id	sid	eid	entity	type
fcis-9423	1	1	2832-6024	DATE
fcis-9423	2	1	4	CARDINAL
fcis-9423	2	2	1	CARDINAL
fcis-9423	2	3	2023 51	DATE
fcis-9423	2	4	uav keyong shao	PERSON
fcis-9423	2	5	yuda pan college	ORG
fcis-9423	2	6	163318	DATE
fcis-9423	2	7	china	GPE
fcis-9423	2	8	four	CARDINAL
fcis-9423	2	9	uav	ORG
fcis-9423	2	10	four	CARDINAL
fcis-9423	2	11	uav	ORG
fcis-9423	6	1	four	CARDINAL
fcis-9423	6	2	uav	ORG
fcis-9423	6	3	four	CARDINAL
fcis-9423	6	4	uav	ORG
fcis-9423	7	1	uav	ORG
fcis-9423	8	1	1	CARDINAL
fcis-9423	8	2	recent years	DATE
fcis-9423	8	3	four	CARDINAL
fcis-9423	9	1	1	CARDINAL
fcis-9423	10	1	four	CARDINAL
fcis-9423	11	1	four	CARDINAL
fcis-9423	11	2	2	CARDINAL
fcis-9423	11	3	four	CARDINAL
fcis-9423	11	4	3	CARDINAL
fcis-9423	12	1	four	CARDINAL
fcis-9423	12	2	uav	ORG
fcis-9423	12	3	mimo	PERSON
fcis-9423	12	4	4	CARDINAL
fcis-9423	13	1	uav	ORG
fcis-9423	14	1	5	CARDINAL
fcis-9423	15	1	uav	PRODUCT
fcis-9423	15	2	6	CARDINAL
fcis-9423	16	1	sun zidong	PERSON
fcis-9423	16	2	7	CARDINAL
fcis-9423	22	1	9	CARDINAL
fcis-9423	23	1	uav	PERSON
fcis-9423	25	1	10	CARDINAL
fcis-9423	25	2	uav	PERSON
fcis-9423	26	1	rodriguezabreo omar	PERSON
fcis-9423	26	2	11	CARDINAL
fcis-9423	26	3	four	CARDINAL
fcis-9423	27	1	chen yanjie	PERSON
fcis-9423	28	1	12	CARDINAL
fcis-9423	28	2	uav	ORG
fcis-9423	34	1	2	CARDINAL
fcis-9423	34	2	four	CARDINAL
fcis-9423	34	3	four	CARDINAL
fcis-9423	34	4	uav	ORG
fcis-9423	34	5	six 52 degrees	QUANTITY
fcis-9423	34	6	three	CARDINAL
fcis-9423	35	1	four	CARDINAL
fcis-9423	35	2	uav	ORG
fcis-9423	36	1	newton-euler	ORG
fcis-9423	36	2	four	CARDINAL
fcis-9423	36	3	uav	ORG
fcis-9423	37	1	13	CARDINAL
fcis-9423	38	1	1	CARDINAL
fcis-9423	38	2	uav	ORG
fcis-9423	38	3	2	CARDINAL
fcis-9423	38	4	four	CARDINAL
fcis-9423	38	5	uav	ORG
fcis-9423	38	6	3	CARDINAL
fcis-9423	38	7	4	CARDINAL
fcis-9423	38	8	uav	ORG
fcis-9423	39	1	newton-euler	ORG
fcis-9423	39	2	four	CARDINAL
fcis-9423	39	3	uav	ORG
fcis-9423	51	1	       	ORG
fcis-9423	53	1	1	CARDINAL
fcis-9423	53	2		PERSON
fcis-9423	53	3	uav	PERSON
fcis-9423	54	1	d	PERSON
fcis-9423	55	1	four	CARDINAL
fcis-9423	55	2	uav	ORG
fcis-9423	55	3	z	ORG
fcis-9423	56	1	three	CARDINAL
fcis-9423	56	2	four	CARDINAL
fcis-9423	56	3	uav	ORG
fcis-9423	57	1	four	CARDINAL
fcis-9423	57	2	uav	ORG
fcis-9423	58	1	2	CARDINAL
fcis-9423	71	1	  	PERSON
fcis-9423	71	2	   	PERSON
fcis-9423	72	1	 	PERSON
fcis-9423	72	2	    	PERSON
fcis-9423	72	3	   	PERSON
fcis-9423	72	4		ORG
fcis-9423	72	5	2	CARDINAL
fcis-9423	72	6	1x	CARDINAL
fcis-9423	72	7	2x	CARDINAL
fcis-9423	72	8	2 2k	CARDINAL
fcis-9423	72	9	four	CARDINAL
fcis-9423	72	10	uav	ORG
fcis-9423	73	1	1	CARDINAL
fcis-9423	73	2	2	CARDINAL
fcis-9423	73	3	four	CARDINAL
fcis-9423	73	4	uav	ORG
fcis-9423	74	1	3	CARDINAL
fcis-9423	74	2	2d	DATE
fcis-9423	74	3	four	CARDINAL
fcis-9423	74	4	uav	ORG
fcis-9423	75	1	four	CARDINAL
fcis-9423	75	2	uav	ORG
fcis-9423	75	3	6 degrees	QUANTITY
fcis-9423	76	1	uav	ORG
fcis-9423	78	1	3	CARDINAL
fcis-9423	78	2	14	CARDINAL
fcis-9423	81	1		ORG
fcis-9423	83	1		ORG
fcis-9423	84	1	1 2	CARDINAL
fcis-9423	86	1	 	PRODUCT
fcis-9423	86	2	4	CARDINAL
fcis-9423	86	3	1	CARDINAL
fcis-9423	86	4	2	CARDINAL
fcis-9423	86	5	lim	PERSON
fcis-9423	87	1	0	CARDINAL
fcis-9423	88	1	1 1	CARDINAL
fcis-9423	89	1	0	CARDINAL
fcis-9423	90	1	rt t t t	PERSON
fcis-9423	90	2		GPE
fcis-9423	90	3	5	CARDINAL
fcis-9423	91	1	0,1)r	CARDINAL
fcis-9423	92	1	15	CARDINAL
fcis-9423	93	1	6	CARDINAL
fcis-9423	93	2	6	CARDINAL
fcis-9423	94	1	6	CARDINAL
fcis-9423	96	1	7	CARDINAL
fcis-9423	97	1		GPE
fcis-9423	97	2		GPE
fcis-9423	97	3		GPE
fcis-9423	97	4	7	CARDINAL
fcis-9423	97	5	7	CARDINAL
fcis-9423	97	6	53	CARDINAL
fcis-9423	97	7	1 1	CARDINAL
fcis-9423	97	8	2	CARDINAL
fcis-9423	97	9	1	CARDINAL
fcis-9423	97	10	2	CARDINAL
fcis-9423	97	11		GPE
fcis-9423	97	12		GPE
fcis-9423	97	13		DATE
fcis-9423	97	14		GPE
fcis-9423	97	15		DATE
fcis-9423	97	16		NORP
fcis-9423	98	1		GPE
fcis-9423	98	2	uav	ORG
fcis-9423	99	1	0e	CARDINAL
fcis-9423	99	2	1 2m m	QUANTITY
fcis-9423	100	1	1 2m m	QUANTITY
fcis-9423	100	2	1 20 1m m 	QUANTITY
fcis-9423	103	1		ORG
fcis-9423	104	1	1 1 / tz	QUANTITY
fcis-9423	104	2		GPE
fcis-9423	104	3		NORP
fcis-9423	104	4		NORP
fcis-9423	106	1	9	CARDINAL
fcis-9423	106	2	9	CARDINAL
fcis-9423	108	1		ORG
fcis-9423	108	2	1 1 / z	QUANTITY
fcis-9423	108	3	t te	FAC
fcis-9423	108	4		GPE
fcis-9423	109	1	t v t	ORG
fcis-9423	109	2	9	CARDINAL
fcis-9423	109	3	10	CARDINAL
fcis-9423	110	1	4	CARDINAL
fcis-9423	112	1	1	CARDINAL
fcis-9423	112	2	1e	CARDINAL
fcis-9423	112	3	1	CARDINAL
fcis-9423	112	4	four	CARDINAL
fcis-9423	112	5	uav	ORG
fcis-9423	112	6	1 1	CARDINAL
fcis-9423	114	1	11	CARDINAL
fcis-9423	115	1	11	CARDINAL
fcis-9423	115	2	2	CARDINAL
fcis-9423	115	3	2	CARDINAL
fcis-9423	115	4	12	CARDINAL
fcis-9423	115	5	12	CARDINAL
fcis-9423	115	6	1 1 1	CARDINAL
fcis-9423	116	1	13	CARDINAL
fcis-9423	116	2	2u	CARDINAL
fcis-9423	116	3	four	CARDINAL
fcis-9423	116	4	uav	ORG
fcis-9423	117	1	1 1	DATE
fcis-9423	118	1	0v	CARDINAL
fcis-9423	119	1	13	CARDINAL
fcis-9423	120	1	2	CARDINAL
fcis-9423	121	1	14	CARDINAL
fcis-9423	121	2	14	CARDINAL
fcis-9423	121	3	13	CARDINAL
fcis-9423	121	4	13	CARDINAL
fcis-9423	121	5	2 1 1 1 1	QUANTITY
fcis-9423	121	6	15	CARDINAL
fcis-9423	121	7	2	CARDINAL
fcis-9423	121	8	four	CARDINAL
fcis-9423	121	9	uav	ORG
fcis-9423	122	1	2 2re	CARDINAL
fcis-9423	123	1	16	CARDINAL
fcis-9423	125	1	2 2	CARDINAL
fcis-9423	125	2	2	CARDINAL
fcis-9423	125	3	17	CARDINAL
fcis-9423	125	4	17	CARDINAL
fcis-9423	125	5	2	CARDINAL
fcis-9423	125	6	18	CARDINAL
fcis-9423	125	7	2u	CARDINAL
fcis-9423	126	1	2e	CARDINAL
fcis-9423	126	2	2 2	CARDINAL
fcis-9423	126	3	0v	CARDINAL
fcis-9423	127	1	2	CARDINAL
fcis-9423	130	1		PERSON
fcis-9423	130	2	19	CARDINAL
fcis-9423	130	3	19	CARDINAL
fcis-9423	130	4	18	CARDINAL
fcis-9423	130	5	18	CARDINAL
fcis-9423	130	6	2 2	CARDINAL
fcis-9423	130	7	20	CARDINAL
fcis-9423	130	8	19	CARDINAL
fcis-9423	130	9	2d	DATE
fcis-9423	132	1	2	CARDINAL
fcis-9423	132	2	3x	CARDINAL
fcis-9423	132	3	3	CARDINAL
fcis-9423	133	1	3x	CARDINAL
fcis-9423	133	2	3x	CARDINAL
fcis-9423	133	3	3x	CARDINAL
fcis-9423	133	4	 .	GPE
fcis-9423	134	1	four	CARDINAL
fcis-9423	134	2	uav	ORG
fcis-9423	134	3	1 2	CARDINAL
fcis-9423	134	4	3 x	QUANTITY
fcis-9423	136	1	21	CARDINAL
fcis-9423	136	2	2 3	CARDINAL
fcis-9423	136	3	4	CARDINAL
fcis-9423	136	4	4	CARDINAL
fcis-9423	136	5	tx	ORG
fcis-9423	136	6	22	CARDINAL
fcis-9423	136	7	23	CARDINAL
fcis-9423	137	1	3	CARDINAL
fcis-9423	137	2	0	CARDINAL
fcis-9423	137	3	0	CARDINAL
fcis-9423	140	1		DATE
fcis-9423	140	2	 	PERSON
fcis-9423	140	3		ORG
fcis-9423	140	4	23	CARDINAL
fcis-9423	140	5	54	DATE
fcis-9423	140	6	23	CARDINAL
fcis-9423	140	7	3i	CARDINAL
fcis-9423	140	8	3	CARDINAL
fcis-9423	140	9	0	CARDINAL
fcis-9423	140	10	zero	CARDINAL
fcis-9423	141	1	four	CARDINAL
fcis-9423	141	2	uav	ORG
fcis-9423	142	1	2 1 1	DATE
fcis-9423	143	1	24	CARDINAL
fcis-9423	144	1	25	CARDINAL
fcis-9423	144	2	3 3	DATE
fcis-9423	152	1		DATE
fcis-9423	152	2	   	PERSON
fcis-9423	152	3	 	PERSON
fcis-9423	153	1	  	PERSON
fcis-9423	153	2	25	CARDINAL
fcis-9423	153	3	25	CARDINAL
fcis-9423	153	4	1x̂	CARDINAL
fcis-9423	153	5	2x̂	CARDINAL
fcis-9423	153	6	3x̂	CARDINAL
fcis-9423	153	7	four	CARDINAL
fcis-9423	153	8	uav	ORG
fcis-9423	153	9	3i	CARDINAL
fcis-9423	153	10	3 3	DATE
fcis-9423	153	11	0	CARDINAL
fcis-9423	153	12	zero	CARDINAL
fcis-9423	153	13	w	ORG
fcis-9423	153	14	0w	CARDINAL
fcis-9423	154	1	linear w	FAC
fcis-9423	155	1	19	CARDINAL
fcis-9423	156	1	2x	CARDINAL
fcis-9423	156	2	3x	CARDINAL
fcis-9423	157	1	19	CARDINAL
fcis-9423	157	2	24	CARDINAL
fcis-9423	157	3	1 2	CARDINAL
fcis-9423	158	1	u k k x u x	PERSON
fcis-9423	158	2	26	CARDINAL
fcis-9423	158	3	2x̂	CARDINAL
fcis-9423	158	4	3x̂	CARDINAL
fcis-9423	158	5	2x	CARDINAL
fcis-9423	158	6	3x̂	CARDINAL
fcis-9423	159	1	5	CARDINAL
fcis-9423	159	2	eso-bsc	NORP
fcis-9423	160	1	uav	PERSON
fcis-9423	160	2	1	CARDINAL
fcis-9423	160	3	1	CARDINAL
fcis-9423	160	4	0,1)r	CARDINAL
fcis-9423	161	1	0.6 2 0.02 0.2	MONEY
fcis-9423	161	2	four	CARDINAL
fcis-9423	161	3	uav	ORG
fcis-9423	161	4	four	CARDINAL
fcis-9423	161	5	uav	ORG
fcis-9423	163	1	0.1rad	DATE
fcis-9423	163	2	0.12rad	PERSON
fcis-9423	163	3	0.15rad	PERSON
fcis-9423	163	4	2 sind t	TIME
fcis-9423	164	1	1	CARDINAL
fcis-9423	164	2	3	CARDINAL
fcis-9423	164	3	1	CARDINAL
fcis-9423	165	1	2	CARDINAL
fcis-9423	165	2	3	CARDINAL
fcis-9423	166	1	4	CARDINAL
fcis-9423	166	2	6	CARDINAL
fcis-9423	166	3	4	CARDINAL
fcis-9423	166	4	0.5 1 1.5 2 2.5	QUANTITY
fcis-9423	166	5	0.02 0.04 0.06 0.08 0.1 0.12	QUANTITY
fcis-9423	167	1	0.5 1 1.5 2 2.5	QUANTITY
fcis-9423	167	2	0 0.05 0.1 0.15 俯	MONEY
fcis-9423	168	1	0.5 1 1.5 2 2.5	QUANTITY
fcis-9423	168	2	0.02 0.04 0.06 0.08 0.1 0.12	QUANTITY
fcis-9423	168	3	偏	ORG
fcis-9423	169	1	0.2 0.4 0.6 0.8 1	QUANTITY
fcis-9423	169	2	-0.06 -0.04 -0.02	MONEY
fcis-9423	169	3	0.02 0.04 0.06 0.08 0.1	QUANTITY
fcis-9423	170	1	55	CARDINAL
fcis-9423	170	2	5	CARDINAL
fcis-9423	170	3	eso-bsc	GPE
fcis-9423	170	4	four	CARDINAL
fcis-9423	170	5	uav	ORG
fcis-9423	171	1	four	CARDINAL
fcis-9423	171	2	uav	ORG
fcis-9423	172	1	1	CARDINAL
fcis-9423	172	2	j e.	PERSON
fcis-9423	172	3	uav	PERSON
fcis-9423	173	1	2022	CARDINAL
fcis-9423	173	2	7566-7566	DATE
fcis-9423	174	1	2	CARDINAL
fcis-9423	174	2	baskar s j	PERSON
fcis-9423	174	3	2023	CARDINAL
fcis-9423	174	4	115(1	DATE
fcis-9423	174	5	1-20	CARDINAL
fcis-9423	175	1	3	CARDINAL
fcis-9423	175	2	kim d-k j j	PERSON
fcis-9423	177	1	sciences s. development of	ORG
fcis-9423	177	2	2018	DATE
fcis-9423	177	3	46(1	CARDINAL
fcis-9423	177	4	59-67	DATE
fcis-9423	178	1	4	CARDINAL
fcis-9423	178	2	giernacki w	PERSON
fcis-9423	178	3	gośliński j	PERSON
fcis-9423	178	4	espinoza	GPE
fcis-9423	178	5	rao	ORG
fcis-9423	179	1	j e. mathematical	PERSON
fcis-9423	181	1	2021	CARDINAL
fcis-9423	181	2	14(5	DATE
fcis-9423	181	3	1232-1232	DATE
fcis-9423	182	1	5	CARDINAL
fcis-9423	182	2	munters w	GPE
fcis-9423	182	3	schram	ORG
fcis-9423	185	1	2022	CARDINAL
fcis-9423	185	2	128	CARDINAL
fcis-9423	185	3	107762	CARDINAL
fcis-9423	186	1	6	CARDINAL
fcis-9423	187	1	l. multi	PERSON
fcis-9423	187	2	uav	ORG
fcis-9423	188	1	2023	CARDINAL
fcis-9423	188	2	19(2	DATE
fcis-9423	188	3	105	CARDINAL
fcis-9423	189	1	7	CARDINAL
fcis-9423	189	2	liang l	PERSON
fcis-9423	189	3	gao w j	PERSON
fcis-9423	193	1	2022	CARDINAL
fcis-9423	193	2	11692-11712	DATE
fcis-9423	194	1	8	CARDINAL
fcis-9423	194	2	deb dipankar	PERSON
fcis-9423	194	3	kothari mangal	PERSON
fcis-9423	194	4	ozana stepan	PERSON
fcis-9423	196	1	119	CARDINAL
fcis-9423	197	1	9	CARDINAL
fcis-9423	197	2	xiao x	PERSON
fcis-9423	197	3	yang z-x	PERSON
fcis-9423	197	4	j m. nonlinear	PERSON
fcis-9423	197	5	uav	ORG
fcis-9423	198	1	2022	CARDINAL
fcis-9423	198	2	10(7	DATE
fcis-9423	198	3	551	CARDINAL
fcis-9423	199	1	10	CARDINAL
fcis-9423	202	1	2019	CARDINAL
fcis-9423	202	2	14	CARDINAL
fcis-9423	202	3	2539-2547	CARDINAL
fcis-9423	203	1	11	CARDINAL
fcis-9423	203	2	garcia-guendulain	PERSON
fcis-9423	203	3	j m	PERSON
fcis-9423	203	4	rangel	PERSON
fcis-9423	203	5	fuentes-silva	PERSON
fcis-9423	205	1	2020	DATE
fcis-9423	205	2	9(10	CARDINAL
fcis-9423	205	3	1735-1735	DATE
fcis-9423	206	1	12	CARDINAL
fcis-9423	206	2	chen yanjie	PERSON
fcis-9423	206	3	liang jiacheng	PERSON
fcis-9423	206	4	wu yangning	PERSON
fcis-9423	206	5	miao zhiqiang	PERSON
fcis-9423	206	6	zhang hui	PERSON
fcis-9423	206	7	wang yaonan	PERSON
fcis-9423	210	1	13	CARDINAL
fcis-9423	210	2	d. newton-euler	PERSON
fcis-9423	211	1	2004	DATE
fcis-9423	212	1	14	CARDINAL
fcis-9423	212	2	han	NORP
fcis-9423	213	1	euler-lagrange systems[j	ORG
fcis-9423	214	1	1-1	CARDINAL
fcis-9423	215	1	15	CARDINAL
fcis-9423	215	2	zhang y,	PERSON
fcis-9423	215	3	wang s-h	PERSON
fcis-9423	215	4	chang b	PERSON
fcis-9423	217	1	uav	ORG
fcis-9423	219	1	2019	CARDINAL
fcis-9423	219	2	92	CARDINAL
fcis-9423	219	3	55-65	CARDINAL
fcis-9423	219	4	0.2 0.4 0.6 0.8 1	QUANTITY
fcis-9423	219	5	0.05 0.1 俯	QUANTITY
fcis-9423	220	1	0.2 0.4 0.6 0.8 1	QUANTITY
fcis-9423	220	2	0.05 0.1	CARDINAL
fcis-9423	220	3	偏	ORG