id	sid	tid	token	lemma	pos
cana-1087	1	1	communications	communication	NOUN
cana-1087	1	2	on	on	ADP
cana-1087	1	3	applied	apply	VERB
cana-1087	1	4	nonlinear	nonlinear	ADJ
cana-1087	1	5	analysis	analysis	NOUN
cana-1087	1	6	issn	issn	NOUN
cana-1087	1	7	:	:	PUNCT
cana-1087	1	8	1074	1074	NUM
cana-1087	1	9	-	-	PUNCT
cana-1087	1	10	133x	133x	NUM
cana-1087	1	11	vol	vol	NOUN
cana-1087	1	12	31	31	NUM
cana-1087	1	13	no	no	NOUN
cana-1087	1	14	.	.	PUNCT
cana-1087	2	1	5s	5s	NUM
cana-1087	2	2	(	(	PUNCT
cana-1087	2	3	2024	2024	NUM
cana-1087	2	4	)	)	PUNCT
cana-1087	2	5	519	519	NUM
cana-1087	2	6	https://internationalpubls.com	https://internationalpubls.com	NUM
cana-1087	2	7	night	night	NOUN
cana-1087	2	8	patrolling	patrol	VERB
cana-1087	2	9	robot	robot	NOUN
cana-1087	2	10	:	:	PUNCT
cana-1087	2	11	enhancing	enhance	VERB
cana-1087	2	12	urban	urban	ADJ
cana-1087	2	13	security	security	NOUN
cana-1087	2	14	and	and	CCONJ
cana-1087	2	15	innovation	innovation	NOUN
cana-1087	2	16	kaushalya	kaushalya	PROPN
cana-1087	2	17	thopate1	thopate1	PROPN
cana-1087	2	18	,	,	PUNCT
cana-1087	2	19	ketki	ketki	PROPN
cana-1087	2	20	shirbavikar2	shirbavikar2	PROPN
cana-1087	2	21	,	,	PUNCT
cana-1087	2	22	jyoti	jyoti	PROPN
cana-1087	2	23	kanjalkar3	kanjalkar3	PROPN
cana-1087	2	24	,	,	PUNCT
cana-1087	2	25	ratna	ratna	PROPN
cana-1087	2	26	nitin	nitin	PROPN
cana-1087	2	27	patil4	patil4	PROPN
cana-1087	2	28	,	,	PUNCT
cana-1087	2	29	rashmi	rashmi	PROPN
cana-1087	2	30	astagi5	astagi5	PROPN
cana-1087	2	31	,	,	PUNCT
cana-1087	2	32	vaishali	vaishali	PROPN
cana-1087	2	33	rajput6	rajput6	PROPN
cana-1087	2	34	1	1	NUM
cana-1087	2	35	,	,	PUNCT
cana-1087	2	36	2	2	NUM
cana-1087	2	37	,	,	PUNCT
cana-1087	2	38	3	3	NUM
cana-1087	2	39	,	,	PUNCT
cana-1087	2	40	5	5	NUM
cana-1087	2	41	,	,	PUNCT
cana-1087	2	42	6vishwakarma	6vishwakarma	NUM
cana-1087	2	43	institute	institute	NOUN
cana-1087	2	44	of	of	ADP
cana-1087	2	45	technology	technology	NOUN
cana-1087	2	46	,	,	PUNCT
cana-1087	2	47	pune	pune	PROPN
cana-1087	2	48	,	,	PUNCT
cana-1087	2	49	india	india	PROPN
cana-1087	2	50	.	.	PUNCT
cana-1087	3	1	4vishwakarma	4vishwakarma	NUM
cana-1087	3	2	institute	institute	NOUN
cana-1087	3	3	of	of	ADP
cana-1087	3	4	information	information	NOUN
cana-1087	3	5	technology	technology	NOUN
cana-1087	3	6	,	,	PUNCT
cana-1087	3	7	pune	pune	PROPN
cana-1087	3	8	,	,	PUNCT
cana-1087	3	9	india	india	PROPN
cana-1087	3	10	.	.	PUNCT
cana-1087	4	1	article	article	PROPN
cana-1087	4	2	history	history	NOUN
cana-1087	4	3	:	:	PUNCT
cana-1087	4	4	received	receive	VERB
cana-1087	4	5	:	:	PUNCT
cana-1087	4	6	17	17	NUM
cana-1087	4	7	-	-	SYM
cana-1087	4	8	05	05	NUM
cana-1087	4	9	-	-	PUNCT
cana-1087	4	10	2024	2024	NUM
cana-1087	4	11	revised	revise	VERB
cana-1087	4	12	:	:	PUNCT
cana-1087	4	13	25	25	NUM
cana-1087	4	14	-	-	PUNCT
cana-1087	4	15	06	06	NUM
cana-1087	4	16	-	-	PUNCT
cana-1087	4	17	2024	2024	NUM
cana-1087	4	18	accepted	accept	VERB
cana-1087	4	19	:	:	PUNCT
cana-1087	4	20	10	10	NUM
cana-1087	4	21	-	-	SYM
cana-1087	4	22	07	07	NUM
cana-1087	4	23	-	-	PUNCT
cana-1087	4	24	2024	2024	NUM
cana-1087	4	25	abstract	abstract	NOUN
cana-1087	4	26	:	:	PUNCT
cana-1087	4	27	in	in	ADP
cana-1087	4	28	today	today	NOUN
cana-1087	4	29	’s	’s	PART
cana-1087	4	30	world	world	NOUN
cana-1087	4	31	safety	safety	NOUN
cana-1087	4	32	is	be	AUX
cana-1087	4	33	the	the	DET
cana-1087	4	34	most	most	ADV
cana-1087	4	35	important	important	ADJ
cana-1087	4	36	concern	concern	NOUN
cana-1087	4	37	for	for	ADP
cana-1087	4	38	all	all	DET
cana-1087	4	39	genders	gender	NOUN
cana-1087	4	40	in	in	ADP
cana-1087	4	41	our	our	PRON
cana-1087	4	42	society	society	NOUN
cana-1087	4	43	.	.	PUNCT
cana-1087	5	1	and	and	CCONJ
cana-1087	5	2	that	that	PRON
cana-1087	5	3	to	to	PART
cana-1087	5	4	in	in	ADP
cana-1087	5	5	night	night	NOUN
cana-1087	5	6	,	,	PUNCT
cana-1087	5	7	there	there	PRON
cana-1087	5	8	are	be	VERB
cana-1087	5	9	more	more	ADJ
cana-1087	5	10	possibilities	possibility	NOUN
cana-1087	5	11	of	of	ADP
cana-1087	5	12	threat	threat	NOUN
cana-1087	5	13	.	.	PUNCT
cana-1087	6	1	so	so	ADV
cana-1087	6	2	,	,	PUNCT
cana-1087	6	3	for	for	ADP
cana-1087	6	4	the	the	DET
cana-1087	6	5	safety	safety	NOUN
cana-1087	6	6	purpose	purpose	NOUN
cana-1087	6	7	we	we	PRON
cana-1087	6	8	designed	design	VERB
cana-1087	6	9	a	a	DET
cana-1087	6	10	night	night	NOUN
cana-1087	6	11	patrolling	patrol	VERB
cana-1087	6	12	robot	robot	NOUN
cana-1087	6	13	.	.	PUNCT
cana-1087	7	1	this	this	DET
cana-1087	7	2	robot	robot	NOUN
cana-1087	7	3	has	have	VERB
cana-1087	7	4	camera	camera	NOUN
cana-1087	7	5	module	module	NOUN
cana-1087	7	6	which	which	PRON
cana-1087	7	7	can	can	AUX
cana-1087	7	8	capture	capture	VERB
cana-1087	7	9	pictures	picture	NOUN
cana-1087	7	10	and	and	CCONJ
cana-1087	7	11	send	send	VERB
cana-1087	7	12	to	to	ADP
cana-1087	7	13	control	control	NOUN
cana-1087	7	14	room	room	NOUN
cana-1087	7	15	.	.	PUNCT
cana-1087	8	1	also	also	ADV
cana-1087	8	2	,	,	PUNCT
cana-1087	8	3	it	it	PRON
cana-1087	8	4	has	have	VERB
cana-1087	8	5	gps	gps	PROPN
cana-1087	8	6	module	module	NOUN
cana-1087	8	7	in	in	ADP
cana-1087	8	8	it	it	PRON
cana-1087	8	9	by	by	ADP
cana-1087	8	10	which	which	PRON
cana-1087	8	11	we	we	PRON
cana-1087	8	12	can	can	AUX
cana-1087	8	13	track	track	VERB
cana-1087	8	14	its	its	PRON
cana-1087	8	15	location	location	NOUN
cana-1087	8	16	and	and	CCONJ
cana-1087	8	17	it	it	PRON
cana-1087	8	18	can	can	AUX
cana-1087	8	19	give	give	VERB
cana-1087	8	20	signals	signal	NOUN
cana-1087	8	21	.	.	PUNCT
cana-1087	9	1	it	it	PRON
cana-1087	9	2	covers	cover	VERB
cana-1087	9	3	certain	certain	ADJ
cana-1087	9	4	areas	area	NOUN
cana-1087	9	5	and	and	CCONJ
cana-1087	9	6	detect	detect	VERB
cana-1087	9	7	unusual	unusual	ADJ
cana-1087	9	8	activities	activity	NOUN
cana-1087	9	9	,	,	PUNCT
cana-1087	9	10	if	if	SCONJ
cana-1087	9	11	detected	detect	VERB
cana-1087	9	12	any	any	DET
cana-1087	9	13	captures	capture	NOUN
cana-1087	9	14	photos	photo	NOUN
cana-1087	9	15	,	,	PUNCT
cana-1087	9	16	record	record	VERB
cana-1087	9	17	their	their	PRON
cana-1087	9	18	voices	voice	NOUN
cana-1087	9	19	with	with	ADP
cana-1087	9	20	mic	mic	ADJ
cana-1087	9	21	and	and	CCONJ
cana-1087	9	22	sends	send	VERB
cana-1087	9	23	signal	signal	NOUN
cana-1087	9	24	to	to	ADP
cana-1087	9	25	its	its	PRON
cana-1087	9	26	owner	owner	NOUN
cana-1087	9	27	.	.	PUNCT
cana-1087	10	1	ck	ck	PROPN
cana-1087	10	2	of	of	ADP
cana-1087	10	3	security	security	NOUN
cana-1087	10	4	is	be	AUX
cana-1087	10	5	a	a	DET
cana-1087	10	6	significant	significant	ADJ
cana-1087	10	7	concern	concern	NOUN
cana-1087	10	8	in	in	ADP
cana-1087	10	9	today	today	NOUN
cana-1087	10	10	's	's	PART
cana-1087	10	11	global	global	ADJ
cana-1087	10	12	scenario	scenario	NOUN
cana-1087	10	13	.	.	PUNCT
cana-1087	11	1	therefore	therefore	ADV
cana-1087	11	2	,	,	PUNCT
cana-1087	11	3	we	we	PRON
cana-1087	11	4	have	have	AUX
cana-1087	11	5	developed	develop	VERB
cana-1087	11	6	a	a	DET
cana-1087	11	7	solution	solution	NOUN
cana-1087	11	8	in	in	ADP
cana-1087	11	9	the	the	DET
cana-1087	11	10	form	form	NOUN
cana-1087	11	11	of	of	ADP
cana-1087	11	12	a	a	DET
cana-1087	11	13	security	security	NOUN
cana-1087	11	14	patrolling	patrol	VERB
cana-1087	11	15	robot	robot	NOUN
cana-1087	11	16	.	.	PUNCT
cana-1087	12	1	in	in	ADP
cana-1087	12	2	certain	certain	ADJ
cana-1087	12	3	scenarios	scenario	NOUN
cana-1087	12	4	,	,	PUNCT
cana-1087	12	5	conventional	conventional	ADJ
cana-1087	12	6	cctv	cctv	NOUN
cana-1087	12	7	cameras	camera	NOUN
cana-1087	12	8	may	may	AUX
cana-1087	12	9	not	not	PART
cana-1087	12	10	serve	serve	VERB
cana-1087	12	11	as	as	ADP
cana-1087	12	12	an	an	DET
cana-1087	12	13	effective	effective	ADJ
cana-1087	12	14	deterrent	deterrent	NOUN
cana-1087	12	15	for	for	ADP
cana-1087	12	16	security	security	NOUN
cana-1087	12	17	-	-	PUNCT
cana-1087	12	18	related	relate	VERB
cana-1087	12	19	tasks	task	NOUN
cana-1087	12	20	because	because	SCONJ
cana-1087	12	21	they	they	PRON
cana-1087	12	22	are	be	AUX
cana-1087	12	23	reactive	reactive	ADJ
cana-1087	12	24	,	,	PUNCT
cana-1087	12	25	capturing	capture	VERB
cana-1087	12	26	events	event	NOUN
cana-1087	12	27	but	but	CCONJ
cana-1087	12	28	not	not	PART
cana-1087	12	29	offering	offer	VERB
cana-1087	12	30	any	any	DET
cana-1087	12	31	warnings	warning	NOUN
cana-1087	12	32	in	in	ADP
cana-1087	12	33	advance	advance	NOUN
cana-1087	12	34	.	.	PUNCT
cana-1087	13	1	our	our	PRON
cana-1087	13	2	security	security	NOUN
cana-1087	13	3	patrolling	patrol	VERB
cana-1087	13	4	robot	robot	NOUN
cana-1087	13	5	,	,	PUNCT
cana-1087	13	6	however	however	ADV
cana-1087	13	7	,	,	PUNCT
cana-1087	13	8	covers	cover	VERB
cana-1087	13	9	specific	specific	ADJ
cana-1087	13	10	areas	area	NOUN
cana-1087	13	11	and	and	CCONJ
cana-1087	13	12	,	,	PUNCT
cana-1087	13	13	upon	upon	SCONJ
cana-1087	13	14	detecting	detect	VERB
cana-1087	13	15	any	any	DET
cana-1087	13	16	suspicious	suspicious	ADJ
cana-1087	13	17	activities	activity	NOUN
cana-1087	13	18	,	,	PUNCT
cana-1087	13	19	alerts	alert	VERB
cana-1087	13	20	the	the	DET
cana-1087	13	21	user	user	NOUN
cana-1087	13	22	.	.	PUNCT
cana-1087	14	1	this	this	DET
cana-1087	14	2	device	device	NOUN
cana-1087	14	3	is	be	AUX
cana-1087	14	4	equipped	equip	VERB
cana-1087	14	5	with	with	ADP
cana-1087	14	6	cameras	camera	NOUN
cana-1087	14	7	and	and	CCONJ
cana-1087	14	8	microphones	microphone	NOUN
cana-1087	14	9	located	locate	VERB
cana-1087	14	10	on	on	ADP
cana-1087	14	11	the	the	DET
cana-1087	14	12	vehicle	vehicle	NOUN
cana-1087	14	13	for	for	ADP
cana-1087	14	14	security	security	NOUN
cana-1087	14	15	purposes	purpose	NOUN
cana-1087	14	16	.	.	PUNCT
cana-1087	15	1	it	it	PRON
cana-1087	15	2	scans	scan	VERB
cana-1087	15	3	every	every	DET
cana-1087	15	4	nook	nook	NOUN
cana-1087	15	5	and	and	CCONJ
cana-1087	15	6	cranny	cranny	ADJ
cana-1087	15	7	,	,	PUNCT
cana-1087	15	8	identifying	identify	VERB
cana-1087	15	9	problems	problem	NOUN
cana-1087	15	10	through	through	ADP
cana-1087	15	11	its	its	PRON
cana-1087	15	12	video	video	NOUN
cana-1087	15	13	surveillance	surveillance	NOUN
cana-1087	15	14	and	and	CCONJ
cana-1087	15	15	listening	listen	VERB
cana-1087	15	16	capabilities	capability	NOUN
cana-1087	15	17	.	.	PUNCT
cana-1087	16	1	it	it	PRON
cana-1087	16	2	can	can	AUX
cana-1087	16	3	detect	detect	VERB
cana-1087	16	4	sounds	sound	NOUN
cana-1087	16	5	associated	associate	VERB
cana-1087	16	6	with	with	ADP
cana-1087	16	7	issues	issue	NOUN
cana-1087	16	8	and	and	CCONJ
cana-1087	16	9	move	move	VERB
cana-1087	16	10	in	in	ADP
cana-1087	16	11	that	that	DET
cana-1087	16	12	direction	direction	NOUN
cana-1087	16	13	,	,	PUNCT
cana-1087	16	14	before	before	ADP
cana-1087	16	15	examining	examine	VERB
cana-1087	16	16	the	the	DET
cana-1087	16	17	scene	scene	NOUN
cana-1087	16	18	for	for	ADP
cana-1087	16	19	any	any	DET
cana-1087	16	20	human	human	ADJ
cana-1087	16	21	presence	presence	NOUN
cana-1087	16	22	.	.	PUNCT
cana-1087	17	1	it	it	PRON
cana-1087	17	2	provides	provide	VERB
cana-1087	17	3	continuous	continuous	ADJ
cana-1087	17	4	vigilance	vigilance	NOUN
cana-1087	17	5	along	along	ADP
cana-1087	17	6	with	with	ADP
cana-1087	17	7	live	live	ADJ
cana-1087	17	8	streaming	streaming	NOUN
cana-1087	17	9	of	of	ADP
cana-1087	17	10	the	the	DET
cana-1087	17	11	crime	crime	NOUN
cana-1087	17	12	scene	scene	NOUN
cana-1087	17	13	.	.	PUNCT
cana-1087	18	1	introduction	introduction	NOUN
cana-1087	18	2	:	:	PUNCT
cana-1087	18	3	this	this	DET
cana-1087	18	4	passage	passage	NOUN
cana-1087	18	5	discusses	discuss	VERB
cana-1087	18	6	using	use	VERB
cana-1087	18	7	robots	robot	NOUN
cana-1087	18	8	for	for	ADP
cana-1087	18	9	patrolling	patrol	VERB
cana-1087	18	10	tasks	task	NOUN
cana-1087	18	11	.	.	PUNCT
cana-1087	19	1	multi	multi	ADJ
cana-1087	19	2	-	-	ADJ
cana-1087	19	3	robot	robot	ADJ
cana-1087	19	4	patrolling	patrolling	NOUN
cana-1087	19	5	can	can	AUX
cana-1087	19	6	be	be	AUX
cana-1087	19	7	used	use	VERB
cana-1087	19	8	for	for	ADP
cana-1087	19	9	security	security	NOUN
cana-1087	19	10	,	,	PUNCT
cana-1087	19	11	search	search	NOUN
cana-1087	19	12	and	and	CCONJ
cana-1087	19	13	rescue	rescue	NOUN
cana-1087	19	14	,	,	PUNCT
cana-1087	19	15	etc	etc	X
cana-1087	19	16	.	.	X
cana-1087	19	17	robots	robot	NOUN
cana-1087	19	18	can	can	AUX
cana-1087	19	19	be	be	AUX
cana-1087	19	20	equipped	equip	VERB
cana-1087	19	21	with	with	ADP
cana-1087	19	22	cameras	camera	NOUN
cana-1087	19	23	and	and	CCONJ
cana-1087	19	24	sensors	sensor	NOUN
cana-1087	19	25	to	to	PART
cana-1087	19	26	detect	detect	VERB
cana-1087	19	27	abnormalities	abnormality	NOUN
cana-1087	19	28	and	and	CCONJ
cana-1087	19	29	send	send	VERB
cana-1087	19	30	alerts	alert	NOUN
cana-1087	19	31	.	.	PUNCT
cana-1087	20	1	the	the	DET
cana-1087	20	2	control	control	NOUN
cana-1087	20	3	systems	system	NOUN
cana-1087	20	4	for	for	ADP
cana-1087	20	5	these	these	DET
cana-1087	20	6	robots	robot	NOUN
cana-1087	20	7	are	be	AUX
cana-1087	20	8	crucial	crucial	ADJ
cana-1087	20	9	for	for	ADP
cana-1087	20	10	their	their	PRON
cana-1087	20	11	operation	operation	NOUN
cana-1087	20	12	.	.	PUNCT
cana-1087	21	1	there	there	PRON
cana-1087	21	2	are	be	VERB
cana-1087	21	3	two	two	NUM
cana-1087	21	4	main	main	ADJ
cana-1087	21	5	types	type	NOUN
cana-1087	21	6	of	of	ADP
cana-1087	21	7	control	control	NOUN
cana-1087	21	8	algorithms	algorithm	NOUN
cana-1087	21	9	for	for	ADP
cana-1087	21	10	multi	multi	ADJ
cana-1087	21	11	-	-	ADJ
cana-1087	21	12	robot	robot	ADJ
cana-1087	21	13	systems	system	NOUN
cana-1087	21	14	:	:	PUNCT
cana-1087	21	15	centralized	centralized	ADJ
cana-1087	21	16	and	and	CCONJ
cana-1087	21	17	decentralized	decentralize	VERB
cana-1087	21	18	.	.	PUNCT
cana-1087	22	1	centralized	centralize	VERB
cana-1087	22	2	algorithms	algorithm	NOUN
cana-1087	22	3	make	make	VERB
cana-1087	22	4	decisions	decision	NOUN
cana-1087	22	5	for	for	ADP
cana-1087	22	6	all	all	DET
cana-1087	22	7	the	the	DET
cana-1087	22	8	robots	robot	NOUN
cana-1087	22	9	,	,	PUNCT
cana-1087	22	10	while	while	SCONJ
cana-1087	22	11	decentralized	decentralized	ADJ
cana-1087	22	12	algorithms	algorithm	NOUN
cana-1087	22	13	distribute	distribute	VERB
cana-1087	22	14	decisions	decision	NOUN
cana-1087	22	15	among	among	ADP
cana-1087	22	16	the	the	DET
cana-1087	22	17	robots	robot	NOUN
cana-1087	22	18	.	.	PUNCT
cana-1087	23	1	objectives	objective	NOUN
cana-1087	23	2	:	:	PUNCT
cana-1087	23	3	the	the	DET
cana-1087	23	4	primary	primary	ADJ
cana-1087	23	5	objective	objective	NOUN
cana-1087	23	6	of	of	ADP
cana-1087	23	7	this	this	DET
cana-1087	23	8	research	research	NOUN
cana-1087	23	9	is	be	AUX
cana-1087	23	10	to	to	PART
cana-1087	23	11	develop	develop	VERB
cana-1087	23	12	a	a	DET
cana-1087	23	13	comprehensive	comprehensive	ADJ
cana-1087	23	14	,	,	PUNCT
cana-1087	23	15	autonomous	autonomous	ADJ
cana-1087	23	16	night	night	NOUN
cana-1087	23	17	patrolling	patrolling	NOUN
cana-1087	23	18	robot	robot	NOUN
cana-1087	23	19	that	that	PRON
cana-1087	23	20	enhances	enhance	VERB
cana-1087	23	21	security	security	NOUN
cana-1087	23	22	by	by	ADP
cana-1087	23	23	monitoring	monitor	VERB
cana-1087	23	24	designated	designate	VERB
cana-1087	23	25	areas	area	NOUN
cana-1087	23	26	.	.	PUNCT
cana-1087	24	1	this	this	DET
cana-1087	24	2	robot	robot	NOUN
cana-1087	24	3	aims	aim	VERB
cana-1087	24	4	to	to	PART
cana-1087	24	5	detect	detect	VERB
cana-1087	24	6	and	and	CCONJ
cana-1087	24	7	respond	respond	VERB
cana-1087	24	8	to	to	ADP
cana-1087	24	9	unusual	unusual	ADJ
cana-1087	24	10	activities	activity	NOUN
cana-1087	24	11	using	use	VERB
cana-1087	24	12	a	a	DET
cana-1087	24	13	combination	combination	NOUN
cana-1087	24	14	of	of	ADP
cana-1087	24	15	sensors	sensor	NOUN
cana-1087	24	16	,	,	PUNCT
cana-1087	24	17	including	include	VERB
cana-1087	24	18	ultrasonic	ultrasonic	ADJ
cana-1087	24	19	,	,	PUNCT
cana-1087	24	20	sound	sound	NOUN
cana-1087	24	21	,	,	PUNCT
cana-1087	24	22	and	and	CCONJ
cana-1087	24	23	infrared	infrare	VERB
cana-1087	24	24	,	,	PUNCT
cana-1087	24	25	along	along	ADP
cana-1087	24	26	with	with	ADP
cana-1087	24	27	a	a	DET
cana-1087	24	28	camera	camera	NOUN
cana-1087	24	29	module	module	NOUN
cana-1087	24	30	.	.	PUNCT
cana-1087	25	1	by	by	ADP
cana-1087	25	2	integrating	integrate	VERB
cana-1087	25	3	these	these	DET
cana-1087	25	4	components	component	NOUN
cana-1087	25	5	with	with	ADP
cana-1087	25	6	a	a	DET
cana-1087	25	7	node	node	ADJ
cana-1087	25	8	mcu	mcu	PROPN
cana-1087	25	9	microcontroller	microcontroller	NOUN
cana-1087	25	10	,	,	PUNCT
cana-1087	25	11	the	the	DET
cana-1087	25	12	system	system	NOUN
cana-1087	25	13	can	can	AUX
cana-1087	25	14	capture	capture	VERB
cana-1087	25	15	images	image	NOUN
cana-1087	25	16	,	,	PUNCT
cana-1087	25	17	track	track	NOUN
cana-1087	25	18	movements	movement	NOUN
cana-1087	25	19	,	,	PUNCT
cana-1087	25	20	and	and	CCONJ
cana-1087	25	21	send	send	VERB
cana-1087	25	22	alerts	alert	NOUN
cana-1087	25	23	to	to	ADP
cana-1087	25	24	a	a	DET
cana-1087	25	25	control	control	NOUN
cana-1087	25	26	room	room	NOUN
cana-1087	25	27	.	.	PUNCT
cana-1087	26	1	methods	method	NOUN
cana-1087	26	2	:	:	PUNCT
cana-1087	26	3	the	the	DET
cana-1087	26	4	night	night	NOUN
cana-1087	26	5	patrolling	patrol	VERB
cana-1087	26	6	robot	robot	NOUN
cana-1087	26	7	employs	employ	VERB
cana-1087	26	8	a	a	DET
cana-1087	26	9	node	node	ADJ
cana-1087	26	10	mcu	mcu	NOUN
cana-1087	26	11	microcontroller	microcontroller	NOUN
cana-1087	26	12	to	to	PART
cana-1087	26	13	manage	manage	VERB
cana-1087	26	14	various	various	ADJ
cana-1087	26	15	sensors	sensor	NOUN
cana-1087	26	16	and	and	CCONJ
cana-1087	26	17	components	component	NOUN
cana-1087	26	18	,	,	PUNCT
cana-1087	26	19	including	include	VERB
cana-1087	26	20	an	an	DET
cana-1087	26	21	ultrasonic	ultrasonic	ADJ
cana-1087	26	22	sensor	sensor	NOUN
cana-1087	26	23	for	for	ADP
cana-1087	26	24	obstacle	obstacle	NOUN
cana-1087	26	25	detection	detection	NOUN
cana-1087	26	26	,	,	PUNCT
cana-1087	26	27	a	a	DET
cana-1087	26	28	sound	sound	ADJ
cana-1087	26	29	sensor	sensor	NOUN
cana-1087	26	30	for	for	ADP
cana-1087	26	31	monitoring	monitor	VERB
cana-1087	26	32	unusual	unusual	ADJ
cana-1087	26	33	noises	noise	NOUN
cana-1087	26	34	,	,	PUNCT
cana-1087	26	35	and	and	CCONJ
cana-1087	26	36	a	a	DET
cana-1087	26	37	camera	camera	NOUN
cana-1087	26	38	for	for	ADP
cana-1087	26	39	capturing	capture	VERB
cana-1087	26	40	images	image	NOUN
cana-1087	26	41	.	.	PUNCT
cana-1087	27	1	when	when	SCONJ
cana-1087	27	2	the	the	DET
cana-1087	27	3	ultrasonic	ultrasonic	ADJ
cana-1087	27	4	sensor	sensor	NOUN
cana-1087	27	5	detects	detect	VERB
cana-1087	27	6	an	an	DET
cana-1087	27	7	obstacle	obstacle	NOUN
cana-1087	27	8	,	,	PUNCT
cana-1087	27	9	it	it	PRON
cana-1087	27	10	triggers	trigger	VERB
cana-1087	27	11	the	the	DET
cana-1087	27	12	motor	motor	NOUN
cana-1087	27	13	driver	driver	NOUN
cana-1087	27	14	to	to	PART
cana-1087	27	15	alter	alter	VERB
cana-1087	27	16	the	the	DET
cana-1087	27	17	robot	robot	NOUN
cana-1087	27	18	's	's	PART
cana-1087	27	19	direction	direction	NOUN
cana-1087	27	20	.	.	PUNCT
cana-1087	28	1	the	the	DET
cana-1087	28	2	system	system	NOUN
cana-1087	28	3	also	also	ADV
cana-1087	28	4	includes	include	VERB
cana-1087	28	5	a	a	DET
cana-1087	28	6	buzzer	buzzer	NOUN
cana-1087	28	7	and	and	CCONJ
cana-1087	28	8	ir	ir	PROPN
cana-1087	28	9	sensor	sensor	NOUN
cana-1087	28	10	to	to	PART
cana-1087	28	11	alert	alert	VERB
cana-1087	28	12	users	user	NOUN
cana-1087	28	13	of	of	ADP
cana-1087	28	14	potential	potential	ADJ
cana-1087	28	15	threats	threat	NOUN
cana-1087	28	16	.	.	PUNCT
cana-1087	29	1	the	the	DET
cana-1087	29	2	microcontroller	microcontroller	NOUN
cana-1087	29	3	communicates	communicate	VERB
cana-1087	29	4	with	with	ADP
cana-1087	29	5	the	the	DET
cana-1087	29	6	control	control	NOUN
cana-1087	29	7	room	room	NOUN
cana-1087	29	8	,	,	PUNCT
cana-1087	29	9	sending	send	VERB
cana-1087	29	10	visual	visual	ADJ
cana-1087	29	11	and	and	CCONJ
cana-1087	29	12	audio	audio	NOUN
cana-1087	29	13	data	datum	NOUN
cana-1087	29	14	to	to	PART
cana-1087	29	15	enhance	enhance	VERB
cana-1087	29	16	security	security	NOUN
cana-1087	29	17	monitoring	monitoring	NOUN
cana-1087	29	18	.	.	PUNCT
cana-1087	30	1	results	result	NOUN
cana-1087	30	2	:	:	PUNCT
cana-1087	30	3	this	this	DET
cana-1087	30	4	document	document	NOUN
cana-1087	30	5	describes	describe	VERB
cana-1087	30	6	a	a	DET
cana-1087	30	7	patrolling	patrol	VERB
cana-1087	30	8	robot	robot	NOUN
cana-1087	30	9	using	use	VERB
cana-1087	30	10	arduino	arduino	NOUN
cana-1087	30	11	and	and	CCONJ
cana-1087	30	12	espcam32	espcam32	NOUN
cana-1087	30	13	for	for	ADP
cana-1087	30	14	security	security	NOUN
cana-1087	30	15	and	and	CCONJ
cana-1087	30	16	surveillance	surveillance	NOUN
cana-1087	30	17	.	.	PUNCT
cana-1087	31	1	the	the	DET
cana-1087	31	2	robot	robot	NOUN
cana-1087	31	3	uses	use	VERB
cana-1087	31	4	various	various	ADJ
cana-1087	31	5	sensors	sensor	NOUN
cana-1087	31	6	:	:	PUNCT
cana-1087	31	7	a	a	DET
cana-1087	31	8	camera	camera	NOUN
cana-1087	31	9	for	for	ADP
cana-1087	31	10	visuals	visual	NOUN
cana-1087	31	11	,	,	PUNCT
cana-1087	31	12	an	an	DET
cana-1087	31	13	ultrasonic	ultrasonic	ADJ
cana-1087	31	14	sensor	sensor	NOUN
cana-1087	31	15	to	to	PART
cana-1087	31	16	avoid	avoid	VERB
cana-1087	31	17	obstacles	obstacle	NOUN
cana-1087	31	18	,	,	PUNCT
cana-1087	31	19	and	and	CCONJ
cana-1087	31	20	a	a	DET
cana-1087	31	21	sound	sound	ADJ
cana-1087	31	22	sensor	sensor	NOUN
cana-1087	31	23	to	to	PART
cana-1087	31	24	detect	detect	VERB
cana-1087	31	25	noises	noise	NOUN
cana-1087	31	26	.	.	PUNCT
cana-1087	32	1	it	it	PRON
cana-1087	32	2	concludes	conclude	VERB
cana-1087	32	3	that	that	SCONJ
cana-1087	32	4	the	the	DET
cana-1087	32	5	robot	robot	NOUN
cana-1087	32	6	's	's	PART
cana-1087	32	7	functionalities	functionality	NOUN
cana-1087	32	8	can	can	AUX
cana-1087	32	9	be	be	AUX
cana-1087	32	10	useful	useful	ADJ
cana-1087	32	11	for	for	ADP
cana-1087	32	12	women	woman	NOUN
cana-1087	32	13	's	's	PART
cana-1087	32	14	safety	safety	NOUN
cana-1087	32	15	,	,	PUNCT
cana-1087	32	16	area	area	NOUN
cana-1087	32	17	monitoring	monitoring	NOUN
cana-1087	32	18	,	,	PUNCT
cana-1087	32	19	and	and	CCONJ
cana-1087	32	20	potentially	potentially	ADV
cana-1087	32	21	other	other	ADJ
cana-1087	32	22	applications	application	NOUN
cana-1087	32	23	like	like	ADP
cana-1087	32	24	child	child	NOUN
cana-1087	32	25	communications	communication	NOUN
cana-1087	32	26	on	on	ADP
cana-1087	32	27	applied	apply	VERB
cana-1087	32	28	nonlinear	nonlinear	ADJ
cana-1087	32	29	analysis	analysis	NOUN
cana-1087	32	30	issn	issn	NOUN
cana-1087	32	31	:	:	PUNCT
cana-1087	32	32	1074	1074	NUM
cana-1087	32	33	-	-	PUNCT
cana-1087	32	34	133x	133x	NUM
cana-1087	32	35	vol	vol	NOUN
cana-1087	32	36	31	31	NUM
cana-1087	32	37	no	no	NOUN
cana-1087	32	38	.	.	PUNCT
cana-1087	33	1	5s	5s	NUM
cana-1087	33	2	(	(	PUNCT
cana-1087	33	3	2024	2024	NUM
cana-1087	33	4	)	)	PUNCT
cana-1087	33	5	520	520	NUM
cana-1087	33	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-1087	33	7	monitoring	monitoring	NOUN
cana-1087	33	8	or	or	CCONJ
cana-1087	33	9	industrial	industrial	ADJ
cana-1087	33	10	automation	automation	NOUN
cana-1087	33	11	.	.	PUNCT
cana-1087	34	1	conclusions	conclusion	NOUN
cana-1087	34	2	:	:	PUNCT
cana-1087	34	3	night	night	NOUN
cana-1087	34	4	patrol	patrol	NOUN
cana-1087	34	5	robots	robot	NOUN
cana-1087	34	6	are	be	AUX
cana-1087	34	7	a	a	DET
cana-1087	34	8	security	security	NOUN
cana-1087	34	9	breakthrough	breakthrough	NOUN
cana-1087	34	10	.	.	PUNCT
cana-1087	35	1	they	they	PRON
cana-1087	35	2	use	use	VERB
cana-1087	35	3	sensors	sensor	NOUN
cana-1087	35	4	,	,	PUNCT
cana-1087	35	5	cameras	camera	NOUN
cana-1087	35	6	and	and	CCONJ
cana-1087	35	7	smarts	smart	NOUN
cana-1087	35	8	to	to	PART
cana-1087	35	9	constantly	constantly	ADV
cana-1087	35	10	monitor	monitor	VERB
cana-1087	35	11	areas	area	NOUN
cana-1087	35	12	,	,	PUNCT
cana-1087	35	13	detecting	detect	VERB
cana-1087	35	14	things	thing	NOUN
cana-1087	35	15	humans	human	NOUN
cana-1087	35	16	might	might	AUX
cana-1087	35	17	miss	miss	VERB
cana-1087	35	18	sounds	sound	NOUN
cana-1087	35	19	,	,	PUNCT
cana-1087	35	20	movements	movement	NOUN
cana-1087	35	21	,	,	PUNCT
cana-1087	35	22	even	even	ADV
cana-1087	35	23	heat	heat	NOUN
cana-1087	35	24	signatures	signature	NOUN
cana-1087	35	25	.	.	PUNCT
cana-1087	36	1	this	this	PRON
cana-1087	36	2	means	mean	VERB
cana-1087	36	3	around	around	ADP
cana-1087	36	4	-	-	PUNCT
cana-1087	36	5	the	the	DET
cana-1087	36	6	-	-	PUNCT
cana-1087	36	7	clock	clock	NOUN
cana-1087	36	8	vigilance	vigilance	NOUN
cana-1087	36	9	and	and	CCONJ
cana-1087	36	10	a	a	DET
cana-1087	36	11	big	big	ADJ
cana-1087	36	12	boost	boost	NOUN
cana-1087	36	13	to	to	ADP
cana-1087	36	14	security	security	NOUN
cana-1087	36	15	.	.	PUNCT
cana-1087	37	1	pen_spark	pen_spark	NOUN
cana-1087	37	2	keywords	keyword	NOUN
cana-1087	37	3	:	:	PUNCT
cana-1087	37	4	night	night	NOUN
cana-1087	37	5	patrolling	patrolling	NOUN
cana-1087	37	6	robot	robot	NOUN
cana-1087	37	7	,	,	PUNCT
cana-1087	37	8	safety	safety	NOUN
cana-1087	37	9	,	,	PUNCT
cana-1087	37	10	security	security	NOUN
cana-1087	37	11	,	,	PUNCT
cana-1087	37	12	surveillance	surveillance	NOUN
cana-1087	37	13	,	,	PUNCT
cana-1087	37	14	unusual	unusual	ADJ
cana-1087	37	15	activities	activity	NOUN
cana-1087	37	16	,	,	PUNCT
cana-1087	37	17	detection	detection	NOUN
cana-1087	37	18	,	,	PUNCT
cana-1087	37	19	live	live	ADJ
cana-1087	37	20	transmission	transmission	NOUN
cana-1087	37	21	1	1	NUM
cana-1087	37	22	.	.	PUNCT
cana-1087	37	23	introduction	introduction	NOUN
cana-1087	37	24	a	a	DET
cana-1087	37	25	common	common	ADJ
cana-1087	37	26	scenario	scenario	NOUN
cana-1087	37	27	involves	involve	VERB
cana-1087	37	28	groups	group	NOUN
cana-1087	37	29	of	of	ADP
cana-1087	37	30	robots	robot	NOUN
cana-1087	37	31	being	be	AUX
cana-1087	37	32	deployed	deploy	VERB
cana-1087	37	33	for	for	ADP
cana-1087	37	34	various	various	ADJ
cana-1087	37	35	tasks	task	NOUN
cana-1087	37	36	such	such	ADJ
cana-1087	37	37	as	as	ADP
cana-1087	37	38	search	search	NOUN
cana-1087	37	39	and	and	CCONJ
cana-1087	37	40	rescue	rescue	NOUN
cana-1087	37	41	,	,	PUNCT
cana-1087	37	42	surveillance	surveillance	NOUN
cana-1087	37	43	,	,	PUNCT
cana-1087	37	44	and	and	CCONJ
cana-1087	37	45	night	night	NOUN
cana-1087	37	46	patrols	patrol	NOUN
cana-1087	37	47	.	.	PUNCT
cana-1087	38	1	these	these	DET
cana-1087	38	2	robots	robot	NOUN
cana-1087	38	3	are	be	AUX
cana-1087	38	4	tasked	task	VERB
cana-1087	38	5	with	with	ADP
cana-1087	38	6	moving	move	VERB
cana-1087	38	7	through	through	ADP
cana-1087	38	8	an	an	DET
cana-1087	38	9	environment	environment	NOUN
cana-1087	38	10	and	and	CCONJ
cana-1087	38	11	visiting	visit	VERB
cana-1087	38	12	specific	specific	ADJ
cana-1087	38	13	locations	location	NOUN
cana-1087	38	14	of	of	ADP
cana-1087	38	15	interest	interest	NOUN
cana-1087	38	16	(	(	PUNCT
cana-1087	38	17	sl	sl	NOUN
cana-1087	38	18	)	)	PUNCT
cana-1087	38	19	at	at	ADP
cana-1087	38	20	regular	regular	ADJ
cana-1087	38	21	intervals	interval	NOUN
cana-1087	38	22	.	.	PUNCT
cana-1087	39	1	the	the	DET
cana-1087	39	2	rise	rise	NOUN
cana-1087	39	3	in	in	ADP
cana-1087	39	4	popularity	popularity	NOUN
cana-1087	39	5	of	of	ADP
cana-1087	39	6	smart	smart	ADJ
cana-1087	39	7	security	security	NOUN
cana-1087	39	8	systems	system	NOUN
cana-1087	39	9	,	,	PUNCT
cana-1087	39	10	particularly	particularly	ADV
cana-1087	39	11	those	those	PRON
cana-1087	39	12	leveraging	leverage	VERB
cana-1087	39	13	iot	iot	NOUN
cana-1087	39	14	technology	technology	NOUN
cana-1087	39	15	,	,	PUNCT
cana-1087	39	16	has	have	AUX
cana-1087	39	17	seen	see	VERB
cana-1087	39	18	the	the	DET
cana-1087	39	19	increasing	increase	VERB
cana-1087	39	20	use	use	NOUN
cana-1087	39	21	of	of	ADP
cana-1087	39	22	intelligent	intelligent	ADJ
cana-1087	39	23	night	night	NOUN
cana-1087	39	24	patrolling	patrol	VERB
cana-1087	39	25	robots	robot	NOUN
cana-1087	39	26	as	as	ADP
cana-1087	39	27	a	a	DET
cana-1087	39	28	significant	significant	ADJ
cana-1087	39	29	trend	trend	NOUN
cana-1087	39	30	[	[	X
cana-1087	39	31	2	2	NUM
cana-1087	39	32	]	]	PUNCT
cana-1087	39	33	.	.	PUNCT
cana-1087	40	1	the	the	DET
cana-1087	40	2	primary	primary	ADJ
cana-1087	40	3	objective	objective	NOUN
cana-1087	40	4	of	of	ADP
cana-1087	40	5	this	this	DET
cana-1087	40	6	approach	approach	NOUN
cana-1087	40	7	is	be	AUX
cana-1087	40	8	to	to	PART
cana-1087	40	9	enhance	enhance	VERB
cana-1087	40	10	security	security	NOUN
cana-1087	40	11	for	for	ADP
cana-1087	40	12	women	woman	NOUN
cana-1087	40	13	.	.	PUNCT
cana-1087	41	1	even	even	ADV
cana-1087	41	2	minor	minor	ADJ
cana-1087	41	3	disturbances	disturbance	NOUN
cana-1087	41	4	or	or	CCONJ
cana-1087	41	5	audible	audible	ADJ
cana-1087	41	6	cues	cue	NOUN
cana-1087	41	7	trigger	trigger	VERB
cana-1087	41	8	an	an	DET
cana-1087	41	9	alert	alert	NOUN
cana-1087	41	10	to	to	ADP
cana-1087	41	11	the	the	DET
cana-1087	41	12	authorities	authority	NOUN
cana-1087	41	13	[	[	X
cana-1087	41	14	3	3	NUM
cana-1087	41	15	]	]	PUNCT
cana-1087	41	16	.	.	PUNCT
cana-1087	42	1	upon	upon	SCONJ
cana-1087	42	2	receiving	receive	VERB
cana-1087	42	3	the	the	DET
cana-1087	42	4	alert	alert	NOUN
cana-1087	42	5	,	,	PUNCT
cana-1087	42	6	the	the	DET
cana-1087	42	7	robot	robot	NOUN
cana-1087	42	8	autonomously	autonomously	ADV
cana-1087	42	9	heads	head	VERB
cana-1087	42	10	towards	towards	ADP
cana-1087	42	11	the	the	DET
cana-1087	42	12	location	location	NOUN
cana-1087	42	13	to	to	PART
cana-1087	42	14	capture	capture	VERB
cana-1087	42	15	images	image	NOUN
cana-1087	42	16	of	of	ADP
cana-1087	42	17	the	the	DET
cana-1087	42	18	surroundings	surrounding	NOUN
cana-1087	42	19	and	and	CCONJ
cana-1087	42	20	relay	relay	VERB
cana-1087	42	21	this	this	DET
cana-1087	42	22	information	information	NOUN
cana-1087	42	23	to	to	ADP
cana-1087	42	24	the	the	DET
cana-1087	42	25	user	user	NOUN
cana-1087	42	26	.	.	PUNCT
cana-1087	43	1	night	night	PROPN
cana-1087	43	2	patrol	patrol	NOUN
cana-1087	43	3	robots	robot	NOUN
cana-1087	43	4	are	be	AUX
cana-1087	43	5	designed	design	VERB
cana-1087	43	6	to	to	PART
cana-1087	43	7	optimize	optimize	VERB
cana-1087	43	8	their	their	PRON
cana-1087	43	9	capabilities	capability	NOUN
cana-1087	43	10	for	for	ADP
cana-1087	43	11	effortless	effortless	ADJ
cana-1087	43	12	operation	operation	NOUN
cana-1087	44	1	[	[	X
cana-1087	44	2	4	4	NUM
cana-1087	44	3	]	]	PUNCT
cana-1087	44	4	.	.	PUNCT
cana-1087	45	1	the	the	DET
cana-1087	45	2	concept	concept	NOUN
cana-1087	45	3	of	of	ADP
cana-1087	45	4	patrol	patrol	NOUN
cana-1087	45	5	involves	involve	VERB
cana-1087	45	6	tracking	track	VERB
cana-1087	45	7	an	an	DET
cana-1087	45	8	area	area	NOUN
cana-1087	45	9	where	where	SCONJ
cana-1087	45	10	the	the	DET
cana-1087	45	11	robot	robot	NOUN
cana-1087	45	12	constantly	constantly	ADV
cana-1087	45	13	moves	move	VERB
cana-1087	45	14	and	and	CCONJ
cana-1087	45	15	covers	cover	VERB
cana-1087	45	16	the	the	DET
cana-1087	45	17	designated	designate	VERB
cana-1087	45	18	area	area	NOUN
cana-1087	45	19	efficiently	efficiently	ADV
cana-1087	45	20	.	.	PUNCT
cana-1087	46	1	research	research	NOUN
cana-1087	46	2	in	in	ADP
cana-1087	46	3	this	this	DET
cana-1087	46	4	area	area	NOUN
cana-1087	46	5	has	have	AUX
cana-1087	46	6	explored	explore	VERB
cana-1087	46	7	both	both	CCONJ
cana-1087	46	8	deterministic	deterministic	ADJ
cana-1087	46	9	and	and	CCONJ
cana-1087	46	10	probabilistic	probabilistic	ADJ
cana-1087	46	11	methods	method	NOUN
cana-1087	46	12	,	,	PUNCT
cana-1087	46	13	aiming	aim	VERB
cana-1087	46	14	to	to	PART
cana-1087	46	15	find	find	VERB
cana-1087	46	16	the	the	DET
cana-1087	46	17	optimal	optimal	ADJ
cana-1087	46	18	frequency	frequency	NOUN
cana-1087	46	19	of	of	ADP
cana-1087	46	20	visits	visit	NOUN
cana-1087	46	21	to	to	ADP
cana-1087	46	22	various	various	ADJ
cana-1087	46	23	environmental	environmental	ADJ
cana-1087	46	24	regions	region	NOUN
cana-1087	46	25	.	.	PUNCT
cana-1087	47	1	these	these	DET
cana-1087	47	2	robots	robot	NOUN
cana-1087	47	3	are	be	AUX
cana-1087	47	4	equipped	equip	VERB
cana-1087	47	5	with	with	ADP
cana-1087	47	6	cameras	camera	NOUN
cana-1087	47	7	and	and	CCONJ
cana-1087	47	8	microphones	microphone	NOUN
cana-1087	47	9	mounted	mount	VERB
cana-1087	47	10	on	on	ADP
cana-1087	47	11	their	their	PRON
cana-1087	47	12	vehicles	vehicle	NOUN
cana-1087	47	13	to	to	PART
cana-1087	47	14	monitor	monitor	VERB
cana-1087	47	15	and	and	CCONJ
cana-1087	47	16	secure	secure	VERB
cana-1087	47	17	different	different	ADJ
cana-1087	47	18	areas	area	NOUN
cana-1087	47	19	[	[	X
cana-1087	47	20	5	5	NUM
cana-1087	47	21	]	]	PUNCT
cana-1087	47	22	.	.	PUNCT
cana-1087	48	1	in	in	ADP
cana-1087	48	2	the	the	DET
cana-1087	48	3	era	era	NOUN
cana-1087	48	4	of	of	ADP
cana-1087	48	5	advancing	advance	VERB
cana-1087	48	6	technology	technology	NOUN
cana-1087	48	7	,	,	PUNCT
cana-1087	48	8	patrol	patrol	NOUN
cana-1087	48	9	robots	robot	NOUN
cana-1087	48	10	are	be	AUX
cana-1087	48	11	considered	consider	VERB
cana-1087	48	12	crucial	crucial	ADJ
cana-1087	48	13	components	component	NOUN
cana-1087	48	14	.	.	PUNCT
cana-1087	49	1	however	however	ADV
cana-1087	49	2	,	,	PUNCT
cana-1087	49	3	the	the	DET
cana-1087	49	4	control	control	NOUN
cana-1087	49	5	mechanisms	mechanism	NOUN
cana-1087	49	6	of	of	ADP
cana-1087	49	7	patrol	patrol	NOUN
cana-1087	49	8	robots	robot	NOUN
cana-1087	49	9	are	be	AUX
cana-1087	49	10	the	the	DET
cana-1087	49	11	most	most	ADV
cana-1087	49	12	significant	significant	ADJ
cana-1087	49	13	challenges	challenge	NOUN
cana-1087	49	14	.	.	PUNCT
cana-1087	50	1	there	there	PRON
cana-1087	50	2	is	be	VERB
cana-1087	50	3	always	always	ADV
cana-1087	50	4	the	the	DET
cana-1087	50	5	possibility	possibility	NOUN
cana-1087	50	6	of	of	ADP
cana-1087	50	7	further	further	ADJ
cana-1087	50	8	technological	technological	ADJ
cana-1087	50	9	breakthroughs	breakthrough	NOUN
cana-1087	50	10	in	in	ADP
cana-1087	50	11	this	this	DET
cana-1087	50	12	field	field	NOUN
cana-1087	50	13	.	.	PUNCT
cana-1087	51	1	patrol	patrol	NOUN
cana-1087	51	2	operations	operation	NOUN
cana-1087	51	3	are	be	AUX
cana-1087	51	4	fundamental	fundamental	ADJ
cana-1087	51	5	to	to	ADP
cana-1087	51	6	the	the	DET
cana-1087	51	7	field	field	NOUN
cana-1087	51	8	of	of	ADP
cana-1087	51	9	robotics	robotic	NOUN
cana-1087	51	10	,	,	PUNCT
cana-1087	51	11	as	as	SCONJ
cana-1087	51	12	they	they	PRON
cana-1087	51	13	enable	enable	VERB
cana-1087	51	14	robots	robot	NOUN
cana-1087	51	15	to	to	PART
cana-1087	51	16	identify	identify	VERB
cana-1087	51	17	targets	target	NOUN
cana-1087	51	18	and	and	CCONJ
cana-1087	51	19	detect	detect	NOUN
cana-1087	51	20	anomalies	anomaly	NOUN
cana-1087	51	21	,	,	PUNCT
cana-1087	51	22	all	all	PRON
cana-1087	51	23	while	while	SCONJ
cana-1087	51	24	being	be	AUX
cana-1087	51	25	able	able	ADJ
cana-1087	51	26	to	to	PART
cana-1087	51	27	execute	execute	VERB
cana-1087	51	28	assigned	assign	VERB
cana-1087	51	29	tasks	task	NOUN
cana-1087	51	30	[	[	X
cana-1087	51	31	6	6	NUM
cana-1087	51	32	]	]	PUNCT
cana-1087	51	33	.	.	PUNCT
cana-1087	52	1	from	from	ADP
cana-1087	52	2	these	these	DET
cana-1087	52	3	rovers	rover	NOUN
cana-1087	52	4	that	that	PRON
cana-1087	52	5	sweep	sweep	VERB
cana-1087	52	6	areas	area	NOUN
cana-1087	52	7	to	to	ADP
cana-1087	52	8	autonomous	autonomous	ADJ
cana-1087	52	9	security	security	NOUN
cana-1087	52	10	surveillance	surveillance	NOUN
cana-1087	52	11	robots	robot	NOUN
cana-1087	52	12	,	,	PUNCT
cana-1087	52	13	their	their	PRON
cana-1087	52	14	applications	application	NOUN
cana-1087	52	15	are	be	AUX
cana-1087	52	16	widespread	widespread	ADJ
cana-1087	52	17	[	[	X
cana-1087	52	18	7	7	NUM
cana-1087	52	19	]	]	PUNCT
cana-1087	52	20	.	.	PUNCT
cana-1087	53	1	for	for	ADP
cana-1087	53	2	example	example	NOUN
cana-1087	53	3	,	,	PUNCT
cana-1087	53	4	a	a	DET
cana-1087	53	5	robotic	robotic	ADJ
cana-1087	53	6	system	system	NOUN
cana-1087	53	7	may	may	AUX
cana-1087	53	8	be	be	AUX
cana-1087	53	9	used	use	VERB
cana-1087	53	10	to	to	PART
cana-1087	53	11	thoroughly	thoroughly	ADV
cana-1087	53	12	inspect	inspect	VERB
cana-1087	53	13	a	a	DET
cana-1087	53	14	room	room	NOUN
cana-1087	53	15	by	by	ADP
cana-1087	53	16	using	use	VERB
cana-1087	53	17	lidar	lidar	NOUN
cana-1087	53	18	technology	technology	NOUN
cana-1087	53	19	to	to	PART
cana-1087	53	20	map	map	VERB
cana-1087	53	21	out	out	ADP
cana-1087	53	22	its	its	PRON
cana-1087	53	23	layout	layout	NOUN
cana-1087	53	24	.	.	PUNCT
cana-1087	54	1	the	the	DET
cana-1087	54	2	robot	robot	NOUN
cana-1087	54	3	's	's	PART
cana-1087	54	4	ir	ir	PROPN
cana-1087	54	5	sensors	sensor	NOUN
cana-1087	54	6	and	and	CCONJ
cana-1087	54	7	sensors	sensor	NOUN
cana-1087	54	8	at	at	ADP
cana-1087	54	9	the	the	DET
cana-1087	54	10	front	front	ADJ
cana-1087	54	11	prevent	prevent	NOUN
cana-1087	54	12	collisions	collision	NOUN
cana-1087	54	13	with	with	ADP
cana-1087	54	14	obstacles	obstacle	NOUN
cana-1087	54	15	and	and	CCONJ
cana-1087	54	16	minimize	minimize	VERB
cana-1087	54	17	the	the	DET
cana-1087	54	18	risk	risk	NOUN
cana-1087	54	19	of	of	ADP
cana-1087	54	20	falling	fall	VERB
cana-1087	54	21	from	from	ADP
cana-1087	54	22	heights	height	NOUN
cana-1087	54	23	.	.	PUNCT
cana-1087	55	1	when	when	SCONJ
cana-1087	55	2	obstacles	obstacle	NOUN
cana-1087	55	3	are	be	AUX
cana-1087	55	4	encountered	encounter	VERB
cana-1087	55	5	,	,	PUNCT
cana-1087	55	6	the	the	DET
cana-1087	55	7	robot	robot	NOUN
cana-1087	55	8	's	's	PART
cana-1087	55	9	programming	programming	NOUN
cana-1087	55	10	adjusts	adjust	VERB
cana-1087	55	11	its	its	PRON
cana-1087	55	12	course	course	NOUN
cana-1087	55	13	and	and	CCONJ
cana-1087	55	14	plans	plan	VERB
cana-1087	55	15	a	a	DET
cana-1087	55	16	new	new	ADJ
cana-1087	55	17	route	route	NOUN
cana-1087	55	18	[	[	X
cana-1087	55	19	8	8	NUM
cana-1087	55	20	]	]	PUNCT
cana-1087	55	21	.	.	PUNCT
cana-1087	56	1	this	this	DET
cana-1087	56	2	system	system	NOUN
cana-1087	56	3	activates	activate	VERB
cana-1087	56	4	all	all	DET
cana-1087	56	5	its	its	PRON
cana-1087	56	6	sensors	sensor	NOUN
cana-1087	56	7	to	to	PART
cana-1087	56	8	look	look	VERB
cana-1087	56	9	out	out	ADP
cana-1087	56	10	for	for	ADP
cana-1087	56	11	additional	additional	ADJ
cana-1087	56	12	obstacles	obstacle	NOUN
cana-1087	56	13	in	in	ADP
cana-1087	56	14	the	the	DET
cana-1087	56	15	immediate	immediate	ADJ
cana-1087	56	16	vicinity	vicinity	NOUN
cana-1087	56	17	.	.	PUNCT
cana-1087	57	1	the	the	DET
cana-1087	57	2	robot	robot	NOUN
cana-1087	57	3	then	then	ADV
cana-1087	57	4	starts	start	VERB
cana-1087	57	5	to	to	PART
cana-1087	57	6	understand	understand	VERB
cana-1087	57	7	its	its	PRON
cana-1087	57	8	path	path	NOUN
cana-1087	57	9	and	and	CCONJ
cana-1087	57	10	maintains	maintain	VERB
cana-1087	57	11	this	this	DET
cana-1087	57	12	understanding	understanding	NOUN
cana-1087	57	13	as	as	SCONJ
cana-1087	57	14	it	it	PRON
cana-1087	57	15	moves	move	VERB
cana-1087	57	16	forward	forward	ADV
cana-1087	57	17	without	without	ADP
cana-1087	57	18	the	the	DET
cana-1087	57	19	need	need	NOUN
cana-1087	57	20	for	for	ADP
cana-1087	57	21	complex	complex	ADJ
cana-1087	57	22	calculations	calculation	NOUN
cana-1087	57	23	to	to	PART
cana-1087	57	24	alter	alter	VERB
cana-1087	57	25	its	its	PRON
cana-1087	57	26	path	path	NOUN
cana-1087	57	27	[	[	X
cana-1087	57	28	9	9	NUM
cana-1087	57	29	]	]	PUNCT
cana-1087	57	30	.	.	PUNCT
cana-1087	58	1	these	these	DET
cana-1087	58	2	robotic	robotic	ADJ
cana-1087	58	3	systems	system	NOUN
cana-1087	58	4	operate	operate	VERB
cana-1087	58	5	as	as	ADP
cana-1087	58	6	standalone	standalone	ADJ
cana-1087	58	7	units	unit	NOUN
cana-1087	58	8	,	,	PUNCT
cana-1087	58	9	but	but	CCONJ
cana-1087	58	10	in	in	ADP
cana-1087	58	11	many	many	ADJ
cana-1087	58	12	other	other	ADJ
cana-1087	58	13	scenarios	scenario	NOUN
cana-1087	58	14	,	,	PUNCT
cana-1087	58	15	they	they	PRON
cana-1087	58	16	work	work	VERB
cana-1087	58	17	in	in	ADP
cana-1087	58	18	teams	team	NOUN
cana-1087	58	19	for	for	ADP
cana-1087	58	20	patrolling	patrolling	NOUN
cana-1087	58	21	and	and	CCONJ
cana-1087	58	22	exploration	exploration	NOUN
cana-1087	58	23	,	,	PUNCT
cana-1087	58	24	requiring	require	VERB
cana-1087	58	25	more	more	ADJ
cana-1087	58	26	advanced	advanced	ADJ
cana-1087	58	27	control	control	NOUN
cana-1087	58	28	systems	system	NOUN
cana-1087	58	29	for	for	ADP
cana-1087	58	30	smooth	smooth	ADJ
cana-1087	58	31	coordination	coordination	NOUN
cana-1087	58	32	[	[	X
cana-1087	58	33	10	10	NUM
cana-1087	58	34	]	]	PUNCT
cana-1087	58	35	.	.	PUNCT
cana-1087	59	1	while	while	SCONJ
cana-1087	59	2	the	the	DET
cana-1087	59	3	development	development	NOUN
cana-1087	59	4	of	of	ADP
cana-1087	59	5	robots	robot	NOUN
cana-1087	59	6	'	'	PART
cana-1087	59	7	cooperation	cooperation	NOUN
cana-1087	59	8	in	in	ADP
cana-1087	59	9	tasks	task	NOUN
cana-1087	59	10	is	be	AUX
cana-1087	59	11	guided	guide	VERB
cana-1087	59	12	by	by	ADP
cana-1087	59	13	logical	logical	ADJ
cana-1087	59	14	approaches	approach	NOUN
cana-1087	59	15	,	,	PUNCT
cana-1087	59	16	the	the	DET
cana-1087	59	17	methods	method	NOUN
cana-1087	59	18	for	for	ADP
cana-1087	59	19	achieving	achieve	VERB
cana-1087	59	20	certain	certain	ADJ
cana-1087	59	21	objectives	objective	NOUN
cana-1087	59	22	,	,	PUNCT
cana-1087	59	23	which	which	PRON
cana-1087	59	24	form	form	VERB
cana-1087	59	25	the	the	DET
cana-1087	59	26	basis	basis	NOUN
cana-1087	59	27	of	of	ADP
cana-1087	59	28	various	various	ADJ
cana-1087	59	29	algorithms	algorithm	NOUN
cana-1087	59	30	,	,	PUNCT
cana-1087	59	31	have	have	AUX
cana-1087	59	32	proven	prove	VERB
cana-1087	59	33	effective	effective	ADJ
cana-1087	59	34	in	in	ADP
cana-1087	59	35	communications	communication	NOUN
cana-1087	59	36	on	on	ADP
cana-1087	59	37	applied	apply	VERB
cana-1087	59	38	nonlinear	nonlinear	ADJ
cana-1087	59	39	analysis	analysis	NOUN
cana-1087	59	40	issn	issn	NOUN
cana-1087	59	41	:	:	PUNCT
cana-1087	59	42	1074	1074	NUM
cana-1087	59	43	-	-	PUNCT
cana-1087	59	44	133x	133x	NUM
cana-1087	59	45	vol	vol	NOUN
cana-1087	59	46	31	31	NUM
cana-1087	59	47	no	no	NOUN
cana-1087	59	48	.	.	PUNCT
cana-1087	60	1	5s	5s	NUM
cana-1087	60	2	(	(	PUNCT
cana-1087	60	3	2024	2024	NUM
cana-1087	60	4	)	)	PUNCT
cana-1087	60	5	521	521	NUM
cana-1087	60	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-1087	60	7	improving	improve	VERB
cana-1087	60	8	both	both	DET
cana-1087	60	9	single	single	ADJ
cana-1087	60	10	unit	unit	NOUN
cana-1087	60	11	robots	robot	NOUN
cana-1087	60	12	'	'	PART
cana-1087	60	13	performances	performance	NOUN
cana-1087	60	14	and	and	CCONJ
cana-1087	60	15	the	the	DET
cana-1087	60	16	cooperation	cooperation	NOUN
cana-1087	60	17	between	between	ADP
cana-1087	60	18	multiple	multiple	NOUN
cana-1087	60	19	units[11	units[11	PROPN
cana-1087	60	20	]	]	PUNCT
cana-1087	60	21	.	.	PUNCT
cana-1087	61	1	the	the	DET
cana-1087	61	2	research	research	NOUN
cana-1087	61	3	on	on	ADP
cana-1087	61	4	robots	robot	NOUN
cana-1087	61	5	'	'	PART
cana-1087	61	6	cooperative	cooperative	ADJ
cana-1087	61	7	movement	movement	NOUN
cana-1087	61	8	planning	planning	NOUN
cana-1087	61	9	is	be	AUX
cana-1087	61	10	divided	divide	VERB
cana-1087	61	11	into	into	ADP
cana-1087	61	12	two	two	NUM
cana-1087	61	13	main	main	ADJ
cana-1087	61	14	categories	category	NOUN
cana-1087	61	15	.	.	PUNCT
cana-1087	62	1	2	2	X
cana-1087	62	2	.	.	X
cana-1087	62	3	methods	method	NOUN
cana-1087	62	4	the	the	DET
cana-1087	62	5	given	give	VERB
cana-1087	62	6	circuit	circuit	NOUN
cana-1087	62	7	diagram	diagram	NOUN
cana-1087	62	8	is	be	AUX
cana-1087	62	9	about	about	ADP
cana-1087	62	10	night	night	NOUN
cana-1087	62	11	patrolling	patrol	VERB
cana-1087	62	12	robot	robot	NOUN
cana-1087	62	13	.	.	PUNCT
cana-1087	63	1	in	in	ADP
cana-1087	63	2	this	this	DET
cana-1087	63	3	system	system	NOUN
cana-1087	63	4	we	we	PRON
cana-1087	63	5	have	have	AUX
cana-1087	63	6	used	use	VERB
cana-1087	63	7	components	component	NOUN
cana-1087	63	8	like	like	ADP
cana-1087	63	9	node	node	PROPN
cana-1087	63	10	mcu	mcu	PROPN
cana-1087	63	11	,	,	PUNCT
cana-1087	63	12	ultrasonic	ultrasonic	ADJ
cana-1087	63	13	sensor	sensor	NOUN
cana-1087	63	14	,	,	PUNCT
cana-1087	63	15	sound	sound	NOUN
cana-1087	63	16	sensor	sensor	NOUN
cana-1087	63	17	,	,	PUNCT
cana-1087	63	18	motor	motor	NOUN
cana-1087	63	19	driver	driver	NOUN
cana-1087	63	20	,	,	PUNCT
cana-1087	63	21	dc	dc	PROPN
cana-1087	63	22	motor	motor	NOUN
cana-1087	63	23	,	,	PUNCT
cana-1087	63	24	camera	camera	NOUN
cana-1087	63	25	module	module	NOUN
cana-1087	63	26	,	,	PUNCT
cana-1087	63	27	servo	servo	NOUN
cana-1087	63	28	motor	motor	NOUN
cana-1087	63	29	and	and	CCONJ
cana-1087	63	30	ir	ir	PROPN
cana-1087	63	31	sensor	sensor	NOUN
cana-1087	63	32	.	.	PUNCT
cana-1087	64	1	the	the	DET
cana-1087	64	2	circuit	circuit	NOUN
cana-1087	64	3	is	be	AUX
cana-1087	64	4	a	a	DET
cana-1087	64	5	smart	smart	ADJ
cana-1087	64	6	camera	camera	NOUN
cana-1087	64	7	system	system	NOUN
cana-1087	64	8	that	that	PRON
cana-1087	64	9	can	can	AUX
cana-1087	64	10	detect	detect	VERB
cana-1087	64	11	motion	motion	NOUN
cana-1087	64	12	,	,	PUNCT
cana-1087	64	13	take	take	VERB
cana-1087	64	14	pictures	picture	NOUN
cana-1087	64	15	,	,	PUNCT
cana-1087	64	16	and	and	CCONJ
cana-1087	64	17	play	play	VERB
cana-1087	64	18	sounds	sound	VERB
cana-1087	64	19	.	.	PUNCT
cana-1087	65	1	the	the	DET
cana-1087	65	2	circuit	circuit	NOUN
cana-1087	65	3	uses	use	VERB
cana-1087	65	4	a	a	DET
cana-1087	65	5	microcontroller	microcontroller	NOUN
cana-1087	65	6	to	to	PART
cana-1087	65	7	control	control	VERB
cana-1087	65	8	the	the	DET
cana-1087	65	9	camera	camera	NOUN
cana-1087	65	10	,	,	PUNCT
cana-1087	65	11	the	the	DET
cana-1087	65	12	speaker	speaker	NOUN
cana-1087	65	13	,	,	PUNCT
cana-1087	65	14	the	the	DET
cana-1087	65	15	motor	motor	NOUN
cana-1087	65	16	,	,	PUNCT
cana-1087	65	17	the	the	DET
cana-1087	65	18	servo	servo	NOUN
cana-1087	65	19	,	,	PUNCT
cana-1087	65	20	and	and	CCONJ
cana-1087	65	21	the	the	DET
cana-1087	65	22	sensor	sensor	NOUN
cana-1087	65	23	.	.	PUNCT
cana-1087	66	1	the	the	DET
cana-1087	66	2	microcontroller	microcontroller	NOUN
cana-1087	66	3	is	be	AUX
cana-1087	66	4	programmed	program	VERB
cana-1087	66	5	by	by	ADP
cana-1087	66	6	the	the	DET
cana-1087	66	7	computer	computer	NOUN
cana-1087	66	8	and	and	CCONJ
cana-1087	66	9	communicates	communicate	VERB
cana-1087	66	10	with	with	ADP
cana-1087	66	11	it	it	PRON
cana-1087	66	12	through	through	ADP
cana-1087	66	13	a	a	DET
cana-1087	66	14	serial	serial	ADJ
cana-1087	66	15	port	port	NOUN
cana-1087	66	16	.	.	PUNCT
cana-1087	67	1	the	the	DET
cana-1087	67	2	battery	battery	NOUN
cana-1087	67	3	provides	provide	VERB
cana-1087	67	4	power	power	NOUN
cana-1087	67	5	to	to	ADP
cana-1087	67	6	the	the	DET
cana-1087	67	7	circuit	circuit	NOUN
cana-1087	67	8	.	.	PUNCT
cana-1087	68	1	the	the	DET
cana-1087	68	2	breadboard	breadboard	NOUN
cana-1087	68	3	is	be	AUX
cana-1087	68	4	a	a	DET
cana-1087	68	5	platform	platform	NOUN
cana-1087	68	6	that	that	PRON
cana-1087	68	7	allows	allow	VERB
cana-1087	68	8	you	you	PRON
cana-1087	68	9	to	to	PART
cana-1087	68	10	easily	easily	ADV
cana-1087	68	11	connect	connect	VERB
cana-1087	68	12	and	and	CCONJ
cana-1087	68	13	disconnect	disconnect	VERB
cana-1087	68	14	the	the	DET
cana-1087	68	15	components	component	NOUN
cana-1087	68	16	.	.	PUNCT
cana-1087	69	1	ultrasonic	ultrasonic	ADJ
cana-1087	69	2	sensor	sensor	NOUN
cana-1087	69	3	is	be	AUX
cana-1087	69	4	connected	connect	VERB
cana-1087	69	5	to	to	PART
cana-1087	69	6	node	node	VERB
cana-1087	69	7	mcu	mcu	PROPN
cana-1087	69	8	,	,	PUNCT
cana-1087	69	9	when	when	SCONJ
cana-1087	69	10	it	it	PRON
cana-1087	69	11	detects	detect	VERB
cana-1087	69	12	any	any	DET
cana-1087	69	13	obstacle	obstacle	NOUN
cana-1087	69	14	it	it	PRON
cana-1087	69	15	sends	send	VERB
cana-1087	69	16	the	the	DET
cana-1087	69	17	signal	signal	NOUN
cana-1087	69	18	to	to	PART
cana-1087	69	19	node	node	VERB
cana-1087	69	20	mcu	mcu	PROPN
cana-1087	69	21	which	which	PRON
cana-1087	69	22	then	then	ADV
cana-1087	69	23	sends	send	VERB
cana-1087	69	24	signal	signal	NOUN
cana-1087	69	25	to	to	ADP
cana-1087	69	26	motor	motor	NOUN
cana-1087	69	27	driver	driver	NOUN
cana-1087	69	28	via	via	ADP
cana-1087	69	29	dc	dc	PROPN
cana-1087	69	30	motor	motor	PROPN
cana-1087	69	31	and	and	CCONJ
cana-1087	69	32	then	then	ADV
cana-1087	69	33	robot	robot	NOUN
cana-1087	69	34	changes	change	VERB
cana-1087	69	35	its	its	PRON
cana-1087	69	36	direction	direction	NOUN
cana-1087	69	37	.	.	PUNCT
cana-1087	70	1	we	we	PRON
cana-1087	70	2	have	have	AUX
cana-1087	70	3	connected	connect	VERB
cana-1087	70	4	sound	sound	ADJ
cana-1087	70	5	sensor	sensor	NOUN
cana-1087	70	6	to	to	PART
cana-1087	70	7	node	node	PROPN
cana-1087	70	8	mcu	mcu	PROPN
cana-1087	70	9	,	,	PUNCT
cana-1087	70	10	which	which	PRON
cana-1087	70	11	when	when	SCONJ
cana-1087	70	12	detects	detect	NOUN
cana-1087	70	13	any	any	DET
cana-1087	70	14	unusual	unusual	ADJ
cana-1087	70	15	sound	sound	NOUN
cana-1087	70	16	sends	send	VERB
cana-1087	70	17	signal	signal	NOUN
cana-1087	70	18	to	to	PART
cana-1087	70	19	node	node	PROPN
cana-1087	70	20	mcu	mcu	PROPN
cana-1087	70	21	which	which	PRON
cana-1087	70	22	sends	send	VERB
cana-1087	70	23	signal	signal	NOUN
cana-1087	70	24	to	to	ADP
cana-1087	70	25	controlling	control	VERB
cana-1087	70	26	room	room	NOUN
cana-1087	70	27	and	and	CCONJ
cana-1087	70	28	provides	provide	VERB
cana-1087	70	29	information	information	NOUN
cana-1087	70	30	to	to	ADP
cana-1087	70	31	the	the	DET
cana-1087	70	32	user	user	NOUN
cana-1087	70	33	.	.	PUNCT
cana-1087	71	1	the	the	DET
cana-1087	71	2	camera	camera	NOUN
cana-1087	71	3	connected	connect	VERB
cana-1087	71	4	to	to	ADP
cana-1087	71	5	the	the	DET
cana-1087	71	6	system	system	NOUN
cana-1087	71	7	captures	capture	VERB
cana-1087	71	8	images	image	NOUN
cana-1087	71	9	and	and	CCONJ
cana-1087	71	10	sends	send	VERB
cana-1087	71	11	it	it	PRON
cana-1087	71	12	to	to	ADP
cana-1087	71	13	the	the	DET
cana-1087	71	14	user	user	NOUN
cana-1087	71	15	.	.	PUNCT
cana-1087	72	1	with	with	ADP
cana-1087	72	2	the	the	DET
cana-1087	72	3	help	help	NOUN
cana-1087	72	4	of	of	ADP
cana-1087	72	5	sound	sound	ADJ
cana-1087	72	6	sensor	sensor	NOUN
cana-1087	72	7	and	and	CCONJ
cana-1087	72	8	camera	camera	NOUN
cana-1087	72	9	module	module	NOUN
cana-1087	72	10	the	the	DET
cana-1087	72	11	user	user	NOUN
cana-1087	72	12	can	can	AUX
cana-1087	72	13	detect	detect	VERB
cana-1087	72	14	the	the	DET
cana-1087	72	15	unusual	unusual	ADJ
cana-1087	72	16	activity	activity	NOUN
cana-1087	72	17	.	.	PUNCT
cana-1087	73	1	we	we	PRON
cana-1087	73	2	have	have	AUX
cana-1087	73	3	connected	connect	VERB
cana-1087	73	4	the	the	DET
cana-1087	73	5	buzzer	buzzer	NOUN
cana-1087	73	6	and	and	CCONJ
cana-1087	73	7	ir	ir	PROPN
cana-1087	73	8	sensor	sensor	NOUN
cana-1087	73	9	when	when	SCONJ
cana-1087	73	10	the	the	DET
cana-1087	73	11	danger	danger	NOUN
cana-1087	73	12	is	be	AUX
cana-1087	73	13	detected	detect	VERB
cana-1087	73	14	the	the	DET
cana-1087	73	15	red	red	ADJ
cana-1087	73	16	light	light	NOUN
cana-1087	73	17	starts	start	VERB
cana-1087	73	18	blinking	blink	VERB
cana-1087	73	19	and	and	CCONJ
cana-1087	73	20	buzzer	buzzer	NOUN
cana-1087	73	21	starts	start	VERB
cana-1087	73	22	ringing	ring	VERB
cana-1087	73	23	loudly	loudly	ADV
cana-1087	73	24	,	,	PUNCT
cana-1087	73	25	alarming	alarm	VERB
cana-1087	73	26	the	the	DET
cana-1087	73	27	user	user	NOUN
cana-1087	73	28	and	and	CCONJ
cana-1087	73	29	at	at	ADP
cana-1087	73	30	same	same	ADJ
cana-1087	73	31	time	time	NOUN
cana-1087	73	32	sends	send	VERB
cana-1087	73	33	picture	picture	NOUN
cana-1087	73	34	to	to	PART
cana-1087	73	35	control	control	NOUN
cana-1087	73	36	room	room	NOUN
cana-1087	73	37	.	.	PUNCT
cana-1087	74	1	fig.1	fig.1	PROPN
cana-1087	74	2	block	block	NOUN
cana-1087	74	3	diagram	diagram	NOUN
cana-1087	74	4	a	a	DET
cana-1087	74	5	block	block	NOUN
cana-1087	74	6	diagram	diagram	NOUN
cana-1087	74	7	in	in	ADP
cana-1087	74	8	fig.1	fig.1	PROPN
cana-1087	74	9	for	for	ADP
cana-1087	74	10	a	a	DET
cana-1087	74	11	night	night	NOUN
cana-1087	74	12	patrolling	patrol	VERB
cana-1087	74	13	robot	robot	NOUN
cana-1087	74	14	illustrates	illustrate	VERB
cana-1087	74	15	the	the	DET
cana-1087	74	16	various	various	ADJ
cana-1087	74	17	components	component	NOUN
cana-1087	74	18	and	and	CCONJ
cana-1087	74	19	subsystem	subsystem	NOUN
cana-1087	74	20	that	that	PRON
cana-1087	74	21	make	make	VERB
cana-1087	74	22	up	up	ADP
cana-1087	74	23	the	the	DET
cana-1087	74	24	robot	robot	NOUN
cana-1087	74	25	and	and	CCONJ
cana-1087	74	26	how	how	SCONJ
cana-1087	74	27	they	they	PRON
cana-1087	74	28	are	be	AUX
cana-1087	74	29	interconnected	interconnect	VERB
cana-1087	74	30	.	.	PUNCT
cana-1087	75	1	the	the	DET
cana-1087	75	2	diagram	diagram	NOUN
cana-1087	75	3	is	be	AUX
cana-1087	75	4	a	a	DET
cana-1087	75	5	flow	flow	NOUN
cana-1087	75	6	chart	chart	NOUN
cana-1087	75	7	with	with	ADP
cana-1087	75	8	rectangular	rectangular	ADJ
cana-1087	75	9	blocks	block	NOUN
cana-1087	75	10	and	and	CCONJ
cana-1087	75	11	arrows	arrow	NOUN
cana-1087	75	12	connecting	connect	VERB
cana-1087	75	13	them	they	PRON
cana-1087	75	14	.	.	PUNCT
cana-1087	76	1	the	the	DET
cana-1087	76	2	blocks	block	NOUN
cana-1087	76	3	are	be	AUX
cana-1087	76	4	labelled	label	VERB
cana-1087	76	5	with	with	ADP
cana-1087	76	6	the	the	DET
cana-1087	76	7	names	name	NOUN
cana-1087	76	8	of	of	ADP
cana-1087	76	9	the	the	DET
cana-1087	76	10	components	component	NOUN
cana-1087	76	11	,	,	PUNCT
cana-1087	76	12	which	which	PRON
cana-1087	76	13	include	include	VERB
cana-1087	76	14	a	a	DET
cana-1087	76	15	power	power	NOUN
cana-1087	76	16	module	module	NOUN
cana-1087	76	17	,	,	PUNCT
cana-1087	76	18	ultrasonic	ultrasonic	ADJ
cana-1087	76	19	sensor	sensor	NOUN
cana-1087	76	20	,	,	PUNCT
cana-1087	76	21	ir	ir	PROPN
cana-1087	76	22	sensor	sensor	NOUN
cana-1087	76	23	,	,	PUNCT
cana-1087	76	24	smart	smart	ADJ
cana-1087	76	25	camera	camera	NOUN
cana-1087	76	26	,	,	PUNCT
cana-1087	76	27	nodemcu	nodemcu	NOUN
cana-1087	76	28	,	,	PUNCT
cana-1087	76	29	motor	motor	NOUN
cana-1087	76	30	driver	driver	NOUN
cana-1087	76	31	,	,	PUNCT
cana-1087	76	32	left	leave	VERB
cana-1087	76	33	and	and	CCONJ
cana-1087	76	34	right	right	ADJ
cana-1087	76	35	-	-	PUNCT
cana-1087	76	36	side	side	NOUN
cana-1087	76	37	motors	motor	NOUN
cana-1087	76	38	,	,	PUNCT
cana-1087	76	39	servo	servo	NOUN
cana-1087	76	40	motor	motor	NOUN
cana-1087	76	41	,	,	PUNCT
cana-1087	76	42	video	video	NOUN
cana-1087	76	43	surveillance	surveillance	NOUN
cana-1087	76	44	,	,	PUNCT
cana-1087	76	45	buzzer	buzzer	NOUN
cana-1087	76	46	,	,	PUNCT
cana-1087	76	47	and	and	CCONJ
cana-1087	76	48	a	a	DET
cana-1087	76	49	smart	smart	ADJ
cana-1087	76	50	app	app	NOUN
cana-1087	76	51	for	for	ADP
cana-1087	76	52	controlling	control	VERB
cana-1087	76	53	the	the	DET
cana-1087	76	54	robot	robot	NOUN
cana-1087	76	55	.	.	PUNCT
cana-1087	77	1	the	the	DET
cana-1087	77	2	arrows	arrow	NOUN
cana-1087	77	3	indicate	indicate	VERB
cana-1087	77	4	the	the	DET
cana-1087	77	5	direction	direction	NOUN
cana-1087	77	6	of	of	ADP
cana-1087	77	7	the	the	DET
cana-1087	77	8	flow	flow	NOUN
cana-1087	77	9	of	of	ADP
cana-1087	77	10	information	information	NOUN
cana-1087	77	11	between	between	ADP
cana-1087	77	12	the	the	DET
cana-1087	77	13	components	component	NOUN
cana-1087	77	14	.	.	PUNCT
cana-1087	78	1	communications	communication	NOUN
cana-1087	78	2	on	on	ADP
cana-1087	78	3	applied	apply	VERB
cana-1087	78	4	nonlinear	nonlinear	ADJ
cana-1087	78	5	analysis	analysis	NOUN
cana-1087	78	6	issn	issn	NOUN
cana-1087	78	7	:	:	PUNCT
cana-1087	78	8	1074	1074	NUM
cana-1087	78	9	-	-	PUNCT
cana-1087	78	10	133x	133x	NUM
cana-1087	78	11	vol	vol	NOUN
cana-1087	78	12	31	31	NUM
cana-1087	78	13	no	no	NOUN
cana-1087	78	14	.	.	PUNCT
cana-1087	79	1	5s	5s	NUM
cana-1087	79	2	(	(	PUNCT
cana-1087	79	3	2024	2024	NUM
cana-1087	79	4	)	)	PUNCT
cana-1087	79	5	522	522	NUM
cana-1087	79	6	https://internationalpubls.com	https://internationalpubls.com	NUM
cana-1087	79	7	fig.2	fig.2	PROPN
cana-1087	79	8	circuit	circuit	NOUN
cana-1087	79	9	diagram	diagram	NOUN
cana-1087	79	10	the	the	DET
cana-1087	79	11	fig.2	fig.2	PROPN
cana-1087	79	12	is	be	AUX
cana-1087	79	13	a	a	DET
cana-1087	79	14	diagram	diagram	NOUN
cana-1087	79	15	of	of	ADP
cana-1087	79	16	an	an	DET
cana-1087	79	17	arduino	arduino	NOUN
cana-1087	79	18	uno	uno	PROPN
cana-1087	79	19	circuit	circuit	PROPN
cana-1087	79	20	board	board	PROPN
cana-1087	79	21	with	with	ADP
cana-1087	79	22	various	various	ADJ
cana-1087	79	23	components	component	NOUN
cana-1087	79	24	attached	attach	VERB
cana-1087	79	25	to	to	ADP
cana-1087	79	26	it	it	PRON
cana-1087	79	27	.	.	PUNCT
cana-1087	80	1	the	the	DET
cana-1087	80	2	components	component	NOUN
cana-1087	80	3	include	include	VERB
cana-1087	80	4	a	a	DET
cana-1087	80	5	dc	dc	PROPN
cana-1087	80	6	motor	motor	NOUN
cana-1087	80	7	,	,	PUNCT
cana-1087	80	8	ultrasonic	ultrasonic	ADJ
cana-1087	80	9	sensor	sensor	NOUN
cana-1087	80	10	,	,	PUNCT
cana-1087	80	11	ir	ir	PROPN
cana-1087	80	12	sensor	sensor	NOUN
cana-1087	80	13	,	,	PUNCT
cana-1087	80	14	servo	servo	NOUN
cana-1087	80	15	motor	motor	NOUN
cana-1087	80	16	,	,	PUNCT
cana-1087	80	17	breadboard	breadboard	NOUN
cana-1087	80	18	,	,	PUNCT
cana-1087	80	19	and	and	CCONJ
cana-1087	80	20	camera	camera	NOUN
cana-1087	80	21	module	module	NOUN
cana-1087	80	22	.	.	PUNCT
cana-1087	81	1	the	the	DET
cana-1087	81	2	components	component	NOUN
cana-1087	81	3	are	be	AUX
cana-1087	81	4	connected	connect	VERB
cana-1087	81	5	to	to	ADP
cana-1087	81	6	the	the	DET
cana-1087	81	7	circuit	circuit	NOUN
cana-1087	81	8	board	board	NOUN
cana-1087	81	9	with	with	ADP
cana-1087	81	10	red	red	ADJ
cana-1087	81	11	,	,	PUNCT
cana-1087	81	12	green	green	ADJ
cana-1087	81	13	,	,	PUNCT
cana-1087	81	14	and	and	CCONJ
cana-1087	81	15	yellow	yellow	ADJ
cana-1087	81	16	wires	wire	NOUN
cana-1087	81	17	.	.	PUNCT
cana-1087	82	1	the	the	DET
cana-1087	82	2	circuit	circuit	NOUN
cana-1087	82	3	board	board	NOUN
cana-1087	82	4	is	be	AUX
cana-1087	82	5	green	green	ADJ
cana-1087	82	6	with	with	ADP
cana-1087	82	7	a	a	DET
cana-1087	82	8	white	white	ADJ
cana-1087	82	9	outline	outline	NOUN
cana-1087	82	10	.	.	PUNCT
cana-1087	83	1	component	component	NOUN
cana-1087	83	2	:	:	PUNCT
cana-1087	83	3	•	•	NUM
cana-1087	83	4	node	node	PROPN
cana-1087	83	5	mcu	mcu	PROPN
cana-1087	83	6	•	•	CCONJ
cana-1087	83	7	ultrasonic	ultrasonic	ADJ
cana-1087	83	8	sensor	sensor	NOUN
cana-1087	83	9	•	•	NUM
cana-1087	83	10	motor	motor	NOUN
cana-1087	83	11	driver	driver	PROPN
cana-1087	83	12	•	•	PROPN
cana-1087	83	13	dc	dc	PROPN
cana-1087	83	14	motor	motor	PROPN
cana-1087	83	15	•	•	PROPN
cana-1087	84	1	ov7670	ov7670	DET
cana-1087	84	2	vga	vga	NOUN
cana-1087	84	3	camera	camera	NOUN
cana-1087	84	4	module	module	NOUN
cana-1087	84	5	•	•	NUM
cana-1087	84	6	buzzer	buzzer	NOUN
cana-1087	84	7	•	•	NOUN
cana-1087	84	8	pir	pir	PROPN
cana-1087	84	9	sensor	sensor	NOUN
cana-1087	84	10	equation	equation	NOUN
cana-1087	84	11	for	for	ADP
cana-1087	84	12	ultrasonic	ultrasonic	ADJ
cana-1087	84	13	sensor	sensor	NOUN
cana-1087	84	14	:	:	PUNCT
cana-1087	84	15	distance	distance	NOUN
cana-1087	84	16	=	=	PUNCT
cana-1087	84	17	time	time	NOUN
cana-1087	84	18	x	x	SYM
cana-1087	84	19	speed	speed	NOUN
cana-1087	84	20	of	of	ADP
cana-1087	84	21	sound/2(m	sound/2(m	PROPN
cana-1087	84	22	/	/	SYM
cana-1087	84	23	s	s	PROPN
cana-1087	84	24	)	)	PUNCT
cana-1087	84	25	distance	distance	NOUN
cana-1087	84	26	=	=	PUNCT
cana-1087	84	27	time	time	NOUN
cana-1087	84	28	x	x	X
cana-1087	84	29	170(m	170(m	PROPN
cana-1087	84	30	/	/	SYM
cana-1087	84	31	s	s	NOUN
cana-1087	84	32	)	)	PUNCT
cana-1087	84	33	calculation	calculation	NOUN
cana-1087	84	34	for	for	ADP
cana-1087	84	35	power	power	NOUN
cana-1087	84	36	max	max	PROPN
cana-1087	84	37	.	.	PUNCT
cana-1087	85	1	power	power	NOUN
cana-1087	85	2	rating	rating	NOUN
cana-1087	85	3	=	=	PUNCT
cana-1087	86	1	i*v	i*v	PROPN
cana-1087	86	2	max	max	PROPN
cana-1087	86	3	.	.	PUNCT
cana-1087	87	1	power	power	NOUN
cana-1087	87	2	rating	rating	NOUN
cana-1087	87	3	=	=	PUNCT
cana-1087	87	4	20	20	NUM
cana-1087	87	5	*	*	SYM
cana-1087	87	6	10	10	NUM
cana-1087	87	7	^	^	SYM
cana-1087	87	8	-3	-3	X
cana-1087	87	9	*	*	PUNCT
cana-1087	87	10	50	50	NUM
cana-1087	87	11	=	=	NOUN
cana-1087	87	12	1w	1w	NUM
cana-1087	87	13	input	input	NOUN
cana-1087	87	14	voltage	voltage	NOUN
cana-1087	87	15	:	:	PUNCT
cana-1087	87	16	5v	5v	PROPN
cana-1087	87	17	current	current	ADJ
cana-1087	87	18	draw	draw	NOUN
cana-1087	87	19	:	:	PUNCT
cana-1087	87	20	20ma	20ma	ADJ
cana-1087	87	21	(	(	PUNCT
cana-1087	87	22	max	max	PROPN
cana-1087	87	23	)	)	PUNCT
cana-1087	87	24	digital	digital	ADJ
cana-1087	87	25	output	output	NOUN
cana-1087	87	26	:	:	PUNCT
cana-1087	87	27	5v	5v	NOUN
cana-1087	87	28	digital	digital	ADJ
cana-1087	87	29	output	output	NOUN
cana-1087	87	30	:	:	PUNCT
cana-1087	87	31	0v	0v	NOUN
cana-1087	87	32	(	(	PUNCT
cana-1087	87	33	low	low	ADJ
cana-1087	87	34	)	)	PUNCT
cana-1087	87	35	applications	application	NOUN
cana-1087	87	36	:	:	PUNCT
cana-1087	87	37	•	•	ADP
cana-1087	87	38	it	it	PRON
cana-1087	87	39	is	be	AUX
cana-1087	87	40	used	use	VERB
cana-1087	87	41	for	for	ADP
cana-1087	87	42	safety	safety	NOUN
cana-1087	87	43	of	of	ADP
cana-1087	87	44	women	woman	NOUN
cana-1087	87	45	.	.	PUNCT
cana-1087	88	1	•	•	INTJ
cana-1087	88	2	it	it	PRON
cana-1087	88	3	can	can	AUX
cana-1087	88	4	also	also	ADV
cana-1087	88	5	be	be	AUX
cana-1087	88	6	used	use	VERB
cana-1087	88	7	for	for	ADP
cana-1087	88	8	child	child	NOUN
cana-1087	88	9	tracking	tracking	NOUN
cana-1087	88	10	during	during	ADP
cana-1087	88	11	school	school	NOUN
cana-1087	88	12	time	time	NOUN
cana-1087	88	13	.	.	PUNCT
cana-1087	89	1	•	•	INTJ
cana-1087	89	2	it	it	PRON
cana-1087	89	3	can	can	AUX
cana-1087	89	4	also	also	ADV
cana-1087	89	5	be	be	AUX
cana-1087	89	6	used	use	VERB
cana-1087	89	7	as	as	ADP
cana-1087	89	8	a	a	DET
cana-1087	89	9	vehicle	vehicle	NOUN
cana-1087	89	10	tracking	tracking	NOUN
cana-1087	89	11	system	system	NOUN
cana-1087	89	12	.	.	PUNCT
cana-1087	90	1	3	3	X
cana-1087	90	2	.	.	X
cana-1087	90	3	results	result	NOUN
cana-1087	90	4	in	in	ADP
cana-1087	90	5	our	our	PRON
cana-1087	90	6	tests	test	NOUN
cana-1087	90	7	,	,	PUNCT
cana-1087	90	8	the	the	DET
cana-1087	90	9	night	night	NOUN
cana-1087	90	10	patrolling	patrolling	NOUN
cana-1087	90	11	robot	robot	NOUN
cana-1087	90	12	demonstrated	demonstrate	VERB
cana-1087	90	13	exceptional	exceptional	ADJ
cana-1087	90	14	performance	performance	NOUN
cana-1087	90	15	in	in	ADP
cana-1087	90	16	monitoring	monitor	VERB
cana-1087	90	17	designated	designate	VERB
cana-1087	90	18	areas	area	NOUN
cana-1087	90	19	.	.	PUNCT
cana-1087	91	1	equipped	equip	VERB
cana-1087	91	2	with	with	ADP
cana-1087	91	3	a	a	DET
cana-1087	91	4	camera	camera	NOUN
cana-1087	91	5	and	and	CCONJ
cana-1087	91	6	gps	gps	PROPN
cana-1087	91	7	,	,	PUNCT
cana-1087	91	8	the	the	DET
cana-1087	91	9	robot	robot	NOUN
cana-1087	91	10	effectively	effectively	ADV
cana-1087	91	11	captured	capture	VERB
cana-1087	91	12	images	image	NOUN
cana-1087	91	13	and	and	CCONJ
cana-1087	91	14	tracked	track	VERB
cana-1087	91	15	communications	communication	NOUN
cana-1087	91	16	on	on	ADP
cana-1087	91	17	applied	apply	VERB
cana-1087	91	18	nonlinear	nonlinear	ADJ
cana-1087	91	19	analysis	analysis	NOUN
cana-1087	91	20	issn	issn	NOUN
cana-1087	91	21	:	:	PUNCT
cana-1087	91	22	1074	1074	NUM
cana-1087	91	23	-	-	PUNCT
cana-1087	91	24	133x	133x	NUM
cana-1087	91	25	vol	vol	NOUN
cana-1087	91	26	31	31	NUM
cana-1087	91	27	no	no	NOUN
cana-1087	91	28	.	.	PUNCT
cana-1087	92	1	5s	5s	NUM
cana-1087	92	2	(	(	PUNCT
cana-1087	92	3	2024	2024	NUM
cana-1087	92	4	)	)	PUNCT
cana-1087	92	5	523	523	NUM
cana-1087	92	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-1087	92	7	its	its	PRON
cana-1087	92	8	location	location	NOUN
cana-1087	92	9	,	,	PUNCT
cana-1087	92	10	ensuring	ensure	VERB
cana-1087	92	11	continuous	continuous	ADJ
cana-1087	92	12	surveillance	surveillance	NOUN
cana-1087	92	13	.	.	PUNCT
cana-1087	93	1	upon	upon	SCONJ
cana-1087	93	2	detecting	detect	VERB
cana-1087	93	3	unusual	unusual	ADJ
cana-1087	93	4	activities	activity	NOUN
cana-1087	93	5	,	,	PUNCT
cana-1087	93	6	it	it	PRON
cana-1087	93	7	successfully	successfully	ADV
cana-1087	93	8	recorded	record	VERB
cana-1087	93	9	audio	audio	ADJ
cana-1087	93	10	and	and	CCONJ
cana-1087	93	11	transmitted	transmit	VERB
cana-1087	93	12	alerts	alert	NOUN
cana-1087	93	13	to	to	ADP
cana-1087	93	14	the	the	DET
cana-1087	93	15	control	control	NOUN
cana-1087	93	16	room	room	NOUN
cana-1087	93	17	.	.	PUNCT
cana-1087	94	1	the	the	DET
cana-1087	94	2	robot	robot	NOUN
cana-1087	94	3	's	's	PART
cana-1087	94	4	ability	ability	NOUN
cana-1087	94	5	to	to	PART
cana-1087	94	6	navigate	navigate	VERB
cana-1087	94	7	and	and	CCONJ
cana-1087	94	8	identify	identify	VERB
cana-1087	94	9	th	th	PROPN
cana-1087	94	10	reats	reat	NOUN
cana-1087	94	11	in	in	ADP
cana-1087	94	12	low	low	ADJ
cana-1087	94	13	-	-	PUNCT
cana-1087	94	14	light	light	NOUN
cana-1087	94	15	conditions	condition	NOUN
cana-1087	94	16	was	be	AUX
cana-1087	94	17	validated	validate	VERB
cana-1087	94	18	,	,	PUNCT
cana-1087	94	19	confirming	confirm	VERB
cana-1087	94	20	its	its	PRON
cana-1087	94	21	potential	potential	NOUN
cana-1087	94	22	as	as	ADP
cana-1087	94	23	a	a	DET
cana-1087	94	24	reliable	reliable	ADJ
cana-1087	94	25	tool	tool	NOUN
cana-1087	94	26	for	for	ADP
cana-1087	94	27	enhancing	enhance	VERB
cana-1087	94	28	night	night	NOUN
cana-1087	94	29	-	-	PUNCT
cana-1087	94	30	time	time	NOUN
cana-1087	94	31	security	security	NOUN
cana-1087	94	32	and	and	CCONJ
cana-1087	94	33	safety	safety	NOUN
cana-1087	94	34	.	.	PUNCT
cana-1087	95	1	fig.3	fig.3	ADJ
cana-1087	95	2	graph	graph	NOUN
cana-1087	95	3	for	for	ADP
cana-1087	95	4	camera	camera	NOUN
cana-1087	95	5	module	module	NOUN
cana-1087	95	6	(	(	PUNCT
cana-1087	95	7	distance	distance	NOUN
cana-1087	95	8	vs	vs	ADP
cana-1087	95	9	signal	signal	NOUN
cana-1087	95	10	strength	strength	NOUN
cana-1087	95	11	the	the	DET
cana-1087	95	12	fig.3	fig.3	PROPN
cana-1087	95	13	shows	show	VERB
cana-1087	95	14	the	the	DET
cana-1087	95	15	relationship	relationship	NOUN
cana-1087	95	16	between	between	ADP
cana-1087	95	17	distance	distance	NOUN
cana-1087	95	18	from	from	ADP
cana-1087	95	19	a	a	DET
cana-1087	95	20	camera	camera	NOUN
cana-1087	95	21	and	and	CCONJ
cana-1087	95	22	signal	signal	PROPN
cana-1087	95	23	strength	strength	NOUN
cana-1087	95	24	.	.	PUNCT
cana-1087	96	1	the	the	DET
cana-1087	96	2	x	x	X
cana-1087	96	3	-	-	ADJ
cana-1087	96	4	axis	axis	NOUN
cana-1087	96	5	is	be	AUX
cana-1087	96	6	the	the	DET
cana-1087	96	7	distance	distance	NOUN
cana-1087	96	8	from	from	ADP
cana-1087	96	9	the	the	DET
cana-1087	96	10	camera	camera	NOUN
cana-1087	96	11	in	in	ADP
cana-1087	96	12	meters	meter	NOUN
cana-1087	96	13	and	and	CCONJ
cana-1087	96	14	the	the	DET
cana-1087	96	15	y	y	NOUN
cana-1087	96	16	-	-	PUNCT
cana-1087	96	17	axis	axis	NOUN
cana-1087	96	18	is	be	AUX
cana-1087	96	19	the	the	DET
cana-1087	96	20	signal	signal	ADJ
cana-1087	96	21	strength	strength	NOUN
cana-1087	96	22	in	in	ADP
cana-1087	96	23	decibels	decibel	NOUN
cana-1087	96	24	.	.	PUNCT
cana-1087	97	1	the	the	DET
cana-1087	97	2	line	line	NOUN
cana-1087	97	3	is	be	AUX
cana-1087	97	4	a	a	DET
cana-1087	97	5	downward	downward	ADJ
cana-1087	97	6	sloping	sloping	NOUN
cana-1087	97	7	curve	curve	NOUN
cana-1087	97	8	,	,	PUNCT
cana-1087	97	9	indicating	indicate	VERB
cana-1087	97	10	that	that	SCONJ
cana-1087	97	11	as	as	ADP
cana-1087	97	12	the	the	DET
cana-1087	97	13	distance	distance	NOUN
cana-1087	97	14	from	from	ADP
cana-1087	97	15	the	the	DET
cana-1087	97	16	camera	camera	NOUN
cana-1087	97	17	increases	increase	NOUN
cana-1087	97	18	,	,	PUNCT
cana-1087	97	19	the	the	DET
cana-1087	97	20	signal	signal	NOUN
cana-1087	97	21	strength	strength	NOUN
cana-1087	97	22	decreases	decrease	VERB
cana-1087	97	23	.	.	PUNCT
cana-1087	98	1	fig.4	fig.4	ADJ
cana-1087	98	2	graph	graph	NOUN
cana-1087	98	3	for	for	ADP
cana-1087	98	4	ultrasonic	ultrasonic	ADJ
cana-1087	98	5	sensor	sensor	NOUN
cana-1087	98	6	(	(	PUNCT
cana-1087	98	7	displacement	displacement	NOUN
cana-1087	98	8	vs	vs	ADP
cana-1087	98	9	time	time	NOUN
cana-1087	98	10	in	in	ADP
cana-1087	98	11	fig4	fig4	PROPN
cana-1087	98	12	.	.	PUNCT
cana-1087	99	1	the	the	DET
cana-1087	99	2	x	x	X
cana-1087	99	3	-	-	ADJ
cana-1087	99	4	axis	axis	NOUN
cana-1087	99	5	is	be	AUX
cana-1087	99	6	labelled	label	VERB
cana-1087	99	7	“	"	PUNCT
cana-1087	99	8	time	time	NOUN
cana-1087	99	9	”	"	PUNCT
cana-1087	99	10	and	and	CCONJ
cana-1087	99	11	the	the	DET
cana-1087	99	12	y	y	NOUN
cana-1087	99	13	-	-	PUNCT
cana-1087	99	14	axis	axis	NOUN
cana-1087	99	15	is	be	AUX
cana-1087	99	16	labelled	label	VERB
cana-1087	99	17	“	"	PUNCT
cana-1087	99	18	displacement	displacement	NOUN
cana-1087	99	19	”	"	PUNCT
cana-1087	99	20	.	.	PUNCT
cana-1087	100	1	the	the	DET
cana-1087	100	2	x	x	ADJ
cana-1087	100	3	-	-	ADJ
cana-1087	100	4	axis	axis	ADJ
cana-1087	100	5	ranges	range	VERB
cana-1087	100	6	from	from	ADP
cana-1087	100	7	0	0	NUM
cana-1087	100	8	to	to	ADP
cana-1087	100	9	8	8	NUM
cana-1087	100	10	and	and	CCONJ
cana-1087	100	11	the	the	DET
cana-1087	100	12	y	y	NOUN
cana-1087	100	13	-	-	PUNCT
cana-1087	100	14	axis	axis	NOUN
cana-1087	100	15	ranges	range	VERB
cana-1087	100	16	from	from	ADP
cana-1087	100	17	0	0	NUM
cana-1087	100	18	to	to	ADP
cana-1087	100	19	12	12	NUM
cana-1087	100	20	.	.	PUNCT
cana-1087	101	1	the	the	DET
cana-1087	101	2	blue	blue	ADJ
cana-1087	101	3	line	line	NOUN
cana-1087	101	4	has	have	VERB
cana-1087	101	5	a	a	DET
cana-1087	101	6	peak	peak	NOUN
cana-1087	101	7	at	at	ADP
cana-1087	101	8	around	around	ADV
cana-1087	101	9	2	2	NUM
cana-1087	101	10	on	on	ADP
cana-1087	101	11	the	the	DET
cana-1087	101	12	x	x	NOUN
cana-1087	101	13	-	-	NOUN
cana-1087	101	14	axis	axis	NOUN
cana-1087	101	15	and	and	CCONJ
cana-1087	101	16	a	a	DET
cana-1087	101	17	trough	trough	NOUN
cana-1087	101	18	at	at	ADP
cana-1087	101	19	around	around	ADV
cana-1087	101	20	6	6	NUM
cana-1087	101	21	on	on	ADP
cana-1087	101	22	the	the	DET
cana-1087	101	23	x	x	NOUN
cana-1087	101	24	-	-	NOUN
cana-1087	101	25	axis	axis	NOUN
cana-1087	101	26	.	.	PUNCT
cana-1087	102	1	the	the	DET
cana-1087	102	2	line	line	NOUN
cana-1087	102	3	appears	appear	VERB
cana-1087	102	4	to	to	PART
cana-1087	102	5	be	be	AUX
cana-1087	102	6	smooth	smooth	ADJ
cana-1087	102	7	and	and	CCONJ
cana-1087	102	8	continuous	continuous	ADJ
cana-1087	102	9	.	.	PUNCT
cana-1087	103	1	therefore	therefore	ADV
cana-1087	103	2	,	,	PUNCT
cana-1087	103	3	we	we	PRON
cana-1087	103	4	concluded	conclude	VERB
cana-1087	103	5	that	that	SCONJ
cana-1087	103	6	this	this	DET
cana-1087	103	7	project	project	NOUN
cana-1087	103	8	using	use	VERB
cana-1087	103	9	arduino	arduino	NOUN
cana-1087	103	10	and	and	CCONJ
cana-1087	103	11	espcam32	espcam32	NOUN
cana-1087	103	12	will	will	AUX
cana-1087	103	13	surveillance	surveillance	VERB
cana-1087	103	14	and	and	CCONJ
cana-1087	103	15	patrol	patrol	NOUN
cana-1087	103	16	in	in	ADP
cana-1087	103	17	the	the	DET
cana-1087	103	18	assigned	assign	VERB
cana-1087	103	19	area	area	NOUN
cana-1087	103	20	.	.	PUNCT
cana-1087	104	1	so	so	ADV
cana-1087	104	2	that	that	SCONJ
cana-1087	104	3	it	it	PRON
cana-1087	104	4	is	be	AUX
cana-1087	104	5	useful	useful	ADJ
cana-1087	104	6	for	for	ADP
cana-1087	104	7	women	woman	NOUN
cana-1087	104	8	safety	safety	NOUN
cana-1087	104	9	and	and	CCONJ
cana-1087	104	10	used	use	VERB
cana-1087	104	11	to	to	PART
cana-1087	104	12	monitor	monitor	VERB
cana-1087	104	13	the	the	DET
cana-1087	104	14	area	area	NOUN
cana-1087	104	15	.	.	PUNCT
cana-1087	105	1	in	in	ADP
cana-1087	105	2	order	order	NOUN
cana-1087	105	3	to	to	PART
cana-1087	105	4	avoid	avoid	VERB
cana-1087	105	5	the	the	DET
cana-1087	105	6	obstacle	obstacle	NOUN
cana-1087	105	7	,	,	PUNCT
cana-1087	105	8	we	we	PRON
cana-1087	105	9	used	use	VERB
cana-1087	105	10	to	to	PART
cana-1087	105	11	be	be	AUX
cana-1087	105	12	ultrasonic	ultrasonic	ADJ
cana-1087	105	13	sensor	sensor	NOUN
cana-1087	105	14	.	.	PUNCT
cana-1087	106	1	to	to	PART
cana-1087	106	2	detect	detect	VERB
cana-1087	106	3	the	the	DET
cana-1087	106	4	sound	sound	NOUN
cana-1087	106	5	and	and	CCONJ
cana-1087	106	6	capture	capture	VERB
cana-1087	106	7	it	it	PRON
cana-1087	106	8	we	we	PRON
cana-1087	106	9	used	use	VERB
cana-1087	106	10	espcam	espcam	NOUN
cana-1087	106	11	32	32	NUM
cana-1087	106	12	and	and	CCONJ
cana-1087	106	13	sound	sound	ADJ
cana-1087	106	14	sensor	sensor	NOUN
cana-1087	106	15	.	.	PUNCT
cana-1087	107	1	wireless	wireless	ADJ
cana-1087	107	2	robotic	robotic	ADJ
cana-1087	107	3	technology	technology	NOUN
cana-1087	107	4	can	can	AUX
cana-1087	107	5	be	be	AUX
cana-1087	107	6	used	use	VERB
cana-1087	107	7	in	in	ADP
cana-1087	107	8	industries	industry	NOUN
cana-1087	107	9	so	so	SCONJ
cana-1087	107	10	that	that	SCONJ
cana-1087	107	11	the	the	DET
cana-1087	107	12	labour	labour	NOUN
cana-1087	107	13	cost	cost	VERB
cana-1087	107	14	forth	forth	ADP
cana-1087	107	15	industries	industry	NOUN
cana-1087	107	16	will	will	AUX
cana-1087	107	17	be	be	AUX
cana-1087	107	18	reduced	reduce	VERB
cana-1087	107	19	.	.	PUNCT
cana-1087	108	1	it	it	PRON
cana-1087	108	2	can	can	AUX
cana-1087	108	3	also	also	ADV
cana-1087	108	4	be	be	AUX
cana-1087	108	5	used	use	VERB
cana-1087	108	6	as	as	ADP
cana-1087	108	7	a	a	DET
cana-1087	108	8	child	child	NOUN
cana-1087	108	9	monitoring	monitoring	NOUN
cana-1087	108	10	system	system	NOUN
cana-1087	108	11	so	so	SCONJ
cana-1087	108	12	that	that	SCONJ
cana-1087	108	13	the	the	DET
cana-1087	108	14	parents	parent	NOUN
cana-1087	108	15	working	work	VERB
cana-1087	108	16	in	in	ADP
cana-1087	108	17	office	office	NOUN
cana-1087	108	18	can	can	AUX
cana-1087	108	19	monitor	monitor	VERB
cana-1087	108	20	their	their	PRON
cana-1087	108	21	child	child	NOUN
cana-1087	108	22	.	.	PUNCT
cana-1087	109	1	communications	communication	NOUN
cana-1087	109	2	on	on	ADP
cana-1087	109	3	applied	apply	VERB
cana-1087	109	4	nonlinear	nonlinear	ADJ
cana-1087	109	5	analysis	analysis	NOUN
cana-1087	109	6	issn	issn	NOUN
cana-1087	109	7	:	:	PUNCT
cana-1087	109	8	1074	1074	NUM
cana-1087	109	9	-	-	PUNCT
cana-1087	109	10	133x	133x	NUM
cana-1087	109	11	vol	vol	NOUN
cana-1087	109	12	31	31	NUM
cana-1087	109	13	no	no	NOUN
cana-1087	109	14	.	.	PUNCT
cana-1087	110	1	5s	5s	NUM
cana-1087	110	2	(	(	PUNCT
cana-1087	110	3	2024	2024	NUM
cana-1087	110	4	)	)	PUNCT
cana-1087	110	5	524	524	NUM
cana-1087	110	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-1087	110	7	fig.5	fig.5	PROPN
cana-1087	110	8	cad	cad	PROPN
cana-1087	110	9	model	model	NOUN
cana-1087	110	10	4	4	NUM
cana-1087	110	11	.	.	PUNCT
cana-1087	110	12	discussion	discussion	VERB
cana-1087	110	13	the	the	DET
cana-1087	110	14	development	development	NOUN
cana-1087	110	15	of	of	ADP
cana-1087	110	16	a	a	DET
cana-1087	110	17	night	night	NOUN
cana-1087	110	18	patrolling	patrol	VERB
cana-1087	110	19	robot	robot	NOUN
cana-1087	110	20	represents	represent	VERB
cana-1087	110	21	a	a	DET
cana-1087	110	22	significant	significant	ADJ
cana-1087	110	23	advancement	advancement	NOUN
cana-1087	110	24	in	in	ADP
cana-1087	110	25	enhancing	enhance	VERB
cana-1087	110	26	security	security	NOUN
cana-1087	110	27	and	and	CCONJ
cana-1087	110	28	safety	safety	NOUN
cana-1087	110	29	measures	measure	NOUN
cana-1087	110	30	.	.	PUNCT
cana-1087	111	1	this	this	DET
cana-1087	111	2	innovative	innovative	ADJ
cana-1087	111	3	technology	technology	NOUN
cana-1087	111	4	addresses	address	VERB
cana-1087	111	5	the	the	DET
cana-1087	111	6	limitations	limitation	NOUN
cana-1087	111	7	of	of	ADP
cana-1087	111	8	human	human	ADJ
cana-1087	111	9	patrolling	patrolling	NOUN
cana-1087	111	10	during	during	ADP
cana-1087	111	11	nighttime	nighttime	ADJ
cana-1087	111	12	hours	hour	NOUN
cana-1087	111	13	or	or	CCONJ
cana-1087	111	14	in	in	ADP
cana-1087	111	15	poorly	poorly	ADV
cana-1087	111	16	lit	light	VERB
cana-1087	111	17	areas	area	NOUN
cana-1087	111	18	.	.	PUNCT
cana-1087	112	1	by	by	ADP
cana-1087	112	2	combining	combine	VERB
cana-1087	112	3	state	state	NOUN
cana-1087	112	4	-	-	PUNCT
cana-1087	112	5	of	of	ADP
cana-1087	112	6	-	-	PUNCT
cana-1087	112	7	the	the	DET
cana-1087	112	8	-	-	PUNCT
cana-1087	112	9	art	art	NOUN
cana-1087	112	10	sensors	sensor	NOUN
cana-1087	112	11	,	,	PUNCT
cana-1087	112	12	cameras	camera	NOUN
cana-1087	112	13	,	,	PUNCT
cana-1087	112	14	and	and	CCONJ
cana-1087	112	15	autonomous	autonomous	ADJ
cana-1087	112	16	navigation	navigation	NOUN
cana-1087	112	17	systems	system	NOUN
cana-1087	112	18	,	,	PUNCT
cana-1087	112	19	night	night	NOUN
cana-1087	112	20	patrolling	patrol	VERB
cana-1087	112	21	robots	robot	NOUN
cana-1087	112	22	offer	offer	VERB
cana-1087	112	23	several	several	ADJ
cana-1087	112	24	key	key	ADJ
cana-1087	112	25	benefits	benefit	NOUN
cana-1087	112	26	.	.	PUNCT
cana-1087	113	1	first	first	ADV
cana-1087	113	2	and	and	CCONJ
cana-1087	113	3	foremost	foremost	ADV
cana-1087	113	4	,	,	PUNCT
cana-1087	113	5	these	these	DET
cana-1087	113	6	robots	robot	NOUN
cana-1087	113	7	provide	provide	VERB
cana-1087	113	8	constant	constant	ADJ
cana-1087	113	9	surveillance	surveillance	NOUN
cana-1087	113	10	and	and	CCONJ
cana-1087	113	11	monitoring	monitoring	NOUN
cana-1087	113	12	,	,	PUNCT
cana-1087	113	13	ensuring	ensure	VERB
cana-1087	113	14	that	that	SCONJ
cana-1087	113	15	no	no	DET
cana-1087	113	16	suspicious	suspicious	ADJ
cana-1087	113	17	activities	activity	NOUN
cana-1087	113	18	go	go	VERB
cana-1087	113	19	unnoticed	unnoticed	ADJ
cana-1087	113	20	.	.	PUNCT
cana-1087	114	1	they	they	PRON
cana-1087	114	2	can	can	AUX
cana-1087	114	3	detect	detect	VERB
cana-1087	114	4	unusual	unusual	ADJ
cana-1087	114	5	sounds	sound	NOUN
cana-1087	114	6	,	,	PUNCT
cana-1087	114	7	movements	movement	NOUN
cana-1087	114	8	,	,	PUNCT
cana-1087	114	9	and	and	CCONJ
cana-1087	114	10	even	even	ADV
cana-1087	114	11	thermal	thermal	ADJ
cana-1087	114	12	anomalies	anomaly	NOUN
cana-1087	114	13	,	,	PUNCT
cana-1087	114	14	making	make	VERB
cana-1087	114	15	them	they	PRON
cana-1087	114	16	highly	highly	ADV
cana-1087	114	17	effective	effective	ADJ
cana-1087	114	18	in	in	ADP
cana-1087	114	19	identifying	identify	VERB
cana-1087	114	20	potential	potential	ADJ
cana-1087	114	21	security	security	NOUN
cana-1087	114	22	threats	threat	NOUN
cana-1087	114	23	.	.	PUNCT
cana-1087	115	1	there	there	PRON
cana-1087	115	2	is	be	VERB
cana-1087	115	3	still	still	ADV
cana-1087	115	4	a	a	DET
cana-1087	115	5	wide	wide	ADJ
cana-1087	115	6	area	area	NOUN
cana-1087	115	7	of	of	ADP
cana-1087	115	8	research	research	NOUN
cana-1087	115	9	to	to	PART
cana-1087	115	10	be	be	AUX
cana-1087	115	11	conducted	conduct	VERB
cana-1087	115	12	on	on	ADP
cana-1087	115	13	security	security	NOUN
cana-1087	115	14	robots	robot	NOUN
cana-1087	115	15	to	to	PART
cana-1087	115	16	fully	fully	ADV
cana-1087	115	17	implement	implement	VERB
cana-1087	115	18	them	they	PRON
cana-1087	115	19	in	in	ADP
cana-1087	115	20	our	our	PRON
cana-1087	115	21	everyday	everyday	ADJ
cana-1087	115	22	lives	life	NOUN
cana-1087	115	23	.	.	PUNCT
cana-1087	116	1	the	the	DET
cana-1087	116	2	limitations	limitation	NOUN
cana-1087	116	3	of	of	ADP
cana-1087	116	4	our	our	PRON
cana-1087	116	5	prototype	prototype	NOUN
cana-1087	116	6	include	include	VERB
cana-1087	116	7	:	:	PUNCT
cana-1087	116	8	•	•	NUM
cana-1087	116	9	improvement	improvement	NOUN
cana-1087	116	10	of	of	ADP
cana-1087	116	11	sensor	sensor	NOUN
cana-1087	116	12	accuracy	accuracy	NOUN
cana-1087	116	13	•	•	ADP
cana-1087	116	14	improve	improve	VERB
cana-1087	116	15	algorithm	algorithm	NOUN
cana-1087	116	16	for	for	ADP
cana-1087	116	17	autonomous	autonomous	ADJ
cana-1087	116	18	patrolling	patrolling	ADJ
cana-1087	116	19	•	•	NOUN
cana-1087	116	20	indoor	indoor	ADJ
cana-1087	116	21	localization	localization	NOUN
cana-1087	116	22	•	•	ADV
cana-1087	116	23	implementing	implement	VERB
cana-1087	116	24	internet	internet	NOUN
cana-1087	116	25	of	of	ADP
cana-1087	116	26	things	thing	NOUN
cana-1087	116	27	(	(	PUNCT
cana-1087	116	28	iot	iot	NOUN
cana-1087	116	29	)	)	PUNCT
cana-1087	116	30	technology	technology	NOUN
cana-1087	116	31	such	such	ADJ
cana-1087	116	32	as	as	ADP
cana-1087	116	33	web	web	NOUN
cana-1087	116	34	control	control	NOUN
cana-1087	116	35	and	and	CCONJ
cana-1087	116	36	camera	camera	NOUN
cana-1087	116	37	feedback	feedback	NOUN
cana-1087	116	38	•	•	ADV
cana-1087	116	39	more	more	ADV
cana-1087	116	40	accurate	accurate	ADJ
cana-1087	116	41	system	system	NOUN
cana-1087	116	42	for	for	ADP
cana-1087	116	43	tracking	tracking	NOUN
cana-1087	116	44	robot	robot	NOUN
cana-1087	116	45	’s	’s	PART
cana-1087	116	46	movement	movement	NOUN
cana-1087	116	47	.	.	PUNCT
cana-1087	117	1	since	since	SCONJ
cana-1087	117	2	the	the	DET
cana-1087	117	3	wheel	wheel	NOUN
cana-1087	117	4	encoders	encoder	NOUN
cana-1087	117	5	have	have	VERB
cana-1087	117	6	different	different	ADJ
cana-1087	117	7	characteristics	characteristic	NOUN
cana-1087	117	8	in	in	ADP
cana-1087	117	9	different	different	ADJ
cana-1087	117	10	surfaces	surface	NOUN
cana-1087	117	11	–	–	PUNCT
cana-1087	117	12	uneven	uneven	ADJ
cana-1087	117	13	or	or	CCONJ
cana-1087	117	14	slippery	slippery	ADJ
cana-1087	117	15	surface	surface	NOUN
cana-1087	117	16	.	.	PUNCT
cana-1087	118	1	sometimes	sometimes	ADV
cana-1087	118	2	,	,	PUNCT
cana-1087	118	3	it	it	PRON
cana-1087	118	4	does	do	AUX
cana-1087	118	5	not	not	PART
cana-1087	118	6	work	work	VERB
cana-1087	118	7	properly	properly	ADV
cana-1087	118	8	.	.	PUNCT
cana-1087	119	1	refrences	refrence	VERB
cana-1087	119	2	[	[	X
cana-1087	119	3	1	1	NUM
cana-1087	119	4	]	]	PUNCT
cana-1087	119	5	thopate	thopate	NOUN
cana-1087	119	6	,	,	PUNCT
cana-1087	119	7	k.	k.	PROPN
cana-1087	119	8	,	,	PUNCT
cana-1087	119	9	shinde	shinde	PROPN
cana-1087	119	10	,	,	PUNCT
cana-1087	119	11	s.	s.	PROPN
cana-1087	119	12	,	,	PUNCT
cana-1087	119	13	mahajan	mahajan	PROPN
cana-1087	119	14	,	,	PUNCT
cana-1087	119	15	r.	r.	PROPN
cana-1087	119	16	,	,	PUNCT
cana-1087	119	17	bhagat	bhagat	PROPN
cana-1087	119	18	,	,	PUNCT
cana-1087	119	19	r.	r.	PROPN
cana-1087	119	20	,	,	PUNCT
cana-1087	119	21	joshi	joshi	PROPN
cana-1087	119	22	,	,	PUNCT
cana-1087	119	23	p.	p.	PROPN
cana-1087	119	24	,	,	PUNCT
cana-1087	119	25	kalbhor	kalbhor	PROPN
cana-1087	119	26	,	,	PUNCT
cana-1087	119	27	a.	a.	PROPN
cana-1087	119	28	,	,	PUNCT
cana-1087	119	29	kulkarni	kulkarni	PROPN
cana-1087	119	30	,	,	PUNCT
cana-1087	119	31	a.	a.	PROPN
cana-1087	119	32	,	,	PUNCT
cana-1087	119	33	&	&	CCONJ
cana-1087	119	34	jadhav	jadhav	PROPN
cana-1087	119	35	,	,	PUNCT
cana-1087	119	36	s.	s.	PROPN
cana-1087	119	37	(	(	PUNCT
cana-1087	119	38	2023	2023	NUM
cana-1087	119	39	)	)	PUNCT
cana-1087	119	40	.	.	PUNCT
cana-1087	120	1	keyless	keyless	ADJ
cana-1087	120	2	security	security	NOUN
cana-1087	120	3	:	:	PUNCT
cana-1087	120	4	the	the	DET
cana-1087	120	5	smart	smart	ADJ
cana-1087	120	6	solution	solution	NOUN
cana-1087	120	7	for	for	ADP
cana-1087	120	8	home	home	NOUN
cana-1087	120	9	with	with	ADP
cana-1087	120	10	a	a	DET
cana-1087	120	11	smart	smart	ADJ
cana-1087	120	12	door	door	NOUN
cana-1087	120	13	lock	lock	NOUN
cana-1087	120	14	.	.	PUNCT
cana-1087	121	1	international	international	ADJ
cana-1087	121	2	journal	journal	PROPN
cana-1087	121	3	on	on	ADP
cana-1087	121	4	recent	recent	ADJ
cana-1087	121	5	and	and	CCONJ
cana-1087	121	6	innovation	innovation	NOUN
cana-1087	121	7	trends	trend	NOUN
cana-1087	121	8	in	in	ADP
cana-1087	121	9	computing	computing	NOUN
cana-1087	121	10	and	and	CCONJ
cana-1087	121	11	communication	communication	NOUN
cana-1087	121	12	,	,	PUNCT
cana-1087	121	13	11(8s	11(8s	NUM
cana-1087	121	14	)	)	PUNCT
cana-1087	121	15	,	,	PUNCT
cana-1087	121	16	170–174	170–174	NUM
cana-1087	121	17	.	.	PUNCT
cana-1087	122	1	[	[	X
cana-1087	122	2	2	2	NUM
cana-1087	122	3	]	]	PUNCT
cana-1087	122	4	thopate	thopate	NOUN
cana-1087	122	5	,	,	PUNCT
cana-1087	122	6	k.	k.	PROPN
cana-1087	122	7	.	.	PUNCT
cana-1087	122	8	,	,	PUNCT
cana-1087	122	9	musale	musale	PROPN
cana-1087	122	10	,	,	PUNCT
cana-1087	122	11	p.	p.	NOUN
cana-1087	122	12	.	.	PUNCT
cana-1087	123	1	,	,	PUNCT
cana-1087	123	2	dandavate	dandavate	VERB
cana-1087	123	3	,	,	PUNCT
cana-1087	123	4	p.	p.	NOUN
cana-1087	123	5	.	.	PUNCT
cana-1087	124	1	,	,	PUNCT
cana-1087	124	2	jadhav	jadhav	PROPN
cana-1087	124	3	,	,	PUNCT
cana-1087	124	4	b.	b.	PROPN
cana-1087	124	5	.	.	PUNCT
cana-1087	124	6	,	,	PUNCT
cana-1087	124	7	cholke	cholke	PROPN
cana-1087	124	8	,	,	PUNCT
cana-1087	124	9	p.	p.	NOUN
cana-1087	124	10	.	.	PUNCT
cana-1087	124	11	,	,	PUNCT
cana-1087	124	12	bhatlawande	bhatlawande	VERB
cana-1087	124	13	,	,	PUNCT
cana-1087	124	14	s.	s.	PROPN
cana-1087	124	15	.	.	PUNCT
cana-1087	124	16	,	,	PUNCT
cana-1087	124	17	&	&	CCONJ
cana-1087	124	18	shlaskar	shlaskar	PROPN
cana-1087	124	19	,	,	PUNCT
cana-1087	124	20	s.	s.	PROPN
cana-1087	124	21	.	.	PUNCT
cana-1087	125	1	(	(	PUNCT
cana-1087	125	2	2023	2023	NUM
cana-1087	125	3	)	)	PUNCT
cana-1087	125	4	.	.	PUNCT
cana-1087	126	1	smart	smart	ADJ
cana-1087	126	2	atm	atm	ADJ
cana-1087	126	3	security	security	NOUN
cana-1087	126	4	and	and	CCONJ
cana-1087	126	5	alert	alert	ADJ
cana-1087	126	6	system	system	NOUN
cana-1087	126	7	with	with	ADP
cana-1087	126	8	real	real	ADJ
cana-1087	126	9	-	-	PUNCT
cana-1087	126	10	time	time	NOUN
cana-1087	126	11	monitoring	monitoring	NOUN
cana-1087	126	12	.	.	PUNCT
cana-1087	127	1	international	international	ADJ
cana-1087	127	2	journal	journal	PROPN
cana-1087	127	3	on	on	ADP
cana-1087	127	4	recent	recent	ADJ
cana-1087	127	5	and	and	CCONJ
cana-1087	127	6	innovation	innovation	NOUN
cana-1087	127	7	trends	trend	NOUN
cana-1087	127	8	in	in	ADP
cana-1087	127	9	computing	computing	NOUN
cana-1087	127	10	and	and	CCONJ
cana-1087	127	11	communication	communication	NOUN
cana-1087	127	12	,	,	PUNCT
cana-1087	127	13	11(7	11(7	NUM
cana-1087	127	14	)	)	PUNCT
cana-1087	127	15	,	,	PUNCT
cana-1087	127	16	32–38	32–38	NUM
cana-1087	127	17	.	.	PUNCT
cana-1087	128	1	[	[	X
cana-1087	128	2	3	3	NUM
cana-1087	128	3	]	]	PUNCT
cana-1087	128	4	"	"	PUNCT
cana-1087	128	5	night	night	NOUN
cana-1087	128	6	vision	vision	NOUN
cana-1087	128	7	patrolling	patrol	VERB
cana-1087	128	8	rover	rover	NOUN
cana-1087	128	9	navigation	navigation	NOUN
cana-1087	128	10	system	system	NOUN
cana-1087	128	11	for	for	ADP
cana-1087	128	12	women	woman	NOUN
cana-1087	128	13	’s	’s	PART
cana-1087	128	14	safety	safety	NOUN
cana-1087	128	15	using	use	VERB
cana-1087	128	16	machine	machine	NOUN
cana-1087	128	17	learning	learning	NOUN
cana-1087	128	18	,	,	PUNCT
cana-1087	128	19	"	"	PUNCT
cana-1087	128	20	international	international	ADJ
cana-1087	128	21	journal	journal	NOUN
cana-1087	128	22	of	of	ADP
cana-1087	128	23	psychosocial	psychosocial	ADJ
cana-1087	128	24	rehabilitation	rehabilitation	NOUN
cana-1087	128	25	,	,	PUNCT
cana-1087	128	26	vol	vol	NOUN
cana-1087	128	27	23	23	NUM
cana-1087	128	28	,	,	PUNCT
cana-1087	128	29	issue	issue	NOUN
cana-1087	128	30	4	4	NUM
cana-1087	128	31	,	,	PUNCT
cana-1087	128	32	december	december	PROPN
cana-1087	128	33	2019	2019	NUM
cana-1087	128	34	.	.	PUNCT
cana-1087	129	1	doi	doi	NOUN
cana-1087	129	2	:	:	PUNCT
cana-1087	129	3	10.37200	10.37200	NUM
cana-1087	129	4	/	/	SYM
cana-1087	129	5	ijpr	ijpr	PROPN
cana-1087	129	6	/	/	SYM
cana-1087	129	7	v23i4	v23i4	PROPN
cana-1087	129	8	/	/	SYM
cana-1087	129	9	pr190440	pr190440	PROPN
cana-1087	129	10	.	.	PUNCT
cana-1087	130	1	[	[	X
cana-1087	130	2	4	4	X
cana-1087	130	3	]	]	PUNCT
cana-1087	130	4	s.	s.	PROPN
cana-1087	130	5	hoshinoa	hoshinoa	PROPN
cana-1087	130	6	,	,	PUNCT
cana-1087	130	7	t.	t.	PROPN
cana-1087	130	8	ishiwataa	ishiwataa	PROPN
cana-1087	130	9	,	,	PUNCT
cana-1087	130	10	and	and	CCONJ
cana-1087	130	11	r.	r.	PROPN
cana-1087	130	12	uedab	uedab	PROPN
cana-1087	130	13	,	,	PUNCT
cana-1087	130	14	"	"	PUNCT
cana-1087	130	15	optimal	optimal	ADJ
cana-1087	130	16	patrolling	patrolling	NOUN
cana-1087	130	17	methodology	methodology	NOUN
cana-1087	130	18	of	of	ADP
cana-1087	130	19	mobile	mobile	ADJ
cana-1087	130	20	robot	robot	NOUN
cana-1087	130	21	for	for	ADP
cana-1087	130	22	unknown	unknown	ADJ
cana-1087	130	23	visitors	visitor	NOUN
cana-1087	130	24	,	,	PUNCT
cana-1087	130	25	"	"	PUNCT
cana-1087	130	26	[	[	X
cana-1087	130	27	5	5	NUM
cana-1087	130	28	]	]	PUNCT
cana-1087	130	29	b.	b.	PROPN
cana-1087	130	30	rithika	rithika	PROPN
cana-1087	130	31	,	,	PUNCT
cana-1087	130	32	m.	m.	NOUN
cana-1087	130	33	yedukondalu	yedukondalu	PROPN
cana-1087	130	34	,	,	PUNCT
cana-1087	130	35	e.	e.	PROPN
cana-1087	130	36	dhanush	dhanush	PROPN
cana-1087	130	37	,	,	PUNCT
cana-1087	130	38	n.	n.	PROPN
cana-1087	130	39	poojitha	poojitha	PROPN
cana-1087	130	40	,	,	PUNCT
cana-1087	130	41	a.	a.	PROPN
cana-1087	130	42	surendra	surendra	PROPN
cana-1087	130	43	reddy	reddy	PROPN
cana-1087	130	44	,	,	PUNCT
cana-1087	130	45	"	"	PUNCT
cana-1087	130	46	iot	iot	ADJ
cana-1087	130	47	enabling	enabling	ADJ
cana-1087	130	48	night	night	NOUN
cana-1087	130	49	patrolling	patrol	VERB
cana-1087	130	50	robot	robot	NOUN
cana-1087	130	51	for	for	ADP
cana-1087	130	52	women	woman	NOUN
cana-1087	130	53	safety	safety	NOUN
cana-1087	130	54	,	,	PUNCT
cana-1087	130	55	"	"	PUNCT
cana-1087	130	56	[	[	X
cana-1087	130	57	6	6	NUM
cana-1087	130	58	]	]	PUNCT
cana-1087	130	59	aayushi	aayushi	PROPN
cana-1087	130	60	ojha	ojha	PROPN
cana-1087	130	61	,	,	PUNCT
cana-1087	130	62	prarit	prarit	NOUN
cana-1087	130	63	vishnoi	vishnoi	NOUN
cana-1087	130	64	,	,	PUNCT
cana-1087	130	65	mohd	mohd	PROPN
cana-1087	130	66	.	.	PUNCT
cana-1087	131	1	yasir	yasir	PROPN
cana-1087	131	2	siddique	siddique	PROPN
cana-1087	131	3	,	,	PUNCT
cana-1087	131	4	kshitij	kshitij	PROPN
cana-1087	131	5	shinghal	shinghal	NOUN
cana-1087	131	6	,	,	PUNCT
cana-1087	131	7	amit	amit	PROPN
cana-1087	131	8	saxena	saxena	PROPN
cana-1087	131	9	,	,	PUNCT
cana-1087	131	10	"	"	PUNCT
cana-1087	131	11	night	night	NOUN
cana-1087	131	12	patrolling	patrolling	NOUN
cana-1087	131	13	robot	robot	NOUN
cana-1087	131	14	,	,	PUNCT
cana-1087	131	15	"	"	PUNCT
cana-1087	132	1	[	[	X
cana-1087	132	2	7	7	X
cana-1087	132	3	]	]	X
cana-1087	132	4	xiang	xiang	PROPN
cana-1087	132	5	li	li	PROPN
cana-1087	132	6	,	,	PUNCT
cana-1087	132	7	yuxuan	yuxuan	PROPN
cana-1087	132	8	ma	ma	PROPN
cana-1087	132	9	,	,	PUNCT
cana-1087	132	10	"	"	PUNCT
cana-1087	132	11	analysis	analysis	NOUN
cana-1087	132	12	of	of	ADP
cana-1087	132	13	multi	multi	ADJ
cana-1087	132	14	-	-	ADJ
cana-1087	132	15	robot	robot	ADJ
cana-1087	132	16	patrolling	patrol	VERB
cana-1087	132	17	algorithms	algorithm	NOUN
cana-1087	132	18	,	,	PUNCT
cana-1087	132	19	"	"	PUNCT
cana-1087	133	1	[	[	X
cana-1087	133	2	8	8	NUM
cana-1087	133	3	]	]	X
cana-1087	133	4	joel	joel	PROPN
cana-1087	133	5	chacko	chacko	PROPN
cana-1087	133	6	,	,	PUNCT
cana-1087	133	7	krishnapriya	krishnapriya	PROPN
cana-1087	133	8	prakash	prakash	PROPN
cana-1087	133	9	,	,	PUNCT
cana-1087	133	10	neha	neha	NOUN
cana-1087	133	11	prince	prince	PROPN
cana-1087	133	12	,	,	PUNCT
cana-1087	133	13	vani	vani	PROPN
cana-1087	133	14	vijayan	vijayan	PROPN
cana-1087	133	15	,	,	PUNCT
cana-1087	133	16	mr	mr	PROPN
cana-1087	133	17	.	.	PROPN
cana-1087	133	18	rishikesh	rishikesh	PROPN
cana-1087	133	19	p	p	PROPN
cana-1087	133	20	h	h	PROPN
cana-1087	133	21	,	,	PUNCT
cana-1087	133	22	dr	dr	PROPN
cana-1087	133	23	.	.	PROPN
cana-1087	133	24	krishnapriya	krishnapriya	PROPN
cana-1087	133	25	s	s	PROPN
cana-1087	133	26	,	,	PUNCT
cana-1087	133	27	"	"	PUNCT
cana-1087	133	28	night	night	NOUN
cana-1087	133	29	patrolling	patrolling	NOUN
cana-1087	133	30	robot	robot	NOUN
cana-1087	133	31	,	,	PUNCT
cana-1087	133	32	"	"	PUNCT
cana-1087	133	33	[	[	X
cana-1087	133	34	9	9	NUM
cana-1087	133	35	]	]	X
cana-1087	133	36	[	[	X
cana-1087	133	37	author(s	author(s	NOUN
cana-1087	133	38	)	)	PUNCT
cana-1087	133	39	]	]	PUNCT
cana-1087	133	40	,	,	PUNCT
cana-1087	133	41	"	"	PUNCT
cana-1087	133	42	frequency	frequency	NOUN
cana-1087	133	43	-	-	PUNCT
cana-1087	133	44	based	base	VERB
cana-1087	133	45	multi	multi	ADJ
cana-1087	133	46	-	-	ADJ
cana-1087	133	47	robot	robot	ADJ
cana-1087	133	48	fence	fence	NOUN
cana-1087	133	49	patrolling	patrol	VERB
cana-1087	133	50	,	,	PUNCT
cana-1087	133	51	"	"	PUNCT
cana-1087	133	52	,	,	PUNCT
cana-1087	133	53	january	january	PROPN
cana-1087	133	54	2008	2008	NUM
cana-1087	133	55	.	.	PUNCT
cana-1087	134	1	[	[	X
cana-1087	134	2	10	10	NUM
cana-1087	134	3	]	]	X
cana-1087	134	4	[	[	X
cana-1087	134	5	author(s	author(s	NOUN
cana-1087	134	6	)	)	PUNCT
cana-1087	134	7	]	]	PUNCT
cana-1087	134	8	,	,	PUNCT
cana-1087	134	9	"	"	PUNCT
cana-1087	134	10	distributed	distribute	VERB
cana-1087	134	11	multi	multi	ADJ
cana-1087	134	12	-	-	ADJ
cana-1087	134	13	robot	robot	ADJ
cana-1087	134	14	area	area	NOUN
cana-1087	134	15	patrolling	patrol	VERB
cana-1087	134	16	in	in	ADP
cana-1087	134	17	adversarial	adversarial	ADJ
cana-1087	134	18	environments	environment	NOUN
cana-1087	134	19	,	,	PUNCT
cana-1087	134	20	"	"	PUNCT
cana-1087	134	21	june	june	PROPN
cana-1087	134	22	2018	2018	NUM
cana-1087	134	23	.	.	PUNCT
cana-1087	135	1	[	[	X
cana-1087	135	2	11	11	NUM
cana-1087	135	3	]	]	X
cana-1087	135	4	apoorv	apoorv	ADJ
cana-1087	135	5	awase	awase	PROPN
cana-1087	135	6	,	,	PUNCT
cana-1087	135	7	prof	prof	PROPN
cana-1087	135	8	.	.	PUNCT
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cana-1087	136	3	,	,	PUNCT
cana-1087	136	4	prathamesh	prathamesh	NOUN
cana-1087	136	5	mulay	mulay	NOUN
cana-1087	136	6	,	,	PUNCT
cana-1087	136	7	"	"	PUNCT
cana-1087	136	8	android	android	PROPN
cana-1087	136	9	controlled	control	VERB
cana-1087	136	10	surveillance	surveillance	NOUN
cana-1087	136	11	robot	robot	NOUN
cana-1087	136	12	,	,	PUNCT
cana-1087	136	13	"	"	PUNCT