id	sid	eid	entity	type
fcis-30624	1	1	2832-6024	DATE
fcis-30624	2	1	12	CARDINAL
fcis-30624	2	2	1	CARDINAL
fcis-30624	2	3	2025	CARDINAL
fcis-30624	2	4	144	CARDINAL
fcis-30624	2	5	yingjie zhong school	PERSON
fcis-30624	2	6	taiyuan university of science and technology	ORG
fcis-30624	2	7	taiyuan	GPE
fcis-30624	2	8	shanxi	GPE
fcis-30624	2	9	china	GPE
fcis-30624	4	1	six-degree-of-freedom	QUANTITY
fcis-30624	8	1	1	CARDINAL
fcis-30624	10	1	1	CARDINAL
fcis-30624	16	1	gautier et al	PERSON
fcis-30624	17	1	2	CARDINAL
fcis-30624	23	1	zhou jun et al	PERSON
fcis-30624	24	1	3	CARDINAL
fcis-30624	26	1	feng limin et al	PERSON
fcis-30624	27	1	4	CARDINAL
fcis-30624	28	1	zhu zhenbiao et al	PERSON
fcis-30624	29	1	5	CARDINAL
fcis-30624	29	2	fifth	ORDINAL
fcis-30624	30	1	zhang shiyuan et al	PERSON
fcis-30624	31	1	6	CARDINAL
fcis-30624	32	1	chen zhihuan et al	PERSON
fcis-30624	34	1	liu yu et al	PERSON
fcis-30624	35	1	8	CARDINAL
fcis-30624	36	1	zhang luming et al	PERSON
fcis-30624	37	1	9	CARDINAL
fcis-30624	38	1	zhang di et al	PERSON
fcis-30624	39	1	10	CARDINAL
fcis-30624	43	1	six-degree-offreedom	QUANTITY
fcis-30624	44	1	2	CARDINAL
fcis-30624	44	2	2.1	CARDINAL
fcis-30624	45	1	newton-euler	ORG
fcis-30624	46	1	145	CARDINAL
fcis-30624	47	1	1	CARDINAL
fcis-30624	47	2	1 1 1 1 1	QUANTITY
fcis-30624	52	1		CARDINAL
fcis-30624	52	2	1i	CARDINAL
fcis-30624	52	3	r	ORG
fcis-30624	53	1	1	CARDINAL
fcis-30624	53	2	1i	CARDINAL
fcis-30624	53	3	1 1 1 1 1 1	QUANTITY
fcis-30624	61	1	1i	CARDINAL
fcis-30624	63	1	1 1 1 1 1 1 1 1 1 1	QUANTITY
fcis-30624	80	1	1i	CARDINAL
fcis-30624	80	2	1i	CARDINAL
fcis-30624	81	1		ORG
fcis-30624	81	2	1 1 1 1	QUANTITY
fcis-30624	100	1	newton-euler	ORG
fcis-30624	105	1		ORDINAL
fcis-30624	106	1	nnn	PERSON
fcis-30624	106	2	1 1 1	CARDINAL
fcis-30624	113	1	1 1 1 1 1 1 1i	QUANTITY
fcis-30624	123	1		ORG
fcis-30624	123	2	one	CARDINAL
fcis-30624	125	1	 fig	GPE
fcis-30624	125	2	2	CARDINAL
fcis-30624	126	1	nnn degrees	PERSON
fcis-30624	127	1	zero	CARDINAL
fcis-30624	128	1	11	CARDINAL
fcis-30624	128	2	g   	ORG
fcis-30624	128	3	2 3	DATE
fcis-30624	128	4	∈	ORG
fcis-30624	129	1	 ∈	PERSON
fcis-30624	129	2	g	PERSON
fcis-30624	130	1	∈	ORG
fcis-30624	131	1	146 2.2	CARDINAL
fcis-30624	133	1	x	GPE
fcis-30624	133	2	∈	ORG
fcis-30624	136	1	yy	ORG
fcis-30624	141	1		ORG
fcis-30624	144	1	yzi	PERSON
fcis-30624	146	1	2 3	DATE
fcis-30624	146	2	11	CARDINAL
fcis-30624	147	1	22	CARDINAL
fcis-30624	149	1		GPE
fcis-30624	149	2		GPE
fcis-30624	152	1		GPE
fcis-30624	153	1		GPE
fcis-30624	153	2		DATE
fcis-30624	153	3		ORG
fcis-30624	155	1	zero	CARDINAL
fcis-30624	157	1		CARDINAL
fcis-30624	158	1	2.3	CARDINAL
fcis-30624	159	1	12	CARDINAL
fcis-30624	162	1	sin cos cos sin sin	ORG
fcis-30624	172	1	t w	ORG
fcis-30624	172	2	t w	ORG
fcis-30624	172	3	l w	FAC
fcis-30624	173	1		PERSON
fcis-30624	173	2	  	PERSON
fcis-30624	173	3		DATE
fcis-30624	173	4	   	PERSON
fcis-30624	173	5		PERSON
fcis-30624	173	6	   	LAW
fcis-30624	173	7		DATE
fcis-30624	173	8	ila	PERSON
fcis-30624	173	9	0iq	ORG
fcis-30624	174	1	5th	ORDINAL
fcis-30624	174	2	ila	PERSON
fcis-30624	175	1	2 1n	CARDINAL
fcis-30624	176	1	5th	ORDINAL
fcis-30624	177	1	3	CARDINAL
fcis-30624	177	2	147	CARDINAL
fcis-30624	180	1	4	CARDINAL
fcis-30624	181	1	3	CARDINAL
fcis-30624	181	2	3.1	CARDINAL
fcis-30624	182	1	three	CARDINAL
fcis-30624	189	1	16	CARDINAL
fcis-30624	193	1	one	CARDINAL
fcis-30624	197	1	3.2	CARDINAL
fcis-30624	197	2	5	CARDINAL
fcis-30624	197	3	3.3	CARDINAL
fcis-30624	199	1	1 1 x	QUANTITY
fcis-30624	200	1	x	PERSON
fcis-30624	201	1	148	CARDINAL
fcis-30624	202	1	3.4	CARDINAL
fcis-30624	204	1	13	CARDINAL
fcis-30624	204	2	1 1	CARDINAL
fcis-30624	207	1	i.	PERSON
fcis-30624	210	1		PRODUCT
fcis-30624	210	2	∝	ORG
fcis-30624	210	3		ORG
fcis-30624	211	1	4.	CARDINAL
fcis-30624	211	2	4.1	CARDINAL
fcis-30624	213	1	six-degree-of-freedom	QUANTITY
fcis-30624	215	1	1	CARDINAL
fcis-30624	216	1	2	CARDINAL
fcis-30624	217	1	3	CARDINAL
fcis-30624	219	1	4	CARDINAL
fcis-30624	222	1	80%	PERCENT
fcis-30624	222	2	20%	PERCENT
fcis-30624	224	1	zero	CARDINAL
fcis-30624	225	1	4.2	CARDINAL
fcis-30624	225	2	6	CARDINAL
fcis-30624	226	1	149	CARDINAL
fcis-30624	227	1	the bp neural network	ORG
fcis-30624	234	1	5	CARDINAL
fcis-30624	236	1	six-degree-of-freedom	QUANTITY
fcis-30624	237	1	1	CARDINAL
fcis-30624	237	2	2022	CARDINAL
fcis-30624	237	3	04):83-95	CARDINAL
fcis-30624	239	1	2	CARDINAL
fcis-30624	239	2	m. gautier	PERSON
fcis-30624	239	3	w. khalil	PERSON
fcis-30624	242	1	1992	DATE
fcis-30624	242	2	11	CARDINAL
fcis-30624	242	3	4	CARDINAL
fcis-30624	242	4	362	CARDINAL
fcis-30624	243	1	3	CARDINAL
fcis-30624	243	2	zhou jun	PERSON
fcis-30624	243	3	yu yueqing[j	PERSON
fcis-30624	244	1	2011,33(04):440	CARDINAL
fcis-30624	245	1	4	CARDINAL
fcis-30624	245	2	feng limin	PERSON
fcis-30624	245	3	yu jinghu	PERSON
fcis-30624	245	4	wang yanyu	PERSON
fcis-30624	247	1	2022(4):37	CARDINAL
fcis-30624	248	1	5	CARDINAL
fcis-30624	248	2	zhu zhenbiao	PERSON
fcis-30624	248	3	liang zhiyuan[j].mechanical transmission,2024,48(08):1825.doi:10.16578/j.issn.1004.2539.2024.08.003	PERSON
fcis-30624	249	1	6	CARDINAL
fcis-30624	249	2	zhang shiyuan	PERSON
fcis-30624	249	3	dai	ORG
fcis-30624	249	4	deng hua	PERSON
fcis-30624	249	5	six-degree-of-freedom	QUANTITY
fcis-30624	252	1	7	CARDINAL
fcis-30624	252	2	chen zhihuan	PERSON
fcis-30624	252	3	liang chenglong	PERSON
fcis-30624	252	4	dong jiashun	PERSON
fcis-30624	254	1	8	CARDINAL
fcis-30624	254	2	liu yu	PERSON
fcis-30624	254	3	li guixian	PERSON
fcis-30624	254	4	xia dan	PERSON
fcis-30624	254	5	harbin institute of technology	ORG
fcis-30624	254	6	2010	DATE
fcis-30624	254	7	42(11):1734-1739	DATE
fcis-30624	255	1	9	CARDINAL
fcis-30624	255	2	minglu zhang	PERSON
fcis-30624	255	3	qing wang	PERSON
fcis-30624	255	4	xuan liu	PERSON
fcis-30624	255	5	tianjin university	ORG
fcis-30624	255	6	2024	DATE
fcis-30624	255	7	57(07	CARDINAL
fcis-30624	255	8	759	CARDINAL
fcis-30624	256	1	10	CARDINAL
fcis-30624	256	2	zhang di's	PERSON
fcis-30624	256	3	2024,(04):19	CARDINAL
fcis-30624	257	1	11	CARDINAL
fcis-30624	257	2	craig	PERSON
fcis-30624	257	3	chao et al	PERSON
fcis-30624	259	1	beijing	GPE
fcis-30624	260	1	china	GPE
fcis-30624	260	2	2006	DATE
fcis-30624	261	1	12	CARDINAL
fcis-30624	261	2	zhu miao's	PERSON
fcis-30624	262	1	guangdong university of technology,2022	ORG
fcis-30624	263	1	doi:10	PERSON
fcis-30624	264	1	27029	DATE
fcis-30624	266	1	13	CARDINAL
fcis-30624	268	1	harbin institute of technology,2021	ORG
fcis-30624	269	1	10.27061/	CARDINAL
fcis-30624	270	1	ghgdu	PERSON
fcis-30624	271	1	2021.001067	CARDINAL