id	sid	tid	token	lemma	pos
fumecheng-10915	1	1	10915	10915	NUM
fumecheng-10915	1	2	facta	facta	PROPN
fumecheng-10915	1	3	universitatis	universitatis	PROPN
fumecheng-10915	1	4	series	series	NOUN
fumecheng-10915	1	5	:	:	PUNCT
fumecheng-10915	1	6	mechanical	mechanical	ADJ
fumecheng-10915	1	7	engineering	engineering	NOUN
fumecheng-10915	1	8	https://doi.org/10.22190/fume230218071p	https://doi.org/10.22190/fume230218071p	PROPN
fumecheng-10915	1	9	©	©	PROPN
fumecheng-10915	1	10	2024	2024	NUM
fumecheng-10915	1	11	by	by	ADP
fumecheng-10915	1	12	university	university	PROPN
fumecheng-10915	1	13	of	of	ADP
fumecheng-10915	1	14	niš	niš	PROPN
fumecheng-10915	1	15	,	,	PUNCT
fumecheng-10915	1	16	serbia	serbia	PROPN
fumecheng-10915	1	17	|	|	ADV
fumecheng-10915	1	18	creative	creative	ADJ
fumecheng-10915	1	19	commons	common	NOUN
fumecheng-10915	1	20	license	license	NOUN
fumecheng-10915	1	21	:	:	PUNCT
fumecheng-10915	1	22	cc	cc	VERB
fumecheng-10915	1	23	by	by	ADP
fumecheng-10915	1	24	-	-	PUNCT
fumecheng-10915	1	25	nc	nc	VERB
fumecheng-10915	1	26	-	-	PUNCT
fumecheng-10915	1	27	nd	nd	ADV
fumecheng-10915	1	28	original	original	ADJ
fumecheng-10915	1	29	scientific	scientific	ADJ
fumecheng-10915	1	30	paper	paper	NUM
fumecheng-10915	1	31	control	control	NOUN
fumecheng-10915	1	32	of	of	ADP
fumecheng-10915	1	33	a	a	DET
fumecheng-10915	1	34	wire	wire	NOUN
fumecheng-10915	1	35	tensioning	tensione	VERB
fumecheng-10915	1	36	system	system	NOUN
fumecheng-10915	1	37	with	with	ADP
fumecheng-10915	1	38	force	force	NOUN
fumecheng-10915	1	39	prediction	prediction	NOUN
fumecheng-10915	1	40	using	use	VERB
fumecheng-10915	1	41	artificial	artificial	ADJ
fumecheng-10915	1	42	neural	neural	ADJ
fumecheng-10915	1	43	networks	network	NOUN
fumecheng-10915	1	44	vukašin	vukašin	NOUN
fumecheng-10915	1	45	pavlović1	pavlović1	PROPN
fumecheng-10915	1	46	,	,	PUNCT
fumecheng-10915	1	47	miša	miša	PROPN
fumecheng-10915	1	48	tomić1	tomić1	PROPN
fumecheng-10915	1	49	,	,	PUNCT
fumecheng-10915	1	50	sergiu	sergiu	PROPN
fumecheng-10915	1	51	-	-	PUNCT
fumecheng-10915	1	52	dan	dan	PROPN
fumecheng-10915	1	53	stan2	stan2	PROPN
fumecheng-10915	1	54	,	,	PUNCT
fumecheng-10915	1	55	milan	milan	PROPN
fumecheng-10915	1	56	banić1	banić1	PROPN
fumecheng-10915	1	57	,	,	PUNCT
fumecheng-10915	1	58	miloš	miloš	PROPN
fumecheng-10915	1	59	simonović1	simonović1	PROPN
fumecheng-10915	1	60	,	,	PUNCT
fumecheng-10915	1	61	miloš	miloš	PROPN
fumecheng-10915	1	62	milošević1	milošević1	PROPN
fumecheng-10915	1	63	1university	1university	NUM
fumecheng-10915	1	64	of	of	ADP
fumecheng-10915	1	65	niš	niš	NOUN
fumecheng-10915	1	66	,	,	PUNCT
fumecheng-10915	1	67	faculty	faculty	NOUN
fumecheng-10915	1	68	of	of	ADP
fumecheng-10915	1	69	mechanical	mechanical	ADJ
fumecheng-10915	1	70	engineering	engineering	NOUN
fumecheng-10915	1	71	,	,	PUNCT
fumecheng-10915	1	72	niš	niš	NOUN
fumecheng-10915	1	73	,	,	PUNCT
fumecheng-10915	1	74	serbia	serbia	PROPN
fumecheng-10915	1	75	2technical	2technical	PROPN
fumecheng-10915	1	76	university	university	PROPN
fumecheng-10915	1	77	of	of	ADP
fumecheng-10915	1	78	cluj	cluj	PROPN
fumecheng-10915	1	79	-	-	PUNCT
fumecheng-10915	1	80	napoca	napoca	NOUN
fumecheng-10915	1	81	,	,	PUNCT
fumecheng-10915	1	82	faculty	faculty	NOUN
fumecheng-10915	1	83	of	of	ADP
fumecheng-10915	1	84	automotive	automotive	ADJ
fumecheng-10915	1	85	,	,	PUNCT
fumecheng-10915	1	86	mechatronics	mechatronic	NOUN
fumecheng-10915	1	87	and	and	CCONJ
fumecheng-10915	1	88	mechanical	mechanical	ADJ
fumecheng-10915	1	89	engineering	engineering	NOUN
fumecheng-10915	1	90	,	,	PUNCT
fumecheng-10915	1	91	cluj	cluj	NOUN
fumecheng-10915	1	92	-	-	PUNCT
fumecheng-10915	1	93	napoca	napoca	NOUN
fumecheng-10915	1	94	,	,	PUNCT
fumecheng-10915	1	95	romania	romania	PROPN
fumecheng-10915	1	96	abstract	abstract	NOUN
fumecheng-10915	1	97	.	.	PUNCT
fumecheng-10915	2	1	in	in	ADP
fumecheng-10915	2	2	addition	addition	NOUN
fumecheng-10915	2	3	to	to	ADP
fumecheng-10915	2	4	the	the	DET
fumecheng-10915	2	5	textile	textile	NOUN
fumecheng-10915	2	6	industry	industry	NOUN
fumecheng-10915	2	7	,	,	PUNCT
fumecheng-10915	2	8	the	the	DET
fumecheng-10915	2	9	wire	wire	NOUN
fumecheng-10915	2	10	winding	winding	NOUN
fumecheng-10915	2	11	/	/	SYM
fumecheng-10915	2	12	unwinding	unwind	VERB
fumecheng-10915	2	13	process	process	NOUN
fumecheng-10915	2	14	is	be	AUX
fumecheng-10915	2	15	used	use	VERB
fumecheng-10915	2	16	in	in	ADP
fumecheng-10915	2	17	various	various	ADJ
fumecheng-10915	2	18	fields	field	NOUN
fumecheng-10915	2	19	such	such	ADJ
fumecheng-10915	2	20	as	as	ADP
fumecheng-10915	2	21	mechanical	mechanical	ADJ
fumecheng-10915	2	22	engineering	engineering	NOUN
fumecheng-10915	2	23	,	,	PUNCT
fumecheng-10915	2	24	electronics	electronic	NOUN
fumecheng-10915	2	25	,	,	PUNCT
fumecheng-10915	2	26	mechatronics	mechatronic	NOUN
fumecheng-10915	2	27	and	and	CCONJ
fumecheng-10915	2	28	for	for	ADP
fumecheng-10915	2	29	military	military	ADJ
fumecheng-10915	2	30	purposes	purpose	NOUN
fumecheng-10915	2	31	.	.	PUNCT
fumecheng-10915	3	1	the	the	DET
fumecheng-10915	3	2	wire	wire	NOUN
fumecheng-10915	3	3	that	that	PRON
fumecheng-10915	3	4	is	be	AUX
fumecheng-10915	3	5	wound	wound	ADJ
fumecheng-10915	3	6	/	/	SYM
fumecheng-10915	3	7	unwound	unwound	NOUN
fumecheng-10915	3	8	has	have	VERB
fumecheng-10915	3	9	a	a	DET
fumecheng-10915	3	10	combination	combination	NOUN
fumecheng-10915	3	11	of	of	ADP
fumecheng-10915	3	12	rotational	rotational	ADJ
fumecheng-10915	3	13	and	and	CCONJ
fumecheng-10915	3	14	translation	translation	NOUN
fumecheng-10915	3	15	motion	motion	NOUN
fumecheng-10915	3	16	,	,	PUNCT
fumecheng-10915	3	17	thus	thus	ADV
fumecheng-10915	3	18	exhibiting	exhibit	VERB
fumecheng-10915	3	19	a	a	DET
fumecheng-10915	3	20	complicated	complicated	ADJ
fumecheng-10915	3	21	behavior	behavior	NOUN
fumecheng-10915	3	22	.	.	PUNCT
fumecheng-10915	4	1	improper	improper	ADJ
fumecheng-10915	4	2	wire	wire	NOUN
fumecheng-10915	4	3	tensioning	tensioning	NOUN
fumecheng-10915	4	4	leads	lead	VERB
fumecheng-10915	4	5	to	to	ADP
fumecheng-10915	4	6	problems	problem	NOUN
fumecheng-10915	4	7	such	such	ADJ
fumecheng-10915	4	8	as	as	ADP
fumecheng-10915	4	9	entangling	entangle	VERB
fumecheng-10915	4	10	.	.	PUNCT
fumecheng-10915	5	1	one	one	NUM
fumecheng-10915	5	2	of	of	ADP
fumecheng-10915	5	3	the	the	DET
fumecheng-10915	5	4	most	most	ADV
fumecheng-10915	5	5	crucial	crucial	ADJ
fumecheng-10915	5	6	factors	factor	NOUN
fumecheng-10915	5	7	that	that	PRON
fumecheng-10915	5	8	affect	affect	VERB
fumecheng-10915	5	9	the	the	DET
fumecheng-10915	5	10	wire	wire	NOUN
fumecheng-10915	5	11	winding	wind	VERB
fumecheng-10915	5	12	/	/	SYM
fumecheng-10915	5	13	unwinding	unwind	VERB
fumecheng-10915	5	14	process	process	NOUN
fumecheng-10915	5	15	is	be	AUX
fumecheng-10915	5	16	the	the	DET
fumecheng-10915	5	17	regulation	regulation	NOUN
fumecheng-10915	5	18	of	of	ADP
fumecheng-10915	5	19	the	the	DET
fumecheng-10915	5	20	wire	wire	NOUN
fumecheng-10915	5	21	tension	tension	NOUN
fumecheng-10915	5	22	.	.	PUNCT
fumecheng-10915	6	1	this	this	DET
fumecheng-10915	6	2	paper	paper	NOUN
fumecheng-10915	6	3	briefly	briefly	NOUN
fumecheng-10915	6	4	describes	describe	VERB
fumecheng-10915	6	5	the	the	DET
fumecheng-10915	6	6	developed	develop	VERB
fumecheng-10915	6	7	wire	wire	NOUN
fumecheng-10915	6	8	tensioning	tensione	VERB
fumecheng-10915	6	9	system	system	NOUN
fumecheng-10915	6	10	that	that	PRON
fumecheng-10915	6	11	can	can	AUX
fumecheng-10915	6	12	measure	measure	VERB
fumecheng-10915	6	13	and	and	CCONJ
fumecheng-10915	6	14	control	control	VERB
fumecheng-10915	6	15	wire	wire	NOUN
fumecheng-10915	6	16	tension	tension	NOUN
fumecheng-10915	6	17	during	during	ADP
fumecheng-10915	6	18	the	the	DET
fumecheng-10915	6	19	winding	winding	NOUN
fumecheng-10915	6	20	/	/	SYM
fumecheng-10915	6	21	unwinding	unwind	VERB
fumecheng-10915	6	22	process	process	NOUN
fumecheng-10915	6	23	.	.	PUNCT
fumecheng-10915	7	1	various	various	ADJ
fumecheng-10915	7	2	data	datum	NOUN
fumecheng-10915	7	3	was	be	AUX
fumecheng-10915	7	4	gathered	gather	VERB
fumecheng-10915	7	5	based	base	VERB
fumecheng-10915	7	6	on	on	ADP
fumecheng-10915	7	7	the	the	DET
fumecheng-10915	7	8	implemented	implement	VERB
fumecheng-10915	7	9	proportional	proportional	ADJ
fumecheng-10915	7	10	-	-	PUNCT
fumecheng-10915	7	11	integral	integral	ADJ
fumecheng-10915	7	12	(	(	PUNCT
fumecheng-10915	7	13	pi	pi	NOUN
fumecheng-10915	7	14	)	)	PUNCT
fumecheng-10915	7	15	control	control	NOUN
fumecheng-10915	7	16	and	and	CCONJ
fumecheng-10915	7	17	sensors	sensor	NOUN
fumecheng-10915	7	18	.	.	PUNCT
fumecheng-10915	8	1	this	this	DET
fumecheng-10915	8	2	data	datum	NOUN
fumecheng-10915	8	3	was	be	AUX
fumecheng-10915	8	4	then	then	ADV
fumecheng-10915	8	5	used	use	VERB
fumecheng-10915	8	6	to	to	PART
fumecheng-10915	8	7	build	build	VERB
fumecheng-10915	8	8	a	a	DET
fumecheng-10915	8	9	neural	neural	ADJ
fumecheng-10915	8	10	network	network	NOUN
fumecheng-10915	8	11	in	in	ADP
fumecheng-10915	8	12	order	order	NOUN
fumecheng-10915	8	13	to	to	PART
fumecheng-10915	8	14	predict	predict	VERB
fumecheng-10915	8	15	force	force	NOUN
fumecheng-10915	8	16	in	in	ADP
fumecheng-10915	8	17	the	the	DET
fumecheng-10915	8	18	wire	wire	NOUN
fumecheng-10915	8	19	during	during	ADP
fumecheng-10915	8	20	the	the	DET
fumecheng-10915	8	21	winding	winding	NOUN
fumecheng-10915	8	22	/	/	SYM
fumecheng-10915	8	23	unwinding	unwind	VERB
fumecheng-10915	8	24	process	process	NOUN
fumecheng-10915	8	25	.	.	PUNCT
fumecheng-10915	9	1	key	key	ADJ
fumecheng-10915	9	2	words	word	NOUN
fumecheng-10915	9	3	:	:	PUNCT
fumecheng-10915	9	4	wire	wire	NOUN
fumecheng-10915	9	5	,	,	PUNCT
fumecheng-10915	9	6	tension	tension	NOUN
fumecheng-10915	9	7	control	control	NOUN
fumecheng-10915	9	8	,	,	PUNCT
fumecheng-10915	9	9	winding	winding	NOUN
fumecheng-10915	9	10	/	/	SYM
fumecheng-10915	9	11	unwinding	unwinding	ADJ
fumecheng-10915	9	12	,	,	PUNCT
fumecheng-10915	9	13	neural	neural	ADJ
fumecheng-10915	9	14	network	network	NOUN
fumecheng-10915	9	15	1	1	NUM
fumecheng-10915	9	16	.	.	PUNCT
fumecheng-10915	9	17	introduction	introduction	NOUN
fumecheng-10915	9	18	wire	wire	NOUN
fumecheng-10915	9	19	tensioning	tensione	VERB
fumecheng-10915	9	20	systems	system	NOUN
fumecheng-10915	9	21	can	can	AUX
fumecheng-10915	9	22	be	be	AUX
fumecheng-10915	9	23	found	find	VERB
fumecheng-10915	9	24	in	in	ADP
fumecheng-10915	9	25	various	various	ADJ
fumecheng-10915	9	26	mechatronic	mechatronic	ADJ
fumecheng-10915	9	27	systems	system	NOUN
fumecheng-10915	9	28	as	as	ADP
fumecheng-10915	9	29	their	their	PRON
fumecheng-10915	9	30	main	main	ADJ
fumecheng-10915	9	31	sub	sub	NOUN
fumecheng-10915	9	32	-	-	NOUN
fumecheng-10915	9	33	systems	system	NOUN
fumecheng-10915	9	34	.	.	PUNCT
fumecheng-10915	10	1	these	these	DET
fumecheng-10915	10	2	systems	system	NOUN
fumecheng-10915	10	3	are	be	AUX
fumecheng-10915	10	4	present	present	ADJ
fumecheng-10915	10	5	in	in	ADP
fumecheng-10915	10	6	machines	machine	NOUN
fumecheng-10915	10	7	in	in	ADP
fumecheng-10915	10	8	the	the	DET
fumecheng-10915	10	9	textile	textile	NOUN
fumecheng-10915	10	10	industry	industry	NOUN
fumecheng-10915	11	1	[	[	X
fumecheng-10915	11	2	1	1	NUM
fumecheng-10915	11	3	]	]	PUNCT
fumecheng-10915	11	4	,	,	PUNCT
fumecheng-10915	11	5	cranes	crane	NOUN
fumecheng-10915	12	1	[	[	X
fumecheng-10915	12	2	2	2	NUM
fumecheng-10915	12	3	]	]	PUNCT
fumecheng-10915	12	4	,	,	PUNCT
fumecheng-10915	12	5	papermaking	papermake	VERB
fumecheng-10915	12	6	[	[	X
fumecheng-10915	12	7	3	3	NUM
fumecheng-10915	12	8	]	]	PUNCT
fumecheng-10915	12	9	,	,	PUNCT
fumecheng-10915	12	10	medicine	medicine	NOUN
fumecheng-10915	12	11	[	[	X
fumecheng-10915	12	12	4	4	NUM
fumecheng-10915	12	13	]	]	PUNCT
fumecheng-10915	12	14	,	,	PUNCT
fumecheng-10915	12	15	etc	etc	X
fumecheng-10915	12	16	.	.	X
fumecheng-10915	13	1	depending	depend	VERB
fumecheng-10915	13	2	on	on	ADP
fumecheng-10915	13	3	the	the	DET
fumecheng-10915	13	4	purpose	purpose	NOUN
fumecheng-10915	13	5	,	,	PUNCT
fumecheng-10915	13	6	wire	wire	NOUN
fumecheng-10915	13	7	tensioning	tensione	VERB
fumecheng-10915	13	8	systems	system	NOUN
fumecheng-10915	13	9	can	can	AUX
fumecheng-10915	13	10	be	be	AUX
fumecheng-10915	13	11	generally	generally	ADV
fumecheng-10915	13	12	divided	divide	VERB
fumecheng-10915	13	13	into	into	ADP
fumecheng-10915	13	14	two	two	NUM
fumecheng-10915	13	15	groups	group	NOUN
fumecheng-10915	13	16	:	:	PUNCT
fumecheng-10915	13	17	constant	constant	ADJ
fumecheng-10915	13	18	tension	tension	NOUN
fumecheng-10915	13	19	control	control	NOUN
fumecheng-10915	13	20	and	and	CCONJ
fumecheng-10915	13	21	variable	variable	ADJ
fumecheng-10915	13	22	tension	tension	NOUN
fumecheng-10915	13	23	control	control	NOUN
fumecheng-10915	14	1	[	[	X
fumecheng-10915	14	2	5	5	NUM
fumecheng-10915	14	3	]	]	PUNCT
fumecheng-10915	14	4	,	,	PUNCT
fumecheng-10915	14	5	where	where	SCONJ
fumecheng-10915	14	6	constant	constant	ADJ
fumecheng-10915	14	7	tension	tension	NOUN
fumecheng-10915	14	8	control	control	NOUN
fumecheng-10915	14	9	is	be	AUX
fumecheng-10915	14	10	used	use	VERB
fumecheng-10915	14	11	in	in	ADP
fumecheng-10915	14	12	fields	field	NOUN
fumecheng-10915	14	13	such	such	ADJ
fumecheng-10915	14	14	as	as	ADP
fumecheng-10915	14	15	printing	printing	NOUN
fumecheng-10915	14	16	and	and	CCONJ
fumecheng-10915	14	17	papermaking	papermaking	NOUN
fumecheng-10915	14	18	,	,	PUNCT
fumecheng-10915	14	19	while	while	SCONJ
fumecheng-10915	14	20	variable	variable	ADJ
fumecheng-10915	14	21	tension	tension	NOUN
fumecheng-10915	14	22	control	control	NOUN
fumecheng-10915	14	23	can	can	AUX
fumecheng-10915	14	24	be	be	AUX
fumecheng-10915	14	25	used	use	VERB
fumecheng-10915	14	26	in	in	ADP
fumecheng-10915	14	27	fields	field	NOUN
fumecheng-10915	14	28	where	where	SCONJ
fumecheng-10915	14	29	wire	wire	NOUN
fumecheng-10915	14	30	can	can	AUX
fumecheng-10915	14	31	be	be	AUX
fumecheng-10915	14	32	wound	wound	NOUN
fumecheng-10915	14	33	/	/	SYM
fumecheng-10915	14	34	unwound	unwound	NOUN
fumecheng-10915	14	35	on	on	ADP
fumecheng-10915	14	36	a	a	DET
fumecheng-10915	14	37	winch	winch	NOUN
fumecheng-10915	14	38	or	or	CCONJ
fumecheng-10915	14	39	reel	reel	NOUN
fumecheng-10915	14	40	.	.	PUNCT
fumecheng-10915	15	1	many	many	ADJ
fumecheng-10915	15	2	researchers	researcher	NOUN
fumecheng-10915	15	3	have	have	AUX
fumecheng-10915	15	4	dealt	deal	VERB
fumecheng-10915	15	5	with	with	ADP
fumecheng-10915	15	6	the	the	DET
fumecheng-10915	15	7	design	design	NOUN
fumecheng-10915	15	8	and	and	CCONJ
fumecheng-10915	15	9	control	control	NOUN
fumecheng-10915	15	10	of	of	ADP
fumecheng-10915	15	11	such	such	ADJ
fumecheng-10915	15	12	systems	system	NOUN
fumecheng-10915	15	13	,	,	PUNCT
fumecheng-10915	15	14	and	and	CCONJ
fumecheng-10915	15	15	this	this	DET
fumecheng-10915	15	16	paper	paper	NOUN
fumecheng-10915	15	17	will	will	AUX
fumecheng-10915	15	18	provide	provide	VERB
fumecheng-10915	15	19	an	an	DET
fumecheng-10915	15	20	overview	overview	NOUN
fumecheng-10915	15	21	of	of	ADP
fumecheng-10915	15	22	some	some	PRON
fumecheng-10915	15	23	of	of	ADP
fumecheng-10915	15	24	these	these	DET
fumecheng-10915	15	25	investigations	investigation	NOUN
fumecheng-10915	15	26	.	.	PUNCT
fumecheng-10915	16	1	received	receive	VERB
fumecheng-10915	16	2	:	:	PUNCT
fumecheng-10915	16	3	december	december	PROPN
fumecheng-10915	16	4	18	18	NUM
fumecheng-10915	16	5	,	,	PUNCT
fumecheng-10915	16	6	2023	2023	NUM
fumecheng-10915	16	7	/	/	PUNCT
fumecheng-10915	16	8	accepted	accept	VERB
fumecheng-10915	16	9	april	april	PROPN
fumecheng-10915	16	10	23	23	NUM
fumecheng-10915	16	11	,	,	PUNCT
fumecheng-10915	16	12	2024	2024	NUM
fumecheng-10915	16	13	corresponding	correspond	VERB
fumecheng-10915	16	14	author	author	NOUN
fumecheng-10915	16	15	:	:	PUNCT
fumecheng-10915	16	16	vukašin	vukašin	NOUN
fumecheng-10915	16	17	pavlović	pavlović	NOUN
fumecheng-10915	16	18	university	university	PROPN
fumecheng-10915	16	19	of	of	ADP
fumecheng-10915	16	20	niš	niš	PROPN
fumecheng-10915	16	21	,	,	PUNCT
fumecheng-10915	16	22	faculty	faculty	NOUN
fumecheng-10915	16	23	of	of	ADP
fumecheng-10915	16	24	mechanical	mechanical	ADJ
fumecheng-10915	16	25	engineering	engineering	NOUN
fumecheng-10915	16	26	,	,	PUNCT
fumecheng-10915	16	27	aleksandra	aleksandra	PROPN
fumecheng-10915	16	28	medvedeva	medvedeva	PROPN
fumecheng-10915	16	29	14	14	NUM
fumecheng-10915	16	30	,	,	PUNCT
fumecheng-10915	16	31	niš	niš	NOUN
fumecheng-10915	16	32	,	,	PUNCT
fumecheng-10915	16	33	serbia	serbia	PROPN
fumecheng-10915	16	34	e	e	NOUN
fumecheng-10915	16	35	-	-	NOUN
fumecheng-10915	16	36	mail	mail	NOUN
fumecheng-10915	16	37	:	:	PUNCT
fumecheng-10915	16	38	vukasin.pavlovic@masfak.ni.ac.rs	vukasin.pavlovic@masfak.ni.ac.rs	NUM
fumecheng-10915	16	39	2	2	NUM
fumecheng-10915	16	40	v.	v.	ADP
fumecheng-10915	16	41	pavlović	pavlović	NOUN
fumecheng-10915	16	42	,	,	PUNCT
fumecheng-10915	16	43	m.	m.	NOUN
fumecheng-10915	16	44	tomić	tomić	NOUN
fumecheng-10915	16	45	,	,	PUNCT
fumecheng-10915	16	46	s	s	PROPN
fumecheng-10915	16	47	-	-	PROPN
fumecheng-10915	16	48	d.	d.	PROPN
fumecheng-10915	16	49	stan	stan	PROPN
fumecheng-10915	16	50	,	,	PUNCT
fumecheng-10915	16	51	m.	m.	NOUN
fumecheng-10915	16	52	banić	banić	NOUN
fumecheng-10915	16	53	,	,	PUNCT
fumecheng-10915	16	54	m.	m.	NOUN
fumecheng-10915	16	55	simonović	simonović	PROPN
fumecheng-10915	16	56	,	,	PUNCT
fumecheng-10915	16	57	m.	m.	NOUN
fumecheng-10915	16	58	milošević	milošević	PROPN
fumecheng-10915	16	59	kevac	kevac	PROPN
fumecheng-10915	16	60	et	et	PROPN
fumecheng-10915	16	61	al	al	PROPN
fumecheng-10915	16	62	.	.	PUNCT
fumecheng-10915	17	1	[	[	X
fumecheng-10915	17	2	6	6	NUM
fumecheng-10915	17	3	]	]	PUNCT
fumecheng-10915	17	4	obtained	obtain	VERB
fumecheng-10915	17	5	the	the	DET
fumecheng-10915	17	6	general	general	ADJ
fumecheng-10915	17	7	mathematical	mathematical	ADJ
fumecheng-10915	17	8	model	model	NOUN
fumecheng-10915	17	9	of	of	ADP
fumecheng-10915	17	10	a	a	DET
fumecheng-10915	17	11	cable	cable	NOUN
fumecheng-10915	17	12	winding	winding	NOUN
fumecheng-10915	17	13	/	/	SYM
fumecheng-10915	17	14	unwinding	unwind	VERB
fumecheng-10915	17	15	system	system	NOUN
fumecheng-10915	17	16	for	for	ADP
fumecheng-10915	17	17	several	several	ADJ
fumecheng-10915	17	18	different	different	ADJ
fumecheng-10915	17	19	constructions	construction	NOUN
fumecheng-10915	17	20	,	,	PUNCT
fumecheng-10915	17	21	where	where	SCONJ
fumecheng-10915	17	22	theoretical	theoretical	ADJ
fumecheng-10915	17	23	and	and	CCONJ
fumecheng-10915	17	24	simulation	simulation	NOUN
fumecheng-10915	17	25	results	result	NOUN
fumecheng-10915	17	26	were	be	AUX
fumecheng-10915	17	27	confirmed	confirm	VERB
fumecheng-10915	17	28	through	through	ADP
fumecheng-10915	17	29	the	the	DET
fumecheng-10915	17	30	experimental	experimental	ADJ
fumecheng-10915	17	31	analysis	analysis	NOUN
fumecheng-10915	17	32	of	of	ADP
fumecheng-10915	17	33	one	one	NUM
fumecheng-10915	17	34	novel	novel	ADJ
fumecheng-10915	17	35	construction	construction	NOUN
fumecheng-10915	17	36	of	of	ADP
fumecheng-10915	17	37	the	the	DET
fumecheng-10915	17	38	cable	cable	NOUN
fumecheng-10915	17	39	winding	winding	NOUN
fumecheng-10915	17	40	/	/	SYM
fumecheng-10915	17	41	unwinding	unwind	VERB
fumecheng-10915	17	42	system	system	NOUN
fumecheng-10915	17	43	.	.	PUNCT
fumecheng-10915	18	1	kevac	kevac	PROPN
fumecheng-10915	18	2	et	et	PROPN
fumecheng-10915	18	3	al	al	PROPN
fumecheng-10915	18	4	.	.	PUNCT
fumecheng-10915	19	1	[	[	X
fumecheng-10915	19	2	7	7	X
fumecheng-10915	19	3	]	]	PUNCT
fumecheng-10915	19	4	analyzed	analyze	VERB
fumecheng-10915	19	5	the	the	DET
fumecheng-10915	19	6	phenomenon	phenomenon	NOUN
fumecheng-10915	19	7	of	of	ADP
fumecheng-10915	19	8	non	non	ADJ
fumecheng-10915	19	9	-	-	ADJ
fumecheng-10915	19	10	linear	linear	ADJ
fumecheng-10915	19	11	and	and	CCONJ
fumecheng-10915	19	12	pulsed	pulse	VERB
fumecheng-10915	19	13	nature	nature	NOUN
fumecheng-10915	19	14	of	of	ADP
fumecheng-10915	19	15	the	the	DET
fumecheng-10915	19	16	dynamic	dynamic	ADJ
fumecheng-10915	19	17	process	process	NOUN
fumecheng-10915	19	18	of	of	ADP
fumecheng-10915	19	19	rope	rope	NOUN
fumecheng-10915	19	20	winding	winding	NOUN
fumecheng-10915	19	21	/	/	SYM
fumecheng-10915	19	22	unwinding	unwind	VERB
fumecheng-10915	19	23	on	on	ADP
fumecheng-10915	19	24	a	a	DET
fumecheng-10915	19	25	winch	winch	NOUN
fumecheng-10915	19	26	.	.	PUNCT
fumecheng-10915	20	1	kang	kang	PROPN
fumecheng-10915	20	2	et	et	PROPN
fumecheng-10915	20	3	al	al	PROPN
fumecheng-10915	20	4	.	.	PUNCT
fumecheng-10915	21	1	[	[	X
fumecheng-10915	21	2	8	8	NUM
fumecheng-10915	21	3	]	]	PUNCT
fumecheng-10915	21	4	developed	develop	VERB
fumecheng-10915	21	5	a	a	DET
fumecheng-10915	21	6	device	device	NOUN
fumecheng-10915	21	7	for	for	ADP
fumecheng-10915	21	8	cable	cable	NOUN
fumecheng-10915	21	9	unwinding	unwind	VERB
fumecheng-10915	21	10	in	in	ADP
fumecheng-10915	21	11	order	order	NOUN
fumecheng-10915	21	12	to	to	PART
fumecheng-10915	21	13	follow	follow	VERB
fumecheng-10915	21	14	the	the	DET
fumecheng-10915	21	15	cable	cable	NOUN
fumecheng-10915	21	16	unwinding	unwind	VERB
fumecheng-10915	21	17	behavior	behavior	NOUN
fumecheng-10915	21	18	under	under	ADP
fumecheng-10915	21	19	various	various	ADJ
fumecheng-10915	21	20	unwinding	unwinding	ADJ
fumecheng-10915	21	21	conditions	condition	NOUN
fumecheng-10915	21	22	.	.	PUNCT
fumecheng-10915	22	1	xu	xu	PROPN
fumecheng-10915	22	2	et	et	PROPN
fumecheng-10915	23	1	al	al	PROPN
fumecheng-10915	23	2	.	.	PUNCT
fumecheng-10915	24	1	[	[	X
fumecheng-10915	24	2	9	9	NUM
fumecheng-10915	24	3	]	]	PUNCT
fumecheng-10915	24	4	proposed	propose	VERB
fumecheng-10915	24	5	a	a	DET
fumecheng-10915	24	6	novel	novel	ADJ
fumecheng-10915	24	7	tension	tension	NOUN
fumecheng-10915	24	8	control	control	NOUN
fumecheng-10915	24	9	method	method	NOUN
fumecheng-10915	24	10	for	for	ADP
fumecheng-10915	24	11	a	a	DET
fumecheng-10915	24	12	winding	wind	VERB
fumecheng-10915	24	13	machine	machine	NOUN
fumecheng-10915	24	14	,	,	PUNCT
fumecheng-10915	24	15	which	which	PRON
fumecheng-10915	24	16	can	can	AUX
fumecheng-10915	24	17	regulate	regulate	VERB
fumecheng-10915	24	18	the	the	DET
fumecheng-10915	24	19	fiber	fiber	NOUN
fumecheng-10915	24	20	tension	tension	NOUN
fumecheng-10915	24	21	and	and	CCONJ
fumecheng-10915	24	22	transport	transport	NOUN
fumecheng-10915	24	23	speed	speed	NOUN
fumecheng-10915	24	24	of	of	ADP
fumecheng-10915	24	25	the	the	DET
fumecheng-10915	24	26	winding	wind	VERB
fumecheng-10915	24	27	process	process	NOUN
fumecheng-10915	24	28	by	by	ADP
fumecheng-10915	24	29	governing	govern	VERB
fumecheng-10915	24	30	the	the	DET
fumecheng-10915	24	31	outputs	output	NOUN
fumecheng-10915	24	32	of	of	ADP
fumecheng-10915	24	33	three	three	NUM
fumecheng-10915	24	34	different	different	ADJ
fumecheng-10915	24	35	driven	drive	VERB
fumecheng-10915	24	36	rollers	roller	NOUN
fumecheng-10915	24	37	in	in	ADP
fumecheng-10915	24	38	three	three	NUM
fumecheng-10915	24	39	levels	level	NOUN
fumecheng-10915	24	40	.	.	PUNCT
fumecheng-10915	25	1	rodriguez	rodriguez	NOUN
fumecheng-10915	25	2	et	et	PROPN
fumecheng-10915	25	3	al	al	PROPN
fumecheng-10915	25	4	.	.	PUNCT
fumecheng-10915	26	1	[	[	X
fumecheng-10915	26	2	10	10	NUM
fumecheng-10915	26	3	]	]	PUNCT
fumecheng-10915	26	4	introduced	introduce	VERB
fumecheng-10915	26	5	a	a	DET
fumecheng-10915	26	6	reinforcement	reinforcement	NOUN
fumecheng-10915	26	7	learning	learning	NOUN
fumecheng-10915	26	8	approach	approach	NOUN
fumecheng-10915	26	9	to	to	PART
fumecheng-10915	26	10	optimize	optimize	VERB
fumecheng-10915	26	11	the	the	DET
fumecheng-10915	26	12	wire	wire	NOUN
fumecheng-10915	26	13	profile	profile	NOUN
fumecheng-10915	26	14	generated	generate	VERB
fumecheng-10915	26	15	by	by	ADP
fumecheng-10915	26	16	an	an	DET
fumecheng-10915	26	17	automated	automate	VERB
fumecheng-10915	26	18	wire	wire	NOUN
fumecheng-10915	26	19	winding	wind	VERB
fumecheng-10915	26	20	machine	machine	NOUN
fumecheng-10915	26	21	.	.	PUNCT
fumecheng-10915	27	1	hultman	hultman	ADJ
fumecheng-10915	27	2	et	et	PROPN
fumecheng-10915	27	3	al	al	PROPN
fumecheng-10915	27	4	.	.	PUNCT
fumecheng-10915	28	1	[	[	X
fumecheng-10915	28	2	11	11	NUM
fumecheng-10915	28	3	]	]	PUNCT
fumecheng-10915	28	4	presented	present	VERB
fumecheng-10915	28	5	a	a	DET
fumecheng-10915	28	6	production	production	NOUN
fumecheng-10915	28	7	method	method	NOUN
fumecheng-10915	28	8	using	use	VERB
fumecheng-10915	28	9	industrial	industrial	ADJ
fumecheng-10915	28	10	robots	robot	NOUN
fumecheng-10915	28	11	for	for	ADP
fumecheng-10915	28	12	automation	automation	NOUN
fumecheng-10915	28	13	of	of	ADP
fumecheng-10915	28	14	cable	cable	NOUN
fumecheng-10915	28	15	winding	winding	NOUN
fumecheng-10915	28	16	of	of	ADP
fumecheng-10915	28	17	electric	electric	ADJ
fumecheng-10915	28	18	machine	machine	NOUN
fumecheng-10915	28	19	stators	stator	NOUN
fumecheng-10915	28	20	,	,	PUNCT
fumecheng-10915	28	21	where	where	SCONJ
fumecheng-10915	28	22	the	the	DET
fumecheng-10915	28	23	concept	concept	NOUN
fumecheng-10915	28	24	was	be	AUX
fumecheng-10915	28	25	validated	validate	VERB
fumecheng-10915	28	26	through	through	ADP
fumecheng-10915	28	27	computer	computer	NOUN
fumecheng-10915	28	28	simulations	simulation	NOUN
fumecheng-10915	28	29	and	and	CCONJ
fumecheng-10915	28	30	full	full	ADJ
fumecheng-10915	28	31	-	-	PUNCT
fumecheng-10915	28	32	scale	scale	NOUN
fumecheng-10915	28	33	winding	wind	VERB
fumecheng-10915	28	34	experiments	experiment	NOUN
fumecheng-10915	28	35	.	.	PUNCT
fumecheng-10915	29	1	mousavi	mousavi	PROPN
fumecheng-10915	29	2	et	et	PROPN
fumecheng-10915	29	3	al	al	PROPN
fumecheng-10915	29	4	.	.	PUNCT
fumecheng-10915	30	1	[	[	X
fumecheng-10915	30	2	12	12	NUM
fumecheng-10915	30	3	]	]	PUNCT
fumecheng-10915	30	4	proposed	propose	VERB
fumecheng-10915	30	5	a	a	DET
fumecheng-10915	30	6	method	method	NOUN
fumecheng-10915	30	7	to	to	PART
fumecheng-10915	30	8	optimize	optimize	VERB
fumecheng-10915	30	9	the	the	DET
fumecheng-10915	30	10	non	non	ADJ
fumecheng-10915	30	11	-	-	ADJ
fumecheng-10915	30	12	negative	negative	ADJ
fumecheng-10915	30	13	wire	wire	NOUN
fumecheng-10915	30	14	tensions	tension	NOUN
fumecheng-10915	30	15	,	,	PUNCT
fumecheng-10915	30	16	through	through	ADP
fumecheng-10915	30	17	the	the	DET
fumecheng-10915	30	18	cables	cable	NOUN
fumecheng-10915	30	19	which	which	PRON
fumecheng-10915	30	20	were	be	AUX
fumecheng-10915	30	21	constrained	constrain	VERB
fumecheng-10915	30	22	based	base	VERB
fumecheng-10915	30	23	on	on	ADP
fumecheng-10915	30	24	the	the	DET
fumecheng-10915	30	25	workspace	workspace	NOUN
fumecheng-10915	30	26	conditions	condition	NOUN
fumecheng-10915	30	27	,	,	PUNCT
fumecheng-10915	30	28	in	in	ADP
fumecheng-10915	30	29	the	the	DET
fumecheng-10915	30	30	redundant	redundant	ADJ
fumecheng-10915	30	31	cable	cable	NOUN
fumecheng-10915	30	32	-	-	PUNCT
fumecheng-10915	30	33	driven	drive	VERB
fumecheng-10915	30	34	parallel	parallel	ADJ
fumecheng-10915	30	35	robots	robot	NOUN
fumecheng-10915	30	36	.	.	PUNCT
fumecheng-10915	31	1	the	the	DET
fumecheng-10915	31	2	effectiveness	effectiveness	NOUN
fumecheng-10915	31	3	of	of	ADP
fumecheng-10915	31	4	the	the	DET
fumecheng-10915	31	5	proposed	propose	VERB
fumecheng-10915	31	6	method	method	NOUN
fumecheng-10915	31	7	was	be	AUX
fumecheng-10915	31	8	verified	verify	VERB
fumecheng-10915	31	9	through	through	ADP
fumecheng-10915	31	10	an	an	DET
fumecheng-10915	31	11	experimental	experimental	ADJ
fumecheng-10915	31	12	study	study	NOUN
fumecheng-10915	31	13	on	on	ADP
fumecheng-10915	31	14	the	the	DET
fumecheng-10915	31	15	robocab	robocab	NOUN
fumecheng-10915	31	16	cable	cable	NOUN
fumecheng-10915	31	17	robot	robot	NOUN
fumecheng-10915	31	18	.	.	PUNCT
fumecheng-10915	32	1	mishra	mishra	PROPN
fumecheng-10915	32	2	et	et	PROPN
fumecheng-10915	32	3	al	al	PROPN
fumecheng-10915	32	4	.	.	PUNCT
fumecheng-10915	33	1	[	[	X
fumecheng-10915	33	2	13	13	NUM
fumecheng-10915	33	3	]	]	PUNCT
fumecheng-10915	33	4	proposed	propose	VERB
fumecheng-10915	33	5	an	an	DET
fumecheng-10915	33	6	unsupervised	unsupervised	ADJ
fumecheng-10915	33	7	neural	neural	ADJ
fumecheng-10915	33	8	network	network	NOUN
fumecheng-10915	33	9	algorithm	algorithm	NOUN
fumecheng-10915	33	10	to	to	PART
fumecheng-10915	33	11	perform	perform	VERB
fumecheng-10915	33	12	real	real	ADJ
fumecheng-10915	33	13	-	-	PUNCT
fumecheng-10915	33	14	time	time	NOUN
fumecheng-10915	33	15	forward	forward	ADV
fumecheng-10915	33	16	geometrico	geometrico	NOUN
fumecheng-10915	33	17	-	-	PUNCT
fumecheng-10915	33	18	static	static	NOUN
fumecheng-10915	33	19	analysis	analysis	NOUN
fumecheng-10915	33	20	of	of	ADP
fumecheng-10915	33	21	an	an	DET
fumecheng-10915	33	22	under	under	ADV
fumecheng-10915	33	23	-	-	PUNCT
fumecheng-10915	33	24	constrained	constrain	VERB
fumecheng-10915	33	25	suspended	suspend	VERB
fumecheng-10915	33	26	cable	cable	NOUN
fumecheng-10915	33	27	-	-	PUNCT
fumecheng-10915	33	28	driven	drive	VERB
fumecheng-10915	33	29	parallel	parallel	ADJ
fumecheng-10915	33	30	robot	robot	NOUN
fumecheng-10915	33	31	in	in	ADP
fumecheng-10915	33	32	a	a	DET
fumecheng-10915	33	33	suspended	suspend	VERB
fumecheng-10915	33	34	configuration	configuration	NOUN
fumecheng-10915	33	35	under	under	ADP
fumecheng-10915	33	36	the	the	DET
fumecheng-10915	33	37	action	action	NOUN
fumecheng-10915	33	38	of	of	ADP
fumecheng-10915	33	39	gravity	gravity	NOUN
fumecheng-10915	33	40	.	.	PUNCT
fumecheng-10915	34	1	li	li	PROPN
fumecheng-10915	34	2	et	et	PROPN
fumecheng-10915	34	3	al	al	PROPN
fumecheng-10915	34	4	.	.	PUNCT
fumecheng-10915	35	1	[	[	X
fumecheng-10915	35	2	14	14	NUM
fumecheng-10915	35	3	]	]	PUNCT
fumecheng-10915	35	4	designed	design	VERB
fumecheng-10915	35	5	,	,	PUNCT
fumecheng-10915	35	6	developed	develop	VERB
fumecheng-10915	35	7	and	and	CCONJ
fumecheng-10915	35	8	evaluated	evaluate	VERB
fumecheng-10915	35	9	an	an	DET
fumecheng-10915	35	10	innovative	innovative	ADJ
fumecheng-10915	35	11	miniaturized	miniaturize	VERB
fumecheng-10915	35	12	,	,	PUNCT
fumecheng-10915	35	13	low	low	ADJ
fumecheng-10915	35	14	friction	friction	NOUN
fumecheng-10915	35	15	,	,	PUNCT
fumecheng-10915	35	16	back	back	ADV
fumecheng-10915	35	17	-	-	PUNCT
fumecheng-10915	35	18	drivable	drivable	VERB
fumecheng-10915	35	19	reducing	reduce	VERB
fumecheng-10915	35	20	mechanism	mechanism	NOUN
fumecheng-10915	35	21	for	for	ADP
fumecheng-10915	35	22	haptic	haptic	ADJ
fumecheng-10915	35	23	or	or	CCONJ
fumecheng-10915	35	24	surgical	surgical	ADJ
fumecheng-10915	35	25	robot	robot	NOUN
fumecheng-10915	35	26	applications	application	NOUN
fumecheng-10915	35	27	,	,	PUNCT
fumecheng-10915	35	28	while	while	SCONJ
fumecheng-10915	35	29	francis	francis	PROPN
fumecheng-10915	35	30	et	et	PROPN
fumecheng-10915	35	31	al	al	PROPN
fumecheng-10915	35	32	.	.	PUNCT
fumecheng-10915	36	1	[	[	X
fumecheng-10915	36	2	15	15	NUM
fumecheng-10915	36	3	]	]	PUNCT
fumecheng-10915	36	4	proposed	propose	VERB
fumecheng-10915	36	5	a	a	DET
fumecheng-10915	36	6	cable	cable	NOUN
fumecheng-10915	36	7	driven	drive	VERB
fumecheng-10915	36	8	robotic	robotic	ADJ
fumecheng-10915	36	9	palpation	palpation	NOUN
fumecheng-10915	36	10	system	system	NOUN
fumecheng-10915	36	11	,	,	PUNCT
fumecheng-10915	36	12	where	where	SCONJ
fumecheng-10915	36	13	an	an	DET
fumecheng-10915	36	14	indirect	indirect	ADJ
fumecheng-10915	36	15	method	method	NOUN
fumecheng-10915	36	16	based	base	VERB
fumecheng-10915	36	17	on	on	ADP
fumecheng-10915	36	18	cable	cable	NOUN
fumecheng-10915	36	19	tension	tension	NOUN
fumecheng-10915	36	20	observation	observation	NOUN
fumecheng-10915	36	21	was	be	AUX
fumecheng-10915	36	22	used	use	VERB
fumecheng-10915	36	23	to	to	PART
fumecheng-10915	36	24	estimate	estimate	VERB
fumecheng-10915	36	25	the	the	DET
fumecheng-10915	36	26	contact	contact	NOUN
fumecheng-10915	36	27	force	force	NOUN
fumecheng-10915	36	28	.	.	PUNCT
fumecheng-10915	37	1	imamura	imamura	PROPN
fumecheng-10915	37	2	et	et	PROPN
fumecheng-10915	37	3	al	al	PROPN
fumecheng-10915	37	4	.	.	PUNCT
fumecheng-10915	38	1	[	[	X
fumecheng-10915	38	2	16	16	NUM
fumecheng-10915	38	3	]	]	PUNCT
fumecheng-10915	38	4	designed	design	VERB
fumecheng-10915	38	5	a	a	DET
fumecheng-10915	38	6	filament	filament	NOUN
fumecheng-10915	38	7	winding	wind	VERB
fumecheng-10915	38	8	machine	machine	NOUN
fumecheng-10915	38	9	that	that	PRON
fumecheng-10915	38	10	can	can	AUX
fumecheng-10915	38	11	measure	measure	VERB
fumecheng-10915	38	12	and	and	CCONJ
fumecheng-10915	38	13	control	control	VERB
fumecheng-10915	38	14	winding	wind	VERB
fumecheng-10915	38	15	tension	tension	NOUN
fumecheng-10915	38	16	.	.	PUNCT
fumecheng-10915	39	1	for	for	ADP
fumecheng-10915	39	2	this	this	DET
fumecheng-10915	39	3	purpose	purpose	NOUN
fumecheng-10915	39	4	,	,	PUNCT
fumecheng-10915	39	5	two	two	NUM
fumecheng-10915	39	6	kinds	kind	NOUN
fumecheng-10915	39	7	of	of	ADP
fumecheng-10915	39	8	winding	wind	VERB
fumecheng-10915	39	9	tension	tension	NOUN
fumecheng-10915	39	10	control	control	NOUN
fumecheng-10915	39	11	were	be	AUX
fumecheng-10915	39	12	proposed	propose	VERB
fumecheng-10915	39	13	and	and	CCONJ
fumecheng-10915	39	14	implemented	implement	VERB
fumecheng-10915	39	15	using	use	VERB
fumecheng-10915	39	16	a	a	DET
fumecheng-10915	39	17	proportional	proportional	ADJ
fumecheng-10915	39	18	–	–	PUNCT
fumecheng-10915	39	19	integral	integral	ADJ
fumecheng-10915	39	20	–	–	PUNCT
fumecheng-10915	39	21	derivative	derivative	ADJ
fumecheng-10915	39	22	pid	pid	NOUN
fumecheng-10915	39	23	or	or	CCONJ
fumecheng-10915	39	24	i	i	PROPN
fumecheng-10915	39	25	-	-	PUNCT
fumecheng-10915	39	26	pd	pd	PROPN
fumecheng-10915	39	27	control	control	NOUN
fumecheng-10915	39	28	.	.	PUNCT
fumecheng-10915	40	1	sheng	sheng	PROPN
fumecheng-10915	40	2	-	-	PUNCT
fumecheng-10915	40	3	le	le	PROPN
fumecheng-10915	40	4	et	et	PROPN
fumecheng-10915	40	5	al	al	PROPN
fumecheng-10915	40	6	.	.	PUNCT
fumecheng-10915	41	1	[	[	X
fumecheng-10915	41	2	17	17	NUM
fumecheng-10915	41	3	]	]	PUNCT
fumecheng-10915	41	4	introduced	introduce	VERB
fumecheng-10915	41	5	a	a	DET
fumecheng-10915	41	6	closed	closed	ADJ
fumecheng-10915	41	7	-	-	PUNCT
fumecheng-10915	41	8	loop	loop	NOUN
fumecheng-10915	41	9	tension	tension	NOUN
fumecheng-10915	41	10	control	control	NOUN
fumecheng-10915	41	11	system	system	NOUN
fumecheng-10915	41	12	with	with	ADP
fumecheng-10915	41	13	the	the	DET
fumecheng-10915	41	14	programmable	programmable	ADJ
fumecheng-10915	41	15	logic	logic	NOUN
fumecheng-10915	41	16	controller	controller	NOUN
fumecheng-10915	41	17	(	(	PUNCT
fumecheng-10915	41	18	plc	plc	PROPN
fumecheng-10915	41	19	)	)	PUNCT
fumecheng-10915	41	20	.	.	PUNCT
fumecheng-10915	42	1	lu	lu	PROPN
fumecheng-10915	42	2	et	et	PROPN
fumecheng-10915	42	3	al	al	PROPN
fumecheng-10915	42	4	.	.	PUNCT
fumecheng-10915	43	1	[	[	X
fumecheng-10915	43	2	18	18	NUM
fumecheng-10915	43	3	]	]	PUNCT
fumecheng-10915	43	4	developed	develop	VERB
fumecheng-10915	43	5	an	an	DET
fumecheng-10915	43	6	iterative	iterative	NOUN
fumecheng-10915	43	7	learning	learn	VERB
fumecheng-10915	43	8	sliding	slide	VERB
fumecheng-10915	43	9	mode	mode	NOUN
fumecheng-10915	43	10	control	control	NOUN
fumecheng-10915	43	11	scheme	scheme	NOUN
fumecheng-10915	43	12	for	for	ADP
fumecheng-10915	43	13	wire	wire	NOUN
fumecheng-10915	43	14	tension	tension	NOUN
fumecheng-10915	43	15	control	control	NOUN
fumecheng-10915	43	16	,	,	PUNCT
fumecheng-10915	43	17	while	while	SCONJ
fumecheng-10915	43	18	a	a	DET
fumecheng-10915	43	19	disturbance	disturbance	NOUN
fumecheng-10915	43	20	observer	observer	NOUN
fumecheng-10915	43	21	was	be	AUX
fumecheng-10915	43	22	employed	employ	VERB
fumecheng-10915	43	23	to	to	PART
fumecheng-10915	43	24	estimate	estimate	VERB
fumecheng-10915	43	25	the	the	DET
fumecheng-10915	43	26	wire	wire	NOUN
fumecheng-10915	43	27	tension	tension	NOUN
fumecheng-10915	43	28	for	for	ADP
fumecheng-10915	43	29	the	the	DET
fumecheng-10915	43	30	implementation	implementation	NOUN
fumecheng-10915	43	31	of	of	ADP
fumecheng-10915	43	32	sensorless	sensorless	NOUN
fumecheng-10915	43	33	wire	wire	NOUN
fumecheng-10915	43	34	tension	tension	NOUN
fumecheng-10915	43	35	control	control	NOUN
fumecheng-10915	43	36	.	.	PUNCT
fumecheng-10915	44	1	abjabi	abjabi	NOUN
fumecheng-10915	44	2	et	et	PROPN
fumecheng-10915	44	3	al	al	PROPN
fumecheng-10915	44	4	.	.	PUNCT
fumecheng-10915	45	1	[	[	X
fumecheng-10915	45	2	19	19	NUM
fumecheng-10915	45	3	]	]	PUNCT
fumecheng-10915	45	4	designed	design	VERB
fumecheng-10915	45	5	a	a	DET
fumecheng-10915	45	6	sliding	sliding	ADJ
fumecheng-10915	45	7	-	-	PUNCT
fumecheng-10915	45	8	mode	mode	NOUN
fumecheng-10915	45	9	(	(	PUNCT
fumecheng-10915	45	10	sm	sm	NOUN
fumecheng-10915	45	11	)	)	PUNCT
fumecheng-10915	45	12	feedback	feedback	NOUN
fumecheng-10915	45	13	linearization	linearization	NOUN
fumecheng-10915	45	14	control	control	NOUN
fumecheng-10915	45	15	system	system	NOUN
fumecheng-10915	45	16	for	for	ADP
fumecheng-10915	45	17	a	a	DET
fumecheng-10915	45	18	multi	multi	ADJ
fumecheng-10915	45	19	-	-	ADJ
fumecheng-10915	45	20	motor	motor	ADJ
fumecheng-10915	45	21	web	web	NOUN
fumecheng-10915	45	22	-	-	ADJ
fumecheng-10915	45	23	winding	wind	VERB
fumecheng-10915	45	24	system	system	NOUN
fumecheng-10915	45	25	without	without	ADP
fumecheng-10915	45	26	a	a	DET
fumecheng-10915	45	27	tension	tension	NOUN
fumecheng-10915	45	28	sensor	sensor	NOUN
fumecheng-10915	45	29	.	.	PUNCT
fumecheng-10915	46	1	knittel	knittel	PROPN
fumecheng-10915	46	2	et	et	PROPN
fumecheng-10915	46	3	al	al	PROPN
fumecheng-10915	46	4	.	.	PUNCT
fumecheng-10915	47	1	[	[	X
fumecheng-10915	47	2	20	20	NUM
fumecheng-10915	47	3	]	]	PUNCT
fumecheng-10915	47	4	presented	present	VERB
fumecheng-10915	47	5	multivariable	multivariable	ADJ
fumecheng-10915	47	6	h∞	h∞	DET
fumecheng-10915	47	7	robust	robust	ADJ
fumecheng-10915	47	8	control	control	NOUN
fumecheng-10915	47	9	with	with	ADP
fumecheng-10915	47	10	two	two	NUM
fumecheng-10915	47	11	degrees	degree	NOUN
fumecheng-10915	47	12	of	of	ADP
fumecheng-10915	47	13	freedom	freedom	NOUN
fumecheng-10915	47	14	and	and	CCONJ
fumecheng-10915	47	15	gain	gain	VERB
fumecheng-10915	47	16	scheduling	scheduling	NOUN
fumecheng-10915	47	17	applied	apply	VERB
fumecheng-10915	47	18	to	to	ADP
fumecheng-10915	47	19	winding	wind	VERB
fumecheng-10915	47	20	systems	system	NOUN
fumecheng-10915	47	21	,	,	PUNCT
fumecheng-10915	47	22	where	where	SCONJ
fumecheng-10915	47	23	a	a	DET
fumecheng-10915	47	24	global	global	ADJ
fumecheng-10915	47	25	controller	controller	NOUN
fumecheng-10915	47	26	,	,	PUNCT
fumecheng-10915	47	27	a	a	DET
fumecheng-10915	47	28	semidecentralized	semidecentralize	VERB
fumecheng-10915	47	29	controller	controller	NOUN
fumecheng-10915	47	30	,	,	PUNCT
fumecheng-10915	47	31	and	and	CCONJ
fumecheng-10915	47	32	a	a	DET
fumecheng-10915	47	33	semidecentralized	semidecentralize	VERB
fumecheng-10915	47	34	controller	controller	NOUN
fumecheng-10915	47	35	with	with	ADP
fumecheng-10915	47	36	overlapping	overlapping	NOUN
fumecheng-10915	47	37	were	be	AUX
fumecheng-10915	47	38	considered	consider	VERB
fumecheng-10915	47	39	.	.	PUNCT
fumecheng-10915	48	1	wang	wang	PROPN
fumecheng-10915	48	2	et	et	PROPN
fumecheng-10915	48	3	al	al	PROPN
fumecheng-10915	48	4	.	.	PUNCT
fumecheng-10915	49	1	[	[	X
fumecheng-10915	49	2	21	21	NUM
fumecheng-10915	49	3	]	]	PUNCT
fumecheng-10915	49	4	researched	research	VERB
fumecheng-10915	49	5	and	and	CCONJ
fumecheng-10915	49	6	manufactured	manufacture	VERB
fumecheng-10915	49	7	a	a	DET
fumecheng-10915	49	8	closed	close	VERB
fumecheng-10915	49	9	-	-	PUNCT
fumecheng-10915	49	10	loop	loop	NOUN
fumecheng-10915	49	11	tension	tension	NOUN
fumecheng-10915	49	12	control	control	NOUN
fumecheng-10915	49	13	system	system	NOUN
fumecheng-10915	49	14	,	,	PUNCT
fumecheng-10915	49	15	where	where	SCONJ
fumecheng-10915	49	16	a	a	DET
fumecheng-10915	49	17	neural	neural	ADJ
fumecheng-10915	49	18	network	network	NOUN
fumecheng-10915	49	19	was	be	AUX
fumecheng-10915	49	20	applied	apply	VERB
fumecheng-10915	49	21	to	to	ADP
fumecheng-10915	49	22	the	the	DET
fumecheng-10915	49	23	system	system	NOUN
fumecheng-10915	49	24	to	to	PART
fumecheng-10915	49	25	overcome	overcome	VERB
fumecheng-10915	49	26	the	the	DET
fumecheng-10915	49	27	shortcomings	shortcoming	NOUN
fumecheng-10915	49	28	of	of	ADP
fumecheng-10915	49	29	the	the	DET
fumecheng-10915	49	30	traditional	traditional	ADJ
fumecheng-10915	49	31	proportional	proportional	ADJ
fumecheng-10915	49	32	–	–	PUNCT
fumecheng-10915	49	33	integral	integral	ADJ
fumecheng-10915	49	34	–	–	PUNCT
fumecheng-10915	49	35	derivative	derivative	ADJ
fumecheng-10915	49	36	control	control	NOUN
fumecheng-10915	49	37	method	method	NOUN
fumecheng-10915	49	38	.	.	PUNCT
fumecheng-10915	50	1	zhang	zhang	PROPN
fumecheng-10915	50	2	et	et	PROPN
fumecheng-10915	50	3	al	al	PROPN
fumecheng-10915	50	4	.	.	PUNCT
fumecheng-10915	51	1	[	[	X
fumecheng-10915	51	2	22	22	NUM
fumecheng-10915	51	3	]	]	PUNCT
fumecheng-10915	51	4	presented	present	VERB
fumecheng-10915	51	5	a	a	DET
fumecheng-10915	51	6	new	new	ADJ
fumecheng-10915	51	7	control	control	NOUN
fumecheng-10915	51	8	scheme	scheme	NOUN
fumecheng-10915	51	9	for	for	ADP
fumecheng-10915	51	10	the	the	DET
fumecheng-10915	51	11	winding	wind	VERB
fumecheng-10915	51	12	process	process	NOUN
fumecheng-10915	51	13	of	of	ADP
fumecheng-10915	51	14	stranded	strand	VERB
fumecheng-10915	51	15	wire	wire	NOUN
fumecheng-10915	51	16	helical	helical	ADJ
fumecheng-10915	51	17	springs	spring	NOUN
fumecheng-10915	51	18	on	on	ADP
fumecheng-10915	51	19	a	a	DET
fumecheng-10915	51	20	computer	computer	NOUN
fumecheng-10915	51	21	numerical	numerical	PROPN
fumecheng-10915	51	22	control	control	PROPN
fumecheng-10915	51	23	(	(	PUNCT
fumecheng-10915	51	24	cnc	cnc	PROPN
fumecheng-10915	51	25	)	)	PUNCT
fumecheng-10915	51	26	machine	machine	NOUN
fumecheng-10915	51	27	to	to	PART
fumecheng-10915	51	28	keep	keep	VERB
fumecheng-10915	51	29	the	the	DET
fumecheng-10915	51	30	wire	wire	NOUN
fumecheng-10915	51	31	tension	tension	NOUN
fumecheng-10915	51	32	uniform	uniform	NOUN
fumecheng-10915	51	33	using	use	VERB
fumecheng-10915	51	34	the	the	DET
fumecheng-10915	51	35	proportion	proportion	NOUN
fumecheng-10915	51	36	integral	integral	ADJ
fumecheng-10915	51	37	neural	neural	ADJ
fumecheng-10915	51	38	network	network	NOUN
fumecheng-10915	51	39	,	,	PUNCT
fumecheng-10915	51	40	while	while	SCONJ
fumecheng-10915	51	41	zhu	zhu	PROPN
fumecheng-10915	51	42	et	et	PROPN
fumecheng-10915	51	43	al	al	PROPN
fumecheng-10915	51	44	.	.	PUNCT
fumecheng-10915	52	1	[	[	X
fumecheng-10915	52	2	23	23	NUM
fumecheng-10915	52	3	]	]	PUNCT
fumecheng-10915	52	4	proposed	propose	VERB
fumecheng-10915	52	5	a	a	DET
fumecheng-10915	52	6	neural	neural	ADJ
fumecheng-10915	52	7	network	network	NOUN
fumecheng-10915	52	8	-	-	PUNCT
fumecheng-10915	52	9	based	base	VERB
fumecheng-10915	52	10	cable	cable	NOUN
fumecheng-10915	52	11	tension	tension	NOUN
fumecheng-10915	52	12	prediction	prediction	NOUN
fumecheng-10915	52	13	model	model	NOUN
fumecheng-10915	52	14	for	for	ADP
fumecheng-10915	52	15	tension	tension	NOUN
fumecheng-10915	52	16	control	control	NOUN
fumecheng-10915	52	17	of	of	ADP
fumecheng-10915	52	18	the	the	DET
fumecheng-10915	52	19	traction	traction	PROPN
fumecheng-10915	52	20	winch	winch	NOUN
fumecheng-10915	52	21	cable	cable	NOUN
fumecheng-10915	52	22	in	in	ADP
fumecheng-10915	52	23	order	order	NOUN
fumecheng-10915	52	24	to	to	PART
fumecheng-10915	52	25	substitute	substitute	VERB
fumecheng-10915	52	26	the	the	DET
fumecheng-10915	52	27	traditional	traditional	ADJ
fumecheng-10915	52	28	control	control	NOUN
fumecheng-10915	52	29	that	that	PRON
fumecheng-10915	52	30	can	can	AUX
fumecheng-10915	52	31	make	make	VERB
fumecheng-10915	52	32	the	the	DET
fumecheng-10915	52	33	cable	cable	NOUN
fumecheng-10915	52	34	too	too	ADV
fumecheng-10915	52	35	slack	slack	VERB
fumecheng-10915	52	36	or	or	CCONJ
fumecheng-10915	52	37	too	too	ADV
fumecheng-10915	52	38	tight	tight	ADJ
fumecheng-10915	52	39	.	.	PUNCT
fumecheng-10915	53	1	control	control	NOUN
fumecheng-10915	53	2	of	of	ADP
fumecheng-10915	53	3	a	a	DET
fumecheng-10915	53	4	wire	wire	NOUN
fumecheng-10915	53	5	tensioning	tensione	VERB
fumecheng-10915	53	6	system	system	NOUN
fumecheng-10915	53	7	with	with	ADP
fumecheng-10915	53	8	force	force	NOUN
fumecheng-10915	53	9	prediction	prediction	NOUN
fumecheng-10915	53	10	using	use	VERB
fumecheng-10915	53	11	artificial	artificial	ADJ
fumecheng-10915	53	12	neural	neural	ADJ
fumecheng-10915	53	13	networks	network	NOUN
fumecheng-10915	53	14	3	3	NUM
fumecheng-10915	53	15	this	this	DET
fumecheng-10915	53	16	paper	paper	NOUN
fumecheng-10915	53	17	presents	present	VERB
fumecheng-10915	53	18	the	the	DET
fumecheng-10915	53	19	design	design	NOUN
fumecheng-10915	53	20	and	and	CCONJ
fumecheng-10915	53	21	control	control	NOUN
fumecheng-10915	53	22	of	of	ADP
fumecheng-10915	53	23	a	a	DET
fumecheng-10915	53	24	wire	wire	NOUN
fumecheng-10915	53	25	tensioning	tensione	VERB
fumecheng-10915	53	26	system	system	NOUN
fumecheng-10915	53	27	as	as	ADP
fumecheng-10915	53	28	the	the	DET
fumecheng-10915	53	29	subassembly	subassembly	NOUN
fumecheng-10915	53	30	of	of	ADP
fumecheng-10915	53	31	the	the	DET
fumecheng-10915	53	32	larger	large	ADJ
fumecheng-10915	53	33	self	self	NOUN
fumecheng-10915	53	34	-	-	PUNCT
fumecheng-10915	53	35	propelled	propel	VERB
fumecheng-10915	53	36	herding	herding	NOUN
fumecheng-10915	53	37	and	and	CCONJ
fumecheng-10915	53	38	pasturing	pasture	VERB
fumecheng-10915	53	39	system	system	NOUN
fumecheng-10915	53	40	called	call	VERB
fumecheng-10915	53	41	roboshepherd	roboshepherd	NOUN
fumecheng-10915	53	42	.	.	PUNCT
fumecheng-10915	54	1	the	the	DET
fumecheng-10915	54	2	main	main	ADJ
fumecheng-10915	54	3	function	function	NOUN
fumecheng-10915	54	4	of	of	ADP
fumecheng-10915	54	5	the	the	DET
fumecheng-10915	54	6	developed	develop	VERB
fumecheng-10915	54	7	system	system	NOUN
fumecheng-10915	54	8	is	be	AUX
fumecheng-10915	54	9	to	to	PART
fumecheng-10915	54	10	maintain	maintain	VERB
fumecheng-10915	54	11	a	a	DET
fumecheng-10915	54	12	certain	certain	ADJ
fumecheng-10915	54	13	tension	tension	NOUN
fumecheng-10915	54	14	in	in	ADP
fumecheng-10915	54	15	the	the	DET
fumecheng-10915	54	16	wire	wire	NOUN
fumecheng-10915	54	17	by	by	ADP
fumecheng-10915	54	18	winding	wind	VERB
fumecheng-10915	54	19	or	or	CCONJ
fumecheng-10915	54	20	unwinding	unwind	VERB
fumecheng-10915	54	21	the	the	DET
fumecheng-10915	54	22	wire	wire	NOUN
fumecheng-10915	54	23	,	,	PUNCT
fumecheng-10915	54	24	as	as	ADV
fumecheng-10915	54	25	well	well	ADV
fumecheng-10915	54	26	as	as	ADP
fumecheng-10915	54	27	to	to	PART
fumecheng-10915	54	28	enable	enable	VERB
fumecheng-10915	54	29	different	different	ADJ
fumecheng-10915	54	30	formations	formation	NOUN
fumecheng-10915	54	31	of	of	ADP
fumecheng-10915	54	32	the	the	DET
fumecheng-10915	54	33	roboshepherd	roboshepherd	NOUN
fumecheng-10915	54	34	system	system	NOUN
fumecheng-10915	54	35	.	.	PUNCT
fumecheng-10915	55	1	the	the	DET
fumecheng-10915	55	2	presented	present	VERB
fumecheng-10915	55	3	wire	wire	NOUN
fumecheng-10915	55	4	tensioning	tensione	VERB
fumecheng-10915	55	5	system	system	NOUN
fumecheng-10915	55	6	consists	consist	VERB
fumecheng-10915	55	7	of	of	ADP
fumecheng-10915	55	8	a	a	DET
fumecheng-10915	55	9	force	force	NOUN
fumecheng-10915	55	10	sensor	sensor	NOUN
fumecheng-10915	55	11	located	locate	VERB
fumecheng-10915	55	12	on	on	ADP
fumecheng-10915	55	13	one	one	NUM
fumecheng-10915	55	14	robotic	robotic	ADJ
fumecheng-10915	55	15	unit	unit	NOUN
fumecheng-10915	55	16	and	and	CCONJ
fumecheng-10915	55	17	winding	wind	VERB
fumecheng-10915	55	18	reels	reel	NOUN
fumecheng-10915	55	19	located	locate	VERB
fumecheng-10915	55	20	on	on	ADP
fumecheng-10915	55	21	the	the	DET
fumecheng-10915	55	22	other	other	ADJ
fumecheng-10915	55	23	robotic	robotic	ADJ
fumecheng-10915	55	24	unit	unit	NOUN
fumecheng-10915	55	25	.	.	PUNCT
fumecheng-10915	56	1	the	the	DET
fumecheng-10915	56	2	wire	wire	NOUN
fumecheng-10915	56	3	is	be	AUX
fumecheng-10915	56	4	wound	wound	ADJ
fumecheng-10915	56	5	or	or	CCONJ
fumecheng-10915	56	6	unwound	unwound	NOUN
fumecheng-10915	56	7	from	from	ADP
fumecheng-10915	56	8	the	the	DET
fumecheng-10915	56	9	winding	wind	VERB
fumecheng-10915	56	10	reels	reel	NOUN
fumecheng-10915	56	11	,	,	PUNCT
fumecheng-10915	56	12	whereby	whereby	SCONJ
fumecheng-10915	56	13	the	the	DET
fumecheng-10915	56	14	sensor	sensor	NOUN
fumecheng-10915	56	15	detects	detect	VERB
fumecheng-10915	56	16	and	and	CCONJ
fumecheng-10915	56	17	sends	send	VERB
fumecheng-10915	56	18	information	information	NOUN
fumecheng-10915	56	19	about	about	ADP
fumecheng-10915	56	20	the	the	DET
fumecheng-10915	56	21	force	force	NOUN
fumecheng-10915	56	22	in	in	ADP
fumecheng-10915	56	23	the	the	DET
fumecheng-10915	56	24	wire	wire	NOUN
fumecheng-10915	56	25	to	to	ADP
fumecheng-10915	56	26	the	the	DET
fumecheng-10915	56	27	control	control	NOUN
fumecheng-10915	56	28	system	system	NOUN
fumecheng-10915	56	29	.	.	PUNCT
fumecheng-10915	57	1	the	the	DET
fumecheng-10915	57	2	developed	develop	VERB
fumecheng-10915	57	3	control	control	NOUN
fumecheng-10915	57	4	algorithm	algorithm	NOUN
fumecheng-10915	57	5	monitors	monitor	VERB
fumecheng-10915	57	6	the	the	DET
fumecheng-10915	57	7	force	force	NOUN
fumecheng-10915	57	8	in	in	ADP
fumecheng-10915	57	9	the	the	DET
fumecheng-10915	57	10	wire	wire	NOUN
fumecheng-10915	57	11	and	and	CCONJ
fumecheng-10915	57	12	tightens	tighten	VERB
fumecheng-10915	57	13	or	or	CCONJ
fumecheng-10915	57	14	loosens	loosen	VERB
fumecheng-10915	57	15	the	the	DET
fumecheng-10915	57	16	wire	wire	NOUN
fumecheng-10915	57	17	as	as	SCONJ
fumecheng-10915	57	18	needed	need	VERB
fumecheng-10915	57	19	.	.	PUNCT
fumecheng-10915	58	1	during	during	ADP
fumecheng-10915	58	2	the	the	DET
fumecheng-10915	58	3	initial	initial	ADJ
fumecheng-10915	58	4	tests	test	NOUN
fumecheng-10915	58	5	,	,	PUNCT
fumecheng-10915	58	6	it	it	PRON
fumecheng-10915	58	7	was	be	AUX
fumecheng-10915	58	8	determined	determine	VERB
fumecheng-10915	58	9	that	that	SCONJ
fumecheng-10915	58	10	the	the	DET
fumecheng-10915	58	11	traditional	traditional	ADJ
fumecheng-10915	58	12	closed	closed	ADJ
fumecheng-10915	58	13	loop	loop	NOUN
fumecheng-10915	58	14	control	control	NOUN
fumecheng-10915	58	15	used	use	VERB
fumecheng-10915	58	16	to	to	PART
fumecheng-10915	58	17	control	control	VERB
fumecheng-10915	58	18	the	the	DET
fumecheng-10915	58	19	wire	wire	NOUN
fumecheng-10915	58	20	tensioning	tensione	VERB
fumecheng-10915	58	21	system	system	NOUN
fumecheng-10915	58	22	worked	work	VERB
fumecheng-10915	58	23	well	well	ADV
fumecheng-10915	58	24	when	when	SCONJ
fumecheng-10915	58	25	the	the	DET
fumecheng-10915	58	26	robotic	robotic	ADJ
fumecheng-10915	58	27	units	unit	NOUN
fumecheng-10915	58	28	did	do	AUX
fumecheng-10915	58	29	not	not	PART
fumecheng-10915	58	30	move	move	VERB
fumecheng-10915	58	31	.	.	PUNCT
fumecheng-10915	59	1	however	however	ADV
fumecheng-10915	59	2	,	,	PUNCT
fumecheng-10915	59	3	during	during	ADP
fumecheng-10915	59	4	the	the	DET
fumecheng-10915	59	5	movement	movement	NOUN
fumecheng-10915	59	6	of	of	ADP
fumecheng-10915	59	7	robotic	robotic	ADJ
fumecheng-10915	59	8	units	unit	NOUN
fumecheng-10915	59	9	on	on	ADP
fumecheng-10915	59	10	terrains	terrain	NOUN
fumecheng-10915	59	11	of	of	ADP
fumecheng-10915	59	12	different	different	ADJ
fumecheng-10915	59	13	relief	relief	NOUN
fumecheng-10915	59	14	,	,	PUNCT
fumecheng-10915	59	15	the	the	DET
fumecheng-10915	59	16	control	control	NOUN
fumecheng-10915	59	17	algorithm	algorithm	NOUN
fumecheng-10915	59	18	showed	show	VERB
fumecheng-10915	59	19	certain	certain	ADJ
fumecheng-10915	59	20	shortcomings	shortcoming	NOUN
fumecheng-10915	59	21	,	,	PUNCT
fumecheng-10915	59	22	i.e.	i.e.	X
fumecheng-10915	59	23	,	,	PUNCT
fumecheng-10915	59	24	it	it	PRON
fumecheng-10915	59	25	was	be	AUX
fumecheng-10915	59	26	not	not	PART
fumecheng-10915	59	27	always	always	ADV
fumecheng-10915	59	28	able	able	ADJ
fumecheng-10915	59	29	to	to	PART
fumecheng-10915	59	30	respond	respond	VERB
fumecheng-10915	59	31	in	in	ADP
fumecheng-10915	59	32	an	an	DET
fumecheng-10915	59	33	adequate	adequate	ADJ
fumecheng-10915	59	34	way	way	NOUN
fumecheng-10915	59	35	in	in	ADP
fumecheng-10915	59	36	real	real	ADJ
fumecheng-10915	59	37	time	time	NOUN
fumecheng-10915	59	38	,	,	PUNCT
fumecheng-10915	59	39	for	for	ADP
fumecheng-10915	59	40	example	example	NOUN
fumecheng-10915	59	41	,	,	PUNCT
fumecheng-10915	59	42	insufficient	insufficient	ADJ
fumecheng-10915	59	43	or	or	CCONJ
fumecheng-10915	59	44	excessive	excessive	ADJ
fumecheng-10915	59	45	tension	tension	NOUN
fumecheng-10915	59	46	in	in	ADP
fumecheng-10915	59	47	the	the	DET
fumecheng-10915	59	48	wire	wire	NOUN
fumecheng-10915	59	49	might	might	AUX
fumecheng-10915	59	50	occur	occur	VERB
fumecheng-10915	59	51	.	.	PUNCT
fumecheng-10915	60	1	in	in	ADP
fumecheng-10915	60	2	order	order	NOUN
fumecheng-10915	60	3	to	to	PART
fumecheng-10915	60	4	overcome	overcome	VERB
fumecheng-10915	60	5	these	these	DET
fumecheng-10915	60	6	shortcomings	shortcoming	NOUN
fumecheng-10915	60	7	,	,	PUNCT
fumecheng-10915	60	8	an	an	DET
fumecheng-10915	60	9	artificial	artificial	ADJ
fumecheng-10915	60	10	neural	neural	ADJ
fumecheng-10915	60	11	network	network	NOUN
fumecheng-10915	60	12	was	be	AUX
fumecheng-10915	60	13	built	build	VERB
fumecheng-10915	60	14	to	to	PART
fumecheng-10915	60	15	predict	predict	VERB
fumecheng-10915	60	16	the	the	DET
fumecheng-10915	60	17	force	force	NOUN
fumecheng-10915	60	18	in	in	ADP
fumecheng-10915	60	19	the	the	DET
fumecheng-10915	60	20	wire	wire	NOUN
fumecheng-10915	60	21	which	which	PRON
fumecheng-10915	60	22	occurs	occur	VERB
fumecheng-10915	60	23	during	during	ADP
fumecheng-10915	60	24	the	the	DET
fumecheng-10915	60	25	winding	winding	NOUN
fumecheng-10915	60	26	/	/	SYM
fumecheng-10915	60	27	unwinding	unwind	VERB
fumecheng-10915	60	28	process	process	NOUN
fumecheng-10915	60	29	of	of	ADP
fumecheng-10915	60	30	the	the	DET
fumecheng-10915	60	31	wire	wire	NOUN
fumecheng-10915	60	32	.	.	PUNCT
fumecheng-10915	61	1	the	the	DET
fumecheng-10915	61	2	paper	paper	NOUN
fumecheng-10915	61	3	’s	’s	PART
fumecheng-10915	61	4	objectives	objective	NOUN
fumecheng-10915	61	5	and	and	CCONJ
fumecheng-10915	61	6	main	main	ADJ
fumecheng-10915	61	7	contributions	contribution	NOUN
fumecheng-10915	61	8	are	be	AUX
fumecheng-10915	61	9	as	as	SCONJ
fumecheng-10915	61	10	follows	follow	VERB
fumecheng-10915	61	11	:	:	PUNCT
fumecheng-10915	61	12	1	1	X
fumecheng-10915	61	13	)	)	PUNCT
fumecheng-10915	61	14	the	the	DET
fumecheng-10915	61	15	development	development	NOUN
fumecheng-10915	61	16	of	of	ADP
fumecheng-10915	61	17	a	a	DET
fumecheng-10915	61	18	wire	wire	NOUN
fumecheng-10915	61	19	tensioning	tensione	VERB
fumecheng-10915	61	20	system	system	NOUN
fumecheng-10915	61	21	as	as	ADP
fumecheng-10915	61	22	a	a	DET
fumecheng-10915	61	23	subassembly	subassembly	NOUN
fumecheng-10915	61	24	of	of	ADP
fumecheng-10915	61	25	the	the	DET
fumecheng-10915	61	26	robotic	robotic	ADJ
fumecheng-10915	61	27	unit	unit	NOUN
fumecheng-10915	61	28	,	,	PUNCT
fumecheng-10915	61	29	2	2	NUM
fumecheng-10915	61	30	)	)	PUNCT
fumecheng-10915	61	31	the	the	DET
fumecheng-10915	61	32	investigation	investigation	NOUN
fumecheng-10915	61	33	of	of	ADP
fumecheng-10915	61	34	the	the	DET
fumecheng-10915	61	35	behaviour	behaviour	NOUN
fumecheng-10915	61	36	of	of	ADP
fumecheng-10915	61	37	the	the	DET
fumecheng-10915	61	38	developed	develop	VERB
fumecheng-10915	61	39	wire	wire	NOUN
fumecheng-10915	61	40	tensioning	tensione	VERB
fumecheng-10915	61	41	system	system	NOUN
fumecheng-10915	61	42	during	during	ADP
fumecheng-10915	61	43	different	different	ADJ
fumecheng-10915	61	44	movement	movement	NOUN
fumecheng-10915	61	45	scenarios	scenario	NOUN
fumecheng-10915	61	46	of	of	ADP
fumecheng-10915	61	47	the	the	DET
fumecheng-10915	61	48	roboshepherd	roboshepherd	NOUN
fumecheng-10915	61	49	system	system	NOUN
fumecheng-10915	61	50	,	,	PUNCT
fumecheng-10915	61	51	3	3	NUM
fumecheng-10915	61	52	)	)	PUNCT
fumecheng-10915	61	53	during	during	ADP
fumecheng-10915	61	54	tests	test	NOUN
fumecheng-10915	61	55	,	,	PUNCT
fumecheng-10915	61	56	various	various	ADJ
fumecheng-10915	61	57	data	datum	NOUN
fumecheng-10915	61	58	were	be	AUX
fumecheng-10915	61	59	gathered	gather	VERB
fumecheng-10915	61	60	and	and	CCONJ
fumecheng-10915	61	61	later	later	ADV
fumecheng-10915	61	62	used	use	VERB
fumecheng-10915	61	63	to	to	PART
fumecheng-10915	61	64	train	train	VERB
fumecheng-10915	61	65	the	the	DET
fumecheng-10915	61	66	artificial	artificial	ADJ
fumecheng-10915	61	67	neural	neural	ADJ
fumecheng-10915	61	68	network	network	NOUN
fumecheng-10915	61	69	,	,	PUNCT
fumecheng-10915	61	70	4	4	NUM
fumecheng-10915	61	71	)	)	PUNCT
fumecheng-10915	61	72	the	the	DET
fumecheng-10915	61	73	paper	paper	NOUN
fumecheng-10915	61	74	provides	provide	VERB
fumecheng-10915	61	75	the	the	DET
fumecheng-10915	61	76	results	result	NOUN
fumecheng-10915	61	77	from	from	ADP
fumecheng-10915	61	78	the	the	DET
fumecheng-10915	61	79	test	test	NOUN
fumecheng-10915	61	80	of	of	ADP
fumecheng-10915	61	81	the	the	DET
fumecheng-10915	61	82	traditional	traditional	ADJ
fumecheng-10915	61	83	control	control	NOUN
fumecheng-10915	61	84	of	of	ADP
fumecheng-10915	61	85	the	the	DET
fumecheng-10915	61	86	wire	wire	NOUN
fumecheng-10915	61	87	tensioning	tensione	VERB
fumecheng-10915	61	88	system	system	NOUN
fumecheng-10915	61	89	and	and	CCONJ
fumecheng-10915	61	90	from	from	ADP
fumecheng-10915	61	91	the	the	DET
fumecheng-10915	61	92	simulation	simulation	NOUN
fumecheng-10915	61	93	of	of	ADP
fumecheng-10915	61	94	the	the	DET
fumecheng-10915	61	95	proposed	propose	VERB
fumecheng-10915	61	96	artificial	artificial	ADJ
fumecheng-10915	61	97	neural	neural	ADJ
fumecheng-10915	61	98	network	network	NOUN
fumecheng-10915	61	99	for	for	ADP
fumecheng-10915	61	100	force	force	NOUN
fumecheng-10915	61	101	prediction	prediction	NOUN
fumecheng-10915	61	102	.	.	PUNCT
fumecheng-10915	62	1	the	the	DET
fumecheng-10915	62	2	rest	rest	NOUN
fumecheng-10915	62	3	of	of	ADP
fumecheng-10915	62	4	the	the	DET
fumecheng-10915	62	5	paper	paper	NOUN
fumecheng-10915	62	6	is	be	AUX
fumecheng-10915	62	7	organized	organize	VERB
fumecheng-10915	62	8	as	as	SCONJ
fumecheng-10915	62	9	follows	follow	VERB
fumecheng-10915	62	10	.	.	PUNCT
fumecheng-10915	63	1	section	section	NOUN
fumecheng-10915	63	2	2	2	NUM
fumecheng-10915	63	3	presents	present	VERB
fumecheng-10915	63	4	a	a	DET
fumecheng-10915	63	5	brief	brief	ADJ
fumecheng-10915	63	6	description	description	NOUN
fumecheng-10915	63	7	of	of	ADP
fumecheng-10915	63	8	the	the	DET
fumecheng-10915	63	9	roboshepherd	roboshepherd	NOUN
fumecheng-10915	63	10	system	system	NOUN
fumecheng-10915	63	11	,	,	PUNCT
fumecheng-10915	63	12	and	and	CCONJ
fumecheng-10915	63	13	the	the	DET
fumecheng-10915	63	14	design	design	NOUN
fumecheng-10915	63	15	and	and	CCONJ
fumecheng-10915	63	16	closed	closed	ADJ
fumecheng-10915	63	17	-	-	PUNCT
fumecheng-10915	63	18	loop	loop	NOUN
fumecheng-10915	63	19	control	control	NOUN
fumecheng-10915	63	20	of	of	ADP
fumecheng-10915	63	21	the	the	DET
fumecheng-10915	63	22	wire	wire	NOUN
fumecheng-10915	63	23	tensioning	tensione	VERB
fumecheng-10915	63	24	system	system	NOUN
fumecheng-10915	63	25	.	.	PUNCT
fumecheng-10915	64	1	the	the	DET
fumecheng-10915	64	2	experiment	experiment	NOUN
fumecheng-10915	64	3	in	in	ADP
fumecheng-10915	64	4	which	which	PRON
fumecheng-10915	64	5	the	the	DET
fumecheng-10915	64	6	closed	closed	ADJ
fumecheng-10915	64	7	-	-	PUNCT
fumecheng-10915	64	8	loop	loop	NOUN
fumecheng-10915	64	9	control	control	NOUN
fumecheng-10915	64	10	was	be	AUX
fumecheng-10915	64	11	tested	test	VERB
fumecheng-10915	64	12	is	be	AUX
fumecheng-10915	64	13	described	describe	VERB
fumecheng-10915	64	14	in	in	ADP
fumecheng-10915	64	15	section	section	NOUN
fumecheng-10915	64	16	3	3	NUM
fumecheng-10915	64	17	,	,	PUNCT
fumecheng-10915	64	18	the	the	DET
fumecheng-10915	64	19	design	design	NOUN
fumecheng-10915	64	20	and	and	CCONJ
fumecheng-10915	64	21	results	result	NOUN
fumecheng-10915	64	22	of	of	ADP
fumecheng-10915	64	23	the	the	DET
fumecheng-10915	64	24	artificial	artificial	ADJ
fumecheng-10915	64	25	neural	neural	ADJ
fumecheng-10915	64	26	network	network	NOUN
fumecheng-10915	64	27	for	for	ADP
fumecheng-10915	64	28	predicting	predict	VERB
fumecheng-10915	64	29	the	the	DET
fumecheng-10915	64	30	force	force	NOUN
fumecheng-10915	64	31	in	in	ADP
fumecheng-10915	64	32	the	the	DET
fumecheng-10915	64	33	wire	wire	NOUN
fumecheng-10915	64	34	are	be	AUX
fumecheng-10915	64	35	presented	present	VERB
fumecheng-10915	64	36	in	in	ADP
fumecheng-10915	64	37	section	section	NOUN
fumecheng-10915	64	38	4	4	NUM
fumecheng-10915	64	39	,	,	PUNCT
fumecheng-10915	64	40	and	and	CCONJ
fumecheng-10915	64	41	the	the	DET
fumecheng-10915	64	42	conclusion	conclusion	NOUN
fumecheng-10915	64	43	is	be	AUX
fumecheng-10915	64	44	given	give	VERB
fumecheng-10915	64	45	in	in	ADP
fumecheng-10915	64	46	section	section	NOUN
fumecheng-10915	64	47	5	5	NUM
fumecheng-10915	64	48	.	.	NOUN
fumecheng-10915	64	49	2	2	NUM
fumecheng-10915	64	50	.	.	X
fumecheng-10915	64	51	design	design	NOUN
fumecheng-10915	64	52	and	and	CCONJ
fumecheng-10915	64	53	closed	closed	ADJ
fumecheng-10915	64	54	-	-	PUNCT
fumecheng-10915	64	55	loop	loop	NOUN
fumecheng-10915	64	56	control	control	NOUN
fumecheng-10915	64	57	of	of	ADP
fumecheng-10915	64	58	the	the	DET
fumecheng-10915	64	59	wire	wire	NOUN
fumecheng-10915	64	60	tensioning	tensione	VERB
fumecheng-10915	64	61	system	system	NOUN
fumecheng-10915	64	62	roboshepherd	roboshepherd	NOUN
fumecheng-10915	64	63	is	be	AUX
fumecheng-10915	64	64	a	a	DET
fumecheng-10915	64	65	swarm	swarm	NOUN
fumecheng-10915	64	66	robotic	robotic	ADJ
fumecheng-10915	64	67	system	system	NOUN
fumecheng-10915	64	68	which	which	PRON
fumecheng-10915	64	69	acts	act	VERB
fumecheng-10915	64	70	as	as	ADP
fumecheng-10915	64	71	a	a	DET
fumecheng-10915	64	72	movable	movable	ADJ
fumecheng-10915	64	73	polygonal	polygonal	ADJ
fumecheng-10915	64	74	electric	electric	ADJ
fumecheng-10915	64	75	fence	fence	NOUN
fumecheng-10915	64	76	that	that	PRON
fumecheng-10915	64	77	surrounds	surround	VERB
fumecheng-10915	64	78	livestock	livestock	NOUN
fumecheng-10915	64	79	animals	animal	NOUN
fumecheng-10915	64	80	in	in	ADP
fumecheng-10915	64	81	a	a	DET
fumecheng-10915	64	82	field	field	NOUN
fumecheng-10915	64	83	or	or	CCONJ
fumecheng-10915	64	84	forces	force	VERB
fumecheng-10915	64	85	them	they	PRON
fumecheng-10915	64	86	to	to	PART
fumecheng-10915	64	87	move	move	VERB
fumecheng-10915	64	88	along	along	ADP
fumecheng-10915	64	89	the	the	DET
fumecheng-10915	64	90	predefined	predefine	VERB
fumecheng-10915	64	91	path	path	NOUN
fumecheng-10915	64	92	.	.	PUNCT
fumecheng-10915	65	1	the	the	DET
fumecheng-10915	65	2	system	system	NOUN
fumecheng-10915	65	3	consists	consist	VERB
fumecheng-10915	65	4	of	of	ADP
fumecheng-10915	65	5	a	a	DET
fumecheng-10915	65	6	minimum	minimum	NOUN
fumecheng-10915	65	7	of	of	ADP
fumecheng-10915	65	8	four	four	NUM
fumecheng-10915	65	9	robotic	robotic	ADJ
fumecheng-10915	65	10	units	unit	NOUN
fumecheng-10915	65	11	(	(	PUNCT
fumecheng-10915	65	12	ru	ru	PROPN
fumecheng-10915	65	13	)	)	PUNCT
fumecheng-10915	65	14	,	,	PUNCT
fumecheng-10915	65	15	i.e.	i.e.	X
fumecheng-10915	65	16	,	,	PUNCT
fumecheng-10915	65	17	four	four	NUM
fumecheng-10915	65	18	movable	movable	ADJ
fumecheng-10915	65	19	pillars	pillar	NOUN
fumecheng-10915	65	20	interconnected	interconnect	VERB
fumecheng-10915	65	21	by	by	ADP
fumecheng-10915	65	22	wires	wire	NOUN
fumecheng-10915	65	23	that	that	PRON
fumecheng-10915	65	24	form	form	VERB
fumecheng-10915	65	25	the	the	DET
fumecheng-10915	65	26	electric	electric	ADJ
fumecheng-10915	65	27	fence	fence	NOUN
fumecheng-10915	65	28	as	as	SCONJ
fumecheng-10915	65	29	shown	show	VERB
fumecheng-10915	65	30	in	in	ADP
fumecheng-10915	65	31	fig	fig	NOUN
fumecheng-10915	65	32	.	.	PUNCT
fumecheng-10915	66	1	1	1	X
fumecheng-10915	66	2	.	.	X
fumecheng-10915	66	3	a	a	DET
fumecheng-10915	66	4	pulsed	pulse	VERB
fumecheng-10915	66	5	electric	electric	ADJ
fumecheng-10915	66	6	current	current	NOUN
fumecheng-10915	66	7	is	be	AUX
fumecheng-10915	66	8	sent	send	VERB
fumecheng-10915	66	9	along	along	ADP
fumecheng-10915	66	10	the	the	DET
fumecheng-10915	66	11	wire	wire	NOUN
fumecheng-10915	66	12	from	from	ADP
fumecheng-10915	66	13	an	an	DET
fumecheng-10915	66	14	energizer	energizer	NOUN
fumecheng-10915	66	15	located	locate	VERB
fumecheng-10915	66	16	on	on	ADP
fumecheng-10915	66	17	the	the	DET
fumecheng-10915	66	18	robotic	robotic	ADJ
fumecheng-10915	66	19	units	unit	NOUN
fumecheng-10915	66	20	.	.	PUNCT
fumecheng-10915	67	1	this	this	DET
fumecheng-10915	67	2	fence	fence	NOUN
fumecheng-10915	67	3	serves	serve	VERB
fumecheng-10915	67	4	to	to	PART
fumecheng-10915	67	5	keep	keep	VERB
fumecheng-10915	67	6	the	the	DET
fumecheng-10915	67	7	animals	animal	NOUN
fumecheng-10915	67	8	away	away	ADV
fumecheng-10915	67	9	from	from	ADP
fumecheng-10915	67	10	the	the	DET
fumecheng-10915	67	11	fence	fence	NOUN
fumecheng-10915	67	12	since	since	SCONJ
fumecheng-10915	67	13	when	when	SCONJ
fumecheng-10915	67	14	an	an	DET
fumecheng-10915	67	15	animal	animal	NOUN
fumecheng-10915	67	16	touches	touch	VERB
fumecheng-10915	67	17	the	the	DET
fumecheng-10915	67	18	wire	wire	NOUN
fumecheng-10915	67	19	fence	fence	NOUN
fumecheng-10915	67	20	,	,	PUNCT
fumecheng-10915	67	21	the	the	DET
fumecheng-10915	67	22	electric	electric	ADJ
fumecheng-10915	67	23	circuit	circuit	NOUN
fumecheng-10915	67	24	closes	close	VERB
fumecheng-10915	67	25	,	,	PUNCT
fumecheng-10915	67	26	creating	create	VERB
fumecheng-10915	67	27	a	a	DET
fumecheng-10915	67	28	short	short	ADJ
fumecheng-10915	67	29	,	,	PUNCT
fumecheng-10915	67	30	safe	safe	ADJ
fumecheng-10915	67	31	,	,	PUNCT
fumecheng-10915	67	32	electric	electric	ADJ
fumecheng-10915	67	33	shock	shock	NOUN
fumecheng-10915	67	34	leading	lead	VERB
fumecheng-10915	67	35	to	to	ADP
fumecheng-10915	67	36	the	the	DET
fumecheng-10915	67	37	animal	animal	NOUN
fumecheng-10915	67	38	movement	movement	NOUN
fumecheng-10915	67	39	away	away	ADV
fumecheng-10915	67	40	from	from	ADP
fumecheng-10915	67	41	the	the	DET
fumecheng-10915	67	42	fence	fence	NOUN
fumecheng-10915	67	43	.	.	PUNCT
fumecheng-10915	68	1	in	in	ADP
fumecheng-10915	68	2	the	the	DET
fumecheng-10915	68	3	same	same	ADJ
fumecheng-10915	68	4	way	way	NOUN
fumecheng-10915	68	5	,	,	PUNCT
fumecheng-10915	68	6	the	the	DET
fumecheng-10915	68	7	fence	fence	NOUN
fumecheng-10915	68	8	serves	serve	VERB
fumecheng-10915	68	9	to	to	PART
fumecheng-10915	68	10	protect	protect	VERB
fumecheng-10915	68	11	the	the	DET
fumecheng-10915	68	12	animals	animal	NOUN
fumecheng-10915	68	13	from	from	ADP
fumecheng-10915	68	14	the	the	DET
fumecheng-10915	68	15	predators	predator	NOUN
fumecheng-10915	68	16	that	that	PRON
fumecheng-10915	68	17	can	can	AUX
fumecheng-10915	68	18	approach	approach	VERB
fumecheng-10915	68	19	the	the	DET
fumecheng-10915	68	20	other	other	ADJ
fumecheng-10915	68	21	side	side	NOUN
fumecheng-10915	68	22	of	of	ADP
fumecheng-10915	68	23	the	the	DET
fumecheng-10915	68	24	electric	electric	ADJ
fumecheng-10915	68	25	fence	fence	NOUN
fumecheng-10915	68	26	.	.	PUNCT
fumecheng-10915	69	1	4	4	NUM
fumecheng-10915	70	1	v.	v.	ADP
fumecheng-10915	70	2	pavlović	pavlović	NOUN
fumecheng-10915	70	3	,	,	PUNCT
fumecheng-10915	70	4	m.	m.	NOUN
fumecheng-10915	70	5	tomić	tomić	NOUN
fumecheng-10915	70	6	,	,	PUNCT
fumecheng-10915	70	7	s	s	PROPN
fumecheng-10915	70	8	-	-	PROPN
fumecheng-10915	70	9	d.	d.	PROPN
fumecheng-10915	70	10	stan	stan	PROPN
fumecheng-10915	70	11	,	,	PUNCT
fumecheng-10915	70	12	m.	m.	NOUN
fumecheng-10915	70	13	banić	banić	NOUN
fumecheng-10915	70	14	,	,	PUNCT
fumecheng-10915	70	15	m.	m.	NOUN
fumecheng-10915	70	16	simonović	simonović	PROPN
fumecheng-10915	70	17	,	,	PUNCT
fumecheng-10915	70	18	m.	m.	NOUN
fumecheng-10915	70	19	milošević	milošević	PROPN
fumecheng-10915	70	20	fig	fig	PROPN
fumecheng-10915	70	21	.	.	PUNCT
fumecheng-10915	70	22	1	1	NUM
fumecheng-10915	70	23	roboshepherd	roboshepherd	NOUN
fumecheng-10915	70	24	system	system	NOUN
fumecheng-10915	70	25	robotic	robotic	ADJ
fumecheng-10915	70	26	units	unit	NOUN
fumecheng-10915	70	27	interconnected	interconnect	VERB
fumecheng-10915	70	28	by	by	ADP
fumecheng-10915	70	29	wires	wire	NOUN
fumecheng-10915	70	30	each	each	DET
fumecheng-10915	70	31	robotic	robotic	ADJ
fumecheng-10915	70	32	unit	unit	NOUN
fumecheng-10915	70	33	consists	consist	VERB
fumecheng-10915	70	34	of	of	ADP
fumecheng-10915	70	35	a	a	DET
fumecheng-10915	70	36	vertical	vertical	ADJ
fumecheng-10915	70	37	pillar	pillar	NOUN
fumecheng-10915	70	38	,	,	PUNCT
fumecheng-10915	70	39	a	a	DET
fumecheng-10915	70	40	movable	movable	ADJ
fumecheng-10915	70	41	platform	platform	NOUN
fumecheng-10915	70	42	on	on	ADP
fumecheng-10915	70	43	which	which	PRON
fumecheng-10915	70	44	the	the	DET
fumecheng-10915	70	45	vertical	vertical	ADJ
fumecheng-10915	70	46	pillar	pillar	NOUN
fumecheng-10915	70	47	rests	rest	VERB
fumecheng-10915	70	48	,	,	PUNCT
fumecheng-10915	70	49	a	a	DET
fumecheng-10915	70	50	wire	wire	NOUN
fumecheng-10915	70	51	tensioning	tensione	VERB
fumecheng-10915	70	52	system	system	NOUN
fumecheng-10915	70	53	and	and	CCONJ
fumecheng-10915	70	54	a	a	DET
fumecheng-10915	70	55	force	force	NOUN
fumecheng-10915	70	56	sensor	sensor	NOUN
fumecheng-10915	70	57	.	.	PUNCT
fumecheng-10915	71	1	the	the	DET
fumecheng-10915	71	2	wire	wire	NOUN
fumecheng-10915	71	3	tensioning	tensione	VERB
fumecheng-10915	71	4	system	system	NOUN
fumecheng-10915	71	5	(	(	PUNCT
fumecheng-10915	71	6	fig	fig	NOUN
fumecheng-10915	71	7	.	.	PUNCT
fumecheng-10915	71	8	2a	2a	NUM
fumecheng-10915	71	9	)	)	PUNCT
fumecheng-10915	71	10	subassembly	subassembly	ADV
fumecheng-10915	71	11	consists	consist	VERB
fumecheng-10915	71	12	of	of	ADP
fumecheng-10915	71	13	a	a	DET
fumecheng-10915	71	14	motor	motor	NOUN
fumecheng-10915	71	15	-	-	PUNCT
fumecheng-10915	71	16	reducer	reducer	NOUN
fumecheng-10915	71	17	on	on	ADP
fumecheng-10915	71	18	which	which	PRON
fumecheng-10915	71	19	the	the	DET
fumecheng-10915	71	20	upper	upper	ADJ
fumecheng-10915	71	21	plate	plate	NOUN
fumecheng-10915	71	22	and	and	CCONJ
fumecheng-10915	71	23	the	the	DET
fumecheng-10915	71	24	lower	low	ADJ
fumecheng-10915	71	25	plate	plate	NOUN
fumecheng-10915	71	26	are	be	AUX
fumecheng-10915	71	27	connected	connect	VERB
fumecheng-10915	71	28	via	via	ADP
fumecheng-10915	71	29	a	a	DET
fumecheng-10915	71	30	screw	screw	NOUN
fumecheng-10915	71	31	connection	connection	NOUN
fumecheng-10915	71	32	and	and	CCONJ
fumecheng-10915	71	33	on	on	ADP
fumecheng-10915	71	34	which	which	PRON
fumecheng-10915	71	35	linear	linear	NOUN
fumecheng-10915	71	36	ball	ball	NOUN
fumecheng-10915	71	37	bushings	bushing	NOUN
fumecheng-10915	71	38	are	be	AUX
fumecheng-10915	71	39	mounted	mount	VERB
fumecheng-10915	71	40	,	,	PUNCT
fumecheng-10915	71	41	through	through	ADP
fumecheng-10915	71	42	which	which	PRON
fumecheng-10915	71	43	a	a	DET
fumecheng-10915	71	44	linear	linear	ADJ
fumecheng-10915	71	45	guide	guide	NOUN
fumecheng-10915	71	46	,	,	PUNCT
fumecheng-10915	71	47	carrying	carry	VERB
fumecheng-10915	71	48	the	the	DET
fumecheng-10915	71	49	entire	entire	ADJ
fumecheng-10915	71	50	subassembly	subassembly	NOUN
fumecheng-10915	71	51	,	,	PUNCT
fumecheng-10915	71	52	passes	pass	VERB
fumecheng-10915	71	53	.	.	PUNCT
fumecheng-10915	72	1	the	the	DET
fumecheng-10915	72	2	motor	motor	NOUN
fumecheng-10915	72	3	-	-	PUNCT
fumecheng-10915	72	4	reducer	reducer	NOUN
fumecheng-10915	72	5	has	have	VERB
fumecheng-10915	72	6	a	a	DET
fumecheng-10915	72	7	double	double	ADJ
fumecheng-10915	72	8	side	side	NOUN
fumecheng-10915	72	9	output	output	NOUN
fumecheng-10915	72	10	shaft	shaft	NOUN
fumecheng-10915	72	11	.	.	PUNCT
fumecheng-10915	73	1	winding	wind	VERB
fumecheng-10915	73	2	reels	reel	NOUN
fumecheng-10915	73	3	are	be	AUX
fumecheng-10915	73	4	mounted	mount	VERB
fumecheng-10915	73	5	on	on	ADP
fumecheng-10915	73	6	the	the	DET
fumecheng-10915	73	7	top	top	ADJ
fumecheng-10915	73	8	and	and	CCONJ
fumecheng-10915	73	9	bottom	bottom	ADJ
fumecheng-10915	73	10	sides	side	NOUN
fumecheng-10915	73	11	of	of	ADP
fumecheng-10915	73	12	the	the	DET
fumecheng-10915	73	13	shaft	shaft	NOUN
fumecheng-10915	73	14	.	.	PUNCT
fumecheng-10915	74	1	rotating	rotate	VERB
fumecheng-10915	74	2	the	the	DET
fumecheng-10915	74	3	electric	electric	ADJ
fumecheng-10915	74	4	motor	motor	NOUN
fumecheng-10915	74	5	on	on	ADP
fumecheng-10915	74	6	which	which	PRON
fumecheng-10915	74	7	the	the	DET
fumecheng-10915	74	8	winding	wind	VERB
fumecheng-10915	74	9	reels	reel	NOUN
fumecheng-10915	74	10	are	be	AUX
fumecheng-10915	74	11	mounted	mount	VERB
fumecheng-10915	74	12	,	,	PUNCT
fumecheng-10915	74	13	allows	allow	VERB
fumecheng-10915	74	14	wire	wire	NOUN
fumecheng-10915	74	15	winding	wind	VERB
fumecheng-10915	74	16	or	or	CCONJ
fumecheng-10915	74	17	unwinding	unwind	VERB
fumecheng-10915	74	18	,	,	PUNCT
fumecheng-10915	74	19	depending	depend	VERB
fumecheng-10915	74	20	on	on	ADP
fumecheng-10915	74	21	whether	whether	SCONJ
fumecheng-10915	74	22	the	the	DET
fumecheng-10915	74	23	two	two	NUM
fumecheng-10915	74	24	adjacent	adjacent	ADJ
fumecheng-10915	74	25	robotic	robotic	ADJ
fumecheng-10915	74	26	units	unit	NOUN
fumecheng-10915	74	27	are	be	AUX
fumecheng-10915	74	28	at	at	ADP
fumecheng-10915	74	29	a	a	DET
fumecheng-10915	74	30	distance	distance	NOUN
fumecheng-10915	74	31	or	or	CCONJ
fumecheng-10915	74	32	approaching	approach	VERB
fumecheng-10915	74	33	each	each	DET
fumecheng-10915	74	34	other	other	ADJ
fumecheng-10915	74	35	.	.	PUNCT
fumecheng-10915	75	1	one	one	NUM
fumecheng-10915	75	2	end	end	NOUN
fumecheng-10915	75	3	of	of	ADP
fumecheng-10915	75	4	the	the	DET
fumecheng-10915	75	5	wire	wire	NOUN
fumecheng-10915	75	6	is	be	AUX
fumecheng-10915	75	7	attached	attach	VERB
fumecheng-10915	75	8	to	to	ADP
fumecheng-10915	75	9	one	one	NUM
fumecheng-10915	75	10	robotic	robotic	ADJ
fumecheng-10915	75	11	unit	unit	NOUN
fumecheng-10915	75	12	via	via	ADP
fumecheng-10915	75	13	a	a	DET
fumecheng-10915	75	14	force	force	NOUN
fumecheng-10915	75	15	sensor	sensor	NOUN
fumecheng-10915	75	16	(	(	PUNCT
fumecheng-10915	75	17	fig	fig	NOUN
fumecheng-10915	75	18	.	.	PUNCT
fumecheng-10915	75	19	2b	2b	NUM
fumecheng-10915	75	20	)	)	PUNCT
fumecheng-10915	75	21	,	,	PUNCT
fumecheng-10915	75	22	while	while	SCONJ
fumecheng-10915	75	23	the	the	DET
fumecheng-10915	75	24	other	other	ADJ
fumecheng-10915	75	25	end	end	NOUN
fumecheng-10915	75	26	of	of	ADP
fumecheng-10915	75	27	the	the	DET
fumecheng-10915	75	28	wire	wire	NOUN
fumecheng-10915	75	29	is	be	AUX
fumecheng-10915	75	30	wound	wind	VERB
fumecheng-10915	75	31	on	on	ADP
fumecheng-10915	75	32	a	a	DET
fumecheng-10915	75	33	winding	wind	VERB
fumecheng-10915	75	34	reel	reel	NOUN
fumecheng-10915	75	35	located	locate	VERB
fumecheng-10915	75	36	on	on	ADP
fumecheng-10915	75	37	the	the	DET
fumecheng-10915	75	38	motor	motor	NOUN
fumecheng-10915	75	39	shaft	shaft	NOUN
fumecheng-10915	75	40	of	of	ADP
fumecheng-10915	75	41	the	the	DET
fumecheng-10915	75	42	other	other	ADJ
fumecheng-10915	75	43	robot	robot	NOUN
fumecheng-10915	75	44	unit	unit	NOUN
fumecheng-10915	75	45	.	.	PUNCT
fumecheng-10915	76	1	in	in	ADP
fumecheng-10915	76	2	this	this	DET
fumecheng-10915	76	3	way	way	NOUN
fumecheng-10915	76	4	the	the	DET
fumecheng-10915	76	5	units	unit	NOUN
fumecheng-10915	76	6	are	be	AUX
fumecheng-10915	76	7	serially	serially	ADV
fumecheng-10915	76	8	interconnected	interconnected	ADJ
fumecheng-10915	76	9	and	and	CCONJ
fumecheng-10915	76	10	form	form	VERB
fumecheng-10915	76	11	a	a	DET
fumecheng-10915	76	12	closed	closed	ADJ
fumecheng-10915	76	13	loop	loop	NOUN
fumecheng-10915	76	14	.	.	PUNCT
fumecheng-10915	77	1	a	a	DET
fumecheng-10915	77	2	schematic	schematic	ADJ
fumecheng-10915	77	3	representation	representation	NOUN
fumecheng-10915	77	4	of	of	ADP
fumecheng-10915	77	5	the	the	DET
fumecheng-10915	77	6	wire	wire	NOUN
fumecheng-10915	77	7	tensioning	tensione	VERB
fumecheng-10915	77	8	system	system	NOUN
fumecheng-10915	77	9	is	be	AUX
fumecheng-10915	77	10	given	give	VERB
fumecheng-10915	77	11	in	in	ADP
fumecheng-10915	77	12	fig	fig	NOUN
fumecheng-10915	77	13	.	.	PUNCT
fumecheng-10915	78	1	3	3	X
fumecheng-10915	78	2	.	.	X
fumecheng-10915	78	3	fig	fig	NOUN
fumecheng-10915	78	4	.	.	PUNCT
fumecheng-10915	79	1	2	2	NUM
fumecheng-10915	79	2	subassembly	subassembly	NOUN
fumecheng-10915	79	3	of	of	ADP
fumecheng-10915	79	4	the	the	DET
fumecheng-10915	79	5	wire	wire	NOUN
fumecheng-10915	79	6	tensioning	tensione	VERB
fumecheng-10915	79	7	system	system	NOUN
fumecheng-10915	79	8	(	(	PUNCT
fumecheng-10915	79	9	a	a	NOUN
fumecheng-10915	79	10	)	)	PUNCT
fumecheng-10915	79	11	and	and	CCONJ
fumecheng-10915	79	12	force	force	NOUN
fumecheng-10915	79	13	sensor	sensor	NOUN
fumecheng-10915	79	14	(	(	PUNCT
fumecheng-10915	79	15	b	b	NOUN
fumecheng-10915	79	16	)	)	PUNCT
fumecheng-10915	79	17	control	control	NOUN
fumecheng-10915	79	18	of	of	ADP
fumecheng-10915	79	19	a	a	DET
fumecheng-10915	79	20	wire	wire	NOUN
fumecheng-10915	79	21	tensioning	tensione	VERB
fumecheng-10915	79	22	system	system	NOUN
fumecheng-10915	79	23	with	with	ADP
fumecheng-10915	79	24	force	force	NOUN
fumecheng-10915	79	25	prediction	prediction	NOUN
fumecheng-10915	79	26	using	use	VERB
fumecheng-10915	79	27	artificial	artificial	ADJ
fumecheng-10915	79	28	neural	neural	ADJ
fumecheng-10915	79	29	networks	network	NOUN
fumecheng-10915	79	30	5	5	NUM
fumecheng-10915	79	31	fig	fig	NOUN
fumecheng-10915	79	32	.	.	PUNCT
fumecheng-10915	80	1	3	3	NUM
fumecheng-10915	80	2	schematic	schematic	ADJ
fumecheng-10915	80	3	representation	representation	NOUN
fumecheng-10915	80	4	of	of	ADP
fumecheng-10915	80	5	the	the	DET
fumecheng-10915	80	6	wire	wire	NOUN
fumecheng-10915	80	7	tensioning	tensione	VERB
fumecheng-10915	80	8	system	system	NOUN
fumecheng-10915	80	9	the	the	DET
fumecheng-10915	80	10	tension	tension	NOUN
fumecheng-10915	80	11	control	control	NOUN
fumecheng-10915	80	12	system	system	NOUN
fumecheng-10915	80	13	is	be	AUX
fumecheng-10915	80	14	defined	define	VERB
fumecheng-10915	80	15	as	as	ADP
fumecheng-10915	80	16	a	a	DET
fumecheng-10915	80	17	closed	closed	ADJ
fumecheng-10915	80	18	loop	loop	NOUN
fumecheng-10915	80	19	.	.	PUNCT
fumecheng-10915	81	1	the	the	DET
fumecheng-10915	81	2	force	force	NOUN
fumecheng-10915	81	3	in	in	ADP
fumecheng-10915	81	4	the	the	DET
fumecheng-10915	81	5	wire	wire	NOUN
fumecheng-10915	81	6	is	be	AUX
fumecheng-10915	81	7	measured	measure	VERB
fumecheng-10915	81	8	using	use	VERB
fumecheng-10915	81	9	a	a	DET
fumecheng-10915	81	10	force	force	NOUN
fumecheng-10915	81	11	sensor	sensor	NOUN
fumecheng-10915	81	12	,	,	PUNCT
fumecheng-10915	81	13	and	and	CCONJ
fumecheng-10915	81	14	the	the	DET
fumecheng-10915	81	15	gathered	gather	VERB
fumecheng-10915	81	16	value	value	NOUN
fumecheng-10915	81	17	is	be	AUX
fumecheng-10915	81	18	compared	compare	VERB
fumecheng-10915	81	19	with	with	ADP
fumecheng-10915	81	20	the	the	DET
fumecheng-10915	81	21	desired	desire	VERB
fumecheng-10915	81	22	value	value	NOUN
fumecheng-10915	81	23	.	.	PUNCT
fumecheng-10915	82	1	the	the	DET
fumecheng-10915	82	2	difference	difference	NOUN
fumecheng-10915	82	3	between	between	ADP
fumecheng-10915	82	4	the	the	DET
fumecheng-10915	82	5	desired	desire	VERB
fumecheng-10915	82	6	and	and	CCONJ
fumecheng-10915	82	7	the	the	DET
fumecheng-10915	82	8	current	current	ADJ
fumecheng-10915	82	9	tension	tension	NOUN
fumecheng-10915	82	10	force	force	NOUN
fumecheng-10915	82	11	determines	determine	VERB
fumecheng-10915	82	12	an	an	DET
fumecheng-10915	82	13	error	error	NOUN
fumecheng-10915	82	14	.	.	PUNCT
fumecheng-10915	83	1	this	this	DET
fumecheng-10915	83	2	error	error	NOUN
fumecheng-10915	83	3	is	be	AUX
fumecheng-10915	83	4	sent	send	VERB
fumecheng-10915	83	5	to	to	ADP
fumecheng-10915	83	6	a	a	DET
fumecheng-10915	83	7	pi	pi	NOUN
fumecheng-10915	83	8	controller	controller	NOUN
fumecheng-10915	83	9	.	.	PUNCT
fumecheng-10915	84	1	the	the	DET
fumecheng-10915	84	2	pi	pi	NOUN
fumecheng-10915	84	3	controller	controller	NOUN
fumecheng-10915	84	4	was	be	AUX
fumecheng-10915	84	5	selected	select	VERB
fumecheng-10915	84	6	because	because	SCONJ
fumecheng-10915	84	7	it	it	PRON
fumecheng-10915	84	8	best	well	ADV
fumecheng-10915	84	9	suited	suit	VERB
fumecheng-10915	84	10	the	the	DET
fumecheng-10915	84	11	dynamic	dynamic	ADJ
fumecheng-10915	84	12	behaviour	behaviour	NOUN
fumecheng-10915	84	13	of	of	ADP
fumecheng-10915	84	14	the	the	DET
fumecheng-10915	84	15	wire	wire	NOUN
fumecheng-10915	84	16	tensioning	tensione	VERB
fumecheng-10915	84	17	system	system	NOUN
fumecheng-10915	84	18	.	.	PUNCT
fumecheng-10915	85	1	due	due	ADP
fumecheng-10915	85	2	to	to	ADP
fumecheng-10915	85	3	the	the	DET
fumecheng-10915	85	4	inertia	inertia	NOUN
fumecheng-10915	85	5	of	of	ADP
fumecheng-10915	85	6	the	the	DET
fumecheng-10915	85	7	wire	wire	NOUN
fumecheng-10915	85	8	tensioning	tensione	VERB
fumecheng-10915	85	9	system	system	NOUN
fumecheng-10915	85	10	,	,	PUNCT
fumecheng-10915	85	11	there	there	PRON
fumecheng-10915	85	12	was	be	VERB
fumecheng-10915	85	13	almost	almost	ADV
fumecheng-10915	85	14	no	no	PRON
fumecheng-10915	85	15	chance	chance	NOUN
fumecheng-10915	85	16	for	for	ADP
fumecheng-10915	85	17	the	the	DET
fumecheng-10915	85	18	appearance	appearance	NOUN
fumecheng-10915	85	19	of	of	ADP
fumecheng-10915	85	20	the	the	DET
fumecheng-10915	85	21	excessive	excessive	ADJ
fumecheng-10915	85	22	force	force	NOUN
fumecheng-10915	85	23	during	during	ADP
fumecheng-10915	85	24	the	the	DET
fumecheng-10915	85	25	winding	wind	VERB
fumecheng-10915	85	26	process	process	NOUN
fumecheng-10915	85	27	and	and	CCONJ
fumecheng-10915	85	28	therefore	therefore	ADV
fumecheng-10915	85	29	it	it	PRON
fumecheng-10915	85	30	was	be	AUX
fumecheng-10915	85	31	not	not	PART
fumecheng-10915	85	32	necessary	necessary	ADJ
fumecheng-10915	85	33	to	to	PART
fumecheng-10915	85	34	use	use	VERB
fumecheng-10915	85	35	a	a	DET
fumecheng-10915	85	36	derivative	derivative	ADJ
fumecheng-10915	85	37	component	component	NOUN
fumecheng-10915	85	38	during	during	ADP
fumecheng-10915	85	39	control	control	NOUN
fumecheng-10915	85	40	.	.	PUNCT
fumecheng-10915	86	1	based	base	VERB
fumecheng-10915	86	2	on	on	ADP
fumecheng-10915	86	3	the	the	DET
fumecheng-10915	86	4	calculated	calculate	VERB
fumecheng-10915	86	5	error	error	NOUN
fumecheng-10915	86	6	,	,	PUNCT
fumecheng-10915	86	7	the	the	DET
fumecheng-10915	86	8	pi	pi	NOUN
fumecheng-10915	86	9	controller	controller	NOUN
fumecheng-10915	86	10	generated	generate	VERB
fumecheng-10915	86	11	the	the	DET
fumecheng-10915	86	12	pulse	pulse	NOUN
fumecheng-10915	86	13	-	-	PUNCT
fumecheng-10915	86	14	width	width	NOUN
fumecheng-10915	86	15	modulation	modulation	NOUN
fumecheng-10915	86	16	(	(	PUNCT
fumecheng-10915	86	17	pwm	pwm	NOUN
fumecheng-10915	86	18	)	)	PUNCT
fumecheng-10915	86	19	signal	signal	NOUN
fumecheng-10915	86	20	for	for	ADP
fumecheng-10915	86	21	controlling	control	VERB
fumecheng-10915	86	22	the	the	DET
fumecheng-10915	86	23	voltage	voltage	NOUN
fumecheng-10915	86	24	of	of	ADP
fumecheng-10915	86	25	the	the	DET
fumecheng-10915	86	26	motor	motor	NOUN
fumecheng-10915	86	27	and	and	CCONJ
fumecheng-10915	86	28	therefore	therefore	ADV
fumecheng-10915	86	29	controlled	control	VERB
fumecheng-10915	86	30	the	the	DET
fumecheng-10915	86	31	motor	motor	NOUN
fumecheng-10915	86	32	velocity	velocity	NOUN
fumecheng-10915	86	33	.	.	PUNCT
fumecheng-10915	87	1	the	the	DET
fumecheng-10915	87	2	turning	turning	NOUN
fumecheng-10915	87	3	of	of	ADP
fumecheng-10915	87	4	the	the	DET
fumecheng-10915	87	5	motor	motor	NOUN
fumecheng-10915	87	6	caused	cause	VERB
fumecheng-10915	87	7	the	the	DET
fumecheng-10915	87	8	winding	wind	VERB
fumecheng-10915	87	9	reels	reel	NOUN
fumecheng-10915	87	10	to	to	PART
fumecheng-10915	87	11	turn	turn	VERB
fumecheng-10915	87	12	,	,	PUNCT
fumecheng-10915	87	13	which	which	PRON
fumecheng-10915	87	14	made	make	VERB
fumecheng-10915	87	15	the	the	DET
fumecheng-10915	87	16	wire	wire	NOUN
fumecheng-10915	87	17	to	to	PART
fumecheng-10915	87	18	tighten	tighten	VERB
fumecheng-10915	87	19	or	or	CCONJ
fumecheng-10915	87	20	loosen	loosen	VERB
fumecheng-10915	87	21	(	(	PUNCT
fumecheng-10915	87	22	fig	fig	NOUN
fumecheng-10915	87	23	.	.	PUNCT
fumecheng-10915	87	24	4	4	NUM
fumecheng-10915	87	25	)	)	PUNCT
fumecheng-10915	87	26	.	.	PUNCT
fumecheng-10915	88	1	in	in	ADP
fumecheng-10915	88	2	this	this	DET
fumecheng-10915	88	3	way	way	NOUN
fumecheng-10915	88	4	the	the	DET
fumecheng-10915	88	5	force	force	NOUN
fumecheng-10915	88	6	in	in	ADP
fumecheng-10915	88	7	the	the	DET
fumecheng-10915	88	8	wire	wire	NOUN
fumecheng-10915	88	9	was	be	AUX
fumecheng-10915	88	10	controlled	control	VERB
fumecheng-10915	88	11	.	.	PUNCT
fumecheng-10915	89	1	during	during	ADP
fumecheng-10915	89	2	the	the	DET
fumecheng-10915	89	3	experiments	experiment	NOUN
fumecheng-10915	89	4	,	,	PUNCT
fumecheng-10915	89	5	it	it	PRON
fumecheng-10915	89	6	was	be	AUX
fumecheng-10915	89	7	determined	determine	VERB
fumecheng-10915	89	8	that	that	SCONJ
fumecheng-10915	89	9	the	the	DET
fumecheng-10915	89	10	pi	pi	NOUN
fumecheng-10915	89	11	controller	controller	NOUN
fumecheng-10915	89	12	was	be	AUX
fumecheng-10915	89	13	able	able	ADJ
fumecheng-10915	89	14	to	to	PART
fumecheng-10915	89	15	bring	bring	VERB
fumecheng-10915	89	16	the	the	DET
fumecheng-10915	89	17	system	system	NOUN
fumecheng-10915	89	18	to	to	ADP
fumecheng-10915	89	19	a	a	DET
fumecheng-10915	89	20	setpoint	setpoint	NOUN
fumecheng-10915	89	21	.	.	PUNCT
fumecheng-10915	90	1	the	the	DET
fumecheng-10915	90	2	setpoint	setpoint	NOUN
fumecheng-10915	90	3	or	or	CCONJ
fumecheng-10915	90	4	desired	desire	VERB
fumecheng-10915	90	5	tension	tension	NOUN
fumecheng-10915	90	6	force	force	NOUN
fumecheng-10915	90	7	was	be	AUX
fumecheng-10915	90	8	determined	determine	VERB
fumecheng-10915	90	9	experimentally	experimentally	ADV
fumecheng-10915	90	10	and	and	CCONJ
fumecheng-10915	90	11	it	it	PRON
fumecheng-10915	90	12	depends	depend	VERB
fumecheng-10915	90	13	on	on	ADP
fumecheng-10915	90	14	the	the	DET
fumecheng-10915	90	15	distance	distance	NOUN
fumecheng-10915	90	16	between	between	ADP
fumecheng-10915	90	17	the	the	DET
fumecheng-10915	90	18	robotic	robotic	ADJ
fumecheng-10915	90	19	units	unit	NOUN
fumecheng-10915	90	20	and	and	CCONJ
fumecheng-10915	90	21	the	the	DET
fumecheng-10915	90	22	acceptable	acceptable	ADJ
fumecheng-10915	90	23	sag	sag	NOUN
fumecheng-10915	90	24	which	which	PRON
fumecheng-10915	90	25	occurs	occur	VERB
fumecheng-10915	90	26	due	due	ADP
fumecheng-10915	90	27	to	to	ADP
fumecheng-10915	90	28	the	the	DET
fumecheng-10915	90	29	weight	weight	NOUN
fumecheng-10915	90	30	of	of	ADP
fumecheng-10915	90	31	the	the	DET
fumecheng-10915	90	32	wire	wire	NOUN
fumecheng-10915	90	33	itself	itself	PRON
fumecheng-10915	90	34	.	.	PUNCT
fumecheng-10915	91	1	in	in	ADP
fumecheng-10915	91	2	the	the	DET
fumecheng-10915	91	3	movement	movement	NOUN
fumecheng-10915	91	4	scenarios	scenario	NOUN
fumecheng-10915	91	5	described	describe	VERB
fumecheng-10915	91	6	in	in	ADP
fumecheng-10915	91	7	this	this	DET
fumecheng-10915	91	8	paper	paper	NOUN
fumecheng-10915	91	9	the	the	DET
fumecheng-10915	91	10	desired	desire	VERB
fumecheng-10915	91	11	tension	tension	NOUN
fumecheng-10915	91	12	force	force	NOUN
fumecheng-10915	91	13	was	be	AUX
fumecheng-10915	91	14	set	set	VERB
fumecheng-10915	91	15	to	to	ADP
fumecheng-10915	91	16	80	80	NUM
fumecheng-10915	91	17	n.	n.	NOUN
fumecheng-10915	91	18	fig	fig	NOUN
fumecheng-10915	91	19	.	.	PUNCT
fumecheng-10915	92	1	4	4	NUM
fumecheng-10915	92	2	block	block	NOUN
fumecheng-10915	92	3	diagram	diagram	NOUN
fumecheng-10915	92	4	of	of	ADP
fumecheng-10915	92	5	the	the	DET
fumecheng-10915	92	6	control	control	NOUN
fumecheng-10915	92	7	of	of	ADP
fumecheng-10915	92	8	the	the	DET
fumecheng-10915	92	9	wire	wire	NOUN
fumecheng-10915	92	10	tensioning	tensione	VERB
fumecheng-10915	92	11	system	system	NOUN
fumecheng-10915	92	12	3	3	NUM
fumecheng-10915	92	13	.	.	PUNCT
fumecheng-10915	92	14	experiment	experiment	NOUN
fumecheng-10915	92	15	to	to	PART
fumecheng-10915	92	16	test	test	VERB
fumecheng-10915	92	17	the	the	DET
fumecheng-10915	92	18	closed	closed	ADJ
fumecheng-10915	92	19	loop	loop	NOUN
fumecheng-10915	92	20	control	control	NOUN
fumecheng-10915	92	21	of	of	ADP
fumecheng-10915	92	22	the	the	DET
fumecheng-10915	92	23	wire	wire	NOUN
fumecheng-10915	92	24	tensioning	tensione	VERB
fumecheng-10915	92	25	system	system	NOUN
fumecheng-10915	92	26	,	,	PUNCT
fumecheng-10915	92	27	an	an	DET
fumecheng-10915	92	28	experiment	experiment	NOUN
fumecheng-10915	92	29	was	be	AUX
fumecheng-10915	92	30	performed	perform	VERB
fumecheng-10915	92	31	near	near	ADP
fumecheng-10915	92	32	the	the	DET
fumecheng-10915	92	33	city	city	NOUN
fumecheng-10915	92	34	of	of	ADP
fumecheng-10915	92	35	niš	niš	PROPN
fumecheng-10915	92	36	,	,	PUNCT
fumecheng-10915	92	37	serbia	serbia	PROPN
fumecheng-10915	92	38	.	.	PUNCT
fumecheng-10915	93	1	for	for	ADP
fumecheng-10915	93	2	this	this	DET
fumecheng-10915	93	3	purpose	purpose	NOUN
fumecheng-10915	93	4	,	,	PUNCT
fumecheng-10915	93	5	four	four	NUM
fumecheng-10915	93	6	robotic	robotic	ADJ
fumecheng-10915	93	7	units	unit	NOUN
fumecheng-10915	93	8	(	(	PUNCT
fumecheng-10915	93	9	ru1	ru1	PROPN
fumecheng-10915	93	10	,	,	PUNCT
fumecheng-10915	93	11	ru2	ru2	NOUN
fumecheng-10915	93	12	,	,	PUNCT
fumecheng-10915	93	13	ru3	ru3	NOUN
fumecheng-10915	93	14	and	and	CCONJ
fumecheng-10915	93	15	ru4	ru4	PROPN
fumecheng-10915	93	16	)	)	PUNCT
fumecheng-10915	93	17	were	be	AUX
fumecheng-10915	93	18	placed	place	VERB
fumecheng-10915	93	19	on	on	ADP
fumecheng-10915	93	20	location	location	NOUN
fumecheng-10915	93	21	and	and	CCONJ
fumecheng-10915	93	22	this	this	PRON
fumecheng-10915	93	23	was	be	AUX
fumecheng-10915	93	24	the	the	DET
fumecheng-10915	93	25	initial	initial	ADJ
fumecheng-10915	93	26	position	position	NOUN
fumecheng-10915	93	27	of	of	ADP
fumecheng-10915	93	28	the	the	DET
fumecheng-10915	93	29	robotic	robotic	ADJ
fumecheng-10915	93	30	units	unit	NOUN
fumecheng-10915	93	31	(	(	PUNCT
fumecheng-10915	93	32	fig	fig	NOUN
fumecheng-10915	93	33	.	.	PUNCT
fumecheng-10915	93	34	5	5	NUM
fumecheng-10915	93	35	)	)	PUNCT
fumecheng-10915	93	36	.	.	PUNCT
fumecheng-10915	94	1	after	after	ADP
fumecheng-10915	94	2	that	that	PRON
fumecheng-10915	94	3	,	,	PUNCT
fumecheng-10915	94	4	the	the	DET
fumecheng-10915	94	5	robotic	robotic	ADJ
fumecheng-10915	94	6	units	unit	NOUN
fumecheng-10915	94	7	were	be	AUX
fumecheng-10915	94	8	interconnected	interconnect	VERB
fumecheng-10915	94	9	with	with	ADP
fumecheng-10915	94	10	two	two	NUM
fumecheng-10915	94	11	rows	row	NOUN
fumecheng-10915	94	12	of	of	ADP
fumecheng-10915	94	13	wires	wire	NOUN
fumecheng-10915	94	14	,	,	PUNCT
fumecheng-10915	94	15	where	where	SCONJ
fumecheng-10915	94	16	each	each	DET
fumecheng-10915	94	17	row	row	NOUN
fumecheng-10915	94	18	had	have	VERB
fumecheng-10915	94	19	one	one	NUM
fumecheng-10915	94	20	pair	pair	NOUN
fumecheng-10915	94	21	of	of	ADP
fumecheng-10915	94	22	wires	wire	NOUN
fumecheng-10915	94	23	(	(	PUNCT
fumecheng-10915	94	24	positive	positive	ADJ
fumecheng-10915	94	25	and	and	CCONJ
fumecheng-10915	94	26	negative	negative	ADJ
fumecheng-10915	94	27	wire	wire	NOUN
fumecheng-10915	94	28	)	)	PUNCT
fumecheng-10915	94	29	.	.	PUNCT
fumecheng-10915	95	1	in	in	ADP
fumecheng-10915	95	2	the	the	DET
fumecheng-10915	95	3	initial	initial	ADJ
fumecheng-10915	95	4	position	position	NOUN
fumecheng-10915	95	5	,	,	PUNCT
fumecheng-10915	95	6	the	the	DET
fumecheng-10915	95	7	distance	distance	NOUN
fumecheng-10915	95	8	between	between	ADP
fumecheng-10915	95	9	the	the	DET
fumecheng-10915	95	10	two	two	NUM
fumecheng-10915	95	11	front	front	ADJ
fumecheng-10915	95	12	robots	robot	NOUN
fumecheng-10915	95	13	and	and	CCONJ
fumecheng-10915	95	14	the	the	DET
fumecheng-10915	95	15	distance	distance	NOUN
fumecheng-10915	95	16	between	between	ADP
fumecheng-10915	95	17	the	the	DET
fumecheng-10915	95	18	two	two	NUM
fumecheng-10915	95	19	back	back	ADJ
fumecheng-10915	95	20	robots	robot	NOUN
fumecheng-10915	95	21	(	(	PUNCT
fumecheng-10915	95	22	ru16	ru16	PROPN
fumecheng-10915	95	23	v.	v.	ADP
fumecheng-10915	95	24	pavlović	pavlović	NOUN
fumecheng-10915	95	25	,	,	PUNCT
fumecheng-10915	95	26	m.	m.	NOUN
fumecheng-10915	95	27	tomić	tomić	NOUN
fumecheng-10915	95	28	,	,	PUNCT
fumecheng-10915	95	29	s	s	PROPN
fumecheng-10915	95	30	-	-	PROPN
fumecheng-10915	95	31	d.	d.	PROPN
fumecheng-10915	95	32	stan	stan	PROPN
fumecheng-10915	95	33	,	,	PUNCT
fumecheng-10915	95	34	m.	m.	NOUN
fumecheng-10915	95	35	banić	banić	NOUN
fumecheng-10915	95	36	,	,	PUNCT
fumecheng-10915	95	37	m.	m.	NOUN
fumecheng-10915	95	38	simonović	simonović	PROPN
fumecheng-10915	95	39	,	,	PUNCT
fumecheng-10915	95	40	m.	m.	NOUN
fumecheng-10915	95	41	milošević	milošević	PROPN
fumecheng-10915	95	42	ru2	ru2	PROPN
fumecheng-10915	95	43	and	and	CCONJ
fumecheng-10915	95	44	ru3	ru3	NOUN
fumecheng-10915	95	45	-	-	PUNCT
fumecheng-10915	95	46	ru4	ru4	NOUN
fumecheng-10915	95	47	)	)	PUNCT
fumecheng-10915	95	48	was	be	AUX
fumecheng-10915	95	49	the	the	DET
fumecheng-10915	95	50	same	same	ADJ
fumecheng-10915	95	51	and	and	CCONJ
fumecheng-10915	95	52	was	be	AUX
fumecheng-10915	95	53	approximately	approximately	ADV
fumecheng-10915	95	54	34	34	NUM
fumecheng-10915	95	55	m.	m.	NOUN
fumecheng-10915	95	56	the	the	DET
fumecheng-10915	95	57	distance	distance	NOUN
fumecheng-10915	95	58	between	between	ADP
fumecheng-10915	95	59	the	the	DET
fumecheng-10915	95	60	two	two	NUM
fumecheng-10915	95	61	left	left	ADJ
fumecheng-10915	95	62	side	side	NOUN
fumecheng-10915	95	63	robots	robot	NOUN
fumecheng-10915	95	64	(	(	PUNCT
fumecheng-10915	95	65	ru2	ru2	NOUN
fumecheng-10915	95	66	-	-	PUNCT
fumecheng-10915	95	67	ru3	ru3	NOUN
fumecheng-10915	95	68	)	)	PUNCT
fumecheng-10915	95	69	was	be	AUX
fumecheng-10915	95	70	the	the	DET
fumecheng-10915	95	71	same	same	ADJ
fumecheng-10915	95	72	as	as	ADP
fumecheng-10915	95	73	the	the	DET
fumecheng-10915	95	74	distance	distance	NOUN
fumecheng-10915	95	75	between	between	ADP
fumecheng-10915	95	76	the	the	DET
fumecheng-10915	95	77	two	two	NUM
fumecheng-10915	95	78	right	right	ADJ
fumecheng-10915	95	79	side	side	NOUN
fumecheng-10915	95	80	robots	robot	NOUN
fumecheng-10915	95	81	(	(	PUNCT
fumecheng-10915	95	82	ru4	ru4	NOUN
fumecheng-10915	95	83	-	-	PUNCT
fumecheng-10915	95	84	ru1	ru1	NOUN
fumecheng-10915	95	85	)	)	PUNCT
fumecheng-10915	95	86	and	and	CCONJ
fumecheng-10915	95	87	was	be	AUX
fumecheng-10915	95	88	around	around	ADV
fumecheng-10915	95	89	28	28	NUM
fumecheng-10915	95	90	m.	m.	NOUN
fumecheng-10915	95	91	during	during	ADP
fumecheng-10915	95	92	the	the	DET
fumecheng-10915	95	93	experiment	experiment	NOUN
fumecheng-10915	95	94	different	different	ADJ
fumecheng-10915	95	95	movement	movement	NOUN
fumecheng-10915	95	96	scenarios	scenario	NOUN
fumecheng-10915	95	97	of	of	ADP
fumecheng-10915	95	98	the	the	DET
fumecheng-10915	95	99	robotic	robotic	ADJ
fumecheng-10915	95	100	units	unit	NOUN
fumecheng-10915	95	101	were	be	AUX
fumecheng-10915	95	102	carried	carry	VERB
fumecheng-10915	95	103	out	out	ADP
fumecheng-10915	95	104	.	.	PUNCT
fumecheng-10915	96	1	some	some	PRON
fumecheng-10915	96	2	of	of	ADP
fumecheng-10915	96	3	the	the	DET
fumecheng-10915	96	4	most	most	ADV
fumecheng-10915	96	5	important	important	ADJ
fumecheng-10915	96	6	scenarios	scenario	NOUN
fumecheng-10915	96	7	were	be	AUX
fumecheng-10915	96	8	where	where	SCONJ
fumecheng-10915	96	9	one	one	NUM
fumecheng-10915	96	10	or	or	CCONJ
fumecheng-10915	96	11	more	more	ADJ
fumecheng-10915	96	12	robotic	robotic	ADJ
fumecheng-10915	96	13	units	unit	NOUN
fumecheng-10915	96	14	moved	move	VERB
fumecheng-10915	96	15	,	,	PUNCT
fumecheng-10915	96	16	with	with	ADP
fumecheng-10915	96	17	the	the	DET
fumecheng-10915	96	18	distance	distance	NOUN
fumecheng-10915	96	19	between	between	ADP
fumecheng-10915	96	20	them	they	PRON
fumecheng-10915	96	21	changing	change	VERB
fumecheng-10915	96	22	,	,	PUNCT
fumecheng-10915	96	23	such	such	ADJ
fumecheng-10915	96	24	as	as	ADP
fumecheng-10915	96	25	:	:	PUNCT
fumecheng-10915	96	26	all	all	DET
fumecheng-10915	96	27	robotic	robotic	ADJ
fumecheng-10915	96	28	units	unit	NOUN
fumecheng-10915	96	29	move	move	VERB
fumecheng-10915	96	30	with	with	ADP
fumecheng-10915	96	31	a	a	DET
fumecheng-10915	96	32	change	change	NOUN
fumecheng-10915	96	33	in	in	ADP
fumecheng-10915	96	34	the	the	DET
fumecheng-10915	96	35	initial	initial	ADJ
fumecheng-10915	96	36	distance	distance	NOUN
fumecheng-10915	96	37	between	between	ADP
fumecheng-10915	96	38	them	they	PRON
fumecheng-10915	96	39	,	,	PUNCT
fumecheng-10915	96	40	three	three	NUM
fumecheng-10915	96	41	robotic	robotic	ADJ
fumecheng-10915	96	42	units	unit	NOUN
fumecheng-10915	96	43	move	move	VERB
fumecheng-10915	96	44	while	while	SCONJ
fumecheng-10915	96	45	one	one	NUM
fumecheng-10915	96	46	waits	wait	NOUN
fumecheng-10915	96	47	,	,	PUNCT
fumecheng-10915	96	48	two	two	NUM
fumecheng-10915	96	49	robotic	robotic	ADJ
fumecheng-10915	96	50	units	unit	NOUN
fumecheng-10915	96	51	move	move	VERB
fumecheng-10915	96	52	while	while	SCONJ
fumecheng-10915	96	53	two	two	NUM
fumecheng-10915	96	54	wait	wait	VERB
fumecheng-10915	96	55	,	,	PUNCT
fumecheng-10915	96	56	one	one	NUM
fumecheng-10915	96	57	robotic	robotic	ADJ
fumecheng-10915	96	58	unit	unit	NOUN
fumecheng-10915	96	59	moves	move	NOUN
fumecheng-10915	96	60	while	while	SCONJ
fumecheng-10915	96	61	others	other	NOUN
fumecheng-10915	96	62	wait	wait	VERB
fumecheng-10915	96	63	.	.	PUNCT
fumecheng-10915	97	1	also	also	ADV
fumecheng-10915	97	2	tested	test	VERB
fumecheng-10915	97	3	were	be	AUX
fumecheng-10915	97	4	the	the	DET
fumecheng-10915	97	5	scenarios	scenario	NOUN
fumecheng-10915	97	6	where	where	SCONJ
fumecheng-10915	97	7	all	all	DET
fumecheng-10915	97	8	robotic	robotic	ADJ
fumecheng-10915	97	9	units	unit	NOUN
fumecheng-10915	97	10	move	move	VERB
fumecheng-10915	97	11	in	in	ADP
fumecheng-10915	97	12	the	the	DET
fumecheng-10915	97	13	same	same	ADJ
fumecheng-10915	97	14	direction	direction	NOUN
fumecheng-10915	97	15	maintaining	maintain	VERB
fumecheng-10915	97	16	the	the	DET
fumecheng-10915	97	17	distance	distance	NOUN
fumecheng-10915	97	18	or	or	CCONJ
fumecheng-10915	97	19	some	some	DET
fumecheng-10915	97	20	robots	robot	NOUN
fumecheng-10915	97	21	move	move	VERB
fumecheng-10915	97	22	while	while	SCONJ
fumecheng-10915	97	23	others	other	NOUN
fumecheng-10915	97	24	wait	wait	VERB
fumecheng-10915	97	25	.	.	PUNCT
fumecheng-10915	98	1	this	this	DET
fumecheng-10915	98	2	paper	paper	NOUN
fumecheng-10915	98	3	presents	present	VERB
fumecheng-10915	98	4	the	the	DET
fumecheng-10915	98	5	scenario	scenario	NOUN
fumecheng-10915	98	6	in	in	ADP
fumecheng-10915	98	7	which	which	PRON
fumecheng-10915	98	8	all	all	DET
fumecheng-10915	98	9	robotic	robotic	ADJ
fumecheng-10915	98	10	units	unit	NOUN
fumecheng-10915	98	11	moved	move	VERB
fumecheng-10915	98	12	.	.	PUNCT
fumecheng-10915	99	1	robotic	robotic	ADJ
fumecheng-10915	99	2	unit	unit	NOUN
fumecheng-10915	99	3	1	1	NUM
fumecheng-10915	99	4	(	(	PUNCT
fumecheng-10915	99	5	ru1	ru1	PROPN
fumecheng-10915	99	6	)	)	PUNCT
fumecheng-10915	99	7	started	start	VERB
fumecheng-10915	99	8	from	from	ADP
fumecheng-10915	99	9	the	the	DET
fumecheng-10915	99	10	initial	initial	ADJ
fumecheng-10915	99	11	point	point	NOUN
fumecheng-10915	99	12	rs1	rs1	PROPN
fumecheng-10915	99	13	and	and	CCONJ
fumecheng-10915	99	14	moved	move	VERB
fumecheng-10915	99	15	to	to	ADP
fumecheng-10915	99	16	rs1	rs1	PROPN
fumecheng-10915	99	17	'	'	PART
fumecheng-10915	99	18	,	,	PUNCT
fumecheng-10915	99	19	robotic	robotic	ADJ
fumecheng-10915	99	20	unit	unit	NOUN
fumecheng-10915	99	21	2	2	NUM
fumecheng-10915	99	22	(	(	PUNCT
fumecheng-10915	99	23	ru2	ru2	NOUN
fumecheng-10915	99	24	)	)	PUNCT
fumecheng-10915	99	25	started	start	VERB
fumecheng-10915	99	26	from	from	ADP
fumecheng-10915	99	27	the	the	DET
fumecheng-10915	99	28	initial	initial	ADJ
fumecheng-10915	99	29	point	point	NOUN
fumecheng-10915	99	30	rs2	rs2	NOUN
fumecheng-10915	99	31	and	and	CCONJ
fumecheng-10915	99	32	moved	move	VERB
fumecheng-10915	99	33	to	to	ADP
fumecheng-10915	99	34	rs2	rs2	PROPN
fumecheng-10915	99	35	'	'	PUNCT
fumecheng-10915	99	36	,	,	PUNCT
fumecheng-10915	99	37	etc	etc	X
fumecheng-10915	99	38	.	.	X
fumecheng-10915	100	1	in	in	ADP
fumecheng-10915	100	2	this	this	DET
fumecheng-10915	100	3	scenario	scenario	NOUN
fumecheng-10915	100	4	the	the	DET
fumecheng-10915	100	5	back	back	ADJ
fumecheng-10915	100	6	robotic	robotic	ADJ
fumecheng-10915	100	7	units	unit	NOUN
fumecheng-10915	100	8	(	(	PUNCT
fumecheng-10915	100	9	ru3	ru3	NOUN
fumecheng-10915	100	10	and	and	CCONJ
fumecheng-10915	100	11	ru4	ru4	PROPN
fumecheng-10915	100	12	)	)	PUNCT
fumecheng-10915	100	13	maintained	maintain	VERB
fumecheng-10915	100	14	the	the	DET
fumecheng-10915	100	15	distance	distance	NOUN
fumecheng-10915	100	16	between	between	ADP
fumecheng-10915	100	17	them	they	PRON
fumecheng-10915	100	18	,	,	PUNCT
fumecheng-10915	100	19	the	the	DET
fumecheng-10915	100	20	right	right	ADJ
fumecheng-10915	100	21	side	side	NOUN
fumecheng-10915	100	22	robots	robot	NOUN
fumecheng-10915	100	23	(	(	PUNCT
fumecheng-10915	100	24	ru4	ru4	NOUN
fumecheng-10915	100	25	and	and	CCONJ
fumecheng-10915	100	26	ru1	ru1	NOUN
fumecheng-10915	100	27	)	)	PUNCT
fumecheng-10915	100	28	slightly	slightly	ADV
fumecheng-10915	100	29	increased	increase	VERB
fumecheng-10915	100	30	the	the	DET
fumecheng-10915	100	31	distance	distance	NOUN
fumecheng-10915	100	32	,	,	PUNCT
fumecheng-10915	100	33	while	while	SCONJ
fumecheng-10915	100	34	the	the	DET
fumecheng-10915	100	35	distance	distance	NOUN
fumecheng-10915	100	36	between	between	ADP
fumecheng-10915	100	37	the	the	DET
fumecheng-10915	100	38	front	front	ADJ
fumecheng-10915	100	39	robotic	robotic	ADJ
fumecheng-10915	100	40	units	unit	NOUN
fumecheng-10915	100	41	(	(	PUNCT
fumecheng-10915	100	42	ru1	ru1	NOUN
fumecheng-10915	100	43	and	and	CCONJ
fumecheng-10915	100	44	ru2	ru2	NOUN
fumecheng-10915	100	45	)	)	PUNCT
fumecheng-10915	100	46	decreased	decrease	VERB
fumecheng-10915	100	47	during	during	ADP
fumecheng-10915	100	48	movement	movement	NOUN
fumecheng-10915	100	49	.	.	PUNCT
fumecheng-10915	101	1	the	the	DET
fumecheng-10915	101	2	distance	distance	NOUN
fumecheng-10915	101	3	between	between	ADP
fumecheng-10915	101	4	the	the	DET
fumecheng-10915	101	5	left	left	ADJ
fumecheng-10915	101	6	side	side	ADJ
fumecheng-10915	101	7	robotic	robotic	ADJ
fumecheng-10915	101	8	units	unit	NOUN
fumecheng-10915	101	9	(	(	PUNCT
fumecheng-10915	101	10	ru2	ru2	NOUN
fumecheng-10915	101	11	and	and	CCONJ
fumecheng-10915	101	12	ru3	ru3	NOUN
fumecheng-10915	101	13	)	)	PUNCT
fumecheng-10915	101	14	increased	increase	VERB
fumecheng-10915	101	15	significantly	significantly	ADV
fumecheng-10915	101	16	as	as	SCONJ
fumecheng-10915	101	17	illustrated	illustrate	VERB
fumecheng-10915	101	18	in	in	ADP
fumecheng-10915	101	19	fig	fig	NOUN
fumecheng-10915	101	20	.	.	PUNCT
fumecheng-10915	102	1	5	5	X
fumecheng-10915	102	2	.	.	X
fumecheng-10915	102	3	fig	fig	NOUN
fumecheng-10915	102	4	.	.	PUNCT
fumecheng-10915	103	1	5	5	NUM
fumecheng-10915	103	2	initial	initial	ADJ
fumecheng-10915	103	3	position	position	NOUN
fumecheng-10915	103	4	and	and	CCONJ
fumecheng-10915	103	5	movement	movement	NOUN
fumecheng-10915	103	6	scenario	scenario	NOUN
fumecheng-10915	103	7	control	control	NOUN
fumecheng-10915	103	8	of	of	ADP
fumecheng-10915	103	9	a	a	DET
fumecheng-10915	103	10	wire	wire	NOUN
fumecheng-10915	103	11	tensioning	tensione	VERB
fumecheng-10915	103	12	system	system	NOUN
fumecheng-10915	103	13	with	with	ADP
fumecheng-10915	103	14	force	force	NOUN
fumecheng-10915	103	15	prediction	prediction	NOUN
fumecheng-10915	103	16	using	use	VERB
fumecheng-10915	103	17	artificial	artificial	ADJ
fumecheng-10915	103	18	neural	neural	ADJ
fumecheng-10915	103	19	networks	network	NOUN
fumecheng-10915	103	20	7	7	NUM
fumecheng-10915	103	21	in	in	ADP
fumecheng-10915	103	22	order	order	NOUN
fumecheng-10915	103	23	to	to	PART
fumecheng-10915	103	24	minimize	minimize	VERB
fumecheng-10915	103	25	the	the	DET
fumecheng-10915	103	26	error	error	NOUN
fumecheng-10915	103	27	of	of	ADP
fumecheng-10915	103	28	position	position	NOUN
fumecheng-10915	103	29	of	of	ADP
fumecheng-10915	103	30	the	the	DET
fumecheng-10915	103	31	robotic	robotic	ADJ
fumecheng-10915	103	32	units	unit	NOUN
fumecheng-10915	103	33	below	below	ADP
fumecheng-10915	103	34	1	1	NUM
fumecheng-10915	103	35	cm	cm	NOUN
fumecheng-10915	103	36	,	,	PUNCT
fumecheng-10915	103	37	all	all	DET
fumecheng-10915	103	38	robotic	robotic	ADJ
fumecheng-10915	103	39	units	unit	NOUN
fumecheng-10915	103	40	were	be	AUX
fumecheng-10915	103	41	equipped	equip	VERB
fumecheng-10915	103	42	with	with	ADP
fumecheng-10915	103	43	real	real	ADJ
fumecheng-10915	103	44	time	time	NOUN
fumecheng-10915	103	45	kinematics	kinematic	NOUN
fumecheng-10915	103	46	(	(	PUNCT
fumecheng-10915	103	47	rtk	rtk	NOUN
fumecheng-10915	103	48	)	)	PUNCT
fumecheng-10915	103	49	global	global	ADJ
fumecheng-10915	103	50	positioning	positioning	NOUN
fumecheng-10915	103	51	system	system	NOUN
fumecheng-10915	103	52	(	(	PUNCT
fumecheng-10915	103	53	gps	gps	PROPN
fumecheng-10915	103	54	)	)	PUNCT
fumecheng-10915	103	55	trackers	tracker	NOUN
fumecheng-10915	103	56	with	with	ADP
fumecheng-10915	103	57	long	long	ADJ
fumecheng-10915	103	58	range	range	NOUN
fumecheng-10915	103	59	communication	communication	NOUN
fumecheng-10915	103	60	radio	radio	NOUN
fumecheng-10915	103	61	(	(	PUNCT
fumecheng-10915	103	62	lora	lora	PROPN
fumecheng-10915	103	63	)	)	PUNCT
fumecheng-10915	103	64	.	.	PUNCT
fumecheng-10915	104	1	these	these	DET
fumecheng-10915	104	2	rtk	rtk	PROPN
fumecheng-10915	104	3	gps	gps	PROPN
fumecheng-10915	104	4	trackers	tracker	NOUN
fumecheng-10915	104	5	take	take	VERB
fumecheng-10915	104	6	in	in	ADP
fumecheng-10915	104	7	the	the	DET
fumecheng-10915	104	8	signals	signal	NOUN
fumecheng-10915	104	9	from	from	ADP
fumecheng-10915	104	10	the	the	DET
fumecheng-10915	104	11	global	global	ADJ
fumecheng-10915	104	12	navigation	navigation	PROPN
fumecheng-10915	104	13	satellite	satellite	NOUN
fumecheng-10915	104	14	systems	system	NOUN
fumecheng-10915	104	15	along	along	ADP
fumecheng-10915	104	16	with	with	ADP
fumecheng-10915	104	17	a	a	DET
fumecheng-10915	104	18	correction	correction	NOUN
fumecheng-10915	104	19	stream	stream	NOUN
fumecheng-10915	104	20	via	via	ADP
fumecheng-10915	104	21	lora	lora	PROPN
fumecheng-10915	104	22	and	and	CCONJ
fumecheng-10915	104	23	calculate	calculate	VERB
fumecheng-10915	104	24	the	the	DET
fumecheng-10915	104	25	location	location	NOUN
fumecheng-10915	104	26	of	of	ADP
fumecheng-10915	104	27	the	the	DET
fumecheng-10915	104	28	robotic	robotic	ADJ
fumecheng-10915	104	29	units	unit	NOUN
fumecheng-10915	104	30	within	within	ADP
fumecheng-10915	104	31	1	1	NUM
fumecheng-10915	104	32	cm	cm	NOUN
fumecheng-10915	104	33	accuracy	accuracy	NOUN
fumecheng-10915	104	34	in	in	ADP
fumecheng-10915	104	35	real	real	ADJ
fumecheng-10915	104	36	time	time	NOUN
fumecheng-10915	104	37	.	.	PUNCT
fumecheng-10915	105	1	also	also	ADV
fumecheng-10915	105	2	,	,	PUNCT
fumecheng-10915	105	3	all	all	DET
fumecheng-10915	105	4	robotic	robotic	ADJ
fumecheng-10915	105	5	units	unit	NOUN
fumecheng-10915	105	6	were	be	AUX
fumecheng-10915	105	7	equipped	equip	VERB
fumecheng-10915	105	8	with	with	ADP
fumecheng-10915	105	9	force	force	NOUN
fumecheng-10915	105	10	sensors	sensor	NOUN
fumecheng-10915	105	11	to	to	PART
fumecheng-10915	105	12	measure	measure	VERB
fumecheng-10915	105	13	the	the	DET
fumecheng-10915	105	14	forces	force	NOUN
fumecheng-10915	105	15	in	in	ADP
fumecheng-10915	105	16	wires	wire	NOUN
fumecheng-10915	105	17	and	and	CCONJ
fumecheng-10915	105	18	current	current	ADJ
fumecheng-10915	105	19	sensors	sensor	NOUN
fumecheng-10915	105	20	to	to	PART
fumecheng-10915	105	21	measure	measure	VERB
fumecheng-10915	105	22	the	the	DET
fumecheng-10915	105	23	current	current	NOUN
fumecheng-10915	105	24	of	of	ADP
fumecheng-10915	105	25	the	the	DET
fumecheng-10915	105	26	motor	motor	NOUN
fumecheng-10915	105	27	which	which	PRON
fumecheng-10915	105	28	winds	wind	VERB
fumecheng-10915	105	29	/	/	SYM
fumecheng-10915	105	30	unwinds	unwind	VERB
fumecheng-10915	105	31	wires	wire	NOUN
fumecheng-10915	105	32	.	.	PUNCT
fumecheng-10915	106	1	each	each	DET
fumecheng-10915	106	2	robotic	robotic	ADJ
fumecheng-10915	106	3	unit	unit	NOUN
fumecheng-10915	106	4	had	have	VERB
fumecheng-10915	106	5	a	a	DET
fumecheng-10915	106	6	personal	personal	ADJ
fumecheng-10915	106	7	computer	computer	NOUN
fumecheng-10915	106	8	equipped	equip	VERB
fumecheng-10915	106	9	with	with	ADP
fumecheng-10915	106	10	appropriate	appropriate	ADJ
fumecheng-10915	106	11	hardware	hardware	NOUN
fumecheng-10915	106	12	(	(	PUNCT
fumecheng-10915	106	13	to	to	PART
fumecheng-10915	106	14	which	which	PRON
fumecheng-10915	106	15	sensors	sensor	NOUN
fumecheng-10915	106	16	were	be	AUX
fumecheng-10915	106	17	connected	connect	VERB
fumecheng-10915	106	18	)	)	PUNCT
fumecheng-10915	106	19	and	and	CCONJ
fumecheng-10915	106	20	software	software	NOUN
fumecheng-10915	106	21	developed	develop	VERB
fumecheng-10915	106	22	in	in	ADP
fumecheng-10915	106	23	the	the	DET
fumecheng-10915	106	24	labview	labview	NOUN
fumecheng-10915	106	25	environment	environment	NOUN
fumecheng-10915	106	26	for	for	ADP
fumecheng-10915	106	27	control	control	NOUN
fumecheng-10915	106	28	.	.	PUNCT
fumecheng-10915	107	1	these	these	DET
fumecheng-10915	107	2	personal	personal	ADJ
fumecheng-10915	107	3	computers	computer	NOUN
fumecheng-10915	107	4	were	be	AUX
fumecheng-10915	107	5	used	use	VERB
fumecheng-10915	107	6	for	for	ADP
fumecheng-10915	107	7	data	data	NOUN
fumecheng-10915	107	8	acquisition	acquisition	NOUN
fumecheng-10915	107	9	,	,	PUNCT
fumecheng-10915	107	10	control	control	NOUN
fumecheng-10915	107	11	of	of	ADP
fumecheng-10915	107	12	the	the	DET
fumecheng-10915	107	13	movement	movement	NOUN
fumecheng-10915	107	14	of	of	ADP
fumecheng-10915	107	15	the	the	DET
fumecheng-10915	107	16	robotic	robotic	ADJ
fumecheng-10915	107	17	units	unit	NOUN
fumecheng-10915	107	18	and	and	CCONJ
fumecheng-10915	107	19	control	control	NOUN
fumecheng-10915	107	20	of	of	ADP
fumecheng-10915	107	21	the	the	DET
fumecheng-10915	107	22	wire	wire	NOUN
fumecheng-10915	107	23	tensioning	tensione	VERB
fumecheng-10915	107	24	systems	system	NOUN
fumecheng-10915	107	25	during	during	ADP
fumecheng-10915	107	26	the	the	DET
fumecheng-10915	107	27	experiments	experiment	NOUN
fumecheng-10915	107	28	.	.	PUNCT
fumecheng-10915	108	1	data	datum	NOUN
fumecheng-10915	108	2	from	from	ADP
fumecheng-10915	108	3	the	the	DET
fumecheng-10915	108	4	gps	gps	PROPN
fumecheng-10915	108	5	trackers	tracker	NOUN
fumecheng-10915	108	6	,	,	PUNCT
fumecheng-10915	108	7	current	current	ADJ
fumecheng-10915	108	8	and	and	CCONJ
fumecheng-10915	108	9	force	force	NOUN
fumecheng-10915	108	10	sensors	sensor	NOUN
fumecheng-10915	108	11	were	be	AUX
fumecheng-10915	108	12	recorded	record	VERB
fumecheng-10915	108	13	for	for	ADP
fumecheng-10915	108	14	further	further	ADJ
fumecheng-10915	108	15	investigation	investigation	NOUN
fumecheng-10915	108	16	.	.	PUNCT
fumecheng-10915	109	1	during	during	ADP
fumecheng-10915	109	2	these	these	DET
fumecheng-10915	109	3	field	field	NOUN
fumecheng-10915	109	4	tests	test	NOUN
fumecheng-10915	109	5	of	of	ADP
fumecheng-10915	109	6	the	the	DET
fumecheng-10915	109	7	roboshepherd	roboshepherd	NOUN
fumecheng-10915	109	8	system	system	NOUN
fumecheng-10915	109	9	several	several	ADJ
fumecheng-10915	109	10	problems	problem	NOUN
fumecheng-10915	109	11	with	with	ADP
fumecheng-10915	109	12	the	the	DET
fumecheng-10915	109	13	wire	wire	NOUN
fumecheng-10915	109	14	tensioning	tensione	VERB
fumecheng-10915	109	15	system	system	NOUN
fumecheng-10915	109	16	occurred	occur	VERB
fumecheng-10915	109	17	.	.	PUNCT
fumecheng-10915	110	1	fig	fig	NOUN
fumecheng-10915	110	2	.	.	PUNCT
fumecheng-10915	111	1	6	6	NUM
fumecheng-10915	111	2	shows	show	VERB
fumecheng-10915	111	3	the	the	DET
fumecheng-10915	111	4	variation	variation	NOUN
fumecheng-10915	111	5	in	in	ADP
fumecheng-10915	111	6	tension	tension	NOUN
fumecheng-10915	111	7	force	force	NOUN
fumecheng-10915	111	8	in	in	ADP
fumecheng-10915	111	9	the	the	DET
fumecheng-10915	111	10	pair	pair	NOUN
fumecheng-10915	111	11	of	of	ADP
fumecheng-10915	111	12	wires	wire	NOUN
fumecheng-10915	111	13	between	between	ADP
fumecheng-10915	111	14	ru1	ru1	PROPN
fumecheng-10915	111	15	and	and	CCONJ
fumecheng-10915	111	16	ru2	ru2	NOUN
fumecheng-10915	111	17	during	during	ADP
fumecheng-10915	111	18	the	the	DET
fumecheng-10915	111	19	movement	movement	NOUN
fumecheng-10915	111	20	of	of	ADP
fumecheng-10915	111	21	the	the	DET
fumecheng-10915	111	22	robotic	robotic	ADJ
fumecheng-10915	111	23	units	unit	NOUN
fumecheng-10915	111	24	in	in	ADP
fumecheng-10915	111	25	the	the	DET
fumecheng-10915	111	26	selected	select	VERB
fumecheng-10915	111	27	scenario	scenario	NOUN
fumecheng-10915	111	28	.	.	PUNCT
fumecheng-10915	112	1	these	these	DET
fumecheng-10915	112	2	variations	variation	NOUN
fumecheng-10915	112	3	happened	happen	VERB
fumecheng-10915	112	4	for	for	ADP
fumecheng-10915	112	5	several	several	ADJ
fumecheng-10915	112	6	reasons	reason	NOUN
fumecheng-10915	112	7	.	.	PUNCT
fumecheng-10915	113	1	the	the	DET
fumecheng-10915	113	2	wires	wire	NOUN
fumecheng-10915	113	3	used	use	VERB
fumecheng-10915	113	4	for	for	ADP
fumecheng-10915	113	5	the	the	DET
fumecheng-10915	113	6	fence	fence	NOUN
fumecheng-10915	113	7	were	be	AUX
fumecheng-10915	113	8	viscoelastic	viscoelastic	ADJ
fumecheng-10915	113	9	,	,	PUNCT
fumecheng-10915	113	10	therefore	therefore	ADV
fumecheng-10915	113	11	,	,	PUNCT
fumecheng-10915	113	12	they	they	PRON
fumecheng-10915	113	13	did	do	AUX
fumecheng-10915	113	14	not	not	PART
fumecheng-10915	113	15	act	act	VERB
fumecheng-10915	113	16	the	the	DET
fumecheng-10915	113	17	same	same	ADJ
fumecheng-10915	113	18	during	during	ADP
fumecheng-10915	113	19	the	the	DET
fumecheng-10915	113	20	winding	winding	NOUN
fumecheng-10915	113	21	/	/	SYM
fumecheng-10915	113	22	unwinding	unwind	VERB
fumecheng-10915	113	23	processes	process	NOUN
fumecheng-10915	113	24	.	.	PUNCT
fumecheng-10915	114	1	another	another	DET
fumecheng-10915	114	2	factor	factor	NOUN
fumecheng-10915	114	3	that	that	PRON
fumecheng-10915	114	4	contributed	contribute	VERB
fumecheng-10915	114	5	to	to	ADP
fumecheng-10915	114	6	the	the	DET
fumecheng-10915	114	7	force	force	NOUN
fumecheng-10915	114	8	variations	variation	NOUN
fumecheng-10915	114	9	was	be	AUX
fumecheng-10915	114	10	the	the	DET
fumecheng-10915	114	11	long	long	ADJ
fumecheng-10915	114	12	time	time	NOUN
fumecheng-10915	114	13	needed	need	VERB
fumecheng-10915	114	14	for	for	SCONJ
fumecheng-10915	114	15	the	the	DET
fumecheng-10915	114	16	information	information	NOUN
fumecheng-10915	114	17	from	from	ADP
fumecheng-10915	114	18	the	the	DET
fumecheng-10915	114	19	force	force	NOUN
fumecheng-10915	114	20	sensor	sensor	NOUN
fumecheng-10915	114	21	to	to	PART
fumecheng-10915	114	22	travel	travel	VERB
fumecheng-10915	114	23	to	to	ADP
fumecheng-10915	114	24	the	the	DET
fumecheng-10915	114	25	controller	controller	NOUN
fumecheng-10915	114	26	.	.	PUNCT
fumecheng-10915	115	1	this	this	PRON
fumecheng-10915	115	2	led	lead	VERB
fumecheng-10915	115	3	to	to	ADP
fumecheng-10915	115	4	the	the	DET
fumecheng-10915	115	5	slow	slow	ADJ
fumecheng-10915	115	6	response	response	NOUN
fumecheng-10915	115	7	of	of	ADP
fumecheng-10915	115	8	the	the	DET
fumecheng-10915	115	9	control	control	NOUN
fumecheng-10915	115	10	of	of	ADP
fumecheng-10915	115	11	the	the	DET
fumecheng-10915	115	12	wire	wire	NOUN
fumecheng-10915	115	13	tensioning	tensione	VERB
fumecheng-10915	115	14	system	system	NOUN
fumecheng-10915	115	15	,	,	PUNCT
fumecheng-10915	115	16	which	which	PRON
fumecheng-10915	115	17	further	far	ADV
fumecheng-10915	115	18	led	lead	VERB
fumecheng-10915	115	19	to	to	ADP
fumecheng-10915	115	20	the	the	DET
fumecheng-10915	115	21	inability	inability	NOUN
fumecheng-10915	115	22	to	to	PART
fumecheng-10915	115	23	maintain	maintain	VERB
fumecheng-10915	115	24	the	the	DET
fumecheng-10915	115	25	wires	wire	NOUN
fumecheng-10915	115	26	in	in	ADP
fumecheng-10915	115	27	the	the	DET
fumecheng-10915	115	28	desired	desire	VERB
fumecheng-10915	115	29	constant	constant	ADJ
fumecheng-10915	115	30	tension	tension	NOUN
fumecheng-10915	115	31	,	,	PUNCT
fumecheng-10915	115	32	resulting	result	VERB
fumecheng-10915	115	33	in	in	ADP
fumecheng-10915	115	34	wire	wire	NOUN
fumecheng-10915	115	35	loosening	loosening	NOUN
fumecheng-10915	115	36	.	.	PUNCT
fumecheng-10915	116	1	to	to	PART
fumecheng-10915	116	2	try	try	VERB
fumecheng-10915	116	3	to	to	PART
fumecheng-10915	116	4	overcome	overcome	VERB
fumecheng-10915	116	5	these	these	DET
fumecheng-10915	116	6	problems	problem	NOUN
fumecheng-10915	116	7	,	,	PUNCT
fumecheng-10915	116	8	an	an	DET
fumecheng-10915	116	9	artificial	artificial	ADJ
fumecheng-10915	116	10	neural	neural	ADJ
fumecheng-10915	116	11	network	network	NOUN
fumecheng-10915	116	12	for	for	ADP
fumecheng-10915	116	13	predicting	predict	VERB
fumecheng-10915	116	14	the	the	DET
fumecheng-10915	116	15	force	force	NOUN
fumecheng-10915	116	16	in	in	ADP
fumecheng-10915	116	17	wires	wire	NOUN
fumecheng-10915	116	18	was	be	AUX
fumecheng-10915	116	19	built	build	VERB
fumecheng-10915	116	20	using	use	VERB
fumecheng-10915	116	21	the	the	DET
fumecheng-10915	116	22	data	datum	NOUN
fumecheng-10915	116	23	gathered	gather	VERB
fumecheng-10915	116	24	from	from	ADP
fumecheng-10915	116	25	different	different	ADJ
fumecheng-10915	116	26	sensors	sensor	NOUN
fumecheng-10915	116	27	mounted	mount	VERB
fumecheng-10915	116	28	on	on	ADP
fumecheng-10915	116	29	the	the	DET
fumecheng-10915	116	30	robotic	robotic	ADJ
fumecheng-10915	116	31	units	unit	NOUN
fumecheng-10915	116	32	,	,	PUNCT
fumecheng-10915	116	33	as	as	ADV
fumecheng-10915	116	34	well	well	ADV
fumecheng-10915	116	35	as	as	ADP
fumecheng-10915	116	36	some	some	DET
fumecheng-10915	116	37	data	datum	NOUN
fumecheng-10915	116	38	measured	measure	VERB
fumecheng-10915	116	39	during	during	ADP
fumecheng-10915	116	40	the	the	DET
fumecheng-10915	116	41	control	control	NOUN
fumecheng-10915	116	42	of	of	ADP
fumecheng-10915	116	43	the	the	DET
fumecheng-10915	116	44	wire	wire	NOUN
fumecheng-10915	116	45	tensioning	tensione	VERB
fumecheng-10915	116	46	system	system	NOUN
fumecheng-10915	116	47	.	.	PUNCT
fumecheng-10915	117	1	fig	fig	NOUN
fumecheng-10915	117	2	.	.	PUNCT
fumecheng-10915	118	1	6	6	NUM
fumecheng-10915	118	2	measured	measure	VERB
fumecheng-10915	118	3	total	total	ADJ
fumecheng-10915	118	4	force	force	NOUN
fumecheng-10915	118	5	in	in	ADP
fumecheng-10915	118	6	pair	pair	NOUN
fumecheng-10915	118	7	of	of	ADP
fumecheng-10915	118	8	wires	wire	NOUN
fumecheng-10915	118	9	4	4	NUM
fumecheng-10915	118	10	.	.	PUNCT
fumecheng-10915	118	11	artificial	artificial	ADJ
fumecheng-10915	118	12	neural	neural	ADJ
fumecheng-10915	118	13	network	network	NOUN
fumecheng-10915	118	14	for	for	ADP
fumecheng-10915	118	15	prediction	prediction	NOUN
fumecheng-10915	118	16	of	of	ADP
fumecheng-10915	118	17	force	force	NOUN
fumecheng-10915	118	18	in	in	ADP
fumecheng-10915	118	19	wire	wire	NOUN
fumecheng-10915	118	20	in	in	ADP
fumecheng-10915	118	21	this	this	DET
fumecheng-10915	118	22	study	study	NOUN
fumecheng-10915	118	23	,	,	PUNCT
fumecheng-10915	118	24	a	a	DET
fumecheng-10915	118	25	standard	standard	ADJ
fumecheng-10915	118	26	backpropagation	backpropagation	NOUN
fumecheng-10915	118	27	artificial	artificial	ADJ
fumecheng-10915	118	28	neural	neural	ADJ
fumecheng-10915	118	29	network	network	NOUN
fumecheng-10915	118	30	(	(	PUNCT
fumecheng-10915	118	31	ann	ann	PROPN
fumecheng-10915	118	32	)	)	PUNCT
fumecheng-10915	118	33	was	be	AUX
fumecheng-10915	118	34	used	use	VERB
fumecheng-10915	118	35	.	.	PUNCT
fumecheng-10915	119	1	the	the	DET
fumecheng-10915	119	2	architecture	architecture	NOUN
fumecheng-10915	119	3	of	of	ADP
fumecheng-10915	119	4	an	an	DET
fumecheng-10915	119	5	ann	ann	PROPN
fumecheng-10915	119	6	typically	typically	ADV
fumecheng-10915	119	7	consists	consist	VERB
fumecheng-10915	119	8	of	of	ADP
fumecheng-10915	119	9	three	three	NUM
fumecheng-10915	119	10	layers	layer	NOUN
fumecheng-10915	119	11	:	:	PUNCT
fumecheng-10915	119	12	an	an	DET
fumecheng-10915	119	13	input	input	NOUN
fumecheng-10915	119	14	layer	layer	NOUN
fumecheng-10915	119	15	,	,	PUNCT
fumecheng-10915	119	16	hidden	hide	VERB
fumecheng-10915	119	17	layer	layer	NOUN
fumecheng-10915	119	18	,	,	PUNCT
fumecheng-10915	119	19	and	and	CCONJ
fumecheng-10915	119	20	output	output	NOUN
fumecheng-10915	119	21	layer	layer	NOUN
fumecheng-10915	120	1	[	[	X
fumecheng-10915	120	2	24	24	NUM
fumecheng-10915	120	3	]	]	PUNCT
fumecheng-10915	120	4	.	.	PUNCT
fumecheng-10915	121	1	the	the	DET
fumecheng-10915	121	2	ann	ann	PROPN
fumecheng-10915	121	3	created	create	VERB
fumecheng-10915	121	4	for	for	ADP
fumecheng-10915	121	5	this	this	DET
fumecheng-10915	121	6	study	study	NOUN
fumecheng-10915	121	7	had	have	VERB
fumecheng-10915	121	8	four	four	NUM
fumecheng-10915	121	9	layers	layer	NOUN
fumecheng-10915	121	10	:	:	PUNCT
fumecheng-10915	121	11	an	an	DET
fumecheng-10915	121	12	input	input	NOUN
fumecheng-10915	121	13	layer	layer	NOUN
fumecheng-10915	121	14	,	,	PUNCT
fumecheng-10915	121	15	two	two	NUM
fumecheng-10915	121	16	hidden	hidden	ADJ
fumecheng-10915	121	17	layers	layer	NOUN
fumecheng-10915	121	18	and	and	CCONJ
fumecheng-10915	121	19	an	an	DET
fumecheng-10915	121	20	output	output	NOUN
fumecheng-10915	121	21	layer	layer	NOUN
fumecheng-10915	121	22	.	.	PUNCT
fumecheng-10915	122	1	the	the	DET
fumecheng-10915	122	2	variables	variable	NOUN
fumecheng-10915	122	3	used	use	VERB
fumecheng-10915	122	4	in	in	ADP
fumecheng-10915	122	5	the	the	DET
fumecheng-10915	122	6	input	input	NOUN
fumecheng-10915	122	7	network	network	NOUN
fumecheng-10915	122	8	layer	layer	NOUN
fumecheng-10915	122	9	were	be	AUX
fumecheng-10915	122	10	the	the	DET
fumecheng-10915	122	11	8	8	NUM
fumecheng-10915	122	12	v.	v.	ADP
fumecheng-10915	122	13	pavlović	pavlović	NOUN
fumecheng-10915	122	14	,	,	PUNCT
fumecheng-10915	122	15	m.	m.	NOUN
fumecheng-10915	122	16	tomić	tomić	NOUN
fumecheng-10915	122	17	,	,	PUNCT
fumecheng-10915	122	18	s	s	PROPN
fumecheng-10915	122	19	-	-	PROPN
fumecheng-10915	122	20	d.	d.	PROPN
fumecheng-10915	122	21	stan	stan	PROPN
fumecheng-10915	122	22	,	,	PUNCT
fumecheng-10915	122	23	m.	m.	NOUN
fumecheng-10915	122	24	banić	banić	NOUN
fumecheng-10915	122	25	,	,	PUNCT
fumecheng-10915	122	26	m.	m.	NOUN
fumecheng-10915	122	27	simonović	simonović	PROPN
fumecheng-10915	122	28	,	,	PUNCT
fumecheng-10915	122	29	m.	m.	NOUN
fumecheng-10915	122	30	milošević	milošević	PROPN
fumecheng-10915	122	31	pulse	pulse	NOUN
fumecheng-10915	122	32	width	width	ADJ
fumecheng-10915	122	33	modulation	modulation	NOUN
fumecheng-10915	122	34	(	(	PUNCT
fumecheng-10915	122	35	pwm	pwm	NOUN
fumecheng-10915	122	36	)	)	PUNCT
fumecheng-10915	122	37	signal	signal	NOUN
fumecheng-10915	122	38	,	,	PUNCT
fumecheng-10915	122	39	which	which	PRON
fumecheng-10915	122	40	was	be	AUX
fumecheng-10915	122	41	used	use	VERB
fumecheng-10915	122	42	to	to	PART
fumecheng-10915	122	43	control	control	VERB
fumecheng-10915	122	44	the	the	DET
fumecheng-10915	122	45	motor	motor	NOUN
fumecheng-10915	122	46	velocity	velocity	NOUN
fumecheng-10915	122	47	,	,	PUNCT
fumecheng-10915	122	48	the	the	DET
fumecheng-10915	122	49	current	current	NOUN
fumecheng-10915	122	50	in	in	ADP
fumecheng-10915	122	51	the	the	DET
fumecheng-10915	122	52	motor	motor	NOUN
fumecheng-10915	122	53	measured	measure	VERB
fumecheng-10915	122	54	via	via	ADP
fumecheng-10915	122	55	a	a	DET
fumecheng-10915	122	56	current	current	ADJ
fumecheng-10915	122	57	sensor	sensor	NOUN
fumecheng-10915	122	58	,	,	PUNCT
fumecheng-10915	122	59	and	and	CCONJ
fumecheng-10915	122	60	the	the	DET
fumecheng-10915	122	61	distance	distance	NOUN
fumecheng-10915	122	62	between	between	ADP
fumecheng-10915	122	63	two	two	NUM
fumecheng-10915	122	64	robotic	robotic	ADJ
fumecheng-10915	122	65	units	unit	NOUN
fumecheng-10915	122	66	.	.	PUNCT
fumecheng-10915	123	1	the	the	DET
fumecheng-10915	123	2	distance	distance	NOUN
fumecheng-10915	123	3	between	between	ADP
fumecheng-10915	123	4	the	the	DET
fumecheng-10915	123	5	robotic	robotic	ADJ
fumecheng-10915	123	6	units	unit	NOUN
fumecheng-10915	123	7	was	be	AUX
fumecheng-10915	123	8	calculated	calculate	VERB
fumecheng-10915	123	9	based	base	VERB
fumecheng-10915	123	10	on	on	ADP
fumecheng-10915	123	11	the	the	DET
fumecheng-10915	123	12	position	position	NOUN
fumecheng-10915	123	13	data	datum	NOUN
fumecheng-10915	123	14	gathered	gather	VERB
fumecheng-10915	123	15	from	from	ADP
fumecheng-10915	123	16	gps	gps	PROPN
fumecheng-10915	123	17	.	.	PUNCT
fumecheng-10915	124	1	each	each	DET
fumecheng-10915	124	2	robotic	robotic	ADJ
fumecheng-10915	124	3	unit	unit	NOUN
fumecheng-10915	124	4	was	be	AUX
fumecheng-10915	124	5	equipped	equip	VERB
fumecheng-10915	124	6	with	with	ADP
fumecheng-10915	124	7	gps	gps	PROPN
fumecheng-10915	124	8	.	.	PUNCT
fumecheng-10915	125	1	the	the	DET
fumecheng-10915	125	2	distance	distance	NOUN
fumecheng-10915	125	3	between	between	ADP
fumecheng-10915	125	4	two	two	NUM
fumecheng-10915	125	5	robots	robot	NOUN
fumecheng-10915	125	6	was	be	AUX
fumecheng-10915	125	7	calculated	calculate	VERB
fumecheng-10915	125	8	using	use	VERB
fumecheng-10915	125	9	a	a	DET
fumecheng-10915	125	10	haversine	haversine	NOUN
fumecheng-10915	125	11	algorithm	algorithm	NOUN
fumecheng-10915	125	12	.	.	PUNCT
fumecheng-10915	126	1	the	the	DET
fumecheng-10915	126	2	haversine	haversine	NOUN
fumecheng-10915	126	3	algorithm	algorithm	PROPN
fumecheng-10915	126	4	calculates	calculate	VERB
fumecheng-10915	126	5	the	the	DET
fumecheng-10915	126	6	distance	distance	NOUN
fumecheng-10915	126	7	using	use	VERB
fumecheng-10915	126	8	latitude	latitude	NOUN
fumecheng-10915	126	9	and	and	CCONJ
fumecheng-10915	126	10	longitude	longitude	NOUN
fumecheng-10915	126	11	.	.	PUNCT
fumecheng-10915	127	1	this	this	DET
fumecheng-10915	127	2	algorithm	algorithm	NOUN
fumecheng-10915	127	3	aims	aim	VERB
fumecheng-10915	127	4	to	to	PART
fumecheng-10915	127	5	find	find	VERB
fumecheng-10915	127	6	the	the	DET
fumecheng-10915	127	7	nearest	near	ADJ
fumecheng-10915	127	8	straight	straight	ADJ
fumecheng-10915	127	9	line	line	NOUN
fumecheng-10915	127	10	distance	distance	NOUN
fumecheng-10915	127	11	from	from	ADP
fumecheng-10915	127	12	two	two	NUM
fumecheng-10915	127	13	given	give	VERB
fumecheng-10915	127	14	locations	location	NOUN
fumecheng-10915	127	15	[	[	X
fumecheng-10915	127	16	25	25	NUM
fumecheng-10915	127	17	]	]	PUNCT
fumecheng-10915	127	18	.	.	PUNCT
fumecheng-10915	128	1	the	the	DET
fumecheng-10915	128	2	variable	variable	NOUN
fumecheng-10915	128	3	in	in	ADP
fumecheng-10915	128	4	the	the	DET
fumecheng-10915	128	5	network	network	NOUN
fumecheng-10915	128	6	output	output	NOUN
fumecheng-10915	128	7	layer	layer	NOUN
fumecheng-10915	128	8	was	be	AUX
fumecheng-10915	128	9	the	the	DET
fumecheng-10915	128	10	total	total	ADJ
fumecheng-10915	128	11	force	force	NOUN
fumecheng-10915	128	12	in	in	ADP
fumecheng-10915	128	13	a	a	DET
fumecheng-10915	128	14	pair	pair	NOUN
fumecheng-10915	128	15	of	of	ADP
fumecheng-10915	128	16	wires	wire	NOUN
fumecheng-10915	128	17	measured	measure	VERB
fumecheng-10915	128	18	on	on	ADP
fumecheng-10915	128	19	the	the	DET
fumecheng-10915	128	20	force	force	NOUN
fumecheng-10915	128	21	sensor	sensor	NOUN
fumecheng-10915	128	22	.	.	PUNCT
fumecheng-10915	129	1	to	to	PART
fumecheng-10915	129	2	create	create	VERB
fumecheng-10915	129	3	the	the	DET
fumecheng-10915	129	4	proposed	propose	VERB
fumecheng-10915	129	5	ann	ann	PROPN
fumecheng-10915	129	6	,	,	PUNCT
fumecheng-10915	129	7	some	some	DET
fumecheng-10915	129	8	data	datum	NOUN
fumecheng-10915	129	9	gathered	gather	VERB
fumecheng-10915	129	10	from	from	ADP
fumecheng-10915	129	11	the	the	DET
fumecheng-10915	129	12	above	above	ADV
fumecheng-10915	129	13	-	-	PUNCT
fumecheng-10915	129	14	mentioned	mention	VERB
fumecheng-10915	129	15	scenario	scenario	NOUN
fumecheng-10915	129	16	where	where	SCONJ
fumecheng-10915	129	17	all	all	DET
fumecheng-10915	129	18	robotic	robotic	ADJ
fumecheng-10915	129	19	units	unit	NOUN
fumecheng-10915	129	20	moved	move	VERB
fumecheng-10915	129	21	was	be	AUX
fumecheng-10915	129	22	used	use	VERB
fumecheng-10915	129	23	.	.	PUNCT
fumecheng-10915	130	1	four	four	NUM
fumecheng-10915	130	2	sets	set	NOUN
fumecheng-10915	130	3	,	,	PUNCT
fumecheng-10915	130	4	each	each	PRON
fumecheng-10915	130	5	consisting	consist	VERB
fumecheng-10915	130	6	of	of	ADP
fumecheng-10915	130	7	523	523	NUM
fumecheng-10915	130	8	pieces	piece	NOUN
fumecheng-10915	130	9	of	of	ADP
fumecheng-10915	130	10	data	datum	NOUN
fumecheng-10915	130	11	that	that	PRON
fumecheng-10915	130	12	were	be	AUX
fumecheng-10915	130	13	used	use	VERB
fumecheng-10915	130	14	for	for	ADP
fumecheng-10915	130	15	the	the	DET
fumecheng-10915	130	16	creation	creation	NOUN
fumecheng-10915	130	17	of	of	ADP
fumecheng-10915	130	18	the	the	DET
fumecheng-10915	130	19	ann	ann	PROPN
fumecheng-10915	130	20	,	,	PUNCT
fumecheng-10915	130	21	were	be	AUX
fumecheng-10915	130	22	related	relate	VERB
fumecheng-10915	130	23	to	to	ADP
fumecheng-10915	130	24	the	the	DET
fumecheng-10915	130	25	two	two	NUM
fumecheng-10915	130	26	front	front	ADJ
fumecheng-10915	130	27	robotic	robotic	ADJ
fumecheng-10915	130	28	units	unit	NOUN
fumecheng-10915	130	29	ru1	ru1	NOUN
fumecheng-10915	130	30	and	and	CCONJ
fumecheng-10915	130	31	ru2	ru2	NOUN
fumecheng-10915	130	32	during	during	ADP
fumecheng-10915	130	33	the	the	DET
fumecheng-10915	130	34	movement	movement	NOUN
fumecheng-10915	130	35	.	.	PUNCT
fumecheng-10915	131	1	the	the	DET
fumecheng-10915	131	2	initial	initial	ADJ
fumecheng-10915	131	3	distance	distance	NOUN
fumecheng-10915	131	4	between	between	ADP
fumecheng-10915	131	5	robots	robot	NOUN
fumecheng-10915	131	6	ru1	ru1	PROPN
fumecheng-10915	131	7	-	-	PUNCT
fumecheng-10915	131	8	ru2	ru2	NOUN
fumecheng-10915	131	9	was	be	AUX
fumecheng-10915	131	10	34	34	NUM
fumecheng-10915	131	11	m	m	NOUN
fumecheng-10915	131	12	,	,	PUNCT
fumecheng-10915	131	13	while	while	SCONJ
fumecheng-10915	131	14	the	the	DET
fumecheng-10915	131	15	final	final	ADJ
fumecheng-10915	131	16	distance	distance	NOUN
fumecheng-10915	131	17	was	be	AUX
fumecheng-10915	131	18	14	14	NUM
fumecheng-10915	131	19	m.	m.	NOUN
fumecheng-10915	131	20	during	during	ADP
fumecheng-10915	131	21	the	the	DET
fumecheng-10915	131	22	test	test	NOUN
fumecheng-10915	131	23	,	,	PUNCT
fumecheng-10915	131	24	robotic	robotic	ADJ
fumecheng-10915	131	25	unit	unit	NOUN
fumecheng-10915	131	26	1	1	NUM
fumecheng-10915	131	27	traveled	travel	VERB
fumecheng-10915	131	28	20.8	20.8	NUM
fumecheng-10915	131	29	m	m	NOUN
fumecheng-10915	131	30	from	from	ADP
fumecheng-10915	131	31	position	position	NOUN
fumecheng-10915	131	32	rs1	rs1	PROPN
fumecheng-10915	131	33	to	to	ADP
fumecheng-10915	131	34	rs1	rs1	PROPN
fumecheng-10915	131	35	'	'	PUNCT
fumecheng-10915	131	36	,	,	PUNCT
fumecheng-10915	131	37	while	while	SCONJ
fumecheng-10915	131	38	robotic	robotic	ADJ
fumecheng-10915	131	39	unit	unit	NOUN
fumecheng-10915	131	40	2	2	NUM
fumecheng-10915	131	41	traveled	travel	VERB
fumecheng-10915	131	42	32.7	32.7	NUM
fumecheng-10915	131	43	m	m	NOUN
fumecheng-10915	131	44	from	from	ADP
fumecheng-10915	131	45	position	position	NOUN
fumecheng-10915	131	46	rs2	rs2	NOUN
fumecheng-10915	131	47	to	to	ADP
fumecheng-10915	131	48	rs2	rs2	NOUN
fumecheng-10915	131	49	'	'	PUNCT
fumecheng-10915	131	50	.	.	PUNCT
fumecheng-10915	132	1	the	the	DET
fumecheng-10915	132	2	measured	measure	VERB
fumecheng-10915	132	3	total	total	ADJ
fumecheng-10915	132	4	force	force	NOUN
fumecheng-10915	132	5	in	in	ADP
fumecheng-10915	132	6	the	the	DET
fumecheng-10915	132	7	wires	wire	NOUN
fumecheng-10915	132	8	ranged	range	VERB
fumecheng-10915	132	9	from	from	ADP
fumecheng-10915	132	10	11	11	NUM
fumecheng-10915	132	11	n	n	NOUN
fumecheng-10915	132	12	to	to	ADP
fumecheng-10915	132	13	105	105	NUM
fumecheng-10915	132	14	n	n	CCONJ
fumecheng-10915	132	15	,	,	PUNCT
fumecheng-10915	132	16	while	while	SCONJ
fumecheng-10915	132	17	the	the	DET
fumecheng-10915	132	18	maximum	maximum	ADJ
fumecheng-10915	132	19	motor	motor	PROPN
fumecheng-10915	132	20	current	current	NOUN
fumecheng-10915	132	21	was	be	AUX
fumecheng-10915	132	22	15	15	NUM
fumecheng-10915	132	23	a.	a.	NOUN
fumecheng-10915	132	24	the	the	DET
fumecheng-10915	132	25	ann	ann	PROPN
fumecheng-10915	132	26	model	model	NOUN
fumecheng-10915	132	27	was	be	AUX
fumecheng-10915	132	28	created	create	VERB
fumecheng-10915	132	29	using	use	VERB
fumecheng-10915	132	30	the	the	DET
fumecheng-10915	132	31	matlab	matlab	PROPN
fumecheng-10915	132	32	(	(	PUNCT
fumecheng-10915	132	33	the	the	DET
fumecheng-10915	132	34	math	math	NOUN
fumecheng-10915	132	35	works	works	PROPN
fumecheng-10915	132	36	,	,	PUNCT
fumecheng-10915	132	37	inc	inc	PROPN
fumecheng-10915	132	38	.	.	PROPN
fumecheng-10915	132	39	usa	usa	PROPN
fumecheng-10915	132	40	)	)	PUNCT
fumecheng-10915	132	41	software	software	NOUN
fumecheng-10915	132	42	package	package	NOUN
fumecheng-10915	132	43	.	.	PUNCT
fumecheng-10915	133	1	the	the	DET
fumecheng-10915	133	2	input	input	NOUN
fumecheng-10915	133	3	layer	layer	NOUN
fumecheng-10915	133	4	of	of	ADP
fumecheng-10915	133	5	the	the	DET
fumecheng-10915	133	6	ann	ann	PROPN
fumecheng-10915	133	7	included	include	VERB
fumecheng-10915	133	8	3	3	NUM
fumecheng-10915	133	9	input	input	NOUN
fumecheng-10915	133	10	neurons	neuron	NOUN
fumecheng-10915	133	11	,	,	PUNCT
fumecheng-10915	133	12	while	while	SCONJ
fumecheng-10915	133	13	the	the	DET
fumecheng-10915	133	14	output	output	NOUN
fumecheng-10915	133	15	layer	layer	NOUN
fumecheng-10915	133	16	included	include	VERB
fumecheng-10915	133	17	one	one	NUM
fumecheng-10915	133	18	output	output	NOUN
fumecheng-10915	133	19	neuron	neuron	NOUN
fumecheng-10915	133	20	.	.	PUNCT
fumecheng-10915	134	1	the	the	DET
fumecheng-10915	134	2	two	two	NUM
fumecheng-10915	134	3	hidden	hidden	ADJ
fumecheng-10915	134	4	layers	layer	NOUN
fumecheng-10915	134	5	had	have	VERB
fumecheng-10915	134	6	20	20	NUM
fumecheng-10915	134	7	hidden	hide	VERB
fumecheng-10915	134	8	neurons	neuron	NOUN
fumecheng-10915	134	9	each	each	PRON
fumecheng-10915	134	10	as	as	SCONJ
fumecheng-10915	134	11	shown	show	VERB
fumecheng-10915	134	12	in	in	ADP
fumecheng-10915	134	13	fig	fig	NOUN
fumecheng-10915	134	14	.	.	PUNCT
fumecheng-10915	135	1	7	7	X
fumecheng-10915	135	2	.	.	X
fumecheng-10915	135	3	the	the	DET
fumecheng-10915	135	4	trial	trial	NOUN
fumecheng-10915	135	5	-	-	PUNCT
fumecheng-10915	135	6	and	and	CCONJ
fumecheng-10915	135	7	-	-	PUNCT
fumecheng-10915	135	8	error	error	NOUN
fumecheng-10915	135	9	approach	approach	NOUN
fumecheng-10915	135	10	was	be	AUX
fumecheng-10915	135	11	used	use	VERB
fumecheng-10915	135	12	for	for	ADP
fumecheng-10915	135	13	determining	determine	VERB
fumecheng-10915	135	14	the	the	DET
fumecheng-10915	135	15	number	number	NOUN
fumecheng-10915	135	16	of	of	ADP
fumecheng-10915	135	17	hidden	hidden	ADJ
fumecheng-10915	135	18	layers	layer	NOUN
fumecheng-10915	135	19	and	and	CCONJ
fumecheng-10915	135	20	hidden	hidden	ADJ
fumecheng-10915	135	21	neurons	neuron	NOUN
fumecheng-10915	135	22	in	in	ADP
fumecheng-10915	135	23	these	these	DET
fumecheng-10915	135	24	layers	layer	NOUN
fumecheng-10915	135	25	.	.	PUNCT
fumecheng-10915	136	1	fig	fig	NOUN
fumecheng-10915	136	2	.	.	PUNCT
fumecheng-10915	137	1	7	7	NUM
fumecheng-10915	137	2	artificial	artificial	ADJ
fumecheng-10915	137	3	neural	neural	ADJ
fumecheng-10915	137	4	network	network	NOUN
fumecheng-10915	137	5	with	with	ADP
fumecheng-10915	137	6	3	3	NUM
fumecheng-10915	137	7	input	input	NOUN
fumecheng-10915	137	8	variables	variable	NOUN
fumecheng-10915	137	9	,	,	PUNCT
fumecheng-10915	137	10	2	2	NUM
fumecheng-10915	137	11	hidden	hidden	ADJ
fumecheng-10915	137	12	layers	layer	NOUN
fumecheng-10915	137	13	with	with	ADP
fumecheng-10915	137	14	20	20	NUM
fumecheng-10915	137	15	neurons	neuron	NOUN
fumecheng-10915	137	16	each	each	PRON
fumecheng-10915	137	17	,	,	PUNCT
fumecheng-10915	137	18	and	and	CCONJ
fumecheng-10915	137	19	1	1	NUM
fumecheng-10915	137	20	output	output	NOUN
fumecheng-10915	137	21	variable	variable	ADJ
fumecheng-10915	137	22	control	control	NOUN
fumecheng-10915	137	23	of	of	ADP
fumecheng-10915	137	24	a	a	DET
fumecheng-10915	137	25	wire	wire	NOUN
fumecheng-10915	137	26	tensioning	tensione	VERB
fumecheng-10915	137	27	system	system	NOUN
fumecheng-10915	137	28	with	with	ADP
fumecheng-10915	137	29	force	force	NOUN
fumecheng-10915	137	30	prediction	prediction	NOUN
fumecheng-10915	137	31	using	use	VERB
fumecheng-10915	137	32	artificial	artificial	ADJ
fumecheng-10915	137	33	neural	neural	ADJ
fumecheng-10915	137	34	networks	network	NOUN
fumecheng-10915	137	35	9	9	NUM
fumecheng-10915	137	36	the	the	DET
fumecheng-10915	137	37	ann	ann	PROPN
fumecheng-10915	137	38	was	be	AUX
fumecheng-10915	137	39	trained	train	VERB
fumecheng-10915	137	40	by	by	ADP
fumecheng-10915	137	41	using	use	VERB
fumecheng-10915	137	42	the	the	DET
fumecheng-10915	137	43	backpropagation	backpropagation	NOUN
fumecheng-10915	137	44	levenberg	levenberg	PROPN
fumecheng-10915	137	45	–	–	PUNCT
fumecheng-10915	137	46	marquardt	marquardt	PROPN
fumecheng-10915	137	47	algorithm	algorithm	PROPN
fumecheng-10915	137	48	,	,	PUNCT
fumecheng-10915	137	49	due	due	ADP
fumecheng-10915	137	50	to	to	ADP
fumecheng-10915	137	51	its	its	PRON
fumecheng-10915	137	52	high	high	ADJ
fumecheng-10915	137	53	accuracy	accuracy	NOUN
fumecheng-10915	137	54	and	and	CCONJ
fumecheng-10915	137	55	fast	fast	ADJ
fumecheng-10915	137	56	convergence	convergence	NOUN
fumecheng-10915	137	57	.	.	PUNCT
fumecheng-10915	138	1	during	during	ADP
fumecheng-10915	138	2	the	the	DET
fumecheng-10915	138	3	training	training	NOUN
fumecheng-10915	138	4	,	,	PUNCT
fumecheng-10915	138	5	the	the	DET
fumecheng-10915	138	6	mean	mean	ADJ
fumecheng-10915	138	7	squared	square	VERB
fumecheng-10915	138	8	error	error	NOUN
fumecheng-10915	138	9	was	be	AUX
fumecheng-10915	138	10	used	use	VERB
fumecheng-10915	138	11	for	for	ADP
fumecheng-10915	138	12	performance	performance	NOUN
fumecheng-10915	138	13	measuring	measure	VERB
fumecheng-10915	138	14	.	.	PUNCT
fumecheng-10915	139	1	the	the	DET
fumecheng-10915	139	2	dataset	dataset	NOUN
fumecheng-10915	139	3	consisted	consist	VERB
fumecheng-10915	139	4	of	of	ADP
fumecheng-10915	139	5	4	4	NUM
fumecheng-10915	139	6	variables	variable	NOUN
fumecheng-10915	139	7	where	where	SCONJ
fumecheng-10915	139	8	each	each	DET
fumecheng-10915	139	9	variable	variable	NOUN
fumecheng-10915	139	10	had	have	VERB
fumecheng-10915	139	11	523	523	NUM
fumecheng-10915	139	12	samples	sample	NOUN
fumecheng-10915	139	13	.	.	PUNCT
fumecheng-10915	140	1	these	these	DET
fumecheng-10915	140	2	variables	variable	NOUN
fumecheng-10915	140	3	were	be	AUX
fumecheng-10915	140	4	the	the	DET
fumecheng-10915	140	5	pwm	pwm	NOUN
fumecheng-10915	140	6	signal	signal	NOUN
fumecheng-10915	140	7	,	,	PUNCT
fumecheng-10915	140	8	the	the	DET
fumecheng-10915	140	9	distance	distance	NOUN
fumecheng-10915	140	10	between	between	ADP
fumecheng-10915	140	11	the	the	DET
fumecheng-10915	140	12	robotic	robotic	ADJ
fumecheng-10915	140	13	units	unit	NOUN
fumecheng-10915	140	14	,	,	PUNCT
fumecheng-10915	140	15	the	the	DET
fumecheng-10915	140	16	motor	motor	NOUN
fumecheng-10915	140	17	current	current	NOUN
fumecheng-10915	140	18	,	,	PUNCT
fumecheng-10915	140	19	and	and	CCONJ
fumecheng-10915	140	20	the	the	DET
fumecheng-10915	140	21	total	total	ADJ
fumecheng-10915	140	22	force	force	NOUN
fumecheng-10915	140	23	in	in	ADP
fumecheng-10915	140	24	the	the	DET
fumecheng-10915	140	25	wires	wire	NOUN
fumecheng-10915	140	26	.	.	PUNCT
fumecheng-10915	141	1	in	in	ADP
fumecheng-10915	141	2	order	order	NOUN
fumecheng-10915	141	3	to	to	PART
fumecheng-10915	141	4	use	use	VERB
fumecheng-10915	141	5	these	these	DET
fumecheng-10915	141	6	variables	variable	NOUN
fumecheng-10915	141	7	in	in	ADP
fumecheng-10915	141	8	the	the	DET
fumecheng-10915	141	9	ann	ann	PROPN
fumecheng-10915	141	10	the	the	DET
fumecheng-10915	141	11	dataset	dataset	NOUN
fumecheng-10915	141	12	was	be	AUX
fumecheng-10915	141	13	divided	divide	VERB
fumecheng-10915	141	14	into	into	ADP
fumecheng-10915	141	15	two	two	NUM
fumecheng-10915	141	16	matrices	matrix	NOUN
fumecheng-10915	141	17	.	.	PUNCT
fumecheng-10915	142	1	one	one	NUM
fumecheng-10915	142	2	matrix	matrix	NOUN
fumecheng-10915	142	3	consisted	consist	VERB
fumecheng-10915	142	4	of	of	ADP
fumecheng-10915	142	5	the	the	DET
fumecheng-10915	142	6	pwm	pwm	NOUN
fumecheng-10915	142	7	signal	signal	NOUN
fumecheng-10915	142	8	,	,	PUNCT
fumecheng-10915	142	9	the	the	DET
fumecheng-10915	142	10	distance	distance	NOUN
fumecheng-10915	142	11	and	and	CCONJ
fumecheng-10915	142	12	the	the	DET
fumecheng-10915	142	13	motor	motor	NOUN
fumecheng-10915	142	14	current	current	ADJ
fumecheng-10915	142	15	values	value	NOUN
fumecheng-10915	142	16	,	,	PUNCT
fumecheng-10915	142	17	and	and	CCONJ
fumecheng-10915	142	18	was	be	AUX
fumecheng-10915	142	19	called	call	VERB
fumecheng-10915	142	20	“	"	PUNCT
fumecheng-10915	142	21	inputs	input	NOUN
fumecheng-10915	142	22	”	"	PUNCT
fumecheng-10915	142	23	.	.	PUNCT
fumecheng-10915	143	1	the	the	DET
fumecheng-10915	143	2	second	second	ADJ
fumecheng-10915	143	3	matrix	matrix	NOUN
fumecheng-10915	143	4	had	have	VERB
fumecheng-10915	143	5	the	the	DET
fumecheng-10915	143	6	values	value	NOUN
fumecheng-10915	143	7	of	of	ADP
fumecheng-10915	143	8	the	the	DET
fumecheng-10915	143	9	total	total	ADJ
fumecheng-10915	143	10	force	force	NOUN
fumecheng-10915	143	11	in	in	ADP
fumecheng-10915	143	12	the	the	DET
fumecheng-10915	143	13	wires	wire	NOUN
fumecheng-10915	143	14	and	and	CCONJ
fumecheng-10915	143	15	was	be	AUX
fumecheng-10915	143	16	called	call	VERB
fumecheng-10915	143	17	“	"	PUNCT
fumecheng-10915	143	18	targets	target	NOUN
fumecheng-10915	143	19	”	"	PUNCT
fumecheng-10915	143	20	.	.	PUNCT
fumecheng-10915	144	1	when	when	SCONJ
fumecheng-10915	144	2	the	the	DET
fumecheng-10915	144	3	matrices	matrix	NOUN
fumecheng-10915	144	4	were	be	AUX
fumecheng-10915	144	5	imported	import	VERB
fumecheng-10915	144	6	,	,	PUNCT
fumecheng-10915	144	7	training	training	NOUN
fumecheng-10915	144	8	,	,	PUNCT
fumecheng-10915	144	9	validation	validation	NOUN
fumecheng-10915	144	10	and	and	CCONJ
fumecheng-10915	144	11	testing	testing	NOUN
fumecheng-10915	144	12	datasets	dataset	NOUN
fumecheng-10915	144	13	for	for	ADP
fumecheng-10915	144	14	neural	neural	ADJ
fumecheng-10915	144	15	network	network	NOUN
fumecheng-10915	144	16	were	be	AUX
fumecheng-10915	144	17	randomly	randomly	ADV
fumecheng-10915	144	18	selected	select	VERB
fumecheng-10915	144	19	.	.	PUNCT
fumecheng-10915	145	1	using	use	VERB
fumecheng-10915	145	2	the	the	DET
fumecheng-10915	145	3	“	"	PUNCT
fumecheng-10915	145	4	inputs	input	NOUN
fumecheng-10915	145	5	”	"	PUNCT
fumecheng-10915	145	6	and	and	CCONJ
fumecheng-10915	145	7	“	"	PUNCT
fumecheng-10915	145	8	targets	target	NOUN
fumecheng-10915	145	9	”	"	PUNCT
fumecheng-10915	145	10	data	datum	NOUN
fumecheng-10915	145	11	,	,	PUNCT
fumecheng-10915	145	12	the	the	DET
fumecheng-10915	145	13	ann	ann	PROPN
fumecheng-10915	145	14	calculated	calculate	VERB
fumecheng-10915	145	15	“	"	PUNCT
fumecheng-10915	145	16	outputs	output	NOUN
fumecheng-10915	145	17	”	"	PUNCT
fumecheng-10915	145	18	.	.	PUNCT
fumecheng-10915	146	1	367	367	NUM
fumecheng-10915	146	2	pieces	piece	NOUN
fumecheng-10915	146	3	of	of	ADP
fumecheng-10915	146	4	data	datum	NOUN
fumecheng-10915	146	5	were	be	AUX
fumecheng-10915	146	6	used	use	VERB
fumecheng-10915	146	7	as	as	ADP
fumecheng-10915	146	8	a	a	DET
fumecheng-10915	146	9	training	training	NOUN
fumecheng-10915	146	10	sample	sample	NOUN
fumecheng-10915	146	11	for	for	ADP
fumecheng-10915	146	12	network	network	NOUN
fumecheng-10915	146	13	training	training	NOUN
fumecheng-10915	146	14	.	.	PUNCT
fumecheng-10915	147	1	the	the	DET
fumecheng-10915	147	2	network	network	NOUN
fumecheng-10915	147	3	was	be	AUX
fumecheng-10915	147	4	adjusted	adjust	VERB
fumecheng-10915	147	5	according	accord	VERB
fumecheng-10915	147	6	to	to	ADP
fumecheng-10915	147	7	the	the	DET
fumecheng-10915	147	8	errors	error	NOUN
fumecheng-10915	147	9	during	during	ADP
fumecheng-10915	147	10	training	training	NOUN
fumecheng-10915	147	11	.	.	PUNCT
fumecheng-10915	148	1	for	for	ADP
fumecheng-10915	148	2	measuring	measure	VERB
fumecheng-10915	148	3	network	network	NOUN
fumecheng-10915	148	4	generalization	generalization	NOUN
fumecheng-10915	148	5	,	,	PUNCT
fumecheng-10915	148	6	a	a	DET
fumecheng-10915	148	7	validation	validation	NOUN
fumecheng-10915	148	8	sample	sample	NOUN
fumecheng-10915	148	9	of	of	ADP
fumecheng-10915	148	10	78	78	NUM
fumecheng-10915	148	11	pieces	piece	NOUN
fumecheng-10915	148	12	of	of	ADP
fumecheng-10915	148	13	data	datum	NOUN
fumecheng-10915	148	14	was	be	AUX
fumecheng-10915	148	15	used	use	VERB
fumecheng-10915	148	16	.	.	PUNCT
fumecheng-10915	149	1	when	when	SCONJ
fumecheng-10915	149	2	the	the	DET
fumecheng-10915	149	3	generalization	generalization	NOUN
fumecheng-10915	149	4	stopped	stop	VERB
fumecheng-10915	149	5	improving	improve	VERB
fumecheng-10915	149	6	,	,	PUNCT
fumecheng-10915	149	7	network	network	NOUN
fumecheng-10915	149	8	training	training	NOUN
fumecheng-10915	149	9	was	be	AUX
fumecheng-10915	149	10	halted	halt	VERB
fumecheng-10915	149	11	.	.	PUNCT
fumecheng-10915	150	1	during	during	ADP
fumecheng-10915	150	2	the	the	DET
fumecheng-10915	150	3	ann	ann	PROPN
fumecheng-10915	150	4	training	training	NOUN
fumecheng-10915	150	5	process	process	NOUN
fumecheng-10915	150	6	,	,	PUNCT
fumecheng-10915	150	7	although	although	SCONJ
fumecheng-10915	150	8	a	a	DET
fumecheng-10915	150	9	larger	large	ADJ
fumecheng-10915	150	10	number	number	NOUN
fumecheng-10915	150	11	of	of	ADP
fumecheng-10915	150	12	iterations	iteration	NOUN
fumecheng-10915	150	13	was	be	AUX
fumecheng-10915	150	14	expected	expect	VERB
fumecheng-10915	150	15	,	,	PUNCT
fumecheng-10915	150	16	it	it	PRON
fumecheng-10915	150	17	was	be	AUX
fumecheng-10915	150	18	observed	observe	VERB
fumecheng-10915	150	19	that	that	SCONJ
fumecheng-10915	150	20	fewer	few	ADJ
fumecheng-10915	150	21	iterations	iteration	NOUN
fumecheng-10915	150	22	were	be	AUX
fumecheng-10915	150	23	sufficient	sufficient	ADJ
fumecheng-10915	150	24	to	to	PART
fumecheng-10915	150	25	train	train	VERB
fumecheng-10915	150	26	the	the	DET
fumecheng-10915	150	27	ann	ann	PROPN
fumecheng-10915	150	28	(	(	PUNCT
fumecheng-10915	150	29	fig	fig	NOUN
fumecheng-10915	150	30	.	.	PUNCT
fumecheng-10915	151	1	8)	8)	NUM
fumecheng-10915	151	2	.	.	PUNCT
fumecheng-10915	152	1	in	in	ADP
fumecheng-10915	152	2	the	the	DET
fumecheng-10915	152	3	end	end	NOUN
fumecheng-10915	152	4	,	,	PUNCT
fumecheng-10915	152	5	to	to	PART
fumecheng-10915	152	6	verify	verify	VERB
fumecheng-10915	152	7	the	the	DET
fumecheng-10915	152	8	network	network	NOUN
fumecheng-10915	152	9	performance	performance	NOUN
fumecheng-10915	152	10	,	,	PUNCT
fumecheng-10915	152	11	78	78	NUM
fumecheng-10915	152	12	pieces	piece	NOUN
fumecheng-10915	152	13	of	of	ADP
fumecheng-10915	152	14	data	datum	NOUN
fumecheng-10915	152	15	were	be	AUX
fumecheng-10915	152	16	used	use	VERB
fumecheng-10915	152	17	as	as	ADP
fumecheng-10915	152	18	an	an	DET
fumecheng-10915	152	19	independent	independent	ADJ
fumecheng-10915	152	20	testing	testing	NOUN
fumecheng-10915	152	21	sample	sample	NOUN
fumecheng-10915	152	22	.	.	PUNCT
fumecheng-10915	153	1	fig	fig	NOUN
fumecheng-10915	153	2	.	.	PUNCT
fumecheng-10915	154	1	8	8	NUM
fumecheng-10915	154	2	mean	mean	VERB
fumecheng-10915	154	3	squared	square	VERB
fumecheng-10915	154	4	error	error	NOUN
fumecheng-10915	154	5	during	during	ADP
fumecheng-10915	154	6	the	the	DET
fumecheng-10915	154	7	ann	ann	PROPN
fumecheng-10915	154	8	training	training	NOUN
fumecheng-10915	154	9	process	process	NOUN
fumecheng-10915	154	10	for	for	ADP
fumecheng-10915	154	11	force	force	NOUN
fumecheng-10915	154	12	prediction	prediction	NOUN
fumecheng-10915	154	13	in	in	ADP
fumecheng-10915	154	14	order	order	NOUN
fumecheng-10915	154	15	to	to	PART
fumecheng-10915	154	16	measure	measure	VERB
fumecheng-10915	154	17	network	network	NOUN
fumecheng-10915	154	18	performance	performance	NOUN
fumecheng-10915	154	19	,	,	PUNCT
fumecheng-10915	154	20	a	a	DET
fumecheng-10915	154	21	correlation	correlation	NOUN
fumecheng-10915	154	22	coefficient	coefficient	NOUN
fumecheng-10915	154	23	r	r	NOUN
fumecheng-10915	154	24	was	be	AUX
fumecheng-10915	154	25	used	use	VERB
fumecheng-10915	154	26	and	and	CCONJ
fumecheng-10915	154	27	the	the	DET
fumecheng-10915	154	28	obtained	obtain	VERB
fumecheng-10915	154	29	results	result	NOUN
fumecheng-10915	154	30	are	be	AUX
fumecheng-10915	154	31	shown	show	VERB
fumecheng-10915	154	32	in	in	ADP
fumecheng-10915	154	33	fig	fig	NOUN
fumecheng-10915	154	34	.	.	PUNCT
fumecheng-10915	155	1	9	9	X
fumecheng-10915	155	2	.	.	PUNCT
fumecheng-10915	156	1	this	this	DET
fumecheng-10915	156	2	coefficient	coefficient	NOUN
fumecheng-10915	156	3	shows	show	VERB
fumecheng-10915	156	4	how	how	SCONJ
fumecheng-10915	156	5	well	well	ADV
fumecheng-10915	156	6	the	the	DET
fumecheng-10915	156	7	network	network	NOUN
fumecheng-10915	156	8	was	be	AUX
fumecheng-10915	156	9	trained	train	VERB
fumecheng-10915	156	10	by	by	ADP
fumecheng-10915	156	11	matching	match	VERB
fumecheng-10915	156	12	the	the	DET
fumecheng-10915	156	13	predicted	predict	VERB
fumecheng-10915	156	14	“	"	PUNCT
fumecheng-10915	156	15	outputs	output	NOUN
fumecheng-10915	156	16	”	"	PUNCT
fumecheng-10915	156	17	with	with	ADP
fumecheng-10915	156	18	real	real	ADJ
fumecheng-10915	156	19	“	"	PUNCT
fumecheng-10915	156	20	targets	target	NOUN
fumecheng-10915	156	21	”	"	PUNCT
fumecheng-10915	156	22	.	.	PUNCT
fumecheng-10915	157	1	the	the	DET
fumecheng-10915	157	2	higher	high	ADJ
fumecheng-10915	157	3	value	value	NOUN
fumecheng-10915	157	4	of	of	ADP
fumecheng-10915	157	5	r	r	NOUN
fumecheng-10915	157	6	means	mean	VERB
fumecheng-10915	157	7	the	the	DET
fumecheng-10915	157	8	better	well	ADJ
fumecheng-10915	157	9	network	network	NOUN
fumecheng-10915	157	10	performance	performance	NOUN
fumecheng-10915	157	11	,	,	PUNCT
fumecheng-10915	157	12	where	where	SCONJ
fumecheng-10915	157	13	r	r	NOUN
fumecheng-10915	157	14	=	=	SYM
fumecheng-10915	157	15	1	1	NUM
fumecheng-10915	157	16	corresponds	correspond	VERB
fumecheng-10915	157	17	to	to	ADP
fumecheng-10915	157	18	the	the	DET
fumecheng-10915	157	19	perfectly	perfectly	ADV
fumecheng-10915	157	20	matching	matching	ADJ
fumecheng-10915	157	21	relationships	relationship	NOUN
fumecheng-10915	157	22	between	between	ADP
fumecheng-10915	157	23	“	"	PUNCT
fumecheng-10915	157	24	targets	target	NOUN
fumecheng-10915	157	25	”	"	PUNCT
fumecheng-10915	157	26	and	and	CCONJ
fumecheng-10915	157	27	“	"	PUNCT
fumecheng-10915	157	28	outputs	output	NOUN
fumecheng-10915	157	29	”	"	PUNCT
fumecheng-10915	157	30	.	.	PUNCT
fumecheng-10915	158	1	as	as	SCONJ
fumecheng-10915	158	2	can	can	AUX
fumecheng-10915	158	3	be	be	AUX
fumecheng-10915	158	4	observed	observe	VERB
fumecheng-10915	158	5	in	in	ADP
fumecheng-10915	158	6	fig	fig	NOUN
fumecheng-10915	158	7	.	.	PUNCT
fumecheng-10915	159	1	9	9	NUM
fumecheng-10915	159	2	,	,	PUNCT
fumecheng-10915	159	3	during	during	ADP
fumecheng-10915	159	4	the	the	DET
fumecheng-10915	159	5	training	training	NOUN
fumecheng-10915	159	6	of	of	ADP
fumecheng-10915	159	7	the	the	DET
fumecheng-10915	159	8	ann	ann	PROPN
fumecheng-10915	159	9	the	the	DET
fumecheng-10915	159	10	correlation	correlation	NOUN
fumecheng-10915	159	11	coefficient	coefficient	NOUN
fumecheng-10915	159	12	was	be	AUX
fumecheng-10915	159	13	0.98693	0.98693	NUM
fumecheng-10915	159	14	,	,	PUNCT
fumecheng-10915	159	15	which	which	PRON
fumecheng-10915	159	16	means	mean	VERB
fumecheng-10915	159	17	that	that	SCONJ
fumecheng-10915	159	18	the	the	DET
fumecheng-10915	159	19	network	network	NOUN
fumecheng-10915	159	20	was	be	AUX
fumecheng-10915	159	21	trained	train	VERB
fumecheng-10915	159	22	very	very	ADV
fumecheng-10915	159	23	well	well	ADV
fumecheng-10915	159	24	.	.	PUNCT
fumecheng-10915	160	1	the	the	DET
fumecheng-10915	160	2	trained	train	VERB
fumecheng-10915	160	3	network	network	NOUN
fumecheng-10915	160	4	was	be	AUX
fumecheng-10915	160	5	tested	test	VERB
fumecheng-10915	160	6	on	on	ADP
fumecheng-10915	160	7	the	the	DET
fumecheng-10915	160	8	testing	testing	NOUN
fumecheng-10915	160	9	dataset	dataset	VERB
fumecheng-10915	160	10	where	where	SCONJ
fumecheng-10915	160	11	r	r	NOUN
fumecheng-10915	160	12	was	be	AUX
fumecheng-10915	160	13	10	10	NUM
fumecheng-10915	160	14	v.	v.	ADP
fumecheng-10915	160	15	pavlović	pavlović	NOUN
fumecheng-10915	160	16	,	,	PUNCT
fumecheng-10915	160	17	m.	m.	NOUN
fumecheng-10915	160	18	tomić	tomić	NOUN
fumecheng-10915	160	19	,	,	PUNCT
fumecheng-10915	160	20	s	s	PROPN
fumecheng-10915	160	21	-	-	PROPN
fumecheng-10915	160	22	d.	d.	PROPN
fumecheng-10915	160	23	stan	stan	PROPN
fumecheng-10915	160	24	,	,	PUNCT
fumecheng-10915	160	25	m.	m.	NOUN
fumecheng-10915	160	26	banić	banić	NOUN
fumecheng-10915	160	27	,	,	PUNCT
fumecheng-10915	160	28	m.	m.	NOUN
fumecheng-10915	160	29	simonović	simonović	PROPN
fumecheng-10915	160	30	,	,	PUNCT
fumecheng-10915	160	31	m.	m.	NOUN
fumecheng-10915	160	32	milošević	milošević	PROPN
fumecheng-10915	160	33	0.97527	0.97527	NUM
fumecheng-10915	160	34	,	,	PUNCT
fumecheng-10915	160	35	while	while	SCONJ
fumecheng-10915	160	36	the	the	DET
fumecheng-10915	160	37	total	total	ADJ
fumecheng-10915	160	38	network	network	NOUN
fumecheng-10915	160	39	performance	performance	NOUN
fumecheng-10915	160	40	of	of	ADP
fumecheng-10915	160	41	the	the	DET
fumecheng-10915	160	42	trained	train	VERB
fumecheng-10915	160	43	ann	ann	PROPN
fumecheng-10915	160	44	was	be	AUX
fumecheng-10915	160	45	0.97981	0.97981	NUM
fumecheng-10915	160	46	,	,	PUNCT
fumecheng-10915	160	47	which	which	PRON
fumecheng-10915	160	48	was	be	AUX
fumecheng-10915	160	49	recognized	recognize	VERB
fumecheng-10915	160	50	as	as	ADP
fumecheng-10915	160	51	a	a	DET
fumecheng-10915	160	52	very	very	ADV
fumecheng-10915	160	53	satisfying	satisfying	ADJ
fumecheng-10915	160	54	result	result	NOUN
fumecheng-10915	160	55	.	.	PUNCT
fumecheng-10915	161	1	fig	fig	NOUN
fumecheng-10915	161	2	.	.	PUNCT
fumecheng-10915	162	1	9	9	NUM
fumecheng-10915	162	2	the	the	DET
fumecheng-10915	162	3	results	result	NOUN
fumecheng-10915	162	4	of	of	ADP
fumecheng-10915	162	5	network	network	NOUN
fumecheng-10915	162	6	performance	performance	NOUN
fumecheng-10915	162	7	for	for	ADP
fumecheng-10915	162	8	training	training	NOUN
fumecheng-10915	162	9	,	,	PUNCT
fumecheng-10915	162	10	validation	validation	NOUN
fumecheng-10915	162	11	and	and	CCONJ
fumecheng-10915	162	12	test	test	NOUN
fumecheng-10915	162	13	dataset	dataset	NOUN
fumecheng-10915	162	14	table	table	NOUN
fumecheng-10915	162	15	1	1	NUM
fumecheng-10915	162	16	provides	provide	VERB
fumecheng-10915	162	17	a	a	DET
fumecheng-10915	162	18	comparison	comparison	NOUN
fumecheng-10915	162	19	between	between	ADP
fumecheng-10915	162	20	several	several	ADJ
fumecheng-10915	162	21	metrics	metric	NOUN
fumecheng-10915	162	22	.	.	PUNCT
fumecheng-10915	163	1	mean	mean	VERB
fumecheng-10915	163	2	squared	square	VERB
fumecheng-10915	163	3	error	error	NOUN
fumecheng-10915	163	4	(	(	PUNCT
fumecheng-10915	163	5	mse	mse	NOUN
fumecheng-10915	163	6	)	)	PUNCT
fumecheng-10915	163	7	,	,	PUNCT
fumecheng-10915	163	8	root	root	NOUN
fumecheng-10915	163	9	mean	mean	VERB
fumecheng-10915	163	10	squared	square	VERB
fumecheng-10915	163	11	error	error	NOUN
fumecheng-10915	163	12	(	(	PUNCT
fumecheng-10915	163	13	rmse	rmse	NOUN
fumecheng-10915	163	14	)	)	PUNCT
fumecheng-10915	163	15	and	and	CCONJ
fumecheng-10915	163	16	mean	mean	VERB
fumecheng-10915	163	17	absolute	absolute	ADJ
fumecheng-10915	163	18	error	error	NOUN
fumecheng-10915	163	19	(	(	PUNCT
fumecheng-10915	163	20	mae	mae	PROPN
fumecheng-10915	163	21	)	)	PUNCT
fumecheng-10915	163	22	are	be	AUX
fumecheng-10915	163	23	calculated	calculate	VERB
fumecheng-10915	163	24	for	for	ADP
fumecheng-10915	163	25	the	the	DET
fumecheng-10915	163	26	desired	desire	VERB
fumecheng-10915	163	27	tension	tension	NOUN
fumecheng-10915	163	28	force	force	NOUN
fumecheng-10915	163	29	and	and	CCONJ
fumecheng-10915	163	30	measured	measure	VERB
fumecheng-10915	163	31	force	force	NOUN
fumecheng-10915	163	32	using	use	VERB
fumecheng-10915	163	33	a	a	DET
fumecheng-10915	163	34	force	force	NOUN
fumecheng-10915	163	35	sensor	sensor	NOUN
fumecheng-10915	163	36	,	,	PUNCT
fumecheng-10915	163	37	as	as	ADV
fumecheng-10915	163	38	well	well	ADV
fumecheng-10915	163	39	as	as	ADP
fumecheng-10915	163	40	the	the	DET
fumecheng-10915	163	41	desired	desire	VERB
fumecheng-10915	163	42	tension	tension	NOUN
fumecheng-10915	163	43	force	force	NOUN
fumecheng-10915	163	44	and	and	CCONJ
fumecheng-10915	163	45	the	the	DET
fumecheng-10915	163	46	outputs	output	NOUN
fumecheng-10915	163	47	given	give	VERB
fumecheng-10915	163	48	by	by	ADP
fumecheng-10915	163	49	the	the	DET
fumecheng-10915	163	50	trained	train	VERB
fumecheng-10915	163	51	ann	ann	PROPN
fumecheng-10915	163	52	.	.	PUNCT
fumecheng-10915	164	1	as	as	SCONJ
fumecheng-10915	164	2	can	can	AUX
fumecheng-10915	164	3	be	be	AUX
fumecheng-10915	164	4	observed	observe	VERB
fumecheng-10915	164	5	,	,	PUNCT
fumecheng-10915	164	6	the	the	DET
fumecheng-10915	164	7	ann	ann	PROPN
fumecheng-10915	164	8	gives	give	VERB
fumecheng-10915	164	9	a	a	DET
fumecheng-10915	164	10	slightly	slightly	ADV
fumecheng-10915	164	11	smaller	small	ADJ
fumecheng-10915	164	12	error	error	NOUN
fumecheng-10915	164	13	thus	thus	ADV
fumecheng-10915	164	14	giving	give	VERB
fumecheng-10915	164	15	a	a	DET
fumecheng-10915	164	16	better	well	ADJ
fumecheng-10915	164	17	result	result	NOUN
fumecheng-10915	164	18	.	.	PUNCT
fumecheng-10915	165	1	table	table	NOUN
fumecheng-10915	165	2	1	1	NUM
fumecheng-10915	165	3	comparison	comparison	NOUN
fumecheng-10915	165	4	between	between	ADP
fumecheng-10915	165	5	measured	measure	VERB
fumecheng-10915	165	6	and	and	CCONJ
fumecheng-10915	165	7	ann	ann	PROPN
fumecheng-10915	165	8	predicted	predict	VERB
fumecheng-10915	165	9	force	force	PROPN
fumecheng-10915	165	10	mse	mse	PROPN
fumecheng-10915	165	11	(	(	PUNCT
fumecheng-10915	165	12	n2	n2	ADJ
fumecheng-10915	165	13	)	)	PUNCT
fumecheng-10915	165	14	rmse	rmse	NOUN
fumecheng-10915	165	15	(	(	PUNCT
fumecheng-10915	165	16	n	n	CCONJ
fumecheng-10915	165	17	)	)	PUNCT
fumecheng-10915	165	18	mae	mae	PROPN
fumecheng-10915	165	19	(	(	PUNCT
fumecheng-10915	165	20	n	n	CCONJ
fumecheng-10915	165	21	)	)	PUNCT
fumecheng-10915	165	22	measured	measure	VERB
fumecheng-10915	165	23	force	force	NOUN
fumecheng-10915	165	24	1472.66	1472.66	NUM
fumecheng-10915	165	25	38.375	38.375	NUM
fumecheng-10915	165	26	32.49	32.49	NUM
fumecheng-10915	165	27	ann	ann	PROPN
fumecheng-10915	165	28	predicted	predict	VERB
fumecheng-10915	165	29	force	force	NOUN
fumecheng-10915	165	30	1444.18	1444.18	NUM
fumecheng-10915	165	31	38.002	38.002	NUM
fumecheng-10915	165	32	32.37	32.37	NUM
fumecheng-10915	165	33	control	control	NOUN
fumecheng-10915	165	34	of	of	ADP
fumecheng-10915	165	35	a	a	DET
fumecheng-10915	165	36	wire	wire	NOUN
fumecheng-10915	165	37	tensioning	tensione	VERB
fumecheng-10915	165	38	system	system	NOUN
fumecheng-10915	165	39	with	with	ADP
fumecheng-10915	165	40	force	force	NOUN
fumecheng-10915	165	41	prediction	prediction	NOUN
fumecheng-10915	165	42	using	use	VERB
fumecheng-10915	165	43	artificial	artificial	ADJ
fumecheng-10915	165	44	neural	neural	ADJ
fumecheng-10915	165	45	networks	network	NOUN
fumecheng-10915	165	46	11	11	NUM
fumecheng-10915	165	47	having	have	VERB
fumecheng-10915	165	48	the	the	DET
fumecheng-10915	165	49	obtained	obtain	VERB
fumecheng-10915	165	50	results	result	NOUN
fumecheng-10915	165	51	in	in	ADP
fumecheng-10915	165	52	mind	mind	NOUN
fumecheng-10915	165	53	,	,	PUNCT
fumecheng-10915	165	54	it	it	PRON
fumecheng-10915	165	55	was	be	AUX
fumecheng-10915	165	56	concluded	conclude	VERB
fumecheng-10915	165	57	that	that	SCONJ
fumecheng-10915	165	58	the	the	DET
fumecheng-10915	165	59	ann	ann	PROPN
fumecheng-10915	165	60	can	can	AUX
fumecheng-10915	165	61	be	be	AUX
fumecheng-10915	165	62	used	use	VERB
fumecheng-10915	165	63	for	for	ADP
fumecheng-10915	165	64	the	the	DET
fumecheng-10915	165	65	prediction	prediction	NOUN
fumecheng-10915	165	66	of	of	ADP
fumecheng-10915	165	67	the	the	DET
fumecheng-10915	165	68	force	force	NOUN
fumecheng-10915	165	69	in	in	ADP
fumecheng-10915	165	70	the	the	DET
fumecheng-10915	165	71	wire	wire	NOUN
fumecheng-10915	165	72	with	with	ADP
fumecheng-10915	165	73	high	high	ADJ
fumecheng-10915	165	74	accuracy	accuracy	NOUN
fumecheng-10915	165	75	.	.	PUNCT
fumecheng-10915	166	1	therefore	therefore	ADV
fumecheng-10915	166	2	,	,	PUNCT
fumecheng-10915	166	3	the	the	DET
fumecheng-10915	166	4	new	new	ADJ
fumecheng-10915	166	5	control	control	NOUN
fumecheng-10915	166	6	of	of	ADP
fumecheng-10915	166	7	the	the	DET
fumecheng-10915	166	8	wire	wire	NOUN
fumecheng-10915	166	9	tensioning	tensione	VERB
fumecheng-10915	166	10	system	system	NOUN
fumecheng-10915	166	11	where	where	SCONJ
fumecheng-10915	166	12	the	the	DET
fumecheng-10915	166	13	force	force	NOUN
fumecheng-10915	166	14	sensor	sensor	NOUN
fumecheng-10915	166	15	can	can	AUX
fumecheng-10915	166	16	be	be	AUX
fumecheng-10915	166	17	substituted	substitute	VERB
fumecheng-10915	166	18	with	with	ADP
fumecheng-10915	166	19	the	the	DET
fumecheng-10915	166	20	ann	ann	PROPN
fumecheng-10915	166	21	was	be	AUX
fumecheng-10915	166	22	proposed	propose	VERB
fumecheng-10915	166	23	and	and	CCONJ
fumecheng-10915	166	24	is	be	AUX
fumecheng-10915	166	25	graphically	graphically	ADV
fumecheng-10915	166	26	presented	present	VERB
fumecheng-10915	166	27	in	in	ADP
fumecheng-10915	166	28	fig	fig	NOUN
fumecheng-10915	166	29	.	.	PUNCT
fumecheng-10915	167	1	10	10	NUM
fumecheng-10915	167	2	.	.	PUNCT
fumecheng-10915	168	1	the	the	DET
fumecheng-10915	168	2	implementation	implementation	NOUN
fumecheng-10915	168	3	and	and	CCONJ
fumecheng-10915	168	4	assessment	assessment	NOUN
fumecheng-10915	168	5	of	of	ADP
fumecheng-10915	168	6	performance	performance	NOUN
fumecheng-10915	168	7	of	of	ADP
fumecheng-10915	168	8	this	this	DET
fumecheng-10915	168	9	new	new	ADJ
fumecheng-10915	168	10	control	control	NOUN
fumecheng-10915	168	11	algorithm	algorithm	NOUN
fumecheng-10915	168	12	will	will	AUX
fumecheng-10915	168	13	be	be	AUX
fumecheng-10915	168	14	the	the	DET
fumecheng-10915	168	15	subject	subject	NOUN
fumecheng-10915	168	16	in	in	ADP
fumecheng-10915	168	17	further	further	ADJ
fumecheng-10915	168	18	research	research	NOUN
fumecheng-10915	168	19	.	.	PUNCT
fumecheng-10915	169	1	fig	fig	NOUN
fumecheng-10915	169	2	.	.	PUNCT
fumecheng-10915	170	1	10	10	NUM
fumecheng-10915	170	2	proposed	propose	VERB
fumecheng-10915	170	3	control	control	NOUN
fumecheng-10915	170	4	of	of	ADP
fumecheng-10915	170	5	the	the	DET
fumecheng-10915	170	6	wire	wire	NOUN
fumecheng-10915	170	7	tensioning	tensione	VERB
fumecheng-10915	170	8	system	system	NOUN
fumecheng-10915	170	9	5	5	NUM
fumecheng-10915	170	10	.	.	PUNCT
fumecheng-10915	170	11	conclusion	conclusion	NOUN
fumecheng-10915	170	12	this	this	DET
fumecheng-10915	170	13	paper	paper	NOUN
fumecheng-10915	170	14	briefly	briefly	ADV
fumecheng-10915	170	15	described	describe	VERB
fumecheng-10915	170	16	the	the	DET
fumecheng-10915	170	17	design	design	NOUN
fumecheng-10915	170	18	of	of	ADP
fumecheng-10915	170	19	the	the	DET
fumecheng-10915	170	20	wire	wire	NOUN
fumecheng-10915	170	21	tensioning	tensione	VERB
fumecheng-10915	170	22	system	system	NOUN
fumecheng-10915	170	23	used	use	VERB
fumecheng-10915	170	24	as	as	ADP
fumecheng-10915	170	25	a	a	DET
fumecheng-10915	170	26	subsystem	subsystem	NOUN
fumecheng-10915	170	27	for	for	ADP
fumecheng-10915	170	28	the	the	DET
fumecheng-10915	170	29	swarm	swarm	NOUN
fumecheng-10915	170	30	robotic	robotic	ADJ
fumecheng-10915	170	31	system	system	NOUN
fumecheng-10915	170	32	called	call	VERB
fumecheng-10915	170	33	roboshepherd	roboshepherd	NOUN
fumecheng-10915	170	34	.	.	PUNCT
fumecheng-10915	171	1	the	the	DET
fumecheng-10915	171	2	main	main	ADJ
fumecheng-10915	171	3	task	task	NOUN
fumecheng-10915	171	4	of	of	ADP
fumecheng-10915	171	5	the	the	DET
fumecheng-10915	171	6	developed	develop	VERB
fumecheng-10915	171	7	system	system	NOUN
fumecheng-10915	171	8	was	be	AUX
fumecheng-10915	171	9	to	to	PART
fumecheng-10915	171	10	maintain	maintain	VERB
fumecheng-10915	171	11	the	the	DET
fumecheng-10915	171	12	optimal	optimal	ADJ
fumecheng-10915	171	13	tension	tension	NOUN
fumecheng-10915	171	14	in	in	ADP
fumecheng-10915	171	15	the	the	DET
fumecheng-10915	171	16	wire	wire	NOUN
fumecheng-10915	171	17	by	by	ADP
fumecheng-10915	171	18	rotating	rotate	VERB
fumecheng-10915	171	19	the	the	DET
fumecheng-10915	171	20	winding	wind	VERB
fumecheng-10915	171	21	reels	reel	NOUN
fumecheng-10915	171	22	that	that	PRON
fumecheng-10915	171	23	wind	wind	NOUN
fumecheng-10915	171	24	or	or	CCONJ
fumecheng-10915	171	25	unwind	unwind	VERB
fumecheng-10915	171	26	the	the	DET
fumecheng-10915	171	27	wire	wire	NOUN
fumecheng-10915	171	28	during	during	ADP
fumecheng-10915	171	29	the	the	DET
fumecheng-10915	171	30	utilization	utilization	NOUN
fumecheng-10915	171	31	of	of	ADP
fumecheng-10915	171	32	the	the	DET
fumecheng-10915	171	33	roboshepherd	roboshepherd	NOUN
fumecheng-10915	171	34	system	system	NOUN
fumecheng-10915	171	35	.	.	PUNCT
fumecheng-10915	172	1	in	in	ADP
fumecheng-10915	172	2	order	order	NOUN
fumecheng-10915	172	3	to	to	PART
fumecheng-10915	172	4	obtain	obtain	VERB
fumecheng-10915	172	5	relevant	relevant	ADJ
fumecheng-10915	172	6	data	datum	NOUN
fumecheng-10915	172	7	for	for	ADP
fumecheng-10915	172	8	the	the	DET
fumecheng-10915	172	9	design	design	NOUN
fumecheng-10915	172	10	of	of	ADP
fumecheng-10915	172	11	this	this	DET
fumecheng-10915	172	12	system	system	NOUN
fumecheng-10915	172	13	,	,	PUNCT
fumecheng-10915	172	14	tests	test	NOUN
fumecheng-10915	172	15	were	be	AUX
fumecheng-10915	172	16	carried	carry	VERB
fumecheng-10915	172	17	out	out	ADP
fumecheng-10915	172	18	at	at	ADP
fumecheng-10915	172	19	different	different	ADJ
fumecheng-10915	172	20	locations	location	NOUN
fumecheng-10915	172	21	that	that	PRON
fumecheng-10915	172	22	included	include	VERB
fumecheng-10915	172	23	environments	environment	NOUN
fumecheng-10915	172	24	with	with	ADP
fumecheng-10915	172	25	different	different	ADJ
fumecheng-10915	172	26	relief	relief	NOUN
fumecheng-10915	172	27	and	and	CCONJ
fumecheng-10915	172	28	vegetation	vegetation	NOUN
fumecheng-10915	172	29	.	.	PUNCT
fumecheng-10915	173	1	the	the	DET
fumecheng-10915	173	2	problem	problem	NOUN
fumecheng-10915	173	3	of	of	ADP
fumecheng-10915	173	4	wire	wire	NOUN
fumecheng-10915	173	5	tensioning	tensione	VERB
fumecheng-10915	173	6	control	control	NOUN
fumecheng-10915	173	7	in	in	ADP
fumecheng-10915	173	8	the	the	DET
fumecheng-10915	173	9	dynamic	dynamic	ADJ
fumecheng-10915	173	10	system	system	NOUN
fumecheng-10915	173	11	when	when	SCONJ
fumecheng-10915	173	12	the	the	DET
fumecheng-10915	173	13	robotic	robotic	ADJ
fumecheng-10915	173	14	units	unit	NOUN
fumecheng-10915	173	15	move	move	VERB
fumecheng-10915	173	16	was	be	AUX
fumecheng-10915	173	17	considered	consider	VERB
fumecheng-10915	173	18	.	.	PUNCT
fumecheng-10915	174	1	using	use	VERB
fumecheng-10915	174	2	classical	classical	ADJ
fumecheng-10915	174	3	control	control	NOUN
fumecheng-10915	174	4	methods	method	NOUN
fumecheng-10915	174	5	for	for	ADP
fumecheng-10915	174	6	wire	wire	NOUN
fumecheng-10915	174	7	tension	tension	NOUN
fumecheng-10915	174	8	led	lead	VERB
fumecheng-10915	174	9	to	to	ADP
fumecheng-10915	174	10	certain	certain	ADJ
fumecheng-10915	174	11	shortcomings	shortcoming	NOUN
fumecheng-10915	174	12	and	and	CCONJ
fumecheng-10915	174	13	did	do	AUX
fumecheng-10915	174	14	not	not	PART
fumecheng-10915	174	15	provide	provide	VERB
fumecheng-10915	174	16	satisfactory	satisfactory	ADJ
fumecheng-10915	174	17	results	result	NOUN
fumecheng-10915	174	18	due	due	ADP
fumecheng-10915	174	19	to	to	ADP
fumecheng-10915	174	20	the	the	DET
fumecheng-10915	174	21	viscoelasticity	viscoelasticity	NOUN
fumecheng-10915	174	22	of	of	ADP
fumecheng-10915	174	23	the	the	DET
fumecheng-10915	174	24	wires	wire	NOUN
fumecheng-10915	174	25	and	and	CCONJ
fumecheng-10915	174	26	the	the	DET
fumecheng-10915	174	27	long	long	ADJ
fumecheng-10915	174	28	system	system	NOUN
fumecheng-10915	174	29	response	response	NOUN
fumecheng-10915	174	30	time	time	NOUN
fumecheng-10915	174	31	.	.	PUNCT
fumecheng-10915	175	1	the	the	DET
fumecheng-10915	175	2	solution	solution	NOUN
fumecheng-10915	175	3	to	to	ADP
fumecheng-10915	175	4	this	this	DET
fumecheng-10915	175	5	problem	problem	NOUN
fumecheng-10915	175	6	was	be	AUX
fumecheng-10915	175	7	found	find	VERB
fumecheng-10915	175	8	in	in	ADP
fumecheng-10915	175	9	the	the	DET
fumecheng-10915	175	10	application	application	NOUN
fumecheng-10915	175	11	of	of	ADP
fumecheng-10915	175	12	modern	modern	ADJ
fumecheng-10915	175	13	methods	method	NOUN
fumecheng-10915	175	14	and	and	CCONJ
fumecheng-10915	175	15	algorithms	algorithm	NOUN
fumecheng-10915	175	16	from	from	ADP
fumecheng-10915	175	17	the	the	DET
fumecheng-10915	175	18	domain	domain	NOUN
fumecheng-10915	175	19	of	of	ADP
fumecheng-10915	175	20	artificial	artificial	ADJ
fumecheng-10915	175	21	intelligence	intelligence	NOUN
fumecheng-10915	175	22	.	.	PUNCT
fumecheng-10915	176	1	therefore	therefore	ADV
fumecheng-10915	176	2	,	,	PUNCT
fumecheng-10915	176	3	the	the	DET
fumecheng-10915	176	4	use	use	NOUN
fumecheng-10915	176	5	of	of	ADP
fumecheng-10915	176	6	artificial	artificial	ADJ
fumecheng-10915	176	7	neural	neural	ADJ
fumecheng-10915	176	8	networks	network	NOUN
fumecheng-10915	176	9	for	for	ADP
fumecheng-10915	176	10	force	force	NOUN
fumecheng-10915	176	11	prediction	prediction	NOUN
fumecheng-10915	176	12	was	be	AUX
fumecheng-10915	176	13	investigated	investigate	VERB
fumecheng-10915	176	14	.	.	PUNCT
fumecheng-10915	177	1	based	base	VERB
fumecheng-10915	177	2	on	on	ADP
fumecheng-10915	177	3	the	the	DET
fumecheng-10915	177	4	different	different	ADJ
fumecheng-10915	177	5	data	datum	NOUN
fumecheng-10915	177	6	gathered	gather	VERB
fumecheng-10915	177	7	from	from	ADP
fumecheng-10915	177	8	the	the	DET
fumecheng-10915	177	9	test	test	NOUN
fumecheng-10915	177	10	including	include	VERB
fumecheng-10915	177	11	a	a	DET
fumecheng-10915	177	12	movement	movement	NOUN
fumecheng-10915	177	13	scenario	scenario	NOUN
fumecheng-10915	177	14	where	where	SCONJ
fumecheng-10915	177	15	all	all	DET
fumecheng-10915	177	16	robotic	robotic	ADJ
fumecheng-10915	177	17	units	unit	NOUN
fumecheng-10915	177	18	moved	move	VERB
fumecheng-10915	177	19	,	,	PUNCT
fumecheng-10915	177	20	the	the	DET
fumecheng-10915	177	21	ann	ann	PROPN
fumecheng-10915	177	22	was	be	AUX
fumecheng-10915	177	23	created	create	VERB
fumecheng-10915	177	24	.	.	PUNCT
fumecheng-10915	178	1	the	the	DET
fumecheng-10915	178	2	created	create	VERB
fumecheng-10915	178	3	ann	ann	PROPN
fumecheng-10915	178	4	showed	show	VERB
fumecheng-10915	178	5	high	high	ADJ
fumecheng-10915	178	6	correlation	correlation	NOUN
fumecheng-10915	178	7	between	between	ADP
fumecheng-10915	178	8	the	the	DET
fumecheng-10915	178	9	target	target	NOUN
fumecheng-10915	178	10	data	datum	NOUN
fumecheng-10915	178	11	–	–	PUNCT
fumecheng-10915	178	12	total	total	ADJ
fumecheng-10915	178	13	force	force	NOUN
fumecheng-10915	178	14	in	in	ADP
fumecheng-10915	178	15	pairs	pair	NOUN
fumecheng-10915	178	16	of	of	ADP
fumecheng-10915	178	17	wires	wire	NOUN
fumecheng-10915	178	18	(	(	PUNCT
fumecheng-10915	178	19	measured	measured	ADJ
fumecheng-10915	178	20	force	force	NOUN
fumecheng-10915	178	21	)	)	PUNCT
fumecheng-10915	178	22	used	use	VERB
fumecheng-10915	178	23	for	for	ADP
fumecheng-10915	178	24	network	network	NOUN
fumecheng-10915	178	25	training	training	NOUN
fumecheng-10915	178	26	and	and	CCONJ
fumecheng-10915	178	27	the	the	DET
fumecheng-10915	178	28	data	datum	NOUN
fumecheng-10915	178	29	gathered	gather	VERB
fumecheng-10915	178	30	from	from	ADP
fumecheng-10915	178	31	the	the	DET
fumecheng-10915	178	32	simulation	simulation	NOUN
fumecheng-10915	178	33	of	of	ADP
fumecheng-10915	178	34	the	the	DET
fumecheng-10915	178	35	artificial	artificial	ADJ
fumecheng-10915	178	36	neural	neural	ADJ
fumecheng-10915	178	37	network	network	NOUN
fumecheng-10915	178	38	(	(	PUNCT
fumecheng-10915	178	39	predicted	predict	VERB
fumecheng-10915	178	40	force	force	NOUN
fumecheng-10915	178	41	)	)	PUNCT
fumecheng-10915	178	42	.	.	PUNCT
fumecheng-10915	179	1	mse	mse	PROPN
fumecheng-10915	179	2	,	,	PUNCT
fumecheng-10915	179	3	rmse	rmse	PROPN
fumecheng-10915	179	4	and	and	CCONJ
fumecheng-10915	179	5	mae	mae	PROPN
fumecheng-10915	179	6	were	be	AUX
fumecheng-10915	179	7	also	also	ADV
fumecheng-10915	179	8	calculated	calculate	VERB
fumecheng-10915	179	9	for	for	ADP
fumecheng-10915	179	10	a	a	DET
fumecheng-10915	179	11	comparison	comparison	NOUN
fumecheng-10915	179	12	between	between	ADP
fumecheng-10915	179	13	the	the	DET
fumecheng-10915	179	14	measured	measure	VERB
fumecheng-10915	179	15	and	and	CCONJ
fumecheng-10915	179	16	the	the	DET
fumecheng-10915	179	17	ann	ann	PROPN
fumecheng-10915	179	18	predicted	predict	VERB
fumecheng-10915	179	19	force	force	NOUN
fumecheng-10915	179	20	.	.	PUNCT
fumecheng-10915	180	1	the	the	DET
fumecheng-10915	180	2	obtained	obtain	VERB
fumecheng-10915	180	3	results	result	NOUN
fumecheng-10915	180	4	are	be	AUX
fumecheng-10915	180	5	in	in	ADP
fumecheng-10915	180	6	favour	favour	NOUN
fumecheng-10915	180	7	of	of	ADP
fumecheng-10915	180	8	using	use	VERB
fumecheng-10915	180	9	the	the	DET
fumecheng-10915	180	10	ann	ann	PROPN
fumecheng-10915	180	11	as	as	ADP
fumecheng-10915	180	12	a	a	DET
fumecheng-10915	180	13	possible	possible	ADJ
fumecheng-10915	180	14	substitution	substitution	NOUN
fumecheng-10915	180	15	for	for	ADP
fumecheng-10915	180	16	the	the	DET
fumecheng-10915	180	17	traditional	traditional	ADJ
fumecheng-10915	180	18	control	control	NOUN
fumecheng-10915	180	19	.	.	PUNCT
fumecheng-10915	181	1	based	base	VERB
fumecheng-10915	181	2	on	on	ADP
fumecheng-10915	181	3	these	these	DET
fumecheng-10915	181	4	results	result	NOUN
fumecheng-10915	181	5	,	,	PUNCT
fumecheng-10915	181	6	a	a	DET
fumecheng-10915	181	7	new	new	ADJ
fumecheng-10915	181	8	type	type	NOUN
fumecheng-10915	181	9	of	of	ADP
fumecheng-10915	181	10	control	control	NOUN
fumecheng-10915	181	11	of	of	ADP
fumecheng-10915	181	12	the	the	DET
fumecheng-10915	181	13	wire	wire	NOUN
fumecheng-10915	181	14	tensioning	tensione	VERB
fumecheng-10915	181	15	system	system	NOUN
fumecheng-10915	181	16	using	use	VERB
fumecheng-10915	181	17	artificial	artificial	ADJ
fumecheng-10915	181	18	neural	neural	ADJ
fumecheng-10915	181	19	networks	network	NOUN
fumecheng-10915	181	20	is	be	AUX
fumecheng-10915	181	21	proposed	propose	VERB
fumecheng-10915	181	22	.	.	PUNCT
fumecheng-10915	182	1	acknowledgement	acknowledgement	NOUN
fumecheng-10915	182	2	this	this	DET
fumecheng-10915	182	3	paper	paper	NOUN
fumecheng-10915	182	4	is	be	AUX
fumecheng-10915	182	5	a	a	DET
fumecheng-10915	182	6	part	part	NOUN
fumecheng-10915	182	7	of	of	ADP
fumecheng-10915	182	8	the	the	DET
fumecheng-10915	182	9	research	research	NOUN
fumecheng-10915	182	10	financially	financially	ADV
fumecheng-10915	182	11	supported	support	VERB
fumecheng-10915	182	12	by	by	ADP
fumecheng-10915	182	13	the	the	DET
fumecheng-10915	182	14	innovation	innovation	NOUN
fumecheng-10915	182	15	fund	fund	NOUN
fumecheng-10915	182	16	of	of	ADP
fumecheng-10915	182	17	republic	republic	NOUN
fumecheng-10915	182	18	of	of	ADP
fumecheng-10915	182	19	serbia	serbia	PROPN
fumecheng-10915	182	20	and	and	CCONJ
fumecheng-10915	182	21	coming	come	VERB
fumecheng-10915	182	22	computer	computer	NOUN
fumecheng-10915	182	23	engineering	engineering	NOUN
fumecheng-10915	182	24	through	through	ADP
fumecheng-10915	182	25	the	the	DET
fumecheng-10915	182	26	project	project	NOUN
fumecheng-10915	182	27	roboshepherd	roboshepherd	NOUN
fumecheng-10915	182	28	,	,	PUNCT
fumecheng-10915	182	29	and	and	CCONJ
fumecheng-10915	182	30	the	the	DET
fumecheng-10915	182	31	ministry	ministry	PROPN
fumecheng-10915	182	32	of	of	ADP
fumecheng-10915	182	33	education	education	PROPN
fumecheng-10915	182	34	,	,	PUNCT
fumecheng-10915	182	35	science	science	NOUN
fumecheng-10915	182	36	and	and	CCONJ
fumecheng-10915	182	37	technological	technological	ADJ
fumecheng-10915	182	38	development	development	NOUN
fumecheng-10915	182	39	of	of	ADP
fumecheng-10915	182	40	the	the	DET
fumecheng-10915	182	41	republic	republic	NOUN
fumecheng-10915	182	42	of	of	ADP
fumecheng-10915	182	43	serbia	serbia	PROPN
fumecheng-10915	182	44	(	(	PUNCT
fumecheng-10915	182	45	contract	contract	NOUN
fumecheng-10915	182	46	no	no	INTJ
fumecheng-10915	182	47	.	.	PUNCT
fumecheng-10915	183	1	451	451	NUM
fumecheng-10915	183	2	-	-	SYM
fumecheng-10915	183	3	03	03	NUM
fumecheng-10915	183	4	-	-	PUNCT
fumecheng-10915	183	5	9/2021	9/2021	NUM
fumecheng-10915	183	6	-	-	PUNCT
fumecheng-10915	183	7	14/200109	14/200109	NUM
fumecheng-10915	183	8	)	)	PUNCT
fumecheng-10915	183	9	references	reference	NOUN
fumecheng-10915	183	10	1	1	NUM
fumecheng-10915	183	11	.	.	PUNCT
fumecheng-10915	183	12	fazal	fazal	PROPN
fumecheng-10915	183	13	,	,	PUNCT
fumecheng-10915	183	14	m.z	m.z	PROPN
fumecheng-10915	183	15	.	.	PROPN
fumecheng-10915	183	16	,	,	PUNCT
fumecheng-10915	183	17	khan	khan	PROPN
fumecheng-10915	183	18	,	,	PUNCT
fumecheng-10915	183	19	s.	s.	PROPN
fumecheng-10915	183	20	,	,	PUNCT
fumecheng-10915	183	21	abbas	abbas	PROPN
fumecheng-10915	183	22	,	,	PUNCT
fumecheng-10915	183	23	m.a	m.a	PROPN
fumecheng-10915	183	24	.	.	PROPN
fumecheng-10915	183	25	,	,	PUNCT
fumecheng-10915	183	26	nawab	nawab	PROPN
fumecheng-10915	183	27	,	,	PUNCT
fumecheng-10915	183	28	y.	y.	PROPN
fumecheng-10915	183	29	,	,	PUNCT
fumecheng-10915	183	30	younis	younis	PROPN
fumecheng-10915	183	31	,	,	PUNCT
fumecheng-10915	183	32	s.	s.	PROPN
fumecheng-10915	183	33	,	,	PUNCT
fumecheng-10915	183	34	2021	2021	NUM
fumecheng-10915	183	35	,	,	PUNCT
fumecheng-10915	183	36	machine	machine	NOUN
fumecheng-10915	183	37	learning	learning	NOUN
fumecheng-10915	183	38	approach	approach	NOUN
fumecheng-10915	183	39	for	for	ADP
fumecheng-10915	183	40	prediction	prediction	NOUN
fumecheng-10915	183	41	of	of	ADP
fumecheng-10915	183	42	crimp	crimp	VERB
fumecheng-10915	183	43	in	in	ADP
fumecheng-10915	183	44	cotton	cotton	NOUN
fumecheng-10915	183	45	woven	weave	VERB
fumecheng-10915	183	46	fabrics	fabric	NOUN
fumecheng-10915	183	47	,	,	PUNCT
fumecheng-10915	183	48	technical	technical	ADJ
fumecheng-10915	183	49	gazette	gazette	NOUN
fumecheng-10915	183	50	,	,	PUNCT
fumecheng-10915	183	51	28(1	28(1	NOUN
fumecheng-10915	183	52	)	)	PUNCT
fumecheng-10915	183	53	,	,	PUNCT
fumecheng-10915	183	54	pp	pp	PROPN
fumecheng-10915	183	55	.	.	PUNCT
fumecheng-10915	184	1	88	88	NUM
fumecheng-10915	184	2	-	-	SYM
fumecheng-10915	184	3	95	95	NUM
fumecheng-10915	184	4	.	.	PUNCT
fumecheng-10915	185	1	12	12	NUM
fumecheng-10915	185	2	v.	v.	ADP
fumecheng-10915	185	3	pavlović	pavlović	NOUN
fumecheng-10915	185	4	,	,	PUNCT
fumecheng-10915	185	5	m.	m.	NOUN
fumecheng-10915	185	6	tomić	tomić	NOUN
fumecheng-10915	185	7	,	,	PUNCT
fumecheng-10915	185	8	s	s	PROPN
fumecheng-10915	185	9	-	-	PROPN
fumecheng-10915	185	10	d.	d.	PROPN
fumecheng-10915	185	11	stan	stan	PROPN
fumecheng-10915	185	12	,	,	PUNCT
fumecheng-10915	185	13	m.	m.	NOUN
fumecheng-10915	185	14	banić	banić	NOUN
fumecheng-10915	185	15	,	,	PUNCT
fumecheng-10915	185	16	m.	m.	NOUN
fumecheng-10915	185	17	simonović	simonović	PROPN
fumecheng-10915	185	18	,	,	PUNCT
fumecheng-10915	185	19	m.	m.	NOUN
fumecheng-10915	185	20	milošević	milošević	PROPN
fumecheng-10915	185	21	2	2	NUM
fumecheng-10915	185	22	.	.	PUNCT
fumecheng-10915	186	1	ham	ham	PROPN
fumecheng-10915	186	2	,	,	PUNCT
fumecheng-10915	186	3	s	s	PROPN
fumecheng-10915	186	4	-	-	PUNCT
fumecheng-10915	186	5	h.	h.	PROPN
fumecheng-10915	186	6	,	,	PUNCT
fumecheng-10915	186	7	roh	roh	PROPN
fumecheng-10915	186	8	,	,	PUNCT
fumecheng-10915	186	9	m	m	PROPN
fumecheng-10915	186	10	-	-	PUNCT
fumecheng-10915	186	11	i.	i.	PROPN
fumecheng-10915	186	12	,	,	PUNCT
fumecheng-10915	186	13	lee	lee	PROPN
fumecheng-10915	186	14	,	,	PUNCT
fumecheng-10915	186	15	h.	h.	PROPN
fumecheng-10915	186	16	,	,	PUNCT
fumecheng-10915	186	17	ha	ha	INTJ
fumecheng-10915	186	18	,	,	PUNCT
fumecheng-10915	186	19	s.	s.	PROPN
fumecheng-10915	186	20	,	,	PUNCT
fumecheng-10915	186	21	2015	2015	NUM
fumecheng-10915	186	22	,	,	PUNCT
fumecheng-10915	186	23	multibody	multibody	ADJ
fumecheng-10915	186	24	dynamic	dynamic	ADJ
fumecheng-10915	186	25	analysis	analysis	NOUN
fumecheng-10915	186	26	of	of	ADP
fumecheng-10915	186	27	a	a	DET
fumecheng-10915	186	28	heavy	heavy	ADJ
fumecheng-10915	186	29	load	load	NOUN
fumecheng-10915	186	30	suspended	suspend	VERB
fumecheng-10915	186	31	by	by	ADP
fumecheng-10915	186	32	a	a	DET
fumecheng-10915	186	33	floating	float	VERB
fumecheng-10915	186	34	crane	crane	NOUN
fumecheng-10915	186	35	with	with	ADP
fumecheng-10915	186	36	constraint	constraint	NOUN
fumecheng-10915	186	37	-	-	PUNCT
fumecheng-10915	186	38	based	base	VERB
fumecheng-10915	186	39	wire	wire	NOUN
fumecheng-10915	186	40	rope	rope	NOUN
fumecheng-10915	186	41	,	,	PUNCT
fumecheng-10915	186	42	ocean	ocean	PROPN
fumecheng-10915	186	43	engineering	engineering	NOUN
fumecheng-10915	186	44	,	,	PUNCT
fumecheng-10915	186	45	109	109	NUM
fumecheng-10915	186	46	,	,	PUNCT
fumecheng-10915	187	1	pp	pp	ADJ
fumecheng-10915	187	2	.	.	PUNCT
fumecheng-10915	188	1	145	145	NUM
fumecheng-10915	188	2	-	-	SYM
fumecheng-10915	188	3	160	160	NUM
fumecheng-10915	188	4	.	.	PUNCT
fumecheng-10915	189	1	3	3	NUM
fumecheng-10915	189	2	.	.	PUNCT
fumecheng-10915	190	1	kaurov	kaurov	PROPN
fumecheng-10915	190	2	,	,	PUNCT
fumecheng-10915	190	3	p.v	p.v	PROPN
fumecheng-10915	190	4	.	.	PROPN
fumecheng-10915	190	5	,	,	PUNCT
fumecheng-10915	190	6	kokushin	kokushin	PROPN
fumecheng-10915	190	7	,	,	PUNCT
fumecheng-10915	190	8	n.n	n.n	PROPN
fumecheng-10915	190	9	.	.	PROPN
fumecheng-10915	190	10	,	,	PUNCT
fumecheng-10915	190	11	tikhonov	tikhonov	PROPN
fumecheng-10915	190	12	,	,	PUNCT
fumecheng-10915	190	13	a.a	a.a	PROPN
fumecheng-10915	190	14	.	.	PROPN
fumecheng-10915	190	15	,	,	PUNCT
fumecheng-10915	190	16	2011	2011	NUM
fumecheng-10915	190	17	,	,	PUNCT
fumecheng-10915	190	18	mathematical	mathematical	ADJ
fumecheng-10915	190	19	modeling	modeling	NOUN
fumecheng-10915	190	20	for	for	ADP
fumecheng-10915	190	21	paper	paper	NOUN
fumecheng-10915	190	22	stock	stock	NOUN
fumecheng-10915	190	23	drainage	drainage	NOUN
fumecheng-10915	190	24	at	at	ADP
fumecheng-10915	190	25	hydrofoils	hydrofoil	NOUN
fumecheng-10915	190	26	of	of	ADP
fumecheng-10915	190	27	wire	wire	NOUN
fumecheng-10915	190	28	part	part	NOUN
fumecheng-10915	190	29	of	of	ADP
fumecheng-10915	190	30	paper	paper	NOUN
fumecheng-10915	190	31	making	make	VERB
fumecheng-10915	190	32	machine	machine	NOUN
fumecheng-10915	190	33	,	,	PUNCT
fumecheng-10915	190	34	international	international	ADJ
fumecheng-10915	190	35	journal	journal	NOUN
fumecheng-10915	190	36	of	of	ADP
fumecheng-10915	190	37	industrial	industrial	ADJ
fumecheng-10915	190	38	engineering	engineering	NOUN
fumecheng-10915	190	39	and	and	CCONJ
fumecheng-10915	190	40	management	management	NOUN
fumecheng-10915	190	41	,	,	PUNCT
fumecheng-10915	190	42	2(1	2(1	NUM
fumecheng-10915	190	43	)	)	PUNCT
fumecheng-10915	190	44	,	,	PUNCT
fumecheng-10915	190	45	pp	pp	PROPN
fumecheng-10915	190	46	.	.	PUNCT
fumecheng-10915	191	1	27	27	NUM
fumecheng-10915	191	2	-	-	SYM
fumecheng-10915	191	3	31	31	NUM
fumecheng-10915	191	4	.	.	PUNCT
fumecheng-10915	192	1	4	4	NUM
fumecheng-10915	192	2	.	.	X
fumecheng-10915	192	3	blanc	blanc	NOUN
fumecheng-10915	192	4	,	,	PUNCT
fumecheng-10915	192	5	l.	l.	PROPN
fumecheng-10915	192	6	,	,	PUNCT
fumecheng-10915	192	7	delchambre	delchambre	PROPN
fumecheng-10915	192	8	,	,	PUNCT
fumecheng-10915	192	9	a.	a.	NOUN
fumecheng-10915	192	10	,	,	PUNCT
fumecheng-10915	192	11	lambert	lambert	PROPN
fumecheng-10915	192	12	,	,	PUNCT
fumecheng-10915	192	13	p.	p.	PROPN
fumecheng-10915	192	14	,	,	PUNCT
fumecheng-10915	192	15	2017	2017	NUM
fumecheng-10915	192	16	,	,	PUNCT
fumecheng-10915	192	17	flexible	flexible	ADJ
fumecheng-10915	192	18	medical	medical	ADJ
fumecheng-10915	192	19	devices	device	NOUN
fumecheng-10915	192	20	:	:	PUNCT
fumecheng-10915	192	21	review	review	NOUN
fumecheng-10915	192	22	of	of	ADP
fumecheng-10915	192	23	controllable	controllable	ADJ
fumecheng-10915	192	24	stiffness	stiffness	NOUN
fumecheng-10915	192	25	solutions	solution	NOUN
fumecheng-10915	192	26	,	,	PUNCT
fumecheng-10915	192	27	actuators	actuator	NOUN
fumecheng-10915	192	28	,	,	PUNCT
fumecheng-10915	192	29	6(3	6(3	NUM
fumecheng-10915	192	30	)	)	PUNCT
fumecheng-10915	192	31	,	,	PUNCT
fumecheng-10915	192	32	23	23	NUM
fumecheng-10915	192	33	.	.	X
fumecheng-10915	193	1	5	5	NUM
fumecheng-10915	193	2	.	.	X
fumecheng-10915	193	3	wang	wang	PROPN
fumecheng-10915	193	4	,	,	PUNCT
fumecheng-10915	193	5	s.	s.	PROPN
fumecheng-10915	193	6	,	,	PUNCT
fumecheng-10915	193	7	he	he	PRON
fumecheng-10915	193	8	,	,	PUNCT
fumecheng-10915	193	9	f.	f.	PROPN
fumecheng-10915	193	10	,	,	PUNCT
fumecheng-10915	193	11	2018	2018	NUM
fumecheng-10915	193	12	,	,	PUNCT
fumecheng-10915	193	13	control	control	NOUN
fumecheng-10915	193	14	technology	technology	NOUN
fumecheng-10915	193	15	and	and	CCONJ
fumecheng-10915	193	16	strategy	strategy	NOUN
fumecheng-10915	193	17	of	of	ADP
fumecheng-10915	193	18	tension	tension	NOUN
fumecheng-10915	193	19	control	control	NOUN
fumecheng-10915	193	20	system	system	NOUN
fumecheng-10915	193	21	,	,	PUNCT
fumecheng-10915	193	22	proc	proc	NOUN
fumecheng-10915	193	23	.	.	PUNCT
fumecheng-10915	194	1	thirtieth	thirtieth	ADJ
fumecheng-10915	194	2	chinese	chinese	ADJ
fumecheng-10915	194	3	control	control	NOUN
fumecheng-10915	194	4	and	and	CCONJ
fumecheng-10915	194	5	decision	decision	NOUN
fumecheng-10915	194	6	conference	conference	NOUN
fumecheng-10915	194	7	ccdc	ccdc	PROPN
fumecheng-10915	194	8	2018	2018	NUM
fumecheng-10915	194	9	,	,	PUNCT
fumecheng-10915	194	10	shenyang	shenyang	PROPN
fumecheng-10915	194	11	,	,	PUNCT
fumecheng-10915	194	12	pp	pp	ADJ
fumecheng-10915	194	13	.	.	PUNCT
fumecheng-10915	195	1	2620	2620	NUM
fumecheng-10915	195	2	-	-	SYM
fumecheng-10915	195	3	2625	2625	NUM
fumecheng-10915	195	4	.	.	PUNCT
fumecheng-10915	196	1	6	6	NUM
fumecheng-10915	196	2	.	.	X
fumecheng-10915	196	3	kevac	kevac	PROPN
fumecheng-10915	196	4	,	,	PUNCT
fumecheng-10915	196	5	lj	lj	PROPN
fumecheng-10915	196	6	.	.	PROPN
fumecheng-10915	196	7	,	,	PUNCT
fumecheng-10915	196	8	filipović	filipović	PROPN
fumecheng-10915	196	9	,	,	PUNCT
fumecheng-10915	196	10	m.	m.	NOUN
fumecheng-10915	196	11	,	,	PUNCT
fumecheng-10915	196	12	2019	2019	NUM
fumecheng-10915	196	13	,	,	PUNCT
fumecheng-10915	196	14	mathematical	mathematical	ADJ
fumecheng-10915	196	15	model	model	NOUN
fumecheng-10915	196	16	of	of	ADP
fumecheng-10915	196	17	cable	cable	NOUN
fumecheng-10915	196	18	winding	winding	NOUN
fumecheng-10915	196	19	/	/	SYM
fumecheng-10915	196	20	unwinding	unwind	VERB
fumecheng-10915	196	21	system	system	NOUN
fumecheng-10915	196	22	,	,	PUNCT
fumecheng-10915	196	23	journal	journal	NOUN
fumecheng-10915	196	24	of	of	ADP
fumecheng-10915	196	25	mechanics	mechanic	NOUN
fumecheng-10915	196	26	,	,	PUNCT
fumecheng-10915	196	27	35(1	35(1	NUM
fumecheng-10915	196	28	)	)	PUNCT
fumecheng-10915	196	29	,	,	PUNCT
fumecheng-10915	196	30	pp	pp	ADP
fumecheng-10915	196	31	.	.	PUNCT
fumecheng-10915	197	1	131–143	131–143	NUM
fumecheng-10915	197	2	.	.	PUNCT
fumecheng-10915	198	1	7	7	X
fumecheng-10915	198	2	.	.	X
fumecheng-10915	198	3	kevac	kevac	PROPN
fumecheng-10915	198	4	,	,	PUNCT
fumecheng-10915	198	5	lj	lj	PROPN
fumecheng-10915	198	6	.	.	PROPN
fumecheng-10915	198	7	,	,	PUNCT
fumecheng-10915	198	8	filipović	filipović	PROPN
fumecheng-10915	198	9	,	,	PUNCT
fumecheng-10915	198	10	m.	m.	NOUN
fumecheng-10915	198	11	,	,	PUNCT
fumecheng-10915	198	12	rakić	rakić	PROPN
fumecheng-10915	198	13	,	,	PUNCT
fumecheng-10915	198	14	a.	a.	NOUN
fumecheng-10915	198	15	,	,	PUNCT
fumecheng-10915	198	16	2017	2017	NUM
fumecheng-10915	198	17	,	,	PUNCT
fumecheng-10915	198	18	dynamics	dynamic	NOUN
fumecheng-10915	198	19	of	of	ADP
fumecheng-10915	198	20	the	the	DET
fumecheng-10915	198	21	process	process	NOUN
fumecheng-10915	198	22	of	of	ADP
fumecheng-10915	198	23	the	the	DET
fumecheng-10915	198	24	rope	rope	NOUN
fumecheng-10915	198	25	winding	winding	NOUN
fumecheng-10915	198	26	(	(	PUNCT
fumecheng-10915	198	27	unwinding	unwind	VERB
fumecheng-10915	198	28	)	)	PUNCT
fumecheng-10915	198	29	on	on	ADP
fumecheng-10915	198	30	the	the	DET
fumecheng-10915	198	31	winch	winch	NOUN
fumecheng-10915	198	32	,	,	PUNCT
fumecheng-10915	198	33	applied	apply	VERB
fumecheng-10915	198	34	mathematical	mathematical	ADJ
fumecheng-10915	198	35	modelling	modelling	NOUN
fumecheng-10915	198	36	,	,	PUNCT
fumecheng-10915	198	37	48	48	NUM
fumecheng-10915	198	38	,	,	PUNCT
fumecheng-10915	198	39	pp	pp	ADJ
fumecheng-10915	198	40	.	.	PUNCT
fumecheng-10915	199	1	821	821	NUM
fumecheng-10915	199	2	-	-	SYM
fumecheng-10915	199	3	843	843	NUM
fumecheng-10915	199	4	.	.	NOUN
fumecheng-10915	199	5	8	8	NUM
fumecheng-10915	199	6	.	.	PUNCT
fumecheng-10915	200	1	kang	kang	PROPN
fumecheng-10915	200	2	,	,	PUNCT
fumecheng-10915	200	3	j	j	PROPN
fumecheng-10915	200	4	-	-	PROPN
fumecheng-10915	200	5	h.	h.	PROPN
fumecheng-10915	200	6	,	,	PUNCT
fumecheng-10915	200	7	kim	kim	PROPN
fumecheng-10915	200	8	,	,	PUNCT
fumecheng-10915	200	9	k	k	PROPN
fumecheng-10915	200	10	-	-	PROPN
fumecheng-10915	200	11	w.	w.	PROPN
fumecheng-10915	200	12	,	,	PUNCT
fumecheng-10915	200	13	lee	lee	PROPN
fumecheng-10915	200	14	,	,	PUNCT
fumecheng-10915	200	15	j	j	PROPN
fumecheng-10915	200	16	-	-	PROPN
fumecheng-10915	200	17	w.	w.	PROPN
fumecheng-10915	200	18	,	,	PUNCT
fumecheng-10915	200	19	cho	cho	PROPN
fumecheng-10915	200	20	,	,	PUNCT
fumecheng-10915	200	21	y	y	PROPN
fumecheng-10915	200	22	-	-	PUNCT
fumecheng-10915	200	23	j.	j.	PROPN
fumecheng-10915	200	24	,	,	PUNCT
fumecheng-10915	200	25	jang	jang	PROPN
fumecheng-10915	200	26	,	,	PUNCT
fumecheng-10915	200	27	j	j	PROPN
fumecheng-10915	200	28	-	-	PUNCT
fumecheng-10915	200	29	s.	s.	PROPN
fumecheng-10915	200	30	,	,	PUNCT
fumecheng-10915	200	31	2021	2021	NUM
fumecheng-10915	200	32	,	,	PUNCT
fumecheng-10915	200	33	development	development	NOUN
fumecheng-10915	200	34	of	of	ADP
fumecheng-10915	200	35	a	a	DET
fumecheng-10915	200	36	test	test	NOUN
fumecheng-10915	200	37	method	method	NOUN
fumecheng-10915	200	38	and	and	CCONJ
fumecheng-10915	200	39	experimental	experimental	ADJ
fumecheng-10915	200	40	study	study	NOUN
fumecheng-10915	200	41	on	on	ADP
fumecheng-10915	200	42	cable	cable	NOUN
fumecheng-10915	200	43	unwinding	unwinding	NOUN
fumecheng-10915	200	44	,	,	PUNCT
fumecheng-10915	200	45	proceedings	proceeding	NOUN
fumecheng-10915	200	46	of	of	ADP
fumecheng-10915	200	47	the	the	DET
fumecheng-10915	200	48	institution	institution	NOUN
fumecheng-10915	200	49	of	of	ADP
fumecheng-10915	200	50	mechanical	mechanical	ADJ
fumecheng-10915	200	51	engineers	engineer	NOUN
fumecheng-10915	200	52	,	,	PUNCT
fumecheng-10915	200	53	part	part	NOUN
fumecheng-10915	200	54	c	c	NOUN
fumecheng-10915	200	55	:	:	PUNCT
fumecheng-10915	200	56	journal	journal	NOUN
fumecheng-10915	200	57	of	of	ADP
fumecheng-10915	200	58	mechanical	mechanical	ADJ
fumecheng-10915	200	59	engineering	engineering	NOUN
fumecheng-10915	200	60	science	science	NOUN
fumecheng-10915	200	61	,	,	PUNCT
fumecheng-10915	200	62	235(15	235(15	NUM
fumecheng-10915	200	63	)	)	PUNCT
fumecheng-10915	200	64	,	,	PUNCT
fumecheng-10915	200	65	pp	pp	PROPN
fumecheng-10915	200	66	.	.	PUNCT
fumecheng-10915	200	67	2653	2653	NUM
fumecheng-10915	200	68	-	-	SYM
fumecheng-10915	200	69	2667	2667	NUM
fumecheng-10915	200	70	.	.	PUNCT
fumecheng-10915	201	1	9	9	X
fumecheng-10915	201	2	.	.	X
fumecheng-10915	201	3	xu	xu	VERB
fumecheng-10915	201	4	,	,	PUNCT
fumecheng-10915	201	5	x	x	NOUN
fumecheng-10915	201	6	-	-	PUNCT
fumecheng-10915	201	7	m.	m.	NOUN
fumecheng-10915	201	8	,	,	PUNCT
fumecheng-10915	201	9	zhang	zhang	PROPN
fumecheng-10915	201	10	,	,	PUNCT
fumecheng-10915	201	11	w	w	PROPN
fumecheng-10915	201	12	-	-	PUNCT
fumecheng-10915	201	13	x.	x.	NOUN
fumecheng-10915	201	14	,	,	PUNCT
fumecheng-10915	201	15	ding	ding	NOUN
fumecheng-10915	201	16	,	,	PUNCT
fumecheng-10915	201	17	x	x	NOUN
fumecheng-10915	201	18	-	-	PUNCT
fumecheng-10915	201	19	l.	l.	PROPN
fumecheng-10915	201	20	,	,	PUNCT
fumecheng-10915	201	21	zhang	zhang	PROPN
fumecheng-10915	201	22	,	,	PUNCT
fumecheng-10915	201	23	m.	m.	NOUN
fumecheng-10915	201	24	,	,	PUNCT
fumecheng-10915	201	25	wei	wei	PROPN
fumecheng-10915	201	26	,	,	PUNCT
fumecheng-10915	201	27	s	s	PROPN
fumecheng-10915	201	28	-	-	PROPN
fumecheng-10915	201	29	h.	h.	NOUN
fumecheng-10915	201	30	,	,	PUNCT
fumecheng-10915	201	31	2018	2018	NUM
fumecheng-10915	201	32	,	,	PUNCT
fumecheng-10915	201	33	design	design	NOUN
fumecheng-10915	201	34	and	and	CCONJ
fumecheng-10915	201	35	analysis	analysis	NOUN
fumecheng-10915	201	36	of	of	ADP
fumecheng-10915	201	37	a	a	DET
fumecheng-10915	201	38	novel	novel	ADJ
fumecheng-10915	201	39	tension	tension	NOUN
fumecheng-10915	201	40	control	control	NOUN
fumecheng-10915	201	41	method	method	NOUN
fumecheng-10915	201	42	for	for	ADP
fumecheng-10915	201	43	winding	wind	VERB
fumecheng-10915	201	44	machine	machine	NOUN
fumecheng-10915	201	45	,	,	PUNCT
fumecheng-10915	201	46	chinese	chinese	ADJ
fumecheng-10915	201	47	journal	journal	NOUN
fumecheng-10915	201	48	of	of	ADP
fumecheng-10915	201	49	mechanical	mechanical	ADJ
fumecheng-10915	201	50	engineering	engineering	NOUN
fumecheng-10915	201	51	,	,	PUNCT
fumecheng-10915	201	52	31	31	NUM
fumecheng-10915	201	53	,	,	PUNCT
fumecheng-10915	201	54	101	101	NUM
fumecheng-10915	201	55	.	.	NOUN
fumecheng-10915	201	56	10	10	NUM
fumecheng-10915	201	57	.	.	X
fumecheng-10915	202	1	rodriguez	rodriguez	NOUN
fumecheng-10915	202	2	,	,	PUNCT
fumecheng-10915	202	3	a.	a.	PROPN
fumecheng-10915	202	4	,	,	PUNCT
fumecheng-10915	202	5	vrancx	vrancx	NOUN
fumecheng-10915	202	6	,	,	PUNCT
fumecheng-10915	202	7	p.	p.	PROPN
fumecheng-10915	202	8	,	,	PUNCT
fumecheng-10915	202	9	nowe	nowe	PROPN
fumecheng-10915	202	10	,	,	PUNCT
fumecheng-10915	202	11	a.	a.	PROPN
fumecheng-10915	202	12	,	,	PUNCT
fumecheng-10915	202	13	hostens	hostens	PROPN
fumecheng-10915	202	14	,	,	PUNCT
fumecheng-10915	202	15	e.	e.	PROPN
fumecheng-10915	202	16	,	,	PUNCT
fumecheng-10915	202	17	2013	2013	NUM
fumecheng-10915	202	18	,	,	PUNCT
fumecheng-10915	202	19	model	model	NOUN
fumecheng-10915	202	20	-	-	PUNCT
fumecheng-10915	202	21	free	free	ADJ
fumecheng-10915	202	22	learning	learning	NOUN
fumecheng-10915	202	23	of	of	ADP
fumecheng-10915	202	24	wire	wire	NOUN
fumecheng-10915	202	25	winding	wind	VERB
fumecheng-10915	202	26	control	control	NOUN
fumecheng-10915	202	27	,	,	PUNCT
fumecheng-10915	202	28	proc	proc	NOUN
fumecheng-10915	202	29	.	.	PUNCT
fumecheng-10915	203	1	ninth	ninth	ADJ
fumecheng-10915	203	2	asian	asian	PROPN
fumecheng-10915	203	3	control	control	PROPN
fumecheng-10915	203	4	conference	conference	PROPN
fumecheng-10915	203	5	ascc	ascc	NOUN
fumecheng-10915	203	6	2013	2013	NUM
fumecheng-10915	203	7	,	,	PUNCT
fumecheng-10915	203	8	istanbul	istanbul	PROPN
fumecheng-10915	203	9	,	,	PUNCT
fumecheng-10915	203	10	pp	pp	ADJ
fumecheng-10915	203	11	.	.	PUNCT
fumecheng-10915	204	1	1	1	NUM
fumecheng-10915	204	2	-	-	SYM
fumecheng-10915	204	3	6	6	NUM
fumecheng-10915	204	4	.	.	NOUN
fumecheng-10915	204	5	11	11	NUM
fumecheng-10915	204	6	.	.	PUNCT
fumecheng-10915	205	1	hultman	hultman	PROPN
fumecheng-10915	205	2	,	,	PUNCT
fumecheng-10915	205	3	e.	e.	PROPN
fumecheng-10915	205	4	,	,	PUNCT
fumecheng-10915	205	5	leijon	leijon	NOUN
fumecheng-10915	205	6	,	,	PUNCT
fumecheng-10915	205	7	m.	m.	NOUN
fumecheng-10915	205	8	,	,	PUNCT
fumecheng-10915	205	9	2013	2013	NUM
fumecheng-10915	205	10	,	,	PUNCT
fumecheng-10915	205	11	utilizing	utilize	VERB
fumecheng-10915	205	12	cable	cable	NOUN
fumecheng-10915	205	13	winding	winding	NOUN
fumecheng-10915	205	14	and	and	CCONJ
fumecheng-10915	205	15	industrial	industrial	ADJ
fumecheng-10915	205	16	robots	robot	NOUN
fumecheng-10915	205	17	to	to	PART
fumecheng-10915	205	18	facilitate	facilitate	VERB
fumecheng-10915	205	19	the	the	DET
fumecheng-10915	205	20	manufacturing	manufacturing	NOUN
fumecheng-10915	205	21	of	of	ADP
fumecheng-10915	205	22	electric	electric	ADJ
fumecheng-10915	205	23	machines	machine	NOUN
fumecheng-10915	205	24	,	,	PUNCT
fumecheng-10915	205	25	robotics	robotic	NOUN
fumecheng-10915	205	26	and	and	CCONJ
fumecheng-10915	205	27	computer	computer	NOUN
fumecheng-10915	205	28	-	-	PUNCT
fumecheng-10915	205	29	integrated	integrate	VERB
fumecheng-10915	205	30	manufacturing	manufacturing	NOUN
fumecheng-10915	205	31	,	,	PUNCT
fumecheng-10915	205	32	29(1	29(1	NUM
fumecheng-10915	205	33	)	)	PUNCT
fumecheng-10915	205	34	,	,	PUNCT
fumecheng-10915	205	35	pp	pp	ADP
fumecheng-10915	205	36	.	.	PUNCT
fumecheng-10915	206	1	246	246	NUM
fumecheng-10915	206	2	-	-	SYM
fumecheng-10915	206	3	256	256	NUM
fumecheng-10915	206	4	.	.	NOUN
fumecheng-10915	206	5	12	12	NUM
fumecheng-10915	206	6	.	.	PUNCT
fumecheng-10915	207	1	mousavi	mousavi	PROPN
fumecheng-10915	207	2	,	,	PUNCT
fumecheng-10915	207	3	m.r	m.r	PROPN
fumecheng-10915	207	4	.	.	PROPN
fumecheng-10915	207	5	,	,	PUNCT
fumecheng-10915	207	6	ghanbari	ghanbari	PROPN
fumecheng-10915	207	7	,	,	PUNCT
fumecheng-10915	207	8	m.	m.	NOUN
fumecheng-10915	207	9	,	,	PUNCT
fumecheng-10915	207	10	moosavian	moosavian	NOUN
fumecheng-10915	207	11	,	,	PUNCT
fumecheng-10915	207	12	s.a.a	s.a.a	PROPN
fumecheng-10915	207	13	.	.	PROPN
fumecheng-10915	207	14	,	,	PUNCT
fumecheng-10915	207	15	zarafshan	zarafshan	ADV
fumecheng-10915	207	16	,	,	PUNCT
fumecheng-10915	207	17	p.	p.	NOUN
fumecheng-10915	207	18	,	,	PUNCT
fumecheng-10915	207	19	2022	2022	NUM
fumecheng-10915	207	20	,	,	PUNCT
fumecheng-10915	207	21	rapid	rapid	ADJ
fumecheng-10915	207	22	and	and	CCONJ
fumecheng-10915	207	23	safe	safe	ADJ
fumecheng-10915	207	24	wire	wire	NOUN
fumecheng-10915	207	25	tension	tension	NOUN
fumecheng-10915	207	26	distribution	distribution	NOUN
fumecheng-10915	207	27	scheme	scheme	NOUN
fumecheng-10915	207	28	for	for	ADP
fumecheng-10915	207	29	redundant	redundant	ADJ
fumecheng-10915	207	30	cable	cable	NOUN
fumecheng-10915	207	31	-	-	PUNCT
fumecheng-10915	207	32	driven	drive	VERB
fumecheng-10915	207	33	parallel	parallel	ADJ
fumecheng-10915	207	34	manipulators	manipulator	NOUN
fumecheng-10915	207	35	,	,	PUNCT
fumecheng-10915	207	36	robotica	robotica	PROPN
fumecheng-10915	207	37	,	,	PUNCT
fumecheng-10915	207	38	40(7	40(7	NOUN
fumecheng-10915	207	39	)	)	PUNCT
fumecheng-10915	207	40	,	,	PUNCT
fumecheng-10915	207	41	pp	pp	ADP
fumecheng-10915	207	42	.	.	PUNCT
fumecheng-10915	208	1	2395	2395	NUM
fumecheng-10915	208	2	-	-	SYM
fumecheng-10915	208	3	2408	2408	NUM
fumecheng-10915	208	4	.	.	PUNCT
fumecheng-10915	209	1	13	13	NUM
fumecheng-10915	209	2	.	.	X
fumecheng-10915	210	1	mishra	mishra	PROPN
fumecheng-10915	210	2	,	,	PUNCT
fumecheng-10915	210	3	u.a	u.a	PROPN
fumecheng-10915	210	4	.	.	PROPN
fumecheng-10915	210	5	,	,	PUNCT
fumecheng-10915	210	6	caro	caro	PROPN
fumecheng-10915	210	7	,	,	PUNCT
fumecheng-10915	210	8	s.	s.	PROPN
fumecheng-10915	210	9	,	,	PUNCT
fumecheng-10915	210	10	2022	2022	NUM
fumecheng-10915	210	11	,	,	PUNCT
fumecheng-10915	210	12	forward	forward	ADJ
fumecheng-10915	210	13	kinematics	kinematic	NOUN
fumecheng-10915	210	14	for	for	ADP
fumecheng-10915	210	15	suspended	suspend	VERB
fumecheng-10915	210	16	under	under	ADP
fumecheng-10915	210	17	-	-	PUNCT
fumecheng-10915	210	18	actuated	actuate	VERB
fumecheng-10915	210	19	cable	cable	NOUN
fumecheng-10915	210	20	-	-	PUNCT
fumecheng-10915	210	21	driven	drive	VERB
fumecheng-10915	210	22	parallel	parallel	ADJ
fumecheng-10915	210	23	robots	robot	NOUN
fumecheng-10915	210	24	with	with	ADP
fumecheng-10915	210	25	elastic	elastic	ADJ
fumecheng-10915	210	26	cables	cable	NOUN
fumecheng-10915	210	27	:	:	PUNCT
fumecheng-10915	210	28	a	a	DET
fumecheng-10915	210	29	neural	neural	ADJ
fumecheng-10915	210	30	network	network	NOUN
fumecheng-10915	210	31	approach	approach	NOUN
fumecheng-10915	210	32	,	,	PUNCT
fumecheng-10915	210	33	journal	journal	NOUN
fumecheng-10915	210	34	of	of	ADP
fumecheng-10915	210	35	mechanisms	mechanism	NOUN
fumecheng-10915	210	36	and	and	CCONJ
fumecheng-10915	210	37	robotics	robotic	NOUN
fumecheng-10915	210	38	14(4	14(4	NOUN
fumecheng-10915	210	39	)	)	PUNCT
fumecheng-10915	210	40	,	,	PUNCT
fumecheng-10915	210	41	041008	041008	NUM
fumecheng-10915	210	42	.	.	PUNCT
fumecheng-10915	211	1	14	14	NUM
fumecheng-10915	211	2	.	.	PUNCT
fumecheng-10915	212	1	li	li	PROPN
fumecheng-10915	212	2	,	,	PUNCT
fumecheng-10915	212	3	h.	h.	PROPN
fumecheng-10915	212	4	,	,	PUNCT
fumecheng-10915	212	5	liu	liu	PROPN
fumecheng-10915	212	6	,	,	PUNCT
fumecheng-10915	212	7	w.	w.	PROPN
fumecheng-10915	212	8	,	,	PUNCT
fumecheng-10915	212	9	wang	wang	PROPN
fumecheng-10915	212	10	,	,	PUNCT
fumecheng-10915	212	11	k.	k.	PROPN
fumecheng-10915	212	12	,	,	PUNCT
fumecheng-10915	212	13	kawashima	kawashima	PROPN
fumecheng-10915	212	14	,	,	PUNCT
fumecheng-10915	212	15	k.	k.	PROPN
fumecheng-10915	212	16	,	,	PUNCT
fumecheng-10915	212	17	magid	magid	PROPN
fumecheng-10915	212	18	,	,	PUNCT
fumecheng-10915	212	19	e.	e.	PROPN
fumecheng-10915	212	20	,	,	PUNCT
fumecheng-10915	212	21	2018	2018	NUM
fumecheng-10915	212	22	,	,	PUNCT
fumecheng-10915	212	23	a	a	DET
fumecheng-10915	212	24	cable	cable	NOUN
fumecheng-10915	212	25	-	-	PUNCT
fumecheng-10915	212	26	pulley	pulley	NOUN
fumecheng-10915	212	27	transmission	transmission	NOUN
fumecheng-10915	212	28	mechanism	mechanism	NOUN
fumecheng-10915	212	29	for	for	ADP
fumecheng-10915	212	30	surgical	surgical	ADJ
fumecheng-10915	212	31	robot	robot	NOUN
fumecheng-10915	212	32	with	with	ADP
fumecheng-10915	212	33	backdrivable	backdrivable	ADJ
fumecheng-10915	212	34	capability	capability	NOUN
fumecheng-10915	212	35	,	,	PUNCT
fumecheng-10915	212	36	robotics	robotic	NOUN
fumecheng-10915	212	37	and	and	CCONJ
fumecheng-10915	212	38	computer	computer	NOUN
fumecheng-10915	212	39	-	-	PUNCT
fumecheng-10915	212	40	integrated	integrate	VERB
fumecheng-10915	212	41	manufacturing	manufacturing	NOUN
fumecheng-10915	212	42	,	,	PUNCT
fumecheng-10915	212	43	49	49	NUM
fumecheng-10915	212	44	,	,	PUNCT
fumecheng-10915	212	45	pp	pp	ADJ
fumecheng-10915	212	46	.	.	PUNCT
fumecheng-10915	213	1	328	328	NUM
fumecheng-10915	213	2	-	-	SYM
fumecheng-10915	213	3	334	334	NUM
fumecheng-10915	213	4	.	.	PUNCT
fumecheng-10915	214	1	15	15	NUM
fumecheng-10915	214	2	.	.	X
fumecheng-10915	215	1	francis	francis	PROPN
fumecheng-10915	215	2	,	,	PUNCT
fumecheng-10915	215	3	c.	c.	PROPN
fumecheng-10915	215	4	,	,	PUNCT
fumecheng-10915	215	5	sato	sato	PROPN
fumecheng-10915	215	6	,	,	PUNCT
fumecheng-10915	215	7	t.	t.	PROPN
fumecheng-10915	215	8	,	,	PUNCT
fumecheng-10915	215	9	okuyama	okuyama	NOUN
fumecheng-10915	215	10	,	,	PUNCT
fumecheng-10915	215	11	t.	t.	PROPN
fumecheng-10915	215	12	,	,	PUNCT
fumecheng-10915	215	13	tanaka	tanaka	PROPN
fumecheng-10915	215	14	,	,	PUNCT
fumecheng-10915	215	15	m.	m.	NOUN
fumecheng-10915	215	16	,	,	PUNCT
fumecheng-10915	215	17	2022	2022	NUM
fumecheng-10915	215	18	,	,	PUNCT
fumecheng-10915	215	19	a	a	DET
fumecheng-10915	215	20	cable	cable	NOUN
fumecheng-10915	215	21	driven	drive	VERB
fumecheng-10915	215	22	robotic	robotic	ADJ
fumecheng-10915	215	23	palpation	palpation	NOUN
fumecheng-10915	215	24	system	system	NOUN
fumecheng-10915	215	25	with	with	ADP
fumecheng-10915	215	26	contact	contact	NOUN
fumecheng-10915	215	27	force	force	NOUN
fumecheng-10915	215	28	sensing	sense	VERB
fumecheng-10915	215	29	based	base	VERB
fumecheng-10915	215	30	on	on	ADP
fumecheng-10915	215	31	cable	cable	NOUN
fumecheng-10915	215	32	tension	tension	NOUN
fumecheng-10915	215	33	observation	observation	NOUN
fumecheng-10915	215	34	,	,	PUNCT
fumecheng-10915	215	35	the	the	DET
fumecheng-10915	215	36	international	international	ADJ
fumecheng-10915	215	37	journal	journal	NOUN
fumecheng-10915	215	38	of	of	ADP
fumecheng-10915	215	39	medical	medical	ADJ
fumecheng-10915	215	40	robotics	robotic	NOUN
fumecheng-10915	215	41	and	and	CCONJ
fumecheng-10915	215	42	computer	computer	NOUN
fumecheng-10915	215	43	assisted	assist	VERB
fumecheng-10915	215	44	surgery	surgery	NOUN
fumecheng-10915	215	45	,	,	PUNCT
fumecheng-10915	215	46	18(6	18(6	NOUN
fumecheng-10915	215	47	)	)	PUNCT
fumecheng-10915	215	48	,	,	PUNCT
fumecheng-10915	215	49	e2435	e2435	PROPN
fumecheng-10915	215	50	.	.	PROPN
fumecheng-10915	215	51	16	16	NUM
fumecheng-10915	215	52	.	.	PUNCT
fumecheng-10915	216	1	imamura	imamura	PROPN
fumecheng-10915	216	2	,	,	PUNCT
fumecheng-10915	216	3	t.	t.	PROPN
fumecheng-10915	216	4	,	,	PUNCT
fumecheng-10915	216	5	kuroiwa	kuroiwa	NOUN
fumecheng-10915	216	6	,	,	PUNCT
fumecheng-10915	216	7	t.	t.	PROPN
fumecheng-10915	216	8	,	,	PUNCT
fumecheng-10915	216	9	terashima	terashima	PROPN
fumecheng-10915	216	10	,	,	PUNCT
fumecheng-10915	216	11	k.	k.	PROPN
fumecheng-10915	216	12	,	,	PUNCT
fumecheng-10915	216	13	takemoto	takemoto	PROPN
fumecheng-10915	216	14	,	,	PUNCT
fumecheng-10915	216	15	h.	h.	PROPN
fumecheng-10915	216	16	,	,	PUNCT
fumecheng-10915	216	17	1999	1999	NUM
fumecheng-10915	216	18	,	,	PUNCT
fumecheng-10915	216	19	design	design	NOUN
fumecheng-10915	216	20	and	and	CCONJ
fumecheng-10915	216	21	tension	tension	NOUN
fumecheng-10915	216	22	control	control	NOUN
fumecheng-10915	216	23	of	of	ADP
fumecheng-10915	216	24	filament	filament	NOUN
fumecheng-10915	216	25	winding	wind	VERB
fumecheng-10915	216	26	system	system	NOUN
fumecheng-10915	216	27	,	,	PUNCT
fumecheng-10915	216	28	proc	proc	NOUN
fumecheng-10915	216	29	.	.	PUNCT
fumecheng-10915	217	1	international	international	ADJ
fumecheng-10915	217	2	conference	conference	NOUN
fumecheng-10915	217	3	on	on	ADP
fumecheng-10915	217	4	systems	system	NOUN
fumecheng-10915	217	5	,	,	PUNCT
fumecheng-10915	217	6	man	man	NOUN
fumecheng-10915	217	7	and	and	CCONJ
fumecheng-10915	217	8	cybernetics	cybernetic	NOUN
fumecheng-10915	217	9	icsmc	icsmc	VERB
fumecheng-10915	217	10	1999	1999	NUM
fumecheng-10915	217	11	,	,	PUNCT
fumecheng-10915	217	12	tokyo	tokyo	PROPN
fumecheng-10915	217	13	,	,	PUNCT
fumecheng-10915	217	14	pp	pp	ADJ
fumecheng-10915	217	15	.	.	PUNCT
fumecheng-10915	218	1	660	660	NUM
fumecheng-10915	218	2	-	-	SYM
fumecheng-10915	218	3	665	665	NUM
fumecheng-10915	218	4	.	.	PUNCT
fumecheng-10915	219	1	17	17	NUM
fumecheng-10915	219	2	.	.	PUNCT
fumecheng-10915	220	1	sheng	sheng	NOUN
fumecheng-10915	220	2	-	-	PUNCT
fumecheng-10915	220	3	le	le	PROPN
fumecheng-10915	220	4	,	,	PUNCT
fumecheng-10915	220	5	r.	r.	PROPN
fumecheng-10915	220	6	,	,	PUNCT
fumecheng-10915	220	7	hua	hua	PROPN
fumecheng-10915	220	8	,	,	PUNCT
fumecheng-10915	220	9	l.	l.	PROPN
fumecheng-10915	220	10	,	,	PUNCT
fumecheng-10915	220	11	yong	yong	PROPN
fumecheng-10915	220	12	-	-	PUNCT
fumecheng-10915	220	13	zhang	zhang	PROPN
fumecheng-10915	220	14	,	,	PUNCT
fumecheng-10915	220	15	w.	w.	PROPN
fumecheng-10915	220	16	,	,	PUNCT
fumecheng-10915	220	17	hong	hong	PROPN
fumecheng-10915	220	18	-	-	PUNCT
fumecheng-10915	220	19	ya	ya	PROPN
fumecheng-10915	220	20	,	,	PUNCT
fumecheng-10915	220	21	f.	f.	PROPN
fumecheng-10915	220	22	,	,	PUNCT
fumecheng-10915	220	23	2007	2007	NUM
fumecheng-10915	220	24	,	,	PUNCT
fumecheng-10915	220	25	development	development	NOUN
fumecheng-10915	220	26	of	of	ADP
fumecheng-10915	220	27	plc	plc	PROPN
fumecheng-10915	220	28	-	-	PUNCT
fumecheng-10915	220	29	based	base	VERB
fumecheng-10915	220	30	tension	tension	NOUN
fumecheng-10915	220	31	control	control	NOUN
fumecheng-10915	220	32	system	system	NOUN
fumecheng-10915	220	33	,	,	PUNCT
fumecheng-10915	220	34	chinese	chinese	ADJ
fumecheng-10915	220	35	journal	journal	PROPN
fumecheng-10915	220	36	of	of	ADP
fumecheng-10915	220	37	aeronautics	aeronautic	NOUN
fumecheng-10915	220	38	,	,	PUNCT
fumecheng-10915	220	39	20(3	20(3	NOUN
fumecheng-10915	220	40	)	)	PUNCT
fumecheng-10915	220	41	,	,	PUNCT
fumecheng-10915	220	42	pp	pp	ADP
fumecheng-10915	220	43	.	.	PUNCT
fumecheng-10915	221	1	266	266	NUM
fumecheng-10915	221	2	-	-	SYM
fumecheng-10915	221	3	271	271	NUM
fumecheng-10915	221	4	.	.	NUM
fumecheng-10915	222	1	18	18	NUM
fumecheng-10915	222	2	.	.	X
fumecheng-10915	223	1	lu	lu	PROPN
fumecheng-10915	223	2	,	,	PUNCT
fumecheng-10915	223	3	j	j	PROPN
fumecheng-10915	223	4	-	-	PUNCT
fumecheng-10915	223	5	s.	s.	PROPN
fumecheng-10915	223	6	,	,	PUNCT
fumecheng-10915	223	7	cheng	cheng	PROPN
fumecheng-10915	223	8	,	,	PUNCT
fumecheng-10915	223	9	m	m	PROPN
fumecheng-10915	223	10	-	-	PUNCT
fumecheng-10915	223	11	y.	y.	ADJ
fumecheng-10915	223	12	,	,	PUNCT
fumecheng-10915	223	13	su	su	PROPN
fumecheng-10915	223	14	,	,	PUNCT
fumecheng-10915	223	15	k	k	PROPN
fumecheng-10915	223	16	-	-	PROPN
fumecheng-10915	223	17	h.	h.	PROPN
fumecheng-10915	223	18	,	,	PUNCT
fumecheng-10915	223	19	tsai	tsai	PROPN
fumecheng-10915	223	20	,	,	PUNCT
fumecheng-10915	223	21	m	m	PROPN
fumecheng-10915	223	22	-	-	PROPN
fumecheng-10915	223	23	c.	c.	NOUN
fumecheng-10915	223	24	,	,	PUNCT
fumecheng-10915	223	25	2018	2018	NUM
fumecheng-10915	223	26	,	,	PUNCT
fumecheng-10915	223	27	wire	wire	NOUN
fumecheng-10915	223	28	tension	tension	NOUN
fumecheng-10915	223	29	control	control	NOUN
fumecheng-10915	223	30	of	of	ADP
fumecheng-10915	223	31	an	an	DET
fumecheng-10915	223	32	automatic	automatic	ADJ
fumecheng-10915	223	33	motor	motor	NOUN
fumecheng-10915	223	34	winding	wind	VERB
fumecheng-10915	223	35	machine	machine	NOUN
fumecheng-10915	223	36	—	—	PUNCT
fumecheng-10915	223	37	an	an	DET
fumecheng-10915	223	38	iterative	iterative	NOUN
fumecheng-10915	223	39	learning	learn	VERB
fumecheng-10915	223	40	sliding	slide	VERB
fumecheng-10915	223	41	mode	mode	NOUN
fumecheng-10915	223	42	control	control	NOUN
fumecheng-10915	223	43	approach	approach	NOUN
fumecheng-10915	223	44	,	,	PUNCT
fumecheng-10915	223	45	robotics	robotic	NOUN
fumecheng-10915	223	46	and	and	CCONJ
fumecheng-10915	223	47	computer	computer	NOUN
fumecheng-10915	223	48	–	–	PUNCT
fumecheng-10915	223	49	integrated	integrate	VERB
fumecheng-10915	223	50	manufacturing	manufacturing	NOUN
fumecheng-10915	223	51	,	,	PUNCT
fumecheng-10915	223	52	50	50	NUM
fumecheng-10915	223	53	,	,	PUNCT
fumecheng-10915	223	54	pp	pp	ADJ
fumecheng-10915	223	55	.	.	PUNCT
fumecheng-10915	224	1	50	50	NUM
fumecheng-10915	224	2	-	-	SYM
fumecheng-10915	224	3	62	62	NUM
fumecheng-10915	224	4	.	.	PUNCT
fumecheng-10915	225	1	19	19	NUM
fumecheng-10915	225	2	.	.	X
fumecheng-10915	225	3	abjadi	abjadi	PROPN
fumecheng-10915	225	4	,	,	PUNCT
fumecheng-10915	225	5	n.r	n.r	PROPN
fumecheng-10915	225	6	.	.	PROPN
fumecheng-10915	225	7	,	,	PUNCT
fumecheng-10915	225	8	soltani	soltani	PROPN
fumecheng-10915	225	9	,	,	PUNCT
fumecheng-10915	225	10	j.	j.	PROPN
fumecheng-10915	225	11	,	,	PUNCT
fumecheng-10915	225	12	askari	askari	PROPN
fumecheng-10915	225	13	,	,	PUNCT
fumecheng-10915	225	14	j.	j.	PROPN
fumecheng-10915	225	15	,	,	PUNCT
fumecheng-10915	225	16	arab	arab	PROPN
fumecheng-10915	225	17	markadeh	markadeh	PROPN
fumecheng-10915	225	18	,	,	PUNCT
fumecheng-10915	225	19	g.r	g.r	PROPN
fumecheng-10915	225	20	.	.	PROPN
fumecheng-10915	225	21	,	,	PUNCT
fumecheng-10915	225	22	2009	2009	NUM
fumecheng-10915	225	23	,	,	PUNCT
fumecheng-10915	225	24	nonlinear	nonlinear	ADJ
fumecheng-10915	225	25	sliding	sliding	ADJ
fumecheng-10915	225	26	-	-	PUNCT
fumecheng-10915	225	27	mode	mode	NOUN
fumecheng-10915	225	28	control	control	NOUN
fumecheng-10915	225	29	of	of	ADP
fumecheng-10915	225	30	a	a	DET
fumecheng-10915	225	31	multimotor	multimotor	NOUN
fumecheng-10915	225	32	web	web	NOUN
fumecheng-10915	225	33	-	-	ADJ
fumecheng-10915	225	34	winding	wind	VERB
fumecheng-10915	225	35	system	system	NOUN
fumecheng-10915	225	36	without	without	ADP
fumecheng-10915	225	37	tension	tension	NOUN
fumecheng-10915	225	38	sensor	sensor	NOUN
fumecheng-10915	225	39	,	,	PUNCT
fumecheng-10915	225	40	iet	iet	PROPN
fumecheng-10915	225	41	control	control	PROPN
fumecheng-10915	225	42	theory	theory	PROPN
fumecheng-10915	225	43	&	&	CCONJ
fumecheng-10915	225	44	applications	application	NOUN
fumecheng-10915	225	45	,	,	PUNCT
fumecheng-10915	225	46	3(4	3(4	NUM
fumecheng-10915	225	47	)	)	PUNCT
fumecheng-10915	225	48	,	,	PUNCT
fumecheng-10915	225	49	pp	pp	ADP
fumecheng-10915	225	50	.	.	PUNCT
fumecheng-10915	226	1	419	419	NUM
fumecheng-10915	226	2	-	-	SYM
fumecheng-10915	226	3	427	427	NUM
fumecheng-10915	226	4	.	.	NOUN
fumecheng-10915	227	1	20	20	NUM
fumecheng-10915	227	2	.	.	PUNCT
fumecheng-10915	228	1	knittel	knittel	PROPN
fumecheng-10915	228	2	,	,	PUNCT
fumecheng-10915	228	3	d.	d.	PROPN
fumecheng-10915	228	4	,	,	PUNCT
fumecheng-10915	228	5	laroche	laroche	PROPN
fumecheng-10915	228	6	,	,	PUNCT
fumecheng-10915	228	7	e.	e.	PROPN
fumecheng-10915	228	8	,	,	PUNCT
fumecheng-10915	228	9	gigan	gigan	PROPN
fumecheng-10915	228	10	,	,	PUNCT
fumecheng-10915	228	11	d.	d.	PROPN
fumecheng-10915	228	12	,	,	PUNCT
fumecheng-10915	228	13	koc	koc	PROPN
fumecheng-10915	228	14	,	,	PUNCT
fumecheng-10915	228	15	h.	h.	PROPN
fumecheng-10915	228	16	,	,	PUNCT
fumecheng-10915	228	17	2003	2003	NUM
fumecheng-10915	228	18	,	,	PUNCT
fumecheng-10915	228	19	tension	tension	NOUN
fumecheng-10915	228	20	control	control	NOUN
fumecheng-10915	228	21	for	for	ADP
fumecheng-10915	228	22	winding	wind	VERB
fumecheng-10915	228	23	systems	system	NOUN
fumecheng-10915	228	24	with	with	ADP
fumecheng-10915	228	25	two	two	NUM
fumecheng-10915	228	26	-	-	PUNCT
fumecheng-10915	228	27	degreesof	degreesof	NOUN
fumecheng-10915	228	28	-	-	PUNCT
fumecheng-10915	228	29	freedom	freedom	NOUN
fumecheng-10915	228	30	h∞	h∞	NOUN
fumecheng-10915	228	31	controllers	controller	NOUN
fumecheng-10915	228	32	,	,	PUNCT
fumecheng-10915	228	33	ieee	ieee	NOUN
fumecheng-10915	228	34	transactions	transaction	NOUN
fumecheng-10915	228	35	on	on	ADP
fumecheng-10915	228	36	industry	industry	NOUN
fumecheng-10915	228	37	applications	application	NOUN
fumecheng-10915	228	38	,	,	PUNCT
fumecheng-10915	228	39	39(1	39(1	NUM
fumecheng-10915	228	40	)	)	PUNCT
fumecheng-10915	228	41	,	,	PUNCT
fumecheng-10915	228	42	pp	pp	ADP
fumecheng-10915	228	43	.	.	PUNCT
fumecheng-10915	229	1	113	113	NUM
fumecheng-10915	229	2	-	-	SYM
fumecheng-10915	229	3	120	120	NUM
fumecheng-10915	229	4	.	.	PUNCT
fumecheng-10915	230	1	21	21	NUM
fumecheng-10915	230	2	.	.	PUNCT
fumecheng-10915	231	1	wang	wang	PROPN
fumecheng-10915	231	2	,	,	PUNCT
fumecheng-10915	231	3	c.	c.	PROPN
fumecheng-10915	231	4	,	,	PUNCT
fumecheng-10915	231	5	wang	wang	PROPN
fumecheng-10915	231	6	,	,	PUNCT
fumecheng-10915	231	7	y.	y.	PROPN
fumecheng-10915	231	8	,	,	PUNCT
fumecheng-10915	231	9	yang	yang	PROPN
fumecheng-10915	231	10	,	,	PUNCT
fumecheng-10915	231	11	r.	r.	PROPN
fumecheng-10915	231	12	,	,	PUNCT
fumecheng-10915	231	13	lu	lu	PROPN
fumecheng-10915	231	14	,	,	PUNCT
fumecheng-10915	231	15	h.	h.	PROPN
fumecheng-10915	231	16	,	,	PUNCT
fumecheng-10915	231	17	2004	2004	NUM
fumecheng-10915	231	18	,	,	PUNCT
fumecheng-10915	231	19	research	research	NOUN
fumecheng-10915	231	20	on	on	ADP
fumecheng-10915	231	21	precision	precision	NOUN
fumecheng-10915	231	22	tension	tension	NOUN
fumecheng-10915	231	23	control	control	NOUN
fumecheng-10915	231	24	system	system	NOUN
fumecheng-10915	231	25	based	base	VERB
fumecheng-10915	231	26	on	on	ADP
fumecheng-10915	231	27	neural	neural	ADJ
fumecheng-10915	231	28	network	network	NOUN
fumecheng-10915	231	29	,	,	PUNCT
fumecheng-10915	231	30	ieee	ieee	NOUN
fumecheng-10915	231	31	transactions	transaction	NOUN
fumecheng-10915	231	32	on	on	ADP
fumecheng-10915	231	33	industrial	industrial	ADJ
fumecheng-10915	231	34	electronics	electronic	NOUN
fumecheng-10915	231	35	,	,	PUNCT
fumecheng-10915	231	36	51(2	51(2	NUM
fumecheng-10915	231	37	)	)	PUNCT
fumecheng-10915	231	38	,	,	PUNCT
fumecheng-10915	231	39	pp	pp	ADP
fumecheng-10915	231	40	.	.	PUNCT
fumecheng-10915	232	1	381	381	NUM
fumecheng-10915	232	2	-	-	SYM
fumecheng-10915	232	3	386	386	NUM
fumecheng-10915	232	4	.	.	PUNCT
fumecheng-10915	233	1	22	22	NUM
fumecheng-10915	233	2	.	.	X
fumecheng-10915	234	1	zhang	zhang	PROPN
fumecheng-10915	234	2	,	,	PUNCT
fumecheng-10915	234	3	q.	q.	PROPN
fumecheng-10915	234	4	,	,	PUNCT
fumecheng-10915	234	5	wang	wang	PROPN
fumecheng-10915	234	6	,	,	PUNCT
fumecheng-10915	234	7	s.	s.	PROPN
fumecheng-10915	234	8	,	,	PUNCT
fumecheng-10915	234	9	zhang	zhang	PROPN
fumecheng-10915	234	10	,	,	PUNCT
fumecheng-10915	234	11	a.	a.	PROPN
fumecheng-10915	234	12	,	,	PUNCT
fumecheng-10915	234	13	zhou	zhou	PROPN
fumecheng-10915	234	14	,	,	PUNCT
fumecheng-10915	234	15	j.	j.	PROPN
fumecheng-10915	234	16	,	,	PUNCT
fumecheng-10915	234	17	liu	liu	PROPN
fumecheng-10915	234	18	,	,	PUNCT
fumecheng-10915	234	19	q.	q.	PROPN
fumecheng-10915	234	20	,	,	PUNCT
fumecheng-10915	234	21	2017	2017	NUM
fumecheng-10915	234	22	,	,	PUNCT
fumecheng-10915	234	23	improved	improve	VERB
fumecheng-10915	234	24	pi	pi	NOUN
fumecheng-10915	234	25	neural	neural	ADJ
fumecheng-10915	234	26	network	network	NOUN
fumecheng-10915	234	27	-	-	PUNCT
fumecheng-10915	234	28	based	base	VERB
fumecheng-10915	234	29	tension	tension	NOUN
fumecheng-10915	234	30	control	control	NOUN
fumecheng-10915	234	31	for	for	ADP
fumecheng-10915	234	32	stranded	strand	VERB
fumecheng-10915	234	33	wire	wire	NOUN
fumecheng-10915	234	34	helical	helical	ADJ
fumecheng-10915	234	35	springs	spring	NOUN
fumecheng-10915	234	36	manufacturing	manufacturing	NOUN
fumecheng-10915	234	37	,	,	PUNCT
fumecheng-10915	234	38	control	control	NOUN
fumecheng-10915	234	39	engineering	engineering	NOUN
fumecheng-10915	234	40	practice	practice	NOUN
fumecheng-10915	234	41	,	,	PUNCT
fumecheng-10915	234	42	67	67	NUM
fumecheng-10915	234	43	,	,	PUNCT
fumecheng-10915	234	44	pp	pp	ADJ
fumecheng-10915	234	45	.	.	PUNCT
fumecheng-10915	235	1	31	31	NUM
fumecheng-10915	235	2	-	-	SYM
fumecheng-10915	235	3	42	42	NUM
fumecheng-10915	235	4	.	.	PUNCT
fumecheng-10915	236	1	23	23	NUM
fumecheng-10915	236	2	.	.	PUNCT
fumecheng-10915	237	1	zhu	zhu	PROPN
fumecheng-10915	237	2	,	,	PUNCT
fumecheng-10915	237	3	p.	p.	PROPN
fumecheng-10915	237	4	,	,	PUNCT
fumecheng-10915	237	5	zhang	zhang	PROPN
fumecheng-10915	237	6	,	,	PUNCT
fumecheng-10915	237	7	q.	q.	PROPN
fumecheng-10915	237	8	,	,	PUNCT
fumecheng-10915	237	9	zhao	zhao	PROPN
fumecheng-10915	237	10	,	,	PUNCT
fumecheng-10915	237	11	z.	z.	PROPN
fumecheng-10915	237	12	,	,	PUNCT
fumecheng-10915	237	13	yang	yang	PROPN
fumecheng-10915	237	14	,	,	PUNCT
fumecheng-10915	237	15	b.	b.	PROPN
fumecheng-10915	237	16	,	,	PUNCT
fumecheng-10915	237	17	2023	2023	NUM
fumecheng-10915	237	18	,	,	PUNCT
fumecheng-10915	237	19	bp	bp	PROPN
fumecheng-10915	237	20	fuzzy	fuzzy	ADJ
fumecheng-10915	237	21	neural	neural	ADJ
fumecheng-10915	237	22	network	network	NOUN
fumecheng-10915	237	23	pid	pid	NOUN
fumecheng-10915	237	24	based	base	VERB
fumecheng-10915	237	25	constant	constant	ADJ
fumecheng-10915	237	26	tension	tension	NOUN
fumecheng-10915	237	27	control	control	NOUN
fumecheng-10915	237	28	of	of	ADP
fumecheng-10915	237	29	traction	traction	PROPN
fumecheng-10915	237	30	winch	winch	NOUN
fumecheng-10915	237	31	,	,	PUNCT
fumecheng-10915	237	32	measurement	measurement	NOUN
fumecheng-10915	237	33	and	and	CCONJ
fumecheng-10915	237	34	control	control	NOUN
fumecheng-10915	237	35	,	,	PUNCT
fumecheng-10915	237	36	56(3	56(3	NOUN
fumecheng-10915	237	37	-	-	SYM
fumecheng-10915	237	38	4	4	NUM
fumecheng-10915	237	39	)	)	PUNCT
fumecheng-10915	237	40	,	,	PUNCT
fumecheng-10915	237	41	pp	pp	PROPN
fumecheng-10915	237	42	.	.	PUNCT
fumecheng-10915	238	1	857	857	NUM
fumecheng-10915	238	2	-	-	SYM
fumecheng-10915	238	3	873	873	NUM
fumecheng-10915	238	4	.	.	PUNCT
fumecheng-10915	239	1	24	24	NUM
fumecheng-10915	239	2	.	.	PUNCT
fumecheng-10915	239	3	galić	galić	NOUN
fumecheng-10915	239	4	,	,	PUNCT
fumecheng-10915	239	5	d.	d.	PROPN
fumecheng-10915	239	6	,	,	PUNCT
fumecheng-10915	239	7	stojanović	stojanović	PROPN
fumecheng-10915	239	8	,	,	PUNCT
fumecheng-10915	239	9	z.	z.	PROPN
fumecheng-10915	239	10	,	,	PUNCT
fumecheng-10915	239	11	čajić	čajić	PROPN
fumecheng-10915	239	12	,	,	PUNCT
fumecheng-10915	239	13	e.	e.	PROPN
fumecheng-10915	239	14	,	,	PUNCT
fumecheng-10915	239	15	2024	2024	NUM
fumecheng-10915	239	16	,	,	PUNCT
fumecheng-10915	239	17	application	application	NOUN
fumecheng-10915	239	18	of	of	ADP
fumecheng-10915	239	19	neural	neural	ADJ
fumecheng-10915	239	20	networks	network	NOUN
fumecheng-10915	239	21	and	and	CCONJ
fumecheng-10915	239	22	machine	machine	NOUN
fumecheng-10915	239	23	learning	learning	NOUN
fumecheng-10915	239	24	in	in	ADP
fumecheng-10915	239	25	image	image	NOUN
fumecheng-10915	239	26	recognition	recognition	NOUN
fumecheng-10915	239	27	,	,	PUNCT
fumecheng-10915	239	28	technical	technical	ADJ
fumecheng-10915	239	29	gazette	gazette	PROPN
fumecheng-10915	239	30	,	,	PUNCT
fumecheng-10915	239	31	31(1	31(1	NUM
fumecheng-10915	239	32	)	)	PUNCT
fumecheng-10915	239	33	,	,	PUNCT
fumecheng-10915	239	34	pp	pp	PROPN
fumecheng-10915	239	35	.	.	PUNCT
fumecheng-10915	240	1	316	316	NUM
fumecheng-10915	240	2	-	-	SYM
fumecheng-10915	240	3	323	323	NUM
fumecheng-10915	240	4	.	.	PUNCT
fumecheng-10915	241	1	25	25	NUM
fumecheng-10915	241	2	.	.	PUNCT
fumecheng-10915	242	1	prasetya	prasetya	NOUN
fumecheng-10915	242	2	,	,	PUNCT
fumecheng-10915	242	3	d.a	d.a	PROPN
fumecheng-10915	242	4	.	.	PROPN
fumecheng-10915	242	5	,	,	PUNCT
fumecheng-10915	242	6	nguyen	nguyen	PROPN
fumecheng-10915	242	7	,	,	PUNCT
fumecheng-10915	242	8	p.t	p.t	PROPN
fumecheng-10915	242	9	.	.	PROPN
fumecheng-10915	242	10	,	,	PUNCT
fumecheng-10915	242	11	faizullin	faizullin	PROPN
fumecheng-10915	242	12	,	,	PUNCT
fumecheng-10915	242	13	r.	r.	PROPN
fumecheng-10915	242	14	,	,	PUNCT
fumecheng-10915	242	15	iswanto	iswanto	NOUN
fumecheng-10915	242	16	,	,	PUNCT
fumecheng-10915	242	17	i.	i.	PROPN
fumecheng-10915	242	18	,	,	PUNCT
fumecheng-10915	242	19	armay	armay	PROPN
fumecheng-10915	242	20	,	,	PUNCT
fumecheng-10915	242	21	e.f	e.f	PROPN
fumecheng-10915	242	22	.	.	PROPN
fumecheng-10915	242	23	,	,	PUNCT
fumecheng-10915	242	24	2020	2020	NUM
fumecheng-10915	242	25	,	,	PUNCT
fumecheng-10915	242	26	resolving	resolve	VERB
fumecheng-10915	242	27	the	the	DET
fumecheng-10915	242	28	shortest	short	ADJ
fumecheng-10915	242	29	path	path	NOUN
fumecheng-10915	242	30	problem	problem	NOUN
fumecheng-10915	242	31	using	use	VERB
fumecheng-10915	242	32	the	the	DET
fumecheng-10915	242	33	haversine	haversine	NOUN
fumecheng-10915	242	34	algorithm	algorithm	NOUN
fumecheng-10915	242	35	,	,	PUNCT
fumecheng-10915	242	36	journal	journal	NOUN
fumecheng-10915	242	37	of	of	ADP
fumecheng-10915	242	38	critical	critical	ADJ
fumecheng-10915	242	39	reviews	review	NOUN
fumecheng-10915	242	40	,	,	PUNCT
fumecheng-10915	242	41	7(1	7(1	NUM
fumecheng-10915	242	42	)	)	PUNCT
fumecheng-10915	242	43	,	,	PUNCT
fumecheng-10915	242	44	pp	pp	ADP
fumecheng-10915	242	45	.	.	PUNCT
fumecheng-10915	243	1	62	62	NUM
fumecheng-10915	243	2	-	-	SYM
fumecheng-10915	243	3	64	64	NUM
fumecheng-10915	243	4	.	.	PUNCT