id	sid	tid	token	lemma	pos
ejpam-6495	1	1	european	european	PROPN
ejpam-6495	1	2	journal	journal	PROPN
ejpam-6495	1	3	of	of	ADP
ejpam-6495	1	4	pure	pure	ADJ
ejpam-6495	1	5	and	and	CCONJ
ejpam-6495	1	6	applied	applied	ADJ
ejpam-6495	1	7	mathematics	mathematic	NOUN
ejpam-6495	1	8	2025	2025	NUM
ejpam-6495	1	9	,	,	PUNCT
ejpam-6495	1	10	vol	vol	NOUN
ejpam-6495	1	11	.	.	PROPN
ejpam-6495	1	12	18	18	NUM
ejpam-6495	1	13	,	,	PUNCT
ejpam-6495	1	14	issue	issue	NOUN
ejpam-6495	1	15	3	3	NUM
ejpam-6495	1	16	,	,	PUNCT
ejpam-6495	1	17	article	article	NOUN
ejpam-6495	1	18	number	number	NOUN
ejpam-6495	1	19	6495	6495	NUM
ejpam-6495	1	20	issn	issn	PROPN
ejpam-6495	1	21	1307	1307	NUM
ejpam-6495	1	22	-	-	SYM
ejpam-6495	1	23	5543	5543	NUM
ejpam-6495	1	24	–	–	PUNCT
ejpam-6495	1	25	ejpam.com	ejpam.com	X
ejpam-6495	1	26	published	publish	VERB
ejpam-6495	1	27	by	by	ADP
ejpam-6495	1	28	new	new	PROPN
ejpam-6495	1	29	york	york	PROPN
ejpam-6495	1	30	business	business	PROPN
ejpam-6495	1	31	global	global	ADJ
ejpam-6495	1	32	improving	improve	VERB
ejpam-6495	1	33	wheelchair	wheelchair	NOUN
ejpam-6495	1	34	mobility	mobility	NOUN
ejpam-6495	1	35	through	through	ADP
ejpam-6495	1	36	enhanced	enhanced	ADJ
ejpam-6495	1	37	kalman	kalman	PROPN
ejpam-6495	1	38	filtering	filtering	PROPN
ejpam-6495	1	39	wael	wael	PROPN
ejpam-6495	1	40	hosny	hosny	PROPN
ejpam-6495	1	41	fouad	fouad	PROPN
ejpam-6495	1	42	aly1,∗	aly1,∗	PROPN
ejpam-6495	1	43	,	,	PUNCT
ejpam-6495	1	44	nino	nino	PROPN
ejpam-6495	1	45	samashvili1	samashvili1	PROPN
ejpam-6495	1	46	,	,	PUNCT
ejpam-6495	1	47	chadi	chadi	PROPN
ejpam-6495	1	48	fouad	fouad	PROPN
ejpam-6495	1	49	riman1	riman1	PROPN
ejpam-6495	1	50	1	1	NUM
ejpam-6495	1	51	college	college	NOUN
ejpam-6495	1	52	of	of	ADP
ejpam-6495	1	53	engineering	engineering	NOUN
ejpam-6495	1	54	and	and	CCONJ
ejpam-6495	1	55	technology	technology	NOUN
ejpam-6495	1	56	,	,	PUNCT
ejpam-6495	1	57	american	american	PROPN
ejpam-6495	1	58	university	university	PROPN
ejpam-6495	1	59	of	of	ADP
ejpam-6495	1	60	the	the	DET
ejpam-6495	1	61	middle	middle	PROPN
ejpam-6495	1	62	east	east	PROPN
ejpam-6495	1	63	,	,	PUNCT
ejpam-6495	1	64	kuwait	kuwait	PROPN
ejpam-6495	1	65	abstract	abstract	PROPN
ejpam-6495	1	66	.	.	PUNCT
ejpam-6495	2	1	electric	electric	ADJ
ejpam-6495	2	2	wheelchairs	wheelchairs	NOUN
ejpam-6495	2	3	are	be	AUX
ejpam-6495	2	4	essential	essential	ADJ
ejpam-6495	2	5	for	for	ADP
ejpam-6495	2	6	individuals	individual	NOUN
ejpam-6495	2	7	with	with	ADP
ejpam-6495	2	8	lower	low	ADJ
ejpam-6495	2	9	motor	motor	NOUN
ejpam-6495	2	10	disabilities	disability	NOUN
ejpam-6495	2	11	,	,	PUNCT
ejpam-6495	2	12	enabling	enable	VERB
ejpam-6495	2	13	daily	daily	ADJ
ejpam-6495	2	14	mobility	mobility	NOUN
ejpam-6495	2	15	typically	typically	ADV
ejpam-6495	2	16	via	via	ADP
ejpam-6495	2	17	joystick	joystick	PROPN
ejpam-6495	2	18	control	control	PROPN
ejpam-6495	2	19	.	.	PUNCT
ejpam-6495	3	1	however	however	ADV
ejpam-6495	3	2	,	,	PUNCT
ejpam-6495	3	3	users	user	NOUN
ejpam-6495	3	4	with	with	ADP
ejpam-6495	3	5	cerebral	cerebral	ADJ
ejpam-6495	3	6	palsy	palsy	ADJ
ejpam-6495	3	7	often	often	ADV
ejpam-6495	3	8	struggle	struggle	VERB
ejpam-6495	3	9	with	with	ADP
ejpam-6495	3	10	accurate	accurate	ADJ
ejpam-6495	3	11	joystick	joystick	NOUN
ejpam-6495	3	12	maneuvering	maneuver	VERB
ejpam-6495	3	13	due	due	ADP
ejpam-6495	3	14	to	to	ADP
ejpam-6495	3	15	motor	motor	NOUN
ejpam-6495	3	16	impairments	impairment	NOUN
ejpam-6495	3	17	.	.	PUNCT
ejpam-6495	4	1	this	this	DET
ejpam-6495	4	2	paper	paper	NOUN
ejpam-6495	4	3	proposes	propose	VERB
ejpam-6495	4	4	a	a	DET
ejpam-6495	4	5	novel	novel	ADJ
ejpam-6495	4	6	control	control	NOUN
ejpam-6495	4	7	strategy	strategy	NOUN
ejpam-6495	4	8	,	,	PUNCT
ejpam-6495	4	9	enhanced	enhance	VERB
ejpam-6495	4	10	kalman	kalman	PROPN
ejpam-6495	4	11	filter	filter	PROPN
ejpam-6495	4	12	-	-	PUNCT
ejpam-6495	4	13	based	base	VERB
ejpam-6495	4	14	wheelchair	wheelchair	NOUN
ejpam-6495	4	15	control	control	NOUN
ejpam-6495	4	16	(	(	PUNCT
ejpam-6495	4	17	ekfwc	ekfwc	NOUN
ejpam-6495	4	18	)	)	PUNCT
ejpam-6495	4	19	,	,	PUNCT
ejpam-6495	4	20	which	which	PRON
ejpam-6495	4	21	compensates	compensate	VERB
ejpam-6495	4	22	for	for	ADP
ejpam-6495	4	23	these	these	DET
ejpam-6495	4	24	deficiencies	deficiency	NOUN
ejpam-6495	4	25	using	use	VERB
ejpam-6495	4	26	a	a	DET
ejpam-6495	4	27	kalman	kalman	NOUN
ejpam-6495	4	28	filter	filter	NOUN
ejpam-6495	4	29	-	-	PUNCT
ejpam-6495	4	30	based	base	VERB
ejpam-6495	4	31	estimation	estimation	NOUN
ejpam-6495	4	32	model	model	NOUN
ejpam-6495	4	33	grounded	ground	VERB
ejpam-6495	4	34	in	in	ADP
ejpam-6495	4	35	state	state	NOUN
ejpam-6495	4	36	-	-	PUNCT
ejpam-6495	4	37	space	space	NOUN
ejpam-6495	4	38	representations	representation	NOUN
ejpam-6495	4	39	.	.	PUNCT
ejpam-6495	5	1	the	the	DET
ejpam-6495	5	2	system	system	NOUN
ejpam-6495	5	3	continuously	continuously	ADV
ejpam-6495	5	4	estimates	estimate	VERB
ejpam-6495	5	5	and	and	CCONJ
ejpam-6495	5	6	corrects	correct	NOUN
ejpam-6495	5	7	wheelchair	wheelchair	NOUN
ejpam-6495	5	8	velocity	velocity	NOUN
ejpam-6495	5	9	by	by	ADP
ejpam-6495	5	10	filtering	filter	VERB
ejpam-6495	5	11	noisy	noisy	ADJ
ejpam-6495	5	12	sensor	sensor	NOUN
ejpam-6495	5	13	data	datum	NOUN
ejpam-6495	5	14	and	and	CCONJ
ejpam-6495	5	15	adjusting	adjust	VERB
ejpam-6495	5	16	joystick	joystick	NOUN
ejpam-6495	5	17	commands	command	NOUN
ejpam-6495	5	18	in	in	ADP
ejpam-6495	5	19	real	real	ADJ
ejpam-6495	5	20	time	time	NOUN
ejpam-6495	5	21	,	,	PUNCT
ejpam-6495	5	22	aligning	align	VERB
ejpam-6495	5	23	motion	motion	NOUN
ejpam-6495	5	24	with	with	ADP
ejpam-6495	5	25	optimal	optimal	ADJ
ejpam-6495	5	26	speeds	speed	NOUN
ejpam-6495	5	27	for	for	ADP
ejpam-6495	5	28	varying	vary	VERB
ejpam-6495	5	29	terrain	terrain	NOUN
ejpam-6495	5	30	stored	store	VERB
ejpam-6495	5	31	in	in	ADP
ejpam-6495	5	32	a	a	DET
ejpam-6495	5	33	reference	reference	NOUN
ejpam-6495	5	34	table	table	NOUN
ejpam-6495	5	35	.	.	PUNCT
ejpam-6495	6	1	ekfwc	ekfwc	PROPN
ejpam-6495	6	2	’s	’s	PART
ejpam-6495	6	3	performance	performance	NOUN
ejpam-6495	6	4	is	be	AUX
ejpam-6495	6	5	benchmarked	benchmarke	VERB
ejpam-6495	6	6	against	against	ADP
ejpam-6495	6	7	a	a	DET
ejpam-6495	6	8	hybrid	hybrid	ADJ
ejpam-6495	6	9	sensor	sensor	NOUN
ejpam-6495	6	10	fusion	fusion	NOUN
ejpam-6495	6	11	model	model	NOUN
ejpam-6495	6	12	,	,	PUNCT
ejpam-6495	6	13	refekfpf	refekfpf	NOUN
ejpam-6495	6	14	,	,	PUNCT
ejpam-6495	6	15	which	which	PRON
ejpam-6495	6	16	combines	combine	VERB
ejpam-6495	6	17	an	an	DET
ejpam-6495	6	18	extended	extended	ADJ
ejpam-6495	6	19	kalman	kalman	NOUN
ejpam-6495	6	20	filter	filter	NOUN
ejpam-6495	6	21	and	and	CCONJ
ejpam-6495	6	22	a	a	DET
ejpam-6495	6	23	modified	modify	VERB
ejpam-6495	6	24	particle	particle	NOUN
ejpam-6495	6	25	filter	filter	NOUN
ejpam-6495	6	26	.	.	PUNCT
ejpam-6495	7	1	simulation	simulation	NOUN
ejpam-6495	7	2	results	result	NOUN
ejpam-6495	7	3	show	show	VERB
ejpam-6495	7	4	that	that	SCONJ
ejpam-6495	7	5	ekfwc	ekfwc	NOUN
ejpam-6495	7	6	yields	yield	VERB
ejpam-6495	7	7	lower	lower	ADV
ejpam-6495	7	8	mean	mean	VERB
ejpam-6495	7	9	absolute	absolute	ADJ
ejpam-6495	7	10	error	error	NOUN
ejpam-6495	7	11	(	(	PUNCT
ejpam-6495	7	12	mae	mae	PROPN
ejpam-6495	7	13	)	)	PUNCT
ejpam-6495	7	14	and	and	CCONJ
ejpam-6495	7	15	percentage	percentage	NOUN
ejpam-6495	7	16	estimation	estimation	NOUN
ejpam-6495	7	17	error	error	NOUN
ejpam-6495	7	18	compared	compare	VERB
ejpam-6495	7	19	to	to	ADP
ejpam-6495	7	20	both	both	DET
ejpam-6495	7	21	ekf	ekf	NOUN
ejpam-6495	7	22	and	and	CCONJ
ejpam-6495	7	23	refekfpf	refekfpf	NOUN
ejpam-6495	7	24	.	.	PUNCT
ejpam-6495	8	1	additionally	additionally	ADV
ejpam-6495	8	2	,	,	PUNCT
ejpam-6495	8	3	ekfwc	ekfwc	NOUN
ejpam-6495	8	4	significantly	significantly	ADV
ejpam-6495	8	5	reduces	reduce	VERB
ejpam-6495	8	6	navigation	navigation	NOUN
ejpam-6495	8	7	time	time	NOUN
ejpam-6495	8	8	:	:	PUNCT
ejpam-6495	8	9	on	on	ADP
ejpam-6495	8	10	smooth	smooth	ADJ
ejpam-6495	8	11	indoor	indoor	ADJ
ejpam-6495	8	12	surfaces	surface	NOUN
ejpam-6495	8	13	,	,	PUNCT
ejpam-6495	8	14	it	it	PRON
ejpam-6495	8	15	completes	complete	VERB
ejpam-6495	8	16	a	a	DET
ejpam-6495	8	17	point	point	NOUN
ejpam-6495	8	18	-	-	PUNCT
ejpam-6495	8	19	to	to	ADP
ejpam-6495	8	20	-	-	PUNCT
ejpam-6495	8	21	point	point	NOUN
ejpam-6495	8	22	traversal	traversal	NOUN
ejpam-6495	8	23	in	in	ADP
ejpam-6495	8	24	71	71	NUM
ejpam-6495	8	25	sec	sec	PROPN
ejpam-6495	8	26	compared	compare	VERB
ejpam-6495	8	27	to	to	ADP
ejpam-6495	8	28	100	100	NUM
ejpam-6495	8	29	sec	sec	PROPN
ejpam-6495	8	30	for	for	ADP
ejpam-6495	8	31	refekfpf	refekfpf	NOUN
ejpam-6495	8	32	;	;	PUNCT
ejpam-6495	8	33	on	on	ADP
ejpam-6495	8	34	uneven	uneven	ADJ
ejpam-6495	8	35	and	and	CCONJ
ejpam-6495	8	36	very	very	ADV
ejpam-6495	8	37	rough	rough	ADJ
ejpam-6495	8	38	outdoor	outdoor	ADJ
ejpam-6495	8	39	terrains	terrain	NOUN
ejpam-6495	8	40	,	,	PUNCT
ejpam-6495	8	41	ekfwc	ekfwc	NOUN
ejpam-6495	8	42	achieves	achieve	VERB
ejpam-6495	8	43	traversal	traversal	NOUN
ejpam-6495	8	44	times	time	NOUN
ejpam-6495	8	45	of	of	ADP
ejpam-6495	8	46	87	87	NUM
ejpam-6495	8	47	sec	sec	PROPN
ejpam-6495	8	48	and	and	CCONJ
ejpam-6495	8	49	95	95	NUM
ejpam-6495	8	50	sec	sec	PROPN
ejpam-6495	8	51	,	,	PUNCT
ejpam-6495	8	52	respectively	respectively	ADV
ejpam-6495	8	53	.	.	PUNCT
ejpam-6495	9	1	these	these	DET
ejpam-6495	9	2	improvements	improvement	NOUN
ejpam-6495	9	3	stem	stem	VERB
ejpam-6495	9	4	from	from	ADP
ejpam-6495	9	5	ekfwc	ekfwc	NOUN
ejpam-6495	9	6	’s	’s	PART
ejpam-6495	9	7	ability	ability	NOUN
ejpam-6495	9	8	to	to	PART
ejpam-6495	9	9	maintain	maintain	VERB
ejpam-6495	9	10	smoother	smooth	ADJ
ejpam-6495	9	11	trajectories	trajectory	NOUN
ejpam-6495	9	12	with	with	ADP
ejpam-6495	9	13	minimal	minimal	ADJ
ejpam-6495	9	14	deviation	deviation	NOUN
ejpam-6495	9	15	and	and	CCONJ
ejpam-6495	9	16	prompt	prompt	ADJ
ejpam-6495	9	17	response	response	NOUN
ejpam-6495	9	18	to	to	ADP
ejpam-6495	9	19	terrain	terrain	NOUN
ejpam-6495	9	20	variations	variation	NOUN
ejpam-6495	9	21	,	,	PUNCT
ejpam-6495	9	22	avoiding	avoid	VERB
ejpam-6495	9	23	the	the	DET
ejpam-6495	9	24	zigzagging	zigzagging	NOUN
ejpam-6495	9	25	,	,	PUNCT
ejpam-6495	9	26	wide	wide	ADJ
ejpam-6495	9	27	turns	turn	NOUN
ejpam-6495	9	28	,	,	PUNCT
ejpam-6495	9	29	and	and	CCONJ
ejpam-6495	9	30	hesitations	hesitation	NOUN
ejpam-6495	9	31	observed	observe	VERB
ejpam-6495	9	32	in	in	ADP
ejpam-6495	9	33	the	the	DET
ejpam-6495	9	34	reference	reference	NOUN
ejpam-6495	9	35	model	model	NOUN
ejpam-6495	9	36	.	.	PUNCT
ejpam-6495	10	1	overall	overall	ADJ
ejpam-6495	10	2	,	,	PUNCT
ejpam-6495	10	3	ekfwc	ekfwc	NOUN
ejpam-6495	10	4	demonstrates	demonstrate	VERB
ejpam-6495	10	5	robust	robust	ADJ
ejpam-6495	10	6	real	real	ADJ
ejpam-6495	10	7	-	-	PUNCT
ejpam-6495	10	8	time	time	NOUN
ejpam-6495	10	9	adaptability	adaptability	NOUN
ejpam-6495	10	10	and	and	CCONJ
ejpam-6495	10	11	enhanced	enhance	VERB
ejpam-6495	10	12	path	path	NOUN
ejpam-6495	10	13	efficiency	efficiency	NOUN
ejpam-6495	10	14	across	across	ADP
ejpam-6495	10	15	diverse	diverse	ADJ
ejpam-6495	10	16	environments	environment	NOUN
ejpam-6495	10	17	.	.	PUNCT
ejpam-6495	11	1	2020	2020	NUM
ejpam-6495	11	2	mathematics	mathematic	NOUN
ejpam-6495	11	3	subject	subject	NOUN
ejpam-6495	11	4	classifications	classification	NOUN
ejpam-6495	11	5	:	:	PUNCT
ejpam-6495	11	6	93e11	93e11	NUM
ejpam-6495	11	7	,	,	PUNCT
ejpam-6495	11	8	68t40	68t40	NUM
ejpam-6495	11	9	,	,	PUNCT
ejpam-6495	11	10	90b06	90b06	NUM
ejpam-6495	11	11	,	,	PUNCT
ejpam-6495	11	12	92c50	92c50	NUM
ejpam-6495	11	13	key	key	ADJ
ejpam-6495	11	14	words	word	NOUN
ejpam-6495	11	15	and	and	CCONJ
ejpam-6495	11	16	phrases	phrase	NOUN
ejpam-6495	11	17	:	:	PUNCT
ejpam-6495	11	18	wheelchair	wheelchair	NOUN
ejpam-6495	11	19	control	control	NOUN
ejpam-6495	11	20	,	,	PUNCT
ejpam-6495	11	21	kalman	kalman	NOUN
ejpam-6495	11	22	filters	filter	NOUN
ejpam-6495	11	23	,	,	PUNCT
ejpam-6495	11	24	mean	mean	VERB
ejpam-6495	11	25	absolute	absolute	ADJ
ejpam-6495	11	26	error	error	NOUN
ejpam-6495	11	27	,	,	PUNCT
ejpam-6495	11	28	motor	motor	NOUN
ejpam-6495	11	29	disabilities	disability	NOUN
ejpam-6495	11	30	,	,	PUNCT
ejpam-6495	11	31	assistive	assistive	ADJ
ejpam-6495	11	32	technologies	technology	NOUN
ejpam-6495	11	33	,	,	PUNCT
ejpam-6495	11	34	particle	particle	NOUN
ejpam-6495	11	35	filter	filter	NOUN
ejpam-6495	11	36	,	,	PUNCT
ejpam-6495	11	37	extended	extend	VERB
ejpam-6495	11	38	kalman	kalman	NOUN
ejpam-6495	11	39	filter	filter	PROPN
ejpam-6495	11	40	1	1	NUM
ejpam-6495	11	41	.	.	PUNCT
ejpam-6495	11	42	introduction	introduction	NOUN
ejpam-6495	11	43	in	in	ADP
ejpam-6495	11	44	recent	recent	ADJ
ejpam-6495	11	45	decades	decade	NOUN
ejpam-6495	11	46	,	,	PUNCT
ejpam-6495	11	47	there	there	PRON
ejpam-6495	11	48	has	have	AUX
ejpam-6495	11	49	been	be	AUX
ejpam-6495	11	50	remarkable	remarkable	ADJ
ejpam-6495	11	51	progress	progress	NOUN
ejpam-6495	11	52	in	in	ADP
ejpam-6495	11	53	the	the	DET
ejpam-6495	11	54	development	development	NOUN
ejpam-6495	11	55	and	and	CCONJ
ejpam-6495	11	56	application	application	NOUN
ejpam-6495	11	57	of	of	ADP
ejpam-6495	11	58	emerging	emerge	VERB
ejpam-6495	11	59	technologies	technology	NOUN
ejpam-6495	11	60	.	.	PUNCT
ejpam-6495	12	1	among	among	ADP
ejpam-6495	12	2	these	these	PRON
ejpam-6495	12	3	,	,	PUNCT
ejpam-6495	12	4	robotics	robotic	NOUN
ejpam-6495	12	5	has	have	AUX
ejpam-6495	12	6	gained	gain	VERB
ejpam-6495	12	7	a	a	DET
ejpam-6495	12	8	significant	significant	ADJ
ejpam-6495	12	9	presence	presence	NOUN
ejpam-6495	12	10	across	across	ADP
ejpam-6495	12	11	various	various	ADJ
ejpam-6495	12	12	domains	domain	NOUN
ejpam-6495	12	13	,	,	PUNCT
ejpam-6495	12	14	including	include	VERB
ejpam-6495	12	15	industry	industry	NOUN
ejpam-6495	12	16	,	,	PUNCT
ejpam-6495	12	17	logistics	logistic	NOUN
ejpam-6495	12	18	,	,	PUNCT
ejpam-6495	12	19	mobility	mobility	NOUN
ejpam-6495	12	20	,	,	PUNCT
ejpam-6495	12	21	and	and	CCONJ
ejpam-6495	12	22	healthcare	healthcare	PROPN
ejpam-6495	12	23	.	.	PUNCT
ejpam-6495	13	1	robots	robot	NOUN
ejpam-6495	13	2	are	be	AUX
ejpam-6495	13	3	increasingly	increasingly	ADV
ejpam-6495	13	4	capable	capable	ADJ
ejpam-6495	13	5	of	of	ADP
ejpam-6495	13	6	assisting	assist	VERB
ejpam-6495	13	7	humans	human	NOUN
ejpam-6495	13	8	or	or	CCONJ
ejpam-6495	13	9	replicating	replicate	VERB
ejpam-6495	13	10	human	human	ADJ
ejpam-6495	13	11	actions	action	NOUN
ejpam-6495	13	12	in	in	ADP
ejpam-6495	13	13	a	a	DET
ejpam-6495	13	14	wide	wide	ADJ
ejpam-6495	13	15	range	range	NOUN
ejpam-6495	13	16	∗corresponding	∗corresponde	VERB
ejpam-6495	13	17	author	author	NOUN
ejpam-6495	13	18	.	.	PUNCT
ejpam-6495	14	1	doi	doi	NOUN
ejpam-6495	14	2	:	:	PUNCT
ejpam-6495	14	3	https://doi.org/10.29020/nybg.ejpam.v18i3.6495	https://doi.org/10.29020/nybg.ejpam.v18i3.6495	ADP
ejpam-6495	14	4	email	email	NOUN
ejpam-6495	14	5	addresses	address	NOUN
ejpam-6495	14	6	:	:	PUNCT
ejpam-6495	14	7	wael.aly@aum.edu.kw	wael.aly@aum.edu.kw	PROPN
ejpam-6495	14	8	(	(	PUNCT
ejpam-6495	14	9	w.	w.	PROPN
ejpam-6495	14	10	h.	h.	PROPN
ejpam-6495	14	11	f.	f.	PROPN
ejpam-6495	14	12	aly	aly	PROPN
ejpam-6495	14	13	)	)	PUNCT
ejpam-6495	14	14	,	,	PUNCT
ejpam-6495	14	15	nino.samashvili@aum.edu.kw	nino.samashvili@aum.edu.kw	PROPN
ejpam-6495	14	16	(	(	PUNCT
ejpam-6495	14	17	n.samashvili	n.samashvili	NOUN
ejpam-6495	14	18	)	)	PUNCT
ejpam-6495	14	19	,	,	PUNCT
ejpam-6495	14	20	chadi.riman@aum.edu.kw	chadi.riman@aum.edu.kw	PROPN
ejpam-6495	14	21	(	(	PUNCT
ejpam-6495	14	22	c.	c.	PROPN
ejpam-6495	14	23	f.	f.	PROPN
ejpam-6495	14	24	riman	riman	PROPN
ejpam-6495	14	25	)	)	PUNCT
ejpam-6495	14	26	https://www.ejpam.com	https://www.ejpam.com	NOUN
ejpam-6495	14	27	1	1	NUM
ejpam-6495	14	28	copyright	copyright	NOUN
ejpam-6495	14	29	:	:	PUNCT
ejpam-6495	15	1	©	©	PROPN
ejpam-6495	15	2	2025	2025	NUM
ejpam-6495	15	3	the	the	DET
ejpam-6495	15	4	author(s	author(s	NOUN
ejpam-6495	15	5	)	)	PUNCT
ejpam-6495	15	6	.	.	PUNCT
ejpam-6495	16	1	(	(	PUNCT
ejpam-6495	16	2	cc	cc	NOUN
ejpam-6495	16	3	by	by	ADP
ejpam-6495	16	4	-	-	PUNCT
ejpam-6495	16	5	nc	nc	PROPN
ejpam-6495	16	6	4.0	4.0	NUM
ejpam-6495	16	7	)	)	PUNCT
ejpam-6495	16	8	w.	w.	PROPN
ejpam-6495	16	9	h.	h.	PROPN
ejpam-6495	16	10	f.	f.	PROPN
ejpam-6495	16	11	aly	aly	PROPN
ejpam-6495	16	12	,	,	PUNCT
ejpam-6495	16	13	n.	n.	PROPN
ejpam-6495	16	14	samashvili	samashvili	NOUN
ejpam-6495	16	15	,	,	PUNCT
ejpam-6495	16	16	c.	c.	PROPN
ejpam-6495	16	17	f.	f.	PROPN
ejpam-6495	16	18	riman	riman	PROPN
ejpam-6495	16	19	/	/	SYM
ejpam-6495	16	20	eur	eur	PROPN
ejpam-6495	16	21	.	.	PUNCT
ejpam-6495	17	1	j.	j.	PROPN
ejpam-6495	17	2	pure	pure	PROPN
ejpam-6495	17	3	appl	appl	PROPN
ejpam-6495	17	4	.	.	PROPN
ejpam-6495	17	5	math	math	PROPN
ejpam-6495	17	6	,	,	PUNCT
ejpam-6495	17	7	18	18	NUM
ejpam-6495	17	8	(	(	PUNCT
ejpam-6495	17	9	3	3	NUM
ejpam-6495	17	10	)	)	PUNCT
ejpam-6495	17	11	(	(	PUNCT
ejpam-6495	17	12	2025	2025	NUM
ejpam-6495	17	13	)	)	PUNCT
ejpam-6495	17	14	,	,	PUNCT
ejpam-6495	17	15	6495	6495	NUM
ejpam-6495	17	16	2	2	NUM
ejpam-6495	17	17	of	of	ADP
ejpam-6495	17	18	28	28	NUM
ejpam-6495	17	19	of	of	ADP
ejpam-6495	17	20	environments	environment	NOUN
ejpam-6495	17	21	.	.	PUNCT
ejpam-6495	18	1	in	in	ADP
ejpam-6495	18	2	particular	particular	ADJ
ejpam-6495	18	3	,	,	PUNCT
ejpam-6495	18	4	robotic	robotic	ADJ
ejpam-6495	18	5	assistive	assistive	ADJ
ejpam-6495	18	6	devices	device	NOUN
ejpam-6495	18	7	and	and	CCONJ
ejpam-6495	18	8	mobile	mobile	ADJ
ejpam-6495	18	9	robotics	robotic	NOUN
ejpam-6495	18	10	—	—	PUNCT
ejpam-6495	18	11	such	such	ADJ
ejpam-6495	18	12	as	as	ADP
ejpam-6495	18	13	smart	smart	ADJ
ejpam-6495	18	14	wheelchairs	wheelchairs	NOUN
ejpam-6495	18	15	—	—	PUNCT
ejpam-6495	18	16	offer	offer	VERB
ejpam-6495	18	17	great	great	ADJ
ejpam-6495	18	18	potential	potential	NOUN
ejpam-6495	18	19	to	to	PART
ejpam-6495	18	20	enhance	enhance	VERB
ejpam-6495	18	21	the	the	DET
ejpam-6495	18	22	autonomy	autonomy	NOUN
ejpam-6495	18	23	and	and	CCONJ
ejpam-6495	18	24	daily	daily	ADJ
ejpam-6495	18	25	living	living	NOUN
ejpam-6495	18	26	of	of	ADP
ejpam-6495	18	27	individuals	individual	NOUN
ejpam-6495	18	28	with	with	ADP
ejpam-6495	18	29	disabilities	disability	NOUN
ejpam-6495	18	30	and	and	CCONJ
ejpam-6495	18	31	the	the	DET
ejpam-6495	18	32	elderly	elderly	ADJ
ejpam-6495	18	33	.	.	PUNCT
ejpam-6495	19	1	a	a	DET
ejpam-6495	19	2	key	key	ADJ
ejpam-6495	19	3	advancement	advancement	NOUN
ejpam-6495	19	4	in	in	ADP
ejpam-6495	19	5	this	this	DET
ejpam-6495	19	6	field	field	NOUN
ejpam-6495	19	7	is	be	AUX
ejpam-6495	19	8	the	the	DET
ejpam-6495	19	9	localization	localization	NOUN
ejpam-6495	19	10	of	of	ADP
ejpam-6495	19	11	robotic	robotic	ADJ
ejpam-6495	19	12	wheelchairs	wheelchairs	NOUN
ejpam-6495	19	13	using	use	VERB
ejpam-6495	19	14	specialized	specialized	ADJ
ejpam-6495	19	15	multi	multi	ADJ
ejpam-6495	19	16	-	-	ADJ
ejpam-6495	19	17	sensor	sensor	ADJ
ejpam-6495	19	18	filters	filter	NOUN
ejpam-6495	19	19	.	.	PUNCT
ejpam-6495	20	1	this	this	DET
ejpam-6495	20	2	sophisticated	sophisticated	ADJ
ejpam-6495	20	3	technique	technique	NOUN
ejpam-6495	20	4	leverages	leverage	NOUN
ejpam-6495	20	5	multiple	multiple	ADJ
ejpam-6495	20	6	sensors	sensor	NOUN
ejpam-6495	20	7	to	to	PART
ejpam-6495	20	8	collect	collect	VERB
ejpam-6495	20	9	environmental	environmental	ADJ
ejpam-6495	20	10	data	datum	NOUN
ejpam-6495	20	11	and	and	CCONJ
ejpam-6495	20	12	applies	apply	VERB
ejpam-6495	20	13	filtering	filter	VERB
ejpam-6495	20	14	mechanisms	mechanism	NOUN
ejpam-6495	20	15	—	—	PUNCT
ejpam-6495	20	16	such	such	ADJ
ejpam-6495	20	17	as	as	ADP
ejpam-6495	20	18	particle	particle	NOUN
ejpam-6495	20	19	filters	filter	NOUN
ejpam-6495	20	20	—	—	PUNCT
ejpam-6495	20	21	to	to	PART
ejpam-6495	20	22	accurately	accurately	ADV
ejpam-6495	20	23	estimate	estimate	VERB
ejpam-6495	20	24	the	the	DET
ejpam-6495	20	25	wheelchair	wheelchair	NOUN
ejpam-6495	20	26	’s	’s	PART
ejpam-6495	20	27	position	position	NOUN
ejpam-6495	20	28	within	within	ADP
ejpam-6495	20	29	its	its	PRON
ejpam-6495	20	30	surroundings	surrounding	NOUN
ejpam-6495	20	31	.	.	PUNCT
ejpam-6495	21	1	operating	operate	VERB
ejpam-6495	21	2	a	a	DET
ejpam-6495	21	3	conventional	conventional	ADJ
ejpam-6495	21	4	powered	powered	ADJ
ejpam-6495	21	5	wheelchair	wheelchair	NOUN
ejpam-6495	21	6	can	can	AUX
ejpam-6495	21	7	pose	pose	VERB
ejpam-6495	21	8	substantial	substantial	ADJ
ejpam-6495	21	9	challenges	challenge	NOUN
ejpam-6495	21	10	for	for	ADP
ejpam-6495	21	11	individuals	individual	NOUN
ejpam-6495	21	12	with	with	ADP
ejpam-6495	21	13	motor	motor	NOUN
ejpam-6495	21	14	impairments	impairment	NOUN
ejpam-6495	21	15	,	,	PUNCT
ejpam-6495	21	16	often	often	ADV
ejpam-6495	21	17	making	make	VERB
ejpam-6495	21	18	the	the	DET
ejpam-6495	21	19	task	task	NOUN
ejpam-6495	21	20	difficult	difficult	ADJ
ejpam-6495	21	21	or	or	CCONJ
ejpam-6495	21	22	even	even	ADV
ejpam-6495	21	23	hazardous	hazardous	ADJ
ejpam-6495	21	24	.	.	PUNCT
ejpam-6495	22	1	in	in	ADP
ejpam-6495	22	2	response	response	NOUN
ejpam-6495	22	3	,	,	PUNCT
ejpam-6495	22	4	recent	recent	ADJ
ejpam-6495	22	5	research	research	NOUN
ejpam-6495	22	6	has	have	AUX
ejpam-6495	22	7	focused	focus	VERB
ejpam-6495	22	8	on	on	ADP
ejpam-6495	22	9	the	the	DET
ejpam-6495	22	10	development	development	NOUN
ejpam-6495	22	11	of	of	ADP
ejpam-6495	22	12	smart	smart	ADJ
ejpam-6495	22	13	and	and	CCONJ
ejpam-6495	22	14	autonomous	autonomous	ADJ
ejpam-6495	22	15	wheelchairs	wheelchairs	NOUN
ejpam-6495	22	16	capable	capable	ADJ
ejpam-6495	22	17	of	of	ADP
ejpam-6495	22	18	compensating	compensate	VERB
ejpam-6495	22	19	for	for	ADP
ejpam-6495	22	20	cognitive	cognitive	ADJ
ejpam-6495	22	21	and	and	CCONJ
ejpam-6495	22	22	perceptual	perceptual	ADJ
ejpam-6495	22	23	limitations	limitation	NOUN
ejpam-6495	22	24	by	by	ADP
ejpam-6495	22	25	anticipating	anticipate	VERB
ejpam-6495	22	26	obstacles	obstacle	NOUN
ejpam-6495	22	27	and	and	CCONJ
ejpam-6495	22	28	navigating	navigate	VERB
ejpam-6495	22	29	safely	safely	ADV
ejpam-6495	22	30	.	.	PUNCT
ejpam-6495	23	1	notable	notable	ADJ
ejpam-6495	23	2	projects	project	NOUN
ejpam-6495	23	3	from	from	ADP
ejpam-6495	23	4	the	the	DET
ejpam-6495	23	5	past	past	ADJ
ejpam-6495	23	6	decade	decade	NOUN
ejpam-6495	23	7	include	include	VERB
ejpam-6495	23	8	handiviz	handiviz	VERB
ejpam-6495	24	1	[	[	X
ejpam-6495	24	2	1	1	NUM
ejpam-6495	24	3	]	]	PUNCT
ejpam-6495	24	4	,	,	PUNCT
ejpam-6495	24	5	sysiass	sysiass	X
ejpam-6495	25	1	[	[	X
ejpam-6495	25	2	2	2	NUM
ejpam-6495	25	3	]	]	PUNCT
ejpam-6495	25	4	,	,	PUNCT
ejpam-6495	25	5	coalas	coala	NOUN
ejpam-6495	25	6	[	[	X
ejpam-6495	25	7	3	3	NUM
ejpam-6495	25	8	]	]	PUNCT
ejpam-6495	25	9	,	,	PUNCT
ejpam-6495	25	10	navchair	navchair	NOUN
ejpam-6495	26	1	[	[	X
ejpam-6495	26	2	4	4	NUM
ejpam-6495	26	3	]	]	PUNCT
ejpam-6495	26	4	,	,	PUNCT
ejpam-6495	26	5	and	and	CCONJ
ejpam-6495	26	6	the	the	DET
ejpam-6495	26	7	eu	eu	PROPN
ejpam-6495	26	8	-	-	PUNCT
ejpam-6495	26	9	funded	fund	VERB
ejpam-6495	26	10	fp7	fp7	PROPN
ejpam-6495	26	11	radhar	radhar	NOUN
ejpam-6495	27	1	[	[	X
ejpam-6495	27	2	5	5	NUM
ejpam-6495	27	3	]	]	PUNCT
ejpam-6495	27	4	.	.	PUNCT
ejpam-6495	28	1	recent	recent	ADJ
ejpam-6495	28	2	advancements	advancement	NOUN
ejpam-6495	28	3	in	in	ADP
ejpam-6495	28	4	estimation	estimation	NOUN
ejpam-6495	28	5	,	,	PUNCT
ejpam-6495	28	6	adaptive	adaptive	ADJ
ejpam-6495	28	7	control	control	NOUN
ejpam-6495	28	8	,	,	PUNCT
ejpam-6495	28	9	and	and	CCONJ
ejpam-6495	28	10	intelligent	intelligent	ADJ
ejpam-6495	28	11	decision	decision	NOUN
ejpam-6495	28	12	-	-	PUNCT
ejpam-6495	28	13	making	making	NOUN
ejpam-6495	28	14	have	have	AUX
ejpam-6495	28	15	inspired	inspire	VERB
ejpam-6495	28	16	robust	robust	ADJ
ejpam-6495	28	17	approaches	approach	NOUN
ejpam-6495	28	18	for	for	ADP
ejpam-6495	28	19	real	real	ADJ
ejpam-6495	28	20	-	-	PUNCT
ejpam-6495	28	21	time	time	NOUN
ejpam-6495	28	22	systems	system	NOUN
ejpam-6495	28	23	operating	operate	VERB
ejpam-6495	28	24	in	in	ADP
ejpam-6495	28	25	uncertain	uncertain	ADJ
ejpam-6495	28	26	environments	environment	NOUN
ejpam-6495	28	27	.	.	PUNCT
ejpam-6495	29	1	in	in	ADP
ejpam-6495	29	2	assistive	assistive	ADJ
ejpam-6495	29	3	technologies	technology	NOUN
ejpam-6495	29	4	,	,	PUNCT
ejpam-6495	29	5	probabilistic	probabilistic	ADJ
ejpam-6495	29	6	modeling	modeling	NOUN
ejpam-6495	29	7	has	have	AUX
ejpam-6495	29	8	proven	prove	VERB
ejpam-6495	29	9	effective	effective	ADJ
ejpam-6495	29	10	for	for	ADP
ejpam-6495	29	11	handling	handle	VERB
ejpam-6495	29	12	noisy	noisy	ADJ
ejpam-6495	29	13	physiological	physiological	ADJ
ejpam-6495	29	14	signals	signal	NOUN
ejpam-6495	29	15	.	.	PUNCT
ejpam-6495	30	1	safi	safi	PROPN
ejpam-6495	30	2	et	et	PROPN
ejpam-6495	30	3	al	al	PROPN
ejpam-6495	30	4	.	.	PUNCT
ejpam-6495	31	1	[	[	X
ejpam-6495	31	2	6	6	NUM
ejpam-6495	31	3	]	]	PUNCT
ejpam-6495	31	4	applied	apply	VERB
ejpam-6495	31	5	a	a	DET
ejpam-6495	31	6	hidden	hide	VERB
ejpam-6495	31	7	markov	markov	NOUN
ejpam-6495	31	8	model	model	NOUN
ejpam-6495	31	9	to	to	PART
ejpam-6495	31	10	balance	balance	VERB
ejpam-6495	31	11	data	datum	NOUN
ejpam-6495	31	12	from	from	ADP
ejpam-6495	31	13	parkinson	parkinson	NOUN
ejpam-6495	31	14	’s	’s	PART
ejpam-6495	31	15	patients	patient	NOUN
ejpam-6495	31	16	,	,	PUNCT
ejpam-6495	31	17	emphasizing	emphasize	VERB
ejpam-6495	31	18	the	the	DET
ejpam-6495	31	19	value	value	NOUN
ejpam-6495	31	20	of	of	ADP
ejpam-6495	31	21	model	model	NOUN
ejpam-6495	31	22	-	-	PUNCT
ejpam-6495	31	23	based	base	VERB
ejpam-6495	31	24	estimation	estimation	NOUN
ejpam-6495	31	25	for	for	ADP
ejpam-6495	31	26	user	user	NOUN
ejpam-6495	31	27	state	state	NOUN
ejpam-6495	31	28	prediction	prediction	NOUN
ejpam-6495	31	29	—	—	PUNCT
ejpam-6495	31	30	an	an	DET
ejpam-6495	31	31	approach	approach	NOUN
ejpam-6495	31	32	conceptually	conceptually	ADV
ejpam-6495	31	33	aligned	align	VERB
ejpam-6495	31	34	with	with	ADP
ejpam-6495	31	35	our	our	PRON
ejpam-6495	31	36	kalman	kalman	NOUN
ejpam-6495	31	37	filter	filter	NOUN
ejpam-6495	31	38	-	-	PUNCT
ejpam-6495	31	39	based	base	VERB
ejpam-6495	31	40	correction	correction	NOUN
ejpam-6495	31	41	model	model	NOUN
ejpam-6495	31	42	.	.	PUNCT
ejpam-6495	32	1	in	in	ADP
ejpam-6495	32	2	a	a	DET
ejpam-6495	32	3	similar	similar	ADJ
ejpam-6495	32	4	vein	vein	NOUN
ejpam-6495	32	5	,	,	PUNCT
ejpam-6495	32	6	kanj	kanj	PROPN
ejpam-6495	32	7	et	et	PROPN
ejpam-6495	32	8	al	al	PROPN
ejpam-6495	32	9	.	.	PUNCT
ejpam-6495	33	1	[	[	X
ejpam-6495	33	2	7	7	X
ejpam-6495	33	3	]	]	PUNCT
ejpam-6495	33	4	and	and	CCONJ
ejpam-6495	33	5	kanj	kanj	PROPN
ejpam-6495	33	6	et	et	PROPN
ejpam-6495	33	7	al	al	PROPN
ejpam-6495	33	8	.	.	PUNCT
ejpam-6495	34	1	[	[	X
ejpam-6495	34	2	8	8	NUM
ejpam-6495	34	3	]	]	PUNCT
ejpam-6495	34	4	introduced	introduce	VERB
ejpam-6495	34	5	dynamic	dynamic	ADJ
ejpam-6495	34	6	,	,	PUNCT
ejpam-6495	34	7	agent	agent	NOUN
ejpam-6495	34	8	-	-	PUNCT
ejpam-6495	34	9	based	base	VERB
ejpam-6495	34	10	risk	risk	NOUN
ejpam-6495	34	11	models	model	NOUN
ejpam-6495	34	12	for	for	ADP
ejpam-6495	34	13	transportation	transportation	NOUN
ejpam-6495	34	14	,	,	PUNCT
ejpam-6495	34	15	demonstrating	demonstrate	VERB
ejpam-6495	34	16	the	the	DET
ejpam-6495	34	17	effectiveness	effectiveness	NOUN
ejpam-6495	34	18	of	of	ADP
ejpam-6495	34	19	distributed	distribute	VERB
ejpam-6495	34	20	,	,	PUNCT
ejpam-6495	34	21	state	state	NOUN
ejpam-6495	34	22	-	-	PUNCT
ejpam-6495	34	23	aware	aware	ADJ
ejpam-6495	34	24	simulation	simulation	NOUN
ejpam-6495	34	25	in	in	ADP
ejpam-6495	34	26	high	high	ADJ
ejpam-6495	34	27	-	-	PUNCT
ejpam-6495	34	28	risk	risk	NOUN
ejpam-6495	34	29	control	control	NOUN
ejpam-6495	34	30	environments	environment	NOUN
ejpam-6495	34	31	.	.	PUNCT
ejpam-6495	35	1	trust	trust	NOUN
ejpam-6495	35	2	and	and	CCONJ
ejpam-6495	35	3	fairness	fairness	NOUN
ejpam-6495	35	4	in	in	ADP
ejpam-6495	35	5	task	task	NOUN
ejpam-6495	35	6	distribution	distribution	NOUN
ejpam-6495	35	7	under	under	ADP
ejpam-6495	35	8	uncertainty	uncertainty	NOUN
ejpam-6495	35	9	have	have	AUX
ejpam-6495	35	10	also	also	ADV
ejpam-6495	35	11	been	be	AUX
ejpam-6495	35	12	studied	study	VERB
ejpam-6495	35	13	in	in	ADP
ejpam-6495	35	14	multi	multi	ADJ
ejpam-6495	35	15	-	-	ADJ
ejpam-6495	35	16	provider	provider	ADJ
ejpam-6495	35	17	systems	system	NOUN
ejpam-6495	35	18	.	.	PUNCT
ejpam-6495	36	1	al	al	PROPN
ejpam-6495	36	2	-	-	PUNCT
ejpam-6495	36	3	tarawneh	tarawneh	PROPN
ejpam-6495	36	4	et	et	PROPN
ejpam-6495	36	5	al	al	PROPN
ejpam-6495	36	6	.	.	PUNCT
ejpam-6495	37	1	[	[	X
ejpam-6495	37	2	9	9	NUM
ejpam-6495	37	3	]	]	PUNCT
ejpam-6495	37	4	proposed	propose	VERB
ejpam-6495	37	5	an	an	DET
ejpam-6495	37	6	mcdm	mcdm	ADJ
ejpam-6495	37	7	framework	framework	NOUN
ejpam-6495	37	8	for	for	ADP
ejpam-6495	37	9	trust	trust	NOUN
ejpam-6495	37	10	-	-	PUNCT
ejpam-6495	37	11	aware	aware	ADJ
ejpam-6495	37	12	task	task	NOUN
ejpam-6495	37	13	offloading	offload	VERB
ejpam-6495	37	14	in	in	ADP
ejpam-6495	37	15	heterogeneous	heterogeneous	ADJ
ejpam-6495	37	16	edge	edge	NOUN
ejpam-6495	37	17	-	-	PUNCT
ejpam-6495	37	18	fog	fog	NOUN
ejpam-6495	37	19	-	-	PUNCT
ejpam-6495	37	20	cloud	cloud	NOUN
ejpam-6495	37	21	networks	network	NOUN
ejpam-6495	37	22	,	,	PUNCT
ejpam-6495	37	23	showcasing	showcase	VERB
ejpam-6495	37	24	adaptive	adaptive	ADJ
ejpam-6495	37	25	strategies	strategy	NOUN
ejpam-6495	37	26	that	that	PRON
ejpam-6495	37	27	are	be	AUX
ejpam-6495	37	28	analogous	analogous	ADJ
ejpam-6495	37	29	to	to	ADP
ejpam-6495	37	30	our	our	PRON
ejpam-6495	37	31	real	real	ADJ
ejpam-6495	37	32	-	-	PUNCT
ejpam-6495	37	33	time	time	NOUN
ejpam-6495	37	34	terrain	terrain	NOUN
ejpam-6495	37	35	-	-	PUNCT
ejpam-6495	37	36	dependent	dependent	ADJ
ejpam-6495	37	37	velocity	velocity	NOUN
ejpam-6495	37	38	adjustments	adjustment	NOUN
ejpam-6495	37	39	.	.	PUNCT
ejpam-6495	38	1	in	in	ADP
ejpam-6495	38	2	the	the	DET
ejpam-6495	38	3	domain	domain	NOUN
ejpam-6495	38	4	of	of	ADP
ejpam-6495	38	5	networked	networked	ADJ
ejpam-6495	38	6	systems	system	NOUN
ejpam-6495	38	7	,	,	PUNCT
ejpam-6495	38	8	aly	aly	PROPN
ejpam-6495	38	9	et	et	PROPN
ejpam-6495	38	10	al	al	PROPN
ejpam-6495	38	11	.	.	PUNCT
ejpam-6495	39	1	[	[	X
ejpam-6495	39	2	10	10	NUM
ejpam-6495	39	3	]	]	PUNCT
ejpam-6495	39	4	developed	develop	VERB
ejpam-6495	39	5	an	an	DET
ejpam-6495	39	6	unbound	unbound	NOUN
ejpam-6495	39	7	machine	machine	NOUN
ejpam-6495	39	8	learning	learn	VERB
ejpam-6495	39	9	architecture	architecture	NOUN
ejpam-6495	39	10	for	for	ADP
ejpam-6495	39	11	sdn	sdn	NOUN
ejpam-6495	39	12	controllers	controller	NOUN
ejpam-6495	39	13	,	,	PUNCT
ejpam-6495	39	14	while	while	SCONJ
ejpam-6495	39	15	aly	aly	PROPN
ejpam-6495	39	16	et	et	PROPN
ejpam-6495	39	17	al	al	PROPN
ejpam-6495	39	18	.	.	PUNCT
ejpam-6495	40	1	[	[	X
ejpam-6495	40	2	11	11	NUM
ejpam-6495	40	3	]	]	PUNCT
ejpam-6495	40	4	introduced	introduce	VERB
ejpam-6495	40	5	dynamic	dynamic	ADJ
ejpam-6495	40	6	feedback	feedback	NOUN
ejpam-6495	40	7	mechanisms	mechanism	NOUN
ejpam-6495	40	8	for	for	ADP
ejpam-6495	40	9	optimal	optimal	ADJ
ejpam-6495	40	10	controller	controller	NOUN
ejpam-6495	40	11	placement	placement	NOUN
ejpam-6495	40	12	—	—	PUNCT
ejpam-6495	40	13	both	both	PRON
ejpam-6495	40	14	aligning	align	VERB
ejpam-6495	40	15	with	with	ADP
ejpam-6495	40	16	our	our	PRON
ejpam-6495	40	17	use	use	NOUN
ejpam-6495	40	18	of	of	ADP
ejpam-6495	40	19	feedback	feedback	NOUN
ejpam-6495	40	20	correction	correction	NOUN
ejpam-6495	40	21	loops	loop	NOUN
ejpam-6495	40	22	for	for	ADP
ejpam-6495	40	23	joystick	joystick	ADJ
ejpam-6495	40	24	input	input	NOUN
ejpam-6495	40	25	filtering	filter	VERB
ejpam-6495	40	26	.	.	PUNCT
ejpam-6495	41	1	spatial	spatial	ADJ
ejpam-6495	41	2	optimization	optimization	NOUN
ejpam-6495	41	3	under	under	ADP
ejpam-6495	41	4	constraints	constraint	NOUN
ejpam-6495	41	5	,	,	PUNCT
ejpam-6495	41	6	a	a	DET
ejpam-6495	41	7	principle	principle	NOUN
ejpam-6495	41	8	vital	vital	ADJ
ejpam-6495	41	9	to	to	ADP
ejpam-6495	41	10	efficient	efficient	ADJ
ejpam-6495	41	11	navigation	navigation	NOUN
ejpam-6495	41	12	,	,	PUNCT
ejpam-6495	41	13	was	be	AUX
ejpam-6495	41	14	explored	explore	VERB
ejpam-6495	41	15	by	by	ADP
ejpam-6495	41	16	danach	danach	PROPN
ejpam-6495	41	17	et	et	PROPN
ejpam-6495	41	18	al	al	PROPN
ejpam-6495	41	19	.	.	PUNCT
ejpam-6495	42	1	[	[	X
ejpam-6495	42	2	12	12	NUM
ejpam-6495	42	3	]	]	PUNCT
ejpam-6495	42	4	,	,	PUNCT
ejpam-6495	42	5	who	who	PRON
ejpam-6495	42	6	proposed	propose	VERB
ejpam-6495	42	7	uav	uav	PROPN
ejpam-6495	42	8	-	-	PUNCT
ejpam-6495	42	9	based	base	VERB
ejpam-6495	42	10	service	service	NOUN
ejpam-6495	42	11	placement	placement	NOUN
ejpam-6495	42	12	strategies	strategy	NOUN
ejpam-6495	42	13	during	during	ADP
ejpam-6495	42	14	crisis	crisis	NOUN
ejpam-6495	42	15	conditions	condition	NOUN
ejpam-6495	42	16	.	.	PUNCT
ejpam-6495	43	1	their	their	PRON
ejpam-6495	43	2	terrain	terrain	NOUN
ejpam-6495	43	3	-	-	PUNCT
ejpam-6495	43	4	aware	aware	ADJ
ejpam-6495	43	5	spatial	spatial	ADJ
ejpam-6495	43	6	modeling	modeling	NOUN
ejpam-6495	43	7	complements	complement	NOUN
ejpam-6495	43	8	our	our	PRON
ejpam-6495	43	9	use	use	NOUN
ejpam-6495	43	10	of	of	ADP
ejpam-6495	43	11	a	a	DET
ejpam-6495	43	12	reference	reference	NOUN
ejpam-6495	43	13	table	table	NOUN
ejpam-6495	43	14	for	for	ADP
ejpam-6495	43	15	terrain	terrain	NOUN
ejpam-6495	43	16	-	-	PUNCT
ejpam-6495	43	17	specific	specific	ADJ
ejpam-6495	43	18	speed	speed	NOUN
ejpam-6495	43	19	adaptation	adaptation	NOUN
ejpam-6495	43	20	.	.	PUNCT
ejpam-6495	44	1	additionally	additionally	ADV
ejpam-6495	44	2	,	,	PUNCT
ejpam-6495	44	3	low	low	ADJ
ejpam-6495	44	4	-	-	PUNCT
ejpam-6495	44	5	latency	latency	NOUN
ejpam-6495	44	6	and	and	CCONJ
ejpam-6495	44	7	low	low	ADJ
ejpam-6495	44	8	-	-	PUNCT
ejpam-6495	44	9	complexity	complexity	NOUN
ejpam-6495	44	10	algorithmic	algorithmic	ADJ
ejpam-6495	44	11	design	design	NOUN
ejpam-6495	44	12	has	have	AUX
ejpam-6495	44	13	been	be	AUX
ejpam-6495	44	14	emphasized	emphasize	VERB
ejpam-6495	44	15	in	in	ADP
ejpam-6495	44	16	wireless	wireless	ADJ
ejpam-6495	44	17	systems	system	NOUN
ejpam-6495	44	18	by	by	ADP
ejpam-6495	44	19	alabed	alabe	VERB
ejpam-6495	44	20	et	et	PROPN
ejpam-6495	44	21	al	al	PROPN
ejpam-6495	44	22	.	.	PUNCT
ejpam-6495	45	1	[	[	X
ejpam-6495	45	2	13	13	NUM
ejpam-6495	45	3	]	]	PUNCT
ejpam-6495	45	4	,	,	PUNCT
ejpam-6495	45	5	where	where	SCONJ
ejpam-6495	45	6	a	a	DET
ejpam-6495	45	7	differential	differential	ADJ
ejpam-6495	45	8	scheme	scheme	NOUN
ejpam-6495	45	9	using	use	VERB
ejpam-6495	45	10	space	space	NOUN
ejpam-6495	45	11	-	-	PUNCT
ejpam-6495	45	12	time	time	NOUN
ejpam-6495	45	13	block	block	NOUN
ejpam-6495	45	14	coding	coding	NOUN
ejpam-6495	45	15	was	be	AUX
ejpam-6495	45	16	introduced	introduce	VERB
ejpam-6495	45	17	to	to	PART
ejpam-6495	45	18	minimize	minimize	VERB
ejpam-6495	45	19	decoding	decode	VERB
ejpam-6495	45	20	overhead	overhead	NOUN
ejpam-6495	45	21	—	—	PUNCT
ejpam-6495	45	22	an	an	DET
ejpam-6495	45	23	optimization	optimization	NOUN
ejpam-6495	45	24	trade	trade	NOUN
ejpam-6495	45	25	-	-	PUNCT
ejpam-6495	45	26	off	off	NOUN
ejpam-6495	45	27	relevant	relevant	ADJ
ejpam-6495	45	28	to	to	ADP
ejpam-6495	45	29	embedded	embed	VERB
ejpam-6495	45	30	wheelchair	wheelchair	NOUN
ejpam-6495	45	31	control	control	NOUN
ejpam-6495	45	32	systems	system	NOUN
ejpam-6495	45	33	.	.	PUNCT
ejpam-6495	46	1	complementing	complement	VERB
ejpam-6495	46	2	these	these	DET
ejpam-6495	46	3	efforts	effort	NOUN
ejpam-6495	46	4	,	,	PUNCT
ejpam-6495	46	5	data	datum	NOUN
ejpam-6495	46	6	-	-	PUNCT
ejpam-6495	46	7	driven	drive	VERB
ejpam-6495	46	8	approaches	approach	NOUN
ejpam-6495	46	9	for	for	ADP
ejpam-6495	46	10	semantic	semantic	ADJ
ejpam-6495	46	11	inference	inference	NOUN
ejpam-6495	46	12	and	and	CCONJ
ejpam-6495	46	13	classification	classification	NOUN
ejpam-6495	46	14	have	have	AUX
ejpam-6495	46	15	been	be	AUX
ejpam-6495	46	16	advanced	advance	VERB
ejpam-6495	46	17	by	by	ADP
ejpam-6495	46	18	al	al	PROPN
ejpam-6495	46	19	-	-	PUNCT
ejpam-6495	46	20	tarawneh	tarawneh	PROPN
ejpam-6495	46	21	et	et	PROPN
ejpam-6495	46	22	al	al	PROPN
ejpam-6495	46	23	.	.	PUNCT
ejpam-6495	47	1	[	[	X
ejpam-6495	47	2	14	14	NUM
ejpam-6495	47	3	]	]	X
ejpam-6495	47	4	,	,	PUNCT
ejpam-6495	47	5	who	who	PRON
ejpam-6495	47	6	utilized	utilize	VERB
ejpam-6495	47	7	word	word	NOUN
ejpam-6495	47	8	embeddings	embedding	NOUN
ejpam-6495	47	9	in	in	ADP
ejpam-6495	47	10	a	a	DET
ejpam-6495	47	11	hybrid	hybrid	ADJ
ejpam-6495	47	12	learning	learning	NOUN
ejpam-6495	47	13	model	model	NOUN
ejpam-6495	47	14	for	for	ADP
ejpam-6495	47	15	fake	fake	ADJ
ejpam-6495	47	16	news	news	NOUN
ejpam-6495	47	17	detection	detection	NOUN
ejpam-6495	47	18	,	,	PUNCT
ejpam-6495	47	19	emphasizing	emphasize	VERB
ejpam-6495	47	20	real	real	ADJ
ejpam-6495	47	21	-	-	PUNCT
ejpam-6495	47	22	time	time	NOUN
ejpam-6495	47	23	signal	signal	NOUN
ejpam-6495	47	24	interpretation	interpretation	NOUN
ejpam-6495	47	25	.	.	PUNCT
ejpam-6495	48	1	mahariq	mahariq	PROPN
ejpam-6495	48	2	et	et	PROPN
ejpam-6495	48	3	al	al	PROPN
ejpam-6495	48	4	.	.	PUNCT
ejpam-6495	49	1	[	[	X
ejpam-6495	49	2	15	15	NUM
ejpam-6495	49	3	]	]	PUNCT
ejpam-6495	49	4	applied	apply	VERB
ejpam-6495	49	5	spectral	spectral	ADJ
ejpam-6495	49	6	element	element	NOUN
ejpam-6495	49	7	methods	method	NOUN
ejpam-6495	49	8	to	to	PART
ejpam-6495	49	9	study	study	VERB
ejpam-6495	49	10	acoustojets	acoustojet	NOUN
ejpam-6495	49	11	,	,	PUNCT
ejpam-6495	49	12	highlighting	highlight	VERB
ejpam-6495	49	13	the	the	DET
ejpam-6495	49	14	growing	grow	VERB
ejpam-6495	49	15	use	use	NOUN
ejpam-6495	49	16	of	of	ADP
ejpam-6495	49	17	physics	physics	NOUN
ejpam-6495	49	18	-	-	PUNCT
ejpam-6495	49	19	inspired	inspire	VERB
ejpam-6495	49	20	,	,	PUNCT
ejpam-6495	49	21	mesh	mesh	NOUN
ejpam-6495	49	22	-	-	PUNCT
ejpam-6495	49	23	based	base	VERB
ejpam-6495	49	24	numerical	numerical	ADJ
ejpam-6495	49	25	modeling	modeling	NOUN
ejpam-6495	49	26	,	,	PUNCT
ejpam-6495	49	27	which	which	PRON
ejpam-6495	49	28	supports	support	VERB
ejpam-6495	49	29	the	the	DET
ejpam-6495	49	30	adoption	adoption	NOUN
ejpam-6495	49	31	of	of	ADP
ejpam-6495	49	32	state	state	NOUN
ejpam-6495	49	33	-	-	PUNCT
ejpam-6495	49	34	space	space	NOUN
ejpam-6495	49	35	modeling	modeling	NOUN
ejpam-6495	49	36	techniques	technique	NOUN
ejpam-6495	49	37	in	in	ADP
ejpam-6495	49	38	control	control	NOUN
ejpam-6495	49	39	applications	application	NOUN
ejpam-6495	49	40	like	like	ADP
ejpam-6495	49	41	our	our	PRON
ejpam-6495	49	42	proposed	propose	VERB
ejpam-6495	49	43	ekfwc	ekfwc	NOUN
ejpam-6495	49	44	framework	framework	NOUN
ejpam-6495	49	45	.	.	PUNCT
ejpam-6495	50	1	w.	w.	PROPN
ejpam-6495	50	2	h.	h.	PROPN
ejpam-6495	50	3	f.	f.	PROPN
ejpam-6495	50	4	aly	aly	PROPN
ejpam-6495	50	5	,	,	PUNCT
ejpam-6495	50	6	n.	n.	PROPN
ejpam-6495	50	7	samashvili	samashvili	NOUN
ejpam-6495	50	8	,	,	PUNCT
ejpam-6495	50	9	c.	c.	PROPN
ejpam-6495	50	10	f.	f.	PROPN
ejpam-6495	50	11	riman	riman	PROPN
ejpam-6495	50	12	/	/	SYM
ejpam-6495	50	13	eur	eur	PROPN
ejpam-6495	50	14	.	.	PUNCT
ejpam-6495	51	1	j.	j.	PROPN
ejpam-6495	51	2	pure	pure	PROPN
ejpam-6495	51	3	appl	appl	PROPN
ejpam-6495	51	4	.	.	PROPN
ejpam-6495	51	5	math	math	PROPN
ejpam-6495	51	6	,	,	PUNCT
ejpam-6495	51	7	18	18	NUM
ejpam-6495	51	8	(	(	PUNCT
ejpam-6495	51	9	3	3	NUM
ejpam-6495	51	10	)	)	PUNCT
ejpam-6495	51	11	(	(	PUNCT
ejpam-6495	51	12	2025	2025	NUM
ejpam-6495	51	13	)	)	PUNCT
ejpam-6495	51	14	,	,	PUNCT
ejpam-6495	51	15	6495	6495	NUM
ejpam-6495	51	16	3	3	NUM
ejpam-6495	51	17	of	of	ADP
ejpam-6495	51	18	28	28	NUM
ejpam-6495	51	19	each	each	DET
ejpam-6495	51	20	project	project	NOUN
ejpam-6495	51	21	has	have	AUX
ejpam-6495	51	22	contributed	contribute	VERB
ejpam-6495	51	23	uniquely	uniquely	ADV
ejpam-6495	51	24	to	to	ADP
ejpam-6495	51	25	the	the	DET
ejpam-6495	51	26	advancement	advancement	NOUN
ejpam-6495	51	27	of	of	ADP
ejpam-6495	51	28	smart	smart	ADJ
ejpam-6495	51	29	wheelchair	wheelchair	NOUN
ejpam-6495	51	30	technologies	technology	NOUN
ejpam-6495	51	31	.	.	PUNCT
ejpam-6495	52	1	for	for	ADP
ejpam-6495	52	2	instance	instance	NOUN
ejpam-6495	52	3	,	,	PUNCT
ejpam-6495	52	4	the	the	DET
ejpam-6495	52	5	sysiass	sysiass	ADJ
ejpam-6495	52	6	project	project	NOUN
ejpam-6495	52	7	employed	employ	VERB
ejpam-6495	52	8	emg	emg	NOUN
ejpam-6495	52	9	and	and	CCONJ
ejpam-6495	52	10	camera	camera	NOUN
ejpam-6495	52	11	sensors	sensor	NOUN
ejpam-6495	52	12	;	;	PUNCT
ejpam-6495	52	13	however	however	ADV
ejpam-6495	52	14	,	,	PUNCT
ejpam-6495	52	15	its	its	PRON
ejpam-6495	52	16	obstacle	obstacle	NOUN
ejpam-6495	52	17	detection	detection	NOUN
ejpam-6495	52	18	and	and	CCONJ
ejpam-6495	52	19	stopping	stop	VERB
ejpam-6495	52	20	mechanisms	mechanism	NOUN
ejpam-6495	52	21	lacked	lack	VERB
ejpam-6495	52	22	sufficient	sufficient	ADJ
ejpam-6495	52	23	precision	precision	NOUN
ejpam-6495	52	24	unless	unless	SCONJ
ejpam-6495	52	25	the	the	DET
ejpam-6495	52	26	wheelchair	wheelchair	NOUN
ejpam-6495	52	27	was	be	AUX
ejpam-6495	52	28	perfectly	perfectly	ADV
ejpam-6495	52	29	aligned	align	VERB
ejpam-6495	52	30	.	.	PUNCT
ejpam-6495	53	1	handiviz	handiviz	PROPN
ejpam-6495	53	2	addressed	address	VERB
ejpam-6495	53	3	this	this	PRON
ejpam-6495	53	4	by	by	ADP
ejpam-6495	53	5	integrating	integrate	VERB
ejpam-6495	53	6	15	15	NUM
ejpam-6495	53	7	ultrasonic	ultrasonic	ADJ
ejpam-6495	53	8	sensors	sensor	NOUN
ejpam-6495	53	9	around	around	ADP
ejpam-6495	53	10	the	the	DET
ejpam-6495	53	11	wheelchair	wheelchair	NOUN
ejpam-6495	53	12	,	,	PUNCT
ejpam-6495	53	13	enabling	enable	VERB
ejpam-6495	53	14	real	real	ADJ
ejpam-6495	53	15	-	-	PUNCT
ejpam-6495	53	16	time	time	NOUN
ejpam-6495	53	17	trajectory	trajectory	NOUN
ejpam-6495	53	18	correction	correction	NOUN
ejpam-6495	53	19	through	through	ADP
ejpam-6495	53	20	an	an	DET
ejpam-6495	53	21	innovative	innovative	ADJ
ejpam-6495	53	22	obstacle	obstacle	NOUN
ejpam-6495	53	23	avoidance	avoidance	NOUN
ejpam-6495	53	24	and	and	CCONJ
ejpam-6495	53	25	control	control	NOUN
ejpam-6495	53	26	system	system	NOUN
ejpam-6495	53	27	that	that	PRON
ejpam-6495	53	28	merged	merge	VERB
ejpam-6495	53	29	user	user	NOUN
ejpam-6495	53	30	input	input	NOUN
ejpam-6495	53	31	with	with	ADP
ejpam-6495	53	32	autonomous	autonomous	ADJ
ejpam-6495	53	33	navigation	navigation	NOUN
ejpam-6495	53	34	.	.	PUNCT
ejpam-6495	54	1	meanwhile	meanwhile	ADV
ejpam-6495	54	2	,	,	PUNCT
ejpam-6495	54	3	navchair	navchair	ADJ
ejpam-6495	54	4	utilized	utilize	VERB
ejpam-6495	54	5	gps	gps	PROPN
ejpam-6495	54	6	,	,	PUNCT
ejpam-6495	54	7	compass	compass	ADJ
ejpam-6495	54	8	,	,	PUNCT
ejpam-6495	54	9	and	and	CCONJ
ejpam-6495	54	10	ultrasonic	ultrasonic	ADJ
ejpam-6495	54	11	sensors	sensor	NOUN
ejpam-6495	54	12	,	,	PUNCT
ejpam-6495	54	13	but	but	CCONJ
ejpam-6495	54	14	faced	face	VERB
ejpam-6495	54	15	limitations	limitation	NOUN
ejpam-6495	54	16	in	in	ADP
ejpam-6495	54	17	map	map	NOUN
ejpam-6495	54	18	tracking	tracking	NOUN
ejpam-6495	54	19	and	and	CCONJ
ejpam-6495	54	20	localization	localization	NOUN
ejpam-6495	54	21	accuracy	accuracy	NOUN
ejpam-6495	54	22	due	due	ADP
ejpam-6495	54	23	to	to	ADP
ejpam-6495	54	24	the	the	DET
ejpam-6495	54	25	imprecision	imprecision	NOUN
ejpam-6495	54	26	of	of	ADP
ejpam-6495	54	27	its	its	PRON
ejpam-6495	54	28	calculations	calculation	NOUN
ejpam-6495	54	29	.	.	PUNCT
ejpam-6495	55	1	errors	error	NOUN
ejpam-6495	55	2	in	in	ADP
ejpam-6495	55	3	determining	determine	VERB
ejpam-6495	55	4	the	the	DET
ejpam-6495	55	5	robot	robot	NOUN
ejpam-6495	55	6	’s	’s	PART
ejpam-6495	55	7	position	position	NOUN
ejpam-6495	55	8	and	and	CCONJ
ejpam-6495	55	9	orientation	orientation	NOUN
ejpam-6495	55	10	remained	remain	VERB
ejpam-6495	55	11	significant	significant	ADJ
ejpam-6495	55	12	challenges	challenge	NOUN
ejpam-6495	55	13	.	.	PUNCT
ejpam-6495	56	1	the	the	DET
ejpam-6495	56	2	rest	rest	NOUN
ejpam-6495	56	3	of	of	ADP
ejpam-6495	56	4	this	this	DET
ejpam-6495	56	5	paper	paper	NOUN
ejpam-6495	56	6	is	be	AUX
ejpam-6495	56	7	organized	organize	VERB
ejpam-6495	56	8	as	as	SCONJ
ejpam-6495	56	9	follows	follow	VERB
ejpam-6495	56	10	:	:	PUNCT
ejpam-6495	56	11	section	section	NOUN
ejpam-6495	56	12	2	2	NUM
ejpam-6495	56	13	provides	provide	VERB
ejpam-6495	56	14	a	a	DET
ejpam-6495	56	15	literature	literature	NOUN
ejpam-6495	56	16	review	review	NOUN
ejpam-6495	56	17	with	with	ADP
ejpam-6495	56	18	a	a	DET
ejpam-6495	56	19	reference	reference	NOUN
ejpam-6495	56	20	model	model	NOUN
ejpam-6495	56	21	used	use	VERB
ejpam-6495	56	22	for	for	ADP
ejpam-6495	56	23	comparison	comparison	NOUN
ejpam-6495	56	24	with	with	ADP
ejpam-6495	56	25	our	our	PRON
ejpam-6495	56	26	proposed	propose	VERB
ejpam-6495	56	27	model	model	NOUN
ejpam-6495	56	28	.	.	PUNCT
ejpam-6495	57	1	section	section	NOUN
ejpam-6495	57	2	3	3	NUM
ejpam-6495	57	3	has	have	VERB
ejpam-6495	57	4	the	the	DET
ejpam-6495	57	5	reference	reference	NOUN
ejpam-6495	57	6	model	model	NOUN
ejpam-6495	57	7	.	.	PUNCT
ejpam-6495	58	1	section	section	NOUN
ejpam-6495	58	2	4	4	NUM
ejpam-6495	58	3	details	detail	NOUN
ejpam-6495	58	4	the	the	DET
ejpam-6495	58	5	proposed	propose	VERB
ejpam-6495	58	6	controller	controller	NOUN
ejpam-6495	58	7	’s	’s	PART
ejpam-6495	58	8	model	model	NOUN
ejpam-6495	58	9	,	,	PUNCT
ejpam-6495	58	10	including	include	VERB
ejpam-6495	58	11	the	the	DET
ejpam-6495	58	12	mathematical	mathematical	ADJ
ejpam-6495	58	13	framework	framework	NOUN
ejpam-6495	58	14	and	and	CCONJ
ejpam-6495	58	15	overall	overall	ADJ
ejpam-6495	58	16	system	system	NOUN
ejpam-6495	58	17	design	design	NOUN
ejpam-6495	58	18	.	.	PUNCT
ejpam-6495	59	1	section	section	NOUN
ejpam-6495	59	2	5	5	NUM
ejpam-6495	59	3	presents	present	VERB
ejpam-6495	59	4	the	the	DET
ejpam-6495	59	5	simulation	simulation	NOUN
ejpam-6495	59	6	testbed	testbe	VERB
ejpam-6495	59	7	and	and	CCONJ
ejpam-6495	59	8	results	result	NOUN
ejpam-6495	59	9	.	.	PUNCT
ejpam-6495	60	1	section	section	NOUN
ejpam-6495	60	2	6	6	NUM
ejpam-6495	60	3	concludes	conclude	VERB
ejpam-6495	60	4	the	the	DET
ejpam-6495	60	5	paper	paper	NOUN
ejpam-6495	60	6	and	and	CCONJ
ejpam-6495	60	7	discusses	discuss	VERB
ejpam-6495	60	8	the	the	DET
ejpam-6495	60	9	future	future	ADJ
ejpam-6495	60	10	work	work	NOUN
ejpam-6495	60	11	.	.	PUNCT
ejpam-6495	61	1	2	2	X
ejpam-6495	61	2	.	.	X
ejpam-6495	61	3	literature	literature	NOUN
ejpam-6495	61	4	review	review	VERB
ejpam-6495	61	5	the	the	DET
ejpam-6495	61	6	literature	literature	NOUN
ejpam-6495	61	7	reflects	reflect	VERB
ejpam-6495	61	8	extensive	extensive	ADJ
ejpam-6495	61	9	efforts	effort	NOUN
ejpam-6495	61	10	toward	toward	ADP
ejpam-6495	61	11	designing	design	VERB
ejpam-6495	61	12	the	the	DET
ejpam-6495	61	13	next	next	ADJ
ejpam-6495	61	14	generation	generation	NOUN
ejpam-6495	61	15	of	of	ADP
ejpam-6495	61	16	intelligent	intelligent	ADJ
ejpam-6495	61	17	wheelchairs	wheelchairs	NOUN
ejpam-6495	61	18	[	[	X
ejpam-6495	61	19	16	16	NUM
ejpam-6495	61	20	]	]	PUNCT
ejpam-6495	61	21	.	.	PUNCT
ejpam-6495	62	1	from	from	ADP
ejpam-6495	62	2	a	a	DET
ejpam-6495	62	3	technological	technological	ADJ
ejpam-6495	62	4	standpoint	standpoint	NOUN
ejpam-6495	62	5	,	,	PUNCT
ejpam-6495	62	6	research	research	NOUN
ejpam-6495	62	7	has	have	AUX
ejpam-6495	62	8	incorporated	incorporate	VERB
ejpam-6495	62	9	a	a	DET
ejpam-6495	62	10	variety	variety	NOUN
ejpam-6495	62	11	of	of	ADP
ejpam-6495	62	12	assistive	assistive	ADJ
ejpam-6495	62	13	tools	tool	NOUN
ejpam-6495	62	14	—	—	PUNCT
ejpam-6495	62	15	such	such	ADJ
ejpam-6495	62	16	as	as	ADP
ejpam-6495	62	17	ultrasound	ultrasound	NOUN
ejpam-6495	62	18	,	,	PUNCT
ejpam-6495	62	19	laser	laser	NOUN
ejpam-6495	62	20	range	range	NOUN
ejpam-6495	62	21	finders	finder	NOUN
ejpam-6495	62	22	,	,	PUNCT
ejpam-6495	62	23	and	and	CCONJ
ejpam-6495	62	24	vision	vision	NOUN
ejpam-6495	62	25	-	-	PUNCT
ejpam-6495	62	26	based	base	VERB
ejpam-6495	62	27	sensors	sensor	NOUN
ejpam-6495	62	28	—	—	PUNCT
ejpam-6495	62	29	along	along	ADP
ejpam-6495	62	30	with	with	ADP
ejpam-6495	62	31	sophisticated	sophisticated	ADJ
ejpam-6495	62	32	algorithms	algorithm	NOUN
ejpam-6495	62	33	for	for	ADP
ejpam-6495	62	34	data	data	NOUN
ejpam-6495	62	35	processing	processing	NOUN
ejpam-6495	62	36	.	.	PUNCT
ejpam-6495	63	1	today	today	NOUN
ejpam-6495	63	2	,	,	PUNCT
ejpam-6495	63	3	the	the	DET
ejpam-6495	63	4	topic	topic	NOUN
ejpam-6495	63	5	occupies	occupy	VERB
ejpam-6495	63	6	a	a	DET
ejpam-6495	63	7	central	central	ADJ
ejpam-6495	63	8	role	role	NOUN
ejpam-6495	63	9	in	in	ADP
ejpam-6495	63	10	mobile	mobile	ADJ
ejpam-6495	63	11	robotics	robotic	NOUN
ejpam-6495	63	12	,	,	PUNCT
ejpam-6495	63	13	integrating	integrate	VERB
ejpam-6495	63	14	advancements	advancement	NOUN
ejpam-6495	63	15	in	in	ADP
ejpam-6495	63	16	artificial	artificial	ADJ
ejpam-6495	63	17	intelligence	intelligence	NOUN
ejpam-6495	63	18	,	,	PUNCT
ejpam-6495	63	19	user	user	NOUN
ejpam-6495	63	20	interaction	interaction	NOUN
ejpam-6495	63	21	,	,	PUNCT
ejpam-6495	63	22	human	human	ADJ
ejpam-6495	63	23	learning	learning	NOUN
ejpam-6495	63	24	,	,	PUNCT
ejpam-6495	63	25	localization	localization	NOUN
ejpam-6495	63	26	,	,	PUNCT
ejpam-6495	63	27	multi	multi	ADJ
ejpam-6495	63	28	-	-	ADJ
ejpam-6495	63	29	modal	modal	ADJ
ejpam-6495	63	30	sensors	sensor	NOUN
ejpam-6495	63	31	,	,	PUNCT
ejpam-6495	63	32	and	and	CCONJ
ejpam-6495	63	33	adaptive	adaptive	ADJ
ejpam-6495	63	34	systems	system	NOUN
ejpam-6495	63	35	tailored	tailor	VERB
ejpam-6495	63	36	to	to	ADP
ejpam-6495	63	37	users	user	NOUN
ejpam-6495	63	38	’	’	PART
ejpam-6495	63	39	specific	specific	ADJ
ejpam-6495	63	40	abilities	ability	NOUN
ejpam-6495	63	41	and	and	CCONJ
ejpam-6495	63	42	limitations	limitation	NOUN
ejpam-6495	63	43	[	[	X
ejpam-6495	63	44	5	5	NUM
ejpam-6495	63	45	]	]	PUNCT
ejpam-6495	63	46	.	.	PUNCT
ejpam-6495	64	1	despite	despite	SCONJ
ejpam-6495	64	2	promising	promising	ADJ
ejpam-6495	64	3	developments	development	NOUN
ejpam-6495	64	4	,	,	PUNCT
ejpam-6495	64	5	significant	significant	ADJ
ejpam-6495	64	6	scientific	scientific	ADJ
ejpam-6495	64	7	challenges	challenge	NOUN
ejpam-6495	64	8	persist	persist	VERB
ejpam-6495	64	9	,	,	PUNCT
ejpam-6495	64	10	especially	especially	ADV
ejpam-6495	64	11	in	in	ADP
ejpam-6495	64	12	effectively	effectively	ADV
ejpam-6495	64	13	integrating	integrate	VERB
ejpam-6495	64	14	diverse	diverse	ADJ
ejpam-6495	64	15	technological	technological	ADJ
ejpam-6495	64	16	components	component	NOUN
ejpam-6495	64	17	[	[	X
ejpam-6495	64	18	17–19	17–19	NUM
ejpam-6495	64	19	]	]	PUNCT
ejpam-6495	64	20	.	.	PUNCT
ejpam-6495	65	1	localization	localization	NOUN
ejpam-6495	65	2	and	and	CCONJ
ejpam-6495	65	3	navigation	navigation	NOUN
ejpam-6495	65	4	remain	remain	VERB
ejpam-6495	65	5	among	among	ADP
ejpam-6495	65	6	the	the	DET
ejpam-6495	65	7	most	most	ADV
ejpam-6495	65	8	critical	critical	ADJ
ejpam-6495	65	9	issues	issue	NOUN
ejpam-6495	65	10	in	in	ADP
ejpam-6495	65	11	the	the	DET
ejpam-6495	65	12	development	development	NOUN
ejpam-6495	65	13	of	of	ADP
ejpam-6495	65	14	smart	smart	ADJ
ejpam-6495	65	15	mobile	mobile	ADJ
ejpam-6495	65	16	robots	robot	NOUN
ejpam-6495	65	17	[	[	X
ejpam-6495	65	18	20	20	NUM
ejpam-6495	65	19	,	,	PUNCT
ejpam-6495	65	20	21	21	NUM
ejpam-6495	65	21	]	]	PUNCT
ejpam-6495	65	22	.	.	PUNCT
ejpam-6495	66	1	a	a	DET
ejpam-6495	66	2	core	core	NOUN
ejpam-6495	66	3	challenge	challenge	NOUN
ejpam-6495	66	4	lies	lie	VERB
ejpam-6495	66	5	in	in	ADP
ejpam-6495	66	6	achieving	achieve	VERB
ejpam-6495	66	7	robust	robust	ADJ
ejpam-6495	66	8	data	datum	NOUN
ejpam-6495	66	9	fusion	fusion	NOUN
ejpam-6495	66	10	from	from	ADP
ejpam-6495	66	11	various	various	ADJ
ejpam-6495	66	12	sensors	sensor	NOUN
ejpam-6495	66	13	and	and	CCONJ
ejpam-6495	66	14	devices	device	NOUN
ejpam-6495	66	15	through	through	ADP
ejpam-6495	66	16	reliable	reliable	ADJ
ejpam-6495	66	17	computational	computational	ADJ
ejpam-6495	66	18	methods	method	NOUN
ejpam-6495	66	19	,	,	PUNCT
ejpam-6495	66	20	enabling	enable	VERB
ejpam-6495	66	21	accurate	accurate	ADJ
ejpam-6495	66	22	self	self	NOUN
ejpam-6495	66	23	-	-	PUNCT
ejpam-6495	66	24	localization	localization	NOUN
ejpam-6495	66	25	and	and	CCONJ
ejpam-6495	66	26	intuitive	intuitive	ADJ
ejpam-6495	66	27	interaction	interaction	NOUN
ejpam-6495	66	28	with	with	ADP
ejpam-6495	66	29	users	user	NOUN
ejpam-6495	66	30	under	under	ADP
ejpam-6495	66	31	both	both	CCONJ
ejpam-6495	66	32	autonomous	autonomous	ADJ
ejpam-6495	66	33	and	and	CCONJ
ejpam-6495	66	34	semi	semi	ADJ
ejpam-6495	66	35	-	-	ADJ
ejpam-6495	66	36	autonomous	autonomous	ADJ
ejpam-6495	66	37	modes	mode	NOUN
ejpam-6495	66	38	[	[	X
ejpam-6495	66	39	22	22	NUM
ejpam-6495	66	40	,	,	PUNCT
ejpam-6495	66	41	23	23	NUM
ejpam-6495	66	42	]	]	PUNCT
ejpam-6495	66	43	.	.	PUNCT
ejpam-6495	67	1	high	high	ADJ
ejpam-6495	67	2	precision	precision	NOUN
ejpam-6495	67	3	and	and	CCONJ
ejpam-6495	67	4	reliability	reliability	NOUN
ejpam-6495	67	5	are	be	AUX
ejpam-6495	67	6	particularly	particularly	ADV
ejpam-6495	67	7	vital	vital	ADJ
ejpam-6495	67	8	for	for	ADP
ejpam-6495	67	9	user	user	NOUN
ejpam-6495	67	10	safety	safety	NOUN
ejpam-6495	67	11	in	in	ADP
ejpam-6495	67	12	smart	smart	ADJ
ejpam-6495	67	13	wheelchair	wheelchair	NOUN
ejpam-6495	67	14	localization	localization	NOUN
ejpam-6495	67	15	systems	system	NOUN
ejpam-6495	67	16	,	,	PUNCT
ejpam-6495	67	17	especially	especially	ADV
ejpam-6495	67	18	within	within	ADP
ejpam-6495	67	19	indoor	indoor	ADJ
ejpam-6495	67	20	environments	environment	NOUN
ejpam-6495	67	21	such	such	ADJ
ejpam-6495	67	22	as	as	ADP
ejpam-6495	67	23	homes	home	NOUN
ejpam-6495	67	24	,	,	PUNCT
ejpam-6495	67	25	hospitals	hospital	NOUN
ejpam-6495	67	26	,	,	PUNCT
ejpam-6495	67	27	and	and	CCONJ
ejpam-6495	67	28	commercial	commercial	ADJ
ejpam-6495	67	29	centers	center	NOUN
ejpam-6495	67	30	[	[	X
ejpam-6495	67	31	24	24	NUM
ejpam-6495	67	32	]	]	PUNCT
ejpam-6495	67	33	.	.	PUNCT
ejpam-6495	68	1	indoor	indoor	ADJ
ejpam-6495	68	2	localization	localization	NOUN
ejpam-6495	68	3	is	be	AUX
ejpam-6495	68	4	complicated	complicate	VERB
ejpam-6495	68	5	by	by	ADP
ejpam-6495	68	6	structural	structural	ADJ
ejpam-6495	68	7	variability	variability	NOUN
ejpam-6495	68	8	and	and	CCONJ
ejpam-6495	68	9	dynamic	dynamic	ADJ
ejpam-6495	68	10	obstacles	obstacle	NOUN
ejpam-6495	68	11	,	,	PUNCT
ejpam-6495	68	12	making	make	VERB
ejpam-6495	68	13	accurate	accurate	ADJ
ejpam-6495	68	14	positioning	positioning	NOUN
ejpam-6495	68	15	essential	essential	ADJ
ejpam-6495	68	16	to	to	PART
ejpam-6495	68	17	prevent	prevent	VERB
ejpam-6495	68	18	collisions	collision	NOUN
ejpam-6495	68	19	and	and	CCONJ
ejpam-6495	68	20	support	support	VERB
ejpam-6495	68	21	smooth	smooth	ADJ
ejpam-6495	68	22	navigation	navigation	NOUN
ejpam-6495	69	1	[	[	X
ejpam-6495	69	2	25	25	NUM
ejpam-6495	69	3	,	,	PUNCT
ejpam-6495	69	4	26	26	NUM
ejpam-6495	69	5	]	]	PUNCT
ejpam-6495	69	6	.	.	PUNCT
ejpam-6495	70	1	even	even	ADV
ejpam-6495	70	2	minor	minor	ADJ
ejpam-6495	70	3	localization	localization	NOUN
ejpam-6495	70	4	errors	error	NOUN
ejpam-6495	70	5	can	can	AUX
ejpam-6495	70	6	compromise	compromise	VERB
ejpam-6495	70	7	user	user	NOUN
ejpam-6495	70	8	safety	safety	NOUN
ejpam-6495	70	9	.	.	PUNCT
ejpam-6495	71	1	furthermore	furthermore	ADV
ejpam-6495	71	2	,	,	PUNCT
ejpam-6495	71	3	wheelchairs	wheelchairs	NOUN
ejpam-6495	71	4	operating	operate	VERB
ejpam-6495	71	5	outdoors	outdoors	ADV
ejpam-6495	71	6	must	must	AUX
ejpam-6495	71	7	contend	contend	VERB
ejpam-6495	71	8	with	with	ADP
ejpam-6495	71	9	added	add	VERB
ejpam-6495	71	10	complexities	complexity	NOUN
ejpam-6495	71	11	such	such	ADJ
ejpam-6495	71	12	as	as	ADP
ejpam-6495	71	13	uneven	uneven	ADJ
ejpam-6495	71	14	terrain	terrain	NOUN
ejpam-6495	71	15	,	,	PUNCT
ejpam-6495	71	16	environmental	environmental	ADJ
ejpam-6495	71	17	interference	interference	NOUN
ejpam-6495	71	18	,	,	PUNCT
ejpam-6495	71	19	and	and	CCONJ
ejpam-6495	71	20	variable	variable	ADJ
ejpam-6495	71	21	weather	weather	NOUN
ejpam-6495	71	22	conditions	condition	NOUN
ejpam-6495	71	23	[	[	X
ejpam-6495	71	24	16	16	NUM
ejpam-6495	71	25	,	,	PUNCT
ejpam-6495	71	26	17	17	NUM
ejpam-6495	71	27	]	]	PUNCT
ejpam-6495	71	28	.	.	PUNCT
ejpam-6495	72	1	these	these	DET
ejpam-6495	72	2	factors	factor	NOUN
ejpam-6495	72	3	necessitate	necessitate	ADJ
ejpam-6495	72	4	advanced	advanced	ADJ
ejpam-6495	72	5	adaptive	adaptive	ADJ
ejpam-6495	72	6	localization	localization	NOUN
ejpam-6495	72	7	systems	system	NOUN
ejpam-6495	72	8	[	[	X
ejpam-6495	72	9	27	27	NUM
ejpam-6495	72	10	]	]	PUNCT
ejpam-6495	72	11	.	.	PUNCT
ejpam-6495	73	1	localization	localization	NOUN
ejpam-6495	73	2	is	be	AUX
ejpam-6495	73	3	a	a	DET
ejpam-6495	73	4	cornerstone	cornerstone	NOUN
ejpam-6495	73	5	for	for	ADP
ejpam-6495	73	6	achieving	achieve	VERB
ejpam-6495	73	7	full	full	ADJ
ejpam-6495	73	8	autonomy	autonomy	NOUN
ejpam-6495	73	9	in	in	ADP
ejpam-6495	73	10	mobile	mobile	ADJ
ejpam-6495	73	11	robotics	robotic	NOUN
ejpam-6495	73	12	.	.	PUNCT
ejpam-6495	74	1	gasparri	gasparri	INTJ
ejpam-6495	74	2	et	et	PROPN
ejpam-6495	74	3	al	al	PROPN
ejpam-6495	74	4	.	.	PUNCT
ejpam-6495	75	1	[	[	X
ejpam-6495	75	2	28	28	NUM
ejpam-6495	75	3	]	]	PUNCT
ejpam-6495	75	4	proposed	propose	VERB
ejpam-6495	75	5	a	a	DET
ejpam-6495	75	6	global	global	ADJ
ejpam-6495	75	7	localization	localization	NOUN
ejpam-6495	75	8	strategy	strategy	NOUN
ejpam-6495	75	9	that	that	PRON
ejpam-6495	75	10	combines	combine	VERB
ejpam-6495	75	11	particle	particle	NOUN
ejpam-6495	75	12	filtering	filter	VERB
ejpam-6495	75	13	with	with	ADP
ejpam-6495	75	14	extended	extended	ADJ
ejpam-6495	75	15	kalman	kalman	NOUN
ejpam-6495	75	16	filters	filter	NOUN
ejpam-6495	75	17	.	.	PUNCT
ejpam-6495	76	1	their	their	PRON
ejpam-6495	76	2	hybrid	hybrid	ADJ
ejpam-6495	76	3	approach	approach	NOUN
ejpam-6495	76	4	begins	begin	VERB
ejpam-6495	76	5	with	with	ADP
ejpam-6495	76	6	a	a	DET
ejpam-6495	76	7	particle	particle	NOUN
ejpam-6495	76	8	filter	filter	NOUN
ejpam-6495	76	9	generating	generate	VERB
ejpam-6495	76	10	w.	w.	PROPN
ejpam-6495	76	11	h.	h.	PROPN
ejpam-6495	76	12	f.	f.	PROPN
ejpam-6495	76	13	aly	aly	PROPN
ejpam-6495	76	14	,	,	PUNCT
ejpam-6495	76	15	n.	n.	PROPN
ejpam-6495	76	16	samashvili	samashvili	NOUN
ejpam-6495	76	17	,	,	PUNCT
ejpam-6495	76	18	c.	c.	PROPN
ejpam-6495	76	19	f.	f.	PROPN
ejpam-6495	76	20	riman	riman	PROPN
ejpam-6495	76	21	/	/	SYM
ejpam-6495	76	22	eur	eur	PROPN
ejpam-6495	76	23	.	.	PUNCT
ejpam-6495	77	1	j.	j.	PROPN
ejpam-6495	77	2	pure	pure	PROPN
ejpam-6495	77	3	appl	appl	PROPN
ejpam-6495	77	4	.	.	PROPN
ejpam-6495	77	5	math	math	PROPN
ejpam-6495	77	6	,	,	PUNCT
ejpam-6495	77	7	18	18	NUM
ejpam-6495	77	8	(	(	PUNCT
ejpam-6495	77	9	3	3	NUM
ejpam-6495	77	10	)	)	PUNCT
ejpam-6495	77	11	(	(	PUNCT
ejpam-6495	77	12	2025	2025	NUM
ejpam-6495	77	13	)	)	PUNCT
ejpam-6495	77	14	,	,	PUNCT
ejpam-6495	77	15	6495	6495	NUM
ejpam-6495	77	16	4	4	NUM
ejpam-6495	77	17	of	of	ADP
ejpam-6495	77	18	28	28	NUM
ejpam-6495	77	19	figure	figure	NOUN
ejpam-6495	77	20	1	1	NUM
ejpam-6495	77	21	:	:	PUNCT
ejpam-6495	77	22	smart	smart	ADJ
ejpam-6495	77	23	wheelchair	wheelchair	NOUN
ejpam-6495	77	24	localization	localization	NOUN
ejpam-6495	77	25	navigation	navigation	NOUN
ejpam-6495	77	26	pose	pose	VERB
ejpam-6495	77	27	hypotheses	hypothesis	NOUN
ejpam-6495	77	28	under	under	ADP
ejpam-6495	77	29	stationary	stationary	ADJ
ejpam-6495	77	30	conditions	condition	NOUN
ejpam-6495	77	31	,	,	PUNCT
ejpam-6495	77	32	followed	follow	VERB
ejpam-6495	77	33	by	by	ADP
ejpam-6495	77	34	planned	plan	VERB
ejpam-6495	77	35	motion	motion	NOUN
ejpam-6495	77	36	to	to	PART
ejpam-6495	77	37	reduce	reduce	VERB
ejpam-6495	77	38	uncertainty	uncertainty	NOUN
ejpam-6495	77	39	.	.	PUNCT
ejpam-6495	78	1	parallel	parallel	ADJ
ejpam-6495	78	2	ekfs	ekfs	NOUN
ejpam-6495	78	3	then	then	ADV
ejpam-6495	78	4	validate	validate	VERB
ejpam-6495	78	5	these	these	DET
ejpam-6495	78	6	hypotheses	hypothesis	NOUN
ejpam-6495	78	7	without	without	ADP
ejpam-6495	78	8	relying	rely	VERB
ejpam-6495	78	9	on	on	ADP
ejpam-6495	78	10	feature	feature	NOUN
ejpam-6495	78	11	-	-	PUNCT
ejpam-6495	78	12	based	base	VERB
ejpam-6495	78	13	landmarks	landmark	NOUN
ejpam-6495	78	14	,	,	PUNCT
ejpam-6495	78	15	allowing	allow	VERB
ejpam-6495	78	16	for	for	ADP
ejpam-6495	78	17	a	a	DET
ejpam-6495	78	18	more	more	ADV
ejpam-6495	78	19	flexible	flexible	ADJ
ejpam-6495	78	20	environmental	environmental	ADJ
ejpam-6495	78	21	model	model	NOUN
ejpam-6495	78	22	.	.	PUNCT
ejpam-6495	79	1	another	another	DET
ejpam-6495	79	2	hybrid	hybrid	ADJ
ejpam-6495	79	3	strategy	strategy	NOUN
ejpam-6495	79	4	involves	involve	VERB
ejpam-6495	79	5	wireless	wireless	ADJ
ejpam-6495	79	6	sensor	sensor	NOUN
ejpam-6495	79	7	networks	network	NOUN
ejpam-6495	79	8	(	(	PUNCT
ejpam-6495	79	9	wsns	wsns	NOUN
ejpam-6495	79	10	)	)	PUNCT
ejpam-6495	79	11	,	,	PUNCT
ejpam-6495	79	12	as	as	SCONJ
ejpam-6495	79	13	demonstrated	demonstrate	VERB
ejpam-6495	79	14	by	by	ADP
ejpam-6495	79	15	achroufene	achroufene	NOUN
ejpam-6495	79	16	et	et	PROPN
ejpam-6495	79	17	al	al	PROPN
ejpam-6495	79	18	.	.	PUNCT
ejpam-6495	80	1	[	[	X
ejpam-6495	80	2	29	29	NUM
ejpam-6495	80	3	]	]	PUNCT
ejpam-6495	80	4	.	.	PUNCT
ejpam-6495	81	1	their	their	PRON
ejpam-6495	81	2	method	method	NOUN
ejpam-6495	81	3	incorporates	incorporate	VERB
ejpam-6495	81	4	belief	belief	NOUN
ejpam-6495	81	5	function	function	NOUN
ejpam-6495	81	6	theory	theory	NOUN
ejpam-6495	81	7	to	to	PART
ejpam-6495	81	8	address	address	VERB
ejpam-6495	81	9	imperfections	imperfection	NOUN
ejpam-6495	81	10	in	in	ADP
ejpam-6495	81	11	received	receive	VERB
ejpam-6495	81	12	signal	signal	NOUN
ejpam-6495	81	13	strength	strength	NOUN
ejpam-6495	81	14	(	(	PUNCT
ejpam-6495	81	15	rss	rss	NOUN
ejpam-6495	81	16	)	)	PUNCT
ejpam-6495	81	17	measurements	measurement	NOUN
ejpam-6495	81	18	and	and	CCONJ
ejpam-6495	81	19	the	the	DET
ejpam-6495	81	20	credibility	credibility	NOUN
ejpam-6495	81	21	of	of	ADP
ejpam-6495	81	22	data	datum	NOUN
ejpam-6495	81	23	sources	source	NOUN
ejpam-6495	81	24	.	.	PUNCT
ejpam-6495	82	1	it	it	PRON
ejpam-6495	82	2	also	also	ADV
ejpam-6495	82	3	models	model	VERB
ejpam-6495	82	4	signal	signal	ADJ
ejpam-6495	82	5	disparities	disparity	NOUN
ejpam-6495	82	6	caused	cause	VERB
ejpam-6495	82	7	by	by	ADP
ejpam-6495	82	8	intrusion	intrusion	NOUN
ejpam-6495	82	9	and	and	CCONJ
ejpam-6495	82	10	attenuation	attenuation	NOUN
ejpam-6495	82	11	,	,	PUNCT
ejpam-6495	82	12	which	which	PRON
ejpam-6495	82	13	are	be	AUX
ejpam-6495	82	14	common	common	ADJ
ejpam-6495	82	15	challenges	challenge	NOUN
ejpam-6495	82	16	in	in	ADP
ejpam-6495	82	17	indoor	indoor	ADJ
ejpam-6495	82	18	environments	environment	NOUN
ejpam-6495	82	19	.	.	PUNCT
ejpam-6495	83	1	the	the	DET
ejpam-6495	83	2	extended	extended	ADJ
ejpam-6495	83	3	kalman	kalman	NOUN
ejpam-6495	83	4	filter	filter	PROPN
ejpam-6495	83	5	(	(	PUNCT
ejpam-6495	83	6	ekf	ekf	PROPN
ejpam-6495	83	7	)	)	PUNCT
ejpam-6495	83	8	remains	remain	VERB
ejpam-6495	83	9	a	a	DET
ejpam-6495	83	10	widely	widely	ADV
ejpam-6495	83	11	used	use	VERB
ejpam-6495	83	12	algorithm	algorithm	NOUN
ejpam-6495	83	13	for	for	ADP
ejpam-6495	83	14	estimating	estimate	VERB
ejpam-6495	83	15	nonlinear	nonlinear	ADJ
ejpam-6495	83	16	systems	system	NOUN
ejpam-6495	83	17	,	,	PUNCT
ejpam-6495	83	18	prized	prize	VERB
ejpam-6495	83	19	for	for	ADP
ejpam-6495	83	20	its	its	PRON
ejpam-6495	83	21	simplicity	simplicity	NOUN
ejpam-6495	83	22	,	,	PUNCT
ejpam-6495	83	23	computational	computational	ADJ
ejpam-6495	83	24	efficiency	efficiency	NOUN
ejpam-6495	83	25	,	,	PUNCT
ejpam-6495	83	26	and	and	CCONJ
ejpam-6495	83	27	generally	generally	ADV
ejpam-6495	83	28	reliable	reliable	ADJ
ejpam-6495	83	29	results	result	NOUN
ejpam-6495	83	30	.	.	PUNCT
ejpam-6495	84	1	in	in	ADP
ejpam-6495	84	2	a	a	DET
ejpam-6495	84	3	hybrid	hybrid	ADJ
ejpam-6495	84	4	approach	approach	NOUN
ejpam-6495	84	5	known	know	VERB
ejpam-6495	84	6	as	as	ADP
ejpam-6495	84	7	the	the	DET
ejpam-6495	84	8	extended	extended	ADJ
ejpam-6495	84	9	kalman	kalman	NOUN
ejpam-6495	84	10	particle	particle	NOUN
ejpam-6495	84	11	filter	filter	NOUN
ejpam-6495	84	12	(	(	PUNCT
ejpam-6495	84	13	ekpf	ekpf	NOUN
ejpam-6495	84	14	)	)	PUNCT
ejpam-6495	84	15	,	,	PUNCT
ejpam-6495	84	16	particles	particle	NOUN
ejpam-6495	84	17	are	be	AUX
ejpam-6495	84	18	sampled	sample	VERB
ejpam-6495	84	19	from	from	ADP
ejpam-6495	84	20	the	the	DET
ejpam-6495	84	21	probability	probability	NOUN
ejpam-6495	84	22	distribution	distribution	NOUN
ejpam-6495	84	23	function	function	NOUN
ejpam-6495	84	24	generated	generate	VERB
ejpam-6495	84	25	by	by	ADP
ejpam-6495	84	26	ekf	ekf	NOUN
ejpam-6495	84	27	rather	rather	ADV
ejpam-6495	84	28	than	than	ADP
ejpam-6495	84	29	from	from	ADP
ejpam-6495	84	30	the	the	DET
ejpam-6495	84	31	system	system	NOUN
ejpam-6495	84	32	’s	’s	PART
ejpam-6495	84	33	transition	transition	NOUN
ejpam-6495	84	34	model	model	NOUN
ejpam-6495	84	35	[	[	X
ejpam-6495	84	36	30	30	NUM
ejpam-6495	84	37	]	]	PUNCT
ejpam-6495	84	38	.	.	PUNCT
ejpam-6495	85	1	this	this	DET
ejpam-6495	85	2	method	method	NOUN
ejpam-6495	85	3	combines	combine	VERB
ejpam-6495	85	4	the	the	DET
ejpam-6495	85	5	strengths	strength	NOUN
ejpam-6495	85	6	of	of	ADP
ejpam-6495	85	7	ekf	ekf	PROPN
ejpam-6495	85	8	(	(	PUNCT
ejpam-6495	85	9	rapid	rapid	ADJ
ejpam-6495	85	10	initial	initial	ADJ
ejpam-6495	85	11	estimation	estimation	NOUN
ejpam-6495	85	12	)	)	PUNCT
ejpam-6495	85	13	and	and	CCONJ
ejpam-6495	85	14	particle	particle	NOUN
ejpam-6495	85	15	filters	filter	NOUN
ejpam-6495	85	16	(	(	PUNCT
ejpam-6495	85	17	robustness	robustness	NOUN
ejpam-6495	85	18	to	to	ADP
ejpam-6495	85	19	nonlinearity	nonlinearity	NOUN
ejpam-6495	85	20	and	and	CCONJ
ejpam-6495	85	21	non	non	ADJ
ejpam-6495	85	22	-	-	ADJ
ejpam-6495	85	23	gaussian	gaussian	ADJ
ejpam-6495	85	24	noise	noise	NOUN
ejpam-6495	85	25	)	)	PUNCT
ejpam-6495	85	26	.	.	PUNCT
ejpam-6495	86	1	the	the	DET
ejpam-6495	86	2	specific	specific	ADJ
ejpam-6495	86	3	design	design	NOUN
ejpam-6495	86	4	of	of	ADP
ejpam-6495	86	5	such	such	ADJ
ejpam-6495	86	6	hybrid	hybrid	ADJ
ejpam-6495	86	7	algorithms	algorithm	NOUN
ejpam-6495	86	8	depends	depend	VERB
ejpam-6495	86	9	on	on	ADP
ejpam-6495	86	10	application	application	NOUN
ejpam-6495	86	11	needs	need	NOUN
ejpam-6495	86	12	and	and	CCONJ
ejpam-6495	86	13	system	system	NOUN
ejpam-6495	86	14	characteristics	characteristic	NOUN
ejpam-6495	86	15	.	.	PUNCT
ejpam-6495	87	1	these	these	DET
ejpam-6495	87	2	approaches	approach	NOUN
ejpam-6495	87	3	are	be	AUX
ejpam-6495	87	4	particularly	particularly	ADV
ejpam-6495	87	5	attractive	attractive	ADJ
ejpam-6495	87	6	due	due	ADP
ejpam-6495	87	7	to	to	ADP
ejpam-6495	87	8	their	their	PRON
ejpam-6495	87	9	low	low	ADJ
ejpam-6495	87	10	cost	cost	NOUN
ejpam-6495	87	11	and	and	CCONJ
ejpam-6495	87	12	effectiveness	effectiveness	NOUN
ejpam-6495	87	13	,	,	PUNCT
ejpam-6495	87	14	requiring	require	VERB
ejpam-6495	87	15	fewer	few	ADJ
ejpam-6495	87	16	external	external	ADJ
ejpam-6495	87	17	sensors	sensor	NOUN
ejpam-6495	87	18	or	or	CCONJ
ejpam-6495	87	19	infrastructure	infrastructure	NOUN
ejpam-6495	87	20	such	such	ADJ
ejpam-6495	87	21	as	as	ADP
ejpam-6495	87	22	beacons	beacon	NOUN
ejpam-6495	87	23	.	.	PUNCT
ejpam-6495	88	1	regression	regression	NOUN
ejpam-6495	88	2	techniques	technique	NOUN
ejpam-6495	88	3	are	be	AUX
ejpam-6495	88	4	used	use	VERB
ejpam-6495	88	5	[	[	PUNCT
ejpam-6495	88	6	11	11	NUM
ejpam-6495	88	7	,	,	PUNCT
ejpam-6495	88	8	31	31	NUM
ejpam-6495	88	9	,	,	PUNCT
ejpam-6495	88	10	32	32	NUM
ejpam-6495	88	11	]	]	PUNCT
ejpam-6495	88	12	.	.	PUNCT
ejpam-6495	89	1	the	the	DET
ejpam-6495	89	2	present	present	ADJ
ejpam-6495	89	3	work	work	NOUN
ejpam-6495	89	4	addresses	address	NOUN
ejpam-6495	89	5	localization	localization	NOUN
ejpam-6495	89	6	and	and	CCONJ
ejpam-6495	89	7	navigation	navigation	NOUN
ejpam-6495	89	8	challenges	challenge	NOUN
ejpam-6495	89	9	in	in	ADP
ejpam-6495	89	10	smart	smart	ADJ
ejpam-6495	89	11	wheelchairs	wheelchairs	NOUN
ejpam-6495	89	12	through	through	ADP
ejpam-6495	89	13	a	a	DET
ejpam-6495	89	14	hybrid	hybrid	ADJ
ejpam-6495	89	15	filter	filter	NOUN
ejpam-6495	89	16	(	(	PUNCT
ejpam-6495	89	17	hf)-based	hf)-base	VERB
ejpam-6495	89	18	multi	multi	ADJ
ejpam-6495	89	19	-	-	ADJ
ejpam-6495	89	20	sensor	sensor	ADJ
ejpam-6495	89	21	data	datum	NOUN
ejpam-6495	89	22	fusion	fusion	NOUN
ejpam-6495	89	23	framework	framework	NOUN
ejpam-6495	89	24	.	.	PUNCT
ejpam-6495	90	1	the	the	DET
ejpam-6495	90	2	proposed	propose	VERB
ejpam-6495	90	3	method	method	NOUN
ejpam-6495	90	4	seeks	seek	VERB
ejpam-6495	90	5	to	to	PART
ejpam-6495	90	6	reduce	reduce	VERB
ejpam-6495	90	7	estimation	estimation	NOUN
ejpam-6495	90	8	errors	error	NOUN
ejpam-6495	90	9	and	and	CCONJ
ejpam-6495	90	10	enhance	enhance	VERB
ejpam-6495	90	11	system	system	NOUN
ejpam-6495	90	12	accuracy	accuracy	NOUN
ejpam-6495	90	13	in	in	ADP
ejpam-6495	90	14	indoor	indoor	ADJ
ejpam-6495	90	15	environments	environment	NOUN
ejpam-6495	90	16	.	.	PUNCT
ejpam-6495	91	1	the	the	DET
ejpam-6495	91	2	performance	performance	NOUN
ejpam-6495	91	3	and	and	CCONJ
ejpam-6495	91	4	practical	practical	ADJ
ejpam-6495	91	5	applicability	applicability	NOUN
ejpam-6495	91	6	of	of	ADP
ejpam-6495	91	7	the	the	DET
ejpam-6495	91	8	approach	approach	NOUN
ejpam-6495	91	9	are	be	AUX
ejpam-6495	91	10	demonstrated	demonstrate	VERB
ejpam-6495	91	11	through	through	ADP
ejpam-6495	91	12	simulations	simulation	NOUN
ejpam-6495	91	13	,	,	PUNCT
ejpam-6495	91	14	with	with	ADP
ejpam-6495	91	15	the	the	DET
ejpam-6495	91	16	results	result	NOUN
ejpam-6495	91	17	benchmarked	benchmarke	VERB
ejpam-6495	91	18	against	against	ADP
ejpam-6495	91	19	existing	exist	VERB
ejpam-6495	91	20	methods	method	NOUN
ejpam-6495	91	21	in	in	ADP
ejpam-6495	91	22	the	the	DET
ejpam-6495	91	23	literature	literature	NOUN
ejpam-6495	91	24	as	as	SCONJ
ejpam-6495	91	25	shown	show	VERB
ejpam-6495	91	26	.	.	PUNCT
ejpam-6495	92	1	smart	smart	ADJ
ejpam-6495	92	2	wheelchair	wheelchair	NOUN
ejpam-6495	92	3	localization	localization	NOUN
ejpam-6495	92	4	navigation	navigation	NOUN
ejpam-6495	92	5	is	be	AUX
ejpam-6495	92	6	shown	show	VERB
ejpam-6495	92	7	in	in	ADP
ejpam-6495	92	8	figure	figure	NOUN
ejpam-6495	92	9	1	1	NUM
ejpam-6495	92	10	.	.	PUNCT
ejpam-6495	93	1	the	the	DET
ejpam-6495	93	2	kalmanfilter(kf	kalmanfilter(kf	PROPN
ejpam-6495	93	3	)	)	PUNCT
ejpam-6495	93	4	is	be	AUX
ejpam-6495	93	5	widely	widely	ADV
ejpam-6495	93	6	recognized	recognize	VERB
ejpam-6495	93	7	as	as	ADP
ejpam-6495	93	8	a	a	DET
ejpam-6495	93	9	robust	robust	ADJ
ejpam-6495	93	10	and	and	CCONJ
ejpam-6495	93	11	efficient	efficient	ADJ
ejpam-6495	93	12	algorithm	algorithm	NOUN
ejpam-6495	93	13	for	for	ADP
ejpam-6495	93	14	data	datum	NOUN
ejpam-6495	93	15	fusion	fusion	NOUN
ejpam-6495	93	16	and	and	CCONJ
ejpam-6495	93	17	filtering	filtering	NOUN
ejpam-6495	93	18	,	,	PUNCT
ejpam-6495	93	19	with	with	ADP
ejpam-6495	93	20	extensive	extensive	ADJ
ejpam-6495	93	21	applications	application	NOUN
ejpam-6495	93	22	across	across	ADP
ejpam-6495	93	23	numerous	numerous	ADJ
ejpam-6495	93	24	research	research	NOUN
ejpam-6495	93	25	domains	domain	NOUN
ejpam-6495	93	26	,	,	PUNCT
ejpam-6495	93	27	particularly	particularly	ADV
ejpam-6495	93	28	in	in	ADP
ejpam-6495	93	29	mobile	mobile	ADJ
ejpam-6495	93	30	robotics	robotic	NOUN
ejpam-6495	93	31	[	[	X
ejpam-6495	93	32	33–35	33–35	NUM
ejpam-6495	93	33	]	]	PUNCT
ejpam-6495	93	34	.	.	PUNCT
ejpam-6495	94	1	by	by	ADP
ejpam-6495	94	2	design	design	NOUN
ejpam-6495	94	3	,	,	PUNCT
ejpam-6495	94	4	the	the	DET
ejpam-6495	94	5	classical	classical	ADJ
ejpam-6495	94	6	kf	kf	NOUN
ejpam-6495	94	7	is	be	AUX
ejpam-6495	94	8	suitable	suitable	ADJ
ejpam-6495	94	9	for	for	ADP
ejpam-6495	94	10	systems	system	NOUN
ejpam-6495	94	11	characterized	characterize	VERB
ejpam-6495	94	12	by	by	ADP
ejpam-6495	94	13	linear	linear	PROPN
ejpam-6495	94	14	dynamics	dynamic	NOUN
ejpam-6495	94	15	.	.	PUNCT
ejpam-6495	95	1	however	however	ADV
ejpam-6495	95	2	,	,	PUNCT
ejpam-6495	95	3	many	many	ADJ
ejpam-6495	95	4	real	real	ADJ
ejpam-6495	95	5	-	-	PUNCT
ejpam-6495	95	6	world	world	NOUN
ejpam-6495	95	7	robotic	robotic	ADJ
ejpam-6495	95	8	systems	system	NOUN
ejpam-6495	95	9	involve	involve	VERB
ejpam-6495	95	10	nonlinearities	nonlinearitie	NOUN
ejpam-6495	95	11	in	in	ADP
ejpam-6495	95	12	either	either	CCONJ
ejpam-6495	95	13	the	the	DET
ejpam-6495	95	14	process	process	NOUN
ejpam-6495	95	15	model	model	NOUN
ejpam-6495	95	16	,	,	PUNCT
ejpam-6495	95	17	the	the	DET
ejpam-6495	95	18	measurement	measurement	NOUN
ejpam-6495	95	19	model	model	NOUN
ejpam-6495	95	20	,	,	PUNCT
ejpam-6495	95	21	or	or	CCONJ
ejpam-6495	95	22	both	both	PRON
ejpam-6495	95	23	.	.	PUNCT
ejpam-6495	96	1	w.	w.	PROPN
ejpam-6495	96	2	h.	h.	PROPN
ejpam-6495	96	3	f.	f.	PROPN
ejpam-6495	96	4	aly	aly	PROPN
ejpam-6495	96	5	,	,	PUNCT
ejpam-6495	96	6	n.	n.	PROPN
ejpam-6495	96	7	samashvili	samashvili	NOUN
ejpam-6495	96	8	,	,	PUNCT
ejpam-6495	96	9	c.	c.	PROPN
ejpam-6495	96	10	f.	f.	PROPN
ejpam-6495	96	11	riman	riman	PROPN
ejpam-6495	96	12	/	/	SYM
ejpam-6495	96	13	eur	eur	PROPN
ejpam-6495	96	14	.	.	PUNCT
ejpam-6495	97	1	j.	j.	PROPN
ejpam-6495	97	2	pure	pure	PROPN
ejpam-6495	97	3	appl	appl	PROPN
ejpam-6495	97	4	.	.	PROPN
ejpam-6495	97	5	math	math	PROPN
ejpam-6495	97	6	,	,	PUNCT
ejpam-6495	97	7	18	18	NUM
ejpam-6495	97	8	(	(	PUNCT
ejpam-6495	97	9	3	3	NUM
ejpam-6495	97	10	)	)	PUNCT
ejpam-6495	97	11	(	(	PUNCT
ejpam-6495	97	12	2025	2025	NUM
ejpam-6495	97	13	)	)	PUNCT
ejpam-6495	97	14	,	,	PUNCT
ejpam-6495	97	15	6495	6495	NUM
ejpam-6495	97	16	5	5	NUM
ejpam-6495	97	17	of	of	ADP
ejpam-6495	97	18	28	28	NUM
ejpam-6495	97	19	figure	figure	NOUN
ejpam-6495	97	20	2	2	NUM
ejpam-6495	97	21	:	:	PUNCT
ejpam-6495	97	22	components	component	NOUN
ejpam-6495	97	23	of	of	ADP
ejpam-6495	97	24	the	the	DET
ejpam-6495	97	25	extended	extended	ADJ
ejpam-6495	97	26	kalman	kalman	NOUN
ejpam-6495	97	27	filter	filter	NOUN
ejpam-6495	97	28	to	to	PART
ejpam-6495	97	29	accommodate	accommodate	VERB
ejpam-6495	97	30	such	such	ADJ
ejpam-6495	97	31	complexities	complexity	NOUN
ejpam-6495	97	32	,	,	PUNCT
ejpam-6495	97	33	the	the	DET
ejpam-6495	97	34	extendedkalmanfilter(ekf	extendedkalmanfilter(ekf	NOUN
ejpam-6495	97	35	)	)	PUNCT
ejpam-6495	97	36	is	be	AUX
ejpam-6495	97	37	employed	employ	VERB
ejpam-6495	97	38	,	,	PUNCT
ejpam-6495	97	39	incorporating	incorporate	VERB
ejpam-6495	97	40	a	a	DET
ejpam-6495	97	41	linearization	linearization	NOUN
ejpam-6495	97	42	step	step	NOUN
ejpam-6495	97	43	to	to	PART
ejpam-6495	97	44	approximate	approximate	VERB
ejpam-6495	97	45	the	the	DET
ejpam-6495	97	46	nonlinear	nonlinear	ADJ
ejpam-6495	97	47	system	system	NOUN
ejpam-6495	97	48	behavior	behavior	NOUN
ejpam-6495	97	49	[	[	X
ejpam-6495	97	50	35	35	NUM
ejpam-6495	97	51	]	]	PUNCT
ejpam-6495	97	52	.	.	PUNCT
ejpam-6495	98	1	this	this	PRON
ejpam-6495	98	2	is	be	AUX
ejpam-6495	98	3	typically	typically	ADV
ejpam-6495	98	4	achieved	achieve	VERB
ejpam-6495	98	5	through	through	ADP
ejpam-6495	98	6	a	a	DET
ejpam-6495	98	7	first	first	ADJ
ejpam-6495	98	8	-	-	PUNCT
ejpam-6495	98	9	order	order	NOUN
ejpam-6495	98	10	taylor	taylor	PROPN
ejpam-6495	98	11	series	series	PROPN
ejpam-6495	98	12	expansion	expansion	PROPN
ejpam-6495	98	13	,	,	PUNCT
ejpam-6495	98	14	which	which	PRON
ejpam-6495	98	15	allows	allow	VERB
ejpam-6495	98	16	the	the	DET
ejpam-6495	98	17	nonlinear	nonlinear	ADJ
ejpam-6495	98	18	functions	function	NOUN
ejpam-6495	98	19	to	to	PART
ejpam-6495	98	20	be	be	AUX
ejpam-6495	98	21	treated	treat	VERB
ejpam-6495	98	22	within	within	ADP
ejpam-6495	98	23	a	a	DET
ejpam-6495	98	24	linear	linear	ADJ
ejpam-6495	98	25	framework	framework	NOUN
ejpam-6495	98	26	.	.	PUNCT
ejpam-6495	99	1	the	the	DET
ejpam-6495	99	2	ekf	ekf	NOUN
ejpam-6495	99	3	is	be	AUX
ejpam-6495	99	4	capable	capable	ADJ
ejpam-6495	99	5	of	of	ADP
ejpam-6495	99	6	providing	provide	VERB
ejpam-6495	99	7	accurate	accurate	ADJ
ejpam-6495	99	8	state	state	NOUN
ejpam-6495	99	9	estimates	estimate	NOUN
ejpam-6495	99	10	from	from	ADP
ejpam-6495	99	11	noisy	noisy	ADJ
ejpam-6495	99	12	measurements	measurement	NOUN
ejpam-6495	99	13	,	,	PUNCT
ejpam-6495	99	14	under	under	ADP
ejpam-6495	99	15	the	the	DET
ejpam-6495	99	16	assumption	assumption	NOUN
ejpam-6495	99	17	that	that	SCONJ
ejpam-6495	99	18	the	the	DET
ejpam-6495	99	19	measurement	measurement	NOUN
ejpam-6495	99	20	noise	noise	NOUN
ejpam-6495	99	21	is	be	AUX
ejpam-6495	99	22	gaussian	gaussian	ADJ
ejpam-6495	99	23	,	,	PUNCT
ejpam-6495	99	24	zero	zero	NUM
ejpam-6495	99	25	-	-	PUNCT
ejpam-6495	99	26	mean	mean	ADJ
ejpam-6495	99	27	,	,	PUNCT
ejpam-6495	99	28	temporally	temporally	ADV
ejpam-6495	99	29	uncorrelated	uncorrelate	VERB
ejpam-6495	99	30	,	,	PUNCT
ejpam-6495	99	31	and	and	CCONJ
ejpam-6495	99	32	of	of	ADP
ejpam-6495	99	33	known	know	VERB
ejpam-6495	99	34	variance	variance	NOUN
ejpam-6495	99	35	.	.	PUNCT
ejpam-6495	100	1	a	a	DET
ejpam-6495	100	2	conceptual	conceptual	ADJ
ejpam-6495	100	3	overview	overview	NOUN
ejpam-6495	100	4	of	of	ADP
ejpam-6495	100	5	the	the	DET
ejpam-6495	100	6	localization	localization	NOUN
ejpam-6495	100	7	approach	approach	NOUN
ejpam-6495	100	8	using	use	VERB
ejpam-6495	100	9	ekf	ekf	NOUN
ejpam-6495	100	10	is	be	AUX
ejpam-6495	100	11	illustrated	illustrate	VERB
ejpam-6495	100	12	in	in	ADP
ejpam-6495	100	13	figure	figure	NOUN
ejpam-6495	100	14	2	2	NUM
ejpam-6495	100	15	.	.	NOUN
ejpam-6495	100	16	3	3	NUM
ejpam-6495	100	17	.	.	NOUN
ejpam-6495	100	18	refekfpf	refekfpf	NOUN
ejpam-6495	100	19	reference	reference	NOUN
ejpam-6495	100	20	model	model	NOUN
ejpam-6495	100	21	in	in	ADP
ejpam-6495	100	22	this	this	DET
ejpam-6495	100	23	work	work	NOUN
ejpam-6495	100	24	,	,	PUNCT
ejpam-6495	100	25	we	we	PRON
ejpam-6495	100	26	adopt	adopt	VERB
ejpam-6495	100	27	the	the	DET
ejpam-6495	100	28	model	model	NOUN
ejpam-6495	100	29	proposed	propose	VERB
ejpam-6495	100	30	by	by	ADP
ejpam-6495	100	31	meddeber	meddeber	PROPN
ejpam-6495	100	32	et	et	PROPN
ejpam-6495	100	33	al	al	PROPN
ejpam-6495	100	34	.	.	PUNCT
ejpam-6495	101	1	[	[	X
ejpam-6495	101	2	36	36	NUM
ejpam-6495	101	3	]	]	PUNCT
ejpam-6495	101	4	as	as	ADP
ejpam-6495	101	5	the	the	DET
ejpam-6495	101	6	reference	reference	NOUN
ejpam-6495	101	7	framework	framework	NOUN
ejpam-6495	101	8	for	for	ADP
ejpam-6495	101	9	evaluating	evaluate	VERB
ejpam-6495	101	10	our	our	PRON
ejpam-6495	101	11	proposed	propose	VERB
ejpam-6495	101	12	system	system	NOUN
ejpam-6495	101	13	.	.	PUNCT
ejpam-6495	102	1	this	this	DET
ejpam-6495	102	2	reference	reference	NOUN
ejpam-6495	102	3	model	model	NOUN
ejpam-6495	102	4	will	will	AUX
ejpam-6495	102	5	be	be	AUX
ejpam-6495	102	6	denoted	denote	VERB
ejpam-6495	102	7	as	as	ADP
ejpam-6495	102	8	refekfpf	refekfpf	NOUN
ejpam-6495	102	9	throughout	throughout	ADP
ejpam-6495	102	10	this	this	DET
ejpam-6495	102	11	article	article	NOUN
ejpam-6495	102	12	.	.	PUNCT
ejpam-6495	103	1	the	the	DET
ejpam-6495	103	2	refekfpf	refekfpf	NOUN
ejpam-6495	103	3	model	model	NOUN
ejpam-6495	103	4	is	be	AUX
ejpam-6495	103	5	designed	design	VERB
ejpam-6495	103	6	to	to	PART
ejpam-6495	103	7	support	support	VERB
ejpam-6495	103	8	intelligent	intelligent	ADJ
ejpam-6495	103	9	wheelchair	wheelchair	NOUN
ejpam-6495	103	10	navigation	navigation	NOUN
ejpam-6495	103	11	through	through	ADP
ejpam-6495	103	12	the	the	DET
ejpam-6495	103	13	implementation	implementation	NOUN
ejpam-6495	103	14	of	of	ADP
ejpam-6495	103	15	a	a	DET
ejpam-6495	103	16	multi	multi	ADJ
ejpam-6495	103	17	-	-	ADJ
ejpam-6495	103	18	sensor	sensor	ADJ
ejpam-6495	103	19	data	datum	NOUN
ejpam-6495	103	20	fusion	fusion	NOUN
ejpam-6495	103	21	mechanism	mechanism	NOUN
ejpam-6495	103	22	based	base	VERB
ejpam-6495	103	23	on	on	ADP
ejpam-6495	103	24	a	a	DET
ejpam-6495	103	25	hybrid	hybrid	ADJ
ejpam-6495	103	26	filtering	filtering	NOUN
ejpam-6495	103	27	(	(	PUNCT
ejpam-6495	103	28	hf	hf	NOUN
ejpam-6495	103	29	)	)	PUNCT
ejpam-6495	103	30	strategy	strategy	NOUN
ejpam-6495	103	31	.	.	PUNCT
ejpam-6495	104	1	specifically	specifically	ADV
ejpam-6495	104	2	,	,	PUNCT
ejpam-6495	104	3	refekfpf	refekfpf	NOUN
ejpam-6495	104	4	integrates	integrate	VERB
ejpam-6495	104	5	the	the	DET
ejpam-6495	104	6	strengths	strength	NOUN
ejpam-6495	104	7	of	of	ADP
ejpam-6495	104	8	the	the	DET
ejpam-6495	104	9	extended	extended	ADJ
ejpam-6495	104	10	kalman	kalman	NOUN
ejpam-6495	104	11	filter	filter	PROPN
ejpam-6495	104	12	(	(	PUNCT
ejpam-6495	104	13	ekf	ekf	PROPN
ejpam-6495	104	14	)	)	PUNCT
ejpam-6495	104	15	and	and	CCONJ
ejpam-6495	104	16	the	the	DET
ejpam-6495	104	17	particle	particle	NOUN
ejpam-6495	104	18	filter	filter	NOUN
ejpam-6495	104	19	(	(	PUNCT
ejpam-6495	104	20	pf	pf	NOUN
ejpam-6495	104	21	)	)	PUNCT
ejpam-6495	104	22	to	to	PART
ejpam-6495	104	23	address	address	VERB
ejpam-6495	104	24	the	the	DET
ejpam-6495	104	25	challenges	challenge	NOUN
ejpam-6495	104	26	associated	associate	VERB
ejpam-6495	104	27	with	with	ADP
ejpam-6495	104	28	nonlinear	nonlinear	ADJ
ejpam-6495	104	29	system	system	NOUN
ejpam-6495	104	30	dynamics	dynamic	NOUN
ejpam-6495	104	31	and	and	CCONJ
ejpam-6495	104	32	sensor	sensor	NOUN
ejpam-6495	104	33	uncertainty	uncertainty	NOUN
ejpam-6495	104	34	.	.	PUNCT
ejpam-6495	105	1	the	the	DET
ejpam-6495	105	2	hybrid	hybrid	ADJ
ejpam-6495	105	3	approach	approach	NOUN
ejpam-6495	105	4	aims	aim	VERB
ejpam-6495	105	5	to	to	PART
ejpam-6495	105	6	reduce	reduce	VERB
ejpam-6495	105	7	estimation	estimation	NOUN
ejpam-6495	105	8	errors	error	NOUN
ejpam-6495	105	9	and	and	CCONJ
ejpam-6495	105	10	improve	improve	VERB
ejpam-6495	105	11	the	the	DET
ejpam-6495	105	12	accuracy	accuracy	NOUN
ejpam-6495	105	13	of	of	ADP
ejpam-6495	105	14	dynamic	dynamic	ADJ
ejpam-6495	105	15	localization	localization	NOUN
ejpam-6495	105	16	,	,	PUNCT
ejpam-6495	105	17	particularly	particularly	ADV
ejpam-6495	105	18	in	in	ADP
ejpam-6495	105	19	structured	structured	ADJ
ejpam-6495	105	20	indoor	indoor	ADJ
ejpam-6495	105	21	environments	environment	NOUN
ejpam-6495	105	22	.	.	PUNCT
ejpam-6495	106	1	the	the	DET
ejpam-6495	106	2	system	system	NOUN
ejpam-6495	106	3	leverages	leverage	VERB
ejpam-6495	106	4	odometry	odometry	NOUN
ejpam-6495	106	5	and	and	CCONJ
ejpam-6495	106	6	w.	w.	PROPN
ejpam-6495	106	7	h.	h.	PROPN
ejpam-6495	106	8	f.	f.	PROPN
ejpam-6495	106	9	aly	aly	PROPN
ejpam-6495	106	10	,	,	PUNCT
ejpam-6495	106	11	n.	n.	PROPN
ejpam-6495	106	12	samashvili	samashvili	NOUN
ejpam-6495	106	13	,	,	PUNCT
ejpam-6495	106	14	c.	c.	PROPN
ejpam-6495	106	15	f.	f.	PROPN
ejpam-6495	106	16	riman	riman	PROPN
ejpam-6495	106	17	/	/	SYM
ejpam-6495	106	18	eur	eur	PROPN
ejpam-6495	106	19	.	.	PUNCT
ejpam-6495	107	1	j.	j.	PROPN
ejpam-6495	107	2	pure	pure	PROPN
ejpam-6495	107	3	appl	appl	PROPN
ejpam-6495	107	4	.	.	PROPN
ejpam-6495	107	5	math	math	PROPN
ejpam-6495	107	6	,	,	PUNCT
ejpam-6495	107	7	18	18	NUM
ejpam-6495	107	8	(	(	PUNCT
ejpam-6495	107	9	3	3	NUM
ejpam-6495	107	10	)	)	PUNCT
ejpam-6495	107	11	(	(	PUNCT
ejpam-6495	107	12	2025	2025	NUM
ejpam-6495	107	13	)	)	PUNCT
ejpam-6495	107	14	,	,	PUNCT
ejpam-6495	107	15	6495	6495	NUM
ejpam-6495	107	16	6	6	NUM
ejpam-6495	107	17	of	of	ADP
ejpam-6495	107	18	28	28	NUM
ejpam-6495	107	19	laser	laser	NOUN
ejpam-6495	107	20	rangefinder	rangefinder	NOUN
ejpam-6495	107	21	data	datum	NOUN
ejpam-6495	107	22	to	to	PART
ejpam-6495	107	23	estimate	estimate	VERB
ejpam-6495	107	24	the	the	DET
ejpam-6495	107	25	wheelchair	wheelchair	NOUN
ejpam-6495	107	26	’s	’s	PART
ejpam-6495	107	27	position	position	NOUN
ejpam-6495	107	28	and	and	CCONJ
ejpam-6495	107	29	orientation	orientation	NOUN
ejpam-6495	107	30	in	in	ADP
ejpam-6495	107	31	real	real	ADJ
ejpam-6495	107	32	-	-	PUNCT
ejpam-6495	107	33	time	time	NOUN
ejpam-6495	107	34	,	,	PUNCT
ejpam-6495	107	35	achieving	achieve	VERB
ejpam-6495	107	36	enhanced	enhanced	ADJ
ejpam-6495	107	37	tracking	tracking	NOUN
ejpam-6495	107	38	precision	precision	NOUN
ejpam-6495	107	39	compared	compare	VERB
ejpam-6495	107	40	to	to	ADP
ejpam-6495	107	41	traditional	traditional	ADJ
ejpam-6495	107	42	single	single	ADJ
ejpam-6495	107	43	-	-	PUNCT
ejpam-6495	107	44	filter	filter	NOUN
ejpam-6495	107	45	techniques	technique	NOUN
ejpam-6495	107	46	.	.	PUNCT
ejpam-6495	108	1	simulation	simulation	NOUN
ejpam-6495	108	2	results	result	NOUN
ejpam-6495	108	3	presented	present	VERB
ejpam-6495	108	4	in	in	ADP
ejpam-6495	108	5	the	the	DET
ejpam-6495	108	6	original	original	ADJ
ejpam-6495	108	7	study	study	NOUN
ejpam-6495	108	8	demonstrate	demonstrate	VERB
ejpam-6495	108	9	that	that	SCONJ
ejpam-6495	108	10	refekfpf	refekfpf	NOUN
ejpam-6495	108	11	outperforms	outperform	VERB
ejpam-6495	108	12	conventional	conventional	ADJ
ejpam-6495	108	13	ekf	ekf	NOUN
ejpam-6495	108	14	and	and	CCONJ
ejpam-6495	108	15	standalone	standalone	ADJ
ejpam-6495	108	16	pf	pf	NOUN
ejpam-6495	108	17	methods	method	NOUN
ejpam-6495	108	18	in	in	ADP
ejpam-6495	108	19	terms	term	NOUN
ejpam-6495	108	20	of	of	ADP
ejpam-6495	108	21	mean	mean	ADJ
ejpam-6495	108	22	absolute	absolute	ADJ
ejpam-6495	108	23	error	error	NOUN
ejpam-6495	108	24	(	(	PUNCT
ejpam-6495	108	25	mae	mae	PROPN
ejpam-6495	108	26	)	)	PUNCT
ejpam-6495	108	27	and	and	CCONJ
ejpam-6495	108	28	percentage	percentage	NOUN
ejpam-6495	108	29	estimation	estimation	NOUN
ejpam-6495	108	30	error	error	NOUN
ejpam-6495	108	31	.	.	PUNCT
ejpam-6495	109	1	the	the	DET
ejpam-6495	109	2	model	model	NOUN
ejpam-6495	109	3	provides	provide	VERB
ejpam-6495	109	4	a	a	DET
ejpam-6495	109	5	foundation	foundation	NOUN
ejpam-6495	109	6	for	for	ADP
ejpam-6495	109	7	autonomous	autonomous	ADJ
ejpam-6495	109	8	navigation	navigation	NOUN
ejpam-6495	109	9	in	in	ADP
ejpam-6495	109	10	assistive	assistive	ADJ
ejpam-6495	109	11	mobility	mobility	NOUN
ejpam-6495	109	12	devices	device	NOUN
ejpam-6495	109	13	,	,	PUNCT
ejpam-6495	109	14	seeking	seek	VERB
ejpam-6495	109	15	to	to	PART
ejpam-6495	109	16	offer	offer	VERB
ejpam-6495	109	17	a	a	DET
ejpam-6495	109	18	reliable	reliable	ADJ
ejpam-6495	109	19	and	and	CCONJ
ejpam-6495	109	20	efficient	efficient	ADJ
ejpam-6495	109	21	localization	localization	NOUN
ejpam-6495	109	22	solution	solution	NOUN
ejpam-6495	109	23	tailored	tailor	VERB
ejpam-6495	109	24	for	for	ADP
ejpam-6495	109	25	individuals	individual	NOUN
ejpam-6495	109	26	with	with	ADP
ejpam-6495	109	27	reduced	reduced	ADJ
ejpam-6495	109	28	mobility	mobility	NOUN
ejpam-6495	109	29	.	.	PUNCT
ejpam-6495	110	1	however	however	ADV
ejpam-6495	110	2	,	,	PUNCT
ejpam-6495	110	3	several	several	ADJ
ejpam-6495	110	4	limitations	limitation	NOUN
ejpam-6495	110	5	are	be	AUX
ejpam-6495	110	6	noted	note	VERB
ejpam-6495	110	7	.	.	PUNCT
ejpam-6495	111	1	the	the	DET
ejpam-6495	111	2	validation	validation	NOUN
ejpam-6495	111	3	of	of	ADP
ejpam-6495	111	4	the	the	DET
ejpam-6495	111	5	system	system	NOUN
ejpam-6495	111	6	is	be	AUX
ejpam-6495	111	7	confined	confine	VERB
ejpam-6495	111	8	to	to	ADP
ejpam-6495	111	9	simulation	simulation	NOUN
ejpam-6495	111	10	,	,	PUNCT
ejpam-6495	111	11	with	with	ADP
ejpam-6495	111	12	limited	limited	ADJ
ejpam-6495	111	13	testing	testing	NOUN
ejpam-6495	111	14	in	in	ADP
ejpam-6495	111	15	real	real	ADJ
ejpam-6495	111	16	-	-	PUNCT
ejpam-6495	111	17	world	world	NOUN
ejpam-6495	111	18	environments	environment	NOUN
ejpam-6495	111	19	and	and	CCONJ
ejpam-6495	111	20	no	no	DET
ejpam-6495	111	21	involvement	involvement	NOUN
ejpam-6495	111	22	of	of	ADP
ejpam-6495	111	23	actual	actual	ADJ
ejpam-6495	111	24	users	user	NOUN
ejpam-6495	111	25	.	.	PUNCT
ejpam-6495	112	1	as	as	ADP
ejpam-6495	112	2	a	a	DET
ejpam-6495	112	3	result	result	NOUN
ejpam-6495	112	4	,	,	PUNCT
ejpam-6495	112	5	the	the	DET
ejpam-6495	112	6	generalizability	generalizability	NOUN
ejpam-6495	112	7	and	and	CCONJ
ejpam-6495	112	8	practical	practical	ADJ
ejpam-6495	112	9	usability	usability	NOUN
ejpam-6495	112	10	of	of	ADP
ejpam-6495	112	11	the	the	DET
ejpam-6495	112	12	model	model	NOUN
ejpam-6495	112	13	remain	remain	VERB
ejpam-6495	112	14	uncertain	uncertain	ADJ
ejpam-6495	112	15	.	.	PUNCT
ejpam-6495	113	1	moreover	moreover	ADV
ejpam-6495	113	2	,	,	PUNCT
ejpam-6495	113	3	the	the	DET
ejpam-6495	113	4	framework	framework	NOUN
ejpam-6495	113	5	focuses	focus	VERB
ejpam-6495	113	6	primarily	primarily	ADV
ejpam-6495	113	7	on	on	ADP
ejpam-6495	113	8	low	low	ADJ
ejpam-6495	113	9	-	-	PUNCT
ejpam-6495	113	10	level	level	NOUN
ejpam-6495	113	11	navigation	navigation	NOUN
ejpam-6495	113	12	tasks	task	NOUN
ejpam-6495	113	13	without	without	ADP
ejpam-6495	113	14	incorporating	incorporate	VERB
ejpam-6495	113	15	user	user	NOUN
ejpam-6495	113	16	interaction	interaction	NOUN
ejpam-6495	113	17	or	or	CCONJ
ejpam-6495	113	18	adaptive	adaptive	ADJ
ejpam-6495	113	19	control	control	NOUN
ejpam-6495	113	20	strategies	strategy	NOUN
ejpam-6495	113	21	.	.	PUNCT
ejpam-6495	114	1	the	the	DET
ejpam-6495	114	2	reliance	reliance	NOUN
ejpam-6495	114	3	on	on	ADP
ejpam-6495	114	4	a	a	DET
ejpam-6495	114	5	simplified	simplified	ADJ
ejpam-6495	114	6	two	two	NUM
ejpam-6495	114	7	-	-	PUNCT
ejpam-6495	114	8	wheel	wheel	NOUN
ejpam-6495	114	9	kinematic	kinematic	NOUN
ejpam-6495	114	10	model	model	NOUN
ejpam-6495	114	11	constrains	constrain	VERB
ejpam-6495	114	12	the	the	DET
ejpam-6495	114	13	applicability	applicability	NOUN
ejpam-6495	114	14	to	to	ADP
ejpam-6495	114	15	other	other	ADJ
ejpam-6495	114	16	wheelchair	wheelchair	NOUN
ejpam-6495	114	17	configurations	configuration	NOUN
ejpam-6495	114	18	,	,	PUNCT
ejpam-6495	114	19	and	and	CCONJ
ejpam-6495	114	20	the	the	DET
ejpam-6495	114	21	computational	computational	ADJ
ejpam-6495	114	22	overhead	overhead	NOUN
ejpam-6495	114	23	introduced	introduce	VERB
ejpam-6495	114	24	by	by	ADP
ejpam-6495	114	25	advanced	advanced	ADJ
ejpam-6495	114	26	filters	filter	NOUN
ejpam-6495	114	27	such	such	ADJ
ejpam-6495	114	28	as	as	ADP
ejpam-6495	114	29	the	the	DET
ejpam-6495	114	30	unscented	unscente	VERB
ejpam-6495	114	31	kalman	kalman	NOUN
ejpam-6495	114	32	filter	filter	PROPN
ejpam-6495	114	33	(	(	PUNCT
ejpam-6495	114	34	ukf	ukf	NOUN
ejpam-6495	114	35	)	)	PUNCT
ejpam-6495	114	36	and	and	CCONJ
ejpam-6495	114	37	adaptive	adaptive	ADJ
ejpam-6495	114	38	kalman	kalman	NOUN
ejpam-6495	114	39	filter	filter	NOUN
ejpam-6495	114	40	(	(	PUNCT
ejpam-6495	114	41	akf	akf	NOUN
ejpam-6495	114	42	)	)	PUNCT
ejpam-6495	114	43	is	be	AUX
ejpam-6495	114	44	not	not	PART
ejpam-6495	114	45	sufficiently	sufficiently	ADV
ejpam-6495	114	46	addressed	address	VERB
ejpam-6495	114	47	.	.	PUNCT
ejpam-6495	115	1	additionally	additionally	ADV
ejpam-6495	115	2	,	,	PUNCT
ejpam-6495	115	3	the	the	DET
ejpam-6495	115	4	adaptive	adaptive	ADJ
ejpam-6495	115	5	tuning	tuning	NOUN
ejpam-6495	115	6	mechanism	mechanism	NOUN
ejpam-6495	115	7	for	for	ADP
ejpam-6495	115	8	the	the	DET
ejpam-6495	115	9	akf	akf	NOUN
ejpam-6495	115	10	lacks	lack	VERB
ejpam-6495	115	11	a	a	DET
ejpam-6495	115	12	well	well	ADV
ejpam-6495	115	13	-	-	PUNCT
ejpam-6495	115	14	defined	define	VERB
ejpam-6495	115	15	procedure	procedure	NOUN
ejpam-6495	115	16	for	for	ADP
ejpam-6495	115	17	adjusting	adjust	VERB
ejpam-6495	115	18	noise	noise	NOUN
ejpam-6495	115	19	parameters	parameter	NOUN
ejpam-6495	115	20	under	under	ADP
ejpam-6495	115	21	dynamic	dynamic	ADJ
ejpam-6495	115	22	conditions	condition	NOUN
ejpam-6495	115	23	,	,	PUNCT
ejpam-6495	115	24	which	which	PRON
ejpam-6495	115	25	may	may	AUX
ejpam-6495	115	26	affect	affect	VERB
ejpam-6495	115	27	real	real	ADJ
ejpam-6495	115	28	-	-	PUNCT
ejpam-6495	115	29	time	time	NOUN
ejpam-6495	115	30	feasibility	feasibility	NOUN
ejpam-6495	115	31	and	and	CCONJ
ejpam-6495	115	32	robustness	robustness	NOUN
ejpam-6495	115	33	.	.	PUNCT
ejpam-6495	116	1	4	4	X
ejpam-6495	116	2	.	.	NOUN
ejpam-6495	116	3	ekfwc	ekfwc	PROPN
ejpam-6495	116	4	proposed	propose	VERB
ejpam-6495	116	5	model	model	NOUN
ejpam-6495	116	6	the	the	DET
ejpam-6495	116	7	proposed	propose	VERB
ejpam-6495	116	8	model	model	NOUN
ejpam-6495	116	9	used	use	VERB
ejpam-6495	116	10	in	in	ADP
ejpam-6495	116	11	this	this	DET
ejpam-6495	116	12	work	work	NOUN
ejpam-6495	116	13	is	be	AUX
ejpam-6495	116	14	based	base	VERB
ejpam-6495	116	15	on	on	ADP
ejpam-6495	116	16	kalman	kalman	NOUN
ejpam-6495	116	17	filters	filter	NOUN
ejpam-6495	116	18	.	.	PUNCT
ejpam-6495	117	1	the	the	DET
ejpam-6495	117	2	kalman	kalman	PROPN
ejpam-6495	117	3	filter	filter	NOUN
ejpam-6495	117	4	is	be	AUX
ejpam-6495	117	5	a	a	DET
ejpam-6495	117	6	recursive	recursive	ADJ
ejpam-6495	117	7	algorithm	algorithm	NOUN
ejpam-6495	117	8	used	use	VERB
ejpam-6495	117	9	for	for	ADP
ejpam-6495	117	10	estimating	estimate	VERB
ejpam-6495	117	11	the	the	DET
ejpam-6495	117	12	state	state	NOUN
ejpam-6495	117	13	of	of	ADP
ejpam-6495	117	14	a	a	DET
ejpam-6495	117	15	dynamic	dynamic	ADJ
ejpam-6495	117	16	system	system	NOUN
ejpam-6495	117	17	from	from	ADP
ejpam-6495	117	18	noisy	noisy	ADJ
ejpam-6495	117	19	measurements	measurement	NOUN
ejpam-6495	117	20	.	.	PUNCT
ejpam-6495	118	1	it	it	PRON
ejpam-6495	118	2	operates	operate	VERB
ejpam-6495	118	3	in	in	ADP
ejpam-6495	118	4	two	two	NUM
ejpam-6495	118	5	main	main	ADJ
ejpam-6495	118	6	steps	step	NOUN
ejpam-6495	118	7	:	:	PUNCT
ejpam-6495	118	8	prediction	prediction	NOUN
ejpam-6495	118	9	and	and	CCONJ
ejpam-6495	118	10	correction	correction	NOUN
ejpam-6495	118	11	.	.	PUNCT
ejpam-6495	119	1	in	in	ADP
ejpam-6495	119	2	the	the	DET
ejpam-6495	119	3	prediction	prediction	NOUN
ejpam-6495	119	4	step	step	NOUN
ejpam-6495	119	5	,	,	PUNCT
ejpam-6495	119	6	it	it	PRON
ejpam-6495	119	7	uses	use	VERB
ejpam-6495	119	8	the	the	DET
ejpam-6495	119	9	system	system	NOUN
ejpam-6495	119	10	model	model	NOUN
ejpam-6495	119	11	to	to	PART
ejpam-6495	119	12	estimate	estimate	VERB
ejpam-6495	119	13	the	the	DET
ejpam-6495	119	14	current	current	ADJ
ejpam-6495	119	15	state	state	NOUN
ejpam-6495	119	16	and	and	CCONJ
ejpam-6495	119	17	the	the	DET
ejpam-6495	119	18	uncertainty	uncertainty	NOUN
ejpam-6495	119	19	(	(	PUNCT
ejpam-6495	119	20	error	error	NOUN
ejpam-6495	119	21	covariance	covariance	NOUN
ejpam-6495	119	22	)	)	PUNCT
ejpam-6495	119	23	.	.	PUNCT
ejpam-6495	120	1	in	in	ADP
ejpam-6495	120	2	the	the	DET
ejpam-6495	120	3	correction	correction	NOUN
ejpam-6495	120	4	step	step	NOUN
ejpam-6495	120	5	,	,	PUNCT
ejpam-6495	120	6	the	the	DET
ejpam-6495	120	7	kalman	kalman	NOUN
ejpam-6495	120	8	filter	filter	NOUN
ejpam-6495	120	9	adjusts	adjust	VERB
ejpam-6495	120	10	the	the	DET
ejpam-6495	120	11	predicted	predict	VERB
ejpam-6495	120	12	state	state	NOUN
ejpam-6495	120	13	by	by	ADP
ejpam-6495	120	14	incorporating	incorporate	VERB
ejpam-6495	120	15	new	new	ADJ
ejpam-6495	120	16	measurements	measurement	NOUN
ejpam-6495	120	17	and	and	CCONJ
ejpam-6495	120	18	a	a	DET
ejpam-6495	120	19	calculated	calculated	ADJ
ejpam-6495	120	20	kalman	kalman	NOUN
ejpam-6495	120	21	gain	gain	NOUN
ejpam-6495	120	22	,	,	PUNCT
ejpam-6495	120	23	which	which	PRON
ejpam-6495	120	24	determines	determine	VERB
ejpam-6495	120	25	how	how	SCONJ
ejpam-6495	120	26	much	much	ADJ
ejpam-6495	120	27	weight	weight	NOUN
ejpam-6495	120	28	should	should	AUX
ejpam-6495	120	29	be	be	AUX
ejpam-6495	120	30	given	give	VERB
ejpam-6495	120	31	to	to	ADP
ejpam-6495	120	32	the	the	DET
ejpam-6495	120	33	new	new	ADJ
ejpam-6495	120	34	measurements	measurement	NOUN
ejpam-6495	120	35	.	.	PUNCT
ejpam-6495	121	1	this	this	DET
ejpam-6495	121	2	iterative	iterative	NOUN
ejpam-6495	121	3	process	process	NOUN
ejpam-6495	121	4	reduces	reduce	VERB
ejpam-6495	121	5	the	the	DET
ejpam-6495	121	6	error	error	NOUN
ejpam-6495	121	7	in	in	ADP
ejpam-6495	121	8	state	state	NOUN
ejpam-6495	121	9	estimation	estimation	NOUN
ejpam-6495	121	10	over	over	ADP
ejpam-6495	121	11	time	time	NOUN
ejpam-6495	121	12	,	,	PUNCT
ejpam-6495	121	13	making	make	VERB
ejpam-6495	121	14	it	it	PRON
ejpam-6495	121	15	particularly	particularly	ADV
ejpam-6495	121	16	effective	effective	ADJ
ejpam-6495	121	17	for	for	ADP
ejpam-6495	121	18	systems	system	NOUN
ejpam-6495	121	19	with	with	ADP
ejpam-6495	121	20	uncertainty	uncertainty	NOUN
ejpam-6495	121	21	and	and	CCONJ
ejpam-6495	121	22	noise	noise	NOUN
ejpam-6495	121	23	,	,	PUNCT
ejpam-6495	121	24	such	such	ADJ
ejpam-6495	121	25	as	as	ADP
ejpam-6495	121	26	navigation	navigation	NOUN
ejpam-6495	121	27	,	,	PUNCT
ejpam-6495	121	28	robotics	robotic	NOUN
ejpam-6495	121	29	,	,	PUNCT
ejpam-6495	121	30	and	and	CCONJ
ejpam-6495	121	31	control	control	NOUN
ejpam-6495	121	32	systems	system	NOUN
ejpam-6495	121	33	.	.	PUNCT
ejpam-6495	122	1	4.1	4.1	NUM
ejpam-6495	122	2	.	.	PUNCT
ejpam-6495	122	3	wheelchair	wheelchair	NOUN
ejpam-6495	122	4	system	system	NOUN
ejpam-6495	122	5	identification	identification	NOUN
ejpam-6495	122	6	the	the	DET
ejpam-6495	122	7	power	power	NOUN
ejpam-6495	122	8	wheelchair	wheelchair	NOUN
ejpam-6495	122	9	utilizes	utilize	VERB
ejpam-6495	122	10	batteries	battery	NOUN
ejpam-6495	122	11	to	to	PART
ejpam-6495	122	12	control	control	VERB
ejpam-6495	122	13	a	a	DET
ejpam-6495	122	14	direct	direct	ADJ
ejpam-6495	122	15	drive	drive	NOUN
ejpam-6495	122	16	system	system	NOUN
ejpam-6495	122	17	.	.	PUNCT
ejpam-6495	123	1	thewheelchair	thewheelchair	ADJ
ejpam-6495	123	2	joystick	joystick	NOUN
ejpam-6495	123	3	controller	controller	NOUN
ejpam-6495	123	4	has	have	VERB
ejpam-6495	123	5	a	a	DET
ejpam-6495	123	6	linear	linear	ADJ
ejpam-6495	123	7	relationship	relationship	NOUN
ejpam-6495	123	8	between	between	ADP
ejpam-6495	123	9	the	the	DET
ejpam-6495	123	10	force	force	NOUN
ejpam-6495	123	11	applied	apply	VERB
ejpam-6495	123	12	and	and	CCONJ
ejpam-6495	123	13	the	the	DET
ejpam-6495	123	14	motor	motor	NOUN
ejpam-6495	123	15	speed	speed	NOUN
ejpam-6495	123	16	or	or	CCONJ
ejpam-6495	123	17	angular	angular	ADJ
ejpam-6495	123	18	velocity	velocity	NOUN
ejpam-6495	123	19	.	.	PUNCT
ejpam-6495	124	1	a	a	DET
ejpam-6495	124	2	force	force	NOUN
ejpam-6495	124	3	feedback	feedback	NOUN
ejpam-6495	124	4	joystick	joystick	NOUN
ejpam-6495	124	5	typically	typically	ADV
ejpam-6495	124	6	operates	operate	VERB
ejpam-6495	124	7	between	between	ADP
ejpam-6495	124	8	0	0	NUM
ejpam-6495	124	9	to	to	PART
ejpam-6495	124	10	15	15	NUM
ejpam-6495	124	11	mnm	mnm	ADJ
ejpam-6495	124	12	(	(	PUNCT
ejpam-6495	124	13	milli	milli	NOUN
ejpam-6495	124	14	-	-	PUNCT
ejpam-6495	124	15	newton	newton	NOUN
ejpam-6495	124	16	meters	meter	NOUN
ejpam-6495	124	17	)	)	PUNCT
ejpam-6495	124	18	.	.	PUNCT
ejpam-6495	125	1	the	the	DET
ejpam-6495	125	2	following	follow	VERB
ejpam-6495	125	3	formulas	formula	NOUN
ejpam-6495	125	4	convert	convert	VERB
ejpam-6495	125	5	joystick	joystick	NOUN
ejpam-6495	125	6	input	input	NOUN
ejpam-6495	125	7	values	value	NOUN
ejpam-6495	125	8	yinput	yinput	NOUN
ejpam-6495	125	9	(	(	PUNCT
ejpam-6495	125	10	vertical	vertical	ADJ
ejpam-6495	125	11	joystick	joystick	PROPN
ejpam-6495	125	12	movement	movement	PROPN
ejpam-6495	125	13	)	)	PUNCT
ejpam-6495	125	14	and	and	CCONJ
ejpam-6495	125	15	xinput	xinput	NOUN
ejpam-6495	125	16	(	(	PUNCT
ejpam-6495	125	17	horizontal	horizontal	ADJ
ejpam-6495	125	18	joystick	joystick	PROPN
ejpam-6495	125	19	movement	movement	PROPN
ejpam-6495	125	20	)	)	PUNCT
ejpam-6495	125	21	into	into	ADP
ejpam-6495	125	22	physical	physical	ADJ
ejpam-6495	125	23	movement	movement	NOUN
ejpam-6495	125	24	parameters	parameter	NOUN
ejpam-6495	125	25	υ	υ	PROPN
ejpam-6495	125	26	(	(	PUNCT
ejpam-6495	125	27	linear	linear	ADJ
ejpam-6495	125	28	speed	speed	NOUN
ejpam-6495	125	29	)	)	PUNCT
ejpam-6495	125	30	and	and	CCONJ
ejpam-6495	125	31	θ	θ	PROPN
ejpam-6495	125	32	(	(	PUNCT
ejpam-6495	125	33	angular	angular	ADJ
ejpam-6495	125	34	speed	speed	NOUN
ejpam-6495	125	35	):	):	PUNCT
ejpam-6495	125	36	υ	υ	NOUN
ejpam-6495	125	37	=	=	PUNCT
ejpam-6495	125	38	yinput	yinput	NOUN
ejpam-6495	125	39	−	−	PROPN
ejpam-6495	125	40	y	y	PROPN
ejpam-6495	125	41	y	y	PROPN
ejpam-6495	125	42	×υmax	×υmax	PROPN
ejpam-6495	125	43	,	,	PUNCT
ejpam-6495	125	44	(	(	PUNCT
ejpam-6495	125	45	1	1	X
ejpam-6495	125	46	)	)	PUNCT
ejpam-6495	125	47	w.	w.	PROPN
ejpam-6495	125	48	h.	h.	PROPN
ejpam-6495	125	49	f.	f.	PROPN
ejpam-6495	125	50	aly	aly	PROPN
ejpam-6495	125	51	,	,	PUNCT
ejpam-6495	125	52	n.	n.	PROPN
ejpam-6495	125	53	samashvili	samashvili	NOUN
ejpam-6495	125	54	,	,	PUNCT
ejpam-6495	125	55	c.	c.	PROPN
ejpam-6495	125	56	f.	f.	PROPN
ejpam-6495	125	57	riman	riman	PROPN
ejpam-6495	125	58	/	/	SYM
ejpam-6495	125	59	eur	eur	PROPN
ejpam-6495	125	60	.	.	PUNCT
ejpam-6495	126	1	j.	j.	PROPN
ejpam-6495	126	2	pure	pure	PROPN
ejpam-6495	126	3	appl	appl	PROPN
ejpam-6495	126	4	.	.	PROPN
ejpam-6495	126	5	math	math	PROPN
ejpam-6495	126	6	,	,	PUNCT
ejpam-6495	126	7	18	18	NUM
ejpam-6495	126	8	(	(	PUNCT
ejpam-6495	126	9	3	3	NUM
ejpam-6495	126	10	)	)	PUNCT
ejpam-6495	126	11	(	(	PUNCT
ejpam-6495	126	12	2025	2025	NUM
ejpam-6495	126	13	)	)	PUNCT
ejpam-6495	126	14	,	,	PUNCT
ejpam-6495	126	15	6495	6495	NUM
ejpam-6495	126	16	7	7	NUM
ejpam-6495	126	17	of	of	ADP
ejpam-6495	126	18	28	28	NUM
ejpam-6495	126	19	θ	θ	NOUN
ejpam-6495	126	20	=	=	PUNCT
ejpam-6495	127	1	xinput	xinput	NOUN
ejpam-6495	128	1	−	−	NOUN
ejpam-6495	128	2	x	x	SYM
ejpam-6495	128	3	x	x	SYM
ejpam-6495	128	4	×	×	NOUN
ejpam-6495	128	5	θmax	θmax	NOUN
ejpam-6495	128	6	,	,	PUNCT
ejpam-6495	128	7	(	(	PUNCT
ejpam-6495	128	8	2	2	X
ejpam-6495	128	9	)	)	PUNCT
ejpam-6495	128	10	where	where	SCONJ
ejpam-6495	128	11	x	x	PRON
ejpam-6495	128	12	and	and	CCONJ
ejpam-6495	128	13	y	y	PROPN
ejpam-6495	128	14	are	be	AUX
ejpam-6495	128	15	assumed	assume	VERB
ejpam-6495	128	16	to	to	PART
ejpam-6495	128	17	be	be	AUX
ejpam-6495	128	18	equal	equal	ADJ
ejpam-6495	128	19	to	to	ADP
ejpam-6495	128	20	7.5	7.5	NUM
ejpam-6495	128	21	.	.	PUNCT
ejpam-6495	128	22	table	table	NOUN
ejpam-6495	128	23	1	1	NUM
ejpam-6495	128	24	shows	show	VERB
ejpam-6495	128	25	the	the	DET
ejpam-6495	128	26	numerical	numerical	PROPN
ejpam-6495	128	27	relation	relation	NOUN
ejpam-6495	128	28	between	between	ADP
ejpam-6495	128	29	the	the	DET
ejpam-6495	128	30	joystick	joystick	NOUN
ejpam-6495	128	31	input	input	NOUN
ejpam-6495	128	32	and	and	CCONJ
ejpam-6495	128	33	the	the	DET
ejpam-6495	128	34	speed	speed	NOUN
ejpam-6495	128	35	of	of	ADP
ejpam-6495	128	36	a	a	DET
ejpam-6495	128	37	wheelchair	wheelchair	NOUN
ejpam-6495	128	38	,	,	PUNCT
ejpam-6495	128	39	assuming	assume	VERB
ejpam-6495	128	40	that	that	SCONJ
ejpam-6495	128	41	the	the	DET
ejpam-6495	128	42	maximum	maximum	ADJ
ejpam-6495	128	43	speed	speed	NOUN
ejpam-6495	128	44	that	that	PRON
ejpam-6495	128	45	the	the	DET
ejpam-6495	128	46	wheelchair	wheelchair	NOUN
ejpam-6495	128	47	can	can	AUX
ejpam-6495	128	48	achieve	achieve	VERB
ejpam-6495	128	49	is	be	AUX
ejpam-6495	128	50	υmax	υmax	NOUN
ejpam-6495	128	51	=	=	PUNCT
ejpam-6495	128	52	60	60	NUM
ejpam-6495	128	53	cm	cm	NUM
ejpam-6495	128	54	/	/	SYM
ejpam-6495	128	55	s	s	NOUN
ejpam-6495	128	56	and	and	CCONJ
ejpam-6495	128	57	the	the	DET
ejpam-6495	128	58	maximum	maximum	ADJ
ejpam-6495	128	59	turning	turn	VERB
ejpam-6495	128	60	angle	angle	NOUN
ejpam-6495	128	61	is	be	AUX
ejpam-6495	128	62	θmax	θmax	NOUN
ejpam-6495	128	63	=	=	SYM
ejpam-6495	128	64	30	30	NUM
ejpam-6495	128	65	◦	◦	NOUN
ejpam-6495	128	66	,	,	PUNCT
ejpam-6495	128	67	which	which	PRON
ejpam-6495	128	68	is	be	AUX
ejpam-6495	128	69	a	a	DET
ejpam-6495	128	70	reasonable	reasonable	ADJ
ejpam-6495	128	71	limit	limit	NOUN
ejpam-6495	128	72	for	for	ADP
ejpam-6495	128	73	wheelchair	wheelchair	NOUN
ejpam-6495	128	74	turning	turning	NOUN
ejpam-6495	128	75	.	.	PUNCT
ejpam-6495	129	1	table	table	NOUN
ejpam-6495	129	2	1	1	NUM
ejpam-6495	129	3	:	:	PUNCT
ejpam-6495	129	4	joystick	joystick	NOUN
ejpam-6495	129	5	input	input	NOUN
ejpam-6495	129	6	vs.	vs.	ADP
ejpam-6495	129	7	speed	speed	NOUN
ejpam-6495	129	8	and	and	CCONJ
ejpam-6495	129	9	turning	turn	VERB
ejpam-6495	129	10	angle	angle	NOUN
ejpam-6495	129	11	.	.	PUNCT
ejpam-6495	130	1	joystick	joystick	PROPN
ejpam-6495	130	2	input	input	NOUN
ejpam-6495	130	3	i	i	PRON
ejpam-6495	130	4	normalized	normalize	VERB
ejpam-6495	130	5	value	value	NOUN
ejpam-6495	130	6	µ	µ	PRON
ejpam-6495	130	7	speed	speed	NOUN
ejpam-6495	130	8	output	output	NOUN
ejpam-6495	130	9	υ	υ	X
ejpam-6495	130	10	(	(	PUNCT
ejpam-6495	130	11	cm	cm	NOUN
ejpam-6495	130	12	/	/	SYM
ejpam-6495	130	13	s	s	NOUN
ejpam-6495	130	14	)	)	PUNCT
ejpam-6495	130	15	turning	turn	VERB
ejpam-6495	130	16	angle	angle	NOUN
ejpam-6495	130	17	output	output	NOUN
ejpam-6495	130	18	θ	θ	PROPN
ejpam-6495	130	19	(	(	PUNCT
ejpam-6495	130	20	°	°	NOUN
ejpam-6495	130	21	/s	/	NOUN
ejpam-6495	130	22	)	)	PUNCT
ejpam-6495	130	23	0	0	NUM
ejpam-6495	131	1	-1	-1	PUNCT
ejpam-6495	131	2	-60	-60	PUNCT
ejpam-6495	132	1	-30.0	-30.0	PROPN
ejpam-6495	132	2	2.5	2.5	NUM
ejpam-6495	132	3	-0.67	-0.67	NOUN
ejpam-6495	133	1	-40.2	-40.2	NOUN
ejpam-6495	133	2	-20.1	-20.1	NOUN
ejpam-6495	133	3	5	5	NUM
ejpam-6495	133	4	-0.33	-0.33	NOUN
ejpam-6495	133	5	-19.8	-19.8	VERB
ejpam-6495	133	6	-9.9	-9.9	PROPN
ejpam-6495	133	7	7.5	7.5	NUM
ejpam-6495	133	8	0	0	NUM
ejpam-6495	133	9	0	0	NUM
ejpam-6495	133	10	0	0	NUM
ejpam-6495	133	11	10	10	NUM
ejpam-6495	133	12	0.33	0.33	NUM
ejpam-6495	133	13	19.8	19.8	NUM
ejpam-6495	133	14	9.9	9.9	NUM
ejpam-6495	133	15	12.5	12.5	NUM
ejpam-6495	133	16	0.67	0.67	NUM
ejpam-6495	133	17	40.2	40.2	NUM
ejpam-6495	133	18	20.1	20.1	NUM
ejpam-6495	133	19	15	15	NUM
ejpam-6495	133	20	1	1	NUM
ejpam-6495	133	21	60	60	NUM
ejpam-6495	133	22	30.0	30.0	NUM
ejpam-6495	133	23	equations	equation	NOUN
ejpam-6495	133	24	governing	govern	VERB
ejpam-6495	133	25	the	the	DET
ejpam-6495	133	26	wheelchair	wheelchair	NOUN
ejpam-6495	133	27	’s	’s	PART
ejpam-6495	133	28	speed	speed	NOUN
ejpam-6495	133	29	and	and	CCONJ
ejpam-6495	133	30	angular	angular	ADJ
ejpam-6495	133	31	velocity	velocity	NOUN
ejpam-6495	133	32	are	be	AUX
ejpam-6495	133	33	given	give	VERB
ejpam-6495	133	34	in	in	ADP
ejpam-6495	133	35	equations	equation	NOUN
ejpam-6495	133	36	3	3	NUM
ejpam-6495	133	37	and	and	CCONJ
ejpam-6495	133	38	4	4	NUM
ejpam-6495	133	39	respectively	respectively	ADV
ejpam-6495	133	40	.	.	PUNCT
ejpam-6495	134	1	ωt	ωt	ADP
ejpam-6495	134	2	=	=	SYM
ejpam-6495	134	3	aω	aω	PROPN
ejpam-6495	134	4	ωt−1	ωt−1	PROPN
ejpam-6495	135	1	+	+	NOUN
ejpam-6495	135	2	bω	bω	NOUN
ejpam-6495	135	3	uω	uω	ADV
ejpam-6495	135	4	,	,	PUNCT
ejpam-6495	135	5	(	(	PUNCT
ejpam-6495	135	6	3	3	X
ejpam-6495	135	7	)	)	PUNCT
ejpam-6495	135	8	vt	vt	NOUN
ejpam-6495	135	9	=	=	PUNCT
ejpam-6495	135	10	as	as	ADP
ejpam-6495	135	11	vt−1	vt−1	PROPN
ejpam-6495	135	12	+	+	PROPN
ejpam-6495	135	13	bs	bs	VERB
ejpam-6495	135	14	us	we	PRON
ejpam-6495	135	15	.	.	PUNCT
ejpam-6495	136	1	(	(	PUNCT
ejpam-6495	136	2	4	4	X
ejpam-6495	136	3	)	)	PUNCT
ejpam-6495	136	4	where	where	SCONJ
ejpam-6495	136	5	vt	vt	PROPN
ejpam-6495	136	6	and	and	CCONJ
ejpam-6495	136	7	ωt	ωt	PROPN
ejpam-6495	136	8	represent	represent	VERB
ejpam-6495	136	9	the	the	DET
ejpam-6495	136	10	speed	speed	NOUN
ejpam-6495	136	11	and	and	CCONJ
ejpam-6495	136	12	angular	angular	ADJ
ejpam-6495	136	13	velocity	velocity	NOUN
ejpam-6495	136	14	at	at	ADP
ejpam-6495	136	15	time	time	NOUN
ejpam-6495	136	16	t	t	PROPN
ejpam-6495	136	17	,	,	PUNCT
ejpam-6495	136	18	respectively	respectively	ADV
ejpam-6495	136	19	.	.	PUNCT
ejpam-6495	137	1	as	as	ADP
ejpam-6495	137	2	and	and	CCONJ
ejpam-6495	137	3	aω	aω	PROPN
ejpam-6495	137	4	are	be	AUX
ejpam-6495	137	5	the	the	DET
ejpam-6495	137	6	state	state	NOUN
ejpam-6495	137	7	coefficients	coefficient	NOUN
ejpam-6495	137	8	affecting	affect	VERB
ejpam-6495	137	9	speed	speed	NOUN
ejpam-6495	137	10	and	and	CCONJ
ejpam-6495	137	11	angular	angular	ADJ
ejpam-6495	137	12	velocity	velocity	NOUN
ejpam-6495	137	13	.	.	PUNCT
ejpam-6495	138	1	bs	bs	NOUN
ejpam-6495	138	2	and	and	CCONJ
ejpam-6495	138	3	bω	bω	PROPN
ejpam-6495	138	4	are	be	AUX
ejpam-6495	138	5	the	the	DET
ejpam-6495	138	6	control	control	NOUN
ejpam-6495	138	7	input	input	NOUN
ejpam-6495	138	8	coefficients	coefficient	NOUN
ejpam-6495	138	9	for	for	ADP
ejpam-6495	138	10	speed	speed	NOUN
ejpam-6495	138	11	and	and	CCONJ
ejpam-6495	138	12	angular	angular	ADJ
ejpam-6495	138	13	velocity	velocity	NOUN
ejpam-6495	138	14	.	.	PUNCT
ejpam-6495	139	1	us	we	PRON
ejpam-6495	139	2	and	and	CCONJ
ejpam-6495	139	3	uω	uω	ADV
ejpam-6495	139	4	are	be	AUX
ejpam-6495	139	5	the	the	DET
ejpam-6495	139	6	joystick	joystick	NOUN
ejpam-6495	139	7	input	input	NOUN
ejpam-6495	139	8	values	value	NOUN
ejpam-6495	139	9	for	for	ADP
ejpam-6495	139	10	speed	speed	NOUN
ejpam-6495	139	11	and	and	CCONJ
ejpam-6495	139	12	turning	turning	NOUN
ejpam-6495	139	13	.	.	PUNCT
ejpam-6495	140	1	in	in	ADP
ejpam-6495	140	2	the	the	DET
ejpam-6495	140	3	current	current	ADJ
ejpam-6495	140	4	model	model	NOUN
ejpam-6495	140	5	,	,	PUNCT
ejpam-6495	140	6	parameters	parameter	NOUN
ejpam-6495	140	7	such	such	ADJ
ejpam-6495	140	8	as	as	ADP
ejpam-6495	140	9	as	as	ADP
ejpam-6495	140	10	and	and	CCONJ
ejpam-6495	140	11	qs	qs	PROPN
ejpam-6495	140	12	are	be	AUX
ejpam-6495	140	13	selected	select	VERB
ejpam-6495	140	14	based	base	VERB
ejpam-6495	140	15	on	on	ADP
ejpam-6495	140	16	expected	expect	VERB
ejpam-6495	140	17	behavior	behavior	NOUN
ejpam-6495	140	18	of	of	ADP
ejpam-6495	140	19	the	the	DET
ejpam-6495	140	20	wheelchair	wheelchair	NOUN
ejpam-6495	140	21	on	on	ADP
ejpam-6495	140	22	various	various	ADJ
ejpam-6495	140	23	surface	surface	NOUN
ejpam-6495	140	24	types	type	NOUN
ejpam-6495	140	25	.	.	PUNCT
ejpam-6495	141	1	typical	typical	ADJ
ejpam-6495	141	2	values	value	NOUN
ejpam-6495	141	3	of	of	ADP
ejpam-6495	141	4	as	as	ADP
ejpam-6495	141	5	are	be	AUX
ejpam-6495	141	6	shown	show	VERB
ejpam-6495	141	7	in	in	ADP
ejpam-6495	141	8	table	table	NOUN
ejpam-6495	141	9	2	2	NUM
ejpam-6495	141	10	.	.	PUNCT
ejpam-6495	141	11	typical	typical	ADJ
ejpam-6495	141	12	values	value	NOUN
ejpam-6495	141	13	of	of	ADP
ejpam-6495	141	14	qs	qs	PROPN
ejpam-6495	141	15	are	be	AUX
ejpam-6495	141	16	shown	show	VERB
ejpam-6495	141	17	in	in	ADP
ejpam-6495	141	18	table	table	NOUN
ejpam-6495	141	19	3	3	NUM
ejpam-6495	141	20	.	.	PUNCT
ejpam-6495	142	1	choosing	choose	VERB
ejpam-6495	142	2	an	an	DET
ejpam-6495	142	3	appropriate	appropriate	ADJ
ejpam-6495	142	4	value	value	NOUN
ejpam-6495	142	5	of	of	ADP
ejpam-6495	142	6	as	as	SCONJ
ejpam-6495	142	7	is	be	AUX
ejpam-6495	142	8	important	important	ADJ
ejpam-6495	142	9	to	to	PART
ejpam-6495	142	10	improve	improve	VERB
ejpam-6495	142	11	the	the	DET
ejpam-6495	142	12	accuracy	accuracy	NOUN
ejpam-6495	142	13	of	of	ADP
ejpam-6495	142	14	speed	speed	NOUN
ejpam-6495	142	15	prediction	prediction	NOUN
ejpam-6495	142	16	in	in	ADP
ejpam-6495	142	17	a	a	DET
ejpam-6495	142	18	kalman	kalman	NOUN
ejpam-6495	142	19	filter	filter	NOUN
ejpam-6495	142	20	model	model	NOUN
ejpam-6495	142	21	.	.	PUNCT
ejpam-6495	143	1	surfaces	surface	NOUN
ejpam-6495	143	2	with	with	ADP
ejpam-6495	143	3	lower	low	ADJ
ejpam-6495	143	4	resistance	resistance	NOUN
ejpam-6495	143	5	maintain	maintain	VERB
ejpam-6495	143	6	speed	speed	NOUN
ejpam-6495	143	7	better	well	ADV
ejpam-6495	143	8	between	between	ADP
ejpam-6495	143	9	steps	step	NOUN
ejpam-6495	143	10	,	,	PUNCT
ejpam-6495	143	11	resulting	result	VERB
ejpam-6495	143	12	in	in	ADP
ejpam-6495	143	13	higher	high	ADJ
ejpam-6495	143	14	as	as	ADP
ejpam-6495	143	15	values	value	NOUN
ejpam-6495	143	16	.	.	PUNCT
ejpam-6495	144	1	qs	qs	PROPN
ejpam-6495	144	2	represents	represent	VERB
ejpam-6495	144	3	the	the	DET
ejpam-6495	144	4	process	process	NOUN
ejpam-6495	144	5	noise	noise	NOUN
ejpam-6495	144	6	covariance	covariance	NOUN
ejpam-6495	144	7	and	and	CCONJ
ejpam-6495	144	8	may	may	AUX
ejpam-6495	144	9	be	be	AUX
ejpam-6495	144	10	derived	derive	VERB
ejpam-6495	144	11	experimentally	experimentally	ADV
ejpam-6495	144	12	or	or	CCONJ
ejpam-6495	144	13	estimated	estimate	VERB
ejpam-6495	144	14	from	from	ADP
ejpam-6495	144	15	manufacturer	manufacturer	NOUN
ejpam-6495	144	16	-	-	PUNCT
ejpam-6495	144	17	provided	provide	VERB
ejpam-6495	144	18	motor	motor	NOUN
ejpam-6495	144	19	controller	controller	NOUN
ejpam-6495	144	20	data	datum	NOUN
ejpam-6495	144	21	.	.	PUNCT
ejpam-6495	145	1	higher	high	ADJ
ejpam-6495	145	2	qs	qs	ADP
ejpam-6495	145	3	values	value	NOUN
ejpam-6495	145	4	indicate	indicate	VERB
ejpam-6495	145	5	less	less	ADJ
ejpam-6495	145	6	confidence	confidence	NOUN
ejpam-6495	145	7	in	in	ADP
ejpam-6495	145	8	the	the	DET
ejpam-6495	145	9	model	model	NOUN
ejpam-6495	145	10	’s	’s	PART
ejpam-6495	145	11	prediction	prediction	NOUN
ejpam-6495	145	12	due	due	ADP
ejpam-6495	145	13	to	to	ADP
ejpam-6495	145	14	unstable	unstable	ADJ
ejpam-6495	145	15	surface	surface	NOUN
ejpam-6495	145	16	behavior.(thrun	behavior.(thrun	X
ejpam-6495	145	17	et	et	PROPN
ejpam-6495	145	18	al	al	PROPN
ejpam-6495	145	19	.	.	PUNCT
ejpam-6495	146	1	[	[	X
ejpam-6495	146	2	37	37	NUM
ejpam-6495	146	3	]	]	PUNCT
ejpam-6495	146	4	,	,	PUNCT
ejpam-6495	146	5	iagnema	iagnema	PROPN
ejpam-6495	146	6	et	et	PROPN
ejpam-6495	146	7	al	al	PROPN
ejpam-6495	146	8	.	.	PUNCT
ejpam-6495	147	1	[	[	X
ejpam-6495	147	2	38	38	NUM
ejpam-6495	147	3	]	]	PUNCT
ejpam-6495	147	4	,	,	PUNCT
ejpam-6495	147	5	reister	reister	PROPN
ejpam-6495	147	6	,	,	PUNCT
ejpam-6495	147	7	d.	d.	PROPN
ejpam-6495	147	8	b	b	PROPN
ejpam-6495	147	9	et	et	PROPN
ejpam-6495	147	10	al	al	PROPN
ejpam-6495	148	1	[	[	X
ejpam-6495	148	2	39	39	NUM
ejpam-6495	148	3	]	]	PUNCT
ejpam-6495	148	4	,	,	PUNCT
ejpam-6495	148	5	barfoot	barfoot	NOUN
ejpam-6495	148	6	,	,	PUNCT
ejpam-6495	148	7	t.	t.	PROPN
ejpam-6495	148	8	d.	d.	PROPN
ejpam-6495	149	1	[	[	X
ejpam-6495	149	2	40	40	NUM
ejpam-6495	149	3	]	]	PUNCT
ejpam-6495	149	4	.	.	PUNCT
ejpam-6495	149	5	)	)	PUNCT
ejpam-6495	150	1	in	in	ADP
ejpam-6495	150	2	the	the	DET
ejpam-6495	150	3	state	state	NOUN
ejpam-6495	150	4	prediction	prediction	NOUN
ejpam-6495	150	5	step	step	NOUN
ejpam-6495	150	6	,	,	PUNCT
ejpam-6495	150	7	we	we	PRON
ejpam-6495	150	8	use	use	VERB
ejpam-6495	150	9	the	the	DET
ejpam-6495	150	10	kalman	kalman	NOUN
ejpam-6495	150	11	filter	filter	NOUN
ejpam-6495	150	12	prediction	prediction	NOUN
ejpam-6495	150	13	equation	equation	NOUN
ejpam-6495	150	14	:	:	PUNCT
ejpam-6495	150	15	xt	xt	X
ejpam-6495	151	1	=	=	PUNCT
ejpam-6495	151	2	fxt−1	fxt−1	PROPN
ejpam-6495	152	1	+	+	PROPN
ejpam-6495	152	2	but	but	CCONJ
ejpam-6495	152	3	,	,	PUNCT
ejpam-6495	152	4	(	(	PUNCT
ejpam-6495	152	5	5	5	X
ejpam-6495	152	6	)	)	PUNCT
ejpam-6495	152	7	w.	w.	PROPN
ejpam-6495	152	8	h.	h.	PROPN
ejpam-6495	152	9	f.	f.	PROPN
ejpam-6495	152	10	aly	aly	PROPN
ejpam-6495	152	11	,	,	PUNCT
ejpam-6495	152	12	n.	n.	PROPN
ejpam-6495	152	13	samashvili	samashvili	NOUN
ejpam-6495	152	14	,	,	PUNCT
ejpam-6495	152	15	c.	c.	PROPN
ejpam-6495	152	16	f.	f.	PROPN
ejpam-6495	152	17	riman	riman	PROPN
ejpam-6495	152	18	/	/	SYM
ejpam-6495	152	19	eur	eur	PROPN
ejpam-6495	152	20	.	.	PUNCT
ejpam-6495	153	1	j.	j.	PROPN
ejpam-6495	153	2	pure	pure	PROPN
ejpam-6495	153	3	appl	appl	PROPN
ejpam-6495	153	4	.	.	PROPN
ejpam-6495	153	5	math	math	PROPN
ejpam-6495	153	6	,	,	PUNCT
ejpam-6495	153	7	18	18	NUM
ejpam-6495	153	8	(	(	PUNCT
ejpam-6495	153	9	3	3	NUM
ejpam-6495	153	10	)	)	PUNCT
ejpam-6495	153	11	(	(	PUNCT
ejpam-6495	153	12	2025	2025	NUM
ejpam-6495	153	13	)	)	PUNCT
ejpam-6495	153	14	,	,	PUNCT
ejpam-6495	153	15	6495	6495	NUM
ejpam-6495	153	16	8	8	NUM
ejpam-6495	153	17	of	of	ADP
ejpam-6495	153	18	28	28	NUM
ejpam-6495	153	19	table	table	NOUN
ejpam-6495	153	20	2	2	NUM
ejpam-6495	153	21	:	:	PUNCT
ejpam-6495	153	22	typical	typical	ADJ
ejpam-6495	153	23	as	as	ADP
ejpam-6495	153	24	values	value	NOUN
ejpam-6495	153	25	and	and	CCONJ
ejpam-6495	153	26	descriptions	description	NOUN
ejpam-6495	153	27	for	for	ADP
ejpam-6495	153	28	different	different	ADJ
ejpam-6495	153	29	surface	surface	NOUN
ejpam-6495	153	30	types	type	NOUN
ejpam-6495	153	31	surface	surface	NOUN
ejpam-6495	153	32	type	type	NOUN
ejpam-6495	153	33	estimated	estimate	VERB
ejpam-6495	153	34	as	as	ADP
ejpam-6495	153	35	description	description	NOUN
ejpam-6495	153	36	indoor	indoor	ADJ
ejpam-6495	153	37	smooth	smooth	ADJ
ejpam-6495	153	38	floor	floor	NOUN
ejpam-6495	153	39	(	(	PUNCT
ejpam-6495	153	40	e.g.	e.g.	ADV
ejpam-6495	153	41	,	,	PUNCT
ejpam-6495	153	42	tiles	tile	NOUN
ejpam-6495	153	43	,	,	PUNCT
ejpam-6495	153	44	polished	polished	ADJ
ejpam-6495	153	45	concrete	concrete	NOUN
ejpam-6495	153	46	)	)	PUNCT
ejpam-6495	153	47	0.95	0.95	NUM
ejpam-6495	153	48	–	–	PUNCT
ejpam-6495	153	49	0.99	0.99	NUM
ejpam-6495	153	50	very	very	ADV
ejpam-6495	153	51	low	low	ADJ
ejpam-6495	153	52	resistance	resistance	NOUN
ejpam-6495	153	53	;	;	PUNCT
ejpam-6495	153	54	speed	speed	NOUN
ejpam-6495	153	55	is	be	AUX
ejpam-6495	153	56	mostly	mostly	ADV
ejpam-6495	153	57	maintained	maintain	VERB
ejpam-6495	153	58	.	.	PUNCT
ejpam-6495	154	1	outdoor	outdoor	ADJ
ejpam-6495	154	2	uneven	uneven	ADJ
ejpam-6495	154	3	surface	surface	NOUN
ejpam-6495	154	4	(	(	PUNCT
ejpam-6495	154	5	e.g.	e.g.	ADV
ejpam-6495	154	6	,	,	PUNCT
ejpam-6495	154	7	pavement	pavement	NOUN
ejpam-6495	154	8	,	,	PUNCT
ejpam-6495	154	9	grass	grass	NOUN
ejpam-6495	154	10	,	,	PUNCT
ejpam-6495	154	11	gravel	gravel	NOUN
ejpam-6495	154	12	)	)	PUNCT
ejpam-6495	154	13	0.70	0.70	NUM
ejpam-6495	154	14	–	–	PUNCT
ejpam-6495	154	15	0.90	0.90	NUM
ejpam-6495	154	16	moderate	moderate	ADJ
ejpam-6495	154	17	resistance	resistance	NOUN
ejpam-6495	154	18	;	;	PUNCT
ejpam-6495	154	19	speed	speed	NOUN
ejpam-6495	154	20	decreases	decrease	VERB
ejpam-6495	154	21	more	more	ADV
ejpam-6495	154	22	between	between	ADP
ejpam-6495	154	23	steps	step	NOUN
ejpam-6495	154	24	.	.	PUNCT
ejpam-6495	155	1	very	very	ADV
ejpam-6495	155	2	rough	rough	ADJ
ejpam-6495	155	3	outdoor	outdoor	ADJ
ejpam-6495	155	4	surface	surface	NOUN
ejpam-6495	155	5	(	(	PUNCT
ejpam-6495	155	6	e.g.	e.g.	ADV
ejpam-6495	155	7	,	,	PUNCT
ejpam-6495	155	8	sand	sand	NOUN
ejpam-6495	155	9	,	,	PUNCT
ejpam-6495	155	10	rocky	rocky	ADJ
ejpam-6495	155	11	terrain	terrain	NOUN
ejpam-6495	155	12	)	)	PUNCT
ejpam-6495	155	13	0.30	0.30	NUM
ejpam-6495	155	14	–	–	PUNCT
ejpam-6495	155	15	0.70	0.70	NUM
ejpam-6495	155	16	high	high	ADJ
ejpam-6495	155	17	resistance	resistance	NOUN
ejpam-6495	155	18	;	;	PUNCT
ejpam-6495	155	19	speed	speed	NOUN
ejpam-6495	155	20	reduces	reduce	VERB
ejpam-6495	155	21	significantly	significantly	ADV
ejpam-6495	155	22	each	each	DET
ejpam-6495	155	23	step	step	NOUN
ejpam-6495	155	24	.	.	PUNCT
ejpam-6495	156	1	table	table	NOUN
ejpam-6495	156	2	3	3	NUM
ejpam-6495	156	3	:	:	PUNCT
ejpam-6495	157	1	typical	typical	ADJ
ejpam-6495	157	2	values	value	NOUN
ejpam-6495	157	3	of	of	ADP
ejpam-6495	157	4	qs	qs	PROPN
ejpam-6495	157	5	based	base	VERB
ejpam-6495	157	6	on	on	ADP
ejpam-6495	157	7	terrain	terrain	NOUN
ejpam-6495	157	8	conditions	condition	NOUN
ejpam-6495	157	9	surface	surface	NOUN
ejpam-6495	157	10	description	description	NOUN
ejpam-6495	157	11	range	range	NOUN
ejpam-6495	157	12	of	of	ADP
ejpam-6495	157	13	qs	qs	PROPN
ejpam-6495	157	14	remarks	remark	NOUN
ejpam-6495	157	15	indoor	indoor	ADJ
ejpam-6495	157	16	smooth	smooth	ADJ
ejpam-6495	157	17	0.01	0.01	NUM
ejpam-6495	157	18	–	–	PUNCT
ejpam-6495	157	19	0.1	0.1	NUM
ejpam-6495	157	20	use	use	VERB
ejpam-6495	157	21	small	small	ADJ
ejpam-6495	157	22	values	value	NOUN
ejpam-6495	157	23	if	if	SCONJ
ejpam-6495	157	24	the	the	DET
ejpam-6495	157	25	system	system	NOUN
ejpam-6495	157	26	is	be	AUX
ejpam-6495	157	27	relatively	relatively	ADV
ejpam-6495	157	28	stable	stable	ADJ
ejpam-6495	157	29	and	and	CCONJ
ejpam-6495	157	30	fluctuations	fluctuation	NOUN
ejpam-6495	157	31	are	be	AUX
ejpam-6495	157	32	minimal	minimal	ADJ
ejpam-6495	157	33	.	.	PUNCT
ejpam-6495	158	1	outdoor	outdoor	ADJ
ejpam-6495	158	2	uneven	uneven	ADJ
ejpam-6495	158	3	0.1	0.1	NUM
ejpam-6495	158	4	–	–	PUNCT
ejpam-6495	158	5	0.5	0.5	NUM
ejpam-6495	158	6	moderate	moderate	ADJ
ejpam-6495	158	7	noise	noise	NOUN
ejpam-6495	158	8	due	due	ADP
ejpam-6495	158	9	to	to	ADP
ejpam-6495	158	10	bumps	bump	NOUN
ejpam-6495	158	11	,	,	PUNCT
ejpam-6495	158	12	irregular	irregular	ADJ
ejpam-6495	158	13	ground	ground	NOUN
ejpam-6495	158	14	,	,	PUNCT
ejpam-6495	158	15	or	or	CCONJ
ejpam-6495	158	16	mixed	mixed	ADJ
ejpam-6495	158	17	surfaces	surface	NOUN
ejpam-6495	158	18	.	.	PUNCT
ejpam-6495	159	1	very	very	ADV
ejpam-6495	159	2	rough	rough	ADJ
ejpam-6495	159	3	outdoor	outdoor	NOUN
ejpam-6495	159	4	>	>	X
ejpam-6495	159	5	0.5	0.5	NUM
ejpam-6495	159	6	high	high	ADJ
ejpam-6495	159	7	uncertainty	uncertainty	NOUN
ejpam-6495	159	8	;	;	PUNCT
ejpam-6495	159	9	rough	rough	ADJ
ejpam-6495	159	10	terrain	terrain	NOUN
ejpam-6495	159	11	introduces	introduce	VERB
ejpam-6495	159	12	large	large	ADJ
ejpam-6495	159	13	speed	speed	NOUN
ejpam-6495	159	14	fluctuations	fluctuation	NOUN
ejpam-6495	159	15	.	.	PUNCT
ejpam-6495	160	1	where	where	SCONJ
ejpam-6495	160	2	xt	xt	ADV
ejpam-6495	161	1	=	=	PUNCT
ejpam-6495	161	2	[	[	PUNCT
ejpam-6495	161	3	vt	vt	NOUN
ejpam-6495	161	4	ωt	ωt	X
ejpam-6495	161	5	]	]	PUNCT
ejpam-6495	161	6	,	,	PUNCT
ejpam-6495	161	7	xt−1	xt−1	PROPN
ejpam-6495	161	8	=	=	PUNCT
ejpam-6495	162	1	[	[	PUNCT
ejpam-6495	162	2	vt−1	vt−1	PROPN
ejpam-6495	162	3	ωt−1	ωt−1	PROPN
ejpam-6495	162	4	]	]	PUNCT
ejpam-6495	162	5	.	.	PUNCT
ejpam-6495	163	1	(	(	PUNCT
ejpam-6495	163	2	6	6	X
ejpam-6495	163	3	)	)	PUNCT
ejpam-6495	163	4	the	the	DET
ejpam-6495	163	5	state	state	NOUN
ejpam-6495	163	6	transition	transition	NOUN
ejpam-6495	163	7	matrix	matrix	NOUN
ejpam-6495	163	8	is	be	AUX
ejpam-6495	163	9	:	:	PUNCT
ejpam-6495	163	10	f	f	X
ejpam-6495	164	1	=	=	PUNCT
ejpam-6495	164	2	[	[	PUNCT
ejpam-6495	164	3	as	as	ADP
ejpam-6495	164	4	0	0	NUM
ejpam-6495	164	5	0	0	NUM
ejpam-6495	164	6	aω	aω	NOUN
ejpam-6495	164	7	.	.	PUNCT
ejpam-6495	164	8	]	]	PUNCT
ejpam-6495	165	1	the	the	DET
ejpam-6495	165	2	control	control	NOUN
ejpam-6495	165	3	input	input	NOUN
ejpam-6495	165	4	matrix	matrix	NOUN
ejpam-6495	165	5	is	be	AUX
ejpam-6495	165	6	:	:	PUNCT
ejpam-6495	165	7	b	b	X
ejpam-6495	165	8	=	=	SYM
ejpam-6495	165	9	[	[	PUNCT
ejpam-6495	165	10	bs	bs	NOUN
ejpam-6495	165	11	0	0	NUM
ejpam-6495	165	12	0	0	NUM
ejpam-6495	165	13	bω	bω	NOUN
ejpam-6495	165	14	]	]	PUNCT
ejpam-6495	165	15	,	,	PUNCT
ejpam-6495	165	16	ut	ut	PROPN
ejpam-6495	165	17	=	=	PUNCT
ejpam-6495	166	1	[	[	PUNCT
ejpam-6495	166	2	us	we	PRON
ejpam-6495	166	3	uω	uω	ADV
ejpam-6495	166	4	]	]	PUNCT
ejpam-6495	166	5	.	.	PUNCT
ejpam-6495	167	1	error	error	NOUN
ejpam-6495	167	2	covariance	covariance	NOUN
ejpam-6495	167	3	prediction	prediction	NOUN
ejpam-6495	167	4	equation	equation	NOUN
ejpam-6495	167	5	is	be	AUX
ejpam-6495	167	6	:	:	PUNCT
ejpam-6495	167	7	pt	pt	PROPN
ejpam-6495	167	8	=	=	SYM
ejpam-6495	167	9	fpt−1f	fpt−1f	PROPN
ejpam-6495	167	10	t	t	PROPN
ejpam-6495	168	1	+	+	NOUN
ejpam-6495	168	2	q	q	ADJ
ejpam-6495	168	3	,	,	PUNCT
ejpam-6495	168	4	(	(	PUNCT
ejpam-6495	168	5	7	7	X
ejpam-6495	168	6	)	)	PUNCT
ejpam-6495	168	7	where	where	SCONJ
ejpam-6495	168	8	pt−1	pt−1	NOUN
ejpam-6495	168	9	=	=	PUNCT
ejpam-6495	168	10	[	[	PUNCT
ejpam-6495	168	11	ps	ps	PROPN
ejpam-6495	168	12	,	,	PUNCT
ejpam-6495	168	13	t−1	t−1	PROPN
ejpam-6495	168	14	0	0	NUM
ejpam-6495	168	15	0	0	NUM
ejpam-6495	169	1	pω	pω	NOUN
ejpam-6495	169	2	,	,	PUNCT
ejpam-6495	169	3	t−1	t−1	PROPN
ejpam-6495	169	4	]	]	PUNCT
ejpam-6495	169	5	,	,	PUNCT
ejpam-6495	169	6	q	q	NOUN
ejpam-6495	169	7	=	=	X
ejpam-6495	169	8	[	[	PUNCT
ejpam-6495	169	9	qs	qs	INTJ
ejpam-6495	169	10	0	0	NUM
ejpam-6495	169	11	0	0	NUM
ejpam-6495	169	12	qω	qω	NOUN
ejpam-6495	169	13	]	]	PUNCT
ejpam-6495	169	14	.	.	PUNCT
ejpam-6495	170	1	here	here	ADV
ejpam-6495	170	2	,	,	PUNCT
ejpam-6495	170	3	ps	ps	PROPN
ejpam-6495	170	4	,	,	PUNCT
ejpam-6495	170	5	t−1	t−1	PROPN
ejpam-6495	170	6	is	be	AUX
ejpam-6495	170	7	the	the	DET
ejpam-6495	170	8	previous	previous	ADJ
ejpam-6495	170	9	error	error	NOUN
ejpam-6495	170	10	covariance	covariance	NOUN
ejpam-6495	170	11	for	for	ADP
ejpam-6495	170	12	the	the	DET
ejpam-6495	170	13	speed	speed	NOUN
ejpam-6495	170	14	,	,	PUNCT
ejpam-6495	170	15	representing	represent	VERB
ejpam-6495	170	16	how	how	SCONJ
ejpam-6495	170	17	much	much	ADJ
ejpam-6495	170	18	we	we	PRON
ejpam-6495	170	19	trust	trust	VERB
ejpam-6495	170	20	our	our	PRON
ejpam-6495	170	21	previous	previous	ADJ
ejpam-6495	170	22	speed	speed	NOUN
ejpam-6495	170	23	estimate	estimate	NOUN
ejpam-6495	170	24	.	.	PUNCT
ejpam-6495	171	1	this	this	DET
ejpam-6495	171	2	value	value	NOUN
ejpam-6495	171	3	is	be	AUX
ejpam-6495	171	4	updated	update	VERB
ejpam-6495	171	5	at	at	ADP
ejpam-6495	171	6	each	each	DET
ejpam-6495	171	7	iteration	iteration	NOUN
ejpam-6495	171	8	of	of	ADP
ejpam-6495	171	9	the	the	DET
ejpam-6495	171	10	kalman	kalman	PROPN
ejpam-6495	171	11	filter	filter	NOUN
ejpam-6495	171	12	.	.	PUNCT
ejpam-6495	172	1	to	to	PART
ejpam-6495	172	2	compute	compute	VERB
ejpam-6495	172	3	variance	variance	NOUN
ejpam-6495	172	4	we	we	PRON
ejpam-6495	172	5	have	have	VERB
ejpam-6495	172	6	:	:	PUNCT
ejpam-6495	172	7	w.	w.	PROPN
ejpam-6495	172	8	h.	h.	PROPN
ejpam-6495	172	9	f.	f.	PROPN
ejpam-6495	172	10	aly	aly	PROPN
ejpam-6495	172	11	,	,	PUNCT
ejpam-6495	172	12	n.	n.	PROPN
ejpam-6495	172	13	samashvili	samashvili	NOUN
ejpam-6495	172	14	,	,	PUNCT
ejpam-6495	172	15	c.	c.	PROPN
ejpam-6495	172	16	f.	f.	PROPN
ejpam-6495	172	17	riman	riman	PROPN
ejpam-6495	172	18	/	/	SYM
ejpam-6495	172	19	eur	eur	PROPN
ejpam-6495	172	20	.	.	PUNCT
ejpam-6495	173	1	j.	j.	PROPN
ejpam-6495	173	2	pure	pure	PROPN
ejpam-6495	173	3	appl	appl	PROPN
ejpam-6495	173	4	.	.	PROPN
ejpam-6495	173	5	math	math	PROPN
ejpam-6495	173	6	,	,	PUNCT
ejpam-6495	173	7	18	18	NUM
ejpam-6495	173	8	(	(	PUNCT
ejpam-6495	173	9	3	3	NUM
ejpam-6495	173	10	)	)	PUNCT
ejpam-6495	173	11	(	(	PUNCT
ejpam-6495	173	12	2025	2025	NUM
ejpam-6495	173	13	)	)	PUNCT
ejpam-6495	173	14	,	,	PUNCT
ejpam-6495	173	15	6495	6495	NUM
ejpam-6495	173	16	9	9	NUM
ejpam-6495	173	17	of	of	ADP
ejpam-6495	173	18	28	28	NUM
ejpam-6495	173	19	ps	ps	NOUN
ejpam-6495	173	20	,	,	PUNCT
ejpam-6495	173	21	t−1	t−1	NOUN
ejpam-6495	173	22	=	=	SYM
ejpam-6495	173	23	1	1	NUM
ejpam-6495	173	24	n	n	NUM
ejpam-6495	173	25	n∑	n∑	NOUN
ejpam-6495	173	26	i=1	i=1	PROPN
ejpam-6495	174	1	(	(	PUNCT
ejpam-6495	174	2	υi	υi	NOUN
ejpam-6495	174	3	−	−	PROPN
ejpam-6495	174	4	υ)2	υ)2	NOUN
ejpam-6495	174	5	,	,	PUNCT
ejpam-6495	174	6	(	(	PUNCT
ejpam-6495	174	7	8)	8)	NUM
ejpam-6495	174	8	where	where	SCONJ
ejpam-6495	174	9	υi	υi	PRON
ejpam-6495	174	10	are	be	AUX
ejpam-6495	174	11	past	past	ADJ
ejpam-6495	174	12	speed	speed	NOUN
ejpam-6495	174	13	sensor	sensor	NOUN
ejpam-6495	174	14	measurements	measurement	NOUN
ejpam-6495	174	15	and	and	CCONJ
ejpam-6495	174	16	υ	υ	NOUN
ejpam-6495	174	17	is	be	AUX
ejpam-6495	174	18	the	the	DET
ejpam-6495	174	19	average	average	ADJ
ejpam-6495	174	20	speed	speed	NOUN
ejpam-6495	174	21	.	.	PUNCT
ejpam-6495	175	1	the	the	DET
ejpam-6495	175	2	kalman	kalman	NOUN
ejpam-6495	175	3	gain	gain	NOUN
ejpam-6495	175	4	is	be	AUX
ejpam-6495	175	5	computed	compute	VERB
ejpam-6495	175	6	as	as	SCONJ
ejpam-6495	175	7	follows	follow	VERB
ejpam-6495	175	8	:	:	PUNCT
ejpam-6495	175	9	k	k	X
ejpam-6495	175	10	=	=	PUNCT
ejpam-6495	175	11	pth	pth	PROPN
ejpam-6495	175	12	t	t	NOUN
ejpam-6495	175	13	(	(	PUNCT
ejpam-6495	175	14	hpth	hpth	PROPN
ejpam-6495	175	15	t	t	PROPN
ejpam-6495	175	16	+	+	NOUN
ejpam-6495	175	17	r)−1	r)−1	NOUN
ejpam-6495	175	18	,	,	PUNCT
ejpam-6495	175	19	(	(	PUNCT
ejpam-6495	175	20	9	9	X
ejpam-6495	175	21	)	)	PUNCT
ejpam-6495	175	22	where	where	SCONJ
ejpam-6495	175	23	h	h	NOUN
ejpam-6495	175	24	=	=	PRON
ejpam-6495	176	1	[	[	PUNCT
ejpam-6495	176	2	h11	h11	PROPN
ejpam-6495	176	3	h12	h12	PROPN
ejpam-6495	176	4	h21	h21	PROPN
ejpam-6495	176	5	h22	h22	PROPN
ejpam-6495	176	6	]	]	PUNCT
ejpam-6495	176	7	and	and	CCONJ
ejpam-6495	176	8	r	r	NOUN
ejpam-6495	176	9	=	=	SYM
ejpam-6495	176	10	[	[	PUNCT
ejpam-6495	176	11	rs	rs	NOUN
ejpam-6495	176	12	0	0	SYM
ejpam-6495	176	13	0	0	NUM
ejpam-6495	176	14	rω	rω	VERB
ejpam-6495	176	15	]	]	PUNCT
ejpam-6495	176	16	.	.	PUNCT
ejpam-6495	177	1	elements	element	NOUN
ejpam-6495	177	2	of	of	ADP
ejpam-6495	177	3	h	h	NOUN
ejpam-6495	177	4	are	be	AUX
ejpam-6495	177	5	determined	determine	VERB
ejpam-6495	177	6	based	base	VERB
ejpam-6495	177	7	on	on	ADP
ejpam-6495	177	8	how	how	SCONJ
ejpam-6495	177	9	the	the	DET
ejpam-6495	177	10	sensors	sensor	NOUN
ejpam-6495	177	11	map	map	VERB
ejpam-6495	177	12	to	to	ADP
ejpam-6495	177	13	the	the	DET
ejpam-6495	177	14	actual	actual	ADJ
ejpam-6495	177	15	states	state	NOUN
ejpam-6495	177	16	and	and	CCONJ
ejpam-6495	177	17	rs	r	NOUN
ejpam-6495	177	18	reflects	reflect	VERB
ejpam-6495	177	19	the	the	DET
ejpam-6495	177	20	noise	noise	NOUN
ejpam-6495	177	21	level	level	NOUN
ejpam-6495	177	22	(	(	PUNCT
ejpam-6495	177	23	or	or	CCONJ
ejpam-6495	177	24	uncertainty	uncertainty	NOUN
ejpam-6495	177	25	)	)	PUNCT
ejpam-6495	177	26	in	in	ADP
ejpam-6495	177	27	speed	speed	NOUN
ejpam-6495	177	28	sensor	sensor	NOUN
ejpam-6495	177	29	measurements	measurement	NOUN
ejpam-6495	177	30	.	.	PUNCT
ejpam-6495	178	1	these	these	DET
ejpam-6495	178	2	uncertainties	uncertainty	NOUN
ejpam-6495	178	3	may	may	AUX
ejpam-6495	178	4	vary	vary	VERB
ejpam-6495	178	5	depending	depend	VERB
ejpam-6495	178	6	on	on	ADP
ejpam-6495	178	7	environmental	environmental	ADJ
ejpam-6495	178	8	factors	factor	NOUN
ejpam-6495	178	9	,	,	PUNCT
ejpam-6495	178	10	such	such	ADJ
ejpam-6495	178	11	as	as	ADP
ejpam-6495	178	12	roughness	roughness	NOUN
ejpam-6495	178	13	or	or	CCONJ
ejpam-6495	178	14	terrain	terrain	NOUN
ejpam-6495	178	15	vibrations	vibration	NOUN
ejpam-6495	178	16	.	.	PUNCT
ejpam-6495	179	1	in	in	ADP
ejpam-6495	179	2	this	this	DET
ejpam-6495	179	3	work	work	NOUN
ejpam-6495	179	4	,	,	PUNCT
ejpam-6495	179	5	we	we	PRON
ejpam-6495	179	6	assume	assume	VERB
ejpam-6495	179	7	h	h	NOUN
ejpam-6495	179	8	as	as	ADP
ejpam-6495	179	9	identity	identity	NOUN
ejpam-6495	179	10	for	for	ADP
ejpam-6495	179	11	simplicity	simplicity	NOUN
ejpam-6495	179	12	,	,	PUNCT
ejpam-6495	179	13	implying	imply	VERB
ejpam-6495	179	14	direct	direct	ADJ
ejpam-6495	179	15	measurement	measurement	NOUN
ejpam-6495	179	16	of	of	ADP
ejpam-6495	179	17	both	both	DET
ejpam-6495	179	18	speed	speed	NOUN
ejpam-6495	179	19	and	and	CCONJ
ejpam-6495	179	20	angular	angular	ADJ
ejpam-6495	179	21	velocity	velocity	NOUN
ejpam-6495	179	22	.	.	PUNCT
ejpam-6495	180	1	in	in	ADP
ejpam-6495	180	2	this	this	DET
ejpam-6495	180	3	paper	paper	NOUN
ejpam-6495	180	4	,	,	PUNCT
ejpam-6495	180	5	we	we	PRON
ejpam-6495	180	6	do	do	AUX
ejpam-6495	180	7	not	not	PART
ejpam-6495	180	8	use	use	VERB
ejpam-6495	180	9	real	real	ADJ
ejpam-6495	180	10	sensor	sensor	NOUN
ejpam-6495	180	11	data	datum	NOUN
ejpam-6495	180	12	but	but	CCONJ
ejpam-6495	180	13	instead	instead	ADV
ejpam-6495	180	14	assume	assume	VERB
ejpam-6495	180	15	idealized	idealize	VERB
ejpam-6495	180	16	measurements	measurement	NOUN
ejpam-6495	180	17	for	for	ADP
ejpam-6495	180	18	speed	speed	NOUN
ejpam-6495	180	19	and	and	CCONJ
ejpam-6495	180	20	angular	angular	ADJ
ejpam-6495	180	21	velocity	velocity	NOUN
ejpam-6495	180	22	.	.	PUNCT
ejpam-6495	181	1	these	these	DET
ejpam-6495	181	2	assumed	assume	VERB
ejpam-6495	181	3	measurements	measurement	NOUN
ejpam-6495	181	4	serve	serve	VERB
ejpam-6495	181	5	as	as	ADP
ejpam-6495	181	6	the	the	DET
ejpam-6495	181	7	basis	basis	NOUN
ejpam-6495	181	8	for	for	ADP
ejpam-6495	181	9	state	state	NOUN
ejpam-6495	181	10	updates	update	NOUN
ejpam-6495	181	11	in	in	ADP
ejpam-6495	181	12	the	the	DET
ejpam-6495	181	13	kalman	kalman	PROPN
ejpam-6495	181	14	filter	filter	NOUN
ejpam-6495	181	15	equations	equation	NOUN
ejpam-6495	181	16	.	.	PUNCT
ejpam-6495	182	1	the	the	DET
ejpam-6495	182	2	updated	update	VERB
ejpam-6495	182	3	speed	speed	NOUN
ejpam-6495	182	4	and	and	CCONJ
ejpam-6495	182	5	angular	angular	ADJ
ejpam-6495	182	6	velocity	velocity	NOUN
ejpam-6495	182	7	are	be	AUX
ejpam-6495	182	8	obtained	obtain	VERB
ejpam-6495	182	9	by	by	ADP
ejpam-6495	182	10	using	use	VERB
ejpam-6495	182	11	:	:	PUNCT
ejpam-6495	182	12	x	x	SYM
ejpam-6495	182	13	=	=	PUNCT
ejpam-6495	182	14	xt	xt	PROPN
ejpam-6495	183	1	+	+	ADJ
ejpam-6495	183	2	k(z	k(z	PROPN
ejpam-6495	183	3	−hxt	−hxt	ADV
ejpam-6495	183	4	)	)	PUNCT
ejpam-6495	183	5	,	,	PUNCT
ejpam-6495	183	6	(	(	PUNCT
ejpam-6495	183	7	10	10	NUM
ejpam-6495	183	8	)	)	PUNCT
ejpam-6495	183	9	where	where	SCONJ
ejpam-6495	183	10	z	z	NOUN
ejpam-6495	183	11	is	be	AUX
ejpam-6495	183	12	the	the	DET
ejpam-6495	183	13	observed	observe	VERB
ejpam-6495	183	14	measurement	measurement	NOUN
ejpam-6495	183	15	vector	vector	NOUN
ejpam-6495	183	16	:	:	PUNCT
ejpam-6495	184	1	z	z	X
ejpam-6495	184	2	=	=	PUNCT
ejpam-6495	185	1	[	[	PUNCT
ejpam-6495	185	2	zs	zs	X
ejpam-6495	185	3	zω	zω	X
ejpam-6495	185	4	]	]	PUNCT
ejpam-6495	185	5	.	.	PUNCT
ejpam-6495	186	1	the	the	DET
ejpam-6495	186	2	updated	update	VERB
ejpam-6495	186	3	error	error	NOUN
ejpam-6495	186	4	covariance	covariance	NOUN
ejpam-6495	186	5	is	be	AUX
ejpam-6495	186	6	:	:	PUNCT
ejpam-6495	186	7	p	p	X
ejpam-6495	186	8	=	=	X
ejpam-6495	186	9	(	(	PUNCT
ejpam-6495	186	10	i	i	PRON
ejpam-6495	186	11	−kh)pt	−kh)pt	PUNCT
ejpam-6495	186	12	,	,	PUNCT
ejpam-6495	186	13	(	(	PUNCT
ejpam-6495	186	14	11	11	NUM
ejpam-6495	186	15	)	)	PUNCT
ejpam-6495	186	16	where	where	SCONJ
ejpam-6495	186	17	i	i	PRON
ejpam-6495	186	18	is	be	AUX
ejpam-6495	186	19	the	the	DET
ejpam-6495	186	20	identity	identity	NOUN
ejpam-6495	186	21	matrix	matrix	NOUN
ejpam-6495	186	22	:	:	PUNCT
ejpam-6495	187	1	i	i	PRON
ejpam-6495	187	2	=	=	PUNCT
ejpam-6495	188	1	[	[	PUNCT
ejpam-6495	188	2	1	1	NUM
ejpam-6495	188	3	0	0	NUM
ejpam-6495	188	4	0	0	NUM
ejpam-6495	188	5	1	1	NUM
ejpam-6495	188	6	]	]	PUNCT
ejpam-6495	188	7	these	these	DET
ejpam-6495	188	8	equations	equation	NOUN
ejpam-6495	188	9	form	form	VERB
ejpam-6495	188	10	the	the	DET
ejpam-6495	188	11	basis	basis	NOUN
ejpam-6495	188	12	of	of	ADP
ejpam-6495	188	13	the	the	DET
ejpam-6495	188	14	ekfwc	ekfwc	NOUN
ejpam-6495	188	15	model	model	NOUN
ejpam-6495	188	16	,	,	PUNCT
ejpam-6495	188	17	enabling	enable	VERB
ejpam-6495	188	18	adaptive	adaptive	ADJ
ejpam-6495	188	19	real	real	ADJ
ejpam-6495	188	20	-	-	PUNCT
ejpam-6495	188	21	time	time	NOUN
ejpam-6495	188	22	correction	correction	NOUN
ejpam-6495	188	23	of	of	ADP
ejpam-6495	188	24	wheelchair	wheelchair	NOUN
ejpam-6495	188	25	motion	motion	NOUN
ejpam-6495	188	26	based	base	VERB
ejpam-6495	188	27	on	on	ADP
ejpam-6495	188	28	terrain	terrain	NOUN
ejpam-6495	188	29	-	-	PUNCT
ejpam-6495	188	30	dependent	dependent	ADJ
ejpam-6495	188	31	dynamics	dynamic	NOUN
ejpam-6495	188	32	and	and	CCONJ
ejpam-6495	188	33	sensor	sensor	NOUN
ejpam-6495	188	34	estimates	estimate	NOUN
ejpam-6495	188	35	.	.	PUNCT
ejpam-6495	189	1	w.	w.	PROPN
ejpam-6495	189	2	h.	h.	PROPN
ejpam-6495	189	3	f.	f.	PROPN
ejpam-6495	189	4	aly	aly	PROPN
ejpam-6495	189	5	,	,	PUNCT
ejpam-6495	189	6	n.	n.	PROPN
ejpam-6495	189	7	samashvili	samashvili	NOUN
ejpam-6495	189	8	,	,	PUNCT
ejpam-6495	189	9	c.	c.	PROPN
ejpam-6495	189	10	f.	f.	PROPN
ejpam-6495	189	11	riman	riman	PROPN
ejpam-6495	189	12	/	/	SYM
ejpam-6495	189	13	eur	eur	PROPN
ejpam-6495	189	14	.	.	PUNCT
ejpam-6495	190	1	j.	j.	PROPN
ejpam-6495	190	2	pure	pure	PROPN
ejpam-6495	190	3	appl	appl	PROPN
ejpam-6495	190	4	.	.	PROPN
ejpam-6495	190	5	math	math	PROPN
ejpam-6495	190	6	,	,	PUNCT
ejpam-6495	190	7	18	18	NUM
ejpam-6495	190	8	(	(	PUNCT
ejpam-6495	190	9	3	3	NUM
ejpam-6495	190	10	)	)	PUNCT
ejpam-6495	190	11	(	(	PUNCT
ejpam-6495	190	12	2025	2025	NUM
ejpam-6495	190	13	)	)	PUNCT
ejpam-6495	190	14	,	,	PUNCT
ejpam-6495	190	15	6495	6495	NUM
ejpam-6495	190	16	10	10	NUM
ejpam-6495	190	17	of	of	ADP
ejpam-6495	190	18	28	28	NUM
ejpam-6495	190	19	4.2	4.2	NUM
ejpam-6495	190	20	.	.	PUNCT
ejpam-6495	191	1	scenario	scenario	NOUN
ejpam-6495	191	2	description	description	NOUN
ejpam-6495	191	3	and	and	CCONJ
ejpam-6495	191	4	analysis	analysis	NOUN
ejpam-6495	191	5	setup	setup	NOUN
ejpam-6495	191	6	we	we	PRON
ejpam-6495	191	7	consider	consider	VERB
ejpam-6495	191	8	the	the	DET
ejpam-6495	191	9	following	follow	VERB
ejpam-6495	191	10	scenario	scenario	NOUN
ejpam-6495	191	11	to	to	PART
ejpam-6495	191	12	evaluate	evaluate	VERB
ejpam-6495	191	13	the	the	DET
ejpam-6495	191	14	performance	performance	NOUN
ejpam-6495	191	15	of	of	ADP
ejpam-6495	191	16	the	the	DET
ejpam-6495	191	17	kalman	kalman	PROPN
ejpam-6495	191	18	filter	filter	NOUN
ejpam-6495	191	19	under	under	ADP
ejpam-6495	191	20	varying	vary	VERB
ejpam-6495	191	21	joystick	joystick	NOUN
ejpam-6495	191	22	inputs	input	NOUN
ejpam-6495	191	23	and	and	CCONJ
ejpam-6495	191	24	surface	surface	NOUN
ejpam-6495	191	25	conditions	condition	NOUN
ejpam-6495	191	26	:	:	PUNCT
ejpam-6495	191	27	the	the	DET
ejpam-6495	191	28	wheelchair	wheelchair	NOUN
ejpam-6495	191	29	begins	begin	VERB
ejpam-6495	191	30	by	by	ADP
ejpam-6495	191	31	moving	move	VERB
ejpam-6495	191	32	forward	forward	ADV
ejpam-6495	191	33	at	at	ADP
ejpam-6495	191	34	an	an	DET
ejpam-6495	191	35	initial	initial	ADJ
ejpam-6495	191	36	speed	speed	NOUN
ejpam-6495	191	37	of	of	ADP
ejpam-6495	191	38	8	8	NUM
ejpam-6495	191	39	cm	cm	NOUN
ejpam-6495	191	40	/	/	SYM
ejpam-6495	191	41	s.	s.	PROPN
ejpam-6495	191	42	to	to	PART
ejpam-6495	191	43	increase	increase	VERB
ejpam-6495	191	44	its	its	PRON
ejpam-6495	191	45	velocity	velocity	NOUN
ejpam-6495	191	46	,	,	PUNCT
ejpam-6495	191	47	normalized	normalize	VERB
ejpam-6495	191	48	value	value	NOUN
ejpam-6495	191	49	of	of	ADP
ejpam-6495	191	50	a	a	DET
ejpam-6495	191	51	joystick	joystick	NOUN
ejpam-6495	191	52	input	input	NOUN
ejpam-6495	191	53	µs1	µs1	NOUN
ejpam-6495	191	54	=	=	SYM
ejpam-6495	191	55	0.3333333	0.3333333	NOUN
ejpam-6495	191	56	is	be	AUX
ejpam-6495	191	57	applied	apply	VERB
ejpam-6495	191	58	,	,	PUNCT
ejpam-6495	191	59	followed	follow	VERB
ejpam-6495	191	60	by	by	ADP
ejpam-6495	191	61	a	a	DET
ejpam-6495	191	62	further	further	ADJ
ejpam-6495	191	63	acceleration	acceleration	NOUN
ejpam-6495	191	64	using	use	VERB
ejpam-6495	191	65	µs2	µs2	PROPN
ejpam-6495	191	66	=	=	SYM
ejpam-6495	191	67	0.6666667	0.6666667	NUM
ejpam-6495	191	68	.	.	PUNCT
ejpam-6495	192	1	the	the	DET
ejpam-6495	192	2	wheelchair	wheelchair	NOUN
ejpam-6495	192	3	then	then	ADV
ejpam-6495	192	4	slightly	slightly	ADV
ejpam-6495	192	5	reduces	reduce	VERB
ejpam-6495	192	6	its	its	PRON
ejpam-6495	192	7	speed	speed	NOUN
ejpam-6495	192	8	and	and	CCONJ
ejpam-6495	192	9	initiates	initiate	VERB
ejpam-6495	192	10	a	a	DET
ejpam-6495	192	11	right	right	ADJ
ejpam-6495	192	12	turn	turn	NOUN
ejpam-6495	192	13	with	with	ADP
ejpam-6495	192	14	inputs	input	NOUN
ejpam-6495	192	15	µs3	µs3	NOUN
ejpam-6495	192	16	=	=	NOUN
ejpam-6495	192	17	0.3333333	0.3333333	NUM
ejpam-6495	192	18	and	and	CCONJ
ejpam-6495	192	19	µω1	µω1	NOUN
ejpam-6495	192	20	=	=	SYM
ejpam-6495	192	21	0.3333333	0.3333333	NUM
ejpam-6495	192	22	.	.	PUNCT
ejpam-6495	193	1	subsequently	subsequently	ADV
ejpam-6495	193	2	,	,	PUNCT
ejpam-6495	193	3	it	it	PRON
ejpam-6495	193	4	performs	perform	VERB
ejpam-6495	193	5	two	two	NUM
ejpam-6495	193	6	consecutive	consecutive	ADJ
ejpam-6495	193	7	left	left	NOUN
ejpam-6495	193	8	turns	turn	NOUN
ejpam-6495	193	9	without	without	ADP
ejpam-6495	193	10	altering	alter	VERB
ejpam-6495	193	11	its	its	PRON
ejpam-6495	193	12	speed	speed	NOUN
ejpam-6495	193	13	,	,	PUNCT
ejpam-6495	193	14	using	use	VERB
ejpam-6495	193	15	angular	angular	ADJ
ejpam-6495	193	16	velocity	velocity	NOUN
ejpam-6495	193	17	inputs	input	NOUN
ejpam-6495	193	18	µω2	µω2	VERB
ejpam-6495	193	19	=	=	SYM
ejpam-6495	193	20	−0.66666667	−0.66666667	NOUN
ejpam-6495	193	21	and	and	CCONJ
ejpam-6495	193	22	µω3	µω3	NOUN
ejpam-6495	193	23	=	=	SYM
ejpam-6495	193	24	−0.3333333	−0.3333333	NOUN
ejpam-6495	193	25	.	.	PUNCT
ejpam-6495	194	1	finally	finally	ADV
ejpam-6495	194	2	,	,	PUNCT
ejpam-6495	194	3	the	the	DET
ejpam-6495	194	4	wheelchair	wheelchair	NOUN
ejpam-6495	194	5	resumes	resume	VERB
ejpam-6495	194	6	forward	forward	ADV
ejpam-6495	194	7	motion	motion	NOUN
ejpam-6495	194	8	,	,	PUNCT
ejpam-6495	194	9	gradually	gradually	ADV
ejpam-6495	194	10	increasing	increase	VERB
ejpam-6495	194	11	its	its	PRON
ejpam-6495	194	12	speed	speed	NOUN
ejpam-6495	194	13	with	with	ADP
ejpam-6495	194	14	µs4	µs4	NOUN
ejpam-6495	194	15	=	=	SYM
ejpam-6495	194	16	0.6666667	0.6666667	NUM
ejpam-6495	194	17	,	,	PUNCT
ejpam-6495	194	18	and	and	CCONJ
ejpam-6495	194	19	ultimately	ultimately	ADV
ejpam-6495	194	20	reaches	reach	VERB
ejpam-6495	194	21	the	the	DET
ejpam-6495	194	22	maximum	maximum	ADJ
ejpam-6495	194	23	input	input	NOUN
ejpam-6495	194	24	of	of	ADP
ejpam-6495	194	25	µs5	µs5	NOUN
ejpam-6495	194	26	=	=	SYM
ejpam-6495	194	27	1.0	1.0	NUM
ejpam-6495	194	28	.	.	PUNCT
ejpam-6495	195	1	the	the	DET
ejpam-6495	195	2	kalman	kalman	PROPN
ejpam-6495	195	3	filter	filter	NOUN
ejpam-6495	195	4	will	will	AUX
ejpam-6495	195	5	be	be	AUX
ejpam-6495	195	6	applied	apply	VERB
ejpam-6495	195	7	to	to	ADP
ejpam-6495	195	8	three	three	NUM
ejpam-6495	195	9	different	different	ADJ
ejpam-6495	195	10	surface	surface	NOUN
ejpam-6495	195	11	types	type	NOUN
ejpam-6495	195	12	to	to	PART
ejpam-6495	195	13	analyze	analyze	VERB
ejpam-6495	195	14	the	the	DET
ejpam-6495	195	15	impact	impact	NOUN
ejpam-6495	195	16	of	of	ADP
ejpam-6495	195	17	terrain	terrain	NOUN
ejpam-6495	195	18	-	-	PUNCT
ejpam-6495	195	19	induced	induce	VERB
ejpam-6495	195	20	uncertainty	uncertainty	NOUN
ejpam-6495	195	21	:	:	PUNCT
ejpam-6495	195	22	(	(	PUNCT
ejpam-6495	195	23	i	i	NOUN
ejpam-6495	195	24	)	)	PUNCT
ejpam-6495	195	25	indoor	indoor	ADJ
ejpam-6495	195	26	smooth	smooth	ADJ
ejpam-6495	195	27	surface	surface	NOUN
ejpam-6495	195	28	(	(	PUNCT
ejpam-6495	195	29	ii	ii	NOUN
ejpam-6495	195	30	)	)	PUNCT
ejpam-6495	195	31	outdoor	outdoor	ADJ
ejpam-6495	195	32	uneven	uneven	ADJ
ejpam-6495	195	33	surface	surface	NOUN
ejpam-6495	195	34	(	(	PUNCT
ejpam-6495	195	35	iii	iii	NOUN
ejpam-6495	195	36	)	)	PUNCT
ejpam-6495	195	37	very	very	ADV
ejpam-6495	195	38	rough	rough	ADJ
ejpam-6495	195	39	outdoor	outdoor	ADJ
ejpam-6495	195	40	surface	surface	NOUN
ejpam-6495	195	41	to	to	PART
ejpam-6495	195	42	evaluate	evaluate	VERB
ejpam-6495	195	43	the	the	DET
ejpam-6495	195	44	prediction	prediction	NOUN
ejpam-6495	195	45	and	and	CCONJ
ejpam-6495	195	46	update	update	NOUN
ejpam-6495	195	47	process	process	NOUN
ejpam-6495	195	48	of	of	ADP
ejpam-6495	195	49	the	the	DET
ejpam-6495	195	50	kalman	kalman	PROPN
ejpam-6495	195	51	filter	filter	NOUN
ejpam-6495	195	52	under	under	ADP
ejpam-6495	195	53	varying	vary	VERB
ejpam-6495	195	54	terrain	terrain	NOUN
ejpam-6495	195	55	conditions	condition	NOUN
ejpam-6495	195	56	,	,	PUNCT
ejpam-6495	195	57	we	we	PRON
ejpam-6495	195	58	consider	consider	VERB
ejpam-6495	195	59	the	the	DET
ejpam-6495	195	60	following	follow	VERB
ejpam-6495	195	61	joystick	joystick	NOUN
ejpam-6495	195	62	input	input	NOUN
ejpam-6495	195	63	sequence	sequence	NOUN
ejpam-6495	195	64	:	:	PUNCT
ejpam-6495	195	65	table	table	NOUN
ejpam-6495	195	66	4	4	NUM
ejpam-6495	195	67	:	:	PUNCT
ejpam-6495	195	68	joystick	joystick	NOUN
ejpam-6495	195	69	inputs	input	VERB
ejpam-6495	195	70	for	for	ADP
ejpam-6495	195	71	speed	speed	NOUN
ejpam-6495	195	72	and	and	CCONJ
ejpam-6495	195	73	turning	turn	VERB
ejpam-6495	195	74	step	step	NOUN
ejpam-6495	195	75	speed	speed	NOUN
ejpam-6495	195	76	input	input	NOUN
ejpam-6495	195	77	us	we	PRON
ejpam-6495	195	78	angular	angular	ADJ
ejpam-6495	195	79	input	input	NOUN
ejpam-6495	195	80	uω	uω	ADV
ejpam-6495	195	81	1	1	NUM
ejpam-6495	195	82	0.3333333	0.3333333	NUM
ejpam-6495	195	83	0	0	NUM
ejpam-6495	195	84	2	2	NUM
ejpam-6495	195	85	0.6666667	0.6666667	NUM
ejpam-6495	195	86	0	0	NUM
ejpam-6495	195	87	3	3	NUM
ejpam-6495	196	1	0.3333333	0.3333333	NUM
ejpam-6495	196	2	0.3333333	0.3333333	NUM
ejpam-6495	196	3	4	4	NUM
ejpam-6495	196	4	0.3333333	0.3333333	NUM
ejpam-6495	196	5	-0.6666667	-0.6666667	NOUN
ejpam-6495	196	6	5	5	NUM
ejpam-6495	196	7	0.3333333	0.3333333	NUM
ejpam-6495	196	8	-0.3333333	-0.3333333	NOUN
ejpam-6495	196	9	6	6	NUM
ejpam-6495	196	10	0.6666667	0.6666667	NUM
ejpam-6495	196	11	0	0	NUM
ejpam-6495	196	12	7	7	NUM
ejpam-6495	196	13	1.0000000	1.0000000	NUM
ejpam-6495	196	14	0	0	NUM
ejpam-6495	196	15	the	the	DET
ejpam-6495	196	16	wheelchair	wheelchair	NOUN
ejpam-6495	196	17	begins	begin	VERB
ejpam-6495	196	18	with	with	ADP
ejpam-6495	196	19	the	the	DET
ejpam-6495	196	20	following	following	NOUN
ejpam-6495	196	21	.	.	PUNCT
ejpam-6495	197	1	•	•	NUM
ejpam-6495	197	2	previous	previous	ADJ
ejpam-6495	197	3	speed	speed	NOUN
ejpam-6495	197	4	:	:	PUNCT
ejpam-6495	197	5	vt−1	vt−1	NOUN
ejpam-6495	197	6	=	=	NOUN
ejpam-6495	197	7	8	8	NUM
ejpam-6495	197	8	cm	cm	NUM
ejpam-6495	197	9	/	/	SYM
ejpam-6495	197	10	s	s	PART
ejpam-6495	197	11	•	•	NOUN
ejpam-6495	197	12	previous	previous	ADJ
ejpam-6495	197	13	angular	angular	ADJ
ejpam-6495	197	14	velocity	velocity	NOUN
ejpam-6495	197	15	:	:	PUNCT
ejpam-6495	197	16	ωt−1	ωt−1	NOUN
ejpam-6495	197	17	=	=	SYM
ejpam-6495	197	18	0	0	NUM
ejpam-6495	197	19	◦	◦	NOUN
ejpam-6495	197	20	/s	/s	NOUN
ejpam-6495	197	21	•	•	NOUN
ejpam-6495	197	22	control	control	NOUN
ejpam-6495	197	23	input	input	NOUN
ejpam-6495	197	24	coefficients	coefficient	NOUN
ejpam-6495	197	25	:	:	PUNCT
ejpam-6495	197	26	bs	bs	NOUN
ejpam-6495	197	27	=	=	PUNCT
ejpam-6495	197	28	60	60	NUM
ejpam-6495	197	29	cm	cm	NUM
ejpam-6495	197	30	/	/	SYM
ejpam-6495	197	31	s	s	PROPN
ejpam-6495	197	32	,	,	PUNCT
ejpam-6495	197	33	bω	bω	NOUN
ejpam-6495	197	34	=	=	SYM
ejpam-6495	197	35	30	30	NUM
ejpam-6495	197	36	◦	◦	NOUN
ejpam-6495	197	37	/s	/s	NOUN
ejpam-6495	197	38	the	the	DET
ejpam-6495	197	39	performance	performance	NOUN
ejpam-6495	197	40	of	of	ADP
ejpam-6495	197	41	the	the	DET
ejpam-6495	197	42	kalman	kalman	PROPN
ejpam-6495	197	43	filter	filter	NOUN
ejpam-6495	197	44	heavily	heavily	ADV
ejpam-6495	197	45	depends	depend	VERB
ejpam-6495	197	46	on	on	ADP
ejpam-6495	197	47	the	the	DET
ejpam-6495	197	48	careful	careful	ADJ
ejpam-6495	197	49	selection	selection	NOUN
ejpam-6495	197	50	of	of	ADP
ejpam-6495	197	51	its	its	PRON
ejpam-6495	197	52	initial	initial	ADJ
ejpam-6495	197	53	parameters	parameter	NOUN
ejpam-6495	197	54	.	.	PUNCT
ejpam-6495	198	1	specifically	specifically	ADV
ejpam-6495	198	2	,	,	PUNCT
ejpam-6495	198	3	the	the	DET
ejpam-6495	198	4	initial	initial	ADJ
ejpam-6495	198	5	state	state	NOUN
ejpam-6495	198	6	vector	vector	NOUN
ejpam-6495	198	7	is	be	AUX
ejpam-6495	198	8	typically	typically	ADV
ejpam-6495	198	9	set	set	VERB
ejpam-6495	198	10	based	base	VERB
ejpam-6495	198	11	on	on	ADP
ejpam-6495	198	12	prior	prior	ADJ
ejpam-6495	198	13	knowledge	knowledge	NOUN
ejpam-6495	198	14	of	of	ADP
ejpam-6495	198	15	the	the	DET
ejpam-6495	198	16	system	system	NOUN
ejpam-6495	198	17	’s	’s	PART
ejpam-6495	198	18	starting	start	VERB
ejpam-6495	198	19	position	position	NOUN
ejpam-6495	198	20	,	,	PUNCT
ejpam-6495	198	21	velocity	velocity	NOUN
ejpam-6495	198	22	,	,	PUNCT
ejpam-6495	198	23	and	and	CCONJ
ejpam-6495	198	24	orientation	orientation	NOUN
ejpam-6495	198	25	.	.	PUNCT
ejpam-6495	199	1	ekfwc	ekfwc	PROPN
ejpam-6495	199	2	used	use	VERB
ejpam-6495	199	3	w.	w.	PROPN
ejpam-6495	199	4	h.	h.	PROPN
ejpam-6495	199	5	f.	f.	PROPN
ejpam-6495	199	6	aly	aly	PROPN
ejpam-6495	199	7	,	,	PUNCT
ejpam-6495	199	8	n.	n.	PROPN
ejpam-6495	199	9	samashvili	samashvili	NOUN
ejpam-6495	199	10	,	,	PUNCT
ejpam-6495	199	11	c.	c.	PROPN
ejpam-6495	199	12	f.	f.	PROPN
ejpam-6495	199	13	riman	riman	PROPN
ejpam-6495	199	14	/	/	SYM
ejpam-6495	199	15	eur	eur	PROPN
ejpam-6495	199	16	.	.	PUNCT
ejpam-6495	200	1	j.	j.	PROPN
ejpam-6495	200	2	pure	pure	PROPN
ejpam-6495	200	3	appl	appl	PROPN
ejpam-6495	200	4	.	.	PROPN
ejpam-6495	200	5	math	math	PROPN
ejpam-6495	200	6	,	,	PUNCT
ejpam-6495	200	7	18	18	NUM
ejpam-6495	200	8	(	(	PUNCT
ejpam-6495	200	9	3	3	NUM
ejpam-6495	200	10	)	)	PUNCT
ejpam-6495	200	11	(	(	PUNCT
ejpam-6495	200	12	2025	2025	NUM
ejpam-6495	200	13	)	)	PUNCT
ejpam-6495	200	14	,	,	PUNCT
ejpam-6495	200	15	6495	6495	NUM
ejpam-6495	200	16	11	11	NUM
ejpam-6495	200	17	of	of	ADP
ejpam-6495	200	18	28	28	NUM
ejpam-6495	200	19	table	table	NOUN
ejpam-6495	200	20	5	5	NUM
ejpam-6495	200	21	:	:	PUNCT
ejpam-6495	200	22	initial	initial	ADJ
ejpam-6495	200	23	data	datum	NOUN
ejpam-6495	200	24	for	for	ADP
ejpam-6495	200	25	speed	speed	NOUN
ejpam-6495	200	26	prediction	prediction	NOUN
ejpam-6495	200	27	parameter	parameter	NOUN
ejpam-6495	200	28	indoor	indoor	ADJ
ejpam-6495	200	29	smooth	smooth	ADJ
ejpam-6495	200	30	outdoor	outdoor	NOUN
ejpam-6495	200	31	uneven	uneven	ADJ
ejpam-6495	200	32	very	very	ADV
ejpam-6495	200	33	rough	rough	ADJ
ejpam-6495	200	34	outdoor	outdoor	NOUN
ejpam-6495	200	35	as	as	ADP
ejpam-6495	200	36	(	(	PUNCT
ejpam-6495	200	37	speed	speed	NOUN
ejpam-6495	200	38	coefficient	coefficient	NOUN
ejpam-6495	200	39	)	)	PUNCT
ejpam-6495	200	40	0.9	0.9	NUM
ejpam-6495	200	41	0.6	0.6	NUM
ejpam-6495	200	42	0.4	0.4	NUM
ejpam-6495	200	43	ps	ps	PROPN
ejpam-6495	200	44	,	,	PUNCT
ejpam-6495	200	45	t−1	t−1	PROPN
ejpam-6495	200	46	(	(	PUNCT
ejpam-6495	200	47	error	error	NOUN
ejpam-6495	200	48	covariance	covariance	NOUN
ejpam-6495	200	49	)	)	PUNCT
ejpam-6495	200	50	0.03	0.03	NUM
ejpam-6495	200	51	0.04	0.04	NUM
ejpam-6495	200	52	0.05	0.05	NUM
ejpam-6495	200	53	qs	qs	PROPN
ejpam-6495	200	54	(	(	PUNCT
ejpam-6495	200	55	process	process	NOUN
ejpam-6495	200	56	noise	noise	NOUN
ejpam-6495	200	57	cov	cov	PROPN
ejpam-6495	200	58	.	.	PUNCT
ejpam-6495	200	59	)	)	PUNCT
ejpam-6495	201	1	0.05	0.05	NUM
ejpam-6495	201	2	0.10	0.10	NUM
ejpam-6495	201	3	0.60	0.60	NUM
ejpam-6495	201	4	rs	rs	NOUN
ejpam-6495	201	5	(	(	PUNCT
ejpam-6495	201	6	measurement	measurement	NOUN
ejpam-6495	201	7	noise	noise	NOUN
ejpam-6495	201	8	cov	cov	PROPN
ejpam-6495	201	9	.	.	PUNCT
ejpam-6495	201	10	)	)	PUNCT
ejpam-6495	202	1	0.02	0.02	NUM
ejpam-6495	202	2	0.30	0.30	NUM
ejpam-6495	202	3	0.50	0.50	NUM
ejpam-6495	202	4	table	table	NOUN
ejpam-6495	202	5	6	6	NUM
ejpam-6495	202	6	:	:	PUNCT
ejpam-6495	202	7	initial	initial	ADJ
ejpam-6495	202	8	data	datum	NOUN
ejpam-6495	202	9	for	for	ADP
ejpam-6495	202	10	angular	angular	ADJ
ejpam-6495	202	11	velocity	velocity	NOUN
ejpam-6495	202	12	prediction	prediction	NOUN
ejpam-6495	202	13	parameter	parameter	PROPN
ejpam-6495	202	14	indoor	indoor	PROPN
ejpam-6495	202	15	smooth	smooth	ADJ
ejpam-6495	202	16	outdoor	outdoor	NOUN
ejpam-6495	202	17	uneven	uneven	ADJ
ejpam-6495	202	18	very	very	ADV
ejpam-6495	202	19	rough	rough	ADJ
ejpam-6495	202	20	outdoor	outdoor	NOUN
ejpam-6495	202	21	aω	aω	X
ejpam-6495	202	22	(	(	PUNCT
ejpam-6495	202	23	angular	angular	ADJ
ejpam-6495	202	24	coefficient	coefficient	NOUN
ejpam-6495	202	25	)	)	PUNCT
ejpam-6495	202	26	0.9	0.9	NUM
ejpam-6495	202	27	0.5	0.5	NUM
ejpam-6495	202	28	0.3	0.3	NUM
ejpam-6495	202	29	pω	pω	NOUN
ejpam-6495	202	30	,	,	PUNCT
ejpam-6495	202	31	t−1	t−1	PROPN
ejpam-6495	202	32	(	(	PUNCT
ejpam-6495	202	33	error	error	NOUN
ejpam-6495	202	34	covariance	covariance	NOUN
ejpam-6495	202	35	)	)	PUNCT
ejpam-6495	202	36	0.06	0.06	NUM
ejpam-6495	202	37	0.07	0.07	NUM
ejpam-6495	202	38	0.08	0.08	NUM
ejpam-6495	202	39	qω	qω	PROPN
ejpam-6495	202	40	(	(	PUNCT
ejpam-6495	202	41	process	process	NOUN
ejpam-6495	202	42	noise	noise	NOUN
ejpam-6495	202	43	cov	cov	PROPN
ejpam-6495	202	44	.	.	PUNCT
ejpam-6495	202	45	)	)	PUNCT
ejpam-6495	203	1	0.02	0.02	NUM
ejpam-6495	203	2	0.10	0.10	NUM
ejpam-6495	203	3	0.60	0.60	NUM
ejpam-6495	203	4	rω	rω	ADJ
ejpam-6495	203	5	(	(	PUNCT
ejpam-6495	203	6	measurement	measurement	NOUN
ejpam-6495	203	7	noise	noise	NOUN
ejpam-6495	203	8	cov	cov	PROPN
ejpam-6495	203	9	.	.	PUNCT
ejpam-6495	203	10	)	)	PUNCT
ejpam-6495	204	1	0.01	0.01	NUM
ejpam-6495	204	2	0.30	0.30	NUM
ejpam-6495	204	3	0.50	0.50	NUM
ejpam-6495	205	1	the	the	DET
ejpam-6495	205	2	speed	speed	NOUN
ejpam-6495	205	3	parameters	parameter	NOUN
ejpam-6495	205	4	listed	list	VERB
ejpam-6495	205	5	in	in	ADP
ejpam-6495	205	6	table	table	NOUN
ejpam-6495	205	7	5	5	NUM
ejpam-6495	205	8	.	.	PUNCT
ejpam-6495	206	1	the	the	DET
ejpam-6495	206	2	ekfwc	ekfwc	NOUN
ejpam-6495	206	3	utilized	utilize	VERB
ejpam-6495	206	4	the	the	DET
ejpam-6495	206	5	angular	angular	ADJ
ejpam-6495	206	6	velocity	velocity	NOUN
ejpam-6495	206	7	parameters	parameter	NOUN
ejpam-6495	206	8	detailed	detail	VERB
ejpam-6495	206	9	in	in	ADP
ejpam-6495	206	10	table	table	NOUN
ejpam-6495	206	11	6	6	NUM
ejpam-6495	206	12	,	,	PUNCT
ejpam-6495	206	13	which	which	PRON
ejpam-6495	206	14	were	be	AUX
ejpam-6495	206	15	essential	essential	ADJ
ejpam-6495	206	16	for	for	ADP
ejpam-6495	206	17	accurately	accurately	ADV
ejpam-6495	206	18	modeling	model	VERB
ejpam-6495	206	19	the	the	DET
ejpam-6495	206	20	wheelchair	wheelchair	NOUN
ejpam-6495	206	21	’s	’s	PART
ejpam-6495	206	22	rotational	rotational	ADJ
ejpam-6495	206	23	dynamics	dynamic	NOUN
ejpam-6495	206	24	and	and	CCONJ
ejpam-6495	206	25	ensuring	ensure	VERB
ejpam-6495	206	26	responsive	responsive	ADJ
ejpam-6495	206	27	control	control	NOUN
ejpam-6495	206	28	during	during	ADP
ejpam-6495	206	29	turning	turn	VERB
ejpam-6495	206	30	maneuvers	maneuver	NOUN
ejpam-6495	206	31	.	.	PUNCT
ejpam-6495	207	1	this	this	DET
ejpam-6495	207	2	setup	setup	NOUN
ejpam-6495	207	3	serves	serve	VERB
ejpam-6495	207	4	as	as	ADP
ejpam-6495	207	5	a	a	DET
ejpam-6495	207	6	simulation	simulation	NOUN
ejpam-6495	207	7	scenario	scenario	NOUN
ejpam-6495	207	8	for	for	ADP
ejpam-6495	207	9	validating	validate	VERB
ejpam-6495	207	10	the	the	DET
ejpam-6495	207	11	dynamic	dynamic	ADJ
ejpam-6495	207	12	response	response	NOUN
ejpam-6495	207	13	of	of	ADP
ejpam-6495	207	14	the	the	DET
ejpam-6495	207	15	kalman	kalman	PROPN
ejpam-6495	207	16	filter	filter	PROPN
ejpam-6495	207	17	.	.	PUNCT
ejpam-6495	208	1	while	while	SCONJ
ejpam-6495	208	2	the	the	DET
ejpam-6495	208	3	coefficients	coefficient	NOUN
ejpam-6495	208	4	and	and	CCONJ
ejpam-6495	208	5	noise	noise	NOUN
ejpam-6495	208	6	covariances	covariance	NOUN
ejpam-6495	208	7	are	be	AUX
ejpam-6495	208	8	not	not	PART
ejpam-6495	208	9	obtained	obtain	VERB
ejpam-6495	208	10	from	from	ADP
ejpam-6495	208	11	hardware	hardware	NOUN
ejpam-6495	208	12	sensors	sensor	NOUN
ejpam-6495	208	13	,	,	PUNCT
ejpam-6495	208	14	they	they	PRON
ejpam-6495	208	15	reflect	reflect	VERB
ejpam-6495	208	16	reasonable	reasonable	ADJ
ejpam-6495	208	17	operating	operating	NOUN
ejpam-6495	208	18	ranges	range	NOUN
ejpam-6495	208	19	found	find	VERB
ejpam-6495	208	20	in	in	ADP
ejpam-6495	208	21	prior	prior	ADJ
ejpam-6495	208	22	robotic	robotic	ADJ
ejpam-6495	208	23	mobility	mobility	NOUN
ejpam-6495	208	24	studies	study	NOUN
ejpam-6495	208	25	.	.	PUNCT
ejpam-6495	209	1	this	this	DET
ejpam-6495	209	2	approach	approach	NOUN
ejpam-6495	209	3	allows	allow	VERB
ejpam-6495	209	4	us	we	PRON
ejpam-6495	209	5	to	to	PART
ejpam-6495	209	6	focus	focus	VERB
ejpam-6495	209	7	on	on	ADP
ejpam-6495	209	8	how	how	SCONJ
ejpam-6495	209	9	terrain	terrain	NOUN
ejpam-6495	209	10	-	-	PUNCT
ejpam-6495	209	11	induced	induce	VERB
ejpam-6495	209	12	uncertainty	uncertainty	NOUN
ejpam-6495	209	13	affects	affect	VERB
ejpam-6495	209	14	filter	filter	NOUN
ejpam-6495	209	15	stability	stability	NOUN
ejpam-6495	209	16	and	and	CCONJ
ejpam-6495	209	17	correction	correction	NOUN
ejpam-6495	209	18	.	.	PUNCT
ejpam-6495	210	1	4.3	4.3	NUM
ejpam-6495	210	2	.	.	PUNCT
ejpam-6495	211	1	kalman	kalman	NOUN
ejpam-6495	211	2	filter	filter	NOUN
ejpam-6495	211	3	application	application	NOUN
ejpam-6495	211	4	and	and	CCONJ
ejpam-6495	211	5	stepwise	stepwise	NOUN
ejpam-6495	211	6	observations	observation	NOUN
ejpam-6495	211	7	to	to	PART
ejpam-6495	211	8	analyze	analyze	VERB
ejpam-6495	211	9	the	the	DET
ejpam-6495	211	10	impact	impact	NOUN
ejpam-6495	211	11	of	of	ADP
ejpam-6495	211	12	different	different	ADJ
ejpam-6495	211	13	types	type	NOUN
ejpam-6495	211	14	of	of	ADP
ejpam-6495	211	15	surfaces	surface	NOUN
ejpam-6495	211	16	on	on	ADP
ejpam-6495	211	17	wheelchair	wheelchair	NOUN
ejpam-6495	211	18	movement	movement	NOUN
ejpam-6495	211	19	,	,	PUNCT
ejpam-6495	211	20	we	we	PRON
ejpam-6495	211	21	applied	apply	VERB
ejpam-6495	211	22	kalman	kalman	NOUN
ejpam-6495	211	23	filter	filter	NOUN
ejpam-6495	211	24	iteratively	iteratively	ADV
ejpam-6495	211	25	after	after	ADP
ejpam-6495	211	26	each	each	DET
ejpam-6495	211	27	joystick	joystick	NOUN
ejpam-6495	211	28	input	input	NOUN
ejpam-6495	211	29	step	step	NOUN
ejpam-6495	211	30	.	.	PUNCT
ejpam-6495	212	1	the	the	DET
ejpam-6495	212	2	calculations	calculation	NOUN
ejpam-6495	212	3	provide	provide	VERB
ejpam-6495	212	4	predictions	prediction	NOUN
ejpam-6495	212	5	for	for	ADP
ejpam-6495	212	6	speed	speed	NOUN
ejpam-6495	212	7	and	and	CCONJ
ejpam-6495	212	8	angular	angular	ADJ
ejpam-6495	212	9	velocity	velocity	NOUN
ejpam-6495	212	10	,	,	PUNCT
ejpam-6495	212	11	kalman	kalman	NOUN
ejpam-6495	212	12	gains	gain	NOUN
ejpam-6495	212	13	,	,	PUNCT
ejpam-6495	212	14	corrections	correction	NOUN
ejpam-6495	212	15	based	base	VERB
ejpam-6495	212	16	on	on	ADP
ejpam-6495	212	17	observed	observed	ADJ
ejpam-6495	212	18	measurements	measurement	NOUN
ejpam-6495	212	19	,	,	PUNCT
ejpam-6495	212	20	and	and	CCONJ
ejpam-6495	212	21	updated	update	VERB
ejpam-6495	212	22	error	error	NOUN
ejpam-6495	212	23	covariances	covariance	NOUN
ejpam-6495	212	24	.	.	PUNCT
ejpam-6495	213	1	in	in	ADP
ejpam-6495	213	2	this	this	DET
ejpam-6495	213	3	study	study	NOUN
ejpam-6495	213	4	,	,	PUNCT
ejpam-6495	213	5	the	the	DET
ejpam-6495	213	6	kalman	kalman	NOUN
ejpam-6495	213	7	filter	filter	NOUN
ejpam-6495	213	8	is	be	AUX
ejpam-6495	213	9	applied	apply	VERB
ejpam-6495	213	10	iteratively	iteratively	ADV
ejpam-6495	213	11	to	to	PART
ejpam-6495	213	12	refine	refine	VERB
ejpam-6495	213	13	speed	speed	NOUN
ejpam-6495	213	14	and	and	CCONJ
ejpam-6495	213	15	angular	angular	ADJ
ejpam-6495	213	16	velocity	velocity	NOUN
ejpam-6495	213	17	estimations	estimation	NOUN
ejpam-6495	213	18	for	for	ADP
ejpam-6495	213	19	a	a	DET
ejpam-6495	213	20	wheelchair	wheelchair	NOUN
ejpam-6495	213	21	that	that	PRON
ejpam-6495	213	22	navigates	navigate	VERB
ejpam-6495	213	23	different	different	ADJ
ejpam-6495	213	24	terrain	terrain	NOUN
ejpam-6495	213	25	conditions	condition	NOUN
ejpam-6495	213	26	.	.	PUNCT
ejpam-6495	214	1	the	the	DET
ejpam-6495	214	2	filter	filter	NOUN
ejpam-6495	214	3	updates	update	VERB
ejpam-6495	214	4	its	its	PRON
ejpam-6495	214	5	predictions	prediction	NOUN
ejpam-6495	214	6	based	base	VERB
ejpam-6495	214	7	on	on	ADP
ejpam-6495	214	8	process	process	NOUN
ejpam-6495	214	9	and	and	CCONJ
ejpam-6495	214	10	measurement	measurement	NOUN
ejpam-6495	214	11	noise	noise	NOUN
ejpam-6495	214	12	,	,	PUNCT
ejpam-6495	214	13	incorporating	incorporate	VERB
ejpam-6495	214	14	kalman	kalman	NOUN
ejpam-6495	214	15	gains	gain	NOUN
ejpam-6495	214	16	to	to	PART
ejpam-6495	214	17	correct	correct	VERB
ejpam-6495	214	18	errors	error	NOUN
ejpam-6495	214	19	and	and	CCONJ
ejpam-6495	214	20	improve	improve	VERB
ejpam-6495	214	21	accuracy	accuracy	NOUN
ejpam-6495	214	22	.	.	PUNCT
ejpam-6495	215	1	each	each	DET
ejpam-6495	215	2	iteration	iteration	NOUN
ejpam-6495	215	3	consists	consist	VERB
ejpam-6495	215	4	of	of	ADP
ejpam-6495	215	5	a	a	DET
ejpam-6495	215	6	prediction	prediction	NOUN
ejpam-6495	215	7	step	step	NOUN
ejpam-6495	215	8	,	,	PUNCT
ejpam-6495	215	9	where	where	SCONJ
ejpam-6495	215	10	the	the	DET
ejpam-6495	215	11	speed	speed	NOUN
ejpam-6495	215	12	and	and	CCONJ
ejpam-6495	215	13	angular	angular	ADJ
ejpam-6495	215	14	velocity	velocity	NOUN
ejpam-6495	215	15	of	of	ADP
ejpam-6495	215	16	the	the	DET
ejpam-6495	215	17	wheelchair	wheelchair	NOUN
ejpam-6495	215	18	are	be	AUX
ejpam-6495	215	19	estimated	estimate	VERB
ejpam-6495	215	20	,	,	PUNCT
ejpam-6495	215	21	followed	follow	VERB
ejpam-6495	215	22	by	by	ADP
ejpam-6495	215	23	a	a	DET
ejpam-6495	215	24	correction	correction	NOUN
ejpam-6495	215	25	step	step	NOUN
ejpam-6495	215	26	that	that	PRON
ejpam-6495	215	27	adjusts	adjust	VERB
ejpam-6495	215	28	these	these	DET
ejpam-6495	215	29	values	value	NOUN
ejpam-6495	215	30	based	base	VERB
ejpam-6495	215	31	on	on	ADP
ejpam-6495	215	32	observed	observed	ADJ
ejpam-6495	215	33	measurements	measurement	NOUN
ejpam-6495	215	34	.	.	PUNCT
ejpam-6495	216	1	in	in	ADP
ejpam-6495	216	2	the	the	DET
ejpam-6495	216	3	context	context	NOUN
ejpam-6495	216	4	of	of	ADP
ejpam-6495	216	5	wheelchair	wheelchair	NOUN
ejpam-6495	216	6	motion	motion	NOUN
ejpam-6495	216	7	,	,	PUNCT
ejpam-6495	216	8	angular	angular	ADJ
ejpam-6495	216	9	velocity	velocity	NOUN
ejpam-6495	216	10	ω	ω	PROPN
ejpam-6495	216	11	denotes	denote	VERB
ejpam-6495	216	12	the	the	DET
ejpam-6495	216	13	rate	rate	NOUN
ejpam-6495	216	14	and	and	CCONJ
ejpam-6495	216	15	direction	direction	NOUN
ejpam-6495	216	16	of	of	ADP
ejpam-6495	216	17	turning	turn	VERB
ejpam-6495	216	18	.	.	PUNCT
ejpam-6495	217	1	positive	positive	ADJ
ejpam-6495	217	2	values	value	NOUN
ejpam-6495	217	3	indicate	indicate	VERB
ejpam-6495	217	4	right	right	ADJ
ejpam-6495	217	5	turns	turn	NOUN
ejpam-6495	217	6	,	,	PUNCT
ejpam-6495	217	7	while	while	SCONJ
ejpam-6495	217	8	negative	negative	ADJ
ejpam-6495	217	9	values	value	NOUN
ejpam-6495	217	10	correspond	correspond	VERB
ejpam-6495	217	11	to	to	ADP
ejpam-6495	217	12	left	left	ADJ
ejpam-6495	217	13	turns	turn	NOUN
ejpam-6495	217	14	.	.	PUNCT
ejpam-6495	218	1	these	these	DET
ejpam-6495	218	2	negative	negative	ADJ
ejpam-6495	218	3	values	value	NOUN
ejpam-6495	218	4	are	be	AUX
ejpam-6495	218	5	expected	expect	VERB
ejpam-6495	218	6	and	and	CCONJ
ejpam-6495	218	7	essential	essential	ADJ
ejpam-6495	218	8	for	for	ADP
ejpam-6495	218	9	accurately	accurately	ADV
ejpam-6495	218	10	capturing	capture	VERB
ejpam-6495	218	11	directional	directional	ADJ
ejpam-6495	218	12	changes	change	NOUN
ejpam-6495	218	13	in	in	ADP
ejpam-6495	218	14	trajectory	trajectory	NOUN
ejpam-6495	218	15	.	.	PUNCT
ejpam-6495	219	1	step	step	NOUN
ejpam-6495	219	2	1	1	NUM
ejpam-6495	219	3	:	:	PUNCT
ejpam-6495	219	4	initial	initial	ADJ
ejpam-6495	219	5	phase	phase	NOUN
ejpam-6495	219	6	the	the	DET
ejpam-6495	219	7	wheelchair	wheelchair	NOUN
ejpam-6495	219	8	begins	begin	VERB
ejpam-6495	219	9	to	to	PART
ejpam-6495	219	10	move	move	VERB
ejpam-6495	219	11	with	with	ADP
ejpam-6495	219	12	an	an	DET
ejpam-6495	219	13	initial	initial	ADJ
ejpam-6495	219	14	speed	speed	NOUN
ejpam-6495	219	15	of	of	ADP
ejpam-6495	219	16	8	8	NUM
ejpam-6495	219	17	cm	cm	NOUN
ejpam-6495	219	18	/	/	SYM
ejpam-6495	219	19	s	s	VERB
ejpam-6495	219	20	no	no	DET
ejpam-6495	219	21	angular	angular	ADJ
ejpam-6495	219	22	velocity	velocity	NOUN
ejpam-6495	219	23	.	.	PUNCT
ejpam-6495	220	1	a	a	DET
ejpam-6495	220	2	joystick	joystick	NOUN
ejpam-6495	220	3	input	input	NOUN
ejpam-6495	220	4	of	of	ADP
ejpam-6495	220	5	0.3333333	0.3333333	NUM
ejpam-6495	220	6	is	be	AUX
ejpam-6495	220	7	applied	apply	VERB
ejpam-6495	220	8	.	.	PUNCT
ejpam-6495	221	1	the	the	DET
ejpam-6495	221	2	kalman	kalman	PROPN
ejpam-6495	221	3	filter	filter	PROPN
ejpam-6495	221	4	w.	w.	PROPN
ejpam-6495	221	5	h.	h.	PROPN
ejpam-6495	221	6	f.	f.	PROPN
ejpam-6495	221	7	aly	aly	PROPN
ejpam-6495	221	8	,	,	PUNCT
ejpam-6495	221	9	n.	n.	PROPN
ejpam-6495	221	10	samashvili	samashvili	NOUN
ejpam-6495	221	11	,	,	PUNCT
ejpam-6495	221	12	c.	c.	PROPN
ejpam-6495	221	13	f.	f.	PROPN
ejpam-6495	221	14	riman	riman	PROPN
ejpam-6495	221	15	/	/	SYM
ejpam-6495	221	16	eur	eur	PROPN
ejpam-6495	221	17	.	.	PUNCT
ejpam-6495	222	1	j.	j.	PROPN
ejpam-6495	222	2	pure	pure	PROPN
ejpam-6495	222	3	appl	appl	PROPN
ejpam-6495	222	4	.	.	PROPN
ejpam-6495	222	5	math	math	PROPN
ejpam-6495	222	6	,	,	PUNCT
ejpam-6495	222	7	18	18	NUM
ejpam-6495	222	8	(	(	PUNCT
ejpam-6495	222	9	3	3	NUM
ejpam-6495	222	10	)	)	PUNCT
ejpam-6495	222	11	(	(	PUNCT
ejpam-6495	222	12	2025	2025	NUM
ejpam-6495	222	13	)	)	PUNCT
ejpam-6495	222	14	,	,	PUNCT
ejpam-6495	222	15	6495	6495	NUM
ejpam-6495	222	16	12	12	NUM
ejpam-6495	222	17	of	of	ADP
ejpam-6495	222	18	28	28	NUM
ejpam-6495	222	19	predicts	predict	VERB
ejpam-6495	222	20	the	the	DET
ejpam-6495	222	21	speed	speed	NOUN
ejpam-6495	222	22	for	for	ADP
ejpam-6495	222	23	each	each	DET
ejpam-6495	222	24	surface	surface	NOUN
ejpam-6495	222	25	type	type	NOUN
ejpam-6495	222	26	based	base	VERB
ejpam-6495	222	27	on	on	ADP
ejpam-6495	222	28	the	the	DET
ejpam-6495	222	29	system	system	NOUN
ejpam-6495	222	30	model	model	NOUN
ejpam-6495	222	31	,	,	PUNCT
ejpam-6495	222	32	and	and	CCONJ
ejpam-6495	222	33	then	then	ADV
ejpam-6495	222	34	updates	update	VERB
ejpam-6495	222	35	it	it	PRON
ejpam-6495	222	36	using	use	VERB
ejpam-6495	222	37	the	the	DET
ejpam-6495	222	38	kalman	kalman	NOUN
ejpam-6495	222	39	gain	gain	NOUN
ejpam-6495	222	40	and	and	CCONJ
ejpam-6495	222	41	measurement	measurement	NOUN
ejpam-6495	222	42	data	datum	NOUN
ejpam-6495	222	43	.	.	PUNCT
ejpam-6495	223	1	the	the	DET
ejpam-6495	223	2	kalman	kalman	PROPN
ejpam-6495	223	3	gains	gain	NOUN
ejpam-6495	223	4	(	(	PUNCT
ejpam-6495	223	5	ks	ks	NOUN
ejpam-6495	223	6	,	,	PUNCT
ejpam-6495	223	7	kω	kω	PROPN
ejpam-6495	223	8	)	)	PUNCT
ejpam-6495	223	9	are	be	AUX
ejpam-6495	223	10	high	high	ADJ
ejpam-6495	223	11	(	(	PUNCT
ejpam-6495	223	12	close	close	ADJ
ejpam-6495	223	13	to	to	PART
ejpam-6495	223	14	1	1	NUM
ejpam-6495	223	15	)	)	PUNCT
ejpam-6495	223	16	,	,	PUNCT
ejpam-6495	223	17	meaning	mean	VERB
ejpam-6495	223	18	the	the	DET
ejpam-6495	223	19	filter	filter	NOUN
ejpam-6495	223	20	places	place	VERB
ejpam-6495	223	21	significant	significant	ADJ
ejpam-6495	223	22	trust	trust	NOUN
ejpam-6495	223	23	in	in	ADP
ejpam-6495	223	24	the	the	DET
ejpam-6495	223	25	measurement	measurement	NOUN
ejpam-6495	223	26	.	.	PUNCT
ejpam-6495	224	1	step	step	NOUN
ejpam-6495	224	2	2	2	NUM
ejpam-6495	224	3	:	:	PUNCT
ejpam-6495	224	4	further	further	ADJ
ejpam-6495	224	5	speed	speed	NOUN
ejpam-6495	224	6	increase	increase	VERB
ejpam-6495	224	7	the	the	DET
ejpam-6495	224	8	wheelchair	wheelchair	NOUN
ejpam-6495	224	9	continues	continue	VERB
ejpam-6495	224	10	accelerating	accelerate	VERB
ejpam-6495	224	11	with	with	ADP
ejpam-6495	224	12	a	a	DET
ejpam-6495	224	13	new	new	ADJ
ejpam-6495	224	14	joystick	joystick	NOUN
ejpam-6495	224	15	input	input	NOUN
ejpam-6495	224	16	of	of	ADP
ejpam-6495	224	17	0.6666667	0.6666667	NUM
ejpam-6495	224	18	.	.	PUNCT
ejpam-6495	225	1	the	the	DET
ejpam-6495	225	2	predicted	predict	VERB
ejpam-6495	225	3	speed	speed	NOUN
ejpam-6495	225	4	reaches	reach	VERB
ejpam-6495	225	5	60	60	NUM
ejpam-6495	225	6	cm	cm	NOUN
ejpam-6495	225	7	/	/	SYM
ejpam-6495	225	8	s	s	PROPN
ejpam-6495	225	9	for	for	ADP
ejpam-6495	225	10	indoor	indoor	ADJ
ejpam-6495	225	11	smooth	smooth	ADJ
ejpam-6495	225	12	surfaces	surface	NOUN
ejpam-6495	225	13	,	,	PUNCT
ejpam-6495	225	14	with	with	ADP
ejpam-6495	225	15	a	a	DET
ejpam-6495	225	16	kalman	kalman	NOUN
ejpam-6495	225	17	gain	gain	NOUN
ejpam-6495	225	18	of	of	ADP
ejpam-6495	225	19	0.4407	0.4407	NUM
ejpam-6495	225	20	,	,	PUNCT
ejpam-6495	225	21	leading	lead	VERB
ejpam-6495	225	22	to	to	ADP
ejpam-6495	225	23	a	a	DET
ejpam-6495	225	24	corrected	correct	VERB
ejpam-6495	225	25	speed	speed	NOUN
ejpam-6495	225	26	of	of	ADP
ejpam-6495	225	27	59.5593	59.5593	NUM
ejpam-6495	225	28	cm	cm	NOUN
ejpam-6495	225	29	/	/	SYM
ejpam-6495	225	30	s.	s.	PROPN
ejpam-6495	225	31	the	the	DET
ejpam-6495	225	32	kalman	kalman	PROPN
ejpam-6495	225	33	gains	gain	NOUN
ejpam-6495	225	34	are	be	AUX
ejpam-6495	225	35	lower	low	ADJ
ejpam-6495	225	36	compared	compare	VERB
ejpam-6495	225	37	to	to	ADP
ejpam-6495	225	38	the	the	DET
ejpam-6495	225	39	first	first	ADJ
ejpam-6495	225	40	step	step	NOUN
ejpam-6495	225	41	,	,	PUNCT
ejpam-6495	225	42	showing	show	VERB
ejpam-6495	225	43	that	that	SCONJ
ejpam-6495	225	44	the	the	DET
ejpam-6495	225	45	filter	filter	NOUN
ejpam-6495	225	46	is	be	AUX
ejpam-6495	225	47	becoming	become	VERB
ejpam-6495	225	48	more	more	ADV
ejpam-6495	225	49	confident	confident	ADJ
ejpam-6495	225	50	in	in	ADP
ejpam-6495	225	51	its	its	PRON
ejpam-6495	225	52	estimates	estimate	NOUN
ejpam-6495	225	53	.	.	PUNCT
ejpam-6495	226	1	on	on	ADP
ejpam-6495	226	2	indoor	indoor	ADJ
ejpam-6495	226	3	smooth	smooth	ADJ
ejpam-6495	226	4	surface	surface	NOUN
ejpam-6495	226	5	,	,	PUNCT
ejpam-6495	226	6	lower	low	ADJ
ejpam-6495	226	7	ks	ks	PROPN
ejpam-6495	226	8	(	(	PUNCT
ejpam-6495	226	9	0.44	0.44	NUM
ejpam-6495	226	10	)	)	PUNCT
ejpam-6495	226	11	shows	show	VERB
ejpam-6495	226	12	the	the	DET
ejpam-6495	226	13	prediction	prediction	NOUN
ejpam-6495	226	14	is	be	AUX
ejpam-6495	226	15	stable	stable	ADJ
ejpam-6495	226	16	;	;	PUNCT
ejpam-6495	226	17	less	less	ADJ
ejpam-6495	226	18	correction	correction	NOUN
ejpam-6495	226	19	is	be	AUX
ejpam-6495	226	20	needed	need	VERB
ejpam-6495	226	21	.	.	PUNCT
ejpam-6495	227	1	outdoor	outdoor	ADJ
ejpam-6495	227	2	uneven	uneven	ADJ
ejpam-6495	227	3	,	,	PUNCT
ejpam-6495	227	4	gains	gain	NOUN
ejpam-6495	227	5	are	be	AUX
ejpam-6495	227	6	moderate	moderate	ADJ
ejpam-6495	227	7	,	,	PUNCT
ejpam-6495	227	8	correction	correction	NOUN
ejpam-6495	227	9	shifts	shift	NOUN
ejpam-6495	227	10	the	the	DET
ejpam-6495	227	11	prediction	prediction	NOUN
ejpam-6495	227	12	closer	close	ADV
ejpam-6495	227	13	to	to	ADP
ejpam-6495	227	14	the	the	DET
ejpam-6495	227	15	measurement	measurement	NOUN
ejpam-6495	227	16	.	.	PUNCT
ejpam-6495	228	1	on	on	ADP
ejpam-6495	228	2	a	a	DET
ejpam-6495	228	3	very	very	ADV
ejpam-6495	228	4	rough	rough	ADJ
ejpam-6495	228	5	surface	surface	NOUN
ejpam-6495	228	6	gains	gain	NOUN
ejpam-6495	228	7	(	(	PUNCT
ejpam-6495	228	8	0.35	0.35	NUM
ejpam-6495	228	9	)	)	PUNCT
ejpam-6495	228	10	show	show	VERB
ejpam-6495	228	11	that	that	SCONJ
ejpam-6495	228	12	even	even	ADV
ejpam-6495	228	13	with	with	ADP
ejpam-6495	228	14	high	high	ADJ
ejpam-6495	228	15	noise	noise	NOUN
ejpam-6495	228	16	,	,	PUNCT
ejpam-6495	228	17	the	the	DET
ejpam-6495	228	18	model	model	NOUN
ejpam-6495	228	19	is	be	AUX
ejpam-6495	228	20	adjusting	adjust	VERB
ejpam-6495	228	21	more	more	ADV
ejpam-6495	228	22	conservatively	conservatively	ADV
ejpam-6495	228	23	compared	compare	VERB
ejpam-6495	228	24	to	to	PART
ejpam-6495	228	25	step	step	VERB
ejpam-6495	228	26	1	1	NUM
ejpam-6495	228	27	.	.	PUNCT
ejpam-6495	229	1	step	step	NOUN
ejpam-6495	229	2	3	3	NUM
ejpam-6495	229	3	:	:	PUNCT
ejpam-6495	229	4	introduction	introduction	NOUN
ejpam-6495	229	5	of	of	ADP
ejpam-6495	229	6	angular	angular	ADJ
ejpam-6495	229	7	velocity	velocity	NOUN
ejpam-6495	229	8	at	at	ADP
ejpam-6495	229	9	this	this	DET
ejpam-6495	229	10	step	step	NOUN
ejpam-6495	229	11	,	,	PUNCT
ejpam-6495	229	12	the	the	DET
ejpam-6495	229	13	wheelchair	wheelchair	NOUN
ejpam-6495	229	14	starts	start	VERB
ejpam-6495	229	15	turning	turn	VERB
ejpam-6495	229	16	right	right	ADV
ejpam-6495	229	17	while	while	SCONJ
ejpam-6495	229	18	slightly	slightly	ADV
ejpam-6495	229	19	reducing	reduce	VERB
ejpam-6495	229	20	speed	speed	NOUN
ejpam-6495	229	21	.	.	PUNCT
ejpam-6495	230	1	the	the	DET
ejpam-6495	230	2	joystick	joystick	NOUN
ejpam-6495	230	3	input	input	NOUN
ejpam-6495	230	4	for	for	ADP
ejpam-6495	230	5	speed	speed	NOUN
ejpam-6495	230	6	is	be	AUX
ejpam-6495	230	7	0.3333333	0.3333333	NUM
ejpam-6495	230	8	,	,	PUNCT
ejpam-6495	230	9	and	and	CCONJ
ejpam-6495	230	10	for	for	ADP
ejpam-6495	230	11	angular	angular	ADJ
ejpam-6495	230	12	velocity	velocity	NOUN
ejpam-6495	230	13	it	it	PRON
ejpam-6495	230	14	is	be	AUX
ejpam-6495	230	15	0.3333333	0.3333333	NUM
ejpam-6495	230	16	.	.	PUNCT
ejpam-6495	231	1	the	the	DET
ejpam-6495	231	2	kalman	kalman	PROPN
ejpam-6495	231	3	filter	filter	NOUN
ejpam-6495	231	4	adapts	adapt	VERB
ejpam-6495	231	5	to	to	PART
ejpam-6495	231	6	track	track	VERB
ejpam-6495	231	7	both	both	CCONJ
ejpam-6495	231	8	linear	linear	ADJ
ejpam-6495	231	9	and	and	CCONJ
ejpam-6495	231	10	angular	angular	ADJ
ejpam-6495	231	11	components	component	NOUN
ejpam-6495	231	12	.	.	PUNCT
ejpam-6495	232	1	on	on	ADP
ejpam-6495	232	2	smooth	smooth	ADJ
ejpam-6495	232	3	surfaces	surface	NOUN
ejpam-6495	232	4	,	,	PUNCT
ejpam-6495	232	5	the	the	DET
ejpam-6495	232	6	gains	gain	NOUN
ejpam-6495	232	7	are	be	AUX
ejpam-6495	232	8	slightly	slightly	ADV
ejpam-6495	232	9	reduced	reduce	VERB
ejpam-6495	232	10	compared	compare	VERB
ejpam-6495	232	11	to	to	ADP
ejpam-6495	232	12	straight	straight	ADJ
ejpam-6495	232	13	motion	motion	NOUN
ejpam-6495	232	14	due	due	ADP
ejpam-6495	232	15	to	to	ADP
ejpam-6495	232	16	additional	additional	ADJ
ejpam-6495	232	17	angular	angular	ADJ
ejpam-6495	232	18	uncertainty.the	uncertainty.the	PRON
ejpam-6495	232	19	predicted	predict	VERB
ejpam-6495	232	20	speed	speed	NOUN
ejpam-6495	232	21	remains	remain	VERB
ejpam-6495	232	22	60	60	NUM
ejpam-6495	232	23	cm	cm	NOUN
ejpam-6495	232	24	/	/	SYM
ejpam-6495	232	25	s	s	PROPN
ejpam-6495	232	26	for	for	ADP
ejpam-6495	232	27	indoor	indoor	ADJ
ejpam-6495	232	28	smooth	smooth	ADJ
ejpam-6495	232	29	surfaces	surface	NOUN
ejpam-6495	232	30	,	,	PUNCT
ejpam-6495	232	31	with	with	ADP
ejpam-6495	232	32	a	a	DET
ejpam-6495	232	33	kalman	kalman	NOUN
ejpam-6495	232	34	gain	gain	NOUN
ejpam-6495	232	35	of	of	ADP
ejpam-6495	232	36	0.3059	0.3059	NUM
ejpam-6495	232	37	,	,	PUNCT
ejpam-6495	232	38	leading	lead	VERB
ejpam-6495	232	39	to	to	ADP
ejpam-6495	232	40	an	an	DET
ejpam-6495	232	41	updated	update	VERB
ejpam-6495	232	42	speed	speed	NOUN
ejpam-6495	232	43	of	of	ADP
ejpam-6495	232	44	59.6941	59.6941	NUM
ejpam-6495	232	45	cm	cm	NOUN
ejpam-6495	232	46	/	/	SYM
ejpam-6495	232	47	s.	s.	PROPN
ejpam-6495	233	1	the	the	DET
ejpam-6495	233	2	predicted	predict	VERB
ejpam-6495	233	3	angular	angular	ADJ
ejpam-6495	233	4	velocity	velocity	NOUN
ejpam-6495	233	5	is	be	AUX
ejpam-6495	233	6	10	10	NUM
ejpam-6495	233	7	°	°	NUM
ejpam-6495	233	8	/s	/	NOUN
ejpam-6495	233	9	,	,	PUNCT
ejpam-6495	233	10	corrected	correct	VERB
ejpam-6495	233	11	to	to	ADP
ejpam-6495	233	12	the	the	DET
ejpam-6495	233	13	same	same	ADJ
ejpam-6495	233	14	value	value	NOUN
ejpam-6495	233	15	after	after	ADP
ejpam-6495	233	16	filtering	filter	VERB
ejpam-6495	233	17	.	.	PUNCT
ejpam-6495	234	1	on	on	ADP
ejpam-6495	234	2	outdoor	outdoor	ADJ
ejpam-6495	234	3	uneven	uneven	ADJ
ejpam-6495	234	4	surfaces	surface	NOUN
ejpam-6495	234	5	,	,	PUNCT
ejpam-6495	234	6	the	the	DET
ejpam-6495	234	7	predicted	predict	VERB
ejpam-6495	234	8	speed	speed	NOUN
ejpam-6495	234	9	is	be	AUX
ejpam-6495	234	10	52.7515	52.7515	NUM
ejpam-6495	234	11	cm	cm	NOUN
ejpam-6495	234	12	/	/	SYM
ejpam-6495	234	13	s	s	PROPN
ejpam-6495	234	14	,	,	PUNCT
ejpam-6495	234	15	adjusted	adjust	VERB
ejpam-6495	234	16	to	to	ADP
ejpam-6495	234	17	52.6178	52.6178	NUM
ejpam-6495	234	18	cm	cm	NOUN
ejpam-6495	234	19	/	/	SYM
ejpam-6495	234	20	s	s	PROPN
ejpam-6495	234	21	,	,	PUNCT
ejpam-6495	234	22	while	while	SCONJ
ejpam-6495	234	23	for	for	ADP
ejpam-6495	234	24	very	very	ADV
ejpam-6495	234	25	rough	rough	ADJ
ejpam-6495	234	26	outdoor	outdoor	ADJ
ejpam-6495	234	27	terrain	terrain	NOUN
ejpam-6495	234	28	,	,	PUNCT
ejpam-6495	234	29	it	it	PRON
ejpam-6495	234	30	is	be	AUX
ejpam-6495	234	31	39.4626	39.4626	NUM
ejpam-6495	234	32	cm	cm	NOUN
ejpam-6495	234	33	/	/	SYM
ejpam-6495	234	34	s	s	PROPN
ejpam-6495	234	35	,	,	PUNCT
ejpam-6495	234	36	adjusted	adjust	VERB
ejpam-6495	234	37	to	to	ADP
ejpam-6495	234	38	39.0799	39.0799	NUM
ejpam-6495	234	39	cm	cm	NOUN
ejpam-6495	234	40	/	/	SYM
ejpam-6495	234	41	s.	s.	PROPN
ejpam-6495	234	42	a	a	DET
ejpam-6495	234	43	turning	turning	NOUN
ejpam-6495	234	44	motion	motion	NOUN
ejpam-6495	234	45	is	be	AUX
ejpam-6495	234	46	introduced	introduce	VERB
ejpam-6495	234	47	with	with	ADP
ejpam-6495	234	48	an	an	DET
ejpam-6495	234	49	angular	angular	ADJ
ejpam-6495	234	50	velocity	velocity	NOUN
ejpam-6495	234	51	input	input	NOUN
ejpam-6495	234	52	.	.	PUNCT
ejpam-6495	235	1	the	the	DET
ejpam-6495	235	2	kalman	kalman	PROPN
ejpam-6495	235	3	filter	filter	PROPN
ejpam-6495	235	4	now	now	ADV
ejpam-6495	235	5	processes	process	VERB
ejpam-6495	235	6	both	both	PRON
ejpam-6495	235	7	speed	speed	NOUN
ejpam-6495	235	8	and	and	CCONJ
ejpam-6495	235	9	angular	angular	ADJ
ejpam-6495	235	10	velocity	velocity	NOUN
ejpam-6495	235	11	predictions	prediction	NOUN
ejpam-6495	235	12	.	.	PUNCT
ejpam-6495	236	1	the	the	DET
ejpam-6495	236	2	filter	filter	NOUN
ejpam-6495	236	3	updates	update	VERB
ejpam-6495	236	4	the	the	DET
ejpam-6495	236	5	angular	angular	ADJ
ejpam-6495	236	6	velocity	velocity	NOUN
ejpam-6495	236	7	effectively	effectively	ADV
ejpam-6495	236	8	,	,	PUNCT
ejpam-6495	236	9	maintaining	maintain	VERB
ejpam-6495	236	10	a	a	DET
ejpam-6495	236	11	balance	balance	NOUN
ejpam-6495	236	12	between	between	ADP
ejpam-6495	236	13	prediction	prediction	NOUN
ejpam-6495	236	14	and	and	CCONJ
ejpam-6495	236	15	correction	correction	NOUN
ejpam-6495	236	16	.	.	PUNCT
ejpam-6495	237	1	the	the	DET
ejpam-6495	237	2	error	error	NOUN
ejpam-6495	237	3	covariance	covariance	NOUN
ejpam-6495	237	4	values	value	NOUN
ejpam-6495	237	5	continue	continue	VERB
ejpam-6495	237	6	to	to	PART
ejpam-6495	237	7	decrease	decrease	VERB
ejpam-6495	237	8	,	,	PUNCT
ejpam-6495	237	9	showing	show	VERB
ejpam-6495	237	10	improved	improved	ADJ
ejpam-6495	237	11	accuracy	accuracy	NOUN
ejpam-6495	237	12	in	in	ADP
ejpam-6495	237	13	the	the	DET
ejpam-6495	237	14	estimation	estimation	NOUN
ejpam-6495	237	15	.	.	PUNCT
ejpam-6495	238	1	the	the	DET
ejpam-6495	238	2	rougher	rougher	ADJ
ejpam-6495	238	3	surfaces	surface	NOUN
ejpam-6495	238	4	again	again	ADV
ejpam-6495	238	5	exhibit	exhibit	VERB
ejpam-6495	238	6	higher	high	ADJ
ejpam-6495	238	7	discrepancies	discrepancy	NOUN
ejpam-6495	238	8	between	between	ADP
ejpam-6495	238	9	prediction	prediction	NOUN
ejpam-6495	238	10	and	and	CCONJ
ejpam-6495	238	11	correction	correction	NOUN
ejpam-6495	238	12	.	.	PUNCT
ejpam-6495	239	1	step	step	NOUN
ejpam-6495	239	2	4	4	NUM
ejpam-6495	239	3	and	and	CCONJ
ejpam-6495	239	4	5	5	NUM
ejpam-6495	239	5	:	:	PUNCT
ejpam-6495	239	6	consecutive	consecutive	ADJ
ejpam-6495	239	7	left	left	NOUN
ejpam-6495	239	8	turns	turn	VERB
ejpam-6495	239	9	two	two	NUM
ejpam-6495	239	10	consecutive	consecutive	ADJ
ejpam-6495	239	11	left	left	NOUN
ejpam-6495	239	12	turns	turn	NOUN
ejpam-6495	239	13	are	be	AUX
ejpam-6495	239	14	applied	apply	VERB
ejpam-6495	239	15	without	without	ADP
ejpam-6495	239	16	changing	change	VERB
ejpam-6495	239	17	the	the	DET
ejpam-6495	239	18	speed	speed	NOUN
ejpam-6495	239	19	.	.	PUNCT
ejpam-6495	240	1	the	the	DET
ejpam-6495	240	2	filter	filter	NOUN
ejpam-6495	240	3	efficiently	efficiently	ADV
ejpam-6495	240	4	processes	process	VERB
ejpam-6495	240	5	the	the	DET
ejpam-6495	240	6	angular	angular	ADJ
ejpam-6495	240	7	velocity	velocity	NOUN
ejpam-6495	240	8	changes	change	NOUN
ejpam-6495	240	9	while	while	SCONJ
ejpam-6495	240	10	ensuring	ensure	VERB
ejpam-6495	240	11	stability	stability	NOUN
ejpam-6495	240	12	in	in	ADP
ejpam-6495	240	13	speed	speed	NOUN
ejpam-6495	240	14	estimation	estimation	NOUN
ejpam-6495	240	15	.	.	PUNCT
ejpam-6495	241	1	the	the	DET
ejpam-6495	241	2	predictions	prediction	NOUN
ejpam-6495	241	3	and	and	CCONJ
ejpam-6495	241	4	corrections	correction	NOUN
ejpam-6495	241	5	remain	remain	VERB
ejpam-6495	241	6	consistent	consistent	ADJ
ejpam-6495	241	7	across	across	ADP
ejpam-6495	241	8	surface	surface	NOUN
ejpam-6495	241	9	types	type	NOUN
ejpam-6495	241	10	,	,	PUNCT
ejpam-6495	241	11	with	with	ADP
ejpam-6495	241	12	rougher	rough	ADJ
ejpam-6495	241	13	surfaces	surface	NOUN
ejpam-6495	241	14	still	still	ADV
ejpam-6495	241	15	showing	show	VERB
ejpam-6495	241	16	slightly	slightly	ADV
ejpam-6495	241	17	larger	large	ADJ
ejpam-6495	241	18	deviations	deviation	NOUN
ejpam-6495	241	19	.	.	PUNCT
ejpam-6495	242	1	the	the	DET
ejpam-6495	242	2	kalman	kalman	NOUN
ejpam-6495	242	3	gains	gain	VERB
ejpam-6495	242	4	for	for	ADP
ejpam-6495	242	5	angular	angular	ADJ
ejpam-6495	242	6	velocity	velocity	NOUN
ejpam-6495	242	7	slightly	slightly	ADV
ejpam-6495	242	8	decrease	decrease	NOUN
ejpam-6495	242	9	,	,	PUNCT
ejpam-6495	242	10	indicating	indicate	VERB
ejpam-6495	242	11	improved	improved	ADJ
ejpam-6495	242	12	confidence	confidence	NOUN
ejpam-6495	242	13	in	in	ADP
ejpam-6495	242	14	turn	turn	NOUN
ejpam-6495	242	15	estimations	estimation	NOUN
ejpam-6495	242	16	.	.	PUNCT
ejpam-6495	243	1	low	low	ADJ
ejpam-6495	243	2	gains	gain	NOUN
ejpam-6495	243	3	show	show	VERB
ejpam-6495	243	4	the	the	DET
ejpam-6495	243	5	model	model	NOUN
ejpam-6495	243	6	is	be	AUX
ejpam-6495	243	7	very	very	ADV
ejpam-6495	243	8	confident	confident	ADJ
ejpam-6495	243	9	in	in	ADP
ejpam-6495	243	10	its	its	PRON
ejpam-6495	243	11	state	state	NOUN
ejpam-6495	243	12	estimation	estimation	NOUN
ejpam-6495	243	13	.	.	PUNCT
ejpam-6495	244	1	step	step	NOUN
ejpam-6495	244	2	6	6	NUM
ejpam-6495	244	3	and	and	CCONJ
ejpam-6495	244	4	7	7	NUM
ejpam-6495	244	5	:	:	PUNCT
ejpam-6495	244	6	gradual	gradual	ADJ
ejpam-6495	244	7	speed	speed	NOUN
ejpam-6495	244	8	increase	increase	NOUN
ejpam-6495	244	9	and	and	CCONJ
ejpam-6495	244	10	maximum	maximum	ADJ
ejpam-6495	244	11	speed	speed	NOUN
ejpam-6495	244	12	application	application	NOUN
ejpam-6495	244	13	the	the	DET
ejpam-6495	244	14	wheelchair	wheelchair	NOUN
ejpam-6495	244	15	accelerates	accelerate	VERB
ejpam-6495	244	16	again	again	ADV
ejpam-6495	244	17	,	,	PUNCT
ejpam-6495	244	18	moving	move	VERB
ejpam-6495	244	19	towards	towards	ADP
ejpam-6495	244	20	its	its	PRON
ejpam-6495	244	21	maximum	maximum	ADJ
ejpam-6495	244	22	speed	speed	NOUN
ejpam-6495	244	23	.	.	PUNCT
ejpam-6495	245	1	the	the	DET
ejpam-6495	245	2	kalman	kalman	PROPN
ejpam-6495	245	3	filter	filter	PROPN
ejpam-6495	245	4	continues	continue	VERB
ejpam-6495	245	5	refining	refine	VERB
ejpam-6495	245	6	its	its	PRON
ejpam-6495	245	7	estimates	estimate	NOUN
ejpam-6495	245	8	,	,	PUNCT
ejpam-6495	245	9	and	and	CCONJ
ejpam-6495	245	10	the	the	DET
ejpam-6495	245	11	correction	correction	NOUN
ejpam-6495	245	12	step	step	NOUN
ejpam-6495	245	13	brings	bring	VERB
ejpam-6495	245	14	the	the	DET
ejpam-6495	245	15	speed	speed	NOUN
ejpam-6495	245	16	closer	close	ADV
ejpam-6495	245	17	to	to	ADP
ejpam-6495	245	18	the	the	DET
ejpam-6495	245	19	prediction	prediction	NOUN
ejpam-6495	245	20	.	.	PUNCT
ejpam-6495	246	1	the	the	DET
ejpam-6495	246	2	updated	update	VERB
ejpam-6495	246	3	error	error	NOUN
ejpam-6495	246	4	covariance	covariance	NOUN
ejpam-6495	246	5	values	value	NOUN
ejpam-6495	246	6	are	be	AUX
ejpam-6495	246	7	now	now	ADV
ejpam-6495	246	8	quite	quite	ADV
ejpam-6495	246	9	low	low	ADJ
ejpam-6495	246	10	,	,	PUNCT
ejpam-6495	246	11	indicating	indicate	VERB
ejpam-6495	246	12	a	a	DET
ejpam-6495	246	13	high	high	ADJ
ejpam-6495	246	14	level	level	NOUN
ejpam-6495	246	15	of	of	ADP
ejpam-6495	246	16	certainty	certainty	NOUN
ejpam-6495	246	17	in	in	ADP
ejpam-6495	246	18	both	both	CCONJ
ejpam-6495	246	19	the	the	DET
ejpam-6495	246	20	speed	speed	NOUN
ejpam-6495	246	21	and	and	CCONJ
ejpam-6495	246	22	the	the	DET
ejpam-6495	246	23	angular	angular	ADJ
ejpam-6495	246	24	velocity	velocity	NOUN
ejpam-6495	246	25	estimates	estimate	NOUN
ejpam-6495	246	26	.	.	PUNCT
ejpam-6495	247	1	the	the	DET
ejpam-6495	247	2	filter	filter	NOUN
ejpam-6495	247	3	effectively	effectively	ADV
ejpam-6495	247	4	accounts	account	VERB
ejpam-6495	247	5	for	for	ADP
ejpam-6495	247	6	varying	vary	VERB
ejpam-6495	247	7	surface	surface	NOUN
ejpam-6495	247	8	conditions	condition	NOUN
ejpam-6495	247	9	,	,	PUNCT
ejpam-6495	247	10	maintaining	maintain	VERB
ejpam-6495	247	11	accuracy	accuracy	NOUN
ejpam-6495	247	12	even	even	ADV
ejpam-6495	247	13	in	in	ADP
ejpam-6495	247	14	more	more	ADJ
ejpam-6495	247	15	complex	complex	ADJ
ejpam-6495	247	16	scenarios	scenario	NOUN
ejpam-6495	247	17	.	.	PUNCT
ejpam-6495	248	1	finally	finally	ADV
ejpam-6495	248	2	,	,	PUNCT
ejpam-6495	248	3	the	the	DET
ejpam-6495	248	4	wheelchair	wheelchair	NOUN
ejpam-6495	248	5	reaches	reach	VERB
ejpam-6495	248	6	its	its	PRON
ejpam-6495	248	7	highest	high	ADJ
ejpam-6495	248	8	speed	speed	NOUN
ejpam-6495	248	9	with	with	ADP
ejpam-6495	248	10	a	a	DET
ejpam-6495	248	11	joystick	joystick	NOUN
ejpam-6495	248	12	input	input	NOUN
ejpam-6495	248	13	of	of	ADP
ejpam-6495	248	14	1.0	1.0	NUM
ejpam-6495	248	15	.	.	PUNCT
ejpam-6495	249	1	the	the	DET
ejpam-6495	249	2	predicted	predict	VERB
ejpam-6495	249	3	speed	speed	NOUN
ejpam-6495	249	4	is	be	AUX
ejpam-6495	249	5	60	60	NUM
ejpam-6495	249	6	cm	cm	NOUN
ejpam-6495	249	7	/	/	SYM
ejpam-6495	249	8	s	s	NOUN
ejpam-6495	249	9	for	for	ADP
ejpam-6495	249	10	all	all	DET
ejpam-6495	249	11	surfaces	surface	NOUN
ejpam-6495	249	12	,	,	PUNCT
ejpam-6495	249	13	with	with	ADP
ejpam-6495	249	14	corrected	correct	VERB
ejpam-6495	249	15	speeds	speed	NOUN
ejpam-6495	249	16	are	be	AUX
ejpam-6495	249	17	close	close	ADJ
ejpam-6495	249	18	to	to	ADP
ejpam-6495	249	19	the	the	DET
ejpam-6495	249	20	predicted	predict	VERB
ejpam-6495	249	21	ones	one	NOUN
ejpam-6495	249	22	.	.	PUNCT
ejpam-6495	250	1	the	the	DET
ejpam-6495	250	2	final	final	ADJ
ejpam-6495	250	3	corrected	correct	VERB
ejpam-6495	250	4	angular	angular	ADJ
ejpam-6495	250	5	velocities	velocity	NOUN
ejpam-6495	250	6	are	be	AUX
ejpam-6495	250	7	-16.125	-16.125	NOUN
ejpam-6495	250	8	°	°	NUM
ejpam-6495	250	9	/s	/	NOUN
ejpam-6495	250	10	,	,	PUNCT
ejpam-6495	250	11	-4.3619	-4.3619	PROPN
ejpam-6495	250	12	°	°	PROPN
ejpam-6495	250	13	/s	/	NOUN
ejpam-6495	250	14	,	,	PUNCT
ejpam-6495	250	15	w.	w.	PROPN
ejpam-6495	250	16	h.	h.	PROPN
ejpam-6495	250	17	f.	f.	PROPN
ejpam-6495	250	18	aly	aly	PROPN
ejpam-6495	250	19	,	,	PUNCT
ejpam-6495	250	20	n.	n.	PROPN
ejpam-6495	250	21	samashvili	samashvili	NOUN
ejpam-6495	250	22	,	,	PUNCT
ejpam-6495	250	23	c.	c.	PROPN
ejpam-6495	250	24	f.	f.	PROPN
ejpam-6495	250	25	riman	riman	PROPN
ejpam-6495	250	26	/	/	SYM
ejpam-6495	250	27	eur	eur	PROPN
ejpam-6495	250	28	.	.	PUNCT
ejpam-6495	251	1	j.	j.	PROPN
ejpam-6495	251	2	pure	pure	PROPN
ejpam-6495	251	3	appl	appl	PROPN
ejpam-6495	251	4	.	.	PROPN
ejpam-6495	251	5	math	math	PROPN
ejpam-6495	251	6	,	,	PUNCT
ejpam-6495	251	7	18	18	NUM
ejpam-6495	251	8	(	(	PUNCT
ejpam-6495	251	9	3	3	NUM
ejpam-6495	251	10	)	)	PUNCT
ejpam-6495	251	11	(	(	PUNCT
ejpam-6495	251	12	2025	2025	NUM
ejpam-6495	251	13	)	)	PUNCT
ejpam-6495	251	14	,	,	PUNCT
ejpam-6495	251	15	6495	6495	NUM
ejpam-6495	251	16	13	13	NUM
ejpam-6495	251	17	of	of	ADP
ejpam-6495	251	18	28	28	NUM
ejpam-6495	251	19	and	and	CCONJ
ejpam-6495	251	20	-1.33	-1.33	NUM
ejpam-6495	251	21	°	°	PROPN
ejpam-6495	251	22	/s	/	NOUN
ejpam-6495	251	23	,	,	PUNCT
ejpam-6495	251	24	respectively	respectively	ADV
ejpam-6495	251	25	.	.	PUNCT
ejpam-6495	252	1	the	the	DET
ejpam-6495	252	2	updated	update	VERB
ejpam-6495	252	3	error	error	NOUN
ejpam-6495	252	4	covariances	covariance	NOUN
ejpam-6495	252	5	indicate	indicate	VERB
ejpam-6495	252	6	improved	improved	ADJ
ejpam-6495	252	7	confidence	confidence	NOUN
ejpam-6495	252	8	in	in	ADP
ejpam-6495	252	9	the	the	DET
ejpam-6495	252	10	estimated	estimate	VERB
ejpam-6495	252	11	values	value	NOUN
ejpam-6495	252	12	after	after	ADP
ejpam-6495	252	13	applying	apply	VERB
ejpam-6495	252	14	the	the	DET
ejpam-6495	252	15	kalman	kalman	NOUN
ejpam-6495	252	16	filter	filter	NOUN
ejpam-6495	252	17	at	at	ADP
ejpam-6495	252	18	each	each	DET
ejpam-6495	252	19	step	step	NOUN
ejpam-6495	252	20	.	.	PUNCT
ejpam-6495	253	1	the	the	DET
ejpam-6495	253	2	kalman	kalman	PROPN
ejpam-6495	253	3	filter	filter	NOUN
ejpam-6495	253	4	predictions	prediction	NOUN
ejpam-6495	253	5	are	be	AUX
ejpam-6495	253	6	now	now	ADV
ejpam-6495	253	7	highly	highly	ADV
ejpam-6495	253	8	accurate	accurate	ADJ
ejpam-6495	253	9	,	,	PUNCT
ejpam-6495	253	10	and	and	CCONJ
ejpam-6495	253	11	the	the	DET
ejpam-6495	253	12	correction	correction	NOUN
ejpam-6495	253	13	step	step	VERB
ejpam-6495	253	14	only	only	ADV
ejpam-6495	253	15	slightly	slightly	ADV
ejpam-6495	253	16	refines	refine	VERB
ejpam-6495	253	17	the	the	DET
ejpam-6495	253	18	values	value	NOUN
ejpam-6495	253	19	.	.	PUNCT
ejpam-6495	254	1	the	the	DET
ejpam-6495	254	2	error	error	NOUN
ejpam-6495	254	3	covariance	covariance	NOUN
ejpam-6495	254	4	values	value	NOUN
ejpam-6495	254	5	are	be	AUX
ejpam-6495	254	6	at	at	ADP
ejpam-6495	254	7	their	their	PRON
ejpam-6495	254	8	lowest	low	ADJ
ejpam-6495	254	9	,	,	PUNCT
ejpam-6495	254	10	showing	show	VERB
ejpam-6495	254	11	that	that	SCONJ
ejpam-6495	254	12	the	the	DET
ejpam-6495	254	13	filter	filter	NOUN
ejpam-6495	254	14	has	have	AUX
ejpam-6495	254	15	fully	fully	ADV
ejpam-6495	254	16	adapted	adapt	VERB
ejpam-6495	254	17	to	to	ADP
ejpam-6495	254	18	the	the	DET
ejpam-6495	254	19	system	system	NOUN
ejpam-6495	254	20	dynamics	dynamic	NOUN
ejpam-6495	254	21	.	.	PUNCT
ejpam-6495	255	1	table	table	NOUN
ejpam-6495	255	2	7	7	NUM
ejpam-6495	255	3	:	:	PUNCT
ejpam-6495	255	4	kalman	kalman	NOUN
ejpam-6495	255	5	filter	filter	NOUN
ejpam-6495	255	6	results	result	NOUN
ejpam-6495	255	7	–	–	PUNCT
ejpam-6495	255	8	step	step	NOUN
ejpam-6495	255	9	1	1	NUM
ejpam-6495	255	10	surface	surface	NOUN
ejpam-6495	255	11	type	type	NOUN
ejpam-6495	255	12	pred	pre	VERB
ejpam-6495	255	13	speed	speed	NOUN
ejpam-6495	255	14	pred	pre	VERB
ejpam-6495	255	15	ω	ω	NUM
ejpam-6495	256	1	ks	ks	NOUN
ejpam-6495	256	2	kω	kω	PROPN
ejpam-6495	256	3	corr	corr	PROPN
ejpam-6495	256	4	speed	speed	PROPN
ejpam-6495	256	5	corr	corr	PROPN
ejpam-6495	256	6	ω	ω	PROPN
ejpam-6495	256	7	p̂s	p̂s	PROPN
ejpam-6495	256	8	p̂ω	p̂ω	X
ejpam-6495	256	9	indoor	indoor	PROPN
ejpam-6495	256	10	smooth	smooth	ADJ
ejpam-6495	256	11	27.20	27.20	NUM
ejpam-6495	256	12	0	0	NUM
ejpam-6495	257	1	0.7879	0.7879	NUM
ejpam-6495	257	2	0.8728	0.8728	NUM
ejpam-6495	257	3	27.04	27.04	NUM
ejpam-6495	257	4	0	0	NUM
ejpam-6495	257	5	0.0158	0.0158	NUM
ejpam-6495	257	6	0.0087	0.0087	NUM
ejpam-6495	257	7	outdoor	outdoor	NOUN
ejpam-6495	257	8	uneven	uneven	ADJ
ejpam-6495	257	9	24.80	24.80	NUM
ejpam-6495	257	10	0	0	NUM
ejpam-6495	258	1	0.2761	0.2761	NUM
ejpam-6495	258	2	0.2814	0.2814	NUM
ejpam-6495	258	3	24.58	24.58	NUM
ejpam-6495	258	4	0	0	NUM
ejpam-6495	258	5	0.0828	0.0828	NUM
ejpam-6495	258	6	0.0844	0.0844	NUM
ejpam-6495	258	7	very	very	ADV
ejpam-6495	258	8	rough	rough	ADJ
ejpam-6495	258	9	outdoor	outdoor	NOUN
ejpam-6495	258	10	23.20	23.20	NUM
ejpam-6495	258	11	0	0	NUM
ejpam-6495	258	12	0.5487	0.5487	NUM
ejpam-6495	258	13	0.5484	0.5484	NUM
ejpam-6495	258	14	22.54	22.54	NUM
ejpam-6495	258	15	0	0	NUM
ejpam-6495	258	16	0.2744	0.2744	NUM
ejpam-6495	258	17	0.2742	0.2742	NUM
ejpam-6495	258	18	where	where	SCONJ
ejpam-6495	258	19	p̂s	p̂s	NOUN
ejpam-6495	258	20	and	and	CCONJ
ejpam-6495	258	21	p̂ω	p̂ω	NOUN
ejpam-6495	258	22	denote	denote	VERB
ejpam-6495	258	23	the	the	DET
ejpam-6495	258	24	updated	update	VERB
ejpam-6495	258	25	error	error	NOUN
ejpam-6495	258	26	covariance	covariance	NOUN
ejpam-6495	258	27	for	for	ADP
ejpam-6495	258	28	speed	speed	NOUN
ejpam-6495	258	29	and	and	CCONJ
ejpam-6495	258	30	angular	angular	ADJ
ejpam-6495	258	31	velocity	velocity	NOUN
ejpam-6495	258	32	,	,	PUNCT
ejpam-6495	258	33	respectively	respectively	ADV
ejpam-6495	258	34	.	.	PUNCT
ejpam-6495	258	35	table	table	NOUN
ejpam-6495	258	36	8	8	NUM
ejpam-6495	258	37	:	:	PUNCT
ejpam-6495	258	38	kalman	kalman	NOUN
ejpam-6495	258	39	filter	filter	NOUN
ejpam-6495	258	40	results	result	NOUN
ejpam-6495	258	41	–	–	PUNCT
ejpam-6495	258	42	step	step	NOUN
ejpam-6495	258	43	2	2	NUM
ejpam-6495	258	44	surface	surface	NOUN
ejpam-6495	258	45	type	type	NOUN
ejpam-6495	258	46	pred	pre	VERB
ejpam-6495	258	47	speed	speed	NOUN
ejpam-6495	258	48	pred	pre	VERB
ejpam-6495	258	49	ω	ω	NUM
ejpam-6495	258	50	ks	ks	NOUN
ejpam-6495	258	51	kω	kω	PROPN
ejpam-6495	258	52	corr	corr	PROPN
ejpam-6495	258	53	speed	speed	PROPN
ejpam-6495	258	54	corr	corr	PROPN
ejpam-6495	258	55	ω	ω	PROPN
ejpam-6495	258	56	p̂s	p̂s	PROPN
ejpam-6495	258	57	p̂ω	p̂ω	X
ejpam-6495	258	58	indoor	indoor	PROPN
ejpam-6495	258	59	smooth	smooth	ADJ
ejpam-6495	258	60	60.00	60.00	NUM
ejpam-6495	258	61	0	0	NUM
ejpam-6495	258	62	0.4407	0.4407	NUM
ejpam-6495	258	63	0.4660	0.4660	NUM
ejpam-6495	258	64	59.56	59.56	NUM
ejpam-6495	258	65	0	0	NUM
ejpam-6495	258	66	0.0088	0.0088	NUM
ejpam-6495	258	67	0.0047	0.0047	NUM
ejpam-6495	258	68	outdoor	outdoor	ADJ
ejpam-6495	258	69	uneven	uneven	ADJ
ejpam-6495	258	70	54.75	54.75	NUM
ejpam-6495	258	71	0	0	NUM
ejpam-6495	258	72	0.2163	0.2163	NUM
ejpam-6495	258	73	0.2196	0.2196	NUM
ejpam-6495	258	74	54.59	54.59	NUM
ejpam-6495	258	75	0	0	NUM
ejpam-6495	258	76	0.0649	0.0649	NUM
ejpam-6495	258	77	0.0659	0.0659	NUM
ejpam-6495	258	78	very	very	ADV
ejpam-6495	258	79	rough	rough	ADJ
ejpam-6495	258	80	outdoor	outdoor	NOUN
ejpam-6495	258	81	49.02	49.02	NUM
ejpam-6495	258	82	0	0	NUM
ejpam-6495	259	1	0.3543	0.3543	NUM
ejpam-6495	259	2	0.3542	0.3542	NUM
ejpam-6495	259	3	48.66	48.66	NUM
ejpam-6495	259	4	0	0	NUM
ejpam-6495	259	5	0.1772	0.1772	NUM
ejpam-6495	259	6	0.1771	0.1771	NUM
ejpam-6495	259	7	table	table	NOUN
ejpam-6495	259	8	9	9	NUM
ejpam-6495	259	9	:	:	PUNCT
ejpam-6495	259	10	kalman	kalman	NOUN
ejpam-6495	259	11	filter	filter	NOUN
ejpam-6495	259	12	results	result	NOUN
ejpam-6495	259	13	–	–	PUNCT
ejpam-6495	259	14	step	step	NOUN
ejpam-6495	259	15	3	3	NUM
ejpam-6495	259	16	:	:	PUNCT
ejpam-6495	259	17	turning	turn	VERB
ejpam-6495	259	18	begins	begin	VERB
ejpam-6495	259	19	surface	surface	NOUN
ejpam-6495	259	20	type	type	NOUN
ejpam-6495	259	21	pred	pre	VERB
ejpam-6495	259	22	speed	speed	NOUN
ejpam-6495	260	1	pred	pre	VERB
ejpam-6495	260	2	ω	ω	NUM
ejpam-6495	260	3	ks	ks	NOUN
ejpam-6495	260	4	kω	kω	PROPN
ejpam-6495	260	5	corr	corr	PROPN
ejpam-6495	260	6	speed	speed	PROPN
ejpam-6495	260	7	corr	corr	PROPN
ejpam-6495	260	8	ω	ω	PROPN
ejpam-6495	260	9	p̂s	p̂s	PROPN
ejpam-6495	260	10	p̂ω	p̂ω	X
ejpam-6495	260	11	indoor	indoor	PROPN
ejpam-6495	260	12	smooth	smooth	ADJ
ejpam-6495	260	13	60.00	60.00	NUM
ejpam-6495	260	14	10.00	10.00	NUM
ejpam-6495	260	15	0.3059	0.3059	NUM
ejpam-6495	260	16	0.3179	0.3179	NUM
ejpam-6495	260	17	59.69	59.69	NUM
ejpam-6495	260	18	10.00	10.00	NUM
ejpam-6495	260	19	0.0061	0.0061	NUM
ejpam-6495	260	20	0.0032	0.0032	NUM
ejpam-6495	260	21	outdoor	outdoor	NOUN
ejpam-6495	260	22	uneven	uneven	ADV
ejpam-6495	260	23	52.75	52.75	NUM
ejpam-6495	261	1	10.00	10.00	NUM
ejpam-6495	261	2	0.1779	0.1779	NUM
ejpam-6495	261	3	0.1801	0.1801	NUM
ejpam-6495	261	4	52.62	52.62	NUM
ejpam-6495	261	5	10.00	10.00	NUM
ejpam-6495	261	6	0.0534	0.0534	NUM
ejpam-6495	261	7	0.0540	0.0540	NUM
ejpam-6495	261	8	very	very	ADV
ejpam-6495	261	9	rough	rough	ADJ
ejpam-6495	261	10	outdoor	outdoor	NOUN
ejpam-6495	261	11	39.46	39.46	NUM
ejpam-6495	261	12	10.00	10.00	NUM
ejpam-6495	261	13	0.2616	0.2616	NUM
ejpam-6495	261	14	0.2615	0.2615	NUM
ejpam-6495	261	15	39.08	39.08	NUM
ejpam-6495	261	16	10.00	10.00	NUM
ejpam-6495	261	17	0.1308	0.1308	NUM
ejpam-6495	261	18	0.1308	0.1308	NUM
ejpam-6495	261	19	visual	visual	ADJ
ejpam-6495	261	20	representation	representation	NOUN
ejpam-6495	261	21	of	of	ADP
ejpam-6495	261	22	how	how	SCONJ
ejpam-6495	261	23	the	the	DET
ejpam-6495	261	24	kalman	kalman	NOUN
ejpam-6495	261	25	gain	gain	VERB
ejpam-6495	261	26	(	(	PUNCT
ejpam-6495	261	27	ks	ks	NOUN
ejpam-6495	261	28	)	)	PUNCT
ejpam-6495	261	29	and	and	CCONJ
ejpam-6495	261	30	the	the	DET
ejpam-6495	261	31	error	error	NOUN
ejpam-6495	261	32	covariance	covariance	NOUN
ejpam-6495	261	33	(	(	PUNCT
ejpam-6495	261	34	p̂s	p̂s	NOUN
ejpam-6495	261	35	)	)	PUNCT
ejpam-6495	261	36	for	for	ADP
ejpam-6495	261	37	speed	speed	NOUN
ejpam-6495	261	38	evolve	evolve	VERB
ejpam-6495	261	39	across	across	ADP
ejpam-6495	261	40	the	the	DET
ejpam-6495	261	41	steps	step	NOUN
ejpam-6495	261	42	for	for	ADP
ejpam-6495	261	43	each	each	DET
ejpam-6495	261	44	surface	surface	NOUN
ejpam-6495	261	45	type	type	NOUN
ejpam-6495	261	46	:	:	PUNCT
ejpam-6495	261	47	left	left	ADJ
ejpam-6495	261	48	plot	plot	NOUN
ejpam-6495	261	49	(	(	PUNCT
ejpam-6495	261	50	kalman	kalman	NOUN
ejpam-6495	261	51	gain	gain	PROPN
ejpam-6495	261	52	ks	k	NOUN
ejpam-6495	261	53	)	)	PUNCT
ejpam-6495	261	54	shows	show	VERB
ejpam-6495	261	55	that	that	SCONJ
ejpam-6495	261	56	the	the	DET
ejpam-6495	261	57	kalman	kalman	NOUN
ejpam-6495	261	58	gain	gain	VERB
ejpam-6495	261	59	decreases	decrease	NOUN
ejpam-6495	261	60	with	with	ADP
ejpam-6495	261	61	each	each	DET
ejpam-6495	261	62	step	step	NOUN
ejpam-6495	261	63	,	,	PUNCT
ejpam-6495	261	64	indicating	indicate	VERB
ejpam-6495	261	65	that	that	SCONJ
ejpam-6495	261	66	the	the	DET
ejpam-6495	261	67	filter	filter	NOUN
ejpam-6495	261	68	becomes	become	VERB
ejpam-6495	261	69	more	more	ADV
ejpam-6495	261	70	confident	confident	ADJ
ejpam-6495	261	71	in	in	ADP
ejpam-6495	261	72	its	its	PRON
ejpam-6495	261	73	prediction	prediction	NOUN
ejpam-6495	261	74	as	as	SCONJ
ejpam-6495	261	75	it	it	PRON
ejpam-6495	261	76	incorporates	incorporate	VERB
ejpam-6495	261	77	more	more	ADJ
ejpam-6495	261	78	data	datum	NOUN
ejpam-6495	261	79	.	.	PUNCT
ejpam-6495	262	1	right	right	ADJ
ejpam-6495	262	2	plot	plot	NOUN
ejpam-6495	262	3	(	(	PUNCT
ejpam-6495	262	4	error	error	NOUN
ejpam-6495	262	5	covariance	covariance	NOUN
ejpam-6495	262	6	s	s	PART
ejpam-6495	262	7	)	)	PUNCT
ejpam-6495	262	8	also	also	ADV
ejpam-6495	262	9	decreases	decrease	VERB
ejpam-6495	262	10	steadily	steadily	ADV
ejpam-6495	262	11	,	,	PUNCT
ejpam-6495	262	12	demonstrating	demonstrate	VERB
ejpam-6495	262	13	that	that	SCONJ
ejpam-6495	262	14	the	the	DET
ejpam-6495	262	15	uncertainty	uncertainty	NOUN
ejpam-6495	262	16	in	in	ADP
ejpam-6495	262	17	the	the	DET
ejpam-6495	262	18	speed	speed	NOUN
ejpam-6495	262	19	estimate	estimate	NOUN
ejpam-6495	262	20	is	be	AUX
ejpam-6495	262	21	reducing	reduce	VERB
ejpam-6495	262	22	with	with	ADP
ejpam-6495	262	23	each	each	DET
ejpam-6495	262	24	iteration	iteration	NOUN
ejpam-6495	262	25	—	—	PUNCT
ejpam-6495	262	26	highlighting	highlight	VERB
ejpam-6495	262	27	the	the	DET
ejpam-6495	262	28	filter	filter	NOUN
ejpam-6495	262	29	’s	’s	PART
ejpam-6495	262	30	effectiveness	effectiveness	NOUN
ejpam-6495	262	31	.	.	PUNCT
ejpam-6495	263	1	the	the	DET
ejpam-6495	263	2	graph	graph	NOUN
ejpam-6495	263	3	in	in	ADP
ejpam-6495	263	4	figure	figure	NOUN
ejpam-6495	263	5	4	4	NUM
ejpam-6495	263	6	represents	represent	VERB
ejpam-6495	263	7	how	how	SCONJ
ejpam-6495	263	8	the	the	DET
ejpam-6495	263	9	kalman	kalman	NOUN
ejpam-6495	263	10	gain	gain	VERB
ejpam-6495	263	11	for	for	ADP
ejpam-6495	263	12	angular	angular	ADJ
ejpam-6495	263	13	velocity	velocity	NOUN
ejpam-6495	263	14	(	(	PUNCT
ejpam-6495	263	15	kω	kω	NOUN
ejpam-6495	263	16	)	)	PUNCT
ejpam-6495	263	17	and	and	CCONJ
ejpam-6495	263	18	the	the	DET
ejpam-6495	263	19	updated	update	VERB
ejpam-6495	263	20	error	error	NOUN
ejpam-6495	263	21	covariance	covariance	NOUN
ejpam-6495	263	22	(	(	PUNCT
ejpam-6495	263	23	p̂ω	p̂ω	NOUN
ejpam-6495	263	24	)	)	PUNCT
ejpam-6495	263	25	evolve	evolve	VERB
ejpam-6495	263	26	over	over	ADP
ejpam-6495	263	27	the	the	DET
ejpam-6495	263	28	7	7	NUM
ejpam-6495	263	29	steps	step	NOUN
ejpam-6495	263	30	.	.	PUNCT
ejpam-6495	264	1	kω	kω	NOUN
ejpam-6495	264	2	and	and	CCONJ
ejpam-6495	264	3	p̂ω	p̂ω	NOUN
ejpam-6495	264	4	decrease	decrease	NOUN
ejpam-6495	264	5	step	step	NOUN
ejpam-6495	264	6	-	-	PUNCT
ejpam-6495	264	7	by	by	ADP
ejpam-6495	264	8	-	-	PUNCT
ejpam-6495	264	9	step	step	NOUN
ejpam-6495	264	10	for	for	ADP
ejpam-6495	264	11	all	all	DET
ejpam-6495	264	12	surfaces	surface	NOUN
ejpam-6495	264	13	,	,	PUNCT
ejpam-6495	264	14	indicating	indicate	VERB
ejpam-6495	264	15	that	that	SCONJ
ejpam-6495	264	16	the	the	DET
ejpam-6495	264	17	kalman	kalman	PROPN
ejpam-6495	264	18	filter	filter	NOUN
ejpam-6495	264	19	gradually	gradually	ADV
ejpam-6495	264	20	puts	put	VERB
ejpam-6495	264	21	more	more	ADJ
ejpam-6495	264	22	trust	trust	NOUN
ejpam-6495	264	23	in	in	ADP
ejpam-6495	264	24	its	its	PRON
ejpam-6495	264	25	internal	internal	ADJ
ejpam-6495	264	26	model	model	NOUN
ejpam-6495	264	27	as	as	SCONJ
ejpam-6495	264	28	the	the	DET
ejpam-6495	264	29	uncertainty	uncertainty	NOUN
ejpam-6495	264	30	reduces	reduce	VERB
ejpam-6495	264	31	.	.	PUNCT
ejpam-6495	265	1	w.	w.	PROPN
ejpam-6495	265	2	h.	h.	PROPN
ejpam-6495	265	3	f.	f.	PROPN
ejpam-6495	265	4	aly	aly	PROPN
ejpam-6495	265	5	,	,	PUNCT
ejpam-6495	265	6	n.	n.	PROPN
ejpam-6495	265	7	samashvili	samashvili	NOUN
ejpam-6495	265	8	,	,	PUNCT
ejpam-6495	265	9	c.	c.	PROPN
ejpam-6495	265	10	f.	f.	PROPN
ejpam-6495	265	11	riman	riman	PROPN
ejpam-6495	265	12	/	/	SYM
ejpam-6495	265	13	eur	eur	PROPN
ejpam-6495	265	14	.	.	PUNCT
ejpam-6495	266	1	j.	j.	PROPN
ejpam-6495	266	2	pure	pure	PROPN
ejpam-6495	266	3	appl	appl	PROPN
ejpam-6495	266	4	.	.	PROPN
ejpam-6495	266	5	math	math	PROPN
ejpam-6495	266	6	,	,	PUNCT
ejpam-6495	266	7	18	18	NUM
ejpam-6495	266	8	(	(	PUNCT
ejpam-6495	266	9	3	3	NUM
ejpam-6495	266	10	)	)	PUNCT
ejpam-6495	266	11	(	(	PUNCT
ejpam-6495	266	12	2025	2025	NUM
ejpam-6495	266	13	)	)	PUNCT
ejpam-6495	266	14	,	,	PUNCT
ejpam-6495	266	15	6495	6495	NUM
ejpam-6495	266	16	14	14	NUM
ejpam-6495	266	17	of	of	ADP
ejpam-6495	266	18	28	28	NUM
ejpam-6495	266	19	table	table	NOUN
ejpam-6495	266	20	10	10	NUM
ejpam-6495	266	21	:	:	PUNCT
ejpam-6495	266	22	kalman	kalman	NOUN
ejpam-6495	266	23	filter	filter	NOUN
ejpam-6495	266	24	results	result	NOUN
ejpam-6495	266	25	–	–	PUNCT
ejpam-6495	266	26	step	step	NOUN
ejpam-6495	266	27	4	4	NUM
ejpam-6495	266	28	:	:	PUNCT
ejpam-6495	266	29	sharp	sharp	ADJ
ejpam-6495	266	30	turn	turn	NOUN
ejpam-6495	266	31	and	and	CCONJ
ejpam-6495	266	32	reduced	reduce	VERB
ejpam-6495	266	33	speed	speed	NOUN
ejpam-6495	266	34	surface	surface	NOUN
ejpam-6495	266	35	type	type	NOUN
ejpam-6495	266	36	pred	pre	VERB
ejpam-6495	266	37	speed	speed	NOUN
ejpam-6495	266	38	pred	pre	VERB
ejpam-6495	266	39	ω	ω	NUM
ejpam-6495	266	40	ks	ks	NOUN
ejpam-6495	266	41	kω	kω	PROPN
ejpam-6495	266	42	corr	corr	PROPN
ejpam-6495	266	43	speed	speed	PROPN
ejpam-6495	267	1	corr	corr	PROPN
ejpam-6495	267	2	ω	ω	PROPN
ejpam-6495	267	3	p̂s	p̂s	PROPN
ejpam-6495	267	4	p̂ω	p̂ω	X
ejpam-6495	267	5	indoor	indoor	PROPN
ejpam-6495	267	6	smooth	smooth	ADJ
ejpam-6495	267	7	60.00	60.00	NUM
ejpam-6495	267	8	11.00	11.00	NUM
ejpam-6495	267	9	0.2342	0.2342	NUM
ejpam-6495	267	10	0.2412	0.2412	NUM
ejpam-6495	268	1	59.77	59.77	NUM
ejpam-6495	268	2	11.00	11.00	NUM
ejpam-6495	268	3	0.0047	0.0047	NUM
ejpam-6495	268	4	0.0024	0.0024	NUM
ejpam-6495	268	5	outdoor	outdoor	ADJ
ejpam-6495	268	6	uneven	uneven	ADJ
ejpam-6495	268	7	51.57	51.57	NUM
ejpam-6495	268	8	15.00	15.00	NUM
ejpam-6495	268	9	0.1510	0.1510	NUM
ejpam-6495	268	10	0.1526	0.1526	NUM
ejpam-6495	268	11	51.48	51.48	NUM
ejpam-6495	268	12	15.00	15.00	NUM
ejpam-6495	268	13	0.0453	0.0453	NUM
ejpam-6495	268	14	0.0458	0.0458	NUM
ejpam-6495	268	15	very	very	ADV
ejpam-6495	268	16	rough	rough	ADJ
ejpam-6495	268	17	outdoor	outdoor	ADJ
ejpam-6495	268	18	35.63	35.63	NUM
ejpam-6495	268	19	17.00	17.00	NUM
ejpam-6495	268	20	0.2074	0.2074	NUM
ejpam-6495	268	21	0.2073	0.2073	NUM
ejpam-6495	268	22	35.50	35.50	NUM
ejpam-6495	268	23	17.00	17.00	NUM
ejpam-6495	268	24	0.1037	0.1037	NUM
ejpam-6495	268	25	0.1037	0.1037	NUM
ejpam-6495	268	26	table	table	NOUN
ejpam-6495	268	27	11	11	NUM
ejpam-6495	268	28	:	:	PUNCT
ejpam-6495	268	29	kalman	kalman	NOUN
ejpam-6495	268	30	filter	filter	NOUN
ejpam-6495	268	31	results	result	NOUN
ejpam-6495	268	32	–	–	PUNCT
ejpam-6495	268	33	step	step	NOUN
ejpam-6495	268	34	5	5	NUM
ejpam-6495	268	35	:	:	PUNCT
ejpam-6495	268	36	sharpest	sharp	ADJ
ejpam-6495	268	37	turn	turn	VERB
ejpam-6495	268	38	surface	surface	NOUN
ejpam-6495	268	39	type	type	NOUN
ejpam-6495	268	40	pred	pre	VERB
ejpam-6495	268	41	speed	speed	NOUN
ejpam-6495	269	1	pred	pre	VERB
ejpam-6495	269	2	ω	ω	NUM
ejpam-6495	269	3	ks	ks	NOUN
ejpam-6495	269	4	kω	kω	PROPN
ejpam-6495	269	5	corr	corr	PROPN
ejpam-6495	269	6	speed	speed	PROPN
ejpam-6495	269	7	corr	corr	PROPN
ejpam-6495	269	8	ω	ω	PROPN
ejpam-6495	269	9	p̂s	p̂s	PROPN
ejpam-6495	269	10	p̂ω	p̂ω	X
ejpam-6495	269	11	indoor	indoor	PROPN
ejpam-6495	269	12	smooth	smooth	VERB
ejpam-6495	269	13	60.00	60.00	NUM
ejpam-6495	269	14	19.90	19.90	NUM
ejpam-6495	269	15	0.1898	0.1898	NUM
ejpam-6495	269	16	0.1943	0.1943	NUM
ejpam-6495	269	17	59.81	59.81	NUM
ejpam-6495	269	18	19.92	19.92	NUM
ejpam-6495	269	19	0.0038	0.0038	NUM
ejpam-6495	269	20	0.0019	0.0019	NUM
ejpam-6495	269	21	outdoor	outdoor	NOUN
ejpam-6495	269	22	uneven	uneven	ADV
ejpam-6495	269	23	50.89	50.89	NUM
ejpam-6495	269	24	17.50	17.50	NUM
ejpam-6495	269	25	0.1312	0.1312	NUM
ejpam-6495	269	26	0.1324	0.1324	NUM
ejpam-6495	269	27	50.77	50.77	NUM
ejpam-6495	269	28	17.57	17.57	NUM
ejpam-6495	269	29	0.0394	0.0394	NUM
ejpam-6495	269	30	0.0397	0.0397	NUM
ejpam-6495	269	31	very	very	ADV
ejpam-6495	269	32	rough	rough	ADJ
ejpam-6495	269	33	outdoor	outdoor	NOUN
ejpam-6495	269	34	34.20	34.20	NUM
ejpam-6495	269	35	15.10	15.10	NUM
ejpam-6495	269	36	0.1718	0.1718	NUM
ejpam-6495	269	37	0.1717	0.1717	NUM
ejpam-6495	269	38	33.99	33.99	NUM
ejpam-6495	269	39	15.08	15.08	NUM
ejpam-6495	269	40	0.0859	0.0859	NUM
ejpam-6495	269	41	0.0859	0.0859	NUM
ejpam-6495	269	42	ekfwc	ekfwc	NOUN
ejpam-6495	269	43	proposed	propose	VERB
ejpam-6495	269	44	model	model	NOUN
ejpam-6495	269	45	algorithm	algorithm	NOUN
ejpam-6495	269	46	is	be	AUX
ejpam-6495	269	47	given	give	VERB
ejpam-6495	269	48	in	in	ADP
ejpam-6495	269	49	algorithm	algorithm	NOUN
ejpam-6495	269	50	1	1	NUM
ejpam-6495	269	51	.	.	PUNCT
ejpam-6495	269	52	table	table	NOUN
ejpam-6495	269	53	12	12	NUM
ejpam-6495	269	54	:	:	PUNCT
ejpam-6495	269	55	kalman	kalman	NOUN
ejpam-6495	269	56	filter	filter	NOUN
ejpam-6495	269	57	results	result	NOUN
ejpam-6495	269	58	–	–	PUNCT
ejpam-6495	269	59	step	step	VERB
ejpam-6495	269	60	6	6	NUM
ejpam-6495	269	61	:	:	PUNCT
ejpam-6495	269	62	recovery	recovery	NOUN
ejpam-6495	269	63	and	and	CCONJ
ejpam-6495	269	64	slowing	slow	VERB
ejpam-6495	269	65	turn	turn	NOUN
ejpam-6495	269	66	surface	surface	NOUN
ejpam-6495	269	67	type	type	NOUN
ejpam-6495	269	68	pred	pre	VERB
ejpam-6495	269	69	speed	speed	NOUN
ejpam-6495	269	70	pred	pre	VERB
ejpam-6495	269	71	ω	ω	NUM
ejpam-6495	269	72	ks	ks	NOUN
ejpam-6495	269	73	kω	kω	PROPN
ejpam-6495	269	74	corr	corr	PROPN
ejpam-6495	269	75	speed	speed	PROPN
ejpam-6495	269	76	corr	corr	PROPN
ejpam-6495	269	77	ω	ω	PROPN
ejpam-6495	269	78	p̂s	p̂s	PROPN
ejpam-6495	269	79	p̂ω	p̂ω	X
ejpam-6495	269	80	indoor	indoor	PROPN
ejpam-6495	269	81	smooth	smooth	ADJ
ejpam-6495	269	82	60.00	60.00	NUM
ejpam-6495	269	83	17.93	17.93	NUM
ejpam-6495	269	84	0.1595	0.1595	NUM
ejpam-6495	269	85	0.1627	0.1627	NUM
ejpam-6495	269	86	59.84	59.84	NUM
ejpam-6495	269	87	17.94	17.94	NUM
ejpam-6495	269	88	0.0032	0.0032	NUM
ejpam-6495	269	89	0.0016	0.0016	NUM
ejpam-6495	269	90	outdoor	outdoor	NOUN
ejpam-6495	269	91	uneven	uneven	ADV
ejpam-6495	269	92	60.00	60.00	NUM
ejpam-6495	269	93	-8.78	-8.78	NOUN
ejpam-6495	269	94	0.1160	0.1160	NUM
ejpam-6495	269	95	0.1169	0.1169	NUM
ejpam-6495	269	96	59.88	59.88	NUM
ejpam-6495	269	97	-8.81	-8.81	NOUN
ejpam-6495	269	98	0.0348	0.0348	NUM
ejpam-6495	269	99	0.0351	0.0351	NUM
ejpam-6495	269	100	very	very	ADV
ejpam-6495	269	101	rough	rough	ADJ
ejpam-6495	269	102	outdoor	outdoor	ADJ
ejpam-6495	269	103	53.60	53.60	NUM
ejpam-6495	269	104	-4.52	-4.52	NOUN
ejpam-6495	269	105	0.1466	0.1466	NUM
ejpam-6495	269	106	0.1466	0.1466	NUM
ejpam-6495	269	107	53.51	53.51	NUM
ejpam-6495	269	108	-4.59	-4.59	NUM
ejpam-6495	269	109	0.0733	0.0733	NUM
ejpam-6495	269	110	0.0733	0.0733	NUM
ejpam-6495	269	111	w.	w.	PROPN
ejpam-6495	269	112	h.	h.	PROPN
ejpam-6495	269	113	f.	f.	PROPN
ejpam-6495	269	114	aly	aly	PROPN
ejpam-6495	269	115	,	,	PUNCT
ejpam-6495	269	116	n.	n.	PROPN
ejpam-6495	269	117	samashvili	samashvili	NOUN
ejpam-6495	269	118	,	,	PUNCT
ejpam-6495	269	119	c.	c.	PROPN
ejpam-6495	269	120	f.	f.	PROPN
ejpam-6495	269	121	riman	riman	PROPN
ejpam-6495	269	122	/	/	SYM
ejpam-6495	269	123	eur	eur	PROPN
ejpam-6495	269	124	.	.	PUNCT
ejpam-6495	270	1	j.	j.	PROPN
ejpam-6495	270	2	pure	pure	PROPN
ejpam-6495	270	3	appl	appl	PROPN
ejpam-6495	270	4	.	.	PROPN
ejpam-6495	270	5	math	math	PROPN
ejpam-6495	270	6	,	,	PUNCT
ejpam-6495	270	7	18	18	NUM
ejpam-6495	270	8	(	(	PUNCT
ejpam-6495	270	9	3	3	NUM
ejpam-6495	270	10	)	)	PUNCT
ejpam-6495	270	11	(	(	PUNCT
ejpam-6495	270	12	2025	2025	NUM
ejpam-6495	270	13	)	)	PUNCT
ejpam-6495	270	14	,	,	PUNCT
ejpam-6495	270	15	6495	6495	NUM
ejpam-6495	270	16	15	15	NUM
ejpam-6495	270	17	of	of	ADP
ejpam-6495	270	18	28	28	NUM
ejpam-6495	270	19	table	table	NOUN
ejpam-6495	270	20	13	13	NUM
ejpam-6495	270	21	:	:	PUNCT
ejpam-6495	270	22	kalman	kalman	NOUN
ejpam-6495	270	23	filter	filter	NOUN
ejpam-6495	270	24	results	result	NOUN
ejpam-6495	270	25	–	–	PUNCT
ejpam-6495	270	26	step	step	NOUN
ejpam-6495	270	27	7	7	NUM
ejpam-6495	270	28	:	:	PUNCT
ejpam-6495	270	29	stabilizing	stabilize	VERB
ejpam-6495	270	30	trajectory	trajectory	NOUN
ejpam-6495	270	31	surface	surface	NOUN
ejpam-6495	270	32	type	type	NOUN
ejpam-6495	270	33	pred	pre	VERB
ejpam-6495	270	34	speed	speed	NOUN
ejpam-6495	270	35	pred	pre	VERB
ejpam-6495	270	36	ω	ω	NUM
ejpam-6495	270	37	ks	ks	NOUN
ejpam-6495	270	38	kω	kω	PROPN
ejpam-6495	270	39	corr	corr	PROPN
ejpam-6495	270	40	speed	speed	PROPN
ejpam-6495	271	1	corr	corr	PROPN
ejpam-6495	271	2	ω	ω	PROPN
ejpam-6495	271	3	p̂s	p̂s	PROPN
ejpam-6495	271	4	p̂ω	p̂ω	X
ejpam-6495	271	5	indoor	indoor	PROPN
ejpam-6495	271	6	smooth	smooth	ADJ
ejpam-6495	271	7	60.00	60.00	NUM
ejpam-6495	271	8	16.15	16.15	NUM
ejpam-6495	271	9	0.1376	0.1376	NUM
ejpam-6495	271	10	0.1399	0.1399	NUM
ejpam-6495	271	11	59.86	59.86	NUM
ejpam-6495	271	12	16.13	16.13	NUM
ejpam-6495	271	13	0.0028	0.0028	NUM
ejpam-6495	271	14	0.0014	0.0014	NUM
ejpam-6495	271	15	outdoor	outdoor	NOUN
ejpam-6495	271	16	uneven	uneven	ADV
ejpam-6495	271	17	60.00	60.00	NUM
ejpam-6495	271	18	-4.40	-4.40	NUM
ejpam-6495	271	19	0.1039	0.1039	NUM
ejpam-6495	271	20	0.1047	0.1047	NUM
ejpam-6495	271	21	59.90	59.90	NUM
ejpam-6495	271	22	-4.36	-4.36	NUM
ejpam-6495	271	23	0.0312	0.0312	NUM
ejpam-6495	271	24	0.0314	0.0314	NUM
ejpam-6495	271	25	very	very	ADV
ejpam-6495	271	26	rough	rough	ADJ
ejpam-6495	271	27	outdoor	outdoor	NOUN
ejpam-6495	271	28	60.00	60.00	NUM
ejpam-6495	271	29	-1.38	-1.38	NUM
ejpam-6495	271	30	0.1278	0.1278	NUM
ejpam-6495	271	31	0.1278	0.1278	NUM
ejpam-6495	271	32	59.87	59.87	NUM
ejpam-6495	271	33	-1.33	-1.33	NUM
ejpam-6495	271	34	0.0639	0.0639	NUM
ejpam-6495	271	35	0.0639	0.0639	NUM
ejpam-6495	271	36	figure	figure	NOUN
ejpam-6495	271	37	3	3	NUM
ejpam-6495	271	38	:	:	PUNCT
ejpam-6495	271	39	kalman	kalman	NOUN
ejpam-6495	271	40	gain	gain	PROPN
ejpam-6495	271	41	(	(	PUNCT
ejpam-6495	271	42	ks	ks	NOUN
ejpam-6495	271	43	)	)	PUNCT
ejpam-6495	271	44	and	and	CCONJ
ejpam-6495	271	45	the	the	DET
ejpam-6495	271	46	error	error	NOUN
ejpam-6495	271	47	covariance	covariance	NOUN
ejpam-6495	271	48	(	(	PUNCT
ejpam-6495	271	49	p̂s	p̂s	NOUN
ejpam-6495	271	50	)	)	PUNCT
ejpam-6495	271	51	algorithm	algorithm	NOUN
ejpam-6495	271	52	1	1	NUM
ejpam-6495	271	53	kalman	kalman	NOUN
ejpam-6495	271	54	filter	filter	NOUN
ejpam-6495	271	55	for	for	ADP
ejpam-6495	271	56	wheelchair	wheelchair	NOUN
ejpam-6495	271	57	speed	speed	NOUN
ejpam-6495	271	58	and	and	CCONJ
ejpam-6495	271	59	angular	angular	ADJ
ejpam-6495	271	60	velocity	velocity	NOUN
ejpam-6495	271	61	estimation	estimation	NOUN
ejpam-6495	271	62	inputs	input	NOUN
ejpam-6495	271	63	:	:	PUNCT
ejpam-6495	271	64	zs	zs	PROPN
ejpam-6495	271	65	,	,	PUNCT
ejpam-6495	271	66	zω	zω	PROPN
ejpam-6495	271	67	—	—	PUNCT
ejpam-6495	271	68	measured	measure	VERB
ejpam-6495	271	69	speed	speed	NOUN
ejpam-6495	271	70	and	and	CCONJ
ejpam-6495	271	71	angular	angular	ADJ
ejpam-6495	271	72	velocity	velocity	NOUN
ejpam-6495	271	73	us	we	PRON
ejpam-6495	271	74	,	,	PUNCT
ejpam-6495	271	75	uω	uω	ADV
ejpam-6495	271	76	—	—	PUNCT
ejpam-6495	271	77	joystick	joystick	NOUN
ejpam-6495	271	78	input	input	NOUN
ejpam-6495	271	79	values	value	NOUN
ejpam-6495	271	80	for	for	ADP
ejpam-6495	271	81	speed	speed	NOUN
ejpam-6495	271	82	and	and	CCONJ
ejpam-6495	271	83	turning	turn	VERB
ejpam-6495	271	84	parameters	parameter	NOUN
ejpam-6495	271	85	:	:	PUNCT
ejpam-6495	271	86	as	as	ADP
ejpam-6495	271	87	,	,	PUNCT
ejpam-6495	271	88	aω	aω	INTJ
ejpam-6495	271	89	—	—	PUNCT
ejpam-6495	271	90	state	state	NOUN
ejpam-6495	271	91	coefficients	coefficient	NOUN
ejpam-6495	271	92	for	for	ADP
ejpam-6495	271	93	speed	speed	NOUN
ejpam-6495	271	94	and	and	CCONJ
ejpam-6495	271	95	angular	angular	ADJ
ejpam-6495	271	96	velocity	velocity	NOUN
ejpam-6495	271	97	bs	bs	NOUN
ejpam-6495	271	98	,	,	PUNCT
ejpam-6495	271	99	bω	bω	PROPN
ejpam-6495	271	100	—	—	PUNCT
ejpam-6495	271	101	control	control	NOUN
ejpam-6495	271	102	input	input	NOUN
ejpam-6495	271	103	coefficients	coefficient	NOUN
ejpam-6495	271	104	qs	qs	VERB
ejpam-6495	271	105	,	,	PUNCT
ejpam-6495	271	106	qω	qω	INTJ
ejpam-6495	271	107	—	—	PUNCT
ejpam-6495	271	108	process	process	NOUN
ejpam-6495	271	109	noise	noise	NOUN
ejpam-6495	271	110	covariances	covariance	NOUN
ejpam-6495	271	111	rs	r	VERB
ejpam-6495	271	112	,	,	PUNCT
ejpam-6495	271	113	rω	rω	ADJ
ejpam-6495	271	114	—	—	PUNCT
ejpam-6495	271	115	measurement	measurement	NOUN
ejpam-6495	271	116	noise	noise	NOUN
ejpam-6495	271	117	covariances	covariance	NOUN
ejpam-6495	271	118	∆t	∆t	PROPN
ejpam-6495	271	119	—	—	PUNCT
ejpam-6495	271	120	time	time	NOUN
ejpam-6495	271	121	step	step	NOUN
ejpam-6495	271	122	duration	duration	NOUN
ejpam-6495	271	123	output	output	NOUN
ejpam-6495	271	124	:	:	PUNCT
ejpam-6495	271	125	vt	vt	PROPN
ejpam-6495	271	126	,	,	PUNCT
ejpam-6495	271	127	ωt	ωt	PROPN
ejpam-6495	271	128	—	—	PUNCT
ejpam-6495	271	129	estimated	estimate	VERB
ejpam-6495	271	130	speed	speed	NOUN
ejpam-6495	271	131	and	and	CCONJ
ejpam-6495	271	132	angular	angular	ADJ
ejpam-6495	271	133	velocity	velocity	NOUN
ejpam-6495	271	134	1	1	NUM
ejpam-6495	271	135	:	:	PUNCT
ejpam-6495	271	136	procedure	procedure	NOUN
ejpam-6495	271	137	kalman	kalman	NOUN
ejpam-6495	271	138	speed	speed	PROPN
ejpam-6495	271	139	estimation(zs	estimation(zs	PROPN
ejpam-6495	271	140	,	,	PUNCT
ejpam-6495	271	141	zω	zω	NUM
ejpam-6495	271	142	,	,	PUNCT
ejpam-6495	271	143	us	we	PRON
ejpam-6495	271	144	,	,	PUNCT
ejpam-6495	271	145	uω	uω	ADV
ejpam-6495	271	146	)	)	PUNCT
ejpam-6495	271	147	2	2	NUM
ejpam-6495	271	148	:	:	PUNCT
ejpam-6495	271	149	initialization	initialization	NOUN
ejpam-6495	271	150	:	:	PUNCT
ejpam-6495	271	151	set	set	VERB
ejpam-6495	271	152	initial	initial	ADJ
ejpam-6495	271	153	state	state	NOUN
ejpam-6495	271	154	estimates	estimate	NOUN
ejpam-6495	271	155	:	:	PUNCT
ejpam-6495	271	156	v0	v0	NOUN
ejpam-6495	271	157	,	,	PUNCT
ejpam-6495	271	158	ω0	ω0	ADV
ejpam-6495	271	159	set	set	VERB
ejpam-6495	271	160	initial	initial	ADJ
ejpam-6495	271	161	error	error	NOUN
ejpam-6495	271	162	covariances	covariance	NOUN
ejpam-6495	271	163	:	:	PUNCT
ejpam-6495	271	164	ps,0	ps,0	PROPN
ejpam-6495	271	165	,	,	PUNCT
ejpam-6495	271	166	pω,0	pω,0	NOUN
ejpam-6495	271	167	3	3	NUM
ejpam-6495	271	168	:	:	PUNCT
ejpam-6495	271	169	define	define	VERB
ejpam-6495	271	170	system	system	NOUN
ejpam-6495	271	171	matrices	matrice	VERB
ejpam-6495	271	172	a	a	DET
ejpam-6495	271	173	,	,	PUNCT
ejpam-6495	271	174	b	b	NOUN
ejpam-6495	271	175	,	,	PUNCT
ejpam-6495	271	176	h	h	NOUN
ejpam-6495	271	177	,	,	PUNCT
ejpam-6495	271	178	process	process	NOUN
ejpam-6495	271	179	noise	noise	NOUN
ejpam-6495	271	180	covariance	covariance	NOUN
ejpam-6495	271	181	q	q	NOUN
ejpam-6495	271	182	,	,	PUNCT
ejpam-6495	271	183	and	and	CCONJ
ejpam-6495	271	184	measurement	measurement	NOUN
ejpam-6495	271	185	noise	noise	NOUN
ejpam-6495	271	186	covariance	covariance	PROPN
ejpam-6495	271	187	r.	r.	PROPN
ejpam-6495	271	188	4	4	NUM
ejpam-6495	271	189	:	:	PUNCT
ejpam-6495	271	190	prediction	prediction	NOUN
ejpam-6495	271	191	step	step	NOUN
ejpam-6495	271	192	:	:	PUNCT
ejpam-6495	271	193	predict	predict	VERB
ejpam-6495	271	194	speed	speed	NOUN
ejpam-6495	271	195	and	and	CCONJ
ejpam-6495	271	196	angular	angular	ADJ
ejpam-6495	271	197	velocity	velocity	NOUN
ejpam-6495	271	198	using	use	VERB
ejpam-6495	271	199	(	(	PUNCT
ejpam-6495	271	200	5	5	NUM
ejpam-6495	271	201	)	)	PUNCT
ejpam-6495	271	202	.	.	PUNCT
ejpam-6495	272	1	5	5	NUM
ejpam-6495	272	2	:	:	PUNCT
ejpam-6495	272	3	correction	correction	NOUN
ejpam-6495	272	4	step	step	NOUN
ejpam-6495	272	5	:	:	PUNCT
ejpam-6495	272	6	compute	compute	PROPN
ejpam-6495	272	7	kalman	kalman	PROPN
ejpam-6495	272	8	gain	gain	NOUN
ejpam-6495	272	9	:	:	PUNCT
ejpam-6495	272	10	equations	equation	NOUN
ejpam-6495	272	11	(	(	PUNCT
ejpam-6495	272	12	9	9	NUM
ejpam-6495	272	13	)	)	PUNCT
ejpam-6495	272	14	6	6	NUM
ejpam-6495	272	15	:	:	PUNCT
ejpam-6495	272	16	update	update	NOUN
ejpam-6495	272	17	step	step	NOUN
ejpam-6495	272	18	update	update	NOUN
ejpam-6495	272	19	speed	speed	NOUN
ejpam-6495	272	20	,	,	PUNCT
ejpam-6495	272	21	angular	angular	ADJ
ejpam-6495	272	22	velocity	velocity	NOUN
ejpam-6495	272	23	,	,	PUNCT
ejpam-6495	272	24	error	error	NOUN
ejpam-6495	272	25	covariance	covariance	NOUN
ejpam-6495	272	26	(	(	PUNCT
ejpam-6495	272	27	10	10	NUM
ejpam-6495	272	28	)	)	PUNCT
ejpam-6495	272	29	and	and	CCONJ
ejpam-6495	272	30	(	(	PUNCT
ejpam-6495	272	31	11	11	NUM
ejpam-6495	272	32	)	)	PUNCT
ejpam-6495	272	33	.	.	PUNCT
ejpam-6495	273	1	update	update	NOUN
ejpam-6495	273	2	sensor	sensor	NOUN
ejpam-6495	273	3	values	value	NOUN
ejpam-6495	273	4	and	and	CCONJ
ejpam-6495	273	5	return	return	VERB
ejpam-6495	273	6	to	to	ADP
ejpam-6495	273	7	prediction	prediction	NOUN
ejpam-6495	273	8	step	step	NOUN
ejpam-6495	273	9	.	.	PUNCT
ejpam-6495	274	1	7	7	NUM
ejpam-6495	274	2	:	:	PUNCT
ejpam-6495	274	3	end	end	NOUN
ejpam-6495	274	4	procedure	procedure	NOUN
ejpam-6495	274	5	w.	w.	PROPN
ejpam-6495	274	6	h.	h.	PROPN
ejpam-6495	274	7	f.	f.	PROPN
ejpam-6495	274	8	aly	aly	PROPN
ejpam-6495	274	9	,	,	PUNCT
ejpam-6495	274	10	n.	n.	PROPN
ejpam-6495	274	11	samashvili	samashvili	NOUN
ejpam-6495	274	12	,	,	PUNCT
ejpam-6495	274	13	c.	c.	PROPN
ejpam-6495	274	14	f.	f.	PROPN
ejpam-6495	274	15	riman	riman	PROPN
ejpam-6495	274	16	/	/	SYM
ejpam-6495	274	17	eur	eur	PROPN
ejpam-6495	274	18	.	.	PUNCT
ejpam-6495	275	1	j.	j.	PROPN
ejpam-6495	275	2	pure	pure	PROPN
ejpam-6495	275	3	appl	appl	PROPN
ejpam-6495	275	4	.	.	PROPN
ejpam-6495	275	5	math	math	PROPN
ejpam-6495	275	6	,	,	PUNCT
ejpam-6495	275	7	18	18	NUM
ejpam-6495	275	8	(	(	PUNCT
ejpam-6495	275	9	3	3	NUM
ejpam-6495	275	10	)	)	PUNCT
ejpam-6495	275	11	(	(	PUNCT
ejpam-6495	275	12	2025	2025	NUM
ejpam-6495	275	13	)	)	PUNCT
ejpam-6495	275	14	,	,	PUNCT
ejpam-6495	275	15	6495	6495	NUM
ejpam-6495	275	16	16	16	NUM
ejpam-6495	275	17	of	of	ADP
ejpam-6495	275	18	28	28	NUM
ejpam-6495	275	19	figure	figure	NOUN
ejpam-6495	275	20	4	4	NUM
ejpam-6495	275	21	:	:	PUNCT
ejpam-6495	275	22	kalman	kalman	NOUN
ejpam-6495	275	23	gain	gain	NOUN
ejpam-6495	275	24	(	(	PUNCT
ejpam-6495	275	25	kω	kω	NOUN
ejpam-6495	275	26	)	)	PUNCT
ejpam-6495	275	27	and	and	CCONJ
ejpam-6495	275	28	the	the	DET
ejpam-6495	275	29	error	error	NOUN
ejpam-6495	275	30	covariance	covariance	NOUN
ejpam-6495	275	31	(	(	PUNCT
ejpam-6495	275	32	p̂ω	p̂ω	NOUN
ejpam-6495	275	33	)	)	PUNCT
ejpam-6495	275	34	5	5	NUM
ejpam-6495	275	35	.	.	X
ejpam-6495	275	36	experimental	experimental	ADJ
ejpam-6495	275	37	testbed	testbe	VERB
ejpam-6495	275	38	and	and	CCONJ
ejpam-6495	275	39	results	result	NOUN
ejpam-6495	275	40	in	in	ADP
ejpam-6495	275	41	this	this	DET
ejpam-6495	275	42	section	section	NOUN
ejpam-6495	275	43	,	,	PUNCT
ejpam-6495	275	44	experimental	experimental	ADJ
ejpam-6495	275	45	testbed	testbe	VERB
ejpam-6495	275	46	and	and	CCONJ
ejpam-6495	275	47	results	result	NOUN
ejpam-6495	275	48	will	will	AUX
ejpam-6495	275	49	be	be	AUX
ejpam-6495	275	50	discussed	discuss	VERB
ejpam-6495	275	51	.	.	PUNCT
ejpam-6495	276	1	5.1	5.1	NUM
ejpam-6495	276	2	.	.	PUNCT
ejpam-6495	277	1	experimental	experimental	ADJ
ejpam-6495	277	2	testbed	testbe	VERB
ejpam-6495	277	3	in	in	ADP
ejpam-6495	277	4	this	this	DET
ejpam-6495	277	5	work	work	NOUN
ejpam-6495	277	6	we	we	PRON
ejpam-6495	277	7	assume	assume	VERB
ejpam-6495	277	8	that	that	SCONJ
ejpam-6495	277	9	the	the	DET
ejpam-6495	277	10	state	state	NOUN
ejpam-6495	277	11	of	of	ADP
ejpam-6495	277	12	the	the	DET
ejpam-6495	277	13	robot	robot	NOUN
ejpam-6495	277	14	is	be	AUX
ejpam-6495	277	15	defined	define	VERB
ejpam-6495	277	16	by	by	ADP
ejpam-6495	277	17	its	its	PRON
ejpam-6495	277	18	position	position	NOUN
ejpam-6495	277	19	in	in	ADP
ejpam-6495	277	20	the	the	DET
ejpam-6495	277	21	2d	2d	NUM
ejpam-6495	277	22	plane	plane	NOUN
ejpam-6495	277	23	(	(	PUNCT
ejpam-6495	277	24	x	x	NOUN
ejpam-6495	277	25	,	,	PUNCT
ejpam-6495	277	26	y	y	PROPN
ejpam-6495	277	27	)	)	PUNCT
ejpam-6495	277	28	and	and	CCONJ
ejpam-6495	277	29	its	its	PRON
ejpam-6495	277	30	orientation	orientation	NOUN
ejpam-6495	277	31	angle	angle	NOUN
ejpam-6495	277	32	θ	θ	PROPN
ejpam-6495	277	33	.	.	PUNCT
ejpam-6495	278	1	the	the	DET
ejpam-6495	278	2	continuous	continuous	ADJ
ejpam-6495	278	3	-	-	PUNCT
ejpam-6495	278	4	time	time	NOUN
ejpam-6495	278	5	kinematic	kinematic	NOUN
ejpam-6495	278	6	model	model	NOUN
ejpam-6495	278	7	maps	map	VERB
ejpam-6495	278	8	the	the	DET
ejpam-6495	278	9	linear	linear	ADJ
ejpam-6495	278	10	and	and	CCONJ
ejpam-6495	278	11	angular	angular	ADJ
ejpam-6495	278	12	velocities	velocity	NOUN
ejpam-6495	278	13	to	to	ADP
ejpam-6495	278	14	the	the	DET
ejpam-6495	278	15	rate	rate	NOUN
ejpam-6495	278	16	of	of	ADP
ejpam-6495	278	17	change	change	NOUN
ejpam-6495	278	18	in	in	ADP
ejpam-6495	278	19	position	position	NOUN
ejpam-6495	278	20	and	and	CCONJ
ejpam-6495	278	21	orientation	orientation	NOUN
ejpam-6495	278	22	as	as	SCONJ
ejpam-6495	278	23	follows	follow	VERB
ejpam-6495	278	24	:	:	PUNCT
ejpam-6495	278	25	ẋ	ẋ	PROPN
ejpam-6495	279	1	=	=	PUNCT
ejpam-6495	279	2	v	v	PROPN
ejpam-6495	279	3	cos(θ	cos(θ	PROPN
ejpam-6495	279	4	)	)	PUNCT
ejpam-6495	279	5	(	(	PUNCT
ejpam-6495	279	6	12	12	NUM
ejpam-6495	279	7	)	)	PUNCT
ejpam-6495	280	1	ẏ	ẏ	PROPN
ejpam-6495	280	2	=	=	SYM
ejpam-6495	280	3	v	v	NUM
ejpam-6495	280	4	sin(θ	sin(θ	PROPN
ejpam-6495	280	5	)	)	PUNCT
ejpam-6495	280	6	(	(	PUNCT
ejpam-6495	280	7	13	13	NUM
ejpam-6495	280	8	)	)	PUNCT
ejpam-6495	280	9	θ̇	θ̇	NOUN
ejpam-6495	280	10	=	=	SYM
ejpam-6495	280	11	ω	ω	PROPN
ejpam-6495	280	12	(	(	PUNCT
ejpam-6495	280	13	14	14	NUM
ejpam-6495	280	14	)	)	PUNCT
ejpam-6495	280	15	for	for	ADP
ejpam-6495	280	16	computational	computational	ADJ
ejpam-6495	280	17	applications	application	NOUN
ejpam-6495	280	18	,	,	PUNCT
ejpam-6495	280	19	especially	especially	ADV
ejpam-6495	280	20	in	in	ADP
ejpam-6495	280	21	control	control	NOUN
ejpam-6495	280	22	and	and	CCONJ
ejpam-6495	280	23	simulation	simulation	NOUN
ejpam-6495	280	24	,	,	PUNCT
ejpam-6495	280	25	the	the	DET
ejpam-6495	280	26	above	above	ADJ
ejpam-6495	280	27	equations	equation	NOUN
ejpam-6495	280	28	are	be	AUX
ejpam-6495	280	29	discretized	discretize	VERB
ejpam-6495	280	30	using	use	VERB
ejpam-6495	280	31	euler	euler	NOUN
ejpam-6495	280	32	integration	integration	NOUN
ejpam-6495	280	33	over	over	ADP
ejpam-6495	280	34	a	a	DET
ejpam-6495	280	35	small	small	ADJ
ejpam-6495	280	36	time	time	NOUN
ejpam-6495	280	37	step	step	NOUN
ejpam-6495	280	38	∆t	∆t	PROPN
ejpam-6495	280	39	:	:	PUNCT
ejpam-6495	280	40	xt+1	xt+1	X
ejpam-6495	280	41	=	=	SYM
ejpam-6495	281	1	xt	xt	PROPN
ejpam-6495	282	1	+	+	CCONJ
ejpam-6495	282	2	v	v	ADP
ejpam-6495	282	3	cos(θt)∆t	cos(θt)∆t	PUNCT
ejpam-6495	282	4	(	(	PUNCT
ejpam-6495	282	5	15	15	NUM
ejpam-6495	282	6	)	)	PUNCT
ejpam-6495	282	7	yt+1	yt+1	NOUN
ejpam-6495	283	1	=	=	SYM
ejpam-6495	283	2	yt	yt	PROPN
ejpam-6495	283	3	+	+	X
ejpam-6495	283	4	v	v	NOUN
ejpam-6495	283	5	sin(θt)∆t	sin(θt)∆t	PUNCT
ejpam-6495	283	6	(	(	PUNCT
ejpam-6495	283	7	16	16	NUM
ejpam-6495	283	8	)	)	PUNCT
ejpam-6495	283	9	w.	w.	PROPN
ejpam-6495	283	10	h.	h.	PROPN
ejpam-6495	283	11	f.	f.	PROPN
ejpam-6495	283	12	aly	aly	PROPN
ejpam-6495	283	13	,	,	PUNCT
ejpam-6495	283	14	n.	n.	PROPN
ejpam-6495	283	15	samashvili	samashvili	NOUN
ejpam-6495	283	16	,	,	PUNCT
ejpam-6495	283	17	c.	c.	PROPN
ejpam-6495	283	18	f.	f.	PROPN
ejpam-6495	283	19	riman	riman	PROPN
ejpam-6495	283	20	/	/	SYM
ejpam-6495	283	21	eur	eur	PROPN
ejpam-6495	283	22	.	.	PUNCT
ejpam-6495	284	1	j.	j.	PROPN
ejpam-6495	284	2	pure	pure	PROPN
ejpam-6495	284	3	appl	appl	PROPN
ejpam-6495	284	4	.	.	PROPN
ejpam-6495	284	5	math	math	PROPN
ejpam-6495	284	6	,	,	PUNCT
ejpam-6495	284	7	18	18	NUM
ejpam-6495	284	8	(	(	PUNCT
ejpam-6495	284	9	3	3	NUM
ejpam-6495	284	10	)	)	PUNCT
ejpam-6495	284	11	(	(	PUNCT
ejpam-6495	284	12	2025	2025	NUM
ejpam-6495	284	13	)	)	PUNCT
ejpam-6495	284	14	,	,	PUNCT
ejpam-6495	284	15	6495	6495	NUM
ejpam-6495	284	16	17	17	NUM
ejpam-6495	284	17	of	of	ADP
ejpam-6495	284	18	28	28	NUM
ejpam-6495	284	19	θt+1	θt+1	NUM
ejpam-6495	284	20	=	=	PUNCT
ejpam-6495	284	21	θt	θt	PROPN
ejpam-6495	284	22	+	+	X
ejpam-6495	284	23	ω∆t	ω∆t	NOUN
ejpam-6495	284	24	(	(	PUNCT
ejpam-6495	284	25	17	17	NUM
ejpam-6495	284	26	)	)	PUNCT
ejpam-6495	284	27	the	the	DET
ejpam-6495	284	28	linear	linear	ADJ
ejpam-6495	284	29	and	and	CCONJ
ejpam-6495	284	30	angular	angular	ADJ
ejpam-6495	284	31	velocities	velocity	NOUN
ejpam-6495	284	32	can	can	AUX
ejpam-6495	284	33	also	also	ADV
ejpam-6495	284	34	be	be	AUX
ejpam-6495	284	35	derived	derive	VERB
ejpam-6495	284	36	from	from	ADP
ejpam-6495	284	37	the	the	DET
ejpam-6495	284	38	individual	individual	ADJ
ejpam-6495	284	39	wheelchair	wheelchair	NOUN
ejpam-6495	284	40	speed	speed	NOUN
ejpam-6495	284	41	.	.	PUNCT
ejpam-6495	285	1	let	let	VERB
ejpam-6495	285	2	r	r	NOUN
ejpam-6495	285	3	be	be	AUX
ejpam-6495	285	4	the	the	DET
ejpam-6495	285	5	radius	radius	NOUN
ejpam-6495	285	6	of	of	ADP
ejpam-6495	285	7	each	each	DET
ejpam-6495	285	8	wheel	wheel	NOUN
ejpam-6495	285	9	,	,	PUNCT
ejpam-6495	285	10	l	l	X
ejpam-6495	285	11	be	be	VERB
ejpam-6495	285	12	the	the	DET
ejpam-6495	285	13	distance	distance	NOUN
ejpam-6495	285	14	between	between	ADP
ejpam-6495	285	15	the	the	DET
ejpam-6495	285	16	wheels	wheel	NOUN
ejpam-6495	285	17	(	(	PUNCT
ejpam-6495	285	18	wheelbase),ωl	wheelbase),ωl	NUM
ejpam-6495	285	19	and	and	CCONJ
ejpam-6495	285	20	ωr	ωr	PROPN
ejpam-6495	285	21	be	be	AUX
ejpam-6495	285	22	the	the	DET
ejpam-6495	285	23	angular	angular	ADJ
ejpam-6495	285	24	velocities	velocity	NOUN
ejpam-6495	285	25	of	of	ADP
ejpam-6495	285	26	the	the	DET
ejpam-6495	285	27	left	left	ADJ
ejpam-6495	285	28	and	and	CCONJ
ejpam-6495	285	29	right	right	ADJ
ejpam-6495	285	30	wheels	wheel	NOUN
ejpam-6495	285	31	respectively	respectively	ADV
ejpam-6495	285	32	.	.	PUNCT
ejpam-6495	286	1	the	the	DET
ejpam-6495	286	2	linear	linear	ADJ
ejpam-6495	286	3	and	and	CCONJ
ejpam-6495	286	4	angular	angular	ADJ
ejpam-6495	286	5	velocities	velocity	NOUN
ejpam-6495	286	6	of	of	ADP
ejpam-6495	286	7	the	the	DET
ejpam-6495	286	8	robot	robot	NOUN
ejpam-6495	286	9	can	can	AUX
ejpam-6495	286	10	then	then	ADV
ejpam-6495	286	11	be	be	AUX
ejpam-6495	286	12	computed	compute	VERB
ejpam-6495	286	13	as	as	ADP
ejpam-6495	286	14	:	:	PUNCT
ejpam-6495	286	15	v	v	NOUN
ejpam-6495	286	16	=	=	SYM
ejpam-6495	286	17	r	r	NOUN
ejpam-6495	286	18	2	2	NUM
ejpam-6495	286	19	(	(	PUNCT
ejpam-6495	286	20	ωr	ωr	X
ejpam-6495	286	21	+	+	CCONJ
ejpam-6495	286	22	ωl	ωl	NOUN
ejpam-6495	286	23	)	)	PUNCT
ejpam-6495	286	24	(	(	PUNCT
ejpam-6495	286	25	18	18	NUM
ejpam-6495	286	26	)	)	PUNCT
ejpam-6495	286	27	ω	ω	NOUN
ejpam-6495	286	28	=	=	SYM
ejpam-6495	286	29	r	r	NOUN
ejpam-6495	286	30	l	l	NOUN
ejpam-6495	286	31	(	(	PUNCT
ejpam-6495	286	32	ωr	ωr	ADP
ejpam-6495	286	33	−	−	PROPN
ejpam-6495	286	34	ωl	ωl	NOUN
ejpam-6495	286	35	)	)	PUNCT
ejpam-6495	286	36	(	(	PUNCT
ejpam-6495	286	37	19	19	NUM
ejpam-6495	286	38	)	)	PUNCT
ejpam-6495	286	39	to	to	PART
ejpam-6495	286	40	test	test	VERB
ejpam-6495	286	41	the	the	DET
ejpam-6495	286	42	proposed	propose	VERB
ejpam-6495	286	43	kalman	kalman	PROPN
ejpam-6495	286	44	model	model	PROPN
ejpam-6495	286	45	,	,	PUNCT
ejpam-6495	286	46	a	a	DET
ejpam-6495	286	47	simulation	simulation	NOUN
ejpam-6495	286	48	software	software	NOUN
ejpam-6495	286	49	was	be	AUX
ejpam-6495	286	50	developed	develop	VERB
ejpam-6495	286	51	using	use	VERB
ejpam-6495	286	52	the	the	DET
ejpam-6495	286	53	c	c	NOUN
ejpam-6495	286	54	#	#	NOUN
ejpam-6495	286	55	programming	programming	NOUN
ejpam-6495	286	56	language	language	NOUN
ejpam-6495	286	57	within	within	ADP
ejpam-6495	286	58	the	the	DET
ejpam-6495	286	59	microsoft	microsoft	PROPN
ejpam-6495	286	60	visual	visual	PROPN
ejpam-6495	286	61	studio	studio	PROPN
ejpam-6495	286	62	environment	environment	NOUN
ejpam-6495	286	63	.	.	PUNCT
ejpam-6495	287	1	the	the	DET
ejpam-6495	287	2	system	system	NOUN
ejpam-6495	287	3	was	be	AUX
ejpam-6495	287	4	executed	execute	VERB
ejpam-6495	287	5	on	on	ADP
ejpam-6495	287	6	an	an	DET
ejpam-6495	287	7	hp	hp	ADJ
ejpam-6495	287	8	machine	machine	NOUN
ejpam-6495	287	9	equipped	equip	VERB
ejpam-6495	287	10	with	with	ADP
ejpam-6495	287	11	an	an	DET
ejpam-6495	287	12	intel	intel	PROPN
ejpam-6495	287	13	core	core	NOUN
ejpam-6495	287	14	i5	i5	ADJ
ejpam-6495	287	15	-	-	PUNCT
ejpam-6495	287	16	4590s	4590	NOUN
ejpam-6495	287	17	cpu	cpu	NOUN
ejpam-6495	287	18	running	run	VERB
ejpam-6495	287	19	at	at	ADP
ejpam-6495	287	20	3.00	3.00	NUM
ejpam-6495	287	21	ghz	ghz	NOUN
ejpam-6495	287	22	and	and	CCONJ
ejpam-6495	287	23	8	8	NUM
ejpam-6495	287	24	gb	gb	NOUN
ejpam-6495	287	25	of	of	ADP
ejpam-6495	287	26	ram	ram	NOUN
ejpam-6495	287	27	,	,	PUNCT
ejpam-6495	287	28	operating	operate	VERB
ejpam-6495	287	29	under	under	ADP
ejpam-6495	287	30	windows	window	NOUN
ejpam-6495	287	31	10	10	NUM
ejpam-6495	287	32	pro	pro	X
ejpam-6495	287	33	(	(	PUNCT
ejpam-6495	287	34	version	version	NOUN
ejpam-6495	287	35	1709	1709	NUM
ejpam-6495	287	36	,	,	PUNCT
ejpam-6495	287	37	64	64	NUM
ejpam-6495	287	38	-	-	PUNCT
ejpam-6495	287	39	bit	bit	NOUN
ejpam-6495	287	40	)	)	PUNCT
ejpam-6495	287	41	.	.	PUNCT
ejpam-6495	288	1	the	the	DET
ejpam-6495	288	2	software	software	NOUN
ejpam-6495	288	3	,	,	PUNCT
ejpam-6495	288	4	named	name	VERB
ejpam-6495	288	5	kalman	kalman	PROPN
ejpam-6495	288	6	navigation	navigation	PROPN
ejpam-6495	288	7	,	,	PUNCT
ejpam-6495	288	8	utilizes	utilize	VERB
ejpam-6495	288	9	a	a	DET
ejpam-6495	288	10	10	10	NUM
ejpam-6495	288	11	m	m	NOUN
ejpam-6495	288	12	×	×	NOUN
ejpam-6495	288	13	10	10	NUM
ejpam-6495	288	14	m	m	VERB
ejpam-6495	288	15	grid	grid	NOUN
ejpam-6495	288	16	containing	contain	VERB
ejpam-6495	288	17	several	several	ADJ
ejpam-6495	288	18	obstacle	obstacle	NOUN
ejpam-6495	288	19	walls	wall	NOUN
ejpam-6495	288	20	and	and	CCONJ
ejpam-6495	288	21	a	a	DET
ejpam-6495	288	22	circular	circular	ADJ
ejpam-6495	288	23	object	object	NOUN
ejpam-6495	288	24	,	,	PUNCT
ejpam-6495	288	25	as	as	SCONJ
ejpam-6495	288	26	shown	show	VERB
ejpam-6495	288	27	in	in	ADP
ejpam-6495	288	28	figure	figure	NOUN
ejpam-6495	288	29	5(a	5(a	NUM
ejpam-6495	288	30	)	)	PUNCT
ejpam-6495	288	31	.	.	PUNCT
ejpam-6495	289	1	the	the	DET
ejpam-6495	289	2	simulator	simulator	NOUN
ejpam-6495	289	3	allows	allow	VERB
ejpam-6495	289	4	users	user	NOUN
ejpam-6495	289	5	to	to	PART
ejpam-6495	289	6	input	input	VERB
ejpam-6495	289	7	kalman	kalman	PROPN
ejpam-6495	289	8	filter	filter	PROPN
ejpam-6495	289	9	coefficient	coefficient	NOUN
ejpam-6495	289	10	parameters	parameter	NOUN
ejpam-6495	289	11	for	for	ADP
ejpam-6495	289	12	both	both	CCONJ
ejpam-6495	289	13	linear	linear	ADJ
ejpam-6495	289	14	and	and	CCONJ
ejpam-6495	289	15	angular	angular	ADJ
ejpam-6495	289	16	velocity	velocity	NOUN
ejpam-6495	289	17	.	.	PUNCT
ejpam-6495	290	1	for	for	ADP
ejpam-6495	290	2	linear	linear	ADJ
ejpam-6495	290	3	speed	speed	NOUN
ejpam-6495	290	4	,	,	PUNCT
ejpam-6495	290	5	the	the	DET
ejpam-6495	290	6	parameters	parameter	NOUN
ejpam-6495	290	7	include	include	VERB
ejpam-6495	290	8	:	:	PUNCT
ejpam-6495	290	9	as	as	ADP
ejpam-6495	290	10	,	,	PUNCT
ejpam-6495	290	11	bs	bs	NOUN
ejpam-6495	290	12	,	,	PUNCT
ejpam-6495	290	13	ps(t−1	ps(t−1	PROPN
ejpam-6495	290	14	)	)	PUNCT
ejpam-6495	290	15	,	,	PUNCT
ejpam-6495	290	16	qs	qs	ADP
ejpam-6495	290	17	,	,	PUNCT
ejpam-6495	290	18	rs	rs	NOUN
ejpam-6495	290	19	,	,	PUNCT
ejpam-6495	290	20	and	and	CCONJ
ejpam-6495	290	21	v	v	X
ejpam-6495	290	22	(	(	PUNCT
ejpam-6495	290	23	t−1	t−1	NOUN
ejpam-6495	290	24	)	)	PUNCT
ejpam-6495	290	25	.	.	PUNCT
ejpam-6495	291	1	for	for	ADP
ejpam-6495	291	2	angular	angular	ADJ
ejpam-6495	291	3	velocity	velocity	NOUN
ejpam-6495	291	4	,	,	PUNCT
ejpam-6495	291	5	the	the	DET
ejpam-6495	291	6	parameters	parameter	NOUN
ejpam-6495	291	7	are	be	AUX
ejpam-6495	291	8	:	:	PUNCT
ejpam-6495	291	9	aw	aw	INTJ
ejpam-6495	291	10	,	,	PUNCT
ejpam-6495	291	11	bw	bw	NOUN
ejpam-6495	291	12	,	,	PUNCT
ejpam-6495	291	13	pw(t−1	pw(t−1	PROPN
ejpam-6495	291	14	)	)	PUNCT
ejpam-6495	291	15	,	,	PUNCT
ejpam-6495	291	16	qw	qw	PROPN
ejpam-6495	291	17	,	,	PUNCT
ejpam-6495	291	18	rw	rw	NOUN
ejpam-6495	291	19	,	,	PUNCT
ejpam-6495	291	20	and	and	CCONJ
ejpam-6495	291	21	w	w	PROPN
ejpam-6495	291	22	(	(	PUNCT
ejpam-6495	291	23	t−1	t−1	PROPN
ejpam-6495	291	24	)	)	PUNCT
ejpam-6495	291	25	.	.	PUNCT
ejpam-6495	292	1	users	user	NOUN
ejpam-6495	292	2	can	can	AUX
ejpam-6495	292	3	choose	choose	VERB
ejpam-6495	292	4	from	from	ADP
ejpam-6495	292	5	preset	preset	ADJ
ejpam-6495	292	6	terrains	terrain	NOUN
ejpam-6495	292	7	:	:	PUNCT
ejpam-6495	292	8	indoor	indoor	ADJ
ejpam-6495	292	9	smooth	smooth	ADJ
ejpam-6495	292	10	,	,	PUNCT
ejpam-6495	292	11	outdoor	outdoor	ADJ
ejpam-6495	292	12	uneven	uneven	ADJ
ejpam-6495	292	13	,	,	PUNCT
ejpam-6495	292	14	and	and	CCONJ
ejpam-6495	292	15	outdoor	outdoor	ADJ
ejpam-6495	292	16	rough	rough	ADJ
ejpam-6495	292	17	.	.	PUNCT
ejpam-6495	293	1	the	the	DET
ejpam-6495	293	2	maximum	maximum	ADJ
ejpam-6495	293	3	linear	linear	ADJ
ejpam-6495	293	4	speed	speed	NOUN
ejpam-6495	293	5	is	be	AUX
ejpam-6495	293	6	set	set	VERB
ejpam-6495	293	7	to	to	ADP
ejpam-6495	293	8	60	60	NUM
ejpam-6495	293	9	cm	cm	NOUN
ejpam-6495	293	10	/	/	SYM
ejpam-6495	293	11	s	s	PROPN
ejpam-6495	293	12	,	,	PUNCT
ejpam-6495	293	13	and	and	CCONJ
ejpam-6495	293	14	the	the	DET
ejpam-6495	293	15	maximum	maximum	ADJ
ejpam-6495	293	16	angular	angular	ADJ
ejpam-6495	293	17	speed	speed	NOUN
ejpam-6495	293	18	is	be	AUX
ejpam-6495	293	19	30	30	NUM
ejpam-6495	293	20	rad	rad	NOUN
ejpam-6495	293	21	/	/	SYM
ejpam-6495	293	22	s.	s.	PROPN
ejpam-6495	293	23	the	the	DET
ejpam-6495	293	24	initial	initial	ADJ
ejpam-6495	293	25	linear	linear	ADJ
ejpam-6495	293	26	speed	speed	NOUN
ejpam-6495	293	27	v	v	NOUN
ejpam-6495	293	28	(	(	PUNCT
ejpam-6495	293	29	t−1	t−1	NOUN
ejpam-6495	293	30	)	)	PUNCT
ejpam-6495	293	31	is	be	AUX
ejpam-6495	293	32	set	set	VERB
ejpam-6495	293	33	to	to	ADP
ejpam-6495	293	34	8	8	NUM
ejpam-6495	293	35	cm	cm	NOUN
ejpam-6495	293	36	/	/	SYM
ejpam-6495	293	37	s	s	PROPN
ejpam-6495	293	38	,	,	PUNCT
ejpam-6495	293	39	and	and	CCONJ
ejpam-6495	293	40	the	the	DET
ejpam-6495	293	41	angular	angular	ADJ
ejpam-6495	293	42	velocity	velocity	NOUN
ejpam-6495	293	43	to	to	ADP
ejpam-6495	293	44	0	0	NUM
ejpam-6495	293	45	rad	rad	PROPN
ejpam-6495	293	46	/	/	SYM
ejpam-6495	293	47	s	s	PROPN
ejpam-6495	293	48	,	,	PUNCT
ejpam-6495	293	49	both	both	PRON
ejpam-6495	293	50	of	of	ADP
ejpam-6495	293	51	which	which	PRON
ejpam-6495	293	52	can	can	AUX
ejpam-6495	293	53	be	be	AUX
ejpam-6495	293	54	modified	modify	VERB
ejpam-6495	293	55	by	by	ADP
ejpam-6495	293	56	the	the	DET
ejpam-6495	293	57	user	user	NOUN
ejpam-6495	293	58	.	.	PUNCT
ejpam-6495	294	1	the	the	DET
ejpam-6495	294	2	simulation	simulation	NOUN
ejpam-6495	294	3	includes	include	VERB
ejpam-6495	294	4	an	an	DET
ejpam-6495	294	5	option	option	NOUN
ejpam-6495	294	6	to	to	PART
ejpam-6495	294	7	load	load	VERB
ejpam-6495	294	8	a	a	DET
ejpam-6495	294	9	predefined	predefine	VERB
ejpam-6495	294	10	scenario	scenario	NOUN
ejpam-6495	294	11	consisting	consist	VERB
ejpam-6495	294	12	of	of	ADP
ejpam-6495	294	13	multiple	multiple	ADJ
ejpam-6495	294	14	steps	step	NOUN
ejpam-6495	294	15	with	with	ADP
ejpam-6495	294	16	varying	vary	VERB
ejpam-6495	294	17	linear	linear	ADJ
ejpam-6495	294	18	and	and	CCONJ
ejpam-6495	294	19	angular	angular	ADJ
ejpam-6495	294	20	speeds	speed	NOUN
ejpam-6495	294	21	.	.	PUNCT
ejpam-6495	295	1	additionally	additionally	ADV
ejpam-6495	295	2	,	,	PUNCT
ejpam-6495	295	3	the	the	DET
ejpam-6495	295	4	system	system	NOUN
ejpam-6495	295	5	provides	provide	VERB
ejpam-6495	295	6	functionality	functionality	NOUN
ejpam-6495	295	7	to	to	PART
ejpam-6495	295	8	load	load	VERB
ejpam-6495	295	9	previously	previously	ADV
ejpam-6495	295	10	saved	save	VERB
ejpam-6495	295	11	test	test	NOUN
ejpam-6495	295	12	data	datum	NOUN
ejpam-6495	295	13	and	and	CCONJ
ejpam-6495	295	14	visualize	visualize	VERB
ejpam-6495	295	15	the	the	DET
ejpam-6495	295	16	results	result	NOUN
ejpam-6495	295	17	on	on	ADP
ejpam-6495	295	18	the	the	DET
ejpam-6495	295	19	grid	grid	NOUN
ejpam-6495	295	20	.	.	PUNCT
ejpam-6495	296	1	5.2	5.2	NUM
ejpam-6495	296	2	.	.	PUNCT
ejpam-6495	297	1	experimental	experimental	ADJ
ejpam-6495	297	2	results	result	NOUN
ejpam-6495	297	3	in	in	ADP
ejpam-6495	297	4	order	order	NOUN
ejpam-6495	297	5	to	to	PART
ejpam-6495	297	6	evaluate	evaluate	VERB
ejpam-6495	297	7	the	the	DET
ejpam-6495	297	8	proposed	propose	VERB
ejpam-6495	297	9	model	model	NOUN
ejpam-6495	297	10	,	,	PUNCT
ejpam-6495	297	11	three	three	NUM
ejpam-6495	297	12	sets	set	NOUN
ejpam-6495	297	13	of	of	ADP
ejpam-6495	297	14	experiments	experiment	NOUN
ejpam-6495	297	15	were	be	AUX
ejpam-6495	297	16	conducted	conduct	VERB
ejpam-6495	297	17	with	with	ADP
ejpam-6495	297	18	various	various	ADJ
ejpam-6495	297	19	kalman	kalman	NOUN
ejpam-6495	297	20	filter	filter	NOUN
ejpam-6495	297	21	parameters	parameter	NOUN
ejpam-6495	297	22	for	for	ADP
ejpam-6495	297	23	both	both	CCONJ
ejpam-6495	297	24	linear	linear	ADJ
ejpam-6495	297	25	and	and	CCONJ
ejpam-6495	297	26	angular	angular	ADJ
ejpam-6495	297	27	velocities	velocity	NOUN
ejpam-6495	297	28	.	.	PUNCT
ejpam-6495	298	1	the	the	DET
ejpam-6495	298	2	three	three	NUM
ejpam-6495	298	3	different	different	ADJ
ejpam-6495	298	4	sets	set	NOUN
ejpam-6495	298	5	of	of	ADP
ejpam-6495	298	6	parameters	parameter	NOUN
ejpam-6495	298	7	are	be	AUX
ejpam-6495	298	8	shown	show	VERB
ejpam-6495	298	9	in	in	ADP
ejpam-6495	298	10	table	table	NOUN
ejpam-6495	298	11	1	1	NUM
ejpam-6495	298	12	.	.	PUNCT
ejpam-6495	299	1	the	the	DET
ejpam-6495	299	2	blank	blank	ADJ
ejpam-6495	299	3	grid	grid	NOUN
ejpam-6495	299	4	that	that	PRON
ejpam-6495	299	5	has	have	VERB
ejpam-6495	299	6	the	the	DET
ejpam-6495	299	7	terrain	terrain	NOUN
ejpam-6495	299	8	we	we	PRON
ejpam-6495	299	9	used	use	VERB
ejpam-6495	299	10	to	to	PART
ejpam-6495	299	11	conduct	conduct	VERB
ejpam-6495	299	12	the	the	DET
ejpam-6495	299	13	experiments	experiment	NOUN
ejpam-6495	299	14	for	for	ADP
ejpam-6495	299	15	various	various	ADJ
ejpam-6495	299	16	scenarios	scenario	NOUN
ejpam-6495	299	17	is	be	AUX
ejpam-6495	299	18	shown	show	VERB
ejpam-6495	299	19	in	in	ADP
ejpam-6495	299	20	figure	figure	NOUN
ejpam-6495	299	21	5(a	5(a	NUM
ejpam-6495	299	22	)	)	PUNCT
ejpam-6495	299	23	.	.	PUNCT
ejpam-6495	300	1	the	the	DET
ejpam-6495	300	2	ekfwc	ekfwc	PROPN
ejpam-6495	300	3	simulation	simulation	PROPN
ejpam-6495	300	4	package	package	NOUN
ejpam-6495	300	5	we	we	PRON
ejpam-6495	300	6	developed	develop	VERB
ejpam-6495	300	7	was	be	AUX
ejpam-6495	300	8	evaluated	evaluate	VERB
ejpam-6495	300	9	on	on	ADP
ejpam-6495	300	10	a	a	DET
ejpam-6495	300	11	blank	blank	ADJ
ejpam-6495	300	12	navigation	navigation	NOUN
ejpam-6495	300	13	terrain	terrain	NOUN
ejpam-6495	300	14	,	,	PUNCT
ejpam-6495	300	15	as	as	SCONJ
ejpam-6495	300	16	illustrated	illustrate	VERB
ejpam-6495	300	17	in	in	ADP
ejpam-6495	300	18	figure	figure	NOUN
ejpam-6495	300	19	5(b	5(b	NUM
ejpam-6495	300	20	)	)	PUNCT
ejpam-6495	300	21	.	.	PUNCT
ejpam-6495	301	1	in	in	ADP
ejpam-6495	301	2	this	this	DET
ejpam-6495	301	3	work	work	NOUN
ejpam-6495	301	4	we	we	PRON
ejpam-6495	301	5	conducted	conduct	VERB
ejpam-6495	301	6	three	three	NUM
ejpam-6495	301	7	navigation	navigation	NOUN
ejpam-6495	301	8	experiments	experiment	NOUN
ejpam-6495	301	9	on	on	ADP
ejpam-6495	301	10	three	three	NUM
ejpam-6495	301	11	different	different	ADJ
ejpam-6495	301	12	surfaces	surface	NOUN
ejpam-6495	301	13	.	.	PUNCT
ejpam-6495	302	1	in	in	ADP
ejpam-6495	302	2	all	all	DET
ejpam-6495	302	3	the	the	DET
ejpam-6495	302	4	experiments	experiment	NOUN
ejpam-6495	302	5	,	,	PUNCT
ejpam-6495	302	6	the	the	DET
ejpam-6495	302	7	wheelchair	wheelchair	NOUN
ejpam-6495	302	8	starts	start	VERB
ejpam-6495	302	9	from	from	ADP
ejpam-6495	302	10	point	point	NOUN
ejpam-6495	302	11	a	a	PRON
ejpam-6495	302	12	till	till	SCONJ
ejpam-6495	302	13	it	it	PRON
ejpam-6495	302	14	reaches	reach	VERB
ejpam-6495	302	15	back	back	ADV
ejpam-6495	302	16	to	to	PART
ejpam-6495	302	17	point	point	VERB
ejpam-6495	302	18	e.	e.	PROPN
ejpam-6495	302	19	figure	figure	PROPN
ejpam-6495	302	20	6(a	6(a	NUM
ejpam-6495	302	21	)	)	PUNCT
ejpam-6495	302	22	has	have	VERB
ejpam-6495	302	23	the	the	DET
ejpam-6495	302	24	navigation	navigation	NOUN
ejpam-6495	302	25	over	over	ADP
ejpam-6495	302	26	an	an	DET
ejpam-6495	302	27	indoor	indoor	ADJ
ejpam-6495	302	28	smooth	smooth	ADJ
ejpam-6495	302	29	surface	surface	NOUN
ejpam-6495	302	30	,	,	PUNCT
ejpam-6495	302	31	while	while	SCONJ
ejpam-6495	302	32	figure	figure	NOUN
ejpam-6495	302	33	6(b	6(b	NUM
ejpam-6495	302	34	)	)	PUNCT
ejpam-6495	302	35	has	have	VERB
ejpam-6495	302	36	the	the	DET
ejpam-6495	302	37	outdoor	outdoor	ADJ
ejpam-6495	302	38	uneven	uneven	ADJ
ejpam-6495	302	39	terrain	terrain	NOUN
ejpam-6495	302	40	.	.	PUNCT
ejpam-6495	303	1	figure	figure	NOUN
ejpam-6495	303	2	6(c	6(c	NUM
ejpam-6495	303	3	)	)	PUNCT
ejpam-6495	303	4	has	have	VERB
ejpam-6495	303	5	the	the	DET
ejpam-6495	303	6	navigation	navigation	NOUN
ejpam-6495	303	7	over	over	ADP
ejpam-6495	303	8	an	an	DET
ejpam-6495	303	9	outdoor	outdoor	ADJ
ejpam-6495	303	10	rough	rough	ADJ
ejpam-6495	303	11	terrain	terrain	NOUN
ejpam-6495	303	12	.	.	PUNCT
ejpam-6495	304	1	figure	figure	NOUN
ejpam-6495	304	2	6(d	6(d	NUM
ejpam-6495	304	3	)	)	PUNCT
ejpam-6495	304	4	assembles	assemble	VERB
ejpam-6495	304	5	the	the	DET
ejpam-6495	304	6	results	result	NOUN
ejpam-6495	304	7	over	over	ADP
ejpam-6495	304	8	three	three	NUM
ejpam-6495	304	9	surfaces	surface	NOUN
ejpam-6495	304	10	to	to	PART
ejpam-6495	304	11	compare	compare	VERB
ejpam-6495	304	12	the	the	DET
ejpam-6495	304	13	behavior	behavior	NOUN
ejpam-6495	304	14	for	for	ADP
ejpam-6495	304	15	each	each	DET
ejpam-6495	304	16	scenario	scenario	NOUN
ejpam-6495	304	17	.	.	PUNCT
ejpam-6495	305	1	w.	w.	PROPN
ejpam-6495	305	2	h.	h.	PROPN
ejpam-6495	305	3	f.	f.	PROPN
ejpam-6495	305	4	aly	aly	PROPN
ejpam-6495	305	5	,	,	PUNCT
ejpam-6495	305	6	n.	n.	PROPN
ejpam-6495	305	7	samashvili	samashvili	NOUN
ejpam-6495	305	8	,	,	PUNCT
ejpam-6495	305	9	c.	c.	PROPN
ejpam-6495	305	10	f.	f.	PROPN
ejpam-6495	305	11	riman	riman	PROPN
ejpam-6495	305	12	/	/	SYM
ejpam-6495	305	13	eur	eur	PROPN
ejpam-6495	305	14	.	.	PUNCT
ejpam-6495	306	1	j.	j.	PROPN
ejpam-6495	306	2	pure	pure	PROPN
ejpam-6495	306	3	appl	appl	PROPN
ejpam-6495	306	4	.	.	PROPN
ejpam-6495	306	5	math	math	PROPN
ejpam-6495	306	6	,	,	PUNCT
ejpam-6495	306	7	18	18	NUM
ejpam-6495	306	8	(	(	PUNCT
ejpam-6495	306	9	3	3	NUM
ejpam-6495	306	10	)	)	PUNCT
ejpam-6495	306	11	(	(	PUNCT
ejpam-6495	306	12	2025	2025	NUM
ejpam-6495	306	13	)	)	PUNCT
ejpam-6495	306	14	,	,	PUNCT
ejpam-6495	306	15	6495	6495	NUM
ejpam-6495	306	16	18	18	NUM
ejpam-6495	306	17	of	of	ADP
ejpam-6495	306	18	28	28	NUM
ejpam-6495	306	19	(	(	PUNCT
ejpam-6495	306	20	a	a	NOUN
ejpam-6495	306	21	)	)	PUNCT
ejpam-6495	306	22	blank	blank	ADJ
ejpam-6495	306	23	grid	grid	NOUN
ejpam-6495	306	24	(	(	PUNCT
ejpam-6495	306	25	b	b	NOUN
ejpam-6495	306	26	)	)	PUNCT
ejpam-6495	306	27	software	software	NOUN
ejpam-6495	306	28	figure	figure	NOUN
ejpam-6495	306	29	5	5	NUM
ejpam-6495	306	30	:	:	PUNCT
ejpam-6495	306	31	empty	empty	ADJ
ejpam-6495	306	32	grid	grid	NOUN
ejpam-6495	306	33	and	and	CCONJ
ejpam-6495	306	34	software	software	NOUN
ejpam-6495	306	35	package	package	VERB
ejpam-6495	306	36	the	the	DET
ejpam-6495	306	37	refekfpf	refekfpf	NOUN
ejpam-6495	306	38	reference	reference	NOUN
ejpam-6495	306	39	model	model	NOUN
ejpam-6495	306	40	uses	use	VERB
ejpam-6495	306	41	the	the	DET
ejpam-6495	306	42	extended	extended	ADJ
ejpam-6495	306	43	kalman	kalman	NOUN
ejpam-6495	306	44	filter	filter	PROPN
ejpam-6495	306	45	(	(	PUNCT
ejpam-6495	306	46	ekf	ekf	PROPN
ejpam-6495	306	47	)	)	PUNCT
ejpam-6495	306	48	and	and	CCONJ
ejpam-6495	306	49	the	the	DET
ejpam-6495	306	50	modified	modify	VERB
ejpam-6495	306	51	particle	particle	NOUN
ejpam-6495	306	52	filter	filter	NOUN
ejpam-6495	306	53	(	(	PUNCT
ejpam-6495	306	54	pf	pf	NOUN
ejpam-6495	306	55	)	)	PUNCT
ejpam-6495	306	56	.	.	PUNCT
ejpam-6495	307	1	figure	figure	NOUN
ejpam-6495	307	2	7	7	NUM
ejpam-6495	307	3	has	have	VERB
ejpam-6495	307	4	the	the	DET
ejpam-6495	307	5	navigation	navigation	NOUN
ejpam-6495	307	6	of	of	ADP
ejpam-6495	307	7	the	the	DET
ejpam-6495	307	8	reference	reference	NOUN
ejpam-6495	307	9	modelrefekfpf	modelrefekfpf	NOUN
ejpam-6495	307	10	in	in	ADP
ejpam-6495	307	11	the	the	DET
ejpam-6495	307	12	experimental	experimental	ADJ
ejpam-6495	307	13	navigation	navigation	NOUN
ejpam-6495	307	14	field	field	NOUN
ejpam-6495	307	15	.	.	PUNCT
ejpam-6495	308	1	in	in	ADP
ejpam-6495	308	2	figure	figure	NOUN
ejpam-6495	308	3	8(a	8(a	NUM
ejpam-6495	308	4	)	)	PUNCT
ejpam-6495	308	5	,	,	PUNCT
ejpam-6495	308	6	we	we	PRON
ejpam-6495	308	7	compare	compare	VERB
ejpam-6495	308	8	the	the	DET
ejpam-6495	308	9	proposed	propose	VERB
ejpam-6495	308	10	ekfwc	ekfwc	NOUN
ejpam-6495	308	11	to	to	ADP
ejpam-6495	308	12	the	the	DET
ejpam-6495	308	13	reference	reference	NOUN
ejpam-6495	308	14	refekfpf	refekfpf	NOUN
ejpam-6495	308	15	results	result	NOUN
ejpam-6495	308	16	in	in	ADP
ejpam-6495	308	17	a	a	DET
ejpam-6495	308	18	smooth	smooth	ADJ
ejpam-6495	308	19	indoor	indoor	ADJ
ejpam-6495	308	20	surface	surface	NOUN
ejpam-6495	308	21	environment	environment	NOUN
ejpam-6495	308	22	.	.	PUNCT
ejpam-6495	309	1	figure	figure	VERB
ejpam-6495	309	2	8(b	8(b	NUM
ejpam-6495	309	3	)	)	PUNCT
ejpam-6495	309	4	compares	compare	VERB
ejpam-6495	309	5	the	the	DET
ejpam-6495	309	6	proposed	propose	VERB
ejpam-6495	309	7	ekfwc	ekfwc	NOUN
ejpam-6495	309	8	to	to	ADP
ejpam-6495	309	9	the	the	DET
ejpam-6495	309	10	refekfpf	refekfpf	NOUN
ejpam-6495	309	11	to	to	ADP
ejpam-6495	309	12	a	a	DET
ejpam-6495	309	13	smooth	smooth	ADJ
ejpam-6495	309	14	indoor	indoor	ADJ
ejpam-6495	309	15	surface	surface	NOUN
ejpam-6495	309	16	environment	environment	NOUN
ejpam-6495	309	17	.	.	PUNCT
ejpam-6495	310	1	figure	figure	VERB
ejpam-6495	310	2	8(c	8(c	NUM
ejpam-6495	310	3	)	)	PUNCT
ejpam-6495	310	4	compares	compare	VERB
ejpam-6495	310	5	the	the	DET
ejpam-6495	310	6	proposed	propose	VERB
ejpam-6495	310	7	ekfwc	ekfwc	NOUN
ejpam-6495	310	8	to	to	ADP
ejpam-6495	310	9	the	the	DET
ejpam-6495	310	10	reference	reference	NOUN
ejpam-6495	310	11	refekfpf	refekfpf	NOUN
ejpam-6495	310	12	in	in	ADP
ejpam-6495	310	13	an	an	DET
ejpam-6495	310	14	outdoor	outdoor	ADJ
ejpam-6495	310	15	uneven	uneven	ADJ
ejpam-6495	310	16	surface	surface	NOUN
ejpam-6495	310	17	environment	environment	NOUN
ejpam-6495	310	18	.	.	PUNCT
ejpam-6495	311	1	figure	figure	VERB
ejpam-6495	311	2	8(d	8(d	NUM
ejpam-6495	311	3	)	)	PUNCT
ejpam-6495	311	4	compares	compare	VERB
ejpam-6495	311	5	the	the	DET
ejpam-6495	311	6	proposed	propose	VERB
ejpam-6495	311	7	ekfwc	ekfwc	NOUN
ejpam-6495	311	8	to	to	ADP
ejpam-6495	311	9	the	the	DET
ejpam-6495	311	10	reference	reference	NOUN
ejpam-6495	311	11	refekfpf	refekfpf	NOUN
ejpam-6495	311	12	in	in	ADP
ejpam-6495	311	13	an	an	DET
ejpam-6495	311	14	outdoor	outdoor	NOUN
ejpam-6495	311	15	very	very	ADV
ejpam-6495	311	16	rough	rough	ADJ
ejpam-6495	311	17	surface	surface	NOUN
ejpam-6495	311	18	environment	environment	NOUN
ejpam-6495	311	19	.	.	PUNCT
ejpam-6495	312	1	results	result	NOUN
ejpam-6495	312	2	show	show	VERB
ejpam-6495	312	3	that	that	SCONJ
ejpam-6495	312	4	the	the	DET
ejpam-6495	312	5	ekfwc	ekfwc	NOUN
ejpam-6495	312	6	outperforms	outperform	VERB
ejpam-6495	312	7	refekfpf	refekfpf	VERB
ejpam-6495	312	8	in	in	ADP
ejpam-6495	312	9	terms	term	NOUN
ejpam-6495	312	10	of	of	ADP
ejpam-6495	312	11	smooth	smooth	ADJ
ejpam-6495	312	12	navigation	navigation	NOUN
ejpam-6495	312	13	without	without	ADP
ejpam-6495	312	14	hitting	hit	VERB
ejpam-6495	312	15	obstacles	obstacle	NOUN
ejpam-6495	312	16	on	on	ADP
ejpam-6495	312	17	the	the	DET
ejpam-6495	312	18	way	way	NOUN
ejpam-6495	312	19	starting	start	VERB
ejpam-6495	312	20	from	from	ADP
ejpam-6495	312	21	point	point	NOUN
ejpam-6495	312	22	a	a	PRON
ejpam-6495	312	23	till	till	SCONJ
ejpam-6495	312	24	it	it	PRON
ejpam-6495	312	25	returns	return	VERB
ejpam-6495	312	26	back	back	ADV
ejpam-6495	312	27	to	to	PART
ejpam-6495	312	28	point	point	VERB
ejpam-6495	312	29	e	e	NOUN
ejpam-6495	312	30	passing	pass	VERB
ejpam-6495	312	31	all	all	DET
ejpam-6495	312	32	the	the	DET
ejpam-6495	312	33	intermediate	intermediate	ADJ
ejpam-6495	312	34	navigation	navigation	NOUN
ejpam-6495	312	35	points	point	NOUN
ejpam-6495	312	36	b	b	NOUN
ejpam-6495	312	37	,	,	PUNCT
ejpam-6495	312	38	c	c	PROPN
ejpam-6495	312	39	,	,	PUNCT
ejpam-6495	312	40	d.	d.	PROPN
ejpam-6495	312	41	a	a	DET
ejpam-6495	312	42	differential	differential	ADJ
ejpam-6495	312	43	-	-	PUNCT
ejpam-6495	312	44	drive	drive	NOUN
ejpam-6495	312	45	robot	robot	NOUN
ejpam-6495	312	46	is	be	AUX
ejpam-6495	312	47	a	a	DET
ejpam-6495	312	48	non	non	ADJ
ejpam-6495	312	49	-	-	ADJ
ejpam-6495	312	50	holonomic	holonomic	ADJ
ejpam-6495	312	51	system	system	NOUN
ejpam-6495	312	52	equipped	equip	VERB
ejpam-6495	312	53	with	with	ADP
ejpam-6495	312	54	two	two	NUM
ejpam-6495	312	55	independently	independently	ADV
ejpam-6495	312	56	driven	drive	VERB
ejpam-6495	312	57	wheels	wheel	NOUN
ejpam-6495	312	58	.	.	PUNCT
ejpam-6495	313	1	the	the	DET
ejpam-6495	313	2	robot	robot	NOUN
ejpam-6495	313	3	’s	’s	PART
ejpam-6495	313	4	motion	motion	NOUN
ejpam-6495	313	5	is	be	AUX
ejpam-6495	313	6	characterized	characterize	VERB
ejpam-6495	313	7	by	by	ADP
ejpam-6495	313	8	linear	linear	NOUN
ejpam-6495	313	9	velocity(v	velocity(v	NOUN
ejpam-6495	313	10	):	):	PUNCT
ejpam-6495	313	11	the	the	DET
ejpam-6495	313	12	forward	forward	ADJ
ejpam-6495	313	13	or	or	CCONJ
ejpam-6495	313	14	backward	backward	ADJ
ejpam-6495	313	15	motion	motion	NOUN
ejpam-6495	313	16	of	of	ADP
ejpam-6495	313	17	the	the	DET
ejpam-6495	313	18	robot	robot	NOUN
ejpam-6495	313	19	and	and	CCONJ
ejpam-6495	313	20	angular	angular	ADJ
ejpam-6495	313	21	velocity(ω	velocity(ω	PROPN
ejpam-6495	313	22	):	):	PUNCT
ejpam-6495	313	23	the	the	DET
ejpam-6495	313	24	rotational	rotational	ADJ
ejpam-6495	313	25	rate	rate	NOUN
ejpam-6495	313	26	around	around	ADP
ejpam-6495	313	27	the	the	DET
ejpam-6495	313	28	vertical	vertical	ADJ
ejpam-6495	313	29	axis	axis	NOUN
ejpam-6495	313	30	(	(	PUNCT
ejpam-6495	313	31	yaw	yaw	PROPN
ejpam-6495	313	32	)	)	PUNCT
ejpam-6495	313	33	.	.	PUNCT
ejpam-6495	314	1	figures	figure	NOUN
ejpam-6495	314	2	9	9	NUM
ejpam-6495	314	3	,	,	PUNCT
ejpam-6495	314	4	10	10	NUM
ejpam-6495	314	5	,	,	PUNCT
ejpam-6495	314	6	and	and	CCONJ
ejpam-6495	314	7	11	11	NUM
ejpam-6495	314	8	illustrate	illustrate	VERB
ejpam-6495	314	9	the	the	DET
ejpam-6495	314	10	evolution	evolution	NOUN
ejpam-6495	314	11	of	of	ADP
ejpam-6495	314	12	the	the	DET
ejpam-6495	314	13	mean	mean	ADJ
ejpam-6495	314	14	absolute	absolute	ADJ
ejpam-6495	314	15	errors	error	NOUN
ejpam-6495	314	16	(	(	PUNCT
ejpam-6495	314	17	mae	mae	PROPN
ejpam-6495	314	18	)	)	PUNCT
ejpam-6495	314	19	in	in	ADP
ejpam-6495	314	20	the	the	DET
ejpam-6495	314	21	wheelchair	wheelchair	NOUN
ejpam-6495	314	22	’s	’s	PART
ejpam-6495	314	23	estimated	estimate	VERB
ejpam-6495	314	24	position	position	NOUN
ejpam-6495	314	25	and	and	CCONJ
ejpam-6495	314	26	orientation	orientation	NOUN
ejpam-6495	314	27	over	over	ADP
ejpam-6495	314	28	time	time	NOUN
ejpam-6495	314	29	.	.	PUNCT
ejpam-6495	315	1	specifically	specifically	ADV
ejpam-6495	315	2	,	,	PUNCT
ejpam-6495	315	3	figure	figure	VERB
ejpam-6495	315	4	9	9	NUM
ejpam-6495	315	5	presents	present	VERB
ejpam-6495	315	6	the	the	DET
ejpam-6495	315	7	variation	variation	NOUN
ejpam-6495	315	8	in	in	ADP
ejpam-6495	315	9	the	the	DET
ejpam-6495	315	10	mae	mae	PROPN
ejpam-6495	315	11	of	of	ADP
ejpam-6495	315	12	the	the	DET
ejpam-6495	315	13	x	x	NOUN
ejpam-6495	315	14	-	-	NOUN
ejpam-6495	315	15	coordinate	coordinate	ADJ
ejpam-6495	315	16	,	,	PUNCT
ejpam-6495	315	17	figure	figure	NOUN
ejpam-6495	315	18	10	10	NUM
ejpam-6495	315	19	shows	show	VERB
ejpam-6495	315	20	the	the	DET
ejpam-6495	315	21	corresponding	correspond	VERB
ejpam-6495	315	22	error	error	NOUN
ejpam-6495	315	23	in	in	ADP
ejpam-6495	315	24	the	the	DET
ejpam-6495	315	25	y	y	NOUN
ejpam-6495	315	26	-	-	PUNCT
ejpam-6495	315	27	coordinate	coordinate	NOUN
ejpam-6495	315	28	,	,	PUNCT
ejpam-6495	315	29	and	and	CCONJ
ejpam-6495	315	30	figure	figure	VERB
ejpam-6495	315	31	11	11	NUM
ejpam-6495	315	32	depicts	depict	VERB
ejpam-6495	315	33	the	the	DET
ejpam-6495	315	34	error	error	NOUN
ejpam-6495	315	35	in	in	ADP
ejpam-6495	315	36	the	the	DET
ejpam-6495	315	37	orientation	orientation	NOUN
ejpam-6495	315	38	angle	angle	NOUN
ejpam-6495	315	39	θ	θ	PROPN
ejpam-6495	315	40	.	.	PUNCT
ejpam-6495	316	1	these	these	DET
ejpam-6495	316	2	plots	plot	NOUN
ejpam-6495	316	3	provide	provide	VERB
ejpam-6495	316	4	insight	insight	NOUN
ejpam-6495	316	5	into	into	ADP
ejpam-6495	316	6	the	the	DET
ejpam-6495	316	7	estimation	estimation	NOUN
ejpam-6495	316	8	accuracy	accuracy	NOUN
ejpam-6495	316	9	of	of	ADP
ejpam-6495	316	10	the	the	DET
ejpam-6495	316	11	proposed	propose	VERB
ejpam-6495	316	12	ekfwc	ekfwc	NOUN
ejpam-6495	316	13	system	system	NOUN
ejpam-6495	316	14	and	and	CCONJ
ejpam-6495	316	15	highlight	highlight	VERB
ejpam-6495	316	16	its	its	PRON
ejpam-6495	316	17	ability	ability	NOUN
ejpam-6495	316	18	to	to	PART
ejpam-6495	316	19	maintain	maintain	VERB
ejpam-6495	316	20	low	low	ADJ
ejpam-6495	316	21	tracking	tracking	NOUN
ejpam-6495	316	22	error	error	NOUN
ejpam-6495	316	23	throughout	throughout	ADP
ejpam-6495	316	24	the	the	DET
ejpam-6495	316	25	navigation	navigation	NOUN
ejpam-6495	316	26	process	process	NOUN
ejpam-6495	316	27	.	.	PUNCT
ejpam-6495	317	1	additionally	additionally	ADV
ejpam-6495	317	2	,	,	PUNCT
ejpam-6495	317	3	figures	figure	NOUN
ejpam-6495	317	4	12	12	NUM
ejpam-6495	317	5	and	and	CCONJ
ejpam-6495	317	6	13	13	NUM
ejpam-6495	317	7	show	show	VERB
ejpam-6495	317	8	the	the	DET
ejpam-6495	317	9	elapsed	elapse	VERB
ejpam-6495	317	10	time	time	NOUN
ejpam-6495	317	11	and	and	CCONJ
ejpam-6495	317	12	corresponding	correspond	VERB
ejpam-6495	317	13	wheelchair	wheelchair	NOUN
ejpam-6495	317	14	speed	speed	NOUN
ejpam-6495	317	15	at	at	ADP
ejpam-6495	317	16	various	various	ADJ
ejpam-6495	317	17	interval	interval	NOUN
ejpam-6495	317	18	points	point	NOUN
ejpam-6495	317	19	along	along	ADP
ejpam-6495	317	20	the	the	DET
ejpam-6495	317	21	trajectory	trajectory	NOUN
ejpam-6495	317	22	from	from	ADP
ejpam-6495	317	23	point	point	NOUN
ejpam-6495	317	24	a	a	PRON
ejpam-6495	317	25	to	to	PART
ejpam-6495	317	26	point	point	VERB
ejpam-6495	317	27	e	e	NOUN
ejpam-6495	317	28	,	,	PUNCT
ejpam-6495	317	29	using	use	VERB
ejpam-6495	317	30	the	the	DET
ejpam-6495	317	31	ekfwc	ekfwc	NOUN
ejpam-6495	317	32	model	model	NOUN
ejpam-6495	317	33	across	across	ADP
ejpam-6495	317	34	different	different	ADJ
ejpam-6495	317	35	surface	surface	NOUN
ejpam-6495	317	36	types	type	NOUN
ejpam-6495	317	37	.	.	PUNCT
ejpam-6495	318	1	these	these	DET
ejpam-6495	318	2	figures	figure	NOUN
ejpam-6495	318	3	demonstrate	demonstrate	VERB
ejpam-6495	318	4	how	how	SCONJ
ejpam-6495	318	5	the	the	DET
ejpam-6495	318	6	system	system	NOUN
ejpam-6495	318	7	adapts	adapt	VERB
ejpam-6495	318	8	its	its	PRON
ejpam-6495	318	9	velocity	velocity	NOUN
ejpam-6495	318	10	profile	profile	NOUN
ejpam-6495	318	11	based	base	VERB
ejpam-6495	318	12	on	on	ADP
ejpam-6495	318	13	terrain	terrain	NOUN
ejpam-6495	318	14	conditions	condition	NOUN
ejpam-6495	318	15	,	,	PUNCT
ejpam-6495	318	16	ensuring	ensure	VERB
ejpam-6495	318	17	smooth	smooth	ADJ
ejpam-6495	318	18	and	and	CCONJ
ejpam-6495	318	19	efficient	efficient	ADJ
ejpam-6495	318	20	motion	motion	NOUN
ejpam-6495	318	21	.	.	PUNCT
ejpam-6495	319	1	the	the	DET
ejpam-6495	319	2	data	data	NOUN
ejpam-6495	319	3	underscores	underscore	VERB
ejpam-6495	319	4	the	the	DET
ejpam-6495	319	5	ekfwc	ekfwc	NOUN
ejpam-6495	319	6	’s	’s	PART
ejpam-6495	319	7	capability	capability	NOUN
ejpam-6495	319	8	to	to	PART
ejpam-6495	319	9	regulate	regulate	VERB
ejpam-6495	319	10	speed	speed	NOUN
ejpam-6495	319	11	dynamically	dynamically	ADV
ejpam-6495	319	12	while	while	SCONJ
ejpam-6495	319	13	maintaining	maintain	VERB
ejpam-6495	319	14	trajectory	trajectory	NOUN
ejpam-6495	319	15	stability	stability	NOUN
ejpam-6495	319	16	on	on	ADP
ejpam-6495	319	17	smooth	smooth	ADJ
ejpam-6495	319	18	,	,	PUNCT
ejpam-6495	319	19	uneven	uneven	ADJ
ejpam-6495	319	20	,	,	PUNCT
ejpam-6495	319	21	and	and	CCONJ
ejpam-6495	319	22	rough	rough	ADJ
ejpam-6495	319	23	surfaces	surface	NOUN
ejpam-6495	319	24	.	.	PUNCT
ejpam-6495	320	1	w.	w.	PROPN
ejpam-6495	320	2	h.	h.	PROPN
ejpam-6495	320	3	f.	f.	PROPN
ejpam-6495	320	4	aly	aly	PROPN
ejpam-6495	320	5	,	,	PUNCT
ejpam-6495	320	6	n.	n.	PROPN
ejpam-6495	320	7	samashvili	samashvili	NOUN
ejpam-6495	320	8	,	,	PUNCT
ejpam-6495	320	9	c.	c.	PROPN
ejpam-6495	320	10	f.	f.	PROPN
ejpam-6495	320	11	riman	riman	PROPN
ejpam-6495	320	12	/	/	SYM
ejpam-6495	320	13	eur	eur	PROPN
ejpam-6495	320	14	.	.	PUNCT
ejpam-6495	321	1	j.	j.	PROPN
ejpam-6495	321	2	pure	pure	PROPN
ejpam-6495	321	3	appl	appl	PROPN
ejpam-6495	321	4	.	.	PROPN
ejpam-6495	321	5	math	math	PROPN
ejpam-6495	321	6	,	,	PUNCT
ejpam-6495	321	7	18	18	NUM
ejpam-6495	321	8	(	(	PUNCT
ejpam-6495	321	9	3	3	NUM
ejpam-6495	321	10	)	)	PUNCT
ejpam-6495	321	11	(	(	PUNCT
ejpam-6495	321	12	2025	2025	NUM
ejpam-6495	321	13	)	)	PUNCT
ejpam-6495	321	14	,	,	PUNCT
ejpam-6495	321	15	6495	6495	NUM
ejpam-6495	321	16	19	19	NUM
ejpam-6495	321	17	of	of	ADP
ejpam-6495	321	18	28	28	NUM
ejpam-6495	321	19	(	(	PUNCT
ejpam-6495	321	20	a	a	X
ejpam-6495	321	21	)	)	PUNCT
ejpam-6495	321	22	using	use	VERB
ejpam-6495	321	23	ekfwc	ekfwc	NOUN
ejpam-6495	321	24	in	in	ADP
ejpam-6495	321	25	an	an	DET
ejpam-6495	321	26	indoor	indoor	ADJ
ejpam-6495	321	27	smooth	smooth	ADJ
ejpam-6495	321	28	surface	surface	NOUN
ejpam-6495	321	29	(	(	PUNCT
ejpam-6495	321	30	b	b	NOUN
ejpam-6495	321	31	)	)	PUNCT
ejpam-6495	321	32	using	use	VERB
ejpam-6495	321	33	ekfwc	ekfwc	NOUN
ejpam-6495	321	34	in	in	ADP
ejpam-6495	321	35	an	an	DET
ejpam-6495	321	36	outdoor	outdoor	ADJ
ejpam-6495	321	37	uneven	uneven	NOUN
ejpam-6495	321	38	(	(	PUNCT
ejpam-6495	321	39	c	c	X
ejpam-6495	321	40	)	)	PUNCT
ejpam-6495	321	41	using	use	VERB
ejpam-6495	321	42	ekfwc	ekfwc	NOUN
ejpam-6495	321	43	in	in	ADP
ejpam-6495	321	44	an	an	DET
ejpam-6495	321	45	outdoor	outdoor	NOUN
ejpam-6495	321	46	very	very	ADV
ejpam-6495	321	47	rough	rough	ADJ
ejpam-6495	321	48	surface	surface	NOUN
ejpam-6495	321	49	(	(	PUNCT
ejpam-6495	321	50	d	d	X
ejpam-6495	321	51	)	)	PUNCT
ejpam-6495	321	52	using	use	VERB
ejpam-6495	321	53	ekfwc	ekfwc	NOUN
ejpam-6495	321	54	on	on	ADP
ejpam-6495	321	55	three	three	NUM
ejpam-6495	321	56	surfaces	surface	NOUN
ejpam-6495	321	57	figure	figure	VERB
ejpam-6495	321	58	6	6	NUM
ejpam-6495	321	59	:	:	PUNCT
ejpam-6495	321	60	using	use	VERB
ejpam-6495	321	61	ekfwc	ekfwc	NOUN
ejpam-6495	321	62	on	on	ADP
ejpam-6495	321	63	various	various	ADJ
ejpam-6495	321	64	surfaces	surface	NOUN
ejpam-6495	321	65	the	the	DET
ejpam-6495	321	66	proposed	propose	VERB
ejpam-6495	321	67	ekfwc	ekfwc	NOUN
ejpam-6495	321	68	system	system	NOUN
ejpam-6495	321	69	significantly	significantly	ADV
ejpam-6495	321	70	outperformed	outperform	VERB
ejpam-6495	321	71	the	the	DET
ejpam-6495	321	72	reference	reference	NOUN
ejpam-6495	321	73	modelrefekfpf	modelrefekfpf	NOUN
ejpam-6495	321	74	in	in	ADP
ejpam-6495	321	75	terms	term	NOUN
ejpam-6495	321	76	of	of	ADP
ejpam-6495	321	77	navigation	navigation	NOUN
ejpam-6495	321	78	time	time	NOUN
ejpam-6495	321	79	across	across	ADP
ejpam-6495	321	80	various	various	ADJ
ejpam-6495	321	81	terrain	terrain	NOUN
ejpam-6495	321	82	types	type	NOUN
ejpam-6495	321	83	.	.	PUNCT
ejpam-6495	322	1	specifically	specifically	ADV
ejpam-6495	322	2	,	,	PUNCT
ejpam-6495	322	3	during	during	ADP
ejpam-6495	322	4	indoor	indoor	ADJ
ejpam-6495	322	5	navigation	navigation	NOUN
ejpam-6495	322	6	on	on	ADP
ejpam-6495	322	7	a	a	DET
ejpam-6495	322	8	smooth	smooth	ADJ
ejpam-6495	322	9	surface	surface	NOUN
ejpam-6495	322	10	,	,	PUNCT
ejpam-6495	322	11	the	the	DET
ejpam-6495	322	12	refekfpf	refekfpf	NOUN
ejpam-6495	322	13	required	require	VERB
ejpam-6495	322	14	100	100	NUM
ejpam-6495	322	15	sec	sec	PROPN
ejpam-6495	322	16	to	to	PART
ejpam-6495	322	17	traverse	traverse	VERB
ejpam-6495	322	18	from	from	ADP
ejpam-6495	322	19	point	point	NOUN
ejpam-6495	322	20	a	a	PRON
ejpam-6495	322	21	to	to	PART
ejpam-6495	322	22	point	point	VERB
ejpam-6495	322	23	e	e	NOUN
ejpam-6495	322	24	,	,	PUNCT
ejpam-6495	322	25	while	while	SCONJ
ejpam-6495	322	26	the	the	DET
ejpam-6495	322	27	ekfwc	ekfwc	NOUN
ejpam-6495	322	28	completed	complete	VERB
ejpam-6495	322	29	the	the	DET
ejpam-6495	322	30	same	same	ADJ
ejpam-6495	322	31	path	path	NOUN
ejpam-6495	322	32	in	in	ADP
ejpam-6495	322	33	a	a	DET
ejpam-6495	322	34	reduced	reduce	VERB
ejpam-6495	322	35	time	time	NOUN
ejpam-6495	322	36	of	of	ADP
ejpam-6495	322	37	71	71	NUM
ejpam-6495	322	38	sec	sec	PROPN
ejpam-6495	322	39	,	,	PUNCT
ejpam-6495	322	40	demonstrating	demonstrate	VERB
ejpam-6495	322	41	both	both	CCONJ
ejpam-6495	322	42	faster	fast	ADJ
ejpam-6495	322	43	and	and	CCONJ
ejpam-6495	322	44	more	more	ADV
ejpam-6495	322	45	efficient	efficient	ADJ
ejpam-6495	322	46	maneuverability	maneuverability	NOUN
ejpam-6495	322	47	.	.	PUNCT
ejpam-6495	323	1	furthermore	furthermore	ADV
ejpam-6495	323	2	,	,	PUNCT
ejpam-6495	323	3	under	under	ADP
ejpam-6495	323	4	outdoor	outdoor	ADJ
ejpam-6495	323	5	conditions	condition	NOUN
ejpam-6495	323	6	,	,	PUNCT
ejpam-6495	323	7	ekfwc	ekfwc	NOUN
ejpam-6495	323	8	maintained	maintain	VERB
ejpam-6495	323	9	superior	superior	ADJ
ejpam-6495	323	10	performance	performance	NOUN
ejpam-6495	323	11	,	,	PUNCT
ejpam-6495	323	12	completing	complete	VERB
ejpam-6495	323	13	the	the	DET
ejpam-6495	323	14	navigation	navigation	NOUN
ejpam-6495	323	15	w.	w.	PROPN
ejpam-6495	323	16	h.	h.	PROPN
ejpam-6495	323	17	f.	f.	PROPN
ejpam-6495	323	18	aly	aly	PROPN
ejpam-6495	323	19	,	,	PUNCT
ejpam-6495	323	20	n.	n.	PROPN
ejpam-6495	323	21	samashvili	samashvili	NOUN
ejpam-6495	323	22	,	,	PUNCT
ejpam-6495	323	23	c.	c.	PROPN
ejpam-6495	323	24	f.	f.	PROPN
ejpam-6495	323	25	riman	riman	PROPN
ejpam-6495	323	26	/	/	SYM
ejpam-6495	323	27	eur	eur	PROPN
ejpam-6495	323	28	.	.	PUNCT
ejpam-6495	324	1	j.	j.	PROPN
ejpam-6495	324	2	pure	pure	PROPN
ejpam-6495	324	3	appl	appl	PROPN
ejpam-6495	324	4	.	.	PROPN
ejpam-6495	324	5	math	math	PROPN
ejpam-6495	324	6	,	,	PUNCT
ejpam-6495	324	7	18	18	NUM
ejpam-6495	324	8	(	(	PUNCT
ejpam-6495	324	9	3	3	NUM
ejpam-6495	324	10	)	)	PUNCT
ejpam-6495	324	11	(	(	PUNCT
ejpam-6495	324	12	2025	2025	NUM
ejpam-6495	324	13	)	)	PUNCT
ejpam-6495	324	14	,	,	PUNCT
ejpam-6495	324	15	6495	6495	NUM
ejpam-6495	324	16	20	20	NUM
ejpam-6495	324	17	of	of	ADP
ejpam-6495	324	18	28	28	NUM
ejpam-6495	324	19	figure	figure	NOUN
ejpam-6495	324	20	7	7	NUM
ejpam-6495	324	21	:	:	PUNCT
ejpam-6495	324	22	refekfpf	refekfpf	NOUN
ejpam-6495	324	23	reference	reference	NOUN
ejpam-6495	324	24	model	model	NOUN
ejpam-6495	324	25	navigation	navigation	NOUN
ejpam-6495	324	26	in	in	ADP
ejpam-6495	324	27	the	the	DET
ejpam-6495	324	28	terrain	terrain	NOUN
ejpam-6495	324	29	in	in	ADP
ejpam-6495	324	30	87	87	NUM
ejpam-6495	324	31	sec	sec	PROPN
ejpam-6495	324	32	on	on	ADP
ejpam-6495	324	33	uneven	uneven	ADJ
ejpam-6495	324	34	surfaces	surface	NOUN
ejpam-6495	324	35	and	and	CCONJ
ejpam-6495	324	36	95	95	NUM
ejpam-6495	324	37	sec	sec	PROPN
ejpam-6495	324	38	on	on	ADP
ejpam-6495	324	39	very	very	ADV
ejpam-6495	324	40	rough	rough	ADJ
ejpam-6495	324	41	terrain	terrain	NOUN
ejpam-6495	324	42	.	.	PUNCT
ejpam-6495	325	1	these	these	DET
ejpam-6495	325	2	results	result	NOUN
ejpam-6495	325	3	highlight	highlight	VERB
ejpam-6495	325	4	the	the	DET
ejpam-6495	325	5	robustness	robustness	NOUN
ejpam-6495	325	6	and	and	CCONJ
ejpam-6495	325	7	adaptability	adaptability	NOUN
ejpam-6495	325	8	of	of	ADP
ejpam-6495	325	9	the	the	DET
ejpam-6495	325	10	ekfwc	ekfwc	NOUN
ejpam-6495	325	11	system	system	NOUN
ejpam-6495	325	12	across	across	ADP
ejpam-6495	325	13	different	different	ADJ
ejpam-6495	325	14	environmental	environmental	ADJ
ejpam-6495	325	15	conditions	condition	NOUN
ejpam-6495	325	16	.	.	PUNCT
ejpam-6495	326	1	table	table	NOUN
ejpam-6495	326	2	14	14	NUM
ejpam-6495	326	3	provides	provide	VERB
ejpam-6495	326	4	a	a	DET
ejpam-6495	326	5	detailed	detailed	ADJ
ejpam-6495	326	6	performance	performance	NOUN
ejpam-6495	326	7	comparison	comparison	NOUN
ejpam-6495	326	8	between	between	ADP
ejpam-6495	326	9	the	the	DET
ejpam-6495	326	10	proposed	propose	VERB
ejpam-6495	326	11	enhanced	enhance	VERB
ejpam-6495	326	12	kalman	kalman	PROPN
ejpam-6495	326	13	filter	filter	PROPN
ejpam-6495	326	14	-	-	PUNCT
ejpam-6495	326	15	based	base	VERB
ejpam-6495	326	16	wheelchair	wheelchair	NOUN
ejpam-6495	326	17	control	control	NOUN
ejpam-6495	326	18	(	(	PUNCT
ejpam-6495	326	19	ekfwc	ekfwc	NOUN
ejpam-6495	326	20	)	)	PUNCT
ejpam-6495	326	21	model	model	NOUN
ejpam-6495	326	22	and	and	CCONJ
ejpam-6495	326	23	the	the	DET
ejpam-6495	326	24	reference	reference	NOUN
ejpam-6495	326	25	model	model	NOUN
ejpam-6495	326	26	,	,	PUNCT
ejpam-6495	326	27	refekfpf	refekfpf	NOUN
ejpam-6495	326	28	,	,	PUNCT
ejpam-6495	326	29	which	which	PRON
ejpam-6495	326	30	combines	combine	VERB
ejpam-6495	326	31	an	an	DET
ejpam-6495	326	32	extended	extended	ADJ
ejpam-6495	326	33	kalman	kalman	NOUN
ejpam-6495	326	34	filter	filter	NOUN
ejpam-6495	326	35	with	with	ADP
ejpam-6495	326	36	a	a	DET
ejpam-6495	326	37	particle	particle	NOUN
ejpam-6495	326	38	filter	filter	NOUN
ejpam-6495	326	39	.	.	PUNCT
ejpam-6495	327	1	the	the	DET
ejpam-6495	327	2	comparative	comparative	ADJ
ejpam-6495	327	3	results	result	NOUN
ejpam-6495	327	4	clearly	clearly	ADV
ejpam-6495	327	5	highlight	highlight	VERB
ejpam-6495	327	6	the	the	DET
ejpam-6495	327	7	superior	superior	ADJ
ejpam-6495	327	8	performance	performance	NOUN
ejpam-6495	327	9	of	of	ADP
ejpam-6495	327	10	the	the	DET
ejpam-6495	327	11	ekfwcmodel	ekfwcmodel	NOUN
ejpam-6495	327	12	across	across	ADP
ejpam-6495	327	13	all	all	DET
ejpam-6495	327	14	evaluated	evaluated	ADJ
ejpam-6495	327	15	metrics	metric	NOUN
ejpam-6495	327	16	and	and	CCONJ
ejpam-6495	327	17	operational	operational	ADJ
ejpam-6495	327	18	scenarios	scenario	NOUN
ejpam-6495	327	19	.	.	PUNCT
ejpam-6495	328	1	beginning	begin	VERB
ejpam-6495	328	2	with	with	ADP
ejpam-6495	328	3	traversal	traversal	NOUN
ejpam-6495	328	4	time	time	NOUN
ejpam-6495	328	5	,	,	PUNCT
ejpam-6495	328	6	the	the	DET
ejpam-6495	328	7	ekfwc	ekfwc	NOUN
ejpam-6495	328	8	model	model	NOUN
ejpam-6495	328	9	achieved	achieve	VERB
ejpam-6495	328	10	significantly	significantly	ADV
ejpam-6495	328	11	faster	fast	ADJ
ejpam-6495	328	12	completion	completion	NOUN
ejpam-6495	328	13	rates	rate	NOUN
ejpam-6495	328	14	across	across	ADP
ejpam-6495	328	15	varied	varied	ADJ
ejpam-6495	328	16	terrain	terrain	NOUN
ejpam-6495	328	17	types	type	NOUN
ejpam-6495	328	18	.	.	PUNCT
ejpam-6495	329	1	specifically	specifically	ADV
ejpam-6495	329	2	,	,	PUNCT
ejpam-6495	329	3	it	it	PRON
ejpam-6495	329	4	demonstrated	demonstrate	VERB
ejpam-6495	329	5	up	up	ADP
ejpam-6495	329	6	to	to	PART
ejpam-6495	329	7	29	29	NUM
ejpam-6495	329	8	%	%	NOUN
ejpam-6495	329	9	improvement	improvement	NOUN
ejpam-6495	329	10	in	in	ADP
ejpam-6495	329	11	speed	speed	NOUN
ejpam-6495	329	12	compared	compare	VERB
ejpam-6495	329	13	to	to	ADP
ejpam-6495	329	14	the	the	DET
ejpam-6495	329	15	refekfpf	refekfpf	NOUN
ejpam-6495	329	16	,	,	PUNCT
ejpam-6495	329	17	indicating	indicate	VERB
ejpam-6495	329	18	a	a	DET
ejpam-6495	329	19	more	more	ADV
ejpam-6495	329	20	efficient	efficient	ADJ
ejpam-6495	329	21	response	response	NOUN
ejpam-6495	329	22	in	in	ADP
ejpam-6495	329	23	both	both	CCONJ
ejpam-6495	329	24	indoor	indoor	ADJ
ejpam-6495	329	25	and	and	CCONJ
ejpam-6495	329	26	outdoor	outdoor	ADJ
ejpam-6495	329	27	navigation	navigation	NOUN
ejpam-6495	329	28	tasks	task	NOUN
ejpam-6495	329	29	.	.	PUNCT
ejpam-6495	330	1	this	this	DET
ejpam-6495	330	2	acceleration	acceleration	NOUN
ejpam-6495	330	3	in	in	ADP
ejpam-6495	330	4	traversal	traversal	NOUN
ejpam-6495	330	5	was	be	AUX
ejpam-6495	330	6	consistently	consistently	ADV
ejpam-6495	330	7	observed	observe	VERB
ejpam-6495	330	8	on	on	ADP
ejpam-6495	330	9	all	all	DET
ejpam-6495	330	10	tested	test	VERB
ejpam-6495	330	11	surfaces	surface	NOUN
ejpam-6495	330	12	,	,	PUNCT
ejpam-6495	330	13	ranging	range	VERB
ejpam-6495	330	14	from	from	ADP
ejpam-6495	330	15	smooth	smooth	ADJ
ejpam-6495	330	16	indoor	indoor	ADJ
ejpam-6495	330	17	flooring	flooring	NOUN
ejpam-6495	330	18	to	to	ADP
ejpam-6495	330	19	more	more	ADV
ejpam-6495	330	20	challenging	challenging	ADJ
ejpam-6495	330	21	rough	rough	ADJ
ejpam-6495	330	22	outdoor	outdoor	ADJ
ejpam-6495	330	23	paths	path	NOUN
ejpam-6495	330	24	.	.	PUNCT
ejpam-6495	331	1	in	in	ADP
ejpam-6495	331	2	terms	term	NOUN
ejpam-6495	331	3	of	of	ADP
ejpam-6495	331	4	terrain	terrain	NOUN
ejpam-6495	331	5	adaptivity	adaptivity	NOUN
ejpam-6495	331	6	,	,	PUNCT
ejpam-6495	331	7	the	the	DET
ejpam-6495	331	8	difference	difference	NOUN
ejpam-6495	331	9	between	between	ADP
ejpam-6495	331	10	the	the	DET
ejpam-6495	331	11	two	two	NUM
ejpam-6495	331	12	models	model	NOUN
ejpam-6495	331	13	becomes	become	VERB
ejpam-6495	331	14	even	even	ADV
ejpam-6495	331	15	more	more	ADV
ejpam-6495	331	16	evident	evident	ADJ
ejpam-6495	331	17	.	.	PUNCT
ejpam-6495	332	1	the	the	DET
ejpam-6495	332	2	reference	reference	NOUN
ejpam-6495	332	3	refekfpf	refekfpf	NOUN
ejpam-6495	332	4	model	model	NOUN
ejpam-6495	332	5	applied	apply	VERB
ejpam-6495	332	6	a	a	DET
ejpam-6495	332	7	uniform	uniform	ADJ
ejpam-6495	332	8	control	control	NOUN
ejpam-6495	332	9	strategy	strategy	NOUN
ejpam-6495	332	10	regardless	regardless	ADV
ejpam-6495	332	11	of	of	ADP
ejpam-6495	332	12	terrain	terrain	NOUN
ejpam-6495	332	13	type	type	NOUN
ejpam-6495	332	14	,	,	PUNCT
ejpam-6495	332	15	resulting	result	VERB
ejpam-6495	332	16	in	in	ADP
ejpam-6495	332	17	suboptimal	suboptimal	ADJ
ejpam-6495	332	18	handling	handling	NOUN
ejpam-6495	332	19	on	on	ADP
ejpam-6495	332	20	surfaces	surface	NOUN
ejpam-6495	332	21	that	that	PRON
ejpam-6495	332	22	deviate	deviate	VERB
ejpam-6495	332	23	from	from	ADP
ejpam-6495	332	24	ideal	ideal	ADJ
ejpam-6495	332	25	conditions	condition	NOUN
ejpam-6495	332	26	.	.	PUNCT
ejpam-6495	333	1	conversely	conversely	ADV
ejpam-6495	333	2	,	,	PUNCT
ejpam-6495	333	3	the	the	DET
ejpam-6495	333	4	ekfwc	ekfwc	NOUN
ejpam-6495	333	5	model	model	NOUN
ejpam-6495	333	6	introduced	introduce	VERB
ejpam-6495	333	7	an	an	DET
ejpam-6495	333	8	adaptive	adaptive	ADJ
ejpam-6495	333	9	control	control	NOUN
ejpam-6495	333	10	strategy	strategy	NOUN
ejpam-6495	333	11	based	base	VERB
ejpam-6495	333	12	on	on	ADP
ejpam-6495	333	13	terrain	terrain	NOUN
ejpam-6495	333	14	classification	classification	NOUN
ejpam-6495	333	15	.	.	PUNCT
ejpam-6495	334	1	it	it	PRON
ejpam-6495	334	2	incorporated	incorporate	VERB
ejpam-6495	334	3	three	three	NUM
ejpam-6495	334	4	preset	preset	ADJ
ejpam-6495	334	5	terrain	terrain	NOUN
ejpam-6495	334	6	profiles	profile	NOUN
ejpam-6495	334	7	—	—	PUNCT
ejpam-6495	334	8	smooth	smooth	ADJ
ejpam-6495	334	9	indoor	indoor	ADJ
ejpam-6495	334	10	,	,	PUNCT
ejpam-6495	334	11	uneven	uneven	ADJ
ejpam-6495	334	12	outdoor	outdoor	NOUN
ejpam-6495	334	13	,	,	PUNCT
ejpam-6495	334	14	and	and	CCONJ
ejpam-6495	334	15	rough	rough	ADJ
ejpam-6495	334	16	outdoor	outdoor	NOUN
ejpam-6495	334	17	—	—	PUNCT
ejpam-6495	334	18	which	which	PRON
ejpam-6495	334	19	allowed	allow	VERB
ejpam-6495	334	20	it	it	PRON
ejpam-6495	334	21	to	to	PART
ejpam-6495	334	22	dynamically	dynamically	ADV
ejpam-6495	334	23	tune	tune	VERB
ejpam-6495	334	24	its	its	PRON
ejpam-6495	334	25	estimation	estimation	NOUN
ejpam-6495	334	26	and	and	CCONJ
ejpam-6495	334	27	control	control	NOUN
ejpam-6495	334	28	parameters	parameter	NOUN
ejpam-6495	334	29	in	in	ADP
ejpam-6495	334	30	response	response	NOUN
ejpam-6495	334	31	to	to	ADP
ejpam-6495	334	32	real	real	ADJ
ejpam-6495	334	33	-	-	PUNCT
ejpam-6495	334	34	time	time	NOUN
ejpam-6495	334	35	environmental	environmental	ADJ
ejpam-6495	334	36	conditions	condition	NOUN
ejpam-6495	334	37	.	.	PUNCT
ejpam-6495	335	1	moreover	moreover	ADV
ejpam-6495	335	2	,	,	PUNCT
ejpam-6495	335	3	the	the	DET
ejpam-6495	335	4	ekfwc	ekfwc	NOUN
ejpam-6495	335	5	model	model	NOUN
ejpam-6495	335	6	is	be	AUX
ejpam-6495	335	7	designed	design	VERB
ejpam-6495	335	8	with	with	ADP
ejpam-6495	335	9	extensibility	extensibility	NOUN
ejpam-6495	335	10	in	in	ADP
ejpam-6495	335	11	mind	mind	NOUN
ejpam-6495	335	12	,	,	PUNCT
ejpam-6495	335	13	offering	offer	VERB
ejpam-6495	335	14	the	the	DET
ejpam-6495	335	15	flexibility	flexibility	NOUN
ejpam-6495	335	16	for	for	SCONJ
ejpam-6495	335	17	users	user	NOUN
ejpam-6495	335	18	to	to	PART
ejpam-6495	335	19	define	define	VERB
ejpam-6495	335	20	and	and	CCONJ
ejpam-6495	335	21	configure	configure	VERB
ejpam-6495	335	22	additional	additional	ADJ
ejpam-6495	335	23	terrain	terrain	NOUN
ejpam-6495	335	24	types	type	NOUN
ejpam-6495	335	25	as	as	SCONJ
ejpam-6495	335	26	needed	need	VERB
ejpam-6495	335	27	,	,	PUNCT
ejpam-6495	335	28	thus	thus	ADV
ejpam-6495	335	29	enhancing	enhance	VERB
ejpam-6495	335	30	personalization	personalization	NOUN
ejpam-6495	335	31	and	and	CCONJ
ejpam-6495	335	32	environmental	environmental	ADJ
ejpam-6495	335	33	responsiveness	responsiveness	NOUN
ejpam-6495	335	34	.	.	PUNCT
ejpam-6495	336	1	with	with	ADP
ejpam-6495	336	2	regard	regard	NOUN
ejpam-6495	336	3	to	to	ADP
ejpam-6495	336	4	noise	noise	NOUN
ejpam-6495	336	5	filtering	filter	VERB
ejpam-6495	336	6	and	and	CCONJ
ejpam-6495	336	7	signal	signal	ADJ
ejpam-6495	336	8	correction	correction	NOUN
ejpam-6495	336	9	,	,	PUNCT
ejpam-6495	336	10	the	the	DET
ejpam-6495	336	11	ekfwc	ekfwc	NOUN
ejpam-6495	336	12	model	model	NOUN
ejpam-6495	336	13	exhibited	exhibit	VERB
ejpam-6495	336	14	superior	superior	ADJ
ejpam-6495	336	15	performance	performance	NOUN
ejpam-6495	336	16	.	.	PUNCT
ejpam-6495	337	1	the	the	DET
ejpam-6495	337	2	robustness	robustness	NOUN
ejpam-6495	337	3	in	in	ADP
ejpam-6495	337	4	noise	noise	NOUN
ejpam-6495	337	5	handling	handle	VERB
ejpam-6495	337	6	w.	w.	PROPN
ejpam-6495	337	7	h.	h.	PROPN
ejpam-6495	337	8	f.	f.	PROPN
ejpam-6495	337	9	aly	aly	PROPN
ejpam-6495	337	10	,	,	PUNCT
ejpam-6495	337	11	n.	n.	PROPN
ejpam-6495	337	12	samashvili	samashvili	NOUN
ejpam-6495	337	13	,	,	PUNCT
ejpam-6495	337	14	c.	c.	PROPN
ejpam-6495	337	15	f.	f.	PROPN
ejpam-6495	337	16	riman	riman	PROPN
ejpam-6495	337	17	/	/	SYM
ejpam-6495	337	18	eur	eur	PROPN
ejpam-6495	337	19	.	.	PUNCT
ejpam-6495	338	1	j.	j.	PROPN
ejpam-6495	338	2	pure	pure	PROPN
ejpam-6495	338	3	appl	appl	PROPN
ejpam-6495	338	4	.	.	PROPN
ejpam-6495	338	5	math	math	PROPN
ejpam-6495	338	6	,	,	PUNCT
ejpam-6495	338	7	18	18	NUM
ejpam-6495	338	8	(	(	PUNCT
ejpam-6495	338	9	3	3	NUM
ejpam-6495	338	10	)	)	PUNCT
ejpam-6495	338	11	(	(	PUNCT
ejpam-6495	338	12	2025	2025	NUM
ejpam-6495	338	13	)	)	PUNCT
ejpam-6495	338	14	,	,	PUNCT
ejpam-6495	338	15	6495	6495	NUM
ejpam-6495	338	16	21	21	NUM
ejpam-6495	338	17	of	of	ADP
ejpam-6495	338	18	28	28	NUM
ejpam-6495	338	19	(	(	PUNCT
ejpam-6495	338	20	a	a	DET
ejpam-6495	338	21	)	)	PUNCT
ejpam-6495	338	22	ekfwc	ekfwc	NOUN
ejpam-6495	338	23	vs	vs	ADP
ejpam-6495	338	24	refekfpf	refekfpf	NOUN
ejpam-6495	338	25	in	in	ADP
ejpam-6495	338	26	an	an	DET
ejpam-6495	338	27	indoor	indoor	ADJ
ejpam-6495	338	28	smooth	smooth	ADJ
ejpam-6495	338	29	surface	surface	NOUN
ejpam-6495	338	30	(	(	PUNCT
ejpam-6495	338	31	b	b	NOUN
ejpam-6495	338	32	)	)	PUNCT
ejpam-6495	338	33	ekfwc	ekfwc	NOUN
ejpam-6495	338	34	vs	vs	ADP
ejpam-6495	338	35	refekfpf	refekfpf	NOUN
ejpam-6495	338	36	in	in	ADP
ejpam-6495	338	37	an	an	DET
ejpam-6495	338	38	outdoor	outdoor	ADJ
ejpam-6495	338	39	uneven	uneven	ADJ
ejpam-6495	338	40	surface	surface	NOUN
ejpam-6495	338	41	(	(	PUNCT
ejpam-6495	338	42	c	c	NOUN
ejpam-6495	338	43	)	)	PUNCT
ejpam-6495	338	44	ekfwc	ekfwc	NOUN
ejpam-6495	338	45	vs	vs	ADP
ejpam-6495	338	46	refekfpf	refekfpf	NOUN
ejpam-6495	338	47	in	in	ADP
ejpam-6495	338	48	an	an	DET
ejpam-6495	338	49	outdoor	outdoor	NOUN
ejpam-6495	338	50	very	very	ADV
ejpam-6495	338	51	rough	rough	ADJ
ejpam-6495	338	52	surface	surface	NOUN
ejpam-6495	338	53	(	(	PUNCT
ejpam-6495	338	54	d	d	NOUN
ejpam-6495	338	55	)	)	PUNCT
ejpam-6495	338	56	ekfwc	ekfwc	NOUN
ejpam-6495	338	57	vs	vs	ADP
ejpam-6495	338	58	refekfpf	refekfpf	NOUN
ejpam-6495	338	59	on	on	ADP
ejpam-6495	338	60	various	various	ADJ
ejpam-6495	338	61	surfaces	surface	NOUN
ejpam-6495	338	62	figure	figure	VERB
ejpam-6495	338	63	8	8	NUM
ejpam-6495	338	64	:	:	PUNCT
ejpam-6495	338	65	ekfwc	ekfwc	NOUN
ejpam-6495	338	66	vs	vs	ADP
ejpam-6495	338	67	refekfpf	refekfpf	NOUN
ejpam-6495	338	68	for	for	ADP
ejpam-6495	338	69	various	various	ADJ
ejpam-6495	338	70	scenarios	scenario	NOUN
ejpam-6495	338	71	can	can	AUX
ejpam-6495	338	72	be	be	AUX
ejpam-6495	338	73	attributed	attribute	VERB
ejpam-6495	338	74	to	to	ADP
ejpam-6495	338	75	its	its	PRON
ejpam-6495	338	76	terrain	terrain	NOUN
ejpam-6495	338	77	-	-	PUNCT
ejpam-6495	338	78	specific	specific	ADJ
ejpam-6495	338	79	kalman	kalman	NOUN
ejpam-6495	338	80	filter	filter	NOUN
ejpam-6495	338	81	tuning	tuning	NOUN
ejpam-6495	338	82	,	,	PUNCT
ejpam-6495	338	83	which	which	PRON
ejpam-6495	338	84	optimizes	optimize	VERB
ejpam-6495	338	85	estimation	estimation	NOUN
ejpam-6495	338	86	accuracy	accuracy	NOUN
ejpam-6495	338	87	by	by	ADP
ejpam-6495	338	88	taking	take	VERB
ejpam-6495	338	89	into	into	ADP
ejpam-6495	338	90	account	account	NOUN
ejpam-6495	338	91	the	the	DET
ejpam-6495	338	92	expected	expect	VERB
ejpam-6495	338	93	dynamics	dynamic	NOUN
ejpam-6495	338	94	and	and	CCONJ
ejpam-6495	338	95	noise	noise	NOUN
ejpam-6495	338	96	characteristics	characteristic	NOUN
ejpam-6495	338	97	of	of	ADP
ejpam-6495	338	98	each	each	DET
ejpam-6495	338	99	terrain	terrain	NOUN
ejpam-6495	338	100	.	.	PUNCT
ejpam-6495	339	1	this	this	PRON
ejpam-6495	339	2	contrasts	contrast	VERB
ejpam-6495	339	3	with	with	ADP
ejpam-6495	339	4	the	the	DET
ejpam-6495	339	5	refekfpf	refekfpf	NOUN
ejpam-6495	339	6	model	model	NOUN
ejpam-6495	339	7	,	,	PUNCT
ejpam-6495	339	8	which	which	PRON
ejpam-6495	339	9	employs	employ	VERB
ejpam-6495	339	10	a	a	DET
ejpam-6495	339	11	general	general	ADJ
ejpam-6495	339	12	-	-	PUNCT
ejpam-6495	339	13	purpose	purpose	NOUN
ejpam-6495	339	14	filtering	filter	VERB
ejpam-6495	339	15	approach	approach	NOUN
ejpam-6495	339	16	not	not	PART
ejpam-6495	339	17	tailored	tailor	VERB
ejpam-6495	339	18	to	to	ADP
ejpam-6495	339	19	specific	specific	ADJ
ejpam-6495	339	20	terrain	terrain	NOUN
ejpam-6495	339	21	types	type	NOUN
ejpam-6495	339	22	.	.	PUNCT
ejpam-6495	340	1	the	the	DET
ejpam-6495	340	2	ekfwc	ekfwc	NOUN
ejpam-6495	340	3	model	model	NOUN
ejpam-6495	340	4	also	also	ADV
ejpam-6495	340	5	showed	show	VERB
ejpam-6495	340	6	greater	great	ADJ
ejpam-6495	340	7	robustness	robustness	NOUN
ejpam-6495	340	8	when	when	SCONJ
ejpam-6495	340	9	deployed	deploy	VERB
ejpam-6495	340	10	in	in	ADP
ejpam-6495	340	11	real	real	ADJ
ejpam-6495	340	12	-	-	PUNCT
ejpam-6495	340	13	world	world	NOUN
ejpam-6495	340	14	scenarios	scenario	NOUN
ejpam-6495	340	15	.	.	PUNCT
ejpam-6495	341	1	its	its	PRON
ejpam-6495	341	2	dual	dual	ADJ
ejpam-6495	341	3	-	-	PUNCT
ejpam-6495	341	4	profile	profile	NOUN
ejpam-6495	341	5	system	system	NOUN
ejpam-6495	341	6	for	for	ADP
ejpam-6495	341	7	inw	inw	PROPN
ejpam-6495	341	8	.	.	PUNCT
ejpam-6495	342	1	h.	h.	PROPN
ejpam-6495	342	2	f.	f.	PROPN
ejpam-6495	342	3	aly	aly	PROPN
ejpam-6495	342	4	,	,	PUNCT
ejpam-6495	342	5	n.	n.	PROPN
ejpam-6495	342	6	samashvili	samashvili	NOUN
ejpam-6495	342	7	,	,	PUNCT
ejpam-6495	342	8	c.	c.	PROPN
ejpam-6495	342	9	f.	f.	PROPN
ejpam-6495	342	10	riman	riman	PROPN
ejpam-6495	342	11	/	/	SYM
ejpam-6495	342	12	eur	eur	PROPN
ejpam-6495	342	13	.	.	PUNCT
ejpam-6495	343	1	j.	j.	PROPN
ejpam-6495	343	2	pure	pure	PROPN
ejpam-6495	343	3	appl	appl	PROPN
ejpam-6495	343	4	.	.	PROPN
ejpam-6495	343	5	math	math	PROPN
ejpam-6495	343	6	,	,	PUNCT
ejpam-6495	343	7	18	18	NUM
ejpam-6495	343	8	(	(	PUNCT
ejpam-6495	343	9	3	3	NUM
ejpam-6495	343	10	)	)	PUNCT
ejpam-6495	343	11	(	(	PUNCT
ejpam-6495	343	12	2025	2025	NUM
ejpam-6495	343	13	)	)	PUNCT
ejpam-6495	343	14	,	,	PUNCT
ejpam-6495	343	15	6495	6495	NUM
ejpam-6495	343	16	22	22	NUM
ejpam-6495	343	17	of	of	ADP
ejpam-6495	343	18	28	28	NUM
ejpam-6495	343	19	figure	figure	NOUN
ejpam-6495	343	20	9	9	NUM
ejpam-6495	343	21	:	:	PUNCT
ejpam-6495	343	22	ekfwc	ekfwc	NOUN
ejpam-6495	343	23	error	error	NOUN
ejpam-6495	343	24	in	in	ADP
ejpam-6495	343	25	x	x	PUNCT
ejpam-6495	343	26	for	for	ADP
ejpam-6495	343	27	various	various	ADJ
ejpam-6495	343	28	surfaces	surface	NOUN
ejpam-6495	343	29	door	door	NOUN
ejpam-6495	343	30	and	and	CCONJ
ejpam-6495	343	31	outdoor	outdoor	ADJ
ejpam-6495	343	32	operation	operation	NOUN
ejpam-6495	343	33	ensures	ensure	VERB
ejpam-6495	343	34	that	that	SCONJ
ejpam-6495	343	35	it	it	PRON
ejpam-6495	343	36	maintains	maintain	VERB
ejpam-6495	343	37	optimal	optimal	ADJ
ejpam-6495	343	38	performance	performance	NOUN
ejpam-6495	343	39	under	under	ADP
ejpam-6495	343	40	varied	varied	ADJ
ejpam-6495	343	41	lighting	lighting	NOUN
ejpam-6495	343	42	,	,	PUNCT
ejpam-6495	343	43	surface	surface	NOUN
ejpam-6495	343	44	friction	friction	NOUN
ejpam-6495	343	45	,	,	PUNCT
ejpam-6495	343	46	and	and	CCONJ
ejpam-6495	343	47	motion	motion	NOUN
ejpam-6495	343	48	dynamics	dynamic	NOUN
ejpam-6495	343	49	.	.	PUNCT
ejpam-6495	344	1	this	this	DET
ejpam-6495	344	2	adaptability	adaptability	NOUN
ejpam-6495	344	3	allows	allow	VERB
ejpam-6495	344	4	it	it	PRON
ejpam-6495	344	5	to	to	PART
ejpam-6495	344	6	better	well	ADV
ejpam-6495	344	7	accommodate	accommodate	VERB
ejpam-6495	344	8	the	the	DET
ejpam-6495	344	9	unpredictable	unpredictable	ADJ
ejpam-6495	344	10	nature	nature	NOUN
ejpam-6495	344	11	of	of	ADP
ejpam-6495	344	12	everyday	everyday	ADJ
ejpam-6495	344	13	environments	environment	NOUN
ejpam-6495	344	14	,	,	PUNCT
ejpam-6495	344	15	making	make	VERB
ejpam-6495	344	16	it	it	PRON
ejpam-6495	344	17	more	more	ADV
ejpam-6495	344	18	practical	practical	ADJ
ejpam-6495	344	19	for	for	ADP
ejpam-6495	344	20	real	real	ADJ
ejpam-6495	344	21	users	user	NOUN
ejpam-6495	344	22	.	.	PUNCT
ejpam-6495	345	1	under	under	ADP
ejpam-6495	345	2	the	the	DET
ejpam-6495	345	3	stability	stability	NOUN
ejpam-6495	345	4	assessment	assessment	NOUN
ejpam-6495	345	5	criteria	criterion	NOUN
ejpam-6495	345	6	,	,	PUNCT
ejpam-6495	345	7	the	the	DET
ejpam-6495	345	8	ekfwc	ekfwc	NOUN
ejpam-6495	345	9	model	model	NOUN
ejpam-6495	345	10	demonstrated	demonstrate	VERB
ejpam-6495	345	11	notably	notably	ADV
ejpam-6495	345	12	smoother	smooth	ADJ
ejpam-6495	345	13	velocity	velocity	NOUN
ejpam-6495	345	14	and	and	CCONJ
ejpam-6495	345	15	angular	angular	ADJ
ejpam-6495	345	16	rate	rate	NOUN
ejpam-6495	345	17	trajectories	trajectory	NOUN
ejpam-6495	345	18	.	.	PUNCT
ejpam-6495	346	1	unlike	unlike	ADP
ejpam-6495	346	2	the	the	DET
ejpam-6495	346	3	refekfpf	refekfpf	NOUN
ejpam-6495	346	4	,	,	PUNCT
ejpam-6495	346	5	which	which	PRON
ejpam-6495	346	6	exhibited	exhibit	VERB
ejpam-6495	346	7	occasional	occasional	ADJ
ejpam-6495	346	8	instability	instability	NOUN
ejpam-6495	346	9	manifested	manifest	VERB
ejpam-6495	346	10	as	as	ADP
ejpam-6495	346	11	sharp	sharp	ADJ
ejpam-6495	346	12	spikes	spike	NOUN
ejpam-6495	346	13	or	or	CCONJ
ejpam-6495	346	14	jitter	jitter	NOUN
ejpam-6495	346	15	in	in	ADP
ejpam-6495	346	16	its	its	PRON
ejpam-6495	346	17	motion	motion	NOUN
ejpam-6495	346	18	profile	profile	NOUN
ejpam-6495	346	19	,	,	PUNCT
ejpam-6495	346	20	the	the	DET
ejpam-6495	346	21	ekfwc	ekfwc	NOUN
ejpam-6495	346	22	maintained	maintain	VERB
ejpam-6495	346	23	continuous	continuous	ADJ
ejpam-6495	346	24	and	and	CCONJ
ejpam-6495	346	25	stable	stable	ADJ
ejpam-6495	346	26	control	control	NOUN
ejpam-6495	346	27	outputs	output	NOUN
ejpam-6495	346	28	.	.	PUNCT
ejpam-6495	347	1	this	this	DET
ejpam-6495	347	2	smoothness	smoothness	NOUN
ejpam-6495	347	3	not	not	PART
ejpam-6495	347	4	only	only	ADV
ejpam-6495	347	5	enhances	enhance	VERB
ejpam-6495	347	6	ride	ride	NOUN
ejpam-6495	347	7	comfort	comfort	NOUN
ejpam-6495	347	8	but	but	CCONJ
ejpam-6495	347	9	also	also	ADV
ejpam-6495	347	10	reduces	reduce	VERB
ejpam-6495	347	11	the	the	DET
ejpam-6495	347	12	likelihood	likelihood	NOUN
ejpam-6495	347	13	of	of	ADP
ejpam-6495	347	14	triggering	trigger	VERB
ejpam-6495	347	15	corrective	corrective	ADJ
ejpam-6495	347	16	actions	action	NOUN
ejpam-6495	347	17	or	or	CCONJ
ejpam-6495	347	18	system	system	NOUN
ejpam-6495	347	19	resets	reset	NOUN
ejpam-6495	347	20	,	,	PUNCT
ejpam-6495	347	21	thereby	thereby	ADV
ejpam-6495	347	22	contributing	contribute	VERB
ejpam-6495	347	23	to	to	PART
ejpam-6495	347	24	safer	safe	ADJ
ejpam-6495	347	25	and	and	CCONJ
ejpam-6495	347	26	more	more	ADV
ejpam-6495	347	27	reliable	reliable	ADJ
ejpam-6495	347	28	wheelchair	wheelchair	NOUN
ejpam-6495	347	29	operation	operation	NOUN
ejpam-6495	347	30	.	.	PUNCT
ejpam-6495	348	1	table	table	NOUN
ejpam-6495	348	2	14	14	NUM
ejpam-6495	348	3	:	:	PUNCT
ejpam-6495	348	4	performance	performance	NOUN
ejpam-6495	348	5	comparison	comparison	NOUN
ejpam-6495	348	6	metric	metric	ADJ
ejpam-6495	348	7	ekfwc	ekfwc	NOUN
ejpam-6495	348	8	(	(	PUNCT
ejpam-6495	348	9	proposed	propose	VERB
ejpam-6495	348	10	)	)	PUNCT
ejpam-6495	348	11	refekfpf	refekfpf	NOUN
ejpam-6495	348	12	(	(	PUNCT
ejpam-6495	348	13	hybrid	hybrid	NOUN
ejpam-6495	348	14	filter	filter	NOUN
ejpam-6495	348	15	)	)	PUNCT
ejpam-6495	348	16	ekfwc	ekfwc	NOUN
ejpam-6495	348	17	advantage	advantage	NOUN
ejpam-6495	348	18	traversal	traversal	NOUN
ejpam-6495	348	19	time	time	NOUN
ejpam-6495	348	20	71s	71	NOUN
ejpam-6495	348	21	(	(	PUNCT
ejpam-6495	348	22	indoor	indoor	ADJ
ejpam-6495	348	23	smooth	smooth	ADJ
ejpam-6495	348	24	)	)	PUNCT
ejpam-6495	348	25	87s	87	NOUN
ejpam-6495	348	26	(	(	PUNCT
ejpam-6495	348	27	outdoor	outdoor	ADJ
ejpam-6495	348	28	uneven	uneven	ADJ
ejpam-6495	348	29	)	)	PUNCT
ejpam-6495	348	30	95s	95	NOUN
ejpam-6495	348	31	(	(	PUNCT
ejpam-6495	348	32	very	very	ADV
ejpam-6495	348	33	rough	rough	ADJ
ejpam-6495	348	34	)	)	PUNCT
ejpam-6495	348	35	100s	100s	PROPN
ejpam-6495	348	36	(	(	PUNCT
ejpam-6495	348	37	indoor	indoor	ADJ
ejpam-6495	348	38	smooth	smooth	ADJ
ejpam-6495	348	39	)	)	PUNCT
ejpam-6495	348	40	97s	97	NOUN
ejpam-6495	348	41	(	(	PUNCT
ejpam-6495	348	42	outdoor	outdoor	ADJ
ejpam-6495	348	43	uneven	uneven	ADJ
ejpam-6495	348	44	)	)	PUNCT
ejpam-6495	348	45	106s	106s	PROPN
ejpam-6495	348	46	(	(	PUNCT
ejpam-6495	348	47	very	very	ADV
ejpam-6495	348	48	rough	rough	ADJ
ejpam-6495	348	49	)	)	PUNCT
ejpam-6495	348	50	up	up	ADP
ejpam-6495	348	51	to	to	PART
ejpam-6495	348	52	29	29	NUM
ejpam-6495	348	53	%	%	NOUN
ejpam-6495	348	54	faster	fast	ADV
ejpam-6495	348	55	;	;	PUNCT
ejpam-6495	348	56	quicker	quick	ADV
ejpam-6495	348	57	across	across	ADP
ejpam-6495	348	58	all	all	DET
ejpam-6495	348	59	surfaces	surface	NOUN
ejpam-6495	348	60	terrain	terrain	NOUN
ejpam-6495	348	61	adaptivity	adaptivity	NOUN
ejpam-6495	348	62	explicit	explicit	ADJ
ejpam-6495	348	63	curves	curve	NOUN
ejpam-6495	348	64	per	per	ADP
ejpam-6495	348	65	surface	surface	NOUN
ejpam-6495	348	66	;	;	PUNCT
ejpam-6495	348	67	adaptive	adaptive	ADJ
ejpam-6495	348	68	smoothing	smooth	VERB
ejpam-6495	348	69	uniform	uniform	ADJ
ejpam-6495	348	70	treatment	treatment	NOUN
ejpam-6495	348	71	across	across	ADP
ejpam-6495	348	72	terrains	terrain	NOUN
ejpam-6495	348	73	responsive	responsive	ADJ
ejpam-6495	348	74	to	to	ADP
ejpam-6495	348	75	terrain	terrain	NOUN
ejpam-6495	348	76	changes	change	NOUN
ejpam-6495	348	77	;	;	PUNCT
ejpam-6495	348	78	better	well	ADJ
ejpam-6495	348	79	alignment	alignment	NOUN
ejpam-6495	348	80	noise	noise	NOUN
ejpam-6495	348	81	filtering	filter	VERB
ejpam-6495	348	82	fast	fast	ADJ
ejpam-6495	348	83	damping	damping	NOUN
ejpam-6495	348	84	;	;	PUNCT
ejpam-6495	348	85	smoother	smooth	ADJ
ejpam-6495	348	86	error	error	NOUN
ejpam-6495	348	87	across	across	ADP
ejpam-6495	348	88	all	all	DET
ejpam-6495	348	89	axes	axis	NOUN
ejpam-6495	348	90	moderate	moderate	ADJ
ejpam-6495	348	91	;	;	PUNCT
ejpam-6495	348	92	filters	filter	NOUN
ejpam-6495	348	93	encoder	encoder	NOUN
ejpam-6495	348	94	/	/	SYM
ejpam-6495	348	95	laser	laser	NOUN
ejpam-6495	348	96	noise	noise	NOUN
ejpam-6495	348	97	only	only	ADV
ejpam-6495	348	98	stronger	strong	ADJ
ejpam-6495	348	99	filtering	filtering	NOUN
ejpam-6495	348	100	and	and	CCONJ
ejpam-6495	348	101	correction	correction	NOUN
ejpam-6495	348	102	real	real	ADJ
ejpam-6495	348	103	-	-	PUNCT
ejpam-6495	348	104	world	world	NOUN
ejpam-6495	348	105	robustness	robustness	NOUN
ejpam-6495	348	106	surface	surface	NOUN
ejpam-6495	348	107	-	-	PUNCT
ejpam-6495	348	108	specific	specific	ADJ
ejpam-6495	348	109	tuning	tuning	NOUN
ejpam-6495	348	110	boosts	boost	VERB
ejpam-6495	348	111	resilience	resilience	NOUN
ejpam-6495	348	112	sensor	sensor	NOUN
ejpam-6495	348	113	-	-	PUNCT
ejpam-6495	348	114	sensitive	sensitive	ADJ
ejpam-6495	348	115	;	;	PUNCT
ejpam-6495	348	116	performance	performance	NOUN
ejpam-6495	348	117	degrades	degrade	VERB
ejpam-6495	348	118	more	more	ADV
ejpam-6495	348	119	robust	robust	ADJ
ejpam-6495	348	120	in	in	ADP
ejpam-6495	348	121	diverse	diverse	ADJ
ejpam-6495	348	122	outdoor	outdoor	ADJ
ejpam-6495	348	123	/	/	SYM
ejpam-6495	348	124	indoor	indoor	ADJ
ejpam-6495	348	125	settings	setting	NOUN
ejpam-6495	348	126	stability	stability	VERB
ejpam-6495	348	127	smooth	smooth	ADJ
ejpam-6495	348	128	trends	trend	NOUN
ejpam-6495	348	129	,	,	PUNCT
ejpam-6495	348	130	quick	quick	ADJ
ejpam-6495	348	131	recovery	recovery	NOUN
ejpam-6495	348	132	from	from	ADP
ejpam-6495	348	133	error	error	NOUN
ejpam-6495	348	134	spikes	spike	NOUN
ejpam-6495	348	135	and	and	CCONJ
ejpam-6495	348	136	delayed	delay	VERB
ejpam-6495	348	137	stabilization	stabilization	NOUN
ejpam-6495	348	138	more	more	ADV
ejpam-6495	348	139	stable	stable	ADJ
ejpam-6495	348	140	with	with	ADP
ejpam-6495	348	141	consistent	consistent	ADJ
ejpam-6495	348	142	dynamics	dynamic	NOUN
ejpam-6495	348	143	w.	w.	PROPN
ejpam-6495	348	144	h.	h.	PROPN
ejpam-6495	348	145	f.	f.	PROPN
ejpam-6495	348	146	aly	aly	PROPN
ejpam-6495	348	147	,	,	PUNCT
ejpam-6495	348	148	n.	n.	PROPN
ejpam-6495	348	149	samashvili	samashvili	NOUN
ejpam-6495	348	150	,	,	PUNCT
ejpam-6495	348	151	c.	c.	PROPN
ejpam-6495	348	152	f.	f.	PROPN
ejpam-6495	348	153	riman	riman	PROPN
ejpam-6495	348	154	/	/	SYM
ejpam-6495	348	155	eur	eur	PROPN
ejpam-6495	348	156	.	.	PUNCT
ejpam-6495	349	1	j.	j.	PROPN
ejpam-6495	349	2	pure	pure	PROPN
ejpam-6495	349	3	appl	appl	PROPN
ejpam-6495	349	4	.	.	PROPN
ejpam-6495	349	5	math	math	PROPN
ejpam-6495	349	6	,	,	PUNCT
ejpam-6495	349	7	18	18	NUM
ejpam-6495	349	8	(	(	PUNCT
ejpam-6495	349	9	3	3	NUM
ejpam-6495	349	10	)	)	PUNCT
ejpam-6495	349	11	(	(	PUNCT
ejpam-6495	349	12	2025	2025	NUM
ejpam-6495	349	13	)	)	PUNCT
ejpam-6495	349	14	,	,	PUNCT
ejpam-6495	349	15	6495	6495	NUM
ejpam-6495	349	16	23	23	NUM
ejpam-6495	349	17	of	of	ADP
ejpam-6495	349	18	28	28	NUM
ejpam-6495	349	19	figure	figure	NOUN
ejpam-6495	349	20	10	10	NUM
ejpam-6495	349	21	:	:	PUNCT
ejpam-6495	349	22	ekfwc	ekfwc	NOUN
ejpam-6495	349	23	error	error	NOUN
ejpam-6495	349	24	in	in	ADP
ejpam-6495	349	25	y	y	PROPN
ejpam-6495	349	26	for	for	ADP
ejpam-6495	349	27	various	various	ADJ
ejpam-6495	349	28	surfaces	surface	NOUN
ejpam-6495	349	29	the	the	DET
ejpam-6495	349	30	performance	performance	NOUN
ejpam-6495	349	31	disparity	disparity	NOUN
ejpam-6495	349	32	is	be	AUX
ejpam-6495	349	33	primarily	primarily	ADV
ejpam-6495	349	34	attributed	attribute	VERB
ejpam-6495	349	35	to	to	ADP
ejpam-6495	349	36	the	the	DET
ejpam-6495	349	37	behavioral	behavioral	ADJ
ejpam-6495	349	38	characteristics	characteristic	NOUN
ejpam-6495	349	39	of	of	ADP
ejpam-6495	349	40	the	the	DET
ejpam-6495	349	41	two	two	NUM
ejpam-6495	349	42	control	control	NOUN
ejpam-6495	349	43	models	model	NOUN
ejpam-6495	349	44	.	.	PUNCT
ejpam-6495	350	1	the	the	DET
ejpam-6495	350	2	reference	reference	NOUN
ejpam-6495	350	3	model	model	NOUN
ejpam-6495	350	4	refekfpf	refekfpf	NOUN
ejpam-6495	350	5	frequently	frequently	ADV
ejpam-6495	350	6	deviated	deviate	VERB
ejpam-6495	350	7	from	from	ADP
ejpam-6495	350	8	the	the	DET
ejpam-6495	350	9	optimal	optimal	ADJ
ejpam-6495	350	10	trajectory	trajectory	NOUN
ejpam-6495	350	11	,	,	PUNCT
ejpam-6495	350	12	resulting	result	VERB
ejpam-6495	350	13	in	in	ADP
ejpam-6495	350	14	longer	long	ADJ
ejpam-6495	350	15	travel	travel	NOUN
ejpam-6495	350	16	distances	distance	NOUN
ejpam-6495	350	17	due	due	ADP
ejpam-6495	350	18	to	to	ADP
ejpam-6495	350	19	zigzag	zigzag	NOUN
ejpam-6495	350	20	movements	movement	NOUN
ejpam-6495	350	21	and	and	CCONJ
ejpam-6495	350	22	wide	wide	ADJ
ejpam-6495	350	23	turning	turning	NOUN
ejpam-6495	350	24	angles	angle	NOUN
ejpam-6495	350	25	.	.	PUNCT
ejpam-6495	351	1	additionally	additionally	ADV
ejpam-6495	351	2	,	,	PUNCT
ejpam-6495	351	3	it	it	PRON
ejpam-6495	351	4	exhibited	exhibit	VERB
ejpam-6495	351	5	noticeable	noticeable	ADJ
ejpam-6495	351	6	pauses	pause	NOUN
ejpam-6495	351	7	and	and	CCONJ
ejpam-6495	351	8	hesitation	hesitation	NOUN
ejpam-6495	351	9	,	,	PUNCT
ejpam-6495	351	10	particularly	particularly	ADV
ejpam-6495	351	11	in	in	ADP
ejpam-6495	351	12	response	response	NOUN
ejpam-6495	351	13	to	to	ADP
ejpam-6495	351	14	terrain	terrain	NOUN
ejpam-6495	351	15	changes	change	NOUN
ejpam-6495	351	16	,	,	PUNCT
ejpam-6495	351	17	which	which	PRON
ejpam-6495	351	18	further	far	ADV
ejpam-6495	351	19	contributed	contribute	VERB
ejpam-6495	351	20	to	to	ADP
ejpam-6495	351	21	increased	increase	VERB
ejpam-6495	351	22	traversal	traversal	NOUN
ejpam-6495	351	23	times	time	NOUN
ejpam-6495	351	24	.	.	PUNCT
ejpam-6495	352	1	in	in	ADP
ejpam-6495	352	2	contrast	contrast	NOUN
ejpam-6495	352	3	,	,	PUNCT
ejpam-6495	352	4	the	the	DET
ejpam-6495	352	5	ekfwc	ekfwc	NOUN
ejpam-6495	352	6	maintained	maintain	VERB
ejpam-6495	352	7	a	a	DET
ejpam-6495	352	8	smoother	smooth	ADJ
ejpam-6495	352	9	trajectory	trajectory	NOUN
ejpam-6495	352	10	with	with	ADP
ejpam-6495	352	11	minimal	minimal	ADJ
ejpam-6495	352	12	deviation	deviation	NOUN
ejpam-6495	352	13	from	from	ADP
ejpam-6495	352	14	the	the	DET
ejpam-6495	352	15	shortest	short	ADJ
ejpam-6495	352	16	path	path	NOUN
ejpam-6495	352	17	and	and	CCONJ
ejpam-6495	352	18	showed	show	VERB
ejpam-6495	352	19	a	a	DET
ejpam-6495	352	20	consistent	consistent	ADJ
ejpam-6495	352	21	response	response	NOUN
ejpam-6495	352	22	to	to	ADP
ejpam-6495	352	23	terrain	terrain	NOUN
ejpam-6495	352	24	variations	variation	NOUN
ejpam-6495	352	25	without	without	ADP
ejpam-6495	352	26	incurring	incur	VERB
ejpam-6495	352	27	significant	significant	ADJ
ejpam-6495	352	28	delays	delay	NOUN
ejpam-6495	352	29	.	.	PUNCT
ejpam-6495	353	1	this	this	DET
ejpam-6495	353	2	capability	capability	NOUN
ejpam-6495	353	3	to	to	PART
ejpam-6495	353	4	maintain	maintain	VERB
ejpam-6495	353	5	stable	stable	ADJ
ejpam-6495	353	6	and	and	CCONJ
ejpam-6495	353	7	continuous	continuous	ADJ
ejpam-6495	353	8	motion	motion	NOUN
ejpam-6495	353	9	is	be	AUX
ejpam-6495	353	10	a	a	DET
ejpam-6495	353	11	key	key	ADJ
ejpam-6495	353	12	advantage	advantage	NOUN
ejpam-6495	353	13	of	of	ADP
ejpam-6495	353	14	the	the	DET
ejpam-6495	353	15	ekfwc	ekfwc	NOUN
ejpam-6495	353	16	,	,	PUNCT
ejpam-6495	353	17	reflecting	reflect	VERB
ejpam-6495	353	18	its	its	PRON
ejpam-6495	353	19	effectiveness	effectiveness	NOUN
ejpam-6495	353	20	in	in	ADP
ejpam-6495	353	21	real	real	ADJ
ejpam-6495	353	22	-	-	PUNCT
ejpam-6495	353	23	time	time	NOUN
ejpam-6495	353	24	adaptive	adaptive	ADJ
ejpam-6495	353	25	control	control	NOUN
ejpam-6495	353	26	and	and	CCONJ
ejpam-6495	353	27	efficient	efficient	ADJ
ejpam-6495	353	28	path	path	NOUN
ejpam-6495	353	29	execution	execution	NOUN
ejpam-6495	353	30	.	.	PUNCT
ejpam-6495	354	1	6	6	NUM
ejpam-6495	354	2	.	.	X
ejpam-6495	354	3	conclusion	conclusion	NOUN
ejpam-6495	354	4	and	and	CCONJ
ejpam-6495	354	5	future	future	ADJ
ejpam-6495	354	6	work	work	NOUN
ejpam-6495	354	7	the	the	DET
ejpam-6495	354	8	proposed	propose	VERB
ejpam-6495	354	9	ekfwc	ekfwc	NOUN
ejpam-6495	354	10	system	system	NOUN
ejpam-6495	354	11	presents	present	VERB
ejpam-6495	354	12	a	a	DET
ejpam-6495	354	13	significant	significant	ADJ
ejpam-6495	354	14	advancement	advancement	NOUN
ejpam-6495	354	15	in	in	ADP
ejpam-6495	354	16	intelligent	intelligent	ADJ
ejpam-6495	354	17	wheelchair	wheelchair	NOUN
ejpam-6495	354	18	control	control	NOUN
ejpam-6495	354	19	for	for	ADP
ejpam-6495	354	20	individuals	individual	NOUN
ejpam-6495	354	21	with	with	ADP
ejpam-6495	354	22	motor	motor	NOUN
ejpam-6495	354	23	impairments	impairment	NOUN
ejpam-6495	354	24	,	,	PUNCT
ejpam-6495	354	25	particularly	particularly	ADV
ejpam-6495	354	26	those	those	PRON
ejpam-6495	354	27	with	with	ADP
ejpam-6495	354	28	cerebral	cerebral	ADJ
ejpam-6495	354	29	palsy	palsy	ADJ
ejpam-6495	354	30	.	.	PUNCT
ejpam-6495	355	1	by	by	ADP
ejpam-6495	355	2	leveraging	leverage	VERB
ejpam-6495	355	3	kalman	kalman	NOUN
ejpam-6495	355	4	filter	filter	NOUN
ejpam-6495	355	5	-	-	PUNCT
ejpam-6495	355	6	based	base	VERB
ejpam-6495	355	7	state	state	NOUN
ejpam-6495	355	8	estimation	estimation	NOUN
ejpam-6495	355	9	and	and	CCONJ
ejpam-6495	355	10	real	real	ADJ
ejpam-6495	355	11	-	-	PUNCT
ejpam-6495	355	12	time	time	NOUN
ejpam-6495	355	13	velocity	velocity	NOUN
ejpam-6495	355	14	correction	correction	NOUN
ejpam-6495	355	15	,	,	PUNCT
ejpam-6495	355	16	ekfwc	ekfwc	NOUN
ejpam-6495	355	17	effectively	effectively	ADV
ejpam-6495	355	18	compensates	compensate	VERB
ejpam-6495	355	19	for	for	ADP
ejpam-6495	355	20	joystick	joystick	NOUN
ejpam-6495	355	21	input	input	NOUN
ejpam-6495	355	22	inaccuracies	inaccuracy	NOUN
ejpam-6495	355	23	,	,	PUNCT
ejpam-6495	355	24	resulting	result	VERB
ejpam-6495	355	25	in	in	ADP
ejpam-6495	355	26	smoother	smooth	ADJ
ejpam-6495	355	27	and	and	CCONJ
ejpam-6495	355	28	more	more	ADV
ejpam-6495	355	29	precise	precise	ADJ
ejpam-6495	355	30	navigation	navigation	NOUN
ejpam-6495	355	31	.	.	PUNCT
ejpam-6495	356	1	simulation	simulation	NOUN
ejpam-6495	356	2	results	result	NOUN
ejpam-6495	356	3	show	show	VERB
ejpam-6495	356	4	that	that	PRON
ejpam-6495	356	5	ekfwc	ekfwc	NOUN
ejpam-6495	356	6	consistently	consistently	ADV
ejpam-6495	356	7	outperforms	outperform	VERB
ejpam-6495	356	8	the	the	DET
ejpam-6495	356	9	reference	reference	NOUN
ejpam-6495	356	10	model	model	NOUN
ejpam-6495	356	11	refekfpf	refekfpf	NOUN
ejpam-6495	356	12	across	across	ADP
ejpam-6495	356	13	a	a	DET
ejpam-6495	356	14	variety	variety	NOUN
ejpam-6495	356	15	of	of	ADP
ejpam-6495	356	16	terrain	terrain	NOUN
ejpam-6495	356	17	conditions	condition	NOUN
ejpam-6495	356	18	.	.	PUNCT
ejpam-6495	357	1	notably	notably	ADV
ejpam-6495	357	2	,	,	PUNCT
ejpam-6495	357	3	when	when	SCONJ
ejpam-6495	357	4	compared	compare	VERB
ejpam-6495	357	5	to	to	ADP
ejpam-6495	357	6	refekfpf	refekfpf	VERB
ejpam-6495	357	7	,	,	PUNCT
ejpam-6495	357	8	ekfwc	ekfwc	NOUN
ejpam-6495	357	9	reduced	reduce	VERB
ejpam-6495	357	10	navigation	navigation	NOUN
ejpam-6495	357	11	time	time	NOUN
ejpam-6495	357	12	from	from	ADP
ejpam-6495	357	13	100	100	NUM
ejpam-6495	357	14	sec	sec	PROPN
ejpam-6495	357	15	to	to	ADP
ejpam-6495	357	16	71	71	NUM
ejpam-6495	357	17	sec	sec	PROPN
ejpam-6495	357	18	on	on	ADP
ejpam-6495	357	19	smooth	smooth	ADJ
ejpam-6495	357	20	indoor	indoor	ADJ
ejpam-6495	357	21	surfaces	surface	NOUN
ejpam-6495	357	22	,	,	PUNCT
ejpam-6495	357	23	and	and	CCONJ
ejpam-6495	357	24	maintained	maintain	VERB
ejpam-6495	357	25	superior	superior	ADJ
ejpam-6495	357	26	performance	performance	NOUN
ejpam-6495	357	27	on	on	ADP
ejpam-6495	357	28	uneven	uneven	ADJ
ejpam-6495	357	29	and	and	CCONJ
ejpam-6495	357	30	very	very	ADV
ejpam-6495	357	31	rough	rough	ADJ
ejpam-6495	357	32	outdoor	outdoor	ADJ
ejpam-6495	357	33	terrain	terrain	NOUN
ejpam-6495	357	34	with	with	ADP
ejpam-6495	357	35	traversal	traversal	NOUN
ejpam-6495	357	36	times	time	NOUN
ejpam-6495	357	37	of	of	ADP
ejpam-6495	357	38	87	87	NUM
ejpam-6495	357	39	sec	sec	PROPN
ejpam-6495	357	40	and	and	CCONJ
ejpam-6495	357	41	95	95	NUM
ejpam-6495	357	42	sec	sec	PROPN
ejpam-6495	357	43	,	,	PUNCT
ejpam-6495	357	44	respectively	respectively	ADV
ejpam-6495	357	45	.	.	PUNCT
ejpam-6495	358	1	these	these	DET
ejpam-6495	358	2	improvements	improvement	NOUN
ejpam-6495	358	3	are	be	AUX
ejpam-6495	358	4	attributed	attribute	VERB
ejpam-6495	358	5	to	to	ADP
ejpam-6495	358	6	ekfwc	ekfwc	NOUN
ejpam-6495	358	7	′s	′s	PROPN
ejpam-6495	358	8	ability	ability	NOUN
ejpam-6495	358	9	to	to	PART
ejpam-6495	358	10	maintain	maintain	VERB
ejpam-6495	358	11	a	a	DET
ejpam-6495	358	12	stable	stable	ADJ
ejpam-6495	358	13	trajectory	trajectory	NOUN
ejpam-6495	358	14	with	with	ADP
ejpam-6495	358	15	minimal	minimal	ADJ
ejpam-6495	358	16	deviations	deviation	NOUN
ejpam-6495	358	17	and	and	CCONJ
ejpam-6495	358	18	prompt	prompt	ADJ
ejpam-6495	358	19	responses	response	NOUN
ejpam-6495	358	20	to	to	ADP
ejpam-6495	358	21	terrain	terrain	NOUN
ejpam-6495	358	22	changes	change	NOUN
ejpam-6495	358	23	,	,	PUNCT
ejpam-6495	358	24	avoiding	avoid	VERB
ejpam-6495	358	25	the	the	DET
ejpam-6495	358	26	zigzagging	zigzagging	NOUN
ejpam-6495	358	27	and	and	CCONJ
ejpam-6495	358	28	hesitations	hesitation	NOUN
ejpam-6495	358	29	observed	observe	VERB
ejpam-6495	358	30	in	in	ADP
ejpam-6495	358	31	the	the	DET
ejpam-6495	358	32	reference	reference	NOUN
ejpam-6495	358	33	model	model	NOUN
ejpam-6495	358	34	.	.	PUNCT
ejpam-6495	359	1	overall	overall	ADJ
ejpam-6495	359	2	,	,	PUNCT
ejpam-6495	359	3	ekfwc	ekfwc	NOUN
ejpam-6495	359	4	demonstrates	demonstrate	VERB
ejpam-6495	359	5	robust	robust	ADJ
ejpam-6495	359	6	adaptability	adaptability	NOUN
ejpam-6495	359	7	,	,	PUNCT
ejpam-6495	359	8	real	real	ADJ
ejpam-6495	359	9	-	-	PUNCT
ejpam-6495	359	10	time	time	NOUN
ejpam-6495	359	11	responsiveness	responsiveness	NOUN
ejpam-6495	359	12	,	,	PUNCT
ejpam-6495	359	13	and	and	CCONJ
ejpam-6495	359	14	enhanced	enhanced	ADJ
ejpam-6495	359	15	maneuverability	maneuverability	NOUN
ejpam-6495	359	16	in	in	ADP
ejpam-6495	359	17	w.	w.	PROPN
ejpam-6495	359	18	h.	h.	PROPN
ejpam-6495	359	19	f.	f.	PROPN
ejpam-6495	359	20	aly	aly	PROPN
ejpam-6495	359	21	,	,	PUNCT
ejpam-6495	359	22	n.	n.	PROPN
ejpam-6495	359	23	samashvili	samashvili	NOUN
ejpam-6495	359	24	,	,	PUNCT
ejpam-6495	359	25	c.	c.	PROPN
ejpam-6495	359	26	f.	f.	PROPN
ejpam-6495	359	27	riman	riman	PROPN
ejpam-6495	359	28	/	/	SYM
ejpam-6495	359	29	eur	eur	PROPN
ejpam-6495	359	30	.	.	PUNCT
ejpam-6495	360	1	j.	j.	PROPN
ejpam-6495	360	2	pure	pure	PROPN
ejpam-6495	360	3	appl	appl	PROPN
ejpam-6495	360	4	.	.	PROPN
ejpam-6495	360	5	math	math	PROPN
ejpam-6495	360	6	,	,	PUNCT
ejpam-6495	360	7	18	18	NUM
ejpam-6495	360	8	(	(	PUNCT
ejpam-6495	360	9	3	3	NUM
ejpam-6495	360	10	)	)	PUNCT
ejpam-6495	360	11	(	(	PUNCT
ejpam-6495	360	12	2025	2025	NUM
ejpam-6495	360	13	)	)	PUNCT
ejpam-6495	360	14	,	,	PUNCT
ejpam-6495	360	15	6495	6495	NUM
ejpam-6495	360	16	24	24	NUM
ejpam-6495	360	17	of	of	ADP
ejpam-6495	360	18	28	28	NUM
ejpam-6495	360	19	figure	figure	NOUN
ejpam-6495	360	20	11	11	NUM
ejpam-6495	360	21	:	:	PUNCT
ejpam-6495	360	22	ekfwc	ekfwc	NOUN
ejpam-6495	360	23	error	error	NOUN
ejpam-6495	360	24	in	in	ADP
ejpam-6495	360	25	θ	θ	PROPN
ejpam-6495	360	26	for	for	ADP
ejpam-6495	360	27	various	various	ADJ
ejpam-6495	360	28	surfaces	surface	NOUN
ejpam-6495	360	29	diverse	diverse	ADJ
ejpam-6495	360	30	mobility	mobility	NOUN
ejpam-6495	360	31	environments	environment	NOUN
ejpam-6495	360	32	.	.	PUNCT
ejpam-6495	361	1	future	future	ADJ
ejpam-6495	361	2	work	work	NOUN
ejpam-6495	361	3	will	will	AUX
ejpam-6495	361	4	focus	focus	VERB
ejpam-6495	361	5	on	on	ADP
ejpam-6495	361	6	implementing	implement	VERB
ejpam-6495	361	7	the	the	DET
ejpam-6495	361	8	proposed	propose	VERB
ejpam-6495	361	9	ekfwc	ekfwc	NOUN
ejpam-6495	361	10	system	system	NOUN
ejpam-6495	361	11	on	on	ADP
ejpam-6495	361	12	a	a	DET
ejpam-6495	361	13	real	real	ADJ
ejpam-6495	361	14	electric	electric	ADJ
ejpam-6495	361	15	wheelchair	wheelchair	NOUN
ejpam-6495	361	16	platform	platform	NOUN
ejpam-6495	361	17	to	to	PART
ejpam-6495	361	18	validate	validate	VERB
ejpam-6495	361	19	its	its	PRON
ejpam-6495	361	20	effectiveness	effectiveness	NOUN
ejpam-6495	361	21	beyond	beyond	ADP
ejpam-6495	361	22	simulation	simulation	NOUN
ejpam-6495	361	23	.	.	PUNCT
ejpam-6495	362	1	this	this	PRON
ejpam-6495	362	2	includes	include	VERB
ejpam-6495	362	3	integrating	integrate	VERB
ejpam-6495	362	4	the	the	DET
ejpam-6495	362	5	control	control	NOUN
ejpam-6495	362	6	model	model	NOUN
ejpam-6495	362	7	with	with	ADP
ejpam-6495	362	8	actual	actual	ADJ
ejpam-6495	362	9	hardware	hardware	NOUN
ejpam-6495	362	10	components	component	NOUN
ejpam-6495	362	11	,	,	PUNCT
ejpam-6495	362	12	such	such	ADJ
ejpam-6495	362	13	as	as	ADP
ejpam-6495	362	14	joystick	joystick	NOUN
ejpam-6495	362	15	interfaces	interface	NOUN
ejpam-6495	362	16	,	,	PUNCT
ejpam-6495	362	17	motor	motor	NOUN
ejpam-6495	362	18	drivers	driver	NOUN
ejpam-6495	362	19	,	,	PUNCT
ejpam-6495	362	20	and	and	CCONJ
ejpam-6495	362	21	onboard	onboard	ADP
ejpam-6495	362	22	sensors	sensor	NOUN
ejpam-6495	362	23	,	,	PUNCT
ejpam-6495	362	24	to	to	PART
ejpam-6495	362	25	evaluate	evaluate	VERB
ejpam-6495	362	26	performance	performance	NOUN
ejpam-6495	362	27	in	in	ADP
ejpam-6495	362	28	real	real	ADJ
ejpam-6495	362	29	-	-	PUNCT
ejpam-6495	362	30	time	time	NOUN
ejpam-6495	362	31	operation	operation	NOUN
ejpam-6495	362	32	across	across	ADP
ejpam-6495	362	33	diverse	diverse	ADJ
ejpam-6495	362	34	indoor	indoor	ADJ
ejpam-6495	362	35	and	and	CCONJ
ejpam-6495	362	36	outdoor	outdoor	ADJ
ejpam-6495	362	37	environments	environment	NOUN
ejpam-6495	362	38	.	.	PUNCT
ejpam-6495	363	1	emphasis	emphasis	NOUN
ejpam-6495	363	2	will	will	AUX
ejpam-6495	363	3	be	be	AUX
ejpam-6495	363	4	placed	place	VERB
ejpam-6495	363	5	on	on	ADP
ejpam-6495	363	6	testing	test	VERB
ejpam-6495	363	7	the	the	DET
ejpam-6495	363	8	system	system	NOUN
ejpam-6495	363	9	with	with	ADP
ejpam-6495	363	10	users	user	NOUN
ejpam-6495	363	11	who	who	PRON
ejpam-6495	363	12	have	have	VERB
ejpam-6495	363	13	motor	motor	NOUN
ejpam-6495	363	14	impairments	impairment	NOUN
ejpam-6495	363	15	to	to	PART
ejpam-6495	363	16	assess	assess	VERB
ejpam-6495	363	17	its	its	PRON
ejpam-6495	363	18	adaptability	adaptability	NOUN
ejpam-6495	363	19	,	,	PUNCT
ejpam-6495	363	20	reliability	reliability	NOUN
ejpam-6495	363	21	,	,	PUNCT
ejpam-6495	363	22	and	and	CCONJ
ejpam-6495	363	23	usability	usability	NOUN
ejpam-6495	363	24	under	under	ADP
ejpam-6495	363	25	real	real	ADJ
ejpam-6495	363	26	-	-	PUNCT
ejpam-6495	363	27	world	world	NOUN
ejpam-6495	363	28	conditions	condition	NOUN
ejpam-6495	363	29	.	.	PUNCT
ejpam-6495	364	1	additionally	additionally	ADV
ejpam-6495	364	2	,	,	PUNCT
ejpam-6495	364	3	further	further	ADJ
ejpam-6495	364	4	enhancements	enhancement	NOUN
ejpam-6495	364	5	may	may	AUX
ejpam-6495	364	6	involve	involve	VERB
ejpam-6495	364	7	adaptive	adaptive	ADJ
ejpam-6495	364	8	tuning	tuning	NOUN
ejpam-6495	364	9	mechanisms	mechanism	NOUN
ejpam-6495	364	10	to	to	PART
ejpam-6495	364	11	personalize	personalize	VERB
ejpam-6495	364	12	the	the	DET
ejpam-6495	364	13	control	control	NOUN
ejpam-6495	364	14	response	response	NOUN
ejpam-6495	364	15	based	base	VERB
ejpam-6495	364	16	on	on	ADP
ejpam-6495	364	17	individual	individual	ADJ
ejpam-6495	364	18	user	user	NOUN
ejpam-6495	364	19	behavior	behavior	NOUN
ejpam-6495	364	20	and	and	CCONJ
ejpam-6495	364	21	dynamic	dynamic	ADJ
ejpam-6495	364	22	terrain	terrain	NOUN
ejpam-6495	364	23	feedback	feedback	NOUN
ejpam-6495	364	24	,	,	PUNCT
ejpam-6495	364	25	thereby	thereby	ADV
ejpam-6495	364	26	improving	improve	VERB
ejpam-6495	364	27	overall	overall	ADJ
ejpam-6495	364	28	system	system	NOUN
ejpam-6495	364	29	robustness	robustness	NOUN
ejpam-6495	364	30	and	and	CCONJ
ejpam-6495	364	31	user	user	NOUN
ejpam-6495	364	32	experience	experience	NOUN
ejpam-6495	364	33	.	.	PUNCT
ejpam-6495	365	1	references	reference	NOUN
ejpam-6495	365	2	[	[	X
ejpam-6495	365	3	1	1	NUM
ejpam-6495	365	4	]	]	PUNCT
ejpam-6495	365	5	m.	m.	NOUN
ejpam-6495	365	6	babel	babel	PROPN
ejpam-6495	365	7	,	,	PUNCT
ejpam-6495	365	8	f.	f.	PROPN
ejpam-6495	365	9	pasteau	pasteau	PROPN
ejpam-6495	365	10	,	,	PUNCT
ejpam-6495	365	11	s.	s.	PROPN
ejpam-6495	365	12	guégan	guégan	PROPN
ejpam-6495	365	13	,	,	PUNCT
ejpam-6495	365	14	p.	p.	PROPN
ejpam-6495	365	15	gallien	gallien	PROPN
ejpam-6495	365	16	,	,	PUNCT
ejpam-6495	365	17	b.	b.	PROPN
ejpam-6495	365	18	nicolas	nicolas	PROPN
ejpam-6495	365	19	,	,	PUNCT
ejpam-6495	365	20	b.	b.	PROPN
ejpam-6495	365	21	fraudet	fraudet	PROPN
ejpam-6495	365	22	,	,	PUNCT
ejpam-6495	365	23	s.	s.	PROPN
ejpam-6495	365	24	achillefauveau	achillefauveau	PROPN
ejpam-6495	365	25	,	,	PUNCT
ejpam-6495	365	26	and	and	CCONJ
ejpam-6495	365	27	d.	d.	PROPN
ejpam-6495	365	28	guillard	guillard	PROPN
ejpam-6495	365	29	.	.	PUNCT
ejpam-6495	366	1	handiviz	handiviz	PROPN
ejpam-6495	366	2	project	project	NOUN
ejpam-6495	366	3	:	:	PUNCT
ejpam-6495	366	4	clinical	clinical	ADJ
ejpam-6495	366	5	validation	validation	NOUN
ejpam-6495	366	6	of	of	ADP
ejpam-6495	366	7	a	a	DET
ejpam-6495	366	8	driving	drive	VERB
ejpam-6495	366	9	assistance	assistance	NOUN
ejpam-6495	366	10	for	for	ADP
ejpam-6495	366	11	electrical	electrical	ADJ
ejpam-6495	366	12	wheelchair	wheelchair	NOUN
ejpam-6495	366	13	.	.	PUNCT
ejpam-6495	367	1	in	in	ADP
ejpam-6495	367	2	ieee	ieee	NOUN
ejpam-6495	367	3	workshop	workshop	NOUN
ejpam-6495	367	4	on	on	ADP
ejpam-6495	367	5	advanced	advanced	ADJ
ejpam-6495	367	6	robotics	robotic	NOUN
ejpam-6495	367	7	and	and	CCONJ
ejpam-6495	367	8	its	its	PRON
ejpam-6495	367	9	social	social	ADJ
ejpam-6495	367	10	impacts	impact	NOUN
ejpam-6495	367	11	(	(	PUNCT
ejpam-6495	367	12	arso	arso	ADJ
ejpam-6495	367	13	)	)	PUNCT
ejpam-6495	367	14	,	,	PUNCT
ejpam-6495	367	15	pages	page	NOUN
ejpam-6495	367	16	1–6	1–6	NUM
ejpam-6495	367	17	,	,	PUNCT
ejpam-6495	367	18	lyon	lyon	PROPN
ejpam-6495	367	19	,	,	PUNCT
ejpam-6495	367	20	france	france	PROPN
ejpam-6495	367	21	,	,	PUNCT
ejpam-6495	367	22	2015	2015	NUM
ejpam-6495	367	23	.	.	PUNCT
ejpam-6495	368	1	[	[	X
ejpam-6495	368	2	2	2	NUM
ejpam-6495	368	3	]	]	PUNCT
ejpam-6495	368	4	a.	a.	NOUN
ejpam-6495	368	5	kokosy	kokosy	NOUN
ejpam-6495	368	6	,	,	PUNCT
ejpam-6495	368	7	t.	t.	NOUN
ejpam-6495	368	8	floquet	floquet	PROPN
ejpam-6495	368	9	,	,	PUNCT
ejpam-6495	368	10	g.	g.	PROPN
ejpam-6495	368	11	howells	howells	PROPN
ejpam-6495	368	12	,	,	PUNCT
ejpam-6495	368	13	h.	h.	PROPN
ejpam-6495	368	14	hu	hu	PROPN
ejpam-6495	368	15	,	,	PUNCT
ejpam-6495	368	16	m.	m.	NOUN
ejpam-6495	368	17	pepper	pepper	NOUN
ejpam-6495	368	18	,	,	PUNCT
ejpam-6495	368	19	and	and	CCONJ
ejpam-6495	368	20	c.	c.	PROPN
ejpam-6495	368	21	donz	donz	PROPN
ejpam-6495	368	22	.	.	PUNCT
ejpam-6495	369	1	an	an	DET
ejpam-6495	369	2	intelligent	intelligent	ADJ
ejpam-6495	369	3	powered	powered	ADJ
ejpam-6495	369	4	wheelchair	wheelchair	NOUN
ejpam-6495	369	5	.	.	PUNCT
ejpam-6495	370	1	in	in	ADP
ejpam-6495	370	2	international	international	ADJ
ejpam-6495	370	3	conference	conference	NOUN
ejpam-6495	370	4	on	on	ADP
ejpam-6495	370	5	systems	system	NOUN
ejpam-6495	370	6	and	and	CCONJ
ejpam-6495	370	7	computer	computer	NOUN
ejpam-6495	370	8	science	science	NOUN
ejpam-6495	370	9	(	(	PUNCT
ejpam-6495	370	10	icscs2012	icscs2012	PROPN
ejpam-6495	370	11	)	)	PUNCT
ejpam-6495	370	12	,	,	PUNCT
ejpam-6495	370	13	lille	lille	PROPN
ejpam-6495	370	14	,	,	PUNCT
ejpam-6495	370	15	france	france	PROPN
ejpam-6495	370	16	,	,	PUNCT
ejpam-6495	370	17	2012	2012	NUM
ejpam-6495	370	18	.	.	PUNCT
ejpam-6495	371	1	[	[	X
ejpam-6495	371	2	3	3	X
ejpam-6495	371	3	]	]	X
ejpam-6495	371	4	r.	r.	PROPN
ejpam-6495	371	5	li	li	PROPN
ejpam-6495	371	6	,	,	PUNCT
ejpam-6495	371	7	l.	l.	PROPN
ejpam-6495	371	8	wei	wei	PROPN
ejpam-6495	371	9	,	,	PUNCT
ejpam-6495	371	10	d.	d.	PROPN
ejpam-6495	371	11	gu	gu	PROPN
ejpam-6495	371	12	,	,	PUNCT
ejpam-6495	371	13	h.	h.	PROPN
ejpam-6495	371	14	hu	hu	PROPN
ejpam-6495	371	15	,	,	PUNCT
ejpam-6495	371	16	and	and	CCONJ
ejpam-6495	371	17	k.	k.	PROPN
ejpam-6495	371	18	mcdonald	mcdonald	PROPN
ejpam-6495	371	19	-	-	PUNCT
ejpam-6495	371	20	maier	maier	PROPN
ejpam-6495	371	21	.	.	PUNCT
ejpam-6495	372	1	multi	multi	ADJ
ejpam-6495	372	2	-	-	ADJ
ejpam-6495	372	3	layered	layered	ADJ
ejpam-6495	372	4	map	map	NOUN
ejpam-6495	372	5	based	base	VERB
ejpam-6495	372	6	navigation	navigation	NOUN
ejpam-6495	372	7	and	and	CCONJ
ejpam-6495	372	8	interaction	interaction	NOUN
ejpam-6495	372	9	for	for	ADP
ejpam-6495	372	10	an	an	DET
ejpam-6495	372	11	intelligent	intelligent	ADJ
ejpam-6495	372	12	wheelchair	wheelchair	NOUN
ejpam-6495	372	13	.	.	PUNCT
ejpam-6495	373	1	in	in	ADP
ejpam-6495	373	2	proceedings	proceeding	NOUN
ejpam-6495	373	3	of	of	ADP
ejpam-6495	373	4	ieee	ieee	PROPN
ejpam-6495	373	5	international	international	ADJ
ejpam-6495	373	6	conference	conference	NOUN
ejpam-6495	373	7	on	on	ADP
ejpam-6495	373	8	robotics	robotic	NOUN
ejpam-6495	373	9	and	and	CCONJ
ejpam-6495	373	10	biomimetics	biomimetic	NOUN
ejpam-6495	373	11	(	(	PUNCT
ejpam-6495	373	12	robio	robio	NOUN
ejpam-6495	373	13	)	)	PUNCT
ejpam-6495	373	14	,	,	PUNCT
ejpam-6495	373	15	pages	page	NOUN
ejpam-6495	373	16	115–120	115–120	NUM
ejpam-6495	373	17	,	,	PUNCT
ejpam-6495	373	18	shenzhen	shenzhen	PROPN
ejpam-6495	373	19	,	,	PUNCT
ejpam-6495	373	20	china	china	PROPN
ejpam-6495	373	21	,	,	PUNCT
ejpam-6495	373	22	2013	2013	NUM
ejpam-6495	373	23	.	.	PUNCT
ejpam-6495	374	1	[	[	X
ejpam-6495	374	2	4	4	NUM
ejpam-6495	374	3	]	]	X
ejpam-6495	374	4	s.p	s.p	PROPN
ejpam-6495	374	5	.	.	PROPN
ejpam-6495	374	6	levine	levine	PROPN
ejpam-6495	374	7	,	,	PUNCT
ejpam-6495	374	8	d.a	d.a	PROPN
ejpam-6495	374	9	.	.	PROPN
ejpam-6495	374	10	bell	bell	PROPN
ejpam-6495	374	11	,	,	PUNCT
ejpam-6495	374	12	l.a	l.a	PROPN
ejpam-6495	374	13	.	.	PROPN
ejpam-6495	374	14	jaros	jaros	PROPN
ejpam-6495	374	15	,	,	PUNCT
ejpam-6495	374	16	r.c	r.c	PROPN
ejpam-6495	374	17	.	.	PROPN
ejpam-6495	374	18	simpson	simpson	PROPN
ejpam-6495	374	19	,	,	PUNCT
ejpam-6495	374	20	y.	y.	PROPN
ejpam-6495	374	21	koren	koren	PROPN
ejpam-6495	374	22	,	,	PUNCT
ejpam-6495	374	23	and	and	CCONJ
ejpam-6495	374	24	j.	j.	PROPN
ejpam-6495	374	25	borenstein	borenstein	PROPN
ejpam-6495	374	26	.	.	PUNCT
ejpam-6495	375	1	the	the	DET
ejpam-6495	375	2	w.	w.	PROPN
ejpam-6495	375	3	h.	h.	PROPN
ejpam-6495	375	4	f.	f.	PROPN
ejpam-6495	375	5	aly	aly	PROPN
ejpam-6495	375	6	,	,	PUNCT
ejpam-6495	375	7	n.	n.	PROPN
ejpam-6495	375	8	samashvili	samashvili	NOUN
ejpam-6495	375	9	,	,	PUNCT
ejpam-6495	375	10	c.	c.	PROPN
ejpam-6495	375	11	f.	f.	PROPN
ejpam-6495	375	12	riman	riman	PROPN
ejpam-6495	375	13	/	/	SYM
ejpam-6495	375	14	eur	eur	PROPN
ejpam-6495	375	15	.	.	PUNCT
ejpam-6495	376	1	j.	j.	PROPN
ejpam-6495	376	2	pure	pure	PROPN
ejpam-6495	376	3	appl	appl	PROPN
ejpam-6495	376	4	.	.	PROPN
ejpam-6495	376	5	math	math	PROPN
ejpam-6495	376	6	,	,	PUNCT
ejpam-6495	376	7	18	18	NUM
ejpam-6495	376	8	(	(	PUNCT
ejpam-6495	376	9	3	3	NUM
ejpam-6495	376	10	)	)	PUNCT
ejpam-6495	376	11	(	(	PUNCT
ejpam-6495	376	12	2025	2025	NUM
ejpam-6495	376	13	)	)	PUNCT
ejpam-6495	376	14	,	,	PUNCT
ejpam-6495	376	15	6495	6495	NUM
ejpam-6495	376	16	25	25	NUM
ejpam-6495	376	17	of	of	ADP
ejpam-6495	376	18	28	28	NUM
ejpam-6495	376	19	figure	figure	NOUN
ejpam-6495	376	20	12	12	NUM
ejpam-6495	376	21	:	:	PUNCT
ejpam-6495	376	22	ekfwc	ekfwc	NOUN
ejpam-6495	376	23	error	error	NOUN
ejpam-6495	376	24	in	in	ADP
ejpam-6495	376	25	y	y	PROPN
ejpam-6495	376	26	for	for	ADP
ejpam-6495	376	27	various	various	ADJ
ejpam-6495	376	28	surfaces	surface	NOUN
ejpam-6495	376	29	navchair	navchair	VERB
ejpam-6495	376	30	assistive	assistive	ADJ
ejpam-6495	376	31	wheelchair	wheelchair	NOUN
ejpam-6495	376	32	navigation	navigation	NOUN
ejpam-6495	376	33	system	system	NOUN
ejpam-6495	376	34	.	.	PUNCT
ejpam-6495	377	1	ieee	ieee	NOUN
ejpam-6495	377	2	transactions	transaction	NOUN
ejpam-6495	377	3	on	on	ADP
ejpam-6495	377	4	rehabilitation	rehabilitation	NOUN
ejpam-6495	377	5	engineering	engineering	NOUN
ejpam-6495	377	6	,	,	PUNCT
ejpam-6495	377	7	7(4):443–451	7(4):443–451	NUM
ejpam-6495	377	8	,	,	PUNCT
ejpam-6495	377	9	1999	1999	NUM
ejpam-6495	377	10	.	.	PUNCT
ejpam-6495	378	1	[	[	X
ejpam-6495	378	2	5	5	X
ejpam-6495	378	3	]	]	PUNCT
ejpam-6495	378	4	e.	e.	PROPN
ejpam-6495	378	5	demeester	demeester	PROPN
ejpam-6495	378	6	,	,	PUNCT
ejpam-6495	378	7	e.	e.	PROPN
ejpam-6495	378	8	vander	vander	PROPN
ejpam-6495	378	9	poorten	poorten	VERB
ejpam-6495	378	10	,	,	PUNCT
ejpam-6495	378	11	a.	a.	NOUN
ejpam-6495	378	12	huntemann	huntemann	PROPN
ejpam-6495	378	13	,	,	PUNCT
ejpam-6495	378	14	and	and	CCONJ
ejpam-6495	378	15	j.	j.	PROPN
ejpam-6495	378	16	de	de	PROPN
ejpam-6495	378	17	schut	schut	PROPN
ejpam-6495	378	18	.	.	PUNCT
ejpam-6495	379	1	wheelchair	wheelchair	NOUN
ejpam-6495	379	2	navigation	navigation	NOUN
ejpam-6495	379	3	assistance	assistance	NOUN
ejpam-6495	379	4	in	in	ADP
ejpam-6495	379	5	the	the	DET
ejpam-6495	379	6	fp7	fp7	PROPN
ejpam-6495	379	7	project	project	NOUN
ejpam-6495	379	8	radhar	radhar	PROPN
ejpam-6495	379	9	:	:	PUNCT
ejpam-6495	379	10	objectives	objective	NOUN
ejpam-6495	379	11	and	and	CCONJ
ejpam-6495	379	12	current	current	ADJ
ejpam-6495	379	13	state	state	NOUN
ejpam-6495	379	14	.	.	PUNCT
ejpam-6495	380	1	in	in	ADP
ejpam-6495	380	2	ieee	ieee	NOUN
ejpam-6495	380	3	/	/	SYM
ejpam-6495	380	4	rsj	rsj	NOUN
ejpam-6495	380	5	international	international	ADJ
ejpam-6495	380	6	conference	conference	NOUN
ejpam-6495	380	7	on	on	ADP
ejpam-6495	380	8	intelligent	intelligent	ADJ
ejpam-6495	380	9	robots	robot	NOUN
ejpam-6495	380	10	and	and	CCONJ
ejpam-6495	380	11	systems	system	NOUN
ejpam-6495	380	12	(	(	PUNCT
ejpam-6495	380	13	iros	iro	NOUN
ejpam-6495	380	14	)	)	PUNCT
ejpam-6495	380	15	,	,	PUNCT
ejpam-6495	380	16	workshop	workshop	NOUN
ejpam-6495	380	17	on	on	ADP
ejpam-6495	380	18	navigation	navigation	NOUN
ejpam-6495	380	19	and	and	CCONJ
ejpam-6495	380	20	manipulation	manipulation	NOUN
ejpam-6495	380	21	assistance	assistance	NOUN
ejpam-6495	380	22	for	for	ADP
ejpam-6495	380	23	robotic	robotic	ADJ
ejpam-6495	380	24	wheelchairs	wheelchairs	NOUN
ejpam-6495	380	25	,	,	PUNCT
ejpam-6495	380	26	vilamoura	vilamoura	NOUN
ejpam-6495	380	27	,	,	PUNCT
ejpam-6495	380	28	portugal	portugal	PROPN
ejpam-6495	380	29	,	,	PUNCT
ejpam-6495	380	30	october	october	PROPN
ejpam-6495	380	31	2012	2012	NUM
ejpam-6495	380	32	.	.	PUNCT
ejpam-6495	381	1	[	[	X
ejpam-6495	381	2	6	6	NUM
ejpam-6495	381	3	]	]	PUNCT
ejpam-6495	381	4	khaled	khaled	PROPN
ejpam-6495	381	5	safi	safi	PROPN
ejpam-6495	381	6	,	,	PUNCT
ejpam-6495	381	7	wael	wael	PROPN
ejpam-6495	381	8	hosny	hosny	PROPN
ejpam-6495	381	9	fouad	fouad	PROPN
ejpam-6495	381	10	aly	aly	PROPN
ejpam-6495	381	11	,	,	PUNCT
ejpam-6495	381	12	hassan	hassan	PROPN
ejpam-6495	381	13	kanj	kanj	PROPN
ejpam-6495	381	14	,	,	PUNCT
ejpam-6495	381	15	tarek	tarek	PROPN
ejpam-6495	381	16	khalifa	khalifa	PROPN
ejpam-6495	381	17	,	,	PUNCT
ejpam-6495	381	18	mouna	mouna	PROPN
ejpam-6495	381	19	ghedira	ghedira	PROPN
ejpam-6495	381	20	,	,	PUNCT
ejpam-6495	381	21	and	and	CCONJ
ejpam-6495	381	22	emilie	emilie	PROPN
ejpam-6495	381	23	hutin	hutin	PROPN
ejpam-6495	381	24	.	.	PUNCT
ejpam-6495	382	1	hidden	hide	VERB
ejpam-6495	382	2	markov	markov	NOUN
ejpam-6495	382	3	model	model	NOUN
ejpam-6495	382	4	for	for	ADP
ejpam-6495	382	5	parkinson	parkinson	NOUN
ejpam-6495	382	6	’s	’s	PART
ejpam-6495	382	7	disease	disease	NOUN
ejpam-6495	382	8	patients	patient	NOUN
ejpam-6495	382	9	using	use	VERB
ejpam-6495	382	10	balance	balance	NOUN
ejpam-6495	382	11	control	control	NOUN
ejpam-6495	382	12	data	datum	NOUN
ejpam-6495	382	13	.	.	PUNCT
ejpam-6495	383	1	bioengineering	bioengineering	NOUN
ejpam-6495	383	2	,	,	PUNCT
ejpam-6495	383	3	11(1):88	11(1):88	NUM
ejpam-6495	383	4	,	,	PUNCT
ejpam-6495	383	5	2024	2024	NUM
ejpam-6495	383	6	.	.	PUNCT
ejpam-6495	384	1	[	[	X
ejpam-6495	384	2	7	7	X
ejpam-6495	384	3	]	]	X
ejpam-6495	384	4	hassan	hassan	PROPN
ejpam-6495	384	5	kanj	kanj	PROPN
ejpam-6495	384	6	,	,	PUNCT
ejpam-6495	384	7	ajla	ajla	PROPN
ejpam-6495	384	8	kulaglic	kulaglic	PROPN
ejpam-6495	384	9	,	,	PUNCT
ejpam-6495	384	10	wael	wael	PROPN
ejpam-6495	384	11	hosny	hosny	PROPN
ejpam-6495	384	12	fouad	fouad	PROPN
ejpam-6495	384	13	aly	aly	PROPN
ejpam-6495	384	14	,	,	PUNCT
ejpam-6495	384	15	mutaz	mutaz	PROPN
ejpam-6495	384	16	ab	ab	PROPN
ejpam-6495	384	17	al	al	PROPN
ejpam-6495	384	18	-	-	PUNCT
ejpam-6495	384	19	tarawneh	tarawneh	PROPN
ejpam-6495	384	20	,	,	PUNCT
ejpam-6495	384	21	khaled	khaled	PROPN
ejpam-6495	384	22	safi	safi	PROPN
ejpam-6495	384	23	,	,	PUNCT
ejpam-6495	384	24	sawsan	sawsan	PROPN
ejpam-6495	384	25	kanj	kanj	PROPN
ejpam-6495	384	26	,	,	PUNCT
ejpam-6495	384	27	and	and	CCONJ
ejpam-6495	384	28	jean	jean	PROPN
ejpam-6495	384	29	-	-	PUNCT
ejpam-6495	384	30	marie	marie	PROPN
ejpam-6495	384	31	flaus	flaus	PROPN
ejpam-6495	384	32	.	.	PUNCT
ejpam-6495	385	1	agent	agent	NOUN
ejpam-6495	385	2	-	-	PUNCT
ejpam-6495	385	3	based	base	VERB
ejpam-6495	385	4	risk	risk	NOUN
ejpam-6495	385	5	analysis	analysis	NOUN
ejpam-6495	385	6	model	model	NOUN
ejpam-6495	385	7	for	for	ADP
ejpam-6495	385	8	road	road	NOUN
ejpam-6495	385	9	transportation	transportation	NOUN
ejpam-6495	385	10	of	of	ADP
ejpam-6495	385	11	dangerous	dangerous	ADJ
ejpam-6495	385	12	goods	good	NOUN
ejpam-6495	385	13	.	.	PUNCT
ejpam-6495	386	1	results	result	NOUN
ejpam-6495	386	2	in	in	ADP
ejpam-6495	386	3	engineering	engineering	NOUN
ejpam-6495	386	4	,	,	PUNCT
ejpam-6495	386	5	25:103944	25:103944	X
ejpam-6495	386	6	,	,	PUNCT
ejpam-6495	386	7	2025	2025	NUM
ejpam-6495	386	8	.	.	PUNCT
ejpam-6495	387	1	[	[	X
ejpam-6495	387	2	8	8	NUM
ejpam-6495	387	3	]	]	X
ejpam-6495	387	4	hassan	hassan	PROPN
ejpam-6495	387	5	kanj	kanj	PROPN
ejpam-6495	387	6	,	,	PUNCT
ejpam-6495	387	7	wael	wael	PROPN
ejpam-6495	387	8	hosny	hosny	PROPN
ejpam-6495	387	9	fouad	fouad	PROPN
ejpam-6495	387	10	aly	aly	PROPN
ejpam-6495	387	11	,	,	PUNCT
ejpam-6495	387	12	and	and	CCONJ
ejpam-6495	387	13	sawsan	sawsan	PROPN
ejpam-6495	387	14	kanj	kanj	PROPN
ejpam-6495	387	15	.	.	PUNCT
ejpam-6495	388	1	a	a	DET
ejpam-6495	388	2	novel	novel	ADJ
ejpam-6495	388	3	dynamic	dynamic	ADJ
ejpam-6495	388	4	approach	approach	NOUN
ejpam-6495	388	5	for	for	ADP
ejpam-6495	388	6	risk	risk	NOUN
ejpam-6495	388	7	analysis	analysis	NOUN
ejpam-6495	388	8	and	and	CCONJ
ejpam-6495	388	9	simulation	simulation	NOUN
ejpam-6495	388	10	using	use	VERB
ejpam-6495	388	11	multi	multi	ADJ
ejpam-6495	388	12	-	-	ADJ
ejpam-6495	388	13	agents	agent	NOUN
ejpam-6495	388	14	model	model	NOUN
ejpam-6495	388	15	.	.	PUNCT
ejpam-6495	389	1	applied	apply	VERB
ejpam-6495	389	2	sciences	science	NOUN
ejpam-6495	389	3	,	,	PUNCT
ejpam-6495	389	4	12(10):5062	12(10):5062	NUM
ejpam-6495	389	5	,	,	PUNCT
ejpam-6495	389	6	2022	2022	NUM
ejpam-6495	389	7	.	.	PUNCT
ejpam-6495	390	1	[	[	X
ejpam-6495	390	2	9	9	NUM
ejpam-6495	390	3	]	]	X
ejpam-6495	390	4	mutaz	mutaz	PROPN
ejpam-6495	390	5	ab	ab	PROPN
ejpam-6495	390	6	al	al	PROPN
ejpam-6495	390	7	-	-	PUNCT
ejpam-6495	390	8	tarawneh	tarawneh	PROPN
ejpam-6495	390	9	,	,	PUNCT
ejpam-6495	390	10	hassan	hassan	PROPN
ejpam-6495	390	11	kanj	kanj	PROPN
ejpam-6495	390	12	,	,	PUNCT
ejpam-6495	390	13	and	and	CCONJ
ejpam-6495	390	14	wael	wael	PROPN
ejpam-6495	390	15	hosny	hosny	PROPN
ejpam-6495	390	16	fouad	fouad	PROPN
ejpam-6495	390	17	aly	aly	PROPN
ejpam-6495	390	18	.	.	PUNCT
ejpam-6495	391	1	an	an	DET
ejpam-6495	391	2	integrated	integrate	VERB
ejpam-6495	391	3	mcdm	mcdm	ADJ
ejpam-6495	391	4	framework	framework	NOUN
ejpam-6495	391	5	for	for	ADP
ejpam-6495	391	6	trust	trust	NOUN
ejpam-6495	391	7	-	-	PUNCT
ejpam-6495	391	8	aware	aware	ADJ
ejpam-6495	391	9	and	and	CCONJ
ejpam-6495	391	10	fair	fair	ADJ
ejpam-6495	391	11	task	task	NOUN
ejpam-6495	391	12	offloading	offloading	NOUN
ejpam-6495	391	13	in	in	ADP
ejpam-6495	391	14	heterogeneous	heterogeneous	ADJ
ejpam-6495	391	15	multiprovider	multiprovider	NOUN
ejpam-6495	391	16	edge	edge	NOUN
ejpam-6495	391	17	-	-	PUNCT
ejpam-6495	391	18	fog	fog	NOUN
ejpam-6495	391	19	-	-	PUNCT
ejpam-6495	391	20	cloud	cloud	NOUN
ejpam-6495	391	21	systems	system	NOUN
ejpam-6495	391	22	.	.	PUNCT
ejpam-6495	392	1	results	result	NOUN
ejpam-6495	392	2	in	in	ADP
ejpam-6495	392	3	engineering	engineering	NOUN
ejpam-6495	392	4	,	,	PUNCT
ejpam-6495	392	5	page	page	NOUN
ejpam-6495	392	6	105228	105228	NUM
ejpam-6495	392	7	,	,	PUNCT
ejpam-6495	392	8	2025	2025	NUM
ejpam-6495	392	9	.	.	PUNCT
ejpam-6495	393	1	[	[	X
ejpam-6495	393	2	10	10	NUM
ejpam-6495	393	3	]	]	PUNCT
ejpam-6495	393	4	wael	wael	PROPN
ejpam-6495	393	5	hosny	hosny	PROPN
ejpam-6495	393	6	fouad	fouad	PROPN
ejpam-6495	393	7	hosny	hosny	PROPN
ejpam-6495	393	8	fouad	fouad	PROPN
ejpam-6495	393	9	aly	aly	PROPN
ejpam-6495	393	10	,	,	PUNCT
ejpam-6495	393	11	hassan	hassan	PROPN
ejpam-6495	393	12	kanj	kanj	PROPN
ejpam-6495	393	13	,	,	PUNCT
ejpam-6495	393	14	nour	nour	PROPN
ejpam-6495	393	15	mostafa	mostafa	PROPN
ejpam-6495	393	16	,	,	PUNCT
ejpam-6495	393	17	zakwan	zakwan	PROPN
ejpam-6495	393	18	alarnaout	alarnaout	PROPN
ejpam-6495	393	19	,	,	PUNCT
ejpam-6495	393	20	and	and	CCONJ
ejpam-6495	393	21	hassan	hassan	PROPN
ejpam-6495	393	22	harb	harb	PROPN
ejpam-6495	393	23	.	.	PUNCT
ejpam-6495	394	1	no	no	DET
ejpam-6495	394	2	binding	bind	VERB
ejpam-6495	394	3	machine	machine	NOUN
ejpam-6495	394	4	learning	learn	VERB
ejpam-6495	394	5	architecture	architecture	NOUN
ejpam-6495	394	6	for	for	ADP
ejpam-6495	394	7	sdn	sdn	PROPN
ejpam-6495	394	8	w.	w.	PROPN
ejpam-6495	394	9	h.	h.	PROPN
ejpam-6495	394	10	f.	f.	PROPN
ejpam-6495	394	11	aly	aly	PROPN
ejpam-6495	394	12	,	,	PUNCT
ejpam-6495	394	13	n.	n.	PROPN
ejpam-6495	394	14	samashvili	samashvili	NOUN
ejpam-6495	394	15	,	,	PUNCT
ejpam-6495	394	16	c.	c.	PROPN
ejpam-6495	394	17	f.	f.	PROPN
ejpam-6495	394	18	riman	riman	PROPN
ejpam-6495	394	19	/	/	SYM
ejpam-6495	394	20	eur	eur	PROPN
ejpam-6495	394	21	.	.	PUNCT
ejpam-6495	395	1	j.	j.	PROPN
ejpam-6495	395	2	pure	pure	PROPN
ejpam-6495	395	3	appl	appl	PROPN
ejpam-6495	395	4	.	.	PROPN
ejpam-6495	395	5	math	math	PROPN
ejpam-6495	395	6	,	,	PUNCT
ejpam-6495	395	7	18	18	NUM
ejpam-6495	395	8	(	(	PUNCT
ejpam-6495	395	9	3	3	NUM
ejpam-6495	395	10	)	)	PUNCT
ejpam-6495	395	11	(	(	PUNCT
ejpam-6495	395	12	2025	2025	NUM
ejpam-6495	395	13	)	)	PUNCT
ejpam-6495	395	14	,	,	PUNCT
ejpam-6495	395	15	6495	6495	NUM
ejpam-6495	395	16	26	26	NUM
ejpam-6495	395	17	of	of	ADP
ejpam-6495	395	18	28	28	NUM
ejpam-6495	395	19	figure	figure	NOUN
ejpam-6495	395	20	13	13	NUM
ejpam-6495	395	21	:	:	PUNCT
ejpam-6495	395	22	ekfwc	ekfwc	NOUN
ejpam-6495	395	23	error	error	NOUN
ejpam-6495	395	24	in	in	ADP
ejpam-6495	395	25	θ	θ	PROPN
ejpam-6495	395	26	for	for	ADP
ejpam-6495	395	27	various	various	ADJ
ejpam-6495	395	28	surfaces	surface	NOUN
ejpam-6495	395	29	controllers	controller	NOUN
ejpam-6495	395	30	.	.	PUNCT
ejpam-6495	396	1	bulletin	bulletin	NOUN
ejpam-6495	396	2	of	of	ADP
ejpam-6495	396	3	electrical	electrical	ADJ
ejpam-6495	396	4	engineering	engineering	NOUN
ejpam-6495	396	5	and	and	CCONJ
ejpam-6495	396	6	informatics	informatic	NOUN
ejpam-6495	396	7	,	,	PUNCT
ejpam-6495	396	8	14(3):2413–2428	14(3):2413–2428	NUM
ejpam-6495	396	9	,	,	PUNCT
ejpam-6495	396	10	2025	2025	NUM
ejpam-6495	396	11	.	.	PUNCT
ejpam-6495	397	1	[	[	X
ejpam-6495	397	2	11	11	NUM
ejpam-6495	397	3	]	]	PUNCT
ejpam-6495	397	4	wael	wael	PROPN
ejpam-6495	397	5	hosny	hosny	PROPN
ejpam-6495	397	6	fouad	fouad	PROPN
ejpam-6495	397	7	aly	aly	PROPN
ejpam-6495	397	8	,	,	PUNCT
ejpam-6495	397	9	hassan	hassan	PROPN
ejpam-6495	397	10	kanj	kanj	PROPN
ejpam-6495	397	11	,	,	PUNCT
ejpam-6495	397	12	samer	samer	PROPN
ejpam-6495	397	13	alabed	alabe	VERB
ejpam-6495	397	14	,	,	PUNCT
ejpam-6495	397	15	nour	nour	PROPN
ejpam-6495	397	16	mostafa	mostafa	PROPN
ejpam-6495	397	17	,	,	PUNCT
ejpam-6495	397	18	and	and	CCONJ
ejpam-6495	397	19	khaled	khaled	PROPN
ejpam-6495	397	20	safi	safi	PROPN
ejpam-6495	397	21	.	.	PUNCT
ejpam-6495	398	1	dynamic	dynamic	ADJ
ejpam-6495	398	2	feedback	feedback	NOUN
ejpam-6495	398	3	versus	versus	ADP
ejpam-6495	398	4	varna	varna	NOUN
ejpam-6495	398	5	-	-	PUNCT
ejpam-6495	398	6	based	base	VERB
ejpam-6495	398	7	techniques	technique	NOUN
ejpam-6495	398	8	for	for	ADP
ejpam-6495	398	9	sdn	sdn	NOUN
ejpam-6495	398	10	controller	controller	NOUN
ejpam-6495	398	11	placement	placement	NOUN
ejpam-6495	398	12	problems	problem	NOUN
ejpam-6495	398	13	.	.	PUNCT
ejpam-6495	399	1	electronics	electronic	NOUN
ejpam-6495	399	2	,	,	PUNCT
ejpam-6495	399	3	11(14):2273	11(14):2273	NUM
ejpam-6495	399	4	,	,	PUNCT
ejpam-6495	399	5	2022	2022	NUM
ejpam-6495	399	6	.	.	PUNCT
ejpam-6495	400	1	[	[	X
ejpam-6495	400	2	12	12	NUM
ejpam-6495	400	3	]	]	X
ejpam-6495	400	4	kassem	kassem	PROPN
ejpam-6495	400	5	danach	danach	PROPN
ejpam-6495	400	6	,	,	PUNCT
ejpam-6495	400	7	hassan	hassan	PROPN
ejpam-6495	400	8	harb	harb	PROPN
ejpam-6495	400	9	,	,	PUNCT
ejpam-6495	400	10	ameer	ameer	PROPN
ejpam-6495	400	11	sardar	sardar	PROPN
ejpam-6495	400	12	kwekha	kwekha	PROPN
ejpam-6495	400	13	rashid	rashid	PROPN
ejpam-6495	400	14	,	,	PUNCT
ejpam-6495	400	15	mutaz	mutaz	PROPN
ejpam-6495	400	16	ab	ab	PROPN
ejpam-6495	400	17	altarawneh	altarawneh	PROPN
ejpam-6495	400	18	,	,	PUNCT
ejpam-6495	400	19	and	and	CCONJ
ejpam-6495	400	20	wael	wael	PROPN
ejpam-6495	400	21	hosny	hosny	PROPN
ejpam-6495	400	22	fouad	fouad	PROPN
ejpam-6495	400	23	aly	aly	PROPN
ejpam-6495	400	24	.	.	PUNCT
ejpam-6495	401	1	location	location	NOUN
ejpam-6495	401	2	planning	planning	NOUN
ejpam-6495	401	3	techniques	technique	NOUN
ejpam-6495	401	4	for	for	ADP
ejpam-6495	401	5	internet	internet	NOUN
ejpam-6495	401	6	provider	provider	NOUN
ejpam-6495	401	7	service	service	NOUN
ejpam-6495	401	8	unmanned	unmanned	ADJ
ejpam-6495	401	9	aerial	aerial	ADJ
ejpam-6495	401	10	vehicles	vehicle	NOUN
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ejpam-6495	401	12	crisis	crisis	NOUN
ejpam-6495	401	13	.	.	PUNCT
ejpam-6495	402	1	results	result	NOUN
ejpam-6495	402	2	in	in	ADP
ejpam-6495	402	3	engineering	engineering	NOUN
ejpam-6495	402	4	,	,	PUNCT
ejpam-6495	402	5	25:103833	25:103833	NUM
ejpam-6495	402	6	,	,	PUNCT
ejpam-6495	402	7	2025	2025	NUM
ejpam-6495	402	8	.	.	PUNCT
ejpam-6495	403	1	[	[	X
ejpam-6495	403	2	13	13	NUM
ejpam-6495	403	3	]	]	X
ejpam-6495	403	4	samer	samer	PROPN
ejpam-6495	403	5	alabed	alabe	VERB
ejpam-6495	403	6	,	,	PUNCT
ejpam-6495	403	7	nour	nour	PROPN
ejpam-6495	403	8	mostafa	mostafa	PROPN
ejpam-6495	403	9	,	,	PUNCT
ejpam-6495	403	10	wael	wael	PROPN
ejpam-6495	403	11	hosny	hosny	PROPN
ejpam-6495	403	12	fouad	fouad	PROPN
ejpam-6495	403	13	aly	aly	PROPN
ejpam-6495	403	14	,	,	PUNCT
ejpam-6495	403	15	and	and	CCONJ
ejpam-6495	403	16	mohammad	mohammad	PROPN
ejpam-6495	403	17	al	al	PROPN
ejpam-6495	403	18	-	-	PUNCT
ejpam-6495	403	19	rabayah	rabayah	PROPN
ejpam-6495	403	20	.	.	PUNCT
ejpam-6495	404	1	a	a	DET
ejpam-6495	404	2	low	low	ADJ
ejpam-6495	404	3	complexity	complexity	NOUN
ejpam-6495	404	4	distributed	distribute	VERB
ejpam-6495	404	5	differential	differential	NOUN
ejpam-6495	404	6	scheme	scheme	NOUN
ejpam-6495	404	7	based	base	VERB
ejpam-6495	404	8	on	on	ADP
ejpam-6495	404	9	orthogonal	orthogonal	ADJ
ejpam-6495	404	10	space	space	NOUN
ejpam-6495	404	11	time	time	NOUN
ejpam-6495	404	12	block	block	NOUN
ejpam-6495	404	13	coding	code	VERB
ejpam-6495	404	14	for	for	ADP
ejpam-6495	404	15	decode	decode	NOUN
ejpam-6495	404	16	-	-	PUNCT
ejpam-6495	404	17	and	and	CCONJ
ejpam-6495	404	18	-	-	PUNCT
ejpam-6495	404	19	forward	forward	NOUN
ejpam-6495	404	20	wireless	wireless	ADJ
ejpam-6495	404	21	relay	relay	NOUN
ejpam-6495	404	22	networks	network	NOUN
ejpam-6495	404	23	.	.	PUNCT
ejpam-6495	405	1	international	international	ADJ
ejpam-6495	405	2	journal	journal	PROPN
ejpam-6495	405	3	of	of	ADP
ejpam-6495	405	4	electrical	electrical	ADJ
ejpam-6495	405	5	&	&	CCONJ
ejpam-6495	405	6	computer	computer	PROPN
ejpam-6495	405	7	engineering	engineering	NOUN
ejpam-6495	405	8	(	(	PUNCT
ejpam-6495	405	9	2088	2088	NUM
ejpam-6495	405	10	-	-	SYM
ejpam-6495	405	11	8708	8708	NUM
ejpam-6495	405	12	)	)	PUNCT
ejpam-6495	405	13	,	,	PUNCT
ejpam-6495	405	14	13(1	13(1	NUM
ejpam-6495	405	15	)	)	PUNCT
ejpam-6495	405	16	,	,	PUNCT
ejpam-6495	405	17	2023	2023	NUM
ejpam-6495	405	18	.	.	PUNCT
ejpam-6495	406	1	[	[	X
ejpam-6495	406	2	14	14	NUM
ejpam-6495	406	3	]	]	X
ejpam-6495	406	4	mutaz	mutaz	PROPN
ejpam-6495	406	5	ab	ab	PROPN
ejpam-6495	406	6	al	al	PROPN
ejpam-6495	406	7	-	-	PUNCT
ejpam-6495	406	8	tarawneh	tarawneh	PROPN
ejpam-6495	406	9	,	,	PUNCT
ejpam-6495	406	10	omar	omar	PROPN
ejpam-6495	406	11	al	al	PROPN
ejpam-6495	406	12	-	-	PUNCT
ejpam-6495	406	13	irr	irr	PROPN
ejpam-6495	406	14	,	,	PUNCT
ejpam-6495	406	15	khaled	khaled	PROPN
ejpam-6495	406	16	s	s	PROPN
ejpam-6495	406	17	al	al	PROPN
ejpam-6495	406	18	-	-	PUNCT
ejpam-6495	406	19	maaitah	maaitah	PROPN
ejpam-6495	406	20	,	,	PUNCT
ejpam-6495	406	21	hassan	hassan	PROPN
ejpam-6495	406	22	kanj	kanj	PROPN
ejpam-6495	406	23	,	,	PUNCT
ejpam-6495	406	24	and	and	CCONJ
ejpam-6495	406	25	wael	wael	PROPN
ejpam-6495	406	26	hosny	hosny	PROPN
ejpam-6495	406	27	fouad	fouad	PROPN
ejpam-6495	406	28	aly	aly	PROPN
ejpam-6495	406	29	.	.	PUNCT
ejpam-6495	407	1	enhancing	enhance	VERB
ejpam-6495	407	2	fake	fake	ADJ
ejpam-6495	407	3	news	news	NOUN
ejpam-6495	407	4	detection	detection	NOUN
ejpam-6495	407	5	with	with	ADP
ejpam-6495	407	6	word	word	NOUN
ejpam-6495	407	7	embedding	embed	VERB
ejpam-6495	407	8	:	:	PUNCT
ejpam-6495	407	9	a	a	DET
ejpam-6495	407	10	machine	machine	NOUN
ejpam-6495	407	11	learning	learning	NOUN
ejpam-6495	407	12	and	and	CCONJ
ejpam-6495	407	13	deep	deep	ADJ
ejpam-6495	407	14	learning	learning	NOUN
ejpam-6495	407	15	approach	approach	NOUN
ejpam-6495	407	16	.	.	PUNCT
ejpam-6495	408	1	computers	computer	NOUN
ejpam-6495	408	2	,	,	PUNCT
ejpam-6495	408	3	13(9):239	13(9):239	NUM
ejpam-6495	408	4	,	,	PUNCT
ejpam-6495	408	5	2024	2024	NUM
ejpam-6495	408	6	.	.	PUNCT
ejpam-6495	409	1	[	[	X
ejpam-6495	409	2	15	15	NUM
ejpam-6495	409	3	]	]	X
ejpam-6495	409	4	ibrahim	ibrahim	PROPN
ejpam-6495	409	5	mahariq	mahariq	PROPN
ejpam-6495	409	6	,	,	PUNCT
ejpam-6495	409	7	ibrahim	ibrahim	PROPN
ejpam-6495	409	8	h	h	PROPN
ejpam-6495	409	9	giden	giden	PROPN
ejpam-6495	409	10	,	,	PUNCT
ejpam-6495	409	11	shadi	shadi	PROPN
ejpam-6495	409	12	alboon	alboon	NOUN
ejpam-6495	409	13	,	,	PUNCT
ejpam-6495	409	14	wael	wael	PROPN
ejpam-6495	409	15	hosny	hosny	PROPN
ejpam-6495	409	16	fouad	fouad	PROPN
ejpam-6495	409	17	aly	aly	PROPN
ejpam-6495	409	18	,	,	PUNCT
ejpam-6495	409	19	ahmed	ahmed	PROPN
ejpam-6495	409	20	youssef	youssef	PROPN
ejpam-6495	409	21	,	,	PUNCT
ejpam-6495	409	22	and	and	CCONJ
ejpam-6495	409	23	hamza	hamza	PROPN
ejpam-6495	409	24	kurt	kurt	PROPN
ejpam-6495	409	25	.	.	PUNCT
ejpam-6495	410	1	investigation	investigation	NOUN
ejpam-6495	410	2	and	and	CCONJ
ejpam-6495	410	3	analysis	analysis	NOUN
ejpam-6495	410	4	of	of	ADP
ejpam-6495	410	5	acoustojets	acoustojet	NOUN
ejpam-6495	410	6	by	by	ADP
ejpam-6495	410	7	spectral	spectral	ADJ
ejpam-6495	410	8	element	element	NOUN
ejpam-6495	410	9	method	method	NOUN
ejpam-6495	410	10	.	.	PUNCT
ejpam-6495	411	1	mathematics	mathematic	NOUN
ejpam-6495	411	2	,	,	PUNCT
ejpam-6495	411	3	10(17):3145	10(17):3145	NUM
ejpam-6495	411	4	,	,	PUNCT
ejpam-6495	411	5	2022	2022	NUM
ejpam-6495	411	6	.	.	PUNCT
ejpam-6495	412	1	[	[	X
ejpam-6495	412	2	16	16	NUM
ejpam-6495	412	3	]	]	X
ejpam-6495	412	4	j.	j.	PROPN
ejpam-6495	412	5	leaman	leaman	PROPN
ejpam-6495	412	6	and	and	CCONJ
ejpam-6495	412	7	h.m	h.m	PROPN
ejpam-6495	412	8	.	.	PROPN
ejpam-6495	412	9	la	la	PROPN
ejpam-6495	412	10	.	.	PUNCT
ejpam-6495	413	1	a	a	DET
ejpam-6495	413	2	comprehensive	comprehensive	ADJ
ejpam-6495	413	3	review	review	NOUN
ejpam-6495	413	4	of	of	ADP
ejpam-6495	413	5	smart	smart	ADJ
ejpam-6495	413	6	wheelchairs	wheelchair	NOUN
ejpam-6495	413	7	:	:	PUNCT
ejpam-6495	413	8	past	past	ADJ
ejpam-6495	413	9	,	,	PUNCT
ejpam-6495	413	10	present	present	ADJ
ejpam-6495	413	11	,	,	PUNCT
ejpam-6495	413	12	and	and	CCONJ
ejpam-6495	413	13	future	future	NOUN
ejpam-6495	413	14	.	.	PUNCT
ejpam-6495	414	1	ieee	ieee	NOUN
ejpam-6495	414	2	transactions	transaction	NOUN
ejpam-6495	414	3	on	on	ADP
ejpam-6495	414	4	human	human	ADJ
ejpam-6495	414	5	-	-	PUNCT
ejpam-6495	414	6	machine	machine	NOUN
ejpam-6495	414	7	systems	system	NOUN
ejpam-6495	414	8	,	,	PUNCT
ejpam-6495	414	9	47(4):486	47(4):486	PROPN
ejpam-6495	414	10	–	–	PUNCT
ejpam-6495	414	11	499	499	NUM
ejpam-6495	414	12	,	,	PUNCT
ejpam-6495	414	13	2017	2017	NUM
ejpam-6495	414	14	.	.	PUNCT
ejpam-6495	415	1	w.	w.	PROPN
ejpam-6495	415	2	h.	h.	PROPN
ejpam-6495	415	3	f.	f.	PROPN
ejpam-6495	415	4	aly	aly	PROPN
ejpam-6495	415	5	,	,	PUNCT
ejpam-6495	415	6	n.	n.	PROPN
ejpam-6495	415	7	samashvili	samashvili	NOUN
ejpam-6495	415	8	,	,	PUNCT
ejpam-6495	415	9	c.	c.	PROPN
ejpam-6495	415	10	f.	f.	PROPN
ejpam-6495	415	11	riman	riman	PROPN
ejpam-6495	415	12	/	/	SYM
ejpam-6495	415	13	eur	eur	PROPN
ejpam-6495	415	14	.	.	PUNCT
ejpam-6495	416	1	j.	j.	PROPN
ejpam-6495	416	2	pure	pure	PROPN
ejpam-6495	416	3	appl	appl	PROPN
ejpam-6495	416	4	.	.	PROPN
ejpam-6495	416	5	math	math	PROPN
ejpam-6495	416	6	,	,	PUNCT
ejpam-6495	416	7	18	18	NUM
ejpam-6495	416	8	(	(	PUNCT
ejpam-6495	416	9	3	3	NUM
ejpam-6495	416	10	)	)	PUNCT
ejpam-6495	416	11	(	(	PUNCT
ejpam-6495	416	12	2025	2025	NUM
ejpam-6495	416	13	)	)	PUNCT
ejpam-6495	416	14	,	,	PUNCT
ejpam-6495	416	15	6495	6495	NUM
ejpam-6495	416	16	27	27	NUM
ejpam-6495	416	17	of	of	ADP
ejpam-6495	416	18	28	28	NUM
ejpam-6495	417	1	[	[	X
ejpam-6495	417	2	17	17	NUM
ejpam-6495	417	3	]	]	PUNCT
ejpam-6495	417	4	m.	m.	NOUN
ejpam-6495	417	5	dahmani	dahmani	PROPN
ejpam-6495	417	6	,	,	PUNCT
ejpam-6495	417	7	m.e.h	m.e.h	PROPN
ejpam-6495	417	8	.	.	PUNCT
ejpam-6495	417	9	chowdhury	chowdhury	PROPN
ejpam-6495	417	10	,	,	PUNCT
ejpam-6495	417	11	a.	a.	NOUN
ejpam-6495	417	12	khandakar	khandakar	NOUN
ejpam-6495	417	13	,	,	PUNCT
ejpam-6495	417	14	t.	t.	PROPN
ejpam-6495	417	15	rahman	rahman	PROPN
ejpam-6495	417	16	,	,	PUNCT
ejpam-6495	417	17	k.	k.	PROPN
ejpam-6495	417	18	al	al	PROPN
ejpam-6495	417	19	-	-	PUNCT
ejpam-6495	417	20	jayyousi	jayyousi	PROPN
ejpam-6495	417	21	,	,	PUNCT
ejpam-6495	417	22	a.	a.	NOUN
ejpam-6495	417	23	hefny	hefny	NOUN
ejpam-6495	417	24	,	,	PUNCT
ejpam-6495	417	25	and	and	CCONJ
ejpam-6495	417	26	s.	s.	PROPN
ejpam-6495	417	27	kiranyaz	kiranyaz	PROPN
ejpam-6495	417	28	.	.	PUNCT
ejpam-6495	418	1	an	an	DET
ejpam-6495	418	2	intelligent	intelligent	ADJ
ejpam-6495	418	3	and	and	CCONJ
ejpam-6495	418	4	low	low	ADJ
ejpam-6495	418	5	-	-	PUNCT
ejpam-6495	418	6	cost	cost	NOUN
ejpam-6495	418	7	eye	eye	NOUN
ejpam-6495	418	8	-	-	PUNCT
ejpam-6495	418	9	tracking	track	VERB
ejpam-6495	418	10	system	system	NOUN
ejpam-6495	418	11	for	for	ADP
ejpam-6495	418	12	motorized	motorized	ADJ
ejpam-6495	418	13	wheelchair	wheelchair	NOUN
ejpam-6495	418	14	control	control	NOUN
ejpam-6495	418	15	.	.	PUNCT
ejpam-6495	419	1	sensors	sensor	NOUN
ejpam-6495	419	2	,	,	PUNCT
ejpam-6495	419	3	20(14):3936	20(14):3936	NUM
ejpam-6495	419	4	,	,	PUNCT
ejpam-6495	419	5	2020	2020	NUM
ejpam-6495	419	6	.	.	PUNCT
ejpam-6495	420	1	[	[	X
ejpam-6495	420	2	18	18	NUM
ejpam-6495	420	3	]	]	PUNCT
ejpam-6495	420	4	a.	a.	NOUN
ejpam-6495	420	5	lankenau	lankenau	NOUN
ejpam-6495	420	6	and	and	CCONJ
ejpam-6495	420	7	t.	t.	PROPN
ejpam-6495	420	8	röfer	röfer	PROPN
ejpam-6495	420	9	.	.	PUNCT
ejpam-6495	421	1	a	a	DET
ejpam-6495	421	2	versatile	versatile	ADJ
ejpam-6495	421	3	and	and	CCONJ
ejpam-6495	421	4	safe	safe	ADJ
ejpam-6495	421	5	mobility	mobility	NOUN
ejpam-6495	421	6	assistant	assistant	NOUN
ejpam-6495	421	7	.	.	PUNCT
ejpam-6495	422	1	ieee	ieee	PROPN
ejpam-6495	422	2	robotics	robotic	NOUN
ejpam-6495	422	3	&	&	CCONJ
ejpam-6495	422	4	automation	automation	PROPN
ejpam-6495	422	5	magazine	magazine	PROPN
ejpam-6495	422	6	,	,	PUNCT
ejpam-6495	422	7	8(1):29–37	8(1):29–37	NUM
ejpam-6495	422	8	,	,	PUNCT
ejpam-6495	422	9	2001	2001	NUM
ejpam-6495	422	10	.	.	PUNCT
ejpam-6495	423	1	[	[	X
ejpam-6495	423	2	19	19	NUM
ejpam-6495	423	3	]	]	X
ejpam-6495	423	4	e.	e.	PROPN
ejpam-6495	423	5	prassler	prassler	PROPN
ejpam-6495	423	6	,	,	PUNCT
ejpam-6495	423	7	j.	j.	PROPN
ejpam-6495	423	8	scholz	scholz	PROPN
ejpam-6495	423	9	,	,	PUNCT
ejpam-6495	423	10	and	and	CCONJ
ejpam-6495	423	11	p.	p.	NOUN
ejpam-6495	423	12	fiorini	fiorini	NOUN
ejpam-6495	423	13	.	.	PUNCT
ejpam-6495	424	1	a	a	DET
ejpam-6495	424	2	robotics	robotic	NOUN
ejpam-6495	424	3	wheelchair	wheelchair	NOUN
ejpam-6495	424	4	for	for	ADP
ejpam-6495	424	5	crowded	crowded	ADJ
ejpam-6495	424	6	public	public	ADJ
ejpam-6495	424	7	environment	environment	NOUN
ejpam-6495	424	8	.	.	PUNCT
ejpam-6495	425	1	ieee	ieee	NOUN
ejpam-6495	425	2	robotics	robotic	NOUN
ejpam-6495	425	3	&	&	CCONJ
ejpam-6495	425	4	automation	automation	PROPN
ejpam-6495	425	5	magazine	magazine	PROPN
ejpam-6495	425	6	,	,	PUNCT
ejpam-6495	425	7	8(1):38–45	8(1):38–45	NUM
ejpam-6495	425	8	,	,	PUNCT
ejpam-6495	425	9	2001	2001	NUM
ejpam-6495	425	10	.	.	PUNCT
ejpam-6495	426	1	[	[	X
ejpam-6495	426	2	20	20	NUM
ejpam-6495	426	3	]	]	X
ejpam-6495	426	4	g.	g.	NOUN
ejpam-6495	426	5	bourhis	bourhis	PROPN
ejpam-6495	426	6	,	,	PUNCT
ejpam-6495	426	7	o.	o.	NOUN
ejpam-6495	426	8	horn	horn	PROPN
ejpam-6495	426	9	,	,	PUNCT
ejpam-6495	426	10	o.	o.	PROPN
ejpam-6495	426	11	habert	habert	PROPN
ejpam-6495	426	12	,	,	PUNCT
ejpam-6495	426	13	and	and	CCONJ
ejpam-6495	426	14	a.	a.	NOUN
ejpam-6495	426	15	pruski	pruski	PROPN
ejpam-6495	426	16	.	.	PUNCT
ejpam-6495	427	1	the	the	DET
ejpam-6495	427	2	vahm	vahm	ADJ
ejpam-6495	427	3	project	project	NOUN
ejpam-6495	427	4	:	:	PUNCT
ejpam-6495	427	5	autonomous	autonomous	ADJ
ejpam-6495	427	6	vehicle	vehicle	NOUN
ejpam-6495	427	7	for	for	ADP
ejpam-6495	427	8	people	people	NOUN
ejpam-6495	427	9	with	with	ADP
ejpam-6495	427	10	motor	motor	NOUN
ejpam-6495	427	11	disabilities	disability	NOUN
ejpam-6495	427	12	.	.	PUNCT
ejpam-6495	428	1	ieee	ieee	NOUN
ejpam-6495	428	2	robotics	robotic	NOUN
ejpam-6495	428	3	and	and	CCONJ
ejpam-6495	428	4	automation	automation	NOUN
ejpam-6495	428	5	magazine	magazine	NOUN
ejpam-6495	428	6	,	,	PUNCT
ejpam-6495	428	7	7(1):21–28	7(1):21–28	NUM
ejpam-6495	428	8	,	,	PUNCT
ejpam-6495	428	9	2001	2001	NUM
ejpam-6495	428	10	.	.	PUNCT
ejpam-6495	429	1	[	[	X
ejpam-6495	429	2	21	21	NUM
ejpam-6495	429	3	]	]	X
ejpam-6495	429	4	b.	b.	PROPN
ejpam-6495	429	5	rebsamen	rebsamen	PROPN
ejpam-6495	429	6	,	,	PUNCT
ejpam-6495	429	7	e.	e.	PROPN
ejpam-6495	429	8	burdet	burdet	PROPN
ejpam-6495	429	9	,	,	PUNCT
ejpam-6495	429	10	c.	c.	PROPN
ejpam-6495	429	11	guan	guan	PROPN
ejpam-6495	429	12	,	,	PUNCT
ejpam-6495	429	13	h.	h.	PROPN
ejpam-6495	429	14	zhang	zhang	PROPN
ejpam-6495	429	15	,	,	PUNCT
ejpam-6495	429	16	c.l	c.l	PROPN
ejpam-6495	429	17	.	.	PROPN
ejpam-6495	429	18	teo	teo	PROPN
ejpam-6495	429	19	,	,	PUNCT
ejpam-6495	429	20	q.	q.	PROPN
ejpam-6495	429	21	zeng	zeng	PROPN
ejpam-6495	429	22	,	,	PUNCT
ejpam-6495	429	23	m.	m.	NOUN
ejpam-6495	429	24	ang	ang	PROPN
ejpam-6495	429	25	,	,	PUNCT
ejpam-6495	429	26	and	and	CCONJ
ejpam-6495	429	27	c.	c.	PROPN
ejpam-6495	429	28	laugier	laugier	NOUN
ejpam-6495	429	29	.	.	PUNCT
ejpam-6495	430	1	a	a	DET
ejpam-6495	430	2	brain	brain	NOUN
ejpam-6495	430	3	controlled	control	VERB
ejpam-6495	430	4	wheelchair	wheelchair	NOUN
ejpam-6495	430	5	based	base	VERB
ejpam-6495	430	6	on	on	ADP
ejpam-6495	430	7	p300	p300	NUM
ejpam-6495	430	8	and	and	CCONJ
ejpam-6495	430	9	path	path	NOUN
ejpam-6495	430	10	guidance	guidance	NOUN
ejpam-6495	430	11	.	.	PUNCT
ejpam-6495	431	1	in	in	ADP
ejpam-6495	431	2	first	first	ADJ
ejpam-6495	431	3	ieee	ieee	NOUN
ejpam-6495	431	4	/	/	SYM
ejpam-6495	431	5	ras	ras	PROPN
ejpam-6495	431	6	-	-	ADJ
ejpam-6495	431	7	embs	embs	ADJ
ejpam-6495	431	8	international	international	ADJ
ejpam-6495	431	9	conference	conference	NOUN
ejpam-6495	431	10	on	on	ADP
ejpam-6495	431	11	biomedical	biomedical	ADJ
ejpam-6495	431	12	robotics	robotic	NOUN
ejpam-6495	431	13	and	and	CCONJ
ejpam-6495	431	14	biomechatronics	biomechatronic	NOUN
ejpam-6495	431	15	,	,	PUNCT
ejpam-6495	431	16	biorob	biorob	PROPN
ejpam-6495	431	17	2006	2006	NUM
ejpam-6495	431	18	,	,	PUNCT
ejpam-6495	431	19	pages	page	NOUN
ejpam-6495	431	20	1101–1106	1101–1106	NUM
ejpam-6495	431	21	,	,	PUNCT
ejpam-6495	431	22	pisa	pisa	PROPN
ejpam-6495	431	23	,	,	PUNCT
ejpam-6495	431	24	italy	italy	PROPN
ejpam-6495	431	25	,	,	PUNCT
ejpam-6495	431	26	2006	2006	NUM
ejpam-6495	431	27	.	.	PUNCT
ejpam-6495	432	1	[	[	X
ejpam-6495	432	2	22	22	NUM
ejpam-6495	432	3	]	]	PUNCT
ejpam-6495	432	4	m.	m.	NOUN
ejpam-6495	432	5	mazo	mazo	PROPN
ejpam-6495	432	6	,	,	PUNCT
ejpam-6495	432	7	j.c	j.c	PROPN
ejpam-6495	432	8	.	.	PROPN
ejpam-6495	432	9	garćıa	garćıa	PROPN
ejpam-6495	432	10	,	,	PUNCT
ejpam-6495	432	11	f.j	f.j	PROPN
ejpam-6495	432	12	.	.	PROPN
ejpam-6495	432	13	rodŕıguez	rodŕıguez	PROPN
ejpam-6495	432	14	,	,	PUNCT
ejpam-6495	432	15	j.	j.	PROPN
ejpam-6495	432	16	ureña	ureña	PROPN
ejpam-6495	432	17	,	,	PUNCT
ejpam-6495	432	18	j.l	j.l	PROPN
ejpam-6495	432	19	.	.	PROPN
ejpam-6495	432	20	lázaro	lázaro	PROPN
ejpam-6495	432	21	,	,	PUNCT
ejpam-6495	432	22	and	and	CCONJ
ejpam-6495	432	23	f.	f.	PROPN
ejpam-6495	432	24	espinosa	espinosa	PROPN
ejpam-6495	432	25	.	.	PUNCT
ejpam-6495	432	26	integral	integral	ADJ
ejpam-6495	432	27	system	system	NOUN
ejpam-6495	432	28	for	for	ADP
ejpam-6495	432	29	assisted	assist	VERB
ejpam-6495	432	30	mobility	mobility	NOUN
ejpam-6495	432	31	.	.	PUNCT
ejpam-6495	433	1	information	information	NOUN
ejpam-6495	433	2	sciences	sciences	PROPN
ejpam-6495	433	3	,	,	PUNCT
ejpam-6495	433	4	129(1	129(1	NUM
ejpam-6495	433	5	-	-	SYM
ejpam-6495	433	6	4):1–15	4):1–15	NUM
ejpam-6495	433	7	,	,	PUNCT
ejpam-6495	433	8	2000	2000	NUM
ejpam-6495	433	9	.	.	PUNCT
ejpam-6495	434	1	[	[	X
ejpam-6495	434	2	23	23	NUM
ejpam-6495	434	3	]	]	X
ejpam-6495	434	4	y.	y.	PROPN
ejpam-6495	434	5	wang	wang	PROPN
ejpam-6495	434	6	,	,	PUNCT
ejpam-6495	434	7	w.d	w.d	PROPN
ejpam-6495	434	8	.	.	PROPN
ejpam-6495	434	9	chen	chen	PROPN
ejpam-6495	434	10	,	,	PUNCT
ejpam-6495	434	11	and	and	CCONJ
ejpam-6495	434	12	j.c	j.c	PROPN
ejpam-6495	434	13	.	.	PROPN
ejpam-6495	434	14	wang	wang	PROPN
ejpam-6495	434	15	.	.	PUNCT
ejpam-6495	435	1	hybrid	hybrid	ADJ
ejpam-6495	435	2	map	map	NOUN
ejpam-6495	435	3	-	-	PUNCT
ejpam-6495	435	4	based	base	VERB
ejpam-6495	435	5	navigation	navigation	NOUN
ejpam-6495	435	6	for	for	ADP
ejpam-6495	435	7	intelligent	intelligent	ADJ
ejpam-6495	435	8	wheelchair	wheelchair	NOUN
ejpam-6495	435	9	.	.	PUNCT
ejpam-6495	436	1	in	in	ADP
ejpam-6495	436	2	2011	2011	NUM
ejpam-6495	436	3	ieee	ieee	NOUN
ejpam-6495	436	4	international	international	ADJ
ejpam-6495	436	5	conference	conference	NOUN
ejpam-6495	436	6	on	on	ADP
ejpam-6495	436	7	robotics	robotic	NOUN
ejpam-6495	436	8	and	and	CCONJ
ejpam-6495	436	9	automation	automation	NOUN
ejpam-6495	436	10	,	,	PUNCT
ejpam-6495	436	11	pages	page	NOUN
ejpam-6495	436	12	637–642	637–642	NUM
ejpam-6495	436	13	,	,	PUNCT
ejpam-6495	436	14	shanghai	shanghai	PROPN
ejpam-6495	436	15	,	,	PUNCT
ejpam-6495	436	16	china	china	PROPN
ejpam-6495	436	17	,	,	PUNCT
ejpam-6495	436	18	2011	2011	NUM
ejpam-6495	436	19	.	.	PUNCT
ejpam-6495	437	1	[	[	X
ejpam-6495	437	2	24	24	NUM
ejpam-6495	437	3	]	]	PUNCT
ejpam-6495	437	4	x.	x.	PROPN
ejpam-6495	437	5	zhang	zhang	PROPN
ejpam-6495	437	6	,	,	PUNCT
ejpam-6495	437	7	j.	j.	PROPN
ejpam-6495	437	8	li	li	PROPN
ejpam-6495	437	9	,	,	PUNCT
ejpam-6495	437	10	l.	l.	PROPN
ejpam-6495	437	11	jin	jin	PROPN
ejpam-6495	437	12	,	,	PUNCT
ejpam-6495	437	13	j.	j.	PROPN
ejpam-6495	437	14	zhao	zhao	PROPN
ejpam-6495	437	15	,	,	PUNCT
ejpam-6495	437	16	q.	q.	PROPN
ejpam-6495	437	17	huang	huang	PROPN
ejpam-6495	437	18	,	,	PUNCT
ejpam-6495	437	19	z.	z.	PROPN
ejpam-6495	437	20	song	song	PROPN
ejpam-6495	437	21	,	,	PUNCT
ejpam-6495	437	22	x.	x.	PROPN
ejpam-6495	437	23	liu	liu	PROPN
ejpam-6495	437	24	,	,	PUNCT
ejpam-6495	437	25	and	and	CCONJ
ejpam-6495	437	26	d.b	d.b	PROPN
ejpam-6495	437	27	.	.	PROPN
ejpam-6495	437	28	luh	luh	PROPN
ejpam-6495	437	29	.	.	PUNCT
ejpam-6495	438	1	design	design	NOUN
ejpam-6495	438	2	and	and	CCONJ
ejpam-6495	438	3	evaluation	evaluation	NOUN
ejpam-6495	438	4	of	of	ADP
ejpam-6495	438	5	the	the	DET
ejpam-6495	438	6	extended	extend	VERB
ejpam-6495	438	7	fbs	fbs	PROPN
ejpam-6495	438	8	model	model	NOUN
ejpam-6495	438	9	based	base	VERB
ejpam-6495	438	10	gaze	gaze	NOUN
ejpam-6495	438	11	-	-	PUNCT
ejpam-6495	438	12	control	control	NOUN
ejpam-6495	438	13	power	power	NOUN
ejpam-6495	438	14	wheelchair	wheelchair	NOUN
ejpam-6495	438	15	for	for	ADP
ejpam-6495	438	16	individuals	individual	NOUN
ejpam-6495	438	17	facing	face	VERB
ejpam-6495	438	18	manual	manual	ADJ
ejpam-6495	438	19	control	control	NOUN
ejpam-6495	438	20	challenges	challenge	NOUN
ejpam-6495	438	21	.	.	PUNCT
ejpam-6495	439	1	sensors	sensor	NOUN
ejpam-6495	439	2	,	,	PUNCT
ejpam-6495	439	3	23(12):5571	23(12):5571	NUM
ejpam-6495	439	4	,	,	PUNCT
ejpam-6495	439	5	2023	2023	NUM
ejpam-6495	439	6	.	.	PUNCT
ejpam-6495	440	1	[	[	X
ejpam-6495	440	2	25	25	NUM
ejpam-6495	440	3	]	]	PUNCT
ejpam-6495	440	4	a.	a.	NOUN
ejpam-6495	440	5	ravankar	ravankar	NOUN
ejpam-6495	440	6	,	,	PUNCT
ejpam-6495	440	7	a.a	a.a	PROPN
ejpam-6495	440	8	.	.	PROPN
ejpam-6495	440	9	ravankar	ravankar	NOUN
ejpam-6495	440	10	,	,	PUNCT
ejpam-6495	440	11	y.	y.	PROPN
ejpam-6495	440	12	kobayashi	kobayashi	PROPN
ejpam-6495	440	13	,	,	PUNCT
ejpam-6495	440	14	y.	y.	PROPN
ejpam-6495	440	15	hoshino	hoshino	PROPN
ejpam-6495	440	16	,	,	PUNCT
ejpam-6495	440	17	and	and	CCONJ
ejpam-6495	440	18	c.c	c.c	PROPN
ejpam-6495	440	19	.	.	PROPN
ejpam-6495	440	20	peng	peng	PROPN
ejpam-6495	440	21	.	.	PUNCT
ejpam-6495	441	1	path	path	PROPN
ejpam-6495	441	2	smoothing	smooth	VERB
ejpam-6495	441	3	techniques	technique	NOUN
ejpam-6495	441	4	in	in	ADP
ejpam-6495	441	5	robot	robot	NOUN
ejpam-6495	441	6	navigation	navigation	NOUN
ejpam-6495	441	7	:	:	PUNCT
ejpam-6495	441	8	state	state	NOUN
ejpam-6495	441	9	-	-	PUNCT
ejpam-6495	441	10	of	of	ADP
ejpam-6495	441	11	-	-	PUNCT
ejpam-6495	441	12	the	the	DET
ejpam-6495	441	13	-	-	PUNCT
ejpam-6495	441	14	art	art	NOUN
ejpam-6495	441	15	,	,	PUNCT
ejpam-6495	441	16	current	current	ADJ
ejpam-6495	441	17	and	and	CCONJ
ejpam-6495	441	18	future	future	ADJ
ejpam-6495	441	19	challenges	challenge	NOUN
ejpam-6495	441	20	.	.	PUNCT
ejpam-6495	442	1	sensors	sensor	NOUN
ejpam-6495	442	2	,	,	PUNCT
ejpam-6495	442	3	18(9):3170	18(9):3170	NUM
ejpam-6495	442	4	,	,	PUNCT
ejpam-6495	442	5	2018	2018	NUM
ejpam-6495	442	6	.	.	PUNCT
ejpam-6495	443	1	[	[	X
ejpam-6495	443	2	26	26	NUM
ejpam-6495	443	3	]	]	X
ejpam-6495	443	4	chadi	chadi	NOUN
ejpam-6495	443	5	f	f	PROPN
ejpam-6495	443	6	riman	riman	NOUN
ejpam-6495	443	7	and	and	CCONJ
ejpam-6495	443	8	wael	wael	PROPN
ejpam-6495	443	9	hf	hf	PROPN
ejpam-6495	443	10	aly	aly	PROPN
ejpam-6495	443	11	.	.	PUNCT
ejpam-6495	444	1	feedback	feedback	NOUN
ejpam-6495	444	2	control	control	NOUN
ejpam-6495	444	3	using	use	VERB
ejpam-6495	444	4	arma	arma	NOUN
ejpam-6495	444	5	to	to	PART
ejpam-6495	444	6	maneuver	maneuver	VERB
ejpam-6495	444	7	wheelchairs	wheelchairs	NOUN
ejpam-6495	444	8	.	.	PUNCT
ejpam-6495	445	1	international	international	ADJ
ejpam-6495	445	2	journal	journal	NOUN
ejpam-6495	445	3	of	of	ADP
ejpam-6495	445	4	mechanical	mechanical	ADJ
ejpam-6495	445	5	engineering	engineering	NOUN
ejpam-6495	445	6	and	and	CCONJ
ejpam-6495	445	7	robotics	robotic	NOUN
ejpam-6495	445	8	research	research	NOUN
ejpam-6495	445	9	,	,	PUNCT
ejpam-6495	445	10	14(3	14(3	NUM
ejpam-6495	445	11	)	)	PUNCT
ejpam-6495	445	12	,	,	PUNCT
ejpam-6495	445	13	2025	2025	NUM
ejpam-6495	445	14	.	.	PUNCT
ejpam-6495	446	1	[	[	X
ejpam-6495	446	2	27	27	NUM
ejpam-6495	446	3	]	]	PUNCT
ejpam-6495	446	4	b.	b.	PROPN
ejpam-6495	446	5	muangmeesri	muangmeesri	PROPN
ejpam-6495	446	6	and	and	CCONJ
ejpam-6495	446	7	k.	k.	PROPN
ejpam-6495	446	8	wisaeng	wisaeng	PROPN
ejpam-6495	446	9	.	.	PUNCT
ejpam-6495	447	1	iot	iot	PROPN
ejpam-6495	447	2	-	-	PUNCT
ejpam-6495	447	3	based	base	VERB
ejpam-6495	447	4	discomfort	discomfort	NOUN
ejpam-6495	447	5	monitoring	monitoring	NOUN
ejpam-6495	447	6	and	and	CCONJ
ejpam-6495	447	7	a	a	DET
ejpam-6495	447	8	precise	precise	ADJ
ejpam-6495	447	9	point	point	NOUN
ejpam-6495	447	10	positioning	positioning	NOUN
ejpam-6495	447	11	technique	technique	NOUN
ejpam-6495	447	12	system	system	NOUN
ejpam-6495	447	13	for	for	ADP
ejpam-6495	447	14	smart	smart	ADJ
ejpam-6495	447	15	wheelchairs	wheelchair	NOUN
ejpam-6495	447	16	.	.	PUNCT
ejpam-6495	448	1	applied	apply	VERB
ejpam-6495	448	2	system	system	NOUN
ejpam-6495	448	3	innovation	innovation	NOUN
ejpam-6495	448	4	,	,	PUNCT
ejpam-6495	448	5	5(5):103	5(5):103	NUM
ejpam-6495	448	6	,	,	PUNCT
ejpam-6495	448	7	2022	2022	NUM
ejpam-6495	448	8	.	.	PUNCT
ejpam-6495	449	1	[	[	X
ejpam-6495	449	2	28	28	NUM
ejpam-6495	449	3	]	]	X
ejpam-6495	449	4	a.	a.	NOUN
ejpam-6495	449	5	gasparri	gasparri	PROPN
ejpam-6495	449	6	,	,	PUNCT
ejpam-6495	449	7	s.	s.	PROPN
ejpam-6495	449	8	panzieri	panzieri	PROPN
ejpam-6495	449	9	,	,	PUNCT
ejpam-6495	449	10	f.	f.	PROPN
ejpam-6495	449	11	pascucci	pascucci	PROPN
ejpam-6495	449	12	,	,	PUNCT
ejpam-6495	449	13	and	and	CCONJ
ejpam-6495	449	14	g.	g.	PROPN
ejpam-6495	449	15	ulivi	ulivi	PROPN
ejpam-6495	449	16	.	.	PUNCT
ejpam-6495	450	1	a	a	DET
ejpam-6495	450	2	hybrid	hybrid	ADJ
ejpam-6495	450	3	active	active	ADJ
ejpam-6495	450	4	global	global	ADJ
ejpam-6495	450	5	localisation	localisation	NOUN
ejpam-6495	450	6	algorithm	algorithm	NOUN
ejpam-6495	450	7	for	for	ADP
ejpam-6495	450	8	mobile	mobile	ADJ
ejpam-6495	450	9	robots	robot	NOUN
ejpam-6495	450	10	.	.	PUNCT
ejpam-6495	451	1	in	in	ADP
ejpam-6495	451	2	proceedings	proceeding	NOUN
ejpam-6495	451	3	of	of	ADP
ejpam-6495	451	4	the	the	DET
ejpam-6495	451	5	ieee	ieee	NOUN
ejpam-6495	451	6	international	international	PROPN
ejpam-6495	451	7	conference	conference	NOUN
ejpam-6495	451	8	on	on	ADP
ejpam-6495	451	9	robotics	robotic	NOUN
ejpam-6495	451	10	and	and	CCONJ
ejpam-6495	451	11	automation	automation	NOUN
ejpam-6495	451	12	(	(	PUNCT
ejpam-6495	451	13	icra	icra	PROPN
ejpam-6495	451	14	)	)	PUNCT
ejpam-6495	451	15	,	,	PUNCT
ejpam-6495	451	16	pages	page	NOUN
ejpam-6495	451	17	3148–3153	3148–3153	NUM
ejpam-6495	451	18	,	,	PUNCT
ejpam-6495	451	19	rome	rome	PROPN
ejpam-6495	451	20	,	,	PUNCT
ejpam-6495	451	21	italy	italy	PROPN
ejpam-6495	451	22	,	,	PUNCT
ejpam-6495	451	23	2007	2007	NUM
ejpam-6495	451	24	.	.	PUNCT
ejpam-6495	452	1	[	[	X
ejpam-6495	452	2	29	29	NUM
ejpam-6495	452	3	]	]	PUNCT
ejpam-6495	452	4	a.	a.	NOUN
ejpam-6495	452	5	achroufene	achroufene	NOUN
ejpam-6495	452	6	,	,	PUNCT
ejpam-6495	452	7	y.	y.	PROPN
ejpam-6495	452	8	amirat	amirat	PROPN
ejpam-6495	452	9	,	,	PUNCT
ejpam-6495	452	10	and	and	CCONJ
ejpam-6495	452	11	a.	a.	NOUN
ejpam-6495	452	12	chibani	chibani	PROPN
ejpam-6495	452	13	.	.	PUNCT
ejpam-6495	453	1	rss	rss	NOUN
ejpam-6495	453	2	-	-	PUNCT
ejpam-6495	453	3	based	base	VERB
ejpam-6495	453	4	indoor	indoor	ADJ
ejpam-6495	453	5	localization	localization	NOUN
ejpam-6495	453	6	using	use	VERB
ejpam-6495	453	7	belief	belief	NOUN
ejpam-6495	453	8	function	function	NOUN
ejpam-6495	453	9	theory	theory	NOUN
ejpam-6495	453	10	.	.	PUNCT
ejpam-6495	454	1	ieee	ieee	NOUN
ejpam-6495	454	2	transactions	transaction	NOUN
ejpam-6495	454	3	on	on	ADP
ejpam-6495	454	4	automation	automation	NOUN
ejpam-6495	454	5	science	science	NOUN
ejpam-6495	454	6	and	and	CCONJ
ejpam-6495	454	7	engineering	engineering	NOUN
ejpam-6495	454	8	,	,	PUNCT
ejpam-6495	454	9	16(3):1163–1180	16(3):1163–1180	NUM
ejpam-6495	454	10	,	,	PUNCT
ejpam-6495	454	11	2019	2019	NUM
ejpam-6495	454	12	.	.	PUNCT
ejpam-6495	455	1	[	[	X
ejpam-6495	455	2	30	30	NUM
ejpam-6495	455	3	]	]	X
ejpam-6495	455	4	y.	y.	PROPN
ejpam-6495	455	5	hao	hao	PROPN
ejpam-6495	455	6	,	,	PUNCT
ejpam-6495	455	7	a.	a.	PROPN
ejpam-6495	455	8	xu	xu	PROPN
ejpam-6495	455	9	,	,	PUNCT
ejpam-6495	455	10	x.	x.	PROPN
ejpam-6495	455	11	sui	sui	PROPN
ejpam-6495	455	12	,	,	PUNCT
ejpam-6495	455	13	and	and	CCONJ
ejpam-6495	455	14	y.	y.	PROPN
ejpam-6495	455	15	wang	wang	PROPN
ejpam-6495	455	16	.	.	PUNCT
ejpam-6495	456	1	a	a	DET
ejpam-6495	456	2	modified	modify	VERB
ejpam-6495	456	3	extended	extend	VERB
ejpam-6495	456	4	kalman	kalman	NOUN
ejpam-6495	456	5	filter	filter	NOUN
ejpam-6495	456	6	for	for	ADP
ejpam-6495	456	7	a	a	DET
ejpam-6495	456	8	two	two	NUM
ejpam-6495	456	9	-	-	PUNCT
ejpam-6495	456	10	antenna	antenna	NOUN
ejpam-6495	456	11	gps	gps	PROPN
ejpam-6495	456	12	/	/	SYM
ejpam-6495	456	13	ins	ins	PROPN
ejpam-6495	456	14	vehicular	vehicular	ADJ
ejpam-6495	456	15	navigation	navigation	NOUN
ejpam-6495	456	16	system	system	NOUN
ejpam-6495	456	17	.	.	PUNCT
ejpam-6495	457	1	sensors	sensor	NOUN
ejpam-6495	457	2	,	,	PUNCT
ejpam-6495	457	3	18(11):3809	18(11):3809	NUM
ejpam-6495	457	4	,	,	PUNCT
ejpam-6495	457	5	2018	2018	NUM
ejpam-6495	457	6	.	.	PUNCT
ejpam-6495	458	1	[	[	X
ejpam-6495	458	2	31	31	NUM
ejpam-6495	458	3	]	]	PUNCT
ejpam-6495	458	4	wael	wael	PROPN
ejpam-6495	458	5	hosny	hosny	PROPN
ejpam-6495	458	6	fouad	fouad	PROPN
ejpam-6495	458	7	aly	aly	PROPN
ejpam-6495	458	8	.	.	PUNCT
ejpam-6495	459	1	lbftfb	lbftfb	PROPN
ejpam-6495	459	2	fault	fault	NOUN
ejpam-6495	459	3	tolerance	tolerance	NOUN
ejpam-6495	459	4	mechanism	mechanism	NOUN
ejpam-6495	459	5	for	for	ADP
ejpam-6495	459	6	software	software	NOUN
ejpam-6495	459	7	defined	define	VERB
ejpam-6495	459	8	networking	networking	NOUN
ejpam-6495	459	9	.	.	PUNCT
ejpam-6495	460	1	in	in	ADP
ejpam-6495	460	2	2017	2017	NUM
ejpam-6495	460	3	international	international	ADJ
ejpam-6495	460	4	conference	conference	NOUN
ejpam-6495	460	5	on	on	ADP
ejpam-6495	460	6	electrical	electrical	ADJ
ejpam-6495	460	7	and	and	CCONJ
ejpam-6495	460	8	computing	computing	NOUN
ejpam-6495	460	9	technologies	technology	NOUN
ejpam-6495	460	10	and	and	CCONJ
ejpam-6495	460	11	applications	application	NOUN
ejpam-6495	460	12	(	(	PUNCT
ejpam-6495	460	13	icecta	icecta	ADJ
ejpam-6495	460	14	)	)	PUNCT
ejpam-6495	460	15	,	,	PUNCT
ejpam-6495	460	16	pages	page	NOUN
ejpam-6495	460	17	1–5	1–5	PROPN
ejpam-6495	460	18	.	.	PUNCT
ejpam-6495	460	19	ieee	ieee	PROPN
ejpam-6495	460	20	,	,	PUNCT
ejpam-6495	460	21	2017	2017	NUM
ejpam-6495	460	22	.	.	PUNCT
ejpam-6495	461	1	w.	w.	PROPN
ejpam-6495	461	2	h.	h.	PROPN
ejpam-6495	461	3	f.	f.	PROPN
ejpam-6495	461	4	aly	aly	PROPN
ejpam-6495	461	5	,	,	PUNCT
ejpam-6495	461	6	n.	n.	PROPN
ejpam-6495	461	7	samashvili	samashvili	NOUN
ejpam-6495	461	8	,	,	PUNCT
ejpam-6495	461	9	c.	c.	PROPN
ejpam-6495	461	10	f.	f.	PROPN
ejpam-6495	461	11	riman	riman	PROPN
ejpam-6495	461	12	/	/	SYM
ejpam-6495	461	13	eur	eur	PROPN
ejpam-6495	461	14	.	.	PUNCT
ejpam-6495	462	1	j.	j.	PROPN
ejpam-6495	462	2	pure	pure	PROPN
ejpam-6495	462	3	appl	appl	PROPN
ejpam-6495	462	4	.	.	PROPN
ejpam-6495	462	5	math	math	PROPN
ejpam-6495	462	6	,	,	PUNCT
ejpam-6495	462	7	18	18	NUM
ejpam-6495	462	8	(	(	PUNCT
ejpam-6495	462	9	3	3	NUM
ejpam-6495	462	10	)	)	PUNCT
ejpam-6495	462	11	(	(	PUNCT
ejpam-6495	462	12	2025	2025	NUM
ejpam-6495	462	13	)	)	PUNCT
ejpam-6495	462	14	,	,	PUNCT
ejpam-6495	462	15	6495	6495	NUM
ejpam-6495	462	16	28	28	NUM
ejpam-6495	462	17	of	of	ADP
ejpam-6495	462	18	28	28	NUM
ejpam-6495	463	1	[	[	X
ejpam-6495	463	2	32	32	NUM
ejpam-6495	463	3	]	]	PUNCT
ejpam-6495	463	4	wael	wael	PROPN
ejpam-6495	463	5	hosny	hosny	PROPN
ejpam-6495	463	6	fouad	fouad	PROPN
ejpam-6495	463	7	aly	aly	PROPN
ejpam-6495	463	8	,	,	PUNCT
ejpam-6495	463	9	hassan	hassan	PROPN
ejpam-6495	463	10	kanj	kanj	PROPN
ejpam-6495	463	11	,	,	PUNCT
ejpam-6495	463	12	nour	nour	PROPN
ejpam-6495	463	13	mostafa	mostafa	PROPN
ejpam-6495	463	14	,	,	PUNCT
ejpam-6495	463	15	and	and	CCONJ
ejpam-6495	463	16	samer	samer	PROPN
ejpam-6495	463	17	alabed	alabe	VERB
ejpam-6495	463	18	.	.	PUNCT
ejpam-6495	464	1	feedback	feedback	NOUN
ejpam-6495	464	2	arma	arma	PROPN
ejpam-6495	464	3	models	model	NOUN
ejpam-6495	464	4	versus	versus	ADP
ejpam-6495	464	5	bayesian	bayesian	NOUN
ejpam-6495	464	6	models	model	NOUN
ejpam-6495	464	7	towards	towards	ADP
ejpam-6495	464	8	securing	secure	VERB
ejpam-6495	464	9	openflow	openflow	ADJ
ejpam-6495	464	10	controllers	controller	NOUN
ejpam-6495	464	11	for	for	ADP
ejpam-6495	464	12	sdns	sdns	NOUN
ejpam-6495	464	13	.	.	PUNCT
ejpam-6495	465	1	electronics	electronic	NOUN
ejpam-6495	465	2	,	,	PUNCT
ejpam-6495	465	3	11(9):1513	11(9):1513	NUM
ejpam-6495	465	4	,	,	PUNCT
ejpam-6495	465	5	2022	2022	NUM
ejpam-6495	465	6	.	.	PUNCT
ejpam-6495	466	1	[	[	X
ejpam-6495	466	2	33	33	NUM
ejpam-6495	466	3	]	]	PUNCT
ejpam-6495	466	4	r.	r.	PROPN
ejpam-6495	466	5	e.	e.	PROPN
ejpam-6495	466	6	kalman	kalman	PROPN
ejpam-6495	466	7	.	.	PUNCT
ejpam-6495	467	1	a	a	DET
ejpam-6495	467	2	new	new	ADJ
ejpam-6495	467	3	approach	approach	NOUN
ejpam-6495	467	4	to	to	ADP
ejpam-6495	467	5	linear	linear	ADJ
ejpam-6495	467	6	filtering	filtering	NOUN
ejpam-6495	467	7	and	and	CCONJ
ejpam-6495	467	8	prediction	prediction	NOUN
ejpam-6495	467	9	problems	problem	NOUN
ejpam-6495	467	10	.	.	PUNCT
ejpam-6495	468	1	journal	journal	NOUN
ejpam-6495	468	2	of	of	ADP
ejpam-6495	468	3	basic	basic	ADJ
ejpam-6495	468	4	engineering	engineering	NOUN
ejpam-6495	468	5	,	,	PUNCT
ejpam-6495	468	6	82(1):35–45	82(1):35–45	NUM
ejpam-6495	468	7	,	,	PUNCT
ejpam-6495	468	8	1960	1960	NUM
ejpam-6495	468	9	.	.	PUNCT
ejpam-6495	469	1	[	[	X
ejpam-6495	469	2	34	34	NUM
ejpam-6495	469	3	]	]	X
ejpam-6495	469	4	w.	w.	PROPN
ejpam-6495	469	5	travis	travis	PROPN
ejpam-6495	469	6	,	,	PUNCT
ejpam-6495	469	7	a.	a.	NOUN
ejpam-6495	469	8	t.	t.	PROPN
ejpam-6495	469	9	simmons	simmon	NOUN
ejpam-6495	469	10	,	,	PUNCT
ejpam-6495	469	11	and	and	CCONJ
ejpam-6495	469	12	d.	d.	PROPN
ejpam-6495	469	13	m.	m.	PROPN
ejpam-6495	469	14	bevly	bevly	PROPN
ejpam-6495	469	15	.	.	PUNCT
ejpam-6495	470	1	corridor	corridor	ADJ
ejpam-6495	470	2	navigation	navigation	NOUN
ejpam-6495	470	3	with	with	ADP
ejpam-6495	470	4	a	a	DET
ejpam-6495	470	5	lidar	lidar	NOUN
ejpam-6495	470	6	/	/	SYM
ejpam-6495	470	7	ins	ins	PROPN
ejpam-6495	470	8	kalman	kalman	NOUN
ejpam-6495	470	9	filter	filter	NOUN
ejpam-6495	470	10	solution	solution	NOUN
ejpam-6495	470	11	.	.	PUNCT
ejpam-6495	471	1	in	in	ADP
ejpam-6495	471	2	ieee	ieee	NOUN
ejpam-6495	471	3	intelligent	intelligent	ADJ
ejpam-6495	471	4	vehicles	vehicle	NOUN
ejpam-6495	471	5	symposium	symposium	NOUN
ejpam-6495	471	6	,	,	PUNCT
ejpam-6495	471	7	pages	page	NOUN
ejpam-6495	471	8	343–348	343–348	NUM
ejpam-6495	471	9	,	,	PUNCT
ejpam-6495	471	10	las	las	PROPN
ejpam-6495	471	11	vegas	vegas	PROPN
ejpam-6495	471	12	,	,	PUNCT
ejpam-6495	471	13	nv	nv	PROPN
ejpam-6495	471	14	,	,	PUNCT
ejpam-6495	471	15	usa	usa	PROPN
ejpam-6495	471	16	,	,	PUNCT
ejpam-6495	471	17	2005	2005	NUM
ejpam-6495	471	18	.	.	PUNCT
ejpam-6495	472	1	[	[	X
ejpam-6495	472	2	35	35	NUM
ejpam-6495	472	3	]	]	X
ejpam-6495	472	4	y.	y.	NOUN
ejpam-6495	472	5	bulut	bulut	PROPN
ejpam-6495	472	6	,	,	PUNCT
ejpam-6495	472	7	d.	d.	PROPN
ejpam-6495	472	8	vines	vines	PROPN
ejpam-6495	472	9	-	-	PUNCT
ejpam-6495	472	10	cavanaugh	cavanaugh	NOUN
ejpam-6495	472	11	,	,	PUNCT
ejpam-6495	472	12	and	and	CCONJ
ejpam-6495	472	13	d.	d.	PROPN
ejpam-6495	472	14	bernal	bernal	PROPN
ejpam-6495	472	15	.	.	PUNCT
ejpam-6495	472	16	process	process	NOUN
ejpam-6495	472	17	and	and	CCONJ
ejpam-6495	472	18	measurement	measurement	NOUN
ejpam-6495	472	19	noise	noise	NOUN
ejpam-6495	472	20	estimation	estimation	NOUN
ejpam-6495	472	21	for	for	ADP
ejpam-6495	472	22	kalman	kalman	PROPN
ejpam-6495	472	23	filtering	filtering	PROPN
ejpam-6495	472	24	.	.	PUNCT
ejpam-6495	473	1	in	in	ADP
ejpam-6495	473	2	t.	t.	PROPN
ejpam-6495	473	3	proulx	proulx	PROPN
ejpam-6495	473	4	,	,	PUNCT
ejpam-6495	473	5	editor	editor	NOUN
ejpam-6495	473	6	,	,	PUNCT
ejpam-6495	473	7	structural	structural	ADJ
ejpam-6495	473	8	dynamics	dynamic	NOUN
ejpam-6495	473	9	,	,	PUNCT
ejpam-6495	473	10	volume	volume	NOUN
ejpam-6495	473	11	3	3	NUM
ejpam-6495	473	12	,	,	PUNCT
ejpam-6495	473	13	conference	conference	NOUN
ejpam-6495	473	14	proceedings	proceeding	NOUN
ejpam-6495	473	15	of	of	ADP
ejpam-6495	473	16	the	the	DET
ejpam-6495	473	17	society	society	NOUN
ejpam-6495	473	18	for	for	ADP
ejpam-6495	473	19	experimental	experimental	ADJ
ejpam-6495	473	20	mechanics	mechanic	NOUN
ejpam-6495	473	21	series	series	NOUN
ejpam-6495	473	22	,	,	PUNCT
ejpam-6495	473	23	pages	page	VERB
ejpam-6495	473	24	325–332	325–332	NUM
ejpam-6495	473	25	.	.	PUNCT
ejpam-6495	473	26	springer	springer	NOUN
ejpam-6495	473	27	,	,	PUNCT
ejpam-6495	473	28	new	new	PROPN
ejpam-6495	473	29	york	york	PROPN
ejpam-6495	473	30	,	,	PUNCT
ejpam-6495	473	31	ny	ny	PROPN
ejpam-6495	473	32	,	,	PUNCT
ejpam-6495	473	33	2011	2011	NUM
ejpam-6495	473	34	.	.	PUNCT
ejpam-6495	474	1	[	[	X
ejpam-6495	474	2	36	36	NUM
ejpam-6495	474	3	]	]	X
ejpam-6495	474	4	wassila	wassila	PRON
ejpam-6495	474	5	meddeber	meddeber	PROPN
ejpam-6495	474	6	,	,	PUNCT
ejpam-6495	474	7	benaoumeur	benaoumeur	NOUN
ejpam-6495	474	8	aour	aour	NOUN
ejpam-6495	474	9	,	,	PUNCT
ejpam-6495	474	10	and	and	CCONJ
ejpam-6495	474	11	karim	karim	PROPN
ejpam-6495	474	12	labadi	labadi	PROPN
ejpam-6495	474	13	.	.	PUNCT
ejpam-6495	475	1	smart	smart	ADJ
ejpam-6495	475	2	wheelchair	wheelchair	NOUN
ejpam-6495	475	3	localization	localization	NOUN
ejpam-6495	475	4	and	and	CCONJ
ejpam-6495	475	5	navigation	navigation	NOUN
ejpam-6495	475	6	based	base	VERB
ejpam-6495	475	7	on	on	ADP
ejpam-6495	475	8	multi	multi	ADJ
ejpam-6495	475	9	-	-	ADJ
ejpam-6495	475	10	sensor	sensor	ADJ
ejpam-6495	475	11	data	datum	NOUN
ejpam-6495	475	12	fusion	fusion	NOUN
ejpam-6495	475	13	using	use	VERB
ejpam-6495	475	14	hybrid	hybrid	ADJ
ejpam-6495	475	15	-	-	PUNCT
ejpam-6495	475	16	filter	filter	NOUN
ejpam-6495	475	17	method	method	NOUN
ejpam-6495	475	18	(	(	PUNCT
ejpam-6495	475	19	hf	hf	NOUN
ejpam-6495	475	20	)	)	PUNCT
ejpam-6495	475	21	.	.	PUNCT
ejpam-6495	476	1	revue	revue	PROPN
ejpam-6495	476	2	d’intelligence	d’intelligence	PROPN
ejpam-6495	476	3	artificielle	artificielle	PROPN
ejpam-6495	476	4	,	,	PUNCT
ejpam-6495	476	5	38(2	38(2	NOUN
ejpam-6495	476	6	)	)	PUNCT
ejpam-6495	476	7	,	,	PUNCT
ejpam-6495	476	8	2024	2024	NUM
ejpam-6495	476	9	.	.	PUNCT
ejpam-6495	477	1	[	[	X
ejpam-6495	477	2	37	37	NUM
ejpam-6495	477	3	]	]	PUNCT
ejpam-6495	477	4	sebastian	sebastian	ADJ
ejpam-6495	477	5	thrun	thrun	NOUN
ejpam-6495	477	6	.	.	PUNCT
ejpam-6495	478	1	probabilistic	probabilistic	ADJ
ejpam-6495	478	2	robotics	robotic	NOUN
ejpam-6495	478	3	.	.	PUNCT
ejpam-6495	479	1	communications	communication	NOUN
ejpam-6495	479	2	of	of	ADP
ejpam-6495	479	3	the	the	DET
ejpam-6495	479	4	acm	acm	NOUN
ejpam-6495	479	5	,	,	PUNCT
ejpam-6495	479	6	45(3):52–57	45(3):52–57	NUM
ejpam-6495	479	7	,	,	PUNCT
ejpam-6495	479	8	2002	2002	NUM
ejpam-6495	479	9	.	.	PUNCT
ejpam-6495	480	1	[	[	X
ejpam-6495	480	2	38	38	NUM
ejpam-6495	480	3	]	]	PUNCT
ejpam-6495	480	4	karl	karl	PROPN
ejpam-6495	480	5	iagnemma	iagnemma	PROPN
ejpam-6495	480	6	and	and	CCONJ
ejpam-6495	480	7	steven	steven	PROPN
ejpam-6495	480	8	dubowsky	dubowsky	PROPN
ejpam-6495	480	9	.	.	PUNCT
ejpam-6495	481	1	mobile	mobile	ADJ
ejpam-6495	481	2	robots	robot	NOUN
ejpam-6495	481	3	in	in	ADP
ejpam-6495	481	4	rough	rough	ADJ
ejpam-6495	481	5	terrain	terrain	NOUN
ejpam-6495	481	6	:	:	PUNCT
ejpam-6495	481	7	estimation	estimation	NOUN
ejpam-6495	481	8	,	,	PUNCT
ejpam-6495	481	9	motion	motion	NOUN
ejpam-6495	481	10	planning	planning	NOUN
ejpam-6495	481	11	,	,	PUNCT
ejpam-6495	481	12	and	and	CCONJ
ejpam-6495	481	13	control	control	NOUN
ejpam-6495	481	14	with	with	ADP
ejpam-6495	481	15	application	application	NOUN
ejpam-6495	481	16	to	to	ADP
ejpam-6495	481	17	planetary	planetary	ADJ
ejpam-6495	481	18	rovers	rover	NOUN
ejpam-6495	481	19	,	,	PUNCT
ejpam-6495	481	20	volume	volume	NOUN
ejpam-6495	481	21	12	12	NUM
ejpam-6495	481	22	.	.	PUNCT
ejpam-6495	482	1	springer	springer	NOUN
ejpam-6495	482	2	science	science	PROPN
ejpam-6495	482	3	&	&	CCONJ
ejpam-6495	482	4	business	business	NOUN
ejpam-6495	482	5	media	medium	NOUN
ejpam-6495	482	6	,	,	PUNCT
ejpam-6495	482	7	2004	2004	NUM
ejpam-6495	482	8	.	.	PUNCT
ejpam-6495	483	1	[	[	X
ejpam-6495	483	2	39	39	NUM
ejpam-6495	483	3	]	]	PUNCT
ejpam-6495	483	4	rudy	rudy	NOUN
ejpam-6495	483	5	negenborn	negenborn	PROPN
ejpam-6495	483	6	.	.	PUNCT
ejpam-6495	484	1	robot	robot	NOUN
ejpam-6495	484	2	localization	localization	PROPN
ejpam-6495	484	3	and	and	CCONJ
ejpam-6495	484	4	kalman	kalman	PROPN
ejpam-6495	484	5	filters	filter	NOUN
ejpam-6495	484	6	.	.	PUNCT
ejpam-6495	485	1	utrecht	utrecht	PROPN
ejpam-6495	485	2	univ	univ	PROPN
ejpam-6495	485	3	.	.	PROPN
ejpam-6495	485	4	,	,	PUNCT
ejpam-6495	485	5	utrecht	utrecht	PROPN
ejpam-6495	485	6	,	,	PUNCT
ejpam-6495	485	7	netherlands	netherlands	PROPN
ejpam-6495	485	8	,	,	PUNCT
ejpam-6495	485	9	master	master	NOUN
ejpam-6495	485	10	’s	’s	PART
ejpam-6495	485	11	thesis	thesis	PROPN
ejpam-6495	485	12	inf	inf	NOUN
ejpam-6495	485	13	/	/	SYM
ejpam-6495	485	14	scr-0309	scr-0309	NOUN
ejpam-6495	485	15	,	,	PUNCT
ejpam-6495	485	16	2003	2003	NUM
ejpam-6495	485	17	.	.	PUNCT
ejpam-6495	486	1	[	[	X
ejpam-6495	486	2	40	40	NUM
ejpam-6495	486	3	]	]	X
ejpam-6495	486	4	timothy	timothy	PROPN
ejpam-6495	486	5	d	d	PROPN
ejpam-6495	486	6	barfoot	barfoot	NOUN
ejpam-6495	486	7	.	.	PUNCT
ejpam-6495	487	1	state	state	NOUN
ejpam-6495	487	2	estimation	estimation	NOUN
ejpam-6495	487	3	for	for	ADP
ejpam-6495	487	4	robotics	robotic	NOUN
ejpam-6495	487	5	.	.	PUNCT
ejpam-6495	488	1	cambridge	cambridge	PROPN
ejpam-6495	488	2	university	university	PROPN
ejpam-6495	488	3	press	press	NOUN
ejpam-6495	488	4	,	,	PUNCT
ejpam-6495	488	5	2024	2024	NUM
ejpam-6495	488	6	.	.	PUNCT