id	sid	tid	token	lemma	pos
fumecheng-2577	1	1	plane	plane	NOUN
fumecheng-2577	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-2577	1	3	waves	wave	NOUN
fumecheng-2577	1	4	in	in	ADP
fumecheng-2577	1	5	infinite	infinite	ADJ
fumecheng-2577	1	6	half	half	ADJ
fumecheng-2577	1	7	-	-	PUNCT
fumecheng-2577	1	8	space	space	NOUN
fumecheng-2577	1	9	caused	cause	VERB
fumecheng-2577	1	10	facta	facta	PROPN
fumecheng-2577	1	11	universitatis	universitatis	PROPN
fumecheng-2577	1	12	series	series	NOUN
fumecheng-2577	1	13	:	:	PUNCT
fumecheng-2577	1	14	mechanical	mechanical	ADJ
fumecheng-2577	1	15	engineering	engineering	NOUN
fumecheng-2577	1	16	vol	vol	NOUN
fumecheng-2577	1	17	.	.	PROPN
fumecheng-2577	2	1	15	15	NUM
fumecheng-2577	2	2	,	,	PUNCT
fumecheng-2577	2	3	no	no	DET
fumecheng-2577	2	4	2	2	NUM
fumecheng-2577	2	5	,	,	PUNCT
fumecheng-2577	2	6	2017	2017	NUM
fumecheng-2577	2	7	,	,	PUNCT
fumecheng-2577	2	8	pp	pp	ADJ
fumecheng-2577	2	9	.	.	PUNCT
fumecheng-2577	3	1	201	201	NUM
fumecheng-2577	3	2	215	215	NUM
fumecheng-2577	3	3	doi	doi	NOUN
fumecheng-2577	3	4	:	:	PUNCT
fumecheng-2577	3	5	10.22190	10.22190	NUM
fumecheng-2577	3	6	/	/	SYM
fumecheng-2577	3	7	fume170203005a	fume170203005a	ADJ
fumecheng-2577	3	8	©	©	PROPN
fumecheng-2577	3	9	2017	2017	NUM
fumecheng-2577	3	10	by	by	ADP
fumecheng-2577	3	11	university	university	PROPN
fumecheng-2577	3	12	of	of	ADP
fumecheng-2577	3	13	niš	niš	PROPN
fumecheng-2577	3	14	,	,	PUNCT
fumecheng-2577	3	15	serbia	serbia	PROPN
fumecheng-2577	3	16	|	|	ADV
fumecheng-2577	3	17	creative	creative	ADJ
fumecheng-2577	3	18	commons	common	NOUN
fumecheng-2577	3	19	licence	licence	NOUN
fumecheng-2577	3	20	:	:	PUNCT
fumecheng-2577	3	21	cc	cc	VERB
fumecheng-2577	3	22	by	by	ADP
fumecheng-2577	3	23	-	-	PUNCT
fumecheng-2577	3	24	nc	nc	VERB
fumecheng-2577	3	25	-	-	PUNCT
fumecheng-2577	3	26	nd	nd	ADV
fumecheng-2577	3	27	original	original	ADJ
fumecheng-2577	3	28	scientific	scientific	ADJ
fumecheng-2577	3	29	paper	paper	NOUN
fumecheng-2577	3	30	modelling	modelling	NOUN
fumecheng-2577	3	31	and	and	CCONJ
fumecheng-2577	3	32	control	control	NOUN
fumecheng-2577	3	33	of	of	ADP
fumecheng-2577	3	34	h	h	NOUN
fumecheng-2577	3	35	-	-	PUNCT
fumecheng-2577	3	36	shaped	shape	VERB
fumecheng-2577	3	37	racing	racing	NOUN
fumecheng-2577	3	38	quadcopter	quadcopter	NOUN
fumecheng-2577	3	39	with	with	ADP
fumecheng-2577	3	40	tilting	tilt	VERB
fumecheng-2577	3	41	propellers	propeller	NOUN
fumecheng-2577	3	42	udc	udc	PROPN
fumecheng-2577	3	43	681.5	681.5	NUM
fumecheng-2577	3	44	ahmed	ahme	VERB
fumecheng-2577	3	45	alkamachi	alkamachi	PROPN
fumecheng-2577	3	46	1,2	1,2	NUM
fumecheng-2577	3	47	,	,	PUNCT
fumecheng-2577	3	48	ergun	ergun	NOUN
fumecheng-2577	3	49	ercelebi	ercelebi	NOUN
fumecheng-2577	3	50	2	2	NUM
fumecheng-2577	3	51	1	1	NUM
fumecheng-2577	3	52	alkawarizmi	alkawarizmi	ADJ
fumecheng-2577	3	53	college	college	NOUN
fumecheng-2577	3	54	of	of	ADP
fumecheng-2577	3	55	engineering	engineering	NOUN
fumecheng-2577	3	56	,	,	PUNCT
fumecheng-2577	3	57	university	university	NOUN
fumecheng-2577	3	58	of	of	ADP
fumecheng-2577	3	59	baghdad	baghdad	PROPN
fumecheng-2577	3	60	,	,	PUNCT
fumecheng-2577	3	61	iraq	iraq	PROPN
fumecheng-2577	3	62	2	2	NUM
fumecheng-2577	3	63	department	department	NOUN
fumecheng-2577	3	64	of	of	ADP
fumecheng-2577	3	65	electric	electric	ADJ
fumecheng-2577	3	66	and	and	CCONJ
fumecheng-2577	3	67	electronic	electronic	ADJ
fumecheng-2577	3	68	engineering	engineering	NOUN
fumecheng-2577	3	69	,	,	PUNCT
fumecheng-2577	3	70	gaziantep	gaziantep	PROPN
fumecheng-2577	3	71	university	university	PROPN
fumecheng-2577	3	72	,	,	PUNCT
fumecheng-2577	3	73	turkey	turkey	PROPN
fumecheng-2577	3	74	abstract	abstract	NOUN
fumecheng-2577	3	75	.	.	PUNCT
fumecheng-2577	4	1	traditional	traditional	ADJ
fumecheng-2577	4	2	quadcopter	quadcopter	NOUN
fumecheng-2577	4	3	suffers	suffer	VERB
fumecheng-2577	4	4	terribly	terribly	ADV
fumecheng-2577	4	5	from	from	ADP
fumecheng-2577	4	6	its	its	PRON
fumecheng-2577	4	7	underactuation	underactuation	NOUN
fumecheng-2577	4	8	which	which	PRON
fumecheng-2577	4	9	implies	imply	VERB
fumecheng-2577	4	10	the	the	DET
fumecheng-2577	4	11	coupling	coupling	NOUN
fumecheng-2577	4	12	between	between	ADP
fumecheng-2577	4	13	the	the	DET
fumecheng-2577	4	14	rotational	rotational	ADJ
fumecheng-2577	4	15	and	and	CCONJ
fumecheng-2577	4	16	the	the	DET
fumecheng-2577	4	17	translational	translational	ADJ
fumecheng-2577	4	18	motion	motion	NOUN
fumecheng-2577	4	19	.	.	PUNCT
fumecheng-2577	5	1	in	in	ADP
fumecheng-2577	5	2	this	this	DET
fumecheng-2577	5	3	paper	paper	NOUN
fumecheng-2577	5	4	,	,	PUNCT
fumecheng-2577	5	5	we	we	PRON
fumecheng-2577	5	6	present	present	VERB
fumecheng-2577	5	7	a	a	DET
fumecheng-2577	5	8	quadcopter	quadcopter	NOUN
fumecheng-2577	5	9	with	with	ADP
fumecheng-2577	5	10	dynamic	dynamic	ADJ
fumecheng-2577	5	11	rotor	rotor	NOUN
fumecheng-2577	5	12	tilting	tilting	NOUN
fumecheng-2577	5	13	capability	capability	NOUN
fumecheng-2577	5	14	in	in	ADP
fumecheng-2577	5	15	which	which	PRON
fumecheng-2577	5	16	the	the	DET
fumecheng-2577	5	17	four	four	NUM
fumecheng-2577	5	18	propellers	propeller	NOUN
fumecheng-2577	5	19	are	be	AUX
fumecheng-2577	5	20	allowed	allow	VERB
fumecheng-2577	5	21	to	to	PART
fumecheng-2577	5	22	tilt	tilt	VERB
fumecheng-2577	5	23	together	together	ADV
fumecheng-2577	5	24	around	around	ADP
fumecheng-2577	5	25	their	their	PRON
fumecheng-2577	5	26	arm	arm	NOUN
fumecheng-2577	5	27	axis	axis	NOUN
fumecheng-2577	5	28	.	.	PUNCT
fumecheng-2577	6	1	the	the	DET
fumecheng-2577	6	2	proposed	propose	VERB
fumecheng-2577	6	3	model	model	NOUN
fumecheng-2577	6	4	provides	provide	VERB
fumecheng-2577	6	5	leveled	level	VERB
fumecheng-2577	6	6	forward	forward	ADV
fumecheng-2577	6	7	/	/	SYM
fumecheng-2577	6	8	backward	backward	ADJ
fumecheng-2577	6	9	horizontal	horizontal	ADJ
fumecheng-2577	6	10	motion	motion	NOUN
fumecheng-2577	6	11	and	and	CCONJ
fumecheng-2577	6	12	therefore	therefore	ADV
fumecheng-2577	6	13	,	,	PUNCT
fumecheng-2577	6	14	ensures	ensure	VERB
fumecheng-2577	6	15	a	a	DET
fumecheng-2577	6	16	correct	correct	ADJ
fumecheng-2577	6	17	view	view	NOUN
fumecheng-2577	6	18	of	of	ADP
fumecheng-2577	6	19	the	the	DET
fumecheng-2577	6	20	onboard	onboard	ADJ
fumecheng-2577	6	21	camera	camera	NOUN
fumecheng-2577	6	22	,	,	PUNCT
fumecheng-2577	6	23	and	and	CCONJ
fumecheng-2577	6	24	increases	increase	VERB
fumecheng-2577	6	25	the	the	DET
fumecheng-2577	6	26	vehicle	vehicle	NOUN
fumecheng-2577	6	27	speed	speed	NOUN
fumecheng-2577	6	28	by	by	ADP
fumecheng-2577	6	29	reducing	reduce	VERB
fumecheng-2577	6	30	the	the	DET
fumecheng-2577	6	31	air	air	NOUN
fumecheng-2577	6	32	drag	drag	NOUN
fumecheng-2577	6	33	.	.	PUNCT
fumecheng-2577	7	1	the	the	DET
fumecheng-2577	7	2	rotor	rotor	NOUN
fumecheng-2577	7	3	tilt	tilt	NOUN
fumecheng-2577	7	4	mechanism	mechanism	NOUN
fumecheng-2577	7	5	also	also	ADV
fumecheng-2577	7	6	provides	provide	VERB
fumecheng-2577	7	7	an	an	DET
fumecheng-2577	7	8	instant	instant	ADJ
fumecheng-2577	7	9	high	high	ADJ
fumecheng-2577	7	10	speed	speed	NOUN
fumecheng-2577	7	11	in	in	ADP
fumecheng-2577	7	12	the	the	DET
fumecheng-2577	7	13	forward	forward	NOUN
fumecheng-2577	7	14	or	or	CCONJ
fumecheng-2577	7	15	reverse	reverse	ADJ
fumecheng-2577	7	16	direction	direction	NOUN
fumecheng-2577	7	17	and	and	CCONJ
fumecheng-2577	7	18	offers	offer	VERB
fumecheng-2577	7	19	a	a	DET
fumecheng-2577	7	20	quick	quick	ADJ
fumecheng-2577	7	21	and	and	CCONJ
fumecheng-2577	7	22	solid	solid	ADJ
fumecheng-2577	7	23	air	air	NOUN
fumecheng-2577	7	24	brake	brake	NOUN
fumecheng-2577	7	25	to	to	PART
fumecheng-2577	7	26	restrain	restrain	VERB
fumecheng-2577	7	27	that	that	DET
fumecheng-2577	7	28	fast	fast	ADJ
fumecheng-2577	7	29	moving	moving	NOUN
fumecheng-2577	7	30	speed	speed	NOUN
fumecheng-2577	7	31	.	.	PUNCT
fumecheng-2577	8	1	the	the	DET
fumecheng-2577	8	2	nonlinear	nonlinear	ADJ
fumecheng-2577	8	3	dynamical	dynamical	ADJ
fumecheng-2577	8	4	model	model	NOUN
fumecheng-2577	8	5	for	for	ADP
fumecheng-2577	8	6	the	the	DET
fumecheng-2577	8	7	quadcopter	quadcopter	NOUN
fumecheng-2577	8	8	under	under	ADP
fumecheng-2577	8	9	consideration	consideration	NOUN
fumecheng-2577	8	10	is	be	AUX
fumecheng-2577	8	11	derived	derive	VERB
fumecheng-2577	8	12	using	use	VERB
fumecheng-2577	8	13	newtoneuler	newtoneuler	ADJ
fumecheng-2577	8	14	formalization	formalization	NOUN
fumecheng-2577	8	15	.	.	PUNCT
fumecheng-2577	9	1	a	a	DET
fumecheng-2577	9	2	control	control	NOUN
fumecheng-2577	9	3	strategy	strategy	NOUN
fumecheng-2577	9	4	is	be	AUX
fumecheng-2577	9	5	then	then	ADV
fumecheng-2577	9	6	proposed	propose	VERB
fumecheng-2577	9	7	aimed	aim	VERB
fumecheng-2577	9	8	to	to	PART
fumecheng-2577	9	9	control	control	VERB
fumecheng-2577	9	10	the	the	DET
fumecheng-2577	9	11	altitude	altitude	NOUN
fumecheng-2577	9	12	,	,	PUNCT
fumecheng-2577	9	13	attitude	attitude	NOUN
fumecheng-2577	9	14	,	,	PUNCT
fumecheng-2577	9	15	and	and	CCONJ
fumecheng-2577	9	16	the	the	DET
fumecheng-2577	9	17	forward	forward	ADJ
fumecheng-2577	9	18	speed	speed	NOUN
fumecheng-2577	9	19	of	of	ADP
fumecheng-2577	9	20	the	the	DET
fumecheng-2577	9	21	obtained	obtain	VERB
fumecheng-2577	9	22	model	model	NOUN
fumecheng-2577	9	23	.	.	PUNCT
fumecheng-2577	10	1	finally	finally	ADV
fumecheng-2577	10	2	,	,	PUNCT
fumecheng-2577	10	3	a	a	DET
fumecheng-2577	10	4	numerical	numerical	ADJ
fumecheng-2577	10	5	simulation	simulation	NOUN
fumecheng-2577	10	6	is	be	AUX
fumecheng-2577	10	7	used	use	VERB
fumecheng-2577	10	8	to	to	PART
fumecheng-2577	10	9	integrate	integrate	VERB
fumecheng-2577	10	10	the	the	DET
fumecheng-2577	10	11	system	system	NOUN
fumecheng-2577	10	12	model	model	NOUN
fumecheng-2577	10	13	with	with	ADP
fumecheng-2577	10	14	the	the	DET
fumecheng-2577	10	15	controller	controller	NOUN
fumecheng-2577	10	16	and	and	CCONJ
fumecheng-2577	10	17	to	to	PART
fumecheng-2577	10	18	test	test	VERB
fumecheng-2577	10	19	the	the	DET
fumecheng-2577	10	20	system	system	NOUN
fumecheng-2577	10	21	performance	performance	NOUN
fumecheng-2577	10	22	.	.	PUNCT
fumecheng-2577	11	1	simulation	simulation	NOUN
fumecheng-2577	11	2	results	result	NOUN
fumecheng-2577	11	3	are	be	AUX
fumecheng-2577	11	4	reported	report	VERB
fumecheng-2577	11	5	to	to	PART
fumecheng-2577	11	6	demonstrate	demonstrate	VERB
fumecheng-2577	11	7	the	the	DET
fumecheng-2577	11	8	advantages	advantage	NOUN
fumecheng-2577	11	9	of	of	ADP
fumecheng-2577	11	10	the	the	DET
fumecheng-2577	11	11	proposed	propose	VERB
fumecheng-2577	11	12	novel	novel	NOUN
fumecheng-2577	11	13	configuration	configuration	NOUN
fumecheng-2577	11	14	.	.	PUNCT
fumecheng-2577	12	1	key	key	ADJ
fumecheng-2577	12	2	words	word	NOUN
fumecheng-2577	12	3	:	:	PUNCT
fumecheng-2577	12	4	genetic	genetic	ADJ
fumecheng-2577	12	5	algorithm	algorithm	NOUN
fumecheng-2577	12	6	,	,	PUNCT
fumecheng-2577	12	7	newton	newton	PROPN
fumecheng-2577	12	8	-	-	PUNCT
fumecheng-2577	12	9	euler	euler	NOUN
fumecheng-2577	12	10	formalization	formalization	NOUN
fumecheng-2577	12	11	,	,	PUNCT
fumecheng-2577	12	12	pid	pid	NOUN
fumecheng-2577	12	13	controller	controller	NOUN
fumecheng-2577	12	14	,	,	PUNCT
fumecheng-2577	12	15	racing	racing	NOUN
fumecheng-2577	12	16	quadcopter	quadcopter	NOUN
fumecheng-2577	12	17	,	,	PUNCT
fumecheng-2577	12	18	tilt	tilt	NOUN
fumecheng-2577	12	19	rotor	rotor	NOUN
fumecheng-2577	12	20	1	1	NUM
fumecheng-2577	12	21	.	.	PUNCT
fumecheng-2577	12	22	introduction	introduction	NOUN
fumecheng-2577	12	23	in	in	ADP
fumecheng-2577	12	24	the	the	DET
fumecheng-2577	12	25	recent	recent	ADJ
fumecheng-2577	12	26	years	year	NOUN
fumecheng-2577	12	27	,	,	PUNCT
fumecheng-2577	12	28	unmanned	unmanned	ADJ
fumecheng-2577	12	29	aerial	aerial	ADJ
fumecheng-2577	12	30	vehicles	vehicle	NOUN
fumecheng-2577	12	31	(	(	PUNCT
fumecheng-2577	12	32	uavs	uavs	NOUN
fumecheng-2577	12	33	)	)	PUNCT
fumecheng-2577	12	34	have	have	AUX
fumecheng-2577	12	35	gained	gain	VERB
fumecheng-2577	12	36	a	a	DET
fumecheng-2577	12	37	considerable	considerable	ADJ
fumecheng-2577	12	38	attention	attention	NOUN
fumecheng-2577	12	39	for	for	ADP
fumecheng-2577	12	40	their	their	PRON
fumecheng-2577	12	41	applications	application	NOUN
fumecheng-2577	12	42	in	in	ADP
fumecheng-2577	12	43	scientific	scientific	ADJ
fumecheng-2577	12	44	,	,	PUNCT
fumecheng-2577	12	45	civilian	civilian	ADJ
fumecheng-2577	12	46	,	,	PUNCT
fumecheng-2577	12	47	and	and	CCONJ
fumecheng-2577	12	48	military	military	ADJ
fumecheng-2577	12	49	fields	field	NOUN
fumecheng-2577	12	50	.	.	PUNCT
fumecheng-2577	13	1	quadcopter	quadcopter	PROPN
fumecheng-2577	13	2	uav	uav	PROPN
fumecheng-2577	13	3	is	be	AUX
fumecheng-2577	13	4	defined	define	VERB
fumecheng-2577	13	5	as	as	ADP
fumecheng-2577	13	6	a	a	DET
fumecheng-2577	13	7	small	small	ADJ
fumecheng-2577	13	8	vehicle	vehicle	NOUN
fumecheng-2577	13	9	with	with	ADP
fumecheng-2577	13	10	four	four	NUM
fumecheng-2577	13	11	rotor	rotor	NOUN
fumecheng-2577	13	12	-	-	PUNCT
fumecheng-2577	13	13	propeller	propeller	NOUN
fumecheng-2577	13	14	sets	set	NOUN
fumecheng-2577	13	15	distributed	distribute	VERB
fumecheng-2577	13	16	around	around	ADP
fumecheng-2577	13	17	its	its	PRON
fumecheng-2577	13	18	body	body	NOUN
fumecheng-2577	13	19	[	[	X
fumecheng-2577	13	20	1	1	NUM
fumecheng-2577	13	21	]	]	PUNCT
fumecheng-2577	13	22	.	.	PUNCT
fumecheng-2577	14	1	it	it	PRON
fumecheng-2577	14	2	is	be	AUX
fumecheng-2577	14	3	a	a	DET
fumecheng-2577	14	4	highly	highly	ADV
fumecheng-2577	14	5	nonlinear	nonlinear	ADJ
fumecheng-2577	14	6	,	,	PUNCT
fumecheng-2577	14	7	multi	multi	ADJ
fumecheng-2577	14	8	input	input	NOUN
fumecheng-2577	14	9	multi	multi	ADJ
fumecheng-2577	14	10	output	output	NOUN
fumecheng-2577	14	11	(	(	PUNCT
fumecheng-2577	14	12	mimo	mimo	PROPN
fumecheng-2577	14	13	)	)	PUNCT
fumecheng-2577	14	14	,	,	PUNCT
fumecheng-2577	14	15	extremely	extremely	ADV
fumecheng-2577	14	16	coupled	couple	VERB
fumecheng-2577	14	17	and	and	CCONJ
fumecheng-2577	14	18	underactuated	underactuated	ADJ
fumecheng-2577	14	19	system	system	NOUN
fumecheng-2577	14	20	[	[	X
fumecheng-2577	14	21	2	2	NUM
fumecheng-2577	14	22	]	]	PUNCT
fumecheng-2577	14	23	.	.	PUNCT
fumecheng-2577	15	1	the	the	DET
fumecheng-2577	15	2	quadcopter	quadcopter	NOUN
fumecheng-2577	15	3	has	have	AUX
fumecheng-2577	15	4	become	become	VERB
fumecheng-2577	15	5	one	one	NUM
fumecheng-2577	15	6	of	of	ADP
fumecheng-2577	15	7	the	the	DET
fumecheng-2577	15	8	most	most	ADV
fumecheng-2577	15	9	popular	popular	ADJ
fumecheng-2577	15	10	uav	uav	PROPN
fumecheng-2577	15	11	designs	design	NOUN
fumecheng-2577	15	12	due	due	ADP
fumecheng-2577	15	13	to	to	ADP
fumecheng-2577	15	14	its	its	PRON
fumecheng-2577	15	15	vertical	vertical	ADJ
fumecheng-2577	15	16	take	take	VERB
fumecheng-2577	15	17	-	-	PUNCT
fumecheng-2577	15	18	off	off	NOUN
fumecheng-2577	15	19	received	receive	VERB
fumecheng-2577	15	20	february	february	PROPN
fumecheng-2577	15	21	3	3	NUM
fumecheng-2577	15	22	,	,	PUNCT
fumecheng-2577	15	23	2017	2017	NUM
fumecheng-2577	15	24	/	/	SYM
fumecheng-2577	15	25	accepted	accept	VERB
fumecheng-2577	15	26	april	april	PROPN
fumecheng-2577	15	27	27	27	NUM
fumecheng-2577	15	28	,	,	PUNCT
fumecheng-2577	15	29	2017	2017	NUM
fumecheng-2577	15	30	corresponding	correspond	VERB
fumecheng-2577	15	31	author	author	NOUN
fumecheng-2577	15	32	:	:	PUNCT
fumecheng-2577	15	33	ahmed	ahmed	PROPN
fumecheng-2577	15	34	alkamachi	alkamachi	PROPN
fumecheng-2577	15	35	affiliation	affiliation	PROPN
fumecheng-2577	15	36	:	:	PUNCT
fumecheng-2577	15	37	alkawarizmi	alkawarizmi	PROPN
fumecheng-2577	15	38	college	college	NOUN
fumecheng-2577	15	39	of	of	ADP
fumecheng-2577	15	40	engineering	engineering	NOUN
fumecheng-2577	15	41	,	,	PUNCT
fumecheng-2577	15	42	university	university	NOUN
fumecheng-2577	15	43	of	of	ADP
fumecheng-2577	15	44	baghdad	baghdad	PROPN
fumecheng-2577	15	45	,	,	PUNCT
fumecheng-2577	15	46	katir	katir	PROPN
fumecheng-2577	15	47	alnada	alnada	PROPN
fumecheng-2577	15	48	st	st	PROPN
fumecheng-2577	15	49	.	.	PROPN
fumecheng-2577	15	50	,	,	PUNCT
fumecheng-2577	15	51	aljadiriyah	aljadiriyah	NOUN
fumecheng-2577	15	52	,	,	PUNCT
fumecheng-2577	15	53	baghdad	baghdad	PROPN
fumecheng-2577	15	54	,	,	PUNCT
fumecheng-2577	15	55	iraq	iraq	PROPN
fumecheng-2577	15	56	e	e	NOUN
fumecheng-2577	15	57	-	-	NOUN
fumecheng-2577	15	58	mail	mail	NOUN
fumecheng-2577	15	59	:	:	PUNCT
fumecheng-2577	15	60	amrk1978@gmail.com	amrk1978@gmail.com	X
fumecheng-2577	16	1	202	202	NUM
fumecheng-2577	16	2	a.	a.	NOUN
fumecheng-2577	16	3	alkamachi	alkamachi	PROPN
fumecheng-2577	16	4	,	,	PUNCT
fumecheng-2577	16	5	e.	e.	PROPN
fumecheng-2577	16	6	ercelebi	ercelebi	PROPN
fumecheng-2577	16	7	and	and	CCONJ
fumecheng-2577	16	8	landing	landing	NOUN
fumecheng-2577	16	9	(	(	PUNCT
fumecheng-2577	16	10	vtol	vtol	NOUN
fumecheng-2577	16	11	)	)	PUNCT
fumecheng-2577	16	12	property	property	NOUN
fumecheng-2577	16	13	,	,	PUNCT
fumecheng-2577	16	14	simplicity	simplicity	NOUN
fumecheng-2577	16	15	in	in	ADP
fumecheng-2577	16	16	mechanical	mechanical	ADJ
fumecheng-2577	16	17	configuration	configuration	NOUN
fumecheng-2577	16	18	,	,	PUNCT
fumecheng-2577	16	19	and	and	CCONJ
fumecheng-2577	16	20	ease	ease	NOUN
fumecheng-2577	16	21	of	of	ADP
fumecheng-2577	16	22	maintenance	maintenance	NOUN
fumecheng-2577	16	23	.	.	PUNCT
fumecheng-2577	17	1	furthermore	furthermore	ADV
fumecheng-2577	17	2	,	,	PUNCT
fumecheng-2577	17	3	the	the	DET
fumecheng-2577	17	4	use	use	NOUN
fumecheng-2577	17	5	of	of	ADP
fumecheng-2577	17	6	four	four	NUM
fumecheng-2577	17	7	smaller	small	ADJ
fumecheng-2577	17	8	propellers	propeller	NOUN
fumecheng-2577	17	9	in	in	ADP
fumecheng-2577	17	10	the	the	DET
fumecheng-2577	17	11	quadcopters	quadcopter	NOUN
fumecheng-2577	17	12	reduces	reduce	VERB
fumecheng-2577	17	13	the	the	DET
fumecheng-2577	17	14	danger	danger	NOUN
fumecheng-2577	17	15	posed	pose	VERB
fumecheng-2577	17	16	by	by	ADP
fumecheng-2577	17	17	the	the	DET
fumecheng-2577	17	18	propellers	propeller	NOUN
fumecheng-2577	17	19	if	if	SCONJ
fumecheng-2577	17	20	they	they	PRON
fumecheng-2577	17	21	touch	touch	VERB
fumecheng-2577	17	22	an	an	DET
fumecheng-2577	17	23	external	external	ADJ
fumecheng-2577	17	24	object	object	NOUN
fumecheng-2577	17	25	as	as	SCONJ
fumecheng-2577	17	26	compared	compare	VERB
fumecheng-2577	17	27	with	with	ADP
fumecheng-2577	17	28	one	one	NUM
fumecheng-2577	17	29	big	big	ADJ
fumecheng-2577	17	30	propeller	propeller	NOUN
fumecheng-2577	17	31	in	in	ADP
fumecheng-2577	17	32	helicopter	helicopter	NOUN
fumecheng-2577	17	33	or	or	CCONJ
fumecheng-2577	17	34	airplane	airplane	NOUN
fumecheng-2577	17	35	[	[	X
fumecheng-2577	17	36	3	3	NUM
fumecheng-2577	17	37	]	]	PUNCT
fumecheng-2577	17	38	.	.	PUNCT
fumecheng-2577	18	1	the	the	DET
fumecheng-2577	18	2	racing	racing	NOUN
fumecheng-2577	18	3	quadcopters	quadcopter	NOUN
fumecheng-2577	18	4	with	with	ADP
fumecheng-2577	18	5	h	h	NOUN
fumecheng-2577	18	6	-	-	PUNCT
fumecheng-2577	18	7	shape	shape	NOUN
fumecheng-2577	18	8	configuration	configuration	NOUN
fumecheng-2577	18	9	have	have	AUX
fumecheng-2577	18	10	been	be	AUX
fumecheng-2577	18	11	gaining	gain	VERB
fumecheng-2577	18	12	an	an	DET
fumecheng-2577	18	13	increasing	increase	VERB
fumecheng-2577	18	14	attention	attention	NOUN
fumecheng-2577	18	15	due	due	ADP
fumecheng-2577	18	16	to	to	ADP
fumecheng-2577	18	17	their	their	PRON
fumecheng-2577	18	18	use	use	NOUN
fumecheng-2577	18	19	in	in	ADP
fumecheng-2577	18	20	several	several	ADJ
fumecheng-2577	18	21	critical	critical	ADJ
fumecheng-2577	18	22	applications	application	NOUN
fumecheng-2577	18	23	like	like	ADP
fumecheng-2577	18	24	surveillance	surveillance	NOUN
fumecheng-2577	18	25	,	,	PUNCT
fumecheng-2577	18	26	search	search	NOUN
fumecheng-2577	18	27	,	,	PUNCT
fumecheng-2577	18	28	rescue	rescue	NOUN
fumecheng-2577	18	29	,	,	PUNCT
fumecheng-2577	18	30	firefighting	firefighting	NOUN
fumecheng-2577	18	31	,	,	PUNCT
fumecheng-2577	18	32	and	and	CCONJ
fumecheng-2577	18	33	uav	uav	PROPN
fumecheng-2577	18	34	-	-	PUNCT
fumecheng-2577	18	35	based	base	VERB
fumecheng-2577	18	36	delivery	delivery	NOUN
fumecheng-2577	18	37	.	.	PUNCT
fumecheng-2577	19	1	classical	classical	ADJ
fumecheng-2577	19	2	quadcopters	quadcopter	NOUN
fumecheng-2577	19	3	can	can	AUX
fumecheng-2577	19	4	control	control	VERB
fumecheng-2577	19	5	their	their	PRON
fumecheng-2577	19	6	position	position	NOUN
fumecheng-2577	19	7	and	and	CCONJ
fumecheng-2577	19	8	orientation	orientation	NOUN
fumecheng-2577	19	9	by	by	ADP
fumecheng-2577	19	10	altering	alter	VERB
fumecheng-2577	19	11	the	the	DET
fumecheng-2577	19	12	rotors	rotor	NOUN
fumecheng-2577	19	13	'	'	PART
fumecheng-2577	19	14	spinning	spinning	NOUN
fumecheng-2577	19	15	speeds	speed	NOUN
fumecheng-2577	19	16	.	.	PUNCT
fumecheng-2577	20	1	for	for	ADP
fumecheng-2577	20	2	example	example	NOUN
fumecheng-2577	20	3	,	,	PUNCT
fumecheng-2577	20	4	if	if	SCONJ
fumecheng-2577	20	5	the	the	DET
fumecheng-2577	20	6	quadcopter	quadcopter	NOUN
fumecheng-2577	20	7	is	be	AUX
fumecheng-2577	20	8	required	require	VERB
fumecheng-2577	20	9	to	to	PART
fumecheng-2577	20	10	roll	roll	VERB
fumecheng-2577	20	11	,	,	PUNCT
fumecheng-2577	20	12	it	it	PRON
fumecheng-2577	20	13	would	would	AUX
fumecheng-2577	20	14	make	make	VERB
fumecheng-2577	20	15	a	a	DET
fumecheng-2577	20	16	difference	difference	NOUN
fumecheng-2577	20	17	between	between	ADP
fumecheng-2577	20	18	the	the	DET
fumecheng-2577	20	19	right	right	ADJ
fumecheng-2577	20	20	and	and	CCONJ
fumecheng-2577	20	21	left	leave	VERB
fumecheng-2577	20	22	propellers	propeller	NOUN
fumecheng-2577	20	23	'	'	PART
fumecheng-2577	20	24	speeds	speed	NOUN
fumecheng-2577	20	25	.	.	PUNCT
fumecheng-2577	21	1	in	in	ADP
fumecheng-2577	21	2	a	a	DET
fumecheng-2577	21	3	similar	similar	ADJ
fumecheng-2577	21	4	manner	manner	NOUN
fumecheng-2577	21	5	,	,	PUNCT
fumecheng-2577	21	6	the	the	DET
fumecheng-2577	21	7	desired	desire	VERB
fumecheng-2577	21	8	pitch	pitch	NOUN
fumecheng-2577	21	9	angle	angle	NOUN
fumecheng-2577	21	10	can	can	AUX
fumecheng-2577	21	11	be	be	AUX
fumecheng-2577	21	12	achieved	achieve	VERB
fumecheng-2577	21	13	by	by	ADP
fumecheng-2577	21	14	changing	change	VERB
fumecheng-2577	21	15	the	the	DET
fumecheng-2577	21	16	relative	relative	ADJ
fumecheng-2577	21	17	speeds	speed	NOUN
fumecheng-2577	21	18	of	of	ADP
fumecheng-2577	21	19	the	the	DET
fumecheng-2577	21	20	front	front	ADJ
fumecheng-2577	21	21	and	and	CCONJ
fumecheng-2577	21	22	rear	rear	ADJ
fumecheng-2577	21	23	rotors	rotor	NOUN
fumecheng-2577	21	24	[	[	X
fumecheng-2577	21	25	4	4	NUM
fumecheng-2577	21	26	]	]	PUNCT
fumecheng-2577	21	27	.	.	PUNCT
fumecheng-2577	22	1	for	for	ADP
fumecheng-2577	22	2	the	the	DET
fumecheng-2577	22	3	translational	translational	ADJ
fumecheng-2577	22	4	motion	motion	NOUN
fumecheng-2577	22	5	,	,	PUNCT
fumecheng-2577	22	6	the	the	DET
fumecheng-2577	22	7	quadcopter	quadcopter	NOUN
fumecheng-2577	22	8	needs	need	VERB
fumecheng-2577	22	9	to	to	PART
fumecheng-2577	22	10	roll	roll	VERB
fumecheng-2577	22	11	for	for	ADP
fumecheng-2577	22	12	lateral	lateral	ADJ
fumecheng-2577	22	13	motion	motion	NOUN
fumecheng-2577	22	14	and	and	CCONJ
fumecheng-2577	22	15	to	to	PART
fumecheng-2577	22	16	pitch	pitch	VERB
fumecheng-2577	22	17	for	for	ADP
fumecheng-2577	22	18	forward	forward	ADV
fumecheng-2577	22	19	/	/	SYM
fumecheng-2577	22	20	backward	backward	ADJ
fumecheng-2577	22	21	motion	motion	NOUN
fumecheng-2577	22	22	.	.	PUNCT
fumecheng-2577	23	1	this	this	DET
fumecheng-2577	23	2	coupling	coupling	NOUN
fumecheng-2577	23	3	between	between	ADP
fumecheng-2577	23	4	the	the	DET
fumecheng-2577	23	5	quadcopter	quadcopter	NOUN
fumecheng-2577	23	6	states	states	PROPN
fumecheng-2577	23	7	has	have	VERB
fumecheng-2577	23	8	the	the	DET
fumecheng-2577	23	9	undesired	undesired	ADJ
fumecheng-2577	23	10	influence	influence	NOUN
fumecheng-2577	23	11	of	of	ADP
fumecheng-2577	23	12	changing	change	VERB
fumecheng-2577	23	13	the	the	DET
fumecheng-2577	23	14	onboard	onboard	ADJ
fumecheng-2577	23	15	surveillance	surveillance	NOUN
fumecheng-2577	23	16	camera	camera	NOUN
fumecheng-2577	23	17	viewing	view	VERB
fumecheng-2577	23	18	axis	axis	NOUN
fumecheng-2577	23	19	,	,	PUNCT
fumecheng-2577	23	20	so	so	SCONJ
fumecheng-2577	23	21	it	it	PRON
fumecheng-2577	23	22	limits	limit	VERB
fumecheng-2577	23	23	the	the	DET
fumecheng-2577	23	24	quadcopter	quadcopter	NOUN
fumecheng-2577	23	25	ability	ability	NOUN
fumecheng-2577	23	26	to	to	PART
fumecheng-2577	23	27	do	do	AUX
fumecheng-2577	23	28	some	some	DET
fumecheng-2577	23	29	vision	vision	NOUN
fumecheng-2577	23	30	-	-	PUNCT
fumecheng-2577	23	31	based	base	VERB
fumecheng-2577	23	32	tasks	task	NOUN
fumecheng-2577	23	33	[	[	X
fumecheng-2577	23	34	5	5	NUM
fumecheng-2577	23	35	]	]	PUNCT
fumecheng-2577	23	36	.	.	PUNCT
fumecheng-2577	24	1	considerable	considerable	ADJ
fumecheng-2577	24	2	academic	academic	ADJ
fumecheng-2577	24	3	references	reference	NOUN
fumecheng-2577	24	4	have	have	AUX
fumecheng-2577	24	5	been	be	AUX
fumecheng-2577	24	6	reviewed	review	VERB
fumecheng-2577	24	7	to	to	PART
fumecheng-2577	24	8	understand	understand	VERB
fumecheng-2577	24	9	the	the	DET
fumecheng-2577	24	10	current	current	ADJ
fumecheng-2577	24	11	state	state	NOUN
fumecheng-2577	24	12	of	of	ADP
fumecheng-2577	24	13	the	the	DET
fumecheng-2577	24	14	art	art	NOUN
fumecheng-2577	24	15	in	in	ADP
fumecheng-2577	24	16	the	the	DET
fumecheng-2577	24	17	quadcopter	quadcopter	NOUN
fumecheng-2577	24	18	design	design	NOUN
fumecheng-2577	24	19	.	.	PUNCT
fumecheng-2577	25	1	for	for	ADP
fumecheng-2577	25	2	the	the	DET
fumecheng-2577	25	3	purpose	purpose	NOUN
fumecheng-2577	25	4	of	of	ADP
fumecheng-2577	25	5	coping	cope	VERB
fumecheng-2577	25	6	with	with	ADP
fumecheng-2577	25	7	the	the	DET
fumecheng-2577	25	8	underactuation	underactuation	NOUN
fumecheng-2577	25	9	problem	problem	NOUN
fumecheng-2577	25	10	,	,	PUNCT
fumecheng-2577	25	11	several	several	ADJ
fumecheng-2577	25	12	prospects	prospect	NOUN
fumecheng-2577	25	13	have	have	AUX
fumecheng-2577	25	14	been	be	AUX
fumecheng-2577	25	15	suggested	suggest	VERB
fumecheng-2577	25	16	through	through	ADP
fumecheng-2577	25	17	the	the	DET
fumecheng-2577	25	18	reviewed	review	VERB
fumecheng-2577	25	19	literature	literature	NOUN
fumecheng-2577	25	20	spanning	span	VERB
fumecheng-2577	25	21	different	different	ADJ
fumecheng-2577	25	22	techniques	technique	NOUN
fumecheng-2577	25	23	in	in	ADP
fumecheng-2577	25	24	thrust	thrust	ADJ
fumecheng-2577	25	25	vectoring	vectore	VERB
fumecheng-2577	25	26	concepts	concept	NOUN
fumecheng-2577	25	27	,	,	PUNCT
fumecheng-2577	25	28	and	and	CCONJ
fumecheng-2577	25	29	new	new	ADJ
fumecheng-2577	25	30	mechanical	mechanical	ADJ
fumecheng-2577	25	31	configurations	configuration	NOUN
fumecheng-2577	25	32	.	.	PUNCT
fumecheng-2577	26	1	many	many	ADJ
fumecheng-2577	26	2	gaps	gap	NOUN
fumecheng-2577	26	3	have	have	AUX
fumecheng-2577	26	4	been	be	AUX
fumecheng-2577	26	5	filled	fill	VERB
fumecheng-2577	26	6	and	and	CCONJ
fumecheng-2577	26	7	several	several	ADJ
fumecheng-2577	26	8	new	new	ADJ
fumecheng-2577	26	9	novel	novel	NOUN
fumecheng-2577	26	10	designs	design	NOUN
fumecheng-2577	26	11	have	have	AUX
fumecheng-2577	26	12	been	be	AUX
fumecheng-2577	26	13	proposed	propose	VERB
fumecheng-2577	26	14	aiming	aim	VERB
fumecheng-2577	26	15	to	to	PART
fumecheng-2577	26	16	improve	improve	VERB
fumecheng-2577	26	17	the	the	DET
fumecheng-2577	26	18	traditional	traditional	ADJ
fumecheng-2577	26	19	quadrotor	quadrotor	NOUN
fumecheng-2577	26	20	performance	performance	NOUN
fumecheng-2577	26	21	.	.	PUNCT
fumecheng-2577	27	1	in	in	ADP
fumecheng-2577	27	2	[	[	X
fumecheng-2577	27	3	6	6	NUM
fumecheng-2577	27	4	]	]	PUNCT
fumecheng-2577	27	5	,	,	PUNCT
fumecheng-2577	27	6	the	the	DET
fumecheng-2577	27	7	authors	author	NOUN
fumecheng-2577	27	8	propose	propose	VERB
fumecheng-2577	27	9	a	a	DET
fumecheng-2577	27	10	quadcopter	quadcopter	NOUN
fumecheng-2577	27	11	with	with	ADP
fumecheng-2577	27	12	four	four	NUM
fumecheng-2577	27	13	tiltable	tiltable	ADJ
fumecheng-2577	27	14	wings	wing	NOUN
fumecheng-2577	27	15	distributed	distribute	VERB
fumecheng-2577	27	16	under	under	ADP
fumecheng-2577	27	17	its	its	PRON
fumecheng-2577	27	18	rotors	rotor	NOUN
fumecheng-2577	27	19	.	.	PUNCT
fumecheng-2577	28	1	the	the	DET
fumecheng-2577	28	2	modified	modify	VERB
fumecheng-2577	28	3	quadcopter	quadcopter	NOUN
fumecheng-2577	28	4	can	can	AUX
fumecheng-2577	28	5	change	change	VERB
fumecheng-2577	28	6	its	its	PRON
fumecheng-2577	28	7	mode	mode	NOUN
fumecheng-2577	28	8	from	from	ADP
fumecheng-2577	28	9	quadcopter	quadcopter	NOUN
fumecheng-2577	28	10	to	to	ADP
fumecheng-2577	28	11	aircraft	aircraft	NOUN
fumecheng-2577	28	12	and	and	CCONJ
fumecheng-2577	28	13	vice	vice	ADV
fumecheng-2577	28	14	versa	versa	ADV
fumecheng-2577	28	15	by	by	ADP
fumecheng-2577	28	16	tilting	tilt	VERB
fumecheng-2577	28	17	its	its	PRON
fumecheng-2577	28	18	wings	wing	NOUN
fumecheng-2577	28	19	all	all	ADV
fumecheng-2577	28	20	at	at	ADP
fumecheng-2577	28	21	once	once	ADV
fumecheng-2577	28	22	.	.	PUNCT
fumecheng-2577	29	1	m.	m.	PROPN
fumecheng-2577	29	2	k.	k.	PROPN
fumecheng-2577	29	3	mohamed	mohamed	PROPN
fumecheng-2577	29	4	et	et	PROPN
fumecheng-2577	29	5	al	al	PROPN
fumecheng-2577	29	6	.	.	PUNCT
fumecheng-2577	30	1	propose	propose	VERB
fumecheng-2577	30	2	a	a	DET
fumecheng-2577	30	3	novel	novel	ADJ
fumecheng-2577	30	4	tri	tri	ADJ
fumecheng-2577	30	5	-	-	ADJ
fumecheng-2577	30	6	tilt	tilt	ADJ
fumecheng-2577	30	7	-	-	PUNCT
fumecheng-2577	30	8	rotor	rotor	NOUN
fumecheng-2577	30	9	uav	uav	PROPN
fumecheng-2577	30	10	in	in	ADP
fumecheng-2577	30	11	which	which	PRON
fumecheng-2577	30	12	the	the	DET
fumecheng-2577	30	13	three	three	NUM
fumecheng-2577	30	14	rotors	rotor	NOUN
fumecheng-2577	30	15	can	can	AUX
fumecheng-2577	30	16	be	be	AUX
fumecheng-2577	30	17	tilted	tilt	VERB
fumecheng-2577	30	18	independently	independently	ADV
fumecheng-2577	30	19	to	to	PART
fumecheng-2577	30	20	gain	gain	VERB
fumecheng-2577	30	21	a	a	DET
fumecheng-2577	30	22	full	full	ADJ
fumecheng-2577	30	23	authority	authority	NOUN
fumecheng-2577	30	24	and	and	CCONJ
fumecheng-2577	30	25	control	control	NOUN
fumecheng-2577	30	26	over	over	ADP
fumecheng-2577	30	27	the	the	DET
fumecheng-2577	30	28	vehicle	vehicle	NOUN
fumecheng-2577	30	29	states	state	NOUN
fumecheng-2577	30	30	[	[	X
fumecheng-2577	30	31	7	7	NUM
fumecheng-2577	30	32	]	]	PUNCT
fumecheng-2577	30	33	.	.	PUNCT
fumecheng-2577	31	1	following	follow	VERB
fumecheng-2577	31	2	a	a	DET
fumecheng-2577	31	3	similar	similar	ADJ
fumecheng-2577	31	4	concept	concept	NOUN
fumecheng-2577	31	5	,	,	PUNCT
fumecheng-2577	31	6	the	the	DET
fumecheng-2577	31	7	rotor	rotor	NOUN
fumecheng-2577	31	8	tilt	tilt	NOUN
fumecheng-2577	31	9	mechanism	mechanism	NOUN
fumecheng-2577	31	10	has	have	AUX
fumecheng-2577	31	11	been	be	AUX
fumecheng-2577	31	12	utilized	utilize	VERB
fumecheng-2577	31	13	in	in	ADP
fumecheng-2577	31	14	several	several	ADJ
fumecheng-2577	31	15	studies	study	NOUN
fumecheng-2577	31	16	to	to	PART
fumecheng-2577	31	17	resolve	resolve	VERB
fumecheng-2577	31	18	the	the	DET
fumecheng-2577	31	19	coupling	coupling	NOUN
fumecheng-2577	31	20	problem	problem	NOUN
fumecheng-2577	31	21	between	between	ADP
fumecheng-2577	31	22	the	the	DET
fumecheng-2577	31	23	quadcopter	quadcopter	NOUN
fumecheng-2577	31	24	position	position	NOUN
fumecheng-2577	31	25	and	and	CCONJ
fumecheng-2577	31	26	orientation	orientation	NOUN
fumecheng-2577	31	27	.	.	PUNCT
fumecheng-2577	32	1	for	for	ADP
fumecheng-2577	32	2	instance	instance	NOUN
fumecheng-2577	32	3	,	,	PUNCT
fumecheng-2577	32	4	m.	m.	NOUN
fumecheng-2577	32	5	ryll	ryll	PROPN
fumecheng-2577	32	6	et	et	PROPN
fumecheng-2577	32	7	al	al	PROPN
fumecheng-2577	32	8	.	.	PROPN
fumecheng-2577	32	9	design	design	NOUN
fumecheng-2577	32	10	and	and	CCONJ
fumecheng-2577	32	11	construct	construct	VERB
fumecheng-2577	32	12	a	a	DET
fumecheng-2577	32	13	quad	quad	PROPN
fumecheng-2577	32	14	tilt	tilt	NOUN
fumecheng-2577	32	15	rotors	rotor	NOUN
fumecheng-2577	32	16	mini	mini	ADJ
fumecheng-2577	32	17	quadcopter	quadcopter	NOUN
fumecheng-2577	32	18	that	that	PRON
fumecheng-2577	32	19	converts	convert	VERB
fumecheng-2577	32	20	the	the	DET
fumecheng-2577	32	21	traditional	traditional	ADJ
fumecheng-2577	32	22	quadcopter	quadcopter	NOUN
fumecheng-2577	32	23	into	into	ADP
fumecheng-2577	32	24	an	an	DET
fumecheng-2577	32	25	overactuated	overactuate	VERB
fumecheng-2577	32	26	air	air	NOUN
fumecheng-2577	32	27	vehicle	vehicle	NOUN
fumecheng-2577	32	28	[	[	X
fumecheng-2577	32	29	8	8	NUM
fumecheng-2577	32	30	]	]	PUNCT
fumecheng-2577	32	31	.	.	PUNCT
fumecheng-2577	33	1	another	another	DET
fumecheng-2577	33	2	solution	solution	NOUN
fumecheng-2577	33	3	to	to	PART
fumecheng-2577	33	4	resolve	resolve	VERB
fumecheng-2577	33	5	the	the	DET
fumecheng-2577	33	6	fundamental	fundamental	ADJ
fumecheng-2577	33	7	underactuation	underactuation	NOUN
fumecheng-2577	33	8	limitations	limitation	NOUN
fumecheng-2577	33	9	of	of	ADP
fumecheng-2577	33	10	the	the	DET
fumecheng-2577	33	11	quadrotor	quadrotor	NOUN
fumecheng-2577	33	12	is	be	AUX
fumecheng-2577	33	13	made	make	VERB
fumecheng-2577	33	14	by	by	ADP
fumecheng-2577	33	15	adding	add	VERB
fumecheng-2577	33	16	one	one	NUM
fumecheng-2577	33	17	degree	degree	NOUN
fumecheng-2577	33	18	of	of	ADP
fumecheng-2577	33	19	freedom	freedom	NOUN
fumecheng-2577	33	20	to	to	ADP
fumecheng-2577	33	21	each	each	PRON
fumecheng-2577	33	22	of	of	ADP
fumecheng-2577	33	23	the	the	DET
fumecheng-2577	33	24	quadcopter	quadcopter	NOUN
fumecheng-2577	33	25	rotors	rotor	NOUN
fumecheng-2577	33	26	[	[	X
fumecheng-2577	33	27	9	9	NUM
fumecheng-2577	33	28	]	]	PUNCT
fumecheng-2577	33	29	.	.	PUNCT
fumecheng-2577	34	1	looking	look	VERB
fumecheng-2577	34	2	for	for	ADP
fumecheng-2577	34	3	further	further	ADJ
fumecheng-2577	34	4	improvement	improvement	NOUN
fumecheng-2577	34	5	,	,	PUNCT
fumecheng-2577	34	6	fernandes	fernandes	PROPN
fumecheng-2577	34	7	presents	present	VERB
fumecheng-2577	34	8	a	a	DET
fumecheng-2577	34	9	quadcopter	quadcopter	NOUN
fumecheng-2577	34	10	with	with	ADP
fumecheng-2577	34	11	2	2	NUM
fumecheng-2577	34	12	–	–	PUNCT
fumecheng-2577	34	13	axis	axis	ADJ
fumecheng-2577	34	14	tilting	tilting	NOUN
fumecheng-2577	34	15	mechanism	mechanism	NOUN
fumecheng-2577	34	16	added	add	VERB
fumecheng-2577	34	17	to	to	ADP
fumecheng-2577	34	18	two	two	NUM
fumecheng-2577	34	19	of	of	ADP
fumecheng-2577	34	20	its	its	PRON
fumecheng-2577	34	21	rotors	rotor	NOUN
fumecheng-2577	34	22	[	[	X
fumecheng-2577	34	23	10	10	NUM
fumecheng-2577	34	24	]	]	PUNCT
fumecheng-2577	34	25	.	.	PUNCT
fumecheng-2577	35	1	for	for	ADP
fumecheng-2577	35	2	the	the	DET
fumecheng-2577	35	3	purpose	purpose	NOUN
fumecheng-2577	35	4	of	of	ADP
fumecheng-2577	35	5	more	more	ADJ
fumecheng-2577	35	6	maneuverability	maneuverability	NOUN
fumecheng-2577	35	7	and	and	CCONJ
fumecheng-2577	35	8	robustness	robustness	NOUN
fumecheng-2577	35	9	,	,	PUNCT
fumecheng-2577	35	10	the	the	DET
fumecheng-2577	35	11	authors	author	NOUN
fumecheng-2577	35	12	in	in	ADP
fumecheng-2577	35	13	[	[	X
fumecheng-2577	35	14	5	5	NUM
fumecheng-2577	35	15	,	,	PUNCT
fumecheng-2577	35	16	11	11	NUM
fumecheng-2577	35	17	,	,	PUNCT
fumecheng-2577	35	18	12	12	NUM
fumecheng-2577	35	19	]	]	PUNCT
fumecheng-2577	35	20	propose	propose	VERB
fumecheng-2577	35	21	a	a	DET
fumecheng-2577	35	22	quadcopter	quadcopter	NOUN
fumecheng-2577	35	23	with	with	ADP
fumecheng-2577	35	24	a	a	DET
fumecheng-2577	35	25	novel	novel	ADJ
fumecheng-2577	35	26	2	2	NUM
fumecheng-2577	35	27	–	–	PUNCT
fumecheng-2577	35	28	axis	axis	NOUN
fumecheng-2577	35	29	tilting	tilting	NOUN
fumecheng-2577	35	30	mechanism	mechanism	NOUN
fumecheng-2577	35	31	in	in	ADP
fumecheng-2577	35	32	which	which	PRON
fumecheng-2577	35	33	the	the	DET
fumecheng-2577	35	34	rotors	rotor	NOUN
fumecheng-2577	35	35	have	have	VERB
fumecheng-2577	35	36	two	two	NUM
fumecheng-2577	35	37	degrees	degree	NOUN
fumecheng-2577	35	38	of	of	ADP
fumecheng-2577	35	39	freedom	freedom	NOUN
fumecheng-2577	35	40	.	.	PUNCT
fumecheng-2577	36	1	badr	badr	PROPN
fumecheng-2577	36	2	et	et	PROPN
fumecheng-2577	36	3	al	al	PROPN
fumecheng-2577	36	4	.	.	PROPN
fumecheng-2577	36	5	introduce	introduce	VERB
fumecheng-2577	36	6	a	a	DET
fumecheng-2577	36	7	modified	modify	VERB
fumecheng-2577	36	8	quadcopter	quadcopter	NOUN
fumecheng-2577	36	9	that	that	PRON
fumecheng-2577	36	10	allows	allow	VERB
fumecheng-2577	36	11	each	each	DET
fumecheng-2577	36	12	rotor	rotor	NOUN
fumecheng-2577	36	13	to	to	PART
fumecheng-2577	36	14	tilt	tilt	VERB
fumecheng-2577	36	15	about	about	ADP
fumecheng-2577	36	16	the	the	DET
fumecheng-2577	36	17	axes	axis	NOUN
fumecheng-2577	36	18	perpendicular	perpendicular	ADJ
fumecheng-2577	36	19	to	to	ADP
fumecheng-2577	36	20	its	its	PRON
fumecheng-2577	36	21	arm	arm	NOUN
fumecheng-2577	36	22	[	[	X
fumecheng-2577	36	23	13	13	NUM
fumecheng-2577	36	24	]	]	PUNCT
fumecheng-2577	36	25	.	.	PUNCT
fumecheng-2577	37	1	in	in	ADP
fumecheng-2577	37	2	this	this	DET
fumecheng-2577	37	3	paper	paper	NOUN
fumecheng-2577	37	4	,	,	PUNCT
fumecheng-2577	37	5	an	an	DET
fumecheng-2577	37	6	h	h	NOUN
fumecheng-2577	37	7	-	-	PUNCT
fumecheng-2577	37	8	shaped	shape	VERB
fumecheng-2577	37	9	racing	racing	NOUN
fumecheng-2577	37	10	quadcopter	quadcopter	NOUN
fumecheng-2577	37	11	with	with	ADP
fumecheng-2577	37	12	tiltable	tiltable	NOUN
fumecheng-2577	37	13	rotors	rotor	NOUN
fumecheng-2577	37	14	is	be	AUX
fumecheng-2577	37	15	introduced	introduce	VERB
fumecheng-2577	37	16	.	.	PUNCT
fumecheng-2577	38	1	to	to	ADP
fumecheng-2577	38	2	the	the	DET
fumecheng-2577	38	3	authors	author	NOUN
fumecheng-2577	38	4	’	’	PART
fumecheng-2577	38	5	best	good	ADJ
fumecheng-2577	38	6	knowledge	knowledge	NOUN
fumecheng-2577	38	7	this	this	DET
fumecheng-2577	38	8	configuration	configuration	NOUN
fumecheng-2577	38	9	is	be	AUX
fumecheng-2577	38	10	novel	novel	ADJ
fumecheng-2577	38	11	and	and	CCONJ
fumecheng-2577	38	12	its	its	PRON
fumecheng-2577	38	13	dynamical	dynamical	ADJ
fumecheng-2577	38	14	model	model	NOUN
fumecheng-2577	38	15	has	have	AUX
fumecheng-2577	38	16	not	not	PART
fumecheng-2577	38	17	been	be	AUX
fumecheng-2577	38	18	obtained	obtain	VERB
fumecheng-2577	38	19	yet	yet	ADV
fumecheng-2577	38	20	.	.	PUNCT
fumecheng-2577	39	1	the	the	DET
fumecheng-2577	39	2	four	four	NUM
fumecheng-2577	39	3	rotors	rotor	NOUN
fumecheng-2577	39	4	;	;	PUNCT
fumecheng-2577	39	5	which	which	PRON
fumecheng-2577	39	6	are	be	AUX
fumecheng-2577	39	7	ordinarily	ordinarily	ADV
fumecheng-2577	39	8	fixed	fix	VERB
fumecheng-2577	39	9	,	,	PUNCT
fumecheng-2577	39	10	are	be	AUX
fumecheng-2577	39	11	allowed	allow	VERB
fumecheng-2577	39	12	to	to	PART
fumecheng-2577	39	13	rotate	rotate	VERB
fumecheng-2577	39	14	around	around	ADP
fumecheng-2577	39	15	their	their	PRON
fumecheng-2577	39	16	arm	arm	NOUN
fumecheng-2577	39	17	axes	axis	NOUN
fumecheng-2577	39	18	simultaneously	simultaneously	ADV
fumecheng-2577	39	19	.	.	PUNCT
fumecheng-2577	40	1	with	with	ADP
fumecheng-2577	40	2	this	this	DET
fumecheng-2577	40	3	tilting	tilting	NOUN
fumecheng-2577	40	4	capability	capability	NOUN
fumecheng-2577	40	5	,	,	PUNCT
fumecheng-2577	40	6	the	the	DET
fumecheng-2577	40	7	number	number	NOUN
fumecheng-2577	40	8	of	of	ADP
fumecheng-2577	40	9	control	control	NOUN
fumecheng-2577	40	10	inputs	input	NOUN
fumecheng-2577	40	11	is	be	AUX
fumecheng-2577	40	12	increased	increase	VERB
fumecheng-2577	40	13	to	to	ADP
fumecheng-2577	40	14	five	five	NUM
fumecheng-2577	40	15	(	(	PUNCT
fumecheng-2577	40	16	the	the	DET
fumecheng-2577	40	17	four	four	NUM
fumecheng-2577	40	18	rotors	rotor	NOUN
fumecheng-2577	40	19	spinning	spinning	ADJ
fumecheng-2577	40	20	speeds	speed	NOUN
fumecheng-2577	40	21	plus	plus	CCONJ
fumecheng-2577	40	22	the	the	DET
fumecheng-2577	40	23	tilt	tilt	NOUN
fumecheng-2577	40	24	angle	angle	NOUN
fumecheng-2577	40	25	)	)	PUNCT
fumecheng-2577	40	26	.	.	PUNCT
fumecheng-2577	41	1	the	the	DET
fumecheng-2577	41	2	additional	additional	ADJ
fumecheng-2577	41	3	control	control	NOUN
fumecheng-2577	41	4	input	input	NOUN
fumecheng-2577	41	5	is	be	AUX
fumecheng-2577	41	6	used	use	VERB
fumecheng-2577	41	7	to	to	PART
fumecheng-2577	41	8	govern	govern	VERB
fumecheng-2577	41	9	the	the	DET
fumecheng-2577	41	10	forward/	forward/	NUM
fumecheng-2577	41	11	backward	backward	ADJ
fumecheng-2577	41	12	speed	speed	NOUN
fumecheng-2577	41	13	of	of	ADP
fumecheng-2577	41	14	the	the	DET
fumecheng-2577	41	15	proposed	propose	VERB
fumecheng-2577	41	16	model	model	NOUN
fumecheng-2577	41	17	.	.	PUNCT
fumecheng-2577	42	1	the	the	DET
fumecheng-2577	42	2	main	main	ADJ
fumecheng-2577	42	3	contributions	contribution	NOUN
fumecheng-2577	42	4	of	of	ADP
fumecheng-2577	42	5	this	this	DET
fumecheng-2577	42	6	work	work	NOUN
fumecheng-2577	42	7	are	be	AUX
fumecheng-2577	42	8	:	:	PUNCT
fumecheng-2577	42	9	(	(	PUNCT
fumecheng-2577	42	10	1	1	X
fumecheng-2577	42	11	)	)	PUNCT
fumecheng-2577	42	12	to	to	PART
fumecheng-2577	42	13	derive	derive	VERB
fumecheng-2577	42	14	a	a	DET
fumecheng-2577	42	15	complete	complete	ADJ
fumecheng-2577	42	16	dynamical	dynamical	ADJ
fumecheng-2577	42	17	model	model	NOUN
fumecheng-2577	42	18	for	for	ADP
fumecheng-2577	42	19	the	the	DET
fumecheng-2577	42	20	h	h	NOUN
fumecheng-2577	42	21	-	-	PUNCT
fumecheng-2577	42	22	shaped	shape	VERB
fumecheng-2577	42	23	racing	racing	NOUN
fumecheng-2577	42	24	quadcopter	quadcopter	NOUN
fumecheng-2577	42	25	with	with	ADP
fumecheng-2577	42	26	tilting	tilting	NOUN
fumecheng-2577	42	27	propellers	propeller	NOUN
fumecheng-2577	42	28	,	,	PUNCT
fumecheng-2577	42	29	(	(	PUNCT
fumecheng-2577	42	30	2	2	NUM
fumecheng-2577	42	31	)	)	PUNCT
fumecheng-2577	42	32	to	to	PART
fumecheng-2577	42	33	propose	propose	VERB
fumecheng-2577	42	34	and	and	CCONJ
fumecheng-2577	42	35	design	design	VERB
fumecheng-2577	42	36	a	a	DET
fumecheng-2577	42	37	tracking	tracking	NOUN
fumecheng-2577	42	38	control	control	NOUN
fumecheng-2577	42	39	aimed	aim	VERB
fumecheng-2577	42	40	at	at	ADP
fumecheng-2577	42	41	exploring	explore	VERB
fumecheng-2577	42	42	the	the	DET
fumecheng-2577	42	43	rotor	rotor	NOUN
fumecheng-2577	42	44	tilt	tilt	NOUN
fumecheng-2577	42	45	advantages	advantage	NOUN
fumecheng-2577	42	46	,	,	PUNCT
fumecheng-2577	42	47	(	(	PUNCT
fumecheng-2577	42	48	3	3	X
fumecheng-2577	42	49	)	)	PUNCT
fumecheng-2577	42	50	to	to	PART
fumecheng-2577	42	51	conceptualize	conceptualize	VERB
fumecheng-2577	42	52	the	the	DET
fumecheng-2577	42	53	tilt	tilt	NOUN
fumecheng-2577	42	54	mechanism	mechanism	NOUN
fumecheng-2577	42	55	and	and	CCONJ
fumecheng-2577	42	56	thrust	thrust	VERB
fumecheng-2577	42	57	vectoring	vectore	VERB
fumecheng-2577	42	58	concept	concept	NOUN
fumecheng-2577	42	59	.	.	PUNCT
fumecheng-2577	43	1	modelling	modelling	NOUN
fumecheng-2577	43	2	and	and	CCONJ
fumecheng-2577	43	3	control	control	NOUN
fumecheng-2577	43	4	of	of	ADP
fumecheng-2577	43	5	h	h	NOUN
fumecheng-2577	43	6	-	-	PUNCT
fumecheng-2577	43	7	shaped	shape	VERB
fumecheng-2577	43	8	racing	racing	NOUN
fumecheng-2577	43	9	quadcopter	quadcopter	NOUN
fumecheng-2577	43	10	with	with	ADP
fumecheng-2577	43	11	tilting	tilt	VERB
fumecheng-2577	43	12	propellers	propeller	NOUN
fumecheng-2577	43	13	203	203	NUM
fumecheng-2577	43	14	the	the	DET
fumecheng-2577	43	15	paper	paper	NOUN
fumecheng-2577	43	16	is	be	AUX
fumecheng-2577	43	17	outlined	outline	VERB
fumecheng-2577	43	18	as	as	SCONJ
fumecheng-2577	43	19	follows	follow	VERB
fumecheng-2577	43	20	:	:	PUNCT
fumecheng-2577	43	21	the	the	DET
fumecheng-2577	43	22	mathematical	mathematical	ADJ
fumecheng-2577	43	23	model	model	NOUN
fumecheng-2577	43	24	is	be	AUX
fumecheng-2577	43	25	derived	derive	VERB
fumecheng-2577	43	26	in	in	ADP
fumecheng-2577	43	27	section	section	NOUN
fumecheng-2577	43	28	2	2	NUM
fumecheng-2577	43	29	.	.	PUNCT
fumecheng-2577	44	1	the	the	DET
fumecheng-2577	44	2	controller	controller	NOUN
fumecheng-2577	44	3	is	be	AUX
fumecheng-2577	44	4	designed	design	VERB
fumecheng-2577	44	5	and	and	CCONJ
fumecheng-2577	44	6	tuned	tune	VERB
fumecheng-2577	44	7	in	in	ADP
fumecheng-2577	44	8	section	section	NOUN
fumecheng-2577	44	9	3	3	NUM
fumecheng-2577	44	10	.	.	PUNCT
fumecheng-2577	45	1	a	a	DET
fumecheng-2577	45	2	comprehensive	comprehensive	ADJ
fumecheng-2577	45	3	set	set	NOUN
fumecheng-2577	45	4	of	of	ADP
fumecheng-2577	45	5	numerical	numerical	PROPN
fumecheng-2577	45	6	simulation	simulation	PROPN
fumecheng-2577	45	7	tests	test	NOUN
fumecheng-2577	45	8	is	be	AUX
fumecheng-2577	45	9	then	then	ADV
fumecheng-2577	45	10	carried	carry	VERB
fumecheng-2577	45	11	out	out	ADP
fumecheng-2577	45	12	in	in	ADP
fumecheng-2577	45	13	section	section	NOUN
fumecheng-2577	45	14	4	4	NUM
fumecheng-2577	45	15	.	.	PUNCT
fumecheng-2577	46	1	finally	finally	ADV
fumecheng-2577	46	2	,	,	PUNCT
fumecheng-2577	46	3	the	the	DET
fumecheng-2577	46	4	concluding	concluding	NOUN
fumecheng-2577	46	5	remarks	remark	NOUN
fumecheng-2577	46	6	are	be	AUX
fumecheng-2577	46	7	given	give	VERB
fumecheng-2577	46	8	in	in	ADP
fumecheng-2577	46	9	section	section	NOUN
fumecheng-2577	46	10	5	5	NUM
fumecheng-2577	46	11	.	.	SYM
fumecheng-2577	46	12	2	2	NUM
fumecheng-2577	46	13	.	.	X
fumecheng-2577	46	14	system	system	NOUN
fumecheng-2577	46	15	modeling	model	VERB
fumecheng-2577	46	16	the	the	DET
fumecheng-2577	46	17	aim	aim	NOUN
fumecheng-2577	46	18	of	of	ADP
fumecheng-2577	46	19	this	this	DET
fumecheng-2577	46	20	section	section	NOUN
fumecheng-2577	46	21	is	be	AUX
fumecheng-2577	46	22	to	to	PART
fumecheng-2577	46	23	develop	develop	VERB
fumecheng-2577	46	24	a	a	DET
fumecheng-2577	46	25	dynamical	dynamical	ADJ
fumecheng-2577	46	26	model	model	NOUN
fumecheng-2577	46	27	for	for	ADP
fumecheng-2577	46	28	the	the	DET
fumecheng-2577	46	29	h	h	NOUN
fumecheng-2577	46	30	-	-	PUNCT
fumecheng-2577	46	31	shaped	shape	VERB
fumecheng-2577	46	32	tilt	tilt	NOUN
fumecheng-2577	46	33	rotors	rotor	NOUN
fumecheng-2577	46	34	racing	race	VERB
fumecheng-2577	46	35	quadcopter	quadcopter	NOUN
fumecheng-2577	46	36	so	so	SCONJ
fumecheng-2577	46	37	as	as	SCONJ
fumecheng-2577	46	38	to	to	PART
fumecheng-2577	46	39	define	define	VERB
fumecheng-2577	46	40	the	the	DET
fumecheng-2577	46	41	ratio	ratio	NOUN
fumecheng-2577	46	42	that	that	PRON
fumecheng-2577	46	43	relates	relate	VERB
fumecheng-2577	46	44	the	the	DET
fumecheng-2577	46	45	quadcopter	quadcopter	NOUN
fumecheng-2577	46	46	states	state	NOUN
fumecheng-2577	46	47	with	with	ADP
fumecheng-2577	46	48	the	the	DET
fumecheng-2577	46	49	propellers	propeller	NOUN
fumecheng-2577	46	50	spinning	spin	VERB
fumecheng-2577	46	51	speed	speed	NOUN
fumecheng-2577	46	52	and	and	CCONJ
fumecheng-2577	46	53	the	the	DET
fumecheng-2577	46	54	rotor	rotor	NOUN
fumecheng-2577	46	55	tilt	tilt	NOUN
fumecheng-2577	46	56	angle	angle	NOUN
fumecheng-2577	46	57	.	.	PUNCT
fumecheng-2577	47	1	at	at	ADP
fumecheng-2577	47	2	this	this	DET
fumecheng-2577	47	3	stage	stage	NOUN
fumecheng-2577	47	4	,	,	PUNCT
fumecheng-2577	47	5	it	it	PRON
fumecheng-2577	47	6	is	be	AUX
fumecheng-2577	47	7	important	important	ADJ
fumecheng-2577	47	8	to	to	PART
fumecheng-2577	47	9	state	state	VERB
fumecheng-2577	47	10	some	some	DET
fumecheng-2577	47	11	acceptable	acceptable	ADJ
fumecheng-2577	47	12	hypotheses	hypothesis	NOUN
fumecheng-2577	47	13	that	that	PRON
fumecheng-2577	47	14	are	be	AUX
fumecheng-2577	47	15	used	use	VERB
fumecheng-2577	47	16	to	to	PART
fumecheng-2577	47	17	simplify	simplify	VERB
fumecheng-2577	47	18	the	the	DET
fumecheng-2577	47	19	process	process	NOUN
fumecheng-2577	47	20	of	of	ADP
fumecheng-2577	47	21	obtaining	obtain	VERB
fumecheng-2577	47	22	the	the	DET
fumecheng-2577	47	23	system	system	NOUN
fumecheng-2577	47	24	dynamics	dynamic	NOUN
fumecheng-2577	47	25	.	.	PUNCT
fumecheng-2577	48	1	without	without	ADP
fumecheng-2577	48	2	these	these	DET
fumecheng-2577	48	3	hypotheses	hypothesis	NOUN
fumecheng-2577	48	4	,	,	PUNCT
fumecheng-2577	48	5	the	the	DET
fumecheng-2577	48	6	system	system	NOUN
fumecheng-2577	48	7	mathematical	mathematical	ADJ
fumecheng-2577	48	8	model	model	NOUN
fumecheng-2577	48	9	will	will	AUX
fumecheng-2577	48	10	be	be	AUX
fumecheng-2577	48	11	complicated	complicate	VERB
fumecheng-2577	48	12	and	and	CCONJ
fumecheng-2577	48	13	difficult	difficult	ADJ
fumecheng-2577	48	14	to	to	PART
fumecheng-2577	48	15	obtain	obtain	VERB
fumecheng-2577	48	16	[	[	X
fumecheng-2577	48	17	14	14	NUM
fumecheng-2577	48	18	]	]	PUNCT
fumecheng-2577	48	19	.	.	PUNCT
fumecheng-2577	49	1	these	these	DET
fumecheng-2577	49	2	hypotheses	hypothesis	NOUN
fumecheng-2577	49	3	are	be	AUX
fumecheng-2577	49	4	:	:	PUNCT
fumecheng-2577	49	5	1	1	X
fumecheng-2577	49	6	.	.	PUNCT
fumecheng-2577	50	1	the	the	DET
fumecheng-2577	50	2	system	system	NOUN
fumecheng-2577	50	3	is	be	AUX
fumecheng-2577	50	4	assumed	assume	VERB
fumecheng-2577	50	5	to	to	PART
fumecheng-2577	50	6	be	be	AUX
fumecheng-2577	50	7	symmetric	symmetric	ADJ
fumecheng-2577	50	8	and	and	CCONJ
fumecheng-2577	50	9	rigid	rigid	ADJ
fumecheng-2577	50	10	.	.	PUNCT
fumecheng-2577	51	1	2	2	X
fumecheng-2577	51	2	.	.	X
fumecheng-2577	51	3	the	the	DET
fumecheng-2577	51	4	quadrotor	quadrotor	NOUN
fumecheng-2577	51	5	body	body	NOUN
fumecheng-2577	51	6	frame	frame	NOUN
fumecheng-2577	51	7	origin	origin	NOUN
fumecheng-2577	51	8	and	and	CCONJ
fumecheng-2577	51	9	the	the	DET
fumecheng-2577	51	10	centre	centre	NOUN
fumecheng-2577	51	11	of	of	ADP
fumecheng-2577	51	12	gravity	gravity	NOUN
fumecheng-2577	51	13	(	(	PUNCT
fumecheng-2577	51	14	cog	cog	PROPN
fumecheng-2577	51	15	)	)	PUNCT
fumecheng-2577	51	16	are	be	AUX
fumecheng-2577	51	17	coinciding	coincide	VERB
fumecheng-2577	51	18	.	.	PUNCT
fumecheng-2577	52	1	3	3	X
fumecheng-2577	52	2	.	.	X
fumecheng-2577	52	3	the	the	DET
fumecheng-2577	52	4	actuators	actuator	NOUN
fumecheng-2577	52	5	are	be	AUX
fumecheng-2577	52	6	assumed	assume	VERB
fumecheng-2577	52	7	to	to	PART
fumecheng-2577	52	8	have	have	VERB
fumecheng-2577	52	9	sufficient	sufficient	ADJ
fumecheng-2577	52	10	fast	fast	ADJ
fumecheng-2577	52	11	response	response	NOUN
fumecheng-2577	52	12	,	,	PUNCT
fumecheng-2577	52	13	so	so	ADV
fumecheng-2577	52	14	their	their	PRON
fumecheng-2577	52	15	dynamics	dynamic	NOUN
fumecheng-2577	52	16	are	be	AUX
fumecheng-2577	52	17	neglected	neglect	VERB
fumecheng-2577	52	18	[	[	X
fumecheng-2577	52	19	15	15	NUM
fumecheng-2577	52	20	]	]	SYM
fumecheng-2577	52	21	.	.	PUNCT
fumecheng-2577	53	1	2.1	2.1	NUM
fumecheng-2577	53	2	.	.	PUNCT
fumecheng-2577	53	3	model	model	NOUN
fumecheng-2577	53	4	configuration	configuration	NOUN
fumecheng-2577	53	5	the	the	DET
fumecheng-2577	53	6	tilt	tilt	NOUN
fumecheng-2577	53	7	rotor	rotor	NOUN
fumecheng-2577	53	8	h	h	NOUN
fumecheng-2577	53	9	-	-	PUNCT
fumecheng-2577	53	10	shaped	shape	VERB
fumecheng-2577	53	11	racing	racing	NOUN
fumecheng-2577	53	12	quadcopter	quadcopter	NOUN
fumecheng-2577	53	13	will	will	AUX
fumecheng-2577	53	14	be	be	AUX
fumecheng-2577	53	15	shortened	shorten	VERB
fumecheng-2577	53	16	as	as	ADP
fumecheng-2577	53	17	(	(	PUNCT
fumecheng-2577	53	18	hcopter	hcopter	NOUN
fumecheng-2577	53	19	)	)	PUNCT
fumecheng-2577	53	20	throughout	throughout	ADP
fumecheng-2577	53	21	the	the	DET
fumecheng-2577	53	22	following	follow	VERB
fumecheng-2577	53	23	sections	section	NOUN
fumecheng-2577	53	24	.	.	PUNCT
fumecheng-2577	54	1	the	the	DET
fumecheng-2577	54	2	proposed	propose	VERB
fumecheng-2577	54	3	model	model	NOUN
fumecheng-2577	54	4	consists	consist	VERB
fumecheng-2577	54	5	of	of	ADP
fumecheng-2577	54	6	an	an	DET
fumecheng-2577	54	7	h	h	NOUN
fumecheng-2577	54	8	-	-	PUNCT
fumecheng-2577	54	9	shaped	shape	VERB
fumecheng-2577	54	10	frame	frame	NOUN
fumecheng-2577	54	11	with	with	ADP
fumecheng-2577	54	12	four	four	NUM
fumecheng-2577	54	13	rotors	rotor	NOUN
fumecheng-2577	54	14	distributed	distribute	VERB
fumecheng-2577	54	15	at	at	ADP
fumecheng-2577	54	16	the	the	DET
fumecheng-2577	54	17	frame	frame	NOUN
fumecheng-2577	54	18	tips	tip	NOUN
fumecheng-2577	54	19	as	as	SCONJ
fumecheng-2577	54	20	shown	show	VERB
fumecheng-2577	54	21	in	in	ADP
fumecheng-2577	54	22	fig	fig	NOUN
fumecheng-2577	54	23	.	.	PUNCT
fumecheng-2577	55	1	1a	1a	PROPN
fumecheng-2577	55	2	.	.	PUNCT
fumecheng-2577	56	1	the	the	DET
fumecheng-2577	56	2	rotors	rotor	NOUN
fumecheng-2577	56	3	are	be	AUX
fumecheng-2577	56	4	allowed	allow	VERB
fumecheng-2577	56	5	to	to	PART
fumecheng-2577	56	6	tilt	tilt	VERB
fumecheng-2577	56	7	simultaneously	simultaneously	ADV
fumecheng-2577	56	8	around	around	ADP
fumecheng-2577	56	9	the	the	DET
fumecheng-2577	56	10	arms	arm	NOUN
fumecheng-2577	56	11	connecting	connect	VERB
fumecheng-2577	56	12	them	they	PRON
fumecheng-2577	56	13	to	to	ADP
fumecheng-2577	56	14	the	the	DET
fumecheng-2577	56	15	main	main	ADJ
fumecheng-2577	56	16	frame	frame	NOUN
fumecheng-2577	56	17	in	in	ADP
fumecheng-2577	56	18	the	the	DET
fumecheng-2577	56	19	range	range	NOUN
fumecheng-2577	56	20	of	of	ADP
fumecheng-2577	56	21	–	–	PUNCT
fumecheng-2577	56	22	π/2	π/2	X
fumecheng-2577	56	23	<	<	X
fumecheng-2577	56	24	α	α	X
fumecheng-2577	56	25	<	<	X
fumecheng-2577	56	26	π/2	π/2	NUM
fumecheng-2577	56	27	.	.	PUNCT
fumecheng-2577	57	1	fig	fig	NOUN
fumecheng-2577	57	2	.	.	PUNCT
fumecheng-2577	58	1	1b	1b	PROPN
fumecheng-2577	58	2	shows	show	VERB
fumecheng-2577	58	3	the	the	DET
fumecheng-2577	58	4	rotor	rotor	NOUN
fumecheng-2577	58	5	tilt	tilt	NOUN
fumecheng-2577	58	6	angle	angle	NOUN
fumecheng-2577	58	7	.	.	PUNCT
fumecheng-2577	59	1	a	a	DET
fumecheng-2577	59	2	)	)	PUNCT
fumecheng-2577	59	3	b	b	NOUN
fumecheng-2577	59	4	)	)	PUNCT
fumecheng-2577	59	5	fig	fig	NOUN
fumecheng-2577	59	6	.	.	PUNCT
fumecheng-2577	60	1	1	1	NUM
fumecheng-2577	60	2	hcopter	hcopter	NOUN
fumecheng-2577	60	3	configuration	configuration	NOUN
fumecheng-2577	60	4	:	:	PUNCT
fumecheng-2577	60	5	a	a	X
fumecheng-2577	60	6	)	)	PUNCT
fumecheng-2577	60	7	model	model	NOUN
fumecheng-2577	60	8	cad	cad	PROPN
fumecheng-2577	60	9	drawing	drawing	NOUN
fumecheng-2577	60	10	;	;	PUNCT
fumecheng-2577	60	11	b	b	X
fumecheng-2577	60	12	)	)	PUNCT
fumecheng-2577	60	13	tilt	tilt	NOUN
fumecheng-2577	60	14	rotor	rotor	NOUN
fumecheng-2577	60	15	angle	angle	NOUN
fumecheng-2577	60	16	2.2	2.2	NUM
fumecheng-2577	60	17	.	.	PUNCT
fumecheng-2577	60	18	coordinate	coordinate	NOUN
fumecheng-2577	60	19	systems	system	NOUN
fumecheng-2577	60	20	first	first	ADV
fumecheng-2577	60	21	,	,	PUNCT
fumecheng-2577	60	22	let	let	VERB
fumecheng-2577	60	23	f	f	PROPN
fumecheng-2577	60	24	e	e	NOUN
fumecheng-2577	60	25	:	:	PUNCT
fumecheng-2577	60	26	{	{	PUNCT
fumecheng-2577	60	27	x	x	SYM
fumecheng-2577	60	28	e	e	NOUN
fumecheng-2577	60	29	,	,	PUNCT
fumecheng-2577	60	30	y	y	PROPN
fumecheng-2577	60	31	e	e	PROPN
fumecheng-2577	60	32	,	,	PUNCT
fumecheng-2577	60	33	z	z	PROPN
fumecheng-2577	60	34	e	e	NOUN
fumecheng-2577	60	35	}	}	PUNCT
fumecheng-2577	60	36	being	be	AUX
fumecheng-2577	60	37	the	the	DET
fumecheng-2577	60	38	earth	earth	NOUN
fumecheng-2577	60	39	frame	frame	NOUN
fumecheng-2577	60	40	and	and	CCONJ
fumecheng-2577	60	41	f	f	PROPN
fumecheng-2577	60	42	b	b	PROPN
fumecheng-2577	60	43	:	:	PUNCT
fumecheng-2577	60	44	{	{	PUNCT
fumecheng-2577	60	45	x	x	SYM
fumecheng-2577	60	46	b	b	PROPN
fumecheng-2577	60	47	,	,	PUNCT
fumecheng-2577	60	48	y	y	PROPN
fumecheng-2577	60	49	b	b	PROPN
fumecheng-2577	60	50	,	,	PUNCT
fumecheng-2577	60	51	z	z	PROPN
fumecheng-2577	60	52	b	b	PROPN
fumecheng-2577	60	53	}	}	PUNCT
fumecheng-2577	60	54	being	be	AUX
fumecheng-2577	60	55	the	the	DET
fumecheng-2577	60	56	base	base	ADJ
fumecheng-2577	60	57	frame	frame	NOUN
fumecheng-2577	60	58	(	(	PUNCT
fumecheng-2577	60	59	see	see	VERB
fumecheng-2577	60	60	fig	fig	NOUN
fumecheng-2577	60	61	.	.	PUNCT
fumecheng-2577	61	1	2	2	NUM
fumecheng-2577	61	2	)	)	PUNCT
fumecheng-2577	61	3	with	with	ADP
fumecheng-2577	61	4	its	its	PRON
fumecheng-2577	61	5	center	center	NOUN
fumecheng-2577	61	6	coinciding	coincide	VERB
fumecheng-2577	61	7	with	with	ADP
fumecheng-2577	61	8	the	the	DET
fumecheng-2577	61	9	vehicle	vehicle	NOUN
fumecheng-2577	61	10	's	's	PART
fumecheng-2577	61	11	cog	cog	NOUN
fumecheng-2577	61	12	.	.	PUNCT
fumecheng-2577	62	1	it	it	PRON
fumecheng-2577	62	2	is	be	AUX
fumecheng-2577	62	3	necessary	necessary	ADJ
fumecheng-2577	62	4	to	to	PART
fumecheng-2577	62	5	define	define	VERB
fumecheng-2577	62	6	these	these	DET
fumecheng-2577	62	7	frames	frame	NOUN
fumecheng-2577	62	8	since	since	SCONJ
fumecheng-2577	62	9	some	some	DET
fumecheng-2577	62	10	quantities	quantity	NOUN
fumecheng-2577	62	11	should	should	AUX
fumecheng-2577	62	12	be	be	AUX
fumecheng-2577	62	13	expressed	express	VERB
fumecheng-2577	62	14	in	in	ADP
fumecheng-2577	62	15	f	f	PROPN
fumecheng-2577	62	16	b	b	PROPN
fumecheng-2577	62	17	(	(	PUNCT
fumecheng-2577	62	18	for	for	ADP
fumecheng-2577	62	19	instance	instance	NOUN
fumecheng-2577	62	20	the	the	DET
fumecheng-2577	62	21	rotors	rotor	NOUN
fumecheng-2577	62	22	'	'	PART
fumecheng-2577	62	23	generated	generate	VERB
fumecheng-2577	62	24	thrusts	thrust	NOUN
fumecheng-2577	62	25	)	)	PUNCT
fumecheng-2577	62	26	while	while	SCONJ
fumecheng-2577	62	27	the	the	DET
fumecheng-2577	62	28	other	other	ADJ
fumecheng-2577	62	29	should	should	AUX
fumecheng-2577	62	30	be	be	AUX
fumecheng-2577	62	31	defined	define	VERB
fumecheng-2577	62	32	in	in	ADP
fumecheng-2577	62	33	f	f	PROPN
fumecheng-2577	62	34	e	e	X
fumecheng-2577	62	35	(	(	PUNCT
fumecheng-2577	62	36	the	the	DET
fumecheng-2577	62	37	gravitational	gravitational	ADJ
fumecheng-2577	62	38	force	force	NOUN
fumecheng-2577	62	39	)	)	PUNCT
fumecheng-2577	62	40	.	.	PUNCT
fumecheng-2577	63	1	a	a	DET
fumecheng-2577	63	2	superscript	superscript	PROPN
fumecheng-2577	63	3	letter	letter	NOUN
fumecheng-2577	63	4	"	"	PUNCT
fumecheng-2577	63	5	b	b	X
fumecheng-2577	63	6	"	"	PUNCT
fumecheng-2577	63	7	is	be	AUX
fumecheng-2577	63	8	assigned	assign	VERB
fumecheng-2577	63	9	to	to	ADP
fumecheng-2577	63	10	the	the	DET
fumecheng-2577	63	11	variables	variable	NOUN
fumecheng-2577	63	12	that	that	PRON
fumecheng-2577	63	13	belong	belong	VERB
fumecheng-2577	63	14	to	to	ADP
fumecheng-2577	63	15	f	f	PROPN
fumecheng-2577	63	16	b	b	PROPN
fumecheng-2577	63	17	,	,	PUNCT
fumecheng-2577	63	18	while	while	SCONJ
fumecheng-2577	63	19	"	"	PUNCT
fumecheng-2577	63	20	e	e	NOUN
fumecheng-2577	63	21	"	"	PUNCT
fumecheng-2577	63	22	lettered	lettered	ADJ
fumecheng-2577	63	23	superscript	superscript	NOUN
fumecheng-2577	63	24	is	be	AUX
fumecheng-2577	63	25	used	use	VERB
fumecheng-2577	63	26	to	to	PART
fumecheng-2577	63	27	denote	denote	VERB
fumecheng-2577	63	28	the	the	DET
fumecheng-2577	63	29	variables	variable	NOUN
fumecheng-2577	63	30	resolved	resolve	VERB
fumecheng-2577	63	31	in	in	ADP
fumecheng-2577	63	32	f	f	PROPN
fumecheng-2577	63	33	e	e	PROPN
fumecheng-2577	63	34	.	.	PUNCT
fumecheng-2577	64	1	204	204	NUM
fumecheng-2577	64	2	a.	a.	NOUN
fumecheng-2577	64	3	alkamachi	alkamachi	PROPN
fumecheng-2577	64	4	,	,	PUNCT
fumecheng-2577	64	5	e.	e.	PROPN
fumecheng-2577	64	6	ercelebi	ercelebi	PROPN
fumecheng-2577	64	7	fig	fig	PROPN
fumecheng-2577	64	8	.	.	PUNCT
fumecheng-2577	64	9	2	2	NUM
fumecheng-2577	64	10	the	the	DET
fumecheng-2577	64	11	system	system	NOUN
fumecheng-2577	64	12	model	model	NOUN
fumecheng-2577	64	13	schematic	schematic	ADJ
fumecheng-2577	64	14	showing	show	VERB
fumecheng-2577	64	15	the	the	DET
fumecheng-2577	64	16	reference	reference	NOUN
fumecheng-2577	64	17	frames	frame	NOUN
fumecheng-2577	64	18	,	,	PUNCT
fumecheng-2577	64	19	euler	euler	NOUN
fumecheng-2577	64	20	angles	angle	NOUN
fumecheng-2577	64	21	,	,	PUNCT
fumecheng-2577	64	22	and	and	CCONJ
fumecheng-2577	64	23	axes	axis	NOUN
fumecheng-2577	64	24	to	to	PART
fumecheng-2577	64	25	go	go	VERB
fumecheng-2577	64	26	from	from	ADP
fumecheng-2577	64	27	f	f	PROPN
fumecheng-2577	64	28	e	e	NOUN
fumecheng-2577	64	29	to	to	ADP
fumecheng-2577	64	30	f	f	PROPN
fumecheng-2577	64	31	b	b	PROPN
fumecheng-2577	64	32	,	,	PUNCT
fumecheng-2577	64	33	a	a	DET
fumecheng-2577	64	34	rotation	rotation	NOUN
fumecheng-2577	64	35	matrix	matrix	NOUN
fumecheng-2577	64	36	should	should	AUX
fumecheng-2577	64	37	be	be	AUX
fumecheng-2577	64	38	introduced	introduce	VERB
fumecheng-2577	64	39	.	.	PUNCT
fumecheng-2577	65	1	the	the	DET
fumecheng-2577	65	2	rotation	rotation	NOUN
fumecheng-2577	65	3	matrix	matrix	NOUN
fumecheng-2577	65	4	(	(	PUNCT
fumecheng-2577	65	5	also	also	ADV
fumecheng-2577	65	6	called	call	VERB
fumecheng-2577	65	7	the	the	DET
fumecheng-2577	65	8	direction	direction	NOUN
fumecheng-2577	65	9	cosine	cosine	NOUN
fumecheng-2577	65	10	matrix	matrix	NOUN
fumecheng-2577	65	11	)	)	PUNCT
fumecheng-2577	65	12	,	,	PUNCT
fumecheng-2577	65	13	is	be	AUX
fumecheng-2577	65	14	a	a	DET
fumecheng-2577	65	15	result	result	NOUN
fumecheng-2577	65	16	of	of	ADP
fumecheng-2577	65	17	multiplying	multiply	VERB
fumecheng-2577	65	18	three	three	NUM
fumecheng-2577	65	19	canonical	canonical	ADJ
fumecheng-2577	65	20	rotation	rotation	NOUN
fumecheng-2577	65	21	matrices	matrix	NOUN
fumecheng-2577	65	22	rx(φ	rx(φ	ADJ
fumecheng-2577	65	23	)	)	PUNCT
fumecheng-2577	65	24	,	,	PUNCT
fumecheng-2577	65	25	ry(θ	ry(θ	PROPN
fumecheng-2577	65	26	)	)	PUNCT
fumecheng-2577	65	27	,	,	PUNCT
fumecheng-2577	65	28	and	and	CCONJ
fumecheng-2577	65	29	rz(ψ	rz(ψ	NUM
fumecheng-2577	65	30	)	)	PUNCT
fumecheng-2577	65	31	with	with	ADP
fumecheng-2577	65	32	a	a	DET
fumecheng-2577	65	33	specific	specific	ADJ
fumecheng-2577	65	34	sequence	sequence	NOUN
fumecheng-2577	65	35	[	[	X
fumecheng-2577	65	36	16	16	NUM
fumecheng-2577	65	37	]	]	PUNCT
fumecheng-2577	65	38	,	,	PUNCT
fumecheng-2577	65	39	where	where	SCONJ
fumecheng-2577	65	40	φ	φ	PROPN
fumecheng-2577	65	41	(	(	PUNCT
fumecheng-2577	65	42	roll	roll	NOUN
fumecheng-2577	65	43	)	)	PUNCT
fumecheng-2577	65	44	,	,	PUNCT
fumecheng-2577	65	45	θ	θ	PROPN
fumecheng-2577	65	46	(	(	PUNCT
fumecheng-2577	65	47	pitch	pitch	NOUN
fumecheng-2577	65	48	)	)	PUNCT
fumecheng-2577	65	49	,	,	PUNCT
fumecheng-2577	65	50	and	and	CCONJ
fumecheng-2577	65	51	ψ	ψ	X
fumecheng-2577	65	52	(	(	PUNCT
fumecheng-2577	65	53	yaw	yaw	PROPN
fumecheng-2577	65	54	)	)	PUNCT
fumecheng-2577	65	55	are	be	AUX
fumecheng-2577	65	56	the	the	DET
fumecheng-2577	65	57	nasa	nasa	PROPN
fumecheng-2577	65	58	based	base	VERB
fumecheng-2577	65	59	euler	euler	PROPN
fumecheng-2577	65	60	angles	angle	NOUN
fumecheng-2577	65	61	[	[	X
fumecheng-2577	65	62	17	17	NUM
fumecheng-2577	65	63	]	]	PUNCT
fumecheng-2577	65	64	.	.	PUNCT
fumecheng-2577	66	1	it	it	PRON
fumecheng-2577	66	2	follows	follow	VERB
fumecheng-2577	66	3	that	that	PRON
fumecheng-2577	66	4	:	:	PUNCT
fumecheng-2577	66	5	(	(	PUNCT
fumecheng-2577	66	6	)	)	PUNCT
fumecheng-2577	66	7	(	(	PUNCT
fumecheng-2577	66	8	)	)	PUNCT
fumecheng-2577	66	9	(	(	PUNCT
fumecheng-2577	66	10	)	)	PUNCT
fumecheng-2577	66	11	*	*	PUNCT
fumecheng-2577	67	1	*	*	PUNCT
fumecheng-2577	67	2	b	b	X
fumecheng-2577	67	3	e	e	NOUN
fumecheng-2577	67	4	x	x	PROPN
fumecheng-2577	67	5	y	y	NOUN
fumecheng-2577	67	6	zr	zr	NOUN
fumecheng-2577	67	7	r	r	NOUN
fumecheng-2577	67	8	r	r	NOUN
fumecheng-2577	67	9	r	r	VERB
fumecheng-2577	67	10			NOUN
fumecheng-2577	67	11			VERB
fumecheng-2577	67	12	           	           	SPACE
fumecheng-2577	67	13	c	c	NOUN
fumecheng-2577	67	14	c	c	NOUN
fumecheng-2577	67	15	c	c	NOUN
fumecheng-2577	67	16	s	s	X
fumecheng-2577	67	17	s	s	X
fumecheng-2577	67	18	c	c	NOUN
fumecheng-2577	67	19	s	s	X
fumecheng-2577	67	20	s	s	NOUN
fumecheng-2577	67	21	s	s	X
fumecheng-2577	67	22	c	c	NOUN
fumecheng-2577	67	23	c	c	NOUN
fumecheng-2577	67	24	c	c	NOUN
fumecheng-2577	67	25	s	s	X
fumecheng-2577	67	26	s	s	X
fumecheng-2577	67	27	s	s	X
fumecheng-2577	67	28	s	s	X
fumecheng-2577	67	29	c	c	NOUN
fumecheng-2577	67	30	s	s	NOUN
fumecheng-2577	67	31	s	s	NOUN
fumecheng-2577	67	32	c	c	NOUN
fumecheng-2577	67	33	s	s	ADP
fumecheng-2577	67	34	c	c	NOUN
fumecheng-2577	67	35	s	s	X
fumecheng-2577	67	36	c	c	NOUN
fumecheng-2577	67	37	c	c	NOUN
fumecheng-2577	67	38	s	s	X
fumecheng-2577	67	39	c	c	NOUN
fumecheng-2577	67	40	c	c	NOUN
fumecheng-2577	67	41	c	c	NOUN
fumecheng-2577	67	42			PROPN
fumecheng-2577	67	43			NUM
fumecheng-2577	67	44			PROPN
fumecheng-2577	67	45			NUM
fumecheng-2577	67	46			X
fumecheng-2577	68	1			ADJ
fumecheng-2577	68	2			NOUN
fumecheng-2577	68	3			PROPN
fumecheng-2577	68	4			X
fumecheng-2577	68	5			NUM
fumecheng-2577	68	6			NOUN
fumecheng-2577	68	7			NOUN
fumecheng-2577	68	8			PROPN
fumecheng-2577	68	9			X
fumecheng-2577	68	10			NOUN
fumecheng-2577	68	11			PROPN
fumecheng-2577	68	12			PROPN
fumecheng-2577	68	13			ADJ
fumecheng-2577	68	14			NOUN
fumecheng-2577	68	15			PROPN
fumecheng-2577	68	16			X
fumecheng-2577	68	17			NOUN
fumecheng-2577	68	18			PROPN
fumecheng-2577	68	19			NOUN
fumecheng-2577	68	20			PROPN
fumecheng-2577	68	21			X
fumecheng-2577	68	22			NOUN
fumecheng-2577	68	23			PROPN
fumecheng-2577	68	24			PROPN
fumecheng-2577	68	25			PROPN
fumecheng-2577	68	26			PROPN
fumecheng-2577	68	27			NOUN
fumecheng-2577	68	28			PROPN
fumecheng-2577	68	29			NOUN
fumecheng-2577	69	1			PROPN
fumecheng-2577	69	2			PROPN
fumecheng-2577	69	3			ADV
fumecheng-2577	69	4			PUNCT
fumecheng-2577	69	5			PUNCT
fumecheng-2577	69	6			NOUN
fumecheng-2577	69	7			NOUN
fumecheng-2577	69	8			NOUN
fumecheng-2577	69	9			NOUN
fumecheng-2577	69	10			VERB
fumecheng-2577	69	11			VERB
fumecheng-2577	69	12			PROPN
fumecheng-2577	69	13	(	(	PUNCT
fumecheng-2577	69	14	1	1	NUM
fumecheng-2577	69	15	)	)	PUNCT
fumecheng-2577	69	16	where	where	SCONJ
fumecheng-2577	69	17	b	b	X
fumecheng-2577	69	18	re	re	NOUN
fumecheng-2577	69	19	is	be	AUX
fumecheng-2577	69	20	the	the	DET
fumecheng-2577	69	21	orientation	orientation	NOUN
fumecheng-2577	69	22	matrix	matrix	NOUN
fumecheng-2577	69	23	of	of	ADP
fumecheng-2577	69	24	the	the	DET
fumecheng-2577	69	25	variables	variable	NOUN
fumecheng-2577	69	26	in	in	ADP
fumecheng-2577	69	27	f	f	PROPN
fumecheng-2577	69	28	e	e	NOUN
fumecheng-2577	69	29	with	with	ADP
fumecheng-2577	69	30	respect	respect	NOUN
fumecheng-2577	69	31	to	to	ADP
fumecheng-2577	69	32	f	f	PROPN
fumecheng-2577	69	33	b	b	PROPN
fumecheng-2577	69	34	.	.	PUNCT
fumecheng-2577	70	1	the	the	DET
fumecheng-2577	70	2	c	c	PROPN
fumecheng-2577	70	3	and	and	CCONJ
fumecheng-2577	70	4	s	s	NOUN
fumecheng-2577	70	5	are	be	AUX
fumecheng-2577	70	6	the	the	DET
fumecheng-2577	70	7	sine	sine	ADJ
fumecheng-2577	70	8	and	and	CCONJ
fumecheng-2577	70	9	cosine	cosine	NOUN
fumecheng-2577	70	10	functions	function	NOUN
fumecheng-2577	70	11	,	,	PUNCT
fumecheng-2577	70	12	respectively	respectively	ADV
fumecheng-2577	70	13	.	.	PUNCT
fumecheng-2577	71	1	for	for	ADP
fumecheng-2577	71	2	the	the	DET
fumecheng-2577	71	3	reverse	reverse	ADJ
fumecheng-2577	71	4	operation	operation	NOUN
fumecheng-2577	71	5	(	(	PUNCT
fumecheng-2577	71	6	transferring	transfer	VERB
fumecheng-2577	71	7	the	the	DET
fumecheng-2577	71	8	variables	variable	NOUN
fumecheng-2577	71	9	from	from	ADP
fumecheng-2577	71	10	f	f	PROPN
fumecheng-2577	71	11	b	b	PROPN
fumecheng-2577	71	12	to	to	ADP
fumecheng-2577	71	13	f	f	PROPN
fumecheng-2577	71	14	e	e	PROPN
fumecheng-2577	71	15	)	)	PUNCT
fumecheng-2577	71	16	,	,	PUNCT
fumecheng-2577	71	17	an	an	DET
fumecheng-2577	71	18	inverse	inverse	NOUN
fumecheng-2577	71	19	matrix	matrix	NOUN
fumecheng-2577	71	20	e	e	NOUN
fumecheng-2577	71	21	rb	rb	PROPN
fumecheng-2577	71	22	=(	=(	PROPN
fumecheng-2577	71	23	b	b	PROPN
fumecheng-2577	71	24	re	re	X
fumecheng-2577	71	25	)	)	PUNCT
fumecheng-2577	71	26	–	–	PUNCT
fumecheng-2577	71	27	1	1	NUM
fumecheng-2577	71	28	should	should	AUX
fumecheng-2577	71	29	be	be	AUX
fumecheng-2577	71	30	used	use	VERB
fumecheng-2577	71	31	.	.	PUNCT
fumecheng-2577	72	1	since	since	SCONJ
fumecheng-2577	72	2	the	the	DET
fumecheng-2577	72	3	orientation	orientation	NOUN
fumecheng-2577	72	4	matrix	matrix	NOUN
fumecheng-2577	72	5	is	be	AUX
fumecheng-2577	72	6	a	a	DET
fumecheng-2577	72	7	result	result	NOUN
fumecheng-2577	72	8	of	of	ADP
fumecheng-2577	72	9	orthogonal	orthogonal	ADJ
fumecheng-2577	72	10	matrices	matrix	NOUN
fumecheng-2577	72	11	multiplication	multiplication	NOUN
fumecheng-2577	72	12	,	,	PUNCT
fumecheng-2577	72	13	then	then	ADV
fumecheng-2577	72	14	its	its	PRON
fumecheng-2577	72	15	inverse	inverse	NOUN
fumecheng-2577	72	16	is	be	AUX
fumecheng-2577	72	17	just	just	ADV
fumecheng-2577	72	18	its	its	PRON
fumecheng-2577	72	19	transpose	transpose	NOUN
fumecheng-2577	72	20	[	[	X
fumecheng-2577	72	21	16	16	NUM
fumecheng-2577	72	22	]	]	PUNCT
fumecheng-2577	72	23	.	.	PUNCT
fumecheng-2577	73	1	1	1	NUM
fumecheng-2577	73	2	(	(	PUNCT
fumecheng-2577	73	3	)	)	PUNCT
fumecheng-2577	73	4	(	(	PUNCT
fumecheng-2577	73	5	)	)	PUNCT
fumecheng-2577	74	1	te	te	PROPN
fumecheng-2577	74	2	b	b	PROPN
fumecheng-2577	74	3	b	b	PROPN
fumecheng-2577	74	4	b	b	PROPN
fumecheng-2577	74	5	e	e	X
fumecheng-2577	74	6	er	er	INTJ
fumecheng-2577	74	7	r	r	NOUN
fumecheng-2577	74	8	r	r	NOUN
fumecheng-2577	74	9			PRON
fumecheng-2577	74	10			NOUN
fumecheng-2577	74	11	(	(	PUNCT
fumecheng-2577	74	12	2	2	NUM
fumecheng-2577	74	13	)	)	PUNCT
fumecheng-2577	74	14	modelling	modelling	NOUN
fumecheng-2577	74	15	and	and	CCONJ
fumecheng-2577	74	16	control	control	NOUN
fumecheng-2577	74	17	of	of	ADP
fumecheng-2577	74	18	h	h	NOUN
fumecheng-2577	74	19	-	-	PUNCT
fumecheng-2577	74	20	shaped	shape	VERB
fumecheng-2577	74	21	racing	racing	NOUN
fumecheng-2577	74	22	quadcopter	quadcopter	NOUN
fumecheng-2577	74	23	with	with	ADP
fumecheng-2577	74	24	tilting	tilt	VERB
fumecheng-2577	74	25	propellers	propeller	NOUN
fumecheng-2577	74	26	205	205	NUM
fumecheng-2577	74	27	2.3	2.3	NUM
fumecheng-2577	74	28	.	.	PUNCT
fumecheng-2577	75	1	static	static	ADJ
fumecheng-2577	75	2	and	and	CCONJ
fumecheng-2577	75	3	dynamic	dynamic	ADJ
fumecheng-2577	75	4	model	model	NOUN
fumecheng-2577	75	5	in	in	ADP
fumecheng-2577	75	6	this	this	DET
fumecheng-2577	75	7	section	section	NOUN
fumecheng-2577	75	8	,	,	PUNCT
fumecheng-2577	75	9	all	all	DET
fumecheng-2577	75	10	the	the	DET
fumecheng-2577	75	11	dominant	dominant	ADJ
fumecheng-2577	75	12	forces	force	NOUN
fumecheng-2577	75	13	and	and	CCONJ
fumecheng-2577	75	14	torques	torque	NOUN
fumecheng-2577	75	15	that	that	PRON
fumecheng-2577	75	16	act	act	VERB
fumecheng-2577	75	17	on	on	ADP
fumecheng-2577	75	18	the	the	DET
fumecheng-2577	75	19	hcopter	hcopter	ADJ
fumecheng-2577	75	20	body	body	NOUN
fumecheng-2577	75	21	are	be	AUX
fumecheng-2577	75	22	discovered	discover	VERB
fumecheng-2577	75	23	.	.	PUNCT
fumecheng-2577	76	1	2.3.1	2.3.1	X
fumecheng-2577	76	2	.	.	PUNCT
fumecheng-2577	77	1	forces	force	NOUN
fumecheng-2577	77	2	rotors	rotor	NOUN
fumecheng-2577	77	3	'	'	PART
fumecheng-2577	77	4	generated	generate	VERB
fumecheng-2577	77	5	forces	force	NOUN
fumecheng-2577	77	6	b	b	PROPN
fumecheng-2577	77	7	ftr	ftr	PROPN
fumecheng-2577	77	8	:	:	PUNCT
fumecheng-2577	77	9	assume	assume	VERB
fumecheng-2577	77	10	that	that	SCONJ
fumecheng-2577	77	11	the	the	DET
fumecheng-2577	77	12	i	i	PRON
fumecheng-2577	77	13	th	th	X
fumecheng-2577	77	14	propeller	propeller	NOUN
fumecheng-2577	77	15	spinning	spinning	NOUN
fumecheng-2577	77	16	speed	speed	NOUN
fumecheng-2577	77	17	is	be	AUX
fumecheng-2577	77	18	denoted	denote	VERB
fumecheng-2577	77	19	by	by	ADP
fumecheng-2577	77	20	i	i	NOUN
fumecheng-2577	77	21	.	.	PUNCT
fumecheng-2577	78	1	then	then	ADV
fumecheng-2577	78	2	,	,	PUNCT
fumecheng-2577	78	3	according	accord	VERB
fumecheng-2577	78	4	to	to	ADP
fumecheng-2577	78	5	the	the	DET
fumecheng-2577	78	6	blade	blade	NOUN
fumecheng-2577	78	7	element	element	NOUN
fumecheng-2577	78	8	theory	theory	NOUN
fumecheng-2577	78	9	[	[	X
fumecheng-2577	78	10	18	18	NUM
fumecheng-2577	78	11	,	,	PUNCT
fumecheng-2577	78	12	19	19	NUM
fumecheng-2577	78	13	]	]	PUNCT
fumecheng-2577	78	14	,	,	PUNCT
fumecheng-2577	78	15	the	the	DET
fumecheng-2577	78	16	generated	generate	VERB
fumecheng-2577	78	17	force	force	NOUN
fumecheng-2577	78	18	in	in	ADP
fumecheng-2577	78	19	the	the	DET
fumecheng-2577	78	20	z	z	NOUN
fumecheng-2577	78	21	–	–	PUNCT
fumecheng-2577	78	22	direction	direction	NOUN
fumecheng-2577	78	23	is	be	AUX
fumecheng-2577	78	24	given	give	VERB
fumecheng-2577	78	25	by	by	ADP
fumecheng-2577	78	26	k	k	PROPN
fumecheng-2577	78	27	(	(	PUNCT
fumecheng-2577	78	28	i	i	PROPN
fumecheng-2577	78	29	)	)	PUNCT
fumecheng-2577	78	30	2	2	NUM
fumecheng-2577	78	31	,	,	PUNCT
fumecheng-2577	78	32	where	where	SCONJ
fumecheng-2577	78	33	k	k	PROPN
fumecheng-2577	78	34	is	be	AUX
fumecheng-2577	78	35	the	the	DET
fumecheng-2577	78	36	rotor	rotor	NOUN
fumecheng-2577	78	37	thrust	thrust	PROPN
fumecheng-2577	78	38	coefficient	coefficient	NOUN
fumecheng-2577	78	39	.	.	PUNCT
fumecheng-2577	79	1	when	when	SCONJ
fumecheng-2577	79	2	the	the	DET
fumecheng-2577	79	3	rotor	rotor	NOUN
fumecheng-2577	79	4	tilts	tilt	VERB
fumecheng-2577	79	5	with	with	ADP
fumecheng-2577	79	6	an	an	DET
fumecheng-2577	79	7	angle	angle	NOUN
fumecheng-2577	79	8	α	α	NOUN
fumecheng-2577	79	9	,	,	PUNCT
fumecheng-2577	79	10	then	then	ADV
fumecheng-2577	79	11	the	the	DET
fumecheng-2577	79	12	generated	generate	VERB
fumecheng-2577	79	13	force	force	NOUN
fumecheng-2577	79	14	can	can	AUX
fumecheng-2577	79	15	be	be	AUX
fumecheng-2577	79	16	resolved	resolve	VERB
fumecheng-2577	79	17	into	into	ADP
fumecheng-2577	79	18	its	its	PRON
fumecheng-2577	79	19	components	component	NOUN
fumecheng-2577	79	20	along	along	ADP
fumecheng-2577	79	21	the	the	DET
fumecheng-2577	79	22	x	x	NOUN
fumecheng-2577	79	23	and	and	CCONJ
fumecheng-2577	79	24	z	z	NOUN
fumecheng-2577	79	25	axes	axis	NOUN
fumecheng-2577	79	26	.	.	PUNCT
fumecheng-2577	80	1	it	it	PRON
fumecheng-2577	80	2	follows	follow	VERB
fumecheng-2577	80	3	that	that	SCONJ
fumecheng-2577	80	4	the	the	DET
fumecheng-2577	80	5	i	i	PROPN
fumecheng-2577	80	6	th	th	X
fumecheng-2577	80	7	rotor	rotor	NOUN
fumecheng-2577	80	8	generated	generate	VERB
fumecheng-2577	80	9	force	force	NOUN
fumecheng-2577	80	10	is	be	AUX
fumecheng-2577	80	11	:	:	PUNCT
fumecheng-2577	80	12	2	2	NUM
fumecheng-2577	80	13	2	2	NUM
fumecheng-2577	80	14	ω	ω	NUM
fumecheng-2577	80	15	sin	sin	NOUN
fumecheng-2577	80	16	(	(	PUNCT
fumecheng-2577	80	17	)	)	PUNCT
fumecheng-2577	80	18	0	0	NUM
fumecheng-2577	81	1	ω	ω	NUM
fumecheng-2577	81	2	cos	cos	PROPN
fumecheng-2577	81	3	(	(	PUNCT
fumecheng-2577	81	4	)	)	PUNCT
fumecheng-2577	82	1	i	i	PRON
fumecheng-2577	82	2	b	b	X
fumecheng-2577	83	1	ri	ri	INTJ
fumecheng-2577	84	1	i	i	INTJ
fumecheng-2577	84	2	k	k	PROPN
fumecheng-2577	85	1	f	f	PROPN
fumecheng-2577	85	2	k	k	X
fumecheng-2577	85	3			X
fumecheng-2577	85	4			X
fumecheng-2577	85	5			PROPN
fumecheng-2577	85	6			ADJ
fumecheng-2577	85	7			NOUN
fumecheng-2577	85	8			NOUN
fumecheng-2577	85	9			NUM
fumecheng-2577	85	10			NOUN
fumecheng-2577	85	11			NOUN
fumecheng-2577	85	12			NOUN
fumecheng-2577	85	13			NOUN
fumecheng-2577	85	14			NOUN
fumecheng-2577	85	15			PROPN
fumecheng-2577	85	16	(	(	PUNCT
fumecheng-2577	85	17	3	3	NUM
fumecheng-2577	85	18	)	)	PUNCT
fumecheng-2577	85	19	and	and	CCONJ
fumecheng-2577	85	20	the	the	DET
fumecheng-2577	85	21	total	total	ADJ
fumecheng-2577	85	22	generated	generate	VERB
fumecheng-2577	85	23	force	force	NOUN
fumecheng-2577	85	24	due	due	ADP
fumecheng-2577	85	25	to	to	ADP
fumecheng-2577	85	26	the	the	DET
fumecheng-2577	85	27	four	four	NUM
fumecheng-2577	85	28	spinning	spin	VERB
fumecheng-2577	85	29	propellers	propeller	NOUN
fumecheng-2577	85	30	is	be	AUX
fumecheng-2577	85	31	:	:	PUNCT
fumecheng-2577	86	1	4	4	NUM
fumecheng-2577	86	2	1	1	NUM
fumecheng-2577	86	3	b	b	X
fumecheng-2577	86	4	b	b	PROPN
fumecheng-2577	86	5	tr	tr	NOUN
fumecheng-2577	86	6	ri	ri	NOUN
fumecheng-2577	87	1	i	i	INTJ
fumecheng-2577	87	2	f	f	PROPN
fumecheng-2577	88	1	f	f	PROPN
fumecheng-2577	88	2	k	k	PROPN
fumecheng-2577	88	3	u	u	PROPN
fumecheng-2577	88	4			PROPN
fumecheng-2577	88	5			NUM
fumecheng-2577	88	6			X
fumecheng-2577	88	7	(	(	PUNCT
fumecheng-2577	88	8	4	4	NUM
fumecheng-2577	88	9	)	)	PUNCT
fumecheng-2577	88	10	where	where	SCONJ
fumecheng-2577	88	11	0	0	NUM
fumecheng-2577	88	12	0	0	NUM
fumecheng-2577	88	13	0	0	NUM
fumecheng-2577	88	14	0	0	NUM
fumecheng-2577	88	15	κ	κ	NOUN
fumecheng-2577	88	16	0	0	NUM
fumecheng-2577	88	17	0	0	NUM
fumecheng-2577	88	18	0	0	NUM
fumecheng-2577	88	19	0	0	NUM
fumecheng-2577	88	20	0	0	NUM
fumecheng-2577	88	21	0	0	NUM
fumecheng-2577	88	22	0	0	NUM
fumecheng-2577	88	23	0	0	NUM
fumecheng-2577	88	24	0	0	NUM
fumecheng-2577	88	25	0	0	NUM
fumecheng-2577	88	26	0	0	NUM
fumecheng-2577	88	27	0	0	NUM
fumecheng-2577	89	1	k	k	NOUN
fumecheng-2577	90	1	k	k	PROPN
fumecheng-2577	90	2	k	k	PROPN
fumecheng-2577	90	3	k	k	PROPN
fumecheng-2577	90	4	k	k	PROPN
fumecheng-2577	90	5	k	k	PROPN
fumecheng-2577	90	6	k	k	PROPN
fumecheng-2577	90	7	k	k	PROPN
fumecheng-2577	90	8			PROPN
fumecheng-2577	90	9			ADJ
fumecheng-2577	90	10			NOUN
fumecheng-2577	90	11			NOUN
fumecheng-2577	90	12			NUM
fumecheng-2577	90	13			NOUN
fumecheng-2577	90	14			NOUN
fumecheng-2577	90	15			NOUN
fumecheng-2577	90	16			PROPN
fumecheng-2577	90	17			PROPN
fumecheng-2577	90	18	is	be	AUX
fumecheng-2577	90	19	the	the	DET
fumecheng-2577	90	20	thrust	thrust	ADJ
fumecheng-2577	90	21	coefficient	coefficient	NOUN
fumecheng-2577	90	22	matrix	matrix	NOUN
fumecheng-2577	90	23	,	,	PUNCT
fumecheng-2577	90	24	and	and	CCONJ
fumecheng-2577	90	25	2	2	NUM
fumecheng-2577	90	26	2	2	NUM
fumecheng-2577	90	27	2	2	NUM
fumecheng-2577	90	28	2	2	NUM
fumecheng-2577	90	29	2	2	NUM
fumecheng-2577	90	30	2	2	NUM
fumecheng-2577	90	31	2	2	NUM
fumecheng-2577	90	32	2	2	NUM
fumecheng-2577	90	33	1	1	NUM
fumecheng-2577	90	34	1	1	NUM
fumecheng-2577	90	35	2	2	NUM
fumecheng-2577	90	36	2	2	NUM
fumecheng-2577	90	37	3	3	NUM
fumecheng-2577	90	38	3	3	NUM
fumecheng-2577	90	39	4	4	NUM
fumecheng-2577	90	40	4[ω	4[ω	NOUN
fumecheng-2577	90	41	*	*	PUNCT
fumecheng-2577	90	42	,	,	PUNCT
fumecheng-2577	90	43	 	 	SPACE
fumecheng-2577	90	44	ω	ω	PROPN
fumecheng-2577	90	45	*	*	PUNCT
fumecheng-2577	90	46	,	,	PUNCT
fumecheng-2577	90	47	 	 	SPACE
fumecheng-2577	90	48	ω	ω	PROPN
fumecheng-2577	90	49	*	*	PUNCT
fumecheng-2577	90	50	,	,	PUNCT
fumecheng-2577	90	51	 	 	SPACE
fumecheng-2577	90	52	ω	ω	PROPN
fumecheng-2577	90	53	*	*	PUNCT
fumecheng-2577	90	54	,	,	PUNCT
fumecheng-2577	90	55	ω	ω	PROPN
fumecheng-2577	90	56	*	*	PUNCT
fumecheng-2577	90	57	,	,	PUNCT
fumecheng-2577	90	58	 	 	SPACE
fumecheng-2577	90	59	ω	ω	PROPN
fumecheng-2577	90	60	*	*	PUNCT
fumecheng-2577	90	61	,	,	PUNCT
fumecheng-2577	90	62	 	 	SPACE
fumecheng-2577	90	63	ω	ω	PROPN
fumecheng-2577	90	64	*	*	PUNCT
fumecheng-2577	90	65	,	,	PUNCT
fumecheng-2577	90	66	  	  	SPACE
fumecheng-2577	90	67	ω	ω	PROPN
fumecheng-2577	90	68	*	*	PUNCT
fumecheng-2577	91	1	]	]	X
fumecheng-2577	91	2	tu	tu	X
fumecheng-2577	91	3	s	s	VERB
fumecheng-2577	91	4	c	c	NOUN
fumecheng-2577	91	5	s	s	ADP
fumecheng-2577	91	6	c	c	NOUN
fumecheng-2577	91	7	s	s	ADP
fumecheng-2577	91	8	c	c	NOUN
fumecheng-2577	91	9	s	s	PART
fumecheng-2577	91	10	c	c	NOUN
fumecheng-2577	91	11			X
fumecheng-2577	91	12			X
fumecheng-2577	91	13			X
fumecheng-2577	91	14			X
fumecheng-2577	91	15			X
fumecheng-2577	91	16			PUNCT
fumecheng-2577	91	17			NOUN
fumecheng-2577	91	18	is	be	AUX
fumecheng-2577	91	19	the	the	DET
fumecheng-2577	91	20	control	control	NOUN
fumecheng-2577	91	21	input	input	NOUN
fumecheng-2577	91	22	vector	vector	NOUN
fumecheng-2577	91	23	,	,	PUNCT
fumecheng-2577	91	24	sα	sα	ADV
fumecheng-2577	91	25	and	and	CCONJ
fumecheng-2577	91	26	cα	cα	PRON
fumecheng-2577	91	27	are	be	AUX
fumecheng-2577	91	28	the	the	DET
fumecheng-2577	91	29	sin(α	sin(α	NOUN
fumecheng-2577	91	30	)	)	PUNCT
fumecheng-2577	91	31	and	and	CCONJ
fumecheng-2577	91	32	cos(α	cos(α	NOUN
fumecheng-2577	91	33	)	)	PUNCT
fumecheng-2577	91	34	function	function	NOUN
fumecheng-2577	91	35	respectively	respectively	ADV
fumecheng-2577	91	36	.	.	PUNCT
fumecheng-2577	92	1	gravitational	gravitational	ADJ
fumecheng-2577	92	2	force	force	NOUN
fumecheng-2577	92	3	e	e	NOUN
fumecheng-2577	92	4	fg	fg	NOUN
fumecheng-2577	92	5	:	:	PUNCT
fumecheng-2577	92	6	according	accord	VERB
fumecheng-2577	92	7	to	to	ADP
fumecheng-2577	92	8	the	the	DET
fumecheng-2577	92	9	newton	newton	PROPN
fumecheng-2577	92	10	's	's	PART
fumecheng-2577	92	11	law	law	NOUN
fumecheng-2577	92	12	of	of	ADP
fumecheng-2577	92	13	universal	universal	ADJ
fumecheng-2577	92	14	gravitation	gravitation	NOUN
fumecheng-2577	92	15	,	,	PUNCT
fumecheng-2577	92	16	this	this	DET
fumecheng-2577	92	17	force	force	NOUN
fumecheng-2577	92	18	tries	try	VERB
fumecheng-2577	92	19	to	to	PART
fumecheng-2577	92	20	pull	pull	VERB
fumecheng-2577	92	21	down	down	ADP
fumecheng-2577	92	22	the	the	DET
fumecheng-2577	92	23	vehicle	vehicle	NOUN
fumecheng-2577	92	24	toward	toward	ADP
fumecheng-2577	92	25	the	the	DET
fumecheng-2577	92	26	earth	earth	NOUN
fumecheng-2577	92	27	and	and	CCONJ
fumecheng-2577	92	28	it	it	PRON
fumecheng-2577	92	29	can	can	AUX
fumecheng-2577	92	30	be	be	AUX
fumecheng-2577	92	31	expressed	express	VERB
fumecheng-2577	92	32	in	in	ADP
fumecheng-2577	92	33	f	f	PROPN
fumecheng-2577	92	34	e	e	X
fumecheng-2577	92	35	by	by	ADP
fumecheng-2577	92	36	:	:	PUNCT
fumecheng-2577	92	37	0	0	NUM
fumecheng-2577	92	38	0e	0e	NOUN
fumecheng-2577	93	1	gf	gf	NOUN
fumecheng-2577	93	2	mg	mg	PROPN
fumecheng-2577	93	3			PROPN
fumecheng-2577	93	4			ADJ
fumecheng-2577	93	5			NOUN
fumecheng-2577	93	6			NOUN
fumecheng-2577	93	7			NUM
fumecheng-2577	93	8			NOUN
fumecheng-2577	93	9			NOUN
fumecheng-2577	93	10			NOUN
fumecheng-2577	93	11			PROPN
fumecheng-2577	93	12			PROPN
fumecheng-2577	93	13	(	(	PUNCT
fumecheng-2577	93	14	5	5	NUM
fumecheng-2577	93	15	)	)	PUNCT
fumecheng-2577	93	16	where	where	SCONJ
fumecheng-2577	93	17	g	g	PROPN
fumecheng-2577	93	18	is	be	AUX
fumecheng-2577	93	19	the	the	DET
fumecheng-2577	93	20	gravitational	gravitational	ADJ
fumecheng-2577	93	21	constant	constant	ADJ
fumecheng-2577	93	22	,	,	PUNCT
fumecheng-2577	93	23	and	and	CCONJ
fumecheng-2577	93	24	m	m	PROPN
fumecheng-2577	93	25	is	be	AUX
fumecheng-2577	93	26	the	the	DET
fumecheng-2577	93	27	vehicle	vehicle	NOUN
fumecheng-2577	93	28	total	total	ADJ
fumecheng-2577	93	29	mass	mass	PROPN
fumecheng-2577	93	30	.	.	PUNCT
fumecheng-2577	94	1	drag	drag	VERB
fumecheng-2577	94	2	reluctant	reluctant	ADJ
fumecheng-2577	94	3	force	force	PROPN
fumecheng-2577	94	4	b	b	PROPN
fumecheng-2577	94	5	fd	fd	VERB
fumecheng-2577	94	6	:	:	PUNCT
fumecheng-2577	94	7	it	it	PRON
fumecheng-2577	94	8	is	be	AUX
fumecheng-2577	94	9	a	a	DET
fumecheng-2577	94	10	result	result	NOUN
fumecheng-2577	94	11	of	of	ADP
fumecheng-2577	94	12	the	the	DET
fumecheng-2577	94	13	air	air	NOUN
fumecheng-2577	94	14	friction	friction	NOUN
fumecheng-2577	94	15	with	with	ADP
fumecheng-2577	94	16	the	the	DET
fumecheng-2577	94	17	quadcopter	quadcopter	NOUN
fumecheng-2577	94	18	body	body	NOUN
fumecheng-2577	94	19	in	in	ADP
fumecheng-2577	94	20	motion	motion	NOUN
fumecheng-2577	94	21	and	and	CCONJ
fumecheng-2577	94	22	it	it	PRON
fumecheng-2577	94	23	is	be	AUX
fumecheng-2577	94	24	directly	directly	ADV
fumecheng-2577	94	25	proportional	proportional	ADJ
fumecheng-2577	94	26	to	to	ADP
fumecheng-2577	94	27	the	the	DET
fumecheng-2577	94	28	vehicle	vehicle	NOUN
fumecheng-2577	94	29	moving	move	VERB
fumecheng-2577	94	30	speed	speed	NOUN
fumecheng-2577	94	31	.	.	PUNCT
fumecheng-2577	95	1	b	b	X
fumecheng-2577	95	2	b	b	X
fumecheng-2577	95	3	d	d	PROPN
fumecheng-2577	95	4	df	df	PROPN
fumecheng-2577	95	5	k	k	PROPN
fumecheng-2577	95	6	p	p	PROPN
fumecheng-2577	95	7			PROPN
fumecheng-2577	95	8	(	(	PUNCT
fumecheng-2577	95	9	6	6	NUM
fumecheng-2577	95	10	)	)	PUNCT
fumecheng-2577	95	11	where	where	SCONJ
fumecheng-2577	95	12	kd	kd	PROPN
fumecheng-2577	95	13	is	be	AUX
fumecheng-2577	95	14	the	the	DET
fumecheng-2577	95	15	3×3	3×3	NUM
fumecheng-2577	95	16	aerodynamic	aerodynamic	ADJ
fumecheng-2577	95	17	coefficient	coefficient	NOUN
fumecheng-2577	95	18	matrix	matrix	NOUN
fumecheng-2577	95	19	,	,	PUNCT
fumecheng-2577	95	20	and	and	CCONJ
fumecheng-2577	95	21	[	[	PUNCT
fumecheng-2577	95	22	,	,	PUNCT
fumecheng-2577	95	23	  	  	SPACE
fumecheng-2577	95	24	,	,	PUNCT
fumecheng-2577	95	25	  	  	SPACE
fumecheng-2577	95	26	]	]	X
fumecheng-2577	95	27	b	b	X
fumecheng-2577	95	28	tp	tp	X
fumecheng-2577	95	29	x	x	PROPN
fumecheng-2577	95	30	y	y	PROPN
fumecheng-2577	95	31	z	z	PROPN
fumecheng-2577	95	32	is	be	AUX
fumecheng-2577	95	33	the	the	DET
fumecheng-2577	95	34	hcopter	hcopter	ADJ
fumecheng-2577	95	35	velocity	velocity	NOUN
fumecheng-2577	95	36	vector	vector	NOUN
fumecheng-2577	95	37	which	which	PRON
fumecheng-2577	95	38	represents	represent	VERB
fumecheng-2577	95	39	the	the	DET
fumecheng-2577	95	40	time	time	NOUN
fumecheng-2577	95	41	derivative	derivative	ADJ
fumecheng-2577	95	42	of	of	ADP
fumecheng-2577	95	43	quadcopter	quadcopter	NOUN
fumecheng-2577	95	44	body	body	NOUN
fumecheng-2577	95	45	position	position	NOUN
fumecheng-2577	95	46	vector	vector	NOUN
fumecheng-2577	95	47	p	p	PROPN
fumecheng-2577	95	48	b	b	PROPN
fumecheng-2577	95	49	.	.	PROPN
fumecheng-2577	95	50	206	206	NUM
fumecheng-2577	95	51	a.	a.	NOUN
fumecheng-2577	95	52	alkamachi	alkamachi	PROPN
fumecheng-2577	95	53	,	,	PUNCT
fumecheng-2577	95	54	e.	e.	PROPN
fumecheng-2577	95	55	ercelebi	ercelebi	PROPN
fumecheng-2577	95	56	total	total	PROPN
fumecheng-2577	95	57	force	force	PROPN
fumecheng-2577	95	58	b	b	PROPN
fumecheng-2577	95	59	ft	ft	NOUN
fumecheng-2577	95	60	:	:	PUNCT
fumecheng-2577	95	61	the	the	DET
fumecheng-2577	95	62	total	total	ADJ
fumecheng-2577	95	63	force	force	NOUN
fumecheng-2577	95	64	acting	act	VERB
fumecheng-2577	95	65	on	on	ADP
fumecheng-2577	95	66	the	the	DET
fumecheng-2577	95	67	quadcopter	quadcopter	NOUN
fumecheng-2577	95	68	body	body	NOUN
fumecheng-2577	95	69	is	be	AUX
fumecheng-2577	95	70	the	the	DET
fumecheng-2577	95	71	vector	vector	NOUN
fumecheng-2577	95	72	sum	sum	NOUN
fumecheng-2577	95	73	of	of	ADP
fumecheng-2577	95	74	the	the	DET
fumecheng-2577	95	75	above	above	ADJ
fumecheng-2577	95	76	three	three	NUM
fumecheng-2577	95	77	individual	individual	ADJ
fumecheng-2577	95	78	forces	force	NOUN
fumecheng-2577	95	79	.	.	PUNCT
fumecheng-2577	96	1	*	*	PUNCT
fumecheng-2577	96	2	b	b	X
fumecheng-2577	96	3	b	b	X
fumecheng-2577	96	4	tr	tr	ADP
fumecheng-2577	96	5	e	e	PROPN
fumecheng-2577	96	6	g	g	PROPN
fumecheng-2577	96	7	b	b	PROPN
fumecheng-2577	96	8	b	b	PROPN
fumecheng-2577	96	9	e	e	PROPN
fumecheng-2577	96	10	t	t	PROPN
fumecheng-2577	96	11	df	df	PROPN
fumecheng-2577	96	12	r	r	NOUN
fumecheng-2577	96	13	ff	ff	NUM
fumecheng-2577	96	14	f	f	NUM
fumecheng-2577	96	15			ADJ
fumecheng-2577	96	16	(	(	PUNCT
fumecheng-2577	96	17	7	7	NUM
fumecheng-2577	96	18	)	)	PUNCT
fumecheng-2577	96	19	2.3.2	2.3.2	NUM
fumecheng-2577	96	20	.	.	PUNCT
fumecheng-2577	97	1	torques	torques	PROPN
fumecheng-2577	97	2	rotors	rotor	NOUN
fumecheng-2577	97	3	'	'	PART
fumecheng-2577	97	4	generated	generate	VERB
fumecheng-2577	97	5	torque	torque	PROPN
fumecheng-2577	97	6	b	b	PROPN
fumecheng-2577	97	7	mtr	mtr	PROPN
fumecheng-2577	97	8	:	:	PUNCT
fumecheng-2577	97	9	it	it	PRON
fumecheng-2577	97	10	is	be	AUX
fumecheng-2577	97	11	a	a	DET
fumecheng-2577	97	12	result	result	NOUN
fumecheng-2577	97	13	of	of	ADP
fumecheng-2577	97	14	the	the	DET
fumecheng-2577	97	15	four	four	NUM
fumecheng-2577	97	16	rotor	rotor	NOUN
fumecheng-2577	97	17	's	's	PART
fumecheng-2577	97	18	generated	generate	VERB
fumecheng-2577	97	19	force	force	NOUN
fumecheng-2577	97	20	around	around	ADP
fumecheng-2577	97	21	the	the	DET
fumecheng-2577	97	22	cog	cog	NOUN
fumecheng-2577	97	23	.	.	PUNCT
fumecheng-2577	98	1	at	at	ADP
fumecheng-2577	98	2	this	this	DET
fumecheng-2577	98	3	point	point	NOUN
fumecheng-2577	98	4	,	,	PUNCT
fumecheng-2577	98	5	it	it	PRON
fumecheng-2577	98	6	is	be	AUX
fumecheng-2577	98	7	assumed	assume	VERB
fumecheng-2577	98	8	that	that	SCONJ
fumecheng-2577	98	9	the	the	DET
fumecheng-2577	98	10	origin	origin	NOUN
fumecheng-2577	98	11	of	of	ADP
fumecheng-2577	98	12	f	f	PROPN
fumecheng-2577	98	13	b	b	PROPN
fumecheng-2577	98	14	and	and	CCONJ
fumecheng-2577	98	15	quadcopter	quadcopter	PROPN
fumecheng-2577	98	16	cog	cog	PROPN
fumecheng-2577	98	17	coincide	coincide	PROPN
fumecheng-2577	98	18	.	.	PUNCT
fumecheng-2577	99	1	the	the	DET
fumecheng-2577	99	2	total	total	ADJ
fumecheng-2577	99	3	moment	moment	NOUN
fumecheng-2577	99	4	due	due	ADP
fumecheng-2577	99	5	to	to	ADP
fumecheng-2577	99	6	the	the	DET
fumecheng-2577	99	7	rotors	rotor	NOUN
fumecheng-2577	99	8	'	'	PART
fumecheng-2577	99	9	generated	generate	VERB
fumecheng-2577	99	10	forces	force	NOUN
fumecheng-2577	99	11	is	be	AUX
fumecheng-2577	99	12	:	:	PUNCT
fumecheng-2577	99	13	4	4	NUM
fumecheng-2577	99	14	1	1	NUM
fumecheng-2577	99	15	(	(	PUNCT
fumecheng-2577	99	16	)	)	PUNCT
fumecheng-2577	99	17	b	b	NOUN
fumecheng-2577	100	1	i	i	PRON
fumecheng-2577	100	2	ritr	ritr	PROPN
fumecheng-2577	101	1	b	b	NOUN
fumecheng-2577	102	1	i	i	PRON
fumecheng-2577	102	2	l	l	NOUN
fumecheng-2577	102	3	fm	fm	PROPN
fumecheng-2577	103	1			ADJ
fumecheng-2577	103	2			NOUN
fumecheng-2577	103	3	(	(	PUNCT
fumecheng-2577	103	4	8)	8)	NUM
fumecheng-2577	103	5	where	where	SCONJ
fumecheng-2577	103	6	li	li	PROPN
fumecheng-2577	103	7	being	be	AUX
fumecheng-2577	103	8	a	a	DET
fumecheng-2577	103	9	vector	vector	NOUN
fumecheng-2577	103	10	directed	direct	VERB
fumecheng-2577	103	11	from	from	ADP
fumecheng-2577	103	12	the	the	DET
fumecheng-2577	103	13	cog	cog	PROPN
fumecheng-2577	103	14	to	to	ADP
fumecheng-2577	103	15	the	the	DET
fumecheng-2577	103	16	i	i	PROPN
fumecheng-2577	103	17	th	th	X
fumecheng-2577	103	18	rotor	rotor	NOUN
fumecheng-2577	103	19	,	,	PUNCT
fumecheng-2577	103	20	i.e.	i.e.	ADV
fumecheng-2577	103	21	:	:	PUNCT
fumecheng-2577	103	22	l1=[lx	l1=[lx	ADJ
fumecheng-2577	103	23	,	,	PUNCT
fumecheng-2577	103	24	ly,0	ly,0	PROPN
fumecheng-2577	103	25	]	]	PUNCT
fumecheng-2577	103	26	t	t	PROPN
fumecheng-2577	103	27	,	,	PUNCT
fumecheng-2577	103	28	l2=[–lx	l2=[–lx	PROPN
fumecheng-2577	103	29	,	,	PUNCT
fumecheng-2577	103	30	ly,0	ly,0	PROPN
fumecheng-2577	103	31	]	]	PUNCT
fumecheng-2577	103	32	t	t	PROPN
fumecheng-2577	103	33	,	,	PUNCT
fumecheng-2577	103	34	l3=[–lx,–ly,0	l3=[–lx,–ly,0	PROPN
fumecheng-2577	103	35	]	]	X
fumecheng-2577	103	36	t	t	NOUN
fumecheng-2577	103	37	,	,	PUNCT
fumecheng-2577	103	38	and	and	CCONJ
fumecheng-2577	103	39	l4=[lx	l4=[lx	PROPN
fumecheng-2577	103	40	,	,	PUNCT
fumecheng-2577	103	41	–	–	PUNCT
fumecheng-2577	103	42	ly,0	ly,0	PROPN
fumecheng-2577	103	43	]	]	PUNCT
fumecheng-2577	103	44	t	t	PROPN
fumecheng-2577	103	45	,	,	PUNCT
fumecheng-2577	103	46	and	and	CCONJ
fumecheng-2577	103	47	lx	lx	NOUN
fumecheng-2577	103	48	,	,	PUNCT
fumecheng-2577	103	49	ly	ly	X
fumecheng-2577	103	50	are	be	AUX
fumecheng-2577	103	51	shown	show	VERB
fumecheng-2577	103	52	in	in	ADP
fumecheng-2577	103	53	fig	fig	NOUN
fumecheng-2577	103	54	.	.	PUNCT
fumecheng-2577	104	1	3	3	X
fumecheng-2577	104	2	.	.	X
fumecheng-2577	104	3	fig	fig	NOUN
fumecheng-2577	104	4	.	.	PUNCT
fumecheng-2577	105	1	3	3	NUM
fumecheng-2577	105	2	hcopter	hcopter	ADJ
fumecheng-2577	105	3	schematic	schematic	ADJ
fumecheng-2577	105	4	aerodynamic	aerodynamic	ADJ
fumecheng-2577	105	5	drag	drag	NOUN
fumecheng-2577	105	6	torque	torque	NOUN
fumecheng-2577	105	7	b	b	PROPN
fumecheng-2577	105	8	mdt	mdt	PROPN
fumecheng-2577	105	9	:	:	PUNCT
fumecheng-2577	105	10	it	it	PRON
fumecheng-2577	105	11	is	be	AUX
fumecheng-2577	105	12	the	the	DET
fumecheng-2577	105	13	counter	counter	NOUN
fumecheng-2577	105	14	rotating	rotate	VERB
fumecheng-2577	105	15	torque	torque	NOUN
fumecheng-2577	105	16	due	due	ADP
fumecheng-2577	105	17	to	to	ADP
fumecheng-2577	105	18	the	the	DET
fumecheng-2577	105	19	air	air	NOUN
fumecheng-2577	105	20	drag	drag	NOUN
fumecheng-2577	105	21	caused	cause	VERB
fumecheng-2577	105	22	by	by	ADP
fumecheng-2577	105	23	propeller	propeller	NOUN
fumecheng-2577	105	24	spinning	spinning	NOUN
fumecheng-2577	105	25	[	[	X
fumecheng-2577	105	26	20	20	NUM
fumecheng-2577	105	27	]	]	PUNCT
fumecheng-2577	105	28	.	.	PUNCT
fumecheng-2577	106	1	according	accord	VERB
fumecheng-2577	106	2	to	to	ADP
fumecheng-2577	106	3	the	the	DET
fumecheng-2577	106	4	blade	blade	NOUN
fumecheng-2577	106	5	element	element	NOUN
fumecheng-2577	106	6	theory	theory	NOUN
fumecheng-2577	106	7	[	[	X
fumecheng-2577	106	8	18	18	NUM
fumecheng-2577	106	9	,	,	PUNCT
fumecheng-2577	106	10	19	19	NUM
fumecheng-2577	106	11	]	]	PUNCT
fumecheng-2577	106	12	,	,	PUNCT
fumecheng-2577	106	13	the	the	DET
fumecheng-2577	106	14	i	i	PROPN
fumecheng-2577	106	15	th	th	X
fumecheng-2577	106	16	rotor	rotor	NOUN
fumecheng-2577	106	17	's	's	PART
fumecheng-2577	106	18	drag	drag	NOUN
fumecheng-2577	106	19	torque	torque	NOUN
fumecheng-2577	106	20	around	around	ADP
fumecheng-2577	106	21	the	the	DET
fumecheng-2577	106	22	z	z	PROPN
fumecheng-2577	106	23	–	–	PUNCT
fumecheng-2577	106	24	axis	axis	NOUN
fumecheng-2577	106	25	can	can	AUX
fumecheng-2577	106	26	be	be	AUX
fumecheng-2577	106	27	expressed	express	VERB
fumecheng-2577	106	28	as	as	ADP
fumecheng-2577	106	29	(	(	PUNCT
fumecheng-2577	106	30	–	–	PUNCT
fumecheng-2577	106	31	1	1	NUM
fumecheng-2577	106	32	)	)	PUNCT
fumecheng-2577	106	33	i	i	PRON
fumecheng-2577	106	34	b(i	b(i	PROPN
fumecheng-2577	106	35	)	)	PUNCT
fumecheng-2577	106	36	2	2	NUM
fumecheng-2577	106	37	,	,	PUNCT
fumecheng-2577	106	38	where	where	SCONJ
fumecheng-2577	106	39	b	b	NOUN
fumecheng-2577	106	40	is	be	AUX
fumecheng-2577	106	41	the	the	DET
fumecheng-2577	106	42	rotor	rotor	NOUN
fumecheng-2577	106	43	drag	drag	NOUN
fumecheng-2577	106	44	coefficient	coefficient	NOUN
fumecheng-2577	106	45	and	and	CCONJ
fumecheng-2577	106	46	the	the	DET
fumecheng-2577	106	47	factor	factor	NOUN
fumecheng-2577	106	48	(	(	PUNCT
fumecheng-2577	106	49	–	–	PUNCT
fumecheng-2577	106	50	1	1	NUM
fumecheng-2577	106	51	)	)	PUNCT
fumecheng-2577	106	52	i	i	PRON
fumecheng-2577	106	53	is	be	AUX
fumecheng-2577	106	54	negative	negative	ADJ
fumecheng-2577	106	55	for	for	SCONJ
fumecheng-2577	106	56	the	the	DET
fumecheng-2577	106	57	propellers	propeller	NOUN
fumecheng-2577	106	58	rotating	rotate	VERB
fumecheng-2577	106	59	clockwise	clockwise	NOUN
fumecheng-2577	106	60	(	(	PUNCT
fumecheng-2577	106	61	cw	cw	NOUN
fumecheng-2577	106	62	)	)	PUNCT
fumecheng-2577	106	63	(	(	PUNCT
fumecheng-2577	106	64	rotors	rotor	NOUN
fumecheng-2577	106	65	1	1	NUM
fumecheng-2577	106	66	and	and	CCONJ
fumecheng-2577	106	67	3	3	NUM
fumecheng-2577	106	68	)	)	PUNCT
fumecheng-2577	106	69	and	and	CCONJ
fumecheng-2577	106	70	positive	positive	ADJ
fumecheng-2577	106	71	for	for	ADP
fumecheng-2577	106	72	those	those	PRON
fumecheng-2577	106	73	rotating	rotate	VERB
fumecheng-2577	106	74	in	in	ADP
fumecheng-2577	106	75	a	a	DET
fumecheng-2577	106	76	counter	counter	NOUN
fumecheng-2577	106	77	clockwise	clockwise	NOUN
fumecheng-2577	106	78	(	(	PUNCT
fumecheng-2577	106	79	ccw	ccw	NOUN
fumecheng-2577	106	80	)	)	PUNCT
fumecheng-2577	106	81	direction	direction	NOUN
fumecheng-2577	106	82	(	(	PUNCT
fumecheng-2577	106	83	rotors	rotor	NOUN
fumecheng-2577	106	84	2	2	NUM
fumecheng-2577	106	85	and	and	CCONJ
fumecheng-2577	106	86	4	4	NUM
fumecheng-2577	106	87	)	)	PUNCT
fumecheng-2577	106	88	.	.	PUNCT
fumecheng-2577	107	1	recall	recall	VERB
fumecheng-2577	107	2	that	that	SCONJ
fumecheng-2577	107	3	the	the	DET
fumecheng-2577	107	4	rotors	rotor	NOUN
fumecheng-2577	107	5	can	can	AUX
fumecheng-2577	107	6	be	be	AUX
fumecheng-2577	107	7	tilted	tilt	VERB
fumecheng-2577	107	8	with	with	ADP
fumecheng-2577	107	9	angle	angle	NOUN
fumecheng-2577	107	10	α	α	NOUN
fumecheng-2577	107	11	,	,	PUNCT
fumecheng-2577	107	12	then	then	ADV
fumecheng-2577	107	13	the	the	DET
fumecheng-2577	107	14	drag	drag	NOUN
fumecheng-2577	107	15	torque	torque	NOUN
fumecheng-2577	107	16	of	of	ADP
fumecheng-2577	107	17	the	the	DET
fumecheng-2577	107	18	i	i	NOUN
fumecheng-2577	107	19	th	th	X
fumecheng-2577	107	20	propeller	propeller	NOUN
fumecheng-2577	107	21	is	be	AUX
fumecheng-2577	107	22	resolved	resolve	VERB
fumecheng-2577	107	23	into	into	ADP
fumecheng-2577	107	24	x	x	PROPN
fumecheng-2577	107	25	and	and	CCONJ
fumecheng-2577	107	26	z	z	NOUN
fumecheng-2577	107	27	components	component	NOUN
fumecheng-2577	107	28	as	as	SCONJ
fumecheng-2577	107	29	follows	follow	VERB
fumecheng-2577	107	30	:	:	PUNCT
fumecheng-2577	107	31	2	2	NUM
fumecheng-2577	107	32	2	2	NUM
fumecheng-2577	107	33	(	(	PUNCT
fumecheng-2577	107	34	1	1	NUM
fumecheng-2577	107	35	)	)	PUNCT
fumecheng-2577	107	36	ω	ω	NUM
fumecheng-2577	107	37	sin	sin	NOUN
fumecheng-2577	107	38	(	(	PUNCT
fumecheng-2577	107	39	)	)	PUNCT
fumecheng-2577	107	40	0	0	NUM
fumecheng-2577	108	1	(	(	PUNCT
fumecheng-2577	108	2	1	1	X
fumecheng-2577	108	3	)	)	PUNCT
fumecheng-2577	108	4	ω	ω	PROPN
fumecheng-2577	108	5	cos	cos	PROPN
fumecheng-2577	108	6	(	(	PUNCT
fumecheng-2577	108	7	)	)	PUNCT
fumecheng-2577	108	8	i	i	PRON
fumecheng-2577	109	1	i	i	PRON
fumecheng-2577	110	1	i	i	VERB
fumecheng-2577	110	2	b	b	X
fumecheng-2577	110	3	di	di	VERB
fumecheng-2577	111	1	i	i	NOUN
fumecheng-2577	111	2	b	b	PROPN
fumecheng-2577	111	3	b	b	NOUN
fumecheng-2577	111	4	m	m	ADJ
fumecheng-2577	111	5			NOUN
fumecheng-2577	111	6			X
fumecheng-2577	111	7			PROPN
fumecheng-2577	111	8			PROPN
fumecheng-2577	111	9			NOUN
fumecheng-2577	111	10			NOUN
fumecheng-2577	111	11			NUM
fumecheng-2577	111	12			NOUN
fumecheng-2577	111	13			NOUN
fumecheng-2577	111	14			NOUN
fumecheng-2577	111	15			PROPN
fumecheng-2577	111	16			PROPN
fumecheng-2577	111	17	(	(	PUNCT
fumecheng-2577	111	18	9	9	NUM
fumecheng-2577	111	19	)	)	PUNCT
fumecheng-2577	111	20	so	so	SCONJ
fumecheng-2577	111	21	the	the	DET
fumecheng-2577	111	22	total	total	ADJ
fumecheng-2577	111	23	drag	drag	NOUN
fumecheng-2577	111	24	torque	torque	NOUN
fumecheng-2577	111	25	for	for	ADP
fumecheng-2577	111	26	the	the	DET
fumecheng-2577	111	27	four	four	NUM
fumecheng-2577	111	28	propellers	propeller	NOUN
fumecheng-2577	111	29	is	be	AUX
fumecheng-2577	111	30	:	:	PUNCT
fumecheng-2577	112	1	4	4	NUM
fumecheng-2577	112	2	1	1	NUM
fumecheng-2577	112	3	b	b	X
fumecheng-2577	112	4	b	b	X
fumecheng-2577	112	5	dt	dt	X
fumecheng-2577	112	6	di	di	NOUN
fumecheng-2577	113	1	i	i	PRON
fumecheng-2577	113	2	m	m	VERB
fumecheng-2577	113	3	m	m	VERB
fumecheng-2577	113	4			ADJ
fumecheng-2577	113	5			PROPN
fumecheng-2577	113	6	(	(	PUNCT
fumecheng-2577	113	7	10	10	NUM
fumecheng-2577	113	8	)	)	PUNCT
fumecheng-2577	113	9	modelling	modelling	NOUN
fumecheng-2577	113	10	and	and	CCONJ
fumecheng-2577	113	11	control	control	NOUN
fumecheng-2577	113	12	of	of	ADP
fumecheng-2577	113	13	h	h	NOUN
fumecheng-2577	113	14	-	-	PUNCT
fumecheng-2577	113	15	shaped	shape	VERB
fumecheng-2577	113	16	racing	racing	NOUN
fumecheng-2577	113	17	quadcopter	quadcopter	NOUN
fumecheng-2577	113	18	with	with	ADP
fumecheng-2577	113	19	tilting	tilt	VERB
fumecheng-2577	113	20	propellers	propeller	NOUN
fumecheng-2577	113	21	207	207	NUM
fumecheng-2577	113	22	total	total	ADJ
fumecheng-2577	113	23	torque	torque	PROPN
fumecheng-2577	113	24	b	b	PROPN
fumecheng-2577	113	25	mt	mt	PROPN
fumecheng-2577	113	26	:	:	PUNCT
fumecheng-2577	113	27	expressed	express	VERB
fumecheng-2577	113	28	in	in	ADP
fumecheng-2577	113	29	f	f	PROPN
fumecheng-2577	113	30	b	b	PROPN
fumecheng-2577	113	31	,	,	PUNCT
fumecheng-2577	113	32	the	the	DET
fumecheng-2577	113	33	total	total	ADJ
fumecheng-2577	113	34	torque	torque	NOUN
fumecheng-2577	113	35	acting	act	VERB
fumecheng-2577	113	36	on	on	ADP
fumecheng-2577	113	37	the	the	DET
fumecheng-2577	113	38	hcopter	hcopter	ADJ
fumecheng-2577	113	39	body	body	NOUN
fumecheng-2577	113	40	is	be	AUX
fumecheng-2577	113	41	the	the	DET
fumecheng-2577	113	42	vector	vector	NOUN
fumecheng-2577	113	43	sum	sum	NOUN
fumecheng-2577	113	44	of	of	ADP
fumecheng-2577	113	45	the	the	DET
fumecheng-2577	113	46	above	above	ADJ
fumecheng-2577	113	47	two	two	NUM
fumecheng-2577	113	48	individual	individual	ADJ
fumecheng-2577	113	49	torques	torque	NOUN
fumecheng-2577	113	50	.	.	PUNCT
fumecheng-2577	114	1	b	b	X
fumecheng-2577	114	2	b	b	X
fumecheng-2577	114	3	b	b	PROPN
fumecheng-2577	114	4	t	t	PROPN
fumecheng-2577	114	5	tr	tr	VERB
fumecheng-2577	114	6	dtm	dtm	PROPN
fumecheng-2577	114	7	m	m	PROPN
fumecheng-2577	114	8	m	m	PROPN
fumecheng-2577	114	9	b	b	NOUN
fumecheng-2577	114	10	u	u	X
fumecheng-2577	114	11			VERB
fumecheng-2577	114	12			NUM
fumecheng-2577	114	13	(	(	PUNCT
fumecheng-2577	114	14	11	11	NUM
fumecheng-2577	114	15	)	)	PUNCT
fumecheng-2577	114	16	where	where	SCONJ
fumecheng-2577	114	17	β	β	X
fumecheng-2577	114	18	0	0	NUM
fumecheng-2577	114	19	0	0	NUM
fumecheng-2577	114	20	0	0	NUM
fumecheng-2577	114	21	0	0	NUM
fumecheng-2577	114	22	     	     	SPACE
fumecheng-2577	115	1	y	y	PROPN
fumecheng-2577	115	2	y	y	PROPN
fumecheng-2577	115	3	y	y	PROPN
fumecheng-2577	115	4	y	y	PROPN
fumecheng-2577	115	5	x	x	PUNCT
fumecheng-2577	115	6	x	x	PUNCT
fumecheng-2577	115	7	x	x	PUNCT
fumecheng-2577	115	8	x	x	PUNCT
fumecheng-2577	115	9	y	y	VERB
fumecheng-2577	115	10	y	y	PROPN
fumecheng-2577	115	11	y	y	PROPN
fumecheng-2577	115	12	y	y	PROPN
fumecheng-2577	115	13	b	b	PROPN
fumecheng-2577	115	14	kl	kl	PROPN
fumecheng-2577	115	15	b	b	PROPN
fumecheng-2577	115	16	kl	kl	PROPN
fumecheng-2577	115	17	b	b	PROPN
fumecheng-2577	115	18	kl	kl	PROPN
fumecheng-2577	115	19	b	b	PROPN
fumecheng-2577	115	20	kl	kl	INTJ
fumecheng-2577	115	21	kl	kl	INTJ
fumecheng-2577	115	22	kl	kl	INTJ
fumecheng-2577	115	23	kl	kl	INTJ
fumecheng-2577	115	24	kl	kl	PROPN
fumecheng-2577	115	25	kl	kl	PROPN
fumecheng-2577	115	26	b	b	PROPN
fumecheng-2577	115	27	kl	kl	PROPN
fumecheng-2577	115	28	b	b	PROPN
fumecheng-2577	115	29	kl	kl	PROPN
fumecheng-2577	115	30	b	b	PROPN
fumecheng-2577	115	31	kl	kl	PROPN
fumecheng-2577	115	32	b	b	PROPN
fumecheng-2577	115	33			PROPN
fumecheng-2577	115	34			PROPN
fumecheng-2577	115	35			PROPN
fumecheng-2577	115	36			PROPN
fumecheng-2577	115	37			PROPN
fumecheng-2577	115	38			NOUN
fumecheng-2577	115	39			NOUN
fumecheng-2577	115	40			NUM
fumecheng-2577	115	41			PROPN
fumecheng-2577	115	42			PROPN
fumecheng-2577	115	43			PROPN
fumecheng-2577	115	44			NOUN
fumecheng-2577	115	45			NOUN
fumecheng-2577	115	46			NOUN
fumecheng-2577	115	47			PROPN
fumecheng-2577	115	48			NOUN
fumecheng-2577	115	49			PROPN
fumecheng-2577	115	50	is	be	AUX
fumecheng-2577	115	51	the	the	DET
fumecheng-2577	115	52	moment	moment	NOUN
fumecheng-2577	115	53	coefficient	coefficient	NOUN
fumecheng-2577	115	54	matrix	matrix	NOUN
fumecheng-2577	115	55	,	,	PUNCT
fumecheng-2577	115	56	and	and	CCONJ
fumecheng-2577	115	57	u	u	NOUN
fumecheng-2577	115	58	is	be	AUX
fumecheng-2577	115	59	the	the	DET
fumecheng-2577	115	60	control	control	NOUN
fumecheng-2577	115	61	input	input	NOUN
fumecheng-2577	115	62	vector	vector	NOUN
fumecheng-2577	115	63	as	as	ADP
fumecheng-2577	115	64	before	before	ADV
fumecheng-2577	115	65	.	.	PUNCT
fumecheng-2577	116	1	2.3.3	2.3.3	NUM
fumecheng-2577	116	2	.	.	PUNCT
fumecheng-2577	116	3	virtual	virtual	ADJ
fumecheng-2577	116	4	control	control	NOUN
fumecheng-2577	116	5	vector	vector	NOUN
fumecheng-2577	116	6	v	v	NOUN
fumecheng-2577	116	7	at	at	ADP
fumecheng-2577	116	8	this	this	DET
fumecheng-2577	116	9	phase	phase	NOUN
fumecheng-2577	116	10	of	of	ADP
fumecheng-2577	116	11	the	the	DET
fumecheng-2577	116	12	mathematical	mathematical	ADJ
fumecheng-2577	116	13	modelling	modelling	NOUN
fumecheng-2577	116	14	and	and	CCONJ
fumecheng-2577	116	15	for	for	ADP
fumecheng-2577	116	16	the	the	DET
fumecheng-2577	116	17	purpose	purpose	NOUN
fumecheng-2577	116	18	of	of	ADP
fumecheng-2577	116	19	better	well	ADJ
fumecheng-2577	116	20	understanding	understanding	NOUN
fumecheng-2577	116	21	,	,	PUNCT
fumecheng-2577	116	22	it	it	PRON
fumecheng-2577	116	23	is	be	AUX
fumecheng-2577	116	24	important	important	ADJ
fumecheng-2577	116	25	to	to	PART
fumecheng-2577	116	26	define	define	VERB
fumecheng-2577	116	27	a	a	DET
fumecheng-2577	116	28	virtual	virtual	ADJ
fumecheng-2577	116	29	control	control	NOUN
fumecheng-2577	116	30	vector	vector	NOUN
fumecheng-2577	116	31	v	v	NUM
fumecheng-2577	116	32	=[	=[	NOUN
fumecheng-2577	116	33	v1	v1	NOUN
fumecheng-2577	116	34	,	,	PUNCT
fumecheng-2577	116	35	v2	v2	PROPN
fumecheng-2577	116	36	,	,	PUNCT
fumecheng-2577	116	37	v3	v3	PROPN
fumecheng-2577	116	38	,	,	PUNCT
fumecheng-2577	116	39	v4	v4	PROPN
fumecheng-2577	116	40	]	]	PUNCT
fumecheng-2577	116	41	t	t	PROPN
fumecheng-2577	116	42	.	.	PUNCT
fumecheng-2577	117	1	first	first	ADJ
fumecheng-2577	117	2	virtual	virtual	ADJ
fumecheng-2577	117	3	control	control	NOUN
fumecheng-2577	117	4	input	input	NOUN
fumecheng-2577	117	5	v1	v1	NOUN
fumecheng-2577	117	6	is	be	AUX
fumecheng-2577	117	7	in	in	ADP
fumecheng-2577	117	8	charge	charge	NOUN
fumecheng-2577	117	9	of	of	ADP
fumecheng-2577	117	10	controlling	control	VERB
fumecheng-2577	117	11	the	the	DET
fumecheng-2577	117	12	vehicle	vehicle	NOUN
fumecheng-2577	117	13	altitude	altitude	NOUN
fumecheng-2577	117	14	since	since	SCONJ
fumecheng-2577	117	15	it	it	PRON
fumecheng-2577	117	16	represents	represent	VERB
fumecheng-2577	117	17	the	the	DET
fumecheng-2577	117	18	resultant	resultant	NOUN
fumecheng-2577	117	19	lifting	lift	VERB
fumecheng-2577	117	20	forces	force	NOUN
fumecheng-2577	117	21	generated	generate	VERB
fumecheng-2577	117	22	by	by	ADP
fumecheng-2577	117	23	the	the	DET
fumecheng-2577	117	24	rotors	rotor	NOUN
fumecheng-2577	117	25	in	in	ADP
fumecheng-2577	117	26	the	the	DET
fumecheng-2577	117	27	upward	upward	ADJ
fumecheng-2577	117	28	positive	positive	ADJ
fumecheng-2577	117	29	z	z	NOUN
fumecheng-2577	117	30	direction	direction	NOUN
fumecheng-2577	117	31	.	.	PUNCT
fumecheng-2577	118	1	2	2	NUM
fumecheng-2577	118	2	2	2	NUM
fumecheng-2577	118	3	2	2	NUM
fumecheng-2577	118	4	2	2	NUM
fumecheng-2577	118	5	1	1	NUM
fumecheng-2577	118	6	1	1	NUM
fumecheng-2577	118	7	2	2	NUM
fumecheng-2577	118	8	3	3	NUM
fumecheng-2577	118	9	4(ω	4(ω	NUM
fumecheng-2577	118	10	ω	ω	PROPN
fumecheng-2577	118	11	ω	ω	PROPN
fumecheng-2577	118	12	ω	ω	PROPN
fumecheng-2577	118	13	)	)	PUNCT
fumecheng-2577	118	14	cos	cos	PROPN
fumecheng-2577	118	15	(	(	PUNCT
fumecheng-2577	118	16	)	)	PUNCT
fumecheng-2577	118	17	b	b	X
fumecheng-2577	118	18	trzv	trzv	NOUN
fumecheng-2577	118	19	f	f	PROPN
fumecheng-2577	118	20	k	k	PROPN
fumecheng-2577	118	21			PROPN
fumecheng-2577	118	22			PROPN
fumecheng-2577	118	23			PROPN
fumecheng-2577	118	24			PUNCT
fumecheng-2577	118	25			X
fumecheng-2577	118	26	(	(	PUNCT
fumecheng-2577	118	27	12	12	NUM
fumecheng-2577	118	28	)	)	PUNCT
fumecheng-2577	118	29	second	second	ADJ
fumecheng-2577	118	30	virtual	virtual	ADJ
fumecheng-2577	118	31	control	control	NOUN
fumecheng-2577	118	32	input	input	NOUN
fumecheng-2577	118	33	v2	v2	PROPN
fumecheng-2577	118	34	is	be	AUX
fumecheng-2577	118	35	the	the	DET
fumecheng-2577	118	36	total	total	ADJ
fumecheng-2577	118	37	torque	torque	NOUN
fumecheng-2577	118	38	around	around	ADP
fumecheng-2577	118	39	x	x	NOUN
fumecheng-2577	118	40	–	–	PUNCT
fumecheng-2577	118	41	axis	axis	ADJ
fumecheng-2577	118	42	;	;	PUNCT
fumecheng-2577	118	43	thus	thus	ADV
fumecheng-2577	118	44	it	it	PRON
fumecheng-2577	118	45	is	be	AUX
fumecheng-2577	118	46	responsible	responsible	ADJ
fumecheng-2577	118	47	for	for	ADP
fumecheng-2577	118	48	controlling	control	VERB
fumecheng-2577	118	49	the	the	DET
fumecheng-2577	118	50	roll	roll	NOUN
fumecheng-2577	118	51	angle	angle	NOUN
fumecheng-2577	118	52	.	.	PUNCT
fumecheng-2577	119	1	2	2	NUM
fumecheng-2577	119	2	2	2	NUM
fumecheng-2577	119	3	2	2	NUM
fumecheng-2577	119	4	2	2	NUM
fumecheng-2577	119	5	2	2	NUM
fumecheng-2577	119	6	2	2	NUM
fumecheng-2577	119	7	2	2	NUM
fumecheng-2577	119	8	2	2	NUM
fumecheng-2577	119	9	2	2	NUM
fumecheng-2577	119	10	1	1	NUM
fumecheng-2577	119	11	2	2	NUM
fumecheng-2577	119	12	3	3	NUM
fumecheng-2577	119	13	4	4	NUM
fumecheng-2577	119	14	1	1	NUM
fumecheng-2577	119	15	2	2	NUM
fumecheng-2577	119	16	3	3	NUM
fumecheng-2577	119	17	4	4	NUM
fumecheng-2577	119	18	(	(	PUNCT
fumecheng-2577	119	19	ω	ω	PROPN
fumecheng-2577	119	20	ω	ω	PROPN
fumecheng-2577	119	21	ω	ω	PROPN
fumecheng-2577	119	22	ω	ω	PROPN
fumecheng-2577	119	23	)	)	PUNCT
fumecheng-2577	119	24	sin	sin	NOUN
fumecheng-2577	119	25	(	(	PUNCT
fumecheng-2577	119	26	)	)	PUNCT
fumecheng-2577	119	27	ω	ω	PROPN
fumecheng-2577	119	28	ω	ω	PROPN
fumecheng-2577	119	29	ω	ω	PROPN
fumecheng-2577	119	30	ω	ω	PROPN
fumecheng-2577	119	31	cos	cos	PROPN
fumecheng-2577	119	32	(	(	PUNCT
fumecheng-2577	119	33	(	(	PUNCT
fumecheng-2577	119	34	)	)	PUNCT
fumecheng-2577	119	35	)	)	PUNCT
fumecheng-2577	120	1	b	b	X
fumecheng-2577	120	2	tx	tx	PROPN
fumecheng-2577	120	3	yv	yv	PROPN
fumecheng-2577	120	4	m	m	PROPN
fumecheng-2577	120	5	b	b	PROPN
fumecheng-2577	120	6	kl	kl	NOUN
fumecheng-2577	120	7			PROPN
fumecheng-2577	120	8			PROPN
fumecheng-2577	120	9			PROPN
fumecheng-2577	120	10			VERB
fumecheng-2577	120	11			PROPN
fumecheng-2577	120	12			PUNCT
fumecheng-2577	120	13			PUNCT
fumecheng-2577	120	14			PUNCT
fumecheng-2577	120	15			PROPN
fumecheng-2577	120	16			PROPN
fumecheng-2577	120	17	(	(	PUNCT
fumecheng-2577	120	18	13	13	NUM
fumecheng-2577	120	19	)	)	PUNCT
fumecheng-2577	120	20	third	third	ADJ
fumecheng-2577	120	21	virtual	virtual	ADJ
fumecheng-2577	120	22	control	control	NOUN
fumecheng-2577	120	23	input	input	NOUN
fumecheng-2577	120	24	v3	v3	PROPN
fumecheng-2577	120	25	represents	represent	VERB
fumecheng-2577	120	26	the	the	DET
fumecheng-2577	120	27	total	total	ADJ
fumecheng-2577	120	28	torque	torque	NOUN
fumecheng-2577	120	29	around	around	ADP
fumecheng-2577	120	30	y	y	PROPN
fumecheng-2577	120	31	–	–	PUNCT
fumecheng-2577	120	32	axis	axis	NOUN
fumecheng-2577	120	33	so	so	SCONJ
fumecheng-2577	120	34	it	it	PRON
fumecheng-2577	120	35	controls	control	VERB
fumecheng-2577	120	36	the	the	DET
fumecheng-2577	120	37	pitch	pitch	NOUN
fumecheng-2577	120	38	angle	angle	NOUN
fumecheng-2577	120	39	of	of	ADP
fumecheng-2577	120	40	the	the	DET
fumecheng-2577	120	41	hcopter	hcopter	NOUN
fumecheng-2577	120	42	.	.	PUNCT
fumecheng-2577	121	1	2	2	NUM
fumecheng-2577	121	2	2	2	NUM
fumecheng-2577	121	3	2	2	NUM
fumecheng-2577	121	4	2	2	NUM
fumecheng-2577	121	5	3	3	NUM
fumecheng-2577	121	6	1	1	NUM
fumecheng-2577	121	7	2	2	NUM
fumecheng-2577	121	8	3	3	NUM
fumecheng-2577	121	9	4ω	4ω	NOUN
fumecheng-2577	121	10	ω	ω	PROPN
fumecheng-2577	121	11	ω	ω	PROPN
fumecheng-2577	121	12	ω	ω	PROPN
fumecheng-2577	121	13	cos	cos	PROPN
fumecheng-2577	121	14	)	)	PUNCT
fumecheng-2577	121	15	(	(	PUNCT
fumecheng-2577	121	16	)	)	PUNCT
fumecheng-2577	121	17	(	(	PUNCT
fumecheng-2577	121	18	b	b	X
fumecheng-2577	122	1	ty	ty	INTJ
fumecheng-2577	122	2	xv	xv	PROPN
fumecheng-2577	122	3	m	m	PROPN
fumecheng-2577	122	4	kl	kl	PROPN
fumecheng-2577	122	5			PROPN
fumecheng-2577	122	6			PROPN
fumecheng-2577	122	7			PROPN
fumecheng-2577	122	8			ADV
fumecheng-2577	122	9			PUNCT
fumecheng-2577	122	10			X
fumecheng-2577	122	11	(	(	PUNCT
fumecheng-2577	122	12	14	14	NUM
fumecheng-2577	122	13	)	)	PUNCT
fumecheng-2577	122	14	fourth	fourth	ADJ
fumecheng-2577	122	15	virtual	virtual	ADJ
fumecheng-2577	122	16	control	control	NOUN
fumecheng-2577	122	17	input	input	NOUN
fumecheng-2577	122	18	v4	v4	PROPN
fumecheng-2577	122	19	is	be	AUX
fumecheng-2577	122	20	responsible	responsible	ADJ
fumecheng-2577	122	21	for	for	ADP
fumecheng-2577	122	22	adjusting	adjust	VERB
fumecheng-2577	122	23	the	the	DET
fumecheng-2577	122	24	yaw	yaw	NOUN
fumecheng-2577	122	25	angle	angle	NOUN
fumecheng-2577	122	26	since	since	SCONJ
fumecheng-2577	122	27	it	it	PRON
fumecheng-2577	122	28	represents	represent	VERB
fumecheng-2577	122	29	the	the	DET
fumecheng-2577	122	30	total	total	ADJ
fumecheng-2577	122	31	torque	torque	NOUN
fumecheng-2577	122	32	around	around	ADP
fumecheng-2577	122	33	z	z	PROPN
fumecheng-2577	122	34	–	–	PUNCT
fumecheng-2577	122	35	axis	axis	ADJ
fumecheng-2577	122	36	.	.	PUNCT
fumecheng-2577	123	1	2	2	NUM
fumecheng-2577	123	2	2	2	NUM
fumecheng-2577	123	3	2	2	NUM
fumecheng-2577	123	4	2	2	NUM
fumecheng-2577	123	5	2	2	NUM
fumecheng-2577	123	6	2	2	NUM
fumecheng-2577	123	7	2	2	NUM
fumecheng-2577	123	8	2	2	NUM
fumecheng-2577	123	9	4	4	NUM
fumecheng-2577	123	10	1	1	NUM
fumecheng-2577	123	11	2	2	NUM
fumecheng-2577	123	12	3	3	NUM
fumecheng-2577	123	13	4	4	NUM
fumecheng-2577	123	14	1	1	NUM
fumecheng-2577	123	15	2	2	NUM
fumecheng-2577	123	16	3	3	NUM
fumecheng-2577	123	17	4ω	4ω	NOUN
fumecheng-2577	123	18	ω	ω	PROPN
fumecheng-2577	123	19	ω	ω	PROPN
fumecheng-2577	123	20	ω	ω	NUM
fumecheng-2577	123	21	sin	sin	NOUN
fumecheng-2577	123	22	(	(	PUNCT
fumecheng-2577	123	23	)	)	PUNCT
fumecheng-2577	123	24	(	(	PUNCT
fumecheng-2577	123	25	ω	ω	PROPN
fumecheng-2577	123	26	ω	ω	PROPN
fumecheng-2577	123	27	ω	ω	PROPN
fumecheng-2577	123	28	ω	ω	PROPN
fumecheng-2577	123	29	(	(	PUNCT
fumecheng-2577	123	30	)	)	PUNCT
fumecheng-2577	123	31	)	)	PUNCT
fumecheng-2577	123	32	cos	cos	PROPN
fumecheng-2577	123	33	(	(	PUNCT
fumecheng-2577	123	34	)	)	PUNCT
fumecheng-2577	123	35	b	b	NOUN
fumecheng-2577	123	36	tz	tz	PROPN
fumecheng-2577	123	37	yv	yv	PROPN
fumecheng-2577	123	38	m	m	PROPN
fumecheng-2577	123	39	kl	kl	NOUN
fumecheng-2577	123	40	b	b	NOUN
fumecheng-2577	123	41			PROPN
fumecheng-2577	123	42			PROPN
fumecheng-2577	123	43			PROPN
fumecheng-2577	123	44			PROPN
fumecheng-2577	123	45			PUNCT
fumecheng-2577	123	46			CCONJ
fumecheng-2577	123	47			PUNCT
fumecheng-2577	123	48			PROPN
fumecheng-2577	123	49			VERB
fumecheng-2577	123	50			PROPN
fumecheng-2577	123	51			X
fumecheng-2577	123	52	(	(	PUNCT
fumecheng-2577	123	53	15	15	NUM
fumecheng-2577	123	54	)	)	PUNCT
fumecheng-2577	123	55	in	in	ADP
fumecheng-2577	123	56	addition	addition	NOUN
fumecheng-2577	123	57	to	to	ADP
fumecheng-2577	123	58	the	the	DET
fumecheng-2577	123	59	above	above	ADJ
fumecheng-2577	123	60	virtual	virtual	ADJ
fumecheng-2577	123	61	control	control	NOUN
fumecheng-2577	123	62	signals	signal	NOUN
fumecheng-2577	123	63	,	,	PUNCT
fumecheng-2577	123	64	rotor	rotor	NOUN
fumecheng-2577	123	65	tilt	tilt	NOUN
fumecheng-2577	123	66	angle	angle	NOUN
fumecheng-2577	123	67	α	α	PROPN
fumecheng-2577	123	68	is	be	AUX
fumecheng-2577	123	69	used	use	VERB
fumecheng-2577	123	70	to	to	PART
fumecheng-2577	123	71	control	control	VERB
fumecheng-2577	123	72	the	the	DET
fumecheng-2577	123	73	forward	forward	ADJ
fumecheng-2577	123	74	/	/	SYM
fumecheng-2577	123	75	backward	backward	ADJ
fumecheng-2577	123	76	speed	speed	NOUN
fumecheng-2577	123	77	of	of	ADP
fumecheng-2577	123	78	the	the	DET
fumecheng-2577	123	79	vehicle	vehicle	NOUN
fumecheng-2577	123	80	.	.	PUNCT
fumecheng-2577	124	1	when	when	SCONJ
fumecheng-2577	124	2	the	the	DET
fumecheng-2577	124	3	rotors	rotor	NOUN
fumecheng-2577	124	4	tilt	tilt	VERB
fumecheng-2577	124	5	,	,	PUNCT
fumecheng-2577	124	6	they	they	PRON
fumecheng-2577	124	7	provide	provide	VERB
fumecheng-2577	124	8	the	the	DET
fumecheng-2577	124	9	required	require	VERB
fumecheng-2577	124	10	horizontal	horizontal	ADJ
fumecheng-2577	124	11	force	force	NOUN
fumecheng-2577	124	12	to	to	PART
fumecheng-2577	124	13	move	move	VERB
fumecheng-2577	124	14	the	the	DET
fumecheng-2577	124	15	hcopter	hcopter	NOUN
fumecheng-2577	124	16	along	along	ADP
fumecheng-2577	124	17	the	the	DET
fumecheng-2577	124	18	x	x	ADJ
fumecheng-2577	124	19	–	–	PUNCT
fumecheng-2577	124	20	axis	axis	ADJ
fumecheng-2577	124	21	direction	direction	NOUN
fumecheng-2577	124	22	.	.	PUNCT
fumecheng-2577	125	1	equations	equation	NOUN
fumecheng-2577	125	2	(	(	PUNCT
fumecheng-2577	125	3	11	11	NUM
fumecheng-2577	125	4	)	)	PUNCT
fumecheng-2577	125	5	through	through	ADP
fumecheng-2577	125	6	(	(	PUNCT
fumecheng-2577	125	7	14	14	NUM
fumecheng-2577	125	8	)	)	PUNCT
fumecheng-2577	125	9	can	can	AUX
fumecheng-2577	125	10	be	be	AUX
fumecheng-2577	125	11	combined	combine	VERB
fumecheng-2577	125	12	into	into	ADP
fumecheng-2577	125	13	one	one	NUM
fumecheng-2577	125	14	matrix	matrix	NOUN
fumecheng-2577	125	15	equation	equation	NOUN
fumecheng-2577	125	16	.	.	PUNCT
fumecheng-2577	126	1	it	it	PRON
fumecheng-2577	126	2	follows	follow	VERB
fumecheng-2577	126	3	that	that	SCONJ
fumecheng-2577	126	4	:	:	PUNCT
fumecheng-2577	126	5	v	v	X
fumecheng-2577	126	6	u	u	X
fumecheng-2577	126	7			PUNCT
fumecheng-2577	126	8	(	(	PUNCT
fumecheng-2577	126	9	16	16	NUM
fumecheng-2577	126	10	)	)	PUNCT
fumecheng-2577	126	11	where	where	SCONJ
fumecheng-2577	126	12	γ	γ	PROPN
fumecheng-2577	126	13	is	be	AUX
fumecheng-2577	126	14	the	the	DET
fumecheng-2577	126	15	coefficient	coefficient	NOUN
fumecheng-2577	126	16	matrix	matrix	NOUN
fumecheng-2577	126	17	and	and	CCONJ
fumecheng-2577	126	18	is	be	AUX
fumecheng-2577	126	19	equal	equal	ADJ
fumecheng-2577	126	20	to	to	ADP
fumecheng-2577	126	21	:	:	PUNCT
fumecheng-2577	126	22	0	0	NUM
fumecheng-2577	126	23	0	0	NUM
fumecheng-2577	126	24	0	0	NUM
fumecheng-2577	126	25	0	0	NUM
fumecheng-2577	126	26	0	0	NUM
fumecheng-2577	126	27	0	0	NUM
fumecheng-2577	126	28	0	0	NUM
fumecheng-2577	126	29	0	0	NUM
fumecheng-2577	127	1	y	y	PROPN
fumecheng-2577	127	2	y	y	PROPN
fumecheng-2577	127	3	y	y	PROPN
fumecheng-2577	127	4	y	y	PROPN
fumecheng-2577	127	5	x	x	PUNCT
fumecheng-2577	127	6	x	x	PUNCT
fumecheng-2577	127	7	x	x	PUNCT
fumecheng-2577	127	8	x	x	PUNCT
fumecheng-2577	127	9	y	y	VERB
fumecheng-2577	127	10	y	y	PROPN
fumecheng-2577	127	11	y	y	PROPN
fumecheng-2577	127	12	y	y	PROPN
fumecheng-2577	128	1	k	k	PROPN
fumecheng-2577	128	2	k	k	PROPN
fumecheng-2577	129	1	k	k	PROPN
fumecheng-2577	130	1	k	k	PROPN
fumecheng-2577	130	2	b	b	PROPN
fumecheng-2577	130	3	kl	kl	PROPN
fumecheng-2577	130	4	b	b	PROPN
fumecheng-2577	130	5	kl	kl	PROPN
fumecheng-2577	130	6	b	b	PROPN
fumecheng-2577	130	7	kl	kl	PROPN
fumecheng-2577	130	8	b	b	PROPN
fumecheng-2577	130	9	kl	kl	INTJ
fumecheng-2577	130	10	kl	kl	INTJ
fumecheng-2577	130	11	kl	kl	INTJ
fumecheng-2577	130	12	kl	kl	INTJ
fumecheng-2577	130	13	kl	kl	PROPN
fumecheng-2577	130	14	kl	kl	PROPN
fumecheng-2577	130	15	b	b	PROPN
fumecheng-2577	130	16	kl	kl	PROPN
fumecheng-2577	130	17	b	b	PROPN
fumecheng-2577	130	18	kl	kl	PROPN
fumecheng-2577	130	19	b	b	PROPN
fumecheng-2577	130	20	kl	kl	PROPN
fumecheng-2577	130	21	b	b	PROPN
fumecheng-2577	130	22			PROPN
fumecheng-2577	130	23			ADJ
fumecheng-2577	130	24			NOUN
fumecheng-2577	130	25			PROPN
fumecheng-2577	130	26			PROPN
fumecheng-2577	130	27			PROPN
fumecheng-2577	130	28			PROPN
fumecheng-2577	130	29			PROPN
fumecheng-2577	130	30			NOUN
fumecheng-2577	130	31			NOUN
fumecheng-2577	130	32			NOUN
fumecheng-2577	130	33			NOUN
fumecheng-2577	130	34			NOUN
fumecheng-2577	130	35			NOUN
fumecheng-2577	130	36			PROPN
fumecheng-2577	130	37			PROPN
fumecheng-2577	130	38			PROPN
fumecheng-2577	130	39			PROPN
fumecheng-2577	130	40			PROPN
fumecheng-2577	130	41			PROPN
fumecheng-2577	130	42			PROPN
fumecheng-2577	130	43	208	208	NUM
fumecheng-2577	130	44	a.	a.	NOUN
fumecheng-2577	130	45	alkamachi	alkamachi	PROPN
fumecheng-2577	130	46	,	,	PUNCT
fumecheng-2577	130	47	e.	e.	PROPN
fumecheng-2577	130	48	ercelebi	ercelebi	PROPN
fumecheng-2577	130	49	2.3.4	2.3.4	PROPN
fumecheng-2577	130	50	.	.	PUNCT
fumecheng-2577	131	1	model	model	NOUN
fumecheng-2577	131	2	dynamics	dynamic	NOUN
fumecheng-2577	131	3	with	with	ADP
fumecheng-2577	131	4	a	a	DET
fumecheng-2577	131	5	view	view	NOUN
fumecheng-2577	131	6	to	to	PART
fumecheng-2577	131	7	obtain	obtain	VERB
fumecheng-2577	131	8	the	the	DET
fumecheng-2577	131	9	quadcopter	quadcopter	NOUN
fumecheng-2577	131	10	dynamic	dynamic	NOUN
fumecheng-2577	131	11	and	and	CCONJ
fumecheng-2577	131	12	the	the	DET
fumecheng-2577	131	13	equations	equation	NOUN
fumecheng-2577	131	14	of	of	ADP
fumecheng-2577	131	15	motion	motion	NOUN
fumecheng-2577	131	16	,	,	PUNCT
fumecheng-2577	131	17	we	we	PRON
fumecheng-2577	131	18	exploit	exploit	VERB
fumecheng-2577	131	19	the	the	DET
fumecheng-2577	131	20	typical	typical	ADJ
fumecheng-2577	131	21	newton	newton	PROPN
fumecheng-2577	131	22	-	-	PUNCT
fumecheng-2577	131	23	euler	euler	NOUN
fumecheng-2577	131	24	formalization	formalization	NOUN
fumecheng-2577	131	25	.	.	PUNCT
fumecheng-2577	132	1	recall	recall	VERB
fumecheng-2577	132	2	that	that	SCONJ
fumecheng-2577	132	3	p	p	PROPN
fumecheng-2577	132	4	b	b	PROPN
fumecheng-2577	132	5	represents	represent	VERB
fumecheng-2577	132	6	the	the	DET
fumecheng-2577	132	7	hcopter	hcopter	ADJ
fumecheng-2577	132	8	position	position	NOUN
fumecheng-2577	132	9	vector	vector	NOUN
fumecheng-2577	132	10	expressed	express	VERB
fumecheng-2577	132	11	in	in	ADP
fumecheng-2577	132	12	f	f	PROPN
fumecheng-2577	132	13	b	b	PROPN
fumecheng-2577	132	14	,	,	PUNCT
fumecheng-2577	132	15	then	then	ADV
fumecheng-2577	132	16	the	the	DET
fumecheng-2577	132	17	newton	newton	PROPN
fumecheng-2577	132	18	-	-	PUNCT
fumecheng-2577	132	19	euler	euler	PROPN
fumecheng-2577	132	20	equations	equation	NOUN
fumecheng-2577	132	21	are	be	AUX
fumecheng-2577	132	22	:	:	PUNCT
fumecheng-2577	132	23	b	b	X
fumecheng-2577	132	24	b	b	X
fumecheng-2577	132	25	tmp	tmp	NOUN
fumecheng-2577	132	26	f	f	PROPN
fumecheng-2577	132	27	(	(	PUNCT
fumecheng-2577	132	28	17	17	NUM
fumecheng-2577	132	29	)	)	PUNCT
fumecheng-2577	132	30	and	and	CCONJ
fumecheng-2577	132	31	(	(	PUNCT
fumecheng-2577	132	32	)	)	PUNCT
fumecheng-2577	132	33	b	b	X
fumecheng-2577	133	1	b	b	X
fumecheng-2577	133	2	b	b	PROPN
fumecheng-2577	133	3	b	b	PROPN
fumecheng-2577	133	4	tj	tj	PROPN
fumecheng-2577	133	5	j	j	PROPN
fumecheng-2577	133	6	m	m	X
fumecheng-2577	133	7			X
fumecheng-2577	133	8			VERB
fumecheng-2577	133	9			NOUN
fumecheng-2577	133	10			PROPN
fumecheng-2577	133	11	(	(	PUNCT
fumecheng-2577	133	12	18	18	NUM
fumecheng-2577	133	13	)	)	PUNCT
fumecheng-2577	133	14	where	where	SCONJ
fumecheng-2577	133	15	jr	jr	PRON
fumecheng-2577	133	16	3×3	3×3	NUM
fumecheng-2577	133	17	is	be	AUX
fumecheng-2577	133	18	the	the	DET
fumecheng-2577	133	19	moment	moment	NOUN
fumecheng-2577	133	20	of	of	ADP
fumecheng-2577	133	21	inertia	inertia	NOUN
fumecheng-2577	133	22	tensor	tensor	NOUN
fumecheng-2577	133	23	,	,	PUNCT
fumecheng-2577	133	24	ωb	ωb	PROPN
fumecheng-2577	133	25	is	be	AUX
fumecheng-2577	133	26	the	the	DET
fumecheng-2577	133	27	body	body	NOUN
fumecheng-2577	133	28	angular	angular	ADJ
fumecheng-2577	133	29	velocity	velocity	NOUN
fumecheng-2577	133	30	vector	vector	NOUN
fumecheng-2577	133	31	,	,	PUNCT
fumecheng-2577	133	32	and	and	CCONJ
fumecheng-2577	133	33	b	b	NOUN
fumecheng-2577	133	34	is	be	AUX
fumecheng-2577	133	35	the	the	DET
fumecheng-2577	133	36	angular	angular	ADJ
fumecheng-2577	133	37	acceleration	acceleration	NOUN
fumecheng-2577	133	38	of	of	ADP
fumecheng-2577	133	39	the	the	DET
fumecheng-2577	133	40	quadcopter	quadcopter	NOUN
fumecheng-2577	133	41	body	body	NOUN
fumecheng-2577	133	42	expressed	express	VERB
fumecheng-2577	133	43	in	in	ADP
fumecheng-2577	133	44	f	f	PROPN
fumecheng-2577	133	45	b	b	PROPN
fumecheng-2577	133	46	.	.	PUNCT
fumecheng-2577	134	1	substituting	substitute	VERB
fumecheng-2577	134	2	eq	eq	ADP
fumecheng-2577	134	3	.	.	PUNCT
fumecheng-2577	135	1	(	(	PUNCT
fumecheng-2577	135	2	7	7	NUM
fumecheng-2577	135	3	)	)	PUNCT
fumecheng-2577	135	4	in	in	ADP
fumecheng-2577	135	5	eq	eq	ADP
fumecheng-2577	135	6	.	.	PUNCT
fumecheng-2577	136	1	(	(	PUNCT
fumecheng-2577	136	2	17	17	NUM
fumecheng-2577	136	3	)	)	PUNCT
fumecheng-2577	136	4	,	,	PUNCT
fumecheng-2577	136	5	we	we	PRON
fumecheng-2577	136	6	can	can	AUX
fumecheng-2577	136	7	get	get	VERB
fumecheng-2577	136	8	the	the	DET
fumecheng-2577	136	9	linear	linear	ADJ
fumecheng-2577	136	10	acceleration	acceleration	NOUN
fumecheng-2577	136	11	vector	vector	NOUN
fumecheng-2577	136	12	expressed	express	VERB
fumecheng-2577	136	13	in	in	ADP
fumecheng-2577	136	14	f	f	PROPN
fumecheng-2577	136	15	b	b	PROPN
fumecheng-2577	136	16	as	as	ADP
fumecheng-2577	136	17	:	:	SYM
fumecheng-2577	136	18	1	1	NUM
fumecheng-2577	136	19	1	1	NUM
fumecheng-2577	136	20	1	1	NUM
fumecheng-2577	136	21	(	(	PUNCT
fumecheng-2577	136	22	)	)	PUNCT
fumecheng-2577	136	23	0	0	NUM
fumecheng-2577	137	1	b	b	X
fumecheng-2577	137	2	trx	trx	PROPN
fumecheng-2577	137	3	b	b	PROPN
fumecheng-2577	137	4	b	b	PROPN
fumecheng-2577	137	5	b	b	PROPN
fumecheng-2577	137	6	b	b	PROPN
fumecheng-2577	137	7	b	b	PROPN
fumecheng-2577	137	8	e	e	X
fumecheng-2577	137	9	g	g	PROPN
fumecheng-2577	137	10	d	d	X
fumecheng-2577	137	11	g	g	X
fumecheng-2577	137	12	e	e	X
fumecheng-2577	137	13	e	e	X
fumecheng-2577	137	14	e	e	X
fumecheng-2577	137	15	d	d	X
fumecheng-2577	137	16	f	f	PROPN
fumecheng-2577	137	17	p	p	X
fumecheng-2577	137	18	k	k	PROPN
fumecheng-2577	137	19	u	u	X
fumecheng-2577	137	20	r	r	NOUN
fumecheng-2577	137	21	f	f	PROPN
fumecheng-2577	138	1	k	k	PROPN
fumecheng-2577	138	2	p	p	X
fumecheng-2577	138	3	r	r	NOUN
fumecheng-2577	138	4	f	f	PROPN
fumecheng-2577	139	1	k	k	PROPN
fumecheng-2577	139	2	v	v	PROPN
fumecheng-2577	139	3	p	p	PROPN
fumecheng-2577	139	4	m	m	NOUN
fumecheng-2577	139	5	m	m	VERB
fumecheng-2577	139	6			NOUN
fumecheng-2577	139	7			ADJ
fumecheng-2577	139	8			VERB
fumecheng-2577	139	9			PROPN
fumecheng-2577	139	10			PROPN
fumecheng-2577	139	11			PROPN
fumecheng-2577	139	12			PUNCT
fumecheng-2577	139	13			PROPN
fumecheng-2577	139	14			PROPN
fumecheng-2577	139	15			ADV
fumecheng-2577	139	16			NOUN
fumecheng-2577	139	17			PROPN
fumecheng-2577	139	18			PROPN
fumecheng-2577	139	19			NOUN
fumecheng-2577	139	20			NOUN
fumecheng-2577	139	21			VERB
fumecheng-2577	139	22			NOUN
fumecheng-2577	139	23	(	(	PUNCT
fumecheng-2577	139	24	19	19	NUM
fumecheng-2577	139	25	)	)	PUNCT
fumecheng-2577	139	26	angular	angular	ADJ
fumecheng-2577	139	27	acceleration	acceleration	NOUN
fumecheng-2577	139	28	b	b	NOUN
fumecheng-2577	139	29	can	can	AUX
fumecheng-2577	139	30	be	be	AUX
fumecheng-2577	139	31	obtained	obtain	VERB
fumecheng-2577	139	32	by	by	ADP
fumecheng-2577	139	33	substituting	substitute	VERB
fumecheng-2577	139	34	eq	eq	ADP
fumecheng-2577	139	35	.	.	PUNCT
fumecheng-2577	140	1	(	(	PUNCT
fumecheng-2577	140	2	11	11	NUM
fumecheng-2577	140	3	)	)	PUNCT
fumecheng-2577	140	4	in	in	ADP
fumecheng-2577	140	5	eq	eq	ADP
fumecheng-2577	140	6	.	.	PUNCT
fumecheng-2577	141	1	(	(	PUNCT
fumecheng-2577	141	2	18	18	NUM
fumecheng-2577	141	3	):	):	SYM
fumecheng-2577	141	4	2	2	NUM
fumecheng-2577	141	5	1	1	NUM
fumecheng-2577	141	6	1	1	NUM
fumecheng-2577	141	7	3	3	NUM
fumecheng-2577	141	8	4	4	NUM
fumecheng-2577	141	9	(	(	PUNCT
fumecheng-2577	141	10	)	)	PUNCT
fumecheng-2577	141	11	(	(	PUNCT
fumecheng-2577	141	12	(	(	PUNCT
fumecheng-2577	141	13	)	)	PUNCT
fumecheng-2577	141	14	)	)	PUNCT
fumecheng-2577	142	1	b	b	X
fumecheng-2577	142	2	b	b	X
fumecheng-2577	142	3	b	b	PROPN
fumecheng-2577	142	4	b	b	PROPN
fumecheng-2577	142	5	b	b	PROPN
fumecheng-2577	142	6	bo	bo	PROPN
fumecheng-2577	142	7	j	j	PROPN
fumecheng-2577	142	8	bu	bu	PROPN
fumecheng-2577	142	9	vj	vj	PROPN
fumecheng-2577	142	10	v	v	INTJ
fumecheng-2577	142	11	j	j	PROPN
fumecheng-2577	142	12	v	v	NOUN
fumecheng-2577	142	13	j	j	X
fumecheng-2577	143	1			X
fumecheng-2577	143	2			X
fumecheng-2577	144	1			X
fumecheng-2577	144	2			PUNCT
fumecheng-2577	144	3			PROPN
fumecheng-2577	144	4			NOUN
fumecheng-2577	144	5			ADV
fumecheng-2577	144	6			VERB
fumecheng-2577	144	7			PROPN
fumecheng-2577	144	8			NOUN
fumecheng-2577	145	1			PROPN
fumecheng-2577	145	2			PROPN
fumecheng-2577	145	3			PROPN
fumecheng-2577	145	4			PROPN
fumecheng-2577	145	5			PROPN
fumecheng-2577	145	6			PROPN
fumecheng-2577	145	7			NOUN
fumecheng-2577	146	1			PROPN
fumecheng-2577	146	2			PROPN
fumecheng-2577	146	3			PROPN
fumecheng-2577	146	4			PROPN
fumecheng-2577	146	5			NOUN
fumecheng-2577	146	6	(	(	PUNCT
fumecheng-2577	146	7	20	20	NUM
fumecheng-2577	146	8	)	)	PUNCT
fumecheng-2577	146	9	where	where	SCONJ
fumecheng-2577	146	10	o	o	PROPN
fumecheng-2577	146	11	b	b	PROPN
fumecheng-2577	146	12	represents	represent	VERB
fumecheng-2577	146	13	the	the	DET
fumecheng-2577	146	14	vehicle	vehicle	NOUN
fumecheng-2577	146	15	orientation	orientation	NOUN
fumecheng-2577	146	16	vector	vector	NOUN
fumecheng-2577	146	17	expressed	express	VERB
fumecheng-2577	146	18	in	in	ADP
fumecheng-2577	146	19	the	the	DET
fumecheng-2577	146	20	body	body	NOUN
fumecheng-2577	146	21	coordinate	coordinate	NOUN
fumecheng-2577	146	22	(	(	PUNCT
fumecheng-2577	146	23	[	[	PUNCT
fumecheng-2577	146	24	,	,	PUNCT
fumecheng-2577	146	25	  	  	SPACE
fumecheng-2577	146	26	,	,	PUNCT
fumecheng-2577	146	27	  	  	SPACE
fumecheng-2577	146	28	]	]	X
fumecheng-2577	146	29	b	b	X
fumecheng-2577	146	30	to	to	ADP
fumecheng-2577	146	31			NOUN
fumecheng-2577	146	32			NOUN
fumecheng-2577	146	33			NOUN
fumecheng-2577	146	34	)	)	PUNCT
fumecheng-2577	146	35	,	,	PUNCT
fumecheng-2577	146	36	therefore	therefore	ADV
fumecheng-2577	146	37	(	(	PUNCT
fumecheng-2577	146	38	[	[	PUNCT
fumecheng-2577	146	39	,	,	PUNCT
fumecheng-2577	146	40	  	  	SPACE
fumecheng-2577	146	41	,	,	PUNCT
fumecheng-2577	146	42	  	  	SPACE
fumecheng-2577	146	43	]	]	X
fumecheng-2577	146	44	b	b	X
fumecheng-2577	146	45	to	to	ADP
fumecheng-2577	146	46			PROPN
fumecheng-2577	146	47			PROPN
fumecheng-2577	146	48			NOUN
fumecheng-2577	146	49	)	)	PUNCT
fumecheng-2577	146	50	.	.	PUNCT
fumecheng-2577	147	1	to	to	ADP
fumecheng-2577	147	2	this	this	DET
fumecheng-2577	147	3	end	end	NOUN
fumecheng-2577	147	4	,	,	PUNCT
fumecheng-2577	147	5	we	we	PRON
fumecheng-2577	147	6	have	have	AUX
fumecheng-2577	147	7	obtained	obtain	VERB
fumecheng-2577	147	8	the	the	DET
fumecheng-2577	147	9	hcopter	hcopter	ADJ
fumecheng-2577	147	10	dynamical	dynamical	ADJ
fumecheng-2577	147	11	equations	equation	NOUN
fumecheng-2577	147	12	that	that	PRON
fumecheng-2577	147	13	govern	govern	VERB
fumecheng-2577	147	14	its	its	PRON
fumecheng-2577	147	15	operation	operation	NOUN
fumecheng-2577	147	16	.	.	PUNCT
fumecheng-2577	148	1	3	3	X
fumecheng-2577	148	2	.	.	X
fumecheng-2577	148	3	controller	controller	NOUN
fumecheng-2577	148	4	design	design	NOUN
fumecheng-2577	148	5	in	in	ADP
fumecheng-2577	148	6	this	this	DET
fumecheng-2577	148	7	work	work	NOUN
fumecheng-2577	148	8	,	,	PUNCT
fumecheng-2577	148	9	the	the	DET
fumecheng-2577	148	10	(	(	PUNCT
fumecheng-2577	148	11	matlab	matlab	PROPN
fumecheng-2577	148	12	/	/	SYM
fumecheng-2577	148	13	simulink	simulink	PROPN
fumecheng-2577	148	14	)	)	PUNCT
fumecheng-2577	148	15	environment	environment	NOUN
fumecheng-2577	148	16	is	be	AUX
fumecheng-2577	148	17	used	use	VERB
fumecheng-2577	148	18	to	to	PART
fumecheng-2577	148	19	integrate	integrate	VERB
fumecheng-2577	148	20	and	and	CCONJ
fumecheng-2577	148	21	examine	examine	VERB
fumecheng-2577	148	22	the	the	DET
fumecheng-2577	148	23	obtained	obtain	VERB
fumecheng-2577	148	24	model	model	NOUN
fumecheng-2577	148	25	.	.	PUNCT
fumecheng-2577	149	1	it	it	PRON
fumecheng-2577	149	2	is	be	AUX
fumecheng-2577	149	3	also	also	ADV
fumecheng-2577	149	4	used	use	VERB
fumecheng-2577	149	5	to	to	PART
fumecheng-2577	149	6	tune	tune	VERB
fumecheng-2577	149	7	the	the	DET
fumecheng-2577	149	8	pid	pid	NOUN
fumecheng-2577	149	9	parameters	parameter	NOUN
fumecheng-2577	149	10	using	use	VERB
fumecheng-2577	149	11	the	the	DET
fumecheng-2577	149	12	genetic	genetic	ADJ
fumecheng-2577	149	13	algorithm	algorithm	NOUN
fumecheng-2577	149	14	(	(	PUNCT
fumecheng-2577	149	15	ga	ga	NOUN
fumecheng-2577	149	16	)	)	PUNCT
fumecheng-2577	149	17	and	and	CCONJ
fumecheng-2577	149	18	to	to	PART
fumecheng-2577	149	19	carry	carry	VERB
fumecheng-2577	149	20	out	out	ADP
fumecheng-2577	149	21	all	all	DET
fumecheng-2577	149	22	the	the	DET
fumecheng-2577	149	23	subsequent	subsequent	ADJ
fumecheng-2577	149	24	tests	test	NOUN
fumecheng-2577	149	25	.	.	PUNCT
fumecheng-2577	150	1	the	the	DET
fumecheng-2577	150	2	simulation	simulation	NOUN
fumecheng-2577	150	3	environment	environment	NOUN
fumecheng-2577	150	4	is	be	AUX
fumecheng-2577	150	5	set	set	VERB
fumecheng-2577	150	6	up	up	ADP
fumecheng-2577	150	7	on	on	ADP
fumecheng-2577	150	8	a	a	DET
fumecheng-2577	150	9	personal	personal	ADJ
fumecheng-2577	150	10	computer	computer	NOUN
fumecheng-2577	150	11	with	with	ADP
fumecheng-2577	150	12	2.5	2.5	NUM
fumecheng-2577	150	13	ghz	ghz	NOUN
fumecheng-2577	150	14	processing	processing	NOUN
fumecheng-2577	150	15	speed	speed	NOUN
fumecheng-2577	150	16	and	and	CCONJ
fumecheng-2577	150	17	6	6	NUM
fumecheng-2577	150	18	gb	gb	NOUN
fumecheng-2577	150	19	ram	ram	NOUN
fumecheng-2577	150	20	,	,	PUNCT
fumecheng-2577	150	21	running	run	VERB
fumecheng-2577	150	22	on	on	ADP
fumecheng-2577	150	23	windows	window	NOUN
fumecheng-2577	150	24	10	10	NUM
fumecheng-2577	150	25	.	.	PUNCT
fumecheng-2577	151	1	the	the	DET
fumecheng-2577	151	2	complete	complete	ADJ
fumecheng-2577	151	3	control	control	NOUN
fumecheng-2577	151	4	system	system	NOUN
fumecheng-2577	151	5	block	block	NOUN
fumecheng-2577	151	6	diagram	diagram	NOUN
fumecheng-2577	151	7	for	for	ADP
fumecheng-2577	151	8	the	the	DET
fumecheng-2577	151	9	hcopter	hcopter	NOUN
fumecheng-2577	151	10	is	be	AUX
fumecheng-2577	151	11	shown	show	VERB
fumecheng-2577	151	12	in	in	ADP
fumecheng-2577	151	13	fig	fig	NOUN
fumecheng-2577	151	14	.	.	PUNCT
fumecheng-2577	152	1	4	4	X
fumecheng-2577	152	2	.	.	X
fumecheng-2577	152	3	the	the	DET
fumecheng-2577	152	4	list	list	NOUN
fumecheng-2577	152	5	of	of	ADP
fumecheng-2577	152	6	model	model	NOUN
fumecheng-2577	152	7	physical	physical	ADJ
fumecheng-2577	152	8	parameters	parameter	NOUN
fumecheng-2577	152	9	used	use	VERB
fumecheng-2577	152	10	through	through	ADP
fumecheng-2577	152	11	all	all	DET
fumecheng-2577	152	12	the	the	DET
fumecheng-2577	152	13	tests	test	NOUN
fumecheng-2577	152	14	is	be	AUX
fumecheng-2577	152	15	given	give	VERB
fumecheng-2577	152	16	in	in	ADP
fumecheng-2577	152	17	table	table	NOUN
fumecheng-2577	152	18	1	1	NUM
fumecheng-2577	152	19	.	.	PUNCT
fumecheng-2577	152	20	fig	fig	NOUN
fumecheng-2577	152	21	.	.	PUNCT
fumecheng-2577	153	1	4	4	NUM
fumecheng-2577	153	2	the	the	DET
fumecheng-2577	153	3	proposed	propose	VERB
fumecheng-2577	153	4	controller	controller	NOUN
fumecheng-2577	153	5	block	block	NOUN
fumecheng-2577	153	6	diagram	diagram	NOUN
fumecheng-2577	153	7	modelling	modelling	NOUN
fumecheng-2577	153	8	and	and	CCONJ
fumecheng-2577	153	9	control	control	NOUN
fumecheng-2577	153	10	of	of	ADP
fumecheng-2577	153	11	h	h	NOUN
fumecheng-2577	153	12	-	-	PUNCT
fumecheng-2577	153	13	shaped	shape	VERB
fumecheng-2577	153	14	racing	racing	NOUN
fumecheng-2577	153	15	quadcopter	quadcopter	NOUN
fumecheng-2577	153	16	with	with	ADP
fumecheng-2577	153	17	tilting	tilt	VERB
fumecheng-2577	153	18	propellers	propeller	NOUN
fumecheng-2577	153	19	209	209	NUM
fumecheng-2577	153	20	table	table	NOUN
fumecheng-2577	153	21	1	1	NUM
fumecheng-2577	153	22	the	the	DET
fumecheng-2577	153	23	proposed	propose	VERB
fumecheng-2577	153	24	hcopter	hcopter	ADJ
fumecheng-2577	153	25	model	model	NOUN
fumecheng-2577	153	26	physical	physical	ADJ
fumecheng-2577	153	27	parameters	parameter	NOUN
fumecheng-2577	153	28	parameters	parameter	NOUN
fumecheng-2577	153	29	value	value	VERB
fumecheng-2577	153	30	m	m	VERB
fumecheng-2577	153	31	1.2	1.2	NUM
fumecheng-2577	153	32	kg	kg	NOUN
fumecheng-2577	153	33	.	.	PUNCT
fumecheng-2577	154	1	lx	lx	NOUN
fumecheng-2577	154	2	,	,	PUNCT
fumecheng-2577	154	3	ly	ly	ADV
fumecheng-2577	154	4	20	20	NUM
fumecheng-2577	154	5	cm	cm	NUM
fumecheng-2577	154	6	k	k	PROPN
fumecheng-2577	154	7	,	,	PUNCT
fumecheng-2577	154	8	b	b	PROPN
fumecheng-2577	154	9	3e-6	3e-6	NUM
fumecheng-2577	154	10	n.sec	n.sec	ADV
fumecheng-2577	154	11	2	2	NUM
fumecheng-2577	154	12	/rad	/rad	SYM
fumecheng-2577	154	13	2	2	NUM
fumecheng-2577	154	14	,	,	PUNCT
fumecheng-2577	154	15	1e-7	1e-7	NUM
fumecheng-2577	154	16	nm.sec	nm.sec	PROPN
fumecheng-2577	154	17	2	2	NUM
fumecheng-2577	154	18	/rad	/rad	SYM
fumecheng-2577	154	19	2	2	NUM
fumecheng-2577	154	20	j	j	NOUN
fumecheng-2577	154	21	diag[0.02	diag[0.02	PROPN
fumecheng-2577	154	22	,	,	PUNCT
fumecheng-2577	154	23	0.02	0.02	NUM
fumecheng-2577	154	24	,	,	PUNCT
fumecheng-2577	154	25	0.04	0.04	NUM
fumecheng-2577	154	26	]	]	PUNCT
fumecheng-2577	154	27	*	*	PUNCT
fumecheng-2577	154	28	kg.m	kg.m	PROPN
fumecheng-2577	154	29	2	2	NUM
fumecheng-2577	154	30	kd	kd	PROPN
fumecheng-2577	154	31	diag[0.3	diag[0.3	ADV
fumecheng-2577	154	32	,	,	PUNCT
fumecheng-2577	154	33	0.3	0.3	NUM
fumecheng-2577	154	34	,	,	PUNCT
fumecheng-2577	154	35	0.5	0.5	NUM
fumecheng-2577	154	36	]	]	PUNCT
fumecheng-2577	154	37	*	*	PUNCT
fumecheng-2577	154	38	min	min	PROPN
fumecheng-2577	154	39	,	,	PUNCT
fumecheng-2577	154	40	max	max	PROPN
fumecheng-2577	154	41	*	*	PUNCT
fumecheng-2577	154	42	*	*	NOUN
fumecheng-2577	154	43	100	100	NUM
fumecheng-2577	154	44	,	,	PUNCT
fumecheng-2577	154	45	2000	2000	NUM
fumecheng-2577	154	46	rad	rad	PROPN
fumecheng-2577	154	47	/	/	SYM
fumecheng-2577	154	48	sec	sec	PROPN
fumecheng-2577	154	49	*	*	PUNCT
fumecheng-2577	154	50	diag	diag	PROPN
fumecheng-2577	154	51	[	[	PUNCT
fumecheng-2577	154	52	]	]	X
fumecheng-2577	154	53	is	be	AUX
fumecheng-2577	154	54	a	a	DET
fumecheng-2577	154	55	diagonal	diagonal	ADJ
fumecheng-2577	154	56	matrix	matrix	NOUN
fumecheng-2577	154	57	*	*	PUNCT
fumecheng-2577	155	1	*	*	PUNCT
fumecheng-2577	155	2	it	it	PRON
fumecheng-2577	155	3	is	be	AUX
fumecheng-2577	155	4	the	the	DET
fumecheng-2577	155	5	rotor	rotor	NOUN
fumecheng-2577	155	6	's	's	PART
fumecheng-2577	155	7	upper	upper	ADJ
fumecheng-2577	155	8	and	and	CCONJ
fumecheng-2577	155	9	lower	low	ADJ
fumecheng-2577	155	10	speed	speed	NOUN
fumecheng-2577	155	11	limit	limit	NOUN
fumecheng-2577	155	12	respectively	respectively	ADV
fumecheng-2577	155	13	for	for	ADP
fumecheng-2577	155	14	efficient	efficient	ADJ
fumecheng-2577	155	15	surveillance	surveillance	NOUN
fumecheng-2577	155	16	tasks	task	NOUN
fumecheng-2577	155	17	,	,	PUNCT
fumecheng-2577	155	18	it	it	PRON
fumecheng-2577	155	19	is	be	AUX
fumecheng-2577	155	20	important	important	ADJ
fumecheng-2577	155	21	that	that	SCONJ
fumecheng-2577	155	22	the	the	DET
fumecheng-2577	155	23	quadcopter	quadcopter	NOUN
fumecheng-2577	155	24	has	have	VERB
fumecheng-2577	155	25	a	a	DET
fumecheng-2577	155	26	precise	precise	ADJ
fumecheng-2577	155	27	control	control	NOUN
fumecheng-2577	155	28	on	on	ADP
fumecheng-2577	155	29	its	its	PRON
fumecheng-2577	155	30	attitude	attitude	NOUN
fumecheng-2577	155	31	,	,	PUNCT
fumecheng-2577	155	32	speed	speed	NOUN
fumecheng-2577	155	33	,	,	PUNCT
fumecheng-2577	155	34	and	and	CCONJ
fumecheng-2577	155	35	altitude	altitude	NOUN
fumecheng-2577	155	36	[	[	X
fumecheng-2577	155	37	11	11	NUM
fumecheng-2577	155	38	]	]	PUNCT
fumecheng-2577	155	39	.	.	PUNCT
fumecheng-2577	156	1	the	the	DET
fumecheng-2577	156	2	control	control	NOUN
fumecheng-2577	156	3	problem	problem	NOUN
fumecheng-2577	156	4	addressed	address	VERB
fumecheng-2577	156	5	in	in	ADP
fumecheng-2577	156	6	this	this	DET
fumecheng-2577	156	7	work	work	NOUN
fumecheng-2577	156	8	is	be	AUX
fumecheng-2577	156	9	an	an	DET
fumecheng-2577	156	10	output	output	NOUN
fumecheng-2577	156	11	tracking	tracking	NOUN
fumecheng-2577	156	12	problem	problem	NOUN
fumecheng-2577	156	13	.	.	PUNCT
fumecheng-2577	157	1	a	a	DET
fumecheng-2577	157	2	five	five	NUM
fumecheng-2577	157	3	output	output	NOUN
fumecheng-2577	157	4	pid	pid	NOUN
fumecheng-2577	157	5	control	control	NOUN
fumecheng-2577	157	6	system	system	NOUN
fumecheng-2577	157	7	is	be	AUX
fumecheng-2577	157	8	proposed	propose	VERB
fumecheng-2577	157	9	to	to	PART
fumecheng-2577	157	10	control	control	VERB
fumecheng-2577	157	11	the	the	DET
fumecheng-2577	157	12	orientation	orientation	NOUN
fumecheng-2577	157	13	(	(	PUNCT
fumecheng-2577	157	14	roll	roll	NOUN
fumecheng-2577	157	15	,	,	PUNCT
fumecheng-2577	157	16	pitch	pitch	NOUN
fumecheng-2577	157	17	,	,	PUNCT
fumecheng-2577	157	18	and	and	CCONJ
fumecheng-2577	157	19	yaw	yaw	PROPN
fumecheng-2577	157	20	)	)	PUNCT
fumecheng-2577	157	21	,	,	PUNCT
fumecheng-2577	157	22	altitude	altitude	NOUN
fumecheng-2577	157	23	,	,	PUNCT
fumecheng-2577	157	24	and	and	CCONJ
fumecheng-2577	157	25	the	the	DET
fumecheng-2577	157	26	forward	forward	ADJ
fumecheng-2577	157	27	speed	speed	NOUN
fumecheng-2577	157	28	of	of	ADP
fumecheng-2577	157	29	this	this	DET
fumecheng-2577	157	30	novel	novel	ADJ
fumecheng-2577	157	31	air	air	NOUN
fumecheng-2577	157	32	vehicle	vehicle	NOUN
fumecheng-2577	157	33	.	.	PUNCT
fumecheng-2577	158	1	3.1	3.1	NUM
fumecheng-2577	158	2	.	.	PUNCT
fumecheng-2577	159	1	forward	forward	ADJ
fumecheng-2577	159	2	/	/	SYM
fumecheng-2577	159	3	backward	backward	ADJ
fumecheng-2577	159	4	speed	speed	NOUN
fumecheng-2577	159	5	control	control	NOUN
fumecheng-2577	159	6	the	the	DET
fumecheng-2577	159	7	additional	additional	ADJ
fumecheng-2577	159	8	control	control	NOUN
fumecheng-2577	159	9	input	input	NOUN
fumecheng-2577	159	10	(	(	PUNCT
fumecheng-2577	159	11	tilt	tilt	NOUN
fumecheng-2577	159	12	angle	angle	NOUN
fumecheng-2577	159	13	α	α	NOUN
fumecheng-2577	159	14	)	)	PUNCT
fumecheng-2577	159	15	is	be	AUX
fumecheng-2577	159	16	used	use	VERB
fumecheng-2577	159	17	to	to	PART
fumecheng-2577	159	18	control	control	VERB
fumecheng-2577	159	19	hcopter	hcopter	ADV
fumecheng-2577	159	20	forward	forward	ADJ
fumecheng-2577	159	21	speed	speed	NOUN
fumecheng-2577	159	22	which	which	PRON
fumecheng-2577	159	23	in	in	ADP
fumecheng-2577	159	24	turns	turn	NOUN
fumecheng-2577	159	25	improves	improve	VERB
fumecheng-2577	159	26	the	the	DET
fumecheng-2577	159	27	surveillance	surveillance	NOUN
fumecheng-2577	159	28	based	base	VERB
fumecheng-2577	159	29	tasks	task	NOUN
fumecheng-2577	159	30	.	.	PUNCT
fumecheng-2577	160	1	the	the	DET
fumecheng-2577	160	2	speed	speed	NOUN
fumecheng-2577	160	3	error	error	NOUN
fumecheng-2577	160	4	signal	signal	NOUN
fumecheng-2577	160	5	is	be	AUX
fumecheng-2577	160	6	obtained	obtain	VERB
fumecheng-2577	160	7	by	by	ADP
fumecheng-2577	160	8	subtracting	subtract	VERB
fumecheng-2577	160	9	desired	desire	VERB
fumecheng-2577	160	10	x	x	PUNCT
fumecheng-2577	160	11	speed	speed	NOUN
fumecheng-2577	160	12	(	(	PUNCT
fumecheng-2577	160	13	dx	dx	PROPN
fumecheng-2577	160	14	)	)	PUNCT
fumecheng-2577	160	15	from	from	ADP
fumecheng-2577	160	16	real	real	ADJ
fumecheng-2577	160	17	hcopter	hcopter	ADJ
fumecheng-2577	160	18	speed	speed	NOUN
fumecheng-2577	160	19	(	(	PUNCT
fumecheng-2577	160	20	x	x	NOUN
fumecheng-2577	160	21	)	)	PUNCT
fumecheng-2577	160	22	.	.	PUNCT
fumecheng-2577	161	1	the	the	DET
fumecheng-2577	161	2	error	error	NOUN
fumecheng-2577	161	3	signal	signal	NOUN
fumecheng-2577	161	4	is	be	AUX
fumecheng-2577	161	5	then	then	ADV
fumecheng-2577	161	6	fed	feed	VERB
fumecheng-2577	161	7	to	to	ADP
fumecheng-2577	161	8	a	a	DET
fumecheng-2577	161	9	pid	pid	NOUN
fumecheng-2577	161	10	controller	controller	NOUN
fumecheng-2577	161	11	that	that	PRON
fumecheng-2577	161	12	determines	determine	VERB
fumecheng-2577	161	13	the	the	DET
fumecheng-2577	161	14	required	require	VERB
fumecheng-2577	161	15	tilt	tilt	NOUN
fumecheng-2577	161	16	angle	angle	NOUN
fumecheng-2577	161	17	(	(	PUNCT
fumecheng-2577	161	18	α	α	NOUN
fumecheng-2577	161	19	)	)	PUNCT
fumecheng-2577	161	20	to	to	PART
fumecheng-2577	161	21	achieve	achieve	VERB
fumecheng-2577	161	22	the	the	DET
fumecheng-2577	161	23	desired	desire	VERB
fumecheng-2577	161	24	speed	speed	NOUN
fumecheng-2577	161	25	.	.	PUNCT
fumecheng-2577	162	1	3.2	3.2	NUM
fumecheng-2577	162	2	.	.	PUNCT
fumecheng-2577	162	3	altitude	altitude	NOUN
fumecheng-2577	162	4	control	control	VERB
fumecheng-2577	162	5	the	the	DET
fumecheng-2577	162	6	altitude	altitude	NOUN
fumecheng-2577	162	7	error	error	NOUN
fumecheng-2577	162	8	signal	signal	NOUN
fumecheng-2577	162	9	is	be	AUX
fumecheng-2577	162	10	formed	form	VERB
fumecheng-2577	162	11	by	by	ADP
fumecheng-2577	162	12	subtracting	subtract	VERB
fumecheng-2577	162	13	the	the	DET
fumecheng-2577	162	14	measured	measured	ADJ
fumecheng-2577	162	15	altitude	altitude	NOUN
fumecheng-2577	162	16	(	(	PUNCT
fumecheng-2577	162	17	z	z	NOUN
fumecheng-2577	162	18	position	position	NOUN
fumecheng-2577	162	19	)	)	PUNCT
fumecheng-2577	162	20	from	from	ADP
fumecheng-2577	162	21	desired	desire	VERB
fumecheng-2577	162	22	elevation	elevation	NOUN
fumecheng-2577	162	23	zd	zd	PROPN
fumecheng-2577	162	24	.	.	PUNCT
fumecheng-2577	163	1	it	it	PRON
fumecheng-2577	163	2	is	be	AUX
fumecheng-2577	163	3	then	then	ADV
fumecheng-2577	163	4	applied	apply	VERB
fumecheng-2577	163	5	to	to	ADP
fumecheng-2577	163	6	the	the	DET
fumecheng-2577	163	7	pid	pid	NOUN
fumecheng-2577	163	8	controller	controller	NOUN
fumecheng-2577	163	9	that	that	PRON
fumecheng-2577	163	10	adjusts	adjust	VERB
fumecheng-2577	163	11	the	the	DET
fumecheng-2577	163	12	value	value	NOUN
fumecheng-2577	163	13	of	of	ADP
fumecheng-2577	163	14	control	control	NOUN
fumecheng-2577	163	15	input	input	NOUN
fumecheng-2577	163	16	v1	v1	NOUN
fumecheng-2577	163	17	to	to	PART
fumecheng-2577	163	18	achieve	achieve	VERB
fumecheng-2577	163	19	the	the	DET
fumecheng-2577	163	20	required	require	VERB
fumecheng-2577	163	21	altitude	altitude	NOUN
fumecheng-2577	163	22	.	.	PUNCT
fumecheng-2577	164	1	3.3	3.3	NUM
fumecheng-2577	164	2	.	.	PUNCT
fumecheng-2577	164	3	orientation	orientation	NOUN
fumecheng-2577	164	4	control	control	VERB
fumecheng-2577	164	5	the	the	DET
fumecheng-2577	164	6	orientation	orientation	NOUN
fumecheng-2577	164	7	controller	controller	NOUN
fumecheng-2577	164	8	is	be	AUX
fumecheng-2577	164	9	the	the	DET
fumecheng-2577	164	10	core	core	NOUN
fumecheng-2577	164	11	of	of	ADP
fumecheng-2577	164	12	the	the	DET
fumecheng-2577	164	13	control	control	NOUN
fumecheng-2577	164	14	system	system	NOUN
fumecheng-2577	164	15	and	and	CCONJ
fumecheng-2577	164	16	it	it	PRON
fumecheng-2577	164	17	is	be	AUX
fumecheng-2577	164	18	of	of	ADP
fumecheng-2577	164	19	critical	critical	ADJ
fumecheng-2577	164	20	importance	importance	NOUN
fumecheng-2577	164	21	.	.	PUNCT
fumecheng-2577	165	1	it	it	PRON
fumecheng-2577	165	2	consists	consist	VERB
fumecheng-2577	165	3	of	of	ADP
fumecheng-2577	165	4	three	three	NUM
fumecheng-2577	165	5	pid	pid	NOUN
fumecheng-2577	165	6	controllers	controller	NOUN
fumecheng-2577	165	7	to	to	PART
fumecheng-2577	165	8	keep	keep	VERB
fumecheng-2577	165	9	the	the	DET
fumecheng-2577	165	10	quadcopter	quadcopter	NOUN
fumecheng-2577	165	11	attitude	attitude	NOUN
fumecheng-2577	165	12	to	to	ADP
fumecheng-2577	165	13	the	the	DET
fumecheng-2577	165	14	required	require	VERB
fumecheng-2577	165	15	roll	roll	NOUN
fumecheng-2577	165	16	(	(	PUNCT
fumecheng-2577	165	17	φd	φd	PROPN
fumecheng-2577	165	18	)	)	PUNCT
fumecheng-2577	165	19	,	,	PUNCT
fumecheng-2577	165	20	pitch	pitch	NOUN
fumecheng-2577	165	21	(	(	PUNCT
fumecheng-2577	165	22	θd	θd	NOUN
fumecheng-2577	165	23	)	)	PUNCT
fumecheng-2577	165	24	and	and	CCONJ
fumecheng-2577	165	25	yaw	yaw	NOUN
fumecheng-2577	165	26	(	(	PUNCT
fumecheng-2577	165	27	ψd	ψd	NOUN
fumecheng-2577	165	28	)	)	PUNCT
fumecheng-2577	165	29	angles	angle	NOUN
fumecheng-2577	165	30	by	by	ADP
fumecheng-2577	165	31	controlling	control	VERB
fumecheng-2577	165	32	the	the	DET
fumecheng-2577	165	33	three	three	NUM
fumecheng-2577	165	34	virtual	virtual	ADJ
fumecheng-2577	165	35	control	control	NOUN
fumecheng-2577	165	36	signals	signal	NOUN
fumecheng-2577	165	37	v2	v2	PROPN
fumecheng-2577	165	38	,	,	PUNCT
fumecheng-2577	165	39	v3	v3	PROPN
fumecheng-2577	165	40	,	,	PUNCT
fumecheng-2577	165	41	and	and	CCONJ
fumecheng-2577	165	42	v4	v4	NOUN
fumecheng-2577	165	43	,	,	PUNCT
fumecheng-2577	165	44	respectively	respectively	ADV
fumecheng-2577	165	45	.	.	PUNCT
fumecheng-2577	166	1	3.4	3.4	NUM
fumecheng-2577	166	2	virtual	virtual	ADJ
fumecheng-2577	166	3	control	control	NOUN
fumecheng-2577	166	4	to	to	ADP
fumecheng-2577	166	5	rotors	rotor	NOUN
fumecheng-2577	166	6	'	'	PART
fumecheng-2577	166	7	speeds	speed	NOUN
fumecheng-2577	166	8	in	in	ADP
fumecheng-2577	166	9	this	this	DET
fumecheng-2577	166	10	block	block	NOUN
fumecheng-2577	166	11	,	,	PUNCT
fumecheng-2577	166	12	the	the	DET
fumecheng-2577	166	13	determined	determined	ADJ
fumecheng-2577	166	14	rotor	rotor	NOUN
fumecheng-2577	166	15	tilt	tilt	NOUN
fumecheng-2577	166	16	angle	angle	NOUN
fumecheng-2577	166	17	(	(	PUNCT
fumecheng-2577	166	18	α	α	NOUN
fumecheng-2577	166	19	)	)	PUNCT
fumecheng-2577	166	20	and	and	CCONJ
fumecheng-2577	166	21	the	the	DET
fumecheng-2577	166	22	virtual	virtual	ADJ
fumecheng-2577	166	23	control	control	NOUN
fumecheng-2577	166	24	vector	vector	NOUN
fumecheng-2577	166	25	(	(	PUNCT
fumecheng-2577	166	26	v	v	NOUN
fumecheng-2577	166	27	)	)	PUNCT
fumecheng-2577	166	28	are	be	AUX
fumecheng-2577	166	29	used	use	VERB
fumecheng-2577	166	30	to	to	PART
fumecheng-2577	166	31	determine	determine	VERB
fumecheng-2577	166	32	the	the	DET
fumecheng-2577	166	33	proper	proper	ADJ
fumecheng-2577	166	34	rotors	rotor	NOUN
fumecheng-2577	166	35	'	'	PART
fumecheng-2577	166	36	spinning	spinning	NOUN
fumecheng-2577	166	37	speeds	speed	NOUN
fumecheng-2577	166	38	with	with	ADP
fumecheng-2577	166	39	the	the	DET
fumecheng-2577	166	40	aid	aid	NOUN
fumecheng-2577	166	41	of	of	ADP
fumecheng-2577	166	42	eq	eq	PROPN
fumecheng-2577	166	43	.	.	PUNCT
fumecheng-2577	167	1	(	(	PUNCT
fumecheng-2577	167	2	16	16	NUM
fumecheng-2577	167	3	)	)	PUNCT
fumecheng-2577	167	4	.	.	PUNCT
fumecheng-2577	168	1	3.5	3.5	NUM
fumecheng-2577	168	2	pid	pid	NOUN
fumecheng-2577	168	3	parameters	parameter	NOUN
fumecheng-2577	168	4	tuning	tune	VERB
fumecheng-2577	168	5	using	use	VERB
fumecheng-2577	168	6	ga	ga	PROPN
fumecheng-2577	168	7	genetic	genetic	ADJ
fumecheng-2577	168	8	algorithm	algorithm	NOUN
fumecheng-2577	168	9	is	be	AUX
fumecheng-2577	168	10	a	a	DET
fumecheng-2577	168	11	search	search	NOUN
fumecheng-2577	168	12	heuristic	heuristic	ADJ
fumecheng-2577	168	13	process	process	NOUN
fumecheng-2577	168	14	that	that	PRON
fumecheng-2577	168	15	simulates	simulate	VERB
fumecheng-2577	168	16	the	the	DET
fumecheng-2577	168	17	natural	natural	ADJ
fumecheng-2577	168	18	selection	selection	NOUN
fumecheng-2577	168	19	procedure	procedure	NOUN
fumecheng-2577	168	20	[	[	X
fumecheng-2577	168	21	21	21	NUM
fumecheng-2577	168	22	]	]	PUNCT
fumecheng-2577	168	23	.	.	PUNCT
fumecheng-2577	169	1	the	the	DET
fumecheng-2577	169	2	algorithm	algorithm	NOUN
fumecheng-2577	169	3	is	be	AUX
fumecheng-2577	169	4	used	use	VERB
fumecheng-2577	169	5	to	to	PART
fumecheng-2577	169	6	tune	tune	VERB
fumecheng-2577	169	7	the	the	DET
fumecheng-2577	169	8	five	five	NUM
fumecheng-2577	169	9	pid	pid	NOUN
fumecheng-2577	169	10	parameters	parameter	NOUN
fumecheng-2577	169	11	by	by	ADP
fumecheng-2577	169	12	minimizing	minimize	VERB
fumecheng-2577	169	13	the	the	DET
fumecheng-2577	169	14	following	follow	VERB
fumecheng-2577	169	15	cost	cost	NOUN
fumecheng-2577	169	16	function	function	NOUN
fumecheng-2577	169	17	:	:	PUNCT
fumecheng-2577	169	18	(	(	PUNCT
fumecheng-2577	169	19	ω	ω	PROPN
fumecheng-2577	169	20	ω	ω	PROPN
fumecheng-2577	169	21	ω	ω	PROPN
fumecheng-2577	169	22	          	          	SPACE
fumecheng-2577	169	23	1,2,3,4)|	1,2,3,4)|	NUM
fumecheng-2577	169	24	min	min	NOUN
fumecheng-2577	170	1	i	i	PRON
fumecheng-2577	170	2	max	max	PROPN
fumecheng-2577	170	3	for	for	ADP
fumecheng-2577	170	4	iobj	iobj	NOUN
fumecheng-2577	170	5	err	err	NOUN
fumecheng-2577	170	6			PROPN
fumecheng-2577	170	7			PROPN
fumecheng-2577	170	8			NUM
fumecheng-2577	170	9	(	(	PUNCT
fumecheng-2577	170	10	21	21	NUM
fumecheng-2577	170	11	)	)	PUNCT
fumecheng-2577	170	12	where	where	SCONJ
fumecheng-2577	170	13	err	err	NOUN
fumecheng-2577	170	14	is	be	AUX
fumecheng-2577	170	15	the	the	DET
fumecheng-2577	170	16	difference	difference	NOUN
fumecheng-2577	170	17	between	between	ADP
fumecheng-2577	170	18	the	the	DET
fumecheng-2577	170	19	desired	desire	VERB
fumecheng-2577	170	20	and	and	CCONJ
fumecheng-2577	170	21	the	the	DET
fumecheng-2577	170	22	actual	actual	ADJ
fumecheng-2577	170	23	output	output	NOUN
fumecheng-2577	170	24	response	response	NOUN
fumecheng-2577	170	25	.	.	PUNCT
fumecheng-2577	171	1	210	210	NUM
fumecheng-2577	171	2	a.	a.	NOUN
fumecheng-2577	171	3	alkamachi	alkamachi	PROPN
fumecheng-2577	171	4	,	,	PUNCT
fumecheng-2577	171	5	e.	e.	PROPN
fumecheng-2577	171	6	ercelebi	ercelebi	PROPN
fumecheng-2577	171	7	the	the	DET
fumecheng-2577	171	8	tuning	tuning	NOUN
fumecheng-2577	171	9	process	process	NOUN
fumecheng-2577	171	10	is	be	AUX
fumecheng-2577	171	11	subjected	subject	VERB
fumecheng-2577	171	12	to	to	PART
fumecheng-2577	171	13	actuator	actuator	VERB
fumecheng-2577	171	14	upper	upper	ADJ
fumecheng-2577	171	15	and	and	CCONJ
fumecheng-2577	171	16	lower	low	ADJ
fumecheng-2577	171	17	constraints	constraint	NOUN
fumecheng-2577	171	18	as	as	SCONJ
fumecheng-2577	171	19	noted	note	VERB
fumecheng-2577	171	20	in	in	ADP
fumecheng-2577	171	21	eq	eq	PROPN
fumecheng-2577	171	22	.	.	PUNCT
fumecheng-2577	172	1	(	(	PUNCT
fumecheng-2577	172	2	21	21	NUM
fumecheng-2577	172	3	)	)	PUNCT
fumecheng-2577	172	4	.	.	PUNCT
fumecheng-2577	173	1	it	it	PRON
fumecheng-2577	173	2	means	mean	VERB
fumecheng-2577	173	3	that	that	SCONJ
fumecheng-2577	173	4	if	if	SCONJ
fumecheng-2577	173	5	the	the	DET
fumecheng-2577	173	6	selected	select	VERB
fumecheng-2577	173	7	pid	pid	NOUN
fumecheng-2577	173	8	parameters	parameter	NOUN
fumecheng-2577	173	9	lead	lead	VERB
fumecheng-2577	173	10	to	to	ADP
fumecheng-2577	173	11	excessive	excessive	ADJ
fumecheng-2577	173	12	control	control	NOUN
fumecheng-2577	173	13	signal	signal	PROPN
fumecheng-2577	173	14	output	output	NOUN
fumecheng-2577	173	15	that	that	PRON
fumecheng-2577	173	16	cause	cause	VERB
fumecheng-2577	173	17	the	the	DET
fumecheng-2577	173	18	actuators	actuator	NOUN
fumecheng-2577	173	19	to	to	PART
fumecheng-2577	173	20	exceed	exceed	VERB
fumecheng-2577	173	21	their	their	PRON
fumecheng-2577	173	22	upper	upper	ADJ
fumecheng-2577	173	23	and	and	CCONJ
fumecheng-2577	173	24	lower	low	ADJ
fumecheng-2577	173	25	limits	limit	NOUN
fumecheng-2577	173	26	,	,	PUNCT
fumecheng-2577	173	27	then	then	ADV
fumecheng-2577	173	28	the	the	DET
fumecheng-2577	173	29	cost	cost	NOUN
fumecheng-2577	173	30	function	function	NOUN
fumecheng-2577	173	31	value	value	NOUN
fumecheng-2577	173	32	for	for	ADP
fumecheng-2577	173	33	these	these	DET
fumecheng-2577	173	34	selected	select	VERB
fumecheng-2577	173	35	parameters	parameter	NOUN
fumecheng-2577	173	36	is	be	AUX
fumecheng-2577	173	37	assigned	assign	VERB
fumecheng-2577	173	38	to	to	ADP
fumecheng-2577	173	39	an	an	DET
fumecheng-2577	173	40	extremely	extremely	ADV
fumecheng-2577	173	41	large	large	ADJ
fumecheng-2577	173	42	weight	weight	NOUN
fumecheng-2577	173	43	so	so	SCONJ
fumecheng-2577	173	44	that	that	SCONJ
fumecheng-2577	173	45	it	it	PRON
fumecheng-2577	173	46	will	will	AUX
fumecheng-2577	173	47	be	be	AUX
fumecheng-2577	173	48	excluded	exclude	VERB
fumecheng-2577	173	49	from	from	ADP
fumecheng-2577	173	50	the	the	DET
fumecheng-2577	173	51	next	next	ADJ
fumecheng-2577	173	52	iteration	iteration	NOUN
fumecheng-2577	173	53	.	.	PUNCT
fumecheng-2577	174	1	the	the	DET
fumecheng-2577	174	2	genetic	genetic	ADJ
fumecheng-2577	174	3	algorithm	algorithm	NOUN
fumecheng-2577	174	4	takes	take	VERB
fumecheng-2577	174	5	the	the	DET
fumecheng-2577	174	6	response	response	NOUN
fumecheng-2577	174	7	data	datum	NOUN
fumecheng-2577	174	8	from	from	ADP
fumecheng-2577	174	9	the	the	DET
fumecheng-2577	174	10	simulink	simulink	PROPN
fumecheng-2577	174	11	model	model	NOUN
fumecheng-2577	174	12	to	to	PART
fumecheng-2577	174	13	evaluate	evaluate	VERB
fumecheng-2577	174	14	the	the	DET
fumecheng-2577	174	15	cost	cost	NOUN
fumecheng-2577	174	16	function	function	NOUN
fumecheng-2577	174	17	and	and	CCONJ
fumecheng-2577	174	18	to	to	PART
fumecheng-2577	174	19	select	select	VERB
fumecheng-2577	174	20	the	the	DET
fumecheng-2577	174	21	optimal	optimal	ADJ
fumecheng-2577	174	22	pid	pid	NOUN
fumecheng-2577	174	23	parameters	parameter	NOUN
fumecheng-2577	174	24	.	.	PUNCT
fumecheng-2577	175	1	the	the	DET
fumecheng-2577	175	2	obtained	obtain	VERB
fumecheng-2577	175	3	pid	pid	NOUN
fumecheng-2577	175	4	parameters	parameter	NOUN
fumecheng-2577	175	5	with	with	ADP
fumecheng-2577	175	6	their	their	PRON
fumecheng-2577	175	7	associated	associate	VERB
fumecheng-2577	175	8	step	step	NOUN
fumecheng-2577	175	9	response	response	NOUN
fumecheng-2577	175	10	characteristics	characteristic	NOUN
fumecheng-2577	175	11	(	(	PUNCT
fumecheng-2577	175	12	settling	settle	VERB
fumecheng-2577	175	13	time	time	NOUN
fumecheng-2577	175	14	ts	ts	ADP
fumecheng-2577	175	15	and	and	CCONJ
fumecheng-2577	175	16	percentage	percentage	NOUN
fumecheng-2577	175	17	peak	peak	NOUN
fumecheng-2577	175	18	overshoot	overshoot	PROPN
fumecheng-2577	175	19	mp	mp	PROPN
fumecheng-2577	175	20	)	)	PUNCT
fumecheng-2577	175	21	are	be	AUX
fumecheng-2577	175	22	tabulated	tabulate	VERB
fumecheng-2577	175	23	in	in	ADP
fumecheng-2577	175	24	table	table	NOUN
fumecheng-2577	175	25	2	2	NUM
fumecheng-2577	175	26	.	.	PUNCT
fumecheng-2577	175	27	table	table	NOUN
fumecheng-2577	175	28	2	2	NUM
fumecheng-2577	175	29	pid	pid	NOUN
fumecheng-2577	175	30	parameters	parameter	NOUN
fumecheng-2577	175	31	and	and	CCONJ
fumecheng-2577	175	32	step	step	NOUN
fumecheng-2577	175	33	response	response	NOUN
fumecheng-2577	175	34	characteristics	characteristic	NOUN
fumecheng-2577	175	35	controlled	control	VERB
fumecheng-2577	175	36	state	state	NOUN
fumecheng-2577	175	37	(	(	PUNCT
fumecheng-2577	175	38	initial	initial	ADJ
fumecheng-2577	175	39	final	final	ADJ
fumecheng-2577	175	40	)	)	PUNCT
fumecheng-2577	175	41	kp	kp	PROPN
fumecheng-2577	175	42	ki	ki	PROPN
fumecheng-2577	175	43	kd	kd	PROPN
fumecheng-2577	175	44	ts	ts	ADP
fumecheng-2577	175	45	sec	sec	PROPN
fumecheng-2577	175	46	.	.	PROPN
fumecheng-2577	176	1	mp	mp	PROPN
fumecheng-2577	176	2	%	%	NOUN
fumecheng-2577	176	3	(	(	PUNCT
fumecheng-2577	176	4	0	0	NUM
fumecheng-2577	176	5	1	1	NUM
fumecheng-2577	176	6	.)dz	.)dz	PUNCT
fumecheng-2577	177	1	m	m	PROPN
fumecheng-2577	177	2	22.2	22.2	NUM
fumecheng-2577	177	3	22.4	22.4	NUM
fumecheng-2577	177	4	7.1	7.1	NUM
fumecheng-2577	177	5	1.18	1.18	NUM
fumecheng-2577	177	6	1.5	1.5	NUM
fumecheng-2577	177	7	(	(	PUNCT
fumecheng-2577	177	8	0	0	NUM
fumecheng-2577	177	9	5deg.)d	5deg.)d	NUM
fumecheng-2577	177	10			NOUN
fumecheng-2577	177	11	17.5	17.5	NUM
fumecheng-2577	177	12	1.04	1.04	NUM
fumecheng-2577	177	13	0.78	0.78	NUM
fumecheng-2577	177	14	0.16	0.16	NUM
fumecheng-2577	177	15	0.3	0.3	NUM
fumecheng-2577	177	16	(	(	PUNCT
fumecheng-2577	177	17	0	0	NUM
fumecheng-2577	177	18	5deg.)d	5deg.)d	NOUN
fumecheng-2577	177	19			NOUN
fumecheng-2577	177	20	17.5	17.5	NUM
fumecheng-2577	177	21	1.04	1.04	NUM
fumecheng-2577	177	22	0.78	0.78	NUM
fumecheng-2577	177	23	0.16	0.16	NUM
fumecheng-2577	177	24	0.3	0.3	NUM
fumecheng-2577	177	25	(	(	PUNCT
fumecheng-2577	177	26	0	0	NUM
fumecheng-2577	177	27	10deg.)d	10deg.)d	PROPN
fumecheng-2577	177	28			NOUN
fumecheng-2577	177	29	1.63	1.63	NUM
fumecheng-2577	177	30	0.04	0.04	NUM
fumecheng-2577	177	31	0.25	0.25	NUM
fumecheng-2577	177	32	0.43	0.43	NUM
fumecheng-2577	177	33	0.4	0.4	NUM
fumecheng-2577	177	34	(	(	PUNCT
fumecheng-2577	177	35	0	0	NUM
fumecheng-2577	177	36	2	2	NUM
fumecheng-2577	177	37	/	/	SYM
fumecheng-2577	177	38	sec.)d	sec.)d	PROPN
fumecheng-2577	177	39	mx	mx	PROPN
fumecheng-2577	177	40			PROPN
fumecheng-2577	177	41	0.99	0.99	NUM
fumecheng-2577	177	42	0.99	0.99	NUM
fumecheng-2577	177	43	0.05	0.05	NUM
fumecheng-2577	177	44	2.11	2.11	NUM
fumecheng-2577	177	45	7.8	7.8	NUM
fumecheng-2577	177	46	4	4	NUM
fumecheng-2577	177	47	.	.	PUNCT
fumecheng-2577	178	1	simulation	simulation	NOUN
fumecheng-2577	178	2	results	result	VERB
fumecheng-2577	178	3	in	in	ADP
fumecheng-2577	178	4	order	order	NOUN
fumecheng-2577	178	5	to	to	PART
fumecheng-2577	178	6	check	check	VERB
fumecheng-2577	178	7	the	the	DET
fumecheng-2577	178	8	validity	validity	NOUN
fumecheng-2577	178	9	of	of	ADP
fumecheng-2577	178	10	the	the	DET
fumecheng-2577	178	11	proposed	propose	VERB
fumecheng-2577	178	12	model	model	NOUN
fumecheng-2577	178	13	and	and	CCONJ
fumecheng-2577	178	14	controller	controller	NOUN
fumecheng-2577	178	15	,	,	PUNCT
fumecheng-2577	178	16	a	a	DET
fumecheng-2577	178	17	simulink	simulink	NOUN
fumecheng-2577	178	18	model	model	NOUN
fumecheng-2577	178	19	is	be	AUX
fumecheng-2577	178	20	developed	develop	VERB
fumecheng-2577	178	21	.	.	PUNCT
fumecheng-2577	179	1	the	the	DET
fumecheng-2577	179	2	purpose	purpose	NOUN
fumecheng-2577	179	3	of	of	ADP
fumecheng-2577	179	4	the	the	DET
fumecheng-2577	179	5	simulation	simulation	NOUN
fumecheng-2577	179	6	is	be	AUX
fumecheng-2577	179	7	to	to	PART
fumecheng-2577	179	8	highlight	highlight	VERB
fumecheng-2577	179	9	the	the	DET
fumecheng-2577	179	10	hcopter	hcopter	ADJ
fumecheng-2577	179	11	capabilities	capability	NOUN
fumecheng-2577	179	12	and	and	CCONJ
fumecheng-2577	179	13	the	the	DET
fumecheng-2577	179	14	dynamic	dynamic	ADJ
fumecheng-2577	179	15	rotor	rotor	NOUN
fumecheng-2577	179	16	tilting	tilting	NOUN
fumecheng-2577	179	17	advantages	advantage	NOUN
fumecheng-2577	179	18	.	.	PUNCT
fumecheng-2577	180	1	the	the	DET
fumecheng-2577	180	2	simulation	simulation	NOUN
fumecheng-2577	180	3	process	process	NOUN
fumecheng-2577	180	4	falls	fall	VERB
fumecheng-2577	180	5	into	into	ADP
fumecheng-2577	180	6	two	two	NUM
fumecheng-2577	180	7	phases	phase	NOUN
fumecheng-2577	180	8	.	.	PUNCT
fumecheng-2577	181	1	the	the	DET
fumecheng-2577	181	2	first	first	ADJ
fumecheng-2577	181	3	simulation	simulation	NOUN
fumecheng-2577	181	4	assumes	assume	VERB
fumecheng-2577	181	5	the	the	DET
fumecheng-2577	181	6	ideal	ideal	ADJ
fumecheng-2577	181	7	case	case	NOUN
fumecheng-2577	181	8	and	and	CCONJ
fumecheng-2577	181	9	the	the	DET
fumecheng-2577	181	10	second	second	ADJ
fumecheng-2577	181	11	simulation	simulation	NOUN
fumecheng-2577	181	12	assumes	assume	VERB
fumecheng-2577	181	13	the	the	DET
fumecheng-2577	181	14	existence	existence	NOUN
fumecheng-2577	181	15	of	of	ADP
fumecheng-2577	181	16	sensor	sensor	NOUN
fumecheng-2577	181	17	noise	noise	NOUN
fumecheng-2577	181	18	,	,	PUNCT
fumecheng-2577	181	19	parameters	parameter	NOUN
fumecheng-2577	181	20	uncertainties	uncertainty	NOUN
fumecheng-2577	181	21	,	,	PUNCT
fumecheng-2577	181	22	and	and	CCONJ
fumecheng-2577	181	23	external	external	ADJ
fumecheng-2577	181	24	disturbances	disturbance	NOUN
fumecheng-2577	181	25	.	.	PUNCT
fumecheng-2577	182	1	4.1	4.1	NUM
fumecheng-2577	182	2	.	.	PUNCT
fumecheng-2577	182	3	ideal	ideal	ADJ
fumecheng-2577	182	4	case	case	NOUN
fumecheng-2577	182	5	altitude	altitude	NOUN
fumecheng-2577	182	6	and	and	CCONJ
fumecheng-2577	182	7	attitude	attitude	NOUN
fumecheng-2577	182	8	tracking	tracking	NOUN
fumecheng-2577	182	9	:	:	PUNCT
fumecheng-2577	182	10	in	in	ADP
fumecheng-2577	182	11	this	this	DET
fumecheng-2577	182	12	test	test	NOUN
fumecheng-2577	182	13	,	,	PUNCT
fumecheng-2577	182	14	it	it	PRON
fumecheng-2577	182	15	is	be	AUX
fumecheng-2577	182	16	assumed	assume	VERB
fumecheng-2577	182	17	that	that	SCONJ
fumecheng-2577	182	18	the	the	DET
fumecheng-2577	182	19	hcopter	hcopter	NOUN
fumecheng-2577	182	20	is	be	AUX
fumecheng-2577	182	21	initially	initially	ADV
fumecheng-2577	182	22	at	at	ADP
fumecheng-2577	182	23	rest	rest	NOUN
fumecheng-2577	182	24	(	(	PUNCT
fumecheng-2577	182	25	p	p	X
fumecheng-2577	182	26	e	e	NOUN
fumecheng-2577	182	27	=[	=[	NOUN
fumecheng-2577	182	28	0,0,0	0,0,0	NOUN
fumecheng-2577	182	29	]	]	X
fumecheng-2577	182	30	t	t	NOUN
fumecheng-2577	182	31	,	,	PUNCT
fumecheng-2577	182	32	o	o	PROPN
fumecheng-2577	182	33	b	b	NOUN
fumecheng-2577	182	34	=[	=[	NOUN
fumecheng-2577	182	35	0,0,0	0,0,0	NOUN
fumecheng-2577	182	36	]	]	X
fumecheng-2577	182	37	t	t	NOUN
fumecheng-2577	182	38	)	)	PUNCT
fumecheng-2577	182	39	and	and	CCONJ
fumecheng-2577	182	40	it	it	PRON
fumecheng-2577	182	41	is	be	AUX
fumecheng-2577	182	42	then	then	ADV
fumecheng-2577	182	43	ordered	order	VERB
fumecheng-2577	182	44	to	to	PART
fumecheng-2577	182	45	climb	climb	VERB
fumecheng-2577	182	46	to	to	ADP
fumecheng-2577	182	47	1	1	NUM
fumecheng-2577	182	48	meter	meter	NOUN
fumecheng-2577	182	49	(	(	PUNCT
fumecheng-2577	182	50	z	z	NOUN
fumecheng-2577	182	51	=	=	SYM
fumecheng-2577	182	52	1	1	NUM
fumecheng-2577	182	53	m.	m.	NOUN
fumecheng-2577	182	54	)	)	PUNCT
fumecheng-2577	182	55	.	.	PUNCT
fumecheng-2577	183	1	the	the	DET
fumecheng-2577	183	2	vehicle	vehicle	NOUN
fumecheng-2577	183	3	is	be	AUX
fumecheng-2577	183	4	then	then	ADV
fumecheng-2577	183	5	commanded	command	VERB
fumecheng-2577	183	6	to	to	PART
fumecheng-2577	183	7	follow	follow	VERB
fumecheng-2577	183	8	the	the	DET
fumecheng-2577	183	9	following	follow	VERB
fumecheng-2577	183	10	desired	desire	VERB
fumecheng-2577	183	11	attitude	attitude	NOUN
fumecheng-2577	183	12	(	(	PUNCT
fumecheng-2577	183	13	φd	φd	PROPN
fumecheng-2577	183	14	=	=	PROPN
fumecheng-2577	183	15	5deg	5deg	NUM
fumecheng-2577	183	16	.	.	PUNCT
fumecheng-2577	184	1	at	at	ADP
fumecheng-2577	184	2	t=1sec	t=1sec	PROPN
fumecheng-2577	184	3	.	.	PROPN
fumecheng-2577	184	4	,	,	PUNCT
fumecheng-2577	184	5	θd	θd	NOUN
fumecheng-2577	184	6	=	=	PUNCT
fumecheng-2577	184	7	–	–	PUNCT
fumecheng-2577	184	8	5deg	5deg	NUM
fumecheng-2577	184	9	.	.	PUNCT
fumecheng-2577	185	1	at	at	ADP
fumecheng-2577	185	2	t=2sec	t=2sec	PROPN
fumecheng-2577	185	3	.	.	PROPN
fumecheng-2577	185	4	,	,	PUNCT
fumecheng-2577	185	5	ψd	ψd	ADP
fumecheng-2577	185	6	=	=	NOUN
fumecheng-2577	185	7	10deg	10deg	NOUN
fumecheng-2577	185	8	.	.	PUNCT
fumecheng-2577	186	1	at	at	ADP
fumecheng-2577	186	2	t=3sec	t=3sec	PROPN
fumecheng-2577	186	3	.	.	PUNCT
fumecheng-2577	186	4	)	)	PUNCT
fumecheng-2577	186	5	.	.	PUNCT
fumecheng-2577	187	1	the	the	DET
fumecheng-2577	187	2	simulation	simulation	NOUN
fumecheng-2577	187	3	results	result	VERB
fumecheng-2577	187	4	for	for	ADP
fumecheng-2577	187	5	the	the	DET
fumecheng-2577	187	6	desired	desire	VERB
fumecheng-2577	187	7	step	step	NOUN
fumecheng-2577	187	8	inputs	input	NOUN
fumecheng-2577	187	9	are	be	AUX
fumecheng-2577	187	10	shown	show	VERB
fumecheng-2577	187	11	in	in	ADP
fumecheng-2577	187	12	fig	fig	NOUN
fumecheng-2577	187	13	.	.	PUNCT
fumecheng-2577	188	1	5	5	NUM
fumecheng-2577	188	2	,	,	PUNCT
fumecheng-2577	188	3	while	while	SCONJ
fumecheng-2577	188	4	the	the	DET
fumecheng-2577	188	5	step	step	NOUN
fumecheng-2577	188	6	input	input	NOUN
fumecheng-2577	188	7	characteristics	characteristic	NOUN
fumecheng-2577	188	8	for	for	ADP
fumecheng-2577	188	9	this	this	DET
fumecheng-2577	188	10	test	test	NOUN
fumecheng-2577	188	11	are	be	AUX
fumecheng-2577	188	12	given	give	VERB
fumecheng-2577	188	13	in	in	ADP
fumecheng-2577	188	14	table	table	NOUN
fumecheng-2577	188	15	2	2	NUM
fumecheng-2577	188	16	.	.	PUNCT
fumecheng-2577	188	17	hcopter	hcopter	ADJ
fumecheng-2577	188	18	speed	speed	NOUN
fumecheng-2577	188	19	control	control	NOUN
fumecheng-2577	188	20	:	:	PUNCT
fumecheng-2577	188	21	in	in	ADP
fumecheng-2577	188	22	this	this	DET
fumecheng-2577	188	23	part	part	NOUN
fumecheng-2577	188	24	of	of	ADP
fumecheng-2577	188	25	the	the	DET
fumecheng-2577	188	26	simulation	simulation	NOUN
fumecheng-2577	188	27	,	,	PUNCT
fumecheng-2577	188	28	the	the	DET
fumecheng-2577	188	29	hcopter	hcopter	NOUN
fumecheng-2577	188	30	is	be	AUX
fumecheng-2577	188	31	assumed	assume	VERB
fumecheng-2577	188	32	to	to	PART
fumecheng-2577	188	33	be	be	AUX
fumecheng-2577	188	34	hovering	hover	VERB
fumecheng-2577	188	35	at	at	ADP
fumecheng-2577	188	36	z	z	NOUN
fumecheng-2577	188	37	=	=	SYM
fumecheng-2577	188	38	1	1	NUM
fumecheng-2577	188	39	meter	meter	NOUN
fumecheng-2577	188	40	,	,	PUNCT
fumecheng-2577	188	41	and	and	CCONJ
fumecheng-2577	188	42	it	it	PRON
fumecheng-2577	188	43	is	be	AUX
fumecheng-2577	188	44	required	require	VERB
fumecheng-2577	188	45	that	that	SCONJ
fumecheng-2577	188	46	the	the	DET
fumecheng-2577	188	47	body	body	NOUN
fumecheng-2577	188	48	roll	roll	NOUN
fumecheng-2577	188	49	,	,	PUNCT
fumecheng-2577	188	50	pitch	pitch	NOUN
fumecheng-2577	188	51	and	and	CCONJ
fumecheng-2577	188	52	yaw	yaw	NOUN
fumecheng-2577	188	53	angles	angle	NOUN
fumecheng-2577	188	54	should	should	AUX
fumecheng-2577	188	55	be	be	AUX
fumecheng-2577	188	56	kept	keep	VERB
fumecheng-2577	188	57	at	at	ADP
fumecheng-2577	188	58	zero	zero	NUM
fumecheng-2577	188	59	degree	degree	NOUN
fumecheng-2577	188	60	.	.	PUNCT
fumecheng-2577	189	1	test	test	NOUN
fumecheng-2577	189	2	1	1	NUM
fumecheng-2577	189	3	:	:	PUNCT
fumecheng-2577	189	4	the	the	DET
fumecheng-2577	189	5	hcopter	hcopter	NOUN
fumecheng-2577	189	6	in	in	ADP
fumecheng-2577	189	7	this	this	DET
fumecheng-2577	189	8	test	test	NOUN
fumecheng-2577	189	9	is	be	AUX
fumecheng-2577	189	10	examined	examine	VERB
fumecheng-2577	189	11	for	for	ADP
fumecheng-2577	189	12	its	its	PRON
fumecheng-2577	189	13	ability	ability	NOUN
fumecheng-2577	189	14	to	to	PART
fumecheng-2577	189	15	maintain	maintain	VERB
fumecheng-2577	189	16	a	a	DET
fumecheng-2577	189	17	constant	constant	ADJ
fumecheng-2577	189	18	speed	speed	NOUN
fumecheng-2577	189	19	while	while	SCONJ
fumecheng-2577	189	20	keeping	keep	VERB
fumecheng-2577	189	21	its	its	PRON
fumecheng-2577	189	22	body	body	NOUN
fumecheng-2577	189	23	leveled	level	VERB
fumecheng-2577	189	24	φd	φd	NOUN
fumecheng-2577	189	25	=	=	SYM
fumecheng-2577	189	26	θd	θd	PROPN
fumecheng-2577	189	27	=	=	PROPN
fumecheng-2577	189	28	0deg	0deg	PROPN
fumecheng-2577	189	29	.	.	PUNCT
fumecheng-2577	190	1	the	the	DET
fumecheng-2577	190	2	speed	speed	NOUN
fumecheng-2577	190	3	throttle	throttle	NOUN
fumecheng-2577	190	4	is	be	AUX
fumecheng-2577	190	5	applied	apply	VERB
fumecheng-2577	190	6	gradually	gradually	ADV
fumecheng-2577	190	7	simulating	simulate	VERB
fumecheng-2577	190	8	a	a	DET
fumecheng-2577	190	9	ramp	ramp	NOUN
fumecheng-2577	190	10	input	input	NOUN
fumecheng-2577	190	11	from	from	ADP
fumecheng-2577	190	12	rest	rest	NOUN
fumecheng-2577	190	13	to	to	ADP
fumecheng-2577	190	14	10	10	NUM
fumecheng-2577	190	15	m	m	NOUN
fumecheng-2577	190	16	/	/	SYM
fumecheng-2577	190	17	sec(36	sec(36	NOUN
fumecheng-2577	190	18	km/h	km/h	NOUN
fumecheng-2577	190	19	)	)	PUNCT
fumecheng-2577	190	20	in	in	ADP
fumecheng-2577	190	21	5	5	NUM
fumecheng-2577	190	22	seconds	second	NOUN
fumecheng-2577	190	23	as	as	SCONJ
fumecheng-2577	190	24	shown	show	VERB
fumecheng-2577	190	25	in	in	ADP
fumecheng-2577	190	26	fig	fig	NOUN
fumecheng-2577	190	27	.	.	PUNCT
fumecheng-2577	191	1	6a	6a	NOUN
fumecheng-2577	191	2	.	.	PUNCT
fumecheng-2577	192	1	the	the	DET
fumecheng-2577	192	2	simulation	simulation	NOUN
fumecheng-2577	192	3	results	result	VERB
fumecheng-2577	192	4	in	in	ADP
fumecheng-2577	192	5	figs	fig	NOUN
fumecheng-2577	192	6	.	.	PUNCT
fumecheng-2577	193	1	6b	6b	NOUN
fumecheng-2577	193	2	and	and	CCONJ
fumecheng-2577	193	3	6c	6c	NOUN
fumecheng-2577	193	4	show	show	VERB
fumecheng-2577	193	5	that	that	SCONJ
fumecheng-2577	193	6	the	the	DET
fumecheng-2577	193	7	hcopter	hcopter	NOUN
fumecheng-2577	193	8	can	can	AUX
fumecheng-2577	193	9	track	track	VERB
fumecheng-2577	193	10	the	the	DET
fumecheng-2577	193	11	desired	desire	VERB
fumecheng-2577	193	12	speed	speed	NOUN
fumecheng-2577	193	13	efficiently	efficiently	ADV
fumecheng-2577	193	14	while	while	SCONJ
fumecheng-2577	193	15	maintaining	maintain	VERB
fumecheng-2577	193	16	zero	zero	NUM
fumecheng-2577	193	17	attitudes	attitude	NOUN
fumecheng-2577	193	18	which	which	PRON
fumecheng-2577	193	19	is	be	AUX
fumecheng-2577	193	20	impossible	impossible	ADJ
fumecheng-2577	193	21	for	for	SCONJ
fumecheng-2577	193	22	conventional	conventional	ADJ
fumecheng-2577	193	23	quadcopter	quadcopter	NOUN
fumecheng-2577	193	24	to	to	PART
fumecheng-2577	193	25	do	do	VERB
fumecheng-2577	193	26	[	[	PUNCT
fumecheng-2577	193	27	22	22	NUM
fumecheng-2577	193	28	]	]	PUNCT
fumecheng-2577	193	29	.	.	PUNCT
fumecheng-2577	194	1	test	test	NOUN
fumecheng-2577	194	2	2	2	NUM
fumecheng-2577	194	3	:	:	PUNCT
fumecheng-2577	194	4	the	the	DET
fumecheng-2577	194	5	aim	aim	NOUN
fumecheng-2577	194	6	of	of	ADP
fumecheng-2577	194	7	this	this	DET
fumecheng-2577	194	8	test	test	NOUN
fumecheng-2577	194	9	is	be	AUX
fumecheng-2577	194	10	to	to	PART
fumecheng-2577	194	11	find	find	VERB
fumecheng-2577	194	12	the	the	DET
fumecheng-2577	194	13	maximum	maximum	ADJ
fumecheng-2577	194	14	forward	forward	ADV
fumecheng-2577	194	15	moving	move	VERB
fumecheng-2577	194	16	speed	speed	NOUN
fumecheng-2577	194	17	that	that	PRON
fumecheng-2577	194	18	our	our	PRON
fumecheng-2577	194	19	proposed	propose	VERB
fumecheng-2577	194	20	hcopter	hcopter	NOUN
fumecheng-2577	194	21	can	can	AUX
fumecheng-2577	194	22	reach	reach	VERB
fumecheng-2577	194	23	.	.	PUNCT
fumecheng-2577	195	1	the	the	DET
fumecheng-2577	195	2	tilt	tilt	NOUN
fumecheng-2577	195	3	angle	angle	NOUN
fumecheng-2577	195	4	is	be	AUX
fumecheng-2577	195	5	increased	increase	VERB
fumecheng-2577	195	6	gradually	gradually	ADV
fumecheng-2577	195	7	from	from	ADP
fumecheng-2577	195	8	0	0	NUM
fumecheng-2577	195	9	deg	deg	NOUN
fumecheng-2577	195	10	to	to	ADP
fumecheng-2577	195	11	its	its	PRON
fumecheng-2577	195	12	maximum	maximum	ADJ
fumecheng-2577	195	13	modelling	modelling	NOUN
fumecheng-2577	195	14	and	and	CCONJ
fumecheng-2577	195	15	control	control	NOUN
fumecheng-2577	195	16	of	of	ADP
fumecheng-2577	195	17	h	h	NOUN
fumecheng-2577	195	18	-	-	PUNCT
fumecheng-2577	195	19	shaped	shape	VERB
fumecheng-2577	195	20	racing	racing	NOUN
fumecheng-2577	195	21	quadcopter	quadcopter	NOUN
fumecheng-2577	195	22	with	with	ADP
fumecheng-2577	195	23	tilting	tilt	VERB
fumecheng-2577	195	24	propellers	propeller	NOUN
fumecheng-2577	195	25	211	211	NUM
fumecheng-2577	195	26	allowable	allowable	ADJ
fumecheng-2577	195	27	limit	limit	NOUN
fumecheng-2577	195	28	(	(	PUNCT
fumecheng-2577	195	29	45	45	NUM
fumecheng-2577	195	30	deg	deg	NOUN
fumecheng-2577	195	31	.	.	PUNCT
fumecheng-2577	195	32	)	)	PUNCT
fumecheng-2577	196	1	in	in	ADP
fumecheng-2577	196	2	10	10	NUM
fumecheng-2577	196	3	sec	sec	PROPN
fumecheng-2577	196	4	.	.	PUNCT
fumecheng-2577	197	1	it	it	PRON
fumecheng-2577	197	2	can	can	AUX
fumecheng-2577	197	3	be	be	AUX
fumecheng-2577	197	4	seen	see	VERB
fumecheng-2577	197	5	from	from	ADP
fumecheng-2577	197	6	fig	fig	NOUN
fumecheng-2577	197	7	.	.	PUNCT
fumecheng-2577	198	1	7	7	NUM
fumecheng-2577	199	1	that	that	PRON
fumecheng-2577	199	2	the	the	DET
fumecheng-2577	199	3	maximum	maximum	ADJ
fumecheng-2577	199	4	reachable	reachable	ADJ
fumecheng-2577	199	5	speed	speed	NOUN
fumecheng-2577	199	6	is	be	AUX
fumecheng-2577	199	7	approximately	approximately	ADV
fumecheng-2577	199	8	39	39	NUM
fumecheng-2577	199	9	m	m	NOUN
fumecheng-2577	199	10	/	/	SYM
fumecheng-2577	199	11	sec	sec	PROPN
fumecheng-2577	199	12	(	(	PUNCT
fumecheng-2577	199	13	140	140	NUM
fumecheng-2577	199	14	km/h	km/h	NOUN
fumecheng-2577	199	15	)	)	PUNCT
fumecheng-2577	199	16	.	.	PUNCT
fumecheng-2577	200	1	a	a	DET
fumecheng-2577	200	2	)	)	PUNCT
fumecheng-2577	200	3	b	b	NOUN
fumecheng-2577	200	4	)	)	PUNCT
fumecheng-2577	200	5	fig	fig	NOUN
fumecheng-2577	200	6	.	.	PUNCT
fumecheng-2577	201	1	5	5	NUM
fumecheng-2577	201	2	step	step	NOUN
fumecheng-2577	201	3	input	input	NOUN
fumecheng-2577	201	4	test	test	NOUN
fumecheng-2577	201	5	simulation	simulation	NOUN
fumecheng-2577	201	6	results	result	VERB
fumecheng-2577	201	7	:	:	PUNCT
fumecheng-2577	201	8	a	a	X
fumecheng-2577	201	9	)	)	PUNCT
fumecheng-2577	201	10	altitude	altitude	NOUN
fumecheng-2577	201	11	response	response	NOUN
fumecheng-2577	201	12	;	;	PUNCT
fumecheng-2577	201	13	b	b	X
fumecheng-2577	201	14	)	)	PUNCT
fumecheng-2577	201	15	attitude	attitude	NOUN
fumecheng-2577	201	16	response	response	NOUN
fumecheng-2577	201	17	a	a	DET
fumecheng-2577	201	18	)	)	PUNCT
fumecheng-2577	201	19	b	b	NOUN
fumecheng-2577	201	20	)	)	PUNCT
fumecheng-2577	201	21	c	c	NOUN
fumecheng-2577	201	22	)	)	PUNCT
fumecheng-2577	201	23	fig	fig	NOUN
fumecheng-2577	201	24	.	.	PUNCT
fumecheng-2577	202	1	6	6	NUM
fumecheng-2577	202	2	speed	speed	NOUN
fumecheng-2577	202	3	control	control	NOUN
fumecheng-2577	202	4	test	test	NOUN
fumecheng-2577	202	5	simulation	simulation	NOUN
fumecheng-2577	202	6	results	result	VERB
fumecheng-2577	202	7	:	:	PUNCT
fumecheng-2577	202	8	a	a	X
fumecheng-2577	202	9	)	)	PUNCT
fumecheng-2577	202	10	desired	desire	VERB
fumecheng-2577	202	11	speed	speed	NOUN
fumecheng-2577	202	12	;	;	PUNCT
fumecheng-2577	202	13	b	b	X
fumecheng-2577	202	14	)	)	PUNCT
fumecheng-2577	202	15	speed	speed	NOUN
fumecheng-2577	202	16	error	error	NOUN
fumecheng-2577	202	17	;	;	PUNCT
fumecheng-2577	202	18	c	c	X
fumecheng-2577	202	19	)	)	PUNCT
fumecheng-2577	202	20	attitude	attitude	NOUN
fumecheng-2577	202	21	behavior	behavior	NOUN
fumecheng-2577	202	22	fig	fig	NOUN
fumecheng-2577	202	23	.	.	PUNCT
fumecheng-2577	203	1	7	7	NUM
fumecheng-2577	203	2	hcopter	hcopter	ADJ
fumecheng-2577	203	3	maximum	maximum	ADJ
fumecheng-2577	203	4	speed	speed	NOUN
fumecheng-2577	203	5	test	test	NOUN
fumecheng-2577	203	6	simulation	simulation	NOUN
fumecheng-2577	203	7	result	result	VERB
fumecheng-2577	203	8	212	212	NUM
fumecheng-2577	203	9	a.	a.	NOUN
fumecheng-2577	203	10	alkamachi	alkamachi	PROPN
fumecheng-2577	203	11	,	,	PUNCT
fumecheng-2577	203	12	e.	e.	PROPN
fumecheng-2577	203	13	ercelebi	ercelebi	PROPN
fumecheng-2577	203	14	air	air	PROPN
fumecheng-2577	203	15	braking	braking	NOUN
fumecheng-2577	203	16	:	:	PUNCT
fumecheng-2577	203	17	from	from	ADP
fumecheng-2577	203	18	the	the	DET
fumecheng-2577	203	19	previous	previous	ADJ
fumecheng-2577	203	20	test	test	NOUN
fumecheng-2577	203	21	,	,	PUNCT
fumecheng-2577	203	22	it	it	PRON
fumecheng-2577	203	23	can	can	AUX
fumecheng-2577	203	24	be	be	AUX
fumecheng-2577	203	25	noticed	notice	VERB
fumecheng-2577	203	26	that	that	SCONJ
fumecheng-2577	203	27	the	the	DET
fumecheng-2577	203	28	proposed	propose	VERB
fumecheng-2577	203	29	quadcopter	quadcopter	NOUN
fumecheng-2577	203	30	could	could	AUX
fumecheng-2577	203	31	reach	reach	VERB
fumecheng-2577	203	32	a	a	DET
fumecheng-2577	203	33	very	very	ADV
fumecheng-2577	203	34	high	high	ADJ
fumecheng-2577	203	35	forward	forward	ADJ
fumecheng-2577	203	36	speed	speed	NOUN
fumecheng-2577	203	37	in	in	ADP
fumecheng-2577	203	38	a	a	DET
fumecheng-2577	203	39	relatively	relatively	ADV
fumecheng-2577	203	40	short	short	ADJ
fumecheng-2577	203	41	period	period	NOUN
fumecheng-2577	203	42	;	;	PUNCT
fumecheng-2577	203	43	thus	thus	ADV
fumecheng-2577	203	44	,	,	PUNCT
fumecheng-2577	203	45	a	a	DET
fumecheng-2577	203	46	solid	solid	ADJ
fumecheng-2577	203	47	brake	brake	NOUN
fumecheng-2577	203	48	is	be	AUX
fumecheng-2577	203	49	required	require	VERB
fumecheng-2577	203	50	to	to	PART
fumecheng-2577	203	51	rein	rein	VERB
fumecheng-2577	203	52	the	the	DET
fumecheng-2577	203	53	vehicle	vehicle	NOUN
fumecheng-2577	203	54	efficiently	efficiently	ADV
fumecheng-2577	203	55	at	at	ADP
fumecheng-2577	203	56	the	the	DET
fumecheng-2577	203	57	proper	proper	ADJ
fumecheng-2577	203	58	time	time	NOUN
fumecheng-2577	203	59	.	.	PUNCT
fumecheng-2577	204	1	fortunately	fortunately	ADV
fumecheng-2577	204	2	,	,	PUNCT
fumecheng-2577	204	3	the	the	DET
fumecheng-2577	204	4	rotor	rotor	NOUN
fumecheng-2577	204	5	tilt	tilt	NOUN
fumecheng-2577	204	6	mechanism	mechanism	NOUN
fumecheng-2577	204	7	offers	offer	VERB
fumecheng-2577	204	8	an	an	DET
fumecheng-2577	204	9	instant	instant	ADJ
fumecheng-2577	204	10	braking	brake	VERB
fumecheng-2577	204	11	system	system	NOUN
fumecheng-2577	204	12	that	that	PRON
fumecheng-2577	204	13	reduces	reduce	VERB
fumecheng-2577	204	14	the	the	DET
fumecheng-2577	204	15	vehicle	vehicle	NOUN
fumecheng-2577	204	16	speed	speed	NOUN
fumecheng-2577	204	17	to	to	ADP
fumecheng-2577	204	18	zero	zero	NUM
fumecheng-2577	204	19	in	in	ADP
fumecheng-2577	204	20	a	a	DET
fumecheng-2577	204	21	very	very	ADV
fumecheng-2577	204	22	short	short	ADJ
fumecheng-2577	204	23	period	period	NOUN
fumecheng-2577	204	24	.	.	PUNCT
fumecheng-2577	205	1	in	in	ADP
fumecheng-2577	205	2	this	this	DET
fumecheng-2577	205	3	test	test	NOUN
fumecheng-2577	205	4	,	,	PUNCT
fumecheng-2577	205	5	the	the	DET
fumecheng-2577	205	6	hcopter	hcopter	ADJ
fumecheng-2577	205	7	forward	forward	ADJ
fumecheng-2577	205	8	speed	speed	NOUN
fumecheng-2577	205	9	is	be	AUX
fumecheng-2577	205	10	increased	increase	VERB
fumecheng-2577	205	11	to	to	ADP
fumecheng-2577	205	12	10	10	NUM
fumecheng-2577	205	13	m	m	NOUN
fumecheng-2577	205	14	/	/	SYM
fumecheng-2577	205	15	s	s	X
fumecheng-2577	205	16	and	and	CCONJ
fumecheng-2577	205	17	then	then	ADV
fumecheng-2577	205	18	suddenly	suddenly	ADV
fumecheng-2577	205	19	reduced	reduce	VERB
fumecheng-2577	205	20	to	to	ADP
fumecheng-2577	205	21	zero	zero	NUM
fumecheng-2577	205	22	.	.	PUNCT
fumecheng-2577	206	1	from	from	ADP
fumecheng-2577	206	2	fig	fig	NOUN
fumecheng-2577	206	3	.	.	PUNCT
fumecheng-2577	207	1	8a	8a	NUM
fumecheng-2577	207	2	,	,	PUNCT
fumecheng-2577	207	3	it	it	PRON
fumecheng-2577	207	4	can	can	AUX
fumecheng-2577	207	5	be	be	AUX
fumecheng-2577	207	6	seen	see	VERB
fumecheng-2577	207	7	that	that	SCONJ
fumecheng-2577	207	8	the	the	DET
fumecheng-2577	207	9	rotors	rotor	NOUN
fumecheng-2577	207	10	tilted	tilt	VERB
fumecheng-2577	207	11	with	with	ADP
fumecheng-2577	207	12	a	a	DET
fumecheng-2577	207	13	positive	positive	ADJ
fumecheng-2577	207	14	angle	angle	NOUN
fumecheng-2577	207	15	during	during	ADP
fumecheng-2577	207	16	the	the	DET
fumecheng-2577	207	17	acceleration	acceleration	NOUN
fumecheng-2577	207	18	period	period	NOUN
fumecheng-2577	207	19	and	and	CCONJ
fumecheng-2577	207	20	instantaneously	instantaneously	ADV
fumecheng-2577	207	21	flipped	flip	VERB
fumecheng-2577	207	22	to	to	ADP
fumecheng-2577	207	23	the	the	DET
fumecheng-2577	207	24	opposite	opposite	ADJ
fumecheng-2577	207	25	side	side	NOUN
fumecheng-2577	207	26	to	to	PART
fumecheng-2577	207	27	provide	provide	VERB
fumecheng-2577	207	28	the	the	DET
fumecheng-2577	207	29	necessary	necessary	ADJ
fumecheng-2577	207	30	horizontal	horizontal	ADJ
fumecheng-2577	207	31	opposite	opposite	ADJ
fumecheng-2577	207	32	force	force	NOUN
fumecheng-2577	207	33	to	to	PART
fumecheng-2577	207	34	stop	stop	VERB
fumecheng-2577	207	35	the	the	DET
fumecheng-2577	207	36	vehicle	vehicle	NOUN
fumecheng-2577	207	37	.	.	PUNCT
fumecheng-2577	208	1	the	the	DET
fumecheng-2577	208	2	hcopter	hcopter	ADJ
fumecheng-2577	208	3	speed	speed	NOUN
fumecheng-2577	208	4	behavior	behavior	NOUN
fumecheng-2577	208	5	is	be	AUX
fumecheng-2577	208	6	shown	show	VERB
fumecheng-2577	208	7	in	in	ADP
fumecheng-2577	208	8	fig	fig	NOUN
fumecheng-2577	208	9	.	.	PUNCT
fumecheng-2577	209	1	8b	8b	NUM
fumecheng-2577	209	2	.	.	PUNCT
fumecheng-2577	210	1	a	a	PRON
fumecheng-2577	210	2	)	)	PUNCT
fumecheng-2577	210	3	b	b	NOUN
fumecheng-2577	210	4	)	)	PUNCT
fumecheng-2577	210	5	fig	fig	NOUN
fumecheng-2577	210	6	.	.	NOUN
fumecheng-2577	210	7	8	8	NUM
fumecheng-2577	210	8	air	air	NOUN
fumecheng-2577	210	9	braking	brake	VERB
fumecheng-2577	210	10	test	test	NOUN
fumecheng-2577	210	11	simulation	simulation	NOUN
fumecheng-2577	210	12	results	result	VERB
fumecheng-2577	210	13	:	:	PUNCT
fumecheng-2577	210	14	a	a	X
fumecheng-2577	210	15	)	)	PUNCT
fumecheng-2577	210	16	tilt	tilt	NOUN
fumecheng-2577	210	17	angle	angle	NOUN
fumecheng-2577	210	18	behavior	behavior	NOUN
fumecheng-2577	210	19	;	;	PUNCT
fumecheng-2577	210	20	b	b	X
fumecheng-2577	210	21	)	)	PUNCT
fumecheng-2577	210	22	vehicle	vehicle	NOUN
fumecheng-2577	210	23	speed	speed	NOUN
fumecheng-2577	210	24	4.2	4.2	NUM
fumecheng-2577	210	25	.	.	PUNCT
fumecheng-2577	211	1	non	non	ADJ
fumecheng-2577	211	2	-	-	ADJ
fumecheng-2577	211	3	ideal	ideal	ADJ
fumecheng-2577	211	4	case	case	NOUN
fumecheng-2577	211	5	in	in	ADP
fumecheng-2577	211	6	the	the	DET
fumecheng-2577	211	7	non	non	ADJ
fumecheng-2577	211	8	-	-	ADJ
fumecheng-2577	211	9	ideal	ideal	ADJ
fumecheng-2577	211	10	case	case	NOUN
fumecheng-2577	211	11	,	,	PUNCT
fumecheng-2577	211	12	three	three	NUM
fumecheng-2577	211	13	tests	test	NOUN
fumecheng-2577	211	14	were	be	AUX
fumecheng-2577	211	15	made	make	VERB
fumecheng-2577	211	16	to	to	PART
fumecheng-2577	211	17	examine	examine	VERB
fumecheng-2577	211	18	the	the	DET
fumecheng-2577	211	19	model	model	NOUN
fumecheng-2577	211	20	validity	validity	NOUN
fumecheng-2577	211	21	and	and	CCONJ
fumecheng-2577	211	22	the	the	DET
fumecheng-2577	211	23	controller	controller	NOUN
fumecheng-2577	211	24	robustness	robustness	NOUN
fumecheng-2577	211	25	with	with	ADP
fumecheng-2577	211	26	the	the	DET
fumecheng-2577	211	27	existence	existence	NOUN
fumecheng-2577	211	28	of	of	ADP
fumecheng-2577	211	29	white	white	ADJ
fumecheng-2577	211	30	gaussian	gaussian	PROPN
fumecheng-2577	211	31	sensor	sensor	NOUN
fumecheng-2577	211	32	noise	noise	NOUN
fumecheng-2577	211	33	,	,	PUNCT
fumecheng-2577	211	34	external	external	ADJ
fumecheng-2577	211	35	disturbances	disturbance	NOUN
fumecheng-2577	211	36	,	,	PUNCT
fumecheng-2577	211	37	and	and	CCONJ
fumecheng-2577	211	38	model	model	NOUN
fumecheng-2577	211	39	parameters	parameter	NOUN
fumecheng-2577	211	40	uncertainty	uncertainty	NOUN
fumecheng-2577	211	41	.	.	PUNCT
fumecheng-2577	212	1	sensor	sensor	NOUN
fumecheng-2577	212	2	noise	noise	NOUN
fumecheng-2577	212	3	:	:	PUNCT
fumecheng-2577	212	4	the	the	DET
fumecheng-2577	212	5	hcopter	hcopter	NOUN
fumecheng-2577	212	6	is	be	AUX
fumecheng-2577	212	7	assumed	assume	VERB
fumecheng-2577	212	8	to	to	PART
fumecheng-2577	212	9	be	be	AUX
fumecheng-2577	212	10	hovering	hover	VERB
fumecheng-2577	212	11	horizontally	horizontally	ADV
fumecheng-2577	212	12	at	at	ADP
fumecheng-2577	212	13	z	z	NOUN
fumecheng-2577	212	14	=	=	SYM
fumecheng-2577	212	15	1	1	NUM
fumecheng-2577	212	16	meter	meter	NOUN
fumecheng-2577	212	17	.	.	PUNCT
fumecheng-2577	213	1	a	a	DET
fumecheng-2577	213	2	white	white	ADJ
fumecheng-2577	213	3	gaussian	gaussian	NOUN
fumecheng-2577	213	4	noise	noise	NOUN
fumecheng-2577	213	5	with	with	ADP
fumecheng-2577	213	6	zero	zero	NUM
fumecheng-2577	213	7	mean	mean	NOUN
fumecheng-2577	213	8	(	(	PUNCT
fumecheng-2577	213	9	shown	show	VERB
fumecheng-2577	213	10	in	in	ADP
fumecheng-2577	213	11	fig	fig	NOUN
fumecheng-2577	213	12	.	.	PUNCT
fumecheng-2577	214	1	9a	9a	NOUN
fumecheng-2577	214	2	)	)	PUNCT
fumecheng-2577	214	3	is	be	AUX
fumecheng-2577	214	4	applied	apply	VERB
fumecheng-2577	214	5	to	to	ADP
fumecheng-2577	214	6	the	the	DET
fumecheng-2577	214	7	model	model	NOUN
fumecheng-2577	214	8	in	in	ADP
fumecheng-2577	214	9	the	the	DET
fumecheng-2577	214	10	feedback	feedback	NOUN
fumecheng-2577	214	11	loop	loop	NOUN
fumecheng-2577	214	12	to	to	PART
fumecheng-2577	214	13	simulate	simulate	VERB
fumecheng-2577	214	14	the	the	DET
fumecheng-2577	214	15	sensor	sensor	NOUN
fumecheng-2577	214	16	noise	noise	NOUN
fumecheng-2577	214	17	.	.	PUNCT
fumecheng-2577	215	1	the	the	DET
fumecheng-2577	215	2	simulation	simulation	NOUN
fumecheng-2577	215	3	results	result	VERB
fumecheng-2577	215	4	in	in	ADP
fumecheng-2577	215	5	figs	fig	NOUN
fumecheng-2577	215	6	.	.	PUNCT
fumecheng-2577	216	1	9b	9b	NOUN
fumecheng-2577	216	2	and	and	CCONJ
fumecheng-2577	216	3	9c	9c	NUM
fumecheng-2577	216	4	reveal	reveal	VERB
fumecheng-2577	216	5	the	the	DET
fumecheng-2577	216	6	controller	controller	NOUN
fumecheng-2577	216	7	ability	ability	NOUN
fumecheng-2577	216	8	of	of	ADP
fumecheng-2577	216	9	suppressing	suppress	VERB
fumecheng-2577	216	10	the	the	DET
fumecheng-2577	216	11	sensor	sensor	NOUN
fumecheng-2577	216	12	noise	noise	NOUN
fumecheng-2577	216	13	successfully	successfully	ADV
fumecheng-2577	216	14	.	.	PUNCT
fumecheng-2577	217	1	the	the	DET
fumecheng-2577	217	2	maximum	maximum	ADJ
fumecheng-2577	217	3	error	error	NOUN
fumecheng-2577	217	4	in	in	ADP
fumecheng-2577	217	5	the	the	DET
fumecheng-2577	217	6	altitude	altitude	NOUN
fumecheng-2577	217	7	is	be	AUX
fumecheng-2577	217	8	just	just	ADV
fumecheng-2577	217	9	a	a	DET
fumecheng-2577	217	10	few	few	ADJ
fumecheng-2577	217	11	millimeters	millimeter	NOUN
fumecheng-2577	217	12	and	and	CCONJ
fumecheng-2577	217	13	the	the	DET
fumecheng-2577	217	14	maximum	maximum	ADJ
fumecheng-2577	217	15	drift	drift	NOUN
fumecheng-2577	217	16	in	in	ADP
fumecheng-2577	217	17	the	the	DET
fumecheng-2577	217	18	orientation	orientation	NOUN
fumecheng-2577	217	19	is	be	AUX
fumecheng-2577	217	20	bounded	bound	VERB
fumecheng-2577	217	21	by	by	ADP
fumecheng-2577	217	22	+	+	PROPN
fumecheng-2577	217	23	/	/	SYM
fumecheng-2577	217	24	–	–	PUNCT
fumecheng-2577	217	25	0.01	0.01	NUM
fumecheng-2577	217	26	degree	degree	NOUN
fumecheng-2577	217	27	.	.	PUNCT
fumecheng-2577	218	1	external	external	ADJ
fumecheng-2577	218	2	disturbance	disturbance	NOUN
fumecheng-2577	218	3	:	:	PUNCT
fumecheng-2577	218	4	the	the	DET
fumecheng-2577	218	5	hcopter	hcopter	NOUN
fumecheng-2577	218	6	is	be	AUX
fumecheng-2577	218	7	assumed	assume	VERB
fumecheng-2577	218	8	to	to	PART
fumecheng-2577	218	9	be	be	AUX
fumecheng-2577	218	10	hovering	hover	VERB
fumecheng-2577	218	11	horizontally	horizontally	ADV
fumecheng-2577	218	12	at	at	ADP
fumecheng-2577	218	13	z	z	NOUN
fumecheng-2577	218	14	=	=	SYM
fumecheng-2577	218	15	1	1	NUM
fumecheng-2577	218	16	meter	meter	NOUN
fumecheng-2577	218	17	and	and	CCONJ
fumecheng-2577	218	18	it	it	PRON
fumecheng-2577	218	19	is	be	AUX
fumecheng-2577	218	20	commanded	command	VERB
fumecheng-2577	218	21	to	to	PART
fumecheng-2577	218	22	travel	travel	VERB
fumecheng-2577	218	23	with	with	ADP
fumecheng-2577	218	24	10	10	NUM
fumecheng-2577	218	25	m	m	NOUN
fumecheng-2577	218	26	/	/	SYM
fumecheng-2577	218	27	sec(36	sec(36	NOUN
fumecheng-2577	218	28	km/h	km/h	NOUN
fumecheng-2577	218	29	)	)	PUNCT
fumecheng-2577	218	30	in	in	ADP
fumecheng-2577	218	31	the	the	DET
fumecheng-2577	218	32	forward	forward	ADJ
fumecheng-2577	218	33	direction	direction	NOUN
fumecheng-2577	218	34	with	with	ADP
fumecheng-2577	218	35	the	the	DET
fumecheng-2577	218	36	existence	existence	NOUN
fumecheng-2577	218	37	of	of	ADP
fumecheng-2577	218	38	opposite	opposite	ADJ
fumecheng-2577	218	39	light	light	ADJ
fumecheng-2577	218	40	wind	wind	NOUN
fumecheng-2577	218	41	with	with	ADP
fumecheng-2577	218	42	a	a	DET
fumecheng-2577	218	43	fixed	fix	VERB
fumecheng-2577	218	44	speed	speed	NOUN
fumecheng-2577	218	45	of	of	ADP
fumecheng-2577	218	46	1.2	1.2	NUM
fumecheng-2577	218	47	m	m	NOUN
fumecheng-2577	218	48	/	/	SYM
fumecheng-2577	218	49	sec(4.5	sec(4.5	NUM
fumecheng-2577	218	50	km/h	km/h	NOUN
fumecheng-2577	218	51	)	)	PUNCT
fumecheng-2577	219	1	[	[	X
fumecheng-2577	219	2	23	23	NUM
fumecheng-2577	219	3	]	]	PUNCT
fumecheng-2577	219	4	.	.	PUNCT
fumecheng-2577	220	1	the	the	DET
fumecheng-2577	220	2	simulation	simulation	NOUN
fumecheng-2577	220	3	result	result	NOUN
fumecheng-2577	220	4	shown	show	VERB
fumecheng-2577	220	5	in	in	ADP
fumecheng-2577	220	6	fig	fig	NOUN
fumecheng-2577	220	7	.	.	PUNCT
fumecheng-2577	221	1	10	10	NUM
fumecheng-2577	221	2	asserts	assert	VERB
fumecheng-2577	221	3	the	the	DET
fumecheng-2577	221	4	controller	controller	NOUN
fumecheng-2577	221	5	effectiveness	effectiveness	NOUN
fumecheng-2577	221	6	in	in	ADP
fumecheng-2577	221	7	coping	cope	VERB
fumecheng-2577	221	8	with	with	ADP
fumecheng-2577	221	9	the	the	DET
fumecheng-2577	221	10	external	external	ADJ
fumecheng-2577	221	11	disturbances	disturbance	NOUN
fumecheng-2577	221	12	.	.	PUNCT
fumecheng-2577	222	1	modelling	modelling	NOUN
fumecheng-2577	222	2	and	and	CCONJ
fumecheng-2577	222	3	control	control	NOUN
fumecheng-2577	222	4	of	of	ADP
fumecheng-2577	222	5	h	h	NOUN
fumecheng-2577	222	6	-	-	PUNCT
fumecheng-2577	222	7	shaped	shape	VERB
fumecheng-2577	222	8	racing	racing	NOUN
fumecheng-2577	222	9	quadcopter	quadcopter	NOUN
fumecheng-2577	222	10	with	with	ADP
fumecheng-2577	222	11	tilting	tilt	VERB
fumecheng-2577	222	12	propellers	propeller	NOUN
fumecheng-2577	222	13	213	213	NUM
fumecheng-2577	222	14	a	a	DET
fumecheng-2577	222	15	)	)	PUNCT
fumecheng-2577	222	16	b	b	NOUN
fumecheng-2577	222	17	)	)	PUNCT
fumecheng-2577	222	18	c	c	NOUN
fumecheng-2577	222	19	)	)	PUNCT
fumecheng-2577	222	20	fig	fig	NOUN
fumecheng-2577	222	21	.	.	PUNCT
fumecheng-2577	223	1	9	9	NUM
fumecheng-2577	223	2	noise	noise	NOUN
fumecheng-2577	223	3	suppression	suppression	NOUN
fumecheng-2577	223	4	test	test	NOUN
fumecheng-2577	223	5	simulation	simulation	NOUN
fumecheng-2577	223	6	results	result	VERB
fumecheng-2577	223	7	:	:	PUNCT
fumecheng-2577	223	8	a	a	X
fumecheng-2577	223	9	)	)	PUNCT
fumecheng-2577	223	10	noise	noise	NOUN
fumecheng-2577	223	11	signal	signal	NOUN
fumecheng-2577	223	12	;	;	PUNCT
fumecheng-2577	223	13	b	b	X
fumecheng-2577	223	14	)	)	PUNCT
fumecheng-2577	223	15	altitude	altitude	NOUN
fumecheng-2577	223	16	drift	drift	NOUN
fumecheng-2577	223	17	;	;	PUNCT
fumecheng-2577	223	18	c	c	X
fumecheng-2577	223	19	)	)	PUNCT
fumecheng-2577	223	20	attitude	attitude	NOUN
fumecheng-2577	223	21	drift	drift	NOUN
fumecheng-2577	223	22	fig	fig	NOUN
fumecheng-2577	223	23	.	.	PUNCT
fumecheng-2577	224	1	10	10	NUM
fumecheng-2577	224	2	hcopter	hcopter	ADJ
fumecheng-2577	224	3	speed	speed	NOUN
fumecheng-2577	224	4	error	error	NOUN
fumecheng-2577	224	5	with	with	ADP
fumecheng-2577	224	6	and	and	CCONJ
fumecheng-2577	224	7	without	without	ADP
fumecheng-2577	224	8	the	the	DET
fumecheng-2577	224	9	effect	effect	NOUN
fumecheng-2577	224	10	of	of	ADP
fumecheng-2577	224	11	a	a	DET
fumecheng-2577	224	12	light	light	ADJ
fumecheng-2577	224	13	wind	wind	NOUN
fumecheng-2577	224	14	disturbance	disturbance	NOUN
fumecheng-2577	224	15	model	model	NOUN
fumecheng-2577	224	16	parameters	parameter	NOUN
fumecheng-2577	224	17	uncertainties	uncertainty	NOUN
fumecheng-2577	224	18	:	:	PUNCT
fumecheng-2577	224	19	to	to	PART
fumecheng-2577	224	20	check	check	VERB
fumecheng-2577	224	21	the	the	DET
fumecheng-2577	224	22	controller	controller	NOUN
fumecheng-2577	224	23	effectiveness	effectiveness	NOUN
fumecheng-2577	224	24	in	in	ADP
fumecheng-2577	224	25	dealing	deal	VERB
fumecheng-2577	224	26	with	with	ADP
fumecheng-2577	224	27	the	the	DET
fumecheng-2577	224	28	model	model	NOUN
fumecheng-2577	224	29	uncertainties	uncertainty	NOUN
fumecheng-2577	224	30	,	,	PUNCT
fumecheng-2577	224	31	the	the	DET
fumecheng-2577	224	32	vehicle	vehicle	NOUN
fumecheng-2577	224	33	is	be	AUX
fumecheng-2577	224	34	ordered	order	VERB
fumecheng-2577	224	35	to	to	PART
fumecheng-2577	224	36	change	change	VERB
fumecheng-2577	224	37	its	its	PRON
fumecheng-2577	224	38	altitude	altitude	NOUN
fumecheng-2577	224	39	from	from	ADP
fumecheng-2577	224	40	1	1	NUM
fumecheng-2577	224	41	to	to	PART
fumecheng-2577	224	42	2	2	NUM
fumecheng-2577	224	43	meter	meter	NOUN
fumecheng-2577	224	44	with	with	ADP
fumecheng-2577	224	45	and	and	CCONJ
fumecheng-2577	224	46	without	without	ADP
fumecheng-2577	224	47	the	the	DET
fumecheng-2577	224	48	existence	existence	NOUN
fumecheng-2577	224	49	of	of	ADP
fumecheng-2577	224	50	a	a	DET
fumecheng-2577	224	51	0.5	0.5	NUM
fumecheng-2577	224	52	kg	kg	NOUN
fumecheng-2577	224	53	.	.	PUNCT
fumecheng-2577	224	54	payload	payload	NOUN
fumecheng-2577	224	55	.	.	PUNCT
fumecheng-2577	225	1	the	the	DET
fumecheng-2577	225	2	payload	payload	NOUN
fumecheng-2577	225	3	is	be	AUX
fumecheng-2577	225	4	suspended	suspend	VERB
fumecheng-2577	225	5	from	from	ADP
fumecheng-2577	225	6	the	the	DET
fumecheng-2577	225	7	cog	cog	NOUN
fumecheng-2577	225	8	of	of	ADP
fumecheng-2577	225	9	the	the	DET
fumecheng-2577	225	10	model	model	NOUN
fumecheng-2577	225	11	.	.	PUNCT
fumecheng-2577	226	1	a	a	DET
fumecheng-2577	226	2	comparison	comparison	NOUN
fumecheng-2577	226	3	between	between	ADP
fumecheng-2577	226	4	the	the	DET
fumecheng-2577	226	5	results	result	NOUN
fumecheng-2577	226	6	(	(	PUNCT
fumecheng-2577	226	7	see	see	VERB
fumecheng-2577	226	8	fig	fig	NOUN
fumecheng-2577	226	9	.	.	PUNCT
fumecheng-2577	227	1	11	11	NUM
fumecheng-2577	227	2	)	)	PUNCT
fumecheng-2577	227	3	for	for	ADP
fumecheng-2577	227	4	both	both	DET
fumecheng-2577	227	5	cases	case	NOUN
fumecheng-2577	227	6	shows	show	VERB
fumecheng-2577	227	7	that	that	SCONJ
fumecheng-2577	227	8	the	the	DET
fumecheng-2577	227	9	controller	controller	NOUN
fumecheng-2577	227	10	performed	perform	VERB
fumecheng-2577	227	11	well	well	ADV
fumecheng-2577	227	12	against	against	ADP
fumecheng-2577	227	13	the	the	DET
fumecheng-2577	227	14	external	external	ADJ
fumecheng-2577	227	15	additive	additive	ADJ
fumecheng-2577	227	16	weight	weight	NOUN
fumecheng-2577	227	17	.	.	PUNCT
fumecheng-2577	228	1	fig	fig	NOUN
fumecheng-2577	228	2	.	.	PUNCT
fumecheng-2577	229	1	11	11	NUM
fumecheng-2577	229	2	uncertainty	uncertainty	NOUN
fumecheng-2577	229	3	test	test	NOUN
fumecheng-2577	229	4	simulation	simulation	NOUN
fumecheng-2577	229	5	results	result	VERB
fumecheng-2577	229	6	214	214	NUM
fumecheng-2577	229	7	a.	a.	NOUN
fumecheng-2577	229	8	alkamachi	alkamachi	PROPN
fumecheng-2577	229	9	,	,	PUNCT
fumecheng-2577	229	10	e.	e.	PROPN
fumecheng-2577	229	11	ercelebi	ercelebi	PROPN
fumecheng-2577	229	12	5	5	NUM
fumecheng-2577	229	13	.	.	PUNCT
fumecheng-2577	229	14	conclusion	conclusion	NOUN
fumecheng-2577	229	15	in	in	ADP
fumecheng-2577	229	16	this	this	DET
fumecheng-2577	229	17	paper	paper	NOUN
fumecheng-2577	229	18	,	,	PUNCT
fumecheng-2577	229	19	we	we	PRON
fumecheng-2577	229	20	have	have	AUX
fumecheng-2577	229	21	addressed	address	VERB
fumecheng-2577	229	22	the	the	DET
fumecheng-2577	229	23	modeling	modeling	NOUN
fumecheng-2577	229	24	and	and	CCONJ
fumecheng-2577	229	25	control	control	NOUN
fumecheng-2577	229	26	of	of	ADP
fumecheng-2577	229	27	a	a	DET
fumecheng-2577	229	28	novel	novel	ADJ
fumecheng-2577	229	29	tilt	tilt	NOUN
fumecheng-2577	229	30	rotor	rotor	NOUN
fumecheng-2577	229	31	h	h	NOUN
fumecheng-2577	229	32	-	-	PUNCT
fumecheng-2577	229	33	shaped	shape	VERB
fumecheng-2577	229	34	racing	racing	NOUN
fumecheng-2577	229	35	quadcopter	quadcopter	NOUN
fumecheng-2577	229	36	.	.	PUNCT
fumecheng-2577	230	1	compared	compare	VERB
fumecheng-2577	230	2	to	to	ADP
fumecheng-2577	230	3	the	the	DET
fumecheng-2577	230	4	traditional	traditional	ADJ
fumecheng-2577	230	5	quadcopter	quadcopter	NOUN
fumecheng-2577	230	6	,	,	PUNCT
fumecheng-2577	230	7	the	the	DET
fumecheng-2577	230	8	proposed	propose	VERB
fumecheng-2577	230	9	model	model	NOUN
fumecheng-2577	230	10	offers	offer	VERB
fumecheng-2577	230	11	higher	high	ADJ
fumecheng-2577	230	12	moving	move	VERB
fumecheng-2577	230	13	speed	speed	NOUN
fumecheng-2577	230	14	with	with	ADP
fumecheng-2577	230	15	instant	instant	ADJ
fumecheng-2577	230	16	air	air	NOUN
fumecheng-2577	230	17	brake	brake	NOUN
fumecheng-2577	230	18	.	.	PUNCT
fumecheng-2577	231	1	the	the	DET
fumecheng-2577	231	2	new	new	ADJ
fumecheng-2577	231	3	design	design	NOUN
fumecheng-2577	231	4	resolves	resolve	VERB
fumecheng-2577	231	5	an	an	DET
fumecheng-2577	231	6	important	important	ADJ
fumecheng-2577	231	7	part	part	NOUN
fumecheng-2577	231	8	of	of	ADP
fumecheng-2577	231	9	the	the	DET
fumecheng-2577	231	10	underactuation	underactuation	NOUN
fumecheng-2577	231	11	problem	problem	NOUN
fumecheng-2577	231	12	in	in	ADP
fumecheng-2577	231	13	the	the	DET
fumecheng-2577	231	14	traditional	traditional	ADJ
fumecheng-2577	231	15	quadcopter	quadcopter	NOUN
fumecheng-2577	231	16	where	where	SCONJ
fumecheng-2577	231	17	the	the	DET
fumecheng-2577	231	18	translational	translational	ADJ
fumecheng-2577	231	19	and	and	CCONJ
fumecheng-2577	231	20	rotational	rotational	ADJ
fumecheng-2577	231	21	motion	motion	NOUN
fumecheng-2577	231	22	can	can	AUX
fumecheng-2577	231	23	not	not	PART
fumecheng-2577	231	24	be	be	AUX
fumecheng-2577	231	25	controlled	control	VERB
fumecheng-2577	231	26	independently	independently	ADV
fumecheng-2577	231	27	.	.	PUNCT
fumecheng-2577	232	1	the	the	DET
fumecheng-2577	232	2	hcopter	hcopter	NOUN
fumecheng-2577	232	3	,	,	PUNCT
fumecheng-2577	232	4	in	in	ADP
fumecheng-2577	232	5	contrast	contrast	NOUN
fumecheng-2577	232	6	,	,	PUNCT
fumecheng-2577	232	7	allows	allow	VERB
fumecheng-2577	232	8	controlling	control	VERB
fumecheng-2577	232	9	the	the	DET
fumecheng-2577	232	10	rotors	rotor	NOUN
fumecheng-2577	232	11	thrust	thrust	VERB
fumecheng-2577	232	12	direction	direction	NOUN
fumecheng-2577	232	13	,	,	PUNCT
fumecheng-2577	232	14	therefore	therefore	ADV
fumecheng-2577	232	15	granting	grant	VERB
fumecheng-2577	232	16	additional	additional	ADJ
fumecheng-2577	232	17	control	control	NOUN
fumecheng-2577	232	18	input	input	NOUN
fumecheng-2577	232	19	results	result	NOUN
fumecheng-2577	232	20	in	in	ADP
fumecheng-2577	232	21	the	the	DET
fumecheng-2577	232	22	uncoupling	uncoupling	NOUN
fumecheng-2577	232	23	between	between	ADP
fumecheng-2577	232	24	the	the	DET
fumecheng-2577	232	25	pitch	pitch	NOUN
fumecheng-2577	232	26	and	and	CCONJ
fumecheng-2577	232	27	the	the	DET
fumecheng-2577	232	28	forward	forward	ADJ
fumecheng-2577	232	29	motion	motion	NOUN
fumecheng-2577	232	30	.	.	PUNCT
fumecheng-2577	233	1	several	several	ADJ
fumecheng-2577	233	2	simulation	simulation	NOUN
fumecheng-2577	233	3	tests	test	NOUN
fumecheng-2577	233	4	have	have	AUX
fumecheng-2577	233	5	been	be	AUX
fumecheng-2577	233	6	carried	carry	VERB
fumecheng-2577	233	7	out	out	ADP
fumecheng-2577	233	8	and	and	CCONJ
fumecheng-2577	233	9	the	the	DET
fumecheng-2577	233	10	results	result	NOUN
fumecheng-2577	233	11	have	have	AUX
fumecheng-2577	233	12	been	be	AUX
fumecheng-2577	233	13	demonstrated	demonstrate	VERB
fumecheng-2577	233	14	and	and	CCONJ
fumecheng-2577	233	15	discussed	discuss	VERB
fumecheng-2577	233	16	to	to	PART
fumecheng-2577	233	17	evaluate	evaluate	VERB
fumecheng-2577	233	18	the	the	DET
fumecheng-2577	233	19	proposed	propose	VERB
fumecheng-2577	233	20	controller	controller	NOUN
fumecheng-2577	233	21	validation	validation	NOUN
fumecheng-2577	233	22	.	.	PUNCT
fumecheng-2577	234	1	by	by	ADP
fumecheng-2577	234	2	obtaining	obtain	VERB
fumecheng-2577	234	3	these	these	DET
fumecheng-2577	234	4	encouraging	encouraging	ADJ
fumecheng-2577	234	5	results	result	NOUN
fumecheng-2577	234	6	,	,	PUNCT
fumecheng-2577	234	7	the	the	DET
fumecheng-2577	234	8	next	next	ADJ
fumecheng-2577	234	9	stage	stage	NOUN
fumecheng-2577	234	10	is	be	AUX
fumecheng-2577	234	11	to	to	PART
fumecheng-2577	234	12	design	design	VERB
fumecheng-2577	234	13	,	,	PUNCT
fumecheng-2577	234	14	build	build	VERB
fumecheng-2577	234	15	,	,	PUNCT
fumecheng-2577	234	16	and	and	CCONJ
fumecheng-2577	234	17	control	control	VERB
fumecheng-2577	234	18	the	the	DET
fumecheng-2577	234	19	hcopter	hcopter	ADJ
fumecheng-2577	234	20	prototype	prototype	NOUN
fumecheng-2577	234	21	.	.	PUNCT
fumecheng-2577	235	1	references	reference	NOUN
fumecheng-2577	235	2	1	1	NUM
fumecheng-2577	235	3	.	.	PUNCT
fumecheng-2577	236	1	salih	salih	PROPN
fumecheng-2577	236	2	,	,	PUNCT
fumecheng-2577	236	3	a.l	a.l	PROPN
fumecheng-2577	236	4	.	.	PROPN
fumecheng-2577	236	5	,	,	PUNCT
fumecheng-2577	236	6	moghavvemi	moghavvemi	NOUN
fumecheng-2577	236	7	,	,	PUNCT
fumecheng-2577	236	8	m.	m.	NOUN
fumecheng-2577	236	9	,	,	PUNCT
fumecheng-2577	236	10	mohamed	mohamed	PROPN
fumecheng-2577	236	11	,	,	PUNCT
fumecheng-2577	236	12	h.a.f	h.a.f	PROPN
fumecheng-2577	236	13	.	.	PROPN
fumecheng-2577	236	14	,	,	PUNCT
fumecheng-2577	236	15	gaeid	gaeid	NOUN
fumecheng-2577	236	16	,	,	PUNCT
fumecheng-2577	236	17	k.s	k.s	PROPN
fumecheng-2577	236	18	.	.	PROPN
fumecheng-2577	236	19	,	,	PUNCT
fumecheng-2577	236	20	2010	2010	NUM
fumecheng-2577	236	21	,	,	PUNCT
fumecheng-2577	236	22	modelling	modelling	NOUN
fumecheng-2577	236	23	and	and	CCONJ
fumecheng-2577	236	24	pid	pid	NOUN
fumecheng-2577	236	25	controller	controller	NOUN
fumecheng-2577	236	26	design	design	NOUN
fumecheng-2577	236	27	for	for	ADP
fumecheng-2577	236	28	a	a	DET
fumecheng-2577	236	29	quadrotor	quadrotor	NOUN
fumecheng-2577	236	30	unmanned	unmanned	ADJ
fumecheng-2577	236	31	air	air	NOUN
fumecheng-2577	236	32	vehicle	vehicle	NOUN
fumecheng-2577	236	33	,	,	PUNCT
fumecheng-2577	236	34	ieee	ieee	NOUN
fumecheng-2577	236	35	int	int	NOUN
fumecheng-2577	236	36	.	.	PUNCT
fumecheng-2577	237	1	conf	conf	PROPN
fumecheng-2577	237	2	.	.	PUNCT
fumecheng-2577	238	1	on	on	ADP
fumecheng-2577	238	2	automation	automation	NOUN
fumecheng-2577	238	3	quality	quality	NOUN
fumecheng-2577	238	4	and	and	CCONJ
fumecheng-2577	238	5	testing	testing	NOUN
fumecheng-2577	238	6	robotics	robotic	NOUN
fumecheng-2577	238	7	(	(	PUNCT
fumecheng-2577	238	8	aqtr	aqtr	NOUN
fumecheng-2577	238	9	)	)	PUNCT
fumecheng-2577	238	10	,	,	PUNCT
fumecheng-2577	238	11	1	1	NUM
fumecheng-2577	238	12	,	,	PUNCT
fumecheng-2577	238	13	pp	pp	ADJ
fumecheng-2577	238	14	.	.	PUNCT
fumecheng-2577	239	1	1–5	1–5	X
fumecheng-2577	239	2	.	.	NOUN
fumecheng-2577	239	3	2	2	NUM
fumecheng-2577	239	4	.	.	X
fumecheng-2577	239	5	mian	mian	PROPN
fumecheng-2577	239	6	,	,	PUNCT
fumecheng-2577	239	7	a.a	a.a	PROPN
fumecheng-2577	239	8	.	.	PROPN
fumecheng-2577	239	9	,	,	PUNCT
fumecheng-2577	239	10	wang	wang	PROPN
fumecheng-2577	239	11	,	,	PUNCT
fumecheng-2577	239	12	d.b	d.b	PROPN
fumecheng-2577	239	13	.	.	PROPN
fumecheng-2577	239	14	,	,	PUNCT
fumecheng-2577	239	15	2008	2008	NUM
fumecheng-2577	239	16	,	,	PUNCT
fumecheng-2577	239	17	dynamic	dynamic	ADJ
fumecheng-2577	239	18	modeling	modeling	NOUN
fumecheng-2577	239	19	and	and	CCONJ
fumecheng-2577	239	20	nonlinear	nonlinear	ADJ
fumecheng-2577	239	21	control	control	NOUN
fumecheng-2577	239	22	strategy	strategy	NOUN
fumecheng-2577	239	23	for	for	ADP
fumecheng-2577	239	24	an	an	DET
fumecheng-2577	239	25	underactuated	underactuated	ADJ
fumecheng-2577	239	26	quad	quad	PROPN
fumecheng-2577	239	27	rotor	rotor	NOUN
fumecheng-2577	239	28	rotorcraft	rotorcraft	PROPN
fumecheng-2577	239	29	,	,	PUNCT
fumecheng-2577	239	30	journal	journal	NOUN
fumecheng-2577	239	31	of	of	ADP
fumecheng-2577	239	32	zhejiang	zhejiang	PROPN
fumecheng-2577	239	33	university	university	PROPN
fumecheng-2577	239	34	-	-	PUNCT
fumecheng-2577	239	35	science	science	NOUN
fumecheng-2577	239	36	a	a	PRON
fumecheng-2577	239	37	,	,	PUNCT
fumecheng-2577	239	38	9(4	9(4	NUM
fumecheng-2577	239	39	)	)	PUNCT
fumecheng-2577	239	40	,	,	PUNCT
fumecheng-2577	239	41	pp	pp	ADJ
fumecheng-2577	239	42	.	.	PUNCT
fumecheng-2577	240	1	539	539	NUM
fumecheng-2577	240	2	-	-	SYM
fumecheng-2577	240	3	545	545	NUM
fumecheng-2577	240	4	.	.	PUNCT
fumecheng-2577	241	1	3	3	X
fumecheng-2577	241	2	.	.	X
fumecheng-2577	241	3	nemati	nemati	PROPN
fumecheng-2577	241	4	,	,	PUNCT
fumecheng-2577	241	5	a.	a.	PROPN
fumecheng-2577	241	6	,	,	PUNCT
fumecheng-2577	241	7	kumar	kumar	PROPN
fumecheng-2577	241	8	,	,	PUNCT
fumecheng-2577	241	9	m.	m.	NOUN
fumecheng-2577	241	10	,	,	PUNCT
fumecheng-2577	241	11	2014	2014	NUM
fumecheng-2577	241	12	,	,	PUNCT
fumecheng-2577	241	13	2014	2014	NUM
fumecheng-2577	241	14	,	,	PUNCT
fumecheng-2577	241	15	modeling	modeling	NOUN
fumecheng-2577	241	16	and	and	CCONJ
fumecheng-2577	241	17	control	control	NOUN
fumecheng-2577	241	18	of	of	ADP
fumecheng-2577	241	19	a	a	DET
fumecheng-2577	241	20	single	single	ADJ
fumecheng-2577	241	21	axis	axis	NOUN
fumecheng-2577	241	22	tilting	tilting	NOUN
fumecheng-2577	241	23	quadcopter	quadcopter	NOUN
fumecheng-2577	241	24	,	,	PUNCT
fumecheng-2577	241	25	ieee	ieee	PROPN
fumecheng-2577	241	26	american	american	PROPN
fumecheng-2577	241	27	control	control	PROPN
fumecheng-2577	241	28	conference	conference	PROPN
fumecheng-2577	241	29	(	(	PUNCT
fumecheng-2577	241	30	acc	acc	PROPN
fumecheng-2577	241	31	)	)	PUNCT
fumecheng-2577	241	32	,	,	PUNCT
fumecheng-2577	241	33	pp	pp	PROPN
fumecheng-2577	241	34	.	.	PUNCT
fumecheng-2577	242	1	3077	3077	NUM
fumecheng-2577	242	2	-	-	SYM
fumecheng-2577	242	3	3082	3082	NUM
fumecheng-2577	242	4	.	.	PUNCT
fumecheng-2577	243	1	4	4	X
fumecheng-2577	243	2	.	.	X
fumecheng-2577	243	3	bouabdallah	bouabdallah	PROPN
fumecheng-2577	243	4	,	,	PUNCT
fumecheng-2577	243	5	s.	s.	PROPN
fumecheng-2577	243	6	,	,	PUNCT
fumecheng-2577	243	7	noth	noth	PROPN
fumecheng-2577	243	8	,	,	PUNCT
fumecheng-2577	243	9	a.	a.	NOUN
fumecheng-2577	243	10	,	,	PUNCT
fumecheng-2577	243	11	siegwart	siegwart	PROPN
fumecheng-2577	243	12	,	,	PUNCT
fumecheng-2577	243	13	r.	r.	PROPN
fumecheng-2577	243	14	,	,	PUNCT
fumecheng-2577	243	15	2004	2004	NUM
fumecheng-2577	243	16	,	,	PUNCT
fumecheng-2577	243	17	pid	pid	NOUN
fumecheng-2577	243	18	vs	vs	ADP
fumecheng-2577	243	19	lq	lq	X
fumecheng-2577	243	20	control	control	NOUN
fumecheng-2577	243	21	techniques	technique	NOUN
fumecheng-2577	243	22	applied	apply	VERB
fumecheng-2577	243	23	to	to	ADP
fumecheng-2577	243	24	an	an	DET
fumecheng-2577	243	25	indoor	indoor	ADJ
fumecheng-2577	243	26	micro	micro	ADJ
fumecheng-2577	243	27	quadrotor	quadrotor	NOUN
fumecheng-2577	243	28	,	,	PUNCT
fumecheng-2577	243	29	ieee	ieee	NOUN
fumecheng-2577	243	30	/	/	SYM
fumecheng-2577	243	31	rsj	rsj	NOUN
fumecheng-2577	243	32	international	international	ADJ
fumecheng-2577	243	33	conference	conference	NOUN
fumecheng-2577	243	34	on	on	ADP
fumecheng-2577	243	35	intelligent	intelligent	ADJ
fumecheng-2577	243	36	robots	robot	NOUN
fumecheng-2577	243	37	and	and	CCONJ
fumecheng-2577	243	38	systems	system	NOUN
fumecheng-2577	243	39	(	(	PUNCT
fumecheng-2577	243	40	iros	iro	NOUN
fumecheng-2577	243	41	2004	2004	NUM
fumecheng-2577	243	42	)	)	PUNCT
fumecheng-2577	243	43	,	,	PUNCT
fumecheng-2577	243	44	3	3	NUM
fumecheng-2577	243	45	,	,	PUNCT
fumecheng-2577	243	46	pp	pp	ADJ
fumecheng-2577	243	47	.	.	PUNCT
fumecheng-2577	243	48	24512456	24512456	NUM
fumecheng-2577	243	49	.	.	PUNCT
fumecheng-2577	244	1	5	5	X
fumecheng-2577	244	2	.	.	X
fumecheng-2577	244	3	şenkul	şenkul	PROPN
fumecheng-2577	244	4	,	,	PUNCT
fumecheng-2577	244	5	f.	f.	PROPN
fumecheng-2577	244	6	,	,	PUNCT
fumecheng-2577	244	7	altuğ	altuğ	PROPN
fumecheng-2577	244	8	,	,	PUNCT
fumecheng-2577	244	9	e.	e.	PROPN
fumecheng-2577	244	10	,	,	PUNCT
fumecheng-2577	244	11	2013	2013	NUM
fumecheng-2577	244	12	,	,	PUNCT
fumecheng-2577	244	13	modeling	modeling	NOUN
fumecheng-2577	244	14	and	and	CCONJ
fumecheng-2577	244	15	control	control	NOUN
fumecheng-2577	244	16	of	of	ADP
fumecheng-2577	244	17	a	a	DET
fumecheng-2577	244	18	novel	novel	ADJ
fumecheng-2577	244	19	tilt	tilt	NOUN
fumecheng-2577	244	20	—	—	PUNCT
fumecheng-2577	244	21	roll	roll	NOUN
fumecheng-2577	244	22	rotor	rotor	NOUN
fumecheng-2577	244	23	quadrotor	quadrotor	PROPN
fumecheng-2577	244	24	uav	uav	PROPN
fumecheng-2577	244	25	,	,	PUNCT
fumecheng-2577	244	26	ieee	ieee	PROPN
fumecheng-2577	244	27	international	international	ADJ
fumecheng-2577	244	28	conference	conference	NOUN
fumecheng-2577	244	29	on	on	ADP
fumecheng-2577	244	30	unmanned	unmanned	ADJ
fumecheng-2577	244	31	aircraft	aircraft	NOUN
fumecheng-2577	244	32	systems	system	NOUN
fumecheng-2577	244	33	(	(	PUNCT
fumecheng-2577	244	34	icuas	icuas	NOUN
fumecheng-2577	244	35	)	)	PUNCT
fumecheng-2577	244	36	,	,	PUNCT
fumecheng-2577	244	37	pp	pp	ADP
fumecheng-2577	244	38	.	.	PUNCT
fumecheng-2577	245	1	1071	1071	NUM
fumecheng-2577	245	2	-	-	SYM
fumecheng-2577	245	3	1076	1076	NUM
fumecheng-2577	245	4	.	.	PUNCT
fumecheng-2577	246	1	6	6	NUM
fumecheng-2577	246	2	.	.	X
fumecheng-2577	246	3	çetinsoy	çetinsoy	NOUN
fumecheng-2577	246	4	,	,	PUNCT
fumecheng-2577	246	5	e.	e.	PROPN
fumecheng-2577	246	6	,	,	PUNCT
fumecheng-2577	246	7	dikyar	dikyar	PROPN
fumecheng-2577	246	8	,	,	PUNCT
fumecheng-2577	246	9	s.	s.	PROPN
fumecheng-2577	246	10	,	,	PUNCT
fumecheng-2577	246	11	hançer	hançer	PROPN
fumecheng-2577	246	12	,	,	PUNCT
fumecheng-2577	246	13	c.	c.	PROPN
fumecheng-2577	246	14	,	,	PUNCT
fumecheng-2577	246	15	oner	oner	NOUN
fumecheng-2577	246	16	,	,	PUNCT
fumecheng-2577	246	17	k.t	k.t	PROPN
fumecheng-2577	246	18	.	.	PROPN
fumecheng-2577	246	19	,	,	PUNCT
fumecheng-2577	246	20	sirimoglu	sirimoglu	PROPN
fumecheng-2577	246	21	,	,	PUNCT
fumecheng-2577	246	22	e.	e.	PROPN
fumecheng-2577	246	23	,	,	PUNCT
fumecheng-2577	246	24	unel	unel	PROPN
fumecheng-2577	246	25	,	,	PUNCT
fumecheng-2577	246	26	m.	m.	NOUN
fumecheng-2577	246	27	,	,	PUNCT
fumecheng-2577	246	28	aksit	aksit	PROPN
fumecheng-2577	246	29	,	,	PUNCT
fumecheng-2577	246	30	m.f	m.f	PROPN
fumecheng-2577	246	31	.	.	PROPN
fumecheng-2577	246	32	,	,	PUNCT
fumecheng-2577	246	33	2012	2012	NUM
fumecheng-2577	246	34	,	,	PUNCT
fumecheng-2577	246	35	design	design	NOUN
fumecheng-2577	246	36	and	and	CCONJ
fumecheng-2577	246	37	construction	construction	NOUN
fumecheng-2577	246	38	of	of	ADP
fumecheng-2577	246	39	a	a	DET
fumecheng-2577	246	40	novel	novel	NOUN
fumecheng-2577	246	41	quad	quad	ADV
fumecheng-2577	246	42	tilt	tilt	NOUN
fumecheng-2577	246	43	-	-	PUNCT
fumecheng-2577	246	44	wing	wing	NOUN
fumecheng-2577	246	45	uav	uav	PROPN
fumecheng-2577	246	46	,	,	PUNCT
fumecheng-2577	246	47	mechatronics	mechatronic	NOUN
fumecheng-2577	246	48	,	,	PUNCT
fumecheng-2577	246	49	22(6	22(6	NUM
fumecheng-2577	246	50	)	)	PUNCT
fumecheng-2577	246	51	,	,	PUNCT
fumecheng-2577	246	52	pp	pp	PROPN
fumecheng-2577	246	53	.	.	PUNCT
fumecheng-2577	247	1	723	723	NUM
fumecheng-2577	247	2	-	-	SYM
fumecheng-2577	247	3	745	745	NUM
fumecheng-2577	247	4	.	.	PUNCT
fumecheng-2577	248	1	7	7	NUM
fumecheng-2577	248	2	.	.	NUM
fumecheng-2577	248	3	mohamed	mohamed	PROPN
fumecheng-2577	248	4	,	,	PUNCT
fumecheng-2577	248	5	m.k	m.k	PROPN
fumecheng-2577	248	6	.	.	PROPN
fumecheng-2577	248	7	,	,	PUNCT
fumecheng-2577	248	8	lanzon	lanzon	NOUN
fumecheng-2577	248	9	,	,	PUNCT
fumecheng-2577	248	10	a.	a.	NOUN
fumecheng-2577	248	11	,	,	PUNCT
fumecheng-2577	248	12	2012	2012	NUM
fumecheng-2577	248	13	,	,	PUNCT
fumecheng-2577	248	14	design	design	NOUN
fumecheng-2577	248	15	and	and	CCONJ
fumecheng-2577	248	16	control	control	NOUN
fumecheng-2577	248	17	of	of	ADP
fumecheng-2577	248	18	novel	novel	ADJ
fumecheng-2577	248	19	tri	tri	ADJ
fumecheng-2577	248	20	-	-	ADJ
fumecheng-2577	248	21	rotor	rotor	ADJ
fumecheng-2577	248	22	uav	uav	PROPN
fumecheng-2577	248	23	,	,	PUNCT
fumecheng-2577	248	24	ieee	ieee	PROPN
fumecheng-2577	248	25	international	international	ADJ
fumecheng-2577	248	26	conference	conference	NOUN
fumecheng-2577	248	27	on	on	ADP
fumecheng-2577	248	28	control	control	NOUN
fumecheng-2577	248	29	(	(	PUNCT
fumecheng-2577	248	30	control	control	NOUN
fumecheng-2577	248	31	)	)	PUNCT
fumecheng-2577	248	32	ukacc	ukacc	PROPN
fumecheng-2577	248	33	,	,	PUNCT
fumecheng-2577	248	34	pp	pp	ADJ
fumecheng-2577	248	35	.	.	PUNCT
fumecheng-2577	249	1	304	304	NUM
fumecheng-2577	249	2	-	-	SYM
fumecheng-2577	249	3	309	309	NUM
fumecheng-2577	249	4	.	.	PUNCT
fumecheng-2577	250	1	8	8	NUM
fumecheng-2577	250	2	.	.	X
fumecheng-2577	251	1	ryll	ryll	NOUN
fumecheng-2577	251	2	,	,	PUNCT
fumecheng-2577	251	3	m.	m.	NOUN
fumecheng-2577	251	4	,	,	PUNCT
fumecheng-2577	251	5	bülthoff	bülthoff	NOUN
fumecheng-2577	251	6	,	,	PUNCT
fumecheng-2577	251	7	h.h	h.h	PROPN
fumecheng-2577	251	8	.	.	PROPN
fumecheng-2577	251	9	,	,	PUNCT
fumecheng-2577	251	10	giordano	giordano	PROPN
fumecheng-2577	251	11	,	,	PUNCT
fumecheng-2577	251	12	p.r	p.r	PROPN
fumecheng-2577	251	13	.	.	PROPN
fumecheng-2577	251	14	,	,	PUNCT
fumecheng-2577	251	15	2015	2015	NUM
fumecheng-2577	251	16	,	,	PUNCT
fumecheng-2577	251	17	a	a	DET
fumecheng-2577	251	18	novel	novel	NOUN
fumecheng-2577	251	19	overactuated	overactuate	VERB
fumecheng-2577	251	20	quadrotor	quadrotor	NOUN
fumecheng-2577	251	21	unmanned	unmanned	ADJ
fumecheng-2577	251	22	aerial	aerial	ADJ
fumecheng-2577	251	23	vehicle	vehicle	NOUN
fumecheng-2577	251	24	:	:	PUNCT
fumecheng-2577	251	25	modeling	modeling	NOUN
fumecheng-2577	251	26	,	,	PUNCT
fumecheng-2577	251	27	control	control	NOUN
fumecheng-2577	251	28	,	,	PUNCT
fumecheng-2577	251	29	and	and	CCONJ
fumecheng-2577	251	30	experimental	experimental	ADJ
fumecheng-2577	251	31	validation	validation	NOUN
fumecheng-2577	251	32	,	,	PUNCT
fumecheng-2577	251	33	ieee	ieee	NOUN
fumecheng-2577	251	34	transactions	transaction	NOUN
fumecheng-2577	251	35	on	on	ADP
fumecheng-2577	251	36	control	control	NOUN
fumecheng-2577	251	37	systems	system	NOUN
fumecheng-2577	251	38	technology	technology	NOUN
fumecheng-2577	251	39	,	,	PUNCT
fumecheng-2577	251	40	23(2	23(2	NOUN
fumecheng-2577	251	41	)	)	PUNCT
fumecheng-2577	251	42	,	,	PUNCT
fumecheng-2577	251	43	pp	pp	PROPN
fumecheng-2577	251	44	.	.	PUNCT
fumecheng-2577	252	1	540	540	NUM
fumecheng-2577	252	2	-	-	SYM
fumecheng-2577	252	3	556	556	NUM
fumecheng-2577	252	4	.	.	NOUN
fumecheng-2577	252	5	9	9	NUM
fumecheng-2577	252	6	.	.	X
fumecheng-2577	252	7	marconi	marconi	PROPN
fumecheng-2577	252	8	,	,	PUNCT
fumecheng-2577	252	9	l.	l.	PROPN
fumecheng-2577	252	10	,	,	PUNCT
fumecheng-2577	252	11	naldi	naldi	PROPN
fumecheng-2577	252	12	,	,	PUNCT
fumecheng-2577	252	13	r.	r.	PROPN
fumecheng-2577	252	14	,	,	PUNCT
fumecheng-2577	252	15	gentili	gentili	PROPN
fumecheng-2577	252	16	,	,	PUNCT
fumecheng-2577	252	17	l.	l.	PROPN
fumecheng-2577	252	18	,	,	PUNCT
fumecheng-2577	252	19	2011	2011	NUM
fumecheng-2577	252	20	,	,	PUNCT
fumecheng-2577	252	21	modelling	modelling	NOUN
fumecheng-2577	252	22	and	and	CCONJ
fumecheng-2577	252	23	control	control	NOUN
fumecheng-2577	252	24	of	of	ADP
fumecheng-2577	252	25	a	a	DET
fumecheng-2577	252	26	flying	fly	VERB
fumecheng-2577	252	27	robot	robot	NOUN
fumecheng-2577	252	28	interacting	interact	VERB
fumecheng-2577	252	29	with	with	ADP
fumecheng-2577	252	30	the	the	DET
fumecheng-2577	252	31	environment	environment	NOUN
fumecheng-2577	252	32	,	,	PUNCT
fumecheng-2577	252	33	automatica	automatica	PROPN
fumecheng-2577	252	34	,	,	PUNCT
fumecheng-2577	252	35	47(12	47(12	NUM
fumecheng-2577	252	36	)	)	PUNCT
fumecheng-2577	252	37	,	,	PUNCT
fumecheng-2577	252	38	pp	pp	ADJ
fumecheng-2577	252	39	.	.	PUNCT
fumecheng-2577	252	40	2571	2571	NUM
fumecheng-2577	252	41	-	-	SYM
fumecheng-2577	252	42	2583	2583	NUM
fumecheng-2577	252	43	.	.	PUNCT
fumecheng-2577	253	1	10	10	NUM
fumecheng-2577	253	2	.	.	PUNCT
fumecheng-2577	254	1	fernandes	fernande	NOUN
fumecheng-2577	254	2	,	,	PUNCT
fumecheng-2577	254	3	n.	n.	NOUN
fumecheng-2577	254	4	,	,	PUNCT
fumecheng-2577	254	5	2011	2011	NUM
fumecheng-2577	254	6	.	.	PUNCT
fumecheng-2577	255	1	design	design	NOUN
fumecheng-2577	255	2	and	and	CCONJ
fumecheng-2577	255	3	construction	construction	NOUN
fumecheng-2577	255	4	of	of	ADP
fumecheng-2577	255	5	a	a	DET
fumecheng-2577	255	6	multi	multi	ADJ
fumecheng-2577	255	7	-	-	NOUN
fumecheng-2577	255	8	rotor	rotor	NOUN
fumecheng-2577	255	9	with	with	ADP
fumecheng-2577	255	10	various	various	ADJ
fumecheng-2577	255	11	degrees	degree	NOUN
fumecheng-2577	255	12	of	of	ADP
fumecheng-2577	255	13	freedom	freedom	NOUN
fumecheng-2577	255	14	,	,	PUNCT
fumecheng-2577	255	15	m.sc	m.sc	PROPN
fumecheng-2577	255	16	.	.	PUNCT
fumecheng-2577	256	1	thesis	thesis	PROPN
fumecheng-2577	256	2	,	,	PUNCT
fumecheng-2577	256	3	technical	technical	PROPN
fumecheng-2577	256	4	univ	univ	PROPN
fumecheng-2577	256	5	.	.	PROPN
fumecheng-2577	256	6	of	of	ADP
fumecheng-2577	256	7	lisboa	lisboa	PROPN
fumecheng-2577	256	8	.	.	PUNCT
fumecheng-2577	257	1	11	11	NUM
fumecheng-2577	257	2	.	.	PUNCT
fumecheng-2577	258	1	elfeky	elfeky	NOUN
fumecheng-2577	258	2	,	,	PUNCT
fumecheng-2577	258	3	m.	m.	NOUN
fumecheng-2577	258	4	,	,	PUNCT
fumecheng-2577	258	5	elshafei	elshafei	NOUN
fumecheng-2577	258	6	,	,	PUNCT
fumecheng-2577	258	7	m.	m.	NOUN
fumecheng-2577	258	8	,	,	PUNCT
fumecheng-2577	258	9	saif	saif	PROPN
fumecheng-2577	258	10	,	,	PUNCT
fumecheng-2577	258	11	a.w.a	a.w.a	PROPN
fumecheng-2577	258	12	.	.	PROPN
fumecheng-2577	258	13	,	,	PUNCT
fumecheng-2577	258	14	al	al	PROPN
fumecheng-2577	258	15	-	-	PUNCT
fumecheng-2577	258	16	malki	malki	PROPN
fumecheng-2577	258	17	,	,	PUNCT
fumecheng-2577	258	18	m.f	m.f	PROPN
fumecheng-2577	258	19	.	.	PROPN
fumecheng-2577	258	20	,	,	PUNCT
fumecheng-2577	258	21	2013	2013	NUM
fumecheng-2577	258	22	,	,	PUNCT
fumecheng-2577	258	23	quadrotor	quadrotor	NOUN
fumecheng-2577	258	24	helicopter	helicopter	NOUN
fumecheng-2577	258	25	with	with	ADP
fumecheng-2577	258	26	tilting	tilt	VERB
fumecheng-2577	258	27	rotors	rotor	NOUN
fumecheng-2577	258	28	:	:	PUNCT
fumecheng-2577	258	29	modeling	modeling	NOUN
fumecheng-2577	258	30	and	and	CCONJ
fumecheng-2577	258	31	simulation	simulation	NOUN
fumecheng-2577	258	32	,	,	PUNCT
fumecheng-2577	258	33	ieee	ieee	PROPN
fumecheng-2577	258	34	world	world	PROPN
fumecheng-2577	258	35	congress	congress	PROPN
fumecheng-2577	258	36	on	on	ADP
fumecheng-2577	258	37	computer	computer	NOUN
fumecheng-2577	258	38	and	and	CCONJ
fumecheng-2577	258	39	information	information	NOUN
fumecheng-2577	258	40	technology	technology	NOUN
fumecheng-2577	258	41	(	(	PUNCT
fumecheng-2577	258	42	wccit	wccit	PROPN
fumecheng-2577	258	43	)	)	PUNCT
fumecheng-2577	258	44	,	,	PUNCT
fumecheng-2577	258	45	pp	pp	ADJ
fumecheng-2577	258	46	.	.	PUNCT
fumecheng-2577	259	1	1	1	NUM
fumecheng-2577	259	2	-	-	SYM
fumecheng-2577	259	3	5	5	NUM
fumecheng-2577	259	4	.	.	NOUN
fumecheng-2577	259	5	12	12	NUM
fumecheng-2577	259	6	.	.	PUNCT
fumecheng-2577	260	1	elfeky	elfeky	NOUN
fumecheng-2577	260	2	,	,	PUNCT
fumecheng-2577	260	3	m.	m.	NOUN
fumecheng-2577	260	4	,	,	PUNCT
fumecheng-2577	260	5	elshafei	elshafei	NOUN
fumecheng-2577	260	6	,	,	PUNCT
fumecheng-2577	260	7	m.	m.	NOUN
fumecheng-2577	260	8	,	,	PUNCT
fumecheng-2577	260	9	saif	saif	PROPN
fumecheng-2577	260	10	,	,	PUNCT
fumecheng-2577	260	11	a.w.a	a.w.a	PROPN
fumecheng-2577	260	12	.	.	PROPN
fumecheng-2577	260	13	,	,	PUNCT
fumecheng-2577	260	14	al	al	PROPN
fumecheng-2577	260	15	-	-	PUNCT
fumecheng-2577	260	16	malki	malki	PROPN
fumecheng-2577	260	17	,	,	PUNCT
fumecheng-2577	260	18	m.f	m.f	PROPN
fumecheng-2577	260	19	.	.	PROPN
fumecheng-2577	260	20	,	,	PUNCT
fumecheng-2577	260	21	2016	2016	NUM
fumecheng-2577	260	22	,	,	PUNCT
fumecheng-2577	260	23	modeling	modeling	NOUN
fumecheng-2577	260	24	and	and	CCONJ
fumecheng-2577	260	25	simulation	simulation	NOUN
fumecheng-2577	260	26	of	of	ADP
fumecheng-2577	260	27	quadrotor	quadrotor	PROPN
fumecheng-2577	260	28	uav	uav	PROPN
fumecheng-2577	260	29	with	with	ADP
fumecheng-2577	260	30	tilting	tilt	VERB
fumecheng-2577	260	31	rotors	rotor	NOUN
fumecheng-2577	260	32	,	,	PUNCT
fumecheng-2577	260	33	international	international	ADJ
fumecheng-2577	260	34	journal	journal	NOUN
fumecheng-2577	260	35	of	of	ADP
fumecheng-2577	260	36	control	control	NOUN
fumecheng-2577	260	37	,	,	PUNCT
fumecheng-2577	260	38	automation	automation	NOUN
fumecheng-2577	260	39	and	and	CCONJ
fumecheng-2577	260	40	systems	system	NOUN
fumecheng-2577	260	41	,	,	PUNCT
fumecheng-2577	260	42	14(4	14(4	NUM
fumecheng-2577	260	43	)	)	PUNCT
fumecheng-2577	260	44	,	,	PUNCT
fumecheng-2577	260	45	pp	pp	PROPN
fumecheng-2577	260	46	.	.	PUNCT
fumecheng-2577	261	1	1047	1047	NUM
fumecheng-2577	261	2	-	-	SYM
fumecheng-2577	261	3	1055	1055	NUM
fumecheng-2577	261	4	.	.	PUNCT
fumecheng-2577	262	1	13	13	NUM
fumecheng-2577	262	2	.	.	PUNCT
fumecheng-2577	263	1	badr	badr	PROPN
fumecheng-2577	263	2	,	,	PUNCT
fumecheng-2577	263	3	s.	s.	PROPN
fumecheng-2577	263	4	,	,	PUNCT
fumecheng-2577	263	5	mehrez	mehrez	PROPN
fumecheng-2577	263	6	,	,	PUNCT
fumecheng-2577	263	7	o.	o.	PROPN
fumecheng-2577	263	8	,	,	PUNCT
fumecheng-2577	263	9	kabeel	kabeel	PROPN
fumecheng-2577	263	10	,	,	PUNCT
fumecheng-2577	263	11	a.e	a.e	PROPN
fumecheng-2577	263	12	.	.	PROPN
fumecheng-2577	263	13	,	,	PUNCT
fumecheng-2577	263	14	2016	2016	NUM
fumecheng-2577	263	15	,	,	PUNCT
fumecheng-2577	263	16	a	a	DET
fumecheng-2577	263	17	novel	novel	ADJ
fumecheng-2577	263	18	modification	modification	NOUN
fumecheng-2577	263	19	for	for	ADP
fumecheng-2577	263	20	a	a	DET
fumecheng-2577	263	21	quadrotor	quadrotor	NOUN
fumecheng-2577	263	22	design	design	NOUN
fumecheng-2577	263	23	,	,	PUNCT
fumecheng-2577	263	24	ieee	ieee	PROPN
fumecheng-2577	263	25	international	international	ADJ
fumecheng-2577	263	26	conference	conference	NOUN
fumecheng-2577	263	27	on	on	ADP
fumecheng-2577	263	28	unmanned	unmanned	ADJ
fumecheng-2577	263	29	aircraft	aircraft	NOUN
fumecheng-2577	263	30	systems	system	NOUN
fumecheng-2577	263	31	(	(	PUNCT
fumecheng-2577	263	32	icuas	icuas	NOUN
fumecheng-2577	263	33	)	)	PUNCT
fumecheng-2577	263	34	,	,	PUNCT
fumecheng-2577	263	35	pp	pp	ADP
fumecheng-2577	263	36	.	.	PUNCT
fumecheng-2577	264	1	702	702	NUM
fumecheng-2577	264	2	-	-	SYM
fumecheng-2577	264	3	710	710	NUM
fumecheng-2577	264	4	.	.	PUNCT
fumecheng-2577	265	1	14	14	NUM
fumecheng-2577	265	2	.	.	PUNCT
fumecheng-2577	266	1	alkamachi	alkamachi	PROPN
fumecheng-2577	266	2	,	,	PUNCT
fumecheng-2577	266	3	a.	a.	NOUN
fumecheng-2577	266	4	,	,	PUNCT
fumecheng-2577	266	5	erçelebi	erçelebi	NOUN
fumecheng-2577	266	6	,	,	PUNCT
fumecheng-2577	266	7	e.	e.	PROPN
fumecheng-2577	266	8	,	,	PUNCT
fumecheng-2577	266	9	2017	2017	NUM
fumecheng-2577	266	10	,	,	PUNCT
fumecheng-2577	266	11	modelling	modelling	NOUN
fumecheng-2577	266	12	and	and	CCONJ
fumecheng-2577	266	13	genetic	genetic	ADJ
fumecheng-2577	266	14	algorithm	algorithm	NOUN
fumecheng-2577	266	15	based	base	VERB
fumecheng-2577	266	16	-	-	PUNCT
fumecheng-2577	266	17	pid	pid	NOUN
fumecheng-2577	266	18	control	control	NOUN
fumecheng-2577	266	19	of	of	ADP
fumecheng-2577	266	20	h	h	NOUN
fumecheng-2577	266	21	-	-	PUNCT
fumecheng-2577	266	22	shaped	shape	VERB
fumecheng-2577	266	23	racing	racing	NOUN
fumecheng-2577	266	24	quadcopter	quadcopter	NOUN
fumecheng-2577	266	25	,	,	PUNCT
fumecheng-2577	266	26	arabian	arabian	ADJ
fumecheng-2577	266	27	journal	journal	NOUN
fumecheng-2577	266	28	for	for	ADP
fumecheng-2577	266	29	science	science	NOUN
fumecheng-2577	266	30	and	and	CCONJ
fumecheng-2577	266	31	engineering	engineering	NOUN
fumecheng-2577	266	32	,	,	PUNCT
fumecheng-2577	266	33	pp	pp	ADJ
fumecheng-2577	266	34	.	.	PUNCT
fumecheng-2577	267	1	1	1	NUM
fumecheng-2577	267	2	-	-	SYM
fumecheng-2577	267	3	10	10	NUM
fumecheng-2577	267	4	,	,	PUNCT
fumecheng-2577	267	5	doi	doi	NOUN
fumecheng-2577	267	6	:	:	PUNCT
fumecheng-2577	267	7	10.1007	10.1007	NUM
fumecheng-2577	267	8	/	/	SYM
fumecheng-2577	267	9	s13369	s13369	PROPN
fumecheng-2577	267	10	-	-	PUNCT
fumecheng-2577	267	11	017	017	NUM
fumecheng-2577	267	12	-	-	PUNCT
fumecheng-2577	267	13	2433	2433	NUM
fumecheng-2577	267	14	-	-	SYM
fumecheng-2577	267	15	2	2	NUM
fumecheng-2577	267	16	.	.	NOUN
fumecheng-2577	267	17	15	15	NUM
fumecheng-2577	267	18	.	.	PUNCT
fumecheng-2577	268	1	hua	hua	PROPN
fumecheng-2577	268	2	,	,	PUNCT
fumecheng-2577	268	3	m.	m.	PROPN
fumecheng-2577	268	4	d.	d.	PROPN
fumecheng-2577	268	5	,	,	PUNCT
fumecheng-2577	268	6	hamel	hamel	PROPN
fumecheng-2577	268	7	,	,	PUNCT
fumecheng-2577	268	8	t.	t.	PROPN
fumecheng-2577	268	9	,	,	PUNCT
fumecheng-2577	268	10	morin	morin	PROPN
fumecheng-2577	268	11	,	,	PUNCT
fumecheng-2577	268	12	p.	p.	PROPN
fumecheng-2577	268	13	,	,	PUNCT
fumecheng-2577	268	14	samson	samson	PROPN
fumecheng-2577	268	15	,	,	PUNCT
fumecheng-2577	268	16	c.	c.	PROPN
fumecheng-2577	268	17	,	,	PUNCT
fumecheng-2577	268	18	2013	2013	NUM
fumecheng-2577	268	19	,	,	PUNCT
fumecheng-2577	268	20	introduction	introduction	NOUN
fumecheng-2577	268	21	to	to	PART
fumecheng-2577	268	22	feedback	feedback	VERB
fumecheng-2577	268	23	control	control	NOUN
fumecheng-2577	268	24	of	of	ADP
fumecheng-2577	268	25	underactuated	underactuated	ADJ
fumecheng-2577	268	26	vtolvehicles	vtolvehicle	NOUN
fumecheng-2577	268	27	:	:	PUNCT
fumecheng-2577	268	28	a	a	DET
fumecheng-2577	268	29	review	review	NOUN
fumecheng-2577	268	30	of	of	ADP
fumecheng-2577	268	31	basic	basic	ADJ
fumecheng-2577	268	32	control	control	NOUN
fumecheng-2577	268	33	design	design	NOUN
fumecheng-2577	268	34	ideas	idea	NOUN
fumecheng-2577	268	35	and	and	CCONJ
fumecheng-2577	268	36	principles	principle	NOUN
fumecheng-2577	268	37	,	,	PUNCT
fumecheng-2577	268	38	ieee	ieee	NOUN
fumecheng-2577	268	39	control	control	NOUN
fumecheng-2577	268	40	systems	systems	PROPN
fumecheng-2577	268	41	,	,	PUNCT
fumecheng-2577	268	42	33(1	33(1	NUM
fumecheng-2577	268	43	)	)	PUNCT
fumecheng-2577	268	44	,	,	PUNCT
fumecheng-2577	268	45	pp	pp	PROPN
fumecheng-2577	268	46	.	.	PUNCT
fumecheng-2577	269	1	61	61	NUM
fumecheng-2577	269	2	-	-	SYM
fumecheng-2577	269	3	75	75	NUM
fumecheng-2577	269	4	.	.	PUNCT
fumecheng-2577	270	1	16	16	NUM
fumecheng-2577	270	2	.	.	PUNCT
fumecheng-2577	271	1	gruber	gruber	PROPN
fumecheng-2577	271	2	,	,	PUNCT
fumecheng-2577	271	3	d.	d.	PROPN
fumecheng-2577	271	4	,	,	PUNCT
fumecheng-2577	271	5	2000	2000	NUM
fumecheng-2577	271	6	,	,	PUNCT
fumecheng-2577	271	7	the	the	DET
fumecheng-2577	271	8	mathematics	mathematic	NOUN
fumecheng-2577	271	9	of	of	ADP
fumecheng-2577	271	10	the	the	DET
fumecheng-2577	271	11	3d	3d	PROPN
fumecheng-2577	271	12	rotation	rotation	NOUN
fumecheng-2577	271	13	matrix	matrix	NOUN
fumecheng-2577	271	14	,	,	PUNCT
fumecheng-2577	271	15	xtreme	xtreme	PROPN
fumecheng-2577	271	16	game	game	NOUN
fumecheng-2577	271	17	developers	developer	NOUN
fumecheng-2577	271	18	conference	conference	VERB
fumecheng-2577	271	19	.	.	PUNCT
fumecheng-2577	272	1	17	17	NUM
fumecheng-2577	272	2	.	.	PUNCT
fumecheng-2577	273	1	bayrakceken	bayrakceken	VERB
fumecheng-2577	273	2	,	,	PUNCT
fumecheng-2577	273	3	m.k	m.k	PROPN
fumecheng-2577	273	4	.	.	PROPN
fumecheng-2577	273	5	,	,	PUNCT
fumecheng-2577	273	6	yalcin	yalcin	PROPN
fumecheng-2577	273	7	,	,	PUNCT
fumecheng-2577	273	8	m.k	m.k	PROPN
fumecheng-2577	273	9	.	.	PROPN
fumecheng-2577	273	10	,	,	PUNCT
fumecheng-2577	273	11	arisoy	arisoy	PROPN
fumecheng-2577	273	12	,	,	PUNCT
fumecheng-2577	273	13	a.	a.	NOUN
fumecheng-2577	273	14	,	,	PUNCT
fumecheng-2577	273	15	karamancioglu	karamancioglu	PROPN
fumecheng-2577	273	16	,	,	PUNCT
fumecheng-2577	273	17	a.	a.	NOUN
fumecheng-2577	273	18	,	,	PUNCT
fumecheng-2577	273	19	2011	2011	NUM
fumecheng-2577	273	20	,	,	PUNCT
fumecheng-2577	273	21	hil	hil	PROPN
fumecheng-2577	273	22	simulation	simulation	NOUN
fumecheng-2577	273	23	setup	setup	NOUN
fumecheng-2577	273	24	for	for	ADP
fumecheng-2577	273	25	attitude	attitude	NOUN
fumecheng-2577	273	26	control	control	NOUN
fumecheng-2577	273	27	of	of	ADP
fumecheng-2577	273	28	a	a	DET
fumecheng-2577	273	29	quadrotor	quadrotor	NOUN
fumecheng-2577	273	30	,	,	PUNCT
fumecheng-2577	273	31	ieee	ieee	PROPN
fumecheng-2577	273	32	international	international	ADJ
fumecheng-2577	273	33	conference	conference	NOUN
fumecheng-2577	273	34	on	on	ADP
fumecheng-2577	273	35	mechatronics	mechatronic	NOUN
fumecheng-2577	273	36	(	(	PUNCT
fumecheng-2577	273	37	icm	icm	NOUN
fumecheng-2577	273	38	)	)	PUNCT
fumecheng-2577	273	39	,	,	PUNCT
fumecheng-2577	273	40	pp	pp	PROPN
fumecheng-2577	273	41	.	.	PUNCT
fumecheng-2577	274	1	354	354	NUM
fumecheng-2577	274	2	-	-	SYM
fumecheng-2577	274	3	357	357	NUM
fumecheng-2577	274	4	.	.	PUNCT
fumecheng-2577	274	5	modelling	modelling	NOUN
fumecheng-2577	274	6	and	and	CCONJ
fumecheng-2577	274	7	control	control	NOUN
fumecheng-2577	274	8	of	of	ADP
fumecheng-2577	274	9	h	h	NOUN
fumecheng-2577	274	10	-	-	PUNCT
fumecheng-2577	274	11	shaped	shape	VERB
fumecheng-2577	274	12	racing	racing	NOUN
fumecheng-2577	274	13	quadcopter	quadcopter	NOUN
fumecheng-2577	274	14	with	with	ADP
fumecheng-2577	274	15	tilting	tilt	VERB
fumecheng-2577	274	16	propellers	propeller	NOUN
fumecheng-2577	274	17	215	215	NUM
fumecheng-2577	274	18	18	18	NUM
fumecheng-2577	274	19	.	.	PUNCT
fumecheng-2577	274	20	fernando	fernando	PROPN
fumecheng-2577	274	21	,	,	PUNCT
fumecheng-2577	274	22	h.c.t.e	h.c.t.e	PROPN
fumecheng-2577	274	23	.	.	PROPN
fumecheng-2577	274	24	,	,	PUNCT
fumecheng-2577	274	25	de	de	PROPN
fumecheng-2577	274	26	silva	silva	PROPN
fumecheng-2577	274	27	,	,	PUNCT
fumecheng-2577	274	28	a.t.a	a.t.a	NOUN
fumecheng-2577	274	29	.	.	PROPN
fumecheng-2577	274	30	,	,	PUNCT
fumecheng-2577	274	31	de	de	PROPN
fumecheng-2577	274	32	zoysa	zoysa	PROPN
fumecheng-2577	274	33	,	,	PUNCT
fumecheng-2577	274	34	m.d.c	m.d.c	PROPN
fumecheng-2577	274	35	.	.	PROPN
fumecheng-2577	274	36	,	,	PUNCT
fumecheng-2577	274	37	dilshan	dilshan	PROPN
fumecheng-2577	274	38	,	,	PUNCT
fumecheng-2577	274	39	k.a.d.c	k.a.d.c	PROPN
fumecheng-2577	274	40	.	.	PROPN
fumecheng-2577	274	41	,	,	PUNCT
fumecheng-2577	274	42	munasinghe	munasinghe	PROPN
fumecheng-2577	274	43	,	,	PUNCT
fumecheng-2577	274	44	s.r	s.r	PROPN
fumecheng-2577	274	45	.	.	PROPN
fumecheng-2577	274	46	,	,	PUNCT
fumecheng-2577	274	47	2013	2013	NUM
fumecheng-2577	274	48	,	,	PUNCT
fumecheng-2577	274	49	modelling	modelling	NOUN
fumecheng-2577	274	50	,	,	PUNCT
fumecheng-2577	274	51	simulation	simulation	NOUN
fumecheng-2577	274	52	and	and	CCONJ
fumecheng-2577	274	53	implementation	implementation	NOUN
fumecheng-2577	274	54	of	of	ADP
fumecheng-2577	274	55	a	a	DET
fumecheng-2577	274	56	quadrotor	quadrotor	PROPN
fumecheng-2577	274	57	uav	uav	PROPN
fumecheng-2577	274	58	,	,	PUNCT
fumecheng-2577	274	59	8th	8th	ADJ
fumecheng-2577	274	60	ieee	ieee	PROPN
fumecheng-2577	274	61	international	international	ADJ
fumecheng-2577	274	62	conference	conference	NOUN
fumecheng-2577	274	63	on	on	ADP
fumecheng-2577	274	64	industrial	industrial	ADJ
fumecheng-2577	274	65	and	and	CCONJ
fumecheng-2577	274	66	information	information	NOUN
fumecheng-2577	274	67	systems	system	NOUN
fumecheng-2577	274	68	(	(	PUNCT
fumecheng-2577	274	69	iciis	iciis	ADJ
fumecheng-2577	274	70	)	)	PUNCT
fumecheng-2577	274	71	,	,	PUNCT
fumecheng-2577	274	72	pp	pp	PROPN
fumecheng-2577	274	73	.	.	PUNCT
fumecheng-2577	275	1	207	207	NUM
fumecheng-2577	275	2	-	-	SYM
fumecheng-2577	275	3	212	212	NUM
fumecheng-2577	275	4	.	.	PUNCT
fumecheng-2577	276	1	19	19	NUM
fumecheng-2577	276	2	.	.	X
fumecheng-2577	277	1	mahony	mahony	PROPN
fumecheng-2577	277	2	,	,	PUNCT
fumecheng-2577	277	3	r.	r.	PROPN
fumecheng-2577	277	4	,	,	PUNCT
fumecheng-2577	277	5	kumar	kumar	PROPN
fumecheng-2577	277	6	,	,	PUNCT
fumecheng-2577	277	7	v.	v.	PROPN
fumecheng-2577	277	8	,	,	PUNCT
fumecheng-2577	277	9	corke	corke	NOUN
fumecheng-2577	277	10	,	,	PUNCT
fumecheng-2577	277	11	p.	p.	NOUN
fumecheng-2577	277	12	,	,	PUNCT
fumecheng-2577	277	13	2012	2012	NUM
fumecheng-2577	277	14	,	,	PUNCT
fumecheng-2577	277	15	multirotor	multirotor	NOUN
fumecheng-2577	277	16	aerial	aerial	ADJ
fumecheng-2577	277	17	vehicles	vehicle	NOUN
fumecheng-2577	277	18	,	,	PUNCT
fumecheng-2577	277	19	ieee	ieee	NOUN
fumecheng-2577	277	20	robotics	robotic	NOUN
fumecheng-2577	277	21	and	and	CCONJ
fumecheng-2577	277	22	automation	automation	NOUN
fumecheng-2577	277	23	magazine	magazine	NOUN
fumecheng-2577	277	24	,	,	PUNCT
fumecheng-2577	277	25	19(3	19(3	NUM
fumecheng-2577	277	26	)	)	PUNCT
fumecheng-2577	277	27	,	,	PUNCT
fumecheng-2577	277	28	pp	pp	PROPN
fumecheng-2577	277	29	.	.	PUNCT
fumecheng-2577	278	1	20	20	NUM
fumecheng-2577	278	2	-	-	SYM
fumecheng-2577	278	3	32	32	NUM
fumecheng-2577	278	4	.	.	PUNCT
fumecheng-2577	279	1	20	20	NUM
fumecheng-2577	279	2	.	.	PUNCT
fumecheng-2577	280	1	elkholy	elkholy	ADJ
fumecheng-2577	280	2	,	,	PUNCT
fumecheng-2577	280	3	h.m	h.m	PROPN
fumecheng-2577	280	4	.	.	PROPN
fumecheng-2577	280	5	,	,	PUNCT
fumecheng-2577	280	6	2014	2014	NUM
fumecheng-2577	280	7	,	,	PUNCT
fumecheng-2577	280	8	dynamic	dynamic	ADJ
fumecheng-2577	280	9	modeling	modeling	NOUN
fumecheng-2577	280	10	and	and	CCONJ
fumecheng-2577	280	11	control	control	NOUN
fumecheng-2577	280	12	of	of	ADP
fumecheng-2577	280	13	a	a	DET
fumecheng-2577	280	14	quadrotor	quadrotor	NOUN
fumecheng-2577	280	15	using	use	VERB
fumecheng-2577	280	16	linear	linear	NOUN
fumecheng-2577	280	17	and	and	CCONJ
fumecheng-2577	280	18	nonlinear	nonlinear	ADJ
fumecheng-2577	280	19	approaches	approach	NOUN
fumecheng-2577	280	20	,	,	PUNCT
fumecheng-2577	280	21	phd	phd	NOUN
fumecheng-2577	280	22	dissertation	dissertation	NOUN
fumecheng-2577	280	23	,	,	PUNCT
fumecheng-2577	280	24	master	master	NOUN
fumecheng-2577	280	25	thesis	thesis	NOUN
fumecheng-2577	280	26	,	,	PUNCT
fumecheng-2577	280	27	the	the	DET
fumecheng-2577	280	28	american	american	PROPN
fumecheng-2577	280	29	university	university	PROPN
fumecheng-2577	280	30	in	in	ADP
fumecheng-2577	280	31	cairo	cairo	PROPN
fumecheng-2577	280	32	.	.	PUNCT
fumecheng-2577	281	1	21	21	NUM
fumecheng-2577	281	2	.	.	PUNCT
fumecheng-2577	282	1	mitchell	mitchell	PROPN
fumecheng-2577	282	2	,	,	PUNCT
fumecheng-2577	282	3	m.	m.	NOUN
fumecheng-2577	282	4	,	,	PUNCT
fumecheng-2577	282	5	1996	1996	NUM
fumecheng-2577	282	6	,	,	PUNCT
fumecheng-2577	282	7	an	an	DET
fumecheng-2577	282	8	introduction	introduction	NOUN
fumecheng-2577	282	9	to	to	ADP
fumecheng-2577	282	10	genetic	genetic	ADJ
fumecheng-2577	282	11	algorithms	algorithm	NOUN
fumecheng-2577	282	12	,	,	PUNCT
fumecheng-2577	282	13	mit	mit	NOUN
fumecheng-2577	282	14	press	press	NOUN
fumecheng-2577	282	15	.	.	PUNCT
fumecheng-2577	283	1	22	22	NUM
fumecheng-2577	283	2	.	.	PUNCT
fumecheng-2577	284	1	von	von	PROPN
fumecheng-2577	284	2	frankenberg	frankenberg	PROPN
fumecheng-2577	284	3	,	,	PUNCT
fumecheng-2577	284	4	f.	f.	PROPN
fumecheng-2577	284	5	,	,	PUNCT
fumecheng-2577	284	6	2016	2016	NUM
fumecheng-2577	284	7	,	,	PUNCT
fumecheng-2577	284	8	development	development	NOUN
fumecheng-2577	284	9	of	of	ADP
fumecheng-2577	284	10	an	an	DET
fumecheng-2577	284	11	autonomous	autonomous	ADJ
fumecheng-2577	284	12	omnicopter	omnicopter	ADJ
fumecheng-2577	284	13	aerial	aerial	ADJ
fumecheng-2577	284	14	vehicle	vehicle	NOUN
fumecheng-2577	284	15	,	,	PUNCT
fumecheng-2577	284	16	master	master	NOUN
fumecheng-2577	284	17	dissertation	dissertation	NOUN
fumecheng-2577	284	18	,	,	PUNCT
fumecheng-2577	284	19	institute	institute	NOUN
fumecheng-2577	284	20	of	of	ADP
fumecheng-2577	284	21	technology/	technology/	PROPN
fumecheng-2577	284	22	university	university	NOUN
fumecheng-2577	284	23	of	of	ADP
fumecheng-2577	284	24	ontario	ontario	PROPN
fumecheng-2577	284	25	.	.	PUNCT
fumecheng-2577	285	1	23	23	NUM
fumecheng-2577	285	2	.	.	X
fumecheng-2577	285	3	beck	beck	PROPN
fumecheng-2577	285	4	,	,	PUNCT
fumecheng-2577	285	5	h.	h.	PROPN
fumecheng-2577	285	6	,	,	PUNCT
fumecheng-2577	285	7	lesueur	lesueur	PROPN
fumecheng-2577	285	8	,	,	PUNCT
fumecheng-2577	285	9	j.	j.	PROPN
fumecheng-2577	285	10	,	,	PUNCT
fumecheng-2577	285	11	charland	charland	PROPN
fumecheng-2577	285	12	-	-	PUNCT
fumecheng-2577	285	13	arcand	arcand	PROPN
fumecheng-2577	285	14	,	,	PUNCT
fumecheng-2577	285	15	g.	g.	PROPN
fumecheng-2577	285	16	,	,	PUNCT
fumecheng-2577	285	17	akhrif	akhrif	NOUN
fumecheng-2577	285	18	,	,	PUNCT
fumecheng-2577	285	19	o.	o.	PROPN
fumecheng-2577	285	20	,	,	PUNCT
fumecheng-2577	285	21	gagné	gagné	PROPN
fumecheng-2577	285	22	,	,	PUNCT
fumecheng-2577	285	23	s.	s.	PROPN
fumecheng-2577	285	24	,	,	PUNCT
fumecheng-2577	285	25	gagnon	gagnon	PROPN
fumecheng-2577	285	26	,	,	PUNCT
fumecheng-2577	285	27	f.	f.	PROPN
fumecheng-2577	285	28	,	,	PUNCT
fumecheng-2577	285	29	couillard	couillard	PROPN
fumecheng-2577	285	30	,	,	PUNCT
fumecheng-2577	285	31	d.	d.	PROPN
fumecheng-2577	285	32	,	,	PUNCT
fumecheng-2577	285	33	2016	2016	NUM
fumecheng-2577	285	34	,	,	PUNCT
fumecheng-2577	285	35	autonomous	autonomous	ADJ
fumecheng-2577	285	36	takeoff	takeoff	NOUN
fumecheng-2577	285	37	and	and	CCONJ
fumecheng-2577	285	38	landing	landing	NOUN
fumecheng-2577	285	39	of	of	ADP
fumecheng-2577	285	40	a	a	DET
fumecheng-2577	285	41	quadcopter	quadcopter	NOUN
fumecheng-2577	285	42	,	,	PUNCT
fumecheng-2577	285	43	ieee	ieee	PROPN
fumecheng-2577	285	44	international	international	ADJ
fumecheng-2577	285	45	conference	conference	NOUN
fumecheng-2577	285	46	on	on	ADP
fumecheng-2577	285	47	unmanned	unmanned	ADJ
fumecheng-2577	285	48	aircraft	aircraft	NOUN
fumecheng-2577	285	49	systems	system	NOUN
fumecheng-2577	285	50	(	(	PUNCT
fumecheng-2577	285	51	icuas	icuas	NOUN
fumecheng-2577	285	52	)	)	PUNCT
fumecheng-2577	285	53	,	,	PUNCT
fumecheng-2577	285	54	pp	pp	ADP
fumecheng-2577	285	55	.	.	PUNCT
fumecheng-2577	286	1	475	475	NUM
fumecheng-2577	286	2	-	-	SYM
fumecheng-2577	286	3	484	484	NUM
fumecheng-2577	286	4	.	.	PUNCT