id	sid	tid	token	lemma	pos
fumecheng-3910	1	1	facta	facta	PROPN
fumecheng-3910	1	2	universitatis	universitatis	PROPN
fumecheng-3910	1	3	series	series	NOUN
fumecheng-3910	1	4	:	:	PUNCT
fumecheng-3910	1	5	mechanical	mechanical	ADJ
fumecheng-3910	1	6	engineering	engineering	NOUN
fumecheng-3910	1	7	vol	vol	NOUN
fumecheng-3910	1	8	.	.	PUNCT
fumecheng-3910	2	1	16	16	NUM
fumecheng-3910	2	2	,	,	PUNCT
fumecheng-3910	2	3	no	no	DET
fumecheng-3910	2	4	2	2	NUM
fumecheng-3910	2	5	,	,	PUNCT
fumecheng-3910	2	6	2018	2018	NUM
fumecheng-3910	2	7	,	,	PUNCT
fumecheng-3910	3	1	pp	pp	ADV
fumecheng-3910	3	2	.	.	PUNCT
fumecheng-3910	4	1	139	139	NUM
fumecheng-3910	4	2	155	155	NUM
fumecheng-3910	4	3	https://doi.org/10.22190/fume180420016	https://doi.org/10.22190/fume180420016	PROPN
fumecheng-3910	4	4	m	m	PROPN
fumecheng-3910	4	5	©	©	PROPN
fumecheng-3910	4	6	2018	2018	NUM
fumecheng-3910	4	7	by	by	ADP
fumecheng-3910	4	8	university	university	PROPN
fumecheng-3910	4	9	of	of	ADP
fumecheng-3910	4	10	niš	niš	PROPN
fumecheng-3910	4	11	,	,	PUNCT
fumecheng-3910	4	12	serbia	serbia	PROPN
fumecheng-3910	4	13	|	|	ADV
fumecheng-3910	4	14	creative	creative	ADJ
fumecheng-3910	4	15	commons	common	NOUN
fumecheng-3910	4	16	license	license	NOUN
fumecheng-3910	4	17	:	:	PUNCT
fumecheng-3910	4	18	cc	cc	VERB
fumecheng-3910	4	19	by	by	ADP
fumecheng-3910	4	20	-	-	PUNCT
fumecheng-3910	4	21	nc	nc	VERB
fumecheng-3910	4	22	-	-	PUNCT
fumecheng-3910	4	23	nd	nd	ADV
fumecheng-3910	4	24	original	original	ADJ
fumecheng-3910	4	25	scientific	scientific	ADJ
fumecheng-3910	4	26	paper1	paper1	NOUN
fumecheng-3910	4	27	a	a	DET
fumecheng-3910	4	28	cloud	cloud	NOUN
fumecheng-3910	4	29	-	-	PUNCT
fumecheng-3910	4	30	based	base	VERB
fumecheng-3910	4	31	expert	expert	NOUN
fumecheng-3910	4	32	system	system	NOUN
fumecheng-3910	4	33	for	for	ADP
fumecheng-3910	4	34	synthesis	synthesis	NOUN
fumecheng-3910	4	35	and	and	CCONJ
fumecheng-3910	4	36	evolutionary	evolutionary	ADJ
fumecheng-3910	4	37	optimization	optimization	NOUN
fumecheng-3910	4	38	of	of	ADP
fumecheng-3910	4	39	planar	planar	ADJ
fumecheng-3910	4	40	linkages	linkage	NOUN
fumecheng-3910	4	41	udc	udc	NOUN
fumecheng-3910	4	42	621.7	621.7	NUM
fumecheng-3910	4	43	rosen	rosen	PROPN
fumecheng-3910	4	44	mitrev	mitrev	VERB
fumecheng-3910	4	45	1	1	NUM
fumecheng-3910	4	46	,	,	PUNCT
fumecheng-3910	4	47	boris	boris	PROPN
fumecheng-3910	4	48	tudjarov	tudjarov	PROPN
fumecheng-3910	4	49	2	2	NUM
fumecheng-3910	4	50	,	,	PUNCT
fumecheng-3910	4	51	todor	todor	PROPN
fumecheng-3910	4	52	todorov	todorov	PROPN
fumecheng-3910	4	53	3	3	NUM
fumecheng-3910	4	54	1	1	NUM
fumecheng-3910	4	55	technical	technical	ADJ
fumecheng-3910	4	56	university	university	NOUN
fumecheng-3910	4	57	,	,	PUNCT
fumecheng-3910	4	58	mechanical	mechanical	ADJ
fumecheng-3910	4	59	engineering	engineering	NOUN
fumecheng-3910	4	60	faculty	faculty	NOUN
fumecheng-3910	4	61	,	,	PUNCT
fumecheng-3910	4	62	sofia	sofia	PROPN
fumecheng-3910	4	63	,	,	PUNCT
fumecheng-3910	4	64	bulgaria	bulgaria	PROPN
fumecheng-3910	4	65	2	2	NUM
fumecheng-3910	4	66	technical	technical	PROPN
fumecheng-3910	4	67	university	university	NOUN
fumecheng-3910	4	68	,	,	PUNCT
fumecheng-3910	4	69	faculty	faculty	NOUN
fumecheng-3910	4	70	of	of	ADP
fumecheng-3910	4	71	computer	computer	NOUN
fumecheng-3910	4	72	systems	system	NOUN
fumecheng-3910	4	73	and	and	CCONJ
fumecheng-3910	4	74	technologies	technology	NOUN
fumecheng-3910	4	75	,	,	PUNCT
fumecheng-3910	4	76	sofia	sofia	PROPN
fumecheng-3910	4	77	,	,	PUNCT
fumecheng-3910	4	78	bulgaria	bulgaria	PROPN
fumecheng-3910	4	79	3	3	NUM
fumecheng-3910	4	80	technical	technical	PROPN
fumecheng-3910	4	81	university	university	NOUN
fumecheng-3910	4	82	,	,	PUNCT
fumecheng-3910	4	83	faculty	faculty	NOUN
fumecheng-3910	4	84	of	of	ADP
fumecheng-3910	4	85	industrial	industrial	ADJ
fumecheng-3910	4	86	technology	technology	NOUN
fumecheng-3910	4	87	,	,	PUNCT
fumecheng-3910	4	88	sofia	sofia	PROPN
fumecheng-3910	4	89	,	,	PUNCT
fumecheng-3910	4	90	bulgaria	bulgaria	PROPN
fumecheng-3910	4	91	abstract	abstract	NOUN
fumecheng-3910	4	92	.	.	PUNCT
fumecheng-3910	5	1	the	the	DET
fumecheng-3910	5	2	present	present	ADJ
fumecheng-3910	5	3	paper	paper	NOUN
fumecheng-3910	5	4	introduces	introduce	VERB
fumecheng-3910	5	5	a	a	DET
fumecheng-3910	5	6	cloud	cloud	NOUN
fumecheng-3910	5	7	-	-	PUNCT
fumecheng-3910	5	8	based	base	VERB
fumecheng-3910	5	9	expert	expert	NOUN
fumecheng-3910	5	10	system	system	NOUN
fumecheng-3910	5	11	for	for	ADP
fumecheng-3910	5	12	synthesis	synthesis	NOUN
fumecheng-3910	5	13	and	and	CCONJ
fumecheng-3910	5	14	evolutionary	evolutionary	ADJ
fumecheng-3910	5	15	optimization	optimization	NOUN
fumecheng-3910	5	16	of	of	ADP
fumecheng-3910	5	17	planar	planar	ADJ
fumecheng-3910	5	18	linkages	linkage	NOUN
fumecheng-3910	5	19	.	.	PUNCT
fumecheng-3910	6	1	the	the	DET
fumecheng-3910	6	2	kinematic	kinematic	ADJ
fumecheng-3910	6	3	structure	structure	NOUN
fumecheng-3910	6	4	of	of	ADP
fumecheng-3910	6	5	the	the	DET
fumecheng-3910	6	6	linkage	linkage	NOUN
fumecheng-3910	6	7	is	be	AUX
fumecheng-3910	6	8	composed	compose	VERB
fumecheng-3910	6	9	by	by	ADP
fumecheng-3910	6	10	the	the	DET
fumecheng-3910	6	11	modular	modular	ADJ
fumecheng-3910	6	12	approach	approach	NOUN
fumecheng-3910	6	13	based	base	VERB
fumecheng-3910	6	14	on	on	ADP
fumecheng-3910	6	15	assur	assur	PROPN
fumecheng-3910	6	16	’s	’s	PART
fumecheng-3910	6	17	groups	group	NOUN
fumecheng-3910	6	18	.	.	PUNCT
fumecheng-3910	7	1	the	the	DET
fumecheng-3910	7	2	dyads	dyad	NOUN
fumecheng-3910	7	3	are	be	AUX
fumecheng-3910	7	4	represented	represent	VERB
fumecheng-3910	7	5	as	as	ADP
fumecheng-3910	7	6	functional	functional	ADJ
fumecheng-3910	7	7	blocks	block	NOUN
fumecheng-3910	7	8	with	with	ADP
fumecheng-3910	7	9	input	input	NOUN
fumecheng-3910	7	10	and	and	CCONJ
fumecheng-3910	7	11	output	output	NOUN
fumecheng-3910	7	12	variables	variable	NOUN
fumecheng-3910	7	13	.	.	PUNCT
fumecheng-3910	8	1	the	the	DET
fumecheng-3910	8	2	applied	apply	VERB
fumecheng-3910	8	3	approach	approach	NOUN
fumecheng-3910	8	4	for	for	ADP
fumecheng-3910	8	5	obtaining	obtain	VERB
fumecheng-3910	8	6	the	the	DET
fumecheng-3910	8	7	geometrical	geometrical	ADJ
fumecheng-3910	8	8	relationships	relationship	NOUN
fumecheng-3910	8	9	between	between	ADP
fumecheng-3910	8	10	the	the	DET
fumecheng-3910	8	11	input	input	NOUN
fumecheng-3910	8	12	and	and	CCONJ
fumecheng-3910	8	13	the	the	DET
fumecheng-3910	8	14	output	output	NOUN
fumecheng-3910	8	15	variables	variable	NOUN
fumecheng-3910	8	16	of	of	ADP
fumecheng-3910	8	17	the	the	DET
fumecheng-3910	8	18	dyads	dyad	NOUN
fumecheng-3910	8	19	is	be	AUX
fumecheng-3910	8	20	based	base	VERB
fumecheng-3910	8	21	on	on	ADP
fumecheng-3910	8	22	the	the	DET
fumecheng-3910	8	23	use	use	NOUN
fumecheng-3910	8	24	of	of	ADP
fumecheng-3910	8	25	homogeneous	homogeneous	ADJ
fumecheng-3910	8	26	transformation	transformation	NOUN
fumecheng-3910	8	27	matrices	matrix	NOUN
fumecheng-3910	8	28	.	.	PUNCT
fumecheng-3910	9	1	the	the	DET
fumecheng-3910	9	2	developed	develop	VERB
fumecheng-3910	9	3	software	software	NOUN
fumecheng-3910	9	4	system	system	NOUN
fumecheng-3910	9	5	allows	allow	VERB
fumecheng-3910	9	6	a	a	DET
fumecheng-3910	9	7	dimensional	dimensional	ADJ
fumecheng-3910	9	8	synthesis	synthesis	NOUN
fumecheng-3910	9	9	of	of	ADP
fumecheng-3910	9	10	planar	planar	ADJ
fumecheng-3910	9	11	linkages	linkage	NOUN
fumecheng-3910	9	12	by	by	ADP
fumecheng-3910	9	13	using	use	VERB
fumecheng-3910	9	14	genetic	genetic	ADJ
fumecheng-3910	9	15	optimization	optimization	NOUN
fumecheng-3910	9	16	algorithms	algorithm	NOUN
fumecheng-3910	9	17	.	.	PUNCT
fumecheng-3910	10	1	one	one	NUM
fumecheng-3910	10	2	feature	feature	NOUN
fumecheng-3910	10	3	is	be	AUX
fumecheng-3910	10	4	remote	remote	ADJ
fumecheng-3910	10	5	creation	creation	NOUN
fumecheng-3910	10	6	of	of	ADP
fumecheng-3910	10	7	the	the	DET
fumecheng-3910	10	8	models	model	NOUN
fumecheng-3910	10	9	of	of	ADP
fumecheng-3910	10	10	genetic	genetic	ADJ
fumecheng-3910	10	11	algorithms	algorithm	NOUN
fumecheng-3910	10	12	as	as	ADV
fumecheng-3910	10	13	well	well	ADV
fumecheng-3910	10	14	as	as	ADP
fumecheng-3910	10	15	the	the	DET
fumecheng-3910	10	16	receiving	receiving	NOUN
fumecheng-3910	10	17	of	of	ADP
fumecheng-3910	10	18	the	the	DET
fumecheng-3910	10	19	results	result	NOUN
fumecheng-3910	10	20	by	by	ADP
fumecheng-3910	10	21	means	mean	NOUN
fumecheng-3910	10	22	of	of	ADP
fumecheng-3910	10	23	a	a	DET
fumecheng-3910	10	24	user	user	NOUN
fumecheng-3910	10	25	-	-	PUNCT
fumecheng-3910	10	26	friendly	friendly	ADJ
fumecheng-3910	10	27	interface	interface	NOUN
fumecheng-3910	10	28	.	.	PUNCT
fumecheng-3910	11	1	by	by	ADP
fumecheng-3910	11	2	exploiting	exploit	VERB
fumecheng-3910	11	3	the	the	DET
fumecheng-3910	11	4	application	application	NOUN
fumecheng-3910	11	5	,	,	PUNCT
fumecheng-3910	11	6	the	the	DET
fumecheng-3910	11	7	user	user	NOUN
fumecheng-3910	11	8	can	can	AUX
fumecheng-3910	11	9	produce	produce	VERB
fumecheng-3910	11	10	and	and	CCONJ
fumecheng-3910	11	11	edit	edit	VERB
fumecheng-3910	11	12	the	the	DET
fumecheng-3910	11	13	initial	initial	ADJ
fumecheng-3910	11	14	information	information	NOUN
fumecheng-3910	11	15	about	about	ADP
fumecheng-3910	11	16	the	the	DET
fumecheng-3910	11	17	synthesized	synthesize	VERB
fumecheng-3910	11	18	or	or	CCONJ
fumecheng-3910	11	19	optimized	optimize	VERB
fumecheng-3910	11	20	linkage	linkage	NOUN
fumecheng-3910	11	21	;	;	PUNCT
fumecheng-3910	11	22	thus	thus	ADV
fumecheng-3910	11	23	he	he	PRON
fumecheng-3910	11	24	can	can	AUX
fumecheng-3910	11	25	receive	receive	VERB
fumecheng-3910	11	26	the	the	DET
fumecheng-3910	11	27	calculation	calculation	NOUN
fumecheng-3910	11	28	results	result	NOUN
fumecheng-3910	11	29	as	as	ADP
fumecheng-3910	11	30	a	a	DET
fumecheng-3910	11	31	web	web	NOUN
fumecheng-3910	11	32	page	page	NOUN
fumecheng-3910	11	33	and/or	and/or	CCONJ
fumecheng-3910	11	34	as	as	ADP
fumecheng-3910	11	35	ms	ms	PROPN
fumecheng-3910	11	36	excel	excel	PROPN
fumecheng-3910	11	37	file	file	NOUN
fumecheng-3910	11	38	.	.	PUNCT
fumecheng-3910	12	1	an	an	DET
fumecheng-3910	12	2	additional	additional	ADJ
fumecheng-3910	12	3	mutation	mutation	NOUN
fumecheng-3910	12	4	of	of	ADP
fumecheng-3910	12	5	the	the	DET
fumecheng-3910	12	6	best	good	ADJ
fumecheng-3910	12	7	chromosome	chromosome	NOUN
fumecheng-3910	12	8	genes	gene	NOUN
fumecheng-3910	12	9	by	by	ADP
fumecheng-3910	12	10	scanning	scanning	NOUN
fumecheng-3910	12	11	of	of	ADP
fumecheng-3910	12	12	every	every	DET
fumecheng-3910	12	13	gene	gene	NOUN
fumecheng-3910	12	14	within	within	ADP
fumecheng-3910	12	15	its	its	PRON
fumecheng-3910	12	16	searching	search	VERB
fumecheng-3910	12	17	space	space	NOUN
fumecheng-3910	12	18	improves	improve	VERB
fumecheng-3910	12	19	the	the	DET
fumecheng-3910	12	20	optimal	optimal	ADJ
fumecheng-3910	12	21	solution	solution	NOUN
fumecheng-3910	12	22	.	.	PUNCT
fumecheng-3910	13	1	the	the	DET
fumecheng-3910	13	2	analyzed	analyze	VERB
fumecheng-3910	13	3	numerical	numerical	PROPN
fumecheng-3910	13	4	case	case	NOUN
fumecheng-3910	13	5	studies	study	NOUN
fumecheng-3910	13	6	show	show	VERB
fumecheng-3910	13	7	the	the	DET
fumecheng-3910	13	8	applicability	applicability	NOUN
fumecheng-3910	13	9	of	of	ADP
fumecheng-3910	13	10	the	the	DET
fumecheng-3910	13	11	developed	develop	VERB
fumecheng-3910	13	12	software	software	NOUN
fumecheng-3910	13	13	system	system	NOUN
fumecheng-3910	13	14	for	for	ADP
fumecheng-3910	13	15	mechanism	mechanism	NOUN
fumecheng-3910	13	16	analysis	analysis	NOUN
fumecheng-3910	13	17	,	,	PUNCT
fumecheng-3910	13	18	synthesis	synthesis	NOUN
fumecheng-3910	13	19	and	and	CCONJ
fumecheng-3910	13	20	optimization	optimization	NOUN
fumecheng-3910	13	21	.	.	PUNCT
fumecheng-3910	14	1	because	because	SCONJ
fumecheng-3910	14	2	the	the	DET
fumecheng-3910	14	3	number	number	NOUN
fumecheng-3910	14	4	of	of	ADP
fumecheng-3910	14	5	genes	gene	NOUN
fumecheng-3910	14	6	is	be	AUX
fumecheng-3910	14	7	not	not	PART
fumecheng-3910	14	8	limited	limited	ADJ
fumecheng-3910	14	9	,	,	PUNCT
fumecheng-3910	14	10	the	the	DET
fumecheng-3910	14	11	linkages	linkage	NOUN
fumecheng-3910	14	12	with	with	ADP
fumecheng-3910	14	13	a	a	DET
fumecheng-3910	14	14	very	very	ADV
fumecheng-3910	14	15	big	big	ADJ
fumecheng-3910	14	16	number	number	NOUN
fumecheng-3910	14	17	of	of	ADP
fumecheng-3910	14	18	design	design	NOUN
fumecheng-3910	14	19	variables	variable	NOUN
fumecheng-3910	14	20	can	can	AUX
fumecheng-3910	14	21	be	be	AUX
fumecheng-3910	14	22	synthesized	synthesize	VERB
fumecheng-3910	14	23	by	by	ADP
fumecheng-3910	14	24	exploiting	exploit	VERB
fumecheng-3910	14	25	the	the	DET
fumecheng-3910	14	26	developed	develop	VERB
fumecheng-3910	14	27	approach	approach	NOUN
fumecheng-3910	14	28	.	.	PUNCT
fumecheng-3910	15	1	key	key	ADJ
fumecheng-3910	15	2	words	word	NOUN
fumecheng-3910	15	3	:	:	PUNCT
fumecheng-3910	15	4	planar	planar	ADJ
fumecheng-3910	15	5	linkage	linkage	NOUN
fumecheng-3910	15	6	,	,	PUNCT
fumecheng-3910	15	7	assur	assur	PROPN
fumecheng-3910	15	8	’s	’s	PART
fumecheng-3910	15	9	groups	group	NOUN
fumecheng-3910	15	10	,	,	PUNCT
fumecheng-3910	15	11	genetic	genetic	ADJ
fumecheng-3910	15	12	algorithms	algorithm	NOUN
fumecheng-3910	15	13	,	,	PUNCT
fumecheng-3910	15	14	expert	expert	NOUN
fumecheng-3910	15	15	system	system	NOUN
fumecheng-3910	15	16	1	1	NUM
fumecheng-3910	15	17	.	.	PUNCT
fumecheng-3910	15	18	introduction	introduction	NOUN
fumecheng-3910	15	19	in	in	ADP
fumecheng-3910	15	20	the	the	DET
fumecheng-3910	15	21	past	past	ADJ
fumecheng-3910	15	22	two	two	NUM
fumecheng-3910	15	23	decades	decade	NOUN
fumecheng-3910	15	24	,	,	PUNCT
fumecheng-3910	15	25	along	along	ADP
fumecheng-3910	15	26	with	with	ADP
fumecheng-3910	15	27	the	the	DET
fumecheng-3910	15	28	classical	classical	ADJ
fumecheng-3910	15	29	graphical	graphical	ADJ
fumecheng-3910	15	30	and	and	CCONJ
fumecheng-3910	15	31	analytical	analytical	ADJ
fumecheng-3910	15	32	techniques	technique	NOUN
fumecheng-3910	15	33	[	[	X
fumecheng-3910	15	34	1	1	NUM
fumecheng-3910	15	35	,	,	PUNCT
fumecheng-3910	15	36	2	2	NUM
fumecheng-3910	15	37	]	]	PUNCT
fumecheng-3910	15	38	,	,	PUNCT
fumecheng-3910	15	39	there	there	PRON
fumecheng-3910	15	40	has	have	AUX
fumecheng-3910	15	41	been	be	AUX
fumecheng-3910	15	42	an	an	DET
fumecheng-3910	15	43	increasing	increase	VERB
fumecheng-3910	15	44	interest	interest	NOUN
fumecheng-3910	15	45	in	in	ADP
fumecheng-3910	15	46	the	the	DET
fumecheng-3910	15	47	use	use	NOUN
fumecheng-3910	15	48	of	of	ADP
fumecheng-3910	15	49	computer	computer	NOUN
fumecheng-3910	15	50	technologies	technology	NOUN
fumecheng-3910	15	51	for	for	SCONJ
fumecheng-3910	15	52	received	receive	VERB
fumecheng-3910	15	53	april	april	PROPN
fumecheng-3910	15	54	20	20	NUM
fumecheng-3910	15	55	,	,	PUNCT
fumecheng-3910	15	56	2018	2018	NUM
fumecheng-3910	15	57	/	/	PUNCT
fumecheng-3910	15	58	accepted	accept	VERB
fumecheng-3910	15	59	may	may	PROPN
fumecheng-3910	15	60	28	28	NUM
fumecheng-3910	15	61	,	,	PUNCT
fumecheng-3910	15	62	2018	2018	NUM
fumecheng-3910	15	63	corresponding	correspond	VERB
fumecheng-3910	15	64	author	author	NOUN
fumecheng-3910	15	65	:	:	PUNCT
fumecheng-3910	15	66	rosen	rosen	PROPN
fumecheng-3910	15	67	mitrev	mitrev	PROPN
fumecheng-3910	15	68	technical	technical	PROPN
fumecheng-3910	15	69	university	university	PROPN
fumecheng-3910	15	70	,	,	PUNCT
fumecheng-3910	15	71	mechanical	mechanical	ADJ
fumecheng-3910	15	72	engineering	engineering	NOUN
fumecheng-3910	15	73	faculty	faculty	NOUN
fumecheng-3910	15	74	,	,	PUNCT
fumecheng-3910	15	75	kliment	kliment	NOUN
fumecheng-3910	15	76	ohridski	ohridski	VERB
fumecheng-3910	15	77	8	8	NUM
fumecheng-3910	15	78	blvd	blvd	NOUN
fumecheng-3910	15	79	.	.	PUNCT
fumecheng-3910	15	80	,	,	PUNCT
fumecheng-3910	15	81	sofia	sofia	PROPN
fumecheng-3910	15	82	,	,	PUNCT
fumecheng-3910	15	83	bulgaria	bulgaria	PROPN
fumecheng-3910	15	84	e	e	PROPN
fumecheng-3910	15	85	-	-	NOUN
fumecheng-3910	15	86	mail	mail	NOUN
fumecheng-3910	15	87	:	:	PUNCT
fumecheng-3910	15	88	rosenm@tu-sofia.bg	rosenm@tu-sofia.bg	PROPN
fumecheng-3910	15	89	140	140	NUM
fumecheng-3910	15	90	r.	r.	PROPN
fumecheng-3910	15	91	mitrev	mitrev	PROPN
fumecheng-3910	15	92	,	,	PUNCT
fumecheng-3910	15	93	b.	b.	PROPN
fumecheng-3910	15	94	tudjarov	tudjarov	PROPN
fumecheng-3910	15	95	,	,	PUNCT
fumecheng-3910	15	96	t.todorov	t.todorov	DET
fumecheng-3910	15	97	modeling	modeling	NOUN
fumecheng-3910	15	98	and	and	CCONJ
fumecheng-3910	15	99	simulation	simulation	NOUN
fumecheng-3910	15	100	of	of	ADP
fumecheng-3910	15	101	machines	machine	NOUN
fumecheng-3910	15	102	and	and	CCONJ
fumecheng-3910	15	103	mechanisms	mechanism	NOUN
fumecheng-3910	15	104	in	in	ADP
fumecheng-3910	15	105	education	education	NOUN
fumecheng-3910	15	106	and	and	CCONJ
fumecheng-3910	15	107	engineering	engineering	NOUN
fumecheng-3910	15	108	practice	practice	NOUN
fumecheng-3910	15	109	[	[	X
fumecheng-3910	15	110	3,4	3,4	NUM
fumecheng-3910	15	111	]	]	PUNCT
fumecheng-3910	15	112	.	.	PUNCT
fumecheng-3910	16	1	an	an	DET
fumecheng-3910	16	2	easy	easy	ADV
fumecheng-3910	16	3	applied	apply	VERB
fumecheng-3910	16	4	and	and	CCONJ
fumecheng-3910	16	5	widely	widely	ADV
fumecheng-3910	16	6	used	use	VERB
fumecheng-3910	16	7	approach	approach	NOUN
fumecheng-3910	16	8	is	be	AUX
fumecheng-3910	16	9	the	the	DET
fumecheng-3910	16	10	modeling	modeling	NOUN
fumecheng-3910	16	11	by	by	ADP
fumecheng-3910	16	12	way	way	NOUN
fumecheng-3910	16	13	of	of	ADP
fumecheng-3910	16	14	special	special	ADJ
fumecheng-3910	16	15	or	or	CCONJ
fumecheng-3910	16	16	general	general	ADJ
fumecheng-3910	16	17	-	-	PUNCT
fumecheng-3910	16	18	purpose	purpose	NOUN
fumecheng-3910	16	19	mechanical	mechanical	ADJ
fumecheng-3910	16	20	dynamics	dynamic	NOUN
fumecheng-3910	16	21	and	and	CCONJ
fumecheng-3910	16	22	kinematics	kinematic	NOUN
fumecheng-3910	16	23	software	software	NOUN
fumecheng-3910	16	24	with	with	ADP
fumecheng-3910	16	25	different	different	ADJ
fumecheng-3910	16	26	functionality	functionality	NOUN
fumecheng-3910	16	27	realized	realize	VERB
fumecheng-3910	16	28	on	on	ADP
fumecheng-3910	16	29	different	different	ADJ
fumecheng-3910	16	30	platforms	platform	NOUN
fumecheng-3910	16	31	.	.	PUNCT
fumecheng-3910	17	1	some	some	DET
fumecheng-3910	17	2	programs	program	NOUN
fumecheng-3910	17	3	are	be	AUX
fumecheng-3910	17	4	fully	fully	ADV
fumecheng-3910	17	5	interactive	interactive	ADJ
fumecheng-3910	17	6	,	,	PUNCT
fumecheng-3910	17	7	offering	offer	VERB
fumecheng-3910	17	8	an	an	DET
fumecheng-3910	17	9	easy	easy	ADJ
fumecheng-3910	17	10	-	-	PUNCT
fumecheng-3910	17	11	to	to	ADP
fumecheng-3910	17	12	-	-	PUNCT
fumecheng-3910	17	13	use	use	VERB
fumecheng-3910	17	14	environment	environment	NOUN
fumecheng-3910	17	15	[	[	X
fumecheng-3910	17	16	5	5	NUM
fumecheng-3910	17	17	-	-	SYM
fumecheng-3910	17	18	7	7	NUM
fumecheng-3910	17	19	]	]	PUNCT
fumecheng-3910	17	20	and	and	CCONJ
fumecheng-3910	17	21	possessing	possess	VERB
fumecheng-3910	17	22	modules	module	NOUN
fumecheng-3910	17	23	for	for	ADP
fumecheng-3910	17	24	preprocessing	preprocessing	NOUN
fumecheng-3910	17	25	,	,	PUNCT
fumecheng-3910	17	26	numerical	numerical	ADJ
fumecheng-3910	17	27	analysis	analysis	NOUN
fumecheng-3910	17	28	and	and	CCONJ
fumecheng-3910	17	29	results	result	VERB
fumecheng-3910	17	30	post	post	ADJ
fumecheng-3910	17	31	-	-	ADJ
fumecheng-3910	17	32	processing	processing	NOUN
fumecheng-3910	17	33	.	.	PUNCT
fumecheng-3910	18	1	simultaneously	simultaneously	ADV
fumecheng-3910	18	2	with	with	ADP
fumecheng-3910	18	3	undeniable	undeniable	ADJ
fumecheng-3910	18	4	advantages	advantage	NOUN
fumecheng-3910	18	5	in	in	ADP
fumecheng-3910	18	6	its	its	PRON
fumecheng-3910	18	7	use	use	NOUN
fumecheng-3910	18	8	,	,	PUNCT
fumecheng-3910	18	9	this	this	DET
fumecheng-3910	18	10	type	type	NOUN
fumecheng-3910	18	11	of	of	ADP
fumecheng-3910	18	12	software	software	NOUN
fumecheng-3910	18	13	has	have	VERB
fumecheng-3910	18	14	some	some	DET
fumecheng-3910	18	15	significant	significant	ADJ
fumecheng-3910	18	16	drawbacks	drawback	NOUN
fumecheng-3910	18	17	:	:	PUNCT
fumecheng-3910	18	18	it	it	PRON
fumecheng-3910	18	19	is	be	AUX
fumecheng-3910	18	20	usually	usually	ADV
fumecheng-3910	18	21	high	high	ADV
fumecheng-3910	18	22	-	-	PUNCT
fumecheng-3910	18	23	priced	price	VERB
fumecheng-3910	18	24	,	,	PUNCT
fumecheng-3910	18	25	the	the	DET
fumecheng-3910	18	26	obtained	obtain	VERB
fumecheng-3910	18	27	results	result	NOUN
fumecheng-3910	18	28	are	be	AUX
fumecheng-3910	18	29	limited	limit	VERB
fumecheng-3910	18	30	to	to	ADP
fumecheng-3910	18	31	the	the	DET
fumecheng-3910	18	32	software	software	NOUN
fumecheng-3910	18	33	capabilities	capability	NOUN
fumecheng-3910	18	34	,	,	PUNCT
fumecheng-3910	18	35	equations	equation	NOUN
fumecheng-3910	18	36	of	of	ADP
fumecheng-3910	18	37	motion	motion	NOUN
fumecheng-3910	18	38	are	be	AUX
fumecheng-3910	18	39	embedded	embed	VERB
fumecheng-3910	18	40	in	in	ADP
fumecheng-3910	18	41	the	the	DET
fumecheng-3910	18	42	program	program	NOUN
fumecheng-3910	18	43	and	and	CCONJ
fumecheng-3910	18	44	can	can	AUX
fumecheng-3910	18	45	not	not	PART
fumecheng-3910	18	46	be	be	AUX
fumecheng-3910	18	47	previewed	preview	VERB
fumecheng-3910	18	48	by	by	ADP
fumecheng-3910	18	49	the	the	DET
fumecheng-3910	18	50	user	user	NOUN
fumecheng-3910	18	51	,	,	PUNCT
fumecheng-3910	18	52	and	and	CCONJ
fumecheng-3910	18	53	,	,	PUNCT
fumecheng-3910	18	54	finally	finally	ADV
fumecheng-3910	18	55	yet	yet	ADV
fumecheng-3910	18	56	importantly	importantly	ADV
fumecheng-3910	18	57	it	it	PRON
fumecheng-3910	18	58	does	do	AUX
fumecheng-3910	18	59	not	not	PART
fumecheng-3910	18	60	allow	allow	VERB
fumecheng-3910	18	61	further	further	ADJ
fumecheng-3910	18	62	development	development	NOUN
fumecheng-3910	18	63	of	of	ADP
fumecheng-3910	18	64	algorithms	algorithm	NOUN
fumecheng-3910	18	65	by	by	ADP
fumecheng-3910	18	66	the	the	DET
fumecheng-3910	18	67	user	user	NOUN
fumecheng-3910	18	68	.	.	PUNCT
fumecheng-3910	19	1	software	software	NOUN
fumecheng-3910	19	2	systems	system	NOUN
fumecheng-3910	19	3	where	where	SCONJ
fumecheng-3910	19	4	an	an	DET
fumecheng-3910	19	5	active	active	ADJ
fumecheng-3910	19	6	involvement	involvement	NOUN
fumecheng-3910	19	7	of	of	ADP
fumecheng-3910	19	8	the	the	DET
fumecheng-3910	19	9	user	user	NOUN
fumecheng-3910	19	10	in	in	ADP
fumecheng-3910	19	11	the	the	DET
fumecheng-3910	19	12	mechanism	mechanism	NOUN
fumecheng-3910	19	13	simulation	simulation	NOUN
fumecheng-3910	19	14	model	model	PROPN
fumecheng-3910	19	15	development	development	PROPN
fumecheng-3910	19	16	is	be	AUX
fumecheng-3910	19	17	required	require	VERB
fumecheng-3910	19	18	are	be	AUX
fumecheng-3910	19	19	becoming	become	VERB
fumecheng-3910	19	20	increasingly	increasingly	ADV
fumecheng-3910	19	21	popular	popular	ADJ
fumecheng-3910	19	22	.	.	PUNCT
fumecheng-3910	20	1	this	this	DET
fumecheng-3910	20	2	type	type	NOUN
fumecheng-3910	20	3	of	of	ADP
fumecheng-3910	20	4	software	software	NOUN
fumecheng-3910	20	5	is	be	AUX
fumecheng-3910	20	6	based	base	VERB
fumecheng-3910	20	7	primarily	primarily	ADV
fumecheng-3910	20	8	on	on	ADP
fumecheng-3910	20	9	the	the	DET
fumecheng-3910	20	10	algorithmic	algorithmic	ADJ
fumecheng-3910	20	11	programming	programming	NOUN
fumecheng-3910	20	12	languages	language	NOUN
fumecheng-3910	20	13	.	.	PUNCT
fumecheng-3910	21	1	for	for	ADP
fumecheng-3910	21	2	example	example	NOUN
fumecheng-3910	21	3	,	,	PUNCT
fumecheng-3910	21	4	the	the	DET
fumecheng-3910	21	5	c	c	NOUN
fumecheng-3910	21	6	/	/	SYM
fumecheng-3910	21	7	c++	c++	NOUN
fumecheng-3910	21	8	compatible	compatible	ADJ
fumecheng-3910	21	9	object	object	NOUN
fumecheng-3910	21	10	-	-	PUNCT
fumecheng-3910	21	11	oriented	orient	VERB
fumecheng-3910	21	12	software	software	NOUN
fumecheng-3910	21	13	[	[	X
fumecheng-3910	21	14	8	8	NUM
fumecheng-3910	21	15	]	]	PUNCT
fumecheng-3910	21	16	provides	provide	VERB
fumecheng-3910	21	17	for	for	ADP
fumecheng-3910	21	18	a	a	DET
fumecheng-3910	21	19	possibility	possibility	NOUN
fumecheng-3910	21	20	of	of	ADP
fumecheng-3910	21	21	realizing	realize	VERB
fumecheng-3910	21	22	independent	independent	ADJ
fumecheng-3910	21	23	applications	application	NOUN
fumecheng-3910	21	24	in	in	ADP
fumecheng-3910	21	25	a	a	DET
fumecheng-3910	21	26	web	web	NOUN
fumecheng-3910	21	27	environment	environment	NOUN
fumecheng-3910	21	28	and	and	CCONJ
fumecheng-3910	21	29	capabilities	capability	NOUN
fumecheng-3910	21	30	for	for	ADP
fumecheng-3910	21	31	performing	perform	VERB
fumecheng-3910	21	32	a	a	DET
fumecheng-3910	21	33	kinematic	kinematic	ADJ
fumecheng-3910	21	34	and	and	CCONJ
fumecheng-3910	21	35	dynamic	dynamic	ADJ
fumecheng-3910	21	36	analysis	analysis	NOUN
fumecheng-3910	21	37	of	of	ADP
fumecheng-3910	21	38	a	a	DET
fumecheng-3910	21	39	variety	variety	NOUN
fumecheng-3910	21	40	of	of	ADP
fumecheng-3910	21	41	mechanisms	mechanism	NOUN
fumecheng-3910	21	42	as	as	ADV
fumecheng-3910	21	43	well	well	ADV
fumecheng-3910	21	44	as	as	ADP
fumecheng-3910	21	45	synthesizing	synthesize	VERB
fumecheng-3910	21	46	mechanisms	mechanism	NOUN
fumecheng-3910	21	47	with	with	ADP
fumecheng-3910	21	48	predefined	predefine	VERB
fumecheng-3910	21	49	properties	property	NOUN
fumecheng-3910	21	50	.	.	PUNCT
fumecheng-3910	22	1	other	other	ADJ
fumecheng-3910	22	2	applications	application	NOUN
fumecheng-3910	22	3	[	[	PUNCT
fumecheng-3910	22	4	9	9	NUM
fumecheng-3910	22	5	-	-	SYM
fumecheng-3910	22	6	11	11	NUM
fumecheng-3910	22	7	]	]	PUNCT
fumecheng-3910	22	8	are	be	AUX
fumecheng-3910	22	9	entirely	entirely	ADV
fumecheng-3910	22	10	web	web	NOUN
fumecheng-3910	22	11	-	-	PUNCT
fumecheng-3910	22	12	based	base	VERB
fumecheng-3910	22	13	and	and	CCONJ
fumecheng-3910	22	14	platform	platform	NOUN
fumecheng-3910	22	15	independent	independent	ADJ
fumecheng-3910	22	16	client	client	NOUN
fumecheng-3910	22	17	-	-	PUNCT
fumecheng-3910	22	18	server	server	NOUN
fumecheng-3910	22	19	systems	system	NOUN
fumecheng-3910	22	20	,	,	PUNCT
fumecheng-3910	22	21	exploiting	exploit	VERB
fumecheng-3910	22	22	the	the	DET
fumecheng-3910	22	23	advantages	advantage	NOUN
fumecheng-3910	22	24	of	of	ADP
fumecheng-3910	22	25	the	the	DET
fumecheng-3910	22	26	network	network	NOUN
fumecheng-3910	22	27	computing	computing	NOUN
fumecheng-3910	22	28	.	.	PUNCT
fumecheng-3910	23	1	typically	typically	ADV
fumecheng-3910	23	2	,	,	PUNCT
fumecheng-3910	23	3	in	in	ADP
fumecheng-3910	23	4	this	this	DET
fumecheng-3910	23	5	case	case	NOUN
fumecheng-3910	23	6	,	,	PUNCT
fumecheng-3910	23	7	standard	standard	ADJ
fumecheng-3910	23	8	feature	feature	VERB
fumecheng-3910	23	9	rich	rich	ADJ
fumecheng-3910	23	10	libraries	library	NOUN
fumecheng-3910	23	11	for	for	ADP
fumecheng-3910	23	12	mechanism	mechanism	NOUN
fumecheng-3910	23	13	visualization	visualization	NOUN
fumecheng-3910	23	14	,	,	PUNCT
fumecheng-3910	23	15	animation	animation	NOUN
fumecheng-3910	23	16	and	and	CCONJ
fumecheng-3910	23	17	results	result	NOUN
fumecheng-3910	23	18	plotting	plot	VERB
fumecheng-3910	23	19	are	be	AUX
fumecheng-3910	23	20	available	available	ADJ
fumecheng-3910	23	21	.	.	PUNCT
fumecheng-3910	24	1	in	in	ADP
fumecheng-3910	24	2	some	some	DET
fumecheng-3910	24	3	cases	case	NOUN
fumecheng-3910	24	4	,	,	PUNCT
fumecheng-3910	24	5	the	the	DET
fumecheng-3910	24	6	software	software	NOUN
fumecheng-3910	24	7	systems	system	NOUN
fumecheng-3910	24	8	are	be	AUX
fumecheng-3910	24	9	equipped	equip	VERB
fumecheng-3910	24	10	with	with	ADP
fumecheng-3910	24	11	modules	module	NOUN
fumecheng-3910	24	12	for	for	ADP
fumecheng-3910	24	13	mechanism	mechanism	NOUN
fumecheng-3910	24	14	type	type	NOUN
fumecheng-3910	24	15	or	or	CCONJ
fumecheng-3910	24	16	dimensional	dimensional	ADJ
fumecheng-3910	24	17	synthesis	synthesis	NOUN
fumecheng-3910	24	18	,	,	PUNCT
fumecheng-3910	24	19	based	base	VERB
fumecheng-3910	24	20	on	on	ADP
fumecheng-3910	24	21	analytical	analytical	ADJ
fumecheng-3910	24	22	or	or	CCONJ
fumecheng-3910	24	23	numerical	numerical	ADJ
fumecheng-3910	24	24	methods	method	NOUN
fumecheng-3910	24	25	[	[	X
fumecheng-3910	24	26	12	12	NUM
fumecheng-3910	24	27	]	]	PUNCT
fumecheng-3910	24	28	.	.	PUNCT
fumecheng-3910	25	1	a	a	DET
fumecheng-3910	25	2	widely	widely	ADV
fumecheng-3910	25	3	used	use	VERB
fumecheng-3910	25	4	approach	approach	NOUN
fumecheng-3910	25	5	,	,	PUNCT
fumecheng-3910	25	6	considerably	considerably	ADV
fumecheng-3910	25	7	facilitating	facilitate	VERB
fumecheng-3910	25	8	the	the	DET
fumecheng-3910	25	9	mechanisms	mechanism	NOUN
fumecheng-3910	25	10	creation	creation	NOUN
fumecheng-3910	25	11	,	,	PUNCT
fumecheng-3910	25	12	analysis	analysis	NOUN
fumecheng-3910	25	13	and	and	CCONJ
fumecheng-3910	25	14	synthesis	synthesis	NOUN
fumecheng-3910	25	15	,	,	PUNCT
fumecheng-3910	25	16	is	be	AUX
fumecheng-3910	25	17	the	the	DET
fumecheng-3910	25	18	modular	modular	ADJ
fumecheng-3910	25	19	approach	approach	NOUN
fumecheng-3910	25	20	[	[	X
fumecheng-3910	25	21	13	13	NUM
fumecheng-3910	25	22	,	,	PUNCT
fumecheng-3910	25	23	14	14	NUM
fumecheng-3910	25	24	]	]	PUNCT
fumecheng-3910	25	25	,	,	PUNCT
fumecheng-3910	25	26	which	which	PRON
fumecheng-3910	25	27	uses	use	VERB
fumecheng-3910	25	28	predefined	predefine	VERB
fumecheng-3910	25	29	blocks	block	NOUN
fumecheng-3910	25	30	and	and	CCONJ
fumecheng-3910	25	31	subroutines	subroutine	NOUN
fumecheng-3910	25	32	for	for	ADP
fumecheng-3910	25	33	composing	compose	VERB
fumecheng-3910	25	34	mechanisms	mechanism	NOUN
fumecheng-3910	25	35	with	with	ADP
fumecheng-3910	25	36	arbitrary	arbitrary	ADJ
fumecheng-3910	25	37	complexity	complexity	NOUN
fumecheng-3910	25	38	.	.	PUNCT
fumecheng-3910	26	1	during	during	ADP
fumecheng-3910	26	2	the	the	DET
fumecheng-3910	26	3	realization	realization	NOUN
fumecheng-3910	26	4	of	of	ADP
fumecheng-3910	26	5	the	the	DET
fumecheng-3910	26	6	modular	modular	ADJ
fumecheng-3910	26	7	kinematics	kinematic	NOUN
fumecheng-3910	26	8	it	it	PRON
fumecheng-3910	26	9	is	be	AUX
fumecheng-3910	26	10	possible	possible	ADJ
fumecheng-3910	26	11	to	to	PART
fumecheng-3910	26	12	use	use	VERB
fumecheng-3910	26	13	different	different	ADJ
fumecheng-3910	26	14	modeling	modeling	NOUN
fumecheng-3910	26	15	approaches	approach	NOUN
fumecheng-3910	26	16	and	and	CCONJ
fumecheng-3910	26	17	philosophies	philosophy	NOUN
fumecheng-3910	26	18	.	.	PUNCT
fumecheng-3910	27	1	such	such	ADJ
fumecheng-3910	27	2	systems	system	NOUN
fumecheng-3910	27	3	as	as	ADP
fumecheng-3910	27	4	openmodelica	openmodelica	NOUN
fumecheng-3910	27	5	[	[	X
fumecheng-3910	27	6	15	15	NUM
fumecheng-3910	27	7	]	]	AUX
fumecheng-3910	27	8	use	use	VERB
fumecheng-3910	27	9	graphical	graphical	ADJ
fumecheng-3910	27	10	blocks	block	NOUN
fumecheng-3910	27	11	to	to	PART
fumecheng-3910	27	12	compose	compose	VERB
fumecheng-3910	27	13	the	the	DET
fumecheng-3910	27	14	mechanism	mechanism	NOUN
fumecheng-3910	27	15	kinematical	kinematical	ADJ
fumecheng-3910	27	16	structure	structure	NOUN
fumecheng-3910	27	17	while	while	SCONJ
fumecheng-3910	27	18	others	other	NOUN
fumecheng-3910	27	19	use	use	VERB
fumecheng-3910	27	20	a	a	DET
fumecheng-3910	27	21	collection	collection	NOUN
fumecheng-3910	27	22	of	of	ADP
fumecheng-3910	27	23	software	software	NOUN
fumecheng-3910	27	24	subroutines	subroutine	NOUN
fumecheng-3910	27	25	for	for	ADP
fumecheng-3910	27	26	kinematic	kinematic	ADJ
fumecheng-3910	27	27	simulation	simulation	NOUN
fumecheng-3910	27	28	,	,	PUNCT
fumecheng-3910	27	29	written	write	VERB
fumecheng-3910	27	30	in	in	ADP
fumecheng-3910	27	31	general	general	ADJ
fumecheng-3910	27	32	-	-	PUNCT
fumecheng-3910	27	33	purpose	purpose	NOUN
fumecheng-3910	27	34	[	[	X
fumecheng-3910	27	35	16	16	NUM
fumecheng-3910	27	36	]	]	PUNCT
fumecheng-3910	27	37	or	or	CCONJ
fumecheng-3910	27	38	computer	computer	NOUN
fumecheng-3910	27	39	algebra	algebra	NOUN
fumecheng-3910	27	40	programming	programming	NOUN
fumecheng-3910	27	41	languages	language	NOUN
fumecheng-3910	27	42	[	[	X
fumecheng-3910	27	43	17	17	NUM
fumecheng-3910	27	44	]	]	PUNCT
fumecheng-3910	27	45	.	.	PUNCT
fumecheng-3910	28	1	despite	despite	SCONJ
fumecheng-3910	28	2	the	the	DET
fumecheng-3910	28	3	presence	presence	NOUN
fumecheng-3910	28	4	of	of	ADP
fumecheng-3910	28	5	a	a	DET
fumecheng-3910	28	6	vast	vast	ADJ
fumecheng-3910	28	7	number	number	NOUN
fumecheng-3910	28	8	of	of	ADP
fumecheng-3910	28	9	software	software	NOUN
fumecheng-3910	28	10	systems	system	NOUN
fumecheng-3910	28	11	,	,	PUNCT
fumecheng-3910	28	12	the	the	DET
fumecheng-3910	28	13	capabilities	capability	NOUN
fumecheng-3910	28	14	of	of	ADP
fumecheng-3910	28	15	the	the	DET
fumecheng-3910	28	16	modular	modular	ADJ
fumecheng-3910	28	17	approach	approach	NOUN
fumecheng-3910	28	18	combined	combine	VERB
fumecheng-3910	28	19	with	with	ADP
fumecheng-3910	28	20	optimization	optimization	NOUN
fumecheng-3910	28	21	for	for	ADP
fumecheng-3910	28	22	the	the	DET
fumecheng-3910	28	23	purpose	purpose	NOUN
fumecheng-3910	28	24	of	of	ADP
fumecheng-3910	28	25	mechanism	mechanism	NOUN
fumecheng-3910	28	26	synthesis	synthesis	NOUN
fumecheng-3910	28	27	in	in	ADP
fumecheng-3910	28	28	the	the	DET
fumecheng-3910	28	29	web	web	NOUN
fumecheng-3910	28	30	environment	environment	NOUN
fumecheng-3910	28	31	are	be	AUX
fumecheng-3910	28	32	not	not	PART
fumecheng-3910	28	33	used	use	VERB
fumecheng-3910	28	34	enough	enough	ADV
fumecheng-3910	28	35	.	.	PUNCT
fumecheng-3910	29	1	the	the	DET
fumecheng-3910	29	2	paper	paper	NOUN
fumecheng-3910	29	3	presents	present	VERB
fumecheng-3910	29	4	an	an	DET
fumecheng-3910	29	5	open	open	ADJ
fumecheng-3910	29	6	cloud	cloud	NOUN
fumecheng-3910	29	7	-	-	PUNCT
fumecheng-3910	29	8	based	base	VERB
fumecheng-3910	29	9	expert	expert	NOUN
fumecheng-3910	29	10	system	system	NOUN
fumecheng-3910	29	11	for	for	ADP
fumecheng-3910	29	12	dimensional	dimensional	ADJ
fumecheng-3910	29	13	synthesis	synthesis	NOUN
fumecheng-3910	29	14	and	and	CCONJ
fumecheng-3910	29	15	optimization	optimization	NOUN
fumecheng-3910	29	16	of	of	ADP
fumecheng-3910	29	17	planar	planar	ADJ
fumecheng-3910	29	18	linkages	linkage	NOUN
fumecheng-3910	29	19	based	base	VERB
fumecheng-3910	29	20	on	on	ADP
fumecheng-3910	29	21	the	the	DET
fumecheng-3910	29	22	theory	theory	NOUN
fumecheng-3910	29	23	of	of	ADP
fumecheng-3910	29	24	assur	assur	PROPN
fumecheng-3910	29	25	’s	’s	PART
fumecheng-3910	29	26	groups	group	NOUN
fumecheng-3910	29	27	and	and	CCONJ
fumecheng-3910	29	28	genetic	genetic	ADJ
fumecheng-3910	29	29	algorithms	algorithm	NOUN
fumecheng-3910	29	30	.	.	PUNCT
fumecheng-3910	30	1	the	the	DET
fumecheng-3910	30	2	modular	modular	ADJ
fumecheng-3910	30	3	approach	approach	NOUN
fumecheng-3910	30	4	applied	apply	VERB
fumecheng-3910	30	5	to	to	ADP
fumecheng-3910	30	6	the	the	DET
fumecheng-3910	30	7	building	building	NOUN
fumecheng-3910	30	8	of	of	ADP
fumecheng-3910	30	9	the	the	DET
fumecheng-3910	30	10	linkages	linkage	NOUN
fumecheng-3910	30	11	allows	allow	VERB
fumecheng-3910	30	12	for	for	ADP
fumecheng-3910	30	13	their	their	PRON
fumecheng-3910	30	14	fast	fast	ADJ
fumecheng-3910	30	15	creation	creation	NOUN
fumecheng-3910	30	16	,	,	PUNCT
fumecheng-3910	30	17	modification	modification	NOUN
fumecheng-3910	30	18	,	,	PUNCT
fumecheng-3910	30	19	analysis	analysis	NOUN
fumecheng-3910	30	20	,	,	PUNCT
fumecheng-3910	30	21	synthesis	synthesis	NOUN
fumecheng-3910	30	22	and	and	CCONJ
fumecheng-3910	30	23	optimization	optimization	NOUN
fumecheng-3910	30	24	in	in	ADP
fumecheng-3910	30	25	a	a	DET
fumecheng-3910	30	26	user	user	NOUN
fumecheng-3910	30	27	-	-	PUNCT
fumecheng-3910	30	28	friendly	friendly	ADJ
fumecheng-3910	30	29	cloud	cloud	NOUN
fumecheng-3910	30	30	-	-	PUNCT
fumecheng-3910	30	31	based	base	VERB
fumecheng-3910	30	32	internet	internet	NOUN
fumecheng-3910	30	33	environment	environment	NOUN
fumecheng-3910	30	34	,	,	PUNCT
fumecheng-3910	30	35	fully	fully	ADV
fumecheng-3910	30	36	exploiting	exploit	VERB
fumecheng-3910	30	37	the	the	DET
fumecheng-3910	30	38	benefits	benefit	NOUN
fumecheng-3910	30	39	of	of	ADP
fumecheng-3910	30	40	the	the	DET
fumecheng-3910	30	41	network	network	NOUN
fumecheng-3910	30	42	computing	computing	NOUN
fumecheng-3910	30	43	.	.	PUNCT
fumecheng-3910	31	1	this	this	DET
fumecheng-3910	31	2	paper	paper	NOUN
fumecheng-3910	31	3	is	be	AUX
fumecheng-3910	31	4	organized	organize	VERB
fumecheng-3910	31	5	as	as	SCONJ
fumecheng-3910	31	6	follows	follow	VERB
fumecheng-3910	31	7	:	:	PUNCT
fumecheng-3910	31	8	in	in	ADP
fumecheng-3910	31	9	section	section	NOUN
fumecheng-3910	31	10	1	1	NUM
fumecheng-3910	31	11	papers	paper	NOUN
fumecheng-3910	31	12	dealing	deal	VERB
fumecheng-3910	31	13	with	with	ADP
fumecheng-3910	31	14	mechanisms	mechanism	NOUN
fumecheng-3910	31	15	different	different	ADJ
fumecheng-3910	31	16	modeling	modeling	NOUN
fumecheng-3910	31	17	approaches	approach	NOUN
fumecheng-3910	31	18	and	and	CCONJ
fumecheng-3910	31	19	philosophies	philosophy	NOUN
fumecheng-3910	31	20	are	be	AUX
fumecheng-3910	31	21	analyzed	analyze	VERB
fumecheng-3910	31	22	.	.	PUNCT
fumecheng-3910	32	1	section	section	NOUN
fumecheng-3910	32	2	2	2	NUM
fumecheng-3910	32	3	is	be	AUX
fumecheng-3910	32	4	devoted	devote	VERB
fumecheng-3910	32	5	to	to	ADP
fumecheng-3910	32	6	the	the	DET
fumecheng-3910	32	7	derivation	derivation	NOUN
fumecheng-3910	32	8	of	of	ADP
fumecheng-3910	32	9	the	the	DET
fumecheng-3910	32	10	assur	assur	PROPN
fumecheng-3910	32	11	’s	’s	PART
fumecheng-3910	32	12	groups	group	NOUN
fumecheng-3910	32	13	position	position	NOUN
fumecheng-3910	32	14	,	,	PUNCT
fumecheng-3910	32	15	velocity	velocity	NOUN
fumecheng-3910	32	16	and	and	CCONJ
fumecheng-3910	32	17	acceleration	acceleration	NOUN
fumecheng-3910	32	18	kinematic	kinematic	ADJ
fumecheng-3910	32	19	equations	equation	NOUN
fumecheng-3910	32	20	.	.	PUNCT
fumecheng-3910	33	1	section	section	NOUN
fumecheng-3910	33	2	3	3	NUM
fumecheng-3910	33	3	gives	give	VERB
fumecheng-3910	33	4	the	the	DET
fumecheng-3910	33	5	structure	structure	NOUN
fumecheng-3910	33	6	of	of	ADP
fumecheng-3910	33	7	the	the	DET
fumecheng-3910	33	8	developed	develop	VERB
fumecheng-3910	33	9	cloud	cloud	NOUN
fumecheng-3910	33	10	-	-	PUNCT
fumecheng-3910	33	11	based	base	VERB
fumecheng-3910	33	12	expert	expert	NOUN
fumecheng-3910	33	13	system	system	NOUN
fumecheng-3910	33	14	for	for	ADP
fumecheng-3910	33	15	synthesis	synthesis	NOUN
fumecheng-3910	33	16	and	and	CCONJ
fumecheng-3910	33	17	optimization	optimization	NOUN
fumecheng-3910	33	18	of	of	ADP
fumecheng-3910	33	19	planar	planar	ADJ
fumecheng-3910	33	20	linkages	linkage	NOUN
fumecheng-3910	33	21	.	.	PUNCT
fumecheng-3910	34	1	section	section	NOUN
fumecheng-3910	34	2	4	4	NUM
fumecheng-3910	34	3	presents	present	VERB
fumecheng-3910	34	4	the	the	DET
fumecheng-3910	34	5	description	description	NOUN
fumecheng-3910	34	6	and	and	CCONJ
fumecheng-3910	34	7	discussion	discussion	NOUN
fumecheng-3910	34	8	of	of	ADP
fumecheng-3910	34	9	the	the	DET
fumecheng-3910	34	10	synthesis	synthesis	NOUN
fumecheng-3910	34	11	of	of	ADP
fumecheng-3910	34	12	four	four	NUM
fumecheng-3910	34	13	-	-	PUNCT
fumecheng-3910	34	14	bar	bar	NOUN
fumecheng-3910	34	15	and	and	CCONJ
fumecheng-3910	34	16	six	six	NUM
fumecheng-3910	34	17	-	-	PUNCT
fumecheng-3910	34	18	bar	bar	NOUN
fumecheng-3910	34	19	planar	planar	ADJ
fumecheng-3910	34	20	linkages	linkage	NOUN
fumecheng-3910	34	21	.	.	PUNCT
fumecheng-3910	35	1	section	section	NOUN
fumecheng-3910	35	2	5	5	NUM
fumecheng-3910	35	3	represents	represent	VERB
fumecheng-3910	35	4	a	a	DET
fumecheng-3910	35	5	short	short	ADJ
fumecheng-3910	35	6	conclusion	conclusion	NOUN
fumecheng-3910	35	7	.	.	PUNCT
fumecheng-3910	36	1	cloud	cloud	NOUN
fumecheng-3910	36	2	-	-	PUNCT
fumecheng-3910	36	3	based	base	VERB
fumecheng-3910	36	4	expert	expert	NOUN
fumecheng-3910	36	5	system	system	NOUN
fumecheng-3910	36	6	for	for	ADP
fumecheng-3910	36	7	synthesis	synthesis	NOUN
fumecheng-3910	36	8	and	and	CCONJ
fumecheng-3910	36	9	evolutionary	evolutionary	ADJ
fumecheng-3910	36	10	optimization	optimization	NOUN
fumecheng-3910	36	11	of	of	ADP
fumecheng-3910	36	12	planar	planar	ADJ
fumecheng-3910	36	13	linkages	linkage	NOUN
fumecheng-3910	36	14	141	141	NUM
fumecheng-3910	36	15	2	2	NUM
fumecheng-3910	36	16	.	.	PUNCT
fumecheng-3910	37	1	assur	assur	PROPN
fumecheng-3910	37	2	’s	’s	PART
fumecheng-3910	37	3	groups	group	NOUN
fumecheng-3910	37	4	kinematic	kinematic	VERB
fumecheng-3910	37	5	equations	equation	NOUN
fumecheng-3910	37	6	the	the	DET
fumecheng-3910	37	7	idea	idea	NOUN
fumecheng-3910	37	8	of	of	ADP
fumecheng-3910	37	9	decomposition	decomposition	NOUN
fumecheng-3910	37	10	of	of	ADP
fumecheng-3910	37	11	the	the	DET
fumecheng-3910	37	12	mechanisms	mechanism	NOUN
fumecheng-3910	37	13	into	into	ADP
fumecheng-3910	37	14	assur	assur	PROPN
fumecheng-3910	37	15	’s	’s	PART
fumecheng-3910	37	16	groups	group	NOUN
fumecheng-3910	37	17	is	be	AUX
fumecheng-3910	37	18	not	not	PART
fumecheng-3910	37	19	new	new	ADJ
fumecheng-3910	37	20	.	.	PUNCT
fumecheng-3910	38	1	at	at	ADP
fumecheng-3910	38	2	the	the	DET
fumecheng-3910	38	3	beginning	beginning	NOUN
fumecheng-3910	38	4	of	of	ADP
fumecheng-3910	38	5	the	the	DET
fumecheng-3910	38	6	20	20	NUM
fumecheng-3910	38	7	th	th	NUM
fumecheng-3910	38	8	century	century	NOUN
fumecheng-3910	38	9	,	,	PUNCT
fumecheng-3910	38	10	the	the	DET
fumecheng-3910	38	11	russian	russian	ADJ
fumecheng-3910	38	12	scientist	scientist	NOUN
fumecheng-3910	38	13	leonid	leonid	PROPN
fumecheng-3910	38	14	assur	assur	PROPN
fumecheng-3910	38	15	developed	develop	VERB
fumecheng-3910	38	16	a	a	DET
fumecheng-3910	38	17	method	method	NOUN
fumecheng-3910	38	18	of	of	ADP
fumecheng-3910	38	19	composing	compose	VERB
fumecheng-3910	38	20	planar	planar	ADJ
fumecheng-3910	38	21	mechanisms	mechanism	NOUN
fumecheng-3910	38	22	of	of	ADP
fumecheng-3910	38	23	any	any	DET
fumecheng-3910	38	24	complexity	complexity	NOUN
fumecheng-3910	38	25	by	by	ADP
fumecheng-3910	38	26	the	the	DET
fumecheng-3910	38	27	sequential	sequential	ADJ
fumecheng-3910	38	28	appending	appending	NOUN
fumecheng-3910	38	29	of	of	ADP
fumecheng-3910	38	30	fundamental	fundamental	ADJ
fumecheng-3910	38	31	kinematic	kinematic	ADJ
fumecheng-3910	38	32	chains	chain	NOUN
fumecheng-3910	38	33	,	,	PUNCT
fumecheng-3910	38	34	which	which	PRON
fumecheng-3910	38	35	were	be	AUX
fumecheng-3910	38	36	later	later	ADV
fumecheng-3910	38	37	named	name	VERB
fumecheng-3910	38	38	assur	assur	PROPN
fumecheng-3910	38	39	’s	’s	PART
fumecheng-3910	38	40	groups	group	NOUN
fumecheng-3910	38	41	.	.	PUNCT
fumecheng-3910	39	1	the	the	DET
fumecheng-3910	39	2	number	number	NOUN
fumecheng-3910	39	3	of	of	ADP
fumecheng-3910	39	4	links	link	NOUN
fumecheng-3910	39	5	n	n	PRON
fumecheng-3910	39	6	and	and	CCONJ
fumecheng-3910	39	7	the	the	DET
fumecheng-3910	39	8	number	number	NOUN
fumecheng-3910	39	9	of	of	ADP
fumecheng-3910	39	10	the	the	DET
fumecheng-3910	39	11	fifth	fifth	ADJ
fumecheng-3910	39	12	class	class	NOUN
fumecheng-3910	39	13	pairs	pair	NOUN
fumecheng-3910	39	14	p5	p5	ADJ
fumecheng-3910	39	15	in	in	ADP
fumecheng-3910	39	16	the	the	DET
fumecheng-3910	39	17	assur	assur	PROPN
fumecheng-3910	39	18	’s	’s	PART
fumecheng-3910	39	19	groups	group	NOUN
fumecheng-3910	39	20	are	be	AUX
fumecheng-3910	39	21	related	relate	VERB
fumecheng-3910	39	22	by	by	ADP
fumecheng-3910	39	23	the	the	DET
fumecheng-3910	39	24	following	follow	VERB
fumecheng-3910	39	25	equation	equation	NOUN
fumecheng-3910	39	26	:	:	PUNCT
fumecheng-3910	39	27	5	5	NUM
fumecheng-3910	39	28	3	3	NUM
fumecheng-3910	39	29	2	2	NUM
fumecheng-3910	39	30	p	p	NOUN
fumecheng-3910	39	31	n	n	NOUN
fumecheng-3910	39	32	because	because	SCONJ
fumecheng-3910	39	33	n	n	NUM
fumecheng-3910	39	34	and	and	CCONJ
fumecheng-3910	39	35	p5	p5	PROPN
fumecheng-3910	39	36	must	must	AUX
fumecheng-3910	39	37	be	be	AUX
fumecheng-3910	39	38	integer	integer	NOUN
fumecheng-3910	39	39	numbers	number	NOUN
fumecheng-3910	39	40	,	,	PUNCT
fumecheng-3910	39	41	the	the	DET
fumecheng-3910	39	42	first	first	ADJ
fumecheng-3910	39	43	possible	possible	ADJ
fumecheng-3910	39	44	solution	solution	NOUN
fumecheng-3910	39	45	of	of	ADP
fumecheng-3910	39	46	the	the	DET
fumecheng-3910	39	47	above	above	ADJ
fumecheng-3910	39	48	equation	equation	NOUN
fumecheng-3910	39	49	is	be	AUX
fumecheng-3910	39	50	n	n	PRON
fumecheng-3910	39	51	=	=	SYM
fumecheng-3910	39	52	2	2	NUM
fumecheng-3910	39	53	and	and	CCONJ
fumecheng-3910	39	54	p5	p5	ADJ
fumecheng-3910	39	55	=	=	SYM
fumecheng-3910	39	56	3	3	NUM
fumecheng-3910	39	57	,	,	PUNCT
fumecheng-3910	39	58	i.e.	i.e.	X
fumecheng-3910	39	59	the	the	DET
fumecheng-3910	39	60	simplest	simple	ADJ
fumecheng-3910	39	61	fundamental	fundamental	ADJ
fumecheng-3910	39	62	kinematical	kinematical	ADJ
fumecheng-3910	39	63	chain	chain	NOUN
fumecheng-3910	39	64	consists	consist	VERB
fumecheng-3910	39	65	of	of	ADP
fumecheng-3910	39	66	two	two	NUM
fumecheng-3910	39	67	links	link	NOUN
fumecheng-3910	39	68	and	and	CCONJ
fumecheng-3910	39	69	three	three	NUM
fumecheng-3910	39	70	fifth	fifth	ADJ
fumecheng-3910	39	71	class	class	NOUN
fumecheng-3910	39	72	kinematical	kinematical	ADJ
fumecheng-3910	39	73	pairs	pair	NOUN
fumecheng-3910	39	74	.	.	PUNCT
fumecheng-3910	40	1	internal	internal	ADJ
fumecheng-3910	40	2	kinematical	kinematical	ADJ
fumecheng-3910	40	3	pair	pair	NOUN
fumecheng-3910	40	4	of	of	ADP
fumecheng-3910	40	5	the	the	DET
fumecheng-3910	40	6	group	group	NOUN
fumecheng-3910	40	7	connects	connect	VERB
fumecheng-3910	40	8	the	the	DET
fumecheng-3910	40	9	two	two	NUM
fumecheng-3910	40	10	group	group	NOUN
fumecheng-3910	40	11	links	link	NOUN
fumecheng-3910	40	12	to	to	ADP
fumecheng-3910	40	13	each	each	DET
fumecheng-3910	40	14	other	other	ADJ
fumecheng-3910	40	15	and	and	CCONJ
fumecheng-3910	40	16	two	two	NUM
fumecheng-3910	40	17	external	external	ADJ
fumecheng-3910	40	18	pairs	pair	NOUN
fumecheng-3910	40	19	connect	connect	VERB
fumecheng-3910	40	20	the	the	DET
fumecheng-3910	40	21	group	group	NOUN
fumecheng-3910	40	22	to	to	ADP
fumecheng-3910	40	23	a	a	DET
fumecheng-3910	40	24	driver	driver	NOUN
fumecheng-3910	40	25	link	link	NOUN
fumecheng-3910	40	26	,	,	PUNCT
fumecheng-3910	40	27	to	to	ADP
fumecheng-3910	40	28	the	the	DET
fumecheng-3910	40	29	other	other	ADJ
fumecheng-3910	40	30	groups	group	NOUN
fumecheng-3910	40	31	or	or	CCONJ
fumecheng-3910	40	32	to	to	ADP
fumecheng-3910	40	33	the	the	DET
fumecheng-3910	40	34	ground	ground	NOUN
fumecheng-3910	40	35	.	.	PUNCT
fumecheng-3910	41	1	this	this	DET
fumecheng-3910	41	2	simplest	simple	ADJ
fumecheng-3910	41	3	type	type	NOUN
fumecheng-3910	41	4	of	of	ADP
fumecheng-3910	41	5	group	group	NOUN
fumecheng-3910	41	6	is	be	AUX
fumecheng-3910	41	7	often	often	ADV
fumecheng-3910	41	8	called	call	VERB
fumecheng-3910	41	9	a	a	DET
fumecheng-3910	41	10	binary	binary	ADJ
fumecheng-3910	41	11	group	group	NOUN
fumecheng-3910	41	12	or	or	CCONJ
fumecheng-3910	41	13	dyad	dyad	NOUN
fumecheng-3910	41	14	.	.	PUNCT
fumecheng-3910	42	1	each	each	PRON
fumecheng-3910	42	2	of	of	ADP
fumecheng-3910	42	3	the	the	DET
fumecheng-3910	42	4	dyads	dyad	NOUN
fumecheng-3910	42	5	has	have	VERB
fumecheng-3910	42	6	zero	zero	NUM
fumecheng-3910	42	7	mobility	mobility	NOUN
fumecheng-3910	42	8	and	and	CCONJ
fumecheng-3910	42	9	their	their	PRON
fumecheng-3910	42	10	appending	append	VERB
fumecheng-3910	42	11	to	to	ADP
fumecheng-3910	42	12	the	the	DET
fumecheng-3910	42	13	mechanism	mechanism	NOUN
fumecheng-3910	42	14	does	do	AUX
fumecheng-3910	42	15	not	not	PART
fumecheng-3910	42	16	change	change	VERB
fumecheng-3910	42	17	the	the	DET
fumecheng-3910	42	18	dof	dof	NOUN
fumecheng-3910	42	19	(	(	PUNCT
fumecheng-3910	42	20	degree	degree	NOUN
fumecheng-3910	42	21	of	of	ADP
fumecheng-3910	42	22	freedom	freedom	NOUN
fumecheng-3910	42	23	)	)	PUNCT
fumecheng-3910	42	24	of	of	ADP
fumecheng-3910	42	25	the	the	DET
fumecheng-3910	42	26	whole	whole	ADJ
fumecheng-3910	42	27	mechanism	mechanism	NOUN
fumecheng-3910	42	28	.	.	PUNCT
fumecheng-3910	43	1	one	one	PRON
fumecheng-3910	43	2	can	can	AUX
fumecheng-3910	43	3	distinguish	distinguish	VERB
fumecheng-3910	43	4	the	the	DET
fumecheng-3910	43	5	following	follow	VERB
fumecheng-3910	43	6	types	type	NOUN
fumecheng-3910	43	7	of	of	ADP
fumecheng-3910	43	8	dyads	dyad	NOUN
fumecheng-3910	43	9	:	:	PUNCT
fumecheng-3910	43	10	rrr	rrr	NOUN
fumecheng-3910	43	11	,	,	PUNCT
fumecheng-3910	43	12	rrt	rrt	NOUN
fumecheng-3910	43	13	,	,	PUNCT
fumecheng-3910	43	14	rtr	rtr	PROPN
fumecheng-3910	43	15	,	,	PUNCT
fumecheng-3910	43	16	trt	trt	PROPN
fumecheng-3910	43	17	,	,	PUNCT
fumecheng-3910	43	18	rtt	rtt	PROPN
fumecheng-3910	43	19	,	,	PUNCT
fumecheng-3910	43	20	where	where	SCONJ
fumecheng-3910	43	21	r	r	NOUN
fumecheng-3910	43	22	denotes	denote	VERB
fumecheng-3910	43	23	rotational	rotational	VERB
fumecheng-3910	43	24	one	one	NUM
fumecheng-3910	43	25	dof	dof	NOUN
fumecheng-3910	43	26	pair	pair	NOUN
fumecheng-3910	43	27	and	and	CCONJ
fumecheng-3910	43	28	t	t	PROPN
fumecheng-3910	43	29	–	–	PUNCT
fumecheng-3910	43	30	translational	translational	ADJ
fumecheng-3910	43	31	one	one	NUM
fumecheng-3910	43	32	dof	dof	NOUN
fumecheng-3910	43	33	pair	pair	NOUN
fumecheng-3910	43	34	.	.	PUNCT
fumecheng-3910	44	1	the	the	DET
fumecheng-3910	44	2	rrr	rrr	NOUN
fumecheng-3910	44	3	dyad	dyad	NOUN
fumecheng-3910	44	4	is	be	AUX
fumecheng-3910	44	5	called	call	VERB
fumecheng-3910	44	6	assur	assur	PROPN
fumecheng-3910	44	7	’s	’s	PROPN
fumecheng-3910	44	8	group	group	NOUN
fumecheng-3910	44	9	of	of	ADP
fumecheng-3910	44	10	the	the	DET
fumecheng-3910	44	11	first	first	ADJ
fumecheng-3910	44	12	type	type	NOUN
fumecheng-3910	44	13	.	.	PUNCT
fumecheng-3910	45	1	the	the	DET
fumecheng-3910	45	2	rest	rest	NOUN
fumecheng-3910	45	3	of	of	ADP
fumecheng-3910	45	4	the	the	DET
fumecheng-3910	45	5	dyads	dyad	NOUN
fumecheng-3910	45	6	are	be	AUX
fumecheng-3910	45	7	created	create	VERB
fumecheng-3910	45	8	by	by	ADP
fumecheng-3910	45	9	replacement	replacement	NOUN
fumecheng-3910	45	10	of	of	ADP
fumecheng-3910	45	11	the	the	DET
fumecheng-3910	45	12	rotational	rotational	ADJ
fumecheng-3910	45	13	with	with	ADP
fumecheng-3910	45	14	the	the	DET
fumecheng-3910	45	15	translational	translational	ADJ
fumecheng-3910	45	16	pairs	pair	NOUN
fumecheng-3910	45	17	.	.	PUNCT
fumecheng-3910	46	1	the	the	DET
fumecheng-3910	46	2	vast	vast	ADJ
fumecheng-3910	46	3	majority	majority	NOUN
fumecheng-3910	46	4	of	of	ADP
fumecheng-3910	46	5	the	the	DET
fumecheng-3910	46	6	industrial	industrial	ADJ
fumecheng-3910	46	7	linkages	linkage	NOUN
fumecheng-3910	46	8	can	can	AUX
fumecheng-3910	46	9	be	be	AUX
fumecheng-3910	46	10	created	create	VERB
fumecheng-3910	46	11	by	by	ADP
fumecheng-3910	46	12	the	the	DET
fumecheng-3910	46	13	combination	combination	NOUN
fumecheng-3910	46	14	of	of	ADP
fumecheng-3910	46	15	one	one	NUM
fumecheng-3910	46	16	or	or	CCONJ
fumecheng-3910	46	17	more	more	ADJ
fumecheng-3910	46	18	dyads	dyad	NOUN
fumecheng-3910	46	19	with	with	ADP
fumecheng-3910	46	20	the	the	DET
fumecheng-3910	46	21	addition	addition	NOUN
fumecheng-3910	46	22	of	of	ADP
fumecheng-3910	46	23	one	one	NUM
fumecheng-3910	46	24	or	or	CCONJ
fumecheng-3910	46	25	more	more	ADV
fumecheng-3910	46	26	rotational	rotational	ADJ
fumecheng-3910	46	27	or	or	CCONJ
fumecheng-3910	46	28	translational	translational	ADJ
fumecheng-3910	46	29	driving	drive	VERB
fumecheng-3910	46	30	links	link	NOUN
fumecheng-3910	46	31	.	.	PUNCT
fumecheng-3910	47	1	a	a	DET
fumecheng-3910	47	2	substantial	substantial	ADJ
fumecheng-3910	47	3	advantage	advantage	NOUN
fumecheng-3910	47	4	of	of	ADP
fumecheng-3910	47	5	using	use	VERB
fumecheng-3910	47	6	dyads	dyad	NOUN
fumecheng-3910	47	7	is	be	AUX
fumecheng-3910	47	8	the	the	DET
fumecheng-3910	47	9	possibility	possibility	NOUN
fumecheng-3910	47	10	to	to	PART
fumecheng-3910	47	11	perform	perform	VERB
fumecheng-3910	47	12	an	an	DET
fumecheng-3910	47	13	independent	independent	ADJ
fumecheng-3910	47	14	kinematical	kinematical	ADJ
fumecheng-3910	47	15	analysis	analysis	NOUN
fumecheng-3910	47	16	of	of	ADP
fumecheng-3910	47	17	each	each	DET
fumecheng-3910	47	18	group	group	NOUN
fumecheng-3910	47	19	and	and	CCONJ
fumecheng-3910	47	20	then	then	ADV
fumecheng-3910	47	21	compose	compose	VERB
fumecheng-3910	47	22	a	a	DET
fumecheng-3910	47	23	solution	solution	NOUN
fumecheng-3910	47	24	for	for	ADP
fumecheng-3910	47	25	the	the	DET
fumecheng-3910	47	26	whole	whole	ADJ
fumecheng-3910	47	27	mechanism	mechanism	NOUN
fumecheng-3910	47	28	as	as	ADP
fumecheng-3910	47	29	a	a	DET
fumecheng-3910	47	30	combination	combination	NOUN
fumecheng-3910	47	31	of	of	ADP
fumecheng-3910	47	32	partial	partial	ADJ
fumecheng-3910	47	33	solutions	solution	NOUN
fumecheng-3910	47	34	for	for	ADP
fumecheng-3910	47	35	different	different	ADJ
fumecheng-3910	47	36	dyads	dyad	NOUN
fumecheng-3910	47	37	.	.	PUNCT
fumecheng-3910	48	1	the	the	DET
fumecheng-3910	48	2	primary	primary	ADJ
fumecheng-3910	48	3	goal	goal	NOUN
fumecheng-3910	48	4	of	of	ADP
fumecheng-3910	48	5	the	the	DET
fumecheng-3910	48	6	solution	solution	NOUN
fumecheng-3910	48	7	is	be	AUX
fumecheng-3910	48	8	to	to	PART
fumecheng-3910	48	9	describe	describe	VERB
fumecheng-3910	48	10	the	the	DET
fumecheng-3910	48	11	motion	motion	NOUN
fumecheng-3910	48	12	of	of	ADP
fumecheng-3910	48	13	the	the	DET
fumecheng-3910	48	14	dyad	dyad	NOUN
fumecheng-3910	48	15	according	accord	VERB
fumecheng-3910	48	16	to	to	ADP
fumecheng-3910	48	17	the	the	DET
fumecheng-3910	48	18	referential	referential	ADJ
fumecheng-3910	48	19	coordinate	coordinate	NOUN
fumecheng-3910	48	20	frame	frame	NOUN
fumecheng-3910	48	21	.	.	PUNCT
fumecheng-3910	49	1	let	let	VERB
fumecheng-3910	49	2	us	we	PRON
fumecheng-3910	49	3	demonstrate	demonstrate	VERB
fumecheng-3910	49	4	the	the	DET
fumecheng-3910	49	5	derivation	derivation	NOUN
fumecheng-3910	49	6	and	and	CCONJ
fumecheng-3910	49	7	analytical	analytical	ADJ
fumecheng-3910	49	8	solution	solution	NOUN
fumecheng-3910	49	9	of	of	ADP
fumecheng-3910	49	10	the	the	DET
fumecheng-3910	49	11	kinematic	kinematic	ADJ
fumecheng-3910	49	12	equations	equation	NOUN
fumecheng-3910	49	13	for	for	ADP
fumecheng-3910	49	14	rrr	rrr	NOUN
fumecheng-3910	49	15	dyad	dyad	NOUN
fumecheng-3910	49	16	by	by	ADP
fumecheng-3910	49	17	using	use	VERB
fumecheng-3910	49	18	rotation	rotation	NOUN
fumecheng-3910	49	19	and	and	CCONJ
fumecheng-3910	49	20	homogeneous	homogeneous	ADJ
fumecheng-3910	49	21	transformation	transformation	NOUN
fumecheng-3910	49	22	matrices	matrix	NOUN
fumecheng-3910	49	23	,	,	PUNCT
fumecheng-3910	49	24	widely	widely	ADV
fumecheng-3910	49	25	used	use	VERB
fumecheng-3910	49	26	in	in	ADP
fumecheng-3910	49	27	robotics	robotic	NOUN
fumecheng-3910	49	28	.	.	PUNCT
fumecheng-3910	50	1	in	in	ADP
fumecheng-3910	50	2	order	order	NOUN
fumecheng-3910	50	3	to	to	PART
fumecheng-3910	50	4	specify	specify	VERB
fumecheng-3910	50	5	the	the	DET
fumecheng-3910	50	6	position	position	NOUN
fumecheng-3910	50	7	of	of	ADP
fumecheng-3910	50	8	the	the	DET
fumecheng-3910	50	9	dyad	dyad	NOUN
fumecheng-3910	50	10	pairs	pair	NOUN
fumecheng-3910	50	11	,	,	PUNCT
fumecheng-3910	50	12	it	it	PRON
fumecheng-3910	50	13	is	be	AUX
fumecheng-3910	50	14	necessary	necessary	ADJ
fumecheng-3910	50	15	to	to	PART
fumecheng-3910	50	16	define	define	VERB
fumecheng-3910	50	17	their	their	PRON
fumecheng-3910	50	18	cartesian	cartesian	ADJ
fumecheng-3910	50	19	coordinates	coordinate	NOUN
fumecheng-3910	50	20	in	in	ADP
fumecheng-3910	50	21	the	the	DET
fumecheng-3910	50	22	fixed	fix	VERB
fumecheng-3910	50	23	space	space	NOUN
fumecheng-3910	50	24	reference	reference	NOUN
fumecheng-3910	50	25	coordinate	coordinate	NOUN
fumecheng-3910	50	26	system	system	NOUN
fumecheng-3910	50	27	{	{	PUNCT
fumecheng-3910	50	28	x0y0	x0y0	NOUN
fumecheng-3910	50	29	}	}	PUNCT
fumecheng-3910	50	30	.	.	PUNCT
fumecheng-3910	51	1	to	to	ADP
fumecheng-3910	51	2	each	each	DET
fumecheng-3910	51	3	rigid	rigid	ADJ
fumecheng-3910	51	4	link	link	NOUN
fumecheng-3910	51	5	of	of	ADP
fumecheng-3910	51	6	the	the	DET
fumecheng-3910	51	7	dyad	dyad	NOUN
fumecheng-3910	51	8	is	be	AUX
fumecheng-3910	51	9	attached	attach	VERB
fumecheng-3910	51	10	a	a	DET
fumecheng-3910	51	11	fixed	fix	VERB
fumecheng-3910	51	12	coordinate	coordinate	NOUN
fumecheng-3910	51	13	frame	frame	NOUN
fumecheng-3910	51	14	{	{	PUNCT
fumecheng-3910	51	15	xkyk	xkyk	NOUN
fumecheng-3910	51	16	}	}	PUNCT
fumecheng-3910	51	17	,	,	PUNCT
fumecheng-3910	51	18	k	k	PROPN
fumecheng-3910	51	19	=	=	SYM
fumecheng-3910	51	20	1,2	1,2	NUM
fumecheng-3910	51	21	.	.	PUNCT
fumecheng-3910	52	1	the	the	DET
fumecheng-3910	52	2	pose	pose	NOUN
fumecheng-3910	52	3	of	of	ADP
fumecheng-3910	52	4	the	the	DET
fumecheng-3910	52	5	link	link	NOUN
fumecheng-3910	52	6	is	be	AUX
fumecheng-3910	52	7	described	describe	VERB
fumecheng-3910	52	8	by	by	ADP
fumecheng-3910	52	9	the	the	DET
fumecheng-3910	52	10	position	position	NOUN
fumecheng-3910	52	11	of	of	ADP
fumecheng-3910	52	12	its	its	PRON
fumecheng-3910	52	13	frame	frame	NOUN
fumecheng-3910	52	14	origin	origin	NOUN
fumecheng-3910	52	15	and	and	CCONJ
fumecheng-3910	52	16	the	the	DET
fumecheng-3910	52	17	orientation	orientation	NOUN
fumecheng-3910	52	18	of	of	ADP
fumecheng-3910	52	19	its	its	PRON
fumecheng-3910	52	20	x	x	NOUN
fumecheng-3910	52	21	-	-	NOUN
fumecheng-3910	52	22	axis	axis	NOUN
fumecheng-3910	52	23	according	accord	VERB
fumecheng-3910	52	24	to	to	ADP
fumecheng-3910	52	25	the	the	DET
fumecheng-3910	52	26	reference	reference	NOUN
fumecheng-3910	52	27	coordinate	coordinate	NOUN
fumecheng-3910	52	28	system	system	NOUN
fumecheng-3910	52	29	.	.	PUNCT
fumecheng-3910	53	1	fig.1	fig.1	PROPN
fumecheng-3910	53	2	shows	show	VERB
fumecheng-3910	53	3	the	the	DET
fumecheng-3910	53	4	geometrical	geometrical	ADJ
fumecheng-3910	53	5	relationships	relationship	NOUN
fumecheng-3910	53	6	between	between	ADP
fumecheng-3910	53	7	the	the	DET
fumecheng-3910	53	8	global	global	ADJ
fumecheng-3910	53	9	and	and	CCONJ
fumecheng-3910	53	10	local	local	ADJ
fumecheng-3910	53	11	representations	representation	NOUN
fumecheng-3910	53	12	of	of	ADP
fumecheng-3910	53	13	the	the	DET
fumecheng-3910	53	14	dyad	dyad	ADJ
fumecheng-3910	53	15	specific	specific	ADJ
fumecheng-3910	53	16	points	point	NOUN
fumecheng-3910	53	17	.	.	PUNCT
fumecheng-3910	54	1	the	the	DET
fumecheng-3910	54	2	orientation	orientation	NOUN
fumecheng-3910	54	3	of	of	ADP
fumecheng-3910	54	4	link	link	NOUN
fumecheng-3910	54	5	k	k	PROPN
fumecheng-3910	54	6	is	be	AUX
fumecheng-3910	54	7	specified	specify	VERB
fumecheng-3910	54	8	by	by	ADP
fumecheng-3910	54	9	the	the	DET
fumecheng-3910	54	10	angle	angle	NOUN
fumecheng-3910	54	11	of	of	ADP
fumecheng-3910	54	12	rotation	rotation	NOUN
fumecheng-3910	54	13	φk	φk	ADP
fumecheng-3910	54	14	of	of	ADP
fumecheng-3910	54	15	link	link	PROPN
fumecheng-3910	54	16	xk	xk	PROPN
fumecheng-3910	54	17	axis	axis	PROPN
fumecheng-3910	54	18	relative	relative	ADJ
fumecheng-3910	54	19	to	to	ADP
fumecheng-3910	54	20	x0	x0	PROPN
fumecheng-3910	54	21	axis	axis	NOUN
fumecheng-3910	54	22	of	of	ADP
fumecheng-3910	54	23	the	the	DET
fumecheng-3910	54	24	reference	reference	NOUN
fumecheng-3910	54	25	coordinate	coordinate	NOUN
fumecheng-3910	54	26	system	system	NOUN
fumecheng-3910	54	27	.	.	PUNCT
fumecheng-3910	55	1	angle	angle	NOUN
fumecheng-3910	55	2	φk	φk	ADP
fumecheng-3910	55	3	is	be	AUX
fumecheng-3910	55	4	considered	consider	VERB
fumecheng-3910	55	5	as	as	ADP
fumecheng-3910	55	6	positive	positive	ADJ
fumecheng-3910	55	7	if	if	SCONJ
fumecheng-3910	55	8	the	the	DET
fumecheng-3910	55	9	rotation	rotation	NOUN
fumecheng-3910	55	10	of	of	ADP
fumecheng-3910	55	11	xk	xk	PROPN
fumecheng-3910	55	12	axis	axis	PROPN
fumecheng-3910	55	13	according	accord	VERB
fumecheng-3910	55	14	to	to	ADP
fumecheng-3910	55	15	positive	positive	ADJ
fumecheng-3910	55	16	x0	x0	PROPN
fumecheng-3910	55	17	axis	axis	NOUN
fumecheng-3910	55	18	is	be	AUX
fumecheng-3910	55	19	counterclockwise	counterclockwise	NOUN
fumecheng-3910	55	20	.	.	PUNCT
fumecheng-3910	56	1	to	to	PART
fumecheng-3910	56	2	point	point	VERB
fumecheng-3910	56	3	o3	o3	PROPN
fumecheng-3910	56	4	is	be	AUX
fumecheng-3910	56	5	attached	attach	VERB
fumecheng-3910	56	6	a	a	DET
fumecheng-3910	56	7	local	local	ADJ
fumecheng-3910	56	8	coordinate	coordinate	NOUN
fumecheng-3910	56	9	system	system	NOUN
fumecheng-3910	56	10	{	{	PUNCT
fumecheng-3910	56	11	xeye	xeye	NOUN
fumecheng-3910	56	12	}	}	PUNCT
fumecheng-3910	56	13	parallel	parallel	NOUN
fumecheng-3910	56	14	to	to	ADP
fumecheng-3910	56	15	the	the	DET
fumecheng-3910	56	16	reference	reference	NOUN
fumecheng-3910	56	17	frame	frame	NOUN
fumecheng-3910	56	18	.	.	PUNCT
fumecheng-3910	57	1	as	as	SCONJ
fumecheng-3910	57	2	the	the	DET
fumecheng-3910	57	3	input	input	NOUN
fumecheng-3910	57	4	for	for	ADP
fumecheng-3910	57	5	the	the	DET
fumecheng-3910	57	6	position	position	NOUN
fumecheng-3910	57	7	analysis	analysis	NOUN
fumecheng-3910	57	8	of	of	ADP
fumecheng-3910	57	9	the	the	DET
fumecheng-3910	57	10	rrr	rrr	NOUN
fumecheng-3910	57	11	dyad	dyad	NOUN
fumecheng-3910	57	12	are	be	AUX
fumecheng-3910	57	13	used	use	VERB
fumecheng-3910	57	14	coordinates	coordinate	NOUN
fumecheng-3910	57	15	(	(	PUNCT
fumecheng-3910	57	16	x1,y1	x1,y1	PROPN
fumecheng-3910	57	17	)	)	PUNCT
fumecheng-3910	57	18	and	and	CCONJ
fumecheng-3910	57	19	(	(	PUNCT
fumecheng-3910	57	20	x3,y3	x3,y3	PROPN
fumecheng-3910	57	21	)	)	PUNCT
fumecheng-3910	57	22	of	of	ADP
fumecheng-3910	57	23	two	two	NUM
fumecheng-3910	57	24	external	external	ADJ
fumecheng-3910	57	25	rotational	rotational	ADJ
fumecheng-3910	57	26	pairs	pair	NOUN
fumecheng-3910	57	27	and	and	CCONJ
fumecheng-3910	57	28	lengths	length	NOUN
fumecheng-3910	57	29	l1	l1	PROPN
fumecheng-3910	57	30	and	and	CCONJ
fumecheng-3910	57	31	l2	l2	NOUN
fumecheng-3910	57	32	of	of	ADP
fumecheng-3910	57	33	the	the	DET
fumecheng-3910	57	34	links	link	NOUN
fumecheng-3910	57	35	.	.	PUNCT
fumecheng-3910	58	1	as	as	SCONJ
fumecheng-3910	58	2	the	the	DET
fumecheng-3910	58	3	output	output	NOUN
fumecheng-3910	58	4	are	be	AUX
fumecheng-3910	58	5	received	receive	VERB
fumecheng-3910	58	6	coordinates	coordinate	NOUN
fumecheng-3910	58	7	(	(	PUNCT
fumecheng-3910	58	8	x2,y2	x2,y2	PROPN
fumecheng-3910	58	9	)	)	PUNCT
fumecheng-3910	58	10	of	of	ADP
fumecheng-3910	58	11	the	the	DET
fumecheng-3910	58	12	internal	internal	ADJ
fumecheng-3910	58	13	pair	pair	NOUN
fumecheng-3910	58	14	and	and	CCONJ
fumecheng-3910	58	15	angles	angle	NOUN
fumecheng-3910	58	16	φ1	φ1	PROPN
fumecheng-3910	58	17	and	and	CCONJ
fumecheng-3910	58	18	φ2	φ2	PROPN
fumecheng-3910	58	19	.	.	PUNCT
fumecheng-3910	59	1	thus	thus	ADV
fumecheng-3910	59	2	,	,	PUNCT
fumecheng-3910	59	3	a	a	DET
fumecheng-3910	59	4	dyad	dyad	NOUN
fumecheng-3910	59	5	can	can	AUX
fumecheng-3910	59	6	be	be	AUX
fumecheng-3910	59	7	considered	consider	VERB
fumecheng-3910	59	8	as	as	ADP
fumecheng-3910	59	9	а	а	PROPN
fumecheng-3910	59	10	functional	functional	ADJ
fumecheng-3910	59	11	block	block	NOUN
fumecheng-3910	59	12	which	which	PRON
fumecheng-3910	59	13	has	have	VERB
fumecheng-3910	59	14	input	input	NOUN
fumecheng-3910	59	15	and	and	CCONJ
fumecheng-3910	59	16	output	output	NOUN
fumecheng-3910	59	17	variables	variable	NOUN
fumecheng-3910	59	18	,	,	PUNCT
fumecheng-3910	59	19	related	relate	VERB
fumecheng-3910	59	20	by	by	ADP
fumecheng-3910	59	21	known	know	VERB
fumecheng-3910	59	22	kinematical	kinematical	ADJ
fumecheng-3910	59	23	relationships	relationship	NOUN
fumecheng-3910	59	24	.	.	PUNCT
fumecheng-3910	60	1	this	this	DET
fumecheng-3910	60	2	type	type	NOUN
fumecheng-3910	60	3	of	of	ADP
fumecheng-3910	60	4	dyad	dyad	NOUN
fumecheng-3910	60	5	representation	representation	NOUN
fumecheng-3910	60	6	allows	allow	VERB
fumecheng-3910	60	7	creating	create	VERB
fumecheng-3910	60	8	subprograms	subprogram	NOUN
fumecheng-3910	60	9	or	or	CCONJ
fumecheng-3910	60	10	modules	module	NOUN
fumecheng-3910	60	11	for	for	ADP
fumecheng-3910	60	12	each	each	DET
fumecheng-3910	60	13	dyad	dyad	NOUN
fumecheng-3910	60	14	type	type	NOUN
fumecheng-3910	60	15	and	and	CCONJ
fumecheng-3910	60	16	utilizing	utilize	VERB
fumecheng-3910	60	17	them	they	PRON
fumecheng-3910	60	18	as	as	ADP
fumecheng-3910	60	19	building	build	VERB
fumecheng-3910	60	20	blocks	block	NOUN
fumecheng-3910	60	21	when	when	SCONJ
fumecheng-3910	60	22	creating	create	VERB
fumecheng-3910	60	23	linkages	linkage	NOUN
fumecheng-3910	60	24	.	.	PUNCT
fumecheng-3910	61	1	142	142	NUM
fumecheng-3910	61	2	r.	r.	PROPN
fumecheng-3910	61	3	mitrev	mitrev	PROPN
fumecheng-3910	61	4	,	,	PUNCT
fumecheng-3910	61	5	b.	b.	PROPN
fumecheng-3910	61	6	tudjarov	tudjarov	PROPN
fumecheng-3910	61	7	,	,	PUNCT
fumecheng-3910	61	8	t.todorov	t.todorov	PRON
fumecheng-3910	61	9	2.1	2.1	NUM
fumecheng-3910	61	10	.	.	PUNCT
fumecheng-3910	62	1	formulation	formulation	NOUN
fumecheng-3910	62	2	of	of	ADP
fumecheng-3910	62	3	the	the	DET
fumecheng-3910	62	4	position	position	NOUN
fumecheng-3910	62	5	equations	equation	NOUN
fumecheng-3910	62	6	formulation	formulation	NOUN
fumecheng-3910	62	7	of	of	ADP
fumecheng-3910	62	8	the	the	DET
fumecheng-3910	62	9	position	position	NOUN
fumecheng-3910	62	10	equations	equation	NOUN
fumecheng-3910	62	11	constitutes	constitute	VERB
fumecheng-3910	62	12	the	the	DET
fumecheng-3910	62	13	most	most	ADV
fumecheng-3910	62	14	difficult	difficult	ADJ
fumecheng-3910	62	15	part	part	NOUN
fumecheng-3910	62	16	of	of	ADP
fumecheng-3910	62	17	the	the	DET
fumecheng-3910	62	18	kinematical	kinematical	ADJ
fumecheng-3910	62	19	analysis	analysis	NOUN
fumecheng-3910	62	20	.	.	PUNCT
fumecheng-3910	63	1	over	over	ADP
fumecheng-3910	63	2	the	the	DET
fumecheng-3910	63	3	years	year	NOUN
fumecheng-3910	63	4	,	,	PUNCT
fumecheng-3910	63	5	various	various	ADJ
fumecheng-3910	63	6	approaches	approach	NOUN
fumecheng-3910	63	7	for	for	ADP
fumecheng-3910	63	8	formulation	formulation	NOUN
fumecheng-3910	63	9	and	and	CCONJ
fumecheng-3910	63	10	analytical	analytical	ADJ
fumecheng-3910	63	11	or	or	CCONJ
fumecheng-3910	63	12	numerical	numerical	ADJ
fumecheng-3910	63	13	solution	solution	NOUN
fumecheng-3910	63	14	of	of	ADP
fumecheng-3910	63	15	the	the	DET
fumecheng-3910	63	16	position	position	NOUN
fumecheng-3910	63	17	equations	equation	NOUN
fumecheng-3910	63	18	are	be	AUX
fumecheng-3910	63	19	used	use	VERB
fumecheng-3910	63	20	[	[	PUNCT
fumecheng-3910	63	21	18	18	NUM
fumecheng-3910	63	22	-	-	SYM
fumecheng-3910	63	23	22	22	NUM
fumecheng-3910	63	24	]	]	PUNCT
fumecheng-3910	63	25	.	.	PUNCT
fumecheng-3910	64	1	a	a	DET
fumecheng-3910	64	2	method	method	NOUN
fumecheng-3910	64	3	to	to	PART
fumecheng-3910	64	4	establish	establish	VERB
fumecheng-3910	64	5	the	the	DET
fumecheng-3910	64	6	geometrical	geometrical	ADJ
fumecheng-3910	64	7	relationships	relationship	NOUN
fumecheng-3910	64	8	between	between	ADP
fumecheng-3910	64	9	coordinates	coordinate	NOUN
fumecheng-3910	64	10	of	of	ADP
fumecheng-3910	64	11	the	the	DET
fumecheng-3910	64	12	group	group	NOUN
fumecheng-3910	64	13	external	external	ADJ
fumecheng-3910	64	14	pairs	pair	NOUN
fumecheng-3910	64	15	o1	o1	NOUN
fumecheng-3910	64	16	and	and	CCONJ
fumecheng-3910	64	17	o3	o3	PROPN
fumecheng-3910	64	18	is	be	AUX
fumecheng-3910	64	19	by	by	ADP
fumecheng-3910	64	20	using	use	VERB
fumecheng-3910	64	21	homogeneous	homogeneous	ADJ
fumecheng-3910	64	22	transformation	transformation	NOUN
fumecheng-3910	64	23	matrices	matrix	NOUN
fumecheng-3910	64	24	.	.	PUNCT
fumecheng-3910	65	1	they	they	PRON
fumecheng-3910	65	2	represent	represent	VERB
fumecheng-3910	65	3	a	a	DET
fumecheng-3910	65	4	mapping	mapping	NOUN
fumecheng-3910	65	5	from	from	ADP
fumecheng-3910	65	6	one	one	NUM
fumecheng-3910	65	7	frame	frame	NOUN
fumecheng-3910	65	8	to	to	ADP
fumecheng-3910	65	9	another	another	PRON
fumecheng-3910	65	10	:	:	PUNCT
fumecheng-3910	65	11	2	2	NUM
fumecheng-3910	65	12	2	2	NUM
fumecheng-3910	65	13	2	2	NUM
fumecheng-3910	65	14	1	1	NUM
fumecheng-3910	65	15	3	3	NUM
fumecheng-3910	65	16	3	3	NUM
fumecheng-3910	65	17	1	1	NUM
fumecheng-3910	65	18	2	2	NUM
fumecheng-3910	65	19	(	(	PUNCT
fumecheng-3910	65	20	)	)	PUNCT
fumecheng-3910	65	21	(	(	PUNCT
fumecheng-3910	65	22	,	,	PUNCT
fumecheng-3910	65	23	)	)	PUNCT
fumecheng-3910	65	24	(	(	PUNCT
fumecheng-3910	65	25	,	,	PUNCT
fumecheng-3910	65	26	,	,	PUNCT
fumecheng-3910	65	27	)	)	PUNCT
fumecheng-3910	66	1	1	1	NUM
fumecheng-3910	66	2	b	b	X
fumecheng-3910	66	3	b	b	PROPN
fumecheng-3910	66	4	b	b	PROPN
fumecheng-3910	66	5	a	a	PRON
fumecheng-3910	66	6	a	a	DET
fumecheng-3910	66	7	a	a	NOUN
fumecheng-3910	66	8	x	x	SYM
fumecheng-3910	66	9	y	y	NOUN
fumecheng-3910	66	10	x	x	SYM
fumecheng-3910	66	11	y	y	PROPN
fumecheng-3910	66	12			PROPN
fumecheng-3910	66	13			PROPN
fumecheng-3910	66	14			PROPN
fumecheng-3910	66	15			PROPN
fumecheng-3910	66	16			PROPN
fumecheng-3910	66	17			PROPN
fumecheng-3910	66	18			PROPN
fumecheng-3910	66	19			NOUN
fumecheng-3910	66	20			PROPN
fumecheng-3910	66	21			NOUN
fumecheng-3910	66	22			NOUN
fumecheng-3910	66	23			VERB
fumecheng-3910	66	24			PROPN
fumecheng-3910	66	25	r	r	NOUN
fumecheng-3910	66	26	p	p	NOUN
fumecheng-3910	66	27	т	т	PROPN
fumecheng-3910	66	28	0	0	NUM
fumecheng-3910	66	29	(	(	PUNCT
fumecheng-3910	66	30	1	1	NUM
fumecheng-3910	66	31	)	)	PUNCT
fumecheng-3910	66	32	where	where	SCONJ
fumecheng-3910	66	33	by	by	ADP
fumecheng-3910	66	34	(	(	PUNCT
fumecheng-3910	66	35	)	)	PUNCT
fumecheng-3910	66	36	b	b	NOUN
fumecheng-3910	66	37	a	a	PRON
fumecheng-3910	66	38	r	r	X
fumecheng-3910	66	39	is	be	AUX
fumecheng-3910	66	40	denoted	denote	VERB
fumecheng-3910	66	41	the	the	DET
fumecheng-3910	66	42	rotation	rotation	NOUN
fumecheng-3910	66	43	matrix	matrix	NOUN
fumecheng-3910	66	44	between	between	ADP
fumecheng-3910	66	45	two	two	NUM
fumecheng-3910	66	46	arbitrary	arbitrary	ADJ
fumecheng-3910	66	47	coordinate	coordinate	NOUN
fumecheng-3910	66	48	systems	system	NOUN
fumecheng-3910	66	49	a	a	PRON
fumecheng-3910	66	50	and	and	CCONJ
fumecheng-3910	66	51	b	b	NOUN
fumecheng-3910	66	52	:	:	PUNCT
fumecheng-3910	66	53			NOUN
fumecheng-3910	66	54			PUNCT
fumecheng-3910	66	55	cos	cos	PROPN
fumecheng-3910	66	56	sin	sin	PROPN
fumecheng-3910	66	57	sin	sin	PROPN
fumecheng-3910	66	58	cos	cos	PROPN
fumecheng-3910	66	59	b	b	PROPN
fumecheng-3910	66	60	a	a	DET
fumecheng-3910	66	61			ADJ
fumecheng-3910	66	62			ADJ
fumecheng-3910	66	63			ADJ
fumecheng-3910	66	64			ADJ
fumecheng-3910	66	65			ADJ
fumecheng-3910	66	66			NOUN
fumecheng-3910	66	67			NOUN
fumecheng-3910	66	68			PROPN
fumecheng-3910	66	69			NOUN
fumecheng-3910	66	70			NOUN
fumecheng-3910	66	71			VERB
fumecheng-3910	66	72			PROPN
fumecheng-3910	66	73	r	r	NOUN
fumecheng-3910	66	74	(	(	PUNCT
fumecheng-3910	66	75	2	2	NUM
fumecheng-3910	66	76	)	)	PUNCT
fumecheng-3910	66	77	φ	φ	NOUN
fumecheng-3910	66	78	–	–	PUNCT
fumecheng-3910	66	79	the	the	DET
fumecheng-3910	66	80	angle	angle	NOUN
fumecheng-3910	66	81	of	of	ADP
fumecheng-3910	66	82	rotation	rotation	NOUN
fumecheng-3910	66	83	between	between	ADP
fumecheng-3910	66	84	x	x	NOUN
fumecheng-3910	66	85	-	-	NOUN
fumecheng-3910	66	86	axes	axis	NOUN
fumecheng-3910	66	87	of	of	ADP
fumecheng-3910	66	88	a	a	DET
fumecheng-3910	66	89	and	and	CCONJ
fumecheng-3910	66	90	b	b	NOUN
fumecheng-3910	66	91	coordinate	coordinate	NOUN
fumecheng-3910	66	92	systems	system	NOUN
fumecheng-3910	66	93	.	.	PUNCT
fumecheng-3910	67	1	by	by	ADP
fumecheng-3910	67	2	(	(	PUNCT
fumecheng-3910	67	3	,	,	PUNCT
fumecheng-3910	67	4	)	)	PUNCT
fumecheng-3910	67	5	b	b	NOUN
fumecheng-3910	67	6	a	a	PRON
fumecheng-3910	67	7	x	x	X
fumecheng-3910	67	8	yp	yp	PROPN
fumecheng-3910	67	9	is	be	AUX
fumecheng-3910	67	10	denoted	denote	VERB
fumecheng-3910	67	11	the	the	DET
fumecheng-3910	67	12	vector	vector	NOUN
fumecheng-3910	67	13	that	that	PRON
fumecheng-3910	67	14	represents	represent	VERB
fumecheng-3910	67	15	coordinates	coordinate	NOUN
fumecheng-3910	67	16	of	of	ADP
fumecheng-3910	67	17	the	the	DET
fumecheng-3910	67	18	origin	origin	NOUN
fumecheng-3910	67	19	of	of	ADP
fumecheng-3910	67	20	frame	frame	PROPN
fumecheng-3910	67	21	b	b	NOUN
fumecheng-3910	67	22	according	accord	VERB
fumecheng-3910	67	23	to	to	ADP
fumecheng-3910	67	24	the	the	DET
fumecheng-3910	67	25	origin	origin	NOUN
fumecheng-3910	67	26	of	of	ADP
fumecheng-3910	67	27	frame	frame	NOUN
fumecheng-3910	68	1	a.	a.	NOUN
fumecheng-3910	68	2	x0	x0	PROPN
fumecheng-3910	68	3	y0	y0	PROPN
fumecheng-3910	68	4	o0	o0	NOUN
fumecheng-3910	68	5	φ1	φ1	NOUN
fumecheng-3910	68	6	l1	l1	PROPN
fumecheng-3910	68	7	l2	l2	PROPN
fumecheng-3910	68	8	x1	x1	PROPN
fumecheng-3910	68	9	y1	y1	PROPN
fumecheng-3910	68	10	o1	o1	PROPN
fumecheng-3910	68	11	φ12	φ12	PROPN
fumecheng-3910	68	12	φ2	φ2	PROPN
fumecheng-3910	68	13	x2y2	x2y2	PROPN
fumecheng-3910	68	14	o2	o2	PROPN
fumecheng-3910	68	15	o3	o3	PROPN
fumecheng-3910	68	16	x1	x1	PROPN
fumecheng-3910	68	17	y1	y1	INTJ
fumecheng-3910	69	1	x2	x2	NOUN
fumecheng-3910	69	2	y2	y2	NOUN
fumecheng-3910	69	3	x3	x3	PROPN
fumecheng-3910	69	4	y3	y3	PROPN
fumecheng-3910	69	5	φ2	φ2	PROPN
fumecheng-3910	69	6	xe	xe	PROPN
fumecheng-3910	69	7	ye	ye	PROPN
fumecheng-3910	69	8	pk	pk	PROPN
fumecheng-3910	69	9	fig.1	fig.1	PROPN
fumecheng-3910	69	10	schematics	schematic	NOUN
fumecheng-3910	69	11	of	of	ADP
fumecheng-3910	69	12	rrr	rrr	NOUN
fumecheng-3910	69	13	dyad	dyad	VERB
fumecheng-3910	69	14	the	the	DET
fumecheng-3910	69	15	transformation	transformation	NOUN
fumecheng-3910	69	16	matrix	matrix	NOUN
fumecheng-3910	69	17	between	between	ADP
fumecheng-3910	69	18	{	{	PUNCT
fumecheng-3910	69	19	x0y0	x0y0	NOUN
fumecheng-3910	69	20	}	}	PUNCT
fumecheng-3910	69	21	and	and	CCONJ
fumecheng-3910	69	22	{	{	PUNCT
fumecheng-3910	69	23	xeye	xeye	NOUN
fumecheng-3910	69	24	}	}	PUNCT
fumecheng-3910	69	25	coordinate	coordinate	NOUN
fumecheng-3910	69	26	frames	frame	NOUN
fumecheng-3910	69	27	is	be	AUX
fumecheng-3910	69	28	obtained	obtain	VERB
fumecheng-3910	69	29	by	by	ADP
fumecheng-3910	69	30	a	a	DET
fumecheng-3910	69	31	sequential	sequential	ADJ
fumecheng-3910	69	32	multiplication	multiplication	NOUN
fumecheng-3910	69	33	of	of	ADP
fumecheng-3910	69	34	a	a	DET
fumecheng-3910	69	35	number	number	NOUN
fumecheng-3910	69	36	of	of	ADP
fumecheng-3910	69	37	transformation	transformation	NOUN
fumecheng-3910	69	38	matrices	matrix	NOUN
fumecheng-3910	69	39	between	between	ADP
fumecheng-3910	69	40	the	the	DET
fumecheng-3910	69	41	adjacent	adjacent	ADJ
fumecheng-3910	69	42	frames	frame	NOUN
fumecheng-3910	69	43	:	:	PUNCT
fumecheng-3910	69	44	1	1	NUM
fumecheng-3910	69	45	2	2	NUM
fumecheng-3910	69	46	0	0	NUM
fumecheng-3910	69	47	0	0	NUM
fumecheng-3910	69	48	1	1	NUM
fumecheng-3910	69	49	1	1	NUM
fumecheng-3910	69	50	1	1	NUM
fumecheng-3910	69	51	1	1	NUM
fumecheng-3910	69	52	12	12	NUM
fumecheng-3910	69	53	1	1	NUM
fumecheng-3910	69	54	2	2	NUM
fumecheng-3910	69	55	2	2	NUM
fumecheng-3910	69	56	2	2	NUM
fumecheng-3910	69	57	(	(	PUNCT
fumecheng-3910	69	58	,	,	PUNCT
fumecheng-3910	69	59	,	,	PUNCT
fumecheng-3910	69	60	)	)	PUNCT
fumecheng-3910	69	61	(	(	PUNCT
fumecheng-3910	69	62	,	,	PUNCT
fumecheng-3910	69	63	,	,	PUNCT
fumecheng-3910	69	64	0	0	NUM
fumecheng-3910	69	65	)	)	PUNCT
fumecheng-3910	69	66	(	(	PUNCT
fumecheng-3910	69	67	,	,	PUNCT
fumecheng-3910	69	68	,	,	PUNCT
fumecheng-3910	69	69	0)e	0)e	NOUN
fumecheng-3910	69	70	ex	ex	X
fumecheng-3910	69	71	y	y	PROPN
fumecheng-3910	69	72	l	l	NOUN
fumecheng-3910	69	73	l	l	PUNCT
fumecheng-3910	70	1			PROPN
fumecheng-3910	70	2			PROPN
fumecheng-3910	70	3	t	t	PROPN
fumecheng-3910	70	4	t	t	PROPN
fumecheng-3910	70	5	t	t	PROPN
fumecheng-3910	70	6	t	t	PROPN
fumecheng-3910	70	7	(	(	PUNCT
fumecheng-3910	70	8	3	3	NUM
fumecheng-3910	70	9	)	)	PUNCT
fumecheng-3910	70	10	cloud	cloud	NOUN
fumecheng-3910	70	11	-	-	PUNCT
fumecheng-3910	70	12	based	base	VERB
fumecheng-3910	70	13	expert	expert	NOUN
fumecheng-3910	70	14	system	system	NOUN
fumecheng-3910	70	15	for	for	ADP
fumecheng-3910	70	16	synthesis	synthesis	NOUN
fumecheng-3910	70	17	and	and	CCONJ
fumecheng-3910	70	18	evolutionary	evolutionary	ADJ
fumecheng-3910	70	19	optimization	optimization	NOUN
fumecheng-3910	70	20	of	of	ADP
fumecheng-3910	70	21	planar	planar	ADJ
fumecheng-3910	70	22	linkages	linkage	NOUN
fumecheng-3910	70	23	143	143	NUM
fumecheng-3910	70	24	after	after	ADP
fumecheng-3910	70	25	the	the	DET
fumecheng-3910	70	26	expansion	expansion	NOUN
fumecheng-3910	70	27	and	and	CCONJ
fumecheng-3910	70	28	simplification	simplification	NOUN
fumecheng-3910	70	29	of	of	ADP
fumecheng-3910	70	30	eq	eq	PROPN
fumecheng-3910	70	31	.	.	PUNCT
fumecheng-3910	71	1	(	(	PUNCT
fumecheng-3910	71	2	3	3	X
fumecheng-3910	71	3	)	)	PUNCT
fumecheng-3910	71	4	we	we	PRON
fumecheng-3910	71	5	get	get	VERB
fumecheng-3910	71	6	:	:	PUNCT
fumecheng-3910	71	7	3	3	NUM
fumecheng-3910	71	8	1	1	NUM
fumecheng-3910	71	9	1	1	NUM
fumecheng-3910	71	10	1	1	NUM
fumecheng-3910	71	11	2	2	NUM
fumecheng-3910	71	12	2	2	NUM
fumecheng-3910	71	13	3	3	NUM
fumecheng-3910	71	14	1	1	NUM
fumecheng-3910	71	15	1	1	NUM
fumecheng-3910	71	16	1	1	NUM
fumecheng-3910	71	17	2	2	NUM
fumecheng-3910	71	18	2	2	NUM
fumecheng-3910	71	19	1	1	NUM
fumecheng-3910	71	20	0	0	NUM
fumecheng-3910	71	21	1	1	NUM
fumecheng-3910	71	22	0	0	NUM
fumecheng-3910	71	23	cos	cos	PROPN
fumecheng-3910	71	24	cos	cos	PROPN
fumecheng-3910	71	25	0	0	NUM
fumecheng-3910	71	26	1	1	NUM
fumecheng-3910	71	27	0	0	NUM
fumecheng-3910	71	28	1	1	NUM
fumecheng-3910	71	29	sin	sin	NOUN
fumecheng-3910	71	30	sin	sin	NOUN
fumecheng-3910	71	31	0	0	NUM
fumecheng-3910	71	32	0	0	NUM
fumecheng-3910	71	33	1	1	NUM
fumecheng-3910	71	34	0	0	NUM
fumecheng-3910	71	35	0	0	NUM
fumecheng-3910	71	36	1	1	NUM
fumecheng-3910	71	37	x	x	SYM
fumecheng-3910	71	38	x	x	PUNCT
fumecheng-3910	71	39	l	l	NOUN
fumecheng-3910	71	40	l	l	X
fumecheng-3910	72	1	y	y	NOUN
fumecheng-3910	72	2	y	y	PROPN
fumecheng-3910	72	3	l	l	NOUN
fumecheng-3910	72	4	l	l	X
fumecheng-3910	72	5			ADJ
fumecheng-3910	72	6			ADJ
fumecheng-3910	72	7			ADJ
fumecheng-3910	72	8			PROPN
fumecheng-3910	72	9			PUNCT
fumecheng-3910	72	10			ADJ
fumecheng-3910	72	11			NOUN
fumecheng-3910	72	12			PROPN
fumecheng-3910	72	13			ADJ
fumecheng-3910	72	14			NOUN
fumecheng-3910	72	15			PROPN
fumecheng-3910	72	16			NOUN
fumecheng-3910	72	17			PROPN
fumecheng-3910	72	18			NUM
fumecheng-3910	72	19			ADV
fumecheng-3910	72	20			PUNCT
fumecheng-3910	72	21			PUNCT
fumecheng-3910	72	22			PROPN
fumecheng-3910	72	23			NOUN
fumecheng-3910	72	24			NOUN
fumecheng-3910	72	25			NOUN
fumecheng-3910	72	26			NOUN
fumecheng-3910	72	27			NOUN
fumecheng-3910	72	28			PROPN
fumecheng-3910	72	29			PROPN
fumecheng-3910	72	30			NOUN
fumecheng-3910	72	31			PROPN
fumecheng-3910	72	32	(	(	PUNCT
fumecheng-3910	72	33	4	4	X
fumecheng-3910	72	34	)	)	PUNCT
fumecheng-3910	72	35	equating	equate	VERB
fumecheng-3910	72	36	the	the	DET
fumecheng-3910	72	37	elements	element	NOUN
fumecheng-3910	72	38	(	(	PUNCT
fumecheng-3910	72	39	1,3	1,3	NUM
fumecheng-3910	72	40	)	)	PUNCT
fumecheng-3910	72	41	and	and	CCONJ
fumecheng-3910	72	42	(	(	PUNCT
fumecheng-3910	72	43	2,3	2,3	NUM
fumecheng-3910	72	44	)	)	PUNCT
fumecheng-3910	72	45	of	of	ADP
fumecheng-3910	72	46	the	the	DET
fumecheng-3910	72	47	left	left	ADJ
fumecheng-3910	72	48	matrix	matrix	NOUN
fumecheng-3910	72	49	to	to	ADP
fumecheng-3910	72	50	the	the	DET
fumecheng-3910	72	51	corresponding	correspond	VERB
fumecheng-3910	72	52	elements	element	NOUN
fumecheng-3910	72	53	of	of	ADP
fumecheng-3910	72	54	the	the	DET
fumecheng-3910	72	55	right	right	ADJ
fumecheng-3910	72	56	matrix	matrix	NOUN
fumecheng-3910	72	57	leads	lead	VERB
fumecheng-3910	72	58	to	to	ADP
fumecheng-3910	72	59	the	the	DET
fumecheng-3910	72	60	following	follow	VERB
fumecheng-3910	72	61	position	position	NOUN
fumecheng-3910	72	62	equations	equation	NOUN
fumecheng-3910	72	63	:	:	PUNCT
fumecheng-3910	72	64	1	1	NUM
fumecheng-3910	72	65	1	1	NUM
fumecheng-3910	72	66	2	2	NUM
fumecheng-3910	72	67	2	2	NUM
fumecheng-3910	72	68	1	1	NUM
fumecheng-3910	72	69	3	3	NUM
fumecheng-3910	72	70	1	1	NUM
fumecheng-3910	72	71	1	1	NUM
fumecheng-3910	72	72	2	2	NUM
fumecheng-3910	72	73	2	2	NUM
fumecheng-3910	72	74	cos	cos	PROPN
fumecheng-3910	72	75	cos	cos	PROPN
fumecheng-3910	72	76	sin	sin	PROPN
fumecheng-3910	72	77	sin	sin	NOUN
fumecheng-3910	72	78	l	l	NOUN
fumecheng-3910	72	79	l	l	NOUN
fumecheng-3910	72	80	l	l	NOUN
fumecheng-3910	72	81	l	l	NOUN
fumecheng-3910	72	82			ADJ
fumecheng-3910	72	83			ADJ
fumecheng-3910	72	84			ADJ
fumecheng-3910	72	85			ADJ
fumecheng-3910	72	86			NOUN
fumecheng-3910	72	87			NOUN
fumecheng-3910	72	88			NOUN
fumecheng-3910	72	89			NOUN
fumecheng-3910	72	90			NOUN
fumecheng-3910	72	91			NOUN
fumecheng-3910	72	92			ADJ
fumecheng-3910	72	93			NOUN
fumecheng-3910	72	94			NOUN
fumecheng-3910	72	95			PROPN
fumecheng-3910	72	96	r	r	NOUN
fumecheng-3910	72	97	r	r	NOUN
fumecheng-3910	72	98	(	(	PUNCT
fumecheng-3910	72	99	5	5	NUM
fumecheng-3910	72	100	)	)	PUNCT
fumecheng-3910	72	101	where	where	SCONJ
fumecheng-3910	72	102	by	by	ADP
fumecheng-3910	72	103	1r	1r	NUM
fumecheng-3910	72	104	and	and	CCONJ
fumecheng-3910	72	105	3r	3r	NUM
fumecheng-3910	72	106	are	be	AUX
fumecheng-3910	72	107	denoted	denote	VERB
fumecheng-3910	72	108	the	the	DET
fumecheng-3910	72	109	position	position	NOUN
fumecheng-3910	72	110	vectors	vector	NOUN
fumecheng-3910	72	111	in	in	ADP
fumecheng-3910	72	112	the	the	DET
fumecheng-3910	72	113	global	global	ADJ
fumecheng-3910	72	114	frame	frame	NOUN
fumecheng-3910	72	115	of	of	ADP
fumecheng-3910	72	116	points	point	NOUN
fumecheng-3910	72	117	o1	o1	NOUN
fumecheng-3910	72	118	and	and	CCONJ
fumecheng-3910	72	119	o3	o3	PROPN
fumecheng-3910	72	120	,	,	PUNCT
fumecheng-3910	72	121	1	1	NUM
fumecheng-3910	72	122	1	1	NUM
fumecheng-3910	72	123	1	1	NUM
fumecheng-3910	72	124	[	[	PUNCT
fumecheng-3910	72	125	]	]	X
fumecheng-3910	72	126	tx	tx	NOUN
fumecheng-3910	72	127	yr	yr	NOUN
fumecheng-3910	72	128	,	,	PUNCT
fumecheng-3910	72	129	3	3	NUM
fumecheng-3910	72	130	3	3	NUM
fumecheng-3910	72	131	3	3	NUM
fumecheng-3910	72	132	[	[	PUNCT
fumecheng-3910	72	133	]	]	X
fumecheng-3910	72	134	tx	tx	NOUN
fumecheng-3910	72	135	yr	yr	NOUN
fumecheng-3910	72	136	.	.	PUNCT
fumecheng-3910	73	1	in	in	ADP
fumecheng-3910	73	2	eq	eq	ADP
fumecheng-3910	73	3	.	.	PUNCT
fumecheng-3910	74	1	(	(	PUNCT
fumecheng-3910	74	2	3	3	X
fumecheng-3910	74	3	)	)	PUNCT
fumecheng-3910	74	4	we	we	PRON
fumecheng-3910	74	5	also	also	ADV
fumecheng-3910	74	6	had	have	VERB
fumecheng-3910	74	7	in	in	ADP
fumecheng-3910	74	8	mind	mind	NOUN
fumecheng-3910	74	9	that	that	SCONJ
fumecheng-3910	74	10	12	12	NUM
fumecheng-3910	74	11	2	2	NUM
fumecheng-3910	74	12	1	1	NUM
fumecheng-3910	74	13			PROPN
fumecheng-3910	74	14			PROPN
fumecheng-3910	74	15			PROPN
fumecheng-3910	74	16	(	(	PUNCT
fumecheng-3910	74	17	6	6	NUM
fumecheng-3910	74	18	)	)	PUNCT
fumecheng-3910	74	19	eqs	eqs	X
fumecheng-3910	74	20	.	.	PUNCT
fumecheng-3910	75	1	(	(	PUNCT
fumecheng-3910	75	2	5	5	X
fumecheng-3910	75	3	)	)	PUNCT
fumecheng-3910	75	4	constitutes	constitute	VERB
fumecheng-3910	75	5	a	a	DET
fumecheng-3910	75	6	nonlinear	nonlinear	ADJ
fumecheng-3910	75	7	system	system	NOUN
fumecheng-3910	75	8	of	of	ADP
fumecheng-3910	75	9	transcendental	transcendental	ADJ
fumecheng-3910	75	10	equations	equation	NOUN
fumecheng-3910	75	11	with	with	ADP
fumecheng-3910	75	12	unknown	unknown	ADJ
fumecheng-3910	75	13	variables	variable	NOUN
fumecheng-3910	75	14	φ1	φ1	PROPN
fumecheng-3910	75	15	and	and	CCONJ
fumecheng-3910	75	16	φ2	φ2	PROPN
fumecheng-3910	75	17	.	.	PUNCT
fumecheng-3910	76	1	after	after	ADP
fumecheng-3910	76	2	elaborate	elaborate	ADJ
fumecheng-3910	76	3	algebraic	algebraic	ADJ
fumecheng-3910	76	4	manipulations	manipulation	NOUN
fumecheng-3910	76	5	are	be	AUX
fumecheng-3910	76	6	obtained	obtain	VERB
fumecheng-3910	76	7	equations	equation	NOUN
fumecheng-3910	76	8	for	for	ADP
fumecheng-3910	76	9	the	the	DET
fumecheng-3910	76	10	unknown	unknown	ADJ
fumecheng-3910	76	11	angles	angle	NOUN
fumecheng-3910	76	12	in	in	ADP
fumecheng-3910	76	13	an	an	DET
fumecheng-3910	76	14	explicit	explicit	ADJ
fumecheng-3910	76	15	form	form	NOUN
fumecheng-3910	76	16	:	:	PUNCT
fumecheng-3910	76	17			NOUN
fumecheng-3910	76	18			SYM
fumecheng-3910	76	19			NOUN
fumecheng-3910	76	20			NUM
fumecheng-3910	76	21	1	1	NUM
fumecheng-3910	76	22	2	2	NUM
fumecheng-3910	76	23	acos	acos	NOUN
fumecheng-3910	76	24	atan2	atan2	NOUN
fumecheng-3910	76	25	,	,	PUNCT
fumecheng-3910	76	26	p	p	X
fumecheng-3910	76	27	c	c	NOUN
fumecheng-3910	76	28	d	d	X
fumecheng-3910	76	29	e	e	X
fumecheng-3910	76	30	f	f	PROPN
fumecheng-3910	76	31			PROPN
fumecheng-3910	76	32			NUM
fumecheng-3910	76	33			PROPN
fumecheng-3910	76	34			PROPN
fumecheng-3910	76	35			ADJ
fumecheng-3910	76	36			PROPN
fumecheng-3910	76	37			PROPN
fumecheng-3910	76	38	(	(	PUNCT
fumecheng-3910	76	39	7	7	NUM
fumecheng-3910	76	40	)	)	PUNCT
fumecheng-3910	76	41	where	where	SCONJ
fumecheng-3910	76	42	the	the	DET
fumecheng-3910	76	43	following	follow	VERB
fumecheng-3910	76	44	notations	notation	NOUN
fumecheng-3910	76	45	are	be	AUX
fumecheng-3910	76	46	used	use	VERB
fumecheng-3910	76	47	:	:	PUNCT
fumecheng-3910	76	48	1	1	NUM
fumecheng-3910	76	49	1	1	NUM
fumecheng-3910	76	50	32	32	NUM
fumecheng-3910	76	51	(	(	PUNCT
fumecheng-3910	76	52	)	)	PUNCT
fumecheng-3910	76	53	a	a	DET
fumecheng-3910	76	54	l	l	NOUN
fumecheng-3910	76	55	x	x	X
fumecheng-3910	76	56	x	x	PROPN
fumecheng-3910	76	57			NOUN
fumecheng-3910	76	58	,	,	PUNCT
fumecheng-3910	76	59	1	1	NUM
fumecheng-3910	76	60	1	1	NUM
fumecheng-3910	76	61	32	32	NUM
fumecheng-3910	76	62	(	(	PUNCT
fumecheng-3910	76	63	)	)	PUNCT
fumecheng-3910	76	64	b	b	X
fumecheng-3910	76	65	l	l	NOUN
fumecheng-3910	76	66	y	y	PROPN
fumecheng-3910	76	67	y	y	PROPN
fumecheng-3910	76	68			PROPN
fumecheng-3910	76	69	,	,	PUNCT
fumecheng-3910	76	70	2	2	NUM
fumecheng-3910	76	71	2	2	NUM
fumecheng-3910	76	72	1	1	NUM
fumecheng-3910	76	73	2c	2c	NUM
fumecheng-3910	76	74	l	l	NOUN
fumecheng-3910	76	75	l	l	NOUN
fumecheng-3910	76	76			VERB
fumecheng-3910	76	77			ADJ
fumecheng-3910	76	78	2	2	NUM
fumecheng-3910	76	79	2	2	NUM
fumecheng-3910	76	80	1	1	NUM
fumecheng-3910	76	81	3	3	NUM
fumecheng-3910	76	82	1	1	NUM
fumecheng-3910	76	83	3	3	NUM
fumecheng-3910	76	84	(	(	PUNCT
fumecheng-3910	76	85	)	)	PUNCT
fumecheng-3910	76	86	(	(	PUNCT
fumecheng-3910	76	87	)	)	PUNCT
fumecheng-3910	76	88	x	x	SYM
fumecheng-3910	76	89	x	x	PUNCT
fumecheng-3910	76	90	y	y	PROPN
fumecheng-3910	76	91	y	y	PROPN
fumecheng-3910	76	92			PROPN
fumecheng-3910	76	93			VERB
fumecheng-3910	76	94			PROPN
fumecheng-3910	76	95	,	,	PUNCT
fumecheng-3910	76	96	2	2	NUM
fumecheng-3910	76	97	2d	2d	NUM
fumecheng-3910	76	98	a	a	DET
fumecheng-3910	76	99	b	b	NOUN
fumecheng-3910	76	100			PROPN
fumecheng-3910	76	101	,	,	PUNCT
fumecheng-3910	76	102	atan2	atan2	PROPN
fumecheng-3910	76	103	(	(	PUNCT
fumecheng-3910	76	104	,	,	PUNCT
fumecheng-3910	76	105	)	)	PUNCT
fumecheng-3910	76	106	b	b	X
fumecheng-3910	77	1	d	d	NOUN
fumecheng-3910	77	2	a	a	DET
fumecheng-3910	77	3	d	d	ADV
fumecheng-3910	77	4			NUM
fumecheng-3910	77	5	,	,	PUNCT
fumecheng-3910	77	6	1	1	NUM
fumecheng-3910	77	7	3	3	NUM
fumecheng-3910	77	8	1	1	NUM
fumecheng-3910	77	9	1	1	NUM
fumecheng-3910	77	10	2	2	NUM
fumecheng-3910	77	11	(	(	PUNCT
fumecheng-3910	77	12	(	(	PUNCT
fumecheng-3910	77	13	)	)	PUNCT
fumecheng-3910	77	14	sin	sin	NOUN
fumecheng-3910	77	15	)	)	PUNCT
fumecheng-3910	77	16	/e	/e	PUNCT
fumecheng-3910	78	1	y	y	PROPN
fumecheng-3910	78	2	y	y	PROPN
fumecheng-3910	78	3	l	l	PROPN
fumecheng-3910	78	4	l	l	PROPN
fumecheng-3910	78	5			PROPN
fumecheng-3910	78	6			PROPN
fumecheng-3910	78	7			NOUN
fumecheng-3910	78	8	,	,	PUNCT
fumecheng-3910	78	9	1	1	NUM
fumecheng-3910	78	10	3	3	NUM
fumecheng-3910	78	11	1	1	NUM
fumecheng-3910	78	12	1	1	NUM
fumecheng-3910	78	13	2	2	NUM
fumecheng-3910	78	14	(	(	PUNCT
fumecheng-3910	78	15	(	(	PUNCT
fumecheng-3910	78	16	)	)	PUNCT
fumecheng-3910	78	17	cos	cos	PROPN
fumecheng-3910	78	18	)	)	PUNCT
fumecheng-3910	78	19	/f	/f	PUNCT
fumecheng-3910	79	1	x	x	PUNCT
fumecheng-3910	79	2	x	x	PUNCT
fumecheng-3910	79	3	l	l	NOUN
fumecheng-3910	79	4	l	l	NOUN
fumecheng-3910	79	5			PROPN
fumecheng-3910	79	6			PROPN
fumecheng-3910	79	7			PROPN
fumecheng-3910	79	8	.	.	PUNCT
fumecheng-3910	80	1	parameter	parameter	PROPN
fumecheng-3910	80	2	p	p	PROPN
fumecheng-3910	80	3	specifies	specify	VERB
fumecheng-3910	80	4	the	the	DET
fumecheng-3910	80	5	assembly	assembly	NOUN
fumecheng-3910	80	6	mode	mode	NOUN
fumecheng-3910	80	7	of	of	ADP
fumecheng-3910	80	8	the	the	DET
fumecheng-3910	80	9	rrr	rrr	NOUN
fumecheng-3910	80	10	group	group	NOUN
fumecheng-3910	80	11	and	and	CCONJ
fumecheng-3910	80	12	accepts	accept	VERB
fumecheng-3910	80	13	values	value	NOUN
fumecheng-3910	80	14	+1	+1	ADJ
fumecheng-3910	80	15	and	and	CCONJ
fumecheng-3910	80	16	1	1	ADJ
fumecheng-3910	80	17	.	.	PUNCT
fumecheng-3910	81	1	in	in	ADP
fumecheng-3910	81	2	addition	addition	NOUN
fumecheng-3910	81	3	,	,	PUNCT
fumecheng-3910	81	4	the	the	DET
fumecheng-3910	81	5	coordinates	coordinate	NOUN
fumecheng-3910	81	6	of	of	ADP
fumecheng-3910	81	7	inner	inner	ADJ
fumecheng-3910	81	8	rotational	rotational	ADJ
fumecheng-3910	81	9	pair	pair	NOUN
fumecheng-3910	81	10	o2	o2	PROPN
fumecheng-3910	81	11	are	be	AUX
fumecheng-3910	81	12	computed	compute	VERB
fumecheng-3910	81	13	as	as	ADP
fumecheng-3910	81	14	:	:	SYM
fumecheng-3910	81	15	2	2	NUM
fumecheng-3910	81	16	1	1	NUM
fumecheng-3910	81	17	1	1	NUM
fumecheng-3910	81	18	1cosx	1cosx	NUM
fumecheng-3910	81	19	x	x	SYM
fumecheng-3910	81	20	l	l	NOUN
fumecheng-3910	81	21			NOUN
fumecheng-3910	81	22			X
fumecheng-3910	81	23	(	(	PUNCT
fumecheng-3910	81	24	8)	8)	NUM
fumecheng-3910	81	25	2	2	NUM
fumecheng-3910	81	26	1	1	NUM
fumecheng-3910	81	27	1	1	NUM
fumecheng-3910	81	28	1siny	1siny	NUM
fumecheng-3910	81	29	y	y	PROPN
fumecheng-3910	81	30	l	l	NOUN
fumecheng-3910	81	31			PROPN
fumecheng-3910	81	32			X
fumecheng-3910	81	33	(	(	PUNCT
fumecheng-3910	81	34	9	9	NUM
fumecheng-3910	81	35	)	)	SYM
fumecheng-3910	81	36	2.2	2.2	NUM
fumecheng-3910	81	37	formulation	formulation	NOUN
fumecheng-3910	81	38	of	of	ADP
fumecheng-3910	81	39	the	the	DET
fumecheng-3910	81	40	velocity	velocity	NOUN
fumecheng-3910	81	41	and	and	CCONJ
fumecheng-3910	81	42	acceleration	acceleration	NOUN
fumecheng-3910	81	43	equations	equation	NOUN
fumecheng-3910	81	44	once	once	SCONJ
fumecheng-3910	81	45	the	the	DET
fumecheng-3910	81	46	position	position	NOUN
fumecheng-3910	81	47	equations	equation	NOUN
fumecheng-3910	81	48	are	be	AUX
fumecheng-3910	81	49	established	establish	VERB
fumecheng-3910	81	50	,	,	PUNCT
fumecheng-3910	81	51	the	the	DET
fumecheng-3910	81	52	corresponding	correspond	VERB
fumecheng-3910	81	53	velocity	velocity	NOUN
fumecheng-3910	81	54	and	and	CCONJ
fumecheng-3910	81	55	acceleration	acceleration	NOUN
fumecheng-3910	81	56	equations	equation	NOUN
fumecheng-3910	81	57	are	be	AUX
fumecheng-3910	81	58	obtained	obtain	VERB
fumecheng-3910	81	59	by	by	ADP
fumecheng-3910	81	60	a	a	DET
fumecheng-3910	81	61	straightforward	straightforward	ADJ
fumecheng-3910	81	62	differentiation	differentiation	NOUN
fumecheng-3910	81	63	with	with	ADP
fumecheng-3910	81	64	respect	respect	NOUN
fumecheng-3910	81	65	to	to	ADP
fumecheng-3910	81	66	the	the	DET
fumecheng-3910	81	67	time	time	NOUN
fumecheng-3910	81	68	.	.	PUNCT
fumecheng-3910	82	1	the	the	DET
fumecheng-3910	82	2	linear	linear	ADJ
fumecheng-3910	82	3	velocities	velocity	NOUN
fumecheng-3910	82	4	of	of	ADP
fumecheng-3910	82	5	joints	joint	NOUN
fumecheng-3910	82	6	o1	o1	PROPN
fumecheng-3910	82	7	and	and	CCONJ
fumecheng-3910	82	8	o3	o3	PROPN
fumecheng-3910	82	9	and	and	CCONJ
fumecheng-3910	82	10	the	the	DET
fumecheng-3910	82	11	angular	angular	ADJ
fumecheng-3910	82	12	velocities	velocity	NOUN
fumecheng-3910	82	13	of	of	ADP
fumecheng-3910	82	14	links	link	NOUN
fumecheng-3910	82	15	1	1	NUM
fumecheng-3910	82	16	and	and	CCONJ
fumecheng-3910	82	17	2	2	NUM
fumecheng-3910	82	18	are	be	AUX
fumecheng-3910	82	19	related	relate	VERB
fumecheng-3910	82	20	by	by	ADP
fumecheng-3910	82	21	jacobian	jacobian	ADJ
fumecheng-3910	82	22	matrix	matrix	NOUN
fumecheng-3910	82	23	j	j	PROPN
fumecheng-3910	82	24	:	:	PUNCT
fumecheng-3910	82	25	v	v	NOUN
fumecheng-3910	82	26	=	=	SYM
fumecheng-3910	82	27	jω	jω	X
fumecheng-3910	82	28	(	(	PUNCT
fumecheng-3910	82	29	10	10	NUM
fumecheng-3910	82	30	)	)	PUNCT
fumecheng-3910	82	31	where	where	SCONJ
fumecheng-3910	82	32	1	1	NUM
fumecheng-3910	82	33	2	2	NUM
fumecheng-3910	82	34	[	[	PUNCT
fumecheng-3910	82	35	]	]	SYM
fumecheng-3910	82	36	t	t	NUM
fumecheng-3910	82	37	ω	ω	NOUN
fumecheng-3910	82	38	is	be	AUX
fumecheng-3910	82	39	the	the	DET
fumecheng-3910	82	40	vector	vector	NOUN
fumecheng-3910	82	41	of	of	ADP
fumecheng-3910	82	42	the	the	DET
fumecheng-3910	82	43	unknown	unknown	ADJ
fumecheng-3910	82	44	angular	angular	ADJ
fumecheng-3910	82	45	velocities	velocity	NOUN
fumecheng-3910	82	46	of	of	ADP
fumecheng-3910	82	47	the	the	DET
fumecheng-3910	82	48	links	link	NOUN
fumecheng-3910	82	49	and	and	CCONJ
fumecheng-3910	82	50	1	1	NUM
fumecheng-3910	82	51	3	3	NUM
fumecheng-3910	82	52	[	[	PUNCT
fumecheng-3910	82	53	]	]	X
fumecheng-3910	82	54			NUM
fumecheng-3910	82	55	v	v	NOUN
fumecheng-3910	82	56	r	r	NOUN
fumecheng-3910	82	57	r	r	NOUN
fumecheng-3910	82	58	is	be	AUX
fumecheng-3910	82	59	the	the	DET
fumecheng-3910	82	60	vector	vector	NOUN
fumecheng-3910	82	61	of	of	ADP
fumecheng-3910	82	62	the	the	DET
fumecheng-3910	82	63	difference	difference	NOUN
fumecheng-3910	82	64	of	of	ADP
fumecheng-3910	82	65	the	the	DET
fumecheng-3910	82	66	known	know	VERB
fumecheng-3910	82	67	linear	linear	NOUN
fumecheng-3910	82	68	velocities	velocity	NOUN
fumecheng-3910	82	69	of	of	ADP
fumecheng-3910	82	70	the	the	DET
fumecheng-3910	82	71	external	external	ADJ
fumecheng-3910	82	72	rotational	rotational	ADJ
fumecheng-3910	82	73	pairs	pair	NOUN
fumecheng-3910	82	74	.	.	PUNCT
fumecheng-3910	83	1	the	the	DET
fumecheng-3910	83	2	jacobian	jacobian	PROPN
fumecheng-3910	83	3	for	for	ADP
fumecheng-3910	83	4	the	the	DET
fumecheng-3910	83	5	considered	consider	VERB
fumecheng-3910	83	6	rrr	rrr	NOUN
fumecheng-3910	83	7	dyad	dyad	NOUN
fumecheng-3910	83	8	has	have	VERB
fumecheng-3910	83	9	the	the	DET
fumecheng-3910	83	10	following	follow	VERB
fumecheng-3910	83	11	form	form	NOUN
fumecheng-3910	83	12	:	:	PUNCT
fumecheng-3910	83	13	144	144	NUM
fumecheng-3910	83	14	r.	r.	PROPN
fumecheng-3910	83	15	mitrev	mitrev	PROPN
fumecheng-3910	83	16	,	,	PUNCT
fumecheng-3910	83	17	b.	b.	PROPN
fumecheng-3910	83	18	tudjarov	tudjarov	PROPN
fumecheng-3910	83	19	,	,	PUNCT
fumecheng-3910	83	20	t.todorov	t.todorov	DET
fumecheng-3910	83	21	1	1	NUM
fumecheng-3910	83	22	1	1	NUM
fumecheng-3910	83	23	2	2	NUM
fumecheng-3910	83	24	2	2	NUM
fumecheng-3910	83	25	1	1	NUM
fumecheng-3910	83	26	1	1	NUM
fumecheng-3910	83	27	2	2	NUM
fumecheng-3910	83	28	2	2	NUM
fumecheng-3910	83	29	sin	sin	NOUN
fumecheng-3910	83	30	sin	sin	NOUN
fumecheng-3910	83	31	cos	cos	PROPN
fumecheng-3910	83	32	cos	cos	PROPN
fumecheng-3910	83	33	l	l	PROPN
fumecheng-3910	83	34	l	l	NOUN
fumecheng-3910	83	35	l	l	NOUN
fumecheng-3910	83	36	l	l	NOUN
fumecheng-3910	83	37			ADJ
fumecheng-3910	83	38			ADJ
fumecheng-3910	83	39			PROPN
fumecheng-3910	83	40			PROPN
fumecheng-3910	83	41			PROPN
fumecheng-3910	83	42			NOUN
fumecheng-3910	83	43			PROPN
fumecheng-3910	83	44			NOUN
fumecheng-3910	83	45			ADJ
fumecheng-3910	83	46			NOUN
fumecheng-3910	83	47			NOUN
fumecheng-3910	83	48			PROPN
fumecheng-3910	83	49	j	j	PROPN
fumecheng-3910	83	50	(	(	PUNCT
fumecheng-3910	83	51	11	11	NUM
fumecheng-3910	83	52	)	)	PUNCT
fumecheng-3910	83	53	the	the	DET
fumecheng-3910	83	54	singular	singular	ADJ
fumecheng-3910	83	55	configuration	configuration	NOUN
fumecheng-3910	83	56	for	for	ADP
fumecheng-3910	83	57	the	the	DET
fumecheng-3910	83	58	dyad	dyad	NOUN
fumecheng-3910	83	59	is	be	AUX
fumecheng-3910	83	60	determined	determine	VERB
fumecheng-3910	83	61	from	from	ADP
fumecheng-3910	83	62	the	the	DET
fumecheng-3910	83	63	eq	eq	NOUN
fumecheng-3910	83	64	.	.	PUNCT
fumecheng-3910	84	1	(	(	PUNCT
fumecheng-3910	84	2	12	12	NUM
fumecheng-3910	84	3	)	)	PUNCT
fumecheng-3910	84	4	.	.	PUNCT
fumecheng-3910	85	1	for	for	ADP
fumecheng-3910	85	2	l1	l1	PROPN
fumecheng-3910	85	3	,	,	PUNCT
fumecheng-3910	85	4	l2	l2	VERB
fumecheng-3910	85	5	≠	≠	NOUN
fumecheng-3910	85	6	0	0	NUM
fumecheng-3910	86	1	it	it	PRON
fumecheng-3910	86	2	is	be	AUX
fumecheng-3910	86	3	easy	easy	ADJ
fumecheng-3910	86	4	to	to	PART
fumecheng-3910	86	5	find	find	VERB
fumecheng-3910	86	6	that	that	SCONJ
fumecheng-3910	86	7	the	the	DET
fumecheng-3910	86	8	determinant	determinant	ADJ
fumecheng-3910	86	9	(	(	PUNCT
fumecheng-3910	86	10	12	12	NUM
fumecheng-3910	86	11	)	)	PUNCT
fumecheng-3910	86	12	vanishes	vanish	VERB
fumecheng-3910	86	13	when	when	SCONJ
fumecheng-3910	86	14	φ1	φ1	PROPN
fumecheng-3910	86	15	=	=	SYM
fumecheng-3910	86	16	φ2	φ2	PROPN
fumecheng-3910	86	17	and	and	CCONJ
fumecheng-3910	86	18	singularities	singularity	NOUN
fumecheng-3910	86	19	exist	exist	VERB
fumecheng-3910	86	20	in	in	ADP
fumecheng-3910	86	21	this	this	DET
fumecheng-3910	86	22	particular	particular	ADJ
fumecheng-3910	86	23	configuration	configuration	NOUN
fumecheng-3910	86	24	.	.	PUNCT
fumecheng-3910	87	1	1	1	NUM
fumecheng-3910	87	2	2	2	NUM
fumecheng-3910	87	3	1	1	NUM
fumecheng-3910	87	4	2det	2det	NUM
fumecheng-3910	87	5	(	(	PUNCT
fumecheng-3910	87	6	)	)	PUNCT
fumecheng-3910	87	7	sin	sin	NOUN
fumecheng-3910	87	8	(	(	PUNCT
fumecheng-3910	87	9	)	)	PUNCT
fumecheng-3910	87	10	l	l	NOUN
fumecheng-3910	87	11	l	l	NOUN
fumecheng-3910	87	12			PROPN
fumecheng-3910	87	13			PROPN
fumecheng-3910	87	14			PROPN
fumecheng-3910	87	15	j	j	NOUN
fumecheng-3910	87	16	(	(	PUNCT
fumecheng-3910	87	17	12	12	NUM
fumecheng-3910	87	18	)	)	PUNCT
fumecheng-3910	87	19	the	the	DET
fumecheng-3910	87	20	unknown	unknown	ADJ
fumecheng-3910	87	21	angular	angular	ADJ
fumecheng-3910	87	22	velocities	velocity	NOUN
fumecheng-3910	87	23	are	be	AUX
fumecheng-3910	87	24	determined	determine	VERB
fumecheng-3910	87	25	from	from	ADP
fumecheng-3910	87	26	the	the	DET
fumecheng-3910	87	27	equation	equation	NOUN
fumecheng-3910	87	28	1	1	NUM
fumecheng-3910	87	29	ω	ω	NUM
fumecheng-3910	87	30	=	=	SYM
fumecheng-3910	87	31	j	j	PROPN
fumecheng-3910	87	32	v	v	X
fumecheng-3910	87	33	(	(	PUNCT
fumecheng-3910	87	34	13	13	NUM
fumecheng-3910	87	35	)	)	PUNCT
fumecheng-3910	87	36	where	where	SCONJ
fumecheng-3910	87	37	by	by	ADP
fumecheng-3910	87	38	j	j	PROPN
fumecheng-3910	87	39	-1	-1	PROPN
fumecheng-3910	87	40	is	be	AUX
fumecheng-3910	87	41	denoted	denote	VERB
fumecheng-3910	87	42	the	the	DET
fumecheng-3910	87	43	inverse	inverse	NOUN
fumecheng-3910	87	44	of	of	ADP
fumecheng-3910	87	45	the	the	DET
fumecheng-3910	87	46	jacobian	jacobian	ADJ
fumecheng-3910	87	47	:	:	PUNCT
fumecheng-3910	87	48	2	2	NUM
fumecheng-3910	87	49	1	1	NUM
fumecheng-3910	87	50	2	2	NUM
fumecheng-3910	87	51	11	11	NUM
fumecheng-3910	87	52	1	1	NUM
fumecheng-3910	87	53	2	2	NUM
fumecheng-3910	87	54	1	1	NUM
fumecheng-3910	87	55	21	21	NUM
fumecheng-3910	87	56	2	2	NUM
fumecheng-3910	87	57	cos	cos	PROPN
fumecheng-3910	87	58	sin1	sin1	PROPN
fumecheng-3910	87	59	cos	cos	PROPN
fumecheng-3910	87	60	sinsin	sinsin	PROPN
fumecheng-3910	87	61	(	(	PUNCT
fumecheng-3910	87	62	)	)	PUNCT
fumecheng-3910	87	63	l	l	NOUN
fumecheng-3910	87	64	l	l	NOUN
fumecheng-3910	87	65	l	l	NOUN
fumecheng-3910	87	66	l	l	NOUN
fumecheng-3910	87	67			ADJ
fumecheng-3910	87	68			PROPN
fumecheng-3910	87	69			PROPN
fumecheng-3910	87	70			PROPN
fumecheng-3910	87	71			PROPN
fumecheng-3910	87	72			PROPN
fumecheng-3910	87	73			PROPN
fumecheng-3910	87	74			NOUN
fumecheng-3910	87	75			PROPN
fumecheng-3910	87	76			NOUN
fumecheng-3910	87	77			NOUN
fumecheng-3910	87	78			NOUN
fumecheng-3910	87	79			NUM
fumecheng-3910	87	80			VERB
fumecheng-3910	87	81			PROPN
fumecheng-3910	87	82	j	j	PROPN
fumecheng-3910	87	83	(	(	PUNCT
fumecheng-3910	87	84	14	14	NUM
fumecheng-3910	87	85	)	)	PUNCT
fumecheng-3910	87	86	the	the	DET
fumecheng-3910	87	87	time	time	NOUN
fumecheng-3910	87	88	differentiation	differentiation	NOUN
fumecheng-3910	87	89	of	of	ADP
fumecheng-3910	87	90	eq	eq	PROPN
fumecheng-3910	87	91	.	.	PUNCT
fumecheng-3910	88	1	(	(	PUNCT
fumecheng-3910	88	2	10	10	NUM
fumecheng-3910	88	3	)	)	PUNCT
fumecheng-3910	88	4	leads	lead	VERB
fumecheng-3910	88	5	to	to	ADP
fumecheng-3910	88	6			PROPN
fumecheng-3910	88	7	a	a	PROPN
fumecheng-3910	88	8	jω	jω	INTJ
fumecheng-3910	88	9	jω	jω	INTJ
fumecheng-3910	88	10	(	(	PUNCT
fumecheng-3910	88	11	15	15	NUM
fumecheng-3910	88	12	)	)	PUNCT
fumecheng-3910	88	13	which	which	PRON
fumecheng-3910	88	14	provides	provide	VERB
fumecheng-3910	88	15	the	the	DET
fumecheng-3910	88	16	relationship	relationship	NOUN
fumecheng-3910	88	17	between	between	ADP
fumecheng-3910	88	18	the	the	DET
fumecheng-3910	88	19	accelerations	acceleration	NOUN
fumecheng-3910	88	20	of	of	ADP
fumecheng-3910	88	21	external	external	ADJ
fumecheng-3910	88	22	pairs	pair	NOUN
fumecheng-3910	88	23	1	1	NUM
fumecheng-3910	88	24	3	3	NUM
fumecheng-3910	88	25	[	[	PUNCT
fumecheng-3910	88	26	]	]	X
fumecheng-3910	88	27			NOUN
fumecheng-3910	88	28	a	a	NOUN
fumecheng-3910	88	29	r	r	NOUN
fumecheng-3910	88	30	r	r	NOUN
fumecheng-3910	88	31	and	and	CCONJ
fumecheng-3910	88	32	the	the	DET
fumecheng-3910	88	33	angular	angular	ADJ
fumecheng-3910	88	34	accelerations	acceleration	NOUN
fumecheng-3910	88	35	of	of	ADP
fumecheng-3910	88	36	links	link	NOUN
fumecheng-3910	88	37	1	1	NUM
fumecheng-3910	88	38	2	2	NUM
fumecheng-3910	88	39	[	[	PUNCT
fumecheng-3910	88	40	]	]	SYM
fumecheng-3910	88	41	t	t	NUM
fumecheng-3910	88	42	ω	ω	PROPN
fumecheng-3910	88	43	.	.	PUNCT
fumecheng-3910	89	1	from	from	ADP
fumecheng-3910	89	2	eq	eq	ADP
fumecheng-3910	89	3	.	.	PUNCT
fumecheng-3910	90	1	(	(	PUNCT
fumecheng-3910	90	2	15	15	NUM
fumecheng-3910	90	3	)	)	PUNCT
fumecheng-3910	90	4	we	we	PRON
fumecheng-3910	90	5	obtain	obtain	VERB
fumecheng-3910	90	6	the	the	DET
fumecheng-3910	90	7	equations	equation	NOUN
fumecheng-3910	90	8	for	for	ADP
fumecheng-3910	90	9	the	the	DET
fumecheng-3910	90	10	angular	angular	ADJ
fumecheng-3910	90	11	accelerations	acceleration	NOUN
fumecheng-3910	90	12	of	of	ADP
fumecheng-3910	90	13	the	the	DET
fumecheng-3910	90	14	links	link	NOUN
fumecheng-3910	90	15	:	:	PUNCT
fumecheng-3910	90	16	1	1	NUM
fumecheng-3910	90	17	(	(	PUNCT
fumecheng-3910	90	18	)	)	PUNCT
fumecheng-3910	90	19			PROPN
fumecheng-3910	90	20	ω=	ω=	PROPN
fumecheng-3910	90	21	j	j	PROPN
fumecheng-3910	90	22	a	a	DET
fumecheng-3910	90	23	jω	jω	X
fumecheng-3910	90	24	(	(	PUNCT
fumecheng-3910	90	25	16	16	NUM
fumecheng-3910	90	26	)	)	PUNCT
fumecheng-3910	90	27	when	when	SCONJ
fumecheng-3910	90	28	we	we	PRON
fumecheng-3910	90	29	use	use	VERB
fumecheng-3910	90	30	eq	eq	ADP
fumecheng-3910	90	31	.	.	PUNCT
fumecheng-3910	91	1	(	(	PUNCT
fumecheng-3910	91	2	16	16	NUM
fumecheng-3910	91	3	)	)	PUNCT
fumecheng-3910	91	4	,	,	PUNCT
fumecheng-3910	91	5	we	we	PRON
fumecheng-3910	91	6	have	have	AUX
fumecheng-3910	91	7	in	in	ADP
fumecheng-3910	91	8	mind	mind	NOUN
fumecheng-3910	91	9	that	that	SCONJ
fumecheng-3910	91	10	1	1	NUM
fumecheng-3910	91	11	1	1	NUM
fumecheng-3910	91	12	1	1	NUM
fumecheng-3910	91	13	2	2	NUM
fumecheng-3910	91	14	2	2	NUM
fumecheng-3910	91	15	2	2	NUM
fumecheng-3910	91	16	1	1	NUM
fumecheng-3910	91	17	1	1	NUM
fumecheng-3910	91	18	1	1	NUM
fumecheng-3910	91	19	2	2	NUM
fumecheng-3910	91	20	2	2	NUM
fumecheng-3910	91	21	2	2	NUM
fumecheng-3910	91	22	cos	cos	PROPN
fumecheng-3910	91	23	cos	cos	PROPN
fumecheng-3910	91	24	sin	sin	PROPN
fumecheng-3910	91	25	sin	sin	NOUN
fumecheng-3910	91	26	l	l	NOUN
fumecheng-3910	91	27	l	l	NOUN
fumecheng-3910	91	28	l	l	NOUN
fumecheng-3910	91	29	l	l	NOUN
fumecheng-3910	91	30			ADJ
fumecheng-3910	91	31			ADJ
fumecheng-3910	91	32			ADJ
fumecheng-3910	91	33			ADJ
fumecheng-3910	91	34			ADJ
fumecheng-3910	91	35			ADJ
fumecheng-3910	91	36			PROPN
fumecheng-3910	91	37			PROPN
fumecheng-3910	91	38			PROPN
fumecheng-3910	91	39			NOUN
fumecheng-3910	91	40			PROPN
fumecheng-3910	91	41			NOUN
fumecheng-3910	91	42			NOUN
fumecheng-3910	91	43			VERB
fumecheng-3910	91	44			PROPN
fumecheng-3910	91	45	j	j	PROPN
fumecheng-3910	91	46	(	(	PUNCT
fumecheng-3910	91	47	17	17	NUM
fumecheng-3910	91	48	)	)	PUNCT
fumecheng-3910	91	49	the	the	DET
fumecheng-3910	91	50	cartesian	cartesian	ADJ
fumecheng-3910	91	51	coordinates	coordinate	NOUN
fumecheng-3910	91	52	,	,	PUNCT
fumecheng-3910	91	53	velocity	velocity	NOUN
fumecheng-3910	91	54	and	and	CCONJ
fumecheng-3910	91	55	acceleration	acceleration	NOUN
fumecheng-3910	91	56	of	of	ADP
fumecheng-3910	91	57	internal	internal	ADJ
fumecheng-3910	91	58	joint	joint	ADJ
fumecheng-3910	91	59	o2	o2	PROPN
fumecheng-3910	91	60	are	be	AUX
fumecheng-3910	91	61	calculated	calculate	VERB
fumecheng-3910	91	62	by	by	ADP
fumecheng-3910	91	63	the	the	DET
fumecheng-3910	91	64	eqs	eqs	PROPN
fumecheng-3910	91	65	.	.	PUNCT
fumecheng-3910	92	1	(	(	PUNCT
fumecheng-3910	92	2	18	18	NUM
fumecheng-3910	92	3	)	)	PUNCT
fumecheng-3910	92	4	,	,	PUNCT
fumecheng-3910	92	5	(	(	PUNCT
fumecheng-3910	92	6	19	19	NUM
fumecheng-3910	92	7	)	)	PUNCT
fumecheng-3910	92	8	and	and	CCONJ
fumecheng-3910	92	9	(	(	PUNCT
fumecheng-3910	92	10	20	20	NUM
fumecheng-3910	92	11	):	):	SYM
fumecheng-3910	92	12	2	2	NUM
fumecheng-3910	92	13	1	1	NUM
fumecheng-3910	92	14	1	1	NUM
fumecheng-3910	92	15	1	1	NUM
fumecheng-3910	92	16	1[cos	1[cos	NUM
fumecheng-3910	92	17	sin	sin	NOUN
fumecheng-3910	92	18	]	]	X
fumecheng-3910	92	19	tl	tl	PROPN
fumecheng-3910	92	20			PROPN
fumecheng-3910	92	21			NOUN
fumecheng-3910	92	22	r	r	ADJ
fumecheng-3910	92	23	r	r	NOUN
fumecheng-3910	92	24	(	(	PUNCT
fumecheng-3910	92	25	18	18	NUM
fumecheng-3910	92	26	)	)	SYM
fumecheng-3910	92	27	2	2	NUM
fumecheng-3910	92	28	1	1	NUM
fumecheng-3910	92	29	1	1	NUM
fumecheng-3910	92	30	1	1	NUM
fumecheng-3910	92	31	1	1	NUM
fumecheng-3910	92	32	1	1	NUM
fumecheng-3910	92	33	[	[	PUNCT
fumecheng-3910	92	34	sin	sin	NOUN
fumecheng-3910	92	35	cos	cos	PROPN
fumecheng-3910	92	36	]	]	X
fumecheng-3910	92	37	tl	tl	PROPN
fumecheng-3910	92	38			PROPN
fumecheng-3910	92	39			NOUN
fumecheng-3910	92	40			X
fumecheng-3910	92	41	r	r	PROPN
fumecheng-3910	92	42	r	r	PROPN
fumecheng-3910	92	43	(	(	PUNCT
fumecheng-3910	92	44	19	19	NUM
fumecheng-3910	92	45	)	)	SYM
fumecheng-3910	92	46	2	2	NUM
fumecheng-3910	92	47	2	2	NUM
fumecheng-3910	92	48	2	2	NUM
fumecheng-3910	92	49	1	1	NUM
fumecheng-3910	92	50	1	1	NUM
fumecheng-3910	92	51	1	1	NUM
fumecheng-3910	92	52	1	1	NUM
fumecheng-3910	92	53	1	1	NUM
fumecheng-3910	92	54	1	1	NUM
fumecheng-3910	92	55	1	1	NUM
fumecheng-3910	92	56	1	1	NUM
fumecheng-3910	92	57	1	1	NUM
fumecheng-3910	92	58	1	1	NUM
fumecheng-3910	92	59	(	(	PUNCT
fumecheng-3910	92	60	sin	sin	NOUN
fumecheng-3910	92	61	cos	cos	PROPN
fumecheng-3910	92	62	)	)	PUNCT
fumecheng-3910	92	63	(	(	PUNCT
fumecheng-3910	92	64	cos	cos	X
fumecheng-3910	92	65	sin	sin	PROPN
fumecheng-3910	92	66	)	)	PUNCT
fumecheng-3910	92	67	t	t	X
fumecheng-3910	92	68	l	l	NOUN
fumecheng-3910	92	69			PROPN
fumecheng-3910	92	70			ADJ
fumecheng-3910	92	71			ADJ
fumecheng-3910	92	72			ADJ
fumecheng-3910	92	73			ADJ
fumecheng-3910	92	74			ADJ
fumecheng-3910	92	75			PROPN
fumecheng-3910	92	76			PROPN
fumecheng-3910	92	77			PROPN
fumecheng-3910	92	78			PUNCT
fumecheng-3910	92	79			PROPN
fumecheng-3910	92	80			ADV
fumecheng-3910	92	81			NOUN
fumecheng-3910	92	82	r	r	ADJ
fumecheng-3910	92	83	r	r	NOUN
fumecheng-3910	92	84	(	(	PUNCT
fumecheng-3910	92	85	20	20	NUM
fumecheng-3910	92	86	)	)	PUNCT
fumecheng-3910	92	87	once	once	SCONJ
fumecheng-3910	92	88	the	the	DET
fumecheng-3910	92	89	unknown	unknown	ADJ
fumecheng-3910	92	90	coordinates	coordinate	NOUN
fumecheng-3910	92	91	and	and	CCONJ
fumecheng-3910	92	92	angles	angle	NOUN
fumecheng-3910	92	93	are	be	AUX
fumecheng-3910	92	94	obtained	obtain	VERB
fumecheng-3910	92	95	,	,	PUNCT
fumecheng-3910	92	96	the	the	DET
fumecheng-3910	92	97	displacement	displacement	NOUN
fumecheng-3910	92	98	,	,	PUNCT
fumecheng-3910	92	99	velocity	velocity	NOUN
fumecheng-3910	92	100	and	and	CCONJ
fumecheng-3910	92	101	acceleration	acceleration	NOUN
fumecheng-3910	92	102	of	of	ADP
fumecheng-3910	92	103	every	every	DET
fumecheng-3910	92	104	point	point	NOUN
fumecheng-3910	92	105	of	of	ADP
fumecheng-3910	92	106	the	the	DET
fumecheng-3910	92	107	links	link	NOUN
fumecheng-3910	92	108	can	can	AUX
fumecheng-3910	92	109	be	be	AUX
fumecheng-3910	92	110	determined	determine	VERB
fumecheng-3910	92	111	.	.	PUNCT
fumecheng-3910	93	1	a	a	DET
fumecheng-3910	93	2	fixed	fix	VERB
fumecheng-3910	93	3	point	point	NOUN
fumecheng-3910	93	4	pk	pk	NOUN
fumecheng-3910	93	5	on	on	ADP
fumecheng-3910	93	6	body	body	NOUN
fumecheng-3910	93	7	k	k	PROPN
fumecheng-3910	93	8	is	be	AUX
fumecheng-3910	93	9	located	locate	VERB
fumecheng-3910	93	10	from	from	ADP
fumecheng-3910	93	11	the	the	DET
fumecheng-3910	93	12	origin	origin	NOUN
fumecheng-3910	93	13	of	of	ADP
fumecheng-3910	93	14	local	local	ADJ
fumecheng-3910	93	15	frame	frame	NOUN
fumecheng-3910	93	16	{	{	PUNCT
fumecheng-3910	93	17	xkyk	xkyk	NOUN
fumecheng-3910	93	18	}	}	PUNCT
fumecheng-3910	93	19	by	by	ADP
fumecheng-3910	93	20	vector	vector	NOUN
fumecheng-3910	93	21	p	p	PROPN
fumecheng-3910	93	22	ku	ku	PROPN
fumecheng-3910	93	23	and	and	CCONJ
fumecheng-3910	93	24	from	from	ADP
fumecheng-3910	93	25	the	the	DET
fumecheng-3910	93	26	origin	origin	NOUN
fumecheng-3910	93	27	of	of	ADP
fumecheng-3910	93	28	global	global	ADJ
fumecheng-3910	93	29	frame	frame	NOUN
fumecheng-3910	93	30	{	{	PUNCT
fumecheng-3910	93	31	x0y0	x0y0	PUNCT
fumecheng-3910	93	32	}	}	PUNCT
fumecheng-3910	93	33	by	by	ADP
fumecheng-3910	93	34	vector	vector	NOUN
fumecheng-3910	93	35	,	,	PUNCT
fumecheng-3910	93	36	1	1	NUM
fumecheng-3910	93	37	,	,	PUNCT
fumecheng-3910	93	38	2p	2p	NUM
fumecheng-3910	93	39	k	k	PROPN
fumecheng-3910	93	40	k	k	PROPN
fumecheng-3910	93	41	r	r	PROPN
fumecheng-3910	93	42	(	(	PUNCT
fumecheng-3910	93	43	see	see	VERB
fumecheng-3910	93	44	fig.1	fig.1	PROPN
fumecheng-3910	93	45	)	)	PUNCT
fumecheng-3910	93	46	.	.	PUNCT
fumecheng-3910	94	1	position	position	NOUN
fumecheng-3910	94	2	p	p	PROPN
fumecheng-3910	94	3	kr	kr	PROPN
fumecheng-3910	94	4	,	,	PUNCT
fumecheng-3910	94	5	velocity	velocity	NOUN
fumecheng-3910	94	6	p	p	PROPN
fumecheng-3910	94	7	kr	kr	PROPN
fumecheng-3910	94	8	and	and	CCONJ
fumecheng-3910	94	9	acceleration	acceleration	NOUN
fumecheng-3910	94	10	p	p	PROPN
fumecheng-3910	94	11	kr	kr	PROPN
fumecheng-3910	94	12	of	of	ADP
fumecheng-3910	94	13	the	the	DET
fumecheng-3910	94	14	point	point	NOUN
fumecheng-3910	94	15	are	be	AUX
fumecheng-3910	94	16	computed	compute	VERB
fumecheng-3910	94	17	by	by	ADP
fumecheng-3910	94	18	the	the	DET
fumecheng-3910	94	19	following	follow	VERB
fumecheng-3910	94	20	relations	relation	NOUN
fumecheng-3910	94	21	:	:	PUNCT
fumecheng-3910	94	22	cloud	cloud	NOUN
fumecheng-3910	94	23	-	-	PUNCT
fumecheng-3910	94	24	based	base	VERB
fumecheng-3910	94	25	expert	expert	NOUN
fumecheng-3910	94	26	system	system	NOUN
fumecheng-3910	94	27	for	for	ADP
fumecheng-3910	94	28	synthesis	synthesis	NOUN
fumecheng-3910	94	29	and	and	CCONJ
fumecheng-3910	94	30	evolutionary	evolutionary	ADJ
fumecheng-3910	94	31	optimization	optimization	NOUN
fumecheng-3910	94	32	of	of	ADP
fumecheng-3910	94	33	planar	planar	ADJ
fumecheng-3910	94	34	linkages	linkage	NOUN
fumecheng-3910	94	35	145	145	NUM
fumecheng-3910	94	36	0	0	NUM
fumecheng-3910	94	37	(	(	PUNCT
fumecheng-3910	94	38	)	)	PUNCT
fumecheng-3910	94	39	p	p	NOUN
fumecheng-3910	95	1	k	k	PROPN
fumecheng-3910	95	2	p	p	X
fumecheng-3910	95	3	k	k	PROPN
fumecheng-3910	95	4	k	k	PROPN
fumecheng-3910	95	5	k	k	PROPN
fumecheng-3910	95	6	k	k	PROPN
fumecheng-3910	95	7	r	r	PROPN
fumecheng-3910	95	8	r	r	NOUN
fumecheng-3910	95	9	r	r	NOUN
fumecheng-3910	95	10	u	u	NOUN
fumecheng-3910	95	11	(	(	PUNCT
fumecheng-3910	95	12	21	21	NUM
fumecheng-3910	95	13	)	)	PUNCT
fumecheng-3910	95	14	0	0	NUM
fumecheng-3910	96	1	(	(	PUNCT
fumecheng-3910	96	2	)	)	PUNCT
fumecheng-3910	96	3	p	p	NOUN
fumecheng-3910	97	1	k	k	PROPN
fumecheng-3910	97	2	p	p	X
fumecheng-3910	97	3	k	k	PROPN
fumecheng-3910	98	1	k	k	PROPN
fumecheng-3910	98	2	k	k	PROPN
fumecheng-3910	99	1	k	k	PROPN
fumecheng-3910	99	2	k	k	PROPN
fumecheng-3910	99	3			NOUN
fumecheng-3910	99	4	r	r	ADJ
fumecheng-3910	99	5	r	r	NOUN
fumecheng-3910	99	6	r	r	NOUN
fumecheng-3910	99	7	u	u	NOUN
fumecheng-3910	99	8	(	(	PUNCT
fumecheng-3910	99	9	22	22	NUM
fumecheng-3910	99	10	)	)	PUNCT
fumecheng-3910	99	11	2	2	NUM
fumecheng-3910	99	12	0	0	NUM
fumecheng-3910	99	13	0	0	NUM
fumecheng-3910	99	14	(	(	PUNCT
fumecheng-3910	99	15	)	)	PUNCT
fumecheng-3910	99	16	(	(	PUNCT
fumecheng-3910	99	17	)	)	PUNCT
fumecheng-3910	99	18	p	p	X
fumecheng-3910	100	1	k	k	PROPN
fumecheng-3910	101	1	p	p	X
fumecheng-3910	101	2	k	k	PROPN
fumecheng-3910	102	1	p	p	X
fumecheng-3910	102	2	k	k	PROPN
fumecheng-3910	103	1	k	k	PROPN
fumecheng-3910	103	2	k	k	PROPN
fumecheng-3910	103	3	k	k	PROPN
fumecheng-3910	103	4	k	k	PROPN
fumecheng-3910	103	5	k	k	PROPN
fumecheng-3910	103	6	k	k	PROPN
fumecheng-3910	103	7	k	k	PROPN
fumecheng-3910	103	8			PROPN
fumecheng-3910	103	9			PROPN
fumecheng-3910	103	10			NOUN
fumecheng-3910	103	11			NOUN
fumecheng-3910	103	12	r	r	PROPN
fumecheng-3910	103	13	r	r	NOUN
fumecheng-3910	103	14	r	r	NOUN
fumecheng-3910	103	15	u	u	NOUN
fumecheng-3910	103	16	r	r	NOUN
fumecheng-3910	103	17	u	u	NOUN
fumecheng-3910	103	18	(	(	PUNCT
fumecheng-3910	103	19	23	23	NUM
fumecheng-3910	103	20	)	)	PUNCT
fumecheng-3910	103	21	where	where	SCONJ
fumecheng-3910	103	22	0	0	NUM
fumecheng-3910	103	23	sin	sin	NOUN
fumecheng-3910	103	24	cos	cos	PROPN
fumecheng-3910	103	25	(	(	PUNCT
fumecheng-3910	103	26	)	)	PUNCT
fumecheng-3910	103	27	cos	cos	ADP
fumecheng-3910	103	28	sin	sin	PROPN
fumecheng-3910	103	29	k	k	PROPN
fumecheng-3910	103	30	kk	kk	PROPN
fumecheng-3910	103	31	k	k	PROPN
fumecheng-3910	103	32	k	k	PROPN
fumecheng-3910	104	1	k	k	PROPN
fumecheng-3910	104	2			PROPN
fumecheng-3910	104	3			ADJ
fumecheng-3910	104	4			ADJ
fumecheng-3910	104	5			ADJ
fumecheng-3910	104	6			ADJ
fumecheng-3910	104	7			ADJ
fumecheng-3910	104	8			NOUN
fumecheng-3910	104	9			NOUN
fumecheng-3910	104	10			NOUN
fumecheng-3910	104	11			PROPN
fumecheng-3910	104	12			NOUN
fumecheng-3910	104	13			NOUN
fumecheng-3910	104	14			NOUN
fumecheng-3910	104	15			PROPN
fumecheng-3910	104	16	r	r	NOUN
fumecheng-3910	104	17	and	and	CCONJ
fumecheng-3910	104	18	0	0	NUM
fumecheng-3910	104	19	cos	cos	PROPN
fumecheng-3910	104	20	sin	sin	NOUN
fumecheng-3910	104	21	(	(	PUNCT
fumecheng-3910	104	22	)	)	PUNCT
fumecheng-3910	104	23	sin	sin	NOUN
fumecheng-3910	104	24	cos	cos	PROPN
fumecheng-3910	104	25	k	k	PROPN
fumecheng-3910	104	26	kk	kk	PROPN
fumecheng-3910	104	27	k	k	PROPN
fumecheng-3910	104	28	k	k	PROPN
fumecheng-3910	104	29	k	k	PROPN
fumecheng-3910	105	1			PROPN
fumecheng-3910	105	2			ADJ
fumecheng-3910	105	3			ADJ
fumecheng-3910	105	4			ADJ
fumecheng-3910	105	5			ADJ
fumecheng-3910	105	6			NOUN
fumecheng-3910	105	7			NOUN
fumecheng-3910	105	8			PROPN
fumecheng-3910	105	9			NOUN
fumecheng-3910	105	10			NOUN
fumecheng-3910	105	11			VERB
fumecheng-3910	105	12			PROPN
fumecheng-3910	105	13	r	r	NOUN
fumecheng-3910	105	14	.	.	PUNCT
fumecheng-3910	106	1	in	in	ADP
fumecheng-3910	106	2	a	a	DET
fumecheng-3910	106	3	similar	similar	ADJ
fumecheng-3910	106	4	manner	manner	NOUN
fumecheng-3910	106	5	,	,	PUNCT
fumecheng-3910	106	6	the	the	DET
fumecheng-3910	106	7	kinematic	kinematic	ADJ
fumecheng-3910	106	8	equations	equation	NOUN
fumecheng-3910	106	9	for	for	ADP
fumecheng-3910	106	10	the	the	DET
fumecheng-3910	106	11	other	other	ADJ
fumecheng-3910	106	12	four	four	NUM
fumecheng-3910	106	13	types	type	NOUN
fumecheng-3910	106	14	of	of	ADP
fumecheng-3910	106	15	dyads	dyad	NOUN
fumecheng-3910	106	16	are	be	AUX
fumecheng-3910	106	17	derived	derive	VERB
fumecheng-3910	106	18	.	.	PUNCT
fumecheng-3910	107	1	in	in	ADP
fumecheng-3910	107	2	figs.2	figs.2	PROPN
fumecheng-3910	107	3	-	-	SYM
fumecheng-3910	107	4	5	5	NUM
fumecheng-3910	107	5	are	be	AUX
fumecheng-3910	107	6	shown	show	VERB
fumecheng-3910	107	7	the	the	DET
fumecheng-3910	107	8	schematics	schematic	NOUN
fumecheng-3910	107	9	and	and	CCONJ
fumecheng-3910	107	10	closed	closed	ADJ
fumecheng-3910	107	11	-	-	PUNCT
fumecheng-3910	107	12	form	form	NOUN
fumecheng-3910	107	13	solutions	solution	NOUN
fumecheng-3910	107	14	for	for	ADP
fumecheng-3910	107	15	the	the	DET
fumecheng-3910	107	16	rest	rest	NOUN
fumecheng-3910	107	17	of	of	ADP
fumecheng-3910	107	18	the	the	DET
fumecheng-3910	107	19	assur	assur	PROPN
fumecheng-3910	107	20	’s	’s	PART
fumecheng-3910	107	21	groups	group	NOUN
fumecheng-3910	107	22	,	,	PUNCT
fumecheng-3910	107	23	derived	derive	VERB
fumecheng-3910	107	24	in	in	ADP
fumecheng-3910	107	25	a	a	DET
fumecheng-3910	107	26	similar	similar	ADJ
fumecheng-3910	107	27	manner	manner	NOUN
fumecheng-3910	107	28	as	as	ADP
fumecheng-3910	107	29	for	for	ADP
fumecheng-3910	107	30	the	the	DET
fumecheng-3910	107	31	rrr	rrr	NOUN
fumecheng-3910	107	32	group	group	NOUN
fumecheng-3910	107	33	.	.	PUNCT
fumecheng-3910	108	1	for	for	ADP
fumecheng-3910	108	2	the	the	DET
fumecheng-3910	108	3	assur	assur	PROPN
fumecheng-3910	108	4	’s	’s	PART
fumecheng-3910	108	5	groups	group	NOUN
fumecheng-3910	108	6	,	,	PUNCT
fumecheng-3910	108	7	containing	contain	VERB
fumecheng-3910	108	8	slider	slider	NOUN
fumecheng-3910	108	9	pairs	pair	NOUN
fumecheng-3910	108	10	in	in	ADP
fumecheng-3910	108	11	their	their	PRON
fumecheng-3910	108	12	kinematic	kinematic	ADJ
fumecheng-3910	108	13	structure	structure	NOUN
fumecheng-3910	108	14	,	,	PUNCT
fumecheng-3910	108	15	one	one	PRON
fumecheng-3910	108	16	must	must	AUX
fumecheng-3910	108	17	take	take	VERB
fumecheng-3910	108	18	into	into	ADP
fumecheng-3910	108	19	account	account	NOUN
fumecheng-3910	108	20	that	that	SCONJ
fumecheng-3910	108	21	the	the	DET
fumecheng-3910	108	22	line	line	NOUN
fumecheng-3910	108	23	of	of	ADP
fumecheng-3910	108	24	the	the	DET
fumecheng-3910	108	25	sliding	slide	VERB
fumecheng-3910	108	26	pair	pair	NOUN
fumecheng-3910	108	27	motion	motion	NOUN
fumecheng-3910	108	28	is	be	AUX
fumecheng-3910	108	29	defined	define	VERB
fumecheng-3910	108	30	by	by	ADP
fumecheng-3910	108	31	the	the	DET
fumecheng-3910	108	32	coordinates	coordinate	NOUN
fumecheng-3910	108	33	of	of	ADP
fumecheng-3910	108	34	a	a	DET
fumecheng-3910	108	35	point	point	NOUN
fumecheng-3910	108	36	and	and	CCONJ
fumecheng-3910	108	37	angle	angle	NOUN
fumecheng-3910	108	38	,	,	PUNCT
fumecheng-3910	108	39	for	for	ADP
fumecheng-3910	108	40	example	example	NOUN
fumecheng-3910	108	41	,	,	PUNCT
fumecheng-3910	108	42	for	for	ADP
fumecheng-3910	108	43	rrt	rrt	NOUN
fumecheng-3910	108	44	dyad	dyad	NOUN
fumecheng-3910	108	45	(	(	PUNCT
fumecheng-3910	108	46	see	see	VERB
fumecheng-3910	108	47	fig.3	fig.3	PROPN
fumecheng-3910	108	48	)	)	PUNCT
fumecheng-3910	108	49	are	be	AUX
fumecheng-3910	108	50	used	use	VERB
fumecheng-3910	108	51	coordinates	coordinate	NOUN
fumecheng-3910	108	52	(	(	PUNCT
fumecheng-3910	108	53	x3,y3	x3,y3	PROPN
fumecheng-3910	108	54	)	)	PUNCT
fumecheng-3910	108	55	and	and	CCONJ
fumecheng-3910	108	56	angle	angle	NOUN
fumecheng-3910	108	57	φ3	φ3	NOUN
fumecheng-3910	108	58	,	,	PUNCT
fumecheng-3910	108	59	measured	measure	VERB
fumecheng-3910	108	60	from	from	ADP
fumecheng-3910	108	61	horizontal	horizontal	ADJ
fumecheng-3910	108	62	x0	x0	PROPN
fumecheng-3910	108	63	-	-	PUNCT
fumecheng-3910	108	64	axis	axis	NOUN
fumecheng-3910	108	65	.	.	PUNCT
fumecheng-3910	109	1	the	the	DET
fumecheng-3910	109	2	velocities	velocity	NOUN
fumecheng-3910	109	3	and	and	CCONJ
fumecheng-3910	109	4	accelerations	acceleration	NOUN
fumecheng-3910	109	5	of	of	ADP
fumecheng-3910	109	6	the	the	DET
fumecheng-3910	109	7	dyad	dyad	ADJ
fumecheng-3910	109	8	output	output	NOUN
fumecheng-3910	109	9	parameters	parameter	NOUN
fumecheng-3910	109	10	are	be	AUX
fumecheng-3910	109	11	calculated	calculate	VERB
fumecheng-3910	109	12	according	accord	VERB
fumecheng-3910	109	13	to	to	ADP
fumecheng-3910	109	14	the	the	DET
fumecheng-3910	109	15	following	follow	VERB
fumecheng-3910	109	16	kinematical	kinematical	ADJ
fumecheng-3910	109	17	equations	equation	NOUN
fumecheng-3910	109	18	:	:	PUNCT
fumecheng-3910	109	19	-1	-1	X
fumecheng-3910	109	20	out	out	ADV
fumecheng-3910	109	21	in	in	ADP
fumecheng-3910	109	22	q	q	PROPN
fumecheng-3910	109	23	=	=	PUNCT
fumecheng-3910	109	24	j	j	PROPN
fumecheng-3910	109	25	q	q	X
fumecheng-3910	109	26	(	(	PUNCT
fumecheng-3910	109	27	24	24	NUM
fumecheng-3910	109	28	)	)	PUNCT
fumecheng-3910	109	29	(	(	PUNCT
fumecheng-3910	109	30	)	)	PUNCT
fumecheng-3910	109	31	-1	-1	ADV
fumecheng-3910	109	32	out	out	ADP
fumecheng-3910	109	33	in	in	ADP
fumecheng-3910	109	34	outq	outq	ADJ
fumecheng-3910	109	35	=	=	SYM
fumecheng-3910	109	36	j	j	PROPN
fumecheng-3910	109	37	q	q	X
fumecheng-3910	109	38	jq	jq	PROPN
fumecheng-3910	109	39	(	(	PUNCT
fumecheng-3910	109	40	25	25	NUM
fumecheng-3910	109	41	)	)	PUNCT
fumecheng-3910	109	42	whose	whose	DET
fumecheng-3910	109	43	quantities	quantity	NOUN
fumecheng-3910	109	44	are	be	AUX
fumecheng-3910	109	45	shown	show	VERB
fumecheng-3910	109	46	in	in	ADP
fumecheng-3910	109	47	table	table	NOUN
fumecheng-3910	109	48	1	1	NUM
fumecheng-3910	109	49	,	,	PUNCT
fumecheng-3910	109	50	where	where	SCONJ
fumecheng-3910	109	51	the	the	DET
fumecheng-3910	109	52	following	follow	VERB
fumecheng-3910	109	53	short	short	ADJ
fumecheng-3910	109	54	notations	notation	NOUN
fumecheng-3910	109	55	are	be	AUX
fumecheng-3910	109	56	used	use	VERB
fumecheng-3910	109	57	:	:	PUNCT
fumecheng-3910	109	58	c1	c1	NOUN
fumecheng-3910	109	59	=	=	PUNCT
fumecheng-3910	109	60	cosφ1	cosφ1	PROPN
fumecheng-3910	109	61	,	,	PUNCT
fumecheng-3910	109	62	s1	s1	NOUN
fumecheng-3910	109	63	=	=	SYM
fumecheng-3910	109	64	sinφ1	sinφ1	ADJ
fumecheng-3910	109	65	,	,	PUNCT
fumecheng-3910	109	66	c3	c3	PROPN
fumecheng-3910	109	67	=	=	SYM
fumecheng-3910	109	68	cosφ3	cosφ3	PROPN
fumecheng-3910	109	69	,	,	PUNCT
fumecheng-3910	109	70	s3	s3	PROPN
fumecheng-3910	109	71	=	=	SYM
fumecheng-3910	109	72	sinφ3	sinφ3	PROPN
fumecheng-3910	109	73	,	,	PUNCT
fumecheng-3910	109	74	cα	cα	PROPN
fumecheng-3910	109	75	=	=	PUNCT
fumecheng-3910	109	76	cosα	cosα	PROPN
fumecheng-3910	109	77	,	,	PUNCT
fumecheng-3910	109	78	cα1	cα1	NOUN
fumecheng-3910	109	79	=	=	SYM
fumecheng-3910	109	80	cos(α+φ1	cos(α+φ1	PROPN
fumecheng-3910	109	81	)	)	PUNCT
fumecheng-3910	109	82	,	,	PUNCT
fumecheng-3910	109	83	sα1	sα1	NOUN
fumecheng-3910	109	84	=	=	SYM
fumecheng-3910	109	85	sin(α+φ1	sin(α+φ1	NOUN
fumecheng-3910	109	86	)	)	PUNCT
fumecheng-3910	109	87	,	,	PUNCT
fumecheng-3910	109	88	c4	c4	NOUN
fumecheng-3910	109	89	=	=	SYM
fumecheng-3910	109	90	cosφ4	cosφ4	ADJ
fumecheng-3910	109	91	,	,	PUNCT
fumecheng-3910	109	92	s4	s4	PROPN
fumecheng-3910	109	93	=	=	SYM
fumecheng-3910	109	94	sinφ4	sinφ4	PROPN
fumecheng-3910	109	95	,	,	PUNCT
fumecheng-3910	109	96	13	13	NUM
fumecheng-3910	109	97	1	1	NUM
fumecheng-3910	109	98	3x	3x	NUM
fumecheng-3910	109	99	x	x	PART
fumecheng-3910	109	100	x	x	VERB
fumecheng-3910	109	101			PROPN
fumecheng-3910	109	102			NOUN
fumecheng-3910	109	103	,	,	PUNCT
fumecheng-3910	109	104	13	13	NUM
fumecheng-3910	109	105	1	1	NUM
fumecheng-3910	109	106	3y	3y	NUM
fumecheng-3910	109	107	y	y	PROPN
fumecheng-3910	109	108	y	y	ADV
fumecheng-3910	109	109			PROPN
fumecheng-3910	109	110			NOUN
fumecheng-3910	109	111	,	,	PUNCT
fumecheng-3910	109	112	13	13	NUM
fumecheng-3910	109	113	1	1	NUM
fumecheng-3910	109	114	3x	3x	NUM
fumecheng-3910	109	115	x	x	PART
fumecheng-3910	109	116	x	x	VERB
fumecheng-3910	110	1			PROPN
fumecheng-3910	110	2			NOUN
fumecheng-3910	110	3	,	,	PUNCT
fumecheng-3910	110	4	13	13	NUM
fumecheng-3910	110	5	1	1	NUM
fumecheng-3910	110	6	3y	3y	NUM
fumecheng-3910	110	7	y	y	PROPN
fumecheng-3910	110	8	y	y	ADV
fumecheng-3910	110	9			PROPN
fumecheng-3910	110	10			NOUN
fumecheng-3910	110	11	,	,	PUNCT
fumecheng-3910	110	12	14	14	NUM
fumecheng-3910	110	13	1	1	NUM
fumecheng-3910	110	14	4x	4x	NOUN
fumecheng-3910	110	15	x	x	PUNCT
fumecheng-3910	110	16	x	x	PROPN
fumecheng-3910	111	1			PROPN
fumecheng-3910	111	2			NOUN
fumecheng-3910	111	3	,	,	PUNCT
fumecheng-3910	111	4	14	14	NUM
fumecheng-3910	111	5	1	1	NUM
fumecheng-3910	111	6	4y	4y	NUM
fumecheng-3910	111	7	y	y	PROPN
fumecheng-3910	111	8	y	y	ADV
fumecheng-3910	111	9			PROPN
fumecheng-3910	111	10			NOUN
fumecheng-3910	111	11	,	,	PUNCT
fumecheng-3910	111	12	14	14	NUM
fumecheng-3910	111	13	1	1	NUM
fumecheng-3910	111	14	4x	4x	NOUN
fumecheng-3910	111	15	x	x	PUNCT
fumecheng-3910	111	16	x	x	PROPN
fumecheng-3910	112	1			PROPN
fumecheng-3910	112	2			NOUN
fumecheng-3910	112	3	,	,	PUNCT
fumecheng-3910	112	4	14	14	NUM
fumecheng-3910	112	5	1	1	NUM
fumecheng-3910	112	6	4y	4y	NUM
fumecheng-3910	112	7	y	y	PROPN
fumecheng-3910	112	8	y	y	ADV
fumecheng-3910	112	9			PROPN
fumecheng-3910	112	10			NOUN
fumecheng-3910	112	11	.	.	PUNCT
fumecheng-3910	113	1	fig	fig	NOUN
fumecheng-3910	113	2	.	.	PUNCT
fumecheng-3910	114	1	2	2	NUM
fumecheng-3910	114	2	schematics	schematic	NOUN
fumecheng-3910	114	3	and	and	CCONJ
fumecheng-3910	114	4	equations	equation	NOUN
fumecheng-3910	114	5	for	for	ADP
fumecheng-3910	114	6	trt	trt	PROPN
fumecheng-3910	114	7	dyad	dyad	PROPN
fumecheng-3910	114	8	146	146	NUM
fumecheng-3910	114	9	r.	r.	PROPN
fumecheng-3910	114	10	mitrev	mitrev	PROPN
fumecheng-3910	114	11	,	,	PUNCT
fumecheng-3910	114	12	b.	b.	PROPN
fumecheng-3910	114	13	tudjarov	tudjarov	PROPN
fumecheng-3910	114	14	,	,	PUNCT
fumecheng-3910	114	15	t.todorov	t.todorov	DET
fumecheng-3910	114	16	fig	fig	NOUN
fumecheng-3910	114	17	.	.	PUNCT
fumecheng-3910	115	1	3	3	NUM
fumecheng-3910	115	2	schematics	schematic	NOUN
fumecheng-3910	115	3	and	and	CCONJ
fumecheng-3910	115	4	equations	equation	NOUN
fumecheng-3910	115	5	for	for	ADP
fumecheng-3910	115	6	rrt	rrt	NOUN
fumecheng-3910	115	7	dyad	dyad	ADJ
fumecheng-3910	115	8	fig	fig	NOUN
fumecheng-3910	115	9	.	.	PUNCT
fumecheng-3910	116	1	4	4	NUM
fumecheng-3910	116	2	schematics	schematic	NOUN
fumecheng-3910	116	3	and	and	CCONJ
fumecheng-3910	116	4	equations	equation	NOUN
fumecheng-3910	116	5	for	for	ADP
fumecheng-3910	116	6	rtr	rtr	PROPN
fumecheng-3910	116	7	dyad	dyad	PROPN
fumecheng-3910	116	8	fig	fig	PROPN
fumecheng-3910	116	9	.	.	PUNCT
fumecheng-3910	117	1	5	5	NUM
fumecheng-3910	117	2	schematics	schematic	NOUN
fumecheng-3910	117	3	and	and	CCONJ
fumecheng-3910	117	4	equations	equation	NOUN
fumecheng-3910	117	5	for	for	ADP
fumecheng-3910	117	6	rtt	rtt	PROPN
fumecheng-3910	117	7	dyad	dyad	PROPN
fumecheng-3910	117	8	cloud	cloud	NOUN
fumecheng-3910	117	9	-	-	PUNCT
fumecheng-3910	117	10	based	base	VERB
fumecheng-3910	117	11	expert	expert	NOUN
fumecheng-3910	117	12	system	system	NOUN
fumecheng-3910	117	13	for	for	ADP
fumecheng-3910	117	14	synthesis	synthesis	NOUN
fumecheng-3910	117	15	and	and	CCONJ
fumecheng-3910	117	16	evolutionary	evolutionary	ADJ
fumecheng-3910	117	17	optimization	optimization	NOUN
fumecheng-3910	117	18	of	of	ADP
fumecheng-3910	117	19	planar	planar	ADJ
fumecheng-3910	117	20	linkages	linkage	NOUN
fumecheng-3910	117	21	147	147	NUM
fumecheng-3910	117	22	table	table	NOUN
fumecheng-3910	117	23	1	1	NUM
fumecheng-3910	117	24	velocities	velocity	NOUN
fumecheng-3910	117	25	and	and	CCONJ
fumecheng-3910	117	26	accelerations	acceleration	NOUN
fumecheng-3910	117	27	of	of	ADP
fumecheng-3910	117	28	the	the	DET
fumecheng-3910	117	29	dyads	dyad	NOUN
fumecheng-3910	117	30	output	output	NOUN
fumecheng-3910	117	31	parameters	parameter	NOUN
fumecheng-3910	117	32	dyad	dyad	VERB
fumecheng-3910	117	33	input	input	NOUN
fumecheng-3910	117	34	/	/	SYM
fumecheng-3910	117	35	output	output	NOUN
fumecheng-3910	117	36	singularities	singularity	NOUN
fumecheng-3910	117	37	jacobian	jacobian	ADJ
fumecheng-3910	117	38	rrr	rrr	PROPN
fumecheng-3910	117	39	13	13	NUM
fumecheng-3910	117	40	13	13	NUM
fumecheng-3910	117	41	x	x	SYM
fumecheng-3910	117	42	y	y	NOUN
fumecheng-3910	117	43			NOUN
fumecheng-3910	117	44			INTJ
fumecheng-3910	117	45			PROPN
fumecheng-3910	117	46			NOUN
fumecheng-3910	117	47			PROPN
fumecheng-3910	117	48			PROPN
fumecheng-3910	117	49			PROPN
fumecheng-3910	117	50	inq	inq	PROPN
fumecheng-3910	117	51	,	,	PUNCT
fumecheng-3910	117	52	13	13	NUM
fumecheng-3910	117	53	13	13	NUM
fumecheng-3910	117	54	x	x	SYM
fumecheng-3910	117	55	y	y	NOUN
fumecheng-3910	117	56			NOUN
fumecheng-3910	117	57			INTJ
fumecheng-3910	117	58			PROPN
fumecheng-3910	117	59			NOUN
fumecheng-3910	117	60			PROPN
fumecheng-3910	117	61			PROPN
fumecheng-3910	117	62			PROPN
fumecheng-3910	117	63	inq	inq	NOUN
fumecheng-3910	117	64	1	1	NUM
fumecheng-3910	117	65	2	2	NUM
fumecheng-3910	117	66			PROPN
fumecheng-3910	117	67			PROPN
fumecheng-3910	117	68			PROPN
fumecheng-3910	117	69			NOUN
fumecheng-3910	117	70			PROPN
fumecheng-3910	117	71			NOUN
fumecheng-3910	117	72			NOUN
fumecheng-3910	117	73			NOUN
fumecheng-3910	117	74			PROPN
fumecheng-3910	117	75	outq	outq	ADJ
fumecheng-3910	117	76	,	,	PUNCT
fumecheng-3910	117	77	1	1	NUM
fumecheng-3910	117	78	2	2	NUM
fumecheng-3910	117	79			PROPN
fumecheng-3910	117	80			PROPN
fumecheng-3910	117	81			PROPN
fumecheng-3910	117	82			NOUN
fumecheng-3910	117	83			PROPN
fumecheng-3910	117	84			NOUN
fumecheng-3910	117	85			NOUN
fumecheng-3910	117	86			NOUN
fumecheng-3910	117	87			PROPN
fumecheng-3910	117	88	outq	outq	VERB
fumecheng-3910	117	89	1	1	NUM
fumecheng-3910	117	90	2	2	NUM
fumecheng-3910	117	91	2	2	NUM
fumecheng-3910	117	92	k	k	NOUN
fumecheng-3910	117	93			PROPN
fumecheng-3910	117	94			PROPN
fumecheng-3910	117	95			NOUN
fumecheng-3910	117	96			NOUN
fumecheng-3910	117	97			PUNCT
fumecheng-3910	117	98	1	1	NUM
fumecheng-3910	117	99	2	2	NUM
fumecheng-3910	117	100	2	2	NUM
fumecheng-3910	117	101	k	k	NOUN
fumecheng-3910	117	102			PROPN
fumecheng-3910	117	103			NUM
fumecheng-3910	117	104			PROPN
fumecheng-3910	117	105	k	k	PROPN
fumecheng-3910	118	1			NOUN
fumecheng-3910	118	2	1	1	NUM
fumecheng-3910	118	3	1	1	NUM
fumecheng-3910	118	4	2	2	NUM
fumecheng-3910	118	5	2	2	NUM
fumecheng-3910	118	6	1	1	NUM
fumecheng-3910	118	7	1	1	NUM
fumecheng-3910	118	8	2	2	NUM
fumecheng-3910	118	9	2	2	NUM
fumecheng-3910	118	10	l	l	NOUN
fumecheng-3910	118	11	s	s	PART
fumecheng-3910	118	12	l	l	NOUN
fumecheng-3910	118	13	s	s	PART
fumecheng-3910	118	14	l	l	NOUN
fumecheng-3910	118	15	c	c	NOUN
fumecheng-3910	118	16	l	l	NOUN
fumecheng-3910	118	17	c	c	NOUN
fumecheng-3910	119	1			INTJ
fumecheng-3910	119	2			NOUN
fumecheng-3910	119	3			PROPN
fumecheng-3910	119	4			NOUN
fumecheng-3910	119	5			ADJ
fumecheng-3910	119	6			NOUN
fumecheng-3910	119	7			NOUN
fumecheng-3910	119	8			PROPN
fumecheng-3910	119	9	j	j	PROPN
fumecheng-3910	119	10	,	,	PUNCT
fumecheng-3910	119	11	1	1	NUM
fumecheng-3910	119	12	1	1	NUM
fumecheng-3910	119	13	1	1	NUM
fumecheng-3910	119	14	2	2	NUM
fumecheng-3910	119	15	2	2	NUM
fumecheng-3910	119	16	2	2	NUM
fumecheng-3910	119	17	1	1	NUM
fumecheng-3910	119	18	1	1	NUM
fumecheng-3910	119	19	1	1	NUM
fumecheng-3910	119	20	2	2	NUM
fumecheng-3910	119	21	2	2	NUM
fumecheng-3910	119	22	2	2	NUM
fumecheng-3910	119	23	l	l	NOUN
fumecheng-3910	119	24	c	c	NOUN
fumecheng-3910	119	25	l	l	NOUN
fumecheng-3910	119	26	c	c	NOUN
fumecheng-3910	119	27	l	l	NOUN
fumecheng-3910	119	28	s	s	PART
fumecheng-3910	119	29	l	l	NOUN
fumecheng-3910	119	30	s	s	X
fumecheng-3910	119	31			ADJ
fumecheng-3910	119	32			ADJ
fumecheng-3910	119	33			PROPN
fumecheng-3910	119	34			PROPN
fumecheng-3910	119	35			PROPN
fumecheng-3910	119	36			NOUN
fumecheng-3910	119	37			PROPN
fumecheng-3910	119	38			NOUN
fumecheng-3910	119	39			NOUN
fumecheng-3910	119	40			VERB
fumecheng-3910	119	41			PROPN
fumecheng-3910	119	42	j	j	PROPN
fumecheng-3910	119	43	2	2	NUM
fumecheng-3910	119	44	2	2	NUM
fumecheng-3910	119	45	1	1	NUM
fumecheng-3910	119	46	1	1	NUM
fumecheng-3910	119	47	1	1	NUM
fumecheng-3910	119	48	11	11	NUM
fumecheng-3910	119	49	2	2	NUM
fumecheng-3910	119	50	2	2	NUM
fumecheng-3910	119	51	2	2	NUM
fumecheng-3910	119	52	1	1	NUM
fumecheng-3910	119	53	sin	sin	NOUN
fumecheng-3910	119	54	(	(	PUNCT
fumecheng-3910	119	55	)	)	PUNCT
fumecheng-3910	119	56	c	c	PROPN
fumecheng-3910	119	57	s	s	PROPN
fumecheng-3910	119	58	l	l	NOUN
fumecheng-3910	119	59	l	l	NOUN
fumecheng-3910	120	1	c	c	NOUN
fumecheng-3910	120	2	s	s	PROPN
fumecheng-3910	120	3	l	l	NOUN
fumecheng-3910	120	4	l	l	NOUN
fumecheng-3910	120	5			PROPN
fumecheng-3910	120	6			PROPN
fumecheng-3910	120	7			PROPN
fumecheng-3910	120	8			ADJ
fumecheng-3910	120	9			NOUN
fumecheng-3910	120	10			PROPN
fumecheng-3910	120	11			NOUN
fumecheng-3910	120	12			NUM
fumecheng-3910	120	13			NOUN
fumecheng-3910	120	14			NOUN
fumecheng-3910	120	15			NOUN
fumecheng-3910	120	16			PROPN
fumecheng-3910	120	17			PROPN
fumecheng-3910	120	18			NOUN
fumecheng-3910	120	19			PROPN
fumecheng-3910	120	20			PROPN
fumecheng-3910	120	21	-1	-1	PUNCT
fumecheng-3910	120	22	j	j	PROPN
fumecheng-3910	120	23	rrt	rrt	PROPN
fumecheng-3910	120	24	13	13	NUM
fumecheng-3910	120	25	13	13	NUM
fumecheng-3910	120	26	x	x	SYM
fumecheng-3910	120	27	y	y	NOUN
fumecheng-3910	120	28			NOUN
fumecheng-3910	120	29			INTJ
fumecheng-3910	120	30			PROPN
fumecheng-3910	120	31			NOUN
fumecheng-3910	120	32			PROPN
fumecheng-3910	120	33			PROPN
fumecheng-3910	120	34			PROPN
fumecheng-3910	120	35	inq	inq	PROPN
fumecheng-3910	120	36	,	,	PUNCT
fumecheng-3910	120	37	13	13	NUM
fumecheng-3910	120	38	13	13	NUM
fumecheng-3910	120	39	x	x	SYM
fumecheng-3910	120	40	y	y	NOUN
fumecheng-3910	120	41			NOUN
fumecheng-3910	120	42			INTJ
fumecheng-3910	120	43			PROPN
fumecheng-3910	120	44			NOUN
fumecheng-3910	120	45			PROPN
fumecheng-3910	120	46			PROPN
fumecheng-3910	120	47			PROPN
fumecheng-3910	120	48	inq	inq	NOUN
fumecheng-3910	120	49	1	1	NUM
fumecheng-3910	120	50	s	s	PART
fumecheng-3910	120	51			NOUN
fumecheng-3910	120	52			NOUN
fumecheng-3910	120	53			PROPN
fumecheng-3910	120	54			NOUN
fumecheng-3910	120	55			NOUN
fumecheng-3910	120	56			NOUN
fumecheng-3910	120	57			PROPN
fumecheng-3910	120	58	outq	outq	ADJ
fumecheng-3910	120	59	,	,	PUNCT
fumecheng-3910	120	60	1	1	NUM
fumecheng-3910	120	61	s	s	ADP
fumecheng-3910	120	62			NOUN
fumecheng-3910	120	63			NOUN
fumecheng-3910	120	64			PROPN
fumecheng-3910	120	65			NOUN
fumecheng-3910	120	66			NOUN
fumecheng-3910	120	67			NOUN
fumecheng-3910	120	68			PROPN
fumecheng-3910	120	69	outq	outq	VERB
fumecheng-3910	120	70	1	1	NUM
fumecheng-3910	120	71	3	3	NUM
fumecheng-3910	120	72	2	2	NUM
fumecheng-3910	120	73	2	2	NUM
fumecheng-3910	120	74	k	k	NOUN
fumecheng-3910	120	75			ADJ
fumecheng-3910	120	76			PROPN
fumecheng-3910	120	77			PROPN
fumecheng-3910	120	78			NOUN
fumecheng-3910	120	79			NOUN
fumecheng-3910	120	80			PUNCT
fumecheng-3910	120	81	1	1	NUM
fumecheng-3910	120	82	3	3	NUM
fumecheng-3910	120	83	2	2	NUM
fumecheng-3910	120	84	2	2	NUM
fumecheng-3910	120	85	k	k	NOUN
fumecheng-3910	120	86			ADJ
fumecheng-3910	120	87			PROPN
fumecheng-3910	120	88			PROPN
fumecheng-3910	120	89			VERB
fumecheng-3910	120	90			PROPN
fumecheng-3910	120	91			PROPN
fumecheng-3910	120	92	k	k	PROPN
fumecheng-3910	121	1			NOUN
fumecheng-3910	121	2	1	1	NUM
fumecheng-3910	121	3	1	1	NUM
fumecheng-3910	121	4	3	3	NUM
fumecheng-3910	121	5	1	1	NUM
fumecheng-3910	121	6	1	1	NUM
fumecheng-3910	121	7	3	3	NUM
fumecheng-3910	121	8	l	l	NOUN
fumecheng-3910	121	9	s	s	NOUN
fumecheng-3910	121	10	c	c	NOUN
fumecheng-3910	121	11	l	l	NOUN
fumecheng-3910	121	12	c	c	NOUN
fumecheng-3910	121	13	s	s	NOUN
fumecheng-3910	121	14			NOUN
fumecheng-3910	121	15			NOUN
fumecheng-3910	121	16			PROPN
fumecheng-3910	121	17			NOUN
fumecheng-3910	121	18			ADJ
fumecheng-3910	121	19			NOUN
fumecheng-3910	121	20			NOUN
fumecheng-3910	121	21			PROPN
fumecheng-3910	121	22	j	j	PROPN
fumecheng-3910	121	23	,	,	PUNCT
fumecheng-3910	121	24	1	1	NUM
fumecheng-3910	121	25	1	1	NUM
fumecheng-3910	121	26	1	1	NUM
fumecheng-3910	121	27	3	3	NUM
fumecheng-3910	121	28	3	3	NUM
fumecheng-3910	121	29	1	1	NUM
fumecheng-3910	121	30	1	1	NUM
fumecheng-3910	121	31	1	1	NUM
fumecheng-3910	121	32	3	3	NUM
fumecheng-3910	121	33	3	3	NUM
fumecheng-3910	121	34	l	l	NOUN
fumecheng-3910	121	35	c	c	NOUN
fumecheng-3910	121	36	s	s	PART
fumecheng-3910	121	37	l	l	NOUN
fumecheng-3910	121	38	s	s	X
fumecheng-3910	121	39	c	c	NOUN
fumecheng-3910	121	40			ADJ
fumecheng-3910	121	41			PROPN
fumecheng-3910	121	42			PROPN
fumecheng-3910	121	43			PROPN
fumecheng-3910	121	44			PROPN
fumecheng-3910	121	45			NOUN
fumecheng-3910	121	46			PROPN
fumecheng-3910	121	47			NOUN
fumecheng-3910	121	48			NOUN
fumecheng-3910	121	49			NOUN
fumecheng-3910	121	50			PROPN
fumecheng-3910	121	51	j	j	PROPN
fumecheng-3910	121	52	3	3	NUM
fumecheng-3910	121	53	3	3	NUM
fumecheng-3910	121	54	1	1	NUM
fumecheng-3910	121	55	1	1	NUM
fumecheng-3910	121	56	1	1	NUM
fumecheng-3910	121	57	3	3	NUM
fumecheng-3910	121	58	1	1	NUM
fumecheng-3910	121	59	1	1	NUM
fumecheng-3910	121	60	1	1	NUM
fumecheng-3910	121	61	cos	cos	PROPN
fumecheng-3910	121	62	(	(	PUNCT
fumecheng-3910	121	63	)	)	PUNCT
fumecheng-3910	121	64	s	s	PROPN
fumecheng-3910	121	65	c	c	NOUN
fumecheng-3910	121	66	l	l	NOUN
fumecheng-3910	121	67	l	l	NOUN
fumecheng-3910	122	1	c	c	NOUN
fumecheng-3910	122	2	s	s	X
fumecheng-3910	122	3			PROPN
fumecheng-3910	122	4			PROPN
fumecheng-3910	122	5			PROPN
fumecheng-3910	122	6			ADJ
fumecheng-3910	122	7			PROPN
fumecheng-3910	122	8			PROPN
fumecheng-3910	122	9			NOUN
fumecheng-3910	122	10			NOUN
fumecheng-3910	122	11			NOUN
fumecheng-3910	122	12			NOUN
fumecheng-3910	122	13			NOUN
fumecheng-3910	122	14			PROPN
fumecheng-3910	122	15	-1	-1	ADP
fumecheng-3910	122	16	j	j	PROPN
fumecheng-3910	122	17	rtr	rtr	PROPN
fumecheng-3910	122	18	13	13	NUM
fumecheng-3910	122	19	13	13	NUM
fumecheng-3910	122	20	x	x	SYM
fumecheng-3910	122	21	y	y	NOUN
fumecheng-3910	122	22			NOUN
fumecheng-3910	122	23			INTJ
fumecheng-3910	122	24			PROPN
fumecheng-3910	122	25			NOUN
fumecheng-3910	122	26			PROPN
fumecheng-3910	122	27			PROPN
fumecheng-3910	122	28			PROPN
fumecheng-3910	122	29	inq	inq	PROPN
fumecheng-3910	122	30	,	,	PUNCT
fumecheng-3910	122	31	13	13	NUM
fumecheng-3910	122	32	13	13	NUM
fumecheng-3910	122	33	x	x	SYM
fumecheng-3910	122	34	y	y	NOUN
fumecheng-3910	122	35			NOUN
fumecheng-3910	122	36			INTJ
fumecheng-3910	122	37			PROPN
fumecheng-3910	122	38			NOUN
fumecheng-3910	122	39			PROPN
fumecheng-3910	122	40			PROPN
fumecheng-3910	122	41			PROPN
fumecheng-3910	122	42	inq	inq	NOUN
fumecheng-3910	122	43	1	1	NUM
fumecheng-3910	122	44	s	s	PART
fumecheng-3910	122	45			NOUN
fumecheng-3910	122	46			NOUN
fumecheng-3910	122	47			PROPN
fumecheng-3910	122	48			NOUN
fumecheng-3910	122	49			NOUN
fumecheng-3910	122	50			NOUN
fumecheng-3910	122	51			PROPN
fumecheng-3910	122	52	outq	outq	ADJ
fumecheng-3910	122	53	,	,	PUNCT
fumecheng-3910	122	54	1	1	NUM
fumecheng-3910	122	55	s	s	ADP
fumecheng-3910	122	56			NOUN
fumecheng-3910	122	57			NOUN
fumecheng-3910	122	58			PROPN
fumecheng-3910	122	59			NOUN
fumecheng-3910	122	60			NOUN
fumecheng-3910	122	61			NOUN
fumecheng-3910	122	62			PROPN
fumecheng-3910	122	63	outq	outq	VERB
fumecheng-3910	122	64	1	1	NUM
fumecheng-3910	122	65	coss	coss	PROPN
fumecheng-3910	122	66	l	l	NOUN
fumecheng-3910	122	67			NOUN
fumecheng-3910	122	68			VERB
fumecheng-3910	122	69	1	1	NUM
fumecheng-3910	122	70	1	1	NUM
fumecheng-3910	122	71	1	1	NUM
fumecheng-3910	122	72	1	1	NUM
fumecheng-3910	122	73	1	1	NUM
fumecheng-3910	122	74	1	1	NUM
fumecheng-3910	122	75	1	1	NUM
fumecheng-3910	122	76	1	1	NUM
fumecheng-3910	122	77	1	1	NUM
fumecheng-3910	122	78	1	1	NUM
fumecheng-3910	122	79	l	l	NOUN
fumecheng-3910	122	80	s	s	PART
fumecheng-3910	122	81	ss	ss	PROPN
fumecheng-3910	122	82	rc	rc	PROPN
fumecheng-3910	122	83	c	c	PROPN
fumecheng-3910	122	84	l	l	PROPN
fumecheng-3910	122	85	c	c	PROPN
fumecheng-3910	122	86	sc	sc	PROPN
fumecheng-3910	122	87	rs	rs	PROPN
fumecheng-3910	122	88	s	s	PART
fumecheng-3910	122	89			NOUN
fumecheng-3910	122	90			X
fumecheng-3910	122	91			X
fumecheng-3910	122	92			X
fumecheng-3910	122	93			X
fumecheng-3910	122	94			X
fumecheng-3910	122	95			VERB
fumecheng-3910	122	96			NOUN
fumecheng-3910	122	97			NOUN
fumecheng-3910	122	98			NOUN
fumecheng-3910	122	99			PROPN
fumecheng-3910	122	100			NOUN
fumecheng-3910	122	101			PROPN
fumecheng-3910	122	102			PROPN
fumecheng-3910	122	103			PROPN
fumecheng-3910	122	104			PROPN
fumecheng-3910	122	105			NOUN
fumecheng-3910	122	106			PROPN
fumecheng-3910	122	107	j	j	PROPN
fumecheng-3910	122	108	1	1	NUM
fumecheng-3910	122	109	11	11	NUM
fumecheng-3910	122	110	1	1	NUM
fumecheng-3910	122	111	21	21	NUM
fumecheng-3910	122	112	1	1	NUM
fumecheng-3910	122	113	s	s	NOUN
fumecheng-3910	122	114	c	c	NOUN
fumecheng-3910	122	115	n	n	ADP
fumecheng-3910	122	116	ns	ns	NUM
fumecheng-3910	122	117	l	l	NOUN
fumecheng-3910	122	118	c	c	NOUN
fumecheng-3910	122	119			NOUN
fumecheng-3910	122	120			X
fumecheng-3910	122	121			PRON
fumecheng-3910	122	122			VERB
fumecheng-3910	122	123			NOUN
fumecheng-3910	122	124			NOUN
fumecheng-3910	122	125			PROPN
fumecheng-3910	122	126			NOUN
fumecheng-3910	122	127			NOUN
fumecheng-3910	122	128			ADV
fumecheng-3910	122	129			VERB
fumecheng-3910	122	130			PROPN
fumecheng-3910	122	131	j	j	PROPN
fumecheng-3910	122	132	1	1	NUM
fumecheng-3910	122	133	1	1	NUM
fumecheng-3910	122	134	1	1	NUM
fumecheng-3910	122	135	1	1	NUM
fumecheng-3910	122	136	1n	1n	NUM
fumecheng-3910	122	137	sc	sc	PROPN
fumecheng-3910	122	138	rs	rs	NOUN
fumecheng-3910	122	139	lc	lc	NOUN
fumecheng-3910	122	140			PROPN
fumecheng-3910	122	141			PROPN
fumecheng-3910	122	142			PROPN
fumecheng-3910	122	143			PROPN
fumecheng-3910	122	144	2	2	NUM
fumecheng-3910	122	145	1	1	NUM
fumecheng-3910	122	146	1	1	NUM
fumecheng-3910	122	147	1	1	NUM
fumecheng-3910	122	148	1n	1n	NUM
fumecheng-3910	122	149	ss	ss	PROPN
fumecheng-3910	122	150	rc	rc	PROPN
fumecheng-3910	122	151	l	l	PROPN
fumecheng-3910	122	152	s	s	NOUN
fumecheng-3910	122	153			PROPN
fumecheng-3910	122	154			PROPN
fumecheng-3910	122	155			VERB
fumecheng-3910	122	156			NOUN
fumecheng-3910	122	157	1	1	NUM
fumecheng-3910	122	158	1	1	NUM
fumecheng-3910	122	159	1	1	NUM
fumecheng-3910	122	160	1	1	NUM
fumecheng-3910	122	161	1	1	NUM
fumecheng-3910	122	162	1	1	NUM
fumecheng-3910	122	163	1	1	NUM
fumecheng-3910	122	164	1	1	NUM
fumecheng-3910	122	165	1	1	NUM
fumecheng-3910	122	166	1	1	NUM
fumecheng-3910	122	167	1	1	NUM
fumecheng-3910	122	168	1	1	NUM
fumecheng-3910	122	169	1	1	NUM
fumecheng-3910	122	170	1	1	NUM
fumecheng-3910	122	171	1	1	NUM
fumecheng-3910	122	172	1	1	NUM
fumecheng-3910	122	173	(	(	PUNCT
fumecheng-3910	122	174	)	)	PUNCT
fumecheng-3910	122	175	(	(	PUNCT
fumecheng-3910	122	176	)	)	PUNCT
fumecheng-3910	123	1	ss	ss	NOUN
fumecheng-3910	123	2	l	l	PROPN
fumecheng-3910	123	3	c	c	PROPN
fumecheng-3910	123	4	sc	sc	PROPN
fumecheng-3910	124	1	rs	rs	PROPN
fumecheng-3910	124	2	s	s	PART
fumecheng-3910	124	3	sc	sc	PROPN
fumecheng-3910	124	4	l	l	PROPN
fumecheng-3910	124	5	s	s	PROPN
fumecheng-3910	124	6	ss	ss	PROPN
fumecheng-3910	124	7	rc	rc	PROPN
fumecheng-3910	124	8	c	c	PROPN
fumecheng-3910	124	9			X
fumecheng-3910	124	10			X
fumecheng-3910	124	11			X
fumecheng-3910	124	12			X
fumecheng-3910	124	13			X
fumecheng-3910	124	14			X
fumecheng-3910	124	15			X
fumecheng-3910	124	16			X
fumecheng-3910	124	17			ADJ
fumecheng-3910	124	18			ADJ
fumecheng-3910	124	19			PROPN
fumecheng-3910	124	20			PROPN
fumecheng-3910	124	21			NOUN
fumecheng-3910	124	22			PUNCT
fumecheng-3910	124	23			ADV
fumecheng-3910	124	24			NOUN
fumecheng-3910	124	25			PROPN
fumecheng-3910	124	26			NOUN
fumecheng-3910	124	27			PROPN
fumecheng-3910	124	28			NOUN
fumecheng-3910	124	29			PUNCT
fumecheng-3910	124	30			PUNCT
fumecheng-3910	124	31			NOUN
fumecheng-3910	124	32			NOUN
fumecheng-3910	124	33			PROPN
fumecheng-3910	124	34	j	j	PROPN
fumecheng-3910	124	35	trt	trt	PROPN
fumecheng-3910	124	36	13	13	NUM
fumecheng-3910	124	37	13	13	NUM
fumecheng-3910	124	38	x	x	SYM
fumecheng-3910	124	39	y	y	NOUN
fumecheng-3910	124	40			NOUN
fumecheng-3910	124	41			INTJ
fumecheng-3910	124	42			PROPN
fumecheng-3910	124	43			NOUN
fumecheng-3910	124	44			PROPN
fumecheng-3910	124	45			PROPN
fumecheng-3910	124	46			PROPN
fumecheng-3910	124	47	inq	inq	PROPN
fumecheng-3910	124	48	,	,	PUNCT
fumecheng-3910	124	49	13	13	NUM
fumecheng-3910	124	50	13	13	NUM
fumecheng-3910	124	51	x	x	SYM
fumecheng-3910	124	52	y	y	NOUN
fumecheng-3910	124	53			NOUN
fumecheng-3910	124	54			INTJ
fumecheng-3910	124	55			PROPN
fumecheng-3910	124	56			NOUN
fumecheng-3910	124	57			PROPN
fumecheng-3910	124	58			PROPN
fumecheng-3910	124	59			PROPN
fumecheng-3910	124	60	inq	inq	NOUN
fumecheng-3910	124	61	1	1	NUM
fumecheng-3910	124	62	2	2	NUM
fumecheng-3910	124	63	s	s	NOUN
fumecheng-3910	124	64	s	s	NOUN
fumecheng-3910	124	65			NOUN
fumecheng-3910	124	66			NOUN
fumecheng-3910	124	67			PROPN
fumecheng-3910	124	68			NOUN
fumecheng-3910	124	69			NOUN
fumecheng-3910	124	70			NOUN
fumecheng-3910	124	71			PROPN
fumecheng-3910	124	72	outq	outq	ADJ
fumecheng-3910	124	73	,	,	PUNCT
fumecheng-3910	124	74	1	1	NUM
fumecheng-3910	124	75	2	2	NUM
fumecheng-3910	124	76	s	s	NOUN
fumecheng-3910	124	77	s	s	NOUN
fumecheng-3910	124	78			NOUN
fumecheng-3910	124	79			NOUN
fumecheng-3910	124	80			PROPN
fumecheng-3910	124	81			NOUN
fumecheng-3910	124	82			NOUN
fumecheng-3910	124	83			NOUN
fumecheng-3910	124	84			PROPN
fumecheng-3910	124	85	outq	outq	VERB
fumecheng-3910	124	86	3	3	NUM
fumecheng-3910	124	87	4	4	NUM
fumecheng-3910	124	88	2	2	NUM
fumecheng-3910	124	89	k	k	NOUN
fumecheng-3910	124	90			PROPN
fumecheng-3910	124	91			PROPN
fumecheng-3910	124	92			NOUN
fumecheng-3910	124	93			ADV
fumecheng-3910	124	94			PUNCT
fumecheng-3910	124	95	3	3	NUM
fumecheng-3910	124	96	4	4	NUM
fumecheng-3910	124	97	2	2	NUM
fumecheng-3910	124	98	k	k	NOUN
fumecheng-3910	124	99			PROPN
fumecheng-3910	124	100			NUM
fumecheng-3910	124	101			PROPN
fumecheng-3910	124	102	k	k	PROPN
fumecheng-3910	125	1			PROPN
fumecheng-3910	126	1	4	4	NUM
fumecheng-3910	126	2	3	3	NUM
fumecheng-3910	126	3	4	4	NUM
fumecheng-3910	126	4	3	3	NUM
fumecheng-3910	126	5	c	c	NOUN
fumecheng-3910	126	6	c	c	NOUN
fumecheng-3910	126	7	s	s	NOUN
fumecheng-3910	126	8	s	s	NOUN
fumecheng-3910	126	9			NOUN
fumecheng-3910	126	10			NOUN
fumecheng-3910	126	11			PROPN
fumecheng-3910	126	12			NOUN
fumecheng-3910	126	13			NOUN
fumecheng-3910	126	14			NOUN
fumecheng-3910	126	15			PROPN
fumecheng-3910	126	16	j	j	PROPN
fumecheng-3910	126	17	,	,	PUNCT
fumecheng-3910	126	18	4	4	NUM
fumecheng-3910	126	19	4	4	NUM
fumecheng-3910	126	20	3	3	NUM
fumecheng-3910	126	21	3	3	NUM
fumecheng-3910	126	22	4	4	NUM
fumecheng-3910	126	23	4	4	NUM
fumecheng-3910	126	24	3	3	NUM
fumecheng-3910	126	25	3	3	NUM
fumecheng-3910	126	26	s	s	NOUN
fumecheng-3910	126	27	s	s	NOUN
fumecheng-3910	126	28	c	c	NOUN
fumecheng-3910	126	29	c	c	NOUN
fumecheng-3910	126	30			PROPN
fumecheng-3910	126	31			ADJ
fumecheng-3910	126	32			ADJ
fumecheng-3910	126	33			ADJ
fumecheng-3910	126	34			ADJ
fumecheng-3910	126	35			NOUN
fumecheng-3910	126	36			NOUN
fumecheng-3910	126	37			PROPN
fumecheng-3910	126	38			NOUN
fumecheng-3910	126	39			NOUN
fumecheng-3910	126	40			NOUN
fumecheng-3910	126	41			PROPN
fumecheng-3910	126	42	j	j	PROPN
fumecheng-3910	126	43	,	,	PUNCT
fumecheng-3910	126	44	3	3	NUM
fumecheng-3910	126	45	31	31	NUM
fumecheng-3910	126	46	4	4	NUM
fumecheng-3910	126	47	43	43	NUM
fumecheng-3910	126	48	4	4	NUM
fumecheng-3910	126	49	1	1	NUM
fumecheng-3910	126	50	sin	sin	NOUN
fumecheng-3910	126	51	(	(	PUNCT
fumecheng-3910	126	52	)	)	PUNCT
fumecheng-3910	126	53	s	s	VERB
fumecheng-3910	126	54	c	c	NOUN
fumecheng-3910	126	55	s	s	X
fumecheng-3910	126	56	c	c	X
fumecheng-3910	126	57			ADJ
fumecheng-3910	126	58			NOUN
fumecheng-3910	126	59			NOUN
fumecheng-3910	126	60			NOUN
fumecheng-3910	126	61			PROPN
fumecheng-3910	126	62			NOUN
fumecheng-3910	126	63			NOUN
fumecheng-3910	126	64			NUM
fumecheng-3910	126	65			NOUN
fumecheng-3910	126	66			PROPN
fumecheng-3910	126	67	j	j	PROPN
fumecheng-3910	126	68	rtt	rtt	PROPN
fumecheng-3910	126	69	14	14	NUM
fumecheng-3910	126	70	14	14	NUM
fumecheng-3910	126	71	x	x	SYM
fumecheng-3910	126	72	y	y	NOUN
fumecheng-3910	126	73			NOUN
fumecheng-3910	126	74			INTJ
fumecheng-3910	126	75			PROPN
fumecheng-3910	126	76			NOUN
fumecheng-3910	126	77			PROPN
fumecheng-3910	126	78			PROPN
fumecheng-3910	126	79			PROPN
fumecheng-3910	126	80	inq	inq	PROPN
fumecheng-3910	126	81	,	,	PUNCT
fumecheng-3910	126	82	14	14	NUM
fumecheng-3910	126	83	14	14	NUM
fumecheng-3910	126	84	x	x	SYM
fumecheng-3910	126	85	y	y	NOUN
fumecheng-3910	126	86			NOUN
fumecheng-3910	126	87			INTJ
fumecheng-3910	126	88			PROPN
fumecheng-3910	126	89			NOUN
fumecheng-3910	126	90			PROPN
fumecheng-3910	126	91			PROPN
fumecheng-3910	126	92			PROPN
fumecheng-3910	126	93	inq	inq	NOUN
fumecheng-3910	126	94	1	1	NUM
fumecheng-3910	126	95	2s	2s	PROPN
fumecheng-3910	126	96			VERB
fumecheng-3910	126	97			NOUN
fumecheng-3910	126	98			PROPN
fumecheng-3910	126	99			NOUN
fumecheng-3910	126	100			NOUN
fumecheng-3910	126	101			NOUN
fumecheng-3910	126	102			PROPN
fumecheng-3910	126	103	outq	outq	ADJ
fumecheng-3910	126	104	,	,	PUNCT
fumecheng-3910	126	105	1	1	NUM
fumecheng-3910	126	106	2s	2s	NUM
fumecheng-3910	126	107			VERB
fumecheng-3910	126	108			NOUN
fumecheng-3910	126	109			PROPN
fumecheng-3910	126	110			NOUN
fumecheng-3910	126	111			NOUN
fumecheng-3910	126	112			NOUN
fumecheng-3910	126	113			PROPN
fumecheng-3910	126	114	outq	outq	VERB
fumecheng-3910	126	115	2	2	NUM
fumecheng-3910	126	116	2	2	NUM
fumecheng-3910	126	117	k	k	NOUN
fumecheng-3910	126	118			PROPN
fumecheng-3910	126	119			X
fumecheng-3910	126	120			VERB
fumecheng-3910	126	121			ADJ
fumecheng-3910	126	122	2	2	NUM
fumecheng-3910	126	123	2	2	NUM
fumecheng-3910	126	124	k	k	NOUN
fumecheng-3910	126	125			NOUN
fumecheng-3910	126	126			X
fumecheng-3910	126	127			VERB
fumecheng-3910	126	128			PROPN
fumecheng-3910	126	129			PROPN
fumecheng-3910	126	130	k	k	PROPN
fumecheng-3910	127	1			PROPN
fumecheng-3910	127	2			PROPN
fumecheng-3910	127	3			SYM
fumecheng-3910	127	4			NOUN
fumecheng-3910	127	5			PROPN
fumecheng-3910	127	6	2	2	NUM
fumecheng-3910	127	7	3	3	NUM
fumecheng-3910	127	8	3	3	NUM
fumecheng-3910	127	9	2	2	NUM
fumecheng-3910	127	10	3	3	NUM
fumecheng-3910	127	11	3	3	NUM
fumecheng-3910	127	12	sin	sin	NOUN
fumecheng-3910	127	13	cos	cos	ADP
fumecheng-3910	127	14	c	c	PROPN
fumecheng-3910	127	15	s	s	PART
fumecheng-3910	127	16			NOUN
fumecheng-3910	127	17			ADJ
fumecheng-3910	127	18			NOUN
fumecheng-3910	127	19			PROPN
fumecheng-3910	127	20			PROPN
fumecheng-3910	127	21			PROPN
fumecheng-3910	127	22			PROPN
fumecheng-3910	127	23			NOUN
fumecheng-3910	127	24			NOUN
fumecheng-3910	127	25			ADJ
fumecheng-3910	127	26			NOUN
fumecheng-3910	127	27			NOUN
fumecheng-3910	127	28			PROPN
fumecheng-3910	127	29	j	j	PROPN
fumecheng-3910	127	30	3	3	NUM
fumecheng-3910	127	31	31	31	NUM
fumecheng-3910	127	32	2	2	NUM
fumecheng-3910	127	33	3	3	NUM
fumecheng-3910	127	34	2	2	NUM
fumecheng-3910	127	35	32	32	NUM
fumecheng-3910	127	36	1	1	NUM
fumecheng-3910	127	37	cos	cos	PROPN
fumecheng-3910	127	38	(	(	PUNCT
fumecheng-3910	127	39	)	)	PUNCT
fumecheng-3910	127	40	sin	sin	NOUN
fumecheng-3910	127	41	(	(	PUNCT
fumecheng-3910	127	42	)	)	PUNCT
fumecheng-3910	127	43	cos	cos	PROPN
fumecheng-3910	127	44	s	s	PROPN
fumecheng-3910	127	45	c	c	X
fumecheng-3910	127	46			X
fumecheng-3910	127	47			ADJ
fumecheng-3910	127	48			X
fumecheng-3910	127	49			NOUN
fumecheng-3910	127	50			NOUN
fumecheng-3910	127	51			NOUN
fumecheng-3910	127	52			NOUN
fumecheng-3910	127	53			PROPN
fumecheng-3910	127	54			NOUN
fumecheng-3910	127	55			PROPN
fumecheng-3910	127	56			NOUN
fumecheng-3910	127	57			PROPN
fumecheng-3910	127	58			NOUN
fumecheng-3910	127	59			PROPN
fumecheng-3910	127	60	j	j	PROPN
fumecheng-3910	127	61	2	2	NUM
fumecheng-3910	127	62	3	3	NUM
fumecheng-3910	127	63	3	3	NUM
fumecheng-3910	127	64	3	3	NUM
fumecheng-3910	127	65	2	2	NUM
fumecheng-3910	127	66	3	3	NUM
fumecheng-3910	127	67	3	3	NUM
fumecheng-3910	127	68	cos	cos	PROPN
fumecheng-3910	127	69	(	(	PUNCT
fumecheng-3910	127	70	)	)	PUNCT
fumecheng-3910	127	71	sin	sin	NOUN
fumecheng-3910	127	72	(	(	PUNCT
fumecheng-3910	127	73	)	)	PUNCT
fumecheng-3910	127	74	s	s	VERB
fumecheng-3910	127	75	c	c	NOUN
fumecheng-3910	127	76			NOUN
fumecheng-3910	127	77			ADJ
fumecheng-3910	127	78			ADJ
fumecheng-3910	127	79			NOUN
fumecheng-3910	127	80			ADJ
fumecheng-3910	127	81			NOUN
fumecheng-3910	127	82			NOUN
fumecheng-3910	127	83			NOUN
fumecheng-3910	127	84			PROPN
fumecheng-3910	127	85			NOUN
fumecheng-3910	127	86			ADJ
fumecheng-3910	127	87			NOUN
fumecheng-3910	127	88			NOUN
fumecheng-3910	127	89			PROPN
fumecheng-3910	127	90	j	j	PROPN
fumecheng-3910	127	91	148	148	NUM
fumecheng-3910	127	92	r.	r.	PROPN
fumecheng-3910	127	93	mitrev	mitrev	PROPN
fumecheng-3910	127	94	,	,	PUNCT
fumecheng-3910	127	95	b.	b.	PROPN
fumecheng-3910	127	96	tudjarov	tudjarov	PROPN
fumecheng-3910	127	97	,	,	PUNCT
fumecheng-3910	127	98	t.todorov	t.todorov	DET
fumecheng-3910	127	99	3	3	X
fumecheng-3910	127	100	.	.	PUNCT
fumecheng-3910	127	101	development	development	NOUN
fumecheng-3910	127	102	of	of	ADP
fumecheng-3910	127	103	an	an	DET
fumecheng-3910	127	104	experimental	experimental	ADJ
fumecheng-3910	127	105	cloud	cloud	NOUN
fumecheng-3910	127	106	-	-	PUNCT
fumecheng-3910	127	107	based	base	VERB
fumecheng-3910	127	108	expert	expert	NOUN
fumecheng-3910	127	109	system	system	NOUN
fumecheng-3910	127	110	in	in	ADP
fumecheng-3910	127	111	order	order	NOUN
fumecheng-3910	127	112	to	to	PART
fumecheng-3910	127	113	combine	combine	VERB
fumecheng-3910	127	114	the	the	DET
fumecheng-3910	127	115	modular	modular	ADJ
fumecheng-3910	127	116	approach	approach	NOUN
fumecheng-3910	127	117	and	and	CCONJ
fumecheng-3910	127	118	the	the	DET
fumecheng-3910	127	119	optimization	optimization	NOUN
fumecheng-3910	127	120	synthesis	synthesis	NOUN
fumecheng-3910	127	121	in	in	ADP
fumecheng-3910	127	122	a	a	DET
fumecheng-3910	127	123	common	common	ADJ
fumecheng-3910	127	124	software	software	NOUN
fumecheng-3910	127	125	environment	environment	NOUN
fumecheng-3910	127	126	,	,	PUNCT
fumecheng-3910	127	127	an	an	DET
fumecheng-3910	127	128	experimental	experimental	ADJ
fumecheng-3910	127	129	cloud	cloud	NOUN
fumecheng-3910	127	130	-	-	PUNCT
fumecheng-3910	127	131	based	base	VERB
fumecheng-3910	127	132	expert	expert	NOUN
fumecheng-3910	127	133	system	system	NOUN
fumecheng-3910	127	134	for	for	ADP
fumecheng-3910	127	135	synthesis	synthesis	NOUN
fumecheng-3910	127	136	and	and	CCONJ
fumecheng-3910	127	137	evolutionary	evolutionary	ADJ
fumecheng-3910	127	138	optimization	optimization	NOUN
fumecheng-3910	127	139	of	of	ADP
fumecheng-3910	127	140	planar	planar	ADJ
fumecheng-3910	127	141	linkages	linkage	NOUN
fumecheng-3910	127	142	based	base	VERB
fumecheng-3910	127	143	on	on	ADP
fumecheng-3910	127	144	the	the	DET
fumecheng-3910	127	145	derived	derive	VERB
fumecheng-3910	127	146	in	in	ADP
fumecheng-3910	127	147	section	section	NOUN
fumecheng-3910	127	148	2	2	NUM
fumecheng-3910	127	149	assur	assur	PROPN
fumecheng-3910	127	150	’s	’s	PART
fumecheng-3910	127	151	groups	group	NOUN
fumecheng-3910	127	152	equations	equation	NOUN
fumecheng-3910	127	153	has	have	AUX
fumecheng-3910	127	154	been	be	AUX
fumecheng-3910	127	155	developed	develop	VERB
fumecheng-3910	127	156	and	and	CCONJ
fumecheng-3910	127	157	tested	test	VERB
fumecheng-3910	127	158	.	.	PUNCT
fumecheng-3910	128	1	the	the	DET
fumecheng-3910	128	2	system	system	NOUN
fumecheng-3910	128	3	consists	consist	VERB
fumecheng-3910	128	4	of	of	ADP
fumecheng-3910	128	5	the	the	DET
fumecheng-3910	128	6	following	follow	VERB
fumecheng-3910	128	7	software	software	NOUN
fumecheng-3910	128	8	modules	module	NOUN
fumecheng-3910	128	9	:	:	PUNCT
fumecheng-3910	128	10	1	1	X
fumecheng-3910	128	11	)	)	PUNCT
fumecheng-3910	128	12	a	a	DET
fumecheng-3910	128	13	module	module	NOUN
fumecheng-3910	128	14	for	for	ADP
fumecheng-3910	128	15	linkage	linkage	NOUN
fumecheng-3910	128	16	synthesis	synthesis	NOUN
fumecheng-3910	128	17	and	and	CCONJ
fumecheng-3910	128	18	optimization	optimization	NOUN
fumecheng-3910	128	19	using	use	VERB
fumecheng-3910	128	20	evolutionary	evolutionary	ADJ
fumecheng-3910	128	21	optimization	optimization	NOUN
fumecheng-3910	128	22	methods	method	NOUN
fumecheng-3910	128	23	,	,	PUNCT
fumecheng-3910	128	24	and	and	CCONJ
fumecheng-3910	128	25	,	,	PUNCT
fumecheng-3910	128	26	2	2	X
fumecheng-3910	128	27	)	)	PUNCT
fumecheng-3910	128	28	a	a	DET
fumecheng-3910	128	29	module	module	NOUN
fumecheng-3910	128	30	with	with	ADP
fumecheng-3910	128	31	a	a	DET
fumecheng-3910	128	32	user	user	NOUN
fumecheng-3910	128	33	interface	interface	NOUN
fumecheng-3910	128	34	for	for	ADP
fumecheng-3910	128	35	linkage	linkage	NOUN
fumecheng-3910	128	36	visualization	visualization	NOUN
fumecheng-3910	128	37	,	,	PUNCT
fumecheng-3910	128	38	results	result	VERB
fumecheng-3910	128	39	plotting	plot	VERB
fumecheng-3910	128	40	and	and	CCONJ
fumecheng-3910	128	41	animation	animation	NOUN
fumecheng-3910	128	42	.	.	PUNCT
fumecheng-3910	129	1	among	among	ADP
fumecheng-3910	129	2	the	the	DET
fumecheng-3910	129	3	available	available	ADJ
fumecheng-3910	129	4	evolutionary	evolutionary	ADJ
fumecheng-3910	129	5	algorithms	algorithm	NOUN
fumecheng-3910	129	6	[	[	X
fumecheng-3910	129	7	23,24	23,24	ADP
fumecheng-3910	129	8	]	]	X
fumecheng-3910	129	9	the	the	DET
fumecheng-3910	129	10	genetic	genetic	ADJ
fumecheng-3910	129	11	optimization	optimization	NOUN
fumecheng-3910	129	12	algorithms	algorithm	NOUN
fumecheng-3910	129	13	(	(	PUNCT
fumecheng-3910	129	14	ga	ga	NOUN
fumecheng-3910	129	15	)	)	PUNCT
fumecheng-3910	129	16	are	be	AUX
fumecheng-3910	129	17	chosen	choose	VERB
fumecheng-3910	129	18	and	and	CCONJ
fumecheng-3910	129	19	implemented	implement	VERB
fumecheng-3910	129	20	in	in	ADP
fumecheng-3910	129	21	the	the	DET
fumecheng-3910	129	22	developed	develop	VERB
fumecheng-3910	129	23	cloud	cloud	NOUN
fumecheng-3910	129	24	-	-	PUNCT
fumecheng-3910	129	25	based	base	VERB
fumecheng-3910	129	26	expert	expert	NOUN
fumecheng-3910	129	27	system	system	NOUN
fumecheng-3910	129	28	[	[	X
fumecheng-3910	129	29	25	25	NUM
fumecheng-3910	129	30	]	]	PUNCT
fumecheng-3910	129	31	.	.	PUNCT
fumecheng-3910	130	1	it	it	PRON
fumecheng-3910	130	2	allows	allow	VERB
fumecheng-3910	130	3	remote	remote	ADJ
fumecheng-3910	130	4	creation	creation	NOUN
fumecheng-3910	130	5	of	of	ADP
fumecheng-3910	130	6	the	the	DET
fumecheng-3910	130	7	models	model	NOUN
fumecheng-3910	130	8	of	of	ADP
fumecheng-3910	130	9	genetic	genetic	ADJ
fumecheng-3910	130	10	algorithms	algorithm	NOUN
fumecheng-3910	130	11	and	and	CCONJ
fumecheng-3910	130	12	the	the	DET
fumecheng-3910	130	13	receiving	receiving	NOUN
fumecheng-3910	130	14	of	of	ADP
fumecheng-3910	130	15	the	the	DET
fumecheng-3910	130	16	results	result	NOUN
fumecheng-3910	130	17	by	by	ADP
fumecheng-3910	130	18	means	mean	NOUN
fumecheng-3910	130	19	of	of	ADP
fumecheng-3910	130	20	a	a	DET
fumecheng-3910	130	21	user	user	NOUN
fumecheng-3910	130	22	-	-	PUNCT
fumecheng-3910	130	23	friendly	friendly	ADJ
fumecheng-3910	130	24	interface	interface	NOUN
fumecheng-3910	130	25	.	.	PUNCT
fumecheng-3910	131	1	by	by	ADP
fumecheng-3910	131	2	exploiting	exploit	VERB
fumecheng-3910	131	3	the	the	DET
fumecheng-3910	131	4	application	application	NOUN
fumecheng-3910	131	5	,	,	PUNCT
fumecheng-3910	131	6	the	the	DET
fumecheng-3910	131	7	user	user	NOUN
fumecheng-3910	131	8	can	can	AUX
fumecheng-3910	131	9	produce	produce	VERB
fumecheng-3910	131	10	and	and	CCONJ
fumecheng-3910	131	11	edit	edit	VERB
fumecheng-3910	131	12	the	the	DET
fumecheng-3910	131	13	initial	initial	ADJ
fumecheng-3910	131	14	information	information	NOUN
fumecheng-3910	131	15	about	about	ADP
fumecheng-3910	131	16	the	the	DET
fumecheng-3910	131	17	synthesized	synthesize	VERB
fumecheng-3910	131	18	or	or	CCONJ
fumecheng-3910	131	19	optimized	optimize	VERB
fumecheng-3910	131	20	linkage	linkage	NOUN
fumecheng-3910	131	21	;	;	PUNCT
fumecheng-3910	131	22	thus	thus	ADV
fumecheng-3910	131	23	he	he	PRON
fumecheng-3910	131	24	can	can	AUX
fumecheng-3910	131	25	receive	receive	VERB
fumecheng-3910	131	26	the	the	DET
fumecheng-3910	131	27	calculation	calculation	NOUN
fumecheng-3910	131	28	results	result	NOUN
fumecheng-3910	131	29	as	as	ADP
fumecheng-3910	131	30	a	a	DET
fumecheng-3910	131	31	web	web	NOUN
fumecheng-3910	131	32	page	page	NOUN
fumecheng-3910	131	33	and/or	and/or	CCONJ
fumecheng-3910	131	34	as	as	ADP
fumecheng-3910	131	35	ms	ms	PROPN
fumecheng-3910	131	36	excel	excel	PROPN
fumecheng-3910	131	37	file	file	NOUN
fumecheng-3910	131	38	.	.	PUNCT
fumecheng-3910	132	1	the	the	DET
fumecheng-3910	132	2	ga	ga	PROPN
fumecheng-3910	132	3	framework	framework	NOUN
fumecheng-3910	132	4	used	use	VERB
fumecheng-3910	132	5	technologies	technology	NOUN
fumecheng-3910	132	6	and	and	CCONJ
fumecheng-3910	132	7	realized	realize	VERB
fumecheng-3910	132	8	functions	function	NOUN
fumecheng-3910	132	9	are	be	AUX
fumecheng-3910	132	10	shown	show	VERB
fumecheng-3910	132	11	in	in	ADP
fumecheng-3910	132	12	fig.6a	fig.6a	PROPN
fumecheng-3910	132	13	)	)	PUNCT
fumecheng-3910	132	14	.	.	PUNCT
fumecheng-3910	133	1	the	the	DET
fumecheng-3910	133	2	sequence	sequence	NOUN
fumecheng-3910	133	3	of	of	ADP
fumecheng-3910	133	4	the	the	DET
fumecheng-3910	133	5	work	work	NOUN
fumecheng-3910	133	6	with	with	ADP
fumecheng-3910	133	7	the	the	DET
fumecheng-3910	133	8	experimental	experimental	ADJ
fumecheng-3910	133	9	application	application	NOUN
fumecheng-3910	133	10	is	be	AUX
fumecheng-3910	133	11	as	as	SCONJ
fumecheng-3910	133	12	follows	follow	VERB
fumecheng-3910	133	13	:	:	PUNCT
fumecheng-3910	133	14	a	a	X
fumecheng-3910	133	15	)	)	PUNCT
fumecheng-3910	133	16	the	the	DET
fumecheng-3910	133	17	user	user	NOUN
fumecheng-3910	133	18	creates	create	VERB
fumecheng-3910	133	19	a	a	DET
fumecheng-3910	133	20	description	description	NOUN
fumecheng-3910	133	21	of	of	ADP
fumecheng-3910	133	22	the	the	DET
fumecheng-3910	133	23	specific	specific	ADJ
fumecheng-3910	133	24	problem	problem	NOUN
fumecheng-3910	133	25	(	(	PUNCT
fumecheng-3910	133	26	model	model	NOUN
fumecheng-3910	133	27	of	of	ADP
fumecheng-3910	133	28	genetic	genetic	ADJ
fumecheng-3910	133	29	algorithm	algorithm	NOUN
fumecheng-3910	133	30	)	)	PUNCT
fumecheng-3910	133	31	that	that	PRON
fumecheng-3910	133	32	is	be	AUX
fumecheng-3910	133	33	transported	transport	VERB
fumecheng-3910	133	34	and	and	CCONJ
fumecheng-3910	133	35	saved	save	VERB
fumecheng-3910	133	36	as	as	ADP
fumecheng-3910	133	37	xml	xml	NOUN
fumecheng-3910	133	38	file	file	NOUN
fumecheng-3910	133	39	fig	fig	NOUN
fumecheng-3910	133	40	.	.	PUNCT
fumecheng-3910	134	1	6b	6b	NOUN
fumecheng-3910	134	2	)	)	PUNCT
fumecheng-3910	134	3	,	,	PUNCT
fumecheng-3910	134	4	where	where	SCONJ
fumecheng-3910	134	5	the	the	DET
fumecheng-3910	134	6	explanation	explanation	NOUN
fumecheng-3910	134	7	of	of	ADP
fumecheng-3910	134	8	the	the	DET
fumecheng-3910	134	9	purpose	purpose	NOUN
fumecheng-3910	134	10	of	of	ADP
fumecheng-3910	134	11	the	the	DET
fumecheng-3910	134	12	elements	element	NOUN
fumecheng-3910	134	13	is	be	AUX
fumecheng-3910	134	14	given	give	VERB
fumecheng-3910	134	15	by	by	ADP
fumecheng-3910	134	16	italic	italic	ADJ
fumecheng-3910	134	17	letters	letter	NOUN
fumecheng-3910	134	18	)	)	PUNCT
fumecheng-3910	134	19	;	;	PUNCT
fumecheng-3910	134	20	b	b	X
fumecheng-3910	134	21	)	)	PUNCT
fumecheng-3910	134	22	php	php	NOUN
fumecheng-3910	134	23	file	file	NOUN
fumecheng-3910	134	24	reads	read	NOUN
fumecheng-3910	134	25	stored	store	VERB
fumecheng-3910	134	26	xml	xml	NOUN
fumecheng-3910	134	27	and	and	CCONJ
fumecheng-3910	134	28	automatically	automatically	ADV
fumecheng-3910	134	29	generates	generate	VERB
fumecheng-3910	134	30	a	a	DET
fumecheng-3910	134	31	new	new	ADJ
fumecheng-3910	134	32	php	php	NOUN
fumecheng-3910	134	33	file	file	NOUN
fumecheng-3910	134	34	for	for	ADP
fumecheng-3910	134	35	the	the	DET
fumecheng-3910	134	36	considered	consider	VERB
fumecheng-3910	134	37	case	case	NOUN
fumecheng-3910	134	38	and	and	CCONJ
fumecheng-3910	134	39	the	the	DET
fumecheng-3910	134	40	execution	execution	NOUN
fumecheng-3910	134	41	is	be	AUX
fumecheng-3910	134	42	redirected	redirect	VERB
fumecheng-3910	134	43	to	to	ADP
fumecheng-3910	134	44	the	the	DET
fumecheng-3910	134	45	generated	generate	VERB
fumecheng-3910	134	46	file	file	NOUN
fumecheng-3910	134	47	;	;	PUNCT
fumecheng-3910	134	48	and	and	CCONJ
fumecheng-3910	134	49	c	c	X
fumecheng-3910	134	50	)	)	PUNCT
fumecheng-3910	134	51	generated	generate	VERB
fumecheng-3910	134	52	php	php	NOUN
fumecheng-3910	134	53	file	file	NOUN
fumecheng-3910	134	54	performs	perform	VERB
fumecheng-3910	134	55	the	the	DET
fumecheng-3910	134	56	calculations	calculation	NOUN
fumecheng-3910	134	57	and	and	CCONJ
fumecheng-3910	134	58	transmits	transmit	NOUN
fumecheng-3910	134	59	a	a	DET
fumecheng-3910	134	60	report	report	NOUN
fumecheng-3910	134	61	back	back	ADV
fumecheng-3910	134	62	to	to	ADP
fumecheng-3910	134	63	the	the	DET
fumecheng-3910	134	64	user	user	NOUN
fumecheng-3910	134	65	according	accord	VERB
fumecheng-3910	134	66	to	to	ADP
fumecheng-3910	134	67	the	the	DET
fumecheng-3910	134	68	user	user	NOUN
fumecheng-3910	134	69	requirements	requirement	NOUN
fumecheng-3910	134	70	.	.	PUNCT
fumecheng-3910	135	1	a	a	DET
fumecheng-3910	135	2	)	)	PUNCT
fumecheng-3910	135	3	b	b	NOUN
fumecheng-3910	135	4	)	)	PUNCT
fumecheng-3910	135	5	fig	fig	NOUN
fumecheng-3910	135	6	.	.	PUNCT
fumecheng-3910	136	1	6	6	NUM
fumecheng-3910	136	2	a	a	X
fumecheng-3910	136	3	)	)	PUNCT
fumecheng-3910	136	4	the	the	DET
fumecheng-3910	136	5	ga	ga	PROPN
fumecheng-3910	136	6	framework	framework	NOUN
fumecheng-3910	136	7	;	;	PUNCT
fumecheng-3910	136	8	b	b	X
fumecheng-3910	136	9	)	)	PUNCT
fumecheng-3910	136	10	contents	content	NOUN
fumecheng-3910	136	11	of	of	ADP
fumecheng-3910	136	12	the	the	DET
fumecheng-3910	136	13	xml	xml	NOUN
fumecheng-3910	136	14	transport	transport	NOUN
fumecheng-3910	136	15	file	file	NOUN
fumecheng-3910	136	16	cloud	cloud	NOUN
fumecheng-3910	136	17	-	-	PUNCT
fumecheng-3910	136	18	based	base	VERB
fumecheng-3910	136	19	expert	expert	NOUN
fumecheng-3910	136	20	system	system	NOUN
fumecheng-3910	136	21	for	for	ADP
fumecheng-3910	136	22	synthesis	synthesis	NOUN
fumecheng-3910	136	23	and	and	CCONJ
fumecheng-3910	136	24	evolutionary	evolutionary	ADJ
fumecheng-3910	136	25	optimization	optimization	NOUN
fumecheng-3910	136	26	of	of	ADP
fumecheng-3910	136	27	planar	planar	ADJ
fumecheng-3910	136	28	linkages	linkage	NOUN
fumecheng-3910	136	29	149	149	NUM
fumecheng-3910	136	30	the	the	DET
fumecheng-3910	136	31	sequence	sequence	NOUN
fumecheng-3910	136	32	of	of	ADP
fumecheng-3910	136	33	the	the	DET
fumecheng-3910	136	34	steps	step	NOUN
fumecheng-3910	136	35	of	of	ADP
fumecheng-3910	136	36	genetic	genetic	ADJ
fumecheng-3910	136	37	algorithms	algorithms	NOUN
fumecheng-3910	136	38	is	be	AUX
fumecheng-3910	136	39	:	:	PUNCT
fumecheng-3910	136	40	a	a	X
fumecheng-3910	136	41	)	)	PUNCT
fumecheng-3910	136	42	an	an	DET
fumecheng-3910	136	43	initial	initial	ADJ
fumecheng-3910	136	44	random	random	ADJ
fumecheng-3910	136	45	population	population	NOUN
fumecheng-3910	136	46	of	of	ADP
fumecheng-3910	136	47	n	n	PRON
fumecheng-3910	136	48	chromosomes	chromosome	NOUN
fumecheng-3910	136	49	(	(	PUNCT
fumecheng-3910	136	50	solutions	solution	NOUN
fumecheng-3910	136	51	)	)	PUNCT
fumecheng-3910	136	52	is	be	AUX
fumecheng-3910	136	53	generated	generate	VERB
fumecheng-3910	136	54	;	;	PUNCT
fumecheng-3910	136	55	b	b	X
fumecheng-3910	136	56	)	)	PUNCT
fumecheng-3910	136	57	the	the	DET
fumecheng-3910	136	58	viability	viability	NOUN
fumecheng-3910	136	59	f(x	f(x	PROPN
fumecheng-3910	136	60	)	)	PUNCT
fumecheng-3910	136	61	of	of	ADP
fumecheng-3910	136	62	each	each	DET
fumecheng-3910	136	63	chromosome	chromosome	NOUN
fumecheng-3910	136	64	in	in	ADP
fumecheng-3910	136	65	the	the	DET
fumecheng-3910	136	66	population	population	NOUN
fumecheng-3910	136	67	n	n	CCONJ
fumecheng-3910	136	68	(	(	PUNCT
fumecheng-3910	136	69	target	target	NOUN
fumecheng-3910	136	70	function	function	NOUN
fumecheng-3910	136	71	called	call	VERB
fumecheng-3910	136	72	"	"	PUNCT
fumecheng-3910	136	73	fitness	fitness	NOUN
fumecheng-3910	136	74	function	function	NOUN
fumecheng-3910	136	75	"	"	PUNCT
fumecheng-3910	136	76	)	)	PUNCT
fumecheng-3910	136	77	is	be	AUX
fumecheng-3910	136	78	calculated	calculate	VERB
fumecheng-3910	136	79	;	;	PUNCT
fumecheng-3910	136	80	c	c	X
fumecheng-3910	136	81	)	)	PUNCT
fumecheng-3910	136	82	the	the	DET
fumecheng-3910	136	83	chromosomes	chromosome	NOUN
fumecheng-3910	136	84	are	be	AUX
fumecheng-3910	136	85	sorted	sort	VERB
fumecheng-3910	136	86	according	accord	VERB
fumecheng-3910	136	87	to	to	ADP
fumecheng-3910	136	88	their	their	PRON
fumecheng-3910	136	89	viability	viability	NOUN
fumecheng-3910	136	90	(	(	PUNCT
fumecheng-3910	136	91	calculated	calculate	VERB
fumecheng-3910	136	92	values	value	NOUN
fumecheng-3910	136	93	of	of	ADP
fumecheng-3910	136	94	the	the	DET
fumecheng-3910	136	95	fitness	fitness	NOUN
fumecheng-3910	136	96	function	function	NOUN
fumecheng-3910	136	97	)	)	PUNCT
fumecheng-3910	136	98	and	and	CCONJ
fumecheng-3910	136	99	priority	priority	NOUN
fumecheng-3910	136	100	for	for	ADP
fumecheng-3910	136	101	the	the	DET
fumecheng-3910	136	102	next	next	ADJ
fumecheng-3910	136	103	population	population	NOUN
fumecheng-3910	136	104	is	be	AUX
fumecheng-3910	136	105	given	give	VERB
fumecheng-3910	136	106	to	to	ADP
fumecheng-3910	136	107	the	the	DET
fumecheng-3910	136	108	best	good	ADJ
fumecheng-3910	136	109	m	m	NOUN
fumecheng-3910	136	110	of	of	ADP
fumecheng-3910	136	111	them	they	PRON
fumecheng-3910	136	112	(	(	PUNCT
fumecheng-3910	136	113	m	m	X
fumecheng-3910	136	114	<	<	X
fumecheng-3910	136	115	n	n	X
fumecheng-3910	136	116	)	)	PUNCT
fumecheng-3910	136	117	;	;	PUNCT
fumecheng-3910	136	118	d	d	X
fumecheng-3910	136	119	)	)	PUNCT
fumecheng-3910	136	120	a	a	DET
fumecheng-3910	136	121	new	new	ADJ
fumecheng-3910	136	122	population	population	NOUN
fumecheng-3910	136	123	is	be	AUX
fumecheng-3910	136	124	established	establish	VERB
fumecheng-3910	136	125	by	by	ADP
fumecheng-3910	136	126	repeating	repeat	VERB
fumecheng-3910	136	127	the	the	DET
fumecheng-3910	136	128	following	follow	VERB
fumecheng-3910	136	129	steps	step	NOUN
fumecheng-3910	136	130	until	until	SCONJ
fumecheng-3910	136	131	the	the	DET
fumecheng-3910	136	132	new	new	ADJ
fumecheng-3910	136	133	population	population	NOUN
fumecheng-3910	136	134	is	be	AUX
fumecheng-3910	136	135	completed	complete	VERB
fumecheng-3910	136	136	,	,	PUNCT
fumecheng-3910	136	137	namely	namely	ADV
fumecheng-3910	136	138	preservation	preservation	NOUN
fumecheng-3910	136	139	of	of	ADP
fumecheng-3910	136	140	the	the	DET
fumecheng-3910	136	141	predetermined	predetermine	VERB
fumecheng-3910	136	142	number	number	NOUN
fumecheng-3910	136	143	m	m	NOUN
fumecheng-3910	136	144	of	of	ADP
fumecheng-3910	136	145	the	the	DET
fumecheng-3910	136	146	best	good	ADJ
fumecheng-3910	136	147	solutions	solution	NOUN
fumecheng-3910	136	148	(	(	PUNCT
fumecheng-3910	136	149	according	accord	VERB
fumecheng-3910	136	150	to	to	ADP
fumecheng-3910	136	151	their	their	PRON
fumecheng-3910	136	152	fitness	fitness	NOUN
fumecheng-3910	136	153	the	the	DET
fumecheng-3910	136	154	fitness	fitness	NOUN
fumecheng-3910	136	155	function	function	NOUN
fumecheng-3910	136	156	values	value	NOUN
fumecheng-3910	136	157	)	)	PUNCT
fumecheng-3910	136	158	,	,	PUNCT
fumecheng-3910	136	159	selection	selection	NOUN
fumecheng-3910	136	160	of	of	ADP
fumecheng-3910	136	161	two	two	NUM
fumecheng-3910	136	162	parental	parental	ADJ
fumecheng-3910	136	163	chromosomes	chromosome	NOUN
fumecheng-3910	136	164	of	of	ADP
fumecheng-3910	136	165	m	m	PROPN
fumecheng-3910	136	166	chromosomes	chromosome	NOUN
fumecheng-3910	136	167	,	,	PUNCT
fumecheng-3910	136	168	use	use	NOUN
fumecheng-3910	136	169	of	of	ADP
fumecheng-3910	136	170	crossover	crossover	NOUN
fumecheng-3910	136	171	to	to	PART
fumecheng-3910	136	172	cross	cross	VERB
fumecheng-3910	136	173	the	the	DET
fumecheng-3910	136	174	parents	parent	NOUN
fumecheng-3910	136	175	to	to	PART
fumecheng-3910	136	176	form	form	VERB
fumecheng-3910	136	177	the	the	DET
fumecheng-3910	136	178	next	next	ADJ
fumecheng-3910	136	179	generation	generation	NOUN
fumecheng-3910	136	180	(	(	PUNCT
fumecheng-3910	136	181	children	child	NOUN
fumecheng-3910	136	182	)	)	PUNCT
fumecheng-3910	136	183	,	,	PUNCT
fumecheng-3910	136	184	use	use	NOUN
fumecheng-3910	136	185	of	of	ADP
fumecheng-3910	136	186	mutation	mutation	NOUN
fumecheng-3910	136	187	to	to	PART
fumecheng-3910	136	188	mutate	mutate	VERB
fumecheng-3910	136	189	the	the	DET
fumecheng-3910	136	190	newly	newly	ADV
fumecheng-3910	136	191	created	create	VERB
fumecheng-3910	136	192	chromosomes	chromosome	NOUN
fumecheng-3910	136	193	and	and	CCONJ
fumecheng-3910	136	194	paste	paste	VERB
fumecheng-3910	136	195	the	the	DET
fumecheng-3910	136	196	new	new	ADJ
fumecheng-3910	136	197	generation	generation	NOUN
fumecheng-3910	136	198	in	in	ADP
fumecheng-3910	136	199	the	the	DET
fumecheng-3910	136	200	new	new	ADJ
fumecheng-3910	136	201	population	population	NOUN
fumecheng-3910	136	202	(	(	PUNCT
fumecheng-3910	136	203	adding	add	VERB
fumecheng-3910	136	204	n	n	CCONJ
fumecheng-3910	136	205	-	-	PUNCT
fumecheng-3910	136	206	m	m	NOUN
fumecheng-3910	136	207	new	new	ADJ
fumecheng-3910	136	208	chromosomes	chromosome	NOUN
fumecheng-3910	136	209	and	and	CCONJ
fumecheng-3910	136	210	filling	fill	VERB
fumecheng-3910	136	211	the	the	DET
fumecheng-3910	136	212	population	population	NOUN
fumecheng-3910	136	213	)	)	PUNCT
fumecheng-3910	136	214	;	;	PUNCT
fumecheng-3910	136	215	e	e	X
fumecheng-3910	136	216	)	)	PUNCT
fumecheng-3910	136	217	loop	loop	NOUN
fumecheng-3910	136	218	,	,	PUNCT
fumecheng-3910	136	219	go	go	VERB
fumecheng-3910	136	220	to	to	PART
fumecheng-3910	136	221	step	step	VERB
fumecheng-3910	136	222	b	b	NOUN
fumecheng-3910	136	223	)	)	PUNCT
fumecheng-3910	136	224	or	or	CCONJ
fumecheng-3910	136	225	stop	stop	VERB
fumecheng-3910	136	226	and	and	CCONJ
fumecheng-3910	136	227	return	return	VERB
fumecheng-3910	136	228	the	the	DET
fumecheng-3910	136	229	report	report	NOUN
fumecheng-3910	136	230	if	if	SCONJ
fumecheng-3910	136	231	the	the	DET
fumecheng-3910	136	232	final	final	ADJ
fumecheng-3910	136	233	check	check	NOUN
fumecheng-3910	136	234	condition	condition	NOUN
fumecheng-3910	136	235	is	be	AUX
fumecheng-3910	136	236	satisfied	satisfied	ADJ
fumecheng-3910	136	237	.	.	PUNCT
fumecheng-3910	137	1	the	the	DET
fumecheng-3910	137	2	main	main	ADJ
fumecheng-3910	137	3	novelties	novelty	NOUN
fumecheng-3910	137	4	,	,	PUNCT
fumecheng-3910	137	5	implemented	implement	VERB
fumecheng-3910	137	6	in	in	ADP
fumecheng-3910	137	7	the	the	DET
fumecheng-3910	137	8	developed	develop	VERB
fumecheng-3910	137	9	software	software	NOUN
fumecheng-3910	137	10	system	system	NOUN
fumecheng-3910	137	11	,	,	PUNCT
fumecheng-3910	137	12	are	be	AUX
fumecheng-3910	137	13	:	:	PUNCT
fumecheng-3910	137	14	1	1	X
fumecheng-3910	137	15	)	)	PUNCT
fumecheng-3910	137	16	an	an	DET
fumecheng-3910	137	17	additional	additional	ADJ
fumecheng-3910	137	18	mutation	mutation	NOUN
fumecheng-3910	137	19	at	at	ADP
fumecheng-3910	137	20	the	the	DET
fumecheng-3910	137	21	beginning	beginning	NOUN
fumecheng-3910	137	22	of	of	ADP
fumecheng-3910	137	23	step	step	NOUN
fumecheng-3910	137	24	e	e	NOUN
fumecheng-3910	137	25	)	)	PUNCT
fumecheng-3910	137	26	of	of	ADP
fumecheng-3910	137	27	the	the	DET
fumecheng-3910	137	28	best	good	ADJ
fumecheng-3910	137	29	chromosome	chromosome	NOUN
fumecheng-3910	137	30	genes	gene	NOUN
fumecheng-3910	137	31	by	by	ADP
fumecheng-3910	137	32	scanning	scanning	NOUN
fumecheng-3910	137	33	of	of	ADP
fumecheng-3910	137	34	every	every	DET
fumecheng-3910	137	35	gene	gene	NOUN
fumecheng-3910	137	36	within	within	ADP
fumecheng-3910	137	37	its	its	PRON
fumecheng-3910	137	38	searching	search	VERB
fumecheng-3910	137	39	space	space	NOUN
fumecheng-3910	137	40	.	.	PUNCT
fumecheng-3910	138	1	scanning	scanning	NOUN
fumecheng-3910	138	2	is	be	AUX
fumecheng-3910	138	3	performed	perform	VERB
fumecheng-3910	138	4	by	by	ADP
fumecheng-3910	138	5	the	the	DET
fumecheng-3910	138	6	use	use	NOUN
fumecheng-3910	138	7	of	of	ADP
fumecheng-3910	138	8	the	the	DET
fumecheng-3910	138	9	dichotomy	dichotomy	NOUN
fumecheng-3910	138	10	method	method	NOUN
fumecheng-3910	138	11	[	[	X
fumecheng-3910	138	12	23	23	NUM
fumecheng-3910	138	13	]	]	PUNCT
fumecheng-3910	138	14	following	follow	VERB
fumecheng-3910	138	15	the	the	DET
fumecheng-3910	138	16	user	user	NOUN
fumecheng-3910	138	17	-	-	PUNCT
fumecheng-3910	138	18	defined	define	VERB
fumecheng-3910	138	19	requirements	requirement	NOUN
fumecheng-3910	138	20	for	for	ADP
fumecheng-3910	138	21	the	the	DET
fumecheng-3910	138	22	number	number	NOUN
fumecheng-3910	138	23	of	of	ADP
fumecheng-3910	138	24	the	the	DET
fumecheng-3910	138	25	scanned	scan	VERB
fumecheng-3910	138	26	points	point	NOUN
fumecheng-3910	138	27	(	(	PUNCT
fumecheng-3910	138	28	respectively	respectively	ADV
fumecheng-3910	138	29	steps	step	NOUN
fumecheng-3910	138	30	)	)	PUNCT
fumecheng-3910	138	31	and	and	CCONJ
fumecheng-3910	138	32	for	for	ADP
fumecheng-3910	138	33	the	the	DET
fumecheng-3910	138	34	number	number	NOUN
fumecheng-3910	138	35	of	of	ADP
fumecheng-3910	138	36	the	the	DET
fumecheng-3910	138	37	scanning	scanning	NOUN
fumecheng-3910	138	38	repetitions	repetition	NOUN
fumecheng-3910	138	39	.	.	PUNCT
fumecheng-3910	139	1	if	if	SCONJ
fumecheng-3910	139	2	a	a	DET
fumecheng-3910	139	3	better	well	ADJ
fumecheng-3910	139	4	solution	solution	NOUN
fumecheng-3910	139	5	is	be	AUX
fumecheng-3910	139	6	found	find	VERB
fumecheng-3910	139	7	the	the	DET
fumecheng-3910	139	8	best	good	ADJ
fumecheng-3910	139	9	chromosome	chromosome	NOUN
fumecheng-3910	139	10	is	be	AUX
fumecheng-3910	139	11	substituted	substitute	VERB
fumecheng-3910	139	12	by	by	ADP
fumecheng-3910	139	13	the	the	DET
fumecheng-3910	139	14	mutated	mutate	VERB
fumecheng-3910	139	15	one	one	NUM
fumecheng-3910	139	16	;	;	PUNCT
fumecheng-3910	139	17	2	2	X
fumecheng-3910	139	18	)	)	PUNCT
fumecheng-3910	139	19	the	the	DET
fumecheng-3910	139	20	models	model	NOUN
fumecheng-3910	139	21	of	of	ADP
fumecheng-3910	139	22	ga	ga	PROPN
fumecheng-3910	139	23	calculator	calculator	NOUN
fumecheng-3910	139	24	(	(	PUNCT
fumecheng-3910	139	25	parameters	parameter	NOUN
fumecheng-3910	139	26	,	,	PUNCT
fumecheng-3910	139	27	fitness	fitness	NOUN
fumecheng-3910	139	28	function	function	NOUN
fumecheng-3910	139	29	and	and	CCONJ
fumecheng-3910	139	30	chromosome	chromosome	NOUN
fumecheng-3910	139	31	contents	content	NOUN
fumecheng-3910	139	32	)	)	PUNCT
fumecheng-3910	139	33	for	for	ADP
fumecheng-3910	139	34	linkages	linkage	NOUN
fumecheng-3910	139	35	synthesis	synthesis	NOUN
fumecheng-3910	139	36	and	and	CCONJ
fumecheng-3910	139	37	optimization	optimization	NOUN
fumecheng-3910	139	38	are	be	AUX
fumecheng-3910	139	39	created	create	VERB
fumecheng-3910	139	40	by	by	ADP
fumecheng-3910	139	41	the	the	DET
fumecheng-3910	139	42	use	use	NOUN
fumecheng-3910	139	43	of	of	ADP
fumecheng-3910	139	44	the	the	DET
fumecheng-3910	139	45	assur	assur	PROPN
fumecheng-3910	139	46	’s	’s	PART
fumecheng-3910	139	47	groups	group	NOUN
fumecheng-3910	139	48	kinematic	kinematic	VERB
fumecheng-3910	139	49	equations	equation	NOUN
fumecheng-3910	139	50	.	.	PUNCT
fumecheng-3910	140	1	for	for	ADP
fumecheng-3910	140	2	the	the	DET
fumecheng-3910	140	3	results	result	NOUN
fumecheng-3910	140	4	verification	verification	NOUN
fumecheng-3910	140	5	by	by	ADP
fumecheng-3910	140	6	plotting	plot	VERB
fumecheng-3910	140	7	and	and	CCONJ
fumecheng-3910	140	8	animation	animation	NOUN
fumecheng-3910	140	9	an	an	DET
fumecheng-3910	140	10	additional	additional	ADJ
fumecheng-3910	140	11	web	web	NOUN
fumecheng-3910	140	12	-	-	PUNCT
fumecheng-3910	140	13	based	base	VERB
fumecheng-3910	140	14	module	module	NOUN
fumecheng-3910	140	15	is	be	AUX
fumecheng-3910	140	16	developed	develop	VERB
fumecheng-3910	140	17	with	with	ADP
fumecheng-3910	140	18	options	option	NOUN
fumecheng-3910	140	19	for	for	ADP
fumecheng-3910	140	20	editing	editing	NOUN
fumecheng-3910	140	21	,	,	PUNCT
fumecheng-3910	140	22	design	design	NOUN
fumecheng-3910	140	23	and	and	CCONJ
fumecheng-3910	140	24	development	development	NOUN
fumecheng-3910	140	25	of	of	ADP
fumecheng-3910	140	26	planar	planar	ADJ
fumecheng-3910	140	27	linkages	linkage	NOUN
fumecheng-3910	140	28	.	.	PUNCT
fumecheng-3910	141	1	the	the	DET
fumecheng-3910	141	2	module	module	NOUN
fumecheng-3910	141	3	is	be	AUX
fumecheng-3910	141	4	developed	develop	VERB
fumecheng-3910	141	5	by	by	ADP
fumecheng-3910	141	6	means	mean	NOUN
fumecheng-3910	141	7	of	of	ADP
fumecheng-3910	141	8	free	free	ADJ
fumecheng-3910	141	9	means	mean	NOUN
fumecheng-3910	141	10	,	,	PUNCT
fumecheng-3910	141	11	namely	namely	ADV
fumecheng-3910	141	12	html5	html5	PROPN
fumecheng-3910	141	13	,	,	PUNCT
fumecheng-3910	141	14	javascript	javascript	NOUN
fumecheng-3910	141	15	and	and	CCONJ
fumecheng-3910	141	16	canvas	canvas	NOUN
fumecheng-3910	141	17	.	.	PUNCT
fumecheng-3910	142	1	the	the	DET
fumecheng-3910	142	2	developed	develop	VERB
fumecheng-3910	142	3	experimental	experimental	ADJ
fumecheng-3910	142	4	expert	expert	NOUN
fumecheng-3910	142	5	system	system	NOUN
fumecheng-3910	142	6	is	be	AUX
fumecheng-3910	142	7	web	web	NOUN
fumecheng-3910	142	8	-	-	PUNCT
fumecheng-3910	142	9	based	base	VERB
fumecheng-3910	142	10	and	and	CCONJ
fumecheng-3910	142	11	has	have	VERB
fumecheng-3910	142	12	all	all	DET
fumecheng-3910	142	13	advantages	advantage	NOUN
fumecheng-3910	142	14	of	of	ADP
fumecheng-3910	142	15	the	the	DET
fumecheng-3910	142	16	network	network	NOUN
fumecheng-3910	142	17	computing	computing	NOUN
fumecheng-3910	142	18	systems	system	NOUN
fumecheng-3910	142	19	:	:	PUNCT
fumecheng-3910	142	20	it	it	PRON
fumecheng-3910	142	21	overcomes	overcome	VERB
fumecheng-3910	142	22	space	space	NOUN
fumecheng-3910	142	23	and	and	CCONJ
fumecheng-3910	142	24	time	time	NOUN
fumecheng-3910	142	25	disposition	disposition	NOUN
fumecheng-3910	142	26	,	,	PUNCT
fumecheng-3910	142	27	allows	allow	VERB
fumecheng-3910	142	28	multi	multi	NOUN
fumecheng-3910	142	29	-	-	NOUN
fumecheng-3910	142	30	user	user	NOUN
fumecheng-3910	142	31	and	and	CCONJ
fumecheng-3910	142	32	multitasking	multitaske	VERB
fumecheng-3910	142	33	regimes	regime	NOUN
fumecheng-3910	142	34	,	,	PUNCT
fumecheng-3910	142	35	reduces	reduce	VERB
fumecheng-3910	142	36	design	design	NOUN
fumecheng-3910	142	37	costs	cost	NOUN
fumecheng-3910	142	38	,	,	PUNCT
fumecheng-3910	142	39	etc	etc	X
fumecheng-3910	142	40	.	.	X
fumecheng-3910	143	1	here	here	ADV
fumecheng-3910	143	2	we	we	PRON
fumecheng-3910	143	3	have	have	VERB
fumecheng-3910	143	4	to	to	PART
fumecheng-3910	143	5	point	point	VERB
fumecheng-3910	143	6	to	to	ADP
fumecheng-3910	143	7	some	some	DET
fumecheng-3910	143	8	special	special	ADJ
fumecheng-3910	143	9	outcomes	outcome	NOUN
fumecheng-3910	143	10	from	from	ADP
fumecheng-3910	143	11	our	our	PRON
fumecheng-3910	143	12	research	research	NOUN
fumecheng-3910	143	13	work	work	NOUN
fumecheng-3910	143	14	:	:	PUNCT
fumecheng-3910	143	15	chromosome	chromosome	VERB
fumecheng-3910	143	16	's	's	PART
fumecheng-3910	143	17	genes	gene	NOUN
fumecheng-3910	143	18	number	number	NOUN
fumecheng-3910	143	19	is	be	AUX
fumecheng-3910	143	20	not	not	PART
fumecheng-3910	143	21	fixed	fix	VERB
fumecheng-3910	143	22	,	,	PUNCT
fumecheng-3910	143	23	fitness	fitness	NOUN
fumecheng-3910	143	24	function	function	NOUN
fumecheng-3910	143	25	is	be	AUX
fumecheng-3910	143	26	a	a	DET
fumecheng-3910	143	27	separate	separate	ADJ
fumecheng-3910	143	28	program	program	NOUN
fumecheng-3910	143	29	written	write	VERB
fumecheng-3910	143	30	in	in	ADP
fumecheng-3910	143	31	php	php	PROPN
fumecheng-3910	143	32	and	and	CCONJ
fumecheng-3910	143	33	it	it	PRON
fumecheng-3910	143	34	is	be	AUX
fumecheng-3910	143	35	possible	possible	ADJ
fumecheng-3910	143	36	to	to	PART
fumecheng-3910	143	37	examine	examine	VERB
fumecheng-3910	143	38	the	the	DET
fumecheng-3910	143	39	results	result	NOUN
fumecheng-3910	143	40	by	by	ADP
fumecheng-3910	143	41	the	the	DET
fumecheng-3910	143	42	module	module	NOUN
fumecheng-3910	143	43	for	for	ADP
fumecheng-3910	143	44	visualization	visualization	NOUN
fumecheng-3910	143	45	and	and	CCONJ
fumecheng-3910	143	46	animation	animation	NOUN
fumecheng-3910	143	47	.	.	PUNCT
fumecheng-3910	144	1	by	by	ADP
fumecheng-3910	144	2	performing	perform	VERB
fumecheng-3910	144	3	experiments	experiment	NOUN
fumecheng-3910	144	4	with	with	ADP
fumecheng-3910	144	5	the	the	DET
fumecheng-3910	144	6	obtained	obtain	VERB
fumecheng-3910	144	7	results	result	NOUN
fumecheng-3910	144	8	the	the	DET
fumecheng-3910	144	9	user	user	NOUN
fumecheng-3910	144	10	can	can	AUX
fumecheng-3910	144	11	change	change	VERB
fumecheng-3910	144	12	the	the	DET
fumecheng-3910	144	13	parameters	parameter	NOUN
fumecheng-3910	144	14	of	of	ADP
fumecheng-3910	144	15	the	the	DET
fumecheng-3910	144	16	generated	generate	VERB
fumecheng-3910	144	17	linkages	linkage	NOUN
fumecheng-3910	144	18	and/or	and/or	CCONJ
fumecheng-3910	144	19	initial	initial	ADJ
fumecheng-3910	144	20	parameters	parameter	NOUN
fumecheng-3910	144	21	of	of	ADP
fumecheng-3910	144	22	the	the	DET
fumecheng-3910	144	23	ga	ga	PROPN
fumecheng-3910	144	24	calculator	calculator	NOUN
fumecheng-3910	144	25	.	.	PUNCT
fumecheng-3910	145	1	4	4	X
fumecheng-3910	145	2	.	.	X
fumecheng-3910	145	3	numerical	numerical	PROPN
fumecheng-3910	145	4	case	case	NOUN
fumecheng-3910	145	5	studies	study	NOUN
fumecheng-3910	145	6	and	and	CCONJ
fumecheng-3910	145	7	discussion	discussion	NOUN
fumecheng-3910	145	8	to	to	PART
fumecheng-3910	145	9	test	test	VERB
fumecheng-3910	145	10	and	and	CCONJ
fumecheng-3910	145	11	validate	validate	VERB
fumecheng-3910	145	12	the	the	DET
fumecheng-3910	145	13	presented	present	VERB
fumecheng-3910	145	14	cloud	cloud	NOUN
fumecheng-3910	145	15	-	-	PUNCT
fumecheng-3910	145	16	based	base	VERB
fumecheng-3910	145	17	expert	expert	NOUN
fumecheng-3910	145	18	system	system	NOUN
fumecheng-3910	145	19	two	two	NUM
fumecheng-3910	145	20	numerical	numerical	ADJ
fumecheng-3910	145	21	case	case	NOUN
fumecheng-3910	145	22	studies	study	NOUN
fumecheng-3910	145	23	are	be	AUX
fumecheng-3910	145	24	developed	develop	VERB
fumecheng-3910	145	25	and	and	CCONJ
fumecheng-3910	145	26	analyzed	analyze	VERB
fumecheng-3910	145	27	.	.	PUNCT
fumecheng-3910	146	1	the	the	DET
fumecheng-3910	146	2	first	first	ADJ
fumecheng-3910	146	3	case	case	NOUN
fumecheng-3910	146	4	study	study	NOUN
fumecheng-3910	146	5	deals	deal	NOUN
fumecheng-3910	146	6	with	with	ADP
fumecheng-3910	146	7	the	the	DET
fumecheng-3910	146	8	dimensional	dimensional	ADJ
fumecheng-3910	146	9	synthesis	synthesis	NOUN
fumecheng-3910	146	10	of	of	ADP
fumecheng-3910	146	11	a	a	DET
fumecheng-3910	146	12	fourbar	fourbar	NOUN
fumecheng-3910	146	13	linkage	linkage	NOUN
fumecheng-3910	146	14	fig.7a	fig.7a	NOUN
fumecheng-3910	146	15	)	)	PUNCT
fumecheng-3910	146	16	so	so	ADV
fumecheng-3910	146	17	coupler	coupler	NOUN
fumecheng-3910	146	18	point	point	NOUN
fumecheng-3910	146	19	m	m	VERB
fumecheng-3910	146	20	follows	follow	VERB
fumecheng-3910	146	21	the	the	DET
fumecheng-3910	146	22	desired	desire	VERB
fumecheng-3910	146	23	path	path	NOUN
fumecheng-3910	146	24	which	which	PRON
fumecheng-3910	146	25	is	be	AUX
fumecheng-3910	146	26	an	an	DET
fumecheng-3910	146	27	ellipse	ellipse	NOUN
fumecheng-3910	146	28	with	with	ADP
fumecheng-3910	146	29	a	a	DET
fumecheng-3910	146	30	ratio	ratio	NOUN
fumecheng-3910	146	31	of	of	ADP
fumecheng-3910	146	32	minor	minor	ADJ
fumecheng-3910	146	33	to	to	ADP
fumecheng-3910	146	34	major	major	ADJ
fumecheng-3910	146	35	semi	semi	NOUN
fumecheng-3910	146	36	-	-	NOUN
fumecheng-3910	146	37	axes	axis	NOUN
fumecheng-3910	146	38	1:2	1:2	NUM
fumecheng-3910	146	39	and	and	CCONJ
fumecheng-3910	146	40	arbitrary	arbitrary	ADJ
fumecheng-3910	146	41	fixed	fix	VERB
fumecheng-3910	146	42	position	position	NOUN
fumecheng-3910	146	43	in	in	ADP
fumecheng-3910	146	44	the	the	DET
fumecheng-3910	146	45	plane	plane	NOUN
fumecheng-3910	146	46	.	.	PUNCT
fumecheng-3910	147	1	the	the	DET
fumecheng-3910	147	2	four	four	NUM
fumecheng-3910	147	3	-	-	PUNCT
fumecheng-3910	147	4	bar	bar	NOUN
fumecheng-3910	147	5	linkage	linkage	NOUN
fumecheng-3910	147	6	is	be	AUX
fumecheng-3910	147	7	modeled	model	VERB
fumecheng-3910	147	8	by	by	ADP
fumecheng-3910	147	9	an	an	DET
fumecheng-3910	147	10	rrr	rrr	NOUN
fumecheng-3910	147	11	dyad	dyad	NOUN
fumecheng-3910	147	12	,	,	PUNCT
fumecheng-3910	147	13	driven	drive	VERB
fumecheng-3910	147	14	by	by	ADP
fumecheng-3910	147	15	a	a	DET
fumecheng-3910	147	16	driver	driver	NOUN
fumecheng-3910	147	17	crank	crank	NOUN
fumecheng-3910	147	18	.	.	PUNCT
fumecheng-3910	148	1	in	in	ADP
fumecheng-3910	148	2	the	the	DET
fumecheng-3910	148	3	second	second	ADJ
fumecheng-3910	148	4	case	case	NOUN
fumecheng-3910	148	5	a	a	DET
fumecheng-3910	148	6	watt	watt	NOUN
fumecheng-3910	148	7	i	i	PRON
fumecheng-3910	148	8	six	six	NUM
fumecheng-3910	148	9	-	-	PUNCT
fumecheng-3910	148	10	bar	bar	NOUN
fumecheng-3910	148	11	linkage	linkage	NOUN
fumecheng-3910	148	12	[	[	X
fumecheng-3910	148	13	26	26	NUM
fumecheng-3910	148	14	]	]	PUNCT
fumecheng-3910	148	15	is	be	AUX
fumecheng-3910	148	16	considered	consider	VERB
fumecheng-3910	148	17	,	,	PUNCT
fumecheng-3910	148	18	composed	compose	VERB
fumecheng-3910	148	19	of	of	ADP
fumecheng-3910	148	20	two	two	NUM
fumecheng-3910	148	21	rrr	rrr	NOUN
fumecheng-3910	148	22	dyads	dyad	NOUN
fumecheng-3910	148	23	and	and	CCONJ
fumecheng-3910	148	24	a	a	DET
fumecheng-3910	148	25	driver	driver	NOUN
fumecheng-3910	148	26	crank	crank	NOUN
fumecheng-3910	148	27	–	–	PUNCT
fumecheng-3910	148	28	fig.7b	fig.7b	NOUN
fumecheng-3910	148	29	)	)	PUNCT
fumecheng-3910	148	30	.	.	PUNCT
fumecheng-3910	149	1	coupler	coupler	PROPN
fumecheng-3910	149	2	point	point	NOUN
fumecheng-3910	149	3	m	m	VERB
fumecheng-3910	149	4	follows	follow	VERB
fumecheng-3910	149	5	the	the	DET
fumecheng-3910	149	6	same	same	ADJ
fumecheng-3910	149	7	ellipse	ellipse	NOUN
fumecheng-3910	149	8	.	.	PUNCT
fumecheng-3910	150	1	for	for	ADP
fumecheng-3910	150	2	both	both	DET
fumecheng-3910	150	3	cases	case	NOUN
fumecheng-3910	150	4	,	,	PUNCT
fumecheng-3910	150	5	the	the	DET
fumecheng-3910	150	6	optimal	optimal	ADJ
fumecheng-3910	150	7	values	value	NOUN
fumecheng-3910	150	8	of	of	ADP
fumecheng-3910	150	9	the	the	DET
fumecheng-3910	150	10	design	design	NOUN
fumecheng-3910	150	11	variables	variable	NOUN
fumecheng-3910	150	12	are	be	AUX
fumecheng-3910	150	13	determined	determine	VERB
fumecheng-3910	150	14	so	so	SCONJ
fumecheng-3910	150	15	the	the	DET
fumecheng-3910	150	16	maximum	maximum	ADJ
fumecheng-3910	150	17	distance	distance	NOUN
fumecheng-3910	150	18	between	between	ADP
fumecheng-3910	150	19	the	the	DET
fumecheng-3910	150	20	desired	desire	VERB
fumecheng-3910	150	21	path	path	NOUN
fumecheng-3910	150	22	,	,	PUNCT
fumecheng-3910	150	23	defined	define	VERB
fumecheng-3910	150	24	by	by	ADP
fumecheng-3910	150	25	20	20	NUM
fumecheng-3910	150	26	uniformly	uniformly	ADV
fumecheng-3910	150	27	situated	situate	VERB
fumecheng-3910	150	28	points	point	NOUN
fumecheng-3910	150	29	pi	pi	NOUN
fumecheng-3910	150	30	,	,	PUNCT
fumecheng-3910	150	31	(	(	PUNCT
fumecheng-3910	150	32	i=1	i=1	X
fumecheng-3910	150	33	,	,	PUNCT
fumecheng-3910	150	34	2,	2,	NUM
fumecheng-3910	150	35	...	...	PUNCT
fumecheng-3910	150	36	,20	,20	PUNCT
fumecheng-3910	150	37	)	)	PUNCT
fumecheng-3910	150	38	and	and	CCONJ
fumecheng-3910	150	39	150	150	NUM
fumecheng-3910	150	40	r.	r.	PROPN
fumecheng-3910	150	41	mitrev	mitrev	PROPN
fumecheng-3910	150	42	,	,	PUNCT
fumecheng-3910	150	43	b.	b.	PROPN
fumecheng-3910	150	44	tudjarov	tudjarov	PROPN
fumecheng-3910	150	45	,	,	PUNCT
fumecheng-3910	150	46	t.todorov	t.todorov	SCONJ
fumecheng-3910	150	47	the	the	DET
fumecheng-3910	150	48	calculated	calculate	VERB
fumecheng-3910	150	49	coupler	coupler	NOUN
fumecheng-3910	150	50	point	point	NOUN
fumecheng-3910	150	51	mi	mi	PROPN
fumecheng-3910	150	52	curve	curve	NOUN
fumecheng-3910	150	53	is	be	AUX
fumecheng-3910	150	54	minimal	minimal	ADJ
fumecheng-3910	150	55	.	.	PUNCT
fumecheng-3910	151	1	this	this	DET
fumecheng-3910	151	2	method	method	NOUN
fumecheng-3910	151	3	can	can	AUX
fumecheng-3910	151	4	be	be	AUX
fumecheng-3910	151	5	described	describe	VERB
fumecheng-3910	151	6	by	by	ADP
fumecheng-3910	151	7	objective	objective	ADJ
fumecheng-3910	151	8	function	function	NOUN
fumecheng-3910	151	9	f	f	PROPN
fumecheng-3910	151	10	as	as	SCONJ
fumecheng-3910	151	11	follows	follow	VERB
fumecheng-3910	151	12	:	:	PUNCT
fumecheng-3910	151	13	2min{max	2min{max	NUM
fumecheng-3910	151	14	}	}	PUNCT
fumecheng-3910	151	15	,	,	PUNCT
fumecheng-3910	151	16	(	(	PUNCT
fumecheng-3910	151	17	1	1	NUM
fumecheng-3910	151	18	,	,	PUNCT
fumecheng-3910	151	19	...	...	PUNCT
fumecheng-3910	151	20	,	,	PUNCT
fumecheng-3910	151	21	20)if	20)if	NUM
fumecheng-3910	151	22	r	r	NOUN
fumecheng-3910	151	23	i	i	NOUN
fumecheng-3910	151	24			NOUN
fumecheng-3910	151	25			NUM
fumecheng-3910	151	26	(	(	PUNCT
fumecheng-3910	151	27	26	26	NUM
fumecheng-3910	151	28	)	)	PUNCT
fumecheng-3910	151	29	where	where	SCONJ
fumecheng-3910	151	30	2	2	NUM
fumecheng-3910	151	31	2	2	NUM
fumecheng-3910	151	32	2	2	NUM
fumecheng-3910	151	33	(	(	PUNCT
fumecheng-3910	151	34	)	)	PUNCT
fumecheng-3910	151	35	(	(	PUNCT
fumecheng-3910	151	36	)	)	PUNCT
fumecheng-3910	152	1	i	i	PRON
fumecheng-3910	152	2	i	i	PRON
fumecheng-3910	153	1	i	i	PRON
fumecheng-3910	153	2	ii	ii	VERB
fumecheng-3910	154	1	p	p	NOUN
fumecheng-3910	154	2	m	m	PROPN
fumecheng-3910	154	3	p	p	NOUN
fumecheng-3910	154	4	mr	mr	PROPN
fumecheng-3910	154	5	x	x	PUNCT
fumecheng-3910	154	6	x	x	PROPN
fumecheng-3910	154	7	y	y	PROPN
fumecheng-3910	154	8	y	y	ADV
fumecheng-3910	154	9			PROPN
fumecheng-3910	154	10			PROPN
fumecheng-3910	154	11			ADJ
fumecheng-3910	154	12			NOUN
fumecheng-3910	154	13	(	(	PUNCT
fumecheng-3910	154	14	27	27	NUM
fumecheng-3910	154	15	)	)	PUNCT
fumecheng-3910	154	16	is	be	AUX
fumecheng-3910	154	17	the	the	DET
fumecheng-3910	154	18	squared	squared	ADJ
fumecheng-3910	154	19	distance	distance	NOUN
fumecheng-3910	154	20	between	between	ADP
fumecheng-3910	154	21	the	the	DET
fumecheng-3910	154	22	points	point	NOUN
fumecheng-3910	154	23	(	(	PUNCT
fumecheng-3910	154	24	xpi	xpi	PROPN
fumecheng-3910	154	25	,	,	PUNCT
fumecheng-3910	154	26	ypi	ypi	NOUN
fumecheng-3910	154	27	)	)	PUNCT
fumecheng-3910	154	28	of	of	ADP
fumecheng-3910	154	29	the	the	DET
fumecheng-3910	154	30	ellipse	ellipse	NOUN
fumecheng-3910	154	31	and	and	CCONJ
fumecheng-3910	154	32	the	the	DET
fumecheng-3910	154	33	corresponding	corresponding	ADJ
fumecheng-3910	154	34	points	point	NOUN
fumecheng-3910	154	35	(	(	PUNCT
fumecheng-3910	154	36	xmi	xmi	PROPN
fumecheng-3910	154	37	,	,	PUNCT
fumecheng-3910	154	38	ymi	ymi	PROPN
fumecheng-3910	154	39	)	)	PUNCT
fumecheng-3910	154	40	of	of	ADP
fumecheng-3910	154	41	the	the	DET
fumecheng-3910	154	42	coupler	coupler	NOUN
fumecheng-3910	154	43	.	.	PUNCT
fumecheng-3910	155	1	the	the	DET
fumecheng-3910	155	2	design	design	NOUN
fumecheng-3910	155	3	variables	variable	VERB
fumecheng-3910	155	4	for	for	ADP
fumecheng-3910	155	5	the	the	DET
fumecheng-3910	155	6	four	four	NUM
fumecheng-3910	155	7	-	-	PUNCT
fumecheng-3910	155	8	bar	bar	NOUN
fumecheng-3910	155	9	linkage	linkage	NOUN
fumecheng-3910	155	10	are	be	AUX
fumecheng-3910	155	11	l1	l1	PROPN
fumecheng-3910	155	12	,	,	PUNCT
fumecheng-3910	155	13	l2	l2	NOUN
fumecheng-3910	155	14	,	,	PUNCT
fumecheng-3910	155	15	l3	l3	PROPN
fumecheng-3910	155	16	,	,	PUNCT
fumecheng-3910	155	17	l4	l4	PROPN
fumecheng-3910	155	18	and	and	CCONJ
fumecheng-3910	155	19	γ1	γ1	PROPN
fumecheng-3910	155	20	–	–	PUNCT
fumecheng-3910	155	21	see	see	VERB
fumecheng-3910	155	22	fig.4a	fig.4a	NOUN
fumecheng-3910	155	23	)	)	PUNCT
fumecheng-3910	155	24	and	and	CCONJ
fumecheng-3910	155	25	for	for	ADP
fumecheng-3910	155	26	the	the	DET
fumecheng-3910	155	27	six	six	NUM
fumecheng-3910	155	28	-	-	PUNCT
fumecheng-3910	155	29	bar	bar	NOUN
fumecheng-3910	155	30	linkage	linkage	NOUN
fumecheng-3910	155	31	are	be	AUX
fumecheng-3910	155	32	l1	l1	PROPN
fumecheng-3910	155	33	,	,	PUNCT
fumecheng-3910	155	34	l2	l2	NOUN
fumecheng-3910	155	35	,	,	PUNCT
fumecheng-3910	155	36	l3	l3	PROPN
fumecheng-3910	155	37	,	,	PUNCT
fumecheng-3910	155	38	l4	l4	PROPN
fumecheng-3910	155	39	,	,	PUNCT
fumecheng-3910	155	40	l5	l5	PROPN
fumecheng-3910	155	41	,	,	PUNCT
fumecheng-3910	155	42	l6	l6	PROPN
fumecheng-3910	155	43	,	,	PUNCT
fumecheng-3910	155	44	l7	l7	PROPN
fumecheng-3910	155	45	,	,	PUNCT
fumecheng-3910	155	46	l8	l8	PROPN
fumecheng-3910	155	47	,	,	PUNCT
fumecheng-3910	155	48	γ1	γ1	NOUN
fumecheng-3910	155	49	,	,	PUNCT
fumecheng-3910	155	50	γ2	γ2	NOUN
fumecheng-3910	155	51	and	and	CCONJ
fumecheng-3910	155	52	γ3	γ3	NOUN
fumecheng-3910	155	53	–	–	PUNCT
fumecheng-3910	155	54	see	see	VERB
fumecheng-3910	155	55	fig.7b	fig.7b	NOUN
fumecheng-3910	155	56	)	)	PUNCT
fumecheng-3910	155	57	.	.	PUNCT
fumecheng-3910	156	1	also	also	ADV
fumecheng-3910	156	2	,	,	PUNCT
fumecheng-3910	156	3	for	for	ADP
fumecheng-3910	156	4	both	both	DET
fumecheng-3910	156	5	linkages	linkage	NOUN
fumecheng-3910	156	6	the	the	DET
fumecheng-3910	156	7	coordinates	coordinate	NOUN
fumecheng-3910	156	8	of	of	ADP
fumecheng-3910	156	9	points	point	NOUN
fumecheng-3910	156	10	o	o	NOUN
fumecheng-3910	156	11	and	and	CCONJ
fumecheng-3910	156	12	c	c	PROPN
fumecheng-3910	156	13	must	must	AUX
fumecheng-3910	156	14	be	be	AUX
fumecheng-3910	156	15	determined	determine	VERB
fumecheng-3910	156	16	–	–	PUNCT
fumecheng-3910	156	17	(	(	PUNCT
fumecheng-3910	156	18	xo	xo	PROPN
fumecheng-3910	156	19	,	,	PUNCT
fumecheng-3910	156	20	yo	yo	PROPN
fumecheng-3910	156	21	)	)	PUNCT
fumecheng-3910	156	22	and	and	CCONJ
fumecheng-3910	156	23	(	(	PUNCT
fumecheng-3910	156	24	xc	xc	PROPN
fumecheng-3910	156	25	,	,	PUNCT
fumecheng-3910	156	26	yc	yc	PROPN
fumecheng-3910	156	27	)	)	PUNCT
fumecheng-3910	156	28	.	.	PUNCT
fumecheng-3910	157	1	during	during	ADP
fumecheng-3910	157	2	the	the	DET
fumecheng-3910	157	3	synthesis	synthesis	NOUN
fumecheng-3910	157	4	two	two	NUM
fumecheng-3910	157	5	types	type	NOUN
fumecheng-3910	157	6	of	of	ADP
fumecheng-3910	157	7	constraints	constraint	NOUN
fumecheng-3910	157	8	must	must	AUX
fumecheng-3910	157	9	be	be	AUX
fumecheng-3910	157	10	satisfied	satisfied	ADJ
fumecheng-3910	157	11	:	:	PUNCT
fumecheng-3910	157	12	1	1	X
fumecheng-3910	157	13	)	)	PUNCT
fumecheng-3910	157	14	the	the	DET
fumecheng-3910	157	15	design	design	NOUN
fumecheng-3910	157	16	variables	variable	NOUN
fumecheng-3910	157	17	(	(	PUNCT
fumecheng-3910	157	18	lengths	length	NOUN
fumecheng-3910	157	19	and	and	CCONJ
fumecheng-3910	157	20	angles	angle	NOUN
fumecheng-3910	157	21	)	)	PUNCT
fumecheng-3910	157	22	are	be	AUX
fumecheng-3910	157	23	changed	change	VERB
fumecheng-3910	157	24	in	in	ADP
fumecheng-3910	157	25	predefined	predefine	VERB
fumecheng-3910	157	26	limits	limit	NOUN
fumecheng-3910	157	27	(	(	PUNCT
fumecheng-3910	157	28	see	see	VERB
fumecheng-3910	157	29	tables	table	NOUN
fumecheng-3910	157	30	2	2	NUM
fumecheng-3910	157	31	and	and	CCONJ
fumecheng-3910	157	32	3	3	NUM
fumecheng-3910	157	33	–	–	PUNCT
fumecheng-3910	157	34	min	min	NOUN
fumecheng-3910	157	35	.	.	PROPN
fumecheng-3910	157	36	and	and	CCONJ
fumecheng-3910	157	37	max	max	PROPN
fumecheng-3910	157	38	.	.	PUNCT
fumecheng-3910	158	1	values	value	NOUN
fumecheng-3910	158	2	)	)	PUNCT
fumecheng-3910	158	3	;	;	PUNCT
fumecheng-3910	158	4	2	2	X
fumecheng-3910	158	5	)	)	PUNCT
fumecheng-3910	158	6	the	the	DET
fumecheng-3910	158	7	grashof	grashof	ADJ
fumecheng-3910	158	8	condition	condition	NOUN
fumecheng-3910	158	9	for	for	ADP
fumecheng-3910	158	10	the	the	DET
fumecheng-3910	158	11	oabc	oabc	NOUN
fumecheng-3910	158	12	and	and	CCONJ
fumecheng-3910	158	13	bdfe	bdfe	VERB
fumecheng-3910	158	14	four	four	NUM
fumecheng-3910	158	15	-	-	PUNCT
fumecheng-3910	158	16	bar	bar	NOUN
fumecheng-3910	158	17	linkages	linkage	NOUN
fumecheng-3910	158	18	must	must	AUX
fumecheng-3910	158	19	be	be	AUX
fumecheng-3910	158	20	satisfied	satisfied	ADJ
fumecheng-3910	158	21	.	.	PUNCT
fumecheng-3910	159	1	in	in	ADP
fumecheng-3910	159	2	addition	addition	NOUN
fumecheng-3910	159	3	,	,	PUNCT
fumecheng-3910	159	4	to	to	PART
fumecheng-3910	159	5	obtain	obtain	VERB
fumecheng-3910	159	6	a	a	DET
fumecheng-3910	159	7	proportionate	proportionate	NOUN
fumecheng-3910	159	8	from	from	ADP
fumecheng-3910	159	9	an	an	DET
fumecheng-3910	159	10	engineering	engineering	NOUN
fumecheng-3910	159	11	point	point	NOUN
fumecheng-3910	159	12	of	of	ADP
fumecheng-3910	159	13	view	view	NOUN
fumecheng-3910	159	14	linkage	linkage	NOUN
fumecheng-3910	159	15	,	,	PUNCT
fumecheng-3910	159	16	additional	additional	ADJ
fumecheng-3910	159	17	relations	relation	NOUN
fumecheng-3910	159	18	between	between	ADP
fumecheng-3910	159	19	the	the	DET
fumecheng-3910	159	20	links	link	NOUN
fumecheng-3910	159	21	lengths	length	NOUN
fumecheng-3910	159	22	could	could	AUX
fumecheng-3910	159	23	be	be	AUX
fumecheng-3910	159	24	defined	define	VERB
fumecheng-3910	159	25	.	.	PUNCT
fumecheng-3910	160	1	the	the	DET
fumecheng-3910	160	2	linkages	linkage	NOUN
fumecheng-3910	160	3	dimensional	dimensional	ADJ
fumecheng-3910	160	4	synthesis	synthesis	NOUN
fumecheng-3910	160	5	is	be	AUX
fumecheng-3910	160	6	performed	perform	VERB
fumecheng-3910	160	7	by	by	ADP
fumecheng-3910	160	8	using	use	VERB
fumecheng-3910	160	9	a	a	DET
fumecheng-3910	160	10	two	two	NUM
fumecheng-3910	160	11	-	-	PUNCT
fumecheng-3910	160	12	stage	stage	NOUN
fumecheng-3910	160	13	optimization	optimization	NOUN
fumecheng-3910	160	14	process	process	NOUN
fumecheng-3910	160	15	.	.	PUNCT
fumecheng-3910	161	1	at	at	ADP
fumecheng-3910	161	2	the	the	DET
fumecheng-3910	161	3	initial	initial	ADJ
fumecheng-3910	161	4	stage	stage	NOUN
fumecheng-3910	161	5	,	,	PUNCT
fumecheng-3910	161	6	the	the	DET
fumecheng-3910	161	7	stochastic	stochastic	ADJ
fumecheng-3910	161	8	search	search	NOUN
fumecheng-3910	161	9	of	of	ADP
fumecheng-3910	161	10	the	the	DET
fumecheng-3910	161	11	design	design	NOUN
fumecheng-3910	161	12	variables	variable	VERB
fumecheng-3910	161	13	optimal	optimal	ADJ
fumecheng-3910	161	14	values	value	NOUN
fumecheng-3910	161	15	is	be	AUX
fumecheng-3910	161	16	performed	perform	VERB
fumecheng-3910	161	17	in	in	ADP
fumecheng-3910	161	18	a	a	DET
fumecheng-3910	161	19	relatively	relatively	ADV
fumecheng-3910	161	20	big	big	ADJ
fumecheng-3910	161	21	design	design	NOUN
fumecheng-3910	161	22	variables	variable	NOUN
fumecheng-3910	161	23	space	space	NOUN
fumecheng-3910	161	24	.	.	PUNCT
fumecheng-3910	162	1	based	base	VERB
fumecheng-3910	162	2	on	on	ADP
fumecheng-3910	162	3	the	the	DET
fumecheng-3910	162	4	fitness	fitness	NOUN
fumecheng-3910	162	5	function	function	NOUN
fumecheng-3910	162	6	change	change	NOUN
fumecheng-3910	162	7	,	,	PUNCT
fumecheng-3910	162	8	the	the	DET
fumecheng-3910	162	9	design	design	NOUN
fumecheng-3910	162	10	variables	variable	VERB
fumecheng-3910	162	11	values	value	NOUN
fumecheng-3910	162	12	found	find	VERB
fumecheng-3910	162	13	after	after	SCONJ
fumecheng-3910	162	14	500	500	NUM
fumecheng-3910	162	15	generations	generation	NOUN
fumecheng-3910	162	16	are	be	AUX
fumecheng-3910	162	17	considered	consider	VERB
fumecheng-3910	162	18	as	as	ADP
fumecheng-3910	162	19	optimal	optimal	ADJ
fumecheng-3910	162	20	for	for	ADP
fumecheng-3910	162	21	the	the	DET
fumecheng-3910	162	22	first	first	ADJ
fumecheng-3910	162	23	stage	stage	NOUN
fumecheng-3910	162	24	.	.	PUNCT
fumecheng-3910	163	1	o	o	X
fumecheng-3910	163	2	c	c	PROPN
fumecheng-3910	163	3	a	a	DET
fumecheng-3910	163	4	m	m	PROPN
fumecheng-3910	163	5	b	b	PROPN
fumecheng-3910	163	6	l1	l1	PROPN
fumecheng-3910	163	7	l2	l2	PROPN
fumecheng-3910	163	8	l3	l3	PROPN
fumecheng-3910	163	9	l4	l4	PROPN
fumecheng-3910	163	10	γ1	γ1	PROPN
fumecheng-3910	163	11	o	o	PROPN
fumecheng-3910	163	12	c	c	PROPN
fumecheng-3910	163	13	a	a	DET
fumecheng-3910	163	14	d	d	X
fumecheng-3910	163	15	b	b	PROPN
fumecheng-3910	163	16	e	e	X
fumecheng-3910	163	17	f	f	PROPN
fumecheng-3910	163	18	m	m	PROPN
fumecheng-3910	163	19	l1	l1	PROPN
fumecheng-3910	163	20	l2	l2	PROPN
fumecheng-3910	163	21	l3	l3	PROPN
fumecheng-3910	163	22	l4	l4	PROPN
fumecheng-3910	163	23	l5	l5	PROPN
fumecheng-3910	163	24	l7	l7	PROPN
fumecheng-3910	163	25	l6	l6	PROPN
fumecheng-3910	163	26	l8	l8	PROPN
fumecheng-3910	163	27	γ1	γ1	PROPN
fumecheng-3910	163	28	γ2	γ2	PROPN
fumecheng-3910	163	29	γ3	γ3	PROPN
fumecheng-3910	163	30	а	а	PROPN
fumecheng-3910	163	31	)	)	PUNCT
fumecheng-3910	163	32	b	b	NOUN
fumecheng-3910	163	33	)	)	PUNCT
fumecheng-3910	163	34	fig	fig	NOUN
fumecheng-3910	163	35	.	.	PUNCT
fumecheng-3910	164	1	7	7	NUM
fumecheng-3910	164	2	schematics	schematic	NOUN
fumecheng-3910	164	3	of	of	ADP
fumecheng-3910	164	4	the	the	DET
fumecheng-3910	164	5	synthesized	synthesize	VERB
fumecheng-3910	164	6	linkages	linkage	NOUN
fumecheng-3910	164	7	:	:	PUNCT
fumecheng-3910	164	8	a	a	X
fumecheng-3910	164	9	)	)	PUNCT
fumecheng-3910	164	10	four	four	NUM
fumecheng-3910	164	11	-	-	PUNCT
fumecheng-3910	164	12	bar	bar	NOUN
fumecheng-3910	164	13	;	;	PUNCT
fumecheng-3910	164	14	b	b	X
fumecheng-3910	164	15	)	)	PUNCT
fumecheng-3910	164	16	watt-1	watt-1	VERB
fumecheng-3910	164	17	six	six	NUM
fumecheng-3910	164	18	-	-	PUNCT
fumecheng-3910	164	19	bar	bar	NOUN
fumecheng-3910	164	20	mechanism	mechanism	NOUN
fumecheng-3910	164	21	at	at	ADP
fumecheng-3910	164	22	the	the	DET
fumecheng-3910	164	23	second	second	ADJ
fumecheng-3910	164	24	stage	stage	NOUN
fumecheng-3910	164	25	,	,	PUNCT
fumecheng-3910	164	26	the	the	DET
fumecheng-3910	164	27	first	first	ADJ
fumecheng-3910	164	28	stage	stage	NOUN
fumecheng-3910	164	29	optimal	optimal	ADJ
fumecheng-3910	164	30	values	value	NOUN
fumecheng-3910	164	31	are	be	AUX
fumecheng-3910	164	32	used	use	VERB
fumecheng-3910	164	33	as	as	ADP
fumecheng-3910	164	34	initial	initial	ADJ
fumecheng-3910	164	35	guesses	guess	NOUN
fumecheng-3910	164	36	and	and	CCONJ
fumecheng-3910	164	37	the	the	DET
fumecheng-3910	164	38	design	design	NOUN
fumecheng-3910	164	39	variables	variable	NOUN
fumecheng-3910	164	40	limits	limit	NOUN
fumecheng-3910	164	41	are	be	AUX
fumecheng-3910	164	42	chosen	choose	VERB
fumecheng-3910	164	43	so	so	SCONJ
fumecheng-3910	164	44	that	that	SCONJ
fumecheng-3910	164	45	the	the	DET
fumecheng-3910	164	46	stochastic	stochastic	ADJ
fumecheng-3910	164	47	search	search	NOUN
fumecheng-3910	164	48	is	be	AUX
fumecheng-3910	164	49	performed	perform	VERB
fumecheng-3910	164	50	in	in	ADP
fumecheng-3910	164	51	a	a	DET
fumecheng-3910	164	52	narrower	narrow	ADJ
fumecheng-3910	164	53	range	range	NOUN
fumecheng-3910	164	54	of	of	ADP
fumecheng-3910	164	55	design	design	NOUN
fumecheng-3910	164	56	variables	variable	NOUN
fumecheng-3910	164	57	values	value	NOUN
fumecheng-3910	164	58	.	.	PUNCT
fumecheng-3910	165	1	in	in	ADP
fumecheng-3910	165	2	tables	table	NOUN
fumecheng-3910	165	3	2	2	NUM
fumecheng-3910	165	4	and	and	CCONJ
fumecheng-3910	165	5	3	3	NUM
fumecheng-3910	165	6	for	for	ADP
fumecheng-3910	165	7	the	the	DET
fumecheng-3910	165	8	considered	consider	VERB
fumecheng-3910	165	9	linkages	linkage	NOUN
fumecheng-3910	165	10	the	the	DET
fumecheng-3910	165	11	limits	limit	NOUN
fumecheng-3910	165	12	of	of	ADP
fumecheng-3910	165	13	the	the	DET
fumecheng-3910	165	14	design	design	NOUN
fumecheng-3910	165	15	variables	variable	NOUN
fumecheng-3910	165	16	(	(	PUNCT
fumecheng-3910	165	17	dimensions	dimension	NOUN
fumecheng-3910	165	18	for	for	ADP
fumecheng-3910	165	19	the	the	DET
fumecheng-3910	165	20	lengths	length	NOUN
fumecheng-3910	165	21	are	be	AUX
fumecheng-3910	165	22	in	in	ADP
fumecheng-3910	165	23	arbitrary	arbitrary	ADJ
fumecheng-3910	165	24	linear	linear	ADJ
fumecheng-3910	165	25	units	unit	NOUN
fumecheng-3910	165	26	,	,	PUNCT
fumecheng-3910	165	27	dimensions	dimension	NOUN
fumecheng-3910	165	28	for	for	ADP
fumecheng-3910	165	29	the	the	DET
fumecheng-3910	165	30	angles	angle	NOUN
fumecheng-3910	165	31	are	be	AUX
fumecheng-3910	165	32	in	in	ADP
fumecheng-3910	165	33	degrees	degree	NOUN
fumecheng-3910	165	34	)	)	PUNCT
fumecheng-3910	165	35	for	for	SCONJ
fumecheng-3910	165	36	the	the	DET
fumecheng-3910	165	37	two	two	NUM
fumecheng-3910	165	38	stages	stage	NOUN
fumecheng-3910	165	39	are	be	AUX
fumecheng-3910	165	40	shown	show	VERB
fumecheng-3910	165	41	.	.	PUNCT
fumecheng-3910	166	1	the	the	DET
fumecheng-3910	166	2	results	result	NOUN
fumecheng-3910	166	3	for	for	ADP
fumecheng-3910	166	4	the	the	DET
fumecheng-3910	166	5	parameters	parameter	NOUN
fumecheng-3910	166	6	optimal	optimal	ADJ
fumecheng-3910	166	7	values	value	NOUN
fumecheng-3910	166	8	and	and	CCONJ
fumecheng-3910	166	9	objective	objective	ADJ
fumecheng-3910	166	10	function	function	NOUN
fumecheng-3910	166	11	f500	f500	PROPN
fumecheng-3910	166	12	after	after	SCONJ
fumecheng-3910	166	13	every	every	DET
fumecheng-3910	166	14	stage	stage	NOUN
fumecheng-3910	166	15	are	be	AUX
fumecheng-3910	166	16	shown	show	VERB
fumecheng-3910	166	17	additionally	additionally	ADV
fumecheng-3910	166	18	.	.	PUNCT
fumecheng-3910	167	1	cloud	cloud	NOUN
fumecheng-3910	167	2	-	-	PUNCT
fumecheng-3910	167	3	based	base	VERB
fumecheng-3910	167	4	expert	expert	NOUN
fumecheng-3910	167	5	system	system	NOUN
fumecheng-3910	167	6	for	for	ADP
fumecheng-3910	167	7	synthesis	synthesis	NOUN
fumecheng-3910	167	8	and	and	CCONJ
fumecheng-3910	167	9	evolutionary	evolutionary	ADJ
fumecheng-3910	167	10	optimization	optimization	NOUN
fumecheng-3910	167	11	of	of	ADP
fumecheng-3910	167	12	planar	planar	ADJ
fumecheng-3910	167	13	linkages	linkage	NOUN
fumecheng-3910	167	14	151	151	NUM
fumecheng-3910	167	15	table	table	NOUN
fumecheng-3910	167	16	2	2	NUM
fumecheng-3910	167	17	limits	limit	NOUN
fumecheng-3910	167	18	of	of	ADP
fumecheng-3910	167	19	the	the	DET
fumecheng-3910	167	20	design	design	NOUN
fumecheng-3910	167	21	variables	variable	NOUN
fumecheng-3910	167	22	and	and	CCONJ
fumecheng-3910	167	23	optimal	optimal	ADJ
fumecheng-3910	167	24	values	value	NOUN
fumecheng-3910	167	25	–	–	PUNCT
fumecheng-3910	167	26	four	four	NUM
fumecheng-3910	167	27	-	-	PUNCT
fumecheng-3910	167	28	bar	bar	NOUN
fumecheng-3910	167	29	linkage	linkage	NOUN
fumecheng-3910	167	30	l1	l1	PROPN
fumecheng-3910	167	31	l2	l2	PROPN
fumecheng-3910	167	32	l3	l3	PROPN
fumecheng-3910	167	33	l4	l4	PROPN
fumecheng-3910	167	34	γ1	γ1	PROPN
fumecheng-3910	167	35	xo	xo	PROPN
fumecheng-3910	168	1	yo	yo	PROPN
fumecheng-3910	168	2	xc	xc	PROPN
fumecheng-3910	168	3	yc	yc	PROPN
fumecheng-3910	168	4	stage	stage	PROPN
fumecheng-3910	168	5	1	1	NUM
fumecheng-3910	168	6	,	,	PUNCT
fumecheng-3910	168	7	500	500	NUM
fumecheng-3910	168	8	generations	generation	NOUN
fumecheng-3910	168	9	,	,	PUNCT
fumecheng-3910	168	10	f500=2.049	f500=2.049	PROPN
fumecheng-3910	168	11	min	min	PROPN
fumecheng-3910	168	12	.	.	PROPN
fumecheng-3910	168	13	values	value	NOUN
fumecheng-3910	168	14	20	20	NUM
fumecheng-3910	168	15	20	20	NUM
fumecheng-3910	168	16	20	20	NUM
fumecheng-3910	168	17	20	20	NUM
fumecheng-3910	168	18	0	0	NUM
fumecheng-3910	168	19	-50	-50	PUNCT
fumecheng-3910	168	20	0	0	NUM
fumecheng-3910	168	21	0	0	NUM
fumecheng-3910	168	22	-100	-100	PROPN
fumecheng-3910	168	23	max	max	PROPN
fumecheng-3910	168	24	.	.	PUNCT
fumecheng-3910	169	1	values	value	VERB
fumecheng-3910	169	2	100	100	NUM
fumecheng-3910	169	3	100	100	NUM
fumecheng-3910	169	4	100	100	NUM
fumecheng-3910	169	5	100	100	NUM
fumecheng-3910	169	6	90	90	NUM
fumecheng-3910	169	7	50	50	NUM
fumecheng-3910	169	8	100	100	NUM
fumecheng-3910	169	9	100	100	NUM
fumecheng-3910	169	10	0	0	NUM
fumecheng-3910	169	11	optimal	optimal	ADJ
fumecheng-3910	169	12	values	value	NOUN
fumecheng-3910	169	13	34.79	34.79	NUM
fumecheng-3910	169	14	66	66	NUM
fumecheng-3910	169	15	80	80	NUM
fumecheng-3910	169	16	52.35	52.35	NUM
fumecheng-3910	169	17	83	83	NUM
fumecheng-3910	169	18	19.55	19.55	NUM
fumecheng-3910	169	19	39.84	39.84	NUM
fumecheng-3910	169	20	36.01	36.01	NUM
fumecheng-3910	169	21	-63	-63	PUNCT
fumecheng-3910	169	22	stage	stage	NOUN
fumecheng-3910	169	23	2	2	NUM
fumecheng-3910	169	24	,	,	PUNCT
fumecheng-3910	169	25	500	500	NUM
fumecheng-3910	169	26	generations	generation	NOUN
fumecheng-3910	169	27	,	,	PUNCT
fumecheng-3910	169	28	f500=1.565	f500=1.565	NOUN
fumecheng-3910	169	29	min	min	NOUN
fumecheng-3910	169	30	.	.	PROPN
fumecheng-3910	169	31	values	value	NOUN
fumecheng-3910	169	32	30	30	NUM
fumecheng-3910	169	33	60	60	NUM
fumecheng-3910	169	34	70	70	NUM
fumecheng-3910	169	35	40	40	NUM
fumecheng-3910	169	36	60	60	NUM
fumecheng-3910	169	37	10	10	NUM
fumecheng-3910	169	38	30	30	NUM
fumecheng-3910	169	39	30	30	NUM
fumecheng-3910	169	40	-70	-70	SYM
fumecheng-3910	169	41	max	max	PROPN
fumecheng-3910	169	42	.	.	PUNCT
fumecheng-3910	170	1	values	value	VERB
fumecheng-3910	170	2	50	50	NUM
fumecheng-3910	170	3	80	80	NUM
fumecheng-3910	170	4	90	90	NUM
fumecheng-3910	170	5	60	60	NUM
fumecheng-3910	170	6	90	90	NUM
fumecheng-3910	170	7	30	30	NUM
fumecheng-3910	170	8	50	50	NUM
fumecheng-3910	170	9	50	50	NUM
fumecheng-3910	170	10	-50	-50	PUNCT
fumecheng-3910	170	11	optimal	optimal	ADJ
fumecheng-3910	170	12	values	value	NOUN
fumecheng-3910	170	13	37	37	NUM
fumecheng-3910	170	14	70.96	70.96	NUM
fumecheng-3910	170	15	87	87	NUM
fumecheng-3910	170	16	54	54	NUM
fumecheng-3910	170	17	73	73	NUM
fumecheng-3910	170	18	14.48	14.48	NUM
fumecheng-3910	170	19	41.89	41.89	NUM
fumecheng-3910	170	20	36.65	36.65	NUM
fumecheng-3910	170	21	-67	-67	PUNCT
fumecheng-3910	170	22	table	table	NOUN
fumecheng-3910	170	23	3	3	NUM
fumecheng-3910	170	24	limits	limit	NOUN
fumecheng-3910	170	25	of	of	ADP
fumecheng-3910	170	26	the	the	DET
fumecheng-3910	170	27	design	design	NOUN
fumecheng-3910	170	28	variables	variable	NOUN
fumecheng-3910	170	29	and	and	CCONJ
fumecheng-3910	170	30	optimal	optimal	ADJ
fumecheng-3910	170	31	values	value	NOUN
fumecheng-3910	170	32	–	–	PUNCT
fumecheng-3910	170	33	six	six	NUM
fumecheng-3910	170	34	-	-	PUNCT
fumecheng-3910	170	35	bar	bar	NOUN
fumecheng-3910	170	36	linkage	linkage	NOUN
fumecheng-3910	170	37	l1	l1	PROPN
fumecheng-3910	170	38	l2	l2	PROPN
fumecheng-3910	170	39	l3	l3	PROPN
fumecheng-3910	170	40	l4	l4	PROPN
fumecheng-3910	170	41	l5	l5	PROPN
fumecheng-3910	170	42	l6	l6	PROPN
fumecheng-3910	170	43	l7	l7	PROPN
fumecheng-3910	170	44	l8	l8	PROPN
fumecheng-3910	170	45	γ1	γ1	PROPN
fumecheng-3910	170	46	γ2	γ2	PROPN
fumecheng-3910	170	47	γ3	γ3	PROPN
fumecheng-3910	171	1	xo	xo	PROPN
fumecheng-3910	172	1	yo	yo	INTJ
fumecheng-3910	172	2	xc	xc	PROPN
fumecheng-3910	172	3	yc	yc	PROPN
fumecheng-3910	172	4	stage	stage	PROPN
fumecheng-3910	172	5	1	1	NUM
fumecheng-3910	172	6	,	,	PUNCT
fumecheng-3910	172	7	500	500	NUM
fumecheng-3910	172	8	generations	generation	NOUN
fumecheng-3910	172	9	,	,	PUNCT
fumecheng-3910	172	10	f500=1.724	f500=1.724	ADP
fumecheng-3910	172	11	min	min	PROPN
fumecheng-3910	172	12	.	.	PROPN
fumecheng-3910	172	13	values	value	NOUN
fumecheng-3910	172	14	20	20	NUM
fumecheng-3910	172	15	20	20	NUM
fumecheng-3910	172	16	20	20	NUM
fumecheng-3910	172	17	20	20	NUM
fumecheng-3910	172	18	20	20	NUM
fumecheng-3910	172	19	20	20	NUM
fumecheng-3910	172	20	20	20	NUM
fumecheng-3910	172	21	20	20	NUM
fumecheng-3910	172	22	-90	-90	NUM
fumecheng-3910	172	23	-90	-90	PUNCT
fumecheng-3910	172	24	-90	-90	PUNCT
fumecheng-3910	173	1	-100	-100	PROPN
fumecheng-3910	173	2	-100	-100	PROPN
fumecheng-3910	173	3	-100	-100	PROPN
fumecheng-3910	173	4	-100	-100	PROPN
fumecheng-3910	173	5	max	max	PROPN
fumecheng-3910	173	6	.	.	PUNCT
fumecheng-3910	174	1	values	value	VERB
fumecheng-3910	174	2	100	100	NUM
fumecheng-3910	174	3	100	100	NUM
fumecheng-3910	174	4	100	100	NUM
fumecheng-3910	174	5	100	100	NUM
fumecheng-3910	174	6	100	100	NUM
fumecheng-3910	174	7	100	100	NUM
fumecheng-3910	174	8	100	100	NUM
fumecheng-3910	174	9	100	100	NUM
fumecheng-3910	174	10	90	90	NUM
fumecheng-3910	174	11	90	90	NUM
fumecheng-3910	174	12	90	90	NUM
fumecheng-3910	174	13	100	100	NUM
fumecheng-3910	174	14	100	100	NUM
fumecheng-3910	174	15	100	100	NUM
fumecheng-3910	174	16	100	100	NUM
fumecheng-3910	174	17	optimal	optimal	ADJ
fumecheng-3910	174	18	values	value	NOUN
fumecheng-3910	174	19	32	32	NUM
fumecheng-3910	174	20	72.99	72.99	NUM
fumecheng-3910	174	21	72	72	NUM
fumecheng-3910	174	22	78	78	NUM
fumecheng-3910	174	23	85.07	85.07	NUM
fumecheng-3910	174	24	71	71	NUM
fumecheng-3910	174	25	85	85	NUM
fumecheng-3910	174	26	75	75	NUM
fumecheng-3910	174	27	89	89	NUM
fumecheng-3910	174	28	-27	-27	NUM
fumecheng-3910	174	29	11	11	NUM
fumecheng-3910	174	30	-30.1	-30.1	NOUN
fumecheng-3910	174	31	-6.1	-6.1	PROPN
fumecheng-3910	174	32	44.03	44.03	NUM
fumecheng-3910	174	33	-81	-81	NUM
fumecheng-3910	174	34	stage	stage	NOUN
fumecheng-3910	174	35	2	2	NUM
fumecheng-3910	174	36	,	,	PUNCT
fumecheng-3910	174	37	500	500	NUM
fumecheng-3910	174	38	generations	generation	NOUN
fumecheng-3910	174	39	,	,	PUNCT
fumecheng-3910	174	40	f500=1.151	f500=1.151	PROPN
fumecheng-3910	174	41	min	min	PROPN
fumecheng-3910	174	42	.	.	PROPN
fumecheng-3910	174	43	values	value	NOUN
fumecheng-3910	174	44	25	25	NUM
fumecheng-3910	174	45	68	68	NUM
fumecheng-3910	174	46	68	68	NUM
fumecheng-3910	174	47	75	75	NUM
fumecheng-3910	174	48	80	80	NUM
fumecheng-3910	174	49	65	65	NUM
fumecheng-3910	174	50	80	80	NUM
fumecheng-3910	174	51	70	70	NUM
fumecheng-3910	174	52	85	85	NUM
fumecheng-3910	174	53	-32	-32	SYM
fumecheng-3910	174	54	6	6	NUM
fumecheng-3910	174	55	-35	-35	SYM
fumecheng-3910	174	56	-11	-11	NUM
fumecheng-3910	174	57	40	40	NUM
fumecheng-3910	174	58	-85	-85	PROPN
fumecheng-3910	174	59	max	max	PROPN
fumecheng-3910	174	60	.	.	PUNCT
fumecheng-3910	175	1	values	value	VERB
fumecheng-3910	175	2	35	35	NUM
fumecheng-3910	175	3	78	78	NUM
fumecheng-3910	175	4	78	78	NUM
fumecheng-3910	175	5	85	85	NUM
fumecheng-3910	175	6	90	90	NUM
fumecheng-3910	175	7	75	75	NUM
fumecheng-3910	175	8	90	90	NUM
fumecheng-3910	175	9	80	80	NUM
fumecheng-3910	175	10	95	95	NUM
fumecheng-3910	175	11	-22	-22	SYM
fumecheng-3910	176	1	16	16	NUM
fumecheng-3910	176	2	-25	-25	SYM
fumecheng-3910	176	3	-1	-1	CCONJ
fumecheng-3910	176	4	50	50	NUM
fumecheng-3910	176	5	-75	-75	NUM
fumecheng-3910	176	6	optimal	optimal	ADJ
fumecheng-3910	176	7	values	value	NOUN
fumecheng-3910	176	8	30.95	30.95	NUM
fumecheng-3910	176	9	72	72	NUM
fumecheng-3910	176	10	73	73	NUM
fumecheng-3910	176	11	85	85	NUM
fumecheng-3910	176	12	86	86	NUM
fumecheng-3910	176	13	72	72	NUM
fumecheng-3910	176	14	85	85	NUM
fumecheng-3910	176	15	74	74	NUM
fumecheng-3910	176	16	91	91	NUM
fumecheng-3910	176	17	-24	-24	SYM
fumecheng-3910	176	18	8	8	NUM
fumecheng-3910	176	19	-26.9	-26.9	NUM
fumecheng-3910	176	20	-8.1	-8.1	NUM
fumecheng-3910	176	21	44	44	NUM
fumecheng-3910	176	22	-85	-85	PUNCT
fumecheng-3910	176	23	the	the	DET
fumecheng-3910	176	24	presented	present	VERB
fumecheng-3910	176	25	results	result	NOUN
fumecheng-3910	176	26	show	show	VERB
fumecheng-3910	176	27	that	that	SCONJ
fumecheng-3910	176	28	for	for	ADP
fumecheng-3910	176	29	the	the	DET
fumecheng-3910	176	30	four	four	NUM
fumecheng-3910	176	31	-	-	PUNCT
fumecheng-3910	176	32	bar	bar	NOUN
fumecheng-3910	176	33	linkage	linkage	NOUN
fumecheng-3910	176	34	the	the	DET
fumecheng-3910	176	35	improvement	improvement	NOUN
fumecheng-3910	176	36	of	of	ADP
fumecheng-3910	176	37	the	the	DET
fumecheng-3910	176	38	fitness	fitness	NOUN
fumecheng-3910	176	39	value	value	NOUN
fumecheng-3910	176	40	at	at	ADP
fumecheng-3910	176	41	the	the	DET
fumecheng-3910	176	42	second	second	ADJ
fumecheng-3910	176	43	stage	stage	NOUN
fumecheng-3910	176	44	in	in	ADP
fumecheng-3910	176	45	relation	relation	NOUN
fumecheng-3910	176	46	to	to	ADP
fumecheng-3910	176	47	the	the	DET
fumecheng-3910	176	48	first	first	ADJ
fumecheng-3910	176	49	stage	stage	NOUN
fumecheng-3910	176	50	is	be	AUX
fumecheng-3910	176	51	about	about	ADV
fumecheng-3910	176	52	23.6	23.6	NUM
fumecheng-3910	176	53	%	%	NOUN
fumecheng-3910	176	54	,	,	PUNCT
fumecheng-3910	176	55	while	while	SCONJ
fumecheng-3910	176	56	for	for	ADP
fumecheng-3910	176	57	the	the	DET
fumecheng-3910	176	58	six	six	NUM
fumecheng-3910	176	59	-	-	PUNCT
fumecheng-3910	176	60	bar	bar	NOUN
fumecheng-3910	176	61	linkage	linkage	NOUN
fumecheng-3910	176	62	the	the	DET
fumecheng-3910	176	63	same	same	ADJ
fumecheng-3910	176	64	value	value	NOUN
fumecheng-3910	176	65	is	be	AUX
fumecheng-3910	176	66	about	about	ADV
fumecheng-3910	176	67	33.2	33.2	NUM
fumecheng-3910	176	68	%	%	NOUN
fumecheng-3910	176	69	.	.	PUNCT
fumecheng-3910	177	1	in	in	ADP
fumecheng-3910	177	2	addition	addition	NOUN
fumecheng-3910	177	3	,	,	PUNCT
fumecheng-3910	177	4	one	one	PRON
fumecheng-3910	177	5	can	can	AUX
fumecheng-3910	177	6	see	see	VERB
fumecheng-3910	177	7	that	that	SCONJ
fumecheng-3910	177	8	the	the	DET
fumecheng-3910	177	9	fitness	fitness	NOUN
fumecheng-3910	177	10	value	value	NOUN
fumecheng-3910	177	11	for	for	ADP
fumecheng-3910	177	12	the	the	DET
fumecheng-3910	177	13	six	six	NUM
fumecheng-3910	177	14	-	-	PUNCT
fumecheng-3910	177	15	bar	bar	NOUN
fumecheng-3910	177	16	linkage	linkage	NOUN
fumecheng-3910	177	17	is	be	AUX
fumecheng-3910	177	18	smaller	small	ADJ
fumecheng-3910	177	19	than	than	ADP
fumecheng-3910	177	20	the	the	DET
fumecheng-3910	177	21	fitness	fitness	NOUN
fumecheng-3910	177	22	value	value	NOUN
fumecheng-3910	177	23	for	for	ADP
fumecheng-3910	177	24	the	the	DET
fumecheng-3910	177	25	four	four	NUM
fumecheng-3910	177	26	-	-	PUNCT
fumecheng-3910	177	27	bar	bar	NOUN
fumecheng-3910	177	28	linkage	linkage	NOUN
fumecheng-3910	177	29	by	by	ADP
fumecheng-3910	177	30	26.4	26.4	NUM
fumecheng-3910	177	31	%	%	NOUN
fumecheng-3910	177	32	,	,	PUNCT
fumecheng-3910	177	33	i.e.	i.e.	X
fumecheng-3910	177	34	the	the	DET
fumecheng-3910	177	35	six	six	NUM
fumecheng-3910	177	36	-	-	PUNCT
fumecheng-3910	177	37	bar	bar	NOUN
fumecheng-3910	177	38	linkage	linkage	NOUN
fumecheng-3910	177	39	better	well	ADV
fumecheng-3910	177	40	tracks	track	VERB
fumecheng-3910	177	41	the	the	DET
fumecheng-3910	177	42	desired	desire	VERB
fumecheng-3910	177	43	path	path	NOUN
fumecheng-3910	177	44	.	.	PUNCT
fumecheng-3910	178	1	this	this	DET
fumecheng-3910	178	2	fact	fact	NOUN
fumecheng-3910	178	3	is	be	AUX
fumecheng-3910	178	4	explained	explain	VERB
fumecheng-3910	178	5	by	by	ADP
fumecheng-3910	178	6	the	the	DET
fumecheng-3910	178	7	presence	presence	NOUN
fumecheng-3910	178	8	of	of	ADP
fumecheng-3910	178	9	more	more	ADV
fumecheng-3910	178	10	geometrical	geometrical	ADJ
fumecheng-3910	178	11	parameters	parameter	NOUN
fumecheng-3910	178	12	in	in	ADP
fumecheng-3910	178	13	the	the	DET
fumecheng-3910	178	14	six	six	NUM
fumecheng-3910	178	15	-	-	PUNCT
fumecheng-3910	178	16	bar	bar	NOUN
fumecheng-3910	178	17	linkage	linkage	NOUN
fumecheng-3910	178	18	that	that	PRON
fumecheng-3910	178	19	can	can	AUX
fumecheng-3910	178	20	be	be	AUX
fumecheng-3910	178	21	adjusted	adjust	VERB
fumecheng-3910	178	22	to	to	PART
fumecheng-3910	178	23	minimize	minimize	VERB
fumecheng-3910	178	24	the	the	DET
fumecheng-3910	178	25	fitness	fitness	NOUN
fumecheng-3910	178	26	function	function	NOUN
fumecheng-3910	178	27	.	.	PUNCT
fumecheng-3910	179	1	fig	fig	NOUN
fumecheng-3910	179	2	.	.	PUNCT
fumecheng-3910	180	1	8	8	NUM
fumecheng-3910	180	2	evolution	evolution	NOUN
fumecheng-3910	180	3	of	of	ADP
fumecheng-3910	180	4	the	the	DET
fumecheng-3910	180	5	fitness	fitness	NOUN
fumecheng-3910	180	6	function	function	NOUN
fumecheng-3910	180	7	values	value	NOUN
fumecheng-3910	180	8	for	for	ADP
fumecheng-3910	180	9	the	the	DET
fumecheng-3910	180	10	considered	consider	VERB
fumecheng-3910	180	11	linkages	linkage	NOUN
fumecheng-3910	180	12	152	152	NUM
fumecheng-3910	180	13	r.	r.	PROPN
fumecheng-3910	180	14	mitrev	mitrev	PROPN
fumecheng-3910	180	15	,	,	PUNCT
fumecheng-3910	180	16	b.	b.	PROPN
fumecheng-3910	180	17	tudjarov	tudjarov	PROPN
fumecheng-3910	180	18	,	,	PUNCT
fumecheng-3910	180	19	t.todorov	t.todorov	PRON
fumecheng-3910	180	20	in	in	ADP
fumecheng-3910	180	21	fig	fig	NOUN
fumecheng-3910	180	22	.	.	PUNCT
fumecheng-3910	180	23	8	8	NUM
fumecheng-3910	181	1	the	the	DET
fumecheng-3910	181	2	evolution	evolution	NOUN
fumecheng-3910	181	3	of	of	ADP
fumecheng-3910	181	4	the	the	DET
fumecheng-3910	181	5	fitness	fitness	NOUN
fumecheng-3910	181	6	function	function	NOUN
fumecheng-3910	181	7	values	value	NOUN
fumecheng-3910	181	8	for	for	SCONJ
fumecheng-3910	181	9	the	the	DET
fumecheng-3910	181	10	considered	consider	VERB
fumecheng-3910	181	11	case	case	NOUN
fumecheng-3910	181	12	studies	study	NOUN
fumecheng-3910	181	13	is	be	AUX
fumecheng-3910	181	14	shown	show	VERB
fumecheng-3910	181	15	.	.	PUNCT
fumecheng-3910	182	1	in	in	ADP
fumecheng-3910	182	2	figs	fig	NOUN
fumecheng-3910	182	3	.	.	PUNCT
fumecheng-3910	183	1	9	9	NUM
fumecheng-3910	183	2	and	and	CCONJ
fumecheng-3910	183	3	10	10	NUM
fumecheng-3910	183	4	the	the	DET
fumecheng-3910	183	5	evolution	evolution	NOUN
fumecheng-3910	183	6	of	of	ADP
fumecheng-3910	183	7	the	the	DET
fumecheng-3910	183	8	linkages	linkage	NOUN
fumecheng-3910	183	9	geometrical	geometrical	ADJ
fumecheng-3910	183	10	configurations	configuration	NOUN
fumecheng-3910	183	11	together	together	ADV
fumecheng-3910	183	12	with	with	ADP
fumecheng-3910	183	13	the	the	DET
fumecheng-3910	183	14	couplers	coupler	NOUN
fumecheng-3910	183	15	trajectory	trajectory	NOUN
fumecheng-3910	183	16	and	and	CCONJ
fumecheng-3910	183	17	the	the	DET
fumecheng-3910	183	18	desired	desire	VERB
fumecheng-3910	183	19	path	path	NOUN
fumecheng-3910	183	20	is	be	AUX
fumecheng-3910	183	21	shown	show	VERB
fumecheng-3910	183	22	.	.	PUNCT
fumecheng-3910	184	1	stage	stage	NOUN
fumecheng-3910	184	2	1	1	NUM
fumecheng-3910	184	3	generation	generation	NOUN
fumecheng-3910	184	4	1	1	NUM
fumecheng-3910	184	5	,	,	PUNCT
fumecheng-3910	184	6	f=11.6161	f=11.6161	ADJ
fumecheng-3910	184	7	generation	generation	NOUN
fumecheng-3910	184	8	14	14	NUM
fumecheng-3910	184	9	,	,	PUNCT
fumecheng-3910	184	10	f=5.148866	f=5.148866	PROPN
fumecheng-3910	184	11	generation	generation	NOUN
fumecheng-3910	184	12	500	500	NUM
fumecheng-3910	184	13	,	,	PUNCT
fumecheng-3910	184	14	f=2.048843	f=2.048843	NOUN
fumecheng-3910	184	15	stage	stage	NOUN
fumecheng-3910	184	16	2	2	NUM
fumecheng-3910	184	17	generation	generation	NOUN
fumecheng-3910	184	18	1	1	NUM
fumecheng-3910	184	19	,	,	PUNCT
fumecheng-3910	184	20	f=2.911277	f=2.911277	PROPN
fumecheng-3910	184	21	generation	generation	NOUN
fumecheng-3910	184	22	14	14	NUM
fumecheng-3910	184	23	,	,	PUNCT
fumecheng-3910	184	24	f=	f=	NUM
fumecheng-3910	184	25	2.181182	2.181182	NUM
fumecheng-3910	184	26	generation	generation	NOUN
fumecheng-3910	184	27	500	500	NUM
fumecheng-3910	184	28	,	,	PUNCT
fumecheng-3910	184	29	f=1.565115	f=1.565115	PROPN
fumecheng-3910	184	30	fig	fig	NOUN
fumecheng-3910	184	31	.	.	PUNCT
fumecheng-3910	185	1	9	9	NUM
fumecheng-3910	185	2	evolution	evolution	NOUN
fumecheng-3910	185	3	of	of	ADP
fumecheng-3910	185	4	the	the	DET
fumecheng-3910	185	5	four	four	NUM
fumecheng-3910	185	6	-	-	PUNCT
fumecheng-3910	185	7	bar	bar	NOUN
fumecheng-3910	185	8	linkage	linkage	NOUN
fumecheng-3910	185	9	geometrical	geometrical	ADJ
fumecheng-3910	185	10	configurations	configuration	NOUN
fumecheng-3910	185	11	and	and	CCONJ
fumecheng-3910	185	12	the	the	DET
fumecheng-3910	185	13	coupler	coupler	NOUN
fumecheng-3910	185	14	point	point	NOUN
fumecheng-3910	185	15	path	path	NOUN
fumecheng-3910	185	16	cloud	cloud	NOUN
fumecheng-3910	185	17	-	-	PUNCT
fumecheng-3910	185	18	based	base	VERB
fumecheng-3910	185	19	expert	expert	NOUN
fumecheng-3910	185	20	system	system	NOUN
fumecheng-3910	185	21	for	for	ADP
fumecheng-3910	185	22	synthesis	synthesis	NOUN
fumecheng-3910	185	23	and	and	CCONJ
fumecheng-3910	185	24	evolutionary	evolutionary	ADJ
fumecheng-3910	185	25	optimization	optimization	NOUN
fumecheng-3910	185	26	of	of	ADP
fumecheng-3910	185	27	planar	planar	ADJ
fumecheng-3910	185	28	linkages	linkage	NOUN
fumecheng-3910	185	29	153	153	NUM
fumecheng-3910	185	30	stage	stage	NOUN
fumecheng-3910	185	31	1	1	NUM
fumecheng-3910	185	32	generation	generation	NOUN
fumecheng-3910	185	33	1	1	NUM
fumecheng-3910	185	34	,	,	PUNCT
fumecheng-3910	185	35	f=17.4918	f=17.4918	NOUN
fumecheng-3910	185	36	generation	generation	NOUN
fumecheng-3910	185	37	16	16	NUM
fumecheng-3910	185	38	,	,	PUNCT
fumecheng-3910	185	39	f=8.8444	f=8.8444	NOUN
fumecheng-3910	185	40	generation	generation	NOUN
fumecheng-3910	185	41	500	500	NUM
fumecheng-3910	185	42	,	,	PUNCT
fumecheng-3910	185	43	f=1.7238	f=1.7238	NOUN
fumecheng-3910	185	44	stage	stage	NOUN
fumecheng-3910	185	45	2	2	NUM
fumecheng-3910	185	46	generation	generation	NOUN
fumecheng-3910	185	47	1	1	NUM
fumecheng-3910	185	48	,	,	PUNCT
fumecheng-3910	185	49	f=3.03592	f=3.03592	NOUN
fumecheng-3910	185	50	generation	generation	NOUN
fumecheng-3910	185	51	10	10	NUM
fumecheng-3910	185	52	,	,	PUNCT
fumecheng-3910	185	53	f=1.54891	f=1.54891	NOUN
fumecheng-3910	185	54	generation	generation	NOUN
fumecheng-3910	185	55	500	500	NUM
fumecheng-3910	185	56	,	,	PUNCT
fumecheng-3910	185	57	f=1.151466	f=1.151466	ADJ
fumecheng-3910	185	58	fig	fig	NOUN
fumecheng-3910	185	59	.	.	PUNCT
fumecheng-3910	186	1	10	10	NUM
fumecheng-3910	186	2	evolution	evolution	NOUN
fumecheng-3910	186	3	of	of	ADP
fumecheng-3910	186	4	the	the	DET
fumecheng-3910	186	5	six	six	NUM
fumecheng-3910	186	6	-	-	PUNCT
fumecheng-3910	186	7	bar	bar	NOUN
fumecheng-3910	186	8	linkage	linkage	NOUN
fumecheng-3910	186	9	geometrical	geometrical	ADJ
fumecheng-3910	186	10	configurations	configuration	NOUN
fumecheng-3910	186	11	and	and	CCONJ
fumecheng-3910	186	12	the	the	DET
fumecheng-3910	186	13	coupler	coupler	NOUN
fumecheng-3910	186	14	point	point	NOUN
fumecheng-3910	186	15	path	path	NOUN
fumecheng-3910	186	16	5	5	NUM
fumecheng-3910	186	17	.	.	PUNCT
fumecheng-3910	186	18	conclusion	conclusion	VERB
fumecheng-3910	186	19	the	the	DET
fumecheng-3910	186	20	paper	paper	NOUN
fumecheng-3910	186	21	presents	present	VERB
fumecheng-3910	186	22	a	a	DET
fumecheng-3910	186	23	cloud	cloud	NOUN
fumecheng-3910	186	24	-	-	PUNCT
fumecheng-3910	186	25	based	base	VERB
fumecheng-3910	186	26	expert	expert	NOUN
fumecheng-3910	186	27	system	system	NOUN
fumecheng-3910	186	28	for	for	ADP
fumecheng-3910	186	29	synthesis	synthesis	NOUN
fumecheng-3910	186	30	and	and	CCONJ
fumecheng-3910	186	31	evolutionary	evolutionary	ADJ
fumecheng-3910	186	32	optimization	optimization	NOUN
fumecheng-3910	186	33	of	of	ADP
fumecheng-3910	186	34	planar	planar	ADJ
fumecheng-3910	186	35	linkages	linkage	NOUN
fumecheng-3910	186	36	.	.	PUNCT
fumecheng-3910	187	1	the	the	DET
fumecheng-3910	187	2	software	software	NOUN
fumecheng-3910	187	3	system	system	NOUN
fumecheng-3910	187	4	allows	allow	VERB
fumecheng-3910	187	5	composition	composition	NOUN
fumecheng-3910	187	6	of	of	ADP
fumecheng-3910	187	7	linkage	linkage	NOUN
fumecheng-3910	187	8	kinematical	kinematical	ADJ
fumecheng-3910	187	9	structure	structure	NOUN
fumecheng-3910	187	10	by	by	ADP
fumecheng-3910	187	11	means	mean	NOUN
fumecheng-3910	187	12	of	of	ADP
fumecheng-3910	187	13	the	the	DET
fumecheng-3910	187	14	modular	modular	ADJ
fumecheng-3910	187	15	approach	approach	NOUN
fumecheng-3910	187	16	based	base	VERB
fumecheng-3910	187	17	on	on	ADP
fumecheng-3910	187	18	assur	assur	PROPN
fumecheng-3910	187	19	’s	’s	PART
fumecheng-3910	187	20	groups	group	NOUN
fumecheng-3910	187	21	.	.	PUNCT
fumecheng-3910	188	1	the	the	DET
fumecheng-3910	188	2	used	use	VERB
fumecheng-3910	188	3	approach	approach	NOUN
fumecheng-3910	188	4	for	for	ADP
fumecheng-3910	188	5	obtaining	obtain	VERB
fumecheng-3910	188	6	the	the	DET
fumecheng-3910	188	7	geometrical	geometrical	ADJ
fumecheng-3910	188	8	relationships	relationship	NOUN
fumecheng-3910	188	9	between	between	ADP
fumecheng-3910	188	10	the	the	DET
fumecheng-3910	188	11	input	input	NOUN
fumecheng-3910	188	12	and	and	CCONJ
fumecheng-3910	188	13	the	the	DET
fumecheng-3910	188	14	output	output	NOUN
fumecheng-3910	188	15	variables	variable	NOUN
fumecheng-3910	188	16	of	of	ADP
fumecheng-3910	188	17	the	the	DET
fumecheng-3910	188	18	dyads	dyad	NOUN
fumecheng-3910	188	19	is	be	AUX
fumecheng-3910	188	20	based	base	VERB
fumecheng-3910	188	21	on	on	ADP
fumecheng-3910	188	22	the	the	DET
fumecheng-3910	188	23	use	use	NOUN
fumecheng-3910	188	24	of	of	ADP
fumecheng-3910	188	25	homogeneous	homogeneous	ADJ
fumecheng-3910	188	26	transformation	transformation	NOUN
fumecheng-3910	188	27	matrices	matrix	NOUN
fumecheng-3910	188	28	.	.	PUNCT
fumecheng-3910	189	1	the	the	DET
fumecheng-3910	189	2	representations	representation	NOUN
fumecheng-3910	189	3	of	of	ADP
fumecheng-3910	189	4	the	the	DET
fumecheng-3910	189	5	dyads	dyad	NOUN
fumecheng-3910	189	6	as	as	ADP
fumecheng-3910	189	7	functional	functional	ADJ
fumecheng-3910	189	8	blocks	block	NOUN
fumecheng-3910	189	9	with	with	ADP
fumecheng-3910	189	10	input	input	NOUN
fumecheng-3910	189	11	and	and	CCONJ
fumecheng-3910	189	12	output	output	NOUN
fumecheng-3910	189	13	variables	variable	NOUN
fumecheng-3910	189	14	allows	allow	VERB
fumecheng-3910	189	15	creating	create	VERB
fumecheng-3910	189	16	subprograms	subprogram	NOUN
fumecheng-3910	189	17	or	or	CCONJ
fumecheng-3910	189	18	modules	module	NOUN
fumecheng-3910	189	19	for	for	ADP
fumecheng-3910	189	20	each	each	DET
fumecheng-3910	189	21	dyad	dyad	NOUN
fumecheng-3910	189	22	type	type	NOUN
fumecheng-3910	189	23	and	and	CCONJ
fumecheng-3910	189	24	utilizing	utilize	VERB
fumecheng-3910	189	25	them	they	PRON
fumecheng-3910	189	26	as	as	ADP
fumecheng-3910	189	27	building	build	VERB
fumecheng-3910	189	28	blocks	block	NOUN
fumecheng-3910	189	29	when	when	SCONJ
fumecheng-3910	189	30	creating	create	VERB
fumecheng-3910	189	31	linkages	linkage	NOUN
fumecheng-3910	189	32	with	with	ADP
fumecheng-3910	189	33	arbitrary	arbitrary	ADJ
fumecheng-3910	189	34	complexity	complexity	NOUN
fumecheng-3910	189	35	.	.	PUNCT
fumecheng-3910	190	1	the	the	DET
fumecheng-3910	190	2	velocity	velocity	NOUN
fumecheng-3910	190	3	and	and	CCONJ
fumecheng-3910	190	4	acceleration	acceleration	NOUN
fumecheng-3910	190	5	equations	equation	NOUN
fumecheng-3910	190	6	are	be	AUX
fumecheng-3910	190	7	obtained	obtain	VERB
fumecheng-3910	190	8	by	by	ADP
fumecheng-3910	190	9	a	a	DET
fumecheng-3910	190	10	straightforward	straightforward	ADJ
fumecheng-3910	190	11	differentiation	differentiation	NOUN
fumecheng-3910	190	12	with	with	ADP
fumecheng-3910	190	13	respect	respect	NOUN
fumecheng-3910	190	14	to	to	ADP
fumecheng-3910	190	15	the	the	DET
fumecheng-3910	190	16	time	time	NOUN
fumecheng-3910	190	17	and	and	CCONJ
fumecheng-3910	190	18	the	the	DET
fumecheng-3910	190	19	relationships	relationship	NOUN
fumecheng-3910	190	20	between	between	ADP
fumecheng-3910	190	21	the	the	DET
fumecheng-3910	190	22	input	input	NOUN
fumecheng-3910	190	23	and	and	CCONJ
fumecheng-3910	190	24	output	output	NOUN
fumecheng-3910	190	25	velocities	velocity	NOUN
fumecheng-3910	190	26	and	and	CCONJ
fumecheng-3910	190	27	accelerations	acceleration	NOUN
fumecheng-3910	190	28	are	be	AUX
fumecheng-3910	190	29	represented	represent	VERB
fumecheng-3910	190	30	by	by	ADP
fumecheng-3910	190	31	the	the	DET
fumecheng-3910	190	32	use	use	NOUN
fumecheng-3910	190	33	of	of	ADP
fumecheng-3910	190	34	the	the	DET
fumecheng-3910	190	35	jacobian	jacobian	ADJ
fumecheng-3910	190	36	,	,	PUNCT
fumecheng-3910	190	37	its	its	PRON
fumecheng-3910	190	38	inverse	inverse	NOUN
fumecheng-3910	190	39	and	and	CCONJ
fumecheng-3910	190	40	time	time	NOUN
fumecheng-3910	190	41	derivative	derivative	NOUN
fumecheng-3910	190	42	.	.	PUNCT
fumecheng-3910	191	1	the	the	DET
fumecheng-3910	191	2	developed	develop	VERB
fumecheng-3910	191	3	expert	expert	NOUN
fumecheng-3910	191	4	system	system	NOUN
fumecheng-3910	191	5	allows	allow	VERB
fumecheng-3910	191	6	a	a	DET
fumecheng-3910	191	7	dimensional	dimensional	ADJ
fumecheng-3910	191	8	synthesis	synthesis	NOUN
fumecheng-3910	191	9	of	of	ADP
fumecheng-3910	191	10	planar	planar	ADJ
fumecheng-3910	191	11	linkages	linkage	NOUN
fumecheng-3910	191	12	by	by	ADP
fumecheng-3910	191	13	using	use	VERB
fumecheng-3910	191	14	genetic	genetic	ADJ
fumecheng-3910	191	15	optimization	optimization	NOUN
fumecheng-3910	191	16	algorithms	algorithm	NOUN
fumecheng-3910	191	17	.	.	PUNCT
fumecheng-3910	192	1	one	one	NUM
fumecheng-3910	192	2	feature	feature	NOUN
fumecheng-3910	192	3	is	be	AUX
fumecheng-3910	192	4	remote	remote	ADJ
fumecheng-3910	192	5	creation	creation	NOUN
fumecheng-3910	192	6	of	of	ADP
fumecheng-3910	192	7	the	the	DET
fumecheng-3910	192	8	models	model	NOUN
fumecheng-3910	192	9	of	of	ADP
fumecheng-3910	192	10	genetic	genetic	ADJ
fumecheng-3910	192	11	algorithms	algorithm	NOUN
fumecheng-3910	192	12	and	and	CCONJ
fumecheng-3910	192	13	the	the	DET
fumecheng-3910	192	14	receiving	receiving	NOUN
fumecheng-3910	192	15	of	of	ADP
fumecheng-3910	192	16	the	the	DET
fumecheng-3910	192	17	results	result	NOUN
fumecheng-3910	192	18	by	by	ADP
fumecheng-3910	192	19	using	use	VERB
fumecheng-3910	192	20	a	a	DET
fumecheng-3910	192	21	user	user	NOUN
fumecheng-3910	192	22	-	-	PUNCT
fumecheng-3910	192	23	friendly	friendly	ADJ
fumecheng-3910	192	24	interface	interface	NOUN
fumecheng-3910	192	25	.	.	PUNCT
fumecheng-3910	193	1	by	by	ADP
fumecheng-3910	193	2	exploiting	exploit	VERB
fumecheng-3910	193	3	the	the	DET
fumecheng-3910	193	4	application	application	NOUN
fumecheng-3910	193	5	,	,	PUNCT
fumecheng-3910	193	6	the	the	DET
fumecheng-3910	193	7	user	user	NOUN
fumecheng-3910	193	8	can	can	AUX
fumecheng-3910	193	9	produce	produce	VERB
fumecheng-3910	193	10	and	and	CCONJ
fumecheng-3910	193	11	edit	edit	VERB
fumecheng-3910	193	12	the	the	DET
fumecheng-3910	193	13	initial	initial	ADJ
fumecheng-3910	193	14	information	information	NOUN
fumecheng-3910	193	15	about	about	ADP
fumecheng-3910	193	16	the	the	DET
fumecheng-3910	193	17	synthesized	synthesize	VERB
fumecheng-3910	193	18	or	or	CCONJ
fumecheng-3910	193	19	optimized	optimize	VERB
fumecheng-3910	193	20	linkage	linkage	NOUN
fumecheng-3910	193	21	;	;	PUNCT
fumecheng-3910	193	22	thus	thus	ADV
fumecheng-3910	193	23	he	he	PRON
fumecheng-3910	193	24	can	can	AUX
fumecheng-3910	193	25	receive	receive	VERB
fumecheng-3910	193	26	the	the	DET
fumecheng-3910	193	27	calculation	calculation	NOUN
fumecheng-3910	193	28	results	result	NOUN
fumecheng-3910	193	29	as	as	ADP
fumecheng-3910	193	30	a	a	DET
fumecheng-3910	193	31	web	web	NOUN
fumecheng-3910	193	32	page	page	NOUN
fumecheng-3910	193	33	154	154	NUM
fumecheng-3910	193	34	r.	r.	PROPN
fumecheng-3910	193	35	mitrev	mitrev	PROPN
fumecheng-3910	193	36	,	,	PUNCT
fumecheng-3910	193	37	b.	b.	PROPN
fumecheng-3910	193	38	tudjarov	tudjarov	PROPN
fumecheng-3910	193	39	,	,	PUNCT
fumecheng-3910	193	40	t.todorov	t.todorov	PRON
fumecheng-3910	193	41	and/or	and/or	CCONJ
fumecheng-3910	193	42	as	as	ADP
fumecheng-3910	193	43	ms	ms	PROPN
fumecheng-3910	193	44	excel	excel	PROPN
fumecheng-3910	193	45	file	file	NOUN
fumecheng-3910	193	46	.	.	PUNCT
fumecheng-3910	194	1	an	an	DET
fumecheng-3910	194	2	additional	additional	ADJ
fumecheng-3910	194	3	mutation	mutation	NOUN
fumecheng-3910	194	4	of	of	ADP
fumecheng-3910	194	5	the	the	DET
fumecheng-3910	194	6	best	good	ADJ
fumecheng-3910	194	7	chromosome	chromosome	NOUN
fumecheng-3910	194	8	genes	gene	NOUN
fumecheng-3910	194	9	by	by	ADP
fumecheng-3910	194	10	scanning	scanning	NOUN
fumecheng-3910	194	11	of	of	ADP
fumecheng-3910	194	12	every	every	DET
fumecheng-3910	194	13	gene	gene	NOUN
fumecheng-3910	194	14	within	within	ADP
fumecheng-3910	194	15	its	its	PRON
fumecheng-3910	194	16	searching	search	VERB
fumecheng-3910	194	17	space	space	NOUN
fumecheng-3910	194	18	improves	improve	VERB
fumecheng-3910	194	19	the	the	DET
fumecheng-3910	194	20	optimal	optimal	ADJ
fumecheng-3910	194	21	solution	solution	NOUN
fumecheng-3910	194	22	.	.	PUNCT
fumecheng-3910	195	1	if	if	SCONJ
fumecheng-3910	195	2	a	a	DET
fumecheng-3910	195	3	better	well	ADJ
fumecheng-3910	195	4	solution	solution	NOUN
fumecheng-3910	195	5	is	be	AUX
fumecheng-3910	195	6	found	find	VERB
fumecheng-3910	195	7	the	the	DET
fumecheng-3910	195	8	best	good	ADJ
fumecheng-3910	195	9	chromosome	chromosome	NOUN
fumecheng-3910	195	10	is	be	AUX
fumecheng-3910	195	11	substituted	substitute	VERB
fumecheng-3910	195	12	by	by	ADP
fumecheng-3910	195	13	the	the	DET
fumecheng-3910	195	14	mutated	mutate	VERB
fumecheng-3910	195	15	one	one	NUM
fumecheng-3910	195	16	.	.	PUNCT
fumecheng-3910	196	1	the	the	DET
fumecheng-3910	196	2	analyzed	analyze	VERB
fumecheng-3910	196	3	numerical	numerical	PROPN
fumecheng-3910	196	4	case	case	NOUN
fumecheng-3910	196	5	studies	study	NOUN
fumecheng-3910	196	6	show	show	VERB
fumecheng-3910	196	7	the	the	DET
fumecheng-3910	196	8	applicability	applicability	NOUN
fumecheng-3910	196	9	of	of	ADP
fumecheng-3910	196	10	the	the	DET
fumecheng-3910	196	11	developed	develop	VERB
fumecheng-3910	196	12	software	software	NOUN
fumecheng-3910	196	13	system	system	NOUN
fumecheng-3910	196	14	for	for	ADP
fumecheng-3910	196	15	mechanism	mechanism	NOUN
fumecheng-3910	196	16	analysis	analysis	NOUN
fumecheng-3910	196	17	,	,	PUNCT
fumecheng-3910	196	18	synthesis	synthesis	NOUN
fumecheng-3910	196	19	and	and	CCONJ
fumecheng-3910	196	20	optimization	optimization	NOUN
fumecheng-3910	196	21	.	.	PUNCT
fumecheng-3910	197	1	because	because	SCONJ
fumecheng-3910	197	2	the	the	DET
fumecheng-3910	197	3	number	number	NOUN
fumecheng-3910	197	4	of	of	ADP
fumecheng-3910	197	5	genes	gene	NOUN
fumecheng-3910	197	6	is	be	AUX
fumecheng-3910	197	7	not	not	PART
fumecheng-3910	197	8	limited	limited	ADJ
fumecheng-3910	197	9	,	,	PUNCT
fumecheng-3910	197	10	linkages	linkage	NOUN
fumecheng-3910	197	11	with	with	ADP
fumecheng-3910	197	12	a	a	DET
fumecheng-3910	197	13	very	very	ADV
fumecheng-3910	197	14	big	big	ADJ
fumecheng-3910	197	15	number	number	NOUN
fumecheng-3910	197	16	of	of	ADP
fumecheng-3910	197	17	design	design	NOUN
fumecheng-3910	197	18	variables	variable	NOUN
fumecheng-3910	197	19	can	can	AUX
fumecheng-3910	197	20	be	be	AUX
fumecheng-3910	197	21	synthesized	synthesize	VERB
fumecheng-3910	197	22	exploiting	exploit	VERB
fumecheng-3910	197	23	the	the	DET
fumecheng-3910	197	24	developed	develop	VERB
fumecheng-3910	197	25	approach	approach	NOUN
fumecheng-3910	197	26	.	.	PUNCT
fumecheng-3910	198	1	references	reference	NOUN
fumecheng-3910	198	2	1	1	NUM
fumecheng-3910	198	3	.	.	PUNCT
fumecheng-3910	199	1	artobolevsky	artobolevsky	PROPN
fumecheng-3910	199	2	,	,	PUNCT
fumecheng-3910	199	3	i.	i.	NOUN
fumecheng-3910	199	4	,	,	PUNCT
fumecheng-3910	199	5	1988	1988	NUM
fumecheng-3910	199	6	,	,	PUNCT
fumecheng-3910	199	7	theory	theory	NOUN
fumecheng-3910	199	8	of	of	ADP
fumecheng-3910	199	9	machines	machine	NOUN
fumecheng-3910	199	10	and	and	CCONJ
fumecheng-3910	199	11	mechanisms	mechanism	NOUN
fumecheng-3910	199	12	,	,	PUNCT
fumecheng-3910	199	13	moscow	moscow	PROPN
fumecheng-3910	199	14	,	,	PUNCT
fumecheng-3910	199	15	science	science	NOUN
fumecheng-3910	199	16	,	,	PUNCT
fumecheng-3910	199	17	640	640	NUM
fumecheng-3910	199	18	p.	p.	NOUN
fumecheng-3910	199	19	(	(	PUNCT
fumecheng-3910	199	20	in	in	ADP
fumecheng-3910	199	21	russian	russian	ADJ
fumecheng-3910	199	22	)	)	PUNCT
fumecheng-3910	199	23	2	2	NUM
fumecheng-3910	199	24	.	.	X
fumecheng-3910	199	25	erdman	erdman	PROPN
fumecheng-3910	199	26	,	,	PUNCT
fumecheng-3910	199	27	a.	a.	PROPN
fumecheng-3910	199	28	,	,	PUNCT
fumecheng-3910	199	29	sandor	sandor	PROPN
fumecheng-3910	199	30	,	,	PUNCT
fumecheng-3910	199	31	g.	g.	PROPN
fumecheng-3910	199	32	,	,	PUNCT
fumecheng-3910	199	33	kota	kota	PROPN
fumecheng-3910	199	34	,	,	PUNCT
fumecheng-3910	199	35	s.	s.	PROPN
fumecheng-3910	199	36	,	,	PUNCT
fumecheng-3910	199	37	2001	2001	NUM
fumecheng-3910	199	38	,	,	PUNCT
fumecheng-3910	199	39	mechanism	mechanism	NOUN
fumecheng-3910	199	40	design	design	NOUN
fumecheng-3910	199	41	:	:	PUNCT
fumecheng-3910	199	42	analysis	analysis	NOUN
fumecheng-3910	199	43	and	and	CCONJ
fumecheng-3910	199	44	synthesis	synthesis	NOUN
fumecheng-3910	199	45	,	,	PUNCT
fumecheng-3910	199	46	pearson	pearson	PROPN
fumecheng-3910	199	47	,	,	PUNCT
fumecheng-3910	199	48	688	688	NUM
fumecheng-3910	199	49	p.	p.	NOUN
fumecheng-3910	199	50	3	3	NUM
fumecheng-3910	199	51	.	.	PUNCT
fumecheng-3910	199	52	marinković	marinković	ADJ
fumecheng-3910	199	53	,	,	PUNCT
fumecheng-3910	199	54	z.	z.	PROPN
fumecheng-3910	199	55	,	,	PUNCT
fumecheng-3910	199	56	marinković	marinković	PROPN
fumecheng-3910	199	57	,	,	PUNCT
fumecheng-3910	199	58	d.	d.	PROPN
fumecheng-3910	199	59	,	,	PUNCT
fumecheng-3910	199	60	petrović	petrović	PROPN
fumecheng-3910	199	61	,	,	PUNCT
fumecheng-3910	199	62	g.	g.	NOUN
fumecheng-3910	199	63	,	,	PUNCT
fumecheng-3910	199	64	milić	milić	NOUN
fumecheng-3910	199	65	,	,	PUNCT
fumecheng-3910	199	66	p.	p.	NOUN
fumecheng-3910	199	67	,2012	,2012	PUNCT
fumecheng-3910	199	68	,	,	PUNCT
fumecheng-3910	199	69	modelling	modelling	NOUN
fumecheng-3910	199	70	and	and	CCONJ
fumecheng-3910	199	71	simulation	simulation	NOUN
fumecheng-3910	199	72	of	of	ADP
fumecheng-3910	199	73	dynamic	dynamic	ADJ
fumecheng-3910	199	74	behaviour	behaviour	NOUN
fumecheng-3910	199	75	of	of	ADP
fumecheng-3910	199	76	electric	electric	ADJ
fumecheng-3910	199	77	motor	motor	NOUN
fumecheng-3910	199	78	driven	drive	VERB
fumecheng-3910	199	79	mechanisms	mechanism	NOUN
fumecheng-3910	199	80	,	,	PUNCT
fumecheng-3910	199	81	tehnicki	tehnicki	NOUN
fumecheng-3910	199	82	vjesnik	vjesnik	PROPN
fumecheng-3910	199	83	,	,	PUNCT
fumecheng-3910	199	84	19(4	19(4	NOUN
fumecheng-3910	199	85	)	)	PUNCT
fumecheng-3910	199	86	,	,	PUNCT
fumecheng-3910	199	87	pp.717	pp.717	PROPN
fumecheng-3910	199	88	-	-	PUNCT
fumecheng-3910	199	89	725	725	NUM
fumecheng-3910	199	90	.	.	NOUN
fumecheng-3910	200	1	4	4	X
fumecheng-3910	200	2	.	.	X
fumecheng-3910	200	3	mitrev	mitrev	PROPN
fumecheng-3910	200	4	,	,	PUNCT
fumecheng-3910	200	5	r.	r.	PROPN
fumecheng-3910	200	6	,	,	PUNCT
fumecheng-3910	200	7	janošević	janošević	PROPN
fumecheng-3910	200	8	,	,	PUNCT
fumecheng-3910	200	9	d.	d.	PROPN
fumecheng-3910	200	10	,	,	PUNCT
fumecheng-3910	200	11	marinković	marinković	PROPN
fumecheng-3910	200	12	,	,	PUNCT
fumecheng-3910	200	13	d.	d.	PROPN
fumecheng-3910	200	14	,	,	PUNCT
fumecheng-3910	200	15	2017	2017	NUM
fumecheng-3910	200	16	,	,	PUNCT
fumecheng-3910	200	17	dynamical	dynamical	ADJ
fumecheng-3910	200	18	modelling	modelling	NOUN
fumecheng-3910	200	19	of	of	ADP
fumecheng-3910	200	20	hydraulic	hydraulic	ADJ
fumecheng-3910	200	21	excavator	excavator	NOUN
fumecheng-3910	200	22	considered	consider	VERB
fumecheng-3910	200	23	as	as	ADP
fumecheng-3910	200	24	a	a	DET
fumecheng-3910	200	25	multibody	multibody	ADJ
fumecheng-3910	200	26	system	system	NOUN
fumecheng-3910	200	27	,	,	PUNCT
fumecheng-3910	200	28	tehnicki	tehnicki	NOUN
fumecheng-3910	200	29	vjesnik	vjesnik	PROPN
fumecheng-3910	200	30	,	,	PUNCT
fumecheng-3910	200	31	24	24	NUM
fumecheng-3910	200	32	(	(	PUNCT
fumecheng-3910	200	33	supplement	supplement	NOUN
fumecheng-3910	200	34	2	2	NUM
fumecheng-3910	200	35	)	)	PUNCT
fumecheng-3910	200	36	,	,	PUNCT
fumecheng-3910	200	37	pp.327	pp.327	NOUN
fumecheng-3910	200	38	-	-	PUNCT
fumecheng-3910	200	39	338	338	NUM
fumecheng-3910	200	40	.	.	PUNCT
fumecheng-3910	201	1	5	5	NUM
fumecheng-3910	201	2	.	.	X
fumecheng-3910	201	3	working	work	VERB
fumecheng-3910	201	4	model	model	PROPN
fumecheng-3910	201	5	user	user	PROPN
fumecheng-3910	201	6	’s	’s	PART
fumecheng-3910	201	7	guide	guide	NOUN
fumecheng-3910	201	8	,	,	PUNCT
fumecheng-3910	201	9	1989	1989	NUM
fumecheng-3910	201	10	,	,	PUNCT
fumecheng-3910	201	11	knowledge	knowledge	NOUN
fumecheng-3910	201	12	revolution	revolution	NOUN
fumecheng-3910	201	13	.	.	PUNCT
fumecheng-3910	202	1	6	6	X
fumecheng-3910	202	2	.	.	X
fumecheng-3910	202	3	sam	sam	PROPN
fumecheng-3910	202	4	7.0	7.0	NUM
fumecheng-3910	202	5	user	user	PROPN
fumecheng-3910	202	6	’s	’s	PART
fumecheng-3910	202	7	guide	guide	NOUN
fumecheng-3910	202	8	,	,	PUNCT
fumecheng-3910	202	9	2014	2014	NUM
fumecheng-3910	202	10	,	,	PUNCT
fumecheng-3910	202	11	artas	arta	VERB
fumecheng-3910	202	12	engineering	engineering	NOUN
fumecheng-3910	202	13	software	software	NOUN
fumecheng-3910	202	14	.	.	PUNCT
fumecheng-3910	203	1	7	7	X
fumecheng-3910	203	2	.	.	X
fumecheng-3910	203	3	ansys	ansys	PROPN
fumecheng-3910	203	4	theory	theory	NOUN
fumecheng-3910	203	5	reference	reference	NOUN
fumecheng-3910	203	6	,	,	PUNCT
fumecheng-3910	203	7	release	release	VERB
fumecheng-3910	203	8	5.6	5.6	NUM
fumecheng-3910	203	9	,	,	PUNCT
fumecheng-3910	203	10	1999	1999	NUM
fumecheng-3910	203	11	ansys	ansys	PROPN
fumecheng-3910	203	12	inc	inc	PROPN
fumecheng-3910	203	13	.	.	PROPN
fumecheng-3910	203	14	8	8	NUM
fumecheng-3910	203	15	.	.	PUNCT
fumecheng-3910	204	1	campbell	campbell	PROPN
fumecheng-3910	204	2	,	,	PUNCT
fumecheng-3910	204	3	m.	m.	PROPN
fumecheng-3910	204	4	,	,	PUNCT
fumecheng-3910	204	5	cheng	cheng	PROPN
fumecheng-3910	204	6	,	,	PUNCT
fumecheng-3910	204	7	h.	h.	PROPN
fumecheng-3910	204	8	,	,	PUNCT
fumecheng-3910	204	9	2007	2007	NUM
fumecheng-3910	204	10	,	,	PUNCT
fumecheng-3910	204	11	teaching	teach	VERB
fumecheng-3910	204	12	computer	computer	NOUN
fumecheng-3910	204	13	-	-	PUNCT
fumecheng-3910	204	14	aided	aid	VERB
fumecheng-3910	204	15	mechanism	mechanism	NOUN
fumecheng-3910	204	16	design	design	NOUN
fumecheng-3910	204	17	and	and	CCONJ
fumecheng-3910	204	18	analysis	analysis	NOUN
fumecheng-3910	204	19	using	use	VERB
fumecheng-3910	204	20	a	a	DET
fumecheng-3910	204	21	high	high	ADJ
fumecheng-3910	204	22	-	-	PUNCT
fumecheng-3910	204	23	level	level	NOUN
fumecheng-3910	204	24	mechanism	mechanism	NOUN
fumecheng-3910	204	25	toolkit	toolkit	NOUN
fumecheng-3910	204	26	,	,	PUNCT
fumecheng-3910	204	27	comput	comput	NOUN
fumecheng-3910	204	28	.	.	PUNCT
fumecheng-3910	205	1	appl	appl	PROPN
fumecheng-3910	205	2	.	.	PUNCT
fumecheng-3910	206	1	eng	eng	PROPN
fumecheng-3910	206	2	.	.	PROPN
fumecheng-3910	206	3	educ	educ	PROPN
fumecheng-3910	206	4	.	.	PUNCT
fumecheng-3910	206	5	,	,	PUNCT
fumecheng-3910	206	6	15(4	15(4	NUM
fumecheng-3910	206	7	)	)	PUNCT
fumecheng-3910	206	8	,	,	PUNCT
fumecheng-3910	206	9	pp	pp	ADJ
fumecheng-3910	206	10	.	.	PUNCT
fumecheng-3910	207	1	277–288	277–288	NUM
fumecheng-3910	207	2	.	.	PUNCT
fumecheng-3910	207	3	9	9	X
fumecheng-3910	207	4	.	.	X
fumecheng-3910	207	5	katwyk	katwyk	PROPN
fumecheng-3910	207	6	,	,	PUNCT
fumecheng-3910	207	7	k.	k.	PROPN
fumecheng-3910	207	8	,	,	PUNCT
fumecheng-3910	207	9	cheng	cheng	PROPN
fumecheng-3910	207	10	,	,	PUNCT
fumecheng-3910	207	11	h.	h.	PROPN
fumecheng-3910	207	12	,	,	PUNCT
fumecheng-3910	207	13	1997	1997	NUM
fumecheng-3910	207	14	,	,	PUNCT
fumecheng-3910	207	15	xlinkage	xlinkage	PROPN
fumecheng-3910	207	16	:	:	PUNCT
fumecheng-3910	207	17	a	a	DET
fumecheng-3910	207	18	web	web	NOUN
fumecheng-3910	207	19	-	-	PUNCT
fumecheng-3910	207	20	based	base	VERB
fumecheng-3910	207	21	analysis	analysis	NOUN
fumecheng-3910	207	22	and	and	CCONJ
fumecheng-3910	207	23	simulation	simulation	NOUN
fumecheng-3910	207	24	tool	tool	NOUN
fumecheng-3910	207	25	for	for	ADP
fumecheng-3910	207	26	planar	planar	ADJ
fumecheng-3910	207	27	mechanical	mechanical	ADJ
fumecheng-3910	207	28	systems	system	NOUN
fumecheng-3910	207	29	,	,	PUNCT
fumecheng-3910	207	30	proceedings	proceeding	NOUN
fumecheng-3910	207	31	of	of	ADP
fumecheng-3910	207	32	detc’97	detc’97	PROPN
fumecheng-3910	207	33	,	,	PUNCT
fumecheng-3910	207	34	asme	asme	PROPN
fumecheng-3910	207	35	design	design	PROPN
fumecheng-3910	207	36	engineering	engineering	PROPN
fumecheng-3910	207	37	technical	technical	ADJ
fumecheng-3910	207	38	conferences	conference	NOUN
fumecheng-3910	207	39	,	,	PUNCT
fumecheng-3910	207	40	september	september	PROPN
fumecheng-3910	207	41	14	14	NUM
fumecheng-3910	207	42	-	-	SYM
fumecheng-3910	207	43	17	17	NUM
fumecheng-3910	207	44	,	,	PUNCT
fumecheng-3910	207	45	1997	1997	NUM
fumecheng-3910	207	46	,	,	PUNCT
fumecheng-3910	207	47	sacramento	sacramento	PROPN
fumecheng-3910	207	48	,	,	PUNCT
fumecheng-3910	207	49	california	california	PROPN
fumecheng-3910	207	50	10	10	NUM
fumecheng-3910	207	51	.	.	PUNCT
fumecheng-3910	208	1	mitrev	mitrev	PROPN
fumecheng-3910	208	2	,	,	PUNCT
fumecheng-3910	208	3	r.	r.	PROPN
fumecheng-3910	208	4	,	,	PUNCT
fumecheng-3910	208	5	tudjarov	tudjarov	PROPN
fumecheng-3910	208	6	,	,	PUNCT
fumecheng-3910	208	7	b.	b.	PROPN
fumecheng-3910	208	8	,	,	PUNCT
fumecheng-3910	208	9	kubota	kubota	PROPN
fumecheng-3910	208	10	,	,	PUNCT
fumecheng-3910	208	11	n.	n.	NOUN
fumecheng-3910	208	12	,	,	PUNCT
fumecheng-3910	208	13	2013	2013	NUM
fumecheng-3910	208	14	,	,	PUNCT
fumecheng-3910	208	15	web	web	NOUN
fumecheng-3910	208	16	based	base	VERB
fumecheng-3910	208	17	solutions	solution	NOUN
fumecheng-3910	208	18	for	for	ADP
fumecheng-3910	208	19	mechanical	mechanical	ADJ
fumecheng-3910	208	20	engineering	engineering	NOUN
fumecheng-3910	208	21	,	,	PUNCT
fumecheng-3910	208	22	proc	proc	NOUN
fumecheng-3910	208	23	.	.	PUNCT
fumecheng-3910	209	1	of	of	ADP
fumecheng-3910	209	2	the	the	DET
fumecheng-3910	209	3	conference	conference	NOUN
fumecheng-3910	209	4	iwaciii	iwaciii	NOUN
fumecheng-3910	209	5	'	'	NUM
fumecheng-3910	209	6	2013	2013	NUM
fumecheng-3910	209	7	,	,	PUNCT
fumecheng-3910	209	8	shanghai	shanghai	PROPN
fumecheng-3910	209	9	,	,	PUNCT
fumecheng-3910	209	10	china	china	PROPN
fumecheng-3910	209	11	,	,	PUNCT
fumecheng-3910	209	12	18	18	NUM
fumecheng-3910	209	13	-	-	SYM
fumecheng-3910	209	14	21	21	NUM
fumecheng-3910	209	15	october	october	NOUN
fumecheng-3910	209	16	2013	2013	NUM
fumecheng-3910	209	17	,	,	PUNCT
fumecheng-3910	209	18	pp	pp	ADV
fumecheng-3910	209	19	.	.	PUNCT
fumecheng-3910	210	1	gs2	gs2	NOUN
fumecheng-3910	210	2	-	-	PUNCT
fumecheng-3910	210	3	9.1	9.1	NUM
fumecheng-3910	210	4	-	-	PUNCT
fumecheng-3910	210	5	gs2	gs2	NOUN
fumecheng-3910	210	6	-	-	NOUN
fumecheng-3910	210	7	9.6	9.6	NUM
fumecheng-3910	210	8	.	.	PUNCT
fumecheng-3910	210	9	11	11	NUM
fumecheng-3910	210	10	.	.	PUNCT
fumecheng-3910	211	1	song	song	PROPN
fumecheng-3910	211	2	,	,	PUNCT
fumecheng-3910	211	3	l.	l.	PROPN
fumecheng-3910	211	4	,	,	PUNCT
fumecheng-3910	211	5	wu	wu	PROPN
fumecheng-3910	211	6	,	,	PUNCT
fumecheng-3910	211	7	x.	x.	PROPN
fumecheng-3910	211	8	,	,	PUNCT
fumecheng-3910	211	9	yang	yang	PROPN
fumecheng-3910	211	10	,	,	PUNCT
fumecheng-3910	211	11	z.	z.	PROPN
fumecheng-3910	211	12	,	,	PUNCT
fumecheng-3910	211	13	2008	2008	NUM
fumecheng-3910	211	14	,	,	PUNCT
fumecheng-3910	211	15	research	research	NOUN
fumecheng-3910	211	16	on	on	ADP
fumecheng-3910	211	17	web	web	NOUN
fumecheng-3910	211	18	-	-	PUNCT
fumecheng-3910	211	19	based	base	VERB
fumecheng-3910	211	20	optimization	optimization	NOUN
fumecheng-3910	211	21	for	for	ADP
fumecheng-3910	211	22	path	path	NOUN
fumecheng-3910	211	23	generation	generation	NOUN
fumecheng-3910	211	24	synthesis	synthesis	NOUN
fumecheng-3910	211	25	of	of	ADP
fumecheng-3910	211	26	planar	planar	ADJ
fumecheng-3910	211	27	four	four	NUM
fumecheng-3910	211	28	-	-	PUNCT
fumecheng-3910	211	29	bar	bar	NOUN
fumecheng-3910	211	30	linkage	linkage	NOUN
fumecheng-3910	211	31	,	,	PUNCT
fumecheng-3910	211	32	ieee	ieee	NOUN
fumecheng-3910	211	33	international	international	ADJ
fumecheng-3910	211	34	conference	conference	NOUN
fumecheng-3910	211	35	on	on	ADP
fumecheng-3910	211	36	mechatronics	mechatronic	NOUN
fumecheng-3910	211	37	and	and	CCONJ
fumecheng-3910	211	38	automation	automation	NOUN
fumecheng-3910	211	39	,	,	PUNCT
fumecheng-3910	211	40	takamatsu	takamatsu	NOUN
fumecheng-3910	211	41	,	,	PUNCT
fumecheng-3910	211	42	pp.1085	pp.1085	NOUN
fumecheng-3910	211	43	-	-	SYM
fumecheng-3910	211	44	1088	1088	NUM
fumecheng-3910	211	45	.	.	PUNCT
fumecheng-3910	212	1	12	12	NUM
fumecheng-3910	212	2	.	.	PUNCT
fumecheng-3910	213	1	todorov	todorov	NOUN
fumecheng-3910	213	2	,	,	PUNCT
fumecheng-3910	213	3	t.	t.	PROPN
fumecheng-3910	213	4	,	,	PUNCT
fumecheng-3910	213	5	nikolov	nikolov	PROPN
fumecheng-3910	213	6	,	,	PUNCT
fumecheng-3910	213	7	r.	r.	PROPN
fumecheng-3910	213	8	,	,	PUNCT
fumecheng-3910	213	9	1997	1997	NUM
fumecheng-3910	213	10	,	,	PUNCT
fumecheng-3910	213	11	on	on	ADP
fumecheng-3910	213	12	a	a	DET
fumecheng-3910	213	13	program	program	NOUN
fumecheng-3910	213	14	for	for	ADP
fumecheng-3910	213	15	simulation	simulation	NOUN
fumecheng-3910	213	16	and	and	CCONJ
fumecheng-3910	213	17	optimization	optimization	NOUN
fumecheng-3910	213	18	of	of	ADP
fumecheng-3910	213	19	planar	planar	ADJ
fumecheng-3910	213	20	mechanisms	mechanism	NOUN
fumecheng-3910	213	21	,	,	PUNCT
fumecheng-3910	213	22	proceedings	proceeding	NOUN
fumecheng-3910	213	23	of	of	ADP
fumecheng-3910	213	24	11th	11th	ADJ
fumecheng-3910	213	25	international	international	ADJ
fumecheng-3910	213	26	conference	conference	NOUN
fumecheng-3910	213	27	"	"	PUNCT
fumecheng-3910	213	28	systems	system	NOUN
fumecheng-3910	213	29	for	for	ADP
fumecheng-3910	213	30	automation	automation	NOUN
fumecheng-3910	213	31	of	of	ADP
fumecheng-3910	213	32	engineering	engineering	NOUN
fumecheng-3910	213	33	and	and	CCONJ
fumecheng-3910	213	34	research	research	NOUN
fumecheng-3910	213	35	"	"	PUNCT
fumecheng-3910	213	36	,	,	PUNCT
fumecheng-3910	213	37	saer'97	saer'97	ADJ
fumecheng-3910	213	38	,	,	PUNCT
fumecheng-3910	213	39	pp	pp	ADJ
fumecheng-3910	213	40	.	.	PUNCT
fumecheng-3910	214	1	156	156	NUM
fumecheng-3910	214	2	-	-	SYM
fumecheng-3910	214	3	160	160	NUM
fumecheng-3910	214	4	.	.	NOUN
fumecheng-3910	215	1	13	13	NUM
fumecheng-3910	215	2	.	.	PUNCT
fumecheng-3910	216	1	hansen	hansen	PROPN
fumecheng-3910	216	2	,	,	PUNCT
fumecheng-3910	216	3	m.r	m.r	PROPN
fumecheng-3910	216	4	.	.	PROPN
fumecheng-3910	216	5	,	,	PUNCT
fumecheng-3910	216	6	1996	1996	NUM
fumecheng-3910	216	7	,	,	PUNCT
fumecheng-3910	216	8	a	a	DET
fumecheng-3910	216	9	general	general	ADJ
fumecheng-3910	216	10	method	method	NOUN
fumecheng-3910	216	11	for	for	ADP
fumecheng-3910	216	12	analysis	analysis	NOUN
fumecheng-3910	216	13	of	of	ADP
fumecheng-3910	216	14	planar	planar	ADJ
fumecheng-3910	216	15	mechanisms	mechanism	NOUN
fumecheng-3910	216	16	using	use	VERB
fumecheng-3910	216	17	a	a	DET
fumecheng-3910	216	18	modular	modular	ADJ
fumecheng-3910	216	19	approach	approach	NOUN
fumecheng-3910	216	20	,	,	PUNCT
fumecheng-3910	216	21	mechanism	mechanism	NOUN
fumecheng-3910	216	22	and	and	CCONJ
fumecheng-3910	216	23	machine	machine	NOUN
fumecheng-3910	216	24	theory	theory	NOUN
fumecheng-3910	216	25	,	,	PUNCT
fumecheng-3910	216	26	31(8	31(8	NUM
fumecheng-3910	216	27	)	)	PUNCT
fumecheng-3910	216	28	,	,	PUNCT
fumecheng-3910	216	29	pp	pp	PROPN
fumecheng-3910	216	30	.	.	PUNCT
fumecheng-3910	217	1	1155	1155	NUM
fumecheng-3910	217	2	-	-	SYM
fumecheng-3910	217	3	1166	1166	NUM
fumecheng-3910	217	4	.	.	PUNCT
fumecheng-3910	218	1	14	14	NUM
fumecheng-3910	218	2	.	.	X
fumecheng-3910	219	1	galetti	galetti	PROPN
fumecheng-3910	219	2	,	,	PUNCT
fumecheng-3910	219	3	c.u	c.u	PROPN
fumecheng-3910	219	4	.	.	PROPN
fumecheng-3910	219	5	,	,	PUNCT
fumecheng-3910	219	6	1986	1986	NUM
fumecheng-3910	219	7	,	,	PUNCT
fumecheng-3910	219	8	a	a	DET
fumecheng-3910	219	9	note	note	NOUN
fumecheng-3910	219	10	on	on	ADP
fumecheng-3910	219	11	modular	modular	ADJ
fumecheng-3910	219	12	approaches	approach	NOUN
fumecheng-3910	219	13	to	to	PART
fumecheng-3910	219	14	planar	planar	VERB
fumecheng-3910	219	15	linkage	linkage	NOUN
fumecheng-3910	219	16	kinematic	kinematic	ADJ
fumecheng-3910	219	17	analysis	analysis	NOUN
fumecheng-3910	219	18	,	,	PUNCT
fumecheng-3910	219	19	mechanism	mechanism	NOUN
fumecheng-3910	219	20	and	and	CCONJ
fumecheng-3910	219	21	machine	machine	NOUN
fumecheng-3910	219	22	theory	theory	NOUN
fumecheng-3910	219	23	,	,	PUNCT
fumecheng-3910	219	24	21(5	21(5	NUM
fumecheng-3910	219	25	)	)	PUNCT
fumecheng-3910	219	26	,	,	PUNCT
fumecheng-3910	219	27	pp.385–391	pp.385–391	NOUN
fumecheng-3910	219	28	.	.	PUNCT
fumecheng-3910	220	1	15	15	NUM
fumecheng-3910	220	2	.	.	X
fumecheng-3910	220	3	fritzson	fritzson	NOUN
fumecheng-3910	220	4	,	,	PUNCT
fumecheng-3910	220	5	p.	p.	NOUN
fumecheng-3910	220	6	,	,	PUNCT
fumecheng-3910	220	7	2003	2003	NUM
fumecheng-3910	220	8	,	,	PUNCT
fumecheng-3910	220	9	principles	principle	NOUN
fumecheng-3910	220	10	of	of	ADP
fumecheng-3910	220	11	object	object	NOUN
fumecheng-3910	220	12	-	-	PUNCT
fumecheng-3910	220	13	oriented	orient	VERB
fumecheng-3910	220	14	modeling	modeling	NOUN
fumecheng-3910	220	15	and	and	CCONJ
fumecheng-3910	220	16	simulation	simulation	NOUN
fumecheng-3910	220	17	with	with	ADP
fumecheng-3910	220	18	modelica	modelica	PROPN
fumecheng-3910	220	19	2.1	2.1	NUM
fumecheng-3910	220	20	,	,	PUNCT
fumecheng-3910	220	21	wiley	wiley	NOUN
fumecheng-3910	220	22	,	,	PUNCT
fumecheng-3910	220	23	944	944	NUM
fumecheng-3910	220	24	p.	p.	NOUN
fumecheng-3910	220	25	16	16	NUM
fumecheng-3910	220	26	.	.	PUNCT
fumecheng-3910	221	1	simionescu	simionescu	PROPN
fumecheng-3910	221	2	,	,	PUNCT
fumecheng-3910	221	3	p.	p.	NOUN
fumecheng-3910	221	4	,	,	PUNCT
fumecheng-3910	221	5	2016	2016	NUM
fumecheng-3910	221	6	,	,	PUNCT
fumecheng-3910	221	7	mekin2d	mekin2d	PROPN
fumecheng-3910	221	8	:	:	PUNCT
fumecheng-3910	221	9	suite	suite	NOUN
fumecheng-3910	221	10	for	for	ADP
fumecheng-3910	221	11	planar	planar	ADJ
fumecheng-3910	221	12	mechanism	mechanism	NOUN
fumecheng-3910	221	13	kinematics	kinematic	NOUN
fumecheng-3910	221	14	,	,	PUNCT
fumecheng-3910	221	15	asme	asme	PROPN
fumecheng-3910	221	16	international	international	PROPN
fumecheng-3910	221	17	design	design	PROPN
fumecheng-3910	221	18	engineering	engineering	NOUN
fumecheng-3910	221	19	technical	technical	ADJ
fumecheng-3910	221	20	conferences	conference	NOUN
fumecheng-3910	221	21	and	and	CCONJ
fumecheng-3910	221	22	computers	computer	NOUN
fumecheng-3910	221	23	and	and	CCONJ
fumecheng-3910	221	24	information	information	NOUN
fumecheng-3910	221	25	in	in	ADP
fumecheng-3910	221	26	engineering	engineering	NOUN
fumecheng-3910	221	27	conference	conference	NOUN
fumecheng-3910	221	28	,	,	PUNCT
fumecheng-3910	221	29	volume	volume	NOUN
fumecheng-3910	221	30	5b	5b	NUM
fumecheng-3910	221	31	:	:	PUNCT
fumecheng-3910	221	32	40th	40th	ADJ
fumecheng-3910	221	33	mechanisms	mechanism	NOUN
fumecheng-3910	221	34	and	and	CCONJ
fumecheng-3910	221	35	robotics	robotic	NOUN
fumecheng-3910	221	36	conference	conference	NOUN
fumecheng-3910	221	37	,	,	PUNCT
fumecheng-3910	221	38	pp	pp	ADP
fumecheng-3910	221	39	.	.	PUNCT
fumecheng-3910	222	1	v05bt07a083	v05bt07a083	NOUN
fumecheng-3910	222	2	.	.	PUNCT
fumecheng-3910	223	1	17	17	NUM
fumecheng-3910	223	2	.	.	PUNCT
fumecheng-3910	224	1	galletti	galletti	PROPN
fumecheng-3910	224	2	,	,	PUNCT
fumecheng-3910	224	3	c.	c.	PROPN
fumecheng-3910	224	4	,	,	PUNCT
fumecheng-3910	224	5	giannotti	giannotti	PROPN
fumecheng-3910	224	6	,	,	PUNCT
fumecheng-3910	224	7	e.	e.	PROPN
fumecheng-3910	224	8	,	,	PUNCT
fumecheng-3910	224	9	2009	2009	NUM
fumecheng-3910	224	10	,	,	PUNCT
fumecheng-3910	224	11	assur's	assur's	NOUN
fumecheng-3910	224	12	-	-	PUNCT
fumecheng-3910	224	13	groups	group	NOUN
fumecheng-3910	224	14	-	-	PUNCT
fumecheng-3910	224	15	based	base	VERB
fumecheng-3910	224	16	simulation	simulation	NOUN
fumecheng-3910	224	17	for	for	ADP
fumecheng-3910	224	18	teaching	teach	VERB
fumecheng-3910	224	19	kinematics	kinematic	NOUN
fumecheng-3910	224	20	of	of	ADP
fumecheng-3910	224	21	planar	planar	ADJ
fumecheng-3910	224	22	linkages	linkage	NOUN
fumecheng-3910	224	23	,	,	PUNCT
fumecheng-3910	224	24	proc.of	proc.of	X
fumecheng-3910	224	25	the	the	DET
fumecheng-3910	224	26	19thcongress	19thcongress	NUM
fumecheng-3910	224	27	of	of	ADP
fumecheng-3910	224	28	the	the	DET
fumecheng-3910	224	29	italian	italian	ADJ
fumecheng-3910	224	30	society	society	NOUN
fumecheng-3910	224	31	for	for	ADP
fumecheng-3910	224	32	theoretical	theoretical	ADJ
fumecheng-3910	224	33	and	and	CCONJ
fumecheng-3910	224	34	applied	apply	VERB
fumecheng-3910	224	35	mechanics	mechanic	NOUN
fumecheng-3910	224	36	aimeta	aimeta	NOUN
fumecheng-3910	224	37	,	,	PUNCT
fumecheng-3910	224	38	ancona	ancona	PROPN
fumecheng-3910	224	39	,	,	PUNCT
fumecheng-3910	224	40	italy	italy	PROPN
fumecheng-3910	224	41	.	.	PROPN
fumecheng-3910	225	1	18	18	NUM
fumecheng-3910	225	2	.	.	X
fumecheng-3910	226	1	mesa	mesa	PROPN
fumecheng-3910	226	2	,	,	PUNCT
fumecheng-3910	226	3	l.	l.	PROPN
fumecheng-3910	226	4	,	,	PUNCT
fumecheng-3910	226	5	durango	durango	PROPN
fumecheng-3910	226	6	,	,	PUNCT
fumecheng-3910	226	7	s.	s.	PROPN
fumecheng-3910	226	8	,	,	PUNCT
fumecheng-3910	226	9	2005	2005	NUM
fumecheng-3910	226	10	,	,	PUNCT
fumecheng-3910	226	11	solucion	solucion	PROPN
fumecheng-3910	226	12	analitica	analitica	PROPN
fumecheng-3910	226	13	de	de	PROPN
fumecheng-3910	226	14	mecanismos	mecanismos	PROPN
fumecheng-3910	226	15	usando	usando	PROPN
fumecheng-3910	226	16	grupos	grupos	PROPN
fumecheng-3910	226	17	de	de	PROPN
fumecheng-3910	226	18	assur	assur	PROPN
fumecheng-3910	226	19	,	,	PUNCT
fumecheng-3910	226	20	scientia	scientia	PROPN
fumecheng-3910	226	21	et	et	PROPN
fumecheng-3910	226	22	technica	technica	PROPN
fumecheng-3910	226	23	,	,	PUNCT
fumecheng-3910	226	24	11(27	11(27	NUM
fumecheng-3910	226	25	)	)	PUNCT
fumecheng-3910	226	26	,	,	PUNCT
fumecheng-3910	226	27	pp.121	pp.121	PROPN
fumecheng-3910	226	28	-	-	PUNCT
fumecheng-3910	226	29	126	126	NUM
fumecheng-3910	226	30	.	.	PUNCT
fumecheng-3910	226	31	19	19	NUM
fumecheng-3910	226	32	.	.	X
fumecheng-3910	226	33	popescu	popescu	PROPN
fumecheng-3910	226	34	,	,	PUNCT
fumecheng-3910	226	35	i.	i.	PROPN
fumecheng-3910	226	36	,	,	PUNCT
fumecheng-3910	226	37	marghitu	marghitu	NOUN
fumecheng-3910	226	38	,	,	PUNCT
fumecheng-3910	226	39	d.	d.	PROPN
fumecheng-3910	226	40	,	,	PUNCT
fumecheng-3910	226	41	2008	2008	NUM
fumecheng-3910	226	42	,	,	PUNCT
fumecheng-3910	226	43	structural	structural	ADJ
fumecheng-3910	226	44	design	design	NOUN
fumecheng-3910	226	45	of	of	ADP
fumecheng-3910	226	46	planar	planar	ADJ
fumecheng-3910	226	47	mechanisms	mechanism	NOUN
fumecheng-3910	226	48	with	with	ADP
fumecheng-3910	226	49	dyads	dyad	NOUN
fumecheng-3910	226	50	,	,	PUNCT
fumecheng-3910	226	51	multibody	multibody	ADJ
fumecheng-3910	226	52	syst	syst	PROPN
fumecheng-3910	226	53	dyn	dyn	PROPN
fumecheng-3910	226	54	,	,	PUNCT
fumecheng-3910	226	55	19(4	19(4	PROPN
fumecheng-3910	226	56	)	)	PUNCT
fumecheng-3910	226	57	,	,	PUNCT
fumecheng-3910	226	58	pp	pp	ADP
fumecheng-3910	226	59	.	.	PUNCT
fumecheng-3910	227	1	407–425	407–425	NUM
fumecheng-3910	227	2	.	.	NOUN
fumecheng-3910	228	1	20	20	NUM
fumecheng-3910	228	2	.	.	PUNCT
fumecheng-3910	229	1	varbanov	varbanov	PROPN
fumecheng-3910	229	2	,	,	PUNCT
fumecheng-3910	229	3	h.	h.	PROPN
fumecheng-3910	229	4	,	,	PUNCT
fumecheng-3910	229	5	yankova	yankova	PROPN
fumecheng-3910	229	6	,	,	PUNCT
fumecheng-3910	229	7	t.	t.	PROPN
fumecheng-3910	229	8	,	,	PUNCT
fumecheng-3910	229	9	kulev	kulev	PROPN
fumecheng-3910	229	10	,	,	PUNCT
fumecheng-3910	229	11	k.	k.	PROPN
fumecheng-3910	229	12	,	,	PUNCT
fumecheng-3910	229	13	lilov	lilov	PROPN
fumecheng-3910	229	14	,	,	PUNCT
fumecheng-3910	229	15	s.	s.	PROPN
fumecheng-3910	229	16	,	,	PUNCT
fumecheng-3910	229	17	2006	2006	NUM
fumecheng-3910	229	18	,	,	PUNCT
fumecheng-3910	229	19	s&a	s&a	PROPN
fumecheng-3910	229	20	—	—	PUNCT
fumecheng-3910	229	21	expert	expert	NOUN
fumecheng-3910	229	22	system	system	NOUN
fumecheng-3910	229	23	for	for	ADP
fumecheng-3910	229	24	planar	planar	ADJ
fumecheng-3910	229	25	mechanisms	mechanism	NOUN
fumecheng-3910	229	26	design	design	NOUN
fumecheng-3910	229	27	,	,	PUNCT
fumecheng-3910	229	28	expert	expert	NOUN
fumecheng-3910	229	29	systems	system	NOUN
fumecheng-3910	229	30	with	with	ADP
fumecheng-3910	229	31	applications	application	NOUN
fumecheng-3910	229	32	,	,	PUNCT
fumecheng-3910	229	33	31(3	31(3	NUM
fumecheng-3910	229	34	)	)	PUNCT
fumecheng-3910	229	35	,	,	PUNCT
fumecheng-3910	229	36	pp.558–569	pp.558–569	PROPN
fumecheng-3910	229	37	.	.	PROPN
fumecheng-3910	229	38	21	21	NUM
fumecheng-3910	229	39	.	.	X
fumecheng-3910	230	1	simionescu	simionescu	PROPN
fumecheng-3910	230	2	,	,	PUNCT
fumecheng-3910	230	3	p.a	p.a	PROPN
fumecheng-3910	230	4	.	.	PROPN
fumecheng-3910	230	5	,	,	PUNCT
fumecheng-3910	230	6	2014	2014	NUM
fumecheng-3910	230	7	,	,	PUNCT
fumecheng-3910	230	8	computer	computer	NOUN
fumecheng-3910	230	9	aided	aid	VERB
fumecheng-3910	230	10	graphing	graphing	NOUN
fumecheng-3910	230	11	and	and	CCONJ
fumecheng-3910	230	12	simulation	simulation	NOUN
fumecheng-3910	230	13	tools	tool	NOUN
fumecheng-3910	230	14	for	for	ADP
fumecheng-3910	230	15	autocad	autocad	PROPN
fumecheng-3910	230	16	users	user	NOUN
fumecheng-3910	230	17	,	,	PUNCT
fumecheng-3910	230	18	crc	crc	NOUN
fumecheng-3910	230	19	press	press	NOUN
fumecheng-3910	230	20	,	,	PUNCT
fumecheng-3910	230	21	632	632	NUM
fumecheng-3910	230	22	p.	p.	NOUN
fumecheng-3910	230	23	22	22	NUM
fumecheng-3910	230	24	.	.	PUNCT
fumecheng-3910	231	1	marghitu	marghitu	PROPN
fumecheng-3910	231	2	,	,	PUNCT
fumecheng-3910	231	3	d.	d.	PROPN
fumecheng-3910	231	4	,	,	PUNCT
fumecheng-3910	231	5	dupac	dupac	PROPN
fumecheng-3910	231	6	,	,	PUNCT
fumecheng-3910	231	7	m.	m.	NOUN
fumecheng-3910	231	8	,	,	PUNCT
fumecheng-3910	231	9	2012	2012	NUM
fumecheng-3910	231	10	,	,	PUNCT
fumecheng-3910	231	11	advanced	advanced	ADJ
fumecheng-3910	231	12	dynamics	dynamic	NOUN
fumecheng-3910	231	13	analytical	analytical	ADJ
fumecheng-3910	231	14	and	and	CCONJ
fumecheng-3910	231	15	numerical	numerical	ADJ
fumecheng-3910	231	16	calculations	calculation	NOUN
fumecheng-3910	231	17	with	with	ADP
fumecheng-3910	231	18	matlab	matlab	PROPN
fumecheng-3910	231	19	,	,	PUNCT
fumecheng-3910	231	20	springer	springer	NOUN
fumecheng-3910	231	21	,	,	PUNCT
fumecheng-3910	231	22	new	new	PROPN
fumecheng-3910	231	23	york	york	PROPN
fumecheng-3910	231	24	,	,	PUNCT
fumecheng-3910	231	25	610	610	NUM
fumecheng-3910	231	26	p.	p.	NOUN
fumecheng-3910	231	27	23	23	NUM
fumecheng-3910	231	28	.	.	PUNCT
fumecheng-3910	232	1	tsonev	tsonev	NOUN
fumecheng-3910	232	2	,	,	PUNCT
fumecheng-3910	232	3	s.	s.	PROPN
fumecheng-3910	232	4	,	,	PUNCT
fumecheng-3910	232	5	vitliemov	vitliemov	PROPN
fumecheng-3910	232	6	,	,	PUNCT
fumecheng-3910	232	7	v.	v.	ADV
fumecheng-3910	232	8	,	,	PUNCT
fumecheng-3910	232	9	koev	koev	NOUN
fumecheng-3910	232	10	,	,	PUNCT
fumecheng-3910	232	11	p.	p.	NOUN
fumecheng-3910	232	12	,	,	PUNCT
fumecheng-3910	232	13	2004	2004	NUM
fumecheng-3910	232	14	,	,	PUNCT
fumecheng-3910	232	15	optimization	optimization	NOUN
fumecheng-3910	232	16	methods	method	NOUN
fumecheng-3910	232	17	,	,	PUNCT
fumecheng-3910	232	18	university	university	NOUN
fumecheng-3910	232	19	of	of	ADP
fumecheng-3910	232	20	rousse	rousse	PROPN
fumecheng-3910	232	21	,	,	PUNCT
fumecheng-3910	232	22	rousse	rousse	PROPN
fumecheng-3910	232	23	,	,	PUNCT
fumecheng-3910	232	24	2nd	2nd	ADJ
fumecheng-3910	232	25	ed	ed	NOUN
fumecheng-3910	232	26	.	.	PROPN
fumecheng-3910	232	27	,	,	PUNCT
fumecheng-3910	232	28	248	248	NUM
fumecheng-3910	232	29	p.	p.	NOUN
fumecheng-3910	232	30	(	(	PUNCT
fumecheng-3910	232	31	in	in	ADP
fumecheng-3910	232	32	bulgarian	bulgarian	NOUN
fumecheng-3910	232	33	)	)	PUNCT
fumecheng-3910	232	34	.	.	PUNCT
fumecheng-3910	233	1	cloud	cloud	NOUN
fumecheng-3910	233	2	-	-	PUNCT
fumecheng-3910	233	3	based	base	VERB
fumecheng-3910	233	4	expert	expert	NOUN
fumecheng-3910	233	5	system	system	NOUN
fumecheng-3910	233	6	for	for	ADP
fumecheng-3910	233	7	synthesis	synthesis	NOUN
fumecheng-3910	233	8	and	and	CCONJ
fumecheng-3910	233	9	evolutionary	evolutionary	ADJ
fumecheng-3910	233	10	optimization	optimization	NOUN
fumecheng-3910	233	11	of	of	ADP
fumecheng-3910	233	12	planar	planar	ADJ
fumecheng-3910	233	13	linkages	linkage	NOUN
fumecheng-3910	233	14	155	155	NUM
fumecheng-3910	233	15	24	24	NUM
fumecheng-3910	233	16	.	.	PUNCT
fumecheng-3910	233	17	stoven	stoven	PROPN
fumecheng-3910	233	18	-	-	PUNCT
fumecheng-3910	233	19	dubois	dubois	PROPN
fumecheng-3910	233	20	,	,	PUNCT
fumecheng-3910	233	21	a.	a.	NOUN
fumecheng-3910	233	22	,	,	PUNCT
fumecheng-3910	233	23	botzheim	botzheim	PROPN
fumecheng-3910	233	24	,	,	PUNCT
fumecheng-3910	233	25	j.	j.	PROPN
fumecheng-3910	233	26	,	,	PUNCT
fumecheng-3910	233	27	kubota	kubota	PROPN
fumecheng-3910	233	28	,	,	PUNCT
fumecheng-3910	233	29	n.	n.	NOUN
fumecheng-3910	233	30	,	,	PUNCT
fumecheng-3910	233	31	2016	2016	NUM
fumecheng-3910	233	32	,	,	PUNCT
fumecheng-3910	233	33	fuzzy	fuzzy	ADJ
fumecheng-3910	233	34	gesture	gesture	NOUN
fumecheng-3910	233	35	expression	expression	NOUN
fumecheng-3910	233	36	model	model	NOUN
fumecheng-3910	233	37	for	for	ADP
fumecheng-3910	233	38	an	an	DET
fumecheng-3910	233	39	interactive	interactive	ADJ
fumecheng-3910	233	40	and	and	CCONJ
fumecheng-3910	233	41	safe	safe	ADJ
fumecheng-3910	233	42	robot	robot	NOUN
fumecheng-3910	233	43	partner	partner	NOUN
fumecheng-3910	233	44	,	,	PUNCT
fumecheng-3910	233	45	journal	journal	NOUN
fumecheng-3910	233	46	of	of	ADP
fumecheng-3910	233	47	network	network	NOUN
fumecheng-3910	233	48	intelligence	intelligence	NOUN
fumecheng-3910	233	49	,	,	PUNCT
fumecheng-3910	233	50	1(4	1(4	NUM
fumecheng-3910	233	51	)	)	PUNCT
fumecheng-3910	233	52	,	,	PUNCT
fumecheng-3910	233	53	pp	pp	ADP
fumecheng-3910	233	54	.	.	PUNCT
fumecheng-3910	234	1	119–129	119–129	NUM
fumecheng-3910	234	2	.	.	PUNCT
fumecheng-3910	235	1	25	25	NUM
fumecheng-3910	235	2	.	.	PUNCT
fumecheng-3910	236	1	tudjarov	tudjarov	PROPN
fumecheng-3910	236	2	,	,	PUNCT
fumecheng-3910	236	3	b.	b.	PROPN
fumecheng-3910	236	4	,	,	PUNCT
fumecheng-3910	236	5	kubota	kubota	PROPN
fumecheng-3910	236	6	,	,	PUNCT
fumecheng-3910	236	7	n.	n.	PROPN
fumecheng-3910	236	8	,	,	PUNCT
fumecheng-3910	236	9	penchev	penchev	PROPN
fumecheng-3910	236	10	,	,	PUNCT
fumecheng-3910	236	11	v.	v.	PROPN
fumecheng-3910	236	12	,	,	PUNCT
fumecheng-3910	236	13	hristov	hristov	ADV
fumecheng-3910	236	14	,	,	PUNCT
fumecheng-3910	236	15	v.	v.	ADP
fumecheng-3910	236	16	,	,	PUNCT
fumecheng-3910	236	17	2011	2011	NUM
fumecheng-3910	236	18	,	,	PUNCT
fumecheng-3910	236	19	web	web	NOUN
fumecheng-3910	236	20	based	base	VERB
fumecheng-3910	236	21	modeling	modeling	NOUN
fumecheng-3910	236	22	and	and	CCONJ
fumecheng-3910	236	23	calculation	calculation	NOUN
fumecheng-3910	236	24	of	of	ADP
fumecheng-3910	236	25	genetic	genetic	ADJ
fumecheng-3910	236	26	algorithms	algorithm	NOUN
fumecheng-3910	236	27	,	,	PUNCT
fumecheng-3910	236	28	international	international	ADJ
fumecheng-3910	236	29	workshop	workshop	NOUN
fumecheng-3910	236	30	on	on	ADP
fumecheng-3910	236	31	advanced	advanced	ADJ
fumecheng-3910	236	32	computational	computational	ADJ
fumecheng-3910	236	33	intelligence	intelligence	NOUN
fumecheng-3910	236	34	and	and	CCONJ
fumecheng-3910	236	35	intelligent	intelligent	ADJ
fumecheng-3910	236	36	informatics	informatic	NOUN
fumecheng-3910	236	37	,	,	PUNCT
fumecheng-3910	236	38	iwaciii	iwaciii	PROPN
fumecheng-3910	236	39	2011	2011	NUM
fumecheng-3910	236	40	,	,	PUNCT
fumecheng-3910	236	41	suzhou	suzhou	PROPN
fumecheng-3910	236	42	,	,	PUNCT
fumecheng-3910	236	43	china	china	PROPN
fumecheng-3910	236	44	.	.	PUNCT
fumecheng-3910	237	1	26	26	NUM
fumecheng-3910	237	2	.	.	X
fumecheng-3910	238	1	mccarthy	mccarthy	PROPN
fumecheng-3910	238	2	j.	j.	PROPN
fumecheng-3910	238	3	,	,	PUNCT
fumecheng-3910	238	4	soh	soh	PROPN
fumecheng-3910	238	5	g.	g.	PROPN
fumecheng-3910	238	6	,	,	PUNCT
fumecheng-3910	238	7	2011	2011	NUM
fumecheng-3910	238	8	.	.	PUNCT
fumecheng-3910	239	1	geometric	geometric	ADJ
fumecheng-3910	239	2	design	design	NOUN
fumecheng-3910	239	3	of	of	ADP
fumecheng-3910	239	4	linkages	linkage	NOUN
fumecheng-3910	239	5	,	,	PUNCT
fumecheng-3910	239	6	springer	springer	NOUN
fumecheng-3910	239	7	verlag	verlag	NOUN
fumecheng-3910	239	8	,	,	PUNCT
fumecheng-3910	239	9	448	448	NUM
fumecheng-3910	239	10	p.	p.	NOUN