id	sid	tid	token	lemma	pos
fumecheng-3828	1	1	facta	facta	PROPN
fumecheng-3828	1	2	universitatis	universitatis	PROPN
fumecheng-3828	1	3	series	series	NOUN
fumecheng-3828	1	4	:	:	PUNCT
fumecheng-3828	1	5	mechanical	mechanical	ADJ
fumecheng-3828	1	6	engineering	engineering	NOUN
fumecheng-3828	1	7	vol	vol	NOUN
fumecheng-3828	1	8	.	.	PUNCT
fumecheng-3828	2	1	16	16	NUM
fumecheng-3828	2	2	,	,	PUNCT
fumecheng-3828	2	3	no	no	DET
fumecheng-3828	2	4	2	2	NUM
fumecheng-3828	2	5	,	,	PUNCT
fumecheng-3828	2	6	2018	2018	NUM
fumecheng-3828	2	7	,	,	PUNCT
fumecheng-3828	2	8	pp	pp	ADJ
fumecheng-3828	2	9	.	.	PUNCT
fumecheng-3828	3	1	157	157	NUM
fumecheng-3828	3	2	170	170	NUM
fumecheng-3828	3	3	https://doi.org/10.22190/fume180404015j	https://doi.org/10.22190/fume180404015j	PROPN
fumecheng-3828	3	4	©	©	PROPN
fumecheng-3828	3	5	2018	2018	NUM
fumecheng-3828	3	6	by	by	ADP
fumecheng-3828	3	7	university	university	PROPN
fumecheng-3828	3	8	of	of	ADP
fumecheng-3828	3	9	niš	niš	PROPN
fumecheng-3828	3	10	,	,	PUNCT
fumecheng-3828	3	11	serbia	serbia	PROPN
fumecheng-3828	3	12	|	|	ADV
fumecheng-3828	3	13	creative	creative	ADJ
fumecheng-3828	3	14	commons	common	NOUN
fumecheng-3828	3	15	license	license	NOUN
fumecheng-3828	3	16	:	:	PUNCT
fumecheng-3828	3	17	cc	cc	VERB
fumecheng-3828	3	18	by	by	ADP
fumecheng-3828	3	19	-	-	PUNCT
fumecheng-3828	3	20	nc	nc	VERB
fumecheng-3828	3	21	-	-	PUNCT
fumecheng-3828	3	22	nd	nd	ADV
fumecheng-3828	3	23	original	original	ADJ
fumecheng-3828	3	24	scientific	scientific	NOUN
fumecheng-3828	3	25	paper	paper	VERB
fumecheng-3828	3	26	a	a	DET
fumecheng-3828	3	27	numerical	numerical	ADJ
fumecheng-3828	3	28	and	and	CCONJ
fumecheng-3828	3	29	experimental	experimental	ADJ
fumecheng-3828	3	30	analysis	analysis	NOUN
fumecheng-3828	3	31	of	of	ADP
fumecheng-3828	3	32	the	the	DET
fumecheng-3828	3	33	dynamic	dynamic	ADJ
fumecheng-3828	3	34	stability	stability	NOUN
fumecheng-3828	3	35	of	of	ADP
fumecheng-3828	3	36	hydraulic	hydraulic	ADJ
fumecheng-3828	3	37	excavators	excavator	NOUN
fumecheng-3828	3	38	udc	udc	NOUN
fumecheng-3828	3	39	621	621	NUM
fumecheng-3828	3	40	dragoslav	dragoslav	ADJ
fumecheng-3828	3	41	janošević	janošević	NOUN
fumecheng-3828	3	42	,	,	PUNCT
fumecheng-3828	3	43	jovan	jovan	NOUN
fumecheng-3828	3	44	pavlović	pavlović	NOUN
fumecheng-3828	3	45	,	,	PUNCT
fumecheng-3828	3	46	vesna	vesna	PROPN
fumecheng-3828	3	47	jovanović	jovanović	PROPN
fumecheng-3828	3	48	,	,	PUNCT
fumecheng-3828	3	49	goran	goran	PROPN
fumecheng-3828	3	50	petrović	petrović	PROPN
fumecheng-3828	3	51	university	university	PROPN
fumecheng-3828	3	52	of	of	ADP
fumecheng-3828	3	53	niš	niš	PROPN
fumecheng-3828	3	54	,	,	PUNCT
fumecheng-3828	3	55	faculty	faculty	NOUN
fumecheng-3828	3	56	of	of	ADP
fumecheng-3828	3	57	mechanical	mechanical	ADJ
fumecheng-3828	3	58	engineering	engineering	NOUN
fumecheng-3828	3	59	,	,	PUNCT
fumecheng-3828	3	60	serbia	serbia	PROPN
fumecheng-3828	3	61	abstract	abstract	ADJ
fumecheng-3828	3	62	.	.	PUNCT
fumecheng-3828	4	1	the	the	DET
fumecheng-3828	4	2	paper	paper	NOUN
fumecheng-3828	4	3	presents	present	VERB
fumecheng-3828	4	4	the	the	DET
fumecheng-3828	4	5	results	result	NOUN
fumecheng-3828	4	6	of	of	ADP
fumecheng-3828	4	7	a	a	DET
fumecheng-3828	4	8	numerical	numerical	ADJ
fumecheng-3828	4	9	and	and	CCONJ
fumecheng-3828	4	10	experimental	experimental	ADJ
fumecheng-3828	4	11	analysis	analysis	NOUN
fumecheng-3828	4	12	of	of	ADP
fumecheng-3828	4	13	the	the	DET
fumecheng-3828	4	14	dynamic	dynamic	ADJ
fumecheng-3828	4	15	stability	stability	NOUN
fumecheng-3828	4	16	of	of	ADP
fumecheng-3828	4	17	hydraulic	hydraulic	ADJ
fumecheng-3828	4	18	excavators	excavator	NOUN
fumecheng-3828	4	19	.	.	PUNCT
fumecheng-3828	5	1	the	the	DET
fumecheng-3828	5	2	analysis	analysis	NOUN
fumecheng-3828	5	3	has	have	AUX
fumecheng-3828	5	4	employed	employ	VERB
fumecheng-3828	5	5	the	the	DET
fumecheng-3828	5	6	software	software	NOUN
fumecheng-3828	5	7	developed	develop	VERB
fumecheng-3828	5	8	on	on	ADP
fumecheng-3828	5	9	the	the	DET
fumecheng-3828	5	10	basis	basis	NOUN
fumecheng-3828	5	11	of	of	ADP
fumecheng-3828	5	12	a	a	DET
fumecheng-3828	5	13	defined	define	VERB
fumecheng-3828	5	14	general	general	ADJ
fumecheng-3828	5	15	dynamic	dynamic	ADJ
fumecheng-3828	5	16	mathematical	mathematical	ADJ
fumecheng-3828	5	17	model	model	NOUN
fumecheng-3828	5	18	of	of	ADP
fumecheng-3828	5	19	an	an	DET
fumecheng-3828	5	20	excavator	excavator	NOUN
fumecheng-3828	5	21	grounded	ground	VERB
fumecheng-3828	5	22	in	in	ADP
fumecheng-3828	5	23	newton	newton	PROPN
fumecheng-3828	5	24	-	-	PUNCT
fumecheng-3828	5	25	euler	euler	PROPN
fumecheng-3828	5	26	equations	equation	NOUN
fumecheng-3828	5	27	as	as	ADV
fumecheng-3828	5	28	well	well	ADV
fumecheng-3828	5	29	as	as	ADP
fumecheng-3828	5	30	the	the	DET
fumecheng-3828	5	31	measured	measured	ADJ
fumecheng-3828	5	32	quantities	quantity	NOUN
fumecheng-3828	5	33	of	of	ADP
fumecheng-3828	5	34	the	the	DET
fumecheng-3828	5	35	excavator	excavator	NOUN
fumecheng-3828	5	36	operating	operate	VERB
fumecheng-3828	5	37	state	state	NOUN
fumecheng-3828	5	38	in	in	ADP
fumecheng-3828	5	39	exploitation	exploitation	NOUN
fumecheng-3828	5	40	conditions	condition	NOUN
fumecheng-3828	5	41	.	.	PUNCT
fumecheng-3828	6	1	the	the	DET
fumecheng-3828	6	2	defined	define	VERB
fumecheng-3828	6	3	model	model	NOUN
fumecheng-3828	6	4	is	be	AUX
fumecheng-3828	6	5	used	use	VERB
fumecheng-3828	6	6	to	to	PART
fumecheng-3828	6	7	model	model	VERB
fumecheng-3828	6	8	the	the	DET
fumecheng-3828	6	9	members	member	NOUN
fumecheng-3828	6	10	of	of	ADP
fumecheng-3828	6	11	the	the	DET
fumecheng-3828	6	12	excavator	excavator	NOUN
fumecheng-3828	6	13	kinematic	kinematic	ADJ
fumecheng-3828	6	14	chain	chain	NOUN
fumecheng-3828	6	15	using	use	VERB
fumecheng-3828	6	16	rigid	rigid	ADJ
fumecheng-3828	6	17	bodies	body	NOUN
fumecheng-3828	6	18	while	while	SCONJ
fumecheng-3828	6	19	the	the	DET
fumecheng-3828	6	20	actuators	actuator	NOUN
fumecheng-3828	6	21	(	(	PUNCT
fumecheng-3828	6	22	hydraulic	hydraulic	ADJ
fumecheng-3828	6	23	cylinders	cylinder	NOUN
fumecheng-3828	6	24	and	and	CCONJ
fumecheng-3828	6	25	hydraulic	hydraulic	ADJ
fumecheng-3828	6	26	motors	motor	NOUN
fumecheng-3828	6	27	)	)	PUNCT
fumecheng-3828	6	28	of	of	ADP
fumecheng-3828	6	29	the	the	DET
fumecheng-3828	6	30	excavator	excavator	NOUN
fumecheng-3828	6	31	drive	drive	NOUN
fumecheng-3828	6	32	mechanisms	mechanism	NOUN
fumecheng-3828	6	33	are	be	AUX
fumecheng-3828	6	34	modeled	model	VERB
fumecheng-3828	6	35	with	with	ADP
fumecheng-3828	6	36	elastically	elastically	ADV
fumecheng-3828	6	37	dampened	dampen	VERB
fumecheng-3828	6	38	elements	element	NOUN
fumecheng-3828	6	39	.	.	PUNCT
fumecheng-3828	7	1	the	the	DET
fumecheng-3828	7	2	elastically	elastically	ADV
fumecheng-3828	7	3	dampened	dampened	ADJ
fumecheng-3828	7	4	characteristics	characteristic	NOUN
fumecheng-3828	7	5	of	of	ADP
fumecheng-3828	7	6	the	the	DET
fumecheng-3828	7	7	actuators	actuator	NOUN
fumecheng-3828	7	8	are	be	AUX
fumecheng-3828	7	9	defined	define	VERB
fumecheng-3828	7	10	with	with	ADP
fumecheng-3828	7	11	regard	regard	NOUN
fumecheng-3828	7	12	to	to	ADP
fumecheng-3828	7	13	the	the	DET
fumecheng-3828	7	14	size	size	NOUN
fumecheng-3828	7	15	of	of	ADP
fumecheng-3828	7	16	the	the	DET
fumecheng-3828	7	17	actuator	actuator	NOUN
fumecheng-3828	7	18	as	as	ADV
fumecheng-3828	7	19	well	well	ADV
fumecheng-3828	7	20	as	as	ADP
fumecheng-3828	7	21	to	to	ADP
fumecheng-3828	7	22	the	the	DET
fumecheng-3828	7	23	compressibility	compressibility	NOUN
fumecheng-3828	7	24	and	and	CCONJ
fumecheng-3828	7	25	temperature	temperature	NOUN
fumecheng-3828	7	26	of	of	ADP
fumecheng-3828	7	27	the	the	DET
fumecheng-3828	7	28	hydraulic	hydraulic	ADJ
fumecheng-3828	7	29	oil	oil	NOUN
fumecheng-3828	7	30	used	use	VERB
fumecheng-3828	7	31	in	in	ADP
fumecheng-3828	7	32	the	the	DET
fumecheng-3828	7	33	excavator	excavator	NOUN
fumecheng-3828	7	34	hydrostatic	hydrostatic	ADJ
fumecheng-3828	7	35	drive	drive	NOUN
fumecheng-3828	7	36	system	system	NOUN
fumecheng-3828	7	37	.	.	PUNCT
fumecheng-3828	8	1	to	to	PART
fumecheng-3828	8	2	illustrate	illustrate	VERB
fumecheng-3828	8	3	the	the	DET
fumecheng-3828	8	4	analysis	analysis	NOUN
fumecheng-3828	8	5	,	,	PUNCT
fumecheng-3828	8	6	the	the	DET
fumecheng-3828	8	7	paper	paper	NOUN
fumecheng-3828	8	8	provides	provide	VERB
fumecheng-3828	8	9	the	the	DET
fumecheng-3828	8	10	results	result	NOUN
fumecheng-3828	8	11	of	of	ADP
fumecheng-3828	8	12	the	the	DET
fumecheng-3828	8	13	analysis	analysis	NOUN
fumecheng-3828	8	14	of	of	ADP
fumecheng-3828	8	15	the	the	DET
fumecheng-3828	8	16	dynamic	dynamic	ADJ
fumecheng-3828	8	17	stability	stability	NOUN
fumecheng-3828	8	18	of	of	ADP
fumecheng-3828	8	19	a	a	DET
fumecheng-3828	8	20	16000	16000	NUM
fumecheng-3828	8	21	kg	kg	NOUN
fumecheng-3828	8	22	tracked	track	VERB
fumecheng-3828	8	23	excavator	excavator	NOUN
fumecheng-3828	8	24	equipped	equip	VERB
fumecheng-3828	8	25	with	with	ADP
fumecheng-3828	8	26	a	a	DET
fumecheng-3828	8	27	manipulator	manipulator	NOUN
fumecheng-3828	8	28	digging	dig	VERB
fumecheng-3828	8	29	bucket	bucket	NOUN
fumecheng-3828	8	30	of	of	ADP
fumecheng-3828	8	31	0.6	0.6	NUM
fumecheng-3828	8	32	m3	m3	NOUN
fumecheng-3828	8	33	in	in	ADP
fumecheng-3828	8	34	capacity	capacity	NOUN
fumecheng-3828	8	35	.	.	PUNCT
fumecheng-3828	9	1	key	key	ADJ
fumecheng-3828	9	2	words	word	NOUN
fumecheng-3828	9	3	:	:	PUNCT
fumecheng-3828	9	4	hydraulic	hydraulic	ADJ
fumecheng-3828	9	5	excavators	excavator	NOUN
fumecheng-3828	9	6	,	,	PUNCT
fumecheng-3828	9	7	dynamic	dynamic	ADJ
fumecheng-3828	9	8	stability	stability	NOUN
fumecheng-3828	9	9	,	,	PUNCT
fumecheng-3828	9	10	oil	oil	NOUN
fumecheng-3828	9	11	temperature	temperature	NOUN
fumecheng-3828	9	12	,	,	PUNCT
fumecheng-3828	9	13	modeling	model	VERB
fumecheng-3828	9	14	1	1	NUM
fumecheng-3828	9	15	.	.	PUNCT
fumecheng-3828	9	16	introduction	introduction	NOUN
fumecheng-3828	9	17	in	in	ADP
fumecheng-3828	9	18	modern	modern	ADJ
fumecheng-3828	9	19	hydraulic	hydraulic	ADJ
fumecheng-3828	9	20	excavators	excavator	NOUN
fumecheng-3828	9	21	one	one	NUM
fumecheng-3828	9	22	of	of	ADP
fumecheng-3828	9	23	the	the	DET
fumecheng-3828	9	24	most	most	ADV
fumecheng-3828	9	25	important	important	ADJ
fumecheng-3828	9	26	parameters	parameter	NOUN
fumecheng-3828	9	27	is	be	AUX
fumecheng-3828	9	28	the	the	DET
fumecheng-3828	9	29	indicator	indicator	NOUN
fumecheng-3828	9	30	of	of	ADP
fumecheng-3828	9	31	the	the	DET
fumecheng-3828	9	32	excavator	excavator	NOUN
fumecheng-3828	9	33	’s	’s	PART
fumecheng-3828	9	34	stable	stable	ADJ
fumecheng-3828	9	35	operation	operation	NOUN
fumecheng-3828	9	36	.	.	PUNCT
fumecheng-3828	10	1	international	international	ADJ
fumecheng-3828	10	2	standards	standard	NOUN
fumecheng-3828	10	3	provide	provide	VERB
fumecheng-3828	10	4	the	the	DET
fumecheng-3828	10	5	conditions	condition	NOUN
fumecheng-3828	10	6	for	for	ADP
fumecheng-3828	10	7	examination	examination	NOUN
fumecheng-3828	10	8	and	and	CCONJ
fumecheng-3828	10	9	determination	determination	NOUN
fumecheng-3828	10	10	of	of	ADP
fumecheng-3828	10	11	the	the	DET
fumecheng-3828	10	12	static	static	ADJ
fumecheng-3828	10	13	indicators	indicator	NOUN
fumecheng-3828	10	14	of	of	ADP
fumecheng-3828	10	15	the	the	DET
fumecheng-3828	10	16	excavator	excavator	NOUN
fumecheng-3828	10	17	stability	stability	NOUN
fumecheng-3828	10	18	and	and	CCONJ
fumecheng-3828	10	19	hydraulic	hydraulic	ADJ
fumecheng-3828	10	20	stability	stability	NOUN
fumecheng-3828	10	21	of	of	ADP
fumecheng-3828	10	22	the	the	DET
fumecheng-3828	10	23	excavator	excavator	NOUN
fumecheng-3828	10	24	drive	drive	NOUN
fumecheng-3828	10	25	mechanisms	mechanism	NOUN
fumecheng-3828	10	26	(	(	PUNCT
fumecheng-3828	10	27	sae	sae	PROPN
fumecheng-3828	10	28	j1097	j1097	PROPN
fumecheng-3828	10	29	)	)	PUNCT
fumecheng-3828	10	30	.	.	PUNCT
fumecheng-3828	11	1	previous	previous	ADJ
fumecheng-3828	11	2	research	research	NOUN
fumecheng-3828	11	3	in	in	ADP
fumecheng-3828	11	4	the	the	DET
fumecheng-3828	11	5	area	area	NOUN
fumecheng-3828	11	6	has	have	AUX
fumecheng-3828	11	7	been	be	AUX
fumecheng-3828	11	8	related	relate	VERB
fumecheng-3828	11	9	to	to	ADP
fumecheng-3828	11	10	the	the	DET
fumecheng-3828	11	11	development	development	NOUN
fumecheng-3828	11	12	of	of	ADP
fumecheng-3828	11	13	mathematical	mathematical	ADJ
fumecheng-3828	11	14	models	model	NOUN
fumecheng-3828	11	15	for	for	ADP
fumecheng-3828	11	16	the	the	DET
fumecheng-3828	11	17	analysis	analysis	NOUN
fumecheng-3828	11	18	of	of	ADP
fumecheng-3828	11	19	the	the	DET
fumecheng-3828	11	20	static	static	ADJ
fumecheng-3828	11	21	stability	stability	NOUN
fumecheng-3828	11	22	of	of	ADP
fumecheng-3828	11	23	hydraulic	hydraulic	ADJ
fumecheng-3828	11	24	excavators	excavator	NOUN
fumecheng-3828	12	1	[	[	X
fumecheng-3828	12	2	1	1	NUM
fumecheng-3828	12	3	-	-	SYM
fumecheng-3828	12	4	4	4	NUM
fumecheng-3828	12	5	]	]	PUNCT
fumecheng-3828	12	6	.	.	PUNCT
fumecheng-3828	13	1	however	however	ADV
fumecheng-3828	13	2	,	,	PUNCT
fumecheng-3828	13	3	the	the	DET
fumecheng-3828	13	4	studies	study	NOUN
fumecheng-3828	13	5	have	have	AUX
fumecheng-3828	13	6	shown	show	VERB
fumecheng-3828	13	7	that	that	SCONJ
fumecheng-3828	13	8	hydraulic	hydraulic	ADJ
fumecheng-3828	13	9	excavators	excavator	NOUN
fumecheng-3828	13	10	(	(	PUNCT
fumecheng-3828	13	11	and	and	CCONJ
fumecheng-3828	13	12	other	other	ADJ
fumecheng-3828	13	13	hydraulic	hydraulic	ADJ
fumecheng-3828	13	14	mobile	mobile	ADJ
fumecheng-3828	13	15	machines	machine	NOUN
fumecheng-3828	13	16	)	)	PUNCT
fumecheng-3828	13	17	act	act	VERB
fumecheng-3828	13	18	like	like	ADP
fumecheng-3828	13	19	dynamic	dynamic	ADJ
fumecheng-3828	13	20	oscillating	oscillating	NOUN
fumecheng-3828	13	21	received	receive	VERB
fumecheng-3828	13	22	april	april	PROPN
fumecheng-3828	13	23	04	04	NUM
fumecheng-3828	13	24	,	,	PUNCT
fumecheng-3828	13	25	2018	2018	NUM
fumecheng-3828	13	26	/	/	PUNCT
fumecheng-3828	13	27	accepted	accept	VERB
fumecheng-3828	13	28	may	may	AUX
fumecheng-3828	13	29	15	15	NUM
fumecheng-3828	13	30	,	,	PUNCT
fumecheng-3828	13	31	2018	2018	NUM
fumecheng-3828	13	32	corresponding	correspond	VERB
fumecheng-3828	13	33	author	author	NOUN
fumecheng-3828	13	34	:	:	PUNCT
fumecheng-3828	13	35	dragoslav	dragoslav	PROPN
fumecheng-3828	13	36	janošević	janošević	PROPN
fumecheng-3828	13	37	university	university	PROPN
fumecheng-3828	13	38	of	of	ADP
fumecheng-3828	13	39	niš	niš	PROPN
fumecheng-3828	13	40	,	,	PUNCT
fumecheng-3828	13	41	faculty	faculty	NOUN
fumecheng-3828	13	42	of	of	ADP
fumecheng-3828	13	43	mechanical	mechanical	ADJ
fumecheng-3828	13	44	engineering	engineering	NOUN
fumecheng-3828	13	45	,	,	PUNCT
fumecheng-3828	13	46	department	department	NOUN
fumecheng-3828	13	47	for	for	ADP
fumecheng-3828	13	48	material	material	NOUN
fumecheng-3828	13	49	handling	handling	NOUN
fumecheng-3828	13	50	systems	system	NOUN
fumecheng-3828	13	51	and	and	CCONJ
fumecheng-3828	13	52	logistics	logistic	NOUN
fumecheng-3828	13	53	,	,	PUNCT
fumecheng-3828	13	54	a.	a.	PROPN
fumecheng-3828	13	55	medvedeva	medvedeva	PROPN
fumecheng-3828	13	56	14	14	NUM
fumecheng-3828	13	57	,	,	PUNCT
fumecheng-3828	13	58	18000	18000	NUM
fumecheng-3828	13	59	niš	niš	NOUN
fumecheng-3828	13	60	,	,	PUNCT
fumecheng-3828	13	61	serbia	serbia	PROPN
fumecheng-3828	13	62	e	e	NOUN
fumecheng-3828	13	63	-	-	NOUN
fumecheng-3828	13	64	mail	mail	NOUN
fumecheng-3828	13	65	:	:	PUNCT
fumecheng-3828	13	66	janos@masfak.ni.ac.rs	janos@masfak.ni.ac.rs	NUM
fumecheng-3828	13	67	158	158	NUM
fumecheng-3828	13	68	d.	d.	PROPN
fumecheng-3828	13	69	janošević	janošević	PROPN
fumecheng-3828	13	70	,	,	PUNCT
fumecheng-3828	13	71	j.	j.	PROPN
fumecheng-3828	13	72	pavlović	pavlović	PROPN
fumecheng-3828	13	73	,	,	PUNCT
fumecheng-3828	13	74	v.	v.	ADP
fumecheng-3828	13	75	jovanović	jovanović	PROPN
fumecheng-3828	13	76	,	,	PUNCT
fumecheng-3828	13	77	g.	g.	PROPN
fumecheng-3828	13	78	petrović	petrović	PROPN
fumecheng-3828	13	79	systems	system	NOUN
fumecheng-3828	13	80	during	during	ADP
fumecheng-3828	13	81	their	their	PRON
fumecheng-3828	13	82	cyclic	cyclic	ADJ
fumecheng-3828	13	83	operation	operation	NOUN
fumecheng-3828	14	1	[	[	X
fumecheng-3828	14	2	5	5	NUM
fumecheng-3828	14	3	-	-	SYM
fumecheng-3828	14	4	7	7	NUM
fumecheng-3828	14	5	]	]	PUNCT
fumecheng-3828	14	6	where	where	SCONJ
fumecheng-3828	14	7	actuators	actuator	NOUN
fumecheng-3828	14	8	(	(	PUNCT
fumecheng-3828	14	9	hydraulic	hydraulic	PROPN
fumecheng-3828	14	10	motors	motor	NOUN
fumecheng-3828	14	11	and	and	CCONJ
fumecheng-3828	14	12	hydraulic	hydraulic	ADJ
fumecheng-3828	14	13	cylinders	cylinder	NOUN
fumecheng-3828	14	14	)	)	PUNCT
fumecheng-3828	14	15	of	of	ADP
fumecheng-3828	14	16	the	the	DET
fumecheng-3828	14	17	excavator	excavator	NOUN
fumecheng-3828	14	18	drive	drive	NOUN
fumecheng-3828	14	19	mechanisms	mechanism	NOUN
fumecheng-3828	14	20	appear	appear	VERB
fumecheng-3828	14	21	as	as	ADP
fumecheng-3828	14	22	extremely	extremely	ADV
fumecheng-3828	14	23	elastically	elastically	ADV
fumecheng-3828	14	24	dampened	dampened	ADJ
fumecheng-3828	14	25	system	system	NOUN
fumecheng-3828	14	26	members	member	NOUN
fumecheng-3828	14	27	in	in	ADP
fumecheng-3828	14	28	the	the	DET
fumecheng-3828	14	29	shape	shape	NOUN
fumecheng-3828	14	30	of	of	ADP
fumecheng-3828	14	31	hydraulic	hydraulic	ADJ
fumecheng-3828	14	32	springs	spring	NOUN
fumecheng-3828	14	33	.	.	PUNCT
fumecheng-3828	15	1	they	they	PRON
fumecheng-3828	15	2	occur	occur	VERB
fumecheng-3828	15	3	due	due	ADP
fumecheng-3828	15	4	to	to	ADP
fumecheng-3828	15	5	the	the	DET
fumecheng-3828	15	6	compressibility	compressibility	NOUN
fumecheng-3828	15	7	of	of	ADP
fumecheng-3828	15	8	oil	oil	NOUN
fumecheng-3828	15	9	in	in	ADP
fumecheng-3828	15	10	the	the	DET
fumecheng-3828	15	11	actuator	actuator	NOUN
fumecheng-3828	15	12	displacement	displacement	NOUN
fumecheng-3828	15	13	and	and	CCONJ
fumecheng-3828	15	14	ducts	duct	NOUN
fumecheng-3828	15	15	of	of	ADP
fumecheng-3828	15	16	the	the	DET
fumecheng-3828	15	17	excavator	excavator	NOUN
fumecheng-3828	15	18	hydrostatic	hydrostatic	ADJ
fumecheng-3828	15	19	drive	drive	NOUN
fumecheng-3828	15	20	system	system	NOUN
fumecheng-3828	15	21	.	.	PUNCT
fumecheng-3828	16	1	the	the	DET
fumecheng-3828	16	2	dynamic	dynamic	ADJ
fumecheng-3828	16	3	behavior	behavior	NOUN
fumecheng-3828	16	4	of	of	ADP
fumecheng-3828	16	5	an	an	DET
fumecheng-3828	16	6	excavator	excavator	NOUN
fumecheng-3828	16	7	is	be	AUX
fumecheng-3828	16	8	pronounced	pronounce	VERB
fumecheng-3828	16	9	during	during	ADP
fumecheng-3828	16	10	the	the	DET
fumecheng-3828	16	11	material	material	NOUN
fumecheng-3828	16	12	transfer	transfer	NOUN
fumecheng-3828	16	13	and	and	CCONJ
fumecheng-3828	16	14	unloading	unloading	NOUN
fumecheng-3828	16	15	operations	operation	NOUN
fumecheng-3828	16	16	when	when	SCONJ
fumecheng-3828	16	17	disturbances	disturbance	NOUN
fumecheng-3828	16	18	which	which	PRON
fumecheng-3828	16	19	may	may	AUX
fumecheng-3828	16	20	cause	cause	VERB
fumecheng-3828	16	21	the	the	DET
fumecheng-3828	16	22	dynamic	dynamic	ADJ
fumecheng-3828	16	23	instability	instability	NOUN
fumecheng-3828	16	24	of	of	ADP
fumecheng-3828	16	25	the	the	DET
fumecheng-3828	16	26	excavator	excavator	NOUN
fumecheng-3828	16	27	occur	occur	VERB
fumecheng-3828	16	28	.	.	PUNCT
fumecheng-3828	17	1	elastically	elastically	ADV
fumecheng-3828	17	2	dampened	dampened	ADJ
fumecheng-3828	17	3	characteristics	characteristic	NOUN
fumecheng-3828	17	4	of	of	ADP
fumecheng-3828	17	5	the	the	DET
fumecheng-3828	17	6	excavator	excavator	NOUN
fumecheng-3828	17	7	actuators	actuator	NOUN
fumecheng-3828	17	8	,	,	PUNCT
fumecheng-3828	17	9	therefore	therefore	ADV
fumecheng-3828	17	10	,	,	PUNCT
fumecheng-3828	17	11	the	the	DET
fumecheng-3828	17	12	dynamic	dynamic	ADJ
fumecheng-3828	17	13	stability	stability	NOUN
fumecheng-3828	17	14	of	of	ADP
fumecheng-3828	17	15	the	the	DET
fumecheng-3828	17	16	excavator	excavator	NOUN
fumecheng-3828	17	17	itself	itself	PRON
fumecheng-3828	17	18	,	,	PUNCT
fumecheng-3828	17	19	are	be	AUX
fumecheng-3828	17	20	greatly	greatly	ADV
fumecheng-3828	17	21	influenced	influence	VERB
fumecheng-3828	17	22	by	by	ADP
fumecheng-3828	17	23	the	the	DET
fumecheng-3828	17	24	temperature	temperature	NOUN
fumecheng-3828	17	25	of	of	ADP
fumecheng-3828	17	26	the	the	DET
fumecheng-3828	17	27	hydraulic	hydraulic	ADJ
fumecheng-3828	17	28	oil	oil	NOUN
fumecheng-3828	17	29	in	in	ADP
fumecheng-3828	17	30	the	the	DET
fumecheng-3828	17	31	excavator	excavator	NOUN
fumecheng-3828	17	32	drive	drive	NOUN
fumecheng-3828	17	33	system	system	NOUN
fumecheng-3828	17	34	.	.	PUNCT
fumecheng-3828	18	1	the	the	DET
fumecheng-3828	18	2	paper	paper	NOUN
fumecheng-3828	18	3	contains	contain	VERB
fumecheng-3828	18	4	an	an	DET
fumecheng-3828	18	5	analysis	analysis	NOUN
fumecheng-3828	18	6	of	of	ADP
fumecheng-3828	18	7	the	the	DET
fumecheng-3828	18	8	influence	influence	NOUN
fumecheng-3828	18	9	that	that	PRON
fumecheng-3828	18	10	the	the	DET
fumecheng-3828	18	11	oil	oil	NOUN
fumecheng-3828	18	12	temperature	temperature	NOUN
fumecheng-3828	18	13	in	in	ADP
fumecheng-3828	18	14	the	the	DET
fumecheng-3828	18	15	excavator	excavator	NOUN
fumecheng-3828	18	16	hydrostatic	hydrostatic	ADJ
fumecheng-3828	18	17	drive	drive	NOUN
fumecheng-3828	18	18	system	system	NOUN
fumecheng-3828	18	19	exerts	exert	VERB
fumecheng-3828	18	20	on	on	ADP
fumecheng-3828	18	21	the	the	DET
fumecheng-3828	18	22	excavator	excavator	NOUN
fumecheng-3828	18	23	’s	’s	PART
fumecheng-3828	18	24	dynamic	dynamic	ADJ
fumecheng-3828	18	25	stability	stability	NOUN
fumecheng-3828	18	26	.	.	PUNCT
fumecheng-3828	19	1	2	2	X
fumecheng-3828	19	2	.	.	X
fumecheng-3828	19	3	dynamic	dynamic	ADJ
fumecheng-3828	19	4	excavator	excavator	NOUN
fumecheng-3828	19	5	model	model	NOUN
fumecheng-3828	19	6	when	when	SCONJ
fumecheng-3828	19	7	analyzing	analyze	VERB
fumecheng-3828	19	8	the	the	DET
fumecheng-3828	19	9	dynamic	dynamic	ADJ
fumecheng-3828	19	10	stability	stability	NOUN
fumecheng-3828	19	11	of	of	ADP
fumecheng-3828	19	12	an	an	DET
fumecheng-3828	19	13	excavator	excavator	NOUN
fumecheng-3828	19	14	one	one	NOUN
fumecheng-3828	19	15	observes	observe	VERB
fumecheng-3828	19	16	the	the	DET
fumecheng-3828	19	17	physical	physical	ADJ
fumecheng-3828	19	18	model	model	NOUN
fumecheng-3828	19	19	of	of	ADP
fumecheng-3828	19	20	the	the	DET
fumecheng-3828	19	21	machine	machine	NOUN
fumecheng-3828	19	22	with	with	ADP
fumecheng-3828	19	23	the	the	DET
fumecheng-3828	19	24	kinematic	kinematic	ADJ
fumecheng-3828	19	25	chain	chain	NOUN
fumecheng-3828	19	26	of	of	ADP
fumecheng-3828	19	27	general	general	ADJ
fumecheng-3828	19	28	configuration	configuration	NOUN
fumecheng-3828	19	29	comprising	comprising	NOUN
fumecheng-3828	19	30	:	:	PUNCT
fumecheng-3828	19	31	support	support	NOUN
fumecheng-3828	19	32	and	and	CCONJ
fumecheng-3828	19	33	movement	movement	NOUN
fumecheng-3828	19	34	member	member	PROPN
fumecheng-3828	19	35	l1	l1	PROPN
fumecheng-3828	19	36	(	(	PUNCT
fumecheng-3828	19	37	fig	fig	NOUN
fumecheng-3828	19	38	.	.	PUNCT
fumecheng-3828	20	1	1a	1a	NOUN
fumecheng-3828	20	2	)	)	PUNCT
fumecheng-3828	20	3	,	,	PUNCT
fumecheng-3828	20	4	rotating	rotate	VERB
fumecheng-3828	20	5	member	member	NOUN
fumecheng-3828	20	6	l2	l2	NOUN
fumecheng-3828	20	7	,	,	PUNCT
fumecheng-3828	20	8	boom	boom	NOUN
fumecheng-3828	20	9	l3	l3	PROPN
fumecheng-3828	20	10	,	,	PUNCT
fumecheng-3828	20	11	stick	stick	PROPN
fumecheng-3828	20	12	l4	l4	PROPN
fumecheng-3828	20	13	and	and	CCONJ
fumecheng-3828	20	14	bucket	bucket	NOUN
fumecheng-3828	20	15	l5	l5	NOUN
fumecheng-3828	20	16	.	.	PUNCT
fumecheng-3828	21	1	the	the	DET
fumecheng-3828	21	2	members	member	NOUN
fumecheng-3828	21	3	of	of	ADP
fumecheng-3828	21	4	the	the	DET
fumecheng-3828	21	5	excavator	excavator	NOUN
fumecheng-3828	21	6	kinematic	kinematic	ADJ
fumecheng-3828	21	7	chain	chain	NOUN
fumecheng-3828	21	8	form	form	VERB
fumecheng-3828	21	9	the	the	DET
fumecheng-3828	21	10	rotating	rotate	VERB
fumecheng-3828	21	11	kinematic	kinematic	ADJ
fumecheng-3828	21	12	pairs	pair	NOUN
fumecheng-3828	21	13	of	of	ADP
fumecheng-3828	21	14	the	the	DET
fumecheng-3828	21	15	fifth	fifth	ADJ
fumecheng-3828	21	16	class	class	NOUN
fumecheng-3828	21	17	.	.	PUNCT
fumecheng-3828	22	1	the	the	DET
fumecheng-3828	22	2	members	member	NOUN
fumecheng-3828	22	3	of	of	ADP
fumecheng-3828	22	4	the	the	DET
fumecheng-3828	22	5	kinematic	kinematic	ADJ
fumecheng-3828	22	6	pairs	pair	NOUN
fumecheng-3828	22	7	are	be	AUX
fumecheng-3828	22	8	joined	join	VERB
fumecheng-3828	22	9	,	,	PUNCT
fumecheng-3828	22	10	directly	directly	ADV
fumecheng-3828	22	11	or	or	CCONJ
fumecheng-3828	22	12	indirectly	indirectly	ADV
fumecheng-3828	22	13	,	,	PUNCT
fumecheng-3828	22	14	by	by	ADP
fumecheng-3828	22	15	hydraulic	hydraulic	ADJ
fumecheng-3828	22	16	actuators	actuator	NOUN
fumecheng-3828	22	17	:	:	PUNCT
fumecheng-3828	22	18	hydraulic	hydraulic	ADJ
fumecheng-3828	22	19	motor	motor	PROPN
fumecheng-3828	22	20	c2	c2	PROPN
fumecheng-3828	22	21	(	(	PUNCT
fumecheng-3828	22	22	fig	fig	PROPN
fumecheng-3828	22	23	.	.	PUNCT
fumecheng-3828	23	1	1b	1b	NUM
fumecheng-3828	23	2	)	)	PUNCT
fumecheng-3828	23	3	of	of	ADP
fumecheng-3828	23	4	the	the	DET
fumecheng-3828	23	5	platform	platform	NOUN
fumecheng-3828	23	6	rotation	rotation	NOUN
fumecheng-3828	23	7	drive	drive	NOUN
fumecheng-3828	23	8	and	and	CCONJ
fumecheng-3828	23	9	hydraulic	hydraulic	ADJ
fumecheng-3828	23	10	cylinders	cylinder	NOUN
fumecheng-3828	23	11	c3	c3	PROPN
fumecheng-3828	23	12	,	,	PUNCT
fumecheng-3828	23	13	c4	c4	NOUN
fumecheng-3828	23	14	,	,	PUNCT
fumecheng-3828	23	15	c5	c5	PROPN
fumecheng-3828	23	16	of	of	ADP
fumecheng-3828	23	17	the	the	DET
fumecheng-3828	23	18	manipulator	manipulator	NOUN
fumecheng-3828	23	19	drive	drive	NOUN
fumecheng-3828	23	20	which	which	PRON
fumecheng-3828	23	21	are	be	AUX
fumecheng-3828	23	22	powered	power	VERB
fumecheng-3828	23	23	,	,	PUNCT
fumecheng-3828	23	24	through	through	ADP
fumecheng-3828	23	25	the	the	DET
fumecheng-3828	23	26	hydraulic	hydraulic	ADJ
fumecheng-3828	23	27	distributor	distributor	NOUN
fumecheng-3828	23	28	3	3	NUM
fumecheng-3828	23	29	,	,	PUNCT
fumecheng-3828	23	30	by	by	ADP
fumecheng-3828	23	31	hydraulic	hydraulic	ADJ
fumecheng-3828	23	32	pumps	pump	NOUN
fumecheng-3828	23	33	2	2	NUM
fumecheng-3828	23	34	driven	drive	VERB
fumecheng-3828	23	35	by	by	ADP
fumecheng-3828	23	36	the	the	DET
fumecheng-3828	23	37	diesel	diesel	NOUN
fumecheng-3828	23	38	engine	engine	NOUN
fumecheng-3828	23	39	1	1	NUM
fumecheng-3828	23	40	.	.	PUNCT
fumecheng-3828	24	1	with	with	ADP
fumecheng-3828	24	2	regard	regard	NOUN
fumecheng-3828	24	3	to	to	ADP
fumecheng-3828	24	4	the	the	DET
fumecheng-3828	24	5	physical	physical	ADJ
fumecheng-3828	24	6	model	model	NOUN
fumecheng-3828	24	7	,	,	PUNCT
fumecheng-3828	24	8	a	a	DET
fumecheng-3828	24	9	dynamic	dynamic	ADJ
fumecheng-3828	24	10	mathematical	mathematical	ADJ
fumecheng-3828	24	11	model	model	NOUN
fumecheng-3828	24	12	of	of	ADP
fumecheng-3828	24	13	the	the	DET
fumecheng-3828	24	14	excavator	excavator	NOUN
fumecheng-3828	24	15	(	(	PUNCT
fumecheng-3828	24	16	fig	fig	NOUN
fumecheng-3828	24	17	.	.	PUNCT
fumecheng-3828	24	18	2	2	NUM
fumecheng-3828	24	19	)	)	PUNCT
fumecheng-3828	24	20	was	be	AUX
fumecheng-3828	24	21	adopted	adopt	VERB
fumecheng-3828	24	22	with	with	ADP
fumecheng-3828	24	23	the	the	DET
fumecheng-3828	24	24	following	follow	VERB
fumecheng-3828	24	25	assumptions	assumption	NOUN
fumecheng-3828	24	26	:	:	PUNCT
fumecheng-3828	24	27	a	a	X
fumecheng-3828	24	28	)	)	PUNCT
fumecheng-3828	24	29	the	the	DET
fumecheng-3828	24	30	mechanical	mechanical	ADJ
fumecheng-3828	24	31	model	model	NOUN
fumecheng-3828	24	32	of	of	ADP
fumecheng-3828	24	33	the	the	DET
fumecheng-3828	24	34	excavator	excavator	NOUN
fumecheng-3828	24	35	is	be	AUX
fumecheng-3828	24	36	a	a	DET
fumecheng-3828	24	37	non	non	ADJ
fumecheng-3828	24	38	–	–	ADJ
fumecheng-3828	24	39	conservative	conservative	ADJ
fumecheng-3828	24	40	system	system	NOUN
fumecheng-3828	24	41	with	with	ADP
fumecheng-3828	24	42	stationary	stationary	ADJ
fumecheng-3828	24	43	and	and	CCONJ
fumecheng-3828	24	44	ideal	ideal	ADJ
fumecheng-3828	24	45	links	link	NOUN
fumecheng-3828	24	46	,	,	PUNCT
fumecheng-3828	24	47	b	b	NOUN
fumecheng-3828	24	48	)	)	PUNCT
fumecheng-3828	24	49	small	small	ADJ
fumecheng-3828	24	50	system	system	NOUN
fumecheng-3828	24	51	oscillations	oscillation	NOUN
fumecheng-3828	24	52	are	be	AUX
fumecheng-3828	24	53	observed	observe	VERB
fumecheng-3828	24	54	around	around	ADP
fumecheng-3828	24	55	the	the	DET
fumecheng-3828	24	56	stable	stable	ADJ
fumecheng-3828	24	57	balance	balance	NOUN
fumecheng-3828	24	58	position	position	NOUN
fumecheng-3828	24	59	,	,	PUNCT
fumecheng-3828	24	60	c	c	X
fumecheng-3828	24	61	)	)	PUNCT
fumecheng-3828	24	62	the	the	DET
fumecheng-3828	24	63	excavator	excavator	NOUN
fumecheng-3828	24	64	support	support	NOUN
fumecheng-3828	24	65	base	base	NOUN
fumecheng-3828	24	66	has	have	VERB
fumecheng-3828	24	67	elastically	elastically	ADV
fumecheng-3828	24	68	dampened	dampen	VERB
fumecheng-3828	24	69	properties	property	NOUN
fumecheng-3828	24	70	,	,	PUNCT
fumecheng-3828	24	71	d	d	X
fumecheng-3828	24	72	)	)	PUNCT
fumecheng-3828	24	73	the	the	DET
fumecheng-3828	24	74	members	member	NOUN
fumecheng-3828	24	75	of	of	ADP
fumecheng-3828	24	76	the	the	DET
fumecheng-3828	24	77	excavator	excavator	NOUN
fumecheng-3828	24	78	kinematic	kinematic	ADJ
fumecheng-3828	24	79	chain	chain	NOUN
fumecheng-3828	24	80	are	be	AUX
fumecheng-3828	24	81	rigid	rigid	ADJ
fumecheng-3828	24	82	bodies	body	NOUN
fumecheng-3828	24	83	,	,	PUNCT
fumecheng-3828	24	84	e	e	X
fumecheng-3828	24	85	)	)	PUNCT
fumecheng-3828	24	86	the	the	DET
fumecheng-3828	24	87	hydraulic	hydraulic	ADJ
fumecheng-3828	24	88	actuators	actuator	NOUN
fumecheng-3828	24	89	of	of	ADP
fumecheng-3828	24	90	the	the	DET
fumecheng-3828	24	91	drive	drive	ADJ
fumecheng-3828	24	92	mechanisms	mechanism	NOUN
fumecheng-3828	24	93	are	be	AUX
fumecheng-3828	24	94	elastically	elastically	ADV
fumecheng-3828	24	95	dampened	dampen	VERB
fumecheng-3828	24	96	systems	system	NOUN
fumecheng-3828	24	97	due	due	ADP
fumecheng-3828	24	98	to	to	ADP
fumecheng-3828	24	99	the	the	DET
fumecheng-3828	24	100	oil	oil	NOUN
fumecheng-3828	24	101	compressibility	compressibility	NOUN
fumecheng-3828	24	102	and	and	CCONJ
fumecheng-3828	24	103	viscosity	viscosity	NOUN
fumecheng-3828	24	104	,	,	PUNCT
fumecheng-3828	24	105	and	and	CCONJ
fumecheng-3828	24	106	f	f	X
fumecheng-3828	24	107	)	)	PUNCT
fumecheng-3828	24	108	the	the	DET
fumecheng-3828	24	109	bulk	bulk	ADJ
fumecheng-3828	24	110	modulus	modulus	NOUN
fumecheng-3828	24	111	of	of	ADP
fumecheng-3828	24	112	the	the	DET
fumecheng-3828	24	113	hydraulic	hydraulic	ADJ
fumecheng-3828	24	114	oil	oil	NOUN
fumecheng-3828	24	115	is	be	AUX
fumecheng-3828	24	116	constant	constant	ADJ
fumecheng-3828	24	117	for	for	ADP
fumecheng-3828	24	118	a	a	DET
fumecheng-3828	24	119	certain	certain	ADJ
fumecheng-3828	24	120	oil	oil	NOUN
fumecheng-3828	24	121	pressure	pressure	NOUN
fumecheng-3828	24	122	and	and	CCONJ
fumecheng-3828	24	123	temperature	temperature	NOUN
fumecheng-3828	24	124	.	.	PUNCT
fumecheng-3828	25	1	fig	fig	NOUN
fumecheng-3828	25	2	.	.	PUNCT
fumecheng-3828	26	1	1	1	NUM
fumecheng-3828	26	2	hydraulic	hydraulic	ADJ
fumecheng-3828	26	3	excavators	excavator	NOUN
fumecheng-3828	26	4	:	:	PUNCT
fumecheng-3828	26	5	a	a	X
fumecheng-3828	26	6	)	)	PUNCT
fumecheng-3828	26	7	physical	physical	ADJ
fumecheng-3828	26	8	model	model	NOUN
fumecheng-3828	26	9	,	,	PUNCT
fumecheng-3828	26	10	b	b	X
fumecheng-3828	26	11	)	)	PUNCT
fumecheng-3828	26	12	hydrostatic	hydrostatic	ADJ
fumecheng-3828	26	13	drive	drive	NOUN
fumecheng-3828	26	14	system	system	NOUN
fumecheng-3828	26	15	a	a	DET
fumecheng-3828	26	16	numerical	numerical	ADJ
fumecheng-3828	26	17	and	and	CCONJ
fumecheng-3828	26	18	experimental	experimental	ADJ
fumecheng-3828	26	19	analysis	analysis	NOUN
fumecheng-3828	26	20	of	of	ADP
fumecheng-3828	26	21	the	the	DET
fumecheng-3828	26	22	dynamic	dynamic	ADJ
fumecheng-3828	26	23	stability	stability	NOUN
fumecheng-3828	26	24	of	of	ADP
fumecheng-3828	26	25	hydraulic	hydraulic	ADJ
fumecheng-3828	26	26	excavators	excavator	NOUN
fumecheng-3828	26	27	159	159	NUM
fumecheng-3828	26	28	in	in	ADP
fumecheng-3828	26	29	the	the	DET
fumecheng-3828	26	30	mathematical	mathematical	ADJ
fumecheng-3828	26	31	model	model	NOUN
fumecheng-3828	26	32	,	,	PUNCT
fumecheng-3828	26	33	a	a	DET
fumecheng-3828	26	34	member	member	NOUN
fumecheng-3828	26	35	of	of	ADP
fumecheng-3828	26	36	excavator	excavator	NOUN
fumecheng-3828	26	37	kinematic	kinematic	PROPN
fumecheng-3828	26	38	chain	chain	NOUN
fumecheng-3828	26	39	li	li	PROPN
fumecheng-3828	26	40	is	be	AUX
fumecheng-3828	26	41	defined	define	VERB
fumecheng-3828	26	42	,	,	PUNCT
fumecheng-3828	26	43	in	in	ADP
fumecheng-3828	26	44	its	its	PRON
fumecheng-3828	26	45	local	local	ADJ
fumecheng-3828	26	46	coordinate	coordinate	NOUN
fumecheng-3828	26	47	system	system	NOUN
fumecheng-3828	26	48	oi	oi	INTJ
fumecheng-3828	26	49	xi	xi	PROPN
fumecheng-3828	26	50	yi	yi	PROPN
fumecheng-3828	26	51	zi	zi	PROPN
fumecheng-3828	26	52	,	,	PUNCT
fumecheng-3828	26	53	by	by	ADP
fumecheng-3828	26	54	a	a	DET
fumecheng-3828	26	55	set	set	NOUN
fumecheng-3828	26	56	of	of	ADP
fumecheng-3828	26	57	geometric	geometric	ADJ
fumecheng-3828	26	58	,	,	PUNCT
fumecheng-3828	26	59	kinematic	kinematic	ADJ
fumecheng-3828	26	60	and	and	CCONJ
fumecheng-3828	26	61	dynamic	dynamic	ADJ
fumecheng-3828	26	62	parameters	parameter	NOUN
fumecheng-3828	26	63	(	(	PUNCT
fumecheng-3828	26	64	fig	fig	NOUN
fumecheng-3828	26	65	.	.	PUNCT
fumecheng-3828	27	1	2	2	NUM
fumecheng-3828	27	2	):	):	PUNCT
fumecheng-3828	27	3	{	{	PUNCT
fumecheng-3828	27	4	,	,	PUNCT
fumecheng-3828	27	5	,	,	PUNCT
fumecheng-3828	27	6	,	,	PUNCT
fumecheng-3828	27	7	}	}	PUNCT
fumecheng-3828	27	8	i	i	PRON
fumecheng-3828	27	9	i	i	PRON
fumecheng-3828	28	1	i	i	PRON
fumecheng-3828	29	1	i	i	PRON
fumecheng-3828	29	2	il	il	VERB
fumecheng-3828	30	1	m	m	PROPN
fumecheng-3828	30	2	s	s	PROPN
fumecheng-3828	30	3	t	t	PROPN
fumecheng-3828	30	4	j	j	PROPN
fumecheng-3828	30	5	(	(	PUNCT
fumecheng-3828	30	6	1	1	NUM
fumecheng-3828	30	7	)	)	PUNCT
fumecheng-3828	30	8	where	where	SCONJ
fumecheng-3828	30	9	:	:	PUNCT
fumecheng-3828	30	10	si	si	X
fumecheng-3828	30	11	–	–	PUNCT
fumecheng-3828	30	12	the	the	DET
fumecheng-3828	30	13	vector	vector	NOUN
fumecheng-3828	30	14	of	of	ADP
fumecheng-3828	30	15	the	the	DET
fumecheng-3828	30	16	centre	centre	NOUN
fumecheng-3828	30	17	position	position	NOUN
fumecheng-3828	30	18	of	of	ADP
fumecheng-3828	30	19	joint	joint	NOUN
fumecheng-3828	30	20	oi+1	oi+1	ADV
fumecheng-3828	30	21	which	which	PRON
fumecheng-3828	30	22	links	link	VERB
fumecheng-3828	30	23	chain	chain	NOUN
fumecheng-3828	30	24	member	member	NOUN
fumecheng-3828	30	25	li	li	PROPN
fumecheng-3828	30	26	to	to	ADP
fumecheng-3828	30	27	next	next	ADJ
fumecheng-3828	30	28	member	member	NOUN
fumecheng-3828	30	29	li–1	li–1	PROPN
fumecheng-3828	30	30	(	(	PUNCT
fumecheng-3828	30	31	vector	vector	NOUN
fumecheng-3828	30	32	magnitude	magnitude	NOUN
fumecheng-3828	30	33	si	si	PROPN
fumecheng-3828	30	34	represents	represent	VERB
fumecheng-3828	30	35	the	the	DET
fumecheng-3828	30	36	kinematic	kinematic	ADJ
fumecheng-3828	30	37	length	length	NOUN
fumecheng-3828	30	38	of	of	ADP
fumecheng-3828	30	39	the	the	DET
fumecheng-3828	30	40	member	member	NOUN
fumecheng-3828	30	41	)	)	PUNCT
fumecheng-3828	30	42	,	,	PUNCT
fumecheng-3828	30	43	ti	ti	INTJ
fumecheng-3828	30	44	–	–	PUNCT
fumecheng-3828	30	45	the	the	DET
fumecheng-3828	30	46	vector	vector	NOUN
fumecheng-3828	30	47	of	of	ADP
fumecheng-3828	30	48	the	the	DET
fumecheng-3828	30	49	mass	mass	ADJ
fumecheng-3828	30	50	centre	centre	NOUN
fumecheng-3828	30	51	position	position	NOUN
fumecheng-3828	30	52	of	of	ADP
fumecheng-3828	30	53	member	member	PROPN
fumecheng-3828	30	54	li	li	PROPN
fumecheng-3828	30	55	,	,	PUNCT
fumecheng-3828	30	56	mi	mi	PROPN
fumecheng-3828	30	57	–	–	PUNCT
fumecheng-3828	30	58	the	the	DET
fumecheng-3828	30	59	member	member	NOUN
fumecheng-3828	30	60	mass	mass	PROPN
fumecheng-3828	30	61	,	,	PUNCT
fumecheng-3828	30	62	ji	ji	PROPN
fumecheng-3828	30	63	–	–	PUNCT
fumecheng-3828	30	64	the	the	DET
fumecheng-3828	30	65	moment	moment	NOUN
fumecheng-3828	30	66	of	of	ADP
fumecheng-3828	30	67	the	the	DET
fumecheng-3828	30	68	member	member	NOUN
fumecheng-3828	30	69	inertia	inertia	NOUN
fumecheng-3828	30	70	.	.	PUNCT
fumecheng-3828	31	1	fig	fig	NOUN
fumecheng-3828	31	2	.	.	PUNCT
fumecheng-3828	32	1	2	2	NUM
fumecheng-3828	32	2	mathematical	mathematical	ADJ
fumecheng-3828	32	3	model	model	NOUN
fumecheng-3828	32	4	of	of	ADP
fumecheng-3828	32	5	the	the	DET
fumecheng-3828	32	6	excavator	excavator	NOUN
fumecheng-3828	32	7	160	160	NUM
fumecheng-3828	32	8	d.	d.	PROPN
fumecheng-3828	32	9	janošević	janošević	PROPN
fumecheng-3828	32	10	,	,	PUNCT
fumecheng-3828	32	11	j.	j.	PROPN
fumecheng-3828	32	12	pavlović	pavlović	PROPN
fumecheng-3828	32	13	,	,	PUNCT
fumecheng-3828	32	14	v.	v.	ADP
fumecheng-3828	32	15	jovanović	jovanović	PROPN
fumecheng-3828	32	16	,	,	PUNCT
fumecheng-3828	32	17	g.	g.	PROPN
fumecheng-3828	32	18	petrović	petrović	PROPN
fumecheng-3828	32	19	in	in	ADP
fumecheng-3828	32	20	the	the	DET
fumecheng-3828	32	21	mathematical	mathematical	ADJ
fumecheng-3828	32	22	model	model	NOUN
fumecheng-3828	32	23	,	,	PUNCT
fumecheng-3828	32	24	the	the	DET
fumecheng-3828	32	25	parameters	parameter	NOUN
fumecheng-3828	32	26	of	of	ADP
fumecheng-3828	32	27	the	the	DET
fumecheng-3828	32	28	actuators	actuator	NOUN
fumecheng-3828	32	29	(	(	PUNCT
fumecheng-3828	32	30	hydraulic	hydraulic	PROPN
fumecheng-3828	32	31	motors	motor	NOUN
fumecheng-3828	32	32	and	and	CCONJ
fumecheng-3828	32	33	hydraulic	hydraulic	ADJ
fumecheng-3828	32	34	cylinders	cylinder	NOUN
fumecheng-3828	32	35	)	)	PUNCT
fumecheng-3828	32	36	of	of	ADP
fumecheng-3828	32	37	the	the	DET
fumecheng-3828	32	38	excavator	excavator	NOUN
fumecheng-3828	32	39	drive	drive	NOUN
fumecheng-3828	32	40	mechanisms	mechanism	NOUN
fumecheng-3828	32	41	are	be	AUX
fumecheng-3828	32	42	determined	determine	VERB
fumecheng-3828	32	43	by	by	ADP
fumecheng-3828	32	44	a	a	DET
fumecheng-3828	32	45	set	set	NOUN
fumecheng-3828	32	46	of	of	ADP
fumecheng-3828	32	47	quantities	quantity	NOUN
fumecheng-3828	32	48	:	:	PUNCT
fumecheng-3828	32	49	1	1	NUM
fumecheng-3828	32	50	2	2	NUM
fumecheng-3828	32	51	{	{	PUNCT
fumecheng-3828	32	52	,	,	PUNCT
fumecheng-3828	32	53	,	,	PUNCT
fumecheng-3828	32	54	,	,	PUNCT
fumecheng-3828	32	55	,	,	PUNCT
fumecheng-3828	32	56	,	,	PUNCT
fumecheng-3828	32	57	}	}	PUNCT
fumecheng-3828	32	58	i	i	PRON
fumecheng-3828	33	1	i	i	PRON
fumecheng-3828	33	2	i	i	PRON
fumecheng-3828	33	3	ip	ip	VERB
fumecheng-3828	33	4	ik	ik	PROPN
fumecheng-3828	33	5	ci	ci	PROPN
fumecheng-3828	33	6	cic	cic	PROPN
fumecheng-3828	34	1	d	d	PROPN
fumecheng-3828	34	2	d	d	PROPN
fumecheng-3828	34	3	c	c	PROPN
fumecheng-3828	34	4	c	c	PROPN
fumecheng-3828	34	5	m	m	VERB
fumecheng-3828	34	6	n	n	NOUN
fumecheng-3828	34	7	(	(	PUNCT
fumecheng-3828	34	8	2	2	NUM
fumecheng-3828	34	9	)	)	PUNCT
fumecheng-3828	34	10	where	where	SCONJ
fumecheng-3828	34	11	:	:	PUNCT
fumecheng-3828	34	12	di1	di1	NOUN
fumecheng-3828	34	13	,	,	PUNCT
fumecheng-3828	34	14	di2	di2	PROPN
fumecheng-3828	34	15	–	–	PUNCT
fumecheng-3828	34	16	the	the	DET
fumecheng-3828	34	17	parameters	parameter	NOUN
fumecheng-3828	34	18	of	of	ADP
fumecheng-3828	34	19	actuator	actuator	NOUN
fumecheng-3828	34	20	sizes	size	NOUN
fumecheng-3828	34	21	(	(	PUNCT
fumecheng-3828	34	22	minimal	minimal	ADJ
fumecheng-3828	34	23	and	and	CCONJ
fumecheng-3828	34	24	maximal	maximal	ADJ
fumecheng-3828	34	25	specific	specific	ADJ
fumecheng-3828	34	26	flow	flow	NOUN
fumecheng-3828	34	27	of	of	ADP
fumecheng-3828	34	28	hydraulic	hydraulic	ADJ
fumecheng-3828	34	29	motors	motor	NOUN
fumecheng-3828	34	30	,	,	PUNCT
fumecheng-3828	34	31	i.e.	i.e.	X
fumecheng-3828	34	32	the	the	DET
fumecheng-3828	34	33	piston	piston	NOUN
fumecheng-3828	34	34	diameter	diameter	NOUN
fumecheng-3828	34	35	and	and	CCONJ
fumecheng-3828	34	36	the	the	DET
fumecheng-3828	34	37	piston	piston	NOUN
fumecheng-3828	34	38	rod	rod	NOUN
fumecheng-3828	34	39	diameter	diameter	NOUN
fumecheng-3828	34	40	in	in	ADP
fumecheng-3828	34	41	the	the	DET
fumecheng-3828	34	42	hydraulic	hydraulic	ADJ
fumecheng-3828	34	43	cylinder	cylinder	NOUN
fumecheng-3828	34	44	)	)	PUNCT
fumecheng-3828	34	45	,	,	PUNCT
fumecheng-3828	34	46	cip	cip	NOUN
fumecheng-3828	34	47	–	–	PUNCT
fumecheng-3828	34	48	the	the	DET
fumecheng-3828	34	49	minimal	minimal	ADJ
fumecheng-3828	34	50	length	length	NOUN
fumecheng-3828	34	51	of	of	ADP
fumecheng-3828	34	52	the	the	DET
fumecheng-3828	34	53	hydraulic	hydraulic	ADJ
fumecheng-3828	34	54	cylinder	cylinder	NOUN
fumecheng-3828	34	55	when	when	SCONJ
fumecheng-3828	34	56	the	the	DET
fumecheng-3828	34	57	piston	piston	NOUN
fumecheng-3828	34	58	rod	rod	NOUN
fumecheng-3828	34	59	is	be	AUX
fumecheng-3828	34	60	fully	fully	ADV
fumecheng-3828	34	61	drawn	draw	VERB
fumecheng-3828	34	62	in	in	ADP
fumecheng-3828	34	63	,	,	PUNCT
fumecheng-3828	34	64	cik	cik	PROPN
fumecheng-3828	34	65	–	–	PUNCT
fumecheng-3828	34	66	the	the	DET
fumecheng-3828	34	67	maximal	maximal	ADJ
fumecheng-3828	34	68	length	length	NOUN
fumecheng-3828	34	69	of	of	ADP
fumecheng-3828	34	70	the	the	DET
fumecheng-3828	34	71	hydraulic	hydraulic	ADJ
fumecheng-3828	34	72	cylinder	cylinder	NOUN
fumecheng-3828	34	73	when	when	SCONJ
fumecheng-3828	34	74	the	the	DET
fumecheng-3828	34	75	piston	piston	NOUN
fumecheng-3828	34	76	rod	rod	NOUN
fumecheng-3828	34	77	is	be	AUX
fumecheng-3828	34	78	fully	fully	ADV
fumecheng-3828	34	79	drawn	draw	VERB
fumecheng-3828	34	80	out	out	ADP
fumecheng-3828	34	81	,	,	PUNCT
fumecheng-3828	34	82	mci	mci	PROPN
fumecheng-3828	34	83	–	–	PUNCT
fumecheng-3828	34	84	the	the	DET
fumecheng-3828	34	85	actuator	actuator	NOUN
fumecheng-3828	34	86	mass	mass	PROPN
fumecheng-3828	34	87	,	,	PUNCT
fumecheng-3828	34	88	nci	nci	PROPN
fumecheng-3828	34	89	–	–	PUNCT
fumecheng-3828	34	90	the	the	DET
fumecheng-3828	34	91	number	number	NOUN
fumecheng-3828	34	92	of	of	ADP
fumecheng-3828	34	93	drive	drive	ADJ
fumecheng-3828	34	94	mechanism	mechanism	NOUN
fumecheng-3828	34	95	actuators	actuator	NOUN
fumecheng-3828	34	96	.	.	PUNCT
fumecheng-3828	35	1	the	the	DET
fumecheng-3828	35	2	movement	movement	NOUN
fumecheng-3828	35	3	of	of	ADP
fumecheng-3828	35	4	the	the	DET
fumecheng-3828	35	5	adopted	adopt	VERB
fumecheng-3828	35	6	dynamic	dynamic	ADJ
fumecheng-3828	35	7	mathematical	mathematical	ADJ
fumecheng-3828	35	8	model	model	NOUN
fumecheng-3828	35	9	of	of	ADP
fumecheng-3828	35	10	the	the	DET
fumecheng-3828	35	11	excavator	excavator	NOUN
fumecheng-3828	35	12	is	be	AUX
fumecheng-3828	35	13	defined	define	VERB
fumecheng-3828	35	14	by	by	ADP
fumecheng-3828	35	15	a	a	DET
fumecheng-3828	35	16	set	set	NOUN
fumecheng-3828	35	17	of	of	ADP
fumecheng-3828	35	18	generalized	generalized	ADJ
fumecheng-3828	35	19	coordinates	coordinate	NOUN
fumecheng-3828	35	20	(	(	PUNCT
fumecheng-3828	35	21	fig	fig	NOUN
fumecheng-3828	35	22	.	.	PUNCT
fumecheng-3828	36	1	2	2	NUM
fumecheng-3828	36	2	):	):	PUNCT
fumecheng-3828	36	3			PROPN
fumecheng-3828	36	4	543210	543210	NOUN
fumecheng-3828	36	5	,	,	PUNCT
fumecheng-3828	36	6	,	,	PUNCT
fumecheng-3828	36	7	,	,	PUNCT
fumecheng-3828	36	8	,	,	PUNCT
fumecheng-3828	36	9	,	,	PUNCT
fumecheng-3828	36	10	θ	θ	PROPN
fumecheng-3828	36	11			NOUN
fumecheng-3828	36	12	0	0	NUM
fumecheng-3828	36	13	1	1	NUM
fumecheng-3828	36	14	2	2	NUM
fumecheng-3828	36	15	3	3	NUM
fumecheng-3828	36	16	4	4	NUM
fumecheng-3828	36	17	5	5	NUM
fumecheng-3828	36	18	{	{	PUNCT
fumecheng-3828	36	19	,	,	PUNCT
fumecheng-3828	36	20	,	,	PUNCT
fumecheng-3828	36	21	,	,	PUNCT
fumecheng-3828	36	22	,	,	PUNCT
fumecheng-3828	36	23	,	,	PUNCT
fumecheng-3828	36	24	}	}	PUNCT
fumecheng-3828	36	25			X
fumecheng-3828	37	1			X
fumecheng-3828	37	2			PROPN
fumecheng-3828	37	3			PROPN
fumecheng-3828	37	4			PROPN
fumecheng-3828	37	5			VERB
fumecheng-3828	37	6			PROPN
fumecheng-3828	37	7	(	(	PUNCT
fumecheng-3828	37	8	3	3	NUM
fumecheng-3828	37	9	)	)	PUNCT
fumecheng-3828	37	10	where	where	SCONJ
fumecheng-3828	37	11	:	:	PUNCT
fumecheng-3828	37	12	θ0	θ0	PROPN
fumecheng-3828	37	13	–	–	PUNCT
fumecheng-3828	37	14	the	the	DET
fumecheng-3828	37	15	vertical	vertical	ADJ
fumecheng-3828	37	16	movement	movement	NOUN
fumecheng-3828	37	17	of	of	ADP
fumecheng-3828	37	18	the	the	DET
fumecheng-3828	37	19	mass	mass	ADJ
fumecheng-3828	37	20	centre	centre	NOUN
fumecheng-3828	37	21	of	of	ADP
fumecheng-3828	37	22	the	the	DET
fumecheng-3828	37	23	support	support	NOUN
fumecheng-3828	37	24	and	and	CCONJ
fumecheng-3828	37	25	movement	movement	NOUN
fumecheng-3828	37	26	member	member	NOUN
fumecheng-3828	37	27	,	,	PUNCT
fumecheng-3828	37	28	θ1	θ1	NOUN
fumecheng-3828	37	29	–	–	PUNCT
fumecheng-3828	37	30	the	the	DET
fumecheng-3828	37	31	angle	angle	NOUN
fumecheng-3828	37	32	of	of	ADP
fumecheng-3828	37	33	rotation	rotation	NOUN
fumecheng-3828	37	34	around	around	ADP
fumecheng-3828	37	35	the	the	DET
fumecheng-3828	37	36	main	main	ADJ
fumecheng-3828	37	37	longitudinal	longitudinal	ADJ
fumecheng-3828	37	38	central	central	ADJ
fumecheng-3828	37	39	axis	axis	NOUN
fumecheng-3828	37	40	of	of	ADP
fumecheng-3828	37	41	inertia	inertia	NOUN
fumecheng-3828	37	42	o1y1	o1y1	NUM
fumecheng-3828	37	43	of	of	ADP
fumecheng-3828	37	44	the	the	DET
fumecheng-3828	37	45	support	support	NOUN
fumecheng-3828	37	46	and	and	CCONJ
fumecheng-3828	37	47	movement	movement	NOUN
fumecheng-3828	37	48	member	member	NOUN
fumecheng-3828	37	49	,	,	PUNCT
fumecheng-3828	37	50	θ2	θ2	PROPN
fumecheng-3828	37	51	–	–	PUNCT
fumecheng-3828	37	52	the	the	DET
fumecheng-3828	37	53	angle	angle	NOUN
fumecheng-3828	37	54	of	of	ADP
fumecheng-3828	37	55	rotation	rotation	NOUN
fumecheng-3828	37	56	of	of	ADP
fumecheng-3828	37	57	the	the	DET
fumecheng-3828	37	58	rotating	rotate	VERB
fumecheng-3828	37	59	member	member	NOUN
fumecheng-3828	37	60	around	around	ADP
fumecheng-3828	37	61	the	the	DET
fumecheng-3828	37	62	o2z2	o2z2	ADJ
fumecheng-3828	37	63	axis	axis	NOUN
fumecheng-3828	37	64	of	of	ADP
fumecheng-3828	37	65	the	the	DET
fumecheng-3828	37	66	axial	axial	ADJ
fumecheng-3828	37	67	bearing	bearing	NOUN
fumecheng-3828	37	68	,	,	PUNCT
fumecheng-3828	37	69	θ3	θ3	PROPN
fumecheng-3828	37	70	–	–	PUNCT
fumecheng-3828	37	71	the	the	DET
fumecheng-3828	37	72	angle	angle	NOUN
fumecheng-3828	37	73	of	of	ADP
fumecheng-3828	37	74	rotation	rotation	NOUN
fumecheng-3828	37	75	of	of	ADP
fumecheng-3828	37	76	the	the	DET
fumecheng-3828	37	77	manipulator	manipulator	NOUN
fumecheng-3828	37	78	boom	boom	NOUN
fumecheng-3828	37	79	around	around	ADP
fumecheng-3828	37	80	the	the	DET
fumecheng-3828	37	81	o3y3	o3y3	ADJ
fumecheng-3828	37	82	axis	axis	NOUN
fumecheng-3828	37	83	of	of	ADP
fumecheng-3828	37	84	the	the	DET
fumecheng-3828	37	85	joint	joint	NOUN
fumecheng-3828	37	86	to	to	PART
fumecheng-3828	37	87	which	which	PRON
fumecheng-3828	37	88	the	the	DET
fumecheng-3828	37	89	rotating	rotate	VERB
fumecheng-3828	37	90	member	member	NOUN
fumecheng-3828	37	91	is	be	AUX
fumecheng-3828	37	92	connected	connect	VERB
fumecheng-3828	37	93	,	,	PUNCT
fumecheng-3828	37	94	θ4	θ4	NOUN
fumecheng-3828	37	95	–	–	PUNCT
fumecheng-3828	37	96	the	the	DET
fumecheng-3828	37	97	angle	angle	NOUN
fumecheng-3828	37	98	of	of	ADP
fumecheng-3828	37	99	rotation	rotation	NOUN
fumecheng-3828	37	100	of	of	ADP
fumecheng-3828	37	101	the	the	DET
fumecheng-3828	37	102	manipulator	manipulator	NOUN
fumecheng-3828	37	103	stick	stick	VERB
fumecheng-3828	37	104	around	around	ADP
fumecheng-3828	37	105	the	the	DET
fumecheng-3828	37	106	o4y4	o4y4	NOUN
fumecheng-3828	37	107	axis	axis	NOUN
fumecheng-3828	37	108	of	of	ADP
fumecheng-3828	37	109	the	the	DET
fumecheng-3828	37	110	joint	joint	NOUN
fumecheng-3828	37	111	at	at	ADP
fumecheng-3828	37	112	the	the	DET
fumecheng-3828	37	113	end	end	NOUN
fumecheng-3828	37	114	of	of	ADP
fumecheng-3828	37	115	the	the	DET
fumecheng-3828	37	116	boom	boom	NOUN
fumecheng-3828	37	117	,	,	PUNCT
fumecheng-3828	37	118	θ5	θ5	PROPN
fumecheng-3828	37	119	–	–	PUNCT
fumecheng-3828	37	120	the	the	DET
fumecheng-3828	37	121	angle	angle	NOUN
fumecheng-3828	37	122	of	of	ADP
fumecheng-3828	37	123	rotation	rotation	NOUN
fumecheng-3828	37	124	of	of	ADP
fumecheng-3828	37	125	the	the	DET
fumecheng-3828	37	126	manipulator	manipulator	NOUN
fumecheng-3828	37	127	bucket	bucket	NOUN
fumecheng-3828	37	128	around	around	ADP
fumecheng-3828	37	129	the	the	DET
fumecheng-3828	37	130	o5y5	o5y5	ADJ
fumecheng-3828	37	131	axis	axis	NOUN
fumecheng-3828	37	132	of	of	ADP
fumecheng-3828	37	133	the	the	DET
fumecheng-3828	37	134	joint	joint	NOUN
fumecheng-3828	37	135	at	at	ADP
fumecheng-3828	37	136	the	the	DET
fumecheng-3828	37	137	end	end	NOUN
fumecheng-3828	37	138	of	of	ADP
fumecheng-3828	37	139	the	the	DET
fumecheng-3828	37	140	stick	stick	NOUN
fumecheng-3828	37	141	.	.	PUNCT
fumecheng-3828	38	1	the	the	DET
fumecheng-3828	38	2	generalized	generalized	ADJ
fumecheng-3828	38	3	coordinates	coordinate	NOUN
fumecheng-3828	38	4	are	be	AUX
fumecheng-3828	38	5	assumed	assume	VERB
fumecheng-3828	38	6	to	to	PART
fumecheng-3828	38	7	be	be	AUX
fumecheng-3828	38	8	small	small	ADJ
fumecheng-3828	38	9	quantities	quantity	NOUN
fumecheng-3828	38	10	measured	measure	VERB
fumecheng-3828	38	11	from	from	ADP
fumecheng-3828	38	12	the	the	DET
fumecheng-3828	38	13	position	position	NOUN
fumecheng-3828	38	14	of	of	ADP
fumecheng-3828	38	15	the	the	DET
fumecheng-3828	38	16	system	system	NOUN
fumecheng-3828	38	17	’s	’s	PART
fumecheng-3828	38	18	stable	stable	ADJ
fumecheng-3828	38	19	balance	balance	NOUN
fumecheng-3828	38	20	.	.	PUNCT
fumecheng-3828	39	1	critical	critical	ADJ
fumecheng-3828	39	2	positions	position	NOUN
fumecheng-3828	39	3	of	of	ADP
fumecheng-3828	39	4	the	the	DET
fumecheng-3828	39	5	excavator	excavator	NOUN
fumecheng-3828	39	6	are	be	AUX
fumecheng-3828	39	7	analyzed	analyze	VERB
fumecheng-3828	39	8	when	when	SCONJ
fumecheng-3828	39	9	the	the	DET
fumecheng-3828	39	10	manipulator	manipulator	NOUN
fumecheng-3828	39	11	plane	plane	NOUN
fumecheng-3828	39	12	is	be	AUX
fumecheng-3828	39	13	perpendicular	perpendicular	ADJ
fumecheng-3828	39	14	to	to	ADP
fumecheng-3828	39	15	the	the	DET
fumecheng-3828	39	16	plane	plane	NOUN
fumecheng-3828	39	17	of	of	ADP
fumecheng-3828	39	18	the	the	DET
fumecheng-3828	39	19	tracked	track	VERB
fumecheng-3828	39	20	support	support	NOUN
fumecheng-3828	39	21	and	and	CCONJ
fumecheng-3828	39	22	movement	movement	NOUN
fumecheng-3828	39	23	member	member	NOUN
fumecheng-3828	39	24	.	.	PUNCT
fumecheng-3828	40	1	the	the	DET
fumecheng-3828	40	2	position	position	NOUN
fumecheng-3828	40	3	of	of	ADP
fumecheng-3828	40	4	the	the	DET
fumecheng-3828	40	5	excavator	excavator	NOUN
fumecheng-3828	40	6	is	be	AUX
fumecheng-3828	40	7	defined	define	VERB
fumecheng-3828	40	8	in	in	ADP
fumecheng-3828	40	9	relation	relation	NOUN
fumecheng-3828	40	10	to	to	ADP
fumecheng-3828	40	11	the	the	DET
fumecheng-3828	40	12	immovable	immovable	ADJ
fumecheng-3828	40	13	(	(	PUNCT
fumecheng-3828	40	14	absolute	absolute	ADJ
fumecheng-3828	40	15	)	)	PUNCT
fumecheng-3828	40	16	coordinate	coordinate	NOUN
fumecheng-3828	40	17	system	system	NOUN
fumecheng-3828	40	18	oxyz	oxyz	NOUN
fumecheng-3828	40	19	.	.	PUNCT
fumecheng-3828	41	1	coordinate	coordinate	NOUN
fumecheng-3828	41	2	beginning	begin	VERB
fumecheng-3828	41	3	o	o	PROPN
fumecheng-3828	41	4	of	of	ADP
fumecheng-3828	41	5	the	the	DET
fumecheng-3828	41	6	absolute	absolute	ADJ
fumecheng-3828	41	7	system	system	NOUN
fumecheng-3828	41	8	is	be	AUX
fumecheng-3828	41	9	in	in	ADP
fumecheng-3828	41	10	the	the	DET
fumecheng-3828	41	11	centre	centre	NOUN
fumecheng-3828	41	12	of	of	ADP
fumecheng-3828	41	13	the	the	DET
fumecheng-3828	41	14	support	support	NOUN
fumecheng-3828	41	15	and	and	CCONJ
fumecheng-3828	41	16	movement	movement	NOUN
fumecheng-3828	41	17	member	member	NOUN
fumecheng-3828	41	18	mass	mass	PROPN
fumecheng-3828	41	19	,	,	PUNCT
fumecheng-3828	41	20	while	while	SCONJ
fumecheng-3828	41	21	the	the	DET
fumecheng-3828	41	22	ox	ox	NOUN
fumecheng-3828	41	23	axis	axis	NOUN
fumecheng-3828	41	24	is	be	AUX
fumecheng-3828	41	25	directed	direct	VERB
fumecheng-3828	41	26	towards	towards	ADP
fumecheng-3828	41	27	the	the	DET
fumecheng-3828	41	28	main	main	ADJ
fumecheng-3828	41	29	transverse	transverse	NOUN
fumecheng-3828	41	30	central	central	ADJ
fumecheng-3828	41	31	axis	axis	NOUN
fumecheng-3828	41	32	of	of	ADP
fumecheng-3828	41	33	inertia	inertia	NOUN
fumecheng-3828	41	34	of	of	ADP
fumecheng-3828	41	35	the	the	DET
fumecheng-3828	41	36	same	same	ADJ
fumecheng-3828	41	37	member	member	NOUN
fumecheng-3828	41	38	in	in	ADP
fumecheng-3828	41	39	the	the	DET
fumecheng-3828	41	40	position	position	NOUN
fumecheng-3828	41	41	of	of	ADP
fumecheng-3828	41	42	the	the	DET
fumecheng-3828	41	43	static	static	ADJ
fumecheng-3828	41	44	balance	balance	NOUN
fumecheng-3828	41	45	of	of	ADP
fumecheng-3828	41	46	the	the	DET
fumecheng-3828	41	47	entire	entire	ADJ
fumecheng-3828	41	48	system	system	NOUN
fumecheng-3828	41	49	.	.	PUNCT
fumecheng-3828	42	1	the	the	DET
fumecheng-3828	42	2	vector	vector	NOUN
fumecheng-3828	42	3	of	of	ADP
fumecheng-3828	42	4	position	position	NOUN
fumecheng-3828	42	5	rti	rti	PROPN
fumecheng-3828	42	6	of	of	ADP
fumecheng-3828	42	7	the	the	DET
fumecheng-3828	42	8	mass	mass	ADJ
fumecheng-3828	42	9	centre	centre	NOUN
fumecheng-3828	42	10	of	of	ADP
fumecheng-3828	42	11	member	member	NOUN
fumecheng-3828	42	12	li	li	PROPN
fumecheng-3828	42	13	of	of	ADP
fumecheng-3828	42	14	the	the	DET
fumecheng-3828	42	15	excavator	excavator	NOUN
fumecheng-3828	42	16	kinematic	kinematic	ADJ
fumecheng-3828	42	17	chain	chain	NOUN
fumecheng-3828	42	18	is	be	AUX
fumecheng-3828	42	19	determined	determine	VERB
fumecheng-3828	42	20	in	in	ADP
fumecheng-3828	42	21	relation	relation	NOUN
fumecheng-3828	42	22	to	to	ADP
fumecheng-3828	42	23	the	the	DET
fumecheng-3828	42	24	absolute	absolute	ADJ
fumecheng-3828	42	25	coordinate	coordinate	NOUN
fumecheng-3828	42	26	system	system	NOUN
fumecheng-3828	42	27	with	with	ADP
fumecheng-3828	42	28	the	the	DET
fumecheng-3828	42	29	following	follow	VERB
fumecheng-3828	42	30	equation	equation	NOUN
fumecheng-3828	42	31	:	:	PUNCT
fumecheng-3828	42	32	ioij	ioij	PROPN
fumecheng-3828	42	33	1i	1i	NOUN
fumecheng-3828	42	34	1j	1j	NUM
fumecheng-3828	42	35	ojoti	ojoti	NOUN
fumecheng-3828	42	36	ta	ta	ADP
fumecheng-3828	42	37	a	a	DET
fumecheng-3828	42	38			NOUN
fumecheng-3828	42	39			X
fumecheng-3828	43	1			VERB
fumecheng-3828	43	2			PRON
fumecheng-3828	43	3	ssr	ssr	NOUN
fumecheng-3828	43	4	(	(	PUNCT
fumecheng-3828	43	5	4	4	NUM
fumecheng-3828	43	6	)	)	PUNCT
fumecheng-3828	44	1	where	where	SCONJ
fumecheng-3828	44	2	:	:	PUNCT
fumecheng-3828	45	1	s0	s0	NOUN
fumecheng-3828	45	2	=	=	PUNCT
fumecheng-3828	46	1	[	[	X
fumecheng-3828	46	2	0	0	NUM
fumecheng-3828	46	3	0	0	NUM
fumecheng-3828	46	4	zc	zc	NOUN
fumecheng-3828	46	5	]	]	X
fumecheng-3828	46	6	t	t	PROPN
fumecheng-3828	46	7	–	–	PUNCT
fumecheng-3828	46	8	the	the	DET
fumecheng-3828	46	9	vector	vector	NOUN
fumecheng-3828	46	10	of	of	ADP
fumecheng-3828	46	11	deformation	deformation	NOUN
fumecheng-3828	46	12	of	of	ADP
fumecheng-3828	46	13	the	the	DET
fumecheng-3828	46	14	excavator	excavator	NOUN
fumecheng-3828	46	15	model	model	NOUN
fumecheng-3828	46	16	support	support	NOUN
fumecheng-3828	46	17	base	base	NOUN
fumecheng-3828	46	18	,	,	PUNCT
fumecheng-3828	46	19	i.e.	i.e.	X
fumecheng-3828	46	20	the	the	DET
fumecheng-3828	46	21	vector	vector	NOUN
fumecheng-3828	46	22	of	of	ADP
fumecheng-3828	46	23	displacement	displacement	NOUN
fumecheng-3828	46	24	of	of	ADP
fumecheng-3828	46	25	the	the	DET
fumecheng-3828	46	26	mass	mass	ADJ
fumecheng-3828	46	27	centre	centre	NOUN
fumecheng-3828	46	28	of	of	ADP
fumecheng-3828	46	29	the	the	DET
fumecheng-3828	46	30	support	support	NOUN
fumecheng-3828	46	31	and	and	CCONJ
fumecheng-3828	46	32	movement	movement	NOUN
fumecheng-3828	46	33	member	member	NOUN
fumecheng-3828	46	34	in	in	ADP
fumecheng-3828	46	35	relation	relation	NOUN
fumecheng-3828	46	36	to	to	ADP
fumecheng-3828	46	37	the	the	DET
fumecheng-3828	46	38	absolute	absolute	ADJ
fumecheng-3828	46	39	coordinate	coordinate	NOUN
fumecheng-3828	46	40	system	system	NOUN
fumecheng-3828	46	41	,	,	PUNCT
fumecheng-3828	46	42	sj	sj	INTJ
fumecheng-3828	46	43	–	–	PUNCT
fumecheng-3828	46	44	the	the	DET
fumecheng-3828	46	45	vector	vector	NOUN
fumecheng-3828	46	46	of	of	ADP
fumecheng-3828	46	47	the	the	DET
fumecheng-3828	46	48	position	position	NOUN
fumecheng-3828	46	49	of	of	ADP
fumecheng-3828	46	50	joint	joint	ADJ
fumecheng-3828	46	51	oj	oj	ADP
fumecheng-3828	46	52	centre	centre	NOUN
fumecheng-3828	46	53	in	in	ADP
fumecheng-3828	46	54	relation	relation	NOUN
fumecheng-3828	46	55	to	to	ADP
fumecheng-3828	46	56	previous	previous	ADJ
fumecheng-3828	46	57	joint	joint	ADJ
fumecheng-3828	46	58	oj–1	oj–1	PROPN
fumecheng-3828	46	59	,	,	PUNCT
fumecheng-3828	46	60	determined	determine	VERB
fumecheng-3828	46	61	in	in	ADP
fumecheng-3828	46	62	the	the	DET
fumecheng-3828	46	63	local	local	ADJ
fumecheng-3828	46	64	coordinate	coordinate	NOUN
fumecheng-3828	46	65	system	system	NOUN
fumecheng-3828	46	66	,	,	PUNCT
fumecheng-3828	46	67	ti	ti	PROPN
fumecheng-3828	46	68	–	–	PUNCT
fumecheng-3828	46	69	the	the	DET
fumecheng-3828	46	70	vector	vector	NOUN
fumecheng-3828	46	71	of	of	ADP
fumecheng-3828	46	72	the	the	DET
fumecheng-3828	46	73	position	position	NOUN
fumecheng-3828	46	74	of	of	ADP
fumecheng-3828	46	75	member	member	NOUN
fumecheng-3828	46	76	li	li	PROPN
fumecheng-3828	46	77	mass	mass	PROPN
fumecheng-3828	46	78	centre	centre	PROPN
fumecheng-3828	46	79	in	in	ADP
fumecheng-3828	46	80	relation	relation	NOUN
fumecheng-3828	46	81	to	to	ADP
fumecheng-3828	46	82	joint	joint	ADJ
fumecheng-3828	46	83	oi	oi	ADJ
fumecheng-3828	46	84	centre	centre	NOUN
fumecheng-3828	46	85	,	,	PUNCT
fumecheng-3828	46	86	aoj	aoj	PROPN
fumecheng-3828	46	87	–	–	PUNCT
fumecheng-3828	46	88	the	the	DET
fumecheng-3828	46	89	transitional	transitional	ADJ
fumecheng-3828	46	90	vector	vector	NOUN
fumecheng-3828	46	91	matrix	matrix	NOUN
fumecheng-3828	46	92	from	from	ADP
fumecheng-3828	46	93	local	local	ADJ
fumecheng-3828	46	94	coordinate	coordinate	NOUN
fumecheng-3828	46	95	system	system	NOUN
fumecheng-3828	46	96	ojxjyjzj	ojxjyjzj	VERB
fumecheng-3828	46	97	to	to	ADP
fumecheng-3828	46	98	the	the	DET
fumecheng-3828	46	99	absolute	absolute	ADJ
fumecheng-3828	46	100	coordinate	coordinate	NOUN
fumecheng-3828	46	101	system	system	NOUN
fumecheng-3828	46	102	[	[	X
fumecheng-3828	46	103	7	7	NUM
fumecheng-3828	46	104	,	,	PUNCT
fumecheng-3828	46	105	8	8	NUM
fumecheng-3828	46	106	]	]	PUNCT
fumecheng-3828	46	107	.	.	PUNCT
fumecheng-3828	47	1	a	a	DET
fumecheng-3828	47	2	numerical	numerical	ADJ
fumecheng-3828	47	3	and	and	CCONJ
fumecheng-3828	47	4	experimental	experimental	ADJ
fumecheng-3828	47	5	analysis	analysis	NOUN
fumecheng-3828	47	6	of	of	ADP
fumecheng-3828	47	7	the	the	DET
fumecheng-3828	47	8	dynamic	dynamic	ADJ
fumecheng-3828	47	9	stability	stability	NOUN
fumecheng-3828	47	10	of	of	ADP
fumecheng-3828	47	11	hydraulic	hydraulic	ADJ
fumecheng-3828	47	12	excavators	excavator	NOUN
fumecheng-3828	47	13	161	161	NUM
fumecheng-3828	47	14	3	3	NUM
fumecheng-3828	47	15	.	.	PUNCT
fumecheng-3828	47	16	differential	differential	ADJ
fumecheng-3828	47	17	equations	equation	NOUN
fumecheng-3828	47	18	of	of	ADP
fumecheng-3828	47	19	motion	motion	NOUN
fumecheng-3828	47	20	differential	differential	NOUN
fumecheng-3828	47	21	equations	equation	NOUN
fumecheng-3828	47	22	of	of	ADP
fumecheng-3828	47	23	motion	motion	NOUN
fumecheng-3828	47	24	of	of	ADP
fumecheng-3828	47	25	the	the	DET
fumecheng-3828	47	26	defined	define	VERB
fumecheng-3828	47	27	mathematical	mathematical	ADJ
fumecheng-3828	47	28	model	model	NOUN
fumecheng-3828	47	29	of	of	ADP
fumecheng-3828	47	30	the	the	DET
fumecheng-3828	47	31	excavator	excavator	NOUN
fumecheng-3828	47	32	are	be	AUX
fumecheng-3828	47	33	determined	determine	VERB
fumecheng-3828	47	34	by	by	ADP
fumecheng-3828	47	35	using	use	VERB
fumecheng-3828	47	36	lagrange	lagrange	NOUN
fumecheng-3828	47	37	’s	’s	PART
fumecheng-3828	47	38	equations	equation	NOUN
fumecheng-3828	47	39	of	of	ADP
fumecheng-3828	47	40	the	the	DET
fumecheng-3828	47	41	second	second	ADJ
fumecheng-3828	47	42	kind	kind	NOUN
fumecheng-3828	47	43	:	:	PUNCT
fumecheng-3828	47	44	0	0	NUM
fumecheng-3828	47	45	ee	ee	PROPN
fumecheng-3828	47	46	dt	dt	PROPN
fumecheng-3828	48	1	d	d	X
fumecheng-3828	48	2	ii	ii	X
fumecheng-3828	49	1	p	p	NOUN
fumecheng-3828	49	2	i	i	PRON
fumecheng-3828	49	3	k	k	PROPN
fumecheng-3828	50	1			NUM
fumecheng-3828	50	2			PROPN
fumecheng-3828	50	3			PROPN
fumecheng-3828	50	4			ADJ
fumecheng-3828	50	5			PROPN
fumecheng-3828	50	6			ADJ
fumecheng-3828	50	7			PROPN
fumecheng-3828	50	8			PROPN
fumecheng-3828	50	9			PROPN
fumecheng-3828	50	10			PROPN
fumecheng-3828	50	11			PROPN
fumecheng-3828	50	12			NOUN
fumecheng-3828	50	13			NOUN
fumecheng-3828	50	14	(	(	PUNCT
fumecheng-3828	50	15	5	5	NUM
fumecheng-3828	50	16	)	)	PUNCT
fumecheng-3828	50	17	where	where	SCONJ
fumecheng-3828	50	18	:	:	PUNCT
fumecheng-3828	50	19	ek	ek	PROPN
fumecheng-3828	50	20	,	,	PUNCT
fumecheng-3828	50	21	ep	ep	PROPN
fumecheng-3828	50	22	,	,	PUNCT
fumecheng-3828	50	23	φ	φ	PROPN
fumecheng-3828	50	24	–	–	PUNCT
fumecheng-3828	50	25	the	the	DET
fumecheng-3828	50	26	kinetic	kinetic	ADJ
fumecheng-3828	50	27	and	and	CCONJ
fumecheng-3828	50	28	potential	potential	ADJ
fumecheng-3828	50	29	energy	energy	NOUN
fumecheng-3828	50	30	and	and	CCONJ
fumecheng-3828	50	31	function	function	NOUN
fumecheng-3828	50	32	of	of	ADP
fumecheng-3828	50	33	the	the	DET
fumecheng-3828	50	34	system	system	NOUN
fumecheng-3828	50	35	dissipation	dissipation	NOUN
fumecheng-3828	50	36	,	,	PUNCT
fumecheng-3828	50	37	respectively	respectively	ADV
fumecheng-3828	50	38	[	[	X
fumecheng-3828	50	39	9	9	NUM
fumecheng-3828	50	40	]	]	SYM
fumecheng-3828	50	41	.	.	PUNCT
fumecheng-3828	51	1	3.1	3.1	NUM
fumecheng-3828	51	2	.	.	PUNCT
fumecheng-3828	52	1	kinetic	kinetic	ADJ
fumecheng-3828	52	2	energy	energy	NOUN
fumecheng-3828	52	3	for	for	ADP
fumecheng-3828	52	4	the	the	DET
fumecheng-3828	52	5	established	establish	VERB
fumecheng-3828	52	6	dynamic	dynamic	ADJ
fumecheng-3828	52	7	model	model	NOUN
fumecheng-3828	52	8	of	of	ADP
fumecheng-3828	52	9	the	the	DET
fumecheng-3828	52	10	excavator	excavator	NOUN
fumecheng-3828	52	11	,	,	PUNCT
fumecheng-3828	52	12	the	the	DET
fumecheng-3828	52	13	kinetic	kinetic	ADJ
fumecheng-3828	52	14	energy	energy	NOUN
fumecheng-3828	52	15	of	of	ADP
fumecheng-3828	52	16	the	the	DET
fumecheng-3828	52	17	system	system	NOUN
fumecheng-3828	52	18	is	be	AUX
fumecheng-3828	52	19	expressed	express	VERB
fumecheng-3828	52	20	using	use	VERB
fumecheng-3828	52	21	the	the	DET
fumecheng-3828	52	22	equation	equation	NOUN
fumecheng-3828	52	23	:	:	PUNCT
fumecheng-3828	52	24	2	2	NUM
fumecheng-3828	52	25	5y5	5y5	NUM
fumecheng-3828	52	26	2	2	NUM
fumecheng-3828	52	27	5t5	5t5	NUM
fumecheng-3828	52	28	2	2	NUM
fumecheng-3828	52	29	4y4	4y4	NUM
fumecheng-3828	52	30	2	2	NUM
fumecheng-3828	52	31	4t4	4t4	NUM
fumecheng-3828	52	32	2	2	NUM
fumecheng-3828	52	33	3y3	3y3	NUM
fumecheng-3828	52	34	2	2	NUM
fumecheng-3828	52	35	3t3	3t3	NUM
fumecheng-3828	52	36	2	2	NUM
fumecheng-3828	52	37	2z2	2z2	NUM
fumecheng-3828	52	38	2	2	NUM
fumecheng-3828	52	39	1y2	1y2	NUM
fumecheng-3828	52	40	2	2	NUM
fumecheng-3828	52	41	2t2	2t2	NUM
fumecheng-3828	52	42	2	2	NUM
fumecheng-3828	52	43	1y1	1y1	NUM
fumecheng-3828	52	44	2	2	NUM
fumecheng-3828	52	45	1t1k	1t1k	ADJ
fumecheng-3828	52	46	jvmjvmjvm	jvmjvmjvm	NOUN
fumecheng-3828	52	47	jjvmjvme2	jjvmjvme2	X
fumecheng-3828	52	48			SYM
fumecheng-3828	53	1			SYM
fumecheng-3828	53	2			PROPN
fumecheng-3828	53	3			NUM
fumecheng-3828	53	4			NOUN
fumecheng-3828	53	5			NOUN
fumecheng-3828	53	6	(	(	PUNCT
fumecheng-3828	53	7	6	6	NUM
fumecheng-3828	53	8	)	)	PUNCT
fumecheng-3828	53	9	where	where	SCONJ
fumecheng-3828	53	10	:	:	PUNCT
fumecheng-3828	53	11	mi	mi	PROPN
fumecheng-3828	53	12	–	–	PUNCT
fumecheng-3828	53	13	the	the	DET
fumecheng-3828	53	14	mass	mass	NOUN
fumecheng-3828	53	15	of	of	ADP
fumecheng-3828	53	16	an	an	DET
fumecheng-3828	53	17	excavator	excavator	NOUN
fumecheng-3828	53	18	kinematic	kinematic	ADJ
fumecheng-3828	53	19	chain	chain	NOUN
fumecheng-3828	53	20	member	member	NOUN
fumecheng-3828	53	21	,	,	PUNCT
fumecheng-3828	53	22	(	(	PUNCT
fumecheng-3828	53	23	i=1,	i=1,	NOUN
fumecheng-3828	53	24	…	…	PUNCT
fumecheng-3828	53	25	,5	,5	NOUN
fumecheng-3828	53	26	)	)	PUNCT
fumecheng-3828	53	27	,	,	PUNCT
fumecheng-3828	53	28	vti	vti	NOUN
fumecheng-3828	53	29	–	–	PUNCT
fumecheng-3828	53	30	the	the	DET
fumecheng-3828	53	31	absolute	absolute	ADJ
fumecheng-3828	53	32	velocities	velocity	NOUN
fumecheng-3828	53	33	of	of	ADP
fumecheng-3828	53	34	the	the	DET
fumecheng-3828	53	35	mass	mass	NOUN
fumecheng-3828	53	36	centers	center	NOUN
fumecheng-3828	53	37	of	of	ADP
fumecheng-3828	53	38	the	the	DET
fumecheng-3828	53	39	excavator	excavator	NOUN
fumecheng-3828	53	40	kinematic	kinematic	ADJ
fumecheng-3828	53	41	chain	chain	NOUN
fumecheng-3828	53	42	members	member	NOUN
fumecheng-3828	53	43	,	,	PUNCT
fumecheng-3828	53	44	jiy	jiy	PROPN
fumecheng-3828	53	45	,	,	PUNCT
fumecheng-3828	53	46	jiz	jiz	VERB
fumecheng-3828	53	47	–	–	PUNCT
fumecheng-3828	53	48	the	the	DET
fumecheng-3828	53	49	appropriate	appropriate	ADJ
fumecheng-3828	53	50	main	main	ADJ
fumecheng-3828	53	51	central	central	ADJ
fumecheng-3828	53	52	axial	axial	ADJ
fumecheng-3828	53	53	moments	moment	NOUN
fumecheng-3828	53	54	of	of	ADP
fumecheng-3828	53	55	inertia	inertia	NOUN
fumecheng-3828	53	56	of	of	ADP
fumecheng-3828	53	57	the	the	DET
fumecheng-3828	53	58	masses	masse	NOUN
fumecheng-3828	53	59	of	of	ADP
fumecheng-3828	53	60	the	the	DET
fumecheng-3828	53	61	excavator	excavator	NOUN
fumecheng-3828	53	62	kinematic	kinematic	ADJ
fumecheng-3828	53	63	chain	chain	NOUN
fumecheng-3828	53	64	members	member	NOUN
fumecheng-3828	53	65	.	.	PUNCT
fumecheng-3828	54	1	differentiating	differentiate	VERB
fumecheng-3828	54	2	equation	equation	NOUN
fumecheng-3828	54	3	(	(	PUNCT
fumecheng-3828	54	4	4	4	NUM
fumecheng-3828	54	5	)	)	PUNCT
fumecheng-3828	54	6	,	,	PUNCT
fumecheng-3828	54	7	in	in	ADP
fumecheng-3828	54	8	the	the	DET
fumecheng-3828	54	9	absolute	absolute	ADJ
fumecheng-3828	54	10	coordinate	coordinate	NOUN
fumecheng-3828	54	11	system	system	NOUN
fumecheng-3828	54	12	,	,	PUNCT
fumecheng-3828	54	13	yields	yield	VERB
fumecheng-3828	54	14	the	the	DET
fumecheng-3828	54	15	vector	vector	NOUN
fumecheng-3828	54	16	of	of	ADP
fumecheng-3828	54	17	velocity	velocity	NOUN
fumecheng-3828	54	18	vti	vti	NOUN
fumecheng-3828	54	19	of	of	ADP
fumecheng-3828	54	20	the	the	DET
fumecheng-3828	54	21	mass	mass	NOUN
fumecheng-3828	54	22	centers	center	NOUN
fumecheng-3828	54	23	of	of	ADP
fumecheng-3828	54	24	the	the	DET
fumecheng-3828	54	25	excavator	excavator	NOUN
fumecheng-3828	54	26	kinematic	kinematic	ADJ
fumecheng-3828	54	27	chain	chain	NOUN
fumecheng-3828	54	28	members	member	NOUN
fumecheng-3828	54	29	in	in	ADP
fumecheng-3828	54	30	the	the	DET
fumecheng-3828	54	31	following	follow	VERB
fumecheng-3828	54	32	form	form	NOUN
fumecheng-3828	54	33	:	:	PUNCT
fumecheng-3828	54	34	ioiioij	ioiioij	NOUN
fumecheng-3828	54	35	1i	1i	NOUN
fumecheng-3828	54	36	1j	1j	NUM
fumecheng-3828	55	1	ojj	ojj	PRON
fumecheng-3828	55	2	1i	1i	NOUN
fumecheng-3828	55	3	1j	1j	NUM
fumecheng-3828	55	4	ojoti	ojoti	PROPN
fumecheng-3828	55	5	aaaa	aaaa	PROPN
fumecheng-3828	55	6	ttsssv	ttsssv	PROPN
fumecheng-3828	56	1			PROPN
fumecheng-3828	56	2			VERB
fumecheng-3828	56	3			PART
fumecheng-3828	56	4			PROPN
fumecheng-3828	56	5			PROPN
fumecheng-3828	56	6			PROPN
fumecheng-3828	56	7			NUM
fumecheng-3828	56	8	(	(	PUNCT
fumecheng-3828	56	9	7	7	NUM
fumecheng-3828	56	10	)	)	PUNCT
fumecheng-3828	57	1	where	where	SCONJ
fumecheng-3828	57	2	:	:	PUNCT
fumecheng-3828	57	3	ojoiijo	ojoiijo	PROPN
fumecheng-3828	57	4	a	a	PROPN
fumecheng-3828	57	5	,	,	PUNCT
fumecheng-3828	57	6	a	a	PRON
fumecheng-3828	57	7	,	,	PUNCT
fumecheng-3828	57	8	,	,	PUNCT
fumecheng-3828	57	9	,	,	PUNCT
fumecheng-3828	57	10			PROPN
fumecheng-3828	57	11	tss	tss	PROPN
fumecheng-3828	57	12	–	–	PUNCT
fumecheng-3828	57	13	the	the	DET
fumecheng-3828	57	14	derivatives	derivative	NOUN
fumecheng-3828	57	15	of	of	ADP
fumecheng-3828	57	16	the	the	DET
fumecheng-3828	57	17	appropriate	appropriate	ADJ
fumecheng-3828	57	18	vectors	vector	NOUN
fumecheng-3828	57	19	of	of	ADP
fumecheng-3828	57	20	position	position	NOUN
fumecheng-3828	57	21	and	and	CCONJ
fumecheng-3828	57	22	transitional	transitional	ADJ
fumecheng-3828	57	23	matrix	matrix	NOUN
fumecheng-3828	57	24	systems	system	NOUN
fumecheng-3828	57	25	,	,	PUNCT
fumecheng-3828	57	26	where	where	SCONJ
fumecheng-3828	57	27	,	,	PUNCT
fumecheng-3828	57	28	along	along	ADP
fumecheng-3828	57	29	the	the	DET
fumecheng-3828	57	30	assumptions	assumption	NOUN
fumecheng-3828	57	31	of	of	ADP
fumecheng-3828	57	32	small	small	ADJ
fumecheng-3828	57	33	quantities	quantity	NOUN
fumecheng-3828	57	34	of	of	ADP
fumecheng-3828	57	35	generalized	generalized	ADJ
fumecheng-3828	57	36	coordinates	coordinate	NOUN
fumecheng-3828	57	37	θi	θi	PROPN
fumecheng-3828	57	38	,	,	PUNCT
fumecheng-3828	57	39	the	the	DET
fumecheng-3828	57	40	approximate	approximate	ADJ
fumecheng-3828	57	41	values	value	NOUN
fumecheng-3828	57	42	cosθi	cosθi	VERB
fumecheng-3828	57	43	≈1	≈1	PROPN
fumecheng-3828	57	44	and	and	CCONJ
fumecheng-3828	57	45	sinθi	sinθi	NOUN
fumecheng-3828	58	1	≈	≈	PROPN
fumecheng-3828	58	2	θi	θi	NOUN
fumecheng-3828	58	3	are	be	AUX
fumecheng-3828	58	4	introduced	introduce	VERB
fumecheng-3828	58	5	,	,	PUNCT
fumecheng-3828	58	6	thus	thus	ADV
fumecheng-3828	58	7	linearizing	linearize	VERB
fumecheng-3828	58	8	the	the	DET
fumecheng-3828	58	9	elements	element	NOUN
fumecheng-3828	58	10	of	of	ADP
fumecheng-3828	58	11	transitional	transitional	ADJ
fumecheng-3828	58	12	matrices	matrix	NOUN
fumecheng-3828	58	13	aij	aij	PROPN
fumecheng-3828	58	14	.	.	PROPN
fumecheng-3828	58	15	3.2	3.2	NUM
fumecheng-3828	58	16	.	.	PUNCT
fumecheng-3828	59	1	potential	potential	ADJ
fumecheng-3828	59	2	energy	energy	NOUN
fumecheng-3828	59	3	for	for	ADP
fumecheng-3828	59	4	the	the	DET
fumecheng-3828	59	5	established	establish	VERB
fumecheng-3828	59	6	dynamic	dynamic	ADJ
fumecheng-3828	59	7	model	model	NOUN
fumecheng-3828	59	8	of	of	ADP
fumecheng-3828	59	9	the	the	DET
fumecheng-3828	59	10	excavator	excavator	NOUN
fumecheng-3828	59	11	,	,	PUNCT
fumecheng-3828	59	12	the	the	DET
fumecheng-3828	59	13	potential	potential	ADJ
fumecheng-3828	59	14	energy	energy	NOUN
fumecheng-3828	59	15	of	of	ADP
fumecheng-3828	59	16	the	the	DET
fumecheng-3828	59	17	system	system	NOUN
fumecheng-3828	59	18	is	be	AUX
fumecheng-3828	59	19	determined	determine	VERB
fumecheng-3828	59	20	using	use	VERB
fumecheng-3828	59	21	the	the	DET
fumecheng-3828	59	22	equation	equation	NOUN
fumecheng-3828	59	23	:	:	PUNCT
fumecheng-3828	59	24	22	22	NUM
fumecheng-3828	59	25	2	2	NUM
fumecheng-3828	59	26	2	2	NUM
fumecheng-3828	59	27	2	2	NUM
fumecheng-3828	59	28	2	2	NUM
fumecheng-3828	59	29	1	1	NUM
fumecheng-3828	59	30	1	1	NUM
fumecheng-3828	59	31	1	1	NUM
fumecheng-3828	59	32	1	1	NUM
fumecheng-3828	59	33	2	2	NUM
fumecheng-3828	59	34	2	2	NUM
fumecheng-3828	59	35	2	2	NUM
fumecheng-3828	59	36	3	3	NUM
fumecheng-3828	59	37	3	3	NUM
fumecheng-3828	59	38	32	32	NUM
fumecheng-3828	59	39	5	5	NUM
fumecheng-3828	59	40	22	22	NUM
fumecheng-3828	59	41	2	2	NUM
fumecheng-3828	59	42	2	2	NUM
fumecheng-3828	59	43	2	2	NUM
fumecheng-3828	59	44	3	3	NUM
fumecheng-3828	59	45	3	3	NUM
fumecheng-3828	59	46	4	4	NUM
fumecheng-3828	59	47	4	4	NUM
fumecheng-3828	59	48	4	4	NUM
fumecheng-3828	59	49	4	4	NUM
fumecheng-3828	59	50	4	4	NUM
fumecheng-3828	59	51	5	5	NUM
fumecheng-3828	59	52	5	5	NUM
fumecheng-3828	59	53	5	5	NUM
fumecheng-3828	59	54	5	5	NUM
fumecheng-3828	59	55	5	5	NUM
fumecheng-3828	59	56	1	1	NUM
fumecheng-3828	59	57	2	2	NUM
fumecheng-3828	59	58	(	(	PUNCT
fumecheng-3828	59	59	)	)	PUNCT
fumecheng-3828	59	60	(	(	PUNCT
fumecheng-3828	59	61	)	)	PUNCT
fumecheng-3828	59	62	(	(	PUNCT
fumecheng-3828	59	63	)	)	PUNCT
fumecheng-3828	60	1	+	+	CCONJ
fumecheng-3828	60	2	(	(	PUNCT
fumecheng-3828	60	3	)	)	PUNCT
fumecheng-3828	60	4	(	(	PUNCT
fumecheng-3828	60	5	)	)	PUNCT
fumecheng-3828	60	6	2	2	NUM
fumecheng-3828	60	7	(	(	PUNCT
fumecheng-3828	60	8	)	)	PUNCT
fumecheng-3828	61	1	p	p	X
fumecheng-3828	62	1	o	o	NOUN
fumecheng-3828	63	1	o	o	X
fumecheng-3828	64	1	o	o	X
fumecheng-3828	65	1	o	o	X
fumecheng-3828	66	1	o	o	X
fumecheng-3828	67	1	o	o	X
fumecheng-3828	68	1	o	o	X
fumecheng-3828	68	2	o	o	X
fumecheng-3828	69	1	o	o	X
fumecheng-3828	69	2	o	o	X
fumecheng-3828	69	3	s	s	X
fumecheng-3828	69	4	s	s	X
fumecheng-3828	69	5	s	s	X
fumecheng-3828	69	6	i	i	PRON
fumecheng-3828	70	1	i	i	PRON
fumecheng-3828	70	2	ois	ois	VERB
fumecheng-3828	70	3	s	s	X
fumecheng-3828	70	4	s	s	X
fumecheng-3828	71	1	i	i	NOUN
fumecheng-3828	71	2	e	e	PROPN
fumecheng-3828	71	3	k	k	PROPN
fumecheng-3828	71	4	a	a	X
fumecheng-3828	72	1	k	k	X
fumecheng-3828	72	2	k	k	PROPN
fumecheng-3828	73	1	a	a	X
fumecheng-3828	73	2	k	k	X
fumecheng-3828	74	1	k	k	PROPN
fumecheng-3828	74	2	k	k	PROPN
fumecheng-3828	75	1	k	k	PROPN
fumecheng-3828	75	2	k	k	PROPN
fumecheng-3828	76	1	k	k	PROPN
fumecheng-3828	76	2	k	k	PROPN
fumecheng-3828	77	1	k	k	PROPN
fumecheng-3828	77	2	g	g	PROPN
fumecheng-3828	77	3	m	m	PROPN
fumecheng-3828	77	4	z	z	NOUN
fumecheng-3828	77	5	z	z	NOUN
fumecheng-3828	77	6	q	q	NOUN
fumecheng-3828	77	7	q	q	X
fumecheng-3828	77	8	q	q	X
fumecheng-3828	77	9	q	q	X
fumecheng-3828	77	10	q	q	X
fumecheng-3828	77	11	q	q	X
fumecheng-3828	77	12	q	q	X
fumecheng-3828	77	13	q	q	X
fumecheng-3828	77	14	q	q	X
fumecheng-3828	77	15	q	q	X
fumecheng-3828	77	16	q	q	X
fumecheng-3828	77	17	q	q	X
fumecheng-3828	77	18	q	q	X
fumecheng-3828	77	19	q	q	X
fumecheng-3828	77	20	q	q	X
fumecheng-3828	77	21	q	q	X
fumecheng-3828	77	22	q	q	X
fumecheng-3828	77	23	q	q	X
fumecheng-3828	77	24	(	(	PUNCT
fumecheng-3828	77	25	8)	8)	NUM
fumecheng-3828	77	26	where	where	SCONJ
fumecheng-3828	77	27	:	:	PUNCT
fumecheng-3828	77	28	zi	zi	NOUN
fumecheng-3828	77	29	,	,	PUNCT
fumecheng-3828	77	30	zoi	zoi	PROPN
fumecheng-3828	77	31	–	–	PUNCT
fumecheng-3828	77	32	the	the	DET
fumecheng-3828	77	33	current	current	ADJ
fumecheng-3828	77	34	and	and	CCONJ
fumecheng-3828	77	35	initial	initial	ADJ
fumecheng-3828	77	36	coordinates	coordinate	NOUN
fumecheng-3828	77	37	of	of	ADP
fumecheng-3828	77	38	the	the	DET
fumecheng-3828	77	39	positions	position	NOUN
fumecheng-3828	77	40	of	of	ADP
fumecheng-3828	77	41	mass	mass	ADJ
fumecheng-3828	77	42	centers	center	NOUN
fumecheng-3828	77	43	of	of	ADP
fumecheng-3828	77	44	the	the	DET
fumecheng-3828	77	45	excavator	excavator	NOUN
fumecheng-3828	77	46	hydraulic	hydraulic	ADJ
fumecheng-3828	77	47	chain	chain	NOUN
fumecheng-3828	77	48	members	member	NOUN
fumecheng-3828	77	49	in	in	ADP
fumecheng-3828	77	50	relation	relation	NOUN
fumecheng-3828	77	51	to	to	ADP
fumecheng-3828	77	52	the	the	DET
fumecheng-3828	77	53	absolute	absolute	ADJ
fumecheng-3828	77	54	coordinate	coordinate	NOUN
fumecheng-3828	77	55	system	system	NOUN
fumecheng-3828	77	56	,	,	PUNCT
fumecheng-3828	77	57	ko	ko	PROPN
fumecheng-3828	77	58	–	–	PUNCT
fumecheng-3828	77	59	the	the	DET
fumecheng-3828	77	60	stiffness	stiffness	NOUN
fumecheng-3828	77	61	of	of	ADP
fumecheng-3828	77	62	the	the	DET
fumecheng-3828	77	63	elastic	elastic	ADJ
fumecheng-3828	77	64	support	support	NOUN
fumecheng-3828	77	65	base	base	NOUN
fumecheng-3828	77	66	of	of	ADP
fumecheng-3828	77	67	the	the	DET
fumecheng-3828	77	68	excavator	excavator	NOUN
fumecheng-3828	77	69	,	,	PUNCT
fumecheng-3828	77	70	θo1	θo1	PROPN
fumecheng-3828	77	71	,	,	PUNCT
fumecheng-3828	77	72	θo2	θo2	NOUN
fumecheng-3828	77	73	–	–	PUNCT
fumecheng-3828	77	74	the	the	DET
fumecheng-3828	77	75	static	static	ADJ
fumecheng-3828	77	76	deflections	deflection	NOUN
fumecheng-3828	77	77	of	of	ADP
fumecheng-3828	77	78	the	the	DET
fumecheng-3828	77	79	162	162	NUM
fumecheng-3828	77	80	d.	d.	PROPN
fumecheng-3828	77	81	janošević	janošević	PROPN
fumecheng-3828	77	82	,	,	PUNCT
fumecheng-3828	77	83	j.	j.	PROPN
fumecheng-3828	77	84	pavlović	pavlović	PROPN
fumecheng-3828	77	85	,	,	PUNCT
fumecheng-3828	77	86	v.	v.	ADP
fumecheng-3828	77	87	jovanović	jovanović	PROPN
fumecheng-3828	77	88	,	,	PUNCT
fumecheng-3828	77	89	g.	g.	PROPN
fumecheng-3828	77	90	petrović	petrović	NOUN
fumecheng-3828	77	91	elastic	elastic	ADJ
fumecheng-3828	77	92	base	base	NOUN
fumecheng-3828	77	93	beneath	beneath	ADP
fumecheng-3828	77	94	the	the	DET
fumecheng-3828	77	95	support	support	NOUN
fumecheng-3828	77	96	and	and	CCONJ
fumecheng-3828	77	97	movement	movement	NOUN
fumecheng-3828	77	98	member	member	NOUN
fumecheng-3828	77	99	of	of	ADP
fumecheng-3828	77	100	the	the	DET
fumecheng-3828	77	101	excavator	excavator	NOUN
fumecheng-3828	77	102	,	,	PUNCT
fumecheng-3828	77	103	k3,k4,k5	k3,k4,k5	PROPN
fumecheng-3828	77	104	–	–	PUNCT
fumecheng-3828	77	105	the	the	DET
fumecheng-3828	77	106	torsional	torsional	ADJ
fumecheng-3828	77	107	stiffnesses	stiffness	NOUN
fumecheng-3828	77	108	of	of	ADP
fumecheng-3828	77	109	springs	spring	NOUN
fumecheng-3828	77	110	equivalent	equivalent	ADJ
fumecheng-3828	77	111	to	to	ADP
fumecheng-3828	77	112	the	the	DET
fumecheng-3828	77	113	stiffnesses	stiffness	NOUN
fumecheng-3828	77	114	of	of	ADP
fumecheng-3828	77	115	the	the	DET
fumecheng-3828	77	116	elastic	elastic	ADJ
fumecheng-3828	77	117	hydraulic	hydraulic	ADJ
fumecheng-3828	77	118	actuators	actuator	NOUN
fumecheng-3828	77	119	of	of	ADP
fumecheng-3828	77	120	drive	drive	ADJ
fumecheng-3828	77	121	mechanisms	mechanism	NOUN
fumecheng-3828	77	122	of	of	ADP
fumecheng-3828	77	123	the	the	DET
fumecheng-3828	77	124	manipulator	manipulator	NOUN
fumecheng-3828	77	125	boom	boom	NOUN
fumecheng-3828	77	126	,	,	PUNCT
fumecheng-3828	77	127	stick	stick	NOUN
fumecheng-3828	77	128	and	and	CCONJ
fumecheng-3828	77	129	bucket	bucket	NOUN
fumecheng-3828	77	130	,	,	PUNCT
fumecheng-3828	77	131	θ3s	θ3s	NOUN
fumecheng-3828	77	132	,	,	PUNCT
fumecheng-3828	77	133	θ4s	θ4s	PROPN
fumecheng-3828	77	134	,	,	PUNCT
fumecheng-3828	77	135	θ5s	θ5s	PROPN
fumecheng-3828	77	136	–	–	PUNCT
fumecheng-3828	77	137	the	the	DET
fumecheng-3828	77	138	angles	angle	NOUN
fumecheng-3828	77	139	of	of	ADP
fumecheng-3828	77	140	static	static	ADJ
fumecheng-3828	77	141	deflections	deflection	NOUN
fumecheng-3828	77	142	of	of	ADP
fumecheng-3828	77	143	torsion	torsion	NOUN
fumecheng-3828	77	144	springs	spring	NOUN
fumecheng-3828	77	145	of	of	ADP
fumecheng-3828	77	146	the	the	DET
fumecheng-3828	77	147	manipulator	manipulator	NOUN
fumecheng-3828	77	148	boom	boom	NOUN
fumecheng-3828	77	149	,	,	PUNCT
fumecheng-3828	77	150	stick	stick	NOUN
fumecheng-3828	77	151	and	and	CCONJ
fumecheng-3828	77	152	bucket	bucket	NOUN
fumecheng-3828	77	153	.	.	PUNCT
fumecheng-3828	78	1	by	by	ADP
fumecheng-3828	78	2	neglecting	neglect	VERB
fumecheng-3828	78	3	the	the	DET
fumecheng-3828	78	4	influence	influence	NOUN
fumecheng-3828	78	5	of	of	ADP
fumecheng-3828	78	6	the	the	DET
fumecheng-3828	78	7	generalized	generalized	ADJ
fumecheng-3828	78	8	coordinate	coordinate	NOUN
fumecheng-3828	78	9	of	of	ADP
fumecheng-3828	78	10	platform	platform	NOUN
fumecheng-3828	78	11	θ2	θ2	PROPN
fumecheng-3828	78	12	rotation	rotation	NOUN
fumecheng-3828	78	13	,	,	PUNCT
fumecheng-3828	78	14	as	as	ADP
fumecheng-3828	78	15	a	a	DET
fumecheng-3828	78	16	small	small	ADJ
fumecheng-3828	78	17	quantity	quantity	NOUN
fumecheng-3828	78	18	,	,	PUNCT
fumecheng-3828	78	19	and	and	CCONJ
fumecheng-3828	78	20	using	use	VERB
fumecheng-3828	78	21	the	the	DET
fumecheng-3828	78	22	approximate	approximate	ADJ
fumecheng-3828	78	23	equivalences	equivalence	NOUN
fumecheng-3828	78	24	:	:	PUNCT
fumecheng-3828	78	25	2	2	NUM
fumecheng-3828	78	26	sin	sin	NOUN
fumecheng-3828	78	27	;	;	PUNCT
fumecheng-3828	78	28	1	1	NUM
fumecheng-3828	78	29	cos	cos	X
fumecheng-3828	78	30	sin	sin	NOUN
fumecheng-3828	78	31	;	;	PUNCT
fumecheng-3828	78	32	1	1	NUM
fumecheng-3828	78	33	cos	co	NOUN
fumecheng-3828	78	34	1,2,3	1,2,3	NUM
fumecheng-3828	78	35	2	2	NUM
fumecheng-3828	78	36	i	i	PRON
fumecheng-3828	78	37	q	q	NOUN
fumecheng-3828	78	38	q	q	X
fumecheng-3828	78	39	q	q	X
fumecheng-3828	78	40	q	q	X
fumecheng-3828	78	41	q	q	X
fumecheng-3828	78	42	q	q	X
fumecheng-3828	78	43	q	q	X
fumecheng-3828	78	44	(	(	PUNCT
fumecheng-3828	78	45	9	9	NUM
fumecheng-3828	78	46	)	)	PUNCT
fumecheng-3828	78	47	the	the	DET
fumecheng-3828	78	48	elastic	elastic	ADJ
fumecheng-3828	78	49	action	action	NOUN
fumecheng-3828	78	50	of	of	ADP
fumecheng-3828	78	51	an	an	DET
fumecheng-3828	78	52	actuator	actuator	NOUN
fumecheng-3828	78	53	with	with	ADP
fumecheng-3828	78	54	stiffness	stiffness	ADJ
fumecheng-3828	78	55	kci	kci	NOUN
fumecheng-3828	78	56	(	(	PUNCT
fumecheng-3828	78	57	fig	fig	NOUN
fumecheng-3828	78	58	.	.	PUNCT
fumecheng-3828	78	59	2a	2a	NUM
fumecheng-3828	78	60	)	)	PUNCT
fumecheng-3828	78	61	,	,	PUNCT
fumecheng-3828	78	62	in	in	ADP
fumecheng-3828	78	63	relation	relation	NOUN
fumecheng-3828	78	64	to	to	ADP
fumecheng-3828	78	65	the	the	DET
fumecheng-3828	78	66	joint	joint	NOUN
fumecheng-3828	78	67	of	of	ADP
fumecheng-3828	78	68	the	the	DET
fumecheng-3828	78	69	drive	drive	ADJ
fumecheng-3828	78	70	mechanism	mechanism	NOUN
fumecheng-3828	78	71	which	which	PRON
fumecheng-3828	78	72	it	it	PRON
fumecheng-3828	78	73	powers	power	VERB
fumecheng-3828	78	74	,	,	PUNCT
fumecheng-3828	78	75	is	be	AUX
fumecheng-3828	78	76	substituted	substitute	VERB
fumecheng-3828	78	77	by	by	ADP
fumecheng-3828	78	78	an	an	DET
fumecheng-3828	78	79	equivalent	equivalent	ADJ
fumecheng-3828	78	80	action	action	NOUN
fumecheng-3828	78	81	of	of	ADP
fumecheng-3828	78	82	torsion	torsion	NOUN
fumecheng-3828	78	83	springs	spring	NOUN
fumecheng-3828	78	84	(	(	PUNCT
fumecheng-3828	78	85	fig	fig	NOUN
fumecheng-3828	78	86	.	.	PUNCT
fumecheng-3828	78	87	2b	2b	NUM
fumecheng-3828	78	88	)	)	PUNCT
fumecheng-3828	78	89	,	,	PUNCT
fumecheng-3828	78	90	whose	whose	DET
fumecheng-3828	78	91	stiffness	stiffness	NOUN
fumecheng-3828	78	92	ki	ki	PROPN
fumecheng-3828	78	93	is	be	AUX
fumecheng-3828	78	94	determined	determine	VERB
fumecheng-3828	78	95	by	by	ADP
fumecheng-3828	78	96	the	the	DET
fumecheng-3828	78	97	following	follow	VERB
fumecheng-3828	78	98	equation	equation	NOUN
fumecheng-3828	78	99	:	:	PUNCT
fumecheng-3828	78	100	2	2	NUM
fumecheng-3828	78	101	ck	ck	NOUN
fumecheng-3828	78	102	2	2	NUM
fumecheng-3828	78	103	,	,	PUNCT
fumecheng-3828	78	104	3	3	NUM
fumecheng-3828	78	105	,	,	PUNCT
fumecheng-3828	78	106	4	4	NUM
fumecheng-3828	78	107	,	,	PUNCT
fumecheng-3828	78	108	5i	5i	NUM
fumecheng-3828	78	109	ci	ci	NOUN
fumecheng-3828	78	110	ik	ik	PROPN
fumecheng-3828	79	1	i	i	PRON
fumecheng-3828	79	2	i	i	PRON
fumecheng-3828	79	3	(	(	PUNCT
fumecheng-3828	79	4	10	10	NUM
fumecheng-3828	79	5	)	)	PUNCT
fumecheng-3828	79	6	where	where	SCONJ
fumecheng-3828	79	7	:	:	PUNCT
fumecheng-3828	79	8	ici	ici	PROPN
fumecheng-3828	79	9	–	–	PUNCT
fumecheng-3828	79	10	the	the	DET
fumecheng-3828	79	11	transitional	transitional	ADJ
fumecheng-3828	79	12	function	function	NOUN
fumecheng-3828	79	13	of	of	ADP
fumecheng-3828	79	14	the	the	DET
fumecheng-3828	79	15	excavator	excavator	NOUN
fumecheng-3828	79	16	drive	drive	NOUN
fumecheng-3828	79	17	mechanism	mechanism	NOUN
fumecheng-3828	79	18	moment	moment	NOUN
fumecheng-3828	79	19	[	[	X
fumecheng-3828	79	20	6	6	NUM
fumecheng-3828	79	21	]	]	PUNCT
fumecheng-3828	79	22	.	.	PUNCT
fumecheng-3828	80	1	the	the	DET
fumecheng-3828	80	2	base	base	NOUN
fumecheng-3828	80	3	(	(	PUNCT
fumecheng-3828	80	4	ground	ground	NOUN
fumecheng-3828	80	5	)	)	PUNCT
fumecheng-3828	80	6	stiffness	stiffness	NOUN
fumecheng-3828	80	7	beneath	beneath	ADP
fumecheng-3828	80	8	the	the	DET
fumecheng-3828	80	9	support	support	NOUN
fumecheng-3828	80	10	and	and	CCONJ
fumecheng-3828	80	11	movement	movement	NOUN
fumecheng-3828	80	12	mechanism	mechanism	NOUN
fumecheng-3828	80	13	of	of	ADP
fumecheng-3828	80	14	the	the	DET
fumecheng-3828	80	15	excavator	excavator	NOUN
fumecheng-3828	80	16	is	be	AUX
fumecheng-3828	80	17	determined	determine	VERB
fumecheng-3828	80	18	using	use	VERB
fumecheng-3828	80	19	the	the	DET
fumecheng-3828	80	20	equation	equation	NOUN
fumecheng-3828	80	21	[	[	X
fumecheng-3828	80	22	9	9	NUM
fumecheng-3828	80	23	]	]	SYM
fumecheng-3828	80	24	:	:	PUNCT
fumecheng-3828	80	25	1o	1o	NUM
fumecheng-3828	80	26	rok	rok	PROPN
fumecheng-3828	80	27	e	e	PROPN
fumecheng-3828	80	28	a	a	X
fumecheng-3828	80	29	(	(	PUNCT
fumecheng-3828	80	30	11	11	NUM
fumecheng-3828	80	31	)	)	PUNCT
fumecheng-3828	80	32	where	where	SCONJ
fumecheng-3828	80	33	:	:	PUNCT
fumecheng-3828	80	34	ero	ero	PROPN
fumecheng-3828	80	35	–	–	PUNCT
fumecheng-3828	80	36	the	the	DET
fumecheng-3828	80	37	ground	ground	NOUN
fumecheng-3828	80	38	reaction	reaction	NOUN
fumecheng-3828	80	39	modulus	modulus	NOUN
fumecheng-3828	80	40	,	,	PUNCT
fumecheng-3828	80	41	a1	a1	NOUN
fumecheng-3828	80	42	–	–	PUNCT
fumecheng-3828	80	43	the	the	DET
fumecheng-3828	80	44	footprint	footprint	NOUN
fumecheng-3828	80	45	surface	surface	NOUN
fumecheng-3828	80	46	area	area	NOUN
fumecheng-3828	80	47	of	of	ADP
fumecheng-3828	80	48	the	the	DET
fumecheng-3828	80	49	support	support	NOUN
fumecheng-3828	80	50	and	and	CCONJ
fumecheng-3828	80	51	movement	movement	NOUN
fumecheng-3828	80	52	member	member	NOUN
fumecheng-3828	80	53	of	of	ADP
fumecheng-3828	80	54	the	the	DET
fumecheng-3828	80	55	excavator	excavator	NOUN
fumecheng-3828	80	56	.	.	PUNCT
fumecheng-3828	81	1	actuator	actuator	NOUN
fumecheng-3828	81	2	displacements	displacement	NOUN
fumecheng-3828	81	3	and	and	CCONJ
fumecheng-3828	81	4	hydraulic	hydraulic	ADJ
fumecheng-3828	81	5	ducts	duct	NOUN
fumecheng-3828	81	6	in	in	ADP
fumecheng-3828	81	7	the	the	DET
fumecheng-3828	81	8	drive	drive	ADJ
fumecheng-3828	81	9	mechanisms	mechanism	NOUN
fumecheng-3828	81	10	are	be	AUX
fumecheng-3828	81	11	filled	fill	VERB
fumecheng-3828	81	12	with	with	ADP
fumecheng-3828	81	13	compressible	compressible	ADJ
fumecheng-3828	81	14	hydraulic	hydraulic	ADJ
fumecheng-3828	81	15	oil	oil	NOUN
fumecheng-3828	81	16	of	of	ADP
fumecheng-3828	81	17	the	the	DET
fumecheng-3828	81	18	excavator	excavator	NOUN
fumecheng-3828	81	19	hydrostatic	hydrostatic	ADJ
fumecheng-3828	81	20	drive	drive	NOUN
fumecheng-3828	81	21	system	system	NOUN
fumecheng-3828	81	22	.	.	PUNCT
fumecheng-3828	82	1	due	due	ADP
fumecheng-3828	82	2	to	to	ADP
fumecheng-3828	82	3	the	the	DET
fumecheng-3828	82	4	hydraulic	hydraulic	ADJ
fumecheng-3828	82	5	oil	oil	NOUN
fumecheng-3828	82	6	compressibility	compressibility	NOUN
fumecheng-3828	82	7	,	,	PUNCT
fumecheng-3828	82	8	the	the	DET
fumecheng-3828	82	9	actuators	actuator	NOUN
fumecheng-3828	82	10	are	be	AUX
fumecheng-3828	82	11	modeled	model	VERB
fumecheng-3828	82	12	using	use	VERB
fumecheng-3828	82	13	springs	spring	NOUN
fumecheng-3828	82	14	with	with	ADP
fumecheng-3828	82	15	an	an	DET
fumecheng-3828	82	16	appropriate	appropriate	ADJ
fumecheng-3828	82	17	stiffness	stiffness	NOUN
fumecheng-3828	82	18	kci	kci	NOUN
fumecheng-3828	82	19	,	,	PUNCT
fumecheng-3828	82	20	determined	determine	VERB
fumecheng-3828	82	21	with	with	ADP
fumecheng-3828	82	22	the	the	DET
fumecheng-3828	82	23	equation	equation	NOUN
fumecheng-3828	82	24	[	[	X
fumecheng-3828	82	25	10	10	NUM
fumecheng-3828	82	26	]	]	SYM
fumecheng-3828	82	27	:	:	PUNCT
fumecheng-3828	82	28	2	2	NUM
fumecheng-3828	82	29	2	2	NUM
fumecheng-3828	82	30	1	1	NUM
fumecheng-3828	82	31	2	2	NUM
fumecheng-3828	82	32	1	1	NUM
fumecheng-3828	82	33	1	1	NUM
fumecheng-3828	82	34	2	2	NUM
fumecheng-3828	82	35	2	2	NUM
fumecheng-3828	82	36	2	2	NUM
fumecheng-3828	82	37	21	21	NUM
fumecheng-3828	82	38	21	21	NUM
fumecheng-3828	82	39	22	22	NUM
fumecheng-3828	82	40	21	21	NUM
fumecheng-3828	82	41	3	3	NUM
fumecheng-3828	82	42	,	,	PUNCT
fumecheng-3828	82	43	4	4	NUM
fumecheng-3828	82	44	,	,	PUNCT
fumecheng-3828	82	45	5	5	NUM
fumecheng-3828	82	46	-for	-for	NOUN
fumecheng-3828	82	47	hydraulic	hydraulic	ADJ
fumecheng-3828	82	48	cylinders	cylinder	NOUN
fumecheng-3828	82	49	[	[	PUNCT
fumecheng-3828	82	50	(	(	PUNCT
fumecheng-3828	82	51	)	)	PUNCT
fumecheng-3828	82	52	]	]	PUNCT
fumecheng-3828	83	1	[	[	PUNCT
fumecheng-3828	83	2	(	(	PUNCT
fumecheng-3828	83	3	)	)	PUNCT
fumecheng-3828	83	4	]	]	PUNCT
fumecheng-3828	83	5	=	=	SYM
fumecheng-3828	83	6	2	2	NUM
fumecheng-3828	83	7	;	;	PUNCT
fumecheng-3828	83	8	-for	-for	PUNCT
fumecheng-3828	83	9	hydraulic	hydraulic	PROPN
fumecheng-3828	83	10	motors	motor	NOUN
fumecheng-3828	84	1	i	i	PRON
fumecheng-3828	84	2	u	u	VERB
fumecheng-3828	84	3	i	i	PRON
fumecheng-3828	85	1	u	u	VERB
fumecheng-3828	86	1	i	i	PRON
fumecheng-3828	86	2	i	i	PRON
fumecheng-3828	86	3	i	i	PRON
fumecheng-3828	86	4	ip	ip	VERB
fumecheng-3828	87	1	i	i	PRON
fumecheng-3828	88	1	i	i	PRON
fumecheng-3828	89	1	ik	ik	INTJ
fumecheng-3828	90	1	i	i	PRON
fumecheng-3828	90	2	i	i	PRON
fumecheng-3828	90	3	ci	ci	VERB
fumecheng-3828	90	4	u	u	NOUN
fumecheng-3828	90	5	a	a	DET
fumecheng-3828	90	6	e	e	NOUN
fumecheng-3828	90	7	a	a	X
fumecheng-3828	90	8	e	e	NOUN
fumecheng-3828	90	9	a	a	PRON
fumecheng-3828	90	10	c	c	NOUN
fumecheng-3828	90	11	c	c	NOUN
fumecheng-3828	90	12	v	v	NOUN
fumecheng-3828	90	13	a	a	DET
fumecheng-3828	90	14	c	c	NOUN
fumecheng-3828	90	15	c	c	NOUN
fumecheng-3828	90	16	v	v	NOUN
fumecheng-3828	90	17	k	k	PROPN
fumecheng-3828	90	18	d	d	PROPN
fumecheng-3828	90	19	e	e	PROPN
fumecheng-3828	90	20	v	v	ADP
fumecheng-3828	90	21	v	v	NUM
fumecheng-3828	90	22	v	v	NOUN
fumecheng-3828	90	23	q	q	NOUN
fumecheng-3828	91	1	(	(	PUNCT
fumecheng-3828	91	2	12	12	NUM
fumecheng-3828	91	3	)	)	PUNCT
fumecheng-3828	91	4	where	where	SCONJ
fumecheng-3828	91	5	:	:	PUNCT
fumecheng-3828	91	6	ai1	ai1	PROPN
fumecheng-3828	91	7	,	,	PUNCT
fumecheng-3828	91	8	ai2	ai2	INTJ
fumecheng-3828	91	9	–	–	PUNCT
fumecheng-3828	91	10	the	the	DET
fumecheng-3828	91	11	operating	operate	VERB
fumecheng-3828	91	12	surface	surface	NOUN
fumecheng-3828	91	13	areas	area	NOUN
fumecheng-3828	91	14	of	of	ADP
fumecheng-3828	91	15	the	the	DET
fumecheng-3828	91	16	hydraulic	hydraulic	ADJ
fumecheng-3828	91	17	cylinder	cylinder	NOUN
fumecheng-3828	91	18	on	on	ADP
fumecheng-3828	91	19	the	the	DET
fumecheng-3828	91	20	piston	piston	NOUN
fumecheng-3828	91	21	and	and	CCONJ
fumecheng-3828	91	22	piston	piston	NOUN
fumecheng-3828	91	23	rod	rod	NOUN
fumecheng-3828	91	24	end	end	NOUN
fumecheng-3828	91	25	,	,	PUNCT
fumecheng-3828	92	1	eu	eu	PROPN
fumecheng-3828	92	2	–	–	PUNCT
fumecheng-3828	92	3	the	the	DET
fumecheng-3828	92	4	elasticity	elasticity	NOUN
fumecheng-3828	92	5	(	(	PUNCT
fumecheng-3828	92	6	bulk	bulk	NOUN
fumecheng-3828	92	7	)	)	PUNCT
fumecheng-3828	92	8	modulus	modulus	NOUN
fumecheng-3828	92	9	of	of	ADP
fumecheng-3828	92	10	the	the	DET
fumecheng-3828	92	11	hydraulic	hydraulic	ADJ
fumecheng-3828	92	12	oil	oil	NOUN
fumecheng-3828	92	13	,	,	PUNCT
fumecheng-3828	92	14	ci	ci	PROPN
fumecheng-3828	92	15	,	,	PUNCT
fumecheng-3828	92	16	cip	cip	PROPN
fumecheng-3828	92	17	,	,	PUNCT
fumecheng-3828	92	18	cik	cik	PROPN
fumecheng-3828	92	19	–	–	PUNCT
fumecheng-3828	92	20	the	the	DET
fumecheng-3828	92	21	current	current	ADJ
fumecheng-3828	92	22	,	,	PUNCT
fumecheng-3828	92	23	initial	initial	ADJ
fumecheng-3828	92	24	and	and	CCONJ
fumecheng-3828	92	25	final	final	ADJ
fumecheng-3828	92	26	length	length	NOUN
fumecheng-3828	92	27	of	of	ADP
fumecheng-3828	92	28	the	the	DET
fumecheng-3828	92	29	hydraulic	hydraulic	ADJ
fumecheng-3828	92	30	cylinder	cylinder	NOUN
fumecheng-3828	92	31	,	,	PUNCT
fumecheng-3828	92	32	d21	d21	NOUN
fumecheng-3828	92	33	–	–	PUNCT
fumecheng-3828	92	34	the	the	DET
fumecheng-3828	92	35	maximal	maximal	ADJ
fumecheng-3828	92	36	specific	specific	ADJ
fumecheng-3828	92	37	flow	flow	NOUN
fumecheng-3828	92	38	(	(	PUNCT
fumecheng-3828	92	39	displacement	displacement	NOUN
fumecheng-3828	92	40	)	)	PUNCT
fumecheng-3828	92	41	of	of	ADP
fumecheng-3828	92	42	the	the	DET
fumecheng-3828	92	43	hydraulic	hydraulic	ADJ
fumecheng-3828	92	44	motor	motor	NOUN
fumecheng-3828	92	45	,	,	PUNCT
fumecheng-3828	92	46	vi2	vi2	NOUN
fumecheng-3828	92	47	–	–	PUNCT
fumecheng-3828	92	48	the	the	DET
fumecheng-3828	92	49	displacement	displacement	NOUN
fumecheng-3828	92	50	of	of	ADP
fumecheng-3828	92	51	the	the	DET
fumecheng-3828	92	52	actuator	actuator	NOUN
fumecheng-3828	92	53	hydraulic	hydraulic	ADJ
fumecheng-3828	92	54	ducts	duct	NOUN
fumecheng-3828	92	55	.	.	PUNCT
fumecheng-3828	93	1	3.3	3.3	NUM
fumecheng-3828	93	2	.	.	PUNCT
fumecheng-3828	94	1	dissipation	dissipation	NOUN
fumecheng-3828	94	2	function	function	NOUN
fumecheng-3828	94	3	for	for	ADP
fumecheng-3828	94	4	the	the	DET
fumecheng-3828	94	5	established	establish	VERB
fumecheng-3828	94	6	dynamic	dynamic	ADJ
fumecheng-3828	94	7	model	model	NOUN
fumecheng-3828	94	8	of	of	ADP
fumecheng-3828	94	9	the	the	DET
fumecheng-3828	94	10	excavator	excavator	NOUN
fumecheng-3828	94	11	,	,	PUNCT
fumecheng-3828	94	12	the	the	DET
fumecheng-3828	94	13	potential	potential	ADJ
fumecheng-3828	94	14	energy	energy	NOUN
fumecheng-3828	94	15	of	of	ADP
fumecheng-3828	94	16	the	the	DET
fumecheng-3828	94	17	system	system	NOUN
fumecheng-3828	94	18	is	be	AUX
fumecheng-3828	94	19	determined	determine	VERB
fumecheng-3828	94	20	using	use	VERB
fumecheng-3828	94	21	the	the	DET
fumecheng-3828	94	22	equation	equation	NOUN
fumecheng-3828	94	23	:	:	PUNCT
fumecheng-3828	94	24	2	2	NUM
fumecheng-3828	94	25	2	2	NUM
fumecheng-3828	94	26	2	2	NUM
fumecheng-3828	94	27	2	2	NUM
fumecheng-3828	94	28	2	2	NUM
fumecheng-3828	94	29	2	2	NUM
fumecheng-3828	94	30	1	1	NUM
fumecheng-3828	94	31	1	1	NUM
fumecheng-3828	94	32	2	2	NUM
fumecheng-3828	94	33	2	2	NUM
fumecheng-3828	94	34	3	3	NUM
fumecheng-3828	94	35	3	3	NUM
fumecheng-3828	94	36	4	4	NUM
fumecheng-3828	94	37	4	4	NUM
fumecheng-3828	94	38	5	5	NUM
fumecheng-3828	94	39	52	52	NUM
fumecheng-3828	94	40	(	(	PUNCT
fumecheng-3828	94	41	)	)	PUNCT
fumecheng-3828	94	42	(	(	PUNCT
fumecheng-3828	94	43	)	)	PUNCT
fumecheng-3828	95	1	o	o	NOUN
fumecheng-3828	96	1	o	o	X
fumecheng-3828	96	2	o	o	X
fumecheng-3828	96	3	ob	ob	ADP
fumecheng-3828	96	4	a	a	DET
fumecheng-3828	96	5	b	b	NOUN
fumecheng-3828	96	6	a	a	DET
fumecheng-3828	96	7	b	b	PROPN
fumecheng-3828	96	8	b	b	PROPN
fumecheng-3828	96	9	b	b	PROPN
fumecheng-3828	96	10	bq	bq	X
fumecheng-3828	96	11	q	q	NOUN
fumecheng-3828	96	12	q	q	X
fumecheng-3828	96	13	q	q	X
fumecheng-3828	96	14	q	q	X
fumecheng-3828	96	15	q	q	X
fumecheng-3828	96	16	q	q	X
fumecheng-3828	96	17	q	q	X
fumecheng-3828	96	18	(	(	PUNCT
fumecheng-3828	96	19	13	13	NUM
fumecheng-3828	96	20	)	)	PUNCT
fumecheng-3828	96	21	a	a	DET
fumecheng-3828	96	22	numerical	numerical	ADJ
fumecheng-3828	96	23	and	and	CCONJ
fumecheng-3828	96	24	experimental	experimental	ADJ
fumecheng-3828	96	25	analysis	analysis	NOUN
fumecheng-3828	96	26	of	of	ADP
fumecheng-3828	96	27	the	the	DET
fumecheng-3828	96	28	dynamic	dynamic	ADJ
fumecheng-3828	96	29	stability	stability	NOUN
fumecheng-3828	96	30	of	of	ADP
fumecheng-3828	96	31	hydraulic	hydraulic	ADJ
fumecheng-3828	96	32	excavators	excavator	NOUN
fumecheng-3828	96	33	163	163	NUM
fumecheng-3828	96	34	where	where	SCONJ
fumecheng-3828	96	35	:	:	PUNCT
fumecheng-3828	96	36	bo	bo	PROPN
fumecheng-3828	96	37	–	–	PUNCT
fumecheng-3828	96	38	the	the	DET
fumecheng-3828	96	39	damping	damp	VERB
fumecheng-3828	96	40	coefficient	coefficient	NOUN
fumecheng-3828	96	41	of	of	ADP
fumecheng-3828	96	42	the	the	DET
fumecheng-3828	96	43	excavator	excavator	NOUN
fumecheng-3828	96	44	support	support	NOUN
fumecheng-3828	96	45	base	base	NOUN
fumecheng-3828	96	46	,	,	PUNCT
fumecheng-3828	96	47	bi	bi	NOUN
fumecheng-3828	96	48	–	–	PUNCT
fumecheng-3828	96	49	the	the	DET
fumecheng-3828	96	50	damping	damp	VERB
fumecheng-3828	96	51	coefficient	coefficient	NOUN
fumecheng-3828	96	52	of	of	ADP
fumecheng-3828	96	53	the	the	DET
fumecheng-3828	96	54	hydraulic	hydraulic	ADJ
fumecheng-3828	96	55	actuators	actuator	NOUN
fumecheng-3828	96	56	of	of	ADP
fumecheng-3828	96	57	drive	drive	ADJ
fumecheng-3828	96	58	mechanisms	mechanism	NOUN
fumecheng-3828	96	59	of	of	ADP
fumecheng-3828	96	60	the	the	DET
fumecheng-3828	96	61	platform	platform	NOUN
fumecheng-3828	96	62	,	,	PUNCT
fumecheng-3828	96	63	boom	boom	NOUN
fumecheng-3828	96	64	,	,	PUNCT
fumecheng-3828	96	65	stick	stick	NOUN
fumecheng-3828	96	66	and	and	CCONJ
fumecheng-3828	96	67	bucket	bucket	NOUN
fumecheng-3828	96	68	,	,	PUNCT
fumecheng-3828	96	69	reduced	reduce	VERB
fumecheng-3828	96	70	to	to	ADP
fumecheng-3828	96	71	the	the	DET
fumecheng-3828	96	72	joints	joint	NOUN
fumecheng-3828	96	73	of	of	ADP
fumecheng-3828	96	74	the	the	DET
fumecheng-3828	96	75	excavator	excavator	NOUN
fumecheng-3828	96	76	kinematic	kinematic	ADJ
fumecheng-3828	96	77	chain	chain	NOUN
fumecheng-3828	96	78	powered	power	VERB
fumecheng-3828	96	79	by	by	ADP
fumecheng-3828	96	80	them	they	PRON
fumecheng-3828	96	81	.	.	PUNCT
fumecheng-3828	97	1	the	the	DET
fumecheng-3828	97	2	damping	damp	VERB
fumecheng-3828	97	3	coefficient	coefficient	NOUN
fumecheng-3828	97	4	of	of	ADP
fumecheng-3828	97	5	the	the	DET
fumecheng-3828	97	6	excavator	excavator	NOUN
fumecheng-3828	97	7	support	support	NOUN
fumecheng-3828	97	8	base	base	NOUN
fumecheng-3828	97	9	is	be	AUX
fumecheng-3828	97	10	determined	determine	VERB
fumecheng-3828	97	11	by	by	ADP
fumecheng-3828	97	12	the	the	DET
fumecheng-3828	97	13	following	follow	VERB
fumecheng-3828	97	14	equation	equation	NOUN
fumecheng-3828	97	15	[	[	X
fumecheng-3828	97	16	11	11	NUM
fumecheng-3828	97	17	]	]	PUNCT
fumecheng-3828	97	18	:	:	PUNCT
fumecheng-3828	97	19	pooo	pooo	PROPN
fumecheng-3828	97	20	ek2b	ek2b	PROPN
fumecheng-3828	97	21			PROPN
fumecheng-3828	97	22	(	(	PUNCT
fumecheng-3828	97	23	14	14	NUM
fumecheng-3828	97	24	)	)	PUNCT
fumecheng-3828	97	25	where	where	SCONJ
fumecheng-3828	97	26	:	:	PUNCT
fumecheng-3828	97	27	ko	ko	PROPN
fumecheng-3828	97	28	–	–	PUNCT
fumecheng-3828	97	29	the	the	DET
fumecheng-3828	97	30	stiffness	stiffness	NOUN
fumecheng-3828	97	31	of	of	ADP
fumecheng-3828	97	32	the	the	DET
fumecheng-3828	97	33	ground	ground	NOUN
fumecheng-3828	97	34	,	,	PUNCT
fumecheng-3828	97	35	epo	epo	PROPN
fumecheng-3828	97	36	–	–	PUNCT
fumecheng-3828	97	37	the	the	DET
fumecheng-3828	97	38	damping	damp	VERB
fumecheng-3828	97	39	modulus	modulus	NOUN
fumecheng-3828	97	40	of	of	ADP
fumecheng-3828	97	41	the	the	DET
fumecheng-3828	97	42	ground	ground	NOUN
fumecheng-3828	97	43	.	.	PUNCT
fumecheng-3828	98	1	the	the	DET
fumecheng-3828	98	2	damping	damp	VERB
fumecheng-3828	98	3	coefficient	coefficient	NOUN
fumecheng-3828	98	4	of	of	ADP
fumecheng-3828	98	5	the	the	DET
fumecheng-3828	98	6	hydraulic	hydraulic	ADJ
fumecheng-3828	98	7	actuators	actuator	NOUN
fumecheng-3828	98	8	of	of	ADP
fumecheng-3828	98	9	drive	drive	ADJ
fumecheng-3828	98	10	mechanisms	mechanism	NOUN
fumecheng-3828	98	11	is	be	AUX
fumecheng-3828	98	12	determined	determine	VERB
fumecheng-3828	98	13	by	by	ADP
fumecheng-3828	98	14	the	the	DET
fumecheng-3828	98	15	following	follow	VERB
fumecheng-3828	98	16	expression	expression	NOUN
fumecheng-3828	98	17	:	:	PUNCT
fumecheng-3828	98	18	2	2	NUM
fumecheng-3828	98	19	i	i	PRON
fumecheng-3828	98	20	2,3,4,5i	2,3,4,5i	VERB
fumecheng-3828	98	21	ci	ci	PROPN
fumecheng-3828	98	22	cb	cb	PROPN
fumecheng-3828	98	23	i	i	PRON
fumecheng-3828	98	24	b	b	PROPN
fumecheng-3828	98	25	i	i	PRON
fumecheng-3828	98	26	(	(	PUNCT
fumecheng-3828	98	27	15	15	NUM
fumecheng-3828	98	28	)	)	PUNCT
fumecheng-3828	98	29	where	where	SCONJ
fumecheng-3828	98	30	the	the	DET
fumecheng-3828	98	31	damping	damp	VERB
fumecheng-3828	98	32	coefficient	coefficient	NOUN
fumecheng-3828	98	33	of	of	ADP
fumecheng-3828	98	34	hydraulic	hydraulic	ADJ
fumecheng-3828	98	35	cylinder	cylinder	NOUN
fumecheng-3828	98	36	bci	bci	PROPN
fumecheng-3828	98	37	is	be	AUX
fumecheng-3828	98	38	defined	define	VERB
fumecheng-3828	98	39	by	by	ADP
fumecheng-3828	98	40	the	the	DET
fumecheng-3828	98	41	following	follow	VERB
fumecheng-3828	98	42	equation	equation	NOUN
fumecheng-3828	98	43	[	[	X
fumecheng-3828	98	44	11	11	NUM
fumecheng-3828	98	45	]	]	SYM
fumecheng-3828	98	46	:	:	PUNCT
fumecheng-3828	98	47	2	2	NUM
fumecheng-3828	98	48	1	1	NUM
fumecheng-3828	98	49	1	1	NUM
fumecheng-3828	98	50	2	2	NUM
fumecheng-3828	98	51	11	11	NUM
fumecheng-3828	98	52	3	3	NUM
fumecheng-3828	98	53	3	3	NUM
fumecheng-3828	98	54	3,4,5	3,4,5	NUM
fumecheng-3828	98	55	4	4	NUM
fumecheng-3828	98	56	(	(	PUNCT
fumecheng-3828	98	57	)	)	PUNCT
fumecheng-3828	98	58	(	(	PUNCT
fumecheng-3828	98	59	)	)	PUNCT
fumecheng-3828	98	60	u	u	NOUN
fumecheng-3828	98	61	i	i	PRON
fumecheng-3828	98	62	i	i	PRON
fumecheng-3828	99	1	i	i	PRON
fumecheng-3828	99	2	ci	ci	VERB
fumecheng-3828	100	1	i	i	PRON
fumecheng-3828	100	2	ii	ii	VERB
fumecheng-3828	101	1	i	i	NOUN
fumecheng-3828	101	2	l	l	NOUN
fumecheng-3828	102	1	d	d	PUNCT
fumecheng-3828	102	2	d	d	X
fumecheng-3828	102	3	b	b	X
fumecheng-3828	102	4	i	i	NOUN
fumecheng-3828	103	1	d	d	NOUN
fumecheng-3828	103	2	dd	dd	NOUN
fumecheng-3828	104	1	d	d	X
fumecheng-3828	104	2	p	p	PROPN
fumecheng-3828	104	3	h	h	NOUN
fumecheng-3828	104	4	(	(	PUNCT
fumecheng-3828	104	5	16	16	NUM
fumecheng-3828	104	6	)	)	PUNCT
fumecheng-3828	104	7	where	where	SCONJ
fumecheng-3828	104	8	:	:	PUNCT
fumecheng-3828	104	9	ηu	ηu	X
fumecheng-3828	104	10	–	–	PUNCT
fumecheng-3828	104	11	the	the	DET
fumecheng-3828	104	12	dynamic	dynamic	ADJ
fumecheng-3828	104	13	viscosity	viscosity	NOUN
fumecheng-3828	104	14	of	of	ADP
fumecheng-3828	104	15	hydraulic	hydraulic	ADJ
fumecheng-3828	104	16	oil	oil	NOUN
fumecheng-3828	104	17	,	,	PUNCT
fumecheng-3828	104	18	di1	di1	INTJ
fumecheng-3828	104	19	–	–	PUNCT
fumecheng-3828	104	20	the	the	DET
fumecheng-3828	104	21	piston	piston	NOUN
fumecheng-3828	104	22	diameter	diameter	NOUN
fumecheng-3828	104	23	,	,	PUNCT
fumecheng-3828	104	24	li	li	PROPN
fumecheng-3828	104	25	–	–	PUNCT
fumecheng-3828	104	26	the	the	DET
fumecheng-3828	104	27	piston	piston	NOUN
fumecheng-3828	104	28	length	length	NOUN
fumecheng-3828	104	29	,	,	PUNCT
fumecheng-3828	104	30	and	and	CCONJ
fumecheng-3828	104	31	di	di	X
fumecheng-3828	104	32	–	–	PUNCT
fumecheng-3828	104	33	the	the	DET
fumecheng-3828	104	34	internal	internal	ADJ
fumecheng-3828	104	35	diameter	diameter	NOUN
fumecheng-3828	104	36	of	of	ADP
fumecheng-3828	104	37	the	the	DET
fumecheng-3828	104	38	hydraulic	hydraulic	ADJ
fumecheng-3828	104	39	cylinder	cylinder	NOUN
fumecheng-3828	104	40	.	.	PUNCT
fumecheng-3828	105	1	substituting	substitute	VERB
fumecheng-3828	105	2	the	the	DET
fumecheng-3828	105	3	expression	expression	NOUN
fumecheng-3828	105	4	for	for	ADP
fumecheng-3828	105	5	kinetic	kinetic	ADJ
fumecheng-3828	105	6	(	(	PUNCT
fumecheng-3828	105	7	6	6	NUM
fumecheng-3828	105	8	)	)	PUNCT
fumecheng-3828	105	9	and	and	CCONJ
fumecheng-3828	105	10	potential	potential	ADJ
fumecheng-3828	105	11	(	(	PUNCT
fumecheng-3828	105	12	8)	8)	NUM
fumecheng-3828	105	13	energy	energy	NOUN
fumecheng-3828	105	14	,	,	PUNCT
fumecheng-3828	105	15	and	and	CCONJ
fumecheng-3828	105	16	the	the	DET
fumecheng-3828	105	17	expression	expression	NOUN
fumecheng-3828	105	18	for	for	ADP
fumecheng-3828	105	19	the	the	DET
fumecheng-3828	105	20	dissipation	dissipation	NOUN
fumecheng-3828	105	21	function	function	NOUN
fumecheng-3828	105	22	(	(	PUNCT
fumecheng-3828	105	23	13	13	NUM
fumecheng-3828	105	24	)	)	PUNCT
fumecheng-3828	105	25	into	into	ADP
fumecheng-3828	105	26	lagrange	lagrange	PROPN
fumecheng-3828	105	27	’s	’s	PART
fumecheng-3828	105	28	equations	equation	NOUN
fumecheng-3828	105	29	of	of	ADP
fumecheng-3828	105	30	the	the	DET
fumecheng-3828	105	31	second	second	ADJ
fumecheng-3828	105	32	kind	kind	NOUN
fumecheng-3828	105	33	(	(	PUNCT
fumecheng-3828	105	34	5	5	NUM
fumecheng-3828	105	35	)	)	PUNCT
fumecheng-3828	105	36	,	,	PUNCT
fumecheng-3828	105	37	one	one	PRON
fumecheng-3828	105	38	obtains	obtain	VERB
fumecheng-3828	105	39	a	a	DET
fumecheng-3828	105	40	system	system	NOUN
fumecheng-3828	105	41	of	of	ADP
fumecheng-3828	105	42	six	six	NUM
fumecheng-3828	105	43	homogenous	homogenous	ADJ
fumecheng-3828	105	44	differential	differential	ADJ
fumecheng-3828	105	45	equations	equation	NOUN
fumecheng-3828	105	46	of	of	ADP
fumecheng-3828	105	47	the	the	DET
fumecheng-3828	105	48	oscillating	oscillate	VERB
fumecheng-3828	105	49	system	system	NOUN
fumecheng-3828	105	50	:	:	PUNCT
fumecheng-3828	105	51	0	0	PROPN
fumecheng-3828	105	52			NUM
fumecheng-3828	105	53	kfm	kfm	X
fumecheng-3828	105	54			PROPN
fumecheng-3828	105	55	(	(	PUNCT
fumecheng-3828	105	56	17	17	NUM
fumecheng-3828	105	57	)	)	PUNCT
fumecheng-3828	105	58	where	where	SCONJ
fumecheng-3828	105	59	:	:	PUNCT
fumecheng-3828	105	60	m	m	X
fumecheng-3828	105	61	–	–	PUNCT
fumecheng-3828	105	62	the	the	DET
fumecheng-3828	105	63	inertial	inertial	ADJ
fumecheng-3828	105	64	matrix	matrix	NOUN
fumecheng-3828	105	65	,	,	PUNCT
fumecheng-3828	105	66	f	f	PROPN
fumecheng-3828	105	67	–	–	PUNCT
fumecheng-3828	105	68	the	the	DET
fumecheng-3828	105	69	matrix	matrix	NOUN
fumecheng-3828	105	70	of	of	ADP
fumecheng-3828	105	71	resistance	resistance	NOUN
fumecheng-3828	105	72	forces	force	NOUN
fumecheng-3828	105	73	,	,	PUNCT
fumecheng-3828	105	74	k	k	PROPN
fumecheng-3828	105	75	–	–	PUNCT
fumecheng-3828	105	76	the	the	DET
fumecheng-3828	105	77	stiffness	stiffness	ADJ
fumecheng-3828	105	78	matrix	matrix	NOUN
fumecheng-3828	105	79	.	.	PUNCT
fumecheng-3828	106	1	the	the	DET
fumecheng-3828	106	2	equations	equation	NOUN
fumecheng-3828	106	3	of	of	ADP
fumecheng-3828	106	4	motion	motion	NOUN
fumecheng-3828	106	5	of	of	ADP
fumecheng-3828	106	6	the	the	DET
fumecheng-3828	106	7	excavator	excavator	NOUN
fumecheng-3828	106	8	dynamic	dynamic	ADJ
fumecheng-3828	106	9	system	system	NOUN
fumecheng-3828	106	10	are	be	AUX
fumecheng-3828	106	11	determined	determine	VERB
fumecheng-3828	106	12	using	use	VERB
fumecheng-3828	106	13	the	the	DET
fumecheng-3828	106	14	method	method	NOUN
fumecheng-3828	106	15	of	of	ADP
fumecheng-3828	106	16	addition	addition	NOUN
fumecheng-3828	106	17	of	of	ADP
fumecheng-3828	106	18	the	the	DET
fumecheng-3828	106	19	main	main	ADJ
fumecheng-3828	106	20	forms	form	NOUN
fumecheng-3828	106	21	of	of	ADP
fumecheng-3828	106	22	oscillation	oscillation	NOUN
fumecheng-3828	106	23	with	with	ADP
fumecheng-3828	106	24	the	the	DET
fumecheng-3828	106	25	next	next	ADJ
fumecheng-3828	106	26	equation	equation	NOUN
fumecheng-3828	106	27	uv	uv	NOUN
fumecheng-3828	106	28	(	(	PUNCT
fumecheng-3828	106	29	18	18	NUM
fumecheng-3828	106	30	)	)	PUNCT
fumecheng-3828	106	31	where	where	SCONJ
fumecheng-3828	106	32	:	:	PUNCT
fumecheng-3828	106	33	v	v	X
fumecheng-3828	106	34	–	–	PUNCT
fumecheng-3828	106	35	modal	modal	NOUN
fumecheng-3828	106	36	matrix	matrix	NOUN
fumecheng-3828	106	37	of	of	ADP
fumecheng-3828	106	38	eigenvectors	eigenvector	NOUN
fumecheng-3828	106	39	,	,	PUNCT
fumecheng-3828	106	40	u	u	NOUN
fumecheng-3828	106	41	–	–	PUNCT
fumecheng-3828	106	42	vector	vector	NOUN
fumecheng-3828	106	43	of	of	ADP
fumecheng-3828	106	44	normal	normal	ADJ
fumecheng-3828	106	45	coordinates	coordinate	NOUN
fumecheng-3828	107	1	[	[	X
fumecheng-3828	107	2	12	12	NUM
fumecheng-3828	107	3	]	]	PUNCT
fumecheng-3828	107	4	.	.	PUNCT
fumecheng-3828	108	1	4	4	X
fumecheng-3828	108	2	.	.	NOUN
fumecheng-3828	108	3	example	example	NOUN
fumecheng-3828	108	4	as	as	ADP
fumecheng-3828	108	5	an	an	DET
fumecheng-3828	108	6	example	example	NOUN
fumecheng-3828	108	7	,	,	PUNCT
fumecheng-3828	108	8	the	the	DET
fumecheng-3828	108	9	numerical	numerical	ADJ
fumecheng-3828	108	10	and	and	CCONJ
fumecheng-3828	108	11	experimental	experimental	ADJ
fumecheng-3828	108	12	analysis	analysis	NOUN
fumecheng-3828	108	13	of	of	ADP
fumecheng-3828	108	14	dynamic	dynamic	ADJ
fumecheng-3828	108	15	stability	stability	NOUN
fumecheng-3828	108	16	was	be	AUX
fumecheng-3828	108	17	performed	perform	VERB
fumecheng-3828	108	18	on	on	ADP
fumecheng-3828	108	19	a	a	DET
fumecheng-3828	108	20	16000	16000	NUM
fumecheng-3828	108	21	kg	kg	NOUN
fumecheng-3828	108	22	tracked	track	VERB
fumecheng-3828	108	23	excavator	excavator	NOUN
fumecheng-3828	108	24	equipped	equip	VERB
fumecheng-3828	108	25	with	with	ADP
fumecheng-3828	108	26	a	a	DET
fumecheng-3828	108	27	manipulator	manipulator	NOUN
fumecheng-3828	108	28	digging	dig	VERB
fumecheng-3828	108	29	bucket	bucket	NOUN
fumecheng-3828	108	30	of	of	ADP
fumecheng-3828	108	31	0.6	0.6	NUM
fumecheng-3828	108	32	m	m	NOUN
fumecheng-3828	108	33	3	3	NUM
fumecheng-3828	108	34	in	in	ADP
fumecheng-3828	108	35	capacity	capacity	NOUN
fumecheng-3828	108	36	.	.	PUNCT
fumecheng-3828	109	1	4.1	4.1	NUM
fumecheng-3828	109	2	.	.	PUNCT
fumecheng-3828	109	3	numerical	numerical	ADJ
fumecheng-3828	109	4	analysis	analysis	NOUN
fumecheng-3828	109	5	using	use	VERB
fumecheng-3828	109	6	the	the	DET
fumecheng-3828	109	7	developed	develop	VERB
fumecheng-3828	109	8	programs	program	NOUN
fumecheng-3828	109	9	,	,	PUNCT
fumecheng-3828	109	10	as	as	ADP
fumecheng-3828	109	11	an	an	DET
fumecheng-3828	109	12	example	example	NOUN
fumecheng-3828	109	13	,	,	PUNCT
fumecheng-3828	109	14	the	the	DET
fumecheng-3828	109	15	analysis	analysis	NOUN
fumecheng-3828	109	16	was	be	AUX
fumecheng-3828	109	17	performed	perform	VERB
fumecheng-3828	109	18	on	on	ADP
fumecheng-3828	109	19	the	the	DET
fumecheng-3828	109	20	influence	influence	NOUN
fumecheng-3828	109	21	of	of	ADP
fumecheng-3828	109	22	oil	oil	NOUN
fumecheng-3828	109	23	temperature	temperature	NOUN
fumecheng-3828	109	24	of	of	ADP
fumecheng-3828	109	25	the	the	DET
fumecheng-3828	109	26	drive	drive	ADJ
fumecheng-3828	109	27	system	system	NOUN
fumecheng-3828	109	28	on	on	ADP
fumecheng-3828	109	29	the	the	DET
fumecheng-3828	109	30	dynamic	dynamic	ADJ
fumecheng-3828	109	31	stability	stability	NOUN
fumecheng-3828	109	32	of	of	ADP
fumecheng-3828	109	33	a	a	DET
fumecheng-3828	109	34	tracked	track	VERB
fumecheng-3828	109	35	excavator	excavator	NOUN
fumecheng-3828	109	36	with	with	ADP
fumecheng-3828	109	37	the	the	DET
fumecheng-3828	109	38	mass	mass	NOUN
fumecheng-3828	109	39	of	of	ADP
fumecheng-3828	109	40	16000	16000	NUM
fumecheng-3828	109	41	kg	kg	NOUN
fumecheng-3828	109	42	,	,	PUNCT
fumecheng-3828	109	43	equipped	equip	VERB
fumecheng-3828	109	44	with	with	ADP
fumecheng-3828	109	45	a	a	DET
fumecheng-3828	109	46	manipulator	manipulator	NOUN
fumecheng-3828	109	47	with	with	ADP
fumecheng-3828	109	48	the	the	DET
fumecheng-3828	109	49	bucket	bucket	NOUN
fumecheng-3828	109	50	capacity	capacity	NOUN
fumecheng-3828	109	51	164	164	NUM
fumecheng-3828	109	52	d.	d.	PROPN
fumecheng-3828	109	53	janošević	janošević	PROPN
fumecheng-3828	109	54	,	,	PUNCT
fumecheng-3828	109	55	j.	j.	PROPN
fumecheng-3828	109	56	pavlović	pavlović	PROPN
fumecheng-3828	109	57	,	,	PUNCT
fumecheng-3828	109	58	v.	v.	ADP
fumecheng-3828	109	59	jovanović	jovanović	PROPN
fumecheng-3828	109	60	,	,	PUNCT
fumecheng-3828	109	61	g.	g.	PROPN
fumecheng-3828	109	62	petrović	petrović	NOUN
fumecheng-3828	109	63	of	of	ADP
fumecheng-3828	109	64	0.6	0.6	NUM
fumecheng-3828	109	65	m	m	NOUN
fumecheng-3828	109	66	3	3	NUM
fumecheng-3828	109	67	.	.	PUNCT
fumecheng-3828	110	1	the	the	DET
fumecheng-3828	110	2	following	follow	VERB
fumecheng-3828	110	3	files	file	NOUN
fumecheng-3828	110	4	are	be	AUX
fumecheng-3828	110	5	input	input	NOUN
fumecheng-3828	110	6	at	at	ADP
fumecheng-3828	110	7	the	the	DET
fumecheng-3828	110	8	start	start	NOUN
fumecheng-3828	110	9	of	of	ADP
fumecheng-3828	110	10	the	the	DET
fumecheng-3828	110	11	program	program	NOUN
fumecheng-3828	110	12	:	:	PUNCT
fumecheng-3828	110	13	the	the	DET
fumecheng-3828	110	14	excavator	excavator	NOUN
fumecheng-3828	110	15	kinematic	kinematic	ADJ
fumecheng-3828	110	16	chain	chain	NOUN
fumecheng-3828	110	17	file	file	NOUN
fumecheng-3828	110	18	(	(	PUNCT
fumecheng-3828	110	19	with	with	ADP
fumecheng-3828	110	20	geometric	geometric	ADJ
fumecheng-3828	110	21	and	and	CCONJ
fumecheng-3828	110	22	dynamic	dynamic	ADJ
fumecheng-3828	110	23	parameters	parameter	NOUN
fumecheng-3828	110	24	of	of	ADP
fumecheng-3828	110	25	each	each	DET
fumecheng-3828	110	26	member	member	NOUN
fumecheng-3828	110	27	)	)	PUNCT
fumecheng-3828	110	28	,	,	PUNCT
fumecheng-3828	110	29	the	the	DET
fumecheng-3828	110	30	drive	drive	ADJ
fumecheng-3828	110	31	mechanisms	mechanism	NOUN
fumecheng-3828	110	32	file	file	VERB
fumecheng-3828	110	33	,	,	PUNCT
fumecheng-3828	110	34	the	the	DET
fumecheng-3828	110	35	support	support	NOUN
fumecheng-3828	110	36	base	base	NOUN
fumecheng-3828	110	37	characteristics	characteristic	NOUN
fumecheng-3828	110	38	,	,	PUNCT
fumecheng-3828	110	39	and	and	CCONJ
fumecheng-3828	110	40	the	the	DET
fumecheng-3828	110	41	characteristics	characteristic	NOUN
fumecheng-3828	110	42	of	of	ADP
fumecheng-3828	110	43	the	the	DET
fumecheng-3828	110	44	oil	oil	NOUN
fumecheng-3828	110	45	in	in	ADP
fumecheng-3828	110	46	the	the	DET
fumecheng-3828	110	47	hydrostatic	hydrostatic	ADJ
fumecheng-3828	110	48	drive	drive	NOUN
fumecheng-3828	110	49	system	system	NOUN
fumecheng-3828	110	50	of	of	ADP
fumecheng-3828	110	51	the	the	DET
fumecheng-3828	110	52	excavator	excavator	NOUN
fumecheng-3828	110	53	.	.	PUNCT
fumecheng-3828	111	1	the	the	DET
fumecheng-3828	111	2	program	program	NOUN
fumecheng-3828	111	3	output	output	NOUN
fumecheng-3828	111	4	yields	yield	VERB
fumecheng-3828	111	5	the	the	DET
fumecheng-3828	111	6	generalized	generalized	ADJ
fumecheng-3828	111	7	system	system	NOUN
fumecheng-3828	111	8	coordinates	coordinate	NOUN
fumecheng-3828	111	9	in	in	ADP
fumecheng-3828	111	10	the	the	DET
fumecheng-3828	111	11	function	function	NOUN
fumecheng-3828	111	12	of	of	ADP
fumecheng-3828	111	13	time	time	NOUN
fumecheng-3828	111	14	.	.	PUNCT
fumecheng-3828	112	1	the	the	DET
fumecheng-3828	112	2	numerical	numerical	ADJ
fumecheng-3828	112	3	analysis	analysis	NOUN
fumecheng-3828	112	4	monitored	monitor	VERB
fumecheng-3828	112	5	the	the	DET
fumecheng-3828	112	6	change	change	NOUN
fumecheng-3828	112	7	in	in	ADP
fumecheng-3828	112	8	the	the	DET
fumecheng-3828	112	9	generalized	generalized	ADJ
fumecheng-3828	112	10	coordinates	coordinate	NOUN
fumecheng-3828	112	11	(	(	PUNCT
fumecheng-3828	112	12	fig	fig	NOUN
fumecheng-3828	112	13	.	.	PUNCT
fumecheng-3828	113	1	2	2	NUM
fumecheng-3828	113	2	):	):	PUNCT
fumecheng-3828	113	3			NOUN
fumecheng-3828	113	4	431oi	431oi	PRON
fumecheng-3828	113	5	,	,	PUNCT
fumecheng-3828	113	6	,	,	PUNCT
fumecheng-3828	113	7	,	,	PUNCT
fumecheng-3828	113	8			VERB
fumecheng-3828	113	9			NOUN
fumecheng-3828	113	10	1	1	NUM
fumecheng-3828	113	11	3	3	NUM
fumecheng-3828	113	12	4	4	NUM
fumecheng-3828	113	13	,	,	PUNCT
fumecheng-3828	113	14	,	,	PUNCT
fumecheng-3828	113	15	,	,	PUNCT
fumecheng-3828	113	16	oq	oq	INTJ
fumecheng-3828	113	17	q	q	PROPN
fumecheng-3828	113	18	q	q	X
fumecheng-3828	113	19	q	q	X
fumecheng-3828	113	20	(	(	PUNCT
fumecheng-3828	113	21	19	19	NUM
fumecheng-3828	113	22	)	)	PUNCT
fumecheng-3828	113	23	the	the	DET
fumecheng-3828	113	24	set	set	VERB
fumecheng-3828	113	25	system	system	NOUN
fumecheng-3828	113	26	conditions	condition	NOUN
fumecheng-3828	113	27	and	and	CCONJ
fumecheng-3828	113	28	parameters	parameter	NOUN
fumecheng-3828	113	29	are	be	AUX
fumecheng-3828	113	30	given	give	VERB
fumecheng-3828	113	31	in	in	ADP
fumecheng-3828	113	32	table	table	NOUN
fumecheng-3828	113	33	t1	t1	NOUN
fumecheng-3828	113	34	.	.	PUNCT
fumecheng-3828	114	1	the	the	DET
fumecheng-3828	114	2	position	position	NOUN
fumecheng-3828	114	3	of	of	ADP
fumecheng-3828	114	4	the	the	DET
fumecheng-3828	114	5	excavator	excavator	NOUN
fumecheng-3828	114	6	was	be	AUX
fumecheng-3828	114	7	observed	observe	VERB
fumecheng-3828	114	8	during	during	ADP
fumecheng-3828	114	9	the	the	DET
fumecheng-3828	114	10	unloading	unloading	NOUN
fumecheng-3828	114	11	of	of	ADP
fumecheng-3828	114	12	the	the	DET
fumecheng-3828	114	13	material	material	NOUN
fumecheng-3828	114	14	when	when	SCONJ
fumecheng-3828	114	15	,	,	PUNCT
fumecheng-3828	114	16	according	accord	VERB
fumecheng-3828	114	17	to	to	ADP
fumecheng-3828	114	18	the	the	DET
fumecheng-3828	114	19	excavator	excavator	NOUN
fumecheng-3828	114	20	measurements	measurement	NOUN
fumecheng-3828	114	21	in	in	ADP
fumecheng-3828	114	22	exploitation	exploitation	NOUN
fumecheng-3828	114	23	conditions	condition	NOUN
fumecheng-3828	114	24	,	,	PUNCT
fumecheng-3828	114	25	primary	primary	ADJ
fumecheng-3828	114	26	movements	movement	NOUN
fumecheng-3828	114	27	of	of	ADP
fumecheng-3828	114	28	the	the	DET
fumecheng-3828	114	29	support	support	NOUN
fumecheng-3828	114	30	and	and	CCONJ
fumecheng-3828	114	31	movement	movement	NOUN
fumecheng-3828	114	32	member	member	NOUN
fumecheng-3828	114	33	and	and	CCONJ
fumecheng-3828	114	34	the	the	DET
fumecheng-3828	114	35	manipulation	manipulation	NOUN
fumecheng-3828	114	36	boom	boom	NOUN
fumecheng-3828	114	37	appeared	appear	VERB
fumecheng-3828	114	38	[	[	X
fumecheng-3828	114	39	11	11	NUM
fumecheng-3828	114	40	,	,	PUNCT
fumecheng-3828	114	41	13	13	NUM
fumecheng-3828	114	42	]	]	PUNCT
fumecheng-3828	114	43	.	.	PUNCT
fumecheng-3828	115	1	table	table	NOUN
fumecheng-3828	115	2	1	1	NUM
fumecheng-3828	115	3	system	system	NOUN
fumecheng-3828	115	4	conditions	condition	NOUN
fumecheng-3828	115	5	and	and	CCONJ
fumecheng-3828	115	6	parameters	parameter	NOUN
fumecheng-3828	115	7	initial	initial	ADJ
fumecheng-3828	115	8	position	position	NOUN
fumecheng-3828	115	9	coordinates	coordinate	NOUN
fumecheng-3828	115	10	of	of	ADP
fumecheng-3828	115	11	the	the	DET
fumecheng-3828	115	12	support	support	NOUN
fumecheng-3828	115	13	and	and	CCONJ
fumecheng-3828	115	14	movement	movement	NOUN
fumecheng-3828	115	15	mechanism	mechanism	NOUN
fumecheng-3828	115	16	and	and	CCONJ
fumecheng-3828	115	17	the	the	DET
fumecheng-3828	115	18	platform	platform	NOUN
fumecheng-3828	115	19	θo=0	θo=0	NOUN
fumecheng-3828	115	20	°	°	NOUN
fumecheng-3828	115	21	,	,	PUNCT
fumecheng-3828	115	22	θ1=0	θ1=0	PROPN
fumecheng-3828	115	23	°	°	NOUN
fumecheng-3828	115	24	,	,	PUNCT
fumecheng-3828	115	25	θ2=0	θ2=0	PROPN
fumecheng-3828	115	26	°	°	ADJ
fumecheng-3828	115	27	initial	initial	ADJ
fumecheng-3828	115	28	position	position	NOUN
fumecheng-3828	115	29	coordinates	coordinate	NOUN
fumecheng-3828	115	30	of	of	ADP
fumecheng-3828	115	31	the	the	DET
fumecheng-3828	115	32	manipulator	manipulator	NOUN
fumecheng-3828	115	33	kinematic	kinematic	PROPN
fumecheng-3828	115	34	chain	chain	NOUN
fumecheng-3828	115	35	θ3o=35	θ3o=35	NOUN
fumecheng-3828	115	36	°	°	PROPN
fumecheng-3828	115	37	,	,	PUNCT
fumecheng-3828	115	38	θ4o	θ4o	PROPN
fumecheng-3828	115	39	=	=	NOUN
fumecheng-3828	115	40	0	0	NUM
fumecheng-3828	115	41	°	°	NUM
fumecheng-3828	115	42	,	,	PUNCT
fumecheng-3828	115	43	θ5o	θ5o	PROPN
fumecheng-3828	115	44	=	=	SYM
fumecheng-3828	115	45	-120	-120	NUM
fumecheng-3828	115	46	°	°	ADJ
fumecheng-3828	115	47	bulk	bulk	ADJ
fumecheng-3828	115	48	modulus	modulus	NOUN
fumecheng-3828	115	49	of	of	ADP
fumecheng-3828	115	50	hydraulic	hydraulic	ADJ
fumecheng-3828	115	51	oil	oil	NOUN
fumecheng-3828	115	52	at	at	ADP
fumecheng-3828	115	53	80oc	80oc	PROPN
fumecheng-3828	115	54	eu=1.4∙109	eu=1.4∙109	PROPN
fumecheng-3828	116	1	[	[	X
fumecheng-3828	116	2	n	n	CCONJ
fumecheng-3828	116	3	/	/	SYM
fumecheng-3828	116	4	m2	m2	PROPN
fumecheng-3828	116	5	]	]	X
fumecheng-3828	116	6	bulk	bulk	ADJ
fumecheng-3828	116	7	modulus	modulus	NOUN
fumecheng-3828	116	8	of	of	ADP
fumecheng-3828	116	9	hydraulic	hydraulic	ADJ
fumecheng-3828	116	10	oil	oil	NOUN
fumecheng-3828	116	11	at	at	ADP
fumecheng-3828	116	12	90oc	90oc	PROPN
fumecheng-3828	116	13	eu=1.2∙109	eu=1.2∙109	PROPN
fumecheng-3828	117	1	[	[	X
fumecheng-3828	117	2	n	n	CCONJ
fumecheng-3828	117	3	/	/	SYM
fumecheng-3828	117	4	m2	m2	PROPN
fumecheng-3828	117	5	]	]	PUNCT
fumecheng-3828	117	6	modulus	modulus	NOUN
fumecheng-3828	117	7	of	of	ADP
fumecheng-3828	117	8	reaction	reaction	NOUN
fumecheng-3828	117	9	of	of	ADP
fumecheng-3828	117	10	the	the	DET
fumecheng-3828	117	11	excavator	excavator	NOUN
fumecheng-3828	117	12	support	support	NOUN
fumecheng-3828	117	13	base	base	NOUN
fumecheng-3828	117	14	ero=5.5∙	ero=5.5∙	ADP
fumecheng-3828	117	15	108	108	NUM
fumecheng-3828	117	16	[	[	SYM
fumecheng-3828	117	17	n	n	CCONJ
fumecheng-3828	117	18	/	/	SYM
fumecheng-3828	117	19	m3	m3	PROPN
fumecheng-3828	117	20	]	]	PUNCT
fumecheng-3828	117	21	damping	damp	VERB
fumecheng-3828	117	22	modulus	modulus	NOUN
fumecheng-3828	117	23	of	of	ADP
fumecheng-3828	117	24	the	the	DET
fumecheng-3828	117	25	excavator	excavator	NOUN
fumecheng-3828	117	26	support	support	NOUN
fumecheng-3828	117	27	base	base	NOUN
fumecheng-3828	117	28	epo=0.005	epo=0.005	VERB
fumecheng-3828	118	1	[	[	X
fumecheng-3828	118	2	s	s	X
fumecheng-3828	118	3	]	]	X
fumecheng-3828	118	4	initial	initial	ADJ
fumecheng-3828	118	5	boom	boom	NOUN
fumecheng-3828	118	6	angle	angle	NOUN
fumecheng-3828	118	7	velocity	velocity	NOUN
fumecheng-3828	118	8	3	3	NUM
fumecheng-3828	118	9	2	2	NUM
fumecheng-3828	118	10	oq	oq	NOUN
fumecheng-3828	118	11	[	[	X
fumecheng-3828	118	12	rad	rad	PROPN
fumecheng-3828	118	13	/	/	SYM
fumecheng-3828	118	14	s	s	PART
fumecheng-3828	118	15	]	]	X
fumecheng-3828	118	16	fig	fig	NOUN
fumecheng-3828	118	17	.	.	PUNCT
fumecheng-3828	119	1	3	3	NUM
fumecheng-3828	119	2	changes	change	NOUN
fumecheng-3828	119	3	in	in	ADP
fumecheng-3828	119	4	generalized	generalized	ADJ
fumecheng-3828	119	5	coordinates	coordinate	NOUN
fumecheng-3828	119	6	θ0	θ0	PROPN
fumecheng-3828	119	7	of	of	ADP
fumecheng-3828	119	8	the	the	DET
fumecheng-3828	119	9	support	support	NOUN
fumecheng-3828	119	10	and	and	CCONJ
fumecheng-3828	119	11	movement	movement	NOUN
fumecheng-3828	119	12	member	member	NOUN
fumecheng-3828	119	13	for	for	ADP
fumecheng-3828	119	14	the	the	DET
fumecheng-3828	119	15	initial	initial	ADJ
fumecheng-3828	119	16	position	position	NOUN
fumecheng-3828	119	17	of	of	ADP
fumecheng-3828	119	18	the	the	DET
fumecheng-3828	119	19	manipulator	manipulator	NOUN
fumecheng-3828	119	20	and	and	CCONJ
fumecheng-3828	119	21	at	at	ADP
fumecheng-3828	119	22	different	different	ADJ
fumecheng-3828	119	23	oil	oil	NOUN
fumecheng-3828	119	24	temperatures	temperature	NOUN
fumecheng-3828	119	25	a	a	DET
fumecheng-3828	119	26	numerical	numerical	ADJ
fumecheng-3828	119	27	and	and	CCONJ
fumecheng-3828	119	28	experimental	experimental	ADJ
fumecheng-3828	119	29	analysis	analysis	NOUN
fumecheng-3828	119	30	of	of	ADP
fumecheng-3828	119	31	the	the	DET
fumecheng-3828	119	32	dynamic	dynamic	ADJ
fumecheng-3828	119	33	stability	stability	NOUN
fumecheng-3828	119	34	of	of	ADP
fumecheng-3828	119	35	hydraulic	hydraulic	ADJ
fumecheng-3828	119	36	excavators	excavator	NOUN
fumecheng-3828	119	37	165	165	NUM
fumecheng-3828	119	38	fig	fig	NOUN
fumecheng-3828	119	39	.	.	PUNCT
fumecheng-3828	120	1	4	4	NUM
fumecheng-3828	120	2	changes	change	NOUN
fumecheng-3828	120	3	in	in	ADP
fumecheng-3828	120	4	the	the	DET
fumecheng-3828	120	5	generalized	generalize	VERB
fumecheng-3828	120	6	coordinates	coordinate	NOUN
fumecheng-3828	120	7	for	for	ADP
fumecheng-3828	120	8	the	the	DET
fumecheng-3828	120	9	initial	initial	ADJ
fumecheng-3828	120	10	position	position	NOUN
fumecheng-3828	120	11	of	of	ADP
fumecheng-3828	120	12	the	the	DET
fumecheng-3828	120	13	manipulator	manipulator	NOUN
fumecheng-3828	120	14	and	and	CCONJ
fumecheng-3828	120	15	at	at	ADP
fumecheng-3828	120	16	different	different	ADJ
fumecheng-3828	120	17	oil	oil	NOUN
fumecheng-3828	120	18	temperatures	temperature	NOUN
fumecheng-3828	120	19	:	:	PUNCT
fumecheng-3828	120	20	a	a	X
fumecheng-3828	120	21	)	)	PUNCT
fumecheng-3828	120	22	θ1	θ1	NOUN
fumecheng-3828	120	23	of	of	ADP
fumecheng-3828	120	24	the	the	DET
fumecheng-3828	120	25	support	support	NOUN
fumecheng-3828	120	26	and	and	CCONJ
fumecheng-3828	120	27	movement	movement	NOUN
fumecheng-3828	120	28	member	member	NOUN
fumecheng-3828	120	29	,	,	PUNCT
fumecheng-3828	120	30	b	b	NOUN
fumecheng-3828	120	31	)	)	PUNCT
fumecheng-3828	120	32	θ3	θ3	NOUN
fumecheng-3828	120	33	of	of	ADP
fumecheng-3828	120	34	the	the	DET
fumecheng-3828	120	35	boom	boom	NOUN
fumecheng-3828	120	36	angle	angle	NOUN
fumecheng-3828	120	37	,	,	PUNCT
fumecheng-3828	120	38	c	c	NOUN
fumecheng-3828	120	39	)	)	PUNCT
fumecheng-3828	120	40	θ4	θ4	NOUN
fumecheng-3828	120	41	of	of	ADP
fumecheng-3828	120	42	the	the	DET
fumecheng-3828	120	43	stick	stick	PROPN
fumecheng-3828	120	44	angle	angle	NOUN
fumecheng-3828	120	45	166	166	NUM
fumecheng-3828	120	46	d.	d.	PROPN
fumecheng-3828	120	47	janošević	janošević	PROPN
fumecheng-3828	120	48	,	,	PUNCT
fumecheng-3828	120	49	j.	j.	PROPN
fumecheng-3828	120	50	pavlović	pavlović	PROPN
fumecheng-3828	120	51	,	,	PUNCT
fumecheng-3828	120	52	v.	v.	ADP
fumecheng-3828	120	53	jovanović	jovanović	PROPN
fumecheng-3828	120	54	,	,	PUNCT
fumecheng-3828	120	55	g.	g.	PROPN
fumecheng-3828	120	56	petrović	petrović	PROPN
fumecheng-3828	120	57	based	base	VERB
fumecheng-3828	120	58	on	on	ADP
fumecheng-3828	120	59	certain	certain	ADJ
fumecheng-3828	120	60	matrices	matrix	NOUN
fumecheng-3828	120	61	and	and	CCONJ
fumecheng-3828	120	62	the	the	DET
fumecheng-3828	120	63	given	give	VERB
fumecheng-3828	120	64	initial	initial	ADJ
fumecheng-3828	120	65	conditions	condition	NOUN
fumecheng-3828	120	66	of	of	ADP
fumecheng-3828	120	67	movement	movement	NOUN
fumecheng-3828	120	68	,	,	PUNCT
fumecheng-3828	120	69	and	and	CCONJ
fumecheng-3828	120	70	using	use	VERB
fumecheng-3828	120	71	the	the	DET
fumecheng-3828	120	72	developed	develop	VERB
fumecheng-3828	120	73	program	program	NOUN
fumecheng-3828	120	74	,	,	PUNCT
fumecheng-3828	120	75	the	the	DET
fumecheng-3828	120	76	differential	differential	ADJ
fumecheng-3828	120	77	equations	equation	NOUN
fumecheng-3828	120	78	were	be	AUX
fumecheng-3828	120	79	solved	solve	VERB
fumecheng-3828	120	80	and	and	CCONJ
fumecheng-3828	120	81	the	the	DET
fumecheng-3828	120	82	changes	change	NOUN
fumecheng-3828	120	83	in	in	ADP
fumecheng-3828	120	84	the	the	DET
fumecheng-3828	120	85	generalized	generalized	ADJ
fumecheng-3828	120	86	coordinates	coordinate	NOUN
fumecheng-3828	120	87	of	of	ADP
fumecheng-3828	120	88	free	free	ADJ
fumecheng-3828	120	89	oscillations	oscillation	NOUN
fumecheng-3828	120	90	of	of	ADP
fumecheng-3828	120	91	the	the	DET
fumecheng-3828	120	92	excavator	excavator	NOUN
fumecheng-3828	120	93	were	be	AUX
fumecheng-3828	120	94	obtained	obtain	VERB
fumecheng-3828	120	95	(	(	PUNCT
fumecheng-3828	120	96	figs	fig	NOUN
fumecheng-3828	120	97	.	.	X
fumecheng-3828	121	1	3	3	NUM
fumecheng-3828	121	2	and	and	CCONJ
fumecheng-3828	121	3	4	4	NUM
fumecheng-3828	121	4	)	)	PUNCT
fumecheng-3828	121	5	.	.	PUNCT
fumecheng-3828	122	1	diagrams	diagram	NOUN
fumecheng-3828	122	2	of	of	ADP
fumecheng-3828	122	3	the	the	DET
fumecheng-3828	122	4	vertical	vertical	ADJ
fumecheng-3828	122	5	θo	θo	PRON
fumecheng-3828	122	6	(	(	PUNCT
fumecheng-3828	122	7	fig	fig	NOUN
fumecheng-3828	122	8	.	.	PUNCT
fumecheng-3828	123	1	3	3	NUM
fumecheng-3828	123	2	)	)	PUNCT
fumecheng-3828	123	3	and	and	CCONJ
fumecheng-3828	123	4	angular	angular	ADJ
fumecheng-3828	123	5	θ1	θ1	NOUN
fumecheng-3828	123	6	displacement	displacement	NOUN
fumecheng-3828	123	7	(	(	PUNCT
fumecheng-3828	123	8	fig	fig	NOUN
fumecheng-3828	123	9	.	.	PUNCT
fumecheng-3828	123	10	4a	4a	NOUN
fumecheng-3828	123	11	)	)	PUNCT
fumecheng-3828	123	12	of	of	ADP
fumecheng-3828	123	13	the	the	DET
fumecheng-3828	123	14	support	support	NOUN
fumecheng-3828	123	15	and	and	CCONJ
fumecheng-3828	123	16	movement	movement	NOUN
fumecheng-3828	123	17	member	member	NOUN
fumecheng-3828	123	18	and	and	CCONJ
fumecheng-3828	123	19	diagrams	diagram	NOUN
fumecheng-3828	123	20	of	of	ADP
fumecheng-3828	123	21	the	the	DET
fumecheng-3828	123	22	change	change	NOUN
fumecheng-3828	123	23	in	in	ADP
fumecheng-3828	123	24	the	the	DET
fumecheng-3828	123	25	generalized	generalized	ADJ
fumecheng-3828	123	26	coordinate	coordinate	NOUN
fumecheng-3828	123	27	of	of	ADP
fumecheng-3828	123	28	the	the	DET
fumecheng-3828	123	29	boom	boom	NOUN
fumecheng-3828	123	30	θ3	θ3	NOUN
fumecheng-3828	123	31	(	(	PUNCT
fumecheng-3828	123	32	fig	fig	NOUN
fumecheng-3828	123	33	.	.	PUNCT
fumecheng-3828	124	1	4b	4b	PROPN
fumecheng-3828	124	2	)	)	PUNCT
fumecheng-3828	125	1	and	and	CCONJ
fumecheng-3828	125	2	stick	stick	VERB
fumecheng-3828	125	3	θ4	θ4	PROPN
fumecheng-3828	125	4	(	(	PUNCT
fumecheng-3828	125	5	fig	fig	NOUN
fumecheng-3828	125	6	.	.	PUNCT
fumecheng-3828	126	1	4c	4c	NOUN
fumecheng-3828	126	2	)	)	PUNCT
fumecheng-3828	126	3	show	show	VERB
fumecheng-3828	126	4	that	that	SCONJ
fumecheng-3828	126	5	the	the	DET
fumecheng-3828	126	6	oscillatorydampened	oscillatorydampene	VERB
fumecheng-3828	126	7	movement	movement	NOUN
fumecheng-3828	126	8	of	of	ADP
fumecheng-3828	126	9	the	the	DET
fumecheng-3828	126	10	excavator	excavator	NOUN
fumecheng-3828	126	11	kinematic	kinematic	ADJ
fumecheng-3828	126	12	chain	chain	NOUN
fumecheng-3828	126	13	members	member	NOUN
fumecheng-3828	126	14	with	with	ADP
fumecheng-3828	126	15	different	different	ADJ
fumecheng-3828	126	16	amplitudes	amplitude	NOUN
fumecheng-3828	126	17	and	and	CCONJ
fumecheng-3828	126	18	oscillation	oscillation	NOUN
fumecheng-3828	126	19	periods	period	NOUN
fumecheng-3828	126	20	for	for	ADP
fumecheng-3828	126	21	different	different	ADJ
fumecheng-3828	126	22	temperatures	temperature	NOUN
fumecheng-3828	126	23	of	of	ADP
fumecheng-3828	126	24	the	the	DET
fumecheng-3828	126	25	hydraulic	hydraulic	ADJ
fumecheng-3828	126	26	oil	oil	NOUN
fumecheng-3828	126	27	in	in	ADP
fumecheng-3828	126	28	the	the	DET
fumecheng-3828	126	29	excavator	excavator	NOUN
fumecheng-3828	126	30	drive	drive	NOUN
fumecheng-3828	126	31	system	system	NOUN
fumecheng-3828	126	32	.	.	PUNCT
fumecheng-3828	127	1	it	it	PRON
fumecheng-3828	127	2	is	be	AUX
fumecheng-3828	127	3	noticeable	noticeable	ADJ
fumecheng-3828	127	4	that	that	SCONJ
fumecheng-3828	127	5	at	at	ADP
fumecheng-3828	127	6	the	the	DET
fumecheng-3828	127	7	higher	high	ADJ
fumecheng-3828	127	8	oil	oil	NOUN
fumecheng-3828	127	9	temperature	temperature	NOUN
fumecheng-3828	127	10	90	90	NUM
fumecheng-3828	127	11	°	°	SYM
fumecheng-3828	127	12	c	c	NOUN
fumecheng-3828	127	13	,	,	PUNCT
fumecheng-3828	127	14	when	when	SCONJ
fumecheng-3828	127	15	the	the	DET
fumecheng-3828	127	16	dynamic	dynamic	ADJ
fumecheng-3828	127	17	viscosity	viscosity	NOUN
fumecheng-3828	127	18	and	and	CCONJ
fumecheng-3828	127	19	modulus	modulus	NOUN
fumecheng-3828	127	20	of	of	ADP
fumecheng-3828	127	21	elasticity	elasticity	NOUN
fumecheng-3828	127	22	are	be	AUX
fumecheng-3828	127	23	smaller	small	ADJ
fumecheng-3828	127	24	,	,	PUNCT
fumecheng-3828	127	25	amplitudes	amplitude	NOUN
fumecheng-3828	127	26	and	and	CCONJ
fumecheng-3828	127	27	periods	period	NOUN
fumecheng-3828	127	28	of	of	ADP
fumecheng-3828	127	29	oscillation	oscillation	NOUN
fumecheng-3828	127	30	of	of	ADP
fumecheng-3828	127	31	the	the	DET
fumecheng-3828	127	32	movement	movement	NOUN
fumecheng-3828	127	33	mechanism	mechanism	NOUN
fumecheng-3828	127	34	are	be	AUX
fumecheng-3828	127	35	greater	great	ADJ
fumecheng-3828	127	36	in	in	ADP
fumecheng-3828	127	37	relation	relation	NOUN
fumecheng-3828	127	38	to	to	ADP
fumecheng-3828	127	39	the	the	DET
fumecheng-3828	127	40	lower	low	ADJ
fumecheng-3828	127	41	oil	oil	NOUN
fumecheng-3828	127	42	temperature	temperature	NOUN
fumecheng-3828	127	43	80	80	NUM
fumecheng-3828	127	44	°	°	SYM
fumecheng-3828	127	45	c	c	NOUN
fumecheng-3828	127	46	.	.	PUNCT
fumecheng-3828	128	1	furthermore	furthermore	ADV
fumecheng-3828	128	2	,	,	PUNCT
fumecheng-3828	128	3	changes	change	NOUN
fumecheng-3828	128	4	in	in	ADP
fumecheng-3828	128	5	the	the	DET
fumecheng-3828	128	6	generalized	generalized	ADJ
fumecheng-3828	128	7	coordinates	coordinate	NOUN
fumecheng-3828	128	8	of	of	ADP
fumecheng-3828	128	9	boom	boom	NOUN
fumecheng-3828	128	10	θ3	θ3	PROPN
fumecheng-3828	128	11	(	(	PUNCT
fumecheng-3828	128	12	fig	fig	NOUN
fumecheng-3828	128	13	.	.	PUNCT
fumecheng-3828	129	1	4b	4b	PROPN
fumecheng-3828	129	2	)	)	PUNCT
fumecheng-3828	130	1	and	and	CCONJ
fumecheng-3828	130	2	stick	stick	VERB
fumecheng-3828	130	3	θ4	θ4	PROPN
fumecheng-3828	130	4	(	(	PUNCT
fumecheng-3828	130	5	fig	fig	NOUN
fumecheng-3828	130	6	.	.	PUNCT
fumecheng-3828	131	1	4c	4c	NOUN
fumecheng-3828	131	2	)	)	PUNCT
fumecheng-3828	131	3	possess	possess	VERB
fumecheng-3828	131	4	a	a	DET
fumecheng-3828	131	5	similar	similar	ADJ
fumecheng-3828	131	6	oscillatory	oscillatory	ADJ
fumecheng-3828	131	7	-	-	PUNCT
fumecheng-3828	131	8	dampened	dampened	ADJ
fumecheng-3828	131	9	character	character	NOUN
fumecheng-3828	131	10	.	.	PUNCT
fumecheng-3828	132	1	it	it	PRON
fumecheng-3828	132	2	is	be	AUX
fumecheng-3828	132	3	characteristic	characteristic	ADJ
fumecheng-3828	132	4	that	that	SCONJ
fumecheng-3828	132	5	the	the	DET
fumecheng-3828	132	6	damping	damp	VERB
fumecheng-3828	132	7	time	time	NOUN
fumecheng-3828	132	8	of	of	ADP
fumecheng-3828	132	9	oscillations	oscillation	NOUN
fumecheng-3828	132	10	of	of	ADP
fumecheng-3828	132	11	all	all	DET
fumecheng-3828	132	12	generalized	generalized	ADJ
fumecheng-3828	132	13	coordinates	coordinate	NOUN
fumecheng-3828	132	14	is	be	AUX
fumecheng-3828	132	15	approximately	approximately	ADV
fumecheng-3828	132	16	the	the	DET
fumecheng-3828	132	17	same	same	ADJ
fumecheng-3828	132	18	and	and	CCONJ
fumecheng-3828	132	19	it	it	PRON
fumecheng-3828	132	20	amounts	amount	VERB
fumecheng-3828	132	21	to	to	ADP
fumecheng-3828	132	22	4	4	NUM
fumecheng-3828	132	23	s.	s.	PROPN
fumecheng-3828	132	24	only	only	ADV
fumecheng-3828	132	25	the	the	DET
fumecheng-3828	132	26	generalized	generalized	ADJ
fumecheng-3828	132	27	boom	boom	NOUN
fumecheng-3828	132	28	coordinate	coordinate	NOUN
fumecheng-3828	132	29	,	,	PUNCT
fumecheng-3828	132	30	whose	whose	DET
fumecheng-3828	132	31	initial	initial	ADJ
fumecheng-3828	132	32	movement	movement	NOUN
fumecheng-3828	132	33	conditions	condition	NOUN
fumecheng-3828	132	34	cause	cause	VERB
fumecheng-3828	132	35	the	the	DET
fumecheng-3828	132	36	disturbance	disturbance	NOUN
fumecheng-3828	132	37	in	in	ADP
fumecheng-3828	132	38	the	the	DET
fumecheng-3828	132	39	dynamic	dynamic	ADJ
fumecheng-3828	132	40	system	system	NOUN
fumecheng-3828	132	41	of	of	ADP
fumecheng-3828	132	42	the	the	DET
fumecheng-3828	132	43	excavator	excavator	NOUN
fumecheng-3828	132	44	,	,	PUNCT
fumecheng-3828	132	45	has	have	VERB
fumecheng-3828	132	46	a	a	DET
fumecheng-3828	132	47	longer	long	ADV
fumecheng-3828	132	48	damping	damp	VERB
fumecheng-3828	132	49	period	period	NOUN
fumecheng-3828	132	50	.	.	PUNCT
fumecheng-3828	133	1	4.2	4.2	NUM
fumecheng-3828	133	2	.	.	PUNCT
fumecheng-3828	134	1	experimental	experimental	ADJ
fumecheng-3828	134	2	analysis	analysis	NOUN
fumecheng-3828	134	3	the	the	DET
fumecheng-3828	134	4	experimental	experimental	ADJ
fumecheng-3828	134	5	analysis	analysis	NOUN
fumecheng-3828	134	6	of	of	ADP
fumecheng-3828	134	7	the	the	DET
fumecheng-3828	134	8	dynamic	dynamic	ADJ
fumecheng-3828	134	9	stability	stability	NOUN
fumecheng-3828	134	10	of	of	ADP
fumecheng-3828	134	11	the	the	DET
fumecheng-3828	134	12	excavator	excavator	NOUN
fumecheng-3828	134	13	was	be	AUX
fumecheng-3828	134	14	performed	perform	VERB
fumecheng-3828	134	15	on	on	ADP
fumecheng-3828	134	16	the	the	DET
fumecheng-3828	134	17	basis	basis	NOUN
fumecheng-3828	134	18	of	of	ADP
fumecheng-3828	134	19	the	the	DET
fumecheng-3828	134	20	changes	change	NOUN
fumecheng-3828	134	21	in	in	ADP
fumecheng-3828	134	22	measured	measured	ADJ
fumecheng-3828	134	23	quantities	quantity	NOUN
fumecheng-3828	134	24	in	in	ADP
fumecheng-3828	134	25	exploitation	exploitation	NOUN
fumecheng-3828	134	26	conditions	condition	NOUN
fumecheng-3828	134	27	.	.	PUNCT
fumecheng-3828	135	1	during	during	ADP
fumecheng-3828	135	2	the	the	DET
fumecheng-3828	135	3	excavator	excavator	NOUN
fumecheng-3828	135	4	testing	testing	NOUN
fumecheng-3828	135	5	,	,	PUNCT
fumecheng-3828	135	6	the	the	DET
fumecheng-3828	135	7	following	follow	VERB
fumecheng-3828	135	8	quantities	quantity	NOUN
fumecheng-3828	135	9	of	of	ADP
fumecheng-3828	135	10	the	the	DET
fumecheng-3828	135	11	excavator	excavator	NOUN
fumecheng-3828	135	12	exploitation	exploitation	NOUN
fumecheng-3828	135	13	working	working	NOUN
fumecheng-3828	135	14	condition	condition	NOUN
fumecheng-3828	135	15	were	be	AUX
fumecheng-3828	135	16	measured	measure	VERB
fumecheng-3828	135	17	:	:	PUNCT
fumecheng-3828	135	18	the	the	DET
fumecheng-3828	135	19	vertical	vertical	ADJ
fumecheng-3828	135	20	displacement	displacement	NOUN
fumecheng-3828	135	21	of	of	ADP
fumecheng-3828	135	22	support	support	NOUN
fumecheng-3828	135	23	and	and	CCONJ
fumecheng-3828	135	24	movement	movement	NOUN
fumecheng-3828	135	25	member	member	NOUN
fumecheng-3828	135	26	c1	c1	PROPN
fumecheng-3828	135	27	,	,	PUNCT
fumecheng-3828	135	28	the	the	DET
fumecheng-3828	135	29	angle	angle	NOUN
fumecheng-3828	135	30	of	of	ADP
fumecheng-3828	135	31	platform	platform	NOUN
fumecheng-3828	135	32	rotation	rotation	PROPN
fumecheng-3828	135	33	c2	c2	PROPN
fumecheng-3828	135	34	,	,	PUNCT
fumecheng-3828	135	35	the	the	DET
fumecheng-3828	135	36	kinematic	kinematic	ADJ
fumecheng-3828	135	37	length	length	NOUN
fumecheng-3828	135	38	of	of	ADP
fumecheng-3828	135	39	the	the	DET
fumecheng-3828	135	40	hydraulic	hydraulic	ADJ
fumecheng-3828	135	41	cylinders	cylinder	NOUN
fumecheng-3828	135	42	of	of	ADP
fumecheng-3828	135	43	boom	boom	NOUN
fumecheng-3828	135	44	c3	c3	PROPN
fumecheng-3828	135	45	,	,	PUNCT
fumecheng-3828	135	46	stick	stick	NOUN
fumecheng-3828	135	47	c4	c4	NOUN
fumecheng-3828	135	48	and	and	CCONJ
fumecheng-3828	135	49	bucket	bucket	NOUN
fumecheng-3828	135	50	c5	c5	PROPN
fumecheng-3828	135	51	and	and	CCONJ
fumecheng-3828	135	52	the	the	DET
fumecheng-3828	135	53	pressure	pressure	NOUN
fumecheng-3828	135	54	in	in	ADP
fumecheng-3828	135	55	the	the	DET
fumecheng-3828	135	56	actuators	actuator	NOUN
fumecheng-3828	135	57	of	of	ADP
fumecheng-3828	135	58	the	the	DET
fumecheng-3828	135	59	excavator	excavator	NOUN
fumecheng-3828	135	60	drive	drive	NOUN
fumecheng-3828	135	61	mechanisms	mechanism	NOUN
fumecheng-3828	135	62	.	.	PUNCT
fumecheng-3828	136	1	fig	fig	NOUN
fumecheng-3828	136	2	.	.	PUNCT
fumecheng-3828	137	1	5	5	NUM
fumecheng-3828	137	2	mathematical	mathematical	ADJ
fumecheng-3828	137	3	model	model	NOUN
fumecheng-3828	137	4	of	of	ADP
fumecheng-3828	137	5	the	the	DET
fumecheng-3828	137	6	excavator	excavator	NOUN
fumecheng-3828	137	7	for	for	ADP
fumecheng-3828	137	8	the	the	DET
fumecheng-3828	137	9	experimental	experimental	ADJ
fumecheng-3828	137	10	analysis	analysis	NOUN
fumecheng-3828	137	11	a	a	DET
fumecheng-3828	137	12	numerical	numerical	ADJ
fumecheng-3828	137	13	and	and	CCONJ
fumecheng-3828	137	14	experimental	experimental	ADJ
fumecheng-3828	137	15	analysis	analysis	NOUN
fumecheng-3828	137	16	of	of	ADP
fumecheng-3828	137	17	the	the	DET
fumecheng-3828	137	18	dynamic	dynamic	ADJ
fumecheng-3828	137	19	stability	stability	NOUN
fumecheng-3828	137	20	of	of	ADP
fumecheng-3828	137	21	hydraulic	hydraulic	ADJ
fumecheng-3828	137	22	excavators	excavator	NOUN
fumecheng-3828	137	23	167	167	NUM
fumecheng-3828	137	24	on	on	ADP
fumecheng-3828	137	25	the	the	DET
fumecheng-3828	137	26	basis	basis	NOUN
fumecheng-3828	137	27	of	of	ADP
fumecheng-3828	137	28	the	the	DET
fumecheng-3828	137	29	measured	measure	VERB
fumecheng-3828	137	30	quantities	quantity	NOUN
fumecheng-3828	137	31	of	of	ADP
fumecheng-3828	137	32	the	the	DET
fumecheng-3828	137	33	excavator	excavator	NOUN
fumecheng-3828	137	34	operating	operate	VERB
fumecheng-3828	137	35	state	state	NOUN
fumecheng-3828	137	36	,	,	PUNCT
fumecheng-3828	137	37	and	and	CCONJ
fumecheng-3828	137	38	by	by	ADP
fumecheng-3828	137	39	using	use	VERB
fumecheng-3828	137	40	the	the	DET
fumecheng-3828	137	41	developed	develop	VERB
fumecheng-3828	137	42	program	program	NOUN
fumecheng-3828	137	43	,	,	PUNCT
fumecheng-3828	137	44	the	the	DET
fumecheng-3828	137	45	change	change	NOUN
fumecheng-3828	137	46	in	in	ADP
fumecheng-3828	137	47	the	the	DET
fumecheng-3828	137	48	generalized	generalized	ADJ
fumecheng-3828	137	49	coordinates	coordinate	NOUN
fumecheng-3828	137	50	(	(	PUNCT
fumecheng-3828	137	51	θ0,θ1,θ3	θ0,θ1,θ3	NOUN
fumecheng-3828	137	52	)	)	PUNCT
fumecheng-3828	137	53	of	of	ADP
fumecheng-3828	137	54	the	the	DET
fumecheng-3828	137	55	positions	position	NOUN
fumecheng-3828	137	56	of	of	ADP
fumecheng-3828	137	57	the	the	DET
fumecheng-3828	137	58	excavator	excavator	NOUN
fumecheng-3828	137	59	kinematic	kinematic	ADJ
fumecheng-3828	137	60	chain	chain	NOUN
fumecheng-3828	137	61	members	member	NOUN
fumecheng-3828	137	62	was	be	AUX
fumecheng-3828	137	63	determined	determine	VERB
fumecheng-3828	137	64	during	during	ADP
fumecheng-3828	137	65	various	various	ADJ
fumecheng-3828	137	66	manipulation	manipulation	NOUN
fumecheng-3828	137	67	tasks	task	NOUN
fumecheng-3828	137	68	of	of	ADP
fumecheng-3828	137	69	the	the	DET
fumecheng-3828	137	70	excavator	excavator	NOUN
fumecheng-3828	137	71	in	in	ADP
fumecheng-3828	137	72	exploitation	exploitation	NOUN
fumecheng-3828	137	73	conditions	condition	NOUN
fumecheng-3828	137	74	(	(	PUNCT
fumecheng-3828	137	75	fig	fig	NOUN
fumecheng-3828	137	76	.	.	PUNCT
fumecheng-3828	138	1	5	5	NUM
fumecheng-3828	138	2	)	)	PUNCT
fumecheng-3828	138	3	.	.	PUNCT
fumecheng-3828	139	1	table	table	NOUN
fumecheng-3828	139	2	2	2	NUM
fumecheng-3828	139	3	measured	measure	VERB
fumecheng-3828	139	4	quantities	quantity	NOUN
fumecheng-3828	139	5	in	in	ADP
fumecheng-3828	139	6	exploitation	exploitation	NOUN
fumecheng-3828	139	7	conditions	condition	NOUN
fumecheng-3828	139	8	sensors	sensor	NOUN
fumecheng-3828	139	9	measured	measure	VERB
fumecheng-3828	139	10	quantities	quantity	NOUN
fumecheng-3828	139	11	index	index	NOUN
fumecheng-3828	139	12	dim	dim	VERB
fumecheng-3828	139	13	м1	м1	ADV
fumecheng-3828	139	14	the	the	DET
fumecheng-3828	139	15	vertical	vertical	ADJ
fumecheng-3828	139	16	displacement	displacement	NOUN
fumecheng-3828	139	17	of	of	ADP
fumecheng-3828	139	18	the	the	DET
fumecheng-3828	139	19	support	support	NOUN
fumecheng-3828	139	20	and	and	CCONJ
fumecheng-3828	139	21	movement	movement	NOUN
fumecheng-3828	139	22	member	member	PROPN
fumecheng-3828	139	23	c1	c1	PROPN
fumecheng-3828	139	24	m	m	PROPN
fumecheng-3828	139	25	м2	м2	PROPN
fumecheng-3828	139	26	the	the	DET
fumecheng-3828	139	27	angle	angle	NOUN
fumecheng-3828	139	28	of	of	ADP
fumecheng-3828	139	29	the	the	DET
fumecheng-3828	139	30	platform	platform	NOUN
fumecheng-3828	139	31	rotation	rotation	NOUN
fumecheng-3828	139	32	c2	c2	PROPN
fumecheng-3828	139	33	rad	rad	PROPN
fumecheng-3828	139	34	м3	м3	VERB
fumecheng-3828	139	35	the	the	DET
fumecheng-3828	139	36	stroke	stroke	NOUN
fumecheng-3828	139	37	of	of	ADP
fumecheng-3828	139	38	the	the	DET
fumecheng-3828	139	39	boom	boom	NOUN
fumecheng-3828	139	40	hydraulic	hydraulic	NOUN
fumecheng-3828	139	41	cylinder	cylinder	NOUN
fumecheng-3828	139	42	c3	c3	PROPN
fumecheng-3828	139	43	m	m	PROPN
fumecheng-3828	139	44	м4	м4	ADP
fumecheng-3828	139	45	the	the	DET
fumecheng-3828	139	46	stroke	stroke	NOUN
fumecheng-3828	139	47	of	of	ADP
fumecheng-3828	139	48	the	the	DET
fumecheng-3828	139	49	stick	stick	PROPN
fumecheng-3828	139	50	hydraulic	hydraulic	PROPN
fumecheng-3828	139	51	cylinder	cylinder	NOUN
fumecheng-3828	139	52	c4	c4	PROPN
fumecheng-3828	139	53	m	m	VERB
fumecheng-3828	139	54	м5	м5	PROPN
fumecheng-3828	139	55	the	the	DET
fumecheng-3828	139	56	stroke	stroke	NOUN
fumecheng-3828	139	57	of	of	ADP
fumecheng-3828	139	58	the	the	DET
fumecheng-3828	139	59	bucket	bucket	NOUN
fumecheng-3828	139	60	hydraulic	hydraulic	ADJ
fumecheng-3828	139	61	cylinder	cylinder	NOUN
fumecheng-3828	139	62	c5	c5	PROPN
fumecheng-3828	139	63	m	m	PROPN
fumecheng-3828	139	64	м6	м6	VERB
fumecheng-3828	139	65	the	the	DET
fumecheng-3828	139	66	pressure	pressure	NOUN
fumecheng-3828	139	67	in	in	ADP
fumecheng-3828	139	68	the	the	DET
fumecheng-3828	139	69	one	one	NUM
fumecheng-3828	139	70	duct	duct	NOUN
fumecheng-3828	139	71	of	of	ADP
fumecheng-3828	139	72	the	the	DET
fumecheng-3828	139	73	hydraulic	hydraulic	ADJ
fumecheng-3828	139	74	motor	motor	NOUN
fumecheng-3828	139	75	for	for	ADP
fumecheng-3828	139	76	platform	platform	NOUN
fumecheng-3828	139	77	rotation	rotation	NOUN
fumecheng-3828	139	78	drive	drive	VERB
fumecheng-3828	139	79	p21	p21	PROPN
fumecheng-3828	139	80	mpa	mpa	PROPN
fumecheng-3828	139	81	м7	м7	NOUN
fumecheng-3828	139	82	the	the	DET
fumecheng-3828	139	83	pressure	pressure	NOUN
fumecheng-3828	139	84	in	in	ADP
fumecheng-3828	139	85	the	the	DET
fumecheng-3828	139	86	another	another	DET
fumecheng-3828	139	87	duct	duct	NOUN
fumecheng-3828	139	88	of	of	ADP
fumecheng-3828	139	89	the	the	DET
fumecheng-3828	139	90	hydraulic	hydraulic	ADJ
fumecheng-3828	139	91	motor	motor	NOUN
fumecheng-3828	139	92	for	for	ADP
fumecheng-3828	139	93	platform	platform	NOUN
fumecheng-3828	139	94	rotation	rotation	NOUN
fumecheng-3828	139	95	drive	drive	NOUN
fumecheng-3828	139	96	p22	p22	NOUN
fumecheng-3828	139	97	mpa	mpa	PROPN
fumecheng-3828	139	98	м8	м8	PROPN
fumecheng-3828	139	99	the	the	DET
fumecheng-3828	139	100	pressure	pressure	NOUN
fumecheng-3828	139	101	in	in	ADP
fumecheng-3828	139	102	the	the	DET
fumecheng-3828	139	103	boom	boom	NOUN
fumecheng-3828	139	104	hydraulic	hydraulic	ADJ
fumecheng-3828	139	105	cylinder	cylinder	NOUN
fumecheng-3828	139	106	on	on	ADP
fumecheng-3828	139	107	the	the	DET
fumecheng-3828	139	108	piston	piston	NOUN
fumecheng-3828	139	109	end	end	NOUN
fumecheng-3828	139	110	p31	p31	PROPN
fumecheng-3828	139	111	mpa	mpa	PROPN
fumecheng-3828	139	112	м9	м9	PROPN
fumecheng-3828	139	113	the	the	DET
fumecheng-3828	139	114	pressure	pressure	NOUN
fumecheng-3828	139	115	in	in	ADP
fumecheng-3828	139	116	the	the	DET
fumecheng-3828	139	117	boom	boom	NOUN
fumecheng-3828	139	118	hydraulic	hydraulic	ADJ
fumecheng-3828	139	119	cylinder	cylinder	NOUN
fumecheng-3828	139	120	on	on	ADP
fumecheng-3828	139	121	the	the	DET
fumecheng-3828	139	122	piston	piston	NOUN
fumecheng-3828	139	123	rod	rod	NOUN
fumecheng-3828	139	124	end	end	VERB
fumecheng-3828	139	125	p32	p32	PROPN
fumecheng-3828	139	126	mpa	mpa	PROPN
fumecheng-3828	139	127	м10	м10	ADP
fumecheng-3828	139	128	the	the	DET
fumecheng-3828	139	129	pressure	pressure	NOUN
fumecheng-3828	139	130	in	in	ADP
fumecheng-3828	139	131	the	the	DET
fumecheng-3828	139	132	stick	stick	NOUN
fumecheng-3828	139	133	hydraulic	hydraulic	ADJ
fumecheng-3828	139	134	cylinder	cylinder	NOUN
fumecheng-3828	139	135	on	on	ADP
fumecheng-3828	139	136	the	the	DET
fumecheng-3828	139	137	piston	piston	NOUN
fumecheng-3828	139	138	end	end	PROPN
fumecheng-3828	139	139	p41	p41	PROPN
fumecheng-3828	139	140	mpa	mpa	PROPN
fumecheng-3828	139	141	м11	м11	NOUN
fumecheng-3828	139	142	the	the	DET
fumecheng-3828	139	143	pressure	pressure	NOUN
fumecheng-3828	139	144	in	in	ADP
fumecheng-3828	139	145	the	the	DET
fumecheng-3828	139	146	stick	stick	NOUN
fumecheng-3828	139	147	hydraulic	hydraulic	ADJ
fumecheng-3828	139	148	cylinder	cylinder	NOUN
fumecheng-3828	139	149	on	on	ADP
fumecheng-3828	139	150	the	the	DET
fumecheng-3828	139	151	piston	piston	NOUN
fumecheng-3828	139	152	rod	rod	NOUN
fumecheng-3828	139	153	end	end	NOUN
fumecheng-3828	139	154	p42	p42	PROPN
fumecheng-3828	139	155	mpa	mpa	PROPN
fumecheng-3828	139	156	м12	м12	NOUN
fumecheng-3828	139	157	the	the	DET
fumecheng-3828	139	158	pressure	pressure	NOUN
fumecheng-3828	139	159	in	in	ADP
fumecheng-3828	139	160	the	the	DET
fumecheng-3828	139	161	bucket	bucket	NOUN
fumecheng-3828	139	162	hydraulic	hydraulic	ADJ
fumecheng-3828	139	163	cylinder	cylinder	NOUN
fumecheng-3828	139	164	on	on	ADP
fumecheng-3828	139	165	the	the	DET
fumecheng-3828	139	166	piston	piston	NOUN
fumecheng-3828	139	167	end	end	NOUN
fumecheng-3828	139	168	p51	p51	PROPN
fumecheng-3828	139	169	mpa	mpa	PROPN
fumecheng-3828	139	170	м13	м13	VERB
fumecheng-3828	139	171	the	the	DET
fumecheng-3828	139	172	pressure	pressure	NOUN
fumecheng-3828	139	173	in	in	ADP
fumecheng-3828	139	174	the	the	DET
fumecheng-3828	139	175	bucket	bucket	NOUN
fumecheng-3828	139	176	hydraulic	hydraulic	ADJ
fumecheng-3828	139	177	cylinder	cylinder	NOUN
fumecheng-3828	139	178	on	on	ADP
fumecheng-3828	139	179	the	the	DET
fumecheng-3828	139	180	piston	piston	NOUN
fumecheng-3828	139	181	rod	rod	NOUN
fumecheng-3828	139	182	end	end	NOUN
fumecheng-3828	139	183	p52	p52	NOUN
fumecheng-3828	139	184	mpa	mpa	PROPN
fumecheng-3828	139	185	generalized	generalize	VERB
fumecheng-3828	139	186	coordinates	coordinate	NOUN
fumecheng-3828	139	187	θ1	θ1	NOUN
fumecheng-3828	139	188	of	of	ADP
fumecheng-3828	139	189	the	the	DET
fumecheng-3828	139	190	support	support	NOUN
fumecheng-3828	139	191	and	and	CCONJ
fumecheng-3828	139	192	movement	movement	NOUN
fumecheng-3828	139	193	member	member	NOUN
fumecheng-3828	139	194	of	of	ADP
fumecheng-3828	139	195	tested	test	VERB
fumecheng-3828	139	196	excavator	excavator	NOUN
fumecheng-3828	139	197	are	be	AUX
fumecheng-3828	139	198	determined	determine	VERB
fumecheng-3828	139	199	by	by	ADP
fumecheng-3828	139	200	the	the	DET
fumecheng-3828	139	201	following	follow	VERB
fumecheng-3828	139	202	equation	equation	NOUN
fumecheng-3828	139	203	(	(	PUNCT
fumecheng-3828	139	204	fig	fig	NOUN
fumecheng-3828	139	205	.	.	PUNCT
fumecheng-3828	140	1	5	5	NUM
fumecheng-3828	140	2	):	):	SYM
fumecheng-3828	140	3	1	1	NUM
fumecheng-3828	140	4	1	1	NUM
fumecheng-3828	140	5	1	1	NUM
fumecheng-3828	140	6	1	1	NUM
fumecheng-3828	140	7	1	1	NUM
fumecheng-3828	140	8	1	1	NUM
fumecheng-3828	140	9	1	1	NUM
fumecheng-3828	140	10	2	2	NUM
fumecheng-3828	140	11	arctg	arctg	NOUN
fumecheng-3828	140	12	0	0	NUM
fumecheng-3828	140	13	2	2	NUM
fumecheng-3828	140	14	2	2	NUM
fumecheng-3828	140	15	arctg	arctg	NOUN
fumecheng-3828	140	16	0	0	NUM
fumecheng-3828	140	17	2	2	NUM
fumecheng-3828	140	18	c	c	NOUN
fumecheng-3828	140	19	c	c	NOUN
fumecheng-3828	140	20	l	l	NOUN
fumecheng-3828	141	1	a	a	X
fumecheng-3828	141	2	c	c	NOUN
fumecheng-3828	141	3	c	c	NOUN
fumecheng-3828	141	4	a	a	DET
fumecheng-3828	141	5	l	l	NOUN
fumecheng-3828	141	6	q	q	NOUN
fumecheng-3828	141	7	1	1	NUM
fumecheng-3828	141	8	1	1	NUM
fumecheng-3828	141	9	1	1	NUM
fumecheng-3828	141	10	1	1	NUM
fumecheng-3828	141	11	1	1	NUM
fumecheng-3828	141	12	1	1	NUM
fumecheng-3828	141	13	1	1	NUM
fumecheng-3828	141	14	2	2	NUM
fumecheng-3828	141	15	arctg	arctg	NOUN
fumecheng-3828	141	16	0	0	NUM
fumecheng-3828	141	17	2	2	NUM
fumecheng-3828	141	18	2	2	NUM
fumecheng-3828	141	19	arctg	arctg	NOUN
fumecheng-3828	141	20	0	0	NUM
fumecheng-3828	141	21	2	2	NUM
fumecheng-3828	141	22	c	c	NOUN
fumecheng-3828	141	23	c	c	NOUN
fumecheng-3828	141	24	l	l	NOUN
fumecheng-3828	142	1	a	a	X
fumecheng-3828	142	2	c	c	NOUN
fumecheng-3828	142	3	c	c	NOUN
fumecheng-3828	142	4	a	a	DET
fumecheng-3828	142	5	l	l	NOUN
fumecheng-3828	142	6	q	q	X
fumecheng-3828	142	7	(	(	PUNCT
fumecheng-3828	142	8	20	20	NUM
fumecheng-3828	142	9	)	)	PUNCT
fumecheng-3828	142	10	where	where	SCONJ
fumecheng-3828	142	11	:	:	PUNCT
fumecheng-3828	142	12	a1	a1	VERB
fumecheng-3828	142	13			NOUN
fumecheng-3828	142	14	the	the	DET
fumecheng-3828	142	15	coordinate	coordinate	NOUN
fumecheng-3828	142	16	of	of	ADP
fumecheng-3828	142	17	the	the	DET
fumecheng-3828	142	18	sensor	sensor	NOUN
fumecheng-3828	142	19	position	position	NOUN
fumecheng-3828	142	20	,	,	PUNCT
fumecheng-3828	142	21	l	l	PROPN
fumecheng-3828	142	22			VERB
fumecheng-3828	142	23	the	the	DET
fumecheng-3828	142	24	length	length	NOUN
fumecheng-3828	142	25	of	of	ADP
fumecheng-3828	142	26	the	the	DET
fumecheng-3828	142	27	excavator	excavator	NOUN
fumecheng-3828	142	28	track	track	NOUN
fumecheng-3828	142	29	footprint	footprint	NOUN
fumecheng-3828	142	30	.	.	PUNCT
fumecheng-3828	143	1	the	the	DET
fumecheng-3828	143	2	changes	change	NOUN
fumecheng-3828	143	3	in	in	ADP
fumecheng-3828	143	4	the	the	DET
fumecheng-3828	143	5	following	follow	VERB
fumecheng-3828	143	6	generalized	generalized	ADJ
fumecheng-3828	143	7	coordinates	coordinate	NOUN
fumecheng-3828	143	8	of	of	ADP
fumecheng-3828	143	9	the	the	DET
fumecheng-3828	143	10	excavator	excavator	NOUN
fumecheng-3828	143	11	kinematic	kinematic	ADJ
fumecheng-3828	143	12	chain	chain	NOUN
fumecheng-3828	143	13	members	member	NOUN
fumecheng-3828	143	14	are	be	AUX
fumecheng-3828	143	15	selected	select	VERB
fumecheng-3828	143	16	and	and	CCONJ
fumecheng-3828	143	17	presented	present	VERB
fumecheng-3828	143	18	here	here	ADV
fumecheng-3828	143	19	:	:	PUNCT
fumecheng-3828	143	20	θ0	θ0	PROPN
fumecheng-3828	143	21	–	–	PUNCT
fumecheng-3828	143	22	the	the	DET
fumecheng-3828	143	23	vertical	vertical	ADJ
fumecheng-3828	143	24	displacement	displacement	NOUN
fumecheng-3828	143	25	of	of	ADP
fumecheng-3828	143	26	the	the	DET
fumecheng-3828	143	27	centre	centre	NOUN
fumecheng-3828	143	28	of	of	ADP
fumecheng-3828	143	29	mass	mass	NOUN
fumecheng-3828	143	30	of	of	ADP
fumecheng-3828	143	31	the	the	DET
fumecheng-3828	143	32	support	support	NOUN
fumecheng-3828	143	33	and	and	CCONJ
fumecheng-3828	143	34	movement	movement	NOUN
fumecheng-3828	143	35	member	member	NOUN
fumecheng-3828	143	36	(	(	PUNCT
fumecheng-3828	143	37	fig	fig	NOUN
fumecheng-3828	143	38	.	.	PUNCT
fumecheng-3828	144	1	6	6	NUM
fumecheng-3828	144	2	)	)	PUNCT
fumecheng-3828	145	1	,	,	PUNCT
fumecheng-3828	145	2	θ1	θ1	NOUN
fumecheng-3828	145	3	–	–	PUNCT
fumecheng-3828	145	4	the	the	DET
fumecheng-3828	145	5	angle	angle	NOUN
fumecheng-3828	145	6	of	of	ADP
fumecheng-3828	145	7	displacement	displacement	NOUN
fumecheng-3828	145	8	of	of	ADP
fumecheng-3828	145	9	the	the	DET
fumecheng-3828	145	10	support	support	NOUN
fumecheng-3828	145	11	and	and	CCONJ
fumecheng-3828	145	12	movement	movement	NOUN
fumecheng-3828	145	13	member	member	NOUN
fumecheng-3828	145	14	(	(	PUNCT
fumecheng-3828	145	15	fig	fig	NOUN
fumecheng-3828	145	16	.	.	PUNCT
fumecheng-3828	145	17	7	7	NUM
fumecheng-3828	145	18	)	)	PUNCT
fumecheng-3828	145	19	,	,	PUNCT
fumecheng-3828	145	20	θ3	θ3	PROPN
fumecheng-3828	145	21	–	–	PUNCT
fumecheng-3828	145	22	the	the	DET
fumecheng-3828	145	23	angle	angle	NOUN
fumecheng-3828	145	24	of	of	ADP
fumecheng-3828	145	25	the	the	DET
fumecheng-3828	145	26	rotation	rotation	NOUN
fumecheng-3828	145	27	of	of	ADP
fumecheng-3828	145	28	the	the	DET
fumecheng-3828	145	29	manipulator	manipulator	NOUN
fumecheng-3828	145	30	boom	boom	NOUN
fumecheng-3828	145	31	(	(	PUNCT
fumecheng-3828	145	32	fig	fig	NOUN
fumecheng-3828	145	33	.	.	PUNCT
fumecheng-3828	146	1	8)	8)	NUM
fumecheng-3828	146	2	.	.	PUNCT
fumecheng-3828	147	1	the	the	DET
fumecheng-3828	147	2	results	result	NOUN
fumecheng-3828	147	3	yielded	yield	VERB
fumecheng-3828	147	4	by	by	ADP
fumecheng-3828	147	5	the	the	DET
fumecheng-3828	147	6	experimental	experimental	ADJ
fumecheng-3828	147	7	dynamic	dynamic	ADJ
fumecheng-3828	147	8	analysis	analysis	NOUN
fumecheng-3828	147	9	of	of	ADP
fumecheng-3828	147	10	the	the	DET
fumecheng-3828	147	11	excavator	excavator	NOUN
fumecheng-3828	147	12	show	show	VERB
fumecheng-3828	147	13	that	that	SCONJ
fumecheng-3828	147	14	the	the	DET
fumecheng-3828	147	15	hydraulic	hydraulic	ADJ
fumecheng-3828	147	16	excavators	excavator	NOUN
fumecheng-3828	147	17	act	act	VERB
fumecheng-3828	147	18	like	like	ADP
fumecheng-3828	147	19	very	very	ADV
fumecheng-3828	147	20	sensitive	sensitive	ADJ
fumecheng-3828	147	21	dynamic	dynamic	ADJ
fumecheng-3828	147	22	oscillatory	oscillatory	ADJ
fumecheng-3828	147	23	systems	system	NOUN
fumecheng-3828	147	24	where	where	SCONJ
fumecheng-3828	147	25	as	as	ADP
fumecheng-3828	147	26	elastically	elastically	ADV
fumecheng-3828	147	27	dampened	dampen	VERB
fumecheng-3828	147	28	elements	element	NOUN
fumecheng-3828	147	29	of	of	ADP
fumecheng-3828	147	30	the	the	DET
fumecheng-3828	147	31	system	system	NOUN
fumecheng-3828	147	32	occur	occur	VERB
fumecheng-3828	147	33	hydrostatic	hydrostatic	ADJ
fumecheng-3828	147	34	actuators	actuator	NOUN
fumecheng-3828	147	35	(	(	PUNCT
fumecheng-3828	147	36	hydraulic	hydraulic	PROPN
fumecheng-3828	147	37	motors	motor	NOUN
fumecheng-3828	147	38	and	and	CCONJ
fumecheng-3828	147	39	hydraulic	hydraulic	ADJ
fumecheng-3828	147	40	cylinders	cylinder	NOUN
fumecheng-3828	147	41	)	)	PUNCT
fumecheng-3828	147	42	of	of	ADP
fumecheng-3828	147	43	excavator	excavator	NOUN
fumecheng-3828	147	44	drive	drive	NOUN
fumecheng-3828	147	45	mechanisms	mechanism	NOUN
fumecheng-3828	147	46	,	,	PUNCT
fumecheng-3828	147	47	due	due	ADP
fumecheng-3828	147	48	to	to	ADP
fumecheng-3828	147	49	hydraulic	hydraulic	ADJ
fumecheng-3828	147	50	oil	oil	NOUN
fumecheng-3828	147	51	compressibility	compressibility	NOUN
fumecheng-3828	147	52	.	.	PUNCT
fumecheng-3828	148	1	diagrams	diagram	NOUN
fumecheng-3828	148	2	of	of	ADP
fumecheng-3828	148	3	the	the	DET
fumecheng-3828	148	4	changes	change	NOUN
fumecheng-3828	148	5	in	in	ADP
fumecheng-3828	148	6	generalized	generalized	ADJ
fumecheng-3828	148	7	coordinates	coordinate	NOUN
fumecheng-3828	148	8	θ0	θ0	PROPN
fumecheng-3828	148	9	(	(	PUNCT
fumecheng-3828	148	10	fig	fig	NOUN
fumecheng-3828	148	11	.	.	PUNCT
fumecheng-3828	148	12	6	6	NUM
fumecheng-3828	148	13	)	)	PUNCT
fumecheng-3828	148	14	,	,	PUNCT
fumecheng-3828	148	15	θ1	θ1	PROPN
fumecheng-3828	148	16	(	(	PUNCT
fumecheng-3828	148	17	fig	fig	NOUN
fumecheng-3828	148	18	.	.	PUNCT
fumecheng-3828	148	19	7	7	NUM
fumecheng-3828	148	20	)	)	PUNCT
fumecheng-3828	148	21	,	,	PUNCT
fumecheng-3828	148	22	θ3	θ3	PROPN
fumecheng-3828	148	23	(	(	PUNCT
fumecheng-3828	148	24	fig	fig	NOUN
fumecheng-3828	148	25	.	.	PUNCT
fumecheng-3828	149	1	8)	8)	NUM
fumecheng-3828	149	2	show	show	VERB
fumecheng-3828	149	3	that	that	SCONJ
fumecheng-3828	149	4	a	a	DET
fumecheng-3828	149	5	pronounced	pronounce	VERB
fumecheng-3828	149	6	oscillatory	oscillatory	ADJ
fumecheng-3828	149	7	state	state	NOUN
fumecheng-3828	149	8	of	of	ADP
fumecheng-3828	149	9	the	the	DET
fumecheng-3828	149	10	excavator	excavator	NOUN
fumecheng-3828	149	11	occurs	occur	VERB
fumecheng-3828	149	12	at	at	ADP
fumecheng-3828	149	13	the	the	DET
fumecheng-3828	149	14	end	end	NOUN
fumecheng-3828	149	15	of	of	ADP
fumecheng-3828	149	16	the	the	DET
fumecheng-3828	149	17	digging	dig	VERB
fumecheng-3828	149	18	operation	operation	NOUN
fumecheng-3828	149	19	,	,	PUNCT
fumecheng-3828	149	20	when	when	SCONJ
fumecheng-3828	149	21	the	the	DET
fumecheng-3828	149	22	digging	dig	VERB
fumecheng-3828	149	23	resistance	resistance	NOUN
fumecheng-3828	149	24	drops	drop	VERB
fumecheng-3828	149	25	rapidly	rapidly	ADV
fumecheng-3828	149	26	,	,	PUNCT
fumecheng-3828	149	27	and	and	CCONJ
fumecheng-3828	149	28	it	it	PRON
fumecheng-3828	149	29	appears	appear	VERB
fumecheng-3828	149	30	as	as	ADP
fumecheng-3828	149	31	a	a	DET
fumecheng-3828	149	32	force	force	NOUN
fumecheng-3828	149	33	impulse	impulse	ADJ
fumecheng-3828	149	34	168	168	NUM
fumecheng-3828	149	35	d.	d.	PROPN
fumecheng-3828	149	36	janošević	janošević	PROPN
fumecheng-3828	149	37	,	,	PUNCT
fumecheng-3828	149	38	j.	j.	PROPN
fumecheng-3828	149	39	pavlović	pavlović	PROPN
fumecheng-3828	149	40	,	,	PUNCT
fumecheng-3828	149	41	v.	v.	ADP
fumecheng-3828	149	42	jovanović	jovanović	PROPN
fumecheng-3828	149	43	,	,	PUNCT
fumecheng-3828	149	44	g.	g.	PROPN
fumecheng-3828	149	45	petrović	petrović	NOUN
fumecheng-3828	149	46	acting	act	VERB
fumecheng-3828	149	47	on	on	ADP
fumecheng-3828	149	48	the	the	DET
fumecheng-3828	149	49	excavator	excavator	NOUN
fumecheng-3828	149	50	’s	’s	PART
fumecheng-3828	149	51	elastically	elastically	ADV
fumecheng-3828	149	52	dampened	dampen	VERB
fumecheng-3828	149	53	system	system	NOUN
fumecheng-3828	149	54	.	.	PUNCT
fumecheng-3828	150	1	the	the	DET
fumecheng-3828	150	2	oscillatory	oscillatory	ADJ
fumecheng-3828	150	3	displacement	displacement	NOUN
fumecheng-3828	150	4	also	also	ADV
fumecheng-3828	150	5	occurs	occur	VERB
fumecheng-3828	150	6	at	at	ADP
fumecheng-3828	150	7	the	the	DET
fumecheng-3828	150	8	beginning	beginning	NOUN
fumecheng-3828	150	9	of	of	ADP
fumecheng-3828	150	10	the	the	DET
fumecheng-3828	150	11	material	material	NOUN
fumecheng-3828	150	12	moving	move	VERB
fumecheng-3828	150	13	operation	operation	NOUN
fumecheng-3828	150	14	when	when	SCONJ
fumecheng-3828	150	15	the	the	DET
fumecheng-3828	150	16	boom	boom	NOUN
fumecheng-3828	150	17	begins	begin	VERB
fumecheng-3828	150	18	to	to	PART
fumecheng-3828	150	19	move	move	VERB
fumecheng-3828	150	20	.	.	PUNCT
fumecheng-3828	151	1	however	however	ADV
fumecheng-3828	151	2	,	,	PUNCT
fumecheng-3828	151	3	primary	primary	ADJ
fumecheng-3828	151	4	oscillatory	oscillatory	ADJ
fumecheng-3828	151	5	displacement	displacement	NOUN
fumecheng-3828	151	6	of	of	ADP
fumecheng-3828	151	7	the	the	DET
fumecheng-3828	151	8	member	member	NOUN
fumecheng-3828	151	9	of	of	ADP
fumecheng-3828	151	10	the	the	DET
fumecheng-3828	151	11	support	support	NOUN
fumecheng-3828	151	12	and	and	CCONJ
fumecheng-3828	151	13	movement	movement	NOUN
fumecheng-3828	151	14	mechanism	mechanism	NOUN
fumecheng-3828	151	15	kinematic	kinematic	ADJ
fumecheng-3828	151	16	chain	chain	NOUN
fumecheng-3828	151	17	appear	appear	VERB
fumecheng-3828	151	18	during	during	ADP
fumecheng-3828	151	19	the	the	DET
fumecheng-3828	151	20	material	material	NOUN
fumecheng-3828	151	21	unloading	unloading	NOUN
fumecheng-3828	151	22	operation	operation	NOUN
fumecheng-3828	151	23	at	at	ADP
fumecheng-3828	151	24	the	the	DET
fumecheng-3828	151	25	moment	moment	NOUN
fumecheng-3828	151	26	when	when	SCONJ
fumecheng-3828	151	27	the	the	DET
fumecheng-3828	151	28	bucket	bucket	NOUN
fumecheng-3828	151	29	is	be	AUX
fumecheng-3828	151	30	being	be	AUX
fumecheng-3828	151	31	emptied	empty	VERB
fumecheng-3828	151	32	and	and	CCONJ
fumecheng-3828	151	33	when	when	SCONJ
fumecheng-3828	151	34	the	the	DET
fumecheng-3828	151	35	system	system	NOUN
fumecheng-3828	151	36	dynamic	dynamic	ADJ
fumecheng-3828	151	37	parameters	parameter	NOUN
fumecheng-3828	151	38	–	–	PUNCT
fumecheng-3828	151	39	the	the	DET
fumecheng-3828	151	40	mass	mass	NOUN
fumecheng-3828	151	41	and	and	CCONJ
fumecheng-3828	151	42	the	the	DET
fumecheng-3828	151	43	moment	moment	NOUN
fumecheng-3828	151	44	of	of	ADP
fumecheng-3828	151	45	inertia	inertia	NOUN
fumecheng-3828	151	46	of	of	ADP
fumecheng-3828	151	47	the	the	DET
fumecheng-3828	151	48	scooped	scoop	VERB
fumecheng-3828	151	49	material	material	NOUN
fumecheng-3828	151	50	–	–	PUNCT
fumecheng-3828	151	51	change	change	VERB
fumecheng-3828	151	52	rapidly	rapidly	ADV
fumecheng-3828	151	53	.	.	PUNCT
fumecheng-3828	152	1	the	the	DET
fumecheng-3828	152	2	results	result	NOUN
fumecheng-3828	152	3	of	of	ADP
fumecheng-3828	152	4	the	the	DET
fumecheng-3828	152	5	experimental	experimental	ADJ
fumecheng-3828	152	6	dynamic	dynamic	ADJ
fumecheng-3828	152	7	analysis	analysis	NOUN
fumecheng-3828	152	8	of	of	ADP
fumecheng-3828	152	9	the	the	DET
fumecheng-3828	152	10	excavator	excavator	NOUN
fumecheng-3828	152	11	stability	stability	NOUN
fumecheng-3828	152	12	show	show	VERB
fumecheng-3828	152	13	the	the	DET
fumecheng-3828	152	14	oscillatory	oscillatory	ADV
fumecheng-3828	152	15	-	-	PUNCT
fumecheng-3828	152	16	dampened	dampened	ADJ
fumecheng-3828	152	17	character	character	NOUN
fumecheng-3828	152	18	of	of	ADP
fumecheng-3828	152	19	the	the	DET
fumecheng-3828	152	20	generalized	generalize	VERB
fumecheng-3828	152	21	coordinates	coordinate	NOUN
fumecheng-3828	152	22	with	with	ADP
fumecheng-3828	152	23	the	the	DET
fumecheng-3828	152	24	damping	damp	VERB
fumecheng-3828	152	25	time	time	NOUN
fumecheng-3828	152	26	of	of	ADP
fumecheng-3828	152	27	around	around	ADP
fumecheng-3828	152	28	4	4	NUM
fumecheng-3828	152	29	s	s	NOUN
fumecheng-3828	152	30	,	,	PUNCT
fumecheng-3828	152	31	which	which	PRON
fumecheng-3828	152	32	approximately	approximately	ADV
fumecheng-3828	152	33	corresponds	correspond	VERB
fumecheng-3828	152	34	to	to	ADP
fumecheng-3828	152	35	the	the	DET
fumecheng-3828	152	36	time	time	NOUN
fumecheng-3828	152	37	obtained	obtain	VERB
fumecheng-3828	152	38	in	in	ADP
fumecheng-3828	152	39	the	the	DET
fumecheng-3828	152	40	numerical	numerical	ADJ
fumecheng-3828	152	41	analysis	analysis	NOUN
fumecheng-3828	152	42	.	.	PUNCT
fumecheng-3828	153	1	fig	fig	NOUN
fumecheng-3828	153	2	.	.	PUNCT
fumecheng-3828	154	1	6	6	NUM
fumecheng-3828	154	2	the	the	DET
fumecheng-3828	154	3	change	change	NOUN
fumecheng-3828	154	4	in	in	ADP
fumecheng-3828	154	5	the	the	DET
fumecheng-3828	154	6	vertical	vertical	ADJ
fumecheng-3828	154	7	displacement	displacement	NOUN
fumecheng-3828	154	8	of	of	ADP
fumecheng-3828	154	9	the	the	DET
fumecheng-3828	154	10	support	support	NOUN
fumecheng-3828	154	11	and	and	CCONJ
fumecheng-3828	154	12	movement	movement	NOUN
fumecheng-3828	154	13	member	member	NOUN
fumecheng-3828	154	14	θ0	θ0	PROPN
fumecheng-3828	154	15	during	during	ADP
fumecheng-3828	154	16	the	the	DET
fumecheng-3828	154	17	manipulation	manipulation	NOUN
fumecheng-3828	154	18	task	task	NOUN
fumecheng-3828	154	19	of	of	ADP
fumecheng-3828	154	20	the	the	DET
fumecheng-3828	154	21	excavator	excavator	NOUN
fumecheng-3828	154	22	obtained	obtain	VERB
fumecheng-3828	154	23	in	in	ADP
fumecheng-3828	154	24	the	the	DET
fumecheng-3828	154	25	experimental	experimental	ADJ
fumecheng-3828	154	26	analysis	analysis	NOUN
fumecheng-3828	154	27	fig	fig	NOUN
fumecheng-3828	154	28	.	.	PUNCT
fumecheng-3828	155	1	7	7	NUM
fumecheng-3828	156	1	the	the	DET
fumecheng-3828	156	2	change	change	NOUN
fumecheng-3828	156	3	in	in	ADP
fumecheng-3828	156	4	the	the	DET
fumecheng-3828	156	5	angular	angular	ADJ
fumecheng-3828	156	6	displacement	displacement	NOUN
fumecheng-3828	156	7	of	of	ADP
fumecheng-3828	156	8	the	the	DET
fumecheng-3828	156	9	support	support	NOUN
fumecheng-3828	156	10	and	and	CCONJ
fumecheng-3828	156	11	movement	movement	NOUN
fumecheng-3828	156	12	member	member	NOUN
fumecheng-3828	156	13	θ1	θ1	PROPN
fumecheng-3828	156	14	during	during	ADP
fumecheng-3828	156	15	the	the	DET
fumecheng-3828	156	16	manipulation	manipulation	NOUN
fumecheng-3828	156	17	task	task	NOUN
fumecheng-3828	156	18	of	of	ADP
fumecheng-3828	156	19	the	the	DET
fumecheng-3828	156	20	excavator	excavator	NOUN
fumecheng-3828	156	21	obtained	obtain	VERB
fumecheng-3828	156	22	in	in	ADP
fumecheng-3828	156	23	the	the	DET
fumecheng-3828	156	24	experimental	experimental	ADJ
fumecheng-3828	156	25	analysis	analysis	NOUN
fumecheng-3828	156	26	a	a	DET
fumecheng-3828	156	27	numerical	numerical	ADJ
fumecheng-3828	156	28	and	and	CCONJ
fumecheng-3828	156	29	experimental	experimental	ADJ
fumecheng-3828	156	30	analysis	analysis	NOUN
fumecheng-3828	156	31	of	of	ADP
fumecheng-3828	156	32	the	the	DET
fumecheng-3828	156	33	dynamic	dynamic	ADJ
fumecheng-3828	156	34	stability	stability	NOUN
fumecheng-3828	156	35	of	of	ADP
fumecheng-3828	156	36	hydraulic	hydraulic	ADJ
fumecheng-3828	156	37	excavators	excavator	NOUN
fumecheng-3828	156	38	169	169	NUM
fumecheng-3828	156	39	fig	fig	NOUN
fumecheng-3828	156	40	.	.	PUNCT
fumecheng-3828	156	41	8	8	NUM
fumecheng-3828	157	1	the	the	DET
fumecheng-3828	157	2	change	change	NOUN
fumecheng-3828	157	3	in	in	ADP
fumecheng-3828	157	4	the	the	DET
fumecheng-3828	157	5	vertical	vertical	ADJ
fumecheng-3828	157	6	displacement	displacement	NOUN
fumecheng-3828	157	7	of	of	ADP
fumecheng-3828	157	8	manipulator	manipulator	NOUN
fumecheng-3828	157	9	θ3	θ3	PROPN
fumecheng-3828	157	10	during	during	ADP
fumecheng-3828	157	11	the	the	DET
fumecheng-3828	157	12	manipulation	manipulation	NOUN
fumecheng-3828	157	13	task	task	NOUN
fumecheng-3828	157	14	of	of	ADP
fumecheng-3828	157	15	the	the	DET
fumecheng-3828	157	16	excavator	excavator	NOUN
fumecheng-3828	157	17	obtained	obtain	VERB
fumecheng-3828	157	18	in	in	ADP
fumecheng-3828	157	19	the	the	DET
fumecheng-3828	157	20	experimental	experimental	ADJ
fumecheng-3828	157	21	analysis	analysis	NOUN
fumecheng-3828	157	22	5	5	NUM
fumecheng-3828	157	23	.	.	PUNCT
fumecheng-3828	157	24	conclusion	conclusion	NOUN
fumecheng-3828	157	25	on	on	ADP
fumecheng-3828	157	26	the	the	DET
fumecheng-3828	157	27	basis	basis	NOUN
fumecheng-3828	157	28	of	of	ADP
fumecheng-3828	157	29	the	the	DET
fumecheng-3828	157	30	obtained	obtain	VERB
fumecheng-3828	157	31	results	result	NOUN
fumecheng-3828	157	32	it	it	PRON
fumecheng-3828	157	33	can	can	AUX
fumecheng-3828	157	34	be	be	AUX
fumecheng-3828	157	35	concluded	conclude	VERB
fumecheng-3828	157	36	that	that	SCONJ
fumecheng-3828	157	37	the	the	DET
fumecheng-3828	157	38	hydraulic	hydraulic	ADJ
fumecheng-3828	157	39	excavators	excavator	NOUN
fumecheng-3828	157	40	act	act	VERB
fumecheng-3828	157	41	like	like	ADP
fumecheng-3828	157	42	very	very	ADV
fumecheng-3828	157	43	sensitive	sensitive	ADJ
fumecheng-3828	157	44	dynamic	dynamic	ADJ
fumecheng-3828	157	45	oscillatory	oscillatory	ADJ
fumecheng-3828	157	46	systems	system	NOUN
fumecheng-3828	157	47	when	when	SCONJ
fumecheng-3828	157	48	performing	perform	VERB
fumecheng-3828	157	49	manipulation	manipulation	NOUN
fumecheng-3828	157	50	tasks	task	NOUN
fumecheng-3828	157	51	.	.	PUNCT
fumecheng-3828	158	1	hydrostatic	hydrostatic	ADJ
fumecheng-3828	158	2	actuators	actuator	NOUN
fumecheng-3828	158	3	(	(	PUNCT
fumecheng-3828	158	4	hydraulic	hydraulic	PROPN
fumecheng-3828	158	5	motors	motor	NOUN
fumecheng-3828	158	6	and	and	CCONJ
fumecheng-3828	158	7	hydraulic	hydraulic	ADJ
fumecheng-3828	158	8	cylinders	cylinder	NOUN
fumecheng-3828	158	9	)	)	PUNCT
fumecheng-3828	158	10	of	of	ADP
fumecheng-3828	158	11	drive	drive	ADJ
fumecheng-3828	158	12	mechanisms	mechanism	NOUN
fumecheng-3828	158	13	of	of	ADP
fumecheng-3828	158	14	the	the	DET
fumecheng-3828	158	15	excavator	excavator	NOUN
fumecheng-3828	158	16	kinematic	kinematic	ADJ
fumecheng-3828	158	17	chain	chain	NOUN
fumecheng-3828	158	18	appear	appear	VERB
fumecheng-3828	158	19	as	as	ADP
fumecheng-3828	158	20	extremely	extremely	ADV
fumecheng-3828	158	21	elastically	elastically	ADV
fumecheng-3828	158	22	dampened	dampened	ADJ
fumecheng-3828	158	23	system	system	NOUN
fumecheng-3828	158	24	elements	element	NOUN
fumecheng-3828	158	25	in	in	ADP
fumecheng-3828	158	26	the	the	DET
fumecheng-3828	158	27	form	form	NOUN
fumecheng-3828	158	28	of	of	ADP
fumecheng-3828	158	29	hydraulic	hydraulic	ADJ
fumecheng-3828	158	30	springs	spring	NOUN
fumecheng-3828	158	31	caused	cause	VERB
fumecheng-3828	158	32	by	by	ADP
fumecheng-3828	158	33	the	the	DET
fumecheng-3828	158	34	hydraulic	hydraulic	ADJ
fumecheng-3828	158	35	oil	oil	NOUN
fumecheng-3828	158	36	compressibility	compressibility	NOUN
fumecheng-3828	158	37	.	.	PUNCT
fumecheng-3828	159	1	oil	oil	NOUN
fumecheng-3828	159	2	temperature	temperature	NOUN
fumecheng-3828	159	3	in	in	ADP
fumecheng-3828	159	4	the	the	DET
fumecheng-3828	159	5	excavator	excavator	NOUN
fumecheng-3828	159	6	hydrostatic	hydrostatic	ADJ
fumecheng-3828	159	7	drive	drive	NOUN
fumecheng-3828	159	8	system	system	NOUN
fumecheng-3828	159	9	affects	affect	VERB
fumecheng-3828	159	10	the	the	DET
fumecheng-3828	159	11	dynamic	dynamic	ADJ
fumecheng-3828	159	12	stability	stability	NOUN
fumecheng-3828	159	13	of	of	ADP
fumecheng-3828	159	14	the	the	DET
fumecheng-3828	159	15	excavator	excavator	NOUN
fumecheng-3828	159	16	.	.	PUNCT
fumecheng-3828	160	1	with	with	ADP
fumecheng-3828	160	2	an	an	DET
fumecheng-3828	160	3	increase	increase	NOUN
fumecheng-3828	160	4	in	in	ADP
fumecheng-3828	160	5	oil	oil	NOUN
fumecheng-3828	160	6	temperature	temperature	NOUN
fumecheng-3828	160	7	,	,	PUNCT
fumecheng-3828	160	8	amplitudes	amplitude	NOUN
fumecheng-3828	160	9	and	and	CCONJ
fumecheng-3828	160	10	periods	period	NOUN
fumecheng-3828	160	11	of	of	ADP
fumecheng-3828	160	12	dampened	dampened	ADJ
fumecheng-3828	160	13	oscillation	oscillation	NOUN
fumecheng-3828	160	14	of	of	ADP
fumecheng-3828	160	15	the	the	DET
fumecheng-3828	160	16	excavator	excavator	NOUN
fumecheng-3828	160	17	kinematic	kinematic	ADJ
fumecheng-3828	160	18	chain	chain	NOUN
fumecheng-3828	160	19	members	member	NOUN
fumecheng-3828	160	20	also	also	ADV
fumecheng-3828	160	21	increase	increase	VERB
fumecheng-3828	160	22	.	.	PUNCT
fumecheng-3828	161	1	the	the	DET
fumecheng-3828	161	2	comparison	comparison	NOUN
fumecheng-3828	161	3	of	of	ADP
fumecheng-3828	161	4	the	the	DET
fumecheng-3828	161	5	character	character	NOUN
fumecheng-3828	161	6	of	of	ADP
fumecheng-3828	161	7	changes	change	NOUN
fumecheng-3828	161	8	and	and	CCONJ
fumecheng-3828	161	9	the	the	DET
fumecheng-3828	161	10	duration	duration	NOUN
fumecheng-3828	161	11	of	of	ADP
fumecheng-3828	161	12	the	the	DET
fumecheng-3828	161	13	calculated	calculate	VERB
fumecheng-3828	161	14	movement	movement	NOUN
fumecheng-3828	161	15	of	of	ADP
fumecheng-3828	161	16	the	the	DET
fumecheng-3828	161	17	excavator	excavator	NOUN
fumecheng-3828	161	18	,	,	PUNCT
fumecheng-3828	161	19	on	on	ADP
fumecheng-3828	161	20	the	the	DET
fumecheng-3828	161	21	grounds	ground	NOUN
fumecheng-3828	161	22	of	of	ADP
fumecheng-3828	161	23	the	the	DET
fumecheng-3828	161	24	defined	define	VERB
fumecheng-3828	161	25	mathematical	mathematical	ADJ
fumecheng-3828	161	26	model	model	NOUN
fumecheng-3828	161	27	and	and	CCONJ
fumecheng-3828	161	28	the	the	DET
fumecheng-3828	161	29	developed	develop	VERB
fumecheng-3828	161	30	program	program	NOUN
fumecheng-3828	161	31	,	,	PUNCT
fumecheng-3828	161	32	with	with	SCONJ
fumecheng-3828	161	33	the	the	DET
fumecheng-3828	161	34	results	result	NOUN
fumecheng-3828	161	35	obtained	obtain	VERB
fumecheng-3828	161	36	on	on	ADP
fumecheng-3828	161	37	the	the	DET
fumecheng-3828	161	38	basis	basis	NOUN
fumecheng-3828	161	39	of	of	ADP
fumecheng-3828	161	40	the	the	DET
fumecheng-3828	161	41	measured	measure	VERB
fumecheng-3828	161	42	quantities	quantity	NOUN
fumecheng-3828	161	43	of	of	ADP
fumecheng-3828	161	44	the	the	DET
fumecheng-3828	161	45	excavator	excavator	NOUN
fumecheng-3828	161	46	when	when	SCONJ
fumecheng-3828	161	47	operating	operate	VERB
fumecheng-3828	161	48	in	in	ADP
fumecheng-3828	161	49	exploitation	exploitation	NOUN
fumecheng-3828	161	50	conditions	condition	NOUN
fumecheng-3828	161	51	show	show	VERB
fumecheng-3828	161	52	that	that	SCONJ
fumecheng-3828	161	53	the	the	DET
fumecheng-3828	161	54	defined	define	VERB
fumecheng-3828	161	55	mathematical	mathematical	ADJ
fumecheng-3828	161	56	model	model	NOUN
fumecheng-3828	161	57	possesses	possess	VERB
fumecheng-3828	161	58	a	a	DET
fumecheng-3828	161	59	sufficient	sufficient	ADJ
fumecheng-3828	161	60	accuracy	accuracy	NOUN
fumecheng-3828	161	61	to	to	PART
fumecheng-3828	161	62	analyze	analyze	VERB
fumecheng-3828	161	63	the	the	DET
fumecheng-3828	161	64	dynamic	dynamic	ADJ
fumecheng-3828	161	65	stability	stability	NOUN
fumecheng-3828	161	66	of	of	ADP
fumecheng-3828	161	67	the	the	DET
fumecheng-3828	161	68	excavator	excavator	NOUN
fumecheng-3828	161	69	.	.	PUNCT
fumecheng-3828	162	1	acknowledgements	acknowledgement	NOUN
fumecheng-3828	162	2	:	:	PUNCT
fumecheng-3828	162	3	the	the	DET
fumecheng-3828	162	4	paper	paper	NOUN
fumecheng-3828	162	5	was	be	AUX
fumecheng-3828	162	6	prepared	prepare	VERB
fumecheng-3828	162	7	within	within	ADP
fumecheng-3828	162	8	the	the	DET
fumecheng-3828	162	9	project	project	NOUN
fumecheng-3828	162	10	tr	tr	VERB
fumecheng-3828	162	11	35049	35049	NUM
fumecheng-3828	162	12	financed	finance	VERB
fumecheng-3828	162	13	by	by	ADP
fumecheng-3828	162	14	the	the	DET
fumecheng-3828	162	15	ministry	ministry	PROPN
fumecheng-3828	162	16	of	of	ADP
fumecheng-3828	162	17	education	education	PROPN
fumecheng-3828	162	18	and	and	CCONJ
fumecheng-3828	162	19	science	science	NOUN
fumecheng-3828	162	20	of	of	ADP
fumecheng-3828	162	21	the	the	DET
fumecheng-3828	162	22	republic	republic	NOUN
fumecheng-3828	162	23	of	of	ADP
fumecheng-3828	162	24	serbia	serbia	PROPN
fumecheng-3828	162	25	.	.	PUNCT
fumecheng-3828	163	1	references	reference	NOUN
fumecheng-3828	163	2	1	1	NUM
fumecheng-3828	163	3	.	.	PUNCT
fumecheng-3828	163	4	nikolaevich	nikolaevich	PROPN
fumecheng-3828	163	5	,	,	PUNCT
fumecheng-3828	163	6	b.e	b.e	PROPN
fumecheng-3828	163	7	.	.	PROPN
fumecheng-3828	163	8	,	,	PUNCT
fumecheng-3828	163	9	nyrgaiazovich	nyrgaiazovich	PROPN
fumecheng-3828	163	10	,	,	PUNCT
fumecheng-3828	163	11	b.i	b.i	PROPN
fumecheng-3828	163	12	,	,	PUNCT
fumecheng-3828	163	13	sergeevich	sergeevich	PROPN
fumecheng-3828	163	14	z.s	z.s	PROPN
fumecheng-3828	163	15	.	.	PROPN
fumecheng-3828	163	16	,	,	PUNCT
fumecheng-3828	163	17	2015	2015	NUM
fumecheng-3828	163	18	,	,	PUNCT
fumecheng-3828	163	19	enhancing	enhance	VERB
fumecheng-3828	163	20	the	the	DET
fumecheng-3828	163	21	stability	stability	NOUN
fumecheng-3828	163	22	of	of	ADP
fumecheng-3828	163	23	the	the	DET
fumecheng-3828	163	24	timber	timber	NOUN
fumecheng-3828	163	25	harvesting	harvesting	NOUN
fumecheng-3828	163	26	machine	machine	NOUN
fumecheng-3828	163	27	of	of	ADP
fumecheng-3828	163	28	manipulator	manipulator	NOUN
fumecheng-3828	163	29	type	type	NOUN
fumecheng-3828	163	30	by	by	ADP
fumecheng-3828	163	31	using	use	VERB
fumecheng-3828	163	32	an	an	DET
fumecheng-3828	163	33	active	active	ADJ
fumecheng-3828	163	34	suspension	suspension	NOUN
fumecheng-3828	163	35	system	system	NOUN
fumecheng-3828	163	36	,	,	PUNCT
fumecheng-3828	163	37	journal	journal	NOUN
fumecheng-3828	163	38	of	of	ADP
fumecheng-3828	163	39	applied	apply	VERB
fumecheng-3828	163	40	engineering	engineering	NOUN
fumecheng-3828	163	41	science	science	NOUN
fumecheng-3828	163	42	,	,	PUNCT
fumecheng-3828	163	43	13(2	13(2	PROPN
fumecheng-3828	163	44	)	)	PUNCT
fumecheng-3828	163	45	,	,	PUNCT
fumecheng-3828	164	1	pp	pp	ADP
fumecheng-3828	164	2	.	.	PUNCT
fumecheng-3828	165	1	111	111	NUM
fumecheng-3828	165	2	-	-	SYM
fumecheng-3828	165	3	116	116	NUM
fumecheng-3828	165	4	.	.	NOUN
fumecheng-3828	166	1	2	2	NUM
fumecheng-3828	166	2	.	.	X
fumecheng-3828	166	3	ghasempoor	ghasempoor	PROPN
fumecheng-3828	166	4	,	,	PUNCT
fumecheng-3828	166	5	a.	a.	NOUN
fumecheng-3828	166	6	,	,	PUNCT
fumecheng-3828	166	7	sepehri	sepehri	NOUN
fumecheng-3828	166	8	,	,	PUNCT
fumecheng-3828	166	9	n.	n.	NOUN
fumecheng-3828	166	10	,	,	PUNCT
fumecheng-3828	166	11	1998	1998	NUM
fumecheng-3828	166	12	,	,	PUNCT
fumecheng-3828	166	13	a	a	DET
fumecheng-3828	166	14	measure	measure	NOUN
fumecheng-3828	166	15	of	of	ADP
fumecheng-3828	166	16	stability	stability	NOUN
fumecheng-3828	166	17	for	for	ADP
fumecheng-3828	166	18	mobile	mobile	ADJ
fumecheng-3828	166	19	manipulators	manipulator	NOUN
fumecheng-3828	166	20	with	with	ADP
fumecheng-3828	166	21	application	application	NOUN
fumecheng-3828	166	22	to	to	ADP
fumecheng-3828	166	23	heavyduty	heavyduty	PROPN
fumecheng-3828	166	24	hydraulic	hydraulic	PROPN
fumecheng-3828	166	25	machines	machine	NOUN
fumecheng-3828	166	26	,	,	PUNCT
fumecheng-3828	166	27	journal	journal	NOUN
fumecheng-3828	166	28	of	of	ADP
fumecheng-3828	166	29	dynamic	dynamic	ADJ
fumecheng-3828	166	30	systems	system	NOUN
fumecheng-3828	166	31	,	,	PUNCT
fumecheng-3828	166	32	measurement	measurement	NOUN
fumecheng-3828	166	33	and	and	CCONJ
fumecheng-3828	166	34	control	control	NOUN
fumecheng-3828	166	35	,	,	PUNCT
fumecheng-3828	166	36	120(3	120(3	NUM
fumecheng-3828	166	37	)	)	PUNCT
fumecheng-3828	166	38	,	,	PUNCT
fumecheng-3828	166	39	pp	pp	PROPN
fumecheng-3828	166	40	.	.	PUNCT
fumecheng-3828	167	1	360	360	NUM
fumecheng-3828	167	2	-	-	SYM
fumecheng-3828	167	3	370	370	NUM
fumecheng-3828	167	4	.	.	PUNCT
fumecheng-3828	168	1	3	3	NUM
fumecheng-3828	168	2	.	.	NOUN
fumecheng-3828	168	3	abo	abo	NOUN
fumecheng-3828	168	4	-	-	PUNCT
fumecheng-3828	168	5	shanab	shanab	NOUN
fumecheng-3828	168	6	,	,	PUNCT
fumecheng-3828	168	7	r.f	r.f	PROPN
fumecheng-3828	168	8	.	.	PROPN
fumecheng-3828	168	9	,	,	PUNCT
fumecheng-3828	168	10	sepehri	sepehri	PROPN
fumecheng-3828	168	11	,	,	PUNCT
fumecheng-3828	168	12	n.	n.	NOUN
fumecheng-3828	168	13	,	,	PUNCT
fumecheng-3828	168	14	2004	2004	NUM
fumecheng-3828	168	15	,	,	PUNCT
fumecheng-3828	168	16	tip	tip	NOUN
fumecheng-3828	168	17	-	-	PUNCT
fumecheng-3828	168	18	over	over	ADP
fumecheng-3828	168	19	stability	stability	NOUN
fumecheng-3828	168	20	of	of	ADP
fumecheng-3828	168	21	manipulator	manipulator	NOUN
fumecheng-3828	168	22	-	-	PUNCT
fumecheng-3828	168	23	like	like	ADJ
fumecheng-3828	168	24	mobile	mobile	ADJ
fumecheng-3828	168	25	hydraulic	hydraulic	NOUN
fumecheng-3828	168	26	machines	machine	NOUN
fumecheng-3828	168	27	,	,	PUNCT
fumecheng-3828	168	28	journal	journal	NOUN
fumecheng-3828	168	29	of	of	ADP
fumecheng-3828	168	30	dynamic	dynamic	ADJ
fumecheng-3828	168	31	systems	system	NOUN
fumecheng-3828	168	32	,	,	PUNCT
fumecheng-3828	168	33	measurement	measurement	NOUN
fumecheng-3828	168	34	and	and	CCONJ
fumecheng-3828	168	35	control	control	NOUN
fumecheng-3828	168	36	,	,	PUNCT
fumecheng-3828	168	37	127(2	127(2	NUM
fumecheng-3828	168	38	)	)	PUNCT
fumecheng-3828	168	39	,	,	PUNCT
fumecheng-3828	168	40	pp	pp	ADP
fumecheng-3828	168	41	.	.	PUNCT
fumecheng-3828	169	1	295	295	NUM
fumecheng-3828	169	2	-	-	SYM
fumecheng-3828	169	3	301	301	NUM
fumecheng-3828	169	4	.	.	PUNCT
fumecheng-3828	169	5	170	170	NUM
fumecheng-3828	169	6	d.	d.	PROPN
fumecheng-3828	169	7	janošević	janošević	PROPN
fumecheng-3828	169	8	,	,	PUNCT
fumecheng-3828	169	9	j.	j.	PROPN
fumecheng-3828	169	10	pavlović	pavlović	PROPN
fumecheng-3828	169	11	,	,	PUNCT
fumecheng-3828	169	12	v.	v.	ADP
fumecheng-3828	169	13	jovanović	jovanović	PROPN
fumecheng-3828	169	14	,	,	PUNCT
fumecheng-3828	169	15	g.	g.	PROPN
fumecheng-3828	169	16	petrović	petrović	PROPN
fumecheng-3828	169	17	4	4	NUM
fumecheng-3828	169	18	.	.	PUNCT
fumecheng-3828	170	1	grigorov	grigorov	PROPN
fumecheng-3828	170	2	,	,	PUNCT
fumecheng-3828	170	3	b.	b.	PROPN
fumecheng-3828	170	4	,	,	PUNCT
fumecheng-3828	170	5	mitev	mitev	PROPN
fumecheng-3828	170	6	,	,	PUNCT
fumecheng-3828	170	7	r.	r.	PROPN
fumecheng-3828	170	8	,	,	PUNCT
fumecheng-3828	170	9	2017	2017	NUM
fumecheng-3828	170	10	,	,	PUNCT
fumecheng-3828	170	11	dynamic	dynamic	ADJ
fumecheng-3828	170	12	behavior	behavior	NOUN
fumecheng-3828	170	13	of	of	ADP
fumecheng-3828	170	14	a	a	DET
fumecheng-3828	170	15	hydraulic	hydraulic	ADJ
fumecheng-3828	170	16	crane	crane	NOUN
fumecheng-3828	170	17	operating	operate	VERB
fumecheng-3828	170	18	a	a	DET
fumecheng-3828	170	19	freely	freely	ADV
fumecheng-3828	170	20	suspended	suspend	VERB
fumecheng-3828	170	21	paylood	paylood	NOUN
fumecheng-3828	170	22	,	,	PUNCT
fumecheng-3828	170	23	journal	journal	NOUN
fumecheng-3828	170	24	of	of	ADP
fumecheng-3828	170	25	zhejiang	zhejiang	PROPN
fumecheng-3828	170	26	university	university	PROPN
fumecheng-3828	170	27	-	-	PUNCT
fumecheng-3828	170	28	science	science	PROPN
fumecheng-3828	170	29	a	a	DET
fumecheng-3828	170	30	,	,	PUNCT
fumecheng-3828	170	31	18(4	18(4	NUM
fumecheng-3828	170	32	)	)	PUNCT
fumecheng-3828	170	33	,	,	PUNCT
fumecheng-3828	170	34	pp	pp	PROPN
fumecheng-3828	170	35	.	.	PUNCT
fumecheng-3828	171	1	268	268	NUM
fumecheng-3828	171	2	-	-	SYM
fumecheng-3828	171	3	281	281	NUM
fumecheng-3828	171	4	.	.	PUNCT
fumecheng-3828	172	1	5	5	X
fumecheng-3828	172	2	.	.	X
fumecheng-3828	172	3	koivo	koivo	NOUN
fumecheng-3828	172	4	,	,	PUNCT
fumecheng-3828	172	5	a.	a.	PROPN
fumecheng-3828	172	6	j.	j.	PROPN
fumecheng-3828	172	7	,	,	PUNCT
fumecheng-3828	172	8	thoma	thoma	PROPN
fumecheng-3828	172	9	,	,	PUNCT
fumecheng-3828	172	10	m.	m.	NOUN
fumecheng-3828	172	11	,	,	PUNCT
fumecheng-3828	172	12	kocaoglan	kocaoglan	PROPN
fumecheng-3828	172	13	e.	e.	PROPN
fumecheng-3828	172	14	,	,	PUNCT
fumecheng-3828	172	15	andrade	andrade	PROPN
fumecheng-3828	172	16	-	-	PUNCT
fumecheng-3828	172	17	cetto	cetto	PROPN
fumecheng-3828	172	18	,	,	PUNCT
fumecheng-3828	172	19	j.	j.	PROPN
fumecheng-3828	172	20	,	,	PUNCT
fumecheng-3828	172	21	1996	1996	NUM
fumecheng-3828	172	22	,	,	PUNCT
fumecheng-3828	172	23	modeling	modeling	NOUN
fumecheng-3828	172	24	and	and	CCONJ
fumecheng-3828	172	25	control	control	NOUN
fumecheng-3828	172	26	of	of	ADP
fumecheng-3828	172	27	excavator	excavator	NOUN
fumecheng-3828	172	28	dynamics	dynamic	NOUN
fumecheng-3828	172	29	during	during	ADP
fumecheng-3828	172	30	digging	dig	VERB
fumecheng-3828	172	31	operation	operation	NOUN
fumecheng-3828	172	32	,	,	PUNCT
fumecheng-3828	172	33	journal	journal	NOUN
fumecheng-3828	172	34	of	of	ADP
fumecheng-3828	172	35	aerospace	aerospace	NOUN
fumecheng-3828	172	36	engineering	engineering	NOUN
fumecheng-3828	172	37	,	,	PUNCT
fumecheng-3828	172	38	9(1	9(1	NUM
fumecheng-3828	172	39	)	)	PUNCT
fumecheng-3828	172	40	,	,	PUNCT
fumecheng-3828	172	41	pp	pp	ADP
fumecheng-3828	172	42	10	10	NUM
fumecheng-3828	172	43	-	-	SYM
fumecheng-3828	172	44	18	18	NUM
fumecheng-3828	172	45	.	.	NOUN
fumecheng-3828	173	1	6	6	NUM
fumecheng-3828	173	2	.	.	X
fumecheng-3828	173	3	dong	dong	PROPN
fumecheng-3828	173	4	,	,	PUNCT
fumecheng-3828	173	5	r.	r.	PROPN
fumecheng-3828	173	6	,	,	PUNCT
fumecheng-3828	173	7	pan	pan	PROPN
fumecheng-3828	173	8	,	,	PUNCT
fumecheng-3828	173	9	c.	c.	PROPN
fumecheng-3828	173	10	,	,	PUNCT
fumecheng-3828	173	11	hartsell	hartsell	NOUN
fumecheng-3828	173	12	,	,	PUNCT
fumecheng-3828	173	13	j.	j.	PROPN
fumecheng-3828	173	14	,	,	PUNCT
fumecheng-3828	173	15	welcome	welcome	INTJ
fumecheng-3828	173	16	,	,	PUNCT
fumecheng-3828	173	17	d.	d.	PROPN
fumecheng-3828	173	18	,	,	PUNCT
fumecheng-3828	173	19	lutz	lutz	PROPN
fumecheng-3828	173	20	,	,	PUNCT
fumecheng-3828	173	21	t.	t.	PROPN
fumecheng-3828	173	22	,	,	PUNCT
fumecheng-3828	173	23	brumfield	brumfield	PROPN
fumecheng-3828	173	24	,	,	PUNCT
fumecheng-3828	173	25	a.	a.	PROPN
fumecheng-3828	173	26	,	,	PUNCT
fumecheng-3828	173	27	harris	harris	PROPN
fumecheng-3828	173	28	,	,	PUNCT
fumecheng-3828	173	29	j.	j.	PROPN
fumecheng-3828	173	30	,	,	PUNCT
fumecheng-3828	173	31	wu	wu	PROPN
fumecheng-3828	173	32	,	,	PUNCT
fumecheng-3828	173	33	j.	j.	PROPN
fumecheng-3828	173	34	,	,	PUNCT
fumecheng-3828	173	35	wimer	wimer	NOUN
fumecheng-3828	173	36	,	,	PUNCT
fumecheng-3828	173	37	b.	b.	PROPN
fumecheng-3828	173	38	,	,	PUNCT
fumecheng-3828	173	39	mucino	mucino	PROPN
fumecheng-3828	173	40	v.	v.	PROPN
fumecheng-3828	173	41	,	,	PUNCT
fumecheng-3828	173	42	means	mean	VERB
fumecheng-3828	173	43	,	,	PUNCT
fumecheng-3828	173	44	k.	k.	PROPN
fumecheng-3828	173	45	,	,	PUNCT
fumecheng-3828	173	46	2012	2012	NUM
fumecheng-3828	173	47	,	,	PUNCT
fumecheng-3828	173	48	an	an	DET
fumecheng-3828	173	49	investigation	investigation	NOUN
fumecheng-3828	173	50	on	on	ADP
fumecheng-3828	173	51	the	the	DET
fumecheng-3828	173	52	dynamic	dynamic	ADJ
fumecheng-3828	173	53	stability	stability	NOUN
fumecheng-3828	173	54	of	of	ADP
fumecheng-3828	173	55	scissor	scissor	NOUN
fumecheng-3828	173	56	lift	lift	NOUN
fumecheng-3828	173	57	,	,	PUNCT
fumecheng-3828	173	58	open	open	ADJ
fumecheng-3828	173	59	journal	journal	NOUN
fumecheng-3828	173	60	of	of	ADP
fumecheng-3828	173	61	safety	safety	NOUN
fumecheng-3828	173	62	science	science	NOUN
fumecheng-3828	173	63	and	and	CCONJ
fumecheng-3828	173	64	technology	technology	NOUN
fumecheng-3828	173	65	,	,	PUNCT
fumecheng-3828	173	66	2(1	2(1	NUM
fumecheng-3828	173	67	)	)	PUNCT
fumecheng-3828	173	68	,	,	PUNCT
fumecheng-3828	174	1	pp	pp	PROPN
fumecheng-3828	174	2	.	.	PUNCT
fumecheng-3828	175	1	8	8	NUM
fumecheng-3828	175	2	-	-	SYM
fumecheng-3828	175	3	15	15	NUM
fumecheng-3828	175	4	.	.	NOUN
fumecheng-3828	176	1	7	7	X
fumecheng-3828	176	2	.	.	X
fumecheng-3828	176	3	mitrev	mitrev	PROPN
fumecheng-3828	176	4	,	,	PUNCT
fumecheng-3828	176	5	r.	r.	PROPN
fumecheng-3828	176	6	,	,	PUNCT
fumecheng-3828	176	7	janošević	janošević	PROPN
fumecheng-3828	176	8	,	,	PUNCT
fumecheng-3828	176	9	d.	d.	PROPN
fumecheng-3828	176	10	,	,	PUNCT
fumecheng-3828	176	11	marinković	marinković	PROPN
fumecheng-3828	176	12	,	,	PUNCT
fumecheng-3828	176	13	d.	d.	PROPN
fumecheng-3828	176	14	,	,	PUNCT
fumecheng-3828	176	15	2017	2017	NUM
fumecheng-3828	176	16	,	,	PUNCT
fumecheng-3828	176	17	dynamical	dynamical	ADJ
fumecheng-3828	176	18	modelling	modelling	NOUN
fumecheng-3828	176	19	of	of	ADP
fumecheng-3828	176	20	hydraulic	hydraulic	ADJ
fumecheng-3828	176	21	excavator	excavator	NOUN
fumecheng-3828	176	22	considered	consider	VERB
fumecheng-3828	176	23	as	as	ADP
fumecheng-3828	176	24	a	a	DET
fumecheng-3828	176	25	multibody	multibody	ADJ
fumecheng-3828	176	26	system	system	NOUN
fumecheng-3828	176	27	,	,	PUNCT
fumecheng-3828	176	28	tehnicki	tehnicki	NOUN
fumecheng-3828	176	29	vjesnik	vjesnik	PROPN
fumecheng-3828	176	30	(	(	PUNCT
fumecheng-3828	176	31	technical	technical	ADJ
fumecheng-3828	176	32	gazette	gazette	PROPN
fumecheng-3828	176	33	)	)	PUNCT
fumecheng-3828	176	34	,	,	PUNCT
fumecheng-3828	176	35	24(suppl	24(suppl	NUM
fumecheng-3828	176	36	.	.	NOUN
fumecheng-3828	176	37	2	2	NUM
fumecheng-3828	176	38	)	)	PUNCT
fumecheng-3828	176	39	,	,	PUNCT
fumecheng-3828	176	40	pp	pp	PROPN
fumecheng-3828	176	41	.	.	PUNCT
fumecheng-3828	177	1	327	327	NUM
fumecheng-3828	177	2	-	-	SYM
fumecheng-3828	177	3	338	338	NUM
fumecheng-3828	177	4	.	.	NOUN
fumecheng-3828	178	1	8	8	NUM
fumecheng-3828	178	2	.	.	X
fumecheng-3828	179	1	jovanović	jovanović	PROPN
fumecheng-3828	179	2	,	,	PUNCT
fumecheng-3828	179	3	v.	v.	ADV
fumecheng-3828	179	4	,	,	PUNCT
fumecheng-3828	179	5	janošević	janošević	PROPN
fumecheng-3828	179	6	,	,	PUNCT
fumecheng-3828	179	7	d.	d.	PROPN
fumecheng-3828	179	8	,	,	PUNCT
fumecheng-3828	179	9	marinković	marinković	PROPN
fumecheng-3828	179	10	,	,	PUNCT
fumecheng-3828	179	11	d.	d.	PROPN
fumecheng-3828	179	12	,	,	PUNCT
fumecheng-3828	179	13	2015	2015	NUM
fumecheng-3828	179	14	,	,	PUNCT
fumecheng-3828	179	15	determination	determination	NOUN
fumecheng-3828	179	16	of	of	ADP
fumecheng-3828	179	17	the	the	DET
fumecheng-3828	179	18	load	load	NOUN
fumecheng-3828	179	19	acting	act	VERB
fumecheng-3828	179	20	on	on	ADP
fumecheng-3828	179	21	the	the	DET
fumecheng-3828	179	22	axial	axial	ADJ
fumecheng-3828	179	23	bearing	bearing	NOUN
fumecheng-3828	179	24	of	of	ADP
fumecheng-3828	179	25	a	a	DET
fumecheng-3828	179	26	slewing	slew	VERB
fumecheng-3828	179	27	platform	platform	NOUN
fumecheng-3828	179	28	drive	drive	NOUN
fumecheng-3828	179	29	in	in	ADP
fumecheng-3828	179	30	hydraulic	hydraulic	ADJ
fumecheng-3828	179	31	excavators	excavator	NOUN
fumecheng-3828	179	32	,	,	PUNCT
fumecheng-3828	179	33	acta	acta	PROPN
fumecheng-3828	179	34	polytechnica	polytechnica	PROPN
fumecheng-3828	179	35	hungarica	hungarica	PROPN
fumecheng-3828	179	36	,	,	PUNCT
fumecheng-3828	179	37	12(1	12(1	NUM
fumecheng-3828	179	38	)	)	PUNCT
fumecheng-3828	179	39	,	,	PUNCT
fumecheng-3828	179	40	pp	pp	ADJ
fumecheng-3828	179	41	.	.	PUNCT
fumecheng-3828	180	1	5	5	NUM
fumecheng-3828	180	2	-	-	SYM
fumecheng-3828	180	3	22	22	NUM
fumecheng-3828	180	4	.	.	PUNCT
fumecheng-3828	181	1	9	9	NUM
fumecheng-3828	181	2	.	.	X
fumecheng-3828	182	1	dresig	dresig	PROPN
fumecheng-3828	182	2	,	,	PUNCT
fumecheng-3828	182	3	h.	h.	PROPN
fumecheng-3828	182	4	,	,	PUNCT
fumecheng-3828	182	5	holzweißig	holzweißig	PROPN
fumecheng-3828	182	6	,	,	PUNCT
fumecheng-3828	182	7	f.	f.	PROPN
fumecheng-3828	182	8	,	,	PUNCT
fumecheng-3828	182	9	2010	2010	NUM
fumecheng-3828	182	10	,	,	PUNCT
fumecheng-3828	182	11	dynamics	dynamic	NOUN
fumecheng-3828	182	12	of	of	ADP
fumecheng-3828	182	13	machinery	machinery	NOUN
fumecheng-3828	182	14	,	,	PUNCT
fumecheng-3828	182	15	springer	springer	NOUN
fumecheng-3828	182	16	-	-	PUNCT
fumecheng-3828	182	17	verlag	verlag	PROPN
fumecheng-3828	182	18	berlin	berlin	PROPN
fumecheng-3828	182	19	heidelberg	heidelberg	PROPN
fumecheng-3828	182	20	.	.	PUNCT
fumecheng-3828	183	1	10	10	NUM
fumecheng-3828	183	2	.	.	PUNCT
fumecheng-3828	184	1	ewald	ewald	PROPN
fumecheng-3828	184	2	,	,	PUNCT
fumecheng-3828	184	3	r.	r.	PROPN
fumecheng-3828	184	4	,	,	PUNCT
fumecheng-3828	184	5	hutter	hutter	NOUN
fumecheng-3828	184	6	,	,	PUNCT
fumecheng-3828	184	7	j.	j.	PROPN
fumecheng-3828	184	8	,	,	PUNCT
fumecheng-3828	184	9	kretz	kretz	PROPN
fumecheng-3828	184	10	,	,	PUNCT
fumecheng-3828	184	11	d.	d.	PROPN
fumecheng-3828	184	12	,	,	PUNCT
fumecheng-3828	184	13	liedhegener	liedhegener	PROPN
fumecheng-3828	184	14	,	,	PUNCT
fumecheng-3828	184	15	f.	f.	PROPN
fumecheng-3828	184	16	,	,	PUNCT
fumecheng-3828	184	17	schenkel	schenkel	NOUN
fumecheng-3828	184	18	,	,	PUNCT
fumecheng-3828	184	19	w.	w.	PROPN
fumecheng-3828	184	20	,	,	PUNCT
fumecheng-3828	184	21	schmitt	schmitt	PROPN
fumecheng-3828	184	22	,	,	PUNCT
fumecheng-3828	184	23	a.	a.	PROPN
fumecheng-3828	184	24	,	,	PUNCT
fumecheng-3828	184	25	reik	reik	PROPN
fumecheng-3828	184	26	m.	m.	NOUN
fumecheng-3828	184	27	,	,	PUNCT
fumecheng-3828	184	28	1986	1986	NUM
fumecheng-3828	184	29	,	,	PUNCT
fumecheng-3828	184	30	proportional	proportional	ADJ
fumecheng-3828	184	31	and	and	CCONJ
fumecheng-3828	184	32	servo	servo	NOUN
fumecheng-3828	184	33	valve	valve	NOUN
fumecheng-3828	184	34	technology	technology	NOUN
fumecheng-3828	184	35	hydraulic	hydraulic	ADJ
fumecheng-3828	184	36	trainer	trainer	NOUN
fumecheng-3828	184	37	vol	vol	NOUN
fumecheng-3828	184	38	.	.	PROPN
fumecheng-3828	184	39	2	2	NUM
fumecheng-3828	184	40	,	,	PUNCT
fumecheng-3828	184	41	manesmann	manesmann	PROPN
fumecheng-3828	184	42	rexroth	rexroth	NOUN
fumecheng-3828	184	43	.	.	PUNCT
fumecheng-3828	185	1	11	11	NUM
fumecheng-3828	185	2	.	.	PUNCT
fumecheng-3828	185	3	janošević	janošević	PROPN
fumecheng-3828	185	4	,	,	PUNCT
fumecheng-3828	185	5	d.	d.	PROPN
fumecheng-3828	185	6	,	,	PUNCT
fumecheng-3828	185	7	jovanović	jovanović	PROPN
fumecheng-3828	185	8	,	,	PUNCT
fumecheng-3828	185	9	v.	v.	ADP
fumecheng-3828	185	10	,	,	PUNCT
fumecheng-3828	185	11	2016	2016	NUM
fumecheng-3828	185	12	,	,	PUNCT
fumecheng-3828	185	13	synthesis	synthesis	NOUN
fumecheng-3828	185	14	of	of	ADP
fumecheng-3828	185	15	the	the	DET
fumecheng-3828	185	16	drive	drive	ADJ
fumecheng-3828	185	17	mechanisms	mechanism	NOUN
fumecheng-3828	185	18	of	of	ADP
fumecheng-3828	185	19	a	a	DET
fumecheng-3828	185	20	hydraulic	hydraulic	ADJ
fumecheng-3828	185	21	excavator	excavator	NOUN
fumecheng-3828	185	22	,	,	PUNCT
fumecheng-3828	185	23	monograph	monograph	NOUN
fumecheng-3828	185	24	,	,	PUNCT
fumecheng-3828	185	25	university	university	PROPN
fumecheng-3828	185	26	of	of	ADP
fumecheng-3828	185	27	niš	niš	PROPN
fumecheng-3828	185	28	,	,	PUNCT
fumecheng-3828	185	29	faculty	faculty	NOUN
fumecheng-3828	185	30	of	of	ADP
fumecheng-3828	185	31	mechanical	mechanical	ADJ
fumecheng-3828	185	32	engineering	engineering	NOUN
fumecheng-3828	185	33	.	.	PUNCT
fumecheng-3828	186	1	12	12	NUM
fumecheng-3828	186	2	.	.	PUNCT
fumecheng-3828	187	1	muvenge	muvenge	NOUN
fumecheng-3828	187	2	,	,	PUNCT
fumecheng-3828	187	3	o.m	o.m	PROPN
fumecheng-3828	187	4	.	.	PROPN
fumecheng-3828	187	5	,	,	PUNCT
fumecheng-3828	187	6	2008	2008	NUM
fumecheng-3828	187	7	,	,	PUNCT
fumecheng-3828	187	8	simulation	simulation	NOUN
fumecheng-3828	187	9	of	of	ADP
fumecheng-3828	187	10	the	the	DET
fumecheng-3828	187	11	dynamic	dynamic	ADJ
fumecheng-3828	187	12	behavior	behavior	NOUN
fumecheng-3828	187	13	of	of	ADP
fumecheng-3828	187	14	an	an	DET
fumecheng-3828	187	15	excavator	excavator	NOUN
fumecheng-3828	187	16	due	due	ADP
fumecheng-3828	187	17	to	to	ADP
fumecheng-3828	187	18	interacting	interact	VERB
fumecheng-3828	187	19	mechanical	mechanical	ADJ
fumecheng-3828	187	20	and	and	CCONJ
fumecheng-3828	187	21	hydraulic	hydraulic	ADJ
fumecheng-3828	187	22	dynamics	dynamic	NOUN
fumecheng-3828	187	23	,	,	PUNCT
fumecheng-3828	187	24	master	master	NOUN
fumecheng-3828	187	25	thesis	thesis	NOUN
fumecheng-3828	187	26	,	,	PUNCT
fumecheng-3828	187	27	jomo	jomo	PROPN
fumecheng-3828	187	28	kenyatta	kenyatta	PROPN
fumecheng-3828	187	29	university	university	PROPN
fumecheng-3828	187	30	of	of	ADP
fumecheng-3828	187	31	agriculture	agriculture	NOUN
fumecheng-3828	187	32	and	and	CCONJ
fumecheng-3828	187	33	technology	technology	NOUN
fumecheng-3828	187	34	.	.	PUNCT
fumecheng-3828	188	1	13	13	X
fumecheng-3828	188	2	.	.	PUNCT
fumecheng-3828	189	1	fox	fox	PROPN
fumecheng-3828	189	2	,	,	PUNCT
fumecheng-3828	189	3	b.	b.	PROPN
fumecheng-3828	189	4	,	,	PUNCT
fumecheng-3828	189	5	jennings	jennings	PROPN
fumecheng-3828	189	6	,	,	PUNCT
fumecheng-3828	189	7	l.s	l.s	PROPN
fumecheng-3828	189	8	.	.	PROPN
fumecheng-3828	189	9	,	,	PUNCT
fumecheng-3828	189	10	zomaya	zomaya	PROPN
fumecheng-3828	189	11	,	,	PUNCT
fumecheng-3828	189	12	a.y	a.y	PROPN
fumecheng-3828	189	13	.	.	PROPN
fumecheng-3828	189	14	,	,	PUNCT
fumecheng-3828	189	15	2002	2002	NUM
fumecheng-3828	189	16	,	,	PUNCT
fumecheng-3828	189	17	on	on	ADP
fumecheng-3828	189	18	the	the	DET
fumecheng-3828	189	19	modeling	modeling	NOUN
fumecheng-3828	189	20	of	of	ADP
fumecheng-3828	189	21	actuator	actuator	NOUN
fumecheng-3828	189	22	dynamics	dynamic	NOUN
fumecheng-3828	189	23	and	and	CCONJ
fumecheng-3828	189	24	the	the	DET
fumecheng-3828	189	25	computation	computation	NOUN
fumecheng-3828	189	26	of	of	ADP
fumecheng-3828	189	27	prescribed	prescribed	ADJ
fumecheng-3828	189	28	trajectories	trajectory	NOUN
fumecheng-3828	189	29	,	,	PUNCT
fumecheng-3828	189	30	computers	computer	NOUN
fumecheng-3828	189	31	&	&	CCONJ
fumecheng-3828	189	32	structures	structure	NOUN
fumecheng-3828	189	33	,	,	PUNCT
fumecheng-3828	189	34	80(7	80(7	NOUN
fumecheng-3828	189	35	-	-	PUNCT
fumecheng-3828	189	36	8)	8)	NUM
fumecheng-3828	189	37	,	,	PUNCT
fumecheng-3828	189	38	pp	pp	ADJ
fumecheng-3828	189	39	.	.	PUNCT
fumecheng-3828	190	1	605	605	NUM
fumecheng-3828	190	2	-	-	SYM
fumecheng-3828	190	3	614	614	NUM
fumecheng-3828	190	4	.	.	PUNCT