id	sid	tid	token	lemma	pos
dss-187	1	1	microsoft	microsoft	PROPN
dss-187	1	2	word	word	NOUN
dss-187	1	3	22	22	NUM
dss-187	1	4	-	-	SYM
dss-187	1	5	31_187	31_187	PRON
dss-187	1	6	issn	issn	PROPN
dss-187	1	7	2744	2744	NUM
dss-187	1	8	-	-	SYM
dss-187	1	9	1741	1741	NUM
dss-187	1	10	defense	defense	NOUN
dss-187	1	11	and	and	CCONJ
dss-187	1	12	security	security	NOUN
dss-187	1	13	studies	study	NOUN
dss-187	1	14	original	original	ADJ
dss-187	1	15	research	research	NOUN
dss-187	1	16	vol	vol	NOUN
dss-187	1	17	.	.	PUNCT
dss-187	1	18	3	3	NUM
dss-187	1	19	,	,	PUNCT
dss-187	1	20	2022	2022	NUM
dss-187	1	21	,	,	PUNCT
dss-187	1	22	pp.22	pp.22	NOUN
dss-187	1	23	-	-	SYM
dss-187	1	24	31	31	NUM
dss-187	1	25	https://doi.org/10.37868/dss.v3.id187	https://doi.org/10.37868/dss.v3.id187	NOUN
dss-187	1	26	this	this	DET
dss-187	1	27	work	work	NOUN
dss-187	1	28	is	be	AUX
dss-187	1	29	licensed	license	VERB
dss-187	1	30	under	under	ADP
dss-187	1	31	a	a	DET
dss-187	1	32	creative	creative	ADJ
dss-187	1	33	commons	common	NOUN
dss-187	1	34	attribution	attribution	NOUN
dss-187	1	35	license	license	NOUN
dss-187	1	36	(	(	PUNCT
dss-187	1	37	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
dss-187	1	38	)	)	PUNCT
dss-187	1	39	that	that	PRON
dss-187	1	40	allows	allow	VERB
dss-187	1	41	others	other	NOUN
dss-187	1	42	to	to	PART
dss-187	1	43	share	share	VERB
dss-187	1	44	and	and	CCONJ
dss-187	1	45	adapt	adapt	VERB
dss-187	1	46	the	the	DET
dss-187	1	47	material	material	NOUN
dss-187	1	48	for	for	ADP
dss-187	1	49	any	any	DET
dss-187	1	50	purpose	purpose	NOUN
dss-187	1	51	(	(	PUNCT
dss-187	1	52	even	even	ADV
dss-187	1	53	commercially	commercially	ADV
dss-187	1	54	)	)	PUNCT
dss-187	1	55	,	,	PUNCT
dss-187	1	56	in	in	ADP
dss-187	1	57	any	any	DET
dss-187	1	58	medium	medium	NOUN
dss-187	1	59	with	with	ADP
dss-187	1	60	an	an	DET
dss-187	1	61	acknowledgement	acknowledgement	NOUN
dss-187	1	62	of	of	ADP
dss-187	1	63	the	the	DET
dss-187	1	64	work	work	NOUN
dss-187	1	65	's	's	PART
dss-187	1	66	authorship	authorship	NOUN
dss-187	1	67	and	and	CCONJ
dss-187	1	68	initial	initial	ADJ
dss-187	1	69	publication	publication	NOUN
dss-187	1	70	in	in	ADP
dss-187	1	71	this	this	DET
dss-187	1	72	journal	journal	NOUN
dss-187	1	73	.	.	PUNCT
dss-187	2	1	22	22	NUM
dss-187	2	2	minimum	minimum	ADJ
dss-187	2	3	viable	viable	ADJ
dss-187	2	4	product	product	NOUN
dss-187	2	5	:	:	PUNCT
dss-187	2	6	a	a	DET
dss-187	2	7	robot	robot	NOUN
dss-187	2	8	solution	solution	NOUN
dss-187	2	9	to	to	ADP
dss-187	2	10	eod	eod	NOUN
dss-187	2	11	operations	operation	NOUN
dss-187	2	12	hamza	hamza	PROPN
dss-187	2	13	bećirspahić1	bećirspahić1	PROPN
dss-187	2	14	*	*	PROPN
dss-187	2	15	,	,	PUNCT
dss-187	2	16	haris	haris	PROPN
dss-187	2	17	basarić2	basarić2	PROPN
dss-187	2	18	,	,	PUNCT
dss-187	2	19	tarik	tarik	PROPN
dss-187	2	20	namas3	namas3	PROPN
dss-187	2	21	,	,	PUNCT
dss-187	2	22	benjamin	benjamin	PROPN
dss-187	2	23	duraković4	duraković4	PROPN
dss-187	2	24	1	1	NUM
dss-187	2	25	mechanical	mechanical	ADJ
dss-187	2	26	engineering	engineering	NOUN
dss-187	2	27	department	department	PROPN
dss-187	2	28	,	,	PUNCT
dss-187	2	29	international	international	PROPN
dss-187	2	30	university	university	PROPN
dss-187	2	31	of	of	ADP
dss-187	2	32	sarajevo	sarajevo	PROPN
dss-187	2	33	,	,	PUNCT
dss-187	2	34	bosnia	bosnia	PROPN
dss-187	2	35	2,3	2,3	NUM
dss-187	2	36	electrical	electrical	ADJ
dss-187	2	37	and	and	CCONJ
dss-187	2	38	electronics	electronics	NOUN
dss-187	2	39	engineering	engineering	NOUN
dss-187	2	40	department	department	PROPN
dss-187	2	41	,	,	PUNCT
dss-187	2	42	international	international	PROPN
dss-187	2	43	university	university	PROPN
dss-187	2	44	of	of	ADP
dss-187	2	45	sarajevo	sarajevo	PROPN
dss-187	2	46	,	,	PUNCT
dss-187	2	47	bosnia	bosnia	PROPN
dss-187	2	48	4	4	NUM
dss-187	2	49	faculty	faculty	NOUN
dss-187	2	50	of	of	ADP
dss-187	2	51	engineering	engineering	NOUN
dss-187	2	52	and	and	CCONJ
dss-187	2	53	natural	natural	ADJ
dss-187	2	54	sciences	science	NOUN
dss-187	2	55	,	,	PUNCT
dss-187	2	56	international	international	ADJ
dss-187	2	57	university	university	PROPN
dss-187	2	58	of	of	ADP
dss-187	2	59	sarajevo	sarajevo	PROPN
dss-187	2	60	,	,	PUNCT
dss-187	2	61	bosnia	bosnia	PROPN
dss-187	2	62	*	*	PUNCT
dss-187	2	63	corresponding	correspond	VERB
dss-187	2	64	author	author	NOUN
dss-187	2	65	e	e	NOUN
dss-187	2	66	-	-	NOUN
dss-187	2	67	mail	mail	NOUN
dss-187	2	68	:	:	PUNCT
dss-187	2	69	hamzabecirspahic@gmail.com	hamzabecirspahic@gmail.com	X
dss-187	2	70	received	receive	VERB
dss-187	2	71	:	:	PUNCT
dss-187	2	72	feb	feb	PROPN
dss-187	2	73	.	.	PROPN
dss-187	2	74	27	27	NUM
dss-187	2	75	,	,	PUNCT
dss-187	2	76	2022	2022	NUM
dss-187	2	77	revised	revise	VERB
dss-187	2	78	:	:	PUNCT
dss-187	2	79	jun	jun	PROPN
dss-187	2	80	.	.	PROPN
dss-187	2	81	19	19	NUM
dss-187	2	82	,	,	PUNCT
dss-187	2	83	2022	2022	NUM
dss-187	2	84	accepted	accept	VERB
dss-187	2	85	:	:	PUNCT
dss-187	2	86	jun	jun	PROPN
dss-187	2	87	.	.	PROPN
dss-187	2	88	28	28	NUM
dss-187	2	89	,	,	PUNCT
dss-187	2	90	2022	2022	NUM
dss-187	2	91	online	online	NOUN
dss-187	2	92	:	:	PUNCT
dss-187	3	1	jul	jul	PROPN
dss-187	3	2	.	.	PROPN
dss-187	3	3	2	2	NUM
dss-187	3	4	,	,	PUNCT
dss-187	3	5	2022	2022	NUM
dss-187	3	6	abstract	abstract	NOUN
dss-187	3	7	this	this	DET
dss-187	3	8	paper	paper	NOUN
dss-187	3	9	presents	present	VERB
dss-187	3	10	the	the	DET
dss-187	3	11	design	design	NOUN
dss-187	3	12	and	and	CCONJ
dss-187	3	13	development	development	NOUN
dss-187	3	14	of	of	ADP
dss-187	3	15	an	an	DET
dss-187	3	16	eod	eod	NOUN
dss-187	3	17	robot	robot	NOUN
dss-187	3	18	,	,	PUNCT
dss-187	3	19	with	with	ADP
dss-187	3	20	mvp	mvp	PROPN
dss-187	3	21	characteristics	characteristic	NOUN
dss-187	3	22	.	.	PUNCT
dss-187	4	1	the	the	DET
dss-187	4	2	design	design	NOUN
dss-187	4	3	is	be	AUX
dss-187	4	4	based	base	VERB
dss-187	4	5	on	on	ADP
dss-187	4	6	a	a	DET
dss-187	4	7	solid	solid	ADJ
dss-187	4	8	base	base	NOUN
dss-187	4	9	structure	structure	NOUN
dss-187	4	10	with	with	ADP
dss-187	4	11	an	an	DET
dss-187	4	12	arm	arm	NOUN
dss-187	4	13	manipulator	manipulator	NOUN
dss-187	4	14	attached	attach	VERB
dss-187	4	15	to	to	ADP
dss-187	4	16	the	the	DET
dss-187	4	17	base	base	NOUN
dss-187	4	18	.	.	PUNCT
dss-187	5	1	the	the	DET
dss-187	5	2	overall	overall	ADJ
dss-187	5	3	dimensions	dimension	NOUN
dss-187	5	4	of	of	ADP
dss-187	5	5	the	the	DET
dss-187	5	6	robot	robot	NOUN
dss-187	5	7	are	be	AUX
dss-187	5	8	590x860x340	590x860x340	NUM
dss-187	5	9	mm	mm	INTJ
dss-187	6	1	and	and	CCONJ
dss-187	6	2	it	it	PRON
dss-187	6	3	weighs	weigh	VERB
dss-187	6	4	55	55	NUM
dss-187	6	5	kg	kg	NOUN
dss-187	6	6	.	.	PUNCT
dss-187	7	1	the	the	DET
dss-187	7	2	robot	robot	NOUN
dss-187	7	3	is	be	AUX
dss-187	7	4	capable	capable	ADJ
dss-187	7	5	of	of	ADP
dss-187	7	6	towing	tow	VERB
dss-187	7	7	heavy	heavy	ADJ
dss-187	7	8	objects	object	NOUN
dss-187	7	9	as	as	ADV
dss-187	7	10	well	well	ADV
dss-187	7	11	as	as	ADP
dss-187	7	12	lifting	lift	VERB
dss-187	7	13	sensitive	sensitive	ADJ
dss-187	7	14	objects	object	NOUN
dss-187	7	15	.	.	PUNCT
dss-187	8	1	the	the	DET
dss-187	8	2	robot	robot	NOUN
dss-187	8	3	has	have	VERB
dss-187	8	4	a	a	DET
dss-187	8	5	maximum	maximum	ADJ
dss-187	8	6	horizontal	horizontal	ADJ
dss-187	8	7	reach	reach	NOUN
dss-187	8	8	of	of	ADP
dss-187	8	9	1400	1400	NUM
dss-187	8	10	mm	mm	NOUN
dss-187	8	11	and	and	CCONJ
dss-187	8	12	a	a	DET
dss-187	8	13	vertical	vertical	NOUN
dss-187	8	14	of	of	ADP
dss-187	8	15	1200	1200	NUM
dss-187	8	16	mm	mm	NOUN
dss-187	8	17	.	.	PUNCT
dss-187	9	1	the	the	DET
dss-187	9	2	robot	robot	NOUN
dss-187	9	3	is	be	AUX
dss-187	9	4	tested	test	VERB
dss-187	9	5	according	accord	VERB
dss-187	9	6	to	to	ADP
dss-187	9	7	guidelines	guideline	NOUN
dss-187	9	8	developed	develop	VERB
dss-187	9	9	in	in	ADP
dss-187	9	10	the	the	DET
dss-187	9	11	usa	usa	PROPN
dss-187	9	12	,	,	PUNCT
dss-187	9	13	as	as	ADV
dss-187	9	14	much	much	ADV
dss-187	9	15	as	as	SCONJ
dss-187	9	16	the	the	DET
dss-187	9	17	conditions	condition	NOUN
dss-187	9	18	allowed	allow	VERB
dss-187	9	19	.	.	PUNCT
dss-187	10	1	briefly	briefly	ADV
dss-187	10	2	,	,	PUNCT
dss-187	10	3	the	the	DET
dss-187	10	4	results	result	NOUN
dss-187	10	5	can	can	AUX
dss-187	10	6	be	be	AUX
dss-187	10	7	summarized	summarize	VERB
dss-187	10	8	as	as	SCONJ
dss-187	10	9	follows	follow	VERB
dss-187	10	10	:	:	PUNCT
dss-187	10	11	the	the	DET
dss-187	10	12	setup	setup	NOUN
dss-187	10	13	time	time	NOUN
dss-187	10	14	for	for	ADP
dss-187	10	15	the	the	DET
dss-187	10	16	robot	robot	NOUN
dss-187	10	17	is	be	AUX
dss-187	10	18	10	10	NUM
dss-187	10	19	minutes	minute	NOUN
dss-187	10	20	,	,	PUNCT
dss-187	10	21	it	it	PRON
dss-187	10	22	can	can	AUX
dss-187	10	23	reach	reach	VERB
dss-187	10	24	speeds	speed	NOUN
dss-187	10	25	up	up	ADP
dss-187	10	26	to	to	PART
dss-187	10	27	8	8	NUM
dss-187	10	28	km	km	NOUN
dss-187	10	29	/	/	SYM
dss-187	10	30	h	h	NOUN
dss-187	10	31	,	,	PUNCT
dss-187	10	32	it	it	PRON
dss-187	10	33	has	have	VERB
dss-187	10	34	a	a	DET
dss-187	10	35	towing	towing	NOUN
dss-187	10	36	capacity	capacity	NOUN
dss-187	10	37	of	of	ADP
dss-187	10	38	40	40	NUM
dss-187	10	39	kg	kg	NOUN
dss-187	10	40	and	and	CCONJ
dss-187	10	41	the	the	DET
dss-187	10	42	maximum	maximum	ADJ
dss-187	10	43	communication	communication	NOUN
dss-187	10	44	reach	reach	NOUN
dss-187	10	45	is	be	AUX
dss-187	10	46	20	20	NUM
dss-187	10	47	m.	m.	NOUN
dss-187	10	48	among	among	ADP
dss-187	10	49	successful	successful	ADJ
dss-187	10	50	tests	test	NOUN
dss-187	10	51	,	,	PUNCT
dss-187	10	52	the	the	DET
dss-187	10	53	weaknesses	weakness	NOUN
dss-187	10	54	were	be	AUX
dss-187	10	55	also	also	ADV
dss-187	10	56	found	find	VERB
dss-187	10	57	which	which	PRON
dss-187	10	58	act	act	NOUN
dss-187	10	59	as	as	ADP
dss-187	10	60	a	a	DET
dss-187	10	61	guide	guide	NOUN
dss-187	10	62	for	for	ADP
dss-187	10	63	future	future	ADJ
dss-187	10	64	designs	design	NOUN
dss-187	10	65	and	and	CCONJ
dss-187	10	66	developments	development	NOUN
dss-187	10	67	.	.	PUNCT
dss-187	11	1	these	these	DET
dss-187	11	2	weaknesses	weakness	NOUN
dss-187	11	3	are	be	AUX
dss-187	11	4	what	what	PRON
dss-187	11	5	mvp	mvp	NOUN
dss-187	11	6	concepts	concept	NOUN
dss-187	11	7	are	be	AUX
dss-187	11	8	actually	actually	ADV
dss-187	11	9	developed	develop	VERB
dss-187	11	10	for	for	ADP
dss-187	11	11	.	.	PUNCT
dss-187	12	1	©	©	ADP
dss-187	12	2	the	the	DET
dss-187	12	3	author	author	NOUN
dss-187	12	4	2022	2022	NUM
dss-187	12	5	.	.	PUNCT
dss-187	13	1	published	publish	VERB
dss-187	13	2	by	by	ADP
dss-187	13	3	arda	arda	PROPN
dss-187	13	4	.	.	PUNCT
dss-187	14	1	keywords	keyword	NOUN
dss-187	14	2	:	:	PUNCT
dss-187	14	3	explosive	explosive	ADJ
dss-187	14	4	ordnance	ordnance	NOUN
dss-187	14	5	disposal	disposal	NOUN
dss-187	14	6	,	,	PUNCT
dss-187	14	7	eod	eod	NOUN
dss-187	14	8	robot	robot	NOUN
dss-187	14	9	,	,	PUNCT
dss-187	14	10	ordnance	ordnance	NOUN
dss-187	14	11	,	,	PUNCT
dss-187	14	12	robot	robot	NOUN
dss-187	14	13	testing	testing	NOUN
dss-187	14	14	,	,	PUNCT
dss-187	14	15	minimum	minimum	ADJ
dss-187	14	16	viable	viable	ADJ
dss-187	14	17	product	product	NOUN
dss-187	14	18	,	,	PUNCT
dss-187	14	19	mvp	mvp	PROPN
dss-187	14	20	1	1	NUM
dss-187	14	21	.	.	PUNCT
dss-187	14	22	introduction	introduction	NOUN
dss-187	14	23	landmine	landmine	NOUN
dss-187	14	24	and	and	CCONJ
dss-187	14	25	cluster	cluster	NOUN
dss-187	14	26	munition	munition	NOUN
dss-187	14	27	monitor	monitor	NOUN
dss-187	14	28	reported	report	VERB
dss-187	14	29	that	that	SCONJ
dss-187	14	30	around	around	ADP
dss-187	14	31	26	26	NUM
dss-187	14	32	states	state	NOUN
dss-187	14	33	and	and	CCONJ
dss-187	14	34	3	3	NUM
dss-187	14	35	other	other	ADJ
dss-187	14	36	areas	area	NOUN
dss-187	14	37	are	be	AUX
dss-187	14	38	contaminated	contaminate	VERB
dss-187	14	39	by	by	ADP
dss-187	14	40	cluster	cluster	NOUN
dss-187	14	41	munition	munition	NOUN
dss-187	14	42	remnants	remnant	NOUN
dss-187	14	43	,	,	PUNCT
dss-187	14	44	as	as	ADP
dss-187	14	45	of	of	ADP
dss-187	14	46	august	august	PROPN
dss-187	14	47	2021	2021	NUM
dss-187	15	1	[	[	X
dss-187	15	2	1	1	NUM
dss-187	15	3	]	]	PUNCT
dss-187	15	4	.	.	PUNCT
dss-187	16	1	cluster	cluster	NOUN
dss-187	16	2	munition	munition	NOUN
dss-187	16	3	remnants	remnant	NOUN
dss-187	16	4	are	be	AUX
dss-187	16	5	defined	define	VERB
dss-187	16	6	,	,	PUNCT
dss-187	16	7	by	by	ADP
dss-187	16	8	the	the	DET
dss-187	16	9	convention	convention	NOUN
dss-187	16	10	on	on	ADP
dss-187	16	11	cluster	cluster	NOUN
dss-187	16	12	munition	munition	NOUN
dss-187	16	13	,	,	PUNCT
dss-187	16	14	as	as	ADP
dss-187	16	15	conventional	conventional	ADJ
dss-187	16	16	munition	munition	NOUN
dss-187	16	17	designed	design	VERB
dss-187	16	18	to	to	PART
dss-187	16	19	disperse	disperse	VERB
dss-187	16	20	explosive	explosive	ADJ
dss-187	16	21	submunitions	submunition	NOUN
dss-187	16	22	,	,	PUNCT
dss-187	16	23	weighing	weigh	VERB
dss-187	16	24	less	less	ADJ
dss-187	16	25	than	than	ADP
dss-187	16	26	20	20	NUM
dss-187	16	27	kg	kg	NOUN
dss-187	16	28	and	and	CCONJ
dss-187	16	29	including	include	VERB
dss-187	16	30	that	that	DET
dss-187	16	31	submunition	submunition	NOUN
dss-187	16	32	,	,	PUNCT
dss-187	16	33	that	that	PRON
dss-187	16	34	failed	fail	VERB
dss-187	16	35	to	to	PART
dss-187	16	36	detonate	detonate	VERB
dss-187	16	37	[	[	X
dss-187	16	38	2	2	NUM
dss-187	16	39	]	]	PUNCT
dss-187	16	40	.	.	PUNCT
dss-187	17	1	it	it	PRON
dss-187	17	2	is	be	AUX
dss-187	17	3	very	very	ADV
dss-187	17	4	easy	easy	ADJ
dss-187	17	5	to	to	PART
dss-187	17	6	conclude	conclude	VERB
dss-187	17	7	that	that	SCONJ
dss-187	17	8	the	the	DET
dss-187	17	9	impact	impact	NOUN
dss-187	17	10	is	be	AUX
dss-187	17	11	still	still	ADV
dss-187	17	12	widely	widely	ADV
dss-187	17	13	present	present	ADJ
dss-187	17	14	and	and	CCONJ
dss-187	17	15	it	it	PRON
dss-187	17	16	is	be	AUX
dss-187	17	17	being	be	AUX
dss-187	17	18	addressed	address	VERB
dss-187	17	19	by	by	ADP
dss-187	17	20	many	many	ADJ
dss-187	17	21	organizations	organization	NOUN
dss-187	17	22	,	,	PUNCT
dss-187	17	23	international	international	ADJ
dss-187	17	24	as	as	ADV
dss-187	17	25	well	well	ADV
dss-187	17	26	as	as	ADP
dss-187	17	27	national	national	ADJ
dss-187	17	28	.	.	PUNCT
dss-187	18	1	in	in	ADP
dss-187	18	2	bosnia	bosnia	PROPN
dss-187	18	3	and	and	CCONJ
dss-187	18	4	herzegovina	herzegovina	PROPN
dss-187	18	5	,	,	PUNCT
dss-187	18	6	among	among	ADP
dss-187	18	7	the	the	DET
dss-187	18	8	countries	country	NOUN
dss-187	18	9	most	most	ADV
dss-187	18	10	hit	hit	VERB
dss-187	18	11	by	by	ADP
dss-187	18	12	cluster	cluster	NOUN
dss-187	18	13	munition	munition	NOUN
dss-187	18	14	and	and	CCONJ
dss-187	18	15	landmine	landmine	NOUN
dss-187	18	16	contamination	contamination	NOUN
dss-187	18	17	,	,	PUNCT
dss-187	18	18	the	the	DET
dss-187	18	19	problem	problem	NOUN
dss-187	18	20	is	be	AUX
dss-187	18	21	still	still	ADV
dss-187	18	22	being	be	AUX
dss-187	18	23	addressed	address	VERB
dss-187	18	24	,	,	PUNCT
dss-187	18	25	as	as	SCONJ
dss-187	18	26	the	the	DET
dss-187	18	27	country	country	NOUN
dss-187	18	28	asked	ask	VERB
dss-187	18	29	for	for	ADP
dss-187	18	30	an	an	DET
dss-187	18	31	extension	extension	NOUN
dss-187	18	32	of	of	ADP
dss-187	18	33	the	the	DET
dss-187	18	34	deadline	deadline	NOUN
dss-187	18	35	for	for	ADP
dss-187	18	36	clearance	clearance	NOUN
dss-187	18	37	in	in	ADP
dss-187	18	38	2021	2021	NUM
dss-187	18	39	and	and	CCONJ
dss-187	18	40	expects	expect	VERB
dss-187	18	41	clearance	clearance	NOUN
dss-187	18	42	to	to	PART
dss-187	18	43	be	be	AUX
dss-187	18	44	completed	complete	VERB
dss-187	18	45	by	by	ADP
dss-187	18	46	late	late	ADJ
dss-187	18	47	2022	2022	NUM
dss-187	19	1	[	[	X
dss-187	19	2	1	1	NUM
dss-187	19	3	]	]	PUNCT
dss-187	19	4	.	.	PUNCT
dss-187	20	1	there	there	PRON
dss-187	20	2	is	be	VERB
dss-187	20	3	one	one	NUM
dss-187	20	4	more	more	ADJ
dss-187	20	5	problem	problem	NOUN
dss-187	20	6	the	the	DET
dss-187	20	7	authors	author	NOUN
dss-187	20	8	found	find	VERB
dss-187	20	9	.	.	PUNCT
dss-187	21	1	the	the	DET
dss-187	21	2	defense	defense	NOUN
dss-187	21	3	industry	industry	NOUN
dss-187	21	4	companies	company	NOUN
dss-187	21	5	,	,	PUNCT
dss-187	21	6	locally	locally	ADV
dss-187	21	7	,	,	PUNCT
dss-187	21	8	are	be	AUX
dss-187	21	9	testing	test	VERB
dss-187	21	10	explosives	explosive	NOUN
dss-187	21	11	at	at	ADP
dss-187	21	12	their	their	PRON
dss-187	21	13	premises	premise	NOUN
dss-187	21	14	,	,	PUNCT
dss-187	21	15	and	and	CCONJ
dss-187	21	16	after	after	ADP
dss-187	21	17	unsuccessful	unsuccessful	ADJ
dss-187	21	18	testing	testing	NOUN
dss-187	21	19	usually	usually	ADV
dss-187	21	20	the	the	DET
dss-187	21	21	human	human	ADJ
dss-187	21	22	operator	operator	NOUN
dss-187	21	23	dismantles	dismantle	VERB
dss-187	21	24	the	the	DET
dss-187	21	25	explosive	explosive	NOUN
dss-187	21	26	by	by	ADP
dss-187	21	27	hand	hand	NOUN
dss-187	21	28	which	which	PRON
dss-187	21	29	can	can	AUX
dss-187	21	30	lead	lead	VERB
dss-187	21	31	to	to	ADP
dss-187	21	32	severe	severe	ADJ
dss-187	21	33	injuries	injury	NOUN
dss-187	21	34	,	,	PUNCT
dss-187	21	35	not	not	PART
dss-187	21	36	uncommon	uncommon	ADJ
dss-187	21	37	to	to	PART
dss-187	21	38	occur	occur	VERB
dss-187	21	39	in	in	ADP
dss-187	21	40	these	these	DET
dss-187	21	41	companies	company	NOUN
dss-187	21	42	.	.	PUNCT
dss-187	22	1	this	this	PRON
dss-187	22	2	and	and	CCONJ
dss-187	22	3	the	the	DET
dss-187	22	4	facts	fact	NOUN
dss-187	22	5	mentioned	mention	VERB
dss-187	22	6	in	in	ADP
dss-187	22	7	the	the	DET
dss-187	22	8	first	first	ADJ
dss-187	22	9	paragraph	paragraph	NOUN
dss-187	22	10	are	be	AUX
dss-187	22	11	what	what	PRON
dss-187	22	12	inspired	inspire	VERB
dss-187	22	13	and	and	CCONJ
dss-187	22	14	motivated	motivate	VERB
dss-187	22	15	the	the	DET
dss-187	22	16	authors	author	NOUN
dss-187	22	17	to	to	PART
dss-187	22	18	try	try	VERB
dss-187	22	19	to	to	PART
dss-187	22	20	contribute	contribute	VERB
dss-187	22	21	to	to	ADP
dss-187	22	22	a	a	DET
dss-187	22	23	solution	solution	NOUN
dss-187	22	24	.	.	PUNCT
dss-187	23	1	the	the	DET
dss-187	23	2	solution	solution	NOUN
dss-187	23	3	,	,	PUNCT
dss-187	23	4	as	as	SCONJ
dss-187	23	5	seen	see	VERB
dss-187	23	6	by	by	ADP
dss-187	23	7	the	the	DET
dss-187	23	8	authors	author	NOUN
dss-187	23	9	,	,	PUNCT
dss-187	23	10	is	be	AUX
dss-187	23	11	a	a	DET
dss-187	23	12	remotely	remotely	ADV
dss-187	23	13	controlled	control	VERB
dss-187	23	14	robot	robot	NOUN
dss-187	23	15	that	that	PRON
dss-187	23	16	is	be	AUX
dss-187	23	17	equipped	equip	VERB
dss-187	23	18	with	with	ADP
dss-187	23	19	a	a	DET
dss-187	23	20	manipulator	manipulator	NOUN
dss-187	23	21	and	and	CCONJ
dss-187	23	22	a	a	DET
dss-187	23	23	gripper	gripper	NOUN
dss-187	23	24	and	and	CCONJ
dss-187	23	25	capable	capable	ADJ
dss-187	23	26	of	of	ADP
dss-187	23	27	handling	handle	VERB
dss-187	23	28	operations	operation	NOUN
dss-187	23	29	that	that	PRON
dss-187	23	30	are	be	AUX
dss-187	23	31	required	require	VERB
dss-187	23	32	in	in	ADP
dss-187	23	33	an	an	DET
dss-187	23	34	explosive	explosive	ADJ
dss-187	23	35	ordnance	ordnance	NOUN
dss-187	23	36	disposal	disposal	NOUN
dss-187	23	37	(	(	PUNCT
dss-187	23	38	eod	eod	NOUN
dss-187	23	39	)	)	PUNCT
dss-187	23	40	.	.	PUNCT
dss-187	24	1	since	since	SCONJ
dss-187	24	2	eod	eod	NOUN
dss-187	24	3	robots	robot	NOUN
dss-187	24	4	are	be	AUX
dss-187	24	5	readily	readily	ADV
dss-187	24	6	available	available	ADJ
dss-187	24	7	on	on	ADP
dss-187	24	8	the	the	DET
dss-187	24	9	market	market	NOUN
dss-187	24	10	,	,	PUNCT
dss-187	24	11	some	some	PRON
dss-187	24	12	of	of	ADP
dss-187	24	13	the	the	DET
dss-187	24	14	most	most	ADV
dss-187	24	15	popular	popular	ADJ
dss-187	24	16	are	be	AUX
dss-187	24	17	presented	present	VERB
dss-187	24	18	in	in	ADP
dss-187	24	19	table	table	NOUN
dss-187	24	20	1	1	NUM
dss-187	24	21	.	.	PUNCT
dss-187	24	22	dss	dss	NOUN
dss-187	24	23	vol	vol	NOUN
dss-187	24	24	.	.	PROPN
dss-187	25	1	3	3	NUM
dss-187	25	2	,	,	PUNCT
dss-187	25	3	2022	2022	NUM
dss-187	25	4	,	,	PUNCT
dss-187	25	5	pp.22	pp.22	NOUN
dss-187	25	6	-	-	SYM
dss-187	25	7	31	31	NUM
dss-187	25	8	23	23	NUM
dss-187	25	9	table	table	NOUN
dss-187	25	10	1	1	NUM
dss-187	25	11	.	.	PUNCT
dss-187	25	12	eod	eod	NOUN
dss-187	25	13	robots	robot	NOUN
dss-187	25	14	available	available	ADJ
dss-187	25	15	on	on	ADP
dss-187	25	16	the	the	DET
dss-187	25	17	market	market	NOUN
dss-187	25	18	company	company	NOUN
dss-187	25	19	model	model	PROPN
dss-187	25	20	max	max	PROPN
dss-187	25	21	.	.	PUNCT
dss-187	26	1	lift	lift	NOUN
dss-187	26	2	capacity	capacity	NOUN
dss-187	26	3	weight	weight	NOUN
dss-187	26	4	reach	reach	NOUN
dss-187	26	5	(	(	PUNCT
dss-187	26	6	forward	forward	ADV
dss-187	26	7	)	)	PUNCT
dss-187	26	8	speed	speed	NOUN
dss-187	26	9	reference	reference	NOUN
dss-187	26	10	1	1	NUM
dss-187	26	11	.	.	PUNCT
dss-187	26	12	telerob	telerob	PROPN
dss-187	26	13	,	,	PUNCT
dss-187	26	14	germany	germany	PROPN
dss-187	26	15	teodor	teodor	PROPN
dss-187	26	16	evo	evo	PROPN
dss-187	26	17	100	100	NUM
dss-187	26	18	kg	kg	NOUN
dss-187	26	19	383	383	NUM
dss-187	26	20	kg	kg	NOUN
dss-187	27	1	1860	1860	NUM
dss-187	27	2	mm	mm	NOUN
dss-187	27	3	3	3	NUM
dss-187	27	4	km	km	NOUN
dss-187	27	5	/	/	SYM
dss-187	27	6	h	h	NOUN
dss-187	28	1	[	[	X
dss-187	28	2	3	3	NUM
dss-187	28	3	]	]	SYM
dss-187	28	4	2	2	NUM
dss-187	28	5	.	.	PUNCT
dss-187	28	6	northrop	northrop	PROPN
dss-187	28	7	grumman	grumman	PROPN
dss-187	28	8	,	,	PUNCT
dss-187	28	9	u.s.a	u.s.a	PROPN
dss-187	28	10	.	.	PUNCT
dss-187	28	11	andros	andros	PROPN
dss-187	28	12	f6a	f6a	PUNCT
dss-187	29	1	61	61	NUM
dss-187	29	2	kg	kg	NUM
dss-187	29	3	220	220	NUM
dss-187	29	4	kg	kg	NOUN
dss-187	29	5	1440	1440	NUM
dss-187	29	6	mm	mm	NUM
dss-187	29	7	4.8	4.8	NUM
dss-187	29	8	km	km	NOUN
dss-187	29	9	/	/	SYM
dss-187	29	10	h	h	NOUN
dss-187	30	1	[	[	X
dss-187	30	2	4	4	NUM
dss-187	30	3	]	]	SYM
dss-187	30	4	3	3	NUM
dss-187	30	5	.	.	PUNCT
dss-187	30	6	qinetiq	qinetiq	PROPN
dss-187	30	7	inc	inc	PROPN
dss-187	30	8	.	.	PROPN
dss-187	30	9	,	,	PUNCT
dss-187	30	10	u.s.a	u.s.a	PROPN
dss-187	30	11	.	.	PROPN
dss-187	30	12	talon	talon	PROPN
dss-187	30	13	68	68	NUM
dss-187	30	14	kg	kg	NUM
dss-187	30	15	81	81	NUM
dss-187	30	16	kg	kg	NOUN
dss-187	30	17	1570	1570	NUM
dss-187	30	18	mm	mm	NOUN
dss-187	30	19	n	n	CCONJ
dss-187	30	20	/	/	SYM
dss-187	30	21	a	a	DET
dss-187	30	22	[	[	X
dss-187	30	23	5	5	NUM
dss-187	30	24	]	]	SYM
dss-187	30	25	4	4	NUM
dss-187	30	26	.	.	PUNCT
dss-187	30	27	l3harris	l3harris	PROPN
dss-187	30	28	technologies	technologies	PROPN
dss-187	30	29	,	,	PUNCT
dss-187	30	30	u.s.a	u.s.a	PROPN
dss-187	30	31	.	.	PUNCT
dss-187	31	1	t7	t7	PROPN
dss-187	31	2	113	113	NUM
dss-187	32	1	+	+	CCONJ
dss-187	32	2	kg	kg	PROPN
dss-187	32	3	322	322	NUM
dss-187	32	4	kg	kg	NOUN
dss-187	32	5	2200	2200	NUM
dss-187	32	6	mm	mm	NOUN
dss-187	32	7	8	8	NUM
dss-187	32	8	+	+	NUM
dss-187	32	9	km	km	PROPN
dss-187	32	10	/	/	SYM
dss-187	32	11	h	h	NOUN
dss-187	33	1	[	[	X
dss-187	33	2	6	6	NUM
dss-187	33	3	]	]	SYM
dss-187	33	4	5	5	NUM
dss-187	33	5	.	.	PUNCT
dss-187	33	6	superdroid	superdroid	ADJ
dss-187	33	7	robots	robot	NOUN
dss-187	33	8	,	,	PUNCT
dss-187	33	9	u.s.a	u.s.a	PROPN
dss-187	33	10	.	.	PUNCT
dss-187	33	11	lt2	lt2	PROPN
dss-187	33	12	-	-	PUNCT
dss-187	33	13	f	f	PROPN
dss-187	33	14	“	"	PUNCT
dss-187	33	15	bulldog	bulldog	NOUN
dss-187	33	16	”	"	PUNCT
dss-187	33	17	7	7	NUM
dss-187	33	18	+	+	NUM
dss-187	33	19	kg	kg	NOUN
dss-187	33	20	full	full	ADJ
dss-187	33	21	extension	extension	NOUN
dss-187	33	22	40	40	NUM
dss-187	33	23	kg	kg	NOUN
dss-187	33	24	1220	1220	NUM
dss-187	33	25	mm	mm	NOUN
dss-187	33	26	2	2	NUM
dss-187	33	27	km	km	NOUN
dss-187	33	28	/	/	SYM
dss-187	33	29	h	h	NOUN
dss-187	34	1	[	[	X
dss-187	34	2	7	7	NUM
dss-187	34	3	]	]	SYM
dss-187	34	4	6	6	NUM
dss-187	34	5	.	.	PUNCT
dss-187	34	6	superdroid	superdroid	ADJ
dss-187	34	7	robots	robot	NOUN
dss-187	34	8	,	,	PUNCT
dss-187	34	9	u.s.a	u.s.a	X
dss-187	34	10	.	.	PUNCT
dss-187	34	11	hd2	hd2	PROPN
dss-187	34	12	-	-	PUNCT
dss-187	34	13	s	s	PART
dss-187	34	14	“	"	PUNCT
dss-187	34	15	mastiff	mastiff	NOUN
dss-187	34	16	”	"	PUNCT
dss-187	34	17	9	9	NUM
dss-187	34	18	+	+	NUM
dss-187	34	19	kg	kg	NOUN
dss-187	34	20	full	full	ADJ
dss-187	34	21	extension	extension	NOUN
dss-187	34	22	68	68	NUM
dss-187	34	23	kg	kg	NOUN
dss-187	34	24	heaviest	heavy	ADJ
dss-187	34	25	configuration	configuration	NOUN
dss-187	34	26	890	890	NUM
dss-187	34	27	mm	mm	NUM
dss-187	34	28	2	2	NUM
dss-187	34	29	km	km	NOUN
dss-187	34	30	/	/	SYM
dss-187	34	31	h	h	NOUN
dss-187	35	1	[	[	X
dss-187	35	2	8	8	NUM
dss-187	35	3	]	]	SYM
dss-187	35	4	7	7	NUM
dss-187	35	5	.	.	PUNCT
dss-187	35	6	nic	nic	PROPN
dss-187	35	7	instruments	instruments	PROPN
dss-187	35	8	ltd	ltd	PROPN
dss-187	35	9	.	.	PROPN
dss-187	35	10	,	,	PUNCT
dss-187	35	11	united	united	PROPN
dss-187	35	12	kingdom	kingdom	PROPN
dss-187	35	13	zeus	zeus	PROPN
dss-187	35	14	15	15	NUM
dss-187	35	15	kg	kg	NOUN
dss-187	35	16	51.7	51.7	NUM
dss-187	35	17	kg	kg	NOUN
dss-187	35	18	1460	1460	NUM
dss-187	35	19	mm	mm	NOUN
dss-187	35	20	3	3	NUM
dss-187	35	21	km	km	NOUN
dss-187	35	22	/	/	SYM
dss-187	35	23	h	h	NOUN
dss-187	36	1	[	[	X
dss-187	36	2	9	9	X
dss-187	36	3	]	]	X
dss-187	36	4	teodor	teodor	NOUN
dss-187	36	5	evo	evo	PROPN
dss-187	36	6	is	be	AUX
dss-187	36	7	an	an	DET
dss-187	36	8	eod	eod	NOUN
dss-187	36	9	robot	robot	NOUN
dss-187	36	10	developed	develop	VERB
dss-187	36	11	by	by	ADP
dss-187	36	12	telerob	telerob	NOUN
dss-187	36	13	company	company	NOUN
dss-187	36	14	.	.	PUNCT
dss-187	37	1	the	the	DET
dss-187	37	2	robot	robot	NOUN
dss-187	37	3	is	be	AUX
dss-187	37	4	capable	capable	ADJ
dss-187	37	5	of	of	ADP
dss-187	37	6	performing	perform	VERB
dss-187	37	7	not	not	PART
dss-187	37	8	just	just	ADV
dss-187	37	9	eod	eod	NOUN
dss-187	37	10	operations	operation	NOUN
dss-187	37	11	but	but	CCONJ
dss-187	37	12	also	also	ADV
dss-187	37	13	cbrn	cbrn	NOUN
dss-187	37	14	operations	operation	NOUN
dss-187	37	15	,	,	PUNCT
dss-187	37	16	which	which	PRON
dss-187	37	17	stands	stand	VERB
dss-187	37	18	for	for	ADP
dss-187	37	19	chemical	chemical	NOUN
dss-187	37	20	,	,	PUNCT
dss-187	37	21	biological	biological	ADJ
dss-187	37	22	,	,	PUNCT
dss-187	37	23	radiological	radiological	ADJ
dss-187	37	24	and	and	CCONJ
dss-187	37	25	nuclear	nuclear	ADJ
dss-187	37	26	threats	threat	NOUN
dss-187	37	27	.	.	PUNCT
dss-187	38	1	it	it	PRON
dss-187	38	2	is	be	AUX
dss-187	38	3	equipped	equip	VERB
dss-187	38	4	with	with	ADP
dss-187	38	5	a	a	DET
dss-187	38	6	6	6	NUM
dss-187	38	7	degrees	degree	NOUN
dss-187	38	8	-	-	PUNCT
dss-187	38	9	of	of	ADP
dss-187	38	10	-	-	PUNCT
dss-187	38	11	freedom	freedom	NOUN
dss-187	38	12	manipulator	manipulator	NOUN
dss-187	38	13	and	and	CCONJ
dss-187	38	14	an	an	DET
dss-187	38	15	onboard	onboard	ADJ
dss-187	38	16	tool	tool	NOUN
dss-187	38	17	magazine	magazine	NOUN
dss-187	38	18	for	for	ADP
dss-187	38	19	convenient	convenient	ADJ
dss-187	38	20	remote	remote	ADJ
dss-187	38	21	tool	tool	NOUN
dss-187	38	22	change	change	NOUN
dss-187	38	23	.	.	PUNCT
dss-187	39	1	it	it	PRON
dss-187	39	2	has	have	VERB
dss-187	39	3	intuitive	intuitive	ADJ
dss-187	39	4	control	control	NOUN
dss-187	39	5	handling	handling	NOUN
dss-187	39	6	and	and	CCONJ
dss-187	39	7	it	it	PRON
dss-187	39	8	is	be	AUX
dss-187	39	9	very	very	ADV
dss-187	39	10	popular	popular	ADJ
dss-187	39	11	with	with	ADP
dss-187	39	12	military	military	ADJ
dss-187	39	13	and	and	CCONJ
dss-187	39	14	law	law	NOUN
dss-187	39	15	enforcement	enforcement	NOUN
dss-187	39	16	agencies	agency	NOUN
dss-187	39	17	[	[	X
dss-187	39	18	3	3	NUM
dss-187	39	19	]	]	PUNCT
dss-187	39	20	.	.	PUNCT
dss-187	40	1	andros	andros	PROPN
dss-187	40	2	f6a	f6a	X
dss-187	40	3	is	be	AUX
dss-187	40	4	an	an	DET
dss-187	40	5	eod	eod	NOUN
dss-187	40	6	robot	robot	NOUN
dss-187	40	7	developed	develop	VERB
dss-187	40	8	by	by	ADP
dss-187	40	9	a	a	DET
dss-187	40	10	subsidiary	subsidiary	ADJ
dss-187	40	11	company	company	NOUN
dss-187	40	12	of	of	ADP
dss-187	40	13	northrop	northrop	PROPN
dss-187	40	14	grumman	grumman	PROPN
dss-187	40	15	,	,	PUNCT
dss-187	40	16	remotec	remotec	PROPN
dss-187	40	17	inc	inc	PROPN
dss-187	40	18	.	.	PUNCT
dss-187	41	1	it	it	PRON
dss-187	41	2	is	be	AUX
dss-187	41	3	distinguished	distinguish	VERB
dss-187	41	4	by	by	ADP
dss-187	41	5	the	the	DET
dss-187	41	6	capability	capability	NOUN
dss-187	41	7	to	to	PART
dss-187	41	8	pneumatically	pneumatically	ADV
dss-187	41	9	release	release	VERB
dss-187	41	10	its	its	PRON
dss-187	41	11	wheels	wheel	NOUN
dss-187	41	12	for	for	ADP
dss-187	41	13	width	width	ADJ
dss-187	41	14	reduction	reduction	NOUN
dss-187	41	15	when	when	SCONJ
dss-187	41	16	applications	application	NOUN
dss-187	41	17	demand	demand	VERB
dss-187	41	18	it	it	PRON
dss-187	41	19	.	.	PUNCT
dss-187	42	1	it	it	PRON
dss-187	42	2	is	be	AUX
dss-187	42	3	equipped	equip	VERB
dss-187	42	4	with	with	ADP
dss-187	42	5	a	a	DET
dss-187	42	6	7	7	NUM
dss-187	42	7	degrees	degree	NOUN
dss-187	42	8	-	-	PUNCT
dss-187	42	9	of	of	ADP
dss-187	42	10	-	-	PUNCT
dss-187	42	11	freedom	freedom	NOUN
dss-187	42	12	manipulator	manipulator	NOUN
dss-187	42	13	and	and	CCONJ
dss-187	42	14	capable	capable	ADJ
dss-187	42	15	of	of	ADP
dss-187	42	16	3	3	NUM
dss-187	42	17	-	-	SYM
dss-187	42	18	4	4	NUM
dss-187	42	19	hours	hour	NOUN
dss-187	42	20	on	on	ADP
dss-187	42	21	mission	mission	NOUN
dss-187	42	22	operations	operation	NOUN
dss-187	42	23	[	[	X
dss-187	42	24	4	4	NUM
dss-187	42	25	]	]	PUNCT
dss-187	42	26	.	.	PUNCT
dss-187	43	1	talon	talon	PROPN
dss-187	43	2	robots	robot	NOUN
dss-187	43	3	are	be	AUX
dss-187	43	4	eod	eod	NOUN
dss-187	43	5	robots	robot	NOUN
dss-187	43	6	developed	develop	VERB
dss-187	43	7	by	by	ADP
dss-187	43	8	qinetiq	qinetiq	PROPN
dss-187	43	9	inc	inc	PROPN
dss-187	43	10	.	.	PUNCT
dss-187	44	1	they	they	PRON
dss-187	44	2	are	be	AUX
dss-187	44	3	in	in	ADP
dss-187	44	4	active	active	ADJ
dss-187	44	5	service	service	NOUN
dss-187	44	6	since	since	SCONJ
dss-187	44	7	2000s	2000s	NUM
dss-187	44	8	when	when	SCONJ
dss-187	44	9	they	they	PRON
dss-187	44	10	were	be	AUX
dss-187	44	11	used	use	VERB
dss-187	44	12	in	in	ADP
dss-187	44	13	bosnia	bosnia	PROPN
dss-187	44	14	and	and	CCONJ
dss-187	44	15	herzegovina	herzegovina	PROPN
dss-187	44	16	for	for	ADP
dss-187	44	17	the	the	DET
dss-187	44	18	disposal	disposal	NOUN
dss-187	44	19	of	of	ADP
dss-187	44	20	live	live	ADJ
dss-187	44	21	explosives	explosive	NOUN
dss-187	44	22	.	.	PUNCT
dss-187	45	1	talon	talon	PROPN
dss-187	45	2	robots	robot	NOUN
dss-187	45	3	are	be	AUX
dss-187	45	4	also	also	ADV
dss-187	45	5	one	one	NUM
dss-187	45	6	of	of	ADP
dss-187	45	7	the	the	DET
dss-187	45	8	lightest	light	ADJ
dss-187	45	9	robots	robot	NOUN
dss-187	45	10	on	on	ADP
dss-187	45	11	the	the	DET
dss-187	45	12	market	market	NOUN
dss-187	45	13	that	that	PRON
dss-187	45	14	are	be	AUX
dss-187	45	15	equipped	equip	VERB
dss-187	45	16	with	with	ADP
dss-187	45	17	multiple	multiple	ADJ
dss-187	45	18	degrees	degree	NOUN
dss-187	45	19	-	-	PUNCT
dss-187	45	20	of	of	ADP
dss-187	45	21	-	-	PUNCT
dss-187	45	22	freedom	freedom	NOUN
dss-187	45	23	manipulators	manipulator	NOUN
dss-187	45	24	.	.	PUNCT
dss-187	46	1	it	it	PRON
dss-187	46	2	can	can	AUX
dss-187	46	3	also	also	ADV
dss-187	46	4	be	be	AUX
dss-187	46	5	equipped	equip	VERB
dss-187	46	6	with	with	ADP
dss-187	46	7	multiple	multiple	ADJ
dss-187	46	8	cameras	camera	NOUN
dss-187	46	9	with	with	ADP
dss-187	46	10	the	the	DET
dss-187	46	11	option	option	NOUN
dss-187	46	12	to	to	PART
dss-187	46	13	be	be	AUX
dss-187	46	14	mounted	mount	VERB
dss-187	46	15	with	with	ADP
dss-187	46	16	thermal	thermal	ADJ
dss-187	46	17	cameras	camera	NOUN
dss-187	46	18	as	as	ADV
dss-187	46	19	well	well	ADV
dss-187	46	20	.	.	PUNCT
dss-187	47	1	the	the	DET
dss-187	47	2	advantage	advantage	NOUN
dss-187	47	3	of	of	ADP
dss-187	47	4	talon	talon	PROPN
dss-187	47	5	certainly	certainly	ADV
dss-187	47	6	is	be	AUX
dss-187	47	7	the	the	DET
dss-187	47	8	number	number	NOUN
dss-187	47	9	of	of	ADP
dss-187	47	10	options	option	NOUN
dss-187	47	11	that	that	PRON
dss-187	47	12	the	the	DET
dss-187	47	13	controller	controller	NOUN
dss-187	47	14	comes	come	VERB
dss-187	47	15	with	with	ADP
dss-187	47	16	,	,	PUNCT
dss-187	47	17	for	for	ADP
dss-187	47	18	example	example	NOUN
dss-187	47	19	,	,	PUNCT
dss-187	47	20	it	it	PRON
dss-187	47	21	comes	come	VERB
dss-187	47	22	as	as	ADP
dss-187	47	23	lcu	lcu	NOUN
dss-187	47	24	,	,	PUNCT
dss-187	47	25	meaning	mean	VERB
dss-187	47	26	laptop	laptop	NOUN
dss-187	47	27	control	control	NOUN
dss-187	47	28	unit	unit	NOUN
dss-187	47	29	,	,	PUNCT
dss-187	47	30	as	as	ADV
dss-187	47	31	well	well	ADV
dss-187	47	32	as	as	ADP
dss-187	47	33	trc	trc	PROPN
dss-187	47	34	,	,	PUNCT
dss-187	47	35	tactical	tactical	ADJ
dss-187	47	36	robot	robot	NOUN
dss-187	47	37	controller	controller	NOUN
dss-187	47	38	[	[	X
dss-187	47	39	5	5	NUM
dss-187	47	40	]	]	PUNCT
dss-187	47	41	.	.	PUNCT
dss-187	48	1	t7	t7	PROPN
dss-187	48	2	is	be	AUX
dss-187	48	3	a	a	DET
dss-187	48	4	heavy	heavy	ADJ
dss-187	48	5	-	-	PUNCT
dss-187	48	6	duty	duty	NOUN
dss-187	48	7	robot	robot	NOUN
dss-187	48	8	developed	develop	VERB
dss-187	48	9	by	by	ADP
dss-187	48	10	l3harris	l3harris	PROPN
dss-187	48	11	technologies	technology	NOUN
dss-187	48	12	in	in	ADP
dss-187	48	13	the	the	DET
dss-187	48	14	united	united	PROPN
dss-187	48	15	states	states	PROPN
dss-187	48	16	.	.	PUNCT
dss-187	49	1	it	it	PRON
dss-187	49	2	is	be	AUX
dss-187	49	3	designed	design	VERB
dss-187	49	4	to	to	PART
dss-187	49	5	assist	assist	VERB
dss-187	49	6	not	not	PART
dss-187	49	7	exclusively	exclusively	ADV
dss-187	49	8	eod	eod	NOUN
dss-187	49	9	operations	operation	NOUN
dss-187	49	10	but	but	CCONJ
dss-187	49	11	also	also	ADV
dss-187	49	12	hazmat	hazmat	NOUN
dss-187	49	13	,	,	PUNCT
dss-187	49	14	meaning	mean	VERB
dss-187	49	15	hazardous	hazardous	ADJ
dss-187	49	16	materials	material	NOUN
dss-187	49	17	cleanup	cleanup	NOUN
dss-187	49	18	,	,	PUNCT
dss-187	49	19	intelligence	intelligence	NOUN
dss-187	49	20	and	and	CCONJ
dss-187	49	21	surveillance	surveillance	NOUN
dss-187	49	22	operations	operation	NOUN
dss-187	49	23	as	as	ADV
dss-187	49	24	well	well	ADV
dss-187	49	25	.	.	PUNCT
dss-187	50	1	it	it	PRON
dss-187	50	2	can	can	AUX
dss-187	50	3	be	be	AUX
dss-187	50	4	mounted	mount	VERB
dss-187	50	5	with	with	ADP
dss-187	50	6	many	many	ADJ
dss-187	50	7	different	different	ADJ
dss-187	50	8	tools	tool	NOUN
dss-187	50	9	such	such	ADJ
dss-187	50	10	as	as	ADP
dss-187	50	11	a	a	DET
dss-187	50	12	disruptor	disruptor	NOUN
dss-187	50	13	,	,	PUNCT
dss-187	50	14	which	which	PRON
dss-187	50	15	blasts	blast	VERB
dss-187	50	16	pressurized	pressurized	ADJ
dss-187	50	17	water	water	NOUN
dss-187	50	18	to	to	PART
dss-187	50	19	neutralize	neutralize	VERB
dss-187	50	20	the	the	DET
dss-187	50	21	threat	threat	NOUN
dss-187	50	22	on	on	ADP
dss-187	50	23	-	-	PUNCT
dss-187	50	24	site	site	NOUN
dss-187	50	25	,	,	PUNCT
dss-187	50	26	a	a	DET
dss-187	50	27	forklift	forklift	NOUN
dss-187	50	28	and	and	CCONJ
dss-187	50	29	many	many	ADJ
dss-187	50	30	different	different	ADJ
dss-187	50	31	sensors	sensor	NOUN
dss-187	50	32	such	such	ADJ
dss-187	50	33	as	as	ADP
dss-187	50	34	the	the	DET
dss-187	50	35	sensors	sensor	NOUN
dss-187	50	36	for	for	ADP
dss-187	50	37	cbrn	cbrn	NOUN
dss-187	50	38	operations	operation	NOUN
dss-187	50	39	.	.	PUNCT
dss-187	51	1	one	one	NUM
dss-187	51	2	of	of	ADP
dss-187	51	3	the	the	DET
dss-187	51	4	most	most	ADV
dss-187	51	5	significant	significant	ADJ
dss-187	51	6	characteristics	characteristic	NOUN
dss-187	51	7	of	of	ADP
dss-187	51	8	this	this	DET
dss-187	51	9	robot	robot	NOUN
dss-187	51	10	is	be	AUX
dss-187	51	11	certainly	certainly	ADV
dss-187	51	12	the	the	DET
dss-187	51	13	haptics	haptic	NOUN
dss-187	51	14	control	control	NOUN
dss-187	51	15	it	it	PRON
dss-187	51	16	utilizes	utilize	VERB
dss-187	51	17	.	.	PUNCT
dss-187	52	1	haptics	haptic	NOUN
dss-187	52	2	provide	provide	VERB
dss-187	52	3	the	the	DET
dss-187	52	4	operator	operator	NOUN
dss-187	52	5	with	with	ADP
dss-187	52	6	the	the	DET
dss-187	52	7	sense	sense	NOUN
dss-187	52	8	of	of	ADP
dss-187	52	9	touch	touch	NOUN
dss-187	52	10	and	and	CCONJ
dss-187	52	11	proximity	proximity	NOUN
dss-187	52	12	,	,	PUNCT
dss-187	52	13	almost	almost	ADV
dss-187	52	14	as	as	ADV
dss-187	52	15	good	good	ADJ
dss-187	52	16	as	as	ADP
dss-187	52	17	a	a	DET
dss-187	52	18	bare	bare	ADJ
dss-187	52	19	hand	hand	NOUN
dss-187	52	20	can	can	AUX
dss-187	52	21	provide	provide	VERB
dss-187	52	22	[	[	PUNCT
dss-187	52	23	6	6	NUM
dss-187	52	24	]	]	PUNCT
dss-187	52	25	.	.	PUNCT
dss-187	53	1	superdroid	superdroid	ADJ
dss-187	53	2	robots	robot	NOUN
dss-187	53	3	company	company	NOUN
dss-187	53	4	manufactures	manufacture	VERB
dss-187	53	5	the	the	DET
dss-187	53	6	model	model	NOUN
dss-187	53	7	lt2	lt2	PROPN
dss-187	53	8	-	-	PUNCT
dss-187	53	9	f	f	PROPN
dss-187	53	10	,	,	PUNCT
dss-187	53	11	commonly	commonly	ADV
dss-187	53	12	known	know	VERB
dss-187	53	13	by	by	ADP
dss-187	53	14	the	the	DET
dss-187	53	15	name	name	NOUN
dss-187	53	16	“	"	PUNCT
dss-187	53	17	bulldog	bulldog	NOUN
dss-187	53	18	”	"	PUNCT
dss-187	53	19	.	.	PUNCT
dss-187	54	1	this	this	DET
dss-187	54	2	model	model	NOUN
dss-187	54	3	comes	come	VERB
dss-187	54	4	in	in	ADP
dss-187	54	5	many	many	ADJ
dss-187	54	6	different	different	ADJ
dss-187	54	7	configurations	configuration	NOUN
dss-187	54	8	.	.	PUNCT
dss-187	55	1	it	it	PRON
dss-187	55	2	can	can	AUX
dss-187	55	3	be	be	AUX
dss-187	55	4	equipped	equip	VERB
dss-187	55	5	with	with	ADP
dss-187	55	6	a	a	DET
dss-187	55	7	4	4	NUM
dss-187	55	8	-	-	PUNCT
dss-187	55	9	axis	axis	NOUN
dss-187	55	10	or	or	CCONJ
dss-187	55	11	a	a	DET
dss-187	55	12	6	6	NUM
dss-187	55	13	-	-	PUNCT
dss-187	55	14	axis	axis	NOUN
dss-187	55	15	arm	arm	NOUN
dss-187	55	16	manipulator	manipulator	NOUN
dss-187	55	17	,	,	PUNCT
dss-187	55	18	that	that	PRON
dss-187	55	19	can	can	AUX
dss-187	55	20	be	be	AUX
dss-187	55	21	equipped	equip	VERB
dss-187	55	22	with	with	ADP
dss-187	55	23	wire	wire	NOUN
dss-187	55	24	cutters	cutter	NOUN
dss-187	55	25	,	,	PUNCT
dss-187	55	26	different	different	ADJ
dss-187	55	27	sensors	sensor	NOUN
dss-187	55	28	for	for	ADP
dss-187	55	29	different	different	ADJ
dss-187	55	30	applications	application	NOUN
dss-187	55	31	.	.	PUNCT
dss-187	56	1	the	the	DET
dss-187	56	2	arm	arm	NOUN
dss-187	56	3	manipulator	manipulator	NOUN
dss-187	56	4	can	can	AUX
dss-187	56	5	dss	dss	NOUN
dss-187	56	6	vol	vol	NOUN
dss-187	56	7	.	.	PUNCT
dss-187	57	1	3	3	NUM
dss-187	57	2	,	,	PUNCT
dss-187	57	3	2022	2022	NUM
dss-187	57	4	,	,	PUNCT
dss-187	57	5	pp.22	pp.22	NOUN
dss-187	57	6	-	-	SYM
dss-187	57	7	31	31	NUM
dss-187	57	8	24	24	NUM
dss-187	57	9	be	be	AUX
dss-187	57	10	shortened	shorten	VERB
dss-187	57	11	or	or	CCONJ
dss-187	57	12	removed	remove	VERB
dss-187	57	13	as	as	ADV
dss-187	57	14	well	well	ADV
dss-187	57	15	to	to	PART
dss-187	57	16	aid	aid	VERB
dss-187	57	17	in	in	ADP
dss-187	57	18	low	low	ADJ
dss-187	57	19	clearance	clearance	NOUN
dss-187	57	20	areas	area	NOUN
dss-187	57	21	.	.	PUNCT
dss-187	58	1	as	as	ADP
dss-187	58	2	previously	previously	ADV
dss-187	58	3	listed	list	VERB
dss-187	58	4	models	model	NOUN
dss-187	58	5	it	it	PRON
dss-187	58	6	can	can	AUX
dss-187	58	7	be	be	AUX
dss-187	58	8	applied	apply	VERB
dss-187	58	9	in	in	ADP
dss-187	58	10	many	many	ADJ
dss-187	58	11	different	different	ADJ
dss-187	58	12	scenarios	scenario	NOUN
dss-187	58	13	,	,	PUNCT
dss-187	58	14	ranging	range	VERB
dss-187	58	15	from	from	ADP
dss-187	58	16	eod	eod	NOUN
dss-187	58	17	to	to	ADP
dss-187	58	18	remote	remote	ADJ
dss-187	58	19	surveillance	surveillance	NOUN
dss-187	58	20	and	and	CCONJ
dss-187	58	21	building	building	NOUN
dss-187	58	22	cleanups	cleanup	NOUN
dss-187	58	23	[	[	X
dss-187	58	24	7	7	NUM
dss-187	58	25	]	]	PUNCT
dss-187	58	26	.	.	PUNCT
dss-187	59	1	hd2	hd2	PROPN
dss-187	59	2	-	-	PUNCT
dss-187	59	3	s	s	PRON
dss-187	59	4	also	also	ADV
dss-187	59	5	known	know	VERB
dss-187	59	6	as	as	ADP
dss-187	59	7	the	the	DET
dss-187	59	8	“	"	PUNCT
dss-187	59	9	mastiff	mastiff	NOUN
dss-187	59	10	”	"	PUNCT
dss-187	59	11	is	be	AUX
dss-187	59	12	another	another	DET
dss-187	59	13	model	model	NOUN
dss-187	59	14	manufactured	manufacture	VERB
dss-187	59	15	by	by	ADP
dss-187	59	16	superdroid	superdroid	ADJ
dss-187	59	17	robots	robot	NOUN
dss-187	59	18	.	.	PUNCT
dss-187	60	1	this	this	DET
dss-187	60	2	model	model	NOUN
dss-187	60	3	is	be	AUX
dss-187	60	4	a	a	DET
dss-187	60	5	bit	bit	NOUN
dss-187	60	6	bulkier	bulky	ADJ
dss-187	60	7	model	model	NOUN
dss-187	60	8	compared	compare	VERB
dss-187	60	9	to	to	ADP
dss-187	60	10	lt2	lt2	PROPN
dss-187	60	11	-	-	PUNCT
dss-187	60	12	f	f	PROPN
dss-187	60	13	model	model	NOUN
dss-187	60	14	.	.	PUNCT
dss-187	61	1	it	it	PRON
dss-187	61	2	as	as	ADV
dss-187	61	3	well	well	ADV
dss-187	61	4	comes	come	VERB
dss-187	61	5	in	in	ADP
dss-187	61	6	different	different	ADJ
dss-187	61	7	configurations	configuration	NOUN
dss-187	61	8	and	and	CCONJ
dss-187	61	9	can	can	AUX
dss-187	61	10	be	be	AUX
dss-187	61	11	equipped	equip	VERB
dss-187	61	12	with	with	ADP
dss-187	61	13	wire	wire	NOUN
dss-187	61	14	cutters	cutter	NOUN
dss-187	61	15	and	and	CCONJ
dss-187	61	16	application	application	NOUN
dss-187	61	17	dependent	dependent	ADJ
dss-187	61	18	sensors	sensor	NOUN
dss-187	61	19	.	.	PUNCT
dss-187	62	1	capable	capable	ADJ
dss-187	62	2	of	of	ADP
dss-187	62	3	staying	stay	VERB
dss-187	62	4	operational	operational	ADJ
dss-187	62	5	up	up	ADP
dss-187	62	6	to	to	PART
dss-187	62	7	8	8	NUM
dss-187	62	8	hours	hour	NOUN
dss-187	62	9	[	[	X
dss-187	62	10	8	8	NUM
dss-187	62	11	]	]	PUNCT
dss-187	62	12	.	.	PUNCT
dss-187	63	1	zeus	zeus	PROPN
dss-187	63	2	eod	eod	NOUN
dss-187	63	3	robot	robot	NOUN
dss-187	63	4	is	be	AUX
dss-187	63	5	developed	develop	VERB
dss-187	63	6	by	by	ADP
dss-187	63	7	nic	nic	PROPN
dss-187	63	8	instruments	instruments	PROPN
dss-187	63	9	ltd	ltd	PROPN
dss-187	63	10	.	.	PUNCT
dss-187	64	1	it	it	PRON
dss-187	64	2	is	be	AUX
dss-187	64	3	a	a	DET
dss-187	64	4	very	very	ADV
dss-187	64	5	reliable	reliable	ADJ
dss-187	64	6	product	product	NOUN
dss-187	64	7	that	that	PRON
dss-187	64	8	utilizes	utilize	VERB
dss-187	64	9	a	a	DET
dss-187	64	10	very	very	ADV
dss-187	64	11	effective	effective	ADJ
dss-187	64	12	communication	communication	NOUN
dss-187	64	13	type	type	NOUN
dss-187	64	14	,	,	PUNCT
dss-187	64	15	an	an	DET
dss-187	64	16	fsk	fsk	PROPN
dss-187	64	17	,	,	PUNCT
dss-187	64	18	meaning	mean	VERB
dss-187	64	19	frequency	frequency	NOUN
dss-187	64	20	shifting	shift	VERB
dss-187	64	21	keying	keying	NOUN
dss-187	64	22	,	,	PUNCT
dss-187	64	23	which	which	PRON
dss-187	64	24	is	be	AUX
dss-187	64	25	a	a	DET
dss-187	64	26	communication	communication	NOUN
dss-187	64	27	type	type	NOUN
dss-187	64	28	that	that	PRON
dss-187	64	29	employs	employ	VERB
dss-187	64	30	alternating	alternate	VERB
dss-187	64	31	frequencies	frequency	NOUN
dss-187	64	32	used	use	VERB
dss-187	64	33	in	in	ADP
dss-187	64	34	communication	communication	NOUN
dss-187	64	35	to	to	PART
dss-187	64	36	avoid	avoid	VERB
dss-187	64	37	any	any	DET
dss-187	64	38	noise	noise	NOUN
dss-187	64	39	disturbances	disturbance	NOUN
dss-187	64	40	.	.	PUNCT
dss-187	65	1	it	it	PRON
dss-187	65	2	is	be	AUX
dss-187	65	3	equipped	equip	VERB
dss-187	65	4	with	with	ADP
dss-187	65	5	a	a	DET
dss-187	65	6	battery	battery	NOUN
dss-187	65	7	capable	capable	ADJ
dss-187	65	8	of	of	ADP
dss-187	65	9	operating	operate	VERB
dss-187	65	10	from	from	ADP
dss-187	65	11	2	2	NUM
dss-187	65	12	-	-	SYM
dss-187	65	13	4	4	NUM
dss-187	65	14	hours	hour	NOUN
dss-187	65	15	,	,	PUNCT
dss-187	65	16	mission	mission	NOUN
dss-187	65	17	dependent	dependent	ADJ
dss-187	65	18	.	.	PUNCT
dss-187	66	1	it	it	PRON
dss-187	66	2	comes	come	VERB
dss-187	66	3	in	in	ADP
dss-187	66	4	different	different	ADJ
dss-187	66	5	configuration	configuration	NOUN
dss-187	66	6	with	with	ADP
dss-187	66	7	different	different	ADJ
dss-187	66	8	arm	arm	NOUN
dss-187	66	9	sections	section	NOUN
dss-187	66	10	,	,	PUNCT
dss-187	66	11	meaning	mean	VERB
dss-187	66	12	different	different	ADJ
dss-187	66	13	degrees	degree	NOUN
dss-187	66	14	-	-	PUNCT
dss-187	66	15	of	of	ADP
dss-187	66	16	-	-	PUNCT
dss-187	66	17	freedom	freedom	NOUN
dss-187	66	18	manipulators	manipulator	NOUN
dss-187	66	19	[	[	X
dss-187	66	20	9	9	NUM
dss-187	66	21	]	]	PUNCT
dss-187	66	22	.	.	PUNCT
dss-187	67	1	the	the	DET
dss-187	67	2	preferred	preferred	ADJ
dss-187	67	3	communication	communication	NOUN
dss-187	67	4	in	in	ADP
dss-187	67	5	unmanned	unmanned	ADJ
dss-187	67	6	vehicles	vehicle	NOUN
dss-187	67	7	utilizes	utilize	VERB
dss-187	67	8	the	the	DET
dss-187	67	9	ems	ems	PROPN
dss-187	67	10	(	(	PUNCT
dss-187	67	11	electromagnetic	electromagnetic	ADJ
dss-187	67	12	spectrum	spectrum	NOUN
dss-187	67	13	)	)	PUNCT
dss-187	67	14	,	,	PUNCT
dss-187	67	15	between	between	ADP
dss-187	67	16	operator	operator	NOUN
dss-187	67	17	unit	unit	NOUN
dss-187	67	18	and	and	CCONJ
dss-187	67	19	robot	robot	NOUN
dss-187	67	20	,	,	PUNCT
dss-187	67	21	because	because	SCONJ
dss-187	67	22	it	it	PRON
dss-187	67	23	ensures	ensure	VERB
dss-187	67	24	a	a	DET
dss-187	67	25	long	long	ADJ
dss-187	67	26	range	range	NOUN
dss-187	67	27	of	of	ADP
dss-187	67	28	operation	operation	NOUN
dss-187	67	29	.	.	PUNCT
dss-187	68	1	the	the	DET
dss-187	68	2	waveforms	waveform	NOUN
dss-187	68	3	of	of	ADP
dss-187	68	4	the	the	DET
dss-187	68	5	communication	communication	NOUN
dss-187	68	6	are	be	AUX
dss-187	68	7	encrypted	encrypt	VERB
dss-187	68	8	,	,	PUNCT
dss-187	68	9	especially	especially	ADV
dss-187	68	10	when	when	SCONJ
dss-187	68	11	used	use	VERB
dss-187	68	12	in	in	ADP
dss-187	68	13	military	military	ADJ
dss-187	68	14	applications	application	NOUN
dss-187	68	15	[	[	X
dss-187	68	16	10	10	NUM
dss-187	68	17	]	]	PUNCT
dss-187	68	18	.	.	PUNCT
dss-187	69	1	sometimes	sometimes	ADV
dss-187	69	2	ems	ems	PROPN
dss-187	69	3	is	be	AUX
dss-187	69	4	not	not	PART
dss-187	69	5	applicable	applicable	ADJ
dss-187	69	6	,	,	PUNCT
dss-187	69	7	because	because	SCONJ
dss-187	69	8	of	of	ADP
dss-187	69	9	strong	strong	ADJ
dss-187	69	10	interferences	interference	NOUN
dss-187	69	11	or	or	CCONJ
dss-187	69	12	large	large	ADJ
dss-187	69	13	pieces	piece	NOUN
dss-187	69	14	of	of	ADP
dss-187	69	15	metal	metal	NOUN
dss-187	69	16	,	,	PUNCT
dss-187	69	17	which	which	PRON
dss-187	69	18	disrupt	disrupt	VERB
dss-187	69	19	the	the	DET
dss-187	69	20	signal	signal	NOUN
dss-187	69	21	.	.	PUNCT
dss-187	70	1	in	in	ADP
dss-187	70	2	those	those	DET
dss-187	70	3	instances	instance	NOUN
dss-187	70	4	,	,	PUNCT
dss-187	70	5	some	some	DET
dss-187	70	6	manufacturers	manufacturer	NOUN
dss-187	70	7	provide	provide	VERB
dss-187	70	8	a	a	DET
dss-187	70	9	cable	cable	NOUN
dss-187	70	10	connection	connection	NOUN
dss-187	70	11	,	,	PUNCT
dss-187	70	12	which	which	PRON
dss-187	70	13	can	can	AUX
dss-187	70	14	reach	reach	VERB
dss-187	70	15	up	up	ADP
dss-187	70	16	to	to	ADP
dss-187	70	17	200	200	NUM
dss-187	70	18	m	m	NOUN
dss-187	70	19	,	,	PUNCT
dss-187	70	20	ideally	ideally	ADV
dss-187	70	21	a	a	DET
dss-187	70	22	fiber	fiber	NOUN
dss-187	70	23	optic	optic	NOUN
dss-187	70	24	cable	cable	NOUN
dss-187	70	25	[	[	X
dss-187	70	26	9	9	NUM
dss-187	70	27	]	]	PUNCT
dss-187	70	28	.	.	PUNCT
dss-187	71	1	the	the	DET
dss-187	71	2	pricing	pricing	NOUN
dss-187	71	3	of	of	ADP
dss-187	71	4	these	these	DET
dss-187	71	5	robots	robot	NOUN
dss-187	71	6	is	be	AUX
dss-187	71	7	not	not	PART
dss-187	71	8	readily	readily	ADV
dss-187	71	9	available	available	ADJ
dss-187	71	10	on	on	ADP
dss-187	71	11	the	the	DET
dss-187	71	12	official	official	ADJ
dss-187	71	13	websites	website	NOUN
dss-187	71	14	of	of	ADP
dss-187	71	15	the	the	DET
dss-187	71	16	companies	company	NOUN
dss-187	71	17	.	.	PUNCT
dss-187	72	1	an	an	DET
dss-187	72	2	interesting	interesting	ADJ
dss-187	72	3	article	article	NOUN
dss-187	72	4	,	,	PUNCT
dss-187	72	5	which	which	PRON
dss-187	72	6	presents	present	VERB
dss-187	72	7	cost	cost	NOUN
dss-187	72	8	-	-	PUNCT
dss-187	72	9	wise	wise	ADJ
dss-187	72	10	accessible	accessible	ADJ
dss-187	72	11	eod	eod	NOUN
dss-187	72	12	solutions	solution	NOUN
dss-187	72	13	,	,	PUNCT
dss-187	72	14	states	state	VERB
dss-187	72	15	that	that	SCONJ
dss-187	72	16	the	the	DET
dss-187	72	17	range	range	NOUN
dss-187	72	18	of	of	ADP
dss-187	72	19	prices	price	NOUN
dss-187	72	20	for	for	ADP
dss-187	72	21	commercial	commercial	ADJ
dss-187	72	22	robots	robot	NOUN
dss-187	72	23	,	,	PUNCT
dss-187	72	24	such	such	ADJ
dss-187	72	25	as	as	ADP
dss-187	72	26	the	the	DET
dss-187	72	27	ones	one	NOUN
dss-187	72	28	presented	present	VERB
dss-187	72	29	in	in	ADP
dss-187	72	30	table	table	NOUN
dss-187	72	31	1	1	NUM
dss-187	72	32	.	.	NUM
dss-187	72	33	,	,	PUNCT
dss-187	72	34	is	be	AUX
dss-187	72	35	from	from	ADP
dss-187	72	36	$	$	SYM
dss-187	72	37	40	40	NUM
dss-187	72	38	000	000	NUM
dss-187	72	39	to	to	PART
dss-187	72	40	$	$	SYM
dss-187	72	41	150	150	NUM
dss-187	72	42	000	000	NUM
dss-187	73	1	[	[	X
dss-187	73	2	11	11	NUM
dss-187	73	3	]	]	PUNCT
dss-187	73	4	.	.	PUNCT
dss-187	74	1	the	the	DET
dss-187	74	2	purpose	purpose	NOUN
dss-187	74	3	of	of	ADP
dss-187	74	4	this	this	DET
dss-187	74	5	paper	paper	NOUN
dss-187	74	6	is	be	AUX
dss-187	74	7	to	to	PART
dss-187	74	8	design	design	VERB
dss-187	74	9	a	a	DET
dss-187	74	10	minimum	minimum	ADJ
dss-187	74	11	viable	viable	ADJ
dss-187	74	12	product	product	NOUN
dss-187	74	13	for	for	ADP
dss-187	74	14	eod	eod	NOUN
dss-187	74	15	operations	operation	NOUN
dss-187	74	16	.	.	PUNCT
dss-187	75	1	an	an	DET
dss-187	75	2	iterative	iterative	NOUN
dss-187	75	3	designbuild	designbuild	NOUN
dss-187	75	4	-	-	PUNCT
dss-187	75	5	test	test	NOUN
dss-187	75	6	cycle	cycle	NOUN
dss-187	75	7	is	be	AUX
dss-187	75	8	performed	perform	VERB
dss-187	75	9	with	with	ADP
dss-187	75	10	the	the	DET
dss-187	75	11	aim	aim	NOUN
dss-187	75	12	of	of	ADP
dss-187	75	13	developing	develop	VERB
dss-187	75	14	a	a	DET
dss-187	75	15	low	low	ADJ
dss-187	75	16	-	-	PUNCT
dss-187	75	17	cost	cost	NOUN
dss-187	75	18	optimal	optimal	ADJ
dss-187	75	19	physical	physical	ADJ
dss-187	75	20	platform	platform	NOUN
dss-187	75	21	for	for	ADP
dss-187	75	22	eod	eod	NOUN
dss-187	75	23	robot	robot	NOUN
dss-187	75	24	in	in	ADP
dss-187	75	25	the	the	DET
dss-187	75	26	category	category	NOUN
dss-187	75	27	.	.	PUNCT
dss-187	76	1	the	the	DET
dss-187	76	2	configuration	configuration	NOUN
dss-187	76	3	test	test	NOUN
dss-187	76	4	purpose	purpose	NOUN
dss-187	76	5	is	be	AUX
dss-187	76	6	to	to	PART
dss-187	76	7	quantitatively	quantitatively	ADV
dss-187	76	8	evaluate	evaluate	VERB
dss-187	76	9	the	the	DET
dss-187	76	10	packaging	packaging	NOUN
dss-187	76	11	and	and	CCONJ
dss-187	76	12	setup	setup	NOUN
dss-187	76	13	tools	tool	NOUN
dss-187	76	14	used	use	VERB
dss-187	76	15	to	to	PART
dss-187	76	16	start	start	VERB
dss-187	76	17	up	up	ADP
dss-187	76	18	the	the	DET
dss-187	76	19	robot	robot	NOUN
dss-187	76	20	.	.	PUNCT
dss-187	77	1	the	the	DET
dss-187	77	2	goal	goal	NOUN
dss-187	77	3	is	be	AUX
dss-187	77	4	to	to	PART
dss-187	77	5	come	come	VERB
dss-187	77	6	up	up	ADP
dss-187	77	7	with	with	ADP
dss-187	77	8	metrics	metric	NOUN
dss-187	77	9	about	about	ADP
dss-187	77	10	the	the	DET
dss-187	77	11	weight	weight	NOUN
dss-187	77	12	of	of	ADP
dss-187	77	13	packaging	packaging	NOUN
dss-187	77	14	,	,	PUNCT
dss-187	77	15	setup	setup	NOUN
dss-187	77	16	time	time	NOUN
dss-187	77	17	from	from	ADP
dss-187	77	18	configuration	configuration	NOUN
dss-187	77	19	to	to	ADP
dss-187	77	20	deployment	deployment	NOUN
dss-187	77	21	,	,	PUNCT
dss-187	77	22	weights	weight	NOUN
dss-187	77	23	of	of	ADP
dss-187	77	24	the	the	DET
dss-187	77	25	control	control	NOUN
dss-187	77	26	unit	unit	NOUN
dss-187	77	27	and	and	CCONJ
dss-187	77	28	the	the	DET
dss-187	77	29	tools	tool	NOUN
dss-187	77	30	needed	need	VERB
dss-187	77	31	for	for	ADP
dss-187	77	32	repair	repair	NOUN
dss-187	77	33	.	.	PUNCT
dss-187	78	1	particularly	particularly	ADV
dss-187	78	2	,	,	PUNCT
dss-187	78	3	the	the	DET
dss-187	78	4	following	follow	VERB
dss-187	78	5	objectives	objective	NOUN
dss-187	78	6	are	be	AUX
dss-187	78	7	achieved	achieve	VERB
dss-187	78	8	:	:	PUNCT
dss-187	78	9	physical	physical	ADJ
dss-187	78	10	design	design	NOUN
dss-187	78	11	and	and	CCONJ
dss-187	78	12	development	development	NOUN
dss-187	78	13	,	,	PUNCT
dss-187	78	14	mobility	mobility	NOUN
dss-187	78	15	test	test	NOUN
dss-187	78	16	on	on	ADP
dss-187	78	17	a	a	DET
dss-187	78	18	flat	flat	ADJ
dss-187	78	19	paved	paved	ADJ
dss-187	78	20	terrain	terrain	NOUN
dss-187	78	21	,	,	PUNCT
dss-187	78	22	mobility	mobility	NOUN
dss-187	78	23	test	test	NOUN
dss-187	78	24	with	with	ADP
dss-187	78	25	towing	tow	VERB
dss-187	78	26	capacity	capacity	NOUN
dss-187	78	27	,	,	PUNCT
dss-187	78	28	radio	radio	NOUN
dss-187	78	29	communications	communication	NOUN
dss-187	78	30	test	test	NOUN
dss-187	78	31	by	by	ADP
dss-187	78	32	establishing	establish	VERB
dss-187	78	33	a	a	DET
dss-187	78	34	line	line	NOUN
dss-187	78	35	of	of	ADP
dss-187	78	36	sight	sight	NOUN
dss-187	78	37	,	,	PUNCT
dss-187	78	38	manipulation	manipulation	NOUN
dss-187	78	39	test	test	NOUN
dss-187	78	40	grasping	grasp	VERB
dss-187	78	41	dexterity	dexterity	NOUN
dss-187	78	42	and	and	CCONJ
dss-187	78	43	robot	robot	NOUN
dss-187	78	44	configuration	configuration	NOUN
dss-187	78	45	for	for	ADP
dss-187	78	46	logistics	logistic	NOUN
dss-187	78	47	tests	test	NOUN
dss-187	78	48	.	.	PUNCT
dss-187	79	1	2	2	X
dss-187	79	2	.	.	X
dss-187	79	3	methods	method	NOUN
dss-187	79	4	the	the	DET
dss-187	79	5	design	design	NOUN
dss-187	79	6	of	of	ADP
dss-187	79	7	an	an	DET
dss-187	79	8	eod	eod	NOUN
dss-187	79	9	robot	robot	NOUN
dss-187	79	10	proposed	propose	VERB
dss-187	79	11	by	by	ADP
dss-187	79	12	the	the	DET
dss-187	79	13	authors	author	NOUN
dss-187	79	14	was	be	AUX
dss-187	79	15	inspired	inspire	VERB
dss-187	79	16	by	by	ADP
dss-187	79	17	the	the	DET
dss-187	79	18	robots	robot	NOUN
dss-187	79	19	readily	readily	ADV
dss-187	79	20	available	available	ADJ
dss-187	79	21	on	on	ADP
dss-187	79	22	the	the	DET
dss-187	79	23	market	market	NOUN
dss-187	79	24	.	.	PUNCT
dss-187	80	1	the	the	DET
dss-187	80	2	base	base	NOUN
dss-187	80	3	structure	structure	NOUN
dss-187	80	4	of	of	ADP
dss-187	80	5	the	the	DET
dss-187	80	6	robot	robot	NOUN
dss-187	80	7	is	be	AUX
dss-187	80	8	made	make	VERB
dss-187	80	9	from	from	ADP
dss-187	80	10	steel	steel	NOUN
dss-187	80	11	bars	bar	NOUN
dss-187	80	12	,	,	PUNCT
dss-187	80	13	roughly	roughly	ADV
dss-187	80	14	25	25	NUM
dss-187	80	15	cm2	cm2	NOUN
dss-187	80	16	in	in	ADP
dss-187	80	17	cross	cross	ADJ
dss-187	80	18	-	-	ADJ
dss-187	80	19	section	section	ADJ
dss-187	80	20	area	area	NOUN
dss-187	80	21	.	.	PUNCT
dss-187	81	1	the	the	DET
dss-187	81	2	bars	bar	NOUN
dss-187	81	3	are	be	AUX
dss-187	81	4	welded	weld	VERB
dss-187	81	5	together	together	ADV
dss-187	81	6	to	to	PART
dss-187	81	7	form	form	VERB
dss-187	81	8	a	a	DET
dss-187	81	9	structure	structure	NOUN
dss-187	81	10	that	that	PRON
dss-187	81	11	consists	consist	VERB
dss-187	81	12	of	of	ADP
dss-187	81	13	two	two	NUM
dss-187	81	14	rectangles	rectangle	NOUN
dss-187	81	15	connected	connect	VERB
dss-187	81	16	by	by	ADP
dss-187	81	17	bars	bar	NOUN
dss-187	81	18	with	with	ADP
dss-187	81	19	an	an	DET
dss-187	81	20	angle	angle	NOUN
dss-187	81	21	,	,	PUNCT
dss-187	81	22	as	as	SCONJ
dss-187	81	23	seen	see	VERB
dss-187	81	24	from	from	ADP
dss-187	81	25	the	the	DET
dss-187	81	26	side	side	NOUN
dss-187	81	27	.	.	PUNCT
dss-187	82	1	the	the	DET
dss-187	82	2	rectangle	rectangle	NOUN
dss-187	82	3	closer	close	ADV
dss-187	82	4	to	to	ADP
dss-187	82	5	ground	ground	NOUN
dss-187	82	6	level	level	NOUN
dss-187	82	7	is	be	AUX
dss-187	82	8	reinforced	reinforce	VERB
dss-187	82	9	by	by	ADP
dss-187	82	10	bars	bar	NOUN
dss-187	82	11	welded	weld	VERB
dss-187	82	12	to	to	PART
dss-187	82	13	form	form	VERB
dss-187	82	14	a	a	DET
dss-187	82	15	cross	cross	NOUN
dss-187	82	16	like	like	ADP
dss-187	82	17	symbol	symbol	NOUN
dss-187	82	18	.	.	PUNCT
dss-187	83	1	four	four	NUM
dss-187	83	2	dc	dc	PROPN
dss-187	83	3	motors	motor	NOUN
dss-187	83	4	are	be	AUX
dss-187	83	5	used	use	VERB
dss-187	83	6	to	to	ADP
dss-187	83	7	power	power	NOUN
dss-187	83	8	mobility	mobility	NOUN
dss-187	83	9	and	and	CCONJ
dss-187	83	10	they	they	PRON
dss-187	83	11	are	be	AUX
dss-187	83	12	welded	weld	VERB
dss-187	83	13	on	on	ADP
dss-187	83	14	to	to	ADP
dss-187	83	15	the	the	DET
dss-187	83	16	lower	low	ADJ
dss-187	83	17	rectangle	rectangle	NOUN
dss-187	83	18	,	,	PUNCT
dss-187	83	19	with	with	ADP
dss-187	83	20	steel	steel	NOUN
dss-187	83	21	axels	axel	NOUN
dss-187	83	22	welded	weld	VERB
dss-187	83	23	on	on	ADP
dss-187	83	24	them	they	PRON
dss-187	83	25	and	and	CCONJ
dss-187	83	26	to	to	ADP
dss-187	83	27	the	the	DET
dss-187	83	28	wheels	wheel	NOUN
dss-187	83	29	.	.	PUNCT
dss-187	84	1	the	the	DET
dss-187	84	2	wheels	wheel	NOUN
dss-187	84	3	are	be	AUX
dss-187	84	4	standard	standard	ADJ
dss-187	84	5	inflatable	inflatable	ADJ
dss-187	84	6	rubber	rubber	NOUN
dss-187	84	7	wheels	wheel	NOUN
dss-187	84	8	that	that	PRON
dss-187	84	9	come	come	VERB
dss-187	84	10	from	from	ADP
dss-187	84	11	small	small	ADJ
dss-187	84	12	garden	garden	NOUN
dss-187	84	13	carts	cart	NOUN
dss-187	84	14	.	.	PUNCT
dss-187	85	1	the	the	DET
dss-187	85	2	manipulator	manipulator	NOUN
dss-187	85	3	is	be	AUX
dss-187	85	4	made	make	VERB
dss-187	85	5	of	of	ADP
dss-187	85	6	three	three	NUM
dss-187	85	7	steel	steel	NOUN
dss-187	85	8	bar	bar	NOUN
dss-187	85	9	segments	segment	NOUN
dss-187	85	10	.	.	PUNCT
dss-187	86	1	the	the	DET
dss-187	86	2	first	first	ADJ
dss-187	86	3	segment	segment	NOUN
dss-187	86	4	is	be	AUX
dss-187	86	5	welded	weld	VERB
dss-187	86	6	to	to	ADP
dss-187	86	7	the	the	DET
dss-187	86	8	bottom	bottom	NOUN
dss-187	86	9	of	of	ADP
dss-187	86	10	the	the	DET
dss-187	86	11	base	base	NOUN
dss-187	86	12	structure	structure	NOUN
dss-187	86	13	at	at	ADP
dss-187	86	14	its	its	PRON
dss-187	86	15	middle	middle	NOUN
dss-187	86	16	and	and	CCONJ
dss-187	86	17	extends	extend	VERB
dss-187	86	18	some	some	DET
dss-187	86	19	50	50	NUM
dss-187	86	20	cm	cm	NOUN
dss-187	86	21	from	from	ADP
dss-187	86	22	the	the	DET
dss-187	86	23	weld	weld	NOUN
dss-187	86	24	.	.	PUNCT
dss-187	87	1	the	the	DET
dss-187	87	2	second	second	ADJ
dss-187	87	3	segment	segment	NOUN
dss-187	87	4	is	be	AUX
dss-187	87	5	welded	weld	VERB
dss-187	87	6	to	to	ADP
dss-187	87	7	a	a	DET
dss-187	87	8	door	door	NOUN
dss-187	87	9	hinge	hinge	NOUN
dss-187	87	10	which	which	PRON
dss-187	87	11	is	be	AUX
dss-187	87	12	welded	weld	VERB
dss-187	87	13	to	to	ADP
dss-187	87	14	the	the	DET
dss-187	87	15	first	first	ADJ
dss-187	87	16	segment	segment	NOUN
dss-187	87	17	and	and	CCONJ
dss-187	87	18	the	the	DET
dss-187	87	19	same	same	ADJ
dss-187	87	20	procedure	procedure	NOUN
dss-187	87	21	is	be	AUX
dss-187	87	22	applied	apply	VERB
dss-187	87	23	to	to	ADP
dss-187	87	24	the	the	DET
dss-187	87	25	third	third	ADJ
dss-187	87	26	segment	segment	NOUN
dss-187	87	27	as	as	ADV
dss-187	87	28	well	well	ADV
dss-187	87	29	.	.	PUNCT
dss-187	88	1	the	the	DET
dss-187	88	2	gripper	gripper	NOUN
dss-187	88	3	is	be	AUX
dss-187	88	4	positioned	position	VERB
dss-187	88	5	at	at	ADP
dss-187	88	6	the	the	DET
dss-187	88	7	end	end	NOUN
dss-187	88	8	of	of	ADP
dss-187	88	9	the	the	DET
dss-187	88	10	third	third	ADJ
dss-187	88	11	segment	segment	NOUN
dss-187	88	12	and	and	CCONJ
dss-187	88	13	is	be	AUX
dss-187	88	14	made	make	VERB
dss-187	88	15	from	from	ADP
dss-187	88	16	aluminum	aluminum	NOUN
dss-187	88	17	.	.	PUNCT
dss-187	89	1	it	it	PRON
dss-187	89	2	is	be	AUX
dss-187	89	3	manufactured	manufacture	VERB
dss-187	89	4	on	on	ADP
dss-187	89	5	a	a	DET
dss-187	89	6	cnc	cnc	ADJ
dss-187	89	7	machine	machine	NOUN
dss-187	89	8	and	and	CCONJ
dss-187	89	9	coated	coat	VERB
dss-187	89	10	in	in	ADP
dss-187	89	11	plastics	plastic	NOUN
dss-187	89	12	on	on	ADP
dss-187	89	13	the	the	DET
dss-187	89	14	inside	inside	NOUN
dss-187	89	15	to	to	PART
dss-187	89	16	secure	secure	VERB
dss-187	89	17	maximum	maximum	ADJ
dss-187	89	18	gripping	gripping	NOUN
dss-187	89	19	.	.	PUNCT
dss-187	90	1	the	the	DET
dss-187	90	2	manipulation	manipulation	NOUN
dss-187	90	3	of	of	ADP
dss-187	90	4	the	the	DET
dss-187	90	5	arm	arm	NOUN
dss-187	90	6	is	be	AUX
dss-187	90	7	made	make	VERB
dss-187	90	8	possible	possible	ADJ
dss-187	90	9	by	by	ADP
dss-187	90	10	three	three	NUM
dss-187	90	11	linear	linear	ADJ
dss-187	90	12	electrical	electrical	ADJ
dss-187	90	13	actuators	actuator	NOUN
dss-187	90	14	which	which	PRON
dss-187	90	15	can	can	AUX
dss-187	90	16	lift	lift	VERB
dss-187	90	17	weights	weight	NOUN
dss-187	90	18	up	up	ADP
dss-187	90	19	to	to	PART
dss-187	90	20	100	100	NUM
dss-187	90	21	kg	kg	NOUN
dss-187	90	22	,	,	PUNCT
dss-187	90	23	respectively	respectively	ADV
dss-187	90	24	.	.	PUNCT
dss-187	91	1	the	the	DET
dss-187	91	2	actuators	actuator	NOUN
dss-187	91	3	are	be	AUX
dss-187	91	4	fastened	fasten	VERB
dss-187	91	5	to	to	ADP
dss-187	91	6	the	the	DET
dss-187	91	7	segments	segment	NOUN
dss-187	91	8	of	of	ADP
dss-187	91	9	the	the	DET
dss-187	91	10	arm	arm	NOUN
dss-187	91	11	manipulator	manipulator	NOUN
dss-187	91	12	by	by	ADP
dss-187	91	13	screws	screw	NOUN
dss-187	91	14	and	and	CCONJ
dss-187	91	15	nuts	nut	NOUN
dss-187	91	16	.	.	PUNCT
dss-187	92	1	the	the	DET
dss-187	92	2	whole	whole	ADJ
dss-187	92	3	base	base	NOUN
dss-187	92	4	structure	structure	NOUN
dss-187	92	5	is	be	AUX
dss-187	92	6	enclosed	enclose	VERB
dss-187	92	7	by	by	ADP
dss-187	92	8	plywood	plywood	NOUN
dss-187	92	9	pieces	piece	NOUN
dss-187	92	10	and	and	CCONJ
dss-187	92	11	inside	inside	ADV
dss-187	92	12	is	be	AUX
dss-187	92	13	the	the	DET
dss-187	92	14	„	„	PUNCT
dss-187	92	15	brain	brain	NOUN
dss-187	92	16	“	"	PUNCT
dss-187	92	17	of	of	ADP
dss-187	92	18	the	the	DET
dss-187	92	19	robot	robot	NOUN
dss-187	92	20	.	.	PUNCT
dss-187	93	1	electronically	electronically	ADV
dss-187	93	2	,	,	PUNCT
dss-187	93	3	the	the	DET
dss-187	93	4	robot	robot	NOUN
dss-187	93	5	is	be	AUX
dss-187	93	6	manipulated	manipulate	VERB
dss-187	93	7	by	by	ADP
dss-187	93	8	simple	simple	ADJ
dss-187	93	9	relays	relay	NOUN
dss-187	93	10	which	which	PRON
dss-187	93	11	are	be	AUX
dss-187	93	12	powered	power	VERB
dss-187	93	13	through	through	ADP
dss-187	93	14	a	a	DET
dss-187	93	15	car	car	NOUN
dss-187	93	16	battery	battery	NOUN
dss-187	93	17	of	of	ADP
dss-187	93	18	12	12	NUM
dss-187	93	19	v.	v.	ADP
dss-187	93	20	the	the	DET
dss-187	93	21	opening	opening	NOUN
dss-187	93	22	and	and	CCONJ
dss-187	93	23	closing	closing	NOUN
dss-187	93	24	of	of	ADP
dss-187	93	25	switches	switch	NOUN
dss-187	93	26	,	,	PUNCT
dss-187	93	27	depending	depend	VERB
dss-187	93	28	on	on	ADP
dss-187	93	29	the	the	DET
dss-187	93	30	operation	operation	NOUN
dss-187	93	31	that	that	PRON
dss-187	93	32	needs	need	VERB
dss-187	93	33	to	to	PART
dss-187	93	34	be	be	AUX
dss-187	93	35	applied	apply	VERB
dss-187	93	36	,	,	PUNCT
dss-187	93	37	and	and	CCONJ
dss-187	93	38	the	the	DET
dss-187	93	39	relays	relay	NOUN
dss-187	93	40	is	be	AUX
dss-187	93	41	controlled	control	VERB
dss-187	93	42	by	by	ADP
dss-187	93	43	raspberry	raspberry	NOUN
dss-187	93	44	pi	pi	NOUN
dss-187	93	45	which	which	PRON
dss-187	93	46	is	be	AUX
dss-187	93	47	powered	power	VERB
dss-187	93	48	by	by	ADP
dss-187	93	49	a	a	DET
dss-187	93	50	power	power	NOUN
dss-187	93	51	bank	bank	NOUN
dss-187	93	52	.	.	PUNCT
dss-187	94	1	the	the	DET
dss-187	94	2	underlying	underlie	VERB
dss-187	94	3	circuit	circuit	NOUN
dss-187	94	4	is	be	AUX
dss-187	94	5	called	call	VERB
dss-187	94	6	an	an	DET
dss-187	94	7	h	h	NOUN
dss-187	94	8	bridge	bridge	NOUN
dss-187	94	9	.	.	PUNCT
dss-187	95	1	the	the	DET
dss-187	95	2	communication	communication	NOUN
dss-187	95	3	with	with	ADP
dss-187	95	4	the	the	DET
dss-187	95	5	robot	robot	NOUN
dss-187	95	6	is	be	AUX
dss-187	95	7	established	establish	VERB
dss-187	95	8	through	through	ADP
dss-187	95	9	the	the	DET
dss-187	95	10	wireless	wireless	ADJ
dss-187	95	11	network	network	NOUN
dss-187	95	12	connection	connection	NOUN
dss-187	95	13	that	that	PRON
dss-187	95	14	raspberry	raspberry	NOUN
dss-187	95	15	pi	pi	NOUN
dss-187	95	16	emits	emit	NOUN
dss-187	95	17	.	.	PUNCT
dss-187	96	1	the	the	DET
dss-187	96	2	final	final	ADJ
dss-187	96	3	design	design	NOUN
dss-187	96	4	elaborated	elaborate	VERB
dss-187	96	5	is	be	AUX
dss-187	96	6	presented	present	VERB
dss-187	96	7	in	in	ADP
dss-187	96	8	figure	figure	NOUN
dss-187	96	9	1	1	NUM
dss-187	96	10	.	.	PUNCT
dss-187	96	11	followed	follow	VERB
dss-187	96	12	by	by	ADP
dss-187	96	13	table	table	NOUN
dss-187	96	14	2	2	NUM
dss-187	96	15	.	.	PUNCT
dss-187	96	16	where	where	SCONJ
dss-187	96	17	the	the	DET
dss-187	96	18	components	component	NOUN
dss-187	96	19	used	use	VERB
dss-187	96	20	in	in	ADP
dss-187	96	21	the	the	DET
dss-187	96	22	manufacturing	manufacturing	NOUN
dss-187	96	23	are	be	AUX
dss-187	96	24	briefly	briefly	ADV
dss-187	96	25	presented	present	VERB
dss-187	96	26	.	.	PUNCT
dss-187	97	1	dss	dss	NOUN
dss-187	97	2	vol	vol	NOUN
dss-187	97	3	.	.	PROPN
dss-187	98	1	3	3	NUM
dss-187	98	2	,	,	PUNCT
dss-187	98	3	2022	2022	NUM
dss-187	98	4	,	,	PUNCT
dss-187	98	5	pp.22	pp.22	NOUN
dss-187	98	6	-	-	PUNCT
dss-187	98	7	31	31	NUM
dss-187	98	8	25	25	NUM
dss-187	98	9	as	as	SCONJ
dss-187	98	10	the	the	DET
dss-187	98	11	title	title	NOUN
dss-187	98	12	of	of	ADP
dss-187	98	13	this	this	DET
dss-187	98	14	paper	paper	NOUN
dss-187	98	15	suggests	suggest	VERB
dss-187	98	16	,	,	PUNCT
dss-187	98	17	the	the	DET
dss-187	98	18	authors	author	NOUN
dss-187	98	19	presents	present	VERB
dss-187	98	20	a	a	DET
dss-187	98	21	minimum	minimum	ADJ
dss-187	98	22	viable	viable	ADJ
dss-187	98	23	product	product	NOUN
dss-187	98	24	(	(	PUNCT
dss-187	98	25	mvp	mvp	NOUN
dss-187	98	26	)	)	PUNCT
dss-187	98	27	,	,	PUNCT
dss-187	98	28	described	describe	VERB
dss-187	98	29	as	as	ADP
dss-187	98	30	:	:	PUNCT
dss-187	98	31	“	"	PUNCT
dss-187	98	32	a	a	DET
dss-187	98	33	version	version	NOUN
dss-187	98	34	of	of	ADP
dss-187	98	35	a	a	DET
dss-187	98	36	new	new	ADJ
dss-187	98	37	product	product	NOUN
dss-187	98	38	that	that	PRON
dss-187	98	39	allows	allow	VERB
dss-187	98	40	a	a	DET
dss-187	98	41	team	team	NOUN
dss-187	98	42	to	to	PART
dss-187	98	43	collect	collect	VERB
dss-187	98	44	the	the	DET
dss-187	98	45	maximum	maximum	ADJ
dss-187	98	46	amount	amount	NOUN
dss-187	98	47	of	of	ADP
dss-187	98	48	validated	validated	ADJ
dss-187	98	49	learning	learning	NOUN
dss-187	98	50	about	about	ADP
dss-187	98	51	the	the	DET
dss-187	98	52	customers	customer	NOUN
dss-187	98	53	with	with	ADP
dss-187	98	54	the	the	DET
dss-187	98	55	least	least	ADJ
dss-187	98	56	amount	amount	NOUN
dss-187	98	57	of	of	ADP
dss-187	98	58	effort	effort	NOUN
dss-187	98	59	“	"	PUNCT
dss-187	98	60	,	,	PUNCT
dss-187	98	61	by	by	ADP
dss-187	98	62	eric	eric	PROPN
dss-187	98	63	ries	ries	PROPN
dss-187	98	64	,	,	PUNCT
dss-187	98	65	founder	founder	NOUN
dss-187	98	66	of	of	ADP
dss-187	98	67	lean	lean	ADJ
dss-187	98	68	startup	startup	NOUN
dss-187	98	69	methodology	methodology	NOUN
dss-187	99	1	[	[	X
dss-187	99	2	12	12	NUM
dss-187	99	3	]	]	PUNCT
dss-187	99	4	.	.	PUNCT
dss-187	100	1	figure	figure	NOUN
dss-187	100	2	1	1	NUM
dss-187	100	3	.	.	PUNCT
dss-187	101	1	design	design	NOUN
dss-187	101	2	of	of	ADP
dss-187	101	3	the	the	DET
dss-187	101	4	robot	robot	NOUN
dss-187	101	5	table	table	NOUN
dss-187	101	6	2	2	NUM
dss-187	101	7	.	.	X
dss-187	101	8	list	list	NOUN
dss-187	101	9	of	of	ADP
dss-187	101	10	components	component	NOUN
dss-187	101	11	built	build	VERB
dss-187	101	12	in	in	ADP
dss-187	101	13	physical	physical	ADJ
dss-187	101	14	steel	steel	NOUN
dss-187	101	15	platform	platform	NOUN
dss-187	101	16	number	number	NOUN
dss-187	101	17	.	.	PUNCT
dss-187	102	1	component	component	NOUN
dss-187	102	2	specifications	specification	NOUN
dss-187	102	3	quantity	quantity	NOUN
dss-187	102	4	1	1	NUM
dss-187	102	5	.	.	PUNCT
dss-187	102	6	motor	motor	PROPN
dss-187	102	7	12v	12v	PROPN
dss-187	102	8	high	high	ADJ
dss-187	102	9	torque	torque	NOUN
dss-187	102	10	motors	motor	NOUN
dss-187	102	11	4	4	NUM
dss-187	102	12	2	2	NUM
dss-187	102	13	.	.	NUM
dss-187	102	14	wheel	wheel	NOUN
dss-187	102	15	20	20	NUM
dss-187	102	16	cm	cm	NOUN
dss-187	102	17	diameter	diameter	NOUN
dss-187	102	18	wheel	wheel	NOUN
dss-187	102	19	4	4	NUM
dss-187	102	20	3	3	NUM
dss-187	102	21	.	.	PUNCT
dss-187	103	1	relay	relay	NOUN
dss-187	103	2	5v	5v	NUM
dss-187	103	3	8	8	NUM
dss-187	103	4	channel	channel	NOUN
dss-187	103	5	output	output	NOUN
dss-187	103	6	relay	relay	NOUN
dss-187	103	7	board	board	NOUN
dss-187	103	8	,	,	PUNCT
dss-187	103	9	maximum	maximum	ADJ
dss-187	103	10	current	current	ADJ
dss-187	103	11	10a	10a	NOUN
dss-187	103	12	2	2	NUM
dss-187	103	13	4	4	NUM
dss-187	103	14	.	.	PUNCT
dss-187	103	15	raspberry	raspberry	PROPN
dss-187	103	16	pi	pi	PROPN
dss-187	103	17	raspberry	raspberry	PROPN
dss-187	103	18	pi	pi	PROPN
dss-187	103	19	model	model	NOUN
dss-187	103	20	4	4	NUM
dss-187	103	21	1	1	NUM
dss-187	103	22	5	5	NUM
dss-187	103	23	.	.	PUNCT
dss-187	103	24	battery	battery	PROPN
dss-187	103	25	12v	12v	PROPN
dss-187	103	26	car	car	NOUN
dss-187	103	27	battery	battery	NOUN
dss-187	103	28	1	1	NUM
dss-187	103	29	6	6	NUM
dss-187	103	30	.	.	PUNCT
dss-187	104	1	actuator	actuator	PROPN
dss-187	104	2	linear	linear	PROPN
dss-187	104	3	electric	electric	PROPN
dss-187	104	4	actuator	actuator	PROPN
dss-187	104	5	12v	12v	NUM
dss-187	104	6	,	,	PUNCT
dss-187	104	7	maximum	maximum	ADJ
dss-187	104	8	load	load	NOUN
dss-187	104	9	capacity	capacity	NOUN
dss-187	104	10	100	100	NUM
dss-187	104	11	kg	kg	NOUN
dss-187	104	12	3	3	NUM
dss-187	104	13	7	7	NUM
dss-187	104	14	.	.	PUNCT
dss-187	104	15	power	power	NOUN
dss-187	104	16	bank	bank	PROPN
dss-187	104	17	5v	5v	PROPN
dss-187	104	18	dc	dc	PROPN
dss-187	104	19	power	power	PROPN
dss-187	104	20	bank	bank	PROPN
dss-187	104	21	1	1	NUM
dss-187	104	22	it	it	PRON
dss-187	104	23	is	be	AUX
dss-187	104	24	important	important	ADJ
dss-187	104	25	to	to	PART
dss-187	104	26	emphasize	emphasize	VERB
dss-187	104	27	the	the	DET
dss-187	104	28	viable	viable	ADJ
dss-187	104	29	part	part	NOUN
dss-187	104	30	of	of	ADP
dss-187	104	31	the	the	DET
dss-187	104	32	name	name	NOUN
dss-187	104	33	as	as	ADV
dss-187	104	34	well	well	ADV
dss-187	104	35	as	as	ADP
dss-187	104	36	the	the	DET
dss-187	104	37	minimum	minimum	ADJ
dss-187	104	38	part	part	NOUN
dss-187	104	39	and	and	CCONJ
dss-187	104	40	not	not	PART
dss-187	104	41	fall	fall	VERB
dss-187	104	42	into	into	ADP
dss-187	104	43	the	the	DET
dss-187	104	44	trap	trap	NOUN
dss-187	104	45	of	of	ADP
dss-187	104	46	favoring	favor	VERB
dss-187	104	47	one	one	NUM
dss-187	104	48	over	over	ADP
dss-187	104	49	another	another	PRON
dss-187	105	1	[	[	X
dss-187	105	2	13	13	NUM
dss-187	105	3	]	]	PUNCT
dss-187	105	4	.	.	PUNCT
dss-187	106	1	in	in	ADP
dss-187	106	2	other	other	ADJ
dss-187	106	3	words	word	NOUN
dss-187	106	4	,	,	PUNCT
dss-187	106	5	the	the	DET
dss-187	106	6	product	product	NOUN
dss-187	106	7	has	have	VERB
dss-187	106	8	to	to	PART
dss-187	106	9	satisfy	satisfy	VERB
dss-187	106	10	the	the	DET
dss-187	106	11	functionality	functionality	NOUN
dss-187	106	12	requirements	requirement	NOUN
dss-187	106	13	.	.	PUNCT
dss-187	107	1	the	the	DET
dss-187	107	2	authors	author	NOUN
dss-187	107	3	do	do	AUX
dss-187	107	4	emphasize	emphasize	VERB
dss-187	107	5	that	that	SCONJ
dss-187	107	6	their	their	PRON
dss-187	107	7	design	design	NOUN
dss-187	107	8	is	be	AUX
dss-187	107	9	not	not	PART
dss-187	107	10	fully	fully	ADV
dss-187	107	11	functional	functional	ADJ
dss-187	107	12	as	as	SCONJ
dss-187	107	13	compared	compare	VERB
dss-187	107	14	to	to	ADP
dss-187	107	15	the	the	DET
dss-187	107	16	robots	robot	NOUN
dss-187	107	17	listed	list	VERB
dss-187	107	18	in	in	ADP
dss-187	107	19	table	table	NOUN
dss-187	107	20	1	1	NUM
dss-187	107	21	.	.	PUNCT
dss-187	108	1	in	in	ADP
dss-187	108	2	the	the	DET
dss-187	108	3	introduction	introduction	NOUN
dss-187	108	4	.	.	PUNCT
dss-187	109	1	the	the	DET
dss-187	109	2	department	department	PROPN
dss-187	109	3	of	of	ADP
dss-187	109	4	homeland	homeland	NOUN
dss-187	109	5	security	security	NOUN
dss-187	109	6	of	of	ADP
dss-187	109	7	u.s.a	u.s.a	PROPN
dss-187	109	8	.	.	PUNCT
dss-187	110	1	alongside	alongside	ADP
dss-187	110	2	with	with	ADP
dss-187	110	3	the	the	DET
dss-187	110	4	national	national	PROPN
dss-187	110	5	institute	institute	PROPN
dss-187	110	6	of	of	ADP
dss-187	110	7	standards	standard	NOUN
dss-187	110	8	and	and	CCONJ
dss-187	110	9	technology	technology	NOUN
dss-187	110	10	wrote	write	VERB
dss-187	110	11	a	a	DET
dss-187	110	12	guide	guide	NOUN
dss-187	110	13	on	on	ADP
dss-187	110	14	the	the	DET
dss-187	110	15	topic	topic	NOUN
dss-187	110	16	of	of	ADP
dss-187	110	17	testing	testing	NOUN
dss-187	110	18	and	and	CCONJ
dss-187	110	19	validating	validate	VERB
dss-187	110	20	performance	performance	NOUN
dss-187	110	21	indicators	indicator	NOUN
dss-187	110	22	of	of	ADP
dss-187	110	23	response	response	NOUN
dss-187	110	24	robots	robot	NOUN
dss-187	110	25	,	,	PUNCT
dss-187	110	26	which	which	PRON
dss-187	110	27	include	include	VERB
dss-187	110	28	robots	robot	NOUN
dss-187	110	29	applied	apply	VERB
dss-187	110	30	in	in	ADP
dss-187	110	31	dismantling	dismantle	VERB
dss-187	110	32	explosive	explosive	ADJ
dss-187	110	33	devices	device	NOUN
dss-187	110	34	,	,	PUNCT
dss-187	110	35	searching	search	VERB
dss-187	110	36	for	for	ADP
dss-187	110	37	survivors	survivor	NOUN
dss-187	110	38	in	in	ADP
dss-187	110	39	collapsed	collapsed	ADJ
dss-187	110	40	structures	structure	NOUN
dss-187	110	41	,	,	PUNCT
dss-187	110	42	investigating	investigate	VERB
dss-187	110	43	of	of	ADP
dss-187	110	44	illicit	illicit	ADJ
dss-187	110	45	border	border	NOUN
dss-187	110	46	tunnels	tunnel	NOUN
dss-187	110	47	and	and	CCONJ
dss-187	110	48	many	many	ADJ
dss-187	110	49	more	more	ADJ
dss-187	110	50	fields	field	NOUN
dss-187	110	51	of	of	ADP
dss-187	110	52	application	application	NOUN
dss-187	110	53	[	[	X
dss-187	110	54	14	14	NUM
dss-187	110	55	]	]	PUNCT
dss-187	110	56	.	.	PUNCT
dss-187	111	1	under	under	ADP
dss-187	111	2	the	the	DET
dss-187	111	3	sponsorship	sponsorship	NOUN
dss-187	111	4	of	of	ADP
dss-187	111	5	department	department	NOUN
dss-187	111	6	of	of	ADP
dss-187	111	7	homeland	homeland	NOUN
dss-187	111	8	security	security	NOUN
dss-187	111	9	,	,	PUNCT
dss-187	111	10	the	the	DET
dss-187	111	11	response	response	NOUN
dss-187	111	12	robots	robot	NOUN
dss-187	111	13	undergo	undergo	VERB
dss-187	111	14	real	real	ADJ
dss-187	111	15	-	-	PUNCT
dss-187	111	16	life	life	NOUN
dss-187	111	17	scenarios	scenario	NOUN
dss-187	111	18	which	which	PRON
dss-187	111	19	can	can	AUX
dss-187	111	20	include	include	VERB
dss-187	111	21	navigating	navigate	VERB
dss-187	111	22	through	through	ADP
dss-187	111	23	the	the	DET
dss-187	111	24	test	test	NOUN
dss-187	111	25	site	site	NOUN
dss-187	111	26	and	and	CCONJ
dss-187	111	27	execution	execution	NOUN
dss-187	111	28	of	of	ADP
dss-187	111	29	different	different	ADJ
dss-187	111	30	tasks	task	NOUN
dss-187	111	31	such	such	ADJ
dss-187	111	32	as	as	ADP
dss-187	111	33	:	:	PUNCT
dss-187	111	34	climbing	climb	VERB
dss-187	111	35	stairs	stair	NOUN
dss-187	111	36	,	,	PUNCT
dss-187	111	37	handling	handle	VERB
dss-187	111	38	of	of	ADP
dss-187	111	39	objects	object	NOUN
dss-187	111	40	with	with	ADP
dss-187	111	41	manipulators	manipulator	NOUN
dss-187	111	42	,	,	PUNCT
dss-187	111	43	testing	testing	NOUN
dss-187	111	44	of	of	ADP
dss-187	111	45	communication	communication	NOUN
dss-187	111	46	range	range	NOUN
dss-187	111	47	and	and	CCONJ
dss-187	111	48	many	many	ADJ
dss-187	111	49	more	more	ADJ
dss-187	111	50	[	[	X
dss-187	111	51	14	14	NUM
dss-187	111	52	]	]	PUNCT
dss-187	111	53	.	.	PUNCT
dss-187	112	1	the	the	DET
dss-187	112	2	tests	test	NOUN
dss-187	112	3	performed	perform	VERB
dss-187	112	4	in	in	ADP
dss-187	112	5	this	this	DET
dss-187	112	6	research	research	NOUN
dss-187	112	7	are	be	AUX
dss-187	112	8	:	:	PUNCT
dss-187	112	9	logistics	logistic	NOUN
dss-187	112	10	robot	robot	NOUN
dss-187	112	11	test	test	NOUN
dss-187	112	12	configuration	configuration	NOUN
dss-187	112	13	,	,	PUNCT
dss-187	112	14	mobility	mobility	NOUN
dss-187	112	15	on	on	ADP
dss-187	112	16	a	a	DET
dss-187	112	17	flat	flat	ADJ
dss-187	112	18	paved	paved	ADJ
dss-187	112	19	terrain	terrain	NOUN
dss-187	112	20	,	,	PUNCT
dss-187	112	21	mobility	mobility	NOUN
dss-187	112	22	with	with	ADP
dss-187	112	23	towing	tow	VERB
dss-187	112	24	capacity	capacity	NOUN
dss-187	112	25	,	,	PUNCT
dss-187	112	26	radio	radio	NOUN
dss-187	112	27	communications	communication	NOUN
dss-187	112	28	establishing	establish	VERB
dss-187	112	29	a	a	DET
dss-187	112	30	line	line	NOUN
dss-187	112	31	of	of	ADP
dss-187	112	32	sight	sight	NOUN
dss-187	112	33	,	,	PUNCT
dss-187	112	34	manipulationgrasping	manipulationgraspe	VERB
dss-187	112	35	dexterity	dexterity	NOUN
dss-187	112	36	[	[	X
dss-187	112	37	14	14	NUM
dss-187	112	38	]	]	PUNCT
dss-187	112	39	.	.	PUNCT
dss-187	113	1	the	the	DET
dss-187	113	2	mobility	mobility	NOUN
dss-187	113	3	on	on	ADP
dss-187	113	4	a	a	DET
dss-187	113	5	flat	flat	ADJ
dss-187	113	6	paved	pave	VERB
dss-187	113	7	surface	surface	NOUN
dss-187	113	8	evaluates	evaluate	VERB
dss-187	113	9	the	the	DET
dss-187	113	10	speed	speed	NOUN
dss-187	113	11	of	of	ADP
dss-187	113	12	the	the	DET
dss-187	113	13	robot	robot	NOUN
dss-187	113	14	.	.	PUNCT
dss-187	114	1	it	it	PRON
dss-187	114	2	is	be	AUX
dss-187	114	3	done	do	VERB
dss-187	114	4	by	by	ADP
dss-187	114	5	navigating	navigate	VERB
dss-187	114	6	the	the	DET
dss-187	114	7	robot	robot	NOUN
dss-187	114	8	between	between	ADP
dss-187	114	9	two	two	NUM
dss-187	114	10	pylons	pylon	NOUN
dss-187	114	11	50	50	NUM
dss-187	114	12	m	m	VERB
dss-187	114	13	apart	apart	ADV
dss-187	114	14	.	.	PUNCT
dss-187	115	1	average	average	ADJ
dss-187	115	2	time	time	NOUN
dss-187	115	3	is	be	AUX
dss-187	115	4	calculated	calculate	VERB
dss-187	115	5	from	from	ADP
dss-187	115	6	10	10	NUM
dss-187	115	7	repetitions	repetition	NOUN
dss-187	115	8	.	.	PUNCT
dss-187	116	1	mobility	mobility	NOUN
dss-187	116	2	with	with	ADP
dss-187	116	3	towing	tow	VERB
dss-187	116	4	capacity	capacity	NOUN
dss-187	116	5	evaluates	evaluate	VERB
dss-187	116	6	the	the	DET
dss-187	116	7	maximum	maximum	ADJ
dss-187	116	8	capacity	capacity	NOUN
dss-187	116	9	the	the	DET
dss-187	116	10	robot	robot	NOUN
dss-187	116	11	can	can	AUX
dss-187	116	12	tow	tow	VERB
dss-187	116	13	on	on	ADP
dss-187	116	14	a	a	DET
dss-187	116	15	flat	flat	ADJ
dss-187	116	16	paved	paved	ADJ
dss-187	116	17	surface	surface	NOUN
dss-187	116	18	.	.	PUNCT
dss-187	117	1	average	average	ADJ
dss-187	117	2	time	time	NOUN
dss-187	117	3	for	for	ADP
dss-187	117	4	10	10	NUM
dss-187	117	5	repetitions	repetition	NOUN
dss-187	117	6	is	be	AUX
dss-187	117	7	used	use	VERB
dss-187	117	8	as	as	ADP
dss-187	117	9	a	a	DET
dss-187	117	10	metric	metric	NOUN
dss-187	117	11	.	.	PUNCT
dss-187	118	1	radio	radio	NOUN
dss-187	118	2	communications	communication	NOUN
dss-187	118	3	test	test	NOUN
dss-187	118	4	method	method	NOUN
dss-187	118	5	establishes	establish	VERB
dss-187	118	6	a	a	DET
dss-187	118	7	line	line	NOUN
dss-187	118	8	of	of	ADP
dss-187	118	9	sight	sight	NOUN
dss-187	118	10	which	which	PRON
dss-187	118	11	is	be	AUX
dss-187	118	12	the	the	DET
dss-187	118	13	maximum	maximum	ADJ
dss-187	118	14	downrange	downrange	ADJ
dss-187	118	15	distance	distance	NOUN
dss-187	118	16	at	at	ADP
dss-187	118	17	which	which	PRON
dss-187	118	18	the	the	DET
dss-187	118	19	robot	robot	NOUN
dss-187	118	20	completes	complete	VERB
dss-187	118	21	the	the	DET
dss-187	118	22	tasks	task	NOUN
dss-187	118	23	to	to	PART
dss-187	118	24	verify	verify	VERB
dss-187	118	25	the	the	DET
dss-187	118	26	functionality	functionality	NOUN
dss-187	118	27	of	of	ADP
dss-187	118	28	control	control	NOUN
dss-187	118	29	,	,	PUNCT
dss-187	118	30	video	video	NOUN
dss-187	118	31	,	,	PUNCT
dss-187	118	32	audio	audio	ADJ
dss-187	118	33	dss	dss	NOUN
dss-187	118	34	vol	vol	NOUN
dss-187	118	35	.	.	PUNCT
dss-187	119	1	3	3	NUM
dss-187	119	2	,	,	PUNCT
dss-187	119	3	2022	2022	NUM
dss-187	119	4	,	,	PUNCT
dss-187	119	5	pp.22	pp.22	NOUN
dss-187	119	6	-	-	PUNCT
dss-187	119	7	31	31	NUM
dss-187	119	8	26	26	NUM
dss-187	119	9	and	and	CCONJ
dss-187	119	10	sensing	sense	VERB
dss-187	119	11	mechanisms	mechanism	NOUN
dss-187	119	12	.	.	PUNCT
dss-187	120	1	manipulation	manipulation	NOUN
dss-187	120	2	evaluates	evaluate	VERB
dss-187	120	3	the	the	DET
dss-187	120	4	grasping	grasp	VERB
dss-187	120	5	dexterity	dexterity	NOUN
dss-187	120	6	of	of	ADP
dss-187	120	7	the	the	DET
dss-187	120	8	arm	arm	NOUN
dss-187	120	9	manipulator	manipulator	NOUN
dss-187	120	10	.	.	PUNCT
dss-187	121	1	it	it	PRON
dss-187	121	2	is	be	AUX
dss-187	121	3	measured	measure	VERB
dss-187	121	4	by	by	ADP
dss-187	121	5	the	the	DET
dss-187	121	6	number	number	NOUN
dss-187	121	7	of	of	ADP
dss-187	121	8	pick	pick	NOUN
dss-187	121	9	-	-	PUNCT
dss-187	121	10	and	and	CCONJ
dss-187	121	11	-	-	PUNCT
dss-187	121	12	place	place	NOUN
dss-187	121	13	operations	operation	NOUN
dss-187	121	14	a	a	DET
dss-187	121	15	robot	robot	NOUN
dss-187	121	16	can	can	AUX
dss-187	121	17	complete	complete	VERB
dss-187	121	18	in	in	ADP
dss-187	121	19	as	as	ADV
dss-187	121	20	little	little	ADJ
dss-187	121	21	time	time	NOUN
dss-187	121	22	possible	possible	ADJ
dss-187	121	23	.	.	PUNCT
dss-187	122	1	in	in	ADP
dss-187	122	2	addition	addition	NOUN
dss-187	122	3	to	to	ADP
dss-187	122	4	tests	test	NOUN
dss-187	122	5	elaborated	elaborate	VERB
dss-187	122	6	above	above	ADV
dss-187	122	7	,	,	PUNCT
dss-187	122	8	energy	energy	NOUN
dss-187	122	9	consumption	consumption	NOUN
dss-187	122	10	of	of	ADP
dss-187	122	11	the	the	DET
dss-187	122	12	robot	robot	NOUN
dss-187	122	13	is	be	AUX
dss-187	122	14	also	also	ADV
dss-187	122	15	measured	measure	VERB
dss-187	122	16	.	.	PUNCT
dss-187	123	1	it	it	PRON
dss-187	123	2	is	be	AUX
dss-187	123	3	evaluated	evaluate	VERB
dss-187	123	4	using	use	VERB
dss-187	123	5	a	a	DET
dss-187	123	6	multimeter	multimeter	NOUN
dss-187	123	7	,	,	PUNCT
dss-187	123	8	which	which	PRON
dss-187	123	9	measures	measure	VERB
dss-187	123	10	how	how	SCONJ
dss-187	123	11	much	much	ADJ
dss-187	123	12	current	current	ADJ
dss-187	123	13	is	be	AUX
dss-187	123	14	drawn	draw	VERB
dss-187	123	15	by	by	ADP
dss-187	123	16	actuators	actuator	NOUN
dss-187	123	17	under	under	ADP
dss-187	123	18	specified	specify	VERB
dss-187	123	19	load	load	NOUN
dss-187	123	20	application	application	NOUN
dss-187	123	21	.	.	PUNCT
dss-187	124	1	3	3	X
dss-187	124	2	.	.	X
dss-187	124	3	results	result	NOUN
dss-187	124	4	and	and	CCONJ
dss-187	124	5	discussion	discussion	NOUN
dss-187	124	6	as	as	ADP
dss-187	124	7	a	a	DET
dss-187	124	8	result	result	NOUN
dss-187	124	9	of	of	ADP
dss-187	124	10	the	the	DET
dss-187	124	11	methods	method	NOUN
dss-187	124	12	used	use	VERB
dss-187	124	13	in	in	ADP
dss-187	124	14	the	the	DET
dss-187	124	15	construction	construction	NOUN
dss-187	124	16	of	of	ADP
dss-187	124	17	the	the	DET
dss-187	124	18	robot	robot	NOUN
dss-187	124	19	,	,	PUNCT
dss-187	124	20	the	the	DET
dss-187	124	21	basic	basic	ADJ
dss-187	124	22	specifications	specification	NOUN
dss-187	124	23	of	of	ADP
dss-187	124	24	the	the	DET
dss-187	124	25	robot	robot	NOUN
dss-187	124	26	are	be	AUX
dss-187	124	27	presented	present	VERB
dss-187	124	28	next	next	ADV
dss-187	124	29	.	.	PUNCT
dss-187	125	1	the	the	DET
dss-187	125	2	robot`s	robot`s	PROPN
dss-187	125	3	base	base	NOUN
dss-187	125	4	structure	structure	NOUN
dss-187	125	5	is	be	AUX
dss-187	125	6	roughly	roughly	ADV
dss-187	125	7	590	590	NUM
dss-187	125	8	mm	mm	NOUN
dss-187	125	9	in	in	ADP
dss-187	125	10	width	width	NOUN
dss-187	125	11	,	,	PUNCT
dss-187	125	12	measurement	measurement	NOUN
dss-187	125	13	which	which	PRON
dss-187	125	14	includes	include	VERB
dss-187	125	15	wheels	wheel	NOUN
dss-187	125	16	,	,	PUNCT
dss-187	125	17	820	820	NUM
dss-187	125	18	mm	mm	NOUN
dss-187	125	19	in	in	ADP
dss-187	125	20	depth	depth	NOUN
dss-187	125	21	,	,	PUNCT
dss-187	125	22	measured	measure	VERB
dss-187	125	23	from	from	ADP
dss-187	125	24	the	the	DET
dss-187	125	25	center	center	NOUN
dss-187	125	26	of	of	ADP
dss-187	125	27	the	the	DET
dss-187	125	28	wheels	wheel	NOUN
dss-187	125	29	and	and	CCONJ
dss-187	125	30	340	340	NUM
dss-187	125	31	mm	mm	NOUN
dss-187	125	32	in	in	ADP
dss-187	125	33	height	height	NOUN
dss-187	125	34	,	,	PUNCT
dss-187	125	35	measured	measure	VERB
dss-187	125	36	from	from	ADP
dss-187	125	37	the	the	DET
dss-187	125	38	ground	ground	NOUN
dss-187	125	39	up	up	ADP
dss-187	125	40	.	.	PUNCT
dss-187	126	1	the	the	DET
dss-187	126	2	arm	arm	NOUN
dss-187	126	3	manipulator	manipulator	NOUN
dss-187	126	4	has	have	VERB
dss-187	126	5	a	a	DET
dss-187	126	6	maximum	maximum	ADJ
dss-187	126	7	reach	reach	NOUN
dss-187	126	8	of	of	ADP
dss-187	126	9	roughly	roughly	ADV
dss-187	126	10	1400	1400	NUM
dss-187	126	11	mm	mm	NOUN
dss-187	126	12	in	in	ADP
dss-187	126	13	horizontal	horizontal	ADJ
dss-187	126	14	direction	direction	NOUN
dss-187	126	15	and	and	CCONJ
dss-187	126	16	a	a	DET
dss-187	126	17	maximum	maximum	ADJ
dss-187	126	18	reach	reach	NOUN
dss-187	126	19	of	of	ADP
dss-187	126	20	1200	1200	NUM
dss-187	126	21	mm	mm	NOUN
dss-187	126	22	in	in	ADP
dss-187	126	23	the	the	DET
dss-187	126	24	vertical	vertical	ADJ
dss-187	126	25	direction	direction	NOUN
dss-187	126	26	.	.	PUNCT
dss-187	127	1	the	the	DET
dss-187	127	2	overall	overall	ADJ
dss-187	127	3	weight	weight	NOUN
dss-187	127	4	of	of	ADP
dss-187	127	5	the	the	DET
dss-187	127	6	robot	robot	NOUN
dss-187	127	7	is	be	AUX
dss-187	127	8	roughly	roughly	ADV
dss-187	127	9	55	55	NUM
dss-187	127	10	kg	kg	NOUN
dss-187	127	11	,	,	PUNCT
dss-187	127	12	which	which	PRON
dss-187	127	13	includes	include	VERB
dss-187	127	14	all	all	DET
dss-187	127	15	inside	inside	ADJ
dss-187	127	16	components	component	NOUN
dss-187	127	17	.	.	PUNCT
dss-187	128	1	the	the	DET
dss-187	128	2	dimensions	dimension	NOUN
dss-187	128	3	are	be	AUX
dss-187	128	4	displayed	display	VERB
dss-187	128	5	in	in	ADP
dss-187	128	6	figure	figure	NOUN
dss-187	128	7	2	2	NUM
dss-187	128	8	.	.	PUNCT
dss-187	128	9	figure	figure	NOUN
dss-187	128	10	2	2	NUM
dss-187	128	11	.	.	PUNCT
dss-187	128	12	dimensional	dimensional	ADJ
dss-187	128	13	sketch	sketch	NOUN
dss-187	128	14	of	of	ADP
dss-187	128	15	the	the	DET
dss-187	128	16	robot	robot	NOUN
dss-187	128	17	the	the	DET
dss-187	128	18	robot`s	robot`s	NOUN
dss-187	128	19	functionality	functionality	NOUN
dss-187	128	20	is	be	AUX
dss-187	128	21	measured	measure	VERB
dss-187	128	22	according	accord	VERB
dss-187	128	23	to	to	ADP
dss-187	128	24	the	the	DET
dss-187	128	25	guidelines	guideline	NOUN
dss-187	128	26	presented	present	VERB
dss-187	128	27	in	in	ADP
dss-187	128	28	the	the	DET
dss-187	128	29	methods	method	NOUN
dss-187	128	30	section	section	NOUN
dss-187	128	31	.	.	PUNCT
dss-187	129	1	the	the	DET
dss-187	129	2	guideline	guideline	NOUN
dss-187	129	3	was	be	AUX
dss-187	129	4	written	write	VERB
dss-187	129	5	by	by	ADP
dss-187	129	6	the	the	DET
dss-187	129	7	department	department	PROPN
dss-187	129	8	of	of	ADP
dss-187	129	9	homeland	homeland	NOUN
dss-187	129	10	security	security	NOUN
dss-187	129	11	with	with	ADP
dss-187	129	12	its	its	PRON
dss-187	129	13	associates	associate	NOUN
dss-187	129	14	.	.	PUNCT
dss-187	130	1	the	the	DET
dss-187	130	2	authors	author	NOUN
dss-187	130	3	specifically	specifically	ADV
dss-187	130	4	chose	choose	VERB
dss-187	130	5	applicable	applicable	ADJ
dss-187	130	6	tests	test	NOUN
dss-187	130	7	from	from	ADP
dss-187	130	8	the	the	DET
dss-187	130	9	guideline	guideline	NOUN
dss-187	130	10	such	such	ADJ
dss-187	130	11	as	as	ADP
dss-187	130	12	setup	setup	NOUN
dss-187	130	13	time	time	NOUN
dss-187	130	14	,	,	PUNCT
dss-187	130	15	speed	speed	NOUN
dss-187	130	16	test	test	NOUN
dss-187	130	17	,	,	PUNCT
dss-187	130	18	mobility	mobility	NOUN
dss-187	130	19	with	with	ADP
dss-187	130	20	towing	tow	VERB
dss-187	130	21	capacity	capacity	NOUN
dss-187	130	22	,	,	PUNCT
dss-187	130	23	radio	radio	NOUN
dss-187	130	24	communication	communication	NOUN
dss-187	130	25	test	test	NOUN
dss-187	130	26	,	,	PUNCT
dss-187	130	27	object	object	VERB
dss-187	130	28	manipulation	manipulation	NOUN
dss-187	130	29	and	and	CCONJ
dss-187	130	30	lifting	lifting	NOUN
dss-187	130	31	capacity	capacity	NOUN
dss-187	130	32	.	.	PUNCT
dss-187	131	1	the	the	DET
dss-187	131	2	test	test	NOUN
dss-187	131	3	results	result	NOUN
dss-187	131	4	are	be	AUX
dss-187	131	5	briefly	briefly	ADV
dss-187	131	6	presented	present	VERB
dss-187	131	7	in	in	ADP
dss-187	131	8	table	table	NOUN
dss-187	131	9	3	3	NUM
dss-187	131	10	.	.	PUNCT
dss-187	131	11	table	table	NOUN
dss-187	131	12	3	3	NUM
dss-187	131	13	.	.	PUNCT
dss-187	131	14	test	test	NOUN
dss-187	131	15	results	result	NOUN
dss-187	131	16	setup	setup	VERB
dss-187	131	17	time	time	NOUN
dss-187	131	18	speed	speed	NOUN
dss-187	131	19	mobility	mobility	NOUN
dss-187	131	20	with	with	ADP
dss-187	131	21	towing	tow	VERB
dss-187	131	22	capacity	capacity	NOUN
dss-187	131	23	flat	flat	ADJ
dss-187	131	24	paved	pave	VERB
dss-187	131	25	surface	surface	NOUN
dss-187	131	26	mobility	mobility	NOUN
dss-187	131	27	radio	radio	NOUN
dss-187	131	28	communication	communication	NOUN
dss-187	131	29	test	test	NOUN
dss-187	131	30	manipulation	manipulation	NOUN
dss-187	131	31	of	of	ADP
dss-187	131	32	objects	object	NOUN
dss-187	131	33	lifting	lift	VERB
dss-187	131	34	capacity	capacity	NOUN
dss-187	131	35	10	10	NUM
dss-187	131	36	min	min	NOUN
dss-187	131	37	up	up	ADP
dss-187	131	38	to	to	PART
dss-187	131	39	8	8	NUM
dss-187	131	40	km/h	km/h	NOUN
dss-187	131	41	40	40	NUM
dss-187	131	42	kg	kg	NOUN
dss-187	131	43	10	10	NUM
dss-187	131	44	repetitions	repetition	NOUN
dss-187	131	45	in	in	ADP
dss-187	131	46	10	10	NUM
dss-187	131	47	min	min	NOUN
dss-187	131	48	20	20	NUM
dss-187	131	49	m	m	NOUN
dss-187	131	50	line	line	NOUN
dss-187	131	51	-	-	PUNCT
dss-187	131	52	ofsight	ofsight	NOUN
dss-187	131	53	3	3	NUM
dss-187	131	54	objects	object	NOUN
dss-187	131	55	per	per	ADP
dss-187	131	56	10	10	NUM
dss-187	131	57	min	min	NOUN
dss-187	131	58	at	at	ADP
dss-187	131	59	full	full	ADJ
dss-187	131	60	extension	extension	NOUN
dss-187	131	61	15	15	NUM
dss-187	131	62	kg	kg	NOUN
dss-187	131	63	the	the	DET
dss-187	131	64	first	first	ADJ
dss-187	131	65	test	test	NOUN
dss-187	131	66	conducted	conduct	VERB
dss-187	131	67	is	be	AUX
dss-187	131	68	the	the	DET
dss-187	131	69	robot	robot	NOUN
dss-187	131	70	test	test	NOUN
dss-187	131	71	configuration	configuration	NOUN
dss-187	131	72	which	which	PRON
dss-187	131	73	measures	measure	VERB
dss-187	131	74	the	the	DET
dss-187	131	75	setup	setup	NOUN
dss-187	131	76	time	time	NOUN
dss-187	131	77	of	of	ADP
dss-187	131	78	the	the	DET
dss-187	131	79	robot	robot	NOUN
dss-187	131	80	and	and	CCONJ
dss-187	131	81	its	its	PRON
dss-187	131	82	equipment	equipment	NOUN
dss-187	131	83	.	.	PUNCT
dss-187	132	1	the	the	DET
dss-187	132	2	authors	author	NOUN
dss-187	132	3	also	also	ADV
dss-187	132	4	took	take	VERB
dss-187	132	5	into	into	ADP
dss-187	132	6	consideration	consideration	NOUN
dss-187	132	7	the	the	DET
dss-187	132	8	transport	transport	NOUN
dss-187	132	9	of	of	ADP
dss-187	132	10	the	the	DET
dss-187	132	11	robot	robot	NOUN
dss-187	132	12	using	use	VERB
dss-187	132	13	an	an	DET
dss-187	132	14	automobile	automobile	NOUN
dss-187	132	15	.	.	PUNCT
dss-187	133	1	since	since	SCONJ
dss-187	133	2	the	the	DET
dss-187	133	3	height	height	NOUN
dss-187	133	4	of	of	ADP
dss-187	133	5	the	the	DET
dss-187	133	6	arm	arm	NOUN
dss-187	133	7	,	,	PUNCT
dss-187	133	8	when	when	SCONJ
dss-187	133	9	all	all	DET
dss-187	133	10	the	the	DET
dss-187	133	11	actuators	actuator	NOUN
dss-187	133	12	are	be	AUX
dss-187	133	13	in	in	ADP
dss-187	133	14	the	the	DET
dss-187	133	15	fully	fully	ADV
dss-187	133	16	retracted	retracted	ADJ
dss-187	133	17	position	position	NOUN
dss-187	133	18	,	,	PUNCT
dss-187	133	19	prevents	prevent	VERB
dss-187	133	20	the	the	DET
dss-187	133	21	robot	robot	NOUN
dss-187	133	22	to	to	PART
dss-187	133	23	fit	fit	VERB
dss-187	133	24	into	into	ADP
dss-187	133	25	an	an	DET
dss-187	133	26	average	average	ADJ
dss-187	133	27	size	size	NOUN
dss-187	133	28	automobile	automobile	NOUN
dss-187	133	29	,	,	PUNCT
dss-187	133	30	a	a	DET
dss-187	133	31	necessary	necessary	ADJ
dss-187	133	32	measure	measure	NOUN
dss-187	133	33	is	be	AUX
dss-187	133	34	to	to	PART
dss-187	133	35	dismantle	dismantle	VERB
dss-187	133	36	the	the	DET
dss-187	133	37	actuator	actuator	NOUN
dss-187	133	38	,	,	PUNCT
dss-187	133	39	stemming	stem	VERB
dss-187	133	40	from	from	ADP
dss-187	133	41	the	the	DET
dss-187	133	42	base	base	NOUN
dss-187	133	43	of	of	ADP
dss-187	133	44	the	the	DET
dss-187	133	45	robot	robot	NOUN
dss-187	133	46	to	to	ADP
dss-187	133	47	the	the	DET
dss-187	133	48	arm	arm	NOUN
dss-187	133	49	,	,	PUNCT
dss-187	133	50	to	to	PART
dss-187	133	51	be	be	AUX
dss-187	133	52	able	able	ADJ
dss-187	133	53	to	to	PART
dss-187	133	54	fit	fit	VERB
dss-187	133	55	the	the	DET
dss-187	133	56	robot	robot	NOUN
dss-187	133	57	into	into	ADP
dss-187	133	58	the	the	DET
dss-187	133	59	automobile	automobile	NOUN
dss-187	133	60	.	.	PUNCT
dss-187	134	1	this	this	PRON
dss-187	134	2	increases	increase	VERB
dss-187	134	3	the	the	DET
dss-187	134	4	setup	setup	NOUN
dss-187	134	5	time	time	NOUN
dss-187	134	6	which	which	PRON
dss-187	134	7	amounts	amount	VERB
dss-187	134	8	to	to	ADP
dss-187	134	9	10	10	NUM
dss-187	134	10	minutes	minute	NOUN
dss-187	134	11	and	and	CCONJ
dss-187	134	12	includes	include	VERB
dss-187	134	13	:	:	PUNCT
dss-187	134	14	extracting	extract	VERB
dss-187	134	15	the	the	DET
dss-187	134	16	robot	robot	NOUN
dss-187	134	17	from	from	ADP
dss-187	134	18	the	the	DET
dss-187	134	19	car	car	NOUN
dss-187	134	20	,	,	PUNCT
dss-187	134	21	connecting	connect	VERB
dss-187	134	22	the	the	DET
dss-187	134	23	actuator	actuator	NOUN
dss-187	134	24	that	that	PRON
dss-187	134	25	was	be	AUX
dss-187	134	26	dismantled	dismantle	VERB
dss-187	134	27	previously	previously	ADV
dss-187	134	28	,	,	PUNCT
dss-187	134	29	connecting	connect	VERB
dss-187	134	30	the	the	DET
dss-187	134	31	power	power	NOUN
dss-187	134	32	wires	wire	NOUN
dss-187	134	33	to	to	ADP
dss-187	134	34	the	the	DET
dss-187	134	35	car	car	NOUN
dss-187	134	36	battery	battery	NOUN
dss-187	134	37	,	,	PUNCT
dss-187	134	38	connecting	connect	VERB
dss-187	134	39	the	the	DET
dss-187	134	40	power	power	NOUN
dss-187	134	41	bank	bank	NOUN
dss-187	134	42	to	to	ADP
dss-187	134	43	the	the	DET
dss-187	134	44	raspberry	raspberry	NOUN
dss-187	134	45	pi	pi	NOUN
dss-187	134	46	and	and	CCONJ
dss-187	134	47	finally	finally	ADV
dss-187	134	48	connecting	connect	VERB
dss-187	134	49	the	the	DET
dss-187	134	50	laptop	laptop	NOUN
dss-187	134	51	to	to	ADP
dss-187	134	52	the	the	DET
dss-187	134	53	wi	wi	PROPN
dss-187	134	54	-	-	PUNCT
dss-187	134	55	fi	fi	NOUN
dss-187	134	56	connection	connection	NOUN
dss-187	134	57	of	of	ADP
dss-187	134	58	the	the	DET
dss-187	134	59	raspberry	raspberry	NOUN
dss-187	134	60	pi	pi	NOUN
dss-187	134	61	.	.	PUNCT
dss-187	135	1	the	the	DET
dss-187	135	2	most	most	ADJ
dss-187	135	3	time	time	NOUN
dss-187	135	4	-	-	PUNCT
dss-187	135	5	consuming	consume	VERB
dss-187	135	6	setup	setup	NOUN
dss-187	135	7	dss	dss	NOUN
dss-187	135	8	vol	vol	NOUN
dss-187	135	9	.	.	PUNCT
dss-187	135	10	3	3	NUM
dss-187	135	11	,	,	PUNCT
dss-187	135	12	2022	2022	NUM
dss-187	135	13	,	,	PUNCT
dss-187	135	14	pp.22	pp.22	NOUN
dss-187	135	15	-	-	SYM
dss-187	135	16	31	31	NUM
dss-187	135	17	27	27	NUM
dss-187	135	18	process	process	NOUN
dss-187	135	19	is	be	AUX
dss-187	135	20	surely	surely	ADV
dss-187	135	21	the	the	DET
dss-187	135	22	connection	connection	NOUN
dss-187	135	23	of	of	ADP
dss-187	135	24	the	the	DET
dss-187	135	25	actuator	actuator	NOUN
dss-187	135	26	which	which	PRON
dss-187	135	27	requires	require	VERB
dss-187	135	28	the	the	DET
dss-187	135	29	use	use	NOUN
dss-187	135	30	of	of	ADP
dss-187	135	31	ordinary	ordinary	ADJ
dss-187	135	32	plyers	plyer	NOUN
dss-187	135	33	and	and	CCONJ
dss-187	135	34	a	a	DET
dss-187	135	35	size	size	NOUN
dss-187	135	36	13	13	NUM
dss-187	135	37	wrench	wrench	NOUN
dss-187	135	38	.	.	PUNCT
dss-187	136	1	to	to	PART
dss-187	136	2	conclude	conclude	VERB
dss-187	136	3	the	the	DET
dss-187	136	4	results	result	NOUN
dss-187	136	5	,	,	PUNCT
dss-187	136	6	setup	setup	NOUN
dss-187	136	7	time	time	NOUN
dss-187	136	8	amounts	amount	VERB
dss-187	136	9	to	to	ADP
dss-187	136	10	10	10	NUM
dss-187	136	11	minutes	minute	NOUN
dss-187	136	12	,	,	PUNCT
dss-187	136	13	with	with	ADP
dss-187	136	14	the	the	DET
dss-187	136	15	weight	weight	NOUN
dss-187	136	16	of	of	ADP
dss-187	136	17	the	the	DET
dss-187	136	18	equipment	equipment	NOUN
dss-187	136	19	of	of	ADP
dss-187	136	20	4	4	NUM
dss-187	136	21	kg	kg	NOUN
dss-187	136	22	(	(	PUNCT
dss-187	136	23	laptop	laptop	NOUN
dss-187	136	24	as	as	ADP
dss-187	136	25	the	the	DET
dss-187	136	26	control	control	NOUN
dss-187	136	27	unit	unit	NOUN
dss-187	136	28	,	,	PUNCT
dss-187	136	29	plyers	plyer	NOUN
dss-187	136	30	and	and	CCONJ
dss-187	136	31	a	a	DET
dss-187	136	32	wrench	wrench	NOUN
dss-187	136	33	,	,	PUNCT
dss-187	136	34	additional	additional	ADJ
dss-187	136	35	wiring	wiring	NOUN
dss-187	136	36	for	for	ADP
dss-187	136	37	repair	repair	NOUN
dss-187	136	38	)	)	PUNCT
dss-187	136	39	.	.	PUNCT
dss-187	137	1	the	the	DET
dss-187	137	2	second	second	ADJ
dss-187	137	3	test	test	NOUN
dss-187	137	4	conducted	conduct	VERB
dss-187	137	5	is	be	AUX
dss-187	137	6	the	the	DET
dss-187	137	7	„	„	PUNCT
dss-187	137	8	speed	speed	NOUN
dss-187	137	9	test	test	NOUN
dss-187	137	10	“	"	PUNCT
dss-187	137	11	.	.	PUNCT
dss-187	138	1	according	accord	VERB
dss-187	138	2	to	to	ADP
dss-187	138	3	authors	author	NOUN
dss-187	138	4	measuring	measure	VERB
dss-187	138	5	,	,	PUNCT
dss-187	138	6	the	the	DET
dss-187	138	7	robot	robot	NOUN
dss-187	138	8	can	can	AUX
dss-187	138	9	achieve	achieve	VERB
dss-187	138	10	speeds	speed	NOUN
dss-187	138	11	up	up	ADP
dss-187	138	12	to	to	PART
dss-187	138	13	8	8	NUM
dss-187	138	14	km	km	NOUN
dss-187	138	15	/	/	SYM
dss-187	138	16	h	h	NOUN
dss-187	138	17	,	,	PUNCT
dss-187	138	18	which	which	PRON
dss-187	138	19	is	be	AUX
dss-187	138	20	competitive	competitive	ADJ
dss-187	138	21	enough	enough	ADV
dss-187	138	22	.	.	PUNCT
dss-187	139	1	the	the	DET
dss-187	139	2	authors	author	NOUN
dss-187	139	3	note	note	VERB
dss-187	139	4	that	that	SCONJ
dss-187	139	5	the	the	DET
dss-187	139	6	robot	robot	NOUN
dss-187	139	7	does	do	AUX
dss-187	139	8	not	not	PART
dss-187	139	9	possess	possess	VERB
dss-187	139	10	speed	speed	NOUN
dss-187	139	11	control	control	NOUN
dss-187	139	12	,	,	PUNCT
dss-187	139	13	since	since	SCONJ
dss-187	139	14	the	the	DET
dss-187	139	15	dc	dc	PROPN
dss-187	139	16	motors	motor	NOUN
dss-187	139	17	are	be	AUX
dss-187	139	18	taken	take	VERB
dss-187	139	19	form	form	NOUN
dss-187	139	20	windshield	windshield	NOUN
dss-187	139	21	car	car	NOUN
dss-187	139	22	wipers	wiper	NOUN
dss-187	139	23	and	and	CCONJ
dss-187	139	24	are	be	AUX
dss-187	139	25	programmed	program	VERB
dss-187	139	26	to	to	PART
dss-187	139	27	utilize	utilize	VERB
dss-187	139	28	one	one	NUM
dss-187	139	29	speed	speed	NOUN
dss-187	139	30	of	of	ADP
dss-187	139	31	motion	motion	NOUN
dss-187	139	32	.	.	PUNCT
dss-187	140	1	on	on	ADP
dss-187	140	2	the	the	DET
dss-187	140	3	bright	bright	ADJ
dss-187	140	4	side	side	NOUN
dss-187	140	5	,	,	PUNCT
dss-187	140	6	these	these	DET
dss-187	140	7	dc	dc	PROPN
dss-187	140	8	motors	motor	NOUN
dss-187	140	9	can	can	AUX
dss-187	140	10	generate	generate	VERB
dss-187	140	11	around	around	ADP
dss-187	140	12	30	30	NUM
dss-187	140	13	nm	nm	NOUN
dss-187	140	14	of	of	ADP
dss-187	140	15	torque	torque	NOUN
dss-187	140	16	,	,	PUNCT
dss-187	140	17	well	well	ADV
dss-187	140	18	enough	enough	ADV
dss-187	140	19	to	to	PART
dss-187	140	20	power	power	VERB
dss-187	140	21	the	the	DET
dss-187	140	22	robot	robot	NOUN
dss-187	140	23	.	.	PUNCT
dss-187	141	1	mobility	mobility	NOUN
dss-187	141	2	with	with	ADP
dss-187	141	3	towing	tow	VERB
dss-187	141	4	capacity	capacity	NOUN
dss-187	141	5	is	be	AUX
dss-187	141	6	the	the	DET
dss-187	141	7	test	test	NOUN
dss-187	141	8	that	that	PRON
dss-187	141	9	the	the	DET
dss-187	141	10	authors	author	NOUN
dss-187	141	11	conducted	conduct	VERB
dss-187	141	12	inside	inside	ADP
dss-187	141	13	the	the	DET
dss-187	141	14	laboratory	laboratory	NOUN
dss-187	141	15	where	where	SCONJ
dss-187	141	16	the	the	DET
dss-187	141	17	robot	robot	NOUN
dss-187	141	18	is	be	AUX
dss-187	141	19	constructed	construct	VERB
dss-187	141	20	.	.	PUNCT
dss-187	142	1	the	the	DET
dss-187	142	2	maximum	maximum	ADJ
dss-187	142	3	tow	tow	NOUN
dss-187	142	4	value	value	NOUN
dss-187	142	5	tested	test	VERB
dss-187	142	6	is	be	AUX
dss-187	142	7	40	40	NUM
dss-187	142	8	kg	kg	NOUN
dss-187	142	9	.	.	PUNCT
dss-187	143	1	the	the	DET
dss-187	143	2	robot`s	robot`s	NOUN
dss-187	143	3	capability	capability	NOUN
dss-187	143	4	of	of	ADP
dss-187	143	5	towing	tow	VERB
dss-187	143	6	motion	motion	NOUN
dss-187	143	7	was	be	AUX
dss-187	143	8	also	also	ADV
dss-187	143	9	successfully	successfully	ADV
dss-187	143	10	tested	test	VERB
dss-187	143	11	with	with	ADP
dss-187	143	12	the	the	DET
dss-187	143	13	towing	towing	NOUN
dss-187	143	14	of	of	ADP
dss-187	143	15	a	a	DET
dss-187	143	16	wheeled	wheeled	ADJ
dss-187	143	17	chair	chair	NOUN
dss-187	143	18	with	with	ADP
dss-187	143	19	a	a	DET
dss-187	143	20	person	person	NOUN
dss-187	143	21	sitting	sit	VERB
dss-187	143	22	on	on	ADP
dss-187	143	23	the	the	DET
dss-187	143	24	chair	chair	NOUN
dss-187	143	25	.	.	PUNCT
dss-187	144	1	although	although	SCONJ
dss-187	144	2	the	the	DET
dss-187	144	3	chair	chair	NOUN
dss-187	144	4	is	be	AUX
dss-187	144	5	wheeled	wheel	VERB
dss-187	144	6	,	,	PUNCT
dss-187	144	7	this	this	DET
dss-187	144	8	test	test	NOUN
dss-187	144	9	proves	prove	VERB
dss-187	144	10	that	that	SCONJ
dss-187	144	11	the	the	DET
dss-187	144	12	robot	robot	NOUN
dss-187	144	13	has	have	VERB
dss-187	144	14	substantial	substantial	ADJ
dss-187	144	15	towing	towing	NOUN
dss-187	144	16	capacity	capacity	NOUN
dss-187	144	17	.	.	PUNCT
dss-187	145	1	radio	radio	NOUN
dss-187	145	2	communications	communication	NOUN
dss-187	145	3	test	test	NOUN
dss-187	145	4	,	,	PUNCT
dss-187	145	5	testes	testes	VERB
dss-187	145	6	the	the	DET
dss-187	145	7	capability	capability	NOUN
dss-187	145	8	of	of	ADP
dss-187	145	9	the	the	DET
dss-187	145	10	robot	robot	NOUN
dss-187	145	11	to	to	PART
dss-187	145	12	continue	continue	VERB
dss-187	145	13	working	work	VERB
dss-187	145	14	and	and	CCONJ
dss-187	145	15	receiving	receive	VERB
dss-187	145	16	signals	signal	NOUN
dss-187	145	17	from	from	ADP
dss-187	145	18	the	the	DET
dss-187	145	19	control	control	NOUN
dss-187	145	20	unit	unit	NOUN
dss-187	145	21	far	far	ADV
dss-187	145	22	away	away	ADV
dss-187	145	23	from	from	ADP
dss-187	145	24	it	it	PRON
dss-187	145	25	.	.	PUNCT
dss-187	146	1	this	this	DET
dss-187	146	2	test	test	NOUN
dss-187	146	3	is	be	AUX
dss-187	146	4	probably	probably	ADV
dss-187	146	5	the	the	DET
dss-187	146	6	weakest	weak	ADJ
dss-187	146	7	point	point	NOUN
dss-187	146	8	of	of	ADP
dss-187	146	9	the	the	DET
dss-187	146	10	robot	robot	NOUN
dss-187	146	11	,	,	PUNCT
dss-187	146	12	since	since	SCONJ
dss-187	146	13	the	the	DET
dss-187	146	14	communication	communication	NOUN
dss-187	146	15	with	with	ADP
dss-187	146	16	the	the	DET
dss-187	146	17	robot	robot	NOUN
dss-187	146	18	is	be	AUX
dss-187	146	19	achieved	achieve	VERB
dss-187	146	20	through	through	ADP
dss-187	146	21	wi	wi	PROPN
dss-187	146	22	-	-	PUNCT
dss-187	146	23	fi	fi	NOUN
dss-187	146	24	signal	signal	NOUN
dss-187	146	25	of	of	ADP
dss-187	146	26	the	the	DET
dss-187	146	27	raspberry	raspberry	NOUN
dss-187	146	28	pi	pi	NOUN
dss-187	146	29	.	.	PUNCT
dss-187	147	1	the	the	DET
dss-187	147	2	furthest	furth	ADJ
dss-187	147	3	distance	distance	NOUN
dss-187	147	4	away	away	ADV
dss-187	147	5	from	from	ADP
dss-187	147	6	the	the	DET
dss-187	147	7	control	control	NOUN
dss-187	147	8	unit	unit	NOUN
dss-187	147	9	,	,	PUNCT
dss-187	147	10	at	at	ADP
dss-187	147	11	which	which	PRON
dss-187	147	12	the	the	DET
dss-187	147	13	communication	communication	NOUN
dss-187	147	14	still	still	ADV
dss-187	147	15	operates	operate	VERB
dss-187	147	16	without	without	ADP
dss-187	147	17	interferences	interference	NOUN
dss-187	147	18	is	be	AUX
dss-187	147	19	roughly	roughly	ADV
dss-187	147	20	around	around	ADV
dss-187	147	21	20	20	NUM
dss-187	147	22	m.	m.	NOUN
dss-187	147	23	this	this	DET
dss-187	147	24	distance	distance	NOUN
dss-187	147	25	is	be	AUX
dss-187	147	26	further	far	ADV
dss-187	147	27	lowered	lower	VERB
dss-187	147	28	with	with	ADP
dss-187	147	29	the	the	DET
dss-187	147	30	introduction	introduction	NOUN
dss-187	147	31	of	of	ADP
dss-187	147	32	obstacles	obstacle	NOUN
dss-187	147	33	such	such	ADJ
dss-187	147	34	as	as	ADP
dss-187	147	35	walls	wall	NOUN
dss-187	147	36	.	.	PUNCT
dss-187	148	1	this	this	DET
dss-187	148	2	weak	weak	ADJ
dss-187	148	3	point	point	NOUN
dss-187	148	4	is	be	AUX
dss-187	148	5	surely	surely	ADV
dss-187	148	6	something	something	PRON
dss-187	148	7	the	the	DET
dss-187	148	8	authors	author	NOUN
dss-187	148	9	are	be	AUX
dss-187	148	10	working	work	VERB
dss-187	148	11	to	to	PART
dss-187	148	12	improve	improve	VERB
dss-187	148	13	.	.	PUNCT
dss-187	149	1	manipulation	manipulation	NOUN
dss-187	149	2	of	of	ADP
dss-187	149	3	objects	object	NOUN
dss-187	149	4	is	be	AUX
dss-187	149	5	a	a	DET
dss-187	149	6	test	test	NOUN
dss-187	149	7	which	which	PRON
dss-187	149	8	measures	measure	VERB
dss-187	149	9	the	the	DET
dss-187	149	10	capability	capability	NOUN
dss-187	149	11	of	of	ADP
dss-187	149	12	the	the	DET
dss-187	149	13	robot	robot	NOUN
dss-187	149	14	to	to	PART
dss-187	149	15	pick	pick	VERB
dss-187	149	16	-	-	PUNCT
dss-187	149	17	and	and	CCONJ
dss-187	149	18	-	-	PUNCT
dss-187	149	19	place	place	NOUN
dss-187	149	20	as	as	ADP
dss-187	149	21	many	many	ADJ
dss-187	149	22	objects	object	NOUN
dss-187	149	23	in	in	ADP
dss-187	149	24	as	as	ADV
dss-187	149	25	little	little	ADJ
dss-187	149	26	time	time	NOUN
dss-187	149	27	possible	possible	ADJ
dss-187	149	28	.	.	PUNCT
dss-187	150	1	the	the	DET
dss-187	150	2	authors	author	NOUN
dss-187	150	3	do	do	AUX
dss-187	150	4	mention	mention	VERB
dss-187	150	5	here	here	ADV
dss-187	150	6	that	that	SCONJ
dss-187	150	7	the	the	DET
dss-187	150	8	gripper	gripper	NOUN
dss-187	150	9	is	be	AUX
dss-187	150	10	designed	design	VERB
dss-187	150	11	in	in	ADP
dss-187	150	12	a	a	DET
dss-187	150	13	such	such	DET
dss-187	150	14	a	a	DET
dss-187	150	15	way	way	NOUN
dss-187	150	16	,	,	PUNCT
dss-187	150	17	that	that	SCONJ
dss-187	150	18	the	the	DET
dss-187	150	19	objects	object	NOUN
dss-187	150	20	need	need	VERB
dss-187	150	21	to	to	PART
dss-187	150	22	be	be	AUX
dss-187	150	23	gripped	grip	VERB
dss-187	150	24	with	with	ADP
dss-187	150	25	the	the	DET
dss-187	150	26	very	very	ADJ
dss-187	150	27	tip	tip	NOUN
dss-187	150	28	of	of	ADP
dss-187	150	29	the	the	DET
dss-187	150	30	gripper	gripper	NOUN
dss-187	150	31	in	in	ADP
dss-187	150	32	order	order	NOUN
dss-187	150	33	to	to	PART
dss-187	150	34	lift	lift	VERB
dss-187	150	35	them	they	PRON
dss-187	150	36	.	.	PUNCT
dss-187	151	1	this	this	PRON
dss-187	151	2	especially	especially	ADV
dss-187	151	3	applies	apply	VERB
dss-187	151	4	to	to	ADP
dss-187	151	5	thin	thin	ADJ
dss-187	151	6	objects	object	NOUN
dss-187	151	7	such	such	ADJ
dss-187	151	8	as	as	ADP
dss-187	151	9	bottles	bottle	NOUN
dss-187	151	10	,	,	PUNCT
dss-187	151	11	which	which	PRON
dss-187	151	12	would	would	AUX
dss-187	151	13	otherwise	otherwise	ADV
dss-187	151	14	fall	fall	VERB
dss-187	151	15	through	through	ADP
dss-187	151	16	the	the	DET
dss-187	151	17	gripper	gripper	NOUN
dss-187	151	18	because	because	SCONJ
dss-187	151	19	of	of	ADP
dss-187	151	20	the	the	DET
dss-187	151	21	width	width	NOUN
dss-187	151	22	of	of	ADP
dss-187	151	23	the	the	DET
dss-187	151	24	gripper	gripper	NOUN
dss-187	151	25	at	at	ADP
dss-187	151	26	its	its	PRON
dss-187	151	27	middle	middle	NOUN
dss-187	151	28	.	.	PUNCT
dss-187	152	1	the	the	DET
dss-187	152	2	authors	author	NOUN
dss-187	152	3	manipulated	manipulate	VERB
dss-187	152	4	objects	object	NOUN
dss-187	152	5	such	such	ADJ
dss-187	152	6	as	as	ADP
dss-187	152	7	bottles	bottle	NOUN
dss-187	152	8	,	,	PUNCT
dss-187	152	9	desk	desk	NOUN
dss-187	152	10	chairs	chair	NOUN
dss-187	152	11	,	,	PUNCT
dss-187	152	12	bricks	brick	NOUN
dss-187	152	13	,	,	PUNCT
dss-187	152	14	metal	metal	NOUN
dss-187	152	15	objects	object	NOUN
dss-187	152	16	etc	etc	X
dss-187	152	17	.	.	X
dss-187	153	1	one	one	NUM
dss-187	153	2	of	of	ADP
dss-187	153	3	the	the	DET
dss-187	153	4	disadvantages	disadvantage	NOUN
dss-187	153	5	of	of	ADP
dss-187	153	6	the	the	DET
dss-187	153	7	gripping	gripping	NOUN
dss-187	153	8	of	of	ADP
dss-187	153	9	the	the	DET
dss-187	153	10	robot	robot	NOUN
dss-187	153	11	is	be	AUX
dss-187	153	12	the	the	DET
dss-187	153	13	fact	fact	NOUN
dss-187	153	14	that	that	SCONJ
dss-187	153	15	the	the	DET
dss-187	153	16	whole	whole	ADJ
dss-187	153	17	robot	robot	NOUN
dss-187	153	18	needs	need	VERB
dss-187	153	19	to	to	PART
dss-187	153	20	be	be	AUX
dss-187	153	21	moved	move	VERB
dss-187	153	22	in	in	ADP
dss-187	153	23	order	order	NOUN
dss-187	153	24	to	to	PART
dss-187	153	25	place	place	VERB
dss-187	153	26	the	the	DET
dss-187	153	27	end	end	NOUN
dss-187	153	28	of	of	ADP
dss-187	153	29	the	the	DET
dss-187	153	30	gripper	gripper	NOUN
dss-187	153	31	in	in	ADP
dss-187	153	32	the	the	DET
dss-187	153	33	position	position	NOUN
dss-187	153	34	to	to	PART
dss-187	153	35	grab	grab	VERB
dss-187	153	36	an	an	DET
dss-187	153	37	object	object	NOUN
dss-187	153	38	.	.	PUNCT
dss-187	154	1	this	this	PRON
dss-187	154	2	is	be	AUX
dss-187	154	3	due	due	ADJ
dss-187	154	4	to	to	ADP
dss-187	154	5	the	the	DET
dss-187	154	6	fact	fact	NOUN
dss-187	154	7	that	that	SCONJ
dss-187	154	8	the	the	DET
dss-187	154	9	arm	arm	NOUN
dss-187	154	10	can	can	AUX
dss-187	154	11	only	only	ADV
dss-187	154	12	be	be	AUX
dss-187	154	13	manipulated	manipulate	VERB
dss-187	154	14	in	in	ADP
dss-187	154	15	the	the	DET
dss-187	154	16	vertical	vertical	ADJ
dss-187	154	17	direction	direction	NOUN
dss-187	154	18	.	.	PUNCT
dss-187	155	1	to	to	PART
dss-187	155	2	conclude	conclude	VERB
dss-187	155	3	,	,	PUNCT
dss-187	155	4	due	due	ADP
dss-187	155	5	to	to	ADP
dss-187	155	6	the	the	DET
dss-187	155	7	limitations	limitation	NOUN
dss-187	155	8	in	in	ADP
dss-187	155	9	the	the	DET
dss-187	155	10	mobility	mobility	NOUN
dss-187	155	11	of	of	ADP
dss-187	155	12	the	the	DET
dss-187	155	13	arm	arm	NOUN
dss-187	155	14	,	,	PUNCT
dss-187	155	15	the	the	DET
dss-187	155	16	robot	robot	NOUN
dss-187	155	17	can	can	AUX
dss-187	155	18	pick	pick	VERB
dss-187	155	19	-	-	PUNCT
dss-187	155	20	and	and	CCONJ
dss-187	155	21	-	-	PUNCT
dss-187	155	22	place	place	NOUN
dss-187	155	23	only	only	ADV
dss-187	155	24	3	3	NUM
dss-187	155	25	objects	object	NOUN
dss-187	155	26	in	in	ADP
dss-187	155	27	the	the	DET
dss-187	155	28	time	time	NOUN
dss-187	155	29	span	span	NOUN
dss-187	155	30	of	of	ADP
dss-187	155	31	10	10	NUM
dss-187	155	32	minutes	minute	NOUN
dss-187	155	33	.	.	PUNCT
dss-187	156	1	in	in	ADP
dss-187	156	2	addition	addition	NOUN
dss-187	156	3	to	to	ADP
dss-187	156	4	these	these	DET
dss-187	156	5	tests	test	NOUN
dss-187	156	6	,	,	PUNCT
dss-187	156	7	a	a	DET
dss-187	156	8	diagram	diagram	NOUN
dss-187	156	9	of	of	ADP
dss-187	156	10	the	the	DET
dss-187	156	11	lifting	lift	VERB
dss-187	156	12	capacity	capacity	NOUN
dss-187	156	13	of	of	ADP
dss-187	156	14	the	the	DET
dss-187	156	15	robot	robot	NOUN
dss-187	156	16	is	be	AUX
dss-187	156	17	presented	present	VERB
dss-187	156	18	in	in	ADP
dss-187	156	19	figure	figure	NOUN
dss-187	156	20	3	3	NUM
dss-187	156	21	.	.	PUNCT
dss-187	156	22	below	below	ADV
dss-187	156	23	.	.	PUNCT
dss-187	157	1	the	the	DET
dss-187	157	2	outer	outer	ADJ
dss-187	157	3	circle	circle	NOUN
dss-187	157	4	presents	present	VERB
dss-187	157	5	the	the	DET
dss-187	157	6	lifting	lifting	NOUN
dss-187	157	7	capacity	capacity	NOUN
dss-187	157	8	at	at	ADP
dss-187	157	9	maximum	maximum	ADJ
dss-187	157	10	extension	extension	NOUN
dss-187	157	11	and	and	CCONJ
dss-187	157	12	the	the	DET
dss-187	157	13	inner	inner	ADJ
dss-187	157	14	circle	circle	NOUN
dss-187	157	15	represents	represent	VERB
dss-187	157	16	the	the	DET
dss-187	157	17	lifting	lifting	NOUN
dss-187	157	18	capacity	capacity	NOUN
dss-187	157	19	at	at	ADP
dss-187	157	20	full	full	ADJ
dss-187	157	21	retraction	retraction	NOUN
dss-187	157	22	.	.	PUNCT
dss-187	158	1	these	these	DET
dss-187	158	2	values	value	NOUN
dss-187	158	3	can	can	AUX
dss-187	158	4	be	be	AUX
dss-187	158	5	narrowed	narrow	VERB
dss-187	158	6	down	down	ADP
dss-187	158	7	to	to	ADP
dss-187	158	8	a	a	DET
dss-187	158	9	single	single	ADJ
dss-187	158	10	value	value	NOUN
dss-187	158	11	because	because	SCONJ
dss-187	158	12	the	the	DET
dss-187	158	13	lifting	lifting	NOUN
dss-187	158	14	is	be	AUX
dss-187	158	15	executed	execute	VERB
dss-187	158	16	only	only	ADV
dss-187	158	17	using	use	VERB
dss-187	158	18	one	one	NUM
dss-187	158	19	actuator	actuator	NOUN
dss-187	158	20	at	at	ADP
dss-187	158	21	a	a	DET
dss-187	158	22	time	time	NOUN
dss-187	158	23	.	.	PUNCT
dss-187	159	1	here	here	ADV
dss-187	159	2	the	the	DET
dss-187	159	3	values	value	NOUN
dss-187	159	4	differ	differ	VERB
dss-187	159	5	only	only	ADV
dss-187	159	6	because	because	SCONJ
dss-187	159	7	of	of	ADP
dss-187	159	8	the	the	DET
dss-187	159	9	fact	fact	NOUN
dss-187	159	10	that	that	SCONJ
dss-187	159	11	the	the	DET
dss-187	159	12	arm	arm	NOUN
dss-187	159	13	is	be	AUX
dss-187	159	14	loosely	loosely	ADV
dss-187	159	15	constructed	construct	VERB
dss-187	159	16	and	and	CCONJ
dss-187	159	17	is	be	AUX
dss-187	159	18	not	not	PART
dss-187	159	19	capable	capable	ADJ
dss-187	159	20	of	of	ADP
dss-187	159	21	handling	handle	VERB
dss-187	159	22	higher	high	ADJ
dss-187	159	23	loads	load	NOUN
dss-187	159	24	at	at	ADP
dss-187	159	25	full	full	ADJ
dss-187	159	26	extension	extension	NOUN
dss-187	159	27	.	.	PUNCT
dss-187	160	1	figure	figure	NOUN
dss-187	160	2	3	3	NUM
dss-187	160	3	.	.	PUNCT
dss-187	160	4	lifting	lift	VERB
dss-187	160	5	capacity	capacity	NOUN
dss-187	160	6	in	in	ADP
dss-187	160	7	relation	relation	NOUN
dss-187	160	8	to	to	PART
dss-187	160	9	reach	reach	VERB
dss-187	160	10	dss	dss	NOUN
dss-187	160	11	vol	vol	NOUN
dss-187	160	12	.	.	PUNCT
dss-187	161	1	3	3	NUM
dss-187	161	2	,	,	PUNCT
dss-187	161	3	2022	2022	NUM
dss-187	161	4	,	,	PUNCT
dss-187	161	5	pp.22	pp.22	NOUN
dss-187	161	6	-	-	SYM
dss-187	161	7	31	31	NUM
dss-187	161	8	28	28	NUM
dss-187	161	9	further	further	ADJ
dss-187	161	10	tests	test	NOUN
dss-187	161	11	are	be	AUX
dss-187	161	12	related	relate	VERB
dss-187	161	13	to	to	ADP
dss-187	161	14	energy	energy	NOUN
dss-187	161	15	consumption	consumption	NOUN
dss-187	161	16	also	also	ADV
dss-187	161	17	related	relate	VERB
dss-187	161	18	to	to	ADP
dss-187	161	19	the	the	DET
dss-187	161	20	lifting	lifting	NOUN
dss-187	161	21	capacity	capacity	NOUN
dss-187	161	22	.	.	PUNCT
dss-187	162	1	the	the	DET
dss-187	162	2	relationship	relationship	NOUN
dss-187	162	3	between	between	ADP
dss-187	162	4	current	current	ADJ
dss-187	162	5	consumption	consumption	NOUN
dss-187	162	6	and	and	CCONJ
dss-187	162	7	lifting	lifting	NOUN
dss-187	162	8	capacity	capacity	NOUN
dss-187	162	9	is	be	AUX
dss-187	162	10	shown	show	VERB
dss-187	162	11	in	in	ADP
dss-187	162	12	figure	figure	NOUN
dss-187	162	13	4	4	NUM
dss-187	162	14	.	.	PUNCT
dss-187	162	15	figure	figure	VERB
dss-187	162	16	4	4	NUM
dss-187	162	17	.	.	PUNCT
dss-187	163	1	current	current	ADJ
dss-187	163	2	consumption	consumption	NOUN
dss-187	163	3	vs.	vs.	ADP
dss-187	163	4	load	load	NOUN
dss-187	163	5	values	value	NOUN
dss-187	163	6	figure	figure	VERB
dss-187	163	7	4	4	NUM
dss-187	163	8	.	.	PUNCT
dss-187	163	9	shows	show	VERB
dss-187	163	10	current	current	ADJ
dss-187	163	11	consumption	consumption	NOUN
dss-187	163	12	on	on	ADP
dss-187	163	13	different	different	ADJ
dss-187	163	14	loads	load	NOUN
dss-187	163	15	expressed	express	VERB
dss-187	163	16	in	in	ADP
dss-187	163	17	kg	kg	PROPN
dss-187	163	18	that	that	PRON
dss-187	163	19	is	be	AUX
dss-187	163	20	needed	need	VERB
dss-187	163	21	for	for	ADP
dss-187	163	22	actuator	actuator	NOUN
dss-187	163	23	.	.	PUNCT
dss-187	164	1	it	it	PRON
dss-187	164	2	can	can	AUX
dss-187	164	3	be	be	AUX
dss-187	164	4	seen	see	VERB
dss-187	164	5	that	that	SCONJ
dss-187	164	6	the	the	DET
dss-187	164	7	relationship	relationship	NOUN
dss-187	164	8	is	be	AUX
dss-187	164	9	almost	almost	ADV
dss-187	164	10	linear	linear	ADJ
dss-187	164	11	.	.	PUNCT
dss-187	165	1	also	also	ADV
dss-187	165	2	considering	consider	VERB
dss-187	165	3	manufacturer	manufacturer	NOUN
dss-187	165	4	’s	’s	PART
dss-187	165	5	datasheets	datasheet	NOUN
dss-187	165	6	it	it	PRON
dss-187	165	7	should	should	AUX
dss-187	165	8	be	be	AUX
dss-187	165	9	indeed	indeed	ADV
dss-187	165	10	linear	linear	ADJ
dss-187	165	11	.	.	PUNCT
dss-187	166	1	peak	peak	NOUN
dss-187	166	2	current	current	ADJ
dss-187	166	3	consumption	consumption	NOUN
dss-187	166	4	is	be	AUX
dss-187	166	5	2.3	2.3	NUM
dss-187	166	6	2.5	2.5	NUM
dss-187	166	7	a	a	PRON
dss-187	166	8	for	for	ADP
dss-187	166	9	the	the	DET
dss-187	166	10	20	20	NUM
dss-187	166	11	kg	kg	NOUN
dss-187	166	12	load	load	NOUN
dss-187	166	13	with	with	ADP
dss-187	166	14	12	12	NUM
dss-187	166	15	v	v	NOUN
dss-187	166	16	source	source	NOUN
dss-187	166	17	configuration	configuration	NOUN
dss-187	166	18	.	.	PUNCT
dss-187	167	1	for	for	ADP
dss-187	167	2	loads	load	NOUN
dss-187	167	3	less	less	ADJ
dss-187	167	4	than	than	ADP
dss-187	167	5	6	6	NUM
dss-187	167	6	kg	kg	NOUN
dss-187	167	7	energy	energy	NOUN
dss-187	167	8	consumption	consumption	NOUN
dss-187	167	9	is	be	AUX
dss-187	167	10	1	1	NUM
dss-187	167	11	a	a	DET
dss-187	167	12	or	or	CCONJ
dss-187	167	13	less	less	ADJ
dss-187	167	14	.	.	PUNCT
dss-187	168	1	power	power	NOUN
dss-187	168	2	-	-	PUNCT
dss-187	168	3	vise	vise	NOUN
dss-187	168	4	30	30	NUM
dss-187	168	5	w	w	NOUN
dss-187	168	6	of	of	ADP
dss-187	168	7	power	power	NOUN
dss-187	168	8	is	be	AUX
dss-187	168	9	used	use	VERB
dss-187	168	10	at	at	ADP
dss-187	168	11	peak	peak	NOUN
dss-187	168	12	.	.	PUNCT
dss-187	169	1	measurement	measurement	NOUN
dss-187	169	2	is	be	AUX
dss-187	169	3	done	do	VERB
dss-187	169	4	by	by	ADP
dss-187	169	5	using	use	VERB
dss-187	169	6	a	a	DET
dss-187	169	7	multimeter	multimeter	NOUN
dss-187	169	8	device	device	NOUN
dss-187	169	9	(	(	PUNCT
dss-187	169	10	also	also	ADV
dss-187	169	11	can	can	AUX
dss-187	169	12	be	be	AUX
dss-187	169	13	done	do	VERB
dss-187	169	14	using	use	VERB
dss-187	169	15	amperemeter	amperemeter	NOUN
dss-187	169	16	or	or	CCONJ
dss-187	169	17	oscilloscope	oscilloscope	NOUN
dss-187	169	18	)	)	PUNCT
dss-187	169	19	.	.	PUNCT
dss-187	170	1	actuators	actuator	NOUN
dss-187	170	2	are	be	AUX
dss-187	170	3	connected	connect	VERB
dss-187	170	4	in	in	ADP
dss-187	170	5	series	series	NOUN
dss-187	170	6	and	and	CCONJ
dss-187	170	7	tested	test	VERB
dss-187	170	8	for	for	ADP
dss-187	170	9	various	various	ADJ
dss-187	170	10	loads	load	NOUN
dss-187	170	11	with	with	ADP
dss-187	170	12	constant	constant	ADJ
dss-187	170	13	12	12	NUM
dss-187	170	14	v	v	NOUN
dss-187	170	15	voltage	voltage	NOUN
dss-187	170	16	supply	supply	NOUN
dss-187	170	17	.	.	PUNCT
dss-187	171	1	figure	figure	NOUN
dss-187	171	2	5	5	NUM
dss-187	171	3	.	.	PUNCT
dss-187	172	1	below	below	ADV
dss-187	172	2	shows	show	VERB
dss-187	172	3	how	how	SCONJ
dss-187	172	4	speed	speed	NOUN
dss-187	172	5	of	of	ADP
dss-187	172	6	the	the	DET
dss-187	172	7	motor	motor	NOUN
dss-187	172	8	is	be	AUX
dss-187	172	9	slowly	slowly	ADV
dss-187	172	10	decreasing	decrease	VERB
dss-187	172	11	when	when	SCONJ
dss-187	172	12	the	the	DET
dss-187	172	13	load	load	NOUN
dss-187	172	14	is	be	AUX
dss-187	172	15	increased	increase	VERB
dss-187	172	16	.	.	PUNCT
dss-187	173	1	the	the	DET
dss-187	173	2	relationship	relationship	NOUN
dss-187	173	3	is	be	AUX
dss-187	173	4	also	also	ADV
dss-187	173	5	linear	linear	ADJ
dss-187	173	6	.	.	PUNCT
dss-187	174	1	figure	figure	NOUN
dss-187	174	2	5	5	NUM
dss-187	174	3	.	.	PUNCT
dss-187	175	1	speed	speed	NOUN
dss-187	175	2	vs.	vs.	ADP
dss-187	175	3	load	load	NOUN
dss-187	175	4	values	value	NOUN
dss-187	175	5	value	value	NOUN
dss-187	175	6	drops	drop	VERB
dss-187	175	7	slightly	slightly	ADV
dss-187	175	8	from	from	ADP
dss-187	175	9	28	28	NUM
dss-187	175	10	mm	mm	PROPN
dss-187	175	11	/	/	SYM
dss-187	175	12	s	s	PROPN
dss-187	175	13	for	for	ADP
dss-187	175	14	load	load	NOUN
dss-187	175	15	<	<	X
dss-187	175	16	2	2	NUM
dss-187	175	17	kg	kg	NOUN
dss-187	175	18	to	to	ADP
dss-187	175	19	around	around	ADP
dss-187	175	20	25.6	25.6	NUM
dss-187	175	21	mm	mm	NOUN
dss-187	175	22	/	/	SYM
dss-187	175	23	s	s	PROPN
dss-187	175	24	for	for	ADP
dss-187	175	25	the	the	DET
dss-187	175	26	20	20	NUM
dss-187	175	27	kg	kg	NOUN
dss-187	175	28	load	load	NOUN
dss-187	175	29	.	.	PUNCT
dss-187	176	1	first	first	ADJ
dss-187	176	2	measurement	measurement	NOUN
dss-187	176	3	experiment	experiment	NOUN
dss-187	176	4	is	be	AUX
dss-187	176	5	done	do	VERB
dss-187	176	6	using	use	VERB
dss-187	176	7	timer	timer	NOUN
dss-187	176	8	and	and	CCONJ
dss-187	176	9	measuring	measure	VERB
dss-187	176	10	tape	tape	NOUN
dss-187	176	11	.	.	PUNCT
dss-187	177	1	time	time	NOUN
dss-187	177	2	is	be	AUX
dss-187	177	3	measured	measure	VERB
dss-187	177	4	for	for	ADP
dss-187	177	5	5	5	NUM
dss-187	177	6	seconds	second	NOUN
dss-187	177	7	with	with	ADP
dss-187	177	8	exact	exact	ADJ
dss-187	177	9	starting	starting	NOUN
dss-187	177	10	point	point	NOUN
dss-187	177	11	after	after	SCONJ
dss-187	177	12	which	which	DET
dss-187	177	13	distance	distance	NOUN
dss-187	177	14	is	be	AUX
dss-187	177	15	measured	measure	VERB
dss-187	177	16	after	after	SCONJ
dss-187	177	17	timer	timer	NOUN
dss-187	177	18	is	be	AUX
dss-187	177	19	stopped	stop	VERB
dss-187	177	20	.	.	PUNCT
dss-187	178	1	this	this	DET
dss-187	178	2	measurement	measurement	NOUN
dss-187	178	3	was	be	AUX
dss-187	178	4	repeated	repeat	VERB
dss-187	178	5	several	several	ADJ
dss-187	178	6	times	time	NOUN
dss-187	178	7	.	.	PUNCT
dss-187	179	1	second	second	ADJ
dss-187	179	2	technique	technique	NOUN
dss-187	179	3	was	be	AUX
dss-187	179	4	directly	directly	ADV
dss-187	179	5	programming	program	VERB
dss-187	179	6	actuators	actuator	NOUN
dss-187	179	7	to	to	PART
dss-187	179	8	be	be	AUX
dss-187	179	9	switched	switch	VERB
dss-187	179	10	for	for	ADP
dss-187	179	11	exact	exact	ADJ
dss-187	179	12	amount	amount	NOUN
dss-187	179	13	of	of	ADP
dss-187	179	14	time	time	NOUN
dss-187	179	15	controlled	control	VERB
dss-187	179	16	by	by	ADP
dss-187	179	17	main	main	ADJ
dss-187	179	18	controller	controller	NOUN
dss-187	179	19	.	.	PUNCT
dss-187	180	1	this	this	PRON
dss-187	180	2	gives	give	VERB
dss-187	180	3	exact	exact	ADJ
dss-187	180	4	and	and	CCONJ
dss-187	180	5	more	more	ADV
dss-187	180	6	precise	precise	ADJ
dss-187	180	7	time	time	NOUN
dss-187	180	8	of	of	ADP
dss-187	180	9	5	5	NUM
dss-187	180	10	s.	s.	PROPN
dss-187	180	11	dss	dss	PROPN
dss-187	180	12	vol	vol	NOUN
dss-187	180	13	.	.	PROPN
dss-187	181	1	3	3	NUM
dss-187	181	2	,	,	PUNCT
dss-187	181	3	2022	2022	NUM
dss-187	181	4	,	,	PUNCT
dss-187	181	5	pp.22	pp.22	NOUN
dss-187	181	6	-	-	SYM
dss-187	181	7	31	31	NUM
dss-187	181	8	29	29	NUM
dss-187	181	9	based	base	VERB
dss-187	181	10	on	on	ADP
dss-187	181	11	the	the	DET
dss-187	181	12	test	test	NOUN
dss-187	181	13	result	result	NOUN
dss-187	181	14	obtained	obtain	VERB
dss-187	181	15	in	in	ADP
dss-187	181	16	this	this	DET
dss-187	181	17	research	research	NOUN
dss-187	181	18	,	,	PUNCT
dss-187	181	19	a	a	DET
dss-187	181	20	comparative	comparative	ADJ
dss-187	181	21	analysis	analysis	NOUN
dss-187	181	22	is	be	AUX
dss-187	181	23	done	do	VERB
dss-187	181	24	and	and	CCONJ
dss-187	181	25	the	the	DET
dss-187	181	26	results	result	NOUN
dss-187	181	27	are	be	AUX
dss-187	181	28	listed	list	VERB
dss-187	181	29	in	in	ADP
dss-187	181	30	table	table	NOUN
dss-187	181	31	4	4	NUM
dss-187	181	32	.	.	PUNCT
dss-187	181	33	table	table	NOUN
dss-187	181	34	4	4	NUM
dss-187	181	35	in	in	ADP
dss-187	181	36	this	this	DET
dss-187	181	37	research	research	NOUN
dss-187	181	38	briefly	briefly	NOUN
dss-187	181	39	presents	present	VERB
dss-187	181	40	the	the	DET
dss-187	181	41	comparative	comparative	ADJ
dss-187	181	42	advantages	advantage	NOUN
dss-187	181	43	and	and	CCONJ
dss-187	181	44	disadvantages	disadvantage	NOUN
dss-187	181	45	of	of	ADP
dss-187	181	46	authors	author	NOUN
dss-187	181	47	eod	eod	NOUN
dss-187	181	48	robot	robot	NOUN
dss-187	181	49	to	to	ADP
dss-187	181	50	the	the	DET
dss-187	181	51	robots	robot	NOUN
dss-187	181	52	availaible	availaible	ADJ
dss-187	181	53	from	from	ADP
dss-187	181	54	table	table	NOUN
dss-187	181	55	1	1	NUM
dss-187	181	56	.	.	PUNCT
dss-187	182	1	in	in	ADP
dss-187	182	2	the	the	DET
dss-187	182	3	introduction	introduction	NOUN
dss-187	182	4	section	section	NOUN
dss-187	182	5	.	.	PUNCT
dss-187	183	1	in	in	ADP
dss-187	183	2	a	a	DET
dss-187	183	3	nutshell	nutshell	NOUN
dss-187	183	4	,	,	PUNCT
dss-187	183	5	authors	author	NOUN
dss-187	183	6	robot	robot	NOUN
dss-187	183	7	is	be	AUX
dss-187	183	8	lower	low	ADJ
dss-187	183	9	in	in	ADP
dss-187	183	10	performance	performance	NOUN
dss-187	183	11	features	feature	NOUN
dss-187	183	12	compared	compare	VERB
dss-187	183	13	to	to	ADP
dss-187	183	14	models	model	NOUN
dss-187	183	15	teodor	teodor	PROPN
dss-187	183	16	evo	evo	PROPN
dss-187	183	17	and	and	CCONJ
dss-187	183	18	model	model	PROPN
dss-187	183	19	t7	t7	PROPN
dss-187	183	20	,	,	PUNCT
dss-187	183	21	which	which	PRON
dss-187	183	22	mainly	mainly	ADV
dss-187	183	23	reflects	reflect	VERB
dss-187	183	24	in	in	ADP
dss-187	183	25	lower	low	ADJ
dss-187	183	26	weight	weight	NOUN
dss-187	183	27	and	and	CCONJ
dss-187	183	28	lifting	lift	VERB
dss-187	183	29	capabilities	capability	NOUN
dss-187	183	30	.	.	PUNCT
dss-187	184	1	on	on	ADP
dss-187	184	2	the	the	DET
dss-187	184	3	other	other	ADJ
dss-187	184	4	hand	hand	NOUN
dss-187	184	5	,	,	PUNCT
dss-187	184	6	lower	low	ADJ
dss-187	184	7	cost	cost	NOUN
dss-187	184	8	presents	present	NOUN
dss-187	184	9	an	an	DET
dss-187	184	10	important	important	ADJ
dss-187	184	11	advantage	advantage	NOUN
dss-187	184	12	compared	compare	VERB
dss-187	184	13	to	to	ADP
dss-187	184	14	these	these	DET
dss-187	184	15	two	two	NUM
dss-187	184	16	models	model	NOUN
dss-187	184	17	.	.	PUNCT
dss-187	185	1	competitive	competitive	ADJ
dss-187	185	2	performances	performance	NOUN
dss-187	185	3	can	can	AUX
dss-187	185	4	also	also	ADV
dss-187	185	5	be	be	AUX
dss-187	185	6	observed	observe	VERB
dss-187	185	7	compared	compare	VERB
dss-187	185	8	to	to	ADP
dss-187	185	9	models	model	NOUN
dss-187	185	10	zeus	zeus	PROPN
dss-187	185	11	,	,	PUNCT
dss-187	185	12	hd2	hd2	NOUN
dss-187	185	13	-	-	PUNCT
dss-187	185	14	s	s	PROPN
dss-187	185	15	,	,	PUNCT
dss-187	185	16	lt2	lt2	PROPN
dss-187	185	17	-	-	PUNCT
dss-187	185	18	f	f	PROPN
dss-187	185	19	,	,	PUNCT
dss-187	185	20	andros	andros	PROPN
dss-187	185	21	f6a	f6a	X
dss-187	185	22	.	.	PUNCT
dss-187	186	1	these	these	PRON
dss-187	186	2	are	be	AUX
dss-187	186	3	mainly	mainly	ADV
dss-187	186	4	in	in	ADP
dss-187	186	5	regards	regard	NOUN
dss-187	186	6	to	to	PART
dss-187	186	7	reach	reach	VERB
dss-187	186	8	and	and	CCONJ
dss-187	186	9	lifting	lift	VERB
dss-187	186	10	capacity	capacity	NOUN
dss-187	186	11	.	.	PUNCT
dss-187	187	1	a	a	DET
dss-187	187	2	significant	significant	ADJ
dss-187	187	3	advantage	advantage	NOUN
dss-187	187	4	in	in	ADP
dss-187	187	5	lifting	lift	VERB
dss-187	187	6	capacity	capacity	NOUN
dss-187	187	7	,	,	PUNCT
dss-187	187	8	speed	speed	NOUN
dss-187	187	9	and	and	CCONJ
dss-187	187	10	reach	reach	VERB
dss-187	187	11	potential	potential	ADJ
dss-187	187	12	performances	performance	NOUN
dss-187	187	13	are	be	AUX
dss-187	187	14	achieved	achieve	VERB
dss-187	187	15	compared	compare	VERB
dss-187	187	16	to	to	ADP
dss-187	187	17	models	model	NOUN
dss-187	187	18	hd2	hd2	NOUN
dss-187	187	19	-	-	PUNCT
dss-187	187	20	s	s	PROPN
dss-187	187	21	,	,	PUNCT
dss-187	187	22	lt2	lt2	PROPN
dss-187	187	23	-	-	PUNCT
dss-187	187	24	f	f	PROPN
dss-187	187	25	and	and	CCONJ
dss-187	187	26	andros	andros	PROPN
dss-187	187	27	f6a	f6a	PROPN
dss-187	187	28	.	.	PROPN
dss-187	187	29	to	to	PART
dss-187	187	30	summarize	summarize	VERB
dss-187	187	31	,	,	PUNCT
dss-187	187	32	authors	author	NOUN
dss-187	187	33	eod	eod	NOUN
dss-187	187	34	robot	robot	NOUN
dss-187	187	35	has	have	VERB
dss-187	187	36	a	a	DET
dss-187	187	37	high	high	ADJ
dss-187	187	38	potential	potential	NOUN
dss-187	187	39	to	to	PART
dss-187	187	40	compete	compete	VERB
dss-187	187	41	against	against	ADP
dss-187	187	42	the	the	DET
dss-187	187	43	models	model	NOUN
dss-187	187	44	already	already	ADV
dss-187	187	45	available	available	ADJ
dss-187	187	46	on	on	ADP
dss-187	187	47	the	the	DET
dss-187	187	48	market	market	NOUN
dss-187	187	49	.	.	PUNCT
dss-187	188	1	table	table	NOUN
dss-187	188	2	4	4	NUM
dss-187	188	3	.	.	PUNCT
dss-187	188	4	comparative	comparative	ADJ
dss-187	188	5	results	result	NOUN
dss-187	188	6	model	model	NOUN
dss-187	188	7	specification	specification	NOUN
dss-187	188	8	this	this	DET
dss-187	188	9	eod	eod	NOUN
dss-187	188	10	robot	robot	NOUN
dss-187	188	11	this	this	DET
dss-187	188	12	eod	eod	NOUN
dss-187	188	13	robot	robot	NOUN
dss-187	188	14	max	max	PROPN
dss-187	188	15	.	.	PUNCT
dss-187	189	1	lift	lift	NOUN
dss-187	189	2	capacity	capacity	NOUN
dss-187	189	3	:	:	PUNCT
dss-187	189	4	20	20	NUM
dss-187	189	5	kg	kg	NOUN
dss-187	189	6	weight	weight	NOUN
dss-187	189	7	:	:	PUNCT
dss-187	190	1	55	55	NUM
dss-187	190	2	kg	kg	NOUN
dss-187	190	3	reach	reach	VERB
dss-187	190	4	(	(	PUNCT
dss-187	190	5	forward	forward	ADV
dss-187	190	6	):	):	PUNCT
dss-187	190	7	1400	1400	NUM
dss-187	190	8	mm	mm	NOUN
dss-187	190	9	speed	speed	NOUN
dss-187	190	10	:	:	PUNCT
dss-187	190	11	up	up	ADP
dss-187	190	12	to	to	PART
dss-187	190	13	8	8	NUM
dss-187	190	14	km	km	NOUN
dss-187	190	15	/	/	SYM
dss-187	190	16	h	h	NOUN
dss-187	190	17			NOUN
dss-187	190	18	competitive	competitive	ADJ
dss-187	190	19	in	in	ADP
dss-187	190	20	category	category	NOUN
dss-187	190	21	teodor	teodor	NOUN
dss-187	190	22	evo	evo	PROPN
dss-187	191	1	[	[	X
dss-187	191	2	3	3	NUM
dss-187	191	3	]	]	X
dss-187	191	4	max	max	PROPN
dss-187	191	5	.	.	PROPN
dss-187	191	6	lift	lift	NOUN
dss-187	191	7	capacity	capacity	NOUN
dss-187	191	8	:	:	PUNCT
dss-187	191	9	100	100	NUM
dss-187	191	10	kg	kg	NOUN
dss-187	191	11	weight	weight	NOUN
dss-187	191	12	:	:	PUNCT
dss-187	191	13	383	383	NUM
dss-187	191	14	kg	kg	NOUN
dss-187	191	15	reach	reach	VERB
dss-187	191	16	(	(	PUNCT
dss-187	191	17	forward	forward	ADV
dss-187	191	18	):	):	PUNCT
dss-187	191	19	1860	1860	NUM
dss-187	191	20	mm	mm	NOUN
dss-187	191	21	speed	speed	NOUN
dss-187	191	22	:	:	PUNCT
dss-187	191	23	3	3	NUM
dss-187	191	24	km	km	NOUN
dss-187	191	25	/	/	SYM
dss-187	191	26	h	h	NOUN
dss-187	191	27			ADV
dss-187	191	28	lower	low	ADJ
dss-187	191	29	category	category	NOUN
dss-187	191	30			NOUN
dss-187	191	31	lower	low	ADJ
dss-187	191	32	performances	performance	NOUN
dss-187	191	33			X
dss-187	191	34	lower	low	ADJ
dss-187	191	35	cost	cost	NOUN
dss-187	191	36	as	as	ADP
dss-187	191	37	an	an	DET
dss-187	191	38	advantage	advantage	NOUN
dss-187	191	39	andros	andro	NOUN
dss-187	191	40	f6a	f6a	X
dss-187	192	1	[	[	X
dss-187	192	2	4	4	NUM
dss-187	192	3	]	]	X
dss-187	192	4	max	max	PROPN
dss-187	192	5	.	.	PROPN
dss-187	192	6	lift	lift	NOUN
dss-187	192	7	capacity	capacity	NOUN
dss-187	192	8	:	:	PUNCT
dss-187	192	9	61	61	NUM
dss-187	192	10	kg	kg	NOUN
dss-187	192	11	weight	weight	NOUN
dss-187	192	12	:	:	PUNCT
dss-187	192	13	220	220	NUM
dss-187	192	14	kg	kg	NOUN
dss-187	192	15	reach	reach	VERB
dss-187	192	16	(	(	PUNCT
dss-187	192	17	forward	forward	ADV
dss-187	192	18	):	):	PUNCT
dss-187	192	19	1440	1440	NUM
dss-187	192	20	mm	mm	NOUN
dss-187	192	21	speed	speed	NOUN
dss-187	192	22	:	:	PUNCT
dss-187	192	23	4.8	4.8	NUM
dss-187	192	24	km	km	NOUN
dss-187	192	25	/	/	SYM
dss-187	192	26	h	h	NOUN
dss-187	192	27			NOUN
dss-187	192	28	same	same	ADJ
dss-187	192	29	category	category	NOUN
dss-187	192	30			NOUN
dss-187	192	31	competitive	competitive	ADJ
dss-187	192	32	reach	reach	VERB
dss-187	192	33	potential	potential	ADJ
dss-187	192	34			NOUN
dss-187	192	35	higher	high	ADJ
dss-187	192	36	speed	speed	NOUN
dss-187	192	37	of	of	ADP
dss-187	192	38	mobility	mobility	NOUN
dss-187	192	39			NOUN
dss-187	192	40	lower	low	ADJ
dss-187	192	41	overall	overall	ADJ
dss-187	192	42	weight	weight	NOUN
dss-187	192	43	talon	talon	NOUN
dss-187	193	1	[	[	X
dss-187	193	2	5	5	NUM
dss-187	193	3	]	]	SYM
dss-187	193	4	max	max	PROPN
dss-187	193	5	.	.	PROPN
dss-187	193	6	lift	lift	NOUN
dss-187	193	7	capacity	capacity	NOUN
dss-187	193	8	:	:	PUNCT
dss-187	193	9	68	68	NUM
dss-187	193	10	kg	kg	NOUN
dss-187	193	11	weight	weight	NOUN
dss-187	193	12	:	:	PUNCT
dss-187	193	13	81	81	NUM
dss-187	193	14	kg	kg	NOUN
dss-187	193	15	reach	reach	VERB
dss-187	193	16	(	(	PUNCT
dss-187	193	17	forward	forward	ADV
dss-187	193	18	):	):	PUNCT
dss-187	193	19	1570	1570	NUM
dss-187	193	20	mm	mm	NOUN
dss-187	193	21	speed	speed	NOUN
dss-187	193	22	:	:	PUNCT
dss-187	193	23			NOUN
dss-187	193	24	same	same	ADJ
dss-187	193	25	category	category	NOUN
dss-187	193	26			NOUN
dss-187	193	27	lower	low	ADJ
dss-187	193	28	lifting	lifting	NOUN
dss-187	193	29	capacity	capacity	NOUN
dss-187	193	30	t7	t7	PROPN
dss-187	194	1	[	[	X
dss-187	194	2	6	6	NUM
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dss-187	194	4	max	max	PROPN
dss-187	194	5	.	.	PROPN
dss-187	194	6	lift	lift	NOUN
dss-187	194	7	capacity	capacity	NOUN
dss-187	194	8	:	:	PUNCT
dss-187	194	9	113	113	NUM
dss-187	194	10	+	+	NUM
dss-187	194	11	kg	kg	NOUN
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dss-187	194	13	:	:	PUNCT
dss-187	194	14	322	322	NUM
dss-187	194	15	kg	kg	NOUN
dss-187	194	16	reach	reach	VERB
dss-187	194	17	(	(	PUNCT
dss-187	194	18	forward	forward	ADV
dss-187	194	19	):	):	PUNCT
dss-187	194	20	2200	2200	NUM
dss-187	194	21	mm	mm	NOUN
dss-187	194	22	speed	speed	NOUN
dss-187	194	23	:	:	PUNCT
dss-187	194	24	8	8	NUM
dss-187	194	25	+	+	NUM
dss-187	194	26	km	km	NOUN
dss-187	194	27	/	/	SYM
dss-187	194	28	h	h	NOUN
dss-187	194	29			ADV
dss-187	194	30	lower	low	ADJ
dss-187	194	31	category	category	NOUN
dss-187	194	32			NOUN
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dss-187	194	34	lower	low	ADJ
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dss-187	194	36	capacity	capacity	NOUN
dss-187	194	37			NOUN
dss-187	194	38	lower	lower	ADV
dss-187	194	39	reach	reach	VERB
dss-187	194	40	lt2	lt2	PROPN
dss-187	194	41	-	-	PUNCT
dss-187	194	42	f	f	PROPN
dss-187	194	43	“	"	PUNCT
dss-187	194	44	bulldog	bulldog	NOUN
dss-187	194	45	”	"	PUNCT
dss-187	195	1	[	[	X
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dss-187	195	3	]	]	X
dss-187	195	4	max	max	PROPN
dss-187	195	5	.	.	PROPN
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dss-187	195	8	:	:	PUNCT
dss-187	195	9	7	7	NUM
dss-187	195	10	+	+	NUM
dss-187	195	11	kg	kg	NOUN
dss-187	195	12	full	full	ADJ
dss-187	195	13	extension	extension	NOUN
dss-187	195	14	weight	weight	NOUN
dss-187	195	15	:	:	PUNCT
dss-187	196	1	40	40	NUM
dss-187	196	2	kg	kg	NOUN
dss-187	196	3	reach	reach	VERB
dss-187	196	4	(	(	PUNCT
dss-187	196	5	forward	forward	ADV
dss-187	196	6	):	):	PUNCT
dss-187	196	7	1220	1220	NUM
dss-187	196	8	mm	mm	NOUN
dss-187	196	9	speed	speed	NOUN
dss-187	196	10	:	:	PUNCT
dss-187	196	11	2	2	NUM
dss-187	196	12	km	km	NOUN
dss-187	196	13	/	/	SYM
dss-187	196	14	h	h	NOUN
dss-187	196	15			NOUN
dss-187	196	16	same	same	ADJ
dss-187	196	17	category	category	NOUN
dss-187	196	18			NOUN
dss-187	196	19	significantly	significantly	ADV
dss-187	196	20	higher	high	ADJ
dss-187	196	21	lift	lift	NOUN
dss-187	196	22	capacity	capacity	NOUN
dss-187	196	23			NOUN
dss-187	196	24	competitive	competitive	ADJ
dss-187	196	25	performances	performance	NOUN
dss-187	196	26	per	per	ADP
dss-187	196	27	each	each	DET
dss-187	196	28	parameter	parameter	NOUN
dss-187	196	29			NOUN
dss-187	196	30	lower	low	ADJ
dss-187	196	31	cost	cost	NOUN
dss-187	196	32	as	as	ADP
dss-187	196	33	an	an	DET
dss-187	196	34	advantage	advantage	NOUN
dss-187	196	35	hd2	hd2	NOUN
dss-187	196	36	-	-	PUNCT
dss-187	196	37	s	s	PART
dss-187	196	38	“	"	PUNCT
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dss-187	196	40	”	"	PUNCT
dss-187	197	1	[	[	X
dss-187	197	2	8	8	NUM
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dss-187	197	4	max	max	PROPN
dss-187	197	5	.	.	PROPN
dss-187	198	1	lift	lift	NOUN
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dss-187	198	3	:	:	PUNCT
dss-187	198	4	9	9	NUM
dss-187	198	5	+	+	NUM
dss-187	198	6	kg	kg	NOUN
dss-187	198	7	full	full	ADJ
dss-187	198	8	extension	extension	NOUN
dss-187	198	9	weight	weight	NOUN
dss-187	198	10	:	:	PUNCT
dss-187	198	11	68	68	NUM
dss-187	198	12	kg	kg	NOUN
dss-187	198	13	,	,	PUNCT
dss-187	198	14	with	with	ADP
dss-187	198	15	the	the	DET
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dss-187	198	17	configuration	configuration	NOUN
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dss-187	198	19	(	(	PUNCT
dss-187	198	20	forward	forward	ADV
dss-187	198	21	):	):	PUNCT
dss-187	198	22	890	890	NUM
dss-187	198	23	mm	mm	NOUN
dss-187	198	24	speed	speed	NOUN
dss-187	198	25	:	:	PUNCT
dss-187	198	26	2	2	NUM
dss-187	198	27	km	km	NOUN
dss-187	198	28	/	/	SYM
dss-187	198	29	h	h	NOUN
dss-187	198	30			NOUN
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dss-187	198	32	higher	higher	ADV
dss-187	198	33	reach	reach	VERB
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dss-187	198	35			NOUN
dss-187	198	36	higher	high	ADJ
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dss-187	198	38	of	of	ADP
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dss-187	198	42	overall	overall	ADJ
dss-187	198	43	weight	weight	NOUN
dss-187	198	44			NOUN
dss-187	198	45	higher	high	ADJ
dss-187	198	46	lifting	lifting	NOUN
dss-187	198	47	capacity	capacity	NOUN
dss-187	198	48	at	at	ADP
dss-187	198	49	full	full	ADJ
dss-187	198	50	extension	extension	NOUN
dss-187	198	51	zeus	zeus	PROPN
dss-187	199	1	[	[	X
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dss-187	199	7	capacity	capacity	NOUN
dss-187	199	8	:	:	PUNCT
dss-187	199	9	15	15	NUM
dss-187	199	10	kg	kg	NOUN
dss-187	199	11	weight	weight	NOUN
dss-187	199	12	:	:	PUNCT
dss-187	199	13	51.7	51.7	NUM
dss-187	199	14	kg	kg	NOUN
dss-187	199	15	reach	reach	VERB
dss-187	199	16	(	(	PUNCT
dss-187	199	17	forward	forward	ADV
dss-187	199	18	):	):	PUNCT
dss-187	199	19	1460	1460	NUM
dss-187	199	20	mm	mm	NOUN
dss-187	199	21	speed	speed	NOUN
dss-187	199	22	:	:	PUNCT
dss-187	199	23	3	3	NUM
dss-187	199	24	km	km	NOUN
dss-187	199	25	/	/	SYM
dss-187	199	26	h	h	NOUN
dss-187	199	27			NOUN
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dss-187	199	29	category	category	NOUN
dss-187	199	30			NOUN
dss-187	199	31	higher	high	ADJ
dss-187	199	32	overall	overall	ADJ
dss-187	199	33	weight	weight	NOUN
dss-187	199	34			NOUN
dss-187	199	35	competitive	competitive	ADJ
dss-187	199	36	reach	reach	VERB
dss-187	199	37	potential	potential	ADJ
dss-187	199	38			NOUN
dss-187	199	39	competitive	competitive	ADJ
dss-187	199	40	lift	lift	NOUN
dss-187	199	41	capacity	capacity	NOUN
dss-187	199	42	dss	dss	NOUN
dss-187	199	43	vol	vol	NOUN
dss-187	199	44	.	.	PUNCT
dss-187	200	1	3	3	NUM
dss-187	200	2	,	,	PUNCT
dss-187	200	3	2022	2022	NUM
dss-187	200	4	,	,	PUNCT
dss-187	200	5	pp.22	pp.22	NOUN
dss-187	200	6	-	-	PUNCT
dss-187	200	7	31	31	NUM
dss-187	200	8	30	30	NUM
dss-187	200	9	4	4	NUM
dss-187	200	10	.	.	PUNCT
dss-187	201	1	conclusion	conclusion	NOUN
dss-187	201	2	this	this	DET
dss-187	201	3	paper	paper	NOUN
dss-187	201	4	presents	present	VERB
dss-187	201	5	the	the	DET
dss-187	201	6	design	design	NOUN
dss-187	201	7	and	and	CCONJ
dss-187	201	8	development	development	NOUN
dss-187	201	9	of	of	ADP
dss-187	201	10	an	an	DET
dss-187	201	11	mvp	mvp	NOUN
dss-187	201	12	eod	eod	NOUN
dss-187	201	13	robot	robot	NOUN
dss-187	201	14	,	,	PUNCT
dss-187	201	15	specifically	specifically	ADV
dss-187	201	16	designed	design	VERB
dss-187	201	17	to	to	PART
dss-187	201	18	operate	operate	VERB
dss-187	201	19	with	with	ADP
dss-187	201	20	explosive	explosive	ADJ
dss-187	201	21	devices	device	NOUN
dss-187	201	22	in	in	ADP
dss-187	201	23	their	their	PRON
dss-187	201	24	removal	removal	NOUN
dss-187	201	25	,	,	PUNCT
dss-187	201	26	disposal	disposal	NOUN
dss-187	201	27	and	and	CCONJ
dss-187	201	28	neutralization	neutralization	NOUN
dss-187	201	29	.	.	PUNCT
dss-187	202	1	this	this	DET
dss-187	202	2	mvp	mvp	NOUN
dss-187	202	3	design	design	NOUN
dss-187	202	4	is	be	AUX
dss-187	202	5	functionality	functionality	NOUN
dss-187	202	6	-	-	PUNCT
dss-187	202	7	wise	wise	ADJ
dss-187	202	8	limited	limit	VERB
dss-187	202	9	,	,	PUNCT
dss-187	202	10	due	due	ADP
dss-187	202	11	to	to	ADP
dss-187	202	12	budget	budget	NOUN
dss-187	202	13	limitations	limitation	NOUN
dss-187	202	14	,	,	PUNCT
dss-187	202	15	but	but	CCONJ
dss-187	202	16	nevertheless	nevertheless	ADV
dss-187	202	17	,	,	PUNCT
dss-187	202	18	presents	present	VERB
dss-187	202	19	a	a	DET
dss-187	202	20	solid	solid	ADJ
dss-187	202	21	opportunity	opportunity	NOUN
dss-187	202	22	for	for	ADP
dss-187	202	23	testing	testing	NOUN
dss-187	202	24	and	and	CCONJ
dss-187	202	25	presentation	presentation	NOUN
dss-187	202	26	purposes	purpose	NOUN
dss-187	202	27	.	.	PUNCT
dss-187	203	1	the	the	DET
dss-187	203	2	final	final	ADJ
dss-187	203	3	design	design	NOUN
dss-187	203	4	is	be	AUX
dss-187	203	5	590x820x340	590x820x340	NUM
dss-187	203	6	mm	mm	NOUN
dss-187	203	7	in	in	ADP
dss-187	203	8	dimensions	dimension	NOUN
dss-187	203	9	,	,	PUNCT
dss-187	203	10	weighs	weigh	VERB
dss-187	203	11	55	55	NUM
dss-187	203	12	kg	kg	NOUN
dss-187	203	13	with	with	ADP
dss-187	203	14	a	a	DET
dss-187	203	15	maximum	maximum	ADJ
dss-187	203	16	manipulator	manipulator	NOUN
dss-187	203	17	reach	reach	NOUN
dss-187	203	18	of	of	ADP
dss-187	203	19	1400	1400	NUM
dss-187	203	20	mm	mm	NOUN
dss-187	203	21	.	.	PUNCT
dss-187	204	1	the	the	DET
dss-187	204	2	vertical	vertical	ADJ
dss-187	204	3	reach	reach	NOUN
dss-187	204	4	is	be	AUX
dss-187	204	5	1200	1200	NUM
dss-187	204	6	mm	mm	NOUN
dss-187	204	7	.	.	PUNCT
dss-187	205	1	the	the	DET
dss-187	205	2	setup	setup	NOUN
dss-187	205	3	time	time	NOUN
dss-187	205	4	of	of	ADP
dss-187	205	5	the	the	DET
dss-187	205	6	robot	robot	NOUN
dss-187	205	7	with	with	ADP
dss-187	205	8	all	all	PRON
dss-187	205	9	of	of	ADP
dss-187	205	10	its	its	PRON
dss-187	205	11	configurations	configuration	NOUN
dss-187	205	12	is	be	AUX
dss-187	205	13	10	10	NUM
dss-187	205	14	minutes	minute	NOUN
dss-187	205	15	,	,	PUNCT
dss-187	205	16	and	and	CCONJ
dss-187	205	17	the	the	DET
dss-187	205	18	equipment	equipment	NOUN
dss-187	205	19	weighs	weigh	VERB
dss-187	205	20	4	4	NUM
dss-187	205	21	kg	kg	NOUN
dss-187	205	22	which	which	PRON
dss-187	205	23	includes	include	VERB
dss-187	205	24	a	a	DET
dss-187	205	25	laptop	laptop	NOUN
dss-187	205	26	,	,	PUNCT
dss-187	205	27	as	as	ADP
dss-187	205	28	a	a	DET
dss-187	205	29	control	control	NOUN
dss-187	205	30	unit	unit	NOUN
dss-187	205	31	,	,	PUNCT
dss-187	205	32	plyers	plyer	NOUN
dss-187	205	33	,	,	PUNCT
dss-187	205	34	a	a	DET
dss-187	205	35	wrench	wrench	NOUN
dss-187	205	36	and	and	CCONJ
dss-187	205	37	some	some	DET
dss-187	205	38	additional	additional	ADJ
dss-187	205	39	wiring	wiring	NOUN
dss-187	205	40	for	for	ADP
dss-187	205	41	repairs	repair	NOUN
dss-187	205	42	.	.	PUNCT
dss-187	206	1	compared	compare	VERB
dss-187	206	2	to	to	ADP
dss-187	206	3	models	model	NOUN
dss-187	206	4	from	from	ADP
dss-187	206	5	table	table	NOUN
dss-187	206	6	1	1	NUM
dss-187	206	7	.	.	PUNCT
dss-187	207	1	authors	author	NOUN
dss-187	207	2	robot	robot	NOUN
dss-187	207	3	lacks	lack	VERB
dss-187	207	4	a	a	DET
dss-187	207	5	control	control	NOUN
dss-187	207	6	unit	unit	NOUN
dss-187	207	7	which	which	PRON
dss-187	207	8	is	be	AUX
dss-187	207	9	highly	highly	ADV
dss-187	207	10	durable	durable	ADJ
dss-187	207	11	and	and	CCONJ
dss-187	207	12	easily	easily	ADV
dss-187	207	13	carried	carry	VERB
dss-187	207	14	.	.	PUNCT
dss-187	208	1	other	other	ADJ
dss-187	208	2	equipment	equipment	NOUN
dss-187	208	3	is	be	AUX
dss-187	208	4	carried	carry	VERB
dss-187	208	5	independently	independently	ADV
dss-187	208	6	and	and	CCONJ
dss-187	208	7	also	also	ADV
dss-187	208	8	lacks	lack	VERB
dss-187	208	9	a	a	DET
dss-187	208	10	custom	custom	ADV
dss-187	208	11	-	-	PUNCT
dss-187	208	12	made	make	VERB
dss-187	208	13	bag	bag	NOUN
dss-187	208	14	.	.	PUNCT
dss-187	209	1	the	the	DET
dss-187	209	2	setup	setup	NOUN
dss-187	209	3	time	time	NOUN
dss-187	209	4	is	be	AUX
dss-187	209	5	mostly	mostly	ADV
dss-187	209	6	slowed	slow	VERB
dss-187	209	7	because	because	SCONJ
dss-187	209	8	of	of	ADP
dss-187	209	9	the	the	DET
dss-187	209	10	fact	fact	NOUN
dss-187	209	11	that	that	SCONJ
dss-187	209	12	the	the	DET
dss-187	209	13	manipulator	manipulator	NOUN
dss-187	209	14	must	must	AUX
dss-187	209	15	be	be	AUX
dss-187	209	16	partially	partially	ADV
dss-187	209	17	dismantled	dismantle	VERB
dss-187	209	18	to	to	PART
dss-187	209	19	fit	fit	VERB
dss-187	209	20	into	into	ADP
dss-187	209	21	an	an	DET
dss-187	209	22	average	average	ADJ
dss-187	209	23	size	size	NOUN
dss-187	209	24	car	car	NOUN
dss-187	209	25	.	.	PUNCT
dss-187	210	1	models	model	NOUN
dss-187	210	2	from	from	ADP
dss-187	210	3	table	table	NOUN
dss-187	210	4	1	1	NUM
dss-187	210	5	.	.	PUNCT
dss-187	210	6	usually	usually	ADV
dss-187	210	7	come	come	VERB
dss-187	210	8	with	with	ADP
dss-187	210	9	a	a	DET
dss-187	210	10	modular	modular	ADJ
dss-187	210	11	manipulator	manipulator	NOUN
dss-187	210	12	and	and	CCONJ
dss-187	210	13	other	other	ADJ
dss-187	210	14	accessories	accessory	NOUN
dss-187	210	15	which	which	PRON
dss-187	210	16	are	be	AUX
dss-187	210	17	easily	easily	ADV
dss-187	210	18	mounted	mount	VERB
dss-187	210	19	on	on	ADP
dss-187	210	20	the	the	DET
dss-187	210	21	robot	robot	NOUN
dss-187	210	22	.	.	PUNCT
dss-187	211	1	slower	slow	ADJ
dss-187	211	2	setup	setup	NOUN
dss-187	211	3	time	time	NOUN
dss-187	211	4	is	be	AUX
dss-187	211	5	also	also	ADV
dss-187	211	6	due	due	ADP
dss-187	211	7	to	to	ADP
dss-187	211	8	the	the	DET
dss-187	211	9	fact	fact	NOUN
dss-187	211	10	that	that	SCONJ
dss-187	211	11	the	the	DET
dss-187	211	12	raspberry	raspberry	NOUN
dss-187	211	13	pi	pi	NOUN
dss-187	211	14	needs	need	VERB
dss-187	211	15	to	to	PART
dss-187	211	16	be	be	AUX
dss-187	211	17	manually	manually	ADV
dss-187	211	18	turned	turn	VERB
dss-187	211	19	on	on	ADP
dss-187	211	20	with	with	ADP
dss-187	211	21	a	a	DET
dss-187	211	22	power	power	NOUN
dss-187	211	23	cable	cable	NOUN
dss-187	211	24	and	and	CCONJ
dss-187	211	25	the	the	DET
dss-187	211	26	program	program	NOUN
dss-187	211	27	needs	need	VERB
dss-187	211	28	to	to	PART
dss-187	211	29	be	be	AUX
dss-187	211	30	compiled	compile	VERB
dss-187	211	31	each	each	DET
dss-187	211	32	time	time	NOUN
dss-187	211	33	the	the	DET
dss-187	211	34	session	session	NOUN
dss-187	211	35	is	be	AUX
dss-187	211	36	ended	end	VERB
dss-187	211	37	.	.	PUNCT
dss-187	212	1	fortunately	fortunately	ADV
dss-187	212	2	,	,	PUNCT
dss-187	212	3	these	these	DET
dss-187	212	4	specifications	specification	NOUN
dss-187	212	5	are	be	AUX
dss-187	212	6	easily	easily	ADV
dss-187	212	7	made	make	VERB
dss-187	212	8	easier	easy	ADJ
dss-187	212	9	and	and	CCONJ
dss-187	212	10	improved	improve	VERB
dss-187	212	11	.	.	PUNCT
dss-187	213	1	the	the	DET
dss-187	213	2	robot	robot	NOUN
dss-187	213	3	can	can	AUX
dss-187	213	4	reach	reach	VERB
dss-187	213	5	a	a	DET
dss-187	213	6	speed	speed	NOUN
dss-187	213	7	of	of	ADP
dss-187	213	8	8	8	NUM
dss-187	213	9	km	km	NOUN
dss-187	213	10	/	/	SYM
dss-187	213	11	h	h	NOUN
dss-187	213	12	due	due	ADP
dss-187	213	13	to	to	ADP
dss-187	213	14	its	its	PRON
dss-187	213	15	high	high	ADJ
dss-187	213	16	torque	torque	NOUN
dss-187	213	17	dc	dc	PROPN
dss-187	213	18	motors	motors	PROPN
dss-187	213	19	.	.	PUNCT
dss-187	214	1	the	the	DET
dss-187	214	2	towing	towing	NOUN
dss-187	214	3	capacity	capacity	NOUN
dss-187	214	4	is	be	AUX
dss-187	214	5	roughly	roughly	ADV
dss-187	214	6	40	40	NUM
dss-187	214	7	kg	kg	NOUN
dss-187	214	8	,	,	PUNCT
dss-187	214	9	which	which	PRON
dss-187	214	10	highly	highly	ADV
dss-187	214	11	depends	depend	VERB
dss-187	214	12	on	on	ADP
dss-187	214	13	the	the	DET
dss-187	214	14	surface	surface	NOUN
dss-187	214	15	of	of	ADP
dss-187	214	16	the	the	DET
dss-187	214	17	motion	motion	NOUN
dss-187	214	18	.	.	PUNCT
dss-187	215	1	the	the	DET
dss-187	215	2	weakest	weak	ADJ
dss-187	215	3	point	point	NOUN
dss-187	215	4	in	in	ADP
dss-187	215	5	the	the	DET
dss-187	215	6	design	design	NOUN
dss-187	215	7	is	be	AUX
dss-187	215	8	the	the	DET
dss-187	215	9	communication	communication	NOUN
dss-187	215	10	reach	reach	VERB
dss-187	215	11	,	,	PUNCT
dss-187	215	12	which	which	PRON
dss-187	215	13	is	be	AUX
dss-187	215	14	limited	limit	VERB
dss-187	215	15	by	by	ADP
dss-187	215	16	wi	wi	PROPN
dss-187	215	17	-	-	PUNCT
dss-187	215	18	fi	fi	NOUN
dss-187	215	19	signal	signal	NOUN
dss-187	215	20	,	,	PUNCT
dss-187	215	21	to	to	ADP
dss-187	215	22	20	20	NUM
dss-187	215	23	m.	m.	NOUN
dss-187	215	24	the	the	DET
dss-187	215	25	second	second	ADJ
dss-187	215	26	weakest	weak	ADJ
dss-187	215	27	point	point	NOUN
dss-187	215	28	is	be	AUX
dss-187	215	29	the	the	DET
dss-187	215	30	gripping	gripping	NOUN
dss-187	215	31	,	,	PUNCT
dss-187	215	32	which	which	PRON
dss-187	215	33	needs	need	VERB
dss-187	215	34	to	to	PART
dss-187	215	35	be	be	AUX
dss-187	215	36	very	very	ADV
dss-187	215	37	precise	precise	ADJ
dss-187	215	38	,	,	PUNCT
dss-187	215	39	especially	especially	ADV
dss-187	215	40	for	for	ADP
dss-187	215	41	thin	thin	ADJ
dss-187	215	42	,	,	PUNCT
dss-187	215	43	narrow	narrow	ADJ
dss-187	215	44	objects	object	NOUN
dss-187	215	45	,	,	PUNCT
dss-187	215	46	such	such	ADJ
dss-187	215	47	as	as	ADP
dss-187	215	48	bottles	bottle	NOUN
dss-187	215	49	.	.	PUNCT
dss-187	216	1	compared	compare	VERB
dss-187	216	2	to	to	ADP
dss-187	216	3	the	the	DET
dss-187	216	4	robots	robot	NOUN
dss-187	216	5	from	from	ADP
dss-187	216	6	table	table	NOUN
dss-187	216	7	1	1	NUM
dss-187	216	8	,	,	PUNCT
dss-187	216	9	this	this	DET
dss-187	216	10	low	low	ADJ
dss-187	216	11	-	-	PUNCT
dss-187	216	12	cost	cost	NOUN
dss-187	216	13	eod	eod	NOUN
dss-187	216	14	robot	robot	NOUN
dss-187	216	15	platform	platform	NOUN
dss-187	216	16	represents	represent	VERB
dss-187	216	17	a	a	DET
dss-187	216	18	solid	solid	ADJ
dss-187	216	19	foundation	foundation	NOUN
dss-187	216	20	into	into	ADP
dss-187	216	21	further	further	ADJ
dss-187	216	22	design	design	NOUN
dss-187	216	23	and	and	CCONJ
dss-187	216	24	development	development	NOUN
dss-187	216	25	endeavors	endeavor	NOUN
dss-187	216	26	,	,	PUNCT
dss-187	216	27	which	which	PRON
dss-187	216	28	will	will	AUX
dss-187	216	29	hopefully	hopefully	ADV
dss-187	216	30	take	take	VERB
dss-187	216	31	place	place	NOUN
dss-187	216	32	in	in	ADP
dss-187	216	33	the	the	DET
dss-187	216	34	near	near	ADJ
dss-187	216	35	future	future	NOUN
dss-187	216	36	.	.	PUNCT
dss-187	217	1	the	the	DET
dss-187	217	2	plan	plan	NOUN
dss-187	217	3	for	for	ADP
dss-187	217	4	future	future	ADJ
dss-187	217	5	work	work	NOUN
dss-187	217	6	is	be	AUX
dss-187	217	7	to	to	PART
dss-187	217	8	upgrade	upgrade	VERB
dss-187	217	9	the	the	DET
dss-187	217	10	existing	exist	VERB
dss-187	217	11	physical	physical	ADJ
dss-187	217	12	platform	platform	NOUN
dss-187	217	13	to	to	ADP
dss-187	217	14	an	an	DET
dss-187	217	15	autonomous	autonomous	ADJ
dss-187	217	16	eod	eod	NOUN
dss-187	217	17	robot	robot	NOUN
dss-187	217	18	with	with	ADP
dss-187	217	19	the	the	DET
dss-187	217	20	ability	ability	NOUN
dss-187	217	21	to	to	PART
dss-187	217	22	detect	detect	VERB
dss-187	217	23	explosive	explosive	ADJ
dss-187	217	24	devices	device	NOUN
dss-187	217	25	and	and	CCONJ
dss-187	217	26	mark	mark	VERB
dss-187	217	27	them	they	PRON
dss-187	217	28	or	or	CCONJ
dss-187	217	29	safely	safely	ADV
dss-187	217	30	dispose	dispose	ADJ
dss-187	217	31	of	of	ADP
dss-187	217	32	them	they	PRON
dss-187	217	33	.	.	PUNCT
dss-187	218	1	declaration	declaration	NOUN
dss-187	218	2	of	of	ADP
dss-187	218	3	competing	compete	VERB
dss-187	218	4	interest	interest	NOUN
dss-187	218	5	the	the	DET
dss-187	218	6	authors	author	NOUN
dss-187	218	7	declare	declare	VERB
dss-187	218	8	that	that	SCONJ
dss-187	218	9	they	they	PRON
dss-187	218	10	have	have	VERB
dss-187	218	11	no	no	DET
dss-187	218	12	known	know	VERB
dss-187	218	13	financial	financial	ADJ
dss-187	218	14	or	or	CCONJ
dss-187	218	15	non	non	ADJ
dss-187	218	16	-	-	ADJ
dss-187	218	17	financial	financial	ADJ
dss-187	218	18	competing	compete	VERB
dss-187	218	19	interests	interest	NOUN
dss-187	218	20	in	in	ADP
dss-187	218	21	any	any	DET
dss-187	218	22	material	material	NOUN
dss-187	218	23	discussed	discuss	VERB
dss-187	218	24	in	in	ADP
dss-187	218	25	this	this	DET
dss-187	218	26	paper	paper	NOUN
dss-187	218	27	.	.	PUNCT
dss-187	219	1	funding	funding	NOUN
dss-187	219	2	information	information	NOUN
dss-187	219	3	no	no	DET
dss-187	219	4	funding	funding	NOUN
dss-187	219	5	was	be	AUX
dss-187	219	6	received	receive	VERB
dss-187	219	7	from	from	ADP
dss-187	219	8	any	any	DET
dss-187	219	9	financial	financial	ADJ
dss-187	219	10	organization	organization	NOUN
dss-187	219	11	to	to	PART
dss-187	219	12	conduct	conduct	VERB
dss-187	219	13	this	this	DET
dss-187	219	14	research	research	NOUN
dss-187	219	15	.	.	PUNCT
dss-187	220	1	references	reference	NOUN
dss-187	220	2	[	[	X
dss-187	220	3	1	1	NUM
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dss-187	224	1	[	[	X
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dss-187	224	4	“	"	PUNCT
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dss-187	224	11	(	(	PUNCT
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dss-187	224	17	2022	2022	NUM
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dss-187	225	2	5	5	NUM
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dss-187	225	4	“	"	PUNCT
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dss-187	225	9	.	.	PUNCT
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dss-187	227	1	[	[	X
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dss-187	228	1	[	[	X
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dss-187	228	16	.	.	PUNCT
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dss-187	229	1	https://www.sdrtactical.com/robots/sdrt_bulldog.php	https://www.sdrtactical.com/robots/sdrt_bulldog.php	VERB
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dss-187	230	17	.	.	PUNCT
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dss-187	232	1	[	[	X
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dss-187	232	4	“	"	PUNCT
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dss-187	238	2	,	,	PUNCT
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dss-187	242	2	,	,	PUNCT
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dss-187	242	8	31	31	NUM
dss-187	243	1	[	[	X
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dss-187	243	4	“	"	PUNCT
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dss-187	243	11	(	(	PUNCT
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dss-187	246	1	[	[	X
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