id	sid	tid	token	lemma	pos
fumecheng-2849	1	1	plane	plane	NOUN
fumecheng-2849	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-2849	1	3	waves	wave	NOUN
fumecheng-2849	1	4	in	in	ADP
fumecheng-2849	1	5	infinite	infinite	ADJ
fumecheng-2849	1	6	half	half	ADJ
fumecheng-2849	1	7	-	-	PUNCT
fumecheng-2849	1	8	space	space	NOUN
fumecheng-2849	1	9	caused	cause	VERB
fumecheng-2849	1	10	facta	facta	PROPN
fumecheng-2849	1	11	universitatis	universitatis	PROPN
fumecheng-2849	1	12	series	series	NOUN
fumecheng-2849	1	13	:	:	PUNCT
fumecheng-2849	1	14	mechanical	mechanical	ADJ
fumecheng-2849	1	15	engineering	engineering	NOUN
fumecheng-2849	1	16	vol	vol	NOUN
fumecheng-2849	1	17	.	.	PROPN
fumecheng-2849	2	1	15	15	NUM
fumecheng-2849	2	2	,	,	PUNCT
fumecheng-2849	2	3	no	no	DET
fumecheng-2849	2	4	2	2	NUM
fumecheng-2849	2	5	,	,	PUNCT
fumecheng-2849	2	6	2017	2017	NUM
fumecheng-2849	2	7	,	,	PUNCT
fumecheng-2849	2	8	pp	pp	ADJ
fumecheng-2849	2	9	.	.	PUNCT
fumecheng-2849	3	1	257	257	NUM
fumecheng-2849	3	2	268	268	NUM
fumecheng-2849	3	3	doi	doi	NOUN
fumecheng-2849	3	4	:	:	PUNCT
fumecheng-2849	3	5	10.22190	10.22190	NUM
fumecheng-2849	3	6	/	/	SYM
fumecheng-2849	3	7	fume17051013	fume17051013	PROPN
fumecheng-2849	3	8	t	t	NOUN
fumecheng-2849	3	9	©	©	PROPN
fumecheng-2849	3	10	2017	2017	NUM
fumecheng-2849	3	11	by	by	ADP
fumecheng-2849	3	12	university	university	PROPN
fumecheng-2849	3	13	of	of	ADP
fumecheng-2849	3	14	niš	niš	PROPN
fumecheng-2849	3	15	,	,	PUNCT
fumecheng-2849	3	16	serbia	serbia	PROPN
fumecheng-2849	3	17	|	|	ADV
fumecheng-2849	3	18	creative	creative	ADJ
fumecheng-2849	3	19	commons	common	NOUN
fumecheng-2849	3	20	licence	licence	NOUN
fumecheng-2849	3	21	:	:	PUNCT
fumecheng-2849	3	22	cc	cc	VERB
fumecheng-2849	3	23	by	by	ADP
fumecheng-2849	3	24	-	-	PUNCT
fumecheng-2849	3	25	nc	nc	VERB
fumecheng-2849	3	26	-	-	PUNCT
fumecheng-2849	3	27	nd	nd	ADV
fumecheng-2849	3	28	original	original	ADJ
fumecheng-2849	3	29	scientific	scientific	ADJ
fumecheng-2849	3	30	paper	paper	NOUN
fumecheng-2849	3	31	remote	remote	PROPN
fumecheng-2849	3	32	control	control	NOUN
fumecheng-2849	3	33	of	of	ADP
fumecheng-2849	3	34	the	the	DET
fumecheng-2849	3	35	mechatronic	mechatronic	NOUN
fumecheng-2849	3	36	redesigned	redesign	VERB
fumecheng-2849	3	37	slider	slider	NOUN
fumecheng-2849	3	38	-	-	PUNCT
fumecheng-2849	3	39	crank	crank	NOUN
fumecheng-2849	3	40	mechanism	mechanism	NOUN
fumecheng-2849	3	41	in	in	ADP
fumecheng-2849	3	42	service	service	NOUN
fumecheng-2849	3	43	udc	udc	NOUN
fumecheng-2849	3	44	621.8	621.8	NUM
fumecheng-2849	3	45	miša	miša	NOUN
fumecheng-2849	3	46	tomić	tomić	NOUN
fumecheng-2849	3	47	,	,	PUNCT
fumecheng-2849	3	48	miloš	miloš	NOUN
fumecheng-2849	3	49	milošević	milošević	NOUN
fumecheng-2849	3	50	,	,	PUNCT
fumecheng-2849	3	51	nevena	nevena	NOUN
fumecheng-2849	3	52	tomić	tomić	NOUN
fumecheng-2849	3	53	,	,	PUNCT
fumecheng-2849	3	54	nenad	nenad	PROPN
fumecheng-2849	3	55	d.	d.	PROPN
fumecheng-2849	3	56	pavlović	pavlović	VERB
fumecheng-2849	3	57	,	,	PUNCT
fumecheng-2849	3	58	vukašin	vukašin	NOUN
fumecheng-2849	3	59	pavlović	pavlović	NOUN
fumecheng-2849	3	60	faculty	faculty	NOUN
fumecheng-2849	3	61	of	of	ADP
fumecheng-2849	3	62	mechanical	mechanical	ADJ
fumecheng-2849	3	63	engineering	engineering	NOUN
fumecheng-2849	3	64	,	,	PUNCT
fumecheng-2849	3	65	university	university	NOUN
fumecheng-2849	3	66	of	of	ADP
fumecheng-2849	3	67	niš	niš	PROPN
fumecheng-2849	3	68	,	,	PUNCT
fumecheng-2849	3	69	serbia	serbia	PROPN
fumecheng-2849	3	70	abstract	abstract	ADJ
fumecheng-2849	3	71	.	.	PUNCT
fumecheng-2849	4	1	slider	slider	NOUN
fumecheng-2849	4	2	-	-	PUNCT
fumecheng-2849	4	3	crank	crank	NOUN
fumecheng-2849	4	4	mechanisms	mechanism	NOUN
fumecheng-2849	4	5	are	be	AUX
fumecheng-2849	4	6	used	use	VERB
fumecheng-2849	4	7	in	in	ADP
fumecheng-2849	4	8	many	many	ADJ
fumecheng-2849	4	9	machines	machine	NOUN
fumecheng-2849	4	10	where	where	SCONJ
fumecheng-2849	4	11	there	there	PRON
fumecheng-2849	4	12	is	be	VERB
fumecheng-2849	4	13	a	a	DET
fumecheng-2849	4	14	need	need	NOUN
fumecheng-2849	4	15	to	to	PART
fumecheng-2849	4	16	transform	transform	VERB
fumecheng-2849	4	17	rotary	rotary	ADJ
fumecheng-2849	4	18	motion	motion	NOUN
fumecheng-2849	4	19	into	into	ADP
fumecheng-2849	4	20	translation	translation	NOUN
fumecheng-2849	4	21	,	,	PUNCT
fumecheng-2849	4	22	and	and	CCONJ
fumecheng-2849	4	23	vice	vice	ADV
fumecheng-2849	4	24	versa	versa	ADV
fumecheng-2849	4	25	.	.	PUNCT
fumecheng-2849	5	1	implementation	implementation	NOUN
fumecheng-2849	5	2	of	of	ADP
fumecheng-2849	5	3	the	the	DET
fumecheng-2849	5	4	control	control	NOUN
fumecheng-2849	5	5	into	into	ADP
fumecheng-2849	5	6	a	a	DET
fumecheng-2849	5	7	mechanical	mechanical	ADJ
fumecheng-2849	5	8	assembly	assembly	NOUN
fumecheng-2849	5	9	of	of	ADP
fumecheng-2849	5	10	the	the	DET
fumecheng-2849	5	11	slider	slider	NOUN
fumecheng-2849	5	12	-	-	PUNCT
fumecheng-2849	5	13	crank	crank	NOUN
fumecheng-2849	5	14	mechanism	mechanism	NOUN
fumecheng-2849	5	15	offers	offer	VERB
fumecheng-2849	5	16	a	a	DET
fumecheng-2849	5	17	wide	wide	ADJ
fumecheng-2849	5	18	range	range	NOUN
fumecheng-2849	5	19	of	of	ADP
fumecheng-2849	5	20	applications	application	NOUN
fumecheng-2849	5	21	of	of	ADP
fumecheng-2849	5	22	such	such	ADJ
fumecheng-2849	5	23	controlled	control	VERB
fumecheng-2849	5	24	mechanism	mechanism	NOUN
fumecheng-2849	5	25	in	in	ADP
fumecheng-2849	5	26	mechatronic	mechatronic	ADJ
fumecheng-2849	5	27	systems	system	NOUN
fumecheng-2849	5	28	.	.	PUNCT
fumecheng-2849	6	1	this	this	DET
fumecheng-2849	6	2	paper	paper	NOUN
fumecheng-2849	6	3	shows	show	VERB
fumecheng-2849	6	4	an	an	DET
fumecheng-2849	6	5	example	example	NOUN
fumecheng-2849	6	6	of	of	ADP
fumecheng-2849	6	7	the	the	DET
fumecheng-2849	6	8	remote	remote	ADJ
fumecheng-2849	6	9	control	control	NOUN
fumecheng-2849	6	10	of	of	ADP
fumecheng-2849	6	11	the	the	DET
fumecheng-2849	6	12	angular	angular	ADJ
fumecheng-2849	6	13	velocity	velocity	NOUN
fumecheng-2849	6	14	of	of	ADP
fumecheng-2849	6	15	the	the	DET
fumecheng-2849	6	16	crank	crank	NOUN
fumecheng-2849	6	17	in	in	ADP
fumecheng-2849	6	18	a	a	DET
fumecheng-2849	6	19	mechatronic	mechatronic	NOUN
fumecheng-2849	6	20	redesigned	redesign	VERB
fumecheng-2849	6	21	slider	slider	NOUN
fumecheng-2849	6	22	-	-	PUNCT
fumecheng-2849	6	23	crank	crank	NOUN
fumecheng-2849	6	24	mechanism	mechanism	NOUN
fumecheng-2849	6	25	in	in	ADP
fumecheng-2849	6	26	order	order	NOUN
fumecheng-2849	6	27	to	to	PART
fumecheng-2849	6	28	achieve	achieve	VERB
fumecheng-2849	6	29	the	the	DET
fumecheng-2849	6	30	desired	desire	VERB
fumecheng-2849	6	31	motion	motion	NOUN
fumecheng-2849	6	32	of	of	ADP
fumecheng-2849	6	33	the	the	DET
fumecheng-2849	6	34	slider	slider	NOUN
fumecheng-2849	6	35	.	.	PUNCT
fumecheng-2849	7	1	the	the	DET
fumecheng-2849	7	2	remote	remote	ADJ
fumecheng-2849	7	3	control	control	NOUN
fumecheng-2849	7	4	is	be	AUX
fumecheng-2849	7	5	achieved	achieve	VERB
fumecheng-2849	7	6	over	over	ADP
fumecheng-2849	7	7	the	the	DET
fumecheng-2849	7	8	internet	internet	NOUN
fumecheng-2849	7	9	connection	connection	NOUN
fumecheng-2849	7	10	and	and	CCONJ
fumecheng-2849	7	11	the	the	DET
fumecheng-2849	7	12	appropriate	appropriate	ADJ
fumecheng-2849	7	13	software	software	NOUN
fumecheng-2849	7	14	which	which	PRON
fumecheng-2849	7	15	is	be	AUX
fumecheng-2849	7	16	executed	execute	VERB
fumecheng-2849	7	17	in	in	ADP
fumecheng-2849	7	18	the	the	DET
fumecheng-2849	7	19	user	user	NOUN
fumecheng-2849	7	20	’s	’s	PART
fumecheng-2849	7	21	internet	internet	NOUN
fumecheng-2849	7	22	browser	browser	NOUN
fumecheng-2849	7	23	.	.	PUNCT
fumecheng-2849	8	1	the	the	DET
fumecheng-2849	8	2	aim	aim	NOUN
fumecheng-2849	8	3	of	of	ADP
fumecheng-2849	8	4	this	this	DET
fumecheng-2849	8	5	paper	paper	NOUN
fumecheng-2849	8	6	is	be	AUX
fumecheng-2849	8	7	to	to	PART
fumecheng-2849	8	8	present	present	VERB
fumecheng-2849	8	9	the	the	DET
fumecheng-2849	8	10	applied	apply	VERB
fumecheng-2849	8	11	control	control	NOUN
fumecheng-2849	8	12	algorithm	algorithm	NOUN
fumecheng-2849	8	13	as	as	ADV
fumecheng-2849	8	14	well	well	ADV
fumecheng-2849	8	15	as	as	ADP
fumecheng-2849	8	16	to	to	PART
fumecheng-2849	8	17	explain	explain	VERB
fumecheng-2849	8	18	advantages	advantage	NOUN
fumecheng-2849	8	19	of	of	ADP
fumecheng-2849	8	20	the	the	DET
fumecheng-2849	8	21	possibility	possibility	NOUN
fumecheng-2849	8	22	to	to	PART
fumecheng-2849	8	23	remotely	remotely	ADV
fumecheng-2849	8	24	run	run	VERB
fumecheng-2849	8	25	a	a	DET
fumecheng-2849	8	26	mechatronic	mechatronic	NOUN
fumecheng-2849	8	27	redesigned	redesign	VERB
fumecheng-2849	8	28	slider	slider	NOUN
fumecheng-2849	8	29	-	-	PUNCT
fumecheng-2849	8	30	crank	crank	NOUN
fumecheng-2849	8	31	mechanism	mechanism	NOUN
fumecheng-2849	8	32	in	in	ADP
fumecheng-2849	8	33	service	service	NOUN
fumecheng-2849	8	34	.	.	PUNCT
fumecheng-2849	9	1	this	this	PRON
fumecheng-2849	9	2	is	be	AUX
fumecheng-2849	9	3	done	do	VERB
fumecheng-2849	9	4	through	through	ADP
fumecheng-2849	9	5	an	an	DET
fumecheng-2849	9	6	example	example	NOUN
fumecheng-2849	9	7	of	of	ADP
fumecheng-2849	9	8	using	use	VERB
fumecheng-2849	9	9	a	a	DET
fumecheng-2849	9	10	controlled	control	VERB
fumecheng-2849	9	11	slider	slider	NOUN
fumecheng-2849	9	12	-	-	PUNCT
fumecheng-2849	9	13	crank	crank	NOUN
fumecheng-2849	9	14	mechanism	mechanism	NOUN
fumecheng-2849	9	15	in	in	ADP
fumecheng-2849	9	16	a	a	DET
fumecheng-2849	9	17	remote	remote	ADJ
fumecheng-2849	9	18	laboratory	laboratory	NOUN
fumecheng-2849	9	19	experiment	experiment	NOUN
fumecheng-2849	9	20	.	.	PUNCT
fumecheng-2849	10	1	key	key	ADJ
fumecheng-2849	10	2	words	word	NOUN
fumecheng-2849	10	3	:	:	PUNCT
fumecheng-2849	10	4	slider	slider	NOUN
fumecheng-2849	10	5	-	-	PUNCT
fumecheng-2849	10	6	crank	crank	NOUN
fumecheng-2849	10	7	mechanism	mechanism	NOUN
fumecheng-2849	10	8	,	,	PUNCT
fumecheng-2849	10	9	remote	remote	ADJ
fumecheng-2849	10	10	control	control	NOUN
fumecheng-2849	10	11	,	,	PUNCT
fumecheng-2849	10	12	mechatronic	mechatronic	ADJ
fumecheng-2849	10	13	system	system	NOUN
fumecheng-2849	10	14	,	,	PUNCT
fumecheng-2849	10	15	pid	pid	NOUN
fumecheng-2849	10	16	controller	controller	NOUN
fumecheng-2849	10	17	,	,	PUNCT
fumecheng-2849	10	18	ni	ni	PROPN
fumecheng-2849	10	19	labview	labview	PROPN
fumecheng-2849	10	20	1	1	NUM
fumecheng-2849	10	21	.	.	PUNCT
fumecheng-2849	10	22	introduction	introduction	NOUN
fumecheng-2849	10	23	the	the	DET
fumecheng-2849	10	24	main	main	ADJ
fumecheng-2849	10	25	function	function	NOUN
fumecheng-2849	10	26	of	of	ADP
fumecheng-2849	10	27	any	any	DET
fumecheng-2849	10	28	mechanism	mechanism	NOUN
fumecheng-2849	10	29	is	be	AUX
fumecheng-2849	10	30	the	the	DET
fumecheng-2849	10	31	realization	realization	NOUN
fumecheng-2849	10	32	of	of	ADP
fumecheng-2849	10	33	motion	motion	NOUN
fumecheng-2849	10	34	.	.	PUNCT
fumecheng-2849	11	1	the	the	DET
fumecheng-2849	11	2	most	most	ADV
fumecheng-2849	11	3	common	common	ADJ
fumecheng-2849	11	4	case	case	NOUN
fumecheng-2849	11	5	is	be	AUX
fumecheng-2849	11	6	that	that	PRON
fumecheng-2849	11	7	of	of	ADP
fumecheng-2849	11	8	converting	convert	VERB
fumecheng-2849	11	9	rotary	rotary	ADJ
fumecheng-2849	11	10	motion	motion	NOUN
fumecheng-2849	11	11	of	of	ADP
fumecheng-2849	11	12	the	the	DET
fumecheng-2849	11	13	crank	crank	NOUN
fumecheng-2849	11	14	(	(	PUNCT
fumecheng-2849	11	15	motor	motor	NOUN
fumecheng-2849	11	16	shaft	shaft	NOUN
fumecheng-2849	11	17	rotation	rotation	NOUN
fumecheng-2849	11	18	)	)	PUNCT
fumecheng-2849	11	19	into	into	ADP
fumecheng-2849	11	20	a	a	DET
fumecheng-2849	11	21	rotary	rotary	ADJ
fumecheng-2849	11	22	motion	motion	NOUN
fumecheng-2849	11	23	(	(	PUNCT
fumecheng-2849	11	24	rocker	rocker	NOUN
fumecheng-2849	11	25	motion	motion	NOUN
fumecheng-2849	11	26	)	)	PUNCT
fumecheng-2849	11	27	or	or	CCONJ
fumecheng-2849	11	28	translational	translational	ADJ
fumecheng-2849	11	29	motion	motion	NOUN
fumecheng-2849	11	30	of	of	ADP
fumecheng-2849	11	31	the	the	DET
fumecheng-2849	11	32	output	output	NOUN
fumecheng-2849	11	33	link	link	NOUN
fumecheng-2849	11	34	(	(	PUNCT
fumecheng-2849	11	35	the	the	DET
fumecheng-2849	11	36	slider	slider	NOUN
fumecheng-2849	11	37	of	of	ADP
fumecheng-2849	11	38	the	the	DET
fumecheng-2849	11	39	slider	slider	NOUN
fumecheng-2849	11	40	-	-	PUNCT
fumecheng-2849	11	41	crank	crank	NOUN
fumecheng-2849	11	42	mechanism	mechanism	NOUN
fumecheng-2849	11	43	)	)	PUNCT
fumecheng-2849	11	44	.	.	PUNCT
fumecheng-2849	12	1	thanks	thank	NOUN
fumecheng-2849	12	2	to	to	ADP
fumecheng-2849	12	3	the	the	DET
fumecheng-2849	12	4	fast	fast	ADJ
fumecheng-2849	12	5	development	development	NOUN
fumecheng-2849	12	6	of	of	ADP
fumecheng-2849	12	7	computers	computer	NOUN
fumecheng-2849	12	8	and	and	CCONJ
fumecheng-2849	12	9	microprocessors	microprocessor	NOUN
fumecheng-2849	12	10	,	,	PUNCT
fumecheng-2849	12	11	mechatronics	mechatronic	NOUN
fumecheng-2849	12	12	as	as	ADP
fumecheng-2849	12	13	a	a	DET
fumecheng-2849	12	14	discipline	discipline	NOUN
fumecheng-2849	12	15	which	which	PRON
fumecheng-2849	12	16	is	be	AUX
fumecheng-2849	12	17	a	a	DET
fumecheng-2849	12	18	synergy	synergy	NOUN
fumecheng-2849	12	19	of	of	ADP
fumecheng-2849	12	20	mechanical	mechanical	ADJ
fumecheng-2849	12	21	engineering	engineering	NOUN
fumecheng-2849	12	22	,	,	PUNCT
fumecheng-2849	12	23	electronics	electronic	NOUN
fumecheng-2849	12	24	,	,	PUNCT
fumecheng-2849	12	25	computer	computer	NOUN
fumecheng-2849	12	26	science	science	NOUN
fumecheng-2849	12	27	and	and	CCONJ
fumecheng-2849	12	28	control	control	NOUN
fumecheng-2849	12	29	,	,	PUNCT
fumecheng-2849	12	30	offers	offer	VERB
fumecheng-2849	12	31	great	great	ADJ
fumecheng-2849	12	32	opportunities	opportunity	NOUN
fumecheng-2849	12	33	for	for	ADP
fumecheng-2849	12	34	the	the	DET
fumecheng-2849	12	35	development	development	NOUN
fumecheng-2849	12	36	and	and	CCONJ
fumecheng-2849	12	37	improvement	improvement	NOUN
fumecheng-2849	12	38	of	of	ADP
fumecheng-2849	12	39	complex	complex	ADJ
fumecheng-2849	12	40	technical	technical	ADJ
fumecheng-2849	12	41	received	receive	VERB
fumecheng-2849	12	42	may	may	AUX
fumecheng-2849	12	43	10	10	NUM
fumecheng-2849	12	44	,	,	PUNCT
fumecheng-2849	12	45	2017	2017	NUM
fumecheng-2849	12	46	/	/	PUNCT
fumecheng-2849	12	47	accepted	accept	VERB
fumecheng-2849	12	48	july	july	PROPN
fumecheng-2849	12	49	07	07	NUM
fumecheng-2849	12	50	,	,	PUNCT
fumecheng-2849	12	51	2017	2017	NUM
fumecheng-2849	12	52	corresponding	correspond	VERB
fumecheng-2849	12	53	author	author	NOUN
fumecheng-2849	12	54	:	:	PUNCT
fumecheng-2849	12	55	miša	miša	PROPN
fumecheng-2849	12	56	tomić	tomić	NOUN
fumecheng-2849	12	57	faculty	faculty	NOUN
fumecheng-2849	12	58	of	of	ADP
fumecheng-2849	12	59	mechanical	mechanical	ADJ
fumecheng-2849	12	60	engineering	engineering	NOUN
fumecheng-2849	12	61	,	,	PUNCT
fumecheng-2849	12	62	university	university	NOUN
fumecheng-2849	12	63	of	of	ADP
fumecheng-2849	12	64	niš	niš	PROPN
fumecheng-2849	12	65	,	,	PUNCT
fumecheng-2849	12	66	a.	a.	PROPN
fumecheng-2849	12	67	medvedeva	medvedeva	PROPN
fumecheng-2849	12	68	14	14	NUM
fumecheng-2849	12	69	,	,	PUNCT
fumecheng-2849	12	70	18000	18000	NUM
fumecheng-2849	12	71	niš	niš	NOUN
fumecheng-2849	12	72	,	,	PUNCT
fumecheng-2849	12	73	serbia	serbia	PROPN
fumecheng-2849	12	74	e	e	NOUN
fumecheng-2849	12	75	-	-	NOUN
fumecheng-2849	12	76	mail	mail	NOUN
fumecheng-2849	12	77	:	:	PUNCT
fumecheng-2849	12	78	misa.tomic@masfak.ni.ac.rs	misa.tomic@masfak.ni.ac.rs	ADJ
fumecheng-2849	12	79	258	258	NUM
fumecheng-2849	12	80	m.	m.	NOUN
fumecheng-2849	12	81	tomić	tomić	NOUN
fumecheng-2849	12	82	,	,	PUNCT
fumecheng-2849	12	83	m.	m.	NOUN
fumecheng-2849	12	84	milošević	milošević	PROPN
fumecheng-2849	12	85	,	,	PUNCT
fumecheng-2849	12	86	n.	n.	PROPN
fumecheng-2849	12	87	tomić	tomić	PROPN
fumecheng-2849	12	88	,	,	PUNCT
fumecheng-2849	12	89	n.d	n.d	PROPN
fumecheng-2849	12	90	.	.	PROPN
fumecheng-2849	12	91	pavlović	pavlović	NOUN
fumecheng-2849	12	92	,	,	PUNCT
fumecheng-2849	12	93	v.	v.	ADP
fumecheng-2849	12	94	pavlović	pavlović	NOUN
fumecheng-2849	12	95	systems	system	NOUN
fumecheng-2849	13	1	[	[	X
fumecheng-2849	13	2	1	1	NUM
fumecheng-2849	13	3	]	]	PUNCT
fumecheng-2849	13	4	.	.	PUNCT
fumecheng-2849	14	1	one	one	NUM
fumecheng-2849	14	2	of	of	ADP
fumecheng-2849	14	3	the	the	DET
fumecheng-2849	14	4	main	main	ADJ
fumecheng-2849	14	5	tasks	task	NOUN
fumecheng-2849	14	6	of	of	ADP
fumecheng-2849	14	7	mechatronics	mechatronic	NOUN
fumecheng-2849	14	8	is	be	AUX
fumecheng-2849	14	9	to	to	PART
fumecheng-2849	14	10	upgrade	upgrade	VERB
fumecheng-2849	14	11	existing	exist	VERB
fumecheng-2849	14	12	mechanical	mechanical	ADJ
fumecheng-2849	14	13	systems	system	NOUN
fumecheng-2849	14	14	by	by	ADP
fumecheng-2849	14	15	implementing	implement	VERB
fumecheng-2849	14	16	additional	additional	ADJ
fumecheng-2849	14	17	control	control	NOUN
fumecheng-2849	14	18	functions	function	NOUN
fumecheng-2849	14	19	,	,	PUNCT
fumecheng-2849	14	20	particularly	particularly	ADV
fumecheng-2849	14	21	in	in	ADP
fumecheng-2849	14	22	precision	precision	NOUN
fumecheng-2849	14	23	engineering	engineering	NOUN
fumecheng-2849	14	24	,	,	PUNCT
fumecheng-2849	14	25	in	in	ADP
fumecheng-2849	14	26	order	order	NOUN
fumecheng-2849	14	27	to	to	PART
fumecheng-2849	14	28	make	make	VERB
fumecheng-2849	14	29	these	these	DET
fumecheng-2849	14	30	systems	system	NOUN
fumecheng-2849	14	31	more	more	ADV
fumecheng-2849	14	32	functional	functional	ADJ
fumecheng-2849	14	33	,	,	PUNCT
fumecheng-2849	14	34	with	with	ADP
fumecheng-2849	14	35	better	well	ADJ
fumecheng-2849	14	36	performance	performance	NOUN
fumecheng-2849	14	37	,	,	PUNCT
fumecheng-2849	14	38	consuming	consume	VERB
fumecheng-2849	14	39	less	less	ADJ
fumecheng-2849	14	40	power	power	NOUN
fumecheng-2849	14	41	,	,	PUNCT
fumecheng-2849	14	42	performing	perform	VERB
fumecheng-2849	14	43	safer	safe	ADJ
fumecheng-2849	14	44	and	and	CCONJ
fumecheng-2849	14	45	so	so	ADV
fumecheng-2849	14	46	on	on	ADV
fumecheng-2849	14	47	.	.	PUNCT
fumecheng-2849	15	1	likewise	likewise	ADV
fumecheng-2849	15	2	,	,	PUNCT
fumecheng-2849	15	3	by	by	ADP
fumecheng-2849	15	4	implementing	implement	VERB
fumecheng-2849	15	5	the	the	DET
fumecheng-2849	15	6	mechatronic	mechatronic	ADJ
fumecheng-2849	15	7	approach	approach	NOUN
fumecheng-2849	15	8	into	into	ADP
fumecheng-2849	15	9	the	the	DET
fumecheng-2849	15	10	design	design	NOUN
fumecheng-2849	15	11	of	of	ADP
fumecheng-2849	15	12	mechanisms	mechanism	NOUN
fumecheng-2849	15	13	,	,	PUNCT
fumecheng-2849	15	14	it	it	PRON
fumecheng-2849	15	15	is	be	AUX
fumecheng-2849	15	16	possible	possible	ADJ
fumecheng-2849	15	17	to	to	PART
fumecheng-2849	15	18	convert	convert	VERB
fumecheng-2849	15	19	classical	classical	ADJ
fumecheng-2849	15	20	mechanical	mechanical	ADJ
fumecheng-2849	15	21	assemblies	assembly	NOUN
fumecheng-2849	15	22	into	into	ADP
fumecheng-2849	15	23	mechatronic	mechatronic	ADJ
fumecheng-2849	15	24	mechanisms	mechanism	NOUN
fumecheng-2849	15	25	which	which	PRON
fumecheng-2849	15	26	are	be	AUX
fumecheng-2849	15	27	more	more	ADV
fumecheng-2849	15	28	useful	useful	ADJ
fumecheng-2849	15	29	and	and	CCONJ
fumecheng-2849	15	30	adaptive	adaptive	ADJ
fumecheng-2849	15	31	to	to	ADP
fumecheng-2849	15	32	different	different	ADJ
fumecheng-2849	15	33	tasks	task	NOUN
fumecheng-2849	15	34	in	in	ADP
fumecheng-2849	15	35	mechatronic	mechatronic	ADJ
fumecheng-2849	15	36	systems	system	NOUN
fumecheng-2849	15	37	.	.	PUNCT
fumecheng-2849	16	1	typical	typical	ADJ
fumecheng-2849	16	2	examples	example	NOUN
fumecheng-2849	16	3	of	of	ADP
fumecheng-2849	16	4	using	use	VERB
fumecheng-2849	16	5	mechatronic	mechatronic	ADJ
fumecheng-2849	16	6	mechanisms	mechanism	NOUN
fumecheng-2849	16	7	are	be	AUX
fumecheng-2849	16	8	the	the	DET
fumecheng-2849	16	9	following	follow	VERB
fumecheng-2849	16	10	[	[	X
fumecheng-2849	16	11	2	2	NUM
fumecheng-2849	16	12	]	]	PUNCT
fumecheng-2849	16	13	:	:	PUNCT
fumecheng-2849	16	14			X
fumecheng-2849	16	15	use	use	NOUN
fumecheng-2849	16	16	of	of	ADP
fumecheng-2849	16	17	mechanisms	mechanism	NOUN
fumecheng-2849	16	18	for	for	ADP
fumecheng-2849	16	19	transforming	transform	VERB
fumecheng-2849	16	20	rotary	rotary	ADJ
fumecheng-2849	16	21	motion	motion	NOUN
fumecheng-2849	16	22	into	into	ADP
fumecheng-2849	16	23	translation	translation	NOUN
fumecheng-2849	16	24	(	(	PUNCT
fumecheng-2849	16	25	for	for	ADP
fumecheng-2849	16	26	example	example	NOUN
fumecheng-2849	16	27	at	at	ADP
fumecheng-2849	16	28	slider	slider	NOUN
fumecheng-2849	16	29	-	-	PUNCT
fumecheng-2849	16	30	crank	crank	NOUN
fumecheng-2849	16	31	mechanisms	mechanism	NOUN
fumecheng-2849	16	32	)	)	PUNCT
fumecheng-2849	16	33	with	with	ADP
fumecheng-2849	16	34	appropriate	appropriate	ADJ
fumecheng-2849	16	35	controllable	controllable	ADJ
fumecheng-2849	16	36	actuators	actuator	NOUN
fumecheng-2849	16	37	,	,	PUNCT
fumecheng-2849	16	38	as	as	ADP
fumecheng-2849	16	39	a	a	DET
fumecheng-2849	16	40	simple	simple	ADJ
fumecheng-2849	16	41	constructive	constructive	ADJ
fumecheng-2849	16	42	solution	solution	NOUN
fumecheng-2849	16	43	for	for	ADP
fumecheng-2849	16	44	the	the	DET
fumecheng-2849	16	45	generation	generation	NOUN
fumecheng-2849	16	46	of	of	ADP
fumecheng-2849	16	47	a	a	DET
fumecheng-2849	16	48	linear	linear	ADJ
fumecheng-2849	16	49	translation	translation	NOUN
fumecheng-2849	16	50	of	of	ADP
fumecheng-2849	16	51	the	the	DET
fumecheng-2849	16	52	motion	motion	NOUN
fumecheng-2849	16	53	patterns	pattern	NOUN
fumecheng-2849	16	54	that	that	PRON
fumecheng-2849	16	55	can	can	AUX
fumecheng-2849	16	56	be	be	AUX
fumecheng-2849	16	57	controlled	control	VERB
fumecheng-2849	16	58	,	,	PUNCT
fumecheng-2849	16	59			VERB
fumecheng-2849	16	60	using	using	NOUN
fumecheng-2849	16	61	of	of	ADP
fumecheng-2849	16	62	mechanisms	mechanism	NOUN
fumecheng-2849	16	63	for	for	ADP
fumecheng-2849	16	64	path	path	NOUN
fumecheng-2849	16	65	generation	generation	NOUN
fumecheng-2849	16	66	with	with	ADP
fumecheng-2849	16	67	the	the	DET
fumecheng-2849	16	68	degree	degree	NOUN
fumecheng-2849	16	69	of	of	ADP
fumecheng-2849	16	70	freedom	freedom	NOUN
fumecheng-2849	16	71	f=1	f=1	PROPN
fumecheng-2849	16	72	,	,	PUNCT
fumecheng-2849	16	73	for	for	ADP
fumecheng-2849	16	74	the	the	DET
fumecheng-2849	16	75	generation	generation	NOUN
fumecheng-2849	16	76	of	of	ADP
fumecheng-2849	16	77	specified	specified	ADJ
fumecheng-2849	16	78	path	path	NOUN
fumecheng-2849	16	79	and	and	CCONJ
fumecheng-2849	16	80	control	control	NOUN
fumecheng-2849	16	81	of	of	ADP
fumecheng-2849	16	82	the	the	DET
fumecheng-2849	16	83	velocity	velocity	NOUN
fumecheng-2849	16	84	profile	profile	NOUN
fumecheng-2849	16	85	along	along	ADP
fumecheng-2849	16	86	this	this	DET
fumecheng-2849	16	87	path	path	NOUN
fumecheng-2849	16	88	by	by	ADP
fumecheng-2849	16	89	using	use	VERB
fumecheng-2849	16	90	appropriate	appropriate	ADJ
fumecheng-2849	16	91	controllable	controllable	ADJ
fumecheng-2849	16	92	actuator	actuator	NOUN
fumecheng-2849	16	93	,	,	PUNCT
fumecheng-2849	16	94			VERB
fumecheng-2849	16	95	using	using	NOUN
fumecheng-2849	16	96	of	of	ADP
fumecheng-2849	16	97	mechanisms	mechanism	NOUN
fumecheng-2849	16	98	for	for	ADP
fumecheng-2849	16	99	the	the	DET
fumecheng-2849	16	100	path	path	NOUN
fumecheng-2849	16	101	generation	generation	NOUN
fumecheng-2849	16	102	with	with	ADP
fumecheng-2849	16	103	the	the	DET
fumecheng-2849	16	104	degree	degree	NOUN
fumecheng-2849	16	105	of	of	ADP
fumecheng-2849	16	106	freedom	freedom	NOUN
fumecheng-2849	16	107	f=2	f=2	PROPN
fumecheng-2849	16	108	,	,	PUNCT
fumecheng-2849	16	109	for	for	ADP
fumecheng-2849	16	110	the	the	DET
fumecheng-2849	16	111	generation	generation	NOUN
fumecheng-2849	16	112	of	of	ADP
fumecheng-2849	16	113	the	the	DET
fumecheng-2849	16	114	specified	specified	ADJ
fumecheng-2849	16	115	path	path	NOUN
fumecheng-2849	16	116	by	by	ADP
fumecheng-2849	16	117	a	a	DET
fumecheng-2849	16	118	main	main	ADJ
fumecheng-2849	16	119	drive	drive	NOUN
fumecheng-2849	16	120	at	at	ADP
fumecheng-2849	16	121	constant	constant	ADJ
fumecheng-2849	16	122	velocity	velocity	NOUN
fumecheng-2849	16	123	and	and	CCONJ
fumecheng-2849	16	124	one	one	NUM
fumecheng-2849	16	125	auxiliary	auxiliary	ADJ
fumecheng-2849	16	126	drive	drive	NOUN
fumecheng-2849	16	127	with	with	ADP
fumecheng-2849	16	128	controlled	control	VERB
fumecheng-2849	16	129	velocity	velocity	NOUN
fumecheng-2849	16	130	or	or	CCONJ
fumecheng-2849	16	131	by	by	ADP
fumecheng-2849	16	132	two	two	NUM
fumecheng-2849	16	133	controlled	control	VERB
fumecheng-2849	16	134	actuators	actuator	NOUN
fumecheng-2849	16	135	,	,	PUNCT
fumecheng-2849	16	136			VERB
fumecheng-2849	16	137	using	use	VERB
fumecheng-2849	16	138	of	of	ADP
fumecheng-2849	16	139	appropriate	appropriate	ADJ
fumecheng-2849	16	140	controllable	controllable	ADJ
fumecheng-2849	16	141	actuators	actuator	NOUN
fumecheng-2849	16	142	for	for	ADP
fumecheng-2849	16	143	driving	drive	VERB
fumecheng-2849	16	144	mechanisms	mechanism	NOUN
fumecheng-2849	16	145	with	with	ADP
fumecheng-2849	16	146	the	the	DET
fumecheng-2849	16	147	non	non	ADJ
fumecheng-2849	16	148	-	-	ADJ
fumecheng-2849	16	149	uniform	uniform	ADJ
fumecheng-2849	16	150	transmission	transmission	NOUN
fumecheng-2849	16	151	in	in	ADP
fumecheng-2849	16	152	order	order	NOUN
fumecheng-2849	16	153	to	to	PART
fumecheng-2849	16	154	reduce	reduce	VERB
fumecheng-2849	16	155	the	the	DET
fumecheng-2849	16	156	required	require	VERB
fumecheng-2849	16	157	driving	driving	NOUN
fumecheng-2849	16	158	torque	torque	NOUN
fumecheng-2849	16	159	by	by	ADP
fumecheng-2849	16	160	controlling	control	VERB
fumecheng-2849	16	161	the	the	DET
fumecheng-2849	16	162	drive	drive	NOUN
fumecheng-2849	16	163	,	,	PUNCT
fumecheng-2849	16	164			VERB
fumecheng-2849	16	165	using	use	VERB
fumecheng-2849	16	166	of	of	ADP
fumecheng-2849	16	167	appropriate	appropriate	ADJ
fumecheng-2849	16	168	controllable	controllable	ADJ
fumecheng-2849	16	169	actuators	actuator	NOUN
fumecheng-2849	16	170	for	for	ADP
fumecheng-2849	16	171	driving	drive	VERB
fumecheng-2849	16	172	mechanisms	mechanism	NOUN
fumecheng-2849	16	173	with	with	ADP
fumecheng-2849	16	174	the	the	DET
fumecheng-2849	16	175	non	non	ADJ
fumecheng-2849	16	176	-	-	ADJ
fumecheng-2849	16	177	uniform	uniform	ADJ
fumecheng-2849	16	178	transmission	transmission	NOUN
fumecheng-2849	16	179	in	in	ADP
fumecheng-2849	16	180	order	order	NOUN
fumecheng-2849	16	181	to	to	PART
fumecheng-2849	16	182	reduce	reduce	VERB
fumecheng-2849	16	183	the	the	DET
fumecheng-2849	16	184	non	non	ADJ
fumecheng-2849	16	185	-	-	NOUN
fumecheng-2849	16	186	uniformity	uniformity	NOUN
fumecheng-2849	16	187	of	of	ADP
fumecheng-2849	16	188	motion	motion	NOUN
fumecheng-2849	16	189	by	by	ADP
fumecheng-2849	16	190	controlling	control	VERB
fumecheng-2849	16	191	the	the	DET
fumecheng-2849	16	192	drive	drive	NOUN
fumecheng-2849	16	193	(	(	PUNCT
fumecheng-2849	16	194	instead	instead	ADV
fumecheng-2849	16	195	of	of	ADP
fumecheng-2849	16	196	using	use	VERB
fumecheng-2849	16	197	the	the	DET
fumecheng-2849	16	198	flywheel	flywheel	NOUN
fumecheng-2849	16	199	)	)	PUNCT
fumecheng-2849	16	200	,	,	PUNCT
fumecheng-2849	16	201	and	and	CCONJ
fumecheng-2849	16	202	,	,	PUNCT
fumecheng-2849	16	203			VERB
fumecheng-2849	16	204	using	use	VERB
fumecheng-2849	16	205	of	of	ADP
fumecheng-2849	16	206	appropriate	appropriate	ADJ
fumecheng-2849	16	207	controllable	controllable	ADJ
fumecheng-2849	16	208	actuators	actuator	NOUN
fumecheng-2849	16	209	for	for	ADP
fumecheng-2849	16	210	driving	drive	VERB
fumecheng-2849	16	211	mechanisms	mechanism	NOUN
fumecheng-2849	16	212	with	with	ADP
fumecheng-2849	16	213	the	the	DET
fumecheng-2849	16	214	non	non	ADJ
fumecheng-2849	16	215	-	-	ADJ
fumecheng-2849	16	216	uniform	uniform	ADJ
fumecheng-2849	16	217	transmission	transmission	NOUN
fumecheng-2849	16	218	in	in	ADP
fumecheng-2849	16	219	order	order	NOUN
fumecheng-2849	16	220	to	to	PART
fumecheng-2849	16	221	minimize	minimize	VERB
fumecheng-2849	16	222	the	the	DET
fumecheng-2849	16	223	effects	effect	NOUN
fumecheng-2849	16	224	of	of	ADP
fumecheng-2849	16	225	the	the	DET
fumecheng-2849	16	226	shaking	shake	VERB
fumecheng-2849	16	227	forces	force	NOUN
fumecheng-2849	16	228	and	and	CCONJ
fumecheng-2849	16	229	shaking	shake	VERB
fumecheng-2849	16	230	torques	torque	NOUN
fumecheng-2849	16	231	on	on	ADP
fumecheng-2849	16	232	the	the	DET
fumecheng-2849	16	233	frame	frame	NOUN
fumecheng-2849	16	234	by	by	ADP
fumecheng-2849	16	235	controlling	control	VERB
fumecheng-2849	16	236	the	the	DET
fumecheng-2849	16	237	drive	drive	NOUN
fumecheng-2849	16	238	(	(	PUNCT
fumecheng-2849	16	239	instead	instead	ADV
fumecheng-2849	16	240	of	of	ADP
fumecheng-2849	16	241	using	use	VERB
fumecheng-2849	16	242	the	the	DET
fumecheng-2849	16	243	counterweights	counterweight	NOUN
fumecheng-2849	16	244	)	)	PUNCT
fumecheng-2849	16	245	.	.	PUNCT
fumecheng-2849	17	1	the	the	DET
fumecheng-2849	17	2	effectiveness	effectiveness	NOUN
fumecheng-2849	17	3	of	of	ADP
fumecheng-2849	17	4	use	use	NOUN
fumecheng-2849	17	5	of	of	ADP
fumecheng-2849	17	6	these	these	DET
fumecheng-2849	17	7	options	option	NOUN
fumecheng-2849	17	8	requires	require	VERB
fumecheng-2849	17	9	,	,	PUNCT
fumecheng-2849	17	10	already	already	ADV
fumecheng-2849	17	11	at	at	ADP
fumecheng-2849	17	12	the	the	DET
fumecheng-2849	17	13	planning	planning	NOUN
fumecheng-2849	17	14	stage	stage	NOUN
fumecheng-2849	17	15	for	for	ADP
fumecheng-2849	17	16	their	their	PRON
fumecheng-2849	17	17	application	application	NOUN
fumecheng-2849	17	18	,	,	PUNCT
fumecheng-2849	17	19	an	an	DET
fumecheng-2849	17	20	integrated	integrated	ADJ
fumecheng-2849	17	21	observation	observation	NOUN
fumecheng-2849	17	22	of	of	ADP
fumecheng-2849	17	23	the	the	DET
fumecheng-2849	17	24	whole	whole	ADJ
fumecheng-2849	17	25	system	system	NOUN
fumecheng-2849	17	26	and	and	CCONJ
fumecheng-2849	17	27	the	the	DET
fumecheng-2849	17	28	kinematics	kinematic	NOUN
fumecheng-2849	17	29	of	of	ADP
fumecheng-2849	17	30	the	the	DET
fumecheng-2849	17	31	mechanism	mechanism	NOUN
fumecheng-2849	17	32	as	as	ADV
fumecheng-2849	17	33	well	well	ADV
fumecheng-2849	17	34	as	as	ADP
fumecheng-2849	17	35	the	the	DET
fumecheng-2849	17	36	operating	operating	NOUN
fumecheng-2849	17	37	characteristics	characteristic	NOUN
fumecheng-2849	17	38	of	of	ADP
fumecheng-2849	17	39	the	the	DET
fumecheng-2849	17	40	applied	applied	ADJ
fumecheng-2849	17	41	actuator	actuator	NOUN
fumecheng-2849	17	42	,	,	PUNCT
fumecheng-2849	17	43	in	in	ADP
fumecheng-2849	17	44	particular	particular	ADJ
fumecheng-2849	17	45	for	for	ADP
fumecheng-2849	17	46	driving	drive	VERB
fumecheng-2849	17	47	mechanisms	mechanism	NOUN
fumecheng-2849	17	48	with	with	ADP
fumecheng-2849	17	49	the	the	DET
fumecheng-2849	17	50	non	non	ADJ
fumecheng-2849	17	51	-	-	ADJ
fumecheng-2849	17	52	uniform	uniform	ADJ
fumecheng-2849	17	53	transmission	transmission	NOUN
fumecheng-2849	17	54	.	.	PUNCT
fumecheng-2849	18	1	in	in	ADP
fumecheng-2849	18	2	this	this	DET
fumecheng-2849	18	3	paper	paper	NOUN
fumecheng-2849	18	4	a	a	DET
fumecheng-2849	18	5	feasibility	feasibility	NOUN
fumecheng-2849	18	6	study	study	NOUN
fumecheng-2849	18	7	for	for	ADP
fumecheng-2849	18	8	controlling	control	VERB
fumecheng-2849	18	9	the	the	DET
fumecheng-2849	18	10	motion	motion	NOUN
fumecheng-2849	18	11	of	of	ADP
fumecheng-2849	18	12	a	a	DET
fumecheng-2849	18	13	mechatronic	mechatronic	NOUN
fumecheng-2849	18	14	redesigned	redesign	VERB
fumecheng-2849	18	15	slider	slider	NOUN
fumecheng-2849	18	16	-	-	PUNCT
fumecheng-2849	18	17	crank	crank	NOUN
fumecheng-2849	18	18	mechanism	mechanism	NOUN
fumecheng-2849	18	19	is	be	AUX
fumecheng-2849	18	20	elaborated	elaborate	VERB
fumecheng-2849	18	21	.	.	PUNCT
fumecheng-2849	19	1	for	for	ADP
fumecheng-2849	19	2	that	that	DET
fumecheng-2849	19	3	case	case	NOUN
fumecheng-2849	19	4	,	,	PUNCT
fumecheng-2849	19	5	different	different	ADJ
fumecheng-2849	19	6	approaches	approach	NOUN
fumecheng-2849	19	7	can	can	AUX
fumecheng-2849	19	8	be	be	AUX
fumecheng-2849	19	9	found	find	VERB
fumecheng-2849	19	10	in	in	ADP
fumecheng-2849	19	11	references	reference	NOUN
fumecheng-2849	19	12	.	.	PUNCT
fumecheng-2849	20	1	by	by	ADP
fumecheng-2849	20	2	using	use	VERB
fumecheng-2849	20	3	the	the	DET
fumecheng-2849	20	4	particle	particle	NOUN
fumecheng-2849	20	5	swarm	swarm	NOUN
fumecheng-2849	20	6	optimization	optimization	NOUN
fumecheng-2849	20	7	(	(	PUNCT
fumecheng-2849	20	8	pso	pso	NOUN
fumecheng-2849	20	9	)	)	PUNCT
fumecheng-2849	20	10	algorithm	algorithm	NOUN
fumecheng-2849	20	11	,	,	PUNCT
fumecheng-2849	20	12	a	a	DET
fumecheng-2849	20	13	novel	novel	ADJ
fumecheng-2849	20	14	design	design	NOUN
fumecheng-2849	20	15	method	method	NOUN
fumecheng-2849	20	16	for	for	ADP
fumecheng-2849	20	17	the	the	DET
fumecheng-2849	20	18	self	self	NOUN
fumecheng-2849	20	19	-	-	PUNCT
fumecheng-2849	20	20	tuning	tune	VERB
fumecheng-2849	20	21	pid	pid	NOUN
fumecheng-2849	20	22	control	control	NOUN
fumecheng-2849	20	23	in	in	ADP
fumecheng-2849	20	24	a	a	DET
fumecheng-2849	20	25	slider	slider	NOUN
fumecheng-2849	20	26	–	–	PUNCT
fumecheng-2849	20	27	crank	crank	NOUN
fumecheng-2849	20	28	mechanism	mechanism	NOUN
fumecheng-2849	20	29	system	system	NOUN
fumecheng-2849	20	30	is	be	AUX
fumecheng-2849	20	31	presented	present	VERB
fumecheng-2849	20	32	in	in	ADP
fumecheng-2849	20	33	[	[	X
fumecheng-2849	20	34	3	3	NUM
fumecheng-2849	20	35	]	]	PUNCT
fumecheng-2849	20	36	.	.	PUNCT
fumecheng-2849	21	1	the	the	DET
fumecheng-2849	21	2	paper	paper	NOUN
fumecheng-2849	21	3	demonstrates	demonstrate	VERB
fumecheng-2849	21	4	,	,	PUNCT
fumecheng-2849	21	5	in	in	ADP
fumecheng-2849	21	6	detail	detail	NOUN
fumecheng-2849	21	7	,	,	PUNCT
fumecheng-2849	21	8	how	how	SCONJ
fumecheng-2849	21	9	to	to	PART
fumecheng-2849	21	10	employ	employ	VERB
fumecheng-2849	21	11	the	the	DET
fumecheng-2849	21	12	pso	pso	NOUN
fumecheng-2849	21	13	so	so	SCONJ
fumecheng-2849	21	14	as	as	SCONJ
fumecheng-2849	21	15	to	to	PART
fumecheng-2849	21	16	search	search	VERB
fumecheng-2849	21	17	efficiently	efficiently	ADV
fumecheng-2849	21	18	for	for	ADP
fumecheng-2849	21	19	the	the	DET
fumecheng-2849	21	20	optimal	optimal	ADJ
fumecheng-2849	21	21	pid	pid	NOUN
fumecheng-2849	21	22	controller	controller	NOUN
fumecheng-2849	21	23	parameters	parameter	NOUN
fumecheng-2849	21	24	within	within	ADP
fumecheng-2849	21	25	a	a	DET
fumecheng-2849	21	26	mechanism	mechanism	NOUN
fumecheng-2849	21	27	system	system	NOUN
fumecheng-2849	21	28	.	.	PUNCT
fumecheng-2849	22	1	in	in	ADP
fumecheng-2849	22	2	[	[	X
fumecheng-2849	22	3	4	4	X
fumecheng-2849	22	4	]	]	PUNCT
fumecheng-2849	22	5	a	a	DET
fumecheng-2849	22	6	supervisory	supervisory	ADJ
fumecheng-2849	22	7	fuzzy	fuzzy	ADJ
fumecheng-2849	22	8	neural	neural	ADJ
fumecheng-2849	22	9	network	network	NOUN
fumecheng-2849	22	10	(	(	PUNCT
fumecheng-2849	22	11	fnn	fnn	PROPN
fumecheng-2849	22	12	)	)	PUNCT
fumecheng-2849	22	13	controller	controller	NOUN
fumecheng-2849	22	14	is	be	AUX
fumecheng-2849	22	15	proposed	propose	VERB
fumecheng-2849	22	16	to	to	PART
fumecheng-2849	22	17	control	control	VERB
fumecheng-2849	22	18	a	a	DET
fumecheng-2849	22	19	nonlinear	nonlinear	ADJ
fumecheng-2849	22	20	slider	slider	NOUN
fumecheng-2849	22	21	-	-	PUNCT
fumecheng-2849	22	22	crank	crank	NOUN
fumecheng-2849	22	23	mechanism	mechanism	NOUN
fumecheng-2849	22	24	where	where	SCONJ
fumecheng-2849	22	25	the	the	DET
fumecheng-2849	22	26	control	control	NOUN
fumecheng-2849	22	27	system	system	NOUN
fumecheng-2849	22	28	is	be	AUX
fumecheng-2849	22	29	composed	compose	VERB
fumecheng-2849	22	30	of	of	ADP
fumecheng-2849	22	31	a	a	DET
fumecheng-2849	22	32	permanent	permanent	ADJ
fumecheng-2849	22	33	magnet	magnet	NOUN
fumecheng-2849	22	34	(	(	PUNCT
fumecheng-2849	22	35	pm	pm	NOUN
fumecheng-2849	22	36	)	)	PUNCT
fumecheng-2849	22	37	synchronous	synchronous	ADJ
fumecheng-2849	22	38	servo	servo	NOUN
fumecheng-2849	22	39	motor	motor	NOUN
fumecheng-2849	22	40	drive	drive	NOUN
fumecheng-2849	22	41	coupled	couple	VERB
fumecheng-2849	22	42	with	with	ADP
fumecheng-2849	22	43	a	a	DET
fumecheng-2849	22	44	slider	slider	NOUN
fumecheng-2849	22	45	-	-	PUNCT
fumecheng-2849	22	46	crank	crank	NOUN
fumecheng-2849	22	47	mechanism	mechanism	NOUN
fumecheng-2849	22	48	and	and	CCONJ
fumecheng-2849	22	49	a	a	DET
fumecheng-2849	22	50	supervisory	supervisory	ADJ
fumecheng-2849	22	51	fnn	fnn	NOUN
fumecheng-2849	22	52	position	position	NOUN
fumecheng-2849	22	53	controller	controller	NOUN
fumecheng-2849	22	54	.	.	PUNCT
fumecheng-2849	23	1	in	in	ADP
fumecheng-2849	23	2	[	[	X
fumecheng-2849	23	3	5	5	NUM
fumecheng-2849	23	4	]	]	PUNCT
fumecheng-2849	23	5	“	"	PUNCT
fumecheng-2849	23	6	mechatronic	mechatronic	ADJ
fumecheng-2849	23	7	redesign	redesign	NOUN
fumecheng-2849	23	8	’’	’'	PUNCT
fumecheng-2849	23	9	of	of	ADP
fumecheng-2849	23	10	the	the	DET
fumecheng-2849	23	11	slider	slider	NOUN
fumecheng-2849	23	12	-	-	PUNCT
fumecheng-2849	23	13	crank	crank	NOUN
fumecheng-2849	23	14	mechanism	mechanism	NOUN
fumecheng-2849	23	15	is	be	AUX
fumecheng-2849	23	16	carried	carry	VERB
fumecheng-2849	23	17	out	out	ADP
fumecheng-2849	23	18	in	in	ADP
fumecheng-2849	23	19	order	order	NOUN
fumecheng-2849	23	20	to	to	PART
fumecheng-2849	23	21	perform	perform	VERB
fumecheng-2849	23	22	a	a	DET
fumecheng-2849	23	23	variety	variety	NOUN
fumecheng-2849	23	24	of	of	ADP
fumecheng-2849	23	25	motion	motion	NOUN
fumecheng-2849	23	26	patterns	pattern	NOUN
fumecheng-2849	23	27	.	.	PUNCT
fumecheng-2849	24	1	a	a	DET
fumecheng-2849	24	2	novel	novel	ADJ
fumecheng-2849	24	3	design	design	NOUN
fumecheng-2849	24	4	for	for	ADP
fumecheng-2849	24	5	quick	quick	ADJ
fumecheng-2849	24	6	return	return	NOUN
fumecheng-2849	24	7	mechanisms	mechanism	NOUN
fumecheng-2849	24	8	,	,	PUNCT
fumecheng-2849	24	9	where	where	SCONJ
fumecheng-2849	24	10	the	the	DET
fumecheng-2849	24	11	new	new	ADJ
fumecheng-2849	24	12	mechanism	mechanism	NOUN
fumecheng-2849	24	13	is	be	AUX
fumecheng-2849	24	14	composed	compose	VERB
fumecheng-2849	24	15	by	by	ADP
fumecheng-2849	24	16	a	a	DET
fumecheng-2849	24	17	generalized	generalize	VERB
fumecheng-2849	24	18	oldham	oldham	PROPN
fumecheng-2849	24	19	coupling	coupling	NOUN
fumecheng-2849	24	20	and	and	CCONJ
fumecheng-2849	24	21	a	a	DET
fumecheng-2849	24	22	slider	slider	NOUN
fumecheng-2849	24	23	-	-	PUNCT
fumecheng-2849	24	24	crank	crank	NOUN
fumecheng-2849	24	25	mechanism	mechanism	NOUN
fumecheng-2849	24	26	is	be	AUX
fumecheng-2849	24	27	proposed	propose	VERB
fumecheng-2849	24	28	in	in	ADP
fumecheng-2849	24	29	[	[	X
fumecheng-2849	24	30	6	6	NUM
fumecheng-2849	24	31	]	]	PUNCT
fumecheng-2849	24	32	.	.	PUNCT
fumecheng-2849	25	1	in	in	ADP
fumecheng-2849	25	2	[	[	X
fumecheng-2849	25	3	7	7	X
fumecheng-2849	25	4	]	]	PUNCT
fumecheng-2849	25	5	the	the	DET
fumecheng-2849	25	6	mathematical	mathematical	ADJ
fumecheng-2849	25	7	model	model	NOUN
fumecheng-2849	25	8	of	of	ADP
fumecheng-2849	25	9	the	the	DET
fumecheng-2849	25	10	motor	motor	NOUN
fumecheng-2849	25	11	-	-	PUNCT
fumecheng-2849	25	12	mechanism	mechanism	NOUN
fumecheng-2849	25	13	coupling	coupling	NOUN
fumecheng-2849	25	14	system	system	NOUN
fumecheng-2849	25	15	is	be	AUX
fumecheng-2849	25	16	developed	develop	VERB
fumecheng-2849	25	17	.	.	PUNCT
fumecheng-2849	26	1	to	to	PART
fumecheng-2849	26	2	formulate	formulate	VERB
fumecheng-2849	26	3	the	the	DET
fumecheng-2849	26	4	equation	equation	NOUN
fumecheng-2849	26	5	of	of	ADP
fumecheng-2849	26	6	motion	motion	NOUN
fumecheng-2849	26	7	,	,	PUNCT
fumecheng-2849	26	8	the	the	DET
fumecheng-2849	26	9	hamilton	hamilton	PROPN
fumecheng-2849	26	10	's	's	PART
fumecheng-2849	26	11	principle	principle	NOUN
fumecheng-2849	26	12	and	and	CCONJ
fumecheng-2849	26	13	the	the	DET
fumecheng-2849	26	14	lagrange	lagrange	NOUN
fumecheng-2849	26	15	multiplier	multipli	ADJ
fumecheng-2849	26	16	method	method	NOUN
fumecheng-2849	26	17	are	be	AUX
fumecheng-2849	26	18	applied	apply	VERB
fumecheng-2849	26	19	.	.	PUNCT
fumecheng-2849	27	1	an	an	DET
fumecheng-2849	27	2	adaptive	adaptive	ADJ
fumecheng-2849	27	3	controller	controller	NOUN
fumecheng-2849	27	4	for	for	ADP
fumecheng-2849	27	5	the	the	DET
fumecheng-2849	27	6	motor	motor	NOUN
fumecheng-2849	27	7	-	-	PUNCT
fumecheng-2849	27	8	mechanism	mechanism	NOUN
fumecheng-2849	27	9	coupling	coupling	NOUN
fumecheng-2849	27	10	system	system	NOUN
fumecheng-2849	27	11	is	be	AUX
fumecheng-2849	27	12	obtained	obtain	VERB
fumecheng-2849	27	13	by	by	ADP
fumecheng-2849	27	14	using	use	VERB
fumecheng-2849	27	15	the	the	DET
fumecheng-2849	27	16	stability	stability	NOUN
fumecheng-2849	27	17	analysis	analysis	NOUN
fumecheng-2849	27	18	with	with	ADP
fumecheng-2849	27	19	the	the	DET
fumecheng-2849	27	20	inertia	inertia	NOUN
fumecheng-2849	27	21	-	-	PUNCT
fumecheng-2849	27	22	related	relate	VERB
fumecheng-2849	27	23	lyapunov	lyapunov	NOUN
fumecheng-2849	27	24	function	function	NOUN
fumecheng-2849	27	25	.	.	PUNCT
fumecheng-2849	28	1	[	[	X
fumecheng-2849	28	2	8	8	NUM
fumecheng-2849	28	3	]	]	PUNCT
fumecheng-2849	28	4	shows	show	VERB
fumecheng-2849	28	5	a	a	DET
fumecheng-2849	28	6	similar	similar	ADJ
fumecheng-2849	28	7	approach	approach	NOUN
fumecheng-2849	28	8	for	for	ADP
fumecheng-2849	28	9	the	the	DET
fumecheng-2849	28	10	control	control	NOUN
fumecheng-2849	28	11	algorithm	algorithm	NOUN
fumecheng-2849	28	12	.	.	PUNCT
fumecheng-2849	29	1	the	the	DET
fumecheng-2849	29	2	experiment	experiment	NOUN
fumecheng-2849	29	3	is	be	AUX
fumecheng-2849	29	4	carried	carry	VERB
fumecheng-2849	29	5	out	out	ADP
fumecheng-2849	29	6	in	in	ADP
fumecheng-2849	29	7	the	the	DET
fumecheng-2849	29	8	remote	remote	ADJ
fumecheng-2849	29	9	control	control	NOUN
fumecheng-2849	29	10	of	of	ADP
fumecheng-2849	29	11	the	the	DET
fumecheng-2849	29	12	mechatronic	mechatronic	NOUN
fumecheng-2849	29	13	redesigned	redesign	VERB
fumecheng-2849	29	14	slider	slider	NOUN
fumecheng-2849	29	15	-	-	PUNCT
fumecheng-2849	29	16	crank	crank	NOUN
fumecheng-2849	29	17	mechanism	mechanism	NOUN
fumecheng-2849	29	18	in	in	ADP
fumecheng-2849	29	19	service	service	NOUN
fumecheng-2849	29	20	259	259	NUM
fumecheng-2849	29	21	virtual	virtual	ADJ
fumecheng-2849	29	22	environment	environment	NOUN
fumecheng-2849	29	23	,	,	PUNCT
fumecheng-2849	29	24	where	where	SCONJ
fumecheng-2849	29	25	solidworks	solidworks	PROPN
fumecheng-2849	29	26	cad	cad	PROPN
fumecheng-2849	29	27	design	design	NOUN
fumecheng-2849	29	28	software	software	NOUN
fumecheng-2849	29	29	is	be	AUX
fumecheng-2849	29	30	used	use	VERB
fumecheng-2849	29	31	for	for	ADP
fumecheng-2849	29	32	modeling	model	VERB
fumecheng-2849	29	33	the	the	DET
fumecheng-2849	29	34	mechanism	mechanism	NOUN
fumecheng-2849	29	35	which	which	PRON
fumecheng-2849	29	36	is	be	AUX
fumecheng-2849	29	37	then	then	ADV
fumecheng-2849	29	38	linked	link	VERB
fumecheng-2849	29	39	to	to	ADP
fumecheng-2849	29	40	ni	ni	PROPN
fumecheng-2849	29	41	labview	labview	NOUN
fumecheng-2849	29	42	graphical	graphical	ADJ
fumecheng-2849	29	43	programming	programming	NOUN
fumecheng-2849	29	44	platform	platform	NOUN
fumecheng-2849	29	45	that	that	PRON
fumecheng-2849	29	46	is	be	AUX
fumecheng-2849	29	47	used	use	VERB
fumecheng-2849	29	48	to	to	PART
fumecheng-2849	29	49	control	control	VERB
fumecheng-2849	29	50	the	the	DET
fumecheng-2849	29	51	mechanism	mechanism	NOUN
fumecheng-2849	29	52	.	.	PUNCT
fumecheng-2849	30	1	in	in	ADP
fumecheng-2849	30	2	[	[	X
fumecheng-2849	30	3	9	9	NUM
fumecheng-2849	30	4	]	]	PUNCT
fumecheng-2849	30	5	the	the	DET
fumecheng-2849	30	6	variable	variable	ADJ
fumecheng-2849	30	7	structure	structure	NOUN
fumecheng-2849	30	8	control	control	NOUN
fumecheng-2849	30	9	(	(	PUNCT
fumecheng-2849	30	10	vsc	vsc	PROPN
fumecheng-2849	30	11	)	)	PUNCT
fumecheng-2849	30	12	and	and	CCONJ
fumecheng-2849	30	13	the	the	DET
fumecheng-2849	30	14	stabilizer	stabilizer	NOUN
fumecheng-2849	30	15	design	design	NOUN
fumecheng-2849	30	16	by	by	ADP
fumecheng-2849	30	17	using	use	VERB
fumecheng-2849	30	18	pole	pole	NOUN
fumecheng-2849	30	19	placement	placement	NOUN
fumecheng-2849	30	20	technique	technique	NOUN
fumecheng-2849	30	21	are	be	AUX
fumecheng-2849	30	22	applied	apply	VERB
fumecheng-2849	30	23	to	to	ADP
fumecheng-2849	30	24	the	the	DET
fumecheng-2849	30	25	tracking	tracking	NOUN
fumecheng-2849	30	26	control	control	NOUN
fumecheng-2849	30	27	of	of	ADP
fumecheng-2849	30	28	the	the	DET
fumecheng-2849	30	29	flexible	flexible	ADJ
fumecheng-2849	30	30	slider	slider	NOUN
fumecheng-2849	30	31	-	-	PUNCT
fumecheng-2849	30	32	crank	crank	NOUN
fumecheng-2849	30	33	mechanism	mechanism	NOUN
fumecheng-2849	30	34	under	under	ADP
fumecheng-2849	30	35	impact	impact	NOUN
fumecheng-2849	30	36	.	.	PUNCT
fumecheng-2849	31	1	the	the	DET
fumecheng-2849	31	2	vsc	vsc	PROPN
fumecheng-2849	31	3	strategy	strategy	NOUN
fumecheng-2849	31	4	employed	employ	VERB
fumecheng-2849	31	5	to	to	PART
fumecheng-2849	31	6	track	track	VERB
fumecheng-2849	31	7	the	the	DET
fumecheng-2849	31	8	crank	crank	NOUN
fumecheng-2849	31	9	angular	angular	ADJ
fumecheng-2849	31	10	position	position	NOUN
fumecheng-2849	31	11	and	and	CCONJ
fumecheng-2849	31	12	velocity	velocity	NOUN
fumecheng-2849	31	13	,	,	PUNCT
fumecheng-2849	31	14	while	while	SCONJ
fumecheng-2849	31	15	the	the	DET
fumecheng-2849	31	16	stabilizer	stabilizer	NOUN
fumecheng-2849	31	17	design	design	NOUN
fumecheng-2849	31	18	is	be	AUX
fumecheng-2849	31	19	involved	involve	VERB
fumecheng-2849	31	20	to	to	PART
fumecheng-2849	31	21	suppress	suppress	VERB
fumecheng-2849	31	22	the	the	DET
fumecheng-2849	31	23	flexible	flexible	ADJ
fumecheng-2849	31	24	vibrations	vibration	NOUN
fumecheng-2849	31	25	simultaneously	simultaneously	ADV
fumecheng-2849	31	26	.	.	PUNCT
fumecheng-2849	32	1	in	in	ADP
fumecheng-2849	32	2	[	[	X
fumecheng-2849	32	3	10	10	NUM
fumecheng-2849	32	4	]	]	SYM
fumecheng-2849	32	5	regulation	regulation	NOUN
fumecheng-2849	32	6	and	and	CCONJ
fumecheng-2849	32	7	vibration	vibration	NOUN
fumecheng-2849	32	8	control	control	NOUN
fumecheng-2849	32	9	of	of	ADP
fumecheng-2849	32	10	a	a	DET
fumecheng-2849	32	11	flexible	flexible	ADJ
fumecheng-2849	32	12	slider	slider	NOUN
fumecheng-2849	32	13	–	–	PUNCT
fumecheng-2849	32	14	crank	crank	NOUN
fumecheng-2849	32	15	mechanism	mechanism	NOUN
fumecheng-2849	32	16	is	be	AUX
fumecheng-2849	32	17	presented	present	VERB
fumecheng-2849	32	18	.	.	PUNCT
fumecheng-2849	33	1	the	the	DET
fumecheng-2849	33	2	pda	pda	PROPN
fumecheng-2849	33	3	controller	controller	NOUN
fumecheng-2849	33	4	composed	compose	VERB
fumecheng-2849	33	5	of	of	ADP
fumecheng-2849	33	6	the	the	DET
fumecheng-2849	33	7	traditional	traditional	ADJ
fumecheng-2849	33	8	proportion	proportion	NOUN
fumecheng-2849	33	9	and	and	CCONJ
fumecheng-2849	33	10	derivative	derivative	ADJ
fumecheng-2849	33	11	controllers	controller	NOUN
fumecheng-2849	33	12	with	with	ADP
fumecheng-2849	33	13	the	the	DET
fumecheng-2849	33	14	feedback	feedback	NOUN
fumecheng-2849	33	15	of	of	ADP
fumecheng-2849	33	16	acceleration	acceleration	NOUN
fumecheng-2849	33	17	of	of	ADP
fumecheng-2849	33	18	the	the	DET
fumecheng-2849	33	19	crank	crank	NOUN
fumecheng-2849	33	20	are	be	AUX
fumecheng-2849	33	21	derived	derive	VERB
fumecheng-2849	33	22	by	by	ADP
fumecheng-2849	33	23	using	use	VERB
fumecheng-2849	33	24	the	the	DET
fumecheng-2849	33	25	lyapunov	lyapunov	NOUN
fumecheng-2849	33	26	’s	’s	PART
fumecheng-2849	33	27	direct	direct	ADJ
fumecheng-2849	33	28	method	method	NOUN
fumecheng-2849	33	29	.	.	PUNCT
fumecheng-2849	34	1	suppression	suppression	NOUN
fumecheng-2849	34	2	of	of	ADP
fumecheng-2849	34	3	the	the	DET
fumecheng-2849	34	4	elastodynamic	elastodynamic	ADJ
fumecheng-2849	34	5	vibrations	vibration	NOUN
fumecheng-2849	34	6	of	of	ADP
fumecheng-2849	34	7	a	a	DET
fumecheng-2849	34	8	slider	slider	NOUN
fumecheng-2849	34	9	-	-	PUNCT
fumecheng-2849	34	10	crank	crank	NOUN
fumecheng-2849	34	11	mechanism	mechanism	NOUN
fumecheng-2849	34	12	with	with	ADP
fumecheng-2849	34	13	a	a	DET
fumecheng-2849	34	14	very	very	ADV
fumecheng-2849	34	15	flexible	flexible	ADJ
fumecheng-2849	34	16	connecting	connect	VERB
fumecheng-2849	34	17	rod	rod	NOUN
fumecheng-2849	34	18	is	be	AUX
fumecheng-2849	34	19	addressed	address	VERB
fumecheng-2849	34	20	in	in	ADP
fumecheng-2849	34	21	[	[	X
fumecheng-2849	34	22	11	11	NUM
fumecheng-2849	34	23	]	]	PUNCT
fumecheng-2849	34	24	.	.	PUNCT
fumecheng-2849	35	1	a	a	DET
fumecheng-2849	35	2	model	model	NOUN
fumecheng-2849	35	3	for	for	ADP
fumecheng-2849	35	4	the	the	DET
fumecheng-2849	35	5	mechanism	mechanism	NOUN
fumecheng-2849	35	6	is	be	AUX
fumecheng-2849	35	7	derived	derive	VERB
fumecheng-2849	35	8	using	use	VERB
fumecheng-2849	35	9	euler	euler	NOUN
fumecheng-2849	35	10	-	-	PUNCT
fumecheng-2849	35	11	lagrange	lagrange	NOUN
fumecheng-2849	35	12	equations	equation	NOUN
fumecheng-2849	35	13	and	and	CCONJ
fumecheng-2849	35	14	the	the	DET
fumecheng-2849	35	15	assumed	assume	VERB
fumecheng-2849	35	16	modes	mode	NOUN
fumecheng-2849	35	17	method	method	NOUN
fumecheng-2849	35	18	.	.	PUNCT
fumecheng-2849	36	1	the	the	DET
fumecheng-2849	36	2	control	control	NOUN
fumecheng-2849	36	3	action	action	NOUN
fumecheng-2849	36	4	uses	use	VERB
fumecheng-2849	36	5	two	two	NUM
fumecheng-2849	36	6	feedback	feedback	NOUN
fumecheng-2849	36	7	signals	signal	NOUN
fumecheng-2849	36	8	:	:	PUNCT
fumecheng-2849	36	9	the	the	DET
fumecheng-2849	36	10	crank	crank	NOUN
fumecheng-2849	36	11	angle	angle	NOUN
fumecheng-2849	36	12	and	and	CCONJ
fumecheng-2849	36	13	the	the	DET
fumecheng-2849	36	14	connecting	connect	VERB
fumecheng-2849	36	15	rod	rod	NOUN
fumecheng-2849	36	16	coupler	coupler	NOUN
fumecheng-2849	36	17	midpoint	midpoint	NOUN
fumecheng-2849	36	18	deflection	deflection	NOUN
fumecheng-2849	36	19	.	.	PUNCT
fumecheng-2849	37	1	two	two	NUM
fumecheng-2849	37	2	control	control	NOUN
fumecheng-2849	37	3	schemes	scheme	NOUN
fumecheng-2849	37	4	are	be	AUX
fumecheng-2849	37	5	proposed	propose	VERB
fumecheng-2849	37	6	for	for	ADP
fumecheng-2849	37	7	the	the	DET
fumecheng-2849	37	8	control	control	NOUN
fumecheng-2849	37	9	of	of	ADP
fumecheng-2849	37	10	the	the	DET
fumecheng-2849	37	11	flexible	flexible	ADJ
fumecheng-2849	37	12	slider	slider	NOUN
fumecheng-2849	37	13	-	-	PUNCT
fumecheng-2849	37	14	crank	crank	NOUN
fumecheng-2849	37	15	mechanism	mechanism	NOUN
fumecheng-2849	37	16	.	.	PUNCT
fumecheng-2849	38	1	one	one	NUM
fumecheng-2849	38	2	scheme	scheme	NOUN
fumecheng-2849	38	3	is	be	AUX
fumecheng-2849	38	4	a	a	DET
fumecheng-2849	38	5	simple	simple	ADJ
fumecheng-2849	38	6	pd	pd	NOUN
fumecheng-2849	38	7	control	control	NOUN
fumecheng-2849	38	8	scheme	scheme	NOUN
fumecheng-2849	38	9	with	with	ADP
fumecheng-2849	38	10	feedback	feedback	NOUN
fumecheng-2849	38	11	linearization	linearization	NOUN
fumecheng-2849	38	12	.	.	PUNCT
fumecheng-2849	39	1	the	the	DET
fumecheng-2849	39	2	second	second	ADJ
fumecheng-2849	39	3	scheme	scheme	NOUN
fumecheng-2849	39	4	is	be	AUX
fumecheng-2849	39	5	based	base	VERB
fumecheng-2849	39	6	on	on	ADP
fumecheng-2849	39	7	the	the	DET
fumecheng-2849	39	8	μ	μ	NUM
fumecheng-2849	39	9	-	-	PUNCT
fumecheng-2849	39	10	synthesis	synthesis	NOUN
fumecheng-2849	39	11	control	control	NOUN
fumecheng-2849	39	12	technique	technique	NOUN
fumecheng-2849	39	13	.	.	PUNCT
fumecheng-2849	40	1	in	in	ADP
fumecheng-2849	40	2	[	[	X
fumecheng-2849	40	3	12	12	NUM
fumecheng-2849	40	4	]	]	PUNCT
fumecheng-2849	40	5	a	a	DET
fumecheng-2849	40	6	method	method	NOUN
fumecheng-2849	40	7	of	of	ADP
fumecheng-2849	40	8	solution	solution	NOUN
fumecheng-2849	40	9	rectification	rectification	NOUN
fumecheng-2849	40	10	by	by	ADP
fumecheng-2849	40	11	means	mean	NOUN
fumecheng-2849	40	12	of	of	ADP
fumecheng-2849	40	13	transmission	transmission	NOUN
fumecheng-2849	40	14	angle	angle	NOUN
fumecheng-2849	40	15	control	control	NOUN
fumecheng-2849	40	16	which	which	PRON
fumecheng-2849	40	17	can	can	AUX
fumecheng-2849	40	18	be	be	AUX
fumecheng-2849	40	19	used	use	VERB
fumecheng-2849	40	20	to	to	PART
fumecheng-2849	40	21	parameterize	parameterize	VERB
fumecheng-2849	40	22	a	a	DET
fumecheng-2849	40	23	problem	problem	NOUN
fumecheng-2849	40	24	to	to	PART
fumecheng-2849	40	25	prevent	prevent	VERB
fumecheng-2849	40	26	the	the	DET
fumecheng-2849	40	27	evaluation	evaluation	NOUN
fumecheng-2849	40	28	of	of	ADP
fumecheng-2849	40	29	invalid	invalid	ADJ
fumecheng-2849	40	30	linkages	linkage	NOUN
fumecheng-2849	40	31	is	be	AUX
fumecheng-2849	40	32	presented	present	VERB
fumecheng-2849	40	33	.	.	PUNCT
fumecheng-2849	41	1	the	the	DET
fumecheng-2849	41	2	solution	solution	NOUN
fumecheng-2849	41	3	takes	take	VERB
fumecheng-2849	41	4	into	into	ADP
fumecheng-2849	41	5	consideration	consideration	NOUN
fumecheng-2849	41	6	crank	crank	NOUN
fumecheng-2849	41	7	driven	drive	VERB
fumecheng-2849	41	8	and	and	CCONJ
fumecheng-2849	41	9	slider	slider	NOUN
fumecheng-2849	41	10	driven	drive	VERB
fumecheng-2849	41	11	mechanisms	mechanism	NOUN
fumecheng-2849	41	12	as	as	ADV
fumecheng-2849	41	13	well	well	ADV
fumecheng-2849	41	14	as	as	ADP
fumecheng-2849	41	15	a	a	DET
fumecheng-2849	41	16	reversible	reversible	ADJ
fumecheng-2849	41	17	driver	driver	NOUN
fumecheng-2849	41	18	mechanism	mechanism	NOUN
fumecheng-2849	41	19	.	.	PUNCT
fumecheng-2849	42	1	dynamic	dynamic	ADJ
fumecheng-2849	42	2	behavior	behavior	NOUN
fumecheng-2849	42	3	of	of	ADP
fumecheng-2849	42	4	a	a	DET
fumecheng-2849	42	5	slider	slider	NOUN
fumecheng-2849	42	6	–	–	PUNCT
fumecheng-2849	42	7	crank	crank	NOUN
fumecheng-2849	42	8	mechanism	mechanism	NOUN
fumecheng-2849	42	9	associated	associate	VERB
fumecheng-2849	42	10	with	with	ADP
fumecheng-2849	42	11	a	a	DET
fumecheng-2849	42	12	smart	smart	ADJ
fumecheng-2849	42	13	flexible	flexible	ADJ
fumecheng-2849	42	14	connecting	connect	VERB
fumecheng-2849	42	15	rod	rod	NOUN
fumecheng-2849	42	16	is	be	AUX
fumecheng-2849	42	17	investigated	investigate	VERB
fumecheng-2849	42	18	in	in	ADP
fumecheng-2849	42	19	[	[	X
fumecheng-2849	42	20	13	13	NUM
fumecheng-2849	42	21	]	]	PUNCT
fumecheng-2849	42	22	.	.	PUNCT
fumecheng-2849	43	1	two	two	NUM
fumecheng-2849	43	2	control	control	NOUN
fumecheng-2849	43	3	schemes	scheme	NOUN
fumecheng-2849	43	4	are	be	AUX
fumecheng-2849	43	5	proposed	propose	VERB
fumecheng-2849	43	6	;	;	PUNCT
fumecheng-2849	43	7	the	the	DET
fumecheng-2849	43	8	first	first	ADJ
fumecheng-2849	43	9	is	be	AUX
fumecheng-2849	43	10	based	base	VERB
fumecheng-2849	43	11	on	on	ADP
fumecheng-2849	43	12	feedback	feedback	NOUN
fumecheng-2849	43	13	linearization	linearization	NOUN
fumecheng-2849	43	14	approach	approach	NOUN
fumecheng-2849	43	15	and	and	CCONJ
fumecheng-2849	43	16	the	the	DET
fumecheng-2849	43	17	second	second	NOUN
fumecheng-2849	43	18	is	be	AUX
fumecheng-2849	43	19	based	base	VERB
fumecheng-2849	43	20	on	on	ADP
fumecheng-2849	43	21	a	a	DET
fumecheng-2849	43	22	sliding	slide	VERB
fumecheng-2849	43	23	mode	mode	NOUN
fumecheng-2849	43	24	controller	controller	NOUN
fumecheng-2849	43	25	.	.	PUNCT
fumecheng-2849	44	1	in	in	ADP
fumecheng-2849	44	2	[	[	X
fumecheng-2849	44	3	14	14	NUM
fumecheng-2849	44	4	]	]	X
fumecheng-2849	44	5	an	an	DET
fumecheng-2849	44	6	optimization	optimization	NOUN
fumecheng-2849	44	7	method	method	NOUN
fumecheng-2849	44	8	is	be	AUX
fumecheng-2849	44	9	proposed	propose	VERB
fumecheng-2849	44	10	to	to	PART
fumecheng-2849	44	11	alleviate	alleviate	VERB
fumecheng-2849	44	12	the	the	DET
fumecheng-2849	44	13	undesirable	undesirable	ADJ
fumecheng-2849	44	14	effects	effect	NOUN
fumecheng-2849	44	15	of	of	ADP
fumecheng-2849	44	16	joint	joint	ADJ
fumecheng-2849	44	17	clearance	clearance	NOUN
fumecheng-2849	44	18	in	in	ADP
fumecheng-2849	44	19	order	order	NOUN
fumecheng-2849	44	20	to	to	PART
fumecheng-2849	44	21	optimize	optimize	VERB
fumecheng-2849	44	22	the	the	DET
fumecheng-2849	44	23	mass	mass	ADJ
fumecheng-2849	44	24	distribution	distribution	NOUN
fumecheng-2849	44	25	of	of	ADP
fumecheng-2849	44	26	the	the	DET
fumecheng-2849	44	27	links	link	NOUN
fumecheng-2849	44	28	of	of	ADP
fumecheng-2849	44	29	a	a	DET
fumecheng-2849	44	30	mechanism	mechanism	NOUN
fumecheng-2849	44	31	to	to	PART
fumecheng-2849	44	32	reduce	reduce	VERB
fumecheng-2849	44	33	or	or	CCONJ
fumecheng-2849	44	34	eliminate	eliminate	VERB
fumecheng-2849	44	35	the	the	DET
fumecheng-2849	44	36	impact	impact	NOUN
fumecheng-2849	44	37	forces	force	NOUN
fumecheng-2849	44	38	in	in	ADP
fumecheng-2849	44	39	the	the	DET
fumecheng-2849	44	40	clearance	clearance	NOUN
fumecheng-2849	44	41	joint	joint	NOUN
fumecheng-2849	44	42	.	.	PUNCT
fumecheng-2849	45	1	for	for	ADP
fumecheng-2849	45	2	a	a	DET
fumecheng-2849	45	3	slider	slider	NOUN
fumecheng-2849	45	4	–	–	PUNCT
fumecheng-2849	45	5	crank	crank	NOUN
fumecheng-2849	45	6	mechanism	mechanism	NOUN
fumecheng-2849	45	7	with	with	ADP
fumecheng-2849	45	8	a	a	DET
fumecheng-2849	45	9	revolute	revolute	ADJ
fumecheng-2849	45	10	clearance	clearance	NOUN
fumecheng-2849	45	11	joint	joint	NOUN
fumecheng-2849	45	12	between	between	ADP
fumecheng-2849	45	13	the	the	DET
fumecheng-2849	45	14	slider	slider	NOUN
fumecheng-2849	45	15	and	and	CCONJ
fumecheng-2849	45	16	the	the	DET
fumecheng-2849	45	17	connecting	connect	VERB
fumecheng-2849	45	18	rod	rod	NOUN
fumecheng-2849	45	19	,	,	PUNCT
fumecheng-2849	45	20	an	an	DET
fumecheng-2849	45	21	algorithm	algorithm	NOUN
fumecheng-2849	45	22	based	base	VERB
fumecheng-2849	45	23	on	on	ADP
fumecheng-2849	45	24	pso	pso	NOUN
fumecheng-2849	45	25	is	be	AUX
fumecheng-2849	45	26	used	use	VERB
fumecheng-2849	45	27	.	.	PUNCT
fumecheng-2849	46	1	in	in	ADP
fumecheng-2849	46	2	[	[	X
fumecheng-2849	46	3	15	15	NUM
fumecheng-2849	46	4	]	]	X
fumecheng-2849	46	5	a	a	DET
fumecheng-2849	46	6	numerically	numerically	ADV
fumecheng-2849	46	7	comparative	comparative	ADJ
fumecheng-2849	46	8	study	study	NOUN
fumecheng-2849	46	9	on	on	ADP
fumecheng-2849	46	10	dynamic	dynamic	ADJ
fumecheng-2849	46	11	response	response	NOUN
fumecheng-2849	46	12	of	of	ADP
fumecheng-2849	46	13	a	a	DET
fumecheng-2849	46	14	planar	planar	ADJ
fumecheng-2849	46	15	slider	slider	NOUN
fumecheng-2849	46	16	–	–	PUNCT
fumecheng-2849	46	17	crank	crank	NOUN
fumecheng-2849	46	18	mechanism	mechanism	NOUN
fumecheng-2849	46	19	with	with	ADP
fumecheng-2849	46	20	two	two	NUM
fumecheng-2849	46	21	clearance	clearance	NOUN
fumecheng-2849	46	22	joints	joint	NOUN
fumecheng-2849	46	23	between	between	ADP
fumecheng-2849	46	24	considering	consider	VERB
fumecheng-2849	46	25	harmonic	harmonic	ADJ
fumecheng-2849	46	26	drive	drive	NOUN
fumecheng-2849	46	27	and	and	CCONJ
fumecheng-2849	46	28	link	link	NOUN
fumecheng-2849	46	29	flexibility	flexibility	NOUN
fumecheng-2849	46	30	is	be	AUX
fumecheng-2849	46	31	conducted	conduct	VERB
fumecheng-2849	46	32	.	.	PUNCT
fumecheng-2849	47	1	the	the	DET
fumecheng-2849	47	2	comparative	comparative	ADJ
fumecheng-2849	47	3	study	study	NOUN
fumecheng-2849	47	4	of	of	ADP
fumecheng-2849	47	5	optimization	optimization	NOUN
fumecheng-2849	47	6	design	design	NOUN
fumecheng-2849	47	7	of	of	ADP
fumecheng-2849	47	8	the	the	DET
fumecheng-2849	47	9	rigid	rigid	ADJ
fumecheng-2849	47	10	and	and	CCONJ
fumecheng-2849	47	11	harmonic	harmonic	ADJ
fumecheng-2849	47	12	drive	drive	NOUN
fumecheng-2849	47	13	slider	slider	NOUN
fumecheng-2849	47	14	–	–	PUNCT
fumecheng-2849	47	15	crank	crank	NOUN
fumecheng-2849	47	16	mechanism	mechanism	NOUN
fumecheng-2849	47	17	experiencing	experience	VERB
fumecheng-2849	47	18	wear	wear	NOUN
fumecheng-2849	47	19	is	be	AUX
fumecheng-2849	47	20	also	also	ADV
fumecheng-2849	47	21	presented	present	VERB
fumecheng-2849	47	22	.	.	PUNCT
fumecheng-2849	48	1	the	the	DET
fumecheng-2849	48	2	aim	aim	NOUN
fumecheng-2849	48	3	of	of	ADP
fumecheng-2849	48	4	the	the	DET
fumecheng-2849	48	5	research	research	NOUN
fumecheng-2849	48	6	presented	present	VERB
fumecheng-2849	48	7	in	in	ADP
fumecheng-2849	48	8	this	this	DET
fumecheng-2849	48	9	paper	paper	NOUN
fumecheng-2849	48	10	is	be	AUX
fumecheng-2849	48	11	focused	focus	VERB
fumecheng-2849	48	12	on	on	ADP
fumecheng-2849	48	13	using	use	VERB
fumecheng-2849	48	14	the	the	DET
fumecheng-2849	48	15	control	control	NOUN
fumecheng-2849	48	16	algorithm	algorithm	NOUN
fumecheng-2849	48	17	for	for	ADP
fumecheng-2849	48	18	the	the	DET
fumecheng-2849	48	19	generation	generation	NOUN
fumecheng-2849	48	20	of	of	ADP
fumecheng-2849	48	21	a	a	DET
fumecheng-2849	48	22	linear	linear	ADJ
fumecheng-2849	48	23	translation	translation	NOUN
fumecheng-2849	48	24	of	of	ADP
fumecheng-2849	48	25	the	the	DET
fumecheng-2849	48	26	motion	motion	NOUN
fumecheng-2849	48	27	patterns	pattern	NOUN
fumecheng-2849	48	28	that	that	PRON
fumecheng-2849	48	29	can	can	AUX
fumecheng-2849	48	30	be	be	AUX
fumecheng-2849	48	31	controlled	control	VERB
fumecheng-2849	48	32	as	as	ADV
fumecheng-2849	48	33	well	well	ADV
fumecheng-2849	48	34	as	as	ADP
fumecheng-2849	48	35	for	for	ADP
fumecheng-2849	48	36	explaining	explain	VERB
fumecheng-2849	48	37	the	the	DET
fumecheng-2849	48	38	possibility	possibility	NOUN
fumecheng-2849	48	39	of	of	ADP
fumecheng-2849	48	40	remote	remote	ADJ
fumecheng-2849	48	41	running	running	NOUN
fumecheng-2849	48	42	of	of	ADP
fumecheng-2849	48	43	the	the	DET
fumecheng-2849	48	44	given	give	VERB
fumecheng-2849	48	45	task	task	NOUN
fumecheng-2849	48	46	.	.	PUNCT
fumecheng-2849	49	1	this	this	DET
fumecheng-2849	49	2	remote	remote	ADJ
fumecheng-2849	49	3	experiment	experiment	NOUN
fumecheng-2849	49	4	shows	show	VERB
fumecheng-2849	49	5	an	an	DET
fumecheng-2849	49	6	example	example	NOUN
fumecheng-2849	49	7	of	of	ADP
fumecheng-2849	49	8	the	the	DET
fumecheng-2849	49	9	control	control	NOUN
fumecheng-2849	49	10	of	of	ADP
fumecheng-2849	49	11	the	the	DET
fumecheng-2849	49	12	crank	crank	NOUN
fumecheng-2849	49	13	angular	angular	ADJ
fumecheng-2849	49	14	velocity	velocity	NOUN
fumecheng-2849	49	15	in	in	ADP
fumecheng-2849	49	16	a	a	DET
fumecheng-2849	49	17	slider	slider	NOUN
fumecheng-2849	49	18	-	-	PUNCT
fumecheng-2849	49	19	crank	crank	NOUN
fumecheng-2849	49	20	mechanism	mechanism	NOUN
fumecheng-2849	49	21	in	in	ADP
fumecheng-2849	49	22	order	order	NOUN
fumecheng-2849	49	23	to	to	PART
fumecheng-2849	49	24	achieve	achieve	VERB
fumecheng-2849	49	25	the	the	DET
fumecheng-2849	49	26	desired	desire	VERB
fumecheng-2849	49	27	motion	motion	NOUN
fumecheng-2849	49	28	pattern	pattern	NOUN
fumecheng-2849	49	29	of	of	ADP
fumecheng-2849	49	30	the	the	DET
fumecheng-2849	49	31	slider	slider	NOUN
fumecheng-2849	49	32	.	.	PUNCT
fumecheng-2849	50	1	slider	slider	NOUN
fumecheng-2849	50	2	-	-	PUNCT
fumecheng-2849	50	3	crank	crank	NOUN
fumecheng-2849	50	4	mechanisms	mechanism	NOUN
fumecheng-2849	50	5	are	be	AUX
fumecheng-2849	50	6	used	use	VERB
fumecheng-2849	50	7	in	in	ADP
fumecheng-2849	50	8	many	many	ADJ
fumecheng-2849	50	9	machines	machine	NOUN
fumecheng-2849	50	10	where	where	SCONJ
fumecheng-2849	50	11	there	there	PRON
fumecheng-2849	50	12	is	be	VERB
fumecheng-2849	50	13	a	a	DET
fumecheng-2849	50	14	need	need	NOUN
fumecheng-2849	50	15	to	to	PART
fumecheng-2849	50	16	transform	transform	VERB
fumecheng-2849	50	17	rotary	rotary	ADJ
fumecheng-2849	50	18	motion	motion	NOUN
fumecheng-2849	50	19	into	into	ADP
fumecheng-2849	50	20	translation	translation	NOUN
fumecheng-2849	50	21	,	,	PUNCT
fumecheng-2849	50	22	and	and	CCONJ
fumecheng-2849	50	23	vice	vice	ADV
fumecheng-2849	50	24	versa	versa	ADV
fumecheng-2849	50	25	.	.	PUNCT
fumecheng-2849	51	1	as	as	ADP
fumecheng-2849	51	2	with	with	ADP
fumecheng-2849	51	3	most	most	ADJ
fumecheng-2849	51	4	other	other	ADJ
fumecheng-2849	51	5	mechanisms	mechanism	NOUN
fumecheng-2849	51	6	,	,	PUNCT
fumecheng-2849	51	7	for	for	ADP
fumecheng-2849	51	8	driving	drive	VERB
fumecheng-2849	51	9	slider	slider	NOUN
fumecheng-2849	51	10	-	-	PUNCT
fumecheng-2849	51	11	crank	crank	NOUN
fumecheng-2849	51	12	mechanisms	mechanism	NOUN
fumecheng-2849	51	13	motors	motor	NOUN
fumecheng-2849	51	14	with	with	ADP
fumecheng-2849	51	15	the	the	DET
fumecheng-2849	51	16	constant	constant	ADJ
fumecheng-2849	51	17	angular	angular	ADJ
fumecheng-2849	51	18	velocity	velocity	NOUN
fumecheng-2849	51	19	are	be	AUX
fumecheng-2849	51	20	generally	generally	ADV
fumecheng-2849	51	21	used	use	VERB
fumecheng-2849	51	22	.	.	PUNCT
fumecheng-2849	52	1	in	in	ADP
fumecheng-2849	52	2	that	that	DET
fumecheng-2849	52	3	case	case	NOUN
fumecheng-2849	52	4	,	,	PUNCT
fumecheng-2849	52	5	the	the	DET
fumecheng-2849	52	6	driven	drive	VERB
fumecheng-2849	52	7	motion	motion	NOUN
fumecheng-2849	52	8	of	of	ADP
fumecheng-2849	52	9	a	a	DET
fumecheng-2849	52	10	slider	slider	NOUN
fumecheng-2849	52	11	-	-	PUNCT
fumecheng-2849	52	12	crank	crank	NOUN
fumecheng-2849	52	13	mechanism	mechanism	NOUN
fumecheng-2849	52	14	represents	represent	VERB
fumecheng-2849	52	15	the	the	DET
fumecheng-2849	52	16	return	return	NOUN
fumecheng-2849	52	17	stroke	stroke	NOUN
fumecheng-2849	52	18	of	of	ADP
fumecheng-2849	52	19	the	the	DET
fumecheng-2849	52	20	slider	slider	NOUN
fumecheng-2849	52	21	for	for	ADP
fumecheng-2849	52	22	each	each	DET
fumecheng-2849	52	23	cycle	cycle	NOUN
fumecheng-2849	52	24	of	of	ADP
fumecheng-2849	52	25	rotation	rotation	NOUN
fumecheng-2849	52	26	of	of	ADP
fumecheng-2849	52	27	the	the	DET
fumecheng-2849	52	28	driving	drive	VERB
fumecheng-2849	52	29	member	member	NOUN
fumecheng-2849	52	30	,	,	PUNCT
fumecheng-2849	52	31	which	which	PRON
fumecheng-2849	52	32	is	be	AUX
fumecheng-2849	52	33	called	call	VERB
fumecheng-2849	52	34	a	a	DET
fumecheng-2849	52	35	crank	crank	NOUN
fumecheng-2849	52	36	.	.	PUNCT
fumecheng-2849	53	1	for	for	ADP
fumecheng-2849	53	2	a	a	DET
fumecheng-2849	53	3	centric	centric	ADJ
fumecheng-2849	53	4	slider	slider	NOUN
fumecheng-2849	53	5	-	-	PUNCT
fumecheng-2849	53	6	crank	crank	NOUN
fumecheng-2849	53	7	mechanism	mechanism	NOUN
fumecheng-2849	53	8	,	,	PUNCT
fumecheng-2849	53	9	the	the	DET
fumecheng-2849	53	10	working	working	NOUN
fumecheng-2849	53	11	and	and	CCONJ
fumecheng-2849	53	12	the	the	DET
fumecheng-2849	53	13	return	return	NOUN
fumecheng-2849	53	14	strokes	stroke	NOUN
fumecheng-2849	53	15	of	of	ADP
fumecheng-2849	53	16	the	the	DET
fumecheng-2849	53	17	slider	slider	NOUN
fumecheng-2849	53	18	have	have	VERB
fumecheng-2849	53	19	the	the	DET
fumecheng-2849	53	20	same	same	ADJ
fumecheng-2849	53	21	duration	duration	NOUN
fumecheng-2849	53	22	.	.	PUNCT
fumecheng-2849	54	1	if	if	SCONJ
fumecheng-2849	54	2	an	an	DET
fumecheng-2849	54	3	application	application	NOUN
fumecheng-2849	54	4	requires	require	VERB
fumecheng-2849	54	5	a	a	DET
fumecheng-2849	54	6	mechanism	mechanism	NOUN
fumecheng-2849	54	7	with	with	ADP
fumecheng-2849	54	8	the	the	DET
fumecheng-2849	54	9	slower	slow	ADJ
fumecheng-2849	54	10	working	work	VERB
fumecheng-2849	54	11	stroke	stroke	NOUN
fumecheng-2849	54	12	(	(	PUNCT
fumecheng-2849	54	13	e.g.	e.g.	ADV
fumecheng-2849	54	14	for	for	ADP
fumecheng-2849	54	15	the	the	DET
fumecheng-2849	54	16	realization	realization	NOUN
fumecheng-2849	54	17	of	of	ADP
fumecheng-2849	54	18	operations	operation	NOUN
fumecheng-2849	54	19	of	of	ADP
fumecheng-2849	54	20	cutting	cutting	NOUN
fumecheng-2849	54	21	,	,	PUNCT
fumecheng-2849	54	22	copying	copying	NOUN
fumecheng-2849	54	23	,	,	PUNCT
fumecheng-2849	54	24	scanning	scanning	NOUN
fumecheng-2849	54	25	,	,	PUNCT
fumecheng-2849	54	26	deep	deep	ADJ
fumecheng-2849	54	27	sheet	sheet	NOUN
fumecheng-2849	54	28	metal	metal	NOUN
fumecheng-2849	54	29	drawing	drawing	NOUN
fumecheng-2849	54	30	,	,	PUNCT
fumecheng-2849	54	31	etc	etc	X
fumecheng-2849	54	32	)	)	PUNCT
fumecheng-2849	54	33	,	,	PUNCT
fumecheng-2849	54	34	and	and	CCONJ
fumecheng-2849	54	35	at	at	ADP
fumecheng-2849	54	36	the	the	DET
fumecheng-2849	54	37	same	same	ADJ
fumecheng-2849	54	38	time	time	NOUN
fumecheng-2849	54	39	,	,	PUNCT
fumecheng-2849	54	40	the	the	DET
fumecheng-2849	54	41	rapid	rapid	ADJ
fumecheng-2849	54	42	return	return	NOUN
fumecheng-2849	54	43	stroke	stroke	NOUN
fumecheng-2849	54	44	(	(	PUNCT
fumecheng-2849	54	45	there	there	PRON
fumecheng-2849	54	46	are	be	VERB
fumecheng-2849	54	47	not	not	PART
fumecheng-2849	54	48	working	work	VERB
fumecheng-2849	54	49	operations	operation	NOUN
fumecheng-2849	54	50	in	in	ADP
fumecheng-2849	54	51	the	the	DET
fumecheng-2849	54	52	return	return	NOUN
fumecheng-2849	54	53	stroke	stroke	NOUN
fumecheng-2849	54	54	,	,	PUNCT
fumecheng-2849	54	55	it	it	PRON
fumecheng-2849	54	56	is	be	AUX
fumecheng-2849	54	57	just	just	ADV
fumecheng-2849	54	58	necessary	necessary	ADJ
fumecheng-2849	54	59	to	to	PART
fumecheng-2849	54	60	bring	bring	VERB
fumecheng-2849	54	61	back	back	ADV
fumecheng-2849	54	62	the	the	DET
fumecheng-2849	54	63	mechanism	mechanism	NOUN
fumecheng-2849	54	64	to	to	ADP
fumecheng-2849	54	65	its	its	PRON
fumecheng-2849	54	66	starting	starting	NOUN
fumecheng-2849	54	67	position	position	NOUN
fumecheng-2849	54	68	quickly	quickly	ADV
fumecheng-2849	54	69	in	in	ADP
fumecheng-2849	54	70	order	order	NOUN
fumecheng-2849	54	71	to	to	PART
fumecheng-2849	54	72	save	save	VERB
fumecheng-2849	54	73	the	the	DET
fumecheng-2849	54	74	time	time	NOUN
fumecheng-2849	54	75	up	up	ADP
fumecheng-2849	54	76	to	to	ADP
fumecheng-2849	54	77	the	the	DET
fumecheng-2849	54	78	next	next	ADJ
fumecheng-2849	54	79	working	working	NOUN
fumecheng-2849	54	80	operation	operation	NOUN
fumecheng-2849	54	81	)	)	PUNCT
fumecheng-2849	54	82	,	,	PUNCT
fumecheng-2849	54	83	the	the	DET
fumecheng-2849	54	84	traditional	traditional	ADJ
fumecheng-2849	54	85	approach	approach	NOUN
fumecheng-2849	54	86	to	to	ADP
fumecheng-2849	54	87	solving	solve	VERB
fumecheng-2849	54	88	this	this	DET
fumecheng-2849	54	89	problem	problem	NOUN
fumecheng-2849	54	90	offers	offer	VERB
fumecheng-2849	54	91	a	a	DET
fumecheng-2849	54	92	complete	complete	ADJ
fumecheng-2849	54	93	redesign	redesign	NOUN
fumecheng-2849	54	94	of	of	ADP
fumecheng-2849	54	95	the	the	DET
fumecheng-2849	54	96	mechanism	mechanism	NOUN
fumecheng-2849	54	97	structure	structure	NOUN
fumecheng-2849	54	98	only	only	ADV
fumecheng-2849	54	99	.	.	PUNCT
fumecheng-2849	55	1	260	260	NUM
fumecheng-2849	55	2	m.	m.	NOUN
fumecheng-2849	55	3	tomić	tomić	NOUN
fumecheng-2849	55	4	,	,	PUNCT
fumecheng-2849	55	5	m.	m.	NOUN
fumecheng-2849	55	6	milošević	milošević	PROPN
fumecheng-2849	55	7	,	,	PUNCT
fumecheng-2849	55	8	n.	n.	PROPN
fumecheng-2849	55	9	tomić	tomić	PROPN
fumecheng-2849	55	10	,	,	PUNCT
fumecheng-2849	55	11	n.d	n.d	PROPN
fumecheng-2849	55	12	.	.	PROPN
fumecheng-2849	55	13	pavlović	pavlović	NOUN
fumecheng-2849	55	14	,	,	PUNCT
fumecheng-2849	55	15	v.	v.	ADP
fumecheng-2849	55	16	pavlović	pavlović	VERB
fumecheng-2849	55	17	such	such	DET
fumecheng-2849	55	18	a	a	DET
fumecheng-2849	55	19	requirement	requirement	NOUN
fumecheng-2849	55	20	,	,	PUNCT
fumecheng-2849	55	21	however	however	ADV
fumecheng-2849	55	22	,	,	PUNCT
fumecheng-2849	55	23	could	could	AUX
fumecheng-2849	55	24	be	be	AUX
fumecheng-2849	55	25	effectively	effectively	ADV
fumecheng-2849	55	26	carried	carry	VERB
fumecheng-2849	55	27	out	out	ADP
fumecheng-2849	55	28	as	as	ADV
fumecheng-2849	55	29	well	well	ADV
fumecheng-2849	55	30	by	by	ADP
fumecheng-2849	55	31	installing	instal	VERB
fumecheng-2849	55	32	appropriate	appropriate	ADJ
fumecheng-2849	55	33	sensors	sensor	NOUN
fumecheng-2849	55	34	for	for	ADP
fumecheng-2849	55	35	determining	determine	VERB
fumecheng-2849	55	36	the	the	DET
fumecheng-2849	55	37	position	position	NOUN
fumecheng-2849	55	38	of	of	ADP
fumecheng-2849	55	39	the	the	DET
fumecheng-2849	55	40	crank	crank	NOUN
fumecheng-2849	55	41	and	and	CCONJ
fumecheng-2849	55	42	appropriate	appropriate	ADJ
fumecheng-2849	55	43	controllable	controllable	ADJ
fumecheng-2849	55	44	actuators	actuator	NOUN
fumecheng-2849	55	45	that	that	PRON
fumecheng-2849	55	46	would	would	AUX
fumecheng-2849	55	47	be	be	AUX
fumecheng-2849	55	48	able	able	ADJ
fumecheng-2849	55	49	to	to	PART
fumecheng-2849	55	50	change	change	VERB
fumecheng-2849	55	51	the	the	DET
fumecheng-2849	55	52	angular	angular	ADJ
fumecheng-2849	55	53	velocity	velocity	NOUN
fumecheng-2849	55	54	of	of	ADP
fumecheng-2849	55	55	the	the	DET
fumecheng-2849	55	56	crank	crank	NOUN
fumecheng-2849	55	57	of	of	ADP
fumecheng-2849	55	58	a	a	DET
fumecheng-2849	55	59	slider	slider	NOUN
fumecheng-2849	55	60	-	-	PUNCT
fumecheng-2849	55	61	crank	crank	NOUN
fumecheng-2849	55	62	mechanism	mechanism	NOUN
fumecheng-2849	55	63	.	.	PUNCT
fumecheng-2849	56	1	such	such	DET
fumecheng-2849	56	2	a	a	DET
fumecheng-2849	56	3	"	"	PUNCT
fumecheng-2849	56	4	mechatronic	mechatronic	ADJ
fumecheng-2849	56	5	redesign	redesign	NOUN
fumecheng-2849	56	6	"	"	PUNCT
fumecheng-2849	56	7	,	,	PUNCT
fumecheng-2849	56	8	by	by	ADP
fumecheng-2849	56	9	using	use	VERB
fumecheng-2849	56	10	appropriate	appropriate	ADJ
fumecheng-2849	56	11	sensors	sensor	NOUN
fumecheng-2849	56	12	,	,	PUNCT
fumecheng-2849	56	13	control	control	NOUN
fumecheng-2849	56	14	systems	system	NOUN
fumecheng-2849	56	15	and	and	CCONJ
fumecheng-2849	56	16	controllable	controllable	ADJ
fumecheng-2849	56	17	drive	drive	NOUN
fumecheng-2849	56	18	actuators	actuator	NOUN
fumecheng-2849	56	19	,	,	PUNCT
fumecheng-2849	56	20	adapts	adapt	VERB
fumecheng-2849	56	21	a	a	DET
fumecheng-2849	56	22	traditional	traditional	ADJ
fumecheng-2849	56	23	slider	slider	NOUN
fumecheng-2849	56	24	-	-	PUNCT
fumecheng-2849	56	25	crank	crank	NOUN
fumecheng-2849	56	26	mechanism	mechanism	NOUN
fumecheng-2849	56	27	in	in	ADP
fumecheng-2849	56	28	order	order	NOUN
fumecheng-2849	56	29	to	to	PART
fumecheng-2849	56	30	be	be	AUX
fumecheng-2849	56	31	able	able	ADJ
fumecheng-2849	56	32	for	for	ADP
fumecheng-2849	56	33	implementing	implement	VERB
fumecheng-2849	56	34	a	a	DET
fumecheng-2849	56	35	variety	variety	NOUN
fumecheng-2849	56	36	of	of	ADP
fumecheng-2849	56	37	different	different	ADJ
fumecheng-2849	56	38	motion	motion	NOUN
fumecheng-2849	56	39	-	-	PUNCT
fumecheng-2849	56	40	controlled	control	VERB
fumecheng-2849	56	41	transfer	transfer	NOUN
fumecheng-2849	56	42	functions	function	NOUN
fumecheng-2849	56	43	without	without	ADP
fumecheng-2849	56	44	any	any	DET
fumecheng-2849	56	45	additional	additional	ADJ
fumecheng-2849	56	46	changing	changing	NOUN
fumecheng-2849	56	47	of	of	ADP
fumecheng-2849	56	48	the	the	DET
fumecheng-2849	56	49	basic	basic	ADJ
fumecheng-2849	56	50	mechanism	mechanism	NOUN
fumecheng-2849	56	51	structure	structure	NOUN
fumecheng-2849	56	52	.	.	PUNCT
fumecheng-2849	57	1	2	2	X
fumecheng-2849	57	2	.	.	X
fumecheng-2849	57	3	components	component	NOUN
fumecheng-2849	57	4	of	of	ADP
fumecheng-2849	57	5	mechatronic	mechatronic	NOUN
fumecheng-2849	57	6	redesigned	redesign	VERB
fumecheng-2849	57	7	slider	slider	NOUN
fumecheng-2849	57	8	-	-	PUNCT
fumecheng-2849	57	9	crank	crank	NOUN
fumecheng-2849	57	10	mechanism	mechanism	NOUN
fumecheng-2849	57	11	2.1	2.1	NUM
fumecheng-2849	57	12	.	.	PUNCT
fumecheng-2849	58	1	mechanical	mechanical	ADJ
fumecheng-2849	58	2	assembly	assembly	NOUN
fumecheng-2849	58	3	of	of	ADP
fumecheng-2849	58	4	mechatronic	mechatronic	NOUN
fumecheng-2849	58	5	redesigned	redesign	VERB
fumecheng-2849	58	6	slider	slider	NOUN
fumecheng-2849	58	7	-	-	PUNCT
fumecheng-2849	58	8	crank	crank	NOUN
fumecheng-2849	58	9	mechanism	mechanism	NOUN
fumecheng-2849	58	10	the	the	DET
fumecheng-2849	58	11	mechanical	mechanical	ADJ
fumecheng-2849	58	12	assembly	assembly	NOUN
fumecheng-2849	58	13	of	of	ADP
fumecheng-2849	58	14	the	the	DET
fumecheng-2849	58	15	mechatronic	mechatronic	NOUN
fumecheng-2849	58	16	redesigned	redesign	VERB
fumecheng-2849	58	17	slider	slider	NOUN
fumecheng-2849	58	18	-	-	PUNCT
fumecheng-2849	58	19	crank	crank	NOUN
fumecheng-2849	58	20	mechanism	mechanism	NOUN
fumecheng-2849	58	21	is	be	AUX
fumecheng-2849	58	22	shown	show	VERB
fumecheng-2849	58	23	in	in	ADP
fumecheng-2849	58	24	fig	fig	NOUN
fumecheng-2849	58	25	.	.	PUNCT
fumecheng-2849	59	1	1	1	X
fumecheng-2849	59	2	.	.	X
fumecheng-2849	59	3	it	it	PRON
fumecheng-2849	59	4	consists	consist	VERB
fumecheng-2849	59	5	of	of	ADP
fumecheng-2849	59	6	several	several	ADJ
fumecheng-2849	59	7	parts	part	NOUN
fumecheng-2849	59	8	:	:	PUNCT
fumecheng-2849	59	9	crank	crank	NOUN
fumecheng-2849	59	10	(	(	PUNCT
fumecheng-2849	59	11	1	1	NUM
fumecheng-2849	59	12	)	)	PUNCT
fumecheng-2849	59	13	,	,	PUNCT
fumecheng-2849	59	14	coupler	coupler	NOUN
fumecheng-2849	59	15	(	(	PUNCT
fumecheng-2849	59	16	2	2	NUM
fumecheng-2849	59	17	)	)	PUNCT
fumecheng-2849	59	18	,	,	PUNCT
fumecheng-2849	59	19	small	small	ADJ
fumecheng-2849	59	20	wheel	wheel	NOUN
fumecheng-2849	59	21	(	(	PUNCT
fumecheng-2849	59	22	3	3	NUM
fumecheng-2849	59	23	)	)	PUNCT
fumecheng-2849	59	24	,	,	PUNCT
fumecheng-2849	59	25	guide	guide	VERB
fumecheng-2849	59	26	frame	frame	NOUN
fumecheng-2849	59	27	(	(	PUNCT
fumecheng-2849	59	28	4	4	NUM
fumecheng-2849	59	29	)	)	PUNCT
fumecheng-2849	59	30	,	,	PUNCT
fumecheng-2849	59	31	crank	crank	NOUN
fumecheng-2849	59	32	carrier	carrier	NOUN
fumecheng-2849	59	33	(	(	PUNCT
fumecheng-2849	59	34	5	5	NUM
fumecheng-2849	59	35	)	)	PUNCT
fumecheng-2849	59	36	,	,	PUNCT
fumecheng-2849	59	37	pin	pin	NOUN
fumecheng-2849	59	38	(	(	PUNCT
fumecheng-2849	59	39	6	6	NUM
fumecheng-2849	59	40	)	)	PUNCT
fumecheng-2849	59	41	,	,	PUNCT
fumecheng-2849	59	42	dc	dc	PROPN
fumecheng-2849	59	43	motor	motor	PROPN
fumecheng-2849	59	44	with	with	ADP
fumecheng-2849	59	45	rotary	rotary	ADJ
fumecheng-2849	59	46	encoder	encoder	NOUN
fumecheng-2849	59	47	(	(	PUNCT
fumecheng-2849	59	48	7	7	NUM
fumecheng-2849	59	49	)	)	PUNCT
fumecheng-2849	59	50	and	and	CCONJ
fumecheng-2849	59	51	two	two	NUM
fumecheng-2849	59	52	plates	plate	NOUN
fumecheng-2849	59	53	(	(	PUNCT
fumecheng-2849	59	54	8)	8)	NUM
fumecheng-2849	59	55	.	.	PUNCT
fumecheng-2849	60	1	the	the	DET
fumecheng-2849	60	2	two	two	NUM
fumecheng-2849	60	3	plates	plate	NOUN
fumecheng-2849	60	4	are	be	AUX
fumecheng-2849	60	5	connected	connect	VERB
fumecheng-2849	60	6	thus	thus	ADV
fumecheng-2849	60	7	representing	represent	VERB
fumecheng-2849	60	8	the	the	DET
fumecheng-2849	60	9	frame	frame	NOUN
fumecheng-2849	60	10	for	for	ADP
fumecheng-2849	60	11	the	the	DET
fumecheng-2849	60	12	mechanism	mechanism	NOUN
fumecheng-2849	60	13	.	.	PUNCT
fumecheng-2849	61	1	the	the	DET
fumecheng-2849	61	2	front	front	ADJ
fumecheng-2849	61	3	plate	plate	NOUN
fumecheng-2849	61	4	has	have	VERB
fumecheng-2849	61	5	three	three	NUM
fumecheng-2849	61	6	slots	slot	NOUN
fumecheng-2849	61	7	.	.	PUNCT
fumecheng-2849	62	1	the	the	DET
fumecheng-2849	62	2	two	two	NUM
fumecheng-2849	62	3	longer	long	ADJ
fumecheng-2849	62	4	and	and	CCONJ
fumecheng-2849	62	5	narrower	narrow	ADJ
fumecheng-2849	62	6	slots	slot	NOUN
fumecheng-2849	62	7	are	be	AUX
fumecheng-2849	62	8	used	use	VERB
fumecheng-2849	62	9	for	for	ADP
fumecheng-2849	62	10	screwing	screw	VERB
fumecheng-2849	62	11	the	the	DET
fumecheng-2849	62	12	motor	motor	NOUN
fumecheng-2849	62	13	,	,	PUNCT
fumecheng-2849	62	14	while	while	SCONJ
fumecheng-2849	62	15	the	the	DET
fumecheng-2849	62	16	third	third	ADV
fumecheng-2849	62	17	shorter	short	ADJ
fumecheng-2849	62	18	and	and	CCONJ
fumecheng-2849	62	19	wider	wide	ADJ
fumecheng-2849	62	20	one	one	NOUN
fumecheng-2849	62	21	is	be	AUX
fumecheng-2849	62	22	used	use	VERB
fumecheng-2849	62	23	for	for	ADP
fumecheng-2849	62	24	the	the	DET
fumecheng-2849	62	25	motor	motor	NOUN
fumecheng-2849	62	26	shaft	shaft	NOUN
fumecheng-2849	62	27	.	.	PUNCT
fumecheng-2849	63	1	the	the	DET
fumecheng-2849	63	2	crank	crank	NOUN
fumecheng-2849	63	3	carrier	carrier	NOUN
fumecheng-2849	63	4	is	be	AUX
fumecheng-2849	63	5	connected	connect	VERB
fumecheng-2849	63	6	to	to	ADP
fumecheng-2849	63	7	the	the	DET
fumecheng-2849	63	8	motor	motor	NOUN
fumecheng-2849	63	9	shaft	shaft	NOUN
fumecheng-2849	63	10	.	.	PUNCT
fumecheng-2849	64	1	the	the	DET
fumecheng-2849	64	2	guide	guide	NOUN
fumecheng-2849	64	3	frame	frame	NOUN
fumecheng-2849	64	4	is	be	AUX
fumecheng-2849	64	5	placed	place	VERB
fumecheng-2849	64	6	on	on	ADP
fumecheng-2849	64	7	the	the	DET
fumecheng-2849	64	8	front	front	ADJ
fumecheng-2849	64	9	plate	plate	NOUN
fumecheng-2849	64	10	.	.	PUNCT
fumecheng-2849	65	1	the	the	DET
fumecheng-2849	65	2	small	small	ADJ
fumecheng-2849	65	3	wheel	wheel	NOUN
fumecheng-2849	65	4	is	be	AUX
fumecheng-2849	65	5	actually	actually	ADV
fumecheng-2849	65	6	a	a	DET
fumecheng-2849	65	7	ball	ball	NOUN
fumecheng-2849	65	8	bearing	bearing	NOUN
fumecheng-2849	65	9	,	,	PUNCT
fumecheng-2849	65	10	that	that	PRON
fumecheng-2849	65	11	acts	act	VERB
fumecheng-2849	65	12	as	as	ADP
fumecheng-2849	65	13	the	the	DET
fumecheng-2849	65	14	slider	slider	NOUN
fumecheng-2849	65	15	and	and	CCONJ
fumecheng-2849	65	16	it	it	PRON
fumecheng-2849	65	17	slides	slide	VERB
fumecheng-2849	65	18	along	along	ADP
fumecheng-2849	65	19	the	the	DET
fumecheng-2849	65	20	guide	guide	NOUN
fumecheng-2849	65	21	frame	frame	NOUN
fumecheng-2849	65	22	with	with	ADP
fumecheng-2849	65	23	neglected	neglect	VERB
fumecheng-2849	65	24	friction	friction	NOUN
fumecheng-2849	65	25	.	.	PUNCT
fumecheng-2849	66	1	it	it	PRON
fumecheng-2849	66	2	is	be	AUX
fumecheng-2849	66	3	connected	connect	VERB
fumecheng-2849	66	4	to	to	ADP
fumecheng-2849	66	5	the	the	DET
fumecheng-2849	66	6	coupler	coupler	NOUN
fumecheng-2849	66	7	by	by	ADP
fumecheng-2849	66	8	the	the	DET
fumecheng-2849	66	9	pin	pin	NOUN
fumecheng-2849	66	10	.	.	PUNCT
fumecheng-2849	67	1	the	the	DET
fumecheng-2849	67	2	crank	crank	NOUN
fumecheng-2849	67	3	is	be	AUX
fumecheng-2849	67	4	connected	connect	VERB
fumecheng-2849	67	5	on	on	ADP
fumecheng-2849	67	6	one	one	NUM
fumecheng-2849	67	7	side	side	NOUN
fumecheng-2849	67	8	with	with	ADP
fumecheng-2849	67	9	to	to	ADP
fumecheng-2849	67	10	the	the	DET
fumecheng-2849	67	11	crank	crank	NOUN
fumecheng-2849	67	12	carrier	carrier	NOUN
fumecheng-2849	67	13	and	and	CCONJ
fumecheng-2849	67	14	on	on	ADP
fumecheng-2849	67	15	another	another	PRON
fumecheng-2849	67	16	to	to	ADP
fumecheng-2849	67	17	the	the	DET
fumecheng-2849	67	18	coupler	coupler	NOUN
fumecheng-2849	67	19	.	.	PUNCT
fumecheng-2849	68	1	fig	fig	NOUN
fumecheng-2849	68	2	.	.	PUNCT
fumecheng-2849	69	1	1	1	NUM
fumecheng-2849	69	2	mechanical	mechanical	ADJ
fumecheng-2849	69	3	assembly	assembly	NOUN
fumecheng-2849	69	4	of	of	ADP
fumecheng-2849	69	5	mechatronic	mechatronic	NOUN
fumecheng-2849	69	6	redesigned	redesign	VERB
fumecheng-2849	69	7	slider	slider	NOUN
fumecheng-2849	69	8	-	-	PUNCT
fumecheng-2849	69	9	crank	crank	NOUN
fumecheng-2849	69	10	mechanism	mechanism	NOUN
fumecheng-2849	69	11	2.2	2.2	NUM
fumecheng-2849	69	12	.	.	PUNCT
fumecheng-2849	70	1	electronics	electronic	NOUN
fumecheng-2849	70	2	of	of	ADP
fumecheng-2849	70	3	mechatronic	mechatronic	NOUN
fumecheng-2849	70	4	redesigned	redesign	VERB
fumecheng-2849	70	5	slider	slider	NOUN
fumecheng-2849	70	6	-	-	PUNCT
fumecheng-2849	70	7	crank	crank	NOUN
fumecheng-2849	70	8	mechanism	mechanism	NOUN
fumecheng-2849	70	9	for	for	ADP
fumecheng-2849	70	10	this	this	DET
fumecheng-2849	70	11	experiment	experiment	NOUN
fumecheng-2849	70	12	the	the	DET
fumecheng-2849	70	13	servo	servo	NOUN
fumecheng-2849	70	14	dc	dc	PROPN
fumecheng-2849	70	15	motor	motor	PROPN
fumecheng-2849	70	16	faulhaber	faulhaber	NOUN
fumecheng-2849	70	17	3272g024cr	3272g024cr	PROPN
fumecheng-2849	70	18	shown	show	VERB
fumecheng-2849	70	19	in	in	ADP
fumecheng-2849	70	20	fig	fig	NOUN
fumecheng-2849	70	21	.	.	PUNCT
fumecheng-2849	71	1	2a	2a	NUM
fumecheng-2849	71	2	is	be	AUX
fumecheng-2849	71	3	used	use	VERB
fumecheng-2849	71	4	for	for	ADP
fumecheng-2849	71	5	driving	drive	VERB
fumecheng-2849	71	6	the	the	DET
fumecheng-2849	71	7	mechanism	mechanism	NOUN
fumecheng-2849	71	8	crank	crank	NOUN
fumecheng-2849	71	9	.	.	PUNCT
fumecheng-2849	72	1	since	since	SCONJ
fumecheng-2849	72	2	this	this	DET
fumecheng-2849	72	3	motor	motor	NOUN
fumecheng-2849	72	4	is	be	AUX
fumecheng-2849	72	5	intended	intend	VERB
fumecheng-2849	72	6	to	to	PART
fumecheng-2849	72	7	rotate	rotate	VERB
fumecheng-2849	72	8	in	in	ADP
fumecheng-2849	72	9	one	one	NUM
fumecheng-2849	72	10	direction	direction	NOUN
fumecheng-2849	72	11	only	only	ADV
fumecheng-2849	72	12	,	,	PUNCT
fumecheng-2849	72	13	the	the	DET
fumecheng-2849	72	14	simple	simple	ADJ
fumecheng-2849	72	15	electric	electric	ADJ
fumecheng-2849	72	16	driver	driver	NOUN
fumecheng-2849	72	17	,	,	PUNCT
fumecheng-2849	72	18	whose	whose	DET
fumecheng-2849	72	19	electric	electric	ADJ
fumecheng-2849	72	20	scheme	scheme	NOUN
fumecheng-2849	72	21	is	be	AUX
fumecheng-2849	72	22	shown	show	VERB
fumecheng-2849	72	23	in	in	ADP
fumecheng-2849	72	24	fig	fig	NOUN
fumecheng-2849	72	25	.	.	PUNCT
fumecheng-2849	73	1	2b	2b	NOUN
fumecheng-2849	73	2	,	,	PUNCT
fumecheng-2849	73	3	is	be	AUX
fumecheng-2849	73	4	used	use	VERB
fumecheng-2849	73	5	to	to	PART
fumecheng-2849	73	6	drive	drive	VERB
fumecheng-2849	73	7	remote	remote	ADJ
fumecheng-2849	73	8	control	control	NOUN
fumecheng-2849	73	9	of	of	ADP
fumecheng-2849	73	10	the	the	DET
fumecheng-2849	73	11	mechatronic	mechatronic	NOUN
fumecheng-2849	73	12	redesigned	redesign	VERB
fumecheng-2849	73	13	slider	slider	NOUN
fumecheng-2849	73	14	-	-	PUNCT
fumecheng-2849	73	15	crank	crank	NOUN
fumecheng-2849	73	16	mechanism	mechanism	NOUN
fumecheng-2849	73	17	in	in	ADP
fumecheng-2849	73	18	service	service	NOUN
fumecheng-2849	73	19	261	261	NUM
fumecheng-2849	73	20	the	the	DET
fumecheng-2849	73	21	motor	motor	NOUN
fumecheng-2849	73	22	.	.	PUNCT
fumecheng-2849	74	1	this	this	DET
fumecheng-2849	74	2	electric	electric	ADJ
fumecheng-2849	74	3	controller	controller	NOUN
fumecheng-2849	74	4	consists	consist	VERB
fumecheng-2849	74	5	of	of	ADP
fumecheng-2849	74	6	one	one	NUM
fumecheng-2849	74	7	resistor	resistor	NOUN
fumecheng-2849	74	8	of	of	ADP
fumecheng-2849	74	9	3kω	3kω	NOUN
fumecheng-2849	74	10	,	,	PUNCT
fumecheng-2849	74	11	one	one	NUM
fumecheng-2849	74	12	transistor	transistor	NOUN
fumecheng-2849	74	13	bdx33c	bdx33c	NOUN
fumecheng-2849	74	14	,	,	PUNCT
fumecheng-2849	74	15	and	and	CCONJ
fumecheng-2849	74	16	one	one	NUM
fumecheng-2849	74	17	diode	diode	NOUN
fumecheng-2849	74	18	.	.	PUNCT
fumecheng-2849	75	1	the	the	DET
fumecheng-2849	75	2	controller	controller	NOUN
fumecheng-2849	75	3	is	be	AUX
fumecheng-2849	75	4	connected	connect	VERB
fumecheng-2849	75	5	to	to	ADP
fumecheng-2849	75	6	the	the	DET
fumecheng-2849	75	7	motor	motor	NOUN
fumecheng-2849	75	8	,	,	PUNCT
fumecheng-2849	75	9	and	and	CCONJ
fumecheng-2849	75	10	to	to	ADP
fumecheng-2849	75	11	the	the	DET
fumecheng-2849	75	12	multifunction	multifunction	NOUN
fumecheng-2849	75	13	i	i	PRON
fumecheng-2849	75	14	/	/	SYM
fumecheng-2849	75	15	o	o	NOUN
fumecheng-2849	75	16	device	device	NOUN
fumecheng-2849	75	17	ni	ni	PROPN
fumecheng-2849	75	18	usb	usb	NOUN
fumecheng-2849	75	19	6363	6363	NUM
fumecheng-2849	76	1	whose	whose	DET
fumecheng-2849	76	2	fast	fast	ADJ
fumecheng-2849	76	3	digital	digital	ADJ
fumecheng-2849	76	4	output	output	NOUN
fumecheng-2849	76	5	is	be	AUX
fumecheng-2849	76	6	used	use	VERB
fumecheng-2849	76	7	to	to	PART
fumecheng-2849	76	8	achieve	achieve	VERB
fumecheng-2849	76	9	the	the	DET
fumecheng-2849	76	10	pulse	pulse	NOUN
fumecheng-2849	76	11	width	width	ADJ
fumecheng-2849	76	12	modulation	modulation	NOUN
fumecheng-2849	76	13	(	(	PUNCT
fumecheng-2849	76	14	pwm	pwm	NOUN
fumecheng-2849	76	15	)	)	PUNCT
fumecheng-2849	76	16	for	for	ADP
fumecheng-2849	76	17	controlling	control	VERB
fumecheng-2849	76	18	the	the	DET
fumecheng-2849	76	19	voltage	voltage	NOUN
fumecheng-2849	76	20	supply	supply	NOUN
fumecheng-2849	76	21	for	for	ADP
fumecheng-2849	76	22	the	the	DET
fumecheng-2849	76	23	motor	motor	NOUN
fumecheng-2849	76	24	.	.	PUNCT
fumecheng-2849	77	1	fig	fig	NOUN
fumecheng-2849	77	2	.	.	PUNCT
fumecheng-2849	78	1	2c	2c	NOUN
fumecheng-2849	78	2	shows	show	VERB
fumecheng-2849	78	3	the	the	DET
fumecheng-2849	78	4	ni	ni	PROPN
fumecheng-2849	78	5	usb	usb	PROPN
fumecheng-2849	78	6	6363	6363	NUM
fumecheng-2849	78	7	device	device	NOUN
fumecheng-2849	78	8	.	.	PUNCT
fumecheng-2849	79	1	on	on	ADP
fumecheng-2849	79	2	the	the	DET
fumecheng-2849	79	3	back	back	ADJ
fumecheng-2849	79	4	side	side	NOUN
fumecheng-2849	79	5	of	of	ADP
fumecheng-2849	79	6	the	the	DET
fumecheng-2849	79	7	motor	motor	NOUN
fumecheng-2849	79	8	shaft	shaft	NOUN
fumecheng-2849	79	9	,	,	PUNCT
fumecheng-2849	79	10	the	the	DET
fumecheng-2849	79	11	rotary	rotary	ADJ
fumecheng-2849	79	12	encoder	encoder	NOUN
fumecheng-2849	79	13	heds	hed	VERB
fumecheng-2849	79	14	5540	5540	NUM
fumecheng-2849	79	15	a12	a12	NOUN
fumecheng-2849	79	16	is	be	AUX
fumecheng-2849	79	17	mounted	mount	VERB
fumecheng-2849	79	18	.	.	PUNCT
fumecheng-2849	80	1	fig	fig	NOUN
fumecheng-2849	80	2	.	.	PUNCT
fumecheng-2849	81	1	2d	2d	PROPN
fumecheng-2849	81	2	shows	show	VERB
fumecheng-2849	81	3	the	the	DET
fumecheng-2849	81	4	encoder	encoder	NOUN
fumecheng-2849	81	5	which	which	PRON
fumecheng-2849	81	6	has	have	VERB
fumecheng-2849	81	7	500	500	NUM
fumecheng-2849	81	8	pulses	pulse	NOUN
fumecheng-2849	81	9	per	per	ADP
fumecheng-2849	81	10	revolution	revolution	NOUN
fumecheng-2849	81	11	.	.	PUNCT
fumecheng-2849	82	1	this	this	DET
fumecheng-2849	82	2	encoder	encoder	NOUN
fumecheng-2849	82	3	is	be	AUX
fumecheng-2849	82	4	directly	directly	ADV
fumecheng-2849	82	5	connected	connect	VERB
fumecheng-2849	82	6	to	to	ADP
fumecheng-2849	82	7	the	the	DET
fumecheng-2849	82	8	ni	ni	PROPN
fumecheng-2849	82	9	usb	usb	PROPN
fumecheng-2849	82	10	6363	6363	NUM
fumecheng-2849	82	11	device	device	NOUN
fumecheng-2849	82	12	on	on	ADP
fumecheng-2849	82	13	the	the	DET
fumecheng-2849	82	14	corresponding	corresponding	ADJ
fumecheng-2849	82	15	fast	fast	ADJ
fumecheng-2849	82	16	digital	digital	ADJ
fumecheng-2849	82	17	input	input	NOUN
fumecheng-2849	82	18	ports	port	NOUN
fumecheng-2849	82	19	.	.	PUNCT
fumecheng-2849	83	1	there	there	PRON
fumecheng-2849	83	2	is	be	VERB
fumecheng-2849	83	3	also	also	ADV
fumecheng-2849	83	4	a	a	DET
fumecheng-2849	83	5	web	web	NOUN
fumecheng-2849	83	6	camera	camera	NOUN
fumecheng-2849	83	7	connected	connect	VERB
fumecheng-2849	83	8	to	to	ADP
fumecheng-2849	83	9	the	the	DET
fumecheng-2849	83	10	computer	computer	NOUN
fumecheng-2849	83	11	for	for	ADP
fumecheng-2849	83	12	video	video	NOUN
fumecheng-2849	83	13	live	live	ADJ
fumecheng-2849	83	14	streaming	streaming	NOUN
fumecheng-2849	83	15	during	during	ADP
fumecheng-2849	83	16	the	the	DET
fumecheng-2849	83	17	execution	execution	NOUN
fumecheng-2849	83	18	of	of	ADP
fumecheng-2849	83	19	the	the	DET
fumecheng-2849	83	20	experiment	experiment	NOUN
fumecheng-2849	83	21	.	.	PUNCT
fumecheng-2849	84	1	fig	fig	NOUN
fumecheng-2849	84	2	.	.	PUNCT
fumecheng-2849	85	1	2	2	NUM
fumecheng-2849	85	2	electronic	electronic	ADJ
fumecheng-2849	85	3	components	component	NOUN
fumecheng-2849	85	4	of	of	ADP
fumecheng-2849	85	5	mechatronic	mechatronic	NOUN
fumecheng-2849	85	6	redesigned	redesign	VERB
fumecheng-2849	85	7	slider	slider	NOUN
fumecheng-2849	85	8	-	-	PUNCT
fumecheng-2849	85	9	crank	crank	NOUN
fumecheng-2849	85	10	mechanism	mechanism	NOUN
fumecheng-2849	85	11	a	a	PRON
fumecheng-2849	85	12	)	)	PUNCT
fumecheng-2849	85	13	dc	dc	PROPN
fumecheng-2849	85	14	motor	motor	PROPN
fumecheng-2849	85	15	,	,	PUNCT
fumecheng-2849	85	16	b	b	NOUN
fumecheng-2849	85	17	)	)	PUNCT
fumecheng-2849	85	18	electric	electric	ADJ
fumecheng-2849	85	19	driver	driver	NOUN
fumecheng-2849	85	20	,	,	PUNCT
fumecheng-2849	85	21	c	c	NOUN
fumecheng-2849	85	22	)	)	PUNCT
fumecheng-2849	85	23	ni	ni	NOUN
fumecheng-2849	85	24	usb	usb	PROPN
fumecheng-2849	85	25	6363	6363	NUM
fumecheng-2849	85	26	device	device	NOUN
fumecheng-2849	85	27	,	,	PUNCT
fumecheng-2849	85	28	d	d	NOUN
fumecheng-2849	85	29	)	)	PUNCT
fumecheng-2849	85	30	encoder	encoder	NOUN
fumecheng-2849	85	31	3	3	X
fumecheng-2849	85	32	.	.	PUNCT
fumecheng-2849	85	33	transfer	transfer	NOUN
fumecheng-2849	85	34	function	function	NOUN
fumecheng-2849	85	35	of	of	ADP
fumecheng-2849	85	36	slider	slider	NOUN
fumecheng-2849	85	37	-	-	PUNCT
fumecheng-2849	85	38	crank	crank	NOUN
fumecheng-2849	85	39	mechanism	mechanism	NOUN
fumecheng-2849	85	40	as	as	SCONJ
fumecheng-2849	85	41	already	already	ADV
fumecheng-2849	85	42	mentioned	mention	VERB
fumecheng-2849	85	43	,	,	PUNCT
fumecheng-2849	85	44	the	the	DET
fumecheng-2849	85	45	drive	drive	NOUN
fumecheng-2849	85	46	for	for	ADP
fumecheng-2849	85	47	the	the	DET
fumecheng-2849	85	48	crank	crank	NOUN
fumecheng-2849	85	49	is	be	AUX
fumecheng-2849	85	50	the	the	DET
fumecheng-2849	85	51	servo	servo	NOUN
fumecheng-2849	85	52	dc	dc	PROPN
fumecheng-2849	85	53	motor	motor	NOUN
fumecheng-2849	85	54	with	with	ADP
fumecheng-2849	85	55	the	the	DET
fumecheng-2849	85	56	embedded	embed	VERB
fumecheng-2849	85	57	rotary	rotary	ADJ
fumecheng-2849	85	58	encoder	encoder	NOUN
fumecheng-2849	85	59	.	.	PUNCT
fumecheng-2849	86	1	because	because	SCONJ
fumecheng-2849	86	2	the	the	DET
fumecheng-2849	86	3	control	control	NOUN
fumecheng-2849	86	4	of	of	ADP
fumecheng-2849	86	5	the	the	DET
fumecheng-2849	86	6	motion	motion	NOUN
fumecheng-2849	86	7	of	of	ADP
fumecheng-2849	86	8	the	the	DET
fumecheng-2849	86	9	slider	slider	NOUN
fumecheng-2849	86	10	is	be	AUX
fumecheng-2849	86	11	the	the	DET
fumecheng-2849	86	12	aim	aim	NOUN
fumecheng-2849	86	13	,	,	PUNCT
fumecheng-2849	86	14	it	it	PRON
fumecheng-2849	86	15	is	be	AUX
fumecheng-2849	86	16	necessary	necessary	ADJ
fumecheng-2849	86	17	to	to	PART
fumecheng-2849	86	18	know	know	VERB
fumecheng-2849	86	19	current	current	ADJ
fumecheng-2849	86	20	values	value	NOUN
fumecheng-2849	86	21	of	of	ADP
fumecheng-2849	86	22	the	the	DET
fumecheng-2849	86	23	position	position	NOUN
fumecheng-2849	86	24	or	or	CCONJ
fumecheng-2849	86	25	the	the	DET
fumecheng-2849	86	26	velocity	velocity	NOUN
fumecheng-2849	86	27	of	of	ADP
fumecheng-2849	86	28	the	the	DET
fumecheng-2849	86	29	slider	slider	NOUN
fumecheng-2849	86	30	of	of	ADP
fumecheng-2849	86	31	the	the	DET
fumecheng-2849	86	32	mechatronic	mechatronic	NOUN
fumecheng-2849	86	33	redesigned	redesign	VERB
fumecheng-2849	86	34	slider	slider	NOUN
fumecheng-2849	86	35	-	-	PUNCT
fumecheng-2849	86	36	crank	crank	NOUN
fumecheng-2849	86	37	mechanism	mechanism	NOUN
fumecheng-2849	86	38	in	in	ADP
fumecheng-2849	86	39	service	service	NOUN
fumecheng-2849	86	40	.	.	PUNCT
fumecheng-2849	87	1	these	these	DET
fumecheng-2849	87	2	values	value	NOUN
fumecheng-2849	87	3	are	be	AUX
fumecheng-2849	87	4	not	not	PART
fumecheng-2849	87	5	easy	easy	ADJ
fumecheng-2849	87	6	to	to	PART
fumecheng-2849	87	7	measure	measure	VERB
fumecheng-2849	87	8	because	because	SCONJ
fumecheng-2849	87	9	of	of	ADP
fumecheng-2849	87	10	complex	complex	ADJ
fumecheng-2849	87	11	movable	movable	ADJ
fumecheng-2849	87	12	parts	part	NOUN
fumecheng-2849	87	13	;	;	PUNCT
fumecheng-2849	87	14	that	that	PRON
fumecheng-2849	87	15	is	be	AUX
fumecheng-2849	87	16	why	why	SCONJ
fumecheng-2849	87	17	the	the	DET
fumecheng-2849	87	18	encoder	encoder	NOUN
fumecheng-2849	87	19	on	on	ADP
fumecheng-2849	87	20	the	the	DET
fumecheng-2849	87	21	motor	motor	NOUN
fumecheng-2849	87	22	shaft	shaft	NOUN
fumecheng-2849	87	23	that	that	PRON
fumecheng-2849	87	24	drives	drive	VERB
fumecheng-2849	87	25	the	the	DET
fumecheng-2849	87	26	crank	crank	NOUN
fumecheng-2849	87	27	is	be	AUX
fumecheng-2849	87	28	used	use	VERB
fumecheng-2849	87	29	for	for	ADP
fumecheng-2849	87	30	that	that	DET
fumecheng-2849	87	31	purpose	purpose	NOUN
fumecheng-2849	87	32	.	.	PUNCT
fumecheng-2849	88	1	the	the	DET
fumecheng-2849	88	2	encoder	encoder	NOUN
fumecheng-2849	88	3	measures	measure	VERB
fumecheng-2849	88	4	the	the	DET
fumecheng-2849	88	5	angle	angle	NOUN
fumecheng-2849	88	6	of	of	ADP
fumecheng-2849	88	7	the	the	DET
fumecheng-2849	88	8	crank	crank	NOUN
fumecheng-2849	88	9	position	position	NOUN
fumecheng-2849	88	10	,	,	PUNCT
fumecheng-2849	88	11	and	and	CCONJ
fumecheng-2849	88	12	by	by	ADP
fumecheng-2849	88	13	the	the	DET
fumecheng-2849	88	14	transfer	transfer	NOUN
fumecheng-2849	88	15	function	function	NOUN
fumecheng-2849	88	16	of	of	ADP
fumecheng-2849	88	17	the	the	DET
fumecheng-2849	88	18	(	(	PUNCT
fumecheng-2849	88	19	centric	centric	ADJ
fumecheng-2849	88	20	)	)	PUNCT
fumecheng-2849	88	21	slider	slider	NOUN
fumecheng-2849	88	22	-	-	PUNCT
fumecheng-2849	88	23	crank	crank	NOUN
fumecheng-2849	88	24	mechanism	mechanism	NOUN
fumecheng-2849	88	25	(	(	PUNCT
fumecheng-2849	88	26	fig	fig	NOUN
fumecheng-2849	88	27	.	.	PUNCT
fumecheng-2849	89	1	3	3	X
fumecheng-2849	89	2	)	)	PUNCT
fumecheng-2849	89	3	described	describe	VERB
fumecheng-2849	89	4	by	by	ADP
fumecheng-2849	89	5	equations	equation	NOUN
fumecheng-2849	89	6	below	below	ADP
fumecheng-2849	89	7	,	,	PUNCT
fumecheng-2849	89	8	the	the	DET
fumecheng-2849	89	9	position	position	NOUN
fumecheng-2849	89	10	of	of	ADP
fumecheng-2849	89	11	the	the	DET
fumecheng-2849	89	12	slider	slider	NOUN
fumecheng-2849	89	13	can	can	AUX
fumecheng-2849	89	14	be	be	AUX
fumecheng-2849	89	15	determined	determine	VERB
fumecheng-2849	89	16	:	:	PUNCT
fumecheng-2849	89	17	(	(	PUNCT
fumecheng-2849	89	18	)	)	PUNCT
fumecheng-2849	90	1	cos	cos	PROPN
fumecheng-2849	90	2	coss	coss	PROPN
fumecheng-2849	90	3	a	a	DET
fumecheng-2849	90	4	c	c	X
fumecheng-2849	90	5			PROPN
fumecheng-2849	90	6			PROPN
fumecheng-2849	90	7			PRON
fumecheng-2849	90	8	,	,	PUNCT
fumecheng-2849	90	9	(	(	PUNCT
fumecheng-2849	90	10	1	1	X
fumecheng-2849	90	11	)	)	PUNCT
fumecheng-2849	90	12	where	where	SCONJ
fumecheng-2849	90	13	s	s	NOUN
fumecheng-2849	90	14	represents	represent	VERB
fumecheng-2849	90	15	the	the	DET
fumecheng-2849	90	16	position	position	NOUN
fumecheng-2849	90	17	of	of	ADP
fumecheng-2849	90	18	the	the	DET
fumecheng-2849	90	19	slider	slider	NOUN
fumecheng-2849	90	20	,	,	PUNCT
fumecheng-2849	90	21	φ	φ	PROPN
fumecheng-2849	90	22	represents	represent	VERB
fumecheng-2849	90	23	the	the	DET
fumecheng-2849	90	24	angular	angular	ADJ
fumecheng-2849	90	25	position	position	NOUN
fumecheng-2849	90	26	of	of	ADP
fumecheng-2849	90	27	the	the	DET
fumecheng-2849	90	28	crank	crank	NOUN
fumecheng-2849	90	29	,	,	PUNCT
fumecheng-2849	90	30	а	а	PROPN
fumecheng-2849	90	31	represents	represent	VERB
fumecheng-2849	90	32	the	the	DET
fumecheng-2849	90	33	crank	crank	NOUN
fumecheng-2849	90	34	length	length	NOUN
fumecheng-2849	90	35	,	,	PUNCT
fumecheng-2849	90	36	c	c	PROPN
fumecheng-2849	90	37	represents	represent	VERB
fumecheng-2849	90	38	the	the	DET
fumecheng-2849	90	39	coupler	coupler	NOUN
fumecheng-2849	90	40	length	length	NOUN
fumecheng-2849	90	41	.	.	PUNCT
fumecheng-2849	91	1	since	since	SCONJ
fumecheng-2849	91	2	angle	angle	NOUN
fumecheng-2849	91	3	γ	γ	PROPN
fumecheng-2849	91	4	can	can	AUX
fumecheng-2849	91	5	be	be	AUX
fumecheng-2849	91	6	calculated	calculate	VERB
fumecheng-2849	91	7	by	by	ADP
fumecheng-2849	91	8	the	the	DET
fumecheng-2849	91	9	equation	equation	NOUN
fumecheng-2849	91	10	:	:	PUNCT
fumecheng-2849	91	11	a	a	X
fumecheng-2849	91	12	)	)	PUNCT
fumecheng-2849	91	13	c	c	NOUN
fumecheng-2849	91	14	)	)	PUNCT
fumecheng-2849	91	15	b	b	NOUN
fumecheng-2849	91	16	)	)	PUNCT
fumecheng-2849	91	17	d	d	NOUN
fumecheng-2849	91	18	)	)	PUNCT
fumecheng-2849	91	19	262	262	NUM
fumecheng-2849	91	20	m.	m.	NOUN
fumecheng-2849	91	21	tomić	tomić	NOUN
fumecheng-2849	91	22	,	,	PUNCT
fumecheng-2849	91	23	m.	m.	NOUN
fumecheng-2849	91	24	milošević	milošević	PROPN
fumecheng-2849	91	25	,	,	PUNCT
fumecheng-2849	91	26	n.	n.	PROPN
fumecheng-2849	91	27	tomić	tomić	PROPN
fumecheng-2849	91	28	,	,	PUNCT
fumecheng-2849	91	29	n.d	n.d	PROPN
fumecheng-2849	91	30	.	.	PROPN
fumecheng-2849	91	31	pavlović	pavlović	NOUN
fumecheng-2849	91	32	,	,	PUNCT
fumecheng-2849	91	33	v.	v.	ADP
fumecheng-2849	91	34	pavlović	pavlović	NOUN
fumecheng-2849	91	35	sin	sin	PROPN
fumecheng-2849	91	36	arcsin	arcsin	VERB
fumecheng-2849	91	37	a	a	DET
fumecheng-2849	91	38	c	c	NOUN
fumecheng-2849	91	39			PROPN
fumecheng-2849	91	40			NUM
fumecheng-2849	91	41			NUM
fumecheng-2849	91	42	,	,	PUNCT
fumecheng-2849	91	43	(	(	PUNCT
fumecheng-2849	91	44	2	2	X
fumecheng-2849	91	45	)	)	PUNCT
fumecheng-2849	91	46	the	the	DET
fumecheng-2849	91	47	complete	complete	ADJ
fumecheng-2849	91	48	transfer	transfer	NOUN
fumecheng-2849	91	49	function	function	NOUN
fumecheng-2849	91	50	of	of	ADP
fumecheng-2849	91	51	the	the	DET
fumecheng-2849	91	52	centric	centric	ADJ
fumecheng-2849	91	53	slider	slider	NOUN
fumecheng-2849	91	54	-	-	PUNCT
fumecheng-2849	91	55	crank	crank	NOUN
fumecheng-2849	91	56	mechanism	mechanism	NOUN
fumecheng-2849	91	57	can	can	AUX
fumecheng-2849	91	58	be	be	AUX
fumecheng-2849	91	59	represented	represent	VERB
fumecheng-2849	91	60	as	as	ADP
fumecheng-2849	91	61	:	:	PUNCT
fumecheng-2849	91	62	sin	sin	NOUN
fumecheng-2849	91	63	(	(	PUNCT
fumecheng-2849	91	64	)	)	PUNCT
fumecheng-2849	91	65	cos	cos	PROPN
fumecheng-2849	91	66	cos(arcsin	cos(arcsin	PROPN
fumecheng-2849	91	67	)	)	PUNCT
fumecheng-2849	92	1	a	a	PRON
fumecheng-2849	92	2	s	s	X
fumecheng-2849	92	3	a	a	DET
fumecheng-2849	92	4	c	c	NOUN
fumecheng-2849	92	5	c	c	NOUN
fumecheng-2849	92	6			PROPN
fumecheng-2849	92	7			PROPN
fumecheng-2849	92	8			NOUN
fumecheng-2849	92	9			PUNCT
fumecheng-2849	92	10	,	,	PUNCT
fumecheng-2849	92	11	(	(	PUNCT
fumecheng-2849	92	12	3	3	X
fumecheng-2849	92	13	)	)	PUNCT
fumecheng-2849	92	14	which	which	PRON
fumecheng-2849	92	15	is	be	AUX
fumecheng-2849	92	16	used	use	VERB
fumecheng-2849	92	17	for	for	ADP
fumecheng-2849	92	18	the	the	DET
fumecheng-2849	92	19	following	follow	VERB
fumecheng-2849	92	20	procedure	procedure	NOUN
fumecheng-2849	92	21	of	of	ADP
fumecheng-2849	92	22	controlling	control	VERB
fumecheng-2849	92	23	the	the	DET
fumecheng-2849	92	24	mechatronic	mechatronic	NOUN
fumecheng-2849	92	25	redesigned	redesign	VERB
fumecheng-2849	92	26	slider	slider	NOUN
fumecheng-2849	92	27	-	-	PUNCT
fumecheng-2849	92	28	crank	crank	NOUN
fumecheng-2849	92	29	mechanism	mechanism	NOUN
fumecheng-2849	92	30	.	.	PUNCT
fumecheng-2849	93	1	the	the	DET
fumecheng-2849	93	2	transfer	transfer	NOUN
fumecheng-2849	93	3	function	function	NOUN
fumecheng-2849	93	4	enables	enable	VERB
fumecheng-2849	93	5	calculating	calculate	VERB
fumecheng-2849	93	6	the	the	DET
fumecheng-2849	93	7	current	current	ADJ
fumecheng-2849	93	8	position	position	NOUN
fumecheng-2849	93	9	of	of	ADP
fumecheng-2849	93	10	the	the	DET
fumecheng-2849	93	11	slider	slider	NOUN
fumecheng-2849	93	12	in	in	ADP
fumecheng-2849	93	13	dependence	dependence	NOUN
fumecheng-2849	93	14	on	on	ADP
fumecheng-2849	93	15	the	the	DET
fumecheng-2849	93	16	current	current	ADJ
fumecheng-2849	93	17	angular	angular	ADJ
fumecheng-2849	93	18	position	position	NOUN
fumecheng-2849	93	19	of	of	ADP
fumecheng-2849	93	20	the	the	DET
fumecheng-2849	93	21	crank	crank	NOUN
fumecheng-2849	93	22	measured	measure	VERB
fumecheng-2849	93	23	by	by	ADP
fumecheng-2849	93	24	the	the	DET
fumecheng-2849	93	25	rotary	rotary	ADJ
fumecheng-2849	93	26	encoder	encoder	NOUN
fumecheng-2849	93	27	on	on	ADP
fumecheng-2849	93	28	the	the	DET
fumecheng-2849	93	29	motor	motor	NOUN
fumecheng-2849	93	30	shaft	shaft	NOUN
fumecheng-2849	93	31	.	.	PUNCT
fumecheng-2849	94	1	positions	position	NOUN
fumecheng-2849	94	2	of	of	ADP
fumecheng-2849	94	3	the	the	DET
fumecheng-2849	94	4	slider	slider	NOUN
fumecheng-2849	94	5	in	in	ADP
fumecheng-2849	94	6	two	two	NUM
fumecheng-2849	94	7	adjacent	adjacent	ADJ
fumecheng-2849	94	8	moments	moment	NOUN
fumecheng-2849	94	9	are	be	AUX
fumecheng-2849	94	10	used	use	VERB
fumecheng-2849	94	11	for	for	ADP
fumecheng-2849	94	12	numerical	numerical	ADJ
fumecheng-2849	94	13	differentiation	differentiation	NOUN
fumecheng-2849	94	14	with	with	ADP
fumecheng-2849	94	15	respect	respect	NOUN
fumecheng-2849	94	16	to	to	ADP
fumecheng-2849	94	17	time	time	NOUN
fumecheng-2849	94	18	for	for	ADP
fumecheng-2849	94	19	estimating	estimate	VERB
fumecheng-2849	94	20	the	the	DET
fumecheng-2849	94	21	current	current	ADJ
fumecheng-2849	94	22	velocity	velocity	NOUN
fumecheng-2849	94	23	of	of	ADP
fumecheng-2849	94	24	the	the	DET
fumecheng-2849	94	25	slider	slider	NOUN
fumecheng-2849	94	26	.	.	PUNCT
fumecheng-2849	95	1	fig	fig	NOUN
fumecheng-2849	95	2	.	.	PUNCT
fumecheng-2849	96	1	3	3	NUM
fumecheng-2849	96	2	kinematic	kinematic	ADJ
fumecheng-2849	96	3	scheme	scheme	NOUN
fumecheng-2849	96	4	of	of	ADP
fumecheng-2849	96	5	centric	centric	ADJ
fumecheng-2849	96	6	slider	slider	NOUN
fumecheng-2849	96	7	-	-	PUNCT
fumecheng-2849	96	8	crank	crank	NOUN
fumecheng-2849	96	9	mechanism	mechanism	NOUN
fumecheng-2849	96	10	4	4	NUM
fumecheng-2849	96	11	.	.	PUNCT
fumecheng-2849	96	12	control	control	NOUN
fumecheng-2849	96	13	concept	concept	NOUN
fumecheng-2849	96	14	of	of	ADP
fumecheng-2849	96	15	mechatronic	mechatronic	NOUN
fumecheng-2849	96	16	redesigned	redesign	VERB
fumecheng-2849	96	17	slider	slider	NOUN
fumecheng-2849	96	18	-	-	PUNCT
fumecheng-2849	96	19	crank	crank	NOUN
fumecheng-2849	96	20	mechanism	mechanism	NOUN
fumecheng-2849	96	21	as	as	SCONJ
fumecheng-2849	96	22	already	already	ADV
fumecheng-2849	96	23	explained	explain	VERB
fumecheng-2849	96	24	,	,	PUNCT
fumecheng-2849	96	25	the	the	DET
fumecheng-2849	96	26	position	position	NOUN
fumecheng-2849	96	27	of	of	ADP
fumecheng-2849	96	28	the	the	DET
fumecheng-2849	96	29	slider	slider	NOUN
fumecheng-2849	96	30	of	of	ADP
fumecheng-2849	96	31	the	the	DET
fumecheng-2849	96	32	mechatronic	mechatronic	NOUN
fumecheng-2849	96	33	redesigned	redesign	VERB
fumecheng-2849	96	34	slider	slider	NOUN
fumecheng-2849	96	35	-	-	PUNCT
fumecheng-2849	96	36	crank	crank	NOUN
fumecheng-2849	96	37	mechanism	mechanism	NOUN
fumecheng-2849	96	38	can	can	AUX
fumecheng-2849	96	39	be	be	AUX
fumecheng-2849	96	40	determined	determine	VERB
fumecheng-2849	96	41	by	by	ADP
fumecheng-2849	96	42	using	use	VERB
fumecheng-2849	96	43	the	the	DET
fumecheng-2849	96	44	angular	angular	ADJ
fumecheng-2849	96	45	position	position	NOUN
fumecheng-2849	96	46	of	of	ADP
fumecheng-2849	96	47	the	the	DET
fumecheng-2849	96	48	crank	crank	NOUN
fumecheng-2849	96	49	measured	measure	VERB
fumecheng-2849	96	50	with	with	ADP
fumecheng-2849	96	51	the	the	DET
fumecheng-2849	96	52	rotary	rotary	ADJ
fumecheng-2849	96	53	encoder	encoder	NOUN
fumecheng-2849	96	54	and	and	CCONJ
fumecheng-2849	96	55	the	the	DET
fumecheng-2849	96	56	transfer	transfer	NOUN
fumecheng-2849	96	57	function	function	NOUN
fumecheng-2849	96	58	of	of	ADP
fumecheng-2849	96	59	the	the	DET
fumecheng-2849	96	60	centric	centric	ADJ
fumecheng-2849	96	61	slider	slider	NOUN
fumecheng-2849	96	62	-	-	PUNCT
fumecheng-2849	96	63	crank	crank	NOUN
fumecheng-2849	96	64	mechanism	mechanism	NOUN
fumecheng-2849	96	65	(	(	PUNCT
fumecheng-2849	96	66	3	3	NUM
fumecheng-2849	96	67	)	)	PUNCT
fumecheng-2849	96	68	.	.	PUNCT
fumecheng-2849	97	1	moreover	moreover	ADV
fumecheng-2849	97	2	,	,	PUNCT
fumecheng-2849	97	3	it	it	PRON
fumecheng-2849	97	4	is	be	AUX
fumecheng-2849	97	5	necessary	necessary	ADJ
fumecheng-2849	97	6	to	to	PART
fumecheng-2849	97	7	define	define	VERB
fumecheng-2849	97	8	the	the	DET
fumecheng-2849	97	9	desired	desire	VERB
fumecheng-2849	97	10	velocity	velocity	NOUN
fumecheng-2849	97	11	profile	profile	NOUN
fumecheng-2849	97	12	of	of	ADP
fumecheng-2849	97	13	the	the	DET
fumecheng-2849	97	14	slider	slider	NOUN
fumecheng-2849	97	15	.	.	PUNCT
fumecheng-2849	98	1	for	for	ADP
fumecheng-2849	98	2	this	this	DET
fumecheng-2849	98	3	example	example	NOUN
fumecheng-2849	98	4	,	,	PUNCT
fumecheng-2849	98	5	it	it	PRON
fumecheng-2849	98	6	is	be	AUX
fumecheng-2849	98	7	decided	decide	VERB
fumecheng-2849	98	8	to	to	PART
fumecheng-2849	98	9	use	use	VERB
fumecheng-2849	98	10	desired	desire	VERB
fumecheng-2849	98	11	velocity	velocity	NOUN
fumecheng-2849	98	12	profile	profile	NOUN
fumecheng-2849	98	13	v(t	v(t	NOUN
fumecheng-2849	98	14	)	)	PUNCT
fumecheng-2849	98	15	of	of	ADP
fumecheng-2849	98	16	the	the	DET
fumecheng-2849	98	17	slider	slider	NOUN
fumecheng-2849	98	18	shown	show	VERB
fumecheng-2849	98	19	in	in	ADP
fumecheng-2849	98	20	fig	fig	NOUN
fumecheng-2849	98	21	.	.	PUNCT
fumecheng-2849	99	1	4	4	NUM
fumecheng-2849	99	2	,	,	PUNCT
fumecheng-2849	99	3	because	because	SCONJ
fumecheng-2849	99	4	such	such	DET
fumecheng-2849	99	5	an	an	DET
fumecheng-2849	99	6	example	example	NOUN
fumecheng-2849	99	7	can	can	AUX
fumecheng-2849	99	8	have	have	VERB
fumecheng-2849	99	9	the	the	DET
fumecheng-2849	99	10	most	most	ADV
fumecheng-2849	99	11	common	common	ADJ
fumecheng-2849	99	12	use	use	NOUN
fumecheng-2849	99	13	in	in	ADP
fumecheng-2849	99	14	practice	practice	NOUN
fumecheng-2849	99	15	.	.	PUNCT
fumecheng-2849	100	1	time	time	NOUN
fumecheng-2849	100	2	t1	t1	PROPN
fumecheng-2849	100	3	represents	represent	VERB
fumecheng-2849	100	4	the	the	DET
fumecheng-2849	100	5	time	time	NOUN
fumecheng-2849	100	6	that	that	PRON
fumecheng-2849	100	7	the	the	DET
fumecheng-2849	100	8	slider	slider	NOUN
fumecheng-2849	100	9	remains	remain	VERB
fumecheng-2849	100	10	in	in	ADP
fumecheng-2849	100	11	the	the	DET
fumecheng-2849	100	12	initial	initial	ADJ
fumecheng-2849	100	13	position	position	NOUN
fumecheng-2849	100	14	,	,	PUNCT
fumecheng-2849	100	15	t2	t2	PROPN
fumecheng-2849	100	16	is	be	AUX
fumecheng-2849	100	17	the	the	DET
fumecheng-2849	100	18	time	time	NOUN
fumecheng-2849	100	19	of	of	ADP
fumecheng-2849	100	20	the	the	DET
fumecheng-2849	100	21	slider	slider	NOUN
fumecheng-2849	100	22	motion	motion	NOUN
fumecheng-2849	100	23	in	in	ADP
fumecheng-2849	100	24	one	one	NUM
fumecheng-2849	100	25	direction	direction	NOUN
fumecheng-2849	100	26	(	(	PUNCT
fumecheng-2849	100	27	the	the	DET
fumecheng-2849	100	28	operating	operating	NOUN
fumecheng-2849	100	29	motion	motion	NOUN
fumecheng-2849	100	30	)	)	PUNCT
fumecheng-2849	100	31	,	,	PUNCT
fumecheng-2849	100	32	time	time	NOUN
fumecheng-2849	100	33	t3	t3	PROPN
fumecheng-2849	100	34	is	be	AUX
fumecheng-2849	100	35	the	the	DET
fumecheng-2849	100	36	time	time	NOUN
fumecheng-2849	100	37	of	of	ADP
fumecheng-2849	100	38	the	the	DET
fumecheng-2849	100	39	slider	slider	NOUN
fumecheng-2849	100	40	rests	rest	VERB
fumecheng-2849	100	41	after	after	ADP
fumecheng-2849	100	42	the	the	DET
fumecheng-2849	100	43	operation	operation	NOUN
fumecheng-2849	100	44	motion	motion	NOUN
fumecheng-2849	100	45	,	,	PUNCT
fumecheng-2849	100	46	t4	t4	PROPN
fumecheng-2849	100	47	is	be	AUX
fumecheng-2849	100	48	the	the	DET
fumecheng-2849	100	49	time	time	NOUN
fumecheng-2849	100	50	of	of	ADP
fumecheng-2849	100	51	the	the	DET
fumecheng-2849	100	52	slider	slider	NOUN
fumecheng-2849	100	53	motion	motion	NOUN
fumecheng-2849	100	54	in	in	ADP
fumecheng-2849	100	55	the	the	DET
fumecheng-2849	100	56	other	other	ADJ
fumecheng-2849	100	57	direction	direction	NOUN
fumecheng-2849	100	58	(	(	PUNCT
fumecheng-2849	100	59	the	the	DET
fumecheng-2849	100	60	return	return	NOUN
fumecheng-2849	100	61	motion	motion	NOUN
fumecheng-2849	100	62	)	)	PUNCT
fumecheng-2849	100	63	.	.	PUNCT
fumecheng-2849	101	1	time	time	NOUN
fumecheng-2849	101	2	tu	tu	PROPN
fumecheng-2849	101	3	represents	represent	VERB
fumecheng-2849	101	4	the	the	DET
fumecheng-2849	101	5	time	time	NOUN
fumecheng-2849	101	6	of	of	ADP
fumecheng-2849	101	7	acceleration	acceleration	NOUN
fumecheng-2849	101	8	and	and	CCONJ
fumecheng-2849	101	9	deceleration	deceleration	NOUN
fumecheng-2849	101	10	of	of	ADP
fumecheng-2849	101	11	the	the	DET
fumecheng-2849	101	12	slider	slider	NOUN
fumecheng-2849	101	13	during	during	ADP
fumecheng-2849	101	14	the	the	DET
fumecheng-2849	101	15	transition	transition	NOUN
fumecheng-2849	101	16	from	from	ADP
fumecheng-2849	101	17	a	a	DET
fumecheng-2849	101	18	steady	steady	ADJ
fumecheng-2849	101	19	state	state	NOUN
fumecheng-2849	101	20	to	to	ADP
fumecheng-2849	101	21	a	a	DET
fumecheng-2849	101	22	motion	motion	NOUN
fumecheng-2849	101	23	state	state	NOUN
fumecheng-2849	101	24	,	,	PUNCT
fumecheng-2849	101	25	and	and	CCONJ
fumecheng-2849	101	26	vice	vice	ADV
fumecheng-2849	101	27	versa	versa	ADV
fumecheng-2849	101	28	,	,	PUNCT
fumecheng-2849	101	29	and	and	CCONJ
fumecheng-2849	101	30	it	it	PRON
fumecheng-2849	101	31	depends	depend	VERB
fumecheng-2849	101	32	on	on	ADP
fumecheng-2849	101	33	the	the	DET
fumecheng-2849	101	34	motor	motor	NOUN
fumecheng-2849	101	35	power	power	NOUN
fumecheng-2849	101	36	,	,	PUNCT
fumecheng-2849	101	37	the	the	DET
fumecheng-2849	101	38	mass	mass	NOUN
fumecheng-2849	101	39	of	of	ADP
fumecheng-2849	101	40	the	the	DET
fumecheng-2849	101	41	members	member	NOUN
fumecheng-2849	101	42	of	of	ADP
fumecheng-2849	101	43	the	the	DET
fumecheng-2849	101	44	mechanism	mechanism	NOUN
fumecheng-2849	101	45	,	,	PUNCT
fumecheng-2849	101	46	friction	friction	NOUN
fumecheng-2849	101	47	in	in	ADP
fumecheng-2849	101	48	joints	joint	NOUN
fumecheng-2849	101	49	and	and	CCONJ
fumecheng-2849	101	50	the	the	DET
fumecheng-2849	101	51	guide	guide	NOUN
fumecheng-2849	101	52	frame	frame	NOUN
fumecheng-2849	101	53	,	,	PUNCT
fumecheng-2849	101	54	etc	etc	X
fumecheng-2849	101	55	.	.	X
fumecheng-2849	102	1	https://en.wikipedia.org/wiki/time	https://en.wikipedia.org/wiki/time	ADV
fumecheng-2849	102	2	remote	remote	ADJ
fumecheng-2849	102	3	control	control	NOUN
fumecheng-2849	102	4	of	of	ADP
fumecheng-2849	102	5	the	the	DET
fumecheng-2849	102	6	mechatronic	mechatronic	NOUN
fumecheng-2849	102	7	redesigned	redesign	VERB
fumecheng-2849	102	8	slider	slider	NOUN
fumecheng-2849	102	9	-	-	PUNCT
fumecheng-2849	102	10	crank	crank	NOUN
fumecheng-2849	102	11	mechanism	mechanism	NOUN
fumecheng-2849	102	12	in	in	ADP
fumecheng-2849	102	13	service	service	NOUN
fumecheng-2849	102	14	263	263	NUM
fumecheng-2849	102	15	fig	fig	NOUN
fumecheng-2849	102	16	.	.	PUNCT
fumecheng-2849	103	1	4	4	NUM
fumecheng-2849	103	2	desired	desire	VERB
fumecheng-2849	103	3	slider	slider	NOUN
fumecheng-2849	103	4	velocity	velocity	NOUN
fumecheng-2849	103	5	profile	profile	VERB
fumecheng-2849	103	6	the	the	DET
fumecheng-2849	103	7	difference	difference	NOUN
fumecheng-2849	103	8	between	between	ADP
fumecheng-2849	103	9	the	the	DET
fumecheng-2849	103	10	desired	desire	VERB
fumecheng-2849	103	11	and	and	CCONJ
fumecheng-2849	103	12	the	the	DET
fumecheng-2849	103	13	estimated	estimate	VERB
fumecheng-2849	103	14	slider	slider	NOUN
fumecheng-2849	103	15	velocity	velocity	NOUN
fumecheng-2849	103	16	,	,	PUNCT
fumecheng-2849	103	17	obtained	obtain	VERB
fumecheng-2849	103	18	by	by	ADP
fumecheng-2849	103	19	numerical	numerical	ADJ
fumecheng-2849	103	20	differentiation	differentiation	NOUN
fumecheng-2849	103	21	with	with	ADP
fumecheng-2849	103	22	respect	respect	NOUN
fumecheng-2849	103	23	to	to	ADP
fumecheng-2849	103	24	time	time	NOUN
fumecheng-2849	103	25	of	of	ADP
fumecheng-2849	103	26	the	the	DET
fumecheng-2849	103	27	transfer	transfer	NOUN
fumecheng-2849	103	28	function	function	NOUN
fumecheng-2849	103	29	(	(	PUNCT
fumecheng-2849	103	30	3	3	NUM
fumecheng-2849	103	31	)	)	PUNCT
fumecheng-2849	103	32	,	,	PUNCT
fumecheng-2849	103	33	as	as	SCONJ
fumecheng-2849	103	34	explained	explain	VERB
fumecheng-2849	103	35	previously	previously	ADV
fumecheng-2849	103	36	,	,	PUNCT
fumecheng-2849	103	37	returns	return	VERB
fumecheng-2849	103	38	the	the	DET
fumecheng-2849	103	39	error	error	NOUN
fumecheng-2849	103	40	in	in	ADP
fumecheng-2849	103	41	the	the	DET
fumecheng-2849	103	42	slider	slider	NOUN
fumecheng-2849	103	43	velocity	velocity	NOUN
fumecheng-2849	103	44	which	which	PRON
fumecheng-2849	103	45	should	should	AUX
fumecheng-2849	103	46	be	be	AUX
fumecheng-2849	103	47	corrected	correct	VERB
fumecheng-2849	103	48	by	by	ADP
fumecheng-2849	103	49	the	the	DET
fumecheng-2849	103	50	pid	pid	NOUN
fumecheng-2849	103	51	control	control	NOUN
fumecheng-2849	103	52	.	.	PUNCT
fumecheng-2849	104	1	the	the	DET
fumecheng-2849	104	2	equation	equation	NOUN
fumecheng-2849	104	3	of	of	ADP
fumecheng-2849	104	4	the	the	DET
fumecheng-2849	104	5	pid	pid	NOUN
fumecheng-2849	104	6	controller	controller	NOUN
fumecheng-2849	104	7	is	be	AUX
fumecheng-2849	104	8	the	the	DET
fumecheng-2849	104	9	following	following	NOUN
fumecheng-2849	104	10	:	:	PUNCT
fumecheng-2849	104	11	0	0	PUNCT
fumecheng-2849	104	12	(	(	PUNCT
fumecheng-2849	104	13	)	)	PUNCT
fumecheng-2849	104	14	(	(	PUNCT
fumecheng-2849	104	15	)	)	PUNCT
fumecheng-2849	104	16	(	(	PUNCT
fumecheng-2849	104	17	)	)	PUNCT
fumecheng-2849	104	18	t	t	NOUN
fumecheng-2849	104	19	p	p	X
fumecheng-2849	105	1	i	i	PROPN
fumecheng-2849	105	2	d	d	X
fumecheng-2849	105	3	de	de	X
fumecheng-2849	105	4	u	u	PROPN
fumecheng-2849	105	5	t	t	PROPN
fumecheng-2849	105	6	k	k	PROPN
fumecheng-2849	105	7	e	e	PROPN
fumecheng-2849	105	8	t	t	PROPN
fumecheng-2849	105	9	k	k	PROPN
fumecheng-2849	105	10	e	e	PROPN
fumecheng-2849	105	11	d	d	X
fumecheng-2849	105	12	k	k	X
fumecheng-2849	105	13	dt	dt	X
fumecheng-2849	105	14			PROPN
fumecheng-2849	105	15			VERB
fumecheng-2849	105	16			X
fumecheng-2849	105	17			NUM
fumecheng-2849	105	18	(	(	PUNCT
fumecheng-2849	105	19	4	4	NUM
fumecheng-2849	105	20	)	)	PUNCT
fumecheng-2849	105	21	where	where	SCONJ
fumecheng-2849	105	22	kp	kp	PROPN
fumecheng-2849	105	23	is	be	AUX
fumecheng-2849	105	24	the	the	DET
fumecheng-2849	105	25	proportional	proportional	ADJ
fumecheng-2849	105	26	gain	gain	NOUN
fumecheng-2849	105	27	,	,	PUNCT
fumecheng-2849	105	28	ki	ki	PROPN
fumecheng-2849	105	29	is	be	AUX
fumecheng-2849	105	30	the	the	DET
fumecheng-2849	105	31	integral	integral	ADJ
fumecheng-2849	105	32	gain	gain	NOUN
fumecheng-2849	105	33	,	,	PUNCT
fumecheng-2849	105	34	kd	kd	PROPN
fumecheng-2849	105	35	is	be	AUX
fumecheng-2849	105	36	the	the	DET
fumecheng-2849	105	37	derivative	derivative	ADJ
fumecheng-2849	105	38	gain	gain	NOUN
fumecheng-2849	105	39	,	,	PUNCT
fumecheng-2849	105	40	e(t	e(t	PROPN
fumecheng-2849	105	41	)	)	PUNCT
fumecheng-2849	105	42	is	be	AUX
fumecheng-2849	105	43	the	the	DET
fumecheng-2849	105	44	error	error	NOUN
fumecheng-2849	105	45	and	and	CCONJ
fumecheng-2849	105	46	u(t	u(t	NOUN
fumecheng-2849	105	47	)	)	PUNCT
fumecheng-2849	105	48	is	be	AUX
fumecheng-2849	105	49	the	the	DET
fumecheng-2849	105	50	output	output	NOUN
fumecheng-2849	105	51	from	from	ADP
fumecheng-2849	105	52	the	the	DET
fumecheng-2849	105	53	pid	pid	NOUN
fumecheng-2849	105	54	controller	controller	NOUN
fumecheng-2849	105	55	.	.	PUNCT
fumecheng-2849	106	1	the	the	DET
fumecheng-2849	106	2	output	output	NOUN
fumecheng-2849	106	3	from	from	ADP
fumecheng-2849	106	4	the	the	DET
fumecheng-2849	106	5	pid	pid	NOUN
fumecheng-2849	106	6	controller	controller	NOUN
fumecheng-2849	106	7	is	be	AUX
fumecheng-2849	106	8	percentage	percentage	NOUN
fumecheng-2849	106	9	for	for	ADP
fumecheng-2849	106	10	the	the	DET
fumecheng-2849	106	11	width	width	NOUN
fumecheng-2849	106	12	of	of	ADP
fumecheng-2849	106	13	the	the	DET
fumecheng-2849	106	14	pwm	pwm	NOUN
fumecheng-2849	106	15	signal	signal	NOUN
fumecheng-2849	106	16	,	,	PUNCT
fumecheng-2849	106	17	i.e.	i.e.	X
fumecheng-2849	106	18	a	a	DET
fumecheng-2849	106	19	duty	duty	NOUN
fumecheng-2849	106	20	cycle	cycle	NOUN
fumecheng-2849	106	21	of	of	ADP
fumecheng-2849	106	22	the	the	DET
fumecheng-2849	106	23	pwm	pwm	NOUN
fumecheng-2849	106	24	signal	signal	NOUN
fumecheng-2849	106	25	,	,	PUNCT
fumecheng-2849	106	26	and	and	CCONJ
fumecheng-2849	106	27	on	on	ADP
fumecheng-2849	106	28	this	this	DET
fumecheng-2849	106	29	way	way	NOUN
fumecheng-2849	106	30	the	the	DET
fumecheng-2849	106	31	pid	pid	NOUN
fumecheng-2849	106	32	controller	controller	NOUN
fumecheng-2849	106	33	adjusts	adjust	VERB
fumecheng-2849	106	34	the	the	DET
fumecheng-2849	106	35	supplying	supplying	NOUN
fumecheng-2849	106	36	voltage	voltage	NOUN
fumecheng-2849	106	37	for	for	ADP
fumecheng-2849	106	38	the	the	DET
fumecheng-2849	106	39	motor	motor	NOUN
fumecheng-2849	106	40	.	.	PUNCT
fumecheng-2849	107	1	the	the	DET
fumecheng-2849	107	2	user	user	NOUN
fumecheng-2849	107	3	can	can	AUX
fumecheng-2849	107	4	set	set	VERB
fumecheng-2849	107	5	parameters	parameter	NOUN
fumecheng-2849	107	6	of	of	ADP
fumecheng-2849	107	7	the	the	DET
fumecheng-2849	107	8	pid	pid	NOUN
fumecheng-2849	107	9	controller	controller	NOUN
fumecheng-2849	107	10	and	and	CCONJ
fumecheng-2849	107	11	exactly	exactly	ADV
fumecheng-2849	107	12	on	on	ADP
fumecheng-2849	107	13	these	these	DET
fumecheng-2849	107	14	parameters	parameter	NOUN
fumecheng-2849	107	15	depends	depend	VERB
fumecheng-2849	107	16	how	how	SCONJ
fumecheng-2849	107	17	well	well	ADV
fumecheng-2849	107	18	the	the	DET
fumecheng-2849	107	19	slider	slider	NOUN
fumecheng-2849	107	20	will	will	AUX
fumecheng-2849	107	21	perform	perform	VERB
fumecheng-2849	107	22	the	the	DET
fumecheng-2849	107	23	desired	desire	VERB
fumecheng-2849	107	24	motion	motion	NOUN
fumecheng-2849	107	25	.	.	PUNCT
fumecheng-2849	108	1	fig	fig	NOUN
fumecheng-2849	108	2	.	.	PUNCT
fumecheng-2849	109	1	5	5	NUM
fumecheng-2849	109	2	represents	represent	VERB
fumecheng-2849	109	3	the	the	DET
fumecheng-2849	109	4	block	block	NOUN
fumecheng-2849	109	5	diagram	diagram	NOUN
fumecheng-2849	109	6	of	of	ADP
fumecheng-2849	109	7	the	the	DET
fumecheng-2849	109	8	control	control	NOUN
fumecheng-2849	109	9	algorithm	algorithm	NOUN
fumecheng-2849	109	10	.	.	PUNCT
fumecheng-2849	110	1	fig	fig	NOUN
fumecheng-2849	110	2	.	.	PUNCT
fumecheng-2849	111	1	5	5	NUM
fumecheng-2849	111	2	block	block	NOUN
fumecheng-2849	111	3	diagram	diagram	NOUN
fumecheng-2849	111	4	of	of	ADP
fumecheng-2849	111	5	control	control	NOUN
fumecheng-2849	111	6	algorithm	algorithm	PROPN
fumecheng-2849	111	7	https://en.wikipedia.org/wiki/time	https://en.wikipedia.org/wiki/time	PROPN
fumecheng-2849	111	8	264	264	NUM
fumecheng-2849	111	9	m.	m.	NOUN
fumecheng-2849	111	10	tomić	tomić	NOUN
fumecheng-2849	111	11	,	,	PUNCT
fumecheng-2849	111	12	m.	m.	NOUN
fumecheng-2849	111	13	milošević	milošević	PROPN
fumecheng-2849	111	14	,	,	PUNCT
fumecheng-2849	111	15	n.	n.	PROPN
fumecheng-2849	111	16	tomić	tomić	PROPN
fumecheng-2849	111	17	,	,	PUNCT
fumecheng-2849	111	18	n.d	n.d	PROPN
fumecheng-2849	111	19	.	.	PROPN
fumecheng-2849	111	20	pavlović	pavlović	NOUN
fumecheng-2849	111	21	,	,	PUNCT
fumecheng-2849	111	22	v.	v.	ADP
fumecheng-2849	111	23	pavlović	pavlović	NOUN
fumecheng-2849	111	24	5	5	NUM
fumecheng-2849	111	25	.	.	X
fumecheng-2849	111	26	mechatronic	mechatronic	NOUN
fumecheng-2849	111	27	redesigned	redesign	VERB
fumecheng-2849	111	28	slider	slider	NOUN
fumecheng-2849	111	29	-	-	PUNCT
fumecheng-2849	111	30	crank	crank	NOUN
fumecheng-2849	111	31	mechanism	mechanism	NOUN
fumecheng-2849	111	32	in	in	ADP
fumecheng-2849	111	33	service	service	NOUN
fumecheng-2849	111	34	as	as	ADP
fumecheng-2849	111	35	remote	remote	ADJ
fumecheng-2849	111	36	laboratory	laboratory	NOUN
fumecheng-2849	111	37	experiment	experiment	NOUN
fumecheng-2849	111	38	it	it	PRON
fumecheng-2849	111	39	is	be	AUX
fumecheng-2849	111	40	not	not	PART
fumecheng-2849	111	41	always	always	ADV
fumecheng-2849	111	42	feasible	feasible	ADJ
fumecheng-2849	111	43	to	to	PART
fumecheng-2849	111	44	set	set	VERB
fumecheng-2849	111	45	up	up	ADP
fumecheng-2849	111	46	a	a	DET
fumecheng-2849	111	47	classroom	classroom	NOUN
fumecheng-2849	111	48	experiment	experiment	NOUN
fumecheng-2849	111	49	because	because	SCONJ
fumecheng-2849	111	50	of	of	ADP
fumecheng-2849	111	51	lack	lack	NOUN
fumecheng-2849	111	52	of	of	ADP
fumecheng-2849	111	53	funds	fund	NOUN
fumecheng-2849	111	54	.	.	PUNCT
fumecheng-2849	112	1	nowadays	nowadays	ADV
fumecheng-2849	112	2	,	,	PUNCT
fumecheng-2849	112	3	the	the	DET
fumecheng-2849	112	4	internet	internet	NOUN
fumecheng-2849	112	5	opens	open	VERB
fumecheng-2849	112	6	completely	completely	ADV
fumecheng-2849	112	7	new	new	ADJ
fumecheng-2849	112	8	possibilities	possibility	NOUN
fumecheng-2849	112	9	by	by	ADP
fumecheng-2849	112	10	allowing	allow	VERB
fumecheng-2849	112	11	users	user	NOUN
fumecheng-2849	112	12	to	to	PART
fumecheng-2849	112	13	perform	perform	VERB
fumecheng-2849	112	14	remote	remote	ADJ
fumecheng-2849	112	15	dislocated	dislocate	VERB
fumecheng-2849	112	16	laboratory	laboratory	NOUN
fumecheng-2849	112	17	experiments	experiment	NOUN
fumecheng-2849	112	18	in	in	ADP
fumecheng-2849	112	19	very	very	ADV
fumecheng-2849	112	20	much	much	ADV
fumecheng-2849	112	21	the	the	DET
fumecheng-2849	112	22	same	same	ADJ
fumecheng-2849	112	23	way	way	NOUN
fumecheng-2849	112	24	,	,	PUNCT
fumecheng-2849	112	25	or	or	CCONJ
fumecheng-2849	112	26	nearly	nearly	ADV
fumecheng-2849	112	27	the	the	DET
fumecheng-2849	112	28	same	same	ADJ
fumecheng-2849	112	29	way	way	NOUN
fumecheng-2849	112	30	as	as	ADP
fumecheng-2849	112	31	operating	operate	VERB
fumecheng-2849	112	32	them	they	PRON
fumecheng-2849	112	33	on	on	ADP
fumecheng-2849	112	34	the	the	DET
fumecheng-2849	112	35	spot	spot	NOUN
fumecheng-2849	112	36	.	.	PUNCT
fumecheng-2849	113	1	in	in	ADP
fumecheng-2849	113	2	this	this	DET
fumecheng-2849	113	3	paper	paper	NOUN
fumecheng-2849	113	4	the	the	DET
fumecheng-2849	113	5	example	example	NOUN
fumecheng-2849	113	6	of	of	ADP
fumecheng-2849	113	7	a	a	DET
fumecheng-2849	113	8	remote	remote	ADJ
fumecheng-2849	113	9	laboratory	laboratory	NOUN
fumecheng-2849	113	10	experiment	experiment	NOUN
fumecheng-2849	113	11	is	be	AUX
fumecheng-2849	113	12	shown	show	VERB
fumecheng-2849	113	13	on	on	ADP
fumecheng-2849	113	14	the	the	DET
fumecheng-2849	113	15	remote	remote	ADJ
fumecheng-2849	113	16	control	control	NOUN
fumecheng-2849	113	17	of	of	ADP
fumecheng-2849	113	18	the	the	DET
fumecheng-2849	113	19	previously	previously	ADV
fumecheng-2849	113	20	described	describe	VERB
fumecheng-2849	113	21	mechatronic	mechatronic	NOUN
fumecheng-2849	113	22	redesigned	redesign	VERB
fumecheng-2849	113	23	slider	slider	NOUN
fumecheng-2849	113	24	-	-	PUNCT
fumecheng-2849	113	25	crank	crank	NOUN
fumecheng-2849	113	26	mechanism	mechanism	NOUN
fumecheng-2849	113	27	stationed	station	VERB
fumecheng-2849	113	28	at	at	ADP
fumecheng-2849	113	29	the	the	DET
fumecheng-2849	113	30	mechatronic	mechatronic	ADJ
fumecheng-2849	113	31	laboratory	laboratory	NOUN
fumecheng-2849	113	32	of	of	ADP
fumecheng-2849	113	33	the	the	DET
fumecheng-2849	113	34	faculty	faculty	NOUN
fumecheng-2849	113	35	of	of	ADP
fumecheng-2849	113	36	mechanical	mechanical	ADJ
fumecheng-2849	113	37	engineering	engineering	NOUN
fumecheng-2849	113	38	of	of	ADP
fumecheng-2849	113	39	university	university	PROPN
fumecheng-2849	113	40	of	of	ADP
fumecheng-2849	113	41	niš	niš	PROPN
fumecheng-2849	113	42	,	,	PUNCT
fumecheng-2849	113	43	serbia	serbia	PROPN
fumecheng-2849	113	44	.	.	PUNCT
fumecheng-2849	114	1	fig	fig	NOUN
fumecheng-2849	114	2	.	.	PUNCT
fumecheng-2849	115	1	6	6	NUM
fumecheng-2849	115	2	shows	show	VERB
fumecheng-2849	115	3	the	the	DET
fumecheng-2849	115	4	starting	starting	NOUN
fumecheng-2849	115	5	interface	interface	NOUN
fumecheng-2849	115	6	with	with	ADP
fumecheng-2849	115	7	the	the	DET
fumecheng-2849	115	8	parameters	parameter	NOUN
fumecheng-2849	115	9	and	and	CCONJ
fumecheng-2849	115	10	control	control	NOUN
fumecheng-2849	115	11	layout	layout	PROPN
fumecheng-2849	115	12	where	where	SCONJ
fumecheng-2849	115	13	the	the	DET
fumecheng-2849	115	14	user	user	NOUN
fumecheng-2849	115	15	can	can	AUX
fumecheng-2849	115	16	set	set	VERB
fumecheng-2849	115	17	the	the	DET
fumecheng-2849	115	18	parameters	parameter	NOUN
fumecheng-2849	115	19	of	of	ADP
fumecheng-2849	115	20	the	the	DET
fumecheng-2849	115	21	slider	slider	NOUN
fumecheng-2849	115	22	-	-	PUNCT
fumecheng-2849	115	23	crank	crank	NOUN
fumecheng-2849	115	24	mechanism	mechanism	NOUN
fumecheng-2849	115	25	,	,	PUNCT
fumecheng-2849	115	26	the	the	DET
fumecheng-2849	115	27	parameters	parameter	NOUN
fumecheng-2849	115	28	of	of	ADP
fumecheng-2849	115	29	motion	motion	NOUN
fumecheng-2849	115	30	and	and	CCONJ
fumecheng-2849	115	31	rest	rest	VERB
fumecheng-2849	115	32	as	as	ADV
fumecheng-2849	115	33	well	well	ADV
fumecheng-2849	115	34	as	as	ADP
fumecheng-2849	115	35	the	the	DET
fumecheng-2849	115	36	gains	gain	NOUN
fumecheng-2849	115	37	of	of	ADP
fumecheng-2849	115	38	the	the	DET
fumecheng-2849	115	39	pid	pid	NOUN
fumecheng-2849	115	40	controller	controller	NOUN
fumecheng-2849	115	41	.	.	PUNCT
fumecheng-2849	116	1	in	in	ADP
fumecheng-2849	116	2	this	this	DET
fumecheng-2849	116	3	example	example	NOUN
fumecheng-2849	116	4	,	,	PUNCT
fumecheng-2849	116	5	the	the	DET
fumecheng-2849	116	6	gains	gain	NOUN
fumecheng-2849	116	7	of	of	ADP
fumecheng-2849	116	8	the	the	DET
fumecheng-2849	116	9	pid	pid	NOUN
fumecheng-2849	116	10	controller	controller	NOUN
fumecheng-2849	116	11	are	be	AUX
fumecheng-2849	116	12	experimentally	experimentally	ADV
fumecheng-2849	116	13	obtained	obtain	VERB
fumecheng-2849	116	14	.	.	PUNCT
fumecheng-2849	117	1	on	on	ADP
fumecheng-2849	117	2	the	the	DET
fumecheng-2849	117	3	same	same	ADJ
fumecheng-2849	117	4	interface	interface	NOUN
fumecheng-2849	117	5	calculated	calculate	VERB
fumecheng-2849	117	6	and	and	CCONJ
fumecheng-2849	117	7	measured	measured	ADJ
fumecheng-2849	117	8	positions	position	NOUN
fumecheng-2849	117	9	of	of	ADP
fumecheng-2849	117	10	the	the	DET
fumecheng-2849	117	11	slider	slider	NOUN
fumecheng-2849	117	12	can	can	AUX
fumecheng-2849	117	13	be	be	AUX
fumecheng-2849	117	14	observed	observe	VERB
fumecheng-2849	117	15	.	.	PUNCT
fumecheng-2849	118	1	fig	fig	NOUN
fumecheng-2849	118	2	.	.	PUNCT
fumecheng-2849	119	1	6	6	NUM
fumecheng-2849	119	2	starting	start	VERB
fumecheng-2849	119	3	user	user	NOUN
fumecheng-2849	119	4	interface	interface	NOUN
fumecheng-2849	119	5	for	for	ADP
fumecheng-2849	119	6	setting	set	VERB
fumecheng-2849	119	7	parameters	parameter	NOUN
fumecheng-2849	119	8	for	for	ADP
fumecheng-2849	119	9	remote	remote	ADJ
fumecheng-2849	119	10	control	control	NOUN
fumecheng-2849	119	11	of	of	ADP
fumecheng-2849	119	12	mechatronic	mechatronic	NOUN
fumecheng-2849	119	13	redesigned	redesign	VERB
fumecheng-2849	119	14	slider	slider	NOUN
fumecheng-2849	119	15	-	-	PUNCT
fumecheng-2849	119	16	crank	crank	NOUN
fumecheng-2849	119	17	mechanism	mechanism	NOUN
fumecheng-2849	119	18	it	it	PRON
fumecheng-2849	119	19	should	should	AUX
fumecheng-2849	119	20	be	be	AUX
fumecheng-2849	119	21	noted	note	VERB
fumecheng-2849	119	22	that	that	SCONJ
fumecheng-2849	119	23	,	,	PUNCT
fumecheng-2849	119	24	due	due	ADP
fumecheng-2849	119	25	to	to	ADP
fumecheng-2849	119	26	the	the	DET
fumecheng-2849	119	27	use	use	NOUN
fumecheng-2849	119	28	of	of	ADP
fumecheng-2849	119	29	relative	relative	ADJ
fumecheng-2849	119	30	rotary	rotary	ADJ
fumecheng-2849	119	31	encoder	encoder	NOUN
fumecheng-2849	119	32	,	,	PUNCT
fumecheng-2849	119	33	the	the	DET
fumecheng-2849	119	34	considered	consider	VERB
fumecheng-2849	119	35	mechatronic	mechatronic	NOUN
fumecheng-2849	119	36	redesigned	redesign	VERB
fumecheng-2849	119	37	slider	slider	NOUN
fumecheng-2849	119	38	-	-	PUNCT
fumecheng-2849	119	39	crank	crank	NOUN
fumecheng-2849	119	40	mechanism	mechanism	NOUN
fumecheng-2849	119	41	should	should	AUX
fumecheng-2849	119	42	be	be	AUX
fumecheng-2849	119	43	firstly	firstly	ADV
fumecheng-2849	119	44	brought	bring	VERB
fumecheng-2849	119	45	into	into	ADP
fumecheng-2849	119	46	the	the	DET
fumecheng-2849	119	47	inner	inner	ADJ
fumecheng-2849	119	48	limit	limit	NOUN
fumecheng-2849	119	49	position	position	NOUN
fumecheng-2849	119	50	as	as	ADP
fumecheng-2849	119	51	a	a	DET
fumecheng-2849	119	52	starting	starting	NOUN
fumecheng-2849	119	53	position	position	NOUN
fumecheng-2849	119	54	(	(	PUNCT
fumecheng-2849	119	55	fig	fig	NOUN
fumecheng-2849	119	56	.	.	PUNCT
fumecheng-2849	120	1	7	7	NUM
fumecheng-2849	120	2	)	)	PUNCT
fumecheng-2849	120	3	,	,	PUNCT
fumecheng-2849	120	4	because	because	SCONJ
fumecheng-2849	120	5	the	the	DET
fumecheng-2849	120	6	transfer	transfer	NOUN
fumecheng-2849	120	7	function	function	NOUN
fumecheng-2849	120	8	equations	equation	NOUN
fumecheng-2849	120	9	are	be	AUX
fumecheng-2849	120	10	written	write	VERB
fumecheng-2849	120	11	as	as	ADP
fumecheng-2849	120	12	relative	relative	ADJ
fumecheng-2849	120	13	to	to	ADP
fumecheng-2849	120	14	this	this	DET
fumecheng-2849	120	15	position	position	NOUN
fumecheng-2849	120	16	,	,	PUNCT
fumecheng-2849	120	17	and	and	CCONJ
fumecheng-2849	120	18	only	only	ADV
fumecheng-2849	120	19	then	then	ADV
fumecheng-2849	120	20	it	it	PRON
fumecheng-2849	120	21	is	be	AUX
fumecheng-2849	120	22	possible	possible	ADJ
fumecheng-2849	120	23	to	to	PART
fumecheng-2849	120	24	start	start	VERB
fumecheng-2849	120	25	the	the	DET
fumecheng-2849	120	26	motion	motion	NOUN
fumecheng-2849	120	27	.	.	PUNCT
fumecheng-2849	121	1	in	in	ADP
fumecheng-2849	121	2	the	the	DET
fumecheng-2849	121	3	camera	camera	NOUN
fumecheng-2849	121	4	and	and	CCONJ
fumecheng-2849	121	5	calibration	calibration	NOUN
fumecheng-2849	121	6	layout	layout	NOUN
fumecheng-2849	121	7	with	with	ADP
fumecheng-2849	121	8	the	the	DET
fumecheng-2849	121	9	video	video	NOUN
fumecheng-2849	121	10	live	live	ADJ
fumecheng-2849	121	11	streaming	streaming	NOUN
fumecheng-2849	121	12	there	there	PRON
fumecheng-2849	121	13	is	be	VERB
fumecheng-2849	121	14	a	a	DET
fumecheng-2849	121	15	possibility	possibility	NOUN
fumecheng-2849	121	16	of	of	ADP
fumecheng-2849	121	17	calibration	calibration	NOUN
fumecheng-2849	121	18	and	and	CCONJ
fumecheng-2849	121	19	adjustment	adjustment	NOUN
fumecheng-2849	121	20	of	of	ADP
fumecheng-2849	121	21	the	the	DET
fumecheng-2849	121	22	mentioned	mention	VERB
fumecheng-2849	121	23	mechanism	mechanism	NOUN
fumecheng-2849	121	24	starting	start	VERB
fumecheng-2849	121	25	position	position	NOUN
fumecheng-2849	121	26	using	use	VERB
fumecheng-2849	121	27	buttons	button	NOUN
fumecheng-2849	121	28	rough	rough	ADJ
fumecheng-2849	121	29	and	and	CCONJ
fumecheng-2849	121	30	fine	fine	ADJ
fumecheng-2849	121	31	.	.	PUNCT
fumecheng-2849	122	1	pressing	press	VERB
fumecheng-2849	122	2	and	and	CCONJ
fumecheng-2849	122	3	holding	holding	NOUN
fumecheng-2849	122	4	of	of	ADP
fumecheng-2849	122	5	the	the	DET
fumecheng-2849	122	6	button	button	NOUN
fumecheng-2849	122	7	rough	rough	ADJ
fumecheng-2849	122	8	causes	cause	VERB
fumecheng-2849	122	9	the	the	DET
fumecheng-2849	122	10	rotation	rotation	NOUN
fumecheng-2849	122	11	of	of	ADP
fumecheng-2849	122	12	the	the	DET
fumecheng-2849	122	13	crank	crank	NOUN
fumecheng-2849	122	14	into	into	ADP
fumecheng-2849	122	15	the	the	DET
fumecheng-2849	122	16	counterclockwise	counterclockwise	NOUN
fumecheng-2849	122	17	direction	direction	NOUN
fumecheng-2849	122	18	at	at	ADP
fumecheng-2849	122	19	approximately	approximately	ADV
fumecheng-2849	122	20	60	60	NUM
fumecheng-2849	122	21	°	°	NOUN
fumecheng-2849	122	22	/s	/s	X
fumecheng-2849	122	23	and	and	CCONJ
fumecheng-2849	122	24	pressing	press	VERB
fumecheng-2849	122	25	and	and	CCONJ
fumecheng-2849	122	26	holding	holding	NOUN
fumecheng-2849	122	27	of	of	ADP
fumecheng-2849	122	28	the	the	DET
fumecheng-2849	122	29	button	button	NOUN
fumecheng-2849	122	30	fine	fine	NOUN
fumecheng-2849	122	31	causes	cause	VERB
fumecheng-2849	122	32	the	the	DET
fumecheng-2849	122	33	rotation	rotation	NOUN
fumecheng-2849	122	34	of	of	ADP
fumecheng-2849	122	35	the	the	DET
fumecheng-2849	122	36	crank	crank	NOUN
fumecheng-2849	122	37	into	into	ADP
fumecheng-2849	122	38	the	the	DET
fumecheng-2849	122	39	counterclockwise	counterclockwise	NOUN
fumecheng-2849	122	40	direction	direction	NOUN
fumecheng-2849	122	41	at	at	ADP
fumecheng-2849	122	42	approximately	approximately	ADV
fumecheng-2849	122	43	1	1	NUM
fumecheng-2849	122	44	°	°	NOUN
fumecheng-2849	122	45	/s	/	NOUN
fumecheng-2849	122	46	.	.	PUNCT
fumecheng-2849	123	1	with	with	ADP
fumecheng-2849	123	2	the	the	DET
fumecheng-2849	123	3	help	help	NOUN
fumecheng-2849	123	4	of	of	ADP
fumecheng-2849	123	5	the	the	DET
fumecheng-2849	123	6	camera	camera	NOUN
fumecheng-2849	123	7	stream	stream	NOUN
fumecheng-2849	123	8	it	it	PRON
fumecheng-2849	123	9	is	be	AUX
fumecheng-2849	123	10	possible	possible	ADJ
fumecheng-2849	123	11	to	to	PART
fumecheng-2849	123	12	bring	bring	VERB
fumecheng-2849	123	13	the	the	DET
fumecheng-2849	123	14	mechatronic	mechatronic	NOUN
fumecheng-2849	123	15	redesigned	redesign	VERB
fumecheng-2849	123	16	slider	slider	NOUN
fumecheng-2849	123	17	-	-	PUNCT
fumecheng-2849	123	18	crank	crank	NOUN
fumecheng-2849	123	19	mechanism	mechanism	NOUN
fumecheng-2849	123	20	into	into	ADP
fumecheng-2849	123	21	the	the	DET
fumecheng-2849	123	22	necessary	necessary	ADJ
fumecheng-2849	123	23	starting	starting	NOUN
fumecheng-2849	123	24	position	position	NOUN
fumecheng-2849	123	25	.	.	PUNCT
fumecheng-2849	124	1	pressing	press	VERB
fumecheng-2849	124	2	the	the	DET
fumecheng-2849	124	3	done	do	VERB
fumecheng-2849	124	4	button	button	NOUN
fumecheng-2849	124	5	will	will	AUX
fumecheng-2849	124	6	save	save	VERB
fumecheng-2849	124	7	the	the	DET
fumecheng-2849	124	8	starting	starting	NOUN
fumecheng-2849	124	9	position	position	NOUN
fumecheng-2849	124	10	.	.	PUNCT
fumecheng-2849	125	1	remote	remote	ADJ
fumecheng-2849	125	2	control	control	NOUN
fumecheng-2849	125	3	of	of	ADP
fumecheng-2849	125	4	the	the	DET
fumecheng-2849	125	5	mechatronic	mechatronic	NOUN
fumecheng-2849	125	6	redesigned	redesign	VERB
fumecheng-2849	125	7	slider	slider	NOUN
fumecheng-2849	125	8	-	-	PUNCT
fumecheng-2849	125	9	crank	crank	NOUN
fumecheng-2849	125	10	mechanism	mechanism	NOUN
fumecheng-2849	125	11	in	in	ADP
fumecheng-2849	125	12	service	service	NOUN
fumecheng-2849	125	13	265	265	NUM
fumecheng-2849	125	14	fig	fig	NOUN
fumecheng-2849	125	15	.	.	PUNCT
fumecheng-2849	126	1	7	7	NUM
fumecheng-2849	126	2	calibration	calibration	NOUN
fumecheng-2849	126	3	mode	mode	NOUN
fumecheng-2849	126	4	with	with	ADP
fumecheng-2849	126	5	inner	inner	ADJ
fumecheng-2849	126	6	limit	limit	NOUN
fumecheng-2849	126	7	position	position	NOUN
fumecheng-2849	126	8	of	of	ADP
fumecheng-2849	126	9	mechatronic	mechatronic	NOUN
fumecheng-2849	126	10	redesigned	redesign	VERB
fumecheng-2849	126	11	slider	slider	NOUN
fumecheng-2849	126	12	-	-	PUNCT
fumecheng-2849	126	13	crank	crank	NOUN
fumecheng-2849	126	14	mechanism	mechanism	NOUN
fumecheng-2849	126	15	as	as	ADP
fumecheng-2849	126	16	starting	start	VERB
fumecheng-2849	126	17	position	position	NOUN
fumecheng-2849	126	18	after	after	ADP
fumecheng-2849	126	19	setup	setup	NOUN
fumecheng-2849	126	20	of	of	ADP
fumecheng-2849	126	21	all	all	DET
fumecheng-2849	126	22	parameters	parameter	NOUN
fumecheng-2849	126	23	and	and	CCONJ
fumecheng-2849	126	24	the	the	DET
fumecheng-2849	126	25	calibration	calibration	NOUN
fumecheng-2849	126	26	of	of	ADP
fumecheng-2849	126	27	the	the	DET
fumecheng-2849	126	28	starting	starting	NOUN
fumecheng-2849	126	29	position	position	NOUN
fumecheng-2849	126	30	,	,	PUNCT
fumecheng-2849	126	31	it	it	PRON
fumecheng-2849	126	32	is	be	AUX
fumecheng-2849	126	33	possible	possible	ADJ
fumecheng-2849	126	34	to	to	PART
fumecheng-2849	126	35	run	run	VERB
fumecheng-2849	126	36	the	the	DET
fumecheng-2849	126	37	experiment	experiment	NOUN
fumecheng-2849	126	38	by	by	ADP
fumecheng-2849	126	39	pressing	press	VERB
fumecheng-2849	126	40	the	the	DET
fumecheng-2849	126	41	operation	operation	NOUN
fumecheng-2849	126	42	button	button	NOUN
fumecheng-2849	126	43	,	,	PUNCT
fumecheng-2849	126	44	which	which	PRON
fumecheng-2849	126	45	will	will	AUX
fumecheng-2849	126	46	put	put	VERB
fumecheng-2849	126	47	the	the	DET
fumecheng-2849	126	48	mechatronic	mechatronic	NOUN
fumecheng-2849	126	49	redesigned	redesign	VERB
fumecheng-2849	126	50	slider	slider	NOUN
fumecheng-2849	126	51	-	-	PUNCT
fumecheng-2849	126	52	crank	crank	NOUN
fumecheng-2849	126	53	mechanism	mechanism	NOUN
fumecheng-2849	126	54	into	into	ADP
fumecheng-2849	126	55	the	the	DET
fumecheng-2849	126	56	operation	operation	NOUN
fumecheng-2849	126	57	mode	mode	NOUN
fumecheng-2849	126	58	which	which	PRON
fumecheng-2849	126	59	is	be	AUX
fumecheng-2849	126	60	shown	show	VERB
fumecheng-2849	126	61	in	in	ADP
fumecheng-2849	126	62	fig	fig	NOUN
fumecheng-2849	126	63	.	.	PUNCT
fumecheng-2849	127	1	8	8	NUM
fumecheng-2849	127	2	.	.	PUNCT
fumecheng-2849	128	1	if	if	SCONJ
fumecheng-2849	128	2	some	some	DET
fumecheng-2849	128	3	additional	additional	ADJ
fumecheng-2849	128	4	calibration	calibration	NOUN
fumecheng-2849	128	5	is	be	AUX
fumecheng-2849	128	6	needed	need	VERB
fumecheng-2849	128	7	,	,	PUNCT
fumecheng-2849	128	8	then	then	ADV
fumecheng-2849	128	9	it	it	PRON
fumecheng-2849	128	10	is	be	AUX
fumecheng-2849	128	11	possible	possible	ADJ
fumecheng-2849	128	12	to	to	PART
fumecheng-2849	128	13	go	go	VERB
fumecheng-2849	128	14	back	back	ADV
fumecheng-2849	128	15	to	to	ADP
fumecheng-2849	128	16	the	the	DET
fumecheng-2849	128	17	calibration	calibration	NOUN
fumecheng-2849	128	18	mode	mode	NOUN
fumecheng-2849	128	19	by	by	ADP
fumecheng-2849	128	20	pressing	press	VERB
fumecheng-2849	128	21	the	the	DET
fumecheng-2849	128	22	calibration	calibration	NOUN
fumecheng-2849	128	23	button	button	NOUN
fumecheng-2849	128	24	(	(	PUNCT
fumecheng-2849	128	25	fig	fig	NOUN
fumecheng-2849	128	26	.	.	PUNCT
fumecheng-2849	129	1	8)	8)	NUM
fumecheng-2849	129	2	.	.	PUNCT
fumecheng-2849	129	3	fig	fig	NOUN
fumecheng-2849	129	4	.	.	PUNCT
fumecheng-2849	130	1	8	8	NUM
fumecheng-2849	130	2	operation	operation	NOUN
fumecheng-2849	130	3	mode	mode	NOUN
fumecheng-2849	130	4	of	of	ADP
fumecheng-2849	130	5	mechatronic	mechatronic	NOUN
fumecheng-2849	130	6	redesigned	redesign	VERB
fumecheng-2849	130	7	slider	slider	NOUN
fumecheng-2849	130	8	-	-	PUNCT
fumecheng-2849	130	9	crank	crank	NOUN
fumecheng-2849	130	10	mechanism	mechanism	NOUN
fumecheng-2849	130	11	266	266	NUM
fumecheng-2849	130	12	m.	m.	NOUN
fumecheng-2849	130	13	tomić	tomić	NOUN
fumecheng-2849	130	14	,	,	PUNCT
fumecheng-2849	130	15	m.	m.	NOUN
fumecheng-2849	130	16	milošević	milošević	PROPN
fumecheng-2849	130	17	,	,	PUNCT
fumecheng-2849	130	18	n.	n.	PROPN
fumecheng-2849	130	19	tomić	tomić	PROPN
fumecheng-2849	130	20	,	,	PUNCT
fumecheng-2849	130	21	n.d	n.d	PROPN
fumecheng-2849	130	22	.	.	PROPN
fumecheng-2849	130	23	pavlović	pavlović	NOUN
fumecheng-2849	130	24	,	,	PUNCT
fumecheng-2849	130	25	v.	v.	ADP
fumecheng-2849	130	26	pavlović	pavlović	NOUN
fumecheng-2849	130	27	for	for	ADP
fumecheng-2849	130	28	testing	testing	NOUN
fumecheng-2849	130	29	of	of	ADP
fumecheng-2849	130	30	the	the	DET
fumecheng-2849	130	31	control	control	NOUN
fumecheng-2849	130	32	algorithm	algorithm	NOUN
fumecheng-2849	130	33	,	,	PUNCT
fumecheng-2849	130	34	the	the	DET
fumecheng-2849	130	35	next	next	ADJ
fumecheng-2849	130	36	example	example	NOUN
fumecheng-2849	130	37	has	have	AUX
fumecheng-2849	130	38	been	be	AUX
fumecheng-2849	130	39	chosen	choose	VERB
fumecheng-2849	130	40	for	for	ADP
fumecheng-2849	130	41	defining	define	VERB
fumecheng-2849	130	42	the	the	DET
fumecheng-2849	130	43	desired	desire	VERB
fumecheng-2849	130	44	velocity	velocity	NOUN
fumecheng-2849	130	45	profile	profile	NOUN
fumecheng-2849	130	46	of	of	ADP
fumecheng-2849	130	47	the	the	DET
fumecheng-2849	130	48	slider	slider	NOUN
fumecheng-2849	130	49	:	:	PUNCT
fumecheng-2849	130	50	the	the	DET
fumecheng-2849	130	51	time	time	NOUN
fumecheng-2849	130	52	that	that	PRON
fumecheng-2849	130	53	the	the	DET
fumecheng-2849	130	54	slider	slider	NOUN
fumecheng-2849	130	55	remains	remain	VERB
fumecheng-2849	130	56	in	in	ADP
fumecheng-2849	130	57	the	the	DET
fumecheng-2849	130	58	initial	initial	ADJ
fumecheng-2849	130	59	position	position	NOUN
fumecheng-2849	130	60	is	be	AUX
fumecheng-2849	130	61	,	,	PUNCT
fumecheng-2849	130	62	t1=2	t1=2	PROPN
fumecheng-2849	130	63	s	s	PROPN
fumecheng-2849	130	64	,	,	PUNCT
fumecheng-2849	130	65	the	the	DET
fumecheng-2849	130	66	time	time	NOUN
fumecheng-2849	130	67	of	of	ADP
fumecheng-2849	130	68	the	the	DET
fumecheng-2849	130	69	slider	slider	NOUN
fumecheng-2849	130	70	motion	motion	NOUN
fumecheng-2849	130	71	in	in	ADP
fumecheng-2849	130	72	one	one	NUM
fumecheng-2849	130	73	direction	direction	NOUN
fumecheng-2849	130	74	(	(	PUNCT
fumecheng-2849	130	75	the	the	DET
fumecheng-2849	130	76	operating	operating	NOUN
fumecheng-2849	130	77	motion	motion	NOUN
fumecheng-2849	130	78	)	)	PUNCT
fumecheng-2849	131	1	t2=5	t2=5	PROPN
fumecheng-2849	131	2	s	s	PROPN
fumecheng-2849	131	3	,	,	PUNCT
fumecheng-2849	131	4	the	the	DET
fumecheng-2849	131	5	time	time	NOUN
fumecheng-2849	131	6	of	of	ADP
fumecheng-2849	131	7	the	the	DET
fumecheng-2849	131	8	slider	slider	NOUN
fumecheng-2849	131	9	rests	rest	VERB
fumecheng-2849	131	10	after	after	ADP
fumecheng-2849	131	11	the	the	DET
fumecheng-2849	131	12	operation	operation	NOUN
fumecheng-2849	131	13	motion	motion	NOUN
fumecheng-2849	131	14	t3=1	t3=1	PROPN
fumecheng-2849	131	15	s	s	PART
fumecheng-2849	131	16	,	,	PUNCT
fumecheng-2849	131	17	the	the	DET
fumecheng-2849	131	18	time	time	NOUN
fumecheng-2849	131	19	of	of	ADP
fumecheng-2849	131	20	the	the	DET
fumecheng-2849	131	21	slider	slider	NOUN
fumecheng-2849	131	22	motion	motion	NOUN
fumecheng-2849	131	23	in	in	ADP
fumecheng-2849	131	24	the	the	DET
fumecheng-2849	131	25	other	other	ADJ
fumecheng-2849	131	26	direction	direction	NOUN
fumecheng-2849	131	27	(	(	PUNCT
fumecheng-2849	131	28	the	the	DET
fumecheng-2849	131	29	return	return	NOUN
fumecheng-2849	131	30	motion	motion	NOUN
fumecheng-2849	131	31	)	)	PUNCT
fumecheng-2849	131	32	t4=3	t4=3	PROPN
fumecheng-2849	131	33	s	s	PART
fumecheng-2849	131	34	and	and	CCONJ
fumecheng-2849	131	35	the	the	DET
fumecheng-2849	131	36	time	time	NOUN
fumecheng-2849	131	37	of	of	ADP
fumecheng-2849	131	38	acceleration	acceleration	NOUN
fumecheng-2849	131	39	and	and	CCONJ
fumecheng-2849	131	40	deceleration	deceleration	NOUN
fumecheng-2849	131	41	of	of	ADP
fumecheng-2849	131	42	the	the	DET
fumecheng-2849	131	43	slider	slider	NOUN
fumecheng-2849	131	44	tu=0.5	tu=0.5	X
fumecheng-2849	131	45	s	s	X
fumecheng-2849	131	46	,	,	PUNCT
fumecheng-2849	131	47	in	in	ADP
fumecheng-2849	131	48	accordance	accordance	NOUN
fumecheng-2849	131	49	with	with	ADP
fumecheng-2849	131	50	fig	fig	NOUN
fumecheng-2849	131	51	.	.	PUNCT
fumecheng-2849	132	1	4	4	X
fumecheng-2849	132	2	.	.	PUNCT
fumecheng-2849	132	3	these	these	DET
fumecheng-2849	132	4	times	time	NOUN
fumecheng-2849	132	5	are	be	AUX
fumecheng-2849	132	6	chosen	choose	VERB
fumecheng-2849	132	7	to	to	PART
fumecheng-2849	132	8	be	be	AUX
fumecheng-2849	132	9	slightly	slightly	ADV
fumecheng-2849	132	10	longer	long	ADJ
fumecheng-2849	132	11	,	,	PUNCT
fumecheng-2849	132	12	so	so	SCONJ
fumecheng-2849	132	13	that	that	SCONJ
fumecheng-2849	132	14	the	the	DET
fumecheng-2849	132	15	user	user	NOUN
fumecheng-2849	132	16	can	can	AUX
fumecheng-2849	132	17	notice	notice	VERB
fumecheng-2849	132	18	the	the	DET
fumecheng-2849	132	19	change	change	NOUN
fumecheng-2849	132	20	in	in	ADP
fumecheng-2849	132	21	velocity	velocity	NOUN
fumecheng-2849	132	22	of	of	ADP
fumecheng-2849	132	23	the	the	DET
fumecheng-2849	132	24	crank	crank	NOUN
fumecheng-2849	132	25	in	in	ADP
fumecheng-2849	132	26	order	order	NOUN
fumecheng-2849	132	27	to	to	PART
fumecheng-2849	132	28	achieve	achieve	VERB
fumecheng-2849	132	29	the	the	DET
fumecheng-2849	132	30	desired	desire	VERB
fumecheng-2849	132	31	motion	motion	NOUN
fumecheng-2849	132	32	of	of	ADP
fumecheng-2849	132	33	the	the	DET
fumecheng-2849	132	34	slider	slider	NOUN
fumecheng-2849	132	35	.	.	PUNCT
fumecheng-2849	133	1	the	the	DET
fumecheng-2849	133	2	red	red	ADJ
fumecheng-2849	133	3	graph	graph	NOUN
fumecheng-2849	133	4	in	in	ADP
fumecheng-2849	133	5	fig	fig	NOUN
fumecheng-2849	133	6	.	.	PUNCT
fumecheng-2849	134	1	9	9	NUM
fumecheng-2849	134	2	shows	show	VERB
fumecheng-2849	134	3	the	the	DET
fumecheng-2849	134	4	velocity	velocity	NOUN
fumecheng-2849	134	5	of	of	ADP
fumecheng-2849	134	6	the	the	DET
fumecheng-2849	134	7	slider	slider	NOUN
fumecheng-2849	134	8	calculated	calculate	VERB
fumecheng-2849	134	9	from	from	ADP
fumecheng-2849	134	10	the	the	DET
fumecheng-2849	134	11	crank	crank	NOUN
fumecheng-2849	134	12	position	position	NOUN
fumecheng-2849	134	13	which	which	PRON
fumecheng-2849	134	14	is	be	AUX
fumecheng-2849	134	15	measured	measure	VERB
fumecheng-2849	134	16	by	by	ADP
fumecheng-2849	134	17	the	the	DET
fumecheng-2849	134	18	optical	optical	ADJ
fumecheng-2849	134	19	encoder	encoder	NOUN
fumecheng-2849	134	20	during	during	ADP
fumecheng-2849	134	21	the	the	DET
fumecheng-2849	134	22	experiment	experiment	NOUN
fumecheng-2849	134	23	,	,	PUNCT
fumecheng-2849	134	24	and	and	CCONJ
fumecheng-2849	134	25	the	the	DET
fumecheng-2849	134	26	blue	blue	ADJ
fumecheng-2849	134	27	graph	graph	NOUN
fumecheng-2849	134	28	represents	represent	VERB
fumecheng-2849	134	29	velocity	velocity	NOUN
fumecheng-2849	134	30	reference	reference	NOUN
fumecheng-2849	134	31	.	.	PUNCT
fumecheng-2849	135	1	it	it	PRON
fumecheng-2849	135	2	can	can	AUX
fumecheng-2849	135	3	be	be	AUX
fumecheng-2849	135	4	noticed	notice	VERB
fumecheng-2849	135	5	from	from	ADP
fumecheng-2849	135	6	the	the	DET
fumecheng-2849	135	7	graph	graph	NOUN
fumecheng-2849	135	8	that	that	PRON
fumecheng-2849	135	9	the	the	DET
fumecheng-2849	135	10	velocity	velocity	NOUN
fumecheng-2849	135	11	of	of	ADP
fumecheng-2849	135	12	the	the	DET
fumecheng-2849	135	13	slider	slider	NOUN
fumecheng-2849	135	14	corresponds	correspond	VERB
fumecheng-2849	135	15	to	to	ADP
fumecheng-2849	135	16	the	the	DET
fumecheng-2849	135	17	defined	define	VERB
fumecheng-2849	135	18	velocity	velocity	NOUN
fumecheng-2849	135	19	pattern	pattern	NOUN
fumecheng-2849	135	20	.	.	PUNCT
fumecheng-2849	136	1	fig	fig	NOUN
fumecheng-2849	136	2	.	.	PUNCT
fumecheng-2849	137	1	9	9	NUM
fumecheng-2849	137	2	measured	measure	VERB
fumecheng-2849	137	3	velocity	velocity	NOUN
fumecheng-2849	137	4	of	of	ADP
fumecheng-2849	137	5	slider	slider	NOUN
fumecheng-2849	137	6	obtained	obtain	VERB
fumecheng-2849	137	7	during	during	ADP
fumecheng-2849	137	8	running	running	NOUN
fumecheng-2849	137	9	of	of	ADP
fumecheng-2849	137	10	experiment	experiment	NOUN
fumecheng-2849	137	11	this	this	DET
fumecheng-2849	137	12	experiment	experiment	NOUN
fumecheng-2849	137	13	can	can	AUX
fumecheng-2849	137	14	be	be	AUX
fumecheng-2849	137	15	started	start	VERB
fumecheng-2849	137	16	remotely	remotely	ADV
fumecheng-2849	137	17	from	from	ADP
fumecheng-2849	137	18	a	a	DET
fumecheng-2849	137	19	computer	computer	NOUN
fumecheng-2849	137	20	connected	connect	VERB
fumecheng-2849	137	21	to	to	ADP
fumecheng-2849	137	22	the	the	DET
fumecheng-2849	137	23	internet	internet	NOUN
fumecheng-2849	137	24	using	use	VERB
fumecheng-2849	137	25	an	an	DET
fumecheng-2849	137	26	internet	internet	NOUN
fumecheng-2849	137	27	browser	browser	NOUN
fumecheng-2849	137	28	.	.	PUNCT
fumecheng-2849	138	1	all	all	DET
fumecheng-2849	138	2	the	the	DET
fumecheng-2849	138	3	necessary	necessary	ADJ
fumecheng-2849	138	4	software	software	NOUN
fumecheng-2849	138	5	for	for	ADP
fumecheng-2849	138	6	running	run	VERB
fumecheng-2849	138	7	the	the	DET
fumecheng-2849	138	8	experiment	experiment	NOUN
fumecheng-2849	138	9	remotely	remotely	ADV
fumecheng-2849	138	10	is	be	AUX
fumecheng-2849	138	11	installed	instal	VERB
fumecheng-2849	138	12	on	on	ADP
fumecheng-2849	138	13	the	the	DET
fumecheng-2849	138	14	server	server	NOUN
fumecheng-2849	138	15	computer	computer	NOUN
fumecheng-2849	138	16	at	at	ADP
fumecheng-2849	138	17	the	the	DET
fumecheng-2849	138	18	mechatronic	mechatronic	ADJ
fumecheng-2849	138	19	laboratory	laboratory	NOUN
fumecheng-2849	138	20	of	of	ADP
fumecheng-2849	138	21	faculty	faculty	NOUN
fumecheng-2849	138	22	of	of	ADP
fumecheng-2849	138	23	mechanical	mechanical	ADJ
fumecheng-2849	138	24	engineering	engineering	NOUN
fumecheng-2849	138	25	of	of	ADP
fumecheng-2849	138	26	university	university	PROPN
fumecheng-2849	138	27	of	of	ADP
fumecheng-2849	138	28	niš	niš	PROPN
fumecheng-2849	138	29	,	,	PUNCT
fumecheng-2849	138	30	serbia	serbia	PROPN
fumecheng-2849	138	31	,	,	PUNCT
fumecheng-2849	138	32	and	and	CCONJ
fumecheng-2849	138	33	there	there	PRON
fumecheng-2849	138	34	is	be	VERB
fumecheng-2849	138	35	no	no	DET
fumecheng-2849	138	36	need	need	NOUN
fumecheng-2849	138	37	for	for	SCONJ
fumecheng-2849	138	38	the	the	DET
fumecheng-2849	138	39	remote	remote	ADJ
fumecheng-2849	138	40	user	user	NOUN
fumecheng-2849	138	41	to	to	PART
fumecheng-2849	138	42	do	do	VERB
fumecheng-2849	138	43	additional	additional	ADJ
fumecheng-2849	138	44	installations	installation	NOUN
fumecheng-2849	138	45	or	or	CCONJ
fumecheng-2849	138	46	settings	setting	NOUN
fumecheng-2849	138	47	.	.	PUNCT
fumecheng-2849	139	1	thanks	thank	NOUN
fumecheng-2849	139	2	to	to	ADP
fumecheng-2849	139	3	the	the	DET
fumecheng-2849	139	4	web	web	NOUN
fumecheng-2849	139	5	camera	camera	NOUN
fumecheng-2849	139	6	it	it	PRON
fumecheng-2849	139	7	is	be	AUX
fumecheng-2849	139	8	possible	possible	ADJ
fumecheng-2849	139	9	to	to	PART
fumecheng-2849	139	10	track	track	VERB
fumecheng-2849	139	11	the	the	DET
fumecheng-2849	139	12	motion	motion	NOUN
fumecheng-2849	139	13	of	of	ADP
fumecheng-2849	139	14	the	the	DET
fumecheng-2849	139	15	mechanism	mechanism	NOUN
fumecheng-2849	139	16	.	.	PUNCT
fumecheng-2849	140	1	this	this	PRON
fumecheng-2849	140	2	is	be	AUX
fumecheng-2849	140	3	a	a	DET
fumecheng-2849	140	4	huge	huge	ADJ
fumecheng-2849	140	5	advantage	advantage	NOUN
fumecheng-2849	140	6	of	of	ADP
fumecheng-2849	140	7	this	this	DET
fumecheng-2849	140	8	kind	kind	NOUN
fumecheng-2849	140	9	of	of	ADP
fumecheng-2849	140	10	remote	remote	ADJ
fumecheng-2849	140	11	experiments	experiment	NOUN
fumecheng-2849	140	12	because	because	SCONJ
fumecheng-2849	140	13	research	research	NOUN
fumecheng-2849	140	14	studies	study	NOUN
fumecheng-2849	140	15	from	from	ADP
fumecheng-2849	140	16	other	other	ADJ
fumecheng-2849	140	17	institutions	institution	NOUN
fumecheng-2849	140	18	all	all	ADV
fumecheng-2849	140	19	over	over	ADP
fumecheng-2849	140	20	the	the	DET
fumecheng-2849	140	21	world	world	NOUN
fumecheng-2849	140	22	can	can	AUX
fumecheng-2849	140	23	use	use	VERB
fumecheng-2849	140	24	it	it	PRON
fumecheng-2849	140	25	to	to	PART
fumecheng-2849	140	26	test	test	VERB
fumecheng-2849	140	27	their	their	PRON
fumecheng-2849	140	28	control	control	NOUN
fumecheng-2849	140	29	algorithms	algorithm	NOUN
fumecheng-2849	140	30	without	without	ADP
fumecheng-2849	140	31	building	build	VERB
fumecheng-2849	140	32	the	the	DET
fumecheng-2849	140	33	whole	whole	ADJ
fumecheng-2849	140	34	experimental	experimental	ADJ
fumecheng-2849	140	35	setup	setup	NOUN
fumecheng-2849	140	36	.	.	PUNCT
fumecheng-2849	141	1	interested	interested	ADJ
fumecheng-2849	141	2	in	in	ADP
fumecheng-2849	141	3	testing	test	VERB
fumecheng-2849	141	4	this	this	DET
fumecheng-2849	141	5	remote	remote	ADJ
fumecheng-2849	141	6	experiment	experiment	NOUN
fumecheng-2849	141	7	can	can	AUX
fumecheng-2849	141	8	contact	contact	VERB
fumecheng-2849	141	9	the	the	DET
fumecheng-2849	141	10	corresponding	corresponding	ADJ
fumecheng-2849	141	11	author	author	NOUN
fumecheng-2849	141	12	via	via	ADP
fumecheng-2849	141	13	e	e	NOUN
fumecheng-2849	141	14	-	-	NOUN
fumecheng-2849	141	15	mail	mail	NOUN
fumecheng-2849	141	16	,	,	PUNCT
fumecheng-2849	141	17	for	for	ADP
fumecheng-2849	141	18	detail	detail	NOUN
fumecheng-2849	141	19	instructions	instruction	NOUN
fumecheng-2849	141	20	about	about	ADP
fumecheng-2849	141	21	how	how	SCONJ
fumecheng-2849	141	22	to	to	PART
fumecheng-2849	141	23	access	access	VERB
fumecheng-2849	141	24	to	to	ADP
fumecheng-2849	141	25	the	the	DET
fumecheng-2849	141	26	experiment	experiment	NOUN
fumecheng-2849	141	27	.	.	PUNCT
fumecheng-2849	142	1	6	6	X
fumecheng-2849	142	2	.	.	X
fumecheng-2849	142	3	conclusion	conclusion	NOUN
fumecheng-2849	142	4	in	in	ADP
fumecheng-2849	142	5	this	this	DET
fumecheng-2849	142	6	paper	paper	NOUN
fumecheng-2849	142	7	a	a	DET
fumecheng-2849	142	8	mechatronic	mechatronic	NOUN
fumecheng-2849	142	9	redesigned	redesign	VERB
fumecheng-2849	142	10	approach	approach	NOUN
fumecheng-2849	142	11	is	be	AUX
fumecheng-2849	142	12	presented	present	VERB
fumecheng-2849	142	13	on	on	ADP
fumecheng-2849	142	14	a	a	DET
fumecheng-2849	142	15	representative	representative	ADJ
fumecheng-2849	142	16	example	example	NOUN
fumecheng-2849	142	17	of	of	ADP
fumecheng-2849	142	18	a	a	DET
fumecheng-2849	142	19	centric	centric	ADJ
fumecheng-2849	142	20	slider	slider	NOUN
fumecheng-2849	142	21	-	-	PUNCT
fumecheng-2849	142	22	crank	crank	NOUN
fumecheng-2849	142	23	mechanism	mechanism	NOUN
fumecheng-2849	142	24	.	.	PUNCT
fumecheng-2849	143	1	it	it	PRON
fumecheng-2849	143	2	has	have	AUX
fumecheng-2849	143	3	been	be	AUX
fumecheng-2849	143	4	chosen	choose	VERB
fumecheng-2849	143	5	because	because	SCONJ
fumecheng-2849	143	6	the	the	DET
fumecheng-2849	143	7	working	working	NOUN
fumecheng-2849	143	8	and	and	CCONJ
fumecheng-2849	143	9	the	the	DET
fumecheng-2849	143	10	return	return	NOUN
fumecheng-2849	143	11	stroke	stroke	NOUN
fumecheng-2849	143	12	of	of	ADP
fumecheng-2849	143	13	the	the	DET
fumecheng-2849	143	14	slider	slider	NOUN
fumecheng-2849	143	15	have	have	VERB
fumecheng-2849	143	16	the	the	DET
fumecheng-2849	143	17	same	same	ADJ
fumecheng-2849	143	18	duration	duration	NOUN
fumecheng-2849	143	19	,	,	PUNCT
fumecheng-2849	143	20	so	so	SCONJ
fumecheng-2849	143	21	that	that	SCONJ
fumecheng-2849	143	22	if	if	SCONJ
fumecheng-2849	143	23	an	an	DET
fumecheng-2849	143	24	application	application	NOUN
fumecheng-2849	143	25	requires	require	VERB
fumecheng-2849	143	26	a	a	DET
fumecheng-2849	143	27	mechanism	mechanism	NOUN
fumecheng-2849	143	28	with	with	ADP
fumecheng-2849	143	29	a	a	DET
fumecheng-2849	143	30	slower	slow	ADJ
fumecheng-2849	143	31	working	work	VERB
fumecheng-2849	143	32	stroke	stroke	NOUN
fumecheng-2849	143	33	,	,	PUNCT
fumecheng-2849	143	34	and	and	CCONJ
fumecheng-2849	143	35	,	,	PUNCT
fumecheng-2849	143	36	at	at	ADP
fumecheng-2849	143	37	the	the	DET
fumecheng-2849	143	38	same	same	ADJ
fumecheng-2849	143	39	time	time	NOUN
fumecheng-2849	143	40	,	,	PUNCT
fumecheng-2849	143	41	the	the	DET
fumecheng-2849	143	42	rapid	rapid	ADJ
fumecheng-2849	143	43	return	return	NOUN
fumecheng-2849	143	44	stroke	stroke	NOUN
fumecheng-2849	143	45	the	the	DET
fumecheng-2849	143	46	traditional	traditional	ADJ
fumecheng-2849	143	47	approach	approach	NOUN
fumecheng-2849	143	48	requires	require	VERB
fumecheng-2849	143	49	the	the	DET
fumecheng-2849	143	50	complete	complete	ADJ
fumecheng-2849	143	51	redesign	redesign	NOUN
fumecheng-2849	143	52	of	of	ADP
fumecheng-2849	143	53	the	the	DET
fumecheng-2849	143	54	mechanism	mechanism	NOUN
fumecheng-2849	143	55	structure	structure	NOUN
fumecheng-2849	143	56	.	.	PUNCT
fumecheng-2849	144	1	using	use	VERB
fumecheng-2849	144	2	a	a	DET
fumecheng-2849	144	3	servo	servo	NOUN
fumecheng-2849	144	4	dc	dc	PROPN
fumecheng-2849	144	5	motor	motor	NOUN
fumecheng-2849	144	6	,	,	PUNCT
fumecheng-2849	144	7	encoder	encoder	NOUN
fumecheng-2849	144	8	,	,	PUNCT
fumecheng-2849	144	9	corresponding	corresponding	ADJ
fumecheng-2849	144	10	electronics	electronic	NOUN
fumecheng-2849	144	11	,	,	PUNCT
fumecheng-2849	144	12	acquisition	acquisition	NOUN
fumecheng-2849	144	13	devices	device	NOUN
fumecheng-2849	144	14	and	and	CCONJ
fumecheng-2849	144	15	appropriate	appropriate	ADJ
fumecheng-2849	144	16	software	software	NOUN
fumecheng-2849	144	17	,	,	PUNCT
fumecheng-2849	144	18	as	as	ADP
fumecheng-2849	144	19	recognizable	recognizable	ADJ
fumecheng-2849	144	20	components	component	NOUN
fumecheng-2849	144	21	of	of	ADP
fumecheng-2849	144	22	mechatronic	mechatronic	NOUN
fumecheng-2849	144	23	systems	system	NOUN
fumecheng-2849	144	24	,	,	PUNCT
fumecheng-2849	144	25	it	it	PRON
fumecheng-2849	144	26	has	have	AUX
fumecheng-2849	144	27	been	be	AUX
fumecheng-2849	144	28	shown	show	VERB
fumecheng-2849	144	29	that	that	SCONJ
fumecheng-2849	144	30	it	it	PRON
fumecheng-2849	144	31	is	be	AUX
fumecheng-2849	144	32	enabled	enable	VERB
fumecheng-2849	144	33	to	to	PART
fumecheng-2849	144	34	achieve	achieve	VERB
fumecheng-2849	144	35	a	a	DET
fumecheng-2849	144	36	desired	desire	VERB
fumecheng-2849	144	37	profile	profile	NOUN
fumecheng-2849	144	38	of	of	ADP
fumecheng-2849	144	39	the	the	DET
fumecheng-2849	144	40	slider	slider	NOUN
fumecheng-2849	144	41	velocity	velocity	NOUN
fumecheng-2849	144	42	,	,	PUNCT
fumecheng-2849	144	43	without	without	ADP
fumecheng-2849	144	44	changes	change	NOUN
fumecheng-2849	144	45	of	of	ADP
fumecheng-2849	144	46	the	the	DET
fumecheng-2849	144	47	basic	basic	ADJ
fumecheng-2849	144	48	structure	structure	NOUN
fumecheng-2849	144	49	of	of	ADP
fumecheng-2849	144	50	the	the	DET
fumecheng-2849	144	51	slider	slider	NOUN
fumecheng-2849	144	52	-	-	PUNCT
fumecheng-2849	144	53	crank	crank	NOUN
fumecheng-2849	144	54	remote	remote	ADJ
fumecheng-2849	144	55	control	control	NOUN
fumecheng-2849	144	56	of	of	ADP
fumecheng-2849	144	57	the	the	DET
fumecheng-2849	144	58	mechatronic	mechatronic	NOUN
fumecheng-2849	144	59	redesigned	redesign	VERB
fumecheng-2849	144	60	slider	slider	NOUN
fumecheng-2849	144	61	-	-	PUNCT
fumecheng-2849	144	62	crank	crank	NOUN
fumecheng-2849	144	63	mechanism	mechanism	NOUN
fumecheng-2849	144	64	in	in	ADP
fumecheng-2849	144	65	service	service	NOUN
fumecheng-2849	144	66	267	267	NUM
fumecheng-2849	144	67	mechanism	mechanism	NOUN
fumecheng-2849	144	68	.	.	PUNCT
fumecheng-2849	145	1	for	for	ADP
fumecheng-2849	145	2	that	that	DET
fumecheng-2849	145	3	purpose	purpose	NOUN
fumecheng-2849	145	4	,	,	PUNCT
fumecheng-2849	145	5	a	a	DET
fumecheng-2849	145	6	pid	pid	NOUN
fumecheng-2849	145	7	controller	controller	NOUN
fumecheng-2849	145	8	is	be	AUX
fumecheng-2849	145	9	used	use	VERB
fumecheng-2849	145	10	as	as	ADP
fumecheng-2849	145	11	a	a	DET
fumecheng-2849	145	12	control	control	NOUN
fumecheng-2849	145	13	algorithm	algorithm	NOUN
fumecheng-2849	145	14	,	,	PUNCT
fumecheng-2849	145	15	where	where	SCONJ
fumecheng-2849	145	16	the	the	DET
fumecheng-2849	145	17	input	input	NOUN
fumecheng-2849	145	18	into	into	ADP
fumecheng-2849	145	19	the	the	DET
fumecheng-2849	145	20	controller	controller	NOUN
fumecheng-2849	145	21	is	be	AUX
fumecheng-2849	145	22	the	the	DET
fumecheng-2849	145	23	error	error	NOUN
fumecheng-2849	145	24	represented	represent	VERB
fumecheng-2849	145	25	as	as	ADP
fumecheng-2849	145	26	the	the	DET
fumecheng-2849	145	27	difference	difference	NOUN
fumecheng-2849	145	28	between	between	ADP
fumecheng-2849	145	29	the	the	DET
fumecheng-2849	145	30	desired	desire	VERB
fumecheng-2849	145	31	velocity	velocity	NOUN
fumecheng-2849	145	32	and	and	CCONJ
fumecheng-2849	145	33	the	the	DET
fumecheng-2849	145	34	estimated	estimate	VERB
fumecheng-2849	145	35	current	current	ADJ
fumecheng-2849	145	36	velocity	velocity	NOUN
fumecheng-2849	145	37	of	of	ADP
fumecheng-2849	145	38	the	the	DET
fumecheng-2849	145	39	slider	slider	NOUN
fumecheng-2849	145	40	,	,	PUNCT
fumecheng-2849	145	41	and	and	CCONJ
fumecheng-2849	145	42	the	the	DET
fumecheng-2849	145	43	output	output	NOUN
fumecheng-2849	145	44	from	from	ADP
fumecheng-2849	145	45	the	the	DET
fumecheng-2849	145	46	controller	controller	NOUN
fumecheng-2849	145	47	is	be	AUX
fumecheng-2849	145	48	a	a	DET
fumecheng-2849	145	49	duty	duty	NOUN
fumecheng-2849	145	50	cycle	cycle	NOUN
fumecheng-2849	145	51	of	of	ADP
fumecheng-2849	145	52	the	the	DET
fumecheng-2849	145	53	pwm	pwm	NOUN
fumecheng-2849	145	54	signal	signal	NOUN
fumecheng-2849	145	55	for	for	ADP
fumecheng-2849	145	56	the	the	DET
fumecheng-2849	145	57	motor	motor	NOUN
fumecheng-2849	145	58	voltage	voltage	NOUN
fumecheng-2849	145	59	supply	supply	NOUN
fumecheng-2849	145	60	.	.	PUNCT
fumecheng-2849	146	1	testing	testing	NOUN
fumecheng-2849	146	2	of	of	ADP
fumecheng-2849	146	3	the	the	DET
fumecheng-2849	146	4	proposed	propose	VERB
fumecheng-2849	146	5	approach	approach	NOUN
fumecheng-2849	146	6	has	have	AUX
fumecheng-2849	146	7	confirmed	confirm	VERB
fumecheng-2849	146	8	that	that	SCONJ
fumecheng-2849	146	9	the	the	DET
fumecheng-2849	146	10	measured	measured	ADJ
fumecheng-2849	146	11	velocity	velocity	NOUN
fumecheng-2849	146	12	of	of	ADP
fumecheng-2849	146	13	the	the	DET
fumecheng-2849	146	14	slider	slider	NOUN
fumecheng-2849	146	15	obtained	obtain	VERB
fumecheng-2849	146	16	during	during	ADP
fumecheng-2849	146	17	running	running	NOUN
fumecheng-2849	146	18	of	of	ADP
fumecheng-2849	146	19	the	the	DET
fumecheng-2849	146	20	experiment	experiment	NOUN
fumecheng-2849	146	21	corresponds	correspond	VERB
fumecheng-2849	146	22	to	to	ADP
fumecheng-2849	146	23	the	the	DET
fumecheng-2849	146	24	defined	define	VERB
fumecheng-2849	146	25	velocity	velocity	NOUN
fumecheng-2849	146	26	of	of	ADP
fumecheng-2849	146	27	the	the	DET
fumecheng-2849	146	28	slider	slider	NOUN
fumecheng-2849	146	29	.	.	PUNCT
fumecheng-2849	147	1	this	this	DET
fumecheng-2849	147	2	mechatronic	mechatronic	ADJ
fumecheng-2849	147	3	approach	approach	NOUN
fumecheng-2849	147	4	enables	enable	VERB
fumecheng-2849	147	5	an	an	DET
fumecheng-2849	147	6	expanded	expand	VERB
fumecheng-2849	147	7	usage	usage	NOUN
fumecheng-2849	147	8	of	of	ADP
fumecheng-2849	147	9	traditional	traditional	ADJ
fumecheng-2849	147	10	mechanisms	mechanism	NOUN
fumecheng-2849	147	11	in	in	ADP
fumecheng-2849	147	12	many	many	ADJ
fumecheng-2849	147	13	other	other	ADJ
fumecheng-2849	147	14	applications	application	NOUN
fumecheng-2849	147	15	only	only	ADV
fumecheng-2849	147	16	by	by	ADP
fumecheng-2849	147	17	adjusting	adjust	VERB
fumecheng-2849	147	18	control	control	NOUN
fumecheng-2849	147	19	parameters	parameter	NOUN
fumecheng-2849	147	20	,	,	PUNCT
fumecheng-2849	147	21	without	without	ADP
fumecheng-2849	147	22	making	make	VERB
fumecheng-2849	147	23	mechanical	mechanical	ADJ
fumecheng-2849	147	24	changes	change	NOUN
fumecheng-2849	147	25	of	of	ADP
fumecheng-2849	147	26	the	the	DET
fumecheng-2849	147	27	basic	basic	ADJ
fumecheng-2849	147	28	structures	structure	NOUN
fumecheng-2849	147	29	of	of	ADP
fumecheng-2849	147	30	mechanisms	mechanism	NOUN
fumecheng-2849	147	31	.	.	PUNCT
fumecheng-2849	148	1	since	since	SCONJ
fumecheng-2849	148	2	the	the	DET
fumecheng-2849	148	3	mechatronic	mechatronic	ADJ
fumecheng-2849	148	4	approach	approach	NOUN
fumecheng-2849	148	5	of	of	ADP
fumecheng-2849	148	6	redesigning	redesign	VERB
fumecheng-2849	148	7	mechanical	mechanical	ADJ
fumecheng-2849	148	8	assemblies	assembly	NOUN
fumecheng-2849	148	9	’	'	PUNCT
fumecheng-2849	148	10	opens	open	VERB
fumecheng-2849	148	11	possibilities	possibility	NOUN
fumecheng-2849	148	12	for	for	ADP
fumecheng-2849	148	13	remote	remote	ADJ
fumecheng-2849	148	14	controlling	controlling	NOUN
fumecheng-2849	148	15	over	over	ADP
fumecheng-2849	148	16	the	the	DET
fumecheng-2849	148	17	internet	internet	NOUN
fumecheng-2849	148	18	,	,	PUNCT
fumecheng-2849	148	19	the	the	DET
fumecheng-2849	148	20	mechatronic	mechatronic	NOUN
fumecheng-2849	148	21	redesigned	redesign	VERB
fumecheng-2849	148	22	slider	slider	NOUN
fumecheng-2849	148	23	-	-	PUNCT
fumecheng-2849	148	24	crank	crank	NOUN
fumecheng-2849	148	25	mechanism	mechanism	NOUN
fumecheng-2849	148	26	is	be	AUX
fumecheng-2849	148	27	developed	develop	VERB
fumecheng-2849	148	28	as	as	ADP
fumecheng-2849	148	29	a	a	DET
fumecheng-2849	148	30	remote	remote	ADJ
fumecheng-2849	148	31	laboratory	laboratory	NOUN
fumecheng-2849	148	32	experiment	experiment	NOUN
fumecheng-2849	148	33	stationed	station	VERB
fumecheng-2849	148	34	at	at	ADP
fumecheng-2849	148	35	the	the	DET
fumecheng-2849	148	36	mechatronic	mechatronic	ADJ
fumecheng-2849	148	37	laboratory	laboratory	NOUN
fumecheng-2849	148	38	of	of	ADP
fumecheng-2849	148	39	faculty	faculty	NOUN
fumecheng-2849	148	40	of	of	ADP
fumecheng-2849	148	41	mechanical	mechanical	ADJ
fumecheng-2849	148	42	engineering	engineering	NOUN
fumecheng-2849	148	43	of	of	ADP
fumecheng-2849	148	44	university	university	PROPN
fumecheng-2849	148	45	of	of	ADP
fumecheng-2849	148	46	niš	niš	PROPN
fumecheng-2849	148	47	,	,	PUNCT
fumecheng-2849	148	48	serbia	serbia	PROPN
fumecheng-2849	148	49	.	.	PUNCT
fumecheng-2849	149	1	for	for	ADP
fumecheng-2849	149	2	the	the	DET
fumecheng-2849	149	3	remote	remote	ADJ
fumecheng-2849	149	4	purpose	purpose	NOUN
fumecheng-2849	149	5	,	,	PUNCT
fumecheng-2849	149	6	it	it	PRON
fumecheng-2849	149	7	is	be	AUX
fumecheng-2849	149	8	firstly	firstly	ADV
fumecheng-2849	149	9	necessary	necessary	ADJ
fumecheng-2849	149	10	to	to	PART
fumecheng-2849	149	11	set	set	VERB
fumecheng-2849	149	12	the	the	DET
fumecheng-2849	149	13	parameters	parameter	NOUN
fumecheng-2849	149	14	and	and	CCONJ
fumecheng-2849	149	15	calibrate	calibrate	VERB
fumecheng-2849	149	16	the	the	DET
fumecheng-2849	149	17	mechanism	mechanism	NOUN
fumecheng-2849	149	18	into	into	ADP
fumecheng-2849	149	19	the	the	DET
fumecheng-2849	149	20	starting	starting	NOUN
fumecheng-2849	149	21	position	position	NOUN
fumecheng-2849	149	22	,	,	PUNCT
fumecheng-2849	149	23	and	and	CCONJ
fumecheng-2849	149	24	then	then	ADV
fumecheng-2849	149	25	,	,	PUNCT
fumecheng-2849	149	26	over	over	ADP
fumecheng-2849	149	27	live	live	ADJ
fumecheng-2849	149	28	video	video	NOUN
fumecheng-2849	149	29	streaming	streaming	NOUN
fumecheng-2849	149	30	by	by	ADP
fumecheng-2849	149	31	a	a	DET
fumecheng-2849	149	32	web	web	NOUN
fumecheng-2849	149	33	camera	camera	NOUN
fumecheng-2849	149	34	,	,	PUNCT
fumecheng-2849	149	35	the	the	DET
fumecheng-2849	149	36	mechanism	mechanism	NOUN
fumecheng-2849	149	37	motion	motion	NOUN
fumecheng-2849	149	38	can	can	AUX
fumecheng-2849	149	39	be	be	AUX
fumecheng-2849	149	40	tracked	track	VERB
fumecheng-2849	149	41	.	.	PUNCT
fumecheng-2849	150	1	the	the	DET
fumecheng-2849	150	2	control	control	NOUN
fumecheng-2849	150	3	algorithm	algorithm	NOUN
fumecheng-2849	150	4	,	,	PUNCT
fumecheng-2849	150	5	as	as	ADV
fumecheng-2849	150	6	well	well	ADV
fumecheng-2849	150	7	as	as	ADP
fumecheng-2849	150	8	remote	remote	ADJ
fumecheng-2849	150	9	access	access	NOUN
fumecheng-2849	150	10	and	and	CCONJ
fumecheng-2849	150	11	live	live	ADJ
fumecheng-2849	150	12	video	video	NOUN
fumecheng-2849	150	13	streaming	streaming	NOUN
fumecheng-2849	150	14	,	,	PUNCT
fumecheng-2849	150	15	is	be	AUX
fumecheng-2849	150	16	developed	develop	VERB
fumecheng-2849	150	17	by	by	ADP
fumecheng-2849	150	18	ni	ni	PROPN
fumecheng-2849	150	19	labview	labview	PROPN
fumecheng-2849	150	20	software	software	NOUN
fumecheng-2849	150	21	.	.	PUNCT
fumecheng-2849	151	1	moreover	moreover	ADV
fumecheng-2849	151	2	,	,	PUNCT
fumecheng-2849	151	3	the	the	DET
fumecheng-2849	151	4	remote	remote	ADJ
fumecheng-2849	151	5	control	control	NOUN
fumecheng-2849	151	6	of	of	ADP
fumecheng-2849	151	7	the	the	DET
fumecheng-2849	151	8	experiment	experiment	NOUN
fumecheng-2849	151	9	enables	enable	VERB
fumecheng-2849	151	10	the	the	DET
fumecheng-2849	151	11	testing	testing	NOUN
fumecheng-2849	151	12	of	of	ADP
fumecheng-2849	151	13	the	the	DET
fumecheng-2849	151	14	different	different	ADJ
fumecheng-2849	151	15	control	control	NOUN
fumecheng-2849	151	16	parameters	parameter	NOUN
fumecheng-2849	151	17	to	to	ADP
fumecheng-2849	151	18	many	many	ADJ
fumecheng-2849	151	19	research	research	NOUN
fumecheng-2849	151	20	studies	study	NOUN
fumecheng-2849	151	21	by	by	ADP
fumecheng-2849	151	22	simply	simply	ADV
fumecheng-2849	151	23	visiting	visit	VERB
fumecheng-2849	151	24	the	the	DET
fumecheng-2849	151	25	web	web	NOUN
fumecheng-2849	151	26	page	page	NOUN
fumecheng-2849	151	27	of	of	ADP
fumecheng-2849	151	28	the	the	DET
fumecheng-2849	151	29	experiment	experiment	NOUN
fumecheng-2849	151	30	.	.	PUNCT
fumecheng-2849	152	1	acknowledgements	acknowledgement	NOUN
fumecheng-2849	152	2	:	:	PUNCT
fumecheng-2849	152	3	this	this	DET
fumecheng-2849	152	4	research	research	NOUN
fumecheng-2849	152	5	has	have	AUX
fumecheng-2849	152	6	been	be	AUX
fumecheng-2849	152	7	supported	support	VERB
fumecheng-2849	152	8	by	by	ADP
fumecheng-2849	152	9	the	the	DET
fumecheng-2849	152	10	tempus	tempus	PROPN
fumecheng-2849	152	11	project	project	NOUN
fumecheng-2849	152	12	543667	543667	NUM
fumecheng-2849	152	13	-	-	SYM
fumecheng-2849	152	14	2013	2013	NUM
fumecheng-2849	152	15	:	:	PUNCT
fumecheng-2849	152	16	building	build	VERB
fumecheng-2849	152	17	network	network	NOUN
fumecheng-2849	152	18	of	of	ADP
fumecheng-2849	152	19	remote	remote	ADJ
fumecheng-2849	152	20	labs	lab	NOUN
fumecheng-2849	152	21	for	for	ADP
fumecheng-2849	152	22	strengthening	strengthen	VERB
fumecheng-2849	152	23	university	university	NOUN
fumecheng-2849	152	24	-	-	PUNCT
fumecheng-2849	152	25	secondary	secondary	ADJ
fumecheng-2849	152	26	vocational	vocational	ADJ
fumecheng-2849	152	27	schools	school	NOUN
fumecheng-2849	152	28	collaboration	collaboration	NOUN
fumecheng-2849	152	29	nerela	nerela	NOUN
fumecheng-2849	152	30	.	.	PUNCT
fumecheng-2849	153	1	references	reference	NOUN
fumecheng-2849	153	2	1	1	NUM
fumecheng-2849	153	3	.	.	PUNCT
fumecheng-2849	154	1	kao	kao	PROPN
fumecheng-2849	154	2	,	,	PUNCT
fumecheng-2849	154	3	c.c	c.c	PROPN
fumecheng-2849	154	4	.	.	PROPN
fumecheng-2849	154	5	,	,	PUNCT
fumecheng-2849	154	6	chuang	chuang	PROPN
fumecheng-2849	154	7	,	,	PUNCT
fumecheng-2849	154	8	c.w	c.w	PROPN
fumecheng-2849	154	9	.	.	PROPN
fumecheng-2849	154	10	,	,	PUNCT
fumecheng-2849	154	11	fung	fung	PROPN
fumecheng-2849	154	12	,	,	PUNCT
fumecheng-2849	154	13	r.f	r.f	PROPN
fumecheng-2849	154	14	.	.	PROPN
fumecheng-2849	154	15	,	,	PUNCT
fumecheng-2849	154	16	2006	2006	NUM
fumecheng-2849	154	17	,	,	PUNCT
fumecheng-2849	154	18	the	the	DET
fumecheng-2849	154	19	self	self	NOUN
fumecheng-2849	154	20	-	-	PUNCT
fumecheng-2849	154	21	tuning	tune	VERB
fumecheng-2849	154	22	pid	pid	NOUN
fumecheng-2849	154	23	control	control	NOUN
fumecheng-2849	154	24	in	in	ADP
fumecheng-2849	154	25	a	a	DET
fumecheng-2849	154	26	slider	slider	NOUN
fumecheng-2849	154	27	–	–	PUNCT
fumecheng-2849	154	28	crank	crank	NOUN
fumecheng-2849	154	29	mechanism	mechanism	NOUN
fumecheng-2849	154	30	system	system	NOUN
fumecheng-2849	154	31	by	by	ADP
fumecheng-2849	154	32	applying	apply	VERB
fumecheng-2849	154	33	particle	particle	NOUN
fumecheng-2849	154	34	swarm	swarm	NOUN
fumecheng-2849	154	35	optimization	optimization	NOUN
fumecheng-2849	154	36	approach	approach	NOUN
fumecheng-2849	154	37	,	,	PUNCT
fumecheng-2849	154	38	mechatronics	mechatronic	NOUN
fumecheng-2849	154	39	,	,	PUNCT
fumecheng-2849	154	40	16	16	NUM
fumecheng-2849	154	41	,	,	PUNCT
fumecheng-2849	154	42	pp	pp	ADJ
fumecheng-2849	154	43	.	.	PUNCT
fumecheng-2849	155	1	513–522	513–522	NUM
fumecheng-2849	155	2	.	.	PUNCT
fumecheng-2849	156	1	2	2	NUM
fumecheng-2849	156	2	.	.	NUM
fumecheng-2849	156	3	braune	braune	PROPN
fumecheng-2849	156	4	,	,	PUNCT
fumecheng-2849	156	5	r.	r.	PROPN
fumecheng-2849	156	6	,	,	PUNCT
fumecheng-2849	156	7	wyrwa	wyrwa	NOUN
fumecheng-2849	156	8	,	,	PUNCT
fumecheng-2849	156	9	k.	k.	PROPN
fumecheng-2849	156	10	,	,	PUNCT
fumecheng-2849	156	11	1998	1998	NUM
fumecheng-2849	156	12	,	,	PUNCT
fumecheng-2849	156	13	elektronische	elektronische	PROPN
fumecheng-2849	156	14	kurvenscheiben	kurvenscheiben	PROPN
fumecheng-2849	156	15	als	als	PROPN
fumecheng-2849	156	16	antrieb	antrieb	PROPN
fumecheng-2849	156	17	von	von	PROPN
fumecheng-2849	156	18	koppelgetrieben	koppelgetrieben	PROPN
fumecheng-2849	156	19	(	(	PUNCT
fumecheng-2849	156	20	betriebsverhalten	betriebsverhalten	VERB
fumecheng-2849	156	21	–	–	PUNCT
fumecheng-2849	156	22	simulation	simulation	NOUN
fumecheng-2849	156	23	einsatzoptimierung	einsatzoptimierung	PROPN
fumecheng-2849	156	24	)	)	PUNCT
fumecheng-2849	156	25	,	,	PUNCT
fumecheng-2849	156	26	vdi	vdi	NOUN
fumecheng-2849	156	27	berichte	berichte	NOUN
fumecheng-2849	156	28	,	,	PUNCT
fumecheng-2849	156	29	nr	nr	PROPN
fumecheng-2849	156	30	.	.	PROPN
fumecheng-2849	156	31	1423	1423	NUM
fumecheng-2849	156	32	.	.	PUNCT
fumecheng-2849	157	1	3	3	X
fumecheng-2849	157	2	.	.	X
fumecheng-2849	157	3	bishop	bishop	PROPN
fumecheng-2849	157	4	,	,	PUNCT
fumecheng-2849	157	5	r.h	r.h	PROPN
fumecheng-2849	157	6	.	.	PROPN
fumecheng-2849	157	7	,	,	PUNCT
fumecheng-2849	157	8	2002	2002	NUM
fumecheng-2849	157	9	,	,	PUNCT
fumecheng-2849	157	10	the	the	DET
fumecheng-2849	157	11	mechatronics	mechatronic	NOUN
fumecheng-2849	157	12	handbook	handbook	NOUN
fumecheng-2849	157	13	,	,	PUNCT
fumecheng-2849	157	14	crc	crc	PROPN
fumecheng-2849	157	15	press	press	PROPN
fumecheng-2849	157	16	llc	llc	PROPN
fumecheng-2849	157	17	,	,	PUNCT
fumecheng-2849	157	18	the	the	DET
fumecheng-2849	157	19	university	university	PROPN
fumecheng-2849	157	20	of	of	ADP
fumecheng-2849	157	21	texas	texas	PROPN
fumecheng-2849	157	22	at	at	ADP
fumecheng-2849	157	23	austin	austin	PROPN
fumecheng-2849	157	24	,	,	PUNCT
fumecheng-2849	157	25	austin	austin	PROPN
fumecheng-2849	157	26	,	,	PUNCT
fumecheng-2849	157	27	texas	texas	PROPN
fumecheng-2849	157	28	.	.	PROPN
fumecheng-2849	158	1	4	4	NUM
fumecheng-2849	158	2	.	.	X
fumecheng-2849	158	3	lin	lin	PROPN
fumecheng-2849	158	4	,	,	PUNCT
fumecheng-2849	158	5	f.j	f.j	PROPN
fumecheng-2849	158	6	.	.	PROPN
fumecheng-2849	158	7	,	,	PUNCT
fumecheng-2849	158	8	fung	fung	PROPN
fumecheng-2849	158	9	,	,	PUNCT
fumecheng-2849	158	10	r.f	r.f	PROPN
fumecheng-2849	158	11	.	.	PROPN
fumecheng-2849	158	12	,	,	PUNCT
fumecheng-2849	158	13	lin	lin	PROPN
fumecheng-2849	158	14	,	,	PUNCT
fumecheng-2849	158	15	h.h	h.h	PROPN
fumecheng-2849	158	16	.	.	PROPN
fumecheng-2849	158	17	,	,	PUNCT
fumecheng-2849	158	18	hong	hong	PROPN
fumecheng-2849	158	19	,	,	PUNCT
fumecheng-2849	158	20	c.m	c.m	PROPN
fumecheng-2849	158	21	.	.	PROPN
fumecheng-2849	158	22	,	,	PUNCT
fumecheng-2849	158	23	2001	2001	NUM
fumecheng-2849	158	24	,	,	PUNCT
fumecheng-2849	158	25	a	a	DET
fumecheng-2849	158	26	supervisory	supervisory	ADJ
fumecheng-2849	158	27	fuzzy	fuzzy	ADJ
fumecheng-2849	158	28	neural	neural	ADJ
fumecheng-2849	158	29	network	network	NOUN
fumecheng-2849	158	30	controller	controller	NOUN
fumecheng-2849	158	31	for	for	ADP
fumecheng-2849	158	32	slider	slider	NOUN
fumecheng-2849	158	33	-	-	PUNCT
fumecheng-2849	158	34	crank	crank	NOUN
fumecheng-2849	158	35	mechanism	mechanism	NOUN
fumecheng-2849	158	36	,	,	PUNCT
fumecheng-2849	158	37	mechatronics	mechatronic	NOUN
fumecheng-2849	158	38	,	,	PUNCT
fumecheng-2849	158	39	11	11	NUM
fumecheng-2849	158	40	,	,	PUNCT
fumecheng-2849	158	41	pp	pp	ADJ
fumecheng-2849	158	42	.	.	PUNCT
fumecheng-2849	159	1	227	227	NUM
fumecheng-2849	159	2	-	-	SYM
fumecheng-2849	159	3	250	250	NUM
fumecheng-2849	159	4	.	.	PUNCT
fumecheng-2849	160	1	5	5	NUM
fumecheng-2849	160	2	.	.	X
fumecheng-2849	160	3	nagchaudhuri	nagchaudhuri	PROPN
fumecheng-2849	160	4	,	,	PUNCT
fumecheng-2849	160	5	a.	a.	NOUN
fumecheng-2849	160	6	,	,	PUNCT
fumecheng-2849	160	7	2002	2002	NUM
fumecheng-2849	160	8	,	,	PUNCT
fumecheng-2849	160	9	mechatronic	mechatronic	ADJ
fumecheng-2849	160	10	redesign	redesign	NOUN
fumecheng-2849	160	11	of	of	ADP
fumecheng-2849	160	12	slider	slider	NOUN
fumecheng-2849	160	13	crank	crank	NOUN
fumecheng-2849	160	14	mechanism	mechanism	NOUN
fumecheng-2849	160	15	,	,	PUNCT
fumecheng-2849	160	16	proceedings	proceeding	NOUN
fumecheng-2849	160	17	of	of	ADP
fumecheng-2849	160	18	imece	imece	NOUN
fumecheng-2849	160	19	2002	2002	NUM
fumecheng-2849	160	20	asme	asme	PROPN
fumecheng-2849	160	21	international	international	PROPN
fumecheng-2849	160	22	mechanical	mechanical	PROPN
fumecheng-2849	160	23	engineering	engineering	PROPN
fumecheng-2849	160	24	congress	congress	PROPN
fumecheng-2849	160	25	&	&	CCONJ
fumecheng-2849	160	26	exposition	exposition	PROPN
fumecheng-2849	160	27	,	,	PUNCT
fumecheng-2849	160	28	pp	pp	PROPN
fumecheng-2849	160	29	.	.	PUNCT
fumecheng-2849	161	1	849	849	NUM
fumecheng-2849	161	2	-	-	SYM
fumecheng-2849	161	3	854	854	NUM
fumecheng-2849	161	4	.	.	NOUN
fumecheng-2849	162	1	6	6	NUM
fumecheng-2849	162	2	.	.	X
fumecheng-2849	163	1	hsieh	hsieh	PROPN
fumecheng-2849	163	2	,	,	PUNCT
fumecheng-2849	163	3	w.h	w.h	PROPN
fumecheng-2849	163	4	.	.	PROPN
fumecheng-2849	163	5	,	,	PUNCT
fumecheng-2849	163	6	tsai	tsai	PROPN
fumecheng-2849	163	7	,	,	PUNCT
fumecheng-2849	163	8	c.h	c.h	PROPN
fumecheng-2849	163	9	.	.	PROPN
fumecheng-2849	163	10	,	,	PUNCT
fumecheng-2849	163	11	2009	2009	NUM
fumecheng-2849	163	12	a	a	DET
fumecheng-2849	163	13	study	study	NOUN
fumecheng-2849	163	14	on	on	ADP
fumecheng-2849	163	15	a	a	DET
fumecheng-2849	163	16	novel	novel	ADJ
fumecheng-2849	163	17	quick	quick	ADJ
fumecheng-2849	163	18	return	return	NOUN
fumecheng-2849	163	19	mechanism	mechanism	NOUN
fumecheng-2849	163	20	,	,	PUNCT
fumecheng-2849	163	21	transactions	transaction	NOUN
fumecheng-2849	163	22	of	of	ADP
fumecheng-2849	163	23	the	the	DET
fumecheng-2849	163	24	canadian	canadian	ADJ
fumecheng-2849	163	25	society	society	NOUN
fumecheng-2849	163	26	for	for	ADP
fumecheng-2849	163	27	mechanical	mechanical	ADJ
fumecheng-2849	163	28	engineering	engineering	NOUN
fumecheng-2849	163	29	,	,	PUNCT
fumecheng-2849	163	30	33(3	33(3	NOUN
fumecheng-2849	163	31	)	)	PUNCT
fumecheng-2849	163	32	,	,	PUNCT
fumecheng-2849	163	33	pp	pp	ADP
fumecheng-2849	163	34	.	.	PUNCT
fumecheng-2849	164	1	487	487	NUM
fumecheng-2849	164	2	-	-	SYM
fumecheng-2849	164	3	500	500	NUM
fumecheng-2849	164	4	.	.	PUNCT
fumecheng-2849	165	1	7	7	X
fumecheng-2849	165	2	.	.	X
fumecheng-2849	165	3	lin	lin	PROPN
fumecheng-2849	165	4	,	,	PUNCT
fumecheng-2849	165	5	f.	f.	PROPN
fumecheng-2849	165	6	j.	j.	PROPN
fumecheng-2849	165	7	,	,	PUNCT
fumecheng-2849	165	8	fung	fung	PROPN
fumecheng-2849	165	9	,	,	PUNCT
fumecheng-2849	165	10	r.	r.	PROPN
fumecheng-2849	165	11	f.	f.	PROPN
fumecheng-2849	165	12	lin	lin	PROPN
fumecheng-2849	165	13	,	,	PUNCT
fumecheng-2849	165	14	y.	y.	PROPN
fumecheng-2849	165	15	s.	s.	PROPN
fumecheng-2849	165	16	,	,	PUNCT
fumecheng-2849	165	17	1997	1997	NUM
fumecheng-2849	165	18	,	,	PUNCT
fumecheng-2849	165	19	adaptive	adaptive	ADJ
fumecheng-2849	165	20	control	control	NOUN
fumecheng-2849	165	21	of	of	ADP
fumecheng-2849	165	22	slider	slider	NOUN
fumecheng-2849	165	23	-	-	PUNCT
fumecheng-2849	165	24	crank	crank	NOUN
fumecheng-2849	165	25	mechanism	mechanism	NOUN
fumecheng-2849	165	26	motion	motion	NOUN
fumecheng-2849	165	27	:	:	PUNCT
fumecheng-2849	165	28	simulation	simulation	NOUN
fumecheng-2849	165	29	and	and	CCONJ
fumecheng-2849	165	30	experiments	experiment	NOUN
fumecheng-2849	165	31	,	,	PUNCT
fumecheng-2849	165	32	international	international	ADJ
fumecheng-2849	165	33	journal	journal	NOUN
fumecheng-2849	165	34	of	of	ADP
fumecheng-2849	165	35	systems	system	NOUN
fumecheng-2849	165	36	science	science	NOUN
fumecheng-2849	165	37	,	,	PUNCT
fumecheng-2849	165	38	28	28	NUM
fumecheng-2849	165	39	,	,	PUNCT
fumecheng-2849	165	40	pp	pp	ADJ
fumecheng-2849	165	41	.	.	PUNCT
fumecheng-2849	166	1	1227	1227	NUM
fumecheng-2849	166	2	-	-	SYM
fumecheng-2849	166	3	1238	1238	NUM
fumecheng-2849	166	4	.	.	PUNCT
fumecheng-2849	167	1	8	8	NUM
fumecheng-2849	167	2	.	.	NUM
fumecheng-2849	167	3	tomić	tomić	NOUN
fumecheng-2849	167	4	,	,	PUNCT
fumecheng-2849	167	5	n.	n.	NOUN
fumecheng-2849	167	6	,	,	PUNCT
fumecheng-2849	167	7	milošević	milošević	NOUN
fumecheng-2849	167	8	,	,	PUNCT
fumecheng-2849	167	9	m.	m.	NOUN
fumecheng-2849	167	10	,	,	PUNCT
fumecheng-2849	167	11	tomić	tomić	NOUN
fumecheng-2849	167	12	,	,	PUNCT
fumecheng-2849	167	13	m.	m.	NOUN
fumecheng-2849	167	14	,	,	PUNCT
fumecheng-2849	167	15	pavlović	pavlović	NOUN
fumecheng-2849	167	16	,	,	PUNCT
fumecheng-2849	167	17	v.	v.	ADV
fumecheng-2849	167	18	,	,	PUNCT
fumecheng-2849	167	19	milojević	milojević	INTJ
fumecheng-2849	167	20	,	,	PUNCT
fumecheng-2849	167	21	a.	a.	NOUN
fumecheng-2849	167	22	,	,	PUNCT
fumecheng-2849	167	23	2015	2015	NUM
fumecheng-2849	167	24	,	,	PUNCT
fumecheng-2849	167	25	control	control	NOUN
fumecheng-2849	167	26	of	of	ADP
fumecheng-2849	167	27	slider	slider	NOUN
fumecheng-2849	167	28	-	-	PUNCT
fumecheng-2849	167	29	crank	crank	NOUN
fumecheng-2849	167	30	mechanism	mechanism	NOUN
fumecheng-2849	167	31	in	in	ADP
fumecheng-2849	167	32	virtual	virtual	ADJ
fumecheng-2849	167	33	environment	environment	NOUN
fumecheng-2849	167	34	,	,	PUNCT
fumecheng-2849	167	35	proceedings	proceeding	NOUN
fumecheng-2849	167	36	of	of	ADP
fumecheng-2849	167	37	the	the	DET
fumecheng-2849	167	38	3rd	3rd	ADJ
fumecheng-2849	167	39	international	international	ADJ
fumecheng-2849	167	40	conference	conference	NOUN
fumecheng-2849	167	41	mechanical	mechanical	ADJ
fumecheng-2849	167	42	engineering	engineering	NOUN
fumecheng-2849	167	43	in	in	ADP
fumecheng-2849	167	44	xxi	xxi	ADJ
fumecheng-2849	167	45	century	century	NOUN
fumecheng-2849	167	46	,	,	PUNCT
fumecheng-2849	167	47	pp	pp	ADJ
fumecheng-2849	167	48	.	.	PUNCT
fumecheng-2849	168	1	279	279	NUM
fumecheng-2849	168	2	-	-	SYM
fumecheng-2849	168	3	282	282	NUM
fumecheng-2849	168	4	.	.	PUNCT
fumecheng-2849	169	1	9	9	NUM
fumecheng-2849	169	2	.	.	X
fumecheng-2849	169	3	fung	fung	PROPN
fumecheng-2849	169	4	,	,	PUNCT
fumecheng-2849	169	5	r.	r.	PROPN
fumecheng-2849	169	6	f.	f.	PROPN
fumecheng-2849	169	7	,	,	PUNCT
fumecheng-2849	169	8	sun	sun	PROPN
fumecheng-2849	169	9	,	,	PUNCT
fumecheng-2849	169	10	j.	j.	PROPN
fumecheng-2849	169	11	h.	h.	PROPN
fumecheng-2849	169	12	,	,	PUNCT
fumecheng-2849	169	13	wu	wu	PROPN
fumecheng-2849	169	14	,	,	PUNCT
fumecheng-2849	169	15	j.	j.	PROPN
fumecheng-2849	169	16	w.	w.	PROPN
fumecheng-2849	169	17	,	,	PUNCT
fumecheng-2849	169	18	2002	2002	NUM
fumecheng-2849	169	19	,	,	PUNCT
fumecheng-2849	169	20	tracking	track	VERB
fumecheng-2849	169	21	control	control	NOUN
fumecheng-2849	169	22	of	of	ADP
fumecheng-2849	169	23	the	the	DET
fumecheng-2849	169	24	flexible	flexible	ADJ
fumecheng-2849	169	25	slider	slider	NOUN
fumecheng-2849	169	26	-	-	PUNCT
fumecheng-2849	169	27	crank	crank	NOUN
fumecheng-2849	169	28	mechanism	mechanism	NOUN
fumecheng-2849	169	29	system	system	NOUN
fumecheng-2849	169	30	under	under	ADP
fumecheng-2849	169	31	impact	impact	NOUN
fumecheng-2849	169	32	,	,	PUNCT
fumecheng-2849	169	33	journal	journal	NOUN
fumecheng-2849	169	34	of	of	ADP
fumecheng-2849	169	35	sound	sound	NOUN
fumecheng-2849	169	36	and	and	CCONJ
fumecheng-2849	169	37	vibration	vibration	NOUN
fumecheng-2849	169	38	,	,	PUNCT
fumecheng-2849	169	39	255	255	NUM
fumecheng-2849	169	40	,	,	PUNCT
fumecheng-2849	169	41	pp	pp	ADJ
fumecheng-2849	169	42	.	.	PUNCT
fumecheng-2849	170	1	337	337	NUM
fumecheng-2849	170	2	-	-	SYM
fumecheng-2849	170	3	355	355	NUM
fumecheng-2849	170	4	.	.	PUNCT
fumecheng-2849	171	1	10	10	NUM
fumecheng-2849	171	2	.	.	PUNCT
fumecheng-2849	172	1	fung	fung	PROPN
fumecheng-2849	172	2	,	,	PUNCT
fumecheng-2849	172	3	r.	r.	PROPN
fumecheng-2849	172	4	f.	f.	PROPN
fumecheng-2849	172	5	,	,	PUNCT
fumecheng-2849	172	6	shue	shue	PROPN
fumecheng-2849	172	7	,	,	PUNCT
fumecheng-2849	172	8	l.	l.	PROPN
fumecheng-2849	172	9	c.	c.	PROPN
fumecheng-2849	172	10	,	,	PUNCT
fumecheng-2849	172	11	2002	2002	NUM
fumecheng-2849	172	12	,	,	PUNCT
fumecheng-2849	172	13	regulation	regulation	NOUN
fumecheng-2849	172	14	of	of	ADP
fumecheng-2849	172	15	a	a	DET
fumecheng-2849	172	16	flexible	flexible	ADJ
fumecheng-2849	172	17	slider	slider	NOUN
fumecheng-2849	172	18	–	–	PUNCT
fumecheng-2849	172	19	crank	crank	NOUN
fumecheng-2849	172	20	mechanism	mechanism	NOUN
fumecheng-2849	172	21	by	by	ADP
fumecheng-2849	172	22	lyapunov	lyapunov	PROPN
fumecheng-2849	172	23	’s	’s	PART
fumecheng-2849	172	24	direct	direct	ADJ
fumecheng-2849	172	25	method	method	NOUN
fumecheng-2849	172	26	,	,	PUNCT
fumecheng-2849	172	27	mechatronics	mechatronic	NOUN
fumecheng-2849	172	28	,	,	PUNCT
fumecheng-2849	172	29	12	12	NUM
fumecheng-2849	172	30	,	,	PUNCT
fumecheng-2849	172	31	pp	pp	ADJ
fumecheng-2849	172	32	.	.	PUNCT
fumecheng-2849	173	1	503	503	NUM
fumecheng-2849	173	2	-	-	SYM
fumecheng-2849	173	3	509	509	NUM
fumecheng-2849	173	4	.	.	PUNCT
fumecheng-2849	174	1	11	11	NUM
fumecheng-2849	174	2	.	.	PUNCT
fumecheng-2849	175	1	karboub	karboub	NOUN
fumecheng-2849	175	2	,	,	PUNCT
fumecheng-2849	175	3	m.	m.	NOUN
fumecheng-2849	175	4	a.	a.	PROPN
fumecheng-2849	175	5	,	,	PUNCT
fumecheng-2849	175	6	2000	2000	NUM
fumecheng-2849	175	7	,	,	PUNCT
fumecheng-2849	175	8	control	control	NOUN
fumecheng-2849	175	9	of	of	ADP
fumecheng-2849	175	10	the	the	DET
fumecheng-2849	175	11	elastodynamic	elastodynamic	ADJ
fumecheng-2849	175	12	vibrations	vibration	NOUN
fumecheng-2849	175	13	of	of	ADP
fumecheng-2849	175	14	a	a	DET
fumecheng-2849	175	15	flexible	flexible	ADJ
fumecheng-2849	175	16	slider	slider	NOUN
fumecheng-2849	175	17	-	-	PUNCT
fumecheng-2849	175	18	crank	crank	NOUN
fumecheng-2849	175	19	mechanism	mechanism	NOUN
fumecheng-2849	175	20	using	use	VERB
fumecheng-2849	175	21	µ-synthesis	µ-synthesis	PROPN
fumecheng-2849	175	22	,	,	PUNCT
fumecheng-2849	175	23	mechatronics	mechatronic	NOUN
fumecheng-2849	175	24	,	,	PUNCT
fumecheng-2849	175	25	10	10	NUM
fumecheng-2849	175	26	,	,	PUNCT
fumecheng-2849	175	27	pp	pp	ADJ
fumecheng-2849	175	28	.	.	PUNCT
fumecheng-2849	176	1	649	649	NUM
fumecheng-2849	176	2	-	-	SYM
fumecheng-2849	176	3	668	668	NUM
fumecheng-2849	176	4	.	.	NOUN
fumecheng-2849	176	5	12	12	NUM
fumecheng-2849	176	6	.	.	PUNCT
fumecheng-2849	177	1	wilhelm	wilhelm	PROPN
fumecheng-2849	177	2	,	,	PUNCT
fumecheng-2849	177	3	r.	r.	PROPN
fumecheng-2849	177	4	s.	s.	PROPN
fumecheng-2849	177	5	,	,	PUNCT
fumecheng-2849	177	6	sullivan	sullivan	PROPN
fumecheng-2849	177	7	,	,	PUNCT
fumecheng-2849	177	8	t.	t.	PROPN
fumecheng-2849	177	9	,	,	PUNCT
fumecheng-2849	177	10	van	van	PROPN
fumecheng-2849	177	11	de	de	X
fumecheng-2849	177	12	ven	ven	PROPN
fumecheng-2849	177	13	,	,	PUNCT
fumecheng-2849	177	14	d.	d.	PROPN
fumecheng-2849	177	15	t.	t.	PROPN
fumecheng-2849	177	16	,	,	PUNCT
fumecheng-2849	177	17	2017	2017	NUM
fumecheng-2849	177	18	,	,	PUNCT
fumecheng-2849	177	19	solution	solution	NOUN
fumecheng-2849	177	20	rectification	rectification	NOUN
fumecheng-2849	177	21	of	of	ADP
fumecheng-2849	177	22	slider	slider	NOUN
fumecheng-2849	177	23	-	-	PUNCT
fumecheng-2849	177	24	crank	crank	NOUN
fumecheng-2849	177	25	mechanisms	mechanism	NOUN
fumecheng-2849	177	26	with	with	ADP
fumecheng-2849	177	27	transmission	transmission	NOUN
fumecheng-2849	177	28	angle	angle	NOUN
fumecheng-2849	177	29	control	control	NOUN
fumecheng-2849	177	30	,	,	PUNCT
fumecheng-2849	177	31	mechanism	mechanism	NOUN
fumecheng-2849	177	32	and	and	CCONJ
fumecheng-2849	177	33	machine	machine	NOUN
fumecheng-2849	177	34	theory	theory	NOUN
fumecheng-2849	177	35	,	,	PUNCT
fumecheng-2849	177	36	107	107	NUM
fumecheng-2849	177	37	,	,	PUNCT
fumecheng-2849	177	38	pp	pp	ADJ
fumecheng-2849	177	39	.	.	PUNCT
fumecheng-2849	178	1	37	37	NUM
fumecheng-2849	178	2	-	-	SYM
fumecheng-2849	178	3	45	45	NUM
fumecheng-2849	178	4	.	.	NOUN
fumecheng-2849	179	1	268	268	NUM
fumecheng-2849	179	2	m.	m.	NOUN
fumecheng-2849	179	3	tomić	tomić	NOUN
fumecheng-2849	179	4	,	,	PUNCT
fumecheng-2849	179	5	m.	m.	NOUN
fumecheng-2849	179	6	milošević	milošević	PROPN
fumecheng-2849	179	7	,	,	PUNCT
fumecheng-2849	179	8	n.	n.	PROPN
fumecheng-2849	179	9	tomić	tomić	PROPN
fumecheng-2849	179	10	,	,	PUNCT
fumecheng-2849	179	11	n.d	n.d	PROPN
fumecheng-2849	179	12	.	.	PROPN
fumecheng-2849	179	13	pavlović	pavlović	NOUN
fumecheng-2849	179	14	,	,	PUNCT
fumecheng-2849	179	15	v.	v.	ADP
fumecheng-2849	179	16	pavlović	pavlović	NOUN
fumecheng-2849	179	17	13	13	NUM
fumecheng-2849	179	18	.	.	PUNCT
fumecheng-2849	180	1	akbari	akbari	PROPN
fumecheng-2849	180	2	,	,	PUNCT
fumecheng-2849	180	3	s.	s.	PROPN
fumecheng-2849	180	4	,	,	PUNCT
fumecheng-2849	180	5	fallahi	fallahi	PROPN
fumecheng-2849	180	6	,	,	PUNCT
fumecheng-2849	180	7	f.	f.	PROPN
fumecheng-2849	180	8	,	,	PUNCT
fumecheng-2849	180	9	pirbodaghi	pirbodaghi	NOUN
fumecheng-2849	180	10	,	,	PUNCT
fumecheng-2849	180	11	t.	t.	PROPN
fumecheng-2849	180	12	,	,	PUNCT
fumecheng-2849	180	13	2016	2016	NUM
fumecheng-2849	180	14	,	,	PUNCT
fumecheng-2849	180	15	dynamic	dynamic	ADJ
fumecheng-2849	180	16	analysis	analysis	NOUN
fumecheng-2849	180	17	and	and	CCONJ
fumecheng-2849	180	18	controller	controller	NOUN
fumecheng-2849	180	19	design	design	NOUN
fumecheng-2849	180	20	for	for	ADP
fumecheng-2849	180	21	a	a	DET
fumecheng-2849	180	22	slider	slider	NOUN
fumecheng-2849	180	23	–	–	PUNCT
fumecheng-2849	180	24	crank	crank	NOUN
fumecheng-2849	180	25	mechanism	mechanism	NOUN
fumecheng-2849	180	26	with	with	ADP
fumecheng-2849	180	27	piezoelectric	piezoelectric	ADJ
fumecheng-2849	180	28	actuators	actuator	NOUN
fumecheng-2849	180	29	,	,	PUNCT
fumecheng-2849	180	30	journal	journal	NOUN
fumecheng-2849	180	31	of	of	ADP
fumecheng-2849	180	32	computational	computational	ADJ
fumecheng-2849	180	33	design	design	NOUN
fumecheng-2849	180	34	and	and	CCONJ
fumecheng-2849	180	35	engineering	engineering	NOUN
fumecheng-2849	180	36	,	,	PUNCT
fumecheng-2849	180	37	3	3	NUM
fumecheng-2849	180	38	,	,	PUNCT
fumecheng-2849	180	39	pp	pp	ADJ
fumecheng-2849	180	40	.	.	PUNCT
fumecheng-2849	181	1	312	312	NUM
fumecheng-2849	181	2	-	-	SYM
fumecheng-2849	181	3	321	321	NUM
fumecheng-2849	181	4	.	.	PUNCT
fumecheng-2849	182	1	14	14	NUM
fumecheng-2849	182	2	.	.	PUNCT
fumecheng-2849	183	1	varedi	varedi	PROPN
fumecheng-2849	183	2	,	,	PUNCT
fumecheng-2849	183	3	s.m	s.m	PROPN
fumecheng-2849	183	4	..	..	PROPN
fumecheng-2849	183	5	,	,	PUNCT
fumecheng-2849	183	6	daniali	daniali	PROPN
fumecheng-2849	183	7	,	,	PUNCT
fumecheng-2849	183	8	h.m	h.m	PROPN
fumecheng-2849	183	9	.	.	PROPN
fumecheng-2849	183	10	,	,	PUNCT
fumecheng-2849	183	11	dardel	dardel	PROPN
fumecheng-2849	183	12	,	,	PUNCT
fumecheng-2849	183	13	m.	m.	NOUN
fumecheng-2849	183	14	,	,	PUNCT
fumecheng-2849	183	15	fathi	fathi	PROPN
fumecheng-2849	183	16	,	,	PUNCT
fumecheng-2849	183	17	a.	a.	NOUN
fumecheng-2849	183	18	,	,	PUNCT
fumecheng-2849	183	19	2015	2015	NUM
fumecheng-2849	183	20	,	,	PUNCT
fumecheng-2849	183	21	optimal	optimal	ADJ
fumecheng-2849	183	22	dynamic	dynamic	ADJ
fumecheng-2849	183	23	design	design	NOUN
fumecheng-2849	183	24	of	of	ADP
fumecheng-2849	183	25	a	a	DET
fumecheng-2849	183	26	planar	planar	ADJ
fumecheng-2849	183	27	slider	slider	NOUN
fumecheng-2849	183	28	-	-	PUNCT
fumecheng-2849	183	29	crank	crank	NOUN
fumecheng-2849	183	30	mechanism	mechanism	NOUN
fumecheng-2849	183	31	with	with	ADP
fumecheng-2849	183	32	a	a	DET
fumecheng-2849	183	33	joint	joint	ADJ
fumecheng-2849	183	34	clearance	clearance	NOUN
fumecheng-2849	183	35	,	,	PUNCT
fumecheng-2849	183	36	mechanism	mechanism	NOUN
fumecheng-2849	183	37	and	and	CCONJ
fumecheng-2849	183	38	machine	machine	NOUN
fumecheng-2849	183	39	theory	theory	NOUN
fumecheng-2849	183	40	,	,	PUNCT
fumecheng-2849	183	41	86	86	NUM
fumecheng-2849	183	42	,	,	PUNCT
fumecheng-2849	183	43	pp	pp	ADJ
fumecheng-2849	183	44	.	.	PUNCT
fumecheng-2849	184	1	191	191	NUM
fumecheng-2849	184	2	-	-	SYM
fumecheng-2849	184	3	200	200	NUM
fumecheng-2849	184	4	.	.	NOUN
fumecheng-2849	185	1	15	15	NUM
fumecheng-2849	185	2	.	.	PUNCT
fumecheng-2849	186	1	li	li	PROPN
fumecheng-2849	186	2	,	,	PUNCT
fumecheng-2849	186	3	y.	y.	PROPN
fumecheng-2849	186	4	,	,	PUNCT
fumecheng-2849	186	5	chen	chen	PROPN
fumecheng-2849	186	6	,	,	PUNCT
fumecheng-2849	186	7	g.	g.	PROPN
fumecheng-2849	186	8	,	,	PUNCT
fumecheng-2849	186	9	sun	sun	PROPN
fumecheng-2849	186	10	,	,	PUNCT
fumecheng-2849	186	11	d.	d.	PROPN
fumecheng-2849	186	12	,	,	PUNCT
fumecheng-2849	186	13	gao	gao	PROPN
fumecheng-2849	186	14	,	,	PUNCT
fumecheng-2849	186	15	y.	y.	PROPN
fumecheng-2849	186	16	,	,	PUNCT
fumecheng-2849	186	17	wang	wang	PROPN
fumecheng-2849	186	18	,	,	PUNCT
fumecheng-2849	186	19	k.	k.	PROPN
fumecheng-2849	186	20	,	,	PUNCT
fumecheng-2849	186	21	2016	2016	NUM
fumecheng-2849	186	22	,	,	PUNCT
fumecheng-2849	186	23	dynamic	dynamic	ADJ
fumecheng-2849	186	24	analysis	analysis	NOUN
fumecheng-2849	186	25	and	and	CCONJ
fumecheng-2849	186	26	optimization	optimization	NOUN
fumecheng-2849	186	27	design	design	NOUN
fumecheng-2849	186	28	of	of	ADP
fumecheng-2849	186	29	a	a	DET
fumecheng-2849	186	30	planar	planar	ADJ
fumecheng-2849	186	31	slider	slider	NOUN
fumecheng-2849	186	32	–	–	PUNCT
fumecheng-2849	186	33	crank	crank	NOUN
fumecheng-2849	186	34	mechanism	mechanism	NOUN
fumecheng-2849	186	35	with	with	ADP
fumecheng-2849	186	36	flexible	flexible	ADJ
fumecheng-2849	186	37	components	component	NOUN
fumecheng-2849	186	38	and	and	CCONJ
fumecheng-2849	186	39	two	two	NUM
fumecheng-2849	186	40	clearance	clearance	NOUN
fumecheng-2849	186	41	joints	joint	NOUN
fumecheng-2849	186	42	,	,	PUNCT
fumecheng-2849	186	43	mechanism	mechanism	NOUN
fumecheng-2849	186	44	and	and	CCONJ
fumecheng-2849	186	45	machine	machine	NOUN
fumecheng-2849	186	46	theory	theory	NOUN
fumecheng-2849	186	47	,	,	PUNCT
fumecheng-2849	186	48	86	86	NUM
fumecheng-2849	186	49	,	,	PUNCT
fumecheng-2849	186	50	pp	pp	ADJ
fumecheng-2849	186	51	.	.	PUNCT
fumecheng-2849	187	1	37	37	NUM
fumecheng-2849	187	2	-	-	SYM
fumecheng-2849	187	3	57	57	NUM
fumecheng-2849	187	4	.	.	PUNCT