id	sid	eid	entity	type
fcis-18503	1	1	2832-6024	DATE
fcis-18503	2	1	7	CARDINAL
fcis-18503	2	2	2	CARDINAL
fcis-18503	2	3	2024 85	DATE
fcis-18503	2	4	wencheng wang 1	PERSON
fcis-18503	2	5	2	DATE
fcis-18503	2	6	quandi wu 3	PERSON
fcis-18503	2	7	pengcheng zhang 1	PERSON
fcis-18503	2	8	2	DATE
fcis-18503	2	9	1 1	CARDINAL
fcis-18503	2	10	hebei university of water resources	ORG
fcis-18503	2	11	cangzhou, hebei 061000	ORG
fcis-18503	2	12	china	GPE
fcis-18503	2	13	2	CARDINAL
fcis-18503	2	14	hebei	GPE
fcis-18503	2	15	cangzhou	GPE
fcis-18503	2	16	china 3	ORG
fcis-18503	2	17	hebei normal university of science & technology	ORG
fcis-18503	2	18	qinhuangdao	GPE
fcis-18503	2	19	hebei 066000	GPE
fcis-18503	2	20	china	GPE
fcis-18503	7	1	1.	CARDINAL
fcis-18503	7	2	recent years	DATE
fcis-18503	7	3	china	GPE
fcis-18503	16	1	u.s.	GPE
fcis-18503	16	2	catamarans	NORP
fcis-18503	17	1	italy	GPE
fcis-18503	18	1	spain	GPE
fcis-18503	18	2	5	CARDINAL
fcis-18503	19	1	china	GPE
fcis-18503	19	2	no.1	ORG
fcis-18503	19	3	three	CARDINAL
fcis-18503	20	1	7	CARDINAL
fcis-18503	23	1	2	CARDINAL
fcis-18503	25	1	less than 5 kg	QUANTITY
fcis-18503	26	1	about 10 kg	QUANTITY
fcis-18503	27	1	no less than	CARDINAL
fcis-18503	30	1	3.1	CARDINAL
fcis-18503	31	1	two	CARDINAL
fcis-18503	31	2	86	CARDINAL
fcis-18503	32	1	1(a	CARDINAL
fcis-18503	32	2	one	CARDINAL
fcis-18503	34	1	1	CARDINAL
fcis-18503	34	2	two	CARDINAL
fcis-18503	34	3	1(b	CARDINAL
fcis-18503	36	1	two	CARDINAL
fcis-18503	40	1	3.2	CARDINAL
fcis-18503	42	1	three	CARDINAL
fcis-18503	48	1	2	CARDINAL
fcis-18503	48	2	2	CARDINAL
fcis-18503	48	3	1hull	CARDINAL
fcis-18503	48	4	2heavy	ORG
fcis-18503	49	1	4electric	CARDINAL
fcis-18503	49	2	5connector 6light	TIME
fcis-18503	49	3	less than 0.5 kg	QUANTITY
fcis-18503	52	1	around 10 kg	QUANTITY
fcis-18503	52	2	87	CARDINAL
fcis-18503	55	1	3.3	CARDINAL
fcis-18503	56	1	four	CARDINAL
fcis-18503	56	2	3	CARDINAL
fcis-18503	57	1	one	CARDINAL
fcis-18503	57	2	one	CARDINAL
fcis-18503	57	3	two	CARDINAL
fcis-18503	58	1	3	CARDINAL
fcis-18503	58	2	1	CARDINAL
fcis-18503	58	3	2	CARDINAL
fcis-18503	58	4	3	CARDINAL
fcis-18503	58	5	4-light	QUANTITY
fcis-18503	58	6	3	CARDINAL
fcis-18503	58	7	two	CARDINAL
fcis-18503	58	8	three	CARDINAL
fcis-18503	58	9	two	CARDINAL
fcis-18503	59	1	4	CARDINAL
fcis-18503	59	2	two	CARDINAL
fcis-18503	60	1	less than 1m/s	QUANTITY
fcis-18503	61	1	first	ORDINAL
fcis-18503	62	1	4.1	CARDINAL
fcis-18503	62	2	3d	CARDINAL
fcis-18503	62	3	2	CARDINAL
fcis-18503	63	1	6061	CARDINAL
fcis-18503	64	1	1	CARDINAL
fcis-18503	65	1	34.3 kg	QUANTITY
fcis-18503	66	1	two	CARDINAL
fcis-18503	66	2	approximately 12 kg	QUANTITY
fcis-18503	67	1	approximately 2.5 kg	QUANTITY
fcis-18503	67	2	about 48.8 kg	QUANTITY
fcis-18503	68	1	150 kg	QUANTITY
fcis-18503	69	1	4.2	CARDINAL
fcis-18503	71	1	1	CARDINAL
fcis-18503	71	2	dwb vf 	PERSON
fcis-18503	71	3	2	CARDINAL
fcis-18503	71	4	2	CARDINAL
fcis-18503	71	5	1	CARDINAL
fcis-18503	71	6	3 3 m0485.0	TIME
fcis-18503	75	1		ORG
fcis-18503	75	2	4	CARDINAL
fcis-18503	75	3	three	CARDINAL
fcis-18503	76	1	three	CARDINAL
fcis-18503	76	2		PERSON
fcis-18503	76	3		NORP
fcis-18503	76	4		PERSON
fcis-18503	77	1	321	CARDINAL
fcis-18503	77	2	3	CARDINAL
fcis-18503	77	3	mm	PERSON
fcis-18503	77	4	l2=900 mm	PERSON
fcis-18503	77	5	l3=300 mm	PERSON
fcis-18503	77	6	h1=200 mm	PERSON
fcis-18503	77	7	3	CARDINAL
fcis-18503	77	8	mm	PERSON
fcis-18503	78	1	530 mm	QUANTITY
fcis-18503	79	1	88	CARDINAL
fcis-18503	79	2	4	CARDINAL
fcis-18503	79	3	4.3	CARDINAL
fcis-18503	88	1	bernoulli	ORG
fcis-18503	94	1	1	CARDINAL
fcis-18503	95	1	36.0 211.046.04.1 0485.0	CARDINAL
fcis-18503	96	1	cb	ORG
fcis-18503	96	2	4	CARDINAL
fcis-18503	96	3	cubic meters	QUANTITY
fcis-18503	97	1	274.0(37.12	CARDINAL
fcis-18503	97	2		ORG
fcis-18503	97	3	bctls	GPE
fcis-18503	97	4	5	CARDINAL
fcis-18503	97	5	reynolds	ORG
fcis-18503	97	6	℃	CARDINAL
fcis-18503	97	7	6	CARDINAL
fcis-18503	97	8	101883.1	CARDINAL
fcis-18503	97	9	6	CARDINAL
fcis-18503	97	10	0244.0	CARDINAL
fcis-18503	97	11	075.0	CARDINAL
fcis-18503	97	12	2(lg	CARDINAL
fcis-18503	97	13	7	CARDINAL
fcis-18503	97	14	667.0)5.1(1000	CARDINAL
fcis-18503	97	15	0004.00244.0	CARDINAL
fcis-18503	97	16	2 1	DATE
fcis-18503	97	17	2 2	CARDINAL
fcis-18503	97	18		GPE
fcis-18503	98	1	svccr fff	PERSON
fcis-18503	99	1	2	CARDINAL
fcis-18503	99	2	9	CARDINAL
fcis-18503	99	3	5	CARDINAL
fcis-18503	99	4	10m/s	QUANTITY
fcis-18503	100	1	less than 1m/s	QUANTITY
fcis-18503	100	2	11m/s	QUANTITY
fcis-18503	100	3	cw	ORG
fcis-18503	100	4	between 0.3	CARDINAL
fcis-18503	100	5	0.6	CARDINAL
fcis-18503	100	6	0.6	CARDINAL
fcis-18503	101	1	9	CARDINAL
fcis-18503	101	2	2	CARDINAL
fcis-18503	101	3	89	CARDINAL
fcis-18503	101	4	4.4	CARDINAL
fcis-18503	102	1	0m/s	QUANTITY
fcis-18503	102	2	0.5m/s	QUANTITY
fcis-18503	102	3	no less than	CARDINAL
fcis-18503	103	1	less than 1.5m/s	QUANTITY
fcis-18503	104	1	1	CARDINAL
fcis-18503	106	1	fv=75.95 w	ORG
fcis-18503	106	2	p=39.35w	GPE
fcis-18503	106	3	5～6	CARDINAL
fcis-18503	107	1	two	CARDINAL
fcis-18503	108	1	5	CARDINAL
fcis-18503	109	1	500w	CARDINAL
fcis-18503	109	2	35n	CARDINAL
fcis-18503	109	3	12v	CARDINAL
fcis-18503	110	1	12v	CARDINAL
fcis-18503	111	1	5	CARDINAL
fcis-18503	111	2	5	CARDINAL
fcis-18503	111	3	two	CARDINAL
fcis-18503	111	4	12v	CARDINAL
fcis-18503	112	1	12v	CARDINAL
fcis-18503	112	2	2a	CARDINAL
fcis-18503	112	3	12v	CARDINAL
fcis-18503	112	4	2a	CARDINAL
fcis-18503	112	5	12v	CARDINAL
fcis-18503	112	6	0.5a	DATE
fcis-18503	114	1	two	CARDINAL
fcis-18503	114	2	approximately 3.3 hours	TIME
fcis-18503	116	1	6	CARDINAL
fcis-18503	116	2	6	CARDINAL
fcis-18503	117	1	6	CARDINAL
fcis-18503	120	1	hebei education department	ORG
fcis-18503	120	2	zd2021329	ORG
fcis-18503	121	1	1	CARDINAL
fcis-18503	121	2	desjoyaux pierre louis	PERSON
fcis-18503	121	3	hoan tuan dung	ORG
fcis-18503	121	4	jean paul	PERSON
fcis-18503	123	1	2	CARDINAL
fcis-18503	123	2	hyeong sun	PERSON
fcis-18503	123	3	jung han	PERSON
fcis-18503	123	4	lee	PERSON
fcis-18503	123	5	chan haeng	PERSON
fcis-18503	123	6	kim	PERSON
fcis-18503	125	1	03-04	CARDINAL
fcis-18503	126	1	3	CARDINAL
fcis-18503	126	2	jin-gang	PERSON
fcis-18503	126	3	jiang	GPE
fcis-18503	126	4	yong-de	PERSON
fcis-18503	126	5	shu	PERSON
fcis-18503	127	1	187	CARDINAL
fcis-18503	128	1	4	CARDINAL
fcis-18503	128	2	faruk yilmaz	PERSON
fcis-18503	130	1	57-63	CARDINAL
fcis-18503	131	1	5	CARDINAL
fcis-18503	131	2	faruk yilmaz	PERSON
fcis-18503	133	1	97	CARDINAL
fcis-18503	134	1	6	CARDINAL
fcis-18503	134	2	soonkyum kim	PERSON
fcis-18503	134	3	hordur heidarsson	GPE
fcis-18503	134	4	gaurav s. sukhatme	PERSON
fcis-18503	134	5	vijay kumar	PERSON
fcis-18503	135	1	topological	ORG
fcis-18503	136	1	the international journal of robotics research	ORG
fcis-18503	136	2	2015	DATE
fcis-18503	136	3	144148	DATE
fcis-18503	137	1	7	CARDINAL
fcis-18503	137	2	kim soonkyum	PERSON
fcis-18503	137	3	gaurav s.	PERSON
fcis-18503	137	4	kumar vijay	PERSON
fcis-18503	138	1	topological	ORG
fcis-18503	139	1	the international journal of robotics research,2015,34(6	ORG
fcis-18503	139	2	90-95	CARDINAL