id	sid	eid	entity	type
fcis-12979	1	1	2832-6024	DATE
fcis-12979	2	1	5	CARDINAL
fcis-12979	2	2	2	CARDINAL
fcis-12979	3	1	2023 90	DATE
fcis-12979	3	2	uav	ORG
fcis-12979	3	3	li 1	PERSON
fcis-12979	3	4	gongquan tan 1	PERSON
fcis-12979	3	5	2	DATE
fcis-12979	3	6	1	CARDINAL
fcis-12979	3	7	sichuan university of science & engineering	ORG
fcis-12979	3	8	zigong,	GPE
fcis-12979	3	9	2	CARDINAL
fcis-12979	3	10	sichuan province	GPE
fcis-12979	3	11	yibin	GPE
fcis-12979	3	12	china	GPE
fcis-12979	3	13	gongquan tan	PERSON
fcis-12979	3	14	uav	ORG
fcis-12979	4	1	firstly	ORDINAL
fcis-12979	4	2	uav	ORG
fcis-12979	5	1	uav	PRODUCT
fcis-12979	6	1	uav	ORG
fcis-12979	7	1	1	CARDINAL
fcis-12979	7	2	recent years	DATE
fcis-12979	8	1	1-4	CARDINAL
fcis-12979	9	1	uav	ORG
fcis-12979	9	2	uav	PRODUCT
fcis-12979	10	1	kara	PERSON
fcis-12979	11	1	5	CARDINAL
fcis-12979	11	2	linear	ORG
fcis-12979	11	3	pidsmc	NORP
fcis-12979	12	1	6	CARDINAL
fcis-12979	13	1	mei wu	PERSON
fcis-12979	16	1	adrc	PERSON
fcis-12979	17	1	x. y. qiao	PERSON
fcis-12979	19	1	yang	PERSON
fcis-12979	20	1	9	CARDINAL
fcis-12979	21	1	liu	PERSON
fcis-12979	21	2	chen	PERSON
fcis-12979	22	1	10-11	CARDINAL
fcis-12979	22	2	nlsef	WORK_OF_ART
fcis-12979	23	1	firstly	ORDINAL
fcis-12979	23	2	uav	ORG
fcis-12979	24	1	2	CARDINAL
fcis-12979	24	2	uav	ORG
fcis-12979	24	3	2.1	CARDINAL
fcis-12979	24	4	uav	ORG
fcis-12979	24	5	four	CARDINAL
fcis-12979	25	1	uav	ORG
fcis-12979	25	2	91	CARDINAL
fcis-12979	27	1	three	CARDINAL
fcis-12979	28	1	12	CARDINAL
fcis-12979	29	1	1	CARDINAL
fcis-12979	29	2	1	CARDINAL
fcis-12979	29	3	6	CARDINAL
fcis-12979	30	1	1	CARDINAL
fcis-12979	30	2	   	NORP
fcis-12979	31	1	1	CARDINAL
fcis-12979	31	2	0 1	CARDINAL
fcis-12979	33	1	2	CARDINAL
fcis-12979	33	2		DATE
fcis-12979	33	3		PERSON
fcis-12979	33	4	3	CARDINAL
fcis-12979	33	5	φ	ORG
fcis-12979	34	1	4	CARDINAL
fcis-12979	40	1	4	CARDINAL
fcis-12979	41	1	2.2	CARDINAL
fcis-12979	41	2	quadcopter	ORG
fcis-12979	41	3	uav	ORG
fcis-12979	41	4	uav	ORG
fcis-12979	42	1	13	CARDINAL
fcis-12979	42	2	1	CARDINAL
fcis-12979	42	3	2	CARDINAL
fcis-12979	42	4	3	CARDINAL
fcis-12979	42	5	4	CARDINAL
fcis-12979	44	1	uav	ORG
fcis-12979	45	1	sin cos cos sin	ORG
fcis-12979	55	1	  	ORG
fcis-12979	55	2	  	PERSON
fcis-12979	55	3	   	ORG
fcis-12979	55	4	5	CARDINAL
fcis-12979	56	1	5	CARDINAL
fcis-12979	56	2	uav	PRODUCT
fcis-12979	56	3	uav	ORG
fcis-12979	57	1	2	CARDINAL
fcis-12979	57	2	2	CARDINAL
fcis-12979	57	3	2	CARDINAL
fcis-12979	57	4	2	CARDINAL
fcis-12979	58	1	u c 	ORG
fcis-12979	58	2		GPE
fcis-12979	59	1		GPE
fcis-12979	59	2		PERSON
fcis-12979	59	3	6	CARDINAL
fcis-12979	60	1	3	CARDINAL
fcis-12979	60	2	3.1	CARDINAL
fcis-12979	62	1	han	NORP
fcis-12979	63	1	14	CARDINAL
fcis-12979	63	2	nlsef	WORK_OF_ART
fcis-12979	63	3	92	CARDINAL
fcis-12979	67	1	2	CARDINAL
fcis-12979	67	2	2	CARDINAL
fcis-12979	67	3	3.2	CARDINAL
fcis-12979	68	1	han	ORG
fcis-12979	69	1	second	ORDINAL
fcis-12979	69	2	second	ORDINAL
fcis-12979	70	1	1 2	CARDINAL
fcis-12979	71	1	2 x x	QUANTITY
fcis-12979	71	2		PERSON
fcis-12979	71	3	7	CARDINAL
fcis-12979	73	1	2	CARDINAL
fcis-12979	74	1	3.3	CARDINAL
fcis-12979	76	1	second	ORDINAL
fcis-12979	76	2	third	ORDINAL
fcis-12979	78	1	3	CARDINAL
fcis-12979	78	2	fal	PERSON
fcis-12979	80	1	        	ORG
fcis-12979	80	2	 	ORG
fcis-12979	80	3	8)	CARDINAL
fcis-12979	81	1	1	CARDINAL
fcis-12979	81	2	fal	PERSON
fcis-12979	82	1	e e e e sign e e   	ORG
fcis-12979	82	2	 	PERSON
fcis-12979	82	3		PERSON
fcis-12979	82	4	9	CARDINAL
fcis-12979	83	1	9	CARDINAL
fcis-12979	83	2	15	CARDINAL
fcis-12979	84	1	1 1 1	CARDINAL
fcis-12979	84	2	0	DATE
fcis-12979	84	3		CARDINAL
fcis-12979	84	4		ORG
fcis-12979	84	5		PERSON
fcis-12979	84	6	10	CARDINAL
fcis-12979	85	1	9	CARDINAL
fcis-12979	85	2	10	CARDINAL
fcis-12979	88	1	2 1 2 3	TIME
fcis-12979	88	2	tanhifal e k e k e k e	PERSON
fcis-12979	91	1	11	CARDINAL
fcis-12979	91	2	|e|=δ	ORG
fcis-12979	91	3	93	CARDINAL
fcis-12979	94	1		CARDINAL
fcis-12979	94	2		GPE
fcis-12979	94	3	12	CARDINAL
fcis-12979	95	1	3 1 3sin	DATE
fcis-12979	95	2	fal	PERSON
fcis-12979	95	3	k e k e e	PERSON
fcis-12979	95	4	 	PERSON
fcis-12979	95	5		PERSON
fcis-12979	95	6	13	CARDINAL
fcis-12979	95	7	3	CARDINAL
fcis-12979	97	1	3	CARDINAL
fcis-12979	97	2	4	CARDINAL
fcis-12979	98	1	5	CARDINAL
fcis-12979	98	2	uav	ORG
fcis-12979	98	3	3.4	CARDINAL
fcis-12979	98	4	three	CARDINAL
fcis-12979	100	1	5	CARDINAL
fcis-12979	100	2	four	CARDINAL
fcis-12979	100	3	four	CARDINAL
fcis-12979	101	1	4	CARDINAL
fcis-12979	101	2	1	CARDINAL
fcis-12979	102	1	three	CARDINAL
fcis-12979	102	2	1.4kg l	QUANTITY
fcis-12979	102	3	1/2	CARDINAL
fcis-12979	102	4	0.225	CARDINAL
fcis-12979	102	5	9.8	CARDINAL
fcis-12979	102	6	1.349e-2 kg.m² iy moment	QUANTITY
fcis-12979	102	7	1.349e-2 kg.m²	QUANTITY
fcis-12979	102	8	2.352e-2 kg.m²	QUANTITY
fcis-12979	102	9	n/(rad/s)² cm inverse torsion coefficient	ORG
fcis-12979	102	10	itc	ORG
fcis-12979	102	11	1.051e-7	CARDINAL
fcis-12979	102	12	94	CARDINAL
fcis-12979	102	13	uav	ORG
fcis-12979	103	1	1	CARDINAL
fcis-12979	103	2	2	CARDINAL
fcis-12979	105	1	2	CARDINAL
fcis-12979	105	2	three	CARDINAL
fcis-12979	105	3	20	CARDINAL
fcis-12979	105	4	30 30	CARDINAL
fcis-12979	105	5	300	CARDINAL
fcis-12979	105	6	300 300 β03 1000 1000 1000 α1 0.75 0.75 0.75	QUANTITY
fcis-12979	105	7	0.5 0.5 0.5	CARDINAL
fcis-12979	105	8	0.25	CARDINAL
fcis-12979	105	9	0.25 0.25	CARDINAL
fcis-12979	105	10	0.006 0.006 0.006 b0	MONEY
fcis-12979	105	11	0.06	CARDINAL
fcis-12979	105	12	0.9 102	CARDINAL
fcis-12979	105	13	2	CARDINAL
fcis-12979	105	14	200 150 180	QUANTITY
fcis-12979	105	15	120	CARDINAL
fcis-12979	105	16	0.05 0.05 0.05	MONEY
fcis-12979	105	17	1 3 3	DATE
fcis-12979	105	18	uav	ORG
fcis-12979	106	1	uav	ORG
fcis-12979	107	1	0.2	CARDINAL
fcis-12979	109	1	6	CARDINAL
fcis-12979	112	1	6	CARDINAL
fcis-12979	114	1	6(a	CARDINAL
fcis-12979	116	1	uav	ORG
fcis-12979	116	2	3 seconds	TIME
fcis-12979	117	1	uav	ORG
fcis-12979	119	1	0.2	CARDINAL
fcis-12979	123	1	7	CARDINAL
fcis-12979	124	1	uav	ORG
fcis-12979	124	2	uav	ORG
fcis-12979	125	1	5	CARDINAL
fcis-12979	125	2	uav	ORG
fcis-12979	126	1	95	CARDINAL
fcis-12979	128	1	quadrotor	ORG
fcis-12979	128	2	uav	ORG
fcis-12979	129	1	sichuan university of science & engineering	ORG
fcis-12979	130	1	1	CARDINAL
fcis-12979	130	2	l. deng	PERSON
fcis-12979	130	3	q. liu	PERSON
fcis-12979	130	4	2019 9th	DATE
fcis-12979	130	5	chengdu	GPE
fcis-12979	130	6	china	GPE
fcis-12979	130	7	2019	DATE
fcis-12979	131	1	1-5	CARDINAL
fcis-12979	132	1	2	CARDINAL
fcis-12979	132	2	s. umeda	PERSON
fcis-12979	132	3	n. yoshikawa	PERSON
fcis-12979	132	4	pp.1085010850	ORG
fcis-12979	132	5	aug. 2022	DATE
fcis-12979	133	1	3	CARDINAL
fcis-12979	133	2	h. alsulami	PERSON
fcis-12979	133	3	107870	DATE
fcis-12979	133	4	2022	CARDINAL
fcis-12979	134	1	4	CARDINAL
fcis-12979	134	2	m. j. ren	PERSON
fcis-12979	134	3	j. h	GPE
fcis-12979	134	4	uav system	PERSON
fcis-12979	134	5	optics & control	ORG
fcis-12979	135	1	88-90	PERCENT
fcis-12979	136	1	aug. 2017	DATE
fcis-12979	137	1	5	CARDINAL
fcis-12979	137	2	kara	PERSON
fcis-12979	137	3	a. h. mary	PERSON
fcis-12979	137	4	vol.6	NORP
fcis-12979	138	1	170-188	CARDINAL
fcis-12979	139	1	2018	DATE
fcis-12979	140	1	6	CARDINAL
fcis-12979	140	2	z. gang	PERSON
fcis-12979	140	3	d. efimov	PERSON
fcis-12979	141	1	170-188	CARDINAL
fcis-12979	142	1	7	CARDINAL
fcis-12979	142	2	m. wu	PERSON
fcis-12979	142	3	b. tu	PERSON
fcis-12979	142	4	y. luo	PERSON
fcis-12979	143	1	47-51	CARDINAL
fcis-12979	143	2	feb. 2018	DATE
fcis-12979	144	1	8	CARDINAL
fcis-12979	144	2	w. y. zhou	PERSON
fcis-12979	144	3	g. q. wu	PERSON
fcis-12979	145	1	38-44	DATE
fcis-12979	145	2	2022	CARDINAL
fcis-12979	146	1	9	CARDINAL
fcis-12979	146	2	w. q. yang	PERSON
fcis-12979	146	3	j. h. lu	PERSON
fcis-12979	146	4	x. jiang	PERSON
fcis-12979	146	5	3792-3799	CARDINAL
fcis-12979	146	6	2022	CARDINAL
fcis-12979	147	1	10	CARDINAL
fcis-12979	147	2	b. y. liu	PERSON
fcis-12979	147	3	m. q. li	PERSON
fcis-12979	147	4	j. w. yang	PERSON
fcis-12979	147	5	quadrotoraircraft	ORG
fcis-12979	147	6	398102	DATE
fcis-12979	148	1	11	CARDINAL
fcis-12979	148	2	z. w. chen	PERSON
fcis-12979	148	3	z. z. zhang	PERSON
fcis-12979	149	1	1901-1907	DATE
fcis-12979	149	2	mar. 2018	DATE
fcis-12979	150	1	12	CARDINAL
fcis-12979	150	2	q. quan	PERSON
fcis-12979	151	1	beijing	GPE
fcis-12979	151	2	2018	DATE
fcis-12979	151	3	89	CARDINAL
fcis-12979	152	1	13	CARDINAL
fcis-12979	152	2	h. liang	PERSON
fcis-12979	152	3	y. xu	PERSON
fcis-12979	152	4	x. yu	PERSON
fcis-12979	152	5	uav	ORG
fcis-12979	152	6	2019	CARDINAL
fcis-12979	152	7	chinese	NORP
fcis-12979	152	8	guangzhou	GPE
fcis-12979	152	9	china	GPE
fcis-12979	152	10	2019	DATE
fcis-12979	152	11	8037-8043	DATE
fcis-12979	153	1	14	CARDINAL
fcis-12979	153	2	j. q. han	PERSON
fcis-12979	154	1	19-23	CARDINAL
fcis-12979	154	2	jan. 1998	DATE
fcis-12979	155	1	15	CARDINAL
fcis-12979	155	2	s. gu	PERSON
fcis-12979	155	3	j. zhang	PERSON
fcis-12979	155	4	y. li	PERSON
fcis-12979	155	5	70	DATE
fcis-12979	155	6	2	CARDINAL
fcis-12979	156	1	921-930	CARDINAL
fcis-12979	156	2	2023	CARDINAL