id	sid	tid	token	lemma	pos
sc-1180	1	1	multi	multi	ADJ
sc-1180	1	2	agent	agent	NOUN
sc-1180	1	3	system	system	NOUN
sc-1180	1	4	optimization	optimization	NOUN
sc-1180	1	5	in	in	ADP
sc-1180	1	6	virtual	virtual	ADJ
sc-1180	1	7	vehicle	vehicle	NOUN
sc-1180	1	8	testbeds	testbed	VERB
sc-1180	1	9	patrick	patrick	PROPN
sc-1180	1	10	lange	lange	PROPN
sc-1180	1	11	,	,	PUNCT
sc-1180	1	12	rene	rene	NOUN
sc-1180	1	13	weller	weller	NOUN
sc-1180	1	14	,	,	PUNCT
sc-1180	1	15	gabriel	gabriel	PROPN
sc-1180	1	16	zachmann	zachmann	PROPN
sc-1180	1	17	university	university	PROPN
sc-1180	1	18	of	of	ADP
sc-1180	1	19	bremen	bremen	PROPN
sc-1180	1	20	{	{	PUNCT
sc-1180	1	21	lange,weller,zach}@cs.uni-bremen.de	lange,weller,zach}@cs.uni-bremen.de	NUM
sc-1180	1	22	abstract	abstract	ADJ
sc-1180	1	23	modelling	modelling	NOUN
sc-1180	1	24	,	,	PUNCT
sc-1180	1	25	simulation	simulation	NOUN
sc-1180	1	26	,	,	PUNCT
sc-1180	1	27	and	and	CCONJ
sc-1180	1	28	optimization	optimization	NOUN
sc-1180	1	29	play	play	VERB
sc-1180	1	30	a	a	DET
sc-1180	1	31	crucial	crucial	ADJ
sc-1180	1	32	role	role	NOUN
sc-1180	1	33	in	in	ADP
sc-1180	1	34	the	the	DET
sc-1180	1	35	development	development	NOUN
sc-1180	1	36	and	and	CCONJ
sc-1180	1	37	testing	testing	NOUN
sc-1180	1	38	of	of	ADP
sc-1180	1	39	autonomous	autonomous	ADJ
sc-1180	1	40	vehicles	vehicle	NOUN
sc-1180	1	41	.	.	PUNCT
sc-1180	2	1	the	the	DET
sc-1180	2	2	ability	ability	NOUN
sc-1180	2	3	to	to	PART
sc-1180	2	4	compute	compute	VERB
sc-1180	2	5	,	,	PUNCT
sc-1180	2	6	test	test	NOUN
sc-1180	2	7	,	,	PUNCT
sc-1180	2	8	assess	assess	VERB
sc-1180	2	9	,	,	PUNCT
sc-1180	2	10	and	and	CCONJ
sc-1180	2	11	debug	debug	VERB
sc-1180	2	12	suitable	suitable	ADJ
sc-1180	2	13	configurations	configuration	NOUN
sc-1180	2	14	reduces	reduce	VERB
sc-1180	2	15	the	the	DET
sc-1180	2	16	time	time	NOUN
sc-1180	2	17	and	and	CCONJ
sc-1180	2	18	cost	cost	NOUN
sc-1180	2	19	of	of	ADP
sc-1180	2	20	vehicle	vehicle	NOUN
sc-1180	2	21	development	development	NOUN
sc-1180	2	22	.	.	PUNCT
sc-1180	3	1	until	until	ADP
sc-1180	3	2	now	now	ADV
sc-1180	3	3	,	,	PUNCT
sc-1180	3	4	engineers	engineer	NOUN
sc-1180	3	5	are	be	AUX
sc-1180	3	6	forced	force	VERB
sc-1180	3	7	to	to	PART
sc-1180	3	8	manually	manually	ADV
sc-1180	3	9	change	change	VERB
sc-1180	3	10	vehicle	vehicle	NOUN
sc-1180	3	11	configurations	configuration	NOUN
sc-1180	3	12	in	in	ADP
sc-1180	3	13	virtual	virtual	ADJ
sc-1180	3	14	testbeds	testbed	NOUN
sc-1180	3	15	in	in	ADP
sc-1180	3	16	order	order	NOUN
sc-1180	3	17	to	to	PART
sc-1180	3	18	react	react	VERB
sc-1180	3	19	to	to	ADP
sc-1180	3	20	inappropriate	inappropriate	VERB
sc-1180	3	21	simulated	simulated	ADJ
sc-1180	3	22	vehicle	vehicle	NOUN
sc-1180	3	23	performance	performance	NOUN
sc-1180	3	24	.	.	PUNCT
sc-1180	4	1	such	such	ADJ
sc-1180	4	2	manual	manual	ADJ
sc-1180	4	3	adjustments	adjustment	NOUN
sc-1180	4	4	are	be	AUX
sc-1180	4	5	very	very	ADV
sc-1180	4	6	time	time	NOUN
sc-1180	4	7	consuming	consume	VERB
sc-1180	4	8	and	and	CCONJ
sc-1180	4	9	are	be	AUX
sc-1180	4	10	also	also	ADV
sc-1180	4	11	often	often	ADV
sc-1180	4	12	made	make	VERB
sc-1180	4	13	ad	ad	NOUN
sc-1180	4	14	-	-	PUNCT
sc-1180	4	15	hoc	hoc	X
sc-1180	4	16	,	,	PUNCT
sc-1180	4	17	which	which	PRON
sc-1180	4	18	decreases	decrease	VERB
sc-1180	4	19	the	the	DET
sc-1180	4	20	overall	overall	ADJ
sc-1180	4	21	quality	quality	NOUN
sc-1180	4	22	of	of	ADP
sc-1180	4	23	the	the	DET
sc-1180	4	24	vehicle	vehicle	NOUN
sc-1180	4	25	engineering	engineering	NOUN
sc-1180	4	26	process	process	NOUN
sc-1180	4	27	.	.	PUNCT
sc-1180	5	1	in	in	ADP
sc-1180	5	2	order	order	NOUN
sc-1180	5	3	to	to	PART
sc-1180	5	4	avoid	avoid	VERB
sc-1180	5	5	this	this	DET
sc-1180	5	6	manual	manual	ADJ
sc-1180	5	7	adjustment	adjustment	NOUN
sc-1180	5	8	as	as	ADV
sc-1180	5	9	well	well	ADV
sc-1180	5	10	as	as	ADP
sc-1180	5	11	to	to	PART
sc-1180	5	12	improve	improve	VERB
sc-1180	5	13	the	the	DET
sc-1180	5	14	overall	overall	ADJ
sc-1180	5	15	quality	quality	NOUN
sc-1180	5	16	of	of	ADP
sc-1180	5	17	these	these	DET
sc-1180	5	18	adjustments	adjustment	NOUN
sc-1180	5	19	,	,	PUNCT
sc-1180	5	20	we	we	PRON
sc-1180	5	21	present	present	VERB
sc-1180	5	22	a	a	DET
sc-1180	5	23	novel	novel	ADJ
sc-1180	5	24	comprehensive	comprehensive	ADJ
sc-1180	5	25	approach	approach	NOUN
sc-1180	5	26	to	to	ADP
sc-1180	5	27	modelling	modelling	NOUN
sc-1180	5	28	,	,	PUNCT
sc-1180	5	29	simulation	simulation	NOUN
sc-1180	5	30	,	,	PUNCT
sc-1180	5	31	and	and	CCONJ
sc-1180	5	32	optimization	optimization	NOUN
sc-1180	5	33	of	of	ADP
sc-1180	5	34	such	such	ADJ
sc-1180	5	35	vehicles	vehicle	NOUN
sc-1180	5	36	.	.	PUNCT
sc-1180	6	1	instead	instead	ADV
sc-1180	6	2	of	of	ADP
sc-1180	6	3	manually	manually	ADV
sc-1180	6	4	adjusting	adjust	VERB
sc-1180	6	5	vehicle	vehicle	NOUN
sc-1180	6	6	configurations	configuration	NOUN
sc-1180	6	7	,	,	PUNCT
sc-1180	6	8	engineers	engineer	NOUN
sc-1180	6	9	can	can	AUX
sc-1180	6	10	specify	specify	VERB
sc-1180	6	11	simulation	simulation	NOUN
sc-1180	6	12	goals	goal	NOUN
sc-1180	6	13	in	in	ADP
sc-1180	6	14	a	a	DET
sc-1180	6	15	domain	domain	NOUN
sc-1180	6	16	specific	specific	ADJ
sc-1180	6	17	modelling	modelling	NOUN
sc-1180	6	18	language	language	NOUN
sc-1180	6	19	.	.	PUNCT
sc-1180	7	1	the	the	DET
sc-1180	7	2	simulated	simulate	VERB
sc-1180	7	3	vehicle	vehicle	NOUN
sc-1180	7	4	performance	performance	NOUN
sc-1180	7	5	is	be	AUX
sc-1180	7	6	then	then	ADV
sc-1180	7	7	mapped	map	VERB
sc-1180	7	8	to	to	ADP
sc-1180	7	9	these	these	DET
sc-1180	7	10	simulation	simulation	NOUN
sc-1180	7	11	goals	goal	NOUN
sc-1180	7	12	and	and	CCONJ
sc-1180	7	13	our	our	PRON
sc-1180	7	14	multi	multi	ADJ
sc-1180	7	15	-	-	ADJ
sc-1180	7	16	agent	agent	ADJ
sc-1180	7	17	system	system	NOUN
sc-1180	7	18	computes	compute	VERB
sc-1180	7	19	for	for	ADP
sc-1180	7	20	optimized	optimize	VERB
sc-1180	7	21	vehicle	vehicle	NOUN
sc-1180	7	22	configuration	configuration	NOUN
sc-1180	7	23	parameters	parameter	NOUN
sc-1180	7	24	in	in	ADP
sc-1180	7	25	order	order	NOUN
sc-1180	7	26	to	to	PART
sc-1180	7	27	satisfy	satisfy	VERB
sc-1180	7	28	these	these	DET
sc-1180	7	29	goals	goal	NOUN
sc-1180	7	30	.	.	PUNCT
sc-1180	8	1	consequently	consequently	ADV
sc-1180	8	2	,	,	PUNCT
sc-1180	8	3	our	our	PRON
sc-1180	8	4	approach	approach	NOUN
sc-1180	8	5	does	do	AUX
sc-1180	8	6	not	not	PART
sc-1180	8	7	need	need	VERB
sc-1180	8	8	any	any	DET
sc-1180	8	9	supervision	supervision	NOUN
sc-1180	8	10	and	and	CCONJ
sc-1180	8	11	gives	give	VERB
sc-1180	8	12	engineers	engineer	NOUN
sc-1180	8	13	visual	visual	ADJ
sc-1180	8	14	feedback	feedback	NOUN
sc-1180	8	15	of	of	ADP
sc-1180	8	16	their	their	PRON
sc-1180	8	17	vehicle	vehicle	NOUN
sc-1180	8	18	configuration	configuration	NOUN
sc-1180	8	19	expectations	expectation	NOUN
sc-1180	8	20	.	.	PUNCT
sc-1180	9	1	our	our	PRON
sc-1180	9	2	evaluation	evaluation	NOUN
sc-1180	9	3	shows	show	VERB
sc-1180	9	4	that	that	SCONJ
sc-1180	9	5	we	we	PRON
sc-1180	9	6	are	be	AUX
sc-1180	9	7	able	able	ADJ
sc-1180	9	8	to	to	PART
sc-1180	9	9	optimize	optimize	VERB
sc-1180	9	10	vehicle	vehicle	NOUN
sc-1180	9	11	configuration	configuration	NOUN
sc-1180	9	12	sets	set	NOUN
sc-1180	9	13	to	to	PART
sc-1180	9	14	meet	meet	VERB
sc-1180	9	15	simulation	simulation	NOUN
sc-1180	9	16	goals	goal	NOUN
sc-1180	9	17	while	while	SCONJ
sc-1180	9	18	maintaining	maintain	VERB
sc-1180	9	19	real	real	ADJ
sc-1180	9	20	-	-	PUNCT
sc-1180	9	21	time	time	NOUN
sc-1180	9	22	performance	performance	NOUN
sc-1180	9	23	of	of	ADP
sc-1180	9	24	the	the	DET
sc-1180	9	25	overall	overall	ADJ
sc-1180	9	26	simulation	simulation	NOUN
sc-1180	9	27	.	.	PUNCT
sc-1180	10	1	categories	category	NOUN
sc-1180	10	2	and	and	CCONJ
sc-1180	10	3	subject	subject	NOUN
sc-1180	10	4	descriptors	descriptor	NOUN
sc-1180	10	5	d.2.11	d.2.11	X
sc-1180	11	1	[	[	X
sc-1180	11	2	software	software	NOUN
sc-1180	11	3	]	]	X
sc-1180	11	4	:	:	PUNCT
sc-1180	11	5	software	software	NOUN
sc-1180	11	6	architectures	architecture	NOUN
sc-1180	11	7	—	—	PUNCT
sc-1180	11	8	domain	domain	NOUN
sc-1180	11	9	-	-	PUNCT
sc-1180	11	10	specific	specific	ADJ
sc-1180	11	11	architectures	architecture	NOUN
sc-1180	11	12	;	;	PUNCT
sc-1180	11	13	i.2.11	i.2.11	X
sc-1180	11	14	[	[	X
sc-1180	11	15	artificial	artificial	ADJ
sc-1180	11	16	intelligence	intelligence	NOUN
sc-1180	11	17	]	]	PUNCT
sc-1180	11	18	:	:	PUNCT
sc-1180	11	19	distributed	distribute	VERB
sc-1180	11	20	artificial	artificial	ADJ
sc-1180	11	21	intelligence	intelligence	NOUN
sc-1180	11	22	—	—	PUNCT
sc-1180	11	23	multiagent	multiagent	NOUN
sc-1180	11	24	system	system	NOUN
sc-1180	11	25	;	;	PUNCT
sc-1180	11	26	i.3.1	i.3.1	ADJ
sc-1180	11	27	[	[	NOUN
sc-1180	11	28	computer	computer	NOUN
sc-1180	11	29	graphics	graphic	NOUN
sc-1180	11	30	]	]	PUNCT
sc-1180	11	31	:	:	PUNCT
sc-1180	11	32	hardware	hardware	NOUN
sc-1180	11	33	architecture	architecture	NOUN
sc-1180	11	34	—	—	PUNCT
sc-1180	11	35	graphics	graphic	NOUN
sc-1180	11	36	processor	processor	NOUN
sc-1180	11	37	;	;	PUNCT
sc-1180	11	38	i.6.8	i.6.8	PROPN
sc-1180	11	39	[	[	X
sc-1180	11	40	simulation	simulation	NOUN
sc-1180	11	41	and	and	CCONJ
sc-1180	11	42	modeling	modeling	NOUN
sc-1180	11	43	]	]	X
sc-1180	11	44	:	:	PUNCT
sc-1180	11	45	types	type	NOUN
sc-1180	11	46	of	of	ADP
sc-1180	11	47	simulation	simulation	NOUN
sc-1180	11	48	—	—	PUNCT
sc-1180	11	49	parallel	parallel	ADJ
sc-1180	11	50	keywords	keyword	NOUN
sc-1180	11	51	virtual	virtual	ADJ
sc-1180	11	52	testbed	testbe	VERB
sc-1180	11	53	,	,	PUNCT
sc-1180	11	54	vehicle	vehicle	NOUN
sc-1180	11	55	simulation	simulation	NOUN
sc-1180	11	56	,	,	PUNCT
sc-1180	11	57	multi	multi	ADJ
sc-1180	11	58	agent	agent	NOUN
sc-1180	11	59	system	system	NOUN
sc-1180	11	60	,	,	PUNCT
sc-1180	11	61	discrete	discrete	ADJ
sc-1180	11	62	event	event	NOUN
sc-1180	11	63	simulation	simulation	PROPN
sc-1180	11	64	,	,	PUNCT
sc-1180	11	65	gpu	gpu	PROPN
sc-1180	11	66	,	,	PUNCT
sc-1180	11	67	cuda	cuda	NOUN
sc-1180	11	68	,	,	PUNCT
sc-1180	11	69	domain	domain	NOUN
sc-1180	11	70	specific	specific	ADJ
sc-1180	11	71	modelling	modelling	NOUN
sc-1180	11	72	.	.	PUNCT
sc-1180	12	1	1	1	X
sc-1180	12	2	.	.	X
sc-1180	12	3	introduction	introduction	NOUN
sc-1180	12	4	typically	typically	ADV
sc-1180	12	5	,	,	PUNCT
sc-1180	12	6	the	the	DET
sc-1180	12	7	engineering	engineering	NOUN
sc-1180	12	8	of	of	ADP
sc-1180	12	9	vehicles	vehicle	NOUN
sc-1180	12	10	consists	consist	VERB
sc-1180	12	11	of	of	ADP
sc-1180	12	12	three	three	NUM
sc-1180	12	13	main	main	ADJ
sc-1180	12	14	steps	step	NOUN
sc-1180	12	15	:	:	PUNCT
sc-1180	12	16	first	first	ADV
sc-1180	12	17	,	,	PUNCT
sc-1180	12	18	a	a	DET
sc-1180	12	19	mission	mission	NOUN
sc-1180	12	20	scenario	scenario	NOUN
sc-1180	12	21	and	and	CCONJ
sc-1180	12	22	corresponding	corresponding	ADJ
sc-1180	12	23	requirements	requirement	NOUN
sc-1180	12	24	are	be	AUX
sc-1180	12	25	defined	define	VERB
sc-1180	12	26	,	,	PUNCT
sc-1180	12	27	then	then	ADV
sc-1180	12	28	engineers	engineer	NOUN
sc-1180	12	29	construct	construct	VERB
sc-1180	12	30	a	a	DET
sc-1180	12	31	vehicle	vehicle	NOUN
sc-1180	12	32	that	that	PRON
sc-1180	12	33	should	should	AUX
sc-1180	12	34	fulfill	fulfill	VERB
sc-1180	12	35	these	these	DET
sc-1180	12	36	specifications	specification	NOUN
sc-1180	12	37	and	and	CCONJ
sc-1180	12	38	finally	finally	ADV
sc-1180	12	39	,	,	PUNCT
sc-1180	12	40	test	test	NOUN
sc-1180	12	41	runs	run	VERB
sc-1180	12	42	for	for	ADP
sc-1180	12	43	fine	fine	ADV
sc-1180	12	44	-	-	PUNCT
sc-1180	12	45	tuning	tuning	NOUN
sc-1180	12	46	of	of	ADP
sc-1180	12	47	vehicle	vehicle	NOUN
sc-1180	12	48	parameters	parameter	NOUN
sc-1180	12	49	,	,	PUNCT
sc-1180	12	50	like	like	ADP
sc-1180	12	51	fuel	fuel	NOUN
sc-1180	12	52	level	level	NOUN
sc-1180	12	53	or	or	CCONJ
sc-1180	12	54	sensor	sensor	NOUN
sc-1180	12	55	orientation	orientation	NOUN
sc-1180	12	56	,	,	PUNCT
sc-1180	12	57	are	be	AUX
sc-1180	12	58	performed	perform	VERB
sc-1180	12	59	(	(	PUNCT
sc-1180	12	60	see	see	VERB
sc-1180	12	61	figure	figure	NOUN
sc-1180	12	62	1	1	NUM
sc-1180	12	63	)	)	PUNCT
sc-1180	12	64	.	.	PUNCT
sc-1180	13	1	while	while	SCONJ
sc-1180	13	2	the	the	DET
sc-1180	13	3	basic	basic	ADJ
sc-1180	13	4	principle	principle	NOUN
sc-1180	13	5	remained	remain	VERB
sc-1180	13	6	the	the	DET
sc-1180	13	7	same	same	ADJ
sc-1180	13	8	since	since	SCONJ
sc-1180	13	9	the	the	DET
sc-1180	13	10	beginning	beginning	NOUN
sc-1180	13	11	of	of	ADP
sc-1180	13	12	modern	modern	ADJ
sc-1180	13	13	engineering	engineering	NOUN
sc-1180	13	14	,	,	PUNCT
sc-1180	13	15	the	the	DET
sc-1180	13	16	process	process	NOUN
sc-1180	13	17	has	have	AUX
sc-1180	13	18	changed	change	VERB
sc-1180	13	19	substantially	substantially	ADV
sc-1180	13	20	during	during	ADP
sc-1180	13	21	the	the	DET
sc-1180	13	22	past	past	ADJ
sc-1180	13	23	40	40	NUM
sc-1180	13	24	years	year	NOUN
sc-1180	13	25	:	:	PUNCT
sc-1180	13	26	the	the	DET
sc-1180	13	27	design	design	NOUN
sc-1180	13	28	moved	move	VERB
sc-1180	13	29	from	from	ADP
sc-1180	13	30	the	the	DET
sc-1180	13	31	drawing	drawing	NOUN
sc-1180	13	32	board	board	NOUN
sc-1180	13	33	to	to	ADP
sc-1180	13	34	the	the	DET
sc-1180	13	35	computer	computer	NOUN
sc-1180	13	36	and	and	CCONJ
sc-1180	13	37	test	test	NOUN
sc-1180	13	38	runs	run	NOUN
sc-1180	13	39	are	be	AUX
sc-1180	13	40	not	not	PART
sc-1180	13	41	only	only	ADV
sc-1180	13	42	performed	perform	VERB
sc-1180	13	43	with	with	ADP
sc-1180	13	44	physical	physical	ADJ
sc-1180	13	45	prototypes	prototype	NOUN
sc-1180	13	46	in	in	ADP
sc-1180	13	47	real	real	ADJ
sc-1180	13	48	hardware	hardware	NOUN
sc-1180	13	49	environments	environment	NOUN
sc-1180	14	1	[	[	X
sc-1180	14	2	20	20	NUM
sc-1180	14	3	]	]	PUNCT
sc-1180	14	4	but	but	CCONJ
sc-1180	14	5	have	have	AUX
sc-1180	14	6	also	also	ADV
sc-1180	14	7	moved	move	VERB
sc-1180	14	8	more	more	ADV
sc-1180	14	9	and	and	CCONJ
sc-1180	14	10	more	more	ADJ
sc-1180	14	11	to	to	ADP
sc-1180	14	12	the	the	DET
sc-1180	14	13	computer	computer	NOUN
sc-1180	14	14	.	.	PUNCT
sc-1180	15	1	in	in	ADP
sc-1180	15	2	recent	recent	ADJ
sc-1180	15	3	years	year	NOUN
sc-1180	15	4	,	,	PUNCT
sc-1180	15	5	virtual	virtual	ADJ
sc-1180	15	6	reality	reality	NOUN
sc-1180	15	7	(	(	PUNCT
sc-1180	15	8	vr	vr	NOUN
sc-1180	15	9	)	)	PUNCT
sc-1180	15	10	has	have	AUX
sc-1180	15	11	emerged	emerge	VERB
sc-1180	15	12	as	as	ADP
sc-1180	15	13	a	a	DET
sc-1180	15	14	key	key	ADJ
sc-1180	15	15	technology	technology	NOUN
sc-1180	15	16	for	for	ADP
sc-1180	15	17	improving	improve	VERB
sc-1180	15	18	and	and	CCONJ
sc-1180	15	19	streamlining	streamline	VERB
sc-1180	15	20	the	the	DET
sc-1180	15	21	conceptualisation	conceptualisation	NOUN
sc-1180	15	22	and	and	CCONJ
sc-1180	15	23	design	design	NOUN
sc-1180	15	24	of	of	ADP
sc-1180	15	25	vehicles	vehicle	NOUN
sc-1180	15	26	by	by	ADP
sc-1180	15	27	simulation	simulation	NOUN
sc-1180	15	28	[	[	X
sc-1180	15	29	11][10	11][10	X
sc-1180	15	30	]	]	PUNCT
sc-1180	15	31	.	.	PUNCT
sc-1180	16	1	these	these	DET
sc-1180	16	2	testbeds	testbed	NOUN
sc-1180	16	3	give	give	VERB
sc-1180	16	4	engineers	engineer	NOUN
sc-1180	16	5	the	the	DET
sc-1180	16	6	opportunity	opportunity	NOUN
sc-1180	16	7	to	to	PART
sc-1180	16	8	interact	interact	VERB
sc-1180	16	9	with	with	ADP
sc-1180	16	10	the	the	DET
sc-1180	16	11	simulated	simulate	VERB
sc-1180	16	12	vehicle	vehicle	NOUN
sc-1180	16	13	in	in	ADP
sc-1180	16	14	order	order	NOUN
sc-1180	16	15	to	to	PART
sc-1180	16	16	gain	gain	VERB
sc-1180	16	17	comprehensive	comprehensive	ADJ
sc-1180	16	18	understanding	understanding	NOUN
sc-1180	16	19	of	of	ADP
sc-1180	16	20	possible	possible	ADJ
sc-1180	16	21	design	design	NOUN
sc-1180	16	22	flaws	flaw	NOUN
sc-1180	16	23	as	as	ADV
sc-1180	16	24	early	early	ADV
sc-1180	16	25	as	as	ADP
sc-1180	16	26	possible	possible	ADJ
sc-1180	16	27	during	during	ADP
sc-1180	16	28	the	the	DET
sc-1180	16	29	design	design	NOUN
sc-1180	16	30	process	process	NOUN
sc-1180	16	31	.	.	PUNCT
sc-1180	17	1	they	they	PRON
sc-1180	17	2	are	be	AUX
sc-1180	17	3	frequently	frequently	ADV
sc-1180	17	4	used	use	VERB
sc-1180	17	5	in	in	ADP
sc-1180	17	6	fields	field	NOUN
sc-1180	17	7	like	like	ADP
sc-1180	17	8	space	space	NOUN
sc-1180	17	9	robotics	robotic	NOUN
sc-1180	18	1	[	[	X
sc-1180	18	2	10][22	10][22	NUM
sc-1180	18	3	]	]	PUNCT
sc-1180	18	4	,	,	PUNCT
sc-1180	18	5	underwater	underwater	NOUN
sc-1180	18	6	vehicles	vehicle	NOUN
sc-1180	18	7	[	[	X
sc-1180	18	8	7	7	NUM
sc-1180	18	9	]	]	PUNCT
sc-1180	18	10	,	,	PUNCT
sc-1180	18	11	or	or	CCONJ
sc-1180	18	12	military	military	ADJ
sc-1180	18	13	ground	ground	NOUN
sc-1180	18	14	vehicles	vehicle	NOUN
sc-1180	18	15	[	[	X
sc-1180	18	16	20	20	NUM
sc-1180	18	17	]	]	PUNCT
sc-1180	18	18	.	.	PUNCT
sc-1180	19	1	in	in	ADP
sc-1180	19	2	addition	addition	NOUN
sc-1180	19	3	,	,	PUNCT
sc-1180	19	4	it	it	PRON
sc-1180	19	5	is	be	AUX
sc-1180	19	6	widely	widely	ADV
sc-1180	19	7	recognized	recognize	VERB
sc-1180	19	8	that	that	SCONJ
sc-1180	19	9	simulation	simulation	NOUN
sc-1180	19	10	is	be	AUX
sc-1180	19	11	pivotal	pivotal	ADJ
sc-1180	19	12	to	to	PART
sc-1180	19	13	vehicle	vehicle	NOUN
sc-1180	19	14	development	development	NOUN
sc-1180	19	15	,	,	PUNCT
sc-1180	19	16	whether	whether	SCONJ
sc-1180	19	17	manned	man	VERB
sc-1180	19	18	or	or	CCONJ
sc-1180	19	19	unmanned	unmanned	ADJ
sc-1180	20	1	[	[	X
sc-1180	20	2	18	18	NUM
sc-1180	20	3	]	]	PUNCT
sc-1180	20	4	.	.	PUNCT
sc-1180	21	1	virtual	virtual	ADJ
sc-1180	21	2	testbeds	testbed	NOUN
sc-1180	21	3	are	be	AUX
sc-1180	21	4	constituted	constitute	VERB
sc-1180	21	5	by	by	ADP
sc-1180	21	6	a	a	DET
sc-1180	21	7	sophisticated	sophisticated	ADJ
sc-1180	21	8	physically	physically	ADV
sc-1180	21	9	-	-	PUNCT
sc-1180	21	10	based	base	VERB
sc-1180	21	11	simulation	simulation	NOUN
sc-1180	21	12	of	of	ADP
sc-1180	21	13	both	both	CCONJ
sc-1180	21	14	the	the	DET
sc-1180	21	15	vehicle	vehicle	NOUN
sc-1180	21	16	and	and	CCONJ
sc-1180	21	17	its	its	PRON
sc-1180	21	18	designated	designate	VERB
sc-1180	21	19	environment	environment	NOUN
sc-1180	21	20	,	,	PUNCT
sc-1180	21	21	as	as	ADV
sc-1180	21	22	well	well	ADV
sc-1180	21	23	as	as	ADP
sc-1180	21	24	real	real	ADJ
sc-1180	21	25	-	-	PUNCT
sc-1180	21	26	time	time	NOUN
sc-1180	21	27	,	,	PUNCT
sc-1180	21	28	immersive	immersive	ADJ
sc-1180	21	29	rendering	rendering	NOUN
sc-1180	21	30	and	and	CCONJ
sc-1180	21	31	3d	3d	NUM
sc-1180	21	32	interaction	interaction	NOUN
sc-1180	21	33	techniques	technique	NOUN
sc-1180	21	34	for	for	ADP
sc-1180	21	35	the	the	DET
sc-1180	21	36	direct	direct	ADJ
sc-1180	21	37	feedback	feedback	NOUN
sc-1180	21	38	and	and	CCONJ
sc-1180	21	39	manipulation	manipulation	NOUN
sc-1180	21	40	of	of	ADP
sc-1180	21	41	the	the	DET
sc-1180	21	42	vehicle	vehicle	NOUN
sc-1180	21	43	.	.	PUNCT
sc-1180	22	1	in	in	ADP
sc-1180	22	2	addition	addition	NOUN
sc-1180	22	3	to	to	ADP
sc-1180	22	4	the	the	DET
sc-1180	22	5	vehicle	vehicle	NOUN
sc-1180	22	6	design	design	NOUN
sc-1180	22	7	process	process	NOUN
sc-1180	22	8	,	,	PUNCT
sc-1180	22	9	the	the	DET
sc-1180	22	10	same	same	ADJ
sc-1180	22	11	virtual	virtual	ADJ
sc-1180	22	12	testbeds	testbed	NOUN
sc-1180	22	13	can	can	AUX
sc-1180	22	14	often	often	ADV
sc-1180	22	15	be	be	AUX
sc-1180	22	16	re	re	VERB
sc-1180	22	17	-	-	VERB
sc-1180	22	18	used	use	VERB
sc-1180	22	19	directly	directly	ADV
sc-1180	22	20	for	for	ADP
sc-1180	22	21	later	later	ADJ
sc-1180	22	22	mission	mission	NOUN
sc-1180	22	23	stages	stage	NOUN
sc-1180	22	24	like	like	ADP
sc-1180	22	25	training	training	NOUN
sc-1180	22	26	and	and	CCONJ
sc-1180	22	27	supervision	supervision	NOUN
sc-1180	22	28	.	.	PUNCT
sc-1180	23	1	furthermore	furthermore	ADV
sc-1180	23	2	,	,	PUNCT
sc-1180	23	3	virtual	virtual	ADJ
sc-1180	23	4	testbeds	testbed	NOUN
sc-1180	23	5	are	be	AUX
sc-1180	23	6	a	a	DET
sc-1180	23	7	costefficient	costefficient	ADJ
sc-1180	23	8	alternative	alternative	NOUN
sc-1180	23	9	e.g.	e.g.	ADV
sc-1180	23	10	for	for	ADP
sc-1180	23	11	planetary	planetary	ADJ
sc-1180	23	12	exploration	exploration	NOUN
sc-1180	23	13	missions	mission	NOUN
sc-1180	23	14	,	,	PUNCT
sc-1180	23	15	or	or	CCONJ
sc-1180	23	16	other	other	ADJ
sc-1180	23	17	autonomous	autonomous	ADJ
sc-1180	23	18	vehicle	vehicle	NOUN
sc-1180	23	19	applications	application	NOUN
sc-1180	23	20	in	in	ADP
sc-1180	23	21	which	which	PRON
sc-1180	23	22	setting	set	VERB
sc-1180	23	23	up	up	ADP
sc-1180	23	24	real	real	ADJ
sc-1180	23	25	mockups	mockup	NOUN
sc-1180	23	26	for	for	ADP
sc-1180	23	27	testing	testing	NOUN
sc-1180	23	28	and	and	CCONJ
sc-1180	23	29	verifying	verifying	NOUN
sc-1180	23	30	is	be	AUX
sc-1180	23	31	too	too	ADV
sc-1180	23	32	expensive	expensive	ADJ
sc-1180	24	1	[	[	X
sc-1180	24	2	11	11	NUM
sc-1180	24	3	]	]	PUNCT
sc-1180	24	4	.	.	PUNCT
sc-1180	25	1	however	however	ADV
sc-1180	25	2	,	,	PUNCT
sc-1180	25	3	even	even	ADV
sc-1180	25	4	in	in	ADP
sc-1180	25	5	state	state	NOUN
sc-1180	25	6	-	-	PUNCT
sc-1180	25	7	of	of	ADP
sc-1180	25	8	-	-	PUNCT
sc-1180	25	9	the	the	DET
sc-1180	25	10	art	art	NOUN
sc-1180	25	11	virtual	virtual	ADJ
sc-1180	25	12	testbeds	testbed	NOUN
sc-1180	25	13	,	,	PUNCT
sc-1180	25	14	it	it	PRON
sc-1180	25	15	is	be	AUX
sc-1180	25	16	still	still	ADV
sc-1180	25	17	challenging	challenge	VERB
sc-1180	25	18	to	to	PART
sc-1180	25	19	identify	identify	VERB
sc-1180	25	20	the	the	DET
sc-1180	25	21	origin	origin	NOUN
sc-1180	25	22	of	of	ADP
sc-1180	25	23	errors	error	NOUN
sc-1180	25	24	.	.	PUNCT
sc-1180	26	1	engineers	engineer	NOUN
sc-1180	26	2	can	can	AUX
sc-1180	26	3	waste	waste	VERB
sc-1180	26	4	a	a	DET
sc-1180	26	5	lot	lot	NOUN
sc-1180	26	6	of	of	ADP
sc-1180	26	7	time	time	NOUN
sc-1180	26	8	in	in	ADP
sc-1180	26	9	the	the	DET
sc-1180	26	10	fine	fine	ADV
sc-1180	26	11	-	-	PUNCT
sc-1180	26	12	tuning	tune	VERB
sc-1180	26	13	vehicle	vehicle	NOUN
sc-1180	26	14	parameters	parameter	NOUN
sc-1180	26	15	while	while	SCONJ
sc-1180	26	16	the	the	DET
sc-1180	26	17	error	error	NOUN
sc-1180	26	18	is	be	AUX
sc-1180	26	19	in	in	ADP
sc-1180	26	20	the	the	DET
sc-1180	26	21	vehicle	vehicle	NOUN
sc-1180	26	22	design	design	NOUN
sc-1180	26	23	or	or	CCONJ
sc-1180	26	24	even	even	ADV
sc-1180	26	25	in	in	ADP
sc-1180	26	26	the	the	DET
sc-1180	26	27	mission	mission	NOUN
sc-1180	26	28	specifications	specification	NOUN
sc-1180	26	29	.	.	PUNCT
sc-1180	27	1	simutools	simutool	VERB
sc-1180	27	2	2015	2015	NUM
sc-1180	27	3	,	,	PUNCT
sc-1180	27	4	august	august	PROPN
sc-1180	27	5	24	24	NUM
sc-1180	27	6	-	-	SYM
sc-1180	27	7	26	26	NUM
sc-1180	27	8	,	,	PUNCT
sc-1180	27	9	athens	athens	PROPN
sc-1180	27	10	,	,	PUNCT
sc-1180	27	11	greece	greece	PROPN
sc-1180	27	12	copyright	copyright	NOUN
sc-1180	27	13	©	©	PROPN
sc-1180	27	14	2015	2015	NUM
sc-1180	27	15	icst	icst	PROPN
sc-1180	27	16	doi	doi	NOUN
sc-1180	27	17	10.4108	10.4108	NUM
sc-1180	27	18	/	/	SYM
sc-1180	27	19	eai.24	eai.24	NOUN
sc-1180	27	20	-	-	PUNCT
sc-1180	27	21	8	8	NUM
sc-1180	27	22	-	-	PUNCT
sc-1180	27	23	2015.2261104	2015.2261104	NUM
sc-1180	27	24	figure	figure	NOUN
sc-1180	27	25	1	1	NUM
sc-1180	27	26	:	:	PUNCT
sc-1180	27	27	integration	integration	NOUN
sc-1180	27	28	of	of	ADP
sc-1180	27	29	virtual	virtual	ADJ
sc-1180	27	30	testbeds	testbed	NOUN
sc-1180	27	31	with	with	ADP
sc-1180	27	32	the	the	DET
sc-1180	27	33	vehicle	vehicle	NOUN
sc-1180	27	34	engineering	engineering	NOUN
sc-1180	27	35	process	process	NOUN
sc-1180	27	36	:	:	PUNCT
sc-1180	27	37	simulation	simulation	NOUN
sc-1180	27	38	results	result	NOUN
sc-1180	27	39	are	be	AUX
sc-1180	27	40	used	use	VERB
sc-1180	27	41	to	to	PART
sc-1180	27	42	change	change	VERB
sc-1180	27	43	vehicle	vehicle	NOUN
sc-1180	27	44	configurations	configuration	NOUN
sc-1180	27	45	in	in	ADP
sc-1180	27	46	order	order	NOUN
sc-1180	27	47	to	to	PART
sc-1180	27	48	meet	meet	VERB
sc-1180	27	49	engineer	engineer	NOUN
sc-1180	27	50	expectations	expectation	NOUN
sc-1180	27	51	if	if	SCONJ
sc-1180	27	52	the	the	DET
sc-1180	27	53	simulated	simulate	VERB
sc-1180	27	54	vehicle	vehicle	NOUN
sc-1180	27	55	performance	performance	NOUN
sc-1180	27	56	does	do	AUX
sc-1180	27	57	not	not	PART
sc-1180	27	58	meet	meet	VERB
sc-1180	27	59	vehicle	vehicle	NOUN
sc-1180	27	60	mission	mission	NOUN
sc-1180	27	61	or	or	CCONJ
sc-1180	27	62	engineering	engineering	NOUN
sc-1180	27	63	expectations	expectation	NOUN
sc-1180	27	64	.	.	PUNCT
sc-1180	28	1	in	in	ADP
sc-1180	28	2	the	the	DET
sc-1180	28	3	traditional	traditional	ADJ
sc-1180	28	4	approach	approach	NOUN
sc-1180	28	5	,	,	PUNCT
sc-1180	28	6	virtual	virtual	ADJ
sc-1180	28	7	testbed	testbe	VERB
sc-1180	28	8	development	development	NOUN
sc-1180	28	9	as	as	ADV
sc-1180	28	10	well	well	ADV
sc-1180	28	11	as	as	ADP
sc-1180	28	12	actual	actual	ADJ
sc-1180	28	13	vehicle	vehicle	NOUN
sc-1180	28	14	simulation	simulation	NOUN
sc-1180	28	15	take	take	VERB
sc-1180	28	16	the	the	DET
sc-1180	28	17	most	most	ADJ
sc-1180	28	18	of	of	ADP
sc-1180	28	19	the	the	DET
sc-1180	28	20	overall	overall	ADJ
sc-1180	28	21	engineering	engineering	NOUN
sc-1180	28	22	process	process	NOUN
sc-1180	28	23	time	time	NOUN
sc-1180	28	24	(	(	PUNCT
sc-1180	28	25	left	left	ADV
sc-1180	28	26	)	)	PUNCT
sc-1180	28	27	.	.	PUNCT
sc-1180	29	1	our	our	PRON
sc-1180	29	2	approach	approach	NOUN
sc-1180	29	3	(	(	PUNCT
sc-1180	29	4	right	right	ADJ
sc-1180	29	5	)	)	PUNCT
sc-1180	29	6	reduces	reduce	VERB
sc-1180	29	7	this	this	DET
sc-1180	29	8	development	development	NOUN
sc-1180	29	9	time	time	NOUN
sc-1180	29	10	significantly	significantly	ADV
sc-1180	29	11	by	by	ADP
sc-1180	29	12	introducing	introduce	VERB
sc-1180	29	13	source	source	NOUN
sc-1180	29	14	code	code	NOUN
sc-1180	29	15	generation	generation	NOUN
sc-1180	29	16	as	as	ADV
sc-1180	29	17	well	well	ADV
sc-1180	29	18	as	as	ADP
sc-1180	29	19	autonomous	autonomous	ADJ
sc-1180	29	20	vehicle	vehicle	NOUN
sc-1180	29	21	optimization	optimization	NOUN
sc-1180	29	22	without	without	ADP
sc-1180	29	23	supervision	supervision	NOUN
sc-1180	29	24	.	.	PUNCT
sc-1180	30	1	we	we	PRON
sc-1180	30	2	propose	propose	VERB
sc-1180	30	3	a	a	DET
sc-1180	30	4	novel	novel	ADJ
sc-1180	30	5	approach	approach	NOUN
sc-1180	30	6	that	that	PRON
sc-1180	30	7	overcomes	overcome	VERB
sc-1180	30	8	these	these	DET
sc-1180	30	9	drawbacks	drawback	NOUN
sc-1180	30	10	.	.	PUNCT
sc-1180	31	1	the	the	DET
sc-1180	31	2	main	main	ADJ
sc-1180	31	3	idea	idea	NOUN
sc-1180	31	4	is	be	AUX
sc-1180	31	5	to	to	PART
sc-1180	31	6	remove	remove	VERB
sc-1180	31	7	the	the	DET
sc-1180	31	8	last	last	ADJ
sc-1180	31	9	feedback	feedback	NOUN
sc-1180	31	10	-	-	PUNCT
sc-1180	31	11	loop	loop	NOUN
sc-1180	31	12	of	of	ADP
sc-1180	31	13	the	the	DET
sc-1180	31	14	current	current	ADJ
sc-1180	31	15	design	design	NOUN
sc-1180	31	16	process	process	NOUN
sc-1180	31	17	completely	completely	ADV
sc-1180	31	18	(	(	PUNCT
sc-1180	31	19	see	see	VERB
sc-1180	31	20	figure	figure	NOUN
sc-1180	31	21	1	1	NUM
sc-1180	31	22	)	)	PUNCT
sc-1180	31	23	.	.	PUNCT
sc-1180	32	1	to	to	PART
sc-1180	32	2	do	do	VERB
sc-1180	32	3	that	that	PRON
sc-1180	32	4	,	,	PUNCT
sc-1180	32	5	we	we	PRON
sc-1180	32	6	replace	replace	VERB
sc-1180	32	7	the	the	DET
sc-1180	32	8	manual	manual	ADJ
sc-1180	32	9	parameter	parameter	NOUN
sc-1180	32	10	fine	fine	ADV
sc-1180	32	11	-	-	PUNCT
sc-1180	32	12	tuning	tuning	NOUN
sc-1180	32	13	by	by	ADP
sc-1180	32	14	an	an	DET
sc-1180	32	15	optimization	optimization	NOUN
sc-1180	32	16	method	method	NOUN
sc-1180	32	17	that	that	PRON
sc-1180	32	18	adjusts	adjust	VERB
sc-1180	32	19	these	these	DET
sc-1180	32	20	parameters	parameter	NOUN
sc-1180	32	21	automatically	automatically	ADV
sc-1180	32	22	.	.	PUNCT
sc-1180	33	1	this	this	PRON
sc-1180	33	2	avoids	avoid	VERB
sc-1180	33	3	the	the	DET
sc-1180	33	4	time	time	NOUN
sc-1180	33	5	-	-	PUNCT
sc-1180	33	6	consuming	consume	VERB
sc-1180	33	7	and	and	CCONJ
sc-1180	33	8	error	error	NOUN
sc-1180	33	9	-	-	PUNCT
sc-1180	33	10	prone	prone	ADJ
sc-1180	33	11	manual	manual	ADJ
sc-1180	33	12	tweaking	tweaking	NOUN
sc-1180	33	13	and	and	CCONJ
sc-1180	33	14	helps	help	VERB
sc-1180	33	15	the	the	DET
sc-1180	33	16	engineers	engineer	NOUN
sc-1180	33	17	to	to	PART
sc-1180	33	18	concentrate	concentrate	VERB
sc-1180	33	19	on	on	ADP
sc-1180	33	20	their	their	PRON
sc-1180	33	21	real	real	ADJ
sc-1180	33	22	work	work	NOUN
sc-1180	33	23	:	:	PUNCT
sc-1180	33	24	the	the	DET
sc-1180	33	25	construction	construction	NOUN
sc-1180	33	26	,	,	PUNCT
sc-1180	33	27	testing	testing	NOUN
sc-1180	33	28	and	and	CCONJ
sc-1180	33	29	validation	validation	NOUN
sc-1180	33	30	of	of	ADP
sc-1180	33	31	the	the	DET
sc-1180	33	32	vehicle	vehicle	NOUN
sc-1180	33	33	.	.	PUNCT
sc-1180	34	1	in	in	ADP
sc-1180	34	2	order	order	NOUN
sc-1180	34	3	to	to	PART
sc-1180	34	4	give	give	VERB
sc-1180	34	5	engineers	engineer	NOUN
sc-1180	34	6	direct	direct	ADJ
sc-1180	34	7	access	access	NOUN
sc-1180	34	8	to	to	ADP
sc-1180	34	9	the	the	DET
sc-1180	34	10	virtual	virtual	ADJ
sc-1180	34	11	testbed	testbe	VERB
sc-1180	34	12	,	,	PUNCT
sc-1180	34	13	we	we	PRON
sc-1180	34	14	additionally	additionally	ADV
sc-1180	34	15	present	present	VERB
sc-1180	34	16	a	a	DET
sc-1180	34	17	novel	novel	NOUN
sc-1180	34	18	easy	easy	ADJ
sc-1180	34	19	-	-	PUNCT
sc-1180	34	20	to	to	ADP
sc-1180	34	21	-	-	PUNCT
sc-1180	34	22	use	use	VERB
sc-1180	34	23	domain	domain	NOUN
sc-1180	34	24	specific	specific	ADJ
sc-1180	34	25	interface	interface	NOUN
sc-1180	34	26	that	that	PRON
sc-1180	34	27	allows	allow	VERB
sc-1180	34	28	the	the	DET
sc-1180	34	29	intuitive	intuitive	ADJ
sc-1180	34	30	definition	definition	NOUN
sc-1180	34	31	of	of	ADP
sc-1180	34	32	simulation	simulation	NOUN
sc-1180	34	33	goals	goal	NOUN
sc-1180	34	34	as	as	ADV
sc-1180	34	35	well	well	ADV
sc-1180	34	36	as	as	ADP
sc-1180	34	37	vehicle	vehicle	NOUN
sc-1180	34	38	parameters	parameter	NOUN
sc-1180	34	39	.	.	PUNCT
sc-1180	35	1	consequently	consequently	ADV
sc-1180	35	2	,	,	PUNCT
sc-1180	35	3	we	we	PRON
sc-1180	35	4	present	present	VERB
sc-1180	35	5	a	a	DET
sc-1180	35	6	novel	novel	ADJ
sc-1180	35	7	comprehensive	comprehensive	ADJ
sc-1180	35	8	approach	approach	NOUN
sc-1180	35	9	to	to	ADP
sc-1180	35	10	modelling	modelling	NOUN
sc-1180	35	11	,	,	PUNCT
sc-1180	35	12	simulation	simulation	NOUN
sc-1180	35	13	,	,	PUNCT
sc-1180	35	14	and	and	CCONJ
sc-1180	35	15	optimization	optimization	NOUN
sc-1180	35	16	of	of	ADP
sc-1180	35	17	such	such	ADJ
sc-1180	35	18	vehicles	vehicle	NOUN
sc-1180	35	19	which	which	PRON
sc-1180	35	20	greatly	greatly	ADV
sc-1180	35	21	benefits	benefit	VERB
sc-1180	35	22	the	the	DET
sc-1180	35	23	overall	overall	ADJ
sc-1180	35	24	engineering	engineering	NOUN
sc-1180	35	25	process	process	NOUN
sc-1180	35	26	of	of	ADP
sc-1180	35	27	autonomous	autonomous	ADJ
sc-1180	35	28	vehicles	vehicle	NOUN
sc-1180	35	29	.	.	PUNCT
sc-1180	36	1	in	in	ADP
sc-1180	36	2	detail	detail	NOUN
sc-1180	36	3	,	,	PUNCT
sc-1180	36	4	our	our	PRON
sc-1180	36	5	contributions	contribution	NOUN
sc-1180	36	6	are	be	AUX
sc-1180	36	7	:	:	PUNCT
sc-1180	36	8	•	•	ADP
sc-1180	36	9	a	a	DET
sc-1180	36	10	gpu	gpu	NOUN
sc-1180	36	11	based	base	VERB
sc-1180	36	12	multi	multi	ADJ
sc-1180	36	13	-	-	ADJ
sc-1180	36	14	agent	agent	ADJ
sc-1180	36	15	system	system	NOUN
sc-1180	36	16	(	(	PUNCT
sc-1180	36	17	mas	mas	PROPN
sc-1180	36	18	)	)	PUNCT
sc-1180	36	19	for	for	ADP
sc-1180	36	20	the	the	DET
sc-1180	36	21	automatic	automatic	ADJ
sc-1180	36	22	vehicle	vehicle	NOUN
sc-1180	36	23	parameter	parameter	NOUN
sc-1180	36	24	adjustment	adjustment	NOUN
sc-1180	36	25	:	:	PUNCT
sc-1180	36	26	it	it	PRON
sc-1180	36	27	computes	compute	VERB
sc-1180	36	28	objective	objective	ADJ
sc-1180	36	29	and	and	CCONJ
sc-1180	36	30	utility	utility	NOUN
sc-1180	36	31	values	value	NOUN
sc-1180	36	32	for	for	ADP
sc-1180	36	33	evaluating	evaluate	VERB
sc-1180	36	34	the	the	DET
sc-1180	36	35	current	current	ADJ
sc-1180	36	36	vehicle	vehicle	NOUN
sc-1180	36	37	configuration	configuration	NOUN
sc-1180	36	38	with	with	ADP
sc-1180	36	39	respect	respect	NOUN
sc-1180	36	40	to	to	ADP
sc-1180	36	41	fuzzy	fuzzy	ADJ
sc-1180	36	42	logic	logic	NOUN
sc-1180	36	43	based	base	VERB
sc-1180	36	44	simulation	simulation	NOUN
sc-1180	36	45	goals	goal	NOUN
sc-1180	36	46	.	.	PUNCT
sc-1180	37	1	•	•	NUM
sc-1180	37	2	a	a	DET
sc-1180	37	3	domain	domain	NOUN
sc-1180	37	4	specific	specific	ADJ
sc-1180	37	5	modeling	modeling	NOUN
sc-1180	37	6	language	language	NOUN
sc-1180	37	7	(	(	PUNCT
sc-1180	37	8	dsml	dsml	NOUN
sc-1180	37	9	)	)	PUNCT
sc-1180	37	10	which	which	PRON
sc-1180	37	11	allows	allow	VERB
sc-1180	37	12	the	the	DET
sc-1180	37	13	visual	visual	ADJ
sc-1180	37	14	development	development	NOUN
sc-1180	37	15	of	of	ADP
sc-1180	37	16	a	a	DET
sc-1180	37	17	vehicle	vehicle	NOUN
sc-1180	37	18	configuration	configuration	NOUN
sc-1180	37	19	and	and	CCONJ
sc-1180	37	20	simulation	simulation	NOUN
sc-1180	37	21	as	as	ADV
sc-1180	37	22	well	well	ADV
sc-1180	37	23	as	as	ADP
sc-1180	37	24	mas	mas	PROPN
sc-1180	37	25	based	base	VERB
sc-1180	37	26	parameter	parameter	NOUN
sc-1180	37	27	optimization	optimization	NOUN
sc-1180	37	28	.	.	PUNCT
sc-1180	38	1	•	•	NUM
sc-1180	38	2	a	a	DET
sc-1180	38	3	massively	massively	ADV
sc-1180	38	4	parallel	parallel	ADJ
sc-1180	38	5	domain	domain	NOUN
sc-1180	38	6	framework	framework	NOUN
sc-1180	38	7	,	,	PUNCT
sc-1180	38	8	which	which	PRON
sc-1180	38	9	enables	enable	VERB
sc-1180	38	10	wait	wait	VERB
sc-1180	38	11	-	-	PUNCT
sc-1180	38	12	free	free	ADJ
sc-1180	38	13	discrete	discrete	ADJ
sc-1180	38	14	event	event	NOUN
sc-1180	38	15	simulation	simulation	NOUN
sc-1180	38	16	of	of	ADP
sc-1180	38	17	autonomous	autonomous	ADJ
sc-1180	38	18	vehicles	vehicle	NOUN
sc-1180	38	19	.	.	PUNCT
sc-1180	39	1	additionally	additionally	ADV
sc-1180	39	2	,	,	PUNCT
sc-1180	39	3	this	this	DET
sc-1180	39	4	domain	domain	NOUN
sc-1180	39	5	framework	framework	NOUN
sc-1180	39	6	minimizes	minimize	VERB
sc-1180	39	7	the	the	DET
sc-1180	39	8	synchronization	synchronization	NOUN
sc-1180	39	9	overhead	overhead	ADV
sc-1180	39	10	to	to	ADP
sc-1180	39	11	the	the	DET
sc-1180	39	12	gpu	gpu	NOUN
sc-1180	39	13	to	to	ADP
sc-1180	39	14	a	a	DET
sc-1180	39	15	minimum	minimum	NOUN
sc-1180	39	16	for	for	ADP
sc-1180	39	17	fast	fast	ADJ
sc-1180	39	18	parallel	parallel	ADJ
sc-1180	39	19	computations	computation	NOUN
sc-1180	39	20	,	,	PUNCT
sc-1180	39	21	without	without	ADP
sc-1180	39	22	affecting	affect	VERB
sc-1180	39	23	the	the	DET
sc-1180	39	24	vehicle	vehicle	NOUN
sc-1180	39	25	simulation	simulation	NOUN
sc-1180	39	26	performance	performance	NOUN
sc-1180	39	27	.	.	PUNCT
sc-1180	40	1	in	in	ADP
sc-1180	40	2	addition	addition	NOUN
sc-1180	40	3	,	,	PUNCT
sc-1180	40	4	our	our	PRON
sc-1180	40	5	virtual	virtual	ADJ
sc-1180	40	6	testbed	testbe	VERB
sc-1180	40	7	implements	implement	NOUN
sc-1180	40	8	a	a	DET
sc-1180	40	9	3d	3d	NUM
sc-1180	40	10	geometric	geometric	ADJ
sc-1180	40	11	visualization	visualization	NOUN
sc-1180	40	12	and	and	CCONJ
sc-1180	40	13	functional	functional	ADJ
sc-1180	40	14	vehicle	vehicle	NOUN
sc-1180	40	15	simulation	simulation	NOUN
sc-1180	40	16	loop	loop	NOUN
sc-1180	40	17	incorporating	incorporate	VERB
sc-1180	40	18	internal	internal	ADJ
sc-1180	40	19	vehicle	vehicle	NOUN
sc-1180	40	20	subsystems	subsystem	NOUN
sc-1180	40	21	,	,	PUNCT
sc-1180	40	22	sensors	sensor	NOUN
sc-1180	40	23	,	,	PUNCT
sc-1180	40	24	actuators	actuator	NOUN
sc-1180	40	25	,	,	PUNCT
sc-1180	40	26	and	and	CCONJ
sc-1180	40	27	environmental	environmental	ADJ
sc-1180	40	28	physical	physical	ADJ
sc-1180	40	29	influences	influence	NOUN
sc-1180	40	30	.	.	PUNCT
sc-1180	41	1	in	in	ADP
sc-1180	41	2	order	order	NOUN
sc-1180	41	3	to	to	PART
sc-1180	41	4	test	test	VERB
sc-1180	41	5	,	,	PUNCT
sc-1180	41	6	validate	validate	VERB
sc-1180	41	7	,	,	PUNCT
sc-1180	41	8	and	and	CCONJ
sc-1180	41	9	verify	verify	VERB
sc-1180	41	10	the	the	DET
sc-1180	41	11	navigation	navigation	NOUN
sc-1180	41	12	,	,	PUNCT
sc-1180	41	13	control	control	NOUN
sc-1180	41	14	and	and	CCONJ
sc-1180	41	15	localization	localization	NOUN
sc-1180	41	16	algorithms	algorithm	NOUN
sc-1180	41	17	of	of	ADP
sc-1180	41	18	vehicles	vehicle	NOUN
sc-1180	41	19	,	,	PUNCT
sc-1180	41	20	engineers	engineer	NOUN
sc-1180	41	21	simply	simply	ADV
sc-1180	41	22	have	have	VERB
sc-1180	41	23	to	to	PART
sc-1180	41	24	specify	specify	VERB
sc-1180	41	25	the	the	DET
sc-1180	41	26	simulation	simulation	NOUN
sc-1180	41	27	goals	goal	NOUN
sc-1180	41	28	and	and	CCONJ
sc-1180	41	29	the	the	DET
sc-1180	41	30	vehicle	vehicle	NOUN
sc-1180	41	31	parameters	parameter	NOUN
sc-1180	41	32	in	in	ADP
sc-1180	41	33	our	our	PRON
sc-1180	41	34	novel	novel	NOUN
sc-1180	41	35	dsml	dsml	NOUN
sc-1180	41	36	.	.	PUNCT
sc-1180	42	1	our	our	PRON
sc-1180	42	2	virtual	virtual	ADJ
sc-1180	42	3	testbed	testbe	VERB
sc-1180	42	4	supports	support	NOUN
sc-1180	42	5	interactive	interactive	ADJ
sc-1180	42	6	real	real	ADJ
sc-1180	42	7	-	-	PUNCT
sc-1180	42	8	time	time	NOUN
sc-1180	42	9	adjustment	adjustment	NOUN
sc-1180	42	10	of	of	ADP
sc-1180	42	11	vehicle	vehicle	NOUN
sc-1180	42	12	specifications	specification	NOUN
sc-1180	42	13	like	like	ADP
sc-1180	42	14	adding	add	VERB
sc-1180	42	15	obstacles	obstacle	NOUN
sc-1180	42	16	to	to	ADP
sc-1180	42	17	the	the	DET
sc-1180	42	18	environment	environment	NOUN
sc-1180	42	19	.	.	PUNCT
sc-1180	43	1	the	the	DET
sc-1180	43	2	system	system	NOUN
sc-1180	43	3	computes	compute	VERB
sc-1180	43	4	an	an	DET
sc-1180	43	5	optimal	optimal	ADJ
sc-1180	43	6	set	set	NOUN
sc-1180	43	7	of	of	ADP
sc-1180	43	8	parameter	parameter	NOUN
sc-1180	43	9	for	for	ADP
sc-1180	43	10	these	these	DET
sc-1180	43	11	new	new	ADJ
sc-1180	43	12	specifications	specification	NOUN
sc-1180	43	13	onthe	onthe	NOUN
sc-1180	43	14	-	-	PUNCT
sc-1180	43	15	fly	fly	NOUN
sc-1180	43	16	so	so	SCONJ
sc-1180	43	17	that	that	SCONJ
sc-1180	43	18	the	the	DET
sc-1180	43	19	engineer	engineer	NOUN
sc-1180	43	20	can	can	AUX
sc-1180	43	21	inspect	inspect	VERB
sc-1180	43	22	the	the	DET
sc-1180	43	23	results	result	NOUN
sc-1180	43	24	of	of	ADP
sc-1180	43	25	the	the	DET
sc-1180	43	26	changes	change	NOUN
sc-1180	43	27	immediately	immediately	ADV
sc-1180	43	28	.	.	PUNCT
sc-1180	44	1	consequently	consequently	ADV
sc-1180	44	2	,	,	PUNCT
sc-1180	44	3	our	our	PRON
sc-1180	44	4	approach	approach	NOUN
sc-1180	44	5	reduces	reduce	VERB
sc-1180	44	6	the	the	DET
sc-1180	44	7	development	development	NOUN
sc-1180	44	8	and	and	CCONJ
sc-1180	44	9	testing	testing	NOUN
sc-1180	44	10	time	time	NOUN
sc-1180	44	11	significantly	significantly	ADV
sc-1180	44	12	while	while	SCONJ
sc-1180	44	13	simultaneously	simultaneously	ADV
sc-1180	44	14	improving	improve	VERB
sc-1180	44	15	the	the	DET
sc-1180	44	16	quality	quality	NOUN
sc-1180	44	17	of	of	ADP
sc-1180	44	18	the	the	DET
sc-1180	44	19	parameter	parameter	NOUN
sc-1180	44	20	setting	setting	NOUN
sc-1180	44	21	.	.	PUNCT
sc-1180	45	1	we	we	PRON
sc-1180	45	2	have	have	AUX
sc-1180	45	3	applied	apply	VERB
sc-1180	45	4	our	our	PRON
sc-1180	45	5	new	new	ADJ
sc-1180	45	6	approach	approach	NOUN
sc-1180	45	7	to	to	ADP
sc-1180	45	8	an	an	DET
sc-1180	45	9	autonomous	autonomous	ADJ
sc-1180	45	10	spacecraft	spacecraft	NOUN
sc-1180	45	11	simulation	simulation	NOUN
sc-1180	45	12	.	.	PUNCT
sc-1180	46	1	our	our	PRON
sc-1180	46	2	results	result	NOUN
sc-1180	46	3	show	show	VERB
sc-1180	46	4	a	a	DET
sc-1180	46	5	real	real	ADJ
sc-1180	46	6	-	-	PUNCT
sc-1180	46	7	time	time	NOUN
sc-1180	46	8	performance	performance	NOUN
sc-1180	46	9	even	even	ADV
sc-1180	46	10	for	for	ADP
sc-1180	46	11	large	large	ADJ
sc-1180	46	12	parameter	parameter	NOUN
sc-1180	46	13	sets	set	NOUN
sc-1180	46	14	.	.	PUNCT
sc-1180	47	1	in	in	ADP
sc-1180	47	2	order	order	NOUN
sc-1180	47	3	to	to	PART
sc-1180	47	4	achieve	achieve	VERB
sc-1180	47	5	this	this	DET
sc-1180	47	6	real	real	ADJ
sc-1180	47	7	-	-	PUNCT
sc-1180	47	8	time	time	NOUN
sc-1180	47	9	performance	performance	NOUN
sc-1180	47	10	and	and	CCONJ
sc-1180	47	11	easy	easy	ADJ
sc-1180	47	12	code	code	NOUN
sc-1180	47	13	generation	generation	NOUN
sc-1180	47	14	,	,	PUNCT
sc-1180	47	15	we	we	PRON
sc-1180	47	16	propose	propose	VERB
sc-1180	47	17	the	the	DET
sc-1180	47	18	use	use	NOUN
sc-1180	47	19	of	of	ADP
sc-1180	47	20	a	a	DET
sc-1180	47	21	multi	multi	ADJ
sc-1180	47	22	-	-	ADJ
sc-1180	47	23	agent	agent	ADJ
sc-1180	47	24	system	system	NOUN
sc-1180	47	25	as	as	SCONJ
sc-1180	47	26	it	it	PRON
sc-1180	47	27	can	can	AUX
sc-1180	47	28	be	be	AUX
sc-1180	47	29	easily	easily	ADV
sc-1180	47	30	integrated	integrate	VERB
sc-1180	47	31	into	into	ADP
sc-1180	47	32	our	our	PRON
sc-1180	47	33	underlying	underlie	VERB
sc-1180	47	34	waitfree	waitfree	ADJ
sc-1180	47	35	simulation	simulation	NOUN
sc-1180	47	36	system	system	NOUN
sc-1180	47	37	while	while	SCONJ
sc-1180	47	38	maintaining	maintain	VERB
sc-1180	47	39	easy	easy	ADJ
sc-1180	47	40	code	code	NOUN
sc-1180	47	41	generation	generation	NOUN
sc-1180	47	42	.	.	PUNCT
sc-1180	48	1	furthermore	furthermore	ADV
sc-1180	48	2	,	,	PUNCT
sc-1180	48	3	multi	multi	ADJ
sc-1180	48	4	-	-	ADJ
sc-1180	48	5	agent	agent	ADJ
sc-1180	48	6	systems	system	NOUN
sc-1180	48	7	fully	fully	ADV
sc-1180	48	8	utilize	utilize	VERB
sc-1180	48	9	the	the	DET
sc-1180	48	10	advantages	advantage	NOUN
sc-1180	48	11	of	of	ADP
sc-1180	48	12	our	our	PRON
sc-1180	48	13	wait	wait	NOUN
sc-1180	48	14	-	-	PUNCT
sc-1180	48	15	free	free	ADJ
sc-1180	48	16	simulation	simulation	NOUN
sc-1180	48	17	system	system	NOUN
sc-1180	48	18	due	due	ADP
sc-1180	48	19	to	to	ADP
sc-1180	48	20	its	its	PRON
sc-1180	48	21	decentralized	decentralize	VERB
sc-1180	48	22	,	,	PUNCT
sc-1180	48	23	parallel	parallel	ADJ
sc-1180	48	24	solving	solving	NOUN
sc-1180	48	25	process	process	NOUN
sc-1180	48	26	behavior	behavior	NOUN
sc-1180	48	27	.	.	PUNCT
sc-1180	49	1	2	2	X
sc-1180	49	2	.	.	X
sc-1180	49	3	related	relate	VERB
sc-1180	49	4	work	work	NOUN
sc-1180	49	5	the	the	DET
sc-1180	49	6	main	main	ADJ
sc-1180	49	7	task	task	NOUN
sc-1180	49	8	of	of	ADP
sc-1180	49	9	virtual	virtual	ADJ
sc-1180	49	10	testbeds	testbed	NOUN
sc-1180	49	11	in	in	ADP
sc-1180	49	12	the	the	DET
sc-1180	49	13	vehicle	vehicle	NOUN
sc-1180	49	14	engineering	engineering	NOUN
sc-1180	49	15	process	process	NOUN
sc-1180	49	16	is	be	AUX
sc-1180	49	17	to	to	PART
sc-1180	49	18	support	support	VERB
sc-1180	49	19	engineers	engineer	NOUN
sc-1180	49	20	with	with	ADP
sc-1180	49	21	simulation	simulation	NOUN
sc-1180	49	22	results	result	NOUN
sc-1180	49	23	,	,	PUNCT
sc-1180	49	24	based	base	VERB
sc-1180	49	25	on	on	ADP
sc-1180	49	26	simulation	simulation	PROPN
sc-1180	49	27	scenario	scenario	PROPN
sc-1180	49	28	and	and	CCONJ
sc-1180	49	29	vehicle	vehicle	NOUN
sc-1180	49	30	configuration	configuration	NOUN
sc-1180	49	31	.	.	PUNCT
sc-1180	50	1	for	for	ADP
sc-1180	50	2	each	each	DET
sc-1180	50	3	simulation	simulation	NOUN
sc-1180	50	4	run	run	NOUN
sc-1180	50	5	,	,	PUNCT
sc-1180	50	6	the	the	DET
sc-1180	50	7	vehicle	vehicle	NOUN
sc-1180	50	8	configuration	configuration	NOUN
sc-1180	50	9	has	have	VERB
sc-1180	50	10	to	to	PART
sc-1180	50	11	be	be	AUX
sc-1180	50	12	adjusted	adjust	VERB
sc-1180	50	13	if	if	SCONJ
sc-1180	50	14	the	the	DET
sc-1180	50	15	simulated	simulate	VERB
sc-1180	50	16	vehicle	vehicle	NOUN
sc-1180	50	17	performance	performance	NOUN
sc-1180	50	18	does	do	AUX
sc-1180	50	19	not	not	PART
sc-1180	50	20	meet	meet	VERB
sc-1180	50	21	mission	mission	NOUN
sc-1180	50	22	or	or	CCONJ
sc-1180	50	23	engineering	engineering	NOUN
sc-1180	50	24	expectations	expectation	NOUN
sc-1180	50	25	.	.	PUNCT
sc-1180	51	1	currently	currently	ADV
sc-1180	51	2	,	,	PUNCT
sc-1180	51	3	this	this	DET
sc-1180	51	4	adjustment	adjustment	NOUN
sc-1180	51	5	of	of	ADP
sc-1180	51	6	vehicle	vehicle	NOUN
sc-1180	51	7	parameters	parameter	NOUN
sc-1180	51	8	in	in	ADP
sc-1180	51	9	virtual	virtual	ADJ
sc-1180	51	10	testbeds	testbed	NOUN
sc-1180	51	11	is	be	AUX
sc-1180	51	12	either	either	CCONJ
sc-1180	51	13	done	do	VERB
sc-1180	51	14	externally	externally	ADV
sc-1180	51	15	by	by	ADP
sc-1180	51	16	engineer	engineer	NOUN
sc-1180	51	17	experts	expert	NOUN
sc-1180	51	18	that	that	PRON
sc-1180	51	19	need	need	VERB
sc-1180	51	20	to	to	PART
sc-1180	51	21	guide	guide	VERB
sc-1180	51	22	the	the	DET
sc-1180	51	23	adaptation	adaptation	NOUN
sc-1180	51	24	,	,	PUNCT
sc-1180	51	25	or	or	CCONJ
sc-1180	51	26	the	the	DET
sc-1180	51	27	application	application	NOUN
sc-1180	51	28	has	have	VERB
sc-1180	51	29	a	a	DET
sc-1180	51	30	number	number	NOUN
sc-1180	51	31	of	of	ADP
sc-1180	51	32	scenarios	scenario	NOUN
sc-1180	51	33	.	.	PUNCT
sc-1180	52	1	these	these	DET
sc-1180	52	2	scenarios	scenario	NOUN
sc-1180	52	3	are	be	AUX
sc-1180	52	4	pre	pre	ADJ
sc-1180	52	5	-	-	VERB
sc-1180	52	6	defined	define	VERB
sc-1180	52	7	by	by	ADP
sc-1180	52	8	engineer	engineer	NOUN
sc-1180	52	9	experts	expert	NOUN
sc-1180	52	10	to	to	PART
sc-1180	52	11	cover	cover	VERB
sc-1180	52	12	almost	almost	ADV
sc-1180	52	13	all	all	PRON
sc-1180	52	14	aspects	aspect	NOUN
sc-1180	52	15	of	of	ADP
sc-1180	52	16	the	the	DET
sc-1180	52	17	simulation	simulation	NOUN
sc-1180	52	18	.	.	PUNCT
sc-1180	53	1	the	the	DET
sc-1180	53	2	use	use	NOUN
sc-1180	53	3	of	of	ADP
sc-1180	53	4	expert	expert	NOUN
sc-1180	53	5	guidance	guidance	NOUN
sc-1180	53	6	can	can	AUX
sc-1180	53	7	lead	lead	VERB
sc-1180	53	8	to	to	ADP
sc-1180	53	9	quite	quite	ADV
sc-1180	53	10	effective	effective	ADJ
sc-1180	53	11	simulation	simulation	NOUN
sc-1180	53	12	results	result	NOUN
sc-1180	53	13	.	.	PUNCT
sc-1180	54	1	however	however	ADV
sc-1180	54	2	,	,	PUNCT
sc-1180	54	3	such	such	ADJ
sc-1180	54	4	experts	expert	NOUN
sc-1180	54	5	are	be	AUX
sc-1180	54	6	rare	rare	ADJ
sc-1180	54	7	and	and	CCONJ
sc-1180	54	8	expensive	expensive	ADJ
sc-1180	54	9	.	.	PUNCT
sc-1180	55	1	additionally	additionally	ADV
sc-1180	55	2	,	,	PUNCT
sc-1180	55	3	its	its	PRON
sc-1180	55	4	not	not	PART
sc-1180	55	5	always	always	ADV
sc-1180	55	6	feasible	feasible	ADJ
sc-1180	55	7	to	to	PART
sc-1180	55	8	have	have	VERB
sc-1180	55	9	an	an	DET
sc-1180	55	10	expert	expert	NOUN
sc-1180	55	11	available	available	ADJ
sc-1180	55	12	for	for	ADP
sc-1180	55	13	configuring	configuring	NOUN
sc-1180	55	14	and	and	CCONJ
sc-1180	55	15	supervising	supervise	VERB
sc-1180	55	16	the	the	DET
sc-1180	55	17	simulation	simulation	NOUN
sc-1180	55	18	.	.	PUNCT
sc-1180	56	1	furthermore	furthermore	ADV
sc-1180	56	2	,	,	PUNCT
sc-1180	56	3	pre	pre	ADJ
sc-1180	56	4	-	-	VERB
sc-1180	56	5	defined	define	VERB
sc-1180	56	6	scenarios	scenario	NOUN
sc-1180	56	7	may	may	AUX
sc-1180	56	8	lead	lead	VERB
sc-1180	56	9	to	to	ADP
sc-1180	56	10	less	less	ADV
sc-1180	56	11	optimal	optimal	ADJ
sc-1180	56	12	adaptation	adaptation	NOUN
sc-1180	56	13	[	[	X
sc-1180	56	14	13	13	NUM
sc-1180	56	15	]	]	PUNCT
sc-1180	56	16	.	.	PUNCT
sc-1180	57	1	consequently	consequently	ADV
sc-1180	57	2	,	,	PUNCT
sc-1180	57	3	it	it	PRON
sc-1180	57	4	would	would	AUX
sc-1180	57	5	be	be	AUX
sc-1180	57	6	beneficial	beneficial	ADJ
sc-1180	57	7	to	to	PART
sc-1180	57	8	automatically	automatically	ADV
sc-1180	57	9	adjust	adjust	VERB
sc-1180	57	10	the	the	DET
sc-1180	57	11	simulation	simulation	NOUN
sc-1180	57	12	online	online	ADV
sc-1180	57	13	without	without	ADP
sc-1180	57	14	the	the	DET
sc-1180	57	15	need	need	NOUN
sc-1180	57	16	of	of	ADP
sc-1180	57	17	an	an	DET
sc-1180	57	18	expert	expert	NOUN
sc-1180	57	19	guiding	guide	VERB
sc-1180	57	20	this	this	DET
sc-1180	57	21	process	process	NOUN
sc-1180	57	22	.	.	PUNCT
sc-1180	58	1	additionally	additionally	ADV
sc-1180	58	2	,	,	PUNCT
sc-1180	58	3	this	this	DET
sc-1180	58	4	online	online	ADJ
sc-1180	58	5	adaptation	adaptation	NOUN
sc-1180	58	6	can	can	AUX
sc-1180	58	7	run	run	VERB
sc-1180	58	8	in	in	ADP
sc-1180	58	9	vast	vast	ADJ
sc-1180	58	10	amounts	amount	NOUN
sc-1180	58	11	of	of	ADP
sc-1180	58	12	simulation	simulation	NOUN
sc-1180	58	13	runs	run	VERB
sc-1180	58	14	to	to	PART
sc-1180	58	15	find	find	VERB
sc-1180	58	16	a	a	DET
sc-1180	58	17	vehicle	vehicle	NOUN
sc-1180	58	18	configuration	configuration	NOUN
sc-1180	58	19	which	which	PRON
sc-1180	58	20	can	can	AUX
sc-1180	58	21	satisfy	satisfy	VERB
sc-1180	58	22	both	both	PRON
sc-1180	58	23	mission	mission	NOUN
sc-1180	58	24	and	and	CCONJ
sc-1180	58	25	engineering	engineering	NOUN
sc-1180	58	26	requirements	requirement	NOUN
sc-1180	58	27	.	.	PUNCT
sc-1180	59	1	however	however	ADV
sc-1180	59	2	,	,	PUNCT
sc-1180	59	3	the	the	DET
sc-1180	59	4	increasing	increase	VERB
sc-1180	59	5	complexities	complexity	NOUN
sc-1180	59	6	of	of	ADP
sc-1180	59	7	mission	mission	NOUN
sc-1180	59	8	scenarios	scenario	NOUN
sc-1180	59	9	,	,	PUNCT
sc-1180	59	10	goals	goal	NOUN
sc-1180	59	11	and	and	CCONJ
sc-1180	59	12	requirements	requirement	NOUN
sc-1180	59	13	as	as	ADV
sc-1180	59	14	well	well	ADV
sc-1180	59	15	as	as	ADP
sc-1180	59	16	virtual	virtual	ADJ
sc-1180	59	17	testbed	testbe	VERB
sc-1180	59	18	development	development	NOUN
sc-1180	59	19	process	process	NOUN
sc-1180	59	20	demands	demand	VERB
sc-1180	59	21	sophisticated	sophisticated	ADJ
sc-1180	59	22	development	development	NOUN
sc-1180	59	23	approaches	approach	NOUN
sc-1180	59	24	which	which	PRON
sc-1180	59	25	should	should	AUX
sc-1180	59	26	perform	perform	VERB
sc-1180	59	27	in	in	ADP
sc-1180	59	28	distributed	distribute	VERB
sc-1180	59	29	,	,	PUNCT
sc-1180	59	30	parallelized	parallelize	VERB
sc-1180	59	31	manner	manner	NOUN
sc-1180	59	32	to	to	PART
sc-1180	59	33	attain	attain	VERB
sc-1180	59	34	real	real	ADJ
sc-1180	59	35	-	-	PUNCT
sc-1180	59	36	time	time	NOUN
sc-1180	59	37	simulation	simulation	NOUN
sc-1180	59	38	behavior	behavior	NOUN
sc-1180	59	39	.	.	PUNCT
sc-1180	60	1	furthermore	furthermore	ADV
sc-1180	60	2	,	,	PUNCT
sc-1180	60	3	the	the	DET
sc-1180	60	4	development	development	NOUN
sc-1180	60	5	approach	approach	NOUN
sc-1180	60	6	should	should	AUX
sc-1180	60	7	improve	improve	VERB
sc-1180	60	8	the	the	DET
sc-1180	60	9	overall	overall	ADJ
sc-1180	60	10	development	development	NOUN
sc-1180	60	11	time	time	NOUN
sc-1180	60	12	of	of	ADP
sc-1180	60	13	the	the	DET
sc-1180	60	14	virtual	virtual	ADJ
sc-1180	60	15	testbed	testbe	VERB
sc-1180	60	16	in	in	ADP
sc-1180	60	17	order	order	NOUN
sc-1180	60	18	to	to	PART
sc-1180	60	19	support	support	VERB
sc-1180	60	20	the	the	DET
sc-1180	60	21	vehicle	vehicle	NOUN
sc-1180	60	22	engineers	engineer	NOUN
sc-1180	60	23	as	as	ADV
sc-1180	60	24	soon	soon	ADV
sc-1180	60	25	as	as	ADP
sc-1180	60	26	possible	possible	ADJ
sc-1180	60	27	in	in	ADP
sc-1180	60	28	the	the	DET
sc-1180	60	29	engineering	engineering	NOUN
sc-1180	60	30	process	process	NOUN
sc-1180	60	31	with	with	ADP
sc-1180	60	32	simulation	simulation	NOUN
sc-1180	60	33	results	result	NOUN
sc-1180	60	34	.	.	PUNCT
sc-1180	61	1	additionally	additionally	ADV
sc-1180	61	2	,	,	PUNCT
sc-1180	61	3	mission	mission	NOUN
sc-1180	61	4	goals	goal	NOUN
sc-1180	61	5	and	and	CCONJ
sc-1180	61	6	requirements	requirement	NOUN
sc-1180	61	7	are	be	AUX
sc-1180	61	8	often	often	ADV
sc-1180	61	9	contradictory	contradictory	ADJ
sc-1180	61	10	and	and	CCONJ
sc-1180	61	11	define	define	VERB
sc-1180	61	12	only	only	ADV
sc-1180	61	13	a	a	DET
sc-1180	61	14	subset	subset	NOUN
sc-1180	61	15	of	of	ADP
sc-1180	61	16	an	an	DET
sc-1180	61	17	overall	overall	ADJ
sc-1180	61	18	system	system	NOUN
sc-1180	61	19	expectation	expectation	NOUN
sc-1180	61	20	.	.	PUNCT
sc-1180	62	1	these	these	DET
sc-1180	62	2	system	system	NOUN
sc-1180	62	3	expectations	expectation	NOUN
sc-1180	62	4	are	be	AUX
sc-1180	62	5	in	in	ADP
sc-1180	62	6	general	general	ADJ
sc-1180	62	7	non	non	ADJ
sc-1180	62	8	-	-	ADJ
sc-1180	62	9	manageable	manageable	ADJ
sc-1180	62	10	non	non	ADJ
sc-1180	62	11	-	-	ADJ
sc-1180	62	12	technical	technical	ADJ
sc-1180	62	13	system	system	NOUN
sc-1180	62	14	aspects	aspect	NOUN
sc-1180	62	15	which	which	PRON
sc-1180	62	16	can	can	AUX
sc-1180	62	17	not	not	PART
sc-1180	62	18	be	be	AUX
sc-1180	62	19	easily	easily	ADV
sc-1180	62	20	formalized	formalize	VERB
sc-1180	62	21	in	in	ADP
sc-1180	62	22	a	a	DET
sc-1180	62	23	simulation	simulation	NOUN
sc-1180	62	24	.	.	PUNCT
sc-1180	63	1	multi	multi	ADJ
sc-1180	63	2	-	-	ADJ
sc-1180	63	3	agent	agent	ADJ
sc-1180	63	4	systems	system	NOUN
sc-1180	63	5	(	(	PUNCT
sc-1180	63	6	mas	mas	PROPN
sc-1180	63	7	)	)	PUNCT
sc-1180	63	8	can	can	AUX
sc-1180	63	9	deal	deal	VERB
sc-1180	63	10	with	with	ADP
sc-1180	63	11	such	such	ADJ
sc-1180	63	12	problems	problem	NOUN
sc-1180	63	13	which	which	PRON
sc-1180	63	14	are	be	AUX
sc-1180	63	15	composed	compose	VERB
sc-1180	63	16	of	of	ADP
sc-1180	63	17	a	a	DET
sc-1180	63	18	large	large	ADJ
sc-1180	63	19	number	number	NOUN
sc-1180	63	20	of	of	ADP
sc-1180	63	21	interacting	interact	VERB
sc-1180	63	22	and	and	CCONJ
sc-1180	63	23	contradictory	contradictory	ADJ
sc-1180	63	24	sub	sub	NOUN
sc-1180	63	25	-	-	NOUN
sc-1180	63	26	problems	problem	NOUN
sc-1180	63	27	.	.	PUNCT
sc-1180	64	1	additionally	additionally	ADV
sc-1180	64	2	,	,	PUNCT
sc-1180	64	3	mas	mas	PROPN
sc-1180	64	4	allow	allow	VERB
sc-1180	64	5	a	a	DET
sc-1180	64	6	simpler	simple	ADJ
sc-1180	64	7	modelling	modelling	NOUN
sc-1180	64	8	of	of	ADP
sc-1180	64	9	the	the	DET
sc-1180	64	10	domain	domain	NOUN
sc-1180	64	11	[	[	X
sc-1180	64	12	16	16	NUM
sc-1180	64	13	]	]	PUNCT
sc-1180	64	14	.	.	PUNCT
sc-1180	65	1	furthermore	furthermore	ADV
sc-1180	65	2	,	,	PUNCT
sc-1180	65	3	interactions	interaction	NOUN
sc-1180	65	4	between	between	ADP
sc-1180	65	5	agents	agent	NOUN
sc-1180	65	6	can	can	AUX
sc-1180	65	7	give	give	VERB
sc-1180	65	8	birth	birth	NOUN
sc-1180	65	9	to	to	PART
sc-1180	65	10	emergent	emergent	VERB
sc-1180	65	11	phenomena	phenomenon	NOUN
sc-1180	65	12	(	(	PUNCT
sc-1180	65	13	e.g.	e.g.	ADV
sc-1180	65	14	patterns	pattern	NOUN
sc-1180	65	15	,	,	PUNCT
sc-1180	65	16	organizations	organization	NOUN
sc-1180	65	17	,	,	PUNCT
sc-1180	65	18	behaviors	behavior	NOUN
sc-1180	65	19	)	)	PUNCT
sc-1180	66	1	[	[	X
sc-1180	66	2	16	16	NUM
sc-1180	66	3	]	]	PUNCT
sc-1180	66	4	.	.	PUNCT
sc-1180	67	1	we	we	PRON
sc-1180	67	2	consider	consider	VERB
sc-1180	67	3	the	the	DET
sc-1180	67	4	vehicle	vehicle	NOUN
sc-1180	67	5	configuration	configuration	NOUN
sc-1180	67	6	optimization	optimization	NOUN
sc-1180	67	7	as	as	ADP
sc-1180	67	8	a	a	DET
sc-1180	67	9	complex	complex	ADJ
sc-1180	67	10	problem	problem	NOUN
sc-1180	67	11	for	for	ADP
sc-1180	67	12	which	which	PRON
sc-1180	67	13	no	no	DET
sc-1180	67	14	specific	specific	ADJ
sc-1180	67	15	solution	solution	NOUN
sc-1180	67	16	exists	exist	VERB
sc-1180	67	17	beforehand	beforehand	ADV
sc-1180	67	18	.	.	PUNCT
sc-1180	68	1	this	this	PRON
sc-1180	68	2	makes	make	VERB
sc-1180	68	3	mas	mas	PROPN
sc-1180	68	4	interesting	interesting	ADJ
sc-1180	68	5	for	for	ADP
sc-1180	68	6	dealing	deal	VERB
sc-1180	68	7	with	with	ADP
sc-1180	68	8	such	such	ADJ
sc-1180	68	9	problems	problem	NOUN
sc-1180	68	10	for	for	ADP
sc-1180	68	11	which	which	PRON
sc-1180	68	12	no	no	DET
sc-1180	68	13	algorithmic	algorithmic	ADJ
sc-1180	68	14	solutions	solution	NOUN
sc-1180	68	15	can	can	AUX
sc-1180	68	16	be	be	AUX
sc-1180	68	17	given	give	VERB
sc-1180	68	18	in	in	ADP
sc-1180	68	19	advance	advance	NOUN
sc-1180	68	20	and	and	CCONJ
sc-1180	68	21	therefore	therefore	ADV
sc-1180	68	22	have	have	VERB
sc-1180	68	23	to	to	PART
sc-1180	68	24	be	be	AUX
sc-1180	68	25	designed	design	VERB
sc-1180	68	26	in	in	ADP
sc-1180	68	27	a	a	DET
sc-1180	68	28	bottom	bottom	ADJ
sc-1180	68	29	-	-	PUNCT
sc-1180	68	30	up	up	ADP
sc-1180	68	31	way	way	NOUN
sc-1180	68	32	.	.	PUNCT
sc-1180	69	1	the	the	DET
sc-1180	69	2	optimization	optimization	NOUN
sc-1180	69	3	system	system	NOUN
sc-1180	69	4	presented	present	VERB
sc-1180	69	5	in	in	ADP
sc-1180	69	6	this	this	DET
sc-1180	69	7	paper	paper	NOUN
sc-1180	69	8	is	be	AUX
sc-1180	69	9	therefore	therefore	ADV
sc-1180	69	10	based	base	VERB
sc-1180	69	11	on	on	ADP
sc-1180	69	12	a	a	DET
sc-1180	69	13	modular	modular	ADJ
sc-1180	69	14	hierarchical	hierarchical	ADJ
sc-1180	69	15	mas	mas	NOUN
sc-1180	69	16	in	in	ADP
sc-1180	69	17	which	which	PRON
sc-1180	69	18	selforganization	selforganization	NOUN
sc-1180	69	19	principles	principle	NOUN
sc-1180	69	20	are	be	AUX
sc-1180	69	21	used	use	VERB
sc-1180	69	22	to	to	PART
sc-1180	69	23	make	make	VERB
sc-1180	69	24	the	the	DET
sc-1180	69	25	collective	collective	ADJ
sc-1180	69	26	behavior	behavior	NOUN
sc-1180	69	27	emerge	emerge	VERB
sc-1180	69	28	from	from	ADP
sc-1180	69	29	local	local	ADJ
sc-1180	69	30	ones	one	NOUN
sc-1180	69	31	.	.	PUNCT
sc-1180	70	1	the	the	DET
sc-1180	70	2	use	use	NOUN
sc-1180	70	3	of	of	ADP
sc-1180	70	4	gpu	gpu	PROPN
sc-1180	70	5	based	base	VERB
sc-1180	70	6	mas	mas	PROPN
sc-1180	70	7	has	have	AUX
sc-1180	70	8	been	be	AUX
sc-1180	70	9	successfully	successfully	ADV
sc-1180	70	10	advocated	advocate	VERB
sc-1180	70	11	as	as	ADP
sc-1180	70	12	a	a	DET
sc-1180	70	13	means	means	NOUN
sc-1180	70	14	to	to	PART
sc-1180	70	15	deal	deal	VERB
sc-1180	70	16	with	with	ADP
sc-1180	70	17	this	this	DET
sc-1180	70	18	kind	kind	NOUN
sc-1180	70	19	of	of	ADP
sc-1180	70	20	complexity	complexity	NOUN
sc-1180	70	21	in	in	ADP
sc-1180	70	22	various	various	ADJ
sc-1180	70	23	other	other	ADJ
sc-1180	70	24	highly	highly	ADV
sc-1180	70	25	sophisticated	sophisticated	ADJ
sc-1180	70	26	simulation	simulation	NOUN
sc-1180	70	27	applications	application	NOUN
sc-1180	70	28	such	such	ADJ
sc-1180	70	29	as	as	ADP
sc-1180	70	30	astro	astro	NOUN
sc-1180	70	31	-	-	PUNCT
sc-1180	70	32	physics	physics	NOUN
sc-1180	70	33	[	[	X
sc-1180	70	34	8][28	8][28	PROPN
sc-1180	70	35	]	]	PUNCT
sc-1180	70	36	,	,	PUNCT
sc-1180	70	37	graph	graph	NOUN
sc-1180	70	38	algorithms	algorithm	NOUN
sc-1180	70	39	[	[	X
sc-1180	70	40	21	21	NUM
sc-1180	70	41	]	]	PUNCT
sc-1180	70	42	,	,	PUNCT
sc-1180	70	43	molecular	molecular	ADJ
sc-1180	70	44	dynamics	dynamic	NOUN
sc-1180	70	45	[	[	X
sc-1180	70	46	30	30	NUM
sc-1180	70	47	]	]	PUNCT
sc-1180	70	48	,	,	PUNCT
sc-1180	70	49	serious	serious	ADJ
sc-1180	70	50	game	game	NOUN
sc-1180	70	51	adaptations	adaptation	NOUN
sc-1180	70	52	[	[	X
sc-1180	70	53	13	13	NUM
sc-1180	70	54	]	]	PUNCT
sc-1180	70	55	,	,	PUNCT
sc-1180	70	56	and	and	CCONJ
sc-1180	70	57	traffic	traffic	NOUN
sc-1180	70	58	simulation	simulation	NOUN
sc-1180	71	1	[	[	X
sc-1180	71	2	6	6	NUM
sc-1180	71	3	]	]	PUNCT
sc-1180	71	4	.	.	PUNCT
sc-1180	72	1	these	these	DET
sc-1180	72	2	approaches	approach	NOUN
sc-1180	72	3	,	,	PUNCT
sc-1180	72	4	and	and	CCONJ
sc-1180	72	5	other	other	ADJ
sc-1180	72	6	evaluation	evaluation	NOUN
sc-1180	72	7	of	of	ADP
sc-1180	72	8	gpu	gpu	PROPN
sc-1180	72	9	based	base	VERB
sc-1180	72	10	mas	mas	PROPN
sc-1180	72	11	such	such	ADJ
sc-1180	72	12	as	as	ADP
sc-1180	72	13	[	[	X
sc-1180	72	14	3	3	NUM
sc-1180	72	15	]	]	PUNCT
sc-1180	72	16	,	,	PUNCT
sc-1180	72	17	show	show	VERB
sc-1180	72	18	that	that	SCONJ
sc-1180	72	19	gpu	gpu	PROPN
sc-1180	72	20	based	base	VERB
sc-1180	72	21	mas	mas	PROPN
sc-1180	72	22	can	can	AUX
sc-1180	72	23	incorporate	incorporate	VERB
sc-1180	72	24	a	a	DET
sc-1180	72	25	drastic	drastic	ADJ
sc-1180	72	26	performance	performance	NOUN
sc-1180	72	27	improvement	improvement	NOUN
sc-1180	72	28	up	up	ADP
sc-1180	72	29	to	to	ADP
sc-1180	72	30	an	an	DET
sc-1180	72	31	average	average	ADJ
sc-1180	72	32	factor	factor	NOUN
sc-1180	72	33	of	of	ADP
sc-1180	72	34	60	60	NUM
sc-1180	72	35	with	with	ADP
sc-1180	72	36	respect	respect	NOUN
sc-1180	72	37	to	to	ADP
sc-1180	72	38	purely	purely	ADV
sc-1180	72	39	cpu	cpu	VERB
sc-1180	72	40	based	base	VERB
sc-1180	72	41	implementations	implementation	NOUN
sc-1180	72	42	.	.	PUNCT
sc-1180	73	1	in	in	ADP
sc-1180	73	2	addition	addition	NOUN
sc-1180	73	3	,	,	PUNCT
sc-1180	73	4	advancements	advancement	NOUN
sc-1180	73	5	in	in	ADP
sc-1180	73	6	software	software	NOUN
sc-1180	73	7	engineering	engineering	NOUN
sc-1180	73	8	can	can	AUX
sc-1180	73	9	improve	improve	VERB
sc-1180	73	10	the	the	DET
sc-1180	73	11	development	development	NOUN
sc-1180	73	12	of	of	ADP
sc-1180	73	13	sophisticated	sophisticated	ADJ
sc-1180	73	14	virtual	virtual	ADJ
sc-1180	73	15	testbeds	testbed	NOUN
sc-1180	73	16	.	.	PUNCT
sc-1180	74	1	model	model	NOUN
sc-1180	74	2	driven	drive	VERB
sc-1180	74	3	development	development	NOUN
sc-1180	74	4	(	(	PUNCT
sc-1180	74	5	mdd	mdd	PROPN
sc-1180	74	6	)	)	PUNCT
sc-1180	74	7	allows	allow	VERB
sc-1180	74	8	aspects	aspect	NOUN
sc-1180	74	9	of	of	ADP
sc-1180	74	10	virtual	virtual	ADJ
sc-1180	74	11	testbeds	testbed	NOUN
sc-1180	74	12	to	to	PART
sc-1180	74	13	be	be	AUX
sc-1180	74	14	represented	represent	VERB
sc-1180	74	15	formally	formally	ADV
sc-1180	74	16	as	as	ADP
sc-1180	74	17	an	an	DET
sc-1180	74	18	abstract	abstract	ADJ
sc-1180	74	19	graphical	graphical	ADJ
sc-1180	74	20	model	model	NOUN
sc-1180	74	21	which	which	PRON
sc-1180	74	22	can	can	AUX
sc-1180	74	23	be	be	AUX
sc-1180	74	24	automatically	automatically	ADV
sc-1180	74	25	transformed	transform	VERB
sc-1180	74	26	into	into	ADP
sc-1180	74	27	software	software	NOUN
sc-1180	74	28	artefacts	artefact	NOUN
sc-1180	74	29	and	and	CCONJ
sc-1180	74	30	subsequently	subsequently	ADV
sc-1180	74	31	into	into	ADP
sc-1180	74	32	complete	complete	ADJ
sc-1180	74	33	simulation	simulation	NOUN
sc-1180	74	34	applications	application	NOUN
sc-1180	74	35	.	.	PUNCT
sc-1180	75	1	mdd	mdd	PROPN
sc-1180	75	2	enables	enable	VERB
sc-1180	75	3	domain	domain	NOUN
sc-1180	75	4	experts	expert	NOUN
sc-1180	75	5	through	through	ADP
sc-1180	75	6	a	a	DET
sc-1180	75	7	domain	domain	NOUN
sc-1180	75	8	specific	specific	ADJ
sc-1180	75	9	modelling	modelling	NOUN
sc-1180	75	10	language	language	NOUN
sc-1180	75	11	(	(	PUNCT
sc-1180	75	12	dsml	dsml	NOUN
sc-1180	75	13	)	)	PUNCT
sc-1180	75	14	to	to	PART
sc-1180	75	15	produce	produce	VERB
sc-1180	75	16	virtual	virtual	ADJ
sc-1180	75	17	testbeds	testbed	NOUN
sc-1180	75	18	for	for	ADP
sc-1180	75	19	autonomous	autonomous	ADJ
sc-1180	75	20	vehicles	vehicle	NOUN
sc-1180	75	21	easily	easily	ADV
sc-1180	75	22	and	and	CCONJ
sc-1180	75	23	quickly	quickly	ADV
sc-1180	75	24	,	,	PUNCT
sc-1180	75	25	as	as	SCONJ
sc-1180	75	26	mdd	mdd	PROPN
sc-1180	75	27	notably	notably	ADV
sc-1180	75	28	promises	promise	VERB
sc-1180	75	29	great	great	ADJ
sc-1180	75	30	benefits	benefit	NOUN
sc-1180	75	31	to	to	ADP
sc-1180	75	32	its	its	PRON
sc-1180	75	33	practitioners	practitioner	NOUN
sc-1180	75	34	.	.	PUNCT
sc-1180	76	1	from	from	ADP
sc-1180	76	2	a	a	DET
sc-1180	76	3	software	software	NOUN
sc-1180	76	4	development	development	NOUN
sc-1180	76	5	context	context	NOUN
sc-1180	76	6	,	,	PUNCT
sc-1180	76	7	mdd	mdd	PROPN
sc-1180	76	8	offers	offer	VERB
sc-1180	76	9	an	an	DET
sc-1180	76	10	increase	increase	NOUN
sc-1180	76	11	in	in	ADP
sc-1180	76	12	productivity	productivity	NOUN
sc-1180	76	13	,	,	PUNCT
sc-1180	76	14	promotion	promotion	NOUN
sc-1180	76	15	of	of	ADP
sc-1180	76	16	interoperability	interoperability	NOUN
sc-1180	76	17	and	and	CCONJ
sc-1180	76	18	portability	portability	NOUN
sc-1180	76	19	among	among	ADP
sc-1180	76	20	different	different	ADJ
sc-1180	76	21	technology	technology	NOUN
sc-1180	76	22	platforms	platform	NOUN
sc-1180	76	23	,	,	PUNCT
sc-1180	76	24	support	support	NOUN
sc-1180	76	25	for	for	ADP
sc-1180	76	26	generation	generation	NOUN
sc-1180	76	27	of	of	ADP
sc-1180	76	28	documentation	documentation	NOUN
sc-1180	76	29	,	,	PUNCT
sc-1180	76	30	and	and	CCONJ
sc-1180	76	31	easier	easy	ADJ
sc-1180	76	32	software	software	NOUN
sc-1180	76	33	maintenance	maintenance	NOUN
sc-1180	76	34	[	[	X
sc-1180	76	35	1	1	NUM
sc-1180	76	36	]	]	PUNCT
sc-1180	76	37	.	.	PUNCT
sc-1180	77	1	in	in	ADP
sc-1180	77	2	addition	addition	NOUN
sc-1180	77	3	,	,	PUNCT
sc-1180	77	4	it	it	PRON
sc-1180	77	5	can	can	AUX
sc-1180	77	6	also	also	ADV
sc-1180	77	7	lead	lead	VERB
sc-1180	77	8	to	to	ADP
sc-1180	77	9	production	production	NOUN
sc-1180	77	10	of	of	ADP
sc-1180	77	11	better	well	ADJ
sc-1180	77	12	code	code	NOUN
sc-1180	77	13	quality	quality	NOUN
sc-1180	77	14	and	and	CCONJ
sc-1180	77	15	reliability	reliability	NOUN
sc-1180	77	16	due	due	ADP
sc-1180	77	17	to	to	ADP
sc-1180	77	18	integration	integration	NOUN
sc-1180	77	19	of	of	ADP
sc-1180	77	20	domain	domain	NOUN
sc-1180	77	21	rules	rule	NOUN
sc-1180	77	22	into	into	ADP
sc-1180	77	23	the	the	DET
sc-1180	77	24	dsml	dsml	NOUN
sc-1180	77	25	.	.	PUNCT
sc-1180	78	1	such	such	ADJ
sc-1180	78	2	domain	domain	NOUN
sc-1180	78	3	rules	rule	NOUN
sc-1180	78	4	minimize	minimize	VERB
sc-1180	78	5	modelling	model	VERB
sc-1180	78	6	errors	error	NOUN
sc-1180	78	7	and	and	CCONJ
sc-1180	78	8	increase	increase	VERB
sc-1180	78	9	the	the	DET
sc-1180	78	10	reliability	reliability	NOUN
sc-1180	78	11	of	of	ADP
sc-1180	78	12	mapping	mapping	NOUN
sc-1180	78	13	from	from	ADP
sc-1180	78	14	model	model	NOUN
sc-1180	78	15	to	to	PART
sc-1180	78	16	code	code	VERB
sc-1180	78	17	[	[	X
sc-1180	78	18	27	27	NUM
sc-1180	78	19	]	]	PUNCT
sc-1180	78	20	,	,	PUNCT
sc-1180	78	21	which	which	PRON
sc-1180	78	22	is	be	AUX
sc-1180	78	23	highly	highly	ADV
sc-1180	78	24	desirable	desirable	ADJ
sc-1180	78	25	for	for	ADP
sc-1180	78	26	researchers	researcher	NOUN
sc-1180	78	27	,	,	PUNCT
sc-1180	78	28	engineers	engineer	NOUN
sc-1180	78	29	,	,	PUNCT
sc-1180	78	30	and	and	CCONJ
sc-1180	78	31	industry	industry	NOUN
sc-1180	78	32	.	.	PUNCT
sc-1180	79	1	consequently	consequently	ADV
sc-1180	79	2	,	,	PUNCT
sc-1180	79	3	dsml	dsml	NOUN
sc-1180	79	4	lowers	lower	VERB
sc-1180	79	5	the	the	DET
sc-1180	79	6	development	development	NOUN
sc-1180	79	7	time	time	NOUN
sc-1180	79	8	and	and	CCONJ
sc-1180	79	9	increases	increase	VERB
sc-1180	79	10	overall	overall	ADJ
sc-1180	79	11	comprehension	comprehension	NOUN
sc-1180	79	12	of	of	ADP
sc-1180	79	13	simulation	simulation	NOUN
sc-1180	79	14	and	and	CCONJ
sc-1180	79	15	optimization	optimization	NOUN
sc-1180	79	16	aspects	aspect	NOUN
sc-1180	79	17	of	of	ADP
sc-1180	79	18	our	our	PRON
sc-1180	79	19	virtual	virtual	ADJ
sc-1180	79	20	testbeds	testbed	NOUN
sc-1180	79	21	.	.	PUNCT
sc-1180	80	1	however	however	ADV
sc-1180	80	2	,	,	PUNCT
sc-1180	80	3	previous	previous	ADJ
sc-1180	80	4	work	work	NOUN
sc-1180	80	5	on	on	ADP
sc-1180	80	6	virtual	virtual	ADJ
sc-1180	80	7	testbeds	testbed	NOUN
sc-1180	80	8	for	for	ADP
sc-1180	80	9	autonomous	autonomous	ADJ
sc-1180	80	10	vehicles	vehicle	NOUN
sc-1180	80	11	focussed	focusse	VERB
sc-1180	80	12	highly	highly	ADV
sc-1180	80	13	on	on	ADP
sc-1180	80	14	specialized	specialized	ADJ
sc-1180	80	15	partial	partial	ADJ
sc-1180	80	16	aspects	aspect	NOUN
sc-1180	80	17	such	such	ADJ
sc-1180	80	18	as	as	ADP
sc-1180	80	19	real	real	ADJ
sc-1180	80	20	-	-	PUNCT
sc-1180	80	21	time	time	NOUN
sc-1180	80	22	simulation	simulation	NOUN
sc-1180	80	23	with	with	ADP
sc-1180	80	24	state	state	NOUN
sc-1180	80	25	-	-	PUNCT
sc-1180	80	26	of	of	ADP
sc-1180	80	27	-	-	PUNCT
sc-1180	80	28	the	the	DET
sc-1180	80	29	-	-	PUNCT
sc-1180	80	30	art	art	NOUN
sc-1180	80	31	graphics	graphic	NOUN
sc-1180	80	32	[	[	X
sc-1180	80	33	20][18	20][18	PROPN
sc-1180	80	34	]	]	PUNCT
sc-1180	80	35	,	,	PUNCT
sc-1180	80	36	visualization	visualization	NOUN
sc-1180	80	37	for	for	ADP
sc-1180	80	38	mission	mission	NOUN
sc-1180	80	39	analysis	analysis	NOUN
sc-1180	80	40	[	[	X
sc-1180	80	41	7	7	NUM
sc-1180	80	42	]	]	PUNCT
sc-1180	80	43	or	or	CCONJ
sc-1180	80	44	sensor	sensor	NOUN
sc-1180	80	45	data	data	NOUN
sc-1180	80	46	generation	generation	NOUN
sc-1180	80	47	for	for	ADP
sc-1180	80	48	space	space	NOUN
sc-1180	80	49	robotic	robotic	ADJ
sc-1180	80	50	applications	application	NOUN
sc-1180	80	51	[	[	X
sc-1180	80	52	11	11	NUM
sc-1180	80	53	]	]	PUNCT
sc-1180	80	54	.	.	PUNCT
sc-1180	81	1	as	as	SCONJ
sc-1180	81	2	the	the	DET
sc-1180	81	3	everincreasing	everincrease	VERB
sc-1180	81	4	demand	demand	NOUN
sc-1180	81	5	of	of	ADP
sc-1180	81	6	sophisticated	sophisticated	ADJ
sc-1180	81	7	simulation	simulation	NOUN
sc-1180	81	8	as	as	ADV
sc-1180	81	9	well	well	ADV
sc-1180	81	10	as	as	ADP
sc-1180	81	11	appealing	appealing	ADJ
sc-1180	81	12	graphical	graphical	ADJ
sc-1180	81	13	visualization	visualization	NOUN
sc-1180	81	14	increases	increase	VERB
sc-1180	81	15	the	the	DET
sc-1180	81	16	amount	amount	NOUN
sc-1180	81	17	of	of	ADP
sc-1180	81	18	interacting	interact	VERB
sc-1180	81	19	virtual	virtual	ADJ
sc-1180	81	20	testbed	testbe	VERB
sc-1180	81	21	components	component	NOUN
sc-1180	81	22	,	,	PUNCT
sc-1180	81	23	state	state	NOUN
sc-1180	81	24	-	-	PUNCT
sc-1180	81	25	of	of	ADP
sc-1180	81	26	-	-	PUNCT
sc-1180	81	27	the	the	DET
sc-1180	81	28	-	-	PUNCT
sc-1180	81	29	art	art	NOUN
sc-1180	81	30	virtual	virtual	ADJ
sc-1180	81	31	testbeds	testbed	NOUN
sc-1180	81	32	introduce	introduce	VERB
sc-1180	81	33	centralized	centralized	ADJ
sc-1180	81	34	simulation	simulation	NOUN
sc-1180	81	35	data	data	NOUN
sc-1180	81	36	structures	structure	NOUN
sc-1180	81	37	which	which	PRON
sc-1180	81	38	are	be	AUX
sc-1180	81	39	concurrently	concurrently	ADV
sc-1180	81	40	shared	share	VERB
sc-1180	81	41	by	by	ADP
sc-1180	81	42	all	all	DET
sc-1180	81	43	virtual	virtual	ADJ
sc-1180	81	44	testbed	testbe	VERB
sc-1180	81	45	components	component	NOUN
sc-1180	81	46	[	[	X
sc-1180	81	47	20][23][22][17][15	20][23][22][17][15	NUM
sc-1180	81	48	]	]	PUNCT
sc-1180	81	49	.	.	PUNCT
sc-1180	82	1	centralized	centralize	VERB
sc-1180	82	2	data	data	NOUN
sc-1180	82	3	storages	storage	NOUN
sc-1180	82	4	deliver	deliver	VERB
sc-1180	82	5	many	many	ADJ
sc-1180	82	6	advantages	advantage	NOUN
sc-1180	82	7	for	for	ADP
sc-1180	82	8	virtual	virtual	ADJ
sc-1180	82	9	testbeds	testbed	NOUN
sc-1180	82	10	such	such	ADJ
sc-1180	82	11	as	as	ADP
sc-1180	82	12	smart	smart	ADJ
sc-1180	82	13	simulation	simulation	NOUN
sc-1180	82	14	data	datum	NOUN
sc-1180	82	15	logging	logging	NOUN
sc-1180	82	16	,	,	PUNCT
sc-1180	82	17	access	access	NOUN
sc-1180	82	18	rights	right	NOUN
sc-1180	82	19	management	management	NOUN
sc-1180	82	20	and	and	CCONJ
sc-1180	82	21	homogeneous	homogeneous	ADJ
sc-1180	82	22	access	access	NOUN
sc-1180	82	23	to	to	ADP
sc-1180	82	24	simulation	simulation	NOUN
sc-1180	82	25	data	datum	NOUN
sc-1180	82	26	for	for	ADP
sc-1180	82	27	the	the	DET
sc-1180	82	28	vehicle	vehicle	NOUN
sc-1180	82	29	,	,	PUNCT
sc-1180	82	30	environment	environment	NOUN
sc-1180	82	31	or	or	CCONJ
sc-1180	82	32	rendering	rendering	NOUN
sc-1180	82	33	.	.	PUNCT
sc-1180	83	1	nevertheless	nevertheless	ADV
sc-1180	83	2	,	,	PUNCT
sc-1180	83	3	such	such	ADJ
sc-1180	83	4	centralized	centralized	ADJ
sc-1180	83	5	data	data	NOUN
sc-1180	83	6	storages	storage	NOUN
sc-1180	83	7	introduce	introduce	VERB
sc-1180	83	8	a	a	DET
sc-1180	83	9	bottleneck	bottleneck	NOUN
sc-1180	83	10	to	to	ADP
sc-1180	83	11	the	the	DET
sc-1180	83	12	overall	overall	ADJ
sc-1180	83	13	virtual	virtual	ADJ
sc-1180	83	14	testbed	testbe	VERB
sc-1180	83	15	as	as	ADP
sc-1180	83	16	the	the	DET
sc-1180	83	17	concurrent	concurrent	ADJ
sc-1180	83	18	access	access	NOUN
sc-1180	83	19	to	to	ADP
sc-1180	83	20	it	it	PRON
sc-1180	83	21	has	have	VERB
sc-1180	83	22	to	to	PART
sc-1180	83	23	be	be	AUX
sc-1180	83	24	managed	manage	VERB
sc-1180	83	25	.	.	PUNCT
sc-1180	84	1	especially	especially	ADV
sc-1180	84	2	multi	multi	ADJ
sc-1180	84	3	-	-	ADJ
sc-1180	84	4	agent	agent	ADJ
sc-1180	84	5	systems	system	NOUN
sc-1180	84	6	introduce	introduce	VERB
sc-1180	84	7	a	a	DET
sc-1180	84	8	huge	huge	ADJ
sc-1180	84	9	amount	amount	NOUN
sc-1180	84	10	of	of	ADP
sc-1180	84	11	software	software	NOUN
sc-1180	84	12	components	component	NOUN
sc-1180	84	13	which	which	PRON
sc-1180	84	14	data	datum	NOUN
sc-1180	84	15	access	access	NOUN
sc-1180	84	16	has	have	VERB
sc-1180	84	17	to	to	PART
sc-1180	84	18	be	be	AUX
sc-1180	84	19	successfully	successfully	ADV
sc-1180	84	20	synchronized	synchronize	VERB
sc-1180	84	21	.	.	PUNCT
sc-1180	85	1	in	in	ADP
sc-1180	85	2	addition	addition	NOUN
sc-1180	85	3	to	to	ADP
sc-1180	85	4	this	this	DET
sc-1180	85	5	unsolved	unsolved	ADJ
sc-1180	85	6	problem	problem	NOUN
sc-1180	85	7	for	for	ADP
sc-1180	85	8	state	state	NOUN
sc-1180	85	9	-	-	PUNCT
sc-1180	85	10	ofthe	ofthe	NOUN
sc-1180	85	11	-	-	PUNCT
sc-1180	85	12	art	art	NOUN
sc-1180	85	13	centralized	centralize	VERB
sc-1180	85	14	virtual	virtual	ADJ
sc-1180	85	15	testbeds	testbed	NOUN
sc-1180	85	16	,	,	PUNCT
sc-1180	85	17	none	none	NOUN
sc-1180	85	18	of	of	ADP
sc-1180	85	19	the	the	DET
sc-1180	85	20	existing	exist	VERB
sc-1180	85	21	approaches	approach	NOUN
sc-1180	85	22	addressed	address	VERB
sc-1180	85	23	the	the	DET
sc-1180	85	24	complex	complex	ADJ
sc-1180	85	25	development	development	NOUN
sc-1180	85	26	process	process	NOUN
sc-1180	85	27	of	of	ADP
sc-1180	85	28	such	such	ADJ
sc-1180	85	29	virtual	virtual	ADJ
sc-1180	85	30	testbeds	testbed	NOUN
sc-1180	85	31	and	and	CCONJ
sc-1180	85	32	how	how	SCONJ
sc-1180	85	33	this	this	DET
sc-1180	85	34	development	development	NOUN
sc-1180	85	35	process	process	NOUN
sc-1180	85	36	could	could	AUX
sc-1180	85	37	be	be	AUX
sc-1180	85	38	integrated	integrate	VERB
sc-1180	85	39	into	into	ADP
sc-1180	85	40	the	the	DET
sc-1180	85	41	vehicle	vehicle	NOUN
sc-1180	85	42	engineering	engineering	NOUN
sc-1180	85	43	process	process	NOUN
sc-1180	85	44	.	.	PUNCT
sc-1180	86	1	moreover	moreover	ADV
sc-1180	86	2	,	,	PUNCT
sc-1180	86	3	these	these	DET
sc-1180	86	4	virtual	virtual	ADJ
sc-1180	86	5	testbeds	testbed	NOUN
sc-1180	86	6	are	be	AUX
sc-1180	86	7	highly	highly	ADV
sc-1180	86	8	specialized	specialized	ADJ
sc-1180	86	9	and	and	CCONJ
sc-1180	86	10	therefore	therefore	ADV
sc-1180	86	11	present	present	VERB
sc-1180	86	12	most	most	ADV
sc-1180	86	13	diverse	diverse	ADJ
sc-1180	86	14	software	software	NOUN
sc-1180	86	15	architectures	architecture	NOUN
sc-1180	86	16	for	for	ADP
sc-1180	86	17	vehicles	vehicle	NOUN
sc-1180	86	18	within	within	ADP
sc-1180	86	19	their	their	PRON
sc-1180	86	20	designated	designate	VERB
sc-1180	86	21	environments	environment	NOUN
sc-1180	86	22	.	.	PUNCT
sc-1180	87	1	furthermore	furthermore	ADV
sc-1180	87	2	,	,	PUNCT
sc-1180	87	3	none	none	NOUN
sc-1180	87	4	of	of	ADP
sc-1180	87	5	the	the	DET
sc-1180	87	6	approaches	approach	NOUN
sc-1180	87	7	involved	involve	VERB
sc-1180	87	8	any	any	DET
sc-1180	87	9	adaptation	adaptation	NOUN
sc-1180	87	10	or	or	CCONJ
sc-1180	87	11	optimization	optimization	NOUN
sc-1180	87	12	of	of	ADP
sc-1180	87	13	the	the	DET
sc-1180	87	14	simulated	simulate	VERB
sc-1180	87	15	vehicle	vehicle	NOUN
sc-1180	87	16	.	.	PUNCT
sc-1180	88	1	all	all	DET
sc-1180	88	2	state	state	NOUN
sc-1180	88	3	-	-	PUNCT
sc-1180	88	4	of	of	ADP
sc-1180	88	5	-	-	PUNCT
sc-1180	88	6	the	the	DET
sc-1180	88	7	-	-	PUNCT
sc-1180	88	8	art	art	NOUN
sc-1180	88	9	virtual	virtual	ADJ
sc-1180	88	10	testbeds	testbed	NOUN
sc-1180	88	11	need	need	VERB
sc-1180	88	12	engineer	engineer	NOUN
sc-1180	88	13	expert	expert	NOUN
sc-1180	88	14	supervision	supervision	NOUN
sc-1180	88	15	if	if	SCONJ
sc-1180	88	16	vehicle	vehicle	NOUN
sc-1180	88	17	configurations	configuration	NOUN
sc-1180	88	18	has	have	VERB
sc-1180	88	19	to	to	PART
sc-1180	88	20	be	be	AUX
sc-1180	88	21	adjusted	adjust	VERB
sc-1180	88	22	as	as	SCONJ
sc-1180	88	23	their	their	PRON
sc-1180	88	24	primary	primary	ADJ
sc-1180	88	25	objective	objective	NOUN
sc-1180	88	26	is	be	AUX
sc-1180	88	27	to	to	PART
sc-1180	88	28	give	give	VERB
sc-1180	88	29	visual	visual	ADJ
sc-1180	88	30	feedback	feedback	NOUN
sc-1180	88	31	of	of	ADP
sc-1180	88	32	the	the	DET
sc-1180	88	33	simulated	simulate	VERB
sc-1180	88	34	vehicle	vehicle	NOUN
sc-1180	88	35	.	.	PUNCT
sc-1180	89	1	consequently	consequently	ADV
sc-1180	89	2	,	,	PUNCT
sc-1180	89	3	existing	exist	VERB
sc-1180	89	4	approaches	approach	NOUN
sc-1180	89	5	are	be	AUX
sc-1180	89	6	simply	simply	ADV
sc-1180	89	7	visual	visual	ADJ
sc-1180	89	8	resemblances	resemblance	NOUN
sc-1180	89	9	of	of	ADP
sc-1180	89	10	the	the	DET
sc-1180	89	11	underlying	underlying	ADJ
sc-1180	89	12	simulation	simulation	NOUN
sc-1180	89	13	with	with	ADP
sc-1180	89	14	no	no	DET
sc-1180	89	15	more	more	ADJ
sc-1180	89	16	benefits	benefit	NOUN
sc-1180	89	17	to	to	ADP
sc-1180	89	18	the	the	DET
sc-1180	89	19	engineers	engineer	NOUN
sc-1180	89	20	.	.	PUNCT
sc-1180	90	1	however	however	ADV
sc-1180	90	2	,	,	PUNCT
sc-1180	90	3	system	system	NOUN
sc-1180	90	4	adaptations	adaptation	NOUN
sc-1180	90	5	can	can	AUX
sc-1180	90	6	be	be	AUX
sc-1180	90	7	found	find	VERB
sc-1180	90	8	in	in	ADP
sc-1180	90	9	other	other	ADJ
sc-1180	90	10	simulation	simulation	NOUN
sc-1180	90	11	related	relate	VERB
sc-1180	90	12	fields	field	NOUN
sc-1180	90	13	,	,	PUNCT
sc-1180	90	14	such	such	ADJ
sc-1180	90	15	as	as	ADP
sc-1180	90	16	military	military	ADJ
sc-1180	90	17	training	training	NOUN
sc-1180	90	18	in	in	ADP
sc-1180	90	19	serious	serious	ADJ
sc-1180	90	20	games	game	NOUN
sc-1180	90	21	.	.	PUNCT
sc-1180	91	1	simulation	simulation	NOUN
sc-1180	91	2	and	and	CCONJ
sc-1180	91	3	serious	serious	ADJ
sc-1180	91	4	gaming	gaming	NOUN
sc-1180	91	5	is	be	AUX
sc-1180	91	6	a	a	DET
sc-1180	91	7	strongly	strongly	ADV
sc-1180	91	8	related	relate	VERB
sc-1180	91	9	field	field	NOUN
sc-1180	91	10	[	[	X
sc-1180	91	11	19	19	NUM
sc-1180	91	12	]	]	PUNCT
sc-1180	91	13	in	in	ADP
sc-1180	91	14	which	which	PRON
sc-1180	91	15	system	system	NOUN
sc-1180	91	16	parameter	parameter	NOUN
sc-1180	91	17	adaptation	adaptation	NOUN
sc-1180	91	18	is	be	AUX
sc-1180	91	19	well	well	ADV
sc-1180	91	20	-	-	PUNCT
sc-1180	91	21	founded	found	VERB
sc-1180	91	22	.	.	PUNCT
sc-1180	92	1	current	current	ADJ
sc-1180	92	2	adaptation	adaptation	NOUN
sc-1180	92	3	concerns	concern	NOUN
sc-1180	92	4	automated	automate	VERB
sc-1180	92	5	scenario	scenario	NOUN
sc-1180	92	6	generation	generation	NOUN
sc-1180	92	7	,	,	PUNCT
sc-1180	92	8	e.g.	e.g.	ADV
sc-1180	92	9	for	for	ADP
sc-1180	92	10	military	military	ADJ
sc-1180	92	11	training	training	NOUN
sc-1180	92	12	purposes	purpose	NOUN
sc-1180	92	13	[	[	X
sc-1180	92	14	2	2	NUM
sc-1180	92	15	]	]	PUNCT
sc-1180	92	16	.	.	PUNCT
sc-1180	93	1	such	such	ADJ
sc-1180	93	2	adaptive	adaptive	ADJ
sc-1180	93	3	applications	application	NOUN
sc-1180	93	4	can	can	AUX
sc-1180	93	5	be	be	AUX
sc-1180	93	6	effectively	effectively	ADV
sc-1180	93	7	modelled	model	VERB
sc-1180	93	8	with	with	ADP
sc-1180	93	9	mas	mas	PROPN
sc-1180	93	10	[	[	X
sc-1180	93	11	12	12	NUM
sc-1180	93	12	]	]	PUNCT
sc-1180	93	13	.	.	PUNCT
sc-1180	94	1	furthermore	furthermore	ADV
sc-1180	94	2	,	,	PUNCT
sc-1180	94	3	[	[	X
sc-1180	94	4	13	13	NUM
sc-1180	94	5	]	]	PUNCT
sc-1180	94	6	showed	show	VERB
sc-1180	94	7	in	in	ADP
sc-1180	94	8	general	general	ADJ
sc-1180	94	9	how	how	SCONJ
sc-1180	94	10	agents	agent	NOUN
sc-1180	94	11	can	can	AUX
sc-1180	94	12	be	be	AUX
sc-1180	94	13	used	use	VERB
sc-1180	94	14	to	to	PART
sc-1180	94	15	define	define	VERB
sc-1180	94	16	serious	serious	ADJ
sc-1180	94	17	game	game	NOUN
sc-1180	94	18	applications	application	NOUN
sc-1180	94	19	.	.	PUNCT
sc-1180	95	1	3	3	X
sc-1180	95	2	.	.	X
sc-1180	95	3	vehicle	vehicle	NOUN
sc-1180	95	4	simulation	simulation	NOUN
sc-1180	95	5	approach	approach	NOUN
sc-1180	95	6	enabling	enable	VERB
sc-1180	95	7	mas	mas	PROPN
sc-1180	95	8	based	base	VERB
sc-1180	95	9	vehicle	vehicle	NOUN
sc-1180	95	10	configuration	configuration	NOUN
sc-1180	95	11	requires	require	VERB
sc-1180	95	12	a	a	DET
sc-1180	95	13	virtual	virtual	ADJ
sc-1180	95	14	simulation	simulation	NOUN
sc-1180	95	15	environment	environment	NOUN
sc-1180	95	16	for	for	ADP
sc-1180	95	17	the	the	DET
sc-1180	95	18	parameter	parameter	NOUN
sc-1180	95	19	optimization	optimization	NOUN
sc-1180	95	20	to	to	PART
sc-1180	95	21	take	take	VERB
sc-1180	95	22	place	place	NOUN
sc-1180	95	23	.	.	PUNCT
sc-1180	96	1	in	in	ADP
sc-1180	96	2	this	this	DET
sc-1180	96	3	section	section	NOUN
sc-1180	96	4	,	,	PUNCT
sc-1180	96	5	we	we	PRON
sc-1180	96	6	will	will	AUX
sc-1180	96	7	describe	describe	VERB
sc-1180	96	8	our	our	PRON
sc-1180	96	9	simulation	simulation	NOUN
sc-1180	96	10	environment	environment	NOUN
sc-1180	96	11	as	as	ADV
sc-1180	96	12	well	well	ADV
sc-1180	96	13	as	as	ADP
sc-1180	96	14	domain	domain	NOUN
sc-1180	96	15	framework	framework	NOUN
sc-1180	96	16	and	and	CCONJ
sc-1180	96	17	how	how	SCONJ
sc-1180	96	18	they	they	PRON
sc-1180	96	19	are	be	AUX
sc-1180	96	20	related	relate	VERB
sc-1180	96	21	to	to	ADP
sc-1180	96	22	our	our	PRON
sc-1180	96	23	dsml	dsml	NOUN
sc-1180	96	24	.	.	PUNCT
sc-1180	97	1	our	our	PRON
sc-1180	97	2	modelling	modelling	NOUN
sc-1180	97	3	approach	approach	NOUN
sc-1180	97	4	is	be	AUX
sc-1180	97	5	based	base	VERB
sc-1180	97	6	on	on	ADP
sc-1180	97	7	the	the	DET
sc-1180	97	8	lightweight	lightweight	ADJ
sc-1180	97	9	dsml	dsml	NOUN
sc-1180	97	10	[	[	X
sc-1180	97	11	25	25	NUM
sc-1180	97	12	]	]	PUNCT
sc-1180	97	13	approach	approach	NOUN
sc-1180	97	14	.	.	PUNCT
sc-1180	98	1	it	it	PRON
sc-1180	98	2	introduces	introduce	VERB
sc-1180	98	3	more	more	ADJ
sc-1180	98	4	generalized	generalized	ADJ
sc-1180	98	5	model	model	NOUN
sc-1180	98	6	artefacts	artefact	NOUN
sc-1180	98	7	to	to	PART
sc-1180	98	8	be	be	AUX
sc-1180	98	9	used	use	VERB
sc-1180	98	10	in	in	ADP
sc-1180	98	11	order	order	NOUN
sc-1180	98	12	to	to	PART
sc-1180	98	13	decrease	decrease	VERB
sc-1180	98	14	the	the	DET
sc-1180	98	15	overall	overall	ADJ
sc-1180	98	16	development	development	NOUN
sc-1180	98	17	time	time	NOUN
sc-1180	98	18	when	when	SCONJ
sc-1180	98	19	using	use	VERB
sc-1180	98	20	dsml	dsml	NOUN
sc-1180	98	21	concepts	concept	NOUN
sc-1180	98	22	.	.	PUNCT
sc-1180	99	1	generalized	generalized	ADJ
sc-1180	99	2	model	model	NOUN
sc-1180	99	3	artefacts	artefact	NOUN
sc-1180	99	4	do	do	AUX
sc-1180	99	5	not	not	PART
sc-1180	99	6	support	support	VERB
sc-1180	99	7	complete	complete	ADJ
sc-1180	99	8	source	source	NOUN
sc-1180	99	9	code	code	NOUN
sc-1180	99	10	generation	generation	NOUN
sc-1180	99	11	as	as	ADP
sc-1180	99	12	their	their	PRON
sc-1180	99	13	modelling	modelling	NOUN
sc-1180	99	14	concept	concept	NOUN
sc-1180	99	15	focusses	focusse	NOUN
sc-1180	99	16	mainly	mainly	ADV
sc-1180	99	17	on	on	ADP
sc-1180	99	18	the	the	DET
sc-1180	99	19	dataflow	dataflow	NOUN
sc-1180	99	20	.	.	PUNCT
sc-1180	100	1	however	however	ADV
sc-1180	100	2	,	,	PUNCT
sc-1180	100	3	for	for	ADP
sc-1180	100	4	a	a	DET
sc-1180	100	5	generic	generic	ADJ
sc-1180	100	6	virtual	virtual	ADJ
sc-1180	100	7	testbed	testbe	VERB
sc-1180	100	8	,	,	PUNCT
sc-1180	100	9	which	which	PRON
sc-1180	100	10	should	should	AUX
sc-1180	100	11	support	support	VERB
sc-1180	100	12	highly	highly	ADV
sc-1180	100	13	different	different	ADJ
sc-1180	100	14	vehicles	vehicle	NOUN
sc-1180	100	15	or	or	CCONJ
sc-1180	100	16	even	even	ADV
sc-1180	100	17	other	other	ADJ
sc-1180	100	18	domains	domain	NOUN
sc-1180	100	19	,	,	PUNCT
sc-1180	100	20	complete	complete	ADJ
sc-1180	100	21	source	source	NOUN
sc-1180	100	22	code	code	NOUN
sc-1180	100	23	generation	generation	NOUN
sc-1180	100	24	is	be	AUX
sc-1180	100	25	no	no	DET
sc-1180	100	26	prerequisite	prerequisite	NOUN
sc-1180	100	27	.	.	PUNCT
sc-1180	101	1	our	our	PRON
sc-1180	101	2	lightweight	lightweight	ADJ
sc-1180	101	3	dsml	dsml	NOUN
sc-1180	101	4	approach	approach	NOUN
sc-1180	101	5	is	be	AUX
sc-1180	101	6	used	use	VERB
sc-1180	101	7	to	to	PART
sc-1180	101	8	define	define	VERB
sc-1180	101	9	generic	generic	ADJ
sc-1180	101	10	components	component	NOUN
sc-1180	101	11	of	of	ADP
sc-1180	101	12	a	a	DET
sc-1180	101	13	virtual	virtual	ADJ
sc-1180	101	14	vehicle	vehicle	NOUN
sc-1180	101	15	simulation	simulation	NOUN
sc-1180	101	16	:	:	PUNCT
sc-1180	101	17	the	the	DET
sc-1180	101	18	environment	environment	NOUN
sc-1180	101	19	,	,	PUNCT
sc-1180	101	20	vehicle	vehicle	NOUN
sc-1180	101	21	sensors	sensor	NOUN
sc-1180	101	22	and	and	CCONJ
sc-1180	101	23	actuators	actuator	NOUN
sc-1180	101	24	,	,	PUNCT
sc-1180	101	25	internal	internal	ADJ
sc-1180	101	26	vehicle	vehicle	NOUN
sc-1180	101	27	control	control	NOUN
sc-1180	101	28	components	component	NOUN
sc-1180	101	29	,	,	PUNCT
sc-1180	101	30	virtual	virtual	ADJ
sc-1180	101	31	objects	object	NOUN
sc-1180	101	32	as	as	ADV
sc-1180	101	33	well	well	ADV
sc-1180	101	34	as	as	ADP
sc-1180	101	35	multi	multi	ADJ
sc-1180	101	36	-	-	ADJ
sc-1180	101	37	agent	agent	ADJ
sc-1180	101	38	system	system	NOUN
sc-1180	101	39	.	.	PUNCT
sc-1180	102	1	all	all	DET
sc-1180	102	2	components	component	NOUN
sc-1180	102	3	are	be	AUX
sc-1180	102	4	situated	situate	VERB
sc-1180	102	5	in	in	ADP
sc-1180	102	6	a	a	DET
sc-1180	102	7	vehicle	vehicle	NOUN
sc-1180	102	8	simulation	simulation	NOUN
sc-1180	102	9	loop	loop	PROPN
sc-1180	102	10	,	,	PUNCT
sc-1180	102	11	which	which	PRON
sc-1180	102	12	ensures	ensure	VERB
sc-1180	102	13	that	that	SCONJ
sc-1180	102	14	the	the	DET
sc-1180	102	15	vehicle	vehicle	NOUN
sc-1180	102	16	can	can	AUX
sc-1180	102	17	only	only	ADV
sc-1180	102	18	perceive	perceive	VERB
sc-1180	102	19	its	its	PRON
sc-1180	102	20	environment	environment	NOUN
sc-1180	102	21	via	via	ADP
sc-1180	102	22	its	its	PRON
sc-1180	102	23	sensors	sensor	NOUN
sc-1180	102	24	and	and	CCONJ
sc-1180	102	25	that	that	SCONJ
sc-1180	102	26	only	only	ADJ
sc-1180	102	27	actuator	actuator	NOUN
sc-1180	102	28	information	information	NOUN
sc-1180	102	29	are	be	AUX
sc-1180	102	30	routed	route	VERB
sc-1180	102	31	to	to	ADP
sc-1180	102	32	the	the	DET
sc-1180	102	33	environment	environment	NOUN
sc-1180	102	34	.	.	PUNCT
sc-1180	103	1	our	our	PRON
sc-1180	103	2	lightweight	lightweight	NOUN
sc-1180	103	3	dsl	dsl	NOUN
sc-1180	103	4	enables	enable	VERB
sc-1180	103	5	modelling	modelling	NOUN
sc-1180	103	6	of	of	ADP
sc-1180	103	7	these	these	DET
sc-1180	103	8	components	component	NOUN
sc-1180	103	9	in	in	ADP
sc-1180	103	10	a	a	DET
sc-1180	103	11	graphical	graphical	ADJ
sc-1180	103	12	manner	manner	NOUN
sc-1180	103	13	as	as	SCONJ
sc-1180	103	14	described	describe	VERB
sc-1180	103	15	in	in	ADP
sc-1180	103	16	the	the	DET
sc-1180	103	17	next	next	ADJ
sc-1180	103	18	sections	section	NOUN
sc-1180	103	19	.	.	PUNCT
sc-1180	104	1	from	from	ADP
sc-1180	104	2	our	our	PRON
sc-1180	104	3	dsml	dsml	NOUN
sc-1180	104	4	approach	approach	NOUN
sc-1180	104	5	,	,	PUNCT
sc-1180	104	6	graphical	graphical	ADJ
sc-1180	104	7	platform	platform	NOUN
sc-1180	104	8	independent	independent	ADJ
sc-1180	104	9	models	model	NOUN
sc-1180	104	10	(	(	PUNCT
sc-1180	104	11	pim	pim	PROPN
sc-1180	104	12	)	)	PUNCT
sc-1180	104	13	can	can	AUX
sc-1180	104	14	be	be	AUX
sc-1180	104	15	modelled	model	VERB
sc-1180	104	16	by	by	ADP
sc-1180	104	17	domain	domain	NOUN
sc-1180	104	18	experts	expert	NOUN
sc-1180	104	19	.	.	PUNCT
sc-1180	105	1	these	these	DET
sc-1180	105	2	pim	pim	PROPN
sc-1180	105	3	are	be	AUX
sc-1180	105	4	then	then	ADV
sc-1180	105	5	used	use	VERB
sc-1180	105	6	to	to	PART
sc-1180	105	7	automatically	automatically	ADV
sc-1180	105	8	generate	generate	VERB
sc-1180	105	9	the	the	DET
sc-1180	105	10	source	source	NOUN
sc-1180	105	11	code	code	NOUN
sc-1180	105	12	of	of	ADP
sc-1180	105	13	our	our	PRON
sc-1180	105	14	virtual	virtual	ADJ
sc-1180	105	15	testbed	testbed	NOUN
sc-1180	105	16	,	,	PUNCT
sc-1180	105	17	the	the	DET
sc-1180	105	18	platform	platform	NOUN
sc-1180	105	19	specific	specific	ADJ
sc-1180	105	20	model	model	NOUN
sc-1180	105	21	(	(	PUNCT
sc-1180	105	22	psm	psm	NOUN
sc-1180	105	23	)	)	PUNCT
sc-1180	105	24	,	,	PUNCT
sc-1180	105	25	via	via	ADP
sc-1180	105	26	horizontal	horizontal	ADJ
sc-1180	105	27	model	model	NOUN
sc-1180	105	28	transformations	transformation	NOUN
sc-1180	105	29	[	[	X
sc-1180	105	30	27	27	NUM
sc-1180	105	31	]	]	PUNCT
sc-1180	105	32	.	.	PUNCT
sc-1180	106	1	figure	figure	NOUN
sc-1180	106	2	2	2	NUM
sc-1180	106	3	depicts	depict	VERB
sc-1180	106	4	our	our	PRON
sc-1180	106	5	vehicle	vehicle	NOUN
sc-1180	106	6	simulation	simulation	NOUN
sc-1180	106	7	and	and	CCONJ
sc-1180	106	8	optimization	optimization	NOUN
sc-1180	106	9	within	within	ADP
sc-1180	106	10	our	our	PRON
sc-1180	106	11	lightweight	lightweight	ADJ
sc-1180	106	12	dsl	dsl	ADJ
sc-1180	106	13	approach	approach	NOUN
sc-1180	106	14	.	.	PUNCT
sc-1180	107	1	figure	figure	VERB
sc-1180	107	2	2	2	NUM
sc-1180	107	3	:	:	PUNCT
sc-1180	107	4	overview	overview	NOUN
sc-1180	107	5	of	of	ADP
sc-1180	107	6	our	our	PRON
sc-1180	107	7	proposed	propose	VERB
sc-1180	107	8	approach	approach	NOUN
sc-1180	107	9	.	.	PUNCT
sc-1180	108	1	from	from	ADP
sc-1180	108	2	a	a	DET
sc-1180	108	3	lightweight	lightweight	NOUN
sc-1180	108	4	dsl	dsl	ADJ
sc-1180	108	5	,	,	PUNCT
sc-1180	108	6	graphical	graphical	ADJ
sc-1180	108	7	platform	platform	NOUN
sc-1180	108	8	independent	independent	ADJ
sc-1180	108	9	models	model	NOUN
sc-1180	108	10	(	(	PUNCT
sc-1180	108	11	pim	pim	PROPN
sc-1180	108	12	)	)	PUNCT
sc-1180	108	13	are	be	AUX
sc-1180	108	14	modelled	model	VERB
sc-1180	108	15	which	which	PRON
sc-1180	108	16	are	be	AUX
sc-1180	108	17	used	use	VERB
sc-1180	108	18	to	to	PART
sc-1180	108	19	generate	generate	VERB
sc-1180	108	20	our	our	PRON
sc-1180	108	21	virtual	virtual	ADJ
sc-1180	108	22	testbed	testbe	VERB
sc-1180	108	23	with	with	ADP
sc-1180	108	24	its	its	PRON
sc-1180	108	25	vehicle	vehicle	NOUN
sc-1180	108	26	simulation	simulation	NOUN
sc-1180	108	27	and	and	CCONJ
sc-1180	108	28	configuration	configuration	NOUN
sc-1180	108	29	optimization	optimization	NOUN
sc-1180	108	30	.	.	PUNCT
sc-1180	109	1	we	we	PRON
sc-1180	109	2	will	will	AUX
sc-1180	109	3	describe	describe	VERB
sc-1180	109	4	in	in	ADP
sc-1180	109	5	the	the	DET
sc-1180	109	6	next	next	ADJ
sc-1180	109	7	sections	section	NOUN
sc-1180	109	8	our	our	PRON
sc-1180	109	9	domain	domain	NOUN
sc-1180	109	10	framework	framework	NOUN
sc-1180	109	11	with	with	ADP
sc-1180	109	12	its	its	PRON
sc-1180	109	13	data	data	NOUN
sc-1180	109	14	flow	flow	NOUN
sc-1180	109	15	for	for	ADP
sc-1180	109	16	vehicle	vehicle	NOUN
sc-1180	109	17	simulation	simulation	NOUN
sc-1180	109	18	and	and	CCONJ
sc-1180	109	19	how	how	SCONJ
sc-1180	109	20	it	it	PRON
sc-1180	109	21	benefits	benefit	VERB
sc-1180	109	22	the	the	DET
sc-1180	109	23	integration	integration	NOUN
sc-1180	109	24	of	of	ADP
sc-1180	109	25	gpu	gpu	PROPN
sc-1180	109	26	based	base	VERB
sc-1180	109	27	multi	multi	ADJ
sc-1180	109	28	-	-	ADJ
sc-1180	109	29	agent	agent	ADJ
sc-1180	109	30	systems	system	NOUN
sc-1180	109	31	.	.	PUNCT
sc-1180	110	1	additionally	additionally	ADV
sc-1180	110	2	,	,	PUNCT
sc-1180	110	3	we	we	PRON
sc-1180	110	4	will	will	AUX
sc-1180	110	5	describe	describe	VERB
sc-1180	110	6	the	the	DET
sc-1180	110	7	infrastructure	infrastructure	NOUN
sc-1180	110	8	,	,	PUNCT
sc-1180	110	9	optimization	optimization	NOUN
sc-1180	110	10	solving	solving	NOUN
sc-1180	110	11	process	process	NOUN
sc-1180	110	12	and	and	CCONJ
sc-1180	110	13	implementation	implementation	NOUN
sc-1180	110	14	of	of	ADP
sc-1180	110	15	our	our	PRON
sc-1180	110	16	gpu	gpu	NOUN
sc-1180	110	17	based	base	VERB
sc-1180	110	18	mas	mas	PROPN
sc-1180	110	19	.	.	PROPN
sc-1180	110	20	3.1	3.1	NUM
sc-1180	110	21	domain	domain	NOUN
sc-1180	110	22	framework	framework	NOUN
sc-1180	110	23	and	and	CCONJ
sc-1180	110	24	data	datum	NOUN
sc-1180	110	25	flow	flow	NOUN
sc-1180	110	26	within	within	ADP
sc-1180	110	27	domain	domain	NOUN
sc-1180	110	28	specific	specific	ADJ
sc-1180	110	29	modelling	modelling	NOUN
sc-1180	110	30	,	,	PUNCT
sc-1180	110	31	a	a	DET
sc-1180	110	32	domain	domain	NOUN
sc-1180	110	33	framework	framework	NOUN
sc-1180	110	34	is	be	AUX
sc-1180	110	35	used	use	VERB
sc-1180	110	36	to	to	PART
sc-1180	110	37	execute	execute	VERB
sc-1180	110	38	generated	generate	VERB
sc-1180	110	39	code	code	NOUN
sc-1180	110	40	artefacts	artefact	NOUN
sc-1180	110	41	.	.	PUNCT
sc-1180	111	1	additionally	additionally	ADV
sc-1180	111	2	,	,	PUNCT
sc-1180	111	3	a	a	DET
sc-1180	111	4	domain	domain	NOUN
sc-1180	111	5	framework	framework	NOUN
sc-1180	111	6	reduces	reduce	VERB
sc-1180	111	7	the	the	DET
sc-1180	111	8	amount	amount	NOUN
sc-1180	111	9	of	of	ADP
sc-1180	111	10	generated	generate	VERB
sc-1180	111	11	software	software	NOUN
sc-1180	111	12	clones	clone	NOUN
sc-1180	111	13	as	as	SCONJ
sc-1180	111	14	the	the	DET
sc-1180	111	15	domain	domain	NOUN
sc-1180	111	16	framework	framework	NOUN
sc-1180	111	17	encapsulates	encapsulate	VERB
sc-1180	111	18	common	common	ADJ
sc-1180	111	19	interfaces	interface	NOUN
sc-1180	111	20	and	and	CCONJ
sc-1180	111	21	data	datum	NOUN
sc-1180	111	22	structures	structure	NOUN
sc-1180	111	23	.	.	PUNCT
sc-1180	112	1	this	this	DET
sc-1180	112	2	approach	approach	NOUN
sc-1180	112	3	is	be	AUX
sc-1180	112	4	well	well	ADV
sc-1180	112	5	-	-	PUNCT
sc-1180	112	6	known	know	VERB
sc-1180	112	7	from	from	ADP
sc-1180	112	8	other	other	ADJ
sc-1180	112	9	applications	application	NOUN
sc-1180	112	10	,	,	PUNCT
sc-1180	112	11	such	such	ADJ
sc-1180	112	12	as	as	ADP
sc-1180	112	13	the	the	DET
sc-1180	112	14	java	java	PROPN
sc-1180	112	15	runtime	runtime	NOUN
sc-1180	112	16	environment	environment	PROPN
sc-1180	112	17	(	(	PUNCT
sc-1180	112	18	jre	jre	PROPN
sc-1180	112	19	)	)	PUNCT
sc-1180	113	1	[	[	X
sc-1180	113	2	26	26	NUM
sc-1180	113	3	]	]	PUNCT
sc-1180	113	4	.	.	PUNCT
sc-1180	114	1	the	the	DET
sc-1180	114	2	domain	domain	NOUN
sc-1180	114	3	framework	framework	NOUN
sc-1180	114	4	used	use	VERB
sc-1180	114	5	in	in	ADP
sc-1180	114	6	our	our	PRON
sc-1180	114	7	approach	approach	NOUN
sc-1180	114	8	should	should	AUX
sc-1180	114	9	be	be	AUX
sc-1180	114	10	a	a	DET
sc-1180	114	11	centralized	centralized	ADJ
sc-1180	114	12	solution	solution	NOUN
sc-1180	114	13	in	in	ADP
sc-1180	114	14	order	order	NOUN
sc-1180	114	15	to	to	PART
sc-1180	114	16	maintain	maintain	VERB
sc-1180	114	17	software	software	NOUN
sc-1180	114	18	engineering	engineering	NOUN
sc-1180	114	19	advantages	advantage	NOUN
sc-1180	114	20	from	from	ADP
sc-1180	114	21	current	current	ADJ
sc-1180	114	22	virtual	virtual	ADJ
sc-1180	114	23	testbed	testbe	VERB
sc-1180	114	24	approaches	approach	NOUN
sc-1180	114	25	[	[	X
sc-1180	114	26	18][17	18][17	X
sc-1180	114	27	]	]	PUNCT
sc-1180	114	28	but	but	CCONJ
sc-1180	114	29	should	should	AUX
sc-1180	114	30	not	not	PART
sc-1180	114	31	introduce	introduce	VERB
sc-1180	114	32	a	a	DET
sc-1180	114	33	bottleneck	bottleneck	NOUN
sc-1180	114	34	to	to	ADP
sc-1180	114	35	the	the	DET
sc-1180	114	36	overall	overall	ADJ
sc-1180	114	37	simulation	simulation	NOUN
sc-1180	114	38	and	and	CCONJ
sc-1180	114	39	multi	multi	ADJ
sc-1180	114	40	-	-	ADJ
sc-1180	114	41	agent	agent	ADJ
sc-1180	114	42	system	system	NOUN
sc-1180	114	43	optimization	optimization	NOUN
sc-1180	114	44	.	.	PUNCT
sc-1180	115	1	we	we	PRON
sc-1180	115	2	presented	present	VERB
sc-1180	115	3	a	a	DET
sc-1180	115	4	wait	wait	VERB
sc-1180	115	5	-	-	PUNCT
sc-1180	115	6	free	free	ADJ
sc-1180	115	7	concurrency	concurrency	NOUN
sc-1180	115	8	control	control	NOUN
sc-1180	115	9	management	management	NOUN
sc-1180	115	10	approach	approach	NOUN
sc-1180	115	11	in	in	ADP
sc-1180	115	12	[	[	X
sc-1180	115	13	23][24][22	23][24][22	NOUN
sc-1180	115	14	]	]	X
sc-1180	115	15	.	.	PUNCT
sc-1180	116	1	this	this	DET
sc-1180	116	2	approach	approach	NOUN
sc-1180	116	3	introduces	introduce	VERB
sc-1180	116	4	a	a	DET
sc-1180	116	5	centralized	centralized	ADJ
sc-1180	116	6	data	data	NOUN
sc-1180	116	7	storage	storage	NOUN
sc-1180	116	8	that	that	PRON
sc-1180	116	9	drastically	drastically	ADV
sc-1180	116	10	outperforms	outperform	VERB
sc-1180	116	11	traditional	traditional	ADJ
sc-1180	116	12	approaches	approach	NOUN
sc-1180	116	13	by	by	ADP
sc-1180	116	14	several	several	ADJ
sc-1180	116	15	orders	order	NOUN
sc-1180	116	16	of	of	ADP
sc-1180	116	17	magnitude	magnitude	NOUN
sc-1180	116	18	.	.	PUNCT
sc-1180	117	1	consequently	consequently	ADV
sc-1180	117	2	,	,	PUNCT
sc-1180	117	3	we	we	PRON
sc-1180	117	4	use	use	VERB
sc-1180	117	5	our	our	PRON
sc-1180	117	6	concurrency	concurrency	NOUN
sc-1180	117	7	control	control	NOUN
sc-1180	117	8	management	management	NOUN
sc-1180	117	9	as	as	ADP
sc-1180	117	10	the	the	DET
sc-1180	117	11	basis	basis	NOUN
sc-1180	117	12	of	of	ADP
sc-1180	117	13	our	our	PRON
sc-1180	117	14	domain	domain	NOUN
sc-1180	117	15	framework	framework	NOUN
sc-1180	117	16	.	.	PUNCT
sc-1180	118	1	we	we	PRON
sc-1180	118	2	will	will	AUX
sc-1180	118	3	describe	describe	VERB
sc-1180	118	4	in	in	ADP
sc-1180	118	5	this	this	DET
sc-1180	118	6	section	section	NOUN
sc-1180	118	7	how	how	SCONJ
sc-1180	118	8	we	we	PRON
sc-1180	118	9	implemented	implement	VERB
sc-1180	118	10	a	a	DET
sc-1180	118	11	discrete	discrete	ADJ
sc-1180	118	12	event	event	NOUN
sc-1180	118	13	simulation	simulation	NOUN
sc-1180	118	14	and	and	CCONJ
sc-1180	118	15	multi	multi	ADJ
sc-1180	118	16	-	-	ADJ
sc-1180	118	17	agent	agent	ADJ
sc-1180	118	18	system	system	NOUN
sc-1180	118	19	optimization	optimization	NOUN
sc-1180	118	20	of	of	ADP
sc-1180	118	21	vehicles	vehicle	NOUN
sc-1180	118	22	within	within	ADP
sc-1180	118	23	this	this	DET
sc-1180	118	24	control	control	NOUN
sc-1180	118	25	management	management	NOUN
sc-1180	118	26	approach	approach	NOUN
sc-1180	118	27	.	.	PUNCT
sc-1180	119	1	the	the	DET
sc-1180	119	2	core	core	NOUN
sc-1180	119	3	of	of	ADP
sc-1180	119	4	our	our	PRON
sc-1180	119	5	approach	approach	NOUN
sc-1180	119	6	is	be	AUX
sc-1180	119	7	a	a	DET
sc-1180	119	8	global	global	ADJ
sc-1180	119	9	dictionary	dictionary	PROPN
sc-1180	119	10	,	,	PUNCT
sc-1180	119	11	called	call	VERB
sc-1180	119	12	key	key	ADJ
sc-1180	119	13	-	-	PUNCT
sc-1180	119	14	value	value	NOUN
sc-1180	119	15	pool	pool	NOUN
sc-1180	119	16	(	(	PUNCT
sc-1180	119	17	kvpool	kvpool	NOUN
sc-1180	119	18	)	)	PUNCT
sc-1180	119	19	,	,	PUNCT
sc-1180	119	20	a	a	DET
sc-1180	119	21	centralized	centralized	ADJ
sc-1180	119	22	data	data	NOUN
sc-1180	119	23	storage	storage	NOUN
sc-1180	119	24	that	that	PRON
sc-1180	119	25	maintains	maintain	VERB
sc-1180	119	26	the	the	DET
sc-1180	119	27	complete	complete	ADJ
sc-1180	119	28	shared	share	VERB
sc-1180	119	29	world	world	NOUN
sc-1180	119	30	state	state	NOUN
sc-1180	119	31	of	of	ADP
sc-1180	119	32	the	the	DET
sc-1180	119	33	virtual	virtual	ADJ
sc-1180	119	34	testbed	testbed	NOUN
sc-1180	119	35	.	.	PUNCT
sc-1180	120	1	each	each	DET
sc-1180	120	2	simulation	simulation	NOUN
sc-1180	120	3	component	component	NOUN
sc-1180	120	4	that	that	PRON
sc-1180	120	5	reads	read	VERB
sc-1180	120	6	or	or	CCONJ
sc-1180	120	7	write	write	VERB
sc-1180	120	8	data	datum	NOUN
sc-1180	120	9	to	to	ADP
sc-1180	120	10	the	the	DET
sc-1180	120	11	kvpool	kvpool	NOUN
sc-1180	120	12	is	be	AUX
sc-1180	120	13	summarized	summarize	VERB
sc-1180	120	14	as	as	ADP
sc-1180	120	15	a	a	DET
sc-1180	120	16	entity	entity	NOUN
sc-1180	120	17	.	.	PUNCT
sc-1180	121	1	each	each	DET
sc-1180	121	2	entity	entity	NOUN
sc-1180	121	3	that	that	PRON
sc-1180	121	4	needs	need	VERB
sc-1180	121	5	to	to	PART
sc-1180	121	6	share	share	VERB
sc-1180	121	7	data	datum	NOUN
sc-1180	121	8	to	to	ADP
sc-1180	121	9	other	other	ADJ
sc-1180	121	10	entities	entity	NOUN
sc-1180	121	11	registers	register	VERB
sc-1180	121	12	this	this	DET
sc-1180	121	13	shared	share	VERB
sc-1180	121	14	data	datum	NOUN
sc-1180	121	15	to	to	ADP
sc-1180	121	16	the	the	DET
sc-1180	121	17	kvpool	kvpool	NOUN
sc-1180	121	18	.	.	PUNCT
sc-1180	122	1	examples	example	NOUN
sc-1180	122	2	for	for	ADP
sc-1180	122	3	such	such	ADJ
sc-1180	122	4	shared	share	VERB
sc-1180	122	5	data	datum	NOUN
sc-1180	122	6	are	be	AUX
sc-1180	122	7	simulation	simulation	NOUN
sc-1180	122	8	time	time	NOUN
sc-1180	122	9	,	,	PUNCT
sc-1180	122	10	vehicle	vehicle	NOUN
sc-1180	122	11	position	position	NOUN
sc-1180	122	12	,	,	PUNCT
sc-1180	122	13	sensor	sensor	NOUN
sc-1180	122	14	measurements	measurement	NOUN
sc-1180	122	15	or	or	CCONJ
sc-1180	122	16	actuator	actuator	NOUN
sc-1180	122	17	commands	command	NOUN
sc-1180	122	18	.	.	PUNCT
sc-1180	123	1	registering	register	VERB
sc-1180	123	2	shared	share	VERB
sc-1180	123	3	data	datum	NOUN
sc-1180	123	4	means	mean	VERB
sc-1180	123	5	the	the	DET
sc-1180	123	6	creation	creation	NOUN
sc-1180	123	7	of	of	ADP
sc-1180	123	8	a	a	DET
sc-1180	123	9	key	key	ADJ
sc-1180	123	10	-	-	PUNCT
sc-1180	123	11	value	value	NOUN
sc-1180	123	12	pair	pair	NOUN
sc-1180	123	13	(	(	PUNCT
sc-1180	123	14	kvpair	kvpair	NOUN
sc-1180	123	15	)	)	PUNCT
sc-1180	123	16	in	in	ADP
sc-1180	123	17	the	the	DET
sc-1180	123	18	global	global	ADJ
sc-1180	123	19	kvpool	kvpool	NOUN
sc-1180	123	20	with	with	ADP
sc-1180	123	21	a	a	DET
sc-1180	123	22	unique	unique	ADJ
sc-1180	123	23	key	key	NOUN
sc-1180	123	24	which	which	PRON
sc-1180	123	25	is	be	AUX
sc-1180	123	26	required	require	VERB
sc-1180	123	27	for	for	ADP
sc-1180	123	28	fast	fast	ADJ
sc-1180	123	29	identification	identification	NOUN
sc-1180	123	30	.	.	PUNCT
sc-1180	124	1	if	if	SCONJ
sc-1180	124	2	entities	entity	NOUN
sc-1180	124	3	want	want	VERB
sc-1180	124	4	access	access	NOUN
sc-1180	124	5	to	to	ADP
sc-1180	124	6	the	the	DET
sc-1180	124	7	data	datum	NOUN
sc-1180	124	8	,	,	PUNCT
sc-1180	124	9	they	they	PRON
sc-1180	124	10	simply	simply	ADV
sc-1180	124	11	have	have	VERB
sc-1180	124	12	to	to	PART
sc-1180	124	13	pass	pass	VERB
sc-1180	124	14	this	this	DET
sc-1180	124	15	key	key	NOUN
sc-1180	124	16	to	to	ADP
sc-1180	124	17	the	the	DET
sc-1180	124	18	kvpool	kvpool	NOUN
sc-1180	124	19	.	.	PUNCT
sc-1180	125	1	each	each	DET
sc-1180	125	2	kvpair	kvpair	NOUN
sc-1180	125	3	can	can	AUX
sc-1180	125	4	be	be	AUX
sc-1180	125	5	composed	compose	VERB
sc-1180	125	6	of	of	ADP
sc-1180	125	7	arbitrary	arbitrary	ADJ
sc-1180	125	8	content	content	NOUN
sc-1180	125	9	,	,	PUNCT
sc-1180	125	10	such	such	ADJ
sc-1180	125	11	as	as	ADP
sc-1180	125	12	vectors	vector	NOUN
sc-1180	125	13	,	,	PUNCT
sc-1180	125	14	matrices	matrix	NOUN
sc-1180	125	15	,	,	PUNCT
sc-1180	125	16	arbitrary	arbitrary	ADJ
sc-1180	125	17	numerics	numeric	NOUN
sc-1180	125	18	or	or	CCONJ
sc-1180	125	19	geometry	geometry	NOUN
sc-1180	125	20	.	.	PUNCT
sc-1180	126	1	consequently	consequently	ADV
sc-1180	126	2	,	,	PUNCT
sc-1180	126	3	one	one	NUM
sc-1180	126	4	kvpair	kvpair	NOUN
sc-1180	126	5	can	can	AUX
sc-1180	126	6	have	have	VERB
sc-1180	126	7	an	an	DET
sc-1180	126	8	arbitrary	arbitrary	ADJ
sc-1180	126	9	amount	amount	NOUN
sc-1180	126	10	of	of	ADP
sc-1180	126	11	member	member	NOUN
sc-1180	126	12	data	datum	NOUN
sc-1180	126	13	which	which	PRON
sc-1180	126	14	makes	make	VERB
sc-1180	126	15	a	a	DET
sc-1180	126	16	kvpair	kvpair	NOUN
sc-1180	126	17	universally	universally	ADV
sc-1180	126	18	usable	usable	ADJ
sc-1180	126	19	.	.	PUNCT
sc-1180	127	1	we	we	PRON
sc-1180	127	2	presented	present	VERB
sc-1180	127	3	in	in	ADP
sc-1180	127	4	[	[	X
sc-1180	127	5	23][24	23][24	X
sc-1180	127	6	]	]	X
sc-1180	127	7	how	how	SCONJ
sc-1180	127	8	entities	entity	NOUN
sc-1180	127	9	can	can	AUX
sc-1180	127	10	access	access	VERB
sc-1180	127	11	the	the	DET
sc-1180	127	12	complete	complete	ADJ
sc-1180	127	13	shared	share	VERB
sc-1180	127	14	world	world	NOUN
sc-1180	127	15	state	state	NOUN
sc-1180	127	16	in	in	ADP
sc-1180	127	17	wait	wait	NOUN
sc-1180	127	18	-	-	PUNCT
sc-1180	127	19	free	free	ADJ
sc-1180	127	20	manner	manner	NOUN
sc-1180	127	21	.	.	PUNCT
sc-1180	128	1	in	in	ADP
sc-1180	128	2	contradiction	contradiction	NOUN
sc-1180	128	3	to	to	ADP
sc-1180	128	4	traditional	traditional	ADJ
sc-1180	128	5	lock	lock	NOUN
sc-1180	128	6	-	-	PUNCT
sc-1180	128	7	based	base	VERB
sc-1180	128	8	concurrency	concurrency	NOUN
sc-1180	128	9	approaches	approach	NOUN
sc-1180	128	10	which	which	PRON
sc-1180	128	11	are	be	AUX
sc-1180	128	12	used	use	VERB
sc-1180	128	13	by	by	ADP
sc-1180	128	14	current	current	ADJ
sc-1180	128	15	virtual	virtual	ADJ
sc-1180	128	16	testbeds	testbed	NOUN
sc-1180	128	17	,	,	PUNCT
sc-1180	128	18	entities	entity	NOUN
sc-1180	128	19	do	do	AUX
sc-1180	128	20	not	not	PART
sc-1180	128	21	have	have	VERB
sc-1180	128	22	to	to	PART
sc-1180	128	23	acquire	acquire	VERB
sc-1180	128	24	a	a	DET
sc-1180	128	25	lock	lock	NOUN
sc-1180	128	26	before	before	ADP
sc-1180	128	27	manipulating	manipulate	VERB
sc-1180	128	28	our	our	PRON
sc-1180	128	29	concurrently	concurrently	ADV
sc-1180	128	30	shared	share	VERB
sc-1180	128	31	world	world	NOUN
sc-1180	128	32	state	state	NOUN
sc-1180	128	33	.	.	PUNCT
sc-1180	129	1	consequently	consequently	ADV
sc-1180	129	2	,	,	PUNCT
sc-1180	129	3	no	no	DET
sc-1180	129	4	synchronisation	synchronisation	NOUN
sc-1180	129	5	overhead	overhead	NOUN
sc-1180	129	6	is	be	AUX
sc-1180	129	7	needed	need	VERB
sc-1180	129	8	when	when	SCONJ
sc-1180	129	9	solving	solve	VERB
sc-1180	129	10	for	for	ADP
sc-1180	129	11	concurrent	concurrent	ADJ
sc-1180	129	12	access	access	NOUN
sc-1180	129	13	.	.	PUNCT
sc-1180	130	1	this	this	PRON
sc-1180	130	2	leads	lead	VERB
sc-1180	130	3	to	to	ADP
sc-1180	130	4	a	a	DET
sc-1180	130	5	dramatic	dramatic	ADJ
sc-1180	130	6	performance	performance	NOUN
sc-1180	130	7	increase	increase	NOUN
sc-1180	130	8	with	with	ADP
sc-1180	130	9	respect	respect	NOUN
sc-1180	130	10	to	to	ADP
sc-1180	130	11	traditional	traditional	ADJ
sc-1180	130	12	locking	locking	NOUN
sc-1180	130	13	approaches	approach	NOUN
sc-1180	130	14	for	for	ADP
sc-1180	130	15	massively	massively	ADV
sc-1180	130	16	parallel	parallel	ADJ
sc-1180	130	17	access	access	NOUN
sc-1180	130	18	up	up	ADP
sc-1180	130	19	to	to	ADP
sc-1180	130	20	several	several	ADJ
sc-1180	130	21	orders	order	NOUN
sc-1180	130	22	of	of	ADP
sc-1180	130	23	magnitude	magnitude	NOUN
sc-1180	130	24	.	.	PUNCT
sc-1180	131	1	in	in	ADP
sc-1180	131	2	addition	addition	NOUN
sc-1180	131	3	to	to	ADP
sc-1180	131	4	the	the	DET
sc-1180	131	5	wait	wait	VERB
sc-1180	131	6	-	-	PUNCT
sc-1180	131	7	free	free	ADJ
sc-1180	131	8	access	access	NOUN
sc-1180	131	9	of	of	ADP
sc-1180	131	10	the	the	DET
sc-1180	131	11	kvpool	kvpool	NOUN
sc-1180	131	12	,	,	PUNCT
sc-1180	131	13	the	the	DET
sc-1180	131	14	approach	approach	NOUN
sc-1180	131	15	delivers	deliver	VERB
sc-1180	131	16	a	a	DET
sc-1180	131	17	homogeneous	homogeneous	ADJ
sc-1180	131	18	interface	interface	NOUN
sc-1180	131	19	for	for	ADP
sc-1180	131	20	accessing	access	VERB
sc-1180	131	21	the	the	DET
sc-1180	131	22	simulation	simulation	NOUN
sc-1180	131	23	state	state	NOUN
sc-1180	131	24	as	as	ADV
sc-1180	131	25	well	well	ADV
sc-1180	131	26	as	as	ADP
sc-1180	131	27	for	for	ADP
sc-1180	131	28	entity	entity	NOUN
sc-1180	131	29	communication	communication	NOUN
sc-1180	131	30	.	.	PUNCT
sc-1180	132	1	such	such	ADJ
sc-1180	132	2	relationships	relationship	NOUN
sc-1180	132	3	are	be	AUX
sc-1180	132	4	defined	define	VERB
sc-1180	132	5	by	by	ADP
sc-1180	132	6	a	a	DET
sc-1180	132	7	set	set	NOUN
sc-1180	132	8	of	of	ADP
sc-1180	132	9	kvpair	kvpair	NOUN
sc-1180	132	10	read	read	VERB
sc-1180	132	11	and	and	CCONJ
sc-1180	132	12	write	write	VERB
sc-1180	132	13	operations	operation	NOUN
sc-1180	132	14	.	.	PUNCT
sc-1180	133	1	this	this	DET
sc-1180	133	2	encapsulation	encapsulation	NOUN
sc-1180	133	3	as	as	SCONJ
sc-1180	133	4	kvpairs	kvpairs	NOUN
sc-1180	133	5	leads	lead	VERB
sc-1180	133	6	to	to	ADP
sc-1180	133	7	easier	easy	ADJ
sc-1180	133	8	dsl	dsl	VERB
sc-1180	133	9	modelling	modelling	NOUN
sc-1180	133	10	concepts	concept	NOUN
sc-1180	133	11	as	as	ADP
sc-1180	133	12	the	the	DET
sc-1180	133	13	code	code	NOUN
sc-1180	133	14	generation	generation	NOUN
sc-1180	133	15	for	for	ADP
sc-1180	133	16	accessing	access	VERB
sc-1180	133	17	simulation	simulation	NOUN
sc-1180	133	18	state	state	NOUN
sc-1180	133	19	as	as	ADV
sc-1180	133	20	well	well	ADV
sc-1180	133	21	as	as	ADP
sc-1180	133	22	for	for	ADP
sc-1180	133	23	simulation	simulation	NOUN
sc-1180	133	24	component	component	NOUN
sc-1180	133	25	data	datum	NOUN
sc-1180	133	26	exchange	exchange	NOUN
sc-1180	133	27	can	can	AUX
sc-1180	133	28	be	be	AUX
sc-1180	133	29	represented	represent	VERB
sc-1180	133	30	by	by	ADP
sc-1180	133	31	simply	simply	ADV
sc-1180	133	32	delivering	deliver	VERB
sc-1180	133	33	the	the	DET
sc-1180	133	34	corresponding	corresponding	ADJ
sc-1180	133	35	key	key	NOUN
sc-1180	133	36	for	for	ADP
sc-1180	133	37	read	read	NOUN
sc-1180	133	38	and	and	CCONJ
sc-1180	133	39	write	write	VERB
sc-1180	133	40	access	access	NOUN
sc-1180	133	41	.	.	PUNCT
sc-1180	134	1	current	current	ADJ
sc-1180	134	2	virtual	virtual	ADJ
sc-1180	134	3	testbed	testbe	VERB
sc-1180	134	4	data	datum	NOUN
sc-1180	134	5	storage	storage	NOUN
sc-1180	134	6	approaches	approach	NOUN
sc-1180	134	7	even	even	ADV
sc-1180	134	8	use	use	VERB
sc-1180	134	9	full	full	ADJ
sc-1180	134	10	-	-	PUNCT
sc-1180	134	11	fledged	fledge	VERB
sc-1180	134	12	sql	sql	NOUN
sc-1180	134	13	databases	database	NOUN
sc-1180	134	14	[	[	X
sc-1180	134	15	17][15][5	17][15][5	NOUN
sc-1180	134	16	]	]	PUNCT
sc-1180	134	17	.	.	PUNCT
sc-1180	135	1	in	in	ADP
sc-1180	135	2	contrast	contrast	NOUN
sc-1180	135	3	to	to	ADP
sc-1180	135	4	our	our	PRON
sc-1180	135	5	kvpool	kvpool	NOUN
sc-1180	135	6	,	,	PUNCT
sc-1180	135	7	such	such	ADJ
sc-1180	135	8	approaches	approach	NOUN
sc-1180	135	9	would	would	AUX
sc-1180	135	10	make	make	VERB
sc-1180	135	11	code	code	NOUN
sc-1180	135	12	generation	generation	NOUN
sc-1180	135	13	way	way	NOUN
sc-1180	135	14	more	more	ADV
sc-1180	135	15	complicated	complicated	ADJ
sc-1180	135	16	as	as	ADP
sc-1180	135	17	complete	complete	ADJ
sc-1180	135	18	sql	sql	NOUN
sc-1180	135	19	-	-	PUNCT
sc-1180	135	20	queries	query	NOUN
sc-1180	135	21	would	would	AUX
sc-1180	135	22	need	need	VERB
sc-1180	135	23	to	to	PART
sc-1180	135	24	be	be	AUX
sc-1180	135	25	generated	generate	VERB
sc-1180	135	26	for	for	ADP
sc-1180	135	27	accessing	access	VERB
sc-1180	135	28	the	the	DET
sc-1180	135	29	simulation	simulation	NOUN
sc-1180	135	30	state	state	NOUN
sc-1180	135	31	.	.	PUNCT
sc-1180	136	1	consequently	consequently	ADV
sc-1180	136	2	,	,	PUNCT
sc-1180	136	3	our	our	PRON
sc-1180	136	4	concurrency	concurrency	NOUN
sc-1180	136	5	management	management	NOUN
sc-1180	136	6	approach	approach	NOUN
sc-1180	136	7	delivers	deliver	VERB
sc-1180	136	8	real	real	ADJ
sc-1180	136	9	-	-	PUNCT
sc-1180	136	10	time	time	NOUN
sc-1180	136	11	performance	performance	NOUN
sc-1180	136	12	as	as	ADV
sc-1180	136	13	well	well	ADV
sc-1180	136	14	as	as	ADP
sc-1180	136	15	high	high	ADJ
sc-1180	136	16	software	software	NOUN
sc-1180	136	17	cohesion	cohesion	NOUN
sc-1180	136	18	which	which	PRON
sc-1180	136	19	facilitates	facilitate	VERB
sc-1180	136	20	code	code	NOUN
sc-1180	136	21	generation	generation	NOUN
sc-1180	136	22	of	of	ADP
sc-1180	136	23	the	the	DET
sc-1180	136	24	overall	overall	ADJ
sc-1180	136	25	virtual	virtual	ADJ
sc-1180	136	26	testbed	testbe	VERB
sc-1180	136	27	.	.	PUNCT
sc-1180	137	1	within	within	ADP
sc-1180	137	2	our	our	PRON
sc-1180	137	3	kvpool	kvpool	NOUN
sc-1180	137	4	approach	approach	NOUN
sc-1180	137	5	,	,	PUNCT
sc-1180	137	6	we	we	PRON
sc-1180	137	7	describe	describe	VERB
sc-1180	137	8	a	a	DET
sc-1180	137	9	discrete	discrete	ADJ
sc-1180	137	10	event	event	NOUN
sc-1180	137	11	simulation	simulation	NOUN
sc-1180	137	12	loop	loop	NOUN
sc-1180	137	13	of	of	ADP
sc-1180	137	14	our	our	PRON
sc-1180	137	15	domain	domain	NOUN
sc-1180	137	16	framework	framework	NOUN
sc-1180	137	17	as	as	SCONJ
sc-1180	137	18	follows	follow	VERB
sc-1180	137	19	:	:	PUNCT
sc-1180	137	20	a	a	DET
sc-1180	137	21	state	state	NOUN
sc-1180	137	22	s	s	PART
sc-1180	137	23	=	=	SYM
sc-1180	137	24	(	(	PUNCT
sc-1180	137	25	t	t	PROPN
sc-1180	137	26	,	,	PUNCT
sc-1180	137	27	c	c	X
sc-1180	137	28	,	,	PUNCT
sc-1180	137	29	p	p	X
sc-1180	137	30	,	,	PUNCT
sc-1180	137	31	e	e	NOUN
sc-1180	137	32	)	)	PUNCT
sc-1180	137	33	of	of	ADP
sc-1180	137	34	our	our	PRON
sc-1180	137	35	virtual	virtual	ADJ
sc-1180	137	36	testbed	testbe	VERB
sc-1180	137	37	consists	consist	NOUN
sc-1180	137	38	of	of	ADP
sc-1180	137	39	simulation	simulation	NOUN
sc-1180	137	40	time	time	PROPN
sc-1180	137	41	t	t	PROPN
sc-1180	137	42	and	and	CCONJ
sc-1180	137	43	set	set	NOUN
sc-1180	137	44	of	of	ADP
sc-1180	137	45	entities	entity	NOUN
sc-1180	137	46	c	c	NOUN
sc-1180	137	47	,	,	PUNCT
sc-1180	137	48	key	key	ADJ
sc-1180	137	49	-	-	PUNCT
sc-1180	137	50	value	value	NOUN
sc-1180	137	51	pairs	pair	NOUN
sc-1180	137	52	p	p	NOUN
sc-1180	137	53	,	,	PUNCT
sc-1180	137	54	and	and	CCONJ
sc-1180	137	55	events	event	NOUN
sc-1180	137	56	e.	e.	PROPN
sc-1180	137	57	additionally	additionally	ADV
sc-1180	137	58	,	,	PUNCT
sc-1180	137	59	a	a	DET
sc-1180	137	60	transition	transition	NOUN
sc-1180	137	61	function	function	NOUN
sc-1180	137	62	δ	δ	PROPN
sc-1180	137	63	is	be	AUX
sc-1180	137	64	defined	define	VERB
sc-1180	137	65	:	:	PUNCT
sc-1180	137	66	δ(tn	δ(tn	NOUN
sc-1180	137	67	,	,	PUNCT
sc-1180	137	68	c	c	X
sc-1180	137	69	,	,	PUNCT
sc-1180	137	70	p	p	X
sc-1180	137	71	,	,	PUNCT
sc-1180	137	72	e	e	NOUN
sc-1180	137	73	)	)	PUNCT
sc-1180	137	74	=	=	SYM
sc-1180	137	75	(	(	PUNCT
sc-1180	137	76	tn+1	tn+1	PROPN
sc-1180	137	77	,	,	PUNCT
sc-1180	137	78	c	c	X
sc-1180	137	79	,	,	PUNCT
sc-1180	137	80	p	p	NOUN
sc-1180	137	81	′	′	NOUN
sc-1180	137	82	,	,	PUNCT
sc-1180	137	83	e′	e′	ADJ
sc-1180	137	84	)	)	PUNCT
sc-1180	137	85	in	in	ADP
sc-1180	137	86	each	each	DET
sc-1180	137	87	transition	transition	NOUN
sc-1180	137	88	,	,	PUNCT
sc-1180	137	89	the	the	DET
sc-1180	137	90	key	key	ADJ
sc-1180	137	91	-	-	PUNCT
sc-1180	137	92	value	value	NOUN
sc-1180	137	93	pairs	pair	NOUN
sc-1180	137	94	in	in	ADP
sc-1180	137	95	the	the	DET
sc-1180	137	96	key	key	ADJ
sc-1180	137	97	-	-	PUNCT
sc-1180	137	98	value	value	NOUN
sc-1180	137	99	pool	pool	NOUN
sc-1180	137	100	are	be	AUX
sc-1180	137	101	updated	update	VERB
sc-1180	137	102	by	by	ADP
sc-1180	137	103	the	the	DET
sc-1180	137	104	entities	entity	NOUN
sc-1180	137	105	and	and	CCONJ
sc-1180	137	106	new	new	ADJ
sc-1180	137	107	transition	transition	NOUN
sc-1180	137	108	events	event	NOUN
sc-1180	137	109	are	be	AUX
sc-1180	137	110	generated	generate	VERB
sc-1180	137	111	by	by	ADP
sc-1180	137	112	the	the	DET
sc-1180	137	113	system	system	NOUN
sc-1180	137	114	.	.	PUNCT
sc-1180	138	1	to	to	PART
sc-1180	138	2	enable	enable	VERB
sc-1180	138	3	the	the	DET
sc-1180	138	4	modelling	modelling	NOUN
sc-1180	138	5	of	of	ADP
sc-1180	138	6	vehicle	vehicle	NOUN
sc-1180	138	7	environment	environment	NOUN
sc-1180	138	8	interaction	interaction	NOUN
sc-1180	138	9	,	,	PUNCT
sc-1180	138	10	entities	entity	NOUN
sc-1180	138	11	can	can	AUX
sc-1180	138	12	incorporate	incorporate	VERB
sc-1180	138	13	one	one	NUM
sc-1180	138	14	of	of	ADP
sc-1180	138	15	four	four	NUM
sc-1180	138	16	types	type	NOUN
sc-1180	138	17	:	:	PUNCT
sc-1180	138	18	•	•	NUM
sc-1180	138	19	environment	environment	NOUN
sc-1180	138	20	:	:	PUNCT
sc-1180	138	21	defines	define	VERB
sc-1180	138	22	simulation	simulation	NOUN
sc-1180	138	23	aspects	aspect	NOUN
sc-1180	138	24	from	from	ADP
sc-1180	138	25	the	the	DET
sc-1180	138	26	environment	environment	NOUN
sc-1180	138	27	in	in	ADP
sc-1180	138	28	which	which	PRON
sc-1180	138	29	the	the	DET
sc-1180	138	30	vehicle	vehicle	NOUN
sc-1180	138	31	is	be	AUX
sc-1180	138	32	situated	situate	VERB
sc-1180	138	33	.	.	PUNCT
sc-1180	139	1	these	these	DET
sc-1180	139	2	aspects	aspect	NOUN
sc-1180	139	3	can	can	AUX
sc-1180	139	4	incorporate	incorporate	VERB
sc-1180	139	5	physical	physical	ADJ
sc-1180	139	6	forces	force	NOUN
sc-1180	139	7	such	such	ADJ
sc-1180	139	8	as	as	ADP
sc-1180	139	9	gravitation	gravitation	NOUN
sc-1180	139	10	,	,	PUNCT
sc-1180	139	11	air	air	NOUN
sc-1180	139	12	drag	drag	PROPN
sc-1180	139	13	,	,	PUNCT
sc-1180	139	14	pressure	pressure	NOUN
sc-1180	139	15	,	,	PUNCT
sc-1180	139	16	kinematics	kinematic	NOUN
sc-1180	139	17	,	,	PUNCT
sc-1180	139	18	or	or	CCONJ
sc-1180	139	19	even	even	ADV
sc-1180	139	20	virtual	virtual	ADJ
sc-1180	139	21	reality	reality	NOUN
sc-1180	139	22	based	base	VERB
sc-1180	139	23	approaches	approach	NOUN
sc-1180	139	24	like	like	ADP
sc-1180	139	25	collision	collision	NOUN
sc-1180	139	26	detection	detection	NOUN
sc-1180	139	27	.	.	PUNCT
sc-1180	140	1	•	•	NOUN
sc-1180	140	2	interface	interface	NOUN
sc-1180	140	3	:	:	PUNCT
sc-1180	140	4	defines	define	VERB
sc-1180	140	5	the	the	DET
sc-1180	140	6	sensors	sensor	NOUN
sc-1180	140	7	and	and	CCONJ
sc-1180	140	8	actuators	actuator	NOUN
sc-1180	140	9	of	of	ADP
sc-1180	140	10	a	a	DET
sc-1180	140	11	vehicle	vehicle	NOUN
sc-1180	140	12	,	,	PUNCT
sc-1180	140	13	e.g.	e.g.	ADV
sc-1180	140	14	thrusters	thruster	NOUN
sc-1180	140	15	,	,	PUNCT
sc-1180	140	16	gyroscopes	gyroscope	NOUN
sc-1180	140	17	,	,	PUNCT
sc-1180	140	18	cameras	camera	NOUN
sc-1180	140	19	,	,	PUNCT
sc-1180	140	20	or	or	CCONJ
sc-1180	140	21	range	range	NOUN
sc-1180	140	22	finder	finder	NOUN
sc-1180	140	23	sensors	sensor	NOUN
sc-1180	140	24	.	.	PUNCT
sc-1180	141	1	•	•	NUM
sc-1180	141	2	vehicle	vehicle	NOUN
sc-1180	141	3	:	:	PUNCT
sc-1180	141	4	defines	define	VERB
sc-1180	141	5	internal	internal	ADJ
sc-1180	141	6	vehicle	vehicle	NOUN
sc-1180	141	7	components	component	NOUN
sc-1180	141	8	such	such	ADJ
sc-1180	141	9	as	as	ADP
sc-1180	141	10	control	control	NOUN
sc-1180	141	11	loops	loop	NOUN
sc-1180	141	12	,	,	PUNCT
sc-1180	141	13	localization	localization	NOUN
sc-1180	141	14	concepts	concept	NOUN
sc-1180	141	15	,	,	PUNCT
sc-1180	141	16	sensor	sensor	NOUN
sc-1180	141	17	fusion	fusion	NOUN
sc-1180	141	18	algorithms	algorithm	NOUN
sc-1180	141	19	,	,	PUNCT
sc-1180	141	20	bdi	bdi	PROPN
sc-1180	141	21	-	-	PUNCT
sc-1180	141	22	structures	structure	NOUN
sc-1180	141	23	or	or	CCONJ
sc-1180	141	24	target	target	NOUN
sc-1180	141	25	detection	detection	NOUN
sc-1180	141	26	.	.	PUNCT
sc-1180	142	1	•	•	NUM
sc-1180	142	2	agent	agent	NOUN
sc-1180	142	3	:	:	PUNCT
sc-1180	142	4	defines	define	VERB
sc-1180	142	5	an	an	DET
sc-1180	142	6	agent	agent	NOUN
sc-1180	142	7	for	for	ADP
sc-1180	142	8	observing	observe	VERB
sc-1180	142	9	and	and	CCONJ
sc-1180	142	10	optimizing	optimize	VERB
sc-1180	142	11	an	an	DET
sc-1180	142	12	associated	associated	ADJ
sc-1180	142	13	vehicle	vehicle	NOUN
sc-1180	142	14	configuration	configuration	NOUN
sc-1180	142	15	parameter	parameter	NOUN
sc-1180	142	16	.	.	PUNCT
sc-1180	143	1	for	for	ADP
sc-1180	143	2	delivering	deliver	VERB
sc-1180	143	3	a	a	DET
sc-1180	143	4	highly	highly	ADV
sc-1180	143	5	generic	generic	ADJ
sc-1180	143	6	framework	framework	NOUN
sc-1180	143	7	which	which	PRON
sc-1180	143	8	can	can	AUX
sc-1180	143	9	be	be	AUX
sc-1180	143	10	adapted	adapt	VERB
sc-1180	143	11	to	to	ADP
sc-1180	143	12	many	many	ADJ
sc-1180	143	13	hardware	hardware	NOUN
sc-1180	143	14	configurations	configuration	NOUN
sc-1180	143	15	,	,	PUNCT
sc-1180	143	16	those	those	DET
sc-1180	143	17	entities	entity	NOUN
sc-1180	143	18	can	can	AUX
sc-1180	143	19	be	be	AUX
sc-1180	143	20	situated	situate	VERB
sc-1180	143	21	in	in	ADP
sc-1180	143	22	our	our	PRON
sc-1180	143	23	discrete	discrete	ADJ
sc-1180	143	24	event	event	NOUN
sc-1180	143	25	simulation	simulation	NOUN
sc-1180	143	26	loop	loop	NOUN
sc-1180	143	27	in	in	ADP
sc-1180	143	28	one	one	NUM
sc-1180	143	29	of	of	ADP
sc-1180	143	30	two	two	NUM
sc-1180	143	31	ways	way	NOUN
sc-1180	143	32	:	:	PUNCT
sc-1180	143	33	first	first	ADJ
sc-1180	143	34	one	one	NUM
sc-1180	143	35	being	be	AUX
sc-1180	143	36	a	a	DET
sc-1180	143	37	cpu	cpu	VERB
sc-1180	143	38	-	-	PUNCT
sc-1180	143	39	gpu	gpu	NOUN
sc-1180	143	40	hybrid	hybrid	NOUN
sc-1180	143	41	,	,	PUNCT
sc-1180	143	42	second	second	ADJ
sc-1180	143	43	one	one	NUM
sc-1180	143	44	being	be	AUX
sc-1180	143	45	a	a	DET
sc-1180	143	46	purely	purely	ADV
sc-1180	143	47	cpu	cpu	NOUN
sc-1180	143	48	based	base	VERB
sc-1180	143	49	approach	approach	NOUN
sc-1180	143	50	.	.	PUNCT
sc-1180	144	1	in	in	ADP
sc-1180	144	2	both	both	DET
sc-1180	144	3	versions	version	NOUN
sc-1180	144	4	,	,	PUNCT
sc-1180	144	5	entities	entity	NOUN
sc-1180	144	6	that	that	PRON
sc-1180	144	7	simulate	simulate	VERB
sc-1180	144	8	the	the	DET
sc-1180	144	9	vehicle	vehicle	NOUN
sc-1180	144	10	in	in	ADP
sc-1180	144	11	its	its	PRON
sc-1180	144	12	designated	designate	VERB
sc-1180	144	13	environment	environment	NOUN
sc-1180	144	14	are	be	AUX
sc-1180	144	15	directly	directly	ADV
sc-1180	144	16	mapped	map	VERB
sc-1180	144	17	to	to	ADP
sc-1180	144	18	our	our	PRON
sc-1180	144	19	generic	generic	ADJ
sc-1180	144	20	vehicle	vehicle	NOUN
sc-1180	144	21	simulation	simulation	PROPN
sc-1180	144	22	loop	loop	PROPN
sc-1180	144	23	,	,	PUNCT
sc-1180	144	24	imposing	impose	VERB
sc-1180	144	25	a	a	DET
sc-1180	144	26	clear	clear	ADJ
sc-1180	144	27	engineering	engineering	NOUN
sc-1180	144	28	concept	concept	NOUN
sc-1180	144	29	even	even	ADV
sc-1180	144	30	on	on	ADP
sc-1180	144	31	source	source	NOUN
sc-1180	144	32	code	code	NOUN
sc-1180	144	33	level	level	NOUN
sc-1180	144	34	.	.	PUNCT
sc-1180	145	1	the	the	DET
sc-1180	145	2	versions	version	NOUN
sc-1180	145	3	differentiate	differentiate	VERB
sc-1180	145	4	in	in	ADP
sc-1180	145	5	the	the	DET
sc-1180	145	6	way	way	NOUN
sc-1180	145	7	that	that	PRON
sc-1180	145	8	the	the	DET
sc-1180	145	9	computation	computation	NOUN
sc-1180	145	10	of	of	ADP
sc-1180	145	11	the	the	DET
sc-1180	145	12	multi	multi	ADJ
sc-1180	145	13	-	-	ADJ
sc-1180	145	14	agent	agent	ADJ
sc-1180	145	15	system	system	NOUN
sc-1180	145	16	is	be	AUX
sc-1180	145	17	either	either	ADV
sc-1180	145	18	done	do	VERB
sc-1180	145	19	on	on	ADP
sc-1180	145	20	the	the	DET
sc-1180	145	21	gpu	gpu	NOUN
sc-1180	145	22	or	or	CCONJ
sc-1180	145	23	cpu	cpu	NOUN
sc-1180	145	24	.	.	PUNCT
sc-1180	146	1	in	in	ADP
sc-1180	146	2	the	the	DET
sc-1180	146	3	first	first	ADJ
sc-1180	146	4	case	case	NOUN
sc-1180	146	5	,	,	PUNCT
sc-1180	146	6	the	the	DET
sc-1180	146	7	multi	multi	ADJ
sc-1180	146	8	-	-	ADJ
sc-1180	146	9	agent	agent	ADJ
sc-1180	146	10	system	system	NOUN
sc-1180	146	11	will	will	AUX
sc-1180	146	12	be	be	AUX
sc-1180	146	13	computed	compute	VERB
sc-1180	146	14	on	on	ADP
sc-1180	146	15	the	the	DET
sc-1180	146	16	gpu	gpu	NOUN
sc-1180	146	17	and	and	CCONJ
sc-1180	146	18	the	the	DET
sc-1180	146	19	data	data	NOUN
sc-1180	146	20	transfer	transfer	NOUN
sc-1180	146	21	is	be	AUX
sc-1180	146	22	done	do	VERB
sc-1180	146	23	via	via	ADP
sc-1180	146	24	one	one	NUM
sc-1180	146	25	entity	entity	NOUN
sc-1180	146	26	.	.	PUNCT
sc-1180	147	1	in	in	ADP
sc-1180	147	2	the	the	DET
sc-1180	147	3	cpu	cpu	NOUN
sc-1180	147	4	based	base	VERB
sc-1180	147	5	approach	approach	NOUN
sc-1180	147	6	,	,	PUNCT
sc-1180	147	7	every	every	DET
sc-1180	147	8	agent	agent	NOUN
sc-1180	147	9	is	be	AUX
sc-1180	147	10	modelled	model	VERB
sc-1180	147	11	as	as	ADP
sc-1180	147	12	one	one	NUM
sc-1180	147	13	entity	entity	NOUN
sc-1180	147	14	.	.	PUNCT
sc-1180	148	1	in	in	ADP
sc-1180	148	2	both	both	DET
sc-1180	148	3	versions	version	NOUN
sc-1180	148	4	,	,	PUNCT
sc-1180	148	5	all	all	DET
sc-1180	148	6	entities	entity	NOUN
sc-1180	148	7	benefit	benefit	VERB
sc-1180	148	8	from	from	ADP
sc-1180	148	9	our	our	PRON
sc-1180	148	10	massively	massively	ADV
sc-1180	148	11	parallel	parallel	ADJ
sc-1180	148	12	domain	domain	NOUN
sc-1180	148	13	framework	framework	NOUN
sc-1180	148	14	,	,	PUNCT
sc-1180	148	15	which	which	PRON
sc-1180	148	16	enables	enable	VERB
sc-1180	148	17	access	access	NOUN
sc-1180	148	18	to	to	ADP
sc-1180	148	19	the	the	DET
sc-1180	148	20	kvpool	kvpool	NOUN
sc-1180	148	21	with	with	ADP
sc-1180	148	22	no	no	DET
sc-1180	148	23	synchronisation	synchronisation	NOUN
sc-1180	148	24	overhead	overhead	ADV
sc-1180	148	25	.	.	PUNCT
sc-1180	149	1	figure	figure	VERB
sc-1180	149	2	3	3	NUM
sc-1180	149	3	additionally	additionally	ADV
sc-1180	149	4	depicts	depict	VERB
sc-1180	149	5	these	these	DET
sc-1180	149	6	two	two	NUM
sc-1180	149	7	approaches	approach	NOUN
sc-1180	149	8	.	.	PUNCT
sc-1180	150	1	4	4	X
sc-1180	150	2	.	.	X
sc-1180	150	3	optimization	optimization	NOUN
sc-1180	150	4	of	of	ADP
sc-1180	150	5	vehicle	vehicle	NOUN
sc-1180	150	6	configuration	configuration	NOUN
sc-1180	150	7	the	the	DET
sc-1180	150	8	adaptation	adaptation	NOUN
sc-1180	150	9	system	system	NOUN
sc-1180	150	10	proposed	propose	VERB
sc-1180	150	11	here	here	ADV
sc-1180	150	12	is	be	AUX
sc-1180	150	13	based	base	VERB
sc-1180	150	14	on	on	ADP
sc-1180	150	15	a	a	DET
sc-1180	150	16	hierarchical	hierarchical	ADJ
sc-1180	150	17	mas	mas	NOUN
sc-1180	150	18	which	which	PRON
sc-1180	150	19	aims	aim	VERB
sc-1180	150	20	at	at	ADP
sc-1180	150	21	dynamically	dynamically	ADV
sc-1180	150	22	tuning	tune	VERB
sc-1180	150	23	all	all	DET
sc-1180	150	24	the	the	DET
sc-1180	150	25	vehicle	vehicle	NOUN
sc-1180	150	26	parameter	parameter	NOUN
sc-1180	150	27	values	value	NOUN
sc-1180	150	28	with	with	ADP
sc-1180	150	29	respect	respect	NOUN
sc-1180	150	30	to	to	ADP
sc-1180	150	31	the	the	DET
sc-1180	150	32	simulated	simulate	VERB
sc-1180	150	33	vehicle	vehicle	NOUN
sc-1180	150	34	performance	performance	NOUN
sc-1180	150	35	.	.	PUNCT
sc-1180	151	1	we	we	PRON
sc-1180	151	2	will	will	AUX
sc-1180	151	3	start	start	VERB
sc-1180	151	4	with	with	ADP
sc-1180	151	5	an	an	DET
sc-1180	151	6	overview	overview	NOUN
sc-1180	151	7	which	which	PRON
sc-1180	151	8	describes	describe	VERB
sc-1180	151	9	the	the	DET
sc-1180	151	10	overall	overall	ADJ
sc-1180	151	11	mas	mas	PROPN
sc-1180	151	12	infrastructure	infrastructure	NOUN
sc-1180	151	13	with	with	ADP
sc-1180	151	14	its	its	PRON
sc-1180	151	15	modular	modular	ADJ
sc-1180	151	16	agent	agent	NOUN
sc-1180	151	17	organizations	organization	NOUN
sc-1180	151	18	and	and	CCONJ
sc-1180	151	19	relationships	relationship	NOUN
sc-1180	151	20	to	to	ADP
sc-1180	151	21	the	the	DET
sc-1180	151	22	vehicle	vehicle	NOUN
sc-1180	151	23	simulation	simulation	NOUN
sc-1180	151	24	.	.	PUNCT
sc-1180	152	1	following	follow	VERB
sc-1180	152	2	this	this	PRON
sc-1180	152	3	,	,	PUNCT
sc-1180	152	4	we	we	PRON
sc-1180	152	5	describe	describe	VERB
sc-1180	152	6	the	the	DET
sc-1180	152	7	input	input	NOUN
sc-1180	152	8	and	and	CCONJ
sc-1180	152	9	output	output	NOUN
sc-1180	152	10	data	datum	NOUN
sc-1180	152	11	as	as	ADV
sc-1180	152	12	well	well	ADV
sc-1180	152	13	as	as	ADP
sc-1180	152	14	communication	communication	NOUN
sc-1180	152	15	structure	structure	NOUN
sc-1180	152	16	of	of	ADP
sc-1180	152	17	the	the	DET
sc-1180	152	18	agents	agent	NOUN
sc-1180	152	19	.	.	PUNCT
sc-1180	153	1	additionally	additionally	ADV
sc-1180	153	2	,	,	PUNCT
sc-1180	153	3	we	we	PRON
sc-1180	153	4	will	will	AUX
sc-1180	153	5	describe	describe	VERB
sc-1180	153	6	the	the	DET
sc-1180	153	7	adaptation	adaptation	NOUN
sc-1180	153	8	solving	solving	NOUN
sc-1180	153	9	process	process	NOUN
sc-1180	153	10	with	with	ADP
sc-1180	153	11	its	its	PRON
sc-1180	153	12	negotiation	negotiation	NOUN
sc-1180	153	13	mechanisms	mechanism	NOUN
sc-1180	153	14	and	and	CCONJ
sc-1180	153	15	how	how	SCONJ
sc-1180	153	16	even	even	ADV
sc-1180	153	17	contradictory	contradictory	ADJ
sc-1180	153	18	simulation	simulation	NOUN
sc-1180	153	19	goals	goal	NOUN
sc-1180	153	20	can	can	AUX
sc-1180	153	21	be	be	AUX
sc-1180	153	22	satisfied	satisfied	ADJ
sc-1180	153	23	.	.	PUNCT
sc-1180	154	1	our	our	PRON
sc-1180	154	2	mas	mas	PROPN
sc-1180	154	3	is	be	AUX
sc-1180	154	4	composed	compose	VERB
sc-1180	154	5	of	of	ADP
sc-1180	154	6	several	several	ADJ
sc-1180	154	7	agent	agent	NOUN
sc-1180	154	8	organizations	organization	NOUN
sc-1180	154	9	which	which	PRON
sc-1180	154	10	aim	aim	VERB
sc-1180	154	11	at	at	ADP
sc-1180	154	12	optimizing	optimize	VERB
sc-1180	154	13	each	each	DET
sc-1180	154	14	a	a	DET
sc-1180	154	15	subset	subset	NOUN
sc-1180	154	16	of	of	ADP
sc-1180	154	17	vehicle	vehicle	NOUN
sc-1180	154	18	parameters	parameter	NOUN
sc-1180	154	19	to	to	PART
sc-1180	154	20	attain	attain	VERB
sc-1180	154	21	a	a	DET
sc-1180	154	22	pre	pre	ADJ
sc-1180	154	23	-	-	ADJ
sc-1180	154	24	defined	define	VERB
sc-1180	154	25	simulation	simulation	NOUN
sc-1180	154	26	goal	goal	NOUN
sc-1180	154	27	by	by	ADP
sc-1180	154	28	improving	improve	VERB
sc-1180	154	29	the	the	DET
sc-1180	154	30	simulated	simulated	ADJ
sc-1180	154	31	vehicle	vehicle	NOUN
sc-1180	154	32	performance	performance	NOUN
sc-1180	154	33	.	.	PUNCT
sc-1180	155	1	these	these	DET
sc-1180	155	2	agent	agent	NOUN
sc-1180	155	3	organizations	organization	NOUN
sc-1180	155	4	are	be	AUX
sc-1180	155	5	defined	define	VERB
sc-1180	155	6	for	for	ADP
sc-1180	155	7	each	each	DET
sc-1180	155	8	specified	specify	VERB
sc-1180	155	9	simulation	simulation	NOUN
sc-1180	155	10	goal	goal	NOUN
sc-1180	155	11	and	and	CCONJ
sc-1180	155	12	consist	consist	VERB
sc-1180	155	13	of	of	ADP
sc-1180	155	14	a	a	DET
sc-1180	155	15	hierarchy	hierarchy	NOUN
sc-1180	155	16	of	of	ADP
sc-1180	155	17	two	two	NUM
sc-1180	155	18	agent	agent	NOUN
sc-1180	155	19	types	type	NOUN
sc-1180	155	20	:	:	PUNCT
sc-1180	155	21	objective	objective	NOUN
sc-1180	155	22	and	and	CCONJ
sc-1180	155	23	negotiation	negotiation	NOUN
sc-1180	155	24	.	.	PUNCT
sc-1180	156	1	a	a	DET
sc-1180	156	2	objective	objective	ADJ
sc-1180	156	3	-	-	PUNCT
sc-1180	156	4	agent	agent	NOUN
sc-1180	156	5	is	be	AUX
sc-1180	156	6	used	use	VERB
sc-1180	156	7	to	to	PART
sc-1180	156	8	measure	measure	VERB
sc-1180	156	9	one	one	NUM
sc-1180	156	10	vehicle	vehicle	NOUN
sc-1180	156	11	parameter	parameter	NOUN
sc-1180	156	12	.	.	PUNCT
sc-1180	157	1	consequently	consequently	ADV
sc-1180	157	2	,	,	PUNCT
sc-1180	157	3	there	there	PRON
sc-1180	157	4	can	can	AUX
sc-1180	157	5	be	be	AUX
sc-1180	157	6	an	an	DET
sc-1180	157	7	arbitrary	arbitrary	ADJ
sc-1180	157	8	amount	amount	NOUN
sc-1180	157	9	of	of	ADP
sc-1180	157	10	objective	objective	ADJ
sc-1180	157	11	-	-	PUNCT
sc-1180	157	12	agents	agent	NOUN
sc-1180	157	13	measuring	measure	VERB
sc-1180	157	14	the	the	DET
sc-1180	157	15	same	same	ADJ
sc-1180	157	16	vehicle	vehicle	NOUN
sc-1180	157	17	parameter	parameter	NOUN
sc-1180	157	18	,	,	PUNCT
sc-1180	157	19	each	each	DET
sc-1180	157	20	one	one	NOUN
sc-1180	157	21	measuring	measure	VERB
sc-1180	157	22	different	different	ADJ
sc-1180	157	23	simulation	simulation	NOUN
sc-1180	157	24	goal	goal	NOUN
sc-1180	157	25	satisfaction	satisfaction	NOUN
sc-1180	157	26	values	value	NOUN
sc-1180	157	27	.	.	PUNCT
sc-1180	158	1	each	each	DET
sc-1180	158	2	agent	agent	NOUN
sc-1180	158	3	type	type	NOUN
sc-1180	158	4	implements	implement	VERB
sc-1180	158	5	a	a	DET
sc-1180	158	6	certain	certain	ADJ
sc-1180	158	7	functionality	functionality	NOUN
sc-1180	158	8	in	in	ADP
sc-1180	158	9	order	order	NOUN
sc-1180	158	10	figure	figure	NOUN
sc-1180	158	11	3	3	NUM
sc-1180	158	12	:	:	PUNCT
sc-1180	158	13	entities	entity	NOUN
sc-1180	158	14	are	be	AUX
sc-1180	158	15	mapped	map	VERB
sc-1180	158	16	to	to	ADP
sc-1180	158	17	our	our	PRON
sc-1180	158	18	generic	generic	ADJ
sc-1180	158	19	vehicle	vehicle	NOUN
sc-1180	158	20	simulation	simulation	PROPN
sc-1180	158	21	loop	loop	PROPN
sc-1180	158	22	,	,	PUNCT
sc-1180	158	23	consisting	consist	VERB
sc-1180	158	24	of	of	ADP
sc-1180	158	25	the	the	DET
sc-1180	158	26	environment	environment	NOUN
sc-1180	158	27	,	,	PUNCT
sc-1180	158	28	sensors	sensor	NOUN
sc-1180	158	29	,	,	PUNCT
sc-1180	158	30	actuators	actuator	NOUN
sc-1180	158	31	and	and	CCONJ
sc-1180	158	32	internal	internal	ADJ
sc-1180	158	33	vehicle	vehicle	NOUN
sc-1180	158	34	components	component	NOUN
sc-1180	158	35	.	.	PUNCT
sc-1180	159	1	our	our	PRON
sc-1180	159	2	mas	mas	PROPN
sc-1180	159	3	is	be	AUX
sc-1180	159	4	either	either	CCONJ
sc-1180	159	5	computed	compute	VERB
sc-1180	159	6	on	on	ADP
sc-1180	159	7	the	the	DET
sc-1180	159	8	cpu	cpu	NOUN
sc-1180	159	9	with	with	ADP
sc-1180	159	10	n	n	NOUN
sc-1180	159	11	entities	entity	NOUN
sc-1180	159	12	or	or	CCONJ
sc-1180	159	13	on	on	ADP
sc-1180	159	14	the	the	DET
sc-1180	159	15	gpu	gpu	NOUN
sc-1180	159	16	as	as	ADP
sc-1180	159	17	one	one	NUM
sc-1180	159	18	entity	entity	NOUN
sc-1180	159	19	with	with	ADP
sc-1180	159	20	a	a	DET
sc-1180	159	21	single	single	ADJ
sc-1180	159	22	cuda	cuda	NOUN
sc-1180	159	23	kernel	kernel	NOUN
sc-1180	159	24	for	for	ADP
sc-1180	159	25	all	all	DET
sc-1180	159	26	agents	agent	NOUN
sc-1180	159	27	.	.	PUNCT
sc-1180	160	1	to	to	PART
sc-1180	160	2	maximize	maximize	VERB
sc-1180	160	3	the	the	DET
sc-1180	160	4	related	related	ADJ
sc-1180	160	5	simulation	simulation	NOUN
sc-1180	160	6	goal	goal	NOUN
sc-1180	160	7	,	,	PUNCT
sc-1180	160	8	even	even	ADV
sc-1180	160	9	if	if	SCONJ
sc-1180	160	10	they	they	PRON
sc-1180	160	11	are	be	AUX
sc-1180	160	12	contradictory	contradictory	ADJ
sc-1180	160	13	.	.	PUNCT
sc-1180	161	1	for	for	ADP
sc-1180	161	2	example	example	NOUN
sc-1180	161	3	,	,	PUNCT
sc-1180	161	4	one	one	NUM
sc-1180	161	5	simulation	simulation	NOUN
sc-1180	161	6	goal	goal	NOUN
sc-1180	161	7	could	could	AUX
sc-1180	161	8	be	be	AUX
sc-1180	161	9	to	to	PART
sc-1180	161	10	minimize	minimize	VERB
sc-1180	161	11	the	the	DET
sc-1180	161	12	vehicle	vehicle	NOUN
sc-1180	161	13	fuel	fuel	NOUN
sc-1180	161	14	consumption	consumption	NOUN
sc-1180	161	15	.	.	PUNCT
sc-1180	162	1	therefore	therefore	ADV
sc-1180	162	2	,	,	PUNCT
sc-1180	162	3	the	the	DET
sc-1180	162	4	simulation	simulation	NOUN
sc-1180	162	5	goal	goal	NOUN
sc-1180	162	6	could	could	AUX
sc-1180	162	7	refer	refer	VERB
sc-1180	162	8	to	to	ADP
sc-1180	162	9	the	the	DET
sc-1180	162	10	fuel	fuel	NOUN
sc-1180	162	11	tank	tank	NOUN
sc-1180	162	12	capacity	capacity	NOUN
sc-1180	162	13	parameter	parameter	NOUN
sc-1180	162	14	of	of	ADP
sc-1180	162	15	the	the	DET
sc-1180	162	16	vehicle	vehicle	NOUN
sc-1180	162	17	,	,	PUNCT
sc-1180	162	18	the	the	DET
sc-1180	162	19	propulsion	propulsion	NOUN
sc-1180	162	20	fuel	fuel	NOUN
sc-1180	162	21	consumption	consumption	NOUN
sc-1180	162	22	efficiency	efficiency	NOUN
sc-1180	162	23	or	or	CCONJ
sc-1180	162	24	the	the	DET
sc-1180	162	25	number	number	NOUN
sc-1180	162	26	of	of	ADP
sc-1180	162	27	allowed	allow	VERB
sc-1180	162	28	thrust	thrust	NOUN
sc-1180	162	29	ignitions	ignition	NOUN
sc-1180	162	30	.	.	PUNCT
sc-1180	163	1	if	if	SCONJ
sc-1180	163	2	more	more	ADJ
sc-1180	163	3	than	than	ADP
sc-1180	163	4	one	one	NUM
sc-1180	163	5	objective	objective	ADJ
sc-1180	163	6	-	-	PUNCT
sc-1180	163	7	agent	agent	NOUN
sc-1180	163	8	is	be	AUX
sc-1180	163	9	attached	attach	VERB
sc-1180	163	10	to	to	ADP
sc-1180	163	11	a	a	DET
sc-1180	163	12	vehicle	vehicle	NOUN
sc-1180	163	13	parameter	parameter	NOUN
sc-1180	163	14	,	,	PUNCT
sc-1180	163	15	the	the	DET
sc-1180	163	16	corresponding	corresponding	ADJ
sc-1180	163	17	optimization	optimization	NOUN
sc-1180	163	18	can	can	AUX
sc-1180	163	19	be	be	AUX
sc-1180	163	20	contradictory	contradictory	ADJ
sc-1180	163	21	.	.	PUNCT
sc-1180	164	1	for	for	ADP
sc-1180	164	2	example	example	NOUN
sc-1180	164	3	,	,	PUNCT
sc-1180	164	4	increasing	increase	VERB
sc-1180	164	5	the	the	DET
sc-1180	164	6	vehicle	vehicle	NOUN
sc-1180	164	7	fuel	fuel	NOUN
sc-1180	164	8	capacity	capacity	NOUN
sc-1180	164	9	has	have	VERB
sc-1180	164	10	an	an	DET
sc-1180	164	11	impact	impact	NOUN
sc-1180	164	12	on	on	ADP
sc-1180	164	13	the	the	DET
sc-1180	164	14	overall	overall	ADJ
sc-1180	164	15	vehicle	vehicle	NOUN
sc-1180	164	16	mass	mass	NOUN
sc-1180	164	17	which	which	PRON
sc-1180	164	18	reduces	reduce	VERB
sc-1180	164	19	the	the	DET
sc-1180	164	20	main	main	ADJ
sc-1180	164	21	thrust	thrust	NOUN
sc-1180	164	22	efficiency	efficiency	NOUN
sc-1180	164	23	.	.	PUNCT
sc-1180	165	1	therefore	therefore	ADV
sc-1180	165	2	,	,	PUNCT
sc-1180	165	3	negotiation	negotiation	NOUN
sc-1180	165	4	-	-	PUNCT
sc-1180	165	5	agents	agent	NOUN
sc-1180	165	6	are	be	AUX
sc-1180	165	7	used	use	VERB
sc-1180	165	8	if	if	SCONJ
sc-1180	165	9	several	several	ADJ
sc-1180	165	10	objectiveagents	objectiveagent	NOUN
sc-1180	165	11	refer	refer	VERB
sc-1180	165	12	to	to	ADP
sc-1180	165	13	the	the	DET
sc-1180	165	14	same	same	ADJ
sc-1180	165	15	vehicle	vehicle	NOUN
sc-1180	165	16	parameter	parameter	NOUN
sc-1180	165	17	.	.	PUNCT
sc-1180	166	1	in	in	ADP
sc-1180	166	2	addition	addition	NOUN
sc-1180	166	3	to	to	ADP
sc-1180	166	4	their	their	PRON
sc-1180	166	5	objective	objective	ADJ
sc-1180	166	6	value	value	NOUN
sc-1180	166	7	,	,	PUNCT
sc-1180	166	8	objective	objective	ADJ
sc-1180	166	9	-	-	PUNCT
sc-1180	166	10	agents	agent	NOUN
sc-1180	166	11	also	also	ADV
sc-1180	166	12	deliver	deliver	VERB
sc-1180	166	13	a	a	DET
sc-1180	166	14	utility	utility	NOUN
sc-1180	166	15	value	value	NOUN
sc-1180	166	16	.	.	PUNCT
sc-1180	167	1	these	these	DET
sc-1180	167	2	values	value	NOUN
sc-1180	167	3	are	be	AUX
sc-1180	167	4	described	describe	VERB
sc-1180	167	5	in	in	ADP
sc-1180	167	6	the	the	DET
sc-1180	167	7	next	next	ADJ
sc-1180	167	8	section	section	NOUN
sc-1180	167	9	.	.	PUNCT
sc-1180	168	1	figure	figure	NOUN
sc-1180	168	2	4	4	NUM
sc-1180	168	3	illustrates	illustrate	VERB
sc-1180	168	4	this	this	DET
sc-1180	168	5	agent	agent	NOUN
sc-1180	168	6	organization	organization	NOUN
sc-1180	168	7	concept	concept	NOUN
sc-1180	168	8	with	with	ADP
sc-1180	168	9	respect	respect	NOUN
sc-1180	168	10	to	to	ADP
sc-1180	168	11	the	the	DET
sc-1180	168	12	overall	overall	ADJ
sc-1180	168	13	vehicle	vehicle	NOUN
sc-1180	168	14	simulation	simulation	NOUN
sc-1180	168	15	.	.	PUNCT
sc-1180	169	1	figure	figure	VERB
sc-1180	169	2	4	4	NUM
sc-1180	169	3	:	:	PUNCT
sc-1180	169	4	one	one	NUM
sc-1180	169	5	agent	agent	NOUN
sc-1180	169	6	organization	organization	NOUN
sc-1180	169	7	is	be	AUX
sc-1180	169	8	generated	generate	VERB
sc-1180	169	9	for	for	ADP
sc-1180	169	10	each	each	DET
sc-1180	169	11	simulation	simulation	NOUN
sc-1180	169	12	goals	goal	NOUN
sc-1180	169	13	.	.	PUNCT
sc-1180	170	1	each	each	DET
sc-1180	170	2	organization	organization	NOUN
sc-1180	170	3	searches	search	VERB
sc-1180	170	4	through	through	ADP
sc-1180	170	5	the	the	DET
sc-1180	170	6	corresponding	correspond	VERB
sc-1180	170	7	vehicle	vehicle	NOUN
sc-1180	170	8	parameter	parameter	NOUN
sc-1180	170	9	space	space	NOUN
sc-1180	170	10	by	by	ADP
sc-1180	170	11	measuring	measure	VERB
sc-1180	170	12	the	the	DET
sc-1180	170	13	vehicle	vehicle	NOUN
sc-1180	170	14	performance	performance	NOUN
sc-1180	170	15	and	and	CCONJ
sc-1180	170	16	by	by	ADP
sc-1180	170	17	adapting	adapt	VERB
sc-1180	170	18	the	the	DET
sc-1180	170	19	configuration	configuration	NOUN
sc-1180	170	20	until	until	SCONJ
sc-1180	170	21	the	the	DET
sc-1180	170	22	organization	organization	NOUN
sc-1180	170	23	finds	find	VERB
sc-1180	170	24	a	a	DET
sc-1180	170	25	satisfying	satisfying	ADJ
sc-1180	170	26	solution	solution	NOUN
sc-1180	170	27	.	.	PUNCT
sc-1180	171	1	4.1	4.1	NUM
sc-1180	171	2	parameters	parameter	NOUN
sc-1180	171	3	,	,	PUNCT
sc-1180	171	4	objectives	objective	NOUN
sc-1180	171	5	and	and	CCONJ
sc-1180	171	6	utilities	utility	NOUN
sc-1180	171	7	when	when	SCONJ
sc-1180	171	8	building	build	VERB
sc-1180	171	9	a	a	DET
sc-1180	171	10	vehicle	vehicle	NOUN
sc-1180	171	11	configuration	configuration	NOUN
sc-1180	171	12	optimization	optimization	NOUN
sc-1180	171	13	system	system	NOUN
sc-1180	171	14	,	,	PUNCT
sc-1180	171	15	all	all	DET
sc-1180	171	16	manipulable	manipulable	ADJ
sc-1180	171	17	vehicle	vehicle	NOUN
sc-1180	171	18	parameters	parameter	NOUN
sc-1180	171	19	needs	need	VERB
sc-1180	171	20	to	to	PART
sc-1180	171	21	be	be	AUX
sc-1180	171	22	uniquely	uniquely	ADV
sc-1180	171	23	identified	identify	VERB
sc-1180	171	24	.	.	PUNCT
sc-1180	172	1	additionally	additionally	ADV
sc-1180	172	2	,	,	PUNCT
sc-1180	172	3	a	a	DET
sc-1180	172	4	range	range	NOUN
sc-1180	172	5	for	for	ADP
sc-1180	172	6	each	each	PRON
sc-1180	172	7	of	of	ADP
sc-1180	172	8	these	these	DET
sc-1180	172	9	parameters	parameter	NOUN
sc-1180	172	10	is	be	AUX
sc-1180	172	11	given	give	VERB
sc-1180	172	12	,	,	PUNCT
sc-1180	172	13	defining	define	VERB
sc-1180	172	14	the	the	DET
sc-1180	172	15	allowed	allow	VERB
sc-1180	172	16	values	value	NOUN
sc-1180	172	17	for	for	ADP
sc-1180	172	18	this	this	DET
sc-1180	172	19	specific	specific	ADJ
sc-1180	172	20	parameter	parameter	NOUN
sc-1180	172	21	.	.	PUNCT
sc-1180	173	1	all	all	DET
sc-1180	173	2	adjustable	adjustable	ADJ
sc-1180	173	3	vehicle	vehicle	NOUN
sc-1180	173	4	parameters	parameter	NOUN
sc-1180	173	5	par	par	NOUN
sc-1180	173	6	constitute	constitute	VERB
sc-1180	173	7	the	the	DET
sc-1180	173	8	input	input	NOUN
sc-1180	173	9	of	of	ADP
sc-1180	173	10	our	our	PRON
sc-1180	173	11	multi	multi	ADJ
sc-1180	173	12	agent	agent	NOUN
sc-1180	173	13	system	system	NOUN
sc-1180	173	14	;	;	PUNCT
sc-1180	173	15	it	it	PRON
sc-1180	173	16	is	be	AUX
sc-1180	173	17	defined	define	VERB
sc-1180	173	18	as	as	SCONJ
sc-1180	173	19	follows	follow	VERB
sc-1180	173	20	:	:	PUNCT
sc-1180	173	21	par	par	PROPN
sc-1180	173	22	=	=	SYM
sc-1180	173	23	{	{	PUNCT
sc-1180	173	24	p1	p1	PROPN
sc-1180	173	25	...	...	PUNCT
sc-1180	173	26	pn	pn	ADJ
sc-1180	173	27	}	}	PUNCT
sc-1180	173	28	pi	pi	NOUN
sc-1180	173	29	∈	∈	PROPN
sc-1180	173	30	{	{	PUNCT
sc-1180	173	31	pmin	pmin	NOUN
sc-1180	173	32	...	...	PUNCT
sc-1180	173	33	pmax	pmax	ADJ
sc-1180	173	34	}	}	PUNCT
sc-1180	173	35	⊂	⊂	X
sc-1180	173	36	r	r	NOUN
sc-1180	173	37	(	(	PUNCT
sc-1180	173	38	1	1	NUM
sc-1180	173	39	)	)	PUNCT
sc-1180	173	40	analogous	analogous	ADJ
sc-1180	173	41	,	,	PUNCT
sc-1180	173	42	objectives	objective	NOUN
sc-1180	173	43	of	of	ADP
sc-1180	173	44	the	the	DET
sc-1180	173	45	control	control	NOUN
sc-1180	173	46	system	system	NOUN
sc-1180	173	47	need	need	VERB
sc-1180	173	48	to	to	PART
sc-1180	173	49	be	be	AUX
sc-1180	173	50	defined	define	VERB
sc-1180	173	51	.	.	PUNCT
sc-1180	174	1	objectives	objective	NOUN
sc-1180	174	2	of	of	ADP
sc-1180	174	3	simulations	simulation	NOUN
sc-1180	174	4	are	be	AUX
sc-1180	174	5	often	often	ADV
sc-1180	174	6	multiple	multiple	ADJ
sc-1180	174	7	and	and	CCONJ
sc-1180	174	8	contradictory	contradictory	ADJ
sc-1180	174	9	.	.	PUNCT
sc-1180	175	1	instead	instead	ADV
sc-1180	175	2	of	of	ADP
sc-1180	175	3	defining	define	VERB
sc-1180	175	4	a	a	DET
sc-1180	175	5	single	single	ADJ
sc-1180	175	6	general	general	ADJ
sc-1180	175	7	goal	goal	NOUN
sc-1180	175	8	state	state	NOUN
sc-1180	175	9	of	of	ADP
sc-1180	175	10	the	the	DET
sc-1180	175	11	simulation	simulation	NOUN
sc-1180	175	12	,	,	PUNCT
sc-1180	175	13	several	several	ADJ
sc-1180	175	14	independent	independent	ADJ
sc-1180	175	15	objectives	objective	NOUN
sc-1180	175	16	are	be	AUX
sc-1180	175	17	here	here	ADV
sc-1180	175	18	considered	consider	VERB
sc-1180	175	19	,	,	PUNCT
sc-1180	175	20	each	each	DET
sc-1180	175	21	one	one	NUM
sc-1180	175	22	related	relate	VERB
sc-1180	175	23	to	to	ADP
sc-1180	175	24	a	a	DET
sc-1180	175	25	parameter	parameter	NOUN
sc-1180	175	26	p	p	PROPN
sc-1180	175	27	∈	∈	PROPN
sc-1180	175	28	par	par	NOUN
sc-1180	175	29	.	.	PUNCT
sc-1180	176	1	requirements	requirement	NOUN
sc-1180	176	2	on	on	ADP
sc-1180	176	3	autonomous	autonomous	ADJ
sc-1180	176	4	systems	system	NOUN
sc-1180	176	5	are	be	AUX
sc-1180	176	6	hard	hard	ADJ
sc-1180	176	7	to	to	PART
sc-1180	176	8	express	express	VERB
sc-1180	176	9	in	in	ADP
sc-1180	176	10	an	an	DET
sc-1180	176	11	numerical	numerical	ADJ
sc-1180	176	12	way	way	NOUN
sc-1180	176	13	as	as	SCONJ
sc-1180	176	14	humans	human	NOUN
sc-1180	176	15	often	often	ADV
sc-1180	176	16	only	only	ADV
sc-1180	176	17	have	have	VERB
sc-1180	176	18	a	a	DET
sc-1180	176	19	general	general	ADJ
sc-1180	176	20	idea	idea	NOUN
sc-1180	176	21	of	of	ADP
sc-1180	176	22	their	their	PRON
sc-1180	176	23	system	system	NOUN
sc-1180	176	24	expectations	expectation	NOUN
sc-1180	176	25	.	.	PUNCT
sc-1180	177	1	diverse	diverse	ADJ
sc-1180	177	2	solutions	solution	NOUN
sc-1180	177	3	based	base	VERB
sc-1180	177	4	on	on	ADP
sc-1180	177	5	fuzzy	fuzzy	ADJ
sc-1180	177	6	logic	logic	NOUN
sc-1180	177	7	have	have	AUX
sc-1180	177	8	been	be	AUX
sc-1180	177	9	proposed	propose	VERB
sc-1180	177	10	to	to	PART
sc-1180	177	11	solve	solve	VERB
sc-1180	177	12	this	this	DET
sc-1180	177	13	mapping	mapping	NOUN
sc-1180	177	14	from	from	ADP
sc-1180	177	15	human	human	NOUN
sc-1180	177	16	-	-	PUNCT
sc-1180	177	17	made	make	VERB
sc-1180	177	18	requirements	requirement	NOUN
sc-1180	177	19	to	to	PART
sc-1180	177	20	measurable	measurable	VERB
sc-1180	177	21	numerics	numeric	NOUN
sc-1180	177	22	[	[	X
sc-1180	177	23	29	29	NUM
sc-1180	177	24	]	]	PUNCT
sc-1180	177	25	.	.	PUNCT
sc-1180	178	1	this	this	DET
sc-1180	178	2	paper	paper	NOUN
sc-1180	178	3	proposes	propose	VERB
sc-1180	178	4	the	the	DET
sc-1180	178	5	use	use	NOUN
sc-1180	178	6	of	of	ADP
sc-1180	178	7	such	such	ADJ
sc-1180	178	8	fuzzy	fuzzy	ADJ
sc-1180	178	9	predicates	predicate	NOUN
sc-1180	178	10	to	to	PART
sc-1180	178	11	allow	allow	VERB
sc-1180	178	12	the	the	DET
sc-1180	178	13	smart	smart	ADJ
sc-1180	178	14	definition	definition	NOUN
sc-1180	178	15	of	of	ADP
sc-1180	178	16	objectives	objective	NOUN
sc-1180	178	17	as	as	SCONJ
sc-1180	178	18	they	they	PRON
sc-1180	178	19	involve	involve	VERB
sc-1180	178	20	a	a	DET
sc-1180	178	21	specific	specific	ADJ
sc-1180	178	22	measure	measure	NOUN
sc-1180	178	23	on	on	ADP
sc-1180	178	24	the	the	DET
sc-1180	178	25	simulation	simulation	NOUN
sc-1180	178	26	which	which	PRON
sc-1180	178	27	should	should	AUX
sc-1180	178	28	not	not	PART
sc-1180	178	29	be	be	AUX
sc-1180	178	30	necessarily	necessarily	ADV
sc-1180	178	31	complete	complete	ADJ
sc-1180	178	32	satisfied	satisfied	ADJ
sc-1180	178	33	or	or	CCONJ
sc-1180	178	34	unsatisfied	unsatisfied	ADJ
sc-1180	178	35	.	.	PUNCT
sc-1180	179	1	satisfaction	satisfaction	NOUN
sc-1180	179	2	functions	function	NOUN
sc-1180	179	3	are	be	AUX
sc-1180	179	4	introduced	introduce	VERB
sc-1180	179	5	in	in	ADP
sc-1180	179	6	order	order	NOUN
sc-1180	179	7	to	to	PART
sc-1180	179	8	determine	determine	VERB
sc-1180	179	9	the	the	DET
sc-1180	179	10	objective	objective	ADJ
sc-1180	179	11	satisfaction	satisfaction	NOUN
sc-1180	179	12	for	for	ADP
sc-1180	179	13	a	a	DET
sc-1180	179	14	given	give	VERB
sc-1180	179	15	parameter	parameter	NOUN
sc-1180	179	16	.	.	PUNCT
sc-1180	180	1	a	a	DET
sc-1180	180	2	satisfaction	satisfaction	NOUN
sc-1180	180	3	function	function	NOUN
sc-1180	180	4	takes	take	VERB
sc-1180	180	5	as	as	ADP
sc-1180	180	6	input	input	NOUN
sc-1180	180	7	a	a	DET
sc-1180	180	8	parameter	parameter	NOUN
sc-1180	180	9	and	and	CCONJ
sc-1180	180	10	returns	return	VERB
sc-1180	180	11	a	a	DET
sc-1180	180	12	satisfaction	satisfaction	NOUN
sc-1180	180	13	value	value	NOUN
sc-1180	180	14	in	in	ADP
sc-1180	180	15	fuzzy	fuzzy	ADJ
sc-1180	180	16	predicate	predicate	NOUN
sc-1180	180	17	.	.	PUNCT
sc-1180	181	1	this	this	DET
sc-1180	181	2	predicate	predicate	NOUN
sc-1180	181	3	is	be	AUX
sc-1180	181	4	constituted	constitute	VERB
sc-1180	181	5	within	within	ADP
sc-1180	181	6	the	the	DET
sc-1180	181	7	[	[	X
sc-1180	181	8	0;100	0;100	NOUN
sc-1180	181	9	]	]	X
sc-1180	181	10	interval	interval	NOUN
sc-1180	181	11	and	and	CCONJ
sc-1180	181	12	yields	yield	NOUN
sc-1180	181	13	every	every	DET
sc-1180	181	14	objective	objective	ADJ
sc-1180	181	15	satisfaction	satisfaction	NOUN
sc-1180	181	16	value	value	NOUN
sc-1180	181	17	between	between	ADP
sc-1180	181	18	unsatisfied	unsatisfied	ADJ
sc-1180	181	19	(	(	PUNCT
sc-1180	181	20	0	0	NUM
sc-1180	181	21	)	)	PUNCT
sc-1180	181	22	and	and	CCONJ
sc-1180	181	23	completely	completely	ADV
sc-1180	181	24	satisfied	satisfied	ADJ
sc-1180	181	25	(	(	PUNCT
sc-1180	181	26	100	100	NUM
sc-1180	181	27	)	)	PUNCT
sc-1180	181	28	.	.	PUNCT
sc-1180	182	1	depending	depend	VERB
sc-1180	182	2	on	on	ADP
sc-1180	182	3	the	the	DET
sc-1180	182	4	relationship	relationship	NOUN
sc-1180	182	5	between	between	ADP
sc-1180	182	6	the	the	DET
sc-1180	182	7	parameter	parameter	NOUN
sc-1180	182	8	and	and	CCONJ
sc-1180	182	9	objective	objective	NOUN
sc-1180	182	10	,	,	PUNCT
sc-1180	182	11	a	a	DET
sc-1180	182	12	satisfaction	satisfaction	NOUN
sc-1180	182	13	function	function	NOUN
sc-1180	182	14	can	can	AUX
sc-1180	182	15	be	be	AUX
sc-1180	182	16	strictly	strictly	ADV
sc-1180	182	17	or	or	CCONJ
sc-1180	182	18	loosely	loosely	ADV
sc-1180	182	19	following	follow	VERB
sc-1180	182	20	a	a	DET
sc-1180	182	21	parameter	parameter	NOUN
sc-1180	182	22	in	in	ADP
sc-1180	182	23	(	(	PUNCT
sc-1180	182	24	inverted	inverted	ADJ
sc-1180	182	25	)	)	PUNCT
sc-1180	182	26	linear	linear	ADJ
sc-1180	182	27	,	,	PUNCT
sc-1180	182	28	quadratic	quadratic	ADJ
sc-1180	182	29	or	or	CCONJ
sc-1180	182	30	exponential	exponential	ADJ
sc-1180	182	31	manner	manner	NOUN
sc-1180	182	32	.	.	PUNCT
sc-1180	183	1	we	we	PRON
sc-1180	183	2	introduce	introduce	VERB
sc-1180	183	3	,	,	PUNCT
sc-1180	183	4	in	in	ADP
sc-1180	183	5	addition	addition	NOUN
sc-1180	183	6	to	to	ADP
sc-1180	183	7	the	the	DET
sc-1180	183	8	satisfaction	satisfaction	NOUN
sc-1180	183	9	function	function	NOUN
sc-1180	183	10	,	,	PUNCT
sc-1180	183	11	an	an	DET
sc-1180	183	12	optional	optional	ADJ
sc-1180	183	13	linear	linear	NOUN
sc-1180	183	14	weighting	weighting	NOUN
sc-1180	183	15	term	term	NOUN
sc-1180	183	16	∗w	∗w	PROPN
sc-1180	183	17	+	+	CCONJ
sc-1180	183	18	b	b	NOUN
sc-1180	183	19	which	which	PRON
sc-1180	183	20	can	can	AUX
sc-1180	183	21	scale	scale	VERB
sc-1180	183	22	the	the	DET
sc-1180	183	23	satisfaction	satisfaction	NOUN
sc-1180	183	24	value	value	NOUN
sc-1180	183	25	in	in	ADP
sc-1180	183	26	order	order	NOUN
sc-1180	183	27	to	to	PART
sc-1180	183	28	increase	increase	VERB
sc-1180	183	29	the	the	DET
sc-1180	183	30	impact	impact	NOUN
sc-1180	183	31	of	of	ADP
sc-1180	183	32	the	the	DET
sc-1180	183	33	parameter	parameter	NOUN
sc-1180	183	34	within	within	ADP
sc-1180	183	35	the	the	DET
sc-1180	183	36	solving	solving	NOUN
sc-1180	183	37	process	process	NOUN
sc-1180	183	38	.	.	PUNCT
sc-1180	184	1	the	the	DET
sc-1180	184	2	set	set	NOUN
sc-1180	184	3	of	of	ADP
sc-1180	184	4	all	all	DET
sc-1180	184	5	objectives	objective	NOUN
sc-1180	184	6	obj	obj	PROPN
sc-1180	184	7	is	be	AUX
sc-1180	184	8	defined	define	VERB
sc-1180	184	9	as	as	SCONJ
sc-1180	184	10	follows	follow	VERB
sc-1180	184	11	:	:	PUNCT
sc-1180	184	12	obj	obj	PROPN
sc-1180	184	13	=	=	PUNCT
sc-1180	184	14	{	{	PUNCT
sc-1180	184	15	o1	o1	NOUN
sc-1180	184	16	...	...	PUNCT
sc-1180	184	17	on	on	ADP
sc-1180	184	18	}	}	PUNCT
sc-1180	184	19	→	→	SYM
sc-1180	184	20	{	{	PUNCT
sc-1180	184	21	0	0	NUM
sc-1180	184	22	,	,	PUNCT
sc-1180	184	23	100	100	NUM
sc-1180	184	24	}	}	PUNCT
sc-1180	184	25	oi	oi	NOUN
sc-1180	184	26	=	=	PUNCT
sc-1180	184	27	satisfaction(pi)[∗w	satisfaction(pi)[∗w	PROPN
sc-1180	184	28	+	+	NOUN
sc-1180	184	29	b	b	X
sc-1180	184	30	]	]	X
sc-1180	184	31	(	(	PUNCT
sc-1180	184	32	2	2	X
sc-1180	184	33	)	)	PUNCT
sc-1180	184	34	in	in	ADP
sc-1180	184	35	addition	addition	NOUN
sc-1180	184	36	to	to	ADP
sc-1180	184	37	the	the	DET
sc-1180	184	38	objectives	objective	NOUN
sc-1180	184	39	to	to	PART
sc-1180	184	40	be	be	AUX
sc-1180	184	41	satisfied	satisfied	ADJ
sc-1180	184	42	,	,	PUNCT
sc-1180	184	43	a	a	DET
sc-1180	184	44	control	control	NOUN
sc-1180	184	45	system	system	NOUN
sc-1180	184	46	should	should	AUX
sc-1180	184	47	consider	consider	VERB
sc-1180	184	48	the	the	DET
sc-1180	184	49	possible	possible	ADJ
sc-1180	184	50	utility	utility	NOUN
sc-1180	184	51	when	when	SCONJ
sc-1180	184	52	changing	change	VERB
sc-1180	184	53	the	the	DET
sc-1180	184	54	vehicle	vehicle	NOUN
sc-1180	184	55	parameters	parameter	NOUN
sc-1180	184	56	with	with	ADP
sc-1180	184	57	respect	respect	NOUN
sc-1180	184	58	to	to	ADP
sc-1180	184	59	the	the	DET
sc-1180	184	60	current	current	ADJ
sc-1180	184	61	simulation	simulation	NOUN
sc-1180	184	62	state	state	NOUN
sc-1180	184	63	.	.	PUNCT
sc-1180	185	1	consequently	consequently	ADV
sc-1180	185	2	,	,	PUNCT
sc-1180	185	3	we	we	PRON
sc-1180	185	4	introduce	introduce	VERB
sc-1180	185	5	a	a	DET
sc-1180	185	6	utility	utility	NOUN
sc-1180	185	7	function	function	NOUN
sc-1180	185	8	.	.	PUNCT
sc-1180	186	1	it	it	PRON
sc-1180	186	2	is	be	AUX
sc-1180	186	3	used	use	VERB
sc-1180	186	4	to	to	PART
sc-1180	186	5	calculate	calculate	VERB
sc-1180	186	6	the	the	DET
sc-1180	186	7	benefit	benefit	NOUN
sc-1180	186	8	for	for	ADP
sc-1180	186	9	the	the	DET
sc-1180	186	10	current	current	ADJ
sc-1180	186	11	simulation	simulation	NOUN
sc-1180	186	12	state	state	NOUN
sc-1180	186	13	,	,	PUNCT
sc-1180	186	14	if	if	SCONJ
sc-1180	186	15	a	a	DET
sc-1180	186	16	parameter	parameter	NOUN
sc-1180	186	17	p	p	PROPN
sc-1180	186	18	∈	∈	PROPN
sc-1180	186	19	p	p	NOUN
sc-1180	186	20	would	would	AUX
sc-1180	186	21	be	be	AUX
sc-1180	186	22	adapted	adapt	VERB
sc-1180	186	23	accordingly	accordingly	ADV
sc-1180	186	24	to	to	ADP
sc-1180	186	25	the	the	DET
sc-1180	186	26	corresponding	correspond	VERB
sc-1180	186	27	objective	objective	ADJ
sc-1180	186	28	value	value	NOUN
sc-1180	187	1	o.	o.	NOUN
sc-1180	188	1	the	the	DET
sc-1180	188	2	utility	utility	NOUN
sc-1180	188	3	value	value	NOUN
sc-1180	188	4	is	be	AUX
sc-1180	188	5	then	then	ADV
sc-1180	188	6	later	later	ADV
sc-1180	188	7	used	use	VERB
sc-1180	188	8	by	by	ADP
sc-1180	188	9	the	the	DET
sc-1180	188	10	negotiation	negotiation	NOUN
sc-1180	188	11	agent	agent	NOUN
sc-1180	188	12	to	to	PART
sc-1180	188	13	select	select	VERB
sc-1180	188	14	the	the	DET
sc-1180	188	15	most	most	ADV
sc-1180	188	16	appropriate	appropriate	ADJ
sc-1180	188	17	action	action	NOUN
sc-1180	188	18	.	.	PUNCT
sc-1180	189	1	the	the	DET
sc-1180	189	2	set	set	NOUN
sc-1180	189	3	of	of	ADP
sc-1180	189	4	all	all	DET
sc-1180	189	5	utility	utility	NOUN
sc-1180	189	6	values	value	NOUN
sc-1180	189	7	is	be	AUX
sc-1180	189	8	defined	define	VERB
sc-1180	189	9	as	as	SCONJ
sc-1180	189	10	follows	follow	VERB
sc-1180	189	11	:	:	PUNCT
sc-1180	189	12	utl	utl	PROPN
sc-1180	189	13	=	=	SYM
sc-1180	189	14	{	{	PUNCT
sc-1180	189	15	u1	u1	PROPN
sc-1180	189	16	...	...	PUNCT
sc-1180	189	17	un	un	PROPN
sc-1180	189	18	}	}	PUNCT
sc-1180	189	19	→	→	SYM
sc-1180	189	20	{	{	PUNCT
sc-1180	189	21	0	0	NUM
sc-1180	189	22	,	,	PUNCT
sc-1180	189	23	100	100	NUM
sc-1180	189	24	}	}	PUNCT
sc-1180	189	25	ui	ui	NOUN
sc-1180	190	1	=	=	PUNCT
sc-1180	190	2	100−	100−	PROPN
sc-1180	191	1	oi[∗w	oi[∗w	ADJ
sc-1180	191	2	+	+	CCONJ
sc-1180	191	3	b	b	NOUN
sc-1180	191	4	]	]	X
sc-1180	191	5	(	(	PUNCT
sc-1180	191	6	3	3	X
sc-1180	191	7	)	)	PUNCT
sc-1180	191	8	the	the	DET
sc-1180	191	9	aim	aim	NOUN
sc-1180	191	10	of	of	ADP
sc-1180	191	11	the	the	DET
sc-1180	191	12	parameter	parameter	NOUN
sc-1180	191	13	adjustment	adjustment	NOUN
sc-1180	191	14	control	control	NOUN
sc-1180	191	15	system	system	NOUN
sc-1180	191	16	is	be	AUX
sc-1180	191	17	to	to	PART
sc-1180	191	18	find	find	VERB
sc-1180	191	19	the	the	DET
sc-1180	191	20	values	value	NOUN
sc-1180	191	21	of	of	ADP
sc-1180	191	22	par	par	NOUN
sc-1180	191	23	that	that	PRON
sc-1180	191	24	maximize	maximize	VERB
sc-1180	191	25	all	all	DET
sc-1180	191	26	objectives	objective	NOUN
sc-1180	191	27	obj	obj	PROPN
sc-1180	191	28	and	and	CCONJ
sc-1180	191	29	minimizes	minimize	VERB
sc-1180	191	30	all	all	DET
sc-1180	191	31	utilities	utility	NOUN
sc-1180	191	32	utl	utl	PROPN
sc-1180	191	33	.	.	PUNCT
sc-1180	192	1	in	in	ADP
sc-1180	192	2	other	other	ADJ
sc-1180	192	3	words	word	NOUN
sc-1180	192	4	,	,	PUNCT
sc-1180	192	5	it	it	PRON
sc-1180	192	6	is	be	AUX
sc-1180	192	7	to	to	PART
sc-1180	192	8	tune	tune	VERB
sc-1180	192	9	all	all	DET
sc-1180	192	10	the	the	DET
sc-1180	192	11	parameters	parameter	NOUN
sc-1180	192	12	so	so	ADV
sc-1180	192	13	all	all	DET
sc-1180	192	14	the	the	DET
sc-1180	192	15	constraints	constraint	NOUN
sc-1180	192	16	and	and	CCONJ
sc-1180	192	17	objectives	objective	NOUN
sc-1180	192	18	are	be	AUX
sc-1180	192	19	satisfied	satisfied	ADJ
sc-1180	192	20	.	.	PUNCT
sc-1180	193	1	4.2	4.2	NUM
sc-1180	193	2	solving	solving	NOUN
sc-1180	193	3	process	process	NOUN
sc-1180	193	4	principle	principle	NOUN
sc-1180	193	5	when	when	SCONJ
sc-1180	193	6	designing	design	VERB
sc-1180	193	7	a	a	DET
sc-1180	193	8	multi	multi	ADJ
sc-1180	193	9	-	-	ADJ
sc-1180	193	10	agent	agent	ADJ
sc-1180	193	11	system	system	NOUN
sc-1180	193	12	,	,	PUNCT
sc-1180	193	13	the	the	DET
sc-1180	193	14	focus	focus	NOUN
sc-1180	193	15	is	be	AUX
sc-1180	193	16	set	set	VERB
sc-1180	193	17	on	on	ADP
sc-1180	193	18	agents	agent	NOUN
sc-1180	193	19	behaviors	behavior	NOUN
sc-1180	193	20	and	and	CCONJ
sc-1180	193	21	communications	communication	NOUN
sc-1180	193	22	in	in	ADP
sc-1180	193	23	order	order	NOUN
sc-1180	193	24	to	to	PART
sc-1180	193	25	cover	cover	VERB
sc-1180	193	26	isolated	isolated	ADJ
sc-1180	193	27	parts	part	NOUN
sc-1180	193	28	of	of	ADP
sc-1180	193	29	the	the	DET
sc-1180	193	30	global	global	ADJ
sc-1180	193	31	problem	problem	NOUN
sc-1180	193	32	.	.	PUNCT
sc-1180	194	1	each	each	DET
sc-1180	194	2	agent	agent	NOUN
sc-1180	194	3	tackles	tackle	VERB
sc-1180	194	4	an	an	DET
sc-1180	194	5	isolated	isolated	ADJ
sc-1180	194	6	sub	sub	NOUN
sc-1180	194	7	-	-	NOUN
sc-1180	194	8	problem	problem	NOUN
sc-1180	194	9	and	and	CCONJ
sc-1180	194	10	emergence	emergence	NOUN
sc-1180	194	11	is	be	AUX
sc-1180	194	12	used	use	VERB
sc-1180	194	13	to	to	PART
sc-1180	194	14	solve	solve	VERB
sc-1180	194	15	the	the	DET
sc-1180	194	16	overall	overall	ADJ
sc-1180	194	17	problem	problem	NOUN
sc-1180	194	18	.	.	PUNCT
sc-1180	195	1	therefore	therefore	ADV
sc-1180	195	2	,	,	PUNCT
sc-1180	195	3	the	the	DET
sc-1180	195	4	solving	solving	NOUN
sc-1180	195	5	process	process	NOUN
sc-1180	195	6	is	be	AUX
sc-1180	195	7	distributed	distribute	VERB
sc-1180	195	8	among	among	ADP
sc-1180	195	9	all	all	DET
sc-1180	195	10	agents	agent	NOUN
sc-1180	195	11	.	.	PUNCT
sc-1180	196	1	every	every	DET
sc-1180	196	2	agent	agent	NOUN
sc-1180	196	3	introduces	introduce	VERB
sc-1180	196	4	a	a	DET
sc-1180	196	5	part	part	NOUN
sc-1180	196	6	-	-	ADJ
sc-1180	196	7	wise	wise	ADJ
sc-1180	196	8	modelling	modelling	NOUN
sc-1180	196	9	of	of	ADP
sc-1180	196	10	the	the	DET
sc-1180	196	11	problem	problem	NOUN
sc-1180	196	12	and	and	CCONJ
sc-1180	196	13	its	its	PRON
sc-1180	196	14	behavior	behavior	NOUN
sc-1180	196	15	and	and	CCONJ
sc-1180	196	16	communication	communication	NOUN
sc-1180	196	17	to	to	ADP
sc-1180	196	18	other	other	ADJ
sc-1180	196	19	agents	agent	NOUN
sc-1180	196	20	is	be	AUX
sc-1180	196	21	used	use	VERB
sc-1180	196	22	to	to	PART
sc-1180	196	23	solve	solve	VERB
sc-1180	196	24	the	the	DET
sc-1180	196	25	global	global	ADJ
sc-1180	196	26	problem	problem	NOUN
sc-1180	196	27	.	.	PUNCT
sc-1180	197	1	consequently	consequently	ADV
sc-1180	197	2	,	,	PUNCT
sc-1180	197	3	the	the	DET
sc-1180	197	4	definition	definition	NOUN
sc-1180	197	5	of	of	ADP
sc-1180	197	6	agent	agent	NOUN
sc-1180	197	7	behaviors	behavior	NOUN
sc-1180	197	8	is	be	AUX
sc-1180	197	9	also	also	ADV
sc-1180	197	10	one	one	NUM
sc-1180	197	11	of	of	ADP
sc-1180	197	12	the	the	DET
sc-1180	197	13	key	key	ADJ
sc-1180	197	14	aspects	aspect	NOUN
sc-1180	197	15	of	of	ADP
sc-1180	197	16	our	our	PRON
sc-1180	197	17	multi	multi	ADJ
sc-1180	197	18	-	-	ADJ
sc-1180	197	19	agent	agent	ADJ
sc-1180	197	20	system	system	NOUN
sc-1180	197	21	and	and	CCONJ
sc-1180	197	22	is	be	AUX
sc-1180	197	23	described	describe	VERB
sc-1180	197	24	hereafter	hereafter	ADV
sc-1180	197	25	.	.	PUNCT
sc-1180	198	1	•	•	NOUN
sc-1180	198	2	objective	objective	ADJ
sc-1180	198	3	-	-	PUNCT
sc-1180	198	4	agents	agent	NOUN
sc-1180	198	5	compute	compute	VERB
sc-1180	198	6	a	a	DET
sc-1180	198	7	satisfaction	satisfaction	NOUN
sc-1180	198	8	value	value	NOUN
sc-1180	198	9	for	for	ADP
sc-1180	198	10	a	a	DET
sc-1180	198	11	target	target	NOUN
sc-1180	198	12	parameter	parameter	NOUN
sc-1180	198	13	.	.	PUNCT
sc-1180	199	1	an	an	DET
sc-1180	199	2	objective	objective	ADJ
sc-1180	199	3	-	-	PUNCT
sc-1180	199	4	agent	agent	NOUN
sc-1180	199	5	has	have	VERB
sc-1180	199	6	a	a	DET
sc-1180	199	7	rather	rather	ADV
sc-1180	199	8	simple	simple	ADJ
sc-1180	199	9	behavior	behavior	NOUN
sc-1180	199	10	:	:	PUNCT
sc-1180	199	11	it	it	PRON
sc-1180	199	12	observes	observe	VERB
sc-1180	199	13	its	its	PRON
sc-1180	199	14	target	target	NOUN
sc-1180	199	15	parameter	parameter	NOUN
sc-1180	199	16	and	and	CCONJ
sc-1180	199	17	uses	use	VERB
sc-1180	199	18	a	a	DET
sc-1180	199	19	satisfaction	satisfaction	NOUN
sc-1180	199	20	function	function	NOUN
sc-1180	199	21	to	to	PART
sc-1180	199	22	compute	compute	VERB
sc-1180	199	23	a	a	DET
sc-1180	199	24	objective	objective	ADJ
sc-1180	199	25	satisfaction	satisfaction	NOUN
sc-1180	199	26	value	value	NOUN
sc-1180	199	27	.	.	PUNCT
sc-1180	200	1	the	the	DET
sc-1180	200	2	goal	goal	NOUN
sc-1180	200	3	of	of	ADP
sc-1180	200	4	every	every	DET
sc-1180	200	5	objective	objective	ADJ
sc-1180	200	6	-	-	PUNCT
sc-1180	200	7	agent	agent	NOUN
sc-1180	200	8	is	be	AUX
sc-1180	200	9	to	to	PART
sc-1180	200	10	iteratively	iteratively	ADV
sc-1180	200	11	find	find	VERB
sc-1180	200	12	a	a	DET
sc-1180	200	13	simulation	simulation	NOUN
sc-1180	200	14	state	state	NOUN
sc-1180	200	15	which	which	PRON
sc-1180	200	16	yields	yield	VERB
sc-1180	200	17	a	a	DET
sc-1180	200	18	satisfaction	satisfaction	NOUN
sc-1180	200	19	value	value	NOUN
sc-1180	200	20	above	above	ADP
sc-1180	200	21	a	a	DET
sc-1180	200	22	given	give	VERB
sc-1180	200	23	minimum	minimum	ADJ
sc-1180	200	24	threshold	threshold	NOUN
sc-1180	200	25	.	.	PUNCT
sc-1180	201	1	in	in	ADP
sc-1180	201	2	order	order	NOUN
sc-1180	201	3	to	to	PART
sc-1180	201	4	do	do	AUX
sc-1180	201	5	so	so	ADV
sc-1180	201	6	,	,	PUNCT
sc-1180	201	7	it	it	PRON
sc-1180	201	8	writes	write	VERB
sc-1180	201	9	a	a	DET
sc-1180	201	10	kvpair	kvpair	NOUN
sc-1180	201	11	to	to	ADP
sc-1180	201	12	its	its	PRON
sc-1180	201	13	negotiation	negotiation	NOUN
sc-1180	201	14	-	-	PUNCT
sc-1180	201	15	agent	agent	NOUN
sc-1180	201	16	,	,	PUNCT
sc-1180	201	17	requesting	request	VERB
sc-1180	201	18	a	a	DET
sc-1180	201	19	modification	modification	NOUN
sc-1180	201	20	of	of	ADP
sc-1180	201	21	its	its	PRON
sc-1180	201	22	observed	observed	ADJ
sc-1180	201	23	parameter	parameter	NOUN
sc-1180	201	24	in	in	ADP
sc-1180	201	25	a	a	DET
sc-1180	201	26	proper	proper	ADJ
sc-1180	201	27	way	way	NOUN
sc-1180	201	28	;	;	PUNCT
sc-1180	201	29	this	this	DET
sc-1180	201	30	kvpair	kvpair	NOUN
sc-1180	201	31	contains	contain	VERB
sc-1180	201	32	only	only	ADV
sc-1180	201	33	the	the	DET
sc-1180	201	34	current	current	ADJ
sc-1180	201	35	objective	objective	ADJ
sc-1180	201	36	satisfaction	satisfaction	NOUN
sc-1180	201	37	,	,	PUNCT
sc-1180	201	38	utility	utility	NOUN
sc-1180	201	39	and	and	CCONJ
sc-1180	201	40	requested	request	VERB
sc-1180	201	41	parameter	parameter	NOUN
sc-1180	201	42	variation	variation	NOUN
sc-1180	201	43	sign	sign	NOUN
sc-1180	201	44	(	(	PUNCT
sc-1180	201	45	either	either	CCONJ
sc-1180	201	46	positive	positive	ADJ
sc-1180	201	47	or	or	CCONJ
sc-1180	201	48	negative	negative	ADJ
sc-1180	201	49	)	)	PUNCT
sc-1180	201	50	.	.	PUNCT
sc-1180	202	1	additionally	additionally	ADV
sc-1180	202	2	,	,	PUNCT
sc-1180	202	3	objective	objective	ADJ
sc-1180	202	4	-	-	PUNCT
sc-1180	202	5	agents	agent	NOUN
sc-1180	202	6	compute	compute	VERB
sc-1180	202	7	the	the	DET
sc-1180	202	8	utility	utility	NOUN
sc-1180	202	9	value	value	NOUN
sc-1180	202	10	of	of	ADP
sc-1180	202	11	their	their	PRON
sc-1180	202	12	proposed	propose	VERB
sc-1180	202	13	request	request	NOUN
sc-1180	202	14	.	.	PUNCT
sc-1180	203	1	the	the	DET
sc-1180	203	2	utility	utility	NOUN
sc-1180	203	3	value	value	NOUN
sc-1180	203	4	is	be	AUX
sc-1180	203	5	basically	basically	ADV
sc-1180	203	6	a	a	DET
sc-1180	203	7	weighted	weighted	ADJ
sc-1180	203	8	inverse	inverse	NOUN
sc-1180	203	9	of	of	ADP
sc-1180	203	10	the	the	DET
sc-1180	203	11	corresponding	corresponding	ADJ
sc-1180	203	12	objective	objective	ADJ
sc-1180	203	13	value	value	NOUN
sc-1180	203	14	of	of	ADP
sc-1180	203	15	a	a	DET
sc-1180	203	16	parameter	parameter	NOUN
sc-1180	203	17	.	.	PUNCT
sc-1180	204	1	therefore	therefore	ADV
sc-1180	204	2	,	,	PUNCT
sc-1180	204	3	a	a	DET
sc-1180	204	4	utility	utility	NOUN
sc-1180	204	5	value	value	NOUN
sc-1180	204	6	represents	represent	VERB
sc-1180	204	7	the	the	DET
sc-1180	204	8	degree	degree	NOUN
sc-1180	204	9	to	to	PART
sc-1180	204	10	which	which	PRON
sc-1180	204	11	a	a	DET
sc-1180	204	12	certain	certain	ADJ
sc-1180	204	13	non	non	ADJ
sc-1180	204	14	-	-	ADJ
sc-1180	204	15	satisfied	satisfied	ADJ
sc-1180	204	16	objective	objective	NOUN
sc-1180	204	17	should	should	AUX
sc-1180	204	18	be	be	AUX
sc-1180	204	19	tackled	tackle	VERB
sc-1180	204	20	,	,	PUNCT
sc-1180	204	21	resulting	result	VERB
sc-1180	204	22	in	in	ADP
sc-1180	204	23	its	its	PRON
sc-1180	204	24	utility	utility	NOUN
sc-1180	204	25	value	value	NOUN
sc-1180	204	26	.	.	PUNCT
sc-1180	205	1	•	•	NUM
sc-1180	205	2	negotiation	negotiation	NOUN
sc-1180	205	3	-	-	PUNCT
sc-1180	205	4	agents	agent	NOUN
sc-1180	205	5	monitor	monitor	VERB
sc-1180	205	6	the	the	DET
sc-1180	205	7	objectives	objective	NOUN
sc-1180	205	8	and	and	CCONJ
sc-1180	205	9	utilities	utility	NOUN
sc-1180	205	10	of	of	ADP
sc-1180	205	11	all	all	DET
sc-1180	205	12	corresponding	correspond	VERB
sc-1180	205	13	objective	objective	ADJ
sc-1180	205	14	-	-	PUNCT
sc-1180	205	15	agents	agent	NOUN
sc-1180	205	16	of	of	ADP
sc-1180	205	17	their	their	PRON
sc-1180	205	18	agent	agent	NOUN
sc-1180	205	19	organization	organization	NOUN
sc-1180	205	20	.	.	PUNCT
sc-1180	206	1	when	when	SCONJ
sc-1180	206	2	several	several	ADJ
sc-1180	206	3	requests	request	NOUN
sc-1180	206	4	are	be	AUX
sc-1180	206	5	received	receive	VERB
sc-1180	206	6	,	,	PUNCT
sc-1180	206	7	it	it	PRON
sc-1180	206	8	will	will	AUX
sc-1180	206	9	choose	choose	VERB
sc-1180	206	10	the	the	DET
sc-1180	206	11	most	most	ADV
sc-1180	206	12	appropriate	appropriate	ADJ
sc-1180	206	13	parameter	parameter	NOUN
sc-1180	206	14	modification	modification	NOUN
sc-1180	206	15	based	base	VERB
sc-1180	206	16	on	on	ADP
sc-1180	206	17	the	the	DET
sc-1180	206	18	highest	high	ADJ
sc-1180	206	19	utility	utility	NOUN
sc-1180	206	20	value	value	NOUN
sc-1180	206	21	,	,	PUNCT
sc-1180	206	22	implementing	implement	VERB
sc-1180	206	23	the	the	DET
sc-1180	206	24	english	english	ADJ
sc-1180	206	25	auction	auction	NOUN
sc-1180	206	26	principle	principle	NOUN
sc-1180	206	27	.	.	PUNCT
sc-1180	207	1	5	5	X
sc-1180	207	2	.	.	X
sc-1180	207	3	domain	domain	VERB
sc-1180	207	4	specific	specific	ADJ
sc-1180	207	5	modelling	modelling	NOUN
sc-1180	207	6	language	language	NOUN
sc-1180	207	7	for	for	ADP
sc-1180	207	8	defining	define	VERB
sc-1180	207	9	our	our	PRON
sc-1180	207	10	graph	graph	NOUN
sc-1180	207	11	-	-	PUNCT
sc-1180	207	12	based	base	VERB
sc-1180	207	13	modelling	modelling	NOUN
sc-1180	207	14	language	language	NOUN
sc-1180	207	15	,	,	PUNCT
sc-1180	207	16	the	the	DET
sc-1180	207	17	industry	industry	NOUN
sc-1180	207	18	notation	notation	NOUN
sc-1180	207	19	metacase+	metacase+	NOUN
sc-1180	207	20	goprr	goprr	NOUN
sc-1180	207	21	(	(	PUNCT
sc-1180	207	22	graphs	graph	NOUN
sc-1180	207	23	,	,	PUNCT
sc-1180	207	24	objects	object	NOUN
sc-1180	207	25	,	,	PUNCT
sc-1180	207	26	properties	property	NOUN
sc-1180	207	27	,	,	PUNCT
sc-1180	207	28	relationships	relationship	NOUN
sc-1180	207	29	and	and	CCONJ
sc-1180	207	30	roles	role	NOUN
sc-1180	207	31	)	)	PUNCT
sc-1180	208	1	[	[	X
sc-1180	208	2	9	9	NUM
sc-1180	208	3	]	]	PUNCT
sc-1180	208	4	was	be	AUX
sc-1180	208	5	used	use	VERB
sc-1180	208	6	.	.	PUNCT
sc-1180	209	1	all	all	DET
sc-1180	209	2	objects	object	NOUN
sc-1180	209	3	used	use	VERB
sc-1180	209	4	within	within	ADP
sc-1180	209	5	goprr	goprr	NOUN
sc-1180	209	6	are	be	AUX
sc-1180	209	7	drawn	draw	VERB
sc-1180	209	8	into	into	ADP
sc-1180	209	9	graphs	graph	NOUN
sc-1180	209	10	that	that	PRON
sc-1180	209	11	contain	contain	VERB
sc-1180	209	12	the	the	DET
sc-1180	209	13	object	object	NOUN
sc-1180	209	14	’s	’s	PART
sc-1180	209	15	role	role	NOUN
sc-1180	209	16	and	and	CCONJ
sc-1180	209	17	the	the	DET
sc-1180	209	18	relationships	relationship	NOUN
sc-1180	209	19	thereof	thereof	ADV
sc-1180	209	20	.	.	PUNCT
sc-1180	210	1	goprr	goprr	ADJ
sc-1180	210	2	objects	object	NOUN
sc-1180	210	3	can	can	AUX
sc-1180	210	4	be	be	AUX
sc-1180	210	5	,	,	PUNCT
sc-1180	210	6	for	for	ADP
sc-1180	210	7	example	example	NOUN
sc-1180	210	8	a	a	DET
sc-1180	210	9	process	process	NOUN
sc-1180	210	10	,	,	PUNCT
sc-1180	210	11	a	a	DET
sc-1180	210	12	thread	thread	NOUN
sc-1180	210	13	,	,	PUNCT
sc-1180	210	14	a	a	DET
sc-1180	210	15	class	class	NOUN
sc-1180	210	16	or	or	CCONJ
sc-1180	210	17	an	an	DET
sc-1180	210	18	instance	instance	NOUN
sc-1180	210	19	of	of	ADP
sc-1180	210	20	class	class	NOUN
sc-1180	210	21	.	.	PUNCT
sc-1180	211	1	a	a	DET
sc-1180	211	2	property	property	NOUN
sc-1180	211	3	describes	describe	VERB
sc-1180	211	4	features	feature	NOUN
sc-1180	211	5	of	of	ADP
sc-1180	211	6	graphs	graph	NOUN
sc-1180	211	7	,	,	PUNCT
sc-1180	211	8	objects	object	NOUN
sc-1180	211	9	,	,	PUNCT
sc-1180	211	10	roles	role	NOUN
sc-1180	211	11	and	and	CCONJ
sc-1180	211	12	relationships	relationship	NOUN
sc-1180	211	13	.	.	PUNCT
sc-1180	212	1	a	a	DET
sc-1180	212	2	relationship	relationship	NOUN
sc-1180	212	3	connects	connect	VERB
sc-1180	212	4	objects	object	NOUN
sc-1180	212	5	by	by	ADP
sc-1180	212	6	assigning	assign	VERB
sc-1180	212	7	them	they	PRON
sc-1180	212	8	roles	role	NOUN
sc-1180	212	9	in	in	ADP
sc-1180	212	10	the	the	DET
sc-1180	212	11	activity	activity	NOUN
sc-1180	212	12	of	of	ADP
sc-1180	212	13	the	the	DET
sc-1180	212	14	object	object	NOUN
sc-1180	212	15	.	.	PUNCT
sc-1180	213	1	this	this	DET
sc-1180	213	2	section	section	NOUN
sc-1180	213	3	will	will	AUX
sc-1180	213	4	give	give	VERB
sc-1180	213	5	a	a	DET
sc-1180	213	6	short	short	ADJ
sc-1180	213	7	overview	overview	NOUN
sc-1180	213	8	of	of	ADP
sc-1180	213	9	our	our	PRON
sc-1180	213	10	goprrnotation	goprrnotation	NOUN
sc-1180	213	11	based	base	VERB
sc-1180	213	12	modelling	modelling	NOUN
sc-1180	213	13	approach	approach	NOUN
sc-1180	213	14	.	.	PUNCT
sc-1180	214	1	the	the	DET
sc-1180	214	2	aim	aim	NOUN
sc-1180	214	3	of	of	ADP
sc-1180	214	4	our	our	PRON
sc-1180	214	5	modelling	modelling	NOUN
sc-1180	214	6	approach	approach	NOUN
sc-1180	214	7	is	be	AUX
sc-1180	214	8	to	to	PART
sc-1180	214	9	graphically	graphically	ADV
sc-1180	214	10	describe	describe	VERB
sc-1180	214	11	simulation	simulation	NOUN
sc-1180	214	12	components	component	NOUN
sc-1180	214	13	as	as	ADV
sc-1180	214	14	well	well	ADV
sc-1180	214	15	as	as	ADP
sc-1180	214	16	agents	agent	NOUN
sc-1180	214	17	of	of	ADP
sc-1180	214	18	our	our	PRON
sc-1180	214	19	mas	mas	PROPN
sc-1180	214	20	.	.	PROPN
sc-1180	214	21	therefore	therefore	ADV
sc-1180	214	22	,	,	PUNCT
sc-1180	214	23	graphs	graph	NOUN
sc-1180	214	24	in	in	ADP
sc-1180	214	25	our	our	PRON
sc-1180	214	26	notation	notation	NOUN
sc-1180	214	27	can	can	AUX
sc-1180	214	28	either	either	CCONJ
sc-1180	214	29	be	be	AUX
sc-1180	214	30	the	the	DET
sc-1180	214	31	environment	environment	NOUN
sc-1180	214	32	,	,	PUNCT
sc-1180	214	33	the	the	DET
sc-1180	214	34	simulated	simulate	VERB
sc-1180	214	35	vehicle	vehicle	NOUN
sc-1180	214	36	or	or	CCONJ
sc-1180	214	37	a	a	DET
sc-1180	214	38	agent	agent	NOUN
sc-1180	214	39	organization	organization	NOUN
sc-1180	214	40	.	.	PUNCT
sc-1180	215	1	every	every	DET
sc-1180	215	2	graph	graph	NOUN
sc-1180	215	3	contains	contain	VERB
sc-1180	215	4	objects	object	NOUN
sc-1180	215	5	:	:	PUNCT
sc-1180	215	6	agent	agent	NOUN
sc-1180	215	7	organizations	organization	NOUN
sc-1180	215	8	are	be	AUX
sc-1180	215	9	constituted	constitute	VERB
sc-1180	215	10	of	of	ADP
sc-1180	215	11	agents	agent	NOUN
sc-1180	215	12	whereas	whereas	SCONJ
sc-1180	215	13	vehicle	vehicle	NOUN
sc-1180	215	14	and	and	CCONJ
sc-1180	215	15	environment	environment	NOUN
sc-1180	215	16	are	be	AUX
sc-1180	215	17	represented	represent	VERB
sc-1180	215	18	by	by	ADP
sc-1180	215	19	entities	entity	NOUN
sc-1180	215	20	and	and	CCONJ
sc-1180	215	21	virtualobjects	virtualobject	NOUN
sc-1180	215	22	.	.	PUNCT
sc-1180	216	1	virtualobjects	virtualobject	NOUN
sc-1180	216	2	are	be	AUX
sc-1180	216	3	three	three	NUM
sc-1180	216	4	-	-	PUNCT
sc-1180	216	5	dimensional	dimensional	ADJ
sc-1180	216	6	objects	object	NOUN
sc-1180	216	7	which	which	PRON
sc-1180	216	8	are	be	AUX
sc-1180	216	9	used	use	VERB
sc-1180	216	10	to	to	PART
sc-1180	216	11	represent	represent	VERB
sc-1180	216	12	certain	certain	ADJ
sc-1180	216	13	simulation	simulation	NOUN
sc-1180	216	14	aspects	aspect	NOUN
sc-1180	216	15	in	in	ADP
sc-1180	216	16	the	the	DET
sc-1180	216	17	virtual	virtual	ADJ
sc-1180	216	18	testbed	testbe	VERB
sc-1180	216	19	,	,	PUNCT
sc-1180	216	20	e.g.	e.g.	ADV
sc-1180	216	21	a	a	DET
sc-1180	216	22	cad	cad	NOUN
sc-1180	216	23	vehicle	vehicle	NOUN
sc-1180	216	24	model	model	NOUN
sc-1180	216	25	.	.	PUNCT
sc-1180	217	1	every	every	DET
sc-1180	217	2	object	object	NOUN
sc-1180	217	3	involves	involve	VERB
sc-1180	217	4	three	three	NUM
sc-1180	217	5	main	main	ADJ
sc-1180	217	6	concepts	concept	NOUN
sc-1180	217	7	:	:	PUNCT
sc-1180	217	8	a	a	DET
sc-1180	217	9	role	role	NOUN
sc-1180	217	10	,	,	PUNCT
sc-1180	217	11	relationships	relationship	NOUN
sc-1180	217	12	and	and	CCONJ
sc-1180	217	13	properties	property	NOUN
sc-1180	217	14	.	.	PUNCT
sc-1180	218	1	every	every	DET
sc-1180	218	2	entity	entity	NOUN
sc-1180	218	3	has	have	VERB
sc-1180	218	4	one	one	NUM
sc-1180	218	5	of	of	ADP
sc-1180	218	6	four	four	NUM
sc-1180	218	7	roles	role	NOUN
sc-1180	218	8	:	:	PUNCT
sc-1180	218	9	environment	environment	NOUN
sc-1180	218	10	,	,	PUNCT
sc-1180	218	11	interface	interface	NOUN
sc-1180	218	12	,	,	PUNCT
sc-1180	218	13	vehicle	vehicle	NOUN
sc-1180	218	14	or	or	CCONJ
sc-1180	218	15	agent	agent	NOUN
sc-1180	218	16	.	.	PUNCT
sc-1180	219	1	these	these	PRON
sc-1180	219	2	define	define	VERB
sc-1180	219	3	the	the	DET
sc-1180	219	4	entity	entity	NOUN
sc-1180	219	5	’s	’s	PART
sc-1180	219	6	role	role	NOUN
sc-1180	219	7	with	with	ADP
sc-1180	219	8	respect	respect	NOUN
sc-1180	219	9	to	to	ADP
sc-1180	219	10	the	the	DET
sc-1180	219	11	aforementioned	aforementioned	ADJ
sc-1180	219	12	simulation	simulation	NOUN
sc-1180	219	13	loop	loop	PROPN
sc-1180	219	14	.	.	PUNCT
sc-1180	220	1	relationships	relationship	NOUN
sc-1180	220	2	between	between	ADP
sc-1180	220	3	objects	object	NOUN
sc-1180	220	4	are	be	AUX
sc-1180	220	5	expressed	express	VERB
sc-1180	220	6	by	by	ADP
sc-1180	220	7	key	key	ADJ
sc-1180	220	8	-	-	PUNCT
sc-1180	220	9	value	value	NOUN
sc-1180	220	10	pair	pair	NOUN
sc-1180	220	11	exchanges	exchange	NOUN
sc-1180	220	12	.	.	PUNCT
sc-1180	221	1	furthermore	furthermore	ADV
sc-1180	221	2	,	,	PUNCT
sc-1180	221	3	object	object	VERB
sc-1180	221	4	properties	property	NOUN
sc-1180	221	5	can	can	AUX
sc-1180	221	6	be	be	AUX
sc-1180	221	7	arbitrary	arbitrary	ADJ
sc-1180	221	8	data	datum	NOUN
sc-1180	221	9	,	,	PUNCT
sc-1180	221	10	such	such	ADJ
sc-1180	221	11	as	as	ADP
sc-1180	221	12	numbers	number	NOUN
sc-1180	221	13	or	or	CCONJ
sc-1180	221	14	strings	string	NOUN
sc-1180	221	15	.	.	PUNCT
sc-1180	222	1	formally	formally	ADV
sc-1180	222	2	,	,	PUNCT
sc-1180	222	3	let	let	VERB
sc-1180	222	4	g	g	NOUN
sc-1180	222	5	=	=	VERB
sc-1180	222	6	(	(	PUNCT
sc-1180	222	7	{	{	PUNCT
sc-1180	222	8	environment|v	environment|v	NOUN
sc-1180	222	9	ehicle|agents	ehicle|agent	NOUN
sc-1180	222	10	}	}	PUNCT
sc-1180	222	11	,	,	PUNCT
sc-1180	222	12	{	{	PUNCT
sc-1180	222	13	g	g	NOUN
sc-1180	222	14	}	}	PUNCT
sc-1180	222	15	,	,	PUNCT
sc-1180	222	16	{	{	PUNCT
sc-1180	222	17	o	o	NOUN
sc-1180	222	18	}	}	PUNCT
sc-1180	222	19	)	)	PUNCT
sc-1180	222	20	(	(	PUNCT
sc-1180	222	21	4	4	X
sc-1180	222	22	)	)	PUNCT
sc-1180	222	23	be	be	AUX
sc-1180	222	24	a	a	DET
sc-1180	222	25	graph	graph	NOUN
sc-1180	222	26	definition	definition	NOUN
sc-1180	222	27	with	with	ADP
sc-1180	222	28	child	child	NOUN
sc-1180	222	29	graphs	graph	NOUN
sc-1180	222	30	{	{	PUNCT
sc-1180	222	31	g	g	NOUN
sc-1180	222	32	}	}	PUNCT
sc-1180	222	33	and	and	CCONJ
sc-1180	222	34	objects	object	VERB
sc-1180	222	35	{	{	PUNCT
sc-1180	222	36	o	o	NOUN
sc-1180	222	37	}	}	PUNCT
sc-1180	222	38	defined	define	VERB
sc-1180	222	39	as	as	ADP
sc-1180	222	40	o	o	NOUN
sc-1180	222	41	=	=	PUNCT
sc-1180	222	42	(	(	PUNCT
sc-1180	222	43	{	{	PUNCT
sc-1180	222	44	entity|agent|v	entity|agent|v	NOUN
sc-1180	222	45	irtualobject	irtualobject	ADJ
sc-1180	222	46	}	}	PUNCT
sc-1180	222	47	,	,	PUNCT
sc-1180	222	48	ro	ro	X
sc-1180	222	49	,	,	PUNCT
sc-1180	222	50	{	{	PUNCT
sc-1180	222	51	re	re	NOUN
sc-1180	222	52	}	}	PUNCT
sc-1180	222	53	,	,	PUNCT
sc-1180	222	54	{	{	PUNCT
sc-1180	222	55	p	p	NOUN
sc-1180	222	56	}	}	PUNCT
sc-1180	222	57	)	)	PUNCT
sc-1180	222	58	(	(	PUNCT
sc-1180	222	59	5	5	X
sc-1180	222	60	)	)	PUNCT
sc-1180	222	61	with	with	ADP
sc-1180	222	62	p	p	NOUN
sc-1180	222	63	=	=	X
sc-1180	222	64	{	{	PUNCT
sc-1180	222	65	(	(	PUNCT
sc-1180	222	66	datatype	datatype	NOUN
sc-1180	222	67	,	,	PUNCT
sc-1180	222	68	name	name	NOUN
sc-1180	222	69	)	)	PUNCT
sc-1180	222	70	}	}	PUNCT
sc-1180	222	71	(	(	PUNCT
sc-1180	222	72	6	6	X
sc-1180	222	73	)	)	PUNCT
sc-1180	222	74	a	a	DET
sc-1180	222	75	set	set	NOUN
sc-1180	222	76	of	of	ADP
sc-1180	222	77	variables	variable	NOUN
sc-1180	222	78	,	,	PUNCT
sc-1180	222	79	ro	ro	X
sc-1180	222	80	=	=	PRON
sc-1180	222	81	{	{	PUNCT
sc-1180	222	82	environment|interface|v	environment|interface|v	NOUN
sc-1180	222	83	ehicle|agent	ehicle|agent	PROPN
sc-1180	222	84	}	}	PUNCT
sc-1180	222	85	(	(	PUNCT
sc-1180	222	86	7	7	X
sc-1180	222	87	)	)	PUNCT
sc-1180	222	88	a	a	DET
sc-1180	222	89	role	role	NOUN
sc-1180	222	90	definition	definition	NOUN
sc-1180	222	91	and	and	CCONJ
sc-1180	222	92	re	re	NOUN
sc-1180	222	93	=	=	NOUN
sc-1180	222	94	{	{	PUNCT
sc-1180	222	95	kv	kv	PROPN
sc-1180	222	96	pair	pair	PROPN
sc-1180	222	97	}	}	PUNCT
sc-1180	222	98	(	(	PUNCT
sc-1180	222	99	8)	8)	NUM
sc-1180	222	100	set	set	NOUN
sc-1180	222	101	of	of	ADP
sc-1180	222	102	key	key	ADJ
sc-1180	222	103	-	-	PUNCT
sc-1180	222	104	value	value	NOUN
sc-1180	222	105	pairs	pair	NOUN
sc-1180	222	106	.	.	PUNCT
sc-1180	223	1	all	all	DET
sc-1180	223	2	modelling	model	VERB
sc-1180	223	3	aspects	aspect	NOUN
sc-1180	223	4	are	be	AUX
sc-1180	223	5	depicted	depict	VERB
sc-1180	223	6	in	in	ADP
sc-1180	223	7	figure	figure	NOUN
sc-1180	223	8	5	5	NUM
sc-1180	223	9	.	.	PUNCT
sc-1180	224	1	figure	figure	NOUN
sc-1180	224	2	5	5	NUM
sc-1180	224	3	:	:	PUNCT
sc-1180	224	4	simplified	simplified	ADJ
sc-1180	224	5	hierarchical	hierarchical	ADJ
sc-1180	224	6	depiction	depiction	NOUN
sc-1180	224	7	of	of	ADP
sc-1180	224	8	our	our	PRON
sc-1180	224	9	lightweight	lightweight	ADJ
sc-1180	224	10	dsl	dsl	ADJ
sc-1180	224	11	approach	approach	NOUN
sc-1180	224	12	,	,	PUNCT
sc-1180	224	13	based	base	VERB
sc-1180	224	14	on	on	ADP
sc-1180	224	15	the	the	DET
sc-1180	224	16	goprrnotation	goprrnotation	NOUN
sc-1180	224	17	.	.	PUNCT
sc-1180	225	1	5.1	5.1	NUM
sc-1180	225	2	code	code	NOUN
sc-1180	225	3	generation	generation	NOUN
sc-1180	225	4	template	template	NOUN
sc-1180	225	5	-	-	PUNCT
sc-1180	225	6	based	base	VERB
sc-1180	225	7	code	code	NOUN
sc-1180	225	8	generation	generation	NOUN
sc-1180	225	9	(	(	PUNCT
sc-1180	225	10	tbcg	tbcg	NOUN
sc-1180	225	11	)	)	PUNCT
sc-1180	226	1	[	[	X
sc-1180	226	2	4	4	X
sc-1180	226	3	]	]	PUNCT
sc-1180	226	4	is	be	AUX
sc-1180	226	5	used	use	VERB
sc-1180	226	6	to	to	PART
sc-1180	226	7	generate	generate	VERB
sc-1180	226	8	source	source	NOUN
sc-1180	226	9	code	code	NOUN
sc-1180	226	10	from	from	ADP
sc-1180	226	11	our	our	PRON
sc-1180	226	12	pim	pim	PROPN
sc-1180	226	13	.	.	PUNCT
sc-1180	227	1	tbcg	tbcg	PROPN
sc-1180	227	2	is	be	AUX
sc-1180	227	3	a	a	DET
sc-1180	227	4	generative	generative	ADJ
sc-1180	227	5	technology	technology	NOUN
sc-1180	227	6	that	that	PRON
sc-1180	227	7	transforms	transform	VERB
sc-1180	227	8	a	a	DET
sc-1180	227	9	given	give	VERB
sc-1180	227	10	model	model	NOUN
sc-1180	227	11	into	into	ADP
sc-1180	227	12	source	source	NOUN
sc-1180	227	13	code	code	NOUN
sc-1180	227	14	,	,	PUNCT
sc-1180	227	15	through	through	ADP
sc-1180	227	16	the	the	DET
sc-1180	227	17	use	use	NOUN
sc-1180	227	18	of	of	ADP
sc-1180	227	19	templates	template	NOUN
sc-1180	227	20	.	.	PUNCT
sc-1180	228	1	these	these	DET
sc-1180	228	2	templates	template	NOUN
sc-1180	228	3	provide	provide	VERB
sc-1180	228	4	a	a	DET
sc-1180	228	5	high	high	ADJ
sc-1180	228	6	level	level	NOUN
sc-1180	228	7	of	of	ADP
sc-1180	228	8	flexibility	flexibility	NOUN
sc-1180	228	9	for	for	ADP
sc-1180	228	10	the	the	DET
sc-1180	228	11	generated	generate	VERB
sc-1180	228	12	output	output	NOUN
sc-1180	228	13	required	require	VERB
sc-1180	228	14	by	by	ADP
sc-1180	228	15	custom	custom	NOUN
sc-1180	228	16	generation	generation	NOUN
sc-1180	228	17	scenarios	scenario	NOUN
sc-1180	228	18	.	.	PUNCT
sc-1180	229	1	furthermore	furthermore	ADV
sc-1180	229	2	,	,	PUNCT
sc-1180	229	3	it	it	PRON
sc-1180	229	4	is	be	AUX
sc-1180	229	5	extensively	extensively	ADV
sc-1180	229	6	used	use	VERB
sc-1180	229	7	throughout	throughout	ADP
sc-1180	229	8	the	the	DET
sc-1180	229	9	industry	industry	NOUN
sc-1180	229	10	[	[	X
sc-1180	229	11	4	4	NUM
sc-1180	229	12	]	]	PUNCT
sc-1180	229	13	.	.	PUNCT
sc-1180	230	1	a	a	DET
sc-1180	230	2	template	template	NOUN
sc-1180	230	3	thereby	thereby	ADV
sc-1180	230	4	consists	consist	VERB
sc-1180	230	5	of	of	ADP
sc-1180	230	6	imperative	imperative	ADJ
sc-1180	230	7	control	control	NOUN
sc-1180	230	8	and	and	CCONJ
sc-1180	230	9	structural	structural	ADJ
sc-1180	230	10	source	source	NOUN
sc-1180	230	11	code	code	NOUN
sc-1180	230	12	patterns	pattern	NOUN
sc-1180	230	13	such	such	ADJ
sc-1180	230	14	as	as	ADP
sc-1180	230	15	loops	loop	NOUN
sc-1180	230	16	or	or	CCONJ
sc-1180	230	17	conditional	conditional	ADJ
sc-1180	230	18	statements	statement	NOUN
sc-1180	230	19	.	.	PUNCT
sc-1180	231	1	as	as	SCONJ
sc-1180	231	2	everything	everything	PRON
sc-1180	231	3	in	in	ADP
sc-1180	231	4	our	our	PRON
sc-1180	231	5	virtual	virtual	ADJ
sc-1180	231	6	testbed	testbe	VERB
sc-1180	231	7	is	be	AUX
sc-1180	231	8	an	an	DET
sc-1180	231	9	entity	entity	NOUN
sc-1180	231	10	with	with	ADP
sc-1180	231	11	an	an	DET
sc-1180	231	12	homogeneous	homogeneous	ADJ
sc-1180	231	13	interface	interface	NOUN
sc-1180	231	14	to	to	ADP
sc-1180	231	15	the	the	DET
sc-1180	231	16	overall	overall	ADJ
sc-1180	231	17	shared	share	VERB
sc-1180	231	18	simulation	simulation	NOUN
sc-1180	231	19	state	state	NOUN
sc-1180	231	20	by	by	ADP
sc-1180	231	21	accessing	access	VERB
sc-1180	231	22	a	a	DET
sc-1180	231	23	set	set	NOUN
sc-1180	231	24	of	of	ADP
sc-1180	231	25	key	key	ADJ
sc-1180	231	26	-	-	PUNCT
sc-1180	231	27	value	value	NOUN
sc-1180	231	28	pairs	pair	NOUN
sc-1180	231	29	,	,	PUNCT
sc-1180	231	30	our	our	PRON
sc-1180	231	31	tbcg	tbcg	NOUN
sc-1180	231	32	aims	aim	VERB
sc-1180	231	33	at	at	ADP
sc-1180	231	34	generating	generate	VERB
sc-1180	231	35	the	the	DET
sc-1180	231	36	read	read	NOUN
sc-1180	231	37	and	and	CCONJ
sc-1180	231	38	write	write	VERB
sc-1180	231	39	processes	process	NOUN
sc-1180	231	40	of	of	ADP
sc-1180	231	41	all	all	DET
sc-1180	231	42	entities	entity	NOUN
sc-1180	231	43	.	.	PUNCT
sc-1180	232	1	additionally	additionally	ADV
sc-1180	232	2	,	,	PUNCT
sc-1180	232	3	the	the	DET
sc-1180	232	4	cuda	cuda	PROPN
sc-1180	232	5	code	code	PROPN
sc-1180	232	6	for	for	ADP
sc-1180	232	7	the	the	DET
sc-1180	232	8	mas	mas	PROPN
sc-1180	232	9	is	be	AUX
sc-1180	232	10	directly	directly	ADV
sc-1180	232	11	generated	generate	VERB
sc-1180	232	12	for	for	ADP
sc-1180	232	13	the	the	DET
sc-1180	232	14	specified	specified	ADJ
sc-1180	232	15	agent	agent	NOUN
sc-1180	232	16	into	into	ADP
sc-1180	232	17	the	the	DET
sc-1180	232	18	corresponding	corresponding	ADJ
sc-1180	232	19	entity	entity	NOUN
sc-1180	232	20	specification	specification	NOUN
sc-1180	232	21	.	.	PUNCT
sc-1180	233	1	pseudo	pseudo	NOUN
sc-1180	233	2	-	-	NOUN
sc-1180	233	3	code	code	NOUN
sc-1180	233	4	1	1	NUM
sc-1180	233	5	gives	give	VERB
sc-1180	233	6	a	a	DET
sc-1180	233	7	brief	brief	ADJ
sc-1180	233	8	overview	overview	NOUN
sc-1180	233	9	of	of	ADP
sc-1180	233	10	the	the	DET
sc-1180	233	11	entity	entity	NOUN
sc-1180	233	12	class	class	NOUN
sc-1180	233	13	generation	generation	NOUN
sc-1180	233	14	.	.	PUNCT
sc-1180	234	1	the	the	DET
sc-1180	234	2	following	follow	VERB
sc-1180	234	3	parameters	parameter	NOUN
sc-1180	234	4	are	be	AUX
sc-1180	234	5	derived	derive	VERB
sc-1180	234	6	from	from	ADP
sc-1180	234	7	the	the	DET
sc-1180	234	8	dsl	dsl	PROPN
sc-1180	234	9	:	:	PUNCT
sc-1180	234	10	•	•	NUM
sc-1180	234	11	ω	ω	NOUN
sc-1180	234	12	:	:	PUNCT
sc-1180	234	13	all	all	PRON
sc-1180	234	14	specified	specify	VERB
sc-1180	234	15	entities	entity	NOUN
sc-1180	234	16	•	•	NUM
sc-1180	234	17	α	α	NOUN
sc-1180	234	18	:	:	PUNCT
sc-1180	234	19	name	name	NOUN
sc-1180	234	20	of	of	ADP
sc-1180	234	21	the	the	DET
sc-1180	234	22	entity	entity	NOUN
sc-1180	234	23	•	•	NOUN
sc-1180	234	24	β	β	NOUN
sc-1180	234	25	:	:	PUNCT
sc-1180	234	26	role	role	NOUN
sc-1180	234	27	of	of	ADP
sc-1180	234	28	the	the	DET
sc-1180	234	29	entity	entity	NOUN
sc-1180	234	30	(	(	PUNCT
sc-1180	234	31	respectively	respectively	ADV
sc-1180	234	32	base	base	NOUN
sc-1180	234	33	class	class	NOUN
sc-1180	234	34	)	)	PUNCT
sc-1180	234	35	•	•	ADP
sc-1180	234	36	γ	γ	PROPN
sc-1180	234	37	:	:	PUNCT
sc-1180	234	38	list	list	NOUN
sc-1180	234	39	of	of	ADP
sc-1180	234	40	properties	property	NOUN
sc-1180	234	41	,	,	PUNCT
sc-1180	234	42	structured	structure	VERB
sc-1180	234	43	as	as	ADP
sc-1180	234	44	tuples	tuple	NOUN
sc-1180	234	45	with	with	ADP
sc-1180	234	46	data	datum	NOUN
sc-1180	234	47	type	type	NOUN
sc-1180	234	48	and	and	CCONJ
sc-1180	234	49	name	name	NOUN
sc-1180	234	50	•	•	NUM
sc-1180	234	51	δ	δ	NOUN
sc-1180	234	52	:	:	PUNCT
sc-1180	234	53	list	list	NOUN
sc-1180	234	54	of	of	ADP
sc-1180	234	55	key	key	ADJ
sc-1180	234	56	-	-	PUNCT
sc-1180	234	57	value	value	NOUN
sc-1180	234	58	pairs	pair	NOUN
sc-1180	234	59	which	which	PRON
sc-1180	234	60	are	be	AUX
sc-1180	234	61	read	read	VERB
sc-1180	234	62	by	by	ADP
sc-1180	234	63	the	the	DET
sc-1180	234	64	entity	entity	NOUN
sc-1180	234	65	•	•	NOUN
sc-1180	234	66	ε	ε	PROPN
sc-1180	234	67	:	:	PUNCT
sc-1180	234	68	list	list	NOUN
sc-1180	234	69	of	of	ADP
sc-1180	234	70	key	key	ADJ
sc-1180	234	71	-	-	PUNCT
sc-1180	234	72	value	value	NOUN
sc-1180	234	73	pairs	pair	NOUN
sc-1180	234	74	which	which	PRON
sc-1180	234	75	are	be	AUX
sc-1180	234	76	written	write	VERB
sc-1180	234	77	by	by	ADP
sc-1180	234	78	the	the	DET
sc-1180	234	79	entity	entity	NOUN
sc-1180	234	80	•	•	NOUN
sc-1180	234	81	ζ	ζ	NOUN
sc-1180	234	82	:	:	PUNCT
sc-1180	234	83	entity	entity	NOUN
sc-1180	234	84	type	type	NOUN
sc-1180	234	85	(	(	PUNCT
sc-1180	234	86	agent	agent	NOUN
sc-1180	234	87	or	or	CCONJ
sc-1180	234	88	simulation	simulation	NOUN
sc-1180	234	89	component	component	NOUN
sc-1180	234	90	)	)	PUNCT
sc-1180	234	91	•	•	NUM
sc-1180	234	92	η	η	PROPN
sc-1180	234	93	:	:	PUNCT
sc-1180	234	94	agent	agent	NOUN
sc-1180	234	95	data	datum	NOUN
sc-1180	234	96	list	list	NOUN
sc-1180	234	97	(	(	PUNCT
sc-1180	234	98	non	non	ADJ
sc-1180	234	99	-	-	ADJ
sc-1180	234	100	zero	zero	NUM
sc-1180	234	101	if	if	SCONJ
sc-1180	234	102	entity	entity	NOUN
sc-1180	234	103	type	type	NOUN
sc-1180	234	104	is	be	AUX
sc-1180	234	105	agent	agent	NOUN
sc-1180	234	106	)	)	PUNCT
sc-1180	234	107	,	,	PUNCT
sc-1180	234	108	structured	structure	VERB
sc-1180	234	109	as	as	ADP
sc-1180	234	110	tuples	tuple	NOUN
sc-1180	234	111	with	with	ADP
sc-1180	234	112	data	datum	NOUN
sc-1180	234	113	type	type	NOUN
sc-1180	234	114	and	and	CCONJ
sc-1180	234	115	name	name	NOUN
sc-1180	234	116	algorithm	algorithm	NOUN
sc-1180	234	117	1	1	NUM
sc-1180	234	118	generateentityimplementations	generateentityimplementation	NOUN
sc-1180	234	119	for	for	ADP
sc-1180	234	120	ωi	ωi	PROPN
sc-1180	234	121	∈	∈	PROPN
sc-1180	234	122	ω	ω	NOUN
sc-1180	234	123	do	do	AUX
sc-1180	234	124	generate	generate	VERB
sc-1180	234	125	header	header	NOUN
sc-1180	234	126	file	file	NOUN
sc-1180	234	127	with	with	ADP
sc-1180	234	128	derived	derived	ADJ
sc-1180	234	129	class	class	NOUN
sc-1180	234	130	α	α	NOUN
sc-1180	234	131	from	from	ADP
sc-1180	234	132	class	class	NOUN
sc-1180	234	133	β	β	NOUN
sc-1180	234	134	for	for	ADP
sc-1180	234	135	γi	γi	NOUN
sc-1180	234	136	∈	∈	PROPN
sc-1180	234	137	γ	γ	NOUN
sc-1180	234	138	do	do	AUX
sc-1180	234	139	generate	generate	VERB
sc-1180	234	140	private	private	ADJ
sc-1180	234	141	variable	variable	NOUN
sc-1180	234	142	γi	γi	ADP
sc-1180	234	143	−	−	PROPN
sc-1180	234	144	name	name	NOUN
sc-1180	234	145	with	with	ADP
sc-1180	234	146	γi	γi	NOUN
sc-1180	234	147	−	−	PROPN
sc-1180	234	148	type	type	NOUN
sc-1180	234	149	in	in	ADP
sc-1180	234	150	header	header	NOUN
sc-1180	234	151	file	file	NOUN
sc-1180	234	152	declaration	declaration	NOUN
sc-1180	234	153	end	end	VERB
sc-1180	234	154	for	for	ADP
sc-1180	234	155	generate	generate	NOUN
sc-1180	234	156	cpp	cpp	NOUN
sc-1180	234	157	file	file	NOUN
sc-1180	234	158	with	with	ADP
sc-1180	234	159	include	include	NOUN
sc-1180	234	160	to	to	ADP
sc-1180	234	161	class	class	NOUN
sc-1180	234	162	α	α	NOUN
sc-1180	234	163	generate	generate	VERB
sc-1180	234	164	empty	empty	ADJ
sc-1180	234	165	read	read	NOUN
sc-1180	234	166	,	,	PUNCT
sc-1180	234	167	write	write	VERB
sc-1180	234	168	and	and	CCONJ
sc-1180	234	169	work	work	NOUN
sc-1180	234	170	function	function	NOUN
sc-1180	234	171	of	of	ADP
sc-1180	234	172	α	α	NOUN
sc-1180	234	173	for	for	SCONJ
sc-1180	234	174	δi	δi	PROPN
sc-1180	234	175	∈	∈	PROPN
sc-1180	234	176	δ	δ	PROPN
sc-1180	234	177	do	do	AUX
sc-1180	234	178	generate	generate	VERB
sc-1180	234	179	key	key	ADJ
sc-1180	234	180	-	-	PUNCT
sc-1180	234	181	value	value	NOUN
sc-1180	234	182	pool	pool	NOUN
sc-1180	234	183	read	read	NOUN
sc-1180	234	184	of	of	ADP
sc-1180	234	185	key	key	ADJ
sc-1180	234	186	δi	δi	NOUN
sc-1180	234	187	for	for	SCONJ
sc-1180	234	188	variable	variable	ADJ
sc-1180	234	189	γi−	γi−	ADJ
sc-1180	234	190	name	name	NOUN
sc-1180	234	191	in	in	ADP
sc-1180	234	192	read	read	NOUN
sc-1180	234	193	function	function	NOUN
sc-1180	234	194	end	end	VERB
sc-1180	234	195	for	for	ADP
sc-1180	234	196	for	for	ADP
sc-1180	234	197	εi	εi	NOUN
sc-1180	234	198	∈	∈	PROPN
sc-1180	234	199	ε	ε	PROPN
sc-1180	234	200	do	do	AUX
sc-1180	234	201	generate	generate	VERB
sc-1180	234	202	key	key	ADJ
sc-1180	234	203	-	-	PUNCT
sc-1180	234	204	value	value	NOUN
sc-1180	234	205	pool	pool	NOUN
sc-1180	234	206	write	write	NOUN
sc-1180	234	207	of	of	ADP
sc-1180	234	208	key	key	NOUN
sc-1180	234	209	εi	εi	VERB
sc-1180	234	210	for	for	ADP
sc-1180	234	211	variable	variable	ADJ
sc-1180	234	212	γi	γi	NOUN
sc-1180	234	213	−	−	PROPN
sc-1180	234	214	name	name	NOUN
sc-1180	234	215	in	in	ADP
sc-1180	234	216	write	write	ADJ
sc-1180	234	217	function	function	NOUN
sc-1180	234	218	end	end	VERB
sc-1180	234	219	for	for	ADP
sc-1180	234	220	if	if	SCONJ
sc-1180	234	221	ζ	ζ	NOUN
sc-1180	234	222	=	=	SYM
sc-1180	234	223	agent	agent	NOUN
sc-1180	234	224	then	then	ADV
sc-1180	234	225	generate	generate	VERB
sc-1180	234	226	work	work	NOUN
sc-1180	234	227	function	function	NOUN
sc-1180	234	228	:	:	PUNCT
sc-1180	234	229	generate	generate	VERB
sc-1180	234	230	cuda	cuda	NOUN
sc-1180	234	231	device	device	NOUN
sc-1180	234	232	memory	memory	NOUN
sc-1180	234	233	for	for	ADP
sc-1180	234	234	*	*	NOUN
sc-1180	234	235	device	device	NOUN
sc-1180	234	236	-	-	PUNCT
sc-1180	234	237	ηi−name	ηi−name	NOUN
sc-1180	234	238	with	with	ADP
sc-1180	234	239	ηi	ηi	PROPN
sc-1180	234	240	−	−	PROPN
sc-1180	234	241	type	type	NOUN
sc-1180	234	242	and	and	CCONJ
sc-1180	234	243	ηsize	ηsize	NOUN
sc-1180	234	244	with	with	ADP
sc-1180	234	245	cudamalloc	cudamalloc	PROPN
sc-1180	234	246	generate	generate	NOUN
sc-1180	234	247	host	host	NOUN
sc-1180	234	248	to	to	ADP
sc-1180	234	249	cuda	cuda	NOUN
sc-1180	234	250	device	device	NOUN
sc-1180	234	251	memory	memory	NOUN
sc-1180	234	252	transfer	transfer	NOUN
sc-1180	234	253	for	for	ADP
sc-1180	234	254	device	device	NOUN
sc-1180	234	255	-	-	PUNCT
sc-1180	234	256	ηi	ηi	NOUN
sc-1180	234	257	-	-	PUNCT
sc-1180	234	258	name	name	NOUN
sc-1180	234	259	,	,	PUNCT
sc-1180	234	260	ηi	ηi	NOUN
sc-1180	234	261	-	-	PUNCT
sc-1180	234	262	name	name	NOUN
sc-1180	234	263	and	and	CCONJ
sc-1180	234	264	ηsize	ηsize	NOUN
sc-1180	234	265	with	with	ADP
sc-1180	234	266	cudamemcpy	cudamemcpy	PROPN
sc-1180	234	267	generate	generate	PROPN
sc-1180	234	268	cuda	cuda	PROPN
sc-1180	234	269	kernel	kernel	PROPN
sc-1180	234	270	call	call	VERB
sc-1180	234	271	with	with	ADP
sc-1180	234	272	ηgrid	ηgrid	ADJ
sc-1180	234	273	ηblock	ηblock	NOUN
sc-1180	234	274	and	and	CCONJ
sc-1180	234	275	list	list	NOUN
sc-1180	234	276	of	of	ADP
sc-1180	234	277	device	device	NOUN
sc-1180	234	278	memory	memory	NOUN
sc-1180	234	279	device	device	NOUN
sc-1180	234	280	-	-	PUNCT
sc-1180	234	281	η	η	NOUN
sc-1180	234	282	-	-	NOUN
sc-1180	234	283	names	name	NOUN
sc-1180	234	284	generate	generate	VERB
sc-1180	234	285	cuda	cuda	NOUN
sc-1180	234	286	device	device	NOUN
sc-1180	234	287	to	to	ADP
sc-1180	234	288	host	host	NOUN
sc-1180	234	289	memory	memory	NOUN
sc-1180	234	290	transfer	transfer	NOUN
sc-1180	234	291	for	for	ADP
sc-1180	234	292	objective	objective	NOUN
sc-1180	234	293	,	,	PUNCT
sc-1180	234	294	parameter	parameter	NOUN
sc-1180	234	295	and	and	CCONJ
sc-1180	234	296	utility	utility	NOUN
sc-1180	234	297	values	value	NOUN
sc-1180	234	298	end	end	VERB
sc-1180	234	299	if	if	SCONJ
sc-1180	234	300	end	end	NOUN
sc-1180	234	301	for	for	ADP
sc-1180	234	302	5.2	5.2	NUM
sc-1180	234	303	model	model	NOUN
sc-1180	234	304	validation	validation	NOUN
sc-1180	234	305	model	model	NOUN
sc-1180	234	306	validation	validation	NOUN
sc-1180	234	307	is	be	AUX
sc-1180	234	308	,	,	PUNCT
sc-1180	234	309	besides	besides	SCONJ
sc-1180	234	310	code	code	NOUN
sc-1180	234	311	generation	generation	NOUN
sc-1180	234	312	,	,	PUNCT
sc-1180	234	313	one	one	NUM
sc-1180	234	314	of	of	ADP
sc-1180	234	315	the	the	DET
sc-1180	234	316	main	main	ADJ
sc-1180	234	317	aspects	aspect	NOUN
sc-1180	234	318	and	and	CCONJ
sc-1180	234	319	benefits	benefit	NOUN
sc-1180	234	320	of	of	ADP
sc-1180	234	321	domain	domain	NOUN
sc-1180	234	322	specific	specific	ADJ
sc-1180	234	323	modelling	modelling	NOUN
sc-1180	234	324	[	[	X
sc-1180	234	325	27	27	NUM
sc-1180	234	326	]	]	PUNCT
sc-1180	234	327	.	.	PUNCT
sc-1180	235	1	it	it	PRON
sc-1180	235	2	aims	aim	VERB
sc-1180	235	3	at	at	ADP
sc-1180	235	4	checking	check	VERB
sc-1180	235	5	whether	whether	SCONJ
sc-1180	235	6	a	a	DET
sc-1180	235	7	model	model	NOUN
sc-1180	235	8	conforms	conform	VERB
sc-1180	235	9	to	to	ADP
sc-1180	235	10	its	its	PRON
sc-1180	235	11	specified	specified	ADJ
sc-1180	235	12	requirements	requirement	NOUN
sc-1180	235	13	.	.	PUNCT
sc-1180	236	1	as	as	SCONJ
sc-1180	236	2	mentioned	mention	VERB
sc-1180	236	3	earlier	early	ADV
sc-1180	236	4	,	,	PUNCT
sc-1180	236	5	the	the	DET
sc-1180	236	6	huge	huge	ADJ
sc-1180	236	7	complexity	complexity	NOUN
sc-1180	236	8	of	of	ADP
sc-1180	236	9	virtual	virtual	ADJ
sc-1180	236	10	testbeds	testbed	NOUN
sc-1180	236	11	with	with	ADP
sc-1180	236	12	the	the	DET
sc-1180	236	13	ever	ever	ADV
sc-1180	236	14	increasing	increase	VERB
sc-1180	236	15	amount	amount	NOUN
sc-1180	236	16	of	of	ADP
sc-1180	236	17	software	software	NOUN
sc-1180	236	18	interfaces	interface	NOUN
sc-1180	236	19	between	between	ADP
sc-1180	236	20	simulation	simulation	NOUN
sc-1180	236	21	,	,	PUNCT
sc-1180	236	22	optimization	optimization	NOUN
sc-1180	236	23	,	,	PUNCT
sc-1180	236	24	user	user	NOUN
sc-1180	236	25	interaction	interaction	NOUN
sc-1180	236	26	and	and	CCONJ
sc-1180	236	27	rendering	rendering	NOUN
sc-1180	236	28	makes	make	VERB
sc-1180	236	29	interface	interface	NOUN
sc-1180	236	30	development	development	NOUN
sc-1180	236	31	tedious	tedious	ADJ
sc-1180	236	32	and	and	CCONJ
sc-1180	236	33	often	often	ADV
sc-1180	236	34	errorprone	errorprone	NOUN
sc-1180	236	35	.	.	PUNCT
sc-1180	237	1	we	we	PRON
sc-1180	237	2	therefore	therefore	ADV
sc-1180	237	3	validate	validate	VERB
sc-1180	237	4	the	the	DET
sc-1180	237	5	simulation	simulation	NOUN
sc-1180	237	6	data	data	NOUN
sc-1180	237	7	flow	flow	NOUN
sc-1180	237	8	as	as	SCONJ
sc-1180	237	9	it	it	PRON
sc-1180	237	10	exactly	exactly	ADV
sc-1180	237	11	constitutes	constitute	VERB
sc-1180	237	12	the	the	DET
sc-1180	237	13	internal	internal	ADJ
sc-1180	237	14	interfaces	interface	NOUN
sc-1180	237	15	of	of	ADP
sc-1180	237	16	the	the	DET
sc-1180	237	17	simulation	simulation	NOUN
sc-1180	237	18	.	.	PUNCT
sc-1180	238	1	this	this	DET
sc-1180	238	2	validation	validation	NOUN
sc-1180	238	3	check	check	NOUN
sc-1180	238	4	is	be	AUX
sc-1180	238	5	modelled	model	VERB
sc-1180	238	6	as	as	ADP
sc-1180	238	7	finite	finite	ADJ
sc-1180	238	8	state	state	NOUN
sc-1180	238	9	machines	machine	NOUN
sc-1180	238	10	which	which	PRON
sc-1180	238	11	are	be	AUX
sc-1180	238	12	generated	generate	VERB
sc-1180	238	13	by	by	ADP
sc-1180	238	14	the	the	DET
sc-1180	238	15	overall	overall	ADJ
sc-1180	238	16	key	key	ADJ
sc-1180	238	17	-	-	PUNCT
sc-1180	238	18	value	value	NOUN
sc-1180	238	19	pair	pair	NOUN
sc-1180	238	20	access	access	NOUN
sc-1180	238	21	of	of	ADP
sc-1180	238	22	all	all	DET
sc-1180	238	23	entities	entity	NOUN
sc-1180	238	24	.	.	PUNCT
sc-1180	239	1	we	we	PRON
sc-1180	239	2	validate	validate	VERB
sc-1180	239	3	three	three	NUM
sc-1180	239	4	simulation	simulation	NOUN
sc-1180	239	5	data	datum	NOUN
sc-1180	239	6	flow	flow	NOUN
sc-1180	239	7	constraints	constraint	NOUN
sc-1180	239	8	:	:	PUNCT
sc-1180	239	9	if	if	SCONJ
sc-1180	239	10	a	a	DET
sc-1180	239	11	key	key	ADJ
sc-1180	239	12	-	-	PUNCT
sc-1180	239	13	value	value	NOUN
sc-1180	239	14	pair	pair	NOUN
sc-1180	239	15	is	be	AUX
sc-1180	239	16	defined	define	VERB
sc-1180	239	17	and	and	CCONJ
sc-1180	239	18	written	write	VERB
sc-1180	239	19	by	by	ADP
sc-1180	239	20	one	one	NUM
sc-1180	239	21	entity	entity	NOUN
sc-1180	239	22	,	,	PUNCT
sc-1180	239	23	at	at	ADP
sc-1180	239	24	least	least	ADJ
sc-1180	239	25	one	one	NUM
sc-1180	239	26	other	other	ADJ
sc-1180	239	27	entity	entity	NOUN
sc-1180	239	28	must	must	AUX
sc-1180	239	29	read	read	VERB
sc-1180	239	30	it	it	PRON
sc-1180	239	31	,	,	PUNCT
sc-1180	239	32	otherwise	otherwise	ADV
sc-1180	239	33	the	the	DET
sc-1180	239	34	modelling	modelling	NOUN
sc-1180	239	35	and	and	CCONJ
sc-1180	239	36	generation	generation	NOUN
sc-1180	239	37	of	of	ADP
sc-1180	239	38	this	this	DET
sc-1180	239	39	key	key	ADJ
sc-1180	239	40	-	-	PUNCT
sc-1180	239	41	value	value	NOUN
sc-1180	239	42	pair	pair	NOUN
sc-1180	239	43	is	be	AUX
sc-1180	239	44	unnecessary	unnecessary	ADJ
sc-1180	239	45	.	.	PUNCT
sc-1180	240	1	analogous	analogous	ADJ
sc-1180	240	2	,	,	PUNCT
sc-1180	240	3	if	if	SCONJ
sc-1180	240	4	a	a	DET
sc-1180	240	5	key	key	ADJ
sc-1180	240	6	-	-	PUNCT
sc-1180	240	7	value	value	NOUN
sc-1180	240	8	pair	pair	NOUN
sc-1180	240	9	is	be	AUX
sc-1180	240	10	being	be	AUX
sc-1180	240	11	read	read	VERB
sc-1180	240	12	by	by	ADP
sc-1180	240	13	at	at	ADV
sc-1180	240	14	least	least	ADV
sc-1180	240	15	one	one	NUM
sc-1180	240	16	entity	entity	NOUN
sc-1180	240	17	,	,	PUNCT
sc-1180	240	18	one	one	NUM
sc-1180	240	19	other	other	ADJ
sc-1180	240	20	entity	entity	NOUN
sc-1180	240	21	must	must	AUX
sc-1180	240	22	create	create	VERB
sc-1180	240	23	this	this	DET
sc-1180	240	24	keyvalue	keyvalue	NOUN
sc-1180	240	25	pair	pair	NOUN
sc-1180	240	26	.	.	PUNCT
sc-1180	241	1	in	in	ADP
sc-1180	241	2	order	order	NOUN
sc-1180	241	3	to	to	PART
sc-1180	241	4	prevent	prevent	VERB
sc-1180	241	5	invalid	invalid	ADJ
sc-1180	241	6	user	user	NOUN
sc-1180	241	7	modelling	modelling	NOUN
sc-1180	241	8	of	of	ADP
sc-1180	241	9	the	the	DET
sc-1180	241	10	virtual	virtual	ADJ
sc-1180	241	11	testbed	testbed	NOUN
sc-1180	241	12	,	,	PUNCT
sc-1180	241	13	we	we	PRON
sc-1180	241	14	also	also	ADV
sc-1180	241	15	validate	validate	VERB
sc-1180	241	16	whether	whether	SCONJ
sc-1180	241	17	the	the	DET
sc-1180	241	18	simulation	simulation	NOUN
sc-1180	241	19	requirements	requirement	NOUN
sc-1180	241	20	are	be	AUX
sc-1180	241	21	not	not	PART
sc-1180	241	22	violated	violate	VERB
sc-1180	241	23	:	:	PUNCT
sc-1180	241	24	our	our	PRON
sc-1180	241	25	mas	mas	PROPN
sc-1180	241	26	must	must	AUX
sc-1180	241	27	only	only	ADV
sc-1180	241	28	change	change	VERB
sc-1180	241	29	its	its	PRON
sc-1180	241	30	designated	designate	VERB
sc-1180	241	31	parameters	parameter	NOUN
sc-1180	241	32	and	and	CCONJ
sc-1180	241	33	the	the	DET
sc-1180	241	34	simulated	simulate	VERB
sc-1180	241	35	vehicle	vehicle	NOUN
sc-1180	241	36	must	must	AUX
sc-1180	241	37	only	only	ADV
sc-1180	241	38	perceive	perceive	VERB
sc-1180	241	39	its	its	PRON
sc-1180	241	40	environment	environment	NOUN
sc-1180	241	41	by	by	ADP
sc-1180	241	42	simulated	simulated	ADJ
sc-1180	241	43	sensor	sensor	NOUN
sc-1180	241	44	measurements	measurement	NOUN
sc-1180	241	45	.	.	PUNCT
sc-1180	242	1	furthermore	furthermore	ADV
sc-1180	242	2	,	,	PUNCT
sc-1180	242	3	the	the	DET
sc-1180	242	4	simulated	simulate	VERB
sc-1180	242	5	environment	environment	NOUN
sc-1180	242	6	must	must	AUX
sc-1180	242	7	only	only	ADV
sc-1180	242	8	retrieve	retrieve	VERB
sc-1180	242	9	actuator	actuator	NOUN
sc-1180	242	10	information	information	NOUN
sc-1180	242	11	from	from	ADP
sc-1180	242	12	the	the	DET
sc-1180	242	13	vehicle	vehicle	NOUN
sc-1180	242	14	.	.	PUNCT
sc-1180	243	1	figure	figure	NOUN
sc-1180	243	2	6	6	NUM
sc-1180	243	3	illustrates	illustrate	VERB
sc-1180	243	4	these	these	DET
sc-1180	243	5	three	three	NUM
sc-1180	243	6	model	model	NOUN
sc-1180	243	7	validation	validation	NOUN
sc-1180	243	8	checks	check	NOUN
sc-1180	243	9	.	.	PUNCT
sc-1180	244	1	figure	figure	VERB
sc-1180	244	2	6	6	NUM
sc-1180	244	3	:	:	PUNCT
sc-1180	244	4	model	model	NOUN
sc-1180	244	5	validation	validation	NOUN
sc-1180	244	6	for	for	ADP
sc-1180	244	7	simulation	simulation	NOUN
sc-1180	244	8	data	datum	NOUN
sc-1180	244	9	flow	flow	NOUN
sc-1180	244	10	:	:	PUNCT
sc-1180	244	11	a	a	X
sc-1180	244	12	)	)	PUNCT
sc-1180	244	13	if	if	SCONJ
sc-1180	244	14	a	a	DET
sc-1180	244	15	key	key	ADJ
sc-1180	244	16	-	-	PUNCT
sc-1180	244	17	value	value	NOUN
sc-1180	244	18	pair	pair	NOUN
sc-1180	244	19	x	x	PUNCT
sc-1180	244	20	is	be	AUX
sc-1180	244	21	written	write	VERB
sc-1180	244	22	by	by	ADP
sc-1180	244	23	entity	entity	NOUN
sc-1180	244	24	a	a	NOUN
sc-1180	244	25	,	,	PUNCT
sc-1180	244	26	at	at	ADV
sc-1180	244	27	least	least	ADV
sc-1180	244	28	one	one	NUM
sc-1180	244	29	other	other	ADJ
sc-1180	244	30	entity	entity	NOUN
sc-1180	244	31	b	b	NOUN
sc-1180	244	32	must	must	AUX
sc-1180	244	33	read	read	VERB
sc-1180	244	34	it	it	PRON
sc-1180	244	35	from	from	ADP
sc-1180	244	36	the	the	DET
sc-1180	244	37	same	same	ADJ
sc-1180	244	38	graph	graph	NOUN
sc-1180	244	39	b	b	NOUN
sc-1180	244	40	)	)	PUNCT
sc-1180	244	41	if	if	SCONJ
sc-1180	244	42	a	a	DET
sc-1180	244	43	key	key	ADJ
sc-1180	244	44	-	-	PUNCT
sc-1180	244	45	value	value	NOUN
sc-1180	244	46	pair	pair	NOUN
sc-1180	244	47	x	x	PUNCT
sc-1180	244	48	is	be	AUX
sc-1180	244	49	read	read	VERB
sc-1180	244	50	by	by	ADP
sc-1180	244	51	entity	entity	NOUN
sc-1180	244	52	b	b	PROPN
sc-1180	244	53	,	,	PUNCT
sc-1180	244	54	it	it	PRON
sc-1180	244	55	must	must	AUX
sc-1180	244	56	be	be	AUX
sc-1180	244	57	written	write	VERB
sc-1180	244	58	by	by	ADP
sc-1180	244	59	another	another	DET
sc-1180	244	60	entity	entity	NOUN
sc-1180	244	61	a	a	PRON
sc-1180	244	62	from	from	ADP
sc-1180	244	63	the	the	DET
sc-1180	244	64	same	same	ADJ
sc-1180	244	65	graph	graph	NOUN
sc-1180	244	66	c	c	NOUN
sc-1180	244	67	)	)	PUNCT
sc-1180	245	1	if	if	SCONJ
sc-1180	245	2	data	datum	NOUN
sc-1180	245	3	from	from	ADP
sc-1180	245	4	entity	entity	NOUN
sc-1180	245	5	a	a	PRON
sc-1180	245	6	should	should	AUX
sc-1180	245	7	be	be	AUX
sc-1180	245	8	perceived	perceive	VERB
sc-1180	245	9	by	by	ADP
sc-1180	245	10	entity	entity	NOUN
sc-1180	245	11	c	c	NOUN
sc-1180	245	12	which	which	PRON
sc-1180	245	13	is	be	AUX
sc-1180	245	14	not	not	PART
sc-1180	245	15	situated	situate	VERB
sc-1180	245	16	in	in	ADP
sc-1180	245	17	the	the	DET
sc-1180	245	18	same	same	ADJ
sc-1180	245	19	graph	graph	NOUN
sc-1180	245	20	as	as	ADP
sc-1180	245	21	entity	entity	NOUN
sc-1180	245	22	a	a	X
sc-1180	245	23	,	,	PUNCT
sc-1180	245	24	it	it	PRON
sc-1180	245	25	has	have	VERB
sc-1180	245	26	to	to	PART
sc-1180	245	27	be	be	AUX
sc-1180	245	28	transmitted	transmit	VERB
sc-1180	245	29	by	by	ADP
sc-1180	245	30	an	an	DET
sc-1180	245	31	interface	interface	NOUN
sc-1180	245	32	entity	entity	NOUN
sc-1180	245	33	b.	b.	PROPN
sc-1180	245	34	6	6	NUM
sc-1180	245	35	.	.	PUNCT
sc-1180	245	36	application	application	NOUN
sc-1180	245	37	a	a	DET
sc-1180	245	38	spacecraft	spacecraft	NOUN
sc-1180	245	39	landing	landing	NOUN
sc-1180	245	40	procedure	procedure	NOUN
sc-1180	245	41	is	be	AUX
sc-1180	245	42	a	a	DET
sc-1180	245	43	very	very	ADV
sc-1180	245	44	complex	complex	ADJ
sc-1180	245	45	sequence	sequence	NOUN
sc-1180	245	46	of	of	ADP
sc-1180	245	47	autonomous	autonomous	ADJ
sc-1180	245	48	vehicle	vehicle	NOUN
sc-1180	245	49	decisions	decision	NOUN
sc-1180	245	50	,	,	PUNCT
sc-1180	245	51	actuator	actuator	NOUN
sc-1180	245	52	commands	command	NOUN
sc-1180	245	53	and	and	CCONJ
sc-1180	245	54	sensor	sensor	NOUN
sc-1180	245	55	data	datum	NOUN
sc-1180	245	56	acquisition	acquisition	NOUN
sc-1180	245	57	summarized	summarize	VERB
sc-1180	245	58	as	as	ADP
sc-1180	245	59	guidance	guidance	NOUN
sc-1180	245	60	,	,	PUNCT
sc-1180	245	61	navigation	navigation	NOUN
sc-1180	245	62	and	and	CCONJ
sc-1180	245	63	control	control	NOUN
sc-1180	245	64	.	.	PUNCT
sc-1180	246	1	such	such	DET
sc-1180	246	2	a	a	DET
sc-1180	246	3	landing	landing	NOUN
sc-1180	246	4	procedure	procedure	NOUN
sc-1180	246	5	is	be	AUX
sc-1180	246	6	an	an	DET
sc-1180	246	7	interesting	interesting	ADJ
sc-1180	246	8	testbed	testbe	VERB
sc-1180	246	9	for	for	ADP
sc-1180	246	10	our	our	PRON
sc-1180	246	11	proposed	propose	VERB
sc-1180	246	12	approach	approach	NOUN
sc-1180	246	13	as	as	SCONJ
sc-1180	246	14	it	it	PRON
sc-1180	246	15	consists	consist	VERB
sc-1180	246	16	of	of	ADP
sc-1180	246	17	several	several	ADJ
sc-1180	246	18	environmental	environmental	ADJ
sc-1180	246	19	influences	influence	NOUN
sc-1180	246	20	and	and	CCONJ
sc-1180	246	21	vehicle	vehicle	NOUN
sc-1180	246	22	internal	internal	ADJ
sc-1180	246	23	control	control	PROPN
sc-1180	246	24	loops	loop	NOUN
sc-1180	246	25	.	.	PUNCT
sc-1180	247	1	we	we	PRON
sc-1180	247	2	modelled	model	VERB
sc-1180	247	3	a	a	DET
sc-1180	247	4	simplified	simplified	ADJ
sc-1180	247	5	landing	landing	NOUN
sc-1180	247	6	procedure	procedure	NOUN
sc-1180	247	7	the	the	DET
sc-1180	247	8	following	following	ADJ
sc-1180	247	9	way	way	NOUN
sc-1180	247	10	.	.	PUNCT
sc-1180	248	1	a	a	DET
sc-1180	248	2	spacecraft	spacecraft	NOUN
sc-1180	248	3	tries	try	VERB
sc-1180	248	4	to	to	PART
sc-1180	248	5	land	land	VERB
sc-1180	248	6	on	on	ADP
sc-1180	248	7	a	a	DET
sc-1180	248	8	asteroid	asteroid	NOUN
sc-1180	248	9	surface	surface	NOUN
sc-1180	248	10	.	.	PUNCT
sc-1180	249	1	the	the	DET
sc-1180	249	2	spacecraft	spacecraft	NOUN
sc-1180	249	3	is	be	AUX
sc-1180	249	4	under	under	ADP
sc-1180	249	5	the	the	DET
sc-1180	249	6	influence	influence	NOUN
sc-1180	249	7	of	of	ADP
sc-1180	249	8	solar	solar	ADJ
sc-1180	249	9	radiation	radiation	NOUN
sc-1180	249	10	pressure	pressure	NOUN
sc-1180	249	11	as	as	ADV
sc-1180	249	12	well	well	ADV
sc-1180	249	13	as	as	ADP
sc-1180	249	14	asteroid	asteroid	NOUN
sc-1180	249	15	gravity	gravity	NOUN
sc-1180	249	16	.	.	PUNCT
sc-1180	250	1	the	the	DET
sc-1180	250	2	spacecraft	spacecraft	NOUN
sc-1180	250	3	itself	itself	PRON
sc-1180	250	4	has	have	VERB
sc-1180	250	5	an	an	DET
sc-1180	250	6	internal	internal	ADJ
sc-1180	250	7	control	control	NOUN
sc-1180	250	8	loop	loop	NOUN
sc-1180	250	9	which	which	PRON
sc-1180	250	10	acquires	acquire	VERB
sc-1180	250	11	sensor	sensor	NOUN
sc-1180	250	12	data	datum	NOUN
sc-1180	250	13	:	:	PUNCT
sc-1180	250	14	acceleration	acceleration	NOUN
sc-1180	250	15	(	(	PUNCT
sc-1180	250	16	accelerometer	accelerometer	NOUN
sc-1180	250	17	)	)	PUNCT
sc-1180	250	18	,	,	PUNCT
sc-1180	250	19	orientation	orientation	NOUN
sc-1180	250	20	(	(	PUNCT
sc-1180	250	21	star	star	NOUN
sc-1180	250	22	tracker	tracker	PROPN
sc-1180	250	23	)	)	PUNCT
sc-1180	250	24	and	and	CCONJ
sc-1180	250	25	distance	distance	NOUN
sc-1180	250	26	to	to	ADP
sc-1180	250	27	surface	surface	NOUN
sc-1180	250	28	(	(	PUNCT
sc-1180	250	29	range	range	NOUN
sc-1180	250	30	finder	finder	NOUN
sc-1180	250	31	)	)	PUNCT
sc-1180	250	32	.	.	PUNCT
sc-1180	251	1	the	the	DET
sc-1180	251	2	overall	overall	ADJ
sc-1180	251	3	algorithmic	algorithmic	ADJ
sc-1180	251	4	internal	internal	ADJ
sc-1180	251	5	spacecraft	spacecraft	NOUN
sc-1180	251	6	position	position	NOUN
sc-1180	251	7	estimation	estimation	NOUN
sc-1180	251	8	is	be	AUX
sc-1180	251	9	simplified	simplify	VERB
sc-1180	251	10	in	in	ADP
sc-1180	251	11	such	such	DET
sc-1180	251	12	a	a	DET
sc-1180	251	13	way	way	NOUN
sc-1180	251	14	that	that	PRON
sc-1180	251	15	ground	ground	NOUN
sc-1180	251	16	truth	truth	NOUN
sc-1180	251	17	data	datum	NOUN
sc-1180	251	18	is	be	AUX
sc-1180	251	19	used	use	VERB
sc-1180	251	20	under	under	ADP
sc-1180	251	21	application	application	NOUN
sc-1180	251	22	of	of	ADP
sc-1180	251	23	gaussian	gaussian	ADJ
sc-1180	251	24	noise	noise	NOUN
sc-1180	251	25	.	.	PUNCT
sc-1180	252	1	the	the	DET
sc-1180	252	2	spacecraft	spacecraft	NOUN
sc-1180	252	3	has	have	VERB
sc-1180	252	4	three	three	NUM
sc-1180	252	5	configurable	configurable	ADJ
sc-1180	252	6	parameters	parameter	NOUN
sc-1180	252	7	:	:	PUNCT
sc-1180	252	8	main	main	ADJ
sc-1180	252	9	engine	engine	NOUN
sc-1180	252	10	thrust	thrust	VERB
sc-1180	252	11	level	level	NOUN
sc-1180	252	12	in	in	ADP
sc-1180	252	13	newton	newton	PROPN
sc-1180	252	14	,	,	PUNCT
sc-1180	252	15	fuel	fuel	NOUN
sc-1180	252	16	capacity	capacity	NOUN
sc-1180	252	17	in	in	ADP
sc-1180	252	18	kg	kg	NOUN
sc-1180	252	19	and	and	CCONJ
sc-1180	252	20	timings	timing	NOUN
sc-1180	252	21	of	of	ADP
sc-1180	252	22	thrust	thrust	ADJ
sc-1180	252	23	ignitions	ignition	NOUN
sc-1180	252	24	.	.	PUNCT
sc-1180	253	1	in	in	ADP
sc-1180	253	2	order	order	NOUN
sc-1180	253	3	to	to	PART
sc-1180	253	4	regulate	regulate	VERB
sc-1180	253	5	the	the	DET
sc-1180	253	6	landing	landing	NOUN
sc-1180	253	7	velocity	velocity	NOUN
sc-1180	253	8	,	,	PUNCT
sc-1180	253	9	the	the	DET
sc-1180	253	10	spacecraft	spacecraft	NOUN
sc-1180	253	11	autonomously	autonomously	ADV
sc-1180	253	12	fires	fire	VERB
sc-1180	253	13	its	its	PRON
sc-1180	253	14	main	main	ADJ
sc-1180	253	15	engine	engine	NOUN
sc-1180	253	16	if	if	SCONJ
sc-1180	253	17	the	the	DET
sc-1180	253	18	acceleration	acceleration	NOUN
sc-1180	253	19	exceeds	exceed	VERB
sc-1180	253	20	a	a	DET
sc-1180	253	21	given	give	VERB
sc-1180	253	22	threshold	threshold	NOUN
sc-1180	253	23	.	.	PUNCT
sc-1180	254	1	additionally	additionally	ADV
sc-1180	254	2	,	,	PUNCT
sc-1180	254	3	the	the	DET
sc-1180	254	4	spacecraft	spacecraft	NOUN
sc-1180	254	5	continuously	continuously	ADV
sc-1180	254	6	determines	determine	VERB
sc-1180	254	7	its	its	PRON
sc-1180	254	8	orientation	orientation	NOUN
sc-1180	254	9	and	and	CCONJ
sc-1180	254	10	fires	fire	VERB
sc-1180	254	11	its	its	PRON
sc-1180	254	12	attitude	attitude	NOUN
sc-1180	254	13	thrusters	thruster	NOUN
sc-1180	254	14	,	,	PUNCT
sc-1180	254	15	if	if	SCONJ
sc-1180	254	16	the	the	DET
sc-1180	254	17	spacecraft	spacecraft	NOUN
sc-1180	254	18	orientation	orientation	NOUN
sc-1180	254	19	to	to	ADP
sc-1180	254	20	the	the	DET
sc-1180	254	21	asteroid	asteroid	NOUN
sc-1180	254	22	surface	surface	NOUN
sc-1180	254	23	also	also	ADV
sc-1180	254	24	exceeds	exceed	VERB
sc-1180	254	25	a	a	DET
sc-1180	254	26	given	give	VERB
sc-1180	254	27	threshold	threshold	NOUN
sc-1180	254	28	.	.	PUNCT
sc-1180	255	1	every	every	DET
sc-1180	255	2	time	time	NOUN
sc-1180	255	3	the	the	DET
sc-1180	255	4	main	main	ADJ
sc-1180	255	5	thrust	thrust	NOUN
sc-1180	255	6	or	or	CCONJ
sc-1180	255	7	control	control	NOUN
sc-1180	255	8	thrust	thrust	NOUN
sc-1180	255	9	is	be	AUX
sc-1180	255	10	fired	fire	VERB
sc-1180	255	11	,	,	PUNCT
sc-1180	255	12	fuel	fuel	NOUN
sc-1180	255	13	is	be	AUX
sc-1180	255	14	consumed	consume	VERB
sc-1180	255	15	and	and	CCONJ
sc-1180	255	16	consequently	consequently	ADV
sc-1180	255	17	the	the	DET
sc-1180	255	18	mass	mass	NOUN
sc-1180	255	19	of	of	ADP
sc-1180	255	20	the	the	DET
sc-1180	255	21	spacecraft	spacecraft	NOUN
sc-1180	255	22	is	be	AUX
sc-1180	255	23	lowered	lower	VERB
sc-1180	255	24	.	.	PUNCT
sc-1180	256	1	the	the	DET
sc-1180	256	2	aim	aim	NOUN
sc-1180	256	3	of	of	ADP
sc-1180	256	4	our	our	PRON
sc-1180	256	5	optimization	optimization	NOUN
sc-1180	256	6	is	be	AUX
sc-1180	256	7	to	to	PART
sc-1180	256	8	dynamically	dynamically	ADV
sc-1180	256	9	tune	tune	VERB
sc-1180	256	10	this	this	DET
sc-1180	256	11	spacecraft	spacecraft	NOUN
sc-1180	256	12	configuration	configuration	NOUN
sc-1180	256	13	in	in	ADP
sc-1180	256	14	order	order	NOUN
sc-1180	256	15	to	to	PART
sc-1180	256	16	avoid	avoid	VERB
sc-1180	256	17	a	a	DET
sc-1180	256	18	crash	crash	NOUN
sc-1180	256	19	on	on	ADP
sc-1180	256	20	the	the	DET
sc-1180	256	21	asteroid	asteroid	NOUN
sc-1180	256	22	’s	’s	PART
sc-1180	256	23	surface	surface	NOUN
sc-1180	256	24	as	as	ADV
sc-1180	256	25	well	well	ADV
sc-1180	256	26	as	as	ADP
sc-1180	256	27	to	to	PART
sc-1180	256	28	ensure	ensure	VERB
sc-1180	256	29	that	that	SCONJ
sc-1180	256	30	enough	enough	ADJ
sc-1180	256	31	fuel	fuel	NOUN
sc-1180	256	32	is	be	AUX
sc-1180	256	33	left	leave	VERB
sc-1180	256	34	when	when	SCONJ
sc-1180	256	35	the	the	DET
sc-1180	256	36	landing	landing	NOUN
sc-1180	256	37	procedure	procedure	NOUN
sc-1180	256	38	is	be	AUX
sc-1180	256	39	finished	finish	VERB
sc-1180	256	40	,	,	PUNCT
sc-1180	256	41	to	to	PART
sc-1180	256	42	leave	leave	VERB
sc-1180	256	43	the	the	DET
sc-1180	256	44	asteroid	asteroid	NOUN
sc-1180	256	45	again	again	ADV
sc-1180	256	46	.	.	PUNCT
sc-1180	257	1	additionally	additionally	ADV
sc-1180	257	2	,	,	PUNCT
sc-1180	257	3	the	the	DET
sc-1180	257	4	orientation	orientation	NOUN
sc-1180	257	5	of	of	ADP
sc-1180	257	6	the	the	DET
sc-1180	257	7	spacecraft	spacecraft	NOUN
sc-1180	257	8	has	have	VERB
sc-1180	257	9	to	to	PART
sc-1180	257	10	be	be	AUX
sc-1180	257	11	aligned	align	VERB
sc-1180	257	12	to	to	ADP
sc-1180	257	13	the	the	DET
sc-1180	257	14	asteroid	asteroid	NOUN
sc-1180	257	15	surface	surface	NOUN
sc-1180	257	16	as	as	SCONJ
sc-1180	257	17	the	the	DET
sc-1180	257	18	main	main	ADJ
sc-1180	257	19	thruster	thruster	NOUN
sc-1180	257	20	and	and	CCONJ
sc-1180	257	21	landing	landing	NOUN
sc-1180	257	22	gear	gear	NOUN
sc-1180	257	23	should	should	AUX
sc-1180	257	24	be	be	AUX
sc-1180	257	25	perpendicular	perpendicular	ADJ
sc-1180	257	26	to	to	ADP
sc-1180	257	27	the	the	DET
sc-1180	257	28	asteroid	asteroid	NOUN
sc-1180	257	29	’s	’s	PART
sc-1180	257	30	surface	surface	NOUN
sc-1180	257	31	.	.	PUNCT
sc-1180	258	1	figure	figure	NOUN
sc-1180	258	2	7	7	NUM
sc-1180	258	3	shows	show	VERB
sc-1180	258	4	an	an	DET
sc-1180	258	5	example	example	NOUN
sc-1180	258	6	rendering	rendering	NOUN
sc-1180	258	7	of	of	ADP
sc-1180	258	8	our	our	PRON
sc-1180	258	9	virtual	virtual	ADJ
sc-1180	258	10	testbed	testbed	NOUN
sc-1180	258	11	.	.	PUNCT
sc-1180	259	1	figure	figure	VERB
sc-1180	259	2	7	7	NUM
sc-1180	259	3	:	:	PUNCT
sc-1180	259	4	example	example	NOUN
sc-1180	259	5	rendering	rendering	NOUN
sc-1180	259	6	of	of	ADP
sc-1180	259	7	our	our	PRON
sc-1180	259	8	approach	approach	NOUN
sc-1180	259	9	within	within	ADP
sc-1180	259	10	kanaria	kanaria	PROPN
sc-1180	260	1	[	[	X
sc-1180	260	2	22	22	NUM
sc-1180	260	3	]	]	X
sc-1180	260	4	:	:	PUNCT
sc-1180	260	5	on	on	ADP
sc-1180	260	6	-	-	PUNCT
sc-1180	260	7	board	board	NOUN
sc-1180	260	8	particle	particle	NOUN
sc-1180	260	9	filter	filter	NOUN
sc-1180	260	10	localization	localization	NOUN
sc-1180	260	11	(	(	PUNCT
sc-1180	260	12	color	color	NOUN
sc-1180	260	13	-	-	PUNCT
sc-1180	260	14	coded	code	VERB
sc-1180	260	15	spheres	sphere	NOUN
sc-1180	260	16	)	)	PUNCT
sc-1180	260	17	before	before	ADP
sc-1180	260	18	landing	land	VERB
sc-1180	260	19	of	of	ADP
sc-1180	260	20	our	our	PRON
sc-1180	260	21	simulated	simulated	ADJ
sc-1180	260	22	spacecraft	spacecraft	NOUN
sc-1180	260	23	.	.	PUNCT
sc-1180	261	1	7	7	X
sc-1180	261	2	.	.	X
sc-1180	261	3	evaluation	evaluation	NOUN
sc-1180	261	4	we	we	PRON
sc-1180	261	5	have	have	AUX
sc-1180	261	6	implemented	implement	VERB
sc-1180	261	7	our	our	PRON
sc-1180	261	8	vehicle	vehicle	NOUN
sc-1180	261	9	simulation	simulation	NOUN
sc-1180	261	10	and	and	CCONJ
sc-1180	261	11	optimization	optimization	NOUN
sc-1180	261	12	approach	approach	NOUN
sc-1180	261	13	in	in	ADP
sc-1180	261	14	c++	c++	NOUN
sc-1180	261	15	and	and	CCONJ
sc-1180	261	16	cuda	cuda	NOUN
sc-1180	261	17	7	7	NUM
sc-1180	261	18	.	.	PUNCT
sc-1180	262	1	we	we	PRON
sc-1180	262	2	performed	perform	VERB
sc-1180	262	3	our	our	PRON
sc-1180	262	4	experiments	experiment	NOUN
sc-1180	262	5	on	on	ADP
sc-1180	262	6	a	a	DET
sc-1180	262	7	machine	machine	NOUN
sc-1180	262	8	with	with	ADP
sc-1180	262	9	intel	intel	PROPN
sc-1180	262	10	core	core	NOUN
sc-1180	262	11	i7	i7	ADJ
sc-1180	262	12	4	4	NUM
sc-1180	262	13	-	-	PUNCT
sc-1180	262	14	core	core	NOUN
sc-1180	262	15	processor	processor	NOUN
sc-1180	262	16	with	with	ADP
sc-1180	262	17	hyperthreading	hyperthreading	NOUN
sc-1180	262	18	enabled	enable	VERB
sc-1180	262	19	,	,	PUNCT
sc-1180	262	20	nvidia	nvidia	PROPN
sc-1180	262	21	quadro	quadro	PROPN
sc-1180	262	22	k1000	k1000	PROPN
sc-1180	262	23	m	m	PROPN
sc-1180	262	24	as	as	ADV
sc-1180	262	25	well	well	ADV
sc-1180	262	26	as	as	ADP
sc-1180	262	27	nvidia	nvidia	PROPN
sc-1180	262	28	gtx	gtx	PROPN
sc-1180	262	29	480	480	NUM
sc-1180	262	30	and	and	CCONJ
sc-1180	262	31	8	8	NUM
sc-1180	262	32	gb	gb	NOUN
sc-1180	262	33	of	of	ADP
sc-1180	262	34	ram	ram	NOUN
sc-1180	262	35	.	.	PUNCT
sc-1180	263	1	we	we	PRON
sc-1180	263	2	implemented	implement	VERB
sc-1180	263	3	two	two	NUM
sc-1180	263	4	test	test	NOUN
sc-1180	263	5	scenarios	scenario	NOUN
sc-1180	263	6	.	.	PUNCT
sc-1180	264	1	first	first	ADV
sc-1180	264	2	,	,	PUNCT
sc-1180	264	3	we	we	PRON
sc-1180	264	4	modelled	model	VERB
sc-1180	264	5	and	and	CCONJ
sc-1180	264	6	generated	generate	VERB
sc-1180	264	7	,	,	PUNCT
sc-1180	264	8	based	base	VERB
sc-1180	264	9	on	on	ADP
sc-1180	264	10	the	the	DET
sc-1180	264	11	previously	previously	ADV
sc-1180	264	12	introduced	introduce	VERB
sc-1180	264	13	spacecraft	spacecraft	NOUN
sc-1180	264	14	application	application	NOUN
sc-1180	264	15	,	,	PUNCT
sc-1180	264	16	our	our	PRON
sc-1180	264	17	vehicle	vehicle	NOUN
sc-1180	264	18	optimization	optimization	NOUN
sc-1180	264	19	and	and	CCONJ
sc-1180	264	20	simulation	simulation	NOUN
sc-1180	264	21	.	.	PUNCT
sc-1180	265	1	the	the	DET
sc-1180	265	2	first	first	ADJ
sc-1180	265	3	test	test	NOUN
sc-1180	265	4	scenario	scenario	NOUN
sc-1180	265	5	was	be	AUX
sc-1180	265	6	used	use	VERB
sc-1180	265	7	to	to	PART
sc-1180	265	8	evaluate	evaluate	VERB
sc-1180	265	9	whether	whether	SCONJ
sc-1180	265	10	the	the	DET
sc-1180	265	11	mas	mas	PROPN
sc-1180	265	12	based	base	VERB
sc-1180	265	13	optimization	optimization	NOUN
sc-1180	265	14	solves	solve	VERB
sc-1180	265	15	for	for	ADP
sc-1180	265	16	correct	correct	ADJ
sc-1180	265	17	adaptations	adaptation	NOUN
sc-1180	265	18	of	of	ADP
sc-1180	265	19	the	the	DET
sc-1180	265	20	vehicle	vehicle	NOUN
sc-1180	265	21	configuration	configuration	NOUN
sc-1180	265	22	.	.	PUNCT
sc-1180	266	1	second	second	ADJ
sc-1180	266	2	,	,	PUNCT
sc-1180	266	3	we	we	PRON
sc-1180	266	4	implemented	implement	VERB
sc-1180	266	5	synthetic	synthetic	ADJ
sc-1180	266	6	benchmarks	benchmark	NOUN
sc-1180	266	7	for	for	SCONJ
sc-1180	266	8	our	our	PRON
sc-1180	266	9	approach	approach	NOUN
sc-1180	266	10	to	to	PART
sc-1180	266	11	evaluate	evaluate	VERB
sc-1180	266	12	overall	overall	ADJ
sc-1180	266	13	system	system	NOUN
sc-1180	266	14	performance	performance	NOUN
sc-1180	266	15	with	with	ADP
sc-1180	266	16	respect	respect	NOUN
sc-1180	266	17	to	to	ADP
sc-1180	266	18	vehicle	vehicle	NOUN
sc-1180	266	19	parameter	parameter	NOUN
sc-1180	266	20	optimization	optimization	NOUN
sc-1180	266	21	applications	application	NOUN
sc-1180	266	22	.	.	PUNCT
sc-1180	267	1	the	the	DET
sc-1180	267	2	synthetic	synthetic	ADJ
sc-1180	267	3	test	test	NOUN
sc-1180	267	4	scenario	scenario	NOUN
sc-1180	267	5	involved	involve	VERB
sc-1180	267	6	two	two	NUM
sc-1180	267	7	competitors	competitor	NOUN
sc-1180	267	8	:	:	PUNCT
sc-1180	267	9	a	a	DET
sc-1180	267	10	traditional	traditional	ADJ
sc-1180	267	11	non	non	ADJ
sc-1180	267	12	-	-	ADJ
sc-1180	267	13	parallel	parallel	ADJ
sc-1180	267	14	cpu	cpu	NOUN
sc-1180	267	15	implementation	implementation	NOUN
sc-1180	267	16	without	without	ADP
sc-1180	267	17	the	the	DET
sc-1180	267	18	domain	domain	NOUN
sc-1180	267	19	framework	framework	NOUN
sc-1180	267	20	concept	concept	NOUN
sc-1180	267	21	and	and	CCONJ
sc-1180	267	22	our	our	PRON
sc-1180	267	23	domain	domain	NOUN
sc-1180	267	24	framework	framework	NOUN
sc-1180	267	25	implementation	implementation	NOUN
sc-1180	267	26	without	without	ADP
sc-1180	267	27	gpu	gpu	NOUN
sc-1180	267	28	support	support	NOUN
sc-1180	267	29	.	.	PUNCT
sc-1180	268	1	for	for	ADP
sc-1180	268	2	our	our	PRON
sc-1180	268	3	synthetic	synthetic	ADJ
sc-1180	268	4	benchmarks	benchmark	NOUN
sc-1180	268	5	,	,	PUNCT
sc-1180	268	6	figure	figure	VERB
sc-1180	268	7	8	8	NUM
sc-1180	268	8	shows	show	VERB
sc-1180	268	9	the	the	DET
sc-1180	268	10	mean	mean	ADJ
sc-1180	268	11	average	average	ADJ
sc-1180	268	12	computation	computation	NOUN
sc-1180	268	13	time	time	NOUN
sc-1180	268	14	for	for	ADP
sc-1180	268	15	one	one	NUM
sc-1180	268	16	complete	complete	ADJ
sc-1180	268	17	simulation	simulation	NOUN
sc-1180	268	18	and	and	CCONJ
sc-1180	268	19	optimization	optimization	NOUN
sc-1180	268	20	run	run	NOUN
sc-1180	268	21	.	.	PUNCT
sc-1180	269	1	our	our	PRON
sc-1180	269	2	domain	domain	NOUN
sc-1180	269	3	framework	framework	NOUN
sc-1180	269	4	approach	approach	NOUN
sc-1180	269	5	easily	easily	ADV
sc-1180	269	6	outperforms	outperform	VERB
sc-1180	269	7	the	the	DET
sc-1180	269	8	traditional	traditional	ADJ
sc-1180	269	9	cpu	cpu	NOUN
sc-1180	269	10	based	base	VERB
sc-1180	269	11	approach	approach	NOUN
sc-1180	269	12	.	.	PUNCT
sc-1180	270	1	obviously	obviously	ADV
sc-1180	270	2	,	,	PUNCT
sc-1180	270	3	the	the	DET
sc-1180	270	4	speed	speed	NOUN
sc-1180	270	5	-	-	PUNCT
sc-1180	270	6	up	up	NOUN
sc-1180	270	7	of	of	ADP
sc-1180	270	8	our	our	PRON
sc-1180	270	9	approach	approach	NOUN
sc-1180	270	10	increases	increase	VERB
sc-1180	270	11	with	with	ADP
sc-1180	270	12	an	an	DET
sc-1180	270	13	increasing	increase	VERB
sc-1180	270	14	number	number	NOUN
sc-1180	270	15	of	of	ADP
sc-1180	270	16	agents	agent	NOUN
sc-1180	270	17	working	work	VERB
sc-1180	270	18	in	in	ADP
sc-1180	270	19	the	the	DET
sc-1180	270	20	system	system	NOUN
sc-1180	270	21	.	.	PUNCT
sc-1180	271	1	additionally	additionally	ADV
sc-1180	271	2	,	,	PUNCT
sc-1180	271	3	figure	figure	VERB
sc-1180	271	4	9	9	NUM
sc-1180	271	5	depicts	depict	VERB
sc-1180	271	6	the	the	DET
sc-1180	271	7	overall	overall	ADJ
sc-1180	271	8	speed	speed	NOUN
sc-1180	271	9	-	-	PUNCT
sc-1180	271	10	up	up	NOUN
sc-1180	271	11	of	of	ADP
sc-1180	271	12	our	our	PRON
sc-1180	271	13	domain	domain	NOUN
sc-1180	271	14	framework	framework	NOUN
sc-1180	271	15	approach	approach	NOUN
sc-1180	271	16	showing	show	VERB
sc-1180	271	17	a	a	DET
sc-1180	271	18	speed	speed	NOUN
sc-1180	271	19	-	-	PUNCT
sc-1180	271	20	up	up	NOUN
sc-1180	271	21	of	of	ADP
sc-1180	271	22	more	more	ADJ
sc-1180	271	23	than	than	ADP
sc-1180	271	24	a	a	DET
sc-1180	271	25	factor	factor	NOUN
sc-1180	271	26	of	of	ADP
sc-1180	271	27	60	60	NUM
sc-1180	271	28	.	.	PUNCT
sc-1180	272	1	surprisingly	surprisingly	ADV
sc-1180	272	2	,	,	PUNCT
sc-1180	272	3	the	the	DET
sc-1180	272	4	difference	difference	NOUN
sc-1180	272	5	between	between	ADP
sc-1180	272	6	cpu	cpu	NOUN
sc-1180	272	7	based	base	VERB
sc-1180	272	8	domain	domain	NOUN
sc-1180	272	9	framework	framework	NOUN
sc-1180	272	10	and	and	CCONJ
sc-1180	272	11	gpu	gpu	X
sc-1180	272	12	integrated	integrate	VERB
sc-1180	272	13	version	version	NOUN
sc-1180	272	14	is	be	AUX
sc-1180	272	15	very	very	ADV
sc-1180	272	16	small	small	ADJ
sc-1180	272	17	for	for	ADP
sc-1180	272	18	a	a	DET
sc-1180	272	19	few	few	ADJ
sc-1180	272	20	hundred	hundred	NUM
sc-1180	272	21	agents	agent	NOUN
sc-1180	272	22	.	.	PUNCT
sc-1180	273	1	we	we	PRON
sc-1180	273	2	believe	believe	VERB
sc-1180	273	3	that	that	SCONJ
sc-1180	273	4	our	our	PRON
sc-1180	273	5	wait	wait	VERB
sc-1180	273	6	-	-	PUNCT
sc-1180	273	7	free	free	ADJ
sc-1180	273	8	domain	domain	NOUN
sc-1180	273	9	framework	framework	NOUN
sc-1180	273	10	pays	pay	VERB
sc-1180	273	11	-	-	PUNCT
sc-1180	273	12	off	off	NOUN
sc-1180	273	13	well	well	ADV
sc-1180	273	14	as	as	ADP
sc-1180	273	15	the	the	DET
sc-1180	273	16	concurrent	concurrent	ADJ
sc-1180	273	17	access	access	NOUN
sc-1180	273	18	to	to	ADP
sc-1180	273	19	the	the	DET
sc-1180	273	20	kvpool	kvpool	NOUN
sc-1180	273	21	is	be	AUX
sc-1180	273	22	highly	highly	ADV
sc-1180	273	23	optimized	optimize	VERB
sc-1180	273	24	with	with	ADP
sc-1180	273	25	respect	respect	NOUN
sc-1180	273	26	to	to	ADP
sc-1180	273	27	the	the	DET
sc-1180	273	28	traditional	traditional	ADJ
sc-1180	273	29	cpu	cpu	NOUN
sc-1180	273	30	implementation	implementation	NOUN
sc-1180	273	31	.	.	PUNCT
sc-1180	274	1	for	for	ADP
sc-1180	274	2	our	our	PRON
sc-1180	274	3	spacecraft	spacecraft	NOUN
sc-1180	274	4	landing	landing	NOUN
sc-1180	274	5	test	test	NOUN
sc-1180	274	6	scenario	scenario	NOUN
sc-1180	274	7	,	,	PUNCT
sc-1180	274	8	figure	figure	VERB
sc-1180	274	9	10	10	NUM
sc-1180	274	10	shows	show	VERB
sc-1180	274	11	the	the	DET
sc-1180	274	12	simulation	simulation	NOUN
sc-1180	274	13	objective	objective	ADJ
sc-1180	274	14	satisfaction	satisfaction	NOUN
sc-1180	274	15	progress	progress	NOUN
sc-1180	274	16	over	over	ADP
sc-1180	274	17	time	time	NOUN
sc-1180	274	18	.	.	PUNCT
sc-1180	275	1	our	our	PRON
sc-1180	275	2	approach	approach	NOUN
sc-1180	275	3	is	be	AUX
sc-1180	275	4	able	able	ADJ
sc-1180	275	5	to	to	PART
sc-1180	275	6	increase	increase	VERB
sc-1180	275	7	the	the	DET
sc-1180	275	8	satisfaction	satisfaction	NOUN
sc-1180	275	9	of	of	ADP
sc-1180	275	10	all	all	DET
sc-1180	275	11	objectives	objective	NOUN
sc-1180	275	12	until	until	SCONJ
sc-1180	275	13	the	the	DET
sc-1180	275	14	simulation	simulation	NOUN
sc-1180	275	15	successfully	successfully	ADV
sc-1180	275	16	ends	end	VERB
sc-1180	275	17	.	.	PUNCT
sc-1180	276	1	figures	figure	NOUN
sc-1180	276	2	11	11	NUM
sc-1180	276	3	,	,	PUNCT
sc-1180	276	4	12	12	NUM
sc-1180	276	5	and	and	CCONJ
sc-1180	276	6	13	13	NUM
sc-1180	276	7	show	show	VERB
sc-1180	276	8	how	how	SCONJ
sc-1180	276	9	the	the	DET
sc-1180	276	10	main	main	ADJ
sc-1180	276	11	thrust	thrust	NOUN
sc-1180	276	12	level	level	NOUN
sc-1180	276	13	,	,	PUNCT
sc-1180	276	14	fuel	fuel	NOUN
sc-1180	276	15	capacity	capacity	NOUN
sc-1180	276	16	and	and	CCONJ
sc-1180	276	17	control	control	NOUN
sc-1180	276	18	thrust	thrust	VERB
sc-1180	276	19	ignition	ignition	NOUN
sc-1180	276	20	configuration	configuration	NOUN
sc-1180	276	21	change	change	NOUN
sc-1180	276	22	over	over	ADP
sc-1180	276	23	time	time	NOUN
sc-1180	276	24	.	.	PUNCT
sc-1180	277	1	our	our	PRON
sc-1180	277	2	simulation	simulation	NOUN
sc-1180	277	3	successfully	successfully	ADV
sc-1180	277	4	optimizes	optimize	VERB
sc-1180	277	5	these	these	DET
sc-1180	277	6	parameters	parameter	NOUN
sc-1180	277	7	until	until	SCONJ
sc-1180	277	8	the	the	DET
sc-1180	277	9	spacecraft	spacecraft	NOUN
sc-1180	277	10	safely	safely	ADV
sc-1180	277	11	lands	land	VERB
sc-1180	277	12	after	after	ADP
sc-1180	277	13	seven	seven	NUM
sc-1180	277	14	completed	complete	VERB
sc-1180	277	15	simulation	simulation	NOUN
sc-1180	277	16	loops	loop	NOUN
sc-1180	277	17	with	with	ADP
sc-1180	277	18	overall	overall	ADJ
sc-1180	277	19	1500	1500	NUM
sc-1180	277	20	simulation	simulation	NOUN
sc-1180	277	21	steps	step	NOUN
sc-1180	277	22	.	.	PUNCT
sc-1180	278	1	figure	figure	VERB
sc-1180	278	2	8	8	NUM
sc-1180	278	3	:	:	PUNCT
sc-1180	278	4	computation	computation	NOUN
sc-1180	278	5	time	time	NOUN
sc-1180	278	6	for	for	ADP
sc-1180	278	7	one	one	NUM
sc-1180	278	8	simulation	simulation	NOUN
sc-1180	278	9	and	and	CCONJ
sc-1180	278	10	optimization	optimization	NOUN
sc-1180	278	11	run	run	NOUN
sc-1180	278	12	.	.	PUNCT
sc-1180	279	1	figure	figure	NOUN
sc-1180	279	2	9	9	NUM
sc-1180	279	3	:	:	PUNCT
sc-1180	279	4	performance	performance	NOUN
sc-1180	279	5	speed	speed	NOUN
sc-1180	279	6	-	-	PUNCT
sc-1180	279	7	up	up	NOUN
sc-1180	279	8	for	for	ADP
sc-1180	279	9	one	one	NUM
sc-1180	279	10	simulation	simulation	NOUN
sc-1180	279	11	and	and	CCONJ
sc-1180	279	12	optimization	optimization	NOUN
sc-1180	279	13	run	run	VERB
sc-1180	279	14	with	with	ADP
sc-1180	279	15	respect	respect	NOUN
sc-1180	279	16	to	to	ADP
sc-1180	279	17	the	the	DET
sc-1180	279	18	traditional	traditional	ADJ
sc-1180	279	19	cpu	cpu	NOUN
sc-1180	279	20	based	base	VERB
sc-1180	279	21	approach	approach	NOUN
sc-1180	279	22	.	.	PUNCT
sc-1180	280	1	figure	figure	NOUN
sc-1180	280	2	10	10	NUM
sc-1180	280	3	:	:	PUNCT
sc-1180	280	4	our	our	PRON
sc-1180	280	5	approach	approach	NOUN
sc-1180	280	6	successfully	successfully	ADV
sc-1180	280	7	changes	change	VERB
sc-1180	280	8	the	the	DET
sc-1180	280	9	vehicle	vehicle	NOUN
sc-1180	280	10	configuration	configuration	NOUN
sc-1180	280	11	in	in	ADP
sc-1180	280	12	order	order	NOUN
sc-1180	280	13	to	to	PART
sc-1180	280	14	increase	increase	VERB
sc-1180	280	15	the	the	DET
sc-1180	280	16	simulation	simulation	NOUN
sc-1180	280	17	goal	goal	NOUN
sc-1180	280	18	satisfaction	satisfaction	NOUN
sc-1180	280	19	.	.	PUNCT
sc-1180	281	1	figure	figure	VERB
sc-1180	281	2	11	11	NUM
sc-1180	281	3	:	:	PUNCT
sc-1180	281	4	our	our	PRON
sc-1180	281	5	approach	approach	NOUN
sc-1180	281	6	gradually	gradually	ADV
sc-1180	281	7	increases	increase	VERB
sc-1180	281	8	the	the	DET
sc-1180	281	9	thrust	thrust	ADJ
sc-1180	281	10	level	level	NOUN
sc-1180	281	11	until	until	SCONJ
sc-1180	281	12	the	the	DET
sc-1180	281	13	velocity	velocity	NOUN
sc-1180	281	14	can	can	AUX
sc-1180	281	15	be	be	AUX
sc-1180	281	16	adequately	adequately	ADV
sc-1180	281	17	regulated	regulate	VERB
sc-1180	281	18	for	for	ADP
sc-1180	281	19	landing	landing	NOUN
sc-1180	281	20	.	.	PUNCT
sc-1180	282	1	figure	figure	NOUN
sc-1180	282	2	12	12	NUM
sc-1180	282	3	:	:	PUNCT
sc-1180	282	4	our	our	PRON
sc-1180	282	5	approach	approach	NOUN
sc-1180	282	6	gradually	gradually	ADV
sc-1180	282	7	increases	increase	VERB
sc-1180	282	8	the	the	DET
sc-1180	282	9	fuel	fuel	NOUN
sc-1180	282	10	capacity	capacity	NOUN
sc-1180	282	11	in	in	ADP
sc-1180	282	12	order	order	NOUN
sc-1180	282	13	to	to	PART
sc-1180	282	14	maintain	maintain	VERB
sc-1180	282	15	thrust	thrust	NOUN
sc-1180	282	16	while	while	SCONJ
sc-1180	282	17	the	the	DET
sc-1180	282	18	landing	landing	NOUN
sc-1180	282	19	procedure	procedure	NOUN
sc-1180	282	20	is	be	AUX
sc-1180	282	21	conducted	conduct	VERB
sc-1180	282	22	.	.	PUNCT
sc-1180	283	1	figure	figure	VERB
sc-1180	283	2	13	13	NUM
sc-1180	283	3	:	:	PUNCT
sc-1180	283	4	our	our	PRON
sc-1180	283	5	approach	approach	NOUN
sc-1180	283	6	can	can	AUX
sc-1180	283	7	gradually	gradually	ADV
sc-1180	283	8	decreases	decrease	VERB
sc-1180	283	9	the	the	DET
sc-1180	283	10	ignitions	ignition	NOUN
sc-1180	283	11	as	as	SCONJ
sc-1180	283	12	the	the	DET
sc-1180	283	13	overall	overall	ADJ
sc-1180	283	14	thrust	thrust	NOUN
sc-1180	283	15	level	level	NOUN
sc-1180	283	16	is	be	AUX
sc-1180	283	17	increased	increase	VERB
sc-1180	283	18	by	by	ADP
sc-1180	283	19	another	another	DET
sc-1180	283	20	agent	agent	NOUN
sc-1180	283	21	.	.	PUNCT
sc-1180	284	1	finally	finally	ADV
sc-1180	284	2	,	,	PUNCT
sc-1180	284	3	we	we	PRON
sc-1180	284	4	are	be	AUX
sc-1180	284	5	able	able	ADJ
sc-1180	284	6	to	to	PART
sc-1180	284	7	generate	generate	VERB
sc-1180	284	8	almost	almost	ADV
sc-1180	284	9	77	77	NUM
sc-1180	284	10	%	%	NOUN
sc-1180	284	11	source	source	NOUN
sc-1180	284	12	code	code	NOUN
sc-1180	284	13	of	of	ADP
sc-1180	284	14	the	the	DET
sc-1180	284	15	aforementioned	aforementioned	ADJ
sc-1180	284	16	spacecraft	spacecraft	NOUN
sc-1180	284	17	test	test	NOUN
sc-1180	284	18	scenario	scenario	NOUN
sc-1180	284	19	.	.	PUNCT
sc-1180	285	1	currently	currently	ADV
sc-1180	285	2	,	,	PUNCT
sc-1180	285	3	there	there	PRON
sc-1180	285	4	are	be	VERB
sc-1180	285	5	still	still	ADV
sc-1180	285	6	some	some	DET
sc-1180	285	7	manual	manual	ADJ
sc-1180	285	8	code	code	NOUN
sc-1180	285	9	changes	change	NOUN
sc-1180	285	10	for	for	ADP
sc-1180	285	11	the	the	DET
sc-1180	285	12	internal	internal	ADJ
sc-1180	285	13	vehicle	vehicle	NOUN
sc-1180	285	14	control	control	NOUN
sc-1180	285	15	loops	loop	NOUN
sc-1180	285	16	needed	need	VERB
sc-1180	285	17	as	as	ADV
sc-1180	285	18	well	well	ADV
sc-1180	285	19	as	as	ADP
sc-1180	285	20	for	for	ADP
sc-1180	285	21	the	the	DET
sc-1180	285	22	satisfaction	satisfaction	NOUN
sc-1180	285	23	functions	function	NOUN
sc-1180	285	24	for	for	ADP
sc-1180	285	25	the	the	DET
sc-1180	285	26	multi	multi	ADJ
sc-1180	285	27	-	-	ADJ
sc-1180	285	28	agent	agent	ADJ
sc-1180	285	29	system	system	NOUN
sc-1180	285	30	.	.	PUNCT
sc-1180	286	1	8	8	X
sc-1180	286	2	.	.	X
sc-1180	286	3	conclusion	conclusion	NOUN
sc-1180	286	4	we	we	PRON
sc-1180	286	5	have	have	AUX
sc-1180	286	6	presented	present	VERB
sc-1180	286	7	a	a	DET
sc-1180	286	8	novel	novel	ADJ
sc-1180	286	9	comprehensive	comprehensive	ADJ
sc-1180	286	10	approach	approach	NOUN
sc-1180	286	11	to	to	ADP
sc-1180	286	12	modelling	modelling	NOUN
sc-1180	286	13	,	,	PUNCT
sc-1180	286	14	simulation	simulation	NOUN
sc-1180	286	15	,	,	PUNCT
sc-1180	286	16	and	and	CCONJ
sc-1180	286	17	optimization	optimization	NOUN
sc-1180	286	18	of	of	ADP
sc-1180	286	19	vehicles	vehicle	NOUN
sc-1180	286	20	.	.	PUNCT
sc-1180	287	1	in	in	ADP
sc-1180	287	2	our	our	PRON
sc-1180	287	3	approach	approach	NOUN
sc-1180	287	4	,	,	PUNCT
sc-1180	287	5	engineers	engineer	NOUN
sc-1180	287	6	are	be	AUX
sc-1180	287	7	no	no	ADV
sc-1180	287	8	longer	long	ADV
sc-1180	287	9	forced	force	VERB
sc-1180	287	10	to	to	PART
sc-1180	287	11	manually	manually	ADV
sc-1180	287	12	change	change	VERB
sc-1180	287	13	vehicle	vehicle	NOUN
sc-1180	287	14	configurations	configuration	NOUN
sc-1180	287	15	.	.	PUNCT
sc-1180	288	1	they	they	PRON
sc-1180	288	2	can	can	AUX
sc-1180	288	3	describe	describe	VERB
sc-1180	288	4	their	their	PRON
sc-1180	288	5	vehicle	vehicle	NOUN
sc-1180	288	6	expectations	expectation	NOUN
sc-1180	288	7	as	as	ADP
sc-1180	288	8	simulation	simulation	NOUN
sc-1180	288	9	goals	goal	NOUN
sc-1180	288	10	in	in	ADP
sc-1180	288	11	our	our	PRON
sc-1180	288	12	dsm	dsm	NOUN
sc-1180	288	13	framework	framework	NOUN
sc-1180	288	14	.	.	PUNCT
sc-1180	289	1	these	these	DET
sc-1180	289	2	simulation	simulation	NOUN
sc-1180	289	3	goals	goal	NOUN
sc-1180	289	4	are	be	AUX
sc-1180	289	5	then	then	ADV
sc-1180	289	6	autonomously	autonomously	ADV
sc-1180	289	7	tracked	track	VERB
sc-1180	289	8	and	and	CCONJ
sc-1180	289	9	satisfied	satisfied	ADJ
sc-1180	289	10	by	by	ADP
sc-1180	289	11	our	our	PRON
sc-1180	289	12	gpu	gpu	NOUN
sc-1180	289	13	based	base	VERB
sc-1180	289	14	mas	mas	PROPN
sc-1180	289	15	which	which	PRON
sc-1180	289	16	allows	allow	VERB
sc-1180	289	17	for	for	ADP
sc-1180	289	18	optimization	optimization	NOUN
sc-1180	289	19	of	of	ADP
sc-1180	289	20	vehicle	vehicle	NOUN
sc-1180	289	21	configurations	configuration	NOUN
sc-1180	289	22	.	.	PUNCT
sc-1180	290	1	our	our	PRON
sc-1180	290	2	mas	mas	PROPN
sc-1180	290	3	computes	compute	NOUN
sc-1180	290	4	for	for	ADP
sc-1180	290	5	each	each	DET
sc-1180	290	6	simulation	simulation	NOUN
sc-1180	290	7	step	step	NOUN
sc-1180	290	8	objective	objective	ADJ
sc-1180	290	9	and	and	CCONJ
sc-1180	290	10	utility	utility	NOUN
sc-1180	290	11	values	value	NOUN
sc-1180	290	12	in	in	ADP
sc-1180	290	13	order	order	NOUN
sc-1180	290	14	to	to	PART
sc-1180	290	15	compute	compute	VERB
sc-1180	290	16	an	an	DET
sc-1180	290	17	updated	update	VERB
sc-1180	290	18	vehicle	vehicle	NOUN
sc-1180	290	19	configuration	configuration	NOUN
sc-1180	290	20	until	until	SCONJ
sc-1180	290	21	the	the	DET
sc-1180	290	22	specified	specify	VERB
sc-1180	290	23	simulation	simulation	NOUN
sc-1180	290	24	goals	goal	NOUN
sc-1180	290	25	are	be	AUX
sc-1180	290	26	satisfied	satisfied	ADJ
sc-1180	290	27	.	.	PUNCT
sc-1180	291	1	synthetic	synthetic	ADJ
sc-1180	291	2	benchmarks	benchmark	NOUN
sc-1180	291	3	additionally	additionally	ADV
sc-1180	291	4	show	show	VERB
sc-1180	291	5	that	that	SCONJ
sc-1180	291	6	our	our	PRON
sc-1180	291	7	domain	domain	NOUN
sc-1180	291	8	framework	framework	NOUN
sc-1180	291	9	approach	approach	NOUN
sc-1180	291	10	outperforms	outperform	VERB
sc-1180	291	11	traditional	traditional	ADJ
sc-1180	291	12	approaches	approach	NOUN
sc-1180	291	13	and	and	CCONJ
sc-1180	291	14	that	that	SCONJ
sc-1180	291	15	a	a	DET
sc-1180	291	16	majority	majority	NOUN
sc-1180	291	17	of	of	ADP
sc-1180	291	18	the	the	DET
sc-1180	291	19	virtual	virtual	ADJ
sc-1180	291	20	testbed	testbe	VERB
sc-1180	291	21	source	source	NOUN
sc-1180	291	22	code	code	NOUN
sc-1180	291	23	can	can	AUX
sc-1180	291	24	be	be	AUX
sc-1180	291	25	generated	generate	VERB
sc-1180	291	26	from	from	ADP
sc-1180	291	27	our	our	PRON
sc-1180	291	28	models	model	NOUN
sc-1180	291	29	.	.	PUNCT
sc-1180	292	1	this	this	DET
sc-1180	292	2	domain	domain	NOUN
sc-1180	292	3	framework	framework	NOUN
sc-1180	292	4	is	be	AUX
sc-1180	292	5	based	base	VERB
sc-1180	292	6	on	on	ADP
sc-1180	292	7	our	our	PRON
sc-1180	292	8	wait	wait	NOUN
sc-1180	292	9	-	-	PUNCT
sc-1180	292	10	free	free	ADJ
sc-1180	292	11	concurrency	concurrency	NOUN
sc-1180	292	12	control	control	NOUN
sc-1180	292	13	management	management	NOUN
sc-1180	292	14	approach	approach	NOUN
sc-1180	292	15	which	which	PRON
sc-1180	292	16	additionally	additionally	ADV
sc-1180	292	17	facilitates	facilitate	VERB
sc-1180	292	18	easy	easy	ADJ
sc-1180	292	19	code	code	NOUN
sc-1180	292	20	generation	generation	NOUN
sc-1180	292	21	due	due	ADP
sc-1180	292	22	to	to	ADP
sc-1180	292	23	homogeneous	homogeneous	ADJ
sc-1180	292	24	and	and	CCONJ
sc-1180	292	25	simple	simple	ADJ
sc-1180	292	26	access	access	NOUN
sc-1180	292	27	to	to	ADP
sc-1180	292	28	the	the	DET
sc-1180	292	29	shared	share	VERB
sc-1180	292	30	world	world	NOUN
sc-1180	292	31	state	state	NOUN
sc-1180	292	32	.	.	PUNCT
sc-1180	293	1	furthermore	furthermore	ADV
sc-1180	293	2	,	,	PUNCT
sc-1180	293	3	due	due	ADP
sc-1180	293	4	to	to	ADP
sc-1180	293	5	the	the	DET
sc-1180	293	6	wait	wait	VERB
sc-1180	293	7	-	-	PUNCT
sc-1180	293	8	free	free	ADJ
sc-1180	293	9	behavior	behavior	NOUN
sc-1180	293	10	of	of	ADP
sc-1180	293	11	our	our	PRON
sc-1180	293	12	key	key	ADJ
sc-1180	293	13	-	-	PUNCT
sc-1180	293	14	value	value	NOUN
sc-1180	293	15	pool	pool	NOUN
sc-1180	293	16	approach	approach	NOUN
sc-1180	293	17	,	,	PUNCT
sc-1180	293	18	even	even	ADV
sc-1180	293	19	the	the	DET
sc-1180	293	20	cpu	cpu	NOUN
sc-1180	293	21	based	base	VERB
sc-1180	293	22	implementation	implementation	NOUN
sc-1180	293	23	can	can	AUX
sc-1180	293	24	be	be	AUX
sc-1180	293	25	used	use	VERB
sc-1180	293	26	for	for	ADP
sc-1180	293	27	sophisticated	sophisticated	ADJ
sc-1180	293	28	real	real	ADJ
sc-1180	293	29	-	-	PUNCT
sc-1180	293	30	time	time	NOUN
sc-1180	293	31	simulations	simulation	NOUN
sc-1180	293	32	.	.	PUNCT
sc-1180	294	1	however	however	ADV
sc-1180	294	2	,	,	PUNCT
sc-1180	294	3	the	the	DET
sc-1180	294	4	question	question	NOUN
sc-1180	294	5	remains	remain	VERB
sc-1180	294	6	unresolved	unresolved	ADJ
sc-1180	294	7	if	if	SCONJ
sc-1180	294	8	our	our	PRON
sc-1180	294	9	mas	mas	PROPN
sc-1180	294	10	approach	approach	NOUN
sc-1180	294	11	can	can	AUX
sc-1180	294	12	solve	solve	VERB
sc-1180	294	13	any	any	DET
sc-1180	294	14	set	set	NOUN
sc-1180	294	15	of	of	ADP
sc-1180	294	16	simulation	simulation	NOUN
sc-1180	294	17	goals	goal	NOUN
sc-1180	294	18	as	as	SCONJ
sc-1180	294	19	mas	mas	PROPN
sc-1180	294	20	do	do	AUX
sc-1180	294	21	not	not	PART
sc-1180	294	22	necessarily	necessarily	ADV
sc-1180	294	23	compute	compute	VERB
sc-1180	294	24	the	the	DET
sc-1180	294	25	global	global	ADJ
sc-1180	294	26	maximum	maximum	NOUN
sc-1180	294	27	of	of	ADP
sc-1180	294	28	a	a	DET
sc-1180	294	29	parameter	parameter	NOUN
sc-1180	294	30	space	space	NOUN
sc-1180	294	31	.	.	PUNCT
sc-1180	295	1	the	the	DET
sc-1180	295	2	emergence	emergence	NOUN
sc-1180	295	3	of	of	ADP
sc-1180	295	4	mas	mas	PROPN
sc-1180	295	5	could	could	AUX
sc-1180	295	6	also	also	ADV
sc-1180	295	7	lead	lead	VERB
sc-1180	295	8	to	to	ADP
sc-1180	295	9	wrong	wrong	ADJ
sc-1180	295	10	optimizations	optimization	NOUN
sc-1180	295	11	if	if	SCONJ
sc-1180	295	12	,	,	PUNCT
sc-1180	295	13	for	for	ADP
sc-1180	295	14	example	example	NOUN
sc-1180	295	15	,	,	PUNCT
sc-1180	295	16	the	the	DET
sc-1180	295	17	satisfaction	satisfaction	NOUN
sc-1180	295	18	functions	function	NOUN
sc-1180	295	19	are	be	AUX
sc-1180	295	20	insufficiently	insufficiently	ADV
sc-1180	295	21	implemented	implement	VERB
sc-1180	295	22	.	.	PUNCT
sc-1180	296	1	therefore	therefore	ADV
sc-1180	296	2	,	,	PUNCT
sc-1180	296	3	a	a	DET
sc-1180	296	4	generic	generic	ADJ
sc-1180	296	5	modelling	modelling	NOUN
sc-1180	296	6	concept	concept	NOUN
sc-1180	296	7	for	for	ADP
sc-1180	296	8	objective	objective	ADJ
sc-1180	296	9	satisfaction	satisfaction	NOUN
sc-1180	296	10	functions	function	NOUN
sc-1180	296	11	would	would	AUX
sc-1180	296	12	greatly	greatly	ADV
sc-1180	296	13	improve	improve	VERB
sc-1180	296	14	the	the	DET
sc-1180	296	15	overall	overall	ADJ
sc-1180	296	16	usability	usability	NOUN
sc-1180	296	17	as	as	ADV
sc-1180	296	18	well	well	ADV
sc-1180	296	19	as	as	ADP
sc-1180	296	20	code	code	NOUN
sc-1180	296	21	generation	generation	NOUN
sc-1180	296	22	of	of	ADP
sc-1180	296	23	our	our	PRON
sc-1180	296	24	approach	approach	NOUN
sc-1180	296	25	.	.	PUNCT
sc-1180	297	1	in	in	ADP
sc-1180	297	2	addition	addition	NOUN
sc-1180	297	3	,	,	PUNCT
sc-1180	297	4	the	the	DET
sc-1180	297	5	development	development	NOUN
sc-1180	297	6	of	of	ADP
sc-1180	297	7	algorithms	algorithm	NOUN
sc-1180	297	8	for	for	ADP
sc-1180	297	9	autonomous	autonomous	ADJ
sc-1180	297	10	retrieval	retrieval	NOUN
sc-1180	297	11	of	of	ADP
sc-1180	297	12	parameter	parameter	PROPN
sc-1180	297	13	simulation	simulation	NOUN
sc-1180	297	14	goal	goal	NOUN
sc-1180	297	15	relationships	relationship	NOUN
sc-1180	297	16	would	would	AUX
sc-1180	297	17	further	far	ADV
sc-1180	297	18	decrease	decrease	VERB
sc-1180	297	19	the	the	DET
sc-1180	297	20	development	development	NOUN
sc-1180	297	21	time	time	NOUN
sc-1180	297	22	and	and	CCONJ
sc-1180	297	23	increase	increase	VERB
sc-1180	297	24	the	the	DET
sc-1180	297	25	overall	overall	ADJ
sc-1180	297	26	flexibility	flexibility	NOUN
sc-1180	297	27	of	of	ADP
sc-1180	297	28	our	our	PRON
sc-1180	297	29	concept	concept	NOUN
sc-1180	297	30	.	.	PUNCT
sc-1180	298	1	to	to	PART
sc-1180	298	2	conclude	conclude	VERB
sc-1180	298	3	,	,	PUNCT
sc-1180	298	4	we	we	PRON
sc-1180	298	5	also	also	ADV
sc-1180	298	6	think	think	VERB
sc-1180	298	7	that	that	SCONJ
sc-1180	298	8	our	our	PRON
sc-1180	298	9	framework	framework	NOUN
sc-1180	298	10	,	,	PUNCT
sc-1180	298	11	including	include	VERB
sc-1180	298	12	domain	domain	NOUN
sc-1180	298	13	specific	specific	ADJ
sc-1180	298	14	modelling	modelling	NOUN
sc-1180	298	15	,	,	PUNCT
sc-1180	298	16	gpuassisted	gpuassiste	VERB
sc-1180	298	17	mas	mas	PROPN
sc-1180	298	18	and	and	CCONJ
sc-1180	298	19	code	code	NOUN
sc-1180	298	20	generation	generation	NOUN
sc-1180	298	21	,	,	PUNCT
sc-1180	298	22	can	can	AUX
sc-1180	298	23	be	be	AUX
sc-1180	298	24	applied	apply	VERB
sc-1180	298	25	to	to	ADP
sc-1180	298	26	other	other	ADJ
sc-1180	298	27	domains	domain	NOUN
sc-1180	298	28	as	as	ADV
sc-1180	298	29	long	long	ADV
sc-1180	298	30	as	as	SCONJ
sc-1180	298	31	parameter	parameter	NOUN
sc-1180	298	32	-	-	PUNCT
sc-1180	298	33	based	base	VERB
sc-1180	298	34	objective	objective	ADJ
sc-1180	298	35	and	and	CCONJ
sc-1180	298	36	utility	utility	NOUN
sc-1180	298	37	values	value	NOUN
sc-1180	298	38	for	for	ADP
sc-1180	298	39	simulation	simulation	NOUN
sc-1180	298	40	goals	goal	NOUN
sc-1180	298	41	can	can	AUX
sc-1180	298	42	be	be	AUX
sc-1180	298	43	computed	compute	VERB
sc-1180	298	44	.	.	PUNCT
sc-1180	299	1	9	9	X
sc-1180	299	2	.	.	X
sc-1180	299	3	acknowledgments	acknowledgment	NOUN
sc-1180	299	4	this	this	DET
sc-1180	299	5	research	research	NOUN
sc-1180	299	6	is	be	AUX
sc-1180	299	7	based	base	VERB
sc-1180	299	8	upon	upon	SCONJ
sc-1180	299	9	the	the	DET
sc-1180	299	10	project	project	NOUN
sc-1180	299	11	kanaria	kanaria	NOUN
sc-1180	299	12	,	,	PUNCT
sc-1180	299	13	supported	support	VERB
sc-1180	299	14	by	by	ADP
sc-1180	299	15	german	german	ADJ
sc-1180	299	16	aerospace	aerospace	NOUN
sc-1180	299	17	center	center	NOUN
sc-1180	299	18	(	(	PUNCT
sc-1180	299	19	dlr	dlr	NOUN
sc-1180	299	20	)	)	PUNCT
sc-1180	299	21	with	with	ADP
sc-1180	299	22	funds	fund	NOUN
sc-1180	299	23	of	of	ADP
sc-1180	299	24	the	the	DET
sc-1180	299	25	german	german	ADJ
sc-1180	299	26	federal	federal	PROPN
sc-1180	299	27	ministry	ministry	PROPN
sc-1180	299	28	of	of	ADP
sc-1180	299	29	economics	economic	NOUN
sc-1180	299	30	and	and	CCONJ
sc-1180	299	31	technology	technology	NOUN
sc-1180	299	32	(	(	PUNCT
sc-1180	299	33	bmwi	bmwi	NOUN
sc-1180	299	34	)	)	PUNCT
sc-1180	299	35	under	under	ADP
sc-1180	299	36	grant	grant	NOUN
sc-1180	299	37	50na1318	50na1318	NUM
sc-1180	299	38	.	.	PUNCT
sc-1180	300	1	10	10	NUM
sc-1180	300	2	.	.	PUNCT
sc-1180	300	3	references	reference	NOUN
sc-1180	300	4	[	[	X
sc-1180	300	5	1	1	NUM
sc-1180	300	6	]	]	PUNCT
sc-1180	300	7	a.	a.	NOUN
sc-1180	300	8	kleppe	kleppe	PROPN
sc-1180	300	9	,	,	PUNCT
sc-1180	300	10	w.	w.	PROPN
sc-1180	300	11	bast	bast	PROPN
sc-1180	300	12	,	,	PUNCT
sc-1180	300	13	j.	j.	PROPN
sc-1180	300	14	warmer	warmer	PROPN
sc-1180	300	15	:	:	PUNCT
sc-1180	300	16	mda	mda	PROPN
sc-1180	300	17	explained	explain	VERB
sc-1180	300	18	:	:	PUNCT
sc-1180	300	19	the	the	DET
sc-1180	300	20	model	model	NOUN
sc-1180	300	21	driven	drive	VERB
sc-1180	300	22	architecture	architecture	NOUN
sc-1180	300	23	:	:	PUNCT
sc-1180	300	24	practice	practice	NOUN
sc-1180	300	25	and	and	CCONJ
sc-1180	300	26	promise	promise	NOUN
sc-1180	300	27	.	.	PUNCT
sc-1180	301	1	in	in	ADP
sc-1180	301	2	:	:	PUNCT
sc-1180	301	3	addison	addison	PROPN
sc-1180	301	4	wesley	wesley	PROPN
sc-1180	301	5	pub	pub	PROPN
sc-1180	301	6	co	co	PROPN
sc-1180	301	7	inc	inc	PROPN
sc-1180	301	8	(	(	PUNCT
sc-1180	301	9	2003	2003	NUM
sc-1180	301	10	)	)	PUNCT
sc-1180	302	1	[	[	X
sc-1180	302	2	2	2	X
sc-1180	302	3	]	]	PUNCT
sc-1180	302	4	a.	a.	NOUN
sc-1180	302	5	zook	zook	PROPN
sc-1180	302	6	,	,	PUNCT
sc-1180	302	7	s.	s.	PROPN
sc-1180	302	8	lee	lee	PROPN
sc-1180	302	9	-	-	PROPN
sc-1180	302	10	urban	urban	PROPN
sc-1180	302	11	,	,	PUNCT
sc-1180	302	12	k.	k.	PROPN
sc-1180	302	13	w.	w.	PROPN
sc-1180	302	14	brawner	brawner	PROPN
sc-1180	302	15	:	:	PUNCT
sc-1180	302	16	automated	automate	VERB
sc-1180	302	17	scenario	scenario	NOUN
sc-1180	302	18	generation	generation	NOUN
sc-1180	302	19	:	:	PUNCT
sc-1180	302	20	toward	toward	ADP
sc-1180	302	21	tailored	tailor	VERB
sc-1180	302	22	and	and	CCONJ
sc-1180	302	23	optimized	optimize	VERB
sc-1180	302	24	military	military	ADJ
sc-1180	302	25	training	training	NOUN
sc-1180	302	26	in	in	ADP
sc-1180	302	27	virtual	virtual	ADJ
sc-1180	302	28	environments	environment	NOUN
sc-1180	302	29	.	.	PUNCT
sc-1180	303	1	in	in	ADP
sc-1180	303	2	:	:	PUNCT
sc-1180	303	3	proceedings	proceeding	NOUN
sc-1180	303	4	of	of	ADP
sc-1180	303	5	the	the	DET
sc-1180	303	6	international	international	ADJ
sc-1180	303	7	conference	conference	NOUN
sc-1180	303	8	on	on	ADP
sc-1180	303	9	the	the	DET
sc-1180	303	10	foundations	foundation	NOUN
sc-1180	303	11	of	of	ADP
sc-1180	303	12	digital	digital	ADJ
sc-1180	303	13	games	game	NOUN
sc-1180	303	14	(	(	PUNCT
sc-1180	303	15	2012	2012	NUM
sc-1180	303	16	)	)	PUNCT
sc-1180	303	17	,	,	PUNCT
sc-1180	303	18	s.	s.	PROPN
sc-1180	303	19	164–171	164–171	NUM
sc-1180	304	1	[	[	X
sc-1180	304	2	3	3	NUM
sc-1180	304	3	]	]	X
sc-1180	304	4	b.	b.	PROPN
sc-1180	304	5	g.	g.	PROPN
sc-1180	304	6	alaby	alaby	PROPN
sc-1180	304	7	,	,	PUNCT
sc-1180	304	8	k.	k.	PROPN
sc-1180	304	9	s.	s.	PROPN
sc-1180	304	10	perumalla	perumalla	PROPN
sc-1180	304	11	,	,	PUNCT
sc-1180	304	12	s.	s.	PROPN
sc-1180	304	13	k.	k.	PROPN
sc-1180	304	14	seal	seal	PROPN
sc-1180	304	15	:	:	PUNCT
sc-1180	304	16	efficient	efficient	ADJ
sc-1180	304	17	simulation	simulation	NOUN
sc-1180	304	18	of	of	ADP
sc-1180	304	19	agent	agent	NOUN
sc-1180	304	20	-	-	PUNCT
sc-1180	304	21	based	base	VERB
sc-1180	304	22	models	model	NOUN
sc-1180	304	23	on	on	ADP
sc-1180	304	24	multi	multi	ADJ
sc-1180	304	25	-	-	ADJ
sc-1180	304	26	gpu	gpu	ADJ
sc-1180	304	27	and	and	CCONJ
sc-1180	304	28	multi	multi	ADJ
sc-1180	304	29	-	-	ADJ
sc-1180	304	30	core	core	ADJ
sc-1180	304	31	clusters	cluster	NOUN
sc-1180	304	32	.	.	PUNCT
sc-1180	305	1	in	in	ADP
sc-1180	305	2	:	:	PUNCT
sc-1180	305	3	simutools	simutool	NOUN
sc-1180	305	4	2010	2010	NUM
sc-1180	305	5	3rd	3rd	ADJ
sc-1180	305	6	international	international	ADJ
sc-1180	305	7	conference	conference	NOUN
sc-1180	305	8	on	on	ADP
sc-1180	305	9	simulation	simulation	NOUN
sc-1180	305	10	tools	tool	NOUN
sc-1180	305	11	and	and	CCONJ
sc-1180	305	12	techniques	technique	NOUN
sc-1180	305	13	(	(	PUNCT
sc-1180	305	14	2010	2010	NUM
sc-1180	305	15	)	)	PUNCT
sc-1180	306	1	[	[	X
sc-1180	306	2	4	4	X
sc-1180	306	3	]	]	X
sc-1180	306	4	c.	c.	PROPN
sc-1180	306	5	henthorne	henthorne	PROPN
sc-1180	306	6	,	,	PUNCT
sc-1180	306	7	e.	e.	PROPN
sc-1180	306	8	tilevich	tilevich	PROPN
sc-1180	306	9	:	:	PUNCT
sc-1180	306	10	code	code	NOUN
sc-1180	306	11	generation	generation	NOUN
sc-1180	306	12	on	on	ADP
sc-1180	306	13	steroids	steroid	NOUN
sc-1180	306	14	:	:	PUNCT
sc-1180	306	15	enhancing	enhance	VERB
sc-1180	306	16	cots	cot	NOUN
sc-1180	306	17	code	code	NOUN
sc-1180	306	18	generators	generator	NOUN
sc-1180	306	19	via	via	ADP
sc-1180	306	20	generative	generative	ADJ
sc-1180	306	21	aspects	aspect	NOUN
sc-1180	306	22	.	.	PUNCT
sc-1180	307	1	in	in	ADP
sc-1180	307	2	:	:	PUNCT
sc-1180	307	3	proceedings	proceeding	NOUN
sc-1180	307	4	of	of	ADP
sc-1180	307	5	the	the	DET
sc-1180	307	6	second	second	ADJ
sc-1180	307	7	international	international	ADJ
sc-1180	307	8	workshop	workshop	NOUN
sc-1180	307	9	on	on	ADP
sc-1180	307	10	incorporating	incorporate	VERB
sc-1180	307	11	cots	cot	NOUN
sc-1180	307	12	software	software	NOUN
sc-1180	307	13	into	into	ADP
sc-1180	307	14	software	software	NOUN
sc-1180	307	15	systems	system	NOUN
sc-1180	307	16	:	:	PUNCT
sc-1180	307	17	tools	tool	NOUN
sc-1180	307	18	and	and	CCONJ
sc-1180	307	19	techniques	technique	NOUN
sc-1180	307	20	(	(	PUNCT
sc-1180	307	21	2007	2007	NUM
sc-1180	307	22	)	)	PUNCT
sc-1180	307	23	,	,	PUNCT
sc-1180	307	24	s.	s.	PROPN
sc-1180	307	25	8–14	8–14	PROPN
sc-1180	308	1	[	[	X
sc-1180	308	2	5	5	NUM
sc-1180	308	3	]	]	PUNCT
sc-1180	308	4	c.	c.	PROPN
sc-1180	308	5	watanabe	watanabe	PROPN
sc-1180	308	6	,	,	PUNCT
sc-1180	308	7	y.	y.	PROPN
sc-1180	308	8	masunaga	masunaga	PROPN
sc-1180	308	9	:	:	PUNCT
sc-1180	308	10	vwdb2	vwdb2	NOUN
sc-1180	308	11	:	:	PUNCT
sc-1180	308	12	a	a	DET
sc-1180	308	13	network	network	NOUN
sc-1180	308	14	virtual	virtual	ADJ
sc-1180	308	15	reality	reality	NOUN
sc-1180	308	16	system	system	NOUN
sc-1180	308	17	with	with	ADP
sc-1180	308	18	a	a	DET
sc-1180	308	19	database	database	NOUN
sc-1180	308	20	function	function	NOUN
sc-1180	308	21	for	for	ADP
sc-1180	308	22	a	a	DET
sc-1180	308	23	shared	share	VERB
sc-1180	308	24	work	work	NOUN
sc-1180	308	25	environment	environment	NOUN
sc-1180	308	26	.	.	PUNCT
sc-1180	309	1	in	in	ADP
sc-1180	309	2	:	:	PUNCT
sc-1180	309	3	information	information	NOUN
sc-1180	309	4	systems	system	NOUN
sc-1180	309	5	and	and	CCONJ
sc-1180	309	6	databases	database	NOUN
sc-1180	309	7	(	(	PUNCT
sc-1180	309	8	2002	2002	NUM
sc-1180	309	9	)	)	PUNCT
sc-1180	309	10	,	,	PUNCT
sc-1180	309	11	s.	s.	PROPN
sc-1180	309	12	190–196	190–196	NUM
sc-1180	309	13	[	[	X
sc-1180	309	14	6	6	NUM
sc-1180	309	15	]	]	PUNCT
sc-1180	309	16	d.	d.	PROPN
sc-1180	309	17	strippgen	strippgen	PROPN
sc-1180	309	18	,	,	PUNCT
sc-1180	309	19	k.	k.	PROPN
sc-1180	309	20	nagel	nagel	PROPN
sc-1180	309	21	:	:	PUNCT
sc-1180	309	22	using	use	VERB
sc-1180	309	23	common	common	ADJ
sc-1180	309	24	graphics	graphic	NOUN
sc-1180	309	25	hardware	hardware	NOUN
sc-1180	309	26	for	for	ADP
sc-1180	309	27	multi	multi	ADJ
sc-1180	309	28	-	-	ADJ
sc-1180	309	29	agent	agent	ADJ
sc-1180	309	30	traffic	traffic	NOUN
sc-1180	309	31	simulation	simulation	NOUN
sc-1180	309	32	with	with	ADP
sc-1180	309	33	cuda	cuda	NOUN
sc-1180	309	34	.	.	PUNCT
sc-1180	310	1	in	in	ADP
sc-1180	310	2	:	:	PUNCT
sc-1180	310	3	simutools	simutool	VERB
sc-1180	310	4	2009	2009	NUM
sc-1180	310	5	2nd	2nd	ADJ
sc-1180	310	6	international	international	ADJ
sc-1180	310	7	conference	conference	NOUN
sc-1180	310	8	on	on	ADP
sc-1180	310	9	simulation	simulation	NOUN
sc-1180	310	10	tools	tool	NOUN
sc-1180	310	11	and	and	CCONJ
sc-1180	310	12	techniques	technique	NOUN
sc-1180	310	13	(	(	PUNCT
sc-1180	310	14	2009	2009	NUM
sc-1180	310	15	)	)	PUNCT
sc-1180	311	1	[	[	X
sc-1180	311	2	7	7	X
sc-1180	311	3	]	]	X
sc-1180	311	4	d.	d.	PROPN
sc-1180	311	5	t.	t.	PROPN
sc-1180	311	6	davis	davis	PROPN
sc-1180	311	7	,	,	PUNCT
sc-1180	311	8	d.	d.	PROPN
sc-1180	311	9	brutzman	brutzman	NOUN
sc-1180	311	10	:	:	PUNCT
sc-1180	311	11	the	the	DET
sc-1180	311	12	autonomous	autonomous	ADJ
sc-1180	311	13	unmanned	unmanned	ADJ
sc-1180	311	14	vehicle	vehicle	NOUN
sc-1180	311	15	workbench	workbench	NOUN
sc-1180	311	16	:	:	PUNCT
sc-1180	311	17	mission	mission	NOUN
sc-1180	311	18	planning	planning	NOUN
sc-1180	311	19	,	,	PUNCT
sc-1180	311	20	mission	mission	NOUN
sc-1180	311	21	rehearsal	rehearsal	NOUN
sc-1180	311	22	,	,	PUNCT
sc-1180	311	23	and	and	CCONJ
sc-1180	311	24	mission	mission	NOUN
sc-1180	311	25	replay	replay	NOUN
sc-1180	311	26	tool	tool	NOUN
sc-1180	311	27	for	for	ADP
sc-1180	311	28	physics	physics	NOUN
sc-1180	311	29	-	-	PUNCT
sc-1180	311	30	based	base	VERB
sc-1180	311	31	x3d	x3d	PROPN
sc-1180	311	32	visualization	visualization	NOUN
sc-1180	311	33	.	.	PUNCT
sc-1180	312	1	in	in	ADP
sc-1180	312	2	:	:	PUNCT
sc-1180	312	3	symposium	symposium	NOUN
sc-1180	312	4	on	on	ADP
sc-1180	312	5	unmanned	unmanned	ADJ
sc-1180	312	6	untethered	untethered	ADJ
sc-1180	312	7	submersible	submersible	ADJ
sc-1180	312	8	technology	technology	NOUN
sc-1180	312	9	(	(	PUNCT
sc-1180	312	10	2005	2005	NUM
sc-1180	312	11	)	)	PUNCT
sc-1180	313	1	[	[	X
sc-1180	313	2	8	8	X
sc-1180	313	3	]	]	X
sc-1180	313	4	e.	e.	PROPN
sc-1180	313	5	elsen	elsen	PROPN
sc-1180	313	6	,	,	PUNCT
sc-1180	313	7	v.	v.	ADP
sc-1180	313	8	vishal	vishal	PROPN
sc-1180	313	9	,	,	PUNCT
sc-1180	313	10	m.	m.	PROPN
sc-1180	313	11	houston	houston	PROPN
sc-1180	313	12	,	,	PUNCT
sc-1180	313	13	b.	b.	PROPN
sc-1180	313	14	pande	pande	PROPN
sc-1180	313	15	,	,	PUNCT
sc-1180	313	16	p.	p.	PROPN
sc-1180	313	17	hanrahan	hanrahan	PROPN
sc-1180	313	18	,	,	PUNCT
sc-1180	313	19	e.	e.	PROPN
sc-1180	313	20	darve	darve	PROPN
sc-1180	313	21	:	:	PUNCT
sc-1180	313	22	n	n	CCONJ
sc-1180	313	23	-	-	PUNCT
sc-1180	313	24	body	body	NOUN
sc-1180	313	25	simulations	simulation	NOUN
sc-1180	313	26	on	on	ADP
sc-1180	313	27	gpus	gpu	NOUN
sc-1180	313	28	.	.	PUNCT
sc-1180	314	1	(	(	PUNCT
sc-1180	314	2	2007	2007	NUM
sc-1180	314	3	)	)	PUNCT
sc-1180	315	1	[	[	X
sc-1180	315	2	9	9	NUM
sc-1180	315	3	]	]	PUNCT
sc-1180	315	4	j.-p	j.-p	PROPN
sc-1180	315	5	.	.	PUNCT
sc-1180	315	6	tolvanen	tolvanen	PROPN
sc-1180	315	7	,	,	PUNCT
sc-1180	315	8	r.	r.	PROPN
sc-1180	315	9	pohjonen	pohjonen	PROPN
sc-1180	315	10	,	,	PUNCT
sc-1180	315	11	s.	s.	PROPN
sc-1180	315	12	kelly	kelly	PROPN
sc-1180	315	13	:	:	PUNCT
sc-1180	315	14	advanced	advanced	ADJ
sc-1180	315	15	tooling	tooling	NOUN
sc-1180	315	16	for	for	ADP
sc-1180	315	17	domain	domain	NOUN
sc-1180	315	18	-	-	PUNCT
sc-1180	315	19	specific	specific	ADJ
sc-1180	315	20	modeling	modeling	NOUN
sc-1180	315	21	:	:	PUNCT
sc-1180	315	22	metaedit+	metaedit+	X
sc-1180	315	23	.	.	PUNCT
sc-1180	316	1	[	[	X
sc-1180	316	2	10	10	NUM
sc-1180	316	3	]	]	X
sc-1180	316	4	j.	j.	PROPN
sc-1180	316	5	rossmann	rossmann	PROPN
sc-1180	316	6	,	,	PUNCT
sc-1180	316	7	b.	b.	PROPN
sc-1180	316	8	sommer	sommer	PROPN
sc-1180	316	9	:	:	PUNCT
sc-1180	316	10	the	the	DET
sc-1180	316	11	virtual	virtual	ADJ
sc-1180	316	12	testbed	testbed	NOUN
sc-1180	316	13	:	:	PUNCT
sc-1180	316	14	latest	late	ADJ
sc-1180	316	15	virtual	virtual	ADJ
sc-1180	316	16	reality	reality	NOUN
sc-1180	316	17	technolgies	technolgie	NOUN
sc-1180	316	18	for	for	ADP
sc-1180	316	19	space	space	NOUN
sc-1180	316	20	robotic	robotic	ADJ
sc-1180	316	21	applications	application	NOUN
sc-1180	316	22	.	.	PUNCT
sc-1180	317	1	in	in	ADP
sc-1180	317	2	:	:	PUNCT
sc-1180	317	3	international	international	ADJ
sc-1180	317	4	symposium	symposium	NOUN
sc-1180	317	5	on	on	ADP
sc-1180	317	6	artificial	artificial	ADJ
sc-1180	317	7	intelligence	intelligence	NOUN
sc-1180	317	8	,	,	PUNCT
sc-1180	317	9	robotics	robotic	NOUN
sc-1180	317	10	and	and	CCONJ
sc-1180	317	11	automation	automation	NOUN
sc-1180	317	12	in	in	ADP
sc-1180	317	13	space	space	NOUN
sc-1180	317	14	(	(	PUNCT
sc-1180	317	15	2008	2008	NUM
sc-1180	317	16	)	)	PUNCT
sc-1180	317	17	,	,	PUNCT
sc-1180	317	18	s.	s.	PROPN
sc-1180	317	19	133–138	133–138	NUM
sc-1180	318	1	[	[	X
sc-1180	318	2	11	11	NUM
sc-1180	318	3	]	]	PUNCT
sc-1180	318	4	j.	j.	PROPN
sc-1180	318	5	rossmann	rossmann	PROPN
sc-1180	318	6	,	,	PUNCT
sc-1180	318	7	b.	b.	PROPN
sc-1180	318	8	sondermann	sondermann	PROPN
sc-1180	318	9	,	,	PUNCT
sc-1180	318	10	m.	m.	NOUN
sc-1180	318	11	emde	emde	PROPN
sc-1180	318	12	:	:	PUNCT
sc-1180	318	13	virtual	virtual	ADJ
sc-1180	318	14	testbeds	testbed	NOUN
sc-1180	318	15	for	for	ADP
sc-1180	318	16	planetary	planetary	ADJ
sc-1180	318	17	exploration	exploration	NOUN
sc-1180	318	18	:	:	PUNCT
sc-1180	318	19	the	the	DET
sc-1180	318	20	self	self	NOUN
sc-1180	318	21	-	-	PUNCT
sc-1180	318	22	localization	localization	NOUN
sc-1180	318	23	aspect	aspect	NOUN
sc-1180	318	24	.	.	PUNCT
sc-1180	319	1	in	in	ADP
sc-1180	319	2	:	:	PUNCT
sc-1180	319	3	symposium	symposium	NOUN
sc-1180	319	4	on	on	ADP
sc-1180	319	5	advanced	advanced	ADJ
sc-1180	319	6	space	space	NOUN
sc-1180	319	7	technologies	technology	NOUN
sc-1180	319	8	in	in	ADP
sc-1180	319	9	robotics	robotic	NOUN
sc-1180	319	10	and	and	CCONJ
sc-1180	319	11	automation	automation	NOUN
sc-1180	319	12	,	,	PUNCT
sc-1180	319	13	astra	astra	PROPN
sc-1180	319	14	(	(	PUNCT
sc-1180	319	15	2011	2011	NUM
sc-1180	319	16	)	)	PUNCT
sc-1180	319	17	,	,	PUNCT
sc-1180	319	18	s.	s.	PROPN
sc-1180	319	19	1–8	1–8	PROPN
sc-1180	320	1	[	[	X
sc-1180	320	2	12	12	NUM
sc-1180	320	3	]	]	PUNCT
sc-1180	320	4	j.	j.	PROPN
sc-1180	320	5	westra	westra	PROPN
sc-1180	320	6	,	,	PUNCT
sc-1180	320	7	f.	f.	PROPN
sc-1180	320	8	dignum	dignum	PROPN
sc-1180	320	9	,	,	PUNCT
sc-1180	320	10	v.	v.	ADP
sc-1180	320	11	dignum	dignum	NOUN
sc-1180	320	12	:	:	PUNCT
sc-1180	320	13	guiding	guide	VERB
sc-1180	320	14	user	user	NOUN
sc-1180	320	15	adaptation	adaptation	NOUN
sc-1180	320	16	in	in	ADP
sc-1180	320	17	serious	serious	ADJ
sc-1180	320	18	games	game	NOUN
sc-1180	320	19	.	.	PUNCT
sc-1180	321	1	in	in	ADP
sc-1180	321	2	:	:	PUNCT
sc-1180	321	3	agents	agent	NOUN
sc-1180	321	4	for	for	ADP
sc-1180	321	5	games	game	NOUN
sc-1180	321	6	and	and	CCONJ
sc-1180	321	7	simulations	simulation	NOUN
sc-1180	321	8	ii	ii	PROPN
sc-1180	321	9	(	(	PUNCT
sc-1180	321	10	2011	2011	NUM
sc-1180	321	11	)	)	PUNCT
sc-1180	321	12	,	,	PUNCT
sc-1180	321	13	s.	s.	PROPN
sc-1180	321	14	117–131	117–131	NUM
sc-1180	322	1	[	[	X
sc-1180	322	2	13	13	NUM
sc-1180	322	3	]	]	PUNCT
sc-1180	322	4	j.	j.	PROPN
sc-1180	322	5	westra	westra	PROPN
sc-1180	322	6	,	,	PUNCT
sc-1180	322	7	h.	h.	PROPN
sc-1180	322	8	van	van	PROPN
sc-1180	322	9	hasselt	hasselt	PROPN
sc-1180	322	10	,	,	PUNCT
sc-1180	322	11	f.	f.	PROPN
sc-1180	322	12	dignum	dignum	PROPN
sc-1180	322	13	:	:	PUNCT
sc-1180	322	14	on	on	ADP
sc-1180	322	15	-	-	PUNCT
sc-1180	322	16	line	line	NOUN
sc-1180	322	17	adapting	adapting	NOUN
sc-1180	322	18	games	game	NOUN
sc-1180	322	19	using	use	VERB
sc-1180	322	20	agent	agent	NOUN
sc-1180	322	21	organizations	organization	NOUN
sc-1180	322	22	.	.	PUNCT
sc-1180	323	1	in	in	ADP
sc-1180	323	2	:	:	PUNCT
sc-1180	323	3	ieee	ieee	NOUN
sc-1180	323	4	symposium	symposium	NOUN
sc-1180	323	5	on	on	ADP
sc-1180	323	6	computational	computational	ADJ
sc-1180	323	7	intelligence	intelligence	NOUN
sc-1180	323	8	and	and	CCONJ
sc-1180	323	9	games	game	NOUN
sc-1180	323	10	(	(	PUNCT
sc-1180	323	11	2008	2008	NUM
sc-1180	323	12	)	)	PUNCT
sc-1180	324	1	[	[	X
sc-1180	324	2	14	14	NUM
sc-1180	324	3	]	]	PUNCT
sc-1180	324	4	j.	j.	PROPN
sc-1180	324	5	westra	westra	PROPN
sc-1180	324	6	,	,	PUNCT
sc-1180	324	7	h.	h.	PROPN
sc-1180	324	8	van	van	PROPN
sc-1180	324	9	hasselt	hasselt	PROPN
sc-1180	324	10	,	,	PUNCT
sc-1180	324	11	v.	v.	ADP
sc-1180	324	12	dignum	dignum	NOUN
sc-1180	324	13	:	:	PUNCT
sc-1180	324	14	adaptive	adaptive	ADJ
sc-1180	324	15	serious	serious	ADJ
sc-1180	324	16	games	game	NOUN
sc-1180	324	17	using	use	VERB
sc-1180	324	18	agent	agent	NOUN
sc-1180	324	19	organizations	organization	NOUN
sc-1180	324	20	.	.	PUNCT
sc-1180	325	1	in	in	ADP
sc-1180	325	2	:	:	PUNCT
sc-1180	325	3	the	the	DET
sc-1180	325	4	10th	10th	ADJ
sc-1180	325	5	international	international	ADJ
sc-1180	325	6	conference	conference	NOUN
sc-1180	325	7	on	on	ADP
sc-1180	325	8	autonomous	autonomous	ADJ
sc-1180	325	9	agents	agent	NOUN
sc-1180	325	10	and	and	CCONJ
sc-1180	325	11	multiagent	multiagent	NOUN
sc-1180	325	12	systems	system	NOUN
sc-1180	325	13	3	3	NUM
sc-1180	325	14	(	(	PUNCT
sc-1180	325	15	2011	2011	NUM
sc-1180	325	16	)	)	PUNCT
sc-1180	325	17	,	,	PUNCT
sc-1180	325	18	s.	s.	PROPN
sc-1180	325	19	1291–1292	1291–1292	NUM
sc-1180	325	20	[	[	X
sc-1180	325	21	15	15	NUM
sc-1180	325	22	]	]	PUNCT
sc-1180	325	23	k.	k.	NOUN
sc-1180	325	24	walczak	walczak	PROPN
sc-1180	325	25	:	:	PUNCT
sc-1180	325	26	dynamic	dynamic	ADJ
sc-1180	325	27	database	database	NOUN
sc-1180	325	28	modelling	modelling	NOUN
sc-1180	325	29	of	of	ADP
sc-1180	325	30	3d	3d	NUM
sc-1180	325	31	multimedia	multimedia	NOUN
sc-1180	325	32	content	content	NOUN
sc-1180	325	33	.	.	PUNCT
sc-1180	326	1	in	in	ADP
sc-1180	326	2	:	:	PUNCT
sc-1180	326	3	interactive	interactive	ADJ
sc-1180	326	4	3d	3d	NUM
sc-1180	326	5	multimedia	multimedia	NOUN
sc-1180	326	6	content	content	NOUN
sc-1180	326	7	(	(	PUNCT
sc-1180	326	8	2012	2012	NUM
sc-1180	326	9	)	)	PUNCT
sc-1180	326	10	,	,	PUNCT
sc-1180	326	11	s.	s.	PROPN
sc-1180	326	12	55–102	55–102	PROPN
sc-1180	326	13	[	[	X
sc-1180	326	14	16	16	NUM
sc-1180	326	15	]	]	PUNCT
sc-1180	326	16	l.	l.	PROPN
sc-1180	326	17	pons	pons	PROPN
sc-1180	326	18	,	,	PUNCT
sc-1180	326	19	c.	c.	PROPN
sc-1180	326	20	bernon	bernon	NOUN
sc-1180	326	21	:	:	PUNCT
sc-1180	326	22	a	a	DET
sc-1180	326	23	multi	multi	ADJ
sc-1180	326	24	-	-	ADJ
sc-1180	326	25	agent	agent	ADJ
sc-1180	326	26	system	system	NOUN
sc-1180	326	27	for	for	ADP
sc-1180	326	28	autonomous	autonomous	ADJ
sc-1180	326	29	control	control	NOUN
sc-1180	326	30	of	of	ADP
sc-1180	326	31	game	game	NOUN
sc-1180	326	32	parameters	parameter	NOUN
sc-1180	326	33	.	.	PUNCT
sc-1180	327	1	in	in	ADP
sc-1180	327	2	:	:	PUNCT
sc-1180	327	3	ieee	ieee	PROPN
sc-1180	327	4	international	international	ADJ
sc-1180	327	5	conference	conference	NOUN
sc-1180	327	6	on	on	ADP
sc-1180	327	7	systems	system	NOUN
sc-1180	327	8	,	,	PUNCT
sc-1180	327	9	man	man	NOUN
sc-1180	327	10	and	and	CCONJ
sc-1180	327	11	cybernetics	cybernetic	NOUN
sc-1180	327	12	(	(	PUNCT
sc-1180	327	13	smc	smc	PROPN
sc-1180	327	14	)	)	PUNCT
sc-1180	327	15	(	(	PUNCT
sc-1180	327	16	2013	2013	NUM
sc-1180	327	17	)	)	PUNCT
sc-1180	328	1	[	[	X
sc-1180	328	2	17	17	NUM
sc-1180	328	3	]	]	PUNCT
sc-1180	328	4	m.	m.	NOUN
sc-1180	328	5	hoppen	hoppen	PROPN
sc-1180	328	6	,	,	PUNCT
sc-1180	328	7	m.	m.	NOUN
sc-1180	328	8	schluse	schluse	PROPN
sc-1180	328	9	,	,	PUNCT
sc-1180	328	10	j.	j.	PROPN
sc-1180	328	11	rossmann	rossmann	PROPN
sc-1180	328	12	,	,	PUNCT
sc-1180	328	13	b.	b.	PROPN
sc-1180	328	14	weitzig	weitzig	PROPN
sc-1180	328	15	:	:	PUNCT
sc-1180	328	16	database	database	NOUN
sc-1180	328	17	-	-	PUNCT
sc-1180	328	18	droven	droven	VERB
sc-1180	328	19	distributed	distribute	VERB
sc-1180	328	20	3d	3d	NUM
sc-1180	328	21	simulation	simulation	NOUN
sc-1180	328	22	.	.	PUNCT
sc-1180	329	1	in	in	ADP
sc-1180	329	2	:	:	PUNCT
sc-1180	329	3	proceedings	proceeding	NOUN
sc-1180	329	4	of	of	ADP
sc-1180	329	5	the	the	DET
sc-1180	329	6	2012	2012	NUM
sc-1180	329	7	winter	winter	NOUN
sc-1180	329	8	simulation	simulation	NOUN
sc-1180	329	9	conference	conference	NOUN
sc-1180	329	10	(	(	PUNCT
sc-1180	329	11	2012	2012	NUM
sc-1180	329	12	)	)	PUNCT
sc-1180	330	1	[	[	X
sc-1180	330	2	18	18	NUM
sc-1180	330	3	]	]	PUNCT
sc-1180	330	4	m.	m.	NOUN
sc-1180	330	5	rohde	rohde	PROPN
sc-1180	330	6	,	,	PUNCT
sc-1180	330	7	j.	j.	PROPN
sc-1180	330	8	crawford	crawford	PROPN
sc-1180	330	9	,	,	PUNCT
sc-1180	330	10	d.	d.	PROPN
sc-1180	330	11	a.	a.	PROPN
sc-1180	330	12	horner	horner	PROPN
sc-1180	330	13	:	:	PUNCT
sc-1180	330	14	an	an	DET
sc-1180	330	15	interactive	interactive	ADJ
sc-1180	330	16	physics	physics	NOUN
sc-1180	330	17	-	-	PUNCT
sc-1180	330	18	based	base	VERB
sc-1180	330	19	unmanned	unmanned	ADJ
sc-1180	330	20	ground	ground	NOUN
sc-1180	330	21	vehicle	vehicle	NOUN
sc-1180	330	22	simulator	simulator	NOUN
sc-1180	330	23	leveraging	leverage	VERB
sc-1180	330	24	open	open	ADJ
sc-1180	330	25	source	source	NOUN
sc-1180	330	26	gaming	gaming	NOUN
sc-1180	330	27	technology	technology	NOUN
sc-1180	330	28	:	:	PUNCT
sc-1180	330	29	progress	progress	NOUN
sc-1180	330	30	in	in	ADP
sc-1180	330	31	the	the	DET
sc-1180	330	32	development	development	NOUN
sc-1180	330	33	and	and	CCONJ
sc-1180	330	34	application	application	NOUN
sc-1180	330	35	of	of	ADP
sc-1180	330	36	the	the	DET
sc-1180	330	37	virtual	virtual	ADJ
sc-1180	330	38	autonomous	autonomous	ADJ
sc-1180	330	39	navigation	navigation	NOUN
sc-1180	330	40	environment	environment	NOUN
sc-1180	330	41	(	(	PUNCT
sc-1180	330	42	vane	vane	NOUN
sc-1180	330	43	)	)	PUNCT
sc-1180	330	44	desktop	desktop	NOUN
sc-1180	330	45	.	.	PUNCT
sc-1180	331	1	in	in	ADP
sc-1180	331	2	:	:	PUNCT
sc-1180	331	3	unmanned	unmanned	ADJ
sc-1180	331	4	systems	system	NOUN
sc-1180	331	5	technolgy	technolgy	X
sc-1180	331	6	xi	xi	X
sc-1180	331	7	spie	spie	NOUN
sc-1180	331	8	(	(	PUNCT
sc-1180	331	9	2009	2009	NUM
sc-1180	331	10	)	)	PUNCT
sc-1180	332	1	[	[	X
sc-1180	332	2	19	19	NUM
sc-1180	332	3	]	]	PUNCT
sc-1180	332	4	m.	m.	NOUN
sc-1180	332	5	rohde	rohde	PROPN
sc-1180	332	6	,	,	PUNCT
sc-1180	332	7	m.	m.	PROPN
sc-1180	332	8	toschlog	toschlog	PROPN
sc-1180	332	9	:	:	PUNCT
sc-1180	332	10	toward	toward	ADP
sc-1180	332	11	the	the	DET
sc-1180	332	12	fusion	fusion	NOUN
sc-1180	332	13	of	of	ADP
sc-1180	332	14	serious	serious	ADJ
sc-1180	332	15	simulation	simulation	NOUN
sc-1180	332	16	and	and	CCONJ
sc-1180	332	17	video	video	NOUN
sc-1180	332	18	games	game	NOUN
sc-1180	332	19	.	.	PUNCT
sc-1180	333	1	in	in	ADP
sc-1180	333	2	:	:	PUNCT
sc-1180	333	3	proceedungs	proceedung	NOUN
sc-1180	333	4	of	of	ADP
sc-1180	333	5	the	the	DET
sc-1180	333	6	2009	2009	NUM
sc-1180	333	7	spring	spring	NOUN
sc-1180	333	8	simulation	simulation	NOUN
sc-1180	333	9	mutliconference	mutliconference	NOUN
sc-1180	333	10	(	(	PUNCT
sc-1180	333	11	2009	2009	NUM
sc-1180	333	12	)	)	PUNCT
sc-1180	334	1	[	[	X
sc-1180	334	2	20	20	NUM
sc-1180	334	3	]	]	PUNCT
sc-1180	334	4	p.	p.	NOUN
sc-1180	334	5	durst	durst	PROPN
sc-1180	334	6	,	,	PUNCT
sc-1180	334	7	m.	m.	NOUN
sc-1180	334	8	rohde	rohde	PROPN
sc-1180	334	9	,	,	PUNCT
sc-1180	334	10	j.	j.	PROPN
sc-1180	334	11	crawford	crawford	PROPN
sc-1180	334	12	:	:	PUNCT
sc-1180	334	13	a	a	DET
sc-1180	334	14	real	real	ADJ
sc-1180	334	15	-	-	PUNCT
sc-1180	334	16	time	time	NOUN
sc-1180	334	17	,	,	PUNCT
sc-1180	334	18	interactive	interactive	ADJ
sc-1180	334	19	simulation	simulation	NOUN
sc-1180	334	20	environment	environment	NOUN
sc-1180	334	21	for	for	ADP
sc-1180	334	22	unmanned	unmanned	ADJ
sc-1180	334	23	ground	ground	NOUN
sc-1180	334	24	vehicles	vehicle	NOUN
sc-1180	334	25	:	:	PUNCT
sc-1180	334	26	the	the	DET
sc-1180	334	27	autonomous	autonomous	ADJ
sc-1180	334	28	navigation	navigation	PROPN
sc-1180	334	29	virtual	virtual	ADJ
sc-1180	334	30	environment	environment	NOUN
sc-1180	334	31	laboratory	laboratory	NOUN
sc-1180	334	32	(	(	PUNCT
sc-1180	334	33	anvel	anvel	NOUN
sc-1180	334	34	)	)	PUNCT
sc-1180	334	35	.	.	PUNCT
sc-1180	335	1	in	in	ADP
sc-1180	335	2	:	:	PUNCT
sc-1180	335	3	international	international	ADJ
sc-1180	335	4	conference	conference	NOUN
sc-1180	335	5	on	on	ADP
sc-1180	335	6	information	information	NOUN
sc-1180	335	7	and	and	CCONJ
sc-1180	335	8	computing	compute	VERB
sc-1180	335	9	science	science	NOUN
sc-1180	335	10	(	(	PUNCT
sc-1180	335	11	icic	icic	PROPN
sc-1180	335	12	)	)	PUNCT
sc-1180	335	13	(	(	PUNCT
sc-1180	335	14	2012	2012	NUM
sc-1180	335	15	)	)	PUNCT
sc-1180	335	16	,	,	PUNCT
sc-1180	335	17	s.	s.	PROPN
sc-1180	335	18	7–10	7–10	PROPN
sc-1180	336	1	[	[	X
sc-1180	336	2	21	21	NUM
sc-1180	336	3	]	]	X
sc-1180	336	4	p.	p.	PROPN
sc-1180	336	5	harish	harish	PROPN
sc-1180	336	6	,	,	PUNCT
sc-1180	336	7	p.j	p.j	PROPN
sc-1180	336	8	.	.	PROPN
sc-1180	336	9	narayanan	narayanan	PROPN
sc-1180	336	10	:	:	PUNCT
sc-1180	336	11	accelerating	accelerate	VERB
sc-1180	336	12	large	large	ADJ
sc-1180	336	13	graph	graph	NOUN
sc-1180	336	14	algorithms	algorithm	NOUN
sc-1180	336	15	on	on	ADP
sc-1180	336	16	the	the	DET
sc-1180	336	17	gpu	gpu	NOUN
sc-1180	336	18	using	use	VERB
sc-1180	336	19	cuda	cuda	NOUN
sc-1180	336	20	.	.	PUNCT
sc-1180	337	1	in	in	ADP
sc-1180	337	2	:	:	PUNCT
sc-1180	337	3	high	high	ADJ
sc-1180	337	4	performance	performance	NOUN
sc-1180	337	5	computing	compute	VERB
sc-1180	337	6	hipc	hipc	NOUN
sc-1180	337	7	2007	2007	NUM
sc-1180	337	8	4873	4873	NUM
sc-1180	337	9	(	(	PUNCT
sc-1180	337	10	2007	2007	NUM
sc-1180	337	11	)	)	PUNCT
sc-1180	337	12	,	,	PUNCT
sc-1180	337	13	s.	s.	PROPN
sc-1180	337	14	197–208	197–208	NUM
sc-1180	338	1	[	[	X
sc-1180	338	2	22	22	NUM
sc-1180	338	3	]	]	PUNCT
sc-1180	338	4	p.	p.	NOUN
sc-1180	338	5	lange	lange	PROPN
sc-1180	338	6	,	,	PUNCT
sc-1180	338	7	a.	a.	NOUN
sc-1180	338	8	probst	probst	PROPN
sc-1180	338	9	,	,	PUNCT
sc-1180	338	10	a.	a.	PROPN
sc-1180	338	11	srinivas	srinivas	PROPN
sc-1180	338	12	,	,	PUNCT
sc-1180	338	13	g.	g.	PROPN
sc-1180	338	14	gonzales	gonzales	PROPN
sc-1180	338	15	peytavi	peytavi	PROPN
sc-1180	338	16	,	,	PUNCT
sc-1180	338	17	c.	c.	PROPN
sc-1180	338	18	rachuy	rachuy	PROPN
sc-1180	338	19	,	,	PUNCT
sc-1180	338	20	a.	a.	NOUN
sc-1180	338	21	schattel	schattel	PROPN
sc-1180	338	22	,	,	PUNCT
sc-1180	338	23	v.	v.	ADP
sc-1180	338	24	schwarting	schwarting	NOUN
sc-1180	338	25	,	,	PUNCT
sc-1180	338	26	j.	j.	PROPN
sc-1180	338	27	clemens	clemens	PROPN
sc-1180	338	28	,	,	PUNCT
sc-1180	338	29	d.	d.	PROPN
sc-1180	338	30	nakath	nakath	PROPN
sc-1180	338	31	,	,	PUNCT
sc-1180	338	32	m.	m.	NOUN
sc-1180	338	33	echim	echim	PROPN
sc-1180	338	34	,	,	PUNCT
sc-1180	338	35	g.	g.	PROPN
sc-1180	338	36	zachmann	zachmann	PROPN
sc-1180	338	37	:	:	PUNCT
sc-1180	338	38	virtual	virtual	ADJ
sc-1180	338	39	reality	reality	NOUN
sc-1180	338	40	for	for	ADP
sc-1180	338	41	simulating	simulate	VERB
sc-1180	338	42	autonomous	autonomous	ADJ
sc-1180	338	43	deep	deep	ADJ
sc-1180	338	44	-	-	PUNCT
sc-1180	338	45	space	space	NOUN
sc-1180	338	46	navigation	navigation	NOUN
sc-1180	338	47	and	and	CCONJ
sc-1180	338	48	mining	mining	NOUN
sc-1180	338	49	.	.	PUNCT
sc-1180	339	1	in	in	ADP
sc-1180	339	2	:	:	PUNCT
sc-1180	339	3	24th	24th	ADJ
sc-1180	339	4	international	international	ADJ
sc-1180	339	5	conference	conference	NOUN
sc-1180	339	6	on	on	ADP
sc-1180	339	7	artifical	artifical	ADJ
sc-1180	339	8	reality	reality	NOUN
sc-1180	339	9	and	and	CCONJ
sc-1180	339	10	teleexistence	teleexistence	NOUN
sc-1180	339	11	(	(	PUNCT
sc-1180	339	12	icat	icat	NOUN
sc-1180	339	13	-	-	PUNCT
sc-1180	339	14	egve	egve	NOUN
sc-1180	339	15	)	)	PUNCT
sc-1180	339	16	(	(	PUNCT
sc-1180	339	17	2014	2014	NUM
sc-1180	339	18	)	)	PUNCT
sc-1180	340	1	[	[	X
sc-1180	340	2	23	23	NUM
sc-1180	340	3	]	]	X
sc-1180	340	4	p.	p.	NOUN
sc-1180	340	5	lange	lange	PROPN
sc-1180	340	6	,	,	PUNCT
sc-1180	340	7	r.	r.	PROPN
sc-1180	340	8	weller	weller	PROPN
sc-1180	340	9	,	,	PUNCT
sc-1180	340	10	g.	g.	PROPN
sc-1180	340	11	zachmann	zachmann	PROPN
sc-1180	340	12	:	:	PUNCT
sc-1180	340	13	a	a	DET
sc-1180	340	14	framework	framework	NOUN
sc-1180	340	15	for	for	ADP
sc-1180	340	16	wait	wait	VERB
sc-1180	340	17	-	-	PUNCT
sc-1180	340	18	free	free	ADJ
sc-1180	340	19	data	datum	NOUN
sc-1180	340	20	exchange	exchange	NOUN
sc-1180	340	21	in	in	ADP
sc-1180	340	22	massively	massively	ADV
sc-1180	340	23	threaded	thread	VERB
sc-1180	340	24	vr	vr	NOUN
sc-1180	340	25	systems	system	NOUN
sc-1180	340	26	.	.	PUNCT
sc-1180	341	1	in	in	ADP
sc-1180	341	2	:	:	PUNCT
sc-1180	341	3	international	international	ADJ
sc-1180	341	4	conference	conference	NOUN
sc-1180	341	5	in	in	ADP
sc-1180	341	6	central	central	PROPN
sc-1180	341	7	europe	europe	PROPN
sc-1180	341	8	on	on	ADP
sc-1180	341	9	computer	computer	NOUN
sc-1180	341	10	graphics	graphic	NOUN
sc-1180	341	11	,	,	PUNCT
sc-1180	341	12	visualization	visualization	NOUN
sc-1180	341	13	and	and	CCONJ
sc-1180	341	14	computer	computer	NOUN
sc-1180	341	15	vision	vision	NOUN
sc-1180	341	16	(	(	PUNCT
sc-1180	341	17	wscg	wscg	NOUN
sc-1180	341	18	)	)	PUNCT
sc-1180	341	19	(	(	PUNCT
sc-1180	341	20	2014	2014	NUM
sc-1180	341	21	)	)	PUNCT
sc-1180	342	1	[	[	X
sc-1180	342	2	24	24	NUM
sc-1180	342	3	]	]	X
sc-1180	342	4	p.	p.	NOUN
sc-1180	342	5	lange	lange	PROPN
sc-1180	342	6	,	,	PUNCT
sc-1180	342	7	r.	r.	PROPN
sc-1180	342	8	weller	weller	PROPN
sc-1180	342	9	,	,	PUNCT
sc-1180	342	10	g.	g.	PROPN
sc-1180	342	11	zachmann	zachmann	PROPN
sc-1180	342	12	:	:	PUNCT
sc-1180	342	13	scalable	scalable	ADJ
sc-1180	342	14	concurrency	concurrency	NOUN
sc-1180	342	15	control	control	NOUN
sc-1180	342	16	for	for	ADP
sc-1180	342	17	massively	massively	ADV
sc-1180	342	18	collaborative	collaborative	ADJ
sc-1180	342	19	virtual	virtual	ADJ
sc-1180	342	20	environments	environment	NOUN
sc-1180	342	21	.	.	PUNCT
sc-1180	343	1	in	in	ADP
sc-1180	343	2	:	:	PUNCT
sc-1180	343	3	acm	acm	PROPN
sc-1180	343	4	multimedia	multimedia	NOUN
sc-1180	343	5	systems	system	NOUN
sc-1180	343	6	massively	massively	ADV
sc-1180	343	7	multiuser	multiuser	NOUN
sc-1180	343	8	virtual	virtual	ADJ
sc-1180	343	9	environments	environment	NOUN
sc-1180	343	10	(	(	PUNCT
sc-1180	343	11	mmve	mmve	NOUN
sc-1180	343	12	)	)	PUNCT
sc-1180	343	13	(	(	PUNCT
sc-1180	343	14	2015	2015	NUM
sc-1180	343	15	)	)	PUNCT
sc-1180	344	1	[	[	X
sc-1180	344	2	25	25	NUM
sc-1180	344	3	]	]	X
sc-1180	344	4	r.	r.	PROPN
sc-1180	344	5	pitkaenen	pitkaenen	PROPN
sc-1180	344	6	,	,	PUNCT
sc-1180	344	7	t.	t.	PROPN
sc-1180	344	8	mikkonen	mikkonen	NOUN
sc-1180	344	9	:	:	PUNCT
sc-1180	344	10	lightweight	lightweight	ADJ
sc-1180	344	11	domain	domain	NOUN
sc-1180	344	12	-	-	PUNCT
sc-1180	344	13	specific	specific	ADJ
sc-1180	344	14	modeling	modeling	NOUN
sc-1180	344	15	and	and	CCONJ
sc-1180	344	16	model	model	NOUN
sc-1180	344	17	-	-	PUNCT
sc-1180	344	18	driven	drive	VERB
sc-1180	344	19	development	development	NOUN
sc-1180	344	20	.	.	PUNCT
sc-1180	345	1	in	in	ADP
sc-1180	345	2	:	:	PUNCT
sc-1180	345	3	6th	6th	ADJ
sc-1180	345	4	oopsla	oopsla	ADJ
sc-1180	345	5	workshop	workshop	NOUN
sc-1180	345	6	on	on	ADP
sc-1180	345	7	domain	domain	NOUN
sc-1180	345	8	-	-	PUNCT
sc-1180	345	9	specific	specific	ADJ
sc-1180	345	10	modeling	modeling	NOUN
sc-1180	345	11	(	(	PUNCT
sc-1180	345	12	2006	2006	NUM
sc-1180	345	13	)	)	PUNCT
sc-1180	345	14	,	,	PUNCT
sc-1180	345	15	s.	s.	PROPN
sc-1180	345	16	159–168	159–168	NUM
sc-1180	345	17	[	[	X
sc-1180	345	18	26	26	NUM
sc-1180	345	19	]	]	X
sc-1180	345	20	r.	r.	PROPN
sc-1180	345	21	radhakrishnan	radhakrishnan	PROPN
sc-1180	345	22	,	,	PUNCT
sc-1180	345	23	r.	r.	PROPN
sc-1180	345	24	radhakrishnany	radhakrishnany	PROPN
sc-1180	345	25	:	:	PUNCT
sc-1180	345	26	java	java	PROPN
sc-1180	345	27	runtime	runtime	NOUN
sc-1180	345	28	systems	system	NOUN
sc-1180	345	29	:	:	PUNCT
sc-1180	345	30	characterization	characterization	NOUN
sc-1180	345	31	and	and	CCONJ
sc-1180	345	32	architectural	architectural	ADJ
sc-1180	345	33	implications	implication	NOUN
sc-1180	345	34	.	.	PUNCT
sc-1180	346	1	in	in	ADP
sc-1180	346	2	:	:	PUNCT
sc-1180	346	3	ieee	ieee	NOUN
sc-1180	346	4	transactions	transaction	NOUN
sc-1180	346	5	on	on	ADP
sc-1180	346	6	computers	computer	NOUN
sc-1180	346	7	50	50	NUM
sc-1180	346	8	(	(	PUNCT
sc-1180	346	9	2001	2001	NUM
sc-1180	346	10	)	)	PUNCT
sc-1180	346	11	,	,	PUNCT
sc-1180	346	12	s.	s.	PROPN
sc-1180	346	13	131–146	131–146	NUM
sc-1180	347	1	[	[	X
sc-1180	347	2	27	27	NUM
sc-1180	347	3	]	]	PUNCT
sc-1180	347	4	s.	s.	PROPN
sc-1180	347	5	kelly	kelly	PROPN
sc-1180	347	6	,	,	PUNCT
sc-1180	347	7	j.-p	j.-p	PROPN
sc-1180	347	8	.	.	PUNCT
sc-1180	348	1	tolvanen	tolvanen	PROPN
sc-1180	348	2	:	:	PUNCT
sc-1180	348	3	domain	domain	NOUN
sc-1180	348	4	-	-	PUNCT
sc-1180	348	5	specific	specific	ADJ
sc-1180	348	6	modelling	modelling	NOUN
sc-1180	348	7	:	:	PUNCT
sc-1180	348	8	enabling	enable	VERB
sc-1180	348	9	full	full	ADJ
sc-1180	348	10	code	code	NOUN
sc-1180	348	11	generation	generation	NOUN
sc-1180	348	12	.	.	PUNCT
sc-1180	349	1	in	in	ADP
sc-1180	349	2	:	:	PUNCT
sc-1180	349	3	john	john	PROPN
sc-1180	349	4	wiley	wiley	PROPN
sc-1180	349	5	and	and	CCONJ
sc-1180	349	6	sons	son	NOUN
sc-1180	349	7	(	(	PUNCT
sc-1180	349	8	2008	2008	NUM
sc-1180	349	9	)	)	PUNCT
sc-1180	350	1	[	[	X
sc-1180	350	2	28	28	NUM
sc-1180	350	3	]	]	X
sc-1180	350	4	t.	t.	PROPN
sc-1180	350	5	hamada	hamada	PROPN
sc-1180	350	6	,	,	PUNCT
sc-1180	350	7	t.	t.	PROPN
sc-1180	350	8	iitaka	iitaka	PROPN
sc-1180	350	9	:	:	PUNCT
sc-1180	350	10	the	the	DET
sc-1180	350	11	chamomile	chamomile	NOUN
sc-1180	350	12	scheme	scheme	NOUN
sc-1180	350	13	:	:	PUNCT
sc-1180	350	14	an	an	DET
sc-1180	350	15	optimized	optimize	VERB
sc-1180	350	16	algorithm	algorithm	NOUN
sc-1180	350	17	for	for	ADP
sc-1180	350	18	n	n	NOUN
sc-1180	350	19	-	-	PUNCT
sc-1180	350	20	body	body	NOUN
sc-1180	350	21	simulations	simulation	NOUN
sc-1180	350	22	on	on	ADP
sc-1180	350	23	programmable	programmable	ADJ
sc-1180	350	24	graphics	graphic	NOUN
sc-1180	350	25	processing	processing	NOUN
sc-1180	350	26	units	unit	NOUN
sc-1180	350	27	.	.	PUNCT
sc-1180	351	1	in	in	ADP
sc-1180	351	2	:	:	PUNCT
sc-1180	351	3	new	new	ADJ
sc-1180	351	4	astronomy	astronomy	NOUN
sc-1180	351	5	(	(	PUNCT
sc-1180	351	6	2007	2007	NUM
sc-1180	351	7	)	)	PUNCT
sc-1180	352	1	[	[	X
sc-1180	352	2	29	29	NUM
sc-1180	352	3	]	]	PUNCT
sc-1180	352	4	t.	t.	PROPN
sc-1180	352	5	j.	j.	PROPN
sc-1180	352	6	ross	ross	PROPN
sc-1180	352	7	:	:	PUNCT
sc-1180	352	8	fuzzy	fuzzy	ADJ
sc-1180	352	9	logic	logic	NOUN
sc-1180	352	10	with	with	ADP
sc-1180	352	11	engineering	engineering	NOUN
sc-1180	352	12	applications	application	NOUN
sc-1180	352	13	.	.	PUNCT
sc-1180	353	1	in	in	ADP
sc-1180	353	2	:	:	PUNCT
sc-1180	353	3	3rd	3rd	ADJ
sc-1180	353	4	edition	edition	NOUN
sc-1180	353	5	(	(	PUNCT
sc-1180	353	6	2010	2010	NUM
sc-1180	353	7	)	)	PUNCT
sc-1180	354	1	[	[	X
sc-1180	354	2	30	30	NUM
sc-1180	354	3	]	]	X
sc-1180	354	4	w.	w.	PROPN
sc-1180	354	5	liu	liu	PROPN
sc-1180	354	6	,	,	PUNCT
sc-1180	354	7	b.	b.	PROPN
sc-1180	354	8	schmidt	schmidt	PROPN
sc-1180	354	9	,	,	PUNCT
sc-1180	354	10	w.	w.	PROPN
sc-1180	354	11	mueller	mueller	PROPN
sc-1180	354	12	-	-	PUNCT
sc-1180	354	13	wittig	wittig	NOUN
sc-1180	354	14	:	:	PUNCT
sc-1180	354	15	molecular	molecular	ADJ
sc-1180	354	16	dynamics	dynamic	NOUN
sc-1180	354	17	simulations	simulation	NOUN
sc-1180	354	18	on	on	ADP
sc-1180	354	19	commodity	commodity	NOUN
sc-1180	354	20	gpus	gpu	NOUN
sc-1180	354	21	with	with	ADP
sc-1180	354	22	cuda	cuda	NOUN
sc-1180	354	23	.	.	PUNCT
sc-1180	355	1	in	in	ADP
sc-1180	355	2	:	:	PUNCT
sc-1180	355	3	high	high	ADJ
sc-1180	355	4	performance	performance	NOUN
sc-1180	355	5	computing	compute	VERB
sc-1180	355	6	hipc	hipc	NOUN
sc-1180	355	7	2007	2007	NUM
sc-1180	355	8	4873	4873	NUM
sc-1180	355	9	(	(	PUNCT
sc-1180	355	10	2007	2007	NUM
sc-1180	355	11	)	)	PUNCT
sc-1180	355	12	,	,	PUNCT
sc-1180	355	13	s.	s.	PROPN
sc-1180	355	14	185–196	185–196	NUM