id	sid	eid	entity	type
fumecheng-6852	1	1	half	CARDINAL
fumecheng-6852	2	1	21	CARDINAL
fumecheng-6852	2	2	2023	CARDINAL
fumecheng-6852	3	1	101 120	QUANTITY
fumecheng-6852	3	2	2023	CARDINAL
fumecheng-6852	3	3	university of niš	ORG
fumecheng-6852	3	4	serbia	GPE
fumecheng-6852	3	5	nc	GPE
fumecheng-6852	3	6	spring	DATE
fumecheng-6852	3	7	bartłomiej kozakiewicz	PERSON
fumecheng-6852	3	8	tomasz winiarski	ORG
fumecheng-6852	3	9	warsaw university of technology	ORG
fumecheng-6852	3	10	poland	GPE
fumecheng-6852	5	1	two	CARDINAL
fumecheng-6852	7	1	the spring	DATE
fumecheng-6852	13	1	the spring	DATE
fumecheng-6852	15	1	1	CARDINAL
fumecheng-6852	17	1	april 12	DATE
fumecheng-6852	17	2	2021	DATE
fumecheng-6852	17	3	july 16	DATE
fumecheng-6852	17	4	2021	CARDINAL
fumecheng-6852	17	5	tomasz winiarski	ORG
fumecheng-6852	17	6	warsaw university of technology	ORG
fumecheng-6852	17	7	nowowiejska 15/19	LAW
fumecheng-6852	17	8	00-665	CARDINAL
fumecheng-6852	17	9	warsaw	GPE
fumecheng-6852	17	10	poland	GPE
fumecheng-6852	17	11	102	CARDINAL
fumecheng-6852	17	12	b. kozakiewicz	PERSON
fumecheng-6852	17	13	t. winiarski	GPE
fumecheng-6852	17	14	1	CARDINAL
fumecheng-6852	21	1	2	CARDINAL
fumecheng-6852	22	1	3–6	CARDINAL
fumecheng-6852	24	1	7	CARDINAL
fumecheng-6852	25	1	8	CARDINAL
fumecheng-6852	26	1	first	ORDINAL
fumecheng-6852	26	2	9	CARDINAL
fumecheng-6852	27	1	10–12	CARDINAL
fumecheng-6852	28	1	4	CARDINAL
fumecheng-6852	28	2	3	CARDINAL
fumecheng-6852	28	3	13	CARDINAL
fumecheng-6852	30	1	17	CARDINAL
fumecheng-6852	31	1	one	CARDINAL
fumecheng-6852	31	2	three	CARDINAL
fumecheng-6852	31	3	18	CARDINAL
fumecheng-6852	32	1	first	ORDINAL
fumecheng-6852	35	1	22–24	CARDINAL
fumecheng-6852	36	1	25–29	CARDINAL
fumecheng-6852	37	1	30	CARDINAL
fumecheng-6852	38	1	second	ORDINAL
fumecheng-6852	38	2	first	ORDINAL
fumecheng-6852	38	3	third	ORDINAL
fumecheng-6852	39	1	31	CARDINAL
fumecheng-6852	39	2	32	CARDINAL
fumecheng-6852	41	1	three	CARDINAL
fumecheng-6852	41	2	18	CARDINAL
fumecheng-6852	41	3	33	CARDINAL
fumecheng-6852	43	1	34	CARDINAL
fumecheng-6852	45	1	a leaf spring	DATE
fumecheng-6852	45	2	second	ORDINAL
fumecheng-6852	46	1	spring	DATE
fumecheng-6852	46	2	103	CARDINAL
fumecheng-6852	46	3	helix springs	PERSON
fumecheng-6852	46	4	18	CARDINAL
fumecheng-6852	49	1	35	CARDINAL
fumecheng-6852	49	2	36	CARDINAL
fumecheng-6852	50	1	section 2.	LAW
fumecheng-6852	52	1	magnetic springs	ORG
fumecheng-6852	53	1	section 3	LAW
fumecheng-6852	54	1	section 4	LAW
fumecheng-6852	54	2	section 5	LAW
fumecheng-6852	54	3	section 6	LAW
fumecheng-6852	55	1	section 7	LAW
fumecheng-6852	55	2	section 8	LAW
fumecheng-6852	56	1	2.	CARDINAL
fumecheng-6852	57	1	non-linear	ORG
fumecheng-6852	57	2	37	CARDINAL
fumecheng-6852	57	3	38	CARDINAL
fumecheng-6852	58	1	at least one	CARDINAL
fumecheng-6852	58	2	39	CARDINAL
fumecheng-6852	59	1	40	CARDINAL
fumecheng-6852	59	2	41	CARDINAL
fumecheng-6852	60	1	c3 group	ORG
fumecheng-6852	60	2	one	CARDINAL
fumecheng-6852	61	1	fig	ORG
fumecheng-6852	62	1	1	CARDINAL
fumecheng-6852	62	2	c3	ORG
fumecheng-6852	63	1	1	CARDINAL
fumecheng-6852	63	2	two	CARDINAL
fumecheng-6852	65	1	one	CARDINAL
fumecheng-6852	66	1	104	CARDINAL
fumecheng-6852	66	2	t. winiarski	GPE
fumecheng-6852	68	1	zero	CARDINAL
fumecheng-6852	69	1	zero	CARDINAL
fumecheng-6852	70	1	first	ORDINAL
fumecheng-6852	70	2	42	CARDINAL
fumecheng-6852	71	1	four	CARDINAL
fumecheng-6852	72	1	a more compact spring	DATE
fumecheng-6852	73	1	43	CARDINAL
fumecheng-6852	74	1	44	CARDINAL
fumecheng-6852	76	1	two	CARDINAL
fumecheng-6852	77	1	3	CARDINAL
fumecheng-6852	77	2	at least one	CARDINAL
fumecheng-6852	79	1	2	CARDINAL
fumecheng-6852	79	2	magnetic spring	DATE
fumecheng-6852	88	1	linear	ORG
fumecheng-6852	89	1	45	CARDINAL
fumecheng-6852	89	2	47	CARDINAL
fumecheng-6852	90	1	one	CARDINAL
fumecheng-6852	91	1	spring	DATE
fumecheng-6852	91	2	105	CARDINAL
fumecheng-6852	92	1	2	CARDINAL
fumecheng-6852	92	2	magnetic spring	DATE
fumecheng-6852	93	1	3	CARDINAL
fumecheng-6852	94	1	2	CARDINAL
fumecheng-6852	95	1	1	CARDINAL
fumecheng-6852	95	2	44	CARDINAL
fumecheng-6852	96	1	3	CARDINAL
fumecheng-6852	96	2	4	CARDINAL
fumecheng-6852	98	1	fig	ORG
fumecheng-6852	99	1	3	CARDINAL
fumecheng-6852	99	2	106	CARDINAL
fumecheng-6852	99	3	b. kozakiewicz	PERSON
fumecheng-6852	99	4	4	CARDINAL
fumecheng-6852	102	1	4	CARDINAL
fumecheng-6852	103	1	4	CARDINAL
fumecheng-6852	103	2	fms	ORG
fumecheng-6852	104	1	fms	ORG
fumecheng-6852	105	1	polygon	ORG
fumecheng-6852	106	1	fig	ORG
fumecheng-6852	107	1	5	CARDINAL
fumecheng-6852	108	1	4	CARDINAL
fumecheng-6852	108	2	fig	ORG
fumecheng-6852	109	1	5	CARDINAL
fumecheng-6852	109	2	one	CARDINAL
fumecheng-6852	112	1	the spring	DATE
fumecheng-6852	112	2	107	CARDINAL
fumecheng-6852	112	3	the spring	DATE
fumecheng-6852	112	4	section 5	DATE
fumecheng-6852	112	5	fig	ORG
fumecheng-6852	113	1	6	CARDINAL
fumecheng-6852	113	2	magnetic spring	DATE
fumecheng-6852	115	1	fig	ORG
fumecheng-6852	116	1	6	CARDINAL
fumecheng-6852	116	2	1	CARDINAL
fumecheng-6852	116	3	2	CARDINAL
fumecheng-6852	116	4	3	CARDINAL
fumecheng-6852	116	5	4	CARDINAL
fumecheng-6852	116	6	5	CARDINAL
fumecheng-6852	116	7	6	CARDINAL
fumecheng-6852	116	8	7	CARDINAL
fumecheng-6852	116	9	8	CARDINAL
fumecheng-6852	116	10	9	CARDINAL
fumecheng-6852	116	11	10	CARDINAL
fumecheng-6852	117	1	11	CARDINAL
fumecheng-6852	118	1	12	CARDINAL
fumecheng-6852	119	1	13	CARDINAL
fumecheng-6852	120	1	14	CARDINAL
fumecheng-6852	121	1	15,16	CARDINAL
fumecheng-6852	122	1	17,18	CARDINAL
fumecheng-6852	123	1	dc	GPE
fumecheng-6852	123	2	19,20	CARDINAL
fumecheng-6852	124	1	5	CARDINAL
fumecheng-6852	124	2	three	CARDINAL
fumecheng-6852	124	3	spring	DATE
fumecheng-6852	124	4	section 4	LAW
fumecheng-6852	124	5	spring	DATE
fumecheng-6852	125	1	fms	ORG
fumecheng-6852	126	1	poles	NORP
fumecheng-6852	128	1	fms	ORG
fumecheng-6852	129	1	7	CARDINAL
fumecheng-6852	129	2	w	GPE
fumecheng-6852	131	1	1	CARDINAL
fumecheng-6852	131	2	section 4	LAW
fumecheng-6852	131	3	2	CARDINAL
fumecheng-6852	132	1	the spring	DATE
fumecheng-6852	132	2	neumann	ORG
fumecheng-6852	133	1	108	CARDINAL
fumecheng-6852	133	2	b. kozakiewicz	PERSON
fumecheng-6852	133	3	t. winiarski	GPE
fumecheng-6852	133	4	1	CARDINAL
fumecheng-6852	133	5	spring	DATE
fumecheng-6852	134	1	spring	DATE
fumecheng-6852	134	2	4 8 3	TIME
fumecheng-6852	134	3	4 8 3	TIME
fumecheng-6852	134	4	4 8 3	TIME
fumecheng-6852	134	5	4 8 3	TIME
fumecheng-6852	134	6	84	CARDINAL
fumecheng-6852	134	7	5.5	CARDINAL
fumecheng-6852	134	8	3	CARDINAL
fumecheng-6852	134	9	4 8 3	TIME
fumecheng-6852	134	10	4 8 3	TIME
fumecheng-6852	134	11	70 2.7 2	TIME
fumecheng-6852	134	12	2	CARDINAL
fumecheng-6852	135	1	1.00 1.00 10000 1.10	QUANTITY
fumecheng-6852	136	1	0	CARDINAL
fumecheng-6852	137	1	7	CARDINAL
fumecheng-6852	137	2	spring	DATE
fumecheng-6852	139	1	8	CARDINAL
fumecheng-6852	139	2	section 4	DATE
fumecheng-6852	141	1	48	CARDINAL
fumecheng-6852	142	1	fig	ORG
fumecheng-6852	143	1	9a	CARDINAL
fumecheng-6852	143	2	0	CARDINAL
fumecheng-6852	146	1	fig	ORG
fumecheng-6852	147	1	9b	CARDINAL
fumecheng-6852	149	1	spring	DATE
fumecheng-6852	149	2	109	CARDINAL
fumecheng-6852	151	1	fig	ORG
fumecheng-6852	152	1	8	CARDINAL
fumecheng-6852	152	2	6	CARDINAL
fumecheng-6852	152	3	fms	ORG
fumecheng-6852	153	1	spring	DATE
fumecheng-6852	154	1	1	CARDINAL
fumecheng-6852	157	1	9	CARDINAL
fumecheng-6852	159	1	9	CARDINAL
fumecheng-6852	159	2	110	CARDINAL
fumecheng-6852	159	3	b. kozakiewicz	PERSON
fumecheng-6852	159	4	6	CARDINAL
fumecheng-6852	159	5	section 4	LAW
fumecheng-6852	159	6	section 5	LAW
fumecheng-6852	160	1	10a	DATE
fumecheng-6852	161	1	10b	DATE
fumecheng-6852	161	2	fig	ORG
fumecheng-6852	161	3	10c	ORDINAL
fumecheng-6852	163	1	6	CARDINAL
fumecheng-6852	163	2	1	CARDINAL
fumecheng-6852	163	3	attractor	PRODUCT
fumecheng-6852	163	4	2	CARDINAL
fumecheng-6852	163	5	3	CARDINAL
fumecheng-6852	163	6	4	CARDINAL
fumecheng-6852	164	1	5	CARDINAL
fumecheng-6852	164	2	6	CARDINAL
fumecheng-6852	164	3	7	CARDINAL
fumecheng-6852	164	4	8	CARDINAL
fumecheng-6852	164	5	9	CARDINAL
fumecheng-6852	164	6	10	CARDINAL
fumecheng-6852	164	7	11	CARDINAL
fumecheng-6852	165	1	10	CARDINAL
fumecheng-6852	165	2	spring	DATE
fumecheng-6852	165	3	111	CARDINAL
fumecheng-6852	167	1	10d	ORDINAL
fumecheng-6852	168	1	section 6.1	LAW
fumecheng-6852	168	2	section 6.2	LAW
fumecheng-6852	169	1	6.1	CARDINAL
fumecheng-6852	169	2	three	CARDINAL
fumecheng-6852	169	3	one	CARDINAL
fumecheng-6852	169	4	the spring	DATE
fumecheng-6852	171	1	three	CARDINAL
fumecheng-6852	172	1	section 3	LAW
fumecheng-6852	172	2	-41° ÷ 41°	LAW
fumecheng-6852	178	1	two	CARDINAL
fumecheng-6852	179	1	6.2	CARDINAL
fumecheng-6852	179	2	between spring	DATE
fumecheng-6852	182	1	1	CARDINAL
fumecheng-6852	182	2	section 7.1	LAW
fumecheng-6852	182	3	2	CARDINAL
fumecheng-6852	182	4	1	CARDINAL
fumecheng-6852	182	5	60 30 15	CARDINAL
fumecheng-6852	183	1	    	NORP
fumecheng-6852	183	2		NORP
fumecheng-6852	187	1		GPE
fumecheng-6852	188	1		GPE
fumecheng-6852	189	1		GPE
fumecheng-6852	190	1		GPE
fumecheng-6852	191	1	1	CARDINAL
fumecheng-6852	193	1	1	CARDINAL
fumecheng-6852	194	1	11	CARDINAL
fumecheng-6852	195	1	spring	DATE
fumecheng-6852	196	1	2	CARDINAL
fumecheng-6852	197	1	1	CARDINAL
fumecheng-6852	198	1	112	CARDINAL
fumecheng-6852	198	2	b. kozakiewicz	PERSON
fumecheng-6852	198	3	t. winiarski	GPE
fumecheng-6852	198	4	2	CARDINAL
fumecheng-6852	198	5	1 60	CARDINAL
fumecheng-6852	198	6	15	CARDINAL
fumecheng-6852	199	1		NORP
fumecheng-6852	202	1		GPE
fumecheng-6852	202	2	2	CARDINAL
fumecheng-6852	203	1	3	CARDINAL
fumecheng-6852	203	2	euler	PERSON
fumecheng-6852	205	1	3	CARDINAL
fumecheng-6852	206	1	fig	ORG
fumecheng-6852	207	1	11	CARDINAL
fumecheng-6852	207	2	3	CARDINAL
fumecheng-6852	207	3	second	ORDINAL
fumecheng-6852	209	1	12	CARDINAL
fumecheng-6852	209	2	fig	ORG
fumecheng-6852	210	1	12	CARDINAL
fumecheng-6852	210	2	113	CARDINAL
fumecheng-6852	212	1	euler	PERSON
fumecheng-6852	212	2	4	CARDINAL
fumecheng-6852	212	3	    	NORP
fumecheng-6852	213	1	4	CARDINAL
fumecheng-6852	214	1	zero	CARDINAL
fumecheng-6852	215	1	j. multiple models	ORG
fumecheng-6852	215	2	eqs	ORG
fumecheng-6852	216	1	1	CARDINAL
fumecheng-6852	216	2	2	CARDINAL
fumecheng-6852	216	3	4	CARDINAL
fumecheng-6852	216	4	3	CARDINAL
fumecheng-6852	216	5	section 7.2	LAW
fumecheng-6852	216	6	section 6.1	LAW
fumecheng-6852	216	7	mse	ORG
fumecheng-6852	216	8	r2 adj	PERSON
fumecheng-6852	217	1	two	CARDINAL
fumecheng-6852	217	2	al	PERSON
fumecheng-6852	218	1	4	CARDINAL
fumecheng-6852	218	2	3	CARDINAL
fumecheng-6852	219	1	1	CARDINAL
fumecheng-6852	219	2	inj d  	GPE
fumecheng-6852	219	3	1	CARDINAL
fumecheng-6852	219	4	outj d 	GPE
fumecheng-6852	221	1	1	CARDINAL
fumecheng-6852	221	2	outj d 	GPE
fumecheng-6852	221	3	1	CARDINAL
fumecheng-6852	221	4	  	NORP
fumecheng-6852	223	1	1	CARDINAL
fumecheng-6852	223	2	inj d 	GPE
fumecheng-6852	223	3	   	NORP
fumecheng-6852	224	1	+ + −frτ	DATE
fumecheng-6852	224	2	1	CARDINAL
fumecheng-6852	224	3	inj d 	GPE
fumecheng-6852	224	4	    	NORP
fumecheng-6852	225	1	1	CARDINAL
fumecheng-6852	225	2	120 60out	CARDINAL
fumecheng-6852	227	1	1	CARDINAL
fumecheng-6852	227	2	120	CARDINAL
fumecheng-6852	228	1	 	NORP
fumecheng-6852	231	1	114	CARDINAL
fumecheng-6852	231	2	b. kozakiewicz	PERSON
fumecheng-6852	231	3	t. winiarski	GPE
fumecheng-6852	231	4	4	CARDINAL
fumecheng-6852	231	5	mse 1r2 adj se	PRODUCT
fumecheng-6852	231	6	3522	DATE
fumecheng-6852	231	7	59.4	CARDINAL
fumecheng-6852	231	8	64.6 179356	DATE
fumecheng-6852	231	9	2334	CARDINAL
fumecheng-6852	231	10	2.223‰	CARDINAL
fumecheng-6852	231	11	55.2 172617	CARDINAL
fumecheng-6852	231	12	2270	CARDINAL
fumecheng-6852	231	13	47.6 155762	DATE
fumecheng-6852	231	14	146763	DATE
fumecheng-6852	231	15	1.494‰ 45.3 164094	DATE
fumecheng-6852	231	16	45.0 163795	CARDINAL
fumecheng-6852	231	17	36.9 145536 2001	DATE
fumecheng-6852	231	18	1.458‰ 44.7 163590	TIME
fumecheng-6852	232	1	92.762‰ 344.2 251313	QUANTITY
fumecheng-6852	232	2	2122	CARDINAL
fumecheng-6852	233	1	153345	DATE
fumecheng-6852	233	2	391.6 256919	CARDINAL
fumecheng-6852	234	1	13	CARDINAL
fumecheng-6852	235	1	14	CARDINAL
fumecheng-6852	235	2	spring	DATE
fumecheng-6852	235	3	115	CARDINAL
fumecheng-6852	236	1	15	CARDINAL
fumecheng-6852	237	1	eqs	ORG
fumecheng-6852	237	2	5	CARDINAL
fumecheng-6852	237	3	6	CARDINAL
fumecheng-6852	238	1	1	CARDINAL
fumecheng-6852	238	2	2	CARDINAL
fumecheng-6852	238	3	2 2	CARDINAL
fumecheng-6852	238	4	2	CARDINAL
fumecheng-6852	238	5	2	CARDINAL
fumecheng-6852	238	6	t f	GPE
fumecheng-6852	241	1	5	CARDINAL
fumecheng-6852	241	2	1	CARDINAL
fumecheng-6852	243	1	6	CARDINAL
fumecheng-6852	244	1	7	CARDINAL
fumecheng-6852	245	1	2	CARDINAL
fumecheng-6852	245	2	1	CARDINAL
fumecheng-6852	245	3	2	CARDINAL
fumecheng-6852	245	4	1	CARDINAL
fumecheng-6852	245	5	1	CARDINAL
fumecheng-6852	245	6	1	CARDINAL
fumecheng-6852	245	7	1	CARDINAL
fumecheng-6852	245	8	2	CARDINAL
fumecheng-6852	245	9	1	CARDINAL
fumecheng-6852	245	10	1	CARDINAL
fumecheng-6852	245	11	2	CARDINAL
fumecheng-6852	245	12	1	CARDINAL
fumecheng-6852	245	13	2	CARDINAL
fumecheng-6852	245	14	2	CARDINAL
fumecheng-6852	245	15	  	NORP
fumecheng-6852	245	16	      	NORP
fumecheng-6852	249	1		GPE
fumecheng-6852	249	2		GPE
fumecheng-6852	250	1	7	CARDINAL
fumecheng-6852	251	1	two	CARDINAL
fumecheng-6852	251	2	31.5°	QUANTITY
fumecheng-6852	253	1	13	CARDINAL
fumecheng-6852	253	2	14	DATE
fumecheng-6852	253	3	15	DATE
fumecheng-6852	254	1	section 7.2	LAW
fumecheng-6852	254	2	al	PERSON
fumecheng-6852	254	3	fl	ORG
fumecheng-6852	255	1	7	CARDINAL
fumecheng-6852	256	1	section 7.1	LAW
fumecheng-6852	256	2	7.2	CARDINAL
fumecheng-6852	257	1	116	CARDINAL
fumecheng-6852	257	2	b. kozakiewicz	PERSON
fumecheng-6852	257	3	7.1	CARDINAL
fumecheng-6852	258	1	spring	DATE
fumecheng-6852	259	1	1	CARDINAL
fumecheng-6852	259	2	section 6.2	LAW
fumecheng-6852	259	3	two	CARDINAL
fumecheng-6852	260	1	one	CARDINAL
fumecheng-6852	260	2	first	ORDINAL
fumecheng-6852	260	3	three	CARDINAL
fumecheng-6852	262	1	fig	ORG
fumecheng-6852	263	1	16	CARDINAL
fumecheng-6852	264	1	1	CARDINAL
fumecheng-6852	266	1	0	CARDINAL
fumecheng-6852	267	1	16b	CARDINAL
fumecheng-6852	267	2	31.5°	QUANTITY
fumecheng-6852	267	3	31°	QUANTITY
fumecheng-6852	267	4	32°	CARDINAL
fumecheng-6852	268	1	less than 2%	PERCENT
fumecheng-6852	268	2	about 20%	PERCENT
fumecheng-6852	269	1	less than 5%	PERCENT
fumecheng-6852	269	2	over 40%	PERCENT
fumecheng-6852	270	1	between 41° and 60°	QUANTITY
fumecheng-6852	271	1	about 0.05	CARDINAL
fumecheng-6852	273	1	16 spring	DATE
fumecheng-6852	274	1	17	CARDINAL
fumecheng-6852	274	2	the spring	DATE
fumecheng-6852	276	1	31.5°	QUANTITY
fumecheng-6852	276	2	105%	PERCENT
fumecheng-6852	276	3	30°	QUANTITY
fumecheng-6852	276	4	19.7°	QUANTITY
fumecheng-6852	276	5	66%	PERCENT
fumecheng-6852	277	1	42	CARDINAL
fumecheng-6852	277	2	26°	CARDINAL
fumecheng-6852	277	3	87%	PERCENT
fumecheng-6852	277	4	11°	QUANTITY
fumecheng-6852	277	5	37%	PERCENT
fumecheng-6852	278	1	spring	DATE
fumecheng-6852	278	2	117	CARDINAL
fumecheng-6852	279	1	17	CARDINAL
fumecheng-6852	279	2	linear	ORG
fumecheng-6852	279	3	7.2	CARDINAL
fumecheng-6852	280	1	section 6.2	LAW
fumecheng-6852	280	2	3	CARDINAL
fumecheng-6852	280	3	one	CARDINAL
fumecheng-6852	281	1	5	CARDINAL
fumecheng-6852	282	1	4	CARDINAL
fumecheng-6852	284	1	the spring	DATE
fumecheng-6852	286	1	section 6.2	LAW
fumecheng-6852	287	1	13	CARDINAL
fumecheng-6852	290	1	14	CARDINAL
fumecheng-6852	291	1	15	CARDINAL
fumecheng-6852	292	1	2.6 seconds	TIME
fumecheng-6852	293	1	section 3	LAW
fumecheng-6852	294	1	118	CARDINAL
fumecheng-6852	294	2	b. kozakiewicz	PERSON
fumecheng-6852	294	3	t. winiarski	GPE
fumecheng-6852	294	4	5	CARDINAL
fumecheng-6852	294	5	magnetic spring	DATE
fumecheng-6852	294	6	signfr out	PERSON
fumecheng-6852	296	1	60	CARDINAL
fumecheng-6852	296	2	120	CARDINAL
fumecheng-6852	296	3	120	CARDINAL
fumecheng-6852	297	1	spring	DATE
fumecheng-6852	298	1	fms	ORG
fumecheng-6852	298	2	the spring	DATE
fumecheng-6852	301	1	fms	ORG
fumecheng-6852	302	1	fms	ORG
fumecheng-6852	302	2	fms	ORG
fumecheng-6852	303	1	fms	ORG
fumecheng-6852	305	1	zero	CARDINAL
fumecheng-6852	305	2	zero	CARDINAL
fumecheng-6852	306	1	aal-2017-059	CARDINAL
fumecheng-6852	306	2	poland	GPE
fumecheng-6852	307	1	mateusz baczewski	PERSON
fumecheng-6852	307	2	adam kowalewski	PERSON
fumecheng-6852	308	1	katarzyna kozakiewicz	PERSON
fumecheng-6852	309	1	spring	DATE
fumecheng-6852	309	2	119	CARDINAL
fumecheng-6852	309	3	1	CARDINAL
fumecheng-6852	309	4	tsirogiannis	ORG
fumecheng-6852	309	5	e.	GPE
fumecheng-6852	309	6	2019	DATE
fumecheng-6852	309	7	17(3	CARDINAL
fumecheng-6852	310	1	415	CARDINAL
fumecheng-6852	311	1	2	CARDINAL
fumecheng-6852	311	2	international federation of robotics	ORG
fumecheng-6852	311	3	2017	DATE
fumecheng-6852	311	4	2017	CARDINAL
fumecheng-6852	311	5	2017	CARDINAL
fumecheng-6852	311	6	frankfurt	GPE
fumecheng-6852	311	7	germany	GPE
fumecheng-6852	312	1	15	CARDINAL
fumecheng-6852	313	1	3	CARDINAL
fumecheng-6852	313	2	van damme	PERSON
fumecheng-6852	313	3	m.	PERSON
fumecheng-6852	313	4	b.	PERSON
fumecheng-6852	313	5	r.	NORP
fumecheng-6852	313	6	i.	PERSON
fumecheng-6852	313	7	matthys	PERSON
fumecheng-6852	313	8	d.	NORP
fumecheng-6852	313	9	2010	DATE
fumecheng-6852	313	10	seventh	ORDINAL
fumecheng-6852	313	11	toulouse	ORG
fumecheng-6852	313	12	france	GPE
fumecheng-6852	314	1	65	CARDINAL
fumecheng-6852	315	1	4	CARDINAL
fumecheng-6852	315	2	walker	ORG
fumecheng-6852	315	3	d.s.	GPE
fumecheng-6852	315	4	niemeyer	PERSON
fumecheng-6852	315	5	2010	DATE
fumecheng-6852	316	1	2010	DATE
fumecheng-6852	316	2	taipei	GPE
fumecheng-6852	316	3	taiwan	GPE
fumecheng-6852	317	1	4855-4861	DATE
fumecheng-6852	318	1	5	CARDINAL
fumecheng-6852	318	2	haddadin	ORG
fumecheng-6852	318	3	s.	PERSON
fumecheng-6852	318	4	laue	ORG
fumecheng-6852	318	5	frese	NORP
fumecheng-6852	318	6	wolf	PERSON
fumecheng-6852	318	7	s.	GPE
fumecheng-6852	318	8	albu-schäeffer	PERSON
fumecheng-6852	318	9	a.	PERSON
fumecheng-6852	318	10	2009	DATE
fumecheng-6852	319	1	761-775	CARDINAL
fumecheng-6852	320	1	6	CARDINAL
fumecheng-6852	320	2	wolf	PERSON
fumecheng-6852	320	3	s.	PERSON
fumecheng-6852	320	4	2008	DATE
fumecheng-6852	320	5	2008	DATE
fumecheng-6852	320	6	pasadena	GPE
fumecheng-6852	321	1	1741-1746	DATE
fumecheng-6852	322	1	7	CARDINAL
fumecheng-6852	322	2	bicchi, a.	ORG
fumecheng-6852	322	3	2004	DATE
fumecheng-6852	322	4	11(2	CARDINAL
fumecheng-6852	324	1	22-33	DATE
fumecheng-6852	325	1	8	CARDINAL
fumecheng-6852	326	1	wolf	PERSON
fumecheng-6852	326	2	s.	GPE
fumecheng-6852	326	3	w.	PERSON
fumecheng-6852	326	4	m.	PERSON
fumecheng-6852	326	5	caldwell	ORG
fumecheng-6852	326	6	d.g.	GPE
fumecheng-6852	326	7	r.	NORP
fumecheng-6852	326	8	m.g.	GPE
fumecheng-6852	326	9	lefeber	PERSON
fumecheng-6852	326	10	d.	NORP
fumecheng-6852	326	11	s.	PERSON
fumecheng-6852	326	12	n.	PERSON
fumecheng-6852	326	13	damme	PERSON
fumecheng-6852	326	14	m.v.	GPE
fumecheng-6852	326	15	r.v.	GPE
fumecheng-6852	326	16	b.	PERSON
fumecheng-6852	326	17	visser	PERSON
fumecheng-6852	326	18	l.c.	GPE
fumecheng-6852	327	1	bicchi	GPE
fumecheng-6852	327	2	a.	GPE
fumecheng-6852	327	3	albu-schäffer	PERSON
fumecheng-6852	327	4	a.	PERSON
fumecheng-6852	327	5	2016	DATE
fumecheng-6852	327	6	21(5	CARDINAL
fumecheng-6852	328	1	2418-2430	CARDINAL
fumecheng-6852	329	1	9	CARDINAL
fumecheng-6852	329	2	braun	ORG
fumecheng-6852	329	3	d.j.	GPE
fumecheng-6852	329	4	howard	PERSON
fumecheng-6852	329	5	s., 2011	ORG
fumecheng-6852	330	1	los angeles	GPE
fumecheng-6852	331	1	25	CARDINAL
fumecheng-6852	332	1	10	CARDINAL
fumecheng-6852	333	1	2018	DATE
fumecheng-6852	333	2	71	DATE
fumecheng-6852	334	1	245-250	CARDINAL
fumecheng-6852	335	1	11	CARDINAL
fumecheng-6852	336	1	m., blickhan	PERSON
fumecheng-6852	336	2	r.	NORP
fumecheng-6852	336	3	2002	DATE
fumecheng-6852	336	4	35(11	CARDINAL
fumecheng-6852	337	1	1459-1474	CARDINAL
fumecheng-6852	338	1	12	CARDINAL
fumecheng-6852	339	1	hurst	ORG
fumecheng-6852	339	2	j.w.	GPE
fumecheng-6852	339	3	chestnutt	GPE
fumecheng-6852	339	4	j.e.	GPE
fumecheng-6852	339	5	rizzi	GPE
fumecheng-6852	339	6	a.a.	GPE
fumecheng-6852	339	7	2004	DATE
fumecheng-6852	340	1	2004	DATE
fumecheng-6852	340	2	new orleans	GPE
fumecheng-6852	340	3	la	GPE
fumecheng-6852	340	4	5	DATE
fumecheng-6852	340	5	4662-4667	DATE
fumecheng-6852	341	1	13	CARDINAL
fumecheng-6852	342	1	haddadin	ORG
fumecheng-6852	342	2	s.	PERSON
fumecheng-6852	342	3	weis	PERSON
fumecheng-6852	342	4	m., wolf	PERSON
fumecheng-6852	342	5	s.	GPE
fumecheng-6852	342	6	albu-schäffer	PERSON
fumecheng-6852	342	7	a., 2011	PERSON
fumecheng-6852	342	8	44(1	CARDINAL
fumecheng-6852	343	1	6863-6871	CARDINAL
fumecheng-6852	344	1	14	DATE
fumecheng-6852	345	1	visser	ORG
fumecheng-6852	345	2	l.c.	GPE
fumecheng-6852	345	3	s.	GPE
fumecheng-6852	345	4	bicchi	GPE
fumecheng-6852	345	5	a., 2011	PERSON
fumecheng-6852	345	6	44(1	CARDINAL
fumecheng-6852	346	1	9733-9738	DATE
fumecheng-6852	347	1	15	CARDINAL
fumecheng-6852	348	1	visser	PERSON
fumecheng-6852	348	2	l.c.	GPE
fumecheng-6852	348	3	r.	NORP
fumecheng-6852	348	4	stramigioli	GPE
fumecheng-6852	348	5	s.	PERSON
fumecheng-6852	348	6	2010	DATE
fumecheng-6852	350	1	1199-1204	CARDINAL
fumecheng-6852	351	1	16	CARDINAL
fumecheng-6852	352	1	hurst	ORG
fumecheng-6852	352	2	j.w.	GPE
fumecheng-6852	352	3	chestnutt	GPE
fumecheng-6852	352	4	j.e.	GPE
fumecheng-6852	352	5	rizzi	GPE
fumecheng-6852	352	6	a.a.	GPE
fumecheng-6852	352	7	2010	DATE
fumecheng-6852	352	8	26(4	CARDINAL
fumecheng-6852	353	1	597-606	CARDINAL
fumecheng-6852	354	1	17	CARDINAL
fumecheng-6852	355	1	hogan	ORG
fumecheng-6852	355	2	1984	DATE
fumecheng-6852	355	3	29(8	CARDINAL
fumecheng-6852	356	1	681-690	CARDINAL
fumecheng-6852	357	1	18	CARDINAL
fumecheng-6852	358	1	b.	PERSON
fumecheng-6852	358	2	albu-schaeffer	PERSON
fumecheng-6852	358	3	bicchi, a.	ORG
fumecheng-6852	358	4	caldwell	ORG
fumecheng-6852	358	5	d.g.	GPE
fumecheng-6852	358	6	r.	NORP
fumecheng-6852	358	7	catalano	PERSON
fumecheng-6852	358	8	m.	PERSON
fumecheng-6852	358	9	w.	PERSON
fumecheng-6852	358	10	m., grebenstein	PERSON
fumecheng-6852	358	11	haddadin	GPE
fumecheng-6852	358	12	s., hoppner	ORG
fumecheng-6852	358	13	h.	PERSON
fumecheng-6852	358	14	jafari, a.	PERSON
fumecheng-6852	358	15	laffranchi	ORG
fumecheng-6852	358	16	m.	PERSON
fumecheng-6852	358	17	lefeber	PERSON
fumecheng-6852	358	18	d.	NORP
fumecheng-6852	358	19	f.	PERSON
fumecheng-6852	358	20	s.	PERSON
fumecheng-6852	358	21	van damme	PERSON
fumecheng-6852	358	22	m., van ham	PERSON
fumecheng-6852	358	23	r.	NORP
fumecheng-6852	358	24	visser	PERSON
fumecheng-6852	358	25	l.c.	GPE
fumecheng-6852	358	26	wolf	PERSON
fumecheng-6852	358	27	s.	GPE
fumecheng-6852	358	28	2013	DATE
fumecheng-6852	358	29	61(12	CARDINAL
fumecheng-6852	359	1	1601-1614	DATE
fumecheng-6852	360	1	19	CARDINAL
fumecheng-6852	360	2	winiarski	ORG
fumecheng-6852	360	3	t.	GPE
fumecheng-6852	360	4	dudek	NORP
fumecheng-6852	360	5	w.	PERSON
fumecheng-6852	360	6	zieliński	PERSON
fumecheng-6852	360	7	ł	ORG
fumecheng-6852	360	8	d.	NORP
fumecheng-6852	360	9	seredyński	GPE
fumecheng-6852	360	10	d.	NORP
fumecheng-6852	360	11	2020	DATE
fumecheng-6852	360	12	arxiv preprint arxiv:2005.12106.	ORG
fumecheng-6852	361	1	20	CARDINAL
fumecheng-6852	362	1	dudek	NORP
fumecheng-6852	362	2	w.	PERSON
fumecheng-6852	362	3	t.	GPE
fumecheng-6852	362	4	2020	DATE
fumecheng-6852	362	5	8	DATE
fumecheng-6852	362	6	161449-161471	DATE
fumecheng-6852	363	1	21	DATE
fumecheng-6852	364	1	guiochet	PERSON
fumecheng-6852	364	2	j.	PERSON
fumecheng-6852	364	3	m.	PERSON
fumecheng-6852	364	4	waeselynck, h.	ORG
fumecheng-6852	364	5	2017	DATE
fumecheng-6852	364	6	94	DATE
fumecheng-6852	365	1	43-52	CARDINAL
fumecheng-6852	366	1	22	CARDINAL
fumecheng-6852	367	1	haddadin	ORG
fumecheng-6852	367	2	s.	PERSON
fumecheng-6852	367	3	albu-schäffer	PERSON
fumecheng-6852	367	4	a.	PERSON
fumecheng-6852	367	5	2009	DATE
fumecheng-6852	367	6	the international journal of robotics research	ORG
fumecheng-6852	367	7	28(11-12	DATE
fumecheng-6852	367	8	1507-1527	CARDINAL
fumecheng-6852	368	1	23	CARDINAL
fumecheng-6852	369	1	winiarski	ORG
fumecheng-6852	369	2	t.,	GPE
fumecheng-6852	369	3	węgierek	GPE
fumecheng-6852	369	4	m.	PERSON
fumecheng-6852	369	5	seredyński	PERSON
fumecheng-6852	369	6	d.	NORP
fumecheng-6852	369	7	dudek	NORP
fumecheng-6852	369	8	w.	GPE
fumecheng-6852	369	9	zieliński	GPE
fumecheng-6852	369	10	2020	DATE
fumecheng-6852	369	11	earl	PERSON
fumecheng-6852	369	12	9(2	CARDINAL
fumecheng-6852	369	13	379	CARDINAL
fumecheng-6852	370	1	24	CARDINAL
fumecheng-6852	371	1	seredyński	PERSON
fumecheng-6852	371	2	d.	NORP
fumecheng-6852	371	3	t.	GPE
fumecheng-6852	371	4	zieliński	GPE
fumecheng-6852	371	5	2019	DATE
fumecheng-6852	372	1	12th	ORDINAL
fumecheng-6852	372	2	poznań	GPE
fumecheng-6852	372	3	poland	GPE
fumecheng-6852	373	1	215	CARDINAL
fumecheng-6852	374	1	120	CARDINAL
fumecheng-6852	374	2	25	CARDINAL
fumecheng-6852	374	3	de schutter	PERSON
fumecheng-6852	374	4	j., bruyninckx, h., zhu	ORG
fumecheng-6852	374	5	spong	GPE
fumecheng-6852	374	6	m.w.	GPE
fumecheng-6852	374	7	1998	DATE
fumecheng-6852	375	1	san diego	GPE
fumecheng-6852	376	1	1-17	CARDINAL
fumecheng-6852	377	1	26	CARDINAL
fumecheng-6852	378	1	kornuta	PERSON
fumecheng-6852	378	2	t.	GPE
fumecheng-6852	378	3	zieliński	GPE
fumecheng-6852	378	4	t.	GPE
fumecheng-6852	378	5	2020	DATE
fumecheng-6852	378	6	the polish academy of sciences: technical sciences	ORG
fumecheng-6852	378	7	68(1	CARDINAL
fumecheng-6852	379	1	3-29	CARDINAL
fumecheng-6852	380	1	27	CARDINAL
fumecheng-6852	381	1	winiarski	ORG
fumecheng-6852	381	2	t.	GPE
fumecheng-6852	381	3	woźniak, a.	ORG
fumecheng-6852	381	4	2013	DATE
fumecheng-6852	381	5	robotica	PERSON
fumecheng-6852	381	6	31(3	CARDINAL
fumecheng-6852	383	1	465-478	CARDINAL
fumecheng-6852	384	1	28	CARDINAL
fumecheng-6852	385	1	zieliński	PERSON
fumecheng-6852	385	2	t.	GPE
fumecheng-6852	385	3	2010	DATE
fumecheng-6852	385	4	mrroc++	DATE
fumecheng-6852	385	5	the international journal of robotics research	ORG
fumecheng-6852	386	1	386-413	CARDINAL
fumecheng-6852	387	1	29	CARDINAL
fumecheng-6852	388	1	winiarski	ORG
fumecheng-6852	388	2	t.	GPE
fumecheng-6852	388	3	walęcki	ORG
fumecheng-6852	388	4	m., 2014	PERSON
fumecheng-6852	389	1	warsaw	GPE
fumecheng-6852	389	2	poland	GPE
fumecheng-6852	390	1	533-542	CARDINAL
fumecheng-6852	392	1	albu-schaeffer	PERSON
fumecheng-6852	392	2	haddadin	GPE
fumecheng-6852	392	3	s.	GPE
fumecheng-6852	392	4	ott	GPE
fumecheng-6852	392	5	t.	GPE
fumecheng-6852	392	6	2007	DATE
fumecheng-6852	392	7	34(5	DATE
fumecheng-6852	393	1	376	CARDINAL
fumecheng-6852	395	1	knox	ORG
fumecheng-6852	395	2	b.t.	GPE
fumecheng-6852	395	3	j.p.	GPE
fumecheng-6852	395	4	2009	DATE
fumecheng-6852	395	5	131(12	CARDINAL
fumecheng-6852	395	6	125001	DATE
fumecheng-6852	396	1	32	CARDINAL
fumecheng-6852	396	2	t.g.	GPE
fumecheng-6852	396	3	2002	DATE
fumecheng-6852	396	4	12(9-10	CARDINAL
fumecheng-6852	397	1	1157-1171	DATE
fumecheng-6852	398	1	33	CARDINAL
fumecheng-6852	399	1	r.	NORP
fumecheng-6852	399	2	t.g.	GPE
fumecheng-6852	399	3	b.	PERSON
fumecheng-6852	399	4	hollander	PERSON
fumecheng-6852	399	5	k.w.	GPE
fumecheng-6852	399	6	lefeber	PERSON
fumecheng-6852	399	7	d.	NORP
fumecheng-6852	399	8	2009	DATE
fumecheng-6852	399	9	ieee robotics automation magazine	ORG
fumecheng-6852	399	10	16(3	CARDINAL
fumecheng-6852	400	1	81-94	CARDINAL
fumecheng-6852	401	1	34	CARDINAL
fumecheng-6852	401	2	tagliamonte	GPE
fumecheng-6852	401	3	n.l.	GPE
fumecheng-6852	401	4	sergi	PERSON
fumecheng-6852	401	5	f.	PERSON
fumecheng-6852	401	6	d.	NORP
fumecheng-6852	401	7	carpino	GPE
fumecheng-6852	401	8	2012	DATE
fumecheng-6852	401	9	22(8	CARDINAL
fumecheng-6852	402	1	1187-1203	DATE
fumecheng-6852	403	1	35	DATE
fumecheng-6852	404	1	qian	PERSON
fumecheng-6852	404	2	zeng	PERSON
fumecheng-6852	404	3	h.-y.	GPE
fumecheng-6852	404	4	2003	DATE
fumecheng-6852	404	5	39(1	CARDINAL
fumecheng-6852	405	1	559	CARDINAL
fumecheng-6852	406	1	36	CARDINAL
fumecheng-6852	407	1	garbin, n.	ORG
fumecheng-6852	407	2	di natali	PERSON
fumecheng-6852	407	3	j., de momi	PERSON
fumecheng-6852	407	4	e.	PERSON
fumecheng-6852	407	5	2015	DATE
fumecheng-6852	407	6	9(1	CARDINAL
fumecheng-6852	407	7	011005	DATE
fumecheng-6852	408	1	37	DATE
fumecheng-6852	409	1	sun, f., zhang, m., jin	PERSON
fumecheng-6852	409	2	j., duan	PERSON
fumecheng-6852	409	3	jin	PERSON
fumecheng-6852	409	4	j., zhang	PERSON
fumecheng-6852	409	5	x.	GPE
fumecheng-6852	409	6	2016	DATE
fumecheng-6852	409	7	three-degree	QUANTITY
fumecheng-6852	409	8	52	DATE
fumecheng-6852	410	1	667-675	CARDINAL
fumecheng-6852	411	1	38	CARDINAL
fumecheng-6852	412	1	robertson	PERSON
fumecheng-6852	412	2	w.	GPE
fumecheng-6852	412	3	b.	PERSON
fumecheng-6852	412	4	2005	DATE
fumecheng-6852	413	1	3826-3828	CARDINAL
fumecheng-6852	414	1	39	CARDINAL
fumecheng-6852	415	1	m.	PERSON
fumecheng-6852	415	2	sun, f.	PERSON
fumecheng-6852	415	3	sun	PERSON
fumecheng-6852	415	4	x.	GPE
fumecheng-6852	415	5	gao	PERSON
fumecheng-6852	415	6	k., 2018	PERSON
fumecheng-6852	416	1	2018	DATE
fumecheng-6852	416	2	shenyang	GPE
fumecheng-6852	416	3	china	GPE
fumecheng-6852	417	1	331-336	CARDINAL
fumecheng-6852	419	1	xu	PERSON
fumecheng-6852	419	2	x.	GPE
fumecheng-6852	419	3	zeng	PERSON
fumecheng-6852	419	4	2013	DATE
fumecheng-6852	419	5	706	CARDINAL
fumecheng-6852	420	1	1418-1422	CARDINAL
fumecheng-6852	421	1	41	CARDINAL
fumecheng-6852	422	1	tagliamonte	GPE
fumecheng-6852	422	2	n.l.	GPE
fumecheng-6852	422	3	d.	NORP
fumecheng-6852	422	4	guglielmelli, e., 2014	PERSON
fumecheng-6852	423	1	2014	DATE
fumecheng-6852	423	2	chicago	GPE
fumecheng-6852	423	3	il, usa	ORG
fumecheng-6852	424	1	2815-2820	CARDINAL
fumecheng-6852	425	1	42	DATE
fumecheng-6852	426	1	choi j.	PERSON
fumecheng-6852	426	2	s.	GPE
fumecheng-6852	426	3	lee w.	PERSON
fumecheng-6852	426	4	kang s.-ch	PERSON
fumecheng-6852	426	5	2008	DATE
fumecheng-6852	426	6	2008	DATE
fumecheng-6852	426	7	pasadena	GPE
fumecheng-6852	427	1	1760-1765	DATE
fumecheng-6852	428	1	43	DATE
fumecheng-6852	428	2	yoo	ORG
fumecheng-6852	428	3	j., hyun	PERSON
fumecheng-6852	428	4	m.w.	GPE
fumecheng-6852	428	5	j.h.	GPE
fumecheng-6852	428	6	kang	PERSON
fumecheng-6852	428	7	s.	PERSON
fumecheng-6852	428	8	kim	PERSON
fumecheng-6852	428	9	2009	DATE
fumecheng-6852	428	10	23(8	CARDINAL
fumecheng-6852	429	1	2236-2243	CARDINAL
fumecheng-6852	430	1	44	DATE
fumecheng-6852	431	1	sudano, a.	ORG
fumecheng-6852	431	2	d.	NORP
fumecheng-6852	431	3	zollo	ORG
fumecheng-6852	431	4	l.	GPE
fumecheng-6852	431	5	guglielmelli	PERSON
fumecheng-6852	431	6	2013	DATE
fumecheng-6852	431	7	spring	DATE
fumecheng-6852	431	8	10(10	CARDINAL
fumecheng-6852	431	9	372	CARDINAL
fumecheng-6852	431	10	45	CARDINAL
fumecheng-6852	432	1	spong	GPE
fumecheng-6852	432	2	m.w.	GPE
fumecheng-6852	432	3	1987	DATE
fumecheng-6852	432	4	109(4	CARDINAL
fumecheng-6852	433	1	310	CARDINAL
fumecheng-6852	434	1	46	DATE
fumecheng-6852	435	1	flacco	ORG
fumecheng-6852	435	2	f.	PERSON
fumecheng-6852	435	3	2012	DATE
fumecheng-6852	435	4	phd thesis	ORG
fumecheng-6852	435	5	sapienza università di roma	PERSON
fumecheng-6852	435	6	italy	GPE
fumecheng-6852	436	1	47	DATE
fumecheng-6852	437	1	albu-schäffer	PERSON
fumecheng-6852	437	2	a.	GPE
fumecheng-6852	437	3	ott	GPE
fumecheng-6852	437	4	c.	PERSON
fumecheng-6852	437	5	2007	DATE
fumecheng-6852	437	6	the international journal of robotics research	ORG
fumecheng-6852	437	7	26(1	CARDINAL
fumecheng-6852	438	1	23-39	CARDINAL
fumecheng-6852	439	1	48	DATE
fumecheng-6852	440	1	benhama	PERSON
fumecheng-6852	440	2	williamson	PERSON
fumecheng-6852	440	3	a.c.	GPE
fumecheng-6852	440	4	2000	DATE
fumecheng-6852	440	5	iee	GPE
fumecheng-6852	440	6	147(6	CARDINAL
fumecheng-6852	441	1	437	CARDINAL