id	sid	tid	token	lemma	pos
fcis-18503	1	1	frontiers	frontier	NOUN
fcis-18503	1	2	in	in	ADP
fcis-18503	1	3	computing	computing	NOUN
fcis-18503	1	4	and	and	CCONJ
fcis-18503	1	5	intelligent	intelligent	ADJ
fcis-18503	1	6	systems	system	NOUN
fcis-18503	1	7	issn	issn	VERB
fcis-18503	1	8	:	:	PUNCT
fcis-18503	1	9	2832	2832	NUM
fcis-18503	1	10	-	-	SYM
fcis-18503	1	11	6024	6024	NUM
fcis-18503	1	12	|	|	NOUN
fcis-18503	1	13	vol	vol	NOUN
fcis-18503	1	14	.	.	PROPN
fcis-18503	2	1	7	7	NUM
fcis-18503	2	2	,	,	PUNCT
fcis-18503	2	3	no	no	INTJ
fcis-18503	2	4	.	.	NOUN
fcis-18503	2	5	2	2	NUM
fcis-18503	2	6	,	,	PUNCT
fcis-18503	2	7	2024	2024	NUM
fcis-18503	2	8	85	85	NUM
fcis-18503	2	9	design	design	NOUN
fcis-18503	2	10	of	of	ADP
fcis-18503	2	11	a	a	DET
fcis-18503	2	12	detachable	detachable	ADJ
fcis-18503	2	13	surface	surface	NOUN
fcis-18503	2	14	garbage	garbage	NOUN
fcis-18503	2	15	cleaning	cleaning	NOUN
fcis-18503	2	16	robot	robot	NOUN
fcis-18503	2	17	suitable	suitable	ADJ
fcis-18503	2	18	for	for	ADP
fcis-18503	2	19	small	small	ADJ
fcis-18503	2	20	water	water	NOUN
fcis-18503	2	21	areas	area	NOUN
fcis-18503	2	22	wencheng	wencheng	PROPN
fcis-18503	2	23	wang	wang	PROPN
fcis-18503	2	24	1	1	NUM
fcis-18503	2	25	,	,	PUNCT
fcis-18503	2	26	2	2	NUM
fcis-18503	2	27	,	,	PUNCT
fcis-18503	2	28	quandi	quandi	NOUN
fcis-18503	2	29	wu	wu	PROPN
fcis-18503	2	30	3	3	NUM
fcis-18503	2	31	,	,	PUNCT
fcis-18503	2	32	pengcheng	pengcheng	PROPN
fcis-18503	2	33	zhang	zhang	PROPN
fcis-18503	2	34	1	1	NUM
fcis-18503	2	35	,	,	PUNCT
fcis-18503	2	36	2	2	NUM
fcis-18503	2	37	,	,	PUNCT
fcis-18503	2	38	tianci	tianci	PROPN
fcis-18503	2	39	liu	liu	PROPN
fcis-18503	2	40	1	1	NUM
fcis-18503	2	41	1	1	NUM
fcis-18503	2	42	department	department	NOUN
fcis-18503	2	43	of	of	ADP
fcis-18503	2	44	mechanical	mechanical	ADJ
fcis-18503	2	45	engineering	engineering	PROPN
fcis-18503	2	46	,	,	PUNCT
fcis-18503	2	47	hebei	hebei	PROPN
fcis-18503	2	48	university	university	PROPN
fcis-18503	2	49	of	of	ADP
fcis-18503	2	50	water	water	NOUN
fcis-18503	2	51	resources	resource	NOUN
fcis-18503	2	52	and	and	CCONJ
fcis-18503	2	53	electric	electric	ADJ
fcis-18503	2	54	engineering	engineering	NOUN
fcis-18503	2	55	,	,	PUNCT
fcis-18503	2	56	cangzhou	cangzhou	PROPN
fcis-18503	2	57	,	,	PUNCT
fcis-18503	2	58	hebei	hebei	PROPN
fcis-18503	2	59	061000	061000	NUM
fcis-18503	2	60	,	,	PUNCT
fcis-18503	2	61	china	china	PROPN
fcis-18503	2	62	2	2	NUM
fcis-18503	2	63	hebei	hebei	PROPN
fcis-18503	2	64	industrial	industrial	ADJ
fcis-18503	2	65	manipulator	manipulator	NOUN
fcis-18503	2	66	control	control	NOUN
fcis-18503	2	67	and	and	CCONJ
fcis-18503	2	68	reliability	reliability	NOUN
fcis-18503	2	69	technology	technology	NOUN
fcis-18503	2	70	innovation	innovation	NOUN
fcis-18503	2	71	center	center	NOUN
fcis-18503	2	72	,	,	PUNCT
fcis-18503	2	73	cangzhou	cangzhou	PROPN
fcis-18503	2	74	,	,	PUNCT
fcis-18503	2	75	hebei	hebei	PROPN
fcis-18503	2	76	061000	061000	NUM
fcis-18503	2	77	,	,	PUNCT
fcis-18503	2	78	china	china	PROPN
fcis-18503	2	79	3	3	NUM
fcis-18503	2	80	college	college	NOUN
fcis-18503	2	81	of	of	ADP
fcis-18503	2	82	mechanical	mechanical	ADJ
fcis-18503	2	83	and	and	CCONJ
fcis-18503	2	84	electrical	electrical	ADJ
fcis-18503	2	85	engineering	engineering	NOUN
fcis-18503	2	86	,	,	PUNCT
fcis-18503	2	87	hebei	hebei	PROPN
fcis-18503	2	88	normal	normal	ADJ
fcis-18503	2	89	university	university	PROPN
fcis-18503	2	90	of	of	ADP
fcis-18503	2	91	science	science	PROPN
fcis-18503	2	92	&	&	CCONJ
fcis-18503	2	93	technology	technology	PROPN
fcis-18503	2	94	,	,	PUNCT
fcis-18503	2	95	qinhuangdao	qinhuangdao	ADV
fcis-18503	2	96	,	,	PUNCT
fcis-18503	2	97	hebei	hebei	PROPN
fcis-18503	2	98	066000	066000	NUM
fcis-18503	2	99	,	,	PUNCT
fcis-18503	2	100	china	china	PROPN
fcis-18503	2	101	abstract	abstract	NOUN
fcis-18503	2	102	:	:	PUNCT
fcis-18503	2	103	surface	surface	NOUN
fcis-18503	2	104	garbage	garbage	NOUN
fcis-18503	2	105	in	in	ADP
fcis-18503	2	106	small	small	ADJ
fcis-18503	2	107	water	water	NOUN
fcis-18503	2	108	bodies	body	NOUN
fcis-18503	2	109	poses	pose	VERB
fcis-18503	2	110	a	a	DET
fcis-18503	2	111	severe	severe	ADJ
fcis-18503	2	112	threat	threat	NOUN
fcis-18503	2	113	to	to	ADP
fcis-18503	2	114	the	the	DET
fcis-18503	2	115	safety	safety	NOUN
fcis-18503	2	116	of	of	ADP
fcis-18503	2	117	residents	resident	NOUN
fcis-18503	2	118	’	’	PART
fcis-18503	2	119	water	water	NOUN
fcis-18503	2	120	usage	usage	NOUN
fcis-18503	2	121	.	.	PUNCT
fcis-18503	3	1	focusing	focus	VERB
fcis-18503	3	2	on	on	ADP
fcis-18503	3	3	the	the	DET
fcis-18503	3	4	characteristics	characteristic	NOUN
fcis-18503	3	5	of	of	ADP
fcis-18503	3	6	surface	surface	NOUN
fcis-18503	3	7	garbage	garbage	NOUN
fcis-18503	3	8	in	in	ADP
fcis-18503	3	9	small	small	ADJ
fcis-18503	3	10	water	water	NOUN
fcis-18503	3	11	bodies	body	NOUN
fcis-18503	3	12	,	,	PUNCT
fcis-18503	3	13	a	a	DET
fcis-18503	3	14	robot	robot	NOUN
fcis-18503	3	15	capable	capable	ADJ
fcis-18503	3	16	of	of	ADP
fcis-18503	3	17	collecting	collect	VERB
fcis-18503	3	18	light	light	ADJ
fcis-18503	3	19	floating	float	VERB
fcis-18503	3	20	debris	debris	NOUN
fcis-18503	3	21	and	and	CCONJ
fcis-18503	3	22	animal	animal	NOUN
fcis-18503	3	23	carcasses	carcass	NOUN
fcis-18503	3	24	have	have	AUX
fcis-18503	3	25	been	be	AUX
fcis-18503	3	26	designed	design	VERB
fcis-18503	3	27	.	.	PUNCT
fcis-18503	4	1	this	this	DET
fcis-18503	4	2	paper	paper	NOUN
fcis-18503	4	3	accomplishes	accomplish	VERB
fcis-18503	4	4	the	the	DET
fcis-18503	4	5	design	design	NOUN
fcis-18503	4	6	process	process	NOUN
fcis-18503	4	7	of	of	ADP
fcis-18503	4	8	a	a	DET
fcis-18503	4	9	detachable	detachable	ADJ
fcis-18503	4	10	structure	structure	NOUN
fcis-18503	4	11	surface	surface	NOUN
fcis-18503	4	12	garbage	garbage	NOUN
fcis-18503	4	13	cleaning	cleaning	NOUN
fcis-18503	4	14	robot	robot	NOUN
fcis-18503	4	15	suitable	suitable	ADJ
fcis-18503	4	16	for	for	ADP
fcis-18503	4	17	collecting	collect	VERB
fcis-18503	4	18	floating	float	VERB
fcis-18503	4	19	garbage	garbage	NOUN
fcis-18503	4	20	in	in	ADP
fcis-18503	4	21	small	small	ADJ
fcis-18503	4	22	water	water	NOUN
fcis-18503	4	23	areas	area	NOUN
fcis-18503	4	24	,	,	PUNCT
fcis-18503	4	25	the	the	DET
fcis-18503	4	26	calculation	calculation	NOUN
fcis-18503	4	27	process	process	NOUN
fcis-18503	4	28	of	of	ADP
fcis-18503	4	29	the	the	DET
fcis-18503	4	30	draft	draft	NOUN
fcis-18503	4	31	and	and	CCONJ
fcis-18503	4	32	travel	travel	NOUN
fcis-18503	4	33	resistance	resistance	NOUN
fcis-18503	4	34	,	,	PUNCT
fcis-18503	4	35	and	and	CCONJ
fcis-18503	4	36	the	the	DET
fcis-18503	4	37	selection	selection	NOUN
fcis-18503	4	38	and	and	CCONJ
fcis-18503	4	39	calculation	calculation	NOUN
fcis-18503	4	40	process	process	NOUN
fcis-18503	4	41	of	of	ADP
fcis-18503	4	42	the	the	DET
fcis-18503	4	43	propulsion	propulsion	NOUN
fcis-18503	4	44	device	device	NOUN
fcis-18503	4	45	.	.	PUNCT
fcis-18503	5	1	furthermore	furthermore	ADV
fcis-18503	5	2	,	,	PUNCT
fcis-18503	5	3	the	the	DET
fcis-18503	5	4	robot	robot	NOUN
fcis-18503	5	5	has	have	AUX
fcis-18503	5	6	been	be	AUX
fcis-18503	5	7	fabricated	fabricate	VERB
fcis-18503	5	8	,	,	PUNCT
fcis-18503	5	9	and	and	CCONJ
fcis-18503	5	10	it	it	PRON
fcis-18503	5	11	is	be	AUX
fcis-18503	5	12	capable	capable	ADJ
fcis-18503	5	13	of	of	ADP
fcis-18503	5	14	cleaning	clean	VERB
fcis-18503	5	15	various	various	ADJ
fcis-18503	5	16	types	type	NOUN
fcis-18503	5	17	of	of	ADP
fcis-18503	5	18	waste	waste	NOUN
fcis-18503	5	19	,	,	PUNCT
fcis-18503	5	20	thereby	thereby	ADV
fcis-18503	5	21	providing	provide	VERB
fcis-18503	5	22	a	a	DET
fcis-18503	5	23	guiding	guide	VERB
fcis-18503	5	24	document	document	NOUN
fcis-18503	5	25	for	for	ADP
fcis-18503	5	26	the	the	DET
fcis-18503	5	27	structural	structural	ADJ
fcis-18503	5	28	design	design	NOUN
fcis-18503	5	29	of	of	ADP
fcis-18503	5	30	surface	surface	NOUN
fcis-18503	5	31	garbage	garbage	NOUN
fcis-18503	5	32	cleaning	cleaning	NOUN
fcis-18503	5	33	equipment	equipment	NOUN
fcis-18503	5	34	.	.	PUNCT
fcis-18503	6	1	keywords	keyword	NOUN
fcis-18503	6	2	:	:	PUNCT
fcis-18503	6	3	garbage	garbage	NOUN
fcis-18503	6	4	cleaning	cleaning	NOUN
fcis-18503	6	5	robot	robot	NOUN
fcis-18503	6	6	;	;	PUNCT
fcis-18503	6	7	garbage	garbage	NOUN
fcis-18503	6	8	collection	collection	NOUN
fcis-18503	6	9	device	device	NOUN
fcis-18503	6	10	;	;	PUNCT
fcis-18503	6	11	structural	structural	ADJ
fcis-18503	6	12	design	design	NOUN
fcis-18503	6	13	;	;	PUNCT
fcis-18503	6	14	small	small	ADJ
fcis-18503	6	15	water	water	NOUN
fcis-18503	6	16	bodies	body	NOUN
fcis-18503	6	17	.	.	PUNCT
fcis-18503	7	1	1	1	X
fcis-18503	7	2	.	.	X
fcis-18503	7	3	introduction	introduction	NOUN
fcis-18503	7	4	in	in	ADP
fcis-18503	7	5	recent	recent	ADJ
fcis-18503	7	6	years	year	NOUN
fcis-18503	7	7	,	,	PUNCT
fcis-18503	7	8	the	the	DET
fcis-18503	7	9	problem	problem	NOUN
fcis-18503	7	10	of	of	ADP
fcis-18503	7	11	garbage	garbage	NOUN
fcis-18503	7	12	pollution	pollution	NOUN
fcis-18503	7	13	in	in	ADP
fcis-18503	7	14	china	china	PROPN
fcis-18503	7	15	’s	’s	PART
fcis-18503	7	16	waters	water	NOUN
fcis-18503	7	17	has	have	AUX
fcis-18503	7	18	become	become	VERB
fcis-18503	7	19	increasingly	increasingly	ADV
fcis-18503	7	20	severe	severe	ADJ
fcis-18503	7	21	.	.	PUNCT
fcis-18503	8	1	the	the	DET
fcis-18503	8	2	amount	amount	NOUN
fcis-18503	8	3	of	of	ADP
fcis-18503	8	4	floating	float	VERB
fcis-18503	8	5	garbage	garbage	NOUN
fcis-18503	8	6	in	in	ADP
fcis-18503	8	7	rivers	river	NOUN
fcis-18503	8	8	,	,	PUNCT
fcis-18503	8	9	lakes	lake	NOUN
fcis-18503	8	10	,	,	PUNCT
fcis-18503	8	11	and	and	CCONJ
fcis-18503	8	12	reservoirs	reservoir	NOUN
fcis-18503	8	13	is	be	AUX
fcis-18503	8	14	on	on	ADP
fcis-18503	8	15	the	the	DET
fcis-18503	8	16	rise	rise	NOUN
fcis-18503	8	17	.	.	PUNCT
fcis-18503	9	1	over	over	ADP
fcis-18503	9	2	time	time	NOUN
fcis-18503	9	3	,	,	PUNCT
fcis-18503	9	4	this	this	DET
fcis-18503	9	5	garbage	garbage	NOUN
fcis-18503	9	6	first	first	ADV
fcis-18503	9	7	pollutes	pollute	VERB
fcis-18503	9	8	the	the	DET
fcis-18503	9	9	ecological	ecological	ADJ
fcis-18503	9	10	environment	environment	NOUN
fcis-18503	9	11	of	of	ADP
fcis-18503	9	12	the	the	DET
fcis-18503	9	13	water	water	NOUN
fcis-18503	9	14	and	and	CCONJ
fcis-18503	9	15	then	then	ADV
fcis-18503	9	16	threatens	threaten	VERB
fcis-18503	9	17	the	the	DET
fcis-18503	9	18	health	health	NOUN
fcis-18503	9	19	of	of	ADP
fcis-18503	9	20	nearby	nearby	ADJ
fcis-18503	9	21	residents	resident	NOUN
fcis-18503	9	22	.	.	PUNCT
fcis-18503	10	1	at	at	ADP
fcis-18503	10	2	present	present	ADJ
fcis-18503	10	3	,	,	PUNCT
fcis-18503	10	4	the	the	DET
fcis-18503	10	5	methods	method	NOUN
fcis-18503	10	6	used	use	VERB
fcis-18503	10	7	to	to	PART
fcis-18503	10	8	clean	clean	VERB
fcis-18503	10	9	up	up	ADP
fcis-18503	10	10	water	water	NOUN
fcis-18503	10	11	garbage	garbage	NOUN
fcis-18503	10	12	mainly	mainly	ADV
fcis-18503	10	13	include	include	VERB
fcis-18503	10	14	mechanical	mechanical	ADJ
fcis-18503	10	15	and	and	CCONJ
fcis-18503	10	16	manual	manual	ADJ
fcis-18503	10	17	cleaning	cleaning	NOUN
fcis-18503	10	18	.	.	PUNCT
fcis-18503	11	1	mechanical	mechanical	ADJ
fcis-18503	11	2	cleaning	cleaning	NOUN
fcis-18503	11	3	mostly	mostly	ADV
fcis-18503	11	4	uses	use	VERB
fcis-18503	11	5	surface	surface	NOUN
fcis-18503	11	6	garbage	garbage	NOUN
fcis-18503	11	7	cleaning	cleaning	NOUN
fcis-18503	11	8	boats	boat	NOUN
fcis-18503	11	9	which	which	PRON
fcis-18503	11	10	,	,	PUNCT
fcis-18503	11	11	while	while	SCONJ
fcis-18503	11	12	efficient	efficient	ADJ
fcis-18503	11	13	and	and	CCONJ
fcis-18503	11	14	effective	effective	ADJ
fcis-18503	11	15	for	for	ADP
fcis-18503	11	16	large	large	ADJ
fcis-18503	11	17	quantities	quantity	NOUN
fcis-18503	11	18	of	of	ADP
fcis-18503	11	19	garbage	garbage	NOUN
fcis-18503	11	20	,	,	PUNCT
fcis-18503	11	21	are	be	AUX
fcis-18503	11	22	not	not	PART
fcis-18503	11	23	capable	capable	ADJ
fcis-18503	11	24	of	of	ADP
fcis-18503	11	25	dealing	deal	VERB
fcis-18503	11	26	with	with	ADP
fcis-18503	11	27	scattered	scatter	VERB
fcis-18503	11	28	debris	debris	NOUN
fcis-18503	11	29	,	,	PUNCT
fcis-18503	11	30	for	for	ADP
fcis-18503	11	31	which	which	PRON
fcis-18503	11	32	manual	manual	ADJ
fcis-18503	11	33	cleaning	cleaning	NOUN
fcis-18503	11	34	is	be	AUX
fcis-18503	11	35	typically	typically	ADV
fcis-18503	11	36	used	use	VERB
fcis-18503	11	37	.	.	PUNCT
fcis-18503	12	1	however	however	ADV
fcis-18503	12	2	,	,	PUNCT
fcis-18503	12	3	manual	manual	ADJ
fcis-18503	12	4	cleaning	cleaning	NOUN
fcis-18503	12	5	requires	require	VERB
fcis-18503	12	6	a	a	DET
fcis-18503	12	7	significant	significant	ADJ
fcis-18503	12	8	amount	amount	NOUN
fcis-18503	12	9	of	of	ADP
fcis-18503	12	10	labor	labor	NOUN
fcis-18503	12	11	and	and	CCONJ
fcis-18503	12	12	resources	resource	NOUN
fcis-18503	12	13	and	and	CCONJ
fcis-18503	12	14	carries	carry	VERB
fcis-18503	12	15	certain	certain	ADJ
fcis-18503	12	16	safety	safety	NOUN
fcis-18503	12	17	risks	risk	NOUN
fcis-18503	12	18	.	.	PUNCT
fcis-18503	13	1	the	the	DET
fcis-18503	13	2	cleaning	cleaning	NOUN
fcis-18503	13	3	of	of	ADP
fcis-18503	13	4	floating	float	VERB
fcis-18503	13	5	garbage	garbage	NOUN
fcis-18503	13	6	in	in	ADP
fcis-18503	13	7	small	small	ADJ
fcis-18503	13	8	water	water	NOUN
fcis-18503	13	9	bodies	body	NOUN
fcis-18503	13	10	such	such	ADJ
fcis-18503	13	11	as	as	ADP
fcis-18503	13	12	scenic	scenic	ADJ
fcis-18503	13	13	spot	spot	NOUN
fcis-18503	13	14	lakes	lake	NOUN
fcis-18503	13	15	and	and	CCONJ
fcis-18503	13	16	campus	campus	NOUN
fcis-18503	13	17	lakes	lake	NOUN
fcis-18503	13	18	is	be	AUX
fcis-18503	13	19	mainly	mainly	ADV
fcis-18503	13	20	done	do	VERB
fcis-18503	13	21	manually	manually	ADV
fcis-18503	13	22	,	,	PUNCT
fcis-18503	13	23	which	which	PRON
fcis-18503	13	24	is	be	AUX
fcis-18503	13	25	inefficient	inefficient	ADJ
fcis-18503	13	26	,	,	PUNCT
fcis-18503	13	27	costly	costly	ADJ
fcis-18503	13	28	,	,	PUNCT
fcis-18503	13	29	and	and	CCONJ
fcis-18503	13	30	unsafe	unsafe	ADJ
fcis-18503	13	31	.	.	PUNCT
fcis-18503	14	1	surface	surface	NOUN
fcis-18503	14	2	garbage	garbage	NOUN
fcis-18503	14	3	cleaning	cleaning	NOUN
fcis-18503	14	4	boats	boat	NOUN
fcis-18503	14	5	on	on	ADP
fcis-18503	14	6	the	the	DET
fcis-18503	14	7	market	market	NOUN
fcis-18503	14	8	are	be	AUX
fcis-18503	14	9	designed	design	VERB
fcis-18503	14	10	for	for	ADP
fcis-18503	14	11	concentrated	concentrated	ADJ
fcis-18503	14	12	garbage	garbage	NOUN
fcis-18503	14	13	in	in	ADP
fcis-18503	14	14	large	large	ADJ
fcis-18503	14	15	areas	area	NOUN
fcis-18503	14	16	,	,	PUNCT
fcis-18503	14	17	with	with	ADP
fcis-18503	14	18	their	their	PRON
fcis-18503	14	19	high	high	ADJ
fcis-18503	14	20	cost	cost	NOUN
fcis-18503	14	21	,	,	PUNCT
fcis-18503	14	22	complex	complex	ADJ
fcis-18503	14	23	structure	structure	NOUN
fcis-18503	14	24	,	,	PUNCT
fcis-18503	14	25	and	and	CCONJ
fcis-18503	14	26	large	large	ADJ
fcis-18503	14	27	size	size	NOUN
fcis-18503	14	28	being	be	AUX
fcis-18503	14	29	unsuitable	unsuitable	ADJ
fcis-18503	14	30	for	for	ADP
fcis-18503	14	31	small	small	ADJ
fcis-18503	14	32	water	water	NOUN
fcis-18503	14	33	bodies	body	NOUN
fcis-18503	14	34	such	such	ADJ
fcis-18503	14	35	as	as	ADP
fcis-18503	14	36	urban	urban	ADJ
fcis-18503	14	37	lakes	lake	NOUN
fcis-18503	14	38	and	and	CCONJ
fcis-18503	14	39	rivers	river	NOUN
fcis-18503	14	40	.	.	PUNCT
fcis-18503	15	1	research	research	NOUN
fcis-18503	15	2	on	on	ADP
fcis-18503	15	3	surface	surface	NOUN
fcis-18503	15	4	garbage	garbage	NOUN
fcis-18503	15	5	cleaning	cleaning	NOUN
fcis-18503	15	6	devices	device	NOUN
fcis-18503	15	7	started	start	VERB
fcis-18503	15	8	early	early	ADV
fcis-18503	15	9	in	in	ADP
fcis-18503	15	10	developed	develop	VERB
fcis-18503	15	11	countries	country	NOUN
fcis-18503	15	12	,	,	PUNCT
fcis-18503	15	13	where	where	SCONJ
fcis-18503	15	14	the	the	DET
fcis-18503	15	15	technology	technology	NOUN
fcis-18503	15	16	is	be	AUX
fcis-18503	15	17	mature	mature	ADJ
fcis-18503	15	18	,	,	PUNCT
fcis-18503	15	19	multiple	multiple	ADJ
fcis-18503	15	20	series	serie	NOUN
fcis-18503	15	21	have	have	AUX
fcis-18503	15	22	been	be	AUX
fcis-18503	15	23	developed	develop	VERB
fcis-18503	15	24	,	,	PUNCT
fcis-18503	15	25	and	and	CCONJ
fcis-18503	15	26	it	it	PRON
fcis-18503	15	27	has	have	AUX
fcis-18503	15	28	become	become	VERB
fcis-18503	15	29	a	a	DET
fcis-18503	15	30	major	major	ADJ
fcis-18503	15	31	means	mean	NOUN
fcis-18503	15	32	of	of	ADP
fcis-18503	15	33	protecting	protect	VERB
fcis-18503	15	34	urban	urban	ADJ
fcis-18503	15	35	water	water	NOUN
fcis-18503	15	36	environments	environment	NOUN
fcis-18503	15	37	in	in	ADP
fcis-18503	15	38	these	these	DET
fcis-18503	15	39	countries	country	NOUN
fcis-18503	15	40	.	.	PUNCT
fcis-18503	16	1	the	the	DET
fcis-18503	16	2	trash	trash	NOUN
fcis-18503	16	3	cat	cat	NOUN
fcis-18503	16	4	series	series	NOUN
fcis-18503	16	5	of	of	ADP
fcis-18503	16	6	surface	surface	NOUN
fcis-18503	16	7	garbage	garbage	NOUN
fcis-18503	16	8	cleaning	cleaning	NOUN
fcis-18503	16	9	devices	device	NOUN
fcis-18503	16	10	developed	develop	VERB
fcis-18503	16	11	by	by	ADP
fcis-18503	16	12	the	the	DET
fcis-18503	16	13	u.s	u.s	PROPN
fcis-18503	16	14	.	.	PROPN
fcis-18503	16	15	company	company	PROPN
fcis-18503	16	16	umi	umi	PROPN
fcis-18503	16	17	are	be	AUX
fcis-18503	16	18	catamarans	catamaran	NOUN
fcis-18503	16	19	equipped	equip	VERB
fcis-18503	16	20	with	with	ADP
fcis-18503	16	21	dual	dual	ADJ
fcis-18503	16	22	propellers	propeller	NOUN
fcis-18503	16	23	and	and	CCONJ
fcis-18503	16	24	are	be	AUX
fcis-18503	16	25	mainly	mainly	ADV
fcis-18503	16	26	used	use	VERB
fcis-18503	16	27	to	to	PART
fcis-18503	16	28	clean	clean	VERB
fcis-18503	16	29	up	up	ADP
fcis-18503	16	30	surface	surface	NOUN
fcis-18503	16	31	garbage[1	garbage[1	NOUN
fcis-18503	16	32	-	-	PUNCT
fcis-18503	16	33	3	3	NUM
fcis-18503	16	34	]	]	PUNCT
fcis-18503	16	35	.	.	PUNCT
fcis-18503	17	1	italy	italy	PROPN
fcis-18503	17	2	’s	’s	PART
fcis-18503	17	3	globeco	globeco	PROPN
fcis-18503	17	4	company	company	NOUN
fcis-18503	17	5	developed	develop	VERB
fcis-18503	17	6	the	the	DET
fcis-18503	17	7	dolphin	dolphin	NOUN
fcis-18503	17	8	multifunctional	multifunctional	ADJ
fcis-18503	17	9	ecological	ecological	ADJ
fcis-18503	17	10	cleaning	cleaning	NOUN
fcis-18503	17	11	boat	boat	NOUN
fcis-18503	17	12	,	,	PUNCT
fcis-18503	17	13	which	which	PRON
fcis-18503	17	14	serves	serve	VERB
fcis-18503	17	15	functions	function	NOUN
fcis-18503	17	16	such	such	ADJ
fcis-18503	17	17	as	as	ADP
fcis-18503	17	18	oil	oil	NOUN
fcis-18503	17	19	spill	spill	NOUN
fcis-18503	17	20	clean	clean	ADJ
fcis-18503	17	21	-	-	PUNCT
fcis-18503	17	22	up	up	NOUN
fcis-18503	17	23	,	,	PUNCT
fcis-18503	17	24	collection	collection	NOUN
fcis-18503	17	25	of	of	ADP
fcis-18503	17	26	large	large	ADJ
fcis-18503	17	27	debris	debris	NOUN
fcis-18503	17	28	,	,	PUNCT
fcis-18503	17	29	collection	collection	NOUN
fcis-18503	17	30	of	of	ADP
fcis-18503	17	31	chemical	chemical	NOUN
fcis-18503	17	32	spills	spill	NOUN
fcis-18503	17	33	,	,	PUNCT
fcis-18503	17	34	water	water	NOUN
fcis-18503	17	35	body	body	NOUN
fcis-18503	17	36	oxygenation	oxygenation	NOUN
fcis-18503	17	37	treatment	treatment	NOUN
fcis-18503	17	38	,	,	PUNCT
fcis-18503	17	39	and	and	CCONJ
fcis-18503	17	40	detection	detection	NOUN
fcis-18503	17	41	and	and	CCONJ
fcis-18503	17	42	firefighting[4	firefighting[4	NUM
fcis-18503	17	43	]	]	X
fcis-18503	17	44	.	.	PUNCT
fcis-18503	18	1	the	the	DET
fcis-18503	18	2	solid	solid	ADJ
fcis-18503	18	3	series	series	NOUN
fcis-18503	18	4	of	of	ADP
fcis-18503	18	5	cleaning	clean	VERB
fcis-18503	18	6	boats	boat	NOUN
fcis-18503	18	7	offered	offer	VERB
fcis-18503	18	8	by	by	ADP
fcis-18503	18	9	spain	spain	PROPN
fcis-18503	18	10	’s	’s	PART
fcis-18503	18	11	beach	beach	NOUN
fcis-18503	18	12	-	-	PUNCT
fcis-18503	18	13	trollers	troller	NOUN
fcis-18503	18	14	company	company	NOUN
fcis-18503	18	15	use	use	VERB
fcis-18503	18	16	a	a	DET
fcis-18503	18	17	monohull	monohull	NOUN
fcis-18503	18	18	mainly	mainly	ADV
fcis-18503	18	19	for	for	ADP
fcis-18503	18	20	the	the	DET
fcis-18503	18	21	salvage	salvage	NOUN
fcis-18503	18	22	of	of	ADP
fcis-18503	18	23	floating	float	VERB
fcis-18503	18	24	and	and	CCONJ
fcis-18503	18	25	suspended	suspend	VERB
fcis-18503	18	26	solid	solid	ADJ
fcis-18503	18	27	garbage	garbage	NOUN
fcis-18503	18	28	[	[	X
fcis-18503	18	29	5	5	NUM
fcis-18503	18	30	-	-	SYM
fcis-18503	18	31	6	6	NUM
fcis-18503	18	32	]	]	PUNCT
fcis-18503	18	33	.	.	PUNCT
fcis-18503	19	1	china	china	PROPN
fcis-18503	19	2	’s	’s	PART
fcis-18503	19	3	“	"	PUNCT
fcis-18503	19	4	qing	qe	VERB
fcis-18503	19	5	piao	piao	NOUN
fcis-18503	19	6	no.1	no.1	PROPN
fcis-18503	19	7	”	"	PUNCT
fcis-18503	19	8	uses	use	VERB
fcis-18503	19	9	a	a	DET
fcis-18503	19	10	catamaran	catamaran	NOUN
fcis-18503	19	11	,	,	PUNCT
fcis-18503	19	12	mainly	mainly	ADV
fcis-18503	19	13	for	for	ADP
fcis-18503	19	14	cleaning	clean	VERB
fcis-18503	19	15	up	up	ADP
fcis-18503	19	16	a	a	DET
fcis-18503	19	17	large	large	ADJ
fcis-18503	19	18	amount	amount	NOUN
fcis-18503	19	19	of	of	ADP
fcis-18503	19	20	floating	float	VERB
fcis-18503	19	21	debris	debris	NOUN
fcis-18503	19	22	on	on	ADP
fcis-18503	19	23	the	the	DET
fcis-18503	19	24	surface	surface	NOUN
fcis-18503	19	25	of	of	ADP
fcis-18503	19	26	the	the	DET
fcis-18503	19	27	three	three	NUM
fcis-18503	19	28	gorges	gorge	NOUN
fcis-18503	19	29	reservoir	reservoir	NOUN
fcis-18503	19	30	area	area	NOUN
fcis-18503	19	31	,	,	PUNCT
fcis-18503	19	32	ensuring	ensure	VERB
fcis-18503	19	33	the	the	DET
fcis-18503	19	34	safe	safe	ADJ
fcis-18503	19	35	operation	operation	NOUN
fcis-18503	19	36	of	of	ADP
fcis-18503	19	37	power	power	NOUN
fcis-18503	19	38	stations	station	NOUN
fcis-18503	19	39	and	and	CCONJ
fcis-18503	19	40	the	the	DET
fcis-18503	19	41	cleanliness	cleanliness	NOUN
fcis-18503	19	42	of	of	ADP
fcis-18503	19	43	the	the	DET
fcis-18503	19	44	reservoir	reservoir	NOUN
fcis-18503	19	45	surface	surface	NOUN
fcis-18503	20	1	[	[	X
fcis-18503	20	2	7	7	NUM
fcis-18503	20	3	]	]	PUNCT
fcis-18503	20	4	.	.	PUNCT
fcis-18503	21	1	based	base	VERB
fcis-18503	21	2	on	on	ADP
fcis-18503	21	3	the	the	DET
fcis-18503	21	4	current	current	ADJ
fcis-18503	21	5	research	research	NOUN
fcis-18503	21	6	at	at	ADP
fcis-18503	21	7	home	home	NOUN
fcis-18503	21	8	and	and	CCONJ
fcis-18503	21	9	abroad	abroad	ADV
fcis-18503	21	10	,	,	PUNCT
fcis-18503	21	11	it	it	PRON
fcis-18503	21	12	has	have	AUX
fcis-18503	21	13	been	be	AUX
fcis-18503	21	14	discovered	discover	VERB
fcis-18503	21	15	that	that	SCONJ
fcis-18503	21	16	existing	exist	VERB
fcis-18503	21	17	water	water	NOUN
fcis-18503	21	18	surface	surface	NOUN
fcis-18503	21	19	garbage	garbage	NOUN
fcis-18503	21	20	cleaning	cleaning	NOUN
fcis-18503	21	21	equipment	equipment	NOUN
fcis-18503	21	22	mostly	mostly	ADV
fcis-18503	21	23	focuses	focus	VERB
fcis-18503	21	24	on	on	ADP
fcis-18503	21	25	large	large	ADJ
fcis-18503	21	26	water	water	NOUN
fcis-18503	21	27	area	area	NOUN
fcis-18503	21	28	garbage	garbage	NOUN
fcis-18503	21	29	cleaning	cleaning	NOUN
fcis-18503	21	30	,	,	PUNCT
fcis-18503	21	31	with	with	ADP
fcis-18503	21	32	high	high	ADJ
fcis-18503	21	33	automation	automation	NOUN
fcis-18503	21	34	,	,	PUNCT
fcis-18503	21	35	but	but	CCONJ
fcis-18503	21	36	their	their	PRON
fcis-18503	21	37	large	large	ADJ
fcis-18503	21	38	size	size	NOUN
fcis-18503	21	39	and	and	CCONJ
fcis-18503	21	40	high	high	ADJ
fcis-18503	21	41	cost	cost	NOUN
fcis-18503	21	42	make	make	VERB
fcis-18503	21	43	them	they	PRON
fcis-18503	21	44	unsuitable	unsuitable	ADJ
fcis-18503	21	45	for	for	ADP
fcis-18503	21	46	garbage	garbage	NOUN
fcis-18503	21	47	cleaning	cleaning	NOUN
fcis-18503	21	48	in	in	ADP
fcis-18503	21	49	small	small	ADJ
fcis-18503	21	50	water	water	NOUN
fcis-18503	21	51	areas	area	NOUN
fcis-18503	21	52	such	such	ADJ
fcis-18503	21	53	as	as	ADP
fcis-18503	21	54	city	city	NOUN
fcis-18503	21	55	lakes	lake	NOUN
fcis-18503	21	56	and	and	CCONJ
fcis-18503	21	57	rivers	river	NOUN
fcis-18503	21	58	.	.	PUNCT
fcis-18503	22	1	this	this	DET
fcis-18503	22	2	paper	paper	NOUN
fcis-18503	22	3	proposes	propose	VERB
fcis-18503	22	4	a	a	DET
fcis-18503	22	5	detachable	detachable	ADJ
fcis-18503	22	6	small	small	ADJ
fcis-18503	22	7	water	water	NOUN
fcis-18503	22	8	area	area	NOUN
fcis-18503	22	9	automatic	automatic	ADJ
fcis-18503	22	10	garbage	garbage	NOUN
fcis-18503	22	11	cleaning	cleaning	NOUN
fcis-18503	22	12	robot	robot	NOUN
fcis-18503	22	13	to	to	PART
fcis-18503	22	14	solve	solve	VERB
fcis-18503	22	15	the	the	DET
fcis-18503	22	16	above	above	ADJ
fcis-18503	22	17	problem	problem	NOUN
fcis-18503	22	18	.	.	PUNCT
fcis-18503	23	1	2	2	X
fcis-18503	23	2	.	.	X
fcis-18503	23	3	design	design	NOUN
fcis-18503	23	4	requirements	requirement	NOUN
fcis-18503	23	5	the	the	DET
fcis-18503	23	6	portable	portable	ADJ
fcis-18503	23	7	automatic	automatic	ADJ
fcis-18503	23	8	surface	surface	NOUN
fcis-18503	23	9	garbage	garbage	NOUN
fcis-18503	23	10	cleaning	cleaning	NOUN
fcis-18503	23	11	robot	robot	NOUN
fcis-18503	23	12	for	for	ADP
fcis-18503	23	13	small	small	ADJ
fcis-18503	23	14	water	water	NOUN
fcis-18503	23	15	bodies	body	NOUN
fcis-18503	23	16	(	(	PUNCT
fcis-18503	23	17	hereinafter	hereinafter	NOUN
fcis-18503	23	18	referred	refer	VERB
fcis-18503	23	19	to	to	ADP
fcis-18503	23	20	as	as	ADP
fcis-18503	23	21	the	the	DET
fcis-18503	23	22	robot	robot	NOUN
fcis-18503	23	23	)	)	PUNCT
fcis-18503	23	24	requires	require	VERB
fcis-18503	23	25	portability	portability	NOUN
fcis-18503	23	26	.	.	PUNCT
fcis-18503	24	1	it	it	PRON
fcis-18503	24	2	is	be	AUX
fcis-18503	24	3	designed	design	VERB
fcis-18503	24	4	to	to	PART
fcis-18503	24	5	be	be	AUX
fcis-18503	24	6	a	a	DET
fcis-18503	24	7	detachable	detachable	ADJ
fcis-18503	24	8	structure	structure	NOUN
fcis-18503	24	9	that	that	PRON
fcis-18503	24	10	is	be	AUX
fcis-18503	24	11	easy	easy	ADJ
fcis-18503	24	12	to	to	PART
fcis-18503	24	13	disassemble	disassemble	VERB
fcis-18503	24	14	.	.	PUNCT
fcis-18503	25	1	it	it	PRON
fcis-18503	25	2	is	be	AUX
fcis-18503	25	3	required	require	VERB
fcis-18503	25	4	to	to	PART
fcis-18503	25	5	collect	collect	VERB
fcis-18503	25	6	floating	float	VERB
fcis-18503	25	7	objects	object	NOUN
fcis-18503	25	8	(	(	PUNCT
fcis-18503	25	9	individual	individual	ADJ
fcis-18503	25	10	mass	mass	NOUN
fcis-18503	25	11	less	less	ADJ
fcis-18503	25	12	than	than	ADP
fcis-18503	25	13	5	5	NUM
fcis-18503	25	14	kg	kg	NOUN
fcis-18503	25	15	,	,	PUNCT
fcis-18503	25	16	such	such	ADJ
fcis-18503	25	17	as	as	ADP
fcis-18503	25	18	weeds	weed	NOUN
fcis-18503	25	19	,	,	PUNCT
fcis-18503	25	20	leaves	leave	NOUN
fcis-18503	25	21	,	,	PUNCT
fcis-18503	25	22	garbage	garbage	NOUN
fcis-18503	25	23	bags	bag	NOUN
fcis-18503	25	24	,	,	PUNCT
fcis-18503	25	25	etc	etc	X
fcis-18503	25	26	.	.	X
fcis-18503	25	27	)	)	PUNCT
fcis-18503	26	1	and	and	CCONJ
fcis-18503	26	2	heavy	heavy	ADJ
fcis-18503	26	3	floating	float	VERB
fcis-18503	26	4	objects	object	NOUN
fcis-18503	26	5	(	(	PUNCT
fcis-18503	26	6	individual	individual	ADJ
fcis-18503	26	7	mass	mass	NOUN
fcis-18503	26	8	of	of	ADP
fcis-18503	26	9	about	about	ADV
fcis-18503	26	10	10	10	NUM
fcis-18503	26	11	kg	kg	NOUN
fcis-18503	26	12	,	,	PUNCT
fcis-18503	26	13	such	such	ADJ
fcis-18503	26	14	as	as	ADP
fcis-18503	26	15	floating	float	VERB
fcis-18503	26	16	carcasses	carcass	NOUN
fcis-18503	26	17	of	of	ADP
fcis-18503	26	18	cats	cat	NOUN
fcis-18503	26	19	and	and	CCONJ
fcis-18503	26	20	dogs	dog	NOUN
fcis-18503	26	21	)	)	PUNCT
fcis-18503	26	22	efficiently	efficiently	ADV
fcis-18503	26	23	.	.	PUNCT
fcis-18503	27	1	the	the	DET
fcis-18503	27	2	robot	robot	NOUN
fcis-18503	27	3	must	must	AUX
fcis-18503	27	4	have	have	VERB
fcis-18503	27	5	a	a	DET
fcis-18503	27	6	surface	surface	NOUN
fcis-18503	27	7	sailing	sailing	NOUN
fcis-18503	27	8	speed	speed	NOUN
fcis-18503	27	9	of	of	ADP
fcis-18503	27	10	no	no	DET
fcis-18503	27	11	less	less	ADJ
fcis-18503	27	12	than	than	ADP
fcis-18503	27	13	1	1	NUM
fcis-18503	27	14	m/s	m/s	NUM
fcis-18503	27	15	and	and	CCONJ
fcis-18503	27	16	a	a	DET
fcis-18503	27	17	continuous	continuous	ADJ
fcis-18503	27	18	endurance	endurance	NOUN
fcis-18503	27	19	time	time	NOUN
fcis-18503	27	20	of	of	ADP
fcis-18503	27	21	no	no	DET
fcis-18503	27	22	less	less	ADJ
fcis-18503	27	23	than	than	ADP
fcis-18503	27	24	3	3	NUM
fcis-18503	27	25	hours	hour	NOUN
fcis-18503	27	26	.	.	PUNCT
fcis-18503	28	1	3	3	X
fcis-18503	28	2	.	.	X
fcis-18503	28	3	determination	determination	NOUN
fcis-18503	28	4	of	of	ADP
fcis-18503	28	5	the	the	DET
fcis-18503	28	6	main	main	ADJ
fcis-18503	28	7	structure	structure	NOUN
fcis-18503	28	8	for	for	ADP
fcis-18503	28	9	the	the	DET
fcis-18503	28	10	surface	surface	NOUN
fcis-18503	28	11	garbage	garbage	NOUN
fcis-18503	28	12	cleaning	cleaning	NOUN
fcis-18503	28	13	robot	robot	NOUN
fcis-18503	28	14	the	the	DET
fcis-18503	28	15	main	main	ADJ
fcis-18503	28	16	structure	structure	NOUN
fcis-18503	28	17	of	of	ADP
fcis-18503	28	18	the	the	DET
fcis-18503	28	19	designed	design	VERB
fcis-18503	28	20	robot	robot	NOUN
fcis-18503	28	21	effectively	effectively	ADV
fcis-18503	28	22	consists	consist	VERB
fcis-18503	28	23	of	of	ADP
fcis-18503	28	24	a	a	DET
fcis-18503	28	25	light	light	ADJ
fcis-18503	28	26	floating	float	VERB
fcis-18503	28	27	garbage	garbage	NOUN
fcis-18503	28	28	collection	collection	NOUN
fcis-18503	28	29	device	device	NOUN
fcis-18503	28	30	,	,	PUNCT
fcis-18503	28	31	a	a	DET
fcis-18503	28	32	heavy	heavy	ADJ
fcis-18503	28	33	floating	float	VERB
fcis-18503	28	34	garbage	garbage	NOUN
fcis-18503	28	35	collection	collection	NOUN
fcis-18503	28	36	device	device	NOUN
fcis-18503	28	37	,	,	PUNCT
fcis-18503	28	38	and	and	CCONJ
fcis-18503	28	39	a	a	DET
fcis-18503	28	40	control	control	NOUN
fcis-18503	28	41	system	system	NOUN
fcis-18503	28	42	assembly	assembly	NOUN
fcis-18503	28	43	mounted	mount	VERB
fcis-18503	28	44	on	on	ADP
fcis-18503	28	45	the	the	DET
fcis-18503	28	46	hull	hull	NOUN
fcis-18503	28	47	.	.	PUNCT
fcis-18503	29	1	during	during	ADP
fcis-18503	29	2	the	the	DET
fcis-18503	29	3	design	design	NOUN
fcis-18503	29	4	process	process	NOUN
fcis-18503	29	5	,	,	PUNCT
fcis-18503	29	6	it	it	PRON
fcis-18503	29	7	is	be	AUX
fcis-18503	29	8	necessary	necessary	ADJ
fcis-18503	29	9	to	to	PART
fcis-18503	29	10	determine	determine	VERB
fcis-18503	29	11	the	the	DET
fcis-18503	29	12	structures	structure	NOUN
fcis-18503	29	13	of	of	ADP
fcis-18503	29	14	the	the	DET
fcis-18503	29	15	hull	hull	NOUN
fcis-18503	29	16	,	,	PUNCT
fcis-18503	29	17	the	the	DET
fcis-18503	29	18	light	light	ADJ
fcis-18503	29	19	floating	float	VERB
fcis-18503	29	20	garbage	garbage	NOUN
fcis-18503	29	21	collection	collection	NOUN
fcis-18503	29	22	device	device	NOUN
fcis-18503	29	23	,	,	PUNCT
fcis-18503	29	24	and	and	CCONJ
fcis-18503	29	25	the	the	DET
fcis-18503	29	26	heavy	heavy	ADJ
fcis-18503	29	27	floating	float	VERB
fcis-18503	29	28	garbage	garbage	NOUN
fcis-18503	29	29	collection	collection	NOUN
fcis-18503	29	30	device	device	NOUN
fcis-18503	29	31	,	,	PUNCT
fcis-18503	29	32	based	base	VERB
fcis-18503	29	33	on	on	ADP
fcis-18503	29	34	the	the	DET
fcis-18503	29	35	characteristics	characteristic	NOUN
fcis-18503	29	36	of	of	ADP
fcis-18503	29	37	small	small	ADJ
fcis-18503	29	38	water	water	NOUN
fcis-18503	29	39	areas	area	NOUN
fcis-18503	29	40	and	and	CCONJ
fcis-18503	29	41	the	the	DET
fcis-18503	29	42	collection	collection	NOUN
fcis-18503	29	43	characteristics	characteristic	NOUN
fcis-18503	29	44	of	of	ADP
fcis-18503	29	45	floating	float	VERB
fcis-18503	29	46	garbage	garbage	NOUN
fcis-18503	29	47	,	,	PUNCT
fcis-18503	29	48	to	to	PART
fcis-18503	29	49	finalize	finalize	VERB
fcis-18503	29	50	the	the	DET
fcis-18503	29	51	main	main	ADJ
fcis-18503	29	52	structure	structure	NOUN
fcis-18503	29	53	of	of	ADP
fcis-18503	29	54	the	the	DET
fcis-18503	29	55	robot	robot	NOUN
fcis-18503	29	56	.	.	PUNCT
fcis-18503	30	1	3.1	3.1	NUM
fcis-18503	30	2	.	.	PUNCT
fcis-18503	30	3	determination	determination	NOUN
fcis-18503	30	4	of	of	ADP
fcis-18503	30	5	the	the	DET
fcis-18503	30	6	hull	hull	NOUN
fcis-18503	30	7	structure	structure	NOUN
fcis-18503	30	8	the	the	DET
fcis-18503	30	9	robot	robot	NOUN
fcis-18503	30	10	designed	design	VERB
fcis-18503	30	11	for	for	ADP
fcis-18503	30	12	operation	operation	NOUN
fcis-18503	30	13	in	in	ADP
fcis-18503	30	14	small	small	ADJ
fcis-18503	30	15	water	water	NOUN
fcis-18503	30	16	areas	area	NOUN
fcis-18503	30	17	has	have	VERB
fcis-18503	30	18	the	the	DET
fcis-18503	30	19	collection	collection	NOUN
fcis-18503	30	20	device	device	NOUN
fcis-18503	30	21	installed	instal	VERB
fcis-18503	30	22	on	on	ADP
fcis-18503	30	23	the	the	DET
fcis-18503	30	24	hull	hull	NOUN
fcis-18503	30	25	,	,	PUNCT
fcis-18503	30	26	and	and	CCONJ
fcis-18503	30	27	the	the	DET
fcis-18503	30	28	installation	installation	NOUN
fcis-18503	30	29	of	of	ADP
fcis-18503	30	30	the	the	DET
fcis-18503	30	31	collection	collection	NOUN
fcis-18503	30	32	device	device	NOUN
fcis-18503	30	33	has	have	VERB
fcis-18503	30	34	a	a	DET
fcis-18503	30	35	great	great	ADJ
fcis-18503	30	36	impact	impact	NOUN
fcis-18503	30	37	on	on	ADP
fcis-18503	30	38	the	the	DET
fcis-18503	30	39	stability	stability	NOUN
fcis-18503	30	40	of	of	ADP
fcis-18503	30	41	the	the	DET
fcis-18503	30	42	hull	hull	NOUN
fcis-18503	30	43	during	during	ADP
fcis-18503	30	44	surface	surface	NOUN
fcis-18503	30	45	navigation	navigation	NOUN
fcis-18503	30	46	.	.	PUNCT
fcis-18503	31	1	currently	currently	ADV
fcis-18503	31	2	,	,	PUNCT
fcis-18503	31	3	there	there	PRON
fcis-18503	31	4	are	be	VERB
fcis-18503	31	5	two	two	NUM
fcis-18503	31	6	types	type	NOUN
fcis-18503	31	7	of	of	ADP
fcis-18503	31	8	small	small	ADJ
fcis-18503	31	9	hull	hull	NOUN
fcis-18503	31	10	structures	structure	NOUN
fcis-18503	31	11	to	to	PART
fcis-18503	31	12	choose	choose	VERB
fcis-18503	31	13	from	from	ADP
fcis-18503	31	14	:	:	PUNCT
fcis-18503	31	15	monohull	monohull	ADJ
fcis-18503	31	16	and	and	CCONJ
fcis-18503	31	17	86	86	NUM
fcis-18503	31	18	catamaran	catamaran	NOUN
fcis-18503	31	19	.	.	PUNCT
fcis-18503	32	1	the	the	DET
fcis-18503	32	2	monohull	monohull	NOUN
fcis-18503	32	3	structure	structure	NOUN
fcis-18503	32	4	,	,	PUNCT
fcis-18503	32	5	as	as	SCONJ
fcis-18503	32	6	shown	show	VERB
fcis-18503	32	7	in	in	ADP
fcis-18503	32	8	figure	figure	NOUN
fcis-18503	32	9	1(a	1(a	NUM
fcis-18503	32	10	)	)	PUNCT
fcis-18503	32	11	,	,	PUNCT
fcis-18503	32	12	is	be	AUX
fcis-18503	32	13	basically	basically	ADV
fcis-18503	32	14	molded	mold	VERB
fcis-18503	32	15	in	in	ADP
fcis-18503	32	16	one	one	NUM
fcis-18503	32	17	piece	piece	NOUN
fcis-18503	32	18	through	through	ADP
fcis-18503	32	19	injection	injection	NOUN
fcis-18503	32	20	molding	molding	NOUN
fcis-18503	32	21	and	and	CCONJ
fcis-18503	32	22	,	,	PUNCT
fcis-18503	32	23	after	after	ADP
fcis-18503	32	24	retrofitting	retrofit	VERB
fcis-18503	32	25	,	,	PUNCT
fcis-18503	32	26	the	the	DET
fcis-18503	32	27	floating	float	VERB
fcis-18503	32	28	garbage	garbage	NOUN
fcis-18503	32	29	collection	collection	NOUN
fcis-18503	32	30	device	device	NOUN
fcis-18503	32	31	is	be	AUX
fcis-18503	32	32	integrated	integrate	VERB
fcis-18503	32	33	onto	onto	ADP
fcis-18503	32	34	the	the	DET
fcis-18503	32	35	hull	hull	NOUN
fcis-18503	32	36	to	to	PART
fcis-18503	32	37	realize	realize	VERB
fcis-18503	32	38	the	the	DET
fcis-18503	32	39	purpose	purpose	NOUN
fcis-18503	32	40	of	of	ADP
fcis-18503	32	41	floating	float	VERB
fcis-18503	32	42	garbage	garbage	NOUN
fcis-18503	32	43	collection	collection	NOUN
fcis-18503	32	44	.	.	PUNCT
fcis-18503	33	1	however	however	ADV
fcis-18503	33	2	,	,	PUNCT
fcis-18503	33	3	the	the	DET
fcis-18503	33	4	monohull	monohull	ADJ
fcis-18503	33	5	hull	hull	NOUN
fcis-18503	33	6	structure	structure	NOUN
fcis-18503	33	7	is	be	AUX
fcis-18503	33	8	complex	complex	ADJ
fcis-18503	33	9	,	,	PUNCT
fcis-18503	33	10	consumes	consume	VERB
fcis-18503	33	11	a	a	DET
fcis-18503	33	12	large	large	ADJ
fcis-18503	33	13	amount	amount	NOUN
fcis-18503	33	14	of	of	ADP
fcis-18503	33	15	energy	energy	NOUN
fcis-18503	33	16	,	,	PUNCT
fcis-18503	33	17	and	and	CCONJ
fcis-18503	33	18	has	have	VERB
fcis-18503	33	19	a	a	DET
fcis-18503	33	20	large	large	ADJ
fcis-18503	33	21	impact	impact	NOUN
fcis-18503	33	22	on	on	ADP
fcis-18503	33	23	the	the	DET
fcis-18503	33	24	stability	stability	NOUN
fcis-18503	33	25	of	of	ADP
fcis-18503	33	26	the	the	DET
fcis-18503	33	27	hull	hull	NOUN
fcis-18503	33	28	operation	operation	NOUN
fcis-18503	33	29	,	,	PUNCT
fcis-18503	33	30	which	which	PRON
fcis-18503	33	31	can	can	AUX
fcis-18503	33	32	not	not	PART
fcis-18503	33	33	meet	meet	VERB
fcis-18503	33	34	the	the	DET
fcis-18503	33	35	design	design	NOUN
fcis-18503	33	36	requirements	requirement	NOUN
fcis-18503	33	37	of	of	ADP
fcis-18503	33	38	this	this	DET
fcis-18503	33	39	paper	paper	NOUN
fcis-18503	33	40	.	.	PUNCT
fcis-18503	34	1	(	(	PUNCT
fcis-18503	34	2	a	a	X
fcis-18503	34	3	)	)	PUNCT
fcis-18503	34	4	the	the	DET
fcis-18503	34	5	monohull	monohull	NOUN
fcis-18503	34	6	structure	structure	NOUN
fcis-18503	34	7	(	(	PUNCT
fcis-18503	34	8	b	b	X
fcis-18503	34	9	)	)	PUNCT
fcis-18503	34	10	the	the	DET
fcis-18503	34	11	catamaran	catamaran	NOUN
fcis-18503	34	12	structure	structure	NOUN
fcis-18503	34	13	figure	figure	NOUN
fcis-18503	34	14	1	1	NUM
fcis-18503	34	15	.	.	PUNCT
fcis-18503	34	16	illustrates	illustrate	VERB
fcis-18503	34	17	the	the	DET
fcis-18503	34	18	hull	hull	NOUN
fcis-18503	34	19	structure	structure	NOUN
fcis-18503	34	20	the	the	DET
fcis-18503	34	21	catamaran	catamaran	NOUN
fcis-18503	34	22	structure	structure	NOUN
fcis-18503	34	23	connects	connect	VERB
fcis-18503	34	24	two	two	NUM
fcis-18503	34	25	single	single	ADJ
fcis-18503	34	26	-	-	PUNCT
fcis-18503	34	27	body	body	NOUN
fcis-18503	34	28	pontoons	pontoon	NOUN
fcis-18503	34	29	through	through	ADP
fcis-18503	34	30	connectors	connector	NOUN
fcis-18503	34	31	,	,	PUNCT
fcis-18503	34	32	as	as	SCONJ
fcis-18503	34	33	shown	show	VERB
fcis-18503	34	34	in	in	ADP
fcis-18503	34	35	figure	figure	NOUN
fcis-18503	34	36	1(b	1(b	NUM
fcis-18503	34	37	)	)	PUNCT
fcis-18503	34	38	,	,	PUNCT
fcis-18503	34	39	with	with	ADP
fcis-18503	34	40	a	a	DET
fcis-18503	34	41	large	large	ADJ
fcis-18503	34	42	gap	gap	NOUN
fcis-18503	34	43	between	between	ADP
fcis-18503	34	44	the	the	DET
fcis-18503	34	45	single	single	ADJ
fcis-18503	34	46	bodies	body	NOUN
fcis-18503	34	47	.	.	PUNCT
fcis-18503	35	1	the	the	DET
fcis-18503	35	2	water	water	NOUN
fcis-18503	35	3	surface	surface	NOUN
fcis-18503	35	4	garbage	garbage	NOUN
fcis-18503	35	5	cleaning	cleaning	NOUN
fcis-18503	35	6	device	device	NOUN
fcis-18503	35	7	of	of	ADP
fcis-18503	35	8	the	the	DET
fcis-18503	35	9	catamaran	catamaran	NOUN
fcis-18503	35	10	type	type	NOUN
fcis-18503	35	11	can	can	AUX
fcis-18503	35	12	be	be	AUX
fcis-18503	35	13	installed	instal	VERB
fcis-18503	35	14	in	in	ADP
fcis-18503	35	15	the	the	DET
fcis-18503	35	16	middle	middle	ADJ
fcis-18503	35	17	position	position	NOUN
fcis-18503	35	18	of	of	ADP
fcis-18503	35	19	the	the	DET
fcis-18503	35	20	hull	hull	NOUN
fcis-18503	35	21	.	.	PUNCT
fcis-18503	36	1	during	during	ADP
fcis-18503	36	2	operation	operation	NOUN
fcis-18503	36	3	,	,	PUNCT
fcis-18503	36	4	floating	float	VERB
fcis-18503	36	5	garbage	garbage	NOUN
fcis-18503	36	6	can	can	AUX
fcis-18503	36	7	gather	gather	VERB
fcis-18503	36	8	within	within	ADP
fcis-18503	36	9	the	the	DET
fcis-18503	36	10	range	range	NOUN
fcis-18503	36	11	of	of	ADP
fcis-18503	36	12	the	the	DET
fcis-18503	36	13	water	water	NOUN
fcis-18503	36	14	surface	surface	NOUN
fcis-18503	36	15	garbage	garbage	NOUN
fcis-18503	36	16	cleaning	cleaning	NOUN
fcis-18503	36	17	device	device	NOUN
fcis-18503	36	18	through	through	ADP
fcis-18503	36	19	the	the	DET
fcis-18503	36	20	gap	gap	NOUN
fcis-18503	36	21	between	between	ADP
fcis-18503	36	22	the	the	DET
fcis-18503	36	23	two	two	NUM
fcis-18503	36	24	single	single	ADJ
fcis-18503	36	25	-	-	PUNCT
fcis-18503	36	26	body	body	NOUN
fcis-18503	36	27	pontoons	pontoon	NOUN
fcis-18503	36	28	.	.	PUNCT
fcis-18503	37	1	this	this	DET
fcis-18503	37	2	device	device	NOUN
fcis-18503	37	3	does	do	AUX
fcis-18503	37	4	not	not	PART
fcis-18503	37	5	need	need	VERB
fcis-18503	37	6	to	to	PART
fcis-18503	37	7	lift	lift	VERB
fcis-18503	37	8	garbage	garbage	NOUN
fcis-18503	37	9	out	out	ADP
fcis-18503	37	10	of	of	ADP
fcis-18503	37	11	the	the	DET
fcis-18503	37	12	water	water	NOUN
fcis-18503	37	13	;	;	PUNCT
fcis-18503	37	14	that	that	PRON
fcis-18503	37	15	is	is	ADV
fcis-18503	37	16	,	,	PUNCT
fcis-18503	37	17	the	the	DET
fcis-18503	37	18	floating	float	VERB
fcis-18503	37	19	garbage	garbage	NOUN
fcis-18503	37	20	collection	collection	NOUN
fcis-18503	37	21	device	device	NOUN
fcis-18503	37	22	matched	match	VERB
fcis-18503	37	23	with	with	ADP
fcis-18503	37	24	the	the	DET
fcis-18503	37	25	catamaran	catamaran	NOUN
fcis-18503	37	26	hull	hull	NOUN
fcis-18503	37	27	can	can	AUX
fcis-18503	37	28	simply	simply	ADV
fcis-18503	37	29	realize	realize	VERB
fcis-18503	37	30	the	the	DET
fcis-18503	37	31	function	function	NOUN
fcis-18503	37	32	of	of	ADP
fcis-18503	37	33	gathering	gather	VERB
fcis-18503	37	34	and	and	CCONJ
fcis-18503	37	35	collecting	collect	VERB
fcis-18503	37	36	floating	float	VERB
fcis-18503	37	37	objects	object	NOUN
fcis-18503	37	38	,	,	PUNCT
fcis-18503	37	39	which	which	PRON
fcis-18503	37	40	is	be	AUX
fcis-18503	37	41	structurally	structurally	ADV
fcis-18503	37	42	simple	simple	ADJ
fcis-18503	37	43	,	,	PUNCT
fcis-18503	37	44	with	with	ADP
fcis-18503	37	45	low	low	ADJ
fcis-18503	37	46	energy	energy	NOUN
fcis-18503	37	47	consumption	consumption	NOUN
fcis-18503	37	48	,	,	PUNCT
fcis-18503	37	49	and	and	CCONJ
fcis-18503	37	50	provides	provide	VERB
fcis-18503	37	51	relatively	relatively	ADV
fcis-18503	37	52	stable	stable	ADJ
fcis-18503	37	53	and	and	CCONJ
fcis-18503	37	54	reliable	reliable	ADJ
fcis-18503	37	55	hull	hull	NOUN
fcis-18503	37	56	motion	motion	NOUN
fcis-18503	37	57	.	.	PUNCT
fcis-18503	38	1	through	through	ADP
fcis-18503	38	2	modular	modular	ADJ
fcis-18503	38	3	design	design	NOUN
fcis-18503	38	4	,	,	PUNCT
fcis-18503	38	5	the	the	DET
fcis-18503	38	6	catamaran	catamaran	NOUN
fcis-18503	38	7	hull	hull	NOUN
fcis-18503	38	8	can	can	AUX
fcis-18503	38	9	be	be	AUX
fcis-18503	38	10	designed	design	VERB
fcis-18503	38	11	to	to	PART
fcis-18503	38	12	be	be	AUX
fcis-18503	38	13	detachable	detachable	ADJ
fcis-18503	38	14	to	to	PART
fcis-18503	38	15	meet	meet	VERB
fcis-18503	38	16	portability	portability	NOUN
fcis-18503	38	17	requirements	requirement	NOUN
fcis-18503	38	18	.	.	PUNCT
fcis-18503	39	1	based	base	VERB
fcis-18503	39	2	on	on	ADP
fcis-18503	39	3	the	the	DET
fcis-18503	39	4	above	above	ADJ
fcis-18503	39	5	analysis	analysis	NOUN
fcis-18503	39	6	,	,	PUNCT
fcis-18503	39	7	the	the	DET
fcis-18503	39	8	main	main	ADJ
fcis-18503	39	9	body	body	NOUN
fcis-18503	39	10	of	of	ADP
fcis-18503	39	11	the	the	DET
fcis-18503	39	12	robot	robot	NOUN
fcis-18503	39	13	designed	design	VERB
fcis-18503	39	14	in	in	ADP
fcis-18503	39	15	this	this	DET
fcis-18503	39	16	paper	paper	NOUN
fcis-18503	39	17	adopts	adopt	VERB
fcis-18503	39	18	a	a	DET
fcis-18503	39	19	catamaran	catamaran	NOUN
fcis-18503	39	20	structure	structure	NOUN
fcis-18503	39	21	.	.	PUNCT
fcis-18503	40	1	3.2	3.2	NUM
fcis-18503	40	2	.	.	PUNCT
fcis-18503	41	1	design	design	NOUN
fcis-18503	41	2	of	of	ADP
fcis-18503	41	3	the	the	DET
fcis-18503	41	4	floating	float	VERB
fcis-18503	41	5	garbage	garbage	NOUN
fcis-18503	41	6	collection	collection	NOUN
fcis-18503	41	7	device	device	NOUN
fcis-18503	41	8	structure	structure	NOUN
fcis-18503	41	9	the	the	DET
fcis-18503	41	10	common	common	ADJ
fcis-18503	41	11	types	type	NOUN
fcis-18503	41	12	of	of	ADP
fcis-18503	41	13	surface	surface	NOUN
fcis-18503	41	14	garbage	garbage	NOUN
fcis-18503	41	15	collection	collection	NOUN
fcis-18503	41	16	devices	device	NOUN
fcis-18503	41	17	primarily	primarily	ADV
fcis-18503	41	18	include	include	VERB
fcis-18503	41	19	conveyor	conveyor	NOUN
fcis-18503	41	20	belt	belt	NOUN
fcis-18503	41	21	type	type	NOUN
fcis-18503	41	22	,	,	PUNCT
fcis-18503	41	23	bucket	bucket	NOUN
fcis-18503	41	24	type	type	NOUN
fcis-18503	41	25	,	,	PUNCT
fcis-18503	41	26	and	and	CCONJ
fcis-18503	41	27	rotating	rotate	VERB
fcis-18503	41	28	type	type	NOUN
fcis-18503	41	29	collection	collection	NOUN
fcis-18503	41	30	devices	device	NOUN
fcis-18503	41	31	.	.	PUNCT
fcis-18503	42	1	for	for	ADP
fcis-18503	42	2	the	the	DET
fcis-18503	42	3	catamaran	catamaran	NOUN
fcis-18503	42	4	structure	structure	NOUN
fcis-18503	42	5	of	of	ADP
fcis-18503	42	6	the	the	DET
fcis-18503	42	7	robot	robot	NOUN
fcis-18503	42	8	designed	design	VERB
fcis-18503	42	9	in	in	ADP
fcis-18503	42	10	this	this	DET
fcis-18503	42	11	paper	paper	NOUN
fcis-18503	42	12	,	,	PUNCT
fcis-18503	42	13	all	all	DET
fcis-18503	42	14	three	three	NUM
fcis-18503	42	15	of	of	ADP
fcis-18503	42	16	the	the	DET
fcis-18503	42	17	aforementioned	aforementioned	ADJ
fcis-18503	42	18	mechanisms	mechanism	NOUN
fcis-18503	42	19	,	,	PUNCT
fcis-18503	42	20	whether	whether	SCONJ
fcis-18503	42	21	driven	drive	VERB
fcis-18503	42	22	by	by	ADP
fcis-18503	42	23	an	an	DET
fcis-18503	42	24	electric	electric	ADJ
fcis-18503	42	25	motor	motor	NOUN
fcis-18503	42	26	or	or	CCONJ
fcis-18503	42	27	hydraulic	hydraulic	ADJ
fcis-18503	42	28	power	power	NOUN
fcis-18503	42	29	,	,	PUNCT
fcis-18503	42	30	require	require	VERB
fcis-18503	42	31	an	an	DET
fcis-18503	42	32	independent	independent	ADJ
fcis-18503	42	33	power	power	NOUN
fcis-18503	42	34	source	source	NOUN
fcis-18503	42	35	,	,	PUNCT
fcis-18503	42	36	resulting	result	VERB
fcis-18503	42	37	in	in	ADP
fcis-18503	42	38	a	a	DET
fcis-18503	42	39	complex	complex	ADJ
fcis-18503	42	40	structure	structure	NOUN
fcis-18503	42	41	.	.	PUNCT
fcis-18503	43	1	when	when	SCONJ
fcis-18503	43	2	cleaning	clean	VERB
fcis-18503	43	3	surface	surface	NOUN
fcis-18503	43	4	garbage	garbage	NOUN
fcis-18503	43	5	,	,	PUNCT
fcis-18503	43	6	these	these	DET
fcis-18503	43	7	devices	device	NOUN
fcis-18503	43	8	must	must	AUX
fcis-18503	43	9	lift	lift	VERB
fcis-18503	43	10	the	the	DET
fcis-18503	43	11	floating	float	VERB
fcis-18503	43	12	waste	waste	NOUN
fcis-18503	43	13	out	out	ADP
fcis-18503	43	14	of	of	ADP
fcis-18503	43	15	the	the	DET
fcis-18503	43	16	water	water	NOUN
fcis-18503	43	17	and	and	CCONJ
fcis-18503	43	18	bear	bear	VERB
fcis-18503	43	19	its	its	PRON
fcis-18503	43	20	entire	entire	ADJ
fcis-18503	43	21	weight	weight	NOUN
fcis-18503	43	22	,	,	PUNCT
fcis-18503	43	23	necessitating	necessitate	VERB
fcis-18503	43	24	a	a	DET
fcis-18503	43	25	significant	significant	ADJ
fcis-18503	43	26	energy	energy	NOUN
fcis-18503	43	27	supply	supply	NOUN
fcis-18503	43	28	,	,	PUNCT
fcis-18503	43	29	which	which	PRON
fcis-18503	43	30	obviously	obviously	ADV
fcis-18503	43	31	places	place	VERB
fcis-18503	43	32	higher	high	ADJ
fcis-18503	43	33	demands	demand	NOUN
fcis-18503	43	34	on	on	ADP
fcis-18503	43	35	the	the	DET
fcis-18503	43	36	robot	robot	NOUN
fcis-18503	43	37	’s	’s	PART
fcis-18503	43	38	endurance	endurance	NOUN
fcis-18503	43	39	capability	capability	NOUN
fcis-18503	43	40	.	.	PUNCT
fcis-18503	44	1	to	to	PART
fcis-18503	44	2	address	address	VERB
fcis-18503	44	3	the	the	DET
fcis-18503	44	4	issues	issue	NOUN
fcis-18503	44	5	of	of	ADP
fcis-18503	44	6	complexity	complexity	NOUN
fcis-18503	44	7	and	and	CCONJ
fcis-18503	44	8	high	high	ADJ
fcis-18503	44	9	energy	energy	NOUN
fcis-18503	44	10	consumption	consumption	NOUN
fcis-18503	44	11	of	of	ADP
fcis-18503	44	12	existing	exist	VERB
fcis-18503	44	13	surface	surface	NOUN
fcis-18503	44	14	garbage	garbage	NOUN
fcis-18503	44	15	collection	collection	NOUN
fcis-18503	44	16	devices	device	NOUN
fcis-18503	44	17	,	,	PUNCT
fcis-18503	44	18	the	the	DET
fcis-18503	44	19	triz	triz	PROPN
fcis-18503	44	20	innovation	innovation	NOUN
fcis-18503	44	21	method	method	NOUN
fcis-18503	44	22	was	be	AUX
fcis-18503	44	23	utilized	utilize	VERB
fcis-18503	44	24	to	to	PART
fcis-18503	44	25	analyze	analyze	VERB
fcis-18503	44	26	the	the	DET
fcis-18503	44	27	characteristics	characteristic	NOUN
fcis-18503	44	28	of	of	ADP
fcis-18503	44	29	the	the	DET
fcis-18503	44	30	double	double	ADJ
fcis-18503	44	31	-	-	PUNCT
fcis-18503	44	32	hulled	hull	VERB
fcis-18503	44	33	structure	structure	NOUN
fcis-18503	44	34	of	of	ADP
fcis-18503	44	35	the	the	DET
fcis-18503	44	36	robot	robot	NOUN
fcis-18503	44	37	body	body	NOUN
fcis-18503	44	38	and	and	CCONJ
fcis-18503	44	39	the	the	DET
fcis-18503	44	40	floating	float	VERB
fcis-18503	44	41	nature	nature	NOUN
fcis-18503	44	42	of	of	ADP
fcis-18503	44	43	surface	surface	NOUN
fcis-18503	44	44	garbage	garbage	NOUN
fcis-18503	44	45	.	.	PUNCT
fcis-18503	45	1	by	by	ADP
fcis-18503	45	2	applying	apply	VERB
fcis-18503	45	3	the	the	DET
fcis-18503	45	4	principle	principle	NOUN
fcis-18503	45	5	of	of	ADP
fcis-18503	45	6	separation	separation	NOUN
fcis-18503	45	7	,	,	PUNCT
fcis-18503	45	8	the	the	DET
fcis-18503	45	9	gravity	gravity	NOUN
fcis-18503	45	10	bearing	bear	VERB
fcis-18503	45	11	function	function	NOUN
fcis-18503	45	12	and	and	CCONJ
fcis-18503	45	13	transport	transport	NOUN
fcis-18503	45	14	function	function	NOUN
fcis-18503	45	15	of	of	ADP
fcis-18503	45	16	the	the	DET
fcis-18503	45	17	surface	surface	NOUN
fcis-18503	45	18	garbage	garbage	NOUN
fcis-18503	45	19	are	be	AUX
fcis-18503	45	20	separated	separate	VERB
fcis-18503	45	21	.	.	PUNCT
fcis-18503	46	1	this	this	DET
fcis-18503	46	2	approach	approach	NOUN
fcis-18503	46	3	entails	entail	VERB
fcis-18503	46	4	modifying	modify	VERB
fcis-18503	46	5	the	the	DET
fcis-18503	46	6	structure	structure	NOUN
fcis-18503	46	7	of	of	ADP
fcis-18503	46	8	existing	exist	VERB
fcis-18503	46	9	garbage	garbage	NOUN
fcis-18503	46	10	lifting	lifting	NOUN
fcis-18503	46	11	devices	device	NOUN
fcis-18503	46	12	to	to	PART
fcis-18503	46	13	function	function	VERB
fcis-18503	46	14	as	as	ADP
fcis-18503	46	15	garbage	garbage	NOUN
fcis-18503	46	16	collection	collection	NOUN
fcis-18503	46	17	devices	device	NOUN
fcis-18503	46	18	instead	instead	ADV
fcis-18503	46	19	,	,	PUNCT
fcis-18503	46	20	using	use	VERB
fcis-18503	46	21	water	water	NOUN
fcis-18503	46	22	buoyancy	buoyancy	NOUN
fcis-18503	46	23	to	to	PART
fcis-18503	46	24	neutralize	neutralize	VERB
fcis-18503	46	25	the	the	DET
fcis-18503	46	26	effect	effect	NOUN
fcis-18503	46	27	of	of	ADP
fcis-18503	46	28	gravity	gravity	NOUN
fcis-18503	46	29	;	;	PUNCT
fcis-18503	46	30	and	and	CCONJ
fcis-18503	46	31	utilizing	utilize	VERB
fcis-18503	46	32	the	the	DET
fcis-18503	46	33	propulsive	propulsive	ADJ
fcis-18503	46	34	force	force	NOUN
fcis-18503	46	35	of	of	ADP
fcis-18503	46	36	the	the	DET
fcis-18503	46	37	garbage	garbage	NOUN
fcis-18503	46	38	collection	collection	NOUN
fcis-18503	46	39	device	device	NOUN
fcis-18503	46	40	to	to	PART
fcis-18503	46	41	transport	transport	VERB
fcis-18503	46	42	the	the	DET
fcis-18503	46	43	surface	surface	NOUN
fcis-18503	46	44	garbage	garbage	NOUN
fcis-18503	46	45	.	.	PUNCT
fcis-18503	47	1	this	this	PRON
fcis-18503	47	2	significantly	significantly	ADV
fcis-18503	47	3	reduces	reduce	VERB
fcis-18503	47	4	the	the	DET
fcis-18503	47	5	complexity	complexity	NOUN
fcis-18503	47	6	of	of	ADP
fcis-18503	47	7	the	the	DET
fcis-18503	47	8	structure	structure	NOUN
fcis-18503	47	9	and	and	CCONJ
fcis-18503	47	10	energy	energy	NOUN
fcis-18503	47	11	loss	loss	NOUN
fcis-18503	47	12	.	.	PUNCT
fcis-18503	48	1	the	the	DET
fcis-18503	48	2	integrated	integrate	VERB
fcis-18503	48	3	robot	robot	NOUN
fcis-18503	48	4	body	body	NOUN
fcis-18503	48	5	structure	structure	NOUN
fcis-18503	48	6	with	with	ADP
fcis-18503	48	7	a	a	DET
fcis-18503	48	8	floating	float	VERB
fcis-18503	48	9	garbage	garbage	NOUN
fcis-18503	48	10	collection	collection	NOUN
fcis-18503	48	11	device	device	NOUN
fcis-18503	48	12	is	be	AUX
fcis-18503	48	13	illustrated	illustrate	VERB
fcis-18503	48	14	in	in	ADP
fcis-18503	48	15	figure	figure	NOUN
fcis-18503	48	16	2	2	NUM
fcis-18503	48	17	.	.	PUNCT
fcis-18503	48	18	figure	figure	NOUN
fcis-18503	48	19	2	2	NUM
fcis-18503	48	20	.	.	PUNCT
fcis-18503	48	21	schematic	schematic	ADJ
fcis-18503	48	22	diagram	diagram	NOUN
fcis-18503	48	23	of	of	ADP
fcis-18503	48	24	the	the	DET
fcis-18503	48	25	surface	surface	NOUN
fcis-18503	48	26	garbage	garbage	NOUN
fcis-18503	48	27	cleaning	cleaning	NOUN
fcis-18503	48	28	robot	robot	NOUN
fcis-18503	48	29	structure	structure	NOUN
fcis-18503	48	30	1hull	1hull	NUM
fcis-18503	48	31	body	body	NOUN
fcis-18503	48	32	2heavy	2heavy	NUM
fcis-18503	48	33	floating	float	VERB
fcis-18503	48	34	garbage	garbage	NOUN
fcis-18503	48	35	collection	collection	NOUN
fcis-18503	48	36	basket	basket	NOUN
fcis-18503	49	1	3battery	3battery	NUM
fcis-18503	49	2	box	box	NOUN
fcis-18503	49	3	cover	cover	VERB
fcis-18503	49	4	4electric	4electric	NUM
fcis-18503	49	5	push	push	NOUN
fcis-18503	49	6	rod	rod	NOUN
fcis-18503	49	7	5connector	5connector	NUM
fcis-18503	49	8	6light	6light	NUM
fcis-18503	49	9	floating	float	VERB
fcis-18503	49	10	garbage	garbage	NOUN
fcis-18503	49	11	collection	collection	NOUN
fcis-18503	49	12	basket	basket	NOUN
fcis-18503	49	13	7propeller	7propeller	NUM
fcis-18503	49	14	when	when	SCONJ
fcis-18503	49	15	the	the	DET
fcis-18503	49	16	robot	robot	NOUN
fcis-18503	49	17	cleans	clean	VERB
fcis-18503	49	18	up	up	ADP
fcis-18503	49	19	small	small	ADJ
fcis-18503	49	20	,	,	PUNCT
fcis-18503	49	21	light	light	ADJ
fcis-18503	49	22	floating	float	VERB
fcis-18503	49	23	debris	debris	NOUN
fcis-18503	49	24	weighing	weigh	VERB
fcis-18503	49	25	less	less	ADJ
fcis-18503	49	26	than	than	ADP
fcis-18503	49	27	0.5	0.5	NUM
fcis-18503	49	28	kg	kg	NOUN
fcis-18503	49	29	(	(	PUNCT
fcis-18503	49	30	such	such	ADJ
fcis-18503	49	31	as	as	ADP
fcis-18503	49	32	branches	branch	NOUN
fcis-18503	49	33	,	,	PUNCT
fcis-18503	49	34	leaves	leave	NOUN
fcis-18503	49	35	,	,	PUNCT
fcis-18503	49	36	grass	grass	NOUN
fcis-18503	49	37	,	,	PUNCT
fcis-18503	49	38	garbage	garbage	NOUN
fcis-18503	49	39	bags	bag	NOUN
fcis-18503	49	40	,	,	PUNCT
fcis-18503	49	41	etc	etc	X
fcis-18503	49	42	.	.	X
fcis-18503	49	43	)	)	PUNCT
fcis-18503	49	44	,	,	PUNCT
fcis-18503	49	45	the	the	DET
fcis-18503	49	46	collection	collection	NOUN
fcis-18503	49	47	basket	basket	NOUN
fcis-18503	49	48	for	for	ADP
fcis-18503	49	49	heavy	heavy	ADJ
fcis-18503	49	50	floating	float	VERB
fcis-18503	49	51	objects	object	NOUN
fcis-18503	49	52	is	be	AUX
fcis-18503	49	53	raised	raise	VERB
fcis-18503	49	54	above	above	ADP
fcis-18503	49	55	the	the	DET
fcis-18503	49	56	water	water	NOUN
fcis-18503	49	57	surface	surface	NOUN
fcis-18503	49	58	by	by	ADP
fcis-18503	49	59	electric	electric	ADJ
fcis-18503	49	60	push	push	NOUN
fcis-18503	49	61	rods	rod	NOUN
fcis-18503	49	62	.	.	PUNCT
fcis-18503	50	1	the	the	DET
fcis-18503	50	2	light	light	ADJ
fcis-18503	50	3	floating	float	VERB
fcis-18503	50	4	objects	object	NOUN
fcis-18503	50	5	enter	enter	VERB
fcis-18503	50	6	the	the	DET
fcis-18503	50	7	basket	basket	NOUN
fcis-18503	50	8	located	locate	VERB
fcis-18503	50	9	at	at	ADP
fcis-18503	50	10	the	the	DET
fcis-18503	50	11	rear	rear	NOUN
fcis-18503	50	12	of	of	ADP
fcis-18503	50	13	the	the	DET
fcis-18503	50	14	boat	boat	NOUN
fcis-18503	50	15	through	through	ADP
fcis-18503	50	16	the	the	DET
fcis-18503	50	17	gap	gap	NOUN
fcis-18503	50	18	between	between	ADP
fcis-18503	50	19	the	the	DET
fcis-18503	50	20	hulls	hull	NOUN
fcis-18503	50	21	.	.	PUNCT
fcis-18503	51	1	this	this	DET
fcis-18503	51	2	basket	basket	NOUN
fcis-18503	51	3	for	for	ADP
fcis-18503	51	4	light	light	ADJ
fcis-18503	51	5	floating	float	VERB
fcis-18503	51	6	objects	object	NOUN
fcis-18503	51	7	only	only	ADV
fcis-18503	51	8	restricts	restrict	VERB
fcis-18503	51	9	and	and	CCONJ
fcis-18503	51	10	pushes	push	VERB
fcis-18503	51	11	the	the	DET
fcis-18503	51	12	light	light	ADJ
fcis-18503	51	13	floating	float	VERB
fcis-18503	51	14	objects	object	NOUN
fcis-18503	51	15	,	,	PUNCT
fcis-18503	51	16	enabling	enable	VERB
fcis-18503	51	17	continued	continue	VERB
fcis-18503	51	18	garbage	garbage	NOUN
fcis-18503	51	19	collection	collection	NOUN
fcis-18503	51	20	.	.	PUNCT
fcis-18503	52	1	when	when	SCONJ
fcis-18503	52	2	cleaning	clean	VERB
fcis-18503	52	3	up	up	ADP
fcis-18503	52	4	heavy	heavy	ADJ
fcis-18503	52	5	floating	float	VERB
fcis-18503	52	6	objects	object	NOUN
fcis-18503	52	7	weighing	weigh	VERB
fcis-18503	52	8	around	around	ADV
fcis-18503	52	9	10	10	NUM
fcis-18503	52	10	kg	kg	NOUN
fcis-18503	52	11	with	with	ADP
fcis-18503	52	12	larger	large	ADJ
fcis-18503	52	13	volumes	volume	NOUN
fcis-18503	52	14	(	(	PUNCT
fcis-18503	52	15	such	such	ADJ
fcis-18503	52	16	as	as	ADP
fcis-18503	52	17	carcasses	carcass	NOUN
fcis-18503	52	18	of	of	ADP
fcis-18503	52	19	small	small	ADJ
fcis-18503	52	20	animals	animal	NOUN
fcis-18503	52	21	like	like	ADP
fcis-18503	52	22	cats	cat	NOUN
fcis-18503	52	23	and	and	CCONJ
fcis-18503	52	24	dogs	dog	NOUN
fcis-18503	52	25	)	)	PUNCT
fcis-18503	52	26	,	,	PUNCT
fcis-18503	52	27	the	the	DET
fcis-18503	52	28	collection	collection	NOUN
fcis-18503	52	29	basket	basket	NOUN
fcis-18503	52	30	for	for	ADP
fcis-18503	52	31	heavy	heavy	ADJ
fcis-18503	52	32	floating	float	VERB
fcis-18503	52	33	objects	object	NOUN
fcis-18503	52	34	is	be	AUX
fcis-18503	52	35	lowered	lower	VERB
fcis-18503	52	36	below	below	ADP
fcis-18503	52	37	the	the	DET
fcis-18503	52	38	water	water	NOUN
fcis-18503	52	39	surface	surface	NOUN
fcis-18503	52	40	by	by	ADP
fcis-18503	52	41	electric	electric	ADJ
fcis-18503	52	42	push	push	VERB
fcis-18503	52	43	87	87	NUM
fcis-18503	52	44	rods	rod	NOUN
fcis-18503	52	45	.	.	PUNCT
fcis-18503	53	1	the	the	DET
fcis-18503	53	2	heavy	heavy	ADJ
fcis-18503	53	3	floating	float	VERB
fcis-18503	53	4	objects	object	NOUN
fcis-18503	53	5	float	float	VERB
fcis-18503	53	6	into	into	ADP
fcis-18503	53	7	the	the	DET
fcis-18503	53	8	basket	basket	NOUN
fcis-18503	53	9	through	through	ADP
fcis-18503	53	10	the	the	DET
fcis-18503	53	11	gap	gap	NOUN
fcis-18503	53	12	between	between	ADP
fcis-18503	53	13	the	the	DET
fcis-18503	53	14	hulls	hull	NOUN
fcis-18503	53	15	and	and	CCONJ
fcis-18503	53	16	are	be	AUX
fcis-18503	53	17	confined	confine	VERB
fcis-18503	53	18	within	within	ADP
fcis-18503	53	19	the	the	DET
fcis-18503	53	20	basket	basket	NOUN
fcis-18503	53	21	,	,	PUNCT
fcis-18503	53	22	preventing	prevent	VERB
fcis-18503	53	23	them	they	PRON
fcis-18503	53	24	from	from	ADP
fcis-18503	53	25	floating	float	VERB
fcis-18503	53	26	away	away	ADV
fcis-18503	53	27	.	.	PUNCT
fcis-18503	54	1	the	the	DET
fcis-18503	54	2	robot	robot	NOUN
fcis-18503	54	3	then	then	ADV
fcis-18503	54	4	drags	drag	VERB
fcis-18503	54	5	the	the	DET
fcis-18503	54	6	heavy	heavy	ADJ
fcis-18503	54	7	floating	float	VERB
fcis-18503	54	8	objects	object	NOUN
fcis-18503	54	9	back	back	ADV
fcis-18503	54	10	to	to	ADP
fcis-18503	54	11	the	the	DET
fcis-18503	54	12	shore	shore	NOUN
fcis-18503	54	13	,	,	PUNCT
fcis-18503	54	14	where	where	SCONJ
fcis-18503	54	15	workers	worker	NOUN
fcis-18503	54	16	lift	lift	VERB
fcis-18503	54	17	them	they	PRON
fcis-18503	54	18	out	out	ADP
fcis-18503	54	19	of	of	ADP
fcis-18503	54	20	the	the	DET
fcis-18503	54	21	water	water	NOUN
fcis-18503	54	22	.	.	PUNCT
fcis-18503	55	1	3.3	3.3	NUM
fcis-18503	55	2	.	.	PUNCT
fcis-18503	56	1	robot	robot	NOUN
fcis-18503	56	2	main	main	ADJ
fcis-18503	56	3	body	body	NOUN
fcis-18503	56	4	portability	portability	NOUN
fcis-18503	56	5	design	design	NOUN
fcis-18503	56	6	to	to	PART
fcis-18503	56	7	meet	meet	VERB
fcis-18503	56	8	the	the	DET
fcis-18503	56	9	portability	portability	NOUN
fcis-18503	56	10	requirements	requirement	NOUN
fcis-18503	56	11	of	of	ADP
fcis-18503	56	12	the	the	DET
fcis-18503	56	13	surface	surface	NOUN
fcis-18503	56	14	garbage	garbage	NOUN
fcis-18503	56	15	cleaning	cleaning	NOUN
fcis-18503	56	16	robot	robot	NOUN
fcis-18503	56	17	,	,	PUNCT
fcis-18503	56	18	its	its	PRON
fcis-18503	56	19	main	main	ADJ
fcis-18503	56	20	body	body	NOUN
fcis-18503	56	21	is	be	AUX
fcis-18503	56	22	divided	divide	VERB
fcis-18503	56	23	into	into	ADP
fcis-18503	56	24	four	four	NUM
fcis-18503	56	25	modules	module	NOUN
fcis-18503	56	26	,	,	PUNCT
fcis-18503	56	27	as	as	SCONJ
fcis-18503	56	28	shown	show	VERB
fcis-18503	56	29	in	in	ADP
fcis-18503	56	30	figure	figure	NOUN
fcis-18503	56	31	3	3	NUM
fcis-18503	56	32	:	:	PUNCT
fcis-18503	56	33	the	the	DET
fcis-18503	56	34	hull	hull	ADJ
fcis-18503	56	35	single	single	ADJ
fcis-18503	56	36	module	module	NOUN
fcis-18503	56	37	,	,	PUNCT
fcis-18503	56	38	heavy	heavy	ADJ
fcis-18503	56	39	floating	float	VERB
fcis-18503	56	40	garbage	garbage	NOUN
fcis-18503	56	41	collection	collection	NOUN
fcis-18503	56	42	module	module	NOUN
fcis-18503	56	43	,	,	PUNCT
fcis-18503	56	44	light	light	ADJ
fcis-18503	56	45	floating	float	VERB
fcis-18503	56	46	garbage	garbage	NOUN
fcis-18503	56	47	collection	collection	NOUN
fcis-18503	56	48	module	module	NOUN
fcis-18503	56	49	,	,	PUNCT
fcis-18503	56	50	and	and	CCONJ
fcis-18503	56	51	connecting	connect	VERB
fcis-18503	56	52	parts	part	NOUN
fcis-18503	56	53	.	.	PUNCT
fcis-18503	57	1	the	the	DET
fcis-18503	57	2	hull	hull	ADJ
fcis-18503	57	3	single	single	ADJ
fcis-18503	57	4	module	module	NOUN
fcis-18503	57	5	includes	include	VERB
fcis-18503	57	6	:	:	PUNCT
fcis-18503	57	7	a	a	DET
fcis-18503	57	8	single	single	ADJ
fcis-18503	57	9	float	float	NOUN
fcis-18503	57	10	,	,	PUNCT
fcis-18503	57	11	one	one	NUM
fcis-18503	57	12	lithium	lithium	NOUN
fcis-18503	57	13	battery	battery	NOUN
fcis-18503	57	14	,	,	PUNCT
fcis-18503	57	15	a	a	DET
fcis-18503	57	16	battery	battery	NOUN
fcis-18503	57	17	cover	cover	NOUN
fcis-18503	57	18	,	,	PUNCT
fcis-18503	57	19	and	and	CCONJ
fcis-18503	57	20	one	one	NUM
fcis-18503	57	21	propeller	propeller	NOUN
fcis-18503	57	22	;	;	PUNCT
fcis-18503	57	23	the	the	DET
fcis-18503	57	24	heavy	heavy	ADJ
fcis-18503	57	25	floating	float	VERB
fcis-18503	57	26	garbage	garbage	NOUN
fcis-18503	57	27	collection	collection	NOUN
fcis-18503	57	28	module	module	NOUN
fcis-18503	57	29	includes	include	VERB
fcis-18503	57	30	:	:	PUNCT
fcis-18503	57	31	a	a	DET
fcis-18503	57	32	collection	collection	NOUN
fcis-18503	57	33	basket	basket	NOUN
fcis-18503	57	34	for	for	ADP
fcis-18503	57	35	heavy	heavy	ADJ
fcis-18503	57	36	floating	float	VERB
fcis-18503	57	37	objects	object	NOUN
fcis-18503	57	38	and	and	CCONJ
fcis-18503	57	39	two	two	NUM
fcis-18503	57	40	electric	electric	ADJ
fcis-18503	57	41	push	push	NOUN
fcis-18503	57	42	rods	rod	NOUN
fcis-18503	57	43	;	;	PUNCT
fcis-18503	57	44	the	the	DET
fcis-18503	57	45	light	light	NOUN
fcis-18503	57	46	floating	float	VERB
fcis-18503	57	47	garbage	garbage	NOUN
fcis-18503	57	48	collection	collection	NOUN
fcis-18503	57	49	module	module	NOUN
fcis-18503	57	50	includes	include	VERB
fcis-18503	57	51	a	a	DET
fcis-18503	57	52	collection	collection	NOUN
fcis-18503	57	53	basket	basket	NOUN
fcis-18503	57	54	for	for	ADP
fcis-18503	57	55	light	light	ADJ
fcis-18503	57	56	floating	float	VERB
fcis-18503	57	57	garbage	garbage	NOUN
fcis-18503	57	58	.	.	PUNCT
fcis-18503	58	1	figure	figure	NOUN
fcis-18503	58	2	3	3	NUM
fcis-18503	58	3	.	.	PUNCT
fcis-18503	58	4	robot	robot	NOUN
fcis-18503	58	5	main	main	ADJ
fcis-18503	58	6	body	body	NOUN
fcis-18503	58	7	disassembled	disassemble	VERB
fcis-18503	58	8	explosion	explosion	NOUN
fcis-18503	58	9	view	view	VERB
fcis-18503	58	10	1	1	NUM
fcis-18503	58	11	-	-	PUNCT
fcis-18503	58	12	hull	hull	NOUN
fcis-18503	58	13	single	single	ADJ
fcis-18503	58	14	module	module	NOUN
fcis-18503	58	15	2	2	NUM
fcis-18503	58	16	-	-	PUNCT
fcis-18503	58	17	heavy	heavy	ADJ
fcis-18503	58	18	floating	float	VERB
fcis-18503	58	19	garbage	garbage	NOUN
fcis-18503	58	20	collection	collection	NOUN
fcis-18503	58	21	module	module	NOUN
fcis-18503	58	22	3	3	NUM
fcis-18503	58	23	-	-	PUNCT
fcis-18503	58	24	connecting	connect	VERB
fcis-18503	58	25	parts	part	NOUN
fcis-18503	58	26	4	4	NUM
fcis-18503	58	27	-	-	PUNCT
fcis-18503	58	28	light	light	ADJ
fcis-18503	58	29	floating	float	VERB
fcis-18503	58	30	garbage	garbage	NOUN
fcis-18503	58	31	collection	collection	NOUN
fcis-18503	58	32	module	module	NOUN
fcis-18503	58	33	from	from	ADP
fcis-18503	58	34	figure	figure	NOUN
fcis-18503	58	35	3	3	NUM
fcis-18503	58	36	,	,	PUNCT
fcis-18503	58	37	it	it	PRON
fcis-18503	58	38	can	can	AUX
fcis-18503	58	39	be	be	AUX
fcis-18503	58	40	seen	see	VERB
fcis-18503	58	41	that	that	SCONJ
fcis-18503	58	42	the	the	DET
fcis-18503	58	43	two	two	NUM
fcis-18503	58	44	hull	hull	ADJ
fcis-18503	58	45	single	single	ADJ
fcis-18503	58	46	modules	module	NOUN
fcis-18503	58	47	are	be	AUX
fcis-18503	58	48	connected	connect	VERB
fcis-18503	58	49	by	by	ADP
fcis-18503	58	50	three	three	NUM
fcis-18503	58	51	connecting	connect	VERB
fcis-18503	58	52	parts	part	NOUN
fcis-18503	58	53	using	use	VERB
fcis-18503	58	54	bolts	bolt	NOUN
fcis-18503	58	55	,	,	PUNCT
fcis-18503	58	56	butterfly	butterfly	NOUN
fcis-18503	58	57	bolts	bolt	NOUN
fcis-18503	58	58	are	be	AUX
fcis-18503	58	59	used	use	VERB
fcis-18503	58	60	for	for	ADP
fcis-18503	58	61	ease	ease	NOUN
fcis-18503	58	62	of	of	ADP
fcis-18503	58	63	disassembly	disassembly	NOUN
fcis-18503	58	64	;	;	PUNCT
fcis-18503	58	65	heavy	heavy	ADJ
fcis-18503	58	66	floating	float	VERB
fcis-18503	58	67	garbage	garbage	NOUN
fcis-18503	58	68	collection	collection	NOUN
fcis-18503	58	69	devices	device	NOUN
fcis-18503	58	70	use	use	VERB
fcis-18503	58	71	cotter	cotter	NOUN
fcis-18503	58	72	pins	pin	NOUN
fcis-18503	58	73	to	to	PART
fcis-18503	58	74	fix	fix	VERB
fcis-18503	58	75	the	the	DET
fcis-18503	58	76	two	two	NUM
fcis-18503	58	77	electric	electric	ADJ
fcis-18503	58	78	push	push	NOUN
fcis-18503	58	79	rods	rod	NOUN
fcis-18503	58	80	to	to	ADP
fcis-18503	58	81	the	the	DET
fcis-18503	58	82	connecting	connect	VERB
fcis-18503	58	83	parts	part	NOUN
fcis-18503	58	84	,	,	PUNCT
fcis-18503	58	85	and	and	CCONJ
fcis-18503	58	86	the	the	DET
fcis-18503	58	87	light	light	ADJ
fcis-18503	58	88	floating	float	VERB
fcis-18503	58	89	garbage	garbage	NOUN
fcis-18503	58	90	collection	collection	NOUN
fcis-18503	58	91	devices	device	NOUN
fcis-18503	58	92	use	use	VERB
fcis-18503	58	93	the	the	DET
fcis-18503	58	94	aluminum	aluminum	NOUN
fcis-18503	58	95	alloy	alloy	NOUN
fcis-18503	58	96	profile	profile	NOUN
fcis-18503	58	97	of	of	ADP
fcis-18503	58	98	the	the	DET
fcis-18503	58	99	collection	collection	NOUN
fcis-18503	58	100	basket	basket	NOUN
fcis-18503	58	101	to	to	PART
fcis-18503	58	102	fit	fit	VERB
fcis-18503	58	103	into	into	ADP
fcis-18503	58	104	the	the	DET
fcis-18503	58	105	slide	slide	NOUN
fcis-18503	58	106	groove	groove	NOUN
fcis-18503	58	107	at	at	ADP
fcis-18503	58	108	the	the	DET
fcis-18503	58	109	end	end	NOUN
fcis-18503	58	110	of	of	ADP
fcis-18503	58	111	the	the	DET
fcis-18503	58	112	hull	hull	ADJ
fcis-18503	58	113	single	single	ADJ
fcis-18503	58	114	module	module	NOUN
fcis-18503	58	115	,	,	PUNCT
fcis-18503	58	116	fixing	fix	VERB
fcis-18503	58	117	it	it	PRON
fcis-18503	58	118	to	to	ADP
fcis-18503	58	119	the	the	DET
fcis-18503	58	120	rear	rear	NOUN
fcis-18503	58	121	of	of	ADP
fcis-18503	58	122	the	the	DET
fcis-18503	58	123	hull	hull	NOUN
fcis-18503	58	124	.	.	PUNCT
fcis-18503	59	1	4	4	X
fcis-18503	59	2	.	.	X
fcis-18503	59	3	propulsion	propulsion	NOUN
fcis-18503	59	4	device	device	NOUN
fcis-18503	59	5	selection	selection	NOUN
fcis-18503	59	6	the	the	DET
fcis-18503	59	7	surface	surface	NOUN
fcis-18503	59	8	garbage	garbage	NOUN
fcis-18503	59	9	cleaning	cleaning	NOUN
fcis-18503	59	10	robot	robot	NOUN
fcis-18503	59	11	designed	design	VERB
fcis-18503	59	12	adopts	adopt	VERB
fcis-18503	59	13	a	a	DET
fcis-18503	59	14	catamaran	catamaran	NOUN
fcis-18503	59	15	structure	structure	NOUN
fcis-18503	59	16	and	and	CCONJ
fcis-18503	59	17	uses	use	VERB
fcis-18503	59	18	two	two	NUM
fcis-18503	59	19	propellers	propeller	NOUN
fcis-18503	59	20	as	as	SCONJ
fcis-18503	59	21	the	the	DET
fcis-18503	59	22	propulsion	propulsion	NOUN
fcis-18503	59	23	devices	device	NOUN
fcis-18503	59	24	to	to	PART
fcis-18503	59	25	achieve	achieve	VERB
fcis-18503	59	26	the	the	DET
fcis-18503	59	27	robot	robot	NOUN
fcis-18503	59	28	’s	’s	PART
fcis-18503	59	29	forward	forward	ADV
fcis-18503	59	30	,	,	PUNCT
fcis-18503	59	31	reverse	reverse	VERB
fcis-18503	59	32	,	,	PUNCT
fcis-18503	59	33	and	and	CCONJ
fcis-18503	59	34	turning	turn	VERB
fcis-18503	59	35	functions	function	NOUN
fcis-18503	59	36	.	.	PUNCT
fcis-18503	60	1	the	the	DET
fcis-18503	60	2	design	design	NOUN
fcis-18503	60	3	requirement	requirement	NOUN
fcis-18503	60	4	is	be	AUX
fcis-18503	60	5	that	that	SCONJ
fcis-18503	60	6	the	the	DET
fcis-18503	60	7	speed	speed	NOUN
fcis-18503	60	8	of	of	ADP
fcis-18503	60	9	the	the	DET
fcis-18503	60	10	robot	robot	NOUN
fcis-18503	60	11	under	under	ADP
fcis-18503	60	12	the	the	DET
fcis-18503	60	13	propellers	propeller	NOUN
fcis-18503	60	14	’	'	PUNCT
fcis-18503	60	15	thrust	thrust	NOUN
fcis-18503	60	16	should	should	AUX
fcis-18503	60	17	not	not	PART
fcis-18503	60	18	be	be	AUX
fcis-18503	60	19	less	less	ADJ
fcis-18503	60	20	than	than	ADP
fcis-18503	60	21	1	1	NUM
fcis-18503	60	22	m/s	m/s	NOUN
fcis-18503	60	23	.	.	PUNCT
fcis-18503	61	1	to	to	PART
fcis-18503	61	2	obtain	obtain	VERB
fcis-18503	61	3	the	the	DET
fcis-18503	61	4	propulsive	propulsive	ADJ
fcis-18503	61	5	force	force	NOUN
fcis-18503	61	6	needed	need	VERB
fcis-18503	61	7	by	by	ADP
fcis-18503	61	8	the	the	DET
fcis-18503	61	9	propellers	propeller	NOUN
fcis-18503	61	10	to	to	PART
fcis-18503	61	11	meet	meet	VERB
fcis-18503	61	12	the	the	DET
fcis-18503	61	13	design	design	NOUN
fcis-18503	61	14	requirements	requirement	NOUN
fcis-18503	61	15	,	,	PUNCT
fcis-18503	61	16	it	it	PRON
fcis-18503	61	17	is	be	AUX
fcis-18503	61	18	necessary	necessary	ADJ
fcis-18503	61	19	to	to	PART
fcis-18503	61	20	first	first	ADV
fcis-18503	61	21	determine	determine	VERB
fcis-18503	61	22	unknown	unknown	ADJ
fcis-18503	61	23	parameters	parameter	NOUN
fcis-18503	61	24	such	such	ADJ
fcis-18503	61	25	as	as	ADP
fcis-18503	61	26	the	the	DET
fcis-18503	61	27	mass	mass	NOUN
fcis-18503	61	28	of	of	ADP
fcis-18503	61	29	the	the	DET
fcis-18503	61	30	hull	hull	NOUN
fcis-18503	61	31	,	,	PUNCT
fcis-18503	61	32	resistance	resistance	NOUN
fcis-18503	61	33	during	during	ADP
fcis-18503	61	34	travel	travel	NOUN
fcis-18503	61	35	,	,	PUNCT
fcis-18503	61	36	and	and	CCONJ
fcis-18503	61	37	acceleration	acceleration	NOUN
fcis-18503	61	38	.	.	PUNCT
fcis-18503	62	1	4.1	4.1	NUM
fcis-18503	62	2	.	.	PUNCT
fcis-18503	62	3	robot	robot	NOUN
fcis-18503	62	4	mass	mass	NOUN
fcis-18503	62	5	using	use	VERB
fcis-18503	62	6	the	the	DET
fcis-18503	62	7	solidworks	solidworks	PROPN
fcis-18503	62	8	3d	3d	PROPN
fcis-18503	62	9	software	software	NOUN
fcis-18503	62	10	,	,	PUNCT
fcis-18503	62	11	a	a	DET
fcis-18503	62	12	model	model	NOUN
fcis-18503	62	13	of	of	ADP
fcis-18503	62	14	the	the	DET
fcis-18503	62	15	main	main	ADJ
fcis-18503	62	16	body	body	NOUN
fcis-18503	62	17	of	of	ADP
fcis-18503	62	18	the	the	DET
fcis-18503	62	19	robot	robot	NOUN
fcis-18503	62	20	was	be	AUX
fcis-18503	62	21	created	create	VERB
fcis-18503	62	22	as	as	SCONJ
fcis-18503	62	23	shown	show	VERB
fcis-18503	62	24	in	in	ADP
fcis-18503	62	25	figure	figure	NOUN
fcis-18503	62	26	2	2	NUM
fcis-18503	62	27	.	.	PUNCT
fcis-18503	63	1	the	the	DET
fcis-18503	63	2	main	main	ADJ
fcis-18503	63	3	materials	material	NOUN
fcis-18503	63	4	for	for	ADP
fcis-18503	63	5	the	the	DET
fcis-18503	63	6	hull	hull	NOUN
fcis-18503	63	7	,	,	PUNCT
fcis-18503	63	8	connecting	connect	VERB
fcis-18503	63	9	parts	part	NOUN
fcis-18503	63	10	,	,	PUNCT
fcis-18503	63	11	collection	collection	NOUN
fcis-18503	63	12	baskets	basket	NOUN
fcis-18503	63	13	for	for	ADP
fcis-18503	63	14	heavy	heavy	ADJ
fcis-18503	63	15	and	and	CCONJ
fcis-18503	63	16	light	light	ADJ
fcis-18503	63	17	floating	float	VERB
fcis-18503	63	18	garbage	garbage	NOUN
fcis-18503	63	19	are	be	AUX
fcis-18503	63	20	all	all	PRON
fcis-18503	63	21	made	make	VERB
fcis-18503	63	22	of	of	ADP
fcis-18503	63	23	aluminum	aluminum	NOUN
fcis-18503	63	24	alloy	alloy	NOUN
fcis-18503	63	25	6061	6061	NUM
fcis-18503	63	26	.	.	PUNCT
fcis-18503	64	1	using	use	VERB
fcis-18503	64	2	the	the	DET
fcis-18503	64	3	mass	mass	NOUN
fcis-18503	64	4	properties	property	NOUN
fcis-18503	64	5	tool	tool	NOUN
fcis-18503	64	6	in	in	ADP
fcis-18503	64	7	solidworks	solidworks	PROPN
fcis-18503	64	8	,	,	PUNCT
fcis-18503	64	9	the	the	DET
fcis-18503	64	10	mass	mass	NOUN
fcis-18503	64	11	of	of	ADP
fcis-18503	64	12	each	each	DET
fcis-18503	64	13	component	component	NOUN
fcis-18503	64	14	can	can	AUX
fcis-18503	64	15	be	be	AUX
fcis-18503	64	16	measured	measure	VERB
fcis-18503	64	17	,	,	PUNCT
fcis-18503	64	18	as	as	SCONJ
fcis-18503	64	19	listed	list	VERB
fcis-18503	64	20	in	in	ADP
fcis-18503	64	21	table	table	NOUN
fcis-18503	64	22	1	1	NUM
fcis-18503	64	23	.	.	PUNCT
fcis-18503	65	1	the	the	DET
fcis-18503	65	2	total	total	ADJ
fcis-18503	65	3	mass	mass	NOUN
fcis-18503	65	4	of	of	ADP
fcis-18503	65	5	the	the	DET
fcis-18503	65	6	robot	robot	NOUN
fcis-18503	65	7	’s	’s	PART
fcis-18503	65	8	main	main	ADJ
fcis-18503	65	9	body	body	NOUN
fcis-18503	65	10	(	(	PUNCT
fcis-18503	65	11	hull	hull	NOUN
fcis-18503	65	12	,	,	PUNCT
fcis-18503	65	13	connecting	connect	VERB
fcis-18503	65	14	parts	part	NOUN
fcis-18503	65	15	,	,	PUNCT
fcis-18503	65	16	collection	collection	NOUN
fcis-18503	65	17	baskets	basket	NOUN
fcis-18503	65	18	for	for	ADP
fcis-18503	65	19	heavy	heavy	ADJ
fcis-18503	65	20	and	and	CCONJ
fcis-18503	65	21	light	light	ADJ
fcis-18503	65	22	floating	float	VERB
fcis-18503	65	23	garbage	garbage	NOUN
fcis-18503	65	24	,	,	PUNCT
fcis-18503	65	25	propeller	propeller	NOUN
fcis-18503	65	26	,	,	PUNCT
fcis-18503	65	27	push	push	VERB
fcis-18503	65	28	rods	rod	NOUN
fcis-18503	65	29	,	,	PUNCT
fcis-18503	65	30	and	and	CCONJ
fcis-18503	65	31	battery	battery	NOUN
fcis-18503	65	32	covers	cover	NOUN
fcis-18503	65	33	)	)	PUNCT
fcis-18503	65	34	is	be	AUX
fcis-18503	65	35	34.3	34.3	NUM
fcis-18503	65	36	kg	kg	NOUN
fcis-18503	65	37	.	.	PUNCT
fcis-18503	66	1	in	in	ADP
fcis-18503	66	2	terms	term	NOUN
fcis-18503	66	3	of	of	ADP
fcis-18503	66	4	energy	energy	NOUN
fcis-18503	66	5	,	,	PUNCT
fcis-18503	66	6	it	it	PRON
fcis-18503	66	7	is	be	AUX
fcis-18503	66	8	equipped	equip	VERB
fcis-18503	66	9	with	with	ADP
fcis-18503	66	10	two	two	NUM
fcis-18503	66	11	12v/60ah	12v/60ah	NUM
fcis-18503	66	12	lithium	lithium	NOUN
fcis-18503	66	13	batteries	battery	NOUN
fcis-18503	66	14	,	,	PUNCT
fcis-18503	66	15	which	which	PRON
fcis-18503	66	16	weigh	weigh	VERB
fcis-18503	66	17	approximately	approximately	ADV
fcis-18503	66	18	12	12	NUM
fcis-18503	66	19	kg	kg	NOUN
fcis-18503	66	20	.	.	PUNCT
fcis-18503	67	1	the	the	DET
fcis-18503	67	2	camera	camera	NOUN
fcis-18503	67	3	,	,	PUNCT
fcis-18503	67	4	microcontroller	microcontroller	NOUN
fcis-18503	67	5	,	,	PUNCT
fcis-18503	67	6	cables	cable	NOUN
fcis-18503	67	7	,	,	PUNCT
fcis-18503	67	8	and	and	CCONJ
fcis-18503	67	9	other	other	ADJ
fcis-18503	67	10	accessories	accessory	NOUN
fcis-18503	67	11	weigh	weigh	VERB
fcis-18503	67	12	approximately	approximately	ADV
fcis-18503	67	13	2.5	2.5	NUM
fcis-18503	67	14	kg	kg	NOUN
fcis-18503	67	15	,	,	PUNCT
fcis-18503	67	16	making	make	VERB
fcis-18503	67	17	the	the	DET
fcis-18503	67	18	total	total	ADJ
fcis-18503	67	19	weight	weight	NOUN
fcis-18503	67	20	of	of	ADP
fcis-18503	67	21	the	the	DET
fcis-18503	67	22	designed	design	VERB
fcis-18503	67	23	robot	robot	NOUN
fcis-18503	67	24	about	about	ADV
fcis-18503	67	25	48.8	48.8	NUM
fcis-18503	67	26	kg	kg	NOUN
fcis-18503	67	27	.	.	PUNCT
fcis-18503	68	1	this	this	PRON
fcis-18503	68	2	meets	meet	VERB
fcis-18503	68	3	the	the	DET
fcis-18503	68	4	project	project	NOUN
fcis-18503	68	5	design	design	NOUN
fcis-18503	68	6	requirement	requirement	NOUN
fcis-18503	68	7	of	of	ADP
fcis-18503	68	8	a	a	DET
fcis-18503	68	9	total	total	ADJ
fcis-18503	68	10	mass	mass	NOUN
fcis-18503	68	11	not	not	PART
fcis-18503	68	12	exceeding	exceed	VERB
fcis-18503	68	13	150	150	NUM
fcis-18503	68	14	kg	kg	NOUN
fcis-18503	68	15	.	.	PUNCT
fcis-18503	69	1	4.2	4.2	NUM
fcis-18503	69	2	.	.	PUNCT
fcis-18503	70	1	calculation	calculation	NOUN
fcis-18503	70	2	of	of	ADP
fcis-18503	70	3	displacement	displacement	NOUN
fcis-18503	70	4	and	and	CCONJ
fcis-18503	70	5	maximum	maximum	ADJ
fcis-18503	70	6	draft	draft	NOUN
fcis-18503	70	7	according	accord	VERB
fcis-18503	70	8	to	to	ADP
fcis-18503	70	9	archimedes	archimede	NOUN
fcis-18503	70	10	’	’	PART
fcis-18503	70	11	principle	principle	NOUN
fcis-18503	70	12	,	,	PUNCT
fcis-18503	70	13	an	an	DET
fcis-18503	70	14	object	object	NOUN
fcis-18503	70	15	immersed	immerse	VERB
fcis-18503	70	16	in	in	ADP
fcis-18503	70	17	a	a	DET
fcis-18503	70	18	fluid	fluid	ADJ
fcis-18503	70	19	experiences	experience	NOUN
fcis-18503	70	20	an	an	DET
fcis-18503	70	21	upward	upward	ADJ
fcis-18503	70	22	buoyant	buoyant	ADJ
fcis-18503	70	23	force	force	NOUN
fcis-18503	70	24	fb	fb	INTJ
fcis-18503	70	25	equal	equal	ADJ
fcis-18503	70	26	to	to	ADP
fcis-18503	70	27	the	the	DET
fcis-18503	70	28	weight	weight	NOUN
fcis-18503	70	29	of	of	ADP
fcis-18503	70	30	the	the	DET
fcis-18503	70	31	fluid	fluid	NOUN
fcis-18503	70	32	displaced	displace	VERB
fcis-18503	70	33	gv	gv	ADP
fcis-18503	70	34	by	by	ADP
fcis-18503	70	35	the	the	DET
fcis-18503	70	36	object	object	NOUN
fcis-18503	70	37	.	.	PUNCT
fcis-18503	71	1	the	the	DET
fcis-18503	71	2	formula	formula	NOUN
fcis-18503	71	3	is	be	AUX
fcis-18503	71	4	expressed	express	VERB
fcis-18503	71	5	as	as	SCONJ
fcis-18503	71	6	follows	follow	VERB
fcis-18503	71	7	:	:	PUNCT
fcis-18503	71	8	vb	vb	NOUN
fcis-18503	71	9	gf	gf	X
fcis-18503	71	10	=	=	PUNCT
fcis-18503	71	11	(	(	PUNCT
fcis-18503	71	12	1	1	NUM
fcis-18503	71	13	)	)	PUNCT
fcis-18503	71	14	where	where	SCONJ
fcis-18503	71	15	:	:	PUNCT
fcis-18503	71	16	dwb	dwb	PROPN
fcis-18503	71	17	vf	vf	PROPN
fcis-18503	71	18			PROPN
fcis-18503	71	19	g	g	PROPN
fcis-18503	71	20	(	(	PUNCT
fcis-18503	71	21	2	2	X
fcis-18503	71	22	)	)	PUNCT
fcis-18503	71	23	substituting	substitute	VERB
fcis-18503	71	24	equation	equation	NOUN
fcis-18503	71	25	(	(	PUNCT
fcis-18503	71	26	2	2	NUM
fcis-18503	71	27	)	)	PUNCT
fcis-18503	71	28	into	into	ADP
fcis-18503	71	29	equation	equation	NOUN
fcis-18503	71	30	(	(	PUNCT
fcis-18503	71	31	1	1	NUM
fcis-18503	71	32	)	)	PUNCT
fcis-18503	71	33	,	,	PUNCT
fcis-18503	71	34	it	it	PRON
fcis-18503	71	35	can	can	AUX
fcis-18503	71	36	be	be	AUX
fcis-18503	71	37	obtained	obtain	VERB
fcis-18503	71	38	:	:	PUNCT
fcis-18503	71	39	3	3	NUM
fcis-18503	71	40	3	3	NUM
fcis-18503	71	41	m0485.0	m0485.0	NOUN
fcis-18503	71	42	8.9101	8.9101	NUM
fcis-18503	71	43	8.98.48	8.98.48	PROPN
fcis-18503	72	1	gg	gg	NOUN
fcis-18503	72	2	f	f	PROPN
fcis-18503	73	1			PROPN
fcis-18503	74	1			VERB
fcis-18503	74	2			AUX
fcis-18503	74	3			VERB
fcis-18503	74	4	ww	ww	PROPN
fcis-18503	74	5	b	b	PROPN
fcis-18503	75	1	d	d	PROPN
fcis-18503	75	2	mg	mg	PROPN
fcis-18503	75	3	v	v	ADP
fcis-18503	75	4			NOUN
fcis-18503	75	5	when	when	SCONJ
fcis-18503	75	6	the	the	DET
fcis-18503	75	7	robot	robot	NOUN
fcis-18503	75	8	’s	’s	PART
fcis-18503	75	9	body	body	NOUN
fcis-18503	75	10	floats	float	VERB
fcis-18503	75	11	on	on	ADP
fcis-18503	75	12	water	water	NOUN
fcis-18503	75	13	,	,	PUNCT
fcis-18503	75	14	the	the	DET
fcis-18503	75	15	underwater	underwater	ADJ
fcis-18503	75	16	part	part	NOUN
fcis-18503	75	17	of	of	ADP
fcis-18503	75	18	the	the	DET
fcis-18503	75	19	body	body	NOUN
fcis-18503	75	20	is	be	AUX
fcis-18503	75	21	illustrated	illustrate	VERB
fcis-18503	75	22	in	in	ADP
fcis-18503	75	23	figure	figure	NOUN
fcis-18503	75	24	4	4	NUM
fcis-18503	75	25	,	,	PUNCT
fcis-18503	75	26	which	which	PRON
fcis-18503	75	27	includes	include	VERB
fcis-18503	75	28	three	three	NUM
fcis-18503	75	29	sections	section	NOUN
fcis-18503	75	30	:	:	PUNCT
fcis-18503	75	31	the	the	DET
fcis-18503	75	32	bottom	bottom	ADJ
fcis-18503	75	33	pyramid	pyramid	NOUN
fcis-18503	75	34	at	at	ADP
fcis-18503	75	35	the	the	DET
fcis-18503	75	36	head	head	NOUN
fcis-18503	75	37	,	,	PUNCT
fcis-18503	75	38	the	the	DET
fcis-18503	75	39	bottom	bottom	ADJ
fcis-18503	75	40	prism	prism	NOUN
fcis-18503	75	41	,	,	PUNCT
fcis-18503	75	42	and	and	CCONJ
fcis-18503	75	43	the	the	DET
fcis-18503	75	44	rectangular	rectangular	ADJ
fcis-18503	75	45	prism	prism	NOUN
fcis-18503	75	46	on	on	ADP
fcis-18503	75	47	top	top	NOUN
fcis-18503	75	48	of	of	ADP
fcis-18503	75	49	the	the	DET
fcis-18503	75	50	prism	prism	NOUN
fcis-18503	75	51	.	.	PUNCT
fcis-18503	76	1	the	the	DET
fcis-18503	76	2	sum	sum	NOUN
fcis-18503	76	3	of	of	ADP
fcis-18503	76	4	the	the	DET
fcis-18503	76	5	volumes	volume	NOUN
fcis-18503	76	6	of	of	ADP
fcis-18503	76	7	these	these	DET
fcis-18503	76	8	three	three	NUM
fcis-18503	76	9	sections	section	NOUN
fcis-18503	76	10	equals	equal	VERB
fcis-18503	76	11	the	the	DET
fcis-18503	76	12	displacement	displacement	ADJ
fcis-18503	76	13	volume	volume	NOUN
fcis-18503	76	14	,	,	PUNCT
fcis-18503	76	15	which	which	PRON
fcis-18503	76	16	can	can	AUX
fcis-18503	76	17	be	be	AUX
fcis-18503	76	18	calculated	calculate	VERB
fcis-18503	76	19	as	as	ADP
fcis-18503	76	20	:	:	PUNCT
fcis-18503	76	21			PROPN
fcis-18503	76	22			PROPN
fcis-18503	76	23			X
fcis-18503	76	24			NOUN
fcis-18503	76	25			VERB
fcis-18503	76	26			PROPN
fcis-18503	76	27			PROPN
fcis-18503	76	28			PUNCT
fcis-18503	76	29	)	)	PUNCT
fcis-18503	76	30	)	)	PUNCT
fcis-18503	77	1	(	(	PUNCT
fcis-18503	77	2	(	(	PUNCT
fcis-18503	77	3	2	2	NUM
fcis-18503	77	4	1	1	NUM
fcis-18503	77	5	2	2	NUM
fcis-18503	77	6	1	1	NUM
fcis-18503	77	7	2	2	NUM
fcis-18503	77	8	1	1	NUM
fcis-18503	77	9	3	3	NUM
fcis-18503	77	10	1	1	NUM
fcis-18503	77	11	2	2	NUM
fcis-18503	77	12	2	2	NUM
fcis-18503	77	13	12132	12132	NUM
fcis-18503	77	14	1	1	NUM
fcis-18503	77	15	2	2	NUM
fcis-18503	77	16	2111	2111	NUM
fcis-18503	77	17	321	321	NUM
fcis-18503	77	18	hhllalah	hhllalah	ADJ
fcis-18503	77	19	h	h	NOUN
fcis-18503	77	20	h	h	NOUN
fcis-18503	77	21	lahlah	lahlah	PROPN
fcis-18503	77	22	vvvvd	vvvvd	PROPN
fcis-18503	77	23	）	）	PROPN
fcis-18503	77	24	（	（	PUNCT
fcis-18503	77	25	(	(	PUNCT
fcis-18503	77	26	3	3	NUM
fcis-18503	77	27	)	)	PUNCT
fcis-18503	77	28	by	by	ADP
fcis-18503	77	29	inputting	inputte	VERB
fcis-18503	77	30	the	the	DET
fcis-18503	77	31	design	design	NOUN
fcis-18503	77	32	dimensions	dimension	NOUN
fcis-18503	77	33	:	:	PUNCT
fcis-18503	77	34	a=230	a=230	PROPN
fcis-18503	77	35	mm	mm	PROPN
fcis-18503	77	36	,	,	PUNCT
fcis-18503	77	37	l1=500	l1=500	NOUN
fcis-18503	77	38	mm	mm	PROPN
fcis-18503	77	39	,	,	PUNCT
fcis-18503	77	40	l2=900	l2=900	ADJ
fcis-18503	77	41	mm	mm	NOUN
fcis-18503	77	42	,	,	PUNCT
fcis-18503	77	43	l3=300	l3=300	NUM
fcis-18503	77	44	mm	mm	PROPN
fcis-18503	77	45	,	,	PUNCT
fcis-18503	77	46	h1=200	h1=200	VERB
fcis-18503	77	47	mm	mm	PROPN
fcis-18503	77	48	,	,	PUNCT
fcis-18503	77	49	h2=150	h2=150	NOUN
fcis-18503	77	50	mm	mm	NOUN
fcis-18503	77	51	into	into	ADP
fcis-18503	77	52	equation	equation	NOUN
fcis-18503	77	53	(	(	PUNCT
fcis-18503	77	54	3	3	NUM
fcis-18503	77	55	)	)	PUNCT
fcis-18503	77	56	,	,	PUNCT
fcis-18503	77	57	we	we	PRON
fcis-18503	77	58	find	find	VERB
fcis-18503	77	59	h=211	h=211	NOUN
fcis-18503	77	60	mm	mm	INTJ
fcis-18503	77	61	.	.	PUNCT
fcis-18503	78	1	the	the	DET
fcis-18503	78	2	designed	design	VERB
fcis-18503	78	3	robot	robot	NOUN
fcis-18503	78	4	body	body	NOUN
fcis-18503	78	5	height	height	NOUN
fcis-18503	78	6	is	be	AUX
fcis-18503	78	7	530	530	NUM
fcis-18503	78	8	mm	mm	NOUN
fcis-18503	78	9	,	,	PUNCT
fcis-18503	78	10	meeting	meet	VERB
fcis-18503	78	11	the	the	DET
fcis-18503	78	12	design	design	NOUN
fcis-18503	78	13	requirements	requirement	NOUN
fcis-18503	78	14	.	.	PUNCT
fcis-18503	79	1	88	88	NUM
fcis-18503	79	2	water	water	NOUN
fcis-18503	79	3	surface	surface	NOUN
fcis-18503	79	4	figure	figure	NOUN
fcis-18503	79	5	4	4	NUM
fcis-18503	79	6	.	.	PUNCT
fcis-18503	79	7	diagram	diagram	NOUN
fcis-18503	79	8	of	of	ADP
fcis-18503	79	9	the	the	DET
fcis-18503	79	10	underwater	underwater	ADJ
fcis-18503	79	11	section	section	NOUN
fcis-18503	79	12	of	of	ADP
fcis-18503	79	13	the	the	DET
fcis-18503	79	14	robot	robot	NOUN
fcis-18503	79	15	4.3	4.3	NUM
fcis-18503	79	16	.	.	PUNCT
fcis-18503	80	1	calculation	calculation	NOUN
fcis-18503	80	2	of	of	ADP
fcis-18503	80	3	the	the	DET
fcis-18503	80	4	robot	robot	NOUN
fcis-18503	80	5	’s	’s	PART
fcis-18503	80	6	resistance	resistance	NOUN
fcis-18503	80	7	in	in	ADP
fcis-18503	80	8	reality	reality	NOUN
fcis-18503	80	9	,	,	PUNCT
fcis-18503	80	10	the	the	DET
fcis-18503	80	11	robot	robot	NOUN
fcis-18503	80	12	’s	’s	PART
fcis-18503	80	13	body	body	NOUN
fcis-18503	80	14	is	be	AUX
fcis-18503	80	15	a	a	DET
fcis-18503	80	16	catamaran	catamaran	NOUN
fcis-18503	80	17	.	.	PUNCT
fcis-18503	81	1	during	during	ADP
fcis-18503	81	2	movement	movement	NOUN
fcis-18503	81	3	,	,	PUNCT
fcis-18503	81	4	the	the	DET
fcis-18503	81	5	resistance	resistance	NOUN
fcis-18503	81	6	mainly	mainly	ADV
fcis-18503	81	7	includes	include	VERB
fcis-18503	81	8	:	:	PUNCT
fcis-18503	81	9	fluid	fluid	ADJ
fcis-18503	81	10	resistance	resistance	NOUN
fcis-18503	81	11	and	and	CCONJ
fcis-18503	81	12	air	air	NOUN
fcis-18503	81	13	resistance	resistance	NOUN
fcis-18503	81	14	.	.	PUNCT
fcis-18503	82	1	fluid	fluid	ADJ
fcis-18503	82	2	resistance	resistance	NOUN
fcis-18503	82	3	mainly	mainly	ADV
fcis-18503	82	4	consists	consist	VERB
fcis-18503	82	5	of	of	ADP
fcis-18503	82	6	:	:	PUNCT
fcis-18503	82	7	still	still	ADV
fcis-18503	82	8	water	water	NOUN
fcis-18503	82	9	resistance	resistance	NOUN
fcis-18503	82	10	and	and	CCONJ
fcis-18503	82	11	wave	wave	NOUN
fcis-18503	82	12	-	-	PUNCT
fcis-18503	82	13	making	make	VERB
fcis-18503	82	14	resistance	resistance	NOUN
fcis-18503	82	15	.	.	PUNCT
fcis-18503	83	1	still	still	ADV
fcis-18503	83	2	water	water	NOUN
fcis-18503	83	3	resistance	resistance	NOUN
fcis-18503	83	4	is	be	AUX
fcis-18503	83	5	further	far	ADV
fcis-18503	83	6	divided	divide	VERB
fcis-18503	83	7	into	into	ADP
fcis-18503	83	8	bare	bare	ADJ
fcis-18503	83	9	-	-	PUNCT
fcis-18503	83	10	hull	hull	NOUN
fcis-18503	83	11	resistance	resistance	NOUN
fcis-18503	83	12	and	and	CCONJ
fcis-18503	83	13	appendage	appendage	NOUN
fcis-18503	83	14	resistance	resistance	NOUN
fcis-18503	83	15	.	.	PUNCT
fcis-18503	84	1	bare	bare	ADJ
fcis-18503	84	2	-	-	PUNCT
fcis-18503	84	3	hull	hull	NOUN
fcis-18503	84	4	resistance	resistance	NOUN
fcis-18503	84	5	includes	include	VERB
fcis-18503	84	6	:	:	PUNCT
fcis-18503	84	7	wavemaking	wavemake	VERB
fcis-18503	84	8	resistance	resistance	NOUN
fcis-18503	84	9	and	and	CCONJ
fcis-18503	84	10	frictional	frictional	ADJ
fcis-18503	84	11	resistance	resistance	NOUN
fcis-18503	84	12	.	.	PUNCT
fcis-18503	85	1	wave	wave	NOUN
fcis-18503	85	2	-	-	PUNCT
fcis-18503	85	3	making	make	VERB
fcis-18503	85	4	resistance	resistance	NOUN
fcis-18503	85	5	is	be	AUX
fcis-18503	85	6	the	the	DET
fcis-18503	85	7	additional	additional	ADJ
fcis-18503	85	8	resistance	resistance	NOUN
fcis-18503	85	9	a	a	DET
fcis-18503	85	10	ship	ship	NOUN
fcis-18503	85	11	encounters	encounter	VERB
fcis-18503	85	12	sailing	sail	VERB
fcis-18503	85	13	in	in	ADP
fcis-18503	85	14	wind	wind	NOUN
fcis-18503	85	15	and	and	CCONJ
fcis-18503	85	16	waves	wave	NOUN
fcis-18503	85	17	compared	compare	VERB
fcis-18503	85	18	to	to	ADP
fcis-18503	85	19	still	still	ADV
fcis-18503	85	20	water	water	VERB
fcis-18503	85	21	.	.	PUNCT
fcis-18503	86	1	since	since	SCONJ
fcis-18503	86	2	the	the	DET
fcis-18503	86	3	designed	design	VERB
fcis-18503	86	4	water	water	NOUN
fcis-18503	86	5	surface	surface	NOUN
fcis-18503	86	6	garbage	garbage	NOUN
fcis-18503	86	7	cleaning	cleaning	NOUN
fcis-18503	86	8	robot	robot	NOUN
fcis-18503	86	9	operates	operate	VERB
fcis-18503	86	10	in	in	ADP
fcis-18503	86	11	relatively	relatively	ADV
fcis-18503	86	12	calm	calm	ADJ
fcis-18503	86	13	waters	water	NOUN
fcis-18503	86	14	,	,	PUNCT
fcis-18503	86	15	wave	wave	NOUN
fcis-18503	86	16	-	-	PUNCT
fcis-18503	86	17	making	make	VERB
fcis-18503	86	18	resistance	resistance	NOUN
fcis-18503	86	19	is	be	AUX
fcis-18503	86	20	not	not	PART
fcis-18503	86	21	considered	consider	VERB
fcis-18503	86	22	.	.	PUNCT
fcis-18503	87	1	additionally	additionally	ADV
fcis-18503	87	2	,	,	PUNCT
fcis-18503	87	3	aside	aside	ADV
fcis-18503	87	4	from	from	ADP
fcis-18503	87	5	the	the	DET
fcis-18503	87	6	propellers	propeller	NOUN
fcis-18503	87	7	,	,	PUNCT
fcis-18503	87	8	there	there	PRON
fcis-18503	87	9	are	be	VERB
fcis-18503	87	10	no	no	DET
fcis-18503	87	11	other	other	ADJ
fcis-18503	87	12	appendages	appendage	NOUN
fcis-18503	87	13	on	on	ADP
fcis-18503	87	14	the	the	DET
fcis-18503	87	15	body	body	NOUN
fcis-18503	87	16	,	,	PUNCT
fcis-18503	87	17	so	so	SCONJ
fcis-18503	87	18	appendage	appendage	NOUN
fcis-18503	87	19	resistance	resistance	NOUN
fcis-18503	87	20	is	be	AUX
fcis-18503	87	21	also	also	ADV
fcis-18503	87	22	not	not	PART
fcis-18503	87	23	considered	consider	VERB
fcis-18503	87	24	.	.	PUNCT
fcis-18503	88	1	according	accord	VERB
fcis-18503	88	2	to	to	ADP
fcis-18503	88	3	bernoulli	bernoulli	PROPN
fcis-18503	88	4	’s	’s	PART
fcis-18503	88	5	equation	equation	NOUN
fcis-18503	88	6	,	,	PUNCT
fcis-18503	88	7	as	as	SCONJ
fcis-18503	88	8	water	water	NOUN
fcis-18503	88	9	flows	flow	VERB
fcis-18503	88	10	past	past	ADP
fcis-18503	88	11	the	the	DET
fcis-18503	88	12	hull	hull	NOUN
fcis-18503	88	13	during	during	ADP
fcis-18503	88	14	forward	forward	ADJ
fcis-18503	88	15	movement	movement	NOUN
fcis-18503	88	16	,	,	PUNCT
fcis-18503	88	17	the	the	DET
fcis-18503	88	18	change	change	NOUN
fcis-18503	88	19	in	in	ADP
fcis-18503	88	20	flow	flow	NOUN
fcis-18503	88	21	speed	speed	NOUN
fcis-18503	88	22	along	along	ADP
fcis-18503	88	23	the	the	DET
fcis-18503	88	24	length	length	NOUN
fcis-18503	88	25	of	of	ADP
fcis-18503	88	26	the	the	DET
fcis-18503	88	27	ship	ship	NOUN
fcis-18503	88	28	causes	cause	VERB
fcis-18503	88	29	changes	change	NOUN
fcis-18503	88	30	in	in	ADP
fcis-18503	88	31	water	water	NOUN
fcis-18503	88	32	level	level	NOUN
fcis-18503	88	33	,	,	PUNCT
fcis-18503	88	34	creating	create	VERB
fcis-18503	88	35	vibrations	vibration	NOUN
fcis-18503	88	36	and	and	CCONJ
fcis-18503	88	37	waves	wave	NOUN
fcis-18503	88	38	.	.	PUNCT
fcis-18503	89	1	the	the	DET
fcis-18503	89	2	resistance	resistance	NOUN
fcis-18503	89	3	caused	cause	VERB
fcis-18503	89	4	by	by	ADP
fcis-18503	89	5	the	the	DET
fcis-18503	89	6	change	change	NOUN
fcis-18503	89	7	in	in	ADP
fcis-18503	89	8	pressure	pressure	NOUN
fcis-18503	89	9	distribution	distribution	NOUN
fcis-18503	89	10	due	due	ADP
fcis-18503	89	11	to	to	PART
fcis-18503	89	12	wave	wave	VERB
fcis-18503	89	13	creation	creation	NOUN
fcis-18503	89	14	is	be	AUX
fcis-18503	89	15	known	know	VERB
fcis-18503	89	16	as	as	ADP
fcis-18503	89	17	wave	wave	NOUN
fcis-18503	89	18	-	-	PUNCT
fcis-18503	89	19	making	make	VERB
fcis-18503	89	20	resistance	resistance	NOUN
fcis-18503	89	21	.	.	PUNCT
fcis-18503	90	1	the	the	DET
fcis-18503	90	2	nature	nature	NOUN
fcis-18503	90	3	of	of	ADP
fcis-18503	90	4	wave	wave	NOUN
fcis-18503	90	5	-	-	PUNCT
fcis-18503	90	6	making	make	VERB
fcis-18503	90	7	resistance	resistance	NOUN
fcis-18503	90	8	is	be	AUX
fcis-18503	90	9	different	different	ADJ
fcis-18503	90	10	from	from	ADP
fcis-18503	90	11	that	that	PRON
fcis-18503	90	12	of	of	ADP
fcis-18503	90	13	viscous	viscous	ADJ
fcis-18503	90	14	resistance	resistance	NOUN
fcis-18503	90	15	and	and	CCONJ
fcis-18503	90	16	pressure	pressure	NOUN
fcis-18503	90	17	-	-	PUNCT
fcis-18503	90	18	difference	difference	NOUN
fcis-18503	90	19	resistance	resistance	NOUN
fcis-18503	90	20	.	.	PUNCT
fcis-18503	91	1	wave	wave	NOUN
fcis-18503	91	2	-	-	PUNCT
fcis-18503	91	3	making	make	VERB
fcis-18503	91	4	resistance	resistance	NOUN
fcis-18503	91	5	is	be	AUX
fcis-18503	91	6	not	not	PART
fcis-18503	91	7	related	relate	VERB
fcis-18503	91	8	to	to	ADP
fcis-18503	91	9	the	the	DET
fcis-18503	91	10	viscosity	viscosity	NOUN
fcis-18503	91	11	of	of	ADP
fcis-18503	91	12	the	the	DET
fcis-18503	91	13	fluid	fluid	NOUN
fcis-18503	91	14	but	but	CCONJ
fcis-18503	91	15	depends	depend	VERB
fcis-18503	91	16	on	on	ADP
fcis-18503	91	17	the	the	DET
fcis-18503	91	18	shape	shape	NOUN
fcis-18503	91	19	of	of	ADP
fcis-18503	91	20	the	the	DET
fcis-18503	91	21	ship	ship	NOUN
fcis-18503	91	22	and	and	CCONJ
fcis-18503	91	23	its	its	PRON
fcis-18503	91	24	speed	speed	NOUN
fcis-18503	91	25	.	.	PUNCT
fcis-18503	92	1	considering	consider	VERB
fcis-18503	92	2	practical	practical	ADJ
fcis-18503	92	3	circumstances	circumstance	NOUN
fcis-18503	92	4	,	,	PUNCT
fcis-18503	92	5	since	since	SCONJ
fcis-18503	92	6	the	the	DET
fcis-18503	92	7	designed	design	VERB
fcis-18503	92	8	cleaning	cleaning	NOUN
fcis-18503	92	9	ship	ship	NOUN
fcis-18503	92	10	has	have	VERB
fcis-18503	92	11	a	a	DET
fcis-18503	92	12	small	small	ADJ
fcis-18503	92	13	body	body	NOUN
fcis-18503	92	14	and	and	CCONJ
fcis-18503	92	15	slow	slow	VERB
fcis-18503	92	16	running	running	NOUN
fcis-18503	92	17	speed	speed	NOUN
fcis-18503	92	18	,	,	PUNCT
fcis-18503	92	19	wave	wave	NOUN
fcis-18503	92	20	-	-	PUNCT
fcis-18503	92	21	making	make	VERB
fcis-18503	92	22	resistance	resistance	NOUN
fcis-18503	92	23	is	be	AUX
fcis-18503	92	24	not	not	PART
fcis-18503	92	25	considered	consider	VERB
fcis-18503	92	26	.	.	PUNCT
fcis-18503	93	1	therefore	therefore	ADV
fcis-18503	93	2	,	,	PUNCT
fcis-18503	93	3	the	the	DET
fcis-18503	93	4	main	main	ADJ
fcis-18503	93	5	resistances	resistance	NOUN
fcis-18503	93	6	for	for	ADP
fcis-18503	93	7	the	the	DET
fcis-18503	93	8	designed	design	VERB
fcis-18503	93	9	water	water	NOUN
fcis-18503	93	10	surface	surface	NOUN
fcis-18503	93	11	garbage	garbage	NOUN
fcis-18503	93	12	cleaning	cleaning	NOUN
fcis-18503	93	13	robot	robot	NOUN
fcis-18503	93	14	are	be	AUX
fcis-18503	93	15	:	:	PUNCT
fcis-18503	93	16	frictional	frictional	ADJ
fcis-18503	93	17	resistance	resistance	NOUN
fcis-18503	93	18	and	and	CCONJ
fcis-18503	93	19	air	air	NOUN
fcis-18503	93	20	resistance	resistance	NOUN
fcis-18503	93	21	.	.	PUNCT
fcis-18503	94	1	1	1	X
fcis-18503	94	2	.	.	X
fcis-18503	94	3	calculation	calculation	NOUN
fcis-18503	94	4	of	of	ADP
fcis-18503	94	5	frictional	frictional	ADJ
fcis-18503	94	6	resistance	resistance	NOUN
fcis-18503	94	7	the	the	DET
fcis-18503	94	8	cause	cause	NOUN
fcis-18503	94	9	of	of	ADP
fcis-18503	94	10	frictional	frictional	ADJ
fcis-18503	94	11	resistance	resistance	NOUN
fcis-18503	94	12	:	:	PUNCT
fcis-18503	94	13	due	due	ADP
fcis-18503	94	14	to	to	ADP
fcis-18503	94	15	the	the	DET
fcis-18503	94	16	viscosity	viscosity	NOUN
fcis-18503	94	17	of	of	ADP
fcis-18503	94	18	the	the	DET
fcis-18503	94	19	fluid	fluid	NOUN
fcis-18503	94	20	,	,	PUNCT
fcis-18503	94	21	water	water	NOUN
fcis-18503	94	22	particles	particle	NOUN
fcis-18503	94	23	moving	move	VERB
fcis-18503	94	24	along	along	ADP
fcis-18503	94	25	the	the	DET
fcis-18503	94	26	surface	surface	NOUN
fcis-18503	94	27	of	of	ADP
fcis-18503	94	28	the	the	DET
fcis-18503	94	29	hull	hull	NOUN
fcis-18503	94	30	create	create	VERB
fcis-18503	94	31	a	a	DET
fcis-18503	94	32	force	force	NOUN
fcis-18503	94	33	that	that	PRON
fcis-18503	94	34	hinders	hinder	VERB
fcis-18503	94	35	the	the	DET
fcis-18503	94	36	motion	motion	NOUN
fcis-18503	94	37	of	of	ADP
fcis-18503	94	38	the	the	DET
fcis-18503	94	39	ship	ship	NOUN
fcis-18503	94	40	.	.	PUNCT
fcis-18503	95	1	(	(	PUNCT
fcis-18503	95	2	a	a	X
fcis-18503	95	3	)	)	PUNCT
fcis-18503	95	4	calculation	calculation	NOUN
fcis-18503	95	5	of	of	ADP
fcis-18503	95	6	the	the	DET
fcis-18503	95	7	ship	ship	NOUN
fcis-18503	95	8	’s	’s	PART
fcis-18503	95	9	block	block	NOUN
fcis-18503	95	10	coefficient	coefficient	NOUN
fcis-18503	95	11	cb	cb	PROPN
fcis-18503	95	12	36.0	36.0	NUM
fcis-18503	95	13	211.046.04.1	211.046.04.1	NUM
fcis-18503	95	14	0485.0	0485.0	NUM
fcis-18503	95	15			NOUN
fcis-18503	95	16			X
fcis-18503	96	1			PROPN
fcis-18503	96	2			NOUN
fcis-18503	96	3			NOUN
fcis-18503	96	4			NUM
fcis-18503	96	5	tbl	tbl	NOUN
fcis-18503	96	6	cb	cb	NOUN
fcis-18503	96	7	(	(	PUNCT
fcis-18503	96	8	4	4	NUM
fcis-18503	96	9	)	)	PUNCT
fcis-18503	96	10	where	where	SCONJ
fcis-18503	96	11	:	:	PUNCT
fcis-18503	96	12	δ	δ	PROPN
fcis-18503	96	13	is	be	AUX
fcis-18503	96	14	the	the	DET
fcis-18503	96	15	ship	ship	NOUN
fcis-18503	96	16	’s	’s	PART
fcis-18503	96	17	displacement	displacement	ADJ
fcis-18503	96	18	volume	volume	NOUN
fcis-18503	96	19	in	in	ADP
fcis-18503	96	20	cubic	cubic	ADJ
fcis-18503	96	21	meters	meter	NOUN
fcis-18503	96	22	;	;	PUNCT
fcis-18503	96	23	l	l	NOUN
fcis-18503	96	24	is	be	AUX
fcis-18503	96	25	the	the	DET
fcis-18503	96	26	length	length	NOUN
fcis-18503	96	27	of	of	ADP
fcis-18503	96	28	the	the	DET
fcis-18503	96	29	waterline	waterline	NOUN
fcis-18503	96	30	at	at	ADP
fcis-18503	96	31	that	that	DET
fcis-18503	96	32	displacement	displacement	ADJ
fcis-18503	96	33	volume	volume	NOUN
fcis-18503	96	34	in	in	ADP
fcis-18503	96	35	meters	meter	NOUN
fcis-18503	96	36	;	;	PUNCT
fcis-18503	96	37	b	b	X
fcis-18503	96	38	is	be	AUX
fcis-18503	96	39	the	the	DET
fcis-18503	96	40	breadth	breadth	NOUN
fcis-18503	96	41	of	of	ADP
fcis-18503	96	42	the	the	DET
fcis-18503	96	43	ship	ship	NOUN
fcis-18503	96	44	in	in	ADP
fcis-18503	96	45	meters	meter	NOUN
fcis-18503	96	46	;	;	PUNCT
fcis-18503	96	47	t	t	PROPN
fcis-18503	96	48	is	be	AUX
fcis-18503	96	49	the	the	DET
fcis-18503	96	50	draft	draft	NOUN
fcis-18503	96	51	of	of	ADP
fcis-18503	96	52	the	the	DET
fcis-18503	96	53	ship	ship	NOUN
fcis-18503	96	54	at	at	ADP
fcis-18503	96	55	that	that	DET
fcis-18503	96	56	displacement	displacement	ADJ
fcis-18503	96	57	volume	volume	NOUN
fcis-18503	96	58	in	in	ADP
fcis-18503	96	59	meters	meter	NOUN
fcis-18503	96	60	.	.	PUNCT
fcis-18503	97	1	(	(	PUNCT
fcis-18503	97	2	b	b	X
fcis-18503	97	3	)	)	PUNCT
fcis-18503	97	4	calculation	calculation	NOUN
fcis-18503	97	5	of	of	ADP
fcis-18503	97	6	the	the	DET
fcis-18503	97	7	wetted	wet	VERB
fcis-18503	97	8	surface	surface	NOUN
fcis-18503	97	9	area	area	NOUN
fcis-18503	97	10	s	s	PART
fcis-18503	97	11	2m667.0	2m667.0	PROPN
fcis-18503	97	12	46.0)274.036.0(37.1211.02[4.1	46.0)274.036.0(37.1211.02[4.1	NOUN
fcis-18503	97	13	)	)	PUNCT
fcis-18503	97	14	274.0(37.12	274.0(37.12	NUM
fcis-18503	97	15	[	[	PUNCT
fcis-18503	97	16			PRON
fcis-18503	97	17			X
fcis-18503	97	18			VERB
fcis-18503	97	19	bctls	bctls	PROPN
fcis-18503	97	20	b	b	PROPN
fcis-18503	97	21	(	(	PUNCT
fcis-18503	97	22	5	5	NUM
fcis-18503	97	23	)	)	PUNCT
fcis-18503	97	24	(	(	PUNCT
fcis-18503	97	25	c	c	NOUN
fcis-18503	97	26	)	)	PUNCT
fcis-18503	97	27	calculation	calculation	NOUN
fcis-18503	97	28	of	of	ADP
fcis-18503	97	29	the	the	DET
fcis-18503	97	30	reynolds	reynolds	PROPN
fcis-18503	97	31	number	number	NOUN
fcis-18503	97	32	re	re	AUX
fcis-18503	97	33	choosing	choose	VERB
fcis-18503	97	34	a	a	DET
fcis-18503	97	35	standard	standard	ADJ
fcis-18503	97	36	temperature	temperature	NOUN
fcis-18503	97	37	t=15	t=15	PUNCT
fcis-18503	97	38	℃	℃	PROPN
fcis-18503	97	39	,	,	PUNCT
fcis-18503	97	40	the	the	DET
fcis-18503	97	41	kinematic	kinematic	ADJ
fcis-18503	97	42	viscosity	viscosity	NOUN
fcis-18503	97	43	of	of	ADP
fcis-18503	97	44	water	water	NOUN
fcis-18503	97	45	at	at	ADP
fcis-18503	97	46	this	this	DET
fcis-18503	97	47	temperature	temperature	NOUN
fcis-18503	97	48	is	be	AUX
fcis-18503	97	49	υ=1.18831×10	υ=1.18831×10	NOUN
fcis-18503	97	50	-	-	SYM
fcis-18503	97	51	6	6	NUM
fcis-18503	97	52	m2	m2	PROPN
fcis-18503	97	53	/	/	SYM
fcis-18503	97	54	s	s	PROPN
fcis-18503	97	55	,	,	PUNCT
fcis-18503	97	56	with	with	ADP
fcis-18503	97	57	the	the	DET
fcis-18503	97	58	ship	ship	NOUN
fcis-18503	97	59	’s	’s	PART
fcis-18503	97	60	speed	speed	NOUN
fcis-18503	97	61	relative	relative	ADJ
fcis-18503	97	62	to	to	ADP
fcis-18503	97	63	the	the	DET
fcis-18503	97	64	water	water	NOUN
fcis-18503	97	65	flow	flow	NOUN
fcis-18503	97	66	v=1.5	v=1.5	NOUN
fcis-18503	97	67	m/s	m/s	PROPN
fcis-18503	97	68	.	.	PROPN
fcis-18503	97	69	6	6	NUM
fcis-18503	97	70	6	6	NUM
fcis-18503	97	71	10767.1	10767.1	NUM
fcis-18503	97	72	101883.1	101883.1	NUM
fcis-18503	97	73	4.15.1	4.15.1	NUM
fcis-18503	97	74			PROPN
fcis-18503	97	75			PROPN
fcis-18503	97	76			VERB
fcis-18503	97	77			NUM
fcis-18503	97	78			NOUN
fcis-18503	97	79	vl	vl	INTJ
fcis-18503	97	80	re	re	X
fcis-18503	97	81	(	(	PUNCT
fcis-18503	97	82	6	6	NUM
fcis-18503	97	83	)	)	PUNCT
fcis-18503	97	84	(	(	PUNCT
fcis-18503	97	85	d	d	X
fcis-18503	97	86	)	)	PUNCT
fcis-18503	97	87	frictional	frictional	ADJ
fcis-18503	97	88	resistance	resistance	NOUN
fcis-18503	97	89	coefficient	coefficient	NOUN
fcis-18503	97	90	cf	cf	NOUN
fcis-18503	97	91	0244.0	0244.0	NUM
fcis-18503	97	92	)	)	PUNCT
fcis-18503	97	93	2767.1(lg	2767.1(lg	NUM
fcis-18503	97	94	075.0	075.0	NUM
fcis-18503	97	95	)	)	PUNCT
fcis-18503	97	96	2(lg	2(lg	PROPN
fcis-18503	97	97	075.0	075.0	NUM
fcis-18503	97	98	22	22	NUM
fcis-18503	97	99			NUM
fcis-18503	97	100			PROPN
fcis-18503	97	101			PROPN
fcis-18503	97	102			PROPN
fcis-18503	97	103			NUM
fcis-18503	97	104	e	e	NOUN
fcis-18503	97	105	f	f	NOUN
fcis-18503	97	106	r	r	NOUN
fcis-18503	97	107	c	c	PROPN
fcis-18503	97	108	(	(	PUNCT
fcis-18503	97	109	7	7	NUM
fcis-18503	97	110	)	)	PUNCT
fcis-18503	97	111	(	(	PUNCT
fcis-18503	97	112	e	e	NOUN
fcis-18503	97	113	)	)	PUNCT
fcis-18503	97	114	standard	standard	ADJ
fcis-18503	97	115	surface	surface	NOUN
fcis-18503	97	116	roughness	roughness	NOUN
fcis-18503	97	117	compensation	compensation	PROPN
fcis-18503	97	118	coefficient	coefficient	NOUN
fcis-18503	97	119	δcf	δcf	ADJ
fcis-18503	97	120	δcf=0.0004	δcf=0.0004	NOUN
fcis-18503	97	121	(	(	PUNCT
fcis-18503	97	122	f	f	X
fcis-18503	97	123	)	)	PUNCT
fcis-18503	97	124	calculation	calculation	NOUN
fcis-18503	97	125	of	of	ADP
fcis-18503	97	126	the	the	DET
fcis-18503	97	127	ship	ship	NOUN
fcis-18503	97	128	’s	’s	PART
fcis-18503	97	129	frictional	frictional	ADJ
fcis-18503	97	130	resistance	resistance	NOUN
fcis-18503	97	131	rf	rf	NOUN
fcis-18503	97	132	n61.18	n61.18	NOUN
fcis-18503	97	133	667.0)5.1(1000	667.0)5.1(1000	NUM
fcis-18503	97	134	2	2	NUM
fcis-18503	97	135	1	1	NUM
fcis-18503	97	136	)	)	PUNCT
fcis-18503	97	137	0004.00244.0	0004.00244.0	NOUN
fcis-18503	97	138	(	(	PUNCT
fcis-18503	97	139	2	2	NUM
fcis-18503	97	140	1	1	NUM
fcis-18503	97	141	)	)	PUNCT
fcis-18503	97	142	(	(	PUNCT
fcis-18503	97	143	2	2	NUM
fcis-18503	97	144	2	2	NUM
fcis-18503	97	145			NUM
fcis-18503	97	146			PROPN
fcis-18503	97	147			PROPN
fcis-18503	98	1	svccr	svccr	PROPN
fcis-18503	98	2	fff	fff	PROPN
fcis-18503	98	3			PROPN
fcis-18503	98	4	(	(	PUNCT
fcis-18503	98	5	8)	8)	NUM
fcis-18503	98	6	2	2	NUM
fcis-18503	98	7	.	.	PUNCT
fcis-18503	98	8	calculation	calculation	NOUN
fcis-18503	98	9	of	of	ADP
fcis-18503	98	10	air	air	NOUN
fcis-18503	98	11	resistance	resistance	NOUN
fcis-18503	98	12	the	the	DET
fcis-18503	98	13	part	part	NOUN
fcis-18503	98	14	of	of	ADP
fcis-18503	98	15	the	the	DET
fcis-18503	98	16	robot	robot	NOUN
fcis-18503	98	17	above	above	ADP
fcis-18503	98	18	water	water	NOUN
fcis-18503	98	19	will	will	AUX
fcis-18503	98	20	experience	experience	VERB
fcis-18503	98	21	air	air	NOUN
fcis-18503	98	22	resistance	resistance	PROPN
fcis-18503	98	23	.	.	PUNCT
fcis-18503	99	1	air	air	NOUN
fcis-18503	99	2	resistance	resistance	PROPN
fcis-18503	99	3	is	be	AUX
fcis-18503	99	4	a	a	DET
fcis-18503	99	5	reactive	reactive	ADJ
fcis-18503	99	6	force	force	NOUN
fcis-18503	99	7	formed	form	VERB
fcis-18503	99	8	by	by	ADP
fcis-18503	99	9	the	the	DET
fcis-18503	99	10	air	air	NOUN
fcis-18503	99	11	against	against	ADP
fcis-18503	99	12	the	the	DET
fcis-18503	99	13	advancing	advance	VERB
fcis-18503	99	14	ship	ship	NOUN
fcis-18503	99	15	,	,	PUNCT
fcis-18503	99	16	calculated	calculate	VERB
fcis-18503	99	17	as	as	SCONJ
fcis-18503	99	18	follows	follow	VERB
fcis-18503	99	19	:	:	PUNCT
fcis-18503	99	20	2	2	NUM
fcis-18503	99	21	2	2	NUM
fcis-18503	99	22	1	1	NUM
fcis-18503	99	23	vacf	vacf	NOUN
fcis-18503	99	24	ww	ww	PROPN
fcis-18503	99	25			PROPN
fcis-18503	99	26	(	(	PUNCT
fcis-18503	99	27	9	9	NUM
fcis-18503	99	28	)	)	PUNCT
fcis-18503	99	29	where	where	SCONJ
fcis-18503	99	30	:	:	PUNCT
fcis-18503	99	31	v	v	NOUN
fcis-18503	99	32	is	be	AUX
fcis-18503	99	33	the	the	DET
fcis-18503	99	34	relative	relative	ADJ
fcis-18503	99	35	speed	speed	NOUN
fcis-18503	99	36	of	of	ADP
fcis-18503	99	37	the	the	DET
fcis-18503	99	38	body	body	NOUN
fcis-18503	99	39	against	against	ADP
fcis-18503	99	40	the	the	DET
fcis-18503	99	41	air	air	NOUN
fcis-18503	99	42	in	in	ADP
fcis-18503	99	43	m	m	PROPN
fcis-18503	99	44	/	/	SYM
fcis-18503	99	45	s	s	PROPN
fcis-18503	99	46	,	,	PUNCT
fcis-18503	99	47	assuming	assume	VERB
fcis-18503	99	48	the	the	DET
fcis-18503	99	49	working	work	VERB
fcis-18503	99	50	environment	environment	NOUN
fcis-18503	99	51	has	have	VERB
fcis-18503	99	52	wind	wind	NOUN
fcis-18503	99	53	speeds	speed	NOUN
fcis-18503	99	54	of	of	ADP
fcis-18503	99	55	beaufort	beaufort	PROPN
fcis-18503	99	56	scale	scale	NOUN
fcis-18503	99	57	5	5	NUM
fcis-18503	99	58	or	or	CCONJ
fcis-18503	99	59	below	below	ADV
fcis-18503	99	60	,	,	PUNCT
fcis-18503	99	61	taking	take	VERB
fcis-18503	99	62	wind	wind	NOUN
fcis-18503	99	63	speed	speed	NOUN
fcis-18503	99	64	as	as	ADP
fcis-18503	99	65	10	10	NUM
fcis-18503	99	66	m/s	m/s	NUM
fcis-18503	99	67	.	.	PUNCT
fcis-18503	100	1	according	accord	VERB
fcis-18503	100	2	to	to	ADP
fcis-18503	100	3	design	design	NOUN
fcis-18503	100	4	requirements	requirement	NOUN
fcis-18503	100	5	,	,	PUNCT
fcis-18503	100	6	the	the	DET
fcis-18503	100	7	body	body	NOUN
fcis-18503	100	8	’s	’s	PART
fcis-18503	100	9	travel	travel	NOUN
fcis-18503	100	10	speed	speed	NOUN
fcis-18503	100	11	should	should	AUX
fcis-18503	100	12	not	not	PART
fcis-18503	100	13	be	be	AUX
fcis-18503	100	14	less	less	ADJ
fcis-18503	100	15	than	than	ADP
fcis-18503	100	16	1	1	NUM
fcis-18503	100	17	m/s	m/s	NUM
fcis-18503	100	18	,	,	PUNCT
fcis-18503	100	19	so	so	ADV
fcis-18503	100	20	the	the	DET
fcis-18503	100	21	robot	robot	NOUN
fcis-18503	100	22	’s	’s	PART
fcis-18503	100	23	relative	relative	ADJ
fcis-18503	100	24	speed	speed	NOUN
fcis-18503	100	25	against	against	ADP
fcis-18503	100	26	the	the	DET
fcis-18503	100	27	air	air	NOUN
fcis-18503	100	28	is	be	AUX
fcis-18503	100	29	11	11	NUM
fcis-18503	100	30	m/s	m/s	NOUN
fcis-18503	100	31	;	;	PUNCT
fcis-18503	100	32	a	a	PRON
fcis-18503	100	33	is	be	AUX
fcis-18503	100	34	the	the	DET
fcis-18503	100	35	cross	cross	ADJ
fcis-18503	100	36	-	-	ADJ
fcis-18503	100	37	sectional	sectional	ADJ
fcis-18503	100	38	area	area	NOUN
fcis-18503	100	39	of	of	ADP
fcis-18503	100	40	the	the	DET
fcis-18503	100	41	ship	ship	NOUN
fcis-18503	100	42	’s	’s	PART
fcis-18503	100	43	part	part	NOUN
fcis-18503	100	44	above	above	ADP
fcis-18503	100	45	water	water	NOUN
fcis-18503	100	46	in	in	ADP
fcis-18503	100	47	m2	m2	PROPN
fcis-18503	100	48	,	,	PUNCT
fcis-18503	100	49	measured	measure	VERB
fcis-18503	100	50	as	as	ADP
fcis-18503	100	51	:	:	PUNCT
fcis-18503	100	52	a≈0.21m2	a≈0.21m2	X
fcis-18503	100	53	.	.	X
fcis-18503	100	54	cw	cw	NOUN
fcis-18503	100	55	is	be	AUX
fcis-18503	100	56	the	the	DET
fcis-18503	100	57	wind	wind	NOUN
fcis-18503	100	58	resistance	resistance	NOUN
fcis-18503	100	59	coefficient	coefficient	NOUN
fcis-18503	100	60	,	,	PUNCT
fcis-18503	100	61	generally	generally	ADV
fcis-18503	100	62	between	between	ADP
fcis-18503	100	63	0.3	0.3	NUM
fcis-18503	100	64	(	(	PUNCT
fcis-18503	100	65	good	good	ADJ
fcis-18503	100	66	)	)	PUNCT
fcis-18503	100	67	and	and	CCONJ
fcis-18503	100	68	0.6	0.6	NUM
fcis-18503	100	69	(	(	PUNCT
fcis-18503	100	70	poor	poor	ADJ
fcis-18503	100	71	)	)	PUNCT
fcis-18503	100	72	,	,	PUNCT
fcis-18503	100	73	with	with	ADP
fcis-18503	100	74	a	a	DET
fcis-18503	100	75	value	value	NOUN
fcis-18503	100	76	of	of	ADP
fcis-18503	100	77	0.6	0.6	NUM
fcis-18503	100	78	chosen	choose	VERB
fcis-18503	100	79	for	for	ADP
fcis-18503	100	80	this	this	DET
fcis-18503	100	81	design	design	NOUN
fcis-18503	100	82	.	.	PUNCT
fcis-18503	101	1	by	by	ADP
fcis-18503	101	2	substituting	substitute	VERB
fcis-18503	101	3	the	the	DET
fcis-18503	101	4	values	value	NOUN
fcis-18503	101	5	into	into	ADP
fcis-18503	101	6	equation	equation	NOUN
fcis-18503	101	7	(	(	PUNCT
fcis-18503	101	8	9	9	NUM
fcis-18503	101	9	)	)	PUNCT
fcis-18503	101	10	,	,	PUNCT
fcis-18503	101	11	it	it	PRON
fcis-18503	101	12	can	can	AUX
fcis-18503	101	13	be	be	AUX
fcis-18503	101	14	obtained	obtain	VERB
fcis-18503	101	15	:	:	PUNCT
fcis-18503	101	16	n623.7116.021.0	n623.7116.021.0	NUM
fcis-18503	101	17	2	2	NUM
fcis-18503	101	18	1	1	NUM
fcis-18503	101	19	2	2	NUM
fcis-18503	101	20	wf	wf	PUNCT
fcis-18503	101	21	in	in	ADP
fcis-18503	101	22	summary	summary	NOUN
fcis-18503	101	23	,	,	PUNCT
fcis-18503	101	24	the	the	DET
fcis-18503	101	25	total	total	ADJ
fcis-18503	101	26	resistance	resistance	NOUN
fcis-18503	101	27	encountered	encounter	VERB
fcis-18503	101	28	by	by	ADP
fcis-18503	101	29	the	the	DET
fcis-18503	101	30	water	water	NOUN
fcis-18503	101	31	89	89	NUM
fcis-18503	101	32	surface	surface	NOUN
fcis-18503	101	33	garbage	garbage	NOUN
fcis-18503	101	34	cleaning	cleaning	NOUN
fcis-18503	101	35	robot	robot	NOUN
fcis-18503	101	36	during	during	ADP
fcis-18503	101	37	its	its	PRON
fcis-18503	101	38	operation	operation	NOUN
fcis-18503	101	39	is	be	AUX
fcis-18503	101	40	:	:	PUNCT
fcis-18503	101	41	fr	fr	PROPN
fcis-18503	101	42	=	=	ADJ
fcis-18503	101	43	rf+fw=26.23	rf+fw=26.23	PROPN
fcis-18503	101	44	n	n	PROPN
fcis-18503	101	45	4.4	4.4	NUM
fcis-18503	101	46	.	.	PUNCT
fcis-18503	102	1	calculation	calculation	NOUN
fcis-18503	102	2	and	and	CCONJ
fcis-18503	102	3	selection	selection	NOUN
fcis-18503	102	4	of	of	ADP
fcis-18503	102	5	parameters	parameter	NOUN
fcis-18503	102	6	for	for	ADP
fcis-18503	102	7	the	the	DET
fcis-18503	102	8	robot	robot	NOUN
fcis-18503	102	9	’s	’s	PART
fcis-18503	102	10	propeller	propeller	NOUN
fcis-18503	102	11	considering	consider	VERB
fcis-18503	102	12	the	the	DET
fcis-18503	102	13	artificial	artificial	ADJ
fcis-18503	102	14	lakes	lake	NOUN
fcis-18503	102	15	in	in	ADP
fcis-18503	102	16	cities	city	NOUN
fcis-18503	102	17	have	have	AUX
fcis-18503	102	18	still	still	ADV
fcis-18503	102	19	water	water	VERB
fcis-18503	102	20	with	with	ADP
fcis-18503	102	21	a	a	DET
fcis-18503	102	22	flow	flow	NOUN
fcis-18503	102	23	speed	speed	NOUN
fcis-18503	102	24	of	of	ADP
fcis-18503	102	25	0	0	NUM
fcis-18503	102	26	m/s	m/s	PROPN
fcis-18503	102	27	and	and	CCONJ
fcis-18503	102	28	water	water	NOUN
fcis-18503	102	29	channels	channel	NOUN
fcis-18503	102	30	typically	typically	ADV
fcis-18503	102	31	do	do	AUX
fcis-18503	102	32	not	not	PART
fcis-18503	102	33	exceed	exceed	VERB
fcis-18503	102	34	0.5	0.5	NUM
fcis-18503	102	35	m/s	m/s	PROPN
fcis-18503	102	36	,	,	PUNCT
fcis-18503	102	37	the	the	DET
fcis-18503	102	38	design	design	NOUN
fcis-18503	102	39	requirement	requirement	NOUN
fcis-18503	102	40	is	be	AUX
fcis-18503	102	41	for	for	SCONJ
fcis-18503	102	42	the	the	DET
fcis-18503	102	43	robot	robot	NOUN
fcis-18503	102	44	to	to	PART
fcis-18503	102	45	have	have	VERB
fcis-18503	102	46	a	a	DET
fcis-18503	102	47	sailing	sailing	NOUN
fcis-18503	102	48	speed	speed	NOUN
fcis-18503	102	49	of	of	ADP
fcis-18503	102	50	no	no	DET
fcis-18503	102	51	less	less	ADJ
fcis-18503	102	52	than	than	ADP
fcis-18503	102	53	1	1	NUM
fcis-18503	102	54	m/s	m/s	NUM
fcis-18503	102	55	.	.	PUNCT
fcis-18503	103	1	it	it	PRON
fcis-18503	103	2	is	be	AUX
fcis-18503	103	3	known	know	VERB
fcis-18503	103	4	that	that	SCONJ
fcis-18503	103	5	when	when	SCONJ
fcis-18503	103	6	the	the	DET
fcis-18503	103	7	robot	robot	NOUN
fcis-18503	103	8	sails	sail	VERB
fcis-18503	103	9	against	against	ADP
fcis-18503	103	10	the	the	DET
fcis-18503	103	11	water	water	NOUN
fcis-18503	103	12	flow	flow	NOUN
fcis-18503	103	13	,	,	PUNCT
fcis-18503	103	14	its	its	PRON
fcis-18503	103	15	relative	relative	ADJ
fcis-18503	103	16	speed	speed	NOUN
fcis-18503	103	17	against	against	ADP
fcis-18503	103	18	the	the	DET
fcis-18503	103	19	water	water	NOUN
fcis-18503	103	20	flow	flow	NOUN
fcis-18503	103	21	should	should	AUX
fcis-18503	103	22	not	not	PART
fcis-18503	103	23	be	be	AUX
fcis-18503	103	24	less	less	ADJ
fcis-18503	103	25	than	than	ADP
fcis-18503	103	26	1.5	1.5	NUM
fcis-18503	103	27	m/s	m/s	NOUN
fcis-18503	103	28	.	.	PROPN
fcis-18503	104	1	1	1	NUM
fcis-18503	104	2	.	.	X
fcis-18503	104	3	calculation	calculation	NOUN
fcis-18503	104	4	of	of	ADP
fcis-18503	104	5	motion	motion	NOUN
fcis-18503	104	6	during	during	ADP
fcis-18503	104	7	acceleration	acceleration	NOUN
fcis-18503	104	8	assuming	assume	VERB
fcis-18503	104	9	the	the	DET
fcis-18503	104	10	robot	robot	NOUN
fcis-18503	104	11	’s	’s	PART
fcis-18503	104	12	acceleration	acceleration	PROPN
fcis-18503	104	13	a=0.5	a=0.5	NUM
fcis-18503	104	14	m	m	PROPN
fcis-18503	104	15	/	/	SYM
fcis-18503	104	16	s2	s2	PROPN
fcis-18503	104	17	,	,	PUNCT
fcis-18503	104	18	the	the	DET
fcis-18503	104	19	total	total	ADJ
fcis-18503	104	20	weight	weight	NOUN
fcis-18503	104	21	of	of	ADP
fcis-18503	104	22	the	the	DET
fcis-18503	104	23	robot	robot	NOUN
fcis-18503	104	24	m=48.8	m=48.8	PROPN
fcis-18503	104	25	kg	kg	PROPN
fcis-18503	104	26	,	,	PUNCT
fcis-18503	104	27	and	and	CCONJ
fcis-18503	104	28	the	the	DET
fcis-18503	104	29	total	total	ADJ
fcis-18503	104	30	resistance	resistance	NOUN
fcis-18503	104	31	during	during	ADP
fcis-18503	104	32	movement	movement	NOUN
fcis-18503	104	33	fr=26.23n	fr=26.23n	PROPN
fcis-18503	104	34	traction	traction	ADJ
fcis-18503	104	35	force	force	NOUN
fcis-18503	105	1	f	f	X
fcis-18503	105	2	:	:	PUNCT
fcis-18503	105	3	f	f	X
fcis-18503	105	4	=	=	NOUN
fcis-18503	105	5	ma+fr=50.63	ma+fr=50.63	NOUN
fcis-18503	105	6	n	n	PRON
fcis-18503	105	7	power	power	NOUN
fcis-18503	105	8	required	require	VERB
fcis-18503	105	9	during	during	ADP
fcis-18503	105	10	acceleration	acceleration	NOUN
fcis-18503	105	11	:	:	PUNCT
fcis-18503	106	1	p	p	X
fcis-18503	106	2	=	=	NUM
fcis-18503	106	3	fv=75.95	fv=75.95	NOUN
fcis-18503	106	4	w	w	NOUN
fcis-18503	106	5	calculation	calculation	NOUN
fcis-18503	106	6	of	of	ADP
fcis-18503	106	7	motion	motion	NOUN
fcis-18503	106	8	during	during	ADP
fcis-18503	106	9	steady	steady	ADJ
fcis-18503	106	10	running	running	NOUN
fcis-18503	106	11	power	power	NOUN
fcis-18503	106	12	:	:	PUNCT
fcis-18503	106	13	p	p	X
fcis-18503	106	14	=	=	NOUN
fcis-18503	106	15	frv	frv	NOUN
fcis-18503	106	16	,	,	PUNCT
fcis-18503	106	17	p=39.35w	p=39.35w	NOUN
fcis-18503	106	18	to	to	PART
fcis-18503	106	19	ensure	ensure	VERB
fcis-18503	106	20	the	the	DET
fcis-18503	106	21	robot	robot	NOUN
fcis-18503	106	22	operates	operate	VERB
fcis-18503	106	23	normally	normally	ADV
fcis-18503	106	24	,	,	PUNCT
fcis-18503	106	25	the	the	DET
fcis-18503	106	26	power	power	NOUN
fcis-18503	106	27	should	should	AUX
fcis-18503	106	28	be	be	AUX
fcis-18503	106	29	5～6	5～6	PROPN
fcis-18503	106	30	times	time	NOUN
fcis-18503	106	31	higher	high	ADJ
fcis-18503	106	32	than	than	ADP
fcis-18503	106	33	the	the	DET
fcis-18503	106	34	acceleration	acceleration	NOUN
fcis-18503	106	35	power	power	NOUN
fcis-18503	106	36	.	.	PUNCT
fcis-18503	107	1	since	since	SCONJ
fcis-18503	107	2	the	the	DET
fcis-18503	107	3	propulsion	propulsion	NOUN
fcis-18503	107	4	is	be	AUX
fcis-18503	107	5	provided	provide	VERB
fcis-18503	107	6	by	by	ADP
fcis-18503	107	7	two	two	NUM
fcis-18503	107	8	propellers	propeller	NOUN
fcis-18503	107	9	working	work	VERB
fcis-18503	107	10	simultaneously	simultaneously	ADV
fcis-18503	107	11	,	,	PUNCT
fcis-18503	107	12	the	the	DET
fcis-18503	107	13	power	power	NOUN
fcis-18503	107	14	needed	need	VERB
fcis-18503	107	15	for	for	ADP
fcis-18503	107	16	the	the	DET
fcis-18503	107	17	propeller	propeller	NOUN
fcis-18503	107	18	selection	selection	NOUN
fcis-18503	107	19	should	should	AUX
fcis-18503	107	20	be	be	AUX
fcis-18503	107	21	greater	great	ADJ
fcis-18503	107	22	than	than	ADP
fcis-18503	107	23	220	220	NUM
fcis-18503	107	24	w.	w.	NOUN
fcis-18503	107	25	when	when	SCONJ
fcis-18503	107	26	the	the	DET
fcis-18503	107	27	ship	ship	NOUN
fcis-18503	107	28	is	be	AUX
fcis-18503	107	29	moving	move	VERB
fcis-18503	107	30	,	,	PUNCT
fcis-18503	107	31	the	the	DET
fcis-18503	107	32	propulsive	propulsive	ADJ
fcis-18503	107	33	force	force	NOUN
fcis-18503	107	34	provided	provide	VERB
fcis-18503	107	35	by	by	ADP
fcis-18503	107	36	the	the	DET
fcis-18503	107	37	propellers	propeller	NOUN
fcis-18503	107	38	should	should	AUX
fcis-18503	107	39	be	be	AUX
fcis-18503	107	40	greater	great	ADJ
fcis-18503	107	41	than	than	ADP
fcis-18503	107	42	the	the	DET
fcis-18503	107	43	acceleration	acceleration	NOUN
fcis-18503	107	44	thrust	thrust	NOUN
fcis-18503	107	45	,	,	PUNCT
fcis-18503	107	46	so	so	SCONJ
fcis-18503	107	47	the	the	DET
fcis-18503	107	48	propeller	propeller	NOUN
fcis-18503	107	49	thrust	thrust	VERB
fcis-18503	107	50	selected	select	VERB
fcis-18503	107	51	should	should	AUX
fcis-18503	107	52	be	be	AUX
fcis-18503	107	53	greater	great	ADJ
fcis-18503	107	54	than	than	ADP
fcis-18503	107	55	26n	26n	NOUN
fcis-18503	107	56	.	.	PUNCT
fcis-18503	108	1	considering	consider	VERB
fcis-18503	108	2	all	all	DET
fcis-18503	108	3	factors	factor	NOUN
fcis-18503	108	4	,	,	PUNCT
fcis-18503	108	5	the	the	DET
fcis-18503	108	6	frostless	frostless	ADJ
fcis-18503	108	7	shaftless	shaftless	ADJ
fcis-18503	108	8	underwater	underwater	ADJ
fcis-18503	108	9	propulsor	propulsor	NOUN
fcis-18503	108	10	is	be	AUX
fcis-18503	108	11	chosen	choose	VERB
fcis-18503	108	12	as	as	ADP
fcis-18503	108	13	the	the	DET
fcis-18503	108	14	propulsion	propulsion	NOUN
fcis-18503	108	15	device	device	NOUN
fcis-18503	108	16	,	,	PUNCT
fcis-18503	108	17	as	as	SCONJ
fcis-18503	108	18	shown	show	VERB
fcis-18503	108	19	in	in	ADP
fcis-18503	108	20	figure	figure	NOUN
fcis-18503	108	21	5	5	NUM
fcis-18503	108	22	.	.	PUNCT
fcis-18503	109	1	this	this	DET
fcis-18503	109	2	propulsor	propulsor	NOUN
fcis-18503	109	3	has	have	VERB
fcis-18503	109	4	a	a	DET
fcis-18503	109	5	built	build	VERB
fcis-18503	109	6	-	-	PUNCT
fcis-18503	109	7	in	in	ADP
fcis-18503	109	8	motor	motor	NOUN
fcis-18503	109	9	with	with	ADP
fcis-18503	109	10	a	a	DET
fcis-18503	109	11	power	power	NOUN
fcis-18503	109	12	of	of	ADP
fcis-18503	109	13	500w	500w	NUM
fcis-18503	109	14	,	,	PUNCT
fcis-18503	109	15	providing	provide	VERB
fcis-18503	109	16	35n	35n	NOUN
fcis-18503	109	17	of	of	ADP
fcis-18503	109	18	thrust	thrust	NOUN
fcis-18503	109	19	at	at	ADP
fcis-18503	109	20	a	a	DET
fcis-18503	109	21	working	work	VERB
fcis-18503	109	22	voltage	voltage	NOUN
fcis-18503	109	23	of	of	ADP
fcis-18503	109	24	12v	12v	NUM
fcis-18503	109	25	.	.	PUNCT
fcis-18503	110	1	the	the	DET
fcis-18503	110	2	battery	battery	NOUN
fcis-18503	110	3	requires	require	VERB
fcis-18503	110	4	a	a	DET
fcis-18503	110	5	voltage	voltage	NOUN
fcis-18503	110	6	of	of	ADP
fcis-18503	110	7	12v	12v	NOUN
fcis-18503	110	8	and	and	CCONJ
fcis-18503	110	9	a	a	DET
fcis-18503	110	10	continuous	continuous	ADJ
fcis-18503	110	11	discharge	discharge	NOUN
fcis-18503	110	12	current	current	NOUN
fcis-18503	110	13	of	of	ADP
fcis-18503	110	14	no	no	PRON
fcis-18503	110	15	less	less	ADJ
fcis-18503	110	16	than	than	ADP
fcis-18503	110	17	15a	15a	NOUN
fcis-18503	110	18	.	.	PUNCT
fcis-18503	111	1	figure	figure	NOUN
fcis-18503	111	2	5	5	NUM
fcis-18503	111	3	.	.	PUNCT
fcis-18503	111	4	frostless	frostless	ADJ
fcis-18503	111	5	shaftless	shaftless	ADJ
fcis-18503	111	6	underwater	underwater	ADJ
fcis-18503	111	7	propulsor	propulsor	NOUN
fcis-18503	111	8	5	5	NUM
fcis-18503	111	9	.	.	PUNCT
fcis-18503	111	10	battery	battery	NOUN
fcis-18503	111	11	selection	selection	NOUN
fcis-18503	111	12	the	the	DET
fcis-18503	111	13	energy	energy	NOUN
fcis-18503	111	14	consumption	consumption	NOUN
fcis-18503	111	15	of	of	ADP
fcis-18503	111	16	the	the	DET
fcis-18503	111	17	water	water	NOUN
fcis-18503	111	18	surface	surface	NOUN
fcis-18503	111	19	garbage	garbage	NOUN
fcis-18503	111	20	cleaning	cleaning	NOUN
fcis-18503	111	21	robot	robot	NOUN
fcis-18503	111	22	designed	design	VERB
fcis-18503	111	23	is	be	AUX
fcis-18503	111	24	mainly	mainly	ADV
fcis-18503	111	25	from	from	ADP
fcis-18503	111	26	the	the	DET
fcis-18503	111	27	two	two	NUM
fcis-18503	111	28	propellers	propeller	NOUN
fcis-18503	111	29	,	,	PUNCT
fcis-18503	111	30	which	which	PRON
fcis-18503	111	31	require	require	VERB
fcis-18503	111	32	12v	12v	NOUN
fcis-18503	111	33	voltage	voltage	NOUN
fcis-18503	111	34	and	and	CCONJ
fcis-18503	111	35	a	a	DET
fcis-18503	111	36	continuous	continuous	ADJ
fcis-18503	111	37	discharge	discharge	NOUN
fcis-18503	111	38	current	current	NOUN
fcis-18503	111	39	of	of	ADP
fcis-18503	111	40	no	no	DET
fcis-18503	111	41	less	less	ADJ
fcis-18503	111	42	than	than	ADP
fcis-18503	111	43	15a	15a	NOUN
fcis-18503	111	44	.	.	PUNCT
fcis-18503	112	1	additionally	additionally	ADV
fcis-18503	112	2	,	,	PUNCT
fcis-18503	112	3	the	the	DET
fcis-18503	112	4	push	push	NOUN
fcis-18503	112	5	rods	rod	NOUN
fcis-18503	112	6	require	require	VERB
fcis-18503	112	7	an	an	DET
fcis-18503	112	8	input	input	NOUN
fcis-18503	112	9	voltage	voltage	NOUN
fcis-18503	112	10	of	of	ADP
fcis-18503	112	11	12v	12v	NUM
fcis-18503	112	12	,	,	PUNCT
fcis-18503	112	13	with	with	ADP
fcis-18503	112	14	a	a	DET
fcis-18503	112	15	current	current	NOUN
fcis-18503	112	16	of	of	ADP
fcis-18503	112	17	2a	2a	NUM
fcis-18503	112	18	;	;	PUNCT
fcis-18503	112	19	the	the	DET
fcis-18503	112	20	processor	processor	NOUN
fcis-18503	112	21	for	for	ADP
fcis-18503	112	22	video	video	NOUN
fcis-18503	112	23	processing	processing	NOUN
fcis-18503	112	24	requires	require	VERB
fcis-18503	112	25	an	an	DET
fcis-18503	112	26	input	input	NOUN
fcis-18503	112	27	voltage	voltage	NOUN
fcis-18503	112	28	of	of	ADP
fcis-18503	112	29	12v	12v	NUM
fcis-18503	112	30	,	,	PUNCT
fcis-18503	112	31	with	with	ADP
fcis-18503	112	32	an	an	DET
fcis-18503	112	33	input	input	NOUN
fcis-18503	112	34	current	current	NOUN
fcis-18503	112	35	of	of	ADP
fcis-18503	112	36	2a	2a	NUM
fcis-18503	112	37	;	;	PUNCT
fcis-18503	112	38	the	the	DET
fcis-18503	112	39	remote	remote	ADJ
fcis-18503	112	40	control	control	PROPN
fcis-18503	112	41	wireless	wireless	ADJ
fcis-18503	112	42	transmission	transmission	NOUN
fcis-18503	112	43	device	device	NOUN
fcis-18503	112	44	requires	require	VERB
fcis-18503	112	45	an	an	DET
fcis-18503	112	46	input	input	NOUN
fcis-18503	112	47	voltage	voltage	NOUN
fcis-18503	112	48	of	of	ADP
fcis-18503	112	49	12v	12v	NUM
fcis-18503	112	50	,	,	PUNCT
fcis-18503	112	51	with	with	ADP
fcis-18503	112	52	an	an	DET
fcis-18503	112	53	input	input	NOUN
fcis-18503	112	54	current	current	NOUN
fcis-18503	112	55	of	of	ADP
fcis-18503	112	56	0.5a	0.5a	PROPN
fcis-18503	112	57	.	.	PUNCT
fcis-18503	113	1	the	the	DET
fcis-18503	113	2	design	design	NOUN
fcis-18503	113	3	requires	require	VERB
fcis-18503	113	4	the	the	DET
fcis-18503	113	5	robot	robot	NOUN
fcis-18503	113	6	to	to	PART
fcis-18503	113	7	have	have	VERB
fcis-18503	113	8	a	a	DET
fcis-18503	113	9	continuous	continuous	ADJ
fcis-18503	113	10	endurance	endurance	NOUN
fcis-18503	113	11	time	time	NOUN
fcis-18503	113	12	of	of	ADP
fcis-18503	113	13	no	no	DET
fcis-18503	113	14	less	less	ADJ
fcis-18503	113	15	than	than	ADP
fcis-18503	113	16	3	3	NUM
fcis-18503	113	17	hours	hour	NOUN
fcis-18503	113	18	.	.	PUNCT
fcis-18503	114	1	when	when	SCONJ
fcis-18503	114	2	selecting	select	VERB
fcis-18503	114	3	two	two	NUM
fcis-18503	114	4	12v/60ah	12v/60ah	NUM
fcis-18503	114	5	lithium	lithium	NOUN
fcis-18503	114	6	batteries	battery	NOUN
fcis-18503	114	7	,	,	PUNCT
fcis-18503	114	8	the	the	DET
fcis-18503	114	9	endurance	endurance	NOUN
fcis-18503	114	10	time	time	NOUN
fcis-18503	114	11	is	be	AUX
fcis-18503	114	12	approximately	approximately	ADV
fcis-18503	114	13	3.3	3.3	NUM
fcis-18503	114	14	hours	hour	NOUN
fcis-18503	114	15	,	,	PUNCT
fcis-18503	114	16	meeting	meet	VERB
fcis-18503	114	17	the	the	DET
fcis-18503	114	18	design	design	NOUN
fcis-18503	114	19	requirements	requirement	NOUN
fcis-18503	114	20	.	.	PUNCT
fcis-18503	115	1	after	after	SCONJ
fcis-18503	115	2	the	the	DET
fcis-18503	115	3	structural	structural	ADJ
fcis-18503	115	4	design	design	NOUN
fcis-18503	115	5	of	of	ADP
fcis-18503	115	6	the	the	DET
fcis-18503	115	7	water	water	NOUN
fcis-18503	115	8	surface	surface	NOUN
fcis-18503	115	9	garbage	garbage	NOUN
fcis-18503	115	10	automatic	automatic	ADJ
fcis-18503	115	11	cleaning	cleaning	NOUN
fcis-18503	115	12	robot	robot	NOUN
fcis-18503	115	13	is	be	AUX
fcis-18503	115	14	completed	complete	VERB
fcis-18503	115	15	,	,	PUNCT
fcis-18503	115	16	it	it	PRON
fcis-18503	115	17	is	be	AUX
fcis-18503	115	18	the	the	DET
fcis-18503	115	19	responsibility	responsibility	NOUN
fcis-18503	115	20	of	of	ADP
fcis-18503	115	21	the	the	DET
fcis-18503	115	22	manufacturer	manufacturer	NOUN
fcis-18503	115	23	to	to	PART
fcis-18503	115	24	process	process	VERB
fcis-18503	115	25	and	and	CCONJ
fcis-18503	115	26	produce	produce	VERB
fcis-18503	115	27	it	it	PRON
fcis-18503	115	28	.	.	PUNCT
fcis-18503	116	1	the	the	DET
fcis-18503	116	2	completed	complete	VERB
fcis-18503	116	3	water	water	NOUN
fcis-18503	116	4	surface	surface	NOUN
fcis-18503	116	5	garbage	garbage	NOUN
fcis-18503	116	6	automatic	automatic	ADJ
fcis-18503	116	7	cleaning	cleaning	NOUN
fcis-18503	116	8	robot	robot	NOUN
fcis-18503	116	9	entity	entity	NOUN
fcis-18503	116	10	structure	structure	NOUN
fcis-18503	116	11	is	be	AUX
fcis-18503	116	12	shown	show	VERB
fcis-18503	116	13	in	in	ADP
fcis-18503	116	14	figure	figure	NOUN
fcis-18503	116	15	6	6	NUM
fcis-18503	116	16	.	.	PUNCT
fcis-18503	116	17	figure	figure	VERB
fcis-18503	116	18	6	6	NUM
fcis-18503	116	19	.	.	PUNCT
fcis-18503	117	1	automatic	automatic	ADJ
fcis-18503	117	2	garbage	garbage	NOUN
fcis-18503	117	3	cleaning	cleaning	NOUN
fcis-18503	117	4	robot	robot	NOUN
fcis-18503	117	5	entity	entity	NOUN
fcis-18503	117	6	6	6	NUM
fcis-18503	117	7	.	.	PUNCT
fcis-18503	118	1	conclusion	conclusion	NOUN
fcis-18503	118	2	this	this	DET
fcis-18503	118	3	paper	paper	NOUN
fcis-18503	118	4	mainly	mainly	ADV
fcis-18503	118	5	introduces	introduce	VERB
fcis-18503	118	6	the	the	DET
fcis-18503	118	7	design	design	NOUN
fcis-18503	118	8	process	process	NOUN
fcis-18503	118	9	of	of	ADP
fcis-18503	118	10	a	a	DET
fcis-18503	118	11	detachable	detachable	ADJ
fcis-18503	118	12	structure	structure	NOUN
fcis-18503	118	13	surface	surface	NOUN
fcis-18503	118	14	garbage	garbage	NOUN
fcis-18503	118	15	cleaning	cleaning	NOUN
fcis-18503	118	16	robot	robot	NOUN
fcis-18503	118	17	suitable	suitable	ADJ
fcis-18503	118	18	for	for	ADP
fcis-18503	118	19	collecting	collect	VERB
fcis-18503	118	20	floating	float	VERB
fcis-18503	118	21	garbage	garbage	NOUN
fcis-18503	118	22	in	in	ADP
fcis-18503	118	23	small	small	ADJ
fcis-18503	118	24	water	water	NOUN
fcis-18503	118	25	areas	area	NOUN
fcis-18503	118	26	,	,	PUNCT
fcis-18503	118	27	the	the	DET
fcis-18503	118	28	calculation	calculation	NOUN
fcis-18503	118	29	process	process	NOUN
fcis-18503	118	30	of	of	ADP
fcis-18503	118	31	the	the	DET
fcis-18503	118	32	draft	draft	NOUN
fcis-18503	118	33	and	and	CCONJ
fcis-18503	118	34	travel	travel	NOUN
fcis-18503	118	35	resistance	resistance	NOUN
fcis-18503	118	36	,	,	PUNCT
fcis-18503	118	37	and	and	CCONJ
fcis-18503	118	38	the	the	DET
fcis-18503	118	39	selection	selection	NOUN
fcis-18503	118	40	and	and	CCONJ
fcis-18503	118	41	calculation	calculation	NOUN
fcis-18503	118	42	process	process	NOUN
fcis-18503	118	43	of	of	ADP
fcis-18503	118	44	the	the	DET
fcis-18503	118	45	propulsion	propulsion	NOUN
fcis-18503	118	46	device	device	NOUN
fcis-18503	118	47	.	.	PUNCT
fcis-18503	119	1	furthermore	furthermore	ADV
fcis-18503	119	2	,	,	PUNCT
fcis-18503	119	3	the	the	DET
fcis-18503	119	4	robot	robot	NOUN
fcis-18503	119	5	has	have	AUX
fcis-18503	119	6	been	be	AUX
fcis-18503	119	7	fabricated	fabricate	VERB
fcis-18503	119	8	,	,	PUNCT
fcis-18503	119	9	and	and	CCONJ
fcis-18503	119	10	it	it	PRON
fcis-18503	119	11	is	be	AUX
fcis-18503	119	12	capable	capable	ADJ
fcis-18503	119	13	of	of	ADP
fcis-18503	119	14	cleaning	clean	VERB
fcis-18503	119	15	various	various	ADJ
fcis-18503	119	16	types	type	NOUN
fcis-18503	119	17	of	of	ADP
fcis-18503	119	18	waste	waste	NOUN
fcis-18503	119	19	,	,	PUNCT
fcis-18503	119	20	including	include	VERB
fcis-18503	119	21	light	light	ADJ
fcis-18503	119	22	floating	float	VERB
fcis-18503	119	23	debris	debris	NOUN
fcis-18503	119	24	and	and	CCONJ
fcis-18503	119	25	floating	float	VERB
fcis-18503	119	26	carcasses	carcass	NOUN
fcis-18503	119	27	.	.	PUNCT
fcis-18503	120	1	acknowledgments	acknowledgment	NOUN
fcis-18503	120	2	funded	fund	VERB
fcis-18503	120	3	by	by	ADP
fcis-18503	120	4	science	science	NOUN
fcis-18503	120	5	research	research	NOUN
fcis-18503	120	6	project	project	NOUN
fcis-18503	120	7	of	of	ADP
fcis-18503	120	8	hebei	hebei	PROPN
fcis-18503	120	9	education	education	PROPN
fcis-18503	120	10	department	department	PROPN
fcis-18503	120	11	(	(	PUNCT
fcis-18503	120	12	zd2021329	zd2021329	PROPN
fcis-18503	120	13	)	)	PUNCT
fcis-18503	120	14	.	.	PUNCT
fcis-18503	121	1	references	reference	NOUN
fcis-18503	121	2	[	[	X
fcis-18503	121	3	1	1	NUM
fcis-18503	121	4	]	]	X
fcis-18503	121	5	desjoyaux	desjoyaux	ADJ
fcis-18503	121	6	pierre	pierre	PROPN
fcis-18503	121	7	louis	louis	PROPN
fcis-18503	121	8	,	,	PUNCT
fcis-18503	121	9	hoan	hoan	NOUN
fcis-18503	121	10	tuan	tuan	PROPN
fcis-18503	121	11	dung	dung	PROPN
fcis-18503	121	12	,	,	PUNCT
fcis-18503	121	13	saccucci	saccucci	PROPN
fcis-18503	121	14	jean	jean	PROPN
fcis-18503	121	15	paul	paul	PROPN
fcis-18503	121	16	.	.	PUNCT
fcis-18503	122	1	swimming	swimming	NOUN
fcis-18503	122	2	pool	pool	NOUN
fcis-18503	122	3	basin	basin	NOUN
fcis-18503	122	4	water	water	NOUN
fcis-18503	122	5	filtering	filtering	NOUN
fcis-18503	122	6	device	device	NOUN
fcis-18503	122	7	,	,	PUNCT
fcis-18503	122	8	has	have	VERB
fcis-18503	122	9	floating	float	VERB
fcis-18503	122	10	assembly	assembly	NOUN
fcis-18503	122	11	connected	connect	VERB
fcis-18503	122	12	to	to	ADP
fcis-18503	122	13	remote	remote	ADJ
fcis-18503	122	14	control	control	NOUN
fcis-18503	122	15	device	device	NOUN
fcis-18503	122	16	that	that	PRON
fcis-18503	122	17	is	be	AUX
fcis-18503	122	18	presented	present	VERB
fcis-18503	122	19	in	in	ADP
fcis-18503	122	20	form	form	NOUN
fcis-18503	122	21	of	of	ADP
fcis-18503	122	22	vacuum	vacuum	NOUN
fcis-18503	122	23	cleaning	cleaning	NOUN
fcis-18503	122	24	robot	robot	NOUN
fcis-18503	122	25	and	and	CCONJ
fcis-18503	122	26	ensuring	ensure	VERB
fcis-18503	122	27	displacement	displacement	NOUN
fcis-18503	122	28	of	of	ADP
fcis-18503	122	29	assembly	assembly	NOUN
fcis-18503	122	30	at	at	ADP
fcis-18503	122	31	surface	surface	NOUN
fcis-18503	122	32	of	of	ADP
fcis-18503	122	33	water	water	NOUN
fcis-18503	122	34	in	in	ADP
fcis-18503	122	35	concomitant	concomitant	ADJ
fcis-18503	122	36	manner[p	manner[p	NOUN
fcis-18503	122	37	]	]	PUNCT
fcis-18503	122	38	:	:	PUNCT
fcis-18503	122	39	fr2890992,2007	fr2890992,2007	ADJ
fcis-18503	122	40	-	-	PUNCT
fcis-18503	122	41	03	03	NUM
fcis-18503	122	42	-	-	PUNCT
fcis-18503	122	43	23	23	NUM
fcis-18503	122	44	.	.	PUNCT
fcis-18503	123	1	[	[	X
fcis-18503	123	2	2	2	NUM
fcis-18503	123	3	]	]	SYM
fcis-18503	123	4	o	o	NOUN
fcis-18503	123	5	,	,	PUNCT
fcis-18503	123	6	hyeong	hyeong	PROPN
fcis-18503	123	7	sun	sun	PROPN
fcis-18503	123	8	,	,	PUNCT
fcis-18503	123	9	kwon	kwon	PROPN
fcis-18503	123	10	,	,	PUNCT
fcis-18503	123	11	jung	jung	PROPN
fcis-18503	123	12	han	han	PROPN
fcis-18503	123	13	,	,	PUNCT
fcis-18503	123	14	lee	lee	PROPN
fcis-18503	123	15	,	,	PUNCT
fcis-18503	123	16	chan	chan	PROPN
fcis-18503	123	17	haeng	haeng	PROPN
fcis-18503	123	18	,	,	PUNCT
fcis-18503	123	19	kim	kim	PROPN
fcis-18503	123	20	,	,	PUNCT
fcis-18503	123	21	sang	sing	VERB
fcis-18503	123	22	jun	jun	PROPN
fcis-18503	123	23	.	.	PROPN
fcis-18503	124	1	underwater	underwater	ADJ
fcis-18503	124	2	robot	robot	NOUN
fcis-18503	124	3	for	for	ADP
fcis-18503	124	4	cleaning	clean	VERB
fcis-18503	124	5	hull	hull	NOUN
fcis-18503	124	6	surface	surface	NOUN
fcis-18503	124	7	using	use	VERB
fcis-18503	124	8	water	water	NOUN
fcis-18503	124	9	depth	depth	NOUN
fcis-18503	124	10	information	information	NOUN
fcis-18503	125	1	[	[	X
fcis-18503	125	2	p	p	X
fcis-18503	125	3	]	]	X
fcis-18503	125	4	:	:	PUNCT
fcis-18503	125	5	kr20150022540,2015	kr20150022540,2015	PROPN
fcis-18503	125	6	-	-	ADJ
fcis-18503	125	7	03	03	NUM
fcis-18503	125	8	-	-	PUNCT
fcis-18503	125	9	04	04	NUM
fcis-18503	125	10	.	.	PUNCT
fcis-18503	126	1	[	[	X
fcis-18503	126	2	3	3	X
fcis-18503	126	3	]	]	X
fcis-18503	126	4	jin	jin	NOUN
fcis-18503	126	5	-	-	PUNCT
fcis-18503	126	6	gang	gang	NOUN
fcis-18503	126	7	,	,	PUNCT
fcis-18503	126	8	jiang	jiang	PROPN
fcis-18503	126	9	,	,	PUNCT
fcis-18503	126	10	yong	yong	PROPN
fcis-18503	126	11	-	-	PUNCT
fcis-18503	126	12	de	de	PROPN
fcis-18503	126	13	,	,	PUNCT
fcis-18503	126	14	zhang	zhang	PROPN
fcis-18503	126	15	,	,	PUNCT
fcis-18503	126	16	shu	shu	PROPN
fcis-18503	126	17	,	,	PUNCT
fcis-18503	126	18	zhang	zhang	PROPN
fcis-18503	126	19	.	.	PUNCT
fcis-18503	126	20	implementation	implementation	NOUN
fcis-18503	126	21	of	of	ADP
fcis-18503	126	22	glass	glass	NOUN
fcis-18503	126	23	-	-	PUNCT
fcis-18503	126	24	curtain	curtain	NOUN
fcis-18503	126	25	-	-	PUNCT
fcis-18503	126	26	wall	wall	NOUN
fcis-18503	126	27	cleaning	cleaning	NOUN
fcis-18503	126	28	robot	robot	NOUN
fcis-18503	126	29	driven	drive	VERB
fcis-18503	126	30	by	by	ADP
fcis-18503	126	31	double	double	ADJ
fcis-18503	126	32	flexible	flexible	ADJ
fcis-18503	126	33	rope	rope	NOUN
fcis-18503	126	34	[	[	X
fcis-18503	126	35	j	j	X
fcis-18503	126	36	]	]	X
fcis-18503	126	37	.	.	PUNCT
fcis-18503	127	1	the	the	DET
fcis-18503	127	2	industrial	industrial	ADJ
fcis-18503	127	3	robot,2014,41(5	robot,2014,41(5	NOUN
fcis-18503	127	4	)	)	PUNCT
fcis-18503	127	5	:	:	PUNCT
fcis-18503	127	6	187	187	NUM
fcis-18503	127	7	-	-	SYM
fcis-18503	127	8	192	192	NUM
fcis-18503	127	9	.	.	PUNCT
fcis-18503	128	1	[	[	X
fcis-18503	128	2	4	4	X
fcis-18503	128	3	]	]	X
fcis-18503	128	4	ahmet	ahmet	NOUN
fcis-18503	128	5	uner	uner	NOUN
fcis-18503	128	6	,	,	PUNCT
fcis-18503	128	7	faruk	faruk	PROPN
fcis-18503	128	8	yilmaz	yilmaz	PROPN
fcis-18503	128	9	.	.	PUNCT
fcis-18503	129	1	efficiency	efficiency	NOUN
fcis-18503	129	2	of	of	ADP
fcis-18503	129	3	laundry	laundry	ADJ
fcis-18503	129	4	polymers	polymer	NOUN
fcis-18503	129	5	containing	contain	VERB
fcis-18503	129	6	liquid	liquid	ADJ
fcis-18503	129	7	detergents	detergent	NOUN
fcis-18503	129	8	for	for	ADP
fcis-18503	129	9	hard	hard	ADJ
fcis-18503	129	10	surface	surface	NOUN
fcis-18503	129	11	cleaning[j	cleaning[j	NOUN
fcis-18503	129	12	]	]	PUNCT
fcis-18503	129	13	.	.	PUNCT
fcis-18503	130	1	journal	journal	PROPN
fcis-18503	130	2	of	of	ADP
fcis-18503	130	3	surfactants	surfactant	NOUN
fcis-18503	130	4	and	and	CCONJ
fcis-18503	130	5	detergents,2015,18(2	detergents,2015,18(2	NOUN
fcis-18503	130	6	)	)	PUNCT
fcis-18503	130	7	:	:	PUNCT
fcis-18503	130	8	57	57	NUM
fcis-18503	130	9	-	-	SYM
fcis-18503	130	10	63	63	NUM
fcis-18503	130	11	.	.	PUNCT
fcis-18503	131	1	[	[	X
fcis-18503	131	2	5	5	X
fcis-18503	131	3	]	]	PUNCT
fcis-18503	131	4	ahmet	ahmet	NOUN
fcis-18503	131	5	uner	uner	NOUN
fcis-18503	131	6	,	,	PUNCT
fcis-18503	131	7	faruk	faruk	PROPN
fcis-18503	131	8	yilmaz	yilmaz	PROPN
fcis-18503	131	9	.	.	PUNCT
fcis-18503	132	1	efficiency	efficiency	NOUN
fcis-18503	132	2	of	of	ADP
fcis-18503	132	3	laundry	laundry	ADJ
fcis-18503	132	4	polymers	polymer	NOUN
fcis-18503	132	5	containing	contain	VERB
fcis-18503	132	6	liquid	liquid	ADJ
fcis-18503	132	7	detergents	detergent	NOUN
fcis-18503	132	8	for	for	ADP
fcis-18503	132	9	hard	hard	ADJ
fcis-18503	132	10	surface	surface	NOUN
fcis-18503	132	11	cleaning[j	cleaning[j	NOUN
fcis-18503	132	12	]	]	PUNCT
fcis-18503	132	13	.	.	PUNCT
fcis-18503	133	1	journal	journal	PROPN
fcis-18503	133	2	of	of	ADP
fcis-18503	133	3	surfactants	surfactant	NOUN
fcis-18503	133	4	and	and	CCONJ
fcis-18503	133	5	detergents,2015,18(2	detergents,2015,18(2	NOUN
fcis-18503	133	6	)	)	PUNCT
fcis-18503	133	7	:	:	PUNCT
fcis-18503	133	8	97	97	NUM
fcis-18503	133	9	-	-	SYM
fcis-18503	133	10	103	103	NUM
fcis-18503	133	11	.	.	PUNCT
fcis-18503	134	1	[	[	X
fcis-18503	134	2	6	6	NUM
fcis-18503	134	3	]	]	X
fcis-18503	134	4	subhrajit	subhrajit	PROPN
fcis-18503	134	5	bhattacharya	bhattacharya	PROPN
fcis-18503	134	6	,	,	PUNCT
fcis-18503	134	7	soonkyum	soonkyum	PROPN
fcis-18503	134	8	kim	kim	PROPN
fcis-18503	134	9	,	,	PUNCT
fcis-18503	134	10	hordur	hordur	PROPN
fcis-18503	134	11	heidarsson	heidarsson	PROPN
fcis-18503	134	12	,	,	PUNCT
fcis-18503	134	13	gaurav	gaurav	PROPN
fcis-18503	134	14	s.	s.	PROPN
fcis-18503	134	15	sukhatme	sukhatme	PROPN
fcis-18503	134	16	,	,	PUNCT
fcis-18503	134	17	vijay	vijay	PROPN
fcis-18503	134	18	kumar	kumar	PROPN
fcis-18503	134	19	.	.	PUNCT
fcis-18503	135	1	a	a	DET
fcis-18503	135	2	topological	topological	ADJ
fcis-18503	135	3	approach	approach	NOUN
fcis-18503	135	4	to	to	ADP
fcis-18503	135	5	using	use	VERB
fcis-18503	135	6	cables	cable	NOUN
fcis-18503	135	7	to	to	PART
fcis-18503	135	8	separate	separate	VERB
fcis-18503	135	9	and	and	CCONJ
fcis-18503	135	10	manipulate	manipulate	VERB
fcis-18503	135	11	sets	set	NOUN
fcis-18503	135	12	of	of	ADP
fcis-18503	135	13	objects[j	objects[j	NOUN
fcis-18503	135	14	]	]	PUNCT
fcis-18503	135	15	.	.	PUNCT
fcis-18503	136	1	the	the	DET
fcis-18503	136	2	international	international	ADJ
fcis-18503	136	3	journal	journal	NOUN
fcis-18503	136	4	of	of	ADP
fcis-18503	136	5	robotics	robotic	NOUN
fcis-18503	136	6	research	research	NOUN
fcis-18503	136	7	,	,	PUNCT
fcis-18503	136	8	2015	2015	NUM
fcis-18503	136	9	,	,	PUNCT
fcis-18503	136	10	34(6	34(6	NUM
fcis-18503	136	11	)	)	PUNCT
fcis-18503	136	12	:	:	PUNCT
fcis-18503	136	13	144148	144148	NUM
fcis-18503	136	14	.	.	PUNCT
fcis-18503	137	1	[	[	X
fcis-18503	137	2	7	7	X
fcis-18503	137	3	]	]	X
fcis-18503	137	4	bhattacharya	bhattacharya	PROPN
fcis-18503	137	5	subhrajit	subhrajit	PROPN
fcis-18503	137	6	,	,	PUNCT
fcis-18503	137	7	kim	kim	PROPN
fcis-18503	137	8	soonkyum	soonkyum	PROPN
fcis-18503	137	9	,	,	PUNCT
fcis-18503	137	10	heidarsson	heidarsson	NOUN
fcis-18503	137	11	hordur	hordur	PROPN
fcis-18503	137	12	,	,	PUNCT
fcis-18503	137	13	sukhatme	sukhatme	PROPN
fcis-18503	137	14	gaurav	gaurav	PROPN
fcis-18503	137	15	s.	s.	PROPN
fcis-18503	137	16	,	,	PUNCT
fcis-18503	137	17	kumar	kumar	PROPN
fcis-18503	137	18	vijay	vijay	PROPN
fcis-18503	137	19	.	.	PUNCT
fcis-18503	138	1	a	a	DET
fcis-18503	138	2	topological	topological	ADJ
fcis-18503	138	3	approach	approach	NOUN
fcis-18503	138	4	to	to	ADP
fcis-18503	138	5	using	use	VERB
fcis-18503	138	6	cables	cable	NOUN
fcis-18503	138	7	to	to	PART
fcis-18503	138	8	separate	separate	VERB
fcis-18503	138	9	and	and	CCONJ
fcis-18503	138	10	manipulate	manipulate	VERB
fcis-18503	138	11	sets	set	NOUN
fcis-18503	138	12	of	of	ADP
fcis-18503	138	13	objects[j	objects[j	NOUN
fcis-18503	138	14	]	]	PUNCT
fcis-18503	138	15	.	.	PUNCT
fcis-18503	139	1	the	the	DET
fcis-18503	139	2	international	international	ADJ
fcis-18503	139	3	journal	journal	NOUN
fcis-18503	139	4	of	of	ADP
fcis-18503	139	5	robotics	robotic	NOUN
fcis-18503	139	6	research,2015,34(6	research,2015,34(6	NOUN
fcis-18503	139	7	)	)	PUNCT
fcis-18503	139	8	:	:	PUNCT
fcis-18503	139	9	90	90	NUM
fcis-18503	139	10	-	-	SYM
fcis-18503	139	11	95	95	NUM
fcis-18503	139	12	.	.	PUNCT