id	sid	tid	token	lemma	pos
fcis-14888	1	1	frontiers	frontier	NOUN
fcis-14888	1	2	in	in	ADP
fcis-14888	1	3	computing	computing	NOUN
fcis-14888	1	4	and	and	CCONJ
fcis-14888	1	5	intelligent	intelligent	ADJ
fcis-14888	1	6	systems	system	NOUN
fcis-14888	1	7	issn	issn	VERB
fcis-14888	1	8	:	:	PUNCT
fcis-14888	1	9	2832	2832	NUM
fcis-14888	1	10	-	-	SYM
fcis-14888	1	11	6024	6024	NUM
fcis-14888	1	12	|	|	NOUN
fcis-14888	1	13	vol	vol	NOUN
fcis-14888	1	14	.	.	PROPN
fcis-14888	2	1	6	6	NUM
fcis-14888	2	2	,	,	PUNCT
fcis-14888	2	3	no	no	INTJ
fcis-14888	2	4	.	.	NOUN
fcis-14888	2	5	1	1	NUM
fcis-14888	2	6	,	,	PUNCT
fcis-14888	2	7	2023	2023	NUM
fcis-14888	2	8	115	115	NUM
fcis-14888	2	9	an	an	DET
fcis-14888	2	10	intelligent	intelligent	ADJ
fcis-14888	2	11	equipment	equipment	NOUN
fcis-14888	2	12	inspection	inspection	NOUN
fcis-14888	2	13	system	system	NOUN
fcis-14888	2	14	based	base	VERB
fcis-14888	2	15	on	on	ADP
fcis-14888	2	16	robotic	robotic	ADJ
fcis-14888	2	17	arm	arm	NOUN
fcis-14888	2	18	zewei	zewei	NOUN
fcis-14888	2	19	ye	ye	PROPN
fcis-14888	2	20	1	1	NUM
fcis-14888	2	21	,	,	PUNCT
fcis-14888	2	22	2	2	NUM
fcis-14888	2	23	,	,	PUNCT
fcis-14888	2	24	3	3	NUM
fcis-14888	2	25	,	,	PUNCT
fcis-14888	2	26	liwei	liwei	ADJ
fcis-14888	2	27	zeng	zeng	PROPN
fcis-14888	2	28	1	1	NUM
fcis-14888	2	29	,	,	PUNCT
fcis-14888	2	30	2	2	NUM
fcis-14888	2	31	,	,	PUNCT
fcis-14888	2	32	3	3	NUM
fcis-14888	2	33	,	,	PUNCT
fcis-14888	2	34	a	a	PRON
fcis-14888	2	35	,	,	PUNCT
fcis-14888	2	36	*	*	PROPN
fcis-14888	2	37	,	,	PUNCT
fcis-14888	2	38	qingzhang	qingzhang	PROPN
fcis-14888	2	39	wang	wang	PROPN
fcis-14888	2	40	1	1	NUM
fcis-14888	2	41	,	,	PUNCT
fcis-14888	2	42	2	2	NUM
fcis-14888	2	43	,	,	PUNCT
fcis-14888	2	44	3	3	NUM
fcis-14888	2	45	,	,	PUNCT
fcis-14888	2	46	zhicheng	zhicheng	PROPN
fcis-14888	2	47	wang	wang	PROPN
fcis-14888	2	48	1	1	NUM
fcis-14888	2	49	,	,	PUNCT
fcis-14888	2	50	2	2	NUM
fcis-14888	2	51	,	,	PUNCT
fcis-14888	2	52	3	3	NUM
fcis-14888	2	53	,	,	PUNCT
fcis-14888	2	54	jianhua	jianhua	PROPN
fcis-14888	2	55	cui	cui	PROPN
fcis-14888	2	56	1	1	NUM
fcis-14888	2	57	,	,	PUNCT
fcis-14888	2	58	2	2	NUM
fcis-14888	2	59	,	,	PUNCT
fcis-14888	2	60	3	3	NUM
fcis-14888	2	61	,	,	PUNCT
fcis-14888	2	62	yanning	yanne	VERB
fcis-14888	2	63	cao	cao	PROPN
fcis-14888	2	64	4	4	NUM
fcis-14888	2	65	,	,	PUNCT
fcis-14888	2	66	lingling	lingling	NOUN
fcis-14888	2	67	shen	shen	NOUN
fcis-14888	2	68	1	1	NUM
fcis-14888	2	69	,	,	PUNCT
fcis-14888	2	70	2	2	NUM
fcis-14888	2	71	,	,	PUNCT
fcis-14888	2	72	3	3	NUM
fcis-14888	2	73	,	,	PUNCT
fcis-14888	2	74	b	b	NOUN
fcis-14888	2	75	,	,	PUNCT
fcis-14888	2	76	*	*	PROPN
fcis-14888	2	77	,	,	PUNCT
fcis-14888	2	78	xiaojun	xiaojun	PROPN
fcis-14888	2	79	qian	qian	PROPN
fcis-14888	2	80	1	1	NUM
fcis-14888	2	81	,	,	PUNCT
fcis-14888	2	82	2	2	NUM
fcis-14888	2	83	,	,	PUNCT
fcis-14888	2	84	3	3	NUM
fcis-14888	2	85	1	1	NUM
fcis-14888	2	86	school	school	NOUN
fcis-14888	2	87	of	of	ADP
fcis-14888	2	88	computer	computer	NOUN
fcis-14888	2	89	and	and	CCONJ
fcis-14888	2	90	electronic	electronic	ADJ
fcis-14888	2	91	information	information	NOUN
fcis-14888	2	92	,	,	PUNCT
fcis-14888	2	93	nanjing	nanjing	PROPN
fcis-14888	2	94	normal	normal	ADJ
fcis-14888	2	95	university	university	PROPN
fcis-14888	2	96	,	,	PUNCT
fcis-14888	2	97	nanjing	nanjing	PROPN
fcis-14888	2	98	,	,	PUNCT
fcis-14888	2	99	china	china	PROPN
fcis-14888	2	100	2	2	NUM
fcis-14888	2	101	school	school	NOUN
fcis-14888	2	102	of	of	ADP
fcis-14888	2	103	artificial	artificial	ADJ
fcis-14888	2	104	intelligence	intelligence	NOUN
fcis-14888	2	105	,	,	PUNCT
fcis-14888	2	106	nanjing	nanjing	PROPN
fcis-14888	2	107	normal	normal	ADJ
fcis-14888	2	108	university	university	PROPN
fcis-14888	2	109	,	,	PUNCT
fcis-14888	2	110	nanjing	nanjing	PROPN
fcis-14888	2	111	,	,	PUNCT
fcis-14888	2	112	china	china	PROPN
fcis-14888	2	113	3	3	NUM
fcis-14888	2	114	artificial	artificial	ADJ
fcis-14888	2	115	intelligence	intelligence	NOUN
fcis-14888	2	116	research	research	PROPN
fcis-14888	2	117	institute	institute	PROPN
fcis-14888	2	118	,	,	PUNCT
fcis-14888	2	119	nanjing	nanjing	PROPN
fcis-14888	2	120	normal	normal	ADJ
fcis-14888	2	121	university	university	PROPN
fcis-14888	2	122	,	,	PUNCT
fcis-14888	2	123	nanjing	nanjing	PROPN
fcis-14888	2	124	,	,	PUNCT
fcis-14888	2	125	china	china	PROPN
fcis-14888	2	126	4	4	NUM
fcis-14888	2	127	honors	honors	PROPN
fcis-14888	2	128	college	college	PROPN
fcis-14888	2	129	,	,	PUNCT
fcis-14888	2	130	nanjing	nanjing	PROPN
fcis-14888	2	131	normal	normal	ADJ
fcis-14888	2	132	university	university	PROPN
fcis-14888	2	133	,	,	PUNCT
fcis-14888	2	134	nanjing	nanjing	PROPN
fcis-14888	2	135	,	,	PUNCT
fcis-14888	2	136	china	china	PROPN
fcis-14888	2	137	a	a	X
fcis-14888	2	138	,	,	PUNCT
fcis-14888	2	139	*	*	PROPN
fcis-14888	2	140	1426912622@qq.com	1426912622@qq.com	NUM
fcis-14888	2	141	,	,	PUNCT
fcis-14888	2	142	b	b	NOUN
fcis-14888	2	143	,	,	PUNCT
fcis-14888	2	144	*	*	PUNCT
fcis-14888	2	145	llshen509@163.com	llshen509@163.com	X
fcis-14888	2	146	*	*	PUNCT
fcis-14888	2	147	corresponding	correspond	VERB
fcis-14888	2	148	author	author	NOUN
fcis-14888	2	149	:	:	PUNCT
fcis-14888	2	150	liwei	liwei	PROPN
fcis-14888	2	151	zeng	zeng	PROPN
fcis-14888	2	152	and	and	CCONJ
fcis-14888	2	153	lingling	lingling	PROPN
fcis-14888	2	154	shen	shen	PROPN
fcis-14888	2	155	abstract	abstract	PROPN
fcis-14888	2	156	:	:	PUNCT
fcis-14888	2	157	intelligent	intelligent	ADJ
fcis-14888	2	158	robots	robot	NOUN
fcis-14888	2	159	have	have	AUX
fcis-14888	2	160	replaced	replace	VERB
fcis-14888	2	161	manual	manual	ADJ
fcis-14888	2	162	labor	labor	NOUN
fcis-14888	2	163	to	to	PART
fcis-14888	2	164	complete	complete	VERB
fcis-14888	2	165	a	a	DET
fcis-14888	2	166	lot	lot	NOUN
fcis-14888	2	167	of	of	ADP
fcis-14888	2	168	complicated	complicated	ADJ
fcis-14888	2	169	work	work	NOUN
fcis-14888	2	170	,	,	PUNCT
fcis-14888	2	171	especially	especially	ADV
fcis-14888	2	172	in	in	ADP
fcis-14888	2	173	equipment	equipment	NOUN
fcis-14888	2	174	inspection	inspection	NOUN
fcis-14888	2	175	has	have	VERB
fcis-14888	2	176	advantages	advantage	NOUN
fcis-14888	2	177	.	.	PUNCT
fcis-14888	3	1	the	the	DET
fcis-14888	3	2	purpose	purpose	NOUN
fcis-14888	3	3	of	of	ADP
fcis-14888	3	4	this	this	DET
fcis-14888	3	5	paper	paper	NOUN
fcis-14888	3	6	is	be	AUX
fcis-14888	3	7	to	to	PART
fcis-14888	3	8	design	design	VERB
fcis-14888	3	9	an	an	DET
fcis-14888	3	10	intelligent	intelligent	ADJ
fcis-14888	3	11	robotic	robotic	ADJ
fcis-14888	3	12	inspection	inspection	NOUN
fcis-14888	3	13	system	system	NOUN
fcis-14888	3	14	.	.	PUNCT
fcis-14888	4	1	the	the	DET
fcis-14888	4	2	system	system	NOUN
fcis-14888	4	3	is	be	AUX
fcis-14888	4	4	based	base	VERB
fcis-14888	4	5	on	on	ADP
fcis-14888	4	6	ros	ros	PROPN
fcis-14888	4	7	and	and	CCONJ
fcis-14888	4	8	adopts	adopt	VERB
fcis-14888	4	9	yolo	yolo	ADJ
fcis-14888	4	10	algorithm	algorithm	NOUN
fcis-14888	4	11	,	,	PUNCT
fcis-14888	4	12	rrt	rrt	NOUN
fcis-14888	4	13	*	*	NOUN
fcis-14888	4	14	algorithm	algorithm	NOUN
fcis-14888	4	15	,	,	PUNCT
fcis-14888	4	16	agile_grasp	agile_grasp	NOUN
fcis-14888	4	17	function	function	NOUN
fcis-14888	4	18	package	package	NOUN
fcis-14888	4	19	,	,	PUNCT
fcis-14888	4	20	and	and	CCONJ
fcis-14888	5	1	moveit	moveit	ADJ
fcis-14888	5	2	!	!	PUNCT
fcis-14888	5	3	framework	framework	NOUN
fcis-14888	5	4	to	to	PART
fcis-14888	5	5	realize	realize	VERB
fcis-14888	5	6	the	the	DET
fcis-14888	5	7	basic	basic	ADJ
fcis-14888	5	8	target	target	NOUN
fcis-14888	5	9	recognition	recognition	NOUN
fcis-14888	5	10	,	,	PUNCT
fcis-14888	5	11	position	position	NOUN
fcis-14888	5	12	recognition	recognition	NOUN
fcis-14888	5	13	,	,	PUNCT
fcis-14888	5	14	robotic	robotic	ADJ
fcis-14888	5	15	arm	arm	NOUN
fcis-14888	5	16	navigation	navigation	NOUN
fcis-14888	5	17	planning	planning	NOUN
fcis-14888	5	18	and	and	CCONJ
fcis-14888	5	19	other	other	ADJ
fcis-14888	5	20	functions	function	NOUN
fcis-14888	5	21	.	.	PUNCT
fcis-14888	6	1	the	the	DET
fcis-14888	6	2	human	human	ADJ
fcis-14888	6	3	-	-	PUNCT
fcis-14888	6	4	computer	computer	NOUN
fcis-14888	6	5	interaction	interaction	NOUN
fcis-14888	6	6	interface	interface	NOUN
fcis-14888	6	7	has	have	AUX
fcis-14888	6	8	been	be	AUX
fcis-14888	6	9	designed	design	VERB
fcis-14888	6	10	,	,	PUNCT
fcis-14888	6	11	and	and	CCONJ
fcis-14888	6	12	the	the	DET
fcis-14888	6	13	simulation	simulation	NOUN
fcis-14888	6	14	test	test	NOUN
fcis-14888	6	15	in	in	ADP
fcis-14888	6	16	gazebo	gazebo	PROPN
fcis-14888	6	17	and	and	CCONJ
fcis-14888	6	18	the	the	DET
fcis-14888	6	19	real	real	ADJ
fcis-14888	6	20	machine	machine	NOUN
fcis-14888	6	21	test	test	NOUN
fcis-14888	6	22	in	in	ADP
fcis-14888	6	23	real	real	ADJ
fcis-14888	6	24	environment	environment	NOUN
fcis-14888	6	25	have	have	AUX
fcis-14888	6	26	also	also	ADV
fcis-14888	6	27	been	be	AUX
fcis-14888	6	28	completed	complete	VERB
fcis-14888	6	29	.	.	PUNCT
fcis-14888	7	1	the	the	DET
fcis-14888	7	2	system	system	NOUN
fcis-14888	7	3	still	still	ADV
fcis-14888	7	4	has	have	VERB
fcis-14888	7	5	a	a	DET
fcis-14888	7	6	large	large	ADJ
fcis-14888	7	7	space	space	NOUN
fcis-14888	7	8	for	for	ADP
fcis-14888	7	9	improvement	improvement	NOUN
fcis-14888	7	10	,	,	PUNCT
fcis-14888	7	11	and	and	CCONJ
fcis-14888	7	12	further	further	ADJ
fcis-14888	7	13	research	research	NOUN
fcis-14888	7	14	will	will	AUX
fcis-14888	7	15	be	be	AUX
fcis-14888	7	16	conducted	conduct	VERB
fcis-14888	7	17	in	in	ADP
fcis-14888	7	18	the	the	DET
fcis-14888	7	19	future	future	NOUN
fcis-14888	7	20	in	in	ADP
fcis-14888	7	21	terms	term	NOUN
fcis-14888	7	22	of	of	ADP
fcis-14888	7	23	response	response	NOUN
fcis-14888	7	24	speed	speed	NOUN
fcis-14888	7	25	and	and	CCONJ
fcis-14888	7	26	accuracy	accuracy	NOUN
fcis-14888	7	27	.	.	PUNCT
fcis-14888	8	1	keywords	keyword	NOUN
fcis-14888	8	2	:	:	PUNCT
fcis-14888	8	3	robotic	robotic	ADJ
fcis-14888	8	4	arms	arm	NOUN
fcis-14888	8	5	;	;	PUNCT
fcis-14888	8	6	yolo	yolo	ADJ
fcis-14888	8	7	;	;	PUNCT
fcis-14888	8	8	rrt	rrt	NOUN
fcis-14888	8	9	*	*	PUNCT
fcis-14888	8	10	;	;	PUNCT
fcis-14888	8	11	qt5	qt5	NUM
fcis-14888	8	12	;	;	PUNCT
fcis-14888	8	13	rviz	rviz	NOUN
fcis-14888	8	14	;	;	PUNCT
fcis-14888	8	15	gazebo	gazebo	NOUN
fcis-14888	8	16	.	.	PUNCT
fcis-14888	9	1	1	1	X
fcis-14888	9	2	.	.	X
fcis-14888	9	3	introduction	introduction	NOUN
fcis-14888	9	4	nowadays	nowadays	ADV
fcis-14888	9	5	,	,	PUNCT
fcis-14888	9	6	robotic	robotic	ADJ
fcis-14888	9	7	arms	arm	NOUN
fcis-14888	9	8	have	have	AUX
fcis-14888	9	9	been	be	AUX
fcis-14888	9	10	widely	widely	ADV
fcis-14888	9	11	used	use	VERB
fcis-14888	9	12	in	in	ADP
fcis-14888	9	13	production	production	NOUN
fcis-14888	9	14	and	and	CCONJ
fcis-14888	9	15	life	life	NOUN
fcis-14888	9	16	,	,	PUNCT
fcis-14888	9	17	such	such	ADJ
fcis-14888	9	18	as	as	ADP
fcis-14888	9	19	manufacturing	manufacturing	NOUN
fcis-14888	9	20	,	,	PUNCT
fcis-14888	9	21	intelligent	intelligent	ADJ
fcis-14888	9	22	service	service	NOUN
fcis-14888	9	23	areas	area	NOUN
fcis-14888	9	24	.	.	PUNCT
fcis-14888	10	1	the	the	DET
fcis-14888	10	2	most	most	ADV
fcis-14888	10	3	well	well	ADV
fcis-14888	10	4	-	-	PUNCT
fcis-14888	10	5	known	know	VERB
fcis-14888	10	6	is	be	AUX
fcis-14888	10	7	the	the	DET
fcis-14888	10	8	tesla	tesla	PROPN
fcis-14888	10	9	shanghai	shanghai	PROPN
fcis-14888	10	10	factory	factory	PROPN
fcis-14888	10	11	of	of	ADP
fcis-14888	10	12	high	high	ADJ
fcis-14888	10	13	-	-	PUNCT
fcis-14888	10	14	efficiency	efficiency	NOUN
fcis-14888	10	15	industrial	industrial	ADJ
fcis-14888	10	16	robots	robot	NOUN
fcis-14888	10	17	and	and	CCONJ
fcis-14888	10	18	gradually	gradually	ADV
fcis-14888	10	19	into	into	ADP
fcis-14888	10	20	people	people	NOUN
fcis-14888	10	21	's	's	PART
fcis-14888	10	22	homes	home	NOUN
fcis-14888	10	23	cleaning	clean	VERB
fcis-14888	10	24	robots	robot	NOUN
fcis-14888	10	25	,	,	PUNCT
fcis-14888	10	26	medical	medical	ADJ
fcis-14888	10	27	robots	robot	NOUN
fcis-14888	10	28	and	and	CCONJ
fcis-14888	10	29	other	other	ADJ
fcis-14888	10	30	service	service	NOUN
fcis-14888	10	31	robots	robot	NOUN
fcis-14888	10	32	.	.	PUNCT
fcis-14888	11	1	in	in	ADP
fcis-14888	11	2	addition	addition	NOUN
fcis-14888	11	3	,	,	PUNCT
fcis-14888	11	4	the	the	DET
fcis-14888	11	5	field	field	NOUN
fcis-14888	11	6	of	of	ADP
fcis-14888	11	7	intelligent	intelligent	ADJ
fcis-14888	11	8	management	management	NOUN
fcis-14888	11	9	.	.	PUNCT
fcis-14888	12	1	intelligent	intelligent	ADJ
fcis-14888	12	2	robots	robot	NOUN
fcis-14888	12	3	have	have	AUX
fcis-14888	12	4	replaced	replace	VERB
fcis-14888	12	5	manual	manual	ADJ
fcis-14888	12	6	labor	labor	NOUN
fcis-14888	12	7	to	to	PART
fcis-14888	12	8	complete	complete	VERB
fcis-14888	12	9	a	a	DET
fcis-14888	12	10	lot	lot	NOUN
fcis-14888	12	11	of	of	ADP
fcis-14888	12	12	complicated	complicated	ADJ
fcis-14888	12	13	work	work	NOUN
fcis-14888	12	14	,	,	PUNCT
fcis-14888	12	15	especially	especially	ADV
fcis-14888	12	16	in	in	ADP
fcis-14888	12	17	equipment	equipment	NOUN
fcis-14888	12	18	inspection	inspection	NOUN
fcis-14888	12	19	has	have	VERB
fcis-14888	12	20	advantages	advantage	NOUN
fcis-14888	12	21	.	.	PUNCT
fcis-14888	13	1	current	current	ADJ
fcis-14888	13	2	general	general	ADJ
fcis-14888	13	3	robots	robot	NOUN
fcis-14888	13	4	lack	lack	VERB
fcis-14888	13	5	the	the	DET
fcis-14888	13	6	ability	ability	NOUN
fcis-14888	13	7	to	to	PART
fcis-14888	13	8	handle	handle	VERB
fcis-14888	13	9	emergencies	emergency	NOUN
fcis-14888	13	10	such	such	ADJ
fcis-14888	13	11	as	as	ADP
fcis-14888	13	12	power	power	NOUN
fcis-14888	13	13	leaks	leak	NOUN
fcis-14888	13	14	,	,	PUNCT
fcis-14888	13	15	fires	fire	NOUN
fcis-14888	13	16	,	,	PUNCT
fcis-14888	13	17	equipment	equipment	NOUN
fcis-14888	13	18	downtime	downtime	NOUN
fcis-14888	13	19	,	,	PUNCT
fcis-14888	13	20	etc	etc	X
fcis-14888	13	21	.	.	X
fcis-14888	14	1	on	on	ADP
fcis-14888	14	2	time	time	NOUN
fcis-14888	14	3	.	.	PUNCT
fcis-14888	15	1	however	however	ADV
fcis-14888	15	2	,	,	PUNCT
fcis-14888	15	3	the	the	DET
fcis-14888	15	4	failure	failure	NOUN
fcis-14888	15	5	of	of	ADP
fcis-14888	15	6	critical	critical	ADJ
fcis-14888	15	7	equipment	equipment	NOUN
fcis-14888	15	8	within	within	ADP
fcis-14888	15	9	a	a	DET
fcis-14888	15	10	facility	facility	NOUN
fcis-14888	15	11	can	can	AUX
fcis-14888	15	12	led	lead	VERB
fcis-14888	15	13	to	to	ADP
fcis-14888	15	14	production	production	NOUN
fcis-14888	15	15	stoppages	stoppage	NOUN
fcis-14888	15	16	and	and	CCONJ
fcis-14888	15	17	increased	increase	VERB
fcis-14888	15	18	costs	cost	NOUN
fcis-14888	15	19	,	,	PUNCT
fcis-14888	15	20	so	so	SCONJ
fcis-14888	15	21	the	the	DET
fcis-14888	15	22	ability	ability	NOUN
fcis-14888	15	23	to	to	PART
fcis-14888	15	24	quickly	quickly	ADV
fcis-14888	15	25	and	and	CCONJ
fcis-14888	15	26	accurately	accurately	ADV
fcis-14888	15	27	inspect	inspect	VERB
fcis-14888	15	28	equipment	equipment	NOUN
fcis-14888	15	29	and	and	CCONJ
fcis-14888	15	30	deal	deal	VERB
fcis-14888	15	31	with	with	ADP
fcis-14888	15	32	problems	problem	NOUN
fcis-14888	15	33	on	on	ADP
fcis-14888	15	34	time	time	NOUN
fcis-14888	15	35	is	be	AUX
fcis-14888	15	36	essential	essential	ADJ
fcis-14888	15	37	.	.	PUNCT
fcis-14888	16	1	for	for	ADP
fcis-14888	16	2	example	example	NOUN
fcis-14888	16	3	,	,	PUNCT
fcis-14888	16	4	shortterm	shortterm	PROPN
fcis-14888	16	5	disablement	disablement	NOUN
fcis-14888	16	6	of	of	ADP
fcis-14888	16	7	electronic	electronic	ADJ
fcis-14888	16	8	information	information	NOUN
fcis-14888	16	9	facilities	facility	NOUN
fcis-14888	16	10	such	such	ADJ
fcis-14888	16	11	as	as	ADP
fcis-14888	16	12	cloud	cloud	NOUN
fcis-14888	16	13	computing	computing	NOUN
fcis-14888	16	14	and	and	CCONJ
fcis-14888	16	15	cloud	cloud	NOUN
fcis-14888	16	16	storage	storage	NOUN
fcis-14888	16	17	servers	server	NOUN
fcis-14888	16	18	may	may	AUX
fcis-14888	16	19	cause	cause	VERB
fcis-14888	16	20	huge	huge	ADJ
fcis-14888	16	21	economic	economic	ADJ
fcis-14888	16	22	losses	loss	NOUN
fcis-14888	16	23	and	and	CCONJ
fcis-14888	16	24	social	social	ADJ
fcis-14888	16	25	impacts	impact	NOUN
fcis-14888	16	26	.	.	PUNCT
fcis-14888	17	1	therefore	therefore	ADV
fcis-14888	17	2	,	,	PUNCT
fcis-14888	17	3	the	the	DET
fcis-14888	17	4	intelligent	intelligent	ADJ
fcis-14888	17	5	inspection	inspection	NOUN
fcis-14888	17	6	system	system	NOUN
fcis-14888	17	7	for	for	ADP
fcis-14888	17	8	equipment	equipment	NOUN
fcis-14888	17	9	based	base	VERB
fcis-14888	17	10	on	on	ADP
fcis-14888	17	11	robotic	robotic	ADJ
fcis-14888	17	12	arm	arm	NOUN
fcis-14888	17	13	has	have	AUX
fcis-14888	17	14	become	become	VERB
fcis-14888	17	15	an	an	DET
fcis-14888	17	16	important	important	ADJ
fcis-14888	17	17	research	research	NOUN
fcis-14888	17	18	direction	direction	NOUN
fcis-14888	17	19	to	to	PART
fcis-14888	17	20	solve	solve	VERB
fcis-14888	17	21	such	such	ADJ
fcis-14888	17	22	problems	problem	NOUN
fcis-14888	17	23	.	.	PUNCT
fcis-14888	18	1	in	in	ADP
fcis-14888	18	2	this	this	DET
fcis-14888	18	3	paper	paper	NOUN
fcis-14888	18	4	,	,	PUNCT
fcis-14888	18	5	an	an	DET
fcis-14888	18	6	intelligent	intelligent	ADJ
fcis-14888	18	7	system	system	NOUN
fcis-14888	18	8	using	use	VERB
fcis-14888	18	9	a	a	DET
fcis-14888	18	10	robotic	robotic	ADJ
fcis-14888	18	11	arm	arm	NOUN
fcis-14888	18	12	for	for	ADP
fcis-14888	18	13	equipment	equipment	NOUN
fcis-14888	18	14	inspection	inspection	NOUN
fcis-14888	18	15	is	be	AUX
fcis-14888	18	16	designed	design	VERB
fcis-14888	18	17	,	,	PUNCT
fcis-14888	18	18	which	which	PRON
fcis-14888	18	19	can	can	AUX
fcis-14888	18	20	effectively	effectively	ADV
fcis-14888	18	21	solve	solve	VERB
fcis-14888	18	22	such	such	ADJ
fcis-14888	18	23	problems	problem	NOUN
fcis-14888	18	24	.	.	PUNCT
fcis-14888	19	1	yolo	yolo	ADJ
fcis-14888	19	2	algorithm	algorithm	NOUN
fcis-14888	19	3	and	and	CCONJ
fcis-14888	19	4	rrt	rrt	NOUN
fcis-14888	19	5	*	*	NOUN
fcis-14888	19	6	algorithm	algorithm	NOUN
fcis-14888	19	7	are	be	AUX
fcis-14888	19	8	used	use	VERB
fcis-14888	19	9	in	in	ADP
fcis-14888	19	10	this	this	DET
fcis-14888	19	11	system	system	NOUN
fcis-14888	19	12	with	with	ADP
fcis-14888	19	13	the	the	DET
fcis-14888	19	14	ros	ros	PROPN
fcis-14888	19	15	environment	environment	NOUN
fcis-14888	19	16	based	base	VERB
fcis-14888	19	17	on	on	ADP
fcis-14888	19	18	an	an	DET
fcis-14888	19	19	indepth	indepth	ADJ
fcis-14888	19	20	study	study	NOUN
fcis-14888	19	21	of	of	ADP
fcis-14888	19	22	the	the	DET
fcis-14888	19	23	critical	critical	ADJ
fcis-14888	19	24	equipment	equipment	NOUN
fcis-14888	19	25	environment	environment	NOUN
fcis-14888	19	26	.	.	PUNCT
fcis-14888	20	1	2	2	X
fcis-14888	20	2	.	.	NUM
fcis-14888	20	3	related	relate	VERB
fcis-14888	20	4	technologies	technology	NOUN
fcis-14888	20	5	2.1	2.1	NUM
fcis-14888	20	6	.	.	PUNCT
fcis-14888	21	1	deep	deep	ADJ
fcis-14888	21	2	learning	learning	NOUN
fcis-14888	21	3	based	base	VERB
fcis-14888	21	4	target	target	NOUN
fcis-14888	21	5	detection	detection	NOUN
fcis-14888	21	6	algorithm	algorithm	NOUN
fcis-14888	21	7	yolo	yolo	ADJ
fcis-14888	21	8	(	(	PUNCT
fcis-14888	21	9	you	you	PRON
fcis-14888	21	10	only	only	ADV
fcis-14888	21	11	look	look	VERB
fcis-14888	21	12	once	once	ADV
fcis-14888	21	13	)	)	PUNCT
fcis-14888	21	14	algorithm	algorithm	NOUN
fcis-14888	21	15	is	be	AUX
fcis-14888	21	16	an	an	DET
fcis-14888	21	17	end	end	NOUN
fcis-14888	21	18	-	-	PUNCT
fcis-14888	21	19	to	to	ADP
fcis-14888	21	20	-	-	PUNCT
fcis-14888	21	21	end	end	NOUN
fcis-14888	21	22	target	target	NOUN
fcis-14888	21	23	detection	detection	NOUN
fcis-14888	21	24	algorithm	algorithm	NOUN
fcis-14888	21	25	widely	widely	ADV
fcis-14888	21	26	used	use	VERB
fcis-14888	21	27	in	in	ADP
fcis-14888	21	28	computer	computer	NOUN
fcis-14888	21	29	vision	vision	NOUN
fcis-14888	21	30	.	.	PUNCT
fcis-14888	22	1	compared	compare	VERB
fcis-14888	22	2	with	with	ADP
fcis-14888	22	3	traditional	traditional	ADJ
fcis-14888	22	4	target	target	NOUN
fcis-14888	22	5	detection	detection	NOUN
fcis-14888	22	6	algorithms	algorithm	NOUN
fcis-14888	22	7	,	,	PUNCT
fcis-14888	22	8	yolo	yolo	ADJ
fcis-14888	22	9	algorithm	algorithm	NOUN
fcis-14888	22	10	has	have	AUX
fcis-14888	22	11	faster	fast	ADJ
fcis-14888	22	12	processing	processing	NOUN
fcis-14888	22	13	speed	speed	NOUN
fcis-14888	22	14	and	and	CCONJ
fcis-14888	22	15	higher	high	ADJ
fcis-14888	22	16	accuracy	accuracy	NOUN
fcis-14888	22	17	.	.	PUNCT
fcis-14888	23	1	the	the	DET
fcis-14888	23	2	core	core	ADJ
fcis-14888	23	3	idea	idea	NOUN
fcis-14888	23	4	of	of	ADP
fcis-14888	23	5	the	the	DET
fcis-14888	23	6	yolo	yolo	ADJ
fcis-14888	23	7	algorithm	algorithm	NOUN
fcis-14888	23	8	is	be	AUX
fcis-14888	23	9	to	to	PART
fcis-14888	23	10	transform	transform	VERB
fcis-14888	23	11	the	the	DET
fcis-14888	23	12	target	target	NOUN
fcis-14888	23	13	detection	detection	NOUN
fcis-14888	23	14	task	task	NOUN
fcis-14888	23	15	into	into	ADP
fcis-14888	23	16	a	a	DET
fcis-14888	23	17	regression	regression	NOUN
fcis-14888	23	18	problem	problem	NOUN
fcis-14888	23	19	by	by	ADP
fcis-14888	23	20	simultaneously	simultaneously	ADV
fcis-14888	23	21	predicting	predict	VERB
fcis-14888	23	22	the	the	DET
fcis-14888	23	23	location	location	NOUN
fcis-14888	23	24	and	and	CCONJ
fcis-14888	23	25	category	category	NOUN
fcis-14888	23	26	of	of	ADP
fcis-14888	23	27	a	a	DET
fcis-14888	23	28	target	target	NOUN
fcis-14888	23	29	through	through	ADP
fcis-14888	23	30	a	a	DET
fcis-14888	23	31	single	single	ADJ
fcis-14888	23	32	neural	neural	ADJ
fcis-14888	23	33	network	network	NOUN
fcis-14888	23	34	.	.	PUNCT
fcis-14888	24	1	the	the	DET
fcis-14888	24	2	yolo	yolo	ADJ
fcis-14888	24	3	algorithm	algorithm	NOUN
fcis-14888	24	4	divides	divide	VERB
fcis-14888	24	5	the	the	DET
fcis-14888	24	6	input	input	NOUN
fcis-14888	24	7	image	image	NOUN
fcis-14888	24	8	into	into	ADP
fcis-14888	24	9	fixed	fix	VERB
fcis-14888	24	10	-	-	PUNCT
fcis-14888	24	11	size	size	NOUN
fcis-14888	24	12	grids	grid	NOUN
fcis-14888	24	13	and	and	CCONJ
fcis-14888	24	14	predicts	predict	VERB
fcis-14888	24	15	a	a	DET
fcis-14888	24	16	set	set	NOUN
fcis-14888	24	17	of	of	ADP
fcis-14888	24	18	bounding	bound	VERB
fcis-14888	24	19	boxes	box	NOUN
fcis-14888	24	20	on	on	ADP
fcis-14888	24	21	each	each	DET
fcis-14888	24	22	grid	grid	NOUN
fcis-14888	24	23	.	.	PUNCT
fcis-14888	25	1	each	each	DET
fcis-14888	25	2	bounding	bounding	NOUN
fcis-14888	25	3	box	box	NOUN
fcis-14888	25	4	contains	contain	VERB
fcis-14888	25	5	the	the	DET
fcis-14888	25	6	location	location	NOUN
fcis-14888	25	7	and	and	CCONJ
fcis-14888	25	8	size	size	NOUN
fcis-14888	25	9	of	of	ADP
fcis-14888	25	10	the	the	DET
fcis-14888	25	11	target	target	NOUN
fcis-14888	25	12	and	and	CCONJ
fcis-14888	25	13	predicts	predict	VERB
fcis-14888	25	14	the	the	DET
fcis-14888	25	15	category	category	NOUN
fcis-14888	25	16	of	of	ADP
fcis-14888	25	17	the	the	DET
fcis-14888	25	18	target	target	NOUN
fcis-14888	25	19	that	that	PRON
fcis-14888	25	20	appears	appear	VERB
fcis-14888	25	21	in	in	ADP
fcis-14888	25	22	each	each	DET
fcis-14888	25	23	bounding	bounding	NOUN
fcis-14888	25	24	box	box	NOUN
fcis-14888	25	25	.	.	PUNCT
fcis-14888	26	1	the	the	DET
fcis-14888	26	2	v3	v3	PROPN
fcis-14888	26	3	version	version	NOUN
fcis-14888	26	4	used	use	VERB
fcis-14888	26	5	the	the	DET
fcis-14888	26	6	darknet-53	darknet-53	PROPN
fcis-14888	26	7	network	network	NOUN
fcis-14888	26	8	with	with	ADP
fcis-14888	26	9	53	53	NUM
fcis-14888	26	10	convolutional	convolutional	ADJ
fcis-14888	26	11	layers	layer	NOUN
fcis-14888	26	12	,	,	PUNCT
fcis-14888	26	13	and	and	CCONJ
fcis-14888	26	14	the	the	DET
fcis-14888	26	15	subsequent	subsequent	ADJ
fcis-14888	26	16	versions	version	NOUN
fcis-14888	26	17	of	of	ADP
fcis-14888	26	18	the	the	DET
fcis-14888	26	19	convolutional	convolutional	ADJ
fcis-14888	26	20	layers	layer	NOUN
fcis-14888	26	21	have	have	AUX
fcis-14888	26	22	been	be	AUX
fcis-14888	26	23	added	add	VERB
fcis-14888	26	24	,	,	PUNCT
fcis-14888	26	25	bringing	bring	VERB
fcis-14888	26	26	higher	high	ADJ
fcis-14888	26	27	accuracy	accuracy	NOUN
fcis-14888	26	28	while	while	SCONJ
fcis-14888	26	29	placing	place	VERB
fcis-14888	26	30	higher	high	ADJ
fcis-14888	26	31	demands	demand	NOUN
fcis-14888	26	32	on	on	ADP
fcis-14888	26	33	the	the	DET
fcis-14888	26	34	hardware	hardware	NOUN
fcis-14888	26	35	.	.	PUNCT
fcis-14888	27	1	so	so	ADV
fcis-14888	27	2	based	base	VERB
fcis-14888	27	3	on	on	ADP
fcis-14888	27	4	the	the	DET
fcis-14888	27	5	available	available	ADJ
fcis-14888	27	6	hardware	hardware	NOUN
fcis-14888	27	7	,	,	PUNCT
fcis-14888	27	8	the	the	DET
fcis-14888	27	9	v3	v3	PROPN
fcis-14888	27	10	version	version	NOUN
fcis-14888	27	11	was	be	AUX
fcis-14888	27	12	chosen	choose	VERB
fcis-14888	27	13	for	for	ADP
fcis-14888	27	14	this	this	DET
fcis-14888	27	15	paper	paper	NOUN
fcis-14888	27	16	.	.	PUNCT
fcis-14888	28	1	the	the	DET
fcis-14888	28	2	advantages	advantage	NOUN
fcis-14888	28	3	of	of	ADP
fcis-14888	28	4	yolo	yolo	NOUN
fcis-14888	28	5	are	be	AUX
fcis-14888	28	6	speed	speed	NOUN
fcis-14888	28	7	and	and	CCONJ
fcis-14888	28	8	efficiency	efficiency	NOUN
fcis-14888	28	9	,	,	PUNCT
fcis-14888	28	10	which	which	PRON
fcis-14888	28	11	are	be	AUX
fcis-14888	28	12	very	very	ADV
fcis-14888	28	13	suitable	suitable	ADJ
fcis-14888	28	14	for	for	ADP
fcis-14888	28	15	real	real	ADJ
fcis-14888	28	16	-	-	PUNCT
fcis-14888	28	17	time	time	NOUN
fcis-14888	28	18	application	application	NOUN
fcis-14888	28	19	scenarios	scenario	NOUN
fcis-14888	28	20	such	such	ADJ
fcis-14888	28	21	as	as	ADP
fcis-14888	28	22	robotic	robotic	ADJ
fcis-14888	28	23	arm	arm	NOUN
fcis-14888	28	24	navigation	navigation	NOUN
fcis-14888	28	25	.	.	PUNCT
fcis-14888	29	1	however	however	ADV
fcis-14888	29	2	,	,	PUNCT
fcis-14888	29	3	the	the	DET
fcis-14888	29	4	current	current	ADJ
fcis-14888	29	5	version	version	NOUN
fcis-14888	29	6	of	of	ADP
fcis-14888	29	7	yolov3	yolov3	PROPN
fcis-14888	29	8	has	have	VERB
fcis-14888	29	9	poor	poor	ADJ
fcis-14888	29	10	detection	detection	NOUN
fcis-14888	29	11	performance	performance	NOUN
fcis-14888	29	12	for	for	ADP
fcis-14888	29	13	small	small	ADJ
fcis-14888	29	14	and	and	CCONJ
fcis-14888	29	15	overlapping	overlap	VERB
fcis-14888	29	16	targets	target	NOUN
fcis-14888	29	17	[	[	X
fcis-14888	29	18	1	1	NUM
fcis-14888	29	19	]	]	PUNCT
fcis-14888	29	20	.	.	PUNCT
fcis-14888	30	1	2.2	2.2	NUM
fcis-14888	30	2	.	.	PUNCT
fcis-14888	31	1	rrt	rrt	PROPN
fcis-14888	31	2	*	*	PUNCT
fcis-14888	31	3	path	path	NOUN
fcis-14888	31	4	planning	planning	NOUN
fcis-14888	31	5	algorithm	algorithm	NOUN
fcis-14888	31	6	another	another	DET
fcis-14888	31	7	important	important	ADJ
fcis-14888	31	8	part	part	NOUN
fcis-14888	31	9	of	of	ADP
fcis-14888	31	10	the	the	DET
fcis-14888	31	11	system	system	NOUN
fcis-14888	31	12	is	be	AUX
fcis-14888	31	13	the	the	DET
fcis-14888	31	14	motion	motion	NOUN
fcis-14888	31	15	planning	planning	NOUN
fcis-14888	31	16	of	of	ADP
fcis-14888	31	17	the	the	DET
fcis-14888	31	18	robotic	robotic	ADJ
fcis-14888	31	19	arm	arm	NOUN
fcis-14888	31	20	.	.	PUNCT
fcis-14888	32	1	steven	steven	PROPN
fcis-14888	32	2	m.	m.	PROPN
fcis-14888	32	3	lavalle	lavalle	PROPN
fcis-14888	32	4	proposed	propose	VERB
fcis-14888	32	5	the	the	DET
fcis-14888	32	6	rrt	rrt	NOUN
fcis-14888	32	7	algorithm	algorithm	NOUN
fcis-14888	32	8	,	,	PUNCT
fcis-14888	32	9	which	which	PRON
fcis-14888	32	10	generates	generate	VERB
fcis-14888	32	11	paths	path	NOUN
fcis-14888	32	12	using	use	VERB
fcis-14888	32	13	random	random	ADJ
fcis-14888	32	14	sampling	sampling	NOUN
fcis-14888	32	15	for	for	ADP
fcis-14888	32	16	navigation	navigation	NOUN
fcis-14888	32	17	.	.	PUNCT
fcis-14888	33	1	however	however	ADV
fcis-14888	33	2	,	,	PUNCT
fcis-14888	33	3	the	the	DET
fcis-14888	33	4	quality	quality	NOUN
fcis-14888	33	5	of	of	ADP
fcis-14888	33	6	the	the	DET
fcis-14888	33	7	paths	path	NOUN
fcis-14888	33	8	generated	generate	VERB
fcis-14888	33	9	by	by	ADP
fcis-14888	33	10	the	the	DET
fcis-14888	33	11	rrt	rrt	NOUN
fcis-14888	33	12	algorithm	algorithm	NOUN
fcis-14888	33	13	can	can	AUX
fcis-14888	33	14	not	not	PART
fcis-14888	33	15	meet	meet	VERB
fcis-14888	33	16	the	the	DET
fcis-14888	33	17	actual	actual	ADJ
fcis-14888	33	18	needs	need	NOUN
fcis-14888	33	19	in	in	ADP
fcis-14888	33	20	the	the	DET
fcis-14888	33	21	complex	complex	ADJ
fcis-14888	33	22	and	and	CCONJ
fcis-14888	33	23	unstructured	unstructured	ADJ
fcis-14888	33	24	server	server	NOUN
fcis-14888	33	25	setting	set	VERB
fcis-14888	33	26	environment	environment	NOUN
fcis-14888	33	27	[	[	X
fcis-14888	33	28	2	2	NUM
fcis-14888	33	29	]	]	PUNCT
fcis-14888	33	30	.	.	PUNCT
fcis-14888	34	1	in	in	ADP
fcis-14888	34	2	order	order	NOUN
fcis-14888	34	3	to	to	PART
fcis-14888	34	4	improve	improve	VERB
fcis-14888	34	5	the	the	DET
fcis-14888	34	6	performance	performance	NOUN
fcis-14888	34	7	of	of	ADP
fcis-14888	34	8	the	the	DET
fcis-14888	34	9	rrt	rrt	NOUN
fcis-14888	34	10	algorithm	algorithm	NOUN
fcis-14888	34	11	,	,	PUNCT
fcis-14888	34	12	this	this	DET
fcis-14888	34	13	paper	paper	NOUN
fcis-14888	34	14	adopts	adopt	VERB
fcis-14888	34	15	a	a	DET
fcis-14888	34	16	more	more	ADV
fcis-14888	34	17	advanced	advanced	ADJ
fcis-14888	34	18	solution	solution	NOUN
fcis-14888	34	19	,	,	PUNCT
fcis-14888	34	20	namely	namely	ADV
fcis-14888	34	21	the	the	DET
fcis-14888	34	22	rrt	rrt	NOUN
fcis-14888	34	23	*	*	NOUN
fcis-14888	34	24	algorithm	algorithm	NOUN
fcis-14888	34	25	.	.	PUNCT
fcis-14888	35	1	the	the	DET
fcis-14888	35	2	rrt	rrt	NOUN
fcis-14888	35	3	*	*	NOUN
fcis-14888	35	4	algorithm	algorithm	NOUN
fcis-14888	35	5	is	be	AUX
fcis-14888	35	6	an	an	DET
fcis-14888	35	7	improved	improved	ADJ
fcis-14888	35	8	version	version	NOUN
fcis-14888	35	9	of	of	ADP
fcis-14888	35	10	the	the	DET
fcis-14888	35	11	rrt	rrt	NOUN
fcis-14888	35	12	,	,	PUNCT
fcis-14888	35	13	which	which	PRON
fcis-14888	35	14	can	can	AUX
fcis-14888	35	15	obtain	obtain	VERB
fcis-14888	35	16	better	well	ADJ
fcis-14888	35	17	path	path	NOUN
fcis-14888	35	18	planning	planning	NOUN
fcis-14888	35	19	results	result	NOUN
fcis-14888	35	20	by	by	ADP
fcis-14888	35	21	globally	globally	ADV
fcis-14888	35	22	optimizing	optimize	VERB
fcis-14888	35	23	the	the	DET
fcis-14888	35	24	tree	tree	NOUN
fcis-14888	35	25	structure	structure	NOUN
fcis-14888	35	26	during	during	ADP
fcis-14888	35	27	the	the	DET
fcis-14888	35	28	search	search	NOUN
fcis-14888	35	29	process[3	process[3	PROPN
fcis-14888	35	30	]	]	PUNCT
fcis-14888	35	31	.	.	PUNCT
fcis-14888	36	1	on	on	ADP
fcis-14888	36	2	the	the	DET
fcis-14888	36	3	one	one	NUM
fcis-14888	36	4	hand	hand	NOUN
fcis-14888	36	5	,	,	PUNCT
fcis-14888	36	6	the	the	DET
fcis-14888	36	7	rrt	rrt	NOUN
fcis-14888	36	8	*	*	NOUN
fcis-14888	36	9	algorithm	algorithm	NOUN
fcis-14888	36	10	performs	perform	VERB
fcis-14888	36	11	116	116	NUM
fcis-14888	36	12	some	some	DET
fcis-14888	36	13	heuristic	heuristic	ADJ
fcis-14888	36	14	planning	planning	NOUN
fcis-14888	36	15	before	before	ADP
fcis-14888	36	16	generating	generate	VERB
fcis-14888	36	17	the	the	DET
fcis-14888	36	18	tree	tree	NOUN
fcis-14888	36	19	structure	structure	NOUN
fcis-14888	36	20	in	in	ADP
fcis-14888	36	21	a	a	DET
fcis-14888	36	22	randomized	randomized	ADJ
fcis-14888	36	23	way	way	NOUN
fcis-14888	36	24	,	,	PUNCT
fcis-14888	36	25	and	and	CCONJ
fcis-14888	36	26	at	at	ADP
fcis-14888	36	27	the	the	DET
fcis-14888	36	28	same	same	ADJ
fcis-14888	36	29	time	time	NOUN
fcis-14888	36	30	calculates	calculate	VERB
fcis-14888	36	31	the	the	DET
fcis-14888	36	32	cost	cost	NOUN
fcis-14888	36	33	function	function	NOUN
fcis-14888	36	34	of	of	ADP
fcis-14888	36	35	the	the	DET
fcis-14888	36	36	paths	path	NOUN
fcis-14888	36	37	,	,	PUNCT
fcis-14888	36	38	and	and	CCONJ
fcis-14888	36	39	the	the	DET
fcis-14888	36	40	algorithm	algorithm	NOUN
fcis-14888	36	41	prioritizes	prioritize	VERB
fcis-14888	36	42	the	the	DET
fcis-14888	36	43	direction	direction	NOUN
fcis-14888	36	44	of	of	ADP
fcis-14888	36	45	expansion	expansion	NOUN
fcis-14888	36	46	with	with	ADP
fcis-14888	36	47	less	less	ADJ
fcis-14888	36	48	cost	cost	NOUN
fcis-14888	36	49	when	when	SCONJ
fcis-14888	36	50	the	the	DET
fcis-14888	36	51	nodes	node	NOUN
fcis-14888	36	52	are	be	AUX
fcis-14888	36	53	expanded	expand	VERB
fcis-14888	36	54	,	,	PUNCT
fcis-14888	36	55	in	in	ADP
fcis-14888	36	56	order	order	NOUN
fcis-14888	36	57	to	to	PART
fcis-14888	36	58	reduce	reduce	VERB
fcis-14888	36	59	the	the	DET
fcis-14888	36	60	cost	cost	NOUN
fcis-14888	36	61	of	of	ADP
fcis-14888	36	62	the	the	DET
fcis-14888	36	63	paths	path	NOUN
fcis-14888	36	64	.	.	PUNCT
fcis-14888	37	1	on	on	ADP
fcis-14888	37	2	the	the	DET
fcis-14888	37	3	other	other	ADJ
fcis-14888	37	4	hand	hand	NOUN
fcis-14888	37	5	,	,	PUNCT
fcis-14888	37	6	the	the	DET
fcis-14888	37	7	algorithm	algorithm	NOUN
fcis-14888	37	8	structure	structure	NOUN
fcis-14888	37	9	of	of	ADP
fcis-14888	37	10	rrt	rrt	NOUN
fcis-14888	37	11	*	*	PUNCT
fcis-14888	37	12	is	be	AUX
fcis-14888	37	13	more	more	ADV
fcis-14888	37	14	complex	complex	ADJ
fcis-14888	37	15	,	,	PUNCT
fcis-14888	37	16	but	but	CCONJ
fcis-14888	37	17	it	it	PRON
fcis-14888	37	18	is	be	AUX
fcis-14888	37	19	able	able	ADJ
fcis-14888	37	20	to	to	PART
fcis-14888	37	21	converge	converge	VERB
fcis-14888	37	22	to	to	ADP
fcis-14888	37	23	the	the	DET
fcis-14888	37	24	optimal	optimal	ADJ
fcis-14888	37	25	solution	solution	NOUN
fcis-14888	37	26	in	in	ADP
fcis-14888	37	27	an	an	DET
fcis-14888	37	28	asymptotic	asymptotic	ADJ
fcis-14888	37	29	sense	sense	NOUN
fcis-14888	37	30	.	.	PUNCT
fcis-14888	38	1	it	it	PRON
fcis-14888	38	2	employs	employ	VERB
fcis-14888	38	3	incremental	incremental	ADJ
fcis-14888	38	4	expansion	expansion	NOUN
fcis-14888	38	5	,	,	PUNCT
fcis-14888	38	6	i.e.	i.e.	X
fcis-14888	38	7	,	,	PUNCT
fcis-14888	38	8	it	it	PRON
fcis-14888	38	9	expands	expand	VERB
fcis-14888	38	10	one	one	NUM
fcis-14888	38	11	step	step	NOUN
fcis-14888	38	12	at	at	ADP
fcis-14888	38	13	a	a	DET
fcis-14888	38	14	time	time	NOUN
fcis-14888	38	15	,	,	PUNCT
fcis-14888	38	16	so	so	CCONJ
fcis-14888	38	17	the	the	DET
fcis-14888	38	18	algorithm	algorithm	NOUN
fcis-14888	38	19	can	can	AUX
fcis-14888	38	20	cover	cover	VERB
fcis-14888	38	21	the	the	DET
fcis-14888	38	22	entire	entire	ADJ
fcis-14888	38	23	space	space	NOUN
fcis-14888	38	24	and	and	CCONJ
fcis-14888	38	25	find	find	VERB
fcis-14888	38	26	a	a	DET
fcis-14888	38	27	better	well	ADJ
fcis-14888	38	28	path	path	NOUN
fcis-14888	38	29	over	over	ADP
fcis-14888	38	30	a	a	DET
fcis-14888	38	31	longer	long	ADJ
fcis-14888	38	32	period	period	NOUN
fcis-14888	38	33	[	[	X
fcis-14888	38	34	4	4	NUM
fcis-14888	38	35	]	]	PUNCT
fcis-14888	38	36	.	.	PUNCT
fcis-14888	39	1	2.3	2.3	NUM
fcis-14888	39	2	.	.	X
fcis-14888	40	1	grabbing	grab	VERB
fcis-14888	40	2	algorithm	algorithm	NOUN
fcis-14888	40	3	agile_grasp	agile_grasp	NOUN
fcis-14888	40	4	agile_grasp	agile_grasp	NOUN
fcis-14888	40	5	is	be	AUX
fcis-14888	40	6	an	an	DET
fcis-14888	40	7	object	object	NOUN
fcis-14888	40	8	grasping	grasp	VERB
fcis-14888	40	9	pose	pose	NOUN
fcis-14888	40	10	detection	detection	NOUN
fcis-14888	40	11	algorithm	algorithm	NOUN
fcis-14888	40	12	based	base	VERB
fcis-14888	40	13	on	on	ADP
fcis-14888	40	14	deep	deep	ADJ
fcis-14888	40	15	learning	learning	NOUN
fcis-14888	40	16	and	and	CCONJ
fcis-14888	40	17	geometric	geometric	ADJ
fcis-14888	40	18	computation	computation	NOUN
fcis-14888	40	19	.	.	PUNCT
fcis-14888	41	1	the	the	DET
fcis-14888	41	2	algorithm	algorithm	NOUN
fcis-14888	41	3	obtains	obtain	VERB
fcis-14888	41	4	the	the	DET
fcis-14888	41	5	3d	3d	PROPN
fcis-14888	41	6	pose	pose	NOUN
fcis-14888	41	7	information	information	NOUN
fcis-14888	41	8	of	of	ADP
fcis-14888	41	9	an	an	DET
fcis-14888	41	10	object	object	NOUN
fcis-14888	41	11	by	by	ADP
fcis-14888	41	12	processing	process	VERB
fcis-14888	41	13	the	the	DET
fcis-14888	41	14	object	object	NOUN
fcis-14888	41	15	point	point	NOUN
fcis-14888	41	16	cloud	cloud	NOUN
fcis-14888	41	17	data	datum	NOUN
fcis-14888	41	18	.	.	PUNCT
fcis-14888	42	1	the	the	DET
fcis-14888	42	2	algorithm	algorithm	NOUN
fcis-14888	42	3	is	be	AUX
fcis-14888	42	4	mainly	mainly	ADV
fcis-14888	42	5	applied	apply	VERB
fcis-14888	42	6	in	in	ADP
fcis-14888	42	7	robot	robot	NOUN
fcis-14888	42	8	autonomous	autonomous	ADJ
fcis-14888	42	9	grasping	grasping	NOUN
fcis-14888	42	10	tasks	task	NOUN
fcis-14888	42	11	.	.	PUNCT
fcis-14888	43	1	specifically	specifically	ADV
fcis-14888	43	2	,	,	PUNCT
fcis-14888	43	3	the	the	DET
fcis-14888	43	4	agile_grasp	agile_grasp	NOUN
fcis-14888	43	5	algorithm	algorithm	NOUN
fcis-14888	43	6	first	first	ADV
fcis-14888	43	7	predicts	predict	VERB
fcis-14888	43	8	a	a	DET
fcis-14888	43	9	number	number	NOUN
fcis-14888	43	10	of	of	ADP
fcis-14888	43	11	candidate	candidate	NOUN
fcis-14888	43	12	grasping	grasp	VERB
fcis-14888	43	13	poses	pose	NOUN
fcis-14888	43	14	using	use	VERB
fcis-14888	43	15	a	a	DET
fcis-14888	43	16	neural	neural	ADJ
fcis-14888	43	17	network	network	NOUN
fcis-14888	43	18	,	,	PUNCT
fcis-14888	43	19	then	then	ADV
fcis-14888	43	20	scores	score	NOUN
fcis-14888	43	21	each	each	PRON
fcis-14888	43	22	pose	pose	VERB
fcis-14888	43	23	using	use	VERB
fcis-14888	43	24	a	a	DET
fcis-14888	43	25	scoring	scoring	NOUN
fcis-14888	43	26	function	function	NOUN
fcis-14888	43	27	based	base	VERB
fcis-14888	43	28	on	on	ADP
fcis-14888	43	29	geometry	geometry	NOUN
fcis-14888	43	30	and	and	CCONJ
fcis-14888	43	31	contact	contact	NOUN
fcis-14888	43	32	stability	stability	NOUN
fcis-14888	43	33	,	,	PUNCT
fcis-14888	43	34	and	and	CCONJ
fcis-14888	43	35	selects	select	VERB
fcis-14888	43	36	the	the	DET
fcis-14888	43	37	pose	pose	NOUN
fcis-14888	43	38	with	with	ADP
fcis-14888	43	39	the	the	DET
fcis-14888	43	40	highest	high	ADJ
fcis-14888	43	41	score	score	NOUN
fcis-14888	43	42	as	as	ADP
fcis-14888	43	43	the	the	DET
fcis-14888	43	44	final	final	ADJ
fcis-14888	43	45	grasping	grasping	NOUN
fcis-14888	43	46	pose	pose	NOUN
fcis-14888	43	47	.	.	PUNCT
fcis-14888	44	1	the	the	DET
fcis-14888	44	2	algorithm	algorithm	NOUN
fcis-14888	44	3	is	be	AUX
fcis-14888	44	4	implemented	implement	VERB
fcis-14888	44	5	using	use	VERB
fcis-14888	44	6	the	the	DET
fcis-14888	44	7	tensorflow	tensorflow	NOUN
fcis-14888	44	8	framework	framework	NOUN
fcis-14888	44	9	,	,	PUNCT
fcis-14888	44	10	which	which	PRON
fcis-14888	44	11	employs	employ	VERB
fcis-14888	44	12	convolutional	convolutional	ADJ
fcis-14888	44	13	neural	neural	ADJ
fcis-14888	44	14	network	network	NOUN
fcis-14888	44	15	(	(	PUNCT
fcis-14888	44	16	cnn	cnn	PROPN
fcis-14888	44	17	)	)	PUNCT
fcis-14888	44	18	and	and	CCONJ
fcis-14888	44	19	fully	fully	ADV
fcis-14888	44	20	connected	connected	ADJ
fcis-14888	44	21	neural	neural	ADJ
fcis-14888	44	22	network	network	NOUN
fcis-14888	44	23	(	(	PUNCT
fcis-14888	44	24	fcn	fcn	PROPN
fcis-14888	44	25	)	)	PUNCT
fcis-14888	44	26	as	as	ADP
fcis-14888	44	27	neural	neural	ADJ
fcis-14888	44	28	network	network	NOUN
fcis-14888	44	29	models	model	NOUN
fcis-14888	44	30	.	.	PUNCT
fcis-14888	45	1	3	3	X
fcis-14888	45	2	.	.	X
fcis-14888	45	3	system	system	NOUN
fcis-14888	45	4	design	design	NOUN
fcis-14888	45	5	3.1	3.1	NUM
fcis-14888	45	6	.	.	PUNCT
fcis-14888	46	1	overall	overall	ADJ
fcis-14888	46	2	system	system	NOUN
fcis-14888	46	3	design	design	VERB
fcis-14888	46	4	the	the	DET
fcis-14888	46	5	system	system	NOUN
fcis-14888	46	6	aims	aim	VERB
fcis-14888	46	7	to	to	PART
fcis-14888	46	8	realize	realize	VERB
fcis-14888	46	9	the	the	DET
fcis-14888	46	10	inspection	inspection	NOUN
fcis-14888	46	11	function	function	NOUN
fcis-14888	46	12	of	of	ADP
fcis-14888	46	13	key	key	ADJ
fcis-14888	46	14	electronic	electronic	ADJ
fcis-14888	46	15	and	and	CCONJ
fcis-14888	46	16	electrical	electrical	ADJ
fcis-14888	46	17	energy	energy	NOUN
fcis-14888	46	18	equipment	equipment	NOUN
fcis-14888	46	19	,	,	PUNCT
fcis-14888	46	20	including	include	VERB
fcis-14888	46	21	timely	timely	ADJ
fcis-14888	46	22	detection	detection	NOUN
fcis-14888	46	23	,	,	PUNCT
fcis-14888	46	24	handling	handling	NOUN
fcis-14888	46	25	of	of	ADP
fcis-14888	46	26	simple	simple	ADJ
fcis-14888	46	27	faults	fault	NOUN
fcis-14888	46	28	,	,	PUNCT
fcis-14888	46	29	and	and	CCONJ
fcis-14888	46	30	feedback	feedback	NOUN
fcis-14888	46	31	of	of	ADP
fcis-14888	46	32	fault	fault	NOUN
fcis-14888	46	33	causes	cause	NOUN
fcis-14888	46	34	.	.	PUNCT
fcis-14888	47	1	by	by	ADP
fcis-14888	47	2	combining	combine	VERB
fcis-14888	47	3	rgb	rgb	PROPN
fcis-14888	47	4	camera	camera	NOUN
fcis-14888	47	5	and	and	CCONJ
fcis-14888	47	6	depth	depth	NOUN
fcis-14888	47	7	camera	camera	NOUN
fcis-14888	47	8	,	,	PUNCT
fcis-14888	47	9	utilizing	utilize	VERB
fcis-14888	47	10	the	the	DET
fcis-14888	47	11	target	target	NOUN
fcis-14888	47	12	recognition	recognition	NOUN
fcis-14888	47	13	module	module	NOUN
fcis-14888	47	14	and	and	CCONJ
fcis-14888	47	15	robotic	robotic	ADJ
fcis-14888	47	16	arm	arm	NOUN
fcis-14888	47	17	module	module	NOUN
fcis-14888	47	18	,	,	PUNCT
fcis-14888	47	19	it	it	PRON
fcis-14888	47	20	realizes	realize	VERB
fcis-14888	47	21	the	the	DET
fcis-14888	47	22	recognition	recognition	NOUN
fcis-14888	47	23	of	of	ADP
fcis-14888	47	24	cabinet	cabinet	PROPN
fcis-14888	47	25	and	and	CCONJ
fcis-14888	47	26	cabinet	cabinet	NOUN
fcis-14888	47	27	handles	handle	NOUN
fcis-14888	47	28	,	,	PUNCT
fcis-14888	47	29	the	the	DET
fcis-14888	47	30	acquisition	acquisition	NOUN
fcis-14888	47	31	of	of	ADP
fcis-14888	47	32	position	position	NOUN
fcis-14888	47	33	information	information	NOUN
fcis-14888	47	34	,	,	PUNCT
fcis-14888	47	35	as	as	ADV
fcis-14888	47	36	well	well	ADV
fcis-14888	47	37	as	as	ADP
fcis-14888	47	38	the	the	DET
fcis-14888	47	39	functions	function	NOUN
fcis-14888	47	40	of	of	ADP
fcis-14888	47	41	robotic	robotic	ADJ
fcis-14888	47	42	arm	arm	NOUN
fcis-14888	47	43	's	's	PART
fcis-14888	47	44	navigation	navigation	NOUN
fcis-14888	47	45	,	,	PUNCT
fcis-14888	47	46	motion	motion	NOUN
fcis-14888	47	47	solving	solving	NOUN
fcis-14888	47	48	,	,	PUNCT
fcis-14888	47	49	motion	motion	NOUN
fcis-14888	47	50	obstacle	obstacle	NOUN
fcis-14888	47	51	avoidance	avoidance	NOUN
fcis-14888	47	52	,	,	PUNCT
fcis-14888	47	53	and	and	CCONJ
fcis-14888	47	54	end	end	NOUN
fcis-14888	47	55	-	-	PUNCT
fcis-14888	47	56	effector	effector	NOUN
fcis-14888	47	57	control	control	NOUN
fcis-14888	47	58	through	through	ADP
fcis-14888	47	59	moveit	moveit	NOUN
fcis-14888	47	60	!	!	PUNCT
fcis-14888	48	1	the	the	DET
fcis-14888	48	2	overall	overall	ADJ
fcis-14888	48	3	architecture	architecture	NOUN
fcis-14888	48	4	is	be	AUX
fcis-14888	48	5	based	base	VERB
fcis-14888	48	6	on	on	ADP
fcis-14888	48	7	the	the	DET
fcis-14888	48	8	ros	ros	PROPN
fcis-14888	48	9	operating	operating	NOUN
fcis-14888	48	10	system	system	NOUN
fcis-14888	48	11	,	,	PUNCT
fcis-14888	48	12	with	with	ADP
fcis-14888	48	13	the	the	DET
fcis-14888	48	14	help	help	NOUN
fcis-14888	48	15	of	of	ADP
fcis-14888	48	16	rviz	rviz	NOUN
fcis-14888	48	17	3d	3d	NUM
fcis-14888	48	18	visualization	visualization	NOUN
fcis-14888	48	19	platform	platform	NOUN
fcis-14888	48	20	to	to	PART
fcis-14888	48	21	monitor	monitor	VERB
fcis-14888	48	22	the	the	DET
fcis-14888	48	23	robotic	robotic	ADJ
fcis-14888	48	24	arm	arm	NOUN
fcis-14888	48	25	,	,	PUNCT
fcis-14888	48	26	and	and	CCONJ
fcis-14888	48	27	the	the	DET
fcis-14888	48	28	moveit	moveit	NOUN
fcis-14888	48	29	!	!	PUNCT
fcis-14888	49	1	tool	tool	NOUN
fcis-14888	49	2	for	for	ADP
fcis-14888	49	3	integrated	integrate	VERB
fcis-14888	49	4	development	development	NOUN
fcis-14888	49	5	and	and	CCONJ
fcis-14888	49	6	control	control	NOUN
fcis-14888	49	7	of	of	ADP
fcis-14888	49	8	the	the	DET
fcis-14888	49	9	robotic	robotic	ADJ
fcis-14888	49	10	arm	arm	NOUN
fcis-14888	49	11	.	.	PUNCT
fcis-14888	50	1	table	table	NOUN
fcis-14888	50	2	1	1	NUM
fcis-14888	50	3	.	.	PUNCT
fcis-14888	51	1	items	item	NOUN
fcis-14888	51	2	required	require	VERB
fcis-14888	51	3	by	by	ADP
fcis-14888	51	4	the	the	DET
fcis-14888	51	5	system	system	NOUN
fcis-14888	51	6	object	object	NOUN
fcis-14888	51	7	name	name	NOUN
fcis-14888	51	8	type	type	NOUN
fcis-14888	51	9	parameter	parameter	NOUN
fcis-14888	51	10	six	six	NUM
fcis-14888	51	11	-	-	PUNCT
fcis-14888	51	12	axis	axis	NOUN
fcis-14888	51	13	collaborative	collaborative	ADJ
fcis-14888	51	14	robots	robot	NOUN
fcis-14888	51	15	lebai	lebai	VERB
fcis-14888	51	16	lm3	lm3	NOUN
fcis-14888	51	17	payload:3	payload:3	PROPN
fcis-14888	51	18	kg	kg	PROPN
fcis-14888	51	19	working	work	VERB
fcis-14888	51	20	radius:638	radius:638	PROPN
fcis-14888	51	21	mm	mm	PROPN
fcis-14888	51	22	electric	electric	ADJ
fcis-14888	51	23	gripper	gripper	NOUN
fcis-14888	51	24	lebai	lebai	AUX
fcis-14888	51	25	lmg90	lmg90	VERB
fcis-14888	51	26	none	none	NOUN
fcis-14888	52	1	kinect	kinect	ADJ
fcis-14888	52	2	camera	camera	NOUN
fcis-14888	52	3	none	none	NOUN
fcis-14888	52	4	none	none	NOUN
fcis-14888	52	5	ipc	ipc	PROPN
fcis-14888	52	6	dell	dell	PROPN
fcis-14888	52	7	g15	g15	PROPN
fcis-14888	52	8	none	none	NOUN
fcis-14888	52	9	fig	fig	NOUN
fcis-14888	52	10	1	1	NUM
fcis-14888	52	11	.	.	PUNCT
fcis-14888	52	12	functional	functional	ADJ
fcis-14888	52	13	structure	structure	NOUN
fcis-14888	52	14	diagram	diagram	NOUN
fcis-14888	52	15	of	of	ADP
fcis-14888	52	16	key	key	ADJ
fcis-14888	52	17	equipment	equipment	NOUN
fcis-14888	52	18	inspection	inspection	NOUN
fcis-14888	52	19	system	system	NOUN
fcis-14888	52	20	fig	fig	NOUN
fcis-14888	52	21	2	2	NUM
fcis-14888	52	22	.	.	PUNCT
fcis-14888	52	23	system	system	NOUN
fcis-14888	52	24	flow	flow	NOUN
fcis-14888	52	25	chart	chart	NOUN
fcis-14888	52	26	117	117	NUM
fcis-14888	52	27	3.2	3.2	NUM
fcis-14888	52	28	.	.	PUNCT
fcis-14888	53	1	human	human	ADJ
fcis-14888	53	2	-	-	PUNCT
fcis-14888	53	3	machine	machine	NOUN
fcis-14888	53	4	interface	interface	NOUN
fcis-14888	53	5	this	this	DET
fcis-14888	53	6	paper	paper	NOUN
fcis-14888	53	7	uses	use	VERB
fcis-14888	53	8	qt5	qt5	PROPN
fcis-14888	53	9	to	to	PART
fcis-14888	53	10	complete	complete	VERB
fcis-14888	53	11	the	the	DET
fcis-14888	53	12	human	human	ADJ
fcis-14888	53	13	-	-	PUNCT
fcis-14888	53	14	computer	computer	NOUN
fcis-14888	53	15	interaction	interaction	NOUN
fcis-14888	53	16	interface	interface	NOUN
fcis-14888	53	17	,	,	PUNCT
fcis-14888	53	18	which	which	PRON
fcis-14888	53	19	can	can	AUX
fcis-14888	53	20	realize	realize	VERB
fcis-14888	53	21	the	the	DET
fcis-14888	53	22	functions	function	NOUN
fcis-14888	53	23	of	of	ADP
fcis-14888	53	24	user	user	NOUN
fcis-14888	53	25	login	login	NOUN
fcis-14888	53	26	,	,	PUNCT
fcis-14888	53	27	robotic	robotic	ADJ
fcis-14888	53	28	arm	arm	NOUN
fcis-14888	53	29	monitoring	monitoring	NOUN
fcis-14888	53	30	and	and	CCONJ
fcis-14888	53	31	robotic	robotic	ADJ
fcis-14888	53	32	arm	arm	NOUN
fcis-14888	53	33	control	control	NOUN
fcis-14888	53	34	.	.	PUNCT
fcis-14888	54	1	after	after	ADP
fcis-14888	54	2	entering	enter	VERB
fcis-14888	54	3	the	the	DET
fcis-14888	54	4	account	account	NOUN
fcis-14888	54	5	password	password	NOUN
fcis-14888	54	6	and	and	CCONJ
fcis-14888	54	7	successfully	successfully	ADV
fcis-14888	54	8	logging	log	VERB
fcis-14888	54	9	in	in	ADP
fcis-14888	54	10	,	,	PUNCT
fcis-14888	54	11	click	click	VERB
fcis-14888	54	12	connect	connect	VERB
fcis-14888	54	13	to	to	PART
fcis-14888	54	14	connect	connect	VERB
fcis-14888	54	15	to	to	ADP
fcis-14888	54	16	the	the	DET
fcis-14888	54	17	local	local	ADJ
fcis-14888	54	18	ros	ros	PROPN
fcis-14888	54	19	master	master	NOUN
fcis-14888	54	20	and	and	CCONJ
fcis-14888	54	21	operate	operate	VERB
fcis-14888	54	22	the	the	DET
fcis-14888	54	23	robotic	robotic	ADJ
fcis-14888	54	24	arm	arm	NOUN
fcis-14888	54	25	.	.	PUNCT
fcis-14888	55	1	first	first	ADV
fcis-14888	55	2	of	of	ADP
fcis-14888	55	3	all	all	PRON
fcis-14888	55	4	,	,	PUNCT
fcis-14888	55	5	this	this	DET
fcis-14888	55	6	paper	paper	NOUN
fcis-14888	55	7	sets	set	VERB
fcis-14888	55	8	up	up	ADP
fcis-14888	55	9	a	a	DET
fcis-14888	55	10	monitor	monitor	NOUN
fcis-14888	55	11	containing	contain	VERB
fcis-14888	55	12	camera	camera	NOUN
fcis-14888	55	13	images	image	NOUN
fcis-14888	55	14	,	,	PUNCT
fcis-14888	55	15	yolo	yolo	ADJ
fcis-14888	55	16	recognition	recognition	NOUN
fcis-14888	55	17	results	result	NOUN
fcis-14888	55	18	,	,	PUNCT
fcis-14888	55	19	and	and	CCONJ
fcis-14888	55	20	a	a	DET
fcis-14888	55	21	real	real	ADJ
fcis-14888	55	22	-	-	PUNCT
fcis-14888	55	23	time	time	NOUN
fcis-14888	55	24	position	position	NOUN
fcis-14888	55	25	model	model	NOUN
fcis-14888	55	26	of	of	ADP
fcis-14888	55	27	the	the	DET
fcis-14888	55	28	robotic	robotic	ADJ
fcis-14888	55	29	arm	arm	NOUN
fcis-14888	55	30	.	.	PUNCT
fcis-14888	56	1	at	at	ADP
fcis-14888	56	2	the	the	DET
fcis-14888	56	3	same	same	ADJ
fcis-14888	56	4	time	time	NOUN
fcis-14888	56	5	,	,	PUNCT
fcis-14888	56	6	it	it	PRON
fcis-14888	56	7	is	be	AUX
fcis-14888	56	8	possible	possible	ADJ
fcis-14888	56	9	to	to	PART
fcis-14888	56	10	plan	plan	VERB
fcis-14888	56	11	by	by	ADP
fcis-14888	56	12	manipulating	manipulate	VERB
fcis-14888	56	13	the	the	DET
fcis-14888	56	14	position	position	NOUN
fcis-14888	56	15	model	model	NOUN
fcis-14888	56	16	.	.	PUNCT
fcis-14888	57	1	then	then	ADV
fcis-14888	57	2	there	there	PRON
fcis-14888	57	3	is	be	VERB
fcis-14888	57	4	a	a	DET
fcis-14888	57	5	manual	manual	ADJ
fcis-14888	57	6	control	control	NOUN
fcis-14888	57	7	window	window	NOUN
fcis-14888	57	8	,	,	PUNCT
fcis-14888	57	9	which	which	PRON
fcis-14888	57	10	contains	contain	VERB
fcis-14888	57	11	the	the	DET
fcis-14888	57	12	robotic	robotic	ADJ
fcis-14888	57	13	arm	arm	NOUN
fcis-14888	57	14	joint	joint	ADJ
fcis-14888	57	15	adjustment	adjustment	NOUN
fcis-14888	57	16	,	,	PUNCT
fcis-14888	57	17	end	end	VERB
fcis-14888	57	18	position	position	NOUN
fcis-14888	57	19	control	control	NOUN
fcis-14888	57	20	and	and	CCONJ
fcis-14888	57	21	end	end	VERB
fcis-14888	57	22	actuator	actuator	NOUN
fcis-14888	57	23	control	control	NOUN
fcis-14888	57	24	.	.	PUNCT
fcis-14888	58	1	finally	finally	ADV
fcis-14888	58	2	,	,	PUNCT
fcis-14888	58	3	some	some	DET
fcis-14888	58	4	fixed	fix	VERB
fcis-14888	58	5	behavior	behavior	NOUN
fcis-14888	58	6	settings	setting	NOUN
fcis-14888	58	7	are	be	AUX
fcis-14888	58	8	set	set	VERB
fcis-14888	58	9	,	,	PUNCT
fcis-14888	58	10	and	and	CCONJ
fcis-14888	58	11	the	the	DET
fcis-14888	58	12	self	self	NOUN
fcis-14888	58	13	-	-	PUNCT
fcis-14888	58	14	starting	start	VERB
fcis-14888	58	15	operation	operation	NOUN
fcis-14888	58	16	of	of	ADP
fcis-14888	58	17	the	the	DET
fcis-14888	58	18	robotic	robotic	ADJ
fcis-14888	58	19	arm	arm	NOUN
fcis-14888	58	20	is	be	AUX
fcis-14888	58	21	also	also	ADV
fcis-14888	58	22	realized	realize	VERB
fcis-14888	58	23	by	by	ADP
fcis-14888	58	24	it	it	PRON
fcis-14888	58	25	.	.	PUNCT
fcis-14888	59	1	fig	fig	NOUN
fcis-14888	59	2	3	3	NUM
fcis-14888	59	3	.	.	PUNCT
fcis-14888	59	4	control	control	NOUN
fcis-14888	59	5	interface	interface	PROPN
fcis-14888	59	6	3.3	3.3	NUM
fcis-14888	59	7	.	.	PUNCT
fcis-14888	60	1	target	target	NOUN
fcis-14888	60	2	identification	identification	NOUN
fcis-14888	60	3	it	it	PRON
fcis-14888	60	4	is	be	AUX
fcis-14888	60	5	important	important	ADJ
fcis-14888	60	6	to	to	PART
fcis-14888	60	7	note	note	VERB
fcis-14888	60	8	that	that	SCONJ
fcis-14888	60	9	the	the	DET
fcis-14888	60	10	yolo	yolo	ADJ
fcis-14888	60	11	algorithm	algorithm	NOUN
fcis-14888	60	12	has	have	VERB
fcis-14888	60	13	a	a	DET
fcis-14888	60	14	problem	problem	NOUN
fcis-14888	60	15	it	it	PRON
fcis-14888	60	16	is	be	AUX
fcis-14888	60	17	not	not	PART
fcis-14888	60	18	very	very	ADV
fcis-14888	60	19	accurate	accurate	ADJ
fcis-14888	60	20	in	in	ADP
fcis-14888	60	21	recognizing	recognize	VERB
fcis-14888	60	22	small	small	ADJ
fcis-14888	60	23	targets	target	NOUN
fcis-14888	60	24	.	.	PUNCT
fcis-14888	61	1	since	since	SCONJ
fcis-14888	61	2	the	the	DET
fcis-14888	61	3	topmost	topmost	ADJ
fcis-14888	61	4	feature	feature	NOUN
fcis-14888	61	5	map	map	NOUN
fcis-14888	61	6	is	be	AUX
fcis-14888	61	7	extracted	extract	VERB
fcis-14888	61	8	in	in	ADP
fcis-14888	61	9	the	the	DET
fcis-14888	61	10	native	native	ADJ
fcis-14888	61	11	yolo	yolo	ADJ
fcis-14888	61	12	algorithm	algorithm	NOUN
fcis-14888	61	13	,	,	PUNCT
fcis-14888	61	14	this	this	PRON
fcis-14888	61	15	means	mean	VERB
fcis-14888	61	16	that	that	SCONJ
fcis-14888	61	17	details	detail	NOUN
fcis-14888	61	18	are	be	AUX
fcis-14888	61	19	ignored	ignore	VERB
fcis-14888	61	20	in	in	ADP
fcis-14888	61	21	the	the	DET
fcis-14888	61	22	constant	constant	ADJ
fcis-14888	61	23	filtering	filtering	NOUN
fcis-14888	61	24	operation	operation	NOUN
fcis-14888	61	25	,	,	PUNCT
fcis-14888	61	26	and	and	CCONJ
fcis-14888	61	27	thus	thus	ADV
fcis-14888	61	28	small	small	ADJ
fcis-14888	61	29	targets	target	NOUN
fcis-14888	61	30	can	can	AUX
fcis-14888	61	31	not	not	PART
fcis-14888	61	32	be	be	AUX
fcis-14888	61	33	extracted	extract	VERB
fcis-14888	61	34	in	in	ADP
fcis-14888	61	35	the	the	DET
fcis-14888	61	36	final	final	ADJ
fcis-14888	61	37	feature	feature	NOUN
fcis-14888	61	38	map	map	NOUN
fcis-14888	61	39	.	.	PUNCT
fcis-14888	62	1	to	to	PART
fcis-14888	62	2	solve	solve	VERB
fcis-14888	62	3	this	this	DET
fcis-14888	62	4	problem	problem	NOUN
fcis-14888	62	5	,	,	PUNCT
fcis-14888	62	6	the	the	DET
fcis-14888	62	7	following	follow	VERB
fcis-14888	62	8	scheme	scheme	NOUN
fcis-14888	62	9	is	be	AUX
fcis-14888	62	10	proposed	propose	VERB
fcis-14888	62	11	in	in	ADP
fcis-14888	62	12	this	this	DET
fcis-14888	62	13	paper	paper	NOUN
fcis-14888	62	14	.	.	PUNCT
fcis-14888	63	1	adjust	adjust	VERB
fcis-14888	63	2	the	the	DET
fcis-14888	63	3	parameters	parameter	NOUN
fcis-14888	63	4	of	of	ADP
fcis-14888	63	5	the	the	DET
fcis-14888	63	6	darknet	darknet	NOUN
fcis-14888	63	7	model	model	NOUN
fcis-14888	63	8	to	to	PART
fcis-14888	63	9	adapt	adapt	VERB
fcis-14888	63	10	it	it	PRON
fcis-14888	63	11	to	to	ADP
fcis-14888	63	12	the	the	DET
fcis-14888	63	13	scene	scene	NOUN
fcis-14888	63	14	.	.	PUNCT
fcis-14888	64	1	for	for	ADP
fcis-14888	64	2	small	small	ADJ
fcis-14888	64	3	target	target	NOUN
fcis-14888	64	4	detection	detection	NOUN
fcis-14888	64	5	,	,	PUNCT
fcis-14888	64	6	higher	high	ADJ
fcis-14888	64	7	resolution	resolution	NOUN
fcis-14888	64	8	images	image	NOUN
fcis-14888	64	9	can	can	AUX
fcis-14888	64	10	be	be	AUX
fcis-14888	64	11	input	input	VERB
fcis-14888	64	12	,	,	PUNCT
fcis-14888	64	13	and	and	CCONJ
fcis-14888	64	14	it	it	PRON
fcis-14888	64	15	should	should	AUX
fcis-14888	64	16	be	be	AUX
fcis-14888	64	17	noted	note	VERB
fcis-14888	64	18	that	that	SCONJ
fcis-14888	64	19	this	this	PRON
fcis-14888	64	20	will	will	AUX
fcis-14888	64	21	undoubtedly	undoubtedly	ADV
fcis-14888	64	22	significantly	significantly	ADV
fcis-14888	64	23	increase	increase	VERB
fcis-14888	64	24	the	the	DET
fcis-14888	64	25	computational	computational	ADJ
fcis-14888	64	26	difficulty	difficulty	NOUN
fcis-14888	64	27	.	.	PUNCT
fcis-14888	65	1	multiscale	multiscale	ADJ
fcis-14888	65	2	feature	feature	NOUN
fcis-14888	65	3	extraction	extraction	NOUN
fcis-14888	65	4	can	can	AUX
fcis-14888	65	5	also	also	ADV
fcis-14888	65	6	be	be	AUX
fcis-14888	65	7	used	use	VERB
fcis-14888	65	8	.	.	PUNCT
fcis-14888	66	1	using	use	VERB
fcis-14888	66	2	a	a	DET
fcis-14888	66	3	multi	multi	ADJ
fcis-14888	66	4	-	-	ADJ
fcis-14888	66	5	scale	scale	ADJ
fcis-14888	66	6	feature	feature	NOUN
fcis-14888	66	7	pyramid	pyramid	NOUN
fcis-14888	66	8	,	,	PUNCT
fcis-14888	66	9	detection	detection	NOUN
fcis-14888	66	10	is	be	AUX
fcis-14888	66	11	performed	perform	VERB
fcis-14888	66	12	on	on	ADP
fcis-14888	66	13	different	different	ADJ
fcis-14888	66	14	levels	level	NOUN
fcis-14888	66	15	of	of	ADP
fcis-14888	66	16	the	the	DET
fcis-14888	66	17	feature	feature	NOUN
fcis-14888	66	18	map	map	NOUN
fcis-14888	66	19	to	to	PART
fcis-14888	66	20	ensure	ensure	VERB
fcis-14888	66	21	that	that	SCONJ
fcis-14888	66	22	small	small	ADJ
fcis-14888	66	23	targets	target	NOUN
fcis-14888	66	24	can	can	AUX
fcis-14888	66	25	be	be	AUX
fcis-14888	66	26	captured	capture	VERB
fcis-14888	66	27	.	.	PUNCT
fcis-14888	67	1	for	for	ADP
fcis-14888	67	2	overlapping	overlap	VERB
fcis-14888	67	3	target	target	NOUN
fcis-14888	67	4	detection	detection	NOUN
fcis-14888	67	5	optimization	optimization	NOUN
fcis-14888	67	6	,	,	PUNCT
fcis-14888	67	7	the	the	DET
fcis-14888	67	8	iou	iou	NOUN
fcis-14888	67	9	threshold	threshold	NOUN
fcis-14888	67	10	can	can	AUX
fcis-14888	67	11	be	be	AUX
fcis-14888	67	12	adjusted	adjust	VERB
fcis-14888	67	13	.	.	PUNCT
fcis-14888	68	1	iou	iou	PROPN
fcis-14888	68	2	,	,	PUNCT
fcis-14888	68	3	which	which	PRON
fcis-14888	68	4	refers	refer	VERB
fcis-14888	68	5	to	to	ADP
fcis-14888	68	6	the	the	DET
fcis-14888	68	7	intersection	intersection	NOUN
fcis-14888	68	8	and	and	CCONJ
fcis-14888	68	9	concurrency	concurrency	NOUN
fcis-14888	68	10	ratio	ratio	NOUN
fcis-14888	68	11	,	,	PUNCT
fcis-14888	68	12	is	be	AUX
fcis-14888	68	13	used	use	VERB
fcis-14888	68	14	as	as	ADP
fcis-14888	68	15	a	a	DET
fcis-14888	68	16	measure	measure	NOUN
fcis-14888	68	17	of	of	ADP
fcis-14888	68	18	how	how	SCONJ
fcis-14888	68	19	much	much	ADJ
fcis-14888	68	20	two	two	NUM
fcis-14888	68	21	bounding	bounding	NOUN
fcis-14888	68	22	boxes	box	NOUN
fcis-14888	68	23	overlap	overlap	VERB
fcis-14888	68	24	.	.	PUNCT
fcis-14888	69	1	a	a	DET
fcis-14888	69	2	lower	low	ADJ
fcis-14888	69	3	intersection	intersection	NOUN
fcis-14888	69	4	and	and	CCONJ
fcis-14888	69	5	merge	merge	VERB
fcis-14888	69	6	ratio	ratio	NOUN
fcis-14888	69	7	threshold	threshold	NOUN
fcis-14888	69	8	preserves	preserve	VERB
fcis-14888	69	9	overlapping	overlap	VERB
fcis-14888	69	10	information	information	NOUN
fcis-14888	69	11	,	,	PUNCT
fcis-14888	69	12	but	but	CCONJ
fcis-14888	69	13	may	may	AUX
fcis-14888	69	14	produce	produce	VERB
fcis-14888	69	15	redundant	redundant	ADJ
fcis-14888	69	16	results[5	results[5	PROPN
fcis-14888	69	17	]	]	PUNCT
fcis-14888	69	18	.	.	PUNCT
fcis-14888	70	1	introducing	introduce	VERB
fcis-14888	70	2	new	new	ADJ
fcis-14888	70	3	mechanisms	mechanism	NOUN
fcis-14888	70	4	attention	attention	NOUN
fcis-14888	70	5	mechanisms	mechanism	NOUN
fcis-14888	70	6	,	,	PUNCT
fcis-14888	70	7	including	include	VERB
fcis-14888	70	8	channel	channel	NOUN
fcis-14888	70	9	attention	attention	NOUN
fcis-14888	70	10	,	,	PUNCT
fcis-14888	70	11	spatial	spatial	ADJ
fcis-14888	70	12	attention	attention	NOUN
fcis-14888	70	13	,	,	PUNCT
fcis-14888	70	14	and	and	CCONJ
fcis-14888	70	15	hybrid	hybrid	ADJ
fcis-14888	70	16	attention	attention	NOUN
fcis-14888	70	17	.	.	PUNCT
fcis-14888	71	1	attention	attention	NOUN
fcis-14888	71	2	mechanisms	mechanism	NOUN
fcis-14888	71	3	have	have	VERB
fcis-14888	71	4	better	well	ADJ
fcis-14888	71	5	results	result	NOUN
fcis-14888	71	6	for	for	ADP
fcis-14888	71	7	small	small	ADJ
fcis-14888	71	8	target	target	NOUN
fcis-14888	71	9	detection	detection	NOUN
fcis-14888	71	10	.	.	PUNCT
fcis-14888	72	1	the	the	DET
fcis-14888	72	2	idea	idea	NOUN
fcis-14888	72	3	is	be	AUX
fcis-14888	72	4	to	to	PART
fcis-14888	72	5	weight	weight	VERB
fcis-14888	72	6	the	the	DET
fcis-14888	72	7	input	input	NOUN
fcis-14888	72	8	and	and	CCONJ
fcis-14888	72	9	then	then	ADV
fcis-14888	72	10	output	output	NOUN
fcis-14888	72	11	,	,	PUNCT
fcis-14888	72	12	want	want	VERB
fcis-14888	72	13	the	the	DET
fcis-14888	72	14	network	network	NOUN
fcis-14888	72	15	to	to	PART
fcis-14888	72	16	pay	pay	VERB
fcis-14888	72	17	attention	attention	NOUN
fcis-14888	72	18	to	to	ADP
fcis-14888	72	19	the	the	DET
fcis-14888	72	20	region	region	NOUN
fcis-14888	72	21	to	to	PART
fcis-14888	72	22	give	give	VERB
fcis-14888	72	23	a	a	DET
fcis-14888	72	24	greater	great	ADJ
fcis-14888	72	25	weight	weight	NOUN
fcis-14888	72	26	,	,	PUNCT
fcis-14888	72	27	and	and	CCONJ
fcis-14888	72	28	do	do	AUX
fcis-14888	72	29	not	not	PART
fcis-14888	72	30	want	want	VERB
fcis-14888	72	31	the	the	DET
fcis-14888	72	32	region	region	NOUN
fcis-14888	72	33	side	side	NOUN
fcis-14888	72	34	to	to	PART
fcis-14888	72	35	give	give	VERB
fcis-14888	72	36	a	a	DET
fcis-14888	72	37	smaller	small	ADJ
fcis-14888	72	38	weight	weight	NOUN
fcis-14888	72	39	.	.	PUNCT
fcis-14888	73	1	channel	channel	NOUN
fcis-14888	73	2	attention	attention	NOUN
fcis-14888	73	3	i.e.	i.e.	X
fcis-14888	73	4	weighting	weight	VERB
fcis-14888	73	5	the	the	DET
fcis-14888	73	6	input	input	NOUN
fcis-14888	73	7	image	image	NOUN
fcis-14888	73	8	channels	channel	NOUN
fcis-14888	73	9	and	and	CCONJ
fcis-14888	73	10	then	then	ADV
fcis-14888	73	11	output	output	VERB
fcis-14888	73	12	.	.	PUNCT
fcis-14888	74	1	spatial	spatial	ADJ
fcis-14888	74	2	attention	attention	NOUN
fcis-14888	74	3	that	that	PRON
fcis-14888	74	4	is	be	AUX
fcis-14888	74	5	for	for	SCONJ
fcis-14888	74	6	the	the	DET
fcis-14888	74	7	input	input	NOUN
fcis-14888	74	8	image	image	NOUN
fcis-14888	74	9	region	region	NOUN
fcis-14888	74	10	weighted	weight	VERB
fcis-14888	74	11	and	and	CCONJ
fcis-14888	74	12	then	then	ADV
fcis-14888	74	13	output	output	VERB
fcis-14888	74	14	,	,	PUNCT
fcis-14888	74	15	the	the	DET
fcis-14888	74	16	representative	representative	ADJ
fcis-14888	74	17	model	model	NOUN
fcis-14888	74	18	is	be	AUX
fcis-14888	74	19	the	the	DET
fcis-14888	74	20	spatial	spatial	ADJ
fcis-14888	74	21	transformation	transformation	NOUN
fcis-14888	74	22	neural	neural	ADJ
fcis-14888	74	23	network	network	NOUN
fcis-14888	74	24	,	,	PUNCT
fcis-14888	74	25	but	but	CCONJ
fcis-14888	74	26	also	also	ADV
fcis-14888	74	27	a	a	DET
fcis-14888	74	28	kind	kind	NOUN
fcis-14888	74	29	of	of	ADP
fcis-14888	74	30	neural	neural	ADJ
fcis-14888	74	31	network	network	NOUN
fcis-14888	74	32	algorithm	algorithm	NOUN
fcis-14888	74	33	,	,	PUNCT
fcis-14888	74	34	can	can	AUX
fcis-14888	74	35	be	be	AUX
fcis-14888	74	36	a	a	DET
fcis-14888	74	37	variety	variety	NOUN
fcis-14888	74	38	of	of	ADP
fcis-14888	74	39	data	datum	NOUN
fcis-14888	74	40	in	in	ADP
fcis-14888	74	41	the	the	DET
fcis-14888	74	42	space	space	NOUN
fcis-14888	74	43	conversion	conversion	NOUN
fcis-14888	74	44	,	,	PUNCT
fcis-14888	74	45	and	and	CCONJ
fcis-14888	74	46	automatically	automatically	ADV
fcis-14888	74	47	get	get	VERB
fcis-14888	74	48	the	the	DET
fcis-14888	74	49	important	important	ADJ
fcis-14888	74	50	region	region	NOUN
fcis-14888	74	51	.	.	PUNCT
fcis-14888	75	1	and	and	CCONJ
fcis-14888	75	2	the	the	DET
fcis-14888	75	3	hybrid	hybrid	ADJ
fcis-14888	75	4	attention	attention	NOUN
fcis-14888	75	5	mechanism	mechanism	NOUN
fcis-14888	75	6	is	be	AUX
fcis-14888	75	7	the	the	DET
fcis-14888	75	8	combination	combination	NOUN
fcis-14888	75	9	of	of	ADP
fcis-14888	75	10	two	two	NUM
fcis-14888	75	11	attention	attention	NOUN
fcis-14888	75	12	mechanisms[6	mechanisms[6	ADP
fcis-14888	75	13	]	]	X
fcis-14888	75	14	.	.	PUNCT
fcis-14888	76	1	3.4	3.4	NUM
fcis-14888	76	2	.	.	PUNCT
fcis-14888	76	3	robotic	robotic	ADJ
fcis-14888	76	4	arm	arm	NOUN
fcis-14888	76	5	motion	motion	NOUN
fcis-14888	76	6	planning	plan	VERB
fcis-14888	76	7	moveit	moveit	NOUN
fcis-14888	76	8	!	!	PUNCT
fcis-14888	76	9	is	be	AUX
fcis-14888	76	10	one	one	NUM
fcis-14888	76	11	of	of	ADP
fcis-14888	76	12	the	the	DET
fcis-14888	76	13	most	most	ADV
fcis-14888	76	14	versatile	versatile	ADJ
fcis-14888	76	15	robotic	robotic	ADJ
fcis-14888	76	16	arm	arm	NOUN
fcis-14888	76	17	planning	planning	NOUN
fcis-14888	76	18	and	and	CCONJ
fcis-14888	76	19	control	control	NOUN
fcis-14888	76	20	packages	package	NOUN
fcis-14888	76	21	in	in	ADP
fcis-14888	76	22	ros	ros	PROPN
fcis-14888	76	23	,	,	PUNCT
fcis-14888	76	24	providing	provide	VERB
fcis-14888	76	25	a	a	DET
fcis-14888	76	26	powerful	powerful	ADJ
fcis-14888	76	27	set	set	NOUN
fcis-14888	76	28	of	of	ADP
fcis-14888	76	29	tools	tool	NOUN
fcis-14888	76	30	for	for	ADP
fcis-14888	76	31	motion	motion	NOUN
fcis-14888	76	32	planning	planning	NOUN
fcis-14888	76	33	,	,	PUNCT
fcis-14888	76	34	motion	motion	NOUN
fcis-14888	76	35	control	control	NOUN
fcis-14888	76	36	,	,	PUNCT
fcis-14888	76	37	collision	collision	NOUN
fcis-14888	76	38	detection	detection	NOUN
fcis-14888	76	39	,	,	PUNCT
fcis-14888	76	40	visualization	visualization	NOUN
fcis-14888	76	41	and	and	CCONJ
fcis-14888	76	42	simulation	simulation	NOUN
fcis-14888	76	43	for	for	ADP
fcis-14888	76	44	robotic	robotic	ADJ
fcis-14888	76	45	systems	system	NOUN
fcis-14888	76	46	.	.	PUNCT
fcis-14888	77	1	in	in	ADP
fcis-14888	77	2	terms	term	NOUN
fcis-14888	77	3	of	of	ADP
fcis-14888	77	4	motion	motion	NOUN
fcis-14888	77	5	planning	planning	NOUN
fcis-14888	77	6	,	,	PUNCT
fcis-14888	77	7	moveit	moveit	PROPN
fcis-14888	77	8	!	!	X
fcis-14888	77	9	provides	provide	VERB
fcis-14888	77	10	a	a	DET
fcis-14888	77	11	flexible	flexible	ADJ
fcis-14888	77	12	motion	motion	NOUN
fcis-14888	77	13	planning	planning	NOUN
fcis-14888	77	14	framework	framework	NOUN
fcis-14888	77	15	that	that	PRON
fcis-14888	77	16	can	can	AUX
fcis-14888	77	17	support	support	VERB
fcis-14888	77	18	a	a	DET
fcis-14888	77	19	wide	wide	ADJ
fcis-14888	77	20	range	range	NOUN
fcis-14888	77	21	of	of	ADP
fcis-14888	77	22	robotic	robotic	ADJ
fcis-14888	77	23	arm	arm	NOUN
fcis-14888	77	24	and	and	CCONJ
fcis-14888	77	25	actuator	actuator	NOUN
fcis-14888	77	26	types	type	NOUN
fcis-14888	77	27	,	,	PUNCT
fcis-14888	77	28	including	include	VERB
fcis-14888	77	29	support	support	NOUN
fcis-14888	77	30	for	for	ADP
fcis-14888	77	31	multi	multi	ADJ
fcis-14888	77	32	-	-	NOUN
fcis-14888	77	33	degree	degree	NOUN
fcis-14888	77	34	-	-	PUNCT
fcis-14888	77	35	of	of	ADP
fcis-14888	77	36	-	-	PUNCT
fcis-14888	77	37	freedom	freedom	NOUN
fcis-14888	77	38	,	,	PUNCT
fcis-14888	77	39	series	series	NOUN
fcis-14888	77	40	and	and	CCONJ
fcis-14888	77	41	parallel	parallel	ADJ
fcis-14888	77	42	robotic	robotic	ADJ
fcis-14888	77	43	arm	arm	NOUN
fcis-14888	77	44	planning	planning	NOUN
fcis-14888	77	45	.	.	PUNCT
fcis-14888	78	1	it	it	PRON
fcis-14888	78	2	contains	contain	VERB
fcis-14888	78	3	a	a	DET
fcis-14888	78	4	variety	variety	NOUN
fcis-14888	78	5	of	of	ADP
fcis-14888	78	6	motion	motion	NOUN
fcis-14888	78	7	planning	planning	NOUN
fcis-14888	78	8	algorithms	algorithm	NOUN
fcis-14888	78	9	,	,	PUNCT
fcis-14888	78	10	including	include	VERB
fcis-14888	78	11	the	the	DET
fcis-14888	78	12	rrt	rrt	NOUN
fcis-14888	78	13	and	and	CCONJ
fcis-14888	78	14	rrt	rrt	NOUN
fcis-14888	78	15	*	*	NOUN
fcis-14888	78	16	algorithms	algorithm	NOUN
fcis-14888	78	17	that	that	PRON
fcis-14888	78	18	need	need	VERB
fcis-14888	78	19	to	to	PART
fcis-14888	78	20	be	be	AUX
fcis-14888	78	21	used	use	VERB
fcis-14888	78	22	in	in	ADP
fcis-14888	78	23	this	this	DET
fcis-14888	78	24	paper	paper	NOUN
fcis-14888	78	25	.	.	PUNCT
fcis-14888	79	1	the	the	DET
fcis-14888	79	2	visualization	visualization	NOUN
fcis-14888	79	3	and	and	CCONJ
fcis-14888	79	4	simulation	simulation	NOUN
fcis-14888	79	5	tools	tool	NOUN
fcis-14888	79	6	of	of	ADP
fcis-14888	79	7	moveit	moveit	NOUN
fcis-14888	79	8	!	!	PUNCT
fcis-14888	80	1	make	make	VERB
fcis-14888	80	2	it	it	PRON
fcis-14888	80	3	possible	possible	ADJ
fcis-14888	80	4	to	to	PART
fcis-14888	80	5	visualize	visualize	VERB
fcis-14888	80	6	the	the	DET
fcis-14888	80	7	state	state	NOUN
fcis-14888	80	8	of	of	ADP
fcis-14888	80	9	the	the	DET
fcis-14888	80	10	robotic	robotic	ADJ
fcis-14888	80	11	arm	arm	NOUN
fcis-14888	80	12	and	and	CCONJ
fcis-14888	80	13	the	the	DET
fcis-14888	80	14	environment	environment	NOUN
fcis-14888	80	15	for	for	ADP
fcis-14888	80	16	easy	easy	ADJ
fcis-14888	80	17	path	path	NOUN
fcis-14888	80	18	planning	planning	NOUN
fcis-14888	80	19	and	and	CCONJ
fcis-14888	80	20	debugging[7	debugging[7	NOUN
fcis-14888	80	21	]	]	X
fcis-14888	80	22	.	.	PUNCT
fcis-14888	81	1	3.5	3.5	NUM
fcis-14888	81	2	.	.	PUNCT
fcis-14888	81	3	end	end	NOUN
fcis-14888	81	4	-	-	PUNCT
fcis-14888	81	5	effector	effector	NOUN
fcis-14888	81	6	control	control	NOUN
fcis-14888	81	7	when	when	SCONJ
fcis-14888	81	8	the	the	DET
fcis-14888	81	9	robotic	robotic	ADJ
fcis-14888	81	10	arm	arm	NOUN
fcis-14888	81	11	moves	move	VERB
fcis-14888	81	12	to	to	ADP
fcis-14888	81	13	the	the	DET
fcis-14888	81	14	right	right	ADJ
fcis-14888	81	15	position	position	NOUN
fcis-14888	81	16	,	,	PUNCT
fcis-14888	81	17	it	it	PRON
fcis-14888	81	18	will	will	AUX
fcis-14888	81	19	be	be	AUX
fcis-14888	81	20	operated	operate	VERB
fcis-14888	81	21	by	by	ADP
fcis-14888	81	22	the	the	DET
fcis-14888	81	23	end	end	NOUN
fcis-14888	81	24	-	-	PUNCT
fcis-14888	81	25	effector	effector	NOUN
fcis-14888	81	26	.	.	PUNCT
fcis-14888	82	1	the	the	DET
fcis-14888	82	2	robotic	robotic	ADJ
fcis-14888	82	3	arm	arm	NOUN
fcis-14888	82	4	is	be	AUX
fcis-14888	82	5	controlled	control	VERB
fcis-14888	82	6	using	use	VERB
fcis-14888	82	7	the	the	DET
fcis-14888	82	8	moveit	moveit	NOUN
fcis-14888	82	9	!	!	PUNCT
fcis-14888	83	1	function	function	NOUN
fcis-14888	83	2	package	package	NOUN
fcis-14888	83	3	,	,	PUNCT
fcis-14888	83	4	which	which	PRON
fcis-14888	83	5	can	can	AUX
fcis-14888	83	6	be	be	AUX
fcis-14888	83	7	utilized	utilize	VERB
fcis-14888	83	8	to	to	PART
fcis-14888	83	9	complete	complete	VERB
fcis-14888	83	10	the	the	DET
fcis-14888	83	11	moveit	moveit	NOUN
fcis-14888	83	12	!	!	PUNCT
fcis-14888	84	1	robot	robot	NOUN
fcis-14888	84	2	framework	framework	NOUN
fcis-14888	84	3	to	to	PART
fcis-14888	84	4	achieve	achieve	VERB
fcis-14888	84	5	the	the	DET
fcis-14888	84	6	recognition	recognition	NOUN
fcis-14888	84	7	of	of	ADP
fcis-14888	84	8	the	the	DET
fcis-14888	84	9	target	target	NOUN
fcis-14888	84	10	positional	positional	ADJ
fcis-14888	84	11	attitude	attitude	NOUN
fcis-14888	84	12	using	use	VERB
fcis-14888	84	13	moveit_simple_grasps	moveit_simple_grasps	PUNCT
fcis-14888	84	14	.	.	PUNCT
fcis-14888	85	1	although	although	SCONJ
fcis-14888	85	2	the	the	DET
fcis-14888	85	3	function	function	NOUN
fcis-14888	85	4	package	package	NOUN
fcis-14888	85	5	provides	provide	VERB
fcis-14888	85	6	easy	easy	ADJ
fcis-14888	85	7	to	to	PART
fcis-14888	85	8	use	use	VERB
fcis-14888	85	9	and	and	CCONJ
fcis-14888	85	10	convenient	convenient	ADJ
fcis-14888	85	11	ports	port	NOUN
fcis-14888	85	12	to	to	PART
fcis-14888	85	13	realize	realize	VERB
fcis-14888	85	14	the	the	DET
fcis-14888	85	15	operation	operation	NOUN
fcis-14888	85	16	of	of	ADP
fcis-14888	85	17	end	end	NOUN
fcis-14888	85	18	-	-	PUNCT
fcis-14888	85	19	effector	effector	NOUN
fcis-14888	85	20	,	,	PUNCT
fcis-14888	85	21	and	and	CCONJ
fcis-14888	85	22	it	it	PRON
fcis-14888	85	23	can	can	AUX
fcis-14888	85	24	set	set	VERB
fcis-14888	85	25	rich	rich	ADJ
fcis-14888	85	26	end	end	NOUN
fcis-14888	85	27	-	-	PUNCT
fcis-14888	85	28	effector	effector	NOUN
fcis-14888	85	29	movements	movement	NOUN
fcis-14888	85	30	and	and	CCONJ
fcis-14888	85	31	postures	posture	NOUN
fcis-14888	85	32	.	.	PUNCT
fcis-14888	86	1	however	however	ADV
fcis-14888	86	2	,	,	PUNCT
fcis-14888	86	3	there	there	PRON
fcis-14888	86	4	are	be	VERB
fcis-14888	86	5	shortcomings	shortcoming	NOUN
fcis-14888	86	6	in	in	ADP
fcis-14888	86	7	some	some	DET
fcis-14888	86	8	functions	function	NOUN
fcis-14888	86	9	,	,	PUNCT
fcis-14888	86	10	such	such	ADJ
fcis-14888	86	11	as	as	ADP
fcis-14888	86	12	the	the	DET
fcis-14888	86	13	accuracy	accuracy	NOUN
fcis-14888	86	14	of	of	ADP
fcis-14888	86	15	unstructured	unstructured	ADJ
fcis-14888	86	16	object	object	NOUN
fcis-14888	86	17	position	position	NOUN
fcis-14888	86	18	recognition	recognition	NOUN
fcis-14888	86	19	is	be	AUX
fcis-14888	86	20	not	not	PART
fcis-14888	86	21	high	high	ADJ
fcis-14888	86	22	enough	enough	ADV
fcis-14888	86	23	.	.	PUNCT
fcis-14888	87	1	in	in	ADP
fcis-14888	87	2	this	this	DET
fcis-14888	87	3	regard	regard	NOUN
fcis-14888	87	4	,	,	PUNCT
fcis-14888	87	5	the	the	DET
fcis-14888	87	6	mentioned	mention	VERB
fcis-14888	87	7	agile_grasp	agile_grasp	NOUN
fcis-14888	87	8	algorithm	algorithm	NOUN
fcis-14888	87	9	can	can	AUX
fcis-14888	87	10	be	be	AUX
fcis-14888	87	11	used	use	VERB
fcis-14888	87	12	.	.	PUNCT
fcis-14888	88	1	first	first	ADV
fcis-14888	88	2	,	,	PUNCT
fcis-14888	88	3	agile_grasp	agile_grasp	NOUN
fcis-14888	88	4	implements	implement	VERB
fcis-14888	88	5	an	an	DET
fcis-14888	88	6	agile	agile	ADJ
fcis-14888	88	7	grasping	grasping	NOUN
fcis-14888	88	8	method	method	NOUN
fcis-14888	88	9	based	base	VERB
fcis-14888	88	10	on	on	ADP
fcis-14888	88	11	depth	depth	NOUN
fcis-14888	88	12	images	image	NOUN
fcis-14888	88	13	.	.	PUNCT
fcis-14888	89	1	its	its	PRON
fcis-14888	89	2	main	main	ADJ
fcis-14888	89	3	process	process	NOUN
fcis-14888	89	4	is	be	AUX
fcis-14888	89	5	to	to	PART
fcis-14888	89	6	receive	receive	VERB
fcis-14888	89	7	the	the	DET
fcis-14888	89	8	input	input	NOUN
fcis-14888	89	9	rgb	rgb	PROPN
fcis-14888	89	10	-	-	PROPN
fcis-14888	89	11	d	d	PROPN
fcis-14888	89	12	image	image	NOUN
fcis-14888	89	13	,	,	PUNCT
fcis-14888	89	14	followed	follow	VERB
fcis-14888	89	15	by	by	ADP
fcis-14888	89	16	preprocessing	preprocesse	VERB
fcis-14888	89	17	the	the	DET
fcis-14888	89	18	depth	depth	NOUN
fcis-14888	89	19	image	image	NOUN
fcis-14888	89	20	,	,	PUNCT
fcis-14888	89	21	and	and	CCONJ
fcis-14888	89	22	then	then	ADV
fcis-14888	89	23	by	by	ADP
fcis-14888	89	24	using	use	VERB
fcis-14888	89	25	a	a	DET
fcis-14888	89	26	segmentation	segmentation	NOUN
fcis-14888	89	27	algorithm	algorithm	NOUN
fcis-14888	89	28	,	,	PUNCT
fcis-14888	89	29	the	the	DET
fcis-14888	89	30	objects	object	NOUN
fcis-14888	89	31	in	in	ADP
fcis-14888	89	32	the	the	DET
fcis-14888	89	33	depth	depth	NOUN
fcis-14888	89	34	image	image	NOUN
fcis-14888	89	35	are	be	AUX
fcis-14888	89	36	segmented	segment	VERB
fcis-14888	89	37	from	from	ADP
fcis-14888	89	38	the	the	DET
fcis-14888	89	39	background	background	NOUN
fcis-14888	89	40	for	for	ADP
fcis-14888	89	41	the	the	DET
fcis-14888	89	42	subsequent	subsequent	ADJ
fcis-14888	89	43	grasping	grasping	NOUN
fcis-14888	89	44	bit	bit	NOUN
fcis-14888	89	45	position	position	NOUN
fcis-14888	89	46	calculation	calculation	NOUN
fcis-14888	89	47	.	.	PUNCT
fcis-14888	90	1	on	on	ADP
fcis-14888	90	2	the	the	DET
fcis-14888	90	3	basis	basis	NOUN
fcis-14888	90	4	of	of	ADP
fcis-14888	90	5	object	object	NOUN
fcis-14888	90	6	segmentation	segmentation	NOUN
fcis-14888	90	7	,	,	PUNCT
fcis-14888	90	8	agile_grasp	agile_grasp	NOUN
fcis-14888	90	9	extracts	extract	NOUN
fcis-14888	90	10	candidates	candidate	NOUN
fcis-14888	90	11	for	for	ADP
fcis-14888	90	12	grasping	grasp	VERB
fcis-14888	90	13	poses	pose	NOUN
fcis-14888	90	14	from	from	ADP
fcis-14888	90	15	the	the	DET
fcis-14888	90	16	segmented	segment	VERB
fcis-14888	90	17	image	image	NOUN
fcis-14888	90	18	using	use	VERB
fcis-14888	90	19	a	a	DET
fcis-14888	90	20	special	special	ADJ
fcis-14888	90	21	image	image	NOUN
fcis-14888	90	22	feature	feature	NOUN
fcis-14888	90	23	extraction	extraction	NOUN
fcis-14888	90	24	method	method	NOUN
fcis-14888	90	25	such	such	ADJ
fcis-14888	90	26	as	as	ADP
fcis-14888	90	27	depth	depth	NOUN
fcis-14888	90	28	-	-	PUNCT
fcis-14888	90	29	channel	channel	NOUN
fcis-14888	90	30	based	base	VERB
fcis-14888	90	31	voting	voting	NOUN
fcis-14888	90	32	method	method	NOUN
fcis-14888	90	33	.	.	PUNCT
fcis-14888	91	1	the	the	DET
fcis-14888	91	2	grasping	grasp	VERB
fcis-14888	91	3	poses	pose	NOUN
fcis-14888	91	4	are	be	AUX
fcis-14888	91	5	filtered	filter	VERB
fcis-14888	91	6	and	and	CCONJ
fcis-14888	91	7	scored	score	VERB
fcis-14888	91	8	to	to	PART
fcis-14888	91	9	select	select	VERB
fcis-14888	91	10	the	the	DET
fcis-14888	91	11	best	good	ADJ
fcis-14888	91	12	grasping	grasping	NOUN
fcis-14888	91	13	pose	pose	NOUN
fcis-14888	91	14	[	[	X
fcis-14888	91	15	8	8	NUM
fcis-14888	91	16	]	]	PUNCT
fcis-14888	91	17	.	.	PUNCT
fcis-14888	92	1	4	4	X
fcis-14888	92	2	.	.	X
fcis-14888	92	3	test	test	NOUN
fcis-14888	92	4	4.1	4.1	NUM
fcis-14888	92	5	.	.	PUNCT
fcis-14888	93	1	simulation	simulation	NOUN
fcis-14888	93	2	and	and	CCONJ
fcis-14888	93	3	analysis	analysis	NOUN
fcis-14888	93	4	before	before	ADP
fcis-14888	93	5	the	the	DET
fcis-14888	93	6	real	real	ADJ
fcis-14888	93	7	machine	machine	NOUN
fcis-14888	93	8	test	test	NOUN
fcis-14888	93	9	,	,	PUNCT
fcis-14888	93	10	this	this	DET
fcis-14888	93	11	paper	paper	NOUN
fcis-14888	93	12	conducts	conduct	VERB
fcis-14888	93	13	a	a	DET
fcis-14888	93	14	simulation	simulation	NOUN
fcis-14888	93	15	experiment	experiment	NOUN
fcis-14888	93	16	,	,	PUNCT
fcis-14888	93	17	the	the	DET
fcis-14888	93	18	simulation	simulation	NOUN
fcis-14888	93	19	platform	platform	NOUN
fcis-14888	93	20	used	use	VERB
fcis-14888	93	21	in	in	ADP
fcis-14888	93	22	this	this	DET
fcis-14888	93	23	experiment	experiment	NOUN
fcis-14888	93	24	is	be	AUX
fcis-14888	93	25	the	the	DET
fcis-14888	93	26	joint	joint	ADJ
fcis-14888	93	27	simulation	simulation	NOUN
fcis-14888	93	28	platform	platform	NOUN
fcis-14888	93	29	of	of	ADP
fcis-14888	93	30	rviz	rviz	NOUN
fcis-14888	93	31	and	and	CCONJ
fcis-14888	93	32	gazebo	gazebo	NOUN
fcis-14888	93	33	in	in	ADP
fcis-14888	93	34	ros	ros	PROPN
fcis-14888	93	35	,	,	PUNCT
fcis-14888	93	36	which	which	PRON
fcis-14888	93	37	is	be	AUX
fcis-14888	93	38	aimed	aim	VERB
fcis-14888	93	39	at	at	ADP
fcis-14888	93	40	verifying	verify	VERB
fcis-14888	93	41	whether	whether	SCONJ
fcis-14888	93	42	the	the	DET
fcis-14888	93	43	co	co	NOUN
fcis-14888	93	44	-	-	NOUN
fcis-14888	93	45	operation	operation	NOUN
fcis-14888	93	46	between	between	ADP
fcis-14888	93	47	the	the	DET
fcis-14888	93	48	robotic	robotic	ADJ
fcis-14888	93	49	arm	arm	NOUN
fcis-14888	93	50	and	and	CCONJ
fcis-14888	93	51	the	the	DET
fcis-14888	93	52	working	working	NOUN
fcis-14888	93	53	scenario	scenario	NOUN
fcis-14888	93	54	can	can	AUX
fcis-14888	93	55	be	be	AUX
fcis-14888	93	56	carried	carry	VERB
fcis-14888	93	57	out	out	ADP
fcis-14888	93	58	smoothly	smoothly	ADV
fcis-14888	93	59	.	.	PUNCT
fcis-14888	94	1	rviz	rviz	NOUN
fcis-14888	94	2	(	(	PUNCT
fcis-14888	94	3	ros	ros	PROPN
fcis-14888	94	4	visualization	visualization	PROPN
fcis-14888	94	5	)	)	PUNCT
fcis-14888	94	6	is	be	AUX
fcis-14888	94	7	a	a	DET
fcis-14888	94	8	visualization	visualization	NOUN
fcis-14888	94	9	tool	tool	NOUN
fcis-14888	94	10	in	in	ADP
fcis-14888	94	11	ros	ros	PROPN
fcis-14888	94	12	,	,	PUNCT
fcis-14888	94	13	which	which	PRON
fcis-14888	94	14	is	be	AUX
fcis-14888	94	15	mainly	mainly	ADV
fcis-14888	94	16	used	use	VERB
fcis-14888	94	17	for	for	ADP
fcis-14888	94	18	presenting	present	VERB
fcis-14888	94	19	sensory	sensory	ADJ
fcis-14888	94	20	information	information	NOUN
fcis-14888	94	21	,	,	PUNCT
fcis-14888	94	22	state	state	NOUN
fcis-14888	94	23	data	datum	NOUN
fcis-14888	94	24	,	,	PUNCT
fcis-14888	94	25	and	and	CCONJ
fcis-14888	94	26	simulation	simulation	NOUN
fcis-14888	94	27	results	result	NOUN
fcis-14888	94	28	of	of	ADP
fcis-14888	94	29	a	a	DET
fcis-14888	94	30	robot	robot	NOUN
fcis-14888	94	31	system	system	NOUN
fcis-14888	94	32	.	.	PUNCT
fcis-14888	95	1	it	it	PRON
fcis-14888	95	2	provides	provide	VERB
fcis-14888	95	3	a	a	DET
fcis-14888	95	4	rich	rich	ADJ
fcis-14888	95	5	set	set	NOUN
fcis-14888	95	6	of	of	ADP
fcis-14888	95	7	functions	function	NOUN
fcis-14888	95	8	,	,	PUNCT
fcis-14888	95	9	including	include	VERB
fcis-14888	95	10	3d	3d	NUM
fcis-14888	95	11	scene	scene	NOUN
fcis-14888	95	12	visualization	visualization	NOUN
fcis-14888	95	13	,	,	PUNCT
fcis-14888	95	14	motion	motion	NOUN
fcis-14888	95	15	planning	planning	NOUN
fcis-14888	95	16	and	and	CCONJ
fcis-14888	95	17	control	control	NOUN
fcis-14888	95	18	of	of	ADP
fcis-14888	95	19	robotic	robotic	ADJ
fcis-14888	95	20	arms	arm	NOUN
fcis-14888	95	21	,	,	PUNCT
fcis-14888	95	22	and	and	CCONJ
fcis-14888	95	23	visualization	visualization	NOUN
fcis-14888	95	24	of	of	ADP
fcis-14888	95	25	sensor	sensor	NOUN
fcis-14888	95	26	data	datum	NOUN
fcis-14888	95	27	.	.	PUNCT
fcis-14888	96	1	and	and	CCONJ
fcis-14888	96	2	gazebo	gazebo	PROPN
fcis-14888	96	3	is	be	AUX
fcis-14888	96	4	a	a	DET
fcis-14888	96	5	widely	widely	ADV
fcis-14888	96	6	used	use	VERB
fcis-14888	96	7	open	open	ADJ
fcis-14888	96	8	source	source	NOUN
fcis-14888	96	9	robotics	robotic	NOUN
fcis-14888	96	10	118	118	NUM
fcis-14888	96	11	simulation	simulation	NOUN
fcis-14888	96	12	platform	platform	NOUN
fcis-14888	96	13	that	that	PRON
fcis-14888	96	14	creates	create	VERB
fcis-14888	96	15	highly	highly	ADV
fcis-14888	96	16	realistic	realistic	ADJ
fcis-14888	96	17	physical	physical	ADJ
fcis-14888	96	18	simulation	simulation	NOUN
fcis-14888	96	19	environments	environment	NOUN
fcis-14888	96	20	,	,	PUNCT
fcis-14888	96	21	including	include	VERB
fcis-14888	96	22	a	a	DET
fcis-14888	96	23	wide	wide	ADJ
fcis-14888	96	24	range	range	NOUN
fcis-14888	96	25	of	of	ADP
fcis-14888	96	26	sensors	sensor	NOUN
fcis-14888	96	27	,	,	PUNCT
fcis-14888	96	28	objects	object	NOUN
fcis-14888	96	29	and	and	CCONJ
fcis-14888	96	30	robot	robot	NOUN
fcis-14888	96	31	models	model	NOUN
fcis-14888	96	32	,	,	PUNCT
fcis-14888	96	33	and	and	CCONJ
fcis-14888	96	34	provides	provide	VERB
fcis-14888	96	35	a	a	DET
fcis-14888	96	36	physics	physics	NOUN
fcis-14888	96	37	engine	engine	NOUN
fcis-14888	96	38	for	for	ADP
fcis-14888	96	39	simulating	simulate	VERB
fcis-14888	96	40	real	real	ADJ
fcis-14888	96	41	-	-	PUNCT
fcis-14888	96	42	world	world	NOUN
fcis-14888	96	43	physical	physical	ADJ
fcis-14888	96	44	motion	motion	NOUN
fcis-14888	96	45	.	.	PUNCT
fcis-14888	97	1	firstly	firstly	ADV
fcis-14888	97	2	,	,	PUNCT
fcis-14888	97	3	this	this	DET
fcis-14888	97	4	paper	paper	NOUN
fcis-14888	97	5	carried	carry	VERB
fcis-14888	97	6	out	out	ADP
fcis-14888	97	7	the	the	DET
fcis-14888	97	8	model	model	NOUN
fcis-14888	97	9	building	building	NOUN
fcis-14888	97	10	and	and	CCONJ
fcis-14888	97	11	configuration	configuration	NOUN
fcis-14888	97	12	based	base	VERB
fcis-14888	97	13	on	on	ADP
fcis-14888	97	14	the	the	DET
fcis-14888	97	15	urdf	urdf	NOUN
fcis-14888	97	16	(	(	PUNCT
fcis-14888	97	17	unified	unified	ADJ
fcis-14888	97	18	robot	robot	NOUN
fcis-14888	97	19	description	description	NOUN
fcis-14888	97	20	format	format	NOUN
fcis-14888	97	21	)	)	PUNCT
fcis-14888	97	22	files	file	NOUN
fcis-14888	97	23	of	of	ADP
fcis-14888	97	24	the	the	DET
fcis-14888	97	25	robotic	robotic	ADJ
fcis-14888	97	26	arm	arm	NOUN
fcis-14888	97	27	and	and	CCONJ
fcis-14888	97	28	the	the	DET
fcis-14888	97	29	scene	scene	NOUN
fcis-14888	97	30	,	,	PUNCT
fcis-14888	97	31	including	include	VERB
fcis-14888	97	32	the	the	DET
fcis-14888	97	33	size	size	NOUN
fcis-14888	97	34	,	,	PUNCT
fcis-14888	97	35	weight	weight	NOUN
fcis-14888	97	36	,	,	PUNCT
fcis-14888	97	37	material	material	NOUN
fcis-14888	97	38	and	and	CCONJ
fcis-14888	97	39	other	other	ADJ
fcis-14888	97	40	parameters	parameter	NOUN
fcis-14888	97	41	of	of	ADP
fcis-14888	97	42	the	the	DET
fcis-14888	97	43	robotic	robotic	ADJ
fcis-14888	97	44	arm	arm	NOUN
fcis-14888	97	45	and	and	CCONJ
fcis-14888	97	46	other	other	ADJ
fcis-14888	97	47	devices	device	NOUN
fcis-14888	97	48	,	,	PUNCT
fcis-14888	97	49	as	as	ADV
fcis-14888	97	50	well	well	ADV
fcis-14888	97	51	as	as	ADP
fcis-14888	97	52	the	the	DET
fcis-14888	97	53	establishment	establishment	NOUN
fcis-14888	97	54	of	of	ADP
fcis-14888	97	55	the	the	DET
fcis-14888	97	56	environment	environment	NOUN
fcis-14888	97	57	model	model	NOUN
fcis-14888	97	58	.	.	PUNCT
fcis-14888	98	1	after	after	ADP
fcis-14888	98	2	completing	complete	VERB
fcis-14888	98	3	the	the	DET
fcis-14888	98	4	configuration	configuration	NOUN
fcis-14888	98	5	,	,	PUNCT
fcis-14888	98	6	rviz	rviz	NOUN
fcis-14888	98	7	in	in	ADP
fcis-14888	98	8	ros	ros	PROPN
fcis-14888	98	9	was	be	AUX
fcis-14888	98	10	used	use	VERB
fcis-14888	98	11	to	to	PART
fcis-14888	98	12	carry	carry	VERB
fcis-14888	98	13	out	out	ADP
fcis-14888	98	14	the	the	DET
fcis-14888	98	15	visualization	visualization	NOUN
fcis-14888	98	16	test	test	NOUN
fcis-14888	98	17	of	of	ADP
fcis-14888	98	18	some	some	DET
fcis-14888	98	19	functions	function	NOUN
fcis-14888	98	20	,	,	PUNCT
fcis-14888	98	21	such	such	ADJ
fcis-14888	98	22	as	as	ADP
fcis-14888	98	23	the	the	DET
fcis-14888	98	24	forward	forward	ADJ
fcis-14888	98	25	and	and	CCONJ
fcis-14888	98	26	reverse	reverse	ADJ
fcis-14888	98	27	kinematics	kinematic	NOUN
fcis-14888	98	28	calculation	calculation	NOUN
fcis-14888	98	29	of	of	ADP
fcis-14888	98	30	the	the	DET
fcis-14888	98	31	robotic	robotic	ADJ
fcis-14888	98	32	arm	arm	NOUN
fcis-14888	98	33	,	,	PUNCT
fcis-14888	98	34	collision	collision	NOUN
fcis-14888	98	35	detection	detection	NOUN
fcis-14888	98	36	,	,	PUNCT
fcis-14888	98	37	and	and	CCONJ
fcis-14888	98	38	so	so	ADV
fcis-14888	98	39	on	on	ADV
fcis-14888	98	40	.	.	PUNCT
fcis-14888	99	1	fig	fig	NOUN
fcis-14888	99	2	4	4	NUM
fcis-14888	99	3	.	.	PUNCT
fcis-14888	100	1	gazebo	gazebo	NOUN
fcis-14888	100	2	simulation	simulation	NOUN
fcis-14888	100	3	and	and	CCONJ
fcis-14888	100	4	robotic	robotic	ADJ
fcis-14888	100	5	arm	arm	NOUN
fcis-14888	100	6	navigation	navigation	NOUN
fcis-14888	100	7	fig	fig	NOUN
fcis-14888	100	8	5	5	NUM
fcis-14888	100	9	.	.	PUNCT
fcis-14888	101	1	testing	test	VERB
fcis-14888	101	2	the	the	DET
fcis-14888	101	3	moveit	moveit	NOUN
fcis-14888	101	4	!	!	PUNCT
fcis-14888	102	1	planning	plan	VERB
fcis-14888	102	2	function	function	NOUN
fcis-14888	102	3	in	in	ADP
fcis-14888	102	4	the	the	DET
fcis-14888	102	5	rviz	rviz	NOUN
fcis-14888	102	6	interface	interface	NOUN
fcis-14888	102	7	4.2	4.2	NUM
fcis-14888	102	8	.	.	PUNCT
fcis-14888	103	1	real	real	ADJ
fcis-14888	103	2	machine	machine	NOUN
fcis-14888	103	3	testing	testing	NOUN
fcis-14888	103	4	in	in	ADP
fcis-14888	103	5	this	this	DET
fcis-14888	103	6	paper	paper	NOUN
fcis-14888	103	7	,	,	PUNCT
fcis-14888	103	8	the	the	DET
fcis-14888	103	9	motion	motion	NOUN
fcis-14888	103	10	planning	planning	NOUN
fcis-14888	103	11	test	test	NOUN
fcis-14888	103	12	of	of	ADP
fcis-14888	103	13	a	a	DET
fcis-14888	103	14	real	real	ADJ
fcis-14888	103	15	environment	environment	NOUN
fcis-14888	103	16	robotic	robotic	ADJ
fcis-14888	103	17	arm	arm	NOUN
fcis-14888	103	18	is	be	AUX
fcis-14888	103	19	completed	complete	VERB
fcis-14888	103	20	under	under	ADP
fcis-14888	103	21	controlled	control	VERB
fcis-14888	103	22	conditions	condition	NOUN
fcis-14888	103	23	with	with	ADP
fcis-14888	103	24	moveit	moveit	NOUN
fcis-14888	103	25	!	!	PUNCT
fcis-14888	104	1	in	in	ADP
fcis-14888	104	2	the	the	DET
fcis-14888	104	3	actual	actual	ADJ
fcis-14888	104	4	deployment	deployment	NOUN
fcis-14888	104	5	,	,	PUNCT
fcis-14888	104	6	it	it	PRON
fcis-14888	104	7	is	be	AUX
fcis-14888	104	8	necessary	necessary	ADJ
fcis-14888	104	9	to	to	PART
fcis-14888	104	10	set	set	VERB
fcis-14888	104	11	up	up	ADP
fcis-14888	104	12	the	the	DET
fcis-14888	104	13	motion	motion	NOUN
fcis-14888	104	14	controller	controller	NOUN
fcis-14888	104	15	in	in	ADP
fcis-14888	104	16	ros	ros	PROPN
fcis-14888	104	17	,	,	PUNCT
fcis-14888	104	18	as	as	ADV
fcis-14888	104	19	well	well	ADV
fcis-14888	104	20	as	as	ADP
fcis-14888	104	21	the	the	DET
fcis-14888	104	22	corresponding	corresponding	ADJ
fcis-14888	104	23	hardware	hardware	NOUN
fcis-14888	104	24	interface	interface	NOUN
fcis-14888	104	25	of	of	ADP
fcis-14888	104	26	the	the	DET
fcis-14888	104	27	robotic	robotic	ADJ
fcis-14888	104	28	arm	arm	NOUN
fcis-14888	104	29	,	,	PUNCT
fcis-14888	104	30	and	and	CCONJ
fcis-14888	104	31	the	the	DET
fcis-14888	104	32	joints	joint	NOUN
fcis-14888	104	33	of	of	ADP
fcis-14888	104	34	the	the	DET
fcis-14888	104	35	robotic	robotic	ADJ
fcis-14888	104	36	arm	arm	NOUN
fcis-14888	104	37	are	be	AUX
fcis-14888	104	38	directly	directly	ADV
fcis-14888	104	39	controlled	control	VERB
fcis-14888	104	40	by	by	ADP
fcis-14888	104	41	the	the	DET
fcis-14888	104	42	ros	ros	PROPN
fcis-14888	104	43	motion	motion	NOUN
fcis-14888	104	44	controller	controller	NOUN
fcis-14888	104	45	.	.	PUNCT
fcis-14888	105	1	in	in	ADP
fcis-14888	105	2	addition	addition	NOUN
fcis-14888	105	3	,	,	PUNCT
fcis-14888	105	4	it	it	PRON
fcis-14888	105	5	is	be	AUX
fcis-14888	105	6	also	also	ADV
fcis-14888	105	7	necessary	necessary	ADJ
fcis-14888	105	8	to	to	PART
fcis-14888	105	9	set	set	VERB
fcis-14888	105	10	up	up	ADP
fcis-14888	105	11	the	the	DET
fcis-14888	105	12	state	state	NOUN
fcis-14888	105	13	feeder	feeder	NOUN
fcis-14888	105	14	to	to	PART
fcis-14888	105	15	provide	provide	VERB
fcis-14888	105	16	real	real	ADJ
fcis-14888	105	17	-	-	PUNCT
fcis-14888	105	18	time	time	NOUN
fcis-14888	105	19	feedback	feedback	NOUN
fcis-14888	105	20	on	on	ADP
fcis-14888	105	21	the	the	DET
fcis-14888	105	22	state	state	NOUN
fcis-14888	105	23	of	of	ADP
fcis-14888	105	24	the	the	DET
fcis-14888	105	25	joints	joint	NOUN
fcis-14888	105	26	for	for	ADP
fcis-14888	105	27	planning	planning	NOUN
fcis-14888	105	28	purposes	purpose	NOUN
fcis-14888	105	29	.	.	PUNCT
fcis-14888	106	1	the	the	DET
fcis-14888	106	2	most	most	ADV
fcis-14888	106	3	important	important	ADJ
fcis-14888	106	4	part	part	NOUN
fcis-14888	106	5	lies	lie	VERB
fcis-14888	106	6	in	in	ADP
fcis-14888	106	7	the	the	DET
fcis-14888	106	8	configuration	configuration	NOUN
fcis-14888	106	9	of	of	ADP
fcis-14888	106	10	moveit	moveit	NOUN
fcis-14888	106	11	!	!	PUNCT
fcis-14888	107	1	which	which	PRON
fcis-14888	107	2	will	will	AUX
fcis-14888	107	3	directly	directly	ADV
fcis-14888	107	4	determine	determine	VERB
fcis-14888	107	5	the	the	DET
fcis-14888	107	6	way	way	NOUN
fcis-14888	107	7	the	the	DET
fcis-14888	107	8	robotic	robotic	ADJ
fcis-14888	107	9	arm	arm	NOUN
fcis-14888	107	10	is	be	AUX
fcis-14888	107	11	planned	plan	VERB
fcis-14888	107	12	.	.	PUNCT
fcis-14888	108	1	5	5	X
fcis-14888	108	2	.	.	X
fcis-14888	108	3	further	further	ADJ
fcis-14888	108	4	work	work	NOUN
fcis-14888	108	5	at	at	ADP
fcis-14888	108	6	present	present	ADJ
fcis-14888	108	7	,	,	PUNCT
fcis-14888	108	8	the	the	DET
fcis-14888	108	9	system	system	NOUN
fcis-14888	108	10	designed	design	VERB
fcis-14888	108	11	in	in	ADP
fcis-14888	108	12	this	this	DET
fcis-14888	108	13	paper	paper	NOUN
fcis-14888	108	14	still	still	ADV
fcis-14888	108	15	has	have	VERB
fcis-14888	108	16	many	many	ADJ
fcis-14888	108	17	problems	problem	NOUN
fcis-14888	108	18	.	.	PUNCT
fcis-14888	109	1	for	for	ADP
fcis-14888	109	2	example	example	NOUN
fcis-14888	109	3	,	,	PUNCT
fcis-14888	109	4	the	the	DET
fcis-14888	109	5	target	target	NOUN
fcis-14888	109	6	recognition	recognition	NOUN
fcis-14888	109	7	algorithm	algorithm	NOUN
fcis-14888	109	8	and	and	CCONJ
fcis-14888	109	9	the	the	DET
fcis-14888	109	10	position	position	NOUN
fcis-14888	109	11	recognition	recognition	NOUN
fcis-14888	109	12	algorithm	algorithm	NOUN
fcis-14888	109	13	are	be	AUX
fcis-14888	109	14	too	too	ADV
fcis-14888	109	15	redundant	redundant	ADJ
fcis-14888	109	16	,	,	PUNCT
fcis-14888	109	17	which	which	PRON
fcis-14888	109	18	can	can	AUX
fcis-14888	109	19	be	be	AUX
fcis-14888	109	20	realized	realize	VERB
fcis-14888	109	21	by	by	ADP
fcis-14888	109	22	expanding	expand	VERB
fcis-14888	109	23	the	the	DET
fcis-14888	109	24	dataset	dataset	NOUN
fcis-14888	109	25	and	and	CCONJ
fcis-14888	109	26	using	use	VERB
fcis-14888	109	27	the	the	DET
fcis-14888	109	28	yolo	yolo	ADJ
fcis-14888	109	29	algorithm	algorithm	NOUN
fcis-14888	109	30	to	to	PART
fcis-14888	109	31	achieve	achieve	VERB
fcis-14888	109	32	target	target	NOUN
fcis-14888	109	33	detection	detection	NOUN
fcis-14888	109	34	and	and	CCONJ
fcis-14888	109	35	position	position	NOUN
fcis-14888	109	36	detection	detection	NOUN
fcis-14888	109	37	in	in	ADP
fcis-14888	109	38	one	one	NUM
fcis-14888	109	39	step	step	NOUN
fcis-14888	109	40	.	.	PUNCT
fcis-14888	110	1	the	the	DET
fcis-14888	110	2	end	end	NOUN
fcis-14888	110	3	-	-	PUNCT
fcis-14888	110	4	effector	effector	NOUN
fcis-14888	110	5	type	type	NOUN
fcis-14888	110	6	is	be	AUX
fcis-14888	110	7	less	less	ADJ
fcis-14888	110	8	and	and	CCONJ
fcis-14888	110	9	single	single	ADJ
fcis-14888	110	10	function	function	NOUN
fcis-14888	110	11	.	.	PUNCT
fcis-14888	111	1	the	the	DET
fcis-14888	111	2	structure	structure	NOUN
fcis-14888	111	3	of	of	ADP
fcis-14888	111	4	end	end	NOUN
fcis-14888	111	5	-	-	PUNCT
fcis-14888	111	6	effector	effector	NOUN
fcis-14888	111	7	can	can	AUX
fcis-14888	111	8	be	be	AUX
fcis-14888	111	9	improved	improve	VERB
fcis-14888	111	10	or	or	CCONJ
fcis-14888	111	11	end	end	NOUN
fcis-14888	111	12	-	-	PUNCT
fcis-14888	111	13	effector	effector	NOUN
fcis-14888	111	14	can	can	AUX
fcis-14888	111	15	be	be	AUX
fcis-14888	111	16	added	add	VERB
fcis-14888	111	17	to	to	PART
fcis-14888	111	18	enrich	enrich	VERB
fcis-14888	111	19	the	the	DET
fcis-14888	111	20	function	function	NOUN
fcis-14888	111	21	.	.	PUNCT
fcis-14888	112	1	for	for	ADP
fcis-14888	112	2	example	example	NOUN
fcis-14888	112	3	,	,	PUNCT
fcis-14888	112	4	adding	add	VERB
fcis-14888	112	5	an	an	DET
fcis-14888	112	6	infrared	infrared	ADJ
fcis-14888	112	7	camera	camera	NOUN
fcis-14888	112	8	can	can	AUX
fcis-14888	112	9	detect	detect	VERB
fcis-14888	112	10	the	the	DET
fcis-14888	112	11	heat	heat	NOUN
fcis-14888	112	12	location	location	NOUN
fcis-14888	112	13	and	and	CCONJ
fcis-14888	112	14	temperature	temperature	NOUN
fcis-14888	112	15	of	of	ADP
fcis-14888	112	16	the	the	DET
fcis-14888	112	17	server	server	NOUN
fcis-14888	112	18	and	and	CCONJ
fcis-14888	112	19	find	find	VERB
fcis-14888	112	20	the	the	DET
fcis-14888	112	21	problem	problem	NOUN
fcis-14888	112	22	faster	fast	ADV
fcis-14888	112	23	.	.	PUNCT
fcis-14888	113	1	for	for	ADP
fcis-14888	113	2	example	example	NOUN
fcis-14888	113	3	,	,	PUNCT
fcis-14888	113	4	add	add	VERB
fcis-14888	113	5	a	a	DET
fcis-14888	113	6	suction	suction	NOUN
fcis-14888	113	7	device	device	NOUN
fcis-14888	113	8	to	to	PART
fcis-14888	113	9	realize	realize	VERB
fcis-14888	113	10	the	the	DET
fcis-14888	113	11	operation	operation	NOUN
fcis-14888	113	12	of	of	ADP
fcis-14888	113	13	dust	dust	NOUN
fcis-14888	113	14	cleaning	clean	VERB
fcis-14888	113	15	and	and	CCONJ
fcis-14888	113	16	so	so	ADV
fcis-14888	113	17	on	on	ADV
fcis-14888	113	18	.	.	PUNCT
fcis-14888	114	1	the	the	DET
fcis-14888	114	2	mechanical	mechanical	ADJ
fcis-14888	114	3	arm	arm	NOUN
fcis-14888	114	4	is	be	AUX
fcis-14888	114	5	fixed	fix	VERB
fcis-14888	114	6	,	,	PUNCT
fcis-14888	114	7	and	and	CCONJ
fcis-14888	114	8	the	the	DET
fcis-14888	114	9	flexibility	flexibility	NOUN
fcis-14888	114	10	is	be	AUX
fcis-14888	114	11	greatly	greatly	ADV
fcis-14888	114	12	limited	limited	ADJ
fcis-14888	114	13	.	.	PUNCT
fcis-14888	115	1	the	the	DET
fcis-14888	115	2	arm	arm	NOUN
fcis-14888	115	3	can	can	AUX
fcis-14888	115	4	be	be	AUX
fcis-14888	115	5	mounted	mount	VERB
fcis-14888	115	6	on	on	ADP
fcis-14888	115	7	a	a	DET
fcis-14888	115	8	chassis	chassis	NOUN
fcis-14888	115	9	or	or	CCONJ
fcis-14888	115	10	a	a	DET
fcis-14888	115	11	track	track	NOUN
fcis-14888	115	12	to	to	PART
fcis-14888	115	13	realize	realize	VERB
fcis-14888	115	14	spatial	spatial	ADJ
fcis-14888	115	15	mobility	mobility	NOUN
fcis-14888	115	16	.	.	PUNCT
fcis-14888	116	1	fig	fig	NOUN
fcis-14888	116	2	6	6	NUM
fcis-14888	116	3	.	.	PUNCT
fcis-14888	117	1	real	real	ADJ
fcis-14888	117	2	machine	machine	NOUN
fcis-14888	117	3	operation	operation	NOUN
fcis-14888	117	4	scenarios	scenario	NOUN
fcis-14888	117	5	with	with	ADP
fcis-14888	117	6	the	the	DET
fcis-14888	117	7	further	further	ADJ
fcis-14888	117	8	development	development	NOUN
fcis-14888	117	9	of	of	ADP
fcis-14888	117	10	the	the	DET
fcis-14888	117	11	information	information	NOUN
fcis-14888	117	12	age	age	NOUN
fcis-14888	117	13	,	,	PUNCT
fcis-14888	117	14	the	the	DET
fcis-14888	117	15	demand	demand	NOUN
fcis-14888	117	16	for	for	ADP
fcis-14888	117	17	large	large	ADJ
fcis-14888	117	18	-	-	PUNCT
fcis-14888	117	19	scale	scale	NOUN
fcis-14888	117	20	server	server	NOUN
fcis-14888	117	21	hardware	hardware	NOUN
fcis-14888	117	22	maintenance	maintenance	NOUN
fcis-14888	117	23	will	will	AUX
fcis-14888	117	24	become	become	VERB
fcis-14888	117	25	greater	great	ADJ
fcis-14888	117	26	and	and	CCONJ
fcis-14888	117	27	greater	great	ADJ
fcis-14888	117	28	.	.	PUNCT
fcis-14888	118	1	and	and	CCONJ
fcis-14888	118	2	most	most	ADJ
fcis-14888	118	3	of	of	ADP
fcis-14888	118	4	these	these	DET
fcis-14888	118	5	maintenance	maintenance	NOUN
fcis-14888	118	6	behaviors	behavior	NOUN
fcis-14888	118	7	are	be	AUX
fcis-14888	118	8	mechanical	mechanical	ADJ
fcis-14888	118	9	,	,	PUNCT
fcis-14888	118	10	the	the	DET
fcis-14888	118	11	use	use	NOUN
fcis-14888	118	12	of	of	ADP
fcis-14888	118	13	robotic	robotic	ADJ
fcis-14888	118	14	arms	arm	NOUN
fcis-14888	118	15	to	to	PART
fcis-14888	118	16	complete	complete	VERB
fcis-14888	118	17	simple	simple	ADJ
fcis-14888	118	18	maintenance	maintenance	NOUN
fcis-14888	118	19	work	work	NOUN
fcis-14888	118	20	can	can	AUX
fcis-14888	118	21	effectively	effectively	ADV
fcis-14888	118	22	reduce	reduce	VERB
fcis-14888	118	23	labor	labor	NOUN
fcis-14888	118	24	costs	cost	NOUN
fcis-14888	118	25	.	.	PUNCT
fcis-14888	119	1	moreover	moreover	ADV
fcis-14888	119	2	,	,	PUNCT
fcis-14888	119	3	the	the	DET
fcis-14888	119	4	industry	industry	NOUN
fcis-14888	119	5	has	have	VERB
fcis-14888	119	6	a	a	DET
fcis-14888	119	7	low	low	ADJ
fcis-14888	119	8	degree	degree	NOUN
fcis-14888	119	9	of	of	ADP
fcis-14888	119	10	development	development	NOUN
fcis-14888	119	11	and	and	CCONJ
fcis-14888	119	12	has	have	VERB
fcis-14888	119	13	great	great	ADJ
fcis-14888	119	14	potential	potential	NOUN
fcis-14888	119	15	for	for	ADP
fcis-14888	119	16	development	development	NOUN
fcis-14888	119	17	.	.	PUNCT
fcis-14888	120	1	119	119	NUM
fcis-14888	120	2	acknowledgments	acknowledgment	NOUN
fcis-14888	120	3	this	this	DET
fcis-14888	120	4	work	work	NOUN
fcis-14888	120	5	was	be	AUX
fcis-14888	120	6	financially	financially	ADV
fcis-14888	120	7	supported	support	VERB
fcis-14888	120	8	by	by	ADP
fcis-14888	120	9	innovation	innovation	NOUN
fcis-14888	120	10	training	training	NOUN
fcis-14888	120	11	fund	fund	NOUN
fcis-14888	120	12	of	of	ADP
fcis-14888	120	13	artificial	artificial	ADJ
fcis-14888	120	14	intelligence	intelligence	NOUN
fcis-14888	120	15	research	research	PROPN
fcis-14888	120	16	institute	institute	PROPN
fcis-14888	120	17	,	,	PUNCT
fcis-14888	120	18	nanjing	nanjing	PROPN
fcis-14888	120	19	normal	normal	ADJ
fcis-14888	120	20	university	university	NOUN
fcis-14888	120	21	.	.	PUNCT
fcis-14888	121	1	references	reference	NOUN
fcis-14888	121	2	[	[	X
fcis-14888	121	3	1	1	X
fcis-14888	121	4	]	]	PUNCT
fcis-14888	121	5	ye	ye	PRON
fcis-14888	121	6	a	a	PRON
fcis-14888	121	7	,	,	PUNCT
fcis-14888	121	8	pang	pang	NOUN
fcis-14888	121	9	b	b	NUM
fcis-14888	121	10	,	,	PUNCT
fcis-14888	121	11	jin	jin	PROPN
fcis-14888	121	12	y	y	PROPN
fcis-14888	121	13	,	,	PUNCT
fcis-14888	121	14	et	et	PROPN
fcis-14888	121	15	al	al	PROPN
fcis-14888	121	16	.	.	PUNCT
fcis-14888	122	1	a	a	DET
fcis-14888	122	2	yolo	yolo	PROPN
fcis-14888	122	3	-	-	PUNCT
fcis-14888	122	4	based	base	VERB
fcis-14888	122	5	neural	neural	ADJ
fcis-14888	122	6	network	network	NOUN
fcis-14888	122	7	with	with	ADP
fcis-14888	122	8	vae	vae	PROPN
fcis-14888	122	9	for	for	ADP
fcis-14888	122	10	intelligent	intelligent	ADJ
fcis-14888	122	11	garbage	garbage	NOUN
fcis-14888	122	12	detection	detection	NOUN
fcis-14888	122	13	and	and	CCONJ
fcis-14888	122	14	classification	classification	NOUN
fcis-14888	122	15	[	[	X
fcis-14888	122	16	c]//	c]//	PROPN
fcis-14888	122	17	2020	2020	NUM
fcis-14888	122	18	3rd	3rd	ADJ
fcis-14888	122	19	international	international	ADJ
fcis-14888	122	20	conference	conference	NOUN
fcis-14888	122	21	on	on	ADP
fcis-14888	122	22	algorithms	algorithm	NOUN
fcis-14888	122	23	,	,	PUNCT
fcis-14888	122	24	computing	computing	NOUN
fcis-14888	122	25	and	and	CCONJ
fcis-14888	122	26	artificial	artificial	ADJ
fcis-14888	122	27	intelligence,2020:1	intelligence,2020:1	PROPN
fcis-14888	122	28	-	-	PUNCT
fcis-14888	122	29	7	7	NUM
fcis-14888	122	30	.	.	PUNCT
fcis-14888	123	1	[	[	X
fcis-14888	123	2	2	2	X
fcis-14888	123	3	]	]	X
fcis-14888	123	4	ramses	ramses	PROPN
fcis-14888	123	5	reyes	reyes	PROPN
fcis-14888	123	6	,	,	PUNCT
fcis-14888	123	7	israel	israel	PROPN
fcis-14888	123	8	becerra	becerra	PROPN
fcis-14888	123	9	,	,	PUNCT
fcis-14888	123	10	rafael	rafael	PROPN
fcis-14888	123	11	murrieta	murrieta	PROPN
fcis-14888	123	12	-	-	PUNCT
fcis-14888	123	13	cid	cid	PROPN
fcis-14888	123	14	,	,	PUNCT
fcis-14888	123	15	seth	seth	PROPN
fcis-14888	123	16	hutchinson	hutchinson	PROPN
fcis-14888	123	17	.	.	PUNCT
fcis-14888	124	1	visual	visual	ADJ
fcis-14888	124	2	-	-	PUNCT
fcis-14888	124	3	rrt	rrt	NOUN
fcis-14888	124	4	:	:	PUNCT
fcis-14888	124	5	integrating	integrate	VERB
fcis-14888	124	6	ibvs	ibvs	NOUN
fcis-14888	124	7	as	as	ADP
fcis-14888	124	8	a	a	DET
fcis-14888	124	9	steering	steering	NOUN
fcis-14888	124	10	method	method	NOUN
fcis-14888	124	11	in	in	ADP
fcis-14888	124	12	an	an	DET
fcis-14888	124	13	rrt	rrt	NOUN
fcis-14888	124	14	planner	planner	NOUN
fcis-14888	124	15	.	.	PUNCT
fcis-14888	125	1	2023:09	2023:09	NUM
fcis-14888	125	2	-	-	SYM
fcis-14888	125	3	22	22	NUM
fcis-14888	125	4	.	.	PUNCT
fcis-14888	126	1	[	[	X
fcis-14888	126	2	3	3	X
fcis-14888	126	3	]	]	X
fcis-14888	126	4	fangbin	fangbin	PROPN
fcis-14888	126	5	wang	wang	PROPN
fcis-14888	126	6	,	,	PUNCT
fcis-14888	126	7	yefei	yefei	PROPN
fcis-14888	126	8	gao	gao	PROPN
fcis-14888	126	9	,	,	PUNCT
fcis-14888	126	10	zhong	zhong	PROPN
fcis-14888	126	11	chen	chen	PROPN
fcis-14888	126	12	,	,	PUNCT
fcis-14888	126	13	xue	xue	PROPN
fcis-14888	126	14	gong	gong	PROPN
fcis-14888	126	15	,	,	PUNCT
fcis-14888	126	16	darong	darong	PROPN
fcis-14888	126	17	zhu	zhu	PROPN
fcis-14888	126	18	,	,	PUNCT
fcis-14888	126	19	wanlin	wanlin	PROPN
fcis-14888	126	20	cong	cong	PROPN
fcis-14888	126	21	.	.	PUNCT
fcis-14888	127	1	a	a	DET
fcis-14888	127	2	path	path	NOUN
fcis-14888	127	3	planning	planning	NOUN
fcis-14888	127	4	algorithm	algorithm	NOUN
fcis-14888	127	5	of	of	ADP
fcis-14888	127	6	inspection	inspection	NOUN
fcis-14888	127	7	robots	robot	NOUN
fcis-14888	127	8	for	for	ADP
fcis-14888	127	9	solar	solar	ADJ
fcis-14888	127	10	power	power	NOUN
fcis-14888	127	11	plants	plant	NOUN
fcis-14888	127	12	based	base	VERB
fcis-14888	127	13	on	on	ADP
fcis-14888	127	14	improved	improved	ADJ
fcis-14888	127	15	rrt	rrt	NOUN
fcis-14888	127	16	*	*	NOUN
fcis-14888	127	17	.	.	PUNCT
fcis-14888	128	1	2023:11	2023:11	PROPN
fcis-14888	128	2	-	-	SYM
fcis-14888	128	3	01	01	NUM
fcis-14888	128	4	.	.	PUNCT
fcis-14888	129	1	[	[	X
fcis-14888	129	2	4	4	NUM
fcis-14888	129	3	]	]	X
fcis-14888	129	4	wu	wu	PROPN
fcis-14888	129	5	y	y	PROPN
fcis-14888	129	6	,	,	PUNCT
fcis-14888	129	7	xie	xie	PROPN
fcis-14888	130	1	x	x	PROPN
fcis-14888	130	2	j.	j.	PROPN
fcis-14888	130	3	robust	robust	ADJ
fcis-14888	130	4	adaptive	adaptive	ADJ
fcis-14888	130	5	control	control	NOUN
fcis-14888	130	6	for	for	ADP
fcis-14888	130	7	state	state	NOUN
fcis-14888	130	8	constrained	constrain	VERB
fcis-14888	130	9	nonlinear	nonlinear	ADJ
fcis-14888	130	10	systems	system	NOUN
fcis-14888	130	11	with	with	ADP
fcis-14888	130	12	input	input	NOUN
fcis-14888	130	13	saturation	saturation	NOUN
fcis-14888	130	14	and	and	CCONJ
fcis-14888	130	15	unknown	unknown	ADJ
fcis-14888	130	16	control	control	NOUN
fcis-14888	130	17	direction[j	direction[j	PROPN
fcis-14888	130	18	]	]	PUNCT
fcis-14888	130	19	.	.	PUNCT
fcis-14888	131	1	ieee	ieee	NOUN
fcis-14888	131	2	transactions	transaction	NOUN
fcis-14888	131	3	on	on	ADP
fcis-14888	131	4	systems	system	NOUN
fcis-14888	131	5	,	,	PUNCT
fcis-14888	131	6	man	man	NOUN
fcis-14888	131	7	,	,	PUNCT
fcis-14888	131	8	and	and	CCONJ
fcis-14888	131	9	cybernetics	cybernetic	NOUN
fcis-14888	131	10	:	:	PUNCT
fcis-14888	131	11	systems	system	NOUN
fcis-14888	131	12	,	,	PUNCT
fcis-14888	131	13	2021	2021	NUM
fcis-14888	131	14	,	,	PUNCT
fcis-14888	131	15	51(2):1192	51(2):1192	NUM
fcis-14888	131	16	-	-	SYM
fcis-14888	131	17	1202	1202	NUM
fcis-14888	131	18	.	.	PUNCT
fcis-14888	132	1	[	[	X
fcis-14888	132	2	5	5	NUM
fcis-14888	132	3	]	]	PUNCT
fcis-14888	132	4	gong	gong	NOUN
fcis-14888	132	5	h	h	PROPN
fcis-14888	132	6	,	,	PUNCT
fcis-14888	132	7	liu	liu	PROPN
fcis-14888	132	8	t	t	PROPN
fcis-14888	132	9	,	,	PUNCT
fcis-14888	132	10	luo	luo	PROPN
fcis-14888	132	11	t	t	PROPN
fcis-14888	132	12	,	,	PUNCT
fcis-14888	132	13	et	et	PROPN
fcis-14888	132	14	al	al	PROPN
fcis-14888	132	15	.	.	PROPN
fcis-14888	132	16	based	base	VERB
fcis-14888	132	17	on	on	ADP
fcis-14888	132	18	fcn	fcn	PROPN
fcis-14888	132	19	and	and	CCONJ
fcis-14888	132	20	densenet	densenet	NOUN
fcis-14888	132	21	framework	framework	NOUN
fcis-14888	132	22	for	for	ADP
fcis-14888	132	23	the	the	DET
fcis-14888	132	24	research	research	NOUN
fcis-14888	132	25	of	of	ADP
fcis-14888	132	26	rice	rice	NOUN
fcis-14888	132	27	pest	pest	NOUN
fcis-14888	132	28	identification	identification	NOUN
fcis-14888	132	29	methods	method	NOUN
fcis-14888	132	30	[	[	X
fcis-14888	132	31	j	j	X
fcis-14888	132	32	]	]	X
fcis-14888	132	33	.	.	PUNCT
fcis-14888	133	1	agronomy	agronomy	NOUN
fcis-14888	133	2	,	,	PUNCT
fcis-14888	133	3	2023	2023	NUM
fcis-14888	133	4	,	,	PUNCT
fcis-14888	133	5	13(2	13(2	NUM
fcis-14888	133	6	):	):	PUNCT
fcis-14888	133	7	410	410	NUM
fcis-14888	133	8	-	-	SYM
fcis-14888	133	9	423	423	NUM
fcis-14888	133	10	.	.	PUNCT
fcis-14888	134	1	[	[	X
fcis-14888	134	2	6	6	NUM
fcis-14888	134	3	]	]	PUNCT
fcis-14888	134	4	tian	tian	ADJ
fcis-14888	134	5	l	l	PROPN
fcis-14888	134	6	,	,	PUNCT
fcis-14888	134	7	cao	cao	PROPN
fcis-14888	134	8	y	y	PROPN
fcis-14888	134	9	,	,	PUNCT
fcis-14888	134	10	he	he	PRON
fcis-14888	134	11	b	b	NUM
fcis-14888	134	12	,	,	PUNCT
fcis-14888	134	13	et	et	PROPN
fcis-14888	134	14	al	al	PROPN
fcis-14888	134	15	.	.	PUNCT
fcis-14888	134	16	image	image	NOUN
fcis-14888	134	17	enhancement	enhancement	NOUN
fcis-14888	134	18	driven	drive	VERB
fcis-14888	134	19	by	by	ADP
fcis-14888	134	20	object	object	NOUN
fcis-14888	134	21	characteristics	characteristic	NOUN
fcis-14888	134	22	and	and	CCONJ
fcis-14888	134	23	dense	dense	ADJ
fcis-14888	134	24	feature	feature	NOUN
fcis-14888	134	25	reuse	reuse	NOUN
fcis-14888	134	26	network	network	NOUN
fcis-14888	134	27	for	for	ADP
fcis-14888	134	28	ship	ship	NOUN
fcis-14888	134	29	target	target	NOUN
fcis-14888	134	30	detection	detection	NOUN
fcis-14888	134	31	in	in	ADP
fcis-14888	134	32	remote	remote	ADJ
fcis-14888	134	33	sensing	sense	VERB
fcis-14888	134	34	imagery[j	imagery[j	PROPN
fcis-14888	134	35	]	]	PUNCT
fcis-14888	134	36	.	.	PUNCT
fcis-14888	135	1	remote	remote	ADJ
fcis-14888	135	2	sensing	sensing	NOUN
fcis-14888	135	3	,	,	PUNCT
fcis-14888	135	4	2021	2021	NUM
fcis-14888	135	5	,	,	PUNCT
fcis-14888	135	6	13(7):1327	13(7):1327	NUM
fcis-14888	135	7	.	.	PUNCT
fcis-14888	136	1	[	[	X
fcis-14888	136	2	7	7	X
fcis-14888	136	3	]	]	X
fcis-14888	136	4	liu	liu	PROPN
fcis-14888	136	5	g	g	PROPN
fcis-14888	136	6	l	l	PROPN
fcis-14888	136	7	,	,	PUNCT
fcis-14888	136	8	he	he	PRON
fcis-14888	136	9	h	h	VERB
fcis-14888	136	10	y	y	PROPN
fcis-14888	136	11	,	,	PUNCT
fcis-14888	136	12	tian	tian	ADJ
fcis-14888	136	13	g	g	PROPN
fcis-14888	136	14	h	h	PROPN
fcis-14888	136	15	,	,	PUNCT
fcis-14888	136	16	et	et	PROPN
fcis-14888	136	17	al	al	PROPN
fcis-14888	136	18	.	.	PUNCT
fcis-14888	137	1	online	online	PROPN
fcis-14888	137	2	collision	collision	NOUN
fcis-14888	137	3	avoidance	avoidance	NOUN
fcis-14888	137	4	for	for	ADP
fcis-14888	137	5	human	human	ADJ
fcis-14888	137	6	-	-	PUNCT
fcis-14888	137	7	robot	robot	NOUN
fcis-14888	137	8	collaborative	collaborative	ADJ
fcis-14888	137	9	interaction	interaction	NOUN
fcis-14888	137	10	concerning	concern	VERB
fcis-14888	137	11	safety	safety	NOUN
fcis-14888	137	12	and	and	CCONJ
fcis-14888	137	13	efficient	efficient	ADJ
fcis-14888	137	14	[	[	X
fcis-14888	137	15	c]//2020	c]//2020	ADP
fcis-14888	137	16	international	international	ADJ
fcis-14888	137	17	conference	conference	NOUN
fcis-14888	137	18	on	on	ADP
fcis-14888	137	19	advanced	advanced	ADJ
fcis-14888	137	20	intelligent	intelligent	ADJ
fcis-14888	137	21	mechatronies	mechatronie	NOUN
fcis-14888	137	22	,	,	PUNCT
fcis-14888	137	23	2020	2020	NUM
fcis-14888	137	24	.	.	PUNCT
fcis-14888	138	1	[	[	X
fcis-14888	138	2	8	8	NUM
fcis-14888	138	3	]	]	SYM
fcis-14888	138	4	tulbure	tulbure	NOUN
fcis-14888	138	5	a	a	DET
fcis-14888	138	6	a	a	DET
fcis-14888	138	7	,	,	PUNCT
fcis-14888	138	8	tulbure	tulbure	NOUN
fcis-14888	138	9	a	a	DET
fcis-14888	138	10	a	a	NOUN
fcis-14888	138	11	,	,	PUNCT
fcis-14888	138	12	henrietta	henrietta	PROPN
fcis-14888	138	13	e	e	PROPN
fcis-14888	138	14	d.	d.	PROPN
fcis-14888	138	15	a	a	DET
fcis-14888	138	16	review	review	NOUN
fcis-14888	138	17	on	on	ADP
fcis-14888	138	18	modern	modern	ADJ
fcis-14888	138	19	defect	defect	NOUN
fcis-14888	138	20	detection	detection	NOUN
fcis-14888	138	21	models	model	NOUN
fcis-14888	138	22	using	use	VERB
fcis-14888	138	23	dcnns	dcnns	ADJ
fcis-14888	138	24	-	-	PUNCT
fcis-14888	138	25	deep	deep	ADJ
fcis-14888	138	26	convolutional	convolutional	ADJ
fcis-14888	138	27	neural	neural	ADJ
fcis-14888	138	28	networks[j	networks[j	PROPN
fcis-14888	138	29	]	]	PUNCT
fcis-14888	138	30	.	.	PUNCT
fcis-14888	139	1	journal	journal	PROPN
fcis-14888	139	2	of	of	ADP
fcis-14888	139	3	advanced	advanced	ADJ
fcis-14888	139	4	research	research	NOUN
fcis-14888	139	5	,	,	PUNCT
fcis-14888	139	6	2021	2021	NUM
fcis-14888	139	7	,	,	PUNCT
fcis-14888	139	8	35	35	NUM
fcis-14888	139	9	:	:	SYM
fcis-14888	139	10	33	33	NUM
fcis-14888	139	11	-	-	SYM
fcis-14888	139	12	48	48	NUM
fcis-14888	139	13	.	.	PUNCT