id	sid	eid	entity	type
fcis-14572	1	1	2832-6024	DATE
fcis-14572	2	1	6	CARDINAL
fcis-14572	2	2	1	CARDINAL
fcis-14572	2	3	2023	CARDINAL
fcis-14572	2	4	yuanhong dan	PERSON
fcis-14572	2	5	haiyang zhong	PERSON
fcis-14572	2	6	chongqing university of technology	ORG
fcis-14572	2	7	chongqing	GPE
fcis-14572	2	8	400054	DATE
fcis-14572	2	9	china	GPE
fcis-14572	2	10	two	CARDINAL
fcis-14572	2	11	two	CARDINAL
fcis-14572	3	1	two	CARDINAL
fcis-14572	4	1	two	CARDINAL
fcis-14572	4	2	5m/s	QUANTITY
fcis-14572	5	1	two	CARDINAL
fcis-14572	6	1	1	CARDINAL
fcis-14572	7	1	two	CARDINAL
fcis-14572	8	1	two	CARDINAL
fcis-14572	8	2	two	CARDINAL
fcis-14572	9	1	2021	DATE
fcis-14572	9	2	singh	GPE
fcis-14572	10	1	1	CARDINAL
fcis-14572	11	1	two	CARDINAL
fcis-14572	12	1	cui leilei[2	PERSON
fcis-14572	12	2	2022	CARDINAL
fcis-14572	12	3	two	CARDINAL
fcis-14572	16	1	two	CARDINAL
fcis-14572	17	1	firstly	ORDINAL
fcis-14572	17	2	two	CARDINAL
fcis-14572	18	1	two	CARDINAL
fcis-14572	19	1	two	CARDINAL
fcis-14572	20	1	two	CARDINAL
fcis-14572	21	1	2	CARDINAL
fcis-14572	21	2	two	CARDINAL
fcis-14572	21	3	two	CARDINAL
fcis-14572	22	1	two	CARDINAL
fcis-14572	23	1	0m	CARDINAL
fcis-14572	24	1	3	CARDINAL
fcis-14572	26	1	5	CARDINAL
fcis-14572	27	1	two	CARDINAL
fcis-14572	27	2	two	CARDINAL
fcis-14572	29	1	two	CARDINAL
fcis-14572	29	2	two	CARDINAL
fcis-14572	30	1	two	CARDINAL
fcis-14572	30	2	1	CARDINAL
fcis-14572	30	3	two	CARDINAL
fcis-14572	30	4	0	CARDINAL
fcis-14572	34	1		ORG
fcis-14572	34	2		FAC
fcis-14572	34	3	2	CARDINAL
fcis-14572	34	4	1	CARDINAL
fcis-14572	34	5	2	CARDINAL
fcis-14572	35	1	3	CARDINAL
fcis-14572	35	2	2	CARDINAL
fcis-14572	35	3	3	DATE
fcis-14572	35	4	47	CARDINAL
fcis-14572	36	1	4	CARDINAL
fcis-14572	36	2	two	CARDINAL
fcis-14572	36	3	3	CARDINAL
fcis-14572	36	4	4	CARDINAL
fcis-14572	36	5	tan cos sin	PERSON
fcis-14572	40	1	5	CARDINAL
fcis-14572	41	1	5	CARDINAL
fcis-14572	42	1	1 2 3	CARDINAL
fcis-14572	44	1		ORG
fcis-14572	44	2		ORG
fcis-14572	44	3	6	CARDINAL
fcis-14572	45	1	two	CARDINAL
fcis-14572	48	1	taylor	PERSON
fcis-14572	48	2	8	CARDINAL
fcis-14572	50	1	9	CARDINAL
fcis-14572	50	2	9	CARDINAL
fcis-14572	50	3	8	CARDINAL
fcis-14572	63	1		PERSON
fcis-14572	63	2		ORG
fcis-14572	63	3	2	CARDINAL
fcis-14572	63	4	0	CARDINAL
fcis-14572	65	1		CARDINAL
fcis-14572	65	2		PERSON
fcis-14572	65	3	10	CARDINAL
fcis-14572	65	4	two	CARDINAL
fcis-14572	65	5	6	CARDINAL
fcis-14572	66	1	3	CARDINAL
fcis-14572	66	2	mpc	ORG
fcis-14572	66	3	8	CARDINAL
fcis-14572	68	1	10	CARDINAL
fcis-14572	69	1	9	CARDINAL
fcis-14572	69	2	1	CARDINAL
fcis-14572	69	3	k e k e ae bu t 	PERSON
fcis-14572	69	4	 	PERSON
fcis-14572	69	5	11	CARDINAL
fcis-14572	69	6	2	CARDINAL
fcis-14572	69	7	1 0	CARDINAL
fcis-14572	69	8	1	CARDINAL
fcis-14572	69	9	0	CARDINAL
fcis-14572	69	10	0	CARDINAL
fcis-14572	69	11	tan cos	PERSON
fcis-14572	79	1		DATE
fcis-14572	79	2	 	PERSON
fcis-14572	79	3		PERSON
fcis-14572	79	4	    	PERSON
fcis-14572	79	5	12	CARDINAL
fcis-14572	80	1	1	CARDINAL
fcis-14572	81	1	  	PERSON
fcis-14572	81	2	13	CARDINAL
fcis-14572	81	3	1	CARDINAL
fcis-14572	82	1	k t	PERSON
fcis-14572	87	1	14	CARDINAL
fcis-14572	87	2	0 1 k	QUANTITY
fcis-14572	88	1	  	PERSON
fcis-14572	89	1	1 k	QUANTITY
fcis-14572	90	1		PERSON
fcis-14572	90	2	0k	CARDINAL
fcis-14572	90	3	k tc c  	PERSON
fcis-14572	90	4	  	PERSON
fcis-14572	90	5	1	CARDINAL
fcis-14572	90	6	1	CARDINAL
fcis-14572	90	7	1	CARDINAL
fcis-14572	90	8	1	CARDINAL
fcis-14572	90	9	1	CARDINAL
fcis-14572	91	1	1 k	QUANTITY
fcis-14572	93	1		PERSON
fcis-14572	93	2		PERSON
fcis-14572	93	3		PERSON
fcis-14572	93	4	  	PERSON
fcis-14572	93	5	15	CARDINAL
fcis-14572	94	1	u k	FAC
fcis-14572	94	2	16	CARDINAL
fcis-14572	94	3	48	DATE
fcis-14572	94	4	2	CARDINAL
fcis-14572	106	1		PERSON
fcis-14572	106	2	17	CARDINAL
fcis-14572	108	1	maxt tu	PERSON
fcis-14572	108	2	18	CARDINAL
fcis-14572	109	1	1	CARDINAL
fcis-14572	111	1		GPE
fcis-14572	111	2		GPE
fcis-14572	111	3		GPE
fcis-14572	111	4	19	CARDINAL
fcis-14572	112	1		ORG
fcis-14572	112	2	2	CARDINAL
fcis-14572	112	3	0	CARDINAL
fcis-14572	112	4		PERSON
fcis-14572	112	5	t tp e	GPE
fcis-14572	112	6	t qe t	PERSON
fcis-14572	113	1	20	CARDINAL
fcis-14572	114	1	1 1c	CARDINAL
fcis-14572	114	2		NORP
fcis-14572	114	3	21	CARDINAL
fcis-14572	114	4	first	ORDINAL
fcis-14572	114	5	1	CARDINAL
fcis-14572	114	6	 	PERSON
fcis-14572	114	7	22	CARDINAL
fcis-14572	115	1		DATE
fcis-14572	116	1	23	CARDINAL
fcis-14572	116	2	three	CARDINAL
fcis-14572	116	3	mpc controller	PERSON
fcis-14572	117	1	first	ORDINAL
fcis-14572	117	2	two	CARDINAL
fcis-14572	117	3	two	CARDINAL
fcis-14572	118	1	4	CARDINAL
fcis-14572	118	2	0.05s	DATE
fcis-14572	118	3	30	CARDINAL
fcis-14572	118	4	80	CARDINAL
fcis-14572	119	1	two	CARDINAL
fcis-14572	119	2	0.1 / 0.1 / 0.1 / 0.1	MONEY
fcis-14572	119	3		CARDINAL
fcis-14572	119	4	24	CARDINAL
fcis-14572	119	5	180deg	GPE
fcis-14572	119	6	30	CARDINAL
fcis-14572	119	7	0.32  	MONEY
fcis-14572	119	8		CARDINAL
fcis-14572	119	9	25	CARDINAL
fcis-14572	119	10	4.1	CARDINAL
fcis-14572	120	1	two	CARDINAL
fcis-14572	120	2	11	CARDINAL
fcis-14572	120	3	50s	DATE
fcis-14572	120	4	5m/s	QUANTITY
fcis-14572	120	5	zero	CARDINAL
fcis-14572	120	6	5 25*sin	CARDINAL
fcis-14572	120	7	35 25*cos	DATE
fcis-14572	126	1		PERSON
fcis-14572	127	1		PERSON
fcis-14572	127	2	26	CARDINAL
fcis-14572	128	1	1	CARDINAL
fcis-14572	130	1	5	CARDINAL
fcis-14572	130	2	two	CARDINAL
fcis-14572	131	1	two	CARDINAL
fcis-14572	132	1	4.13°	CARDINAL
fcis-14572	133	1	49	DATE
fcis-14572	133	2	1	CARDINAL
fcis-14572	133	3	25	CARDINAL
fcis-14572	133	4	5	DATE
fcis-14572	134	1	1	CARDINAL
fcis-14572	134	2	3m/s	QUANTITY
fcis-14572	135	1	2	CARDINAL
fcis-14572	135	2	5m/s	QUANTITY
fcis-14572	135	3	0.29	CARDINAL
fcis-14572	136	1	1	CARDINAL
fcis-14572	136	2	singh	GPE
fcis-14572	136	3	bhushan	PERSON
fcis-14572	137	1	2021	CARDINAL
fcis-14572	137	2	12	CARDINAL
fcis-14572	137	3	8339–8356	CARDINAL
fcis-14572	138	1	2	CARDINAL
fcis-14572	138	2	shuai wang	PERSON
fcis-14572	138	3	zhengyou zhang	PERSON
fcis-14572	139	1	2022	CARDINAL
fcis-14572	139	2	6	CARDINAL
fcis-14572	139	3	1292-1297	CARDINAL
fcis-14572	140	1	3	CARDINAL
fcis-14572	140	2	huang mei.	PERSON
fcis-14572	142	1	chongqing university	ORG
fcis-14572	142	2	2020	DATE
fcis-14572	143	1	4	CARDINAL
fcis-14572	143	2	liu nan.	PERSON
fcis-14572	146	1	2021	CARDINAL
fcis-14572	147	1	5	CARDINAL
fcis-14572	147	2	liang zhongchao	PERSON
fcis-14572	147	3	zhang huan	PERSON
fcis-14572	147	4	zhao jing	PERSON
fcis-14572	149	1	northeastern university	ORG
fcis-14572	149	2	2020	DATE
fcis-14572	149	3	41	CARDINAL
fcis-14572	149	4	6	CARDINAL
fcis-14572	149	5	835	CARDINAL
fcis-14572	150	1	6	CARDINAL
fcis-14572	150	2	wang si-xiao	PERSON
fcis-14572	150	3	zhao wen-jun	PERSON
fcis-14572	150	4	zhang hao	PERSON
fcis-14572	150	5	gao yong	PERSON
fcis-14572	150	6	lipson	GPE
fcis-14572	151	1	uav	ORG
fcis-14572	152	1	journal of zhejiang university	ORG
fcis-14572	152	2	2021	CARDINAL
fcis-14572	152	3	55	DATE
fcis-14572	152	4	12	CARDINAL
fcis-14572	152	5	2359-2364	DATE
fcis-14572	153	1	wu hong-xin	PERSON
fcis-14572	153	2	shen shao-ping	PERSON
fcis-14572	154	1	2003	DATE
fcis-14572	154	2	01	DATE
fcis-14572	154	3	37	CARDINAL
fcis-14572	155	1	8	CARDINAL
fcis-14572	155	2	gong jian-wei	PERSON
fcis-14572	155	3	liu kai	PERSON
fcis-14572	155	4	qi jian-yong	PERSON
fcis-14572	155	5	2nd	ORDINAL
fcis-14572	156	1	beijing	GPE
fcis-14572	156	2	2020	DATE
fcis-14572	157	1	9	CARDINAL
fcis-14572	157	2	wang dong	PERSON
fcis-14572	157	3	zhang wei-gong	PERSON
fcis-14572	158	1	model[j	PERSON
fcis-14572	159	1	2020	DATE
fcis-14572	159	2	42	DATE
fcis-14572	159	3	9	CARDINAL
fcis-14572	160	1	10	CARDINAL
fcis-14572	160	2	xin peng	PERSON
fcis-14572	162	1	lanzhou university of technology	ORG
fcis-14572	162	2	2021	CARDINAL
fcis-14572	163	1	11	CARDINAL
fcis-14572	163	2	wang qi	PERSON
fcis-14572	163	3	kong de-peng	ORG
fcis-14572	165	1	2022	CARDINAL
fcis-14572	165	2	no.382	PERSON
fcis-14572	165	3	12	CARDINAL
fcis-14572	165	4	68-72	DATE
fcis-14572	165	5	0	CARDINAL