id	sid	tid	token	lemma	pos
fcis-30629	1	1	frontiers	frontier	NOUN
fcis-30629	1	2	in	in	ADP
fcis-30629	1	3	computing	computing	NOUN
fcis-30629	1	4	and	and	CCONJ
fcis-30629	1	5	intelligent	intelligent	ADJ
fcis-30629	1	6	systems	system	NOUN
fcis-30629	1	7	issn	issn	VERB
fcis-30629	1	8	:	:	PUNCT
fcis-30629	1	9	2832	2832	NUM
fcis-30629	1	10	-	-	SYM
fcis-30629	1	11	6024	6024	NUM
fcis-30629	1	12	|	|	NOUN
fcis-30629	1	13	vol	vol	NOUN
fcis-30629	1	14	.	.	PROPN
fcis-30629	2	1	12	12	NUM
fcis-30629	2	2	,	,	PUNCT
fcis-30629	2	3	no	no	INTJ
fcis-30629	2	4	.	.	NOUN
fcis-30629	2	5	1	1	NUM
fcis-30629	2	6	,	,	PUNCT
fcis-30629	2	7	2025	2025	NUM
fcis-30629	2	8	172	172	NUM
fcis-30629	2	9	constrained	constrain	VERB
fcis-30629	2	10	manipulator	manipulator	NOUN
fcis-30629	2	11	force	force	NOUN
fcis-30629	2	12	position	position	VERB
fcis-30629	2	13	hybrid	hybrid	NOUN
fcis-30629	2	14	control	control	NOUN
fcis-30629	2	15	based	base	VERB
fcis-30629	2	16	on	on	ADP
fcis-30629	2	17	fuzzy	fuzzy	ADJ
fcis-30629	2	18	neural	neural	ADJ
fcis-30629	2	19	network	network	PROPN
fcis-30629	2	20	guogang	guogang	PROPN
fcis-30629	2	21	wang	wang	PROPN
fcis-30629	2	22	,	,	PUNCT
fcis-30629	2	23	qilong	qilong	PROPN
fcis-30629	2	24	sun	sun	PROPN
fcis-30629	2	25	school	school	PROPN
fcis-30629	2	26	of	of	ADP
fcis-30629	2	27	jilin	jilin	PROPN
fcis-30629	2	28	institute	institute	PROPN
fcis-30629	2	29	of	of	ADP
fcis-30629	2	30	chemical	chemical	PROPN
fcis-30629	2	31	technology	technology	NOUN
fcis-30629	2	32	,	,	PUNCT
fcis-30629	2	33	jinlin	jinlin	PROPN
fcis-30629	2	34	jilin	jilin	PROPN
fcis-30629	2	35	,	,	PUNCT
fcis-30629	2	36	132022	132022	NUM
fcis-30629	2	37	,	,	PUNCT
fcis-30629	2	38	china	china	PROPN
fcis-30629	2	39	abstract	abstract	NOUN
fcis-30629	2	40	:	:	PUNCT
fcis-30629	2	41	aiming	aim	VERB
fcis-30629	2	42	at	at	ADP
fcis-30629	2	43	the	the	DET
fcis-30629	2	44	problem	problem	NOUN
fcis-30629	2	45	that	that	SCONJ
fcis-30629	2	46	the	the	DET
fcis-30629	2	47	end	end	NOUN
fcis-30629	2	48	motion	motion	NOUN
fcis-30629	2	49	of	of	ADP
fcis-30629	2	50	a	a	DET
fcis-30629	2	51	robot	robot	NOUN
fcis-30629	2	52	arm	arm	NOUN
fcis-30629	2	53	is	be	AUX
fcis-30629	2	54	constrained	constrain	VERB
fcis-30629	2	55	and	and	CCONJ
fcis-30629	2	56	can	can	AUX
fcis-30629	2	57	not	not	PART
fcis-30629	2	58	be	be	AUX
fcis-30629	2	59	accurately	accurately	ADV
fcis-30629	2	60	modeled	model	VERB
fcis-30629	2	61	when	when	SCONJ
fcis-30629	2	62	it	it	PRON
fcis-30629	2	63	is	be	AUX
fcis-30629	2	64	in	in	ADP
fcis-30629	2	65	contact	contact	NOUN
fcis-30629	2	66	with	with	ADP
fcis-30629	2	67	the	the	DET
fcis-30629	2	68	working	working	NOUN
fcis-30629	2	69	environment	environment	NOUN
fcis-30629	2	70	,	,	PUNCT
fcis-30629	2	71	a	a	DET
fcis-30629	2	72	reduced	reduce	VERB
fcis-30629	2	73	order	order	NOUN
fcis-30629	2	74	fuzzy	fuzzy	ADJ
fcis-30629	2	75	neural	neural	ADJ
fcis-30629	2	76	network	network	NOUN
fcis-30629	2	77	sliding	slide	VERB
fcis-30629	2	78	mode	mode	NOUN
fcis-30629	2	79	control	control	NOUN
fcis-30629	2	80	method	method	NOUN
fcis-30629	2	81	is	be	AUX
fcis-30629	2	82	designed	design	VERB
fcis-30629	2	83	to	to	PART
fcis-30629	2	84	realize	realize	VERB
fcis-30629	2	85	the	the	DET
fcis-30629	2	86	high	high	ADJ
fcis-30629	2	87	-	-	PUNCT
fcis-30629	2	88	precision	precision	NOUN
fcis-30629	2	89	tracking	tracking	NOUN
fcis-30629	2	90	of	of	ADP
fcis-30629	2	91	the	the	DET
fcis-30629	2	92	angle	angle	NOUN
fcis-30629	2	93	,	,	PUNCT
fcis-30629	2	94	angular	angular	ADJ
fcis-30629	2	95	velocity	velocity	NOUN
fcis-30629	2	96	and	and	CCONJ
fcis-30629	2	97	contact	contact	NOUN
fcis-30629	2	98	force	force	NOUN
fcis-30629	2	99	of	of	ADP
fcis-30629	2	100	each	each	DET
fcis-30629	2	101	joint	joint	NOUN
fcis-30629	2	102	.	.	PUNCT
fcis-30629	3	1	firstly	firstly	ADV
fcis-30629	3	2	,	,	PUNCT
fcis-30629	3	3	the	the	DET
fcis-30629	3	4	model	model	NOUN
fcis-30629	3	5	of	of	ADP
fcis-30629	3	6	constrained	constrain	VERB
fcis-30629	3	7	double	double	ADJ
fcis-30629	3	8	-	-	PUNCT
fcis-30629	3	9	joint	joint	NOUN
fcis-30629	3	10	manipulator	manipulator	NOUN
fcis-30629	3	11	is	be	AUX
fcis-30629	3	12	reduced	reduce	VERB
fcis-30629	3	13	to	to	PART
fcis-30629	3	14	simplify	simplify	VERB
fcis-30629	3	15	the	the	DET
fcis-30629	3	16	dynamic	dynamic	ADJ
fcis-30629	3	17	model	model	NOUN
fcis-30629	3	18	and	and	CCONJ
fcis-30629	3	19	reduce	reduce	VERB
fcis-30629	3	20	the	the	DET
fcis-30629	3	21	computational	computational	ADJ
fcis-30629	3	22	difficulty	difficulty	NOUN
fcis-30629	3	23	.	.	PUNCT
fcis-30629	4	1	then	then	ADV
fcis-30629	4	2	,	,	PUNCT
fcis-30629	4	3	fuzzy	fuzzy	ADJ
fcis-30629	4	4	neural	neural	ADJ
fcis-30629	4	5	network	network	NOUN
fcis-30629	4	6	is	be	AUX
fcis-30629	4	7	used	use	VERB
fcis-30629	4	8	to	to	PART
fcis-30629	4	9	approximate	approximate	VERB
fcis-30629	4	10	the	the	DET
fcis-30629	4	11	friction	friction	NOUN
fcis-30629	4	12	and	and	CCONJ
fcis-30629	4	13	nonlinear	nonlinear	ADJ
fcis-30629	4	14	control	control	NOUN
fcis-30629	4	15	quantity	quantity	NOUN
fcis-30629	4	16	generated	generate	VERB
fcis-30629	4	17	during	during	ADP
fcis-30629	4	18	the	the	DET
fcis-30629	4	19	movement	movement	NOUN
fcis-30629	4	20	of	of	ADP
fcis-30629	4	21	constrained	constrained	ADJ
fcis-30629	4	22	manipulator	manipulator	NOUN
fcis-30629	4	23	.	.	PUNCT
fcis-30629	5	1	finally	finally	ADV
fcis-30629	5	2	,	,	PUNCT
fcis-30629	5	3	sliding	slide	VERB
fcis-30629	5	4	mode	mode	NOUN
fcis-30629	5	5	control	control	NOUN
fcis-30629	5	6	method	method	NOUN
fcis-30629	5	7	is	be	AUX
fcis-30629	5	8	used	use	VERB
fcis-30629	5	9	to	to	PART
fcis-30629	5	10	improve	improve	VERB
fcis-30629	5	11	the	the	DET
fcis-30629	5	12	robustness	robustness	NOUN
fcis-30629	5	13	of	of	ADP
fcis-30629	5	14	the	the	DET
fcis-30629	5	15	controller	controller	NOUN
fcis-30629	5	16	and	and	CCONJ
fcis-30629	5	17	the	the	DET
fcis-30629	5	18	stability	stability	NOUN
fcis-30629	5	19	of	of	ADP
fcis-30629	5	20	the	the	DET
fcis-30629	5	21	system	system	NOUN
fcis-30629	5	22	is	be	AUX
fcis-30629	5	23	proved	prove	VERB
fcis-30629	5	24	by	by	ADP
fcis-30629	5	25	lyapunov	lyapunov	ADJ
fcis-30629	5	26	function	function	NOUN
fcis-30629	5	27	.	.	PUNCT
fcis-30629	6	1	the	the	DET
fcis-30629	6	2	simulation	simulation	NOUN
fcis-30629	6	3	results	result	NOUN
fcis-30629	6	4	show	show	VERB
fcis-30629	6	5	that	that	SCONJ
fcis-30629	6	6	the	the	DET
fcis-30629	6	7	tracking	tracking	NOUN
fcis-30629	6	8	error	error	NOUN
fcis-30629	6	9	of	of	ADP
fcis-30629	6	10	each	each	DET
fcis-30629	6	11	joint	joint	NOUN
fcis-30629	6	12	of	of	ADP
fcis-30629	6	13	the	the	DET
fcis-30629	6	14	constrained	constrain	VERB
fcis-30629	6	15	manipulator	manipulator	NOUN
fcis-30629	6	16	is	be	AUX
fcis-30629	6	17	controlled	control	VERB
fcis-30629	6	18	within	within	ADP
fcis-30629	6	19	0.003	0.003	NUM
fcis-30629	6	20	.	.	PUNCT
fcis-30629	7	1	keywords	keyword	NOUN
fcis-30629	7	2	:	:	PUNCT
fcis-30629	7	3	constrained	constrain	VERB
fcis-30629	7	4	robotic	robotic	ADJ
fcis-30629	7	5	arm	arm	NOUN
fcis-30629	7	6	;	;	PUNCT
fcis-30629	7	7	fuzzy	fuzzy	ADJ
fcis-30629	7	8	neural	neural	ADJ
fcis-30629	7	9	network	network	NOUN
fcis-30629	7	10	;	;	PUNCT
fcis-30629	7	11	sliding	slide	VERB
fcis-30629	7	12	mode	mode	NOUN
fcis-30629	7	13	control	control	NOUN
fcis-30629	7	14	algorithm	algorithm	NOUN
fcis-30629	7	15	;	;	PUNCT
fcis-30629	7	16	model	model	NOUN
fcis-30629	7	17	reduction	reduction	NOUN
fcis-30629	7	18	.	.	PUNCT
fcis-30629	8	1	1	1	X
fcis-30629	8	2	.	.	X
fcis-30629	8	3	introduction	introduction	NOUN
fcis-30629	8	4	in	in	ADP
fcis-30629	8	5	today	today	NOUN
fcis-30629	8	6	's	's	PART
fcis-30629	8	7	industrial	industrial	ADJ
fcis-30629	8	8	automation	automation	NOUN
fcis-30629	8	9	production	production	NOUN
fcis-30629	8	10	practice	practice	NOUN
fcis-30629	8	11	,	,	PUNCT
fcis-30629	8	12	the	the	DET
fcis-30629	8	13	robotic	robotic	ADJ
fcis-30629	8	14	arm	arm	NOUN
fcis-30629	8	15	is	be	AUX
fcis-30629	8	16	undoubtedly	undoubtedly	ADV
fcis-30629	8	17	one	one	NUM
fcis-30629	8	18	of	of	ADP
fcis-30629	8	19	the	the	DET
fcis-30629	8	20	core	core	NOUN
fcis-30629	8	21	roles	role	NOUN
fcis-30629	8	22	,	,	PUNCT
fcis-30629	8	23	widely	widely	ADV
fcis-30629	8	24	involved	involve	VERB
fcis-30629	8	25	in	in	ADP
fcis-30629	8	26	all	all	DET
fcis-30629	8	27	kinds	kind	NOUN
fcis-30629	8	28	of	of	ADP
fcis-30629	8	29	production	production	NOUN
fcis-30629	8	30	operations	operation	NOUN
fcis-30629	8	31	.	.	PUNCT
fcis-30629	9	1	when	when	SCONJ
fcis-30629	9	2	the	the	DET
fcis-30629	9	3	robot	robot	NOUN
fcis-30629	9	4	arm	arm	NOUN
fcis-30629	9	5	only	only	ADV
fcis-30629	9	6	undertakes	undertake	VERB
fcis-30629	9	7	simple	simple	ADJ
fcis-30629	9	8	handling	handling	NOUN
fcis-30629	9	9	,	,	PUNCT
fcis-30629	9	10	welding	welding	NOUN
fcis-30629	9	11	and	and	CCONJ
fcis-30629	9	12	spraying	spray	VERB
fcis-30629	9	13	tasks	task	NOUN
fcis-30629	9	14	,	,	PUNCT
fcis-30629	9	15	it	it	PRON
fcis-30629	9	16	only	only	ADV
fcis-30629	9	17	needs	need	VERB
fcis-30629	9	18	to	to	PART
fcis-30629	9	19	accurately	accurately	ADV
fcis-30629	9	20	control	control	VERB
fcis-30629	9	21	its	its	PRON
fcis-30629	9	22	position	position	NOUN
fcis-30629	9	23	and	and	CCONJ
fcis-30629	9	24	carry	carry	VERB
fcis-30629	9	25	out	out	ADP
fcis-30629	9	26	position	position	NOUN
fcis-30629	9	27	tracking	tracking	NOUN
fcis-30629	9	28	control	control	NOUN
fcis-30629	9	29	.	.	PUNCT
fcis-30629	10	1	however	however	ADV
fcis-30629	10	2	,	,	PUNCT
fcis-30629	10	3	once	once	ADV
fcis-30629	10	4	complex	complex	ADJ
fcis-30629	10	5	product	product	NOUN
fcis-30629	10	6	assembly	assembly	NOUN
fcis-30629	10	7	,	,	PUNCT
fcis-30629	10	8	fine	fine	ADJ
fcis-30629	10	9	grinding	grinding	NOUN
fcis-30629	10	10	,	,	PUNCT
fcis-30629	10	11	or	or	CCONJ
fcis-30629	10	12	tube	tube	NOUN
fcis-30629	10	13	grasping	grasp	VERB
fcis-30629	10	14	operations	operation	NOUN
fcis-30629	10	15	in	in	ADP
fcis-30629	10	16	the	the	DET
fcis-30629	10	17	chemical	chemical	NOUN
fcis-30629	10	18	field	field	NOUN
fcis-30629	10	19	are	be	AUX
fcis-30629	10	20	involved	involve	VERB
fcis-30629	10	21	,	,	PUNCT
fcis-30629	10	22	it	it	PRON
fcis-30629	10	23	is	be	AUX
fcis-30629	10	24	necessary	necessary	ADJ
fcis-30629	10	25	not	not	PART
fcis-30629	10	26	only	only	ADV
fcis-30629	10	27	to	to	PART
fcis-30629	10	28	precisely	precisely	ADV
fcis-30629	10	29	plan	plan	VERB
fcis-30629	10	30	the	the	DET
fcis-30629	10	31	joint	joint	ADJ
fcis-30629	10	32	position	position	NOUN
fcis-30629	10	33	of	of	ADP
fcis-30629	10	34	the	the	DET
fcis-30629	10	35	robotic	robotic	ADJ
fcis-30629	10	36	arm	arm	NOUN
fcis-30629	10	37	and	and	CCONJ
fcis-30629	10	38	the	the	DET
fcis-30629	10	39	end	end	NOUN
fcis-30629	10	40	effector	effector	NOUN
fcis-30629	10	41	,	,	PUNCT
fcis-30629	10	42	but	but	CCONJ
fcis-30629	10	43	also	also	ADV
fcis-30629	10	44	to	to	AUX
fcis-30629	10	45	fine	fine	ADJ
fcis-30629	10	46	-	-	PUNCT
fcis-30629	10	47	regulate	regulate	VERB
fcis-30629	10	48	the	the	DET
fcis-30629	10	49	force	force	NOUN
fcis-30629	10	50	exerted	exert	VERB
fcis-30629	10	51	on	on	ADP
fcis-30629	10	52	the	the	DET
fcis-30629	10	53	constraint	constraint	NOUN
fcis-30629	10	54	surface	surface	NOUN
fcis-30629	10	55	during	during	ADP
fcis-30629	10	56	the	the	DET
fcis-30629	10	57	operation	operation	NOUN
fcis-30629	10	58	of	of	ADP
fcis-30629	10	59	the	the	DET
fcis-30629	10	60	robotic	robotic	ADJ
fcis-30629	10	61	arm	arm	NOUN
fcis-30629	10	62	,	,	PUNCT
fcis-30629	10	63	in	in	ADP
fcis-30629	10	64	order	order	NOUN
fcis-30629	10	65	to	to	PART
fcis-30629	10	66	complete	complete	VERB
fcis-30629	10	67	these	these	DET
fcis-30629	10	68	relatively	relatively	ADV
fcis-30629	10	69	difficult	difficult	ADJ
fcis-30629	10	70	production	production	NOUN
fcis-30629	10	71	tasks	task	NOUN
fcis-30629	10	72	[	[	X
fcis-30629	10	73	1,2	1,2	NUM
fcis-30629	10	74	]	]	PUNCT
fcis-30629	10	75	.	.	PUNCT
fcis-30629	11	1	conventional	conventional	ADJ
fcis-30629	11	2	control	control	NOUN
fcis-30629	11	3	methods	method	NOUN
fcis-30629	11	4	mainly	mainly	ADV
fcis-30629	11	5	include	include	VERB
fcis-30629	11	6	neural	neural	ADJ
fcis-30629	11	7	network	network	NOUN
fcis-30629	11	8	control[3	control[3	PROPN
fcis-30629	11	9	]	]	PUNCT
fcis-30629	11	10	,	,	PUNCT
fcis-30629	11	11	robust	robust	ADJ
fcis-30629	11	12	control[4	control[4	NOUN
fcis-30629	11	13	]	]	SYM
fcis-30629	11	14	,	,	PUNCT
fcis-30629	11	15	fuzzy	fuzzy	ADJ
fcis-30629	11	16	control[5	control[5	NOUN
fcis-30629	11	17	]	]	PUNCT
fcis-30629	11	18	,	,	PUNCT
fcis-30629	11	19	sliding	slide	VERB
fcis-30629	11	20	mode	mode	NOUN
fcis-30629	11	21	control[6	control[6	PROPN
fcis-30629	11	22	]	]	PUNCT
fcis-30629	11	23	and	and	CCONJ
fcis-30629	11	24	pid	pid	NOUN
fcis-30629	11	25	control[7	control[7	PROPN
fcis-30629	11	26	]	]	PUNCT
fcis-30629	11	27	.	.	PUNCT
fcis-30629	12	1	the	the	DET
fcis-30629	12	2	hybrid	hybrid	ADJ
fcis-30629	12	3	force	force	NOUN
fcis-30629	12	4	/	/	SYM
fcis-30629	12	5	bit	bit	NOUN
fcis-30629	12	6	control	control	NOUN
fcis-30629	12	7	technology	technology	NOUN
fcis-30629	12	8	of	of	ADP
fcis-30629	12	9	constrained	constrain	VERB
fcis-30629	12	10	manipulator	manipulator	NOUN
fcis-30629	12	11	has	have	AUX
fcis-30629	12	12	become	become	VERB
fcis-30629	12	13	a	a	DET
fcis-30629	12	14	key	key	ADJ
fcis-30629	12	15	research	research	NOUN
fcis-30629	12	16	topic	topic	NOUN
fcis-30629	12	17	in	in	ADP
fcis-30629	12	18	the	the	DET
fcis-30629	12	19	field	field	NOUN
fcis-30629	12	20	of	of	ADP
fcis-30629	12	21	industrial	industrial	ADJ
fcis-30629	12	22	automation	automation	NOUN
fcis-30629	12	23	.	.	PUNCT
fcis-30629	13	1	naveen	naveen	PROPN
fcis-30629	13	2	kumar	kumar	PROPN
fcis-30629	13	3	et	et	PROPN
fcis-30629	13	4	al.[8]designed	al.[8]designe	VERB
fcis-30629	13	5	an	an	DET
fcis-30629	13	6	intelligent	intelligent	ADJ
fcis-30629	13	7	optimal	optimal	ADJ
fcis-30629	13	8	control	control	NOUN
fcis-30629	13	9	method	method	NOUN
fcis-30629	13	10	for	for	ADP
fcis-30629	13	11	constrained	constrain	VERB
fcis-30629	13	12	reconfigurable	reconfigurable	ADJ
fcis-30629	13	13	manipulator	manipulator	NOUN
fcis-30629	13	14	position	position	NOUN
fcis-30629	13	15	/	/	SYM
fcis-30629	13	16	force	force	NOUN
fcis-30629	13	17	control	control	NOUN
fcis-30629	13	18	under	under	ADP
fcis-30629	13	19	uncertainty	uncertainty	NOUN
fcis-30629	13	20	,	,	PUNCT
fcis-30629	13	21	which	which	PRON
fcis-30629	13	22	overcomes	overcome	VERB
fcis-30629	13	23	the	the	DET
fcis-30629	13	24	uncertainty	uncertainty	NOUN
fcis-30629	13	25	of	of	ADP
fcis-30629	13	26	complex	complex	ADJ
fcis-30629	13	27	systems	system	NOUN
fcis-30629	13	28	and	and	CCONJ
fcis-30629	13	29	can	can	AUX
fcis-30629	13	30	achieve	achieve	VERB
fcis-30629	13	31	the	the	DET
fcis-30629	13	32	required	require	VERB
fcis-30629	13	33	performance	performance	NOUN
fcis-30629	13	34	.	.	PUNCT
fcis-30629	14	1	aiming	aim	VERB
fcis-30629	14	2	at	at	ADP
fcis-30629	14	3	the	the	DET
fcis-30629	14	4	manipulator	manipulator	NOUN
fcis-30629	14	5	based	base	VERB
fcis-30629	14	6	on	on	ADP
fcis-30629	14	7	3dof	3dof	PROPN
fcis-30629	14	8	series	series	NOUN
fcis-30629	14	9	elastic	elastic	ADJ
fcis-30629	14	10	actuator	actuator	NOUN
fcis-30629	14	11	(	(	PUNCT
fcis-30629	14	12	sea	sea	NOUN
fcis-30629	14	13	)	)	PUNCT
fcis-30629	14	14	under	under	ADP
fcis-30629	14	15	partial	partial	ADJ
fcis-30629	14	16	state	state	NOUN
fcis-30629	14	17	constraints	constraint	NOUN
fcis-30629	14	18	,	,	PUNCT
fcis-30629	14	19	yangchun	yangchun	PROPN
fcis-30629	14	20	wei	wei	PROPN
fcis-30629	14	21	et	et	PROPN
fcis-30629	14	22	al.[9]designed	al.[9]designe	VERB
fcis-30629	14	23	a	a	DET
fcis-30629	14	24	model	model	NOUN
fcis-30629	14	25	-	-	PUNCT
fcis-30629	14	26	free	free	ADJ
fcis-30629	14	27	hybrid	hybrid	ADJ
fcis-30629	14	28	force	force	NOUN
fcis-30629	14	29	/	/	SYM
fcis-30629	14	30	position	position	NOUN
fcis-30629	14	31	controller	controller	NOUN
fcis-30629	14	32	(	(	PUNCT
fcis-30629	14	33	ppmhc	ppmhc	NOUN
fcis-30629	14	34	)	)	PUNCT
fcis-30629	14	35	with	with	ADP
fcis-30629	14	36	specified	specify	VERB
fcis-30629	14	37	performance	performance	NOUN
fcis-30629	14	38	,	,	PUNCT
fcis-30629	14	39	which	which	PRON
fcis-30629	14	40	improved	improve	VERB
fcis-30629	14	41	the	the	DET
fcis-30629	14	42	control	control	NOUN
fcis-30629	14	43	accuracy	accuracy	NOUN
fcis-30629	14	44	and	and	CCONJ
fcis-30629	14	45	realized	realize	VERB
fcis-30629	14	46	the	the	DET
fcis-30629	14	47	fitting	fitting	NOUN
fcis-30629	14	48	of	of	ADP
fcis-30629	14	49	angle	angle	NOUN
fcis-30629	14	50	and	and	CCONJ
fcis-30629	14	51	angular	angular	ADJ
fcis-30629	14	52	velocity	velocity	NOUN
fcis-30629	14	53	.	.	PUNCT
fcis-30629	15	1	mohammad	mohammad	PROPN
fcis-30629	15	2	-	-	PUNCT
fcis-30629	15	3	hossein	hossein	PROPN
fcis-30629	15	4	ghajar	ghajar	PROPN
fcis-30629	15	5	et	et	PROPN
fcis-30629	15	6	al.[10]designed	al.[10]designe	VERB
fcis-30629	15	7	an	an	DET
fcis-30629	15	8	intelligent	intelligent	ADJ
fcis-30629	15	9	hybrid	hybrid	ADJ
fcis-30629	15	10	position	position	NOUN
fcis-30629	15	11	/	/	SYM
fcis-30629	15	12	force	force	NOUN
fcis-30629	15	13	controller	controller	NOUN
fcis-30629	15	14	for	for	ADP
fcis-30629	15	15	a	a	DET
fcis-30629	15	16	constrained	constrain	VERB
fcis-30629	15	17	robotic	robotic	ADJ
fcis-30629	15	18	manipulator	manipulator	NOUN
fcis-30629	15	19	,	,	PUNCT
fcis-30629	15	20	which	which	PRON
fcis-30629	15	21	greatly	greatly	ADV
fcis-30629	15	22	reduced	reduce	VERB
fcis-30629	15	23	the	the	DET
fcis-30629	15	24	tracking	tracking	NOUN
fcis-30629	15	25	error	error	NOUN
fcis-30629	15	26	of	of	ADP
fcis-30629	15	27	each	each	DET
fcis-30629	15	28	joint	joint	NOUN
fcis-30629	15	29	of	of	ADP
fcis-30629	15	30	the	the	DET
fcis-30629	15	31	manipulator	manipulator	NOUN
fcis-30629	15	32	despite	despite	SCONJ
fcis-30629	15	33	the	the	DET
fcis-30629	15	34	presence	presence	NOUN
fcis-30629	15	35	of	of	ADP
fcis-30629	15	36	large	large	ADJ
fcis-30629	15	37	parameters	parameter	NOUN
fcis-30629	15	38	and	and	CCONJ
fcis-30629	15	39	dynamic	dynamic	ADJ
fcis-30629	15	40	uncertainties	uncertainty	NOUN
fcis-30629	15	41	.	.	PUNCT
fcis-30629	16	1	tuo	tuo	NOUN
fcis-30629	16	2	yaoyao	yaoyao	PROPN
fcis-30629	16	3	et	et	PROPN
fcis-30629	16	4	al.[11]designed	al.[11]designe	VERB
fcis-30629	16	5	an	an	DET
fcis-30629	16	6	event	event	NOUN
fcis-30629	16	7	-	-	PUNCT
fcis-30629	16	8	triggered	trigger	VERB
fcis-30629	16	9	adaptive	adaptive	ADJ
fcis-30629	16	10	specified	specify	VERB
fcis-30629	16	11	performance	performance	NOUN
fcis-30629	16	12	controller	controller	NOUN
fcis-30629	16	13	,	,	PUNCT
fcis-30629	16	14	which	which	PRON
fcis-30629	16	15	reduces	reduce	VERB
fcis-30629	16	16	the	the	DET
fcis-30629	16	17	update	update	NOUN
fcis-30629	16	18	frequency	frequency	NOUN
fcis-30629	16	19	of	of	ADP
fcis-30629	16	20	the	the	DET
fcis-30629	16	21	control	control	NOUN
fcis-30629	16	22	signal	signal	NOUN
fcis-30629	16	23	and	and	CCONJ
fcis-30629	16	24	improves	improve	VERB
fcis-30629	16	25	the	the	DET
fcis-30629	16	26	resource	resource	NOUN
fcis-30629	16	27	utilization	utilization	NOUN
fcis-30629	16	28	rate	rate	NOUN
fcis-30629	16	29	.	.	PUNCT
fcis-30629	17	1	ruchika	ruchika	NOUN
fcis-30629	17	2	et	et	NOUN
fcis-30629	17	3	al.[12	al.[12	PROPN
fcis-30629	17	4	]	]	PUNCT
fcis-30629	17	5	,	,	PUNCT
fcis-30629	17	6	aiming	aim	VERB
fcis-30629	17	7	at	at	ADP
fcis-30629	17	8	the	the	DET
fcis-30629	17	9	problem	problem	NOUN
fcis-30629	17	10	that	that	PRON
fcis-30629	17	11	deformable	deformable	ADJ
fcis-30629	17	12	links	link	NOUN
fcis-30629	17	13	cause	cause	VERB
fcis-30629	17	14	frequent	frequent	ADJ
fcis-30629	17	15	changes	change	NOUN
fcis-30629	17	16	in	in	ADP
fcis-30629	17	17	shape	shape	NOUN
fcis-30629	17	18	,	,	PUNCT
fcis-30629	17	19	which	which	PRON
fcis-30629	17	20	makes	make	VERB
fcis-30629	17	21	it	it	PRON
fcis-30629	17	22	difficult	difficult	ADJ
fcis-30629	17	23	to	to	PART
fcis-30629	17	24	model	model	VERB
fcis-30629	17	25	and	and	CCONJ
fcis-30629	17	26	control	control	VERB
fcis-30629	17	27	the	the	DET
fcis-30629	17	28	longitudinal	longitudinal	ADJ
fcis-30629	17	29	,	,	PUNCT
fcis-30629	17	30	proposed	propose	VERB
fcis-30629	17	31	a	a	DET
fcis-30629	17	32	segmented	segment	VERB
fcis-30629	17	33	control	control	NOUN
fcis-30629	17	34	method	method	NOUN
fcis-30629	17	35	in	in	ADP
fcis-30629	17	36	which	which	PRON
fcis-30629	17	37	a	a	DET
fcis-30629	17	38	neural	neural	ADJ
fcis-30629	17	39	network	network	NOUN
fcis-30629	17	40	system	system	NOUN
fcis-30629	17	41	is	be	AUX
fcis-30629	17	42	used	use	VERB
fcis-30629	17	43	to	to	PART
fcis-30629	17	44	estimate	estimate	VERB
fcis-30629	17	45	nonlinear	nonlinear	ADJ
fcis-30629	17	46	components	component	NOUN
fcis-30629	17	47	,	,	PUNCT
fcis-30629	17	48	and	and	CCONJ
fcis-30629	17	49	the	the	DET
fcis-30629	17	50	friction	friction	NOUN
fcis-30629	17	51	term	term	NOUN
fcis-30629	17	52	and	and	CCONJ
fcis-30629	17	53	binding	bind	VERB
fcis-30629	17	54	force	force	NOUN
fcis-30629	17	55	of	of	ADP
fcis-30629	17	56	each	each	DET
fcis-30629	17	57	joint	joint	NOUN
fcis-30629	17	58	are	be	AUX
fcis-30629	17	59	compensated	compensate	VERB
fcis-30629	17	60	by	by	ADP
fcis-30629	17	61	adaptive	adaptive	ADJ
fcis-30629	17	62	control	control	NOUN
fcis-30629	17	63	,	,	PUNCT
fcis-30629	17	64	thus	thus	ADV
fcis-30629	17	65	improving	improve	VERB
fcis-30629	17	66	the	the	DET
fcis-30629	17	67	control	control	NOUN
fcis-30629	17	68	performance	performance	NOUN
fcis-30629	17	69	.	.	PUNCT
fcis-30629	18	1	this	this	DET
fcis-30629	18	2	chapter	chapter	NOUN
fcis-30629	18	3	focuses	focus	VERB
fcis-30629	18	4	on	on	ADP
fcis-30629	18	5	the	the	DET
fcis-30629	18	6	problem	problem	NOUN
fcis-30629	18	7	of	of	ADP
fcis-30629	18	8	position	position	NOUN
fcis-30629	18	9	and	and	CCONJ
fcis-30629	18	10	force	force	NOUN
fcis-30629	18	11	control	control	NOUN
fcis-30629	18	12	of	of	ADP
fcis-30629	18	13	the	the	DET
fcis-30629	18	14	manipulator	manipulator	NOUN
fcis-30629	18	15	,	,	PUNCT
fcis-30629	18	16	takes	take	VERB
fcis-30629	18	17	the	the	DET
fcis-30629	18	18	dynamic	dynamic	ADJ
fcis-30629	18	19	equation	equation	NOUN
fcis-30629	18	20	of	of	ADP
fcis-30629	18	21	the	the	DET
fcis-30629	18	22	constrained	constrain	VERB
fcis-30629	18	23	manipulator	manipulator	NOUN
fcis-30629	18	24	as	as	ADP
fcis-30629	18	25	the	the	DET
fcis-30629	18	26	research	research	NOUN
fcis-30629	18	27	object	object	NOUN
fcis-30629	18	28	,	,	PUNCT
fcis-30629	18	29	integrates	integrate	VERB
fcis-30629	18	30	the	the	DET
fcis-30629	18	31	position	position	NOUN
fcis-30629	18	32	control	control	NOUN
fcis-30629	18	33	and	and	CCONJ
fcis-30629	18	34	force	force	NOUN
fcis-30629	18	35	control	control	NOUN
fcis-30629	18	36	in	in	ADP
fcis-30629	18	37	the	the	DET
fcis-30629	18	38	same	same	ADJ
fcis-30629	18	39	controller	controller	NOUN
fcis-30629	18	40	,	,	PUNCT
fcis-30629	18	41	and	and	CCONJ
fcis-30629	18	42	combines	combine	VERB
fcis-30629	18	43	the	the	DET
fcis-30629	18	44	advantages	advantage	NOUN
fcis-30629	18	45	of	of	ADP
fcis-30629	18	46	fuzzy	fuzzy	ADJ
fcis-30629	18	47	neural	neural	ADJ
fcis-30629	18	48	network	network	NOUN
fcis-30629	18	49	algorithm	algorithm	NOUN
fcis-30629	18	50	,	,	PUNCT
fcis-30629	18	51	sliding	slide	VERB
fcis-30629	18	52	mode	mode	NOUN
fcis-30629	18	53	control	control	NOUN
fcis-30629	18	54	algorithm	algorithm	NOUN
fcis-30629	18	55	and	and	CCONJ
fcis-30629	18	56	order	order	NOUN
fcis-30629	18	57	reduction	reduction	NOUN
fcis-30629	18	58	method	method	NOUN
fcis-30629	18	59	.	.	PUNCT
fcis-30629	19	1	a	a	DET
fcis-30629	19	2	design	design	NOUN
fcis-30629	19	3	scheme	scheme	NOUN
fcis-30629	19	4	of	of	ADP
fcis-30629	19	5	constrained	constrain	VERB
fcis-30629	19	6	mechanical	mechanical	ADJ
fcis-30629	19	7	arm	arm	NOUN
fcis-30629	19	8	force	force	NOUN
fcis-30629	19	9	/	/	SYM
fcis-30629	19	10	bit	bit	NOUN
fcis-30629	19	11	hybrid	hybrid	ADJ
fcis-30629	19	12	controller	controller	NOUN
fcis-30629	19	13	based	base	VERB
fcis-30629	19	14	on	on	ADP
fcis-30629	19	15	fuzzy	fuzzy	ADJ
fcis-30629	19	16	neural	neural	ADJ
fcis-30629	19	17	network	network	NOUN
fcis-30629	19	18	reduced	reduce	VERB
fcis-30629	19	19	order	order	NOUN
fcis-30629	19	20	sliding	slide	VERB
fcis-30629	19	21	mode	mode	NOUN
fcis-30629	19	22	algorithm	algorithm	NOUN
fcis-30629	19	23	is	be	AUX
fcis-30629	19	24	proposed	propose	VERB
fcis-30629	19	25	2	2	NUM
fcis-30629	19	26	.	.	PUNCT
fcis-30629	19	27	dynamic	dynamic	ADJ
fcis-30629	19	28	model	model	NOUN
fcis-30629	19	29	of	of	ADP
fcis-30629	19	30	constrained	constrained	ADJ
fcis-30629	19	31	manipulator	manipulator	NOUN
fcis-30629	19	32	the	the	DET
fcis-30629	19	33	dynamic	dynamic	ADJ
fcis-30629	19	34	equation	equation	NOUN
fcis-30629	19	35	of	of	ADP
fcis-30629	19	36	the	the	DET
fcis-30629	19	37	double	double	ADJ
fcis-30629	19	38	-	-	PUNCT
fcis-30629	19	39	joint	joint	ADJ
fcis-30629	19	40	robotic	robotic	ADJ
fcis-30629	19	41	arm	arm	NOUN
fcis-30629	19	42	is	be	AUX
fcis-30629	19	43	as	as	SCONJ
fcis-30629	19	44	follows	follow	VERB
fcis-30629	19	45	:	:	PUNCT
fcis-30629	19	46	(	(	PUNCT
fcis-30629	19	47	)	)	PUNCT
fcis-30629	19	48	(	(	PUNCT
fcis-30629	19	49	,	,	PUNCT
fcis-30629	19	50	)	)	PUNCT
fcis-30629	19	51	(	(	PUNCT
fcis-30629	19	52	)	)	PUNCT
fcis-30629	19	53	(	(	PUNCT
fcis-30629	19	54	,	,	PUNCT
fcis-30629	19	55	)	)	PUNCT
fcis-30629	20	1	fm	fm	PROPN
fcis-30629	20	2	q	q	NOUN
fcis-30629	20	3	q	q	X
fcis-30629	20	4	c	c	X
fcis-30629	20	5	q	q	NOUN
fcis-30629	20	6	q	q	X
fcis-30629	20	7	q	q	X
fcis-30629	20	8	g	g	PROPN
fcis-30629	20	9	q	q	PROPN
fcis-30629	20	10	f	f	X
fcis-30629	20	11	q	q	NOUN
fcis-30629	20	12	q	q	PROPN
fcis-30629	20	13	d	d	X
fcis-30629	20	14	τ	τ	X
fcis-30629	20	15	τ	τ	PROPN
fcis-30629	20	16			ADV
fcis-30629	20	17			PROPN
fcis-30629	20	18			PUNCT
fcis-30629	20	19			PUNCT
fcis-30629	20	20			PROPN
fcis-30629	20	21			ADJ
fcis-30629	20	22			NOUN
fcis-30629	20	23			NOUN
fcis-30629	20	24	(	(	PUNCT
fcis-30629	20	25	1	1	NUM
fcis-30629	20	26	)	)	PUNCT
fcis-30629	20	27	where	where	SCONJ
fcis-30629	20	28	,	,	PUNCT
fcis-30629	20	29	*	*	PUNCT
fcis-30629	20	30	(	(	PUNCT
fcis-30629	20	31	)	)	PUNCT
fcis-30629	20	32	(	(	PUNCT
fcis-30629	20	33	)	)	PUNCT
fcis-30629	20	34	n	n	X
fcis-30629	20	35	nm	nm	ADV
fcis-30629	20	36	q	q	NOUN
fcis-30629	20	37	r	r	PROPN
fcis-30629	20	38	is	be	AUX
fcis-30629	20	39	the	the	DET
fcis-30629	20	40	inertia	inertia	NOUN
fcis-30629	20	41	matrix	matrix	NOUN
fcis-30629	20	42	;	;	PUNCT
fcis-30629	20	43	*	*	PUNCT
fcis-30629	20	44	(	(	PUNCT
fcis-30629	20	45	)	)	PUNCT
fcis-30629	20	46	(	(	PUNCT
fcis-30629	20	47	,	,	PUNCT
fcis-30629	20	48	)	)	PUNCT
fcis-30629	20	49	n	n	PROPN
fcis-30629	20	50	nc	nc	PROPN
fcis-30629	20	51	q	q	X
fcis-30629	20	52	q	q	PROPN
fcis-30629	20	53	r	r	ADJ
fcis-30629	20	54	is	be	AUX
fcis-30629	20	55	the	the	DET
fcis-30629	20	56	centrifugal	centrifugal	ADJ
fcis-30629	20	57	force	force	NOUN
fcis-30629	20	58	and	and	CCONJ
fcis-30629	20	59	coriolis	corioli	VERB
fcis-30629	20	60	force	force	NOUN
fcis-30629	20	61	matrix	matrix	NOUN
fcis-30629	20	62	,	,	PUNCT
fcis-30629	20	63	(	(	PUNCT
fcis-30629	20	64	)	)	PUNCT
fcis-30629	20	65	ng	ng	PROPN
fcis-30629	20	66	q	q	PROPN
fcis-30629	20	67	r	r	PROPN
fcis-30629	20	68	is	be	AUX
fcis-30629	20	69	the	the	DET
fcis-30629	20	70	gravity	gravity	NOUN
fcis-30629	20	71	term	term	NOUN
fcis-30629	20	72	vector	vector	NOUN
fcis-30629	20	73	,	,	PUNCT
fcis-30629	20	74	(	(	PUNCT
fcis-30629	20	75	,	,	PUNCT
fcis-30629	20	76	)	)	PUNCT
fcis-30629	21	1	f	f	PROPN
fcis-30629	22	1	q	q	PROPN
fcis-30629	22	2	q	q	PROPN
fcis-30629	22	3	is	be	AUX
fcis-30629	22	4	friction	friction	NOUN
fcis-30629	22	5	link	link	NOUN
fcis-30629	22	6	,	,	PUNCT
fcis-30629	22	7	d	d	PROPN
fcis-30629	22	8	is	be	AUX
fcis-30629	22	9	unknown	unknown	ADJ
fcis-30629	22	10	external	external	ADJ
fcis-30629	22	11	disturbance	disturbance	NOUN
fcis-30629	22	12	torque	torque	NOUN
fcis-30629	22	13	,	,	PUNCT
fcis-30629	22	14	fτ	fτ	X
fcis-30629	22	15	is	be	AUX
fcis-30629	22	16	the	the	DET
fcis-30629	22	17	binding	bind	VERB
fcis-30629	22	18	vector	vector	NOUN
fcis-30629	22	19	;	;	PUNCT
fcis-30629	22	20	τ	τ	X
fcis-30629	22	21	is	be	AUX
fcis-30629	22	22	input	input	ADJ
fcis-30629	22	23	torque	torque	NOUN
fcis-30629	22	24	vector	vector	NOUN
fcis-30629	22	25	error	error	NOUN
fcis-30629	22	26	for	for	ADP
fcis-30629	22	27	control	control	NOUN
fcis-30629	22	28	!	!	PUNCT
fcis-30629	23	1	no	no	DET
fcis-30629	23	2	reference	reference	NOUN
fcis-30629	23	3	source	source	NOUN
fcis-30629	23	4	found	find	VERB
fcis-30629	23	5	.	.	PUNCT
fcis-30629	24	1	let	let	VERB
fcis-30629	24	2	x	x	PRON
fcis-30629	24	3	be	be	AUX
fcis-30629	24	4	the	the	DET
fcis-30629	24	5	position	position	NOUN
fcis-30629	24	6	of	of	ADP
fcis-30629	24	7	the	the	DET
fcis-30629	24	8	end	end	NOUN
fcis-30629	24	9	effector	effector	NOUN
fcis-30629	24	10	of	of	ADP
fcis-30629	24	11	the	the	DET
fcis-30629	24	12	robotic	robotic	ADJ
fcis-30629	24	13	arm	arm	NOUN
fcis-30629	24	14	,	,	PUNCT
fcis-30629	24	15	then	then	ADV
fcis-30629	24	16	the	the	DET
fcis-30629	24	17	constraint	constraint	NOUN
fcis-30629	24	18	equation	equation	NOUN
fcis-30629	24	19	is	be	AUX
fcis-30629	24	20	φ	φ	PROPN
fcis-30629	24	21	(	(	PUNCT
fcis-30629	24	22	)	)	PUNCT
fcis-30629	24	23	(	(	PUNCT
fcis-30629	24	24	(	(	PUNCT
fcis-30629	24	25	)	)	PUNCT
fcis-30629	24	26	)	)	PUNCT
fcis-30629	25	1	0q	0q	PROPN
fcis-30629	25	2	h	h	PROPN
fcis-30629	25	3	q	q	VERB
fcis-30629	25	4			PROPN
fcis-30629	25	5	(	(	PUNCT
fcis-30629	25	6	2	2	NUM
fcis-30629	25	7	)	)	PUNCT
fcis-30629	25	8	the	the	DET
fcis-30629	25	9	jacobian	jacobian	ADJ
fcis-30629	25	10	matrix	matrix	NOUN
fcis-30629	25	11	of	of	ADP
fcis-30629	25	12	the	the	DET
fcis-30629	25	13	constraint	constraint	NOUN
fcis-30629	25	14	equation	equation	NOUN
fcis-30629	25	15	is	be	AUX
fcis-30629	25	16	φ	φ	PROPN
fcis-30629	25	17	(	(	PUNCT
fcis-30629	25	18	)	)	PUNCT
fcis-30629	25	19	(	(	PUNCT
fcis-30629	25	20	)	)	PUNCT
fcis-30629	25	21	(	(	PUNCT
fcis-30629	25	22	)	)	PUNCT
fcis-30629	25	23	(	(	PUNCT
fcis-30629	25	24	)	)	PUNCT
fcis-30629	25	25	(	(	PUNCT
fcis-30629	25	26	)	)	PUNCT
fcis-30629	25	27	q	q	PUNCT
fcis-30629	26	1	x	x	PUNCT
fcis-30629	26	2	x	x	PUNCT
fcis-30629	26	3	x	x	SYM
fcis-30629	26	4	h	h	NOUN
fcis-30629	26	5	q	q	NOUN
fcis-30629	26	6	j	j	PROPN
fcis-30629	26	7	q	q	X
fcis-30629	26	8	q	q	NOUN
fcis-30629	26	9	x	x	X
fcis-30629	26	10	q	q	X
fcis-30629	26	11	x	x	PUNCT
fcis-30629	26	12	q	q	VERB
fcis-30629	26	13			ADJ
fcis-30629	26	14			ADJ
fcis-30629	26	15			ADJ
fcis-30629	26	16			ADJ
fcis-30629	26	17			PROPN
fcis-30629	27	1			PRON
fcis-30629	28	1			NUM
fcis-30629	29	1			PROPN
fcis-30629	29	2			ADJ
fcis-30629	29	3			ADJ
fcis-30629	29	4			ADJ
fcis-30629	29	5			ADJ
fcis-30629	29	6			PROPN
fcis-30629	29	7	(	(	PUNCT
fcis-30629	29	8	3	3	NUM
fcis-30629	29	9	)	)	PUNCT
fcis-30629	29	10	since	since	SCONJ
fcis-30629	29	11	the	the	DET
fcis-30629	29	12	dynamic	dynamic	ADJ
fcis-30629	29	13	model	model	NOUN
fcis-30629	29	14	of	of	ADP
fcis-30629	29	15	the	the	DET
fcis-30629	29	16	robot	robot	NOUN
fcis-30629	29	17	arm	arm	NOUN
fcis-30629	29	18	is	be	AUX
fcis-30629	29	19	constrained	constrain	VERB
fcis-30629	29	20	,	,	PUNCT
fcis-30629	29	21	the	the	DET
fcis-30629	29	22	double	double	ADJ
fcis-30629	29	23	-	-	PUNCT
fcis-30629	29	24	joint	joint	NOUN
fcis-30629	29	25	robot	robot	NOUN
fcis-30629	29	26	arm	arm	NOUN
fcis-30629	29	27	is	be	AUX
fcis-30629	29	28	constrained	constrain	VERB
fcis-30629	29	29	by	by	ADP
fcis-30629	29	30	a	a	DET
fcis-30629	29	31	force	force	NOUN
fcis-30629	29	32	,	,	PUNCT
fcis-30629	29	33	so	so	ADV
fcis-30629	29	34	two	two	NUM
fcis-30629	29	35	degrees	degree	NOUN
fcis-30629	29	36	of	of	ADP
fcis-30629	29	37	freedom	freedom	NOUN
fcis-30629	29	38	of	of	ADP
fcis-30629	29	39	the	the	DET
fcis-30629	29	40	double	double	ADJ
fcis-30629	29	41	-	-	PUNCT
fcis-30629	29	42	joint	joint	NOUN
fcis-30629	29	43	robot	robot	NOUN
fcis-30629	29	44	arm	arm	NOUN
fcis-30629	29	45	become	become	VERB
fcis-30629	29	46	one	one	NUM
fcis-30629	29	47	,	,	PUNCT
fcis-30629	29	48	and	and	CCONJ
fcis-30629	29	49	2q	2q	NUM
fcis-30629	29	50	is	be	AUX
fcis-30629	29	51	expressed	express	VERB
fcis-30629	29	52	by	by	ADP
fcis-30629	29	53	1q	1q	NUM
fcis-30629	29	54	as	as	ADP
fcis-30629	29	55	:	:	PUNCT
fcis-30629	29	56	173	173	NUM
fcis-30629	29	57	2	2	NUM
fcis-30629	29	58	1	1	NUM
fcis-30629	29	59	(	(	PUNCT
fcis-30629	29	60	)	)	PUNCT
fcis-30629	29	61	q	q	PART
fcis-30629	29	62	ψ	ψ	SYM
fcis-30629	29	63	q	q	NOUN
fcis-30629	29	64	(	(	PUNCT
fcis-30629	29	65	4	4	NUM
fcis-30629	29	66	)	)	PUNCT
fcis-30629	29	67	then	then	ADV
fcis-30629	29	68	1	1	NUM
fcis-30629	29	69	1	1	NUM
fcis-30629	29	70	1	1	NUM
fcis-30629	29	71	11	11	NUM
fcis-30629	29	72	12	12	NUM
fcis-30629	29	73	1	1	NUM
fcis-30629	29	74	(	(	PUNCT
fcis-30629	29	75	)	)	PUNCT
fcis-30629	29	76	ψ	ψ	NOUN
fcis-30629	29	77	(	(	PUNCT
fcis-30629	29	78	)	)	PUNCT
fcis-30629	29	79	q	q	NOUN
fcis-30629	30	1	q	q	X
fcis-30629	30	2	q	q	X
fcis-30629	30	3	l	l	NOUN
fcis-30629	30	4	q	q	X
fcis-30629	31	1	qq	qq	X
fcis-30629	31	2	qq	qq	X
fcis-30629	31	3	q	q	PROPN
fcis-30629	31	4			PROPN
fcis-30629	31	5			INTJ
fcis-30629	31	6			PROPN
fcis-30629	31	7			ADJ
fcis-30629	31	8			NOUN
fcis-30629	32	1			PROPN
fcis-30629	32	2			PROPN
fcis-30629	33	1			PROPN
fcis-30629	33	2			PROPN
fcis-30629	33	3			PROPN
fcis-30629	33	4			PROPN
fcis-30629	33	5			PROPN
fcis-30629	33	6			ADP
fcis-30629	33	7			ADJ
fcis-30629	33	8			PROPN
fcis-30629	33	9			NOUN
fcis-30629	33	10			NOUN
fcis-30629	33	11			NOUN
fcis-30629	33	12			NOUN
fcis-30629	33	13			NOUN
fcis-30629	33	14	(	(	PUNCT
fcis-30629	33	15	5	5	NUM
fcis-30629	33	16	)	)	SYM
fcis-30629	33	17	1	1	NUM
fcis-30629	33	18	1	1	NUM
fcis-30629	33	19	1	1	NUM
fcis-30629	33	20	1	1	NUM
fcis-30629	33	21	(	(	PUNCT
fcis-30629	33	22	)	)	PUNCT
fcis-30629	33	23	(	(	PUNCT
fcis-30629	33	24	)	)	PUNCT
fcis-30629	33	25	q	q	PUNCT
fcis-30629	33	26	l	l	NOUN
fcis-30629	33	27	q	q	X
fcis-30629	33	28	q	q	X
fcis-30629	33	29	l	l	NOUN
fcis-30629	33	30	q	q	X
fcis-30629	33	31	q	q	ADJ
fcis-30629	33	32			NOUN
fcis-30629	33	33			NOUN
fcis-30629	33	34			NOUN
fcis-30629	33	35	(	(	PUNCT
fcis-30629	33	36	6	6	NUM
fcis-30629	33	37	)	)	PUNCT
fcis-30629	33	38	in	in	ADP
fcis-30629	33	39	the	the	DET
fcis-30629	33	40	formula	formula	NOUN
fcis-30629	33	41	,	,	PUNCT
fcis-30629	33	42	1	1	NUM
fcis-30629	33	43	1	1	NUM
fcis-30629	33	44	1	1	NUM
fcis-30629	33	45	(	(	PUNCT
fcis-30629	33	46	)	)	PUNCT
fcis-30629	33	47	ψ	ψ	NOUN
fcis-30629	33	48	(	(	PUNCT
fcis-30629	33	49	)	)	PUNCT
fcis-30629	33	50	1	1	NUM
fcis-30629	33	51	l	l	NOUN
fcis-30629	33	52	q	q	X
fcis-30629	33	53	q	q	X
fcis-30629	33	54	q	q	X
fcis-30629	33	55			PROPN
fcis-30629	33	56			NOUN
fcis-30629	33	57			NOUN
fcis-30629	34	1			PROPN
fcis-30629	34	2			VERB
fcis-30629	34	3			PROPN
fcis-30629	34	4			NUM
fcis-30629	34	5			PROPN
fcis-30629	34	6			PROPN
fcis-30629	34	7	therefore	therefore	ADV
fcis-30629	34	8	,	,	PUNCT
fcis-30629	34	9	the	the	DET
fcis-30629	34	10	dynamic	dynamic	ADJ
fcis-30629	34	11	equation	equation	NOUN
fcis-30629	34	12	of	of	ADP
fcis-30629	34	13	a	a	DET
fcis-30629	34	14	constrained	constrain	VERB
fcis-30629	34	15	twodegree	twodegree	ADJ
fcis-30629	34	16	-	-	PUNCT
fcis-30629	34	17	of	of	ADP
fcis-30629	34	18	-	-	PUNCT
fcis-30629	34	19	freedom	freedom	NOUN
fcis-30629	34	20	manipulator	manipulator	NOUN
fcis-30629	34	21	is	be	AUX
fcis-30629	34	22	:	:	PUNCT
fcis-30629	34	23	t	t	NOUN
fcis-30629	34	24	1	1	NUM
fcis-30629	34	25	1	1	NUM
fcis-30629	34	26	1	1	NUM
fcis-30629	34	27	1	1	NUM
fcis-30629	34	28	1	1	NUM
fcis-30629	34	29	1	1	NUM
fcis-30629	34	30	1	1	NUM
fcis-30629	34	31	1	1	NUM
fcis-30629	34	32	1	1	NUM
fcis-30629	34	33	1	1	NUM
fcis-30629	34	34	1	1	NUM
fcis-30629	34	35	(	(	PUNCT
fcis-30629	34	36	)	)	PUNCT
fcis-30629	34	37	(	(	PUNCT
fcis-30629	34	38	,	,	PUNCT
fcis-30629	34	39	)	)	PUNCT
fcis-30629	34	40	(	(	PUNCT
fcis-30629	34	41	)	)	PUNCT
fcis-30629	34	42	(	(	PUNCT
fcis-30629	34	43	)	)	PUNCT
fcis-30629	34	44	(	(	PUNCT
fcis-30629	34	45	)	)	PUNCT
fcis-30629	34	46	m	m	VERB
fcis-30629	34	47	q	q	NOUN
fcis-30629	34	48	q	q	X
fcis-30629	34	49	c	c	X
fcis-30629	34	50	q	q	NOUN
fcis-30629	34	51	q	q	X
fcis-30629	34	52	q	q	X
fcis-30629	34	53	g	g	PROPN
fcis-30629	34	54	q	q	PROPN
fcis-30629	35	1	f	f	X
fcis-30629	35	2	q	q	PROPN
fcis-30629	36	1	d	d	X
fcis-30629	36	2	j	j	X
fcis-30629	36	3	q	q	X
fcis-30629	36	4	λ	λ	PROPN
fcis-30629	36	5	τ	τ	NOUN
fcis-30629	36	6			ADV
fcis-30629	36	7			PROPN
fcis-30629	36	8			PUNCT
fcis-30629	36	9			PUNCT
fcis-30629	36	10			PROPN
fcis-30629	36	11			ADJ
fcis-30629	36	12			NOUN
fcis-30629	36	13			NOUN
fcis-30629	36	14	(	(	PUNCT
fcis-30629	36	15	7	7	NUM
fcis-30629	36	16	)	)	PUNCT
fcis-30629	36	17	in	in	ADP
fcis-30629	36	18	the	the	DET
fcis-30629	36	19	formula	formula	NOUN
fcis-30629	36	20	,	,	PUNCT
fcis-30629	36	21	l	l	NOUN
fcis-30629	36	22	l	l	NOUN
fcis-30629	36	23	l	l	NOUN
fcis-30629	36	24	1	1	NUM
fcis-30629	36	25	1	1	NUM
fcis-30629	36	26	1	1	NUM
fcis-30629	36	27	1	1	NUM
fcis-30629	36	28	1	1	NUM
fcis-30629	36	29	1	1	NUM
fcis-30629	36	30	1	1	NUM
fcis-30629	36	31	t	t	NOUN
fcis-30629	36	32	t	t	NOUN
fcis-30629	36	33	1	1	NUM
fcis-30629	36	34	(	(	PUNCT
fcis-30629	36	35	)	)	PUNCT
fcis-30629	36	36	(	(	PUNCT
fcis-30629	36	37	)	)	PUNCT
fcis-30629	36	38	(	(	PUNCT
fcis-30629	36	39	)	)	PUNCT
fcis-30629	36	40	(	(	PUNCT
fcis-30629	36	41	,	,	PUNCT
fcis-30629	36	42	)	)	PUNCT
fcis-30629	36	43	(	(	PUNCT
fcis-30629	36	44	)	)	PUNCT
fcis-30629	36	45	(	(	PUNCT
fcis-30629	36	46	)	)	PUNCT
fcis-30629	36	47	(	(	PUNCT
fcis-30629	36	48	,	,	PUNCT
fcis-30629	36	49	)	)	PUNCT
fcis-30629	36	50	(	(	PUNCT
fcis-30629	36	51	)	)	PUNCT
fcis-30629	36	52	(	(	PUNCT
fcis-30629	36	53	)	)	PUNCT
fcis-30629	36	54	(	(	PUNCT
fcis-30629	36	55	)	)	PUNCT
fcis-30629	36	56	(	(	PUNCT
fcis-30629	36	57	)	)	PUNCT
fcis-30629	36	58	(	(	PUNCT
fcis-30629	36	59	)	)	PUNCT
fcis-30629	36	60	m	m	VERB
fcis-30629	36	61	q	q	NOUN
fcis-30629	36	62	m	m	VERB
fcis-30629	36	63	q	q	X
fcis-30629	36	64	l	l	NOUN
fcis-30629	36	65	q	q	X
fcis-30629	36	66	c	c	X
fcis-30629	36	67	q	q	X
fcis-30629	36	68	q	q	NOUN
fcis-30629	36	69	m	m	VERB
fcis-30629	36	70	q	q	X
fcis-30629	36	71	l	l	NOUN
fcis-30629	36	72	q	q	X
fcis-30629	36	73	c	c	X
fcis-30629	36	74	q	q	X
fcis-30629	36	75	q	q	PROPN
fcis-30629	36	76	l	l	NOUN
fcis-30629	36	77	q	q	X
fcis-30629	36	78	g	g	PROPN
fcis-30629	36	79	q	q	PROPN
fcis-30629	36	80	g	g	PROPN
fcis-30629	36	81	q	q	PROPN
fcis-30629	36	82	j	j	PROPN
fcis-30629	36	83	q	q	X
fcis-30629	36	84	j	j	PROPN
fcis-30629	36	85	q	q	VERB
fcis-30629	36	86			NOUN
fcis-30629	36	87			NUM
fcis-30629	36	88			NOUN
fcis-30629	36	89			ADV
fcis-30629	36	90			NUM
fcis-30629	36	91			ADJ
fcis-30629	36	92			NOUN
fcis-30629	36	93			NOUN
fcis-30629	36	94	multiply	multiply	NOUN
fcis-30629	36	95	equation	equation	NOUN
fcis-30629	36	96	(	(	PUNCT
fcis-30629	36	97	1.7	1.7	NUM
fcis-30629	36	98	)	)	PUNCT
fcis-30629	36	99	by	by	ADP
fcis-30629	36	100	1	1	NUM
fcis-30629	36	101	(	(	PUNCT
fcis-30629	36	102	)	)	PUNCT
fcis-30629	36	103	tl	tl	PROPN
fcis-30629	36	104	q	q	AUX
fcis-30629	36	105	left	leave	VERB
fcis-30629	36	106	to	to	PART
fcis-30629	36	107	obtain	obtain	VERB
fcis-30629	36	108	a	a	DET
fcis-30629	36	109	reduced	reduce	VERB
fcis-30629	36	110	order	order	NOUN
fcis-30629	36	111	constrained	constrain	VERB
fcis-30629	36	112	manipulator	manipulator	NOUN
fcis-30629	36	113	model	model	NOUN
fcis-30629	36	114	:	:	PUNCT
fcis-30629	36	115	t	t	PROPN
fcis-30629	36	116	t	t	PROPN
fcis-30629	36	117	t	t	PROPN
fcis-30629	36	118	1	1	NUM
fcis-30629	36	119	1	1	NUM
fcis-30629	36	120	1	1	NUM
fcis-30629	36	121	1	1	NUM
fcis-30629	36	122	1	1	NUM
fcis-30629	36	123	1	1	NUM
fcis-30629	36	124	1	1	NUM
fcis-30629	36	125	1	1	NUM
fcis-30629	36	126	(	(	PUNCT
fcis-30629	36	127	)	)	PUNCT
fcis-30629	36	128	(	(	PUNCT
fcis-30629	36	129	,	,	PUNCT
fcis-30629	36	130	)	)	PUNCT
fcis-30629	36	131	(	(	PUNCT
fcis-30629	36	132	)	)	PUNCT
fcis-30629	36	133	(	(	PUNCT
fcis-30629	36	134	)	)	PUNCT
fcis-30629	36	135	+	+	NUM
fcis-30629	36	136	(	(	PUNCT
fcis-30629	36	137	)	)	PUNCT
fcis-30629	36	138	l	l	NOUN
fcis-30629	36	139	l	l	NOUN
fcis-30629	37	1	lm	lm	X
fcis-30629	37	2	q	q	X
fcis-30629	37	3	q	q	X
fcis-30629	37	4	c	c	X
fcis-30629	37	5	q	q	NOUN
fcis-30629	37	6	q	q	X
fcis-30629	37	7	q	q	PUNCT
fcis-30629	37	8	g	g	PROPN
fcis-30629	37	9	τdq	τdq	NOUN
fcis-30629	37	10	l	l	NOUN
fcis-30629	37	11	f	f	X
fcis-30629	37	12	q	q	PUNCT
fcis-30629	37	13	l	l	NOUN
fcis-30629	37	14	l	l	NOUN
fcis-30629	37	15	q	q	VERB
fcis-30629	37	16			PUNCT
fcis-30629	37	17			PUNCT
fcis-30629	37	18			PROPN
fcis-30629	37	19			ADJ
fcis-30629	37	20			NOUN
fcis-30629	37	21			NOUN
fcis-30629	37	22	(	(	PUNCT
fcis-30629	37	23	8)	8)	NUM
fcis-30629	37	24	among	among	ADP
fcis-30629	37	25	them	they	PRON
fcis-30629	37	26	:	:	PUNCT
fcis-30629	37	27	t	t	NOUN
fcis-30629	37	28	1	1	NUM
fcis-30629	37	29	1	1	NUM
fcis-30629	37	30	1	1	NUM
fcis-30629	37	31	t	t	NOUN
fcis-30629	37	32	t	t	NOUN
fcis-30629	37	33	1	1	NUM
fcis-30629	37	34	1	1	NUM
fcis-30629	37	35	1	1	NUM
fcis-30629	37	36	1	1	NUM
fcis-30629	37	37	1	1	NUM
fcis-30629	37	38	1	1	NUM
fcis-30629	37	39	1	1	NUM
fcis-30629	37	40	1	1	NUM
fcis-30629	37	41	1	1	NUM
fcis-30629	37	42	t	t	NOUN
fcis-30629	37	43	t	t	NOUN
fcis-30629	37	44	t	t	NOUN
fcis-30629	37	45	1	1	NUM
fcis-30629	37	46	1	1	NUM
fcis-30629	37	47	1	1	NUM
fcis-30629	37	48	1	1	NUM
fcis-30629	37	49	1	1	NUM
fcis-30629	37	50	1	1	NUM
fcis-30629	37	51	(	(	PUNCT
fcis-30629	37	52	)	)	PUNCT
fcis-30629	37	53	(	(	PUNCT
fcis-30629	37	54	)	)	PUNCT
fcis-30629	37	55	(	(	PUNCT
fcis-30629	37	56	)	)	PUNCT
fcis-30629	37	57	(	(	PUNCT
fcis-30629	37	58	)	)	PUNCT
fcis-30629	37	59	(	(	PUNCT
fcis-30629	37	60	,	,	PUNCT
fcis-30629	37	61	)	)	PUNCT
fcis-30629	37	62	(	(	PUNCT
fcis-30629	37	63	)	)	PUNCT
fcis-30629	37	64	(	(	PUNCT
fcis-30629	37	65	,	,	PUNCT
fcis-30629	37	66	)	)	PUNCT
fcis-30629	37	67	(	(	PUNCT
fcis-30629	37	68	)	)	PUNCT
fcis-30629	37	69	(	(	PUNCT
fcis-30629	37	70	(	(	PUNCT
fcis-30629	37	71	)	)	PUNCT
fcis-30629	37	72	(	(	PUNCT
fcis-30629	37	73	)	)	PUNCT
fcis-30629	37	74	(	(	PUNCT
fcis-30629	37	75	,	,	PUNCT
fcis-30629	37	76	)	)	PUNCT
fcis-30629	37	77	(	(	PUNCT
fcis-30629	37	78	)	)	PUNCT
fcis-30629	37	79	)	)	PUNCT
fcis-30629	38	1	(	(	PUNCT
fcis-30629	38	2	)	)	PUNCT
fcis-30629	38	3	(	(	PUNCT
fcis-30629	38	4	)	)	PUNCT
fcis-30629	38	5	(	(	PUNCT
fcis-30629	38	6	)	)	PUNCT
fcis-30629	38	7	(	(	PUNCT
fcis-30629	38	8	)	)	PUNCT
fcis-30629	38	9	(	(	PUNCT
fcis-30629	38	10	)	)	PUNCT
fcis-30629	38	11	l	l	NOUN
fcis-30629	38	12	l	l	X
fcis-30629	38	13	l	l	X
fcis-30629	38	14	m	m	VERB
fcis-30629	38	15	q	q	X
fcis-30629	38	16	l	l	NOUN
fcis-30629	38	17	q	q	X
fcis-30629	39	1	m	m	VERB
fcis-30629	39	2	q	q	X
fcis-30629	39	3	l	l	NOUN
fcis-30629	39	4	q	q	X
fcis-30629	39	5	c	c	X
fcis-30629	39	6	q	q	X
fcis-30629	39	7	q	q	X
fcis-30629	39	8	l	l	NOUN
fcis-30629	39	9	q	q	X
fcis-30629	39	10	c	c	X
fcis-30629	39	11	q	q	X
fcis-30629	39	12	q	q	NOUN
fcis-30629	39	13	l	l	NOUN
fcis-30629	39	14	q	q	X
fcis-30629	39	15	d	d	X
fcis-30629	39	16	q	q	X
fcis-30629	39	17	l	l	NOUN
fcis-30629	39	18	q	q	X
fcis-30629	39	19	c	c	X
fcis-30629	39	20	q	q	X
fcis-30629	39	21	q	q	PROPN
fcis-30629	39	22	l	l	NOUN
fcis-30629	39	23	q	q	X
fcis-30629	39	24	g	g	PROPN
fcis-30629	39	25	q	q	PROPN
fcis-30629	39	26	l	l	NOUN
fcis-30629	39	27	q	q	X
fcis-30629	39	28	g	g	PROPN
fcis-30629	39	29	q	q	PROPN
fcis-30629	39	30	l	l	NOUN
fcis-30629	39	31	q	q	X
fcis-30629	39	32	j	j	X
fcis-30629	39	33	q	q	X
fcis-30629	39	34	λ	λ	NOUN
fcis-30629	40	1			NOUN
fcis-30629	40	2			NUM
fcis-30629	40	3			PROPN
fcis-30629	40	4			ADV
fcis-30629	40	5			NUM
fcis-30629	40	6			PUNCT
fcis-30629	40	7			NOUN
fcis-30629	40	8			NOUN
fcis-30629	40	9			NOUN
fcis-30629	40	10	the	the	DET
fcis-30629	40	11	dynamic	dynamic	ADJ
fcis-30629	40	12	model	model	NOUN
fcis-30629	40	13	in	in	ADP
fcis-30629	40	14	the	the	DET
fcis-30629	40	15	formula	formula	NOUN
fcis-30629	40	16	has	have	VERB
fcis-30629	40	17	the	the	DET
fcis-30629	40	18	following	follow	VERB
fcis-30629	40	19	properties	property	NOUN
fcis-30629	40	20	:	:	PUNCT
fcis-30629	40	21	property	property	NOUN
fcis-30629	40	22	1	1	NUM
fcis-30629	40	23	:	:	PUNCT
fcis-30629	40	24	t	t	PROPN
fcis-30629	40	25	t	t	PROPN
fcis-30629	40	26	1	1	NUM
fcis-30629	40	27	1	1	NUM
fcis-30629	40	28	1	1	NUM
fcis-30629	40	29	1	1	NUM
fcis-30629	40	30	(	(	PUNCT
fcis-30629	40	31	)	)	PUNCT
fcis-30629	40	32	(	(	PUNCT
fcis-30629	40	33	)	)	PUNCT
fcis-30629	40	34	(	(	PUNCT
fcis-30629	40	35	)	)	PUNCT
fcis-30629	40	36	(	(	PUNCT
fcis-30629	40	37	)	)	PUNCT
fcis-30629	40	38	0j	0j	NOUN
fcis-30629	40	39	q	q	PROPN
fcis-30629	40	40	l	l	NOUN
fcis-30629	40	41	q	q	X
fcis-30629	40	42	l	l	NOUN
fcis-30629	40	43	q	q	X
fcis-30629	40	44	j	j	PROPN
fcis-30629	40	45	q	q	VERB
fcis-30629	40	46			ADJ
fcis-30629	40	47			NUM
fcis-30629	40	48	property	property	NOUN
fcis-30629	40	49	2	2	NUM
fcis-30629	40	50	:	:	SYM
fcis-30629	40	51	1	1	NUM
fcis-30629	40	52	1	1	NUM
fcis-30629	40	53	1	1	NUM
fcis-30629	40	54	(	(	PUNCT
fcis-30629	40	55	)	)	PUNCT
fcis-30629	40	56	2	2	NUM
fcis-30629	40	57	(	(	PUNCT
fcis-30629	40	58	,	,	PUNCT
fcis-30629	40	59	)	)	PUNCT
fcis-30629	40	60	l	l	NOUN
fcis-30629	41	1	lm	lm	INTJ
fcis-30629	41	2	q	q	PROPN
fcis-30629	42	1	c	c	NOUN
fcis-30629	42	2	q	q	NOUN
fcis-30629	42	3	q	q	PROPN
fcis-30629	42	4			NOUN
fcis-30629	42	5	is	be	AUX
fcis-30629	42	6	a	a	DET
fcis-30629	42	7	skew	skew	ADJ
fcis-30629	42	8	symmetric	symmetric	ADJ
fcis-30629	42	9	matrix	matrix	NOUN
fcis-30629	42	10	.	.	PUNCT
fcis-30629	43	1	3	3	X
fcis-30629	43	2	.	.	X
fcis-30629	43	3	fuzzy	fuzzy	ADJ
fcis-30629	43	4	neural	neural	ADJ
fcis-30629	43	5	network	network	NOUN
fcis-30629	43	6	sliding	slide	VERB
fcis-30629	43	7	mode	mode	NOUN
fcis-30629	43	8	control	control	NOUN
fcis-30629	43	9	algorithm	algorithm	PROPN
fcis-30629	43	10	3.1	3.1	NUM
fcis-30629	43	11	.	.	PUNCT
fcis-30629	44	1	controller	controller	NOUN
fcis-30629	44	2	design	design	NOUN
fcis-30629	44	3	let	let	VERB
fcis-30629	44	4	(	(	PUNCT
fcis-30629	44	5	)	)	PUNCT
fcis-30629	44	6	dq	dq	NOUN
fcis-30629	44	7	t	t	NOUN
fcis-30629	44	8	1	1	NUM
fcis-30629	44	9	be	be	AUX
fcis-30629	44	10	the	the	DET
fcis-30629	44	11	expected	expect	VERB
fcis-30629	44	12	angle	angle	NOUN
fcis-30629	44	13	of	of	ADP
fcis-30629	44	14	motion	motion	NOUN
fcis-30629	44	15	of	of	ADP
fcis-30629	44	16	the	the	DET
fcis-30629	44	17	robot	robot	NOUN
fcis-30629	44	18	arm	arm	NOUN
fcis-30629	44	19	,	,	PUNCT
fcis-30629	44	20	and	and	CCONJ
fcis-30629	44	21	d	d	X
fcis-30629	44	22	fτ	fτ	ADP
fcis-30629	44	23	be	be	AUX
fcis-30629	44	24	the	the	DET
fcis-30629	44	25	expected	expect	VERB
fcis-30629	44	26	binding	bind	VERB
fcis-30629	44	27	force	force	NOUN
fcis-30629	44	28	on	on	ADP
fcis-30629	44	29	the	the	DET
fcis-30629	44	30	end	end	NOUN
fcis-30629	44	31	of	of	ADP
fcis-30629	44	32	the	the	DET
fcis-30629	44	33	robot	robot	NOUN
fcis-30629	44	34	arm	arm	NOUN
fcis-30629	44	35	.	.	PUNCT
fcis-30629	45	1	in	in	ADP
fcis-30629	45	2	a	a	DET
fcis-30629	45	3	double	double	ADJ
fcis-30629	45	4	-	-	PUNCT
fcis-30629	45	5	joint	joint	NOUN
fcis-30629	45	6	robot	robot	NOUN
fcis-30629	45	7	arm	arm	NOUN
fcis-30629	45	8	,	,	PUNCT
fcis-30629	45	9	since	since	SCONJ
fcis-30629	45	10	2	2	NUM
fcis-30629	45	11	(	(	PUNCT
fcis-30629	45	12	)	)	PUNCT
fcis-30629	45	13	q	q	PROPN
fcis-30629	45	14	t	t	PROPN
fcis-30629	45	15	is	be	AUX
fcis-30629	45	16	a	a	DET
fcis-30629	45	17	function	function	NOUN
fcis-30629	45	18	of	of	ADP
fcis-30629	45	19	1	1	NUM
fcis-30629	45	20	(	(	PUNCT
fcis-30629	45	21	)	)	PUNCT
fcis-30629	45	22	q	q	PROPN
fcis-30629	45	23	t	t	PROPN
fcis-30629	45	24	,	,	PUNCT
fcis-30629	45	25	the	the	DET
fcis-30629	45	26	actual	actual	ADJ
fcis-30629	45	27	output	output	NOUN
fcis-30629	45	28	of	of	ADP
fcis-30629	45	29	the	the	DET
fcis-30629	45	30	system	system	NOUN
fcis-30629	45	31	(	(	PUNCT
fcis-30629	45	32	)	)	PUNCT
fcis-30629	45	33	q	q	PROPN
fcis-30629	45	34	t	t	PROPN
fcis-30629	45	35	is	be	AUX
fcis-30629	45	36	1	1	NUM
fcis-30629	45	37	(	(	PUNCT
fcis-30629	45	38	)	)	PUNCT
fcis-30629	45	39	q	q	PROPN
fcis-30629	45	40	t	t	NOUN
fcis-30629	45	41	,	,	PUNCT
fcis-30629	45	42	and	and	CCONJ
fcis-30629	45	43	the	the	DET
fcis-30629	45	44	system	system	NOUN
fcis-30629	45	45	satisfies	satisfie	NOUN
fcis-30629	45	46	(	(	PUNCT
fcis-30629	45	47	)	)	PUNCT
fcis-30629	45	48	0dq	0dq	NOUN
fcis-30629	46	1			INTJ
fcis-30629	46	2	,	,	PUNCT
fcis-30629	46	3	t	t	PROPN
fcis-30629	46	4	(	(	PUNCT
fcis-30629	46	5	)	)	PUNCT
fcis-30629	47	1	d	d	NOUN
fcis-30629	47	2	f	f	X
fcis-30629	48	1	d	d	X
fcis-30629	48	2	dτ	dτ	INTJ
fcis-30629	48	3	j	j	PROPN
fcis-30629	48	4	q	q	PROPN
fcis-30629	48	5	λ	λ	PROPN
fcis-30629	48	6	.	.	PUNCT
fcis-30629	49	1	definition	definition	NOUN
fcis-30629	49	2	:	:	PUNCT
fcis-30629	49	3	1	1	NUM
fcis-30629	49	4	d1	d1	NOUN
fcis-30629	49	5	1	1	NUM
fcis-30629	49	6	dλe	dλe	NOUN
fcis-30629	49	7	q	q	NOUN
fcis-30629	49	8	q	q	NOUN
fcis-30629	49	9	e	e	X
fcis-30629	49	10	λ	λ	X
fcis-30629	49	11	λ	λ	ADP
fcis-30629	49	12			PROPN
fcis-30629	49	13			NUM
fcis-30629	49	14			NOUN
fcis-30629	49	15	，	，	PUNCT
fcis-30629	49	16	(	(	PUNCT
fcis-30629	49	17	9	9	X
fcis-30629	49	18	)	)	PUNCT
fcis-30629	49	19	the	the	DET
fcis-30629	49	20	design	design	NOUN
fcis-30629	49	21	sliding	slide	VERB
fcis-30629	49	22	surface	surface	NOUN
fcis-30629	49	23	is	be	AUX
fcis-30629	49	24	:	:	PUNCT
fcis-30629	49	25	1	1	NUM
fcis-30629	49	26	1	1	NUM
fcis-30629	49	27	1	1	NUM
fcis-30629	49	28	1	1	NUM
fcis-30629	49	29	1	1	NUM
fcis-30629	49	30	[	[	PUNCT
fcis-30629	49	31	]	]	X
fcis-30629	49	32	l	l	X
fcis-30629	49	33	λ	λ	X
fcis-30629	49	34	λ	λ	X
fcis-30629	49	35	s	s	X
fcis-30629	49	36	e	e	X
fcis-30629	49	37	k	k	X
fcis-30629	49	38	e	e	PROPN
fcis-30629	49	39	e	e	PROPN
fcis-30629	49	40	k	k	PROPN
fcis-30629	49	41	e	e	PROPN
fcis-30629	49	42	s	s	PROPN
fcis-30629	49	43	e	e	X
fcis-30629	49	44	k	k	PROPN
fcis-30629	49	45	e	e	PROPN
fcis-30629	49	46			PROPN
fcis-30629	49	47			ADV
fcis-30629	49	48			PUNCT
fcis-30629	49	49			NUM
fcis-30629	49	50			ADJ
fcis-30629	49	51			ADJ
fcis-30629	49	52			NOUN
fcis-30629	49	53			NOUN
fcis-30629	49	54	(	(	PUNCT
fcis-30629	49	55	10	10	NUM
fcis-30629	49	56	)	)	PUNCT
fcis-30629	49	57	construct	construct	VERB
fcis-30629	49	58	the	the	DET
fcis-30629	49	59	auxiliary	auxiliary	ADJ
fcis-30629	49	60	function	function	NOUN
fcis-30629	49	61	as	as	ADP
fcis-30629	49	62	:	:	SYM
fcis-30629	49	63	1	1	NUM
fcis-30629	49	64	1	1	NUM
fcis-30629	49	65	1	1	NUM
fcis-30629	49	66	1	1	NUM
fcis-30629	49	67	1	1	NUM
fcis-30629	49	68	1	1	NUM
fcis-30629	49	69	1	1	NUM
fcis-30629	49	70	1	1	NUM
fcis-30629	49	71	r	r	NOUN
fcis-30629	49	72	d	d	NOUN
fcis-30629	49	73	r	r	NOUN
fcis-30629	49	74	d	d	NOUN
fcis-30629	49	75	r	r	NOUN
fcis-30629	49	76	d	d	NOUN
fcis-30629	49	77	λ	λ	X
fcis-30629	49	78	λ	λ	X
fcis-30629	49	79	q	q	X
fcis-30629	49	80	q	q	X
fcis-30629	49	81	k	k	NOUN
fcis-30629	49	82	e	e	NOUN
fcis-30629	49	83	q	q	X
fcis-30629	49	84	q	q	X
fcis-30629	49	85	k	k	X
fcis-30629	49	86	e	e	X
fcis-30629	49	87	λ	λ	X
fcis-30629	49	88	λ	λ	PROPN
fcis-30629	49	89	a	a	DET
fcis-30629	49	90	e	e	NOUN
fcis-30629	49	91			PROPN
fcis-30629	49	92			PROPN
fcis-30629	49	93			PROPN
fcis-30629	49	94			PROPN
fcis-30629	49	95			NUM
fcis-30629	49	96			NOUN
fcis-30629	49	97			NOUN
fcis-30629	49	98			NOUN
fcis-30629	49	99			NOUN
fcis-30629	49	100			NOUN
fcis-30629	49	101			NOUN
fcis-30629	49	102	(	(	PUNCT
fcis-30629	49	103	11	11	NUM
fcis-30629	49	104	)	)	PUNCT
fcis-30629	49	105	substituting	substitute	VERB
fcis-30629	49	106	formula	formula	NOUN
fcis-30629	49	107	(	(	PUNCT
fcis-30629	49	108	11	11	NUM
fcis-30629	49	109	)	)	PUNCT
fcis-30629	49	110	into	into	ADP
fcis-30629	49	111	formula	formula	NOUN
fcis-30629	49	112	(	(	PUNCT
fcis-30629	49	113	7	7	X
fcis-30629	49	114	)	)	PUNCT
fcis-30629	49	115	yields	yield	NOUN
fcis-30629	49	116	:	:	PUNCT
fcis-30629	49	117	1	1	NUM
fcis-30629	49	118	t	t	NOUN
fcis-30629	49	119	1	1	NUM
fcis-30629	49	120	1	1	NUM
fcis-30629	49	121	1	1	NUM
fcis-30629	49	122	1	1	NUM
fcis-30629	49	123	1	1	NUM
fcis-30629	49	124	1	1	NUM
fcis-30629	49	125	(	(	PUNCT
fcis-30629	49	126	)	)	PUNCT
fcis-30629	50	1	r	r	NOUN
fcis-30629	50	2	r	r	NOUN
fcis-30629	50	3	m	m	NOUN
fcis-30629	50	4	s	s	NOUN
fcis-30629	50	5	τ	τ	X
fcis-30629	50	6	f	f	PROPN
fcis-30629	50	7	c	c	PROPN
fcis-30629	50	8	s	s	PROPN
fcis-30629	50	9	j	j	PROPN
fcis-30629	50	10	q	q	X
fcis-30629	50	11	λ	λ	X
fcis-30629	50	12	m	m	NOUN
fcis-30629	50	13	cq	cq	NOUN
fcis-30629	50	14	fqf	fqf	INTJ
fcis-30629	50	15	g	g	PROPN
fcis-30629	50	16	d	d	PROPN
fcis-30629	50	17			NUM
fcis-30629	50	18			NUM
fcis-30629	50	19			NOUN
fcis-30629	50	20			ADV
fcis-30629	50	21			PUNCT
fcis-30629	50	22			PUNCT
fcis-30629	50	23			ADP
fcis-30629	50	24			PROPN
fcis-30629	50	25			PROPN
fcis-30629	50	26			PROPN
fcis-30629	50	27			ADP
fcis-30629	50	28			NOUN
fcis-30629	50	29			NOUN
fcis-30629	50	30	(	(	PUNCT
fcis-30629	50	31	12	12	NUM
fcis-30629	50	32	)	)	PUNCT
fcis-30629	50	33	where	where	SCONJ
fcis-30629	50	34	f	f	PROPN
fcis-30629	50	35	is	be	AUX
fcis-30629	50	36	a	a	DET
fcis-30629	50	37	nonlinear	nonlinear	ADJ
fcis-30629	50	38	function	function	NOUN
fcis-30629	50	39	containing	contain	VERB
fcis-30629	50	40	the	the	DET
fcis-30629	50	41	friction	friction	NOUN
fcis-30629	50	42	term	term	NOUN
fcis-30629	50	43	.	.	PUNCT
fcis-30629	51	1	in	in	ADP
fcis-30629	51	2	this	this	DET
fcis-30629	51	3	paper	paper	NOUN
fcis-30629	51	4	,	,	PUNCT
fcis-30629	51	5	a	a	DET
fcis-30629	51	6	four	four	NUM
fcis-30629	51	7	-	-	PUNCT
fcis-30629	51	8	layer	layer	NOUN
fcis-30629	51	9	mamdani	mamdani	NOUN
fcis-30629	51	10	-	-	PUNCT
fcis-30629	51	11	type	type	NOUN
fcis-30629	51	12	fuzzy	fuzzy	ADJ
fcis-30629	51	13	neural	neural	ADJ
fcis-30629	51	14	network	network	NOUN
fcis-30629	51	15	is	be	AUX
fcis-30629	51	16	adopted	adopt	VERB
fcis-30629	51	17	for	for	ADP
fcis-30629	51	18	design	design	NOUN
fcis-30629	51	19	to	to	PART
fcis-30629	51	20	approximate	approximate	VERB
fcis-30629	51	21	the	the	DET
fcis-30629	51	22	nonlinear	nonlinear	ADJ
fcis-30629	51	23	links	link	NOUN
fcis-30629	51	24	of	of	ADP
fcis-30629	51	25	the	the	DET
fcis-30629	51	26	robotic	robotic	ADJ
fcis-30629	51	27	arm	arm	NOUN
fcis-30629	51	28	system	system	NOUN
fcis-30629	51	29	.	.	PUNCT
fcis-30629	52	1	the	the	DET
fcis-30629	52	2	first	first	ADJ
fcis-30629	52	3	layer	layer	NOUN
fcis-30629	52	4	is	be	AUX
fcis-30629	52	5	the	the	DET
fcis-30629	52	6	input	input	NOUN
fcis-30629	52	7	layer	layer	NOUN
fcis-30629	52	8	,	,	PUNCT
fcis-30629	52	9	(	(	PUNCT
fcis-30629	52	10	=	=	NOUN
fcis-30629	52	11	1	1	NUM
fcis-30629	52	12	,	,	PUNCT
fcis-30629	52	13	...	...	PUNCT
fcis-30629	52	14	,	,	PUNCT
fcis-30629	52	15	n1	n1	NOUN
fcis-30629	52	16	)	)	PUNCT
fcis-30629	52	17	is	be	AUX
fcis-30629	52	18	the	the	DET
fcis-30629	52	19	input	input	NOUN
fcis-30629	52	20	term	term	NOUN
fcis-30629	52	21	representing	represent	VERB
fcis-30629	52	22	the	the	DET
fcis-30629	52	23	fuzzy	fuzzy	ADJ
fcis-30629	52	24	neural	neural	ADJ
fcis-30629	52	25	network	network	NOUN
fcis-30629	52	26	,	,	PUNCT
fcis-30629	52	27	and	and	CCONJ
fcis-30629	52	28	1	1	NUM
fcis-30629	52	29	is	be	AUX
fcis-30629	52	30	the	the	DET
fcis-30629	52	31	number	number	NOUN
fcis-30629	52	32	of	of	ADP
fcis-30629	52	33	inputs	input	NOUN
fcis-30629	52	34	.	.	PUNCT
fcis-30629	53	1	the	the	DET
fcis-30629	53	2	second	second	ADJ
fcis-30629	53	3	layer	layer	NOUN
fcis-30629	53	4	is	be	AUX
fcis-30629	53	5	the	the	DET
fcis-30629	53	6	fuzzy	fuzzy	ADJ
fcis-30629	53	7	membership	membership	NOUN
fcis-30629	53	8	degree	degree	NOUN
fcis-30629	53	9	calculation	calculation	NOUN
fcis-30629	53	10	layer	layer	NOUN
fcis-30629	53	11	,	,	PUNCT
fcis-30629	53	12	which	which	PRON
fcis-30629	53	13	adopts	adopt	VERB
fcis-30629	53	14	the	the	DET
fcis-30629	53	15	gaussian	gaussian	ADJ
fcis-30629	53	16	function	function	NOUN
fcis-30629	53	17	and	and	CCONJ
fcis-30629	53	18	is	be	AUX
fcis-30629	53	19	expressed	express	VERB
fcis-30629	53	20	by	by	ADP
fcis-30629	53	21	the	the	DET
fcis-30629	53	22	formula	formula	NOUN
fcis-30629	53	23	as	as	SCONJ
fcis-30629	53	24	follows	follow	VERB
fcis-30629	53	25	:	:	PUNCT
fcis-30629	53	26	2	2	NUM
fcis-30629	53	27	(	(	PUNCT
fcis-30629	53	28	(	(	PUNCT
fcis-30629	53	29	)	)	PUNCT
fcis-30629	53	30	)	)	PUNCT
fcis-30629	54	1	(	(	PUNCT
fcis-30629	54	2	)	)	PUNCT
fcis-30629	54	3	j	j	PROPN
fcis-30629	55	1	i	i	PRON
fcis-30629	55	2	i	i	INTJ
fcis-30629	55	3	j	j	VERB
fcis-30629	56	1	i	i	PRON
fcis-30629	56	2	x	x	VERB
fcis-30629	57	1	c	c	NOUN
fcis-30629	57	2	bj	bj	VERB
fcis-30629	57	3	i	i	PRON
fcis-30629	57	4	ix	ix	ADP
fcis-30629	57	5	e	e	PROPN
fcis-30629	57	6			PROPN
fcis-30629	57	7			PROPN
fcis-30629	57	8			PROPN
fcis-30629	57	9	(	(	PUNCT
fcis-30629	57	10	13	13	NUM
fcis-30629	57	11	)	)	PUNCT
fcis-30629	57	12	in	in	ADP
fcis-30629	57	13	the	the	DET
fcis-30629	57	14	formula	formula	NOUN
fcis-30629	57	15	,	,	PUNCT
fcis-30629	57	16	j	j	PROPN
fcis-30629	57	17	ic	ic	PROPN
fcis-30629	57	18	,	,	PUNCT
fcis-30629	57	19	j	j	PROPN
fcis-30629	57	20	ib	ib	X
fcis-30629	57	21	(	(	PUNCT
fcis-30629	57	22	i=1	i=1	PROPN
fcis-30629	57	23	,	,	PUNCT
fcis-30629	57	24	...	...	PUNCT
fcis-30629	57	25	n1	n1	NOUN
fcis-30629	57	26	;	;	PUNCT
fcis-30629	57	27	j=1	j=1	NOUN
fcis-30629	57	28	,	,	PUNCT
fcis-30629	57	29	...	...	PUNCT
fcis-30629	57	30	n2	n2	ADJ
fcis-30629	57	31	)	)	PUNCT
fcis-30629	57	32	represent	represent	VERB
fcis-30629	57	33	the	the	DET
fcis-30629	57	34	center	center	NOUN
fcis-30629	57	35	and	and	CCONJ
fcis-30629	57	36	width	width	NOUN
fcis-30629	57	37	of	of	ADP
fcis-30629	57	38	the	the	DET
fcis-30629	57	39	fuzzy	fuzzy	ADJ
fcis-30629	57	40	basis	basis	NOUN
fcis-30629	57	41	functions	function	NOUN
fcis-30629	57	42	(	(	PUNCT
fcis-30629	57	43	fnnbf	fnnbf	PROPN
fcis-30629	57	44	)	)	PUNCT
fcis-30629	57	45	,	,	PUNCT
fcis-30629	57	46	respectively	respectively	ADV
fcis-30629	57	47	.	.	PUNCT
fcis-30629	58	1	the	the	DET
fcis-30629	58	2	center	center	NOUN
fcis-30629	58	3	value	value	NOUN
fcis-30629	58	4	and	and	CCONJ
fcis-30629	58	5	width	width	NOUN
fcis-30629	58	6	of	of	ADP
fcis-30629	58	7	the	the	DET
fcis-30629	58	8	basis	basis	NOUN
fcis-30629	58	9	functions	function	NOUN
fcis-30629	58	10	are	be	AUX
fcis-30629	58	11	as	as	SCONJ
fcis-30629	58	12	follows	follow	VERB
fcis-30629	58	13	:	:	PUNCT
fcis-30629	58	14	2	2	NUM
fcis-30629	58	15	2	2	NUM
fcis-30629	58	16	2	2	NUM
fcis-30629	58	17	1	1	NUM
fcis-30629	58	18	2	2	NUM
fcis-30629	58	19	1	1	NUM
fcis-30629	58	20	2	2	NUM
fcis-30629	58	21	1	1	NUM
fcis-30629	58	22	2	2	NUM
fcis-30629	58	23	1	1	NUM
fcis-30629	58	24	1	1	NUM
fcis-30629	58	25	2	2	NUM
fcis-30629	58	26	2	2	NUM
fcis-30629	58	27	1	1	NUM
fcis-30629	58	28	1	1	NUM
fcis-30629	58	29	1	1	NUM
fcis-30629	58	30	1	1	NUM
fcis-30629	58	31	1	1	NUM
fcis-30629	58	32	1	1	NUM
fcis-30629	58	33	1	1	NUM
fcis-30629	58	34	2	2	NUM
fcis-30629	58	35	2	2	NUM
fcis-30629	58	36	1	1	NUM
fcis-30629	58	37	1	1	NUM
fcis-30629	58	38	[	[	PUNCT
fcis-30629	58	39	,	,	PUNCT
fcis-30629	58	40	...	...	PUNCT
fcis-30629	58	41	,	,	PUNCT
fcis-30629	58	42	,	,	PUNCT
fcis-30629	58	43	,	,	PUNCT
fcis-30629	58	44	...	...	PUNCT
fcis-30629	58	45	,	,	PUNCT
fcis-30629	58	46	...	...	PUNCT
fcis-30629	58	47	,	,	PUNCT
fcis-30629	58	48	,	,	PUNCT
fcis-30629	58	49	...	...	PUNCT
fcis-30629	58	50	]	]	PUNCT
fcis-30629	58	51	,	,	PUNCT
fcis-30629	58	52	...	...	PUNCT
fcis-30629	58	53	,	,	PUNCT
fcis-30629	58	54	,	,	PUNCT
fcis-30629	58	55	,	,	PUNCT
fcis-30629	58	56	...	...	PUNCT
fcis-30629	58	57	,	,	PUNCT
fcis-30629	58	58	,	,	PUNCT
fcis-30629	58	59	...	...	PUNCT
fcis-30629	58	60	,	,	PUNCT
fcis-30629	58	61	,	,	PUNCT
fcis-30629	58	62	...	...	PUNCT
fcis-30629	58	63	,	,	PUNCT
fcis-30629	58	64	,	,	PUNCT
fcis-30629	58	65	n	n	CCONJ
fcis-30629	58	66	n	n	CCONJ
fcis-30629	58	67	n	n	ADP
fcis-30629	58	68	t	t	PROPN
fcis-30629	58	69	n	n	CCONJ
fcis-30629	58	70	n	n	PROPN
fcis-30629	58	71	tn	tn	PROPN
fcis-30629	58	72	n	n	CCONJ
fcis-30629	58	73	n	n	CCONJ
fcis-30629	58	74	n	n	CCONJ
fcis-30629	58	75	n	n	NOUN
fcis-30629	58	76	c	c	NOUN
fcis-30629	58	77	c	c	NOUN
fcis-30629	59	1	c	c	NOUN
fcis-30629	59	2	c	c	NOUN
fcis-30629	59	3	c	c	NOUN
fcis-30629	59	4	c	c	NOUN
fcis-30629	59	5	c	c	NOUN
fcis-30629	60	1			PROPN
fcis-30629	60	2			NOUN
fcis-30629	60	3			VERB
fcis-30629	60	4			NOUN
fcis-30629	60	5			NOUN
fcis-30629	60	6			X
fcis-30629	60	7			X
fcis-30629	60	8			X
fcis-30629	60	9			X
fcis-30629	60	10			VERB
fcis-30629	60	11	the	the	DET
fcis-30629	60	12	third	third	ADJ
fcis-30629	60	13	layer	layer	NOUN
fcis-30629	60	14	is	be	AUX
fcis-30629	60	15	the	the	DET
fcis-30629	60	16	fuzzy	fuzzy	ADJ
fcis-30629	60	17	reasoning	reasoning	NOUN
fcis-30629	60	18	normalization	normalization	NOUN
fcis-30629	60	19	layer	layer	NOUN
fcis-30629	60	20	,	,	PUNCT
fcis-30629	60	21	where	where	SCONJ
fcis-30629	60	22	corresponding	correspond	VERB
fcis-30629	60	23	fuzzy	fuzzy	ADJ
fcis-30629	60	24	reasoning	reasoning	NOUN
fcis-30629	60	25	tuning	tune	VERB
fcis-30629	60	26	regulations	regulation	NOUN
fcis-30629	60	27	are	be	AUX
fcis-30629	60	28	set	set	VERB
fcis-30629	60	29	to	to	PART
fcis-30629	60	30	perform	perform	VERB
fcis-30629	60	31	fuzzy	fuzzy	ADJ
fcis-30629	60	32	reasoning	reasoning	NOUN
fcis-30629	60	33	operations	operation	NOUN
fcis-30629	60	34	on	on	ADP
fcis-30629	60	35	the	the	DET
fcis-30629	60	36	signal	signal	NOUN
fcis-30629	60	37	:	:	PUNCT
fcis-30629	60	38	1	1	NUM
fcis-30629	60	39	1	1	NUM
fcis-30629	60	40	2	2	NUM
fcis-30629	60	41	1	1	NUM
fcis-30629	60	42	1	1	NUM
fcis-30629	60	43	1	1	NUM
fcis-30629	60	44	[	[	PUNCT
fcis-30629	60	45	]	]	X
fcis-30629	60	46	n	n	CCONJ
fcis-30629	61	1	j	j	NOUN
fcis-30629	62	1	i	i	PRON
fcis-30629	62	2	i	i	PRON
fcis-30629	62	3	j	j	PROPN
fcis-30629	62	4	n	n	CCONJ
fcis-30629	62	5	n	n	PROPN
fcis-30629	62	6	j	j	PROPN
fcis-30629	63	1	j	j	INTJ
fcis-30629	64	1	i	i	PRON
fcis-30629	64	2	i	i	PRON
fcis-30629	64	3	h	h	VERB
fcis-30629	65	1			VERB
fcis-30629	66	1			PRON
fcis-30629	66	2			NUM
fcis-30629	67	1			NUM
fcis-30629	67	2			NUM
fcis-30629	67	3			X
fcis-30629	67	4			ADJ
fcis-30629	67	5			NOUN
fcis-30629	67	6			NOUN
fcis-30629	67	7	(	(	PUNCT
fcis-30629	67	8	14	14	NUM
fcis-30629	67	9	)	)	PUNCT
fcis-30629	67	10	the	the	DET
fcis-30629	67	11	fourth	fourth	ADJ
fcis-30629	67	12	layer	layer	NOUN
fcis-30629	67	13	is	be	AUX
fcis-30629	67	14	the	the	DET
fcis-30629	67	15	output	output	NOUN
fcis-30629	67	16	layer	layer	NOUN
fcis-30629	67	17	:	:	PUNCT
fcis-30629	67	18	the	the	DET
fcis-30629	67	19	output	output	NOUN
fcis-30629	67	20	of	of	ADP
fcis-30629	67	21	each	each	DET
fcis-30629	67	22	node	node	NOUN
fcis-30629	67	23	in	in	ADP
fcis-30629	67	24	the	the	DET
fcis-30629	67	25	fourth	fourth	ADJ
fcis-30629	67	26	layer	layer	NOUN
fcis-30629	67	27	is	be	AUX
fcis-30629	67	28	the	the	DET
fcis-30629	67	29	weighted	weighted	ADJ
fcis-30629	67	30	sum	sum	NOUN
fcis-30629	67	31	of	of	ADP
fcis-30629	67	32	all	all	DET
fcis-30629	67	33	input	input	NOUN
fcis-30629	67	34	signals	signal	NOUN
fcis-30629	67	35	of	of	ADP
fcis-30629	67	36	that	that	DET
fcis-30629	67	37	node	node	NOUN
fcis-30629	67	38	as	as	SCONJ
fcis-30629	67	39	follows	follow	VERB
fcis-30629	67	40	:	:	PUNCT
fcis-30629	68	1	2	2	NUM
fcis-30629	68	2	1	1	NUM
fcis-30629	68	3	n	n	NUM
fcis-30629	68	4	j	j	NOUN
fcis-30629	69	1	i	i	PRON
fcis-30629	69	2	i	i	INTJ
fcis-30629	69	3	j	j	PROPN
fcis-30629	70	1	j	j	PROPN
fcis-30629	70	2	y	y	PROPN
fcis-30629	70	3	h	h	NOUN
fcis-30629	71	1			PRON
fcis-30629	72	1			PROPN
fcis-30629	73	1			PROPN
fcis-30629	73	2	(	(	PUNCT
fcis-30629	73	3	15	15	NUM
fcis-30629	73	4	)	)	PUNCT
fcis-30629	73	5	among	among	ADP
fcis-30629	73	6	them	they	PRON
fcis-30629	73	7	,	,	PUNCT
fcis-30629	73	8	)	)	PUNCT
fcis-30629	73	9	1	1	NUM
fcis-30629	73	10	,	,	PUNCT
fcis-30629	73	11	2	2	NUM
fcis-30629	73	12	,	,	PUNCT
fcis-30629	73	13	,	,	PUNCT
fcis-30629	73	14	1(iy	1(iy	NUM
fcis-30629	74	1	i	i	PROPN
fcis-30629	74	2	n	n	PROPN
fcis-30629	74	3			PROPN
fcis-30629	74	4	is	be	AUX
fcis-30629	74	5	the	the	DET
fcis-30629	74	6	output	output	NOUN
fcis-30629	74	7	of	of	ADP
fcis-30629	74	8	the	the	DET
fcis-30629	74	9	fuzzy	fuzzy	ADJ
fcis-30629	74	10	neural	neural	ADJ
fcis-30629	74	11	network	network	NOUN
fcis-30629	74	12	.	.	PUNCT
fcis-30629	75	1	fuzzy	fuzzy	ADJ
fcis-30629	75	2	neural	neural	ADJ
fcis-30629	75	3	network	network	NOUN
fcis-30629	75	4	algorithm	algorithm	NOUN
fcis-30629	75	5	is	be	AUX
fcis-30629	75	6	used	use	VERB
fcis-30629	75	7	to	to	PART
fcis-30629	75	8	approximate	approximate	VERB
fcis-30629	75	9	it	it	PRON
fcis-30629	75	10	:	:	PUNCT
fcis-30629	76	1	=	=	PUNCT
fcis-30629	76	2	+	+	SYM
fcis-30629	76	3	f	f	X
fcis-30629	76	4	wh	wh	PROPN
fcis-30629	76	5			PROPN
fcis-30629	76	6	(	(	PUNCT
fcis-30629	76	7	16	16	NUM
fcis-30629	76	8	)	)	PUNCT
fcis-30629	76	9	where	where	SCONJ
fcis-30629	76	10	,	,	PUNCT
fcis-30629	76	11	w，	w，	PROPN
fcis-30629	76	12	is	be	AUX
fcis-30629	76	13	bounded	bound	VERB
fcis-30629	76	14	,	,	PUNCT
fcis-30629	76	15	that	that	ADV
fcis-30629	76	16	is	is	ADV
fcis-30629	76	17	,	,	PUNCT
fcis-30629	76	18	||	||	PUNCT
fcis-30629	77	1	||	||	NUM
fcis-30629	77	2	<	<	X
fcis-30629	77	3	||	||	NOUN
fcis-30629	78	1	||max	||max	PROPN
fcis-30629	78	2	maxw	maxw	PROPN
fcis-30629	78	3	w	w	PROPN
fcis-30629	78	4	h	h	NOUN
fcis-30629	78	5	<	<	X
fcis-30629	78	6	h	h	NOUN
fcis-30629	78	7	，	，	PROPN
fcis-30629	78	8	,	,	PUNCT
fcis-30629	78	9	max	max	PROPN
fcis-30629	78	10	maxw	maxw	PROPN
fcis-30629	78	11	h	h	PROPN
fcis-30629	78	12	，	，	PROPN
fcis-30629	78	13	are	be	AUX
fcis-30629	78	14	constants	constant	NOUN
fcis-30629	78	15	,	,	PUNCT
fcis-30629	78	16	w	w	NOUN
fcis-30629	78	17	and	and	CCONJ
fcis-30629	78	18	h	h	NOUN
fcis-30629	78	19	are	be	AUX
fcis-30629	78	20	respectively	respectively	ADV
fcis-30629	78	21	the	the	DET
fcis-30629	78	22	ideal	ideal	ADJ
fcis-30629	78	23	weight	weight	NOUN
fcis-30629	78	24	matrix	matrix	NOUN
fcis-30629	78	25	of	of	ADP
fcis-30629	78	26	the	the	DET
fcis-30629	78	27	fuzzy	fuzzy	ADJ
fcis-30629	78	28	neural	neural	ADJ
fcis-30629	78	29	network	network	NOUN
fcis-30629	78	30	and	and	CCONJ
fcis-30629	78	31	the	the	DET
fcis-30629	78	32	output	output	NOUN
fcis-30629	78	33	basis	basis	NOUN
fcis-30629	78	34	vector	vector	NOUN
fcis-30629	78	35	of	of	ADP
fcis-30629	78	36	the	the	DET
fcis-30629	78	37	fuzzy	fuzzy	ADJ
fcis-30629	78	38	basis	basis	NOUN
fcis-30629	78	39	function	function	NOUN
fcis-30629	78	40	,	,	PUNCT
fcis-30629	78	41			PROPN
fcis-30629	78	42	is	be	AUX
fcis-30629	78	43	the	the	DET
fcis-30629	78	44	error	error	NOUN
fcis-30629	78	45	vector	vector	NOUN
fcis-30629	78	46	,	,	PUNCT
fcis-30629	78	47	and	and	CCONJ
fcis-30629	78	48	ls	ls	PROPN
fcis-30629	78	49	is	be	AUX
fcis-30629	78	50	the	the	DET
fcis-30629	78	51	network	network	NOUN
fcis-30629	78	52	input	input	NOUN
fcis-30629	78	53	value	value	NOUN
fcis-30629	78	54	when	when	SCONJ
fcis-30629	78	55	the	the	DET
fcis-30629	78	56	fuzzy	fuzzy	ADJ
fcis-30629	78	57	neural	neural	ADJ
fcis-30629	78	58	network	network	NOUN
fcis-30629	78	59	approximates	approximate	NOUN
fcis-30629	78	60	.	.	PUNCT
fcis-30629	79	1	since	since	SCONJ
fcis-30629	79	2	the	the	DET
fcis-30629	79	3	actual	actual	ADJ
fcis-30629	79	4	value	value	NOUN
fcis-30629	79	5	of	of	ADP
fcis-30629	79	6	8	8	NUM
fcis-30629	79	7	is	be	AUX
fcis-30629	79	8	unknown	unknown	ADJ
fcis-30629	79	9	,	,	PUNCT
fcis-30629	79	10	the	the	DET
fcis-30629	79	11	estimated	estimate	VERB
fcis-30629	79	12	values	value	NOUN
fcis-30629	79	13	of	of	ADP
fcis-30629	79	14	the	the	DET
fcis-30629	79	15	vector	vector	NOUN
fcis-30629	79	16	parameters	parameter	NOUN
fcis-30629	79	17	are	be	AUX
fcis-30629	79	18	set	set	VERB
fcis-30629	79	19	to	to	PART
fcis-30629	79	20	be	be	AUX
fcis-30629	79	21	w	w	PROPN
fcis-30629	79	22	c	c	NOUN
fcis-30629	79	23	k	k	X
fcis-30629	79	24	、	、	NOUN
fcis-30629	79	25	、	、	NOUN
fcis-30629	79	26	respectively	respectively	ADV
fcis-30629	79	27	,	,	PUNCT
fcis-30629	79	28	the	the	DET
fcis-30629	79	29	estimated	estimate	VERB
fcis-30629	79	30	errors	error	NOUN
fcis-30629	79	31	are	be	AUX
fcis-30629	79	32	ˆw	ˆw	ADP
fcis-30629	79	33	w	w	NOUN
fcis-30629	79	34	w	w	NOUN
fcis-30629	79	35			NOUN
fcis-30629	79	36	,	,	PUNCT
fcis-30629	79	37	ˆc	ˆc	PROPN
fcis-30629	79	38	c	c	NOUN
fcis-30629	79	39	c	c	PROPN
fcis-30629	79	40			PROPN
fcis-30629	79	41	,	,	PUNCT
fcis-30629	79	42	ˆκ	ˆκ	ADP
fcis-30629	79	43	κ	κ	X
fcis-30629	79	44	κ	κ	VERB
fcis-30629	79	45			NOUN
fcis-30629	79	46	and	and	CCONJ
fcis-30629	79	47	the	the	DET
fcis-30629	79	48	approximation	approximation	NOUN
fcis-30629	79	49	error	error	NOUN
fcis-30629	79	50	of	of	ADP
fcis-30629	79	51	the	the	DET
fcis-30629	79	52	nonlinear	nonlinear	ADJ
fcis-30629	79	53	function	function	NOUN
fcis-30629	79	54	f	f	PUNCT
fcis-30629	79	55	is	be	AUX
fcis-30629	79	56	:	:	PUNCT
fcis-30629	79	57	174	174	NUM
fcis-30629	79	58	ˆ	ˆ	NOUN
fcis-30629	79	59	ˆ	ˆ	NOUN
fcis-30629	79	60	ˆ	ˆ	NOUN
fcis-30629	79	61	ˆ	ˆ	NOUN
fcis-30629	79	62	ˆ	ˆ	NOUN
fcis-30629	79	63	ˆ	ˆ	NOUN
fcis-30629	79	64	ˆ	ˆ	NOUN
fcis-30629	79	65	δc	δc	NOUN
fcis-30629	79	66	x	x	NOUN
fcis-30629	80	1	f	f	NOUN
fcis-30629	80	2	f	f	NOUN
fcis-30629	80	3	wh	wh	AUX
fcis-30629	80	4	wh	wh	NOUN
fcis-30629	80	5	ε	ε	PROPN
fcis-30629	80	6	wh	wh	VERB
fcis-30629	80	7	wh	wh	NOUN
fcis-30629	80	8	wh	wh	NOUN
fcis-30629	80	9	c	c	NOUN
fcis-30629	80	10	wh	wh	VERB
fcis-30629	80	11	κ	κ	PROPN
fcis-30629	80	12	f	f	PROPN
fcis-30629	81	1			PROPN
fcis-30629	81	2			PROPN
fcis-30629	81	3			PROPN
fcis-30629	81	4			ADV
fcis-30629	81	5			PROPN
fcis-30629	81	6			PROPN
fcis-30629	81	7			PROPN
fcis-30629	81	8			VERB
fcis-30629	81	9			PUNCT
fcis-30629	81	10			PROPN
fcis-30629	81	11			PROPN
fcis-30629	81	12			PROPN
fcis-30629	81	13			NOUN
fcis-30629	81	14	(	(	PUNCT
fcis-30629	81	15	17	17	NUM
fcis-30629	81	16	)	)	PUNCT
fcis-30629	81	17	therein	therein	ADV
fcis-30629	81	18	,	,	PUNCT
fcis-30629	81	19	,	,	PUNCT
fcis-30629	81	20	c	c	PROPN
fcis-30629	81	21	k	k	PROPN
fcis-30629	81	22	h	h	NOUN
fcis-30629	81	23	h	h	NOUN
fcis-30629	82	1	h	h	NOUN
fcis-30629	82	2	h	h	NOUN
fcis-30629	83	1	c	c	PROPN
fcis-30629	83	2	k	k	PROPN
fcis-30629	83	3			PROPN
fcis-30629	83	4			PROPN
fcis-30629	83	5			PROPN
fcis-30629	83	6			PROPN
fcis-30629	83	7			ADJ
fcis-30629	83	8			NOUN
fcis-30629	83	9	,	,	PUNCT
fcis-30629	83	10	and	and	CCONJ
fcis-30629	83	11	ˆ	ˆ	NOUN
fcis-30629	84	1	ˆδ	ˆδ	PROPN
fcis-30629	84	2	c	c	NOUN
fcis-30629	85	1	k	k	PROPN
fcis-30629	85	2	nf	nf	PROPN
fcis-30629	85	3	w	w	PROPN
fcis-30629	85	4	c	c	PROPN
fcis-30629	85	5	w	w	PROPN
fcis-30629	85	6	κ	κ	PROPN
fcis-30629	85	7	wo	will	AUX
fcis-30629	85	8	ε	ε	VERB
fcis-30629	85	9			PROPN
fcis-30629	85	10			ADJ
fcis-30629	85	11			NOUN
fcis-30629	85	12			NOUN
fcis-30629	85	13	(	(	PUNCT
fcis-30629	85	14	18	18	NUM
fcis-30629	85	15	)	)	PUNCT
fcis-30629	85	16	the	the	DET
fcis-30629	85	17	design	design	NOUN
fcis-30629	85	18	control	control	NOUN
fcis-30629	85	19	rate	rate	NOUN
fcis-30629	85	20	is	be	AUX
fcis-30629	85	21	tˆ	tˆ	ADP
fcis-30629	85	22	ˆ	ˆ	ADJ
fcis-30629	85	23	sgn	sgn	NOUN
fcis-30629	85	24	(	(	PUNCT
fcis-30629	85	25	)	)	PUNCT
fcis-30629	86	1	d	d	SYM
fcis-30629	86	2	l	l	NOUN
fcis-30629	86	3	rr	rr	NOUN
fcis-30629	86	4	lτ	lτ	INTJ
fcis-30629	86	5	wh	wh	PROPN
fcis-30629	87	1	k	k	PROPN
fcis-30629	87	2	s	s	PROPN
fcis-30629	87	3	k	k	PROPN
fcis-30629	87	4	j	j	PROPN
fcis-30629	87	5	λs	λs	PROPN
fcis-30629	87	6			X
fcis-30629	87	7			PROPN
fcis-30629	87	8			PROPN
fcis-30629	87	9			X
fcis-30629	87	10	(	(	PUNCT
fcis-30629	87	11	19	19	NUM
fcis-30629	87	12	)	)	PUNCT
fcis-30629	87	13	where	where	SCONJ
fcis-30629	87	14	,	,	PUNCT
fcis-30629	87	15	ˆ	ˆ	DET
fcis-30629	87	16	ˆwh	ˆwh	NOUN
fcis-30629	87	17	is	be	AUX
fcis-30629	87	18	the	the	DET
fcis-30629	87	19	output	output	NOUN
fcis-30629	87	20	of	of	ADP
fcis-30629	87	21	the	the	DET
fcis-30629	87	22	fuzzy	fuzzy	ADJ
fcis-30629	87	23	neural	neural	ADJ
fcis-30629	87	24	network	network	NOUN
fcis-30629	87	25	and	and	CCONJ
fcis-30629	87	26	d	d	ADP
fcis-30629	87	27	rk	rk	PROPN
fcis-30629	88	1	k	k	X
fcis-30629	88	2	，	，	PROPN
fcis-30629	88	3	is	be	AUX
fcis-30629	88	4	the	the	DET
fcis-30629	88	5	positive	positive	ADJ
fcis-30629	88	6	definite	definite	ADJ
fcis-30629	88	7	matrix	matrix	NOUN
fcis-30629	88	8	.	.	PUNCT
fcis-30629	89	1	the	the	DET
fcis-30629	89	2	adaptive	adaptive	ADJ
fcis-30629	89	3	law	law	NOUN
fcis-30629	89	4	of	of	ADP
fcis-30629	89	5	fuzzy	fuzzy	ADJ
fcis-30629	89	6	neural	neural	ADJ
fcis-30629	89	7	network	network	NOUN
fcis-30629	89	8	design	design	NOUN
fcis-30629	89	9	is	be	AUX
fcis-30629	89	10	as	as	SCONJ
fcis-30629	89	11	follows	follow	VERB
fcis-30629	89	12	:	:	PUNCT
fcis-30629	90	1	w	w	PROPN
fcis-30629	90	2	c	c	NOUN
fcis-30629	90	3	k	k	PROPN
fcis-30629	90	4	ˆ	ˆ	PROPN
fcis-30629	90	5	ˆˆ	ˆˆ	PROPN
fcis-30629	90	6	ˆ	ˆ	ADV
fcis-30629	90	7	ˆ	ˆ	ADV
fcis-30629	91	1	f	f	PROPN
fcis-30629	91	2	t	t	PROPN
fcis-30629	91	3	c	c	PROPN
fcis-30629	91	4	t	t	PROPN
fcis-30629	91	5	k	k	PROPN
fcis-30629	91	6	w	w	PROPN
fcis-30629	91	7	γ	γ	PROPN
fcis-30629	91	8	lsh	lsh	PROPN
fcis-30629	91	9	c	c	PROPN
fcis-30629	91	10	γ	γ	PROPN
fcis-30629	91	11	hw	hw	PROPN
fcis-30629	91	12	ls	ls	PROPN
fcis-30629	91	13	k	k	PROPN
fcis-30629	91	14	γ	γ	PROPN
fcis-30629	91	15	h	h	PROPN
fcis-30629	91	16	w	w	NOUN
fcis-30629	91	17	ls	ls	PROPN
fcis-30629	91	18			ADP
fcis-30629	92	1			PROPN
fcis-30629	92	2			NOUN
fcis-30629	92	3			NUM
fcis-30629	92	4			NUM
fcis-30629	92	5			NUM
fcis-30629	92	6			NOUN
fcis-30629	92	7			NUM
fcis-30629	92	8			PROPN
fcis-30629	92	9			PROPN
fcis-30629	92	10			NOUN
fcis-30629	92	11			NOUN
fcis-30629	92	12			NOUN
fcis-30629	92	13	(	(	PUNCT
fcis-30629	92	14	20	20	NUM
fcis-30629	92	15	)	)	PUNCT
fcis-30629	92	16	among	among	ADP
fcis-30629	92	17	them	they	PRON
fcis-30629	92	18	,	,	PUNCT
fcis-30629	92	19	w	w	PROPN
fcis-30629	92	20	c	c	PROPN
fcis-30629	92	21	kγ	kγ	PROPN
fcis-30629	92	22	γ	γ	PROPN
fcis-30629	92	23	γ	γ	PROPN
fcis-30629	92	24	、	、	PROPN
fcis-30629	92	25	、	、	NOUN
fcis-30629	92	26	are	be	AUX
fcis-30629	92	27	positive	positive	ADJ
fcis-30629	92	28	definite	definite	ADJ
fcis-30629	92	29	diagonal	diagonal	ADJ
fcis-30629	92	30	matrices	matrix	NOUN
fcis-30629	92	31	.	.	PUNCT
fcis-30629	93	1	substituting	substitute	VERB
fcis-30629	93	2	formula	formula	NOUN
fcis-30629	93	3	(	(	PUNCT
fcis-30629	93	4	15	15	NUM
fcis-30629	93	5	)	)	PUNCT
fcis-30629	93	6	(	(	PUNCT
fcis-30629	93	7	16	16	NUM
fcis-30629	93	8	)	)	PUNCT
fcis-30629	93	9	into	into	ADP
fcis-30629	93	10	formula	formula	NOUN
fcis-30629	93	11	(	(	PUNCT
fcis-30629	93	12	12	12	NUM
fcis-30629	93	13	)	)	PUNCT
fcis-30629	93	14	yields	yield	NOUN
fcis-30629	93	15	:	:	PUNCT
fcis-30629	93	16	1	1	NUM
fcis-30629	93	17	1	1	NUM
fcis-30629	93	18	1	1	NUM
fcis-30629	93	19	t	t	NOUN
fcis-30629	93	20	1	1	NUM
fcis-30629	93	21	1	1	NUM
fcis-30629	93	22	t	t	NOUN
fcis-30629	93	23	t	t	NOUN
fcis-30629	93	24	1	1	NUM
fcis-30629	93	25	1	1	NUM
fcis-30629	93	26	1	1	NUM
fcis-30629	93	27	t	t	NOUN
fcis-30629	93	28	1	1	NUM
fcis-30629	93	29	ˆ	ˆ	NOUN
fcis-30629	93	30	ˆ	ˆ	PROPN
fcis-30629	93	31	s	s	PART
fcis-30629	93	32	)	)	PUNCT
fcis-30629	93	33	(	(	PUNCT
fcis-30629	93	34	)	)	PUNCT
fcis-30629	93	35	=	=	SYM
fcis-30629	93	36	(	(	PUNCT
fcis-30629	93	37	)	)	PUNCT
fcis-30629	93	38	(	(	PUNCT
fcis-30629	93	39	ˆ	ˆ	NOUN
fcis-30629	93	40	ˆ	ˆ	ADV
fcis-30629	93	41	(	(	PUNCT
fcis-30629	93	42	)	)	PUNCT
fcis-30629	93	43	(	(	PUNCT
fcis-30629	93	44	)	)	PUNCT
fcis-30629	93	45	ˆ	ˆ	PROPN
fcis-30629	93	46	(	(	PUNCT
fcis-30629	93	47	gn	gn	X
fcis-30629	93	48	(	(	PUNCT
fcis-30629	93	49	)	)	PUNCT
fcis-30629	93	50	ˆ	ˆ	NOUN
fcis-30629	93	51	sg	sg	ADP
fcis-30629	93	52	ˆ	ˆ	ADP
fcis-30629	93	53	n	n	NUM
fcis-30629	93	54	)	)	PUNCT
fcis-30629	93	55	ˆ	ˆ	NOUN
fcis-30629	93	56	sgn	sgn	NOUN
fcis-30629	93	57	(	(	PUNCT
fcis-30629	93	58	)	)	PUNCT
fcis-30629	94	1	rd	rd	NOUN
fcis-30629	95	1	r	r	NOUN
fcis-30629	96	1	d	d	NOUN
fcis-30629	96	2	r	r	NOUN
fcis-30629	96	3	d	d	NOUN
fcis-30629	96	4	r	r	NOUN
fcis-30629	96	5	c	c	NOUN
fcis-30629	96	6	x	x	SYM
fcis-30629	96	7	r	r	NOUN
fcis-30629	96	8	c	c	NOUN
fcis-30629	96	9	x	x	VERB
fcis-30629	96	10	m	m	VERB
fcis-30629	96	11	s	s	VERB
fcis-30629	96	12	w	w	NOUN
fcis-30629	96	13	wh	wh	NOUN
fcis-30629	97	1	k	k	PROPN
fcis-30629	97	2	s	s	X
fcis-30629	97	3	s	s	X
fcis-30629	97	4	τ	τ	X
fcis-30629	97	5	f	f	PROPN
fcis-30629	97	6	c	c	PROPN
fcis-30629	97	7	s	s	PROPN
fcis-30629	97	8	j	j	PROPN
fcis-30629	97	9	q	q	X
fcis-30629	97	10	λ	λ	X
fcis-30629	97	11	j	j	NOUN
fcis-30629	97	12	q	q	X
fcis-30629	97	13	λ	λ	X
fcis-30629	97	14	j	j	X
fcis-30629	97	15	q	q	X
fcis-30629	97	16	λ	λ	X
fcis-30629	97	17	w	w	NOUN
fcis-30629	97	18	wh	wh	NOUN
fcis-30629	97	19	c	c	NOUN
fcis-30629	97	20	h	h	NOUN
fcis-30629	97	21	κ	κ	NOUN
fcis-30629	97	22	δf	δf	INTJ
fcis-30629	98	1	d	d	X
fcis-30629	98	2	j	j	PROPN
fcis-30629	98	3	q	q	PROPN
fcis-30629	98	4	λh	λh	ADP
fcis-30629	98	5	λ	λ	X
fcis-30629	98	6	w	w	NOUN
fcis-30629	98	7	wh	wh	NOUN
fcis-30629	98	8	c	c	NOUN
fcis-30629	98	9	wh	wh	NOUN
fcis-30629	98	10	κ	κ	PROPN
fcis-30629	98	11	k	k	PROPN
fcis-30629	98	12	s	s	X
fcis-30629	98	13	wh	wh	NOUN
fcis-30629	98	14	ε	ε	PROPN
fcis-30629	99	1	c	c	NOUN
fcis-30629	99	2	s	s	PROPN
fcis-30629	99	3	k	k	PROPN
fcis-30629	99	4	s	s	X
fcis-30629	99	5	k	k	PROPN
fcis-30629	99	6	s	s	X
fcis-30629	99	7	c	c	NOUN
fcis-30629	99	8	s	s	NOUN
fcis-30629	99	9	h	h	NOUN
fcis-30629	100	1	k	k	PROPN
fcis-30629	100	2	s	s	PROPN
fcis-30629	100	3	kδf	kδf	PROPN
fcis-30629	100	4	s	s	PART
fcis-30629	100	5	cd	cd	NOUN
fcis-30629	100	6			NOUN
fcis-30629	100	7			NOUN
fcis-30629	100	8			NOUN
fcis-30629	100	9			NOUN
fcis-30629	100	10			NUM
fcis-30629	100	11			PROPN
fcis-30629	100	12			PROPN
fcis-30629	100	13			PROPN
fcis-30629	100	14			PROPN
fcis-30629	100	15			PROPN
fcis-30629	100	16			PROPN
fcis-30629	100	17			PROPN
fcis-30629	100	18			PROPN
fcis-30629	100	19			PROPN
fcis-30629	100	20			PROPN
fcis-30629	100	21			PROPN
fcis-30629	100	22			PROPN
fcis-30629	100	23			PROPN
fcis-30629	100	24			PUNCT
fcis-30629	100	25			PROPN
fcis-30629	100	26			PROPN
fcis-30629	100	27			PROPN
fcis-30629	100	28			PROPN
fcis-30629	100	29			PROPN
fcis-30629	100	30			PROPN
fcis-30629	100	31			PROPN
fcis-30629	100	32			PROPN
fcis-30629	100	33			PROPN
fcis-30629	100	34			PROPN
fcis-30629	100	35			PROPN
fcis-30629	100	36			NOUN
fcis-30629	100	37			NOUN
fcis-30629	100	38			PROPN
fcis-30629	100	39			PROPN
fcis-30629	100	40			PROPN
fcis-30629	100	41			PROPN
fcis-30629	100	42			NOUN
fcis-30629	100	43	(	(	PUNCT
fcis-30629	100	44	21	21	NUM
fcis-30629	100	45	)	)	PUNCT
fcis-30629	100	46	by	by	ADP
fcis-30629	100	47	multiplying	multiply	VERB
fcis-30629	100	48	both	both	DET
fcis-30629	100	49	sides	side	NOUN
fcis-30629	100	50	of	of	ADP
fcis-30629	100	51	the	the	DET
fcis-30629	100	52	formula	formula	NOUN
fcis-30629	100	53	(	(	PUNCT
fcis-30629	100	54	18	18	NUM
fcis-30629	100	55	)	)	PUNCT
fcis-30629	100	56	by	by	ADP
fcis-30629	100	57	1	1	NUM
fcis-30629	100	58	(	(	PUNCT
fcis-30629	100	59	)	)	PUNCT
fcis-30629	100	60	tl	tl	PROPN
fcis-30629	100	61	q	q	PROPN
fcis-30629	100	62	left	leave	VERB
fcis-30629	100	63	at	at	ADP
fcis-30629	100	64	the	the	DET
fcis-30629	100	65	same	same	ADJ
fcis-30629	100	66	time	time	NOUN
fcis-30629	100	67	,	,	PUNCT
fcis-30629	100	68	we	we	PRON
fcis-30629	100	69	get	get	VERB
fcis-30629	100	70	:	:	PUNCT
fcis-30629	100	71	ˆˆ	ˆˆ	PROPN
fcis-30629	100	72	sgn	sgn	PROPN
fcis-30629	100	73	(	(	PUNCT
fcis-30629	100	74	)	)	PUNCT
fcis-30629	100	75	-ˆt	-ˆt	NOUN
fcis-30629	101	1	t	t	PROPN
fcis-30629	101	2	t	t	PROPN
fcis-30629	101	3	t	t	PROPN
fcis-30629	101	4	t	t	PROPN
fcis-30629	101	5	t	t	PROPN
fcis-30629	101	6	t	t	PROPN
fcis-30629	101	7	l	l	NOUN
fcis-30629	102	1	c	c	NOUN
fcis-30629	103	1	d	d	X
fcis-30629	103	2	r	r	NOUN
fcis-30629	103	3	lkm	lkm	NOUN
fcis-30629	103	4	ss	ss	NOUN
fcis-30629	103	5	l	l	PROPN
fcis-30629	103	6	w	w	PROPN
fcis-30629	103	7	l	l	NOUN
fcis-30629	103	8	wh	wh	NOUN
fcis-30629	103	9	c	c	NOUN
fcis-30629	103	10	l	l	NOUN
fcis-30629	103	11	wh	wh	NOUN
fcis-30629	103	12	κ	κ	NOUN
fcis-30629	103	13	l	l	NOUN
fcis-30629	103	14	δf	δf	X
fcis-30629	103	15	l	l	NOUN
fcis-30629	103	16	l	l	NOUN
fcis-30629	104	1	lh	lh	PROPN
fcis-30629	105	1	k	k	PROPN
fcis-30629	105	2	s	s	AUX
fcis-30629	105	3	k	k	PROPN
fcis-30629	105	4	s	s	PROPN
fcis-30629	105	5	ε	ε	PROPN
fcis-30629	105	6	c	c	PROPN
fcis-30629	105	7			PROPN
fcis-30629	105	8			PROPN
fcis-30629	105	9			PROPN
fcis-30629	105	10			NOUN
fcis-30629	105	11			PROPN
fcis-30629	105	12			ADJ
fcis-30629	105	13			NOUN
fcis-30629	105	14	(	(	PUNCT
fcis-30629	105	15	22	22	NUM
fcis-30629	105	16	)	)	PUNCT
fcis-30629	105	17	theorem	theorem	NOUN
fcis-30629	105	18	:	:	PUNCT
fcis-30629	105	19	considering	consider	VERB
fcis-30629	105	20	the	the	DET
fcis-30629	105	21	constrained	constrain	VERB
fcis-30629	105	22	manipulator	manipulator	NOUN
fcis-30629	105	23	dynamics	dynamic	NOUN
fcis-30629	105	24	model	model	NOUN
fcis-30629	105	25	(	(	PUNCT
fcis-30629	105	26	4.6	4.6	NUM
fcis-30629	105	27	)	)	PUNCT
fcis-30629	105	28	and	and	CCONJ
fcis-30629	105	29	fuzzy	fuzzy	ADJ
fcis-30629	105	30	neural	neural	ADJ
fcis-30629	105	31	network	network	NOUN
fcis-30629	105	32	adaptive	adaptive	ADJ
fcis-30629	105	33	sliding	slide	VERB
fcis-30629	105	34	mode	mode	NOUN
fcis-30629	105	35	controller	controller	NOUN
fcis-30629	105	36	(	(	PUNCT
fcis-30629	105	37	4.11	4.11	NUM
fcis-30629	105	38	)	)	PUNCT
fcis-30629	105	39	and	and	CCONJ
fcis-30629	105	40	adaptive	adaptive	ADJ
fcis-30629	105	41	rate	rate	NOUN
fcis-30629	105	42	(	(	PUNCT
fcis-30629	105	43	4.12	4.12	NUM
fcis-30629	105	44	)	)	PUNCT
fcis-30629	105	45	in	in	ADP
fcis-30629	105	46	a	a	DET
fcis-30629	105	47	closed	closed	ADJ
fcis-30629	105	48	loop	loop	NOUN
fcis-30629	105	49	system	system	NOUN
fcis-30629	105	50	,	,	PUNCT
fcis-30629	105	51	if	if	SCONJ
fcis-30629	105	52	the	the	DET
fcis-30629	105	53	ideal	ideal	ADJ
fcis-30629	105	54	trajectory	trajectory	NOUN
fcis-30629	105	55	dq	dq	PROPN
fcis-30629	105	56	q	q	NOUN
fcis-30629	105	57	q	q	X
fcis-30629	105	58	λ	λ	NOUN
fcis-30629	105	59			NOUN
fcis-30629	105	60	，	，	PROPN
fcis-30629	105	61	，	，	PUNCT
fcis-30629	105	62	，	，	PUNCT
fcis-30629	105	63	converges	converge	VERB
fcis-30629	105	64	and	and	CCONJ
fcis-30629	105	65	is	be	AUX
fcis-30629	105	66	bounded	bound	VERB
fcis-30629	105	67	,	,	PUNCT
fcis-30629	105	68	the	the	DET
fcis-30629	105	69	sliding	slide	VERB
fcis-30629	105	70	mode	mode	NOUN
fcis-30629	105	71	function	function	NOUN
fcis-30629	105	72	s	s	PART
fcis-30629	105	73	converges	converge	NOUN
fcis-30629	105	74	,	,	PUNCT
fcis-30629	105	75	and	and	CCONJ
fcis-30629	105	76	the	the	DET
fcis-30629	105	77	fuzzy	fuzzy	ADJ
fcis-30629	105	78	neural	neural	ADJ
fcis-30629	105	79	network	network	NOUN
fcis-30629	105	80	estimation	estimation	NOUN
fcis-30629	105	81	error	error	NOUN
fcis-30629	105	82	is	be	AUX
fcis-30629	105	83	continuous	continuous	ADJ
fcis-30629	105	84	,	,	PUNCT
fcis-30629	105	85	if	if	SCONJ
fcis-30629	105	86	*	*	PUNCT
fcis-30629	106	1	r	r	NOUN
fcis-30629	106	2	fk	fk	INTJ
fcis-30629	106	3			NOUN
fcis-30629	106	4	is	be	AUX
fcis-30629	106	5	satisfied	satisfied	ADJ
fcis-30629	106	6	,	,	PUNCT
fcis-30629	106	7	the	the	DET
fcis-30629	106	8	system	system	NOUN
fcis-30629	106	9	can	can	AUX
fcis-30629	106	10	be	be	AUX
fcis-30629	106	11	proved	prove	VERB
fcis-30629	106	12	stable	stable	ADJ
fcis-30629	106	13	.	.	PUNCT
fcis-30629	107	1	3.2	3.2	NUM
fcis-30629	107	2	.	.	PUNCT
fcis-30629	108	1	stability	stability	NOUN
fcis-30629	108	2	analysis	analysis	NOUN
fcis-30629	108	3	of	of	ADP
fcis-30629	108	4	control	control	NOUN
fcis-30629	108	5	system	system	NOUN
fcis-30629	108	6	define	define	VERB
fcis-30629	108	7	the	the	DET
fcis-30629	108	8	lyapunov	lyapunov	ADJ
fcis-30629	108	9	function	function	NOUN
fcis-30629	108	10	as	as	ADP
fcis-30629	108	11	:	:	SYM
fcis-30629	108	12	1	1	NUM
fcis-30629	108	13	1	1	NUM
fcis-30629	108	14	1	1	NUM
fcis-30629	108	15	1	1	NUM
fcis-30629	108	16	1	1	NUM
fcis-30629	108	17	1	1	NUM
fcis-30629	108	18	1	1	NUM
fcis-30629	108	19	1	1	NUM
fcis-30629	108	20	1	1	NUM
fcis-30629	108	21	1	1	NUM
fcis-30629	108	22	1	1	NUM
fcis-30629	108	23	(	(	PUNCT
fcis-30629	108	24	)	)	PUNCT
fcis-30629	108	25	2	2	NUM
fcis-30629	108	26	2	2	NUM
fcis-30629	108	27	2	2	NUM
fcis-30629	108	28	2	2	NUM
fcis-30629	108	29	1	1	NUM
fcis-30629	108	30	1	1	NUM
fcis-30629	108	31	1	1	NUM
fcis-30629	108	32	1	1	NUM
fcis-30629	108	33	(	(	PUNCT
fcis-30629	108	34	)	)	PUNCT
fcis-30629	108	35	2	2	NUM
fcis-30629	108	36	2	2	NUM
fcis-30629	108	37	2	2	NUM
fcis-30629	108	38	2	2	NUM
fcis-30629	109	1	t	t	NOUN
fcis-30629	109	2	t	t	NOUN
fcis-30629	109	3	t	t	PROPN
fcis-30629	109	4	t	t	PROPN
fcis-30629	109	5	l	l	PROPN
fcis-30629	109	6	l	l	NOUN
fcis-30629	109	7	w	w	NOUN
fcis-30629	109	8	c	c	PROPN
fcis-30629	109	9	k	k	PROPN
fcis-30629	109	10	t	t	PROPN
fcis-30629	109	11	t	t	PROPN
fcis-30629	109	12	t	t	PROPN
fcis-30629	109	13	t	t	PROPN
fcis-30629	109	14	l	l	PROPN
fcis-30629	109	15	w	w	PROPN
fcis-30629	109	16	c	c	PROPN
fcis-30629	110	1	k	k	PROPN
fcis-30629	110	2	v	v	NOUN
fcis-30629	110	3	s	s	PART
fcis-30629	110	4	m	m	NOUN
fcis-30629	110	5	s	s	PART
fcis-30629	110	6	tr	tr	NOUN
fcis-30629	110	7	w	w	PROPN
fcis-30629	110	8	w	w	NOUN
fcis-30629	110	9	c	c	PROPN
fcis-30629	110	10	c	c	PROPN
fcis-30629	111	1	k	k	PROPN
fcis-30629	111	2	k	k	PROPN
fcis-30629	111	3	s	s	VERB
fcis-30629	111	4	m	m	VERB
fcis-30629	111	5	s	s	PART
fcis-30629	111	6	tr	tr	NOUN
fcis-30629	111	7	w	w	PROPN
fcis-30629	111	8	w	w	NOUN
fcis-30629	111	9	c	c	PROPN
fcis-30629	111	10	c	c	PROPN
fcis-30629	112	1	k	k	PROPN
fcis-30629	112	2	k	k	PROPN
fcis-30629	112	3			PROPN
fcis-30629	112	4			PROPN
fcis-30629	112	5			PROPN
fcis-30629	112	6			PROPN
fcis-30629	112	7			PROPN
fcis-30629	112	8			PROPN
fcis-30629	112	9			PROPN
fcis-30629	112	10			PROPN
fcis-30629	112	11			PUNCT
fcis-30629	112	12			PROPN
fcis-30629	112	13			PROPN
fcis-30629	112	14			PROPN
fcis-30629	112	15			VERB
fcis-30629	112	16			PUNCT
fcis-30629	112	17			X
fcis-30629	112	18			PROPN
fcis-30629	112	19			PROPN
fcis-30629	112	20			PROPN
fcis-30629	112	21			PROPN
fcis-30629	112	22			PROPN
fcis-30629	112	23			PROPN
fcis-30629	112	24			PROPN
fcis-30629	112	25			PROPN
fcis-30629	112	26			NOUN
fcis-30629	113	1			VERB
fcis-30629	113	2			VERB
fcis-30629	113	3			VERB
fcis-30629	113	4			VERB
fcis-30629	113	5			VERB
fcis-30629	113	6			VERB
fcis-30629	113	7	(	(	PUNCT
fcis-30629	113	8	23	23	NUM
fcis-30629	113	9	)	)	PUNCT
fcis-30629	113	10	derivation	derivation	NOUN
fcis-30629	113	11	of	of	ADP
fcis-30629	113	12	formula	formula	NOUN
fcis-30629	113	13	(	(	PUNCT
fcis-30629	113	14	20	20	NUM
fcis-30629	113	15	)	)	PUNCT
fcis-30629	113	16	is	be	AUX
fcis-30629	113	17	obtained	obtain	VERB
fcis-30629	113	18	this	this	DET
fcis-30629	113	19	shows	show	VERB
fcis-30629	113	20	that	that	SCONJ
fcis-30629	113	21	the	the	DET
fcis-30629	113	22	closed	closed	ADJ
fcis-30629	113	23	-	-	PUNCT
fcis-30629	113	24	loop	loop	NOUN
fcis-30629	113	25	system	system	NOUN
fcis-30629	113	26	is	be	AUX
fcis-30629	113	27	stable	stable	ADJ
fcis-30629	113	28	.	.	PUNCT
fcis-30629	114	1	4	4	X
fcis-30629	114	2	.	.	X
fcis-30629	114	3	simulation	simulation	NOUN
fcis-30629	114	4	analysis	analysis	NOUN
fcis-30629	114	5	4.1	4.1	NUM
fcis-30629	114	6	.	.	PUNCT
fcis-30629	114	7	simulation	simulation	NOUN
fcis-30629	114	8	parameter	parameter	NOUN
fcis-30629	114	9	setting	set	VERB
fcis-30629	114	10	in	in	ADP
fcis-30629	114	11	order	order	NOUN
fcis-30629	114	12	to	to	PART
fcis-30629	114	13	verify	verify	VERB
fcis-30629	114	14	the	the	DET
fcis-30629	114	15	effectiveness	effectiveness	NOUN
fcis-30629	114	16	of	of	ADP
fcis-30629	114	17	the	the	DET
fcis-30629	114	18	design	design	NOUN
fcis-30629	114	19	method	method	NOUN
fcis-30629	114	20	,	,	PUNCT
fcis-30629	114	21	a	a	DET
fcis-30629	114	22	double	double	ADJ
fcis-30629	114	23	-	-	PUNCT
fcis-30629	114	24	joint	joint	ADJ
fcis-30629	114	25	robotic	robotic	ADJ
fcis-30629	114	26	arm	arm	NOUN
fcis-30629	114	27	is	be	AUX
fcis-30629	114	28	selected	select	VERB
fcis-30629	114	29	for	for	ADP
fcis-30629	114	30	simulation	simulation	NOUN
fcis-30629	114	31	,	,	PUNCT
fcis-30629	114	32	and	and	CCONJ
fcis-30629	114	33	the	the	DET
fcis-30629	114	34	dynamic	dynamic	ADJ
fcis-30629	114	35	equation	equation	NOUN
fcis-30629	114	36	is	be	AUX
fcis-30629	114	37	as	as	SCONJ
fcis-30629	114	38	follows	follow	VERB
fcis-30629	114	39	:	:	PUNCT
fcis-30629	114	40			NOUN
fcis-30629	115	1			SYM
fcis-30629	115	2			NOUN
fcis-30629	115	3			NOUN
fcis-30629	115	4	1	1	NUM
fcis-30629	115	5	1	1	NUM
fcis-30629	115	6	1	1	NUM
fcis-30629	115	7	1	1	NUM
fcis-30629	115	8	1	1	NUM
fcis-30629	115	9	1	1	NUM
fcis-30629	115	10	1	1	NUM
fcis-30629	115	11	1	1	NUM
fcis-30629	115	12	1	1	NUM
fcis-30629	115	13	1	1	NUM
fcis-30629	115	14	1	1	NUM
fcis-30629	115	15	γ	γ	PROPN
fcis-30629	115	16	γ	γ	X
fcis-30629	115	17	γ	γ	X
fcis-30629	115	18	2	2	NUM
fcis-30629	115	19	1	1	NUM
fcis-30629	115	20	γ	γ	PROPN
fcis-30629	115	21	γ	γ	X
fcis-30629	115	22	γ	γ	X
fcis-30629	115	23	2	2	NUM
fcis-30629	115	24	ˆ	ˆ	NOUN
fcis-30629	115	25	ˆ	ˆ	NOUN
fcis-30629	115	26	γ	γ	PROPN
fcis-30629	115	27	γ	γ	X
fcis-30629	115	28	sgn	sgn	NOUN
fcis-30629	115	29	ˆ	ˆ	PROPN
fcis-30629	115	30	(	(	PUNCT
fcis-30629	115	31	sgn	sgn	NOUN
fcis-30629	115	32	(	(	PUNCT
fcis-30629	115	33	)	)	PUNCT
fcis-30629	115	34	)	)	PUNCT
fcis-30629	115	35	(	(	PUNCT
fcis-30629	115	36	)	)	PUNCT
fcis-30629	115	37	(	(	PUNCT
fcis-30629	115	38	t	t	PROPN
fcis-30629	115	39	t	t	PROPN
fcis-30629	115	40	t	t	PROPN
fcis-30629	115	41	t	t	PROPN
fcis-30629	115	42	t	t	PROPN
fcis-30629	115	43	l	l	PROPN
fcis-30629	115	44	l	l	NOUN
fcis-30629	115	45	w	w	PROPN
fcis-30629	115	46	c	c	PROPN
fcis-30629	115	47	t	t	PROPN
fcis-30629	115	48	t	t	PROPN
fcis-30629	115	49	t	t	PROPN
fcis-30629	115	50	t	t	PROPN
fcis-30629	115	51	t	t	PROPN
fcis-30629	115	52	t	t	PROPN
fcis-30629	115	53	t	t	PROPN
fcis-30629	115	54	w	w	PROPN
fcis-30629	115	55	c	c	PROPN
fcis-30629	115	56	t	t	PROPN
fcis-30629	115	57	t	t	NOUN
fcis-30629	115	58	c	c	PROPN
fcis-30629	115	59	x	x	SYM
fcis-30629	116	1	t	t	NOUN
fcis-30629	116	2	t	t	PROPN
fcis-30629	116	3	c	c	PROPN
fcis-30629	116	4	t	t	PROPN
fcis-30629	116	5	t	t	X
fcis-30629	117	1	d	d	X
fcis-30629	117	2	r	r	NOUN
fcis-30629	117	3	d	d	NOUN
fcis-30629	117	4	r	r	NOUN
fcis-30629	117	5	lh	lh	PROPN
fcis-30629	118	1	k	k	PROPN
fcis-30629	118	2	s	s	PROPN
fcis-30629	118	3	k	k	PROPN
fcis-30629	118	4	s	s	X
fcis-30629	118	5	c	c	NOUN
fcis-30629	118	6	v	v	NOUN
fcis-30629	118	7	s	s	NOUN
fcis-30629	118	8	m	m	NOUN
fcis-30629	118	9	s	s	NOUN
fcis-30629	118	10	s	s	NOUN
fcis-30629	118	11	m	m	NOUN
fcis-30629	118	12	s	s	PART
fcis-30629	118	13	tr	tr	NOUN
fcis-30629	118	14	w	w	PROPN
fcis-30629	118	15	w	w	NOUN
fcis-30629	118	16	c	c	NOUN
fcis-30629	118	17	c	c	NOUN
fcis-30629	118	18	s	s	PROPN
fcis-30629	118	19	l	l	NOUN
fcis-30629	118	20	m	m	NOUN
fcis-30629	118	21	s	s	NOUN
fcis-30629	118	22	s	s	NOUN
fcis-30629	118	23	l	l	NOUN
fcis-30629	118	24	m	m	VERB
fcis-30629	118	25	s	s	PART
fcis-30629	118	26	tr	tr	NOUN
fcis-30629	118	27	w	w	PROPN
fcis-30629	118	28	w	w	NOUN
fcis-30629	118	29	c	c	NOUN
fcis-30629	119	1	c	c	NOUN
fcis-30629	119	2	s	s	PROPN
fcis-30629	119	3	l	l	NOUN
fcis-30629	119	4	w	w	NOUN
fcis-30629	119	5	wh	wh	NOUN
fcis-30629	119	6	c	c	NOUN
fcis-30629	119	7	wh	wh	NOUN
fcis-30629	119	8	f	f	PROPN
fcis-30629	119	9	d	d	NOUN
fcis-30629	119	10	c	c	PROPN
fcis-30629	119	11	c	c	NOUN
fcis-30629	119	12	s	s	PROPN
fcis-30629	119	13	l	l	NOUN
fcis-30629	120	1	k	k	PROPN
fcis-30629	120	2	s	s	X
fcis-30629	120	3	s	s	X
fcis-30629	120	4	k	k	PROPN
fcis-30629	120	5	s	s	PROPN
fcis-30629	120	6			PROPN
fcis-30629	120	7			PROPN
fcis-30629	120	8			PROPN
fcis-30629	120	9			PROPN
fcis-30629	120	10			PROPN
fcis-30629	120	11			PROPN
fcis-30629	120	12			PROPN
fcis-30629	120	13			PROPN
fcis-30629	120	14			PROPN
fcis-30629	120	15			PROPN
fcis-30629	120	16			PUNCT
fcis-30629	120	17			VERB
fcis-30629	120	18			PROPN
fcis-30629	120	19			PROPN
fcis-30629	120	20			PROPN
fcis-30629	120	21			PUNCT
fcis-30629	120	22			VERB
fcis-30629	120	23			PUNCT
fcis-30629	120	24			PROPN
fcis-30629	120	25			PROPN
fcis-30629	120	26			PROPN
fcis-30629	120	27			PROPN
fcis-30629	120	28			PROPN
fcis-30629	120	29			PROPN
fcis-30629	120	30			VERB
fcis-30629	120	31			PUNCT
fcis-30629	120	32			PROPN
fcis-30629	120	33			PROPN
fcis-30629	120	34			PROPN
fcis-30629	120	35			PROPN
fcis-30629	120	36			PROPN
fcis-30629	120	37			NOUN
fcis-30629	120	38			NOUN
fcis-30629	120	39			NOUN
fcis-30629	120	40			NOUN
fcis-30629	120	41			X
fcis-30629	120	42			X
fcis-30629	120	43			PROPN
fcis-30629	120	44			ADJ
fcis-30629	120	45			PROPN
fcis-30629	120	46			PROPN
fcis-30629	120	47			NOUN
fcis-30629	120	48			X
fcis-30629	120	49			X
fcis-30629	120	50			PROPN
fcis-30629	120	51			PROPN
fcis-30629	120	52			PROPN
fcis-30629	120	53			PROPN
fcis-30629	120	54			NOUN
fcis-30629	120	55			NOUN
fcis-30629	120	56			NOUN
fcis-30629	120	57			NOUN
fcis-30629	120	58			NOUN
fcis-30629	120	59			NOUN
fcis-30629	120	60			PROPN
fcis-30629	120	61			PROPN
fcis-30629	120	62			NOUN
fcis-30629	120	63			VERB
fcis-30629	120	64			X
fcis-30629	120	65			X
fcis-30629	120	66			X
fcis-30629	120	67			X
fcis-30629	120	68			X
fcis-30629	120	69			X
fcis-30629	120	70			X
fcis-30629	120	71			X
fcis-30629	120	72			PUNCT
fcis-30629	120	73			PROPN
fcis-30629	120	74			NOUN
fcis-30629	120	75			SYM
fcis-30629	120	76			NOUN
fcis-30629	120	77			PUNCT
fcis-30629	120	78	1	1	NUM
fcis-30629	120	79	1	1	NUM
fcis-30629	120	80	*	*	SYM
fcis-30629	120	81	1	1	NUM
fcis-30629	120	82	(	(	PUNCT
fcis-30629	120	83	sgn	sgn	NOUN
fcis-30629	120	84	(	(	PUNCT
fcis-30629	120	85	)	)	PUNCT
fcis-30629	120	86	)	)	PUNCT
fcis-30629	120	87	(	(	PUNCT
fcis-30629	120	88	sgn	sgn	NOUN
fcis-30629	120	89	(	(	PUNCT
fcis-30629	120	90	)	)	PUNCT
fcis-30629	120	91	)	)	PUNCT
fcis-30629	120	92	sgn	sgn	NOUN
fcis-30629	120	93	(	(	PUNCT
fcis-30629	120	94	)	)	PUNCT
fcis-30629	120	95	+	+	X
fcis-30629	120	96	)	)	PUNCT
fcis-30629	120	97	sgn	sgn	NOUN
fcis-30629	120	98	(	(	PUNCT
fcis-30629	120	99	)	)	PUNCT
fcis-30629	120	100	+	+	NUM
fcis-30629	120	101	ˆ	ˆ	NUM
fcis-30629	120	102	ˆ	ˆ	NOUN
fcis-30629	120	103	ˆ	ˆ	NOUN
fcis-30629	120	104	ˆ	ˆ	ADP
fcis-30629	120	105	δ	δ	NOUN
fcis-30629	120	106	)	)	PUNCT
fcis-30629	120	107	γ	γ	PROPN
fcis-30629	120	108	ˆ	ˆ	ADP
fcis-30629	120	109	ˆ	ˆ	NOUN
fcis-30629	120	110	γ	γ	NOUN
fcis-30629	121	1	|	|	ADV
fcis-30629	122	1	|	|	ADV
fcis-30629	122	2	tt	tt	PROPN
fcis-30629	123	1	t	t	PROPN
fcis-30629	123	2	t	t	PROPN
fcis-30629	123	3	t	t	PROPN
fcis-30629	123	4	t	t	PROPN
fcis-30629	123	5	c	c	PROPN
fcis-30629	123	6	k	k	PROPN
fcis-30629	123	7	t	t	PROPN
fcis-30629	124	1	d	d	NOUN
fcis-30629	124	2	r	r	NOUN
fcis-30629	124	3	t	t	PROPN
fcis-30629	124	4	d	d	NOUN
fcis-30629	124	5	r	r	NOUN
fcis-30629	124	6	t	t	NOUN
fcis-30629	124	7	t	t	NOUN
fcis-30629	124	8	d	d	NOUN
fcis-30629	124	9	r	r	NOUN
fcis-30629	124	10	t	t	PROPN
fcis-30629	124	11	t	t	NOUN
fcis-30629	124	12	t	t	NOUN
fcis-30629	124	13	d	d	NOUN
fcis-30629	124	14	r	r	NOUN
fcis-30629	124	15	t	t	PROPN
fcis-30629	124	16	c	c	PROPN
fcis-30629	124	17	w	w	PROPN
fcis-30629	124	18	t	t	PROPN
fcis-30629	124	19	t	t	PROPN
fcis-30629	124	20	t	t	PROPN
fcis-30629	124	21	t	t	PROPN
fcis-30629	124	22	w	w	PROPN
fcis-30629	124	23	t	t	PROPN
fcis-30629	124	24	n	n	ADP
fcis-30629	125	1	t	t	PROPN
fcis-30629	125	2	t	t	NOUN
fcis-30629	125	3	t	t	NOUN
fcis-30629	126	1	i	i	PRON
fcis-30629	127	1	i	i	PRON
fcis-30629	127	2	t	t	X
fcis-30629	128	1	t	t	X
fcis-30629	128	2	t	t	PROPN
fcis-30629	128	3	c	c	NOUN
fcis-30629	128	4	h	h	PROPN
fcis-30629	128	5	s	s	PART
fcis-30629	128	6	k	k	NOUN
fcis-30629	128	7	h	h	PROPN
fcis-30629	128	8	s	s	PART
fcis-30629	128	9	s	s	X
fcis-30629	128	10	k	k	PROPN
fcis-30629	128	11	s	s	X
fcis-30629	128	12	k	k	PROPN
fcis-30629	128	13	s	s	X
fcis-30629	128	14	f	f	X
fcis-30629	128	15	d	d	X
fcis-30629	128	16	s	s	PROPN
fcis-30629	128	17	k	k	PROPN
fcis-30629	128	18	s	s	X
fcis-30629	128	19	k	k	PROPN
fcis-30629	128	20	s	s	X
fcis-30629	128	21	f	f	X
fcis-30629	128	22	d	d	X
fcis-30629	128	23	s	s	PROPN
fcis-30629	128	24	k	k	PROPN
fcis-30629	128	25	s	s	X
fcis-30629	128	26	s	s	X
fcis-30629	128	27	k	k	PROPN
fcis-30629	128	28	s	s	X
fcis-30629	128	29	f	f	X
fcis-30629	128	30	s	s	X
fcis-30629	128	31	k	k	PROPN
fcis-30629	128	32	s	s	X
fcis-30629	128	33	s	s	X
fcis-30629	128	34	k	k	PROPN
fcis-30629	128	35	s	s	X
fcis-30629	128	36	s	s	X
fcis-30629	128	37	f	f	X
fcis-30629	128	38	w	w	NOUN
fcis-30629	128	39	wh	wh	NOUN
fcis-30629	128	40	c	c	NOUN
fcis-30629	128	41	wh	wh	VERB
fcis-30629	129	1	k	k	PROPN
fcis-30629	130	1	d	d	X
fcis-30629	130	2	f	f	X
fcis-30629	130	3	tr	tr	PROPN
fcis-30629	130	4	w	w	PROPN
fcis-30629	130	5	w	w	PROPN
fcis-30629	130	6	w	w	PROPN
fcis-30629	130	7	l	l	PROPN
fcis-30629	130	8	w	w	PROPN
fcis-30629	130	9	l	l	PROPN
fcis-30629	130	10	l	l	NOUN
fcis-30629	130	11	tr	tr	NOUN
fcis-30629	130	12	w	w	PROPN
fcis-30629	130	13	w	w	PROPN
fcis-30629	130	14	s	s	PROPN
fcis-30629	130	15	l	l	NOUN
fcis-30629	130	16	w	w	PROPN
fcis-30629	130	17	l	l	PROPN
fcis-30629	130	18	l	l	NOUN
fcis-30629	130	19	h	h	NOUN
fcis-30629	130	20	l	l	NOUN
fcis-30629	130	21	h	h	NOUN
fcis-30629	130	22	l	l	NOUN
fcis-30629	130	23	l	l	NOUN
fcis-30629	130	24	s	s	PART
fcis-30629	130	25	l	l	NOUN
fcis-30629	130	26	l	l	X
fcis-30629	130	27			PROPN
fcis-30629	130	28			PROPN
fcis-30629	130	29			PROPN
fcis-30629	130	30			PUNCT
fcis-30629	130	31			PUNCT
fcis-30629	130	32			PROPN
fcis-30629	130	33			PROPN
fcis-30629	130	34			PROPN
fcis-30629	130	35			PUNCT
fcis-30629	130	36			PROPN
fcis-30629	130	37			PROPN
fcis-30629	130	38			PROPN
fcis-30629	130	39			PROPN
fcis-30629	130	40			NOUN
fcis-30629	130	41			VERB
fcis-30629	130	42			NOUN
fcis-30629	130	43			PROPN
fcis-30629	130	44			PROPN
fcis-30629	130	45			NOUN
fcis-30629	130	46			PROPN
fcis-30629	130	47			PROPN
fcis-30629	130	48			PROPN
fcis-30629	130	49			PUNCT
fcis-30629	130	50			PROPN
fcis-30629	130	51			PROPN
fcis-30629	130	52			PROPN
fcis-30629	130	53			PROPN
fcis-30629	130	54			VERB
fcis-30629	130	55			PROPN
fcis-30629	130	56			PROPN
fcis-30629	130	57			ADJ
fcis-30629	130	58			X
fcis-30629	130	59			X
fcis-30629	130	60			X
fcis-30629	130	61			PROPN
fcis-30629	130	62			PROPN
fcis-30629	130	63			PROPN
fcis-30629	130	64			ADJ
fcis-30629	130	65			NOUN
fcis-30629	130	66			PROPN
fcis-30629	130	67			NOUN
fcis-30629	130	68			NOUN
fcis-30629	130	69			NOUN
fcis-30629	130	70			NOUN
fcis-30629	130	71			VERB
fcis-30629	130	72	*	*	PUNCT
fcis-30629	130	73	*	*	PUNCT
fcis-30629	130	74	)	)	PUNCT
fcis-30629	130	75	0	0	NUM
fcis-30629	130	76	sgn	sgn	NOUN
fcis-30629	130	77	(	(	PUNCT
fcis-30629	130	78	)	)	PUNCT
fcis-30629	130	79	(	(	PUNCT
fcis-30629	130	80	)	)	PUNCT
fcis-30629	130	81	sgn	sgn	NOUN
fcis-30629	130	82	(	(	PUNCT
fcis-30629	130	83	)	)	PUNCT
fcis-30629	130	84	t	t	NOUN
fcis-30629	130	85	t	t	PROPN
fcis-30629	130	86	d	d	X
fcis-30629	130	87	t	t	PROPN
fcis-30629	130	88	t	t	NOUN
fcis-30629	130	89	rs	rs	NOUN
fcis-30629	131	1	k	k	PROPN
fcis-30629	131	2	s	s	PROPN
fcis-30629	131	3	s	s	X
fcis-30629	131	4	f	f	X
fcis-30629	131	5	s	s	PROPN
fcis-30629	131	6	l	l	NOUN
fcis-30629	131	7	l	l	NOUN
fcis-30629	131	8	k	k	X
fcis-30629	132	1	s	s	ADJ
fcis-30629	132	2			PROPN
fcis-30629	132	3			NOUN
fcis-30629	132	4			NOUN
fcis-30629	132	5			NOUN
fcis-30629	132	6			NOUN
fcis-30629	132	7	(	(	PUNCT
fcis-30629	132	8	24	24	NUM
fcis-30629	132	9	)	)	PUNCT
fcis-30629	132	10	175	175	NUM
fcis-30629	132	11	(	(	PUNCT
fcis-30629	132	12	)	)	PUNCT
fcis-30629	132	13	(	(	PUNCT
fcis-30629	132	14	,	,	PUNCT
fcis-30629	132	15	)	)	PUNCT
fcis-30629	132	16	(	(	PUNCT
fcis-30629	132	17	)	)	PUNCT
fcis-30629	132	18	(	(	PUNCT
fcis-30629	132	19	,	,	PUNCT
fcis-30629	132	20	)	)	PUNCT
fcis-30629	132	21	fm	fm	PROPN
fcis-30629	133	1	q	q	NOUN
fcis-30629	133	2	q	q	X
fcis-30629	133	3	c	c	X
fcis-30629	133	4	q	q	NOUN
fcis-30629	133	5	q	q	X
fcis-30629	133	6	q	q	X
fcis-30629	133	7	g	g	PROPN
fcis-30629	133	8	q	q	PROPN
fcis-30629	133	9	f	f	X
fcis-30629	133	10	q	q	NOUN
fcis-30629	133	11	q	q	PROPN
fcis-30629	134	1	d	d	X
fcis-30629	134	2	τ	τ	X
fcis-30629	134	3	τ	τ	PROPN
fcis-30629	134	4			ADV
fcis-30629	134	5			PROPN
fcis-30629	134	6			PUNCT
fcis-30629	134	7			PUNCT
fcis-30629	134	8			PROPN
fcis-30629	134	9			ADJ
fcis-30629	134	10			NOUN
fcis-30629	134	11			NOUN
fcis-30629	134	12	(	(	PUNCT
fcis-30629	134	13	25	25	NUM
fcis-30629	134	14	)	)	PUNCT
fcis-30629	134	15	therein	therein	ADV
fcis-30629	134	16	,	,	PUNCT
fcis-30629	134	17	2	2	NUM
fcis-30629	134	18	2	2	NUM
fcis-30629	134	19	2	2	NUM
fcis-30629	134	20	2	2	NUM
fcis-30629	134	21	2	2	NUM
fcis-30629	134	22	1	1	NUM
fcis-30629	134	23	2	2	NUM
fcis-30629	134	24	2	2	NUM
fcis-30629	134	25	2	2	NUM
fcis-30629	134	26	1	1	NUM
fcis-30629	134	27	1	1	NUM
fcis-30629	134	28	2	2	NUM
fcis-30629	134	29	2	2	NUM
fcis-30629	134	30	2	2	NUM
fcis-30629	134	31	1	1	NUM
fcis-30629	134	32	2	2	NUM
fcis-30629	134	33	2	2	NUM
fcis-30629	134	34	2	2	NUM
fcis-30629	134	35	0	0	NUM
fcis-30629	134	36	2	2	NUM
fcis-30629	134	37	2	2	NUM
fcis-30629	134	38	2	2	NUM
fcis-30629	134	39	2	2	NUM
fcis-30629	134	40	1	1	NUM
fcis-30629	134	41	2	2	NUM
fcis-30629	134	42	2	2	NUM
fcis-30629	134	43	2	2	NUM
fcis-30629	134	44	2	2	NUM
fcis-30629	134	45	2	2	NUM
fcis-30629	134	46	2	2	NUM
fcis-30629	134	47	2	2	NUM
fcis-30629	134	48	2	2	NUM
fcis-30629	134	49	2	2	NUM
fcis-30629	134	50	1	1	NUM
fcis-30629	134	51	2	2	NUM
fcis-30629	134	52	2	2	NUM
fcis-30629	134	53	1	1	NUM
fcis-30629	134	54	2	2	NUM
fcis-30629	134	55	0	0	NUM
fcis-30629	134	56	1	1	NUM
fcis-30629	134	57	2	2	NUM
fcis-30629	134	58	2	2	NUM
fcis-30629	134	59	1	1	NUM
fcis-30629	134	60	2	2	NUM
fcis-30629	134	61	2	2	NUM
fcis-30629	134	62	2	2	NUM
fcis-30629	134	63	12	12	NUM
fcis-30629	134	64	1	1	NUM
fcis-30629	134	65	2	2	NUM
fcis-30629	134	66	1	1	NUM
fcis-30629	134	67	1	1	NUM
fcis-30629	134	68	0	0	NUM
fcis-30629	134	69	2	2	NUM
fcis-30629	134	70	2	2	NUM
fcis-30629	134	71	12	12	NUM
fcis-30629	134	72	1	1	NUM
fcis-30629	134	73	1	1	NUM
fcis-30629	134	74	2	2	NUM
fcis-30629	134	75	1	1	NUM
fcis-30629	134	76	2	2	NUM
fcis-30629	134	77	(	(	PUNCT
fcis-30629	134	78	)	)	PUNCT
fcis-30629	134	79	(	(	PUNCT
fcis-30629	134	80	)	)	PUNCT
fcis-30629	134	81	1	1	NUM
fcis-30629	134	82	2	2	NUM
fcis-30629	134	83	(	(	PUNCT
fcis-30629	134	84	,	,	PUNCT
fcis-30629	134	85	)	)	PUNCT
fcis-30629	134	86	1	1	NUM
fcis-30629	134	87	0	0	NUM
fcis-30629	134	88	2	2	NUM
fcis-30629	134	89	(	(	PUNCT
fcis-30629	134	90	)	)	PUNCT
fcis-30629	134	91	(	(	PUNCT
fcis-30629	134	92	)	)	PUNCT
fcis-30629	134	93	sin	sin	NOUN
fcis-30629	134	94	(	(	PUNCT
fcis-30629	134	95	)	)	PUNCT
fcis-30629	134	96	sin	sin	NOUN
fcis-30629	134	97	(	(	PUNCT
fcis-30629	134	98	(	(	PUNCT
fcis-30629	134	99	)	)	PUNCT
fcis-30629	134	100	t	t	NOUN
fcis-30629	134	101	l	l	NOUN
fcis-30629	134	102	m	m	VERB
fcis-30629	134	103	l	l	NOUN
fcis-30629	134	104	l	l	NOUN
fcis-30629	134	105	m	m	NOUN
fcis-30629	134	106	c	c	NOUN
fcis-30629	134	107	l	l	NOUN
fcis-30629	134	108	m	m	VERB
fcis-30629	134	109	m	m	VERB
fcis-30629	134	110	l	l	NOUN
fcis-30629	134	111	m	m	VERB
fcis-30629	134	112	l	l	NOUN
fcis-30629	134	113	l	l	NOUN
fcis-30629	134	114	m	m	VERB
fcis-30629	134	115	c	c	NOUN
fcis-30629	134	116	m	m	NOUN
fcis-30629	134	117	q	q	X
fcis-30629	134	118	l	l	NOUN
fcis-30629	134	119	m	m	VERB
fcis-30629	134	120	l	l	NOUN
fcis-30629	134	121	l	l	NOUN
fcis-30629	134	122	m	m	NOUN
fcis-30629	134	123	c	c	NOUN
fcis-30629	134	124	l	l	NOUN
fcis-30629	134	125	m	m	VERB
fcis-30629	134	126	m	m	VERB
fcis-30629	134	127	l	l	NOUN
fcis-30629	134	128	s	s	X
fcis-30629	134	129	q	q	X
fcis-30629	134	130	l	l	NOUN
fcis-30629	134	131	l	l	X
fcis-30629	134	132	m	m	NOUN
fcis-30629	134	133	s	s	X
fcis-30629	134	134	q	q	X
fcis-30629	134	135	c	c	X
fcis-30629	134	136	q	q	NOUN
fcis-30629	134	137	q	q	PROPN
fcis-30629	134	138	l	l	NOUN
fcis-30629	134	139	l	l	X
fcis-30629	134	140	m	m	NOUN
fcis-30629	134	141	s	s	X
fcis-30629	134	142	q	q	NOUN
fcis-30629	134	143	m	m	PROPN
fcis-30629	134	144	l	l	NOUN
fcis-30629	134	145	gc	gc	PROPN
fcis-30629	134	146	m	m	PROPN
fcis-30629	134	147	m	m	PROPN
fcis-30629	134	148	l	l	NOUN
fcis-30629	134	149	gc	gc	PROPN
fcis-30629	134	150	g	g	PROPN
fcis-30629	134	151	q	q	PROPN
fcis-30629	134	152	m	m	PROPN
fcis-30629	134	153	l	l	NOUN
fcis-30629	134	154	gc	gc	PROPN
fcis-30629	134	155	l	l	NOUN
fcis-30629	134	156	q	q	X
fcis-30629	134	157	l	l	NOUN
fcis-30629	134	158	q	q	X
fcis-30629	134	159	q	q	X
fcis-30629	134	160	j	j	PROPN
fcis-30629	134	161	q	q	X
fcis-30629	134	162			PROPN
fcis-30629	134	163			PROPN
fcis-30629	134	164			PUNCT
fcis-30629	134	165			PROPN
fcis-30629	134	166			PROPN
fcis-30629	134	167			ADJ
fcis-30629	134	168			PROPN
fcis-30629	134	169			PROPN
fcis-30629	134	170			PROPN
fcis-30629	134	171			PROPN
fcis-30629	134	172			VERB
fcis-30629	134	173			PUNCT
fcis-30629	135	1			PROPN
fcis-30629	135	2			NUM
fcis-30629	135	3			NOUN
fcis-30629	135	4			NOUN
fcis-30629	136	1			NOUN
fcis-30629	136	2			AUX
fcis-30629	136	3			PROPN
fcis-30629	136	4			PROPN
fcis-30629	136	5			ADJ
fcis-30629	136	6			NOUN
fcis-30629	136	7			PROPN
fcis-30629	136	8			NOUN
fcis-30629	136	9			NOUN
fcis-30629	136	10			NOUN
fcis-30629	136	11			NOUN
fcis-30629	136	12			NOUN
fcis-30629	136	13			PROPN
fcis-30629	136	14			PROPN
fcis-30629	136	15			PROPN
fcis-30629	136	16			ADJ
fcis-30629	136	17			NOUN
fcis-30629	136	18			NOUN
fcis-30629	136	19			VERB
fcis-30629	136	20			PROPN
fcis-30629	136	21			PROPN
fcis-30629	136	22			PART
fcis-30629	137	1			PRON
fcis-30629	137	2			PROPN
fcis-30629	137	3			ADJ
fcis-30629	137	4			NOUN
fcis-30629	137	5			NOUN
fcis-30629	137	6			NOUN
fcis-30629	137	7			NOUN
fcis-30629	137	8	2	2	NUM
fcis-30629	137	9	2	2	NUM
fcis-30629	137	10	1	1	NUM
fcis-30629	137	11	2	2	NUM
fcis-30629	137	12	)	)	PUNCT
fcis-30629	137	13	sin	sin	NOUN
fcis-30629	137	14	(	(	PUNCT
fcis-30629	137	15	)	)	PUNCT
fcis-30629	137	16	3sin(4	3sin(4	NUM
fcis-30629	137	17	)	)	PUNCT
fcis-30629	138	1	[	[	PUNCT
fcis-30629	138	2	]	]	X
fcis-30629	138	3	2sin(5	2sin(5	NUM
fcis-30629	138	4	)	)	PUNCT
fcis-30629	139	1	l	l	NOUN
fcis-30629	139	2	q	q	X
fcis-30629	139	3	q	q	X
fcis-30629	139	4	t	t	PROPN
fcis-30629	139	5	d	d	PROPN
fcis-30629	139	6	t	t	PROPN
fcis-30629	139	7			PROPN
fcis-30629	139	8			ADJ
fcis-30629	139	9			NOUN
fcis-30629	139	10			PROPN
fcis-30629	139	11			PROPN
fcis-30629	139	12			PROPN
fcis-30629	139	13			PROPN
fcis-30629	139	14			PROPN
fcis-30629	139	15			PROPN
fcis-30629	139	16	among	among	ADP
fcis-30629	139	17	them	they	PRON
fcis-30629	139	18	,	,	PUNCT
fcis-30629	139	19	the	the	DET
fcis-30629	139	20	simulation	simulation	NOUN
fcis-30629	139	21	expected	expect	VERB
fcis-30629	139	22	value	value	NOUN
fcis-30629	139	23	is	be	AUX
fcis-30629	139	24	set	set	VERB
fcis-30629	139	25	to	to	ADP
fcis-30629	139	26	1	1	NUM
fcis-30629	139	27	sin	sin	NOUN
fcis-30629	139	28	(	(	PUNCT
fcis-30629	139	29	)	)	PUNCT
fcis-30629	139	30	,	,	PUNCT
fcis-30629	139	31	10sin	10sin	PROPN
fcis-30629	139	32	(	(	PUNCT
fcis-30629	139	33	)	)	PUNCT
fcis-30629	139	34	dqd	dqd	NOUN
fcis-30629	139	35	t	t	NOUN
fcis-30629	140	1	λ	λ	INTJ
fcis-30629	140	2	t	t	PROPN
fcis-30629	140	3			PROPN
fcis-30629	140	4	,	,	PUNCT
fcis-30629	140	5	the	the	DET
fcis-30629	140	6	initial	initial	ADJ
fcis-30629	140	7	state	state	NOUN
fcis-30629	140	8	is	be	AUX
fcis-30629	140	9	[	[	X
fcis-30629	140	10	0,0	0,0	NOUN
fcis-30629	140	11	]	]	PUNCT
fcis-30629	140	12	,	,	PUNCT
fcis-30629	140	13	the	the	DET
fcis-30629	140	14	length	length	NOUN
fcis-30629	140	15	of	of	ADP
fcis-30629	140	16	the	the	DET
fcis-30629	140	17	mechanical	mechanical	ADJ
fcis-30629	140	18	arm	arm	NOUN
fcis-30629	140	19	connecting	connect	VERB
fcis-30629	140	20	rod	rod	NOUN
fcis-30629	140	21	is	be	AUX
fcis-30629	140	22	1	1	NUM
fcis-30629	140	23	21	21	NUM
fcis-30629	140	24	1l	1l	NUM
fcis-30629	140	25	m	m	VERB
fcis-30629	140	26	l	l	NOUN
fcis-30629	140	27	m	m	NOUN
fcis-30629	140	28			ADJ
fcis-30629	140	29	，	，	PUNCT
fcis-30629	140	30	,	,	PUNCT
fcis-30629	140	31	the	the	DET
fcis-30629	140	32	mass	mass	NOUN
fcis-30629	140	33	is	be	AUX
fcis-30629	140	34	1	1	NUM
fcis-30629	140	35	21	21	NUM
fcis-30629	140	36	1	1	NUM
fcis-30629	140	37	m	m	NOUN
fcis-30629	140	38	kg	kg	VERB
fcis-30629	140	39	m	m	VERB
fcis-30629	140	40	kg	kg	NOUN
fcis-30629	140	41			PROPN
fcis-30629	140	42	，	，	PUNCT
fcis-30629	140	43	,	,	PUNCT
fcis-30629	140	44	the	the	DET
fcis-30629	140	45	acceleration	acceleration	NOUN
fcis-30629	140	46	of	of	ADP
fcis-30629	140	47	gravity	gravity	NOUN
fcis-30629	140	48	is	be	AUX
fcis-30629	140	49	9.8	9.8	NUM
fcis-30629	140	50	g	g	NOUN
fcis-30629	140	51			NOUN
fcis-30629	140	52	,	,	PUNCT
fcis-30629	140	53	and	and	CCONJ
fcis-30629	140	54	the	the	DET
fcis-30629	140	55	controller	controller	NOUN
fcis-30629	140	56	parameter	parameter	NOUN
fcis-30629	140	57	is	be	AUX
fcis-30629	140	58	6	6	NUM
fcis-30629	140	59	4	4	NUM
fcis-30629	140	60	2	2	NUM
fcis-30629	140	61	0	0	NUM
fcis-30629	140	62	2	2	NUM
fcis-30629	140	63	4	4	NUM
fcis-30629	140	64	6	6	NUM
fcis-30629	140	65	[	[	PUNCT
fcis-30629	140	66	]	]	SYM
fcis-30629	140	67	6	6	NUM
fcis-30629	140	68	4	4	NUM
fcis-30629	140	69	2	2	NUM
fcis-30629	140	70	0	0	NUM
fcis-30629	140	71	2	2	NUM
fcis-30629	140	72	4	4	NUM
fcis-30629	140	73	6	6	NUM
fcis-30629	140	74	j	j	PROPN
fcis-30629	140	75	ic	ic	PROPN
fcis-30629	140	76			PROPN
fcis-30629	140	77			PROPN
fcis-30629	140	78			PROPN
fcis-30629	140	79			PROPN
fcis-30629	140	80			PROPN
fcis-30629	140	81			PROPN
fcis-30629	140	82			NOUN
fcis-30629	140	83	,	,	PUNCT
fcis-30629	140	84	2	2	NUM
fcis-30629	140	85	2	2	NUM
fcis-30629	140	86	2	2	NUM
fcis-30629	140	87	2	2	NUM
fcis-30629	140	88	2	2	NUM
fcis-30629	140	89	2	2	NUM
fcis-30629	140	90	2	2	NUM
fcis-30629	140	91	[	[	PUNCT
fcis-30629	140	92	]	]	SYM
fcis-30629	140	93	2	2	NUM
fcis-30629	140	94	2	2	NUM
fcis-30629	140	95	2	2	NUM
fcis-30629	140	96	2	2	NUM
fcis-30629	140	97	2	2	NUM
fcis-30629	140	98	2	2	NUM
fcis-30629	140	99	2	2	NUM
fcis-30629	141	1	k	k	NOUN
fcis-30629	141	2			NOUN
fcis-30629	141	3	,	,	PUNCT
fcis-30629	141	4	the	the	DET
fcis-30629	141	5	adaptive	adaptive	ADJ
fcis-30629	141	6	law	law	NOUN
fcis-30629	141	7	parameter	parameter	NOUN
fcis-30629	141	8	is	be	AUX
fcis-30629	141	9	=	=	NOUN
fcis-30629	141	10	5000	5000	NUM
fcis-30629	141	11	=	=	SYM
fcis-30629	141	12	50	50	NUM
fcis-30629	141	13	50w	50w	NOUN
fcis-30629	141	14	c	c	AUX
fcis-30629	141	15	kγ	kγ	VERB
fcis-30629	141	16	i	i	PRON
fcis-30629	141	17	γ	γ	VERB
fcis-30629	141	18	i	i	PRON
fcis-30629	141	19	γ	γ	PROPN
fcis-30629	141	20	i	i	PROPN
fcis-30629	141	21	，	，	PROPN
fcis-30629	141	22	，	，	ADJ
fcis-30629	141	23	,	,	PUNCT
fcis-30629	141	24	(	(	PUNCT
fcis-30629	141	25	20,10	20,10	NOUN
fcis-30629	141	26	)	)	PUNCT
fcis-30629	141	27	(	(	PUNCT
fcis-30629	142	1	200,80)r	200,80)r	NUM
fcis-30629	142	2	dk	dk	NOUN
fcis-30629	142	3	diag	diag	INTJ
fcis-30629	142	4	k	k	PROPN
fcis-30629	142	5	diag	diag	PROPN
fcis-30629	143	1			PROPN
fcis-30629	143	2	，	，	PUNCT
fcis-30629	143	3	,	,	PUNCT
fcis-30629	143	4	1	1	NUM
fcis-30629	143	5	10k	10k	NOUN
fcis-30629	143	6			PRON
fcis-30629	143	7	,	,	PUNCT
fcis-30629	143	8	10λa	10λa	ADJ
fcis-30629	143	9			NOUN
fcis-30629	143	10	.	.	PUNCT
fcis-30629	144	1	take	take	VERB
fcis-30629	144	2	1	1	NUM
fcis-30629	144	3	2	2	NUM
fcis-30629	144	4	1l	1l	NUM
fcis-30629	144	5	l	l	NOUN
fcis-30629	144	6			NOUN
fcis-30629	144	7	to	to	PART
fcis-30629	144	8	get	get	VERB
fcis-30629	144	9	it	it	PRON
fcis-30629	144	10			NOUN
fcis-30629	145	1			PUNCT
fcis-30629	145	2			NOUN
fcis-30629	145	3			SYM
fcis-30629	145	4			NOUN
fcis-30629	145	5	1	1	VERB
fcis-30629	145	6	1	1	NUM
fcis-30629	145	7	1	1	NUM
fcis-30629	145	8	2	2	NUM
fcis-30629	145	9	1	1	NUM
fcis-30629	145	10	2	2	NUM
fcis-30629	145	11	1	1	NUM
fcis-30629	145	12	1	1	NUM
fcis-30629	145	13	2cos	2cos	PROPN
fcis-30629	145	14	cos	cos	PROPN
fcis-30629	145	15	cos	cos	PROPN
fcis-30629	145	16	cos	cos	PROPN
fcis-30629	145	17	0q	0q	PROPN
fcis-30629	145	18	l	l	PROPN
fcis-30629	145	19	q	q	PUNCT
fcis-30629	145	20	l	l	NOUN
fcis-30629	145	21	q	q	X
fcis-30629	145	22	q	q	X
fcis-30629	145	23	q	q	X
fcis-30629	145	24	q	q	NOUN
fcis-30629	145	25	q	q	PROPN
fcis-30629	145	26			PROPN
fcis-30629	145	27			ADV
fcis-30629	145	28			PUNCT
fcis-30629	145	29			PROPN
fcis-30629	145	30			ADV
fcis-30629	145	31			PUNCT
fcis-30629	145	32			PROPN
fcis-30629	145	33	as	as	SCONJ
fcis-30629	145	34	can	can	AUX
fcis-30629	145	35	be	be	AUX
fcis-30629	145	36	seen	see	VERB
fcis-30629	145	37	from	from	ADP
fcis-30629	145	38	the	the	DET
fcis-30629	145	39	figure	figure	NOUN
fcis-30629	145	40	:	:	PUNCT
fcis-30629	145	41	1	1	NUM
fcis-30629	145	42	2	2	NUM
fcis-30629	145	43	1	1	NUM
fcis-30629	145	44	2,0	2,0	NUM
fcis-30629	145	45	,	,	PUNCT
fcis-30629	145	46	0	0	NUM
fcis-30629	145	47	2	2	NUM
fcis-30629	145	48	π	π	NOUN
fcis-30629	145	49	q	q	X
fcis-30629	145	50	q	q	X
fcis-30629	145	51	π	π	X
fcis-30629	145	52	q	q	X
fcis-30629	145	53	q	q	PUNCT
fcis-30629	145	54	π	π	NUM
fcis-30629	145	55			PROPN
fcis-30629	145	56			PROPN
fcis-30629	146	1			NOUN
fcis-30629	146	2			NOUN
fcis-30629	146	3			PROPN
fcis-30629	146	4	(	(	PUNCT
fcis-30629	146	5	26	26	NUM
fcis-30629	146	6	)	)	PUNCT
fcis-30629	146	7	and	and	CCONJ
fcis-30629	146	8	,	,	PUNCT
fcis-30629	146	9			NOUN
fcis-30629	146	10	1	1	VERB
fcis-30629	146	11	1	1	NUM
fcis-30629	146	12	2	2	NUM
fcis-30629	146	13	1	1	NUM
fcis-30629	146	14	1	1	NUM
fcis-30629	146	15	2	2	NUM
fcis-30629	146	16	2	2	NUM
fcis-30629	146	17	1	1	NUM
fcis-30629	146	18	cos	cos	PROPN
fcis-30629	146	19	(	(	PUNCT
fcis-30629	146	20	=	=	SYM
fcis-30629	146	21	)	)	PUNCT
fcis-30629	146	22	cos	cos	ADP
fcis-30629	146	23	2	2	NUM
fcis-30629	146	24	π	π	NOUN
fcis-30629	146	25	q	q	X
fcis-30629	146	26	q	q	X
fcis-30629	146	27	q	q	X
fcis-30629	146	28	π	π	X
fcis-30629	146	29	q	q	X
fcis-30629	146	30	q	q	X
fcis-30629	146	31	q	q	X
fcis-30629	146	32	q	q	X
fcis-30629	146	33	π	π	PROPN
fcis-30629	146	34	q	q	PROPN
fcis-30629	146	35			ADJ
fcis-30629	146	36			ADJ
fcis-30629	146	37	(	(	PUNCT
fcis-30629	146	38	27	27	NUM
fcis-30629	146	39	)	)	PUNCT
fcis-30629	146	40	1q	1q	NUM
fcis-30629	146	41	2q	2q	NOUN
fcis-30629	146	42	2	2	NUM
fcis-30629	146	43	m	m	NOUN
fcis-30629	146	44	1	1	NUM
fcis-30629	146	45	m	m	NOUN
fcis-30629	146	46	1l	1l	NUM
fcis-30629	146	47	1l	1l	NUM
fcis-30629	146	48	2x	2x	NUM
fcis-30629	146	49	1x	1x	NUM
fcis-30629	146	50	fig	fig	NOUN
fcis-30629	146	51	1	1	NUM
fcis-30629	146	52	.	.	PUNCT
fcis-30629	147	1	structure	structure	NOUN
fcis-30629	147	2	diagram	diagram	NOUN
fcis-30629	147	3	of	of	ADP
fcis-30629	147	4	constrained	constrain	VERB
fcis-30629	147	5	manipulator	manipulator	NOUN
fcis-30629	147	6	since	since	SCONJ
fcis-30629	147	7	2	2	NUM
fcis-30629	147	8	1ψ	1ψ	NUM
fcis-30629	147	9	(	(	PUNCT
fcis-30629	147	10	)	)	PUNCT
fcis-30629	147	11	q	q	SYM
fcis-30629	147	12	q	q	ADJ
fcis-30629	147	13	,	,	PUNCT
fcis-30629	147	14	then	then	ADV
fcis-30629	147	15	1	1	NUM
fcis-30629	147	16	1ψ	1ψ	NUM
fcis-30629	147	17	(	(	PUNCT
fcis-30629	147	18	)	)	PUNCT
fcis-30629	147	19	2q	2q	NUM
fcis-30629	147	20	π	π	X
fcis-30629	147	21	q	q	PROPN
fcis-30629	147	22			NOUN
fcis-30629	147	23	,	,	PUNCT
fcis-30629	147	24	yields	yield	NOUN
fcis-30629	147	25	:	:	PUNCT
fcis-30629	147	26	1	1	NUM
fcis-30629	147	27	1	1	NUM
fcis-30629	147	28	1	1	NUM
fcis-30629	147	29	)	)	PUNCT
fcis-30629	147	30	1	1	NUM
fcis-30629	147	31	1	1	NUM
fcis-30629	147	32	)	)	PUNCT
fcis-30629	147	33	2	2	NUM
fcis-30629	147	34	(	(	PUNCT
fcis-30629	147	35	(	(	PUNCT
fcis-30629	147	36	l	l	NOUN
fcis-30629	147	37	q	q	X
fcis-30629	148	1	q	q	X
fcis-30629	148	2	ψ	ψ	X
fcis-30629	148	3	q	q	X
fcis-30629	148	4			PROPN
fcis-30629	148	5			X
fcis-30629	148	6			PROPN
fcis-30629	148	7			NOUN
fcis-30629	148	8			PROPN
fcis-30629	148	9			NUM
fcis-30629	148	10			NOUN
fcis-30629	148	11			NOUN
fcis-30629	148	12			NOUN
fcis-30629	148	13			NOUN
fcis-30629	148	14			NOUN
fcis-30629	148	15			PROPN
fcis-30629	148	16			PROPN
fcis-30629	148	17	(	(	PUNCT
fcis-30629	148	18	28	28	NUM
fcis-30629	148	19	)	)	PUNCT
fcis-30629	148	20	thus	thus	ADV
fcis-30629	148	21	,	,	PUNCT
fcis-30629	148	22	the	the	DET
fcis-30629	148	23	properties	property	NOUN
fcis-30629	148	24	of	of	ADP
fcis-30629	148	25	constrained	constrain	VERB
fcis-30629	148	26	robotic	robotic	ADJ
fcis-30629	148	27	arm	arm	NOUN
fcis-30629	148	28	1	1	NUM
fcis-30629	148	29	can	can	AUX
fcis-30629	148	30	be	be	AUX
fcis-30629	148	31	proved	prove	VERB
fcis-30629	148	32	.	.	PUNCT
fcis-30629	149	1			ADJ
fcis-30629	149	2	1	1	NOUN
fcis-30629	149	3	1	1	NUM
fcis-30629	149	4	1	1	NUM
fcis-30629	149	5	1	1	NUM
fcis-30629	149	6	2	2	NUM
fcis-30629	149	7	1	1	NUM
fcis-30629	149	8	2	2	NUM
fcis-30629	149	9	2	2	NUM
fcis-30629	149	10	1	1	NUM
fcis-30629	149	11	2	2	NUM
fcis-30629	149	12	1	1	NUM
fcis-30629	149	13	1	1	NUM
fcis-30629	149	14	2	2	NUM
fcis-30629	149	15	1	1	NUM
fcis-30629	149	16	2	2	NUM
fcis-30629	149	17	2	2	NUM
fcis-30629	149	18	1	1	NUM
fcis-30629	149	19	2	2	NUM
fcis-30629	149	20	1	1	NUM
fcis-30629	149	21	1	1	NUM
fcis-30629	149	22	2	2	NUM
fcis-30629	149	23	1	1	NUM
fcis-30629	149	24	2	2	NUM
fcis-30629	149	25	1	1	NUM
fcis-30629	149	26	1	1	NUM
fcis-30629	149	27	2	2	NUM
fcis-30629	149	28	1	1	NUM
fcis-30629	149	29	1	1	NUM
fcis-30629	149	30	(	(	PUNCT
fcis-30629	149	31	)	)	PUNCT
fcis-30629	149	32	(	(	PUNCT
fcis-30629	149	33	)	)	PUNCT
fcis-30629	149	34	sin	sin	NOUN
fcis-30629	149	35	sin	sin	NOUN
fcis-30629	149	36	(	(	PUNCT
fcis-30629	149	37	)	)	PUNCT
fcis-30629	149	38	sin	sin	NOUN
fcis-30629	149	39	(	(	PUNCT
fcis-30629	149	40	)	)	PUNCT
fcis-30629	149	41	2	2	NUM
fcis-30629	149	42	sin	sin	NOUN
fcis-30629	149	43	sin	sin	NOUN
fcis-30629	149	44	(	(	PUNCT
fcis-30629	149	45	)	)	PUNCT
fcis-30629	149	46	2	2	NUM
fcis-30629	149	47	sin	sin	NOUN
fcis-30629	149	48	(	(	PUNCT
fcis-30629	149	49	)	)	PUNCT
fcis-30629	149	50	sin	sin	NOUN
fcis-30629	149	51	sin	sin	NOUN
fcis-30629	149	52	(	(	PUNCT
fcis-30629	149	53	)	)	PUNCT
fcis-30629	149	54	sin	sin	NOUN
fcis-30629	149	55	sin	sin	NOUN
fcis-30629	149	56	(	(	PUNCT
fcis-30629	149	57	)	)	PUNCT
fcis-30629	149	58	0	0	NUM
fcis-30629	150	1	j	j	PROPN
fcis-30629	150	2	q	q	X
fcis-30629	150	3	l	l	NOUN
fcis-30629	150	4	q	q	PUNCT
fcis-30629	150	5	l	l	NOUN
fcis-30629	150	6	q	q	X
fcis-30629	150	7	l	l	NOUN
fcis-30629	150	8	q	q	X
fcis-30629	150	9	q	q	X
fcis-30629	150	10	l	l	NOUN
fcis-30629	150	11	q	q	X
fcis-30629	150	12	q	q	X
fcis-30629	150	13	l	l	NOUN
fcis-30629	150	14	q	q	X
fcis-30629	150	15	l	l	NOUN
fcis-30629	150	16	q	q	X
fcis-30629	150	17	q	q	X
fcis-30629	150	18	l	l	NOUN
fcis-30629	150	19	q	q	X
fcis-30629	150	20	q	q	X
fcis-30629	150	21	l	l	NOUN
fcis-30629	150	22	q	q	X
fcis-30629	150	23	l	l	NOUN
fcis-30629	150	24	q	q	X
fcis-30629	150	25	q	q	X
fcis-30629	150	26	l	l	NOUN
fcis-30629	150	27	q	q	PUNCT
fcis-30629	150	28	l	l	NOUN
fcis-30629	151	1	π	π	NOUN
fcis-30629	151	2	q	q	X
fcis-30629	151	3			NOUN
fcis-30629	151	4			PROPN
fcis-30629	151	5			ADJ
fcis-30629	151	6			PROPN
fcis-30629	151	7			PROPN
fcis-30629	151	8			PROPN
fcis-30629	151	9			PUNCT
fcis-30629	151	10			PROPN
fcis-30629	151	11			SYM
fcis-30629	151	12			VERB
fcis-30629	152	1			PROPN
fcis-30629	152	2			PROPN
fcis-30629	152	3			PROPN
fcis-30629	152	4			PROPN
fcis-30629	152	5			PROPN
fcis-30629	152	6			PUNCT
fcis-30629	152	7			CCONJ
fcis-30629	152	8			PUNCT
fcis-30629	152	9			PROPN
fcis-30629	152	10			PROPN
fcis-30629	152	11			VERB
fcis-30629	152	12			PUNCT
fcis-30629	152	13			PROPN
fcis-30629	152	14			PROPN
fcis-30629	152	15			VERB
fcis-30629	152	16			PROPN
fcis-30629	152	17			PROPN
fcis-30629	152	18	(	(	PUNCT
fcis-30629	152	19	29	29	NUM
fcis-30629	152	20	)	)	PUNCT
fcis-30629	152	21	4.2	4.2	NUM
fcis-30629	152	22	.	.	PUNCT
fcis-30629	153	1	analysis	analysis	NOUN
fcis-30629	153	2	of	of	ADP
fcis-30629	153	3	simulation	simulation	NOUN
fcis-30629	153	4	results	result	NOUN
fcis-30629	153	5	fig	fig	NOUN
fcis-30629	153	6	2	2	NUM
fcis-30629	153	7	(	(	PUNCT
fcis-30629	153	8	a	a	X
fcis-30629	153	9	)	)	PUNCT
fcis-30629	153	10	176	176	NUM
fcis-30629	153	11	fig	fig	NOUN
fcis-30629	153	12	2	2	NUM
fcis-30629	153	13	(	(	PUNCT
fcis-30629	153	14	b	b	NOUN
fcis-30629	153	15	)	)	PUNCT
fcis-30629	153	16	fig	fig	NOUN
fcis-30629	153	17	2	2	NUM
fcis-30629	153	18	.	.	PUNCT
fcis-30629	154	1	joints	joint	NOUN
fcis-30629	154	2	1	1	NUM
fcis-30629	154	3	angle	angle	NOUN
fcis-30629	154	4	angular	angular	ADJ
fcis-30629	154	5	velocity	velocity	NOUN
fcis-30629	154	6	tracking	tracking	NOUN
fcis-30629	154	7	curve	curve	NOUN
fcis-30629	154	8	fig	fig	NOUN
fcis-30629	154	9	.	.	PUNCT
fcis-30629	155	1	2	2	NUM
fcis-30629	155	2	shows	show	VERB
fcis-30629	155	3	the	the	DET
fcis-30629	155	4	simulation	simulation	NOUN
fcis-30629	155	5	curves	curve	NOUN
fcis-30629	155	6	of	of	ADP
fcis-30629	155	7	the	the	DET
fcis-30629	155	8	angle	angle	NOUN
fcis-30629	155	9	variable	variable	NOUN
fcis-30629	155	10	and	and	CCONJ
fcis-30629	155	11	the	the	DET
fcis-30629	155	12	angular	angular	ADJ
fcis-30629	155	13	velocity	velocity	NOUN
fcis-30629	155	14	variable	variable	NOUN
fcis-30629	155	15	of	of	ADP
fcis-30629	155	16	the	the	DET
fcis-30629	155	17	constrained	constrain	VERB
fcis-30629	155	18	robotic	robotic	ADJ
fcis-30629	155	19	arm	arm	NOUN
fcis-30629	155	20	joint	joint	ADJ
fcis-30629	155	21	1	1	NUM
fcis-30629	155	22	.	.	PUNCT
fcis-30629	156	1	the	the	DET
fcis-30629	156	2	simulation	simulation	NOUN
fcis-30629	156	3	results	result	NOUN
fcis-30629	156	4	show	show	VERB
fcis-30629	156	5	that	that	SCONJ
fcis-30629	156	6	the	the	DET
fcis-30629	156	7	fuzzy	fuzzy	ADJ
fcis-30629	156	8	neural	neural	ADJ
fcis-30629	156	9	network	network	NOUN
fcis-30629	156	10	sliding	slide	VERB
fcis-30629	156	11	mode	mode	NOUN
fcis-30629	156	12	control	control	NOUN
fcis-30629	156	13	can	can	AUX
fcis-30629	156	14	make	make	VERB
fcis-30629	156	15	the	the	DET
fcis-30629	156	16	actual	actual	ADJ
fcis-30629	156	17	trajectory	trajectory	NOUN
fcis-30629	156	18	track	track	NOUN
fcis-30629	156	19	the	the	DET
fcis-30629	156	20	expected	expect	VERB
fcis-30629	156	21	trajectory	trajectory	NOUN
fcis-30629	156	22	well	well	ADV
fcis-30629	156	23	.	.	PUNCT
fcis-30629	157	1	fig	fig	NOUN
fcis-30629	157	2	3	3	NUM
fcis-30629	157	3	.	.	PUNCT
fcis-30629	158	1	contact	contact	NOUN
fcis-30629	158	2	force	force	NOUN
fcis-30629	158	3	tracking	tracking	NOUN
fcis-30629	158	4	and	and	CCONJ
fcis-30629	158	5	tracking	tracking	NOUN
fcis-30629	158	6	error	error	NOUN
fcis-30629	158	7	curve	curve	NOUN
fcis-30629	158	8	fig	fig	NOUN
fcis-30629	158	9	.	.	PUNCT
fcis-30629	159	1	3	3	NUM
fcis-30629	159	2	shows	show	VERB
fcis-30629	159	3	the	the	DET
fcis-30629	159	4	contact	contact	NOUN
fcis-30629	159	5	force	force	NOUN
fcis-30629	159	6	tracking	track	VERB
fcis-30629	159	7	errorless	errorless	NOUN
fcis-30629	159	8	simulation	simulation	NOUN
fcis-30629	159	9	curve	curve	NOUN
fcis-30629	159	10	of	of	ADP
fcis-30629	159	11	the	the	DET
fcis-30629	159	12	constrained	constrain	VERB
fcis-30629	159	13	manipulator	manipulator	NOUN
fcis-30629	159	14	joint	joint	NOUN
fcis-30629	159	15	.	.	PUNCT
fcis-30629	160	1	the	the	DET
fcis-30629	160	2	simulation	simulation	NOUN
fcis-30629	160	3	results	result	NOUN
fcis-30629	160	4	show	show	VERB
fcis-30629	160	5	that	that	SCONJ
fcis-30629	160	6	the	the	DET
fcis-30629	160	7	fuzzy	fuzzy	ADJ
fcis-30629	160	8	neural	neural	ADJ
fcis-30629	160	9	network	network	NOUN
fcis-30629	160	10	sliding	slide	VERB
fcis-30629	160	11	mode	mode	NOUN
fcis-30629	160	12	controller	controller	NOUN
fcis-30629	160	13	can	can	AUX
fcis-30629	160	14	make	make	VERB
fcis-30629	160	15	the	the	DET
fcis-30629	160	16	tracking	tracking	NOUN
fcis-30629	160	17	error	error	NOUN
fcis-30629	160	18	converge	converge	NOUN
fcis-30629	160	19	to	to	ADP
fcis-30629	160	20	0.001	0.001	NUM
fcis-30629	160	21	within	within	ADP
fcis-30629	160	22	0.2s	0.2s	PROPN
fcis-30629	160	23	.	.	PUNCT
fcis-30629	161	1	it	it	PRON
fcis-30629	161	2	can	can	AUX
fcis-30629	161	3	be	be	AUX
fcis-30629	161	4	seen	see	VERB
fcis-30629	161	5	that	that	SCONJ
fcis-30629	161	6	the	the	DET
fcis-30629	161	7	design	design	NOUN
fcis-30629	161	8	method	method	NOUN
fcis-30629	161	9	improves	improve	VERB
fcis-30629	161	10	the	the	DET
fcis-30629	161	11	tracking	tracking	NOUN
fcis-30629	161	12	accuracy	accuracy	NOUN
fcis-30629	161	13	of	of	ADP
fcis-30629	161	14	the	the	DET
fcis-30629	161	15	mechanical	mechanical	ADJ
fcis-30629	161	16	arm	arm	NOUN
fcis-30629	161	17	in	in	ADP
fcis-30629	161	18	force	force	NOUN
fcis-30629	161	19	control	control	NOUN
fcis-30629	161	20	.	.	PUNCT
fcis-30629	162	1	5	5	X
fcis-30629	162	2	.	.	X
fcis-30629	162	3	summary	summary	VERB
fcis-30629	162	4	a	a	DET
fcis-30629	162	5	hybrid	hybrid	ADJ
fcis-30629	162	6	force	force	NOUN
fcis-30629	162	7	position	position	NOUN
fcis-30629	162	8	control	control	NOUN
fcis-30629	162	9	system	system	NOUN
fcis-30629	162	10	based	base	VERB
fcis-30629	162	11	on	on	ADP
fcis-30629	162	12	fuzzy	fuzzy	ADJ
fcis-30629	162	13	neural	neural	ADJ
fcis-30629	162	14	network	network	NOUN
fcis-30629	162	15	is	be	AUX
fcis-30629	162	16	designed	design	VERB
fcis-30629	162	17	in	in	ADP
fcis-30629	162	18	this	this	DET
fcis-30629	162	19	paper	paper	NOUN
fcis-30629	162	20	.	.	PUNCT
fcis-30629	163	1	firstly	firstly	ADV
fcis-30629	163	2	,	,	PUNCT
fcis-30629	163	3	the	the	DET
fcis-30629	163	4	constrained	constrain	VERB
fcis-30629	163	5	double	double	ADJ
fcis-30629	163	6	-	-	PUNCT
fcis-30629	163	7	joint	joint	NOUN
fcis-30629	163	8	robot	robot	NOUN
fcis-30629	163	9	arm	arm	NOUN
fcis-30629	163	10	is	be	AUX
fcis-30629	163	11	reduced	reduce	VERB
fcis-30629	163	12	in	in	ADP
fcis-30629	163	13	price	price	NOUN
fcis-30629	163	14	,	,	PUNCT
fcis-30629	163	15	and	and	CCONJ
fcis-30629	163	16	then	then	ADV
fcis-30629	163	17	the	the	DET
fcis-30629	163	18	fuzzy	fuzzy	ADJ
fcis-30629	163	19	neural	neural	ADJ
fcis-30629	163	20	network	network	NOUN
fcis-30629	163	21	is	be	AUX
fcis-30629	163	22	designed	design	VERB
fcis-30629	163	23	to	to	PART
fcis-30629	163	24	approximate	approximate	VERB
fcis-30629	163	25	the	the	DET
fcis-30629	163	26	uncertainties	uncertainty	NOUN
fcis-30629	163	27	in	in	ADP
fcis-30629	163	28	the	the	DET
fcis-30629	163	29	robot	robot	NOUN
fcis-30629	163	30	arm	arm	NOUN
fcis-30629	163	31	system	system	NOUN
fcis-30629	163	32	.	.	PUNCT
fcis-30629	164	1	the	the	DET
fcis-30629	164	2	sliding	slide	VERB
fcis-30629	164	3	mode	mode	NOUN
fcis-30629	164	4	controller	controller	NOUN
fcis-30629	164	5	is	be	AUX
fcis-30629	164	6	used	use	VERB
fcis-30629	164	7	to	to	PART
fcis-30629	164	8	increase	increase	VERB
fcis-30629	164	9	the	the	DET
fcis-30629	164	10	stability	stability	NOUN
fcis-30629	164	11	and	and	CCONJ
fcis-30629	164	12	robustness	robustness	NOUN
fcis-30629	164	13	of	of	ADP
fcis-30629	164	14	the	the	DET
fcis-30629	164	15	control	control	NOUN
fcis-30629	164	16	system	system	NOUN
fcis-30629	164	17	,	,	PUNCT
fcis-30629	164	18	and	and	CCONJ
fcis-30629	164	19	finally	finally	ADV
fcis-30629	164	20	the	the	DET
fcis-30629	164	21	high	high	ADJ
fcis-30629	164	22	-	-	PUNCT
fcis-30629	164	23	precision	precision	NOUN
fcis-30629	164	24	control	control	NOUN
fcis-30629	164	25	of	of	ADP
fcis-30629	164	26	the	the	DET
fcis-30629	164	27	constrained	constrain	VERB
fcis-30629	164	28	robot	robot	NOUN
fcis-30629	164	29	arm	arm	NOUN
fcis-30629	164	30	is	be	AUX
fcis-30629	164	31	realized	realize	VERB
fcis-30629	164	32	.	.	PUNCT
fcis-30629	165	1	the	the	DET
fcis-30629	165	2	simulation	simulation	NOUN
fcis-30629	165	3	results	result	NOUN
fcis-30629	165	4	show	show	VERB
fcis-30629	165	5	that	that	SCONJ
fcis-30629	165	6	the	the	DET
fcis-30629	165	7	controller	controller	NOUN
fcis-30629	165	8	involved	involve	VERB
fcis-30629	165	9	in	in	ADP
fcis-30629	165	10	this	this	DET
fcis-30629	165	11	paper	paper	NOUN
fcis-30629	165	12	can	can	AUX
fcis-30629	165	13	ensure	ensure	VERB
fcis-30629	165	14	the	the	DET
fcis-30629	165	15	accurate	accurate	ADJ
fcis-30629	165	16	control	control	NOUN
fcis-30629	165	17	of	of	ADP
fcis-30629	165	18	angular	angular	ADJ
fcis-30629	165	19	velocity	velocity	NOUN
fcis-30629	165	20	and	and	CCONJ
fcis-30629	165	21	contact	contact	NOUN
fcis-30629	165	22	force	force	NOUN
fcis-30629	165	23	in	in	ADP
fcis-30629	165	24	the	the	DET
fcis-30629	165	25	presence	presence	NOUN
fcis-30629	165	26	of	of	ADP
fcis-30629	165	27	friction	friction	NOUN
fcis-30629	165	28	and	and	CCONJ
fcis-30629	165	29	other	other	ADJ
fcis-30629	165	30	uncertainties	uncertainty	NOUN
fcis-30629	165	31	,	,	PUNCT
fcis-30629	165	32	so	so	SCONJ
fcis-30629	165	33	that	that	SCONJ
fcis-30629	165	34	the	the	DET
fcis-30629	165	35	system	system	NOUN
fcis-30629	165	36	can	can	AUX
fcis-30629	165	37	maintain	maintain	VERB
fcis-30629	165	38	good	good	ADJ
fcis-30629	165	39	performance	performance	NOUN
fcis-30629	165	40	.	.	PUNCT
fcis-30629	166	1	acknowledgments	acknowledgment	NOUN
fcis-30629	166	2	phd	phd	NOUN
fcis-30629	166	3	project	project	NOUN
fcis-30629	166	4	(	(	PUNCT
fcis-30629	166	5	no	no	INTJ
fcis-30629	166	6	.	.	PUNCT
fcis-30629	166	7	:	:	PUNCT
fcis-30629	166	8	222012312010	222012312010	NUM
fcis-30629	166	9	)	)	PUNCT
fcis-30629	166	10	.	.	PUNCT
fcis-30629	167	1	references	reference	NOUN
fcis-30629	167	2	[	[	X
fcis-30629	167	3	1	1	X
fcis-30629	167	4	]	]	X
fcis-30629	167	5	wang	wang	PROPN
fcis-30629	167	6	z	z	PROPN
fcis-30629	167	7	,	,	PUNCT
fcis-30629	167	8	zheng	zheng	PROPN
fcis-30629	167	9	h	h	PROPN
fcis-30629	167	10	,	,	PUNCT
fcis-30629	167	11	zhang	zhang	PROPN
fcis-30629	167	12	g	g	PROPN
fcis-30629	167	13	.prescribed	.prescribe	VERB
fcis-30629	167	14	-	-	PUNCT
fcis-30629	167	15	time	time	NOUN
fcis-30629	167	16	-	-	PUNCT
fcis-30629	167	17	based	base	VERB
fcis-30629	167	18	antidisturbance	antidisturbance	NOUN
fcis-30629	167	19	tracking	tracking	NOUN
fcis-30629	167	20	control	control	NOUN
fcis-30629	167	21	of	of	ADP
fcis-30629	167	22	manipulators	manipulator	NOUN
fcis-30629	167	23	under	under	ADP
fcis-30629	167	24	multiple	multiple	ADJ
fcis-30629	167	25	constraints[j].actuators,2025,14(3):157	constraints[j].actuators,2025,14(3):157	PROPN
fcis-30629	167	26	-	-	SYM
fcis-30629	167	27	157	157	NUM
fcis-30629	167	28	.	.	PUNCT
fcis-30629	168	1	[	[	X
fcis-30629	168	2	2	2	X
fcis-30629	168	3	]	]	X
fcis-30629	168	4	pierce	pierce	PROPN
fcis-30629	168	5	j.	j.	PROPN
fcis-30629	168	6	constrained	constrain	VERB
fcis-30629	168	7	motion	motion	NOUN
fcis-30629	168	8	spaces	space	NOUN
fcis-30629	168	9	of	of	ADP
fcis-30629	168	10	robotic	robotic	ADJ
fcis-30629	168	11	arms[j	arms[j	PROPN
fcis-30629	168	12	]	]	PUNCT
fcis-30629	168	13	.	.	PUNCT
fcis-30629	169	1	topology	topology	NOUN
fcis-30629	169	2	and	and	CCONJ
fcis-30629	169	3	its	its	PRON
fcis-30629	169	4	applications,2025,361109184	applications,2025,361109184	NOUN
fcis-30629	169	5	-	-	PUNCT
fcis-30629	169	6	109184	109184	NUM
fcis-30629	169	7	.	.	PUNCT
fcis-30629	170	1	[	[	X
fcis-30629	170	2	3	3	X
fcis-30629	170	3	]	]	X
fcis-30629	170	4	wang	wang	PROPN
fcis-30629	170	5	j	j	PROPN
fcis-30629	170	6	,	,	PUNCT
fcis-30629	170	7	cui	cui	VERB
fcis-30629	170	8	y	y	PROPN
fcis-30629	170	9	.adaptive	.adaptive	ADJ
fcis-30629	170	10	neural	neural	ADJ
fcis-30629	170	11	network	network	NOUN
fcis-30629	170	12	tracking	tracking	NOUN
fcis-30629	170	13	control	control	NOUN
fcis-30629	170	14	for	for	ADP
fcis-30629	170	15	robotic	robotic	ADJ
fcis-30629	170	16	manipulator	manipulator	NOUN
fcis-30629	170	17	with	with	ADP
fcis-30629	170	18	input	input	NOUN
fcis-30629	170	19	dead	dead	ADJ
fcis-30629	170	20	zone	zone	NOUN
fcis-30629	170	21	and	and	CCONJ
fcis-30629	170	22	function	function	NOUN
fcis-30629	170	23	constraints	constraint	NOUN
fcis-30629	170	24	on	on	ADP
fcis-30629	170	25	states[j].nonlinear	states[j].nonlinear	NOUN
fcis-30629	170	26	dynamics,2025	dynamics,2025	NOUN
fcis-30629	170	27	,	,	PUNCT
fcis-30629	170	28	(	(	PUNCT
fcis-30629	170	29	prepublish	prepublish	PROPN
fcis-30629	170	30	):	):	PUNCT
fcis-30629	170	31	1	1	NUM
fcis-30629	170	32	-	-	SYM
fcis-30629	170	33	19	19	NUM
fcis-30629	170	34	.	.	PUNCT
fcis-30629	171	1	[	[	X
fcis-30629	171	2	4	4	X
fcis-30629	171	3	]	]	X
fcis-30629	171	4	ha	ha	INTJ
fcis-30629	171	5	w	w	PROPN
fcis-30629	171	6	,	,	PUNCT
fcis-30629	171	7	park	park	NOUN
fcis-30629	171	8	h	h	PROPN
fcis-30629	171	9	j	j	PROPN
fcis-30629	171	10	,	,	PUNCT
fcis-30629	171	11	back	back	ADV
fcis-30629	171	12	j	j	PROPN
fcis-30629	171	13	.an	.an	PUNCT
fcis-30629	171	14	internal	internal	ADJ
fcis-30629	171	15	model	model	NOUN
fcis-30629	171	16	disturbance	disturbance	NOUN
fcis-30629	171	17	observer	observer	NOUN
fcis-30629	171	18	based	base	VERB
fcis-30629	171	19	robust	robust	ADJ
fcis-30629	171	20	trajectory	trajectory	NOUN
fcis-30629	171	21	tracking	tracking	NOUN
fcis-30629	171	22	control	control	NOUN
fcis-30629	171	23	for	for	ADP
fcis-30629	171	24	articulated	articulated	ADJ
fcis-30629	171	25	manipulators[j].international	manipulators[j].international	ADJ
fcis-30629	171	26	journal	journal	NOUN
fcis-30629	171	27	of	of	ADP
fcis-30629	171	28	control	control	NOUN
fcis-30629	171	29	,	,	PUNCT
fcis-30629	171	30	automation	automation	NOUN
fcis-30629	171	31	and	and	CCONJ
fcis-30629	171	32	systems,2025,23(2):479	systems,2025,23(2):479	PROPN
fcis-30629	171	33	-	-	PUNCT
fcis-30629	171	34	488	488	NUM
fcis-30629	171	35	.	.	PUNCT
fcis-30629	172	1	[	[	X
fcis-30629	172	2	5	5	X
fcis-30629	172	3	]	]	PUNCT
fcis-30629	172	4	wang	wang	PROPN
fcis-30629	172	5	j	j	PROPN
fcis-30629	172	6	,	,	PUNCT
fcis-30629	172	7	zhao	zhao	PROPN
fcis-30629	172	8	b	b	PROPN
fcis-30629	172	9	,	,	PUNCT
fcis-30629	172	10	xue	xue	PROPN
fcis-30629	172	11	r	r	PROPN
fcis-30629	172	12	,	,	PUNCT
fcis-30629	172	13	et	et	NOUN
fcis-30629	172	14	al.robust	al.robust	ADV
fcis-30629	172	15	adaptive	adaptive	ADJ
fcis-30629	172	16	fuzzy	fuzzy	ADJ
fcis-30629	172	17	control	control	NOUN
fcis-30629	172	18	for	for	ADP
fcis-30629	172	19	uncertain	uncertain	ADJ
fcis-30629	172	20	robotic	robotic	ADJ
fcis-30629	172	21	manipulators	manipulator	NOUN
fcis-30629	172	22	with	with	ADP
fcis-30629	172	23	full	full	ADJ
fcis-30629	172	24	state	state	NOUN
fcis-30629	172	25	constraints[j	constraints[j	PROPN
fcis-30629	172	26	]	]	PUNCT
fcis-30629	172	27	.	.	PUNCT
fcis-30629	172	28	177	177	NUM
fcis-30629	172	29	journal	journal	NOUN
fcis-30629	172	30	of	of	ADP
fcis-30629	172	31	physics	physics	PROPN
fcis-30629	172	32	:	:	PUNCT
fcis-30629	172	33	conference	conference	NOUN
fcis-30629	172	34	series,2024,2902(1):012047012047	series,2024,2902(1):012047012047	NOUN
fcis-30629	172	35	.	.	PUNCT
fcis-30629	173	1	[	[	X
fcis-30629	173	2	6	6	NUM
fcis-30629	173	3	]	]	PUNCT
fcis-30629	173	4	erlong	erlong	PROPN
fcis-30629	173	5	k	k	PROPN
fcis-30629	173	6	,	,	PUNCT
fcis-30629	173	7	yang	yang	PROPN
fcis-30629	173	8	l	l	PROPN
fcis-30629	173	9	,	,	PUNCT
fcis-30629	173	10	hong	hong	PROPN
fcis-30629	173	11	q	q	ADJ
fcis-30629	173	12	.sliding	.slide	VERB
fcis-30629	173	13	mode	mode	NOUN
fcis-30629	173	14	-	-	PUNCT
fcis-30629	173	15	based	base	VERB
fcis-30629	173	16	adaptive	adaptive	ADJ
fcis-30629	173	17	tube	tube	NOUN
fcis-30629	173	18	model	model	NOUN
fcis-30629	173	19	predictive	predictive	ADJ
fcis-30629	173	20	control	control	NOUN
fcis-30629	173	21	for	for	ADP
fcis-30629	173	22	robotic	robotic	ADJ
fcis-30629	173	23	manipulators	manipulator	NOUN
fcis-30629	173	24	with	with	ADP
fcis-30629	173	25	model	model	NOUN
fcis-30629	173	26	uncertainty	uncertainty	NOUN
fcis-30629	173	27	and	and	CCONJ
fcis-30629	173	28	state	state	NOUN
fcis-30629	173	29	constraints[j].control	constraints[j].control	PROPN
fcis-30629	173	30	theory	theory	NOUN
fcis-30629	173	31	and	and	CCONJ
fcis-30629	173	32	technology	technology	NOUN
fcis-30629	173	33	,	,	PUNCT
fcis-30629	173	34	2023,21(3):334	2023,21(3):334	NUM
fcis-30629	173	35	-	-	SYM
fcis-30629	173	36	351	351	NUM
fcis-30629	173	37	.	.	PUNCT
fcis-30629	174	1	[	[	X
fcis-30629	174	2	7	7	X
fcis-30629	174	3	]	]	X
fcis-30629	174	4	armenta	armenta	PROPN
fcis-30629	174	5	m	m	PROPN
fcis-30629	174	6	m	m	VERB
fcis-30629	174	7	,	,	PUNCT
fcis-30629	174	8	avelar	avelar	VERB
fcis-30629	174	9	a	a	DET
fcis-30629	174	10	c	c	NOUN
fcis-30629	174	11	,	,	PUNCT
fcis-30629	174	12	gandarilla	gandarilla	PROPN
fcis-30629	174	13	i	i	PRON
fcis-30629	174	14	,	,	PUNCT
fcis-30629	174	15	et	et	PROPN
fcis-30629	174	16	al	al	PROPN
fcis-30629	174	17	.	.	PUNCT
fcis-30629	175	1	solving	solve	VERB
fcis-30629	175	2	trajectory	trajectory	NOUN
fcis-30629	175	3	tracking	tracking	NOUN
fcis-30629	175	4	of	of	ADP
fcis-30629	175	5	robot	robot	NOUN
fcis-30629	175	6	manipulators	manipulator	NOUN
fcis-30629	175	7	via	via	ADP
fcis-30629	175	8	pid	pid	PROPN
fcis-30629	175	9	control	control	NOUN
fcis-30629	175	10	with	with	ADP
fcis-30629	175	11	neural	neural	ADJ
fcis-30629	175	12	network	network	NOUN
fcis-30629	175	13	compensation[j].soft	compensation[j].soft	ADV
fcis-30629	175	14	computing	computing	NOUN
fcis-30629	175	15	,	,	PUNCT
fcis-30629	175	16	2025	2025	NUM
fcis-30629	175	17	,	,	PUNCT
fcis-30629	175	18	29	29	NUM
fcis-30629	175	19	(	(	PUNCT
fcis-30629	175	20	2):1	2):1	NUM
fcis-30629	175	21	-	-	SYM
fcis-30629	175	22	15	15	NUM
fcis-30629	175	23	.	.	PUNCT
fcis-30629	176	1	[	[	X
fcis-30629	176	2	8	8	NUM
fcis-30629	176	3	]	]	X
fcis-30629	176	4	rani	rani	PROPN
fcis-30629	176	5	k	k	PROPN
fcis-30629	176	6	,	,	PUNCT
fcis-30629	176	7	kumar	kumar	PROPN
fcis-30629	176	8	n	n	PROPN
fcis-30629	176	9	.design	.design	NOUN
fcis-30629	176	10	of	of	ADP
fcis-30629	176	11	intelligent	intelligent	ADJ
fcis-30629	176	12	optimal	optimal	ADJ
fcis-30629	176	13	controller	controller	NOUN
fcis-30629	176	14	for	for	ADP
fcis-30629	176	15	hybrid	hybrid	ADJ
fcis-30629	176	16	position	position	NOUN
fcis-30629	176	17	/	/	SYM
fcis-30629	176	18	force	force	NOUN
fcis-30629	176	19	control	control	NOUN
fcis-30629	176	20	of	of	ADP
fcis-30629	176	21	constrained	constrain	VERB
fcis-30629	176	22	reconfigurable	reconfigurable	ADJ
fcis-30629	176	23	manipulators	manipulator	NOUN
fcis-30629	177	1	[	[	X
fcis-30629	177	2	j	j	X
fcis-30629	177	3	]	]	X
fcis-30629	177	4	.	.	PUNCT
fcis-30629	178	1	journal	journal	PROPN
fcis-30629	178	2	of	of	ADP
fcis-30629	178	3	ambient	ambient	ADJ
fcis-30629	178	4	intelligence	intelligence	NOUN
fcis-30629	178	5	and	and	CCONJ
fcis-30629	178	6	humanized	humanize	VERB
fcis-30629	178	7	computing,2023,14(10):13421	computing,2023,14(10):13421	NOUN
fcis-30629	178	8	-	-	NOUN
fcis-30629	178	9	13432	13432	NUM
fcis-30629	178	10	.	.	PUNCT
fcis-30629	179	1	[	[	X
fcis-30629	179	2	9	9	NUM
fcis-30629	179	3	]	]	X
fcis-30629	179	4	wei	wei	PROPN
fcis-30629	179	5	y	y	PROPN
fcis-30629	179	6	,	,	PUNCT
fcis-30629	179	7	wang	wang	PROPN
fcis-30629	179	8	h	h	PROPN
fcis-30629	179	9	,	,	PUNCT
fcis-30629	179	10	tian	tian	PROPN
fcis-30629	179	11	y	y	PROPN
fcis-30629	179	12	.prescribed	.prescribe	VERB
fcis-30629	179	13	performance	performance	NOUN
fcis-30629	179	14	model	model	NOUN
fcis-30629	179	15	-	-	PUNCT
fcis-30629	179	16	free	free	ADJ
fcis-30629	179	17	hybrid	hybrid	ADJ
fcis-30629	179	18	force	force	NOUN
fcis-30629	179	19	/	/	SYM
fcis-30629	179	20	position	position	NOUN
fcis-30629	179	21	control	control	NOUN
fcis-30629	179	22	for	for	ADP
fcis-30629	179	23	3	3	NUM
fcis-30629	179	24	-	-	PUNCT
fcis-30629	179	25	dof	dof	NOUN
fcis-30629	179	26	sea	sea	NOUN
fcis-30629	179	27	-	-	PUNCT
fcis-30629	179	28	based	base	VERB
fcis-30629	179	29	manipulator	manipulator	NOUN
fcis-30629	179	30	under	under	ADP
fcis-30629	179	31	partial	partial	ADJ
fcis-30629	179	32	state	state	NOUN
fcis-30629	179	33	constraints[j].journal	constraints[j].journal	NOUN
fcis-30629	179	34	of	of	ADP
fcis-30629	179	35	the	the	DET
fcis-30629	179	36	franklin	franklin	PROPN
fcis-30629	179	37	institute,2024,361(10):106944-	institute,2024,361(10):106944-	PROPN
fcis-30629	179	38	.	.	PUNCT
fcis-30629	180	1	[	[	X
fcis-30629	180	2	10	10	NUM
fcis-30629	180	3	]	]	X
fcis-30629	180	4	ghajar	ghajar	PROPN
fcis-30629	180	5	m	m	PROPN
fcis-30629	180	6	,	,	PUNCT
fcis-30629	180	7	keshmiri	keshmiri	VERB
fcis-30629	180	8	m	m	PROPN
fcis-30629	180	9	,	,	PUNCT
fcis-30629	180	10	bahrami	bahrami	NOUN
fcis-30629	180	11	j	j	PROPN
fcis-30629	180	12	.neural	.neural	ADJ
fcis-30629	180	13	-	-	PUNCT
fcis-30629	180	14	network	network	NOUN
fcis-30629	180	15	-	-	PUNCT
fcis-30629	180	16	based	base	VERB
fcis-30629	180	17	robust	robust	ADJ
fcis-30629	180	18	hybrid	hybrid	ADJ
fcis-30629	180	19	force	force	NOUN
fcis-30629	180	20	/	/	SYM
fcis-30629	180	21	position	position	NOUN
fcis-30629	180	22	controller	controller	NOUN
fcis-30629	180	23	for	for	ADP
fcis-30629	180	24	a	a	DET
fcis-30629	180	25	constrained	constrain	VERB
fcis-30629	180	26	robot	robot	NOUN
fcis-30629	180	27	manipulator	manipulator	NOUN
fcis-30629	180	28	with	with	ADP
fcis-30629	180	29	uncertainties[j].transactions	uncertainties[j].transaction	NOUN
fcis-30629	180	30	of	of	ADP
fcis-30629	180	31	the	the	DET
fcis-30629	180	32	institute	institute	PROPN
fcis-30629	180	33	of	of	ADP
fcis-30629	180	34	measurement	measurement	PROPN
fcis-30629	180	35	and	and	CCONJ
fcis-30629	180	36	control,2018,40(5):1625	control,2018,40(5):1625	NOUN
fcis-30629	180	37	-	-	PUNCT
fcis-30629	180	38	1636	1636	NUM
fcis-30629	180	39	.	.	PUNCT
fcis-30629	181	1	[	[	X
fcis-30629	181	2	11	11	NUM
fcis-30629	181	3	]	]	X
fcis-30629	181	4	yaoyao	yaoyao	PROPN
fcis-30629	181	5	t	t	PROPN
fcis-30629	181	6	,	,	PUNCT
fcis-30629	181	7	junyang	junyang	PROPN
fcis-30629	181	8	l	l	PROPN
fcis-30629	181	9	,	,	PUNCT
fcis-30629	181	10	yankui	yankui	PROPN
fcis-30629	181	11	s	s	PART
fcis-30629	181	12	.event	.event	ADV
fcis-30629	181	13	-	-	PUNCT
fcis-30629	181	14	triggered	trigger	VERB
fcis-30629	181	15	adaptive	adaptive	ADJ
fcis-30629	181	16	prescribed	prescribed	ADJ
fcis-30629	181	17	performance	performance	NOUN
fcis-30629	181	18	control	control	NOUN
fcis-30629	181	19	of	of	ADP
fcis-30629	181	20	flexible	flexible	ADJ
fcis-30629	181	21	-	-	PUNCT
fcis-30629	181	22	joint	joint	ADJ
fcis-30629	181	23	manipulators	manipulator	NOUN
fcis-30629	181	24	with	with	ADP
fcis-30629	181	25	output	output	NOUN
fcis-30629	181	26	constraint[j].engineering	constraint[j].engineering	NOUN
fcis-30629	181	27	computations	computation	NOUN
fcis-30629	181	28	,	,	PUNCT
fcis-30629	181	29	2023,40	2023,40	NUM
fcis-30629	181	30	(	(	PUNCT
fcis-30629	181	31	9	9	NUM
fcis-30629	181	32	-	-	SYM
fcis-30629	181	33	10	10	NUM
fcis-30629	181	34	):	):	PUNCT
fcis-30629	181	35	2432	2432	NUM
fcis-30629	181	36	-	-	SYM
fcis-30629	181	37	2452	2452	NUM
fcis-30629	181	38	.	.	PUNCT
fcis-30629	182	1	[	[	X
fcis-30629	182	2	12	12	NUM
fcis-30629	182	3	]	]	PUNCT
fcis-30629	182	4	ruchika	ruchika	NOUN
fcis-30629	182	5	,	,	PUNCT
fcis-30629	182	6	kumar	kumar	PROPN
fcis-30629	182	7	n.force/position	n.force/position	PROPN
fcis-30629	182	8	control	control	NOUN
fcis-30629	182	9	of	of	ADP
fcis-30629	182	10	constrained	constrain	VERB
fcis-30629	182	11	reconfigurable	reconfigurable	ADJ
fcis-30629	182	12	manipulators	manipulator	NOUN
fcis-30629	182	13	with	with	ADP
fcis-30629	182	14	sliding	slide	VERB
fcis-30629	182	15	mode	mode	NOUN
fcis-30629	182	16	control	control	NOUN
fcis-30629	182	17	based	base	VERB
fcis-30629	182	18	on	on	ADP
fcis-30629	182	19	adaptive	adaptive	ADJ
fcis-30629	182	20	neural	neural	ADJ
fcis-30629	182	21	network[j].international	network[j].international	ADJ
fcis-30629	182	22	journal	journal	NOUN
fcis-30629	182	23	of	of	ADP
fcis-30629	182	24	modelling	modelling	NOUN
fcis-30629	182	25	,	,	PUNCT
fcis-30629	182	26	identification	identification	NOUN
fcis-30629	182	27	and	and	CCONJ
fcis-30629	182	28	control,2023,42(3):259	control,2023,42(3):259	NOUN
fcis-30629	182	29	-	-	SYM
fcis-30629	182	30	269	269	NUM
fcis-30629	182	31	.	.	PUNCT