id	sid	tid	token	lemma	pos
fumecheng-99	1	1	plane	plane	NOUN
fumecheng-99	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-99	1	3	waves	wave	NOUN
fumecheng-99	1	4	in	in	ADP
fumecheng-99	1	5	infinite	infinite	ADJ
fumecheng-99	1	6	half	half	ADJ
fumecheng-99	1	7	-	-	PUNCT
fumecheng-99	1	8	space	space	NOUN
fumecheng-99	1	9	caused	cause	VERB
fumecheng-99	1	10	facta	facta	PROPN
fumecheng-99	1	11	universitatis	universitatis	PROPN
fumecheng-99	1	12	series	series	NOUN
fumecheng-99	1	13	:	:	PUNCT
fumecheng-99	1	14	mechanical	mechanical	ADJ
fumecheng-99	1	15	engineering	engineering	NOUN
fumecheng-99	1	16	vol	vol	NOUN
fumecheng-99	1	17	.	.	PROPN
fumecheng-99	2	1	12	12	NUM
fumecheng-99	2	2	,	,	PUNCT
fumecheng-99	2	3	no	no	DET
fumecheng-99	2	4	1	1	NUM
fumecheng-99	2	5	,	,	PUNCT
fumecheng-99	2	6	2014	2014	NUM
fumecheng-99	2	7	,	,	PUNCT
fumecheng-99	2	8	pp	pp	ADJ
fumecheng-99	2	9	.	.	PUNCT
fumecheng-99	3	1	61	61	NUM
fumecheng-99	3	2	72	72	NUM
fumecheng-99	3	3	optimal	optimal	ADJ
fumecheng-99	3	4	synthesis	synthesis	NOUN
fumecheng-99	3	5	of	of	ADP
fumecheng-99	3	6	the	the	DET
fumecheng-99	3	7	manipulator	manipulator	NOUN
fumecheng-99	3	8	using	use	VERB
fumecheng-99	3	9	two	two	NUM
fumecheng-99	3	10	competitive	competitive	ADJ
fumecheng-99	3	11	methods	method	NOUN
fumecheng-99	3	12			PROPN
fumecheng-99	3	13	udc	udc	NOUN
fumecheng-99	3	14	(	(	PUNCT
fumecheng-99	3	15	519.863	519.863	NUM
fumecheng-99	3	16	,	,	PUNCT
fumecheng-99	3	17	621.86	621.86	NUM
fumecheng-99	3	18	)	)	PUNCT
fumecheng-99	3	19	jovan	jovan	NOUN
fumecheng-99	3	20	pavlović	pavlović	NOUN
fumecheng-99	3	21	,	,	PUNCT
fumecheng-99	3	22	miomir	miomir	PROPN
fumecheng-99	3	23	jovanović	jovanović	PROPN
fumecheng-99	3	24	,	,	PUNCT
fumecheng-99	3	25	andrija	andrija	NOUN
fumecheng-99	3	26	milojević	milojević	PROPN
fumecheng-99	3	27	university	university	PROPN
fumecheng-99	3	28	of	of	ADP
fumecheng-99	3	29	niš	niš	PROPN
fumecheng-99	3	30	,	,	PUNCT
fumecheng-99	3	31	faculty	faculty	NOUN
fumecheng-99	3	32	of	of	ADP
fumecheng-99	3	33	mechanical	mechanical	ADJ
fumecheng-99	3	34	engineering	engineering	NOUN
fumecheng-99	3	35	,	,	PUNCT
fumecheng-99	3	36	serbia	serbia	PROPN
fumecheng-99	3	37	abstract	abstract	ADJ
fumecheng-99	3	38	.	.	PUNCT
fumecheng-99	4	1	this	this	DET
fumecheng-99	4	2	paper	paper	NOUN
fumecheng-99	4	3	defines	define	VERB
fumecheng-99	4	4	a	a	DET
fumecheng-99	4	5	program	program	NOUN
fumecheng-99	4	6	realization	realization	NOUN
fumecheng-99	4	7	for	for	ADP
fumecheng-99	4	8	finding	find	VERB
fumecheng-99	4	9	the	the	DET
fumecheng-99	4	10	optimal	optimal	ADJ
fumecheng-99	4	11	geometry	geometry	NOUN
fumecheng-99	4	12	of	of	ADP
fumecheng-99	4	13	a	a	DET
fumecheng-99	4	14	planar	planar	ADJ
fumecheng-99	4	15	z	z	NOUN
fumecheng-99	4	16	-	-	NOUN
fumecheng-99	4	17	mechanism	mechanism	NOUN
fumecheng-99	4	18	.	.	PUNCT
fumecheng-99	5	1	the	the	DET
fumecheng-99	5	2	paper	paper	NOUN
fumecheng-99	5	3	shows	show	VERB
fumecheng-99	5	4	the	the	DET
fumecheng-99	5	5	mathematical	mathematical	ADJ
fumecheng-99	5	6	procedure	procedure	NOUN
fumecheng-99	5	7	for	for	ADP
fumecheng-99	5	8	defining	define	VERB
fumecheng-99	5	9	the	the	DET
fumecheng-99	5	10	objective	objective	ADJ
fumecheng-99	5	11	function	function	NOUN
fumecheng-99	5	12	,	,	PUNCT
fumecheng-99	5	13	the	the	DET
fumecheng-99	5	14	constraint	constraint	NOUN
fumecheng-99	5	15	function	function	NOUN
fumecheng-99	5	16	and	and	CCONJ
fumecheng-99	5	17	the	the	DET
fumecheng-99	5	18	search	search	NOUN
fumecheng-99	5	19	fields	field	NOUN
fumecheng-99	5	20	which	which	PRON
fumecheng-99	5	21	are	be	AUX
fumecheng-99	5	22	used	use	VERB
fumecheng-99	5	23	for	for	ADP
fumecheng-99	5	24	solving	solve	VERB
fumecheng-99	5	25	the	the	DET
fumecheng-99	5	26	optimization	optimization	NOUN
fumecheng-99	5	27	problem	problem	NOUN
fumecheng-99	5	28	.	.	PUNCT
fumecheng-99	6	1	starting	start	VERB
fumecheng-99	6	2	from	from	ADP
fumecheng-99	6	3	the	the	DET
fumecheng-99	6	4	solutions	solution	NOUN
fumecheng-99	6	5	in	in	ADP
fumecheng-99	6	6	practice	practice	NOUN
fumecheng-99	6	7	,	,	PUNCT
fumecheng-99	6	8	a	a	DET
fumecheng-99	6	9	numerical	numerical	ADJ
fumecheng-99	6	10	example	example	NOUN
fumecheng-99	6	11	is	be	AUX
fumecheng-99	6	12	given	give	VERB
fumecheng-99	6	13	to	to	PART
fumecheng-99	6	14	determine	determine	VERB
fumecheng-99	6	15	an	an	DET
fumecheng-99	6	16	optimum	optimum	ADJ
fumecheng-99	6	17	design	design	NOUN
fumecheng-99	6	18	with	with	ADP
fumecheng-99	6	19	four	four	NUM
fumecheng-99	6	20	optimization	optimization	NOUN
fumecheng-99	6	21	parameters	parameter	NOUN
fumecheng-99	6	22	.	.	PUNCT
fumecheng-99	7	1	all	all	DET
fumecheng-99	7	2	the	the	DET
fumecheng-99	7	3	optimization	optimization	NOUN
fumecheng-99	7	4	parameters	parameter	NOUN
fumecheng-99	7	5	are	be	AUX
fumecheng-99	7	6	geometric	geometric	ADJ
fumecheng-99	7	7	on	on	ADP
fumecheng-99	7	8	the	the	DET
fumecheng-99	7	9	mechanism	mechanism	NOUN
fumecheng-99	7	10	for	for	ADP
fumecheng-99	7	11	defining	define	VERB
fumecheng-99	7	12	the	the	DET
fumecheng-99	7	13	bucket	bucket	NOUN
fumecheng-99	7	14	position	position	NOUN
fumecheng-99	7	15	.	.	PUNCT
fumecheng-99	8	1	the	the	DET
fumecheng-99	8	2	problem	problem	NOUN
fumecheng-99	8	3	is	be	AUX
fumecheng-99	8	4	solved	solve	VERB
fumecheng-99	8	5	by	by	ADP
fumecheng-99	8	6	two	two	NUM
fumecheng-99	8	7	different	different	ADJ
fumecheng-99	8	8	numerical	numerical	ADJ
fumecheng-99	8	9	methods	method	NOUN
fumecheng-99	8	10	the	the	DET
fumecheng-99	8	11	method	method	NOUN
fumecheng-99	8	12	of	of	ADP
fumecheng-99	8	13	formal	formal	ADJ
fumecheng-99	8	14	search	search	NOUN
fumecheng-99	8	15	of	of	ADP
fumecheng-99	8	16	hyperspace	hyperspace	NOUN
fumecheng-99	8	17	(	(	PUNCT
fumecheng-99	8	18	passive	passive	ADJ
fumecheng-99	8	19	scanning	scanning	NOUN
fumecheng-99	8	20	method	method	NOUN
fumecheng-99	8	21	)	)	PUNCT
fumecheng-99	8	22	and	and	CCONJ
fumecheng-99	8	23	the	the	DET
fumecheng-99	8	24	approximate	approximate	ADJ
fumecheng-99	8	25	method	method	NOUN
fumecheng-99	8	26	of	of	ADP
fumecheng-99	8	27	sequential	sequential	ADJ
fumecheng-99	8	28	quadratic	quadratic	ADJ
fumecheng-99	8	29	programming	programming	NOUN
fumecheng-99	8	30	sqp	sqp	NOUN
fumecheng-99	8	31	(	(	PUNCT
fumecheng-99	8	32	applying	apply	VERB
fumecheng-99	8	33	the	the	DET
fumecheng-99	8	34	function	function	NOUN
fumecheng-99	8	35	fminmax	fminmax	NOUN
fumecheng-99	8	36	of	of	ADP
fumecheng-99	8	37	the	the	DET
fumecheng-99	8	38	matlab	matlab	PROPN
fumecheng-99	8	39	optimization	optimization	NOUN
fumecheng-99	8	40	toolbox	toolbox	NOUN
fumecheng-99	8	41	)	)	PUNCT
fumecheng-99	8	42	.	.	PUNCT
fumecheng-99	9	1	the	the	DET
fumecheng-99	9	2	verification	verification	NOUN
fumecheng-99	9	3	is	be	AUX
fumecheng-99	9	4	performed	perform	VERB
fumecheng-99	9	5	with	with	ADP
fumecheng-99	9	6	animation	animation	NOUN
fumecheng-99	9	7	using	use	VERB
fumecheng-99	9	8	software	software	NOUN
fumecheng-99	9	9	for	for	ADP
fumecheng-99	9	10	geometric	geometric	ADJ
fumecheng-99	9	11	modeling	modeling	NOUN
fumecheng-99	9	12	.	.	PUNCT
fumecheng-99	10	1	the	the	DET
fumecheng-99	10	2	results	result	NOUN
fumecheng-99	10	3	are	be	AUX
fumecheng-99	10	4	graphically	graphically	ADV
fumecheng-99	10	5	illustrated	illustrate	VERB
fumecheng-99	10	6	.	.	PUNCT
fumecheng-99	11	1	key	key	ADJ
fumecheng-99	11	2	words	word	NOUN
fumecheng-99	11	3	:	:	PUNCT
fumecheng-99	11	4	mining	mining	NOUN
fumecheng-99	11	5	machine	machine	NOUN
fumecheng-99	11	6	,	,	PUNCT
fumecheng-99	11	7	wheel	wheel	NOUN
fumecheng-99	11	8	loader	loader	NOUN
fumecheng-99	11	9	z	z	NOUN
fumecheng-99	11	10	–	–	PUNCT
fumecheng-99	11	11	mechanism	mechanism	NOUN
fumecheng-99	11	12	,	,	PUNCT
fumecheng-99	11	13	passive	passive	ADJ
fumecheng-99	11	14	scanning	scanning	NOUN
fumecheng-99	11	15	,	,	PUNCT
fumecheng-99	11	16	optimum	optimum	ADJ
fumecheng-99	11	17	design	design	NOUN
fumecheng-99	11	18	of	of	ADP
fumecheng-99	11	19	mechanism	mechanism	NOUN
fumecheng-99	11	20	,	,	PUNCT
fumecheng-99	11	21	numerical	numerical	ADJ
fumecheng-99	11	22	realization	realization	NOUN
fumecheng-99	11	23	,	,	PUNCT
fumecheng-99	11	24	sqp	sqp	PROPN
fumecheng-99	11	25	1	1	NUM
fumecheng-99	11	26	.	.	PUNCT
fumecheng-99	11	27	introduction	introduction	NOUN
fumecheng-99	11	28	for	for	ADP
fumecheng-99	11	29	working	work	VERB
fumecheng-99	11	30	with	with	ADP
fumecheng-99	11	31	bulk	bulk	ADJ
fumecheng-99	11	32	material	material	NOUN
fumecheng-99	11	33	the	the	DET
fumecheng-99	11	34	wheel	wheel	NOUN
fumecheng-99	11	35	loaders	loader	NOUN
fumecheng-99	11	36	have	have	VERB
fumecheng-99	11	37	a	a	DET
fumecheng-99	11	38	mechanism	mechanism	NOUN
fumecheng-99	11	39	that	that	PRON
fumecheng-99	11	40	enables	enable	VERB
fumecheng-99	11	41	the	the	DET
fumecheng-99	11	42	position	position	NOUN
fumecheng-99	11	43	adjustment	adjustment	NOUN
fumecheng-99	11	44	an	an	DET
fumecheng-99	11	45	inclination	inclination	NOUN
fumecheng-99	11	46	angle	angle	NOUN
fumecheng-99	11	47	of	of	ADP
fumecheng-99	11	48	the	the	DET
fumecheng-99	11	49	bucket	bucket	NOUN
fumecheng-99	11	50	.	.	PUNCT
fumecheng-99	12	1	at	at	ADP
fumecheng-99	12	2	lifting	lifting	NOUN
fumecheng-99	12	3	,	,	PUNCT
fumecheng-99	12	4	the	the	DET
fumecheng-99	12	5	bucket	bucket	NOUN
fumecheng-99	12	6	should	should	AUX
fumecheng-99	12	7	keep	keep	VERB
fumecheng-99	12	8	an	an	DET
fumecheng-99	12	9	upward	upward	ADJ
fumecheng-99	12	10	position	position	NOUN
fumecheng-99	12	11	without	without	ADP
fumecheng-99	12	12	changing	change	VERB
fumecheng-99	12	13	the	the	DET
fumecheng-99	12	14	inclination	inclination	NOUN
fumecheng-99	12	15	.	.	PUNCT
fumecheng-99	13	1	this	this	PRON
fumecheng-99	13	2	can	can	AUX
fumecheng-99	13	3	be	be	AUX
fumecheng-99	13	4	achieved	achieve	VERB
fumecheng-99	13	5	by	by	ADP
fumecheng-99	13	6	adjusting	adjust	VERB
fumecheng-99	13	7	the	the	DET
fumecheng-99	13	8	geometry	geometry	NOUN
fumecheng-99	13	9	of	of	ADP
fumecheng-99	13	10	the	the	DET
fumecheng-99	13	11	parts	part	NOUN
fumecheng-99	13	12	of	of	ADP
fumecheng-99	13	13	the	the	DET
fumecheng-99	13	14	bucket	bucket	NOUN
fumecheng-99	13	15	movement	movement	NOUN
fumecheng-99	13	16	mechanism	mechanism	NOUN
fumecheng-99	13	17	.	.	PUNCT
fumecheng-99	14	1	one	one	NUM
fumecheng-99	14	2	of	of	ADP
fumecheng-99	14	3	the	the	DET
fumecheng-99	14	4	mechanisms	mechanism	NOUN
fumecheng-99	14	5	providing	provide	VERB
fumecheng-99	14	6	for	for	ADP
fumecheng-99	14	7	it	it	PRON
fumecheng-99	14	8	is	be	AUX
fumecheng-99	14	9	known	know	VERB
fumecheng-99	14	10	as	as	ADP
fumecheng-99	14	11	the	the	DET
fumecheng-99	14	12	z	z	NOUN
fumecheng-99	14	13	mechanism	mechanism	NOUN
fumecheng-99	14	14	(	(	PUNCT
fumecheng-99	14	15	fig	fig	NOUN
fumecheng-99	14	16	.	.	PUNCT
fumecheng-99	15	1	1	1	NUM
fumecheng-99	15	2	)	)	PUNCT
fumecheng-99	15	3	.	.	PUNCT
fumecheng-99	16	1	the	the	DET
fumecheng-99	16	2	task	task	NOUN
fumecheng-99	16	3	of	of	ADP
fumecheng-99	16	4	finding	find	VERB
fumecheng-99	16	5	a	a	DET
fumecheng-99	16	6	solution	solution	NOUN
fumecheng-99	16	7	for	for	ADP
fumecheng-99	16	8	the	the	DET
fumecheng-99	16	9	special	special	ADJ
fumecheng-99	16	10	mechanism	mechanism	NOUN
fumecheng-99	16	11	providing	provide	VERB
fumecheng-99	16	12	for	for	ADP
fumecheng-99	16	13	a	a	DET
fumecheng-99	16	14	special	special	ADJ
fumecheng-99	16	15	request	request	NOUN
fumecheng-99	16	16	is	be	AUX
fumecheng-99	16	17	known	know	VERB
fumecheng-99	16	18	as	as	ADP
fumecheng-99	16	19	the	the	DET
fumecheng-99	16	20	optimal	optimal	ADJ
fumecheng-99	16	21	synthesis	synthesis	NOUN
fumecheng-99	16	22	according	accord	VERB
fumecheng-99	16	23	to	to	ADP
fumecheng-99	16	24	the	the	DET
fumecheng-99	16	25	theory	theory	NOUN
fumecheng-99	16	26	of	of	ADP
fumecheng-99	16	27	mechanisms	mechanism	NOUN
fumecheng-99	16	28	.	.	PUNCT
fumecheng-99	17	1	solving	solve	VERB
fumecheng-99	17	2	this	this	DET
fumecheng-99	17	3	problem	problem	NOUN
fumecheng-99	17	4	is	be	AUX
fumecheng-99	17	5	a	a	DET
fumecheng-99	17	6	common	common	ADJ
fumecheng-99	17	7	example	example	NOUN
fumecheng-99	17	8	of	of	ADP
fumecheng-99	17	9	research	research	NOUN
fumecheng-99	17	10	and	and	CCONJ
fumecheng-99	17	11	development	development	NOUN
fumecheng-99	17	12	.	.	PUNCT
fumecheng-99	18	1	the	the	DET
fumecheng-99	18	2	similarity	similarity	NOUN
fumecheng-99	18	3	of	of	ADP
fumecheng-99	18	4	different	different	ADJ
fumecheng-99	18	5	plane	plane	NOUN
fumecheng-99	18	6	mechanisms	mechanism	NOUN
fumecheng-99	18	7	of	of	ADP
fumecheng-99	18	8	the	the	DET
fumecheng-99	18	9	machines	machine	NOUN
fumecheng-99	18	10	offers	offer	VERB
fumecheng-99	18	11	the	the	DET
fumecheng-99	18	12	possibility	possibility	NOUN
fumecheng-99	18	13	of	of	ADP
fumecheng-99	18	14	using	use	VERB
fumecheng-99	18	15	the	the	DET
fumecheng-99	18	16	same	same	ADJ
fumecheng-99	18	17	optimization	optimization	NOUN
fumecheng-99	18	18	procedure	procedure	NOUN
fumecheng-99	18	19	.	.	PUNCT
fumecheng-99	19	1	nowadays	nowadays	ADV
fumecheng-99	19	2	there	there	PRON
fumecheng-99	19	3	is	be	VERB
fumecheng-99	19	4	a	a	DET
fumecheng-99	19	5	variety	variety	NOUN
fumecheng-99	19	6	of	of	ADP
fumecheng-99	19	7	mathematical	mathematical	ADJ
fumecheng-99	19	8	methods	method	NOUN
fumecheng-99	19	9	received	receive	VERB
fumecheng-99	19	10	november	november	PROPN
fumecheng-99	19	11	14	14	NUM
fumecheng-99	19	12	,	,	PUNCT
fumecheng-99	19	13	2013	2013	NUM
fumecheng-99	19	14	/	/	SYM
fumecheng-99	19	15	accepted	accept	VERB
fumecheng-99	19	16	february	february	PROPN
fumecheng-99	19	17	11	11	NUM
fumecheng-99	19	18	,	,	PUNCT
fumecheng-99	19	19	2014	2014	NUM
fumecheng-99	19	20			VERB
fumecheng-99	19	21	corresponding	corresponding	ADJ
fumecheng-99	19	22	author	author	NOUN
fumecheng-99	19	23	:	:	PUNCT
fumecheng-99	19	24	miomir	miomir	PROPN
fumecheng-99	19	25	jovanović	jovanović	PROPN
fumecheng-99	19	26	university	university	PROPN
fumecheng-99	19	27	of	of	ADP
fumecheng-99	19	28	niš	niš	PROPN
fumecheng-99	19	29	,	,	PUNCT
fumecheng-99	19	30	faculty	faculty	NOUN
fumecheng-99	19	31	of	of	ADP
fumecheng-99	19	32	mechanical	mechanical	ADJ
fumecheng-99	19	33	engineering	engineering	NOUN
fumecheng-99	19	34	,	,	PUNCT
fumecheng-99	19	35	department	department	NOUN
fumecheng-99	19	36	of	of	ADP
fumecheng-99	19	37	transport	transport	NOUN
fumecheng-99	19	38	and	and	CCONJ
fumecheng-99	19	39	logistics	logistic	NOUN
fumecheng-99	19	40	,	,	PUNCT
fumecheng-99	19	41	niš	niš	NOUN
fumecheng-99	19	42	,	,	PUNCT
fumecheng-99	19	43	serbia	serbia	PROPN
fumecheng-99	19	44	e	e	NOUN
fumecheng-99	19	45	-	-	NOUN
fumecheng-99	19	46	mail	mail	NOUN
fumecheng-99	19	47	:	:	PUNCT
fumecheng-99	19	48	miomir@masfak.ni.ac.rs	miomir@masfak.ni.ac.rs	NUM
fumecheng-99	19	49	original	original	ADJ
fumecheng-99	19	50	scientific	scientific	ADJ
fumecheng-99	19	51	paper	paper	NOUN
fumecheng-99	19	52	62	62	NUM
fumecheng-99	19	53	j.	j.	PROPN
fumecheng-99	19	54	pavlović	pavlović	NOUN
fumecheng-99	19	55	,	,	PUNCT
fumecheng-99	19	56	m.	m.	NOUN
fumecheng-99	19	57	jovanović	jovanović	PROPN
fumecheng-99	19	58	,	,	PUNCT
fumecheng-99	19	59	a.	a.	NOUN
fumecheng-99	19	60	milojević	milojević	NOUN
fumecheng-99	19	61	in	in	ADP
fumecheng-99	19	62	use	use	NOUN
fumecheng-99	19	63	,	,	PUNCT
fumecheng-99	19	64	from	from	ADP
fumecheng-99	19	65	the	the	DET
fumecheng-99	19	66	classical	classical	ADJ
fumecheng-99	19	67	one	one	NOUN
fumecheng-99	19	68	,	,	PUNCT
fumecheng-99	19	69	based	base	VERB
fumecheng-99	19	70	on	on	ADP
fumecheng-99	19	71	the	the	DET
fumecheng-99	19	72	authorized	authorize	VERB
fumecheng-99	19	73	procedures	procedure	NOUN
fumecheng-99	19	74	of	of	ADP
fumecheng-99	19	75	differential	differential	ADJ
fumecheng-99	19	76	programming	programming	NOUN
fumecheng-99	19	77	,	,	PUNCT
fumecheng-99	19	78	gradient	gradient	ADJ
fumecheng-99	19	79	methods	method	NOUN
fumecheng-99	19	80	,	,	PUNCT
fumecheng-99	19	81	the	the	DET
fumecheng-99	19	82	method	method	NOUN
fumecheng-99	19	83	of	of	ADP
fumecheng-99	19	84	polyhedra	polyhedra	NOUN
fumecheng-99	19	85	(	(	PUNCT
fumecheng-99	19	86	nelder	nelder	ADJ
fumecheng-99	19	87	-	-	PUNCT
fumecheng-99	19	88	mead	mead	NOUN
fumecheng-99	19	89	methods	method	NOUN
fumecheng-99	19	90	)	)	PUNCT
fumecheng-99	20	1	[	[	X
fumecheng-99	20	2	1	1	NUM
fumecheng-99	20	3	]	]	PUNCT
fumecheng-99	20	4	,	,	PUNCT
fumecheng-99	20	5	approximate	approximate	ADJ
fumecheng-99	20	6	methods	method	NOUN
fumecheng-99	20	7	of	of	ADP
fumecheng-99	20	8	programming	programming	NOUN
fumecheng-99	20	9	and	and	CCONJ
fumecheng-99	20	10	sequential	sequential	ADJ
fumecheng-99	20	11	quadratic	quadratic	ADJ
fumecheng-99	20	12	programming	programming	NOUN
fumecheng-99	20	13	[	[	X
fumecheng-99	20	14	2	2	NUM
fumecheng-99	20	15	]	]	PUNCT
fumecheng-99	20	16	,	,	PUNCT
fumecheng-99	20	17	up	up	ADP
fumecheng-99	20	18	to	to	ADP
fumecheng-99	20	19	the	the	DET
fumecheng-99	20	20	modern	modern	ADJ
fumecheng-99	20	21	methods	method	NOUN
fumecheng-99	20	22	based	base	VERB
fumecheng-99	20	23	on	on	ADP
fumecheng-99	20	24	the	the	DET
fumecheng-99	20	25	techniques	technique	NOUN
fumecheng-99	20	26	of	of	ADP
fumecheng-99	20	27	genetic	genetic	ADJ
fumecheng-99	20	28	algorithm	algorithm	NOUN
fumecheng-99	20	29	[	[	X
fumecheng-99	20	30	3	3	NUM
fumecheng-99	20	31	]	]	PUNCT
fumecheng-99	20	32	,	,	PUNCT
fumecheng-99	20	33	aca	aca	PROPN
fumecheng-99	20	34	algorithm	algorithm	PROPN
fumecheng-99	20	35	(	(	PUNCT
fumecheng-99	20	36	ant	ant	ADJ
fumecheng-99	20	37	colony	colony	NOUN
fumecheng-99	20	38	algorithm	algorithm	NOUN
fumecheng-99	20	39	)	)	PUNCT
fumecheng-99	21	1	[	[	X
fumecheng-99	21	2	4	4	X
fumecheng-99	21	3	]	]	PUNCT
fumecheng-99	21	4	and	and	CCONJ
fumecheng-99	21	5	simulation	simulation	NOUN
fumecheng-99	22	1	[	[	X
fumecheng-99	22	2	5	5	NUM
fumecheng-99	22	3	]	]	PUNCT
fumecheng-99	22	4	.	.	PUNCT
fumecheng-99	23	1	this	this	DET
fumecheng-99	23	2	paper	paper	NOUN
fumecheng-99	23	3	first	first	ADV
fumecheng-99	23	4	presents	present	VERB
fumecheng-99	23	5	the	the	DET
fumecheng-99	23	6	method	method	NOUN
fumecheng-99	23	7	of	of	ADP
fumecheng-99	23	8	formal	formal	ADJ
fumecheng-99	23	9	searching	searching	NOUN
fumecheng-99	23	10	for	for	ADP
fumecheng-99	23	11	optimal	optimal	ADJ
fumecheng-99	23	12	solutions	solution	NOUN
fumecheng-99	23	13	based	base	VERB
fumecheng-99	23	14	on	on	ADP
fumecheng-99	23	15	the	the	DET
fumecheng-99	23	16	computer	computer	NOUN
fumecheng-99	23	17	changes	change	NOUN
fumecheng-99	23	18	of	of	ADP
fumecheng-99	23	19	the	the	DET
fumecheng-99	23	20	geometric	geometric	ADJ
fumecheng-99	23	21	parameters	parameter	NOUN
fumecheng-99	23	22	of	of	ADP
fumecheng-99	23	23	the	the	DET
fumecheng-99	23	24	mechanism	mechanism	NOUN
fumecheng-99	23	25	,	,	PUNCT
fumecheng-99	23	26	followed	follow	VERB
fumecheng-99	23	27	by	by	ADP
fumecheng-99	23	28	the	the	DET
fumecheng-99	23	29	method	method	NOUN
fumecheng-99	23	30	of	of	ADP
fumecheng-99	23	31	sequential	sequential	ADJ
fumecheng-99	23	32	quadratic	quadratic	ADJ
fumecheng-99	23	33	programming	programming	NOUN
fumecheng-99	23	34	.	.	PUNCT
fumecheng-99	24	1	changing	change	VERB
fumecheng-99	24	2	the	the	DET
fumecheng-99	24	3	parameters	parameter	NOUN
fumecheng-99	24	4	in	in	ADP
fumecheng-99	24	5	the	the	DET
fumecheng-99	24	6	method	method	NOUN
fumecheng-99	24	7	of	of	ADP
fumecheng-99	24	8	formal	formal	ADJ
fumecheng-99	24	9	searching	searching	NOUN
fumecheng-99	24	10	is	be	AUX
fumecheng-99	24	11	performed	perform	VERB
fumecheng-99	24	12	incrementally	incrementally	ADV
fumecheng-99	24	13	by	by	ADP
fumecheng-99	24	14	taking	take	VERB
fumecheng-99	24	15	discrete	discrete	ADJ
fumecheng-99	24	16	values	value	NOUN
fumecheng-99	24	17	of	of	ADP
fumecheng-99	24	18	independent	independent	ADJ
fumecheng-99	24	19	parameters	parameter	NOUN
fumecheng-99	24	20	in	in	ADP
fumecheng-99	24	21	an	an	DET
fumecheng-99	24	22	increasing	increase	VERB
fumecheng-99	24	23	order	order	NOUN
fumecheng-99	24	24	(	(	PUNCT
fumecheng-99	24	25	scanning	scan	VERB
fumecheng-99	24	26	technique	technique	NOUN
fumecheng-99	24	27	)	)	PUNCT
fumecheng-99	25	1	[	[	X
fumecheng-99	25	2	6	6	NUM
fumecheng-99	25	3	]	]	PUNCT
fumecheng-99	25	4	,	,	PUNCT
fumecheng-99	25	5	[	[	X
fumecheng-99	25	6	7].for	7].for	ADP
fumecheng-99	25	7	the	the	DET
fumecheng-99	25	8	evaluation	evaluation	NOUN
fumecheng-99	25	9	of	of	ADP
fumecheng-99	25	10	the	the	DET
fumecheng-99	25	11	effectiveness	effectiveness	NOUN
fumecheng-99	25	12	of	of	ADP
fumecheng-99	25	13	the	the	DET
fumecheng-99	25	14	passive	passive	ADJ
fumecheng-99	25	15	formal	formal	ADJ
fumecheng-99	25	16	search	search	NOUN
fumecheng-99	25	17	method	method	NOUN
fumecheng-99	25	18	,	,	PUNCT
fumecheng-99	25	19	the	the	DET
fumecheng-99	25	20	method	method	NOUN
fumecheng-99	25	21	of	of	ADP
fumecheng-99	25	22	sequential	sequential	ADJ
fumecheng-99	25	23	quadratic	quadratic	ADJ
fumecheng-99	25	24	programming	programming	NOUN
fumecheng-99	25	25	(	(	PUNCT
fumecheng-99	25	26	sqp	sqp	PROPN
fumecheng-99	25	27	)	)	PUNCT
fumecheng-99	25	28	is	be	AUX
fumecheng-99	25	29	applied	apply	VERB
fumecheng-99	25	30	in	in	ADP
fumecheng-99	25	31	this	this	DET
fumecheng-99	25	32	paper	paper	NOUN
fumecheng-99	25	33	.	.	PUNCT
fumecheng-99	26	1	the	the	DET
fumecheng-99	26	2	complexity	complexity	NOUN
fumecheng-99	26	3	of	of	ADP
fumecheng-99	26	4	the	the	DET
fumecheng-99	26	5	general	general	ADJ
fumecheng-99	26	6	approach	approach	NOUN
fumecheng-99	26	7	to	to	ADP
fumecheng-99	26	8	the	the	DET
fumecheng-99	26	9	problem	problem	NOUN
fumecheng-99	26	10	can	can	AUX
fumecheng-99	26	11	be	be	AUX
fumecheng-99	26	12	seen	see	VERB
fumecheng-99	26	13	in	in	ADP
fumecheng-99	26	14	the	the	DET
fumecheng-99	26	15	work	work	NOUN
fumecheng-99	26	16	by	by	ADP
fumecheng-99	26	17	yang	yang	PROPN
fumecheng-99	26	18	yu	yu	PROPN
fumecheng-99	27	1	[	[	X
fumecheng-99	27	2	8	8	NUM
fumecheng-99	27	3	]	]	PUNCT
fumecheng-99	27	4	where	where	SCONJ
fumecheng-99	27	5	the	the	DET
fumecheng-99	27	6	optimization	optimization	NOUN
fumecheng-99	27	7	is	be	AUX
fumecheng-99	27	8	performed	perform	VERB
fumecheng-99	27	9	with	with	ADP
fumecheng-99	27	10	twenty	twenty	NUM
fumecheng-99	27	11	-	-	PUNCT
fumecheng-99	27	12	two	two	NUM
fumecheng-99	27	13	parameters	parameter	NOUN
fumecheng-99	27	14	.	.	PUNCT
fumecheng-99	28	1	besides	besides	SCONJ
fumecheng-99	28	2	geometric	geometric	ADJ
fumecheng-99	28	3	optimization	optimization	NOUN
fumecheng-99	28	4	parameters	parameter	NOUN
fumecheng-99	28	5	,	,	PUNCT
fumecheng-99	28	6	the	the	DET
fumecheng-99	28	7	synthesis	synthesis	NOUN
fumecheng-99	28	8	can	can	AUX
fumecheng-99	28	9	also	also	ADV
fumecheng-99	28	10	introduce	introduce	VERB
fumecheng-99	28	11	the	the	DET
fumecheng-99	28	12	constraints	constraint	NOUN
fumecheng-99	28	13	of	of	ADP
fumecheng-99	28	14	internal	internal	ADJ
fumecheng-99	28	15	mechanism	mechanism	NOUN
fumecheng-99	28	16	forces	force	NOUN
fumecheng-99	28	17	.	.	PUNCT
fumecheng-99	29	1	such	such	DET
fumecheng-99	29	2	an	an	DET
fumecheng-99	29	3	approach	approach	NOUN
fumecheng-99	29	4	can	can	AUX
fumecheng-99	29	5	be	be	AUX
fumecheng-99	29	6	found	find	VERB
fumecheng-99	29	7	in	in	ADP
fumecheng-99	29	8	the	the	DET
fumecheng-99	29	9	work	work	NOUN
fumecheng-99	29	10	of	of	ADP
fumecheng-99	29	11	gao	gao	PROPN
fumecheng-99	29	12	xiuhua	xiuhua	PROPN
fumecheng-99	30	1	[	[	X
fumecheng-99	30	2	9	9	NUM
fumecheng-99	30	3	]	]	X
fumecheng-99	30	4	(	(	PUNCT
fumecheng-99	30	5	derived	derive	VERB
fumecheng-99	30	6	using	use	VERB
fumecheng-99	30	7	the	the	DET
fumecheng-99	30	8	adams	adams	PROPN
fumecheng-99	30	9	software	software	PROPN
fumecheng-99	30	10	package	package	NOUN
fumecheng-99	30	11	)	)	PUNCT
fumecheng-99	30	12	,	,	PUNCT
fumecheng-99	30	13	and	and	CCONJ
fumecheng-99	30	14	rongyi	rongyi	VERB
fumecheng-99	30	15	zhang	zhang	PROPN
fumecheng-99	31	1	[	[	X
fumecheng-99	31	2	10	10	NUM
fumecheng-99	31	3	]	]	PUNCT
fumecheng-99	31	4	,	,	PUNCT
fumecheng-99	31	5	using	use	VERB
fumecheng-99	31	6	the	the	DET
fumecheng-99	31	7	matlab	matlab	PROPN
fumecheng-99	31	8	programming	programming	NOUN
fumecheng-99	31	9	environment	environment	NOUN
fumecheng-99	31	10	with	with	ADP
fumecheng-99	31	11	the	the	DET
fumecheng-99	31	12	use	use	NOUN
fumecheng-99	31	13	of	of	ADP
fumecheng-99	31	14	a	a	DET
fumecheng-99	31	15	combination	combination	NOUN
fumecheng-99	31	16	of	of	ADP
fumecheng-99	31	17	three	three	NUM
fumecheng-99	31	18	optimization	optimization	NOUN
fumecheng-99	31	19	algorithms	algorithm	NOUN
fumecheng-99	31	20	.	.	PUNCT
fumecheng-99	32	1	because	because	SCONJ
fumecheng-99	32	2	of	of	ADP
fumecheng-99	32	3	the	the	DET
fumecheng-99	32	4	complexity	complexity	NOUN
fumecheng-99	32	5	of	of	ADP
fumecheng-99	32	6	the	the	DET
fumecheng-99	32	7	general	general	ADJ
fumecheng-99	32	8	approach	approach	NOUN
fumecheng-99	32	9	,	,	PUNCT
fumecheng-99	32	10	this	this	DET
fumecheng-99	32	11	paper	paper	NOUN
fumecheng-99	32	12	deals	deal	VERB
fumecheng-99	32	13	with	with	ADP
fumecheng-99	32	14	the	the	DET
fumecheng-99	32	15	mechanism	mechanism	NOUN
fumecheng-99	32	16	synthesis	synthesis	NOUN
fumecheng-99	32	17	based	base	VERB
fumecheng-99	32	18	on	on	ADP
fumecheng-99	32	19	a	a	DET
fumecheng-99	32	20	small	small	ADJ
fumecheng-99	32	21	number	number	NOUN
fumecheng-99	32	22	of	of	ADP
fumecheng-99	32	23	optimization	optimization	NOUN
fumecheng-99	32	24	parameters	parameter	NOUN
fumecheng-99	32	25	.	.	PUNCT
fumecheng-99	33	1	2	2	X
fumecheng-99	33	2	.	.	X
fumecheng-99	33	3	geometric	geometric	ADJ
fumecheng-99	33	4	model	model	NOUN
fumecheng-99	33	5	of	of	ADP
fumecheng-99	33	6	the	the	DET
fumecheng-99	33	7	z	z	NOUN
fumecheng-99	33	8	-	-	PUNCT
fumecheng-99	33	9	mechanism	mechanism	NOUN
fumecheng-99	33	10	a	a	DET
fumecheng-99	33	11	planar	planar	ADJ
fumecheng-99	33	12	mechanism	mechanism	NOUN
fumecheng-99	33	13	of	of	ADP
fumecheng-99	33	14	a	a	DET
fumecheng-99	33	15	manipulator	manipulator	NOUN
fumecheng-99	33	16	loader	loader	NOUN
fumecheng-99	33	17	consists	consist	VERB
fumecheng-99	33	18	of	of	ADP
fumecheng-99	33	19	an	an	DET
fumecheng-99	33	20	ar	ar	NOUN
fumecheng-99	33	21	m	m	PROPN
fumecheng-99	33	22	(	(	PUNCT
fumecheng-99	33	23	1	1	NUM
fumecheng-99	33	24	)	)	PUNCT
fumecheng-99	33	25	with	with	ADP
fumecheng-99	33	26	a	a	DET
fumecheng-99	33	27	bucket	bucket	NOUN
fumecheng-99	33	28	(	(	PUNCT
fumecheng-99	33	29	4	4	NUM
fumecheng-99	33	30	)	)	PUNCT
fumecheng-99	33	31	and	and	CCONJ
fumecheng-99	33	32	a	a	DET
fumecheng-99	33	33	lifting	lift	VERB
fumecheng-99	33	34	hydraulic	hydraulic	ADJ
fumecheng-99	33	35	actuator	actuator	NOUN
fumecheng-99	33	36	(	(	PUNCT
fumecheng-99	33	37	5	5	NUM
fumecheng-99	33	38	)	)	PUNCT
fumecheng-99	33	39	,	,	PUNCT
fumecheng-99	33	40	fig	fig	NOUN
fumecheng-99	33	41	.	.	PUNCT
fumecheng-99	34	1	1	1	X
fumecheng-99	34	2	.	.	X
fumecheng-99	34	3	the	the	DET
fumecheng-99	34	4	arm	arm	NOUN
fumecheng-99	34	5	(	(	PUNCT
fumecheng-99	34	6	1	1	X
fumecheng-99	34	7	)	)	PUNCT
fumecheng-99	34	8	possesses	possess	VERB
fumecheng-99	34	9	a	a	DET
fumecheng-99	34	10	mechanism	mechanism	NOUN
fumecheng-99	34	11	for	for	ADP
fumecheng-99	34	12	defining	define	VERB
fumecheng-99	34	13	the	the	DET
fumecheng-99	34	14	bucket	bucket	NOUN
fumecheng-99	34	15	position	position	NOUN
fumecheng-99	34	16	(	(	PUNCT
fumecheng-99	34	17	mdbp	mdbp	NOUN
fumecheng-99	34	18	)	)	PUNCT
fumecheng-99	34	19	that	that	PRON
fumecheng-99	34	20	does	do	VERB
fumecheng-99	34	21	loading	loading	NOUN
fumecheng-99	34	22	,	,	PUNCT
fumecheng-99	34	23	transport	transport	NOUN
fumecheng-99	34	24	position	position	NOUN
fumecheng-99	34	25	holding	hold	VERB
fumecheng-99	34	26	and	and	CCONJ
fumecheng-99	34	27	emptying	empty	VERB
fumecheng-99	34	28	of	of	ADP
fumecheng-99	34	29	the	the	DET
fumecheng-99	34	30	bucket	bucket	NOUN
fumecheng-99	34	31	.	.	PUNCT
fumecheng-99	35	1	this	this	DET
fumecheng-99	35	2	mechanism	mechanism	NOUN
fumecheng-99	35	3	consists	consist	VERB
fumecheng-99	35	4	of	of	ADP
fumecheng-99	35	5	a	a	DET
fumecheng-99	35	6	tilting	tilt	VERB
fumecheng-99	35	7	hydraulic	hydraulic	ADJ
fumecheng-99	35	8	actuator	actuator	NOUN
fumecheng-99	35	9	(	(	PUNCT
fumecheng-99	35	10	6	6	NUM
fumecheng-99	35	11	)	)	PUNCT
fumecheng-99	35	12	,	,	PUNCT
fumecheng-99	35	13	a	a	DET
fumecheng-99	35	14	two	two	NUM
fumecheng-99	35	15	-	-	PUNCT
fumecheng-99	35	16	arm	arm	NOUN
fumecheng-99	35	17	lever	lever	NOUN
fumecheng-99	35	18	(	(	PUNCT
fumecheng-99	35	19	2	2	NUM
fumecheng-99	35	20	)	)	PUNCT
fumecheng-99	35	21	and	and	CCONJ
fumecheng-99	35	22	a	a	DET
fumecheng-99	35	23	coupling	coupling	NOUN
fumecheng-99	35	24	rod	rod	NOUN
fumecheng-99	35	25	(	(	PUNCT
fumecheng-99	35	26	3	3	NUM
fumecheng-99	35	27	)	)	PUNCT
fumecheng-99	35	28	(	(	PUNCT
fumecheng-99	35	29	fig	fig	NOUN
fumecheng-99	35	30	.	.	PUNCT
fumecheng-99	35	31	1	1	NUM
fumecheng-99	35	32	)	)	PUNCT
fumecheng-99	35	33	.	.	PUNCT
fumecheng-99	36	1	solving	solve	VERB
fumecheng-99	36	2	the	the	DET
fumecheng-99	36	3	optimization	optimization	NOUN
fumecheng-99	36	4	problem	problem	NOUN
fumecheng-99	36	5	involves	involve	VERB
fumecheng-99	36	6	finding	find	VERB
fumecheng-99	36	7	a	a	DET
fumecheng-99	36	8	geometry	geometry	NOUN
fumecheng-99	36	9	of	of	ADP
fumecheng-99	36	10	mechanism	mechanism	NOUN
fumecheng-99	36	11	for	for	ADP
fumecheng-99	36	12	defining	define	VERB
fumecheng-99	36	13	the	the	DET
fumecheng-99	36	14	bucket	bucket	NOUN
fumecheng-99	36	15	position	position	NOUN
fumecheng-99	36	16	to	to	PART
fumecheng-99	36	17	ensure	ensure	VERB
fumecheng-99	36	18	minimal	minimal	ADJ
fumecheng-99	36	19	change	change	NOUN
fumecheng-99	36	20	in	in	ADP
fumecheng-99	36	21	the	the	DET
fumecheng-99	36	22	tilt	tilt	NOUN
fumecheng-99	36	23	of	of	ADP
fumecheng-99	36	24	the	the	DET
fumecheng-99	36	25	bucket	bucket	NOUN
fumecheng-99	36	26	when	when	SCONJ
fumecheng-99	36	27	the	the	DET
fumecheng-99	36	28	arm	arm	NOUN
fumecheng-99	36	29	of	of	ADP
fumecheng-99	36	30	the	the	DET
fumecheng-99	36	31	loader	loader	NOUN
fumecheng-99	36	32	is	be	AUX
fumecheng-99	36	33	lifting	lift	VERB
fumecheng-99	36	34	from	from	ADP
fumecheng-99	36	35	the	the	DET
fumecheng-99	36	36	minimum	minimum	NOUN
fumecheng-99	36	37	to	to	ADP
fumecheng-99	36	38	the	the	DET
fumecheng-99	36	39	maximum	maximum	ADJ
fumecheng-99	36	40	slope	slope	NOUN
fumecheng-99	36	41	angle	angle	PROPN
fumecheng-99	36	42	β	β	X
fumecheng-99	36	43	,	,	PUNCT
fumecheng-99	36	44	min	min	PROPN
fumecheng-99	36	45	{	{	PUNCT
fumecheng-99	36	46	fc	fc	INTJ
fumecheng-99	36	47	}	}	PUNCT
fumecheng-99	36	48	.	.	PUNCT
fumecheng-99	37	1	from	from	ADP
fumecheng-99	37	2	there	there	ADV
fumecheng-99	37	3	,	,	PUNCT
fumecheng-99	37	4	it	it	PRON
fumecheng-99	37	5	is	be	AUX
fumecheng-99	37	6	possible	possible	ADJ
fumecheng-99	37	7	to	to	PART
fumecheng-99	37	8	search	search	VERB
fumecheng-99	37	9	for	for	ADP
fumecheng-99	37	10	optimization	optimization	NOUN
fumecheng-99	37	11	parameters	parameter	NOUN
fumecheng-99	37	12	in	in	ADP
fumecheng-99	37	13	the	the	DET
fumecheng-99	37	14	mdbp	mdbp	NOUN
fumecheng-99	37	15	mechanism	mechanism	NOUN
fumecheng-99	37	16	geometry	geometry	NOUN
fumecheng-99	37	17	.	.	PUNCT
fumecheng-99	38	1	the	the	DET
fumecheng-99	38	2	mechanism	mechanism	NOUN
fumecheng-99	38	3	for	for	ADP
fumecheng-99	38	4	the	the	DET
fumecheng-99	38	5	lifting	lift	VERB
fumecheng-99	38	6	arm	arm	NOUN
fumecheng-99	38	7	is	be	AUX
fumecheng-99	38	8	designed	design	VERB
fumecheng-99	38	9	from	from	ADP
fumecheng-99	38	10	the	the	DET
fumecheng-99	38	11	given	give	VERB
fumecheng-99	38	12	operating	operating	NOUN
fumecheng-99	38	13	conditions	condition	NOUN
fumecheng-99	38	14	of	of	ADP
fumecheng-99	38	15	the	the	DET
fumecheng-99	38	16	bucket	bucket	NOUN
fumecheng-99	38	17	position	position	NOUN
fumecheng-99	38	18	and	and	CCONJ
fumecheng-99	38	19	is	be	AUX
fumecheng-99	38	20	not	not	PART
fumecheng-99	38	21	subject	subject	ADJ
fumecheng-99	38	22	to	to	ADP
fumecheng-99	38	23	optimization	optimization	NOUN
fumecheng-99	38	24	.	.	PUNCT
fumecheng-99	39	1	the	the	DET
fumecheng-99	39	2	optimization	optimization	NOUN
fumecheng-99	39	3	parameters	parameter	NOUN
fumecheng-99	39	4	can	can	AUX
fumecheng-99	39	5	therefore	therefore	ADV
fumecheng-99	39	6	be	be	AUX
fumecheng-99	39	7	the	the	DET
fumecheng-99	39	8	position	position	NOUN
fumecheng-99	39	9	of	of	ADP
fumecheng-99	39	10	the	the	DET
fumecheng-99	39	11	bearing	bearing	NOUN
fumecheng-99	39	12	of	of	ADP
fumecheng-99	39	13	the	the	DET
fumecheng-99	39	14	hydraulic	hydraulic	ADJ
fumecheng-99	39	15	actuator	actuator	NOUN
fumecheng-99	39	16	(	(	PUNCT
fumecheng-99	39	17	6	6	NUM
fumecheng-99	39	18	)	)	PUNCT
fumecheng-99	39	19	,	,	PUNCT
fumecheng-99	39	20	the	the	DET
fumecheng-99	39	21	geometry	geometry	NOUN
fumecheng-99	39	22	of	of	ADP
fumecheng-99	39	23	the	the	DET
fumecheng-99	39	24	two	two	NUM
fumecheng-99	39	25	-	-	PUNCT
fumecheng-99	39	26	arm	arm	NOUN
fumecheng-99	39	27	lever	lever	NOUN
fumecheng-99	39	28	(	(	PUNCT
fumecheng-99	39	29	2	2	NUM
fumecheng-99	39	30	)	)	PUNCT
fumecheng-99	39	31	and	and	CCONJ
fumecheng-99	39	32	the	the	DET
fumecheng-99	39	33	length	length	NOUN
fumecheng-99	39	34	of	of	ADP
fumecheng-99	39	35	the	the	DET
fumecheng-99	39	36	coupling	coupling	NOUN
fumecheng-99	39	37	rod	rod	NOUN
fumecheng-99	39	38	(	(	PUNCT
fumecheng-99	39	39	3	3	NUM
fumecheng-99	39	40	)	)	PUNCT
fumecheng-99	39	41	.	.	PUNCT
fumecheng-99	40	1	in	in	ADP
fumecheng-99	40	2	this	this	DET
fumecheng-99	40	3	study	study	NOUN
fumecheng-99	40	4	,	,	PUNCT
fumecheng-99	40	5	four	four	NUM
fumecheng-99	40	6	parameters	parameter	NOUN
fumecheng-99	40	7	are	be	AUX
fumecheng-99	40	8	chosen	choose	VERB
fumecheng-99	40	9	to	to	PART
fumecheng-99	40	10	optimize	optimize	VERB
fumecheng-99	40	11	the	the	DET
fumecheng-99	40	12	mdbp	mdbp	NOUN
fumecheng-99	40	13	mechanism	mechanism	NOUN
fumecheng-99	40	14	related	relate	VERB
fumecheng-99	40	15	to	to	ADP
fumecheng-99	40	16	the	the	DET
fumecheng-99	40	17	position	position	NOUN
fumecheng-99	40	18	of	of	ADP
fumecheng-99	40	19	the	the	DET
fumecheng-99	40	20	bearing	bearing	NOUN
fumecheng-99	40	21	of	of	ADP
fumecheng-99	40	22	the	the	DET
fumecheng-99	40	23	hydraulic	hydraulic	ADJ
fumecheng-99	40	24	actuator	actuator	NOUN
fumecheng-99	40	25	(	(	PUNCT
fumecheng-99	40	26	6	6	NUM
fumecheng-99	40	27	)	)	PUNCT
fumecheng-99	40	28	and	and	CCONJ
fumecheng-99	40	29	linkage	linkage	NOUN
fumecheng-99	40	30	o23	o23	NOUN
fumecheng-99	40	31	on	on	ADP
fumecheng-99	40	32	the	the	DET
fumecheng-99	40	33	lever	lever	NOUN
fumecheng-99	40	34	(	(	PUNCT
fumecheng-99	40	35	2	2	NUM
fumecheng-99	40	36	)	)	PUNCT
fumecheng-99	40	37	.	.	PUNCT
fumecheng-99	41	1	fig	fig	NOUN
fumecheng-99	41	2	.	.	PUNCT
fumecheng-99	42	1	1	1	NUM
fumecheng-99	42	2	geometric	geometric	ADJ
fumecheng-99	42	3	model	model	NOUN
fumecheng-99	42	4	of	of	ADP
fumecheng-99	42	5	the	the	DET
fumecheng-99	42	6	z	z	NOUN
fumecheng-99	42	7	–	–	PUNCT
fumecheng-99	42	8	mechanism	mechanism	NOUN
fumecheng-99	42	9	for	for	ADP
fumecheng-99	42	10	defining	define	VERB
fumecheng-99	42	11	the	the	DET
fumecheng-99	42	12	bucket	bucket	NOUN
fumecheng-99	42	13	position	position	NOUN
fumecheng-99	42	14	(	(	PUNCT
fumecheng-99	42	15	mdbp	mdbp	NOUN
fumecheng-99	42	16	)	)	PUNCT
fumecheng-99	42	17	optimal	optimal	ADJ
fumecheng-99	42	18	synthesis	synthesis	NOUN
fumecheng-99	42	19	of	of	ADP
fumecheng-99	42	20	manuplator	manuplator	NOUN
fumecheng-99	42	21	using	use	VERB
fumecheng-99	42	22	two	two	NUM
fumecheng-99	42	23	competitive	competitive	ADJ
fumecheng-99	42	24	methods	method	NOUN
fumecheng-99	42	25	63	63	NUM
fumecheng-99	42	26	for	for	ADP
fumecheng-99	42	27	an	an	DET
fumecheng-99	42	28	efficient	efficient	ADJ
fumecheng-99	42	29	solution	solution	NOUN
fumecheng-99	42	30	of	of	ADP
fumecheng-99	42	31	multidimensional	multidimensional	ADJ
fumecheng-99	42	32	problems	problem	NOUN
fumecheng-99	42	33	with	with	ADP
fumecheng-99	42	34	constraints	constraint	NOUN
fumecheng-99	42	35	,	,	PUNCT
fumecheng-99	42	36	numerical	numerical	ADJ
fumecheng-99	42	37	methods	method	NOUN
fumecheng-99	42	38	with	with	ADP
fumecheng-99	42	39	passive	passive	ADJ
fumecheng-99	42	40	searching	searching	NOUN
fumecheng-99	42	41	can	can	AUX
fumecheng-99	42	42	be	be	AUX
fumecheng-99	42	43	used	use	VERB
fumecheng-99	42	44	[	[	PUNCT
fumecheng-99	42	45	6	6	NUM
fumecheng-99	42	46	]	]	PUNCT
fumecheng-99	42	47	.	.	PUNCT
fumecheng-99	43	1	these	these	DET
fumecheng-99	43	2	methods	method	NOUN
fumecheng-99	43	3	use	use	VERB
fumecheng-99	43	4	a	a	DET
fumecheng-99	43	5	fixed	fix	VERB
fumecheng-99	43	6	interval	interval	NOUN
fumecheng-99	43	7	of	of	ADP
fumecheng-99	43	8	indetermination	indetermination	NOUN
fumecheng-99	43	9	(	(	PUNCT
fumecheng-99	43	10	h	h	NOUN
fumecheng-99	43	11	)	)	PUNCT
fumecheng-99	43	12	,	,	PUNCT
fumecheng-99	43	13	where	where	SCONJ
fumecheng-99	43	14	the	the	DET
fumecheng-99	43	15	field	field	NOUN
fumecheng-99	43	16	of	of	ADP
fumecheng-99	43	17	change	change	NOUN
fumecheng-99	43	18	of	of	ADP
fumecheng-99	43	19	independent	independent	ADJ
fumecheng-99	43	20	variables	variable	NOUN
fumecheng-99	43	21	1	1	NUM
fumecheng-99	43	22	2	2	NUM
fumecheng-99	43	23	3	3	NUM
fumecheng-99	43	24	4	4	NUM
fumecheng-99	43	25	{	{	PUNCT
fumecheng-99	43	26	,	,	PUNCT
fumecheng-99	43	27	,	,	PUNCT
fumecheng-99	43	28	,	,	PUNCT
fumecheng-99	43	29	}	}	PUNCT
fumecheng-99	43	30	z	z	NOUN
fumecheng-99	43	31	z	z	NOUN
fumecheng-99	43	32	z	z	NOUN
fumecheng-99	43	33	z	z	NOUN
fumecheng-99	43	34	z	z	NOUN
fumecheng-99	43	35	is	be	AUX
fumecheng-99	43	36	divided	divide	VERB
fumecheng-99	43	37	by	by	ADP
fumecheng-99	43	38	the	the	DET
fumecheng-99	43	39	selected	select	VERB
fumecheng-99	43	40	number	number	NOUN
fumecheng-99	43	41	of	of	ADP
fumecheng-99	43	42	points	point	NOUN
fumecheng-99	43	43	equal	equal	ADJ
fumecheng-99	43	44	to	to	ADP
fumecheng-99	43	45	the	the	DET
fumecheng-99	43	46	number	number	NOUN
fumecheng-99	43	47	of	of	ADP
fumecheng-99	43	48	sub	sub	NOUN
fumecheng-99	43	49	-	-	NOUN
fumecheng-99	43	50	areas	area	NOUN
fumecheng-99	43	51	.	.	PUNCT
fumecheng-99	44	1	these	these	DET
fumecheng-99	44	2	points	point	NOUN
fumecheng-99	44	3	serve	serve	VERB
fumecheng-99	44	4	as	as	ADP
fumecheng-99	44	5	the	the	DET
fumecheng-99	44	6	basis	basis	NOUN
fumecheng-99	44	7	for	for	ADP
fumecheng-99	44	8	the	the	DET
fumecheng-99	44	9	construction	construction	NOUN
fumecheng-99	44	10	of	of	ADP
fumecheng-99	44	11	n	n	CCONJ
fumecheng-99	44	12	dimensional	dimensional	ADJ
fumecheng-99	44	13	space	space	NOUN
fumecheng-99	44	14	.	.	PUNCT
fumecheng-99	45	1	the	the	DET
fumecheng-99	45	2	objective	objective	ADJ
fumecheng-99	45	3	function	function	NOUN
fumecheng-99	45	4	(	(	PUNCT
fumecheng-99	45	5	)	)	PUNCT
fumecheng-99	45	6	fc	fc	PROPN
fumecheng-99	45	7	z	z	PROPN
fumecheng-99	45	8	is	be	AUX
fumecheng-99	45	9	calculated	calculate	VERB
fumecheng-99	45	10	at	at	ADP
fumecheng-99	45	11	each	each	DET
fumecheng-99	45	12	node	node	NOUN
fumecheng-99	45	13	of	of	ADP
fumecheng-99	45	14	the	the	DET
fumecheng-99	45	15	grid	grid	NOUN
fumecheng-99	45	16	thus	thus	ADV
fumecheng-99	45	17	formed.with	formed.with	ADP
fumecheng-99	45	18	the	the	DET
fumecheng-99	45	19	analysis	analysis	NOUN
fumecheng-99	45	20	of	of	ADP
fumecheng-99	45	21	all	all	DET
fumecheng-99	45	22	solutions	solution	NOUN
fumecheng-99	45	23	the	the	DET
fumecheng-99	45	24	one	one	NOUN
fumecheng-99	45	25	that	that	PRON
fumecheng-99	45	26	is	be	AUX
fumecheng-99	45	27	the	the	DET
fumecheng-99	45	28	most	most	ADV
fumecheng-99	45	29	advantageous	advantageous	ADJ
fumecheng-99	45	30	is	be	AUX
fumecheng-99	45	31	chosen	choose	VERB
fumecheng-99	45	32	.	.	PUNCT
fumecheng-99	46	1	the	the	DET
fumecheng-99	46	2	advantage	advantage	NOUN
fumecheng-99	46	3	of	of	ADP
fumecheng-99	46	4	the	the	DET
fumecheng-99	46	5	passive	passive	ADJ
fumecheng-99	46	6	search	search	NOUN
fumecheng-99	46	7	method	method	NOUN
fumecheng-99	46	8	is	be	AUX
fumecheng-99	46	9	in	in	ADP
fumecheng-99	46	10	the	the	DET
fumecheng-99	46	11	reliability	reliability	NOUN
fumecheng-99	46	12	of	of	ADP
fumecheng-99	46	13	searching	search	VERB
fumecheng-99	46	14	.	.	PUNCT
fumecheng-99	47	1	a	a	DET
fumecheng-99	47	2	disadvantage	disadvantage	NOUN
fumecheng-99	47	3	of	of	ADP
fumecheng-99	47	4	multidimensional	multidimensional	ADJ
fumecheng-99	47	5	problems	problem	NOUN
fumecheng-99	47	6	of	of	ADP
fumecheng-99	47	7	passive	passive	ADJ
fumecheng-99	47	8	searching	searching	NOUN
fumecheng-99	47	9	lies	lie	NOUN
fumecheng-99	47	10	in	in	ADP
fumecheng-99	47	11	the	the	DET
fumecheng-99	47	12	number	number	NOUN
fumecheng-99	47	13	of	of	ADP
fumecheng-99	47	14	calculation	calculation	NOUN
fumecheng-99	47	15	procedures	procedure	NOUN
fumecheng-99	47	16	.	.	PUNCT
fumecheng-99	48	1	therefore	therefore	ADV
fumecheng-99	48	2	,	,	PUNCT
fumecheng-99	48	3	this	this	DET
fumecheng-99	48	4	paper	paper	NOUN
fumecheng-99	48	5	employs	employ	VERB
fumecheng-99	48	6	the	the	DET
fumecheng-99	48	7	procedure	procedure	NOUN
fumecheng-99	48	8	of	of	ADP
fumecheng-99	48	9	choice	choice	NOUN
fumecheng-99	48	10	(	(	PUNCT
fumecheng-99	48	11	constriction	constriction	NOUN
fumecheng-99	48	12	)	)	PUNCT
fumecheng-99	48	13	of	of	ADP
fumecheng-99	48	14	the	the	DET
fumecheng-99	48	15	field	field	NOUN
fumecheng-99	48	16	of	of	ADP
fumecheng-99	48	17	search	search	NOUN
fumecheng-99	48	18	based	base	VERB
fumecheng-99	48	19	on	on	ADP
fumecheng-99	48	20	the	the	DET
fumecheng-99	48	21	testing	testing	NOUN
fumecheng-99	48	22	of	of	ADP
fumecheng-99	48	23	the	the	DET
fumecheng-99	48	24	objective	objective	ADJ
fumecheng-99	48	25	function	function	NOUN
fumecheng-99	48	26	.	.	PUNCT
fumecheng-99	49	1	the	the	DET
fumecheng-99	49	2	testing	testing	NOUN
fumecheng-99	49	3	determines	determine	VERB
fumecheng-99	49	4	the	the	DET
fumecheng-99	49	5	solution	solution	NOUN
fumecheng-99	49	6	with	with	ADP
fumecheng-99	49	7	the	the	DET
fumecheng-99	49	8	good	good	ADJ
fumecheng-99	49	9	initial	initial	ADJ
fumecheng-99	49	10	values	value	NOUN
fumecheng-99	49	11	of	of	ADP
fumecheng-99	49	12	(	(	PUNCT
fumecheng-99	49	13	)	)	PUNCT
fumecheng-99	49	14	fc	fc	PROPN
fumecheng-99	49	15	z	z	PROPN
fumecheng-99	49	16	based	base	VERB
fumecheng-99	49	17	on	on	ADP
fumecheng-99	49	18	a	a	DET
fumecheng-99	49	19	large	large	ADJ
fumecheng-99	49	20	interval	interval	NOUN
fumecheng-99	49	21	of	of	ADP
fumecheng-99	49	22	indetermination	indetermination	NOUN
fumecheng-99	49	23	.	.	PUNCT
fumecheng-99	50	1	after	after	ADP
fumecheng-99	50	2	identifying	identify	VERB
fumecheng-99	50	3	the	the	DET
fumecheng-99	50	4	"	"	PUNCT
fumecheng-99	50	5	good	good	ADJ
fumecheng-99	50	6	areas	area	NOUN
fumecheng-99	50	7	"	"	PUNCT
fumecheng-99	50	8	of	of	ADP
fumecheng-99	50	9	solution	solution	NOUN
fumecheng-99	50	10	,	,	PUNCT
fumecheng-99	50	11	the	the	DET
fumecheng-99	50	12	subject	subject	NOUN
fumecheng-99	50	13	of	of	ADP
fumecheng-99	50	14	solution	solution	NOUN
fumecheng-99	50	15	is	be	AUX
fumecheng-99	50	16	the	the	DET
fumecheng-99	50	17	grid	grid	NOUN
fumecheng-99	50	18	with	with	ADP
fumecheng-99	50	19	a	a	DET
fumecheng-99	50	20	fine	fine	ADJ
fumecheng-99	50	21	interval	interval	NOUN
fumecheng-99	50	22	of	of	ADP
fumecheng-99	50	23	indetermination	indetermination	NOUN
fumecheng-99	50	24	.	.	PUNCT
fumecheng-99	51	1	such	such	DET
fumecheng-99	51	2	a	a	DET
fumecheng-99	51	3	model	model	NOUN
fumecheng-99	51	4	with	with	ADP
fumecheng-99	51	5	a	a	DET
fumecheng-99	51	6	reduced	reduce	VERB
fumecheng-99	51	7	number	number	NOUN
fumecheng-99	51	8	of	of	ADP
fumecheng-99	51	9	optimization	optimization	NOUN
fumecheng-99	51	10	parameters	parameter	NOUN
fumecheng-99	51	11	(	(	PUNCT
fumecheng-99	51	12	z1	z1	PROPN
fumecheng-99	51	13	,	,	PUNCT
fumecheng-99	51	14	z2	z2	PROPN
fumecheng-99	51	15	,	,	PUNCT
fumecheng-99	51	16	z3	z3	PROPN
fumecheng-99	51	17	,	,	PUNCT
fumecheng-99	51	18	z4	z4	PROPN
fumecheng-99	51	19	)	)	PUNCT
fumecheng-99	51	20	and	and	CCONJ
fumecheng-99	51	21	numerical	numerical	ADJ
fumecheng-99	51	22	implementation	implementation	NOUN
fumecheng-99	51	23	can	can	AUX
fumecheng-99	51	24	give	give	VERB
fumecheng-99	51	25	sub	sub	ADJ
fumecheng-99	51	26	-	-	ADJ
fumecheng-99	51	27	optimal	optimal	ADJ
fumecheng-99	51	28	solutions	solution	NOUN
fumecheng-99	51	29	thanks	thank	NOUN
fumecheng-99	51	30	to	to	ADP
fumecheng-99	51	31	the	the	DET
fumecheng-99	51	32	simplicity	simplicity	NOUN
fumecheng-99	51	33	of	of	ADP
fumecheng-99	51	34	the	the	DET
fumecheng-99	51	35	algorithm	algorithm	NOUN
fumecheng-99	51	36	search	search	NOUN
fumecheng-99	51	37	.	.	PUNCT
fumecheng-99	52	1	the	the	DET
fumecheng-99	52	2	synthesis	synthesis	NOUN
fumecheng-99	52	3	procedure	procedure	NOUN
fumecheng-99	52	4	for	for	ADP
fumecheng-99	52	5	an	an	DET
fumecheng-99	52	6	mdbp	mdbp	NOUN
fumecheng-99	52	7	mechanism	mechanism	NOUN
fumecheng-99	52	8	is	be	AUX
fumecheng-99	52	9	illustrated	illustrate	VERB
fumecheng-99	52	10	in	in	ADP
fumecheng-99	52	11	fig	fig	NOUN
fumecheng-99	52	12	.	.	PUNCT
fumecheng-99	53	1	1	1	NUM
fumecheng-99	53	2	.	.	X
fumecheng-99	54	1	3	3	X
fumecheng-99	54	2	.	.	NOUN
fumecheng-99	54	3	mathematical	mathematical	ADJ
fumecheng-99	54	4	formulation	formulation	NOUN
fumecheng-99	54	5	of	of	ADP
fumecheng-99	54	6	the	the	DET
fumecheng-99	54	7	problem	problem	NOUN
fumecheng-99	54	8	the	the	DET
fumecheng-99	54	9	formation	formation	NOUN
fumecheng-99	54	10	of	of	ADP
fumecheng-99	54	11	a	a	DET
fumecheng-99	54	12	mathematical	mathematical	ADJ
fumecheng-99	54	13	model	model	NOUN
fumecheng-99	54	14	for	for	ADP
fumecheng-99	54	15	optimization	optimization	NOUN
fumecheng-99	54	16	according	accord	VERB
fumecheng-99	54	17	to	to	ADP
fumecheng-99	54	18	fig	fig	NOUN
fumecheng-99	54	19	.	.	PUNCT
fumecheng-99	55	1	1	1	NUM
fumecheng-99	55	2	includes	include	VERB
fumecheng-99	55	3	defining	define	VERB
fumecheng-99	55	4	a	a	DET
fumecheng-99	55	5	planar	planar	ADJ
fumecheng-99	55	6	geometric	geometric	ADJ
fumecheng-99	55	7	model	model	NOUN
fumecheng-99	55	8	of	of	ADP
fumecheng-99	55	9	the	the	DET
fumecheng-99	55	10	manipulator	manipulator	NOUN
fumecheng-99	55	11	.	.	PUNCT
fumecheng-99	56	1	the	the	DET
fumecheng-99	56	2	manipulator	manipulator	NOUN
fumecheng-99	56	3	is	be	AUX
fumecheng-99	56	4	a	a	DET
fumecheng-99	56	5	planar	planar	ADJ
fumecheng-99	56	6	(	(	PUNCT
fumecheng-99	56	7	2d	2d	NOUN
fumecheng-99	56	8	)	)	PUNCT
fumecheng-99	56	9	mechanism	mechanism	NOUN
fumecheng-99	56	10	with	with	ADP
fumecheng-99	56	11	an	an	DET
fumecheng-99	56	12	arm	arm	NOUN
fumecheng-99	56	13	for	for	ADP
fumecheng-99	56	14	carrying	carry	VERB
fumecheng-99	56	15	the	the	DET
fumecheng-99	56	16	bucket	bucket	NOUN
fumecheng-99	56	17	and	and	CCONJ
fumecheng-99	56	18	a	a	DET
fumecheng-99	56	19	mechanism	mechanism	NOUN
fumecheng-99	56	20	for	for	ADP
fumecheng-99	56	21	defining	define	VERB
fumecheng-99	56	22	the	the	DET
fumecheng-99	56	23	bucket	bucket	NOUN
fumecheng-99	56	24	position	position	NOUN
fumecheng-99	56	25	.	.	PUNCT
fumecheng-99	57	1	a	a	DET
fumecheng-99	57	2	mechanism	mechanism	NOUN
fumecheng-99	57	3	for	for	ADP
fumecheng-99	57	4	defining	define	VERB
fumecheng-99	57	5	the	the	DET
fumecheng-99	57	6	bucket	bucket	NOUN
fumecheng-99	57	7	position	position	NOUN
fumecheng-99	57	8	is	be	AUX
fumecheng-99	57	9	labeled	label	VERB
fumecheng-99	57	10	with	with	ADP
fumecheng-99	57	11	darker	dark	ADJ
fumecheng-99	57	12	shades	shade	NOUN
fumecheng-99	57	13	in	in	ADP
fumecheng-99	57	14	fig	fig	NOUN
fumecheng-99	57	15	.	.	PUNCT
fumecheng-99	58	1	1	1	X
fumecheng-99	58	2	.	.	X
fumecheng-99	58	3	the	the	DET
fumecheng-99	58	4	whole	whole	ADJ
fumecheng-99	58	5	mathematical	mathematical	ADJ
fumecheng-99	58	6	model	model	NOUN
fumecheng-99	58	7	uses	use	VERB
fumecheng-99	58	8	the	the	DET
fumecheng-99	58	9	global	global	ADJ
fumecheng-99	58	10	cartesian	cartesian	ADJ
fumecheng-99	58	11	x	x	PROPN
fumecheng-99	58	12	-	-	ADJ
fumecheng-99	58	13	y	y	ADJ
fumecheng-99	58	14	coordinate	coordinate	NOUN
fumecheng-99	58	15	system	system	NOUN
fumecheng-99	58	16	and	and	CCONJ
fumecheng-99	58	17	local	local	ADJ
fumecheng-99	58	18	coordinate	coordinate	NOUN
fumecheng-99	58	19	systems	system	NOUN
fumecheng-99	58	20	of	of	ADP
fumecheng-99	58	21	the	the	DET
fumecheng-99	58	22	parts	part	NOUN
fumecheng-99	58	23	of	of	ADP
fumecheng-99	58	24	the	the	DET
fumecheng-99	58	25	mechanism	mechanism	NOUN
fumecheng-99	58	26	shown	show	VERB
fumecheng-99	58	27	in	in	ADP
fumecheng-99	58	28	fig	fig	NOUN
fumecheng-99	58	29	.	.	PUNCT
fumecheng-99	59	1	2	2	X
fumecheng-99	59	2	.	.	X
fumecheng-99	59	3	fig	fig	NOUN
fumecheng-99	59	4	.	.	PUNCT
fumecheng-99	60	1	2	2	NUM
fumecheng-99	60	2	shows	show	VERB
fumecheng-99	60	3	four	four	NUM
fumecheng-99	60	4	parts	part	NOUN
fumecheng-99	60	5	of	of	ADP
fumecheng-99	60	6	the	the	DET
fumecheng-99	60	7	mechanism	mechanism	NOUN
fumecheng-99	60	8	.	.	PUNCT
fumecheng-99	61	1	the	the	DET
fumecheng-99	61	2	planar	planar	ADJ
fumecheng-99	61	3	form	form	NOUN
fumecheng-99	61	4	of	of	ADP
fumecheng-99	61	5	geometry	geometry	NOUN
fumecheng-99	61	6	of	of	ADP
fumecheng-99	61	7	these	these	DET
fumecheng-99	61	8	two	two	NUM
fumecheng-99	61	9	coupled	couple	VERB
fumecheng-99	61	10	mechanisms	mechanism	NOUN
fumecheng-99	61	11	with	with	ADP
fumecheng-99	61	12	the	the	DET
fumecheng-99	61	13	selected	select	VERB
fumecheng-99	61	14	marked	mark	VERB
fumecheng-99	61	15	positions	position	NOUN
fumecheng-99	61	16	of	of	ADP
fumecheng-99	61	17	parts	part	NOUN
fumecheng-99	61	18	is	be	AUX
fumecheng-99	61	19	given	give	VERB
fumecheng-99	61	20	in	in	ADP
fumecheng-99	61	21	fig	fig	NOUN
fumecheng-99	61	22	.	.	PUNCT
fumecheng-99	62	1	3	3	X
fumecheng-99	62	2	.	.	X
fumecheng-99	62	3	fig	fig	NOUN
fumecheng-99	62	4	.	.	PUNCT
fumecheng-99	63	1	2	2	NUM
fumecheng-99	63	2	parts	part	NOUN
fumecheng-99	63	3	of	of	ADP
fumecheng-99	63	4	mdbp	mdbp	NOUN
fumecheng-99	63	5	:	:	PUNCT
fumecheng-99	63	6	a	a	X
fumecheng-99	63	7	)	)	PUNCT
fumecheng-99	63	8	the	the	DET
fumecheng-99	63	9	arm	arm	NOUN
fumecheng-99	63	10	of	of	ADP
fumecheng-99	63	11	the	the	DET
fumecheng-99	63	12	manipulator	manipulator	NOUN
fumecheng-99	63	13	,	,	PUNCT
fumecheng-99	63	14	b	b	X
fumecheng-99	63	15	)	)	PUNCT
fumecheng-99	63	16	the	the	DET
fumecheng-99	63	17	two	two	NUM
fumecheng-99	63	18	-	-	PUNCT
fumecheng-99	63	19	arm	arm	NOUN
fumecheng-99	63	20	lever	lever	NOUN
fumecheng-99	63	21	,	,	PUNCT
fumecheng-99	63	22	c	c	X
fumecheng-99	63	23	)	)	PUNCT
fumecheng-99	63	24	the	the	DET
fumecheng-99	63	25	coupling	coupling	NOUN
fumecheng-99	63	26	rod	rod	NOUN
fumecheng-99	63	27	,	,	PUNCT
fumecheng-99	63	28	d	d	PROPN
fumecheng-99	63	29	)	)	PUNCT
fumecheng-99	63	30	the	the	DET
fumecheng-99	63	31	bucket	bucket	NOUN
fumecheng-99	63	32	64	64	NUM
fumecheng-99	63	33	j.	j.	PROPN
fumecheng-99	63	34	pavlović	pavlović	NOUN
fumecheng-99	63	35	,	,	PUNCT
fumecheng-99	63	36	m.	m.	NOUN
fumecheng-99	63	37	jovanović	jovanović	PROPN
fumecheng-99	63	38	,	,	PUNCT
fumecheng-99	63	39	a.	a.	NOUN
fumecheng-99	63	40	milojević	milojević	PROPN
fumecheng-99	63	41	let	let	VERB
fumecheng-99	63	42	us	we	PRON
fumecheng-99	63	43	define	define	VERB
fumecheng-99	63	44	the	the	DET
fumecheng-99	63	45	geometry	geometry	NOUN
fumecheng-99	63	46	of	of	ADP
fumecheng-99	63	47	the	the	DET
fumecheng-99	63	48	rigid	rigid	ADJ
fumecheng-99	63	49	mechanical	mechanical	ADJ
fumecheng-99	63	50	system	system	NOUN
fumecheng-99	63	51	in	in	ADP
fumecheng-99	63	52	fig	fig	NOUN
fumecheng-99	63	53	.	.	PUNCT
fumecheng-99	64	1	1	1	NUM
fumecheng-99	64	2	:	:	PUNCT
fumecheng-99	64	3	the	the	DET
fumecheng-99	64	4	coordinates	coordinate	NOUN
fumecheng-99	64	5	of	of	ADP
fumecheng-99	64	6	linkage	linkage	NOUN
fumecheng-99	64	7	o11	o11	NOUN
fumecheng-99	64	8	are	be	AUX
fumecheng-99	64	9	given	give	VERB
fumecheng-99	64	10	values	value	NOUN
fumecheng-99	64	11	x11	x11	PROPN
fumecheng-99	64	12	,	,	PUNCT
fumecheng-99	64	13	y11	y11	NOUN
fumecheng-99	64	14	of	of	ADP
fumecheng-99	64	15	some	some	DET
fumecheng-99	64	16	type	type	NOUN
fumecheng-99	64	17	of	of	ADP
fumecheng-99	64	18	a	a	DET
fumecheng-99	64	19	loader	loader	NOUN
fumecheng-99	64	20	.	.	PUNCT
fumecheng-99	65	1	the	the	DET
fumecheng-99	65	2	coordinates	coordinate	NOUN
fumecheng-99	65	3	of	of	ADP
fumecheng-99	65	4	linkage	linkage	NOUN
fumecheng-99	65	5	o12	o12	NOUN
fumecheng-99	65	6	at	at	ADP
fumecheng-99	65	7	the	the	DET
fumecheng-99	65	8	top	top	NOUN
fumecheng-99	65	9	of	of	ADP
fumecheng-99	65	10	the	the	DET
fumecheng-99	65	11	arm	arm	NOUN
fumecheng-99	65	12	are	be	AUX
fumecheng-99	65	13	computed	compute	VERB
fumecheng-99	65	14	as	as	ADP
fumecheng-99	65	15	:	:	PUNCT
fumecheng-99	65	16	12	12	NUM
fumecheng-99	65	17	11	11	NUM
fumecheng-99	65	18	2	2	NUM
fumecheng-99	65	19	3cos	3cos	PROPN
fumecheng-99	65	20	cos(90	cos(90	NOUN
fumecheng-99	65	21	)	)	PUNCT
fumecheng-99	66	1	x	x	X
fumecheng-99	66	2	x	x	PUNCT
fumecheng-99	66	3	a	a	DET
fumecheng-99	66	4	a	a	PROPN
fumecheng-99	66	5			PROPN
fumecheng-99	66	6			PROPN
fumecheng-99	66	7			PROPN
fumecheng-99	66	8			ADJ
fumecheng-99	66	9			ADJ
fumecheng-99	66	10			NOUN
fumecheng-99	66	11	(	(	PUNCT
fumecheng-99	66	12	1	1	NUM
fumecheng-99	66	13	)	)	PUNCT
fumecheng-99	66	14	12	12	NUM
fumecheng-99	66	15	11	11	NUM
fumecheng-99	66	16	2	2	NUM
fumecheng-99	66	17	3sin	3sin	NUM
fumecheng-99	66	18	cosy	cosy	PROPN
fumecheng-99	66	19	y	y	PROPN
fumecheng-99	66	20	a	a	PROPN
fumecheng-99	66	21	a	a	PROPN
fumecheng-99	66	22			PROPN
fumecheng-99	66	23			PUNCT
fumecheng-99	66	24			PROPN
fumecheng-99	66	25			NOUN
fumecheng-99	66	26	(	(	PUNCT
fumecheng-99	66	27	2	2	NUM
fumecheng-99	66	28	)	)	PUNCT
fumecheng-99	66	29	the	the	DET
fumecheng-99	66	30	coordinates	coordinate	NOUN
fumecheng-99	66	31	of	of	ADP
fumecheng-99	66	32	bearings	bearing	NOUN
fumecheng-99	66	33	of	of	ADP
fumecheng-99	66	34	the	the	DET
fumecheng-99	66	35	two	two	NUM
fumecheng-99	66	36	-	-	PUNCT
fumecheng-99	66	37	arm	arm	NOUN
fumecheng-99	66	38	lever	lever	NOUN
fumecheng-99	66	39	,	,	PUNCT
fumecheng-99	66	40	the	the	DET
fumecheng-99	66	41	position	position	NOUN
fumecheng-99	66	42	of	of	ADP
fumecheng-99	66	43	linkage	linkage	NOUN
fumecheng-99	66	44	o22	o22	NOUN
fumecheng-99	66	45	are	be	AUX
fumecheng-99	66	46	computed	compute	VERB
fumecheng-99	66	47	as	as	ADP
fumecheng-99	66	48	:	:	PUNCT
fumecheng-99	66	49	22	22	NUM
fumecheng-99	66	50	11	11	NUM
fumecheng-99	66	51	1	1	NUM
fumecheng-99	66	52	cosx	cosx	X
fumecheng-99	66	53	x	x	PUNCT
fumecheng-99	66	54	a	a	DET
fumecheng-99	66	55			NOUN
fumecheng-99	66	56			VERB
fumecheng-99	66	57			PROPN
fumecheng-99	66	58	(	(	PUNCT
fumecheng-99	66	59	3	3	NUM
fumecheng-99	66	60	)	)	PUNCT
fumecheng-99	66	61	22	22	NUM
fumecheng-99	66	62	11	11	NUM
fumecheng-99	66	63	1	1	NUM
fumecheng-99	66	64	siny	siny	NOUN
fumecheng-99	66	65	y	y	PROPN
fumecheng-99	66	66	a	a	DET
fumecheng-99	66	67			NOUN
fumecheng-99	66	68			VERB
fumecheng-99	66	69			PROPN
fumecheng-99	66	70	(	(	PUNCT
fumecheng-99	66	71	4	4	NUM
fumecheng-99	66	72	)	)	PUNCT
fumecheng-99	66	73	the	the	DET
fumecheng-99	66	74	coordinates	coordinate	NOUN
fumecheng-99	66	75	of	of	ADP
fumecheng-99	66	76	linkage	linkage	NOUN
fumecheng-99	66	77	o21	o21	NOUN
fumecheng-99	66	78	are	be	AUX
fumecheng-99	66	79	determined	determine	VERB
fumecheng-99	66	80	by	by	ADP
fumecheng-99	66	81	an	an	DET
fumecheng-99	66	82	intersection	intersection	NOUN
fumecheng-99	66	83	of	of	ADP
fumecheng-99	66	84	the	the	DET
fumecheng-99	66	85	two	two	NUM
fumecheng-99	66	86	circles	circle	NOUN
fumecheng-99	66	87	with	with	ADP
fumecheng-99	66	88	the	the	DET
fumecheng-99	66	89	center	center	NOUN
fumecheng-99	66	90	in	in	ADP
fumecheng-99	66	91	linkage	linkage	NOUN
fumecheng-99	66	92	o6	o6	NOUN
fumecheng-99	66	93	whose	whose	DET
fumecheng-99	66	94	radius	radius	NOUN
fumecheng-99	66	95	is	be	AUX
fumecheng-99	66	96	c6	c6	PROPN
fumecheng-99	66	97	–	–	PUNCT
fumecheng-99	66	98	the	the	DET
fumecheng-99	66	99	length	length	NOUN
fumecheng-99	66	100	of	of	ADP
fumecheng-99	66	101	the	the	DET
fumecheng-99	66	102	hydraulic	hydraulic	ADJ
fumecheng-99	66	103	actuator	actuator	NOUN
fumecheng-99	66	104	(	(	PUNCT
fumecheng-99	66	105	6	6	NUM
fumecheng-99	66	106	)	)	PUNCT
fumecheng-99	66	107	and	and	CCONJ
fumecheng-99	66	108	the	the	DET
fumecheng-99	66	109	circle	circle	NOUN
fumecheng-99	66	110	with	with	ADP
fumecheng-99	66	111	the	the	DET
fumecheng-99	66	112	center	center	NOUN
fumecheng-99	66	113	in	in	ADP
fumecheng-99	66	114	linkage	linkage	NOUN
fumecheng-99	66	115	o22	o22	NOUN
fumecheng-99	66	116	whose	whose	DET
fumecheng-99	66	117	radius	radius	NOUN
fumecheng-99	66	118	is	be	AUX
fumecheng-99	66	119	equal	equal	ADJ
fumecheng-99	66	120	to	to	ADP
fumecheng-99	66	121	the	the	DET
fumecheng-99	66	122	length	length	NOUN
fumecheng-99	66	123	of	of	ADP
fumecheng-99	66	124	the	the	DET
fumecheng-99	66	125	arm	arm	NOUN
fumecheng-99	66	126	l1	l1	PROPN
fumecheng-99	66	127	of	of	ADP
fumecheng-99	66	128	the	the	DET
fumecheng-99	66	129	lever	lever	NOUN
fumecheng-99	66	130	(	(	PUNCT
fumecheng-99	66	131	2	2	NUM
fumecheng-99	66	132	)	)	PUNCT
fumecheng-99	66	133	.	.	PUNCT
fumecheng-99	67	1	we	we	PRON
fumecheng-99	67	2	consider	consider	VERB
fumecheng-99	67	3	that	that	SCONJ
fumecheng-99	67	4	the	the	DET
fumecheng-99	67	5	length	length	NOUN
fumecheng-99	67	6	of	of	ADP
fumecheng-99	67	7	the	the	DET
fumecheng-99	67	8	hydraulic	hydraulic	ADJ
fumecheng-99	67	9	actuator	actuator	NOUN
fumecheng-99	67	10	(	(	PUNCT
fumecheng-99	67	11	6	6	NUM
fumecheng-99	67	12	)	)	PUNCT
fumecheng-99	67	13	is	be	AUX
fumecheng-99	67	14	constant	constant	ADJ
fumecheng-99	67	15	.	.	PUNCT
fumecheng-99	68	1	the	the	DET
fumecheng-99	68	2	coordinates	coordinate	NOUN
fumecheng-99	68	3	of	of	ADP
fumecheng-99	68	4	linkage	linkage	NOUN
fumecheng-99	68	5	o21	o21	NOUN
fumecheng-99	68	6	are	be	AUX
fumecheng-99	68	7	obtained	obtain	VERB
fumecheng-99	68	8	by	by	ADP
fumecheng-99	68	9	solving	solve	VERB
fumecheng-99	68	10	the	the	DET
fumecheng-99	68	11	equation	equation	NOUN
fumecheng-99	68	12	:	:	PUNCT
fumecheng-99	68	13	2	2	NUM
fumecheng-99	68	14	2	2	NUM
fumecheng-99	68	15	2	2	NUM
fumecheng-99	68	16	21	21	NUM
fumecheng-99	68	17	22	22	NUM
fumecheng-99	68	18	21	21	NUM
fumecheng-99	68	19	22	22	NUM
fumecheng-99	68	20	1	1	NUM
fumecheng-99	68	21	2	2	NUM
fumecheng-99	68	22	2	2	NUM
fumecheng-99	68	23	2	2	NUM
fumecheng-99	68	24	21	21	NUM
fumecheng-99	68	25	6	6	NUM
fumecheng-99	68	26	21	21	NUM
fumecheng-99	68	27	6	6	NUM
fumecheng-99	68	28	6	6	NUM
fumecheng-99	68	29	(	(	PUNCT
fumecheng-99	68	30	)	)	PUNCT
fumecheng-99	68	31	(	(	PUNCT
fumecheng-99	68	32	)	)	PUNCT
fumecheng-99	68	33	(	(	PUNCT
fumecheng-99	68	34	)	)	PUNCT
fumecheng-99	68	35	(	(	PUNCT
fumecheng-99	68	36	)	)	PUNCT
fumecheng-99	68	37	x	x	SYM
fumecheng-99	69	1	x	x	PUNCT
fumecheng-99	69	2	y	y	NOUN
fumecheng-99	69	3	y	y	NOUN
fumecheng-99	69	4	l	l	NOUN
fumecheng-99	69	5	x	x	PUNCT
fumecheng-99	69	6	x	x	PUNCT
fumecheng-99	69	7	y	y	VERB
fumecheng-99	69	8	y	y	PROPN
fumecheng-99	69	9	c	c	PROPN
fumecheng-99	69	10			PROPN
fumecheng-99	69	11			VERB
fumecheng-99	69	12			PROPN
fumecheng-99	69	13			PROPN
fumecheng-99	69	14			PROPN
fumecheng-99	69	15			VERB
fumecheng-99	69	16			PROPN
fumecheng-99	69	17			PROPN
fumecheng-99	69	18	(	(	PUNCT
fumecheng-99	69	19	5	5	NUM
fumecheng-99	69	20	)	)	PUNCT
fumecheng-99	69	21	fig	fig	NOUN
fumecheng-99	69	22	.	.	PUNCT
fumecheng-99	70	1	3	3	NUM
fumecheng-99	70	2	geometric	geometric	ADJ
fumecheng-99	70	3	model	model	NOUN
fumecheng-99	70	4	of	of	ADP
fumecheng-99	70	5	the	the	DET
fumecheng-99	70	6	manipulator	manipulator	NOUN
fumecheng-99	70	7	of	of	ADP
fumecheng-99	70	8	the	the	DET
fumecheng-99	70	9	loader	loader	NOUN
fumecheng-99	70	10	the	the	DET
fumecheng-99	70	11	distance	distance	NOUN
fumecheng-99	70	12	between	between	ADP
fumecheng-99	70	13	the	the	DET
fumecheng-99	70	14	centers	center	NOUN
fumecheng-99	70	15	of	of	ADP
fumecheng-99	70	16	the	the	DET
fumecheng-99	70	17	circles	circle	NOUN
fumecheng-99	70	18	is	be	AUX
fumecheng-99	70	19	computed	compute	VERB
fumecheng-99	70	20	as	as	ADP
fumecheng-99	70	21	:	:	SYM
fumecheng-99	70	22	2	2	NUM
fumecheng-99	70	23	2	2	NUM
fumecheng-99	70	24	6	6	NUM
fumecheng-99	70	25	22	22	NUM
fumecheng-99	70	26	6	6	NUM
fumecheng-99	70	27	22	22	NUM
fumecheng-99	70	28	(	(	PUNCT
fumecheng-99	70	29	)	)	PUNCT
fumecheng-99	70	30	(	(	PUNCT
fumecheng-99	70	31	)	)	PUNCT
fumecheng-99	70	32	d	d	X
fumecheng-99	70	33	x	x	PUNCT
fumecheng-99	70	34	x	x	SYM
fumecheng-99	70	35	y	y	PROPN
fumecheng-99	70	36	y	y	PROPN
fumecheng-99	70	37			PROPN
fumecheng-99	70	38			VERB
fumecheng-99	70	39			NOUN
fumecheng-99	70	40	(	(	PUNCT
fumecheng-99	70	41	6	6	NUM
fumecheng-99	70	42	)	)	PUNCT
fumecheng-99	70	43	optimal	optimal	ADJ
fumecheng-99	70	44	synthesis	synthesis	NOUN
fumecheng-99	70	45	of	of	ADP
fumecheng-99	70	46	manuplator	manuplator	NOUN
fumecheng-99	70	47	using	use	VERB
fumecheng-99	70	48	two	two	NUM
fumecheng-99	70	49	competitive	competitive	ADJ
fumecheng-99	70	50	methods	method	NOUN
fumecheng-99	70	51	65	65	NUM
fumecheng-99	70	52	value	value	NOUN
fumecheng-99	70	53	f	f	NOUN
fumecheng-99	70	54	and	and	CCONJ
fumecheng-99	70	55	the	the	DET
fumecheng-99	70	56	coordinates	coordinate	NOUN
fumecheng-99	70	57	of	of	ADP
fumecheng-99	70	58	linkage	linkage	NOUN
fumecheng-99	70	59	o21	o21	NOUN
fumecheng-99	70	60	are	be	AUX
fumecheng-99	70	61	computed	compute	VERB
fumecheng-99	70	62	as	as	ADP
fumecheng-99	70	63	:	:	SYM
fumecheng-99	70	64	1	1	NUM
fumecheng-99	70	65	6	6	NUM
fumecheng-99	70	66	1	1	NUM
fumecheng-99	70	67	6	6	NUM
fumecheng-99	70	68	1	1	NUM
fumecheng-99	70	69	6	6	NUM
fumecheng-99	70	70	1	1	NUM
fumecheng-99	70	71	6	6	NUM
fumecheng-99	70	72	1	1	NUM
fumecheng-99	70	73	(	(	PUNCT
fumecheng-99	70	74	)	)	PUNCT
fumecheng-99	70	75	(	(	PUNCT
fumecheng-99	70	76	)	)	PUNCT
fumecheng-99	70	77	(	(	PUNCT
fumecheng-99	70	78	)	)	PUNCT
fumecheng-99	70	79	(	(	PUNCT
fumecheng-99	70	80	)	)	PUNCT
fumecheng-99	70	81	4	4	NUM
fumecheng-99	70	82	f	f	NOUN
fumecheng-99	70	83	d	d	NOUN
fumecheng-99	70	84	l	l	NOUN
fumecheng-99	70	85	c	c	NOUN
fumecheng-99	71	1	d	d	X
fumecheng-99	71	2	l	l	NOUN
fumecheng-99	71	3	c	c	NOUN
fumecheng-99	72	1	d	d	X
fumecheng-99	72	2	l	l	NOUN
fumecheng-99	72	3	c	c	NOUN
fumecheng-99	72	4	l	l	NOUN
fumecheng-99	72	5	d	d	X
fumecheng-99	72	6	c	c	PROPN
fumecheng-99	72	7			ADV
fumecheng-99	72	8			PUNCT
fumecheng-99	72	9			PROPN
fumecheng-99	72	10			PUNCT
fumecheng-99	72	11			NOUN
fumecheng-99	72	12			PROPN
fumecheng-99	72	13			NOUN
fumecheng-99	72	14			VERB
fumecheng-99	72	15			PROPN
fumecheng-99	72	16			NOUN
fumecheng-99	72	17			X
fumecheng-99	72	18	(	(	PUNCT
fumecheng-99	72	19	7	7	NUM
fumecheng-99	72	20	)	)	SYM
fumecheng-99	72	21	2	2	NUM
fumecheng-99	72	22	2	2	NUM
fumecheng-99	72	23	22	22	NUM
fumecheng-99	72	24	6	6	NUM
fumecheng-99	72	25	6	6	NUM
fumecheng-99	72	26	22	22	NUM
fumecheng-99	72	27	1	1	NUM
fumecheng-99	72	28	6	6	NUM
fumecheng-99	72	29	22	22	NUM
fumecheng-99	72	30	6	6	NUM
fumecheng-99	72	31	21(1,2	21(1,2	NUM
fumecheng-99	72	32	)	)	PUNCT
fumecheng-99	72	33	2	2	NUM
fumecheng-99	72	34	2	2	NUM
fumecheng-99	72	35	(	(	PUNCT
fumecheng-99	72	36	)	)	PUNCT
fumecheng-99	72	37	(	(	PUNCT
fumecheng-99	72	38	)	)	PUNCT
fumecheng-99	72	39	2	2	NUM
fumecheng-99	72	40	2	2	NUM
fumecheng-99	72	41	2	2	NUM
fumecheng-99	72	42	x	x	SYM
fumecheng-99	72	43	x	x	PUNCT
fumecheng-99	72	44	x	x	PUNCT
fumecheng-99	72	45	x	x	PUNCT
fumecheng-99	72	46	l	l	NOUN
fumecheng-99	72	47	c	c	NOUN
fumecheng-99	72	48	y	y	NOUN
fumecheng-99	72	49	y	y	PROPN
fumecheng-99	72	50	x	x	PUNCT
fumecheng-99	72	51	f	f	PROPN
fumecheng-99	72	52	d	d	PROPN
fumecheng-99	72	53	d	d	X
fumecheng-99	72	54			X
fumecheng-99	72	55			PROPN
fumecheng-99	72	56			PROPN
fumecheng-99	72	57			PROPN
fumecheng-99	72	58			PROPN
fumecheng-99	72	59			PRON
fumecheng-99	72	60			ADV
fumecheng-99	72	61			PROPN
fumecheng-99	72	62			PROPN
fumecheng-99	72	63	(	(	PUNCT
fumecheng-99	72	64	8)	8)	NUM
fumecheng-99	72	65	2	2	NUM
fumecheng-99	72	66	2	2	NUM
fumecheng-99	72	67	22	22	NUM
fumecheng-99	72	68	6	6	NUM
fumecheng-99	72	69	6	6	NUM
fumecheng-99	72	70	22	22	NUM
fumecheng-99	72	71	1	1	NUM
fumecheng-99	72	72	6	6	NUM
fumecheng-99	72	73	22	22	NUM
fumecheng-99	72	74	6	6	NUM
fumecheng-99	72	75	21(1,2	21(1,2	NUM
fumecheng-99	72	76	)	)	PUNCT
fumecheng-99	72	77	2	2	NUM
fumecheng-99	72	78	2	2	NUM
fumecheng-99	72	79	(	(	PUNCT
fumecheng-99	72	80	)	)	PUNCT
fumecheng-99	72	81	(	(	PUNCT
fumecheng-99	72	82	)	)	PUNCT
fumecheng-99	72	83	2	2	NUM
fumecheng-99	72	84	2	2	NUM
fumecheng-99	72	85	2	2	NUM
fumecheng-99	72	86	y	y	NOUN
fumecheng-99	72	87	y	y	PROPN
fumecheng-99	72	88	y	y	PROPN
fumecheng-99	72	89	y	y	PROPN
fumecheng-99	72	90	l	l	NOUN
fumecheng-99	72	91	c	c	NOUN
fumecheng-99	72	92	x	x	PUNCT
fumecheng-99	72	93	x	x	PUNCT
fumecheng-99	72	94	y	y	NOUN
fumecheng-99	72	95	f	f	PROPN
fumecheng-99	72	96	d	d	PROPN
fumecheng-99	72	97	d	d	X
fumecheng-99	72	98			X
fumecheng-99	72	99			PROPN
fumecheng-99	72	100			PROPN
fumecheng-99	72	101			PROPN
fumecheng-99	72	102			PROPN
fumecheng-99	72	103			PRON
fumecheng-99	72	104			ADJ
fumecheng-99	72	105			PROPN
fumecheng-99	72	106	(	(	PUNCT
fumecheng-99	72	107	9	9	NUM
fumecheng-99	72	108	)	)	PUNCT
fumecheng-99	72	109	let	let	VERB
fumecheng-99	72	110	us	we	PRON
fumecheng-99	72	111	determine	determine	VERB
fumecheng-99	72	112	the	the	DET
fumecheng-99	72	113	coordinates	coordinate	NOUN
fumecheng-99	72	114	of	of	ADP
fumecheng-99	72	115	linkage	linkage	NOUN
fumecheng-99	72	116	o23	o23	NOUN
fumecheng-99	72	117	.	.	PUNCT
fumecheng-99	73	1	angle	angle	NOUN
fumecheng-99	73	2	η1	η1	NOUN
fumecheng-99	73	3	between	between	ADP
fumecheng-99	73	4	direction	direction	NOUN
fumecheng-99	73	5	r	r	NOUN
fumecheng-99	73	6	and	and	CCONJ
fumecheng-99	73	7	d	d	PROPN
fumecheng-99	73	8	of	of	ADP
fumecheng-99	73	9	the	the	DET
fumecheng-99	73	10	two	two	NUM
fumecheng-99	73	11	-	-	PUNCT
fumecheng-99	73	12	arm	arm	NOUN
fumecheng-99	73	13	lever	lever	NOUN
fumecheng-99	73	14	is	be	AUX
fumecheng-99	73	15	computed	compute	VERB
fumecheng-99	73	16	as	as	ADP
fumecheng-99	73	17	:	:	PUNCT
fumecheng-99	73	18	3	3	NUM
fumecheng-99	73	19	1	1	NUM
fumecheng-99	73	20	2	2	NUM
fumecheng-99	73	21	1	1	NUM
fumecheng-99	73	22	l	l	NOUN
fumecheng-99	73	23	arctg	arctg	NOUN
fumecheng-99	73	24	l	l	NOUN
fumecheng-99	73	25	l	l	NOUN
fumecheng-99	73	26			NUM
fumecheng-99	73	27			PROPN
fumecheng-99	73	28			NOUN
fumecheng-99	73	29	(	(	PUNCT
fumecheng-99	73	30	10	10	NUM
fumecheng-99	73	31	)	)	PUNCT
fumecheng-99	73	32	variable	variable	ADJ
fumecheng-99	73	33	angle	angle	NOUN
fumecheng-99	73	34	η	η	PROPN
fumecheng-99	73	35	(	(	PUNCT
fumecheng-99	73	36	between	between	ADP
fumecheng-99	73	37	the	the	DET
fumecheng-99	73	38	arm	arm	NOUN
fumecheng-99	73	39	and	and	CCONJ
fumecheng-99	73	40	the	the	DET
fumecheng-99	73	41	two	two	NUM
fumecheng-99	73	42	-	-	PUNCT
fumecheng-99	73	43	arm	arm	NOUN
fumecheng-99	73	44	lever	lever	NOUN
fumecheng-99	73	45	)	)	PUNCT
fumecheng-99	73	46	,	,	PUNCT
fumecheng-99	73	47	if	if	SCONJ
fumecheng-99	73	48	is	be	AUX
fumecheng-99	73	49	x22	x22	NUM
fumecheng-99	73	50			PROPN
fumecheng-99	73	51	x21	x21	PROPN
fumecheng-99	73	52	>	>	X
fumecheng-99	73	53	0	0	NUM
fumecheng-99	73	54	is	be	AUX
fumecheng-99	73	55	then	then	ADV
fumecheng-99	73	56	computed	compute	VERB
fumecheng-99	73	57	as	as	ADP
fumecheng-99	73	58	:	:	PUNCT
fumecheng-99	73	59	21	21	NUM
fumecheng-99	73	60	22	22	NUM
fumecheng-99	73	61	22	22	NUM
fumecheng-99	73	62	21	21	NUM
fumecheng-99	73	63	y	y	PROPN
fumecheng-99	73	64	y	y	PROPN
fumecheng-99	73	65	arctg	arctg	VERB
fumecheng-99	73	66	x	x	SYM
fumecheng-99	73	67	x	x	SYM
fumecheng-99	73	68			PUNCT
fumecheng-99	73	69			PROPN
fumecheng-99	73	70			NUM
fumecheng-99	73	71			NOUN
fumecheng-99	73	72	(	(	PUNCT
fumecheng-99	73	73	11	11	NUM
fumecheng-99	73	74	)	)	PUNCT
fumecheng-99	73	75	if	if	SCONJ
fumecheng-99	73	76	x22	x22	NOUN
fumecheng-99	73	77			VERB
fumecheng-99	73	78	x21	x21	NUM
fumecheng-99	73	79	=	=	SYM
fumecheng-99	73	80	0	0	PROPN
fumecheng-99	73	81	,	,	PUNCT
fumecheng-99	73	82	angle	angle	NOUN
fumecheng-99	73	83	η	η	PROPN
fumecheng-99	73	84	=	=	PROPN
fumecheng-99	73	85	90	90	NUM
fumecheng-99	73	86	°	°	NUM
fumecheng-99	73	87	,	,	PUNCT
fumecheng-99	73	88	and	and	CCONJ
fumecheng-99	73	89	if	if	SCONJ
fumecheng-99	73	90	x22	x22	NOUN
fumecheng-99	73	91			PROPN
fumecheng-99	73	92	x21<0	x21<0	PROPN
fumecheng-99	73	93	,	,	PUNCT
fumecheng-99	73	94	angle	angle	PROPN
fumecheng-99	73	95	η	η	PROPN
fumecheng-99	73	96	is	be	AUX
fumecheng-99	73	97	computed	compute	VERB
fumecheng-99	73	98	as	as	ADP
fumecheng-99	73	99	:	:	PUNCT
fumecheng-99	73	100	21	21	NUM
fumecheng-99	73	101	22	22	NUM
fumecheng-99	73	102	21	21	NUM
fumecheng-99	73	103	22	22	NUM
fumecheng-99	73	104	180	180	NUM
fumecheng-99	73	105	y	y	PROPN
fumecheng-99	73	106	y	y	PROPN
fumecheng-99	73	107	arctg	arctg	VERB
fumecheng-99	73	108	x	x	SYM
fumecheng-99	73	109	x	x	SYM
fumecheng-99	73	110			PUNCT
fumecheng-99	73	111			PROPN
fumecheng-99	73	112			NUM
fumecheng-99	73	113			PROPN
fumecheng-99	73	114			NOUN
fumecheng-99	73	115	(	(	PUNCT
fumecheng-99	73	116	12	12	NUM
fumecheng-99	73	117	)	)	PUNCT
fumecheng-99	73	118	length	length	NOUN
fumecheng-99	73	119	d	d	NOUN
fumecheng-99	73	120	of	of	ADP
fumecheng-99	73	121	the	the	DET
fumecheng-99	73	122	arm	arm	NOUN
fumecheng-99	73	123	of	of	ADP
fumecheng-99	73	124	the	the	DET
fumecheng-99	73	125	two	two	NUM
fumecheng-99	73	126	-	-	PUNCT
fumecheng-99	73	127	arm	arm	NOUN
fumecheng-99	73	128	lever	lever	NOUN
fumecheng-99	73	129	(	(	PUNCT
fumecheng-99	73	130	fig	fig	NOUN
fumecheng-99	73	131	.	.	PUNCT
fumecheng-99	74	1	2b	2b	NOUN
fumecheng-99	74	2	)	)	PUNCT
fumecheng-99	74	3	is	be	AUX
fumecheng-99	74	4	computed	compute	VERB
fumecheng-99	74	5	as	as	ADP
fumecheng-99	74	6	:	:	SYM
fumecheng-99	74	7	2	2	NUM
fumecheng-99	74	8	2	2	NUM
fumecheng-99	74	9	2	2	NUM
fumecheng-99	74	10	1	1	NUM
fumecheng-99	74	11	3	3	NUM
fumecheng-99	74	12	(	(	PUNCT
fumecheng-99	74	13	)	)	PUNCT
fumecheng-99	74	14	d	d	SYM
fumecheng-99	74	15	l	l	NOUN
fumecheng-99	74	16	l	l	NOUN
fumecheng-99	74	17	l	l	NOUN
fumecheng-99	74	18			VERB
fumecheng-99	74	19			NUM
fumecheng-99	74	20	(	(	PUNCT
fumecheng-99	74	21	13	13	NUM
fumecheng-99	74	22	)	)	PUNCT
fumecheng-99	74	23	coordinates	coordinate	NOUN
fumecheng-99	74	24	of	of	ADP
fumecheng-99	74	25	linkage	linkage	NOUN
fumecheng-99	74	26	o22	o22	NOUN
fumecheng-99	74	27	,	,	PUNCT
fumecheng-99	74	28	are	be	AUX
fumecheng-99	74	29	computed	compute	VERB
fumecheng-99	74	30	as	as	ADP
fumecheng-99	74	31	:	:	PUNCT
fumecheng-99	74	32	23	23	NUM
fumecheng-99	74	33	22	22	NUM
fumecheng-99	74	34	1	1	NUM
fumecheng-99	74	35	cos	cos	PROPN
fumecheng-99	74	36	(	(	PUNCT
fumecheng-99	74	37	)	)	PUNCT
fumecheng-99	75	1	x	x	SYM
fumecheng-99	75	2	x	x	SYM
fumecheng-99	75	3	d	d	ADP
fumecheng-99	75	4			NUM
fumecheng-99	75	5			NUM
fumecheng-99	75	6			PROPN
fumecheng-99	75	7			X
fumecheng-99	75	8	(	(	PUNCT
fumecheng-99	75	9	14	14	NUM
fumecheng-99	75	10	)	)	PUNCT
fumecheng-99	75	11	23	23	NUM
fumecheng-99	75	12	22	22	NUM
fumecheng-99	75	13	1	1	NUM
fumecheng-99	75	14	sin	sin	NOUN
fumecheng-99	75	15	(	(	PUNCT
fumecheng-99	75	16	)	)	PUNCT
fumecheng-99	75	17	y	y	PROPN
fumecheng-99	75	18	y	y	PROPN
fumecheng-99	75	19	d	d	PROPN
fumecheng-99	75	20			PUNCT
fumecheng-99	75	21			PUNCT
fumecheng-99	75	22			PROPN
fumecheng-99	75	23			X
fumecheng-99	75	24	(	(	PUNCT
fumecheng-99	75	25	15	15	NUM
fumecheng-99	75	26	)	)	PUNCT
fumecheng-99	75	27	the	the	DET
fumecheng-99	75	28	introduced	introduce	VERB
fumecheng-99	75	29	optimization	optimization	NOUN
fumecheng-99	75	30	parameters	parameter	NOUN
fumecheng-99	75	31	z1	z1	VERB
fumecheng-99	75	32	,	,	PUNCT
fumecheng-99	75	33	z2	z2	PROPN
fumecheng-99	75	34	,	,	PUNCT
fumecheng-99	75	35	z3	z3	PROPN
fumecheng-99	75	36	,	,	PUNCT
fumecheng-99	75	37	z4	z4	PROPN
fumecheng-99	75	38	correspond	correspond	VERB
fumecheng-99	75	39	to	to	ADP
fumecheng-99	75	40	the	the	DET
fumecheng-99	75	41	required	require	VERB
fumecheng-99	75	42	geometry	geometry	NOUN
fumecheng-99	75	43	of	of	ADP
fumecheng-99	75	44	the	the	DET
fumecheng-99	75	45	z	z	NOUN
fumecheng-99	75	46	mechanism	mechanism	NOUN
fumecheng-99	75	47	by	by	ADP
fumecheng-99	75	48	the	the	DET
fumecheng-99	75	49	following	follow	VERB
fumecheng-99	75	50	relations	relation	NOUN
fumecheng-99	75	51	:	:	PUNCT
fumecheng-99	75	52	1	1	NUM
fumecheng-99	75	53	6z	6z	NOUN
fumecheng-99	75	54	x	x	PUNCT
fumecheng-99	75	55	(	(	PUNCT
fumecheng-99	75	56	16	16	NUM
fumecheng-99	75	57	)	)	PUNCT
fumecheng-99	75	58	2	2	NUM
fumecheng-99	75	59	6z	6z	NOUN
fumecheng-99	75	60	y	y	NOUN
fumecheng-99	75	61	(	(	PUNCT
fumecheng-99	75	62	17	17	NUM
fumecheng-99	75	63	)	)	SYM
fumecheng-99	75	64	3	3	NUM
fumecheng-99	75	65	2	2	NUM
fumecheng-99	75	66	1z	1z	NUM
fumecheng-99	75	67	l	l	NOUN
fumecheng-99	75	68	l	l	NOUN
fumecheng-99	75	69			NOUN
fumecheng-99	75	70	(	(	PUNCT
fumecheng-99	75	71	18	18	NUM
fumecheng-99	75	72	)	)	PUNCT
fumecheng-99	75	73	4	4	NUM
fumecheng-99	75	74	3z	3z	NUM
fumecheng-99	75	75	l	l	NOUN
fumecheng-99	75	76	(	(	PUNCT
fumecheng-99	75	77	19	19	NUM
fumecheng-99	75	78	)	)	PUNCT
fumecheng-99	75	79	66	66	NUM
fumecheng-99	75	80	j.	j.	PROPN
fumecheng-99	75	81	pavlović	pavlović	NOUN
fumecheng-99	75	82	,	,	PUNCT
fumecheng-99	75	83	m.	m.	NOUN
fumecheng-99	75	84	jovanović	jovanović	PROPN
fumecheng-99	75	85	,	,	PUNCT
fumecheng-99	75	86	a.	a.	NOUN
fumecheng-99	75	87	milojević	milojević	NOUN
fumecheng-99	75	88	the	the	DET
fumecheng-99	75	89	coordinates	coordinate	NOUN
fumecheng-99	75	90	of	of	ADP
fumecheng-99	75	91	linkage	linkage	NOUN
fumecheng-99	75	92	o4	o4	PROPN
fumecheng-99	75	93	(	(	PUNCT
fumecheng-99	75	94	x4	x4	PROPN
fumecheng-99	75	95	,	,	PUNCT
fumecheng-99	75	96	y4	y4	NUM
fumecheng-99	75	97	)	)	PUNCT
fumecheng-99	75	98	are	be	AUX
fumecheng-99	75	99	determined	determine	VERB
fumecheng-99	75	100	using	use	VERB
fumecheng-99	75	101	the	the	DET
fumecheng-99	75	102	intersection	intersection	NOUN
fumecheng-99	75	103	of	of	ADP
fumecheng-99	75	104	the	the	DET
fumecheng-99	75	105	circle	circle	NOUN
fumecheng-99	75	106	with	with	ADP
fumecheng-99	75	107	the	the	DET
fumecheng-99	75	108	center	center	NOUN
fumecheng-99	75	109	of	of	ADP
fumecheng-99	75	110	linkage	linkage	NOUN
fumecheng-99	75	111	o23	o23	NOUN
fumecheng-99	75	112	whose1	whose1	NOUN
fumecheng-99	75	113	.	.	PUNCT
fumecheng-99	76	1	the	the	DET
fumecheng-99	76	2	solution	solution	NOUN
fumecheng-99	76	3	of	of	ADP
fumecheng-99	76	4	coordinates	coordinate	NOUN
fumecheng-99	76	5	x4	x4	PROPN
fumecheng-99	76	6	,	,	PUNCT
fumecheng-99	76	7	y4	y4	PROPN
fumecheng-99	76	8	is	be	AUX
fumecheng-99	76	9	obtained	obtain	VERB
fumecheng-99	76	10	from	from	ADP
fumecheng-99	76	11	the	the	DET
fumecheng-99	76	12	equation	equation	NOUN
fumecheng-99	76	13	:	:	PUNCT
fumecheng-99	76	14	radius	radius	NOUN
fumecheng-99	76	15	is	be	AUX
fumecheng-99	76	16	the	the	DET
fumecheng-99	76	17	length	length	NOUN
fumecheng-99	76	18	of	of	ADP
fumecheng-99	76	19	coupling	couple	VERB
fumecheng-99	76	20	rod	rod	NOUN
fumecheng-99	76	21	c1	c1	NOUN
fumecheng-99	76	22	and	and	CCONJ
fumecheng-99	76	23	the	the	DET
fumecheng-99	76	24	circle	circle	NOUN
fumecheng-99	76	25	with	with	ADP
fumecheng-99	76	26	the	the	DET
fumecheng-99	76	27	center	center	NOUN
fumecheng-99	76	28	of	of	ADP
fumecheng-99	76	29	linkage	linkage	NOUN
fumecheng-99	76	30	o12	o12	NOUN
fumecheng-99	76	31	whose	whose	DET
fumecheng-99	76	32	radius	radius	NOUN
fumecheng-99	76	33	is	be	AUX
fumecheng-99	76	34	length	length	NOUN
fumecheng-99	76	35	b	b	NOUN
fumecheng-99	76	36	:	:	SYM
fumecheng-99	76	37	2	2	NUM
fumecheng-99	76	38	2	2	NUM
fumecheng-99	76	39	2	2	NUM
fumecheng-99	76	40	4	4	NUM
fumecheng-99	76	41	23	23	NUM
fumecheng-99	76	42	4	4	NUM
fumecheng-99	76	43	23	23	NUM
fumecheng-99	76	44	1	1	NUM
fumecheng-99	76	45	2	2	NUM
fumecheng-99	76	46	2	2	NUM
fumecheng-99	76	47	2	2	NUM
fumecheng-99	76	48	4	4	NUM
fumecheng-99	76	49	12	12	NUM
fumecheng-99	76	50	4	4	NUM
fumecheng-99	76	51	12	12	NUM
fumecheng-99	76	52	1	1	NUM
fumecheng-99	76	53	(	(	PUNCT
fumecheng-99	76	54	)	)	PUNCT
fumecheng-99	76	55	(	(	PUNCT
fumecheng-99	76	56	)	)	PUNCT
fumecheng-99	76	57	(	(	PUNCT
fumecheng-99	76	58	)	)	PUNCT
fumecheng-99	76	59	(	(	PUNCT
fumecheng-99	76	60	)	)	PUNCT
fumecheng-99	76	61	x	x	SYM
fumecheng-99	77	1	x	x	PUNCT
fumecheng-99	77	2	y	y	VERB
fumecheng-99	77	3	y	y	NOUN
fumecheng-99	77	4	c	c	NOUN
fumecheng-99	77	5	x	x	PUNCT
fumecheng-99	77	6	x	x	PUNCT
fumecheng-99	77	7	y	y	PROPN
fumecheng-99	77	8	y	y	PROPN
fumecheng-99	77	9	b	b	PROPN
fumecheng-99	77	10			PROPN
fumecheng-99	77	11			VERB
fumecheng-99	77	12			PROPN
fumecheng-99	77	13			PROPN
fumecheng-99	77	14			PROPN
fumecheng-99	77	15			VERB
fumecheng-99	77	16			PROPN
fumecheng-99	77	17			PROPN
fumecheng-99	77	18	(	(	PUNCT
fumecheng-99	77	19	20	20	NUM
fumecheng-99	77	20	)	)	PUNCT
fumecheng-99	77	21	the	the	DET
fumecheng-99	77	22	distance	distance	NOUN
fumecheng-99	77	23	between	between	ADP
fumecheng-99	77	24	the	the	DET
fumecheng-99	77	25	centers	center	NOUN
fumecheng-99	77	26	of	of	ADP
fumecheng-99	77	27	the	the	DET
fumecheng-99	77	28	circles	circle	NOUN
fumecheng-99	77	29	and	and	CCONJ
fumecheng-99	77	30	value	value	NOUN
fumecheng-99	77	31	f1	f1	NOUN
fumecheng-99	77	32	are	be	AUX
fumecheng-99	77	33	computed	compute	VERB
fumecheng-99	77	34	as	as	ADP
fumecheng-99	77	35	:	:	SYM
fumecheng-99	77	36	2	2	NUM
fumecheng-99	77	37	2	2	NUM
fumecheng-99	77	38	1	1	NUM
fumecheng-99	77	39	12	12	NUM
fumecheng-99	77	40	23	23	NUM
fumecheng-99	77	41	23	23	NUM
fumecheng-99	77	42	12	12	NUM
fumecheng-99	77	43	(	(	PUNCT
fumecheng-99	77	44	)	)	PUNCT
fumecheng-99	77	45	(	(	PUNCT
fumecheng-99	77	46	)	)	PUNCT
fumecheng-99	77	47	d	d	X
fumecheng-99	77	48	x	x	PUNCT
fumecheng-99	77	49	x	x	SYM
fumecheng-99	77	50	y	y	PROPN
fumecheng-99	77	51	y	y	PROPN
fumecheng-99	77	52			PROPN
fumecheng-99	77	53			VERB
fumecheng-99	77	54			PROPN
fumecheng-99	77	55	(	(	PUNCT
fumecheng-99	77	56	21	21	NUM
fumecheng-99	77	57	)	)	SYM
fumecheng-99	77	58	1	1	NUM
fumecheng-99	77	59	1	1	NUM
fumecheng-99	77	60	1	1	NUM
fumecheng-99	77	61	1	1	NUM
fumecheng-99	77	62	1	1	NUM
fumecheng-99	77	63	1	1	NUM
fumecheng-99	77	64	1	1	NUM
fumecheng-99	77	65	1	1	NUM
fumecheng-99	77	66	1	1	NUM
fumecheng-99	77	67	1	1	NUM
fumecheng-99	77	68	1	1	NUM
fumecheng-99	77	69	1	1	NUM
fumecheng-99	77	70	1	1	NUM
fumecheng-99	77	71	(	(	PUNCT
fumecheng-99	77	72	)	)	PUNCT
fumecheng-99	77	73	(	(	PUNCT
fumecheng-99	77	74	)	)	PUNCT
fumecheng-99	77	75	(	(	PUNCT
fumecheng-99	77	76	)	)	PUNCT
fumecheng-99	77	77	(	(	PUNCT
fumecheng-99	77	78	)	)	PUNCT
fumecheng-99	77	79	4	4	NUM
fumecheng-99	77	80	f	f	NOUN
fumecheng-99	77	81	d	d	NOUN
fumecheng-99	77	82	c	c	PROPN
fumecheng-99	77	83	b	b	PROPN
fumecheng-99	77	84	d	d	NOUN
fumecheng-99	77	85	c	c	PROPN
fumecheng-99	77	86	b	b	PROPN
fumecheng-99	77	87	d	d	NOUN
fumecheng-99	77	88	c	c	PROPN
fumecheng-99	77	89	b	b	PROPN
fumecheng-99	77	90	c	c	PROPN
fumecheng-99	77	91	d	d	PROPN
fumecheng-99	77	92	b	b	PROPN
fumecheng-99	77	93			ADV
fumecheng-99	77	94			PUNCT
fumecheng-99	77	95			PROPN
fumecheng-99	77	96			PUNCT
fumecheng-99	77	97			NOUN
fumecheng-99	77	98			PROPN
fumecheng-99	77	99			NOUN
fumecheng-99	77	100			VERB
fumecheng-99	77	101			PROPN
fumecheng-99	77	102			NOUN
fumecheng-99	77	103			X
fumecheng-99	77	104	(	(	PUNCT
fumecheng-99	77	105	22	22	NUM
fumecheng-99	77	106	)	)	PUNCT
fumecheng-99	77	107	coordinates	coordinate	NOUN
fumecheng-99	77	108	of	of	ADP
fumecheng-99	77	109	linkage	linkage	NOUN
fumecheng-99	77	110	o4	o4	PROPN
fumecheng-99	77	111	:	:	PUNCT
fumecheng-99	77	112	2	2	NUM
fumecheng-99	77	113	2	2	NUM
fumecheng-99	77	114	12	12	NUM
fumecheng-99	77	115	23	23	NUM
fumecheng-99	77	116	12	12	NUM
fumecheng-99	77	117	23	23	NUM
fumecheng-99	77	118	1	1	NUM
fumecheng-99	77	119	1	1	NUM
fumecheng-99	77	120	23	23	NUM
fumecheng-99	77	121	12	12	NUM
fumecheng-99	77	122	4	4	NUM
fumecheng-99	77	123	1(1,2	1(1,2	NUM
fumecheng-99	77	124	)	)	PUNCT
fumecheng-99	77	125	2	2	NUM
fumecheng-99	77	126	2	2	NUM
fumecheng-99	77	127	1	1	NUM
fumecheng-99	77	128	1	1	NUM
fumecheng-99	77	129	(	(	PUNCT
fumecheng-99	77	130	)	)	PUNCT
fumecheng-99	77	131	(	(	PUNCT
fumecheng-99	77	132	)	)	PUNCT
fumecheng-99	77	133	2	2	NUM
fumecheng-99	77	134	2	2	NUM
fumecheng-99	77	135	2	2	NUM
fumecheng-99	77	136	x	x	NOUN
fumecheng-99	77	137	x	x	PUNCT
fumecheng-99	77	138	x	x	PUNCT
fumecheng-99	77	139	x	x	X
fumecheng-99	77	140	c	c	NOUN
fumecheng-99	77	141	b	b	PROPN
fumecheng-99	77	142	y	y	NOUN
fumecheng-99	77	143	y	y	PROPN
fumecheng-99	77	144	x	x	PUNCT
fumecheng-99	77	145	f	f	PROPN
fumecheng-99	77	146	d	d	PROPN
fumecheng-99	77	147	d	d	X
fumecheng-99	77	148			X
fumecheng-99	77	149			PROPN
fumecheng-99	77	150			PROPN
fumecheng-99	77	151			PROPN
fumecheng-99	77	152			PROPN
fumecheng-99	77	153			PRON
fumecheng-99	77	154			ADV
fumecheng-99	77	155			PROPN
fumecheng-99	77	156			PROPN
fumecheng-99	77	157	(	(	PUNCT
fumecheng-99	77	158	23	23	NUM
fumecheng-99	77	159	)	)	SYM
fumecheng-99	78	1	1	1	NUM
fumecheng-99	78	2	2	2	NUM
fumecheng-99	78	3	2	2	NUM
fumecheng-99	78	4	23	23	NUM
fumecheng-99	78	5	12	12	NUM
fumecheng-99	78	6	12	12	NUM
fumecheng-99	78	7	23	23	NUM
fumecheng-99	78	8	1	1	NUM
fumecheng-99	78	9	1	1	NUM
fumecheng-99	78	10	23	23	NUM
fumecheng-99	78	11	12	12	NUM
fumecheng-99	78	12	4	4	NUM
fumecheng-99	78	13	1(1,2	1(1,2	NUM
fumecheng-99	78	14	)	)	PUNCT
fumecheng-99	78	15	2	2	NUM
fumecheng-99	78	16	2	2	NUM
fumecheng-99	78	17	1	1	NUM
fumecheng-99	78	18	(	(	PUNCT
fumecheng-99	78	19	)	)	PUNCT
fumecheng-99	78	20	(	(	PUNCT
fumecheng-99	78	21	)	)	PUNCT
fumecheng-99	78	22	2	2	NUM
fumecheng-99	78	23	2	2	NUM
fumecheng-99	78	24	2	2	NUM
fumecheng-99	78	25	y	y	NOUN
fumecheng-99	78	26	y	y	NOUN
fumecheng-99	78	27	y	y	PROPN
fumecheng-99	78	28	y	y	PROPN
fumecheng-99	78	29	c	c	PROPN
fumecheng-99	78	30	b	b	X
fumecheng-99	78	31	x	x	PUNCT
fumecheng-99	78	32	x	x	VERB
fumecheng-99	78	33	y	y	NOUN
fumecheng-99	78	34	f	f	PROPN
fumecheng-99	78	35	d	d	PROPN
fumecheng-99	78	36	d	d	X
fumecheng-99	78	37			X
fumecheng-99	78	38			PROPN
fumecheng-99	78	39			PROPN
fumecheng-99	78	40			PROPN
fumecheng-99	78	41			PROPN
fumecheng-99	78	42			PRON
fumecheng-99	78	43			ADJ
fumecheng-99	78	44			PROPN
fumecheng-99	78	45	(	(	PUNCT
fumecheng-99	78	46	24	24	NUM
fumecheng-99	78	47	)	)	PUNCT
fumecheng-99	78	48	bucket	bucket	NOUN
fumecheng-99	78	49	tilt	tilt	NOUN
fumecheng-99	78	50	angle	angle	NOUN
fumecheng-99	78	51	for	for	ADP
fumecheng-99	78	52	the	the	DET
fumecheng-99	78	53	current	current	ADJ
fumecheng-99	78	54	value	value	NOUN
fumecheng-99	78	55	of	of	ADP
fumecheng-99	78	56	arm	arm	NOUN
fumecheng-99	78	57	slope	slope	NOUN
fumecheng-99	78	58	β	β	PROPN
fumecheng-99	78	59	is	be	AUX
fumecheng-99	78	60	computed	compute	VERB
fumecheng-99	78	61	as	as	ADP
fumecheng-99	78	62	:	:	PUNCT
fumecheng-99	78	63	4	4	NUM
fumecheng-99	78	64	12	12	NUM
fumecheng-99	78	65	4	4	NUM
fumecheng-99	78	66	12	12	NUM
fumecheng-99	78	67	(	(	PUNCT
fumecheng-99	78	68	)	)	PUNCT
fumecheng-99	78	69	y	y	PROPN
fumecheng-99	78	70	y	y	PROPN
fumecheng-99	78	71	arctg	arctg	VERB
fumecheng-99	78	72	x	x	X
fumecheng-99	78	73	x	x	SYM
fumecheng-99	78	74			NUM
fumecheng-99	78	75			PROPN
fumecheng-99	78	76			PROPN
fumecheng-99	78	77			PROPN
fumecheng-99	78	78			NOUN
fumecheng-99	78	79	(	(	PUNCT
fumecheng-99	78	80	25	25	NUM
fumecheng-99	78	81	)	)	PUNCT
fumecheng-99	78	82	the	the	DET
fumecheng-99	78	83	back	back	ADJ
fumecheng-99	78	84	angle	angle	NOUN
fumecheng-99	78	85	of	of	ADP
fumecheng-99	78	86	bucket	bucket	NOUN
fumecheng-99	78	87	γ	γ	NOUN
fumecheng-99	78	88	is	be	AUX
fumecheng-99	78	89	determined	determine	VERB
fumecheng-99	78	90	by	by	ADP
fumecheng-99	78	91	the	the	DET
fumecheng-99	78	92	position	position	NOUN
fumecheng-99	78	93	of	of	ADP
fumecheng-99	78	94	the	the	DET
fumecheng-99	78	95	angle	angle	NOUN
fumecheng-99	78	96	of	of	ADP
fumecheng-99	78	97	bucket	bucket	NOUN
fumecheng-99	78	98	α	α	NOUN
fumecheng-99	78	99	and	and	CCONJ
fumecheng-99	78	100	constant	constant	ADJ
fumecheng-99	78	101	α4	α4	NOUN
fumecheng-99	78	102	(	(	PUNCT
fumecheng-99	78	103	fig	fig	NOUN
fumecheng-99	78	104	.	.	PUNCT
fumecheng-99	79	1	2d	2d	NOUN
fumecheng-99	79	2	):	):	PUNCT
fumecheng-99	79	3	4	4	PROPN
fumecheng-99	79	4	(	(	PUNCT
fumecheng-99	79	5	26	26	NUM
fumecheng-99	79	6	)	)	PUNCT
fumecheng-99	79	7	the	the	DET
fumecheng-99	79	8	objective	objective	ADJ
fumecheng-99	79	9	function	function	NOUN
fumecheng-99	79	10	is	be	AUX
fumecheng-99	79	11	the	the	DET
fumecheng-99	79	12	minimum	minimum	ADJ
fumecheng-99	79	13	change	change	NOUN
fumecheng-99	79	14	in	in	ADP
fumecheng-99	79	15	the	the	DET
fumecheng-99	79	16	slope	slope	NOUN
fumecheng-99	79	17	of	of	ADP
fumecheng-99	79	18	the	the	DET
fumecheng-99	79	19	bucket	bucket	NOUN
fumecheng-99	79	20	while	while	SCONJ
fumecheng-99	79	21	the	the	DET
fumecheng-99	79	22	arm	arm	NOUN
fumecheng-99	79	23	of	of	ADP
fumecheng-99	79	24	the	the	DET
fumecheng-99	79	25	loader	loader	NOUN
fumecheng-99	79	26	is	be	AUX
fumecheng-99	79	27	lifting	lift	VERB
fumecheng-99	79	28	:	:	PUNCT
fumecheng-99	79	29	1	1	NUM
fumecheng-99	79	30	2	2	NUM
fumecheng-99	79	31	3	3	NUM
fumecheng-99	79	32	4	4	NUM
fumecheng-99	79	33	max	max	PROPN
fumecheng-99	79	34	min	min	PROPN
fumecheng-99	79	35	(	(	PUNCT
fumecheng-99	79	36	,	,	PUNCT
fumecheng-99	79	37	,	,	PUNCT
fumecheng-99	79	38	,	,	PUNCT
fumecheng-99	79	39	)	)	PUNCT
fumecheng-99	79	40	fc	fc	PROPN
fumecheng-99	80	1	z	z	PROPN
fumecheng-99	80	2	z	z	PROPN
fumecheng-99	81	1	z	z	NOUN
fumecheng-99	81	2	z	z	NOUN
fumecheng-99	81	3			X
fumecheng-99	81	4			X
fumecheng-99	81	5			NOUN
fumecheng-99	81	6	(	(	PUNCT
fumecheng-99	81	7	27	27	NUM
fumecheng-99	81	8	)	)	PUNCT
fumecheng-99	81	9	the	the	DET
fumecheng-99	81	10	constraint	constraint	NOUN
fumecheng-99	81	11	functions	function	NOUN
fumecheng-99	81	12	are	be	AUX
fumecheng-99	81	13	determined	determine	VERB
fumecheng-99	81	14	by	by	ADP
fumecheng-99	81	15	inequalities	inequality	NOUN
fumecheng-99	81	16	:	:	PUNCT
fumecheng-99	81	17	1	1	NUM
fumecheng-99	81	18	1	1	NUM
fumecheng-99	81	19	5	5	NUM
fumecheng-99	81	20	3	3	NUM
fumecheng-99	81	21	2	2	NUM
fumecheng-99	81	22	1	1	NUM
fumecheng-99	81	23	6	6	NUM
fumecheng-99	81	24	3	3	NUM
fumecheng-99	81	25	3	3	NUM
fumecheng-99	81	26	2	2	NUM
fumecheng-99	81	27	7	7	NUM
fumecheng-99	81	28	4	4	NUM
fumecheng-99	81	29	4	4	NUM
fumecheng-99	81	30	2	2	NUM
fumecheng-99	81	31	8	8	NUM
fumecheng-99	81	32	4	4	NUM
fumecheng-99	81	33	0	0	NUM
fumecheng-99	81	34	0	0	NUM
fumecheng-99	81	35	0	0	NUM
fumecheng-99	81	36	0	0	NUM
fumecheng-99	81	37	0	0	NUM
fumecheng-99	81	38	0	0	NUM
fumecheng-99	81	39	0	0	NUM
fumecheng-99	81	40	0	0	NUM
fumecheng-99	82	1	g	g	PROPN
fumecheng-99	82	2	z	z	PROPN
fumecheng-99	82	3	a	a	DET
fumecheng-99	82	4	g	g	PROPN
fumecheng-99	82	5	z	z	PROPN
fumecheng-99	82	6	e	e	NOUN
fumecheng-99	82	7	g	g	PROPN
fumecheng-99	82	8	z	z	PROPN
fumecheng-99	82	9	b	b	PROPN
fumecheng-99	82	10	g	g	PROPN
fumecheng-99	82	11	z	z	PROPN
fumecheng-99	82	12	f	f	PROPN
fumecheng-99	83	1	g	g	PROPN
fumecheng-99	83	2	z	z	PROPN
fumecheng-99	83	3	c	c	PROPN
fumecheng-99	83	4	g	g	PROPN
fumecheng-99	83	5	z	z	PROPN
fumecheng-99	83	6	u	u	NOUN
fumecheng-99	83	7	g	g	PROPN
fumecheng-99	83	8	z	z	PROPN
fumecheng-99	83	9	d	d	NOUN
fumecheng-99	83	10	g	g	PROPN
fumecheng-99	83	11	z	z	PROPN
fumecheng-99	83	12	h	h	NOUN
fumecheng-99	84	1			PROPN
fumecheng-99	84	2			PROPN
fumecheng-99	84	3			VERB
fumecheng-99	84	4			PROPN
fumecheng-99	84	5			PROPN
fumecheng-99	84	6			VERB
fumecheng-99	85	1			PROPN
fumecheng-99	85	2			PROPN
fumecheng-99	85	3			PROPN
fumecheng-99	86	1			PROPN
fumecheng-99	86	2			NOUN
fumecheng-99	86	3			PROPN
fumecheng-99	86	4			PROPN
fumecheng-99	87	1			PROPN
fumecheng-99	87	2			VERB
fumecheng-99	87	3			PROPN
fumecheng-99	87	4			PROPN
fumecheng-99	87	5			VERB
fumecheng-99	87	6			PROPN
fumecheng-99	87	7			PROPN
fumecheng-99	87	8			PROPN
fumecheng-99	87	9			PROPN
fumecheng-99	87	10			PROPN
fumecheng-99	87	11			PROPN
fumecheng-99	87	12	(	(	PUNCT
fumecheng-99	87	13	28	28	NUM
fumecheng-99	87	14	)	)	PUNCT
fumecheng-99	87	15	where	where	SCONJ
fumecheng-99	87	16	:	:	PUNCT
fumecheng-99	87	17	a	a	DET
fumecheng-99	87	18	,	,	PUNCT
fumecheng-99	87	19	b	b	NOUN
fumecheng-99	87	20	,	,	PUNCT
fumecheng-99	87	21	c	c	NOUN
fumecheng-99	87	22	,	,	PUNCT
fumecheng-99	87	23	d	d	NOUN
fumecheng-99	87	24	,	,	PUNCT
fumecheng-99	87	25	e	e	NOUN
fumecheng-99	87	26	,	,	PUNCT
fumecheng-99	87	27	f	f	PROPN
fumecheng-99	87	28	,	,	PUNCT
fumecheng-99	87	29	u	u	PROPN
fumecheng-99	87	30	,	,	PUNCT
fumecheng-99	87	31	h	h	PROPN
fumecheng-99	87	32	–	–	PUNCT
fumecheng-99	87	33	are	be	AUX
fumecheng-99	87	34	the	the	DET
fumecheng-99	87	35	constants	constant	NOUN
fumecheng-99	87	36	of	of	ADP
fumecheng-99	87	37	the	the	DET
fumecheng-99	87	38	search	search	NOUN
fumecheng-99	87	39	space	space	NOUN
fumecheng-99	87	40	.	.	PUNCT
fumecheng-99	88	1	optimal	optimal	ADJ
fumecheng-99	88	2	synthesis	synthesis	NOUN
fumecheng-99	88	3	of	of	ADP
fumecheng-99	88	4	manuplator	manuplator	NOUN
fumecheng-99	88	5	using	use	VERB
fumecheng-99	88	6	two	two	NUM
fumecheng-99	88	7	competitive	competitive	ADJ
fumecheng-99	88	8	methods	method	NOUN
fumecheng-99	88	9	67	67	NUM
fumecheng-99	88	10	4	4	NUM
fumecheng-99	88	11	.	.	PUNCT
fumecheng-99	88	12	algorithm	algorithm	NOUN
fumecheng-99	88	13	and	and	CCONJ
fumecheng-99	88	14	program	program	NOUN
fumecheng-99	88	15	fig	fig	NOUN
fumecheng-99	88	16	.	.	PUNCT
fumecheng-99	89	1	4	4	NUM
fumecheng-99	89	2	presents	present	VERB
fumecheng-99	89	3	the	the	DET
fumecheng-99	89	4	algorithm	algorithm	NOUN
fumecheng-99	89	5	of	of	ADP
fumecheng-99	89	6	global	global	PROPN
fumecheng-99	89	7	numerical	numerical	ADJ
fumecheng-99	89	8	procedures	procedure	NOUN
fumecheng-99	89	9	developed	develop	VERB
fumecheng-99	89	10	for	for	ADP
fumecheng-99	89	11	the	the	DET
fumecheng-99	89	12	solution	solution	NOUN
fumecheng-99	89	13	of	of	ADP
fumecheng-99	89	14	the	the	DET
fumecheng-99	89	15	optimal	optimal	ADJ
fumecheng-99	89	16	mechanism	mechanism	NOUN
fumecheng-99	89	17	synthesis	synthesis	NOUN
fumecheng-99	89	18	.	.	PUNCT
fumecheng-99	90	1	the	the	DET
fumecheng-99	90	2	algorithm	algorithm	NOUN
fumecheng-99	90	3	shows	show	VERB
fumecheng-99	90	4	that	that	SCONJ
fumecheng-99	90	5	the	the	DET
fumecheng-99	90	6	scanning	scanning	NOUN
fumecheng-99	90	7	method	method	NOUN
fumecheng-99	90	8	is	be	AUX
fumecheng-99	90	9	realized	realize	VERB
fumecheng-99	90	10	by	by	ADP
fumecheng-99	90	11	an	an	DET
fumecheng-99	90	12	increment	increment	NOUN
fumecheng-99	90	13	change	change	NOUN
fumecheng-99	90	14	of	of	ADP
fumecheng-99	90	15	the	the	DET
fumecheng-99	90	16	optimization	optimization	NOUN
fumecheng-99	90	17	parameters	parameter	NOUN
fumecheng-99	90	18	in	in	ADP
fumecheng-99	90	19	a	a	DET
fumecheng-99	90	20	permissible	permissible	ADJ
fumecheng-99	90	21	fourdimensional	fourdimensional	ADJ
fumecheng-99	90	22	hyperspace	hyperspace	NOUN
fumecheng-99	90	23	.	.	PUNCT
fumecheng-99	91	1	the	the	DET
fumecheng-99	91	2	permissible	permissible	ADJ
fumecheng-99	91	3	hyperspace	hyperspace	NOUN
fumecheng-99	91	4	is	be	AUX
fumecheng-99	91	5	empirically	empirically	ADV
fumecheng-99	91	6	determined	determine	VERB
fumecheng-99	91	7	.	.	PUNCT
fumecheng-99	92	1	the	the	DET
fumecheng-99	92	2	initial	initial	ADJ
fumecheng-99	92	3	setting	setting	NOUN
fumecheng-99	92	4	of	of	ADP
fumecheng-99	92	5	geometry	geometry	NOUN
fumecheng-99	92	6	of	of	ADP
fumecheng-99	92	7	both	both	DET
fumecheng-99	92	8	mechanisms	mechanism	NOUN
fumecheng-99	92	9	is	be	AUX
fumecheng-99	92	10	provided	provide	VERB
fumecheng-99	92	11	through	through	ADP
fumecheng-99	92	12	the	the	DET
fumecheng-99	92	13	files	file	NOUN
fumecheng-99	92	14	dat1	dat1	NOUN
fumecheng-99	92	15	-	-	PUNCT
fumecheng-99	92	16	dat6	dat6	PROPN
fumecheng-99	92	17	.	.	PUNCT
fumecheng-99	93	1	the	the	DET
fumecheng-99	93	2	solutions	solution	NOUN
fumecheng-99	93	3	of	of	ADP
fumecheng-99	93	4	objective	objective	ADJ
fumecheng-99	93	5	function	function	NOUN
fumecheng-99	93	6	fc	fc	INTJ
fumecheng-99	93	7	for	for	ADP
fumecheng-99	93	8	discrete	discrete	ADJ
fumecheng-99	93	9	values	value	NOUN
fumecheng-99	93	10	of	of	ADP
fumecheng-99	93	11	independent	independent	ADJ
fumecheng-99	93	12	parameters	parameter	NOUN
fumecheng-99	93	13	z1	z1	PROPN
fumecheng-99	93	14	÷	÷	PUNCT
fumecheng-99	93	15	z4	z4	PROPN
fumecheng-99	93	16	are	be	AUX
fumecheng-99	93	17	entered	enter	VERB
fumecheng-99	93	18	in	in	ADP
fumecheng-99	93	19	the	the	DET
fumecheng-99	93	20	file	file	NOUN
fumecheng-99	93	21	dat7	dat7	PROPN
fumecheng-99	93	22	.	.	PUNCT
fumecheng-99	94	1	by	by	ADP
fumecheng-99	94	2	comparing	compare	VERB
fumecheng-99	94	3	these	these	DET
fumecheng-99	94	4	solutions	solution	NOUN
fumecheng-99	94	5	,	,	PUNCT
fumecheng-99	94	6	the	the	DET
fumecheng-99	94	7	solution	solution	NOUN
fumecheng-99	94	8	that	that	PRON
fumecheng-99	94	9	is	be	AUX
fumecheng-99	94	10	characterized	characterize	VERB
fumecheng-99	94	11	by	by	ADP
fumecheng-99	94	12	the	the	DET
fumecheng-99	94	13	minimum	minimum	ADJ
fumecheng-99	94	14	value	value	NOUN
fumecheng-99	94	15	of	of	ADP
fumecheng-99	94	16	objective	objective	ADJ
fumecheng-99	94	17	function	function	NOUN
fumecheng-99	94	18	fc	fc	PROPN
fumecheng-99	94	19	is	be	AUX
fumecheng-99	94	20	chosen	choose	VERB
fumecheng-99	94	21	.	.	PUNCT
fumecheng-99	95	1	then	then	ADV
fumecheng-99	95	2	the	the	DET
fumecheng-99	95	3	obtained	obtain	VERB
fumecheng-99	95	4	solution	solution	NOUN
fumecheng-99	95	5	is	be	AUX
fumecheng-99	95	6	checked	check	VERB
fumecheng-99	95	7	from	from	ADP
fumecheng-99	95	8	the	the	DET
fumecheng-99	95	9	point	point	NOUN
fumecheng-99	95	10	of	of	ADP
fumecheng-99	95	11	numerical	numerical	ADJ
fumecheng-99	95	12	accuracy	accuracy	NOUN
fumecheng-99	95	13	,	,	PUNCT
fumecheng-99	95	14	satisfying	satisfy	VERB
fumecheng-99	95	15	the	the	DET
fumecheng-99	95	16	given	give	VERB
fumecheng-99	95	17	nominal	nominal	ADJ
fumecheng-99	95	18	characteristics	characteristic	NOUN
fumecheng-99	95	19	of	of	ADP
fumecheng-99	95	20	the	the	DET
fumecheng-99	95	21	reach	reach	NOUN
fumecheng-99	95	22	and	and	CCONJ
fumecheng-99	95	23	lift	lift	VERB
fumecheng-99	95	24	height	height	NOUN
fumecheng-99	95	25	.	.	PUNCT
fumecheng-99	96	1	after	after	ADP
fumecheng-99	96	2	that	that	PRON
fumecheng-99	96	3	,	,	PUNCT
fumecheng-99	96	4	the	the	DET
fumecheng-99	96	5	continuity	continuity	NOUN
fumecheng-99	96	6	of	of	ADP
fumecheng-99	96	7	coupling	coupling	NOUN
fumecheng-99	96	8	of	of	ADP
fumecheng-99	96	9	the	the	DET
fumecheng-99	96	10	parts	part	NOUN
fumecheng-99	96	11	of	of	ADP
fumecheng-99	96	12	mechanism	mechanism	NOUN
fumecheng-99	96	13	for	for	ADP
fumecheng-99	96	14	defining	define	VERB
fumecheng-99	96	15	the	the	DET
fumecheng-99	96	16	bucket	bucket	NOUN
fumecheng-99	96	17	position	position	NOUN
fumecheng-99	96	18	is	be	AUX
fumecheng-99	96	19	also	also	ADV
fumecheng-99	96	20	checked	check	VERB
fumecheng-99	96	21	.	.	PUNCT
fumecheng-99	97	1	the	the	DET
fumecheng-99	97	2	following	follow	VERB
fumecheng-99	97	3	numerical	numerical	PROPN
fumecheng-99	97	4	example	example	NOUN
fumecheng-99	97	5	illustrates	illustrate	VERB
fumecheng-99	97	6	the	the	DET
fumecheng-99	97	7	application	application	NOUN
fumecheng-99	97	8	of	of	ADP
fumecheng-99	97	9	this	this	DET
fumecheng-99	97	10	mathematical	mathematical	ADJ
fumecheng-99	97	11	model	model	NOUN
fumecheng-99	97	12	,	,	PUNCT
fumecheng-99	97	13	the	the	DET
fumecheng-99	97	14	efficiency	efficiency	NOUN
fumecheng-99	97	15	of	of	ADP
fumecheng-99	97	16	the	the	DET
fumecheng-99	97	17	algorithm	algorithm	NOUN
fumecheng-99	97	18	and	and	CCONJ
fumecheng-99	97	19	the	the	DET
fumecheng-99	97	20	practical	practical	ADJ
fumecheng-99	97	21	realization	realization	NOUN
fumecheng-99	97	22	of	of	ADP
fumecheng-99	97	23	optimal	optimal	ADJ
fumecheng-99	97	24	synthesis	synthesis	NOUN
fumecheng-99	97	25	.	.	PUNCT
fumecheng-99	98	1	fig	fig	NOUN
fumecheng-99	98	2	.	.	PUNCT
fumecheng-99	99	1	4	4	NUM
fumecheng-99	99	2	the	the	DET
fumecheng-99	99	3	algorithm	algorithm	NOUN
fumecheng-99	99	4	of	of	ADP
fumecheng-99	99	5	the	the	DET
fumecheng-99	99	6	program	program	NOUN
fumecheng-99	99	7	for	for	ADP
fumecheng-99	99	8	optimal	optimal	ADJ
fumecheng-99	99	9	numerical	numerical	ADJ
fumecheng-99	99	10	synthesis	synthesis	NOUN
fumecheng-99	99	11	of	of	ADP
fumecheng-99	99	12	mdbp	mdbp	NOUN
fumecheng-99	99	13	68	68	NUM
fumecheng-99	99	14	j.	j.	PROPN
fumecheng-99	99	15	pavlović	pavlović	NOUN
fumecheng-99	99	16	,	,	PUNCT
fumecheng-99	99	17	m.	m.	NOUN
fumecheng-99	99	18	jovanović	jovanović	PROPN
fumecheng-99	99	19	,	,	PUNCT
fumecheng-99	99	20	a.	a.	NOUN
fumecheng-99	99	21	milojević	milojević	NOUN
fumecheng-99	99	22	5	5	NUM
fumecheng-99	99	23	.	.	PUNCT
fumecheng-99	99	24	numerical	numerical	PROPN
fumecheng-99	99	25	example	example	NOUN
fumecheng-99	99	26	the	the	DET
fumecheng-99	99	27	aim	aim	NOUN
fumecheng-99	99	28	of	of	ADP
fumecheng-99	99	29	this	this	DET
fumecheng-99	99	30	study	study	NOUN
fumecheng-99	99	31	is	be	AUX
fumecheng-99	99	32	to	to	PART
fumecheng-99	99	33	search	search	VERB
fumecheng-99	99	34	for	for	ADP
fumecheng-99	99	35	the	the	DET
fumecheng-99	99	36	design	design	NOUN
fumecheng-99	99	37	of	of	ADP
fumecheng-99	99	38	the	the	DET
fumecheng-99	99	39	mechanism	mechanism	NOUN
fumecheng-99	99	40	for	for	ADP
fumecheng-99	99	41	defining	define	VERB
fumecheng-99	99	42	the	the	DET
fumecheng-99	99	43	bucket	bucket	NOUN
fumecheng-99	99	44	position	position	NOUN
fumecheng-99	99	45	which	which	PRON
fumecheng-99	99	46	minimizes	minimize	VERB
fumecheng-99	99	47	the	the	DET
fumecheng-99	99	48	angle	angle	NOUN
fumecheng-99	99	49	of	of	ADP
fumecheng-99	99	50	the	the	DET
fumecheng-99	99	51	bucket	bucket	NOUN
fumecheng-99	99	52	tilt	tilt	NOUN
fumecheng-99	99	53	during	during	ADP
fumecheng-99	99	54	the	the	DET
fumecheng-99	99	55	bucket	bucket	NOUN
fumecheng-99	99	56	lifting	lifting	NOUN
fumecheng-99	99	57	operation	operation	NOUN
fumecheng-99	99	58	.	.	PUNCT
fumecheng-99	100	1	the	the	DET
fumecheng-99	100	2	initial	initial	ADJ
fumecheng-99	100	3	solution	solution	NOUN
fumecheng-99	100	4	is	be	AUX
fumecheng-99	100	5	based	base	VERB
fumecheng-99	100	6	on	on	ADP
fumecheng-99	100	7	freely	freely	ADV
fumecheng-99	100	8	assumed	assume	VERB
fumecheng-99	100	9	geometry	geometry	NOUN
fumecheng-99	100	10	which	which	PRON
fumecheng-99	100	11	is	be	AUX
fumecheng-99	100	12	in	in	ADP
fumecheng-99	100	13	this	this	DET
fumecheng-99	100	14	case	case	NOUN
fumecheng-99	100	15	taken	take	VERB
fumecheng-99	100	16	from	from	ADP
fumecheng-99	100	17	photographs	photograph	NOUN
fumecheng-99	100	18	and	and	CCONJ
fumecheng-99	100	19	sketches	sketch	NOUN
fumecheng-99	100	20	[	[	X
fumecheng-99	100	21	11	11	NUM
fumecheng-99	100	22	]	]	X
fumecheng-99	100	23	(	(	PUNCT
fumecheng-99	100	24	komatsu	komatsu	PROPN
fumecheng-99	100	25	wa320	wa320	PROPN
fumecheng-99	100	26	)	)	PUNCT
fumecheng-99	100	27	.	.	PUNCT
fumecheng-99	101	1	four	four	NUM
fumecheng-99	101	2	parameters	parameter	NOUN
fumecheng-99	101	3	are	be	AUX
fumecheng-99	101	4	selected	select	VERB
fumecheng-99	101	5	to	to	PART
fumecheng-99	101	6	optimize	optimize	VERB
fumecheng-99	101	7	the	the	DET
fumecheng-99	101	8	synthesis	synthesis	NOUN
fumecheng-99	101	9	:	:	PUNCT
fumecheng-99	101	10	x	x	X
fumecheng-99	101	11	,	,	PUNCT
fumecheng-99	101	12	y	y	PROPN
fumecheng-99	101	13	coordinates	coordinate	NOUN
fumecheng-99	101	14	of	of	ADP
fumecheng-99	101	15	bearings	bearing	NOUN
fumecheng-99	101	16	of	of	ADP
fumecheng-99	101	17	the	the	DET
fumecheng-99	101	18	hydraulic	hydraulic	ADJ
fumecheng-99	101	19	mechanism	mechanism	NOUN
fumecheng-99	101	20	for	for	ADP
fumecheng-99	101	21	defining	define	VERB
fumecheng-99	101	22	the	the	DET
fumecheng-99	101	23	bucket	bucket	NOUN
fumecheng-99	101	24	position	position	NOUN
fumecheng-99	101	25	and	and	CCONJ
fumecheng-99	101	26	x	x	NOUN
fumecheng-99	101	27	,	,	PUNCT
fumecheng-99	101	28	y	y	PROPN
fumecheng-99	101	29	local	local	ADJ
fumecheng-99	101	30	coordinates	coordinate	NOUN
fumecheng-99	101	31	of	of	ADP
fumecheng-99	101	32	linkage	linkage	NOUN
fumecheng-99	101	33	o23	o23	NOUN
fumecheng-99	101	34	of	of	ADP
fumecheng-99	101	35	the	the	DET
fumecheng-99	101	36	two	two	NUM
fumecheng-99	101	37	-	-	PUNCT
fumecheng-99	101	38	arm	arm	NOUN
fumecheng-99	101	39	lever	lever	NOUN
fumecheng-99	101	40	.	.	PUNCT
fumecheng-99	102	1	the	the	DET
fumecheng-99	102	2	procedure	procedure	NOUN
fumecheng-99	102	3	for	for	ADP
fumecheng-99	102	4	the	the	DET
fumecheng-99	102	5	algorithm	algorithm	NOUN
fumecheng-99	102	6	program	program	NOUN
fumecheng-99	102	7	flow	flow	NOUN
fumecheng-99	102	8	is	be	AUX
fumecheng-99	102	9	fast	fast	ADJ
fumecheng-99	102	10	and	and	CCONJ
fumecheng-99	102	11	numerically	numerically	ADV
fumecheng-99	102	12	stable	stable	ADJ
fumecheng-99	102	13	.	.	PUNCT
fumecheng-99	103	1	the	the	DET
fumecheng-99	103	2	stability	stability	NOUN
fumecheng-99	103	3	is	be	AUX
fumecheng-99	103	4	based	base	VERB
fumecheng-99	103	5	on	on	ADP
fumecheng-99	103	6	the	the	DET
fumecheng-99	103	7	simplicity	simplicity	NOUN
fumecheng-99	103	8	of	of	ADP
fumecheng-99	103	9	analytical	analytical	ADJ
fumecheng-99	103	10	modeling	modeling	NOUN
fumecheng-99	103	11	geometry	geometry	NOUN
fumecheng-99	103	12	.	.	PUNCT
fumecheng-99	104	1	angle	angle	NOUN
fumecheng-99	104	2	β	β	PROPN
fumecheng-99	104	3	is	be	AUX
fumecheng-99	104	4	the	the	DET
fumecheng-99	104	5	slope	slope	NOUN
fumecheng-99	104	6	angle	angle	NOUN
fumecheng-99	104	7	of	of	ADP
fumecheng-99	104	8	the	the	DET
fumecheng-99	104	9	arm	arm	NOUN
fumecheng-99	104	10	in	in	ADP
fumecheng-99	104	11	relation	relation	NOUN
fumecheng-99	104	12	to	to	ADP
fumecheng-99	104	13	the	the	DET
fumecheng-99	104	14	horizontals	horizontal	NOUN
fumecheng-99	104	15	and	and	CCONJ
fumecheng-99	104	16	ranging	ranging	NOUN
fumecheng-99	104	17	,	,	PUNCT
fumecheng-99	104	18	in	in	ADP
fumecheng-99	104	19	this	this	DET
fumecheng-99	104	20	case	case	NOUN
fumecheng-99	104	21	,	,	PUNCT
fumecheng-99	104	22	from	from	ADP
fumecheng-99	104	23	-24	-24	ADP
fumecheng-99	104	24	o	o	NOUN
fumecheng-99	104	25	to	to	ADP
fumecheng-99	104	26	62	62	NUM
fumecheng-99	104	27	o	o	NOUN
fumecheng-99	104	28	.	.	PUNCT
fumecheng-99	105	1	parameters	parameter	NOUN
fumecheng-99	105	2	z1	z1	PROPN
fumecheng-99	105	3	,	,	PUNCT
fumecheng-99	105	4	z2	z2	PROPN
fumecheng-99	105	5	represent	represent	VERB
fumecheng-99	105	6	the	the	DET
fumecheng-99	105	7	search	search	NOUN
fumecheng-99	105	8	field	field	NOUN
fumecheng-99	105	9	of	of	ADP
fumecheng-99	105	10	bearings	bearing	NOUN
fumecheng-99	105	11	position	position	NOUN
fumecheng-99	105	12	o6	o6	NOUN
fumecheng-99	105	13	,	,	PUNCT
fumecheng-99	105	14	where	where	SCONJ
fumecheng-99	105	15	the	the	DET
fumecheng-99	105	16	geometry	geometry	NOUN
fumecheng-99	105	17	is	be	AUX
fumecheng-99	105	18	in	in	ADP
fumecheng-99	105	19	the	the	DET
fumecheng-99	105	20	following	follow	VERB
fumecheng-99	105	21	ranges	range	NOUN
fumecheng-99	105	22	:	:	PUNCT
fumecheng-99	105	23	in	in	ADP
fumecheng-99	105	24	the	the	DET
fumecheng-99	105	25	x	x	ADJ
fumecheng-99	105	26	-	-	ADJ
fumecheng-99	105	27	axis	axis	ADJ
fumecheng-99	105	28	direction	direction	NOUN
fumecheng-99	105	29	z1min=0.94	z1min=0.94	NOUN
fumecheng-99	105	30	m	m	PROPN
fumecheng-99	105	31	;	;	PUNCT
fumecheng-99	105	32	z1max=1.14	z1max=1.14	PROPN
fumecheng-99	105	33	m	m	PROPN
fumecheng-99	105	34	(	(	PUNCT
fumecheng-99	105	35	δz1=0,2	δz1=0,2	PROPN
fumecheng-99	105	36	m	m	NOUN
fumecheng-99	105	37	)	)	PUNCT
fumecheng-99	105	38	(	(	PUNCT
fumecheng-99	105	39	a=0.94	a=0.94	PROPN
fumecheng-99	105	40	m	m	PROPN
fumecheng-99	105	41	;	;	PUNCT
fumecheng-99	105	42	b=1.14	b=1.14	PROPN
fumecheng-99	105	43	m	m	PROPN
fumecheng-99	105	44	)	)	PUNCT
fumecheng-99	105	45	and	and	CCONJ
fumecheng-99	105	46	in	in	ADP
fumecheng-99	105	47	the	the	DET
fumecheng-99	105	48	y	y	ADJ
fumecheng-99	105	49	-	-	PUNCT
fumecheng-99	105	50	axis	axis	NOUN
fumecheng-99	105	51	direction	direction	NOUN
fumecheng-99	105	52	z2min=1.645	z2min=1.645	PROPN
fumecheng-99	105	53	m	m	PROPN
fumecheng-99	105	54	;	;	PUNCT
fumecheng-99	105	55	z2max=1.845	z2max=1.845	PROPN
fumecheng-99	105	56	m	m	PROPN
fumecheng-99	105	57	(	(	PUNCT
fumecheng-99	105	58	δz2=0.2	δz2=0.2	PROPN
fumecheng-99	105	59	m	m	PROPN
fumecheng-99	105	60	)	)	PUNCT
fumecheng-99	105	61	(	(	PUNCT
fumecheng-99	105	62	c=1.645	c=1.645	PROPN
fumecheng-99	105	63	m	m	PRON
fumecheng-99	105	64	;	;	PUNCT
fumecheng-99	105	65	d=1.845	d=1.845	NOUN
fumecheng-99	105	66	m	m	NOUN
fumecheng-99	105	67	)	)	PUNCT
fumecheng-99	105	68	.	.	PUNCT
fumecheng-99	106	1	the	the	DET
fumecheng-99	106	2	allowable	allowable	ADJ
fumecheng-99	106	3	field	field	NOUN
fumecheng-99	106	4	defined	define	VERB
fumecheng-99	106	5	by	by	ADP
fumecheng-99	106	6	constants	constant	NOUN
fumecheng-99	106	7	a	a	DET
fumecheng-99	106	8	,	,	PUNCT
fumecheng-99	106	9	b	b	NOUN
fumecheng-99	106	10	,	,	PUNCT
fumecheng-99	106	11	c	c	AUX
fumecheng-99	106	12	,	,	PUNCT
fumecheng-99	106	13	d	d	PROPN
fumecheng-99	106	14	is	be	AUX
fumecheng-99	106	15	chosen	choose	VERB
fumecheng-99	106	16	on	on	ADP
fumecheng-99	106	17	the	the	DET
fumecheng-99	106	18	basis	basis	NOUN
fumecheng-99	106	19	of	of	ADP
fumecheng-99	106	20	the	the	DET
fumecheng-99	106	21	available	available	ADJ
fumecheng-99	106	22	space	space	NOUN
fumecheng-99	106	23	on	on	ADP
fumecheng-99	106	24	the	the	DET
fumecheng-99	106	25	arm	arm	NOUN
fumecheng-99	106	26	.	.	PUNCT
fumecheng-99	107	1	by	by	ADP
fumecheng-99	107	2	choosing	choose	VERB
fumecheng-99	107	3	m	m	PROPN
fumecheng-99	107	4	=	=	NOUN
fumecheng-99	107	5	50	50	NUM
fumecheng-99	107	6	points	point	NOUN
fumecheng-99	107	7	of	of	ADP
fumecheng-99	107	8	change	change	NOUN
fumecheng-99	107	9	of	of	ADP
fumecheng-99	107	10	one	one	NUM
fumecheng-99	107	11	independent	independent	ADJ
fumecheng-99	107	12	parameter	parameter	NOUN
fumecheng-99	107	13	of	of	ADP
fumecheng-99	107	14	optimization	optimization	NOUN
fumecheng-99	107	15	,	,	PUNCT
fumecheng-99	107	16	the	the	DET
fumecheng-99	107	17	interval	interval	NOUN
fumecheng-99	107	18	of	of	ADP
fumecheng-99	107	19	indetermination	indetermination	NOUN
fumecheng-99	107	20	is	be	AUX
fumecheng-99	107	21	:	:	PUNCT
fumecheng-99	107	22	1	1	NUM
fumecheng-99	107	23	1,14	1,14	NUM
fumecheng-99	107	24	0,94	0,94	NUM
fumecheng-99	107	25	2	2	NUM
fumecheng-99	107	26	2	2	NUM
fumecheng-99	107	27	0,00816	0,00816	PROPN
fumecheng-99	108	1	[	[	X
fumecheng-99	108	2	m	m	X
fumecheng-99	108	3	]	]	X
fumecheng-99	108	4	1	1	NUM
fumecheng-99	108	5	50	50	NUM
fumecheng-99	108	6	1	1	NUM
fumecheng-99	108	7	b	b	PROPN
fumecheng-99	108	8	a	a	DET
fumecheng-99	108	9	h	h	NOUN
fumecheng-99	108	10	m	m	PROPN
fumecheng-99	108	11			PROPN
fumecheng-99	108	12			VERB
fumecheng-99	108	13			NUM
fumecheng-99	108	14			NUM
fumecheng-99	109	1			PROPN
fumecheng-99	109	2			PROPN
fumecheng-99	109	3			NOUN
fumecheng-99	109	4	(	(	PUNCT
fumecheng-99	109	5	29	29	NUM
fumecheng-99	109	6	)	)	PUNCT
fumecheng-99	109	7	parameters	parameter	NOUN
fumecheng-99	109	8	z3	z3	PROPN
fumecheng-99	109	9	,	,	PUNCT
fumecheng-99	109	10	z4	z4	PROPN
fumecheng-99	109	11	represent	represent	VERB
fumecheng-99	109	12	the	the	DET
fumecheng-99	109	13	search	search	NOUN
fumecheng-99	109	14	field	field	NOUN
fumecheng-99	109	15	of	of	ADP
fumecheng-99	109	16	the	the	DET
fumecheng-99	109	17	position	position	NOUN
fumecheng-99	109	18	of	of	ADP
fumecheng-99	109	19	linkage	linkage	NOUN
fumecheng-99	109	20	o23	o23	NOUN
fumecheng-99	109	21	in	in	ADP
fumecheng-99	109	22	the	the	DET
fumecheng-99	109	23	local	local	ADJ
fumecheng-99	109	24	coordinate	coordinate	NOUN
fumecheng-99	109	25	system	system	NOUN
fumecheng-99	109	26	of	of	ADP
fumecheng-99	109	27	the	the	DET
fumecheng-99	109	28	two	two	NUM
fumecheng-99	109	29	-	-	PUNCT
fumecheng-99	109	30	arm	arm	NOUN
fumecheng-99	109	31	lever	lever	NOUN
fumecheng-99	109	32	,	,	PUNCT
fumecheng-99	109	33	the	the	DET
fumecheng-99	109	34	size	size	NOUN
fumecheng-99	109	35	of	of	ADP
fumecheng-99	109	36	change	change	NOUN
fumecheng-99	109	37	is	be	AUX
fumecheng-99	109	38	in	in	ADP
fumecheng-99	109	39	the	the	DET
fumecheng-99	109	40	area	area	NOUN
fumecheng-99	109	41	:	:	PUNCT
fumecheng-99	109	42	z3min=1.4	z3min=1.4	NUM
fumecheng-99	109	43	m	m	PROPN
fumecheng-99	109	44	;	;	PUNCT
fumecheng-99	109	45	z3max=1.5	z3max=1.5	NUM
fumecheng-99	109	46	m	m	PROPN
fumecheng-99	109	47	(	(	PUNCT
fumecheng-99	109	48	δz3=0.1	δz3=0.1	NOUN
fumecheng-99	109	49	m	m	NOUN
fumecheng-99	109	50	)	)	PUNCT
fumecheng-99	109	51	,	,	PUNCT
fumecheng-99	109	52	(	(	PUNCT
fumecheng-99	109	53	e=1.4	e=1.4	NOUN
fumecheng-99	109	54	m	m	PROPN
fumecheng-99	109	55	;	;	PUNCT
fumecheng-99	109	56	f=1.5	f=1.5	PROPN
fumecheng-99	109	57	m	m	VERB
fumecheng-99	109	58	)	)	PUNCT
fumecheng-99	109	59	in	in	ADP
fumecheng-99	109	60	the	the	DET
fumecheng-99	109	61	x	x	ADJ
fumecheng-99	109	62	-	-	ADJ
fumecheng-99	109	63	axis	axis	ADJ
fumecheng-99	109	64	direction	direction	NOUN
fumecheng-99	109	65	,	,	PUNCT
fumecheng-99	109	66	and	and	CCONJ
fumecheng-99	109	67	z4min=0.175	z4min=0.175	PROPN
fumecheng-99	109	68	m	m	PROPN
fumecheng-99	109	69	;	;	PUNCT
fumecheng-99	109	70	z4max=0.275	z4max=0.275	PROPN
fumecheng-99	109	71	m	m	PROPN
fumecheng-99	109	72	(	(	PUNCT
fumecheng-99	109	73	δz4=0.1	δz4=0.1	NOUN
fumecheng-99	109	74	m	m	PROPN
fumecheng-99	109	75	)	)	PUNCT
fumecheng-99	109	76	,	,	PUNCT
fumecheng-99	109	77	(	(	PUNCT
fumecheng-99	109	78	u=0.175	u=0.175	X
fumecheng-99	109	79	m	m	PROPN
fumecheng-99	109	80	;	;	PUNCT
fumecheng-99	109	81	h=0.275	h=0.275	PROPN
fumecheng-99	109	82	m	m	PROPN
fumecheng-99	109	83	)	)	PUNCT
fumecheng-99	109	84	in	in	ADP
fumecheng-99	109	85	the	the	DET
fumecheng-99	109	86	y	y	ADJ
fumecheng-99	109	87	-	-	PUNCT
fumecheng-99	109	88	axis	axis	NOUN
fumecheng-99	109	89	direction	direction	NOUN
fumecheng-99	109	90	.	.	PUNCT
fumecheng-99	110	1	the	the	DET
fumecheng-99	110	2	field	field	NOUN
fumecheng-99	110	3	is	be	AUX
fumecheng-99	110	4	empirically	empirically	ADV
fumecheng-99	110	5	chosen	choose	VERB
fumecheng-99	110	6	.	.	PUNCT
fumecheng-99	111	1	initial	initial	ADJ
fumecheng-99	111	2	zeros	zero	NOUN
fumecheng-99	111	3	are	be	AUX
fumecheng-99	111	4	:	:	PUNCT
fumecheng-99	111	5	z1=1.04	z1=1.04	PROPN
fumecheng-99	111	6	m	m	PROPN
fumecheng-99	111	7	,	,	PUNCT
fumecheng-99	111	8	z2=1.745	z2=1.745	PROPN
fumecheng-99	111	9	m	m	PROPN
fumecheng-99	111	10	,	,	PUNCT
fumecheng-99	111	11	z3=1.45	z3=1.45	NOUN
fumecheng-99	111	12	m	m	PROPN
fumecheng-99	111	13	,	,	PUNCT
fumecheng-99	111	14	z4=0.225	z4=0.225	X
fumecheng-99	112	1	m.	m.	NOUN
fumecheng-99	113	1	these	these	DET
fumecheng-99	113	2	areas	area	NOUN
fumecheng-99	113	3	of	of	ADP
fumecheng-99	113	4	solutions	solution	NOUN
fumecheng-99	113	5	of	of	ADP
fumecheng-99	113	6	the	the	DET
fumecheng-99	113	7	optimization	optimization	NOUN
fumecheng-99	113	8	task	task	NOUN
fumecheng-99	113	9	determined	determine	VERB
fumecheng-99	113	10	the	the	DET
fumecheng-99	113	11	allowable	allowable	ADJ
fumecheng-99	113	12	space	space	NOUN
fumecheng-99	113	13	of	of	ADP
fumecheng-99	113	14	search	search	NOUN
fumecheng-99	113	15	-	-	PUNCT
fumecheng-99	113	16	scanning	scanning	NOUN
fumecheng-99	113	17	.	.	PUNCT
fumecheng-99	114	1	the	the	DET
fumecheng-99	114	2	dividing	dividing	NOUN
fumecheng-99	114	3	of	of	ADP
fumecheng-99	114	4	the	the	DET
fumecheng-99	114	5	permissible	permissible	ADJ
fumecheng-99	114	6	field	field	NOUN
fumecheng-99	114	7	of	of	ADP
fumecheng-99	114	8	parameters	parameter	NOUN
fumecheng-99	114	9	z3	z3	PROPN
fumecheng-99	114	10	and	and	CCONJ
fumecheng-99	114	11	z4	z4	PROPN
fumecheng-99	114	12	by	by	ADP
fumecheng-99	114	13	the	the	DET
fumecheng-99	114	14	n	n	NOUN
fumecheng-99	114	15	=	=	SYM
fumecheng-99	114	16	50	50	NUM
fumecheng-99	114	17	points	point	NOUN
fumecheng-99	114	18	is	be	AUX
fumecheng-99	114	19	selected	select	VERB
fumecheng-99	114	20	,	,	PUNCT
fumecheng-99	114	21	as	as	ADV
fumecheng-99	114	22	well	well	ADV
fumecheng-99	114	23	as	as	ADP
fumecheng-99	114	24	the	the	DET
fumecheng-99	114	25	dividing	dividing	NOUN
fumecheng-99	114	26	of	of	ADP
fumecheng-99	114	27	the	the	DET
fumecheng-99	114	28	permissible	permissible	ADJ
fumecheng-99	114	29	field	field	NOUN
fumecheng-99	114	30	of	of	ADP
fumecheng-99	114	31	parameters	parameter	NOUN
fumecheng-99	114	32	z1	z1	ADJ
fumecheng-99	114	33	and	and	CCONJ
fumecheng-99	114	34	z2	z2	NUM
fumecheng-99	114	35	by	by	ADP
fumecheng-99	114	36	m	m	PROPN
fumecheng-99	114	37	=	=	NOUN
fumecheng-99	114	38	50	50	NUM
fumecheng-99	114	39	points	point	NOUN
fumecheng-99	114	40	.	.	PUNCT
fumecheng-99	115	1	in	in	ADP
fumecheng-99	115	2	this	this	DET
fumecheng-99	115	3	way	way	NOUN
fumecheng-99	115	4	a	a	DET
fumecheng-99	115	5	number	number	NOUN
fumecheng-99	115	6	of	of	ADP
fumecheng-99	115	7	combinations	combination	NOUN
fumecheng-99	115	8	of	of	ADP
fumecheng-99	115	9	k	k	NOUN
fumecheng-99	115	10	=	=	NOUN
fumecheng-99	115	11	m	m	NOUN
fumecheng-99	115	12	2	2	NUM
fumecheng-99	115	13	•n	•n	NOUN
fumecheng-99	115	14	2	2	NUM
fumecheng-99	115	15	=	=	SYM
fumecheng-99	115	16	6250000	6250000	NUM
fumecheng-99	115	17	are	be	AUX
fumecheng-99	115	18	obtained	obtain	VERB
fumecheng-99	115	19	.	.	PUNCT
fumecheng-99	116	1	from	from	ADP
fumecheng-99	116	2	the	the	DET
fumecheng-99	116	3	file	file	NOUN
fumecheng-99	116	4	dat-8	dat-8	PRON
fumecheng-99	116	5	we	we	PRON
fumecheng-99	116	6	can	can	AUX
fumecheng-99	116	7	read	read	VERB
fumecheng-99	116	8	the	the	DET
fumecheng-99	116	9	optimal	optimal	ADJ
fumecheng-99	116	10	parameters	parameter	NOUN
fumecheng-99	116	11	of	of	ADP
fumecheng-99	116	12	the	the	DET
fumecheng-99	116	13	mechanism	mechanism	NOUN
fumecheng-99	116	14	for	for	ADP
fumecheng-99	116	15	defining	define	VERB
fumecheng-99	116	16	the	the	DET
fumecheng-99	116	17	bucket	bucket	NOUN
fumecheng-99	116	18	position	position	NOUN
fumecheng-99	116	19	.	.	PUNCT
fumecheng-99	117	1	based	base	VERB
fumecheng-99	117	2	on	on	ADP
fumecheng-99	117	3	these	these	DET
fumecheng-99	117	4	parameters	parameter	NOUN
fumecheng-99	117	5	,	,	PUNCT
fumecheng-99	117	6	it	it	PRON
fumecheng-99	117	7	is	be	AUX
fumecheng-99	117	8	possible	possible	ADJ
fumecheng-99	117	9	to	to	PART
fumecheng-99	117	10	draw	draw	VERB
fumecheng-99	117	11	curves	curve	NOUN
fumecheng-99	117	12	of	of	ADP
fumecheng-99	117	13	objective	objective	ADJ
fumecheng-99	117	14	function	function	NOUN
fumecheng-99	117	15	fc	fc	PROPN
fumecheng-99	117	16	,	,	PUNCT
fumecheng-99	117	17	depending	depend	VERB
fumecheng-99	117	18	on	on	ADP
fumecheng-99	117	19	the	the	DET
fumecheng-99	117	20	angle	angle	NOUN
fumecheng-99	117	21	of	of	ADP
fumecheng-99	117	22	the	the	DET
fumecheng-99	117	23	slope	slope	NOUN
fumecheng-99	117	24	of	of	ADP
fumecheng-99	117	25	the	the	DET
fumecheng-99	117	26	arm	arm	NOUN
fumecheng-99	117	27	β	β	NOUN
fumecheng-99	117	28	for	for	ADP
fumecheng-99	117	29	the	the	DET
fumecheng-99	117	30	optimal	optimal	ADJ
fumecheng-99	117	31	and	and	CCONJ
fumecheng-99	117	32	initial	initial	ADJ
fumecheng-99	117	33	solution	solution	NOUN
fumecheng-99	117	34	(	(	PUNCT
fumecheng-99	117	35	fig	fig	NOUN
fumecheng-99	117	36	.	.	PUNCT
fumecheng-99	117	37	5	5	NUM
fumecheng-99	117	38	)	)	PUNCT
fumecheng-99	117	39	.	.	PUNCT
fumecheng-99	118	1	starting	start	VERB
fumecheng-99	118	2	from	from	ADP
fumecheng-99	118	3	the	the	DET
fumecheng-99	118	4	fixed	fix	VERB
fumecheng-99	118	5	size	size	NOUN
fumecheng-99	118	6	of	of	ADP
fumecheng-99	118	7	the	the	DET
fumecheng-99	118	8	loader	loader	NOUN
fumecheng-99	118	9	mechanism	mechanism	NOUN
fumecheng-99	118	10	given	give	VERB
fumecheng-99	118	11	in	in	ADP
fumecheng-99	118	12	table	table	NOUN
fumecheng-99	118	13	1	1	NUM
fumecheng-99	118	14	,	,	PUNCT
fumecheng-99	118	15	the	the	DET
fumecheng-99	118	16	mdbp	mdbp	NOUN
fumecheng-99	118	17	optimal	optimal	ADJ
fumecheng-99	118	18	solutions	solution	NOUN
fumecheng-99	118	19	are	be	AUX
fumecheng-99	118	20	obtained	obtain	VERB
fumecheng-99	118	21	,	,	PUNCT
fumecheng-99	118	22	given	give	VERB
fumecheng-99	118	23	in	in	ADP
fumecheng-99	118	24	table	table	NOUN
fumecheng-99	118	25	2	2	NUM
fumecheng-99	118	26	.	.	PUNCT
fumecheng-99	119	1	the	the	DET
fumecheng-99	119	2	curves	curve	NOUN
fumecheng-99	119	3	of	of	ADP
fumecheng-99	119	4	the	the	DET
fumecheng-99	119	5	objective	objective	ADJ
fumecheng-99	119	6	function	function	NOUN
fumecheng-99	119	7	of	of	ADP
fumecheng-99	119	8	the	the	DET
fumecheng-99	119	9	required	require	VERB
fumecheng-99	119	10	mdbp	mdbp	NOUN
fumecheng-99	119	11	are	be	AUX
fumecheng-99	119	12	plotted	plot	VERB
fumecheng-99	119	13	for	for	ADP
fumecheng-99	119	14	the	the	DET
fumecheng-99	119	15	optimal	optimal	ADJ
fumecheng-99	119	16	solution	solution	NOUN
fumecheng-99	119	17	.	.	PUNCT
fumecheng-99	120	1	table	table	NOUN
fumecheng-99	120	2	1	1	NUM
fumecheng-99	120	3	initial	initial	ADJ
fumecheng-99	120	4	data	datum	NOUN
fumecheng-99	120	5	of	of	ADP
fumecheng-99	120	6	model	model	NOUN
fumecheng-99	120	7	a1	a1	PROPN
fumecheng-99	120	8	(	(	PUNCT
fumecheng-99	120	9	m	m	NOUN
fumecheng-99	120	10	)	)	PUNCT
fumecheng-99	120	11	a2(m	a2(m	PROPN
fumecheng-99	120	12	)	)	PUNCT
fumecheng-99	120	13	a3	a3	NOUN
fumecheng-99	120	14	(	(	PUNCT
fumecheng-99	120	15	m	m	NOUN
fumecheng-99	120	16	)	)	PUNCT
fumecheng-99	120	17	l1	l1	PROPN
fumecheng-99	120	18	(	(	PUNCT
fumecheng-99	120	19	m	m	NOUN
fumecheng-99	120	20	)	)	PUNCT
fumecheng-99	120	21	l2	l2	NOUN
fumecheng-99	120	22	(	(	PUNCT
fumecheng-99	120	23	m	m	NOUN
fumecheng-99	120	24	)	)	PUNCT
fumecheng-99	120	25	l3	l3	PROPN
fumecheng-99	120	26	(	(	PUNCT
fumecheng-99	120	27	m	m	NOUN
fumecheng-99	120	28	)	)	PUNCT
fumecheng-99	120	29	a1	a1	NOUN
fumecheng-99	120	30	(	(	PUNCT
fumecheng-99	120	31	m	m	NOUN
fumecheng-99	120	32	)	)	PUNCT
fumecheng-99	120	33	b1	b1	NOUN
fumecheng-99	120	34	(	(	PUNCT
fumecheng-99	120	35	m	m	NOUN
fumecheng-99	120	36	)	)	PUNCT
fumecheng-99	120	37	1.800	1.800	NUM
fumecheng-99	120	38	2.550	2.550	NUM
fumecheng-99	120	39	0.865	0.865	NUM
fumecheng-99	120	40	0.720	0.720	NUM
fumecheng-99	120	41	1.450	1.450	NUM
fumecheng-99	120	42	0.225	0.225	NUM
fumecheng-99	120	43	0.765	0.765	NUM
fumecheng-99	120	44	0.370	0.370	NUM
fumecheng-99	120	45	table	table	NOUN
fumecheng-99	120	46	2	2	NUM
fumecheng-99	120	47	values	value	NOUN
fumecheng-99	120	48	of	of	ADP
fumecheng-99	120	49	the	the	DET
fumecheng-99	120	50	obtained	obtain	VERB
fumecheng-99	120	51	optimal	optimal	ADJ
fumecheng-99	120	52	solution	solution	NOUN
fumecheng-99	120	53	optimal	optimal	ADJ
fumecheng-99	120	54	parameters	parameter	NOUN
fumecheng-99	120	55	objective	objective	ADJ
fumecheng-99	120	56	function	function	NOUN
fumecheng-99	120	57	z1	z1	PROPN
fumecheng-99	120	58	(	(	PUNCT
fumecheng-99	120	59	m	m	NOUN
fumecheng-99	120	60	)	)	PUNCT
fumecheng-99	121	1	z2(m	z2(m	X
fumecheng-99	121	2	)	)	PUNCT
fumecheng-99	121	3	z3(m	z3(m	PROPN
fumecheng-99	121	4	)	)	PUNCT
fumecheng-99	121	5	z4(m	z4(m	NUM
fumecheng-99	121	6	)	)	PUNCT
fumecheng-99	121	7	fc	fc	PROPN
fumecheng-99	121	8	(	(	PUNCT
fumecheng-99	121	9	˚	˚	PROPN
fumecheng-99	121	10	)	)	PUNCT
fumecheng-99	121	11	initial	initial	ADJ
fumecheng-99	121	12	zeros	zero	NOUN
fumecheng-99	121	13	1.04	1.04	NUM
fumecheng-99	121	14	1.745	1.745	NUM
fumecheng-99	121	15	1.45	1.45	NUM
fumecheng-99	121	16	0.225	0.225	NUM
fumecheng-99	121	17	7.364	7.364	NUM
fumecheng-99	121	18	optimal	optimal	ADJ
fumecheng-99	121	19	values	value	NOUN
fumecheng-99	121	20	0.973	0.973	NUM
fumecheng-99	121	21	1.678	1.678	NUM
fumecheng-99	121	22	1.400	1.400	NUM
fumecheng-99	121	23	0.175	0.175	NUM
fumecheng-99	121	24	1.707	1.707	NUM
fumecheng-99	121	25	optimal	optimal	ADJ
fumecheng-99	121	26	synthesis	synthesis	NOUN
fumecheng-99	121	27	of	of	ADP
fumecheng-99	121	28	manuplator	manuplator	NOUN
fumecheng-99	121	29	using	use	VERB
fumecheng-99	121	30	two	two	NUM
fumecheng-99	121	31	competitive	competitive	ADJ
fumecheng-99	121	32	methods	method	NOUN
fumecheng-99	121	33	69	69	NUM
fumecheng-99	121	34	fig	fig	NOUN
fumecheng-99	121	35	.	.	PUNCT
fumecheng-99	122	1	5	5	NUM
fumecheng-99	122	2	curve	curve	NOUN
fumecheng-99	122	3	of	of	ADP
fumecheng-99	122	4	initial	initial	ADJ
fumecheng-99	122	5	fc0	fc0	NOUN
fumecheng-99	122	6	and	and	CCONJ
fumecheng-99	122	7	curve	curve	NOUN
fumecheng-99	122	8	of	of	ADP
fumecheng-99	122	9	optimal	optimal	ADJ
fumecheng-99	122	10	solution	solution	NOUN
fumecheng-99	122	11	fc1	fc1	PROPN
fumecheng-99	122	12	the	the	DET
fumecheng-99	122	13	verification	verification	NOUN
fumecheng-99	122	14	is	be	AUX
fumecheng-99	122	15	performed	perform	VERB
fumecheng-99	122	16	by	by	ADP
fumecheng-99	122	17	simulation	simulation	NOUN
fumecheng-99	122	18	of	of	ADP
fumecheng-99	122	19	the	the	DET
fumecheng-99	122	20	working	work	VERB
fumecheng-99	122	21	mode	mode	NOUN
fumecheng-99	122	22	(	(	PUNCT
fumecheng-99	122	23	meshing	meshing	NOUN
fumecheng-99	122	24	)	)	PUNCT
fumecheng-99	122	25	of	of	ADP
fumecheng-99	122	26	the	the	DET
fumecheng-99	122	27	mechanism	mechanism	NOUN
fumecheng-99	122	28	,	,	PUNCT
fumecheng-99	122	29	in	in	ADP
fumecheng-99	122	30	the	the	DET
fumecheng-99	122	31	solidworks	solidworks	PROPN
fumecheng-99	122	32	software	software	NOUN
fumecheng-99	122	33	,	,	PUNCT
fumecheng-99	122	34	by	by	ADP
fumecheng-99	122	35	using	use	VERB
fumecheng-99	122	36	the	the	DET
fumecheng-99	122	37	option	option	NOUN
fumecheng-99	122	38	blocks	block	NOUN
fumecheng-99	122	39	which	which	PRON
fumecheng-99	122	40	is	be	AUX
fumecheng-99	122	41	suitable	suitable	ADJ
fumecheng-99	122	42	for	for	ADP
fumecheng-99	122	43	the	the	DET
fumecheng-99	122	44	simulation	simulation	NOUN
fumecheng-99	122	45	of	of	ADP
fumecheng-99	122	46	planar	planar	ADJ
fumecheng-99	122	47	mechanisms	mechanism	NOUN
fumecheng-99	122	48	.	.	PUNCT
fumecheng-99	123	1	this	this	PRON
fumecheng-99	123	2	achieved	achieve	VERB
fumecheng-99	123	3	the	the	DET
fumecheng-99	123	4	verification	verification	NOUN
fumecheng-99	123	5	of	of	ADP
fumecheng-99	123	6	the	the	DET
fumecheng-99	123	7	behavior	behavior	NOUN
fumecheng-99	123	8	of	of	ADP
fumecheng-99	123	9	the	the	DET
fumecheng-99	123	10	mechanism	mechanism	NOUN
fumecheng-99	123	11	in	in	ADP
fumecheng-99	123	12	successive	successive	ADJ
fumecheng-99	123	13	positions	position	NOUN
fumecheng-99	123	14	,	,	PUNCT
fumecheng-99	123	15	fig	fig	NOUN
fumecheng-99	123	16	.	.	PUNCT
fumecheng-99	124	1	6	6	NUM
fumecheng-99	124	2	.	.	X
fumecheng-99	124	3	it	it	PRON
fumecheng-99	124	4	provides	provide	VERB
fumecheng-99	124	5	a	a	DET
fumecheng-99	124	6	functional	functional	ADJ
fumecheng-99	124	7	control	control	NOUN
fumecheng-99	124	8	study	study	NOUN
fumecheng-99	124	9	of	of	ADP
fumecheng-99	124	10	the	the	DET
fumecheng-99	124	11	mechanism	mechanism	NOUN
fumecheng-99	124	12	and	and	CCONJ
fumecheng-99	124	13	eliminates	eliminate	VERB
fumecheng-99	124	14	errors	error	NOUN
fumecheng-99	124	15	.	.	PUNCT
fumecheng-99	125	1	fig	fig	NOUN
fumecheng-99	125	2	.	.	PUNCT
fumecheng-99	126	1	6	6	NUM
fumecheng-99	126	2	simulation	simulation	NOUN
fumecheng-99	126	3	of	of	ADP
fumecheng-99	126	4	the	the	DET
fumecheng-99	126	5	obtained	obtain	VERB
fumecheng-99	126	6	optimal	optimal	ADJ
fumecheng-99	126	7	solution	solution	NOUN
fumecheng-99	126	8	6	6	NUM
fumecheng-99	126	9	.	.	PUNCT
fumecheng-99	127	1	minimization	minimization	NOUN
fumecheng-99	127	2	using	use	VERB
fumecheng-99	127	3	sqp	sqp	PROPN
fumecheng-99	127	4	method	method	NOUN
fumecheng-99	127	5	in	in	ADP
fumecheng-99	127	6	order	order	NOUN
fumecheng-99	127	7	to	to	PART
fumecheng-99	127	8	assess	assess	VERB
fumecheng-99	127	9	the	the	DET
fumecheng-99	127	10	benefits	benefit	NOUN
fumecheng-99	127	11	from	from	ADP
fumecheng-99	127	12	the	the	DET
fumecheng-99	127	13	chosen	choose	VERB
fumecheng-99	127	14	method	method	NOUN
fumecheng-99	127	15	of	of	ADP
fumecheng-99	127	16	minimizing	minimize	VERB
fumecheng-99	127	17	the	the	DET
fumecheng-99	127	18	objective	objective	ADJ
fumecheng-99	127	19	function	function	NOUN
fumecheng-99	127	20	,	,	PUNCT
fumecheng-99	127	21	the	the	DET
fumecheng-99	127	22	method	method	NOUN
fumecheng-99	127	23	of	of	ADP
fumecheng-99	127	24	the	the	DET
fumecheng-99	127	25	sequential	sequential	ADJ
fumecheng-99	127	26	quadratic	quadratic	ADJ
fumecheng-99	127	27	programming	programming	NOUN
fumecheng-99	127	28	(	(	PUNCT
fumecheng-99	127	29	sqp	sqp	PROPN
fumecheng-99	127	30	)	)	PUNCT
fumecheng-99	127	31	is	be	AUX
fumecheng-99	127	32	used	use	VERB
fumecheng-99	127	33	.	.	PUNCT
fumecheng-99	128	1	minimization	minimization	NOUN
fumecheng-99	128	2	is	be	AUX
fumecheng-99	128	3	performed	perform	VERB
fumecheng-99	128	4	by	by	ADP
fumecheng-99	128	5	programming	program	VERB
fumecheng-99	128	6	the	the	DET
fumecheng-99	128	7	objective	objective	ADJ
fumecheng-99	128	8	function	function	NOUN
fumecheng-99	128	9	and	and	CCONJ
fumecheng-99	128	10	constraint	constraint	NOUN
fumecheng-99	128	11	function	function	NOUN
fumecheng-99	128	12	in	in	ADP
fumecheng-99	128	13	matlab	matlab	PROPN
fumecheng-99	128	14	by	by	ADP
fumecheng-99	128	15	using	use	VERB
fumecheng-99	128	16	the	the	DET
fumecheng-99	128	17	program	program	NOUN
fumecheng-99	128	18	function	function	NOUN
fumecheng-99	128	19	(	(	PUNCT
fumecheng-99	128	20	command	command	NOUN
fumecheng-99	128	21	)	)	PUNCT
fumecheng-99	128	22	fminimax	fminimax	ADJ
fumecheng-99	128	23	as	as	ADP
fumecheng-99	128	24	part	part	NOUN
fumecheng-99	128	25	of	of	ADP
fumecheng-99	128	26	the	the	DET
fumecheng-99	128	27	matlab	matlab	PROPN
fumecheng-99	128	28	optimization	optimization	NOUN
fumecheng-99	128	29	toolbox	toolbox	NOUN
fumecheng-99	128	30	.	.	PUNCT
fumecheng-99	129	1	the	the	DET
fumecheng-99	129	2	general	general	ADJ
fumecheng-99	129	3	quadratic	quadratic	ADJ
fumecheng-99	129	4	programming	programming	NOUN
fumecheng-99	129	5	problem	problem	NOUN
fumecheng-99	129	6	is	be	AUX
fumecheng-99	129	7	defined	define	VERB
fumecheng-99	129	8	as	as	ADP
fumecheng-99	129	9	:	:	PUNCT
fumecheng-99	129	10	70	70	NUM
fumecheng-99	129	11	j.	j.	PROPN
fumecheng-99	129	12	pavlović	pavlović	NOUN
fumecheng-99	129	13	,	,	PUNCT
fumecheng-99	129	14	m.	m.	NOUN
fumecheng-99	129	15	jovanović	jovanović	PROPN
fumecheng-99	129	16	,	,	PUNCT
fumecheng-99	129	17	a.	a.	NOUN
fumecheng-99	129	18	milojević	milojević	NOUN
fumecheng-99	129	19	1	1	NUM
fumecheng-99	129	20	min	min	NOUN
fumecheng-99	129	21	(	(	PUNCT
fumecheng-99	129	22	)	)	PUNCT
fumecheng-99	129	23	2	2	NUM
fumecheng-99	129	24	t	t	NOUN
fumecheng-99	129	25	tf	tf	INTJ
fumecheng-99	129	26	z	z	NOUN
fumecheng-99	129	27	c	c	PROPN
fumecheng-99	129	28	z	z	NOUN
fumecheng-99	129	29	z	z	NOUN
fumecheng-99	129	30	h	h	PROPN
fumecheng-99	129	31	z	z	NOUN
fumecheng-99	129	32			VERB
fumecheng-99	129	33			PROPN
fumecheng-99	129	34	(	(	PUNCT
fumecheng-99	129	35	30	30	NUM
fumecheng-99	129	36	)	)	PUNCT
fumecheng-99	129	37	where	where	SCONJ
fumecheng-99	129	38	:	:	PUNCT
fumecheng-99	129	39	bza	bza	ADJ
fumecheng-99	129	40			NOUN
fumecheng-99	129	41	,	,	PUNCT
fumecheng-99	129	42	z	z	NOUN
fumecheng-99	129	43			NUM
fumecheng-99	129	44	0	0	NUM
fumecheng-99	129	45	(	(	PUNCT
fumecheng-99	129	46	31	31	NUM
fumecheng-99	129	47	)	)	PUNCT
fumecheng-99	129	48	are	be	AUX
fumecheng-99	129	49	the	the	DET
fumecheng-99	129	50	constraints	constraint	NOUN
fumecheng-99	129	51	in	in	ADP
fumecheng-99	129	52	the	the	DET
fumecheng-99	129	53	form	form	NOUN
fumecheng-99	129	54	of	of	ADP
fumecheng-99	129	55	inequality	inequality	NOUN
fumecheng-99	129	56	,	,	PUNCT
fumecheng-99	129	57	c	c	PROPN
fumecheng-99	129	58	–	–	PUNCT
fumecheng-99	129	59	the	the	DET
fumecheng-99	129	60	n	n	CCONJ
fumecheng-99	129	61	-	-	PUNCT
fumecheng-99	129	62	dimensional	dimensional	ADJ
fumecheng-99	129	63	vector	vector	NOUN
fumecheng-99	129	64	that	that	PRON
fumecheng-99	129	65	describes	describe	VERB
fumecheng-99	129	66	the	the	DET
fumecheng-99	129	67	coefficients	coefficient	NOUN
fumecheng-99	129	68	of	of	ADP
fumecheng-99	129	69	linear	linear	ADJ
fumecheng-99	129	70	terms	term	NOUN
fumecheng-99	129	71	of	of	ADP
fumecheng-99	129	72	the	the	DET
fumecheng-99	129	73	objective	objective	ADJ
fumecheng-99	129	74	function	function	NOUN
fumecheng-99	129	75	,	,	PUNCT
fumecheng-99	129	76	z	z	PROPN
fumecheng-99	129	77	–	–	PUNCT
fumecheng-99	129	78	the	the	DET
fumecheng-99	129	79	n	n	CCONJ
fumecheng-99	129	80	-	-	PUNCT
fumecheng-99	129	81	dimensional	dimensional	ADJ
fumecheng-99	129	82	vector	vector	NOUN
fumecheng-99	129	83	of	of	ADP
fumecheng-99	129	84	unknown	unknown	ADJ
fumecheng-99	129	85	values	value	NOUN
fumecheng-99	129	86	,	,	PUNCT
fumecheng-99	129	87	h	h	NOUN
fumecheng-99	129	88	–	–	PUNCT
fumecheng-99	129	89	the	the	DET
fumecheng-99	129	90	(	(	PUNCT
fumecheng-99	129	91	n×n	n×n	PROPN
fumecheng-99	129	92	)	)	PUNCT
fumecheng-99	129	93	symmetric	symmetric	ADJ
fumecheng-99	129	94	matrix	matrix	NOUN
fumecheng-99	129	95	that	that	PRON
fumecheng-99	129	96	describes	describe	VERB
fumecheng-99	129	97	the	the	DET
fumecheng-99	129	98	coefficients	coefficient	NOUN
fumecheng-99	129	99	of	of	ADP
fumecheng-99	129	100	square	square	ADJ
fumecheng-99	129	101	terms	term	NOUN
fumecheng-99	129	102	of	of	ADP
fumecheng-99	129	103	the	the	DET
fumecheng-99	129	104	objective	objective	ADJ
fumecheng-99	129	105	function	function	NOUN
fumecheng-99	129	106	,	,	PUNCT
fumecheng-99	129	107	a	a	DET
fumecheng-99	129	108	–	–	PUNCT
fumecheng-99	129	109	the	the	DET
fumecheng-99	129	110	(	(	PUNCT
fumecheng-99	129	111	m	m	PROPN
fumecheng-99	129	112	×	×	NOUN
fumecheng-99	129	113	n	n	CCONJ
fumecheng-99	129	114	)	)	PUNCT
fumecheng-99	129	115	matrix	matrix	NOUN
fumecheng-99	129	116	of	of	ADP
fumecheng-99	129	117	constraints	constraint	NOUN
fumecheng-99	129	118	,	,	PUNCT
fumecheng-99	129	119	and	and	CCONJ
fumecheng-99	129	120	,	,	PUNCT
fumecheng-99	129	121	b	b	X
fumecheng-99	129	122	–	–	PUNCT
fumecheng-99	129	123	the	the	DET
fumecheng-99	129	124	n	n	ADV
fumecheng-99	129	125	-	-	PUNCT
fumecheng-99	129	126	dimensional	dimensional	ADJ
fumecheng-99	129	127	vector	vector	NOUN
fumecheng-99	129	128	of	of	ADP
fumecheng-99	129	129	constraints	constraint	NOUN
fumecheng-99	129	130	[	[	X
fumecheng-99	129	131	12	12	NUM
fumecheng-99	129	132	]	]	PUNCT
fumecheng-99	129	133	.	.	PUNCT
fumecheng-99	130	1	5.1	5.1	NUM
fumecheng-99	130	2	.	.	PUNCT
fumecheng-99	131	1	function	function	NOUN
fumecheng-99	131	2	minimax	minimax	NOUN
fumecheng-99	131	3	function	function	NOUN
fumecheng-99	131	4	minimax	minimax	NOUN
fumecheng-99	131	5	(	(	PUNCT
fumecheng-99	131	6	fminimax	fminimax	ADJ
fumecheng-99	131	7	)	)	PUNCT
fumecheng-99	131	8	is	be	AUX
fumecheng-99	131	9	part	part	NOUN
fumecheng-99	131	10	of	of	ADP
fumecheng-99	131	11	the	the	DET
fumecheng-99	131	12	optimization	optimization	NOUN
fumecheng-99	131	13	toolbox	toolbox	NOUN
fumecheng-99	131	14	in	in	ADP
fumecheng-99	131	15	matlab	matlab	PROPN
fumecheng-99	131	16	,	,	PUNCT
fumecheng-99	131	17	which	which	PRON
fumecheng-99	131	18	finds	find	VERB
fumecheng-99	131	19	the	the	DET
fumecheng-99	131	20	minimum	minimum	NOUN
fumecheng-99	131	21	of	of	ADP
fumecheng-99	131	22	problems	problem	NOUN
fumecheng-99	131	23	determined	determine	VERB
fumecheng-99	131	24	by	by	ADP
fumecheng-99	131	25	the	the	DET
fumecheng-99	131	26	function	function	NOUN
fumecheng-99	131	27	:	:	PUNCT
fumecheng-99	131	28	min	min	PROPN
fumecheng-99	131	29	max	max	PROPN
fumecheng-99	131	30	(	(	PUNCT
fumecheng-99	131	31	)	)	PUNCT
fumecheng-99	131	32	i	i	PRON
fumecheng-99	131	33	z	z	VERB
fumecheng-99	132	1	i	i	PRON
fumecheng-99	132	2	f	f	PROPN
fumecheng-99	132	3	z	z	NOUN
fumecheng-99	132	4	such	such	ADJ
fumecheng-99	132	5	that	that	PRON
fumecheng-99	132	6	is	be	AUX
fumecheng-99	132	7	(	(	PUNCT
fumecheng-99	132	8	)	)	PUNCT
fumecheng-99	132	9	0	0	NUM
fumecheng-99	133	1	(	(	PUNCT
fumecheng-99	133	2	)	)	PUNCT
fumecheng-99	133	3	0	0	PUNCT
fumecheng-99	134	1	c	c	NOUN
fumecheng-99	134	2	z	z	PROPN
fumecheng-99	134	3	ceq	ceq	PROPN
fumecheng-99	134	4	z	z	PROPN
fumecheng-99	134	5	a	a	DET
fumecheng-99	134	6	z	z	PROPN
fumecheng-99	134	7	b	b	PROPN
fumecheng-99	134	8	aeq	aeq	PROPN
fumecheng-99	134	9	z	z	PROPN
fumecheng-99	134	10	beq	beq	X
fumecheng-99	134	11	lb	lb	ADP
fumecheng-99	134	12	z	z	NOUN
fumecheng-99	134	13	ub	ub	ADJ
fumecheng-99	134	14			NOUN
fumecheng-99	134	15			NUM
fumecheng-99	134	16			ADJ
fumecheng-99	134	17			NOUN
fumecheng-99	134	18			NUM
fumecheng-99	134	19			VERB
fumecheng-99	134	20			NUM
fumecheng-99	134	21			NUM
fumecheng-99	134	22			NUM
fumecheng-99	134	23			NUM
fumecheng-99	134	24			NOUN
fumecheng-99	134	25			NOUN
fumecheng-99	134	26	(	(	PUNCT
fumecheng-99	134	27	32	32	NUM
fumecheng-99	134	28	)	)	PUNCT
fumecheng-99	134	29	where	where	SCONJ
fumecheng-99	134	30	the	the	DET
fumecheng-99	134	31	variables	variable	NOUN
fumecheng-99	134	32	on	on	ADP
fumecheng-99	134	33	the	the	DET
fumecheng-99	134	34	right	right	ADJ
fumecheng-99	134	35	side	side	NOUN
fumecheng-99	134	36	are	be	AUX
fumecheng-99	134	37	the	the	DET
fumecheng-99	134	38	constraints	constraint	NOUN
fumecheng-99	134	39	:	:	PUNCT
fumecheng-99	134	40	c(z	c(z	NUM
fumecheng-99	134	41	)	)	PUNCT
fumecheng-99	134	42	,	,	PUNCT
fumecheng-99	134	43	ceq(z	ceq(z	PROPN
fumecheng-99	134	44	)	)	PUNCT
fumecheng-99	134	45	–	–	PUNCT
fumecheng-99	134	46	vectors	vector	NOUN
fumecheng-99	134	47	of	of	ADP
fumecheng-99	134	48	constraints	constraint	NOUN
fumecheng-99	134	49	in	in	ADP
fumecheng-99	134	50	the	the	DET
fumecheng-99	134	51	form	form	NOUN
fumecheng-99	134	52	of	of	ADP
fumecheng-99	134	53	inequality	inequality	NOUN
fumecheng-99	134	54	and	and	CCONJ
fumecheng-99	134	55	equality	equality	NOUN
fumecheng-99	134	56	,	,	PUNCT
fumecheng-99	134	57	a	a	DET
fumecheng-99	134	58	–	–	PUNCT
fumecheng-99	134	59	matrix	matrix	NOUN
fumecheng-99	134	60	and	and	CCONJ
fumecheng-99	134	61	b	b	PROPN
fumecheng-99	134	62	–	–	PUNCT
fumecheng-99	134	63	vector	vector	NOUN
fumecheng-99	134	64	are	be	AUX
fumecheng-99	134	65	,	,	PUNCT
fumecheng-99	134	66	respectively	respectively	ADV
fumecheng-99	134	67	,	,	PUNCT
fumecheng-99	134	68	the	the	DET
fumecheng-99	134	69	coefficients	coefficient	NOUN
fumecheng-99	134	70	of	of	ADP
fumecheng-99	134	71	constraints	constraint	NOUN
fumecheng-99	134	72	in	in	ADP
fumecheng-99	134	73	the	the	DET
fumecheng-99	134	74	form	form	NOUN
fumecheng-99	134	75	of	of	ADP
fumecheng-99	134	76	linear	linear	PROPN
fumecheng-99	134	77	inequalities	inequality	NOUN
fumecheng-99	134	78	,	,	PUNCT
fumecheng-99	134	79	aeq	aeq	NOUN
fumecheng-99	134	80	–	–	PUNCT
fumecheng-99	134	81	matrix	matrix	NOUN
fumecheng-99	134	82	and	and	CCONJ
fumecheng-99	134	83	beq	beq	PROPN
fumecheng-99	134	84	vector	vector	PROPN
fumecheng-99	134	85	are	be	AUX
fumecheng-99	134	86	,	,	PUNCT
fumecheng-99	134	87	respectively	respectively	ADV
fumecheng-99	134	88	,	,	PUNCT
fumecheng-99	134	89	the	the	DET
fumecheng-99	134	90	coefficients	coefficient	NOUN
fumecheng-99	134	91	of	of	ADP
fumecheng-99	134	92	linear	linear	ADJ
fumecheng-99	134	93	constraints	constraint	NOUN
fumecheng-99	134	94	in	in	ADP
fumecheng-99	134	95	the	the	DET
fumecheng-99	134	96	form	form	NOUN
fumecheng-99	134	97	of	of	ADP
fumecheng-99	134	98	equity	equity	NOUN
fumecheng-99	134	99	,	,	PUNCT
fumecheng-99	134	100	lb	lb	X
fumecheng-99	134	101	–	–	PUNCT
fumecheng-99	134	102	vector	vector	NOUN
fumecheng-99	134	103	or	or	CCONJ
fumecheng-99	134	104	matrix	matrix	NOUN
fumecheng-99	134	105	of	of	ADP
fumecheng-99	134	106	lower	low	ADJ
fumecheng-99	134	107	bounds	bound	NOUN
fumecheng-99	134	108	of	of	ADP
fumecheng-99	134	109	constraints	constraint	NOUN
fumecheng-99	134	110	,	,	PUNCT
fumecheng-99	134	111	ub	ub	INTJ
fumecheng-99	134	112	–	–	PUNCT
fumecheng-99	134	113	vector	vector	NOUN
fumecheng-99	134	114	or	or	CCONJ
fumecheng-99	134	115	matrix	matrix	NOUN
fumecheng-99	134	116	of	of	ADP
fumecheng-99	134	117	upper	upper	ADJ
fumecheng-99	134	118	bounds	bound	NOUN
fumecheng-99	134	119	of	of	ADP
fumecheng-99	134	120	constraints	constraint	NOUN
fumecheng-99	134	121	.	.	PUNCT
fumecheng-99	135	1	in	in	ADP
fumecheng-99	135	2	the	the	DET
fumecheng-99	135	3	model	model	NOUN
fumecheng-99	135	4	that	that	PRON
fumecheng-99	135	5	is	be	AUX
fumecheng-99	135	6	described	describe	VERB
fumecheng-99	135	7	by	by	ADP
fumecheng-99	135	8	equations	equation	NOUN
fumecheng-99	135	9	1	1	NUM
fumecheng-99	135	10	-	-	SYM
fumecheng-99	135	11	28	28	NUM
fumecheng-99	135	12	,	,	PUNCT
fumecheng-99	135	13	we	we	PRON
fumecheng-99	135	14	use	use	VERB
fumecheng-99	135	15	only	only	ADV
fumecheng-99	135	16	constraints	constraint	NOUN
fumecheng-99	135	17	lb	lb	ADP
fumecheng-99	135	18	,	,	PUNCT
fumecheng-99	135	19	ub	ub	INTJ
fumecheng-99	135	20	–	–	PUNCT
fumecheng-99	135	21	the	the	DET
fumecheng-99	135	22	vectors	vector	NOUN
fumecheng-99	135	23	of	of	ADP
fumecheng-99	135	24	lower	low	ADJ
fumecheng-99	135	25	and	and	CCONJ
fumecheng-99	135	26	upper	upper	ADJ
fumecheng-99	135	27	bounds	bound	NOUN
fumecheng-99	135	28	of	of	ADP
fumecheng-99	135	29	the	the	DET
fumecheng-99	135	30	search	search	NOUN
fumecheng-99	135	31	field	field	NOUN
fumecheng-99	135	32	of	of	ADP
fumecheng-99	135	33	the	the	DET
fumecheng-99	135	34	optimization	optimization	NOUN
fumecheng-99	135	35	parameters	parameter	NOUN
fumecheng-99	135	36	solution	solution	NOUN
fumecheng-99	135	37	(	(	PUNCT
fumecheng-99	135	38	a	a	PRON
fumecheng-99	135	39	,	,	PUNCT
fumecheng-99	135	40	b	b	NOUN
fumecheng-99	135	41	,	,	PUNCT
fumecheng-99	135	42	c	c	NOUN
fumecheng-99	135	43	,	,	PUNCT
fumecheng-99	135	44	d	d	NOUN
fumecheng-99	135	45	,	,	PUNCT
fumecheng-99	135	46	e	e	NOUN
fumecheng-99	135	47	,	,	PUNCT
fumecheng-99	135	48	f	f	PROPN
fumecheng-99	135	49	,	,	PUNCT
fumecheng-99	135	50	u	u	NOUN
fumecheng-99	135	51	,	,	PUNCT
fumecheng-99	135	52	h	h	NOUN
fumecheng-99	135	53	)	)	PUNCT
fumecheng-99	135	54	,	,	PUNCT
fumecheng-99	135	55	whose	whose	DET
fumecheng-99	135	56	values	value	NOUN
fumecheng-99	135	57	are	be	AUX
fumecheng-99	135	58	listed	list	VERB
fumecheng-99	135	59	in	in	ADP
fumecheng-99	135	60	the	the	DET
fumecheng-99	135	61	previous	previous	ADJ
fumecheng-99	135	62	numerical	numerical	ADJ
fumecheng-99	135	63	example	example	NOUN
fumecheng-99	136	1	[	[	X
fumecheng-99	136	2	13	13	NUM
fumecheng-99	136	3	]	]	PUNCT
fumecheng-99	136	4	.	.	PUNCT
fumecheng-99	137	1	based	base	VERB
fumecheng-99	137	2	on	on	ADP
fumecheng-99	137	3	the	the	DET
fumecheng-99	137	4	function	function	NOUN
fumecheng-99	137	5	fminimax	fminimax	ADJ
fumecheng-99	137	6	,	,	PUNCT
fumecheng-99	137	7	where	where	SCONJ
fumecheng-99	137	8	it	it	PRON
fumecheng-99	137	9	is	be	AUX
fumecheng-99	137	10	necessary	necessary	ADJ
fumecheng-99	137	11	to	to	PART
fumecheng-99	137	12	define	define	VERB
fumecheng-99	137	13	the	the	DET
fumecheng-99	137	14	objective	objective	ADJ
fumecheng-99	137	15	function	function	NOUN
fumecheng-99	137	16	and	and	CCONJ
fumecheng-99	137	17	the	the	DET
fumecheng-99	137	18	constraints	constraint	NOUN
fumecheng-99	137	19	,	,	PUNCT
fumecheng-99	137	20	the	the	DET
fumecheng-99	137	21	desired	desire	VERB
fumecheng-99	137	22	optimal	optimal	ADJ
fumecheng-99	137	23	parameters	parameter	NOUN
fumecheng-99	137	24	are	be	AUX
fumecheng-99	137	25	obtained	obtain	VERB
fumecheng-99	137	26	:	:	PUNCT
fumecheng-99	137	27	z	z	NOUN
fumecheng-99	137	28	=	=	SYM
fumecheng-99	137	29	fminimax(fun	fminimax(fun	NOUN
fumecheng-99	137	30	,	,	PUNCT
fumecheng-99	137	31	z0,a	z0,a	PROPN
fumecheng-99	137	32	,	,	PUNCT
fumecheng-99	137	33	b	b	NOUN
fumecheng-99	137	34	,	,	PUNCT
fumecheng-99	137	35	aeq	aeq	NOUN
fumecheng-99	137	36	,	,	PUNCT
fumecheng-99	137	37	beq	beq	NOUN
fumecheng-99	137	38	,	,	PUNCT
fumecheng-99	137	39	lb	lb	NUM
fumecheng-99	137	40	,	,	PUNCT
fumecheng-99	137	41	ub	ub	ADJ
fumecheng-99	137	42	)	)	PUNCT
fumecheng-99	137	43	(	(	PUNCT
fumecheng-99	137	44	33	33	NUM
fumecheng-99	137	45	)	)	PUNCT
fumecheng-99	137	46	where	where	SCONJ
fumecheng-99	137	47	:	:	PUNCT
fumecheng-99	137	48	z	z	X
fumecheng-99	137	49	–	–	PUNCT
fumecheng-99	137	50	required	require	VERB
fumecheng-99	137	51	parameters	parameter	NOUN
fumecheng-99	137	52	,	,	PUNCT
fumecheng-99	137	53	fun	fun	ADJ
fumecheng-99	137	54	–	–	PUNCT
fumecheng-99	137	55	objective	objective	ADJ
fumecheng-99	137	56	function	function	NOUN
fumecheng-99	137	57	,	,	PUNCT
fumecheng-99	137	58	z0	z0	PROPN
fumecheng-99	137	59	–	–	PUNCT
fumecheng-99	137	60	initial	initial	ADJ
fumecheng-99	137	61	parameters	parameter	NOUN
fumecheng-99	137	62	a	a	PRON
fumecheng-99	137	63	,	,	PUNCT
fumecheng-99	137	64	b	b	NOUN
fumecheng-99	137	65	,	,	PUNCT
fumecheng-99	137	66	aeq	aeq	PROPN
fumecheng-99	137	67	,	,	PUNCT
fumecheng-99	137	68	beq	beq	NOUN
fumecheng-99	137	69	,	,	PUNCT
fumecheng-99	137	70	lb	lb	X
fumecheng-99	137	71	,	,	PUNCT
fumecheng-99	137	72	ub	ub	ADJ
fumecheng-99	137	73	–	–	PUNCT
fumecheng-99	137	74	constraints	constraint	NOUN
fumecheng-99	137	75	.	.	PUNCT
fumecheng-99	138	1	these	these	DET
fumecheng-99	138	2	values	value	NOUN
fumecheng-99	138	3	are	be	AUX
fumecheng-99	138	4	defined	define	VERB
fumecheng-99	138	5	above	above	ADP
fumecheng-99	138	6	in	in	ADP
fumecheng-99	138	7	equations	equation	NOUN
fumecheng-99	138	8	1÷28	1÷28	VERB
fumecheng-99	138	9	,	,	PUNCT
fumecheng-99	138	10	since	since	SCONJ
fumecheng-99	138	11	in	in	ADP
fumecheng-99	138	12	this	this	DET
fumecheng-99	138	13	case	case	NOUN
fumecheng-99	138	14	constraints	constraint	VERB
fumecheng-99	138	15	a	a	DET
fumecheng-99	138	16	,	,	PUNCT
fumecheng-99	138	17	b	b	NOUN
fumecheng-99	138	18	,	,	PUNCT
fumecheng-99	138	19	aeq	aeq	NOUN
fumecheng-99	138	20	and	and	CCONJ
fumecheng-99	138	21	beq	beq	NOUN
fumecheng-99	138	22	are	be	AUX
fumecheng-99	138	23	not	not	PART
fumecheng-99	138	24	used	use	VERB
fumecheng-99	138	25	.	.	PUNCT
fumecheng-99	139	1	they	they	PRON
fumecheng-99	139	2	are	be	AUX
fumecheng-99	139	3	written	write	VERB
fumecheng-99	139	4	as	as	ADP
fumecheng-99	139	5	an	an	DET
fumecheng-99	139	6	"	"	PUNCT
fumecheng-99	139	7	empty	empty	ADJ
fumecheng-99	139	8	"	"	PUNCT
fumecheng-99	139	9	matrix	matrix	NOUN
fumecheng-99	139	10	.	.	PUNCT
fumecheng-99	140	1	the	the	DET
fumecheng-99	140	2	inputs	input	NOUN
fumecheng-99	140	3	of	of	ADP
fumecheng-99	140	4	constraints	constraint	NOUN
fumecheng-99	140	5	are	be	AUX
fumecheng-99	140	6	in	in	ADP
fumecheng-99	140	7	the	the	DET
fumecheng-99	140	8	form	form	NOUN
fumecheng-99	140	9	of	of	ADP
fumecheng-99	140	10	the	the	DET
fumecheng-99	140	11	lower	low	ADJ
fumecheng-99	140	12	bounds	bound	NOUN
fumecheng-99	140	13	lb	lb	X
fumecheng-99	140	14	and	and	CCONJ
fumecheng-99	140	15	the	the	DET
fumecheng-99	140	16	upper	upper	ADJ
fumecheng-99	140	17	bounds	bound	NOUN
fumecheng-99	140	18	ub	ub	VERB
fumecheng-99	140	19	.	.	PUNCT
fumecheng-99	141	1	in	in	ADP
fumecheng-99	141	2	this	this	DET
fumecheng-99	141	3	case	case	NOUN
fumecheng-99	141	4	,	,	PUNCT
fumecheng-99	141	5	the	the	DET
fumecheng-99	141	6	line	line	NOUN
fumecheng-99	141	7	of	of	ADP
fumecheng-99	141	8	the	the	DET
fumecheng-99	141	9	code	code	NOUN
fumecheng-99	141	10	of	of	ADP
fumecheng-99	141	11	function	function	NOUN
fumecheng-99	141	12	fminimax	fminimax	PROPN
fumecheng-99	141	13	looks	look	VERB
fumecheng-99	141	14	like	like	ADP
fumecheng-99	141	15	:	:	PUNCT
fumecheng-99	141	16	parameters	parameter	NOUN
fumecheng-99	141	17	=	=	SYM
fumecheng-99	141	18	fminimax('objectfun',parametri0,[],[],[],[],lb	fminimax('objectfun',parametri0,[],[],[],[],lb	PROPN
fumecheng-99	141	19	,	,	PUNCT
fumecheng-99	141	20	ub	ub	ADP
fumecheng-99	141	21	)	)	PUNCT
fumecheng-99	141	22	(	(	PUNCT
fumecheng-99	141	23	34	34	NUM
fumecheng-99	141	24	)	)	PUNCT
fumecheng-99	141	25	optimal	optimal	ADJ
fumecheng-99	141	26	synthesis	synthesis	NOUN
fumecheng-99	141	27	of	of	ADP
fumecheng-99	141	28	manuplator	manuplator	NOUN
fumecheng-99	141	29	using	use	VERB
fumecheng-99	141	30	two	two	NUM
fumecheng-99	141	31	competitive	competitive	ADJ
fumecheng-99	141	32	methods	method	NOUN
fumecheng-99	141	33	71	71	NUM
fumecheng-99	141	34	sqp	sqp	NOUN
fumecheng-99	141	35	has	have	AUX
fumecheng-99	141	36	performed	perform	VERB
fumecheng-99	141	37	the	the	DET
fumecheng-99	141	38	verification	verification	NOUN
fumecheng-99	141	39	of	of	ADP
fumecheng-99	141	40	the	the	DET
fumecheng-99	141	41	previous	previous	ADJ
fumecheng-99	141	42	procedure	procedure	NOUN
fumecheng-99	141	43	and	and	CCONJ
fumecheng-99	141	44	the	the	DET
fumecheng-99	141	45	optimization	optimization	NOUN
fumecheng-99	141	46	achieved	achieve	VERB
fumecheng-99	141	47	by	by	ADP
fumecheng-99	141	48	using	use	VERB
fumecheng-99	141	49	the	the	DET
fumecheng-99	141	50	passive	passive	ADJ
fumecheng-99	141	51	formal	formal	ADJ
fumecheng-99	141	52	search	search	NOUN
fumecheng-99	141	53	.	.	PUNCT
fumecheng-99	142	1	the	the	DET
fumecheng-99	142	2	results	result	NOUN
fumecheng-99	142	3	obtained	obtain	VERB
fumecheng-99	142	4	by	by	ADP
fumecheng-99	142	5	the	the	DET
fumecheng-99	142	6	sqp	sqp	PROPN
fumecheng-99	142	7	method	method	NOUN
fumecheng-99	142	8	are	be	AUX
fumecheng-99	142	9	shown	show	VERB
fumecheng-99	142	10	in	in	ADP
fumecheng-99	142	11	the	the	DET
fumecheng-99	142	12	following	follow	VERB
fumecheng-99	142	13	diagram	diagram	NOUN
fumecheng-99	142	14	,	,	PUNCT
fumecheng-99	142	15	fig	fig	NOUN
fumecheng-99	142	16	.	.	PUNCT
fumecheng-99	143	1	7	7	NUM
fumecheng-99	143	2	,	,	PUNCT
fumecheng-99	143	3	and	and	CCONJ
fumecheng-99	143	4	a	a	DET
fumecheng-99	143	5	table	table	NOUN
fumecheng-99	143	6	of	of	ADP
fumecheng-99	143	7	optimal	optimal	ADJ
fumecheng-99	143	8	solutions	solution	NOUN
fumecheng-99	143	9	.	.	PUNCT
fumecheng-99	144	1	table	table	NOUN
fumecheng-99	144	2	3	3	NUM
fumecheng-99	144	3	values	value	NOUN
fumecheng-99	144	4	of	of	ADP
fumecheng-99	144	5	obtained	obtain	VERB
fumecheng-99	144	6	optimal	optimal	ADJ
fumecheng-99	144	7	solutions	solution	NOUN
fumecheng-99	144	8	by	by	ADP
fumecheng-99	144	9	using	use	VERB
fumecheng-99	144	10	the	the	DET
fumecheng-99	144	11	function	function	NOUN
fumecheng-99	144	12	fminimax	fminimax	ADJ
fumecheng-99	144	13	optimal	optimal	ADJ
fumecheng-99	144	14	parameters	parameter	NOUN
fumecheng-99	144	15	objective	objective	ADJ
fumecheng-99	144	16	function	function	NOUN
fumecheng-99	144	17	z1	z1	PROPN
fumecheng-99	144	18	(	(	PUNCT
fumecheng-99	144	19	m	m	NOUN
fumecheng-99	144	20	)	)	PUNCT
fumecheng-99	144	21	z2(m	z2(m	X
fumecheng-99	144	22	)	)	PUNCT
fumecheng-99	144	23	z3(m	z3(m	PROPN
fumecheng-99	144	24	)	)	PUNCT
fumecheng-99	144	25	z4(m	z4(m	NUM
fumecheng-99	144	26	)	)	PUNCT
fumecheng-99	144	27	fc	fc	PROPN
fumecheng-99	144	28	(	(	PUNCT
fumecheng-99	144	29	˚	˚	PROPN
fumecheng-99	144	30	)	)	PUNCT
fumecheng-99	144	31	initial	initial	ADJ
fumecheng-99	144	32	zeros	zero	NOUN
fumecheng-99	144	33	1.04	1.04	NUM
fumecheng-99	144	34	1.745	1.745	NUM
fumecheng-99	144	35	1.45	1.45	NUM
fumecheng-99	144	36	0.225	0.225	NUM
fumecheng-99	144	37	7.364	7.364	NUM
fumecheng-99	144	38	optimal	optimal	ADJ
fumecheng-99	144	39	solution	solution	NOUN
fumecheng-99	144	40	1.0176	1.0176	NUM
fumecheng-99	144	41	1.7188	1.7188	NUM
fumecheng-99	144	42	1.4095	1.4095	NUM
fumecheng-99	144	43	0.2002	0.2002	NUM
fumecheng-99	144	44	0.3518	0.3518	NUM
fumecheng-99	144	45	fig	fig	NOUN
fumecheng-99	144	46	.	.	PUNCT
fumecheng-99	145	1	7	7	NUM
fumecheng-99	145	2	curve	curve	NOUN
fumecheng-99	145	3	of	of	ADP
fumecheng-99	145	4	initial	initial	ADJ
fumecheng-99	145	5	fc0	fc0	NOUN
fumecheng-99	145	6	and	and	CCONJ
fumecheng-99	145	7	optimal	optimal	ADJ
fumecheng-99	145	8	fc1solutions	fc1solution	NOUN
fumecheng-99	145	9	,	,	PUNCT
fumecheng-99	145	10	obtained	obtain	VERB
fumecheng-99	145	11	by	by	ADP
fumecheng-99	145	12	using	use	VERB
fumecheng-99	145	13	the	the	DET
fumecheng-99	145	14	minimax	minimax	NOUN
fumecheng-99	145	15	function	function	NOUN
fumecheng-99	145	16	7	7	NUM
fumecheng-99	145	17	.	.	PUNCT
fumecheng-99	145	18	conclusion	conclusion	NOUN
fumecheng-99	145	19	1	1	NUM
fumecheng-99	145	20	.	.	PUNCT
fumecheng-99	146	1	the	the	DET
fumecheng-99	146	2	mathematical	mathematical	ADJ
fumecheng-99	146	3	model	model	NOUN
fumecheng-99	146	4	of	of	ADP
fumecheng-99	146	5	optimization	optimization	NOUN
fumecheng-99	146	6	operates	operate	VERB
fumecheng-99	146	7	with	with	ADP
fumecheng-99	146	8	four	four	NUM
fumecheng-99	146	9	independent	independent	ADJ
fumecheng-99	146	10	parameters	parameter	NOUN
fumecheng-99	146	11	out	out	ADP
fumecheng-99	146	12	of	of	ADP
fumecheng-99	146	13	the	the	DET
fumecheng-99	146	14	potential	potential	ADJ
fumecheng-99	146	15	eight	eight	NUM
fumecheng-99	146	16	.	.	PUNCT
fumecheng-99	147	1	even	even	ADV
fumecheng-99	147	2	four	four	NUM
fumecheng-99	147	3	parameters	parameter	NOUN
fumecheng-99	147	4	of	of	ADP
fumecheng-99	147	5	optimization	optimization	NOUN
fumecheng-99	147	6	give	give	VERB
fumecheng-99	147	7	a	a	DET
fumecheng-99	147	8	solution	solution	NOUN
fumecheng-99	147	9	of	of	ADP
fumecheng-99	147	10	objective	objective	ADJ
fumecheng-99	147	11	function	function	NOUN
fumecheng-99	147	12	(	(	PUNCT
fumecheng-99	147	13	change	change	NOUN
fumecheng-99	147	14	of	of	ADP
fumecheng-99	147	15	the	the	DET
fumecheng-99	147	16	tilt	tilt	NOUN
fumecheng-99	147	17	is	be	AUX
fumecheng-99	147	18	less	less	ADJ
fumecheng-99	147	19	than	than	ADP
fumecheng-99	147	20	two	two	NUM
fumecheng-99	147	21	degrees	degree	NOUN
fumecheng-99	147	22	)	)	PUNCT
fumecheng-99	147	23	good	good	ADJ
fumecheng-99	147	24	enough	enough	ADV
fumecheng-99	147	25	for	for	ADP
fumecheng-99	147	26	practical	practical	ADJ
fumecheng-99	147	27	performance	performance	NOUN
fumecheng-99	147	28	.	.	PUNCT
fumecheng-99	148	1	by	by	ADP
fumecheng-99	148	2	increasing	increase	VERB
fumecheng-99	148	3	the	the	DET
fumecheng-99	148	4	number	number	NOUN
fumecheng-99	148	5	of	of	ADP
fumecheng-99	148	6	independent	independent	ADJ
fumecheng-99	148	7	parameters	parameter	NOUN
fumecheng-99	148	8	to	to	ADP
fumecheng-99	148	9	possible	possible	ADJ
fumecheng-99	148	10	eight	eight	NUM
fumecheng-99	148	11	,	,	PUNCT
fumecheng-99	148	12	the	the	DET
fumecheng-99	148	13	quality	quality	NOUN
fumecheng-99	148	14	of	of	ADP
fumecheng-99	148	15	the	the	DET
fumecheng-99	148	16	optimal	optimal	ADJ
fumecheng-99	148	17	solution	solution	NOUN
fumecheng-99	148	18	can	can	AUX
fumecheng-99	148	19	be	be	AUX
fumecheng-99	148	20	increased	increase	VERB
fumecheng-99	148	21	,	,	PUNCT
fumecheng-99	148	22	with	with	ADP
fumecheng-99	148	23	a	a	DET
fumecheng-99	148	24	complex	complex	ADJ
fumecheng-99	148	25	mathematical	mathematical	ADJ
fumecheng-99	148	26	procedure	procedure	NOUN
fumecheng-99	148	27	.	.	PUNCT
fumecheng-99	149	1	2	2	X
fumecheng-99	149	2	.	.	X
fumecheng-99	149	3	it	it	PRON
fumecheng-99	149	4	is	be	AUX
fumecheng-99	149	5	recommended	recommend	VERB
fumecheng-99	149	6	to	to	PART
fumecheng-99	149	7	use	use	VERB
fumecheng-99	149	8	an	an	DET
fumecheng-99	149	9	optimal	optimal	ADJ
fumecheng-99	149	10	model	model	NOUN
fumecheng-99	149	11	of	of	ADP
fumecheng-99	149	12	the	the	DET
fumecheng-99	149	13	mdbp	mdbp	NOUN
fumecheng-99	149	14	mechanism	mechanism	NOUN
fumecheng-99	149	15	for	for	ADP
fumecheng-99	149	16	factory	factory	NOUN
fumecheng-99	149	17	design	design	NOUN
fumecheng-99	149	18	because	because	SCONJ
fumecheng-99	149	19	it	it	PRON
fumecheng-99	149	20	is	be	AUX
fumecheng-99	149	21	an	an	DET
fumecheng-99	149	22	important	important	ADJ
fumecheng-99	149	23	design	design	NOUN
fumecheng-99	149	24	requirement	requirement	NOUN
fumecheng-99	149	25	.	.	PUNCT
fumecheng-99	150	1	3	3	X
fumecheng-99	150	2	.	.	X
fumecheng-99	150	3	improving	improve	VERB
fumecheng-99	150	4	the	the	DET
fumecheng-99	150	5	model	model	NOUN
fumecheng-99	150	6	can	can	AUX
fumecheng-99	150	7	be	be	AUX
fumecheng-99	150	8	done	do	VERB
fumecheng-99	150	9	by	by	ADP
fumecheng-99	150	10	introducing	introduce	VERB
fumecheng-99	150	11	the	the	DET
fumecheng-99	150	12	constraint	constraint	NOUN
fumecheng-99	150	13	function	function	NOUN
fumecheng-99	150	14	of	of	ADP
fumecheng-99	150	15	internal	internal	ADJ
fumecheng-99	150	16	forces	force	NOUN
fumecheng-99	150	17	in	in	ADP
fumecheng-99	150	18	the	the	DET
fumecheng-99	150	19	mdbp	mdbp	NOUN
fumecheng-99	150	20	which	which	PRON
fumecheng-99	150	21	would	would	AUX
fumecheng-99	150	22	require	require	VERB
fumecheng-99	150	23	the	the	DET
fumecheng-99	150	24	extension	extension	NOUN
fumecheng-99	150	25	of	of	ADP
fumecheng-99	150	26	this	this	DET
fumecheng-99	150	27	task	task	NOUN
fumecheng-99	150	28	in	in	ADP
fumecheng-99	150	29	the	the	DET
fumecheng-99	150	30	domain	domain	NOUN
fumecheng-99	150	31	of	of	ADP
fumecheng-99	150	32	static	static	ADJ
fumecheng-99	150	33	analysis	analysis	NOUN
fumecheng-99	150	34	.	.	PUNCT
fumecheng-99	151	1	4	4	X
fumecheng-99	151	2	.	.	X
fumecheng-99	151	3	the	the	DET
fumecheng-99	151	4	sqp	sqp	PROPN
fumecheng-99	151	5	procedure	procedure	NOUN
fumecheng-99	151	6	has	have	AUX
fumecheng-99	151	7	given	give	VERB
fumecheng-99	151	8	a	a	DET
fumecheng-99	151	9	slightly	slightly	ADV
fumecheng-99	151	10	more	more	ADV
fumecheng-99	151	11	accurate	accurate	ADJ
fumecheng-99	151	12	solution	solution	NOUN
fumecheng-99	151	13	which	which	PRON
fumecheng-99	151	14	is	be	AUX
fumecheng-99	151	15	a	a	DET
fumecheng-99	151	16	result	result	NOUN
fumecheng-99	151	17	of	of	ADP
fumecheng-99	151	18	a	a	DET
fumecheng-99	151	19	freely	freely	ADV
fumecheng-99	151	20	adjustable	adjustable	ADJ
fumecheng-99	151	21	step	step	NOUN
fumecheng-99	151	22	.	.	PUNCT
fumecheng-99	152	1	the	the	DET
fumecheng-99	152	2	formal	formal	ADJ
fumecheng-99	152	3	procedure	procedure	NOUN
fumecheng-99	152	4	limits	limit	VERB
fumecheng-99	152	5	the	the	DET
fumecheng-99	152	6	accuracy	accuracy	NOUN
fumecheng-99	152	7	(	(	PUNCT
fumecheng-99	152	8	quality	quality	NOUN
fumecheng-99	152	9	of	of	ADP
fumecheng-99	152	10	solutions	solution	NOUN
fumecheng-99	152	11	)	)	PUNCT
fumecheng-99	152	12	by	by	ADP
fumecheng-99	152	13	selecting	select	VERB
fumecheng-99	152	14	the	the	DET
fumecheng-99	152	15	interval	interval	NOUN
fumecheng-99	152	16	of	of	ADP
fumecheng-99	152	17	indetermination	indetermination	NOUN
fumecheng-99	152	18	.	.	PUNCT
fumecheng-99	153	1	the	the	DET
fumecheng-99	153	2	quality	quality	NOUN
fumecheng-99	153	3	of	of	ADP
fumecheng-99	153	4	a	a	DET
fumecheng-99	153	5	solution	solution	NOUN
fumecheng-99	153	6	can	can	AUX
fumecheng-99	153	7	be	be	AUX
fumecheng-99	153	8	improved	improve	VERB
fumecheng-99	153	9	by	by	ADP
fumecheng-99	153	10	increasing	increase	VERB
fumecheng-99	153	11	the	the	DET
fumecheng-99	153	12	number	number	NOUN
fumecheng-99	153	13	of	of	ADP
fumecheng-99	153	14	search	search	NOUN
fumecheng-99	153	15	combinations	combination	NOUN
fumecheng-99	153	16	.	.	PUNCT
fumecheng-99	154	1	5	5	X
fumecheng-99	154	2	.	.	X
fumecheng-99	154	3	the	the	DET
fumecheng-99	154	4	computing	computing	NOUN
fumecheng-99	154	5	time	time	NOUN
fumecheng-99	154	6	of	of	ADP
fumecheng-99	154	7	implementation	implementation	NOUN
fumecheng-99	154	8	in	in	ADP
fumecheng-99	154	9	each	each	DET
fumecheng-99	154	10	case	case	NOUN
fumecheng-99	154	11	is	be	AUX
fumecheng-99	154	12	less	less	ADJ
fumecheng-99	154	13	than	than	ADP
fumecheng-99	154	14	one	one	NUM
fumecheng-99	154	15	second	second	NOUN
fumecheng-99	154	16	.	.	PUNCT
fumecheng-99	155	1	72	72	NUM
fumecheng-99	155	2	j.	j.	PROPN
fumecheng-99	155	3	pavlović	pavlović	NOUN
fumecheng-99	155	4	,	,	PUNCT
fumecheng-99	155	5	m.	m.	NOUN
fumecheng-99	155	6	jovanović	jovanović	PROPN
fumecheng-99	155	7	,	,	PUNCT
fumecheng-99	155	8	a.	a.	NOUN
fumecheng-99	155	9	milojević	milojević	NOUN
fumecheng-99	155	10	acknowledgements	acknowledgement	NOUN
fumecheng-99	155	11	:	:	PUNCT
fumecheng-99	155	12	the	the	DET
fumecheng-99	155	13	paper	paper	NOUN
fumecheng-99	155	14	is	be	AUX
fumecheng-99	155	15	a	a	DET
fumecheng-99	155	16	part	part	NOUN
fumecheng-99	155	17	of	of	ADP
fumecheng-99	155	18	the	the	DET
fumecheng-99	155	19	research	research	NOUN
fumecheng-99	155	20	performed	perform	VERB
fumecheng-99	155	21	within	within	ADP
fumecheng-99	155	22	the	the	DET
fumecheng-99	155	23	project	project	NOUN
fumecheng-99	155	24	tr	tr	VERB
fumecheng-99	155	25	35049	35049	NUM
fumecheng-99	155	26	,	,	PUNCT
fumecheng-99	155	27	faculty	faculty	NOUN
fumecheng-99	155	28	of	of	ADP
fumecheng-99	155	29	mechanical	mechanical	ADJ
fumecheng-99	155	30	engineering	engineering	NOUN
fumecheng-99	155	31	.	.	PUNCT
fumecheng-99	156	1	the	the	DET
fumecheng-99	156	2	paper	paper	NOUN
fumecheng-99	156	3	is	be	AUX
fumecheng-99	156	4	also	also	ADV
fumecheng-99	156	5	a	a	DET
fumecheng-99	156	6	part	part	NOUN
fumecheng-99	156	7	of	of	ADP
fumecheng-99	156	8	the	the	DET
fumecheng-99	156	9	doctoral	doctoral	ADJ
fumecheng-99	156	10	studies	study	NOUN
fumecheng-99	156	11	of	of	ADP
fumecheng-99	156	12	the	the	DET
fumecheng-99	156	13	first	first	ADJ
fumecheng-99	156	14	author	author	NOUN
fumecheng-99	156	15	.	.	PUNCT
fumecheng-99	157	1	the	the	DET
fumecheng-99	157	2	authors	author	NOUN
fumecheng-99	157	3	would	would	AUX
fumecheng-99	157	4	like	like	VERB
fumecheng-99	157	5	to	to	PART
fumecheng-99	157	6	thank	thank	VERB
fumecheng-99	157	7	the	the	DET
fumecheng-99	157	8	ministry	ministry	PROPN
fumecheng-99	157	9	of	of	ADP
fumecheng-99	157	10	education	education	PROPN
fumecheng-99	157	11	and	and	CCONJ
fumecheng-99	157	12	science	science	NOUN
fumecheng-99	157	13	of	of	ADP
fumecheng-99	157	14	the	the	DET
fumecheng-99	157	15	republic	republic	NOUN
fumecheng-99	157	16	of	of	ADP
fumecheng-99	157	17	serbia	serbia	PROPN
fumecheng-99	157	18	.	.	PUNCT
fumecheng-99	158	1	references	reference	NOUN
fumecheng-99	158	2	1	1	NUM
fumecheng-99	158	3	.	.	PUNCT
fumecheng-99	158	4	radić	radić	NOUN
fumecheng-99	158	5	,	,	PUNCT
fumecheng-99	158	6	m.	m.	NOUN
fumecheng-99	158	7	,	,	PUNCT
fumecheng-99	158	8	marinković	marinković	PROPN
fumecheng-99	158	9	,	,	PUNCT
fumecheng-99	158	10	z.	z.	PROPN
fumecheng-99	158	11	,	,	PUNCT
fumecheng-99	158	12	jovanović	jovanović	PROPN
fumecheng-99	158	13	,	,	PUNCT
fumecheng-99	158	14	m.	m.	NOUN
fumecheng-99	158	15	,	,	PUNCT
fumecheng-99	158	16	2002	2002	NUM
fumecheng-99	158	17	,	,	PUNCT
fumecheng-99	158	18	dynamics	dynamic	NOUN
fumecheng-99	158	19	and	and	CCONJ
fumecheng-99	158	20	optimization	optimization	NOUN
fumecheng-99	158	21	of	of	ADP
fumecheng-99	158	22	cranes	crane	NOUN
fumecheng-99	158	23	,	,	PUNCT
fumecheng-99	158	24	university	university	NOUN
fumecheng-99	158	25	of	of	ADP
fumecheng-99	158	26	niš	niš	PROPN
fumecheng-99	158	27	,	,	PUNCT
fumecheng-99	158	28	faculty	faculty	NOUN
fumecheng-99	158	29	of	of	ADP
fumecheng-99	158	30	mechanical	mechanical	ADJ
fumecheng-99	158	31	engineering	engineering	NOUN
fumecheng-99	158	32	,	,	PUNCT
fumecheng-99	158	33	scientific	scientific	ADJ
fumecheng-99	158	34	monograph	monograph	NOUN
fumecheng-99	158	35	,	,	PUNCT
fumecheng-99	158	36	niš	niš	INTJ
fumecheng-99	158	37	(	(	PUNCT
fumecheng-99	158	38	in	in	ADP
fumecheng-99	158	39	serbian	serbian	ADJ
fumecheng-99	158	40	)	)	PUNCT
fumecheng-99	158	41	2	2	NUM
fumecheng-99	158	42	.	.	X
fumecheng-99	158	43	jain	jain	PROPN
fumecheng-99	158	44	,	,	PUNCT
fumecheng-99	158	45	a.	a.	PROPN
fumecheng-99	158	46	,	,	PUNCT
fumecheng-99	158	47	issac	issac	NOUN
fumecheng-99	158	48	,	,	PUNCT
fumecheng-99	158	49	k.k	k.k	PROPN
fumecheng-99	158	50	.	.	PROPN
fumecheng-99	158	51	,	,	PUNCT
fumecheng-99	158	52	2003	2003	NUM
fumecheng-99	158	53	,	,	PUNCT
fumecheng-99	158	54	optimal	optimal	ADJ
fumecheng-99	158	55	design	design	NOUN
fumecheng-99	158	56	of	of	ADP
fumecheng-99	158	57	front	front	ADJ
fumecheng-99	158	58	end	end	NOUN
fumecheng-99	158	59	loader	loader	NOUN
fumecheng-99	158	60	attachment	attachment	NOUN
fumecheng-99	158	61	for	for	ADP
fumecheng-99	158	62	tractors	tractor	NOUN
fumecheng-99	158	63	,	,	PUNCT
fumecheng-99	158	64	proc	proc	NOUN
fumecheng-99	158	65	.	.	PUNCT
fumecheng-99	159	1	eleventh	eleventh	PROPN
fumecheng-99	159	2	national	national	ADJ
fumecheng-99	159	3	conference	conference	NOUN
fumecheng-99	159	4	on	on	ADP
fumecheng-99	159	5	machines	machine	NOUN
fumecheng-99	159	6	and	and	CCONJ
fumecheng-99	159	7	mechanisms	mechanism	NOUN
fumecheng-99	159	8	nacomm	nacomm	NOUN
fumecheng-99	159	9	2003	2003	NUM
fumecheng-99	159	10	,	,	PUNCT
fumecheng-99	159	11	indian	indian	PROPN
fumecheng-99	159	12	institute	institute	PROPN
fumecheng-99	159	13	of	of	ADP
fumecheng-99	159	14	technology	technology	PROPN
fumecheng-99	159	15	delhi	delhi	PROPN
fumecheng-99	159	16	,	,	PUNCT
fumecheng-99	159	17	new	new	ADJ
fumecheng-99	159	18	delhi	delhi	PROPN
fumecheng-99	159	19	.	.	PUNCT
fumecheng-99	160	1	3	3	X
fumecheng-99	160	2	.	.	X
fumecheng-99	160	3	i̇pek	i̇pek	PROPN
fumecheng-99	160	4	,	,	PUNCT
fumecheng-99	160	5	l.	l.	PROPN
fumecheng-99	160	6	,	,	PUNCT
fumecheng-99	160	7	2006	2006	NUM
fumecheng-99	160	8	,	,	PUNCT
fumecheng-99	160	9	optimization	optimization	NOUN
fumecheng-99	160	10	of	of	ADP
fumecheng-99	160	11	backhoe	backhoe	NOUN
fumecheng-99	160	12	-	-	PUNCT
fumecheng-99	160	13	loader	loader	NOUN
fumecheng-99	160	14	mechanisms	mechanism	NOUN
fumecheng-99	160	15	,	,	PUNCT
fumecheng-99	160	16	master	master	NOUN
fumecheng-99	160	17	thesis	thesis	NOUN
fumecheng-99	160	18	,	,	PUNCT
fumecheng-99	160	19	middle	middle	PROPN
fumecheng-99	160	20	east	east	PROPN
fumecheng-99	160	21	technical	technical	PROPN
fumecheng-99	160	22	university	university	PROPN
fumecheng-99	160	23	,	,	PUNCT
fumecheng-99	160	24	turkey	turkey	PROPN
fumecheng-99	160	25	,	,	PUNCT
fumecheng-99	160	26	71	71	NUM
fumecheng-99	160	27	pp	pp	NOUN
fumecheng-99	160	28	.	.	PUNCT
fumecheng-99	161	1	4	4	X
fumecheng-99	161	2	.	.	X
fumecheng-99	161	3	zhang	zhang	PROPN
fumecheng-99	161	4	,	,	PUNCT
fumecheng-99	161	5	r.	r.	PROPN
fumecheng-99	161	6	,	,	PUNCT
fumecheng-99	161	7	qi	qi	PROPN
fumecheng-99	161	8	,	,	PUNCT
fumecheng-99	161	9	j.	j.	PROPN
fumecheng-99	161	10	,	,	PUNCT
fumecheng-99	161	11	cai	cai	PROPN
fumecheng-99	161	12	,	,	PUNCT
fumecheng-99	161	13	y.	y.	PROPN
fumecheng-99	161	14	,	,	PUNCT
fumecheng-99	161	15	2007	2007	NUM
fumecheng-99	161	16	,	,	PUNCT
fumecheng-99	161	17	optimum	optimum	ADJ
fumecheng-99	161	18	design	design	NOUN
fumecheng-99	161	19	of	of	ADP
fumecheng-99	161	20	the	the	DET
fumecheng-99	161	21	working	work	VERB
fumecheng-99	161	22	mechanism	mechanism	NOUN
fumecheng-99	161	23	of	of	ADP
fumecheng-99	161	24	loader	loader	NOUN
fumecheng-99	161	25	with	with	ADP
fumecheng-99	161	26	ant	ant	ADJ
fumecheng-99	161	27	colony	colony	NOUN
fumecheng-99	161	28	algorithm	algorithm	NOUN
fumecheng-99	161	29	(	(	PUNCT
fumecheng-99	161	30	aca	aca	PROPN
fumecheng-99	161	31	)	)	PUNCT
fumecheng-99	161	32	,	,	PUNCT
fumecheng-99	161	33	proc	proc	NOUN
fumecheng-99	161	34	.	.	PUNCT
fumecheng-99	162	1	fourth	fourth	ADJ
fumecheng-99	162	2	international	international	ADJ
fumecheng-99	162	3	conference	conference	NOUN
fumecheng-99	162	4	on	on	ADP
fumecheng-99	162	5	mechatronics	mechatronic	NOUN
fumecheng-99	162	6	and	and	CCONJ
fumecheng-99	162	7	automation	automation	NOUN
fumecheng-99	162	8	icma	icma	PROPN
fumecheng-99	162	9	2007	2007	NUM
fumecheng-99	162	10	,	,	PUNCT
fumecheng-99	162	11	harbin	harbin	PROPN
fumecheng-99	162	12	,	,	PUNCT
fumecheng-99	162	13	china	china	PROPN
fumecheng-99	162	14	,	,	PUNCT
fumecheng-99	162	15	pp	pp	PROPN
fumecheng-99	162	16	3066	3066	NUM
fumecheng-99	162	17	–	–	PUNCT
fumecheng-99	162	18	3070	3070	NUM
fumecheng-99	162	19	.	.	PUNCT
fumecheng-99	163	1	5	5	NUM
fumecheng-99	163	2	.	.	X
fumecheng-99	163	3	cao	cao	PROPN
fumecheng-99	163	4	,	,	PUNCT
fumecheng-99	163	5	x.	x.	NOUN
fumecheng-99	163	6	,	,	PUNCT
fumecheng-99	163	7	cleghorn	cleghorn	ADJ
fumecheng-99	163	8	,	,	PUNCT
fumecheng-99	163	9	w.	w.	NOUN
fumecheng-99	163	10	,	,	PUNCT
fumecheng-99	163	11	2011	2011	NUM
fumecheng-99	163	12	,	,	PUNCT
fumecheng-99	163	13	parametric	parametric	ADJ
fumecheng-99	163	14	optimization	optimization	NOUN
fumecheng-99	163	15	of	of	ADP
fumecheng-99	163	16	eight	eight	NUM
fumecheng-99	163	17	-	-	PUNCT
fumecheng-99	163	18	bar	bar	NOUN
fumecheng-99	163	19	mechanism	mechanism	NOUN
fumecheng-99	163	20	of	of	ADP
fumecheng-99	163	21	a	a	DET
fumecheng-99	163	22	wheel	wheel	NOUN
fumecheng-99	163	23	loader	loader	NOUN
fumecheng-99	163	24	based	base	VERB
fumecheng-99	163	25	on	on	ADP
fumecheng-99	163	26	simulation	simulation	NOUN
fumecheng-99	163	27	,	,	PUNCT
fumecheng-99	163	28	information	information	NOUN
fumecheng-99	163	29	technology	technology	NOUN
fumecheng-99	163	30	journal	journal	NOUN
fumecheng-99	163	31	10(9	10(9	NUM
fumecheng-99	163	32	)	)	PUNCT
fumecheng-99	163	33	,	,	PUNCT
fumecheng-99	163	34	pp	pp	PROPN
fumecheng-99	163	35	.	.	PUNCT
fumecheng-99	164	1	1801	1801	NUM
fumecheng-99	164	2	-	-	SYM
fumecheng-99	164	3	1808	1808	NUM
fumecheng-99	164	4	.	.	PUNCT
fumecheng-99	165	1	6	6	X
fumecheng-99	165	2	.	.	X
fumecheng-99	165	3	papazov	papazov	PROPN
fumecheng-99	165	4	,	,	PUNCT
fumecheng-99	165	5	p.	p.	PROPN
fumecheng-99	165	6	s.	s.	PROPN
fumecheng-99	165	7	,	,	PUNCT
fumecheng-99	165	8	1975	1975	NUM
fumecheng-99	165	9	,	,	PUNCT
fumecheng-99	165	10	optimal	optimal	ADJ
fumecheng-99	165	11	design	design	NOUN
fumecheng-99	165	12	of	of	ADP
fumecheng-99	165	13	electromagnetic	electromagnetic	ADJ
fumecheng-99	165	14	systems	system	NOUN
fumecheng-99	165	15	,	,	PUNCT
fumecheng-99	165	16	tehnika	tehnika	X
fumecheng-99	165	17	,	,	PUNCT
fumecheng-99	165	18	sofia	sofia	NOUN
fumecheng-99	165	19	.	.	PUNCT
fumecheng-99	166	1	7	7	X
fumecheng-99	166	2	.	.	X
fumecheng-99	166	3	vujčić	vujčić	NOUN
fumecheng-99	166	4	,	,	PUNCT
fumecheng-99	166	5	v.	v.	PROPN
fumecheng-99	166	6	,	,	PUNCT
fumecheng-99	166	7	ašić	ašić	PROPN
fumecheng-99	166	8	,	,	PUNCT
fumecheng-99	166	9	m.	m.	NOUN
fumecheng-99	166	10	,	,	PUNCT
fumecheng-99	166	11	miličić	miličić	NOUN
fumecheng-99	166	12	,	,	PUNCT
fumecheng-99	166	13	n.	n.	NOUN
fumecheng-99	166	14	,	,	PUNCT
fumecheng-99	166	15	1980	1980	NUM
fumecheng-99	166	16	,	,	PUNCT
fumecheng-99	166	17	matematičko	matematičko	NOUN
fumecheng-99	166	18	programiranje	programiranje	PROPN
fumecheng-99	166	19	,	,	PUNCT
fumecheng-99	166	20	matematical	matematical	PROPN
fumecheng-99	166	21	institute	institute	PROPN
fumecheng-99	166	22	,	,	PUNCT
fumecheng-99	166	23	university	university	PROPN
fumecheng-99	166	24	of	of	ADP
fumecheng-99	166	25	belgrade	belgrade	PROPN
fumecheng-99	166	26	.	.	PROPN
fumecheng-99	167	1	8	8	NUM
fumecheng-99	167	2	.	.	X
fumecheng-99	167	3	yu	yu	PROPN
fumecheng-99	167	4	,	,	PUNCT
fumecheng-99	167	5	y.	y.	PROPN
fumecheng-99	167	6	,	,	PUNCT
fumecheng-99	167	7	lianguan	lianguan	PROPN
fumecheng-99	167	8	,	,	PUNCT
fumecheng-99	167	9	s.	s.	PROPN
fumecheng-99	167	10	,	,	PUNCT
fumecheng-99	167	11	mujun	mujun	PROPN
fumecheng-99	167	12	,	,	PUNCT
fumecheng-99	167	13	l.	l.	PROPN
fumecheng-99	167	14	,	,	PUNCT
fumecheng-99	167	15	2010	2010	NUM
fumecheng-99	167	16	,	,	PUNCT
fumecheng-99	167	17	optimum	optimum	ADJ
fumecheng-99	167	18	design	design	NOUN
fumecheng-99	167	19	of	of	ADP
fumecheng-99	167	20	working	work	VERB
fumecheng-99	167	21	device	device	NOUN
fumecheng-99	167	22	of	of	ADP
fumecheng-99	167	23	wheel	wheel	NOUN
fumecheng-99	167	24	loader	loader	NOUN
fumecheng-99	167	25	,	,	PUNCT
fumecheng-99	167	26	proc	proc	NOUN
fumecheng-99	167	27	.	.	PUNCT
fumecheng-99	168	1	first	first	PROPN
fumecheng-99	168	2	international	international	ADJ
fumecheng-99	168	3	conference	conference	NOUN
fumecheng-99	168	4	mechanic	mechanic	ADJ
fumecheng-99	168	5	automation	automation	NOUN
fumecheng-99	168	6	and	and	CCONJ
fumecheng-99	168	7	control	control	NOUN
fumecheng-99	168	8	engineering	engineering	NOUN
fumecheng-99	168	9	mace	mace	NOUN
fumecheng-99	168	10	2010	2010	NUM
fumecheng-99	168	11	,	,	PUNCT
fumecheng-99	168	12	wuhan	wuhan	PROPN
fumecheng-99	168	13	,	,	PUNCT
fumecheng-99	168	14	china	china	PROPN
fumecheng-99	168	15	.	.	PUNCT
fumecheng-99	169	1	9	9	X
fumecheng-99	169	2	.	.	X
fumecheng-99	169	3	xiuhua	xiuhua	PROPN
fumecheng-99	169	4	,	,	PUNCT
fumecheng-99	169	5	g.	g.	PROPN
fumecheng-99	169	6	,	,	PUNCT
fumecheng-99	169	7	yunchao	yunchao	PROPN
fumecheng-99	169	8	,	,	PUNCT
fumecheng-99	169	9	w.	w.	PROPN
fumecheng-99	169	10	,	,	PUNCT
fumecheng-99	169	11	erzhong	erzhong	PROPN
fumecheng-99	169	12	,	,	PUNCT
fumecheng-99	169	13	a.	a.	NOUN
fumecheng-99	169	14	,	,	PUNCT
fumecheng-99	169	15	jiawei	jiawei	PROPN
fumecheng-99	169	16	,	,	PUNCT
fumecheng-99	169	17	h.	h.	PROPN
fumecheng-99	169	18	,	,	PUNCT
fumecheng-99	169	19	2007	2007	NUM
fumecheng-99	169	20	,	,	PUNCT
fumecheng-99	169	21	optimization	optimization	NOUN
fumecheng-99	169	22	of	of	ADP
fumecheng-99	169	23	the	the	DET
fumecheng-99	169	24	working	work	VERB
fumecheng-99	169	25	device	device	NOUN
fumecheng-99	169	26	of	of	ADP
fumecheng-99	169	27	loader	loader	NOUN
fumecheng-99	169	28	based	base	VERB
fumecheng-99	169	29	on	on	ADP
fumecheng-99	169	30	adams	adams	PROPN
fumecheng-99	169	31	,	,	PUNCT
fumecheng-99	169	32	computer	computer	NOUN
fumecheng-99	169	33	simulation	simulation	NOUN
fumecheng-99	169	34	journal	journal	PROPN
fumecheng-99	169	35	,	,	PUNCT
fumecheng-99	169	36	1(1	1(1	NUM
fumecheng-99	169	37	)	)	PUNCT
fumecheng-99	169	38	.	.	PUNCT
fumecheng-99	170	1	10	10	NUM
fumecheng-99	170	2	.	.	X
fumecheng-99	171	1	zhang	zhang	PROPN
fumecheng-99	171	2	,	,	PUNCT
fumecheng-99	171	3	r.	r.	PROPN
fumecheng-99	171	4	,	,	PUNCT
fumecheng-99	171	5	qi	qi	PROPN
fumecheng-99	171	6	,	,	PUNCT
fumecheng-99	171	7	j.	j.	PROPN
fumecheng-99	171	8	,	,	PUNCT
fumecheng-99	171	9	cai	cai	PROPN
fumecheng-99	171	10	,	,	PUNCT
fumecheng-99	171	11	y.	y.	PROPN
fumecheng-99	171	12	,	,	PUNCT
fumecheng-99	171	13	2008	2008	NUM
fumecheng-99	171	14	,	,	PUNCT
fumecheng-99	171	15	intelligent	intelligent	ADJ
fumecheng-99	171	16	optimum	optimum	ADJ
fumecheng-99	171	17	design	design	NOUN
fumecheng-99	171	18	of	of	ADP
fumecheng-99	171	19	the	the	DET
fumecheng-99	171	20	working	work	VERB
fumecheng-99	171	21	mechanism	mechanism	NOUN
fumecheng-99	171	22	of	of	ADP
fumecheng-99	171	23	loader	loader	NOUN
fumecheng-99	171	24	,	,	PUNCT
fumecheng-99	171	25	proc	proc	NOUN
fumecheng-99	171	26	.	.	PUNCT
fumecheng-99	172	1	seventh	seventh	ADJ
fumecheng-99	172	2	world	world	PROPN
fumecheng-99	172	3	congress	congress	PROPN
fumecheng-99	172	4	on	on	ADP
fumecheng-99	172	5	intelligent	intelligent	ADJ
fumecheng-99	172	6	control	control	NOUN
fumecheng-99	172	7	and	and	CCONJ
fumecheng-99	172	8	automation	automation	NOUN
fumecheng-99	172	9	wcica	wcica	PROPN
fumecheng-99	172	10	2008	2008	NUM
fumecheng-99	172	11	,	,	PUNCT
fumecheng-99	172	12	chongqing	chongqing	PROPN
fumecheng-99	172	13	,	,	PUNCT
fumecheng-99	172	14	china	china	PROPN
fumecheng-99	172	15	.	.	PUNCT
fumecheng-99	173	1	11	11	NUM
fumecheng-99	173	2	.	.	PUNCT
fumecheng-99	174	1	komatsu	komatsu	PROPN
fumecheng-99	174	2	wa320	wa320	PROPN
fumecheng-99	174	3	,	,	PUNCT
fumecheng-99	174	4	http://www.komatsu.com/ce/products/pdfs/wa320-5.pdf	http://www.komatsu.com/ce/products/pdfs/wa320-5.pdf	NOUN
fumecheng-99	174	5	,	,	PUNCT
fumecheng-99	174	6	(	(	PUNCT
fumecheng-99	174	7	accessed	access	VERB
fumecheng-99	174	8	january	january	PROPN
fumecheng-99	174	9	25	25	NUM
fumecheng-99	174	10	,	,	PUNCT
fumecheng-99	174	11	2014	2014	NUM
fumecheng-99	174	12	)	)	PUNCT
fumecheng-99	174	13	.	.	PUNCT
fumecheng-99	175	1	12	12	NUM
fumecheng-99	175	2	.	.	PUNCT
fumecheng-99	176	1	arora	arora	PROPN
fumecheng-99	176	2	,	,	PUNCT
fumecheng-99	176	3	s.	s.	PROPN
fumecheng-99	176	4	j.	j.	PROPN
fumecheng-99	176	5	,	,	PUNCT
fumecheng-99	176	6	2007	2007	NUM
fumecheng-99	176	7	,	,	PUNCT
fumecheng-99	176	8	optimization	optimization	NOUN
fumecheng-99	176	9	of	of	ADP
fumecheng-99	176	10	structural	structural	ADJ
fumecheng-99	176	11	and	and	CCONJ
fumecheng-99	176	12	mechanical	mechanical	ADJ
fumecheng-99	176	13	systems	system	NOUN
fumecheng-99	176	14	,	,	PUNCT
fumecheng-99	176	15	university	university	NOUN
fumecheng-99	176	16	of	of	ADP
fumecheng-99	176	17	iowa	iowa	PROPN
fumecheng-99	176	18	,	,	PUNCT
fumecheng-99	176	19	iowa	iowa	PROPN
fumecheng-99	176	20	,	,	PUNCT
fumecheng-99	176	21	595	595	NUM
fumecheng-99	176	22	pp	pp	NOUN
fumecheng-99	176	23	.	.	PUNCT
fumecheng-99	177	1	13	13	NUM
fumecheng-99	177	2	.	.	X
fumecheng-99	177	3	venkataraman	venkataraman	PROPN
fumecheng-99	177	4	,	,	PUNCT
fumecheng-99	177	5	p.	p.	NOUN
fumecheng-99	177	6	,	,	PUNCT
fumecheng-99	177	7	2009	2009	NUM
fumecheng-99	177	8	,	,	PUNCT
fumecheng-99	177	9	applied	apply	VERB
fumecheng-99	177	10	optimization	optimization	NOUN
fumecheng-99	177	11	with	with	ADP
fumecheng-99	177	12	matlab	matlab	PROPN
fumecheng-99	177	13	programming	programming	PROPN
fumecheng-99	177	14	,	,	PUNCT
fumecheng-99	177	15	wiley	wiley	PROPN
fumecheng-99	177	16	,	,	PUNCT
fumecheng-99	177	17	544	544	NUM
fumecheng-99	177	18	pp	pp	NOUN
fumecheng-99	177	19	.	.	PUNCT
fumecheng-99	178	1	optimalna	optimalna	PROPN
fumecheng-99	178	2	sinteza	sinteza	PROPN
fumecheng-99	178	3	manipulatora	manipulatora	PROPN
fumecheng-99	178	4	koristeći	koristeći	PROPN
fumecheng-99	178	5	dve	dve	PROPN
fumecheng-99	178	6	uporedne	uporedne	PROPN
fumecheng-99	178	7	metode	metode	PROPN
fumecheng-99	178	8	u	u	PROPN
fumecheng-99	178	9	radu	radu	PROPN
fumecheng-99	178	10	je	je	PROPN
fumecheng-99	178	11	data	data	PROPN
fumecheng-99	178	12	programska	programska	PROPN
fumecheng-99	178	13	realizacija	realizacija	PROPN
fumecheng-99	178	14	za	za	PROPN
fumecheng-99	178	15	traženje	traženje	PROPN
fumecheng-99	178	16	optimalne	optimalne	NOUN
fumecheng-99	178	17	geometrije	geometrije	PROPN
fumecheng-99	178	18	ravanskog	ravanskog	PROPN
fumecheng-99	178	19	zmehanizma	zmehanizma	PROPN
fumecheng-99	178	20	.	.	PUNCT
fumecheng-99	179	1	rad	rad	PROPN
fumecheng-99	179	2	pokazuje	pokazuje	PROPN
fumecheng-99	179	3	matematičku	matematičku	PROPN
fumecheng-99	179	4	proceduru	proceduru	ADJ
fumecheng-99	179	5	definisanja	definisanja	ADJ
fumecheng-99	179	6	funkcije	funkcije	NOUN
fumecheng-99	179	7	cilja	cilja	NOUN
fumecheng-99	179	8	,	,	PUNCT
fumecheng-99	179	9	funkcija	funkcija	NOUN
fumecheng-99	179	10	ograničenja	ograničenja	NOUN
fumecheng-99	179	11	,	,	PUNCT
fumecheng-99	179	12	oblasti	oblasti	PROPN
fumecheng-99	179	13	pretraživanja	pretraživanja	PROPN
fumecheng-99	179	14	kojima	kojima	PROPN
fumecheng-99	179	15	se	se	PROPN
fumecheng-99	179	16	rešava	rešava	PROPN
fumecheng-99	179	17	zadatak	zadatak	PROPN
fumecheng-99	179	18	optimizacije	optimizacije	PROPN
fumecheng-99	179	19	.	.	PUNCT
fumecheng-99	180	1	polazeći	polazeći	PROPN
fumecheng-99	180	2	od	od	PROPN
fumecheng-99	180	3	rešenja	rešenja	PROPN
fumecheng-99	180	4	u	u	PROPN
fumecheng-99	180	5	praksi	praksi	NOUN
fumecheng-99	180	6	,	,	PUNCT
fumecheng-99	180	7	dat	dat	PROPN
fumecheng-99	180	8	je	je	PROPN
fumecheng-99	180	9	numerički	numerički	PROPN
fumecheng-99	180	10	primer	primer	PROPN
fumecheng-99	180	11	određivanja	određivanja	PROPN
fumecheng-99	180	12	optimalnog	optimalnog	PROPN
fumecheng-99	180	13	dizajna	dizajna	PROPN
fumecheng-99	180	14	sa	sa	PROPN
fumecheng-99	180	15	četiri	četiri	PROPN
fumecheng-99	180	16	parametra	parametra	PROPN
fumecheng-99	180	17	optimizacije	optimizacije	PROPN
fumecheng-99	180	18	.	.	PUNCT
fumecheng-99	181	1	svi	svi	PROPN
fumecheng-99	181	2	parametri	parametri	PROPN
fumecheng-99	181	3	optimizacije	optimizacije	PROPN
fumecheng-99	181	4	su	su	PROPN
fumecheng-99	181	5	geometrijski	geometrijski	PROPN
fumecheng-99	181	6	na	na	ADP
fumecheng-99	181	7	mehanizmu	mehanizmu	PROPN
fumecheng-99	181	8	za	za	PROPN
fumecheng-99	181	9	određivanje	određivanje	PROPN
fumecheng-99	181	10	nagiba	nagiba	PROPN
fumecheng-99	181	11	kašike	kašike	PROPN
fumecheng-99	181	12	.	.	PUNCT
fumecheng-99	182	1	zadatak	zadatak	PROPN
fumecheng-99	182	2	je	je	PROPN
fumecheng-99	182	3	rešavan	rešavan	PROPN
fumecheng-99	182	4	dvema	dvema	NOUN
fumecheng-99	182	5	različitim	različitim	NOUN
fumecheng-99	182	6	,	,	PUNCT
fumecheng-99	182	7	numerički	numerički	ADJ
fumecheng-99	182	8	metodama	metodama	PROPN
fumecheng-99	182	9	metodom	metodom	ADV
fumecheng-99	182	10	formalnog	formalnog	VERB
fumecheng-99	182	11	pretraživanja	pretraživanja	ADJ
fumecheng-99	182	12	hiperprostora	hiperprostora	PROPN
fumecheng-99	182	13	(	(	PUNCT
fumecheng-99	182	14	metoda	metoda	PROPN
fumecheng-99	182	15	pasivnog	pasivnog	PROPN
fumecheng-99	182	16	skeniranja	skeniranja	PROPN
fumecheng-99	182	17	)	)	PUNCT
fumecheng-99	183	1	i	i	PRON
fumecheng-99	183	2	aproksimativnom	aproksimativnom	NOUN
fumecheng-99	183	3	metodom	metodom	PROPN
fumecheng-99	183	4	kvadratnog	kvadratnog	VERB
fumecheng-99	183	5	sekvencijalnog	sekvencijalnog	ADJ
fumecheng-99	183	6	programiranja	programiranja	PROPN
fumecheng-99	183	7	–	–	PUNCT
fumecheng-99	183	8	sqp	sqp	PROPN
fumecheng-99	183	9	(	(	PUNCT
fumecheng-99	183	10	primenom	primenom	PROPN
fumecheng-99	183	11	fminmax	fminmax	NOUN
fumecheng-99	183	12	funkcije	funkcije	NOUN
fumecheng-99	184	1	iz	iz	ADP
fumecheng-99	184	2	matlabovog	matlabovog	ADJ
fumecheng-99	184	3	optimizacionog	optimizacionog	PROPN
fumecheng-99	184	4	toolbox	toolbox	NOUN
fumecheng-99	184	5	-	-	PUNCT
fumecheng-99	184	6	a	a	NOUN
fumecheng-99	184	7	)	)	PUNCT
fumecheng-99	184	8	.	.	PUNCT
fumecheng-99	185	1	verifikacija	verifikacija	PROPN
fumecheng-99	185	2	rešenja	rešenja	PROPN
fumecheng-99	185	3	je	je	PROPN
fumecheng-99	185	4	vršena	vršena	PROPN
fumecheng-99	185	5	animacijom	animacijom	PROPN
fumecheng-99	185	6	u	u	PROPN
fumecheng-99	185	7	programu	programu	PROPN
fumecheng-99	185	8	za	za	PROPN
fumecheng-99	185	9	geometrijsko	geometrijsko	PROPN
fumecheng-99	185	10	modeliranje	modeliranje	NOUN
fumecheng-99	185	11	.	.	PUNCT
fumecheng-99	186	1	rezultati	rezultati	PROPN
fumecheng-99	186	2	su	su	PROPN
fumecheng-99	186	3	grafički	grafički	PROPN
fumecheng-99	186	4	ilustrovani	ilustrovani	PROPN
fumecheng-99	186	5	.	.	PUNCT
fumecheng-99	187	1	ključne	ključne	PROPN
fumecheng-99	187	2	reči	reči	NOUN
fumecheng-99	187	3	:	:	PUNCT
fumecheng-99	187	4	pasivno	pasivno	NOUN
fumecheng-99	187	5	traženje	traženje	NOUN
fumecheng-99	187	6	,	,	PUNCT
fumecheng-99	187	7	z	z	PROPN
fumecheng-99	187	8	mehanizam	mehanizam	PROPN
fumecheng-99	187	9	,	,	PUNCT
fumecheng-99	187	10	utovarivač	utovarivač	PROPN
fumecheng-99	187	11	,	,	PUNCT
fumecheng-99	187	12	rudarska	rudarska	NOUN
fumecheng-99	187	13	mašina	mašina	PROPN
fumecheng-99	187	14	,	,	PUNCT
fumecheng-99	187	15	optimizacija	optimizacija	ADJ
fumecheng-99	187	16	mehanizma	mehanizma	PROPN
fumecheng-99	187	17	,	,	PUNCT
fumecheng-99	187	18	numeričko	numeričko	ADJ
fumecheng-99	187	19	rešavanje	rešavanje	PROPN
fumecheng-99	187	20	,	,	PUNCT
fumecheng-99	187	21	sqp	sqp	PROPN
fumecheng-99	187	22	file:///h:/doktorske%20studije	file:///h:/doktorske%20studije	PROPN
fumecheng-99	187	23	/	/	SYM
fumecheng-99	187	24	i%20godina/50668823	i%20godina/50668823	ADJ
fumecheng-99	187	25	/	/	SYM
fumecheng-99	187	26	intelligent	intelligent	ADJ
fumecheng-99	187	27	-	-	PUNCT
fumecheng-99	187	28	optimum	optimum	ADJ
fumecheng-99	187	29	-	-	PUNCT
fumecheng-99	187	30	design	design	NOUN
fumecheng-99	187	31	-	-	PUNCT
fumecheng-99	187	32	of	of	ADP
fumecheng-99	187	33	-	-	PUNCT
fumecheng-99	187	34	the	the	DET
fumecheng-99	187	35	-	-	PUNCT
fumecheng-99	187	36	working	work	VERB
fumecheng-99	187	37	-	-	PUNCT
fumecheng-99	187	38	mechanism	mechanism	NOUN
fumecheng-99	187	39	-	-	PUNCT
fumecheng-99	187	40	of	of	ADP
fumecheng-99	187	41	-	-	PUNCT
fumecheng-99	187	42	loader	loader	NOUN
fumecheng-99	187	43	http://www.komatsu.com/ce/products/pdfs/wa320-5.pdf	http://www.komatsu.com/ce/products/pdfs/wa320-5.pdf	NOUN