id	sid	eid	entity	type
fcis-29171	1	1	2832-6024	DATE
fcis-29171	2	1	11	CARDINAL
fcis-29171	2	2	1	CARDINAL
fcis-29171	2	3	22	TIME
fcis-29171	2	4	ke ouyang	PERSON
fcis-29171	3	1	jin chen *	PERSON
fcis-29171	3	2	wenqiang li	PERSON
fcis-29171	3	3	school of shanghai polytechnic university	ORG
fcis-29171	3	4	201209	DATE
fcis-29171	3	5	china	GPE
fcis-29171	3	6	jin chen	PERSON
fcis-29171	4	1	generalized boolean algebra	ORG
fcis-29171	5	1	generalized boolean	ORG
fcis-29171	7	1	generalized boolean	ORG
fcis-29171	9	1	1	CARDINAL
fcis-29171	9	2	six	CARDINAL
fcis-29171	10	1	six degrees	QUANTITY
fcis-29171	10	2	1	CARDINAL
fcis-29171	11	1	2	CARDINAL
fcis-29171	13	1	six-degreeof-freedom	QUANTITY
fcis-29171	15	1	2	CARDINAL
fcis-29171	15	2	2.1	CARDINAL
fcis-29171	16	1	1	CARDINAL
fcis-29171	18	1	1	CARDINAL
fcis-29171	18	2	stewart	PERSON
fcis-29171	18	3	1	CARDINAL
fcis-29171	19	1	li	PERSON
fcis-29171	20	1	euler angles α	PERSON
fcis-29171	20	2	z	ORG
fcis-29171	21	1	r(α	PRODUCT
fcis-29171	21	2	1) 23	CARDINAL
fcis-29171	21	3	0	CARDINAL
fcis-29171	21	4	2	CARDINAL
fcis-29171	21	5	0	CARDINAL
fcis-29171	21	6	0	CARDINAL
fcis-29171	21	7	3	CARDINAL
fcis-29171	21	8	1	CARDINAL
fcis-29171	21	9	0	CARDINAL
fcis-29171	21	10	cosα	PERSON
fcis-29171	21	11	4	CARDINAL
fcis-29171	22	1	cγsβcα+sγsα	ORG
fcis-29171	22	2	5	CARDINAL
fcis-29171	23	1	2.2	CARDINAL
fcis-29171	23	2	euler	PERSON
fcis-29171	25	1	li	PERSON
fcis-29171	27	1	2	CARDINAL
fcis-29171	27	2	6	CARDINAL
fcis-29171	27	3	lpiwbi	ORG
fcis-29171	27	4	lpiwbi	PERSON
fcis-29171	27	5	7	CARDINAL
fcis-29171	27	6	wrl	ORG
fcis-29171	28	1	2	CARDINAL
fcis-29171	28	2	2.3	CARDINAL
fcis-29171	30	1	3	CARDINAL
fcis-29171	31	1	zhang hui	PERSON
fcis-29171	32	1	4	CARDINAL
fcis-29171	32	2	tsinghua university	ORG
fcis-29171	32	3	four	CARDINAL
fcis-29171	33	1	newton-raphson	ORG
fcis-29171	36	1	newton	GPE
fcis-29171	37	1	4	CARDINAL
fcis-29171	39	1	5	CARDINAL
fcis-29171	39	2	2	CARDINAL
fcis-29171	39	3	newton-raphson	ORG
fcis-29171	39	4	9	CARDINAL
fcis-29171	41	1	10	CARDINAL
fcis-29171	41	2	3	CARDINAL
fcis-29171	41	3	3.1	CARDINAL
fcis-29171	43	1	5	CARDINAL
fcis-29171	44	1	3	CARDINAL
fcis-29171	44	2	3	CARDINAL
fcis-29171	44	3	24	CARDINAL
fcis-29171	44	4	11	CARDINAL
fcis-29171	44	5	kp	ORG
fcis-29171	44	6	ki	PERSON
fcis-29171	45	1	kp	ORG
fcis-29171	48	1	3.2	CARDINAL
fcis-29171	50	1	two	CARDINAL
fcis-29171	50	2	kd=4.9	GPE
fcis-29171	50	3	100mm	QUANTITY
fcis-29171	50	4	200mm	QUANTITY
fcis-29171	51	1	4	CARDINAL
fcis-29171	53	1	two	CARDINAL
fcis-29171	54	1	4.1851	CARDINAL
fcis-29171	54	2	12	CARDINAL
fcis-29171	54	3	4	CARDINAL
fcis-29171	54	4	4	CARDINAL
fcis-29171	54	5	100mm	QUANTITY
fcis-29171	55	1	200mm	QUANTITY
fcis-29171	58	1	3.3	CARDINAL
fcis-29171	59	1	generalized boolean	ORG
fcis-29171	59	2	1	CARDINAL
fcis-29171	60	1	1	CARDINAL
fcis-29171	60	2	kn	PERSON
fcis-29171	60	3	n=0,1,	NORP
fcis-29171	60	4	five	CARDINAL
fcis-29171	62	1	1	CARDINAL
fcis-29171	62	2	six	CARDINAL
fcis-29171	62	3	,±0.1 mm	PERSON
fcis-29171	62	4	±0.1 mm	PERSON
fcis-29171	62	5	±0.1 mm	PERSON
fcis-29171	63	1	7][8][8][9	CARDINAL
fcis-29171	64	1	13	CARDINAL
fcis-29171	64	2	0.1	CARDINAL
fcis-29171	65	1	1	CARDINAL
fcis-29171	65	2	generalized boolean	ORG
fcis-29171	66	1	k1(pid	PERSON
fcis-29171	66	2	k1(pid	PERSON
fcis-29171	66	3	k1(pid	PERSON
fcis-29171	66	4	k1(pid	PERSON
fcis-29171	66	5	k1(pid	PERSON
fcis-29171	66	6	k1(pid	PERSON
fcis-29171	66	7	25	CARDINAL
fcis-29171	66	8	0.1	CARDINAL
fcis-29171	67	1	4	CARDINAL
fcis-29171	68	1	4.1	CARDINAL
fcis-29171	69	1	six-degree-of	QUANTITY
fcis-29171	70	1	4	CARDINAL
fcis-29171	70	2	two	CARDINAL
fcis-29171	72	1	six	CARDINAL
fcis-29171	73	1	stewart kinematics	PERSON
fcis-29171	75	1	stewart kinematics	PERSON
fcis-29171	75	2	six	CARDINAL
fcis-29171	76	1	six	CARDINAL
fcis-29171	78	1	5	CARDINAL
fcis-29171	78	2	4.2	CARDINAL
fcis-29171	79	1	generalized boolean algebra	ORG
fcis-29171	79	2	six-degree-of	QUANTITY
fcis-29171	79	3	6	CARDINAL
fcis-29171	80	1	mm	PERSON
fcis-29171	80	2	mm	PERSON
fcis-29171	83	1	6	CARDINAL
fcis-29171	84	1	26	CARDINAL
fcis-29171	84	2	7	CARDINAL
fcis-29171	84	3	8and9	CARDINAL
fcis-29171	85	1	7	CARDINAL
fcis-29171	86	1	8	CARDINAL
fcis-29171	87	1	9	CARDINAL
fcis-29171	88	1	5	CARDINAL
fcis-29171	89	1	0.01	CARDINAL
fcis-29171	90	1	kp=26	PERSON
fcis-29171	90	2	k0=1,k1=1.2,k2=1.4,k3=1.6,and	GPE
fcis-29171	93	1	six	CARDINAL
fcis-29171	93	2	mm	PERSON
fcis-29171	93	3	200.6856	DATE
fcis-29171	93	4	108.6878	DATE
fcis-29171	93	5	168.4683	DATE
fcis-29171	93	6	130.0941	CARDINAL
fcis-29171	93	7	158.3568	DATE
fcis-29171	93	8	115.0001	DATE
fcis-29171	94	1	10	CARDINAL
fcis-29171	94	2	11	CARDINAL
fcis-29171	95	1	27	CARDINAL
fcis-29171	95	2	12	CARDINAL
fcis-29171	97	1	six	CARDINAL
fcis-29171	97	2	approximately 1.2 seconds	TIME
fcis-29171	97	3	at least 1.4 seconds	TIME
fcis-29171	98	1	approximately 2 seconds	TIME
fcis-29171	98	2	97.6143	CARDINAL
fcis-29171	101	1	10	CARDINAL
fcis-29171	102	1	11	CARDINAL
fcis-29171	103	1	12	CARDINAL
fcis-29171	104	1	first	ORDINAL
fcis-29171	104	2	13	CARDINAL
fcis-29171	105	1	second	ORDINAL
fcis-29171	105	2	14	CARDINAL
fcis-29171	106	1	third	ORDINAL
fcis-29171	106	2	15	CARDINAL
fcis-29171	107	1	fourth	ORDINAL
fcis-29171	107	2	16	CARDINAL
fcis-29171	108	1	fifth	ORDINAL
fcis-29171	108	2	17	CARDINAL
fcis-29171	109	1	sixth	ORDINAL
fcis-29171	109	2	6	CARDINAL
fcis-29171	114	1	two	CARDINAL
fcis-29171	115	1	28	CARDINAL
fcis-29171	117	1	1	CARDINAL
fcis-29171	117	2	six degrees	QUANTITY
fcis-29171	117	3	engineers.part	ORG
fcis-29171	117	4	energy,1965,180(15):371-386	DATE
fcis-29171	118	1	2	CARDINAL
fcis-29171	118	2	wang, h. (2019).	ORG
fcis-29171	120	1	university of chinese academy of sciences	ORG
fcis-29171	120	2	beijing	GPE
fcis-29171	121	1	3	CARDINAL
fcis-29171	121	2	geng	PERSON
fcis-29171	121	3	m., zhao	PERSON
fcis-29171	121	4	t.	GPE
fcis-29171	121	5	wang	PERSON
fcis-29171	121	6	2015	CARDINAL
fcis-29171	122	1	quasinewton method	ORG
fcis-29171	123	1	51(9	CARDINAL
fcis-29171	123	2	28	CARDINAL
fcis-29171	124	1	wang	PERSON
fcis-29171	124	2	q.	PERSON
fcis-29171	125	1	2002	DATE
fcis-29171	127	1	38(supplement	CARDINAL
fcis-29171	127	2	108	CARDINAL
fcis-29171	128	1	5	CARDINAL
fcis-29171	128	2	guo l.	PERSON
fcis-29171	129	1	annual	DATE
fcis-29171	129	2	2020,49	CARDINAL
fcis-29171	129	3	27	CARDINAL
fcis-29171	130	1	6] zhang	QUANTITY
fcis-29171	130	2	2005	DATE
fcis-29171	132	1	beijing	GPE
fcis-29171	133	1	7	CARDINAL
fcis-29171	133	2	chen	PERSON
fcis-29171	133	3	j., chen	PERSON
fcis-29171	133	4	wang	PERSON
fcis-29171	133	5	z.	PERSON
fcis-29171	134	1	2011	DATE
fcis-29171	136	1	30th	ORDINAL
fcis-29171	136	2	chinese	NORP
fcis-29171	139	1	beijing	GPE
fcis-29171	139	2	chinese	NORP
fcis-29171	140	1	yang	PERSON
fcis-29171	140	2	t.	GPE
fcis-29171	140	3	peng	PERSON
fcis-29171	140	4	2016	CARDINAL
fcis-29171	142	1	37(3	CARDINAL
fcis-29171	142	2	95	CARDINAL
fcis-29171	143	1	9	CARDINAL
fcis-29171	143	2	2012	DATE
fcis-29171	145	1	changsha university of science and technology	ORG
fcis-29171	145	2	changsha	GPE