id	sid	eid	entity	type
fumecheng-3689	2	1	18	CARDINAL
fumecheng-3689	3	1	79 89	TIME
fumecheng-3689	3	2	2020	DATE
fumecheng-3689	3	3	university of niš	ORG
fumecheng-3689	3	4	serbia	GPE
fumecheng-3689	3	5	nc	GPE
fumecheng-3689	3	6	badreddine aboulissane	ORG
fumecheng-3689	3	7	larbi el bakkali	PERSON
fumecheng-3689	3	8	jalal el bahaoui	PERSON
fumecheng-3689	3	9	abdelmalek essaadi university	ORG
fumecheng-3689	3	10	tetouan	GPE
fumecheng-3689	3	11	morocco	GPE
fumecheng-3689	6	1	catia workbenches	ORG
fumecheng-3689	10	1	1	CARDINAL
fumecheng-3689	10	2	two	CARDINAL
fumecheng-3689	15	1	april 28, 2019	DATE
fumecheng-3689	15	2	january 25, 2020	DATE
fumecheng-3689	15	3	badreddine aboulissane	ORG
fumecheng-3689	15	4	abdelmalek essaadi university	ORG
fumecheng-3689	15	5	2121 m'hannech ii	CARDINAL
fumecheng-3689	15	6	tetouan	GPE
fumecheng-3689	15	7	morocco e-mail	GPE
fumecheng-3689	15	8	80	CARDINAL
fumecheng-3689	15	9	b. aboulissane	PERSON
fumecheng-3689	15	10	l. el bakkali	PERSON
fumecheng-3689	15	11	j. el bahaoui	GPE
fumecheng-3689	21	1	boudreau	PERSON
fumecheng-3689	22	1	1	CARDINAL
fumecheng-3689	22	2	3	CARDINAL
fumecheng-3689	22	3	3	CARDINAL
fumecheng-3689	22	4	jiang	PERSON
fumecheng-3689	22	5	gosselin	PERSON
fumecheng-3689	23	1	2	CARDINAL
fumecheng-3689	23	2	3	CARDINAL
fumecheng-3689	23	3	yang	PERSON
fumecheng-3689	24	1	4	CARDINAL
fumecheng-3689	25	1	di gregorio	PERSON
fumecheng-3689	26	1	5	CARDINAL
fumecheng-3689	26	2	3-ruu	QUANTITY
fumecheng-3689	28	1	chablat et al	PERSON
fumecheng-3689	29	1	6	CARDINAL
fumecheng-3689	29	2	3	CARDINAL
fumecheng-3689	29	3	two	CARDINAL
fumecheng-3689	30	1	8	CARDINAL
fumecheng-3689	30	2	3	CARDINAL
fumecheng-3689	30	3	two	CARDINAL
fumecheng-3689	31	1	zhao	PERSON
fumecheng-3689	31	2	chu	PERSON
fumecheng-3689	32	1	9	CARDINAL
fumecheng-3689	33	1	gao	PERSON
fumecheng-3689	33	2	liu	PERSON
fumecheng-3689	33	3	chen	PERSON
fumecheng-3689	34	1	10	CARDINAL
fumecheng-3689	34	2	3	CARDINAL
fumecheng-3689	35	1	11	CARDINAL
fumecheng-3689	35	2	12	CARDINAL
fumecheng-3689	35	3	3	CARDINAL
fumecheng-3689	36	1	13	CARDINAL
fumecheng-3689	36	2	gough-stewart	ORG
fumecheng-3689	37	1	two	CARDINAL
fumecheng-3689	38	1	14	CARDINAL
fumecheng-3689	39	1	assad arrouk et al	PERSON
fumecheng-3689	40	1	15	CARDINAL
fumecheng-3689	41	1	21	CARDINAL
fumecheng-3689	41	2	bonevet al	PERSON
fumecheng-3689	42	1	16	CARDINAL
fumecheng-3689	43	1	17	CARDINAL
fumecheng-3689	43	2	18	CARDINAL
fumecheng-3689	47	1	22	CARDINAL
fumecheng-3689	47	2	sls	ORG
fumecheng-3689	48	1	two	CARDINAL
fumecheng-3689	48	2	3	CARDINAL
fumecheng-3689	49	1	first	ORDINAL
fumecheng-3689	51	1	two	CARDINAL
fumecheng-3689	52	1	81 2	CARDINAL
fumecheng-3689	52	2	3	CARDINAL
fumecheng-3689	52	3	2.1	CARDINAL
fumecheng-3689	53	1	3	CARDINAL
fumecheng-3689	54	1	1	CARDINAL
fumecheng-3689	54	2	3	CARDINAL
fumecheng-3689	56	1	three	CARDINAL
fumecheng-3689	60	1	two	CARDINAL
fumecheng-3689	61	1	1	CARDINAL
fumecheng-3689	62	1	2	CARDINAL
fumecheng-3689	62	2		PERSON
fumecheng-3689	62	3	1	CARDINAL
fumecheng-3689	63	1		PERSON
fumecheng-3689	63	2	2	CARDINAL
fumecheng-3689	64	1	1	CARDINAL
fumecheng-3689	64	2	3	CARDINAL
fumecheng-3689	64	3	3	CARDINAL
fumecheng-3689	65	1	1 min max	QUANTITY
fumecheng-3689	65	2	y	ORG
fumecheng-3689	65	3	3	CARDINAL
fumecheng-3689	65	4	2.2	CARDINAL
fumecheng-3689	67	1	2(a	CARDINAL
fumecheng-3689	68	1	three	CARDINAL
fumecheng-3689	70	1	three	CARDINAL
fumecheng-3689	72	1	82	CARDINAL
fumecheng-3689	72	2	b. aboulissane	PERSON
fumecheng-3689	72	3	l. el bakkali	PERSON
fumecheng-3689	72	4	j. el bahaoui	GPE
fumecheng-3689	73	1	2	CARDINAL
fumecheng-3689	73	2	2 1 2	CARDINAL
fumecheng-3689	74	1	r	ORG
fumecheng-3689	74	2	4	CARDINAL
fumecheng-3689	74	3	3	CARDINAL
fumecheng-3689	75	1	first	ORDINAL
fumecheng-3689	78	1	3.1	CARDINAL
fumecheng-3689	78	2	3	CARDINAL
fumecheng-3689	78	3	three	CARDINAL
fumecheng-3689	79	1	fig	ORG
fumecheng-3689	80	1	3	CARDINAL
fumecheng-3689	80	2	3rpr	CARDINAL
fumecheng-3689	82	1	3	CARDINAL
fumecheng-3689	82	2	3	CARDINAL
fumecheng-3689	82	3	83	CARDINAL
fumecheng-3689	82	4	first	ORDINAL
fumecheng-3689	82	5	three	CARDINAL
fumecheng-3689	83	1	second	ORDINAL
fumecheng-3689	83	2	first	ORDINAL
fumecheng-3689	84	1	fig	ORG
fumecheng-3689	86	1	3	CARDINAL
fumecheng-3689	86	2	second	ORDINAL
fumecheng-3689	86	3	two	CARDINAL
fumecheng-3689	86	4	second	ORDINAL
fumecheng-3689	90	1	3d	CARDINAL
fumecheng-3689	92	1	3d	CARDINAL
fumecheng-3689	92	2	3rpr	CARDINAL
fumecheng-3689	92	3	two	CARDINAL
fumecheng-3689	93	1	1	CARDINAL
fumecheng-3689	93	2	1	CARDINAL
fumecheng-3689	93	3	3	CARDINAL
fumecheng-3689	93	4	1	CARDINAL
fumecheng-3689	94	1	132,159	CARDINAL
fumecheng-3689	94	2	56,473	MONEY
fumecheng-3689	94	3	185,209	CARDINAL
fumecheng-3689	94	4	120	CARDINAL
fumecheng-3689	94	5	270	CARDINAL
fumecheng-3689	94	6	102	CARDINAL
fumecheng-3689	94	7	197,02	CARDINAL
fumecheng-3689	95	1	2	CARDINAL
fumecheng-3689	96	1	2	CARDINAL
fumecheng-3689	97	1	3.2	CARDINAL
fumecheng-3689	98	1	three	CARDINAL
fumecheng-3689	98	2	cartesian	NORP
fumecheng-3689	99	1	84	CARDINAL
fumecheng-3689	99	2	b. aboulissane	PERSON
fumecheng-3689	99	3	l. el bakkali	PERSON
fumecheng-3689	99	4	j. el bahaoui	GPE
fumecheng-3689	105	1	first	ORDINAL
fumecheng-3689	107	1	14	CARDINAL
fumecheng-3689	108	1	5	CARDINAL
fumecheng-3689	108	2	2	CARDINAL
fumecheng-3689	108	3	4	CARDINAL
fumecheng-3689	108	4	tx	ORG
fumecheng-3689	109	1	z	GPE
fumecheng-3689	109	2	5	CARDINAL
fumecheng-3689	114	1	6	CARDINAL
fumecheng-3689	115	1	4	CARDINAL
fumecheng-3689	116	1	three	CARDINAL
fumecheng-3689	116	2	first	ORDINAL
fumecheng-3689	116	3	second	ORDINAL
fumecheng-3689	117	1	4	CARDINAL
fumecheng-3689	117	2	three	CARDINAL
fumecheng-3689	118	1	first	ORDINAL
fumecheng-3689	118	2	first	ORDINAL
fumecheng-3689	119	1	5	CARDINAL
fumecheng-3689	120	1	fig.4(a	PERSON
fumecheng-3689	120	2	three	CARDINAL
fumecheng-3689	120	3	fig	ORG
fumecheng-3689	121	1	4(d	CARDINAL
fumecheng-3689	122	1	fig	ORG
fumecheng-3689	123	1	5	CARDINAL
fumecheng-3689	123	2	85 3.3	CARDINAL
fumecheng-3689	126	1	first	ORDINAL
fumecheng-3689	126	2	55 mm	QUANTITY
fumecheng-3689	126	3	30 mm	QUANTITY
fumecheng-3689	126	4	100 mm	QUANTITY
fumecheng-3689	126	5	100 mm	QUANTITY
fumecheng-3689	126	6	250 mm	QUANTITY
fumecheng-3689	126	7	3	CARDINAL
fumecheng-3689	126	8	100 mm	QUANTITY
fumecheng-3689	126	9	150 mm	QUANTITY
fumecheng-3689	126	10	200 mm	QUANTITY
fumecheng-3689	126	11	250 mm	QUANTITY
fumecheng-3689	126	12	3	CARDINAL
fumecheng-3689	126	13	100 mm w	QUANTITY
fumecheng-3689	126	14	4,765	CARDINAL
fumecheng-3689	126	15	150 mm w	QUANTITY
fumecheng-3689	126	16	4,688 dm3	QUANTITY
fumecheng-3689	126	17	200 mm w	QUANTITY
fumecheng-3689	126	18	4,661 dm3	QUANTITY
fumecheng-3689	126	19	250 mm w	QUANTITY
fumecheng-3689	127	1	4,647 dm3	QUANTITY
fumecheng-3689	127	2	3	CARDINAL
fumecheng-3689	128	1	250 mm	QUANTITY
fumecheng-3689	128	2	55 mm	QUANTITY
fumecheng-3689	128	3	30 mm	QUANTITY
fumecheng-3689	128	4	100 mm	QUANTITY
fumecheng-3689	128	5	250 mm	QUANTITY
fumecheng-3689	128	6	4	CARDINAL
fumecheng-3689	128	7	100 mm w	QUANTITY
fumecheng-3689	128	8	4,647	CARDINAL
fumecheng-3689	128	9	150 mm w	QUANTITY
fumecheng-3689	128	10	15,753	CARDINAL
fumecheng-3689	128	11	200 mm w	QUANTITY
fumecheng-3689	128	12	37,637	CARDINAL
fumecheng-3689	129	1	250 mm w	QUANTITY
fumecheng-3689	129	2	75,040 dm3	CARDINAL
fumecheng-3689	129	3	4	CARDINAL
fumecheng-3689	131	1	4	CARDINAL
fumecheng-3689	133	1	2 2	CARDINAL
fumecheng-3689	133	2	2	DATE
fumecheng-3689	133	3	2	DATE
fumecheng-3689	133	4	max	PERSON
fumecheng-3689	135	1	w	ORG
fumecheng-3689	135	2	7	CARDINAL
fumecheng-3689	135	3	86	CARDINAL
fumecheng-3689	135	4	b. aboulissane	PERSON
fumecheng-3689	135	5	l. el bakkali	PERSON
fumecheng-3689	135	6	j. el bahaoui	GPE
fumecheng-3689	135	7	w	GPE
fumecheng-3689	136	1	4	CARDINAL
fumecheng-3689	140	1	6	CARDINAL
fumecheng-3689	141	1	6	CARDINAL
fumecheng-3689	144	1	19	CARDINAL
fumecheng-3689	145	1	non-linear	ORG
fumecheng-3689	145	2	20	CARDINAL
fumecheng-3689	146	1	five	CARDINAL
fumecheng-3689	147	1	6	CARDINAL
fumecheng-3689	149	1	5	CARDINAL
fumecheng-3689	150	1	7	CARDINAL
fumecheng-3689	151	1	6(a	CARDINAL
fumecheng-3689	151	2	4,765	CARDINAL
fumecheng-3689	152	1	first	ORDINAL
fumecheng-3689	152	2	5	CARDINAL
fumecheng-3689	152	3	6(b	CARDINAL
fumecheng-3689	152	4	215,712 dm3	QUANTITY
fumecheng-3689	153	1	secondly	ORDINAL
fumecheng-3689	153	2	6(c	CARDINAL
fumecheng-3689	153	3	110,265 dm3	QUANTITY
fumecheng-3689	154	1	5	CARDINAL
fumecheng-3689	154	2	87	CARDINAL
fumecheng-3689	154	3	5	CARDINAL
fumecheng-3689	154	4	30	CARDINAL
fumecheng-3689	154	5	54,538	CARDINAL
fumecheng-3689	154	6	55	CARDINAL
fumecheng-3689	154	7	100	CARDINAL
fumecheng-3689	154	8	100	CARDINAL
fumecheng-3689	154	9	112,255 250	CARDINAL
fumecheng-3689	154	10	4,765	CARDINAL
fumecheng-3689	154	11	110,265	CARDINAL
fumecheng-3689	154	12	6	CARDINAL
fumecheng-3689	154	13	523	CARDINAL
fumecheng-3689	154	14	602	CARDINAL
fumecheng-3689	155	1	two	CARDINAL
fumecheng-3689	155	2	about 10 minutes	TIME
fumecheng-3689	156	1	8.0	CARDINAL
fumecheng-3689	158	1	7	CARDINAL
fumecheng-3689	158	2	88	CARDINAL
fumecheng-3689	158	3	b. aboulissane	PERSON
fumecheng-3689	158	4	l. el bakkali	PERSON
fumecheng-3689	158	5	j. el bahaoui	GPE
fumecheng-3689	159	1	7	CARDINAL
fumecheng-3689	160	1	4	CARDINAL
fumecheng-3689	162	1	two	CARDINAL
fumecheng-3689	163	1	fig	ORG
fumecheng-3689	163	2	8	CARDINAL
fumecheng-3689	163	3	the (sa) algorithm	ORG
fumecheng-3689	163	4	the (gc	ORG
fumecheng-3689	164	1	fig	ORG
fumecheng-3689	165	1	8	CARDINAL
fumecheng-3689	165	2	gc	ORG
fumecheng-3689	165	3	5	CARDINAL
fumecheng-3689	166	1	3	CARDINAL
fumecheng-3689	167	1	two	CARDINAL
fumecheng-3689	168	1	catia workbenches	ORG
fumecheng-3689	170	1	two	CARDINAL
fumecheng-3689	173	1	89	CARDINAL
fumecheng-3689	173	2	1	CARDINAL
fumecheng-3689	173	3	m., boudreau	PERSON
fumecheng-3689	173	4	r.	NORP
fumecheng-3689	173	5	2002	DATE
fumecheng-3689	174	1	13	CARDINAL
fumecheng-3689	175	1	2	CARDINAL
fumecheng-3689	175	2	jiang	PERSON
fumecheng-3689	175	3	q., gosselin	PERSON
fumecheng-3689	175	4	c.m.	GPE
fumecheng-3689	175	5	2006	DATE
fumecheng-3689	175	6	3	CARDINAL
fumecheng-3689	176	1	142	CARDINAL
fumecheng-3689	177	1	3	CARDINAL
fumecheng-3689	177	2	jiang	PERSON
fumecheng-3689	177	3	q., gosselin	PERSON
fumecheng-3689	177	4	c.m.	GPE
fumecheng-3689	177	5	2007	DATE
fumecheng-3689	177	6	3	CARDINAL
fumecheng-3689	177	7	canadian	NORP
fumecheng-3689	177	8	31(4	CARDINAL
fumecheng-3689	178	1	457-468	CARDINAL
fumecheng-3689	179	1	4	CARDINAL
fumecheng-3689	179	2	yang	PERSON
fumecheng-3689	179	3	o’brien	GPE
fumecheng-3689	179	4	j.f.	GPE
fumecheng-3689	179	5	2007	DATE
fumecheng-3689	179	6	3	CARDINAL
fumecheng-3689	180	1	5	CARDINAL
fumecheng-3689	180	2	di gregorio	PERSON
fumecheng-3689	180	3	r.	NORP
fumecheng-3689	180	4	zanforlin	GPE
fumecheng-3689	180	5	r.	NORP
fumecheng-3689	180	6	2003	DATE
fumecheng-3689	180	7	two	CARDINAL
fumecheng-3689	180	8	robotica	PERSON
fumecheng-3689	180	9	21(5	CARDINAL
fumecheng-3689	181	1	555-566	CARDINAL
fumecheng-3689	181	2	6	CARDINAL
fumecheng-3689	182	1	chablat	PERSON
fumecheng-3689	182	2	d.	NORP
fumecheng-3689	182	3	wenger	GPE
fumecheng-3689	182	4	f.	PERSON
fumecheng-3689	182	5	j.p.	GPE
fumecheng-3689	182	6	2004	DATE
fumecheng-3689	182	7	three-degrees-of-freedom	QUANTITY
fumecheng-3689	182	8	the international journal of robotics research	ORG
fumecheng-3689	182	9	23(6	CARDINAL
fumecheng-3689	183	1	615-624	CARDINAL
fumecheng-3689	184	1	7	CARDINAL
fumecheng-3689	184	2	chablat	PERSON
fumecheng-3689	184	3	d.	NORP
fumecheng-3689	184	4	wenger	GPE
fumecheng-3689	184	5	j.p.	GPE
fumecheng-3689	184	6	2007	DATE
fumecheng-3689	184	7	two	CARDINAL
fumecheng-3689	184	8	three	CARDINAL
fumecheng-3689	184	9	11th	ORDINAL
fumecheng-3689	184	10	congress	ORG
fumecheng-3689	184	11	tianjin	GPE
fumecheng-3689	184	12	april	DATE
fumecheng-3689	185	1	1209–1213	CARDINAL
fumecheng-3689	186	1	8	CARDINAL
fumecheng-3689	187	1	badescu	ORG
fumecheng-3689	187	2	m.	GPE
fumecheng-3689	187	3	morman	ORG
fumecheng-3689	187	4	j.,mavroidis	PERSON
fumecheng-3689	187	5	3	CARDINAL
fumecheng-3689	187	6	2002	DATE
fumecheng-3689	187	7	4	CARDINAL
fumecheng-3689	188	1	3678-3683	CARDINAL
fumecheng-3689	189	1	zhao	PERSON
fumecheng-3689	189	2	j.s.	GPE
fumecheng-3689	189	3	chu	PERSON
fumecheng-3689	189	4	f.	PERSON
fumecheng-3689	189	5	feng	PERSON
fumecheng-3689	189	6	z.j.	GPE
fumecheng-3689	189	7	2008	DATE
fumecheng-3689	189	8	43(4	DATE
fumecheng-3689	190	1	427	CARDINAL
fumecheng-3689	191	1	10	CARDINAL
fumecheng-3689	192	1	gao	PERSON
fumecheng-3689	192	2	liu	PERSON
fumecheng-3689	192	3	x.j.	GPE
fumecheng-3689	192	4	chen	PERSON
fumecheng-3689	192	5	x.	GPE
fumecheng-3689	192	6	2001	DATE
fumecheng-3689	192	7	3	CARDINAL
fumecheng-3689	192	8	36(2	CARDINAL
fumecheng-3689	193	1	205-220	CARDINAL
fumecheng-3689	195	1	j.a.	GPE
fumecheng-3689	195	2	2005	DATE
fumecheng-3689	196	1	422-427	CARDINAL
fumecheng-3689	197	1	12	CARDINAL
fumecheng-3689	198	1	j.a.	GPE
fumecheng-3689	198	2	2006	DATE
fumecheng-3689	198	3	68(1	CARDINAL
fumecheng-3689	199	1	1-12	CARDINAL
fumecheng-3689	200	1	13	CARDINAL
fumecheng-3689	201	1	boudreau	PERSON
fumecheng-3689	201	2	r.	NORP
fumecheng-3689	201	3	gosselin	PERSON
fumecheng-3689	201	4	c.m.	GPE
fumecheng-3689	201	5	1999	DATE
fumecheng-3689	201	6	121(4	DATE
fumecheng-3689	202	1	533-537	CARDINAL
fumecheng-3689	203	1	14	CARDINAL
fumecheng-3689	204	1	m.a.	GPE
fumecheng-3689	204	2	l.	GPE
fumecheng-3689	204	3	zeghloul	GPE
fumecheng-3689	204	4	s., 2008	ORG
fumecheng-3689	204	5	intech	ORG
fumecheng-3689	205	1	15	CARDINAL
fumecheng-3689	205	2	assad	ORG
fumecheng-3689	205	3	k.a.	GPE
fumecheng-3689	205	4	bouzgarrou	GPE
fumecheng-3689	205	5	b.c.	GPE
fumecheng-3689	205	6	stan	PERSON
fumecheng-3689	205	7	s.d.	GPE
fumecheng-3689	205	8	2010	DATE
fumecheng-3689	205	9	166	CARDINAL
fumecheng-3689	207	1	16	CARDINAL
fumecheng-3689	208	1	bonev	ORG
fumecheng-3689	208	2	i.a.	GPE
fumecheng-3689	208	3	ryu	ORG
fumecheng-3689	208	4	j., 2001	ORG
fumecheng-3689	208	5	6prrs	CARDINAL
fumecheng-3689	209	1	1-13	DATE
fumecheng-3689	210	1	17	CARDINAL
fumecheng-3689	211	1	1990	DATE
fumecheng-3689	211	2	6	CARDINAL
fumecheng-3689	212	1	331-336	CARDINAL
fumecheng-3689	213	1	18	CARDINAL
fumecheng-3689	214	1	j.p.	GPE
fumecheng-3689	214	2	1995	DATE
fumecheng-3689	214	3	13(2	CARDINAL
fumecheng-3689	215	1	143-160	CARDINAL
fumecheng-3689	216	1	19	CARDINAL
fumecheng-3689	217	1	kirkpatrick	ORG
fumecheng-3689	217	2	s.	PERSON
fumecheng-3689	217	3	gelatt	PERSON
fumecheng-3689	217	4	c.d.	GPE
fumecheng-3689	217	5	m.p.	GPE
fumecheng-3689	217	6	1983	DATE
fumecheng-3689	217	7	220(4598	CARDINAL
fumecheng-3689	218	1	671-680	CARDINAL
fumecheng-3689	219	1	j.r.	GPE
fumecheng-3689	219	2	1994	DATE
fumecheng-3689	220	1	21	CARDINAL
fumecheng-3689	220	2	aboulissane	PERSON
fumecheng-3689	220	3	b.	PERSON
fumecheng-3689	220	4	d.	NORP
fumecheng-3689	220	5	el bakkali	GPE
fumecheng-3689	220	6	l.	GPE
fumecheng-3689	220	7	el bahaoui	PERSON
fumecheng-3689	220	8	j., 2019	PERSON
fumecheng-3689	220	9	32	DATE
fumecheng-3689	221	1	1085-1092	CARDINAL
fumecheng-3689	222	1	22	CARDINAL
fumecheng-3689	222	2	tsirogiannis	ORG
fumecheng-3689	222	3	e.	GPE
fumecheng-3689	222	4	g.c.	PERSON
fumecheng-3689	222	5	2019	DATE
fumecheng-3689	222	6	17(3	CARDINAL
fumecheng-3689	223	1	415	CARDINAL