id	sid	tid	token	lemma	pos
fcis-11134	1	1	frontiers	frontier	NOUN
fcis-11134	1	2	in	in	ADP
fcis-11134	1	3	computing	computing	NOUN
fcis-11134	1	4	and	and	CCONJ
fcis-11134	1	5	intelligent	intelligent	ADJ
fcis-11134	1	6	systems	system	NOUN
fcis-11134	1	7	issn	issn	VERB
fcis-11134	1	8	:	:	PUNCT
fcis-11134	1	9	2832	2832	NUM
fcis-11134	1	10	-	-	SYM
fcis-11134	1	11	6024	6024	NUM
fcis-11134	1	12	|	|	NOUN
fcis-11134	1	13	vol	vol	NOUN
fcis-11134	1	14	.	.	PROPN
fcis-11134	2	1	4	4	NUM
fcis-11134	2	2	,	,	PUNCT
fcis-11134	2	3	no	no	INTJ
fcis-11134	2	4	.	.	NOUN
fcis-11134	2	5	3	3	NUM
fcis-11134	2	6	,	,	PUNCT
fcis-11134	2	7	2023	2023	NUM
fcis-11134	2	8	56	56	NUM
fcis-11134	2	9	training	training	NOUN
fcis-11134	2	10	scene	scene	NOUN
fcis-11134	2	11	construction	construction	NOUN
fcis-11134	2	12	and	and	CCONJ
fcis-11134	2	13	motion	motion	NOUN
fcis-11134	2	14	realization	realization	NOUN
fcis-11134	2	15	of	of	ADP
fcis-11134	2	16	unmanned	unmanned	ADJ
fcis-11134	2	17	craft	craft	NOUN
fcis-11134	2	18	based	base	VERB
fcis-11134	2	19	on	on	ADP
fcis-11134	2	20	unreal	unreal	ADJ
fcis-11134	2	21	engine	engine	NOUN
fcis-11134	2	22	jiaxin	jiaxin	NOUN
fcis-11134	2	23	gao	gao	PROPN
fcis-11134	2	24	,	,	PUNCT
fcis-11134	2	25	yuelu	yuelu	PROPN
fcis-11134	2	26	chen	chen	PROPN
fcis-11134	3	1	*	*	PUNCT
fcis-11134	3	2	,	,	PUNCT
fcis-11134	3	3	baolong	baolong	PROPN
fcis-11134	3	4	cao	cao	PROPN
fcis-11134	3	5	,	,	PUNCT
fcis-11134	3	6	yiming	yiming	PROPN
fcis-11134	3	7	chen	chen	PROPN
fcis-11134	3	8	and	and	CCONJ
fcis-11134	3	9	chuanqi	chuanqi	PROPN
fcis-11134	3	10	li	li	PROPN
fcis-11134	3	11	research	research	PROPN
fcis-11134	3	12	and	and	CCONJ
fcis-11134	3	13	development	development	NOUN
fcis-11134	3	14	center	center	NOUN
fcis-11134	3	15	,	,	PUNCT
fcis-11134	3	16	aerospace	aerospace	NOUN
fcis-11134	3	17	internet	internet	NOUN
fcis-11134	3	18	of	of	ADP
fcis-11134	3	19	things	thing	NOUN
fcis-11134	3	20	technology	technology	PROPN
fcis-11134	3	21	co	co	X
fcis-11134	3	22	ltd	ltd	PROPN
fcis-11134	3	23	,	,	PUNCT
fcis-11134	3	24	beijing	beijing	PROPN
fcis-11134	3	25	,	,	PUNCT
fcis-11134	3	26	china	china	PROPN
fcis-11134	3	27	abstract	abstract	NOUN
fcis-11134	3	28	:	:	PUNCT
fcis-11134	3	29	aiming	aim	VERB
fcis-11134	3	30	at	at	ADP
fcis-11134	3	31	the	the	DET
fcis-11134	3	32	problems	problem	NOUN
fcis-11134	3	33	of	of	ADP
fcis-11134	3	34	the	the	DET
fcis-11134	3	35	traditional	traditional	ADJ
fcis-11134	3	36	training	training	NOUN
fcis-11134	3	37	system	system	NOUN
fcis-11134	3	38	,	,	PUNCT
fcis-11134	3	39	such	such	ADJ
fcis-11134	3	40	as	as	ADP
fcis-11134	3	41	the	the	DET
fcis-11134	3	42	unrealistic	unrealistic	ADJ
fcis-11134	3	43	simulation	simulation	NOUN
fcis-11134	3	44	of	of	ADP
fcis-11134	3	45	3d	3d	NUM
fcis-11134	3	46	animation	animation	NOUN
fcis-11134	3	47	effects	effect	NOUN
fcis-11134	3	48	and	and	CCONJ
fcis-11134	3	49	the	the	DET
fcis-11134	3	50	inability	inability	NOUN
fcis-11134	3	51	to	to	PART
fcis-11134	3	52	meet	meet	VERB
fcis-11134	3	53	the	the	DET
fcis-11134	3	54	demand	demand	NOUN
fcis-11134	3	55	of	of	ADP
fcis-11134	3	56	real	real	ADJ
fcis-11134	3	57	-	-	PUNCT
fcis-11134	3	58	time	time	NOUN
fcis-11134	3	59	manipulation	manipulation	NOUN
fcis-11134	3	60	response	response	NOUN
fcis-11134	3	61	of	of	ADP
fcis-11134	3	62	simulation	simulation	NOUN
fcis-11134	3	63	training	training	NOUN
fcis-11134	3	64	based	base	VERB
fcis-11134	3	65	on	on	ADP
fcis-11134	3	66	the	the	DET
fcis-11134	3	67	original	original	ADJ
fcis-11134	3	68	mechanical	mechanical	ADJ
fcis-11134	3	69	calculation	calculation	NOUN
fcis-11134	3	70	,	,	PUNCT
fcis-11134	3	71	this	this	DET
fcis-11134	3	72	paper	paper	NOUN
fcis-11134	3	73	puts	put	VERB
fcis-11134	3	74	forward	forward	ADV
fcis-11134	3	75	a	a	DET
fcis-11134	3	76	method	method	NOUN
fcis-11134	3	77	of	of	ADP
fcis-11134	3	78	unmanned	unmanned	ADJ
fcis-11134	3	79	craft	craft	NOUN
fcis-11134	3	80	training	training	NOUN
fcis-11134	3	81	scene	scene	NOUN
fcis-11134	3	82	construction	construction	NOUN
fcis-11134	3	83	and	and	CCONJ
fcis-11134	3	84	motion	motion	NOUN
fcis-11134	3	85	realization	realization	NOUN
fcis-11134	3	86	based	base	VERB
fcis-11134	3	87	on	on	ADP
fcis-11134	3	88	unreal	unreal	ADJ
fcis-11134	3	89	engine	engine	NOUN
fcis-11134	3	90	.	.	PUNCT
fcis-11134	4	1	the	the	DET
fcis-11134	4	2	method	method	NOUN
fcis-11134	4	3	makes	make	VERB
fcis-11134	4	4	full	full	ADJ
fcis-11134	4	5	use	use	NOUN
fcis-11134	4	6	of	of	ADP
fcis-11134	4	7	unreal	unreal	ADJ
fcis-11134	4	8	engine	engine	NOUN
fcis-11134	4	9	's	's	PART
fcis-11134	4	10	powerful	powerful	ADJ
fcis-11134	4	11	graphic	graphic	ADJ
fcis-11134	4	12	rendering	rendering	NOUN
fcis-11134	4	13	ability	ability	NOUN
fcis-11134	4	14	and	and	CCONJ
fcis-11134	4	15	physics	physics	NOUN
fcis-11134	4	16	engine	engine	NOUN
fcis-11134	4	17	function	function	NOUN
fcis-11134	4	18	,	,	PUNCT
fcis-11134	4	19	and	and	CCONJ
fcis-11134	4	20	combines	combine	VERB
fcis-11134	4	21	3d	3d	PROPN
fcis-11134	4	22	max	max	PROPN
fcis-11134	4	23	to	to	PART
fcis-11134	4	24	realize	realize	VERB
fcis-11134	4	25	the	the	DET
fcis-11134	4	26	rapid	rapid	ADJ
fcis-11134	4	27	construction	construction	NOUN
fcis-11134	4	28	of	of	ADP
fcis-11134	4	29	unmanned	unmanned	ADJ
fcis-11134	4	30	craft	craft	NOUN
fcis-11134	4	31	training	training	NOUN
fcis-11134	4	32	scene	scene	NOUN
fcis-11134	4	33	,	,	PUNCT
fcis-11134	4	34	environment	environment	NOUN
fcis-11134	4	35	simulation	simulation	NOUN
fcis-11134	4	36	,	,	PUNCT
fcis-11134	4	37	and	and	CCONJ
fcis-11134	4	38	unmanned	unmanned	ADJ
fcis-11134	4	39	craft	craft	NOUN
fcis-11134	4	40	motion	motion	NOUN
fcis-11134	4	41	simulation	simulation	NOUN
fcis-11134	4	42	and	and	CCONJ
fcis-11134	4	43	control	control	NOUN
fcis-11134	4	44	.	.	PUNCT
fcis-11134	5	1	the	the	DET
fcis-11134	5	2	developed	develop	VERB
fcis-11134	5	3	unmanned	unmanned	ADJ
fcis-11134	5	4	craft	craft	NOUN
fcis-11134	5	5	training	training	NOUN
fcis-11134	5	6	software	software	NOUN
fcis-11134	5	7	has	have	VERB
fcis-11134	5	8	the	the	DET
fcis-11134	5	9	characteristics	characteristic	NOUN
fcis-11134	5	10	of	of	ADP
fcis-11134	5	11	smooth	smooth	ADJ
fcis-11134	5	12	and	and	CCONJ
fcis-11134	5	13	clear	clear	ADJ
fcis-11134	5	14	picture	picture	NOUN
fcis-11134	5	15	,	,	PUNCT
fcis-11134	5	16	realistic	realistic	ADJ
fcis-11134	5	17	and	and	CCONJ
fcis-11134	5	18	delicate	delicate	ADJ
fcis-11134	5	19	scene	scene	NOUN
fcis-11134	5	20	,	,	PUNCT
fcis-11134	5	21	strong	strong	ADJ
fcis-11134	5	22	training	training	NOUN
fcis-11134	5	23	immersion	immersion	NOUN
fcis-11134	5	24	,	,	PUNCT
fcis-11134	5	25	and	and	CCONJ
fcis-11134	5	26	real	real	ADJ
fcis-11134	5	27	manipulation	manipulation	NOUN
fcis-11134	5	28	experience	experience	NOUN
fcis-11134	5	29	,	,	PUNCT
fcis-11134	5	30	which	which	PRON
fcis-11134	5	31	can	can	AUX
fcis-11134	5	32	effectively	effectively	ADV
fcis-11134	5	33	improve	improve	VERB
fcis-11134	5	34	the	the	DET
fcis-11134	5	35	training	training	NOUN
fcis-11134	5	36	efficiency	efficiency	NOUN
fcis-11134	5	37	and	and	CCONJ
fcis-11134	5	38	training	training	NOUN
fcis-11134	5	39	safety	safety	NOUN
fcis-11134	5	40	,	,	PUNCT
fcis-11134	5	41	reduce	reduce	VERB
fcis-11134	5	42	the	the	DET
fcis-11134	5	43	training	training	NOUN
fcis-11134	5	44	cost	cost	NOUN
fcis-11134	5	45	,	,	PUNCT
fcis-11134	5	46	and	and	CCONJ
fcis-11134	5	47	have	have	VERB
fcis-11134	5	48	significant	significant	ADJ
fcis-11134	5	49	economic	economic	ADJ
fcis-11134	5	50	benefits	benefit	NOUN
fcis-11134	5	51	.	.	PUNCT
fcis-11134	6	1	keywords	keyword	NOUN
fcis-11134	6	2	:	:	PUNCT
fcis-11134	6	3	training	training	NOUN
fcis-11134	6	4	simulation	simulation	NOUN
fcis-11134	6	5	;	;	PUNCT
fcis-11134	6	6	unreal	unreal	ADJ
fcis-11134	6	7	engine	engine	NOUN
fcis-11134	6	8	;	;	PUNCT
fcis-11134	6	9	unmanned	unmanned	ADJ
fcis-11134	6	10	craft	craft	NOUN
fcis-11134	6	11	.	.	PUNCT
fcis-11134	7	1	1	1	X
fcis-11134	7	2	.	.	X
fcis-11134	7	3	introduction	introduction	NOUN
fcis-11134	7	4	the	the	DET
fcis-11134	7	5	degree	degree	NOUN
fcis-11134	7	6	of	of	ADP
fcis-11134	7	7	informatization	informatization	NOUN
fcis-11134	7	8	of	of	ADP
fcis-11134	7	9	modern	modern	ADJ
fcis-11134	7	10	war	war	NOUN
fcis-11134	7	11	is	be	AUX
fcis-11134	7	12	increasing	increase	VERB
fcis-11134	7	13	,	,	PUNCT
fcis-11134	7	14	and	and	CCONJ
fcis-11134	7	15	the	the	DET
fcis-11134	7	16	intelligent	intelligent	ADJ
fcis-11134	7	17	characteristics	characteristic	NOUN
fcis-11134	7	18	are	be	AUX
fcis-11134	7	19	becoming	become	VERB
fcis-11134	7	20	more	more	ADV
fcis-11134	7	21	and	and	CCONJ
fcis-11134	7	22	more	more	ADV
fcis-11134	7	23	obvious	obvious	ADJ
fcis-11134	7	24	,	,	PUNCT
fcis-11134	7	25	science	science	NOUN
fcis-11134	7	26	and	and	CCONJ
fcis-11134	7	27	technology	technology	NOUN
fcis-11134	7	28	not	not	PART
fcis-11134	7	29	only	only	ADV
fcis-11134	7	30	change	change	VERB
fcis-11134	7	31	and	and	CCONJ
fcis-11134	7	32	reshape	reshape	VERB
fcis-11134	7	33	the	the	DET
fcis-11134	7	34	winning	win	VERB
fcis-11134	7	35	mechanism	mechanism	NOUN
fcis-11134	7	36	,	,	PUNCT
fcis-11134	7	37	winning	win	VERB
fcis-11134	7	38	elements	element	NOUN
fcis-11134	7	39	,	,	PUNCT
fcis-11134	7	40	winning	win	VERB
fcis-11134	7	41	probability	probability	NOUN
fcis-11134	7	42	of	of	ADP
fcis-11134	7	43	the	the	DET
fcis-11134	7	44	war	war	NOUN
fcis-11134	7	45	game	game	NOUN
fcis-11134	7	46	,	,	PUNCT
fcis-11134	7	47	but	but	CCONJ
fcis-11134	7	48	also	also	ADV
fcis-11134	7	49	fundamentally	fundamentally	ADV
fcis-11134	7	50	change	change	VERB
fcis-11134	7	51	the	the	DET
fcis-11134	7	52	form	form	NOUN
fcis-11134	7	53	,	,	PUNCT
fcis-11134	7	54	means	mean	NOUN
fcis-11134	7	55	and	and	CCONJ
fcis-11134	7	56	methods	method	NOUN
fcis-11134	7	57	of	of	ADP
fcis-11134	7	58	military	military	ADJ
fcis-11134	7	59	training	training	NOUN
fcis-11134	7	60	.	.	PUNCT
fcis-11134	8	1	despite	despite	SCONJ
fcis-11134	8	2	the	the	DET
fcis-11134	8	3	fact	fact	NOUN
fcis-11134	8	4	that	that	SCONJ
fcis-11134	8	5	live	live	ADJ
fcis-11134	8	6	training	training	NOUN
fcis-11134	8	7	is	be	AUX
fcis-11134	8	8	the	the	DET
fcis-11134	8	9	closest	close	ADJ
fcis-11134	8	10	to	to	ADP
fcis-11134	8	11	the	the	DET
fcis-11134	8	12	actual	actual	ADJ
fcis-11134	8	13	combat	combat	NOUN
fcis-11134	8	14	scenario	scenario	NOUN
fcis-11134	8	15	and	and	CCONJ
fcis-11134	8	16	has	have	VERB
fcis-11134	8	17	irreplaceable	irreplaceable	ADJ
fcis-11134	8	18	advantages	advantage	NOUN
fcis-11134	8	19	in	in	ADP
fcis-11134	8	20	terms	term	NOUN
fcis-11134	8	21	of	of	ADP
fcis-11134	8	22	authenticity	authenticity	NOUN
fcis-11134	8	23	and	and	CCONJ
fcis-11134	8	24	training	training	NOUN
fcis-11134	8	25	effect	effect	NOUN
fcis-11134	8	26	,	,	PUNCT
fcis-11134	8	27	it	it	PRON
fcis-11134	8	28	is	be	AUX
fcis-11134	8	29	inevitably	inevitably	ADV
fcis-11134	8	30	subject	subject	ADJ
fcis-11134	8	31	to	to	ADP
fcis-11134	8	32	a	a	DET
fcis-11134	8	33	variety	variety	NOUN
fcis-11134	8	34	of	of	ADP
fcis-11134	8	35	constraints	constraint	NOUN
fcis-11134	8	36	,	,	PUNCT
fcis-11134	8	37	such	such	ADJ
fcis-11134	8	38	as	as	ADP
fcis-11134	8	39	high	high	ADJ
fcis-11134	8	40	requirements	requirement	NOUN
fcis-11134	8	41	for	for	ADP
fcis-11134	8	42	venues	venue	NOUN
fcis-11134	8	43	,	,	PUNCT
fcis-11134	8	44	high	high	ADJ
fcis-11134	8	45	training	training	NOUN
fcis-11134	8	46	consumption	consumption	NOUN
fcis-11134	8	47	,	,	PUNCT
fcis-11134	8	48	and	and	CCONJ
fcis-11134	8	49	difficulties	difficulty	NOUN
fcis-11134	8	50	in	in	ADP
fcis-11134	8	51	organizing	organize	VERB
fcis-11134	8	52	training	training	NOUN
fcis-11134	8	53	,	,	PUNCT
fcis-11134	8	54	etc	etc	X
fcis-11134	8	55	.	.	X
fcis-11134	9	1	[	[	X
fcis-11134	9	2	1	1	NUM
fcis-11134	9	3	]	]	PUNCT
fcis-11134	9	4	.	.	PUNCT
fcis-11134	10	1	in	in	ADP
fcis-11134	10	2	recent	recent	ADJ
fcis-11134	10	3	years	year	NOUN
fcis-11134	10	4	,	,	PUNCT
fcis-11134	10	5	with	with	ADP
fcis-11134	10	6	the	the	DET
fcis-11134	10	7	rapid	rapid	ADJ
fcis-11134	10	8	development	development	NOUN
fcis-11134	10	9	of	of	ADP
fcis-11134	10	10	intelligent	intelligent	ADJ
fcis-11134	10	11	equipment	equipment	NOUN
fcis-11134	10	12	,	,	PUNCT
fcis-11134	10	13	computer	computer	NOUN
fcis-11134	10	14	technology	technology	NOUN
fcis-11134	10	15	and	and	CCONJ
fcis-11134	10	16	simulation	simulation	NOUN
fcis-11134	10	17	technology	technology	NOUN
fcis-11134	10	18	,	,	PUNCT
fcis-11134	10	19	a	a	DET
fcis-11134	10	20	new	new	ADJ
fcis-11134	10	21	generation	generation	NOUN
fcis-11134	10	22	of	of	ADP
fcis-11134	10	23	simulation	simulation	NOUN
fcis-11134	10	24	training	training	NOUN
fcis-11134	10	25	system	system	NOUN
fcis-11134	10	26	,	,	PUNCT
fcis-11134	10	27	supported	support	VERB
fcis-11134	10	28	by	by	ADP
fcis-11134	10	29	powerful	powerful	ADJ
fcis-11134	10	30	hardware	hardware	NOUN
fcis-11134	10	31	and	and	CCONJ
fcis-11134	10	32	software	software	NOUN
fcis-11134	10	33	capabilities	capability	NOUN
fcis-11134	10	34	,	,	PUNCT
fcis-11134	10	35	can	can	AUX
fcis-11134	10	36	realize	realize	VERB
fcis-11134	10	37	richer	rich	ADJ
fcis-11134	10	38	functions	function	NOUN
fcis-11134	10	39	,	,	PUNCT
fcis-11134	10	40	build	build	VERB
fcis-11134	10	41	a	a	DET
fcis-11134	10	42	more	more	ADV
fcis-11134	10	43	realistic	realistic	ADJ
fcis-11134	10	44	scene	scene	NOUN
fcis-11134	10	45	,	,	PUNCT
fcis-11134	10	46	and	and	CCONJ
fcis-11134	10	47	use	use	VERB
fcis-11134	10	48	diversified	diversified	ADJ
fcis-11134	10	49	means	mean	NOUN
fcis-11134	10	50	of	of	ADP
fcis-11134	10	51	interaction	interaction	NOUN
fcis-11134	10	52	.	.	PUNCT
fcis-11134	11	1	the	the	DET
fcis-11134	11	2	system	system	NOUN
fcis-11134	11	3	can	can	AUX
fcis-11134	11	4	form	form	VERB
fcis-11134	11	5	a	a	DET
fcis-11134	11	6	more	more	ADV
fcis-11134	11	7	complete	complete	ADJ
fcis-11134	11	8	equipment	equipment	NOUN
fcis-11134	11	9	simulation	simulation	NOUN
fcis-11134	11	10	capability	capability	NOUN
fcis-11134	11	11	,	,	PUNCT
fcis-11134	11	12	create	create	VERB
fcis-11134	11	13	great	great	ADJ
fcis-11134	11	14	benefits	benefit	NOUN
fcis-11134	11	15	in	in	ADP
fcis-11134	11	16	training	training	NOUN
fcis-11134	11	17	,	,	PUNCT
fcis-11134	11	18	and	and	CCONJ
fcis-11134	11	19	become	become	VERB
fcis-11134	11	20	an	an	DET
fcis-11134	11	21	important	important	ADJ
fcis-11134	11	22	way	way	NOUN
fcis-11134	11	23	to	to	PART
fcis-11134	11	24	train	train	VERB
fcis-11134	11	25	the	the	DET
fcis-11134	11	26	operation	operation	NOUN
fcis-11134	11	27	and	and	CCONJ
fcis-11134	11	28	use	use	NOUN
fcis-11134	11	29	skills	skill	NOUN
fcis-11134	11	30	of	of	ADP
fcis-11134	11	31	new	new	ADJ
fcis-11134	11	32	complex	complex	ADJ
fcis-11134	11	33	equipment	equipment	NOUN
fcis-11134	11	34	systems	system	NOUN
fcis-11134	11	35	.	.	PUNCT
fcis-11134	12	1	although	although	SCONJ
fcis-11134	12	2	some	some	DET
fcis-11134	12	3	domestic	domestic	ADJ
fcis-11134	12	4	universities	university	NOUN
fcis-11134	12	5	and	and	CCONJ
fcis-11134	12	6	related	relate	VERB
fcis-11134	12	7	research	research	NOUN
fcis-11134	12	8	institutes	institute	NOUN
fcis-11134	12	9	have	have	AUX
fcis-11134	12	10	been	be	AUX
fcis-11134	12	11	actively	actively	ADV
fcis-11134	12	12	carrying	carry	VERB
fcis-11134	12	13	out	out	ADP
fcis-11134	12	14	research	research	NOUN
fcis-11134	12	15	in	in	ADP
fcis-11134	12	16	this	this	DET
fcis-11134	12	17	field	field	NOUN
fcis-11134	12	18	,	,	PUNCT
fcis-11134	12	19	but	but	CCONJ
fcis-11134	12	20	by	by	ADP
fcis-11134	12	21	the	the	DET
fcis-11134	12	22	limitations	limitation	NOUN
fcis-11134	12	23	of	of	ADP
fcis-11134	12	24	the	the	DET
fcis-11134	12	25	traditional	traditional	ADJ
fcis-11134	12	26	simulation	simulation	NOUN
fcis-11134	12	27	technology	technology	NOUN
fcis-11134	12	28	,	,	PUNCT
fcis-11134	12	29	the	the	DET
fcis-11134	12	30	model	model	NOUN
fcis-11134	12	31	training	training	NOUN
fcis-11134	12	32	system	system	NOUN
fcis-11134	12	33	has	have	AUX
fcis-11134	12	34	always	always	ADV
fcis-11134	12	35	existed	exist	VERB
fcis-11134	12	36	in	in	ADP
fcis-11134	12	37	the	the	DET
fcis-11134	12	38	threedimensional	threedimensional	ADJ
fcis-11134	12	39	animation	animation	NOUN
fcis-11134	12	40	effect	effect	NOUN
fcis-11134	12	41	simulation	simulation	NOUN
fcis-11134	12	42	is	be	AUX
fcis-11134	12	43	not	not	PART
fcis-11134	12	44	realistic	realistic	ADJ
fcis-11134	12	45	,	,	PUNCT
fcis-11134	12	46	based	base	VERB
fcis-11134	12	47	on	on	ADP
fcis-11134	12	48	the	the	DET
fcis-11134	12	49	principle	principle	NOUN
fcis-11134	12	50	of	of	ADP
fcis-11134	12	51	mechanics	mechanic	NOUN
fcis-11134	12	52	settlement	settlement	NOUN
fcis-11134	12	53	can	can	AUX
fcis-11134	12	54	not	not	PART
fcis-11134	12	55	meet	meet	VERB
fcis-11134	12	56	the	the	DET
fcis-11134	12	57	realtime	realtime	ADJ
fcis-11134	12	58	manipulation	manipulation	NOUN
fcis-11134	12	59	of	of	ADP
fcis-11134	12	60	the	the	DET
fcis-11134	12	61	simulation	simulation	NOUN
fcis-11134	12	62	training	training	NOUN
fcis-11134	12	63	response	response	NOUN
fcis-11134	12	64	needs	need	NOUN
fcis-11134	12	65	and	and	CCONJ
fcis-11134	12	66	other	other	ADJ
fcis-11134	12	67	issues	issue	NOUN
fcis-11134	12	68	[	[	X
fcis-11134	12	69	2	2	NUM
fcis-11134	12	70	]	]	PUNCT
fcis-11134	12	71	.	.	PUNCT
fcis-11134	13	1	in	in	ADP
fcis-11134	13	2	order	order	NOUN
fcis-11134	13	3	to	to	PART
fcis-11134	13	4	solve	solve	VERB
fcis-11134	13	5	the	the	DET
fcis-11134	13	6	above	above	ADJ
fcis-11134	13	7	problems	problem	NOUN
fcis-11134	13	8	,	,	PUNCT
fcis-11134	13	9	this	this	DET
fcis-11134	13	10	paper	paper	NOUN
fcis-11134	13	11	proposes	propose	VERB
fcis-11134	13	12	a	a	DET
fcis-11134	13	13	method	method	NOUN
fcis-11134	13	14	of	of	ADP
fcis-11134	13	15	the	the	DET
fcis-11134	13	16	unmanned	unmanned	ADJ
fcis-11134	13	17	craft	craft	NOUN
fcis-11134	13	18	training	training	NOUN
fcis-11134	13	19	scene	scene	NOUN
fcis-11134	13	20	construction	construction	NOUN
fcis-11134	13	21	and	and	CCONJ
fcis-11134	13	22	simulation	simulation	NOUN
fcis-11134	13	23	motion	motion	NOUN
fcis-11134	13	24	implementation	implementation	NOUN
fcis-11134	13	25	based	base	VERB
fcis-11134	13	26	on	on	ADP
fcis-11134	13	27	unreal	unreal	ADJ
fcis-11134	13	28	engine	engine	NOUN
fcis-11134	13	29	.	.	PUNCT
fcis-11134	14	1	this	this	DET
fcis-11134	14	2	method	method	NOUN
fcis-11134	14	3	makes	make	VERB
fcis-11134	14	4	full	full	ADJ
fcis-11134	14	5	use	use	NOUN
fcis-11134	14	6	of	of	ADP
fcis-11134	14	7	the	the	DET
fcis-11134	14	8	powerful	powerful	ADJ
fcis-11134	14	9	graphic	graphic	ADJ
fcis-11134	14	10	rendering	rendering	NOUN
fcis-11134	14	11	ability	ability	NOUN
fcis-11134	14	12	and	and	CCONJ
fcis-11134	14	13	physics	physics	NOUN
fcis-11134	14	14	engine	engine	NOUN
fcis-11134	14	15	function	function	NOUN
fcis-11134	14	16	of	of	ADP
fcis-11134	14	17	unreal	unreal	ADJ
fcis-11134	14	18	engine	engine	NOUN
fcis-11134	14	19	,	,	PUNCT
fcis-11134	14	20	and	and	CCONJ
fcis-11134	14	21	combines	combine	VERB
fcis-11134	14	22	with	with	ADP
fcis-11134	14	23	3d	3d	PROPN
fcis-11134	14	24	max	max	PROPN
fcis-11134	14	25	to	to	PART
fcis-11134	14	26	complete	complete	VERB
fcis-11134	14	27	the	the	DET
fcis-11134	14	28	rapid	rapid	ADJ
fcis-11134	14	29	construction	construction	NOUN
fcis-11134	14	30	of	of	ADP
fcis-11134	14	31	unmanned	unmanned	ADJ
fcis-11134	14	32	craft	craft	NOUN
fcis-11134	14	33	training	training	NOUN
fcis-11134	14	34	scene	scene	NOUN
fcis-11134	14	35	,	,	PUNCT
fcis-11134	14	36	motion	motion	NOUN
fcis-11134	14	37	simulation	simulation	NOUN
fcis-11134	14	38	and	and	CCONJ
fcis-11134	14	39	control	control	NOUN
fcis-11134	14	40	.	.	PUNCT
fcis-11134	15	1	the	the	DET
fcis-11134	15	2	test	test	NOUN
fcis-11134	15	3	results	result	NOUN
fcis-11134	15	4	show	show	VERB
fcis-11134	15	5	that	that	SCONJ
fcis-11134	15	6	the	the	DET
fcis-11134	15	7	training	training	NOUN
fcis-11134	15	8	scene	scene	NOUN
fcis-11134	15	9	constructed	construct	VERB
fcis-11134	15	10	based	base	VERB
fcis-11134	15	11	on	on	ADP
fcis-11134	15	12	the	the	DET
fcis-11134	15	13	unreal	unreal	ADJ
fcis-11134	15	14	engine	engine	NOUN
fcis-11134	15	15	is	be	AUX
fcis-11134	15	16	realistic	realistic	ADJ
fcis-11134	15	17	,	,	PUNCT
fcis-11134	15	18	and	and	CCONJ
fcis-11134	15	19	the	the	DET
fcis-11134	15	20	motion	motion	NOUN
fcis-11134	15	21	simulation	simulation	NOUN
fcis-11134	15	22	and	and	CCONJ
fcis-11134	15	23	manipulation	manipulation	NOUN
fcis-11134	15	24	of	of	ADP
fcis-11134	15	25	the	the	DET
fcis-11134	15	26	unmanned	unmanned	ADJ
fcis-11134	15	27	craft	craft	NOUN
fcis-11134	15	28	are	be	AUX
fcis-11134	15	29	real	real	ADJ
fcis-11134	15	30	and	and	CCONJ
fcis-11134	15	31	have	have	VERB
fcis-11134	15	32	a	a	DET
fcis-11134	15	33	strong	strong	ADJ
fcis-11134	15	34	sense	sense	NOUN
fcis-11134	15	35	of	of	ADP
fcis-11134	15	36	training	training	NOUN
fcis-11134	15	37	immersion	immersion	NOUN
fcis-11134	15	38	.	.	PUNCT
fcis-11134	16	1	in	in	ADP
fcis-11134	16	2	order	order	NOUN
fcis-11134	16	3	to	to	PART
fcis-11134	16	4	solve	solve	VERB
fcis-11134	16	5	the	the	DET
fcis-11134	16	6	above	above	ADJ
fcis-11134	16	7	problems	problem	NOUN
fcis-11134	16	8	,	,	PUNCT
fcis-11134	16	9	this	this	DET
fcis-11134	16	10	paper	paper	NOUN
fcis-11134	16	11	proposes	propose	VERB
fcis-11134	16	12	the	the	DET
fcis-11134	16	13	unmanned	unmanned	ADJ
fcis-11134	16	14	craft	craft	NOUN
fcis-11134	16	15	training	training	NOUN
fcis-11134	16	16	scene	scene	NOUN
fcis-11134	16	17	construction	construction	NOUN
fcis-11134	16	18	and	and	CCONJ
fcis-11134	16	19	motion	motion	NOUN
fcis-11134	16	20	realization	realization	NOUN
fcis-11134	16	21	method	method	NOUN
fcis-11134	16	22	based	base	VERB
fcis-11134	16	23	on	on	ADP
fcis-11134	16	24	unreal	unreal	ADJ
fcis-11134	16	25	engine	engine	NOUN
fcis-11134	16	26	.	.	PUNCT
fcis-11134	17	1	this	this	DET
fcis-11134	17	2	method	method	NOUN
fcis-11134	17	3	makes	make	VERB
fcis-11134	17	4	full	full	ADJ
fcis-11134	17	5	use	use	NOUN
fcis-11134	17	6	of	of	ADP
fcis-11134	17	7	the	the	DET
fcis-11134	17	8	powerful	powerful	ADJ
fcis-11134	17	9	graphic	graphic	ADJ
fcis-11134	17	10	rendering	rendering	NOUN
fcis-11134	17	11	ability	ability	NOUN
fcis-11134	17	12	and	and	CCONJ
fcis-11134	17	13	physics	physics	NOUN
fcis-11134	17	14	engine	engine	NOUN
fcis-11134	17	15	function	function	NOUN
fcis-11134	17	16	of	of	ADP
fcis-11134	17	17	unreal	unreal	ADJ
fcis-11134	17	18	engine	engine	NOUN
fcis-11134	17	19	,	,	PUNCT
fcis-11134	17	20	and	and	CCONJ
fcis-11134	17	21	combines	combine	VERB
fcis-11134	17	22	with	with	ADP
fcis-11134	17	23	3d	3d	PROPN
fcis-11134	17	24	max	max	PROPN
fcis-11134	17	25	to	to	PART
fcis-11134	17	26	complete	complete	VERB
fcis-11134	17	27	the	the	DET
fcis-11134	17	28	rapid	rapid	ADJ
fcis-11134	17	29	construction	construction	NOUN
fcis-11134	17	30	of	of	ADP
fcis-11134	17	31	unmanned	unmanned	ADJ
fcis-11134	17	32	craft	craft	NOUN
fcis-11134	17	33	training	training	NOUN
fcis-11134	17	34	scene	scene	NOUN
fcis-11134	17	35	,	,	PUNCT
fcis-11134	17	36	motion	motion	NOUN
fcis-11134	17	37	simulation	simulation	NOUN
fcis-11134	17	38	and	and	CCONJ
fcis-11134	17	39	manipulation	manipulation	NOUN
fcis-11134	17	40	.	.	PUNCT
fcis-11134	18	1	the	the	DET
fcis-11134	18	2	test	test	NOUN
fcis-11134	18	3	results	result	NOUN
fcis-11134	18	4	show	show	VERB
fcis-11134	18	5	that	that	SCONJ
fcis-11134	18	6	the	the	DET
fcis-11134	18	7	training	training	NOUN
fcis-11134	18	8	scene	scene	NOUN
fcis-11134	18	9	constructed	construct	VERB
fcis-11134	18	10	based	base	VERB
fcis-11134	18	11	on	on	ADP
fcis-11134	18	12	the	the	DET
fcis-11134	18	13	unreal	unreal	ADJ
fcis-11134	18	14	engine	engine	NOUN
fcis-11134	18	15	is	be	AUX
fcis-11134	18	16	realistic	realistic	ADJ
fcis-11134	18	17	,	,	PUNCT
fcis-11134	18	18	and	and	CCONJ
fcis-11134	18	19	the	the	DET
fcis-11134	18	20	motion	motion	NOUN
fcis-11134	18	21	and	and	CCONJ
fcis-11134	18	22	manipulation	manipulation	NOUN
fcis-11134	18	23	experience	experience	NOUN
fcis-11134	18	24	of	of	ADP
fcis-11134	18	25	the	the	DET
fcis-11134	18	26	unmanned	unmanned	ADJ
fcis-11134	18	27	craft	craft	NOUN
fcis-11134	18	28	is	be	AUX
fcis-11134	18	29	real	real	ADJ
fcis-11134	18	30	.	.	PUNCT
fcis-11134	19	1	the	the	DET
fcis-11134	19	2	whole	whole	ADJ
fcis-11134	19	3	training	training	NOUN
fcis-11134	19	4	process	process	NOUN
fcis-11134	19	5	has	have	VERB
fcis-11134	19	6	a	a	DET
fcis-11134	19	7	strong	strong	ADJ
fcis-11134	19	8	sense	sense	NOUN
fcis-11134	19	9	of	of	ADP
fcis-11134	19	10	immersion	immersion	NOUN
fcis-11134	19	11	.	.	PUNCT
fcis-11134	20	1	2	2	X
fcis-11134	20	2	.	.	X
fcis-11134	20	3	development	development	NOUN
fcis-11134	20	4	environment	environment	NOUN
fcis-11134	20	5	unreal	unreal	ADJ
fcis-11134	20	6	engine	engine	NOUN
fcis-11134	20	7	is	be	AUX
fcis-11134	20	8	a	a	DET
fcis-11134	20	9	world	world	NOUN
fcis-11134	20	10	-	-	PUNCT
fcis-11134	20	11	renowned	renowne	VERB
fcis-11134	20	12	open	open	ADJ
fcis-11134	20	13	-	-	PUNCT
fcis-11134	20	14	source	source	NOUN
fcis-11134	20	15	game	game	NOUN
fcis-11134	20	16	engine	engine	NOUN
fcis-11134	20	17	developed	develop	VERB
fcis-11134	20	18	by	by	ADP
fcis-11134	20	19	epic	epic	ADJ
fcis-11134	20	20	,	,	PUNCT
fcis-11134	20	21	many	many	ADJ
fcis-11134	20	22	of	of	ADP
fcis-11134	20	23	the	the	DET
fcis-11134	20	24	world	world	NOUN
fcis-11134	20	25	's	's	PART
fcis-11134	20	26	best	well	ADV
fcis-11134	20	27	-	-	PUNCT
fcis-11134	20	28	known	know	VERB
fcis-11134	20	29	3d	3d	NOUN
fcis-11134	20	30	games	game	NOUN
fcis-11134	20	31	are	be	AUX
fcis-11134	20	32	developed	develop	VERB
fcis-11134	20	33	using	use	VERB
fcis-11134	20	34	the	the	DET
fcis-11134	20	35	engine	engine	NOUN
fcis-11134	20	36	.	.	PUNCT
fcis-11134	21	1	unreal	unreal	ADJ
fcis-11134	21	2	engine	engine	NOUN
fcis-11134	21	3	holds	hold	VERB
fcis-11134	21	4	80	80	NUM
fcis-11134	21	5	%	%	NOUN
fcis-11134	21	6	of	of	ADP
fcis-11134	21	7	the	the	DET
fcis-11134	21	8	global	global	ADJ
fcis-11134	21	9	market	market	NOUN
fcis-11134	21	10	share	share	NOUN
fcis-11134	21	11	of	of	ADP
fcis-11134	21	12	commercial	commercial	ADJ
fcis-11134	21	13	game	game	NOUN
fcis-11134	21	14	engines	engine	NOUN
fcis-11134	21	15	.	.	PUNCT
fcis-11134	22	1	it	it	PRON
fcis-11134	22	2	is	be	AUX
fcis-11134	22	3	a	a	DET
fcis-11134	22	4	complete	complete	ADJ
fcis-11134	22	5	set	set	NOUN
fcis-11134	22	6	of	of	ADP
fcis-11134	22	7	development	development	NOUN
fcis-11134	22	8	tools	tool	NOUN
fcis-11134	22	9	,	,	PUNCT
fcis-11134	22	10	which	which	PRON
fcis-11134	22	11	provides	provide	VERB
fcis-11134	22	12	a	a	DET
fcis-11134	22	13	large	large	ADJ
fcis-11134	22	14	internal	internal	ADJ
fcis-11134	22	15	suite	suite	NOUN
fcis-11134	22	16	of	of	ADP
fcis-11134	22	17	development	development	NOUN
fcis-11134	22	18	tools	tool	NOUN
fcis-11134	22	19	,	,	PUNCT
fcis-11134	22	20	such	such	ADJ
fcis-11134	22	21	as	as	ADP
fcis-11134	22	22	vr	vr	PROPN
fcis-11134	22	23	plug	plug	NOUN
fcis-11134	22	24	-	-	PUNCT
fcis-11134	22	25	ins	in	NOUN
fcis-11134	22	26	,	,	PUNCT
fcis-11134	22	27	gpu	gpu	NOUN
fcis-11134	22	28	-	-	PUNCT
fcis-11134	22	29	level	level	NOUN
fcis-11134	22	30	particle	particle	NOUN
fcis-11134	22	31	systems	system	NOUN
fcis-11134	22	32	,	,	PUNCT
fcis-11134	22	33	powerful	powerful	ADJ
fcis-11134	22	34	material	material	NOUN
fcis-11134	22	35	editor	editor	NOUN
fcis-11134	22	36	,	,	PUNCT
fcis-11134	22	37	lighting	lighting	NOUN
fcis-11134	22	38	and	and	CCONJ
fcis-11134	22	39	physics	physics	NOUN
fcis-11134	22	40	rendering	rendering	NOUN
fcis-11134	22	41	systems	system	NOUN
fcis-11134	22	42	,	,	PUNCT
fcis-11134	22	43	etc	etc	X
fcis-11134	22	44	.	.	X
fcis-11134	23	1	it	it	PRON
fcis-11134	23	2	can	can	AUX
fcis-11134	23	3	be	be	AUX
fcis-11134	23	4	used	use	VERB
fcis-11134	23	5	by	by	ADP
fcis-11134	23	6	any	any	DET
fcis-11134	23	7	user	user	NOUN
fcis-11134	23	8	of	of	ADP
fcis-11134	23	9	the	the	DET
fcis-11134	23	10	engine	engine	NOUN
fcis-11134	23	11	to	to	PART
fcis-11134	23	12	carry	carry	VERB
fcis-11134	23	13	out	out	ADP
fcis-11134	23	14	design	design	NOUN
fcis-11134	23	15	work	work	NOUN
fcis-11134	23	16	[	[	X
fcis-11134	23	17	3	3	NUM
fcis-11134	23	18	]	]	PUNCT
fcis-11134	23	19	.	.	PUNCT
fcis-11134	24	1	unreal	unreal	ADJ
fcis-11134	24	2	engine	engine	NOUN
fcis-11134	24	3	has	have	VERB
fcis-11134	24	4	a	a	DET
fcis-11134	24	5	built	build	VERB
fcis-11134	24	6	-	-	PUNCT
fcis-11134	24	7	in	in	ADP
fcis-11134	24	8	niagara	niagara	PROPN
fcis-11134	24	9	visual	visual	ADJ
fcis-11134	24	10	effects	effect	NOUN
fcis-11134	24	11	editor	editor	NOUN
fcis-11134	24	12	,	,	PUNCT
fcis-11134	24	13	which	which	PRON
fcis-11134	24	14	allows	allow	VERB
fcis-11134	24	15	you	you	PRON
fcis-11134	24	16	to	to	PART
fcis-11134	24	17	create	create	VERB
fcis-11134	24	18	cinematic	cinematic	ADJ
fcis-11134	24	19	-	-	PUNCT
fcis-11134	24	20	quality	quality	NOUN
fcis-11134	24	21	real	real	ADJ
fcis-11134	24	22	-	-	PUNCT
fcis-11134	24	23	time	time	NOUN
fcis-11134	24	24	vfx	vfx	NOUN
fcis-11134	24	25	effects	effect	NOUN
fcis-11134	24	26	with	with	ADP
fcis-11134	24	27	a	a	DET
fcis-11134	24	28	fully	fully	ADV
fcis-11134	24	29	customizable	customizable	ADJ
fcis-11134	24	30	particle	particle	NOUN
fcis-11134	24	31	system	system	NOUN
fcis-11134	24	32	to	to	PART
fcis-11134	24	33	represent	represent	VERB
fcis-11134	24	34	effects	effect	NOUN
fcis-11134	24	35	such	such	ADJ
fcis-11134	24	36	as	as	ADP
fcis-11134	24	37	flames	flame	NOUN
fcis-11134	24	38	,	,	PUNCT
fcis-11134	24	39	smoke	smoke	NOUN
fcis-11134	24	40	,	,	PUNCT
fcis-11134	24	41	dust	dust	NOUN
fcis-11134	24	42	and	and	CCONJ
fcis-11134	24	43	flowing	flow	VERB
fcis-11134	24	44	water	water	NOUN
fcis-11134	24	45	.	.	PUNCT
fcis-11134	25	1	unreal	unreal	ADJ
fcis-11134	25	2	engine	engine	NOUN
fcis-11134	25	3	's	's	PART
fcis-11134	25	4	material	material	NOUN
fcis-11134	25	5	editor	editor	NOUN
fcis-11134	25	6	uses	use	VERB
fcis-11134	25	7	physical	physical	ADJ
fcis-11134	25	8	material	material	NOUN
fcis-11134	25	9	-	-	PUNCT
fcis-11134	25	10	based	base	VERB
fcis-11134	25	11	coloring	coloring	NOUN
fcis-11134	25	12	technology	technology	NOUN
fcis-11134	25	13	.	.	PUNCT
fcis-11134	26	1	through	through	ADP
fcis-11134	26	2	real	real	ADJ
fcis-11134	26	3	-	-	PUNCT
fcis-11134	26	4	time	time	NOUN
fcis-11134	26	5	rendering	rendering	NOUN
fcis-11134	26	6	,	,	PUNCT
fcis-11134	26	7	unreal	unreal	ADJ
fcis-11134	26	8	engine	engine	NOUN
fcis-11134	26	9	can	can	AUX
fcis-11134	26	10	make	make	VERB
fcis-11134	26	11	the	the	DET
fcis-11134	26	12	light	light	NOUN
fcis-11134	26	13	and	and	CCONJ
fcis-11134	26	14	shadow	shadow	NOUN
fcis-11134	26	15	,	,	PUNCT
fcis-11134	26	16	reflection	reflection	NOUN
fcis-11134	26	17	,	,	PUNCT
fcis-11134	26	18	dust	dust	NOUN
fcis-11134	26	19	,	,	PUNCT
fcis-11134	26	20	sea	sea	NOUN
fcis-11134	26	21	surface	surface	NOUN
fcis-11134	26	22	and	and	CCONJ
fcis-11134	26	23	other	other	ADJ
fcis-11134	26	24	effects	effect	NOUN
fcis-11134	26	25	in	in	ADP
fcis-11134	26	26	the	the	DET
fcis-11134	26	27	scene	scene	NOUN
fcis-11134	26	28	more	more	ADV
fcis-11134	26	29	detailed	detailed	ADJ
fcis-11134	26	30	and	and	CCONJ
fcis-11134	26	31	realistic	realistic	ADJ
fcis-11134	26	32	,	,	PUNCT
fcis-11134	26	33	so	so	SCONJ
fcis-11134	26	34	that	that	SCONJ
fcis-11134	26	35	the	the	DET
fcis-11134	26	36	developed	develop	VERB
fcis-11134	26	37	scene	scene	NOUN
fcis-11134	26	38	screen	screen	NOUN
fcis-11134	26	39	effect	effect	NOUN
fcis-11134	26	40	reaches	reach	VERB
fcis-11134	26	41	the	the	DET
fcis-11134	26	42	level	level	NOUN
fcis-11134	26	43	of	of	ADP
fcis-11134	26	44	3a	3a	NUM
fcis-11134	26	45	game	game	NOUN
fcis-11134	26	46	screen	screen	NOUN
fcis-11134	26	47	.	.	PUNCT
fcis-11134	27	1	at	at	ADP
fcis-11134	27	2	the	the	DET
fcis-11134	27	3	same	same	ADJ
fcis-11134	27	4	time	time	NOUN
fcis-11134	27	5	,	,	PUNCT
fcis-11134	27	6	the	the	DET
fcis-11134	27	7	built	build	VERB
fcis-11134	27	8	-	-	PUNCT
fcis-11134	27	9	in	in	ADP
fcis-11134	27	10	physics	physics	NOUN
fcis-11134	27	11	engine	engine	NOUN
fcis-11134	27	12	of	of	ADP
fcis-11134	27	13	unreal	unreal	ADJ
fcis-11134	27	14	engine	engine	NOUN
fcis-11134	27	15	is	be	AUX
fcis-11134	27	16	very	very	ADV
fcis-11134	27	17	perfect	perfect	ADJ
fcis-11134	27	18	.	.	PUNCT
fcis-11134	28	1	it	it	PRON
fcis-11134	28	2	can	can	AUX
fcis-11134	28	3	support	support	VERB
fcis-11134	28	4	the	the	DET
fcis-11134	28	5	simulation	simulation	NOUN
fcis-11134	28	6	of	of	ADP
fcis-11134	28	7	various	various	ADJ
fcis-11134	28	8	physical	physical	ADJ
fcis-11134	28	9	movements	movement	NOUN
fcis-11134	28	10	of	of	ADP
fcis-11134	28	11	the	the	DET
fcis-11134	28	12	unmanned	unmanned	ADJ
fcis-11134	28	13	craft	craft	NOUN
fcis-11134	28	14	,	,	PUNCT
fcis-11134	28	15	so	so	SCONJ
fcis-11134	28	16	that	that	SCONJ
fcis-11134	28	17	the	the	DET
fcis-11134	28	18	unmanned	unmanned	ADJ
fcis-11134	28	19	craft	craft	NOUN
fcis-11134	28	20	driver	driver	NOUN
fcis-11134	28	21	can	can	AUX
fcis-11134	28	22	observe	observe	VERB
fcis-11134	28	23	the	the	DET
fcis-11134	28	24	various	various	ADJ
fcis-11134	28	25	movement	movement	NOUN
fcis-11134	28	26	states	state	NOUN
fcis-11134	28	27	of	of	ADP
fcis-11134	28	28	the	the	DET
fcis-11134	28	29	craft	craft	NOUN
fcis-11134	28	30	in	in	ADP
fcis-11134	28	31	time	time	NOUN
fcis-11134	28	32	,	,	PUNCT
fcis-11134	28	33	increase	increase	VERB
fcis-11134	28	34	the	the	DET
fcis-11134	28	35	immersion	immersion	NOUN
fcis-11134	28	36	and	and	CCONJ
fcis-11134	28	37	realism	realism	NOUN
fcis-11134	28	38	of	of	ADP
fcis-11134	28	39	the	the	DET
fcis-11134	28	40	unmanned	unmanned	ADJ
fcis-11134	28	41	craft	craft	NOUN
fcis-11134	28	42	simulation	simulation	NOUN
fcis-11134	28	43	training	training	NOUN
fcis-11134	28	44	,	,	PUNCT
fcis-11134	28	45	and	and	CCONJ
fcis-11134	28	46	improve	improve	VERB
fcis-11134	28	47	the	the	DET
fcis-11134	28	48	training	training	NOUN
fcis-11134	28	49	efficiency	efficiency	NOUN
fcis-11134	28	50	.	.	PUNCT
fcis-11134	29	1	57	57	NUM
fcis-11134	29	2	3	3	NUM
fcis-11134	29	3	.	.	PUNCT
fcis-11134	29	4	construction	construction	NOUN
fcis-11134	29	5	of	of	ADP
fcis-11134	29	6	training	training	NOUN
fcis-11134	29	7	scene	scene	NOUN
fcis-11134	29	8	3.1	3.1	NUM
fcis-11134	29	9	.	.	PUNCT
fcis-11134	30	1	construction	construction	NOUN
fcis-11134	30	2	of	of	ADP
fcis-11134	30	3	base	base	ADJ
fcis-11134	30	4	terrain	terrain	NOUN
fcis-11134	30	5	due	due	ADP
fcis-11134	30	6	to	to	ADP
fcis-11134	30	7	the	the	DET
fcis-11134	30	8	limitation	limitation	NOUN
fcis-11134	30	9	of	of	ADP
fcis-11134	30	10	the	the	DET
fcis-11134	30	11	operation	operation	NOUN
fcis-11134	30	12	range	range	NOUN
fcis-11134	30	13	of	of	ADP
fcis-11134	30	14	the	the	DET
fcis-11134	30	15	unmanned	unmanned	ADJ
fcis-11134	30	16	craft	craft	NOUN
fcis-11134	30	17	,	,	PUNCT
fcis-11134	30	18	its	its	PRON
fcis-11134	30	19	operation	operation	NOUN
fcis-11134	30	20	scene	scene	NOUN
fcis-11134	30	21	mainly	mainly	ADV
fcis-11134	30	22	involves	involve	VERB
fcis-11134	30	23	the	the	DET
fcis-11134	30	24	offshore	offshore	ADJ
fcis-11134	30	25	water	water	NOUN
fcis-11134	30	26	terrain	terrain	NOUN
fcis-11134	30	27	,	,	PUNCT
fcis-11134	30	28	this	this	DET
fcis-11134	30	29	paper	paper	NOUN
fcis-11134	30	30	obtains	obtain	VERB
fcis-11134	30	31	the	the	DET
fcis-11134	30	32	satellite	satellite	NOUN
fcis-11134	30	33	elevation	elevation	NOUN
fcis-11134	30	34	data	datum	NOUN
fcis-11134	30	35	of	of	ADP
fcis-11134	30	36	a	a	DET
fcis-11134	30	37	certain	certain	ADJ
fcis-11134	30	38	coast	coast	NOUN
fcis-11134	30	39	through	through	ADP
fcis-11134	30	40	google	google	PROPN
fcis-11134	30	41	maps	map	NOUN
fcis-11134	30	42	,	,	PUNCT
fcis-11134	30	43	and	and	CCONJ
fcis-11134	30	44	imports	import	VERB
fcis-11134	30	45	it	it	PRON
fcis-11134	30	46	into	into	ADP
fcis-11134	30	47	the	the	DET
fcis-11134	30	48	unreal	unreal	ADJ
fcis-11134	30	49	engine	engine	NOUN
fcis-11134	30	50	through	through	ADP
fcis-11134	30	51	the	the	DET
fcis-11134	30	52	terrain	terrain	NOUN
fcis-11134	30	53	editor	editor	NOUN
fcis-11134	30	54	for	for	ADP
fcis-11134	30	55	material	material	NOUN
fcis-11134	30	56	mapping	mapping	NOUN
fcis-11134	30	57	and	and	CCONJ
fcis-11134	30	58	rendering	rendering	NOUN
fcis-11134	30	59	,	,	PUNCT
fcis-11134	30	60	the	the	DET
fcis-11134	30	61	obtained	obtain	VERB
fcis-11134	30	62	beach	beach	NOUN
fcis-11134	30	63	scene	scene	NOUN
fcis-11134	30	64	is	be	AUX
fcis-11134	30	65	closer	close	ADJ
fcis-11134	30	66	to	to	ADP
fcis-11134	30	67	the	the	DET
fcis-11134	30	68	real	real	ADJ
fcis-11134	30	69	mission	mission	NOUN
fcis-11134	30	70	scene	scene	NOUN
fcis-11134	30	71	of	of	ADP
fcis-11134	30	72	the	the	DET
fcis-11134	30	73	unmanned	unmanned	ADJ
fcis-11134	30	74	craft	craft	NOUN
fcis-11134	30	75	.	.	PUNCT
fcis-11134	31	1	when	when	SCONJ
fcis-11134	31	2	training	training	NOUN
fcis-11134	31	3	in	in	ADP
fcis-11134	31	4	this	this	DET
fcis-11134	31	5	scene	scene	NOUN
fcis-11134	31	6	,	,	PUNCT
fcis-11134	31	7	it	it	PRON
fcis-11134	31	8	can	can	AUX
fcis-11134	31	9	increase	increase	VERB
fcis-11134	31	10	the	the	DET
fcis-11134	31	11	sense	sense	NOUN
fcis-11134	31	12	of	of	ADP
fcis-11134	31	13	immersion	immersion	NOUN
fcis-11134	31	14	for	for	ADP
fcis-11134	31	15	the	the	DET
fcis-11134	31	16	unmanned	unmanned	ADJ
fcis-11134	31	17	craft	craft	NOUN
fcis-11134	31	18	driver	driver	NOUN
fcis-11134	31	19	and	and	CCONJ
fcis-11134	31	20	enhance	enhance	VERB
fcis-11134	31	21	the	the	DET
fcis-11134	31	22	training	training	NOUN
fcis-11134	31	23	effect	effect	NOUN
fcis-11134	31	24	.	.	PUNCT
fcis-11134	32	1	the	the	DET
fcis-11134	32	2	effect	effect	NOUN
fcis-11134	32	3	of	of	ADP
fcis-11134	32	4	basic	basic	ADJ
fcis-11134	32	5	terrain	terrain	NOUN
fcis-11134	32	6	modelling	modelling	NOUN
fcis-11134	32	7	is	be	AUX
fcis-11134	32	8	shown	show	VERB
fcis-11134	32	9	in	in	ADP
fcis-11134	32	10	fig	fig	NOUN
fcis-11134	32	11	1	1	NUM
fcis-11134	32	12	.	.	PUNCT
fcis-11134	32	13	fig	fig	NOUN
fcis-11134	32	14	1	1	NUM
fcis-11134	32	15	.	.	PUNCT
fcis-11134	32	16	basic	basic	ADJ
fcis-11134	32	17	terrain	terrain	NOUN
fcis-11134	32	18	construction	construction	NOUN
fcis-11134	32	19	3.2	3.2	NUM
fcis-11134	32	20	.	.	PUNCT
fcis-11134	33	1	construction	construction	NOUN
fcis-11134	33	2	of	of	ADP
fcis-11134	33	3	offshore	offshore	ADJ
fcis-11134	33	4	waters	water	NOUN
fcis-11134	33	5	offshore	offshore	ADJ
fcis-11134	33	6	waters	water	NOUN
fcis-11134	33	7	are	be	AUX
fcis-11134	33	8	mainly	mainly	ADV
fcis-11134	33	9	constructed	construct	VERB
fcis-11134	33	10	and	and	CCONJ
fcis-11134	33	11	simulated	simulate	VERB
fcis-11134	33	12	using	use	VERB
fcis-11134	33	13	unreal	unreal	ADJ
fcis-11134	33	14	engine	engine	NOUN
fcis-11134	33	15	's	's	PART
fcis-11134	33	16	fluid	fluid	ADJ
fcis-11134	33	17	flux	flux	NOUN
fcis-11134	33	18	.	.	PUNCT
fcis-11134	34	1	the	the	DET
fcis-11134	34	2	fluid	fluid	ADJ
fcis-11134	34	3	flux	flux	NOUN
fcis-11134	34	4	is	be	AUX
fcis-11134	34	5	a	a	DET
fcis-11134	34	6	powerful	powerful	ADJ
fcis-11134	34	7	water	water	NOUN
fcis-11134	34	8	system	system	NOUN
fcis-11134	34	9	based	base	VERB
fcis-11134	34	10	on	on	ADP
fcis-11134	34	11	2d	2d	NUM
fcis-11134	34	12	shallow	shallow	ADJ
fcis-11134	34	13	-	-	PUNCT
fcis-11134	34	14	water	water	NOUN
fcis-11134	34	15	fluid	fluid	NOUN
fcis-11134	34	16	simulations	simulation	NOUN
fcis-11134	34	17	.	.	PUNCT
fcis-11134	35	1	fluid	fluid	ADJ
fcis-11134	35	2	flux	flux	NOUN
fcis-11134	35	3	has	have	AUX
fcis-11134	35	4	been	be	AUX
fcis-11134	35	5	set	set	VERB
fcis-11134	35	6	up	up	ADP
fcis-11134	35	7	with	with	ADP
fcis-11134	35	8	fluid	fluid	ADJ
fcis-11134	35	9	flux	flux	NOUN
fcis-11134	35	10	has	have	AUX
fcis-11134	35	11	been	be	AUX
fcis-11134	35	12	set	set	VERB
fcis-11134	35	13	up	up	ADP
fcis-11134	35	14	with	with	ADP
fcis-11134	35	15	features	feature	NOUN
fcis-11134	35	16	such	such	ADJ
fcis-11134	35	17	as	as	ADP
fcis-11134	35	18	buoyancy	buoyancy	NOUN
fcis-11134	35	19	and	and	CCONJ
fcis-11134	35	20	undersea	undersea	ADJ
fcis-11134	35	21	effects	effect	NOUN
fcis-11134	35	22	to	to	PART
fcis-11134	35	23	create	create	VERB
fcis-11134	35	24	rivers	river	NOUN
fcis-11134	35	25	,	,	PUNCT
fcis-11134	35	26	lakes	lake	NOUN
fcis-11134	35	27	,	,	PUNCT
fcis-11134	35	28	and	and	CCONJ
fcis-11134	35	29	oceans	ocean	NOUN
fcis-11134	35	30	based	base	VERB
fcis-11134	35	31	on	on	ADP
fcis-11134	35	32	spline	spline	NOUN
fcis-11134	35	33	in	in	ADP
fcis-11134	35	34	unreal	unreal	ADJ
fcis-11134	35	35	engine	engine	NOUN
fcis-11134	35	36	.	.	PUNCT
fcis-11134	36	1	the	the	DET
fcis-11134	36	2	surface	surface	NOUN
fcis-11134	36	3	of	of	ADP
fcis-11134	36	4	the	the	DET
fcis-11134	36	5	water	water	NOUN
fcis-11134	36	6	body	body	NOUN
fcis-11134	36	7	supports	support	VERB
fcis-11134	36	8	physical	physical	ADJ
fcis-11134	36	9	interactions	interaction	NOUN
fcis-11134	36	10	and	and	CCONJ
fcis-11134	36	11	dynamic	dynamic	ADJ
fcis-11134	36	12	fluid	fluid	NOUN
fcis-11134	36	13	simulations	simulation	NOUN
fcis-11134	36	14	,	,	PUNCT
fcis-11134	36	15	and	and	CCONJ
fcis-11134	36	16	is	be	AUX
fcis-11134	36	17	able	able	ADJ
fcis-11134	36	18	to	to	PART
fcis-11134	36	19	interact	interact	VERB
fcis-11134	36	20	organically	organically	ADV
fcis-11134	36	21	with	with	ADP
fcis-11134	36	22	various	various	ADJ
fcis-11134	36	23	land	land	NOUN
fcis-11134	36	24	terrains	terrain	NOUN
fcis-11134	36	25	,	,	PUNCT
fcis-11134	36	26	ships	ship	NOUN
fcis-11134	36	27	,	,	PUNCT
fcis-11134	36	28	and	and	CCONJ
fcis-11134	36	29	other	other	ADJ
fcis-11134	36	30	marine	marine	ADJ
fcis-11134	36	31	structures	structure	NOUN
fcis-11134	36	32	,	,	PUNCT
fcis-11134	36	33	such	such	ADJ
fcis-11134	36	34	as	as	ADP
fcis-11134	36	35	waves	wave	NOUN
fcis-11134	36	36	along	along	ADP
fcis-11134	36	37	the	the	DET
fcis-11134	36	38	shore	shore	NOUN
fcis-11134	36	39	or	or	CCONJ
fcis-11134	36	40	the	the	DET
fcis-11134	36	41	wake	wake	NOUN
fcis-11134	36	42	of	of	ADP
fcis-11134	36	43	a	a	DET
fcis-11134	36	44	ship	ship	NOUN
fcis-11134	36	45	moving	move	VERB
fcis-11134	36	46	through	through	ADP
fcis-11134	36	47	the	the	DET
fcis-11134	36	48	water	water	NOUN
fcis-11134	36	49	.	.	PUNCT
fcis-11134	37	1	fig	fig	NOUN
fcis-11134	37	2	2	2	NUM
fcis-11134	37	3	.	.	PUNCT
fcis-11134	38	1	offshore	offshore	ADJ
fcis-11134	38	2	waters	water	NOUN
fcis-11134	38	3	construction	construction	NOUN
fcis-11134	38	4	add	add	VERB
fcis-11134	38	5	the	the	DET
fcis-11134	38	6	water	water	NOUN
fcis-11134	38	7	body	body	NOUN
fcis-11134	38	8	generated	generate	VERB
fcis-11134	38	9	by	by	ADP
fcis-11134	38	10	fluid	fluid	ADJ
fcis-11134	38	11	flux	flux	NOUN
fcis-11134	38	12	in	in	ADP
fcis-11134	38	13	the	the	DET
fcis-11134	38	14	constructed	construct	VERB
fcis-11134	38	15	basic	basic	ADJ
fcis-11134	38	16	terrain	terrain	NOUN
fcis-11134	38	17	,	,	PUNCT
fcis-11134	38	18	adjust	adjust	VERB
fcis-11134	38	19	the	the	DET
fcis-11134	38	20	material	material	NOUN
fcis-11134	38	21	and	and	CCONJ
fcis-11134	38	22	size	size	NOUN
fcis-11134	38	23	of	of	ADP
fcis-11134	38	24	the	the	DET
fcis-11134	38	25	water	water	NOUN
fcis-11134	38	26	body	body	NOUN
fcis-11134	38	27	,	,	PUNCT
fcis-11134	38	28	the	the	DET
fcis-11134	38	29	speed	speed	NOUN
fcis-11134	38	30	and	and	CCONJ
fcis-11134	38	31	direction	direction	NOUN
fcis-11134	38	32	of	of	ADP
fcis-11134	38	33	the	the	DET
fcis-11134	38	34	water	water	NOUN
fcis-11134	38	35	flow	flow	NOUN
fcis-11134	38	36	,	,	PUNCT
fcis-11134	38	37	the	the	DET
fcis-11134	38	38	size	size	NOUN
fcis-11134	38	39	of	of	ADP
fcis-11134	38	40	the	the	DET
fcis-11134	38	41	waves	wave	NOUN
fcis-11134	38	42	and	and	CCONJ
fcis-11134	38	43	other	other	ADJ
fcis-11134	38	44	related	related	ADJ
fcis-11134	38	45	parameters	parameter	NOUN
fcis-11134	38	46	,	,	PUNCT
fcis-11134	38	47	and	and	CCONJ
fcis-11134	38	48	finally	finally	ADV
fcis-11134	38	49	generate	generate	VERB
fcis-11134	38	50	the	the	DET
fcis-11134	38	51	offshore	offshore	ADJ
fcis-11134	38	52	scene	scene	NOUN
fcis-11134	38	53	as	as	SCONJ
fcis-11134	38	54	shown	show	VERB
fcis-11134	38	55	in	in	ADP
fcis-11134	38	56	the	the	DET
fcis-11134	38	57	figure	figure	NOUN
fcis-11134	39	1	2	2	NUM
fcis-11134	39	2	.	.	PUNCT
fcis-11134	40	1	this	this	DET
fcis-11134	40	2	rapid	rapid	ADJ
fcis-11134	40	3	modelling	modelling	NOUN
fcis-11134	40	4	method	method	NOUN
fcis-11134	40	5	of	of	ADP
fcis-11134	40	6	real	real	ADJ
fcis-11134	40	7	terrain	terrain	NOUN
fcis-11134	40	8	based	base	VERB
fcis-11134	40	9	on	on	ADP
fcis-11134	40	10	satellite	satellite	NOUN
fcis-11134	40	11	elevation	elevation	NOUN
fcis-11134	40	12	data	datum	NOUN
fcis-11134	40	13	is	be	AUX
fcis-11134	40	14	much	much	ADV
fcis-11134	40	15	faster	fast	ADJ
fcis-11134	40	16	than	than	ADP
fcis-11134	40	17	the	the	DET
fcis-11134	40	18	conventional	conventional	ADJ
fcis-11134	40	19	terrain	terrain	NOUN
fcis-11134	40	20	modelling	modelling	NOUN
fcis-11134	40	21	method	method	NOUN
fcis-11134	40	22	,	,	PUNCT
fcis-11134	40	23	and	and	CCONJ
fcis-11134	40	24	the	the	DET
fcis-11134	40	25	established	establish	VERB
fcis-11134	40	26	terrain	terrain	NOUN
fcis-11134	40	27	model	model	NOUN
fcis-11134	40	28	is	be	AUX
fcis-11134	40	29	similar	similar	ADJ
fcis-11134	40	30	to	to	ADP
fcis-11134	40	31	the	the	DET
fcis-11134	40	32	real	real	ADJ
fcis-11134	40	33	terrain	terrain	NOUN
fcis-11134	40	34	,	,	PUNCT
fcis-11134	40	35	its	its	PRON
fcis-11134	40	36	modelling	modelling	NOUN
fcis-11134	40	37	accuracy	accuracy	NOUN
fcis-11134	40	38	can	can	AUX
fcis-11134	40	39	meet	meet	VERB
fcis-11134	40	40	the	the	DET
fcis-11134	40	41	demand	demand	NOUN
fcis-11134	40	42	of	of	ADP
fcis-11134	40	43	training	training	NOUN
fcis-11134	40	44	use	use	NOUN
fcis-11134	40	45	.	.	PUNCT
fcis-11134	41	1	after	after	ADP
fcis-11134	41	2	clarifying	clarify	VERB
fcis-11134	41	3	the	the	DET
fcis-11134	41	4	mission	mission	NOUN
fcis-11134	41	5	area	area	NOUN
fcis-11134	41	6	of	of	ADP
fcis-11134	41	7	unmanned	unmanned	ADJ
fcis-11134	41	8	craft	craft	NOUN
fcis-11134	41	9	navigation	navigation	NOUN
fcis-11134	41	10	,	,	PUNCT
fcis-11134	41	11	the	the	DET
fcis-11134	41	12	real	real	ADJ
fcis-11134	41	13	terrain	terrain	NOUN
fcis-11134	41	14	rapid	rapid	ADJ
fcis-11134	41	15	modelling	modelling	NOUN
fcis-11134	41	16	method	method	NOUN
fcis-11134	41	17	can	can	AUX
fcis-11134	41	18	be	be	AUX
fcis-11134	41	19	used	use	VERB
fcis-11134	41	20	to	to	PART
fcis-11134	41	21	construct	construct	VERB
fcis-11134	41	22	the	the	DET
fcis-11134	41	23	mission	mission	NOUN
fcis-11134	41	24	area	area	NOUN
fcis-11134	41	25	terrain	terrain	NOUN
fcis-11134	41	26	and	and	CCONJ
fcis-11134	41	27	sea	sea	NOUN
fcis-11134	41	28	area	area	NOUN
fcis-11134	41	29	for	for	ADP
fcis-11134	41	30	simulation	simulation	NOUN
fcis-11134	41	31	training	training	NOUN
fcis-11134	41	32	,	,	PUNCT
fcis-11134	41	33	so	so	SCONJ
fcis-11134	41	34	as	as	SCONJ
fcis-11134	41	35	to	to	PART
fcis-11134	41	36	improve	improve	VERB
fcis-11134	41	37	the	the	DET
fcis-11134	41	38	quality	quality	NOUN
fcis-11134	41	39	and	and	CCONJ
fcis-11134	41	40	efficiency	efficiency	NOUN
fcis-11134	41	41	of	of	ADP
fcis-11134	41	42	mission	mission	NOUN
fcis-11134	41	43	completion	completion	NOUN
fcis-11134	41	44	.	.	PUNCT
fcis-11134	42	1	4	4	X
fcis-11134	42	2	.	.	X
fcis-11134	42	3	conclusion	conclusion	NOUN
fcis-11134	42	4	realization	realization	NOUN
fcis-11134	42	5	of	of	ADP
fcis-11134	42	6	motion	motion	NOUN
fcis-11134	42	7	simulation	simulation	NOUN
fcis-11134	42	8	the	the	DET
fcis-11134	42	9	physics	physics	NOUN
fcis-11134	42	10	engine	engine	NOUN
fcis-11134	42	11	is	be	AUX
fcis-11134	42	12	a	a	DET
fcis-11134	42	13	computer	computer	NOUN
fcis-11134	42	14	program	program	NOUN
fcis-11134	42	15	that	that	PRON
fcis-11134	42	16	uses	use	VERB
fcis-11134	42	17	variables	variable	NOUN
fcis-11134	42	18	such	such	ADJ
fcis-11134	42	19	as	as	ADP
fcis-11134	42	20	gravity	gravity	NOUN
fcis-11134	42	21	,	,	PUNCT
fcis-11134	42	22	speed	speed	NOUN
fcis-11134	42	23	,	,	PUNCT
fcis-11134	42	24	friction	friction	NOUN
fcis-11134	42	25	and	and	CCONJ
fcis-11134	42	26	air	air	NOUN
fcis-11134	42	27	resistance	resistance	NOUN
fcis-11134	42	28	to	to	PART
fcis-11134	42	29	simulate	simulate	VERB
fcis-11134	42	30	a	a	DET
fcis-11134	42	31	newtonian	newtonian	ADJ
fcis-11134	42	32	mechanics	mechanic	NOUN
fcis-11134	42	33	model	model	NOUN
fcis-11134	42	34	.	.	PUNCT
fcis-11134	43	1	in	in	ADP
fcis-11134	43	2	the	the	DET
fcis-11134	43	3	previous	previous	ADJ
fcis-11134	43	4	simulation	simulation	NOUN
fcis-11134	43	5	training	training	NOUN
fcis-11134	43	6	scene	scene	NOUN
fcis-11134	43	7	,	,	PUNCT
fcis-11134	43	8	the	the	DET
fcis-11134	43	9	equipment	equipment	NOUN
fcis-11134	43	10	is	be	AUX
fcis-11134	43	11	usually	usually	ADV
fcis-11134	43	12	set	set	VERB
fcis-11134	43	13	to	to	PART
fcis-11134	43	14	ignore	ignore	VERB
fcis-11134	43	15	the	the	DET
fcis-11134	43	16	laws	law	NOUN
fcis-11134	43	17	of	of	ADP
fcis-11134	43	18	physics	physics	NOUN
fcis-11134	43	19	and	and	CCONJ
fcis-11134	43	20	only	only	ADV
fcis-11134	43	21	perform	perform	VERB
fcis-11134	43	22	predefined	predefine	VERB
fcis-11134	43	23	prescribed	prescribed	ADJ
fcis-11134	43	24	actions	action	NOUN
fcis-11134	43	25	,	,	PUNCT
fcis-11134	43	26	which	which	PRON
fcis-11134	43	27	can	can	AUX
fcis-11134	43	28	not	not	PART
fcis-11134	43	29	truly	truly	ADV
fcis-11134	43	30	reflect	reflect	VERB
fcis-11134	43	31	the	the	DET
fcis-11134	43	32	motion	motion	NOUN
fcis-11134	43	33	of	of	ADP
fcis-11134	43	34	the	the	DET
fcis-11134	43	35	unmanned	unmanned	ADJ
fcis-11134	43	36	craft	craft	NOUN
fcis-11134	43	37	.	.	PUNCT
fcis-11134	44	1	in	in	ADP
fcis-11134	44	2	order	order	NOUN
fcis-11134	44	3	to	to	PART
fcis-11134	44	4	make	make	VERB
fcis-11134	44	5	the	the	DET
fcis-11134	44	6	unmanned	unmanned	ADJ
fcis-11134	44	7	craft	craft	NOUN
fcis-11134	44	8	simulation	simulation	NOUN
fcis-11134	44	9	training	training	NOUN
fcis-11134	44	10	closer	close	ADV
fcis-11134	44	11	to	to	ADP
fcis-11134	44	12	the	the	DET
fcis-11134	44	13	real	real	ADJ
fcis-11134	44	14	mission	mission	NOUN
fcis-11134	44	15	scenario	scenario	NOUN
fcis-11134	44	16	,	,	PUNCT
fcis-11134	44	17	this	this	DET
fcis-11134	44	18	paper	paper	NOUN
fcis-11134	44	19	uses	use	VERB
fcis-11134	44	20	the	the	DET
fcis-11134	44	21	physx	physx	PROPN
fcis-11134	44	22	physics	physics	NOUN
fcis-11134	44	23	engine	engine	NOUN
fcis-11134	44	24	in	in	ADP
fcis-11134	44	25	unreal	unreal	ADJ
fcis-11134	44	26	engine	engine	NOUN
fcis-11134	44	27	to	to	PART
fcis-11134	44	28	perform	perform	VERB
fcis-11134	44	29	physical	physical	ADJ
fcis-11134	44	30	simulation	simulation	NOUN
fcis-11134	44	31	calculations	calculation	NOUN
fcis-11134	44	32	on	on	ADP
fcis-11134	44	33	the	the	DET
fcis-11134	44	34	motion	motion	NOUN
fcis-11134	44	35	state	state	NOUN
fcis-11134	44	36	of	of	ADP
fcis-11134	44	37	the	the	DET
fcis-11134	44	38	unmanned	unmanned	ADJ
fcis-11134	44	39	craft	craft	NOUN
fcis-11134	44	40	,	,	PUNCT
fcis-11134	44	41	and	and	CCONJ
fcis-11134	44	42	applies	apply	VERB
fcis-11134	44	43	the	the	DET
fcis-11134	44	44	motion	motion	NOUN
fcis-11134	44	45	model	model	NOUN
fcis-11134	44	46	of	of	ADP
fcis-11134	44	47	the	the	DET
fcis-11134	44	48	unmanned	unmanned	ADJ
fcis-11134	44	49	craft	craft	NOUN
fcis-11134	44	50	and	and	CCONJ
fcis-11134	44	51	its	its	PRON
fcis-11134	44	52	force	force	NOUN
fcis-11134	44	53	and	and	CCONJ
fcis-11134	44	54	moment	moment	VERB
fcis-11134	44	55	conditions	condition	NOUN
fcis-11134	44	56	to	to	ADP
fcis-11134	44	57	the	the	DET
fcis-11134	44	58	physics	physics	NOUN
fcis-11134	44	59	engine	engine	NOUN
fcis-11134	44	60	.	.	PUNCT
fcis-11134	45	1	after	after	ADP
fcis-11134	45	2	adding	add	VERB
fcis-11134	45	3	the	the	DET
fcis-11134	45	4	physics	physics	NOUN
fcis-11134	45	5	engine	engine	NOUN
fcis-11134	45	6	,	,	PUNCT
fcis-11134	45	7	the	the	DET
fcis-11134	45	8	motion	motion	NOUN
fcis-11134	45	9	and	and	CCONJ
fcis-11134	45	10	collision	collision	NOUN
fcis-11134	45	11	of	of	ADP
fcis-11134	45	12	all	all	DET
fcis-11134	45	13	the	the	DET
fcis-11134	45	14	objects	object	NOUN
fcis-11134	45	15	in	in	ADP
fcis-11134	45	16	the	the	DET
fcis-11134	45	17	training	training	NOUN
fcis-11134	45	18	scene	scene	NOUN
fcis-11134	45	19	must	must	AUX
fcis-11134	45	20	follow	follow	VERB
fcis-11134	45	21	the	the	DET
fcis-11134	45	22	laws	law	NOUN
fcis-11134	45	23	of	of	ADP
fcis-11134	45	24	physics	physics	NOUN
fcis-11134	45	25	,	,	PUNCT
fcis-11134	45	26	so	so	SCONJ
fcis-11134	45	27	as	as	SCONJ
fcis-11134	45	28	to	to	PART
fcis-11134	45	29	present	present	VERB
fcis-11134	45	30	a	a	DET
fcis-11134	45	31	similar	similar	ADJ
fcis-11134	45	32	motion	motion	NOUN
fcis-11134	45	33	state	state	NOUN
fcis-11134	45	34	to	to	ADP
fcis-11134	45	35	the	the	DET
fcis-11134	45	36	objects	object	NOUN
fcis-11134	45	37	in	in	ADP
fcis-11134	45	38	the	the	DET
fcis-11134	45	39	real	real	ADJ
fcis-11134	45	40	scene	scene	NOUN
fcis-11134	45	41	,	,	PUNCT
fcis-11134	45	42	which	which	PRON
fcis-11134	45	43	makes	make	VERB
fcis-11134	45	44	the	the	DET
fcis-11134	45	45	handling	handling	NOUN
fcis-11134	45	46	feeling	feeling	NOUN
fcis-11134	45	47	and	and	CCONJ
fcis-11134	45	48	motion	motion	NOUN
fcis-11134	45	49	trajectory	trajectory	NOUN
fcis-11134	45	50	of	of	ADP
fcis-11134	45	51	the	the	DET
fcis-11134	45	52	unmanned	unmanned	ADJ
fcis-11134	45	53	craft	craft	NOUN
fcis-11134	45	54	closer	close	ADV
fcis-11134	45	55	to	to	ADP
fcis-11134	45	56	the	the	DET
fcis-11134	45	57	actual	actual	ADJ
fcis-11134	45	58	equipment	equipment	NOUN
fcis-11134	45	59	,	,	PUNCT
fcis-11134	45	60	which	which	PRON
fcis-11134	45	61	can	can	AUX
fcis-11134	45	62	further	far	ADV
fcis-11134	45	63	improve	improve	VERB
fcis-11134	45	64	the	the	DET
fcis-11134	45	65	training	training	NOUN
fcis-11134	45	66	efficiency	efficiency	NOUN
fcis-11134	45	67	.	.	PUNCT
fcis-11134	46	1	4.1	4.1	NUM
fcis-11134	46	2	.	.	PUNCT
fcis-11134	46	3	establishment	establishment	NOUN
fcis-11134	46	4	of	of	ADP
fcis-11134	46	5	the	the	DET
fcis-11134	46	6	coordinate	coordinate	NOUN
fcis-11134	46	7	system	system	NOUN
fcis-11134	46	8	in	in	ADP
fcis-11134	46	9	this	this	DET
fcis-11134	46	10	paper	paper	NOUN
fcis-11134	46	11	,	,	PUNCT
fcis-11134	46	12	an	an	DET
fcis-11134	46	13	unmanned	unmanned	ADJ
fcis-11134	46	14	craft	craft	NOUN
fcis-11134	46	15	is	be	AUX
fcis-11134	46	16	taken	take	VERB
fcis-11134	46	17	as	as	ADP
fcis-11134	46	18	the	the	DET
fcis-11134	46	19	object	object	NOUN
fcis-11134	46	20	of	of	ADP
fcis-11134	46	21	research	research	NOUN
fcis-11134	46	22	and	and	CCONJ
fcis-11134	46	23	modelling	modelling	NOUN
fcis-11134	46	24	to	to	PART
fcis-11134	46	25	establish	establish	VERB
fcis-11134	46	26	a	a	DET
fcis-11134	46	27	mathematical	mathematical	ADJ
fcis-11134	46	28	model	model	NOUN
fcis-11134	46	29	of	of	ADP
fcis-11134	46	30	the	the	DET
fcis-11134	46	31	motion	motion	NOUN
fcis-11134	46	32	of	of	ADP
fcis-11134	46	33	an	an	DET
fcis-11134	46	34	unmanned	unmanned	ADJ
fcis-11134	46	35	craft	craft	NOUN
fcis-11134	46	36	in	in	ADP
fcis-11134	46	37	a	a	DET
fcis-11134	46	38	real	real	ADJ
fcis-11134	46	39	water	water	NOUN
fcis-11134	46	40	environment	environment	NOUN
fcis-11134	46	41	,	,	PUNCT
fcis-11134	46	42	which	which	PRON
fcis-11134	46	43	requires	require	VERB
fcis-11134	46	44	the	the	DET
fcis-11134	46	45	use	use	NOUN
fcis-11134	46	46	of	of	ADP
fcis-11134	46	47	two	two	NUM
fcis-11134	46	48	coordinate	coordinate	NOUN
fcis-11134	46	49	systems	system	NOUN
fcis-11134	46	50	about	about	ADP
fcis-11134	46	51	the	the	DET
fcis-11134	46	52	geodetic	geodetic	ADJ
fcis-11134	46	53	coordinate	coordinate	NOUN
fcis-11134	46	54	system	system	NOUN
fcis-11134	46	55	and	and	CCONJ
fcis-11134	46	56	the	the	DET
fcis-11134	46	57	carrier	carrier	NOUN
fcis-11134	46	58	coordinate	coordinate	NOUN
fcis-11134	46	59	system	system	NOUN
fcis-11134	46	60	[	[	X
fcis-11134	46	61	4	4	NUM
fcis-11134	46	62	]	]	PUNCT
fcis-11134	46	63	.	.	PUNCT
fcis-11134	47	1	as	as	SCONJ
fcis-11134	47	2	shown	show	VERB
fcis-11134	47	3	in	in	ADP
fcis-11134	47	4	the	the	DET
fcis-11134	47	5	fig.3	fig.3	PROPN
fcis-11134	47	6	,	,	PUNCT
fcis-11134	47	7	0	0	NUM
fcis-11134	47	8	0	0	NUM
fcis-11134	47	9	0	0	NUM
fcis-11134	47	10	0o	0o	NUM
fcis-11134	47	11	x	x	PUNCT
fcis-11134	47	12	y	y	PROPN
fcis-11134	47	13	z	z	NOUN
fcis-11134	47	14	stands	stand	VERB
fcis-11134	47	15	for	for	ADP
fcis-11134	47	16	the	the	DET
fcis-11134	47	17	geodetic	geodetic	ADJ
fcis-11134	47	18	coordinate	coordinate	NOUN
fcis-11134	47	19	system	system	NOUN
fcis-11134	47	20	,	,	PUNCT
fcis-11134	47	21	the	the	DET
fcis-11134	47	22	earth	earth	NOUN
fcis-11134	47	23	is	be	AUX
fcis-11134	47	24	used	use	VERB
fcis-11134	47	25	as	as	ADP
fcis-11134	47	26	the	the	DET
fcis-11134	47	27	reference	reference	NOUN
fcis-11134	47	28	system	system	NOUN
fcis-11134	47	29	,	,	PUNCT
fcis-11134	47	30	the	the	DET
fcis-11134	47	31	origin	origin	NOUN
fcis-11134	47	32	0o	0o	NUM
fcis-11134	47	33	is	be	AUX
fcis-11134	47	34	any	any	DET
fcis-11134	47	35	point	point	NOUN
fcis-11134	47	36	on	on	ADP
fcis-11134	47	37	the	the	DET
fcis-11134	47	38	earth	earth	NOUN
fcis-11134	47	39	's	's	PART
fcis-11134	47	40	surface	surface	NOUN
fcis-11134	47	41	,	,	PUNCT
fcis-11134	47	42	the	the	DET
fcis-11134	47	43	direction	direction	NOUN
fcis-11134	47	44	of	of	ADP
fcis-11134	47	45	0x	0x	PROPN
fcis-11134	47	46	is	be	AUX
fcis-11134	47	47	north	north	NOUN
fcis-11134	47	48	,	,	PUNCT
fcis-11134	47	49	the	the	DET
fcis-11134	47	50	direction	direction	NOUN
fcis-11134	47	51	of	of	ADP
fcis-11134	47	52	0y	0y	NOUN
fcis-11134	47	53	is	be	AUX
fcis-11134	47	54	east	east	ADJ
fcis-11134	47	55	,	,	PUNCT
fcis-11134	47	56	and	and	CCONJ
fcis-11134	47	57	the	the	DET
fcis-11134	47	58	direction	direction	NOUN
fcis-11134	47	59	of	of	ADP
fcis-11134	47	60	0z	0z	NUM
fcis-11134	47	61	is	be	AUX
fcis-11134	47	62	perpendicular	perpendicular	ADJ
fcis-11134	47	63	to	to	ADP
fcis-11134	47	64	the	the	DET
fcis-11134	47	65	ground	ground	NOUN
fcis-11134	47	66	downwards	downward	NOUN
fcis-11134	47	67	.	.	PUNCT
fcis-11134	48	1	b	b	X
fcis-11134	48	2	b	b	X
fcis-11134	48	3	b	b	X
fcis-11134	48	4	bo	bo	PROPN
fcis-11134	48	5	x	x	X
fcis-11134	48	6	y	y	PROPN
fcis-11134	48	7	z	z	NOUN
fcis-11134	48	8	represents	represent	VERB
fcis-11134	48	9	the	the	DET
fcis-11134	48	10	carrier	carrier	NOUN
fcis-11134	48	11	coordinate	coordinate	NOUN
fcis-11134	48	12	system	system	NOUN
fcis-11134	48	13	,	,	PUNCT
fcis-11134	48	14	which	which	PRON
fcis-11134	48	15	is	be	AUX
fcis-11134	48	16	fixedly	fixedly	ADV
fcis-11134	48	17	connected	connect	VERB
fcis-11134	48	18	to	to	ADP
fcis-11134	48	19	the	the	DET
fcis-11134	48	20	unmanned	unmanned	ADJ
fcis-11134	48	21	craft	craft	NOUN
fcis-11134	48	22	,	,	PUNCT
fcis-11134	48	23	and	and	CCONJ
fcis-11134	48	24	moves	move	VERB
fcis-11134	48	25	together	together	ADV
fcis-11134	48	26	with	with	ADP
fcis-11134	48	27	it	it	PRON
fcis-11134	48	28	,	,	PUNCT
fcis-11134	48	29	the	the	DET
fcis-11134	48	30	origin	origin	NOUN
fcis-11134	48	31	bo	bo	PROPN
fcis-11134	48	32	is	be	AUX
fcis-11134	48	33	the	the	DET
fcis-11134	48	34	unmanned	unmanned	ADJ
fcis-11134	48	35	craft	craft	NOUN
fcis-11134	48	36	's	's	PART
fcis-11134	48	37	center	center	NOUN
fcis-11134	48	38	of	of	ADP
fcis-11134	48	39	gravity	gravity	NOUN
fcis-11134	48	40	,	,	PUNCT
fcis-11134	48	41	the	the	DET
fcis-11134	48	42	direction	direction	NOUN
fcis-11134	48	43	of	of	ADP
fcis-11134	48	44	bx	bx	PROPN
fcis-11134	48	45	is	be	AUX
fcis-11134	48	46	the	the	DET
fcis-11134	48	47	direction	direction	NOUN
fcis-11134	48	48	of	of	ADP
fcis-11134	48	49	the	the	DET
fcis-11134	48	50	unmanned	unmanned	ADJ
fcis-11134	48	51	craft	craft	NOUN
fcis-11134	48	52	's	's	PART
fcis-11134	48	53	forward	forward	ADJ
fcis-11134	48	54	motion	motion	NOUN
fcis-11134	48	55	,	,	PUNCT
fcis-11134	48	56	the	the	DET
fcis-11134	48	57	direction	direction	NOUN
fcis-11134	48	58	of	of	ADP
fcis-11134	48	59	by	by	ADP
fcis-11134	48	60	is	be	AUX
fcis-11134	48	61	the	the	DET
fcis-11134	48	62	direction	direction	NOUN
fcis-11134	48	63	of	of	ADP
fcis-11134	48	64	the	the	DET
fcis-11134	48	65	unmanned	unmanned	ADJ
fcis-11134	48	66	craft	craft	NOUN
fcis-11134	48	67	's	's	PART
fcis-11134	48	68	starboard	starboard	ADJ
fcis-11134	48	69	side	side	NOUN
fcis-11134	48	70	,	,	PUNCT
fcis-11134	48	71	and	and	CCONJ
fcis-11134	48	72	the	the	DET
fcis-11134	48	73	direction	direction	NOUN
fcis-11134	48	74	is	be	AUX
fcis-11134	48	75	perpendicular	perpendicular	ADJ
fcis-11134	48	76	to	to	ADP
fcis-11134	48	77	the	the	DET
fcis-11134	48	78	direction	direction	NOUN
fcis-11134	48	79	of	of	ADP
fcis-11134	48	80	bx	bx	PROPN
fcis-11134	48	81	,	,	PUNCT
fcis-11134	48	82	the	the	DET
fcis-11134	48	83	direction	direction	NOUN
fcis-11134	48	84	of	of	ADP
fcis-11134	48	85	bz	bz	PROPN
fcis-11134	48	86	is	be	AUX
fcis-11134	48	87	perpendicular	perpendicular	ADJ
fcis-11134	48	88	to	to	ADP
fcis-11134	48	89	the	the	DET
fcis-11134	48	90	plane	plane	NOUN
fcis-11134	48	91	of	of	ADP
fcis-11134	48	92	b	b	PROPN
fcis-11134	48	93	b	b	PROPN
fcis-11134	48	94	bo	bo	PROPN
fcis-11134	48	95	x	x	PROPN
fcis-11134	48	96	y	y	NOUN
fcis-11134	48	97	downwards	downward	NOUN
fcis-11134	48	98	,	,	PUNCT
fcis-11134	48	99	pointing	point	VERB
fcis-11134	48	100	to	to	ADP
fcis-11134	48	101	the	the	DET
fcis-11134	48	102	bottom	bottom	NOUN
fcis-11134	48	103	of	of	ADP
fcis-11134	48	104	the	the	DET
fcis-11134	48	105	craft	craft	NOUN
fcis-11134	48	106	.	.	PUNCT
fcis-11134	49	1	58	58	NUM
fcis-11134	49	2	0o	0o	NUM
fcis-11134	49	3	0x	0x	PROPN
fcis-11134	49	4	0y	0y	X
fcis-11134	49	5	0z	0z	PROPN
fcis-11134	49	6	bo	bo	PROPN
fcis-11134	49	7	bx	bx	PROPN
fcis-11134	49	8	by	by	ADP
fcis-11134	49	9	bz	bz	PROPN
fcis-11134	49	10	fig	fig	PROPN
fcis-11134	49	11	3	3	NUM
fcis-11134	49	12	.	.	PUNCT
fcis-11134	50	1	the	the	DET
fcis-11134	50	2	coordinate	coordinate	NOUN
fcis-11134	50	3	system	system	NOUN
fcis-11134	50	4	of	of	ADP
fcis-11134	50	5	unmanned	unmanned	ADJ
fcis-11134	50	6	craft	craft	NOUN
fcis-11134	50	7	4.2	4.2	NUM
fcis-11134	50	8	.	.	PUNCT
fcis-11134	51	1	kinematics	kinematic	NOUN
fcis-11134	51	2	equations	equation	NOUN
fcis-11134	51	3	for	for	ADP
fcis-11134	51	4	unmanned	unmanned	ADJ
fcis-11134	51	5	craft	craft	NOUN
fcis-11134	51	6	the	the	DET
fcis-11134	51	7	real	real	ADJ
fcis-11134	51	8	motion	motion	NOUN
fcis-11134	51	9	of	of	ADP
fcis-11134	51	10	the	the	DET
fcis-11134	51	11	unmanned	unmanned	ADJ
fcis-11134	51	12	craft	craft	NOUN
fcis-11134	51	13	in	in	ADP
fcis-11134	51	14	a	a	DET
fcis-11134	51	15	marine	marine	ADJ
fcis-11134	51	16	environment	environment	NOUN
fcis-11134	51	17	is	be	AUX
fcis-11134	51	18	very	very	ADV
fcis-11134	51	19	complex	complex	ADJ
fcis-11134	51	20	and	and	CCONJ
fcis-11134	51	21	generally	generally	ADV
fcis-11134	51	22	needs	need	VERB
fcis-11134	51	23	to	to	PART
fcis-11134	51	24	be	be	AUX
fcis-11134	51	25	described	describe	VERB
fcis-11134	51	26	using	use	VERB
fcis-11134	51	27	six	six	NUM
fcis-11134	51	28	degrees	degree	NOUN
fcis-11134	51	29	of	of	ADP
fcis-11134	51	30	freedom	freedom	NOUN
fcis-11134	51	31	.	.	PUNCT
fcis-11134	52	1	according	accord	VERB
fcis-11134	52	2	to	to	ADP
fcis-11134	52	3	the	the	DET
fcis-11134	52	4	standard	standard	NOUN
fcis-11134	52	5	of	of	ADP
fcis-11134	52	6	the	the	DET
fcis-11134	52	7	international	international	ADJ
fcis-11134	52	8	towing	towing	NOUN
fcis-11134	52	9	tank	tank	NOUN
fcis-11134	52	10	conference	conference	NOUN
fcis-11134	52	11	(	(	PUNCT
fcis-11134	52	12	ittc	ittc	PROPN
fcis-11134	52	13	)	)	PUNCT
fcis-11134	52	14	,	,	PUNCT
fcis-11134	52	15	the	the	DET
fcis-11134	52	16	physical	physical	ADJ
fcis-11134	52	17	quantities	quantity	NOUN
fcis-11134	52	18	of	of	ADP
fcis-11134	52	19	an	an	DET
fcis-11134	52	20	unmanned	unmanned	ADJ
fcis-11134	52	21	craft	craft	NOUN
fcis-11134	52	22	can	can	AUX
fcis-11134	52	23	be	be	AUX
fcis-11134	52	24	expressed	express	VERB
fcis-11134	52	25	in	in	ADP
fcis-11134	52	26	table	table	NOUN
fcis-11134	52	27	1	1	NUM
fcis-11134	52	28	,	,	PUNCT
fcis-11134	52	29	where	where	SCONJ
fcis-11134	52	30	,	,	PUNCT
fcis-11134	52	31	,	,	PUNCT
fcis-11134	52	32	denote	denote	VERB
fcis-11134	52	33	the	the	DET
fcis-11134	52	34	longitudinal	longitudinal	ADJ
fcis-11134	52	35	,	,	PUNCT
fcis-11134	52	36	transverse	transverse	ADJ
fcis-11134	52	37	and	and	CCONJ
fcis-11134	52	38	vertical	vertical	ADJ
fcis-11134	52	39	displacements	displacement	NOUN
fcis-11134	52	40	respectively	respectively	ADV
fcis-11134	52	41	;	;	PUNCT
fcis-11134	52	42	,	,	PUNCT
fcis-11134	52	43	,	,	PUNCT
fcis-11134	52	44	denote	denote	VERB
fcis-11134	52	45	the	the	DET
fcis-11134	52	46	transverse	transverse	NOUN
fcis-11134	52	47	rocking	rocking	NOUN
fcis-11134	52	48	angle	angle	NOUN
fcis-11134	52	49	,	,	PUNCT
fcis-11134	52	50	longitudinal	longitudinal	ADJ
fcis-11134	52	51	rocking	rocking	NOUN
fcis-11134	52	52	angle	angle	NOUN
fcis-11134	52	53	,	,	PUNCT
fcis-11134	52	54	and	and	CCONJ
fcis-11134	52	55	bow	bow	VERB
fcis-11134	52	56	angle	angle	NOUN
fcis-11134	52	57	of	of	ADP
fcis-11134	52	58	the	the	DET
fcis-11134	52	59	hull	hull	NOUN
fcis-11134	52	60	respectively	respectively	ADV
fcis-11134	52	61	.	.	PUNCT
fcis-11134	53	1	,	,	PUNCT
fcis-11134	53	2	,	,	PUNCT
fcis-11134	53	3	denote	denote	VERB
fcis-11134	53	4	the	the	DET
fcis-11134	53	5	longitudinal	longitudinal	ADJ
fcis-11134	53	6	,	,	PUNCT
fcis-11134	53	7	transverse	transverse	NOUN
fcis-11134	53	8	,	,	PUNCT
fcis-11134	53	9	and	and	CCONJ
fcis-11134	53	10	lifting	lift	VERB
fcis-11134	53	11	and	and	CCONJ
fcis-11134	53	12	sinking	sink	VERB
fcis-11134	53	13	speeds	speed	NOUN
fcis-11134	53	14	respectively	respectively	ADV
fcis-11134	53	15	,	,	PUNCT
fcis-11134	53	16	and	and	CCONJ
fcis-11134	53	17	,	,	PUNCT
fcis-11134	53	18	,	,	PUNCT
fcis-11134	53	19	denote	denote	VERB
fcis-11134	53	20	the	the	DET
fcis-11134	53	21	transverse	transverse	NOUN
fcis-11134	53	22	rocking	rocking	NOUN
fcis-11134	53	23	,	,	PUNCT
fcis-11134	53	24	longitudinal	longitudinal	ADJ
fcis-11134	53	25	rocking	rocking	NOUN
fcis-11134	53	26	,	,	PUNCT
fcis-11134	53	27	and	and	CCONJ
fcis-11134	53	28	bow	bow	VERB
fcis-11134	53	29	rocking	rock	VERB
fcis-11134	53	30	angular	angular	ADJ
fcis-11134	53	31	velocities	velocity	NOUN
fcis-11134	53	32	respectively	respectively	ADV
fcis-11134	53	33	.	.	PUNCT
fcis-11134	54	1	,	,	PUNCT
fcis-11134	54	2	,	,	PUNCT
fcis-11134	54	3	denote	denote	VERB
fcis-11134	54	4	the	the	DET
fcis-11134	54	5	force	force	NOUN
fcis-11134	54	6	applied	apply	VERB
fcis-11134	54	7	to	to	ADP
fcis-11134	54	8	the	the	DET
fcis-11134	54	9	unmanned	unmanned	ADJ
fcis-11134	54	10	craft	craft	NOUN
fcis-11134	54	11	in	in	ADP
fcis-11134	54	12	the	the	DET
fcis-11134	54	13	direction	direction	NOUN
fcis-11134	54	14	of	of	ADP
fcis-11134	54	15	each	each	DET
fcis-11134	54	16	coordinate	coordinate	NOUN
fcis-11134	54	17	axis	axis	NOUN
fcis-11134	54	18	;	;	PUNCT
fcis-11134	54	19	,	,	PUNCT
fcis-11134	54	20	,	,	PUNCT
fcis-11134	54	21	denote	denote	VERB
fcis-11134	54	22	the	the	DET
fcis-11134	54	23	moment	moment	NOUN
fcis-11134	54	24	applied	apply	VERB
fcis-11134	54	25	to	to	ADP
fcis-11134	54	26	the	the	DET
fcis-11134	54	27	unmanned	unmanned	ADJ
fcis-11134	54	28	craft	craft	NOUN
fcis-11134	54	29	in	in	ADP
fcis-11134	54	30	the	the	DET
fcis-11134	54	31	direction	direction	NOUN
fcis-11134	54	32	of	of	ADP
fcis-11134	54	33	each	each	DET
fcis-11134	54	34	coordinate	coordinate	NOUN
fcis-11134	54	35	axis	axis	NOUN
fcis-11134	55	1	[	[	X
fcis-11134	55	2	5	5	NUM
fcis-11134	55	3	]	]	PUNCT
fcis-11134	55	4	.	.	PUNCT
fcis-11134	56	1	table	table	NOUN
fcis-11134	56	2	1	1	NUM
fcis-11134	56	3	.	.	PUNCT
fcis-11134	57	1	the	the	DET
fcis-11134	57	2	representation	representation	NOUN
fcis-11134	57	3	of	of	ADP
fcis-11134	57	4	craft	craft	NOUN
fcis-11134	57	5	’s	’s	PART
fcis-11134	57	6	variable	variable	ADJ
fcis-11134	57	7	degree	degree	NOUN
fcis-11134	57	8	of	of	ADP
fcis-11134	57	9	freedom	freedom	NOUN
fcis-11134	57	10	name	name	NOUN
fcis-11134	57	11	description	description	NOUN
fcis-11134	57	12	position	position	NOUN
fcis-11134	57	13	and	and	CCONJ
fcis-11134	57	14	angle	angle	NOUN
fcis-11134	57	15	forces	force	NOUN
fcis-11134	57	16	and	and	CCONJ
fcis-11134	57	17	moments	moment	NOUN
fcis-11134	57	18	velocity	velocity	NOUN
fcis-11134	57	19	and	and	CCONJ
fcis-11134	57	20	angular	angular	ADJ
fcis-11134	57	21	velocity	velocity	NOUN
fcis-11134	57	22	surge	surge	NOUN
fcis-11134	57	23	translation	translation	NOUN
fcis-11134	57	24	along	along	ADP
fcis-11134	57	25	the	the	DET
fcis-11134	57	26	xaxis	xaxis	PROPN
fcis-11134	57	27	x	x	SYM
fcis-11134	57	28	x	x	PUNCT
fcis-11134	57	29	u	u	NOUN
fcis-11134	57	30	sway	sway	NOUN
fcis-11134	57	31	translation	translation	NOUN
fcis-11134	57	32	along	along	ADP
fcis-11134	57	33	the	the	DET
fcis-11134	57	34	yaxis	yaxis	NOUN
fcis-11134	57	35	y	y	PROPN
fcis-11134	57	36	y	y	PROPN
fcis-11134	57	37	v	v	X
fcis-11134	57	38	heave	heave	NOUN
fcis-11134	57	39	translation	translation	NOUN
fcis-11134	57	40	along	along	ADP
fcis-11134	57	41	the	the	DET
fcis-11134	57	42	zaxis	zaxis	NOUN
fcis-11134	57	43	z	z	PROPN
fcis-11134	57	44	z	z	PROPN
fcis-11134	57	45	w	w	PROPN
fcis-11134	57	46	roll	roll	NOUN
fcis-11134	57	47	rotation	rotation	NOUN
fcis-11134	57	48	along	along	ADP
fcis-11134	57	49	the	the	DET
fcis-11134	57	50	xaxis	xaxis	PROPN
fcis-11134	57	51	φ	φ	PROPN
fcis-11134	57	52	k	k	PROPN
fcis-11134	58	1	p	p	X
fcis-11134	58	2	pitch	pitch	NOUN
fcis-11134	58	3	rotation	rotation	NOUN
fcis-11134	58	4	along	along	ADP
fcis-11134	58	5	the	the	DET
fcis-11134	58	6	yaxis	yaxis	NOUN
fcis-11134	58	7	θ	θ	NOUN
fcis-11134	58	8	m	m	VERB
fcis-11134	58	9	q	q	ADJ
fcis-11134	58	10	yaw	yaw	ADJ
fcis-11134	58	11	rotation	rotation	NOUN
fcis-11134	58	12	along	along	ADP
fcis-11134	58	13	the	the	DET
fcis-11134	58	14	zaxis	zaxis	NOUN
fcis-11134	58	15	ψ	ψ	PROPN
fcis-11134	58	16	n	n	CCONJ
fcis-11134	58	17	r	r	VERB
fcis-11134	58	18	the	the	DET
fcis-11134	58	19	parameters	parameter	NOUN
fcis-11134	58	20	of	of	ADP
fcis-11134	58	21	the	the	DET
fcis-11134	58	22	unmanned	unmanned	ADJ
fcis-11134	58	23	craft	craft	NOUN
fcis-11134	58	24	in	in	ADP
fcis-11134	58	25	the	the	DET
fcis-11134	58	26	geodetic	geodetic	ADJ
fcis-11134	58	27	coordinate	coordinate	NOUN
fcis-11134	58	28	system	system	NOUN
fcis-11134	58	29	and	and	CCONJ
fcis-11134	58	30	in	in	ADP
fcis-11134	58	31	the	the	DET
fcis-11134	58	32	carrier	carrier	NOUN
fcis-11134	58	33	coordinate	coordinate	NOUN
fcis-11134	58	34	system	system	NOUN
fcis-11134	58	35	have	have	VERB
fcis-11134	58	36	the	the	DET
fcis-11134	58	37	following	follow	VERB
fcis-11134	58	38	transformation	transformation	NOUN
fcis-11134	58	39	relationship	relationship	NOUN
fcis-11134	58	40	:	:	PUNCT
fcis-11134	58	41	cos	cos	PROPN
fcis-11134	58	42	cos	cos	PROPN
fcis-11134	58	43	sin	sin	PROPN
fcis-11134	58	44	sin	sin	PROPN
fcis-11134	58	45	cos	cos	PROPN
fcis-11134	58	46	sin	sin	PROPN
fcis-11134	59	1	cos	cos	PROPN
fcis-11134	59	2	sin	sin	PROPN
fcis-11134	59	3	sin	sin	NOUN
fcis-11134	59	4	sin	sin	PROPN
fcis-11134	59	5	cos	cos	PROPN
fcis-11134	59	6	cos	cos	PROPN
fcis-11134	59	7	sin	sin	PROPN
fcis-11134	59	8	cos	cos	PROPN
fcis-11134	59	9	cos	cos	PROPN
fcis-11134	59	10	cos	cos	PROPN
fcis-11134	59	11	sin	sin	PROPN
fcis-11134	59	12	sin	sin	NOUN
fcis-11134	59	13	sin	sin	NOUN
fcis-11134	59	14	sin	sin	PROPN
fcis-11134	59	15	cos	cos	PROPN
fcis-11134	59	16	sin	sin	PROPN
fcis-11134	59	17	cos	cos	PROPN
fcis-11134	59	18	sin	sin	PROPN
fcis-11134	59	19	sin	sin	NOUN
fcis-11134	59	20	sin	sin	PROPN
fcis-11134	59	21	cos	cos	PROPN
fcis-11134	59	22	cos	cos	PROPN
fcis-11134	59	23	cos	cos	PROPN
fcis-11134	59	24	x	x	SYM
fcis-11134	59	25	u	u	VERB
fcis-11134	59	26	y	y	PROPN
fcis-11134	59	27	v	v	NOUN
fcis-11134	59	28	z	z	NOUN
fcis-11134	59	29	w	w	NOUN
fcis-11134	59	30			NOUN
fcis-11134	59	31			NOUN
fcis-11134	59	32			NOUN
fcis-11134	59	33			PROPN
fcis-11134	59	34			NOUN
fcis-11134	59	35			NUM
fcis-11134	59	36			NOUN
fcis-11134	59	37			NUM
fcis-11134	59	38			NOUN
fcis-11134	59	39			NOUN
fcis-11134	59	40			NOUN
fcis-11134	59	41			NOUN
fcis-11134	59	42			NOUN
fcis-11134	59	43			NOUN
fcis-11134	59	44			NUM
fcis-11134	59	45			NOUN
fcis-11134	59	46			NOUN
fcis-11134	59	47			X
fcis-11134	59	48			NOUN
fcis-11134	59	49			PROPN
fcis-11134	59	50			NOUN
fcis-11134	59	51			NOUN
fcis-11134	59	52			NUM
fcis-11134	59	53			NOUN
fcis-11134	59	54			NOUN
fcis-11134	59	55			NOUN
fcis-11134	59	56			NOUN
fcis-11134	59	57			NOUN
fcis-11134	59	58			X
fcis-11134	59	59			VERB
fcis-11134	59	60			PRON
fcis-11134	59	61			NOUN
fcis-11134	59	62			PROPN
fcis-11134	59	63			ADJ
fcis-11134	59	64			PROPN
fcis-11134	59	65			ADJ
fcis-11134	59	66			NOUN
fcis-11134	59	67			PROPN
fcis-11134	59	68			NOUN
fcis-11134	59	69			NOUN
fcis-11134	59	70			NOUN
fcis-11134	59	71			NOUN
fcis-11134	59	72			ADJ
fcis-11134	59	73			PROPN
fcis-11134	59	74			PROPN
fcis-11134	59	75			NOUN
fcis-11134	59	76			NOUN
fcis-11134	59	77			NOUN
fcis-11134	59	78			NOUN
fcis-11134	59	79			NOUN
fcis-11134	59	80			NOUN
fcis-11134	59	81			NOUN
fcis-11134	59	82			NOUN
fcis-11134	59	83			NOUN
fcis-11134	60	1			PROPN
fcis-11134	60	2			PROPN
fcis-11134	60	3			VERB
fcis-11134	60	4			PROPN
fcis-11134	60	5			VERB
fcis-11134	60	6			PROPN
fcis-11134	60	7			NOUN
fcis-11134	60	8			NOUN
fcis-11134	60	9			NOUN
fcis-11134	60	10	1	1	NUM
fcis-11134	60	11	sin	sin	NOUN
fcis-11134	60	12	tan	tan	PROPN
fcis-11134	60	13	tan	tan	PROPN
fcis-11134	60	14	cos	cos	PROPN
fcis-11134	60	15	0	0	PROPN
fcis-11134	60	16	cos	cos	PROPN
fcis-11134	60	17	sin	sin	NOUN
fcis-11134	60	18	0	0	NUM
fcis-11134	60	19	sin	sin	PROPN
fcis-11134	60	20	sec	sec	PROPN
fcis-11134	60	21	cos	cos	PROPN
fcis-11134	60	22	sec	sec	PROPN
fcis-11134	60	23	p	p	NOUN
fcis-11134	60	24	q	q	NOUN
fcis-11134	60	25	r	r	NOUN
fcis-11134	60	26			NOUN
fcis-11134	60	27			NOUN
fcis-11134	60	28			NOUN
fcis-11134	60	29			X
fcis-11134	60	30			NOUN
fcis-11134	60	31			NOUN
fcis-11134	60	32			NOUN
fcis-11134	60	33			NOUN
fcis-11134	60	34			NUM
fcis-11134	60	35			NOUN
fcis-11134	60	36			NOUN
fcis-11134	60	37			NOUN
fcis-11134	60	38			PROPN
fcis-11134	61	1			PROPN
fcis-11134	61	2			INTJ
fcis-11134	61	3			PROPN
fcis-11134	61	4			ADJ
fcis-11134	61	5			PROPN
fcis-11134	61	6			ADJ
fcis-11134	61	7			NOUN
fcis-11134	61	8			PROPN
fcis-11134	61	9			NOUN
fcis-11134	61	10			NOUN
fcis-11134	61	11			NOUN
fcis-11134	62	1			NOUN
fcis-11134	62	2			PROPN
fcis-11134	62	3			PROPN
fcis-11134	62	4			NOUN
fcis-11134	62	5			NOUN
fcis-11134	62	6			NOUN
fcis-11134	62	7			NOUN
fcis-11134	62	8			NOUN
fcis-11134	62	9			NOUN
fcis-11134	62	10			NOUN
fcis-11134	62	11			NOUN
fcis-11134	62	12			NOUN
fcis-11134	62	13			PROPN
fcis-11134	62	14			PROPN
fcis-11134	62	15			VERB
fcis-11134	62	16			ADJ
fcis-11134	62	17			PROPN
fcis-11134	62	18			ADJ
fcis-11134	62	19			NOUN
fcis-11134	62	20			NOUN
fcis-11134	62	21	the	the	PRON
fcis-11134	62	22	six	six	NUM
fcis-11134	62	23	-	-	PUNCT
fcis-11134	62	24	degree	degree	NOUN
fcis-11134	62	25	-	-	PUNCT
fcis-11134	62	26	of	of	ADP
fcis-11134	62	27	-	-	PUNCT
fcis-11134	62	28	freedom	freedom	NOUN
fcis-11134	62	29	kinematic	kinematic	ADJ
fcis-11134	62	30	equations	equation	NOUN
fcis-11134	62	31	for	for	ADP
fcis-11134	62	32	the	the	DET
fcis-11134	62	33	unmanned	unmanned	ADJ
fcis-11134	62	34	craft	craft	NOUN
fcis-11134	62	35	can	can	AUX
fcis-11134	62	36	be	be	AUX
fcis-11134	62	37	known	know	VERB
fcis-11134	62	38	as	as	ADP
fcis-11134	62	39	:	:	PUNCT
fcis-11134	62	40	cos	cos	PROPN
fcis-11134	62	41	cos	cos	PROPN
fcis-11134	62	42	(	(	PUNCT
fcis-11134	62	43	sin	sin	PROPN
fcis-11134	62	44	sin	sin	PROPN
fcis-11134	62	45	cos	cos	PROPN
fcis-11134	62	46	cos	cos	PROPN
fcis-11134	62	47	sin	sin	PROPN
fcis-11134	62	48	)	)	PUNCT
fcis-11134	62	49	(	(	PUNCT
fcis-11134	62	50	cos	cos	ADP
fcis-11134	62	51	sin	sin	PROPN
fcis-11134	62	52	cos	cos	PROPN
fcis-11134	62	53	sin	sin	NOUN
fcis-11134	62	54	sin	sin	NOUN
fcis-11134	62	55	)	)	PUNCT
fcis-11134	62	56	cos	cos	ADP
fcis-11134	62	57	sin	sin	NOUN
fcis-11134	62	58	(	(	PUNCT
fcis-11134	62	59	sin	sin	NOUN
fcis-11134	62	60	sin	sin	NOUN
fcis-11134	62	61	sin	sin	PROPN
fcis-11134	62	62	cos	cos	PROPN
fcis-11134	62	63	cos	cos	PROPN
fcis-11134	62	64	)	)	PUNCT
fcis-11134	62	65	(	(	PUNCT
fcis-11134	62	66	cos	cos	ADP
fcis-11134	62	67	sin	sin	PROPN
fcis-11134	62	68	sin	sin	NOUN
fcis-11134	62	69	sin	sin	PROPN
fcis-11134	62	70	cos	cos	NOUN
fcis-11134	62	71	)	)	PUNCT
fcis-11134	62	72	sin	sin	NOUN
fcis-11134	62	73	sin	sin	PROPN
fcis-11134	62	74	cos	cos	PROPN
fcis-11134	62	75	cos	cos	PROPN
fcis-11134	62	76	cos	cos	PROPN
fcis-11134	62	77	sin	sin	PROPN
fcis-11134	62	78	tan	tan	PROPN
fcis-11134	62	79	cos	cos	PROPN
fcis-11134	62	80	tan	tan	PROPN
fcis-11134	62	81	cos	cos	PROPN
fcis-11134	62	82	sin	sin	PROPN
fcis-11134	62	83	sin	sin	NOUN
fcis-11134	62	84	s	s	PART
fcis-11134	62	85	x	x	SYM
fcis-11134	62	86	u	u	NOUN
fcis-11134	62	87	v	v	PROPN
fcis-11134	62	88	w	w	PROPN
fcis-11134	62	89	y	y	PROPN
fcis-11134	62	90	u	u	PROPN
fcis-11134	62	91	v	v	PROPN
fcis-11134	62	92	w	w	PROPN
fcis-11134	62	93	z	z	PROPN
fcis-11134	62	94	u	u	NOUN
fcis-11134	62	95	c	c	PROPN
fcis-11134	62	96	w	w	PROPN
fcis-11134	62	97	p	p	X
fcis-11134	62	98	q	q	NOUN
fcis-11134	62	99	r	r	NOUN
fcis-11134	62	100	q	q	NOUN
fcis-11134	62	101	r	r	NOUN
fcis-11134	62	102	q	q	NOUN
fcis-11134	62	103			NOUN
fcis-11134	62	104			NUM
fcis-11134	62	105			NOUN
fcis-11134	62	106			NOUN
fcis-11134	62	107			NUM
fcis-11134	62	108			NOUN
fcis-11134	62	109			NUM
fcis-11134	62	110			NOUN
fcis-11134	62	111			NOUN
fcis-11134	62	112			NUM
fcis-11134	62	113			NOUN
fcis-11134	62	114			NOUN
fcis-11134	62	115			NOUN
fcis-11134	62	116			NUM
fcis-11134	62	117			NOUN
fcis-11134	62	118			NOUN
fcis-11134	62	119			NUM
fcis-11134	62	120			NOUN
fcis-11134	62	121			NUM
fcis-11134	62	122			NOUN
fcis-11134	62	123			NOUN
fcis-11134	62	124			NUM
fcis-11134	62	125			NOUN
fcis-11134	62	126			NOUN
fcis-11134	62	127			NOUN
fcis-11134	62	128			NOUN
fcis-11134	62	129			NOUN
fcis-11134	62	130			NOUN
fcis-11134	62	131			NOUN
fcis-11134	62	132			NOUN
fcis-11134	62	133			NOUN
fcis-11134	62	134			NOUN
fcis-11134	62	135			NOUN
fcis-11134	62	136			NOUN
fcis-11134	62	137			SYM
fcis-11134	62	138			NOUN
fcis-11134	62	139			NOUN
fcis-11134	62	140			NUM
fcis-11134	62	141			NOUN
fcis-11134	62	142			PRON
fcis-11134	62	143			ADV
fcis-11134	62	144			PROPN
fcis-11134	62	145			VERB
fcis-11134	62	146			PROPN
fcis-11134	62	147			PROPN
fcis-11134	62	148			PROPN
fcis-11134	62	149			PUNCT
fcis-11134	62	150			PUNCT
fcis-11134	62	151			PROPN
fcis-11134	62	152			PROPN
fcis-11134	62	153			PUNCT
fcis-11134	62	154			PROPN
fcis-11134	62	155			PROPN
fcis-11134	62	156			ADV
fcis-11134	62	157			PUNCT
fcis-11134	62	158			NUM
fcis-11134	62	159			PROPN
fcis-11134	62	160			ADJ
fcis-11134	62	161			NOUN
fcis-11134	62	162			NOUN
fcis-11134	62	163			NOUN
fcis-11134	62	164			NOUN
fcis-11134	62	165			NOUN
fcis-11134	62	166			NOUN
fcis-11134	62	167	ec	ec	PROPN
fcis-11134	62	168	cos	cos	PROPN
fcis-11134	62	169	secr	secr	PROPN
fcis-11134	62	170			NOUN
fcis-11134	62	171			X
fcis-11134	62	172			ADP
fcis-11134	62	173			NUM
fcis-11134	62	174			NUM
fcis-11134	62	175			NOUN
fcis-11134	63	1			NUM
fcis-11134	63	2			NUM
fcis-11134	63	3			NUM
fcis-11134	63	4			PRON
fcis-11134	63	5			PROPN
fcis-11134	63	6	4.3	4.3	NUM
fcis-11134	63	7	.	.	PUNCT
fcis-11134	64	1	force	force	VERB
fcis-11134	64	2	analysis	analysis	NOUN
fcis-11134	64	3	and	and	CCONJ
fcis-11134	64	4	dynamic	dynamic	ADJ
fcis-11134	64	5	equations	equation	NOUN
fcis-11134	64	6	of	of	ADP
fcis-11134	64	7	unmanned	unmanned	ADJ
fcis-11134	64	8	craft	craft	NOUN
fcis-11134	64	9	according	accord	VERB
fcis-11134	64	10	to	to	ADP
fcis-11134	64	11	newton	newton	PROPN
fcis-11134	64	12	's	's	PART
fcis-11134	64	13	law	law	NOUN
fcis-11134	64	14	of	of	ADP
fcis-11134	64	15	motion	motion	NOUN
fcis-11134	64	16	and	and	CCONJ
fcis-11134	64	17	the	the	DET
fcis-11134	64	18	principle	principle	NOUN
fcis-11134	64	19	of	of	ADP
fcis-11134	64	20	the	the	DET
fcis-11134	64	21	mmg	mmg	PROPN
fcis-11134	64	22	separation	separation	NOUN
fcis-11134	64	23	model	model	NOUN
fcis-11134	64	24	,	,	PUNCT
fcis-11134	64	25	the	the	DET
fcis-11134	64	26	unmanned	unmanned	ADJ
fcis-11134	64	27	craft	craft	NOUN
fcis-11134	64	28	can	can	AUX
fcis-11134	64	29	be	be	AUX
fcis-11134	64	30	divided	divide	VERB
fcis-11134	64	31	into	into	ADP
fcis-11134	64	32	a	a	DET
fcis-11134	64	33	number	number	NOUN
fcis-11134	64	34	of	of	ADP
fcis-11134	64	35	modules	module	NOUN
fcis-11134	64	36	to	to	PART
fcis-11134	64	37	be	be	AUX
fcis-11134	64	38	analyzed	analyze	VERB
fcis-11134	64	39	individually	individually	ADV
fcis-11134	64	40	when	when	SCONJ
fcis-11134	64	41	the	the	DET
fcis-11134	64	42	dynamics	dynamic	NOUN
fcis-11134	64	43	of	of	ADP
fcis-11134	64	44	the	the	DET
fcis-11134	64	45	unmanned	unmanned	ADJ
fcis-11134	64	46	craft	craft	NOUN
fcis-11134	64	47	is	be	AUX
fcis-11134	64	48	studied	study	VERB
fcis-11134	64	49	[	[	PUNCT
fcis-11134	64	50	6	6	NUM
fcis-11134	64	51	]	]	PUNCT
fcis-11134	64	52	.	.	PUNCT
fcis-11134	65	1	as	as	ADP
fcis-11134	65	2	a	a	DET
fcis-11134	65	3	result	result	NOUN
fcis-11134	65	4	,	,	PUNCT
fcis-11134	65	5	the	the	DET
fcis-11134	65	6	unmanned	unmanned	ADJ
fcis-11134	65	7	craft	craft	NOUN
fcis-11134	65	8	dynamics	dynamic	NOUN
fcis-11134	65	9	equations	equation	NOUN
fcis-11134	65	10	in	in	ADP
fcis-11134	65	11	the	the	DET
fcis-11134	65	12	carrier	carrier	NOUN
fcis-11134	65	13	coordinate	coordinate	NOUN
fcis-11134	65	14	system	system	NOUN
fcis-11134	65	15	can	can	AUX
fcis-11134	65	16	be	be	AUX
fcis-11134	65	17	expressed	express	VERB
fcis-11134	65	18	as	as	ADP
fcis-11134	65	19	:	:	PUNCT
fcis-11134	65	20	2	2	NUM
fcis-11134	65	21	/	/	SYM
fcis-11134	65	22	(	(	PUNCT
fcis-11134	65	23	/	/	SYM
fcis-11134	65	24	(	(	PUNCT
fcis-11134	65	25	/	/	SYM
fcis-11134	65	26	(	(	PUNCT
fcis-11134	65	27	/	/	SYM
fcis-11134	65	28	(	(	PUNCT
fcis-11134	65	29	/	/	SYM
fcis-11134	65	30	(	(	PUNCT
fcis-11134	65	31	/	/	SYM
fcis-11134	65	32	(	(	PUNCT
fcis-11134	65	33	)	)	PUNCT
fcis-11134	65	34	x	x	PROPN
fcis-11134	66	1	y	y	PROPN
fcis-11134	66	2	z	z	NOUN
fcis-11134	66	3	xx	xx	NUM
fcis-11134	66	4	xx	xx	NUM
fcis-11134	67	1	yy	yy	INTJ
fcis-11134	68	1	yy	yy	INTJ
fcis-11134	68	2	zz	zz	INTJ
fcis-11134	69	1	zz	zz	INTJ
fcis-11134	70	1	g	g	PROPN
fcis-11134	70	2	u	u	PROPN
fcis-11134	70	3	x	x	PROPN
fcis-11134	70	4	m	m	VERB
fcis-11134	70	5	m	m	VERB
fcis-11134	70	6	v	v	ADP
fcis-11134	70	7	y	y	PROPN
fcis-11134	70	8	m	m	NOUN
fcis-11134	70	9	m	m	VERB
fcis-11134	70	10	w	w	PROPN
fcis-11134	70	11	z	z	PROPN
fcis-11134	70	12	m	m	VERB
fcis-11134	70	13	m	m	VERB
fcis-11134	70	14	p	p	ADJ
fcis-11134	71	1	k	k	X
fcis-11134	72	1	i	i	PRON
fcis-11134	72	2	j	j	X
fcis-11134	73	1	q	q	VERB
fcis-11134	73	2	m	m	VERB
fcis-11134	73	3	i	i	PRON
fcis-11134	73	4	j	j	NOUN
fcis-11134	73	5	r	r	NOUN
fcis-11134	73	6	n	n	NOUN
fcis-11134	74	1	i	i	PRON
fcis-11134	74	2	j	j	NOUN
fcis-11134	75	1	x	x	VERB
fcis-11134	75	2	m	m	VERB
fcis-11134	75	3			ADJ
fcis-11134	75	4			NUM
fcis-11134	76	1			NUM
fcis-11134	76	2			NUM
fcis-11134	76	3			NOUN
fcis-11134	76	4			NUM
fcis-11134	76	5			NUM
fcis-11134	76	6			NOUN
fcis-11134	76	7			NUM
fcis-11134	76	8			NUM
fcis-11134	76	9			NOUN
fcis-11134	77	1			NUM
fcis-11134	77	2			NUM
fcis-11134	77	3			PUNCT
fcis-11134	77	4			NUM
fcis-11134	77	5			PROPN
fcis-11134	77	6			PUNCT
fcis-11134	77	7			PROPN
fcis-11134	77	8			NOUN
fcis-11134	77	9			NOUN
fcis-11134	77	10			NOUN
fcis-11134	77	11			NOUN
fcis-11134	77	12			NOUN
fcis-11134	77	13			NOUN
fcis-11134	77	14	）	）	PUNCT
fcis-11134	77	15	）	）	PUNCT
fcis-11134	77	16	）	）	PUNCT
fcis-11134	78	1	）	）	PUNCT
fcis-11134	79	1	）	）	PUNCT
fcis-11134	80	1	where	where	SCONJ
fcis-11134	80	2	xm	xm	PROPN
fcis-11134	80	3	,	,	PUNCT
fcis-11134	80	4	ym	ym	PROPN
fcis-11134	80	5	and	and	CCONJ
fcis-11134	80	6	zm	zm	PROPN
fcis-11134	80	7	are	be	AUX
fcis-11134	80	8	additional	additional	ADJ
fcis-11134	80	9	masses	masse	NOUN
fcis-11134	80	10	in	in	ADP
fcis-11134	80	11	the	the	DET
fcis-11134	80	12	vertical	vertical	ADJ
fcis-11134	80	13	,	,	PUNCT
fcis-11134	80	14	horizontal	horizontal	ADJ
fcis-11134	80	15	and	and	CCONJ
fcis-11134	80	16	vertical	vertical	ADJ
fcis-11134	80	17	axes	axis	NOUN
fcis-11134	80	18	,	,	PUNCT
fcis-11134	80	19	xxi	xxi	NOUN
fcis-11134	80	20	,	,	PUNCT
fcis-11134	80	21	yyi	yyi	NOUN
fcis-11134	80	22	and	and	CCONJ
fcis-11134	80	23	zzi	zzi	NOUN
fcis-11134	80	24	are	be	AUX
fcis-11134	80	25	moments	moment	NOUN
fcis-11134	80	26	of	of	ADP
fcis-11134	80	27	inertia	inertia	NOUN
fcis-11134	80	28	around	around	ADP
fcis-11134	80	29	the	the	DET
fcis-11134	80	30	x	x	PROPN
fcis-11134	80	31	,	,	PUNCT
fcis-11134	80	32	y	y	PROPN
fcis-11134	80	33	and	and	CCONJ
fcis-11134	80	34	z	z	PROPN
fcis-11134	80	35	axes	axis	NOUN
fcis-11134	80	36	,	,	PUNCT
fcis-11134	80	37	xxj	xxj	PROPN
fcis-11134	80	38	,	,	PUNCT
fcis-11134	80	39	yyj	yyj	PROPN
fcis-11134	80	40	and	and	CCONJ
fcis-11134	80	41	zzj	zzj	PROPN
fcis-11134	80	42	are	be	AUX
fcis-11134	80	43	the	the	DET
fcis-11134	80	44	additional	additional	ADJ
fcis-11134	80	45	moments	moment	NOUN
fcis-11134	80	46	of	of	ADP
fcis-11134	80	47	inertia	inertia	NOUN
fcis-11134	80	48	around	around	ADP
fcis-11134	80	49	the	the	DET
fcis-11134	80	50	x	x	PROPN
fcis-11134	80	51	,	,	PUNCT
fcis-11134	80	52	y	y	PROPN
fcis-11134	80	53	and	and	CCONJ
fcis-11134	80	54	z	z	NOUN
fcis-11134	80	55	axes	axis	NOUN
fcis-11134	80	56	.	.	PUNCT
fcis-11134	81	1	x	x	X
fcis-11134	81	2	,	,	PUNCT
fcis-11134	81	3	y	y	PROPN
fcis-11134	81	4	,	,	PUNCT
fcis-11134	81	5	z	z	PROPN
fcis-11134	81	6	and	and	CCONJ
fcis-11134	81	7	k	k	PROPN
fcis-11134	81	8	,	,	PUNCT
fcis-11134	81	9	m	m	PROPN
fcis-11134	81	10	,	,	PUNCT
fcis-11134	81	11	n	n	PRON
fcis-11134	81	12	can	can	AUX
fcis-11134	81	13	be	be	AUX
fcis-11134	81	14	obtained	obtain	VERB
fcis-11134	81	15	from	from	ADP
fcis-11134	81	16	the	the	DET
fcis-11134	81	17	following	follow	VERB
fcis-11134	81	18	equation	equation	NOUN
fcis-11134	81	19	.	.	PUNCT
fcis-11134	82	1	2	2	NUM
fcis-11134	82	2	(	(	PUNCT
fcis-11134	82	3	)	)	PUNCT
fcis-11134	82	4	(	(	PUNCT
fcis-11134	82	5	)	)	PUNCT
fcis-11134	82	6	(	(	PUNCT
fcis-11134	82	7	)	)	PUNCT
fcis-11134	82	8	y	y	PROPN
fcis-11134	82	9	g	g	PROPN
fcis-11134	82	10	b	b	PROPN
fcis-11134	82	11	p	p	NOUN
fcis-11134	82	12	r	r	NOUN
fcis-11134	82	13	d	d	NOUN
fcis-11134	82	14	x	x	X
fcis-11134	82	15	g	g	NOUN
fcis-11134	82	16	b	b	PROPN
fcis-11134	82	17	p	p	NOUN
fcis-11134	82	18	r	r	NOUN
fcis-11134	82	19	d	d	PROPN
fcis-11134	82	20	b	b	PROPN
fcis-11134	82	21	p	p	NOUN
fcis-11134	82	22	r	r	NOUN
fcis-11134	82	23	d	d	PROPN
fcis-11134	82	24	b	b	PROPN
fcis-11134	82	25	p	p	NOUN
fcis-11134	82	26	r	r	NOUN
fcis-11134	82	27	d	d	PROPN
fcis-11134	82	28	b	b	PROPN
fcis-11134	82	29	p	p	NOUN
fcis-11134	82	30	r	r	NOUN
fcis-11134	82	31	d	d	X
fcis-11134	82	32	g	g	NOUN
fcis-11134	82	33	b	b	PROPN
fcis-11134	82	34	p	p	NOUN
fcis-11134	82	35	r	r	NOUN
fcis-11134	82	36	d	d	NOUN
fcis-11134	82	37	x	x	X
fcis-11134	82	38	m	m	VERB
fcis-11134	82	39	m	m	VERB
fcis-11134	82	40	vr	vr	NOUN
fcis-11134	82	41	x	x	X
fcis-11134	82	42	mr	mr	NOUN
fcis-11134	82	43	x	x	X
fcis-11134	82	44	x	x	PUNCT
fcis-11134	82	45	x	x	PUNCT
fcis-11134	82	46	x	x	VERB
fcis-11134	82	47	y	y	VERB
fcis-11134	82	48	m	m	VERB
fcis-11134	82	49	m	m	VERB
fcis-11134	82	50	ur	ur	INTJ
fcis-11134	82	51	x	x	X
fcis-11134	82	52	mr	mr	PROPN
fcis-11134	82	53	y	y	PROPN
fcis-11134	82	54	y	y	PROPN
fcis-11134	82	55	y	y	PROPN
fcis-11134	82	56	y	y	PROPN
fcis-11134	82	57	z	z	PROPN
fcis-11134	82	58	z	z	NOUN
fcis-11134	82	59	z	z	NOUN
fcis-11134	82	60	z	z	NOUN
fcis-11134	82	61	z	z	PUNCT
fcis-11134	83	1	k	k	NOUN
fcis-11134	84	1	k	k	PROPN
fcis-11134	84	2	k	k	PROPN
fcis-11134	85	1	k	k	PROPN
fcis-11134	85	2	k	k	PROPN
fcis-11134	85	3	m	m	VERB
fcis-11134	85	4	m	m	VERB
fcis-11134	85	5	m	m	VERB
fcis-11134	85	6	m	m	VERB
fcis-11134	85	7	m	m	VERB
fcis-11134	85	8	n	n	ADJ
fcis-11134	85	9	x	x	NOUN
fcis-11134	85	10	m	m	VERB
fcis-11134	85	11	v	v	INTJ
fcis-11134	85	12	ur	ur	INTJ
fcis-11134	85	13	n	n	CCONJ
fcis-11134	85	14	n	n	CCONJ
fcis-11134	85	15	n	n	ADV
fcis-11134	85	16	n	n	ADV
fcis-11134	85	17			ADV
fcis-11134	85	18			PROPN
fcis-11134	85	19			ADV
fcis-11134	85	20			ADV
fcis-11134	85	21			PROPN
fcis-11134	85	22			PROPN
fcis-11134	85	23			PUNCT
fcis-11134	85	24			PUNCT
fcis-11134	85	25			NUM
fcis-11134	85	26			PROPN
fcis-11134	85	27			PROPN
fcis-11134	85	28			VERB
fcis-11134	85	29			PROPN
fcis-11134	85	30			ADV
fcis-11134	85	31			CCONJ
fcis-11134	85	32			PUNCT
fcis-11134	85	33			NOUN
fcis-11134	85	34			SYM
fcis-11134	85	35			PROPN
fcis-11134	85	36			ADV
fcis-11134	85	37			PUNCT
fcis-11134	85	38			VERB
fcis-11134	85	39			NUM
fcis-11134	85	40			NOUN
fcis-11134	85	41			ADV
fcis-11134	85	42			PUNCT
fcis-11134	85	43			NOUN
fcis-11134	85	44			SYM
fcis-11134	85	45			PROPN
fcis-11134	85	46			PROPN
fcis-11134	85	47			PUNCT
fcis-11134	85	48			PUNCT
fcis-11134	85	49			NUM
fcis-11134	85	50			PROPN
fcis-11134	85	51			PROPN
fcis-11134	85	52			ADV
fcis-11134	85	53			CCONJ
fcis-11134	85	54			PUNCT
fcis-11134	85	55			PUNCT
fcis-11134	85	56			PROPN
fcis-11134	85	57			NOUN
fcis-11134	85	58			NOUN
fcis-11134	85	59	where	where	SCONJ
fcis-11134	85	60	the	the	DET
fcis-11134	85	61	variables	variable	NOUN
fcis-11134	85	62	with	with	ADP
fcis-11134	85	63	subscripts	subscript	NOUN
fcis-11134	85	64	b	b	NOUN
fcis-11134	85	65	,	,	PUNCT
fcis-11134	85	66	p	p	X
fcis-11134	85	67	,	,	PUNCT
fcis-11134	85	68	r	r	NOUN
fcis-11134	85	69	and	and	CCONJ
fcis-11134	85	70	d	d	PROPN
fcis-11134	85	71	represent	represent	VERB
fcis-11134	85	72	the	the	DET
fcis-11134	85	73	hull	hull	NOUN
fcis-11134	85	74	,	,	PUNCT
fcis-11134	85	75	propeller	propeller	NOUN
fcis-11134	85	76	,	,	PUNCT
fcis-11134	85	77	rudder	rudder	NOUN
fcis-11134	85	78	,	,	PUNCT
fcis-11134	85	79	and	and	CCONJ
fcis-11134	85	80	other	other	ADJ
fcis-11134	85	81	disturbing	disturbing	ADJ
fcis-11134	85	82	forces	force	NOUN
fcis-11134	85	83	and	and	CCONJ
fcis-11134	85	84	moments	moment	NOUN
fcis-11134	85	85	respectively	respectively	ADV
fcis-11134	85	86	.	.	PUNCT
fcis-11134	86	1	in	in	ADP
fcis-11134	86	2	general	general	ADJ
fcis-11134	86	3	,	,	PUNCT
fcis-11134	86	4	the	the	DET
fcis-11134	86	5	unmanned	unmanned	ADJ
fcis-11134	86	6	craft	craft	NOUN
fcis-11134	86	7	is	be	AUX
fcis-11134	86	8	subject	subject	ADJ
fcis-11134	86	9	to	to	ADP
fcis-11134	86	10	several	several	ADJ
fcis-11134	86	11	forms	form	NOUN
fcis-11134	86	12	of	of	ADP
fcis-11134	86	13	forces	force	NOUN
fcis-11134	86	14	during	during	ADP
fcis-11134	86	15	navigation	navigation	NOUN
fcis-11134	86	16	,	,	PUNCT
fcis-11134	86	17	including	include	VERB
fcis-11134	86	18	the	the	DET
fcis-11134	86	19	craft	craft	NOUN
fcis-11134	86	20	's	's	PART
fcis-11134	86	21	own	own	ADJ
fcis-11134	86	22	gravity	gravity	NOUN
fcis-11134	86	23	,	,	PUNCT
fcis-11134	86	24	the	the	DET
fcis-11134	86	25	thrust	thrust	NOUN
fcis-11134	86	26	of	of	ADP
fcis-11134	86	27	its	its	PRON
fcis-11134	86	28	propellers	propeller	NOUN
fcis-11134	86	29	,	,	PUNCT
fcis-11134	86	30	inertial	inertial	ADJ
fcis-11134	86	31	viscous	viscous	ADJ
fcis-11134	86	32	hydrodynamic	hydrodynamic	ADJ
fcis-11134	86	33	forces	force	NOUN
fcis-11134	86	34	,	,	PUNCT
fcis-11134	86	35	and	and	CCONJ
fcis-11134	86	36	the	the	DET
fcis-11134	86	37	resistance	resistance	NOUN
fcis-11134	86	38	and	and	CCONJ
fcis-11134	86	39	influence	influence	NOUN
fcis-11134	86	40	of	of	ADP
fcis-11134	86	41	sea	sea	NOUN
fcis-11134	86	42	winds	wind	NOUN
fcis-11134	86	43	,	,	PUNCT
fcis-11134	86	44	waves	wave	NOUN
fcis-11134	86	45	,	,	PUNCT
fcis-11134	86	46	and	and	CCONJ
fcis-11134	86	47	currents	current	NOUN
fcis-11134	86	48	.	.	PUNCT
fcis-11134	87	1	when	when	SCONJ
fcis-11134	87	2	using	use	VERB
fcis-11134	87	3	the	the	DET
fcis-11134	87	4	unreal	unreal	ADJ
fcis-11134	87	5	engine	engine	NOUN
fcis-11134	87	6	for	for	ADP
fcis-11134	87	7	unmanned	unmanned	ADJ
fcis-11134	87	8	craft	craft	NOUN
fcis-11134	87	9	simulation	simulation	NOUN
fcis-11134	87	10	training	training	NOUN
fcis-11134	87	11	software	software	NOUN
fcis-11134	87	12	development	development	NOUN
fcis-11134	87	13	,	,	PUNCT
fcis-11134	87	14	the	the	DET
fcis-11134	87	15	waterrelated	waterrelate	VERB
fcis-11134	87	16	forces	force	NOUN
fcis-11134	87	17	and	and	CCONJ
fcis-11134	87	18	moments	moment	NOUN
fcis-11134	87	19	such	such	ADJ
fcis-11134	87	20	as	as	ADP
fcis-11134	87	21	the	the	DET
fcis-11134	87	22	craft	craft	NOUN
fcis-11134	87	23	's	's	PART
fcis-11134	87	24	gravity	gravity	NOUN
fcis-11134	87	25	,	,	PUNCT
fcis-11134	87	26	inertial	inertial	ADJ
fcis-11134	87	27	viscous	viscous	ADJ
fcis-11134	87	28	hydrodynamic	hydrodynamic	ADJ
fcis-11134	87	29	forces	force	NOUN
fcis-11134	87	30	,	,	PUNCT
fcis-11134	87	31	and	and	CCONJ
fcis-11134	87	32	the	the	DET
fcis-11134	87	33	resistance	resistance	NOUN
fcis-11134	87	34	of	of	ADP
fcis-11134	87	35	waves	wave	NOUN
fcis-11134	87	36	and	and	CCONJ
fcis-11134	87	37	59	59	NUM
fcis-11134	87	38	currents	current	NOUN
fcis-11134	87	39	can	can	AUX
fcis-11134	87	40	be	be	AUX
fcis-11134	87	41	calculated	calculate	VERB
fcis-11134	87	42	by	by	ADP
fcis-11134	87	43	the	the	DET
fcis-11134	87	44	physics	physics	NOUN
fcis-11134	87	45	engine	engine	NOUN
fcis-11134	87	46	.	.	PUNCT
fcis-11134	88	1	therefore	therefore	ADV
fcis-11134	88	2	,	,	PUNCT
fcis-11134	88	3	this	this	DET
fcis-11134	88	4	paper	paper	NOUN
fcis-11134	88	5	mainly	mainly	ADV
fcis-11134	88	6	analyzes	analyze	VERB
fcis-11134	88	7	the	the	DET
fcis-11134	88	8	force	force	NOUN
fcis-11134	88	9	of	of	ADP
fcis-11134	88	10	propeller	propeller	NOUN
fcis-11134	88	11	and	and	CCONJ
fcis-11134	88	12	steering	steering	NOUN
fcis-11134	88	13	and	and	CCONJ
fcis-11134	88	14	the	the	DET
fcis-11134	88	15	interference	interference	NOUN
fcis-11134	88	16	force	force	NOUN
fcis-11134	88	17	caused	cause	VERB
fcis-11134	88	18	by	by	ADP
fcis-11134	88	19	sea	sea	NOUN
fcis-11134	88	20	wind	wind	NOUN
fcis-11134	88	21	,	,	PUNCT
fcis-11134	88	22	which	which	PRON
fcis-11134	88	23	affect	affect	VERB
fcis-11134	88	24	the	the	DET
fcis-11134	88	25	operation	operation	NOUN
fcis-11134	88	26	process	process	NOUN
fcis-11134	88	27	of	of	ADP
fcis-11134	88	28	unmanned	unmanned	ADJ
fcis-11134	88	29	craft	craft	NOUN
fcis-11134	88	30	.	.	PUNCT
fcis-11134	89	1	a.	a.	NOUN
fcis-11134	89	2	propeller	propeller	PROPN
fcis-11134	89	3	force	force	NOUN
fcis-11134	89	4	and	and	CCONJ
fcis-11134	89	5	moment	moment	NOUN
fcis-11134	89	6	modelling	model	VERB
fcis-11134	89	7	propeller	propeller	NOUN
fcis-11134	89	8	is	be	AUX
fcis-11134	89	9	one	one	NUM
fcis-11134	89	10	of	of	ADP
fcis-11134	89	11	the	the	DET
fcis-11134	89	12	important	important	ADJ
fcis-11134	89	13	elements	element	NOUN
fcis-11134	89	14	of	of	ADP
fcis-11134	89	15	unmanned	unmanned	ADJ
fcis-11134	89	16	craft	craft	NOUN
fcis-11134	89	17	motion	motion	NOUN
fcis-11134	89	18	modeling	modeling	NOUN
fcis-11134	89	19	,	,	PUNCT
fcis-11134	89	20	and	and	CCONJ
fcis-11134	89	21	it	it	PRON
fcis-11134	89	22	is	be	AUX
fcis-11134	89	23	the	the	DET
fcis-11134	89	24	fundamental	fundamental	ADJ
fcis-11134	89	25	driving	driving	NOUN
fcis-11134	89	26	force	force	NOUN
fcis-11134	89	27	for	for	ADP
fcis-11134	89	28	the	the	DET
fcis-11134	89	29	unmanned	unmanned	ADJ
fcis-11134	89	30	craft	craft	NOUN
fcis-11134	89	31	to	to	PART
fcis-11134	89	32	advance	advance	VERB
fcis-11134	89	33	.	.	PUNCT
fcis-11134	90	1	during	during	ADP
fcis-11134	90	2	the	the	DET
fcis-11134	90	3	navigation	navigation	NOUN
fcis-11134	90	4	of	of	ADP
fcis-11134	90	5	unmanned	unmanned	ADJ
fcis-11134	90	6	craft	craft	NOUN
fcis-11134	90	7	,	,	PUNCT
fcis-11134	90	8	it	it	PRON
fcis-11134	90	9	is	be	AUX
fcis-11134	90	10	mainly	mainly	ADV
fcis-11134	90	11	responsible	responsible	ADJ
fcis-11134	90	12	for	for	ADP
fcis-11134	90	13	generating	generate	VERB
fcis-11134	90	14	thrust	thrust	NOUN
fcis-11134	90	15	to	to	PART
fcis-11134	90	16	overcome	overcome	VERB
fcis-11134	90	17	the	the	DET
fcis-11134	90	18	resistance	resistance	NOUN
fcis-11134	90	19	of	of	ADP
fcis-11134	90	20	water	water	NOUN
fcis-11134	90	21	and	and	CCONJ
fcis-11134	90	22	maintain	maintain	VERB
fcis-11134	90	23	the	the	DET
fcis-11134	90	24	maneuvering	maneuvering	NOUN
fcis-11134	90	25	motion	motion	NOUN
fcis-11134	90	26	of	of	ADP
fcis-11134	90	27	the	the	DET
fcis-11134	90	28	craft	craft	NOUN
fcis-11134	90	29	.	.	PUNCT
fcis-11134	91	1	it	it	PRON
fcis-11134	91	2	has	have	VERB
fcis-11134	91	3	the	the	DET
fcis-11134	91	4	advantages	advantage	NOUN
fcis-11134	91	5	of	of	ADP
fcis-11134	91	6	high	high	ADJ
fcis-11134	91	7	efficiency	efficiency	NOUN
fcis-11134	91	8	,	,	PUNCT
fcis-11134	91	9	simple	simple	ADJ
fcis-11134	91	10	structure	structure	NOUN
fcis-11134	91	11	and	and	CCONJ
fcis-11134	91	12	operation	operation	NOUN
fcis-11134	91	13	.	.	PUNCT
fcis-11134	92	1	in	in	ADP
fcis-11134	92	2	the	the	DET
fcis-11134	92	3	carrier	carrier	NOUN
fcis-11134	92	4	coordinate	coordinate	NOUN
fcis-11134	92	5	system	system	NOUN
fcis-11134	92	6	,	,	PUNCT
fcis-11134	92	7	the	the	DET
fcis-11134	92	8	force	force	NOUN
fcis-11134	92	9	and	and	CCONJ
fcis-11134	92	10	moment	moment	NOUN
fcis-11134	92	11	generated	generate	VERB
fcis-11134	92	12	by	by	ADP
fcis-11134	92	13	the	the	DET
fcis-11134	92	14	propeller	propeller	NOUN
fcis-11134	92	15	are	be	AUX
fcis-11134	92	16	:	:	PUNCT
fcis-11134	92	17	cos	cos	ADP
fcis-11134	92	18	sin	sin	NOUN
fcis-11134	92	19	0	0	NUM
fcis-11134	92	20	sin	sin	NOUN
fcis-11134	92	21	(	(	PUNCT
fcis-11134	92	22	)	)	PUNCT
fcis-11134	92	23	cos	cos	PROPN
fcis-11134	92	24	(	(	PUNCT
fcis-11134	92	25	)	)	PUNCT
fcis-11134	92	26	sin	sin	NOUN
fcis-11134	92	27	p	p	NOUN
fcis-11134	92	28	p	p	X
fcis-11134	92	29	p	p	PROPN
fcis-11134	92	30	p	p	PROPN
fcis-11134	92	31	p	p	NOUN
fcis-11134	92	32	g	g	PROPN
fcis-11134	92	33	p	p	PROPN
fcis-11134	92	34	p	p	X
fcis-11134	92	35	g	g	PROPN
fcis-11134	92	36	p	p	PROPN
fcis-11134	92	37	g	g	PROPN
fcis-11134	92	38	x	x	SYM
fcis-11134	92	39	t	t	PROPN
fcis-11134	92	40	y	y	PROPN
fcis-11134	92	41	t	t	PROPN
fcis-11134	93	1	z	z	PROPN
fcis-11134	93	2	k	k	PROPN
fcis-11134	94	1	t	t	PROPN
fcis-11134	94	2	z	z	PROPN
fcis-11134	94	3	z	z	NOUN
fcis-11134	94	4	m	m	VERB
fcis-11134	94	5	t	t	NOUN
fcis-11134	94	6	z	z	NOUN
fcis-11134	94	7	z	z	PROPN
fcis-11134	94	8	n	n	NOUN
fcis-11134	94	9	t	t	NOUN
fcis-11134	94	10	x	x	PUNCT
fcis-11134	95	1			NUM
fcis-11134	95	2			NUM
fcis-11134	95	3			NUM
fcis-11134	95	4			NUM
fcis-11134	95	5			NUM
fcis-11134	95	6			NOUN
fcis-11134	95	7			NUM
fcis-11134	95	8			NOUN
fcis-11134	95	9			NUM
fcis-11134	95	10			NOUN
fcis-11134	95	11			NOUN
fcis-11134	95	12			NOUN
fcis-11134	95	13			NOUN
fcis-11134	95	14			NUM
fcis-11134	95	15			PROPN
fcis-11134	95	16			PROPN
fcis-11134	95	17			PROPN
fcis-11134	95	18			NUM
fcis-11134	95	19			PROPN
fcis-11134	95	20			PROPN
fcis-11134	95	21	where	where	SCONJ
fcis-11134	95	22	is	be	AUX
fcis-11134	95	23	the	the	DET
fcis-11134	95	24	thrust	thrust	ADJ
fcis-11134	95	25	force	force	NOUN
fcis-11134	95	26	generated	generate	VERB
fcis-11134	95	27	by	by	ADP
fcis-11134	95	28	the	the	DET
fcis-11134	95	29	propeller	propeller	NOUN
fcis-11134	95	30	.	.	PUNCT
fcis-11134	96	1	it	it	PRON
fcis-11134	96	2	is	be	AUX
fcis-11134	96	3	generally	generally	ADV
fcis-11134	96	4	obtained	obtain	VERB
fcis-11134	96	5	by	by	ADP
fcis-11134	96	6	fitting	fit	VERB
fcis-11134	96	7	the	the	DET
fcis-11134	96	8	experimental	experimental	ADJ
fcis-11134	96	9	results	result	NOUN
fcis-11134	96	10	.	.	PUNCT
fcis-11134	97	1	therefore	therefore	ADV
fcis-11134	97	2	,	,	PUNCT
fcis-11134	97	3	in	in	ADP
fcis-11134	97	4	the	the	DET
fcis-11134	97	5	design	design	NOUN
fcis-11134	97	6	of	of	ADP
fcis-11134	97	7	the	the	DET
fcis-11134	97	8	simulation	simulation	NOUN
fcis-11134	97	9	system	system	NOUN
fcis-11134	97	10	,	,	PUNCT
fcis-11134	97	11	in	in	ADP
fcis-11134	97	12	order	order	NOUN
fcis-11134	97	13	to	to	PART
fcis-11134	97	14	reduce	reduce	VERB
fcis-11134	97	15	the	the	DET
fcis-11134	97	16	difficulty	difficulty	NOUN
fcis-11134	97	17	of	of	ADP
fcis-11134	97	18	software	software	NOUN
fcis-11134	97	19	development	development	NOUN
fcis-11134	97	20	,	,	PUNCT
fcis-11134	97	21	the	the	DET
fcis-11134	97	22	throttle	throttle	NOUN
fcis-11134	97	23	control	control	NOUN
fcis-11134	97	24	quantity	quantity	NOUN
fcis-11134	97	25	and	and	CCONJ
fcis-11134	97	26	the	the	DET
fcis-11134	97	27	propeller	propeller	NOUN
fcis-11134	97	28	thrust	thrust	NOUN
fcis-11134	97	29	are	be	AUX
fcis-11134	97	30	usually	usually	ADV
fcis-11134	97	31	mapped	map	VERB
fcis-11134	97	32	according	accord	VERB
fcis-11134	97	33	to	to	ADP
fcis-11134	97	34	the	the	DET
fcis-11134	97	35	experimental	experimental	ADJ
fcis-11134	97	36	fitting	fitting	ADJ
fcis-11134	97	37	results	result	NOUN
fcis-11134	97	38	.	.	PUNCT
fcis-11134	98	1	is	be	AUX
fcis-11134	98	2	the	the	DET
fcis-11134	98	3	actual	actual	ADJ
fcis-11134	98	4	thrust	thrust	NOUN
fcis-11134	98	5	angle	angle	NOUN
fcis-11134	98	6	,	,	PUNCT
fcis-11134	98	7	and	and	CCONJ
fcis-11134	98	8	the	the	DET
fcis-11134	98	9	leeward	leeward	NOUN
fcis-11134	98	10	direction	direction	NOUN
fcis-11134	98	11	is	be	AUX
fcis-11134	98	12	positive	positive	ADJ
fcis-11134	98	13	.	.	PUNCT
fcis-11134	99	1	is	be	AUX
fcis-11134	99	2	the	the	DET
fcis-11134	99	3	longitudinal	longitudinal	ADJ
fcis-11134	99	4	position	position	NOUN
fcis-11134	99	5	of	of	ADP
fcis-11134	99	6	the	the	DET
fcis-11134	99	7	center	center	NOUN
fcis-11134	99	8	of	of	ADP
fcis-11134	99	9	gravity	gravity	NOUN
fcis-11134	99	10	forward	forward	ADV
fcis-11134	99	11	of	of	ADP
fcis-11134	99	12	the	the	DET
fcis-11134	99	13	stern	stern	NOUN
fcis-11134	99	14	,	,	PUNCT
fcis-11134	99	15	is	be	AUX
fcis-11134	99	16	the	the	DET
fcis-11134	99	17	vertical	vertical	ADJ
fcis-11134	99	18	height	height	NOUN
fcis-11134	99	19	of	of	ADP
fcis-11134	99	20	the	the	DET
fcis-11134	99	21	center	center	NOUN
fcis-11134	99	22	of	of	ADP
fcis-11134	99	23	gravity	gravity	NOUN
fcis-11134	99	24	above	above	ADP
fcis-11134	99	25	the	the	DET
fcis-11134	99	26	baseline	baseline	NOUN
fcis-11134	99	27	,	,	PUNCT
fcis-11134	99	28	and	and	CCONJ
fcis-11134	99	29	is	be	AUX
fcis-11134	99	30	the	the	DET
fcis-11134	99	31	vertical	vertical	ADJ
fcis-11134	99	32	height	height	NOUN
fcis-11134	99	33	of	of	ADP
fcis-11134	99	34	the	the	DET
fcis-11134	99	35	propellers	propeller	NOUN
fcis-11134	99	36	above	above	ADP
fcis-11134	99	37	the	the	DET
fcis-11134	99	38	baseline	baseline	NOUN
fcis-11134	99	39	.	.	PUNCT
fcis-11134	100	1	b.	b.	PROPN
fcis-11134	100	2	rudder	rudder	NOUN
fcis-11134	100	3	force	force	NOUN
fcis-11134	100	4	and	and	CCONJ
fcis-11134	100	5	moment	moment	NOUN
fcis-11134	100	6	modelling	model	VERB
fcis-11134	100	7	the	the	DET
fcis-11134	100	8	unmanned	unmanned	ADJ
fcis-11134	100	9	craft	craft	NOUN
fcis-11134	100	10	studied	study	VERB
fcis-11134	100	11	in	in	ADP
fcis-11134	100	12	this	this	DET
fcis-11134	100	13	paper	paper	NOUN
fcis-11134	100	14	uses	use	VERB
fcis-11134	100	15	a	a	DET
fcis-11134	100	16	single	single	ADJ
fcis-11134	100	17	propeller	propeller	NOUN
fcis-11134	100	18	and	and	CCONJ
fcis-11134	100	19	a	a	DET
fcis-11134	100	20	single	single	ADJ
fcis-11134	100	21	rudder	rudder	NOUN
fcis-11134	100	22	.	.	PUNCT
fcis-11134	101	1	the	the	DET
fcis-11134	101	2	rudder	rudder	NOUN
fcis-11134	101	3	is	be	AUX
fcis-11134	101	4	installed	instal	VERB
fcis-11134	101	5	at	at	ADP
fcis-11134	101	6	the	the	DET
fcis-11134	101	7	stern	stern	NOUN
fcis-11134	101	8	and	and	CCONJ
fcis-11134	101	9	placed	place	VERB
fcis-11134	101	10	behind	behind	ADP
fcis-11134	101	11	the	the	DET
fcis-11134	101	12	propeller	propeller	NOUN
fcis-11134	101	13	to	to	PART
fcis-11134	101	14	increase	increase	VERB
fcis-11134	101	15	the	the	DET
fcis-11134	101	16	rudder	rudder	NOUN
fcis-11134	101	17	effect	effect	NOUN
fcis-11134	101	18	by	by	ADP
fcis-11134	101	19	using	use	VERB
fcis-11134	101	20	the	the	DET
fcis-11134	101	21	propeller	propeller	NOUN
fcis-11134	101	22	tail	tail	NOUN
fcis-11134	101	23	,	,	PUNCT
fcis-11134	101	24	which	which	PRON
fcis-11134	101	25	makes	make	VERB
fcis-11134	101	26	the	the	DET
fcis-11134	101	27	calculation	calculation	NOUN
fcis-11134	101	28	of	of	ADP
fcis-11134	101	29	the	the	DET
fcis-11134	101	30	rudder	rudder	NOUN
fcis-11134	101	31	force	force	NOUN
fcis-11134	101	32	quite	quite	ADV
fcis-11134	101	33	complicated	complicated	ADJ
fcis-11134	101	34	.	.	PUNCT
fcis-11134	102	1	the	the	DET
fcis-11134	102	2	forces	force	NOUN
fcis-11134	102	3	and	and	CCONJ
fcis-11134	102	4	moments	moment	NOUN
fcis-11134	102	5	on	on	ADP
fcis-11134	102	6	its	its	PRON
fcis-11134	102	7	three	three	NUM
fcis-11134	102	8	axes	axis	NOUN
fcis-11134	102	9	can	can	AUX
fcis-11134	102	10	be	be	AUX
fcis-11134	102	11	obtained	obtain	VERB
fcis-11134	102	12	by	by	ADP
fcis-11134	102	13	empirical	empirical	ADJ
fcis-11134	102	14	formulas	formula	NOUN
fcis-11134	102	15	[	[	X
fcis-11134	102	16	7	7	NUM
fcis-11134	102	17	]	]	PUNCT
fcis-11134	102	18	,	,	PUNCT
fcis-11134	102	19	as	as	SCONJ
fcis-11134	102	20	follows	follow	VERB
fcis-11134	102	21	(	(	PUNCT
fcis-11134	102	22	1	1	X
fcis-11134	102	23	)	)	PUNCT
fcis-11134	102	24	sin	sin	NOUN
fcis-11134	102	25	(	(	PUNCT
fcis-11134	102	26	1	1	X
fcis-11134	102	27	)	)	PUNCT
fcis-11134	103	1	cos	cos	ADP
fcis-11134	103	2	0	0	PROPN
fcis-11134	103	3	(	(	PUNCT
fcis-11134	103	4	)	)	PUNCT
fcis-11134	103	5	cos	cos	ADP
fcis-11134	103	6	0	0	PROPN
fcis-11134	103	7	(	(	PUNCT
fcis-11134	103	8	)	)	PUNCT
fcis-11134	103	9	cos	cos	ADP
fcis-11134	104	1	r	r	NOUN
fcis-11134	104	2	r	r	NOUN
fcis-11134	104	3	n	n	NOUN
fcis-11134	104	4	r	r	NOUN
fcis-11134	104	5	h	h	NOUN
fcis-11134	104	6	n	n	NOUN
fcis-11134	104	7	r	r	NOUN
fcis-11134	104	8	r	r	NOUN
fcis-11134	104	9	r	r	NOUN
fcis-11134	104	10	h	h	NOUN
fcis-11134	104	11	h	h	NOUN
fcis-11134	104	12	n	n	NOUN
fcis-11134	104	13	r	r	NOUN
fcis-11134	104	14	r	r	NOUN
fcis-11134	104	15	r	r	NOUN
fcis-11134	104	16	h	h	NOUN
fcis-11134	104	17	h	h	NOUN
fcis-11134	105	1	n	n	NOUN
fcis-11134	105	2	x	x	SYM
fcis-11134	105	3	t	t	NOUN
fcis-11134	105	4	f	f	PROPN
fcis-11134	105	5	y	y	PROPN
fcis-11134	106	1	a	a	DET
fcis-11134	106	2	f	f	PROPN
fcis-11134	106	3	z	z	PROPN
fcis-11134	106	4	k	k	PROPN
fcis-11134	106	5	z	z	PROPN
fcis-11134	106	6	a	a	DET
fcis-11134	106	7	z	z	NOUN
fcis-11134	106	8	f	f	NOUN
fcis-11134	106	9	m	m	VERB
fcis-11134	106	10	n	n	NUM
fcis-11134	106	11	x	x	X
fcis-11134	106	12	a	a	X
fcis-11134	106	13	x	x	X
fcis-11134	106	14	f	f	PROPN
fcis-11134	106	15			NUM
fcis-11134	106	16			NUM
fcis-11134	106	17			NUM
fcis-11134	106	18			NUM
fcis-11134	106	19			PROPN
fcis-11134	106	20			NOUN
fcis-11134	107	1			NUM
fcis-11134	107	2			NOUN
fcis-11134	107	3			NOUN
fcis-11134	107	4			DET
fcis-11134	107	5			NOUN
fcis-11134	107	6			NUM
fcis-11134	107	7			NUM
fcis-11134	107	8			NOUN
fcis-11134	107	9			NOUN
fcis-11134	107	10			NUM
fcis-11134	107	11			NUM
fcis-11134	107	12			NUM
fcis-11134	107	13			PROPN
fcis-11134	107	14			PROPN
fcis-11134	107	15	where	where	SCONJ
fcis-11134	107	16	is	be	AUX
fcis-11134	107	17	the	the	DET
fcis-11134	107	18	actual	actual	ADJ
fcis-11134	107	19	rudder	rudder	NOUN
fcis-11134	107	20	angle	angle	NOUN
fcis-11134	107	21	.	.	PUNCT
fcis-11134	108	1	in	in	ADP
fcis-11134	108	2	the	the	DET
fcis-11134	108	3	design	design	NOUN
fcis-11134	108	4	of	of	ADP
fcis-11134	108	5	the	the	DET
fcis-11134	108	6	simulation	simulation	NOUN
fcis-11134	108	7	system	system	NOUN
fcis-11134	108	8	,	,	PUNCT
fcis-11134	108	9	the	the	DET
fcis-11134	108	10	rudder	rudder	NOUN
fcis-11134	108	11	control	control	NOUN
fcis-11134	108	12	quantity	quantity	NOUN
fcis-11134	108	13	and	and	CCONJ
fcis-11134	108	14	the	the	DET
fcis-11134	108	15	rudder	rudder	NOUN
fcis-11134	108	16	angle	angle	NOUN
fcis-11134	108	17	are	be	AUX
fcis-11134	108	18	usually	usually	ADV
fcis-11134	108	19	mapped	map	VERB
fcis-11134	108	20	according	accord	VERB
fcis-11134	108	21	to	to	ADP
fcis-11134	108	22	the	the	DET
fcis-11134	108	23	experimental	experimental	ADJ
fcis-11134	108	24	fitting	fitting	ADJ
fcis-11134	108	25	results	result	NOUN
fcis-11134	108	26	.	.	PUNCT
fcis-11134	109	1	is	be	AUX
fcis-11134	109	2	the	the	DET
fcis-11134	109	3	positive	positive	ADJ
fcis-11134	109	4	pressure	pressure	NOUN
fcis-11134	109	5	on	on	ADP
fcis-11134	109	6	the	the	DET
fcis-11134	109	7	rudder	rudder	NOUN
fcis-11134	109	8	under	under	ADP
fcis-11134	109	9	the	the	DET
fcis-11134	109	10	interference	interference	NOUN
fcis-11134	109	11	of	of	ADP
fcis-11134	109	12	the	the	DET
fcis-11134	109	13	propeller	propeller	NOUN
fcis-11134	109	14	,	,	PUNCT
fcis-11134	109	15	is	be	AUX
fcis-11134	109	16	the	the	DET
fcis-11134	109	17	derating	derate	VERB
fcis-11134	109	18	factor	factor	NOUN
fcis-11134	109	19	of	of	ADP
fcis-11134	109	20	the	the	DET
fcis-11134	109	21	rudder	rudder	NOUN
fcis-11134	109	22	force	force	NOUN
fcis-11134	109	23	,	,	PUNCT
fcis-11134	109	24	is	be	AUX
fcis-11134	109	25	the	the	DET
fcis-11134	109	26	correction	correction	NOUN
fcis-11134	109	27	factor	factor	NOUN
fcis-11134	109	28	for	for	ADP
fcis-11134	109	29	the	the	DET
fcis-11134	109	30	rudderinduced	rudderinduced	ADJ
fcis-11134	109	31	transverse	transverse	NOUN
fcis-11134	109	32	force	force	NOUN
fcis-11134	109	33	on	on	ADP
fcis-11134	109	34	the	the	DET
fcis-11134	109	35	hull	hull	NOUN
fcis-11134	109	36	,	,	PUNCT
fcis-11134	109	37	is	be	AUX
fcis-11134	109	38	the	the	DET
fcis-11134	109	39	longitudinal	longitudinal	ADJ
fcis-11134	109	40	distance	distance	NOUN
fcis-11134	109	41	from	from	ADP
fcis-11134	109	42	the	the	DET
fcis-11134	109	43	center	center	NOUN
fcis-11134	109	44	of	of	ADP
fcis-11134	109	45	action	action	NOUN
fcis-11134	109	46	of	of	ADP
fcis-11134	109	47	the	the	DET
fcis-11134	109	48	rudder	rudder	NOUN
fcis-11134	109	49	-	-	PUNCT
fcis-11134	109	50	induced	induce	VERB
fcis-11134	109	51	transverse	transverse	NOUN
fcis-11134	109	52	force	force	NOUN
fcis-11134	109	53	on	on	ADP
fcis-11134	109	54	the	the	DET
fcis-11134	109	55	hull	hull	NOUN
fcis-11134	109	56	to	to	ADP
fcis-11134	109	57	the	the	DET
fcis-11134	109	58	center	center	NOUN
fcis-11134	109	59	of	of	ADP
fcis-11134	109	60	gravity	gravity	NOUN
fcis-11134	109	61	of	of	ADP
fcis-11134	109	62	the	the	DET
fcis-11134	109	63	craft	craft	NOUN
fcis-11134	109	64	,	,	PUNCT
fcis-11134	109	65	and	and	CCONJ
fcis-11134	109	66	is	be	AUX
fcis-11134	109	67	the	the	DET
fcis-11134	109	68	longitudinal	longitudinal	ADJ
fcis-11134	109	69	distance	distance	NOUN
fcis-11134	109	70	from	from	ADP
fcis-11134	109	71	the	the	DET
fcis-11134	109	72	center	center	NOUN
fcis-11134	109	73	of	of	ADP
fcis-11134	109	74	action	action	NOUN
fcis-11134	109	75	of	of	ADP
fcis-11134	109	76	the	the	DET
fcis-11134	109	77	rudder	rudder	NOUN
fcis-11134	109	78	force	force	NOUN
fcis-11134	109	79	to	to	ADP
fcis-11134	109	80	the	the	DET
fcis-11134	109	81	center	center	NOUN
fcis-11134	109	82	of	of	ADP
fcis-11134	109	83	gravity	gravity	NOUN
fcis-11134	109	84	of	of	ADP
fcis-11134	109	85	the	the	DET
fcis-11134	109	86	craft	craft	NOUN
fcis-11134	109	87	.	.	PUNCT
fcis-11134	110	1	c.	c.	NOUN
fcis-11134	110	2	disturbance	disturbance	NOUN
fcis-11134	110	3	modelling	modelling	NOUN
fcis-11134	110	4	of	of	ADP
fcis-11134	110	5	sea	sea	NOUN
fcis-11134	110	6	breeze	breeze	NOUN
fcis-11134	110	7	because	because	SCONJ
fcis-11134	110	8	of	of	ADP
fcis-11134	110	9	the	the	DET
fcis-11134	110	10	large	large	ADJ
fcis-11134	110	11	structural	structural	ADJ
fcis-11134	110	12	scale	scale	NOUN
fcis-11134	110	13	of	of	ADP
fcis-11134	110	14	the	the	DET
fcis-11134	110	15	unmanned	unmanned	ADJ
fcis-11134	110	16	craft	craft	NOUN
fcis-11134	110	17	,	,	PUNCT
fcis-11134	110	18	the	the	DET
fcis-11134	110	19	corresponding	correspond	VERB
fcis-11134	110	20	wind	wind	NOUN
fcis-11134	110	21	area	area	NOUN
fcis-11134	110	22	becomes	become	VERB
fcis-11134	110	23	larger	large	ADJ
fcis-11134	110	24	.	.	PUNCT
fcis-11134	111	1	so	so	ADV
fcis-11134	111	2	,	,	PUNCT
fcis-11134	111	3	the	the	DET
fcis-11134	111	4	sea	sea	NOUN
fcis-11134	111	5	breeze	breeze	NOUN
fcis-11134	111	6	will	will	AUX
fcis-11134	111	7	change	change	VERB
fcis-11134	111	8	the	the	DET
fcis-11134	111	9	attitude	attitude	NOUN
fcis-11134	111	10	of	of	ADP
fcis-11134	111	11	the	the	DET
fcis-11134	111	12	craft	craft	NOUN
fcis-11134	111	13	,	,	PUNCT
fcis-11134	111	14	such	such	ADJ
fcis-11134	111	15	as	as	ADP
fcis-11134	111	16	roll	roll	NOUN
fcis-11134	111	17	,	,	PUNCT
fcis-11134	111	18	yaw	yaw	NOUN
fcis-11134	111	19	and	and	CCONJ
fcis-11134	111	20	other	other	ADJ
fcis-11134	111	21	adverse	adverse	ADJ
fcis-11134	111	22	effects	effect	NOUN
fcis-11134	111	23	.	.	PUNCT
fcis-11134	112	1	in	in	ADP
fcis-11134	112	2	addition	addition	NOUN
fcis-11134	112	3	,	,	PUNCT
fcis-11134	112	4	the	the	DET
fcis-11134	112	5	sea	sea	NOUN
fcis-11134	112	6	breeze	breeze	NOUN
fcis-11134	112	7	is	be	AUX
fcis-11134	112	8	the	the	DET
fcis-11134	112	9	main	main	ADJ
fcis-11134	112	10	cause	cause	NOUN
fcis-11134	112	11	of	of	ADP
fcis-11134	112	12	sea	sea	NOUN
fcis-11134	112	13	waves	wave	NOUN
fcis-11134	112	14	,	,	PUNCT
fcis-11134	112	15	which	which	PRON
fcis-11134	112	16	will	will	AUX
fcis-11134	112	17	disturb	disturb	VERB
fcis-11134	112	18	crafts	craft	NOUN
fcis-11134	112	19	or	or	CCONJ
fcis-11134	112	20	other	other	ADJ
fcis-11134	112	21	marine	marine	ADJ
fcis-11134	112	22	structures	structure	NOUN
fcis-11134	112	23	and	and	CCONJ
fcis-11134	112	24	cause	cause	VERB
fcis-11134	112	25	offsets	offset	NOUN
fcis-11134	112	26	,	,	PUNCT
fcis-11134	112	27	it	it	PRON
fcis-11134	112	28	threatens	threaten	VERB
fcis-11134	112	29	the	the	DET
fcis-11134	112	30	safety	safety	NOUN
fcis-11134	112	31	of	of	ADP
fcis-11134	112	32	crafts	craft	NOUN
fcis-11134	112	33	.	.	PUNCT
fcis-11134	113	1	due	due	ADP
fcis-11134	113	2	to	to	ADP
fcis-11134	113	3	the	the	DET
fcis-11134	113	4	random	random	ADJ
fcis-11134	113	5	variation	variation	NOUN
fcis-11134	113	6	of	of	ADP
fcis-11134	113	7	wind	wind	NOUN
fcis-11134	113	8	direction	direction	NOUN
fcis-11134	113	9	and	and	CCONJ
fcis-11134	113	10	wind	wind	NOUN
fcis-11134	113	11	speed	speed	NOUN
fcis-11134	113	12	,	,	PUNCT
fcis-11134	113	13	it	it	PRON
fcis-11134	113	14	is	be	AUX
fcis-11134	113	15	impossible	impossible	ADJ
fcis-11134	113	16	to	to	PART
fcis-11134	113	17	form	form	VERB
fcis-11134	113	18	a	a	DET
fcis-11134	113	19	good	good	ADJ
fcis-11134	113	20	wind	wind	NOUN
fcis-11134	113	21	spectrum	spectrum	NOUN
fcis-11134	113	22	.	.	PUNCT
fcis-11134	114	1	therefore	therefore	ADV
fcis-11134	114	2	,	,	PUNCT
fcis-11134	114	3	when	when	SCONJ
fcis-11134	114	4	designing	design	VERB
fcis-11134	114	5	the	the	DET
fcis-11134	114	6	simulation	simulation	NOUN
fcis-11134	114	7	training	training	NOUN
fcis-11134	114	8	system	system	NOUN
fcis-11134	114	9	,	,	PUNCT
fcis-11134	114	10	the	the	DET
fcis-11134	114	11	wind	wind	NOUN
fcis-11134	114	12	direction	direction	NOUN
fcis-11134	114	13	change	change	NOUN
fcis-11134	114	14	and	and	CCONJ
fcis-11134	114	15	the	the	DET
fcis-11134	114	16	slow	slow	ADJ
fcis-11134	114	17	change	change	NOUN
fcis-11134	114	18	part	part	NOUN
fcis-11134	114	19	of	of	ADP
fcis-11134	114	20	the	the	DET
fcis-11134	114	21	wind	wind	NOUN
fcis-11134	114	22	load	load	NOUN
fcis-11134	114	23	are	be	AUX
fcis-11134	114	24	usually	usually	ADV
fcis-11134	114	25	ignored	ignore	VERB
fcis-11134	114	26	and	and	CCONJ
fcis-11134	114	27	only	only	ADV
fcis-11134	114	28	treated	treat	VERB
fcis-11134	114	29	as	as	ADP
fcis-11134	114	30	a	a	DET
fcis-11134	114	31	constant	constant	ADJ
fcis-11134	115	1	[	[	X
fcis-11134	115	2	8	8	NUM
fcis-11134	115	3	]	]	PUNCT
fcis-11134	115	4	.	.	PUNCT
fcis-11134	116	1	the	the	DET
fcis-11134	116	2	specific	specific	ADJ
fcis-11134	116	3	expression	expression	NOUN
fcis-11134	116	4	is	be	AUX
fcis-11134	116	5	as	as	SCONJ
fcis-11134	116	6	follows	follow	VERB
fcis-11134	116	7	:	:	PUNCT
fcis-11134	116	8	0.5	0.5	NUM
fcis-11134	116	9	(	(	PUNCT
fcis-11134	116	10	)	)	PUNCT
fcis-11134	116	11	0.5	0.5	NUM
fcis-11134	116	12	(	(	PUNCT
fcis-11134	116	13	)	)	PUNCT
fcis-11134	116	14	0.5	0.5	NUM
fcis-11134	116	15	(	(	PUNCT
fcis-11134	116	16	)	)	PUNCT
fcis-11134	116	17	wind	wind	VERB
fcis-11134	116	18	a	a	DET
fcis-11134	116	19	f	f	NOUN
fcis-11134	116	20	r	r	NOUN
fcis-11134	116	21	wx	wx	NOUN
fcis-11134	116	22	r	r	NOUN
fcis-11134	116	23	wind	wind	NOUN
fcis-11134	116	24	a	a	DET
fcis-11134	116	25	s	s	NOUN
fcis-11134	116	26	r	r	NOUN
fcis-11134	116	27	wy	wy	PROPN
fcis-11134	116	28	r	r	NOUN
fcis-11134	116	29	wind	wind	NOUN
fcis-11134	117	1	a	a	DET
fcis-11134	117	2	s	s	X
fcis-11134	117	3	oa	oa	ADP
fcis-11134	117	4	r	r	NOUN
fcis-11134	117	5	wn	wn	NOUN
fcis-11134	117	6	r	r	NOUN
fcis-11134	117	7	x	x	PUNCT
fcis-11134	117	8	a	a	DET
fcis-11134	117	9	u	u	NOUN
fcis-11134	117	10	c	c	NOUN
fcis-11134	117	11	y	y	PROPN
fcis-11134	117	12	au	au	PROPN
fcis-11134	117	13	c	c	PROPN
fcis-11134	117	14	n	n	ADP
fcis-11134	117	15	a	a	DET
fcis-11134	117	16	l	l	NOUN
fcis-11134	117	17	u	u	NOUN
fcis-11134	117	18	c	c	NOUN
fcis-11134	117	19			ADP
fcis-11134	117	20			X
fcis-11134	117	21			ADP
fcis-11134	117	22			X
fcis-11134	117	23			ADP
fcis-11134	117	24			NUM
fcis-11134	117	25			NOUN
fcis-11134	117	26			NUM
fcis-11134	117	27			PROPN
fcis-11134	117	28			NUM
fcis-11134	117	29			NOUN
fcis-11134	117	30	where	where	SCONJ
fcis-11134	117	31	is	be	AUX
fcis-11134	117	32	air	air	NOUN
fcis-11134	117	33	density	density	NOUN
fcis-11134	117	34	,	,	PUNCT
fcis-11134	117	35	is	be	AUX
fcis-11134	117	36	relative	relative	ADJ
fcis-11134	117	37	wind	wind	NOUN
fcis-11134	117	38	speed	speed	NOUN
fcis-11134	117	39	,	,	PUNCT
fcis-11134	117	40	is	be	AUX
fcis-11134	117	41	the	the	DET
fcis-11134	117	42	total	total	ADJ
fcis-11134	117	43	length	length	NOUN
fcis-11134	117	44	of	of	ADP
fcis-11134	117	45	the	the	DET
fcis-11134	117	46	unmanned	unmanned	ADJ
fcis-11134	117	47	craft	craft	NOUN
fcis-11134	117	48	,	,	PUNCT
fcis-11134	117	49	is	be	AUX
fcis-11134	117	50	wind	wind	NOUN
fcis-11134	117	51	chord	chord	NOUN
fcis-11134	117	52	angle	angle	NOUN
fcis-11134	117	53	which	which	PRON
fcis-11134	117	54	is	be	AUX
fcis-11134	117	55	the	the	DET
fcis-11134	117	56	angle	angle	NOUN
fcis-11134	117	57	between	between	ADP
fcis-11134	117	58	wind	wind	NOUN
fcis-11134	117	59	direction	direction	NOUN
fcis-11134	117	60	and	and	CCONJ
fcis-11134	117	61	bow	bow	VERB
fcis-11134	117	62	direction	direction	NOUN
fcis-11134	117	63	,	,	PUNCT
fcis-11134	117	64	、	、	PROPN
fcis-11134	117	65	are	be	AUX
fcis-11134	117	66	the	the	DET
fcis-11134	117	67	frontal	frontal	ADJ
fcis-11134	117	68	and	and	CCONJ
fcis-11134	117	69	lateral	lateral	ADJ
fcis-11134	117	70	projected	project	VERB
fcis-11134	117	71	areas	area	NOUN
fcis-11134	117	72	of	of	ADP
fcis-11134	117	73	the	the	DET
fcis-11134	117	74	hull	hull	NOUN
fcis-11134	117	75	on	on	ADP
fcis-11134	117	76	the	the	DET
fcis-11134	117	77	waterline	waterline	NOUN
fcis-11134	117	78	respectively	respectively	ADV
fcis-11134	117	79	,	,	PUNCT
fcis-11134	117	80	is	be	AUX
fcis-11134	117	81	the	the	DET
fcis-11134	117	82	longitudinal	longitudinal	ADJ
fcis-11134	117	83	wind	wind	NOUN
fcis-11134	117	84	pressure	pressure	NOUN
fcis-11134	117	85	coefficient	coefficient	NOUN
fcis-11134	117	86	for	for	ADP
fcis-11134	117	87	unmanned	unmanned	ADJ
fcis-11134	117	88	craft	craft	NOUN
fcis-11134	117	89	,	,	PUNCT
fcis-11134	117	90	is	be	AUX
fcis-11134	117	91	the	the	DET
fcis-11134	117	92	coefficient	coefficient	NOUN
fcis-11134	117	93	of	of	ADP
fcis-11134	117	94	lateral	lateral	ADJ
fcis-11134	117	95	wind	wind	NOUN
fcis-11134	117	96	pressure	pressure	NOUN
fcis-11134	117	97	on	on	ADP
fcis-11134	117	98	the	the	DET
fcis-11134	117	99	unmanned	unmanned	ADJ
fcis-11134	117	100	craft	craft	NOUN
fcis-11134	117	101	,	,	PUNCT
fcis-11134	117	102	is	be	AUX
fcis-11134	117	103	the	the	DET
fcis-11134	117	104	bow	bow	NOUN
fcis-11134	117	105	moment	moment	NOUN
fcis-11134	117	106	coefficient	coefficient	NOUN
fcis-11134	117	107	.	.	PUNCT
fcis-11134	118	1	4.4	4.4	NUM
fcis-11134	118	2	.	.	PUNCT
fcis-11134	119	1	collision	collision	NOUN
fcis-11134	119	2	design	design	NOUN
fcis-11134	119	3	unreal	unreal	ADJ
fcis-11134	119	4	engine	engine	NOUN
fcis-11134	119	5	provides	provide	VERB
fcis-11134	119	6	an	an	DET
fcis-11134	119	7	object	object	NOUN
fcis-11134	119	8	collision	collision	NOUN
fcis-11134	119	9	detection	detection	NOUN
fcis-11134	119	10	system	system	NOUN
fcis-11134	119	11	,	,	PUNCT
fcis-11134	119	12	the	the	DET
fcis-11134	119	13	workflow	workflow	NOUN
fcis-11134	119	14	is	be	AUX
fcis-11134	119	15	as	as	SCONJ
fcis-11134	119	16	follows	follow	VERB
fcis-11134	119	17	:	:	PUNCT
fcis-11134	119	18	first	first	ADV
fcis-11134	119	19	,	,	PUNCT
fcis-11134	119	20	set	set	VERB
fcis-11134	119	21	up	up	ADP
fcis-11134	119	22	the	the	DET
fcis-11134	119	23	collision	collision	NOUN
fcis-11134	119	24	properties	property	NOUN
fcis-11134	119	25	of	of	ADP
fcis-11134	119	26	each	each	DET
fcis-11134	119	27	object	object	NOUN
fcis-11134	119	28	.	.	PUNCT
fcis-11134	120	1	and	and	CCONJ
fcis-11134	120	2	then	then	ADV
fcis-11134	120	3	the	the	DET
fcis-11134	120	4	game	game	NOUN
fcis-11134	120	5	engine	engine	NOUN
fcis-11134	120	6	will	will	AUX
fcis-11134	120	7	detect	detect	VERB
fcis-11134	120	8	the	the	DET
fcis-11134	120	9	collision	collision	NOUN
fcis-11134	120	10	at	at	ADP
fcis-11134	120	11	regular	regular	ADJ
fcis-11134	120	12	intervals	interval	NOUN
fcis-11134	120	13	.	.	PUNCT
fcis-11134	121	1	when	when	SCONJ
fcis-11134	121	2	the	the	DET
fcis-11134	121	3	collision	collision	NOUN
fcis-11134	121	4	occurs	occur	VERB
fcis-11134	121	5	,	,	PUNCT
fcis-11134	121	6	it	it	PRON
fcis-11134	121	7	will	will	AUX
fcis-11134	121	8	send	send	VERB
fcis-11134	121	9	the	the	DET
fcis-11134	121	10	collision	collision	NOUN
fcis-11134	121	11	event	event	NOUN
fcis-11134	121	12	to	to	ADP
fcis-11134	121	13	the	the	DET
fcis-11134	121	14	outside	outside	NOUN
fcis-11134	121	15	.	.	PUNCT
fcis-11134	122	1	the	the	DET
fcis-11134	122	2	system	system	NOUN
fcis-11134	122	3	will	will	AUX
fcis-11134	122	4	respond	respond	VERB
fcis-11134	122	5	to	to	ADP
fcis-11134	122	6	the	the	DET
fcis-11134	122	7	collision	collision	NOUN
fcis-11134	122	8	event	event	NOUN
fcis-11134	122	9	according	accord	VERB
fcis-11134	122	10	to	to	ADP
fcis-11134	122	11	the	the	DET
fcis-11134	122	12	predefined	predefine	VERB
fcis-11134	122	13	settings	setting	NOUN
fcis-11134	122	14	after	after	ADP
fcis-11134	122	15	monitoring	monitor	VERB
fcis-11134	122	16	the	the	DET
fcis-11134	122	17	collision	collision	NOUN
fcis-11134	122	18	event	event	NOUN
fcis-11134	122	19	.	.	PUNCT
fcis-11134	123	1	each	each	DET
fcis-11134	123	2	object	object	NOUN
fcis-11134	123	3	in	in	ADP
fcis-11134	123	4	unreal	unreal	ADJ
fcis-11134	123	5	engine	engine	NOUN
fcis-11134	123	6	has	have	VERB
fcis-11134	123	7	a	a	DET
fcis-11134	123	8	collision	collision	NOUN
fcis-11134	123	9	attribute	attribute	NOUN
fcis-11134	123	10	and	and	CCONJ
fcis-11134	123	11	a	a	DET
fcis-11134	123	12	unique	unique	ADJ
fcis-11134	123	13	channel	channel	NOUN
fcis-11134	123	14	type	type	NOUN
fcis-11134	123	15	,	,	PUNCT
fcis-11134	123	16	which	which	PRON
fcis-11134	123	17	is	be	AUX
fcis-11134	123	18	used	use	VERB
fcis-11134	123	19	to	to	PART
fcis-11134	123	20	decide	decide	VERB
fcis-11134	123	21	whether	whether	SCONJ
fcis-11134	123	22	the	the	DET
fcis-11134	123	23	object	object	NOUN
fcis-11134	123	24	will	will	AUX
fcis-11134	123	25	collide	collide	VERB
fcis-11134	123	26	with	with	ADP
fcis-11134	123	27	other	other	ADJ
fcis-11134	123	28	objects	object	NOUN
fcis-11134	123	29	and	and	CCONJ
fcis-11134	123	30	the	the	DET
fcis-11134	123	31	trajectory	trajectory	NOUN
fcis-11134	123	32	response	response	NOUN
fcis-11134	123	33	after	after	ADP
fcis-11134	123	34	the	the	DET
fcis-11134	123	35	collision	collision	NOUN
fcis-11134	123	36	.	.	PUNCT
fcis-11134	124	1	if	if	SCONJ
fcis-11134	124	2	a	a	DET
fcis-11134	124	3	collision	collision	NOUN
fcis-11134	124	4	event	event	NOUN
fcis-11134	124	5	occurs	occur	VERB
fcis-11134	124	6	in	in	ADP
fcis-11134	124	7	the	the	DET
fcis-11134	124	8	object	object	NOUN
fcis-11134	124	9	with	with	ADP
fcis-11134	124	10	the	the	DET
fcis-11134	124	11	collision	collision	NOUN
fcis-11134	124	12	attribute	attribute	NOUN
fcis-11134	124	13	set	set	VERB
fcis-11134	124	14	up	up	ADP
fcis-11134	124	15	,	,	PUNCT
fcis-11134	124	16	the	the	DET
fcis-11134	124	17	unreal	unreal	ADJ
fcis-11134	124	18	engine	engine	NOUN
fcis-11134	124	19	collision	collision	NOUN
fcis-11134	124	20	detection	detection	NOUN
fcis-11134	124	21	system	system	NOUN
fcis-11134	124	22	will	will	AUX
fcis-11134	124	23	call	call	VERB
fcis-11134	124	24	the	the	DET
fcis-11134	124	25	collision	collision	NOUN
fcis-11134	124	26	response	response	NOUN
fcis-11134	124	27	to	to	PART
fcis-11134	124	28	return	return	VERB
fcis-11134	124	29	the	the	DET
fcis-11134	124	30	collision	collision	NOUN
fcis-11134	124	31	position	position	NOUN
fcis-11134	124	32	,	,	PUNCT
fcis-11134	124	33	collision	collision	NOUN
fcis-11134	124	34	type	type	NOUN
fcis-11134	124	35	and	and	CCONJ
fcis-11134	124	36	other	other	ADJ
fcis-11134	124	37	information	information	NOUN
fcis-11134	124	38	,	,	PUNCT
fcis-11134	124	39	and	and	CCONJ
fcis-11134	124	40	through	through	ADP
fcis-11134	124	41	the	the	DET
fcis-11134	124	42	computation	computation	NOUN
fcis-11134	124	43	of	of	ADP
fcis-11134	124	44	the	the	DET
fcis-11134	124	45	returned	return	VERB
fcis-11134	124	46	data	datum	NOUN
fcis-11134	124	47	,	,	PUNCT
fcis-11134	124	48	the	the	DET
fcis-11134	124	49	object	object	NOUN
fcis-11134	124	50	's	's	PART
fcis-11134	124	51	motion	motion	NOUN
fcis-11134	124	52	state	state	NOUN
fcis-11134	124	53	after	after	SCONJ
fcis-11134	124	54	the	the	DET
fcis-11134	124	55	collision	collision	NOUN
fcis-11134	124	56	is	be	AUX
fcis-11134	124	57	derived	derive	VERB
fcis-11134	124	58	.	.	PUNCT
fcis-11134	125	1	collision	collision	NOUN
fcis-11134	125	2	 	 	SPACE
fcis-11134	125	3	settings	setting	NOUN
fcis-11134	125	4	collision	collision	NOUN
fcis-11134	125	5	  	  	SPACE
fcis-11134	125	6	detection	detection	NOUN
fcis-11134	125	7	collision	collision	NOUN
fcis-11134	125	8	  	  	SPACE
fcis-11134	125	9	monitoring	monitoring	NOUN
fcis-11134	125	10	 	 	SPACE
fcis-11134	125	11	and	and	CCONJ
fcis-11134	125	12	  	  	SPACE
fcis-11134	125	13	response	response	NOUN
fcis-11134	125	14	boxcomponent	boxcomponent	NOUN
fcis-11134	125	15	capsulecomponent	capsulecomponent	NOUN
fcis-11134	125	16	spherecomponent	spherecomponent	NOUN
fcis-11134	125	17	unreal	unreal	ADJ
fcis-11134	125	18	 	 	SPACE
fcis-11134	125	19	engine	engine	NOUN
fcis-11134	125	20	notifyactorbeginoverlap	notifyactorbeginoverlap	NOUN
fcis-11134	125	21	notifyactorendoverlap	notifyactorendoverlap	NOUN
fcis-11134	125	22	......	......	PUNCT
fcis-11134	125	23	fig	fig	NOUN
fcis-11134	125	24	4	4	NUM
fcis-11134	125	25	.	.	PUNCT
fcis-11134	126	1	workflow	workflow	NOUN
fcis-11134	126	2	diagram	diagram	NOUN
fcis-11134	126	3	of	of	ADP
fcis-11134	126	4	object	object	NOUN
fcis-11134	126	5	collision	collision	NOUN
fcis-11134	126	6	detection	detection	NOUN
fcis-11134	126	7	system	system	NOUN
fcis-11134	126	8	60	60	NUM
fcis-11134	126	9	in	in	ADP
fcis-11134	126	10	the	the	DET
fcis-11134	126	11	training	training	NOUN
fcis-11134	126	12	software	software	NOUN
fcis-11134	126	13	development	development	NOUN
fcis-11134	126	14	,	,	PUNCT
fcis-11134	126	15	the	the	DET
fcis-11134	126	16	collision	collision	NOUN
fcis-11134	126	17	channel	channel	NOUN
fcis-11134	126	18	type	type	NOUN
fcis-11134	126	19	of	of	ADP
fcis-11134	126	20	"	"	PUNCT
fcis-11134	126	21	moving	move	VERB
fcis-11134	126	22	"	"	PUNCT
fcis-11134	126	23	objects	object	NOUN
fcis-11134	126	24	such	such	ADJ
fcis-11134	126	25	as	as	ADP
fcis-11134	126	26	unmanned	unmanned	ADJ
fcis-11134	126	27	crafts	craft	NOUN
fcis-11134	126	28	and	and	CCONJ
fcis-11134	126	29	birds	bird	NOUN
fcis-11134	126	30	is	be	AUX
fcis-11134	126	31	selected	select	VERB
fcis-11134	126	32	as	as	ADP
fcis-11134	126	33	the	the	DET
fcis-11134	126	34	world	world	NOUN
fcis-11134	126	35	dynamic	dynamic	ADJ
fcis-11134	126	36	,	,	PUNCT
fcis-11134	126	37	and	and	CCONJ
fcis-11134	126	38	the	the	DET
fcis-11134	126	39	collision	collision	NOUN
fcis-11134	126	40	channel	channel	NOUN
fcis-11134	126	41	type	type	NOUN
fcis-11134	126	42	of	of	ADP
fcis-11134	126	43	world	world	NOUN
fcis-11134	126	44	static	static	ADJ
fcis-11134	126	45	objects	object	NOUN
fcis-11134	126	46	such	such	ADJ
fcis-11134	126	47	as	as	ADP
fcis-11134	126	48	earth	earth	NOUN
fcis-11134	126	49	,	,	PUNCT
fcis-11134	126	50	rocks	rock	NOUN
fcis-11134	126	51	and	and	CCONJ
fcis-11134	126	52	trees	tree	NOUN
fcis-11134	126	53	is	be	AUX
fcis-11134	126	54	selected	select	VERB
fcis-11134	126	55	as	as	ADP
fcis-11134	126	56	world	world	NOUN
fcis-11134	126	57	static	static	NOUN
fcis-11134	126	58	.	.	PUNCT
fcis-11134	127	1	take	take	VERB
fcis-11134	127	2	rock	rock	NOUN
fcis-11134	127	3	as	as	ADP
fcis-11134	127	4	an	an	DET
fcis-11134	127	5	example	example	NOUN
fcis-11134	127	6	,	,	PUNCT
fcis-11134	127	7	its	its	PRON
fcis-11134	127	8	channel	channel	NOUN
fcis-11134	127	9	type	type	NOUN
fcis-11134	127	10	is	be	AUX
fcis-11134	127	11	set	set	VERB
fcis-11134	127	12	to	to	ADP
fcis-11134	127	13	world	world	NOUN
fcis-11134	127	14	static	static	NOUN
fcis-11134	127	15	,	,	PUNCT
fcis-11134	127	16	the	the	DET
fcis-11134	127	17	collision	collision	NOUN
fcis-11134	127	18	preset	preset	NOUN
fcis-11134	127	19	is	be	AUX
fcis-11134	127	20	block	block	NOUN
fcis-11134	127	21	all	all	PRON
fcis-11134	127	22	(	(	PUNCT
fcis-11134	127	23	collision	collision	VERB
fcis-11134	127	24	with	with	ADP
fcis-11134	127	25	all	all	DET
fcis-11134	127	26	objects	object	NOUN
fcis-11134	127	27	)	)	PUNCT
fcis-11134	127	28	,	,	PUNCT
fcis-11134	127	29	and	and	CCONJ
fcis-11134	127	30	the	the	DET
fcis-11134	127	31	unmanned	unmanned	ADJ
fcis-11134	127	32	craft	craft	NOUN
fcis-11134	127	33	under	under	ADP
fcis-11134	127	34	the	the	DET
fcis-11134	127	35	collision	collision	NOUN
fcis-11134	127	36	response	response	NOUN
fcis-11134	127	37	list	list	NOUN
fcis-11134	127	38	is	be	AUX
fcis-11134	127	39	selected	select	VERB
fcis-11134	127	40	,	,	PUNCT
fcis-11134	127	41	then	then	ADV
fcis-11134	127	42	the	the	DET
fcis-11134	127	43	unmanned	unmanned	ADJ
fcis-11134	127	44	craft	craft	NOUN
fcis-11134	127	45	will	will	AUX
fcis-11134	127	46	collide	collide	VERB
fcis-11134	127	47	with	with	ADP
fcis-11134	127	48	the	the	DET
fcis-11134	127	49	rock	rock	NOUN
fcis-11134	127	50	and	and	CCONJ
fcis-11134	127	51	change	change	VERB
fcis-11134	127	52	the	the	DET
fcis-11134	127	53	motion	motion	NOUN
fcis-11134	127	54	state	state	NOUN
fcis-11134	127	55	of	of	ADP
fcis-11134	127	56	the	the	DET
fcis-11134	127	57	unmanned	unmanned	ADJ
fcis-11134	127	58	craft	craft	NOUN
fcis-11134	127	59	according	accord	VERB
fcis-11134	127	60	to	to	ADP
fcis-11134	127	61	the	the	DET
fcis-11134	127	62	collision	collision	NOUN
fcis-11134	127	63	response	response	NOUN
fcis-11134	127	64	,	,	PUNCT
fcis-11134	127	65	and	and	CCONJ
fcis-11134	127	66	then	then	ADV
fcis-11134	127	67	return	return	VERB
fcis-11134	127	68	the	the	DET
fcis-11134	127	69	result	result	NOUN
fcis-11134	127	70	of	of	ADP
fcis-11134	127	71	the	the	DET
fcis-11134	127	72	collision	collision	NOUN
fcis-11134	127	73	.	.	PUNCT
fcis-11134	128	1	4.5	4.5	NUM
fcis-11134	128	2	.	.	PUNCT
fcis-11134	128	3	testing	testing	NOUN
fcis-11134	128	4	and	and	CCONJ
fcis-11134	128	5	results	result	VERB
fcis-11134	128	6	analysis	analysis	NOUN
fcis-11134	128	7	all	all	PRON
fcis-11134	128	8	of	of	ADP
fcis-11134	128	9	the	the	DET
fcis-11134	128	10	software	software	NOUN
fcis-11134	128	11	functions	function	NOUN
fcis-11134	128	12	described	describe	VERB
fcis-11134	128	13	in	in	ADP
fcis-11134	128	14	this	this	DET
fcis-11134	128	15	article	article	NOUN
fcis-11134	128	16	were	be	AUX
fcis-11134	128	17	developed	develop	VERB
fcis-11134	128	18	in	in	ADP
fcis-11134	128	19	unreal	unreal	ADJ
fcis-11134	128	20	engine	engine	NOUN
fcis-11134	128	21	5	5	NUM
fcis-11134	128	22	.	.	PUNCT
fcis-11134	129	1	in	in	ADP
fcis-11134	129	2	order	order	NOUN
fcis-11134	129	3	to	to	PART
fcis-11134	129	4	test	test	VERB
fcis-11134	129	5	the	the	DET
fcis-11134	129	6	actual	actual	ADJ
fcis-11134	129	7	effect	effect	NOUN
fcis-11134	129	8	and	and	CCONJ
fcis-11134	129	9	usability	usability	NOUN
fcis-11134	129	10	of	of	ADP
fcis-11134	129	11	the	the	DET
fcis-11134	129	12	unmanned	unmanned	ADJ
fcis-11134	129	13	craft	craft	NOUN
fcis-11134	129	14	simulation	simulation	NOUN
fcis-11134	129	15	training	training	NOUN
fcis-11134	129	16	environment	environment	NOUN
fcis-11134	129	17	,	,	PUNCT
fcis-11134	129	18	the	the	DET
fcis-11134	129	19	complete	complete	ADJ
fcis-11134	129	20	set	set	NOUN
fcis-11134	129	21	of	of	ADP
fcis-11134	129	22	software	software	NOUN
fcis-11134	129	23	built	build	VERB
fcis-11134	129	24	in	in	ADP
fcis-11134	129	25	ue5	ue5	PROPN
fcis-11134	129	26	is	be	AUX
fcis-11134	129	27	packaged	package	VERB
fcis-11134	129	28	and	and	CCONJ
fcis-11134	129	29	exported	export	VERB
fcis-11134	129	30	after	after	ADP
fcis-11134	129	31	completing	complete	VERB
fcis-11134	129	32	the	the	DET
fcis-11134	129	33	software	software	NOUN
fcis-11134	129	34	development	development	NOUN
fcis-11134	129	35	work	work	NOUN
fcis-11134	129	36	.	.	PUNCT
fcis-11134	130	1	the	the	DET
fcis-11134	130	2	test	test	NOUN
fcis-11134	130	3	is	be	AUX
fcis-11134	130	4	run	run	VERB
fcis-11134	130	5	on	on	ADP
fcis-11134	130	6	another	another	DET
fcis-11134	130	7	computer	computer	NOUN
fcis-11134	130	8	,	,	PUNCT
fcis-11134	130	9	which	which	PRON
fcis-11134	130	10	is	be	AUX
fcis-11134	130	11	configured	configure	VERB
fcis-11134	130	12	as	as	SCONJ
fcis-11134	130	13	shown	show	VERB
fcis-11134	130	14	in	in	ADP
fcis-11134	130	15	the	the	DET
fcis-11134	130	16	table	table	NOUN
fcis-11134	130	17	below	below	ADV
fcis-11134	130	18	.	.	PUNCT
fcis-11134	131	1	table	table	NOUN
fcis-11134	131	2	2	2	NUM
fcis-11134	131	3	.	.	PUNCT
fcis-11134	132	1	the	the	DET
fcis-11134	132	2	representation	representation	NOUN
fcis-11134	132	3	of	of	ADP
fcis-11134	132	4	craft	craft	NOUN
fcis-11134	132	5	’s	’s	PART
fcis-11134	132	6	variable	variable	ADJ
fcis-11134	132	7	no	no	PROPN
fcis-11134	132	8	.	.	PUNCT
fcis-11134	133	1	name	name	NOUN
fcis-11134	133	2	parameters	parameter	NOUN
fcis-11134	133	3	1	1	NUM
fcis-11134	133	4	cpu	cpu	NOUN
fcis-11134	133	5	intel	intel	PROPN
fcis-11134	133	6	core	core	PROPN
fcis-11134	133	7	i5	i5	PROPN
fcis-11134	133	8	-	-	PUNCT
fcis-11134	133	9	13400	13400	NUM
fcis-11134	133	10	2	2	NUM
fcis-11134	133	11	memory	memory	NOUN
fcis-11134	133	12	16	16	NUM
fcis-11134	133	13	gb	gb	NOUN
fcis-11134	133	14	ddr4	ddr4	NOUN
fcis-11134	133	15	3200mhz	3200mhz	NUM
fcis-11134	133	16	3	3	NUM
fcis-11134	133	17	hard	hard	ADJ
fcis-11134	133	18	disk	disk	NOUN
fcis-11134	133	19	512	512	NUM
fcis-11134	133	20	gb	gb	NOUN
fcis-11134	133	21	nvme	nvme	NOUN
fcis-11134	133	22	pcie	pcie	NOUN
fcis-11134	133	23	4.0	4.0	NUM
fcis-11134	133	24	4	4	NUM
fcis-11134	133	25	graphics	graphic	NOUN
fcis-11134	133	26	card	card	NOUN
fcis-11134	133	27	geforce	geforce	NOUN
fcis-11134	133	28	gtx	gtx	PROPN
fcis-11134	133	29	1660s	1660s	NUM
fcis-11134	133	30	6	6	NUM
fcis-11134	133	31	gb	gb	SYM
fcis-11134	133	32	5	5	NUM
fcis-11134	133	33	system	system	NOUN
fcis-11134	133	34	windows	window	VERB
fcis-11134	133	35	10	10	NUM
fcis-11134	133	36	fig	fig	NOUN
fcis-11134	133	37	5	5	NUM
fcis-11134	133	38	.	.	PUNCT
fcis-11134	133	39	simulation	simulation	NOUN
fcis-11134	133	40	training	training	NOUN
fcis-11134	133	41	process	process	NOUN
fcis-11134	133	42	of	of	ADP
fcis-11134	133	43	unmanned	unmanned	ADJ
fcis-11134	133	44	craft	craft	NOUN
fcis-11134	133	45	the	the	DET
fcis-11134	133	46	test	test	NOUN
fcis-11134	133	47	results	result	NOUN
fcis-11134	133	48	demonstrate	demonstrate	VERB
fcis-11134	133	49	that	that	SCONJ
fcis-11134	133	50	the	the	DET
fcis-11134	133	51	developed	develop	VERB
fcis-11134	133	52	unmanned	unmanned	ADJ
fcis-11134	133	53	craft	craft	NOUN
fcis-11134	133	54	simulation	simulation	NOUN
fcis-11134	133	55	training	training	NOUN
fcis-11134	133	56	software	software	NOUN
fcis-11134	133	57	has	have	VERB
fcis-11134	133	58	a	a	DET
fcis-11134	133	59	clear	clear	ADJ
fcis-11134	133	60	and	and	CCONJ
fcis-11134	133	61	smooth	smooth	ADJ
fcis-11134	133	62	scene	scene	NOUN
fcis-11134	133	63	picture	picture	NOUN
fcis-11134	133	64	,	,	PUNCT
fcis-11134	133	65	and	and	CCONJ
fcis-11134	133	66	the	the	DET
fcis-11134	133	67	scene	scene	NOUN
fcis-11134	133	68	terrain	terrain	NOUN
fcis-11134	133	69	model	model	NOUN
fcis-11134	133	70	is	be	AUX
fcis-11134	133	71	close	close	ADJ
fcis-11134	133	72	to	to	ADP
fcis-11134	133	73	the	the	DET
fcis-11134	133	74	real	real	ADJ
fcis-11134	133	75	terrain	terrain	NOUN
fcis-11134	133	76	with	with	ADP
fcis-11134	133	77	a	a	DET
fcis-11134	133	78	high	high	ADJ
fcis-11134	133	79	degree	degree	NOUN
fcis-11134	133	80	of	of	ADP
fcis-11134	133	81	model	model	NOUN
fcis-11134	133	82	fidelity	fidelity	PROPN
fcis-11134	133	83	.	.	PUNCT
fcis-11134	134	1	during	during	ADP
fcis-11134	134	2	the	the	DET
fcis-11134	134	3	operation	operation	NOUN
fcis-11134	134	4	of	of	ADP
fcis-11134	134	5	the	the	DET
fcis-11134	134	6	software	software	NOUN
fcis-11134	134	7	,	,	PUNCT
fcis-11134	134	8	the	the	DET
fcis-11134	134	9	unmanned	unmanned	ADJ
fcis-11134	134	10	craft	craft	NOUN
fcis-11134	134	11	can	can	AUX
fcis-11134	134	12	float	float	VERB
fcis-11134	134	13	in	in	ADP
fcis-11134	134	14	the	the	DET
fcis-11134	134	15	water	water	NOUN
fcis-11134	134	16	normally	normally	ADV
fcis-11134	134	17	,	,	PUNCT
fcis-11134	134	18	and	and	CCONJ
fcis-11134	134	19	be	be	AUX
fcis-11134	134	20	affected	affect	VERB
fcis-11134	134	21	by	by	ADP
fcis-11134	134	22	different	different	ADJ
fcis-11134	134	23	degrees	degree	NOUN
fcis-11134	134	24	of	of	ADP
fcis-11134	134	25	sea	sea	NOUN
fcis-11134	134	26	winds	wind	NOUN
fcis-11134	134	27	,	,	PUNCT
fcis-11134	134	28	waves	wave	NOUN
fcis-11134	134	29	or	or	CCONJ
fcis-11134	134	30	currents	current	NOUN
fcis-11134	134	31	and	and	CCONJ
fcis-11134	134	32	produce	produce	VERB
fcis-11134	134	33	phenomena	phenomenon	NOUN
fcis-11134	134	34	such	such	ADJ
fcis-11134	134	35	as	as	ADP
fcis-11134	134	36	offset	offset	NOUN
fcis-11134	134	37	,	,	PUNCT
fcis-11134	134	38	pendulum	pendulum	NOUN
fcis-11134	134	39	swing	swing	VERB
fcis-11134	134	40	,	,	PUNCT
fcis-11134	134	41	horizontal	horizontal	ADJ
fcis-11134	134	42	rocking	rocking	NOUN
fcis-11134	134	43	and	and	CCONJ
fcis-11134	134	44	so	so	ADV
fcis-11134	134	45	on	on	ADV
fcis-11134	134	46	.	.	PUNCT
fcis-11134	135	1	when	when	SCONJ
fcis-11134	135	2	the	the	DET
fcis-11134	135	3	operator	operator	NOUN
fcis-11134	135	4	uses	use	VERB
fcis-11134	135	5	the	the	DET
fcis-11134	135	6	keyboard	keyboard	NOUN
fcis-11134	135	7	to	to	PART
fcis-11134	135	8	simulate	simulate	VERB
fcis-11134	135	9	the	the	DET
fcis-11134	135	10	throttle	throttle	NOUN
fcis-11134	135	11	and	and	CCONJ
fcis-11134	135	12	rudder	rudder	NOUN
fcis-11134	135	13	of	of	ADP
fcis-11134	135	14	the	the	DET
fcis-11134	135	15	remote	remote	ADJ
fcis-11134	135	16	control	control	NOUN
fcis-11134	135	17	to	to	PART
fcis-11134	135	18	send	send	VERB
fcis-11134	135	19	out	out	ADP
fcis-11134	135	20	control	control	NOUN
fcis-11134	135	21	commands	command	NOUN
fcis-11134	135	22	,	,	PUNCT
fcis-11134	135	23	the	the	DET
fcis-11134	135	24	unmanned	unmanned	ADJ
fcis-11134	135	25	craft	craft	NOUN
fcis-11134	135	26	model	model	NOUN
fcis-11134	135	27	in	in	ADP
fcis-11134	135	28	the	the	DET
fcis-11134	135	29	software	software	NOUN
fcis-11134	135	30	is	be	AUX
fcis-11134	135	31	able	able	ADJ
fcis-11134	135	32	to	to	PART
fcis-11134	135	33	present	present	VERB
fcis-11134	135	34	the	the	DET
fcis-11134	135	35	corresponding	corresponding	ADJ
fcis-11134	135	36	action	action	NOUN
fcis-11134	135	37	response	response	NOUN
fcis-11134	135	38	,	,	PUNCT
fcis-11134	135	39	such	such	ADJ
fcis-11134	135	40	as	as	ADP
fcis-11134	135	41	acceleration	acceleration	NOUN
fcis-11134	135	42	,	,	PUNCT
fcis-11134	135	43	deceleration	deceleration	NOUN
fcis-11134	135	44	,	,	PUNCT
fcis-11134	135	45	turning	turn	VERB
fcis-11134	135	46	and	and	CCONJ
fcis-11134	135	47	so	so	ADV
fcis-11134	135	48	on	on	ADV
fcis-11134	135	49	.	.	PUNCT
fcis-11134	136	1	when	when	SCONJ
fcis-11134	136	2	the	the	DET
fcis-11134	136	3	operator	operator	NOUN
fcis-11134	136	4	controls	control	VERB
fcis-11134	136	5	the	the	DET
fcis-11134	136	6	uav	uav	PROPN
fcis-11134	136	7	to	to	PART
fcis-11134	136	8	collide	collide	VERB
fcis-11134	136	9	with	with	ADP
fcis-11134	136	10	the	the	DET
fcis-11134	136	11	rocks	rock	NOUN
fcis-11134	136	12	,	,	PUNCT
fcis-11134	136	13	the	the	DET
fcis-11134	136	14	change	change	NOUN
fcis-11134	136	15	of	of	ADP
fcis-11134	136	16	traveling	travel	VERB
fcis-11134	136	17	direction	direction	NOUN
fcis-11134	136	18	of	of	ADP
fcis-11134	136	19	the	the	DET
fcis-11134	136	20	uav	uav	PROPN
fcis-11134	136	21	due	due	ADP
fcis-11134	136	22	to	to	ADP
fcis-11134	136	23	the	the	DET
fcis-11134	136	24	interaction	interaction	NOUN
fcis-11134	136	25	force	force	NOUN
fcis-11134	136	26	generated	generate	VERB
fcis-11134	136	27	by	by	ADP
fcis-11134	136	28	the	the	DET
fcis-11134	136	29	collision	collision	NOUN
fcis-11134	136	30	can	can	AUX
fcis-11134	136	31	be	be	AUX
fcis-11134	136	32	clearly	clearly	ADV
fcis-11134	136	33	observed	observe	VERB
fcis-11134	136	34	.	.	PUNCT
fcis-11134	137	1	when	when	SCONJ
fcis-11134	137	2	the	the	DET
fcis-11134	137	3	unmanned	unmanned	ADJ
fcis-11134	137	4	craft	craft	NOUN
fcis-11134	137	5	washes	wash	VERB
fcis-11134	137	6	up	up	ADP
fcis-11134	137	7	on	on	ADP
fcis-11134	137	8	the	the	DET
fcis-11134	137	9	beach	beach	NOUN
fcis-11134	137	10	,	,	PUNCT
fcis-11134	137	11	the	the	DET
fcis-11134	137	12	unmanned	unmanned	ADJ
fcis-11134	137	13	craft	craft	NOUN
fcis-11134	137	14	can	can	AUX
fcis-11134	137	15	be	be	AUX
fcis-11134	137	16	clearly	clearly	ADV
fcis-11134	137	17	observed	observe	VERB
fcis-11134	137	18	to	to	PART
fcis-11134	137	19	run	run	VERB
fcis-11134	137	20	aground	aground	ADV
fcis-11134	137	21	on	on	ADP
fcis-11134	137	22	the	the	DET
fcis-11134	137	23	shore	shore	NOUN
fcis-11134	137	24	.	.	PUNCT
fcis-11134	138	1	fig	fig	PROPN
fcis-11134	138	2	5	5	NUM
fcis-11134	138	3	shows	show	VERB
fcis-11134	138	4	a	a	DET
fcis-11134	138	5	screenshot	screenshot	NOUN
fcis-11134	138	6	of	of	ADP
fcis-11134	138	7	the	the	DET
fcis-11134	138	8	simulation	simulation	NOUN
fcis-11134	138	9	training	training	NOUN
fcis-11134	138	10	process	process	NOUN
fcis-11134	138	11	of	of	ADP
fcis-11134	138	12	the	the	DET
fcis-11134	138	13	unmanned	unmanned	ADJ
fcis-11134	138	14	craft	craft	NOUN
fcis-11134	138	15	.	.	PUNCT
fcis-11134	139	1	5	5	X
fcis-11134	139	2	.	.	X
fcis-11134	139	3	conclusion	conclusion	NOUN
fcis-11134	139	4	this	this	DET
fcis-11134	139	5	paper	paper	NOUN
fcis-11134	139	6	introduces	introduce	VERB
fcis-11134	139	7	an	an	DET
fcis-11134	139	8	unreal	unreal	ADJ
fcis-11134	139	9	engine	engine	NOUN
fcis-11134	139	10	-	-	PUNCT
fcis-11134	139	11	based	base	VERB
fcis-11134	139	12	unmanned	unmanned	ADJ
fcis-11134	139	13	craft	craft	NOUN
fcis-11134	139	14	training	training	NOUN
fcis-11134	139	15	scene	scene	NOUN
fcis-11134	139	16	construction	construction	NOUN
fcis-11134	139	17	and	and	CCONJ
fcis-11134	139	18	simulation	simulation	NOUN
fcis-11134	139	19	movement	movement	PROPN
fcis-11134	139	20	realization	realization	NOUN
fcis-11134	139	21	method	method	NOUN
fcis-11134	139	22	.	.	PUNCT
fcis-11134	140	1	the	the	DET
fcis-11134	140	2	method	method	NOUN
fcis-11134	140	3	uses	use	VERB
fcis-11134	140	4	the	the	DET
fcis-11134	140	5	powerful	powerful	ADJ
fcis-11134	140	6	graphic	graphic	ADJ
fcis-11134	140	7	rendering	rendering	NOUN
fcis-11134	140	8	ability	ability	NOUN
fcis-11134	140	9	of	of	ADP
fcis-11134	140	10	unreal	unreal	ADJ
fcis-11134	140	11	engine	engine	NOUN
fcis-11134	140	12	to	to	PART
fcis-11134	140	13	realize	realize	VERB
fcis-11134	140	14	the	the	DET
fcis-11134	140	15	rapid	rapid	ADJ
fcis-11134	140	16	modeling	modeling	NOUN
fcis-11134	140	17	of	of	ADP
fcis-11134	140	18	real	real	ADJ
fcis-11134	140	19	terrain	terrain	NOUN
fcis-11134	140	20	and	and	CCONJ
fcis-11134	140	21	environment	environment	NOUN
fcis-11134	140	22	simulation	simulation	NOUN
fcis-11134	140	23	,	,	PUNCT
fcis-11134	140	24	which	which	PRON
fcis-11134	140	25	can	can	AUX
fcis-11134	140	26	meet	meet	VERB
fcis-11134	140	27	the	the	DET
fcis-11134	140	28	needs	need	NOUN
fcis-11134	140	29	of	of	ADP
fcis-11134	140	30	unmanned	unmanned	ADJ
fcis-11134	140	31	craft	craft	NOUN
fcis-11134	140	32	training	training	NOUN
fcis-11134	140	33	on	on	ADP
fcis-11134	140	34	terrain	terrain	NOUN
fcis-11134	140	35	and	and	CCONJ
fcis-11134	140	36	navigation	navigation	NOUN
fcis-11134	140	37	environment	environment	NOUN
fcis-11134	140	38	,	,	PUNCT
fcis-11134	140	39	and	and	CCONJ
fcis-11134	140	40	does	do	AUX
fcis-11134	140	41	not	not	PART
fcis-11134	140	42	need	need	VERB
fcis-11134	140	43	to	to	PART
fcis-11134	140	44	occupy	occupy	VERB
fcis-11134	140	45	the	the	DET
fcis-11134	140	46	relevant	relevant	ADJ
fcis-11134	140	47	site	site	NOUN
fcis-11134	140	48	or	or	CCONJ
fcis-11134	140	49	wait	wait	VERB
fcis-11134	140	50	for	for	ADP
fcis-11134	140	51	special	special	ADJ
fcis-11134	140	52	weather	weather	NOUN
fcis-11134	140	53	.	.	PUNCT
fcis-11134	141	1	at	at	ADP
fcis-11134	141	2	the	the	DET
fcis-11134	141	3	same	same	ADJ
fcis-11134	141	4	time	time	NOUN
fcis-11134	141	5	,	,	PUNCT
fcis-11134	141	6	the	the	DET
fcis-11134	141	7	force	force	NOUN
fcis-11134	141	8	and	and	CCONJ
fcis-11134	141	9	motion	motion	NOUN
fcis-11134	141	10	of	of	ADP
fcis-11134	141	11	the	the	DET
fcis-11134	141	12	unmanned	unmanned	ADJ
fcis-11134	141	13	craft	craft	NOUN
fcis-11134	141	14	are	be	AUX
fcis-11134	141	15	analyzed	analyze	VERB
fcis-11134	141	16	,	,	PUNCT
fcis-11134	141	17	and	and	CCONJ
fcis-11134	141	18	the	the	DET
fcis-11134	141	19	physics	physics	NOUN
fcis-11134	141	20	engine	engine	NOUN
fcis-11134	141	21	is	be	AUX
fcis-11134	141	22	used	use	VERB
fcis-11134	141	23	to	to	PART
fcis-11134	141	24	realize	realize	VERB
fcis-11134	141	25	the	the	DET
fcis-11134	141	26	motion	motion	NOUN
fcis-11134	141	27	simulation	simulation	NOUN
fcis-11134	141	28	and	and	CCONJ
fcis-11134	141	29	control	control	NOUN
fcis-11134	141	30	of	of	ADP
fcis-11134	141	31	the	the	DET
fcis-11134	141	32	unmanned	unmanned	ADJ
fcis-11134	141	33	craft	craft	NOUN
fcis-11134	141	34	.	.	PUNCT
fcis-11134	142	1	the	the	DET
fcis-11134	142	2	developed	develop	VERB
fcis-11134	142	3	unmanned	unmanned	ADJ
fcis-11134	142	4	craft	craft	NOUN
fcis-11134	142	5	simulation	simulation	NOUN
fcis-11134	142	6	training	training	NOUN
fcis-11134	142	7	software	software	NOUN
fcis-11134	142	8	has	have	VERB
fcis-11134	142	9	the	the	DET
fcis-11134	142	10	characteristics	characteristic	NOUN
fcis-11134	142	11	of	of	ADP
fcis-11134	142	12	smooth	smooth	ADJ
fcis-11134	142	13	and	and	CCONJ
fcis-11134	142	14	clear	clear	ADJ
fcis-11134	142	15	picture	picture	NOUN
fcis-11134	142	16	,	,	PUNCT
fcis-11134	142	17	realistic	realistic	ADJ
fcis-11134	142	18	and	and	CCONJ
fcis-11134	142	19	detailed	detailed	ADJ
fcis-11134	142	20	scene	scene	NOUN
fcis-11134	142	21	items	item	NOUN
fcis-11134	142	22	,	,	PUNCT
fcis-11134	142	23	strong	strong	ADJ
fcis-11134	142	24	training	training	NOUN
fcis-11134	142	25	immersion	immersion	NOUN
fcis-11134	142	26	,	,	PUNCT
fcis-11134	142	27	and	and	CCONJ
fcis-11134	142	28	real	real	ADJ
fcis-11134	142	29	manipulation	manipulation	NOUN
fcis-11134	142	30	experience	experience	NOUN
fcis-11134	142	31	,	,	PUNCT
fcis-11134	142	32	which	which	PRON
fcis-11134	142	33	can	can	AUX
fcis-11134	142	34	provide	provide	VERB
fcis-11134	142	35	a	a	DET
fcis-11134	142	36	realistic	realistic	ADJ
fcis-11134	142	37	training	training	NOUN
fcis-11134	142	38	environment	environment	NOUN
fcis-11134	142	39	for	for	SCONJ
fcis-11134	142	40	the	the	DET
fcis-11134	142	41	trainees	trainee	NOUN
fcis-11134	142	42	to	to	PART
fcis-11134	142	43	practice	practice	VERB
fcis-11134	142	44	operation	operation	NOUN
fcis-11134	142	45	repeatedly	repeatedly	ADV
fcis-11134	142	46	and	and	CCONJ
fcis-11134	142	47	can	can	AUX
fcis-11134	142	48	effectively	effectively	ADV
fcis-11134	142	49	improve	improve	VERB
fcis-11134	142	50	the	the	DET
fcis-11134	142	51	training	training	NOUN
fcis-11134	142	52	efficiency	efficiency	NOUN
fcis-11134	142	53	and	and	CCONJ
fcis-11134	142	54	training	training	NOUN
fcis-11134	142	55	safety	safety	NOUN
fcis-11134	142	56	,	,	PUNCT
fcis-11134	142	57	reduce	reduce	VERB
fcis-11134	142	58	the	the	DET
fcis-11134	142	59	training	training	NOUN
fcis-11134	142	60	cost	cost	NOUN
fcis-11134	142	61	,	,	PUNCT
fcis-11134	142	62	and	and	CCONJ
fcis-11134	142	63	have	have	VERB
fcis-11134	142	64	significant	significant	ADJ
fcis-11134	142	65	economic	economic	ADJ
fcis-11134	142	66	benefits	benefit	NOUN
fcis-11134	142	67	.	.	PUNCT
fcis-11134	143	1	references	reference	NOUN
fcis-11134	143	2	[	[	X
fcis-11134	143	3	1	1	NUM
fcis-11134	143	4	]	]	X
fcis-11134	143	5	li	li	PROPN
fcis-11134	143	6	e.	e.	PROPN
fcis-11134	143	7	c.	c.	PROPN
fcis-11134	143	8	,	,	PUNCT
fcis-11134	143	9	wang	wang	PROPN
fcis-11134	143	10	y.b	y.b	PROPN
fcis-11134	143	11	.	.	PROPN
fcis-11134	143	12	,	,	PUNCT
fcis-11134	143	13	gao	gao	PROPN
fcis-11134	143	14	j.x	j.x	PROPN
fcis-11134	143	15	.	.	PROPN
fcis-11134	143	16	,	,	PUNCT
fcis-11134	143	17	etc	etc	X
fcis-11134	143	18	.	.	X
fcis-11134	143	19	,	,	PUNCT
fcis-11134	143	20	“	"	PUNCT
fcis-11134	143	21	system	system	NOUN
fcis-11134	143	22	design	design	NOUN
fcis-11134	143	23	of	of	ADP
fcis-11134	143	24	battle	battle	NOUN
fcis-11134	143	25	simulation	simulation	NOUN
fcis-11134	143	26	training	training	NOUN
fcis-11134	143	27	apparatus	apparatus	NOUN
fcis-11134	143	28	for	for	ADP
fcis-11134	143	29	one	one	NUM
fcis-11134	143	30	ground	ground	NOUN
fcis-11134	143	31	-	-	PUNCT
fcis-11134	143	32	to	to	ADP
fcis-11134	143	33	-	-	PUNCT
fcis-11134	143	34	air	air	NOUN
fcis-11134	143	35	missile	missile	NOUN
fcis-11134	143	36	”	"	PUNCT
fcis-11134	143	37	,	,	PUNCT
fcis-11134	143	38	ship	ship	NOUN
fcis-11134	143	39	electronic	electronic	ADJ
fcis-11134	143	40	engineering	engineering	NOUN
fcis-11134	143	41	,	,	PUNCT
fcis-11134	143	42	2011	2011	NUM
fcis-11134	143	43	,	,	PUNCT
fcis-11134	143	44	vol	vol	NOUN
fcis-11134	143	45	.	.	PUNCT
fcis-11134	143	46	31(3	31(3	NUM
fcis-11134	143	47	)	)	PUNCT
fcis-11134	143	48	,	,	PUNCT
fcis-11134	143	49	p126129	p126129	PROPN
fcis-11134	143	50	.	.	PUNCT
fcis-11134	144	1	[	[	X
fcis-11134	144	2	2	2	X
fcis-11134	144	3	]	]	X
fcis-11134	144	4	jiang	jiang	PROPN
fcis-11134	144	5	c.j	c.j	PROPN
fcis-11134	144	6	.	.	PROPN
fcis-11134	144	7	,	,	PUNCT
fcis-11134	144	8	han	han	PROPN
fcis-11134	144	9	h.l	h.l	PROPN
fcis-11134	144	10	.	.	PROPN
fcis-11134	144	11	,	,	PUNCT
fcis-11134	144	12	zhai	zhai	PROPN
fcis-11134	144	13	y.c	y.c	PROPN
fcis-11134	144	14	..	..	PROPN
fcis-11134	144	15	“	"	PUNCT
fcis-11134	144	16	training	train	VERB
fcis-11134	144	17	platform	platform	NOUN
fcis-11134	144	18	design	design	NOUN
fcis-11134	144	19	of	of	ADP
fcis-11134	144	20	bulldozer	bulldozer	NOUN
fcis-11134	144	21	simulator	simulator	NOUN
fcis-11134	144	22	based	base	VERB
fcis-11134	144	23	on	on	ADP
fcis-11134	144	24	unity	unity	NOUN
fcis-11134	144	25	3d	3d	NUM
fcis-11134	144	26	”	"	PUNCT
fcis-11134	144	27	,	,	PUNCT
fcis-11134	144	28	chinese	chinese	ADJ
fcis-11134	144	29	journal	journal	NOUN
fcis-11134	144	30	of	of	ADP
fcis-11134	144	31	construction	construction	NOUN
fcis-11134	144	32	machinery	machinery	NOUN
fcis-11134	144	33	,	,	PUNCT
fcis-11134	144	34	2017	2017	NUM
fcis-11134	144	35	,	,	PUNCT
fcis-11134	144	36	vol	vol	NOUN
fcis-11134	144	37	15(06	15(06	NUM
fcis-11134	144	38	)	)	PUNCT
fcis-11134	144	39	,	,	PUNCT
fcis-11134	144	40	p517	p517	PROPN
fcis-11134	144	41	-	-	PUNCT
fcis-11134	144	42	521	521	NUM
fcis-11134	144	43	.	.	PUNCT
fcis-11134	145	1	[	[	X
fcis-11134	145	2	3	3	X
fcis-11134	145	3	]	]	X
fcis-11134	145	4	zhang	zhang	PROPN
fcis-11134	145	5	y.k	y.k	PROPN
fcis-11134	145	6	..	..	PUNCT
fcis-11134	145	7	“	"	PUNCT
fcis-11134	145	8	construction	construction	NOUN
fcis-11134	145	9	and	and	CCONJ
fcis-11134	145	10	data	datum	NOUN
fcis-11134	145	11	acquisition	acquisition	NOUN
fcis-11134	145	12	of	of	ADP
fcis-11134	145	13	unmanned	unmanned	ADJ
fcis-11134	145	14	aerial	aerial	ADJ
fcis-11134	145	15	vehicle	vehicle	NOUN
fcis-11134	145	16	training	training	NOUN
fcis-11134	145	17	scene	scene	NOUN
fcis-11134	145	18	based	base	VERB
fcis-11134	145	19	on	on	ADP
fcis-11134	145	20	3dsmax	3dsmax	NUM
fcis-11134	145	21	and	and	CCONJ
fcis-11134	145	22	unreal	unreal	ADJ
fcis-11134	145	23	engine	engine	NOUN
fcis-11134	145	24	”	"	PUNCT
fcis-11134	145	25	,	,	PUNCT
fcis-11134	145	26	beijing	beijing	PROPN
fcis-11134	145	27	university	university	PROPN
fcis-11134	145	28	of	of	ADP
fcis-11134	145	29	posts	post	NOUN
fcis-11134	145	30	and	and	CCONJ
fcis-11134	145	31	telecommunications	telecommunication	NOUN
fcis-11134	145	32	,	,	PUNCT
fcis-11134	145	33	2018	2018	NUM
fcis-11134	145	34	.	.	PUNCT
fcis-11134	146	1	[	[	X
fcis-11134	146	2	4	4	NUM
fcis-11134	146	3	]	]	PUNCT
fcis-11134	146	4	xiao	xiao	PROPN
fcis-11134	146	5	s.l	s.l	PROPN
fcis-11134	146	6	..	..	PUNCT
fcis-11134	146	7	“	"	PUNCT
fcis-11134	146	8	research	research	NOUN
fcis-11134	146	9	on	on	ADP
fcis-11134	146	10	multi	multi	ADJ
fcis-11134	146	11	-	-	ADJ
fcis-11134	146	12	mode	mode	ADJ
fcis-11134	146	13	control	control	NOUN
fcis-11134	146	14	system	system	NOUN
fcis-11134	146	15	and	and	CCONJ
fcis-11134	146	16	autonomous	autonomous	ADJ
fcis-11134	146	17	cruise	cruise	NOUN
fcis-11134	146	18	method	method	NOUN
fcis-11134	146	19	of	of	ADP
fcis-11134	146	20	unmanned	unmanned	ADJ
fcis-11134	146	21	surface	surface	NOUN
fcis-11134	146	22	vessels	vessel	NOUN
fcis-11134	146	23	”	"	PUNCT
fcis-11134	146	24	,	,	PUNCT
fcis-11134	146	25	university	university	NOUN
fcis-11134	146	26	of	of	ADP
fcis-11134	146	27	science	science	NOUN
fcis-11134	146	28	and	and	CCONJ
fcis-11134	146	29	technology	technology	NOUN
fcis-11134	146	30	of	of	ADP
fcis-11134	146	31	china	china	PROPN
fcis-11134	146	32	,	,	PUNCT
fcis-11134	146	33	2022	2022	NUM
fcis-11134	146	34	.	.	PUNCT
fcis-11134	147	1	[	[	X
fcis-11134	147	2	5	5	X
fcis-11134	147	3	]	]	PUNCT
fcis-11134	147	4	wang	wang	PROPN
fcis-11134	147	5	d	d	PROPN
fcis-11134	147	6	..	..	PUNCT
fcis-11134	147	7	“	"	PUNCT
fcis-11134	147	8	unmanned	unmanned	ADJ
fcis-11134	147	9	catamaran	catamaran	NOUN
fcis-11134	147	10	motion	motion	NOUN
fcis-11134	147	11	modeling	modeling	NOUN
fcis-11134	147	12	and	and	CCONJ
fcis-11134	147	13	autonomous	autonomous	ADJ
fcis-11134	147	14	navigation	navigation	NOUN
fcis-11134	147	15	control	control	NOUN
fcis-11134	147	16	design	design	NOUN
fcis-11134	147	17	”	"	PUNCT
fcis-11134	147	18	,	,	PUNCT
fcis-11134	147	19	southwest	southwest	PROPN
fcis-11134	147	20	jiaotong	jiaotong	PROPN
fcis-11134	147	21	university	university	PROPN
fcis-11134	147	22	,	,	PUNCT
fcis-11134	147	23	2016	2016	NUM
fcis-11134	147	24	.	.	PUNCT
fcis-11134	148	1	[	[	X
fcis-11134	148	2	6	6	NUM
fcis-11134	148	3	]	]	X
fcis-11134	148	4	sun	sun	PROPN
fcis-11134	148	5	q.m	q.m	PROPN
fcis-11134	148	6	.	.	PROPN
fcis-11134	148	7	,	,	PUNCT
fcis-11134	148	8	ren	ren	PROPN
fcis-11134	148	9	f.	f.	PROPN
fcis-11134	148	10	,	,	PUNCT
fcis-11134	148	11	yue	yue	PROPN
fcis-11134	148	12	j.	j.	PROPN
fcis-11134	148	13	,	,	PUNCT
fcis-11134	148	14	etc	etc	X
fcis-11134	148	15	.	.	X
fcis-11134	149	1	“	"	PUNCT
fcis-11134	149	2	svm	svm	VERB
fcis-11134	149	3	inverse	inverse	NOUN
fcis-11134	149	4	model	model	NOUN
fcis-11134	149	5	-	-	PUNCT
fcis-11134	149	6	based	base	VERB
fcis-11134	149	7	heading	heading	NOUN
fcis-11134	149	8	control	control	NOUN
fcis-11134	149	9	of	of	ADP
fcis-11134	149	10	unmanned	unmanned	ADJ
fcis-11134	149	11	surface	surface	NOUN
fcis-11134	149	12	vehicle	vehicle	NOUN
fcis-11134	149	13	”	"	PUNCT
fcis-11134	149	14	,	,	PUNCT
fcis-11134	149	15	information	information	NOUN
fcis-11134	149	16	computing	computing	NOUN
fcis-11134	149	17	and	and	CCONJ
fcis-11134	149	18	telecommunications	telecommunication	NOUN
fcis-11134	149	19	.	.	PUNCT
fcis-11134	150	1	ieee	ieee	PROPN
fcis-11134	150	2	,	,	PUNCT
fcis-11134	150	3	2011	2011	NUM
fcis-11134	150	4	.	.	PUNCT
fcis-11134	151	1	61	61	NUM
fcis-11134	152	1	[	[	SYM
fcis-11134	152	2	7	7	NUM
fcis-11134	152	3	]	]	X
fcis-11134	152	4	sun	sun	PROPN
fcis-11134	152	5	q.m	q.m	PROPN
fcis-11134	152	6	..	..	PUNCT
fcis-11134	152	7	“	"	PUNCT
fcis-11134	152	8	study	study	NOUN
fcis-11134	152	9	on	on	ADP
fcis-11134	152	10	unmanned	unmanned	ADJ
fcis-11134	152	11	surface	surface	NOUN
fcis-11134	152	12	vehicle	vehicle	NOUN
fcis-11134	152	13	modeling	modeling	NOUN
fcis-11134	152	14	and	and	CCONJ
fcis-11134	152	15	logic	logic	NOUN
fcis-11134	152	16	networks	network	NOUN
fcis-11134	152	17	adaptive	adaptive	ADJ
fcis-11134	152	18	control	control	NOUN
fcis-11134	152	19	method	method	NOUN
fcis-11134	152	20	”	"	PUNCT
fcis-11134	152	21	,	,	PUNCT
fcis-11134	152	22	dalian	dalian	PROPN
fcis-11134	152	23	maritime	maritime	ADJ
fcis-11134	152	24	university	university	NOUN
fcis-11134	152	25	,	,	PUNCT
fcis-11134	152	26	2013	2013	NUM
fcis-11134	152	27	.	.	PUNCT
fcis-11134	153	1	[	[	X
fcis-11134	153	2	8	8	NUM
fcis-11134	153	3	]	]	X
fcis-11134	153	4	u	u	PROPN
fcis-11134	153	5	s.j	s.j	PROPN
fcis-11134	153	6	.	.	PROPN
fcis-11134	153	7	,	,	PUNCT
fcis-11134	153	8	zhu	zhu	PROPN
fcis-11134	153	9	k.q	k.q	PROPN
fcis-11134	153	10	.	.	PROPN
fcis-11134	153	11	,	,	PUNCT
fcis-11134	153	12	zhao	zhao	PROPN
fcis-11134	153	13	j.p	j.p	PROPN
fcis-11134	153	14	..	..	PUNCT
fcis-11134	153	15	“	"	PUNCT
fcis-11134	153	16	research	research	NOUN
fcis-11134	153	17	on	on	ADP
fcis-11134	153	18	mathematical	mathematical	ADJ
fcis-11134	153	19	model	model	NOUN
fcis-11134	153	20	of	of	ADP
fcis-11134	153	21	ship	ship	NOUN
fcis-11134	153	22	maneuvering	maneuver	VERB
fcis-11134	153	23	in	in	ADP
fcis-11134	153	24	wind	wind	NOUN
fcis-11134	153	25	and	and	CCONJ
fcis-11134	153	26	flow	flow	NOUN
fcis-11134	153	27	environment	environment	NOUN
fcis-11134	153	28	”	"	PUNCT
fcis-11134	153	29	,	,	PUNCT
fcis-11134	153	30	ship	ship	NOUN
fcis-11134	153	31	science	science	NOUN
fcis-11134	153	32	and	and	CCONJ
fcis-11134	153	33	technology	technology	NOUN
fcis-11134	153	34	,	,	PUNCT
fcis-11134	153	35	2013	2013	NUM
fcis-11134	153	36	,	,	PUNCT
fcis-11134	153	37	vol	vol	NOUN
fcis-11134	153	38	35(1	35(1	NUM
fcis-11134	153	39	)	)	PUNCT
fcis-11134	153	40	,	,	PUNCT
fcis-11134	153	41	p27	p27	NOUN
fcis-11134	153	42	-	-	PUNCT
fcis-11134	153	43	30	30	NUM
fcis-11134	153	44	.	.	PUNCT