id	sid	tid	token	lemma	pos
cet-1369	1	1	microsoft	microsoft	PROPN
cet-1369	1	2	word	word	NOUN
cet-1369	1	3	1murphy.docx	1murphy.docx	NUM
cet-1369	1	4	chemical	chemical	NOUN
cet-1369	1	5	engineering	engineering	NOUN
cet-1369	1	6	transactions	transaction	NOUN
cet-1369	1	7	vol	vol	NOUN
cet-1369	1	8	.	.	PROPN
cet-1369	1	9	58	58	NUM
cet-1369	1	10	,	,	PUNCT
cet-1369	1	11	2017	2017	NUM
cet-1369	1	12	a	a	DET
cet-1369	1	13	publication	publication	NOUN
cet-1369	1	14	of	of	ADP
cet-1369	1	15	the	the	DET
cet-1369	1	16	italian	italian	ADJ
cet-1369	1	17	association	association	NOUN
cet-1369	1	18	of	of	ADP
cet-1369	1	19	chemical	chemical	PROPN
cet-1369	1	20	engineering	engineering	NOUN
cet-1369	1	21	online	online	ADV
cet-1369	1	22	at	at	ADP
cet-1369	1	23	www.aidic.it/cet	www.aidic.it/cet	PROPN
cet-1369	1	24	guest	guest	NOUN
cet-1369	1	25	editors	editor	NOUN
cet-1369	1	26	:	:	PUNCT
cet-1369	1	27	remigio	remigio	PROPN
cet-1369	1	28	berruto	berruto	PROPN
cet-1369	1	29	,	,	PUNCT
cet-1369	1	30	pietro	pietro	PROPN
cet-1369	1	31	catania	catania	PROPN
cet-1369	1	32	,	,	PUNCT
cet-1369	1	33	mariangela	mariangela	PROPN
cet-1369	1	34	vallone	vallone	PROPN
cet-1369	1	35	copyright	copyright	PROPN
cet-1369	1	36	©	©	PROPN
cet-1369	1	37	2017	2017	NUM
cet-1369	1	38	,	,	PUNCT
cet-1369	1	39	aidic	aidic	ADJ
cet-1369	1	40	servizi	servizi	PROPN
cet-1369	1	41	s.r.l	s.r.l	PROPN
cet-1369	1	42	.	.	PUNCT
cet-1369	2	1	isbn	isbn	ADJ
cet-1369	2	2	978	978	NUM
cet-1369	2	3	-	-	SYM
cet-1369	2	4	88	88	NUM
cet-1369	2	5	-	-	PUNCT
cet-1369	2	6	95608	95608	NUM
cet-1369	2	7	-	-	PUNCT
cet-1369	2	8	52	52	NUM
cet-1369	2	9	-	-	SYM
cet-1369	2	10	5	5	NUM
cet-1369	2	11	;	;	PUNCT
cet-1369	2	12	issn	issn	PROPN
cet-1369	2	13	2283	2283	NUM
cet-1369	2	14	-	-	SYM
cet-1369	2	15	9216	9216	NUM
cet-1369	2	16	analysis	analysis	NOUN
cet-1369	2	17	of	of	ADP
cet-1369	2	18	preliminary	preliminary	ADJ
cet-1369	2	19	design	design	NOUN
cet-1369	2	20	requirements	requirement	NOUN
cet-1369	2	21	of	of	ADP
cet-1369	2	22	a	a	DET
cet-1369	2	23	heavy	heavy	ADJ
cet-1369	2	24	lift	lift	NOUN
cet-1369	2	25	multirotor	multirotor	NOUN
cet-1369	2	26	drone	drone	NOUN
cet-1369	2	27	for	for	ADP
cet-1369	2	28	agricultural	agricultural	ADJ
cet-1369	2	29	use	use	NOUN
cet-1369	2	30	fabrizio	fabrizio	NOUN
cet-1369	2	31	sarghini	sarghini	PROPN
cet-1369	2	32	*	*	PROPN
cet-1369	2	33	,	,	PUNCT
cet-1369	2	34	angela	angela	PROPN
cet-1369	2	35	de	de	PROPN
cet-1369	2	36	vivo	vivo	PROPN
cet-1369	2	37	university	university	PROPN
cet-1369	2	38	of	of	ADP
cet-1369	2	39	naples	naples	PROPN
cet-1369	2	40	federico	federico	PROPN
cet-1369	2	41	ii	ii	PROPN
cet-1369	2	42	,	,	PUNCT
cet-1369	2	43	department	department	NOUN
cet-1369	2	44	of	of	ADP
cet-1369	2	45	agricultural	agricultural	ADJ
cet-1369	2	46	sciences	sciences	PROPN
cet-1369	2	47	,	,	PUNCT
cet-1369	2	48	naples	naples	PROPN
cet-1369	2	49	,	,	PUNCT
cet-1369	2	50	italy	italy	PROPN
cet-1369	2	51	fabrizio.sarghini@unina.it	fabrizio.sarghini@unina.it	NOUN
cet-1369	2	52	within	within	ADP
cet-1369	2	53	the	the	DET
cet-1369	2	54	civil	civil	ADJ
cet-1369	2	55	aviation	aviation	NOUN
cet-1369	2	56	cluster	cluster	NOUN
cet-1369	2	57	,	,	PUNCT
cet-1369	2	58	the	the	DET
cet-1369	2	59	technological	technological	ADJ
cet-1369	2	60	applications	application	NOUN
cet-1369	2	61	in	in	ADP
cet-1369	2	62	agriculture	agriculture	NOUN
cet-1369	2	63	represent	represent	VERB
cet-1369	2	64	a	a	DET
cet-1369	2	65	booming	booming	ADJ
cet-1369	2	66	field	field	NOUN
cet-1369	2	67	consisting	consist	VERB
cet-1369	2	68	in	in	ADP
cet-1369	2	69	acquisition	acquisition	NOUN
cet-1369	2	70	of	of	ADP
cet-1369	2	71	data	datum	NOUN
cet-1369	2	72	through	through	ADP
cet-1369	2	73	remote	remote	ADJ
cet-1369	2	74	sensing	sensing	NOUN
cet-1369	2	75	and	and	CCONJ
cet-1369	2	76	integration	integration	NOUN
cet-1369	2	77	of	of	ADP
cet-1369	2	78	sensor	sensor	NOUN
cet-1369	2	79	networks	network	NOUN
cet-1369	2	80	(	(	PUNCT
cet-1369	2	81	crop	crop	NOUN
cet-1369	2	82	status	status	NOUN
cet-1369	2	83	detection	detection	NOUN
cet-1369	2	84	)	)	PUNCT
cet-1369	2	85	or	or	CCONJ
cet-1369	2	86	development	development	NOUN
cet-1369	2	87	of	of	ADP
cet-1369	2	88	chemical	chemical	ADJ
cet-1369	2	89	and	and	CCONJ
cet-1369	2	90	biological	biological	ADJ
cet-1369	2	91	treatment	treatment	NOUN
cet-1369	2	92	applications	application	NOUN
cet-1369	2	93	.	.	PUNCT
cet-1369	3	1	drones	drone	NOUN
cet-1369	3	2	in	in	ADP
cet-1369	3	3	agriculture	agriculture	NOUN
cet-1369	3	4	can	can	AUX
cet-1369	3	5	be	be	AUX
cet-1369	3	6	used	use	VERB
cet-1369	3	7	for	for	ADP
cet-1369	3	8	a	a	DET
cet-1369	3	9	variety	variety	NOUN
cet-1369	3	10	of	of	ADP
cet-1369	3	11	task	task	NOUN
cet-1369	3	12	,	,	PUNCT
cet-1369	3	13	aimed	aim	VERB
cet-1369	3	14	to	to	PART
cet-1369	3	15	increase	increase	VERB
cet-1369	3	16	farm	farm	NOUN
cet-1369	3	17	crop	crop	NOUN
cet-1369	3	18	yields	yield	NOUN
cet-1369	3	19	and	and	CCONJ
cet-1369	3	20	accurately	accurately	ADV
cet-1369	3	21	monitor	monitor	VERB
cet-1369	3	22	fields	field	NOUN
cet-1369	3	23	,	,	PUNCT
cet-1369	3	24	simultaneously	simultaneously	ADV
cet-1369	3	25	decreasing	decrease	VERB
cet-1369	3	26	time	time	NOUN
cet-1369	3	27	,	,	PUNCT
cet-1369	3	28	labour	labour	NOUN
cet-1369	3	29	and	and	CCONJ
cet-1369	3	30	resources	resource	NOUN
cet-1369	3	31	.	.	PUNCT
cet-1369	4	1	while	while	SCONJ
cet-1369	4	2	for	for	ADP
cet-1369	4	3	some	some	DET
cet-1369	4	4	specific	specific	ADJ
cet-1369	4	5	task	task	NOUN
cet-1369	4	6	a	a	DET
cet-1369	4	7	medium	medium	ADJ
cet-1369	4	8	size	size	NOUN
cet-1369	4	9	drone	drone	NOUN
cet-1369	4	10	can	can	AUX
cet-1369	4	11	be	be	AUX
cet-1369	4	12	chosen	choose	VERB
cet-1369	4	13	,	,	PUNCT
cet-1369	4	14	on	on	ADP
cet-1369	4	15	the	the	DET
cet-1369	4	16	other	other	ADJ
cet-1369	4	17	hand	hand	NOUN
cet-1369	4	18	for	for	ADP
cet-1369	4	19	other	other	ADJ
cet-1369	4	20	task	task	NOUN
cet-1369	4	21	like	like	ADP
cet-1369	4	22	precision	precision	NOUN
cet-1369	4	23	spraying	spraying	NOUN
cet-1369	4	24	of	of	ADP
cet-1369	4	25	pesticide	pesticide	NOUN
cet-1369	4	26	or	or	CCONJ
cet-1369	4	27	fertilizer	fertilizer	NOUN
cet-1369	4	28	heavy	heavy	ADJ
cet-1369	4	29	lift	lift	NOUN
cet-1369	4	30	drone	drone	NOUN
cet-1369	4	31	are	be	AUX
cet-1369	4	32	required	require	VERB
cet-1369	4	33	.	.	PUNCT
cet-1369	5	1	prior	prior	ADV
cet-1369	5	2	to	to	ADP
cet-1369	5	3	the	the	DET
cet-1369	5	4	approval	approval	NOUN
cet-1369	5	5	of	of	ADP
cet-1369	5	6	yamaha	yamaha	PROPN
cet-1369	5	7	r	r	PROPN
cet-1369	5	8	-	-	PUNCT
cet-1369	5	9	max	max	PROPN
cet-1369	5	10	,	,	PUNCT
cet-1369	5	11	an	an	DET
cet-1369	5	12	uav	uav	PROPN
cet-1369	5	13	helicopter	helicopter	NOUN
cet-1369	5	14	which	which	PRON
cet-1369	5	15	will	will	AUX
cet-1369	5	16	be	be	AUX
cet-1369	5	17	allowed	allow	VERB
cet-1369	5	18	to	to	PART
cet-1369	5	19	operate	operate	VERB
cet-1369	5	20	with	with	ADP
cet-1369	5	21	a	a	DET
cet-1369	5	22	maximum	maximum	ADJ
cet-1369	5	23	payload	payload	NOUN
cet-1369	5	24	of	of	ADP
cet-1369	5	25	98	98	NUM
cet-1369	5	26	kg	kg	NOUN
cet-1369	5	27	,	,	PUNCT
cet-1369	5	28	the	the	DET
cet-1369	5	29	federal	federal	PROPN
cet-1369	5	30	aviation	aviation	PROPN
cet-1369	5	31	administration	administration	PROPN
cet-1369	5	32	(	(	PUNCT
cet-1369	5	33	faa	faa	PROPN
cet-1369	5	34	)	)	PUNCT
cet-1369	5	35	had	have	AUX
cet-1369	5	36	only	only	ADV
cet-1369	5	37	issued	issue	VERB
cet-1369	5	38	exemptions	exemption	NOUN
cet-1369	5	39	for	for	ADP
cet-1369	5	40	much	much	ADV
cet-1369	5	41	smaller	small	ADJ
cet-1369	5	42	drones	drone	NOUN
cet-1369	5	43	weighing	weigh	VERB
cet-1369	5	44	less	less	ADJ
cet-1369	5	45	than	than	ADP
cet-1369	5	46	55	55	NUM
cet-1369	5	47	pounds	pound	NOUN
cet-1369	5	48	(	(	PUNCT
cet-1369	5	49	24.98	24.98	NUM
cet-1369	5	50	kg	kg	NOUN
cet-1369	5	51	)	)	PUNCT
cet-1369	5	52	.	.	PUNCT
cet-1369	6	1	in	in	ADP
cet-1369	6	2	europe	europe	PROPN
cet-1369	6	3	national	national	PROPN
cet-1369	6	4	legislations	legislation	NOUN
cet-1369	6	5	still	still	ADV
cet-1369	6	6	lack	lack	VERB
cet-1369	6	7	of	of	ADP
cet-1369	6	8	harmonization	harmonization	NOUN
cet-1369	6	9	,	,	PUNCT
cet-1369	6	10	and	and	CCONJ
cet-1369	6	11	in	in	ADP
cet-1369	6	12	italy	italy	PROPN
cet-1369	6	13	at	at	ADP
cet-1369	6	14	the	the	DET
cet-1369	6	15	moment	moment	NOUN
cet-1369	6	16	the	the	DET
cet-1369	6	17	local	local	ADJ
cet-1369	6	18	legislation	legislation	NOUN
cet-1369	6	19	restricts	restrict	VERB
cet-1369	6	20	the	the	DET
cet-1369	6	21	possible	possible	ADJ
cet-1369	6	22	choices	choice	NOUN
cet-1369	6	23	to	to	ADP
cet-1369	6	24	a	a	DET
cet-1369	6	25	maximum	maximum	ADV
cet-1369	6	26	allowed	allow	VERB
cet-1369	6	27	take	take	VERB
cet-1369	6	28	-	-	PUNCT
cet-1369	6	29	off	off	ADP
cet-1369	6	30	weight	weight	NOUN
cet-1369	6	31	of	of	ADP
cet-1369	6	32	25	25	NUM
cet-1369	6	33	kg	kg	NOUN
cet-1369	6	34	without	without	ADP
cet-1369	6	35	the	the	DET
cet-1369	6	36	necessity	necessity	NOUN
cet-1369	6	37	to	to	PART
cet-1369	6	38	submit	submit	VERB
cet-1369	6	39	a	a	DET
cet-1369	6	40	“	"	PUNCT
cet-1369	6	41	permit	permit	NOUN
cet-1369	6	42	to	to	PART
cet-1369	6	43	fly	fly	VERB
cet-1369	6	44	”	"	PUNCT
cet-1369	6	45	documentation	documentation	NOUN
cet-1369	6	46	which	which	PRON
cet-1369	6	47	is	be	AUX
cet-1369	6	48	equivalent	equivalent	ADJ
cet-1369	6	49	to	to	ADP
cet-1369	6	50	the	the	DET
cet-1369	6	51	one	one	NOUN
cet-1369	6	52	required	require	VERB
cet-1369	6	53	for	for	ADP
cet-1369	6	54	a	a	DET
cet-1369	6	55	full	full	ADJ
cet-1369	6	56	scale	scale	NOUN
cet-1369	6	57	commercial	commercial	ADJ
cet-1369	6	58	vehicle	vehicle	NOUN
cet-1369	6	59	.	.	PUNCT
cet-1369	7	1	depending	depend	VERB
cet-1369	7	2	on	on	ADP
cet-1369	7	3	the	the	DET
cet-1369	7	4	required	require	VERB
cet-1369	7	5	task	task	NOUN
cet-1369	7	6	,	,	PUNCT
cet-1369	7	7	one	one	NUM
cet-1369	7	8	of	of	ADP
cet-1369	7	9	the	the	DET
cet-1369	7	10	more	more	ADV
cet-1369	7	11	important	important	ADJ
cet-1369	7	12	tasks	task	NOUN
cet-1369	7	13	of	of	ADP
cet-1369	7	14	designing	design	VERB
cet-1369	7	15	a	a	DET
cet-1369	7	16	multirotor	multirotor	NOUN
cet-1369	7	17	unmanned	unmanned	ADJ
cet-1369	7	18	aerial	aerial	ADJ
cet-1369	7	19	vehicle	vehicle	NOUN
cet-1369	7	20	(	(	PUNCT
cet-1369	7	21	uav	uav	PROPN
cet-1369	7	22	)	)	PUNCT
cet-1369	7	23	is	be	AUX
cet-1369	7	24	the	the	DET
cet-1369	7	25	selection	selection	NOUN
cet-1369	7	26	of	of	ADP
cet-1369	7	27	a	a	DET
cet-1369	7	28	propulsion	propulsion	NOUN
cet-1369	7	29	system	system	NOUN
cet-1369	7	30	that	that	PRON
cet-1369	7	31	will	will	AUX
cet-1369	7	32	provide	provide	VERB
cet-1369	7	33	desired	desire	VERB
cet-1369	7	34	performance	performance	NOUN
cet-1369	7	35	in	in	ADP
cet-1369	7	36	terms	term	NOUN
cet-1369	7	37	of	of	ADP
cet-1369	7	38	payload	payload	NOUN
cet-1369	7	39	and	and	CCONJ
cet-1369	7	40	flight	flight	NOUN
cet-1369	7	41	length	length	NOUN
cet-1369	7	42	or	or	CCONJ
cet-1369	7	43	duration	duration	NOUN
cet-1369	7	44	.	.	PUNCT
cet-1369	8	1	rigorous	rigorous	ADJ
cet-1369	8	2	methods	method	NOUN
cet-1369	8	3	for	for	ADP
cet-1369	8	4	selecting	select	VERB
cet-1369	8	5	these	these	DET
cet-1369	8	6	drive	drive	ADJ
cet-1369	8	7	components	component	NOUN
cet-1369	8	8	,	,	PUNCT
cet-1369	8	9	that	that	ADV
cet-1369	8	10	is	is	ADV
cet-1369	8	11	,	,	PUNCT
cet-1369	8	12	the	the	DET
cet-1369	8	13	motors	motor	NOUN
cet-1369	8	14	,	,	PUNCT
cet-1369	8	15	propellers	propeller	NOUN
cet-1369	8	16	,	,	PUNCT
cet-1369	8	17	and	and	CCONJ
cet-1369	8	18	batteries	battery	NOUN
cet-1369	8	19	for	for	ADP
cet-1369	8	20	electric	electric	ADJ
cet-1369	8	21	uavs	uavs	PROPN
cet-1369	8	22	are	be	AUX
cet-1369	8	23	not	not	PART
cet-1369	8	24	readily	readily	ADV
cet-1369	8	25	available	available	ADJ
cet-1369	8	26	.	.	PUNCT
cet-1369	9	1	a	a	DET
cet-1369	9	2	possible	possible	ADJ
cet-1369	9	3	choice	choice	NOUN
cet-1369	9	4	relies	rely	VERB
cet-1369	9	5	on	on	ADP
cet-1369	9	6	using	use	VERB
cet-1369	9	7	a	a	DET
cet-1369	9	8	ready	ready	ADJ
cet-1369	9	9	to	to	PART
cet-1369	9	10	fly	fly	VERB
cet-1369	9	11	(	(	PUNCT
cet-1369	9	12	rtf	rtf	PROPN
cet-1369	9	13	)	)	PUNCT
cet-1369	9	14	uav	uav	PROPN
cet-1369	9	15	,	,	PUNCT
cet-1369	9	16	but	but	CCONJ
cet-1369	9	17	rapid	rapid	ADJ
cet-1369	9	18	changes	change	NOUN
cet-1369	9	19	in	in	ADP
cet-1369	9	20	components	component	NOUN
cet-1369	9	21	and	and	CCONJ
cet-1369	9	22	a	a	DET
cet-1369	9	23	fast	fast	ADJ
cet-1369	9	24	evolution	evolution	NOUN
cet-1369	9	25	of	of	ADP
cet-1369	9	26	the	the	DET
cet-1369	9	27	performance	performance	NOUN
cet-1369	9	28	of	of	ADP
cet-1369	9	29	engines	engine	NOUN
cet-1369	9	30	and	and	CCONJ
cet-1369	9	31	batteries	battery	NOUN
cet-1369	9	32	allow	allow	VERB
cet-1369	9	33	possible	possible	ADJ
cet-1369	9	34	updates	update	NOUN
cet-1369	9	35	of	of	ADP
cet-1369	9	36	the	the	DET
cet-1369	9	37	existing	exist	VERB
cet-1369	9	38	uav	uav	PROPN
cet-1369	9	39	using	use	VERB
cet-1369	9	40	aftermarket	aftermarket	NOUN
cet-1369	9	41	part	part	NOUN
cet-1369	9	42	to	to	PART
cet-1369	9	43	increase	increase	VERB
cet-1369	9	44	the	the	DET
cet-1369	9	45	flight	flight	NOUN
cet-1369	9	46	envelope	envelope	NOUN
cet-1369	9	47	,	,	PUNCT
cet-1369	9	48	a	a	DET
cet-1369	9	49	particularly	particularly	ADV
cet-1369	9	50	interesting	interesting	ADJ
cet-1369	9	51	feature	feature	NOUN
cet-1369	9	52	for	for	ADP
cet-1369	9	53	heavy	heavy	ADJ
cet-1369	9	54	lift	lift	NOUN
cet-1369	9	55	drone	drone	NOUN
cet-1369	9	56	if	if	SCONJ
cet-1369	9	57	a	a	DET
cet-1369	9	58	proper	proper	ADJ
cet-1369	9	59	design	design	NOUN
cet-1369	9	60	method	method	NOUN
cet-1369	9	61	is	be	AUX
cet-1369	9	62	adopted	adopt	VERB
cet-1369	9	63	.	.	PUNCT
cet-1369	10	1	moreover	moreover	ADV
cet-1369	10	2	,	,	PUNCT
cet-1369	10	3	integration	integration	NOUN
cet-1369	10	4	of	of	ADP
cet-1369	10	5	technologies	technology	NOUN
cet-1369	10	6	like	like	ADP
cet-1369	10	7	lidar	lidar	NOUN
cet-1369	10	8	is	be	AUX
cet-1369	10	9	easier	easy	ADJ
cet-1369	10	10	to	to	PART
cet-1369	10	11	implement	implement	VERB
cet-1369	10	12	on	on	ADP
cet-1369	10	13	uav	uav	PROPN
cet-1369	10	14	in	in	ADP
cet-1369	10	15	which	which	PRON
cet-1369	10	16	the	the	DET
cet-1369	10	17	design	design	NOUN
cet-1369	10	18	is	be	AUX
cet-1369	10	19	not	not	PART
cet-1369	10	20	proprietary	proprietary	ADJ
cet-1369	10	21	.	.	PUNCT
cet-1369	11	1	in	in	ADP
cet-1369	11	2	this	this	DET
cet-1369	11	3	work	work	NOUN
cet-1369	11	4	the	the	DET
cet-1369	11	5	technical	technical	ADJ
cet-1369	11	6	requirements	requirement	NOUN
cet-1369	11	7	for	for	ADP
cet-1369	11	8	agricultural	agricultural	ADJ
cet-1369	11	9	tasks	task	NOUN
cet-1369	11	10	are	be	AUX
cet-1369	11	11	investigated	investigate	VERB
cet-1369	11	12	,	,	PUNCT
cet-1369	11	13	and	and	CCONJ
cet-1369	11	14	the	the	DET
cet-1369	11	15	state	state	NOUN
cet-1369	11	16	of	of	ADP
cet-1369	11	17	the	the	DET
cet-1369	11	18	art	art	NOUN
cet-1369	11	19	of	of	ADP
cet-1369	11	20	drone	drone	NOUN
cet-1369	11	21	design	design	NOUN
cet-1369	11	22	method	method	NOUN
cet-1369	11	23	is	be	AUX
cet-1369	11	24	presented	present	VERB
cet-1369	11	25	,	,	PUNCT
cet-1369	11	26	reporting	report	VERB
cet-1369	11	27	an	an	DET
cet-1369	11	28	analysis	analysis	NOUN
cet-1369	11	29	of	of	ADP
cet-1369	11	30	actual	actual	ADJ
cet-1369	11	31	possibilities	possibility	NOUN
cet-1369	11	32	in	in	ADP
cet-1369	11	33	terms	term	NOUN
cet-1369	11	34	of	of	ADP
cet-1369	11	35	payload	payload	NOUN
cet-1369	11	36	/	/	SYM
cet-1369	11	37	flight	flight	NOUN
cet-1369	11	38	envelope	envelope	NOUN
cet-1369	11	39	.	.	PUNCT
cet-1369	12	1	1	1	X
cet-1369	12	2	.	.	X
cet-1369	12	3	introduction	introduction	NOUN
cet-1369	12	4	the	the	DET
cet-1369	12	5	uas	uas	PROPN
cet-1369	12	6	(	(	PUNCT
cet-1369	12	7	unmanned	unmanned	ADJ
cet-1369	12	8	air	air	NOUN
cet-1369	12	9	system	system	NOUN
cet-1369	12	10	,	,	PUNCT
cet-1369	12	11	an	an	DET
cet-1369	12	12	all	all	ADV
cet-1369	12	13	-	-	PUNCT
cet-1369	12	14	encompassing	encompass	VERB
cet-1369	12	15	description	description	NOUN
cet-1369	12	16	that	that	PRON
cet-1369	12	17	encapsulates	encapsulate	VERB
cet-1369	12	18	the	the	DET
cet-1369	12	19	aircraft	aircraft	NOUN
cet-1369	12	20	or	or	CCONJ
cet-1369	12	21	uav	uav	PROPN
cet-1369	12	22	,	,	PUNCT
cet-1369	12	23	the	the	DET
cet-1369	12	24	ground	ground	NOUN
cet-1369	12	25	-	-	PUNCT
cet-1369	12	26	based	base	VERB
cet-1369	12	27	controller	controller	NOUN
cet-1369	12	28	,	,	PUNCT
cet-1369	12	29	and	and	CCONJ
cet-1369	12	30	the	the	DET
cet-1369	12	31	system	system	NOUN
cet-1369	12	32	of	of	ADP
cet-1369	12	33	communications	communication	NOUN
cet-1369	12	34	connecting	connect	VERB
cet-1369	12	35	the	the	DET
cet-1369	12	36	two	two	NUM
cet-1369	12	37	)	)	PUNCT
cet-1369	12	38	,	,	PUNCT
cet-1369	12	39	also	also	ADV
cet-1369	12	40	commonly	commonly	ADV
cet-1369	12	41	known	know	VERB
cet-1369	12	42	as	as	ADP
cet-1369	12	43	drones	drone	NOUN
cet-1369	12	44	(	(	PUNCT
cet-1369	12	45	dynamic	dynamic	ADJ
cet-1369	12	46	remotely	remotely	ADV
cet-1369	12	47	operated	operate	VERB
cet-1369	12	48	navigation	navigation	NOUN
cet-1369	12	49	equipment	equipment	NOUN
cet-1369	12	50	)	)	PUNCT
cet-1369	12	51	,	,	PUNCT
cet-1369	12	52	now	now	ADV
cet-1369	12	53	represent	represent	VERB
cet-1369	12	54	a	a	DET
cet-1369	12	55	commercial	commercial	ADJ
cet-1369	12	56	reality	reality	NOUN
cet-1369	12	57	on	on	ADP
cet-1369	12	58	a	a	DET
cet-1369	12	59	european	european	ADJ
cet-1369	12	60	and	and	CCONJ
cet-1369	12	61	worldwide	worldwide	ADJ
cet-1369	12	62	scale	scale	NOUN
cet-1369	12	63	.	.	PUNCT
cet-1369	13	1	the	the	DET
cet-1369	13	2	uav	uav	PROPN
cet-1369	13	3	market	market	NOUN
cet-1369	13	4	is	be	AUX
cet-1369	13	5	experiencing	experience	VERB
cet-1369	13	6	a	a	DET
cet-1369	13	7	time	time	NOUN
cet-1369	13	8	of	of	ADP
cet-1369	13	9	great	great	ADJ
cet-1369	13	10	expansion	expansion	NOUN
cet-1369	13	11	and	and	CCONJ
cet-1369	13	12	growing	grow	VERB
cet-1369	13	13	interest	interest	NOUN
cet-1369	13	14	.	.	PUNCT
cet-1369	14	1	the	the	DET
cet-1369	14	2	world	world	NOUN
cet-1369	14	3	market	market	NOUN
cet-1369	14	4	for	for	ADP
cet-1369	14	5	drones	drone	NOUN
cet-1369	14	6	is	be	AUX
cet-1369	14	7	valued	value	VERB
cet-1369	14	8	at	at	ADP
cet-1369	14	9	approximately	approximately	ADV
cet-1369	14	10	$	$	SYM
cet-1369	14	11	6	6	NUM
cet-1369	14	12	billion	billion	NUM
cet-1369	14	13	in	in	ADP
cet-1369	14	14	2017	2017	NUM
cet-1369	14	15	and	and	CCONJ
cet-1369	14	16	it	it	PRON
cet-1369	14	17	is	be	AUX
cet-1369	14	18	supposed	suppose	VERB
cet-1369	14	19	to	to	PART
cet-1369	14	20	grow	grow	VERB
cet-1369	14	21	to	to	ADP
cet-1369	14	22	more	more	ADJ
cet-1369	14	23	than	than	ADP
cet-1369	14	24	$	$	SYM
cet-1369	14	25	11.2	11.2	NUM
cet-1369	14	26	billion	billion	NUM
cet-1369	14	27	by	by	ADP
cet-1369	14	28	2020	2020	NUM
cet-1369	14	29	,	,	PUNCT
cet-1369	14	30	according	accord	VERB
cet-1369	14	31	to	to	ADP
cet-1369	14	32	a	a	DET
cet-1369	14	33	new	new	ADJ
cet-1369	14	34	forecast	forecast	NOUN
cet-1369	14	35	from	from	ADP
cet-1369	14	36	gartner	gartner	PROPN
cet-1369	14	37	,	,	PUNCT
cet-1369	14	38	inc	inc	PROPN
cet-1369	14	39	.	.	PROPN
cet-1369	14	40	;	;	PUNCT
cet-1369	14	41	in	in	ADP
cet-1369	14	42	terms	term	NOUN
cet-1369	14	43	of	of	ADP
cet-1369	14	44	growth	growth	NOUN
cet-1369	14	45	,	,	PUNCT
cet-1369	14	46	the	the	DET
cet-1369	14	47	residential	residential	ADJ
cet-1369	14	48	sector	sector	NOUN
cet-1369	14	49	for	for	ADP
cet-1369	14	50	civil	civil	ADJ
cet-1369	14	51	applications	application	NOUN
cet-1369	14	52	presents	present	VERB
cet-1369	14	53	annual	annual	ADJ
cet-1369	14	54	growth	growth	NOUN
cet-1369	14	55	forecasts	forecast	NOUN
cet-1369	14	56	of	of	ADP
cet-1369	14	57	19	19	NUM
cet-1369	14	58	%	%	NOUN
cet-1369	14	59	,	,	PUNCT
cet-1369	14	60	compared	compare	VERB
cet-1369	14	61	with	with	ADP
cet-1369	14	62	the	the	DET
cet-1369	14	63	modest	modest	ADJ
cet-1369	14	64	5	5	NUM
cet-1369	14	65	%	%	NOUN
cet-1369	14	66	of	of	ADP
cet-1369	14	67	the	the	DET
cet-1369	14	68	civilian	civilian	ADJ
cet-1369	14	69	/	/	SYM
cet-1369	14	70	defence	defence	NOUN
cet-1369	14	71	sector	sector	NOUN
cet-1369	14	72	.	.	PUNCT
cet-1369	15	1	within	within	ADP
cet-1369	15	2	the	the	DET
cet-1369	15	3	civil	civil	ADJ
cet-1369	15	4	aviation	aviation	NOUN
cet-1369	15	5	cluster	cluster	NOUN
cet-1369	15	6	,	,	PUNCT
cet-1369	15	7	the	the	DET
cet-1369	15	8	technological	technological	ADJ
cet-1369	15	9	applications	application	NOUN
cet-1369	15	10	in	in	ADP
cet-1369	15	11	agriculture	agriculture	NOUN
cet-1369	15	12	are	be	AUX
cet-1369	15	13	a	a	DET
cet-1369	15	14	booming	booming	ADJ
cet-1369	15	15	field	field	NOUN
cet-1369	15	16	and	and	CCONJ
cet-1369	15	17	will	will	AUX
cet-1369	15	18	consist	consist	VERB
cet-1369	15	19	of	of	ADP
cet-1369	15	20	:	:	PUNCT
cet-1369	15	21	•	•	NUM
cet-1369	15	22	acquisition	acquisition	NOUN
cet-1369	15	23	of	of	ADP
cet-1369	15	24	data	datum	NOUN
cet-1369	15	25	through	through	ADP
cet-1369	15	26	remote	remote	ADJ
cet-1369	15	27	sensing	sensing	NOUN
cet-1369	15	28	and	and	CCONJ
cet-1369	15	29	integration	integration	NOUN
cet-1369	15	30	of	of	ADP
cet-1369	15	31	sensor	sensor	NOUN
cet-1369	15	32	networks	network	NOUN
cet-1369	15	33	;	;	PUNCT
cet-1369	15	34	•	•	NUM
cet-1369	15	35	environmental	environmental	ADJ
cet-1369	15	36	monitoring	monitoring	NOUN
cet-1369	15	37	(	(	PUNCT
cet-1369	15	38	detection	detection	NOUN
cet-1369	15	39	of	of	ADP
cet-1369	15	40	fires	fire	NOUN
cet-1369	15	41	,	,	PUNCT
cet-1369	15	42	presence	presence	NOUN
cet-1369	15	43	of	of	ADP
cet-1369	15	44	weeds	weed	NOUN
cet-1369	15	45	)	)	PUNCT
cet-1369	15	46	;	;	PUNCT
cet-1369	16	1	•	•	NUM
cet-1369	16	2	development	development	NOUN
cet-1369	16	3	of	of	ADP
cet-1369	16	4	chemical	chemical	ADJ
cet-1369	16	5	and	and	CCONJ
cet-1369	16	6	biological	biological	ADJ
cet-1369	16	7	treatment	treatment	NOUN
cet-1369	16	8	applications	application	NOUN
cet-1369	16	9	.	.	PUNCT
cet-1369	17	1	doi	doi	NOUN
cet-1369	17	2	:	:	PUNCT
cet-1369	17	3	10.3303	10.3303	NUM
cet-1369	17	4	/	/	SYM
cet-1369	17	5	cet1758105	cet1758105	NOUN
cet-1369	17	6	please	please	INTJ
cet-1369	17	7	cite	cite	VERB
cet-1369	17	8	this	this	DET
cet-1369	17	9	article	article	NOUN
cet-1369	17	10	as	as	ADP
cet-1369	17	11	:	:	PUNCT
cet-1369	17	12	sarghini	sarghini	PROPN
cet-1369	17	13	f.	f.	PROPN
cet-1369	17	14	,	,	PUNCT
cet-1369	17	15	de	de	PROPN
cet-1369	17	16	vivo	vivo	PROPN
cet-1369	17	17	a.	a.	NOUN
cet-1369	17	18	,	,	PUNCT
cet-1369	17	19	2017	2017	NUM
cet-1369	17	20	,	,	PUNCT
cet-1369	17	21	analysis	analysis	NOUN
cet-1369	17	22	of	of	ADP
cet-1369	17	23	preliminary	preliminary	ADJ
cet-1369	17	24	design	design	NOUN
cet-1369	17	25	requirements	requirement	NOUN
cet-1369	17	26	of	of	ADP
cet-1369	17	27	an	an	DET
cet-1369	17	28	heavy	heavy	ADJ
cet-1369	17	29	lift	lift	NOUN
cet-1369	17	30	multirotor	multirotor	NOUN
cet-1369	17	31	drone	drone	NOUN
cet-1369	17	32	for	for	ADP
cet-1369	17	33	agricultural	agricultural	ADJ
cet-1369	17	34	use	use	NOUN
cet-1369	17	35	,	,	PUNCT
cet-1369	17	36	chemical	chemical	ADJ
cet-1369	17	37	engineering	engineering	NOUN
cet-1369	17	38	transactions	transaction	NOUN
cet-1369	17	39	,	,	PUNCT
cet-1369	17	40	58	58	NUM
cet-1369	17	41	,	,	PUNCT
cet-1369	17	42	625	625	NUM
cet-1369	17	43	-	-	SYM
cet-1369	17	44	630	630	NUM
cet-1369	17	45	doi	doi	NOUN
cet-1369	17	46	:	:	PUNCT
cet-1369	17	47	10.3303	10.3303	NUM
cet-1369	17	48	/	/	SYM
cet-1369	17	49	cet1758105	cet1758105	NOUN
cet-1369	17	50	625	625	NUM
cet-1369	17	51	in	in	ADP
cet-1369	17	52	this	this	DET
cet-1369	17	53	sense	sense	NOUN
cet-1369	17	54	,	,	PUNCT
cet-1369	17	55	the	the	DET
cet-1369	17	56	use	use	NOUN
cet-1369	17	57	of	of	ADP
cet-1369	17	58	precision	precision	NOUN
cet-1369	17	59	agriculture	agriculture	NOUN
cet-1369	17	60	introduces	introduce	VERB
cet-1369	17	61	considerable	considerable	ADJ
cet-1369	17	62	advantages	advantage	NOUN
cet-1369	17	63	that	that	PRON
cet-1369	17	64	can	can	AUX
cet-1369	17	65	be	be	AUX
cet-1369	17	66	simply	simply	ADV
cet-1369	17	67	summarized	summarize	VERB
cet-1369	17	68	as	as	SCONJ
cet-1369	17	69	follows	follow	VERB
cet-1369	17	70	:	:	PUNCT
cet-1369	17	71	•	•	NUM
cet-1369	17	72	optimization	optimization	NOUN
cet-1369	17	73	of	of	ADP
cet-1369	17	74	treatments	treatment	NOUN
cet-1369	17	75	with	with	ADP
cet-1369	17	76	fertilizers	fertilizer	NOUN
cet-1369	17	77	,	,	PUNCT
cet-1369	17	78	with	with	ADP
cet-1369	17	79	a	a	DET
cet-1369	17	80	possible	possible	ADJ
cet-1369	17	81	overall	overall	ADJ
cet-1369	17	82	reduction	reduction	NOUN
cet-1369	17	83	of	of	ADP
cet-1369	17	84	20	20	NUM
cet-1369	17	85	-	-	SYM
cet-1369	17	86	40	40	NUM
cet-1369	17	87	%	%	NOUN
cet-1369	17	88	in	in	ADP
cet-1369	17	89	terms	term	NOUN
cet-1369	17	90	of	of	ADP
cet-1369	17	91	overall	overall	ADJ
cet-1369	17	92	distributed	distributed	ADJ
cet-1369	17	93	products	product	NOUN
cet-1369	17	94	;	;	PUNCT
cet-1369	17	95	•	•	NUM
cet-1369	17	96	reduction	reduction	NOUN
cet-1369	17	97	and	and	CCONJ
cet-1369	17	98	prevention	prevention	NOUN
cet-1369	17	99	of	of	ADP
cet-1369	17	100	water	water	NOUN
cet-1369	17	101	waste	waste	NOUN
cet-1369	17	102	,	,	PUNCT
cet-1369	17	103	reducing	reduce	VERB
cet-1369	17	104	the	the	DET
cet-1369	17	105	use	use	NOUN
cet-1369	17	106	of	of	ADP
cet-1369	17	107	water	water	NOUN
cet-1369	17	108	resources	resource	NOUN
cet-1369	17	109	(	(	PUNCT
cet-1369	17	110	water	water	NOUN
cet-1369	17	111	consumption	consumption	NOUN
cet-1369	17	112	will	will	AUX
cet-1369	17	113	be	be	AUX
cet-1369	17	114	reduced	reduce	VERB
cet-1369	17	115	in	in	ADP
cet-1369	17	116	some	some	DET
cet-1369	17	117	cases	case	NOUN
cet-1369	17	118	up	up	ADP
cet-1369	17	119	to	to	ADP
cet-1369	17	120	almost	almost	ADV
cet-1369	17	121	90	90	NUM
cet-1369	17	122	%	%	NOUN
cet-1369	17	123	)	)	PUNCT
cet-1369	17	124	;	;	PUNCT
cet-1369	17	125	•	•	NUM
cet-1369	17	126	reduction	reduction	NOUN
cet-1369	17	127	of	of	ADP
cet-1369	17	128	labour	labour	NOUN
cet-1369	17	129	and	and	CCONJ
cet-1369	17	130	material	material	NOUN
cet-1369	17	131	costs	cost	NOUN
cet-1369	17	132	;	;	PUNCT
cet-1369	18	1	•	•	NUM
cet-1369	18	2	reduction	reduction	NOUN
cet-1369	18	3	of	of	ADP
cet-1369	18	4	pollution	pollution	NOUN
cet-1369	18	5	in	in	ADP
cet-1369	18	6	the	the	DET
cet-1369	18	7	uav	uav	PROPN
cet-1369	18	8	powered	power	VERB
cet-1369	18	9	by	by	ADP
cet-1369	18	10	electric	electric	ADJ
cet-1369	18	11	motors	motor	NOUN
cet-1369	18	12	;	;	PUNCT
cet-1369	18	13	•	•	NUM
cet-1369	18	14	reduction	reduction	NOUN
cet-1369	18	15	of	of	ADP
cet-1369	18	16	risks	risk	NOUN
cet-1369	18	17	through	through	ADP
cet-1369	18	18	the	the	DET
cet-1369	18	19	automatic	automatic	ADJ
cet-1369	18	20	analysis	analysis	NOUN
cet-1369	18	21	of	of	ADP
cet-1369	18	22	the	the	DET
cet-1369	18	23	state	state	NOUN
cet-1369	18	24	of	of	ADP
cet-1369	18	25	the	the	DET
cet-1369	18	26	crop	crop	NOUN
cet-1369	18	27	production	production	NOUN
cet-1369	18	28	processes	process	NOUN
cet-1369	18	29	on	on	ADP
cet-1369	18	30	the	the	DET
cet-1369	18	31	field	field	NOUN
cet-1369	18	32	,	,	PUNCT
cet-1369	18	33	supplemented	supplement	VERB
cet-1369	18	34	by	by	ADP
cet-1369	18	35	prevention	prevention	NOUN
cet-1369	18	36	activities	activity	NOUN
cet-1369	18	37	.	.	PUNCT
cet-1369	19	1	as	as	SCONJ
cet-1369	19	2	regards	regard	VERB
cet-1369	19	3	the	the	DET
cet-1369	19	4	use	use	NOUN
cet-1369	19	5	of	of	ADP
cet-1369	19	6	the	the	DET
cet-1369	19	7	uav	uav	PROPN
cet-1369	19	8	,	,	PUNCT
cet-1369	19	9	the	the	DET
cet-1369	19	10	sensors	sensor	NOUN
cet-1369	19	11	activity	activity	NOUN
cet-1369	19	12	turns	turn	VERB
cet-1369	19	13	out	out	ADP
cet-1369	19	14	to	to	PART
cet-1369	19	15	be	be	AUX
cet-1369	19	16	at	at	ADP
cet-1369	19	17	the	the	DET
cet-1369	19	18	basis	basis	NOUN
cet-1369	19	19	of	of	ADP
cet-1369	19	20	subsequent	subsequent	ADJ
cet-1369	19	21	applications	application	NOUN
cet-1369	19	22	,	,	PUNCT
cet-1369	19	23	such	such	ADJ
cet-1369	19	24	as	as	ADP
cet-1369	19	25	the	the	DET
cet-1369	19	26	control	control	NOUN
cet-1369	19	27	of	of	ADP
cet-1369	19	28	the	the	DET
cet-1369	19	29	distribution	distribution	NOUN
cet-1369	19	30	of	of	ADP
cet-1369	19	31	pesticides	pesticide	NOUN
cet-1369	19	32	.	.	PUNCT
cet-1369	20	1	the	the	DET
cet-1369	20	2	remote	remote	ADJ
cet-1369	20	3	sensing	sense	VERB
cet-1369	20	4	activities	activity	NOUN
cet-1369	20	5	,	,	PUNCT
cet-1369	20	6	is	be	AUX
cet-1369	20	7	defined	define	VERB
cet-1369	20	8	as	as	ADP
cet-1369	20	9	the	the	DET
cet-1369	20	10	acquisition	acquisition	NOUN
cet-1369	20	11	of	of	ADP
cet-1369	20	12	information	information	NOUN
cet-1369	20	13	about	about	ADP
cet-1369	20	14	an	an	DET
cet-1369	20	15	object	object	NOUN
cet-1369	20	16	or	or	CCONJ
cet-1369	20	17	surface	surface	NOUN
cet-1369	20	18	by	by	ADP
cet-1369	20	19	means	mean	NOUN
cet-1369	20	20	of	of	ADP
cet-1369	20	21	propagated	propagate	VERB
cet-1369	20	22	signals	signal	NOUN
cet-1369	20	23	(	(	PUNCT
cet-1369	20	24	eg	eg	NOUN
cet-1369	20	25	.	.	PUNCT
cet-1369	20	26	electromagnetic	electromagnetic	ADJ
cet-1369	20	27	,	,	PUNCT
cet-1369	20	28	or	or	CCONJ
cet-1369	20	29	microwave	microwave	NOUN
cet-1369	20	30	signals	signal	NOUN
cet-1369	20	31	)	)	PUNCT
cet-1369	20	32	,	,	PUNCT
cet-1369	20	33	typically	typically	ADV
cet-1369	20	34	emitted	emit	VERB
cet-1369	20	35	and	and	CCONJ
cet-1369	20	36	/	/	SYM
cet-1369	20	37	or	or	CCONJ
cet-1369	20	38	received	receive	VERB
cet-1369	20	39	via	via	ADP
cet-1369	20	40	aerial	aerial	ADJ
cet-1369	20	41	vehicles	vehicle	NOUN
cet-1369	20	42	(	(	PUNCT
cet-1369	20	43	eg	eg	NOUN
cet-1369	20	44	.	.	PUNCT
cet-1369	21	1	satellites	satellite	NOUN
cet-1369	21	2	,	,	PUNCT
cet-1369	21	3	airplanes	airplane	NOUN
cet-1369	21	4	,	,	PUNCT
cet-1369	21	5	uav	uav	PROPN
cet-1369	21	6	)	)	PUNCT
cet-1369	21	7	.	.	PUNCT
cet-1369	22	1	however	however	ADV
cet-1369	22	2	,	,	PUNCT
cet-1369	22	3	for	for	ADP
cet-1369	22	4	such	such	ADJ
cet-1369	22	5	activities	activity	NOUN
cet-1369	22	6	there	there	PRON
cet-1369	22	7	are	be	VERB
cet-1369	22	8	some	some	DET
cet-1369	22	9	major	major	ADJ
cet-1369	22	10	limitations	limitation	NOUN
cet-1369	22	11	in	in	ADP
cet-1369	22	12	the	the	DET
cet-1369	22	13	use	use	NOUN
cet-1369	22	14	of	of	ADP
cet-1369	22	15	satellites	satellite	NOUN
cet-1369	22	16	and	and	CCONJ
cet-1369	22	17	aircraft	aircraft	NOUN
cet-1369	22	18	,	,	PUNCT
cet-1369	22	19	arising	arise	VERB
cet-1369	22	20	mainly	mainly	ADV
cet-1369	22	21	from	from	ADP
cet-1369	22	22	:	:	PUNCT
cet-1369	22	23	•	•	NUM
cet-1369	22	24	capacity	capacity	NOUN
cet-1369	22	25	existence	existence	NOUN
cet-1369	22	26	of	of	ADP
cet-1369	22	27	high	high	ADJ
cet-1369	22	28	technical	technical	ADJ
cet-1369	22	29	sector	sector	NOUN
cet-1369	22	30	;	;	PUNCT
cet-1369	22	31	•	•	NOUN
cet-1369	22	32	need	need	NOUN
cet-1369	22	33	for	for	ADP
cet-1369	22	34	appropriate	appropriate	ADJ
cet-1369	22	35	weather	weather	NOUN
cet-1369	22	36	conditions	condition	NOUN
cet-1369	22	37	;	;	PUNCT
cet-1369	22	38	•	•	NUM
cet-1369	22	39	availability	availability	NOUN
cet-1369	22	40	of	of	ADP
cet-1369	22	41	multi	multi	ADJ
cet-1369	22	42	-	-	ADJ
cet-1369	22	43	temporal	temporal	ADJ
cet-1369	22	44	data	datum	NOUN
cet-1369	22	45	.	.	PUNCT
cet-1369	23	1	the	the	DET
cet-1369	23	2	use	use	NOUN
cet-1369	23	3	of	of	ADP
cet-1369	23	4	uavs	uavs	NOUN
cet-1369	23	5	can	can	AUX
cet-1369	23	6	fly	fly	VERB
cet-1369	23	7	at	at	ADP
cet-1369	23	8	low	low	ADJ
cet-1369	23	9	altitude	altitude	NOUN
cet-1369	23	10	makes	make	VERB
cet-1369	23	11	it	it	PRON
cet-1369	23	12	much	much	ADV
cet-1369	23	13	more	more	ADV
cet-1369	23	14	accessible	accessible	ADJ
cet-1369	23	15	remote	remote	ADJ
cet-1369	23	16	sensing	sensing	NOUN
cet-1369	23	17	,	,	PUNCT
cet-1369	23	18	through	through	ADP
cet-1369	23	19	the	the	DET
cet-1369	23	20	following	follow	VERB
cet-1369	23	21	main	main	ADJ
cet-1369	23	22	technologies(zhang	technologies(zhang	PROPN
cet-1369	23	23	&	&	CCONJ
cet-1369	23	24	kovacs	kovacs	PROPN
cet-1369	23	25	2012	2012	NUM
cet-1369	23	26	):	):	PUNCT
cet-1369	23	27	•	•	ADP
cet-1369	23	28	analysis	analysis	NOUN
cet-1369	23	29	in	in	ADP
cet-1369	23	30	the	the	DET
cet-1369	23	31	visible	visible	ADJ
cet-1369	23	32	and	and	CCONJ
cet-1369	23	33	infrared	infrare	VERB
cet-1369	23	34	,	,	PUNCT
cet-1369	23	35	in	in	ADP
cet-1369	23	36	multi	multi	ADJ
cet-1369	23	37	-	-	ADJ
cet-1369	23	38	spectral	spectral	ADJ
cet-1369	23	39	or	or	CCONJ
cet-1369	23	40	hyper	hyper	NOUN
cet-1369	23	41	-	-	ADJ
cet-1369	23	42	spectral	spectral	ADJ
cet-1369	23	43	,	,	PUNCT
cet-1369	23	44	through	through	ADP
cet-1369	23	45	which	which	PRON
cet-1369	23	46	it	it	PRON
cet-1369	23	47	is	be	AUX
cet-1369	23	48	possible	possible	ADJ
cet-1369	23	49	to	to	PART
cet-1369	23	50	carry	carry	VERB
cet-1369	23	51	out	out	ADP
cet-1369	23	52	:	:	PUNCT
cet-1369	24	1	•	•	NUM
cet-1369	24	2	analysis	analysis	NOUN
cet-1369	24	3	of	of	ADP
cet-1369	24	4	the	the	DET
cet-1369	24	5	plant	plant	NOUN
cet-1369	24	6	and	and	CCONJ
cet-1369	24	7	soil	soil	NOUN
cet-1369	24	8	;	;	PUNCT
cet-1369	24	9	•	•	NUM
cet-1369	24	10	height	height	NOUN
cet-1369	24	11	indices	index	NOUN
cet-1369	24	12	,	,	PUNCT
cet-1369	24	13	growth	growth	NOUN
cet-1369	24	14	,	,	PUNCT
cet-1369	24	15	health	health	NOUN
cet-1369	24	16	,	,	PUNCT
cet-1369	24	17	acquisition	acquisition	NOUN
cet-1369	24	18	of	of	ADP
cet-1369	24	19	vegetation	vegetation	NOUN
cet-1369	24	20	indices	index	NOUN
cet-1369	24	21	;	;	PUNCT
cet-1369	24	22	•	•	NUM
cet-1369	24	23	control	control	NOUN
cet-1369	24	24	of	of	ADP
cet-1369	24	25	irrigation	irrigation	NOUN
cet-1369	24	26	,	,	PUNCT
cet-1369	24	27	soil	soil	NOUN
cet-1369	24	28	properties	property	NOUN
cet-1369	24	29	,	,	PUNCT
cet-1369	24	30	moisture	moisture	VERB
cet-1369	24	31	analysis	analysis	NOUN
cet-1369	24	32	,	,	PUNCT
cet-1369	24	33	erosion	erosion	NOUN
cet-1369	24	34	control	control	NOUN
cet-1369	24	35	;	;	PUNCT
cet-1369	24	36	•	•	NUM
cet-1369	24	37	analysis	analysis	NOUN
cet-1369	24	38	of	of	ADP
cet-1369	24	39	specific	specific	ADJ
cet-1369	24	40	chemical	chemical	NOUN
cet-1369	24	41	components	component	NOUN
cet-1369	24	42	;	;	PUNCT
cet-1369	24	43	•	•	NUM
cet-1369	24	44	thermographic	thermographic	ADJ
cet-1369	24	45	analysis	analysis	NOUN
cet-1369	24	46	,	,	PUNCT
cet-1369	24	47	using	use	VERB
cet-1369	24	48	which	which	PRON
cet-1369	24	49	it	it	PRON
cet-1369	24	50	is	be	AUX
cet-1369	24	51	possible	possible	ADJ
cet-1369	24	52	to	to	PART
cet-1369	24	53	integrate	integrate	VERB
cet-1369	24	54	the	the	DET
cet-1369	24	55	analysis	analysis	NOUN
cet-1369	24	56	of	of	ADP
cet-1369	24	57	the	the	DET
cet-1369	24	58	plant	plant	NOUN
cet-1369	24	59	and	and	CCONJ
cet-1369	24	60	soil	soil	NOUN
cet-1369	24	61	,	,	PUNCT
cet-1369	24	62	and	and	CCONJ
cet-1369	24	63	acquire	acquire	VERB
cet-1369	24	64	irrigation	irrigation	NOUN
cet-1369	24	65	indexes	index	NOUN
cet-1369	24	66	,	,	PUNCT
cet-1369	24	67	ripening	ripening	NOUN
cet-1369	24	68	and	and	CCONJ
cet-1369	24	69	leaf	leaf	NOUN
cet-1369	24	70	temperature	temperature	NOUN
cet-1369	24	71	;	;	PUNCT
cet-1369	24	72	•	•	NUM
cet-1369	24	73	laser	laser	NOUN
cet-1369	24	74	beam	beam	NOUN
cet-1369	24	75	scanning	scanning	NOUN
cet-1369	24	76	,	,	PUNCT
cet-1369	24	77	which	which	PRON
cet-1369	24	78	allows	allow	VERB
cet-1369	24	79	the	the	DET
cet-1369	24	80	acquisition	acquisition	NOUN
cet-1369	24	81	of	of	ADP
cet-1369	24	82	vegetative	vegetative	ADJ
cet-1369	24	83	height	height	NOUN
cet-1369	24	84	indices	index	NOUN
cet-1369	24	85	,	,	PUNCT
cet-1369	24	86	growth	growth	NOUN
cet-1369	24	87	,	,	PUNCT
cet-1369	24	88	generation	generation	NOUN
cet-1369	24	89	of	of	ADP
cet-1369	24	90	topographic	topographic	PROPN
cet-1369	24	91	.carte	.carte	NOUN
cet-1369	24	92	.	.	PUNCT
cet-1369	25	1	with	with	ADP
cet-1369	25	2	the	the	DET
cet-1369	25	3	same	same	ADJ
cet-1369	25	4	services	service	NOUN
cet-1369	25	5	,	,	PUNCT
cet-1369	25	6	the	the	DET
cet-1369	25	7	use	use	NOUN
cet-1369	25	8	of	of	ADP
cet-1369	25	9	drones	drone	NOUN
cet-1369	25	10	has	have	VERB
cet-1369	25	11	undeniable	undeniable	ADJ
cet-1369	25	12	advantages	advantage	NOUN
cet-1369	25	13	over	over	ADP
cet-1369	25	14	classical	classical	ADJ
cet-1369	25	15	techniques	technique	NOUN
cet-1369	25	16	satellite	satellite	NOUN
cet-1369	25	17	monitoring	monitoring	NOUN
cet-1369	25	18	,	,	PUNCT
cet-1369	25	19	on	on	ADP
cet-1369	25	20	the	the	DET
cet-1369	25	21	ground	ground	NOUN
cet-1369	25	22	or	or	CCONJ
cet-1369	25	23	to	to	ADP
cet-1369	25	24	traditional	traditional	ADJ
cet-1369	25	25	aerial	aerial	ADJ
cet-1369	25	26	photogrammetry	photogrammetry	NOUN
cet-1369	25	27	with	with	ADP
cet-1369	25	28	unmanned	unmanned	ADJ
cet-1369	25	29	aircraft	aircraft	NOUN
cet-1369	25	30	:	:	PUNCT
cet-1369	25	31	•	•	NUM
cet-1369	25	32	imaging	imaging	NOUN
cet-1369	25	33	:	:	PUNCT
cet-1369	25	34	substantially	substantially	ADV
cet-1369	25	35	cheaper	cheap	ADJ
cet-1369	25	36	to	to	ADP
cet-1369	25	37	fields	field	NOUN
cet-1369	25	38	of	of	ADP
cet-1369	25	39	less	less	ADJ
cet-1369	25	40	than	than	ADP
cet-1369	25	41	50	50	NUM
cet-1369	25	42	hectares	hectare	NOUN
cet-1369	25	43	in	in	ADP
cet-1369	25	44	size	size	NOUN
cet-1369	25	45	,	,	PUNCT
cet-1369	25	46	since	since	SCONJ
cet-1369	25	47	the	the	DET
cet-1369	25	48	drones	drone	NOUN
cet-1369	25	49	are	be	AUX
cet-1369	25	50	much	much	ADV
cet-1369	25	51	less	less	ADV
cet-1369	25	52	expensive	expensive	ADJ
cet-1369	25	53	satellites	satellite	NOUN
cet-1369	25	54	or	or	CCONJ
cet-1369	25	55	drones	drone	NOUN
cet-1369	25	56	of	of	ADP
cet-1369	25	57	manned	manned	ADJ
cet-1369	25	58	surveillance	surveillance	NOUN
cet-1369	25	59	drones	drone	NOUN
cet-1369	25	60	;	;	PUNCT
cet-1369	25	61	•	•	NUM
cet-1369	25	62	greater	great	ADJ
cet-1369	25	63	precision	precision	NOUN
cet-1369	25	64	:	:	PUNCT
cet-1369	25	65	the	the	DET
cet-1369	25	66	drone	drone	NOUN
cet-1369	25	67	cameras	camera	NOUN
cet-1369	25	68	are	be	AUX
cet-1369	25	69	able	able	ADJ
cet-1369	25	70	to	to	PART
cet-1369	25	71	resume	resume	VERB
cet-1369	25	72	high	high	ADJ
cet-1369	25	73	-	-	PUNCT
cet-1369	25	74	resolution	resolution	NOUN
cet-1369	25	75	images	image	NOUN
cet-1369	25	76	up	up	ADP
cet-1369	25	77	to	to	PART
cet-1369	25	78	1	1	NUM
cet-1369	25	79	centimetre	centimetre	NOUN
cet-1369	25	80	,	,	PUNCT
cet-1369	25	81	detecting	detect	VERB
cet-1369	25	82	also	also	ADV
cet-1369	25	83	the	the	DET
cet-1369	25	84	elements	element	NOUN
cet-1369	25	85	in	in	ADP
cet-1369	25	86	greater	great	ADJ
cet-1369	25	87	detail	detail	NOUN
cet-1369	25	88	of	of	ADP
cet-1369	25	89	the	the	DET
cet-1369	25	90	crop	crop	NOUN
cet-1369	25	91	;	;	PUNCT
cet-1369	25	92	•	•	NUM
cet-1369	25	93	early	early	ADJ
cet-1369	25	94	detection	detection	NOUN
cet-1369	25	95	of	of	ADP
cet-1369	25	96	problems	problem	NOUN
cet-1369	25	97	:	:	PUNCT
cet-1369	25	98	the	the	DET
cet-1369	25	99	drones	drone	NOUN
cet-1369	25	100	allow	allow	VERB
cet-1369	25	101	to	to	PART
cet-1369	25	102	carry	carry	VERB
cet-1369	25	103	out	out	ADP
cet-1369	25	104	more	more	ADV
cet-1369	25	105	frequent	frequent	ADJ
cet-1369	25	106	analyses	analysis	NOUN
cet-1369	25	107	,	,	PUNCT
cet-1369	25	108	with	with	ADP
cet-1369	25	109	early	early	ADJ
cet-1369	25	110	surveys	survey	NOUN
cet-1369	25	111	of	of	ADP
cet-1369	25	112	weeds	weed	NOUN
cet-1369	25	113	,	,	PUNCT
cet-1369	25	114	pests	pest	NOUN
cet-1369	25	115	and	and	CCONJ
cet-1369	25	116	other	other	ADJ
cet-1369	25	117	abnormalities	abnormality	NOUN
cet-1369	25	118	;	;	PUNCT
cet-1369	25	119	•	•	NUM
cet-1369	25	120	field	field	NOUN
cet-1369	25	121	control	control	NOUN
cet-1369	25	122	/	/	SYM
cet-1369	25	123	scouting	scouting	NOUN
cet-1369	25	124	:	:	PUNCT
cet-1369	25	125	it	it	PRON
cet-1369	25	126	is	be	AUX
cet-1369	25	127	possible	possible	ADJ
cet-1369	25	128	the	the	DET
cet-1369	25	129	full	full	ADJ
cet-1369	25	130	recognition	recognition	NOUN
cet-1369	25	131	of	of	ADP
cet-1369	25	132	the	the	DET
cet-1369	25	133	field	field	NOUN
cet-1369	25	134	(	(	PUNCT
cet-1369	25	135	including	include	VERB
cet-1369	25	136	weeds	weed	NOUN
cet-1369	25	137	infestation	infestation	NOUN
cet-1369	25	138	preliminary	preliminary	ADJ
cet-1369	25	139	warning	warning	NOUN
cet-1369	25	140	)	)	PUNCT
cet-1369	25	141	through	through	ADP
cet-1369	25	142	the	the	DET
cet-1369	25	143	use	use	NOUN
cet-1369	25	144	of	of	ADP
cet-1369	25	145	the	the	DET
cet-1369	25	146	drone	drone	NOUN
cet-1369	25	147	,	,	PUNCT
cet-1369	25	148	in	in	ADP
cet-1369	25	149	spite	spite	NOUN
cet-1369	25	150	of	of	ADP
cet-1369	25	151	the	the	DET
cet-1369	25	152	modest	modest	ADJ
cet-1369	25	153	5	5	NUM
cet-1369	25	154	%	%	NOUN
cet-1369	25	155	,	,	PUNCT
cet-1369	25	156	measured	measure	VERB
cet-1369	25	157	by	by	ADP
cet-1369	25	158	means	mean	NOUN
cet-1369	25	159	of	of	ADP
cet-1369	25	160	the	the	DET
cet-1369	25	161	piloting	piloting	NOUN
cet-1369	25	162	of	of	ADP
cet-1369	25	163	an	an	DET
cet-1369	25	164	automated	automate	VERB
cet-1369	25	165	terrestrial	terrestrial	ADJ
cet-1369	25	166	vehicle	vehicle	NOUN
cet-1369	25	167	(	(	PUNCT
cet-1369	25	168	atv	atv	PROPN
cet-1369	25	169	)	)	PUNCT
cet-1369	25	170	;	;	PUNCT
cet-1369	25	171	•	•	NOUN
cet-1369	25	172	3d	3d	NUM
cet-1369	25	173	/	/	SYM
cet-1369	25	174	volumetric	volumetric	ADJ
cet-1369	25	175	data	datum	NOUN
cet-1369	25	176	analysis	analysis	NOUN
cet-1369	25	177	:	:	PUNCT
cet-1369	25	178	the	the	DET
cet-1369	25	179	drone	drone	NOUN
cet-1369	25	180	images	image	NOUN
cet-1369	25	181	can	can	AUX
cet-1369	25	182	be	be	AUX
cet-1369	25	183	used	use	VERB
cet-1369	25	184	to	to	PART
cet-1369	25	185	calculate	calculate	VERB
cet-1369	25	186	volumes	volume	NOUN
cet-1369	25	187	present	present	ADJ
cet-1369	25	188	on	on	ADP
cet-1369	25	189	the	the	DET
cet-1369	25	190	field	field	NOUN
cet-1369	25	191	,	,	PUNCT
cet-1369	25	192	and	and	CCONJ
cet-1369	25	193	thus	thus	ADV
cet-1369	25	194	detect	detect	VERB
cet-1369	25	195	the	the	DET
cet-1369	25	196	density	density	NOUN
cet-1369	25	197	problems	problem	NOUN
cet-1369	25	198	and	and	CCONJ
cet-1369	25	199	/	/	SYM
cet-1369	25	200	or	or	CCONJ
cet-1369	25	201	contour	contour	NOUN
cet-1369	25	202	such	such	ADJ
cet-1369	25	203	as	as	ADP
cet-1369	25	204	those	those	DET
cet-1369	25	205	related	relate	VERB
cet-1369	25	206	shading	shading	NOUN
cet-1369	25	207	due	due	ADP
cet-1369	25	208	to	to	ADP
cet-1369	25	209	exposure	exposure	NOUN
cet-1369	25	210	hilly	hilly	ADV
cet-1369	25	211	.	.	PUNCT
cet-1369	26	1	•	•	NUM
cet-1369	26	2	a	a	DET
cet-1369	26	3	more	more	ADV
cet-1369	26	4	frequent	frequent	ADJ
cet-1369	26	5	index	index	NOUN
cet-1369	26	6	of	of	ADP
cet-1369	26	7	report	report	NOUN
cet-1369	26	8	analysis	analysis	NOUN
cet-1369	26	9	:	:	PUNCT
cet-1369	26	10	drones	drone	NOUN
cet-1369	26	11	offer	offer	VERB
cet-1369	26	12	a	a	DET
cet-1369	26	13	cost	cost	NOUN
cet-1369	26	14	-	-	PUNCT
cet-1369	26	15	effective	effective	ADJ
cet-1369	26	16	way	way	NOUN
cet-1369	26	17	to	to	PART
cet-1369	26	18	monitor	monitor	VERB
cet-1369	26	19	at	at	ADP
cet-1369	26	20	frequent	frequent	ADJ
cet-1369	26	21	intervals	interval	NOUN
cet-1369	26	22	crops	crop	NOUN
cet-1369	26	23	and	and	CCONJ
cet-1369	26	24	detect	detect	VERB
cet-1369	26	25	some	some	DET
cet-1369	26	26	key	key	ADJ
cet-1369	26	27	indices	index	NOUN
cet-1369	26	28	as	as	ADP
cet-1369	26	29	cccis	cccis	NOUN
cet-1369	26	30	(	(	PUNCT
cet-1369	26	31	global	global	ADJ
cet-1369	26	32	index	index	NOUN
cet-1369	26	33	of	of	ADP
cet-1369	26	34	chlorophyll	chlorophyll	NOUN
cet-1369	26	35	content	content	NOUN
cet-1369	26	36	)	)	PUNCT
cet-1369	26	37	,	,	PUNCT
cet-1369	26	38	cwsi	cwsi	NOUN
cet-1369	26	39	(	(	PUNCT
cet-1369	26	40	water	water	NOUN
cet-1369	26	41	stress	stress	NOUN
cet-1369	26	42	index	index	NOUN
cet-1369	26	43	)	)	PUNCT
cet-1369	26	44	and	and	CCONJ
cet-1369	26	45	ndvi	ndvi	NOUN
cet-1369	26	46	(	(	PUNCT
cet-1369	26	47	index	index	NOUN
cet-1369	26	48	of	of	ADP
cet-1369	26	49	normalized	normalize	VERB
cet-1369	26	50	difference	difference	NOUN
cet-1369	26	51	vegetation	vegetation	NOUN
cet-1369	26	52	)	)	PUNCT
cet-1369	26	53	.	.	PUNCT
cet-1369	27	1	626	626	NUM
cet-1369	27	2	as	as	ADP
cet-1369	27	3	a	a	DET
cet-1369	27	4	matter	matter	NOUN
cet-1369	27	5	of	of	ADP
cet-1369	27	6	fact	fact	NOUN
cet-1369	27	7	attention	attention	NOUN
cet-1369	27	8	is	be	AUX
cet-1369	27	9	often	often	ADV
cet-1369	27	10	focused	focus	VERB
cet-1369	27	11	on	on	ADP
cet-1369	27	12	the	the	DET
cet-1369	27	13	single	single	ADJ
cet-1369	27	14	uav	uav	PROPN
cet-1369	27	15	operation	operation	NOUN
cet-1369	27	16	,	,	PUNCT
cet-1369	27	17	rather	rather	ADV
cet-1369	27	18	than	than	ADP
cet-1369	27	19	on	on	ADP
cet-1369	27	20	the	the	DET
cet-1369	27	21	global	global	ADJ
cet-1369	27	22	implementation	implementation	NOUN
cet-1369	27	23	of	of	ADP
cet-1369	27	24	the	the	DET
cet-1369	27	25	technology	technology	NOUN
cet-1369	27	26	in	in	ADP
cet-1369	27	27	order	order	NOUN
cet-1369	27	28	to	to	PART
cet-1369	27	29	make	make	VERB
cet-1369	27	30	it	it	PRON
cet-1369	27	31	really	really	ADV
cet-1369	27	32	“	"	PUNCT
cet-1369	27	33	ready	ready	ADJ
cet-1369	27	34	to	to	PART
cet-1369	27	35	use	use	VERB
cet-1369	27	36	”	"	PUNCT
cet-1369	27	37	,	,	PUNCT
cet-1369	27	38	i.e.	i.e.	X
cet-1369	27	39	on	on	ADP
cet-1369	27	40	the	the	DET
cet-1369	27	41	global	global	ADJ
cet-1369	27	42	requirements	requirement	NOUN
cet-1369	27	43	to	to	PART
cet-1369	27	44	make	make	VERB
cet-1369	27	45	the	the	DET
cet-1369	27	46	system	system	NOUN
cet-1369	27	47	reliable	reliable	ADJ
cet-1369	27	48	,	,	PUNCT
cet-1369	27	49	safe	safe	ADJ
cet-1369	27	50	and	and	CCONJ
cet-1369	27	51	in	in	ADP
cet-1369	27	52	agreement	agreement	NOUN
cet-1369	27	53	with	with	ADP
cet-1369	27	54	regulations	regulation	NOUN
cet-1369	27	55	,	,	PUNCT
cet-1369	27	56	which	which	PRON
cet-1369	27	57	is	be	AUX
cet-1369	27	58	basically	basically	ADV
cet-1369	27	59	the	the	DET
cet-1369	27	60	integrated	integrate	VERB
cet-1369	27	61	.	.	PUNCT
cet-1369	28	1	actually	actually	ADV
cet-1369	28	2	the	the	DET
cet-1369	28	3	technology	technology	NOUN
cet-1369	28	4	requires	require	VERB
cet-1369	28	5	an	an	DET
cet-1369	28	6	advanced	advanced	ADJ
cet-1369	28	7	knowledge	knowledge	NOUN
cet-1369	28	8	of	of	ADP
cet-1369	28	9	the	the	DET
cet-1369	28	10	flying	fly	VERB
cet-1369	28	11	systems	system	NOUN
cet-1369	28	12	,	,	PUNCT
cet-1369	28	13	and	and	CCONJ
cet-1369	28	14	the	the	DET
cet-1369	28	15	necessity	necessity	NOUN
cet-1369	28	16	to	to	PART
cet-1369	28	17	provide	provide	VERB
cet-1369	28	18	a	a	DET
cet-1369	28	19	safety	safety	NOUN
cet-1369	28	20	operational	operational	ADJ
cet-1369	28	21	framework	framework	NOUN
cet-1369	28	22	in	in	ADP
cet-1369	28	23	case	case	NOUN
cet-1369	28	24	of	of	ADP
cet-1369	28	25	accidents	accident	NOUN
cet-1369	28	26	involve	involve	VERB
cet-1369	28	27	the	the	DET
cet-1369	28	28	use	use	NOUN
cet-1369	28	29	of	of	ADP
cet-1369	28	30	a	a	DET
cet-1369	28	31	significant	significant	ADJ
cet-1369	28	32	amount	amount	NOUN
cet-1369	28	33	of	of	ADP
cet-1369	28	34	resources	resource	NOUN
cet-1369	28	35	both	both	CCONJ
cet-1369	28	36	in	in	ADP
cet-1369	28	37	in	in	ADP
cet-1369	28	38	term	term	NOUN
cet-1369	28	39	of	of	ADP
cet-1369	28	40	human	human	ADJ
cet-1369	28	41	resources	resource	NOUN
cet-1369	28	42	and	and	CCONJ
cet-1369	28	43	economical	economical	ADJ
cet-1369	28	44	as	as	ADV
cet-1369	28	45	well	well	ADV
cet-1369	28	46	.	.	PUNCT
cet-1369	29	1	in	in	ADP
cet-1369	29	2	addition	addition	NOUN
cet-1369	29	3	to	to	ADP
cet-1369	29	4	the	the	DET
cet-1369	29	5	flying	fly	VERB
cet-1369	29	6	machine	machine	NOUN
cet-1369	29	7	,	,	PUNCT
cet-1369	29	8	the	the	DET
cet-1369	29	9	industry	industry	NOUN
cet-1369	29	10	of	of	ADP
cet-1369	29	11	drones	drone	NOUN
cet-1369	29	12	also	also	ADV
cet-1369	29	13	includes	include	VERB
cet-1369	29	14	a	a	DET
cet-1369	29	15	wide	wide	ADJ
cet-1369	29	16	supply	supply	NOUN
cet-1369	29	17	chain	chain	NOUN
cet-1369	29	18	of	of	ADP
cet-1369	29	19	enabling	enable	VERB
cet-1369	29	20	technologies	technology	NOUN
cet-1369	29	21	.	.	PUNCT
cet-1369	30	1	in	in	ADP
cet-1369	30	2	particular	particular	ADJ
cet-1369	30	3	,	,	PUNCT
cet-1369	30	4	it	it	PRON
cet-1369	30	5	is	be	AUX
cet-1369	30	6	considered	consider	VERB
cet-1369	30	7	strategic	strategic	ADJ
cet-1369	30	8	for	for	ADP
cet-1369	30	9	companies	company	NOUN
cet-1369	30	10	investing	invest	VERB
cet-1369	30	11	in	in	ADP
cet-1369	30	12	smart	smart	ADJ
cet-1369	30	13	technologies	technology	NOUN
cet-1369	30	14	in	in	ADP
cet-1369	30	15	a	a	DET
cet-1369	30	16	broader	broad	ADJ
cet-1369	30	17	context	context	NOUN
cet-1369	30	18	,	,	PUNCT
cet-1369	30	19	having	have	VERB
cet-1369	30	20	a	a	DET
cet-1369	30	21	direct	direct	ADJ
cet-1369	30	22	implication	implication	NOUN
cet-1369	30	23	on	on	ADP
cet-1369	30	24	their	their	PRON
cet-1369	30	25	ability	ability	NOUN
cet-1369	30	26	to	to	PART
cet-1369	30	27	build	build	VERB
cet-1369	30	28	a	a	DET
cet-1369	30	29	completely	completely	ADV
cet-1369	30	30	autonomous	autonomous	ADJ
cet-1369	30	31	flight	flight	NOUN
cet-1369	30	32	and	and	CCONJ
cet-1369	30	33	optimize	optimize	NOUN
cet-1369	30	34	mission	mission	NOUN
cet-1369	30	35	with	with	ADP
cet-1369	30	36	an	an	DET
cet-1369	30	37	intelligent	intelligent	ADJ
cet-1369	30	38	control	control	NOUN
cet-1369	30	39	.	.	PUNCT
cet-1369	31	1	the	the	DET
cet-1369	31	2	same	same	ADJ
cet-1369	31	3	concern	concern	NOUN
cet-1369	31	4	is	be	AUX
cet-1369	31	5	evident	evident	ADJ
cet-1369	31	6	for	for	ADP
cet-1369	31	7	detect	detect	NOUN
cet-1369	31	8	and	and	CCONJ
cet-1369	31	9	avoid	avoid	VERB
cet-1369	31	10	technology	technology	NOUN
cet-1369	31	11	,	,	PUNCT
cet-1369	31	12	essential	essential	ADJ
cet-1369	31	13	for	for	ADP
cet-1369	31	14	flying	fly	VERB
cet-1369	31	15	in	in	ADP
cet-1369	31	16	uncontrolled	uncontrolled	ADJ
cet-1369	31	17	airspace	airspace	NOUN
cet-1369	31	18	,	,	PUNCT
cet-1369	31	19	and	and	CCONJ
cet-1369	31	20	its	its	PRON
cet-1369	31	21	smart	smart	ADJ
cet-1369	31	22	features	feature	VERB
cet-1369	31	23	additional	additional	ADJ
cet-1369	31	24	character	character	NOUN
cet-1369	31	25	(	(	PUNCT
cet-1369	31	26	such	such	ADJ
cet-1369	31	27	as	as	ADP
cet-1369	31	28	the	the	DET
cet-1369	31	29	health	health	NOUN
cet-1369	31	30	monitoring	monitoring	NOUN
cet-1369	31	31	and	and	CCONJ
cet-1369	31	32	the	the	DET
cet-1369	31	33	self	self	NOUN
cet-1369	31	34	recovery	recovery	NOUN
cet-1369	31	35	systems	system	NOUN
cet-1369	31	36	)	)	PUNCT
cet-1369	31	37	.	.	PUNCT
cet-1369	32	1	the	the	DET
cet-1369	32	2	same	same	ADJ
cet-1369	32	3	smart	smart	ADJ
cet-1369	32	4	technologies	technology	NOUN
cet-1369	32	5	are	be	AUX
cet-1369	32	6	used	use	VERB
cet-1369	32	7	in	in	ADP
cet-1369	32	8	many	many	ADJ
cet-1369	32	9	other	other	ADJ
cet-1369	32	10	non	non	ADJ
cet-1369	32	11	-	-	ADJ
cet-1369	32	12	aviation	aviation	ADJ
cet-1369	32	13	sectors	sector	NOUN
cet-1369	32	14	and	and	CCONJ
cet-1369	32	15	can	can	AUX
cet-1369	32	16	contribute	contribute	VERB
cet-1369	32	17	to	to	PART
cet-1369	32	18	characterize	characterize	VERB
cet-1369	32	19	the	the	DET
cet-1369	32	20	product	product	NOUN
cet-1369	32	21	of	of	ADP
cet-1369	32	22	interest	interest	NOUN
cet-1369	32	23	.	.	PUNCT
cet-1369	33	1	in	in	ADP
cet-1369	33	2	the	the	DET
cet-1369	33	3	context	context	NOUN
cet-1369	33	4	of	of	ADP
cet-1369	33	5	development	development	NOUN
cet-1369	33	6	and	and	CCONJ
cet-1369	33	7	automation	automation	NOUN
cet-1369	33	8	of	of	ADP
cet-1369	33	9	the	the	DET
cet-1369	33	10	various	various	ADJ
cet-1369	33	11	arrangements	arrangement	NOUN
cet-1369	33	12	for	for	ADP
cet-1369	33	13	monitoring	monitor	VERB
cet-1369	33	14	the	the	DET
cet-1369	33	15	health	health	NOUN
cet-1369	33	16	of	of	ADP
cet-1369	33	17	crops	crop	NOUN
cet-1369	33	18	,	,	PUNCT
cet-1369	33	19	connectivity	connectivity	NOUN
cet-1369	33	20	and	and	CCONJ
cet-1369	33	21	use	use	NOUN
cet-1369	33	22	of	of	ADP
cet-1369	33	23	big	big	ADJ
cet-1369	33	24	data	datum	NOUN
cet-1369	33	25	represents	represent	VERB
cet-1369	33	26	an	an	DET
cet-1369	33	27	aspect	aspect	NOUN
cet-1369	33	28	in	in	ADP
cet-1369	33	29	line	line	NOUN
cet-1369	33	30	with	with	ADP
cet-1369	33	31	the	the	DET
cet-1369	33	32	technological	technological	ADJ
cet-1369	33	33	trends	trend	NOUN
cet-1369	33	34	that	that	PRON
cet-1369	33	35	will	will	AUX
cet-1369	33	36	emerge	emerge	VERB
cet-1369	33	37	clearly	clearly	ADV
cet-1369	33	38	.	.	PUNCT
cet-1369	34	1	in	in	ADP
cet-1369	34	2	theory	theory	NOUN
cet-1369	34	3	,	,	PUNCT
cet-1369	34	4	the	the	DET
cet-1369	34	5	major	major	ADJ
cet-1369	34	6	market	market	NOUN
cet-1369	34	7	drivers	driver	NOUN
cet-1369	34	8	that	that	PRON
cet-1369	34	9	may	may	AUX
cet-1369	34	10	influence	influence	VERB
cet-1369	34	11	the	the	DET
cet-1369	34	12	choice	choice	NOUN
cet-1369	34	13	of	of	ADP
cet-1369	34	14	an	an	DET
cet-1369	34	15	unmanned	unmanned	ADJ
cet-1369	34	16	aircraft	aircraft	NOUN
cet-1369	34	17	are	be	AUX
cet-1369	34	18	as	as	SCONJ
cet-1369	34	19	follows	follow	VERB
cet-1369	34	20	:	:	PUNCT
cet-1369	34	21	•	•	NUM
cet-1369	34	22	payload	payload	NOUN
cet-1369	34	23	suite	suite	NOUN
cet-1369	34	24	;	;	PUNCT
cet-1369	34	25	•	•	NUM
cet-1369	34	26	cost	cost	NOUN
cet-1369	34	27	;	;	PUNCT
cet-1369	34	28	•	•	NUM
cet-1369	34	29	flight	flight	NOUN
cet-1369	34	30	hours	hour	NOUN
cet-1369	34	31	;	;	PUNCT
cet-1369	34	32	•	•	NUM
cet-1369	34	33	payload	payload	NOUN
cet-1369	34	34	weight	weight	NOUN
cet-1369	34	35	;	;	PUNCT
cet-1369	34	36	•	•	NUM
cet-1369	34	37	datalink	datalink	ADJ
cet-1369	34	38	bandwidth	bandwidth	NOUN
cet-1369	34	39	;	;	PUNCT
cet-1369	34	40	•	•	NUM
cet-1369	34	41	stabilization	stabilization	NOUN
cet-1369	34	42	of	of	ADP
cet-1369	34	43	payload	payload	NOUN
cet-1369	34	44	;	;	PUNCT
cet-1369	34	45	•	•	NUM
cet-1369	34	46	aircraft	aircraft	NOUN
cet-1369	34	47	weight	weight	NOUN
cet-1369	34	48	;	;	PUNCT
cet-1369	34	49	•	•	NUM
cet-1369	34	50	range	range	NOUN
cet-1369	34	51	/	/	SYM
cet-1369	34	52	radius	radius	NOUN
cet-1369	34	53	of	of	ADP
cet-1369	34	54	action	action	NOUN
cet-1369	34	55	;	;	PUNCT
cet-1369	34	56	•	•	NUM
cet-1369	34	57	operational	operational	ADJ
cet-1369	34	58	ceiling	ceiling	NOUN
cet-1369	34	59	;	;	PUNCT
cet-1369	34	60	•	•	NUM
cet-1369	34	61	speed	speed	NOUN
cet-1369	34	62	;	;	PUNCT
cet-1369	34	63	•	•	X
cet-1369	34	64	endurance	endurance	NOUN
cet-1369	34	65	;	;	PUNCT
cet-1369	35	1	•	•	NUM
cet-1369	35	2	weather	weather	NOUN
cet-1369	35	3	rating	rating	NOUN
cet-1369	35	4	;	;	PUNCT
cet-1369	35	5	•	•	NUM
cet-1369	35	6	los	los	PROPN
cet-1369	35	7	operations	operation	NOUN
cet-1369	35	8	;	;	PUNCT
cet-1369	35	9	•	•	NUM
cet-1369	35	10	sensor	sensor	NOUN
cet-1369	35	11	resolution	resolution	NOUN
cet-1369	35	12	;	;	PUNCT
cet-1369	35	13	•	•	NUM
cet-1369	35	14	launch	launch	NOUN
cet-1369	35	15	/	/	SYM
cet-1369	35	16	recovery	recovery	NOUN
cet-1369	35	17	modes	mode	NOUN
cet-1369	35	18	;	;	PUNCT
cet-1369	35	19	•	•	NUM
cet-1369	35	20	base	base	NOUN
cet-1369	35	21	of	of	ADP
cet-1369	35	22	operations	operation	NOUN
cet-1369	35	23	.	.	PUNCT
cet-1369	36	1	in	in	ADP
cet-1369	36	2	the	the	DET
cet-1369	36	3	following	follow	VERB
cet-1369	36	4	sections	section	NOUN
cet-1369	36	5	an	an	DET
cet-1369	36	6	example	example	NOUN
cet-1369	36	7	of	of	ADP
cet-1369	36	8	possible	possible	ADJ
cet-1369	36	9	payload	payload	NOUN
cet-1369	36	10	and	and	CCONJ
cet-1369	36	11	performance	performance	NOUN
cet-1369	36	12	of	of	ADP
cet-1369	36	13	a	a	DET
cet-1369	36	14	drone	drone	NOUN
cet-1369	36	15	with	with	ADP
cet-1369	36	16	limit	limit	NOUN
cet-1369	36	17	weight	weight	NOUN
cet-1369	36	18	of	of	ADP
cet-1369	36	19	25	25	NUM
cet-1369	36	20	kg	kg	NOUN
cet-1369	36	21	are	be	AUX
cet-1369	36	22	computed	compute	VERB
cet-1369	36	23	,	,	PUNCT
cet-1369	36	24	and	and	CCONJ
cet-1369	36	25	briefly	briefly	ADV
cet-1369	36	26	compared	compare	VERB
cet-1369	36	27	with	with	ADP
cet-1369	36	28	service	service	NOUN
cet-1369	36	29	requirements	requirement	NOUN
cet-1369	36	30	.	.	PUNCT
cet-1369	37	1	2	2	X
cet-1369	37	2	.	.	X
cet-1369	37	3	materials	material	NOUN
cet-1369	37	4	and	and	CCONJ
cet-1369	37	5	methods	method	NOUN
cet-1369	37	6	in	in	ADP
cet-1369	37	7	recent	recent	ADJ
cet-1369	37	8	decades	decade	NOUN
cet-1369	37	9	,	,	PUNCT
cet-1369	37	10	significant	significant	ADJ
cet-1369	37	11	efforts	effort	NOUN
cet-1369	37	12	have	have	AUX
cet-1369	37	13	been	be	AUX
cet-1369	37	14	devoted	devote	VERB
cet-1369	37	15	to	to	PART
cet-1369	37	16	increase	increase	VERB
cet-1369	37	17	flight	flight	NOUN
cet-1369	37	18	duration	duration	NOUN
cet-1369	37	19	,	,	PUNCT
cet-1369	37	20	payload	payload	NOUN
cet-1369	37	21	,	,	PUNCT
cet-1369	37	22	and	and	CCONJ
cet-1369	37	23	tolerance	tolerance	NOUN
cet-1369	37	24	to	to	ADP
cet-1369	37	25	various	various	ADJ
cet-1369	37	26	weather	weather	NOUN
cet-1369	37	27	conditions	condition	NOUN
cet-1369	37	28	,	,	PUNCT
cet-1369	37	29	resulting	result	VERB
cet-1369	37	30	in	in	ADP
cet-1369	37	31	different	different	ADJ
cet-1369	37	32	uav	uav	PROPN
cet-1369	37	33	configurations	configuration	NOUN
cet-1369	37	34	with	with	ADP
cet-1369	37	35	different	different	ADJ
cet-1369	37	36	sizes	size	NOUN
cet-1369	37	37	,	,	PUNCT
cet-1369	37	38	duration	duration	NOUN
cet-1369	37	39	of	of	ADP
cet-1369	37	40	autonomy	autonomy	NOUN
cet-1369	37	41	and	and	CCONJ
cet-1369	37	42	competencies	competency	NOUN
cet-1369	37	43	.	.	PUNCT
cet-1369	38	1	a	a	DET
cet-1369	38	2	key	key	ADJ
cet-1369	38	3	criterion	criterion	NOUN
cet-1369	38	4	currently	currently	ADV
cet-1369	38	5	used	use	VERB
cet-1369	38	6	to	to	PART
cet-1369	38	7	distinguish	distinguish	VERB
cet-1369	38	8	among	among	ADP
cet-1369	38	9	uav	uav	PROPN
cet-1369	38	10	is	be	AUX
cet-1369	38	11	the	the	DET
cet-1369	38	12	size	size	NOUN
cet-1369	38	13	and	and	CCONJ
cet-1369	38	14	flight	flight	NOUN
cet-1369	38	15	duration	duration	NOUN
cet-1369	38	16	:	:	PUNCT
cet-1369	38	17			X
cet-1369	39	1	class1	class1	NOUN
cet-1369	39	2	:	:	PUNCT
cet-1369	39	3	large	large	ADJ
cet-1369	39	4	autonomy	autonomy	NOUN
cet-1369	39	5	,	,	PUNCT
cet-1369	39	6	high	high	ADJ
cet-1369	39	7	altitude	altitude	NOUN
cet-1369	39	8	uav	uav	PROPN
cet-1369	39	9	such	such	ADJ
cet-1369	39	10	as	as	ADP
cet-1369	39	11	northropgrumman	northropgrumman	PROPN
cet-1369	39	12	ryan	ryan	PROPN
cet-1369	39	13	's	's	PART
cet-1369	39	14	global	global	ADJ
cet-1369	39	15	hawks	hawk	NOUN
cet-1369	39	16	(	(	PUNCT
cet-1369	39	17	65.000	65.000	NUM
cet-1369	39	18	feet	foot	NOUN
cet-1369	39	19	altitude	altitude	NOUN
cet-1369	39	20	,	,	PUNCT
cet-1369	39	21	flight	flight	NOUN
cet-1369	39	22	time	time	NOUN
cet-1369	39	23	35	35	NUM
cet-1369	39	24	hours	hour	NOUN
cet-1369	39	25	,	,	PUNCT
cet-1369	39	26	payload	payload	VERB
cet-1369	39	27	950	950	NUM
cet-1369	39	28	kg	kg	NOUN
cet-1369	39	29	)	)	PUNCT
cet-1369	39	30	.	.	PUNCT
cet-1369	40	1			PUNCT
cet-1369	41	1	class2	class2	PROPN
cet-1369	41	2	:	:	PUNCT
cet-1369	41	3	medium	medium	ADJ
cet-1369	41	4	altitude	altitude	NOUN
cet-1369	41	5	long	long	ADJ
cet-1369	41	6	endurance	endurance	PROPN
cet-1369	41	7	uav	uav	PROPN
cet-1369	41	8	,	,	PUNCT
cet-1369	41	9	such	such	ADJ
cet-1369	41	10	as	as	ADP
cet-1369	41	11	the	the	DET
cet-1369	41	12	general	general	ADJ
cet-1369	41	13	atomics	atomics	NOUN
cet-1369	41	14	predator	predator	NOUN
cet-1369	41	15	(	(	PUNCT
cet-1369	41	16	9.000	9.000	NUM
cet-1369	41	17	m	m	NOUN
cet-1369	41	18	high	high	ADJ
cet-1369	41	19	,	,	PUNCT
cet-1369	41	20	30/40	30/40	NUM
cet-1369	41	21	hour	hour	NOUN
cet-1369	41	22	flight	flight	NOUN
cet-1369	41	23	,	,	PUNCT
cet-1369	41	24	and	and	CCONJ
cet-1369	41	25	beneficial	beneficial	ADJ
cet-1369	41	26	load	load	NOUN
cet-1369	41	27	250	250	NUM
cet-1369	41	28	kg	kg	NOUN
cet-1369	41	29	)	)	PUNCT
cet-1369	41	30	.	.	PUNCT
cet-1369	42	1			PROPN
cet-1369	42	2	class3	class3	PROPN
cet-1369	42	3	:	:	PUNCT
cet-1369	42	4	regular	regular	ADJ
cet-1369	42	5	use	use	NOUN
cet-1369	42	6	uavs	uavs	NOUN
cet-1369	42	7	as	as	ADP
cet-1369	42	8	hunter	hunter	NOUN
cet-1369	42	9	,	,	PUNCT
cet-1369	42	10	shadow	shadow	NOUN
cet-1369	42	11	200	200	NUM
cet-1369	42	12	,	,	PUNCT
cet-1369	42	13	and	and	CCONJ
cet-1369	42	14	pioneer	pioneer	NOUN
cet-1369	42	15	(	(	PUNCT
cet-1369	42	16	5000	5000	NUM
cet-1369	42	17	m	m	VERB
cet-1369	42	18	high	high	ADJ
cet-1369	42	19	,	,	PUNCT
cet-1369	42	20	flight	flight	NOUN
cet-1369	42	21	time	time	NOUN
cet-1369	42	22	is	be	AUX
cet-1369	42	23	5	5	NUM
cet-1369	42	24	-	-	SYM
cet-1369	42	25	6	6	NUM
cet-1369	42	26	hours	hour	NOUN
cet-1369	42	27	,	,	PUNCT
cet-1369	42	28	and	and	CCONJ
cet-1369	42	29	25	25	NUM
cet-1369	42	30	kg	kg	NOUN
cet-1369	42	31	payload	payload	NOUN
cet-1369	42	32	)	)	PUNCT
cet-1369	42	33			PUNCT
cet-1369	43	1	class4	class4	PROPN
cet-1369	43	2	:	:	PUNCT
cet-1369	43	3	small	small	ADJ
cet-1369	43	4	and	and	CCONJ
cet-1369	43	5	portable	portable	ADJ
cet-1369	43	6	uavs	uavs	NOUN
cet-1369	43	7	from	from	ADP
cet-1369	43	8	a	a	DET
cet-1369	43	9	man	man	NOUN
cet-1369	43	10	as	as	ADP
cet-1369	43	11	the	the	DET
cet-1369	43	12	pointer	pointer	NOUN
cet-1369	43	13	/	/	SYM
cet-1369	43	14	ranen	ranen	NOUN
cet-1369	43	15	(	(	PUNCT
cet-1369	43	16	aerovironment	aerovironment	NOUN
cet-1369	43	17	)	)	PUNCT
cet-1369	43	18	,	,	PUNCT
cet-1369	43	19	janelin	janelin	NOUN
cet-1369	43	20	(	(	PUNCT
cet-1369	43	21	bal	bal	PROPN
cet-1369	43	22	)	)	PUNCT
cet-1369	43	23	or	or	CCONJ
cet-1369	43	24	black	black	ADJ
cet-1369	43	25	pack	pack	NOUN
cet-1369	43	26	mini	mini	NOUN
cet-1369	43	27	(	(	PUNCT
cet-1369	43	28	mission	mission	NOUN
cet-1369	43	29	technologies	technology	NOUN
cet-1369	43	30	)	)	PUNCT
cet-1369	43	31	.	.	PUNCT
cet-1369	44	1	while	while	SCONJ
cet-1369	44	2	class1	class1	NOUN
cet-1369	44	3	and	and	CCONJ
cet-1369	44	4	class2	class2	NOUN
cet-1369	44	5	vehicle	vehicle	NOUN
cet-1369	44	6	are	be	AUX
cet-1369	44	7	restricted	restrict	VERB
cet-1369	44	8	to	to	ADP
cet-1369	44	9	military	military	ADJ
cet-1369	44	10	use	use	NOUN
cet-1369	44	11	,	,	PUNCT
cet-1369	44	12	class	class	NOUN
cet-1369	44	13	3	3	NUM
cet-1369	44	14	vehicle	vehicle	NOUN
cet-1369	44	15	with	with	ADP
cet-1369	44	16	actual	actual	ADJ
cet-1369	44	17	regulations	regulation	NOUN
cet-1369	44	18	in	in	ADP
cet-1369	44	19	italy	italy	PROPN
cet-1369	44	20	requires	require	VERB
cet-1369	44	21	a	a	DET
cet-1369	44	22	quite	quite	ADV
cet-1369	44	23	strict	strict	ADJ
cet-1369	44	24	permit	permit	NOUN
cet-1369	44	25	to	to	PART
cet-1369	44	26	fly	fly	VERB
cet-1369	44	27	,	,	PUNCT
cet-1369	44	28	and	and	CCONJ
cet-1369	44	29	the	the	DET
cet-1369	44	30	documentation	documentation	NOUN
cet-1369	44	31	required	require	VERB
cet-1369	44	32	is	be	AUX
cet-1369	44	33	basically	basically	ADV
cet-1369	44	34	restricted	restrict	VERB
cet-1369	44	35	at	at	ADP
cet-1369	44	36	the	the	DET
cet-1369	44	37	moment	moment	NOUN
cet-1369	44	38	to	to	ADP
cet-1369	44	39	companies	company	NOUN
cet-1369	44	40	with	with	ADP
cet-1369	44	41	experience	experience	NOUN
cet-1369	44	42	in	in	ADP
cet-1369	44	43	aerospace	aerospace	NOUN
cet-1369	44	44	,	,	PUNCT
cet-1369	44	45	as	as	SCONJ
cet-1369	44	46	almost	almost	ADV
cet-1369	44	47	no	no	PRON
cet-1369	44	48	uav	uav	NOUN
cet-1369	44	49	in	in	ADP
cet-1369	44	50	such	such	ADJ
cet-1369	44	51	class	class	NOUN
cet-1369	44	52	is	be	AUX
cet-1369	44	53	at	at	ADP
cet-1369	44	54	the	the	DET
cet-1369	44	55	moment	moment	NOUN
cet-1369	44	56	allowed	allow	VERB
cet-1369	44	57	to	to	PART
cet-1369	44	58	fly	fly	VERB
cet-1369	44	59	freely	freely	ADV
cet-1369	44	60	.	.	PUNCT
cet-1369	45	1	intermediate	intermediate	ADJ
cet-1369	45	2	vehicles	vehicle	NOUN
cet-1369	45	3	between	between	ADP
cet-1369	45	4	class	class	NOUN
cet-1369	45	5	3	3	NUM
cet-1369	45	6	and	and	CCONJ
cet-1369	45	7	class	class	NOUN
cet-1369	45	8	4	4	NUM
cet-1369	45	9	up	up	ADP
cet-1369	45	10	to	to	ADP
cet-1369	45	11	a	a	DET
cet-1369	45	12	maximum	maximum	NOUN
cet-1369	45	13	of	of	ADP
cet-1369	45	14	25	25	NUM
cet-1369	45	15	kg	kg	NOUN
cet-1369	45	16	are	be	AUX
cet-1369	45	17	allowed	allow	VERB
cet-1369	45	18	to	to	PART
cet-1369	45	19	fly	fly	VERB
cet-1369	45	20	(	(	PUNCT
cet-1369	45	21	a	a	DET
cet-1369	45	22	licence	licence	NOUN
cet-1369	45	23	is	be	AUX
cet-1369	45	24	required	require	VERB
cet-1369	45	25	but	but	CCONJ
cet-1369	45	26	requirements	requirement	NOUN
cet-1369	45	27	are	be	AUX
cet-1369	45	28	less	less	ADV
cet-1369	45	29	strict	strict	ADJ
cet-1369	45	30	)	)	PUNCT
cet-1369	45	31	and	and	CCONJ
cet-1369	45	32	aim	aim	NOUN
cet-1369	45	33	of	of	ADP
cet-1369	45	34	this	this	DET
cet-1369	45	35	paper	paper	NOUN
cet-1369	45	36	is	be	AUX
cet-1369	45	37	to	to	PART
cet-1369	45	38	investigate	investigate	VERB
cet-1369	45	39	the	the	DET
cet-1369	45	40	actual	actual	ADJ
cet-1369	45	41	endurance	endurance	NOUN
cet-1369	45	42	and	and	CCONJ
cet-1369	45	43	payload	payload	NOUN
cet-1369	45	44	using	use	VERB
cet-1369	45	45	state	state	NOUN
cet-1369	45	46	of	of	ADP
cet-1369	45	47	the	the	DET
cet-1369	45	48	art	art	NOUN
cet-1369	45	49	component	component	NOUN
cet-1369	45	50	in	in	ADP
cet-1369	45	51	terms	term	NOUN
cet-1369	45	52	of	of	ADP
cet-1369	45	53	electronic	electronic	ADJ
cet-1369	45	54	equipment	equipment	NOUN
cet-1369	45	55	,	,	PUNCT
cet-1369	45	56	engines	engine	NOUN
cet-1369	45	57	,	,	PUNCT
cet-1369	45	58	propellers	propeller	NOUN
cet-1369	45	59	and	and	CCONJ
cet-1369	45	60	materials	material	NOUN
cet-1369	45	61	.	.	PUNCT
cet-1369	46	1	in	in	ADP
cet-1369	46	2	this	this	DET
cet-1369	46	3	sense	sense	NOUN
cet-1369	46	4	the	the	DET
cet-1369	46	5	“	"	PUNCT
cet-1369	46	6	heavy	heavy	ADJ
cet-1369	46	7	lift	lift	NOUN
cet-1369	46	8	”	"	PUNCT
cet-1369	46	9	considered	consider	VERB
cet-1369	46	10	here	here	ADV
cet-1369	46	11	is	be	AUX
cet-1369	46	12	the	the	DET
cet-1369	46	13	maximum	maximum	ADJ
cet-1369	46	14	amount	amount	NOUN
cet-1369	46	15	of	of	ADP
cet-1369	46	16	payload	payload	NOUN
cet-1369	46	17	that	that	PRON
cet-1369	46	18	can	can	AUX
cet-1369	46	19	be	be	AUX
cet-1369	46	20	deployed	deploy	VERB
cet-1369	46	21	using	use	VERB
cet-1369	46	22	a	a	DET
cet-1369	46	23	class	class	NOUN
cet-1369	46	24	3	3	NUM
cet-1369	46	25	vehicle	vehicle	NOUN
cet-1369	46	26	.	.	PUNCT
cet-1369	47	1	a	a	DET
cet-1369	47	2	complex	complex	ADJ
cet-1369	47	3	strategic	strategic	ADJ
cet-1369	47	4	tasks	task	NOUN
cet-1369	47	5	in	in	ADP
cet-1369	47	6	designing	design	VERB
cet-1369	47	7	a	a	DET
cet-1369	47	8	multirotor	multirotor	NOUN
cet-1369	47	9	unmanned	unmanned	ADJ
cet-1369	47	10	aerial	aerial	ADJ
cet-1369	47	11	vehicle	vehicle	NOUN
cet-1369	47	12	(	(	PUNCT
cet-1369	47	13	uav	uav	PROPN
cet-1369	47	14	)	)	PUNCT
cet-1369	47	15	is	be	AUX
cet-1369	47	16	the	the	DET
cet-1369	47	17	selection	selection	NOUN
cet-1369	47	18	of	of	ADP
cet-1369	47	19	a	a	DET
cet-1369	47	20	propulsion	propulsion	NOUN
cet-1369	47	21	system	system	NOUN
cet-1369	47	22	that	that	PRON
cet-1369	47	23	can	can	AUX
cet-1369	47	24	provide	provide	VERB
cet-1369	47	25	desired	desire	VERB
cet-1369	47	26	performance	performance	NOUN
cet-1369	47	27	.	.	PUNCT
cet-1369	48	1	as	as	ADP
cet-1369	48	2	matter	matter	NOUN
cet-1369	48	3	of	of	ADP
cet-1369	48	4	fact	fact	NOUN
cet-1369	48	5	rigorous	rigorous	ADJ
cet-1369	48	6	methods	method	NOUN
cet-1369	48	7	for	for	ADP
cet-1369	48	8	selecting	select	VERB
cet-1369	48	9	these	these	DET
cet-1369	48	10	essential	essential	ADJ
cet-1369	48	11	components	component	NOUN
cet-1369	48	12	(	(	PUNCT
cet-1369	48	13	motors	motor	NOUN
cet-1369	48	14	,	,	PUNCT
cet-1369	48	15	propellers	propeller	NOUN
cet-1369	48	16	,	,	PUNCT
cet-1369	48	17	and	and	CCONJ
cet-1369	48	18	batteries	battery	NOUN
cet-1369	48	19	)	)	PUNCT
cet-1369	48	20	for	for	ADP
cet-1369	48	21	electric	electric	ADJ
cet-1369	48	22	uavs	uavs	PROPN
cet-1369	48	23	are	be	AUX
cet-1369	48	24	not	not	PART
cet-1369	48	25	readily	readily	ADV
cet-1369	48	26	available	available	ADJ
cet-1369	48	27	,	,	PUNCT
cet-1369	48	28	627	627	NUM
cet-1369	48	29	and	and	CCONJ
cet-1369	48	30	many	many	ADJ
cet-1369	48	31	uav	uav	PROPN
cet-1369	48	32	designs	design	NOUN
cet-1369	48	33	are	be	AUX
cet-1369	48	34	currently	currently	ADV
cet-1369	48	35	based	base	VERB
cet-1369	48	36	on	on	ADP
cet-1369	48	37	legacy	legacy	NOUN
cet-1369	48	38	selections	selection	NOUN
cet-1369	48	39	or	or	CCONJ
cet-1369	48	40	limited	limited	ADJ
cet-1369	48	41	and	and	CCONJ
cet-1369	48	42	sometimes	sometimes	ADV
cet-1369	48	43	inaccurate	inaccurate	ADJ
cet-1369	48	44	manufacturer	manufacturer	NOUN
cet-1369	48	45	data	datum	NOUN
cet-1369	48	46	(	(	PUNCT
cet-1369	48	47	ampatis	ampatis	NOUN
cet-1369	48	48	and	and	CCONJ
cet-1369	48	49	papadopulos	papadopulo	NOUN
cet-1369	48	50	,	,	PUNCT
cet-1369	48	51	2014	2014	NUM
cet-1369	48	52	)	)	PUNCT
cet-1369	48	53	.	.	PUNCT
cet-1369	49	1	the	the	DET
cet-1369	49	2	motors	motor	NOUN
cet-1369	49	3	used	use	VERB
cet-1369	49	4	in	in	ADP
cet-1369	49	5	multicopter	multicopter	PROPN
cet-1369	49	6	uav	uav	PROPN
cet-1369	49	7	(	(	PUNCT
cet-1369	49	8	muav	muav	PROPN
cet-1369	49	9	)	)	PUNCT
cet-1369	49	10	applications	application	NOUN
cet-1369	49	11	are	be	AUX
cet-1369	49	12	usually	usually	ADV
cet-1369	49	13	brushless	brushless	ADJ
cet-1369	49	14	direct	direct	ADJ
cet-1369	49	15	current	current	ADJ
cet-1369	49	16	(	(	PUNCT
cet-1369	49	17	bldc	bldc	PROPN
cet-1369	49	18	)	)	PUNCT
cet-1369	49	19	,	,	PUNCT
cet-1369	49	20	due	due	ADP
cet-1369	49	21	to	to	ADP
cet-1369	49	22	their	their	PRON
cet-1369	49	23	high	high	ADJ
cet-1369	49	24	efficiency	efficiency	NOUN
cet-1369	49	25	.	.	PUNCT
cet-1369	50	1	outrunners	outrunner	NOUN
cet-1369	50	2	motors	motor	NOUN
cet-1369	50	3	,	,	PUNCT
cet-1369	50	4	spinning	spin	VERB
cet-1369	50	5	their	their	PRON
cet-1369	50	6	outer	outer	ADJ
cet-1369	50	7	shell	shell	NOUN
cet-1369	50	8	around	around	ADP
cet-1369	50	9	its	its	PRON
cet-1369	50	10	windings	winding	NOUN
cet-1369	50	11	,	,	PUNCT
cet-1369	50	12	are	be	AUX
cet-1369	50	13	generally	generally	ADV
cet-1369	50	14	used	use	VERB
cet-1369	50	15	for	for	ADP
cet-1369	50	16	their	their	PRON
cet-1369	50	17	high	high	ADJ
cet-1369	50	18	torque	torque	NOUN
cet-1369	50	19	constant	constant	ADJ
cet-1369	50	20	(	(	PUNCT
cet-1369	50	21	kt	kt	X
cet-1369	50	22	)	)	PUNCT
cet-1369	50	23	allowing	allow	VERB
cet-1369	50	24	direct	direct	ADJ
cet-1369	50	25	propeller	propeller	NOUN
cet-1369	50	26	coupling	coupling	NOUN
cet-1369	50	27	,	,	PUNCT
cet-1369	50	28	unlike	unlike	ADP
cet-1369	50	29	inrunners	inrunner	NOUN
cet-1369	50	30	motors	motor	NOUN
cet-1369	50	31	,	,	PUNCT
cet-1369	50	32	in	in	ADP
cet-1369	50	33	which	which	PRON
cet-1369	50	34	their	their	PRON
cet-1369	50	35	rotational	rotational	ADJ
cet-1369	50	36	core	core	NOUN
cet-1369	50	37	is	be	AUX
cet-1369	50	38	contained	contain	VERB
cet-1369	50	39	within	within	ADP
cet-1369	50	40	the	the	DET
cet-1369	50	41	motor	motor	NOUN
cet-1369	50	42	's	's	PART
cet-1369	50	43	can	can	NOUN
cet-1369	50	44	,	,	PUNCT
cet-1369	50	45	and	and	CCONJ
cet-1369	50	46	requiring	require	VERB
cet-1369	50	47	a	a	DET
cet-1369	50	48	gearbox	gearbox	NOUN
cet-1369	50	49	.	.	PUNCT
cet-1369	51	1	bldc	bldc	PROPN
cet-1369	51	2	motors	motor	NOUN
cet-1369	51	3	are	be	AUX
cet-1369	51	4	usually	usually	ADV
cet-1369	51	5	synchronous	synchronous	ADJ
cet-1369	51	6	3	3	NUM
cet-1369	51	7	-	-	PUNCT
cet-1369	51	8	phase	phase	NOUN
cet-1369	51	9	permanent	permanent	ADJ
cet-1369	51	10	magnet	magnet	NOUN
cet-1369	51	11	motors	motor	NOUN
cet-1369	51	12	,	,	PUNCT
cet-1369	51	13	but	but	CCONJ
cet-1369	51	14	in	in	ADP
cet-1369	51	15	the	the	DET
cet-1369	51	16	simplified	simplified	ADJ
cet-1369	51	17	approach	approach	NOUN
cet-1369	51	18	proposed	propose	VERB
cet-1369	51	19	by	by	ADP
cet-1369	51	20	ampatis	ampatis	PROPN
cet-1369	51	21	and	and	CCONJ
cet-1369	51	22	papadopulos	papadopulo	NOUN
cet-1369	51	23	,	,	PUNCT
cet-1369	51	24	motors	motor	NOUN
cet-1369	51	25	can	can	AUX
cet-1369	51	26	be	be	AUX
cet-1369	51	27	modelled	model	VERB
cet-1369	51	28	as	as	ADP
cet-1369	51	29	a	a	DET
cet-1369	51	30	permanent	permanent	ADJ
cet-1369	51	31	magnet	magnet	NOUN
cet-1369	51	32	dc	dc	PROPN
cet-1369	51	33	motor	motor	NOUN
cet-1369	51	34	inside	inside	ADP
cet-1369	51	35	the	the	DET
cet-1369	51	36	framework	framework	NOUN
cet-1369	51	37	of	of	ADP
cet-1369	51	38	a	a	DET
cet-1369	51	39	three	three	NUM
cet-1369	51	40	-	-	PUNCT
cet-1369	51	41	constant	constant	ADJ
cet-1369	51	42	model	model	NOUN
cet-1369	51	43	.	.	PUNCT
cet-1369	52	1	the	the	DET
cet-1369	52	2	model	model	NOUN
cet-1369	52	3	requires	require	VERB
cet-1369	52	4	the	the	DET
cet-1369	52	5	knowledge	knowledge	NOUN
cet-1369	52	6	of	of	ADP
cet-1369	52	7	vk	vk	PROPN
cet-1369	52	8	,	,	PUNCT
cet-1369	52	9	the	the	DET
cet-1369	52	10	supply	supply	NOUN
cet-1369	52	11	voltage	voltage	NOUN
cet-1369	52	12	(	(	PUNCT
cet-1369	52	13	v	v	NOUN
cet-1369	52	14	)	)	PUNCT
cet-1369	52	15	,	,	PUNCT
cet-1369	52	16	of	of	ADP
cet-1369	52	17	iα	iα	INTJ
cet-1369	52	18	,	,	PUNCT
cet-1369	52	19	the	the	DET
cet-1369	52	20	current	current	NOUN
cet-1369	52	21	through	through	ADP
cet-1369	52	22	the	the	DET
cet-1369	52	23	motor	motor	NOUN
cet-1369	52	24	coils	coil	NOUN
cet-1369	52	25	(	(	PUNCT
cet-1369	52	26	a	a	NOUN
cet-1369	52	27	)	)	PUNCT
cet-1369	52	28	,	,	PUNCT
cet-1369	52	29	and	and	CCONJ
cet-1369	52	30	eα	eα	INTJ
cet-1369	52	31	,	,	PUNCT
cet-1369	52	32	the	the	DET
cet-1369	52	33	back	back	ADV
cet-1369	52	34	-	-	PUNCT
cet-1369	52	35	electromotive	electromotive	ADJ
cet-1369	52	36	force	force	NOUN
cet-1369	52	37	(	(	PUNCT
cet-1369	52	38	emf	emf	NOUN
cet-1369	52	39	)	)	PUNCT
cet-1369	52	40	(	(	PUNCT
cet-1369	52	41	v	v	NOUN
cet-1369	52	42	)	)	PUNCT
cet-1369	52	43	.	.	PUNCT
cet-1369	53	1	additional	additional	ADJ
cet-1369	53	2	required	required	ADJ
cet-1369	53	3	parameters	parameter	NOUN
cet-1369	53	4	are	be	AUX
cet-1369	53	5	rα	rα	ADJ
cet-1369	53	6	,	,	PUNCT
cet-1369	53	7	the	the	DET
cet-1369	53	8	armature	armature	NOUN
cet-1369	53	9	resistance	resistance	NOUN
cet-1369	53	10	(	(	PUNCT
cet-1369	53	11	ω	ω	NOUN
cet-1369	53	12	)	)	PUNCT
cet-1369	53	13	and	and	CCONJ
cet-1369	53	14	ω	ω	NUM
cet-1369	53	15	,	,	PUNCT
cet-1369	53	16	the	the	DET
cet-1369	53	17	shaft	shaft	NOUN
cet-1369	53	18	angular	angular	ADJ
cet-1369	53	19	velocity	velocity	NOUN
cet-1369	53	20	expressed	express	VERB
cet-1369	53	21	in	in	ADP
cet-1369	53	22	rad	rad	PROPN
cet-1369	53	23	/	/	PROPN
cet-1369	53	24	s.	s.	PROPN
cet-1369	53	25	then	then	ADV
cet-1369	53	26	the	the	DET
cet-1369	53	27	motor	motor	NOUN
cet-1369	53	28	equations	equation	NOUN
cet-1369	53	29	can	can	AUX
cet-1369	53	30	be	be	AUX
cet-1369	53	31	written	write	VERB
cet-1369	53	32	as	as	ADP
cet-1369	53	33	:	:	PUNCT
cet-1369	53	34	vk	vk	ADP
cet-1369	53	35	=	=	SYM
cet-1369	53	36	eα	eα	PROPN
cet-1369	53	37	+	+	NUM
cet-1369	53	38	iα	iα	INTJ
cet-1369	53	39	r	r	NOUN
cet-1369	53	40	(	(	PUNCT
cet-1369	53	41	1	1	NUM
cet-1369	53	42	)	)	PUNCT
cet-1369	53	43	eα	eα	NOUN
cet-1369	54	1	=	=	PUNCT
cet-1369	54	2	keω	keω	NOUN
cet-1369	54	3	=	=	PUNCT
cet-1369	54	4	kt	kt	PROPN
cet-1369	54	5	ω	ω	PROPN
cet-1369	54	6	=	=	SYM
cet-1369	54	7	n	n	PROPN
cet-1369	54	8	/kv	/kv	NOUN
cet-1369	54	9	(	(	PUNCT
cet-1369	54	10	2	2	X
cet-1369	54	11	)	)	PUNCT
cet-1369	54	12	where	where	SCONJ
cet-1369	54	13	ke	ke	PROPN
cet-1369	54	14	is	be	AUX
cet-1369	54	15	the	the	DET
cet-1369	54	16	motor	motor	NOUN
cet-1369	54	17	back	back	ADP
cet-1369	54	18	emf	emf	NOUN
cet-1369	54	19	constant	constant	ADJ
cet-1369	54	20	(	(	PUNCT
cet-1369	54	21	vs	vs	PROPN
cet-1369	54	22	/	/	SYM
cet-1369	54	23	rad	rad	NOUN
cet-1369	54	24	)	)	PUNCT
cet-1369	54	25	,	,	PUNCT
cet-1369	54	26	kt	kt	PROPN
cet-1369	54	27	is	be	AUX
cet-1369	54	28	the	the	DET
cet-1369	54	29	motor	motor	NOUN
cet-1369	54	30	torque	torque	NOUN
cet-1369	54	31	constant	constant	ADJ
cet-1369	54	32	(	(	PUNCT
cet-1369	54	33	nm	nm	NOUN
cet-1369	54	34	/	/	SYM
cet-1369	54	35	a	a	NOUN
cet-1369	54	36	)	)	PUNCT
cet-1369	54	37	,	,	PUNCT
cet-1369	54	38	n	n	X
cet-1369	54	39	is	be	AUX
cet-1369	54	40	the	the	DET
cet-1369	54	41	motor	motor	NOUN
cet-1369	54	42	rpm	rpm	NOUN
cet-1369	54	43	,	,	PUNCT
cet-1369	54	44	and	and	CCONJ
cet-1369	54	45	kv	kv	PROPN
cet-1369	54	46	is	be	AUX
cet-1369	54	47	motor	motor	NOUN
cet-1369	54	48	speed	speed	NOUN
cet-1369	54	49	constant	constant	ADJ
cet-1369	54	50	(	(	PUNCT
cet-1369	54	51	rpm	rpm	PROPN
cet-1369	54	52	/	/	SYM
cet-1369	54	53	v	v	NOUN
cet-1369	54	54	)	)	PUNCT
cet-1369	54	55	.	.	PUNCT
cet-1369	55	1	the	the	DET
cet-1369	55	2	kt	kt	PROPN
cet-1369	55	3	is	be	AUX
cet-1369	55	4	related	relate	VERB
cet-1369	55	5	to	to	ADP
cet-1369	55	6	kv	kv	PROPN
cet-1369	55	7	by	by	ADP
cet-1369	55	8	:	:	PUNCT
cet-1369	55	9	ke	ke	NOUN
cet-1369	55	10	=	=	PUNCT
cet-1369	55	11	kt	kt	PROPN
cet-1369	55	12	=	=	SYM
cet-1369	55	13	30/(kv	30/(kv	NUM
cet-1369	55	14	)	)	PUNCT
cet-1369	55	15	(	(	PUNCT
cet-1369	55	16	3	3	X
cet-1369	55	17	)	)	PUNCT
cet-1369	55	18	while	while	SCONJ
cet-1369	55	19	the	the	DET
cet-1369	55	20	output	output	NOUN
cet-1369	55	21	torque	torque	NOUN
cet-1369	55	22	is	be	AUX
cet-1369	55	23	given	give	VERB
cet-1369	55	24	by	by	ADP
cet-1369	55	25	:	:	PUNCT
cet-1369	55	26	mmot	mmot	NOUN
cet-1369	55	27	=	=	SYM
cet-1369	55	28	kt	kt	PROPN
cet-1369	55	29	(	(	PUNCT
cet-1369	55	30	ia	ia	PROPN
cet-1369	55	31	–	–	PUNCT
cet-1369	55	32	i0	i0	PROPN
cet-1369	55	33	)	)	PUNCT
cet-1369	55	34	(	(	PUNCT
cet-1369	55	35	4	4	X
cet-1369	55	36	)	)	PUNCT
cet-1369	55	37	where	where	SCONJ
cet-1369	55	38	i0	i0	PROPN
cet-1369	55	39	is	be	AUX
cet-1369	55	40	the	the	DET
cet-1369	55	41	current	current	ADJ
cet-1369	55	42	at	at	ADP
cet-1369	55	43	zero	zero	NUM
cet-1369	55	44	load	load	NOUN
cet-1369	55	45	.	.	PUNCT
cet-1369	56	1	the	the	DET
cet-1369	56	2	motor	motor	NOUN
cet-1369	56	3	input	input	NOUN
cet-1369	56	4	power	power	NOUN
cet-1369	56	5	is	be	AUX
cet-1369	56	6	described	describe	VERB
cet-1369	56	7	by	by	ADP
cet-1369	56	8	:	:	PUNCT
cet-1369	56	9	pm	pm	NOUN
cet-1369	56	10	=	=	NUM
cet-1369	56	11	vk	vk	X
cet-1369	56	12	ia	ia	X
cet-1369	56	13	(	(	PUNCT
cet-1369	56	14	5	5	NUM
cet-1369	56	15	)	)	PUNCT
cet-1369	56	16	and	and	CCONJ
cet-1369	56	17	the	the	DET
cet-1369	56	18	motor	motor	NOUN
cet-1369	56	19	output	output	NOUN
cet-1369	56	20	power	power	NOUN
cet-1369	56	21	is	be	AUX
cet-1369	56	22	:	:	PUNCT
cet-1369	56	23	pmot	pmot	NOUN
cet-1369	56	24	=	=	NOUN
cet-1369	56	25	mmot	mmot	NOUN
cet-1369	56	26			PUNCT
cet-1369	56	27	kt	kt	PROPN
cet-1369	56	28	(	(	PUNCT
cet-1369	56	29	ia	ia	PROPN
cet-1369	56	30	–	–	PUNCT
cet-1369	56	31	i0)	i0)	PROPN
cet-1369	56	32	(	(	PUNCT
cet-1369	56	33	vk	vk	INTJ
cet-1369	56	34	-iα	-iα	PUNCT
cet-1369	56	35	r	r	PROPN
cet-1369	56	36	)	)	PUNCT
cet-1369	56	37	(	(	PUNCT
cet-1369	56	38	ia	ia	PROPN
cet-1369	56	39	–	–	PUNCT
cet-1369	56	40	i0	i0	PROPN
cet-1369	56	41	)	)	PUNCT
cet-1369	56	42	(	(	PUNCT
cet-1369	56	43	6	6	X
cet-1369	56	44	)	)	PUNCT
cet-1369	56	45	the	the	DET
cet-1369	56	46	motor	motor	NOUN
cet-1369	56	47	speed	speed	NOUN
cet-1369	56	48	in	in	ADP
cet-1369	56	49	rpm	rpm	NOUN
cet-1369	56	50	is	be	AUX
cet-1369	56	51	expressed	express	VERB
cet-1369	56	52	by	by	ADP
cet-1369	56	53	:	:	PUNCT
cet-1369	56	54	n=(vk	n=(vk	PROPN
cet-1369	56	55	-iα	-iα	PROPN
cet-1369	56	56	r	r	PROPN
cet-1369	56	57	)	)	PUNCT
cet-1369	56	58	kv	kv	PROPN
cet-1369	56	59	(	(	PUNCT
cet-1369	56	60	7	7	X
cet-1369	56	61	)	)	PUNCT
cet-1369	56	62	the	the	DET
cet-1369	56	63	performance	performance	NOUN
cet-1369	56	64	of	of	ADP
cet-1369	56	65	the	the	DET
cet-1369	56	66	motor	motor	NOUN
cet-1369	56	67	can	can	AUX
cet-1369	56	68	be	be	AUX
cet-1369	56	69	obtained	obtain	VERB
cet-1369	56	70	if	if	SCONJ
cet-1369	56	71	kt	kt	PROPN
cet-1369	56	72	,	,	PUNCT
cet-1369	56	73	rα	rα	PUNCT
cet-1369	56	74	and	and	CCONJ
cet-1369	56	75	i0	i0	PROPN
cet-1369	56	76	,	,	PUNCT
cet-1369	56	77	are	be	AUX
cet-1369	56	78	known	know	VERB
cet-1369	56	79	.	.	PUNCT
cet-1369	57	1	depending	depend	VERB
cet-1369	57	2	on	on	ADP
cet-1369	57	3	load	load	NOUN
cet-1369	57	4	and	and	CCONJ
cet-1369	57	5	battery	battery	NOUN
cet-1369	57	6	voltage	voltage	NOUN
cet-1369	57	7	,	,	PUNCT
cet-1369	57	8	electronic	electronic	ADJ
cet-1369	57	9	speed	speed	NOUN
cet-1369	57	10	controllers	controller	NOUN
cet-1369	57	11	(	(	PUNCT
cet-1369	57	12	esc	esc	NOUN
cet-1369	57	13	)	)	PUNCT
cet-1369	57	14	regulate	regulate	VERB
cet-1369	57	15	motor	motor	NOUN
cet-1369	57	16	speed	speed	NOUN
cet-1369	57	17	within	within	ADP
cet-1369	57	18	a	a	DET
cet-1369	57	19	certain	certain	ADJ
cet-1369	57	20	range	range	NOUN
cet-1369	57	21	,	,	PUNCT
cet-1369	57	22	and	and	CCONJ
cet-1369	57	23	the	the	DET
cet-1369	57	24	most	most	ADV
cet-1369	57	25	important	important	ADJ
cet-1369	57	26	variable	variable	NOUN
cet-1369	57	27	in	in	ADP
cet-1369	57	28	esc	esc	NOUN
cet-1369	57	29	modelling	model	VERB
cet-1369	57	30	is	be	AUX
cet-1369	57	31	the	the	DET
cet-1369	57	32	power	power	NOUN
cet-1369	57	33	loss	loss	NOUN
cet-1369	57	34	,	,	PUNCT
cet-1369	57	35	caused	cause	VERB
cet-1369	57	36	by	by	ADP
cet-1369	57	37	its	its	PRON
cet-1369	57	38	power	power	NOUN
cet-1369	57	39	mosfets	mosfet	NOUN
cet-1369	57	40	and	and	CCONJ
cet-1369	57	41	transistor	transistor	NOUN
cet-1369	57	42	drain	drain	NOUN
cet-1369	57	43	-	-	PUNCT
cet-1369	57	44	tosource	tosource	NOUN
cet-1369	57	45	“	"	PUNCT
cet-1369	57	46	on	on	ADP
cet-1369	57	47	”	"	PUNCT
cet-1369	57	48	state	state	NOUN
cet-1369	57	49	resistance	resistance	NOUN
cet-1369	57	50	rds	rds	NOUN
cet-1369	57	51	(	(	PUNCT
cet-1369	57	52	on	on	ADP
cet-1369	57	53	)	)	PUNCT
cet-1369	57	54	.	.	PUNCT
cet-1369	58	1	the	the	DET
cet-1369	58	2	range	range	NOUN
cet-1369	58	3	of	of	ADP
cet-1369	58	4	rds(on	rds(on	NOUN
cet-1369	58	5	)	)	PUNCT
cet-1369	58	6	is	be	AUX
cet-1369	58	7	generally	generally	ADV
cet-1369	58	8	between	between	ADP
cet-1369	58	9	3	3	NUM
cet-1369	58	10	and	and	CCONJ
cet-1369	58	11	15	15	NUM
cet-1369	58	12	mω	mω	NUM
cet-1369	58	13	,	,	PUNCT
cet-1369	58	14	depending	depend	VERB
cet-1369	58	15	on	on	ADP
cet-1369	58	16	transistor	transistor	NOUN
cet-1369	58	17	size	size	NOUN
cet-1369	58	18	.	.	PUNCT
cet-1369	59	1	as	as	SCONJ
cet-1369	59	2	esc	esc	NOUN
cet-1369	59	3	manufacturers	manufacturer	NOUN
cet-1369	59	4	often	often	ADV
cet-1369	59	5	do	do	AUX
cet-1369	59	6	not	not	PART
cet-1369	59	7	include	include	VERB
cet-1369	59	8	in	in	ADP
cet-1369	59	9	esc	esc	NOUN
cet-1369	59	10	documentation	documentation	NOUN
cet-1369	59	11	the	the	DET
cet-1369	59	12	type	type	NOUN
cet-1369	59	13	of	of	ADP
cet-1369	59	14	transistors	transistor	NOUN
cet-1369	59	15	used	use	VERB
cet-1369	59	16	,	,	PUNCT
cet-1369	59	17	so	so	CCONJ
cet-1369	59	18	a	a	DET
cet-1369	59	19	constant	constant	ADJ
cet-1369	59	20	value	value	NOUN
cet-1369	59	21	resistor	resistor	NOUN
cet-1369	59	22	of	of	ADP
cet-1369	59	23	rds(on)=5	rds(on)=5	NUM
cet-1369	59	24	mω	mω	NOUN
cet-1369	59	25	was	be	AUX
cet-1369	59	26	adopted	adopt	VERB
cet-1369	59	27	.	.	PUNCT
cet-1369	59	28	.	.	PUNCT
cet-1369	60	1	bldc	bldc	PROPN
cet-1369	60	2	motor	motor	NOUN
cet-1369	60	3	escs	esc	NOUN
cet-1369	60	4	generally	generally	ADV
cet-1369	60	5	use	use	VERB
cet-1369	60	6	three	three	NUM
cet-1369	60	7	pairs	pair	NOUN
cet-1369	60	8	of	of	ADP
cet-1369	60	9	transistors	transistor	NOUN
cet-1369	60	10	to	to	PART
cet-1369	60	11	manage	manage	VERB
cet-1369	60	12	the	the	DET
cet-1369	60	13	three	three	NUM
cet-1369	60	14	phase	phase	NOUN
cet-1369	60	15	currents	current	NOUN
cet-1369	60	16	,	,	PUNCT
cet-1369	60	17	so	so	CCONJ
cet-1369	60	18	the	the	DET
cet-1369	60	19	total	total	ADJ
cet-1369	60	20	resistance	resistance	NOUN
cet-1369	60	21	of	of	ADP
cet-1369	60	22	the	the	DET
cet-1369	60	23	esc	esc	NOUN
cet-1369	60	24	will	will	AUX
cet-1369	60	25	be	be	AUX
cet-1369	60	26	equal	equal	ADJ
cet-1369	60	27	to	to	ADP
cet-1369	60	28	resc=3	resc=3	VERB
cet-1369	60	29	x	x	PUNCT
cet-1369	61	1	rds(on)=15	rds(on)=15	PUNCT
cet-1369	61	2	mω	mω	NOUN
cet-1369	61	3	the	the	DET
cet-1369	61	4	maximum	maximum	ADJ
cet-1369	61	5	current	current	ADJ
cet-1369	61	6	iesc	iesc	NOUN
cet-1369	61	7	they	they	PRON
cet-1369	61	8	can	can	AUX
cet-1369	61	9	handle	handle	VERB
cet-1369	61	10	,	,	PUNCT
cet-1369	61	11	a	a	DET
cet-1369	61	12	design	design	NOUN
cet-1369	61	13	constraint	constraint	NOUN
cet-1369	61	14	,	,	PUNCT
cet-1369	61	15	was	be	AUX
cet-1369	61	16	obtained	obtain	VERB
cet-1369	61	17	by	by	ADP
cet-1369	61	18	using	use	VERB
cet-1369	61	19	manufacturer	manufacturer	NOUN
cet-1369	61	20	data	datum	NOUN
cet-1369	61	21	.	.	PUNCT
cet-1369	62	1	propeller	propeller	NOUN
cet-1369	62	2	performance	performance	NOUN
cet-1369	62	3	can	can	AUX
cet-1369	62	4	described	describe	VERB
cet-1369	62	5	by	by	ADP
cet-1369	62	6	its	its	PRON
cet-1369	62	7	thrust	thrust	PROPN
cet-1369	62	8	t	t	PROPN
cet-1369	62	9	(	(	PUNCT
cet-1369	62	10	n	n	CCONJ
cet-1369	62	11	)	)	PUNCT
cet-1369	62	12	,	,	PUNCT
cet-1369	62	13	power	power	NOUN
cet-1369	62	14	p	p	PROPN
cet-1369	62	15	(	(	PUNCT
cet-1369	62	16	w	w	NOUN
cet-1369	62	17	)	)	PUNCT
cet-1369	62	18	and	and	CCONJ
cet-1369	62	19	torque	torque	NOUN
cet-1369	62	20	m	m	PROPN
cet-1369	62	21	(	(	PUNCT
cet-1369	62	22	nm	nm	NOUN
cet-1369	62	23	)	)	PUNCT
cet-1369	62	24	.	.	PUNCT
cet-1369	63	1	to	to	PART
cet-1369	63	2	model	model	VERB
cet-1369	63	3	performance	performance	NOUN
cet-1369	63	4	in	in	ADP
cet-1369	63	5	static	static	ADJ
cet-1369	63	6	conditions	condition	NOUN
cet-1369	63	7	,	,	PUNCT
cet-1369	63	8	manufacturer	manufacturer	NOUN
cet-1369	63	9	data	datum	NOUN
cet-1369	63	10	such	such	ADJ
cet-1369	63	11	as	as	ADP
cet-1369	63	12	propeller	propeller	NOUN
cet-1369	63	13	diameter	diameter	NOUN
cet-1369	63	14	dp	dp	NOUN
cet-1369	63	15	and	and	CCONJ
cet-1369	63	16	its	its	PRON
cet-1369	63	17	pitch	pitch	NOUN
cet-1369	63	18	p	p	NOUN
cet-1369	63	19	at	at	ADP
cet-1369	63	20	75	75	NUM
cet-1369	63	21	%	%	NOUN
cet-1369	63	22	of	of	ADP
cet-1369	63	23	its	its	PRON
cet-1369	63	24	radius	radius	NOUN
cet-1369	63	25	were	be	AUX
cet-1369	63	26	adopted	adopt	VERB
cet-1369	63	27	.	.	PUNCT
cet-1369	64	1	performance	performance	NOUN
cet-1369	64	2	quantities	quantity	NOUN
cet-1369	64	3	can	can	AUX
cet-1369	64	4	be	be	AUX
cet-1369	64	5	related	relate	VERB
cet-1369	64	6	to	to	ADP
cet-1369	64	7	propeller	propeller	NOUN
cet-1369	64	8	speed	speed	NOUN
cet-1369	64	9	,	,	PUNCT
cet-1369	64	10	diameter	diameter	NOUN
cet-1369	64	11	and	and	CCONJ
cet-1369	64	12	pitch	pitch	NOUN
cet-1369	64	13	,	,	PUNCT
cet-1369	64	14	and	and	CCONJ
cet-1369	64	15	this	this	DET
cet-1369	64	16	calculation	calculation	NOUN
cet-1369	64	17	is	be	AUX
cet-1369	64	18	achieved	achieve	VERB
cet-1369	64	19	through	through	ADP
cet-1369	64	20	a	a	DET
cet-1369	64	21	number	number	NOUN
cet-1369	64	22	of	of	ADP
cet-1369	64	23	coefficients	coefficient	NOUN
cet-1369	64	24	.	.	PUNCT
cet-1369	65	1	the	the	DET
cet-1369	65	2	thrust	thrust	ADJ
cet-1369	65	3	coefficient	coefficient	NOUN
cet-1369	65	4	is	be	AUX
cet-1369	65	5	given	give	VERB
cet-1369	65	6	by	by	ADP
cet-1369	65	7	:	:	PUNCT
cet-1369	65	8	ct	ct	PROPN
cet-1369	65	9	=	=	PUNCT
cet-1369	65	10	t/	t/	PROPN
cet-1369	65	11	ρ	ρ	PROPN
cet-1369	65	12	(	(	PUNCT
cet-1369	65	13	n/60)2	n/60)2	PROPN
cet-1369	65	14	d4	d4	PROPN
cet-1369	65	15	(	(	PUNCT
cet-1369	65	16	9	9	NUM
cet-1369	65	17	)	)	PUNCT
cet-1369	65	18	where	where	SCONJ
cet-1369	65	19	t	t	PROPN
cet-1369	65	20	is	be	AUX
cet-1369	65	21	thrust	thrust	VERB
cet-1369	65	22	(	(	PUNCT
cet-1369	65	23	n	n	CCONJ
cet-1369	65	24	)	)	PUNCT
cet-1369	65	25	,	,	PUNCT
cet-1369	65	26	ρ	ρ	PROPN
cet-1369	65	27	is	be	AUX
cet-1369	65	28	air	air	NOUN
cet-1369	65	29	density	density	NOUN
cet-1369	65	30	(	(	PUNCT
cet-1369	65	31	kg	kg	NOUN
cet-1369	65	32	/	/	SYM
cet-1369	65	33	m3	m3	PROPN
cet-1369	65	34	)	)	PUNCT
cet-1369	65	35	,	,	PUNCT
cet-1369	65	36	n	n	PRON
cet-1369	65	37	is	be	AUX
cet-1369	65	38	propeller	propeller	NOUN
cet-1369	65	39	speed	speed	NOUN
cet-1369	65	40	(	(	PUNCT
cet-1369	65	41	rpm	rpm	NOUN
cet-1369	65	42	)	)	PUNCT
cet-1369	65	43	,	,	PUNCT
cet-1369	65	44	and	and	CCONJ
cet-1369	65	45	d	d	NOUN
cet-1369	65	46	is	be	AUX
cet-1369	65	47	propeller	propeller	NOUN
cet-1369	65	48	diameter	diameter	NOUN
cet-1369	65	49	(	(	PUNCT
cet-1369	65	50	m	m	NOUN
cet-1369	65	51	)	)	PUNCT
cet-1369	65	52	.	.	PUNCT
cet-1369	66	1	628	628	NUM
cet-1369	66	2	the	the	DET
cet-1369	66	3	power	power	NOUN
cet-1369	66	4	coefficient	coefficient	NOUN
cet-1369	66	5	is	be	AUX
cet-1369	66	6	given	give	VERB
cet-1369	66	7	by	by	ADP
cet-1369	66	8	:	:	PUNCT
cet-1369	66	9	cp	cp	PROPN
cet-1369	66	10	=	=	SYM
cet-1369	66	11	2	2	NUM
cet-1369	67	1	π	π	SYM
cet-1369	67	2	cm	cm	NOUN
cet-1369	67	3	=	=	SYM
cet-1369	68	1	p/	p/	NOUN
cet-1369	68	2	ρ	ρ	NOUN
cet-1369	68	3	(	(	PUNCT
cet-1369	68	4	n/60)3	n/60)3	PROPN
cet-1369	68	5	d5	d5	NOUN
cet-1369	68	6	(	(	PUNCT
cet-1369	68	7	10	10	NUM
cet-1369	68	8	)	)	PUNCT
cet-1369	68	9	where	where	SCONJ
cet-1369	68	10	p	p	NOUN
cet-1369	68	11	is	be	AUX
cet-1369	68	12	power	power	NOUN
cet-1369	68	13	(	(	PUNCT
cet-1369	68	14	w	w	NOUN
cet-1369	68	15	)	)	PUNCT
cet-1369	68	16	and	and	CCONJ
cet-1369	68	17	cm	cm	PUNCT
cet-1369	68	18	the	the	DET
cet-1369	68	19	torque	torque	NOUN
cet-1369	68	20	coefficient	coefficient	NOUN
cet-1369	68	21	.	.	PUNCT
cet-1369	69	1	these	these	DET
cet-1369	69	2	coefficients	coefficient	NOUN
cet-1369	69	3	can	can	AUX
cet-1369	69	4	be	be	AUX
cet-1369	69	5	related	relate	VERB
cet-1369	69	6	to	to	ADP
cet-1369	69	7	propeller	propeller	NOUN
cet-1369	69	8	diameter	diameter	NOUN
cet-1369	69	9	and	and	CCONJ
cet-1369	69	10	pitch	pitch	NOUN
cet-1369	69	11	using	use	VERB
cet-1369	69	12	the	the	DET
cet-1369	69	13	blade	blade	NOUN
cet-1369	69	14	element	element	NOUN
cet-1369	69	15	momentum	momentum	NOUN
cet-1369	69	16	theory	theory	NOUN
cet-1369	69	17	(	(	PUNCT
cet-1369	69	18	bemt	bemt	NOUN
cet-1369	69	19	)	)	PUNCT
cet-1369	69	20	and	and	CCONJ
cet-1369	69	21	a	a	DET
cet-1369	69	22	series	series	NOUN
cet-1369	69	23	of	of	ADP
cet-1369	69	24	mild	mild	ADJ
cet-1369	69	25	assumptions	assumption	NOUN
cet-1369	69	26	(	(	PUNCT
cet-1369	69	27	leishman	leishman	NOUN
cet-1369	69	28	,	,	PUNCT
cet-1369	69	29	2006	2006	NUM
cet-1369	69	30	)	)	PUNCT
cet-1369	69	31	obtaining	obtain	VERB
cet-1369	69	32	the	the	DET
cet-1369	69	33	following	follow	VERB
cet-1369	69	34	equations	equation	NOUN
cet-1369	69	35	for	for	ADP
cet-1369	69	36	thrust	thrust	NOUN
cet-1369	69	37	and	and	CCONJ
cet-1369	69	38	power	power	NOUN
cet-1369	69	39	coefficients	coefficient	NOUN
cet-1369	69	40	:	:	PUNCT
cet-1369	69	41	.	.	PUNCT
cet-1369	70	1	(	(	PUNCT
cet-1369	70	2	11	11	NUM
cet-1369	70	3	)	)	PUNCT
cet-1369	70	4	/	/	SYM
cet-1369	70	5	√	√	PROPN
cet-1369	70	6	(	(	PUNCT
cet-1369	70	7	12	12	NUM
cet-1369	70	8	)	)	PUNCT
cet-1369	70	9	where	where	SCONJ
cet-1369	70	10	σ	σ	NOUN
cet-1369	70	11	is	be	AUX
cet-1369	70	12	propeller	propeller	NOUN
cet-1369	70	13	solidity	solidity	NOUN
cet-1369	70	14	,	,	PUNCT
cet-1369	70	15	clα	clα	PROPN
cet-1369	70	16	is	be	AUX
cet-1369	70	17	the	the	DET
cet-1369	70	18	slope	slope	NOUN
cet-1369	70	19	of	of	ADP
cet-1369	70	20	blade	blade	NOUN
cet-1369	70	21	airfoil	airfoil	NOUN
cet-1369	70	22	lift	lift	NOUN
cet-1369	70	23	coefficient	coefficient	NOUN
cet-1369	70	24	–	–	PUNCT
cet-1369	70	25	incidence	incidence	NOUN
cet-1369	70	26	angle	angle	NOUN
cet-1369	70	27	curve	curve	NOUN
cet-1369	70	28	,	,	PUNCT
cet-1369	70	29	θ0.75	θ0.75	PROPN
cet-1369	70	30	is	be	AUX
cet-1369	70	31	propeller	propeller	ADJ
cet-1369	70	32	pitch	pitch	NOUN
cet-1369	70	33	angle	angle	NOUN
cet-1369	70	34	at	at	ADP
cet-1369	70	35	75	75	NUM
cet-1369	70	36	%	%	NOUN
cet-1369	70	37	of	of	ADP
cet-1369	70	38	the	the	DET
cet-1369	70	39	propeller	propeller	NOUN
cet-1369	70	40	radius	radius	NOUN
cet-1369	70	41	r	r	NOUN
cet-1369	70	42	,	,	PUNCT
cet-1369	70	43	and	and	CCONJ
cet-1369	70	44	cd0	cd0	NOUN
cet-1369	70	45	is	be	AUX
cet-1369	70	46	the	the	DET
cet-1369	70	47	blade	blade	NOUN
cet-1369	70	48	airfoil	airfoil	NOUN
cet-1369	70	49	drag	drag	VERB
cet-1369	70	50	coefficient	coefficient	NOUN
cet-1369	70	51	for	for	ADP
cet-1369	70	52	zero	zero	NUM
cet-1369	70	53	lift	lift	NOUN
cet-1369	70	54	.	.	PUNCT
cet-1369	71	1	3	3	X
cet-1369	71	2	.	.	NOUN
cet-1369	71	3	results	result	NOUN
cet-1369	71	4	and	and	CCONJ
cet-1369	71	5	discussion	discussion	NOUN
cet-1369	71	6	integration	integration	NOUN
cet-1369	71	7	of	of	ADP
cet-1369	71	8	components	component	NOUN
cet-1369	71	9	already	already	ADV
cet-1369	71	10	present	present	ADJ
cet-1369	71	11	on	on	ADP
cet-1369	71	12	the	the	DET
cet-1369	71	13	market	market	NOUN
cet-1369	71	14	would	would	AUX
cet-1369	71	15	allow	allow	VERB
cet-1369	71	16	increasing	increase	VERB
cet-1369	71	17	the	the	DET
cet-1369	71	18	operational	operational	ADJ
cet-1369	71	19	framework	framework	NOUN
cet-1369	71	20	of	of	ADP
cet-1369	71	21	uav	uav	PROPN
cet-1369	71	22	to	to	PART
cet-1369	71	23	perform	perform	VERB
cet-1369	71	24	more	more	ADV
cet-1369	71	25	advanced	advanced	ADJ
cet-1369	71	26	tasks	task	NOUN
cet-1369	71	27	like	like	ADP
cet-1369	71	28	fertilizer	fertilizer	NOUN
cet-1369	71	29	and	and	CCONJ
cet-1369	71	30	pesticide	pesticide	NOUN
cet-1369	71	31	distribution	distribution	NOUN
cet-1369	71	32	,	,	PUNCT
cet-1369	71	33	and	and	CCONJ
cet-1369	71	34	lidar	lidar	NOUN
cet-1369	71	35	analysis	analysis	NOUN
cet-1369	71	36	.	.	PUNCT
cet-1369	72	1	a	a	DET
cet-1369	72	2	key	key	ADJ
cet-1369	72	3	component	component	NOUN
cet-1369	72	4	in	in	ADP
cet-1369	72	5	such	such	ADJ
cet-1369	72	6	applications	application	NOUN
cet-1369	72	7	is	be	AUX
cet-1369	72	8	the	the	DET
cet-1369	72	9	possibility	possibility	NOUN
cet-1369	72	10	to	to	PART
cet-1369	72	11	maximize	maximize	VERB
cet-1369	72	12	the	the	DET
cet-1369	72	13	lift	lift	NOUN
cet-1369	72	14	at	at	AUX
cet-1369	72	15	take	take	VERB
cet-1369	72	16	off	off	ADP
cet-1369	72	17	to	to	PART
cet-1369	72	18	minimize	minimize	VERB
cet-1369	72	19	operational	operational	ADJ
cet-1369	72	20	cost	cost	NOUN
cet-1369	72	21	.	.	PUNCT
cet-1369	73	1	after	after	ADP
cet-1369	73	2	applying	apply	VERB
cet-1369	73	3	the	the	DET
cet-1369	73	4	previously	previously	ADV
cet-1369	73	5	described	describe	VERB
cet-1369	73	6	models	model	NOUN
cet-1369	73	7	,	,	PUNCT
cet-1369	73	8	a	a	DET
cet-1369	73	9	suboptimal	suboptimal	ADJ
cet-1369	73	10	design	design	NOUN
cet-1369	73	11	,	,	PUNCT
cet-1369	73	12	obtained	obtain	VERB
cet-1369	73	13	using	use	VERB
cet-1369	73	14	standard	standard	ADJ
cet-1369	73	15	state	state	NOUN
cet-1369	73	16	of	of	ADP
cet-1369	73	17	the	the	DET
cet-1369	73	18	art	art	NOUN
cet-1369	73	19	component	component	NOUN
cet-1369	73	20	that	that	PRON
cet-1369	73	21	can	can	AUX
cet-1369	73	22	be	be	AUX
cet-1369	73	23	acquired	acquire	VERB
cet-1369	73	24	on	on	ADP
cet-1369	73	25	the	the	DET
cet-1369	73	26	market	market	NOUN
cet-1369	73	27	,	,	PUNCT
cet-1369	73	28	an	an	DET
cet-1369	73	29	uav	uav	PROPN
cet-1369	73	30	characterized	characterize	VERB
cet-1369	73	31	by	by	ADP
cet-1369	73	32	an	an	DET
cet-1369	73	33	approximate	approximate	ADJ
cet-1369	73	34	take	take	VERB
cet-1369	73	35	-	-	PUNCT
cet-1369	73	36	off	off	ADP
cet-1369	73	37	weight	weight	NOUN
cet-1369	73	38	of	of	ADP
cet-1369	73	39	25	25	NUM
cet-1369	73	40	kg	kg	NOUN
cet-1369	73	41	,	,	PUNCT
cet-1369	73	42	is	be	AUX
cet-1369	73	43	shown	show	VERB
cet-1369	73	44	in	in	ADP
cet-1369	73	45	table	table	NOUN
cet-1369	73	46	1	1	NUM
cet-1369	73	47	.	.	PUNCT
cet-1369	73	48	table	table	NOUN
cet-1369	73	49	1	1	NUM
cet-1369	73	50	:	:	PUNCT
cet-1369	73	51	optimized	optimize	VERB
cet-1369	73	52	payload	payload	NOUN
cet-1369	73	53	and	and	CCONJ
cet-1369	73	54	with	with	ADP
cet-1369	73	55	a	a	DET
cet-1369	73	56	state	state	NOUN
cet-1369	73	57	-	-	PUNCT
cet-1369	73	58	of	of	ADP
cet-1369	73	59	-	-	PUNCT
cet-1369	73	60	the	the	DET
cet-1369	73	61	art	art	NOUN
cet-1369	73	62	octacopter	octacopter	NOUN
cet-1369	73	63	in	in	ADP
cet-1369	73	64	coaxial	coaxial	ADJ
cet-1369	73	65	configuration.(continue	configuration.(continue	NOUN
cet-1369	73	66	)	)	PUNCT
cet-1369	73	67	battery	battery	NOUN
cet-1369	73	68	lipo	lipo	NOUN
cet-1369	73	69	16000mah	16000mah	NUM
cet-1369	73	70	55/80c	55/80c	NUM
cet-1369	73	71	motor	motor	NOUN
cet-1369	73	72	@	@	ADP
cet-1369	73	73	hovering	hover	VERB
cet-1369	73	74	configuration	configuration	NOUN
cet-1369	73	75	:	:	PUNCT
cet-1369	73	76	3s8p	3s8p	NUM
cet-1369	73	77	propeller	propeller	NOUN
cet-1369	73	78	t	t	NOUN
cet-1369	73	79	-	-	PUNCT
cet-1369	73	80	motor	motor	NOUN
cet-1369	73	81	cf	cf	NOUN
cet-1369	73	82	(	(	PUNCT
cet-1369	73	83	0	0	NUM
cet-1369	73	84	°	°	NUM
cet-1369	73	85	)	)	PUNCT
cet-1369	73	86	28	28	NUM
cet-1369	73	87	"	"	PUNCT
cet-1369	73	88	x	x	SYM
cet-1369	73	89	9,2	9,2	NUM
cet-1369	73	90	"	"	PUNCT
cet-1369	73	91	load	load	NOUN
cet-1369	73	92	:	:	PUNCT
cet-1369	73	93	c	c	NOUN
cet-1369	73	94	4.16	4.16	NUM
cet-1369	73	95	#	#	NOUN
cet-1369	73	96	of	of	ADP
cet-1369	73	97	blades	blade	NOUN
cet-1369	73	98	:	:	PUNCT
cet-1369	73	99	2	2	NUM
cet-1369	73	100	tension	tension	NOUN
cet-1369	73	101	:	:	PUNCT
cet-1369	73	102	v	v	NOUN
cet-1369	73	103	10.94	10.94	NUM
cet-1369	73	104	current	current	NOUN
cet-1369	73	105	a	a	DET
cet-1369	73	106	32.48	32.48	NUM
cet-1369	73	107	nominal	nominal	ADJ
cet-1369	73	108	tension	tension	NOUN
cet-1369	73	109	:	:	PUNCT
cet-1369	73	110	v	v	ADP
cet-1369	73	111	11.1	11.1	NUM
cet-1369	73	112	tension	tension	NOUN
cet-1369	73	113	:	:	PUNCT
cet-1369	73	114	v	v	ADP
cet-1369	73	115	10.98	10.98	NUM
cet-1369	73	116	energy	energy	NOUN
cet-1369	73	117	:	:	PUNCT
cet-1369	73	118	wh	wh	NOUN
cet-1369	73	119	1420,8	1420,8	NUM
cet-1369	73	120	rpm	rpm	PROPN
cet-1369	73	121	rpm	rpm	PROPN
cet-1369	73	122	2002	2002	NUM
cet-1369	73	123	total	total	ADJ
cet-1369	73	124	capacity	capacity	NOUN
cet-1369	73	125	:	:	PUNCT
cet-1369	73	126	mah	mah	NOUN
cet-1369	73	127	128000	128000	NUM
cet-1369	73	128	power	power	NOUN
cet-1369	73	129	weight	weight	NOUN
cet-1369	73	130	:	:	PUNCT
cet-1369	73	131	w	w	X
cet-1369	73	132	/	/	SYM
cet-1369	73	133	kg	kg	PROPN
cet-1369	73	134	161.8	161.8	NUM
cet-1369	73	135	max	max	NOUN
cet-1369	73	136	discharge	discharge	NOUN
cet-1369	73	137	:	:	PUNCT
cet-1369	73	138	85	85	NUM
cet-1369	73	139	%	%	NOUN
cet-1369	73	140	w	w	NOUN
cet-1369	73	141	/	/	SYM
cet-1369	73	142	lb	lb	DET
cet-1369	73	143	73.4	73.4	NUM
cet-1369	73	144	used	use	VERB
cet-1369	73	145	capacity	capacity	NOUN
cet-1369	73	146	:	:	PUNCT
cet-1369	73	147	mah	mah	NOUN
cet-1369	73	148	108800	108800	NUM
cet-1369	73	149	efficiency	efficiency	NOUN
cet-1369	73	150	%	%	NOUN
cet-1369	73	151	75.7	75.7	NUM
cet-1369	73	152	min	min	NOUN
cet-1369	73	153	.	.	NOUN
cet-1369	73	154	flying	fly	VERB
cet-1369	73	155	time	time	NOUN
cet-1369	73	156	min	min	PROPN
cet-1369	73	157	12.3	12.3	NUM
cet-1369	73	158	specific	specific	NOUN
cet-1369	73	159	thrust	thrust	NOUN
cet-1369	73	160	g	g	NOUN
cet-1369	73	161	/	/	SYM
cet-1369	73	162	w	w	NOUN
cet-1369	73	163	6.25	6.25	NUM
cet-1369	73	164	mixed	mixed	ADJ
cet-1369	73	165	flying	flying	NOUN
cet-1369	73	166	time	time	NOUN
cet-1369	73	167	min	min	PROPN
cet-1369	73	168	23.6	23.6	NUM
cet-1369	73	169	total	total	NOUN
cet-1369	73	170	engine	engine	NOUN
cet-1369	73	171	weight	weight	NOUN
cet-1369	73	172	g	g	ADP
cet-1369	73	173	15822	15822	NUM
cet-1369	73	174	flight	flight	NOUN
cet-1369	73	175	time	time	NOUN
cet-1369	73	176	in	in	ADP
cet-1369	73	177	hovering	hover	VERB
cet-1369	73	178	:	:	PUNCT
cet-1369	73	179	min	min	NOUN
cet-1369	73	180	25.1	25.1	NUM
cet-1369	73	181	oz	oz	NOUN
cet-1369	73	182	558.1	558.1	NUM
cet-1369	73	183	weight	weight	NOUN
cet-1369	73	184	:	:	PUNCT
cet-1369	73	185	g	g	PROPN
cet-1369	73	186	10296	10296	NUM
cet-1369	73	187	power	power	NOUN
cet-1369	73	188	-	-	PUNCT
cet-1369	73	189	weight	weight	NOUN
cet-1369	73	190	:	:	PUNCT
cet-1369	73	191	w	w	X
cet-1369	73	192	/	/	SYM
cet-1369	73	193	kg	kg	PROPN
cet-1369	73	194	324.2	324.2	NUM
cet-1369	73	195	esc	esc	NOUN
cet-1369	73	196	max	max	PROPN
cet-1369	73	197	200a	200a	PROPN
cet-1369	73	198	w	w	PROPN
cet-1369	73	199	/	/	SYM
cet-1369	73	200	lb	lb	PRON
cet-1369	73	201	147,1	147,1	NUM
cet-1369	73	202	current	current	NOUN
cet-1369	73	203	:	:	PUNCT
cet-1369	73	204	a	a	DET
cet-1369	73	205	continuous	continuous	ADJ
cet-1369	73	206	200	200	NUM
cet-1369	73	207	thrust	thrust	ADJ
cet-1369	73	208	-	-	PUNCT
cet-1369	73	209	weight	weight	NOUN
cet-1369	73	210	:	:	PUNCT
cet-1369	73	211	:	:	PUNCT
cet-1369	73	212	1	1	NUM
cet-1369	73	213	1.6	1.6	NUM
cet-1369	73	214	mechanical	mechanical	ADJ
cet-1369	73	215	power	power	NOUN
cet-1369	73	216	w	w	PROPN
cet-1369	73	217	548,9	548,9	NOUN
cet-1369	73	218	ampere	ampere	ADV
cet-1369	73	219	@	@	ADP
cet-1369	74	1	hovering	hover	VERB
cet-1369	74	2	:	:	PUNCT
cet-1369	74	3	a	a	DET
cet-1369	74	4	259.8	259.8	NUM
cet-1369	74	5	weight	weight	NOUN
cet-1369	74	6	:	:	PUNCT
cet-1369	74	7	g	g	PROPN
cet-1369	74	8	260	260	NUM
cet-1369	74	9	p(in	p(in	NOUN
cet-1369	74	10	)	)	PUNCT
cet-1369	74	11	@	@	ADP
cet-1369	75	1	hovering	hover	VERB
cet-1369	75	2	:	:	PUNCT
cet-1369	76	1	w	w	PROPN
cet-1369	76	2	2883.8	2883.8	NUM
cet-1369	76	3	motor	motor	NOUN
cet-1369	76	4	@	@	ADP
cet-1369	76	5	max	max	PROPN
cet-1369	76	6	ldpower	ldpower	PROPN
cet-1369	76	7	op6110	op6110	PROPN
cet-1369	76	8	-	-	PUNCT
cet-1369	76	9	340	340	NUM
cet-1369	76	10	(	(	PUNCT
cet-1369	76	11	340	340	NUM
cet-1369	76	12	)	)	PUNCT
cet-1369	76	13	p(out	p(out	NOUN
cet-1369	76	14	)	)	PUNCT
cet-1369	76	15	@	@	ADP
cet-1369	77	1	hovering	hover	VERB
cet-1369	77	2	:	:	PUNCT
cet-1369	77	3	w	w	PROPN
cet-1369	77	4	2160.7	2160.7	NUM
cet-1369	77	5	629	629	NUM
cet-1369	77	6	table	table	NOUN
cet-1369	77	7	1	1	NUM
cet-1369	77	8	:	:	PUNCT
cet-1369	77	9	optimized	optimize	VERB
cet-1369	77	10	payload	payload	NOUN
cet-1369	77	11	and	and	CCONJ
cet-1369	77	12	with	with	ADP
cet-1369	77	13	a	a	DET
cet-1369	77	14	state	state	NOUN
cet-1369	77	15	-	-	PUNCT
cet-1369	77	16	of	of	ADP
cet-1369	77	17	-	-	PUNCT
cet-1369	77	18	the	the	DET
cet-1369	77	19	art	art	NOUN
cet-1369	77	20	octacopter	octacopter	NOUN
cet-1369	77	21	in	in	ADP
cet-1369	77	22	coaxial	coaxial	ADJ
cet-1369	77	23	configuration	configuration	NOUN
cet-1369	77	24	.	.	PUNCT
cet-1369	78	1	transmission	transmission	NOUN
cet-1369	78	2	ratio	ratio	NOUN
cet-1369	78	3	:	:	PUNCT
cet-1369	78	4	:	:	PUNCT
cet-1369	78	5	1	1	NUM
cet-1369	78	6	1	1	NUM
cet-1369	78	7	efficiency	efficiency	NOUN
cet-1369	78	8	@	@	ADP
cet-1369	78	9	hovering	hover	VERB
cet-1369	78	10	:	:	PUNCT
cet-1369	78	11	%	%	NOUN
cet-1369	78	12	74.9	74.9	NUM
cet-1369	78	13	weight	weight	NOUN
cet-1369	78	14	:	:	PUNCT
cet-1369	78	15	g	g	PROPN
cet-1369	78	16	251	251	NUM
cet-1369	78	17	ampere	ampere	NOUN
cet-1369	78	18	@	@	ADP
cet-1369	78	19	max	max	PROPN
cet-1369	78	20	:	:	PUNCT
cet-1369	78	21	a	a	DET
cet-1369	78	22	532.03	532.03	NUM
cet-1369	78	23	p(in	p(in	NOUN
cet-1369	78	24	)	)	PUNCT
cet-1369	78	25	@	@	ADP
cet-1369	78	26	max	max	PROPN
cet-1369	78	27	:	:	PUNCT
cet-1369	78	28	w	w	PROPN
cet-1369	78	29	5905.5	5905.5	NUM
cet-1369	78	30	current	current	NOUN
cet-1369	78	31	a	a	DET
cet-1369	78	32	66.5	66.5	NUM
cet-1369	78	33	p(out	p(out	NOUN
cet-1369	78	34	)	)	PUNCT
cet-1369	78	35	@	@	ADP
cet-1369	78	36	max	max	PROPN
cet-1369	78	37	:	:	PUNCT
cet-1369	78	38	w	w	PROPN
cet-1369	78	39	4391.2	4391.2	NUM
cet-1369	78	40	tension	tension	NOUN
cet-1369	78	41	v	v	ADP
cet-1369	78	42	10.86	10.86	NUM
cet-1369	78	43	efficiency	efficiency	NOUN
cet-1369	78	44	@	@	ADP
cet-1369	78	45	max	max	PROPN
cet-1369	78	46	:	:	PUNCT
cet-1369	78	47	%	%	NOUN
cet-1369	78	48	74.4	74.4	NUM
cet-1369	78	49	rpm	rpm	NOUN
cet-1369	78	50	rpm	rpm	NOUN
cet-1369	78	51	2845	2845	NUM
cet-1369	78	52	efficiency	efficiency	NOUN
cet-1369	78	53	%	%	NOUN
cet-1369	78	54	76	76	NUM
cet-1369	78	55	electrical	electrical	ADJ
cet-1369	78	56	power	power	NOUN
cet-1369	78	57	w	w	ADP
cet-1369	78	58	722.3	722.3	NUM
cet-1369	78	59	temperature	temperature	NOUN
cet-1369	78	60	(	(	PUNCT
cet-1369	78	61	estimate	estimate	NOUN
cet-1369	78	62	):	):	PUNCT
cet-1369	78	63	°	°	ADP
cet-1369	78	64	c	c	NOUN
cet-1369	78	65	69	69	NUM
cet-1369	78	66	multicopter	multicopter	PROPN
cet-1369	78	67	#	#	NOUN
cet-1369	78	68	of	of	ADP
cet-1369	78	69	rotors	rotor	NOUN
cet-1369	78	70	:	:	PUNCT
cet-1369	78	71	8	8	NUM
cet-1369	78	72	coaxial	coaxial	ADJ
cet-1369	78	73	totale	totale	NOUN
cet-1369	78	74	weight	weight	NOUN
cet-1369	78	75	(	(	PUNCT
cet-1369	78	76	frame+engines+batteries	frame+engines+batterie	NOUN
cet-1369	78	77	):	):	PUNCT
cet-1369	78	78	g	g	PROPN
cet-1369	78	79	18078	18078	NUM
cet-1369	78	80	adjuntive	adjuntive	PROPN
cet-1369	78	81	payload	payload	NOUN
cet-1369	78	82	:	:	PUNCT
cet-1369	78	83	g	g	PROPN
cet-1369	78	84	26299	26299	NUM
cet-1369	78	85	tilt	tilt	NOUN
cet-1369	78	86	max	max	PROPN
cet-1369	78	87	:	:	PUNCT
cet-1369	78	88	°	°	ADP
cet-1369	78	89	66	66	NUM
cet-1369	78	90	maximum	maximum	ADJ
cet-1369	78	91	speed	speed	NOUN
cet-1369	78	92	:	:	PUNCT
cet-1369	78	93	km	km	NOUN
cet-1369	78	94	/	/	SYM
cet-1369	78	95	h	h	NOUN
cet-1369	78	96	40	40	NUM
cet-1369	78	97	estimated	estimate	VERB
cet-1369	78	98	climbing	climbing	NOUN
cet-1369	78	99	rate	rate	NOUN
cet-1369	78	100	:	:	PUNCT
cet-1369	78	101	m	m	X
cet-1369	78	102	/	/	SYM
cet-1369	78	103	s	s	PART
cet-1369	78	104	7.6	7.6	NUM
cet-1369	78	105	total	total	ADJ
cet-1369	78	106	surface	surface	NOUN
cet-1369	78	107	:	:	PUNCT
cet-1369	78	108	dm²	dm²	PROPN
cet-1369	78	109	158.9	158.9	NUM
cet-1369	78	110	results	result	NOUN
cet-1369	78	111	show	show	VERB
cet-1369	78	112	that	that	SCONJ
cet-1369	78	113	using	use	VERB
cet-1369	78	114	today	today	NOUN
cet-1369	78	115	technology	technology	NOUN
cet-1369	78	116	it	it	PRON
cet-1369	78	117	is	be	AUX
cet-1369	78	118	possible	possible	ADJ
cet-1369	78	119	to	to	PART
cet-1369	78	120	develop	develop	VERB
cet-1369	78	121	an	an	DET
cet-1369	78	122	uav	uav	NOUN
cet-1369	78	123	with	with	ADP
cet-1369	78	124	a	a	DET
cet-1369	78	125	useful	useful	ADJ
cet-1369	78	126	payload	payload	NOUN
cet-1369	78	127	equal	equal	ADJ
cet-1369	78	128	to	to	ADP
cet-1369	78	129	26	26	NUM
cet-1369	78	130	kg	kg	NOUN
cet-1369	78	131	and	and	CCONJ
cet-1369	78	132	an	an	DET
cet-1369	78	133	estimated	estimated	ADJ
cet-1369	78	134	flying	fly	VERB
cet-1369	78	135	time	time	NOUN
cet-1369	78	136	equal	equal	ADJ
cet-1369	78	137	to	to	ADP
cet-1369	78	138	23	23	NUM
cet-1369	78	139	min	min	NOUN
cet-1369	78	140	.	.	NOUN
cet-1369	78	141	such	such	ADJ
cet-1369	78	142	performance	performance	NOUN
cet-1369	78	143	can	can	AUX
cet-1369	78	144	be	be	AUX
cet-1369	78	145	considered	consider	VERB
cet-1369	78	146	satisfactory	satisfactory	ADJ
cet-1369	78	147	not	not	PART
cet-1369	78	148	only	only	ADV
cet-1369	78	149	to	to	PART
cet-1369	78	150	fulfil	fulfil	VERB
cet-1369	78	151	imaging	imaging	NOUN
cet-1369	78	152	and	and	CCONJ
cet-1369	78	153	crop	crop	NOUN
cet-1369	78	154	diagnostic	diagnostic	ADJ
cet-1369	78	155	missions	mission	NOUN
cet-1369	78	156	,	,	PUNCT
cet-1369	78	157	but	but	CCONJ
cet-1369	78	158	also	also	ADV
cet-1369	78	159	to	to	PART
cet-1369	78	160	perform	perform	VERB
cet-1369	78	161	more	more	ADV
cet-1369	78	162	challenging	challenging	ADJ
cet-1369	78	163	one	one	NUM
cet-1369	78	164	like	like	ADP
cet-1369	78	165	plantation	plantation	NOUN
cet-1369	78	166	or	or	CCONJ
cet-1369	78	167	pesticide	pesticide	NOUN
cet-1369	78	168	distribution	distribution	NOUN
cet-1369	78	169	.	.	PUNCT
cet-1369	79	1	4	4	X
cet-1369	79	2	.	.	X
cet-1369	79	3	conclusions	conclusion	NOUN
cet-1369	79	4	integration	integration	NOUN
cet-1369	79	5	of	of	ADP
cet-1369	79	6	components	component	NOUN
cet-1369	79	7	is	be	AUX
cet-1369	79	8	not	not	PART
cet-1369	79	9	a	a	DET
cet-1369	79	10	straightforward	straightforward	ADJ
cet-1369	79	11	task	task	NOUN
cet-1369	79	12	due	due	ADP
cet-1369	79	13	to	to	ADP
cet-1369	79	14	a	a	DET
cet-1369	79	15	lack	lack	NOUN
cet-1369	79	16	of	of	ADP
cet-1369	79	17	an	an	DET
cet-1369	79	18	integrated	integrated	ADJ
cet-1369	79	19	theory	theory	NOUN
cet-1369	79	20	,	,	PUNCT
cet-1369	79	21	application	application	NOUN
cet-1369	79	22	is	be	AUX
cet-1369	79	23	challenging	challenge	VERB
cet-1369	79	24	since	since	SCONJ
cet-1369	79	25	it	it	PRON
cet-1369	79	26	requires	require	VERB
cet-1369	79	27	expert	expert	ADJ
cet-1369	79	28	knowledge	knowledge	NOUN
cet-1369	79	29	in	in	ADP
cet-1369	79	30	aerodynamics	aerodynamic	NOUN
cet-1369	79	31	and	and	CCONJ
cet-1369	79	32	control	control	NOUN
cet-1369	79	33	theory	theory	NOUN
cet-1369	79	34	,	,	PUNCT
cet-1369	79	35	and	and	CCONJ
cet-1369	79	36	the	the	DET
cet-1369	79	37	commercial	commercial	ADJ
cet-1369	79	38	development	development	NOUN
cet-1369	79	39	of	of	ADP
cet-1369	79	40	heavy	heavy	ADJ
cet-1369	79	41	lift	lift	NOUN
cet-1369	79	42	drones	drone	NOUN
cet-1369	79	43	it	it	PRON
cet-1369	79	44	is	be	AUX
cet-1369	79	45	still	still	ADV
cet-1369	79	46	today	today	NOUN
cet-1369	79	47	limited	limit	VERB
cet-1369	79	48	to	to	ADP
cet-1369	79	49	few	few	ADJ
cet-1369	79	50	companies	company	NOUN
cet-1369	79	51	,	,	PUNCT
cet-1369	79	52	often	often	ADV
cet-1369	79	53	with	with	ADP
cet-1369	79	54	export	export	NOUN
cet-1369	79	55	limitations	limitation	NOUN
cet-1369	79	56	on	on	ADP
cet-1369	79	57	aircraft	aircraft	NOUN
cet-1369	79	58	and	and	CCONJ
cet-1369	79	59	sensors	sensor	NOUN
cet-1369	79	60	(	(	PUNCT
cet-1369	79	61	i.e.	i.e.	X
cet-1369	79	62	frequency	frequency	NOUN
cet-1369	79	63	of	of	ADP
cet-1369	79	64	ir	ir	PROPN
cet-1369	79	65	sensors	sensor	NOUN
cet-1369	79	66	)	)	PUNCT
cet-1369	79	67	due	due	ADP
cet-1369	79	68	to	to	ADP
cet-1369	79	69	military	military	ADJ
cet-1369	79	70	implications	implication	NOUN
cet-1369	79	71	.	.	PUNCT
cet-1369	80	1	nonetheless	nonetheless	ADV
cet-1369	80	2	it	it	PRON
cet-1369	80	3	is	be	AUX
cet-1369	80	4	possible	possible	ADJ
cet-1369	80	5	,	,	PUNCT
cet-1369	80	6	using	use	VERB
cet-1369	80	7	simplified	simplified	ADJ
cet-1369	80	8	theories	theory	NOUN
cet-1369	80	9	on	on	ADP
cet-1369	80	10	standard	standard	ADJ
cet-1369	80	11	configurations	configuration	NOUN
cet-1369	80	12	(	(	PUNCT
cet-1369	80	13	x	x	SYM
cet-1369	80	14	or	or	CCONJ
cet-1369	80	15	y	y	PROPN
cet-1369	80	16	design	design	NOUN
cet-1369	80	17	)	)	PUNCT
cet-1369	80	18	,	,	PUNCT
cet-1369	80	19	to	to	PART
cet-1369	80	20	develop	develop	VERB
cet-1369	80	21	and	and	CCONJ
cet-1369	80	22	optimize	optimize	VERB
cet-1369	80	23	the	the	DET
cet-1369	80	24	design	design	NOUN
cet-1369	80	25	of	of	ADP
cet-1369	80	26	heavy	heavy	ADJ
cet-1369	80	27	lift	lift	NOUN
cet-1369	80	28	uavs	uavs	NOUN
cet-1369	80	29	for	for	ADP
cet-1369	80	30	agricultural	agricultural	ADJ
cet-1369	80	31	use	use	NOUN
cet-1369	80	32	with	with	ADP
cet-1369	80	33	significant	significant	ADJ
cet-1369	80	34	performance	performance	NOUN
cet-1369	80	35	in	in	ADP
cet-1369	80	36	terms	term	NOUN
cet-1369	80	37	of	of	ADP
cet-1369	80	38	payload	payload	NOUN
cet-1369	80	39	and	and	CCONJ
cet-1369	80	40	flight	flight	NOUN
cet-1369	80	41	envelope	envelope	NOUN
cet-1369	80	42	.	.	PUNCT
cet-1369	81	1	state	state	NOUN
cet-1369	81	2	of	of	ADP
cet-1369	81	3	the	the	DET
cet-1369	81	4	art	art	NOUN
cet-1369	81	5	components	component	NOUN
cet-1369	81	6	,	,	PUNCT
cet-1369	81	7	freely	freely	ADV
cet-1369	81	8	available	available	ADJ
cet-1369	81	9	on	on	ADP
cet-1369	81	10	the	the	DET
cet-1369	81	11	market	market	NOUN
cet-1369	81	12	,	,	PUNCT
cet-1369	81	13	would	would	AUX
cet-1369	81	14	allow	allow	VERB
cet-1369	81	15	today	today	NOUN
cet-1369	81	16	to	to	PART
cet-1369	81	17	perform	perform	VERB
cet-1369	81	18	not	not	PART
cet-1369	81	19	only	only	ADV
cet-1369	81	20	recognition	recognition	NOUN
cet-1369	81	21	task	task	NOUN
cet-1369	81	22	but	but	CCONJ
cet-1369	81	23	also	also	ADV
cet-1369	81	24	more	more	ADV
cet-1369	81	25	challenging	challenging	ADJ
cet-1369	81	26	tasks	task	NOUN
cet-1369	81	27	such	such	ADJ
cet-1369	81	28	as	as	ADP
cet-1369	81	29	seeds	seed	NOUN
cet-1369	81	30	,	,	PUNCT
cet-1369	81	31	pesticide	pesticide	NOUN
cet-1369	81	32	and	and	CCONJ
cet-1369	81	33	fertilizer	fertilizer	NOUN
cet-1369	81	34	distribution	distribution	NOUN
cet-1369	81	35	,	,	PUNCT
cet-1369	81	36	but	but	CCONJ
cet-1369	81	37	in	in	ADP
cet-1369	81	38	order	order	NOUN
cet-1369	81	39	to	to	PART
cet-1369	81	40	guarantee	guarantee	VERB
cet-1369	81	41	an	an	DET
cet-1369	81	42	economical	economical	ADJ
cet-1369	81	43	return	return	NOUN
cet-1369	81	44	the	the	DET
cet-1369	81	45	limit	limit	NOUN
cet-1369	81	46	of	of	ADP
cet-1369	81	47	25	25	NUM
cet-1369	81	48	kg	kg	NOUN
cet-1369	81	49	at	at	ADP
cet-1369	81	50	take	take	NOUN
cet-1369	81	51	-	-	PUNCT
cet-1369	81	52	off	off	NOUN
cet-1369	81	53	present	present	NOUN
cet-1369	81	54	today	today	NOUN
cet-1369	81	55	in	in	ADP
cet-1369	81	56	several	several	ADJ
cet-1369	81	57	countries(including	countries(include	VERB
cet-1369	81	58	italy	italy	PROPN
cet-1369	81	59	)	)	PUNCT
cet-1369	81	60	should	should	AUX
cet-1369	81	61	be	be	AUX
cet-1369	81	62	lifted	lift	VERB
cet-1369	81	63	as	as	SCONJ
cet-1369	81	64	it	it	PRON
cet-1369	81	65	represents	represent	VERB
cet-1369	81	66	a	a	DET
cet-1369	81	67	strong	strong	ADJ
cet-1369	81	68	deterrent	deterrent	NOUN
cet-1369	81	69	to	to	ADP
cet-1369	81	70	possible	possible	ADJ
cet-1369	81	71	extensive	extensive	ADJ
cet-1369	81	72	use	use	NOUN
cet-1369	81	73	of	of	ADP
cet-1369	81	74	uav	uav	PROPN
cet-1369	81	75	in	in	ADP
cet-1369	81	76	agriculture	agriculture	NOUN
cet-1369	81	77	.	.	PUNCT
cet-1369	82	1	references	reference	NOUN
cet-1369	82	2	ampatis	ampatis	PROPN
cet-1369	82	3	c.	c.	PROPN
cet-1369	82	4	,	,	PUNCT
cet-1369	82	5	papadopoulos	papadopoulos	PROPN
cet-1369	82	6	,	,	PUNCT
cet-1369	82	7	e.	e.	PROPN
cet-1369	82	8	,	,	PUNCT
cet-1369	82	9	2014	2014	NUM
cet-1369	82	10	.	.	PUNCT
cet-1369	83	1	parametric	parametric	ADJ
cet-1369	83	2	design	design	NOUN
cet-1369	83	3	and	and	CCONJ
cet-1369	83	4	optimization	optimization	NOUN
cet-1369	83	5	of	of	ADP
cet-1369	83	6	multi	multi	ADJ
cet-1369	83	7	-	-	ADJ
cet-1369	83	8	rotor	rotor	ADJ
cet-1369	83	9	aerial	aerial	ADJ
cet-1369	83	10	vehicles	vehicle	NOUN
cet-1369	83	11	,	,	PUNCT
cet-1369	83	12	ieee	ieee	NOUN
cet-1369	83	13	international	international	ADJ
cet-1369	83	14	conference	conference	NOUN
cet-1369	83	15	on	on	ADP
cet-1369	83	16	robotics	robotic	NOUN
cet-1369	83	17	&	&	CCONJ
cet-1369	83	18	automation	automation	PROPN
cet-1369	83	19	(	(	PUNCT
cet-1369	83	20	icra	icra	PROPN
cet-1369	83	21	)	)	PUNCT
cet-1369	83	22	leishman	leishman	PROPN
cet-1369	83	23	,	,	PUNCT
cet-1369	83	24	j.g	j.g	PROPN
cet-1369	83	25	.	.	PROPN
cet-1369	83	26	,2006	,2006	PROPN
cet-1369	83	27	.	.	PUNCT
cet-1369	84	1	principles	principle	NOUN
cet-1369	84	2	of	of	ADP
cet-1369	84	3	helicopter	helicopter	NOUN
cet-1369	84	4	aerodynamics	aerodynamic	NOUN
cet-1369	84	5	,	,	PUNCT
cet-1369	84	6	cambridge	cambridge	PROPN
cet-1369	84	7	university	university	PROPN
cet-1369	84	8	press	press	NOUN
cet-1369	84	9	,	,	PUNCT
cet-1369	84	10	new	new	PROPN
cet-1369	84	11	york	york	PROPN
cet-1369	84	12	.	.	PUNCT
cet-1369	85	1	zhang	zhang	PROPN
cet-1369	85	2	,	,	PUNCT
cet-1369	85	3	c.	c.	PROPN
cet-1369	85	4	,	,	PUNCT
cet-1369	85	5	kovacs	kovacs	PROPN
cet-1369	85	6	,	,	PUNCT
cet-1369	85	7	j.	j.	PROPN
cet-1369	85	8	m.	m.	PROPN
cet-1369	85	9	,	,	PUNCT
cet-1369	85	10	2012	2012	NUM
cet-1369	85	11	,	,	PUNCT
cet-1369	85	12	the	the	DET
cet-1369	85	13	application	application	NOUN
cet-1369	85	14	of	of	ADP
cet-1369	85	15	small	small	ADJ
cet-1369	85	16	unmanned	unmanned	ADJ
cet-1369	85	17	aerial	aerial	ADJ
cet-1369	85	18	systems	system	NOUN
cet-1369	85	19	for	for	ADP
cet-1369	85	20	precision	precision	NOUN
cet-1369	85	21	agriculture	agriculture	NOUN
cet-1369	85	22	:	:	PUNCT
cet-1369	85	23	a	a	DET
cet-1369	85	24	review	review	NOUN
cet-1369	85	25	,	,	PUNCT
cet-1369	85	26	precision	precision	NOUN
cet-1369	85	27	agriculture	agriculture	NOUN
cet-1369	85	28	,	,	PUNCT
cet-1369	85	29	13,6:693–712	13,6:693–712	NUM
cet-1369	85	30	.	.	PUNCT
cet-1369	86	1	630	630	NUM