id	sid	eid	entity	type
fumecheng-2877	1	1	half	CARDINAL
fumecheng-2877	2	1	15	CARDINAL
fumecheng-2877	2	2	2017	DATE
fumecheng-2877	3	1	217 229	CARDINAL
fumecheng-2877	3	2	10.22190	CARDINAL
fumecheng-2877	3	3	2017	CARDINAL
fumecheng-2877	3	4	university of niš	ORG
fumecheng-2877	3	5	serbia	GPE
fumecheng-2877	3	6	nc	GPE
fumecheng-2877	3	7	udc	ORG
fumecheng-2877	3	8	maria kyrarini	PERSON
fumecheng-2877	3	9	muhammad abdul haseeb	PERSON
fumecheng-2877	3	10	ristić-durrant	ORG
fumecheng-2877	3	11	axel gräser institute of automation	ORG
fumecheng-2877	3	12	university of bremen	ORG
fumecheng-2877	3	13	germany	GPE
fumecheng-2877	9	1	dtw	ORG
fumecheng-2877	10	1	gmr	ORG
fumecheng-2877	12	1	1	CARDINAL
fumecheng-2877	12	2	the last two decades	DATE
fumecheng-2877	12	3	1-4	CARDINAL
fumecheng-2877	15	1	15	CARDINAL
fumecheng-2877	15	2	2017	DATE
fumecheng-2877	15	3	june 29	DATE
fumecheng-2877	15	4	2017	CARDINAL
fumecheng-2877	15	5	maria kyrarini institute of automation	ORG
fumecheng-2877	15	6	university of bremen	ORG
fumecheng-2877	15	7	otto-hahn-allee 1, 28359	PERSON
fumecheng-2877	15	8	bremen	GPE
fumecheng-2877	15	9	germany e	GPE
fumecheng-2877	15	10	218	CARDINAL
fumecheng-2877	15	11	m. kyrarini	PERSON
fumecheng-2877	15	12	m. a. haseeb	PERSON
fumecheng-2877	15	13	d. ristic-durrant	PERSON
fumecheng-2877	15	14	a. gräser	PERSON
fumecheng-2877	16	1	5	CARDINAL
fumecheng-2877	18	1	one	CARDINAL
fumecheng-2877	20	1	5	CARDINAL
fumecheng-2877	23	1	8	CARDINAL
fumecheng-2877	24	1	9	CARDINAL
fumecheng-2877	26	1	10	CARDINAL
fumecheng-2877	26	2	gmr	ORG
fumecheng-2877	26	3	3d	CARDINAL
fumecheng-2877	27	1	first	ORDINAL
fumecheng-2877	27	2	dtw	ORG
fumecheng-2877	29	1	gmr	ORG
fumecheng-2877	31	1	11	CARDINAL
fumecheng-2877	34	1	12	CARDINAL
fumecheng-2877	38	1	section vi	PERSON
fumecheng-2877	39	1	219 2	DATE
fumecheng-2877	40	1	two	CARDINAL
fumecheng-2877	41	1	1	CARDINAL
fumecheng-2877	42	1	two	CARDINAL
fumecheng-2877	43	1	pi4 workerbot	PERSON
fumecheng-2877	43	2	3	CARDINAL
fumecheng-2877	44	1	15	CARDINAL
fumecheng-2877	45	1	two	CARDINAL
fumecheng-2877	45	2	ur10	PRODUCT
fumecheng-2877	46	1	16	CARDINAL
fumecheng-2877	50	1	1	CARDINAL
fumecheng-2877	53	1	220	CARDINAL
fumecheng-2877	53	2	m. kyrarini	PERSON
fumecheng-2877	53	3	m. a. haseeb	PERSON
fumecheng-2877	53	4	d. ristic-durrant	PERSON
fumecheng-2877	53	5	a. gräser	PERSON
fumecheng-2877	54	1	17	CARDINAL
fumecheng-2877	55	1	two	CARDINAL
fumecheng-2877	56	1	section iii	PERSON
fumecheng-2877	60	1	3	CARDINAL
fumecheng-2877	62	1	3	CARDINAL
fumecheng-2877	63	1	zero	CARDINAL
fumecheng-2877	66	1	two	CARDINAL
fumecheng-2877	67	1	3.1	CARDINAL
fumecheng-2877	68	1	one	CARDINAL
fumecheng-2877	68	2	cartesian	NORP
fumecheng-2877	69	1	dtw)-based	ORG
fumecheng-2877	69	2	18	CARDINAL
fumecheng-2877	70	1	dtw	ORG
fumecheng-2877	70	2	gmm	ORG
fumecheng-2877	70	3	gmr	ORG
fumecheng-2877	70	4	19	CARDINAL
fumecheng-2877	73	1	dtw	ORG
fumecheng-2877	74	1	20	CARDINAL
fumecheng-2877	74	2	between two	CARDINAL
fumecheng-2877	75	1	dtw	ORG
fumecheng-2877	75	2	21	CARDINAL
fumecheng-2877	76	1	22	CARDINAL
fumecheng-2877	76	2	23	CARDINAL
fumecheng-2877	76	3	24	CARDINAL
fumecheng-2877	77	1	dtw	ORG
fumecheng-2877	77	2	221	CARDINAL
fumecheng-2877	77	3	dtw	ORG
fumecheng-2877	77	4	between two	CARDINAL
fumecheng-2877	79	1	dtw	ORG
fumecheng-2877	80	1	18	CARDINAL
fumecheng-2877	80	2	cartesian	NORP
fumecheng-2877	81	1	18	CARDINAL
fumecheng-2877	82	1	18	CARDINAL
fumecheng-2877	82	2	qy	ORG
fumecheng-2877	82	3	qz	GPE
fumecheng-2877	83	1	7 1	CARDINAL
fumecheng-2877	83	2	1,2	CARDINAL
fumecheng-2877	86	1	1	CARDINAL
fumecheng-2877	86	2	dtw7d(i	PERSON
fumecheng-2877	86	3	7	CARDINAL
fumecheng-2877	86	4	7	CARDINAL
fumecheng-2877	87	1	2	CARDINAL
fumecheng-2877	87	2	dtw	ORG
fumecheng-2877	87	3	qy	ORG
fumecheng-2877	87	4	qz	GPE
fumecheng-2877	87	5	j{1	GPE
fumecheng-2877	87	6	2	DATE
fumecheng-2877	88	1	dtw	ORG
fumecheng-2877	88	2	two	CARDINAL
fumecheng-2877	89	1	dtw	ORG
fumecheng-2877	89	2	zero	CARDINAL
fumecheng-2877	89	3	zero	CARDINAL
fumecheng-2877	90	1	r.	NORP
fumecheng-2877	91	1	7	CARDINAL
fumecheng-2877	91	2	1,2	CARDINAL
fumecheng-2877	91	3	ddtw r j	ORG
fumecheng-2877	92	1	only two	CARDINAL
fumecheng-2877	92	2	dtw	ORG
fumecheng-2877	92	3	only two	CARDINAL
fumecheng-2877	93	1	two	CARDINAL
fumecheng-2877	93	2	dtw	ORG
fumecheng-2877	93	3	7	CARDINAL
fumecheng-2877	93	4	qy	ORG
fumecheng-2877	93	5	qz	GPE
fumecheng-2877	96	1	gmm	ORG
fumecheng-2877	96	2	25	CARDINAL
fumecheng-2877	96	3	gmr	ORG
fumecheng-2877	97	1	25	CARDINAL
fumecheng-2877	98	1	gmm	ORG
fumecheng-2877	98	2	26	CARDINAL
fumecheng-2877	99	1	s  r d–1	ORG
fumecheng-2877	100	1	8	CARDINAL
fumecheng-2877	100	2	qy	ORG
fumecheng-2877	100	3	qz	GPE
fumecheng-2877	102	1	222	CARDINAL
fumecheng-2877	102	2	m. kyrarini	PERSON
fumecheng-2877	102	3	m. a. haseeb	PERSON
fumecheng-2877	102	4	d. ristic-durrant	PERSON
fumecheng-2877	102	5	a. gräser	PERSON
fumecheng-2877	103	1	8	CARDINAL
fumecheng-2877	104	1	19	CARDINAL
fumecheng-2877	104	2	11	CARDINAL
fumecheng-2877	104	3	2 1 1	DATE
fumecheng-2877	105	1	2	CARDINAL
fumecheng-2877	115	1	 	PERSON
fumecheng-2877	115	2	3	CARDINAL
fumecheng-2877	118	1		GPE
fumecheng-2877	119	1		GPE
fumecheng-2877	119	2		GPE
fumecheng-2877	119	3		NORP
fumecheng-2877	120	1		PERSON
fumecheng-2877	120	2	skstk	GPE
fumecheng-2877	120	3	gmm	ORG
fumecheng-2877	121	1	gmm	ORG
fumecheng-2877	121	2	27	CARDINAL
fumecheng-2877	122	1	gmm	ORG
fumecheng-2877	122	2	gmr	ORG
fumecheng-2877	123	1	gmr	ORG
fumecheng-2877	123	2	18	CARDINAL
fumecheng-2877	124	1	gmr	ORG
fumecheng-2877	125	1	gmr	ORG
fumecheng-2877	131	1	k k	PERSON
fumecheng-2877	131	2	1	CARDINAL
fumecheng-2877	131	3	4	CARDINAL
fumecheng-2877	131	4		PERSON
fumecheng-2877	134	1	k l	PERSON
fumecheng-2877	135	1	  	PERSON
fumecheng-2877	135	2	1	CARDINAL
fumecheng-2877	135	3	kk	PERSON
fumecheng-2877	135	4	1	CARDINAL
fumecheng-2877	136	1	3.2	CARDINAL
fumecheng-2877	137	1	three	CARDINAL
fumecheng-2877	139	1	left_pick_1	ORG
fumecheng-2877	139	2	first	ORDINAL
fumecheng-2877	139	3	left_pick_1	ORG
fumecheng-2877	140	1	cartesian	NORP
fumecheng-2877	140	2	gmr	ORG
fumecheng-2877	141	1	223	CARDINAL
fumecheng-2877	143	1	left_pick_1	ORG
fumecheng-2877	145	1	4	CARDINAL
fumecheng-2877	145	2	trl	LAW
fumecheng-2877	146	1	trl	LAW
fumecheng-2877	148	1	trl	LAW
fumecheng-2877	148	2	trl	LAW
fumecheng-2877	150	1	28	CARDINAL
fumecheng-2877	151	1	first	ORDINAL
fumecheng-2877	153	1	5	CARDINAL
fumecheng-2877	154	1	five	CARDINAL
fumecheng-2877	156	1	2	CARDINAL
fumecheng-2877	156	2	1	CARDINAL
fumecheng-2877	156	3	2	CARDINAL
fumecheng-2877	156	4	3	CARDINAL
fumecheng-2877	156	5	4	CARDINAL
fumecheng-2877	156	6	5	CARDINAL
fumecheng-2877	156	7	6	CARDINAL
fumecheng-2877	158	1	cartesian	NORP
fumecheng-2877	159	1	fig	ORG
fumecheng-2877	160	1	3	CARDINAL
fumecheng-2877	160	2	5	CARDINAL
fumecheng-2877	160	3	cartesian	NORP
fumecheng-2877	161	1	224	CARDINAL
fumecheng-2877	161	2	m. kyrarini	PERSON
fumecheng-2877	161	3	m. a. haseeb	PERSON
fumecheng-2877	161	4	d. ristic-durrant	PERSON
fumecheng-2877	161	5	a. gräser fig	PERSON
fumecheng-2877	162	1	2	CARDINAL
fumecheng-2877	163	1	5	CARDINAL
fumecheng-2877	163	2	225	CARDINAL
fumecheng-2877	163	3	first	ORDINAL
fumecheng-2877	164	1	4	CARDINAL
fumecheng-2877	165	1	two	CARDINAL
fumecheng-2877	166	1	4	CARDINAL
fumecheng-2877	166	2	dtw	ORG
fumecheng-2877	166	3	fig	ORG
fumecheng-2877	167	1	5	CARDINAL
fumecheng-2877	167	2	gmm	ORG
fumecheng-2877	167	3	gmr	ORG
fumecheng-2877	167	4	z. fig	PERSON
fumecheng-2877	168	1	4	CARDINAL
fumecheng-2877	168	2	dtw	ORG
fumecheng-2877	169	1	5	CARDINAL
fumecheng-2877	169	2	gmm	ORG
fumecheng-2877	169	3	gmr	ORG
fumecheng-2877	169	4	226	CARDINAL
fumecheng-2877	169	5	m. kyrarini	PERSON
fumecheng-2877	169	6	m. a. haseeb	PERSON
fumecheng-2877	169	7	d. ristic-durrant	PERSON
fumecheng-2877	169	8	a. gräser fig	PERSON
fumecheng-2877	170	1	6	CARDINAL
fumecheng-2877	170	2	gmm	ORG
fumecheng-2877	170	3	gmr	ORG
fumecheng-2877	171	1	7	CARDINAL
fumecheng-2877	171	2	gmm	ORG
fumecheng-2877	171	3	gmr	ORG
fumecheng-2877	171	4	second	ORDINAL
fumecheng-2877	172	1	firstly	ORDINAL
fumecheng-2877	172	2	fig.	DATE
fumecheng-2877	174	1	left_pick_1	ORG
fumecheng-2877	175	1	227	CARDINAL
fumecheng-2877	176	1	fig.	DATE
fumecheng-2877	177	1	9	CARDINAL
fumecheng-2877	178	1	trl	LAW
fumecheng-2877	179	1	fig.	DATE
fumecheng-2877	180	1	10	CARDINAL
fumecheng-2877	182	1	9	CARDINAL
fumecheng-2877	183	1	10	CARDINAL
fumecheng-2877	184	1	8	CARDINAL
fumecheng-2877	184	2	228	CARDINAL
fumecheng-2877	184	3	m. kyrarini	PERSON
fumecheng-2877	184	4	m. a. haseeb	PERSON
fumecheng-2877	184	5	d. ristic-durrant	PERSON
fumecheng-2877	184	6	a. gräser 6	PERSON
fumecheng-2877	185	1	dtw	ORG
fumecheng-2877	185	2	gmm	ORG
fumecheng-2877	185	3	gmr	ORG
fumecheng-2877	191	1	the german federal ministry of education	ORG
fumecheng-2877	192	1	pi4 robotics gmbh	ORG
fumecheng-2877	193	1	1	CARDINAL
fumecheng-2877	194	1	li	PERSON
fumecheng-2877	194	2	q.	PERSON
fumecheng-2877	194	3	takanishi	ORG
fumecheng-2877	194	4	a.	PERSON
fumecheng-2877	194	5	kato, i.	ORG
fumecheng-2877	194	6	1993	DATE
fumecheng-2877	194	7	2nd ieee international workshop	ORG
fumecheng-2877	194	8	tokyo	GPE
fumecheng-2877	194	9	10.1109	CARDINAL
fumecheng-2877	195	1	1993.367686	CARDINAL
fumecheng-2877	196	1	2	CARDINAL
fumecheng-2877	196	2	m., stirling	PERSON
fumecheng-2877	196	3	d.	NORP
fumecheng-2877	196	4	pan, z.	GPE
fumecheng-2877	196	5	f.	PERSON
fumecheng-2877	196	6	2016	DATE
fumecheng-2877	196	7	46(3	CARDINAL
fumecheng-2877	197	1	706-717	CARDINAL
fumecheng-2877	198	1	3	CARDINAL
fumecheng-2877	198	2	ureche, a. l. p.	ORG
fumecheng-2877	198	3	nakamura	PERSON
fumecheng-2877	198	4	billard, a.	ORG
fumecheng-2877	198	5	2015	DATE
fumecheng-2877	199	1	1458-1471	CARDINAL
fumecheng-2877	200	1	4	CARDINAL
fumecheng-2877	200	2	bandera	GPE
fumecheng-2877	200	3	j.p.	GPE
fumecheng-2877	200	4	j.a.	GPE
fumecheng-2877	200	5	molina-tanco	PERSON
fumecheng-2877	200	6	l.	GPE
fumecheng-2877	200	7	bandera, a.	ORG
fumecheng-2877	200	8	2012	DATE
fumecheng-2877	201	1	5	CARDINAL
fumecheng-2877	201	2	lee	PERSON
fumecheng-2877	201	3	a.x.	PERSON
fumecheng-2877	201	4	gupta	GPE
fumecheng-2877	201	5	lu, h.	ORG
fumecheng-2877	201	6	levine	PERSON
fumecheng-2877	201	7	s.	PERSON
fumecheng-2877	201	8	2015	DATE
fumecheng-2877	201	9	2015	CARDINAL
fumecheng-2877	202	1	5265-5272	DATE
fumecheng-2877	202	2	hamburg	GPE
fumecheng-2877	203	1	6	CARDINAL
fumecheng-2877	203	2	schou	GPE
fumecheng-2877	203	3	j.s.	GPE
fumecheng-2877	203	4	s.	PERSON
fumecheng-2877	203	5	madsen	PERSON
fumecheng-2877	203	6	2013	DATE
fumecheng-2877	203	7	2013	DATE
fumecheng-2877	203	8	44th	ORDINAL
fumecheng-2877	204	1	1-6	CARDINAL
fumecheng-2877	204	2	seoul	GPE
fumecheng-2877	205	1	7	CARDINAL
fumecheng-2877	205	2	akgun	PERSON
fumecheng-2877	205	3	a.	PERSON
fumecheng-2877	205	4	2016	DATE
fumecheng-2877	205	5	40(2	DATE
fumecheng-2877	205	6	211	CARDINAL
fumecheng-2877	205	7	8	CARDINAL
fumecheng-2877	205	8	s.	PERSON
fumecheng-2877	205	9	billard	PERSON
fumecheng-2877	205	10	a.g.	GPE
fumecheng-2877	205	11	caldwell	ORG
fumecheng-2877	205	12	d.g.	GPE
fumecheng-2877	205	13	2010	DATE
fumecheng-2877	205	14	2010	DATE
fumecheng-2877	206	1	2671-2676	CARDINAL
fumecheng-2877	206	2	ak, usa. 9	ORG
fumecheng-2877	207	1	billard, a.	ORG
fumecheng-2877	207	2	s.	PERSON
fumecheng-2877	207	3	dillmann	GPE
fumecheng-2877	207	4	r.	NORP
fumecheng-2877	207	5	schaal	ORG
fumecheng-2877	207	6	s., 2008	PERSON
fumecheng-2877	207	7	siciliano	GPE
fumecheng-2877	207	8	b.	PERSON
fumecheng-2877	207	9	khatib	NORP
fumecheng-2877	207	10	springer berlin heidelberg	GPE
fumecheng-2877	208	1	1371-1394	CARDINAL
fumecheng-2877	209	1	10	CARDINAL
fumecheng-2877	209	2	sabbaghi	GPE
fumecheng-2877	209	3	e.	GPE
fumecheng-2877	209	4	bahrami	PERSON
fumecheng-2877	209	5	m.	PERSON
fumecheng-2877	209	6	s.s.	GPE
fumecheng-2877	209	7	2014	DATE
fumecheng-2877	209	8	2014	DATE
fumecheng-2877	210	1	588-594	CARDINAL
fumecheng-2877	211	1	229 11	DATE
fumecheng-2877	212	1	s.	PERSON
fumecheng-2877	212	2	2006	DATE
fumecheng-2877	212	3	15th	ORDINAL
fumecheng-2877	212	4	2006	DATE
fumecheng-2877	213	1	358-363	CARDINAL
fumecheng-2877	214	1	12	CARDINAL
fumecheng-2877	215	1	t., azad	GPE
fumecheng-2877	215	2	f.	PERSON
fumecheng-2877	215	3	dillmann	GPE
fumecheng-2877	215	4	r.	NORP
fumecheng-2877	215	5	2008	DATE
fumecheng-2877	215	6	pp.183	ORG
fumecheng-2877	215	7	202	CARDINAL
fumecheng-2877	215	8	13	CARDINAL
fumecheng-2877	216	1	kruger	PERSON
fumecheng-2877	216	2	herzog,	ORG
fumecheng-2877	216	3	d.l.	GPE
fumecheng-2877	216	4	s.	PERSON
fumecheng-2877	216	5	a.	PERSON
fumecheng-2877	216	6	d.	NORP
fumecheng-2877	216	7	2010	DATE
fumecheng-2877	216	8	ieee robotics & automation magazine	ORG
fumecheng-2877	216	9	17(2	CARDINAL
fumecheng-2877	216	10	pp.30-43	EVENT
fumecheng-2877	217	1	14	CARDINAL
fumecheng-2877	218	1	m., ahmadabadi	ORG
fumecheng-2877	218	2	m. n.	PERSON
fumecheng-2877	218	3	b. n.	PERSON
fumecheng-2877	218	4	2017	DATE
fumecheng-2877	218	5	33(1	CARDINAL
fumecheng-2877	219	1	153–168.	CARDINAL
fumecheng-2877	219	2	15	CARDINAL
fumecheng-2877	219	3	pi4 workerbot	PERSON
fumecheng-2877	220	1	3	CARDINAL
fumecheng-2877	221	1	http://www.pi4.de/fileadmin/material/datenblatt/datenblatt_wb3_en	PERSON
fumecheng-2877	221	2	28.04.2017	CARDINAL
fumecheng-2877	221	3	16	DATE
fumecheng-2877	222	1	ur10	PRODUCT
fumecheng-2877	222	2	28.04.2017) 17	DATE
fumecheng-2877	222	3	xbox	ORG
fumecheng-2877	222	4	28.04.2017	CARDINAL
fumecheng-2877	222	5	18	DATE
fumecheng-2877	223	1	kyrarini	ORG
fumecheng-2877	223	2	m., leu, a.	PERSON
fumecheng-2877	223	3	ristić-durrant	PERSON
fumecheng-2877	223	4	d.	NORP
fumecheng-2877	223	5	a.	GPE
fumecheng-2877	223	6	jackowski	GPE
fumecheng-2877	223	7	a.	GPE
fumecheng-2877	223	8	j., bröhl	ORG
fumecheng-2877	223	9	c., mertens	GPE
fumecheng-2877	223	10	a.	PERSON
fumecheng-2877	223	11	c.m.	GPE
fumecheng-2877	223	12	2016	DATE
fumecheng-2877	223	13	15(3	DATE
fumecheng-2877	223	14	pp.187-204	ORG
fumecheng-2877	224	1	19	CARDINAL
fumecheng-2877	224	2	s.	PERSON
fumecheng-2877	224	3	2007	DATE
fumecheng-2877	224	4	phd dissertation	PERSON
fumecheng-2877	224	5	école polytechnique fédérale de lausanne.	ORG
fumecheng-2877	225	1	20	CARDINAL
fumecheng-2877	225	2	sakoe	GPE
fumecheng-2877	225	3	h.	PERSON
fumecheng-2877	225	4	chiba	GPE
fumecheng-2877	225	5	s., 1987	ORG
fumecheng-2877	225	6	26(1	CARDINAL
fumecheng-2877	228	1	j.	PERSON
fumecheng-2877	228	2	qin	PERSON
fumecheng-2877	228	3	b.	PERSON
fumecheng-2877	228	4	2012	DATE
fumecheng-2877	228	5	dtw	ORG
fumecheng-2877	229	1	congress	ORG
fumecheng-2877	230	1	1-4	CARDINAL
fumecheng-2877	230	2	22	DATE
fumecheng-2877	231	1	cheng	PERSON
fumecheng-2877	231	2	luo	PERSON
fumecheng-2877	231	3	j. and chen	PERSON
fumecheng-2877	231	4	x.	GPE
fumecheng-2877	231	5	2014	DATE
fumecheng-2877	231	6	3d	CARDINAL
fumecheng-2877	231	7	2014	DATE
fumecheng-2877	233	1	vakanski, a.	PERSON
fumecheng-2877	233	2	i.	PERSON
fumecheng-2877	233	3	irish	NORP
fumecheng-2877	233	4	a.	PERSON
fumecheng-2877	233	5	f.	PERSON
fumecheng-2877	233	6	2012	DATE
fumecheng-2877	233	7	pp.1039	PERSON
fumecheng-2877	234	1	24	DATE
fumecheng-2877	235	1	wang	ORG
fumecheng-2877	235	2	x.	GPE
fumecheng-2877	235	3	kyrarini	ORG
fumecheng-2877	235	4	m.	PERSON
fumecheng-2877	235	5	ristić-durrant	PERSON
fumecheng-2877	235	6	d.	NORP
fumecheng-2877	235	7	spranger, m.	PERSON
fumecheng-2877	235	8	a.	PERSON
fumecheng-2877	235	9	2016	DATE
fumecheng-2877	235	10	2016	CARDINAL
fumecheng-2877	236	1	1-6	CARDINAL
fumecheng-2877	236	2	s.	PERSON
fumecheng-2877	236	3	f.	PERSON
fumecheng-2877	236	4	billard, a.	ORG
fumecheng-2877	236	5	2007	DATE
fumecheng-2877	238	1	286	CARDINAL
fumecheng-2877	239	1	26	CARDINAL
fumecheng-2877	240	1	f.	PERSON
fumecheng-2877	240	2	hersch	PERSON
fumecheng-2877	240	3	m.	PERSON
fumecheng-2877	240	4	s.	PERSON
fumecheng-2877	240	5	billard, a.	ORG
fumecheng-2877	240	6	2007	DATE
fumecheng-2877	241	1	pp.1521-1544	PRODUCT
fumecheng-2877	242	1	27	CARDINAL
fumecheng-2877	243	1	dempster	PERSON
fumecheng-2877	243	2	a.p.	GPE
fumecheng-2877	243	3	laird	PERSON
fumecheng-2877	243	4	n.m.	GPE
fumecheng-2877	243	5	rubin	GPE
fumecheng-2877	243	6	d.b.	GPE
fumecheng-2877	243	7	1977	DATE
fumecheng-2877	244	1	pp.1-38	ORG
fumecheng-2877	245	1	28	CARDINAL
fumecheng-2877	246	1	moveit ros	PERSON
fumecheng-2877	246	2	28.04.2017	CARDINAL