X
arestyrurj-167	24	22	electronics	electronic	NOUN
arestyrurj-167	24	23	(	(	PUNCT
arestyrurj-167	24	24	including	include	VERB
arestyrurj-167	24	25	electronic	electronic	ADJ
arestyrurj-167	24	26	speed	speed	NOUN
arestyrurj-167	24	27	controller	controller	NOUN
arestyrurj-167	24	28	,	,	PUNCT
arestyrurj-167	24	29	ethernet	ethernet	NOUN
arestyrurj-167	24	30	connection	connection	NOUN
arestyrurj-167	24	31	,	,	PUNCT
arestyrurj-167	24	32	batteries	battery	NOUN
arestyrurj-167	24	33	,	,	PUNCT
arestyrurj-167	24	34	camera	camera	NOUN
arestyrurj-167	24	35	,	,	PUNCT
arestyrurj-167	24	36	central	central	ADJ
arestyrurj-167	24	37	computer	computer	NOUN
arestyrurj-167	24	38	,	,	PUNCT
arestyrurj-167	24	39	and	and	CCONJ
arestyrurj-167	24	40	general	general	ADJ
arestyrurj-167	24	41	signal	signal	NOUN
arestyrurj-167	24	42	cables	cable	NOUN
arestyrurj-167	24	43	)	)	PUNCT
arestyrurj-167	24	44	after	after	ADP
arestyrurj-167	24	45	listing	list	VERB
arestyrurj-167	24	46	the	the	DET
arestyrurj-167	24	47	initial	initial	ADJ
arestyrurj-167	24	48	specifications	specification	NOUN
arestyrurj-167	24	49	for	for	ADP
arestyrurj-167	24	50	the	the	DET
arestyrurj-167	24	51	rov	rov	PROPN
arestyrurj-167	24	52	,	,	PUNCT
arestyrurj-167	24	53	we	we	PRON
arestyrurj-167	24	54	explored	explore	VERB
arestyrurj-167	24	55	prior	prior	ADJ
arestyrurj-167	24	56	work	work	NOUN
arestyrurj-167	24	57	surrounding	surround	VERB
arestyrurj-167	24	58	rov	rov	PROPN
arestyrurj-167	24	59	designs	design	NOUN
arestyrurj-167	24	60	.	.	PUNCT
arestyrurj-167	25	1	at	at	ADP
arestyrurj-167	25	2	first	first	ADV
arestyrurj-167	25	3	,	,	PUNCT
arestyrurj-167	25	4	the	the	DET
arestyrurj-167	25	5	rov	rov	PROPN
arestyrurj-167	25	6	design	design	NOUN
arestyrurj-167	25	7	just	just	ADV
arestyrurj-167	25	8	had	have	VERB
arestyrurj-167	25	9	simple	simple	ADJ
arestyrurj-167	25	10	sketches	sketch	NOUN
arestyrurj-167	25	11	to	to	PART
arestyrurj-167	25	12	brainstorm	brainstorm	VERB
arestyrurj-167	25	13	potential	potential	ADJ
arestyrurj-167	25	14	candidates	candidate	NOUN
arestyrurj-167	25	15	for	for	ADP
arestyrurj-167	25	16	what	what	PRON
arestyrurj-167	25	17	it	it	PRON
arestyrurj-167	25	18	could	could	AUX
arestyrurj-167	25	19	look	look	VERB
arestyrurj-167	25	20	like	like	ADP
arestyrurj-167	25	21	.	.	PUNCT
arestyrurj-167	26	1	the	the	DET
arestyrurj-167	26	2	thought	thought	NOUN
arestyrurj-167	26	3	process	process	NOUN
arestyrurj-167	26	4	used	use	VERB
arestyrurj-167	26	5	to	to	PART
arestyrurj-167	26	6	create	create	VERB
arestyrurj-167	26	7	these	these	DET
arestyrurj-167	26	8	simple	simple	ADJ
arestyrurj-167	26	9	designs	design	NOUN
arestyrurj-167	26	10	revolved	revolve	VERB
arestyrurj-167	26	11	around	around	ADP
arestyrurj-167	26	12	past	past	ADJ
arestyrurj-167	26	13	rovs	rovs	NOUN
arestyrurj-167	26	14	already	already	ADV
arestyrurj-167	26	15	created	create	VERB
arestyrurj-167	26	16	;	;	PUNCT
arestyrurj-167	26	17	these	these	DET
arestyrurj-167	26	18	designs	design	NOUN
arestyrurj-167	26	19	would	would	AUX
arestyrurj-167	26	20	be	be	AUX
arestyrurj-167	26	21	altered	alter	VERB
arestyrurj-167	26	22	based	base	VERB
arestyrurj-167	26	23	upon	upon	SCONJ
arestyrurj-167	26	24	technological	technological	ADJ
arestyrurj-167	26	25	specifications	specification	NOUN
arestyrurj-167	26	26	required	require	VERB
arestyrurj-167	26	27	for	for	ADP
arestyrurj-167	26	28	our	our	PRON
arestyrurj-167	26	29	purposes	purpose	NOUN
arestyrurj-167	26	30	.	.	PUNCT
arestyrurj-167	27	1	aresty	aresty	ADJ
arestyrurj-167	27	2	rutgers	rutgers	PROPN
arestyrurj-167	27	3	undergraduate	undergraduate	PROPN
arestyrurj-167	27	4	research	research	PROPN
arestyrurj-167	27	5	journal	journal	PROPN
arestyrurj-167	27	6	,	,	PUNCT
arestyrurj-167	27	7	volume	volume	NOUN
arestyrurj-167	27	8	i	i	PRON
arestyrurj-167	27	9	,	,	PUNCT
arestyrurj-167	27	10	issue	issue	VERB
arestyrurj-167	27	11	iii	iii	NUM
arestyrurj-167	27	12	one	one	NUM
arestyrurj-167	27	13	similarity	similarity	NOUN
arestyrurj-167	27	14	between	between	ADP
arestyrurj-167	27	15	the	the	DET
arestyrurj-167	27	16	sketches	sketch	NOUN
arestyrurj-167	27	17	and	and	CCONJ
arestyrurj-167	27	18	past	past	ADJ
arestyrurj-167	27	19	designs	design	NOUN
arestyrurj-167	27	20	was	be	AUX
arestyrurj-167	27	21	how	how	SCONJ
arestyrurj-167	27	22	the	the	DET
arestyrurj-167	27	23	four	four	NUM
arestyrurj-167	27	24	thrusts	thrust	NOUN
arestyrurj-167	27	25	were	be	AUX
arestyrurj-167	27	26	mounted	mount	VERB
arestyrurj-167	27	27	on	on	ADP
arestyrurj-167	27	28	the	the	DET
arestyrurj-167	27	29	side	side	NOUN
arestyrurj-167	27	30	.	.	PUNCT
arestyrurj-167	28	1	this	this	PRON
arestyrurj-167	28	2	allowed	allow	VERB
arestyrurj-167	28	3	for	for	ADP
arestyrurj-167	28	4	easy	easy	ADJ
arestyrurj-167	28	5	directional	directional	ADJ
arestyrurj-167	28	6	control	control	NOUN
arestyrurj-167	28	7	and	and	CCONJ
arestyrurj-167	28	8	several	several	ADJ
arestyrurj-167	28	9	industry	industry	NOUN
arestyrurj-167	28	10	rovs	rovs	NOUN
arestyrurj-167	28	11	use	use	VERB
arestyrurj-167	28	12	this	this	DET
arestyrurj-167	28	13	design	design	NOUN
arestyrurj-167	28	14	for	for	ADP
arestyrurj-167	28	15	this	this	DET
arestyrurj-167	28	16	reason	reason	NOUN
arestyrurj-167	28	17	.	.	PUNCT
arestyrurj-167	29	1	a	a	DET
arestyrurj-167	29	2	change	change	NOUN
arestyrurj-167	29	3	that	that	PRON
arestyrurj-167	29	4	was	be	AUX
arestyrurj-167	29	5	made	make	VERB
arestyrurj-167	29	6	to	to	ADP
arestyrurj-167	29	7	the	the	DET
arestyrurj-167	29	8	industry	industry	NOUN
arestyrurj-167	29	9	-	-	PUNCT
arestyrurj-167	29	10	inspired	inspire	VERB
arestyrurj-167	29	11	design	design	NOUN
arestyrurj-167	29	12	was	be	AUX
arestyrurj-167	29	13	the	the	DET
arestyrurj-167	29	14	easily	easily	ADV
arestyrurj-167	29	15	accessible	accessible	ADJ
arestyrurj-167	29	16	electronics	electronics	NOUN
arestyrurj-167	29	17	compartment	compartment	NOUN
arestyrurj-167	29	18	in	in	ADP
arestyrurj-167	29	19	the	the	DET
arestyrurj-167	29	20	center	center	NOUN
arestyrurj-167	29	21	of	of	ADP
arestyrurj-167	29	22	the	the	DET
arestyrurj-167	29	23	rov	rov	PROPN
arestyrurj-167	29	24	.	.	PUNCT
arestyrurj-167	30	1	in	in	ADP
arestyrurj-167	30	2	these	these	DET
arestyrurj-167	30	3	sketches	sketch	NOUN
arestyrurj-167	30	4	,	,	PUNCT
arestyrurj-167	30	5	the	the	DET
arestyrurj-167	30	6	original	original	ADJ
arestyrurj-167	30	7	idea	idea	NOUN
arestyrurj-167	30	8	was	be	AUX
arestyrurj-167	30	9	to	to	PART
arestyrurj-167	30	10	have	have	VERB
arestyrurj-167	30	11	a	a	DET
arestyrurj-167	30	12	hatch	hatch	NOUN
arestyrurj-167	30	13	that	that	PRON
arestyrurj-167	30	14	opened	open	VERB
arestyrurj-167	30	15	to	to	PART
arestyrurj-167	30	16	allow	allow	VERB
arestyrurj-167	30	17	for	for	ADP
arestyrurj-167	30	18	easy	easy	ADJ
arestyrurj-167	30	19	access	access	NOUN
arestyrurj-167	30	20	on	on	ADP
arestyrurj-167	30	21	the	the	DET
arestyrurj-167	30	22	bottom	bottom	NOUN
arestyrurj-167	30	23	.	.	PUNCT
arestyrurj-167	31	1	figure	figure	NOUN
arestyrurj-167	31	2	1	1	NUM
arestyrurj-167	31	3	shows	show	VERB
arestyrurj-167	31	4	a	a	DET
arestyrurj-167	31	5	rough	rough	ADJ
arestyrurj-167	31	6	sketch	sketch	NOUN
arestyrurj-167	31	7	that	that	PRON
arestyrurj-167	31	8	includes	include	VERB
arestyrurj-167	31	9	preliminary	preliminary	ADJ
arestyrurj-167	31	10	thoughts	thought	NOUN
arestyrurj-167	31	11	based	base	VERB
arestyrurj-167	31	12	upon	upon	SCONJ
arestyrurj-167	31	13	initial	initial	ADJ
arestyrurj-167	31	14	research	research	NOUN
arestyrurj-167	31	15	.	.	PUNCT
arestyrurj-167	32	1	the	the	DET
arestyrurj-167	32	2	vehicle	vehicle	NOUN
arestyrurj-167	32	3	was	be	AUX
arestyrurj-167	32	4	sketched	sketch	VERB
arestyrurj-167	32	5	as	as	SCONJ
arestyrurj-167	32	6	shown	show	VERB
arestyrurj-167	32	7	so	so	SCONJ
arestyrurj-167	32	8	that	that	SCONJ
arestyrurj-167	32	9	one	one	PRON
arestyrurj-167	32	10	could	could	AUX
arestyrurj-167	32	11	see	see	VERB
arestyrurj-167	32	12	side	side	NOUN
arestyrurj-167	32	13	,	,	PUNCT
arestyrurj-167	32	14	front	front	ADJ
arestyrurj-167	32	15	,	,	PUNCT
arestyrurj-167	32	16	and	and	CCONJ
arestyrurj-167	32	17	top	top	ADJ
arestyrurj-167	32	18	-	-	PUNCT
arestyrurj-167	32	19	down	down	ADP
arestyrurj-167	32	20	views	view	NOUN
arestyrurj-167	32	21	.	.	PUNCT
arestyrurj-167	33	1	numerous	numerous	ADJ
arestyrurj-167	33	2	issues	issue	NOUN
arestyrurj-167	33	3	were	be	AUX
arestyrurj-167	33	4	present	present	ADJ
arestyrurj-167	33	5	in	in	ADP
arestyrurj-167	33	6	some	some	PRON
arestyrurj-167	33	7	of	of	ADP
arestyrurj-167	33	8	these	these	DET
arestyrurj-167	33	9	initial	initial	ADJ
arestyrurj-167	33	10	ideas	idea	NOUN
arestyrurj-167	33	11	.	.	PUNCT
arestyrurj-167	34	1	some	some	PRON
arestyrurj-167	34	2	of	of	ADP
arestyrurj-167	34	3	these	these	DET
arestyrurj-167	34	4	issues	issue	NOUN
arestyrurj-167	34	5	included	include	VERB
arestyrurj-167	34	6	the	the	DET
arestyrurj-167	34	7	rov	rov	PROPN
arestyrurj-167	34	8	’s	’s	PART
arestyrurj-167	34	9	inability	inability	NOUN
arestyrurj-167	34	10	to	to	PART
arestyrurj-167	34	11	fit	fit	VERB
arestyrurj-167	34	12	in	in	ADP
arestyrurj-167	34	13	a	a	DET
arestyrurj-167	34	14	waterproof	waterproof	ADJ
arestyrurj-167	34	15	enclosure	enclosure	NOUN
arestyrurj-167	34	16	.	.	PUNCT
arestyrurj-167	35	1	the	the	DET
arestyrurj-167	35	2	hatch	hatch	NOUN
arestyrurj-167	35	3	idea	idea	NOUN
arestyrurj-167	35	4	was	be	AUX
arestyrurj-167	35	5	scrapped	scrap	VERB
arestyrurj-167	35	6	since	since	SCONJ
arestyrurj-167	35	7	waterproofing	waterproof	VERB
arestyrurj-167	35	8	a	a	DET
arestyrurj-167	35	9	seal	seal	NOUN
arestyrurj-167	35	10	around	around	ADP
arestyrurj-167	35	11	the	the	DET
arestyrurj-167	35	12	hatch	hatch	NOUN
arestyrurj-167	35	13	is	be	AUX
arestyrurj-167	35	14	challenging	challenge	VERB
arestyrurj-167	35	15	.	.	PUNCT
arestyrurj-167	36	1	additionally	additionally	ADV
arestyrurj-167	36	2	,	,	PUNCT
arestyrurj-167	36	3	these	these	DET
arestyrurj-167	36	4	initial	initial	ADJ
arestyrurj-167	36	5	sketches	sketch	NOUN
arestyrurj-167	36	6	had	have	VERB
arestyrurj-167	36	7	no	no	DET
arestyrurj-167	36	8	clear	clear	ADJ
arestyrurj-167	36	9	method	method	NOUN
arestyrurj-167	36	10	on	on	ADP
arestyrurj-167	36	11	how	how	SCONJ
arestyrurj-167	36	12	to	to	PART
arestyrurj-167	36	13	secure	secure	VERB
arestyrurj-167	36	14	the	the	DET
arestyrurj-167	36	15	motors	motor	NOUN
arestyrurj-167	36	16	.	.	PUNCT
arestyrurj-167	37	1	at	at	ADP
arestyrurj-167	37	2	this	this	DET
arestyrurj-167	37	3	time	time	NOUN
arestyrurj-167	37	4	,	,	PUNCT
arestyrurj-167	37	5	the	the	DET
arestyrurj-167	37	6	rov	rov	PROPN
arestyrurj-167	37	7	was	be	AUX
arestyrurj-167	37	8	conceptualized	conceptualize	VERB
arestyrurj-167	37	9	to	to	PART
arestyrurj-167	37	10	have	have	VERB
arestyrurj-167	37	11	five	five	NUM
arestyrurj-167	37	12	motors	motor	NOUN
arestyrurj-167	37	13	:	:	PUNCT
arestyrurj-167	37	14	the	the	DET
arestyrurj-167	37	15	rov	rov	PROPN
arestyrurj-167	37	16	would	would	AUX
arestyrurj-167	37	17	have	have	VERB
arestyrurj-167	37	18	four	four	NUM
arestyrurj-167	37	19	motors	motor	NOUN
arestyrurj-167	37	20	for	for	ADP
arestyrurj-167	37	21	depth	depth	NOUN
arestyrurj-167	37	22	and	and	CCONJ
arestyrurj-167	37	23	turning	turn	VERB
arestyrurj-167	37	24	control	control	NOUN
arestyrurj-167	37	25	and	and	CCONJ
arestyrurj-167	37	26	one	one	NUM
arestyrurj-167	37	27	motor	motor	NOUN
arestyrurj-167	37	28	for	for	ADP
arestyrurj-167	37	29	horizontal	horizontal	ADJ
arestyrurj-167	37	30	propulsion	propulsion	NOUN
arestyrurj-167	37	31	.	.	PUNCT
arestyrurj-167	38	1	in	in	ADP
arestyrurj-167	38	2	figure	figure	NOUN
arestyrurj-167	38	3	2	2	NUM
arestyrurj-167	38	4	,	,	PUNCT
arestyrurj-167	38	5	there	there	PRON
arestyrurj-167	38	6	are	be	VERB
arestyrurj-167	38	7	several	several	ADJ
arestyrurj-167	38	8	conceptualizations	conceptualization	NOUN
arestyrurj-167	38	9	of	of	ADP
arestyrurj-167	38	10	the	the	DET
arestyrurj-167	38	11	future	future	ADJ
arestyrurj-167	38	12	designs	design	NOUN
arestyrurj-167	38	13	that	that	PRON
arestyrurj-167	38	14	pertain	pertain	VERB
arestyrurj-167	38	15	to	to	ADP
arestyrurj-167	38	16	various	various	ADJ
arestyrurj-167	38	17	parts	part	NOUN
arestyrurj-167	38	18	created	create	VERB
arestyrurj-167	38	19	after	after	ADP
arestyrurj-167	38	20	extensive	extensive	ADJ
arestyrurj-167	38	21	thought	thought	NOUN
arestyrurj-167	38	22	and	and	CCONJ
arestyrurj-167	38	23	research	research	NOUN
arestyrurj-167	38	24	.	.	PUNCT
arestyrurj-167	39	1	the	the	DET
arestyrurj-167	39	2	final	final	ADJ
arestyrurj-167	39	3	design	design	NOUN
arestyrurj-167	39	4	was	be	AUX
arestyrurj-167	39	5	one	one	NUM
arestyrurj-167	39	6	that	that	PRON
arestyrurj-167	39	7	incorporated	incorporate	VERB
arestyrurj-167	39	8	several	several	ADJ
arestyrurj-167	39	9	different	different	ADJ
arestyrurj-167	39	10	ideas	idea	NOUN
arestyrurj-167	39	11	that	that	PRON
arestyrurj-167	39	12	we	we	PRON
arestyrurj-167	39	13	learned	learn	VERB
arestyrurj-167	39	14	after	after	ADP
arestyrurj-167	39	15	much	much	ADJ
arestyrurj-167	39	16	thought	thought	NOUN
arestyrurj-167	39	17	and	and	CCONJ
arestyrurj-167	39	18	deliberation	deliberation	NOUN
arestyrurj-167	39	19	.	.	PUNCT
arestyrurj-167	40	1	this	this	DET
arestyrurj-167	40	2	thought	thought	NOUN
arestyrurj-167	40	3	process	process	NOUN
arestyrurj-167	40	4	included	include	VERB
arestyrurj-167	40	5	the	the	DET
arestyrurj-167	40	6	fact	fact	NOUN
arestyrurj-167	40	7	that	that	SCONJ
arestyrurj-167	40	8	we	we	PRON
arestyrurj-167	40	9	reduced	reduce	VERB
arestyrurj-167	40	10	the	the	DET
arestyrurj-167	40	11	motor	motor	NOUN
arestyrurj-167	40	12	count	count	NOUN
arestyrurj-167	40	13	to	to	ADP
arestyrurj-167	40	14	four	four	NUM
arestyrurj-167	40	15	since	since	SCONJ
arestyrurj-167	40	16	the	the	DET
arestyrurj-167	40	17	fifth	fifth	ADJ
arestyrurj-167	40	18	motor	motor	NOUN
arestyrurj-167	40	19	was	be	AUX
arestyrurj-167	40	20	ruled	rule	VERB
arestyrurj-167	40	21	nonessential	nonessential	ADJ
arestyrurj-167	40	22	.	.	PUNCT
arestyrurj-167	41	1	the	the	DET
arestyrurj-167	41	2	rationale	rationale	NOUN
arestyrurj-167	41	3	behind	behind	ADP
arestyrurj-167	41	4	this	this	DET
arestyrurj-167	41	5	decision	decision	NOUN
arestyrurj-167	41	6	was	be	AUX
arestyrurj-167	41	7	that	that	SCONJ
arestyrurj-167	41	8	it	it	PRON
arestyrurj-167	41	9	would	would	AUX
arestyrurj-167	41	10	just	just	ADV
arestyrurj-167	41	11	get	get	VERB
arestyrurj-167	41	12	in	in	ADP
arestyrurj-167	41	13	the	the	DET
arestyrurj-167	41	14	way	way	NOUN
arestyrurj-167	41	15	,	,	PUNCT
arestyrurj-167	41	16	making	make	VERB
arestyrurj-167	41	17	the	the	DET
arestyrurj-167	41	18	overall	overall	ADJ
arestyrurj-167	41	19	rov	rov	PROPN
arestyrurj-167	41	20	more	more	ADV
arestyrurj-167	41	21	expensive	expensive	ADJ
arestyrurj-167	41	22	and	and	CCONJ
arestyrurj-167	41	23	heavier	heavy	ADJ
arestyrurj-167	41	24	with	with	ADP
arestyrurj-167	41	25	no	no	DET
arestyrurj-167	41	26	navigational	navigational	ADJ
arestyrurj-167	41	27	benefit	benefit	NOUN
arestyrurj-167	41	28	.	.	PUNCT
arestyrurj-167	42	1	this	this	DET
arestyrurj-167	42	2	conclusion	conclusion	NOUN
arestyrurj-167	42	3	was	be	AUX
arestyrurj-167	42	4	met	meet	VERB
arestyrurj-167	42	5	after	after	ADP
arestyrurj-167	42	6	realizing	realize	VERB
arestyrurj-167	42	7	that	that	SCONJ
arestyrurj-167	42	8	the	the	DET
arestyrurj-167	42	9	existing	exist	VERB
arestyrurj-167	42	10	four	four	NUM
arestyrurj-167	42	11	thrusters	thruster	NOUN
arestyrurj-167	42	12	could	could	AUX
arestyrurj-167	42	13	be	be	AUX
arestyrurj-167	42	14	arranged	arrange	VERB
arestyrurj-167	42	15	in	in	ADP
arestyrurj-167	42	16	a	a	DET
arestyrurj-167	42	17	way	way	NOUN
arestyrurj-167	42	18	to	to	PART
arestyrurj-167	42	19	meet	meet	VERB
arestyrurj-167	42	20	x	x	PUNCT
arestyrurj-167	42	21	y	y	PROPN
arestyrurj-167	42	22	z	z	PROPN
arestyrurj-167	42	23	navigation	navigation	NOUN
arestyrurj-167	42	24	.	.	PUNCT
arestyrurj-167	43	1	furthermore	furthermore	ADV
arestyrurj-167	43	2	,	,	PUNCT
arestyrurj-167	43	3	a	a	DET
arestyrurj-167	43	4	more	more	ADV
arestyrurj-167	43	5	cylindrical	cylindrical	ADJ
arestyrurj-167	43	6	design	design	NOUN
arestyrurj-167	43	7	was	be	AUX
arestyrurj-167	43	8	decided	decide	VERB
arestyrurj-167	43	9	upon	upon	SCONJ
arestyrurj-167	43	10	which	which	PRON
arestyrurj-167	43	11	revolved	revolve	VERB
arestyrurj-167	43	12	around	around	ADP
arestyrurj-167	43	13	the	the	DET
arestyrurj-167	43	14	waterproof	waterproof	PROPN
arestyrurj-167	43	15	enclosure	enclosure	PROPN
arestyrurj-167	43	16	center	center	PROPN
arestyrurj-167	43	17	.	.	PUNCT
arestyrurj-167	44	1	the	the	DET
arestyrurj-167	44	2	research	research	NOUN
arestyrurj-167	44	3	shows	show	VERB
arestyrurj-167	44	4	that	that	SCONJ
arestyrurj-167	44	5	creating	create	VERB
arestyrurj-167	44	6	a	a	DET
arestyrurj-167	44	7	unique	unique	ADJ
arestyrurj-167	44	8	shape	shape	NOUN
arestyrurj-167	44	9	with	with	ADP
arestyrurj-167	44	10	materials	material	NOUN
arestyrurj-167	44	11	other	other	ADJ
arestyrurj-167	44	12	than	than	ADP
arestyrurj-167	44	13	cast	cast	VERB
arestyrurj-167	44	14	acrylic	acrylic	NOUN
arestyrurj-167	44	15	would	would	AUX
arestyrurj-167	44	16	be	be	AUX
arestyrurj-167	44	17	more	more	ADV
arestyrurj-167	44	18	expensive	expensive	ADJ
arestyrurj-167	44	19	than	than	ADP
arestyrurj-167	44	20	solely	solely	ADV
arestyrurj-167	44	21	building	build	VERB
arestyrurj-167	44	22	from	from	ADP
arestyrurj-167	44	23	a	a	DET
arestyrurj-167	44	24	cast	cast	VERB
arestyrurj-167	44	25	acrylic	acrylic	NOUN
arestyrurj-167	44	26	cylinder	cylinder	NOUN
arestyrurj-167	44	27	.	.	PUNCT
arestyrurj-167	45	1	figure	figure	NOUN
arestyrurj-167	45	2	1	1	NUM
arestyrurj-167	45	3	:	:	PUNCT
arestyrurj-167	45	4	initial	initial	ADJ
arestyrurj-167	45	5	basic	basic	ADJ
arestyrurj-167	45	6	sketches	sketch	NOUN
arestyrurj-167	45	7	of	of	ADP
arestyrurj-167	45	8	the	the	DET
arestyrurj-167	45	9	rov	rov	PROPN
arestyrurj-167	45	10	design	design	NOUN
arestyrurj-167	45	11	which	which	PRON
arestyrurj-167	45	12	includes	include	VERB
arestyrurj-167	45	13	a	a	DET
arestyrurj-167	45	14	5	5	NUM
arestyrurj-167	45	15	-	-	PUNCT
arestyrurj-167	45	16	thruster	thruster	NOUN
arestyrurj-167	45	17	format	format	NOUN
arestyrurj-167	45	18	.	.	PUNCT
arestyrurj-167	46	1	figure	figure	NOUN
arestyrurj-167	46	2	2	2	NUM
arestyrurj-167	46	3	:	:	PUNCT
arestyrurj-167	46	4	basic	basic	ADJ
arestyrurj-167	46	5	sketches	sketch	NOUN
arestyrurj-167	46	6	of	of	ADP
arestyrurj-167	46	7	part	part	NOUN
arestyrurj-167	46	8	designs	design	NOUN
arestyrurj-167	46	9	including	include	VERB
arestyrurj-167	46	10	motor	motor	NOUN
arestyrurj-167	46	11	housings	housing	NOUN
arestyrurj-167	46	12	and	and	CCONJ
arestyrurj-167	46	13	the	the	DET
arestyrurj-167	46	14	hull	hull	NOUN
arestyrurj-167	46	15	that	that	PRON
arestyrurj-167	46	16	would	would	AUX
arestyrurj-167	46	17	go	go	VERB
arestyrurj-167	46	18	over	over	ADP
arestyrurj-167	46	19	an	an	DET
arestyrurj-167	46	20	acrylic	acrylic	ADJ
arestyrurj-167	46	21	cylinder	cylinder	NOUN
arestyrurj-167	46	22	.	.	PUNCT
arestyrurj-167	47	1	aresty	aresty	ADJ
arestyrurj-167	47	2	rutgers	rutgers	PROPN
arestyrurj-167	47	3	undergraduate	undergraduate	PROPN
arestyrurj-167	47	4	research	research	PROPN
arestyrurj-167	47	5	journal	journal	PROPN
arestyrurj-167	47	6	,	,	PUNCT
arestyrurj-167	47	7	volume	volume	NOUN
arestyrurj-167	47	8	i	i	PRON
arestyrurj-167	47	9	,	,	PUNCT
arestyrurj-167	47	10	issue	issue	NOUN
arestyrurj-167	47	11	iii	iii	NUM
arestyrurj-167	47	12	based	base	VERB
arestyrurj-167	47	13	on	on	ADP
arestyrurj-167	47	14	this	this	DET
arestyrurj-167	47	15	research	research	NOUN
arestyrurj-167	47	16	,	,	PUNCT
arestyrurj-167	47	17	the	the	PRON
arestyrurj-167	47	18	simpler	simple	ADJ
arestyrurj-167	47	19	the	the	DET
arestyrurj-167	47	20	design	design	NOUN
arestyrurj-167	47	21	was	be	AUX
arestyrurj-167	47	22	,	,	PUNCT
arestyrurj-167	47	23	the	the	DET
arestyrurj-167	47	24	more	more	ADV
arestyrurj-167	47	25	efficient	efficient	ADJ
arestyrurj-167	47	26	the	the	DET
arestyrurj-167	47	27	rov	rov	PROPN
arestyrurj-167	47	28	would	would	AUX
arestyrurj-167	47	29	be	be	AUX
arestyrurj-167	47	30	.	.	PUNCT
arestyrurj-167	48	1	this	this	DET
arestyrurj-167	48	2	observation	observation	NOUN
arestyrurj-167	48	3	was	be	AUX
arestyrurj-167	48	4	a	a	DET
arestyrurj-167	48	5	design	design	NOUN
arestyrurj-167	48	6	philosophy	philosophy	NOUN
arestyrurj-167	48	7	that	that	PRON
arestyrurj-167	48	8	supports	support	VERB
arestyrurj-167	48	9	the	the	DET
arestyrurj-167	48	10	use	use	NOUN
arestyrurj-167	48	11	of	of	ADP
arestyrurj-167	48	12	both	both	CCONJ
arestyrurj-167	48	13	the	the	DET
arestyrurj-167	48	14	fewest	few	ADJ
arestyrurj-167	48	15	thrusters	thruster	NOUN
arestyrurj-167	48	16	and	and	CCONJ
arestyrurj-167	48	17	making	make	VERB
arestyrurj-167	48	18	the	the	DET
arestyrurj-167	48	19	hull	hull	NOUN
arestyrurj-167	48	20	as	as	ADV
arestyrurj-167	48	21	easy	easy	ADJ
arestyrurj-167	48	22	as	as	ADP
arestyrurj-167	48	23	possible	possible	ADJ
arestyrurj-167	48	24	to	to	PART
arestyrurj-167	48	25	manufacture	manufacture	VERB
arestyrurj-167	48	26	in	in	ADP
arestyrurj-167	48	27	the	the	DET
arestyrurj-167	48	28	name	name	NOUN
arestyrurj-167	48	29	of	of	ADP
arestyrurj-167	48	30	cost	cost	NOUN
arestyrurj-167	48	31	.	.	PUNCT
arestyrurj-167	49	1	this	this	DET
arestyrurj-167	49	2	final	final	ADJ
arestyrurj-167	49	3	design	design	NOUN
arestyrurj-167	49	4	incorporates	incorporate	NOUN
arestyrurj-167	49	5	,	,	PUNCT
arestyrurj-167	49	6	in	in	ADP
arestyrurj-167	49	7	addition	addition	NOUN
arestyrurj-167	49	8	to	to	ADP
arestyrurj-167	49	9	previously	previously	ADV
arestyrurj-167	49	10	mentioned	mention	VERB
arestyrurj-167	49	11	design	design	NOUN
arestyrurj-167	49	12	concepts	concept	NOUN
arestyrurj-167	49	13	,	,	PUNCT
arestyrurj-167	49	14	an	an	DET
arestyrurj-167	49	15	acrylic	acrylic	ADJ
arestyrurj-167	49	16	enclosure	enclosure	NOUN
arestyrurj-167	49	17	in	in	ADP
arestyrurj-167	49	18	the	the	DET
arestyrurj-167	49	19	center	center	NOUN
arestyrurj-167	49	20	of	of	ADP
arestyrurj-167	49	21	the	the	DET
arestyrurj-167	49	22	rov	rov	PROPN
arestyrurj-167	49	23	with	with	ADP
arestyrurj-167	49	24	a	a	DET
arestyrurj-167	49	25	holding	hold	VERB
arestyrurj-167	49	26	bracket	bracket	NOUN
arestyrurj-167	49	27	for	for	ADP
arestyrurj-167	49	28	the	the	DET
arestyrurj-167	49	29	electronics	electronic	NOUN
arestyrurj-167	49	30	.	.	PUNCT
arestyrurj-167	50	1	furthermore	furthermore	ADV
arestyrurj-167	50	2	,	,	PUNCT
arestyrurj-167	50	3	the	the	DET
arestyrurj-167	50	4	four	four	NUM
arestyrurj-167	50	5	thrusters	thruster	NOUN
arestyrurj-167	50	6	are	be	AUX
arestyrurj-167	50	7	held	hold	VERB
arestyrurj-167	50	8	in	in	ADP
arestyrurj-167	50	9	a	a	DET
arestyrurj-167	50	10	two	two	NUM
arestyrurj-167	50	11	-	-	PUNCT
arestyrurj-167	50	12	part	part	NOUN
arestyrurj-167	50	13	forward	forward	ADV
arestyrurj-167	50	14	-	-	PUNCT
arestyrurj-167	50	15	backwards	backwards	ADV
arestyrurj-167	50	16	thrust	thrust	NOUN
arestyrurj-167	50	17	-	-	PUNCT
arestyrurj-167	50	18	based	base	VERB
arestyrurj-167	50	19	system	system	NOUN
arestyrurj-167	50	20	,	,	PUNCT
arestyrurj-167	50	21	in	in	ADP
arestyrurj-167	50	22	tandem	tandem	NOUN
arestyrurj-167	50	23	with	with	ADP
arestyrurj-167	50	24	a	a	DET
arestyrurj-167	50	25	rise	rise	NOUN
arestyrurj-167	50	26	-	-	PUNCT
arestyrurj-167	50	27	and	and	CCONJ
arestyrurj-167	50	28	-	-	PUNCT
arestyrurj-167	50	29	dive	dive	NOUN
arestyrurj-167	50	30	based	base	VERB
arestyrurj-167	50	31	system	system	NOUN
arestyrurj-167	50	32	.	.	PUNCT
arestyrurj-167	51	1	two	two	NUM
arestyrurj-167	51	2	of	of	ADP
arestyrurj-167	51	3	the	the	DET
arestyrurj-167	51	4	motors	motor	NOUN
arestyrurj-167	51	5	are	be	AUX
arestyrurj-167	51	6	held	hold	VERB
arestyrurj-167	51	7	vertically	vertically	ADV
arestyrurj-167	51	8	for	for	ADP
arestyrurj-167	51	9	rise	rise	NOUN
arestyrurj-167	51	10	and	and	CCONJ
arestyrurj-167	51	11	dive	dive	NOUN
arestyrurj-167	51	12	maneuvers	maneuver	NOUN
arestyrurj-167	51	13	.	.	PUNCT
arestyrurj-167	52	1	this	this	PRON
arestyrurj-167	52	2	is	be	AUX
arestyrurj-167	52	3	done	do	VERB
arestyrurj-167	52	4	alongside	alongside	ADP
arestyrurj-167	52	5	two	two	NUM
arestyrurj-167	52	6	motors	motor	NOUN
arestyrurj-167	52	7	held	hold	VERB
arestyrurj-167	52	8	horizontally	horizontally	ADV
arestyrurj-167	52	9	for	for	ADP
arestyrurj-167	52	10	forwards	forward	NOUN
arestyrurj-167	52	11	and	and	CCONJ
arestyrurj-167	52	12	backwards	backwards	ADV
arestyrurj-167	52	13	control	control	NOUN
arestyrurj-167	52	14	.	.	PUNCT
arestyrurj-167	53	1	this	this	DET
arestyrurj-167	53	2	final	final	ADJ
arestyrurj-167	53	3	design	design	NOUN
arestyrurj-167	53	4	stands	stand	VERB
arestyrurj-167	53	5	to	to	PART
arestyrurj-167	53	6	be	be	AUX
arestyrurj-167	53	7	efficient	efficient	ADJ
arestyrurj-167	53	8	due	due	ADJ
arestyrurj-167	53	9	to	to	ADP
arestyrurj-167	53	10	features	feature	NOUN
arestyrurj-167	53	11	like	like	ADP
arestyrurj-167	53	12	its	its	PRON
arestyrurj-167	53	13	cast	cast	VERB
arestyrurj-167	53	14	acrylic	acrylic	NOUN
arestyrurj-167	53	15	center	center	NOUN
arestyrurj-167	53	16	,	,	PUNCT
arestyrurj-167	53	17	as	as	SCONJ
arestyrurj-167	53	18	this	this	PRON
arestyrurj-167	53	19	reduces	reduce	VERB
arestyrurj-167	53	20	build	build	VERB
arestyrurj-167	53	21	time	time	NOUN
arestyrurj-167	53	22	and	and	CCONJ
arestyrurj-167	53	23	stands	stand	VERB
arestyrurj-167	53	24	to	to	PART
arestyrurj-167	53	25	still	still	ADV
arestyrurj-167	53	26	be	be	AUX
arestyrurj-167	53	27	extremely	extremely	ADV
arestyrurj-167	53	28	strong	strong	ADJ
arestyrurj-167	53	29	.	.	PUNCT
arestyrurj-167	54	1	furthermore	furthermore	ADV
arestyrurj-167	54	2	,	,	PUNCT
arestyrurj-167	54	3	the	the	DET
arestyrurj-167	54	4	motor	motor	NOUN
arestyrurj-167	54	5	configuration	configuration	NOUN
arestyrurj-167	54	6	also	also	ADV
arestyrurj-167	54	7	allows	allow	VERB
arestyrurj-167	54	8	for	for	SCONJ
arestyrurj-167	54	9	only	only	ADV
arestyrurj-167	54	10	four	four	NUM
arestyrurj-167	54	11	motors	motor	NOUN
arestyrurj-167	54	12	to	to	PART
arestyrurj-167	54	13	be	be	AUX
arestyrurj-167	54	14	necessary	necessary	ADJ
arestyrurj-167	54	15	while	while	SCONJ
arestyrurj-167	54	16	not	not	PART
arestyrurj-167	54	17	compromising	compromise	VERB
arestyrurj-167	54	18	stability	stability	NOUN
arestyrurj-167	54	19	or	or	CCONJ
arestyrurj-167	54	20	navigational	navigational	ADJ
arestyrurj-167	54	21	ability	ability	NOUN
arestyrurj-167	54	22	.	.	PUNCT
arestyrurj-167	55	1	figure	figure	NOUN
arestyrurj-167	55	2	3	3	NUM
arestyrurj-167	55	3	and	and	CCONJ
arestyrurj-167	55	4	figure	figure	VERB
arestyrurj-167	55	5	4	4	NUM
arestyrurj-167	55	6	show	show	NOUN
arestyrurj-167	55	7	cad	cad	NOUN
arestyrurj-167	55	8	models	model	NOUN
arestyrurj-167	55	9	of	of	ADP
arestyrurj-167	55	10	the	the	DET
arestyrurj-167	55	11	final	final	ADJ
arestyrurj-167	55	12	design	design	NOUN
arestyrurj-167	55	13	based	base	VERB
arestyrurj-167	55	14	upon	upon	SCONJ
arestyrurj-167	55	15	these	these	DET
arestyrurj-167	55	16	constraints	constraint	NOUN
arestyrurj-167	55	17	of	of	ADP
arestyrurj-167	55	18	motor	motor	NOUN
arestyrurj-167	55	19	configuration	configuration	NOUN
arestyrurj-167	55	20	and	and	CCONJ
arestyrurj-167	55	21	a	a	DET
arestyrurj-167	55	22	cast	cast	ADJ
arestyrurj-167	55	23	acrylic	acrylic	ADJ
arestyrurj-167	55	24	center	center	NOUN
arestyrurj-167	55	25	.	.	PUNCT
arestyrurj-167	56	1	i.	i.	PROPN
arestyrurj-167	56	2	hull	hull	PROPN
arestyrurj-167	56	3	design	design	PROPN
arestyrurj-167	56	4	/	/	SYM
arestyrurj-167	56	5	waterproof	waterproof	PROPN
arestyrurj-167	56	6	enclosure	enclosure	NOUN
arestyrurj-167	56	7	the	the	DET
arestyrurj-167	56	8	inner	inner	ADJ
arestyrurj-167	56	9	acrylic	acrylic	NOUN
arestyrurj-167	56	10	enclosure	enclosure	NOUN
arestyrurj-167	56	11	was	be	AUX
arestyrurj-167	56	12	the	the	DET
arestyrurj-167	56	13	priority	priority	NOUN
arestyrurj-167	56	14	for	for	ADP
arestyrurj-167	56	15	manufacturing	manufacturing	NOUN
arestyrurj-167	56	16	.	.	PUNCT
arestyrurj-167	57	1	this	this	PRON
arestyrurj-167	57	2	was	be	AUX
arestyrurj-167	57	3	because	because	SCONJ
arestyrurj-167	57	4	all	all	DET
arestyrurj-167	57	5	other	other	ADJ
arestyrurj-167	57	6	parts	part	NOUN
arestyrurj-167	57	7	of	of	ADP
arestyrurj-167	57	8	the	the	DET
arestyrurj-167	57	9	rov	rov	PROPN
arestyrurj-167	57	10	would	would	AUX
arestyrurj-167	57	11	revolve	revolve	VERB
arestyrurj-167	57	12	around	around	ADP
arestyrurj-167	57	13	this	this	DET
arestyrurj-167	57	14	central	central	ADJ
arestyrurj-167	57	15	design	design	NOUN
arestyrurj-167	57	16	element	element	NOUN
arestyrurj-167	57	17	.	.	PUNCT
arestyrurj-167	58	1	in	in	ADP
arestyrurj-167	58	2	the	the	DET
arestyrurj-167	58	3	end	end	NOUN
arestyrurj-167	58	4	,	,	PUNCT
arestyrurj-167	58	5	cast	cast	VERB
arestyrurj-167	58	6	acrylic	acrylic	NOUN
arestyrurj-167	58	7	was	be	AUX
arestyrurj-167	58	8	chosen	choose	VERB
arestyrurj-167	58	9	to	to	PART
arestyrurj-167	58	10	be	be	AUX
arestyrurj-167	58	11	used	use	VERB
arestyrurj-167	58	12	for	for	ADP
arestyrurj-167	58	13	the	the	DET
arestyrurj-167	58	14	physical	physical	ADJ
arestyrurj-167	58	15	cylinder	cylinder	NOUN
arestyrurj-167	58	16	and	and	CCONJ
arestyrurj-167	58	17	half	half	ADJ
arestyrurj-167	58	18	sphere	sphere	NOUN
arestyrurj-167	58	19	cap	cap	NOUN
arestyrurj-167	58	20	.	.	PUNCT
arestyrurj-167	59	1	these	these	DET
arestyrurj-167	59	2	two	two	NUM
arestyrurj-167	59	3	parts	part	NOUN
arestyrurj-167	59	4	are	be	AUX
arestyrurj-167	59	5	the	the	DET
arestyrurj-167	59	6	objects	object	NOUN
arestyrurj-167	59	7	shown	show	VERB
arestyrurj-167	59	8	in	in	ADP
arestyrurj-167	59	9	figure	figure	NOUN
arestyrurj-167	59	10	5	5	NUM
arestyrurj-167	59	11	,	,	PUNCT
arestyrurj-167	59	12	and	and	CCONJ
arestyrurj-167	59	13	in	in	ADP
arestyrurj-167	59	14	the	the	DET
arestyrurj-167	59	15	case	case	NOUN
arestyrurj-167	59	16	of	of	ADP
arestyrurj-167	59	17	this	this	DET
arestyrurj-167	59	18	specific	specific	ADJ
arestyrurj-167	59	19	rov	rov	PROPN
arestyrurj-167	59	20	design	design	NOUN
arestyrurj-167	59	21	,	,	PUNCT
arestyrurj-167	59	22	they	they	PRON
arestyrurj-167	59	23	are	be	AUX
arestyrurj-167	59	24	responsible	responsible	ADJ
arestyrurj-167	59	25	for	for	ADP
arestyrurj-167	59	26	holding	hold	VERB
arestyrurj-167	59	27	the	the	DET
arestyrurj-167	59	28	electronics	electronic	NOUN
arestyrurj-167	59	29	.	.	PUNCT
arestyrurj-167	60	1	the	the	DET
arestyrurj-167	60	2	cast	cast	VERB
arestyrurj-167	60	3	acrylic	acrylic	NOUN
arestyrurj-167	60	4	was	be	AUX
arestyrurj-167	60	5	chosen	choose	VERB
arestyrurj-167	60	6	due	due	ADP
arestyrurj-167	60	7	to	to	ADP
arestyrurj-167	60	8	its	its	PRON
arestyrurj-167	60	9	strength	strength	NOUN
arestyrurj-167	60	10	and	and	CCONJ
arestyrurj-167	60	11	ability	ability	NOUN
arestyrurj-167	60	12	to	to	PART
arestyrurj-167	60	13	be	be	AUX
arestyrurj-167	60	14	welded	weld	VERB
arestyrurj-167	60	15	together	together	ADV
arestyrurj-167	60	16	to	to	PART
arestyrurj-167	60	17	make	make	VERB
arestyrurj-167	60	18	a	a	DET
arestyrurj-167	60	19	final	final	ADJ
arestyrurj-167	60	20	product	product	NOUN
arestyrurj-167	60	21	.	.	PUNCT
arestyrurj-167	61	1	weld	weld	NOUN
arestyrurj-167	61	2	-	-	PUNCT
arestyrurj-167	61	3	on	on	ADP
arestyrurj-167	61	4	4	4	NUM
arestyrurj-167	61	5	was	be	AUX
arestyrurj-167	61	6	used	use	VERB
arestyrurj-167	61	7	to	to	PART
arestyrurj-167	61	8	properly	properly	ADV
arestyrurj-167	61	9	seal	seal	VERB
arestyrurj-167	61	10	the	the	DET
arestyrurj-167	61	11	cylinder	cylinder	NOUN
arestyrurj-167	61	12	to	to	ADP
arestyrurj-167	61	13	the	the	DET
arestyrurj-167	61	14	cap	cap	NOUN
arestyrurj-167	61	15	.	.	PUNCT
arestyrurj-167	62	1	a	a	DET
arestyrurj-167	62	2	metal	metal	NOUN
arestyrurj-167	62	3	cap	cap	NOUN
arestyrurj-167	62	4	,	,	PUNCT
arestyrurj-167	62	5	manufactured	manufacture	VERB
arestyrurj-167	62	6	by	by	ADP
arestyrurj-167	62	7	an	an	DET
arestyrurj-167	62	8	outside	outside	ADJ
arestyrurj-167	62	9	party	party	NOUN
arestyrurj-167	62	10	due	due	ADP
arestyrurj-167	62	11	to	to	ADP
arestyrurj-167	62	12	time	time	NOUN
arestyrurj-167	62	13	constraints	constraint	NOUN
arestyrurj-167	62	14	,	,	PUNCT
arestyrurj-167	62	15	was	be	AUX
arestyrurj-167	62	16	attached	attach	VERB
arestyrurj-167	62	17	to	to	ADP
arestyrurj-167	62	18	the	the	DET
arestyrurj-167	62	19	opposite	opposite	ADJ
arestyrurj-167	62	20	side	side	NOUN
arestyrurj-167	62	21	of	of	ADP
arestyrurj-167	62	22	the	the	DET
arestyrurj-167	62	23	waterproof	waterproof	PROPN
arestyrurj-167	62	24	enclosure	enclosure	PROPN
arestyrurj-167	62	25	.	.	PUNCT
arestyrurj-167	63	1	figures	figure	NOUN
arestyrurj-167	63	2	5	5	NUM
arestyrurj-167	63	3	-	-	SYM
arestyrurj-167	63	4	7	7	NUM
arestyrurj-167	63	5	show	show	VERB
arestyrurj-167	63	6	the	the	DET
arestyrurj-167	63	7	design	design	NOUN
arestyrurj-167	63	8	,	,	PUNCT
arestyrurj-167	63	9	fabrication	fabrication	NOUN
arestyrurj-167	63	10	,	,	PUNCT
arestyrurj-167	63	11	and	and	CCONJ
arestyrurj-167	63	12	welding	welding	NOUN
arestyrurj-167	63	13	process	process	NOUN
arestyrurj-167	63	14	of	of	ADP
arestyrurj-167	63	15	the	the	DET
arestyrurj-167	63	16	water	water	NOUN
arestyrurj-167	63	17	proof	proof	NOUN
arestyrurj-167	63	18	enclosure	enclosure	NOUN
arestyrurj-167	63	19	.	.	PUNCT
arestyrurj-167	64	1	the	the	DET
arestyrurj-167	64	2	metal	metal	NOUN
arestyrurj-167	64	3	cap	cap	NOUN
arestyrurj-167	64	4	on	on	ADP
arestyrurj-167	64	5	the	the	DET
arestyrurj-167	64	6	end	end	NOUN
arestyrurj-167	64	7	opposite	opposite	ADP
arestyrurj-167	64	8	the	the	DET
arestyrurj-167	64	9	dome	dome	NOUN
arestyrurj-167	64	10	of	of	ADP
arestyrurj-167	64	11	the	the	DET
arestyrurj-167	64	12	waterproof	waterproof	PROPN
arestyrurj-167	64	13	enclosure	enclosure	PROPN
arestyrurj-167	64	14	was	be	AUX
arestyrurj-167	64	15	manufactured	manufacture	VERB
arestyrurj-167	64	16	to	to	PART
arestyrurj-167	64	17	be	be	AUX
arestyrurj-167	64	18	removable	removable	ADJ
arestyrurj-167	64	19	and	and	CCONJ
arestyrurj-167	64	20	enable	enable	VERB
arestyrurj-167	64	21	cable	cable	NOUN
arestyrurj-167	64	22	wires	wire	NOUN
arestyrurj-167	64	23	to	to	PART
arestyrurj-167	64	24	pass	pass	VERB
arestyrurj-167	64	25	through	through	ADP
arestyrurj-167	64	26	to	to	ADP
arestyrurj-167	64	27	outside	outside	ADJ
arestyrurj-167	64	28	components	component	NOUN
arestyrurj-167	64	29	of	of	ADP
arestyrurj-167	64	30	the	the	DET
arestyrurj-167	64	31	rov	rov	PROPN
arestyrurj-167	64	32	.	.	PUNCT
arestyrurj-167	65	1	several	several	ADJ
arestyrurj-167	65	2	ideas	idea	NOUN
arestyrurj-167	65	3	were	be	AUX
arestyrurj-167	65	4	considered	consider	VERB
arestyrurj-167	65	5	to	to	PART
arestyrurj-167	65	6	allow	allow	VERB
arestyrurj-167	65	7	a	a	DET
arestyrurj-167	65	8	waterproof	waterproof	NOUN
arestyrurj-167	65	9	fitting	fit	VERB
arestyrurj-167	65	10	around	around	ADP
arestyrurj-167	65	11	the	the	DET
arestyrurj-167	65	12	cables	cable	NOUN
arestyrurj-167	65	13	to	to	PART
arestyrurj-167	65	14	prevent	prevent	VERB
arestyrurj-167	65	15	water	water	NOUN
arestyrurj-167	65	16	leakage	leakage	NOUN
arestyrurj-167	65	17	.	.	PUNCT
arestyrurj-167	66	1	originally	originally	ADV
arestyrurj-167	66	2	,	,	PUNCT
arestyrurj-167	66	3	we	we	PRON
arestyrurj-167	66	4	planned	plan	VERB
arestyrurj-167	66	5	to	to	PART
arestyrurj-167	66	6	use	use	VERB
arestyrurj-167	66	7	standard	standard	ADJ
arestyrurj-167	66	8	weatherproof	weatherproof	ADJ
arestyrurj-167	66	9	wire	wire	NOUN
arestyrurj-167	66	10	covers	cover	VERB
arestyrurj-167	66	11	with	with	ADP
arestyrurj-167	66	12	hot	hot	ADJ
arestyrurj-167	66	13	glue	glue	NOUN
arestyrurj-167	66	14	.	.	PUNCT
arestyrurj-167	67	1	this	this	PRON
arestyrurj-167	67	2	was	be	AUX
arestyrurj-167	67	3	a	a	DET
arestyrurj-167	67	4	failure	failure	NOUN
arestyrurj-167	67	5	figure	figure	NOUN
arestyrurj-167	67	6	3	3	NUM
arestyrurj-167	67	7	:	:	PUNCT
arestyrurj-167	67	8	(	(	PUNCT
arestyrurj-167	67	9	isometric	isometric	ADJ
arestyrurj-167	67	10	view	view	NOUN
arestyrurj-167	67	11	)	)	PUNCT
arestyrurj-167	67	12	final	final	ADJ
arestyrurj-167	67	13	cad	cad	NOUN
arestyrurj-167	67	14	design	design	NOUN
arestyrurj-167	67	15	of	of	ADP
arestyrurj-167	67	16	the	the	DET
arestyrurj-167	67	17	rov	rov	PROPN
arestyrurj-167	67	18	which	which	PRON
arestyrurj-167	67	19	uses	use	VERB
arestyrurj-167	67	20	a	a	DET
arestyrurj-167	67	21	4	4	NUM
arestyrurj-167	67	22	-	-	PUNCT
arestyrurj-167	67	23	motor	motor	NOUN
arestyrurj-167	67	24	design	design	NOUN
arestyrurj-167	67	25	format	format	NOUN
arestyrurj-167	67	26	.	.	PUNCT
arestyrurj-167	68	1	figure	figure	VERB
arestyrurj-167	68	2	4	4	NUM
arestyrurj-167	68	3	:	:	PUNCT
arestyrurj-167	68	4	(	(	PUNCT
arestyrurj-167	68	5	front	front	ADJ
arestyrurj-167	68	6	view	view	NOUN
arestyrurj-167	68	7	)	)	PUNCT
arestyrurj-167	68	8	this	this	DET
arestyrurj-167	68	9	view	view	NOUN
arestyrurj-167	68	10	shows	show	VERB
arestyrurj-167	68	11	the	the	DET
arestyrurj-167	68	12	inside	inside	NOUN
arestyrurj-167	68	13	of	of	ADP
arestyrurj-167	68	14	the	the	DET
arestyrurj-167	68	15	clear	clear	ADJ
arestyrurj-167	68	16	acrylic	acrylic	NOUN
arestyrurj-167	68	17	cylinder	cylinder	NOUN
arestyrurj-167	68	18	which	which	PRON
arestyrurj-167	68	19	will	will	AUX
arestyrurj-167	68	20	house	house	VERB
arestyrurj-167	68	21	the	the	DET
arestyrurj-167	68	22	electronics	electronic	NOUN
arestyrurj-167	68	23	.	.	PUNCT
arestyrurj-167	69	1	aresty	aresty	ADJ
arestyrurj-167	69	2	rutgers	rutgers	PROPN
arestyrurj-167	69	3	undergraduate	undergraduate	PROPN
arestyrurj-167	69	4	research	research	PROPN
arestyrurj-167	69	5	journal	journal	PROPN
arestyrurj-167	69	6	,	,	PUNCT
arestyrurj-167	69	7	volume	volume	NOUN
arestyrurj-167	69	8	i	i	PRON
arestyrurj-167	69	9	,	,	PUNCT
arestyrurj-167	69	10	issue	issue	NOUN
arestyrurj-167	69	11	iii	iii	NUM
arestyrurj-167	69	12	figure	figure	NOUN
arestyrurj-167	69	13	5	5	NUM
arestyrurj-167	69	14	:	:	PUNCT
arestyrurj-167	69	15	(	(	PUNCT
arestyrurj-167	69	16	top	top	ADJ
arestyrurj-167	69	17	left	left	ADJ
arestyrurj-167	69	18	)	)	PUNCT
arestyrurj-167	69	19	this	this	DET
arestyrurj-167	69	20	view	view	NOUN
arestyrurj-167	69	21	showcases	showcase	VERB
arestyrurj-167	69	22	the	the	DET
arestyrurj-167	69	23	cad	cad	NOUN
arestyrurj-167	69	24	model	model	NOUN
arestyrurj-167	69	25	of	of	ADP
arestyrurj-167	69	26	the	the	DET
arestyrurj-167	69	27	acrylic	acrylic	ADJ
arestyrurj-167	69	28	cylinder	cylinder	NOUN
arestyrurj-167	69	29	and	and	CCONJ
arestyrurj-167	69	30	dome	dome	NOUN
arestyrurj-167	69	31	when	when	SCONJ
arestyrurj-167	69	32	assembled	assemble	VERB
arestyrurj-167	69	33	.	.	PUNCT
arestyrurj-167	70	1	figure	figure	VERB
arestyrurj-167	70	2	6	6	NUM
arestyrurj-167	70	3	:	:	PUNCT
arestyrurj-167	70	4	(	(	PUNCT
arestyrurj-167	70	5	top	top	ADJ
arestyrurj-167	70	6	center	center	NOUN
arestyrurj-167	70	7	)	)	PUNCT
arestyrurj-167	70	8	the	the	DET
arestyrurj-167	70	9	process	process	NOUN
arestyrurj-167	70	10	of	of	ADP
arestyrurj-167	70	11	welding	weld	VERB
arestyrurj-167	70	12	the	the	DET
arestyrurj-167	70	13	acrylic	acrylic	NOUN
arestyrurj-167	70	14	dome	dome	NOUN
arestyrurj-167	70	15	to	to	ADP
arestyrurj-167	70	16	the	the	DET
arestyrurj-167	70	17	acrylic	acrylic	ADJ
arestyrurj-167	70	18	cylinder	cylinder	NOUN
arestyrurj-167	70	19	required	require	VERB
arestyrurj-167	70	20	clamping	clamping	NOUN
arestyrurj-167	70	21	and	and	CCONJ
arestyrurj-167	70	22	the	the	DET
arestyrurj-167	70	23	use	use	NOUN
arestyrurj-167	70	24	of	of	ADP
arestyrurj-167	70	25	weld	weld	NOUN
arestyrurj-167	70	26	-	-	PUNCT
arestyrurj-167	70	27	on	on	ADP
arestyrurj-167	70	28	4	4	NUM
arestyrurj-167	70	29	.	.	PUNCT
arestyrurj-167	70	30	figure	figure	VERB
arestyrurj-167	70	31	7	7	NUM
arestyrurj-167	70	32	:	:	PUNCT
arestyrurj-167	70	33	(	(	PUNCT
arestyrurj-167	70	34	top	top	ADJ
arestyrurj-167	70	35	right	right	NOUN
arestyrurj-167	70	36	)	)	PUNCT
arestyrurj-167	70	37	the	the	DET
arestyrurj-167	70	38	two	two	NUM
arestyrurj-167	70	39	halves	half	NOUN
arestyrurj-167	70	40	of	of	ADP
arestyrurj-167	70	41	the	the	DET
arestyrurj-167	70	42	acrylic	acrylic	NOUN
arestyrurj-167	70	43	are	be	AUX
arestyrurj-167	70	44	now	now	ADV
arestyrurj-167	70	45	welded	weld	VERB
arestyrurj-167	70	46	together	together	ADV
arestyrurj-167	70	47	and	and	CCONJ
arestyrurj-167	70	48	ready	ready	ADJ
arestyrurj-167	70	49	for	for	SCONJ
arestyrurj-167	70	50	a	a	DET
arestyrurj-167	70	51	hull	hull	NOUN
arestyrurj-167	70	52	to	to	PART
arestyrurj-167	70	53	be	be	AUX
arestyrurj-167	70	54	attached	attach	VERB
arestyrurj-167	70	55	.	.	PUNCT
arestyrurj-167	71	1	figure	figure	NOUN
arestyrurj-167	71	2	8	8	NUM
arestyrurj-167	71	3	:	:	PUNCT
arestyrurj-167	71	4	(	(	PUNCT
arestyrurj-167	71	5	bottom	bottom	NOUN
arestyrurj-167	71	6	left	left	ADJ
arestyrurj-167	71	7	)	)	PUNCT
arestyrurj-167	71	8	initially	initially	ADV
arestyrurj-167	71	9	weatherproof	weatherproof	ADJ
arestyrurj-167	71	10	wire	wire	NOUN
arestyrurj-167	71	11	covers	cover	NOUN
arestyrurj-167	71	12	were	be	AUX
arestyrurj-167	71	13	used	use	VERB
arestyrurj-167	71	14	and	and	CCONJ
arestyrurj-167	71	15	they	they	PRON
arestyrurj-167	71	16	were	be	AUX
arestyrurj-167	71	17	found	find	VERB
arestyrurj-167	71	18	to	to	PART
arestyrurj-167	71	19	not	not	PART
arestyrurj-167	71	20	work	work	VERB
arestyrurj-167	71	21	adequately	adequately	ADV
arestyrurj-167	71	22	for	for	SCONJ
arestyrurj-167	71	23	the	the	DET
arestyrurj-167	71	24	pressure	pressure	NOUN
arestyrurj-167	71	25	cables	cable	NOUN
arestyrurj-167	71	26	would	would	AUX
arestyrurj-167	71	27	experience	experience	VERB
arestyrurj-167	71	28	at	at	ADP
arestyrurj-167	71	29	desired	desire	VERB
arestyrurj-167	71	30	testing	testing	NOUN
arestyrurj-167	71	31	depths	depth	NOUN
arestyrurj-167	71	32	.	.	PUNCT
arestyrurj-167	72	1	figure	figure	VERB
arestyrurj-167	72	2	9	9	NUM
arestyrurj-167	72	3	:	:	PUNCT
arestyrurj-167	72	4	(	(	PUNCT
arestyrurj-167	72	5	bottom	bottom	ADJ
arestyrurj-167	72	6	center	center	NOUN
arestyrurj-167	72	7	)	)	PUNCT
arestyrurj-167	72	8	the	the	DET
arestyrurj-167	72	9	now	now	ADV
arestyrurj-167	72	10	potted	pot	VERB
arestyrurj-167	72	11	cables	cable	NOUN
arestyrurj-167	72	12	need	need	VERB
arestyrurj-167	72	13	to	to	PART
arestyrurj-167	72	14	dry	dry	VERB
arestyrurj-167	72	15	for	for	ADP
arestyrurj-167	72	16	48	48	NUM
arestyrurj-167	72	17	hours	hour	NOUN
arestyrurj-167	72	18	in	in	ADP
arestyrurj-167	72	19	order	order	NOUN
arestyrurj-167	72	20	to	to	PART
arestyrurj-167	72	21	form	form	VERB
arestyrurj-167	72	22	a	a	DET
arestyrurj-167	72	23	hardened	harden	VERB
arestyrurj-167	72	24	seal	seal	NOUN
arestyrurj-167	72	25	around	around	ADP
arestyrurj-167	72	26	the	the	DET
arestyrurj-167	72	27	cables	cable	NOUN
arestyrurj-167	72	28	and	and	CCONJ
arestyrurj-167	72	29	in	in	ADP
arestyrurj-167	72	30	the	the	DET
arestyrurj-167	72	31	glands	gland	NOUN
arestyrurj-167	72	32	.	.	PUNCT
arestyrurj-167	73	1	figure	figure	NOUN
arestyrurj-167	73	2	10	10	NUM
arestyrurj-167	73	3	:	:	PUNCT
arestyrurj-167	73	4	(	(	PUNCT
arestyrurj-167	73	5	bottom	bottom	ADJ
arestyrurj-167	73	6	right	right	NOUN
arestyrurj-167	73	7	)	)	PUNCT
arestyrurj-167	73	8	the	the	DET
arestyrurj-167	73	9	dry	dry	ADJ
arestyrurj-167	73	10	glands	gland	NOUN
arestyrurj-167	73	11	were	be	AUX
arestyrurj-167	73	12	inserted	insert	VERB
arestyrurj-167	73	13	into	into	ADP
arestyrurj-167	73	14	the	the	DET
arestyrurj-167	73	15	endcap	endcap	NOUN
arestyrurj-167	73	16	which	which	PRON
arestyrurj-167	73	17	separates	separate	VERB
arestyrurj-167	73	18	the	the	DET
arestyrurj-167	73	19	water	water	NOUN
arestyrurj-167	73	20	from	from	ADP
arestyrurj-167	73	21	the	the	DET
arestyrurj-167	73	22	rest	rest	NOUN
arestyrurj-167	73	23	of	of	ADP
arestyrurj-167	73	24	the	the	DET
arestyrurj-167	73	25	electronics	electronic	NOUN
arestyrurj-167	73	26	in	in	ADP
arestyrurj-167	73	27	the	the	DET
arestyrurj-167	73	28	electronics	electronics	NOUN
arestyrurj-167	73	29	enclosure	enclosure	NOUN
arestyrurj-167	73	30	.	.	PUNCT
arestyrurj-167	74	1	aresty	aresty	PROPN
arestyrurj-167	74	2	rutgers	rutgers	PROPN
arestyrurj-167	74	3	undergraduate	undergraduate	PROPN
arestyrurj-167	74	4	research	research	PROPN
arestyrurj-167	74	5	journal	journal	PROPN
arestyrurj-167	74	6	,	,	PUNCT
arestyrurj-167	74	7	volume	volume	NOUN
arestyrurj-167	74	8	i	i	PRON
arestyrurj-167	74	9	,	,	PUNCT
arestyrurj-167	74	10	issue	issue	NOUN
arestyrurj-167	74	11	iii	iii	NOUN
arestyrurj-167	74	12	upon	upon	SCONJ
arestyrurj-167	74	13	testing	testing	NOUN
arestyrurj-167	74	14	,	,	PUNCT
arestyrurj-167	74	15	which	which	PRON
arestyrurj-167	74	16	can	can	AUX
arestyrurj-167	74	17	be	be	AUX
arestyrurj-167	74	18	seen	see	VERB
arestyrurj-167	74	19	in	in	ADP
arestyrurj-167	74	20	figure	figure	NOUN
arestyrurj-167	74	21	8	8	NUM
arestyrurj-167	74	22	.	.	PUNCT
arestyrurj-167	75	1	the	the	DET
arestyrurj-167	75	2	hot	hot	ADJ
arestyrurj-167	75	3	glue	glue	NOUN
arestyrurj-167	75	4	leaked	leak	VERB
arestyrurj-167	75	5	water	water	NOUN
arestyrurj-167	75	6	after	after	ADP
arestyrurj-167	75	7	multiple	multiple	ADJ
arestyrurj-167	75	8	tests	test	NOUN
arestyrurj-167	75	9	and	and	CCONJ
arestyrurj-167	75	10	the	the	DET
arestyrurj-167	75	11	weatherproof	weatherproof	ADJ
arestyrurj-167	75	12	wire	wire	NOUN
arestyrurj-167	75	13	covers	cover	NOUN
arestyrurj-167	75	14	did	do	AUX
arestyrurj-167	75	15	not	not	PART
arestyrurj-167	75	16	form	form	VERB
arestyrurj-167	75	17	a	a	DET
arestyrurj-167	75	18	decent	decent	ADJ
arestyrurj-167	75	19	seal	seal	NOUN
arestyrurj-167	75	20	with	with	ADP
arestyrurj-167	75	21	the	the	DET
arestyrurj-167	75	22	cables	cable	NOUN
arestyrurj-167	75	23	with	with	ADP
arestyrurj-167	75	24	which	which	PRON
arestyrurj-167	75	25	they	they	PRON
arestyrurj-167	75	26	interfaced	interface	VERB
arestyrurj-167	75	27	.	.	PUNCT
arestyrurj-167	76	1	we	we	PRON
arestyrurj-167	76	2	instead	instead	ADV
arestyrurj-167	76	3	decided	decide	VERB
arestyrurj-167	76	4	to	to	PART
arestyrurj-167	76	5	use	use	VERB
arestyrurj-167	76	6	the	the	DET
arestyrurj-167	76	7	conventional	conventional	ADJ
arestyrurj-167	76	8	approach	approach	NOUN
arestyrurj-167	76	9	of	of	ADP
arestyrurj-167	76	10	“	"	PUNCT
arestyrurj-167	76	11	potting	potting	NOUN
arestyrurj-167	76	12	”	"	PUNCT
arestyrurj-167	76	13	,	,	PUNCT
arestyrurj-167	76	14	as	as	SCONJ
arestyrurj-167	76	15	shown	show	VERB
arestyrurj-167	76	16	in	in	ADP
arestyrurj-167	76	17	figure	figure	NOUN
arestyrurj-167	76	18	9	9	NUM
arestyrurj-167	76	19	.	.	PUNCT
arestyrurj-167	77	1	“	"	PUNCT
arestyrurj-167	77	2	potting	potting	NOUN
arestyrurj-167	77	3	”	"	PUNCT
arestyrurj-167	77	4	is	be	AUX
arestyrurj-167	77	5	when	when	SCONJ
arestyrurj-167	77	6	one	one	NUM
arestyrurj-167	77	7	sits	sit	VERB
arestyrurj-167	77	8	cables	cable	NOUN
arestyrurj-167	77	9	in	in	ADP
arestyrurj-167	77	10	manufactured	manufacture	VERB
arestyrurj-167	77	11	glands	gland	NOUN
arestyrurj-167	77	12	and	and	CCONJ
arestyrurj-167	77	13	fills	fill	VERB
arestyrurj-167	77	14	the	the	DET
arestyrurj-167	77	15	glands	gland	NOUN
arestyrurj-167	77	16	with	with	ADP
arestyrurj-167	77	17	epoxy	epoxy	NOUN
arestyrurj-167	77	18	to	to	PART
arestyrurj-167	77	19	completely	completely	ADV
arestyrurj-167	77	20	waterproof	waterproof	VERB
arestyrurj-167	77	21	them	they	PRON
arestyrurj-167	77	22	.	.	PUNCT
arestyrurj-167	78	1	this	this	PRON
arestyrurj-167	78	2	allows	allow	VERB
arestyrurj-167	78	3	for	for	ADP
arestyrurj-167	78	4	a	a	DET
arestyrurj-167	78	5	permanent	permanent	ADJ
arestyrurj-167	78	6	,	,	PUNCT
arestyrurj-167	78	7	waterproof	waterproof	ADJ
arestyrurj-167	78	8	bond	bond	NOUN
arestyrurj-167	78	9	around	around	ADP
arestyrurj-167	78	10	all	all	DET
arestyrurj-167	78	11	the	the	DET
arestyrurj-167	78	12	cables	cable	NOUN
arestyrurj-167	78	13	.	.	PUNCT
arestyrurj-167	79	1	figure	figure	NOUN
arestyrurj-167	79	2	10	10	NUM
arestyrurj-167	79	3	shows	show	VERB
arestyrurj-167	79	4	these	these	DET
arestyrurj-167	79	5	glands	gland	NOUN
arestyrurj-167	79	6	put	put	VERB
arestyrurj-167	79	7	into	into	ADP
arestyrurj-167	79	8	the	the	DET
arestyrurj-167	79	9	end	end	NOUN
arestyrurj-167	79	10	cap	cap	NOUN
arestyrurj-167	79	11	.	.	PUNCT
arestyrurj-167	80	1	during	during	ADP
arestyrurj-167	80	2	the	the	DET
arestyrurj-167	80	3	beginning	begin	VERB
arestyrurj-167	80	4	phases	phase	NOUN
arestyrurj-167	80	5	of	of	ADP
arestyrurj-167	80	6	deciding	decide	VERB
arestyrurj-167	80	7	upon	upon	SCONJ
arestyrurj-167	80	8	materials	material	NOUN
arestyrurj-167	80	9	and	and	CCONJ
arestyrurj-167	80	10	the	the	DET
arestyrurj-167	80	11	fabrication	fabrication	NOUN
arestyrurj-167	80	12	processes	process	NOUN
arestyrurj-167	80	13	of	of	ADP
arestyrurj-167	80	14	the	the	DET
arestyrurj-167	80	15	hull	hull	NOUN
arestyrurj-167	80	16	,	,	PUNCT
arestyrurj-167	80	17	cost	cost	NOUN
arestyrurj-167	80	18	-	-	PUNCT
arestyrurj-167	80	19	effectiveness	effectiveness	NOUN
arestyrurj-167	80	20	was	be	AUX
arestyrurj-167	80	21	kept	keep	VERB
arestyrurj-167	80	22	in	in	ADP
arestyrurj-167	80	23	mind	mind	NOUN
arestyrurj-167	80	24	.	.	PUNCT
arestyrurj-167	81	1	this	this	PRON
arestyrurj-167	81	2	was	be	AUX
arestyrurj-167	81	3	to	to	PART
arestyrurj-167	81	4	continue	continue	VERB
arestyrurj-167	81	5	the	the	DET
arestyrurj-167	81	6	overall	overall	ADJ
arestyrurj-167	81	7	pursuit	pursuit	NOUN
arestyrurj-167	81	8	of	of	ADP
arestyrurj-167	81	9	a	a	DET
arestyrurj-167	81	10	cost	cost	NOUN
arestyrurj-167	81	11	-	-	PUNCT
arestyrurj-167	81	12	effective	effective	ADJ
arestyrurj-167	81	13	rov	rov	NOUN
arestyrurj-167	81	14	product	product	NOUN
arestyrurj-167	81	15	.	.	PUNCT
arestyrurj-167	82	1	3d	3d	NUM
arestyrurj-167	82	2	printing	printing	NOUN
arestyrurj-167	82	3	was	be	AUX
arestyrurj-167	82	4	used	use	VERB
arestyrurj-167	82	5	to	to	PART
arestyrurj-167	82	6	create	create	VERB
arestyrurj-167	82	7	the	the	DET
arestyrurj-167	82	8	outer	outer	ADJ
arestyrurj-167	82	9	shell	shell	NOUN
arestyrurj-167	82	10	of	of	ADP
arestyrurj-167	82	11	the	the	DET
arestyrurj-167	82	12	rov	rov	PROPN
arestyrurj-167	82	13	.	.	PUNCT
arestyrurj-167	83	1	due	due	ADP
arestyrurj-167	83	2	to	to	ADP
arestyrurj-167	83	3	its	its	PRON
arestyrurj-167	83	4	cheap	cheap	ADJ
arestyrurj-167	83	5	yet	yet	CCONJ
arestyrurj-167	83	6	sturdy	sturdy	ADJ
arestyrurj-167	83	7	nature	nature	NOUN
arestyrurj-167	83	8	,	,	PUNCT
arestyrurj-167	83	9	polylactic	polylactic	ADJ
arestyrurj-167	83	10	acid	acid	NOUN
arestyrurj-167	83	11	plastic	plastic	NOUN
arestyrurj-167	83	12	(	(	PUNCT
arestyrurj-167	83	13	pla	pla	NOUN
arestyrurj-167	83	14	)	)	PUNCT
arestyrurj-167	83	15	made	make	VERB
arestyrurj-167	83	16	a	a	DET
arestyrurj-167	83	17	great	great	ADJ
arestyrurj-167	83	18	candidate	candidate	NOUN
arestyrurj-167	83	19	for	for	ADP
arestyrurj-167	83	20	materials	material	NOUN
arestyrurj-167	83	21	.	.	PUNCT
arestyrurj-167	84	1	figure	figure	NOUN
arestyrurj-167	84	2	11	11	NUM
arestyrurj-167	84	3	shows	show	VERB
arestyrurj-167	84	4	a	a	DET
arestyrurj-167	84	5	3d	3d	ADV
arestyrurj-167	84	6	-	-	PUNCT
arestyrurj-167	84	7	printed	print	VERB
arestyrurj-167	84	8	hull	hull	NOUN
arestyrurj-167	84	9	over	over	ADP
arestyrurj-167	84	10	the	the	DET
arestyrurj-167	84	11	acrylic	acrylic	ADJ
arestyrurj-167	84	12	electronics	electronic	NOUN
arestyrurj-167	84	13	enclosure	enclosure	NOUN
arestyrurj-167	84	14	.	.	PUNCT
arestyrurj-167	85	1	pla	pla	PROPN
arestyrurj-167	85	2	was	be	AUX
arestyrurj-167	85	3	used	use	VERB
arestyrurj-167	85	4	to	to	ADP
arestyrurj-167	85	5	3d	3d	PROPN
arestyrurj-167	85	6	print	print	NOUN
arestyrurj-167	85	7	the	the	DET
arestyrurj-167	85	8	main	main	ADJ
arestyrurj-167	85	9	hull	hull	NOUN
arestyrurj-167	85	10	and	and	CCONJ
arestyrurj-167	85	11	motor	motor	NOUN
arestyrurj-167	85	12	housings	housing	NOUN
arestyrurj-167	85	13	.	.	PUNCT
arestyrurj-167	86	1	then	then	ADV
arestyrurj-167	86	2	,	,	PUNCT
arestyrurj-167	86	3	epoxy	epoxy	NOUN
arestyrurj-167	86	4	resin	resin	NOUN
arestyrurj-167	86	5	was	be	AUX
arestyrurj-167	86	6	used	use	VERB
arestyrurj-167	86	7	to	to	PART
arestyrurj-167	86	8	make	make	VERB
arestyrurj-167	86	9	the	the	DET
arestyrurj-167	86	10	pla	pla	NOUN
arestyrurj-167	86	11	stronger	strong	ADJ
arestyrurj-167	86	12	and	and	CCONJ
arestyrurj-167	86	13	create	create	VERB
arestyrurj-167	86	14	an	an	DET
arestyrurj-167	86	15	even	even	ADJ
arestyrurj-167	86	16	plane	plane	NOUN
arestyrurj-167	86	17	on	on	ADP
arestyrurj-167	86	18	which	which	PRON
arestyrurj-167	86	19	the	the	DET
arestyrurj-167	86	20	water	water	NOUN
arestyrurj-167	86	21	can	can	AUX
arestyrurj-167	86	22	glide	glide	VERB
arestyrurj-167	86	23	,	,	PUNCT
arestyrurj-167	86	24	as	as	SCONJ
arestyrurj-167	86	25	shown	show	VERB
arestyrurj-167	86	26	in	in	ADP
arestyrurj-167	86	27	figure	figure	NOUN
arestyrurj-167	86	28	12	12	NUM
arestyrurj-167	86	29	.	.	PUNCT
arestyrurj-167	87	1	this	this	DET
arestyrurj-167	87	2	figure	figure	NOUN
arestyrurj-167	87	3	shows	show	VERB
arestyrurj-167	87	4	parts	part	NOUN
arestyrurj-167	87	5	of	of	ADP
arestyrurj-167	87	6	the	the	DET
arestyrurj-167	87	7	hull	hull	NOUN
arestyrurj-167	87	8	after	after	ADP
arestyrurj-167	87	9	having	have	VERB
arestyrurj-167	87	10	a	a	DET
arestyrurj-167	87	11	fresh	fresh	ADJ
arestyrurj-167	87	12	coat	coat	NOUN
arestyrurj-167	87	13	of	of	ADP
arestyrurj-167	87	14	polyester	polyester	NOUN
arestyrurj-167	87	15	resin	resin	NOUN
arestyrurj-167	87	16	applied	apply	VERB
arestyrurj-167	87	17	as	as	ADV
arestyrurj-167	87	18	well	well	ADV
arestyrurj-167	87	19	as	as	ADP
arestyrurj-167	87	20	the	the	DET
arestyrurj-167	87	21	paint	paint	NOUN
arestyrurj-167	87	22	rollers	roller	NOUN
arestyrurj-167	87	23	used	use	VERB
arestyrurj-167	87	24	to	to	PART
arestyrurj-167	87	25	apply	apply	VERB
arestyrurj-167	87	26	this	this	DET
arestyrurj-167	87	27	resin	resin	NOUN
arestyrurj-167	87	28	.	.	PUNCT
arestyrurj-167	88	1	after	after	ADP
arestyrurj-167	88	2	this	this	DET
arestyrurj-167	88	3	process	process	NOUN
arestyrurj-167	88	4	,	,	PUNCT
arestyrurj-167	88	5	the	the	DET
arestyrurj-167	88	6	resin	resin	NOUN
arestyrurj-167	88	7	was	be	AUX
arestyrurj-167	88	8	sanded	sand	VERB
arestyrurj-167	88	9	and	and	CCONJ
arestyrurj-167	88	10	polished	polish	VERB
arestyrurj-167	88	11	evenly	evenly	ADV
arestyrurj-167	88	12	.	.	PUNCT
arestyrurj-167	89	1	a	a	DET
arestyrurj-167	89	2	body	body	NOUN
arestyrurj-167	89	3	filler	filler	NOUN
arestyrurj-167	89	4	coat	coat	NOUN
arestyrurj-167	89	5	was	be	AUX
arestyrurj-167	89	6	applied	apply	VERB
arestyrurj-167	89	7	to	to	PART
arestyrurj-167	89	8	fill	fill	VERB
arestyrurj-167	89	9	in	in	ADP
arestyrurj-167	89	10	wherever	wherever	SCONJ
arestyrurj-167	89	11	the	the	DET
arestyrurj-167	89	12	resin	resin	NOUN
arestyrurj-167	89	13	was	be	AUX
arestyrurj-167	89	14	not	not	PART
arestyrurj-167	89	15	properly	properly	ADV
arestyrurj-167	89	16	leveled	level	VERB
arestyrurj-167	89	17	.	.	PUNCT
arestyrurj-167	90	1	finally	finally	ADV
arestyrurj-167	90	2	,	,	PUNCT
arestyrurj-167	90	3	black	black	ADJ
arestyrurj-167	90	4	spray	spray	NOUN
arestyrurj-167	90	5	paint	paint	NOUN
arestyrurj-167	90	6	was	be	AUX
arestyrurj-167	90	7	used	use	VERB
arestyrurj-167	90	8	to	to	PART
arestyrurj-167	90	9	cover	cover	VERB
arestyrurj-167	90	10	the	the	DET
arestyrurj-167	90	11	finished	finished	ADJ
arestyrurj-167	90	12	product	product	NOUN
arestyrurj-167	90	13	.	.	PUNCT
arestyrurj-167	91	1	figure	figure	NOUN
arestyrurj-167	91	2	13	13	NUM
arestyrurj-167	91	3	shows	show	VERB
arestyrurj-167	91	4	all	all	DET
arestyrurj-167	91	5	parts	part	NOUN
arestyrurj-167	91	6	of	of	ADP
arestyrurj-167	91	7	the	the	DET
arestyrurj-167	91	8	hull	hull	NOUN
arestyrurj-167	91	9	to	to	PART
arestyrurj-167	91	10	be	be	AUX
arestyrurj-167	91	11	assembled	assemble	VERB
arestyrurj-167	91	12	.	.	PUNCT
arestyrurj-167	92	1	ii	ii	X
arestyrurj-167	92	2	.	.	PUNCT
arestyrurj-167	93	1	propulsion	propulsion	NOUN
arestyrurj-167	93	2	design	design	NOUN
arestyrurj-167	93	3	propulsion	propulsion	NOUN
arestyrurj-167	93	4	was	be	AUX
arestyrurj-167	93	5	a	a	DET
arestyrurj-167	93	6	serious	serious	ADJ
arestyrurj-167	93	7	challenge	challenge	NOUN
arestyrurj-167	93	8	both	both	CCONJ
arestyrurj-167	93	9	in	in	ADP
arestyrurj-167	93	10	terms	term	NOUN
arestyrurj-167	93	11	of	of	ADP
arestyrurj-167	93	12	cost	cost	NOUN
arestyrurj-167	93	13	and	and	CCONJ
arestyrurj-167	93	14	power	power	NOUN
arestyrurj-167	93	15	.	.	PUNCT
arestyrurj-167	94	1	the	the	DET
arestyrurj-167	94	2	rov	rov	PROPN
arestyrurj-167	94	3	required	require	VERB
arestyrurj-167	94	4	a	a	DET
arestyrurj-167	94	5	lot	lot	NOUN
arestyrurj-167	94	6	of	of	ADP
arestyrurj-167	94	7	motors	motor	NOUN
arestyrurj-167	94	8	based	base	VERB
arestyrurj-167	94	9	upon	upon	SCONJ
arestyrurj-167	94	10	the	the	DET
arestyrurj-167	94	11	design	design	NOUN
arestyrurj-167	94	12	.	.	PUNCT
arestyrurj-167	95	1	the	the	DET
arestyrurj-167	95	2	power	power	NOUN
arestyrurj-167	95	3	constraints	constraint	NOUN
arestyrurj-167	95	4	were	be	AUX
arestyrurj-167	95	5	also	also	ADV
arestyrurj-167	95	6	a	a	DET
arestyrurj-167	95	7	serious	serious	ADJ
arestyrurj-167	95	8	issue	issue	NOUN
arestyrurj-167	95	9	.	.	PUNCT
arestyrurj-167	96	1	the	the	DET
arestyrurj-167	96	2	decision	decision	NOUN
arestyrurj-167	96	3	to	to	PART
arestyrurj-167	96	4	use	use	VERB
arestyrurj-167	96	5	64	64	NUM
arestyrurj-167	96	6	mm	mm	NUM
arestyrurj-167	96	7	5	5	NUM
arestyrurj-167	96	8	-	-	PUNCT
arestyrurj-167	96	9	rotor	rotor	NOUN
arestyrurj-167	96	10	4500	4500	NUM
arestyrurj-167	96	11	kv	kv	PROPN
arestyrurj-167	96	12	brushless	brushless	PROPN
arestyrurj-167	96	13	motors	motor	NOUN
arestyrurj-167	96	14	was	be	AUX
arestyrurj-167	96	15	made	make	VERB
arestyrurj-167	96	16	.	.	PUNCT
arestyrurj-167	97	1	the	the	DET
arestyrurj-167	97	2	rationale	rationale	NOUN
arestyrurj-167	97	3	behind	behind	ADP
arestyrurj-167	97	4	this	this	DET
arestyrurj-167	97	5	choice	choice	NOUN
arestyrurj-167	97	6	was	be	AUX
arestyrurj-167	97	7	that	that	SCONJ
arestyrurj-167	97	8	these	these	DET
arestyrurj-167	97	9	motors	motor	NOUN
arestyrurj-167	97	10	had	have	VERB
arestyrurj-167	97	11	to	to	PART
arestyrurj-167	97	12	be	be	AUX
arestyrurj-167	97	13	brushless	brushless	ADJ
arestyrurj-167	97	14	to	to	PART
arestyrurj-167	97	15	function	function	VERB
arestyrurj-167	97	16	underwater	underwater	NOUN
arestyrurj-167	97	17	.	.	PUNCT
arestyrurj-167	98	1	these	these	DET
arestyrurj-167	98	2	motors	motor	NOUN
arestyrurj-167	98	3	provided	provide	VERB
arestyrurj-167	98	4	enough	enough	ADJ
arestyrurj-167	98	5	thrust	thrust	NOUN
arestyrurj-167	98	6	with	with	ADP
arestyrurj-167	98	7	balanced	balanced	ADJ
arestyrurj-167	98	8	power	power	NOUN
arestyrurj-167	98	9	consumption	consumption	NOUN
arestyrurj-167	98	10	to	to	PART
arestyrurj-167	98	11	be	be	AUX
arestyrurj-167	98	12	wise	wise	ADJ
arestyrurj-167	98	13	choices	choice	NOUN
arestyrurj-167	98	14	(	(	PUNCT
arestyrurj-167	98	15	each	each	DET
arestyrurj-167	98	16	motor	motor	NOUN
arestyrurj-167	98	17	is	be	AUX
arestyrurj-167	98	18	using	use	VERB
arestyrurj-167	98	19	power	power	NOUN
arestyrurj-167	98	20	efficiently	efficiently	ADV
arestyrurj-167	98	21	)	)	PUNCT
arestyrurj-167	98	22	.	.	PUNCT
arestyrurj-167	99	1	we	we	PRON
arestyrurj-167	99	2	designed	design	VERB
arestyrurj-167	99	3	and	and	CCONJ
arestyrurj-167	99	4	fabricated	fabricate	VERB
arestyrurj-167	99	5	a	a	DET
arestyrurj-167	99	6	3d	3d	NUM
arestyrurj-167	99	7	-	-	PUNCT
arestyrurj-167	99	8	printed	print	VERB
arestyrurj-167	99	9	motor	motor	NOUN
arestyrurj-167	99	10	housing	housing	NOUN
arestyrurj-167	99	11	that	that	PRON
arestyrurj-167	99	12	allowed	allow	VERB
arestyrurj-167	99	13	the	the	DET
arestyrurj-167	99	14	motors	motor	NOUN
arestyrurj-167	99	15	to	to	PART
arestyrurj-167	99	16	function	function	VERB
arestyrurj-167	99	17	perfectly	perfectly	ADV
arestyrurj-167	99	18	in	in	ADP
arestyrurj-167	99	19	their	their	PRON
arestyrurj-167	99	20	desired	desire	VERB
arestyrurj-167	99	21	loca	loca	PROPN
arestyrurj-167	99	22	tions	tion	NOUN
arestyrurj-167	99	23	.	.	PUNCT
arestyrurj-167	100	1	this	this	DET
arestyrurj-167	100	2	housing	housing	NOUN
arestyrurj-167	100	3	can	can	AUX
arestyrurj-167	100	4	be	be	AUX
arestyrurj-167	100	5	seen	see	VERB
arestyrurj-167	100	6	in	in	ADP
arestyrurj-167	100	7	the	the	DET
arestyrurj-167	100	8	middle	middle	NOUN
arestyrurj-167	100	9	of	of	ADP
arestyrurj-167	100	10	being	be	AUX
arestyrurj-167	100	11	3d	3d	NUM
arestyrurj-167	100	12	printed	print	VERB
arestyrurj-167	100	13	in	in	ADP
arestyrurj-167	100	14	figure	figure	NOUN
arestyrurj-167	100	15	14	14	NUM
arestyrurj-167	100	16	.	.	PUNCT
arestyrurj-167	101	1	iii	iii	X
arestyrurj-167	101	2	.	.	PUNCT
arestyrurj-167	102	1	electronics	electronic	NOUN
arestyrurj-167	102	2	design	design	VERB
arestyrurj-167	102	3	several	several	ADJ
arestyrurj-167	102	4	design	design	NOUN
arestyrurj-167	102	5	decisions	decision	NOUN
arestyrurj-167	102	6	had	have	VERB
arestyrurj-167	102	7	to	to	PART
arestyrurj-167	102	8	be	be	AUX
arestyrurj-167	102	9	made	make	VERB
arestyrurj-167	102	10	during	during	ADP
arestyrurj-167	102	11	the	the	DET
arestyrurj-167	102	12	electronics	electronic	NOUN
arestyrurj-167	102	13	and	and	CCONJ
arestyrurj-167	102	14	electronics	electronic	NOUN
arestyrurj-167	102	15	tray	tray	NOUN
arestyrurj-167	102	16	fabrication	fabrication	NOUN
arestyrurj-167	102	17	process	process	NOUN
arestyrurj-167	102	18	.	.	PUNCT
arestyrurj-167	103	1	the	the	DET
arestyrurj-167	103	2	electronics	electronics	NOUN
arestyrurj-167	103	3	tray	tray	NOUN
arestyrurj-167	103	4	had	have	VERB
arestyrurj-167	103	5	to	to	PART
arestyrurj-167	103	6	be	be	AUX
arestyrurj-167	103	7	created	create	VERB
arestyrurj-167	103	8	so	so	SCONJ
arestyrurj-167	103	9	that	that	SCONJ
arestyrurj-167	103	10	it	it	PRON
arestyrurj-167	103	11	would	would	AUX
arestyrurj-167	103	12	fit	fit	VERB
arestyrurj-167	103	13	in	in	ADP
arestyrurj-167	103	14	the	the	DET
arestyrurj-167	103	15	electronics	electronics	NOUN
arestyrurj-167	103	16	enclosure	enclosure	NOUN
arestyrurj-167	103	17	and	and	CCONJ
arestyrurj-167	103	18	put	put	VERB
arestyrurj-167	103	19	the	the	DET
arestyrurj-167	103	20	computer	computer	NOUN
arestyrurj-167	103	21	,	,	PUNCT
arestyrurj-167	103	22	batteries	battery	NOUN
arestyrurj-167	103	23	,	,	PUNCT
arestyrurj-167	103	24	and	and	CCONJ
arestyrurj-167	103	25	electronics	electronic	NOUN
arestyrurj-167	103	26	speed	speed	NOUN
arestyrurj-167	103	27	controllers	controller	NOUN
arestyrurj-167	103	28	(	(	PUNCT
arestyrurj-167	103	29	escs	esc	NOUN
arestyrurj-167	103	30	)	)	PUNCT
arestyrurj-167	103	31	in	in	ADP
arestyrurj-167	103	32	reasonable	reasonable	ADJ
arestyrurj-167	103	33	and	and	CCONJ
arestyrurj-167	103	34	safe	safe	ADJ
arestyrurj-167	103	35	places	place	NOUN
arestyrurj-167	103	36	repetitively	repetitively	ADV
arestyrurj-167	103	37	.	.	PUNCT
arestyrurj-167	104	1	in	in	ADP
arestyrurj-167	104	2	the	the	DET
arestyrurj-167	104	3	end	end	NOUN
arestyrurj-167	104	4	,	,	PUNCT
arestyrurj-167	104	5	a	a	DET
arestyrurj-167	104	6	3d	3d	NOUN
arestyrurj-167	104	7	-	-	PUNCT
arestyrurj-167	104	8	printed	print	VERB
arestyrurj-167	104	9	form	form	NOUN
arestyrurj-167	104	10	factor	factor	NOUN
arestyrurj-167	104	11	or	or	CCONJ
arestyrurj-167	104	12	ergonomic	ergonomic	ADJ
arestyrurj-167	104	13	design	design	NOUN
arestyrurj-167	104	14	proved	prove	VERB
arestyrurj-167	104	15	to	to	PART
arestyrurj-167	104	16	be	be	AUX
arestyrurj-167	104	17	successful	successful	ADJ
arestyrurj-167	104	18	.	.	PUNCT
arestyrurj-167	105	1	this	this	DET
arestyrurj-167	105	2	tray	tray	NOUN
arestyrurj-167	105	3	had	have	VERB
arestyrurj-167	105	4	holes	hole	NOUN
arestyrurj-167	105	5	to	to	PART
arestyrurj-167	105	6	allow	allow	VERB
arestyrurj-167	105	7	for	for	ADP
arestyrurj-167	105	8	zip	zip	NOUN
arestyrurj-167	105	9	-	-	PUNCT
arestyrurj-167	105	10	tying	tying	NOUN
arestyrurj-167	105	11	to	to	PART
arestyrurj-167	105	12	keep	keep	VERB
arestyrurj-167	105	13	cables	cable	NOUN
arestyrurj-167	105	14	from	from	ADP
arestyrurj-167	105	15	being	be	AUX
arestyrurj-167	105	16	loose	loose	ADJ
arestyrurj-167	105	17	and	and	CCONJ
arestyrurj-167	105	18	threading	thread	VERB
arestyrurj-167	105	19	places	place	NOUN
arestyrurj-167	105	20	to	to	PART
arestyrurj-167	105	21	put	put	VERB
arestyrurj-167	105	22	wire	wire	NOUN
arestyrurj-167	105	23	through	through	ADV
arestyrurj-167	105	24	.	.	PUNCT
arestyrurj-167	106	1	figure	figure	NOUN
arestyrurj-167	106	2	15	15	NUM
arestyrurj-167	106	3	shows	show	VERB
arestyrurj-167	106	4	how	how	SCONJ
arestyrurj-167	106	5	the	the	DET
arestyrurj-167	106	6	tray	tray	NOUN
arestyrurj-167	106	7	looked	look	VERB
arestyrurj-167	106	8	with	with	ADP
arestyrurj-167	106	9	electronics	electronic	NOUN
arestyrurj-167	106	10	included	include	VERB
arestyrurj-167	106	11	on	on	ADP
arestyrurj-167	106	12	it	it	PRON
arestyrurj-167	106	13	.	.	PUNCT
arestyrurj-167	107	1	for	for	ADP
arestyrurj-167	107	2	the	the	DET
arestyrurj-167	107	3	electronics	electronic	NOUN
arestyrurj-167	107	4	,	,	PUNCT
arestyrurj-167	107	5	a	a	DET
arestyrurj-167	107	6	raspberry	raspberry	NOUN
arestyrurj-167	107	7	pi	pi	NOUN
arestyrurj-167	107	8	4	4	NUM
arestyrurj-167	107	9	was	be	AUX
arestyrurj-167	107	10	used	use	VERB
arestyrurj-167	107	11	as	as	ADP
arestyrurj-167	107	12	the	the	DET
arestyrurj-167	107	13	brain	brain	NOUN
arestyrurj-167	107	14	of	of	ADP
arestyrurj-167	107	15	the	the	DET
arestyrurj-167	107	16	whole	whole	ADJ
arestyrurj-167	107	17	rov	rov	PROPN
arestyrurj-167	107	18	.	.	PUNCT
arestyrurj-167	108	1	this	this	DET
arestyrurj-167	108	2	computer	computer	NOUN
arestyrurj-167	108	3	oversees	oversee	VERB
arestyrurj-167	108	4	running	run	VERB
arestyrurj-167	108	5	code	code	NOUN
arestyrurj-167	108	6	,	,	PUNCT
arestyrurj-167	108	7	sending	send	VERB
arestyrurj-167	108	8	signals	signal	NOUN
arestyrurj-167	108	9	to	to	ADP
arestyrurj-167	108	10	parts	part	NOUN
arestyrurj-167	108	11	of	of	ADP
arestyrurj-167	108	12	the	the	DET
arestyrurj-167	108	13	robot	robot	NOUN
arestyrurj-167	108	14	,	,	PUNCT
arestyrurj-167	108	15	and	and	CCONJ
arestyrurj-167	108	16	,	,	PUNCT
arestyrurj-167	108	17	thus	thus	ADV
arestyrurj-167	108	18	,	,	PUNCT
arestyrurj-167	108	19	controlling	control	VERB
arestyrurj-167	108	20	the	the	DET
arestyrurj-167	108	21	robot	robot	NOUN
arestyrurj-167	108	22	’s	’s	PART
arestyrurj-167	108	23	movement	movement	NOUN
arestyrurj-167	108	24	and	and	CCONJ
arestyrurj-167	108	25	the	the	DET
arestyrurj-167	108	26	use	use	NOUN
arestyrurj-167	108	27	of	of	ADP
arestyrurj-167	108	28	electronic	electronic	ADJ
arestyrurj-167	108	29	components	component	NOUN
arestyrurj-167	108	30	.	.	PUNCT
arestyrurj-167	109	1	the	the	DET
arestyrurj-167	109	2	raspberry	raspberry	NOUN
arestyrurj-167	109	3	pi	pi	NOUN
arestyrurj-167	109	4	4	4	NUM
arestyrurj-167	109	5	is	be	AUX
arestyrurj-167	109	6	a	a	DET
arestyrurj-167	109	7	cheap	cheap	ADJ
arestyrurj-167	109	8	yet	yet	ADV
arestyrurj-167	109	9	powerful	powerful	ADJ
arestyrurj-167	109	10	computer	computer	NOUN
arestyrurj-167	109	11	that	that	PRON
arestyrurj-167	109	12	worked	work	VERB
arestyrurj-167	109	13	well	well	ADV
arestyrurj-167	109	14	with	with	ADP
arestyrurj-167	109	15	the	the	DET
arestyrurj-167	109	16	robot	robot	NOUN
arestyrurj-167	109	17	’s	’s	PART
arestyrurj-167	109	18	limited	limit	VERB
arestyrurj-167	109	19	internal	internal	ADJ
arestyrurj-167	109	20	space	space	NOUN
arestyrurj-167	109	21	while	while	SCONJ
arestyrurj-167	109	22	still	still	ADV
arestyrurj-167	109	23	allowing	allow	VERB
arestyrurj-167	109	24	for	for	ADP
arestyrurj-167	109	25	uncompromising	uncompromise	VERB
arestyrurj-167	109	26	computing	computing	NOUN
arestyrurj-167	109	27	performance	performance	NOUN
arestyrurj-167	109	28	.	.	PUNCT
arestyrurj-167	110	1	in	in	ADP
arestyrurj-167	110	2	addition	addition	NOUN
arestyrurj-167	110	3	to	to	ADP
arestyrurj-167	110	4	these	these	DET
arestyrurj-167	110	5	strengths	strength	NOUN
arestyrurj-167	110	6	,	,	PUNCT
arestyrurj-167	110	7	the	the	DET
arestyrurj-167	110	8	raspberry	raspberry	NOUN
arestyrurj-167	110	9	pi	pi	NOUN
arestyrurj-167	110	10	4	4	NUM
arestyrurj-167	110	11	allows	allow	VERB
arestyrurj-167	110	12	for	for	SCONJ
arestyrurj-167	110	13	users	user	NOUN
arestyrurj-167	110	14	to	to	PART
arestyrurj-167	110	15	connect	connect	VERB
arestyrurj-167	110	16	any	any	DET
arestyrurj-167	110	17	additional	additional	ADJ
arestyrurj-167	110	18	instruments	instrument	NOUN
arestyrurj-167	110	19	to	to	ADP
arestyrurj-167	110	20	the	the	DET
arestyrurj-167	110	21	rov	rov	PROPN
arestyrurj-167	110	22	easily	easily	ADV
arestyrurj-167	110	23	by	by	ADP
arestyrurj-167	110	24	just	just	ADV
arestyrurj-167	110	25	connecting	connect	VERB
arestyrurj-167	110	26	them	they	PRON
arestyrurj-167	110	27	to	to	ADP
arestyrurj-167	110	28	the	the	DET
arestyrurj-167	110	29	pi	pi	NOUN
arestyrurj-167	110	30	and	and	CCONJ
arestyrurj-167	110	31	writing	write	VERB
arestyrurj-167	110	32	code	code	NOUN
arestyrurj-167	110	33	.	.	PUNCT
arestyrurj-167	111	1	two	two	NUM
arestyrurj-167	111	2	5200	5200	NUM
arestyrurj-167	111	3	mah	mah	PROPN
arestyrurj-167	111	4	lipo	lipo	NOUN
arestyrurj-167	111	5	batteries	battery	NOUN
arestyrurj-167	111	6	were	be	AUX
arestyrurj-167	111	7	used	use	VERB
arestyrurj-167	111	8	to	to	PART
arestyrurj-167	111	9	power	power	VERB
arestyrurj-167	111	10	the	the	DET
arestyrurj-167	111	11	four	four	NUM
arestyrurj-167	111	12	motors	motor	NOUN
arestyrurj-167	111	13	.	.	PUNCT
arestyrurj-167	112	1	finally	finally	ADV
arestyrurj-167	112	2	,	,	PUNCT
arestyrurj-167	112	3	one	one	NUM
arestyrurj-167	112	4	1000	1000	NUM
arestyrurj-167	112	5	mah	mah	NOUN
arestyrurj-167	112	6	lithium	lithium	NOUN
arestyrurj-167	112	7	-	-	PUNCT
arestyrurj-167	112	8	ion	ion	NOUN
arestyrurj-167	112	9	battery	battery	NOUN
arestyrurj-167	112	10	was	be	AUX
arestyrurj-167	112	11	used	use	VERB
arestyrurj-167	112	12	for	for	ADP
arestyrurj-167	112	13	the	the	DET
arestyrurj-167	112	14	raspberry	raspberry	NOUN
arestyrurj-167	112	15	pi	pi	NOUN
arestyrurj-167	112	16	4	4	NUM
arestyrurj-167	112	17	.	.	PUNCT
arestyrurj-167	112	18	motor	motor	NOUN
arestyrurj-167	112	19	bullet	bullet	NOUN
arestyrurj-167	112	20	connectors	connector	NOUN
arestyrurj-167	112	21	were	be	AUX
arestyrurj-167	112	22	soldered	solder	VERB
arestyrurj-167	112	23	in	in	ADP
arestyrurj-167	112	24	-	-	PUNCT
arestyrurj-167	112	25	house	house	NOUN
arestyrurj-167	112	26	.	.	PUNCT
arestyrurj-167	113	1	batteries	battery	NOUN
arestyrurj-167	113	2	,	,	PUNCT
arestyrurj-167	113	3	motor	motor	NOUN
arestyrurj-167	113	4	leads	lead	NOUN
arestyrurj-167	113	5	,	,	PUNCT
arestyrurj-167	113	6	and	and	CCONJ
arestyrurj-167	113	7	the	the	DET
arestyrurj-167	113	8	rov	rov	PROPN
arestyrurj-167	113	9	computer	computer	NOUN
arestyrurj-167	113	10	were	be	AUX
arestyrurj-167	113	11	wired	wire	VERB
arestyrurj-167	113	12	.	.	PUNCT
arestyrurj-167	114	1	this	this	PRON
arestyrurj-167	114	2	was	be	AUX
arestyrurj-167	114	3	then	then	ADV
arestyrurj-167	114	4	finally	finally	ADV
arestyrurj-167	114	5	put	put	VERB
arestyrurj-167	114	6	on	on	ADP
arestyrurj-167	114	7	the	the	DET
arestyrurj-167	114	8	tray	tray	NOUN
arestyrurj-167	114	9	and	and	CCONJ
arestyrurj-167	114	10	into	into	ADP
arestyrurj-167	114	11	the	the	DET
arestyrurj-167	114	12	enclosure	enclosure	NOUN
arestyrurj-167	114	13	.	.	PUNCT
arestyrurj-167	115	1	iv	iv	X
arestyrurj-167	115	2	.	.	PUNCT
arestyrurj-167	116	1	coding	code	VERB
arestyrurj-167	116	2	the	the	DET
arestyrurj-167	116	3	script	script	NOUN
arestyrurj-167	116	4	used	use	VERB
arestyrurj-167	116	5	for	for	ADP
arestyrurj-167	116	6	the	the	DET
arestyrurj-167	116	7	control	control	NOUN
arestyrurj-167	116	8	of	of	ADP
arestyrurj-167	116	9	the	the	DET
arestyrurj-167	116	10	rov	rov	PROPN
arestyrurj-167	116	11	was	be	AUX
arestyrurj-167	116	12	coded	code	VERB
arestyrurj-167	116	13	on	on	ADP
arestyrurj-167	116	14	python	python	NOUN
arestyrurj-167	116	15	due	due	ADP
arestyrurj-167	116	16	to	to	ADP
arestyrurj-167	116	17	the	the	DET
arestyrurj-167	116	18	power	power	NOUN
arestyrurj-167	116	19	and	and	CCONJ
arestyrurj-167	116	20	simplicity	simplicity	NOUN
arestyrurj-167	116	21	of	of	ADP
arestyrurj-167	116	22	the	the	DET
arestyrurj-167	116	23	language	language	NOUN
arestyrurj-167	116	24	.	.	PUNCT
arestyrurj-167	117	1	the	the	DET
arestyrurj-167	117	2	rov	rov	PROPN
arestyrurj-167	117	3	was	be	AUX
arestyrurj-167	117	4	controlled	control	VERB
arestyrurj-167	117	5	by	by	ADP
arestyrurj-167	117	6	connecting	connect	VERB
arestyrurj-167	117	7	a	a	DET
arestyrurj-167	117	8	raspberry	raspberry	NOUN
arestyrurj-167	117	9	pi	pi	NOUN
arestyrurj-167	117	10	4	4	NUM
arestyrurj-167	117	11	in	in	ADP
arestyrurj-167	117	12	the	the	DET
arestyrurj-167	117	13	rov	rov	PROPN
arestyrurj-167	117	14	to	to	ADP
arestyrurj-167	117	15	a	a	DET
arestyrurj-167	117	16	raspberry	raspberry	NOUN
arestyrurj-167	117	17	pi	pi	NOUN
arestyrurj-167	117	18	4	4	NUM
arestyrurj-167	117	19	on	on	ADP
arestyrurj-167	117	20	land	land	NOUN
arestyrurj-167	117	21	by	by	ADP
arestyrurj-167	117	22	an	an	DET
arestyrurj-167	117	23	ethernet	ethernet	NOUN
arestyrurj-167	117	24	cable	cable	NOUN
arestyrurj-167	117	25	.	.	PUNCT
arestyrurj-167	118	1	after	after	SCONJ
arestyrurj-167	118	2	a	a	DET
arestyrurj-167	118	3	connection	connection	NOUN
arestyrurj-167	118	4	was	be	AUX
arestyrurj-167	118	5	established	establish	VERB
arestyrurj-167	118	6	,	,	PUNCT
arestyrurj-167	118	7	software	software	NOUN
arestyrurj-167	118	8	was	be	AUX
arestyrurj-167	118	9	used	use	VERB
arestyrurj-167	118	10	to	to	PART
arestyrurj-167	118	11	see	see	VERB
arestyrurj-167	118	12	the	the	DET
arestyrurj-167	118	13	desktop	desktop	NOUN
arestyrurj-167	118	14	environment	environment	NOUN
arestyrurj-167	118	15	of	of	ADP
arestyrurj-167	118	16	the	the	DET
arestyrurj-167	118	17	rov	rov	PROPN
arestyrurj-167	118	18	computer	computer	NOUN
arestyrurj-167	118	19	.	.	PUNCT
arestyrurj-167	119	1	once	once	ADV
arestyrurj-167	119	2	in	in	ADP
arestyrurj-167	119	3	this	this	DET
arestyrurj-167	119	4	environment	environment	NOUN
arestyrurj-167	119	5	,	,	PUNCT
arestyrurj-167	119	6	the	the	DET
arestyrurj-167	119	7	control	control	NOUN
arestyrurj-167	119	8	script	script	NOUN
arestyrurj-167	119	9	was	be	AUX
arestyrurj-167	119	10	run	run	VERB
arestyrurj-167	119	11	on	on	ADP
arestyrurj-167	119	12	the	the	DET
arestyrurj-167	119	13	rov	rov	PROPN
arestyrurj-167	119	14	’s	’s	PART
arestyrurj-167	119	15	computer	computer	NOUN
arestyrurj-167	119	16	.	.	PUNCT
arestyrurj-167	120	1	this	this	DET
arestyrurj-167	120	2	script	script	NOUN
arestyrurj-167	120	3	functioned	function	VERB
arestyrurj-167	120	4	by	by	ADP
arestyrurj-167	120	5	sending	send	VERB
arestyrurj-167	120	6	pwm	pwm	NOUN
arestyrurj-167	120	7	signals	signal	NOUN
arestyrurj-167	120	8	to	to	ADP
arestyrurj-167	120	9	the	the	DET
arestyrurj-167	120	10	motors	motor	NOUN
arestyrurj-167	120	11	by	by	ADP
arestyrurj-167	120	12	branching	branch	VERB
arestyrurj-167	120	13	if	if	SCONJ
arestyrurj-167	120	14	-	-	PUNCT
arestyrurj-167	120	15	else	else	ADV
arestyrurj-167	120	16	command	command	NOUN
arestyrurj-167	120	17	aresty	aresty	PROPN
arestyrurj-167	120	18	rutgers	rutgers	PROPN
arestyrurj-167	120	19	undergraduate	undergraduate	PROPN
arestyrurj-167	120	20	research	research	PROPN
arestyrurj-167	120	21	journal	journal	PROPN
arestyrurj-167	120	22	,	,	PUNCT
arestyrurj-167	120	23	volume	volume	NOUN
arestyrurj-167	120	24	i	i	PRON
arestyrurj-167	120	25	,	,	PUNCT
arestyrurj-167	120	26	issue	issue	NOUN
arestyrurj-167	120	27	iii	iii	NUM
arestyrurj-167	120	28	figure	figure	NOUN
arestyrurj-167	120	29	11	11	NUM
arestyrurj-167	120	30	:	:	PUNCT
arestyrurj-167	120	31	(	(	PUNCT
arestyrurj-167	120	32	top	top	ADJ
arestyrurj-167	120	33	left	left	ADV
arestyrurj-167	120	34	)	)	PUNCT
arestyrurj-167	120	35	the	the	DET
arestyrurj-167	120	36	hull	hull	NOUN
arestyrurj-167	120	37	was	be	AUX
arestyrurj-167	120	38	covered	cover	VERB
arestyrurj-167	120	39	in	in	ADP
arestyrurj-167	120	40	car	car	NOUN
arestyrurj-167	120	41	filler	filler	NOUN
arestyrurj-167	120	42	to	to	PART
arestyrurj-167	120	43	properly	properly	ADV
arestyrurj-167	120	44	smooth	smooth	VERB
arestyrurj-167	120	45	out	out	ADP
arestyrurj-167	120	46	any	any	DET
arestyrurj-167	120	47	imperfections	imperfection	NOUN
arestyrurj-167	120	48	from	from	ADP
arestyrurj-167	120	49	the	the	DET
arestyrurj-167	120	50	polyester	polyester	NOUN
arestyrurj-167	120	51	resin	resin	NOUN
arestyrurj-167	120	52	process	process	NOUN
arestyrurj-167	120	53	,	,	PUNCT
arestyrurj-167	120	54	hence	hence	ADV
arestyrurj-167	120	55	its	its	PRON
arestyrurj-167	120	56	gray	gray	ADJ
arestyrurj-167	120	57	color	color	NOUN
arestyrurj-167	120	58	.	.	PUNCT
arestyrurj-167	121	1	this	this	DET
arestyrurj-167	121	2	hull	hull	NOUN
arestyrurj-167	121	3	is	be	AUX
arestyrurj-167	121	4	soon	soon	ADV
arestyrurj-167	121	5	ready	ready	ADJ
arestyrurj-167	121	6	to	to	PART
arestyrurj-167	121	7	be	be	AUX
arestyrurj-167	121	8	attached	attach	VERB
arestyrurj-167	121	9	to	to	ADP
arestyrurj-167	121	10	the	the	DET
arestyrurj-167	121	11	acrylic	acrylic	ADJ
arestyrurj-167	121	12	cylinder	cylinder	NOUN
arestyrurj-167	121	13	.	.	PUNCT
arestyrurj-167	122	1	figure	figure	NOUN
arestyrurj-167	122	2	12	12	NUM
arestyrurj-167	122	3	:	:	PUNCT
arestyrurj-167	122	4	(	(	PUNCT
arestyrurj-167	122	5	top	top	ADJ
arestyrurj-167	122	6	center	center	NOUN
arestyrurj-167	122	7	)	)	PUNCT
arestyrurj-167	122	8	the	the	DET
arestyrurj-167	122	9	parts	part	NOUN
arestyrurj-167	122	10	of	of	ADP
arestyrurj-167	122	11	the	the	DET
arestyrurj-167	122	12	hull	hull	NOUN
arestyrurj-167	122	13	were	be	AUX
arestyrurj-167	122	14	given	give	VERB
arestyrurj-167	122	15	polyester	polyester	NOUN
arestyrurj-167	122	16	resin	resin	NOUN
arestyrurj-167	122	17	and	and	CCONJ
arestyrurj-167	122	18	left	leave	VERB
arestyrurj-167	122	19	to	to	PART
arestyrurj-167	122	20	dry	dry	VERB
arestyrurj-167	122	21	for	for	ADP
arestyrurj-167	122	22	days	day	NOUN
arestyrurj-167	122	23	to	to	PART
arestyrurj-167	122	24	create	create	VERB
arestyrurj-167	122	25	a	a	DET
arestyrurj-167	122	26	strengthened	strengthened	ADJ
arestyrurj-167	122	27	and	and	CCONJ
arestyrurj-167	122	28	smooth	smooth	ADJ
arestyrurj-167	122	29	surface	surface	NOUN
arestyrurj-167	122	30	.	.	PUNCT
arestyrurj-167	123	1	figure	figure	VERB
arestyrurj-167	123	2	13	13	NUM
arestyrurj-167	123	3	:	:	PUNCT
arestyrurj-167	123	4	(	(	PUNCT
arestyrurj-167	123	5	top	top	ADJ
arestyrurj-167	123	6	right	right	NOUN
arestyrurj-167	123	7	)	)	PUNCT
arestyrurj-167	123	8	all	all	DET
arestyrurj-167	123	9	the	the	DET
arestyrurj-167	123	10	parts	part	NOUN
arestyrurj-167	123	11	can	can	AUX
arestyrurj-167	123	12	be	be	AUX
arestyrurj-167	123	13	seen	see	VERB
arestyrurj-167	123	14	ready	ready	ADJ
arestyrurj-167	123	15	to	to	PART
arestyrurj-167	123	16	put	put	VERB
arestyrurj-167	123	17	together	together	ADV
arestyrurj-167	123	18	with	with	ADP
arestyrurj-167	123	19	metric	metric	ADJ
arestyrurj-167	123	20	screws	screw	NOUN
arestyrurj-167	123	21	.	.	PUNCT
arestyrurj-167	124	1	figure	figure	NOUN
arestyrurj-167	124	2	14	14	NUM
arestyrurj-167	124	3	:	:	PUNCT
arestyrurj-167	124	4	(	(	PUNCT
arestyrurj-167	124	5	middle	middle	NOUN
arestyrurj-167	124	6	left	left	ADV
arestyrurj-167	124	7	)	)	PUNCT
arestyrurj-167	124	8	a	a	DET
arestyrurj-167	124	9	motor	motor	NOUN
arestyrurj-167	124	10	housing	housing	NOUN
arestyrurj-167	124	11	is	be	AUX
arestyrurj-167	124	12	in	in	ADP
arestyrurj-167	124	13	the	the	DET
arestyrurj-167	124	14	middle	middle	NOUN
arestyrurj-167	124	15	of	of	ADP
arestyrurj-167	124	16	being	be	AUX
arestyrurj-167	124	17	3d	3d	NOUN
arestyrurj-167	124	18	-	-	PUNCT
arestyrurj-167	124	19	printed	print	VERB
arestyrurj-167	124	20	.	.	PUNCT
arestyrurj-167	125	1	figure	figure	NOUN
arestyrurj-167	125	2	15	15	NUM
arestyrurj-167	125	3	:	:	PUNCT
arestyrurj-167	125	4	(	(	PUNCT
arestyrurj-167	125	5	middle	middle	ADJ
arestyrurj-167	125	6	center	center	NOUN
arestyrurj-167	125	7	)	)	PUNCT
arestyrurj-167	126	1	the	the	DET
arestyrurj-167	126	2	electronics	electronic	NOUN
arestyrurj-167	126	3	tray	tray	NOUN
arestyrurj-167	126	4	is	be	AUX
arestyrurj-167	126	5	fully	fully	ADV
arestyrurj-167	126	6	loaded	load	VERB
arestyrurj-167	126	7	up	up	ADP
arestyrurj-167	126	8	with	with	ADP
arestyrurj-167	126	9	batteries	battery	NOUN
arestyrurj-167	126	10	,	,	PUNCT
arestyrurj-167	126	11	computer	computer	NOUN
arestyrurj-167	126	12	,	,	PUNCT
arestyrurj-167	126	13	camera	camera	NOUN
arestyrurj-167	126	14	,	,	PUNCT
arestyrurj-167	126	15	and	and	CCONJ
arestyrurj-167	126	16	electronic	electronic	ADJ
arestyrurj-167	126	17	speed	speed	NOUN
arestyrurj-167	126	18	controllers	controller	NOUN
arestyrurj-167	126	19	.	.	PUNCT
arestyrurj-167	127	1	figure	figure	VERB
arestyrurj-167	127	2	16	16	NUM
arestyrurj-167	127	3	:	:	PUNCT
arestyrurj-167	127	4	(	(	PUNCT
arestyrurj-167	127	5	middle	middle	ADJ
arestyrurj-167	127	6	right	right	NOUN
arestyrurj-167	127	7	)	)	PUNCT
arestyrurj-167	128	1	the	the	DET
arestyrurj-167	128	2	electronics	electronics	NOUN
arestyrurj-167	128	3	tray	tray	NOUN
arestyrurj-167	128	4	has	have	AUX
arestyrurj-167	128	5	been	be	AUX
arestyrurj-167	128	6	put	put	VERB
arestyrurj-167	128	7	together	together	ADV
arestyrurj-167	128	8	inside	inside	ADV
arestyrurj-167	128	9	of	of	ADP
arestyrurj-167	128	10	the	the	DET
arestyrurj-167	128	11	electronics	electronics	NOUN
arestyrurj-167	128	12	enclosure	enclosure	NOUN
arestyrurj-167	128	13	.	.	PUNCT
arestyrurj-167	129	1	figure	figure	VERB
arestyrurj-167	129	2	17	17	NUM
arestyrurj-167	129	3	:	:	PUNCT
arestyrurj-167	129	4	(	(	PUNCT
arestyrurj-167	129	5	bottom	bottom	NOUN
arestyrurj-167	129	6	left	leave	VERB
arestyrurj-167	129	7	)	)	PUNCT
arestyrurj-167	129	8	the	the	DET
arestyrurj-167	129	9	rov	rov	PROPN
arestyrurj-167	129	10	is	be	AUX
arestyrurj-167	129	11	fully	fully	ADV
arestyrurj-167	129	12	assembled	assemble	VERB
arestyrurj-167	129	13	and	and	CCONJ
arestyrurj-167	129	14	ready	ready	ADJ
arestyrurj-167	129	15	for	for	ADP
arestyrurj-167	129	16	testing	testing	NOUN
arestyrurj-167	129	17	and	and	CCONJ
arestyrurj-167	129	18	implementation	implementation	NOUN
arestyrurj-167	129	19	.	.	PUNCT
arestyrurj-167	130	1	figure	figure	NOUN
arestyrurj-167	130	2	18	18	NUM
arestyrurj-167	130	3	:	:	PUNCT
arestyrurj-167	130	4	(	(	PUNCT
arestyrurj-167	130	5	bottom	bottom	ADJ
arestyrurj-167	130	6	center	center	NOUN
arestyrurj-167	130	7	)	)	PUNCT
arestyrurj-167	130	8	the	the	DET
arestyrurj-167	130	9	rov	rov	PROPN
arestyrurj-167	130	10	’s	’s	PART
arestyrurj-167	130	11	buoyancy	buoyancy	NOUN
arestyrurj-167	130	12	is	be	AUX
arestyrurj-167	130	13	very	very	ADV
arestyrurj-167	130	14	positive	positive	ADJ
arestyrurj-167	131	1	but	but	CCONJ
arestyrurj-167	131	2	the	the	DET
arestyrurj-167	131	3	robot	robot	NOUN
arestyrurj-167	131	4	exemplifies	exemplify	VERB
arestyrurj-167	131	5	adequate	adequate	ADJ
arestyrurj-167	131	6	horizontal	horizontal	ADJ
arestyrurj-167	131	7	control	control	NOUN
arestyrurj-167	131	8	.	.	PUNCT
arestyrurj-167	132	1	figure	figure	VERB
arestyrurj-167	132	2	19	19	NUM
arestyrurj-167	132	3	:	:	PUNCT
arestyrurj-167	132	4	(	(	PUNCT
arestyrurj-167	132	5	bottom	bottom	ADJ
arestyrurj-167	132	6	right	right	NOUN
arestyrurj-167	132	7	)	)	PUNCT
arestyrurj-167	133	1	the	the	DET
arestyrurj-167	133	2	rov	rov	PROPN
arestyrurj-167	133	3	is	be	AUX
arestyrurj-167	133	4	being	be	AUX
arestyrurj-167	133	5	connected	connect	VERB
arestyrurj-167	133	6	to	to	ADP
arestyrurj-167	133	7	initially	initially	ADV
arestyrurj-167	133	8	with	with	ADP
arestyrurj-167	133	9	a	a	DET
arestyrurj-167	133	10	separate	separate	ADJ
arestyrurj-167	133	11	control	control	NOUN
arestyrurj-167	133	12	computer	computer	NOUN
arestyrurj-167	133	13	in	in	ADP
arestyrurj-167	133	14	order	order	NOUN
arestyrurj-167	133	15	to	to	PART
arestyrurj-167	133	16	begin	begin	VERB
arestyrurj-167	133	17	operation	operation	NOUN
arestyrurj-167	133	18	.	.	PUNCT
arestyrurj-167	134	1	aresty	aresty	PROPN
arestyrurj-167	134	2	rutgers	rutgers	PROPN
arestyrurj-167	134	3	undergraduate	undergraduate	PROPN
arestyrurj-167	134	4	research	research	PROPN
arestyrurj-167	134	5	journal	journal	PROPN
arestyrurj-167	134	6	,	,	PUNCT
arestyrurj-167	134	7	volume	volume	NOUN
arestyrurj-167	134	8	i	i	PRON
arestyrurj-167	134	9	,	,	PUNCT
arestyrurj-167	134	10	issue	issue	VERB
arestyrurj-167	134	11	iii	iii	NUM
arestyrurj-167	134	12	structures	structure	NOUN
arestyrurj-167	134	13	.	.	PUNCT
arestyrurj-167	135	1	once	once	ADV
arestyrurj-167	135	2	a	a	DET
arestyrurj-167	135	3	forward	forward	ADV
arestyrurj-167	135	4	,	,	PUNCT
arestyrurj-167	135	5	left	leave	VERB
arestyrurj-167	135	6	,	,	PUNCT
arestyrurj-167	135	7	right	right	INTJ
arestyrurj-167	135	8	,	,	PUNCT
arestyrurj-167	135	9	or	or	CCONJ
arestyrurj-167	135	10	dive	dive	NOUN
arestyrurj-167	135	11	command	command	NOUN
arestyrurj-167	135	12	was	be	AUX
arestyrurj-167	135	13	sent	send	VERB
arestyrurj-167	135	14	via	via	ADP
arestyrurj-167	135	15	the	the	DET
arestyrurj-167	135	16	control	control	NOUN
arestyrurj-167	135	17	computer	computer	NOUN
arestyrurj-167	135	18	,	,	PUNCT
arestyrurj-167	135	19	the	the	DET
arestyrurj-167	135	20	rov	rov	PROPN
arestyrurj-167	135	21	would	would	AUX
arestyrurj-167	135	22	respond	respond	VERB
arestyrurj-167	135	23	by	by	ADP
arestyrurj-167	135	24	sending	send	VERB
arestyrurj-167	135	25	pwm	pwm	NOUN
arestyrurj-167	135	26	signals	signal	NOUN
arestyrurj-167	135	27	to	to	ADP
arestyrurj-167	135	28	each	each	PRON
arestyrurj-167	135	29	of	of	ADP
arestyrurj-167	135	30	its	its	PRON
arestyrurj-167	135	31	respective	respective	ADJ
arestyrurj-167	135	32	motors	motor	NOUN
arestyrurj-167	135	33	.	.	PUNCT
arestyrurj-167	136	1	this	this	DET
arestyrurj-167	136	2	code	code	NOUN
arestyrurj-167	136	3	proved	prove	VERB
arestyrurj-167	136	4	to	to	PART
arestyrurj-167	136	5	be	be	AUX
arestyrurj-167	136	6	effective	effective	ADJ
arestyrurj-167	136	7	and	and	CCONJ
arestyrurj-167	136	8	can	can	AUX
arestyrurj-167	136	9	be	be	AUX
arestyrurj-167	136	10	seen	see	VERB
arestyrurj-167	136	11	in	in	ADP
arestyrurj-167	136	12	the	the	DET
arestyrurj-167	136	13	appendix	appendix	NOUN
arestyrurj-167	136	14	.	.	PUNCT
arestyrurj-167	137	1	3	3	NUM
arestyrurj-167	137	2	water	water	NOUN
arestyrurj-167	137	3	test	test	NOUN
arestyrurj-167	137	4	results	result	NOUN
arestyrurj-167	137	5	once	once	SCONJ
arestyrurj-167	137	6	the	the	DET
arestyrurj-167	137	7	fabrication	fabrication	NOUN
arestyrurj-167	137	8	was	be	AUX
arestyrurj-167	137	9	complete	complete	ADJ
arestyrurj-167	137	10	,	,	PUNCT
arestyrurj-167	137	11	testing	testing	NOUN
arestyrurj-167	137	12	took	take	VERB
arestyrurj-167	137	13	place	place	NOUN
arestyrurj-167	137	14	.	.	PUNCT
arestyrurj-167	138	1	four	four	NUM
arestyrurj-167	138	2	testing	testing	NOUN
arestyrurj-167	138	3	iterations	iteration	NOUN
arestyrurj-167	138	4	were	be	AUX
arestyrurj-167	138	5	conducted	conduct	VERB
arestyrurj-167	138	6	at	at	ADP
arestyrurj-167	138	7	two	two	NUM
arestyrurj-167	138	8	locations	location	NOUN
arestyrurj-167	138	9	.	.	PUNCT
arestyrurj-167	139	1	all	all	PRON
arestyrurj-167	139	2	of	of	ADP
arestyrurj-167	139	3	these	these	DET
arestyrurj-167	139	4	tests	test	NOUN
arestyrurj-167	139	5	had	have	VERB
arestyrurj-167	139	6	sunny	sunny	ADJ
arestyrurj-167	139	7	weather	weather	NOUN
arestyrurj-167	139	8	conditions	condition	NOUN
arestyrurj-167	139	9	with	with	ADP
arestyrurj-167	139	10	low	low	ADJ
arestyrurj-167	139	11	water	water	NOUN
arestyrurj-167	139	12	motion	motion	NOUN
arestyrurj-167	139	13	.	.	PUNCT
arestyrurj-167	140	1	during	during	ADP
arestyrurj-167	140	2	the	the	DET
arestyrurj-167	140	3	first	first	ADJ
arestyrurj-167	140	4	of	of	ADP
arestyrurj-167	140	5	these	these	DET
arestyrurj-167	140	6	tests	test	NOUN
arestyrurj-167	140	7	,	,	PUNCT
arestyrurj-167	140	8	buoyancy	buoyancy	NOUN
arestyrurj-167	140	9	was	be	AUX
arestyrurj-167	140	10	measured	measure	VERB
arestyrurj-167	140	11	on	on	ADP
arestyrurj-167	140	12	the	the	DET
arestyrurj-167	140	13	rov	rov	PROPN
arestyrurj-167	140	14	.	.	PUNCT
arestyrurj-167	141	1	the	the	DET
arestyrurj-167	141	2	observations	observation	NOUN
arestyrurj-167	141	3	centered	center	VERB
arestyrurj-167	141	4	on	on	ADP
arestyrurj-167	141	5	whether	whether	SCONJ
arestyrurj-167	141	6	or	or	CCONJ
arestyrurj-167	141	7	not	not	PART
arestyrurj-167	141	8	the	the	DET
arestyrurj-167	141	9	rov	rov	PROPN
arestyrurj-167	141	10	was	be	AUX
arestyrurj-167	141	11	positively	positively	ADV
arestyrurj-167	141	12	or	or	CCONJ
arestyrurj-167	141	13	negatively	negatively	ADV
arestyrurj-167	141	14	buoyant	buoyant	ADJ
arestyrurj-167	141	15	and	and	CCONJ
arestyrurj-167	141	16	by	by	ADP
arestyrurj-167	141	17	how	how	SCONJ
arestyrurj-167	141	18	much	much	ADJ
arestyrurj-167	141	19	was	be	AUX
arestyrurj-167	141	20	the	the	DET
arestyrurj-167	141	21	rov	rov	PROPN
arestyrurj-167	141	22	buoyant	buoyant	NOUN
arestyrurj-167	141	23	.	.	PUNCT
arestyrurj-167	142	1	the	the	DET
arestyrurj-167	142	2	rov	rov	PROPN
arestyrurj-167	142	3	was	be	AUX
arestyrurj-167	142	4	found	find	VERB
arestyrurj-167	142	5	during	during	ADP
arestyrurj-167	142	6	this	this	DET
arestyrurj-167	142	7	first	first	ADJ
arestyrurj-167	142	8	test	test	NOUN
arestyrurj-167	142	9	to	to	PART
arestyrurj-167	142	10	be	be	AUX
arestyrurj-167	142	11	500	500	NUM
arestyrurj-167	142	12	grams	gram	NOUN
arestyrurj-167	142	13	positively	positively	ADV
arestyrurj-167	142	14	buoyant	buoyant	ADJ
arestyrurj-167	142	15	.	.	PUNCT
arestyrurj-167	143	1	this	this	DET
arestyrurj-167	143	2	issue	issue	NOUN
arestyrurj-167	143	3	was	be	AUX
arestyrurj-167	143	4	resolved	resolve	VERB
arestyrurj-167	143	5	through	through	ADP
arestyrurj-167	143	6	the	the	DET
arestyrurj-167	143	7	attachment	attachment	NOUN
arestyrurj-167	143	8	of	of	ADP
arestyrurj-167	143	9	a	a	DET
arestyrurj-167	143	10	diver	diver	NOUN
arestyrurj-167	143	11	belt	belt	NOUN
arestyrurj-167	143	12	to	to	ADP
arestyrurj-167	143	13	the	the	DET
arestyrurj-167	143	14	rov	rov	PROPN
arestyrurj-167	143	15	with	with	ADP
arestyrurj-167	143	16	500	500	NUM
arestyrurj-167	143	17	grams	gram	NOUN
arestyrurj-167	143	18	on	on	ADP
arestyrurj-167	143	19	the	the	DET
arestyrurj-167	143	20	belt	belt	NOUN
arestyrurj-167	143	21	.	.	PUNCT
arestyrurj-167	144	1	during	during	ADP
arestyrurj-167	144	2	the	the	DET
arestyrurj-167	144	3	second	second	ADJ
arestyrurj-167	144	4	test	test	NOUN
arestyrurj-167	144	5	,	,	PUNCT
arestyrurj-167	144	6	horizontal	horizontal	ADJ
arestyrurj-167	144	7	thrust	thrust	NOUN
arestyrurj-167	144	8	and	and	CCONJ
arestyrurj-167	144	9	navigation	navigation	NOUN
arestyrurj-167	144	10	was	be	AUX
arestyrurj-167	144	11	tested	test	VERB
arestyrurj-167	144	12	at	at	ADP
arestyrurj-167	144	13	a	a	DET
arestyrurj-167	144	14	shallow	shallow	ADJ
arestyrurj-167	144	15	location	location	NOUN
arestyrurj-167	144	16	.	.	PUNCT
arestyrurj-167	145	1	now	now	ADV
arestyrurj-167	145	2	that	that	SCONJ
arestyrurj-167	145	3	the	the	DET
arestyrurj-167	145	4	buoyancy	buoyancy	NOUN
arestyrurj-167	145	5	was	be	AUX
arestyrurj-167	145	6	fixed	fix	VERB
arestyrurj-167	145	7	,	,	PUNCT
arestyrurj-167	145	8	the	the	DET
arestyrurj-167	145	9	rov	rov	PROPN
arestyrurj-167	145	10	stayed	stay	VERB
arestyrurj-167	145	11	at	at	ADP
arestyrurj-167	145	12	a	a	DET
arestyrurj-167	145	13	specific	specific	ADJ
arestyrurj-167	145	14	depth	depth	NOUN
arestyrurj-167	145	15	underwater	underwater	NOUN
arestyrurj-167	145	16	.	.	PUNCT
arestyrurj-167	146	1	the	the	DET
arestyrurj-167	146	2	robot	robot	NOUN
arestyrurj-167	146	3	during	during	ADP
arestyrurj-167	146	4	this	this	DET
arestyrurj-167	146	5	test	test	NOUN
arestyrurj-167	146	6	was	be	AUX
arestyrurj-167	146	7	able	able	ADJ
arestyrurj-167	146	8	to	to	PART
arestyrurj-167	146	9	perform	perform	VERB
arestyrurj-167	146	10	fantastic	fantastic	ADJ
arestyrurj-167	146	11	left	leave	VERB
arestyrurj-167	146	12	,	,	PUNCT
arestyrurj-167	146	13	right	right	INTJ
arestyrurj-167	146	14	,	,	PUNCT
arestyrurj-167	146	15	and	and	CCONJ
arestyrurj-167	146	16	forward	forward	ADJ
arestyrurj-167	146	17	movement	movement	NOUN
arestyrurj-167	146	18	operations	operation	NOUN
arestyrurj-167	146	19	.	.	PUNCT
arestyrurj-167	147	1	this	this	DET
arestyrurj-167	147	2	test	test	NOUN
arestyrurj-167	147	3	was	be	AUX
arestyrurj-167	147	4	deemed	deem	VERB
arestyrurj-167	147	5	successful	successful	ADJ
arestyrurj-167	147	6	because	because	SCONJ
arestyrurj-167	147	7	the	the	DET
arestyrurj-167	147	8	rov	rov	PROPN
arestyrurj-167	147	9	was	be	AUX
arestyrurj-167	147	10	able	able	ADJ
arestyrurj-167	147	11	to	to	PART
arestyrurj-167	147	12	triumphantly	triumphantly	ADV
arestyrurj-167	147	13	navigate	navigate	VERB
arestyrurj-167	147	14	underwater	underwater	NOUN
arestyrurj-167	147	15	and	and	CCONJ
arestyrurj-167	147	16	maintain	maintain	VERB
arestyrurj-167	147	17	a	a	DET
arestyrurj-167	147	18	waterproof	waterproof	ADJ
arestyrurj-167	147	19	electronics	electronics	NOUN
arestyrurj-167	147	20	enclosure	enclosure	NOUN
arestyrurj-167	147	21	while	while	SCONJ
arestyrurj-167	147	22	doing	do	VERB
arestyrurj-167	147	23	so	so	ADV
arestyrurj-167	147	24	.	.	PUNCT
arestyrurj-167	148	1	the	the	DET
arestyrurj-167	148	2	rov	rov	PROPN
arestyrurj-167	148	3	was	be	AUX
arestyrurj-167	148	4	designed	design	VERB
arestyrurj-167	148	5	to	to	PART
arestyrurj-167	148	6	function	function	VERB
arestyrurj-167	148	7	for	for	ADP
arestyrurj-167	148	8	about	about	ADV
arestyrurj-167	148	9	a	a	DET
arestyrurj-167	148	10	half	half	NOUN
arestyrurj-167	148	11	hour	hour	NOUN
arestyrurj-167	148	12	and	and	CCONJ
arestyrurj-167	148	13	at	at	ADP
arestyrurj-167	148	14	depths	depth	NOUN
arestyrurj-167	148	15	of	of	ADP
arestyrurj-167	148	16	30	30	NUM
arestyrurj-167	148	17	meters	meter	NOUN
arestyrurj-167	148	18	;	;	PUNCT
arestyrurj-167	148	19	however	however	ADV
arestyrurj-167	148	20	,	,	PUNCT
arestyrurj-167	148	21	the	the	DET
arestyrurj-167	148	22	rov	rov	PROPN
arestyrurj-167	148	23	was	be	AUX
arestyrurj-167	148	24	never	never	ADV
arestyrurj-167	148	25	fully	fully	ADV
arestyrurj-167	148	26	tested	test	VERB
arestyrurj-167	148	27	at	at	ADP
arestyrurj-167	148	28	depths	depth	NOUN
arestyrurj-167	148	29	of	of	ADP
arestyrurj-167	148	30	30	30	NUM
arestyrurj-167	148	31	meters	meter	NOUN
arestyrurj-167	148	32	.	.	PUNCT
arestyrurj-167	149	1	it	it	PRON
arestyrurj-167	149	2	was	be	AUX
arestyrurj-167	149	3	successfully	successfully	ADV
arestyrurj-167	149	4	tested	test	VERB
arestyrurj-167	149	5	at	at	ADP
arestyrurj-167	149	6	depths	depth	NOUN
arestyrurj-167	149	7	of	of	ADP
arestyrurj-167	149	8	about	about	ADV
arestyrurj-167	149	9	7	7	NUM
arestyrurj-167	149	10	meters	meter	NOUN
arestyrurj-167	149	11	due	due	ADJ
arestyrurj-167	149	12	to	to	ADP
arestyrurj-167	149	13	the	the	DET
arestyrurj-167	149	14	unavailability	unavailability	NOUN
arestyrurj-167	149	15	of	of	ADP
arestyrurj-167	149	16	a	a	DET
arestyrurj-167	149	17	deeper	deep	ADJ
arestyrurj-167	149	18	body	body	NOUN
arestyrurj-167	149	19	of	of	ADP
arestyrurj-167	149	20	water	water	NOUN
arestyrurj-167	149	21	within	within	ADP
arestyrurj-167	149	22	time	time	NOUN
arestyrurj-167	149	23	constraints	constraint	NOUN
arestyrurj-167	149	24	.	.	PUNCT
arestyrurj-167	150	1	with	with	ADP
arestyrurj-167	150	2	increased	increase	VERB
arestyrurj-167	150	3	depth	depth	NOUN
arestyrurj-167	150	4	comes	come	VERB
arestyrurj-167	150	5	increased	increase	VERB
arestyrurj-167	150	6	pressure	pressure	NOUN
arestyrurj-167	150	7	,	,	PUNCT
arestyrurj-167	150	8	which	which	PRON
arestyrurj-167	150	9	is	be	AUX
arestyrurj-167	150	10	why	why	SCONJ
arestyrurj-167	150	11	we	we	PRON
arestyrurj-167	150	12	feel	feel	VERB
arestyrurj-167	150	13	it	it	PRON
arestyrurj-167	150	14	is	be	AUX
arestyrurj-167	150	15	necessary	necessary	ADJ
arestyrurj-167	150	16	to	to	PART
arestyrurj-167	150	17	physically	physically	ADV
arestyrurj-167	150	18	test	test	VERB
arestyrurj-167	150	19	at	at	ADP
arestyrurj-167	150	20	30	30	NUM
arestyrurj-167	150	21	meters	meter	NOUN
arestyrurj-167	150	22	before	before	ADP
arestyrurj-167	150	23	deeming	deem	VERB
arestyrurj-167	150	24	the	the	DET
arestyrurj-167	150	25	rov	rov	PROPN
arestyrurj-167	150	26	fully	fully	ADV
arestyrurj-167	150	27	capable	capable	ADJ
arestyrurj-167	150	28	in	in	ADP
arestyrurj-167	150	29	its	its	PRON
arestyrurj-167	150	30	depth	depth	NOUN
arestyrurj-167	150	31	-	-	PUNCT
arestyrurj-167	150	32	traversal	traversal	NOUN
arestyrurj-167	150	33	abilities	ability	NOUN
arestyrurj-167	150	34	.	.	PUNCT
arestyrurj-167	151	1	during	during	ADP
arestyrurj-167	151	2	the	the	DET
arestyrurj-167	151	3	third	third	ADJ
arestyrurj-167	151	4	and	and	CCONJ
arestyrurj-167	151	5	fourth	fourth	ADJ
arestyrurj-167	151	6	tests	test	NOUN
arestyrurj-167	151	7	,	,	PUNCT
arestyrurj-167	151	8	the	the	DET
arestyrurj-167	151	9	full	full	ADJ
arestyrurj-167	151	10	capabilities	capability	NOUN
arestyrurj-167	151	11	of	of	ADP
arestyrurj-167	151	12	the	the	DET
arestyrurj-167	151	13	rov	rov	PROPN
arestyrurj-167	151	14	were	be	AUX
arestyrurj-167	151	15	tested	test	VERB
arestyrurj-167	151	16	.	.	PUNCT
arestyrurj-167	152	1	depth	depth	NOUN
arestyrurj-167	152	2	as	as	ADV
arestyrurj-167	152	3	well	well	ADV
arestyrurj-167	152	4	as	as	ADP
arestyrurj-167	152	5	horizontal	horizontal	ADJ
arestyrurj-167	152	6	maneuverability	maneuverability	NOUN
arestyrurj-167	152	7	was	be	AUX
arestyrurj-167	152	8	observed	observe	VERB
arestyrurj-167	152	9	and	and	CCONJ
arestyrurj-167	152	10	analyzed	analyze	VERB
arestyrurj-167	152	11	.	.	PUNCT
arestyrurj-167	153	1	the	the	DET
arestyrurj-167	153	2	rov	rov	PROPN
arestyrurj-167	153	3	during	during	ADP
arestyrurj-167	153	4	both	both	CCONJ
arestyrurj-167	153	5	these	these	DET
arestyrurj-167	153	6	tests	test	NOUN
arestyrurj-167	153	7	was	be	AUX
arestyrurj-167	153	8	able	able	ADJ
arestyrurj-167	153	9	to	to	PART
arestyrurj-167	153	10	exemplify	exemplify	VERB
arestyrurj-167	153	11	left	leave	VERB
arestyrurj-167	153	12	,	,	PUNCT
arestyrurj-167	153	13	right	right	INTJ
arestyrurj-167	153	14	,	,	PUNCT
arestyrurj-167	153	15	forward	forward	ADV
arestyrurj-167	153	16	,	,	PUNCT
arestyrurj-167	153	17	rise	rise	VERB
arestyrurj-167	153	18	and	and	CCONJ
arestyrurj-167	153	19	dive	dive	VERB
arestyrurj-167	153	20	capabilities	capability	NOUN
arestyrurj-167	153	21	at	at	ADP
arestyrurj-167	153	22	depths	depth	NOUN
arestyrurj-167	153	23	of	of	ADP
arestyrurj-167	153	24	7	7	NUM
arestyrurj-167	153	25	meters	meter	NOUN
arestyrurj-167	153	26	.	.	PUNCT
arestyrurj-167	154	1	at	at	ADP
arestyrurj-167	154	2	this	this	DET
arestyrurj-167	154	3	depth	depth	NOUN
arestyrurj-167	154	4	,	,	PUNCT
arestyrurj-167	154	5	there	there	PRON
arestyrurj-167	154	6	were	be	VERB
arestyrurj-167	154	7	no	no	DET
arestyrurj-167	154	8	traces	trace	NOUN
arestyrurj-167	154	9	of	of	ADP
arestyrurj-167	154	10	water	water	NOUN
arestyrurj-167	154	11	found	find	VERB
arestyrurj-167	154	12	in	in	ADP
arestyrurj-167	154	13	the	the	DET
arestyrurj-167	154	14	robot	robot	NOUN
arestyrurj-167	154	15	's	's	PART
arestyrurj-167	154	16	electronics	electronics	NOUN
arestyrurj-167	154	17	enclosure	enclosure	NOUN
arestyrurj-167	154	18	,	,	PUNCT
arestyrurj-167	154	19	and	and	CCONJ
arestyrurj-167	154	20	the	the	DET
arestyrurj-167	154	21	camera	camera	NOUN
arestyrurj-167	154	22	used	use	VERB
arestyrurj-167	154	23	for	for	ADP
arestyrurj-167	154	24	vision	vision	NOUN
arestyrurj-167	154	25	was	be	AUX
arestyrurj-167	154	26	still	still	ADV
arestyrurj-167	154	27	in	in	ADP
arestyrurj-167	154	28	complete	complete	ADJ
arestyrurj-167	154	29	working	working	NOUN
arestyrurj-167	154	30	order	order	NOUN
arestyrurj-167	154	31	.	.	PUNCT
arestyrurj-167	155	1	other	other	ADJ
arestyrurj-167	155	2	rovs	rovs	NOUN
arestyrurj-167	155	3	on	on	ADP
arestyrurj-167	155	4	the	the	DET
arestyrurj-167	155	5	market	market	NOUN
arestyrurj-167	155	6	have	have	AUX
arestyrurj-167	155	7	been	be	AUX
arestyrurj-167	155	8	rated	rate	VERB
arestyrurj-167	155	9	to	to	PART
arestyrurj-167	155	10	go	go	VERB
arestyrurj-167	155	11	depths	depth	NOUN
arestyrurj-167	155	12	of	of	ADP
arestyrurj-167	155	13	7	7	NUM
arestyrurj-167	155	14	meters	meter	NOUN
arestyrurj-167	155	15	or	or	CCONJ
arestyrurj-167	155	16	more	more	ADJ
arestyrurj-167	155	17	,	,	PUNCT
arestyrurj-167	155	18	making	make	VERB
arestyrurj-167	155	19	the	the	DET
arestyrurj-167	155	20	robot	robot	NOUN
arestyrurj-167	155	21	unsuccessfully	unsuccessfully	ADV
arestyrurj-167	155	22	validated	validate	VERB
arestyrurj-167	155	23	to	to	PART
arestyrurj-167	155	24	beat	beat	VERB
arestyrurj-167	155	25	the	the	DET
arestyrurj-167	155	26	depth	depth	NOUN
arestyrurj-167	155	27	rating	rating	NOUN
arestyrurj-167	155	28	of	of	ADP
arestyrurj-167	155	29	other	other	ADJ
arestyrurj-167	155	30	rovs	rovs	NOUN
arestyrurj-167	155	31	for	for	ADP
arestyrurj-167	155	32	a	a	DET
arestyrurj-167	155	33	competitive	competitive	ADJ
arestyrurj-167	155	34	price	price	NOUN
arestyrurj-167	155	35	.	.	PUNCT
arestyrurj-167	156	1	however	however	ADV
arestyrurj-167	156	2	,	,	PUNCT
arestyrurj-167	156	3	we	we	PRON
arestyrurj-167	156	4	still	still	ADV
arestyrurj-167	156	5	deemed	deem	VERB
arestyrurj-167	156	6	these	these	DET
arestyrurj-167	156	7	tests	test	NOUN
arestyrurj-167	156	8	a	a	DET
arestyrurj-167	156	9	success	success	NOUN
arestyrurj-167	156	10	because	because	SCONJ
arestyrurj-167	156	11	the	the	DET
arestyrurj-167	156	12	robot	robot	NOUN
arestyrurj-167	156	13	was	be	AUX
arestyrurj-167	156	14	able	able	ADJ
arestyrurj-167	156	15	to	to	PART
arestyrurj-167	156	16	strongly	strongly	ADV
arestyrurj-167	156	17	navigate	navigate	VERB
arestyrurj-167	156	18	and	and	CCONJ
arestyrurj-167	156	19	operate	operate	VERB
arestyrurj-167	156	20	for	for	ADP
arestyrurj-167	156	21	about	about	ADV
arestyrurj-167	156	22	100	100	NUM
arestyrurj-167	156	23	minutes	minute	NOUN
arestyrurj-167	156	24	at	at	ADP
arestyrurj-167	156	25	a	a	DET
arestyrurj-167	156	26	time	time	NOUN
arestyrurj-167	156	27	,	,	PUNCT
arestyrurj-167	156	28	beating	beat	VERB
arestyrurj-167	156	29	our	our	PRON
arestyrurj-167	156	30	original	original	ADJ
arestyrurj-167	156	31	30	30	NUM
arestyrurj-167	156	32	-	-	PUNCT
arestyrurj-167	156	33	minute	minute	NOUN
arestyrurj-167	156	34	estimate	estimate	NOUN
arestyrurj-167	156	35	.	.	PUNCT
arestyrurj-167	157	1	the	the	DET
arestyrurj-167	157	2	reasoning	reasoning	NOUN
arestyrurj-167	157	3	behind	behind	ADP
arestyrurj-167	157	4	these	these	DET
arestyrurj-167	157	5	results	result	NOUN
arestyrurj-167	157	6	was	be	AUX
arestyrurj-167	157	7	the	the	DET
arestyrurj-167	157	8	robot	robot	NOUN
arestyrurj-167	157	9	's	's	PART
arestyrurj-167	157	10	ability	ability	NOUN
arestyrurj-167	157	11	to	to	PART
arestyrurj-167	157	12	control	control	VERB
arestyrurj-167	157	13	the	the	DET
arestyrurj-167	157	14	speed	speed	NOUN
arestyrurj-167	157	15	of	of	ADP
arestyrurj-167	157	16	its	its	PRON
arestyrurj-167	157	17	motors	motor	NOUN
arestyrurj-167	157	18	instead	instead	ADV
arestyrurj-167	157	19	of	of	ADP
arestyrurj-167	157	20	running	run	VERB
arestyrurj-167	157	21	full	full	ADJ
arestyrurj-167	157	22	throttle	throttle	NOUN
arestyrurj-167	157	23	for	for	ADP
arestyrurj-167	157	24	the	the	DET
arestyrurj-167	157	25	full	full	ADJ
arestyrurj-167	157	26	thirty	thirty	NUM
arestyrurj-167	157	27	minutes	minute	NOUN
arestyrurj-167	157	28	.	.	PUNCT
arestyrurj-167	158	1	this	this	DET
arestyrurj-167	158	2	operation	operation	NOUN
arestyrurj-167	158	3	time	time	NOUN
arestyrurj-167	158	4	is	be	AUX
arestyrurj-167	158	5	comparable	comparable	ADJ
arestyrurj-167	158	6	to	to	ADP
arestyrurj-167	158	7	several	several	ADJ
arestyrurj-167	158	8	similarly	similarly	ADV
arestyrurj-167	158	9	priced	price	VERB
arestyrurj-167	158	10	rovs	rovs	NOUN
arestyrurj-167	158	11	like	like	ADP
arestyrurj-167	158	12	the	the	DET
arestyrurj-167	158	13	thorrobotics	thorrobotic	NOUN
arestyrurj-167	158	14	’	'	PUNCT
arestyrurj-167	158	15	tenchrover	tenchrover	NOUN
arestyrurj-167	158	16	,	,	PUNCT
arestyrurj-167	158	17	which	which	PRON
arestyrurj-167	158	18	costs	cost	VERB
arestyrurj-167	158	19	$	$	SYM
arestyrurj-167	158	20	1,380	1,380	NUM
arestyrurj-167	158	21	and	and	CCONJ
arestyrurj-167	158	22	can	can	AUX
arestyrurj-167	158	23	operate	operate	VERB
arestyrurj-167	158	24	for	for	ADP
arestyrurj-167	158	25	120	120	NUM
arestyrurj-167	158	26	minutes	minute	NOUN
arestyrurj-167	158	27	during	during	ADP
arestyrurj-167	158	28	a	a	DET
arestyrurj-167	158	29	single	single	ADJ
arestyrurj-167	158	30	session	session	NOUN
arestyrurj-167	158	31	.	.	PUNCT
arestyrurj-167	159	1	during	during	ADP
arestyrurj-167	159	2	the	the	DET
arestyrurj-167	159	3	tests	test	NOUN
arestyrurj-167	159	4	,	,	PUNCT
arestyrurj-167	159	5	several	several	ADJ
arestyrurj-167	159	6	aspects	aspect	NOUN
arestyrurj-167	159	7	of	of	ADP
arestyrurj-167	159	8	the	the	DET
arestyrurj-167	159	9	product	product	NOUN
arestyrurj-167	159	10	were	be	AUX
arestyrurj-167	159	11	both	both	PRON
arestyrurj-167	159	12	challenged	challenge	VERB
arestyrurj-167	159	13	and	and	CCONJ
arestyrurj-167	159	14	validated	validate	VERB
arestyrurj-167	159	15	.	.	PUNCT
arestyrurj-167	160	1	in	in	ADP
arestyrurj-167	160	2	regard	regard	NOUN
arestyrurj-167	160	3	to	to	ADP
arestyrurj-167	160	4	the	the	DET
arestyrurj-167	160	5	buoyancy	buoyancy	NOUN
arestyrurj-167	160	6	issue	issue	NOUN
arestyrurj-167	160	7	,	,	PUNCT
arestyrurj-167	160	8	we	we	PRON
arestyrurj-167	160	9	addressed	address	VERB
arestyrurj-167	160	10	this	this	PRON
arestyrurj-167	160	11	by	by	ADP
arestyrurj-167	160	12	attaching	attach	VERB
arestyrurj-167	160	13	a	a	DET
arestyrurj-167	160	14	diver	diver	NOUN
arestyrurj-167	160	15	belt	belt	NOUN
arestyrurj-167	160	16	to	to	ADP
arestyrurj-167	160	17	the	the	DET
arestyrurj-167	160	18	rov	rov	PROPN
arestyrurj-167	160	19	each	each	DET
arestyrurj-167	160	20	testing	testing	NOUN
arestyrurj-167	160	21	time	time	NOUN
arestyrurj-167	160	22	,	,	PUNCT
arestyrurj-167	160	23	this	this	PRON
arestyrurj-167	160	24	was	be	AUX
arestyrurj-167	160	25	an	an	DET
arestyrurj-167	160	26	effective	effective	ADJ
arestyrurj-167	160	27	solution	solution	NOUN
arestyrurj-167	160	28	to	to	ADP
arestyrurj-167	160	29	a	a	DET
arestyrurj-167	160	30	serious	serious	ADJ
arestyrurj-167	160	31	problem	problem	NOUN
arestyrurj-167	160	32	.	.	PUNCT
arestyrurj-167	161	1	it	it	PRON
arestyrurj-167	161	2	did	do	AUX
arestyrurj-167	161	3	,	,	PUNCT
arestyrurj-167	161	4	however	however	ADV
arestyrurj-167	161	5	,	,	PUNCT
arestyrurj-167	161	6	have	have	VERB
arestyrurj-167	161	7	room	room	NOUN
arestyrurj-167	161	8	to	to	PART
arestyrurj-167	161	9	improve	improve	VERB
arestyrurj-167	161	10	as	as	SCONJ
arestyrurj-167	161	11	the	the	DET
arestyrurj-167	161	12	belt	belt	NOUN
arestyrurj-167	161	13	can	can	AUX
arestyrurj-167	161	14	shift	shift	VERB
arestyrurj-167	161	15	during	during	ADP
arestyrurj-167	161	16	operation	operation	NOUN
arestyrurj-167	161	17	.	.	PUNCT
arestyrurj-167	162	1	in	in	ADP
arestyrurj-167	162	2	the	the	DET
arestyrurj-167	162	3	future	future	NOUN
arestyrurj-167	162	4	,	,	PUNCT
arestyrurj-167	162	5	weights	weight	NOUN
arestyrurj-167	162	6	should	should	AUX
arestyrurj-167	162	7	be	be	AUX
arestyrurj-167	162	8	implemented	implement	VERB
arestyrurj-167	162	9	into	into	ADP
arestyrurj-167	162	10	the	the	DET
arestyrurj-167	162	11	hull	hull	NOUN
arestyrurj-167	162	12	physically	physically	ADV
arestyrurj-167	162	13	,	,	PUNCT
arestyrurj-167	162	14	such	such	ADJ
arestyrurj-167	162	15	as	as	SCONJ
arestyrurj-167	162	16	in	in	ADP
arestyrurj-167	162	17	extra	extra	ADJ
arestyrurj-167	162	18	pockets	pocket	NOUN
arestyrurj-167	162	19	in	in	ADP
arestyrurj-167	162	20	the	the	DET
arestyrurj-167	162	21	hull	hull	NOUN
arestyrurj-167	162	22	for	for	SCONJ
arestyrurj-167	162	23	weights	weight	NOUN
arestyrurj-167	162	24	to	to	PART
arestyrurj-167	162	25	be	be	AUX
arestyrurj-167	162	26	inserted	insert	VERB
arestyrurj-167	162	27	or	or	CCONJ
arestyrurj-167	162	28	making	make	VERB
arestyrurj-167	162	29	the	the	DET
arestyrurj-167	162	30	hull	hull	NOUN
arestyrurj-167	162	31	thicker	thick	ADJ
arestyrurj-167	162	32	.	.	PUNCT
arestyrurj-167	163	1	this	this	PRON
arestyrurj-167	163	2	will	will	AUX
arestyrurj-167	163	3	make	make	VERB
arestyrurj-167	163	4	the	the	DET
arestyrurj-167	163	5	buoyancy	buoyancy	NOUN
arestyrurj-167	163	6	not	not	PART
arestyrurj-167	163	7	shiftable	shiftable	ADJ
arestyrurj-167	163	8	during	during	ADP
arestyrurj-167	163	9	operation	operation	NOUN
arestyrurj-167	163	10	and	and	CCONJ
arestyrurj-167	163	11	result	result	VERB
arestyrurj-167	163	12	in	in	ADP
arestyrurj-167	163	13	a	a	DET
arestyrurj-167	163	14	cleaner	clean	ADJ
arestyrurj-167	163	15	design	design	NOUN
arestyrurj-167	163	16	.	.	PUNCT
arestyrurj-167	164	1	alternatively	alternatively	ADV
arestyrurj-167	164	2	,	,	PUNCT
arestyrurj-167	164	3	if	if	SCONJ
arestyrurj-167	164	4	we	we	PRON
arestyrurj-167	164	5	were	be	AUX
arestyrurj-167	164	6	to	to	PART
arestyrurj-167	164	7	keep	keep	VERB
arestyrurj-167	164	8	the	the	DET
arestyrurj-167	164	9	original	original	ADJ
arestyrurj-167	164	10	hull	hull	NOUN
arestyrurj-167	164	11	design	design	NOUN
arestyrurj-167	164	12	,	,	PUNCT
arestyrurj-167	164	13	we	we	PRON
arestyrurj-167	164	14	could	could	AUX
arestyrurj-167	164	15	make	make	VERB
arestyrurj-167	164	16	a	a	DET
arestyrurj-167	164	17	form	form	NOUN
arestyrurj-167	164	18	factor	factor	NOUN
arestyrurj-167	164	19	weight	weight	NOUN
arestyrurj-167	164	20	to	to	PART
arestyrurj-167	164	21	secure	secure	VERB
arestyrurj-167	164	22	in	in	ADP
arestyrurj-167	164	23	the	the	DET
arestyrurj-167	164	24	electronics	electronics	NOUN
arestyrurj-167	164	25	enclosure	enclosure	NOUN
arestyrurj-167	164	26	.	.	PUNCT
arestyrurj-167	165	1	this	this	PRON
arestyrurj-167	165	2	could	could	AUX
arestyrurj-167	165	3	accomplish	accomplish	VERB
arestyrurj-167	165	4	similar	similar	ADJ
arestyrurj-167	165	5	results	result	NOUN
arestyrurj-167	165	6	to	to	ADP
arestyrurj-167	165	7	redesigning	redesign	VERB
arestyrurj-167	165	8	the	the	DET
arestyrurj-167	165	9	hull	hull	NOUN
arestyrurj-167	165	10	.	.	PUNCT
arestyrurj-167	166	1	in	in	ADP
arestyrurj-167	166	2	addition	addition	NOUN
arestyrurj-167	166	3	to	to	ADP
arestyrurj-167	166	4	the	the	DET
arestyrurj-167	166	5	buoyancy	buoyancy	NOUN
arestyrurj-167	166	6	issue	issue	NOUN
arestyrurj-167	166	7	,	,	PUNCT
arestyrurj-167	166	8	propulsion	propulsion	NOUN
arestyrurj-167	166	9	could	could	AUX
arestyrurj-167	166	10	have	have	AUX
arestyrurj-167	166	11	been	be	AUX
arestyrurj-167	166	12	improved	improve	VERB
arestyrurj-167	166	13	to	to	PART
arestyrurj-167	166	14	be	be	AUX
arestyrurj-167	166	15	more	more	ADV
arestyrurj-167	166	16	powerful	powerful	ADJ
arestyrurj-167	166	17	.	.	PUNCT
arestyrurj-167	167	1	this	this	DET
arestyrurj-167	167	2	extra	extra	ADJ
arestyrurj-167	167	3	power	power	NOUN
arestyrurj-167	167	4	could	could	AUX
arestyrurj-167	167	5	help	help	VERB
arestyrurj-167	167	6	the	the	DET
arestyrurj-167	167	7	rov	rov	PROPN
arestyrurj-167	167	8	navigate	navigate	VERB
arestyrurj-167	167	9	better	well	ADV
arestyrurj-167	167	10	in	in	ADP
arestyrurj-167	167	11	turbulent	turbulent	ADJ
arestyrurj-167	167	12	waters	water	NOUN
arestyrurj-167	167	13	.	.	PUNCT
arestyrurj-167	168	1	communication	communication	NOUN
arestyrurj-167	168	2	could	could	AUX
arestyrurj-167	168	3	have	have	AUX
arestyrurj-167	168	4	been	be	AUX
arestyrurj-167	168	5	made	make	VERB
arestyrurj-167	168	6	better	well	ADJ
arestyrurj-167	168	7	in	in	ADP
arestyrurj-167	168	8	the	the	DET
arestyrurj-167	168	9	sense	sense	NOUN
arestyrurj-167	168	10	of	of	ADP
arestyrurj-167	168	11	cost	cost	NOUN
arestyrurj-167	168	12	.	.	PUNCT
arestyrurj-167	169	1	currently	currently	ADV
arestyrurj-167	169	2	,	,	PUNCT
arestyrurj-167	169	3	the	the	DET
arestyrurj-167	169	4	rov	rov	PROPN
arestyrurj-167	169	5	requires	require	VERB
arestyrurj-167	169	6	a	a	DET
arestyrurj-167	169	7	second	second	ADJ
arestyrurj-167	169	8	computer	computer	NOUN
arestyrurj-167	169	9	for	for	ADP
arestyrurj-167	169	10	control	control	NOUN
arestyrurj-167	169	11	,	,	PUNCT
arestyrurj-167	169	12	but	but	CCONJ
arestyrurj-167	169	13	this	this	PRON
arestyrurj-167	169	14	could	could	AUX
arestyrurj-167	169	15	be	be	AUX
arestyrurj-167	169	16	solved	solve	VERB
arestyrurj-167	169	17	through	through	ADP
arestyrurj-167	169	18	the	the	DET
arestyrurj-167	169	19	use	use	NOUN
arestyrurj-167	169	20	of	of	ADP
arestyrurj-167	169	21	a	a	DET
arestyrurj-167	169	22	smartphone	smartphone	NOUN
arestyrurj-167	169	23	instead	instead	ADV
arestyrurj-167	169	24	.	.	PUNCT
arestyrurj-167	170	1	one	one	NUM
arestyrurj-167	170	2	validating	validate	VERB
arestyrurj-167	170	3	aspect	aspect	NOUN
arestyrurj-167	170	4	of	of	ADP
arestyrurj-167	170	5	the	the	DET
arestyrurj-167	170	6	tests	test	NOUN
arestyrurj-167	170	7	was	be	AUX
arestyrurj-167	170	8	the	the	DET
arestyrurj-167	170	9	ability	ability	NOUN
arestyrurj-167	170	10	of	of	ADP
arestyrurj-167	170	11	the	the	DET
arestyrurj-167	170	12	rov	rov	PROPN
arestyrurj-167	170	13	to	to	PART
arestyrurj-167	170	14	stay	stay	VERB
arestyrurj-167	170	15	completely	completely	ADV
arestyrurj-167	170	16	waterproof	waterproof	ADJ
arestyrurj-167	170	17	during	during	ADP
arestyrurj-167	170	18	operation	operation	NOUN
arestyrurj-167	170	19	.	.	PUNCT
arestyrurj-167	171	1	all	all	DET
arestyrurj-167	171	2	electronics	electronic	NOUN
arestyrurj-167	171	3	were	be	AUX
arestyrurj-167	171	4	left	leave	VERB
arestyrurj-167	171	5	dry	dry	ADJ
arestyrurj-167	171	6	after	after	ADP
arestyrurj-167	171	7	posttest	postt	ADJ
arestyrurj-167	171	8	inspection	inspection	NOUN
arestyrurj-167	171	9	in	in	ADP
arestyrurj-167	171	10	the	the	DET
arestyrurj-167	171	11	waterproof	waterproof	PROPN
arestyrurj-167	171	12	enclosure	enclosure	PROPN
arestyrurj-167	171	13	.	.	PUNCT
arestyrurj-167	172	1	this	this	DET
arestyrurj-167	172	2	inspection	inspection	NOUN
arestyrurj-167	172	3	included	include	VERB
arestyrurj-167	172	4	visually	visually	ADV
arestyrurj-167	172	5	and	and	CCONJ
arestyrurj-167	172	6	electronically	electronically	ADV
arestyrurj-167	172	7	testing	test	VERB
arestyrurj-167	172	8	each	each	PRON
arestyrurj-167	172	9	of	of	ADP
arestyrurj-167	172	10	the	the	DET
arestyrurj-167	172	11	electronic	electronic	ADJ
arestyrurj-167	172	12	components	component	NOUN
arestyrurj-167	172	13	inside	inside	ADP
arestyrurj-167	172	14	of	of	ADP
arestyrurj-167	172	15	the	the	DET
arestyrurj-167	172	16	rov	rov	PROPN
arestyrurj-167	172	17	after	after	ADP
arestyrurj-167	172	18	each	each	DET
arestyrurj-167	172	19	test	test	NOUN
arestyrurj-167	172	20	.	.	PUNCT
arestyrurj-167	173	1	additionally	additionally	ADV
arestyrurj-167	173	2	,	,	PUNCT
arestyrurj-167	173	3	the	the	DET
arestyrurj-167	173	4	rov	rov	PROPN
arestyrurj-167	173	5	was	be	AUX
arestyrurj-167	173	6	able	able	ADJ
arestyrurj-167	173	7	to	to	PART
arestyrurj-167	173	8	showcase	showcase	VERB
arestyrurj-167	173	9	operating	operating	NOUN
arestyrurj-167	173	10	times	time	NOUN
arestyrurj-167	173	11	of	of	ADP
arestyrurj-167	173	12	up	up	ADP
arestyrurj-167	173	13	to	to	PART
arestyrurj-167	173	14	100	100	NUM
arestyrurj-167	173	15	minutes	minute	NOUN
arestyrurj-167	173	16	which	which	PRON
arestyrurj-167	173	17	was	be	AUX
arestyrurj-167	173	18	similar	similar	ADJ
arestyrurj-167	173	19	to	to	ADP
arestyrurj-167	173	20	slightly	slightly	ADV
arestyrurj-167	173	21	higher	high	ADJ
arestyrurj-167	173	22	priced	price	VERB
arestyrurj-167	173	23	rovs	rovs	NOUN
arestyrurj-167	173	24	.	.	PUNCT
arestyrurj-167	174	1	furthermore	furthermore	ADV
arestyrurj-167	174	2	,	,	PUNCT
arestyrurj-167	174	3	the	the	DET
arestyrurj-167	174	4	rov	rov	PROPN
arestyrurj-167	174	5	was	be	AUX
arestyrurj-167	174	6	able	able	ADJ
arestyrurj-167	174	7	to	to	PART
arestyrurj-167	174	8	navigate	navigate	VERB
arestyrurj-167	174	9	at	at	ADP
arestyrurj-167	174	10	distances	distance	NOUN
arestyrurj-167	174	11	aresty	aresty	PROPN
arestyrurj-167	174	12	rutgers	rutgers	PROPN
arestyrurj-167	174	13	undergraduate	undergraduate	PROPN
arestyrurj-167	174	14	research	research	PROPN
arestyrurj-167	174	15	journal	journal	PROPN
arestyrurj-167	174	16	,	,	PUNCT
arestyrurj-167	174	17	volume	volume	NOUN
arestyrurj-167	174	18	i	i	PRON
arestyrurj-167	174	19	,	,	PUNCT
arestyrurj-167	174	20	issue	issue	NOUN
arestyrurj-167	174	21	iii	iii	NUM
arestyrurj-167	174	22	of	of	ADP
arestyrurj-167	174	23	10	10	NUM
arestyrurj-167	174	24	meters	meter	NOUN
arestyrurj-167	174	25	horizontally	horizontally	ADV
arestyrurj-167	174	26	from	from	ADP
arestyrurj-167	174	27	shore	shore	PROPN
arestyrurj-167	174	28	.	.	PUNCT
arestyrurj-167	175	1	the	the	DET
arestyrurj-167	175	2	biggest	big	ADJ
arestyrurj-167	175	3	limiting	limit	VERB
arestyrurj-167	175	4	factor	factor	NOUN
arestyrurj-167	175	5	in	in	ADP
arestyrurj-167	175	6	the	the	DET
arestyrurj-167	175	7	rov	rov	PROPN
arestyrurj-167	175	8	’s	’s	PART
arestyrurj-167	175	9	ability	ability	NOUN
arestyrurj-167	175	10	to	to	PART
arestyrurj-167	175	11	navigate	navigate	VERB
arestyrurj-167	175	12	at	at	ADP
arestyrurj-167	175	13	large	large	ADJ
arestyrurj-167	175	14	distances	distance	NOUN
arestyrurj-167	175	15	is	be	AUX
arestyrurj-167	175	16	its	its	PRON
arestyrurj-167	175	17	ethernet	ethernet	NOUN
arestyrurj-167	175	18	cable	cable	NOUN
arestyrurj-167	175	19	length	length	NOUN
arestyrurj-167	175	20	,	,	PUNCT
arestyrurj-167	175	21	which	which	PRON
arestyrurj-167	175	22	,	,	PUNCT
arestyrurj-167	175	23	for	for	ADP
arestyrurj-167	175	24	more	more	ADJ
arestyrurj-167	175	25	money	money	NOUN
arestyrurj-167	175	26	,	,	PUNCT
arestyrurj-167	175	27	could	could	AUX
arestyrurj-167	175	28	be	be	AUX
arestyrurj-167	175	29	adjusted	adjust	VERB
arestyrurj-167	175	30	for	for	ADP
arestyrurj-167	175	31	farther	farth	ADJ
arestyrurj-167	175	32	expeditions	expedition	NOUN
arestyrurj-167	175	33	.	.	PUNCT
arestyrurj-167	176	1	the	the	DET
arestyrurj-167	176	2	rov	rov	PROPN
arestyrurj-167	176	3	was	be	AUX
arestyrurj-167	176	4	recorded	record	VERB
arestyrurj-167	176	5	being	be	AUX
arestyrurj-167	176	6	able	able	ADJ
arestyrurj-167	176	7	to	to	PART
arestyrurj-167	176	8	display	display	VERB
arestyrurj-167	176	9	uninterrupted	uninterrupted	ADJ
arestyrurj-167	176	10	video	video	NOUN
arestyrurj-167	176	11	feed	feed	NOUN
arestyrurj-167	176	12	while	while	SCONJ
arestyrurj-167	176	13	underwater	underwater	NOUN
arestyrurj-167	176	14	with	with	ADP
arestyrurj-167	176	15	its	its	PRON
arestyrurj-167	176	16	camera	camera	NOUN
arestyrurj-167	176	17	.	.	PUNCT
arestyrurj-167	177	1	navigation	navigation	NOUN
arestyrurj-167	177	2	at	at	ADP
arestyrurj-167	177	3	the	the	DET
arestyrurj-167	177	4	speed	speed	NOUN
arestyrurj-167	177	5	of	of	ADP
arestyrurj-167	177	6	1	1	NUM
arestyrurj-167	177	7	knot	knot	NOUN
arestyrurj-167	177	8	or	or	CCONJ
arestyrurj-167	177	9	.5	.5	NUM
arestyrurj-167	177	10	m	m	NOUN
arestyrurj-167	177	11	/	/	SYM
arestyrurj-167	177	12	s	s	VERB
arestyrurj-167	177	13	was	be	AUX
arestyrurj-167	177	14	recorded	record	VERB
arestyrurj-167	177	15	.	.	PUNCT
arestyrurj-167	178	1	due	due	ADP
arestyrurj-167	178	2	to	to	ADP
arestyrurj-167	178	3	the	the	DET
arestyrurj-167	178	4	fact	fact	NOUN
arestyrurj-167	178	5	that	that	SCONJ
arestyrurj-167	178	6	this	this	DET
arestyrurj-167	178	7	speed	speed	NOUN
arestyrurj-167	178	8	was	be	AUX
arestyrurj-167	178	9	recorded	record	VERB
arestyrurj-167	178	10	all	all	ADV
arestyrurj-167	178	11	in	in	ADP
arestyrurj-167	178	12	favorable	favorable	ADJ
arestyrurj-167	178	13	environmental	environmental	ADJ
arestyrurj-167	178	14	conditions	condition	NOUN
arestyrurj-167	178	15	,	,	PUNCT
arestyrurj-167	178	16	it	it	PRON
arestyrurj-167	178	17	should	should	AUX
arestyrurj-167	178	18	be	be	AUX
arestyrurj-167	178	19	noted	note	VERB
arestyrurj-167	178	20	that	that	SCONJ
arestyrurj-167	178	21	rov	rov	PROPN
arestyrurj-167	178	22	performance	performance	NOUN
arestyrurj-167	178	23	in	in	ADP
arestyrurj-167	178	24	rough	rough	ADJ
arestyrurj-167	178	25	waves	wave	NOUN
arestyrurj-167	178	26	would	would	AUX
arestyrurj-167	178	27	result	result	VERB
arestyrurj-167	178	28	in	in	ADP
arestyrurj-167	178	29	lower	low	ADJ
arestyrurj-167	178	30	speed	speed	NOUN
arestyrurj-167	178	31	measurements	measurement	NOUN
arestyrurj-167	178	32	.	.	PUNCT
arestyrurj-167	179	1	altogether	altogether	ADV
arestyrurj-167	179	2	,	,	PUNCT
arestyrurj-167	179	3	the	the	DET
arestyrurj-167	179	4	robot	robot	NOUN
arestyrurj-167	179	5	was	be	AUX
arestyrurj-167	179	6	able	able	ADJ
arestyrurj-167	179	7	to	to	PART
arestyrurj-167	179	8	exemplify	exemplify	VERB
arestyrurj-167	179	9	competitive	competitive	ADJ
arestyrurj-167	179	10	battery	battery	NOUN
arestyrurj-167	179	11	life	life	NOUN
arestyrurj-167	179	12	,	,	PUNCT
arestyrurj-167	179	13	navigational	navigational	ADJ
arestyrurj-167	179	14	control	control	NOUN
arestyrurj-167	179	15	,	,	PUNCT
arestyrurj-167	179	16	and	and	CCONJ
arestyrurj-167	179	17	waterproof	waterproof	ADJ
arestyrurj-167	179	18	capabilities	capability	NOUN
arestyrurj-167	179	19	,	,	PUNCT
arestyrurj-167	179	20	deeming	deem	VERB
arestyrurj-167	179	21	it	it	PRON
arestyrurj-167	179	22	to	to	PART
arestyrurj-167	179	23	be	be	AUX
arestyrurj-167	179	24	an	an	DET
arestyrurj-167	179	25	outstanding	outstanding	ADJ
arestyrurj-167	179	26	rov	rov	NOUN
arestyrurj-167	179	27	.	.	PROPN
arestyrurj-167	179	28	4	4	NUM
arestyrurj-167	179	29	discussion	discussion	NOUN
arestyrurj-167	179	30	&	&	CCONJ
arestyrurj-167	179	31	conclusion	conclusion	NOUN
arestyrurj-167	179	32	looking	look	VERB
arestyrurj-167	179	33	back	back	ADV
arestyrurj-167	179	34	at	at	ADP
arestyrurj-167	179	35	the	the	DET
arestyrurj-167	179	36	work	work	NOUN
arestyrurj-167	179	37	over	over	ADP
arestyrurj-167	179	38	the	the	DET
arestyrurj-167	179	39	past	past	ADJ
arestyrurj-167	179	40	several	several	ADJ
arestyrurj-167	179	41	months	month	NOUN
arestyrurj-167	179	42	,	,	PUNCT
arestyrurj-167	179	43	we	we	PRON
arestyrurj-167	179	44	felt	feel	VERB
arestyrurj-167	179	45	that	that	SCONJ
arestyrurj-167	179	46	the	the	DET
arestyrurj-167	179	47	project	project	NOUN
arestyrurj-167	179	48	has	have	AUX
arestyrurj-167	179	49	done	do	VERB
arestyrurj-167	179	50	a	a	DET
arestyrurj-167	179	51	lot	lot	NOUN
arestyrurj-167	179	52	in	in	ADP
arestyrurj-167	179	53	terms	term	NOUN
arestyrurj-167	179	54	of	of	ADP
arestyrurj-167	179	55	cost	cost	NOUN
arestyrurj-167	179	56	-	-	PUNCT
arestyrurj-167	179	57	effective	effective	ADJ
arestyrurj-167	179	58	robotics	robotic	NOUN
arestyrurj-167	179	59	solutions	solution	NOUN
arestyrurj-167	179	60	.	.	PUNCT
arestyrurj-167	180	1	on	on	ADP
arestyrurj-167	180	2	average	average	ADJ
arestyrurj-167	180	3	,	,	PUNCT
arestyrurj-167	180	4	rovs	rovs	NOUN
arestyrurj-167	180	5	cost	cost	VERB
arestyrurj-167	180	6	about	about	ADP
arestyrurj-167	180	7	between	between	ADP
arestyrurj-167	180	8	$	$	SYM
arestyrurj-167	180	9	1000	1000	NUM
arestyrurj-167	180	10	and	and	CCONJ
arestyrurj-167	180	11	$	$	SYM
arestyrurj-167	180	12	4000	4000	NUM
arestyrurj-167	180	13	.	.	PUNCT
arestyrurj-167	181	1	this	this	DET
arestyrurj-167	181	2	robot	robot	NOUN
arestyrurj-167	181	3	costing	cost	VERB
arestyrurj-167	181	4	$	$	SYM
arestyrurj-167	181	5	900	900	NUM
arestyrurj-167	181	6	means	mean	VERB
arestyrurj-167	181	7	that	that	SCONJ
arestyrurj-167	181	8	it	it	PRON
arestyrurj-167	181	9	is	be	AUX
arestyrurj-167	181	10	cheaper	cheap	ADJ
arestyrurj-167	181	11	than	than	ADP
arestyrurj-167	181	12	even	even	ADV
arestyrurj-167	181	13	the	the	DET
arestyrurj-167	181	14	lowest	low	ADJ
arestyrurj-167	181	15	priced	price	VERB
arestyrurj-167	181	16	commercial	commercial	ADJ
arestyrurj-167	181	17	solution	solution	NOUN
arestyrurj-167	181	18	.	.	PUNCT
arestyrurj-167	182	1	this	this	DET
arestyrurj-167	182	2	low	low	ADJ
arestyrurj-167	182	3	cost	cost	NOUN
arestyrurj-167	182	4	allows	allow	VERB
arestyrurj-167	182	5	for	for	ADP
arestyrurj-167	182	6	a	a	DET
arestyrurj-167	182	7	profitable	profitable	ADJ
arestyrurj-167	182	8	yet	yet	ADV
arestyrurj-167	182	9	cost	cost	NOUN
arestyrurj-167	182	10	-	-	PUNCT
arestyrurj-167	182	11	effective	effective	ADJ
arestyrurj-167	182	12	sale	sale	NOUN
arestyrurj-167	182	13	price	price	NOUN
arestyrurj-167	182	14	.	.	PUNCT
arestyrurj-167	183	1	this	this	DET
arestyrurj-167	183	2	project	project	NOUN
arestyrurj-167	183	3	has	have	AUX
arestyrurj-167	183	4	been	be	AUX
arestyrurj-167	183	5	successful	successful	ADJ
arestyrurj-167	183	6	in	in	ADP
arestyrurj-167	183	7	creating	create	VERB
arestyrurj-167	183	8	a	a	DET
arestyrurj-167	183	9	cheap	cheap	ADJ
arestyrurj-167	183	10	and	and	CCONJ
arestyrurj-167	183	11	capable	capable	ADJ
arestyrurj-167	183	12	rov	rov	PROPN
arestyrurj-167	183	13	.	.	PUNCT
arestyrurj-167	184	1	due	due	ADP
arestyrurj-167	184	2	to	to	ADP
arestyrurj-167	184	3	the	the	DET
arestyrurj-167	184	4	rov	rov	PROPN
arestyrurj-167	184	5	’s	’s	PART
arestyrurj-167	184	6	opensource	opensource	PROPN
arestyrurj-167	184	7	design	design	NOUN
arestyrurj-167	184	8	,	,	PUNCT
arestyrurj-167	184	9	adding	add	VERB
arestyrurj-167	184	10	additional	additional	ADJ
arestyrurj-167	184	11	instruments	instrument	NOUN
arestyrurj-167	184	12	would	would	AUX
arestyrurj-167	184	13	be	be	AUX
arestyrurj-167	184	14	as	as	ADV
arestyrurj-167	184	15	easy	easy	ADJ
arestyrurj-167	184	16	as	as	ADP
arestyrurj-167	184	17	just	just	ADV
arestyrurj-167	184	18	wiring	wire	VERB
arestyrurj-167	184	19	these	these	DET
arestyrurj-167	184	20	tools	tool	NOUN
arestyrurj-167	184	21	to	to	ADP
arestyrurj-167	184	22	the	the	DET
arestyrurj-167	184	23	rov	rov	PROPN
arestyrurj-167	184	24	’s	’s	PART
arestyrurj-167	184	25	internal	internal	PROPN
arestyrurj-167	184	26	raspberry	raspberry	PROPN
arestyrurj-167	184	27	pi	pi	NOUN
arestyrurj-167	184	28	4	4	NUM
arestyrurj-167	184	29	and	and	CCONJ
arestyrurj-167	184	30	writing	write	VERB
arestyrurj-167	184	31	code	code	NOUN
arestyrurj-167	184	32	to	to	PART
arestyrurj-167	184	33	use	use	VERB
arestyrurj-167	184	34	these	these	DET
arestyrurj-167	184	35	tools	tool	NOUN
arestyrurj-167	184	36	.	.	PUNCT
arestyrurj-167	185	1	several	several	ADJ
arestyrurj-167	185	2	ideas	idea	NOUN
arestyrurj-167	185	3	can	can	AUX
arestyrurj-167	185	4	be	be	AUX
arestyrurj-167	185	5	focused	focus	VERB
arestyrurj-167	185	6	on	on	ADP
arestyrurj-167	185	7	as	as	ADP
arestyrurj-167	185	8	examples	example	NOUN
arestyrurj-167	185	9	of	of	ADP
arestyrurj-167	185	10	creating	create	VERB
arestyrurj-167	185	11	cost	cost	NOUN
arestyrurj-167	185	12	-	-	PUNCT
arestyrurj-167	185	13	effective	effective	ADJ
arestyrurj-167	185	14	rovs	rovs	NOUN
arestyrurj-167	185	15	.	.	PUNCT
arestyrurj-167	186	1	design	design	NOUN
arestyrurj-167	186	2	methods	method	NOUN
arestyrurj-167	186	3	,	,	PUNCT
arestyrurj-167	186	4	such	such	ADJ
arestyrurj-167	186	5	as	as	ADP
arestyrurj-167	186	6	that	that	PRON
arestyrurj-167	186	7	of	of	ADP
arestyrurj-167	186	8	designing	design	VERB
arestyrurj-167	186	9	around	around	ADP
arestyrurj-167	186	10	a	a	DET
arestyrurj-167	186	11	cylindershaped	cylindershape	VERB
arestyrurj-167	186	12	piece	piece	NOUN
arestyrurj-167	186	13	of	of	ADP
arestyrurj-167	186	14	cast	cast	VERB
arestyrurj-167	186	15	acrylic	acrylic	NOUN
arestyrurj-167	186	16	,	,	PUNCT
arestyrurj-167	186	17	proved	prove	VERB
arestyrurj-167	186	18	fruitful	fruitful	ADJ
arestyrurj-167	186	19	in	in	ADP
arestyrurj-167	186	20	being	be	AUX
arestyrurj-167	186	21	cost	cost	VERB
arestyrurj-167	186	22	effective	effective	ADJ
arestyrurj-167	186	23	while	while	SCONJ
arestyrurj-167	186	24	not	not	PART
arestyrurj-167	186	25	sacrificing	sacrifice	VERB
arestyrurj-167	186	26	waterproof	waterproof	ADJ
arestyrurj-167	186	27	capabilities	capability	NOUN
arestyrurj-167	186	28	.	.	PUNCT
arestyrurj-167	187	1	additionally	additionally	ADV
arestyrurj-167	187	2	,	,	PUNCT
arestyrurj-167	187	3	the	the	DET
arestyrurj-167	187	4	idea	idea	NOUN
arestyrurj-167	187	5	of	of	ADP
arestyrurj-167	187	6	3d	3d	NUM
arestyrurj-167	187	7	printing	print	VERB
arestyrurj-167	187	8	a	a	DET
arestyrurj-167	187	9	hull	hull	NOUN
arestyrurj-167	187	10	structure	structure	NOUN
arestyrurj-167	187	11	around	around	ADP
arestyrurj-167	187	12	the	the	DET
arestyrurj-167	187	13	cast	cast	VERB
arestyrurj-167	187	14	acrylic	acrylic	NOUN
arestyrurj-167	187	15	proved	prove	VERB
arestyrurj-167	187	16	to	to	PART
arestyrurj-167	187	17	be	be	AUX
arestyrurj-167	187	18	good	good	ADJ
arestyrurj-167	187	19	in	in	ADP
arestyrurj-167	187	20	allowing	allow	VERB
arestyrurj-167	187	21	for	for	ADP
arestyrurj-167	187	22	a	a	DET
arestyrurj-167	187	23	cheap	cheap	ADJ
arestyrurj-167	187	24	and	and	CCONJ
arestyrurj-167	187	25	versatile	versatile	ADJ
arestyrurj-167	187	26	platform	platform	NOUN
arestyrurj-167	187	27	to	to	PART
arestyrurj-167	187	28	which	which	PRON
arestyrurj-167	187	29	components	component	NOUN
arestyrurj-167	187	30	can	can	AUX
arestyrurj-167	187	31	attach	attach	VERB
arestyrurj-167	187	32	.	.	PUNCT
arestyrurj-167	188	1	also	also	ADV
arestyrurj-167	188	2	,	,	PUNCT
arestyrurj-167	188	3	3d	3d	NOUN
arestyrurj-167	188	4	printing	printing	NOUN
arestyrurj-167	188	5	was	be	AUX
arestyrurj-167	188	6	found	find	VERB
arestyrurj-167	188	7	to	to	PART
arestyrurj-167	188	8	be	be	AUX
arestyrurj-167	188	9	a	a	DET
arestyrurj-167	188	10	promising	promising	ADJ
arestyrurj-167	188	11	new	new	ADJ
arestyrurj-167	188	12	technology	technology	NOUN
arestyrurj-167	188	13	that	that	PRON
arestyrurj-167	188	14	,	,	PUNCT
arestyrurj-167	188	15	when	when	SCONJ
arestyrurj-167	188	16	treated	treat	VERB
arestyrurj-167	188	17	,	,	PUNCT
arestyrurj-167	188	18	was	be	AUX
arestyrurj-167	188	19	an	an	DET
arestyrurj-167	188	20	inexpensive	inexpensive	ADJ
arestyrurj-167	188	21	and	and	CCONJ
arestyrurj-167	188	22	strong	strong	ADJ
arestyrurj-167	188	23	waterproof	waterproof	ADJ
arestyrurj-167	188	24	material	material	NOUN
arestyrurj-167	188	25	for	for	ADP
arestyrurj-167	188	26	parts	part	NOUN
arestyrurj-167	188	27	attached	attach	VERB
arestyrurj-167	188	28	to	to	ADP
arestyrurj-167	188	29	the	the	DET
arestyrurj-167	188	30	hull	hull	NOUN
arestyrurj-167	188	31	.	.	PUNCT
arestyrurj-167	189	1	simplicity	simplicity	NOUN
arestyrurj-167	189	2	was	be	AUX
arestyrurj-167	189	3	the	the	DET
arestyrurj-167	189	4	main	main	ADJ
arestyrurj-167	189	5	guide	guide	NOUN
arestyrurj-167	189	6	for	for	ADP
arestyrurj-167	189	7	design	design	NOUN
arestyrurj-167	189	8	decisions	decision	NOUN
arestyrurj-167	189	9	and	and	CCONJ
arestyrurj-167	189	10	was	be	AUX
arestyrurj-167	189	11	found	find	VERB
arestyrurj-167	189	12	to	to	PART
arestyrurj-167	189	13	be	be	AUX
arestyrurj-167	189	14	a	a	DET
arestyrurj-167	189	15	helpful	helpful	ADJ
arestyrurj-167	189	16	philosophy	philosophy	NOUN
arestyrurj-167	189	17	when	when	SCONJ
arestyrurj-167	189	18	keeping	keep	VERB
arestyrurj-167	189	19	costs	cost	NOUN
arestyrurj-167	189	20	low	low	ADJ
arestyrurj-167	189	21	while	while	SCONJ
arestyrurj-167	189	22	keeping	keep	VERB
arestyrurj-167	189	23	uncompromised	uncompromised	ADJ
arestyrurj-167	189	24	capability	capability	NOUN
arestyrurj-167	189	25	.	.	PUNCT
arestyrurj-167	190	1	altogether	altogether	ADV
arestyrurj-167	190	2	,	,	PUNCT
arestyrurj-167	190	3	the	the	DET
arestyrurj-167	190	4	project	project	NOUN
arestyrurj-167	190	5	validates	validate	VERB
arestyrurj-167	190	6	that	that	SCONJ
arestyrurj-167	190	7	it	it	PRON
arestyrurj-167	190	8	is	be	AUX
arestyrurj-167	190	9	possible	possible	ADJ
arestyrurj-167	190	10	to	to	PART
arestyrurj-167	190	11	cut	cut	VERB
arestyrurj-167	190	12	costs	cost	NOUN
arestyrurj-167	190	13	while	while	SCONJ
arestyrurj-167	190	14	still	still	ADV
arestyrurj-167	190	15	delivering	deliver	VERB
arestyrurj-167	190	16	a	a	DET
arestyrurj-167	190	17	competitive	competitive	ADJ
arestyrurj-167	190	18	rov	rov	NOUN
arestyrurj-167	190	19	.	.	PUNCT
arestyrurj-167	191	1	the	the	DET
arestyrurj-167	191	2	result	result	NOUN
arestyrurj-167	191	3	of	of	ADP
arestyrurj-167	191	4	the	the	DET
arestyrurj-167	191	5	efforts	effort	NOUN
arestyrurj-167	191	6	of	of	ADP
arestyrurj-167	191	7	this	this	DET
arestyrurj-167	191	8	project	project	NOUN
arestyrurj-167	191	9	culminated	culminate	VERB
arestyrurj-167	191	10	into	into	ADP
arestyrurj-167	191	11	a	a	DET
arestyrurj-167	191	12	robot	robot	NOUN
arestyrurj-167	191	13	that	that	PRON
arestyrurj-167	191	14	was	be	AUX
arestyrurj-167	191	15	able	able	ADJ
arestyrurj-167	191	16	to	to	PART
arestyrurj-167	191	17	have	have	VERB
arestyrurj-167	191	18	battery	battery	NOUN
arestyrurj-167	191	19	life	life	NOUN
arestyrurj-167	191	20	comparable	comparable	ADJ
arestyrurj-167	191	21	to	to	ADP
arestyrurj-167	191	22	other	other	ADJ
arestyrurj-167	191	23	rovs	rovs	NOUN
arestyrurj-167	191	24	with	with	ADP
arestyrurj-167	191	25	functional	functional	ADJ
arestyrurj-167	191	26	directional	directional	ADJ
arestyrurj-167	191	27	control	control	NOUN
arestyrurj-167	191	28	.	.	PUNCT
arestyrurj-167	192	1	this	this	PRON
arestyrurj-167	192	2	was	be	AUX
arestyrurj-167	192	3	done	do	VERB
arestyrurj-167	192	4	at	at	ADP
arestyrurj-167	192	5	a	a	DET
arestyrurj-167	192	6	fraction	fraction	NOUN
arestyrurj-167	192	7	of	of	ADP
arestyrurj-167	192	8	the	the	DET
arestyrurj-167	192	9	cost	cost	NOUN
arestyrurj-167	192	10	compared	compare	VERB
arestyrurj-167	192	11	to	to	ADP
arestyrurj-167	192	12	many	many	ADJ
arestyrurj-167	192	13	other	other	ADJ
arestyrurj-167	192	14	rovs	rovs	NOUN
arestyrurj-167	192	15	and	and	CCONJ
arestyrurj-167	192	16	,	,	PUNCT
arestyrurj-167	192	17	therefore	therefore	ADV
arestyrurj-167	192	18	,	,	PUNCT
arestyrurj-167	192	19	has	have	VERB
arestyrurj-167	192	20	implications	implication	NOUN
arestyrurj-167	192	21	to	to	ADP
arestyrurj-167	192	22	the	the	DET
arestyrurj-167	192	23	rov	rov	PROPN
arestyrurj-167	192	24	community	community	NOUN
arestyrurj-167	192	25	.	.	PUNCT
arestyrurj-167	193	1	we	we	PRON
arestyrurj-167	193	2	have	have	AUX
arestyrurj-167	193	3	shown	show	VERB
arestyrurj-167	193	4	that	that	DET
arestyrurj-167	193	5	rovs	rovs	NOUN
arestyrurj-167	193	6	can	can	AUX
arestyrurj-167	193	7	be	be	AUX
arestyrurj-167	193	8	produced	produce	VERB
arestyrurj-167	193	9	and	and	CCONJ
arestyrurj-167	193	10	sold	sell	VERB
arestyrurj-167	193	11	with	with	ADP
arestyrurj-167	193	12	decent	decent	ADJ
arestyrurj-167	193	13	functionality	functionality	NOUN
arestyrurj-167	193	14	at	at	ADP
arestyrurj-167	193	15	competitive	competitive	ADJ
arestyrurj-167	193	16	costs	cost	NOUN
arestyrurj-167	193	17	.	.	PUNCT
arestyrurj-167	194	1	the	the	DET
arestyrurj-167	194	2	project	project	NOUN
arestyrurj-167	194	3	was	be	AUX
arestyrurj-167	194	4	successful	successful	ADJ
arestyrurj-167	194	5	in	in	ADP
arestyrurj-167	194	6	meeting	meet	VERB
arestyrurj-167	194	7	our	our	PRON
arestyrurj-167	194	8	original	original	ADJ
arestyrurj-167	194	9	criteria	criterion	NOUN
arestyrurj-167	194	10	.	.	PUNCT
arestyrurj-167	195	1	the	the	DET
arestyrurj-167	195	2	rov	rov	PROPN
arestyrurj-167	195	3	was	be	AUX
arestyrurj-167	195	4	able	able	ADJ
arestyrurj-167	195	5	to	to	PART
arestyrurj-167	195	6	properly	properly	ADV
arestyrurj-167	195	7	navigate	navigate	VERB
arestyrurj-167	195	8	waters	water	NOUN
arestyrurj-167	195	9	with	with	ADP
arestyrurj-167	195	10	decent	decent	ADJ
arestyrurj-167	195	11	battery	battery	NOUN
arestyrurj-167	195	12	life	life	NOUN
arestyrurj-167	195	13	and	and	CCONJ
arestyrurj-167	195	14	functional	functional	ADJ
arestyrurj-167	195	15	watertight	watertight	NOUN
arestyrurj-167	195	16	compartments	compartment	NOUN
arestyrurj-167	195	17	all	all	ADV
arestyrurj-167	195	18	at	at	ADP
arestyrurj-167	195	19	a	a	DET
arestyrurj-167	195	20	cost	cost	NOUN
arestyrurj-167	195	21	lower	low	ADJ
arestyrurj-167	195	22	than	than	ADP
arestyrurj-167	195	23	other	other	ADJ
arestyrurj-167	195	24	rovs	rovs	NOUN
arestyrurj-167	195	25	in	in	ADP
arestyrurj-167	195	26	the	the	DET
arestyrurj-167	195	27	market	market	NOUN
arestyrurj-167	195	28	.	.	PUNCT
arestyrurj-167	196	1	the	the	DET
arestyrurj-167	196	2	project	project	NOUN
arestyrurj-167	196	3	has	have	VERB
arestyrurj-167	196	4	several	several	ADJ
arestyrurj-167	196	5	limitations	limitation	NOUN
arestyrurj-167	196	6	that	that	PRON
arestyrurj-167	196	7	could	could	AUX
arestyrurj-167	196	8	be	be	AUX
arestyrurj-167	196	9	improved	improve	VERB
arestyrurj-167	196	10	and	and	CCONJ
arestyrurj-167	196	11	changed	change	VERB
arestyrurj-167	196	12	in	in	ADP
arestyrurj-167	196	13	the	the	DET
arestyrurj-167	196	14	future	future	NOUN
arestyrurj-167	196	15	.	.	PUNCT
arestyrurj-167	197	1	this	this	PRON
arestyrurj-167	197	2	includes	include	VERB
arestyrurj-167	197	3	propulsion	propulsion	NOUN
arestyrurj-167	197	4	,	,	PUNCT
arestyrurj-167	197	5	communication	communication	NOUN
arestyrurj-167	197	6	,	,	PUNCT
arestyrurj-167	197	7	and	and	CCONJ
arestyrurj-167	197	8	buoyancy	buoyancy	NOUN
arestyrurj-167	197	9	,	,	PUNCT
arestyrurj-167	197	10	which	which	PRON
arestyrurj-167	197	11	all	all	PRON
arestyrurj-167	197	12	have	have	VERB
arestyrurj-167	197	13	room	room	NOUN
arestyrurj-167	197	14	for	for	ADP
arestyrurj-167	197	15	improvement	improvement	NOUN
arestyrurj-167	197	16	in	in	ADP
arestyrurj-167	197	17	the	the	DET
arestyrurj-167	197	18	current	current	ADJ
arestyrurj-167	197	19	design	design	NOUN
arestyrurj-167	197	20	.	.	PUNCT
arestyrurj-167	198	1	propulsion	propulsion	NOUN
arestyrurj-167	198	2	could	could	AUX
arestyrurj-167	198	3	be	be	AUX
arestyrurj-167	198	4	modified	modify	VERB
arestyrurj-167	198	5	so	so	SCONJ
arestyrurj-167	198	6	that	that	SCONJ
arestyrurj-167	198	7	the	the	DET
arestyrurj-167	198	8	thrusters	thruster	NOUN
arestyrurj-167	198	9	are	be	AUX
arestyrurj-167	198	10	held	hold	VERB
arestyrurj-167	198	11	more	more	ADV
arestyrurj-167	198	12	effectively	effectively	ADV
arestyrurj-167	198	13	and	and	CCONJ
arestyrurj-167	198	14	are	be	AUX
arestyrurj-167	198	15	more	more	ADV
arestyrurj-167	198	16	powerful	powerful	ADJ
arestyrurj-167	198	17	.	.	PUNCT
arestyrurj-167	199	1	communication	communication	NOUN
arestyrurj-167	199	2	could	could	AUX
arestyrurj-167	199	3	have	have	AUX
arestyrurj-167	199	4	been	be	AUX
arestyrurj-167	199	5	improved	improve	VERB
arestyrurj-167	199	6	on	on	ADP
arestyrurj-167	199	7	the	the	DET
arestyrurj-167	199	8	robot	robot	NOUN
arestyrurj-167	199	9	,	,	PUNCT
arestyrurj-167	199	10	as	as	SCONJ
arestyrurj-167	199	11	the	the	DET
arestyrurj-167	199	12	rov	rov	PROPN
arestyrurj-167	199	13	could	could	AUX
arestyrurj-167	199	14	have	have	AUX
arestyrurj-167	199	15	been	be	AUX
arestyrurj-167	199	16	made	make	VERB
arestyrurj-167	199	17	to	to	PART
arestyrurj-167	199	18	be	be	AUX
arestyrurj-167	199	19	controlled	control	VERB
arestyrurj-167	199	20	with	with	ADP
arestyrurj-167	199	21	a	a	DET
arestyrurj-167	199	22	phone	phone	NOUN
arestyrurj-167	199	23	,	,	PUNCT
arestyrurj-167	199	24	and	and	CCONJ
arestyrurj-167	199	25	,	,	PUNCT
arestyrurj-167	199	26	assuming	assume	VERB
arestyrurj-167	199	27	the	the	DET
arestyrurj-167	199	28	user	user	NOUN
arestyrurj-167	199	29	already	already	ADV
arestyrurj-167	199	30	has	have	VERB
arestyrurj-167	199	31	a	a	DET
arestyrurj-167	199	32	phone	phone	NOUN
arestyrurj-167	199	33	,	,	PUNCT
arestyrurj-167	199	34	would	would	AUX
arestyrurj-167	199	35	further	far	ADV
arestyrurj-167	199	36	reduce	reduce	VERB
arestyrurj-167	199	37	costs	cost	NOUN
arestyrurj-167	199	38	.	.	PUNCT
arestyrurj-167	200	1	furthermore	furthermore	ADV
arestyrurj-167	200	2	,	,	PUNCT
arestyrurj-167	200	3	if	if	SCONJ
arestyrurj-167	200	4	the	the	DET
arestyrurj-167	200	5	buoyancy	buoyancy	NOUN
arestyrurj-167	200	6	was	be	AUX
arestyrurj-167	200	7	manufactured	manufacture	VERB
arestyrurj-167	200	8	into	into	ADP
arestyrurj-167	200	9	the	the	DET
arestyrurj-167	200	10	hull	hull	NOUN
arestyrurj-167	200	11	instead	instead	ADV
arestyrurj-167	200	12	of	of	ADP
arestyrurj-167	200	13	being	be	AUX
arestyrurj-167	200	14	corrected	correct	VERB
arestyrurj-167	200	15	with	with	ADP
arestyrurj-167	200	16	a	a	DET
arestyrurj-167	200	17	dive	dive	NOUN
arestyrurj-167	200	18	belt	belt	NOUN
arestyrurj-167	200	19	,	,	PUNCT
arestyrurj-167	200	20	the	the	DET
arestyrurj-167	200	21	rov	rov	PROPN
arestyrurj-167	200	22	would	would	AUX
arestyrurj-167	200	23	operate	operate	VERB
arestyrurj-167	200	24	more	more	ADV
arestyrurj-167	200	25	efficiently	efficiently	ADV
arestyrurj-167	200	26	since	since	SCONJ
arestyrurj-167	200	27	there	there	PRON
arestyrurj-167	200	28	would	would	AUX
arestyrurj-167	200	29	be	be	AUX
arestyrurj-167	200	30	no	no	DET
arestyrurj-167	200	31	chance	chance	NOUN
arestyrurj-167	200	32	of	of	ADP
arestyrurj-167	200	33	shifting	shift	VERB
arestyrurj-167	200	34	weight	weight	NOUN
arestyrurj-167	200	35	.	.	PUNCT
arestyrurj-167	201	1	all	all	DET
arestyrurj-167	201	2	these	these	DET
arestyrurj-167	201	3	places	place	NOUN
arestyrurj-167	201	4	for	for	ADP
arestyrurj-167	201	5	improvement	improvement	NOUN
arestyrurj-167	201	6	show	show	VERB
arestyrurj-167	201	7	several	several	ADJ
arestyrurj-167	201	8	branches	branch	NOUN
arestyrurj-167	201	9	for	for	ADP
arestyrurj-167	201	10	further	further	ADJ
arestyrurj-167	201	11	research	research	NOUN
arestyrurj-167	201	12	and	and	CCONJ
arestyrurj-167	201	13	work	work	NOUN
arestyrurj-167	201	14	to	to	PART
arestyrurj-167	201	15	be	be	AUX
arestyrurj-167	201	16	done	do	VERB
arestyrurj-167	201	17	to	to	PART
arestyrurj-167	201	18	explore	explore	VERB
arestyrurj-167	201	19	these	these	DET
arestyrurj-167	201	20	ideas∎	ideas∎	NOUN
arestyrurj-167	201	21	simplicity	simplicity	NOUN
arestyrurj-167	201	22	was	be	AUX
arestyrurj-167	201	23	the	the	DET
arestyrurj-167	201	24	main	main	ADJ
arestyrurj-167	201	25	guide	guide	NOUN
arestyrurj-167	201	26	for	for	ADP
arestyrurj-167	201	27	design	design	NOUN
arestyrurj-167	201	28	decisions	decision	NOUN
arestyrurj-167	201	29	and	and	CCONJ
arestyrurj-167	201	30	was	be	AUX
arestyrurj-167	201	31	found	find	VERB
arestyrurj-167	201	32	to	to	PART
arestyrurj-167	201	33	be	be	AUX
arestyrurj-167	201	34	a	a	DET
arestyrurj-167	201	35	helpful	helpful	ADJ
arestyrurj-167	201	36	philosophy	philosophy	NOUN
arestyrurj-167	201	37	when	when	SCONJ
arestyrurj-167	201	38	keeping	keep	VERB
arestyrurj-167	201	39	costs	cost	NOUN
arestyrurj-167	201	40	low	low	ADJ
arestyrurj-167	201	41	while	while	SCONJ
arestyrurj-167	201	42	keeping	keep	VERB
arestyrurj-167	201	43	uncompromised	uncompromised	ADJ
arestyrurj-167	201	44	capability	capability	NOUN
arestyrurj-167	201	45	.	.	PUNCT
arestyrurj-167	202	1	aresty	aresty	ADJ
arestyrurj-167	202	2	rutgers	rutgers	PROPN
arestyrurj-167	202	3	undergraduate	undergraduate	PROPN
arestyrurj-167	202	4	research	research	PROPN
arestyrurj-167	202	5	journal	journal	PROPN
arestyrurj-167	202	6	,	,	PUNCT
arestyrurj-167	202	7	volume	volume	NOUN
arestyrurj-167	202	8	i	i	PRON
arestyrurj-167	202	9	,	,	PUNCT
arestyrurj-167	202	10	issue	issue	VERB
arestyrurj-167	202	11	iii	iii	NUM
arestyrurj-167	202	12	5	5	NUM
arestyrurj-167	202	13	acknowledgements	acknowledgement	NOUN
arestyrurj-167	202	14	we	we	PRON
arestyrurj-167	202	15	would	would	AUX
arestyrurj-167	202	16	like	like	VERB
arestyrurj-167	202	17	to	to	PART
arestyrurj-167	202	18	express	express	VERB
arestyrurj-167	202	19	appreciation	appreciation	NOUN
arestyrurj-167	202	20	for	for	ADP
arestyrurj-167	202	21	the	the	DET
arestyrurj-167	202	22	project	project	NOUN
arestyrurj-167	202	23	sponsor	sponsor	NOUN
arestyrurj-167	202	24	blue	blue	PROPN
arestyrurj-167	202	25	robotics	robotics	PROPN
arestyrurj-167	202	26	inc	inc	PROPN
arestyrurj-167	202	27	.	.	PROPN
arestyrurj-167	202	28	for	for	ADP
arestyrurj-167	202	29	giving	give	VERB
arestyrurj-167	202	30	a	a	DET
arestyrurj-167	202	31	discount	discount	NOUN
arestyrurj-167	202	32	on	on	ADP
arestyrurj-167	202	33	the	the	DET
arestyrurj-167	202	34	water	water	NOUN
arestyrurj-167	202	35	enclosure	enclosure	NOUN
arestyrurj-167	202	36	cap	cap	NOUN
arestyrurj-167	202	37	.	.	PUNCT
arestyrurj-167	203	1	furthermore	furthermore	ADV
arestyrurj-167	203	2	,	,	PUNCT
arestyrurj-167	203	3	we	we	PRON
arestyrurj-167	203	4	would	would	AUX
arestyrurj-167	203	5	like	like	VERB
arestyrurj-167	203	6	to	to	PART
arestyrurj-167	203	7	thank	thank	VERB
arestyrurj-167	203	8	the	the	DET
arestyrurj-167	203	9	faculty	faculty	NOUN
arestyrurj-167	203	10	mentor	mentor	NOUN
arestyrurj-167	203	11	professor	professor	PROPN
arestyrurj-167	203	12	jingang	jingang	PROPN
arestyrurj-167	203	13	yi	yi	PROPN
arestyrurj-167	203	14	for	for	ADP
arestyrurj-167	203	15	editing	edit	VERB
arestyrurj-167	203	16	the	the	DET
arestyrurj-167	203	17	report	report	NOUN
arestyrurj-167	203	18	and	and	CCONJ
arestyrurj-167	203	19	for	for	ADP
arestyrurj-167	203	20	guidance	guidance	NOUN
arestyrurj-167	203	21	on	on	ADP
arestyrurj-167	203	22	the	the	DET
arestyrurj-167	203	23	project	project	NOUN
arestyrurj-167	203	24	.	.	PUNCT
arestyrurj-167	204	1	6	6	NUM
arestyrurj-167	204	2	references	reference	NOUN
arestyrurj-167	204	3	[	[	X
arestyrurj-167	204	4	1	1	NUM
arestyrurj-167	204	5	]	]	PUNCT
arestyrurj-167	204	6	aguirre	aguirre	PROPN
arestyrurj-167	204	7	-	-	PUNCT
arestyrurj-167	204	8	castro	castro	PROPN
arestyrurj-167	204	9	,	,	PUNCT
arestyrurj-167	204	10	o.	o.	PROPN
arestyrurj-167	204	11	a.	a.	PROPN
arestyrurj-167	204	12	,	,	PUNCT
arestyrurj-167	204	13	inzunza	inzunza	PROPN
arestyrurj-167	204	14	-	-	PUNCT
arestyrurj-167	204	15	gonzález	gonzález	PROPN
arestyrurj-167	204	16	,	,	PUNCT
arestyrurj-167	204	17	e.	e.	PROPN
arestyrurj-167	204	18	,	,	PUNCT
arestyrurj-167	204	19	garcía	garcía	ADJ
arestyrurj-167	204	20	-	-	PUNCT
arestyrurj-167	204	21	guerrero	guerrero	NOUN
arestyrurj-167	204	22	,	,	PUNCT
arestyrurj-167	204	23	e.	e.	PROPN
arestyrurj-167	204	24	e.	e.	PROPN
arestyrurj-167	204	25	,	,	PUNCT
arestyrurj-167	204	26	tlelo	tlelo	NOUN
arestyrurj-167	204	27	-	-	PUNCT
arestyrurj-167	204	28	cuautle	cuautle	NOUN
arestyrurj-167	204	29	,	,	PUNCT
arestyrurj-167	204	30	e.	e.	PROPN
arestyrurj-167	204	31	,	,	PUNCT
arestyrurj-167	204	32	lópez	lópez	NOUN
arestyrurj-167	204	33	-	-	PUNCT
arestyrurj-167	204	34	bonilla	bonilla	NOUN
arestyrurj-167	204	35	,	,	PUNCT
arestyrurj-167	204	36	o.	o.	PROPN
arestyrurj-167	204	37	r.	r.	PROPN
arestyrurj-167	204	38	,	,	PUNCT
arestyrurj-167	204	39	olguíntiznado	olguíntiznado	PROPN
arestyrurj-167	204	40	,	,	PUNCT
arestyrurj-167	204	41	j.	j.	PROPN
arestyrurj-167	204	42	e.	e.	PROPN
arestyrurj-167	204	43	,	,	PUNCT
arestyrurj-167	204	44	&	&	CCONJ
arestyrurj-167	204	45	cárdenas	cárdenas	PROPN
arestyrurj-167	204	46	-	-	PUNCT
arestyrurj-167	204	47	valdez	valdez	PROPN
arestyrurj-167	204	48	,	,	PUNCT
arestyrurj-167	204	49	j.	j.	PROPN
arestyrurj-167	204	50	r.	r.	PROPN
arestyrurj-167	204	51	(	(	PUNCT
arestyrurj-167	204	52	2019	2019	NUM
arestyrurj-167	204	53	)	)	PUNCT
arestyrurj-167	204	54	.	.	PUNCT
arestyrurj-167	205	1	design	design	NOUN
arestyrurj-167	205	2	and	and	CCONJ
arestyrurj-167	205	3	construction	construction	NOUN
arestyrurj-167	205	4	of	of	ADP
arestyrurj-167	205	5	an	an	DET
arestyrurj-167	205	6	rov	rov	PROPN
arestyrurj-167	205	7	for	for	ADP
arestyrurj-167	205	8	underwater	underwater	ADJ
arestyrurj-167	205	9	exploration	exploration	NOUN
arestyrurj-167	205	10	.	.	PUNCT
arestyrurj-167	206	1	sensors	sensor	NOUN
arestyrurj-167	206	2	(	(	PUNCT
arestyrurj-167	206	3	basel	basel	PROPN
arestyrurj-167	206	4	,	,	PUNCT
arestyrurj-167	206	5	switzerland	switzerland	PROPN
arestyrurj-167	206	6	)	)	PUNCT
arestyrurj-167	206	7	,	,	PUNCT
arestyrurj-167	206	8	19(24	19(24	NUM
arestyrurj-167	206	9	)	)	PUNCT
arestyrurj-167	206	10	,	,	PUNCT
arestyrurj-167	206	11	5387–.	5387–.	NUM
arestyrurj-167	206	12	[	[	X
arestyrurj-167	206	13	2	2	NUM
arestyrurj-167	206	14	]	]	PUNCT
arestyrurj-167	206	15	ahmed	ahme	VERB
arestyrurj-167	206	16	,	,	PUNCT
arestyrurj-167	206	17	y.	y.	PROPN
arestyrurj-167	206	18	,	,	PUNCT
arestyrurj-167	206	19	yaakob	yaakob	PROPN
arestyrurj-167	206	20	,	,	PUNCT
arestyrurj-167	206	21	o.	o.	PROPN
arestyrurj-167	206	22	,	,	PUNCT
arestyrurj-167	206	23	&	&	CCONJ
arestyrurj-167	206	24	sun	sun	PROPN
arestyrurj-167	206	25	,	,	PUNCT
arestyrurj-167	206	26	b.	b.	PROPN
arestyrurj-167	206	27	(	(	PUNCT
arestyrurj-167	206	28	2014	2014	NUM
arestyrurj-167	206	29	)	)	PUNCT
arestyrurj-167	206	30	.	.	PUNCT
arestyrurj-167	207	1	design	design	NOUN
arestyrurj-167	207	2	of	of	ADP
arestyrurj-167	207	3	a	a	DET
arestyrurj-167	207	4	new	new	ADJ
arestyrurj-167	207	5	low	low	ADJ
arestyrurj-167	207	6	cost	cost	NOUN
arestyrurj-167	207	7	rov	rov	PROPN
arestyrurj-167	207	8	vehicle	vehicle	NOUN
arestyrurj-167	207	9	.	.	PUNCT
arestyrurj-167	208	1	jurnal	jurnal	PROPN
arestyrurj-167	208	2	teknologi	teknologi	PROPN
arestyrurj-167	208	3	.	.	PROPN
arestyrurj-167	209	1	69	69	NUM
arestyrurj-167	209	2	.	.	PUNCT
arestyrurj-167	210	1	[	[	X
arestyrurj-167	210	2	3	3	X
arestyrurj-167	210	3	]	]	PUNCT
arestyrurj-167	210	4	aniwaa	aniwaa	PROPN
arestyrurj-167	210	5	.	.	PUNCT
arestyrurj-167	211	1	(	(	PUNCT
arestyrurj-167	211	2	2021	2021	NUM
arestyrurj-167	211	3	)	)	PUNCT
arestyrurj-167	211	4	“	"	PUNCT
arestyrurj-167	211	5	the	the	DET
arestyrurj-167	211	6	11	11	NUM
arestyrurj-167	211	7	best	good	ADJ
arestyrurj-167	211	8	underwater	underwater	ADJ
arestyrurj-167	211	9	drones	drone	NOUN
arestyrurj-167	211	10	in	in	ADP
arestyrurj-167	211	11	2021	2021	NUM
arestyrurj-167	211	12	.	.	PUNCT
arestyrurj-167	211	13	”	"	PUNCT
arestyrurj-167	212	1	aniwaa.com	aniwaa.com	X
arestyrurj-167	212	2	,	,	PUNCT
arestyrurj-167	212	3	retrieved	retrieve	VERB
arestyrurj-167	212	4	12	12	NUM
arestyrurj-167	212	5	jan	jan	PROPN
arestyrurj-167	212	6	.	.	PROPN
arestyrurj-167	212	7	2021	2021	NUM
arestyrurj-167	212	8	www.aniwaa.com/buyers-guide/drones/best-underwater-drones/	www.aniwaa.com/buyers-guide/drones/best-underwater-drones/	PRON
arestyrurj-167	213	1	[	[	X
arestyrurj-167	213	2	4	4	NUM
arestyrurj-167	213	3	]	]	X
arestyrurj-167	213	4	cherdo	cherdo	PROPN
arestyrurj-167	213	5	,	,	PUNCT
arestyrurj-167	213	6	l.	l.	PROPN
arestyrurj-167	213	7	(	(	PUNCT
arestyrurj-167	213	8	2020	2020	NUM
arestyrurj-167	213	9	)	)	PUNCT
arestyrurj-167	213	10	“	"	PUNCT
arestyrurj-167	213	11	best	good	ADJ
arestyrurj-167	213	12	underwater	underwater	ADJ
arestyrurj-167	213	13	drones	drone	NOUN
arestyrurj-167	213	14	2020	2020	NUM
arestyrurj-167	213	15	:	:	PUNCT
arestyrurj-167	213	16	the	the	DET
arestyrurj-167	213	17	13	13	NUM
arestyrurj-167	213	18	best	good	ADJ
arestyrurj-167	213	19	rovs	rovs	NOUN
arestyrurj-167	213	20	this	this	DET
arestyrurj-167	213	21	year	year	NOUN
arestyrurj-167	213	22	.	.	PUNCT
arestyrurj-167	213	23	”	"	PUNCT
arestyrurj-167	214	1	aniwaa	aniwaa	X
arestyrurj-167	215	1	[	[	X
arestyrurj-167	215	2	5	5	NUM
arestyrurj-167	215	3	]	]	PUNCT
arestyrurj-167	215	4	martos	marto	NOUN
arestyrurj-167	215	5	,	,	PUNCT
arestyrurj-167	215	6	g.	g.	PROPN
arestyrurj-167	215	7	,	,	PUNCT
arestyrurj-167	215	8	abreu	abreu	PROPN
arestyrurj-167	215	9	,	,	PUNCT
arestyrurj-167	215	10	a.	a.	PROPN
arestyrurj-167	215	11	,	,	PUNCT
arestyrurj-167	215	12	gonzalez	gonzalez	PROPN
arestyrurj-167	215	13	,	,	PUNCT
arestyrurj-167	215	14	s.	s.	PROPN
arestyrurj-167	215	15	,	,	PUNCT
arestyrurj-167	215	16	&	&	CCONJ
arestyrurj-167	215	17	tremante	tremante	PROPN
arestyrurj-167	215	18	,	,	PUNCT
arestyrurj-167	215	19	a.	a.	NOUN
arestyrurj-167	215	20	(	(	PUNCT
arestyrurj-167	215	21	2013	2013	NUM
arestyrurj-167	215	22	)	)	PUNCT
arestyrurj-167	215	23	.	.	PUNCT
arestyrurj-167	216	1	remotely	remotely	ADV
arestyrurj-167	216	2	operated	operate	VERB
arestyrurj-167	216	3	underwater	underwater	ADJ
arestyrurj-167	216	4	vehicle	vehicle	NOUN
arestyrurj-167	216	5	(	(	PUNCT
arestyrurj-167	216	6	rov	rov	PROPN
arestyrurj-167	216	7	)	)	PUNCT
arestyrurj-167	216	8	100	100	NUM
arestyrurj-167	216	9	%	%	NOUN
arestyrurj-167	216	10	report	report	NOUN
arestyrurj-167	216	11	(	(	PUNCT
arestyrurj-167	216	12	unpublished	unpublished	ADJ
arestyrurj-167	216	13	b.s	b.s	PROPN
arestyrurj-167	216	14	.	.	PROPN
arestyrurj-167	216	15	thesis	thesis	NOUN
arestyrurj-167	216	16	)	)	PUNCT
arestyrurj-167	216	17	.	.	PUNCT
arestyrurj-167	217	1	retrieved	retrieve	VERB
arestyrurj-167	217	2	from	from	ADP
arestyrurj-167	217	3	https://mme.fiu.edu/wp-content/uploads/2013/12/f13-sr-t-1.pdf	https://mme.fiu.edu/wp-content/uploads/2013/12/f13-sr-t-1.pdf	PROPN
arestyrurj-167	217	4	[	[	X
arestyrurj-167	217	5	6	6	NUM
arestyrurj-167	217	6	]	]	PUNCT
arestyrurj-167	217	7	rahimuddin	rahimuddin	VERB
arestyrurj-167	217	8	et	et	PROPN
arestyrurj-167	217	9	al	al	PROPN
arestyrurj-167	217	10	.	.	PROPN
arestyrurj-167	218	1	(	(	PUNCT
arestyrurj-167	218	2	2018	2018	NUM
arestyrurj-167	218	3	)	)	PUNCT
arestyrurj-167	218	4	j.	j.	PROPN
arestyrurj-167	218	5	phys	phys	PROPN
arestyrurj-167	218	6	:	:	PUNCT
arestyrurj-167	218	7	conf	conf	NOUN
arestyrurj-167	218	8	.	.	PUNCT
arestyrurj-167	218	9	ser	ser	PROPN
arestyrurj-167	218	10	.	.	PROPN
arestyrurj-167	219	1	962	962	NUM
arestyrurj-167	219	2	012017	012017	NUM
arestyrurj-167	219	3	zachary	zachary	NOUN
arestyrurj-167	219	4	smolder	smolder	NOUN
arestyrurj-167	219	5	is	be	AUX
arestyrurj-167	219	6	a	a	DET
arestyrurj-167	219	7	rutgers	rutgers	PROPN
arestyrurj-167	219	8	school	school	NOUN
arestyrurj-167	219	9	of	of	ADP
arestyrurj-167	219	10	engineering	engineering	NOUN
arestyrurj-167	219	11	sophomore	sophomore	NOUN
arestyrurj-167	219	12	.	.	PUNCT
arestyrurj-167	220	1	he	he	PRON
arestyrurj-167	220	2	is	be	AUX
arestyrurj-167	220	3	majoring	major	VERB
arestyrurj-167	220	4	in	in	ADP
arestyrurj-167	220	5	mechanical	mechanical	ADJ
arestyrurj-167	220	6	engineering	engineering	NOUN
arestyrurj-167	220	7	and	and	CCONJ
arestyrurj-167	220	8	plans	plan	NOUN
arestyrurj-167	220	9	to	to	PART
arestyrurj-167	220	10	pursue	pursue	VERB
arestyrurj-167	220	11	a	a	DET
arestyrurj-167	220	12	career	career	NOUN
arestyrurj-167	220	13	in	in	ADP
arestyrurj-167	220	14	entrepreneurship	entrepreneurship	NOUN
arestyrurj-167	220	15	and	and	CCONJ
arestyrurj-167	220	16	film	film	NOUN
arestyrurj-167	220	17	.	.	PUNCT
arestyrurj-167	221	1	he	he	PRON
arestyrurj-167	221	2	is	be	AUX
arestyrurj-167	221	3	very	very	ADV
arestyrurj-167	221	4	passionate	passionate	ADJ
arestyrurj-167	221	5	about	about	ADP
arestyrurj-167	221	6	robotics	robotic	NOUN
arestyrurj-167	221	7	and	and	CCONJ
arestyrurj-167	221	8	their	their	PRON
arestyrurj-167	221	9	multivariable	multivariable	ADJ
arestyrurj-167	221	10	applications	application	NOUN
arestyrurj-167	221	11	.	.	PUNCT
arestyrurj-167	222	1	another	another	DET
arestyrurj-167	222	2	interest	interest	NOUN
arestyrurj-167	222	3	of	of	ADP
arestyrurj-167	222	4	zachary	zachary	PROPN
arestyrurj-167	222	5	’s	’s	PART
arestyrurj-167	222	6	is	be	AUX
arestyrurj-167	222	7	the	the	DET
arestyrurj-167	222	8	great	great	ADJ
arestyrurj-167	222	9	issue	issue	NOUN
arestyrurj-167	222	10	of	of	ADP
arestyrurj-167	222	11	microplastics	microplastic	NOUN
arestyrurj-167	222	12	in	in	ADP
arestyrurj-167	222	13	the	the	DET
arestyrurj-167	222	14	world	world	NOUN
arestyrurj-167	222	15	’s	’s	PART
arestyrurj-167	222	16	oceans	ocean	NOUN
arestyrurj-167	222	17	which	which	PRON
arestyrurj-167	222	18	he	he	PRON
arestyrurj-167	222	19	hopes	hope	VERB
arestyrurj-167	222	20	to	to	PART
arestyrurj-167	222	21	help	help	VERB
arestyrurj-167	222	22	out	out	ADP
arestyrurj-167	222	23	in	in	ADP
arestyrurj-167	222	24	during	during	ADP
arestyrurj-167	222	25	his	his	PRON
arestyrurj-167	222	26	career	career	NOUN
arestyrurj-167	222	27	.	.	PUNCT
arestyrurj-167	223	1	throughout	throughout	ADP
arestyrurj-167	223	2	quarantine	quarantine	NOUN
arestyrurj-167	223	3	,	,	PUNCT
arestyrurj-167	223	4	zachary	zachary	PROPN
arestyrurj-167	223	5	decided	decide	VERB
arestyrurj-167	223	6	that	that	SCONJ
arestyrurj-167	223	7	due	due	ADP
arestyrurj-167	223	8	to	to	ADP
arestyrurj-167	223	9	flexibility	flexibility	NOUN
arestyrurj-167	223	10	and	and	CCONJ
arestyrurj-167	223	11	freedom	freedom	NOUN
arestyrurj-167	223	12	in	in	ADP
arestyrurj-167	223	13	his	his	PRON
arestyrurj-167	223	14	schedule	schedule	NOUN
arestyrurj-167	223	15	he	he	PRON
arestyrurj-167	223	16	would	would	AUX
arestyrurj-167	223	17	do	do	VERB
arestyrurj-167	223	18	independent	independent	ADJ
arestyrurj-167	223	19	research	research	NOUN
arestyrurj-167	223	20	during	during	ADP
arestyrurj-167	223	21	the	the	DET
arestyrurj-167	223	22	fall	fall	NOUN
arestyrurj-167	223	23	2020	2020	NUM
arestyrurj-167	223	24	semester	semester	NOUN
arestyrurj-167	223	25	.	.	PUNCT
arestyrurj-167	224	1	under	under	ADP
arestyrurj-167	224	2	the	the	DET
arestyrurj-167	224	3	guidance	guidance	NOUN
arestyrurj-167	224	4	of	of	ADP
arestyrurj-167	224	5	professor	professor	NOUN
arestyrurj-167	224	6	chigang	chigang	PROPN
arestyrurj-167	224	7	yi	yi	PROPN
arestyrurj-167	224	8	,	,	PUNCT
arestyrurj-167	224	9	zachary	zachary	PROPN
arestyrurj-167	224	10	was	be	AUX
arestyrurj-167	224	11	able	able	ADJ
arestyrurj-167	224	12	to	to	PART
arestyrurj-167	224	13	complete	complete	VERB
arestyrurj-167	224	14	his	his	PRON
arestyrurj-167	224	15	project	project	NOUN
arestyrurj-167	224	16	while	while	SCONJ
arestyrurj-167	224	17	at	at	ADP
arestyrurj-167	224	18	home	home	NOUN
arestyrurj-167	224	19	and	and	CCONJ
arestyrurj-167	224	20	working	work	VERB
arestyrurj-167	224	21	remotely	remotely	ADV
arestyrurj-167	224	22	.	.	PUNCT
arestyrurj-167	225	1	zachary	zachary	PROPN
arestyrurj-167	225	2	is	be	AUX
arestyrurj-167	225	3	glad	glad	ADJ
arestyrurj-167	225	4	for	for	ADP
arestyrurj-167	225	5	the	the	DET
arestyrurj-167	225	6	opportunity	opportunity	NOUN
arestyrurj-167	225	7	to	to	PART
arestyrurj-167	225	8	be	be	AUX
arestyrurj-167	225	9	able	able	ADJ
arestyrurj-167	225	10	to	to	PART
arestyrurj-167	225	11	do	do	VERB
arestyrurj-167	225	12	research	research	NOUN
arestyrurj-167	225	13	during	during	ADP
arestyrurj-167	225	14	covid	covid	NOUN
arestyrurj-167	225	15	and	and	CCONJ
arestyrurj-167	225	16	looks	look	VERB
arestyrurj-167	225	17	forward	forward	ADV
arestyrurj-167	225	18	to	to	ADP
arestyrurj-167	225	19	continuing	continue	VERB
arestyrurj-167	225	20	his	his	PRON
arestyrurj-167	225	21	research	research	NOUN
arestyrurj-167	225	22	endeavors	endeavor	NOUN
arestyrurj-167	225	23	while	while	SCONJ
arestyrurj-167	225	24	on	on	ADP
arestyrurj-167	225	25	campus	campus	NOUN
arestyrurj-167	225	26	.	.	PUNCT
arestyrurj-167	226	1	http://www.aniwaa.com/buyers-guide/drones/best-underwater-drones/	http://www.aniwaa.com/buyers-guide/drones/best-underwater-drones/	PROPN
arestyrurj-167	226	2	https://mme.fiu.edu/wp-content/uploads/2013/12/f13-sr-t-1.pdf	https://mme.fiu.edu/wp-content/uploads/2013/12/f13-sr-t-1.pdf	PROPN
arestyrurj-167	226	3	aresty	aresty	PROPN
arestyrurj-167	226	4	rutgers	rutgers	PROPN
arestyrurj-167	226	5	undergraduate	undergraduate	PROPN
arestyrurj-167	226	6	research	research	PROPN
arestyrurj-167	226	7	journal	journal	PROPN
arestyrurj-167	226	8	,	,	PUNCT
arestyrurj-167	226	9	volume	volume	NOUN
arestyrurj-167	226	10	i	i	PRON
arestyrurj-167	226	11	,	,	PUNCT
arestyrurj-167	226	12	issue	issue	VERB
arestyrurj-167	226	13	iii	iii	NUM
arestyrurj-167	226	14	7	7	NUM
arestyrurj-167	226	15	appendix	appendix	NOUN
arestyrurj-167	226	16	below	below	ADV
arestyrurj-167	226	17	is	be	AUX
arestyrurj-167	226	18	the	the	DET
arestyrurj-167	226	19	total	total	ADJ
arestyrurj-167	226	20	cost	cost	NOUN
arestyrurj-167	226	21	and	and	CCONJ
arestyrurj-167	226	22	expenses	expense	NOUN
arestyrurj-167	226	23	for	for	ADP
arestyrurj-167	226	24	the	the	DET
arestyrurj-167	226	25	project	project	NOUN
arestyrurj-167	226	26	.	.	PUNCT
arestyrurj-167	227	1	it	it	PRON
arestyrurj-167	227	2	is	be	AUX
arestyrurj-167	227	3	important	important	ADJ
arestyrurj-167	227	4	to	to	PART
arestyrurj-167	227	5	note	note	VERB
arestyrurj-167	227	6	that	that	SCONJ
arestyrurj-167	227	7	the	the	DET
arestyrurj-167	227	8	rov	rov	PROPN
arestyrurj-167	227	9	only	only	ADV
arestyrurj-167	227	10	cost	cost	VERB
arestyrurj-167	227	11	$	$	SYM
arestyrurj-167	227	12	930.65	930.65	NUM
arestyrurj-167	227	13	,	,	PUNCT
arestyrurj-167	227	14	seeing	see	VERB
arestyrurj-167	227	15	as	as	ADP
arestyrurj-167	227	16	many	many	ADJ
arestyrurj-167	227	17	rovs	rovs	NOUN
arestyrurj-167	227	18	in	in	ADP
arestyrurj-167	227	19	the	the	DET
arestyrurj-167	227	20	modern	modern	ADJ
arestyrurj-167	227	21	day	day	NOUN
arestyrurj-167	227	22	cost	cost	VERB
arestyrurj-167	227	23	thousands	thousand	NOUN
arestyrurj-167	227	24	of	of	ADP
arestyrurj-167	227	25	dollars.[3	dollars.[3	NOUN
arestyrurj-167	227	26	]	]	PUNCT
arestyrurj-167	227	27	this	this	DET
arestyrurj-167	227	28	expense	expense	NOUN
arestyrurj-167	227	29	chart	chart	NOUN
arestyrurj-167	227	30	sums	sum	VERB
arestyrurj-167	227	31	up	up	ADP
arestyrurj-167	227	32	the	the	DET
arestyrurj-167	227	33	true	true	ADJ
arestyrurj-167	227	34	innovation	innovation	NOUN
arestyrurj-167	227	35	and	and	CCONJ
arestyrurj-167	227	36	benefit	benefit	NOUN
arestyrurj-167	227	37	of	of	ADP
arestyrurj-167	227	38	the	the	DET
arestyrurj-167	227	39	design	design	NOUN
arestyrurj-167	227	40	.	.	PUNCT
arestyrurj-167	228	1	note	note	VERB
arestyrurj-167	228	2	that	that	SCONJ
arestyrurj-167	228	3	in	in	ADP
arestyrurj-167	228	4	order	order	NOUN
arestyrurj-167	228	5	to	to	PART
arestyrurj-167	228	6	calculate	calculate	VERB
arestyrurj-167	228	7	the	the	DET
arestyrurj-167	228	8	cost	cost	NOUN
arestyrurj-167	228	9	of	of	ADP
arestyrurj-167	228	10	labor	labor	NOUN
arestyrurj-167	228	11	,	,	PUNCT
arestyrurj-167	228	12	a	a	DET
arestyrurj-167	228	13	rate	rate	NOUN
arestyrurj-167	228	14	of	of	ADP
arestyrurj-167	228	15	$	$	SYM
arestyrurj-167	228	16	12.95	12.95	NUM
arestyrurj-167	228	17	was	be	AUX
arestyrurj-167	228	18	used	use	VERB
arestyrurj-167	228	19	for	for	ADP
arestyrurj-167	228	20	a	a	DET
arestyrurj-167	228	21	total	total	ADJ
arestyrurj-167	228	22	labor	labor	NOUN
arestyrurj-167	228	23	time	time	NOUN
arestyrurj-167	228	24	of	of	ADP
arestyrurj-167	228	25	12	12	NUM
arestyrurj-167	228	26	hours	hour	NOUN
arestyrurj-167	228	27	which	which	PRON
arestyrurj-167	228	28	would	would	AUX
arestyrurj-167	228	29	be	be	AUX
arestyrurj-167	228	30	enough	enough	ADJ
arestyrurj-167	228	31	in	in	ADP
arestyrurj-167	228	32	tandem	tandem	NOUN
arestyrurj-167	228	33	with	with	ADP
arestyrurj-167	228	34	3d	3d	NOUN
arestyrurj-167	228	35	printings	printing	NOUN
arestyrurj-167	228	36	and	and	CCONJ
arestyrurj-167	228	37	other	other	ADJ
arestyrurj-167	228	38	tools	tool	NOUN
arestyrurj-167	228	39	to	to	PART
arestyrurj-167	228	40	assemble	assemble	VERB
arestyrurj-167	228	41	the	the	DET
arestyrurj-167	228	42	robot	robot	NOUN
arestyrurj-167	228	43	.	.	PUNCT
arestyrurj-167	229	1	figure	figure	NOUN
arestyrurj-167	229	2	20	20	NUM
arestyrurj-167	229	3	:	:	PUNCT
arestyrurj-167	229	4	detailed	detailed	ADJ
arestyrurj-167	229	5	expense	expense	NOUN
arestyrurj-167	229	6	and	and	CCONJ
arestyrurj-167	229	7	cost	cost	NOUN
arestyrurj-167	229	8	report	report	NOUN
arestyrurj-167	229	9	showing	show	VERB
arestyrurj-167	229	10	the	the	DET
arestyrurj-167	229	11	total	total	ADJ
arestyrurj-167	229	12	price	price	NOUN
arestyrurj-167	229	13	of	of	ADP
arestyrurj-167	229	14	the	the	DET
arestyrurj-167	229	15	rov	rov	PROPN
arestyrurj-167	229	16	’s	’s	PART
arestyrurj-167	229	17	construction	construction	NOUN
arestyrurj-167	229	18	.	.	PUNCT
arestyrurj-167	230	1	aresty	aresty	ADJ
arestyrurj-167	230	2	rutgers	rutgers	PROPN
arestyrurj-167	230	3	undergraduate	undergraduate	PROPN
arestyrurj-167	230	4	research	research	PROPN
arestyrurj-167	230	5	journal	journal	PROPN
arestyrurj-167	230	6	,	,	PUNCT
arestyrurj-167	230	7	volume	volume	NOUN
arestyrurj-167	230	8	i	i	PRON
arestyrurj-167	230	9	,	,	PUNCT
arestyrurj-167	230	10	issue	issue	NOUN
arestyrurj-167	230	11	iii	iii	NOUN
arestyrurj-167	230	12	here	here	ADV
arestyrurj-167	230	13	is	be	AUX
arestyrurj-167	230	14	a	a	DET
arestyrurj-167	230	15	comparison	comparison	NOUN
arestyrurj-167	230	16	chart	chart	NOUN
arestyrurj-167	230	17	further	far	ADV
arestyrurj-167	230	18	showing	show	VERB
arestyrurj-167	230	19	the	the	DET
arestyrurj-167	230	20	great	great	ADJ
arestyrurj-167	230	21	value	value	NOUN
arestyrurj-167	230	22	our	our	PRON
arestyrurj-167	230	23	rov	rov	PROPN
arestyrurj-167	230	24	has	have	VERB
arestyrurj-167	230	25	over	over	ADP
arestyrurj-167	230	26	more	more	ADV
arestyrurj-167	230	27	expensive	expensive	ADJ
arestyrurj-167	230	28	competition	competition	NOUN
arestyrurj-167	230	29	.	.	PUNCT
arestyrurj-167	231	1	while	while	SCONJ
arestyrurj-167	231	2	the	the	DET
arestyrurj-167	231	3	rovs	rovs	NOUN
arestyrurj-167	231	4	below	below	ADV
arestyrurj-167	231	5	have	have	VERB
arestyrurj-167	231	6	better	well	ADJ
arestyrurj-167	231	7	specifications	specification	NOUN
arestyrurj-167	231	8	than	than	ADP
arestyrurj-167	231	9	our	our	PRON
arestyrurj-167	231	10	rov	rov	PROPN
arestyrurj-167	231	11	in	in	ADP
arestyrurj-167	231	12	some	some	DET
arestyrurj-167	231	13	ways	way	NOUN
arestyrurj-167	231	14	,	,	PUNCT
arestyrurj-167	231	15	their	their	PRON
arestyrurj-167	231	16	rovs	rovs	NOUN
arestyrurj-167	231	17	are	be	AUX
arestyrurj-167	231	18	not	not	PART
arestyrurj-167	231	19	open	open	ADJ
arestyrurj-167	231	20	source	source	NOUN
arestyrurj-167	231	21	and	and	CCONJ
arestyrurj-167	231	22	cost	cost	NOUN
arestyrurj-167	231	23	significantly	significantly	ADV
arestyrurj-167	231	24	more	more	ADJ
arestyrurj-167	231	25	than	than	ADP
arestyrurj-167	231	26	ours	ours	PRON
arestyrurj-167	231	27	for	for	ADP
arestyrurj-167	231	28	minimal	minimal	ADJ
arestyrurj-167	231	29	additional	additional	ADJ
arestyrurj-167	231	30	capabilities	capability	NOUN
arestyrurj-167	231	31	.	.	PUNCT
arestyrurj-167	232	1	the	the	DET
arestyrurj-167	232	2	only	only	ADJ
arestyrurj-167	232	3	exception	exception	NOUN
arestyrurj-167	232	4	to	to	ADP
arestyrurj-167	232	5	this	this	PRON
arestyrurj-167	232	6	is	be	AUX
arestyrurj-167	232	7	blue	blue	ADJ
arestyrurj-167	232	8	robotics	robotic	NOUN
arestyrurj-167	232	9	’	'	PUNCT
arestyrurj-167	232	10	bluerov2	bluerov2	NOUN
arestyrurj-167	232	11	,	,	PUNCT
arestyrurj-167	232	12	which	which	PRON
arestyrurj-167	232	13	has	have	VERB
arestyrurj-167	232	14	open	open	ADJ
arestyrurj-167	232	15	-	-	PUNCT
arestyrurj-167	232	16	source	source	NOUN
arestyrurj-167	232	17	abilities	ability	NOUN
arestyrurj-167	232	18	but	but	CCONJ
arestyrurj-167	232	19	at	at	ADP
arestyrurj-167	232	20	a	a	DET
arestyrurj-167	232	21	price	price	NOUN
arestyrurj-167	232	22	four	four	NUM
arestyrurj-167	232	23	times	time	NOUN
arestyrurj-167	232	24	higher	high	ADJ
arestyrurj-167	232	25	than	than	ADP
arestyrurj-167	232	26	that	that	PRON
arestyrurj-167	232	27	of	of	ADP
arestyrurj-167	232	28	our	our	PRON
arestyrurj-167	232	29	rov	rov	PROPN
arestyrurj-167	232	30	.	.	PROPN
arestyrurj-167	232	31	notilo	notilo	PROPN
arestyrurj-167	232	32	plus	plus	CCONJ
arestyrurj-167	232	33	ibubble	ibubble	ADJ
arestyrurj-167	232	34	(	(	PUNCT
arestyrurj-167	232	35	cost	cost	NOUN
arestyrurj-167	232	36	is	be	AUX
arestyrurj-167	232	37	$	$	SYM
arestyrurj-167	232	38	4,499	4,499	NUM
arestyrurj-167	232	39	)	)	PUNCT
arestyrurj-167	233	1	●	●	PUNCT
arestyrurj-167	233	2	not	not	PART
arestyrurj-167	233	3	open	open	VERB
arestyrurj-167	233	4	source	source	NOUN
arestyrurj-167	233	5	●	●	NUM
arestyrurj-167	233	6	battery	battery	NOUN
arestyrurj-167	233	7	life	life	NOUN
arestyrurj-167	233	8	of	of	ADP
arestyrurj-167	233	9	60	60	NUM
arestyrurj-167	233	10	minutes	minute	NOUN
arestyrurj-167	233	11	●	●	NUM
arestyrurj-167	233	12	diving	diving	NOUN
arestyrurj-167	233	13	depth	depth	NOUN
arestyrurj-167	233	14	of	of	ADP
arestyrurj-167	233	15	60	60	NUM
arestyrurj-167	233	16	meters	meter	NOUN
arestyrurj-167	233	17	geneinno	geneinno	NOUN
arestyrurj-167	233	18	t1	t1	NOUN
arestyrurj-167	233	19	(	(	PUNCT
arestyrurj-167	233	20	cost	cost	NOUN
arestyrurj-167	233	21	is	be	AUX
arestyrurj-167	233	22	$	$	SYM
arestyrurj-167	233	23	2,499	2,499	NUM
arestyrurj-167	233	24	)	)	PUNCT
arestyrurj-167	233	25	●	●	PUNCT
arestyrurj-167	233	26	not	not	PART
arestyrurj-167	233	27	open	open	VERB
arestyrurj-167	233	28	source	source	NOUN
arestyrurj-167	233	29	●	●	NUM
arestyrurj-167	233	30	battery	battery	NOUN
arestyrurj-167	233	31	life	life	NOUN
arestyrurj-167	233	32	of	of	ADP
arestyrurj-167	233	33	240	240	NUM
arestyrurj-167	233	34	minutes	minute	NOUN
arestyrurj-167	233	35	●	●	NUM
arestyrurj-167	233	36	diving	diving	NOUN
arestyrurj-167	233	37	depth	depth	NOUN
arestyrurj-167	233	38	of	of	ADP
arestyrurj-167	233	39	150	150	NUM
arestyrurj-167	233	40	meters	meter	NOUN
arestyrurj-167	233	41	aquarobotman	aquarobotman	NOUN
arestyrurj-167	233	42	nemo	nemo	PROPN
arestyrurj-167	233	43	(	(	PUNCT
arestyrurj-167	233	44	cost	cost	NOUN
arestyrurj-167	233	45	is	be	AUX
arestyrurj-167	233	46	$	$	SYM
arestyrurj-167	233	47	1,799	1,799	NUM
arestyrurj-167	233	48	)	)	PUNCT
arestyrurj-167	234	1	●	●	PRON
arestyrurj-167	234	2	not	not	PART
arestyrurj-167	234	3	open	open	VERB
arestyrurj-167	234	4	source	source	NOUN
arestyrurj-167	234	5	●	●	NUM
arestyrurj-167	234	6	battery	battery	NOUN
arestyrurj-167	234	7	life	life	NOUN
arestyrurj-167	234	8	of	of	ADP
arestyrurj-167	234	9	180	180	NUM
arestyrurj-167	234	10	minutes	minute	NOUN
arestyrurj-167	234	11	●	●	NUM
arestyrurj-167	234	12	diving	diving	NOUN
arestyrurj-167	234	13	depth	depth	NOUN
arestyrurj-167	234	14	of	of	ADP
arestyrurj-167	234	15	100	100	NUM
arestyrurj-167	234	16	meters	meter	NOUN
arestyrurj-167	234	17	bluerov2	bluerov2	NOUN
arestyrurj-167	234	18	(	(	PUNCT
arestyrurj-167	234	19	cost	cost	NOUN
arestyrurj-167	234	20	is	be	AUX
arestyrurj-167	234	21	$	$	SYM
arestyrurj-167	234	22	4,268	4,268	NUM
arestyrurj-167	234	23	)	)	PUNCT
arestyrurj-167	235	1	●	●	X
arestyrurj-167	235	2	is	be	AUX
arestyrurj-167	235	3	open	open	ADJ
arestyrurj-167	235	4	source	source	NOUN
arestyrurj-167	235	5	●	●	NUM
arestyrurj-167	235	6	diving	diving	NOUN
arestyrurj-167	235	7	depth	depth	NOUN
arestyrurj-167	235	8	of	of	ADP
arestyrurj-167	235	9	100	100	NUM
arestyrurj-167	235	10	meters	meter	NOUN
arestyrurj-167	235	11	aresty	aresty	ADJ
arestyrurj-167	235	12	rutgers	rutgers	PROPN
arestyrurj-167	235	13	undergraduate	undergraduate	PROPN
arestyrurj-167	235	14	research	research	PROPN
arestyrurj-167	235	15	journal	journal	PROPN
arestyrurj-167	235	16	,	,	PUNCT
arestyrurj-167	235	17	volume	volume	NOUN
arestyrurj-167	235	18	i	i	PRON
arestyrurj-167	235	19	,	,	PUNCT
arestyrurj-167	235	20	issue	issue	NOUN
arestyrurj-167	235	21	iii	iii	NUM
arestyrurj-167	235	22	figure	figure	NOUN
arestyrurj-167	235	23	21	21	NUM
arestyrurj-167	235	24	:	:	PUNCT
arestyrurj-167	235	25	schematic	schematic	ADJ
arestyrurj-167	235	26	showing	show	VERB
arestyrurj-167	235	27	the	the	DET
arestyrurj-167	235	28	wiring	wiring	NOUN
arestyrurj-167	235	29	of	of	ADP
arestyrurj-167	235	30	the	the	DET
arestyrurj-167	235	31	rov	rov	PROPN
arestyrurj-167	235	32	by	by	ADP
arestyrurj-167	235	33	component	component	NOUN
arestyrurj-167	235	34	.	.	PUNCT
arestyrurj-167	236	1	this	this	PRON
arestyrurj-167	236	2	was	be	AUX
arestyrurj-167	236	3	used	use	VERB
arestyrurj-167	236	4	to	to	PART
arestyrurj-167	236	5	have	have	VERB
arestyrurj-167	236	6	a	a	DET
arestyrurj-167	236	7	better	well	ADJ
arestyrurj-167	236	8	overview	overview	NOUN
arestyrurj-167	236	9	of	of	ADP
arestyrurj-167	236	10	how	how	SCONJ
arestyrurj-167	236	11	to	to	PART
arestyrurj-167	236	12	wire	wire	VERB
arestyrurj-167	236	13	the	the	DET
arestyrurj-167	236	14	rov	rov	PROPN
arestyrurj-167	236	15	during	during	ADP
arestyrurj-167	236	16	construction	construction	NOUN
arestyrurj-167	236	17	.	.	PUNCT
arestyrurj-167	237	1	aresty	aresty	ADJ
arestyrurj-167	237	2	rutgers	rutgers	PROPN
arestyrurj-167	237	3	undergraduate	undergraduate	PROPN
arestyrurj-167	237	4	research	research	PROPN
arestyrurj-167	237	5	journal	journal	PROPN
arestyrurj-167	237	6	,	,	PUNCT
arestyrurj-167	237	7	volume	volume	NOUN
arestyrurj-167	237	8	i	i	PRON
arestyrurj-167	237	9	,	,	PUNCT
arestyrurj-167	237	10	issue	issue	VERB
arestyrurj-167	237	11	iii	iii	NUM
arestyrurj-167	237	12	python	python	PROPN
arestyrurj-167	237	13	control	control	PROPN
arestyrurj-167	237	14	script	script	PROPN
arestyrurj-167	237	15	import	import	PROPN
arestyrurj-167	237	16	os	os	NOUN
arestyrurj-167	237	17	import	import	NOUN
arestyrurj-167	237	18	time	time	NOUN
arestyrurj-167	237	19	os.system	os.system	X
arestyrurj-167	237	20	(	(	PUNCT
arestyrurj-167	237	21	"	"	PUNCT
arestyrurj-167	237	22	sudo	sudo	NOUN
arestyrurj-167	237	23	pigpiod	pigpiod	NOUN
arestyrurj-167	237	24	"	"	PUNCT
arestyrurj-167	237	25	)	)	PUNCT
arestyrurj-167	237	26	time.sleep(1	time.sleep(1	NUM
arestyrurj-167	237	27	)	)	PUNCT
arestyrurj-167	237	28	import	import	NOUN
arestyrurj-167	237	29	pigpio	pigpio	NOUN
arestyrurj-167	237	30	import	import	NOUN
arestyrurj-167	237	31	picamera	picamera	NOUN
arestyrurj-167	237	32	import	import	NOUN
arestyrurj-167	237	33	pygame	pygame	NOUN
arestyrurj-167	237	34	camera	camera	NOUN
arestyrurj-167	237	35	=	=	SYM
arestyrurj-167	237	36	picamera.picamera	picamera.picamera	NOUN
arestyrurj-167	237	37	(	(	PUNCT
arestyrurj-167	237	38	)	)	PUNCT
arestyrurj-167	237	39	esc1	esc1	PROPN
arestyrurj-167	237	40	=	=	SYM
arestyrurj-167	237	41	27	27	NUM
arestyrurj-167	237	42	esc2	esc2	NOUN
arestyrurj-167	237	43	=	=	NUM
arestyrurj-167	237	44	17	17	NUM
arestyrurj-167	237	45	esc3	esc3	NOUN
arestyrurj-167	237	46	=	=	SYM
arestyrurj-167	237	47	5	5	NUM
arestyrurj-167	237	48	esc4	esc4	NOUN
arestyrurj-167	237	49	=	=	NUM
arestyrurj-167	237	50	6	6	NUM
arestyrurj-167	237	51	pi	pi	NOUN
arestyrurj-167	237	52	=	=	SYM
arestyrurj-167	237	53	pigpio.pi	pigpio.pi	NOUN
arestyrurj-167	237	54	(	(	PUNCT
arestyrurj-167	237	55	)	)	PUNCT
arestyrurj-167	237	56	pi.set_servo_pulsewidth(esc1,0	pi.set_servo_pulsewidth(esc1,0	PROPN
arestyrurj-167	237	57	)	)	PUNCT
arestyrurj-167	237	58	pi.set_servo_pulsewidth(esc2,0	pi.set_servo_pulsewidth(esc2,0	PROPN
arestyrurj-167	237	59	)	)	PUNCT
arestyrurj-167	237	60	pi.set_servo_pulsewidth(esc3,0	pi.set_servo_pulsewidth(esc3,0	PROPN
arestyrurj-167	237	61	)	)	PUNCT
arestyrurj-167	237	62	pi.set_servo_pulsewidth(esc4,0	pi.set_servo_pulsewidth(esc4,0	ADV
arestyrurj-167	237	63	)	)	PUNCT
arestyrurj-167	237	64	max_value	max_value	NOUN
arestyrurj-167	237	65	=	=	SYM
arestyrurj-167	237	66	1600	1600	NUM
arestyrurj-167	237	67	min_value	min_value	NOUN
arestyrurj-167	237	68	=	=	SYM
arestyrurj-167	237	69	500	500	NUM
arestyrurj-167	237	70	print	print	NOUN
arestyrurj-167	237	71	(	(	PUNCT
arestyrurj-167	237	72	"	"	PUNCT
arestyrurj-167	237	73	initiating	initiate	VERB
arestyrurj-167	237	74	launch	launch	NOUN
arestyrurj-167	237	75	sequence	sequence	NOUN
arestyrurj-167	237	76	"	"	PUNCT
arestyrurj-167	237	77	)	)	PUNCT
arestyrurj-167	237	78	def	def	PROPN
arestyrurj-167	237	79	calibrationsequence	calibrationsequence	NOUN
arestyrurj-167	237	80	(	(	PUNCT
arestyrurj-167	237	81	):	):	PUNCT
arestyrurj-167	237	82	pi.set_servo_pulsewidth(esc1,0	pi.set_servo_pulsewidth(esc1,0	NUM
arestyrurj-167	237	83	)	)	PUNCT
arestyrurj-167	237	84	pi.set_servo_pulsewidth(esc2,0	pi.set_servo_pulsewidth(esc2,0	PROPN
arestyrurj-167	237	85	)	)	PUNCT
arestyrurj-167	237	86	pi.set_servo_pulsewidth(esc3,0	pi.set_servo_pulsewidth(esc3,0	PROPN
arestyrurj-167	237	87	)	)	PUNCT
arestyrurj-167	237	88	pi.set_servo_pulsewidth(esc4,0	pi.set_servo_pulsewidth(esc4,0	ADJ
arestyrurj-167	237	89	)	)	PUNCT
arestyrurj-167	237	90	print("press	print("press	NOUN
arestyrurj-167	237	91	enter	enter	VERB
arestyrurj-167	237	92	to	to	PART
arestyrurj-167	237	93	confirm	confirm	VERB
arestyrurj-167	237	94	calibration	calibration	NOUN
arestyrurj-167	237	95	"	"	PUNCT
arestyrurj-167	237	96	)	)	PUNCT
arestyrurj-167	237	97	inp	inp	PROPN
arestyrurj-167	237	98	=	=	SYM
arestyrurj-167	237	99	input	input	PROPN
arestyrurj-167	237	100	(	(	PUNCT
arestyrurj-167	237	101	)	)	PUNCT
arestyrurj-167	237	102	if	if	SCONJ
arestyrurj-167	237	103	inp	inp	PROPN
arestyrurj-167	237	104	=	=	AUX
arestyrurj-167	237	105	=	=	PRON
arestyrurj-167	237	106	''	''	PUNCT
arestyrurj-167	237	107	:	:	PUNCT
arestyrurj-167	237	108	pi.set_servo_pulsewidth(esc1,max_value	pi.set_servo_pulsewidth(esc1,max_value	NOUN
arestyrurj-167	237	109	)	)	PUNCT
arestyrurj-167	237	110	pi.set_servo_pulsewidth(esc2,max_value	pi.set_servo_pulsewidth(esc2,max_value	NOUN
arestyrurj-167	237	111	)	)	PUNCT
arestyrurj-167	237	112	pi.set_servo_pulsewidth(esc3,max_value	pi.set_servo_pulsewidth(esc3,max_value	NOUN
arestyrurj-167	237	113	)	)	PUNCT
arestyrurj-167	237	114	pi.set_servo_pulsewidth(esc4,max_value	pi.set_servo_pulsewidth(esc4,max_value	NOUN
arestyrurj-167	237	115	)	)	PUNCT
arestyrurj-167	237	116	print("press	print("press	NOUN
arestyrurj-167	237	117	enter	enter	VERB
arestyrurj-167	237	118	again	again	ADV
arestyrurj-167	237	119	"	"	PUNCT
arestyrurj-167	237	120	)	)	PUNCT
arestyrurj-167	238	1	inp	inp	PROPN
arestyrurj-167	238	2	=	=	SYM
arestyrurj-167	238	3	input	input	PROPN
arestyrurj-167	238	4	(	(	PUNCT
arestyrurj-167	238	5	)	)	PUNCT
arestyrurj-167	238	6	if	if	SCONJ
arestyrurj-167	238	7	inp	inp	PROPN
arestyrurj-167	238	8	=	=	AUX
arestyrurj-167	238	9	=	=	PRON
arestyrurj-167	238	10	''	''	PUNCT
arestyrurj-167	238	11	:	:	PUNCT
arestyrurj-167	238	12	pi.set_servo_pulsewidth(esc1,min_value	pi.set_servo_pulsewidth(esc1,min_value	ADJ
arestyrurj-167	238	13	)	)	PUNCT
arestyrurj-167	238	14	pi.set_servo_pulsewidth(esc2,min_value	pi.set_servo_pulsewidth(esc2,min_value	NOUN
arestyrurj-167	238	15	)	)	PUNCT
arestyrurj-167	238	16	pi.set_servo_pulsewidth(esc3,min_value	pi.set_servo_pulsewidth(esc3,min_value	NOUN
arestyrurj-167	238	17	)	)	PUNCT
arestyrurj-167	238	18	pi.set_servo_pulsewidth(esc4,min_value	pi.set_servo_pulsewidth(esc4,min_value	NOUN
arestyrurj-167	238	19	)	)	PUNCT
arestyrurj-167	238	20	print	print	NOUN
arestyrurj-167	238	21	(	(	PUNCT
arestyrurj-167	238	22	"	"	PUNCT
arestyrurj-167	238	23	one	one	NUM
arestyrurj-167	238	24	moment	moment	NOUN
arestyrurj-167	238	25	"	"	PUNCT
arestyrurj-167	238	26	)	)	PUNCT
arestyrurj-167	238	27	time.sleep(10	time.sleep(10	ADJ
arestyrurj-167	238	28	)	)	PUNCT
arestyrurj-167	238	29	pi.set_servo_pulsewidth(esc1,0	pi.set_servo_pulsewidth(esc1,0	PROPN
arestyrurj-167	238	30	)	)	PUNCT
arestyrurj-167	238	31	pi.set_servo_pulsewidth(esc2,0	pi.set_servo_pulsewidth(esc2,0	PROPN
arestyrurj-167	238	32	)	)	PUNCT
arestyrurj-167	238	33	pi.set_servo_pulsewidth(esc3,0	pi.set_servo_pulsewidth(esc3,0	PROPN
arestyrurj-167	238	34	)	)	PUNCT
arestyrurj-167	238	35	pi.set_servo_pulsewidth(esc4,0	pi.set_servo_pulsewidth(esc4,0	ADJ
arestyrurj-167	238	36	)	)	PUNCT
arestyrurj-167	238	37	time.sleep(2	time.sleep(2	NOUN
arestyrurj-167	238	38	)	)	PUNCT
arestyrurj-167	238	39	print("arming	print("arme	VERB
arestyrurj-167	238	40	"	"	PUNCT
arestyrurj-167	238	41	)	)	PUNCT
arestyrurj-167	238	42	pi.set_servo_pulsewidth(esc1,min_value	pi.set_servo_pulsewidth(esc1,min_value	ADJ
arestyrurj-167	238	43	)	)	PUNCT
arestyrurj-167	238	44	pi.set_servo_pulsewidth(esc2,min_value	pi.set_servo_pulsewidth(esc2,min_value	NOUN
arestyrurj-167	238	45	)	)	PUNCT
arestyrurj-167	238	46	pi.set_servo_pulsewidth(esc3,min_value	pi.set_servo_pulsewidth(esc3,min_value	NOUN
arestyrurj-167	238	47	)	)	PUNCT
arestyrurj-167	238	48	pi.set_servo_pulsewidth(esc4,min_value	pi.set_servo_pulsewidth(esc4,min_value	NOUN
arestyrurj-167	238	49	)	)	PUNCT
arestyrurj-167	238	50	controlsequence	controlsequence	NOUN
arestyrurj-167	238	51	(	(	PUNCT
arestyrurj-167	238	52	)	)	PUNCT
arestyrurj-167	238	53	def	def	ADJ
arestyrurj-167	238	54	controlsequence	controlsequence	NOUN
arestyrurj-167	238	55	(	(	PUNCT
arestyrurj-167	238	56	):	):	PUNCT
arestyrurj-167	238	57	print	print	NOUN
arestyrurj-167	238	58	(	(	PUNCT
arestyrurj-167	238	59	"	"	PUNCT
arestyrurj-167	238	60	thrusters	thruster	NOUN
arestyrurj-167	238	61	engaging	engage	VERB
arestyrurj-167	238	62	"	"	PUNCT
arestyrurj-167	238	63	)	)	PUNCT
arestyrurj-167	238	64	time.sleep(1	time.sleep(1	NOUN
arestyrurj-167	238	65	)	)	PUNCT
arestyrurj-167	238	66	speed	speed	NOUN
arestyrurj-167	238	67	=	=	SYM
arestyrurj-167	238	68	500	500	NUM
arestyrurj-167	238	69	print	print	NOUN
arestyrurj-167	238	70	(	(	PUNCT
arestyrurj-167	238	71	"	"	PUNCT
arestyrurj-167	238	72	+	+	CCONJ
arestyrurj-167	238	73	for	for	ADP
arestyrurj-167	238	74	increase	increase	NOUN
arestyrurj-167	238	75	,	,	PUNCT
arestyrurj-167	238	76	for	for	ADP
arestyrurj-167	238	77	decrease	decrease	NOUN
arestyrurj-167	238	78	"	"	PUNCT
arestyrurj-167	238	79	)	)	PUNCT
arestyrurj-167	238	80	while	while	SCONJ
arestyrurj-167	238	81	true	true	ADJ
arestyrurj-167	238	82	:	:	PUNCT
arestyrurj-167	238	83	pi.set_servo_pulsewidth(esc1,speed	pi.set_servo_pulsewidth(esc1,speed	PROPN
arestyrurj-167	238	84	)	)	PUNCT
arestyrurj-167	238	85	pi.set_servo_pulsewidth(esc2,speed	pi.set_servo_pulsewidth(esc2,speed	PROPN
arestyrurj-167	238	86	)	)	PUNCT
arestyrurj-167	238	87	pi.set_servo_pulsewidth(esc3,speed	pi.set_servo_pulsewidth(esc3,speed	NOUN
arestyrurj-167	238	88	)	)	PUNCT
arestyrurj-167	238	89	pi.set_servo_pulsewidth(esc4,speed	pi.set_servo_pulsewidth(esc4,speed	ADJ
arestyrurj-167	238	90	)	)	PUNCT
arestyrurj-167	238	91	inp	inp	PROPN
arestyrurj-167	238	92	=	=	SYM
arestyrurj-167	238	93	input	input	PROPN
arestyrurj-167	238	94	(	(	PUNCT
arestyrurj-167	238	95	)	)	PUNCT
arestyrurj-167	238	96	if	if	SCONJ
arestyrurj-167	238	97	inp	inp	PROPN
arestyrurj-167	238	98	=	=	AUX
arestyrurj-167	238	99	=	=	X
arestyrurj-167	238	100	"	"	PUNCT
arestyrurj-167	238	101	-	-	INTJ
arestyrurj-167	238	102	"	"	PUNCT
arestyrurj-167	238	103	:	:	PUNCT
arestyrurj-167	238	104	speed	speed	NOUN
arestyrurj-167	238	105	-=	-=	NUM
arestyrurj-167	238	106	100	100	NUM
arestyrurj-167	238	107	elif	elif	PROPN
arestyrurj-167	238	108	inp	inp	PROPN
arestyrurj-167	238	109	=	=	NOUN
arestyrurj-167	238	110	=	=	X
arestyrurj-167	238	111	"	"	PUNCT
arestyrurj-167	238	112	+	+	ADJ
arestyrurj-167	238	113	"	"	PUNCT
arestyrurj-167	238	114	:	:	PUNCT
arestyrurj-167	238	115	speed	speed	VERB
arestyrurj-167	238	116	+	+	NOUN
arestyrurj-167	238	117	=	=	SYM
arestyrurj-167	238	118	100	100	NUM
arestyrurj-167	238	119	elif	elif	X
arestyrurj-167	238	120	inp	inp	PROPN
arestyrurj-167	239	1	=	=	NOUN
arestyrurj-167	239	2	=	=	X
arestyrurj-167	239	3	"	"	PUNCT
arestyrurj-167	239	4	0	0	NUM
arestyrurj-167	239	5	"	"	PUNCT
arestyrurj-167	239	6	:	:	PUNCT
arestyrurj-167	239	7	stop	stop	VERB
arestyrurj-167	239	8	(	(	PUNCT
arestyrurj-167	239	9	)	)	PUNCT
arestyrurj-167	239	10	else	else	ADV
arestyrurj-167	239	11	:	:	PUNCT
arestyrurj-167	239	12	print	print	NOUN
arestyrurj-167	239	13	(	(	PUNCT
arestyrurj-167	239	14	"	"	PUNCT
arestyrurj-167	239	15	invalid	invalid	ADJ
arestyrurj-167	239	16	control	control	NOUN
arestyrurj-167	239	17	"	"	PUNCT
arestyrurj-167	239	18	)	)	PUNCT
arestyrurj-167	239	19	def	def	ADJ
arestyrurj-167	239	20	forward	forward	ADV
arestyrurj-167	239	21	(	(	PUNCT
arestyrurj-167	239	22	):	):	PUNCT
arestyrurj-167	239	23	pi.set_servo_pulsewidth(esc1,max_value	pi.set_servo_pulsewidth(esc1,max_value	NOUN
arestyrurj-167	239	24	)	)	PUNCT
arestyrurj-167	239	25	pi.set_servo_pulsewidth(esc2,max_value	pi.set_servo_pulsewidth(esc2,max_value	NOUN
arestyrurj-167	239	26	)	)	PUNCT
arestyrurj-167	239	27	def	def	PROPN
arestyrurj-167	239	28	left	left	ADJ
arestyrurj-167	239	29	(	(	PUNCT
arestyrurj-167	239	30	):	):	PUNCT
arestyrurj-167	239	31	pi.set_servo_pulsewidth(esc1,max_value	pi.set_servo_pulsewidth(esc1,max_value	NOUN
arestyrurj-167	239	32	)	)	PUNCT
arestyrurj-167	239	33	pi.set_servo_pulsewidth(esc2,0	pi.set_servo_pulsewidth(esc2,0	PROPN
arestyrurj-167	239	34	)	)	PUNCT
arestyrurj-167	239	35	pi.set_servo_pulsewidth(esc3,0	pi.set_servo_pulsewidth(esc3,0	PROPN
arestyrurj-167	239	36	)	)	PUNCT
arestyrurj-167	239	37	pi.set_servo_pulsewidth(esc4,0	pi.set_servo_pulsewidth(esc4,0	ADV
arestyrurj-167	239	38	)	)	PUNCT
arestyrurj-167	239	39	def	def	ADJ
arestyrurj-167	239	40	right	right	NOUN
arestyrurj-167	239	41	(	(	PUNCT
arestyrurj-167	239	42	):	):	PUNCT
arestyrurj-167	239	43	pi.set_servo_pulsewidth(esc1,0	pi.set_servo_pulsewidth(esc1,0	NUM
arestyrurj-167	239	44	)	)	PUNCT
arestyrurj-167	239	45	pi.set_servo_pulsewidth(esc2,max_value	pi.set_servo_pulsewidth(esc2,max_value	NOUN
arestyrurj-167	239	46	)	)	PUNCT
arestyrurj-167	239	47	aresty	aresty	ADJ
arestyrurj-167	239	48	rutgers	rutgers	PROPN
arestyrurj-167	239	49	undergraduate	undergraduate	PROPN
arestyrurj-167	239	50	research	research	PROPN
arestyrurj-167	239	51	journal	journal	PROPN
arestyrurj-167	239	52	,	,	PUNCT
arestyrurj-167	239	53	volume	volume	NOUN
arestyrurj-167	239	54	i	i	PRON
arestyrurj-167	239	55	,	,	PUNCT
arestyrurj-167	239	56	issue	issue	VERB
arestyrurj-167	239	57	iii	iii	PROPN
arestyrurj-167	239	58	pi.set_servo_pulsewidth(esc3,0	pi.set_servo_pulsewidth(esc3,0	PROPN
arestyrurj-167	239	59	)	)	PUNCT
arestyrurj-167	239	60	pi.set_servo_pulsewidth(esc4,0	pi.set_servo_pulsewidth(esc4,0	NUM
arestyrurj-167	239	61	)	)	PUNCT
arestyrurj-167	239	62	def	def	ADJ
arestyrurj-167	239	63	dive	dive	NOUN
arestyrurj-167	239	64	(	(	PUNCT
arestyrurj-167	239	65	):	):	PUNCT
arestyrurj-167	239	66	pi.set_servo_pulsewidth(esc1,800	pi.set_servo_pulsewidth(esc1,800	PROPN
arestyrurj-167	239	67	)	)	PUNCT
arestyrurj-167	239	68	pi.set_servo_pulsewidth(esc2,800	pi.set_servo_pulsewidth(esc2,800	PROPN
arestyrurj-167	239	69	)	)	PUNCT
arestyrurj-167	239	70	pi.set_servo_pulsewidth(esc3,max_value	pi.set_servo_pulsewidth(esc3,max_value	NOUN
arestyrurj-167	239	71	)	)	PUNCT
arestyrurj-167	239	72	pi.set_servo_pulsewidth(esc4,max_value	pi.set_servo_pulsewidth(esc4,max_value	NOUN
arestyrurj-167	239	73	)	)	PUNCT
arestyrurj-167	239	74	def	def	PROPN
arestyrurj-167	239	75	launch	launch	NOUN
arestyrurj-167	239	76	(	(	PUNCT
arestyrurj-167	239	77	):	):	PUNCT
arestyrurj-167	239	78	print	print	NOUN
arestyrurj-167	239	79	(	(	PUNCT
arestyrurj-167	239	80	"	"	PUNCT
arestyrurj-167	239	81	beginning	begin	VERB
arestyrurj-167	239	82	underwater	underwater	ADJ
arestyrurj-167	239	83	exploration	exploration	NOUN
arestyrurj-167	239	84	"	"	PUNCT
arestyrurj-167	239	85	)	)	PUNCT
arestyrurj-167	239	86	print	print	NOUN
arestyrurj-167	239	87	(	(	PUNCT
arestyrurj-167	239	88	"	"	PUNCT
arestyrurj-167	239	89	control	control	NOUN
arestyrurj-167	239	90	with	with	ADP
arestyrurj-167	239	91	wasd	wasd	NOUN
arestyrurj-167	239	92	"	"	PUNCT
arestyrurj-167	239	93	)	)	PUNCT
arestyrurj-167	239	94	camera.start_preview(fullscreen	camera.start_preview(fullscreen	NOUN
arestyrurj-167	240	1	=	=	VERB
arestyrurj-167	240	2	false	false	ADJ
arestyrurj-167	240	3	,	,	PUNCT
arestyrurj-167	240	4	window=(100,20,640,480	window=(100,20,640,480	NOUN
arestyrurj-167	240	5	)	)	PUNCT
arestyrurj-167	240	6	)	)	PUNCT
arestyrurj-167	241	1	pi.set_servo_pulsewidth(esc1,0	pi.set_servo_pulsewidth(esc1,0	NUM
arestyrurj-167	241	2	)	)	PUNCT
arestyrurj-167	241	3	pi.set_servo_pulsewidth(esc2,0	pi.set_servo_pulsewidth(esc2,0	PROPN
arestyrurj-167	241	4	)	)	PUNCT
arestyrurj-167	241	5	pi.set_servo_pulsewidth(esc3,0	pi.set_servo_pulsewidth(esc3,0	PROPN
arestyrurj-167	241	6	)	)	PUNCT
arestyrurj-167	241	7	pi.set_servo_pulsewidth(esc4,0	pi.set_servo_pulsewidth(esc4,0	ADV
arestyrurj-167	241	8	)	)	PUNCT
arestyrurj-167	241	9	while	while	SCONJ
arestyrurj-167	241	10	true	true	ADJ
arestyrurj-167	241	11	:	:	PUNCT
arestyrurj-167	241	12	inp	inp	PROPN
arestyrurj-167	241	13	=	=	SYM
arestyrurj-167	241	14	input	input	PROPN
arestyrurj-167	241	15	(	(	PUNCT
arestyrurj-167	241	16	)	)	PUNCT
arestyrurj-167	241	17	if	if	SCONJ
arestyrurj-167	241	18	inp	inp	PROPN
arestyrurj-167	241	19	=	=	AUX
arestyrurj-167	241	20	=	=	X
arestyrurj-167	241	21	"	"	PUNCT
arestyrurj-167	241	22	w	w	NOUN
arestyrurj-167	241	23	"	"	PUNCT
arestyrurj-167	241	24	:	:	PUNCT
arestyrurj-167	241	25	print	print	NOUN
arestyrurj-167	241	26	(	(	PUNCT
arestyrurj-167	241	27	"	"	PUNCT
arestyrurj-167	241	28	forward	forward	ADV
arestyrurj-167	241	29	"	"	PUNCT
arestyrurj-167	241	30	)	)	PUNCT
arestyrurj-167	241	31	forward	forward	ADV
arestyrurj-167	241	32	(	(	PUNCT
arestyrurj-167	241	33	)	)	PUNCT
arestyrurj-167	241	34	elif	elif	PROPN
arestyrurj-167	241	35	inp	inp	PROPN
arestyrurj-167	242	1	=	=	X
arestyrurj-167	242	2	=	=	X
arestyrurj-167	242	3	"	"	PUNCT
arestyrurj-167	242	4	a	a	PRON
arestyrurj-167	242	5	"	"	PUNCT
arestyrurj-167	242	6	:	:	PUNCT
arestyrurj-167	242	7	print	print	NOUN
arestyrurj-167	242	8	(	(	PUNCT
arestyrurj-167	242	9	"	"	PUNCT
arestyrurj-167	242	10	left	leave	VERB
arestyrurj-167	242	11	"	"	PUNCT
arestyrurj-167	242	12	)	)	PUNCT
arestyrurj-167	242	13	left	leave	VERB
arestyrurj-167	242	14	(	(	PUNCT
arestyrurj-167	242	15	)	)	PUNCT
arestyrurj-167	242	16	elif	elif	PROPN
arestyrurj-167	242	17	inp	inp	PROPN
arestyrurj-167	243	1	=	=	X
arestyrurj-167	243	2	=	=	X
arestyrurj-167	243	3	"	"	PUNCT
arestyrurj-167	243	4	d	d	NOUN
arestyrurj-167	243	5	"	"	PUNCT
arestyrurj-167	243	6	:	:	PUNCT
arestyrurj-167	243	7	print	print	NOUN
arestyrurj-167	243	8	(	(	PUNCT
arestyrurj-167	243	9	"	"	PUNCT
arestyrurj-167	243	10	right	right	ADJ
arestyrurj-167	243	11	"	"	PUNCT
arestyrurj-167	243	12	)	)	PUNCT
arestyrurj-167	243	13	right	right	INTJ
arestyrurj-167	243	14	(	(	PUNCT
arestyrurj-167	243	15	)	)	PUNCT
arestyrurj-167	243	16	elif	elif	PROPN
arestyrurj-167	243	17	inp	inp	PROPN
arestyrurj-167	244	1	=	=	X
arestyrurj-167	244	2	=	=	X
arestyrurj-167	244	3	(	(	PUNCT
arestyrurj-167	244	4	"	"	PUNCT
arestyrurj-167	244	5	s	s	NOUN
arestyrurj-167	244	6	"	"	PUNCT
arestyrurj-167	244	7	):	):	PUNCT
arestyrurj-167	244	8	print	print	NOUN
arestyrurj-167	244	9	(	(	PUNCT
arestyrurj-167	244	10	"	"	PUNCT
arestyrurj-167	244	11	dive	dive	NOUN
arestyrurj-167	244	12	"	"	PUNCT
arestyrurj-167	244	13	)	)	PUNCT
arestyrurj-167	244	14	dive	dive	NOUN
arestyrurj-167	244	15	(	(	PUNCT
arestyrurj-167	244	16	)	)	PUNCT
arestyrurj-167	244	17	else	else	ADV
arestyrurj-167	244	18	:	:	PUNCT
arestyrurj-167	244	19	print	print	NOUN
arestyrurj-167	244	20	(	(	PUNCT
arestyrurj-167	244	21	"	"	PUNCT
arestyrurj-167	244	22	finish	finish	NOUN
arestyrurj-167	244	23	launch	launch	NOUN
arestyrurj-167	244	24	"	"	PUNCT
arestyrurj-167	244	25	)	)	PUNCT
arestyrurj-167	244	26	stop	stop	VERB
arestyrurj-167	244	27	(	(	PUNCT
arestyrurj-167	244	28	)	)	PUNCT
arestyrurj-167	244	29	def	def	ADJ
arestyrurj-167	244	30	stop	stop	NOUN
arestyrurj-167	244	31	(	(	PUNCT
arestyrurj-167	244	32	):	):	PUNCT
arestyrurj-167	244	33	pi.set_servo_pulsewidth(esc1,0	pi.set_servo_pulsewidth(esc1,0	NUM
arestyrurj-167	244	34	)	)	PUNCT
arestyrurj-167	244	35	pi.set_servo_pulsewidth(esc2,0	pi.set_servo_pulsewidth(esc2,0	PROPN
arestyrurj-167	244	36	)	)	PUNCT
arestyrurj-167	244	37	pi.set_servo_pulsewidth(esc3,0	pi.set_servo_pulsewidth(esc3,0	PROPN
arestyrurj-167	244	38	)	)	PUNCT
arestyrurj-167	244	39	pi.set_servo_pulsewidth(esc4,0	pi.set_servo_pulsewidth(esc4,0	ADJ
arestyrurj-167	244	40	)	)	PUNCT
arestyrurj-167	244	41	pi.stop	pi.stop	NOUN
arestyrurj-167	244	42	(	(	PUNCT
arestyrurj-167	244	43	)	)	PUNCT
arestyrurj-167	244	44	def	def	PROPN
arestyrurj-167	244	45	startup	startup	NOUN
arestyrurj-167	244	46	(	(	PUNCT
arestyrurj-167	244	47	):	):	PUNCT
arestyrurj-167	244	48	print	print	NOUN
arestyrurj-167	244	49	(	(	PUNCT
arestyrurj-167	244	50	"	"	PUNCT
arestyrurj-167	244	51	launch	launch	NOUN
arestyrurj-167	244	52	sequence	sequence	NOUN
arestyrurj-167	244	53	...	...	PUNCT
arestyrurj-167	244	54	press	press	NOUN
arestyrurj-167	244	55	1	1	NUM
arestyrurj-167	244	56	to	to	PART
arestyrurj-167	244	57	start	start	VERB
arestyrurj-167	244	58	,	,	PUNCT
arestyrurj-167	244	59	press	press	NOUN
arestyrurj-167	244	60	2	2	NUM
arestyrurj-167	244	61	to	to	PART
arestyrurj-167	244	62	begin	begin	VERB
arestyrurj-167	244	63	system	system	NOUN
arestyrurj-167	244	64	control	control	NOUN
arestyrurj-167	244	65	,	,	PUNCT
arestyrurj-167	244	66	and	and	CCONJ
arestyrurj-167	244	67	press	press	NOUN
arestyrurj-167	244	68	0	0	NUM
arestyrurj-167	244	69	to	to	PART
arestyrurj-167	244	70	abort	abort	VERB
arestyrurj-167	244	71	"	"	PUNCT
arestyrurj-167	244	72	)	)	PUNCT
arestyrurj-167	244	73	inp	inp	PROPN
arestyrurj-167	244	74	=	=	SYM
arestyrurj-167	244	75	input	input	PROPN
arestyrurj-167	244	76	(	(	PUNCT
arestyrurj-167	244	77	)	)	PUNCT
arestyrurj-167	244	78	if	if	SCONJ
arestyrurj-167	244	79	inp	inp	PROPN
arestyrurj-167	244	80	=	=	AUX
arestyrurj-167	244	81	=	=	X
arestyrurj-167	244	82	"	"	PUNCT
arestyrurj-167	244	83	1	1	NUM
arestyrurj-167	244	84	"	"	PUNCT
arestyrurj-167	244	85	:	:	PUNCT
arestyrurj-167	244	86	calibrationsequence	calibrationsequence	NOUN
arestyrurj-167	244	87	(	(	PUNCT
arestyrurj-167	244	88	)	)	PUNCT
arestyrurj-167	244	89	elif	elif	PROPN
arestyrurj-167	244	90	inp	inp	PROPN
arestyrurj-167	245	1	=	=	X
arestyrurj-167	245	2	=	=	X
arestyrurj-167	245	3	"	"	PUNCT
arestyrurj-167	245	4	2	2	NUM
arestyrurj-167	245	5	"	"	PUNCT
arestyrurj-167	245	6	:	:	PUNCT
arestyrurj-167	245	7	launch	launch	NOUN
arestyrurj-167	245	8	(	(	PUNCT
arestyrurj-167	245	9	)	)	PUNCT
arestyrurj-167	245	10	elif	elif	PROPN
arestyrurj-167	245	11	inp	inp	PROPN
arestyrurj-167	246	1	=	=	X
arestyrurj-167	246	2	=	=	X
arestyrurj-167	246	3	"	"	PUNCT
arestyrurj-167	246	4	0	0	NUM
arestyrurj-167	246	5	"	"	PUNCT
arestyrurj-167	246	6	:	:	PUNCT
arestyrurj-167	246	7	stop	stop	VERB
arestyrurj-167	246	8	(	(	PUNCT
arestyrurj-167	246	9	)	)	PUNCT
arestyrurj-167	246	10	else	else	ADV
arestyrurj-167	246	11	:	:	PUNCT
arestyrurj-167	246	12	print("abort	print("abort	NOUN
arestyrurj-167	246	13	"	"	PUNCT
arestyrurj-167	246	14	)	)	PUNCT
arestyrurj-167	246	15	startup	startup	NOUN
arestyrurj-167	246	16	(	(	PUNCT
arestyrurj-167	246	17	)	)	PUNCT