id	sid	tid	token	lemma	pos
fcis-31030	1	1	frontiers	frontier	NOUN
fcis-31030	1	2	in	in	ADP
fcis-31030	1	3	computing	computing	NOUN
fcis-31030	1	4	and	and	CCONJ
fcis-31030	1	5	intelligent	intelligent	ADJ
fcis-31030	1	6	systems	system	NOUN
fcis-31030	1	7	issn	issn	VERB
fcis-31030	1	8	:	:	PUNCT
fcis-31030	1	9	2832	2832	NUM
fcis-31030	1	10	-	-	SYM
fcis-31030	1	11	6024	6024	NUM
fcis-31030	1	12	|	|	NOUN
fcis-31030	1	13	vol	vol	NOUN
fcis-31030	1	14	.	.	PROPN
fcis-31030	2	1	12	12	NUM
fcis-31030	2	2	,	,	PUNCT
fcis-31030	2	3	no	no	INTJ
fcis-31030	2	4	.	.	NOUN
fcis-31030	2	5	3	3	NUM
fcis-31030	2	6	,	,	PUNCT
fcis-31030	2	7	2025	2025	NUM
fcis-31030	2	8	12	12	NUM
fcis-31030	2	9	wall	wall	NOUN
fcis-31030	2	10	climbing	climbing	NOUN
fcis-31030	2	11	robot	robot	NOUN
fcis-31030	2	12	for	for	ADP
fcis-31030	2	13	high‐altitude	high‐altitude	NOUN
fcis-31030	2	14	steel	steel	NOUN
fcis-31030	2	15	frame	frame	NOUN
fcis-31030	2	16	inspection	inspection	NOUN
fcis-31030	2	17	huihui	huihui	VERB
fcis-31030	2	18	hong	hong	PROPN
fcis-31030	2	19	*	*	PUNCT
fcis-31030	2	20	,	,	PUNCT
fcis-31030	2	21	zuozi	zuozi	PROPN
fcis-31030	2	22	chen	chen	PROPN
fcis-31030	2	23	chongqing	chongqing	PROPN
fcis-31030	2	24	polytechnic	polytechnic	PROPN
fcis-31030	2	25	university	university	PROPN
fcis-31030	2	26	of	of	ADP
fcis-31030	2	27	electronic	electronic	ADJ
fcis-31030	2	28	technology	technology	NOUN
fcis-31030	2	29	,	,	PUNCT
fcis-31030	2	30	chongqing	chongqe	VERB
fcis-31030	2	31	401331	401331	NUM
fcis-31030	3	1	,	,	PUNCT
fcis-31030	3	2	china	china	PROPN
fcis-31030	3	3	*	*	PUNCT
fcis-31030	3	4	corresponding	correspond	VERB
fcis-31030	3	5	author	author	NOUN
fcis-31030	3	6	:	:	PUNCT
fcis-31030	3	7	huihui	huihui	ADJ
fcis-31030	3	8	hong	hong	PROPN
fcis-31030	3	9	abstract	abstract	NOUN
fcis-31030	3	10	:	:	PUNCT
fcis-31030	3	11	we	we	PRON
fcis-31030	3	12	present	present	VERB
fcis-31030	3	13	a	a	DET
fcis-31030	3	14	wall	wall	NOUN
fcis-31030	3	15	-	-	PUNCT
fcis-31030	3	16	climbing	climb	VERB
fcis-31030	3	17	robot	robot	NOUN
fcis-31030	3	18	based	base	VERB
fcis-31030	3	19	on	on	ADP
fcis-31030	3	20	microcontroller	microcontroller	NOUN
fcis-31030	3	21	technology	technology	NOUN
fcis-31030	3	22	,	,	PUNCT
fcis-31030	3	23	designed	design	VERB
fcis-31030	3	24	to	to	PART
fcis-31030	3	25	assist	assist	VERB
fcis-31030	3	26	or	or	CCONJ
fcis-31030	3	27	replace	replace	VERB
fcis-31030	3	28	human	human	ADJ
fcis-31030	3	29	workers	worker	NOUN
fcis-31030	3	30	in	in	ADP
fcis-31030	3	31	hazardous	hazardous	ADJ
fcis-31030	3	32	maintenance	maintenance	NOUN
fcis-31030	3	33	tasks	task	NOUN
fcis-31030	3	34	.	.	PUNCT
fcis-31030	4	1	the	the	DET
fcis-31030	4	2	platform	platform	NOUN
fcis-31030	4	3	integrates	integrate	VERB
fcis-31030	4	4	modular	modular	ADJ
fcis-31030	4	5	components	component	NOUN
fcis-31030	4	6	including	include	VERB
fcis-31030	4	7	an	an	DET
fcis-31030	4	8	esp32	esp32	ADJ
fcis-31030	4	9	module	module	NOUN
fcis-31030	4	10	,	,	PUNCT
fcis-31030	4	11	real	real	ADJ
fcis-31030	4	12	-	-	PUNCT
fcis-31030	4	13	time	time	NOUN
fcis-31030	4	14	video	video	NOUN
fcis-31030	4	15	monitoring	monitoring	NOUN
fcis-31030	4	16	,	,	PUNCT
fcis-31030	4	17	voice	voice	NOUN
fcis-31030	4	18	broadcast	broadcast	NOUN
fcis-31030	4	19	,	,	PUNCT
fcis-31030	4	20	and	and	CCONJ
fcis-31030	4	21	sk-3000	sk-3000	PROPN
fcis-31030	4	22	eddy	eddy	PROPN
fcis-31030	4	23	current	current	ADJ
fcis-31030	4	24	sensors	sensor	NOUN
fcis-31030	4	25	.	.	PUNCT
fcis-31030	5	1	operated	operate	VERB
fcis-31030	5	2	via	via	ADP
fcis-31030	5	3	2.4	2.4	NUM
fcis-31030	5	4	ghz	ghz	NOUN
fcis-31030	5	5	gps2	gps2	PROPN
fcis-31030	5	6	remote	remote	ADJ
fcis-31030	5	7	control	control	NOUN
fcis-31030	5	8	or	or	CCONJ
fcis-31030	5	9	autonomous	autonomous	ADJ
fcis-31030	5	10	navigation	navigation	NOUN
fcis-31030	5	11	,	,	PUNCT
fcis-31030	5	12	it	it	PRON
fcis-31030	5	13	detects	detect	VERB
fcis-31030	5	14	surface	surface	NOUN
fcis-31030	5	15	cracks	crack	NOUN
fcis-31030	5	16	and	and	CCONJ
fcis-31030	5	17	paint	paint	NOUN
fcis-31030	5	18	degradation	degradation	NOUN
fcis-31030	5	19	on	on	ADP
fcis-31030	5	20	metal	metal	NOUN
fcis-31030	5	21	structures	structure	NOUN
fcis-31030	5	22	.	.	PUNCT
fcis-31030	6	1	upon	upon	SCONJ
fcis-31030	6	2	defect	defect	NOUN
fcis-31030	6	3	detection	detection	NOUN
fcis-31030	6	4	,	,	PUNCT
fcis-31030	6	5	the	the	DET
fcis-31030	6	6	system	system	NOUN
fcis-31030	6	7	triggers	trigger	VERB
fcis-31030	6	8	audible	audible	ADJ
fcis-31030	6	9	alerts	alert	NOUN
fcis-31030	6	10	through	through	ADP
fcis-31030	6	11	its	its	PRON
fcis-31030	6	12	voice	voice	NOUN
fcis-31030	6	13	module	module	NOUN
fcis-31030	6	14	.	.	PUNCT
fcis-31030	7	1	this	this	DET
fcis-31030	7	2	solution	solution	NOUN
fcis-31030	7	3	eliminates	eliminate	VERB
fcis-31030	7	4	safety	safety	NOUN
fcis-31030	7	5	risks	risk	NOUN
fcis-31030	7	6	associated	associate	VERB
fcis-31030	7	7	with	with	ADP
fcis-31030	7	8	high	high	ADJ
fcis-31030	7	9	-	-	PUNCT
fcis-31030	7	10	altitude	altitude	NOUN
fcis-31030	7	11	operations	operation	NOUN
fcis-31030	7	12	,	,	PUNCT
fcis-31030	7	13	reduces	reduce	VERB
fcis-31030	7	14	resource	resource	NOUN
fcis-31030	7	15	waste	waste	NOUN
fcis-31030	7	16	,	,	PUNCT
fcis-31030	7	17	and	and	CCONJ
fcis-31030	7	18	enhances	enhance	VERB
fcis-31030	7	19	maintenance	maintenance	NOUN
fcis-31030	7	20	efficiency	efficiency	NOUN
fcis-31030	7	21	by	by	ADP
fcis-31030	7	22	40	40	NUM
fcis-31030	7	23	%	%	NOUN
fcis-31030	7	24	while	while	SCONJ
fcis-31030	7	25	lowering	lower	VERB
fcis-31030	7	26	operational	operational	ADJ
fcis-31030	7	27	costs	cost	NOUN
fcis-31030	7	28	.	.	PUNCT
fcis-31030	8	1	keywords	keyword	NOUN
fcis-31030	8	2	:	:	PUNCT
fcis-31030	8	3	voice	voice	NOUN
fcis-31030	8	4	broadcast	broadcast	NOUN
fcis-31030	8	5	module	module	NOUN
fcis-31030	8	6	;	;	PUNCT
fcis-31030	8	7	pushrod	pushrod	NOUN
fcis-31030	8	8	motor	motor	NOUN
fcis-31030	8	9	;	;	PUNCT
fcis-31030	8	10	electromagnetic	electromagnetic	ADJ
fcis-31030	8	11	adsorption	adsorption	NOUN
fcis-31030	8	12	.	.	PUNCT
fcis-31030	9	1	1	1	X
fcis-31030	9	2	.	.	X
fcis-31030	9	3	introduction	introduction	NOUN
fcis-31030	9	4	since	since	SCONJ
fcis-31030	9	5	the	the	DET
fcis-31030	9	6	beginning	beginning	NOUN
fcis-31030	9	7	of	of	ADP
fcis-31030	9	8	the	the	DET
fcis-31030	9	9	21st	21st	ADJ
fcis-31030	9	10	century	century	NOUN
fcis-31030	9	11	,	,	PUNCT
fcis-31030	9	12	china	china	PROPN
fcis-31030	9	13	has	have	AUX
fcis-31030	9	14	experienced	experience	VERB
fcis-31030	9	15	rapid	rapid	ADJ
fcis-31030	9	16	economic	economic	ADJ
fcis-31030	9	17	growth	growth	NOUN
fcis-31030	9	18	,	,	PUNCT
fcis-31030	9	19	leading	lead	VERB
fcis-31030	9	20	to	to	ADP
fcis-31030	9	21	a	a	DET
fcis-31030	9	22	significant	significant	ADJ
fcis-31030	9	23	increase	increase	NOUN
fcis-31030	9	24	in	in	ADP
fcis-31030	9	25	port	port	NOUN
fcis-31030	9	26	trade	trade	NOUN
fcis-31030	9	27	volume	volume	NOUN
fcis-31030	9	28	.	.	PUNCT
fcis-31030	10	1	as	as	ADP
fcis-31030	10	2	a	a	DET
fcis-31030	10	3	result	result	NOUN
fcis-31030	10	4	,	,	PUNCT
fcis-31030	10	5	large	large	ADJ
fcis-31030	10	6	-	-	PUNCT
fcis-31030	10	7	scale	scale	NOUN
fcis-31030	10	8	steelframe	steelframe	NOUN
fcis-31030	10	9	structural	structural	ADJ
fcis-31030	10	10	equipment	equipment	NOUN
fcis-31030	10	11	in	in	ADP
fcis-31030	10	12	ports	port	NOUN
fcis-31030	10	13	,	,	PUNCT
fcis-31030	10	14	such	such	ADJ
fcis-31030	10	15	as	as	ADP
fcis-31030	10	16	ship	ship	NOUN
fcis-31030	10	17	unloaders	unloader	NOUN
fcis-31030	10	18	,	,	PUNCT
fcis-31030	10	19	gantry	gantry	NOUN
fcis-31030	10	20	cranes	crane	NOUN
fcis-31030	10	21	,	,	PUNCT
fcis-31030	10	22	bridge	bridge	NOUN
fcis-31030	10	23	cranes	crane	NOUN
fcis-31030	10	24	,	,	PUNCT
fcis-31030	10	25	and	and	CCONJ
fcis-31030	10	26	rail	rail	NOUN
fcis-31030	10	27	-	-	PUNCT
fcis-31030	10	28	mounted	mount	VERB
fcis-31030	10	29	gantry	gantry	NOUN
fcis-31030	10	30	cranes	crane	NOUN
fcis-31030	10	31	,	,	PUNCT
fcis-31030	10	32	has	have	AUX
fcis-31030	10	33	developed	develop	VERB
fcis-31030	10	34	at	at	ADP
fcis-31030	10	35	a	a	DET
fcis-31030	10	36	rapid	rapid	ADJ
fcis-31030	10	37	pace	pace	NOUN
fcis-31030	10	38	.	.	PUNCT
fcis-31030	11	1	however	however	ADV
fcis-31030	11	2	,	,	PUNCT
fcis-31030	11	3	alongside	alongside	ADP
fcis-31030	11	4	the	the	DET
fcis-31030	11	5	widespread	widespread	ADJ
fcis-31030	11	6	use	use	NOUN
fcis-31030	11	7	of	of	ADP
fcis-31030	11	8	these	these	DET
fcis-31030	11	9	steel	steel	NOUN
fcis-31030	11	10	structures	structure	NOUN
fcis-31030	11	11	,	,	PUNCT
fcis-31030	11	12	various	various	ADJ
fcis-31030	11	13	uncontrollable	uncontrollable	ADJ
fcis-31030	11	14	factors	factor	NOUN
fcis-31030	11	15	have	have	AUX
fcis-31030	11	16	led	lead	VERB
fcis-31030	11	17	to	to	ADP
fcis-31030	11	18	rapid	rapid	ADJ
fcis-31030	11	19	damage	damage	NOUN
fcis-31030	11	20	,	,	PUNCT
fcis-31030	11	21	thereby	thereby	ADV
fcis-31030	11	22	reducing	reduce	VERB
fcis-31030	11	23	the	the	DET
fcis-31030	11	24	service	service	NOUN
fcis-31030	11	25	life	life	NOUN
fcis-31030	11	26	of	of	ADP
fcis-31030	11	27	the	the	DET
fcis-31030	11	28	equipment	equipment	NOUN
fcis-31030	11	29	.	.	PUNCT
fcis-31030	12	1	this	this	PRON
fcis-31030	12	2	has	have	AUX
fcis-31030	12	3	generated	generate	VERB
fcis-31030	12	4	a	a	DET
fcis-31030	12	5	growing	grow	VERB
fcis-31030	12	6	need	need	NOUN
fcis-31030	12	7	for	for	ADP
fcis-31030	12	8	maintenance	maintenance	NOUN
fcis-31030	12	9	[	[	X
fcis-31030	12	10	1,2	1,2	NUM
fcis-31030	12	11	]	]	PUNCT
fcis-31030	12	12	.	.	PUNCT
fcis-31030	13	1	current	current	ADJ
fcis-31030	13	2	robotic	robotic	ADJ
fcis-31030	13	3	inspection	inspection	NOUN
fcis-31030	13	4	systems	system	NOUN
fcis-31030	13	5	exhibit	exhibit	VERB
fcis-31030	13	6	significant	significant	ADJ
fcis-31030	13	7	limitations	limitation	NOUN
fcis-31030	13	8	hindering	hinder	VERB
fcis-31030	13	9	comprehensive	comprehensive	ADJ
fcis-31030	13	10	flaw	flaw	NOUN
fcis-31030	13	11	detection	detection	NOUN
fcis-31030	13	12	.	.	PUNCT
fcis-31030	14	1	a	a	DET
fcis-31030	14	2	major	major	ADJ
fcis-31030	14	3	deficiency	deficiency	NOUN
fcis-31030	14	4	is	be	AUX
fcis-31030	14	5	restricted	restrict	VERB
fcis-31030	14	6	mobility	mobility	NOUN
fcis-31030	14	7	and	and	CCONJ
fcis-31030	14	8	accessibility	accessibility	NOUN
fcis-31030	14	9	.	.	PUNCT
fcis-31030	15	1	rigid	rigid	ADJ
fcis-31030	15	2	robots	robot	NOUN
fcis-31030	15	3	like	like	ADP
fcis-31030	15	4	the	the	DET
fcis-31030	15	5	th	th	X
fcis-31030	15	6	climber	climber	NOUN
fcis-31030	15	7	are	be	AUX
fcis-31030	15	8	often	often	ADV
fcis-31030	15	9	confined	confine	VERB
fcis-31030	15	10	to	to	ADP
fcis-31030	15	11	inspecting	inspect	VERB
fcis-31030	15	12	easily	easily	ADV
fcis-31030	15	13	reachable	reachable	ADJ
fcis-31030	15	14	,	,	PUNCT
fcis-31030	15	15	relatively	relatively	ADV
fcis-31030	15	16	planar	planar	ADJ
fcis-31030	15	17	surfaces	surface	NOUN
fcis-31030	15	18	,	,	PUNCT
fcis-31030	15	19	resulting	result	VERB
fcis-31030	15	20	in	in	ADP
fcis-31030	15	21	critical	critical	ADJ
fcis-31030	15	22	blind	blind	ADJ
fcis-31030	15	23	spots	spot	NOUN
fcis-31030	15	24	near	near	ADP
fcis-31030	15	25	structural	structural	ADJ
fcis-31030	15	26	features	feature	NOUN
fcis-31030	15	27	(	(	PUNCT
fcis-31030	15	28	e.g.	e.g.	ADV
fcis-31030	15	29	,	,	PUNCT
fcis-31030	15	30	welds	weld	NOUN
fcis-31030	15	31	,	,	PUNCT
fcis-31030	15	32	nozzles	nozzle	NOUN
fcis-31030	15	33	,	,	PUNCT
fcis-31030	15	34	complex	complex	ADJ
fcis-31030	15	35	joints	joint	NOUN
fcis-31030	15	36	,	,	PUNCT
fcis-31030	15	37	curvature	curvature	NOUN
fcis-31030	15	38	changes	change	NOUN
fcis-31030	15	39	)	)	PUNCT
fcis-31030	15	40	.	.	PUNCT
fcis-31030	16	1	consequently	consequently	ADV
fcis-31030	16	2	,	,	PUNCT
fcis-31030	16	3	defect	defect	NOUN
fcis-31030	16	4	-	-	PUNCT
fcis-31030	16	5	prone	prone	ADJ
fcis-31030	16	6	areas	area	NOUN
fcis-31030	16	7	remain	remain	VERB
fcis-31030	16	8	uninspected	uninspected	ADJ
fcis-31030	16	9	.	.	PUNCT
fcis-31030	17	1	furthermore	furthermore	ADV
fcis-31030	17	2	,	,	PUNCT
fcis-31030	17	3	these	these	DET
fcis-31030	17	4	systems	system	NOUN
fcis-31030	17	5	demonstrate	demonstrate	VERB
fcis-31030	17	6	poor	poor	ADJ
fcis-31030	17	7	adaptability	adaptability	NOUN
fcis-31030	17	8	,	,	PUNCT
fcis-31030	17	9	struggling	struggle	VERB
fcis-31030	17	10	on	on	ADP
fcis-31030	17	11	rough	rough	ADJ
fcis-31030	17	12	,	,	PUNCT
fcis-31030	17	13	uneven	uneven	ADJ
fcis-31030	17	14	,	,	PUNCT
fcis-31030	17	15	porous	porous	ADJ
fcis-31030	17	16	,	,	PUNCT
fcis-31030	17	17	or	or	CCONJ
fcis-31030	17	18	corroded	corroded	ADJ
fcis-31030	17	19	surfaces	surface	NOUN
fcis-31030	17	20	common	common	ADJ
fcis-31030	17	21	in	in	ADP
fcis-31030	17	22	industry	industry	NOUN
fcis-31030	17	23	.	.	PUNCT
fcis-31030	18	1	adhesion	adhesion	NOUN
fcis-31030	18	2	reliability	reliability	NOUN
fcis-31030	18	3	poses	pose	VERB
fcis-31030	18	4	another	another	DET
fcis-31030	18	5	key	key	ADJ
fcis-31030	18	6	challenge	challenge	NOUN
fcis-31030	18	7	,	,	PUNCT
fcis-31030	18	8	especially	especially	ADV
fcis-31030	18	9	for	for	ADP
fcis-31030	18	10	vacuum	vacuum	NOUN
fcis-31030	18	11	-	-	PUNCT
fcis-31030	18	12	based	base	VERB
fcis-31030	18	13	systems	system	NOUN
fcis-31030	18	14	like	like	ADP
fcis-31030	18	15	andi	andi	PROPN
fcis-31030	18	16	.	.	PUNCT
fcis-31030	19	1	maintaining	maintain	VERB
fcis-31030	19	2	suction	suction	NOUN
fcis-31030	19	3	seal	seal	NOUN
fcis-31030	19	4	integrity	integrity	NOUN
fcis-31030	19	5	on	on	ADP
fcis-31030	19	6	rough	rough	ADJ
fcis-31030	19	7	or	or	CCONJ
fcis-31030	19	8	irregular	irregular	ADJ
fcis-31030	19	9	surfaces	surface	NOUN
fcis-31030	19	10	is	be	AUX
fcis-31030	19	11	difficult	difficult	ADJ
fcis-31030	19	12	,	,	PUNCT
fcis-31030	19	13	leading	lead	VERB
fcis-31030	19	14	to	to	ADP
fcis-31030	19	15	sliding	slide	VERB
fcis-31030	19	16	or	or	CCONJ
fcis-31030	19	17	detachment	detachment	NOUN
fcis-31030	19	18	.	.	PUNCT
fcis-31030	20	1	this	this	PRON
fcis-31030	20	2	causes	cause	VERB
fcis-31030	20	3	inspection	inspection	NOUN
fcis-31030	20	4	interruptions	interruption	NOUN
fcis-31030	20	5	,	,	PUNCT
fcis-31030	20	6	potential	potential	ADJ
fcis-31030	20	7	damage	damage	NOUN
fcis-31030	20	8	,	,	PUNCT
fcis-31030	20	9	and	and	CCONJ
fcis-31030	20	10	operator	operator	NOUN
fcis-31030	20	11	intervention	intervention	NOUN
fcis-31030	20	12	,	,	PUNCT
fcis-31030	20	13	undermining	undermine	VERB
fcis-31030	20	14	the	the	DET
fcis-31030	20	15	core	core	ADJ
fcis-31030	20	16	benefit	benefit	NOUN
fcis-31030	20	17	of	of	ADP
fcis-31030	20	18	continuous	continuous	ADJ
fcis-31030	20	19	robotic	robotic	ADJ
fcis-31030	20	20	operation	operation	NOUN
fcis-31030	20	21	.	.	PUNCT
fcis-31030	21	1	finally	finally	ADV
fcis-31030	21	2	,	,	PUNCT
fcis-31030	21	3	limited	limited	ADJ
fcis-31030	21	4	obstacle	obstacle	NOUN
fcis-31030	21	5	-	-	PUNCT
fcis-31030	21	6	crossing	crossing	NOUN
fcis-31030	21	7	ability	ability	NOUN
fcis-31030	21	8	severely	severely	ADV
fcis-31030	21	9	restricts	restrict	VERB
fcis-31030	21	10	these	these	DET
fcis-31030	21	11	robots	robot	NOUN
fcis-31030	21	12	.	.	PUNCT
fcis-31030	22	1	navigating	navigate	VERB
fcis-31030	22	2	common	common	ADJ
fcis-31030	22	3	protrusions	protrusion	NOUN
fcis-31030	22	4	like	like	ADP
fcis-31030	22	5	weld	weld	NOUN
fcis-31030	22	6	seams	seam	NOUN
fcis-31030	22	7	,	,	PUNCT
fcis-31030	22	8	bolts	bolt	NOUN
fcis-31030	22	9	,	,	PUNCT
fcis-31030	22	10	or	or	CCONJ
fcis-31030	22	11	surface	surface	NOUN
fcis-31030	22	12	irregularities	irregularity	NOUN
fcis-31030	22	13	frequently	frequently	ADV
fcis-31030	22	14	exceeds	exceed	VERB
fcis-31030	22	15	their	their	PRON
fcis-31030	22	16	mechanical	mechanical	ADJ
fcis-31030	22	17	design	design	NOUN
fcis-31030	22	18	.	.	PUNCT
fcis-31030	23	1	to	to	PART
fcis-31030	23	2	address	address	VERB
fcis-31030	23	3	these	these	DET
fcis-31030	23	4	issues	issue	NOUN
fcis-31030	23	5	,	,	PUNCT
fcis-31030	23	6	we	we	PRON
fcis-31030	23	7	have	have	AUX
fcis-31030	23	8	developed	develop	VERB
fcis-31030	23	9	a	a	DET
fcis-31030	23	10	wall	wall	NOUN
fcis-31030	23	11	-	-	PUNCT
fcis-31030	23	12	climbing	climb	VERB
fcis-31030	23	13	robot	robot	NOUN
fcis-31030	23	14	that	that	PRON
fcis-31030	23	15	offers	offer	VERB
fcis-31030	23	16	strong	strong	ADJ
fcis-31030	23	17	adsorption	adsorption	NOUN
fcis-31030	23	18	capabilities	capability	NOUN
fcis-31030	23	19	,	,	PUNCT
fcis-31030	23	20	simple	simple	ADJ
fcis-31030	23	21	operation	operation	NOUN
fcis-31030	23	22	,	,	PUNCT
fcis-31030	23	23	and	and	CCONJ
fcis-31030	23	24	resistance	resistance	NOUN
fcis-31030	23	25	to	to	ADP
fcis-31030	23	26	slipping	slip	VERB
fcis-31030	23	27	,	,	PUNCT
fcis-31030	23	28	which	which	PRON
fcis-31030	23	29	enhances	enhance	VERB
fcis-31030	23	30	the	the	DET
fcis-31030	23	31	quality	quality	NOUN
fcis-31030	23	32	and	and	CCONJ
fcis-31030	23	33	efficiency	efficiency	NOUN
fcis-31030	23	34	of	of	ADP
fcis-31030	23	35	maintenance	maintenance	NOUN
fcis-31030	23	36	work	work	NOUN
fcis-31030	23	37	while	while	SCONJ
fcis-31030	23	38	lowering	lower	VERB
fcis-31030	23	39	costs	cost	NOUN
fcis-31030	23	40	.	.	PUNCT
fcis-31030	24	1	our	our	PRON
fcis-31030	24	2	robot	robot	NOUN
fcis-31030	24	3	has	have	AUX
fcis-31030	24	4	been	be	AUX
fcis-31030	24	5	designed	design	VERB
fcis-31030	24	6	to	to	PART
fcis-31030	24	7	overcome	overcome	VERB
fcis-31030	24	8	the	the	DET
fcis-31030	24	9	limitations	limitation	NOUN
fcis-31030	24	10	of	of	ADP
fcis-31030	24	11	existing	exist	VERB
fcis-31030	24	12	technologies	technology	NOUN
fcis-31030	24	13	by	by	ADP
fcis-31030	24	14	providing	provide	VERB
fcis-31030	24	15	more	more	ADV
fcis-31030	24	16	flexible	flexible	ADJ
fcis-31030	24	17	,	,	PUNCT
fcis-31030	24	18	efficient	efficient	ADJ
fcis-31030	24	19	,	,	PUNCT
fcis-31030	24	20	and	and	CCONJ
fcis-31030	24	21	reliable	reliable	ADJ
fcis-31030	24	22	solutions	solution	NOUN
fcis-31030	24	23	for	for	ADP
fcis-31030	24	24	the	the	DET
fcis-31030	24	25	inspection	inspection	NOUN
fcis-31030	24	26	and	and	CCONJ
fcis-31030	24	27	maintenance	maintenance	NOUN
fcis-31030	24	28	of	of	ADP
fcis-31030	24	29	large	large	ADJ
fcis-31030	24	30	-	-	PUNCT
fcis-31030	24	31	scale	scale	NOUN
fcis-31030	24	32	steel	steel	NOUN
fcis-31030	24	33	-	-	PUNCT
fcis-31030	24	34	frame	frame	NOUN
fcis-31030	24	35	structures	structure	NOUN
fcis-31030	24	36	,	,	PUNCT
fcis-31030	24	37	particularly	particularly	ADV
fcis-31030	24	38	in	in	ADP
fcis-31030	24	39	environments	environment	NOUN
fcis-31030	24	40	with	with	ADP
fcis-31030	24	41	complex	complex	ADJ
fcis-31030	24	42	geometries	geometry	NOUN
fcis-31030	24	43	and	and	CCONJ
fcis-31030	24	44	surfaces[3,4	surfaces[3,4	NOUN
fcis-31030	24	45	]	]	X
fcis-31030	24	46	.	.	PUNCT
fcis-31030	25	1	the	the	DET
fcis-31030	25	2	working	work	VERB
fcis-31030	25	3	principle	principle	NOUN
fcis-31030	25	4	and	and	CCONJ
fcis-31030	25	5	functionality	functionality	NOUN
fcis-31030	25	6	of	of	ADP
fcis-31030	25	7	this	this	DET
fcis-31030	25	8	wallclimbing	wallclimbe	VERB
fcis-31030	25	9	robot	robot	NOUN
fcis-31030	25	10	are	be	AUX
fcis-31030	25	11	based	base	VERB
fcis-31030	25	12	on	on	ADP
fcis-31030	25	13	communication	communication	NOUN
fcis-31030	25	14	between	between	ADP
fcis-31030	25	15	the	the	DET
fcis-31030	25	16	microcontroller	microcontroller	NOUN
fcis-31030	25	17	(	(	PUNCT
fcis-31030	25	18	mcu	mcu	NOUN
fcis-31030	25	19	)	)	PUNCT
fcis-31030	25	20	chip	chip	NOUN
fcis-31030	25	21	,	,	PUNCT
fcis-31030	25	22	esp32	esp32	ADJ
fcis-31030	25	23	module	module	NOUN
fcis-31030	25	24	,	,	PUNCT
fcis-31030	25	25	wifi	wifi	NOUN
fcis-31030	25	26	camera	camera	NOUN
fcis-31030	25	27	module	module	NOUN
fcis-31030	25	28	,	,	PUNCT
fcis-31030	25	29	sk-3000	sk-3000	PROPN
fcis-31030	25	30	eddy	eddy	PROPN
fcis-31030	25	31	current	current	ADJ
fcis-31030	25	32	sensor	sensor	NOUN
fcis-31030	25	33	module	module	NOUN
fcis-31030	25	34	,	,	PUNCT
fcis-31030	25	35	and	and	CCONJ
fcis-31030	25	36	a	a	DET
fcis-31030	25	37	2.4	2.4	NUM
fcis-31030	25	38	ghz	ghz	NOUN
fcis-31030	25	39	remote	remote	ADJ
fcis-31030	25	40	control	control	NOUN
fcis-31030	25	41	handset	handset	NOUN
fcis-31030	25	42	module	module	NOUN
fcis-31030	25	43	.	.	PUNCT
fcis-31030	26	1	the	the	DET
fcis-31030	26	2	system	system	NOUN
fcis-31030	26	3	is	be	AUX
fcis-31030	26	4	designed	design	VERB
fcis-31030	26	5	with	with	ADP
fcis-31030	26	6	omnidirectional	omnidirectional	ADJ
fcis-31030	26	7	mobility	mobility	NOUN
fcis-31030	26	8	,	,	PUNCT
fcis-31030	26	9	obstacle	obstacle	NOUN
fcis-31030	26	10	detection	detection	NOUN
fcis-31030	26	11	and	and	CCONJ
fcis-31030	26	12	avoidance	avoidance	NOUN
fcis-31030	26	13	capabilities	capability	NOUN
fcis-31030	26	14	,	,	PUNCT
fcis-31030	26	15	a	a	DET
fcis-31030	26	16	certain	certain	ADJ
fcis-31030	26	17	load	load	NOUN
fcis-31030	26	18	-	-	PUNCT
fcis-31030	26	19	bearing	bear	VERB
fcis-31030	26	20	capacity	capacity	NOUN
fcis-31030	26	21	,	,	PUNCT
fcis-31030	26	22	and	and	CCONJ
fcis-31030	26	23	fall	fall	NOUN
fcis-31030	26	24	prevention	prevention	NOUN
fcis-31030	26	25	features	feature	NOUN
fcis-31030	26	26	.	.	PUNCT
fcis-31030	27	1	it	it	PRON
fcis-31030	27	2	is	be	AUX
fcis-31030	27	3	easy	easy	ADJ
fcis-31030	27	4	to	to	PART
fcis-31030	27	5	control	control	VERB
fcis-31030	27	6	,	,	PUNCT
fcis-31030	27	7	reliable	reliable	ADJ
fcis-31030	27	8	,	,	PUNCT
fcis-31030	27	9	and	and	CCONJ
fcis-31030	27	10	capable	capable	ADJ
fcis-31030	27	11	of	of	ADP
fcis-31030	27	12	both	both	CCONJ
fcis-31030	27	13	autonomous	autonomous	ADJ
fcis-31030	27	14	navigation	navigation	NOUN
fcis-31030	27	15	and	and	CCONJ
fcis-31030	27	16	remote	remote	ADJ
fcis-31030	27	17	control	control	NOUN
fcis-31030	27	18	operation[5,6	operation[5,6	NOUN
fcis-31030	27	19	]	]	X
fcis-31030	27	20	.	.	PUNCT
fcis-31030	28	1	2	2	X
fcis-31030	28	2	.	.	X
fcis-31030	28	3	working	work	VERB
fcis-31030	28	4	principle	principle	NOUN
fcis-31030	28	5	and	and	CCONJ
fcis-31030	28	6	functions	function	NOUN
fcis-31030	28	7	of	of	ADP
fcis-31030	28	8	robots	robot	NOUN
fcis-31030	28	9	the	the	DET
fcis-31030	28	10	robot	robot	NOUN
fcis-31030	28	11	can	can	AUX
fcis-31030	28	12	move	move	VERB
fcis-31030	28	13	freely	freely	ADV
fcis-31030	28	14	in	in	ADP
fcis-31030	28	15	all	all	DET
fcis-31030	28	16	directions	direction	NOUN
fcis-31030	28	17	based	base	VERB
fcis-31030	28	18	on	on	ADP
fcis-31030	28	19	a	a	DET
fcis-31030	28	20	predefined	predefine	VERB
fcis-31030	28	21	route	route	NOUN
fcis-31030	28	22	or	or	CCONJ
fcis-31030	28	23	be	be	AUX
fcis-31030	28	24	remotely	remotely	ADV
fcis-31030	28	25	controlled	control	VERB
fcis-31030	28	26	via	via	ADP
fcis-31030	28	27	the	the	DET
fcis-31030	28	28	2.4	2.4	NUM
fcis-31030	28	29	ghz	ghz	NOUN
fcis-31030	28	30	gps2	gps2	PROPN
fcis-31030	28	31	wireless	wireless	VERB
fcis-31030	28	32	remote	remote	ADJ
fcis-31030	28	33	control	control	NOUN
fcis-31030	28	34	handset	handset	NOUN
fcis-31030	28	35	.	.	PUNCT
fcis-31030	29	1	additionally	additionally	ADV
fcis-31030	29	2	,	,	PUNCT
fcis-31030	29	3	the	the	DET
fcis-31030	29	4	sk3000	sk3000	PROPN
fcis-31030	29	5	eddy	eddy	PROPN
fcis-31030	29	6	current	current	ADJ
fcis-31030	29	7	sensor	sensor	NOUN
fcis-31030	29	8	detects	detect	NOUN
fcis-31030	29	9	cracks	crack	NOUN
fcis-31030	29	10	or	or	CCONJ
fcis-31030	29	11	paint	paint	NOUN
fcis-31030	29	12	peeling	peel	VERB
fcis-31030	29	13	on	on	ADP
fcis-31030	29	14	steel	steel	NOUN
fcis-31030	29	15	structures	structure	NOUN
fcis-31030	29	16	.	.	PUNCT
fcis-31030	30	1	upon	upon	SCONJ
fcis-31030	30	2	detection	detection	NOUN
fcis-31030	30	3	,	,	PUNCT
fcis-31030	30	4	an	an	DET
fcis-31030	30	5	audio	audio	ADJ
fcis-31030	30	6	alarm	alarm	NOUN
fcis-31030	30	7	is	be	AUX
fcis-31030	30	8	triggered	trigger	VERB
fcis-31030	30	9	through	through	ADP
fcis-31030	30	10	the	the	DET
fcis-31030	30	11	voice	voice	NOUN
fcis-31030	30	12	broadcast	broadcast	NOUN
fcis-31030	30	13	module	module	NOUN
fcis-31030	30	14	,	,	PUNCT
fcis-31030	30	15	and	and	CCONJ
fcis-31030	30	16	the	the	DET
fcis-31030	30	17	operator	operator	NOUN
fcis-31030	30	18	can	can	AUX
fcis-31030	30	19	view	view	VERB
fcis-31030	30	20	real	real	ADJ
fcis-31030	30	21	-	-	PUNCT
fcis-31030	30	22	time	time	NOUN
fcis-31030	30	23	video	video	NOUN
fcis-31030	30	24	footage	footage	NOUN
fcis-31030	30	25	on	on	ADP
fcis-31030	30	26	a	a	DET
fcis-31030	30	27	computer	computer	NOUN
fcis-31030	30	28	or	or	CCONJ
fcis-31030	30	29	mobile	mobile	ADJ
fcis-31030	30	30	device	device	NOUN
fcis-31030	30	31	using	use	VERB
fcis-31030	30	32	the	the	DET
fcis-31030	30	33	esp32	esp32	ADJ
fcis-31030	30	34	wifi	wifi	NOUN
fcis-31030	30	35	camera	camera	NOUN
fcis-31030	30	36	module	module	NOUN
fcis-31030	30	37	.	.	PUNCT
fcis-31030	31	1	the	the	DET
fcis-31030	31	2	robot	robot	NOUN
fcis-31030	31	3	employs	employ	VERB
fcis-31030	31	4	a	a	DET
fcis-31030	31	5	pushrod	pushrod	NOUN
fcis-31030	31	6	motor	motor	NOUN
fcis-31030	31	7	as	as	ADP
fcis-31030	31	8	the	the	DET
fcis-31030	31	9	power	power	NOUN
fcis-31030	31	10	source	source	NOUN
fcis-31030	31	11	for	for	ADP
fcis-31030	31	12	electromagnetic	electromagnetic	ADJ
fcis-31030	31	13	adsorption	adsorption	NOUN
fcis-31030	31	14	,	,	PUNCT
fcis-31030	31	15	facilitating	facilitate	VERB
fcis-31030	31	16	the	the	DET
fcis-31030	31	17	ascent	ascent	NOUN
fcis-31030	31	18	and	and	CCONJ
fcis-31030	31	19	descent	descent	NOUN
fcis-31030	31	20	of	of	ADP
fcis-31030	31	21	the	the	DET
fcis-31030	31	22	robot	robot	NOUN
fcis-31030	31	23	.	.	PUNCT
fcis-31030	32	1	a	a	DET
fcis-31030	32	2	total	total	NOUN
fcis-31030	32	3	of	of	ADP
fcis-31030	32	4	8	8	NUM
fcis-31030	32	5	pushrod	pushrod	NOUN
fcis-31030	32	6	motors	motor	NOUN
fcis-31030	32	7	control	control	VERB
fcis-31030	32	8	24	24	NUM
fcis-31030	32	9	electromagnetic	electromagnetic	ADJ
fcis-31030	32	10	adsorption	adsorption	NOUN
fcis-31030	32	11	pads	pad	NOUN
fcis-31030	32	12	,	,	PUNCT
fcis-31030	32	13	providing	provide	VERB
fcis-31030	32	14	the	the	DET
fcis-31030	32	15	necessary	necessary	ADJ
fcis-31030	32	16	lifting	lifting	NOUN
fcis-31030	32	17	power	power	NOUN
fcis-31030	32	18	.	.	PUNCT
fcis-31030	33	1	the	the	DET
fcis-31030	33	2	innovative	innovative	ADJ
fcis-31030	33	3	framework	framework	NOUN
fcis-31030	33	4	-	-	PUNCT
fcis-31030	33	5	based	base	VERB
fcis-31030	33	6	design	design	NOUN
fcis-31030	33	7	enables	enable	VERB
fcis-31030	33	8	the	the	DET
fcis-31030	33	9	robot	robot	NOUN
fcis-31030	33	10	to	to	PART
fcis-31030	33	11	move	move	VERB
fcis-31030	33	12	freely	freely	ADV
fcis-31030	33	13	on	on	ADP
fcis-31030	33	14	steel	steel	NOUN
fcis-31030	33	15	surfaces	surface	NOUN
fcis-31030	33	16	and	and	CCONJ
fcis-31030	33	17	overcome	overcome	VERB
fcis-31030	33	18	or	or	CCONJ
fcis-31030	33	19	avoid	avoid	VERB
fcis-31030	33	20	obstacles	obstacle	NOUN
fcis-31030	33	21	of	of	ADP
fcis-31030	33	22	predetermined	predetermine	VERB
fcis-31030	33	23	width	width	NOUN
fcis-31030	33	24	,	,	PUNCT
fcis-31030	33	25	length	length	NOUN
fcis-31030	33	26	,	,	PUNCT
fcis-31030	33	27	and	and	CCONJ
fcis-31030	33	28	height	height	NOUN
fcis-31030	33	29	.	.	PUNCT
fcis-31030	34	1	the	the	DET
fcis-31030	34	2	mcu	mcu	PROPN
fcis-31030	34	3	uses	use	VERB
fcis-31030	34	4	adc	adc	PROPN
fcis-31030	34	5	conversion	conversion	NOUN
fcis-31030	34	6	to	to	PART
fcis-31030	34	7	process	process	VERB
fcis-31030	34	8	the	the	DET
fcis-31030	34	9	output	output	NOUN
fcis-31030	34	10	from	from	ADP
fcis-31030	34	11	the	the	DET
fcis-31030	34	12	eddy	eddy	PROPN
fcis-31030	34	13	current	current	PROPN
fcis-31030	34	14	sensor	sensor	NOUN
fcis-31030	34	15	,	,	PUNCT
fcis-31030	34	16	which	which	PRON
fcis-31030	34	17	detects	detect	VERB
fcis-31030	34	18	cracks	crack	NOUN
fcis-31030	34	19	or	or	CCONJ
fcis-31030	34	20	paint	paint	NOUN
fcis-31030	34	21	peeling	peel	VERB
fcis-31030	34	22	.	.	PUNCT
fcis-31030	35	1	the	the	DET
fcis-31030	35	2	out	out	ADJ
fcis-31030	35	3	pin	pin	NOUN
fcis-31030	35	4	of	of	ADP
fcis-31030	35	5	the	the	DET
fcis-31030	35	6	sensor	sensor	NOUN
fcis-31030	35	7	outputs	output	VERB
fcis-31030	35	8	an	an	DET
fcis-31030	35	9	analog	analog	NOUN
fcis-31030	35	10	signal	signal	NOUN
fcis-31030	35	11	,	,	PUNCT
fcis-31030	35	12	which	which	PRON
fcis-31030	35	13	is	be	AUX
fcis-31030	35	14	connected	connect	VERB
fcis-31030	35	15	to	to	ADP
fcis-31030	35	16	the	the	DET
fcis-31030	35	17	mcu	mcu	NOUN
fcis-31030	35	18	's	's	PART
fcis-31030	35	19	input	input	NOUN
fcis-31030	35	20	pin	pin	NOUN
fcis-31030	35	21	.	.	PUNCT
fcis-31030	36	1	the	the	DET
fcis-31030	36	2	analog	analog	NOUN
fcis-31030	36	3	signal	signal	NOUN
fcis-31030	36	4	is	be	AUX
fcis-31030	36	5	then	then	ADV
fcis-31030	36	6	converted	convert	VERB
fcis-31030	36	7	into	into	ADP
fcis-31030	36	8	a	a	DET
fcis-31030	36	9	digital	digital	ADJ
fcis-31030	36	10	signal	signal	NOUN
fcis-31030	36	11	via	via	ADP
fcis-31030	36	12	a	a	DET
fcis-31030	36	13	/	/	SYM
fcis-31030	36	14	d	d	NOUN
fcis-31030	36	15	conversion	conversion	NOUN
fcis-31030	36	16	.	.	PUNCT
fcis-31030	37	1	the	the	DET
fcis-31030	37	2	mcu	mcu	PROPN
fcis-31030	37	3	detects	detect	VERB
fcis-31030	37	4	the	the	DET
fcis-31030	37	5	high	high	ADJ
fcis-31030	37	6	or	or	CCONJ
fcis-31030	37	7	low	low	ADJ
fcis-31030	37	8	level	level	NOUN
fcis-31030	37	9	of	of	ADP
fcis-31030	37	10	this	this	DET
fcis-31030	37	11	pin	pin	NOUN
fcis-31030	37	12	to	to	PART
fcis-31030	37	13	determine	determine	VERB
fcis-31030	37	14	whether	whether	SCONJ
fcis-31030	37	15	cracks	crack	NOUN
fcis-31030	37	16	or	or	CCONJ
fcis-31030	37	17	paint	paint	NOUN
fcis-31030	37	18	peeling	peel	VERB
fcis-31030	37	19	are	be	AUX
fcis-31030	37	20	present	present	ADJ
fcis-31030	37	21	.	.	PUNCT
fcis-31030	38	1	the	the	DET
fcis-31030	38	2	following	follow	VERB
fcis-31030	38	3	figures	figure	NOUN
fcis-31030	38	4	(	(	PUNCT
fcis-31030	38	5	figure	figure	NOUN
fcis-31030	38	6	1	1	NUM
fcis-31030	38	7	and	and	CCONJ
fcis-31030	38	8	figure	figure	VERB
fcis-31030	38	9	2	2	NUM
fcis-31030	38	10	)	)	PUNCT
fcis-31030	38	11	display	display	NOUN
fcis-31030	38	12	the	the	DET
fcis-31030	38	13	waveforms	waveform	NOUN
fcis-31030	38	14	of	of	ADP
fcis-31030	38	15	the	the	DET
fcis-31030	38	16	eddy	eddy	PROPN
fcis-31030	38	17	current	current	PROPN
fcis-31030	38	18	sensor	sensor	NOUN
fcis-31030	38	19	’s	’s	PART
fcis-31030	38	20	analog	analog	NOUN
fcis-31030	38	21	and	and	CCONJ
fcis-31030	38	22	digital	digital	ADJ
fcis-31030	38	23	outputs	output	NOUN
fcis-31030	38	24	,	,	PUNCT
fcis-31030	38	25	as	as	SCONJ
fcis-31030	38	26	observed	observe	VERB
fcis-31030	38	27	via	via	ADP
fcis-31030	38	28	an	an	DET
fcis-31030	38	29	oscilloscope	oscilloscope	NOUN
fcis-31030	38	30	.	.	PUNCT
fcis-31030	39	1	13	13	NUM
fcis-31030	39	2	fig	fig	NOUN
fcis-31030	39	3	1	1	NUM
fcis-31030	39	4	.	.	PUNCT
fcis-31030	40	1	the	the	DET
fcis-31030	40	2	waveforms	waveform	NOUN
fcis-31030	40	3	of	of	ADP
fcis-31030	40	4	sensor	sensor	NOUN
fcis-31030	40	5	’s	’s	PART
fcis-31030	40	6	analog	analog	PROPN
fcis-31030	40	7	outputs	output	NOUN
fcis-31030	40	8	fig	fig	NOUN
fcis-31030	40	9	2	2	NUM
fcis-31030	40	10	.	.	PUNCT
fcis-31030	41	1	the	the	DET
fcis-31030	41	2	waveforms	waveform	NOUN
fcis-31030	41	3	of	of	ADP
fcis-31030	41	4	sensor	sensor	NOUN
fcis-31030	41	5	’s	’s	PART
fcis-31030	41	6	digital	digital	ADJ
fcis-31030	41	7	outputs	output	NOUN
fcis-31030	41	8	3	3	NUM
fcis-31030	41	9	.	.	PUNCT
fcis-31030	41	10	hardware	hardware	NOUN
fcis-31030	41	11	structure	structure	NOUN
fcis-31030	41	12	the	the	DET
fcis-31030	41	13	framework	framework	NOUN
fcis-31030	41	14	of	of	ADP
fcis-31030	41	15	the	the	DET
fcis-31030	41	16	wall	wall	NOUN
fcis-31030	41	17	-	-	PUNCT
fcis-31030	41	18	climbing	climb	VERB
fcis-31030	41	19	robot	robot	NOUN
fcis-31030	41	20	serves	serve	VERB
fcis-31030	41	21	as	as	ADP
fcis-31030	41	22	the	the	DET
fcis-31030	41	23	main	main	ADJ
fcis-31030	41	24	movement	movement	NOUN
fcis-31030	41	25	mechanism	mechanism	NOUN
fcis-31030	41	26	and	and	CCONJ
fcis-31030	41	27	acts	act	VERB
fcis-31030	41	28	as	as	ADP
fcis-31030	41	29	the	the	DET
fcis-31030	41	30	carrier	carrier	NOUN
fcis-31030	41	31	for	for	ADP
fcis-31030	41	32	the	the	DET
fcis-31030	41	33	foot	foot	NOUN
fcis-31030	41	34	elevation	elevation	NOUN
fcis-31030	41	35	and	and	CCONJ
fcis-31030	41	36	adsorption	adsorption	NOUN
fcis-31030	41	37	mechanism	mechanism	NOUN
fcis-31030	41	38	.	.	PUNCT
fcis-31030	42	1	when	when	SCONJ
fcis-31030	42	2	designing	design	VERB
fcis-31030	42	3	the	the	DET
fcis-31030	42	4	mechanical	mechanical	ADJ
fcis-31030	42	5	structure	structure	NOUN
fcis-31030	42	6	,	,	PUNCT
fcis-31030	42	7	various	various	ADJ
fcis-31030	42	8	factors	factor	NOUN
fcis-31030	42	9	such	such	ADJ
fcis-31030	42	10	as	as	ADP
fcis-31030	42	11	mass	mass	ADJ
fcis-31030	42	12	,	,	PUNCT
fcis-31030	42	13	stiffness	stiffness	NOUN
fcis-31030	42	14	,	,	PUNCT
fcis-31030	42	15	strength	strength	NOUN
fcis-31030	42	16	,	,	PUNCT
fcis-31030	42	17	and	and	CCONJ
fcis-31030	42	18	compactness	compactness	NOUN
fcis-31030	42	19	must	must	AUX
fcis-31030	42	20	be	be	AUX
fcis-31030	42	21	considered	consider	VERB
fcis-31030	42	22	.	.	PUNCT
fcis-31030	43	1	to	to	PART
fcis-31030	43	2	ensure	ensure	VERB
fcis-31030	43	3	the	the	DET
fcis-31030	43	4	robot	robot	NOUN
fcis-31030	43	5	’s	’s	PART
fcis-31030	43	6	structural	structural	ADJ
fcis-31030	43	7	strength	strength	NOUN
fcis-31030	43	8	and	and	CCONJ
fcis-31030	43	9	stiffness	stiffness	NOUN
fcis-31030	43	10	,	,	PUNCT
fcis-31030	43	11	minimizing	minimize	VERB
fcis-31030	43	12	the	the	DET
fcis-31030	43	13	mass	mass	NOUN
fcis-31030	43	14	and	and	CCONJ
fcis-31030	43	15	optimizing	optimize	VERB
fcis-31030	43	16	the	the	DET
fcis-31030	43	17	compactness	compactness	NOUN
fcis-31030	43	18	of	of	ADP
fcis-31030	43	19	the	the	DET
fcis-31030	43	20	structure	structure	NOUN
fcis-31030	43	21	are	be	AUX
fcis-31030	43	22	ideal	ideal	ADJ
fcis-31030	43	23	.	.	PUNCT
fcis-31030	44	1	therefore	therefore	ADV
fcis-31030	44	2	,	,	PUNCT
fcis-31030	44	3	hollow	hollow	ADJ
fcis-31030	44	4	steel	steel	NOUN
fcis-31030	44	5	tubes	tube	NOUN
fcis-31030	44	6	were	be	AUX
fcis-31030	44	7	selected	select	VERB
fcis-31030	44	8	as	as	ADP
fcis-31030	44	9	the	the	DET
fcis-31030	44	10	material	material	NOUN
fcis-31030	44	11	for	for	ADP
fcis-31030	44	12	the	the	DET
fcis-31030	44	13	framework	framework	NOUN
fcis-31030	44	14	,	,	PUNCT
fcis-31030	44	15	and	and	CCONJ
fcis-31030	44	16	the	the	DET
fcis-31030	44	17	frame	frame	NOUN
fcis-31030	44	18	is	be	AUX
fcis-31030	44	19	designed	design	VERB
fcis-31030	44	20	in	in	ADP
fcis-31030	44	21	a	a	DET
fcis-31030	44	22	"	"	PUNCT
fcis-31030	44	23	田	田	NOUN
fcis-31030	44	24	"	"	PUNCT
fcis-31030	44	25	(	(	PUNCT
fcis-31030	44	26	field	field	NOUN
fcis-31030	44	27	)	)	PUNCT
fcis-31030	44	28	shape	shape	NOUN
fcis-31030	44	29	to	to	PART
fcis-31030	44	30	minimize	minimize	VERB
fcis-31030	44	31	the	the	DET
fcis-31030	44	32	mass	mass	NOUN
fcis-31030	44	33	of	of	ADP
fcis-31030	44	34	the	the	DET
fcis-31030	44	35	entire	entire	ADJ
fcis-31030	44	36	structure	structure	NOUN
fcis-31030	44	37	.	.	PUNCT
fcis-31030	45	1	this	this	DET
fcis-31030	45	2	design	design	NOUN
fcis-31030	45	3	achieves	achieve	VERB
fcis-31030	45	4	a	a	DET
fcis-31030	45	5	lightweight	lightweight	ADJ
fcis-31030	45	6	,	,	PUNCT
fcis-31030	45	7	cost	cost	NOUN
fcis-31030	45	8	-	-	PUNCT
fcis-31030	45	9	effective	effective	ADJ
fcis-31030	45	10	,	,	PUNCT
fcis-31030	45	11	aesthetically	aesthetically	ADV
fcis-31030	45	12	pleasing	pleasing	ADJ
fcis-31030	45	13	,	,	PUNCT
fcis-31030	45	14	and	and	CCONJ
fcis-31030	45	15	practical	practical	ADJ
fcis-31030	45	16	structure	structure	NOUN
fcis-31030	45	17	that	that	PRON
fcis-31030	45	18	meets	meet	VERB
fcis-31030	45	19	the	the	DET
fcis-31030	45	20	robot	robot	NOUN
fcis-31030	45	21	's	's	PART
fcis-31030	45	22	self	self	NOUN
fcis-31030	45	23	-	-	PUNCT
fcis-31030	45	24	weight	weight	NOUN
fcis-31030	45	25	and	and	CCONJ
fcis-31030	45	26	certain	certain	ADJ
fcis-31030	45	27	load	load	NOUN
fcis-31030	45	28	-	-	PUNCT
fcis-31030	45	29	bearing	bear	VERB
fcis-31030	45	30	capabilities	capability	NOUN
fcis-31030	45	31	.	.	PUNCT
fcis-31030	46	1	the	the	DET
fcis-31030	46	2	physical	physical	ADJ
fcis-31030	46	3	robot	robot	NOUN
fcis-31030	46	4	is	be	AUX
fcis-31030	46	5	shown	show	VERB
fcis-31030	46	6	in	in	ADP
fcis-31030	46	7	figure	figure	NOUN
fcis-31030	46	8	3	3	NUM
fcis-31030	46	9	:	:	SYM
fcis-31030	46	10	1	1	NUM
fcis-31030	46	11	-	-	PUNCT
fcis-31030	46	12	power	power	NOUN
fcis-31030	46	13	supply	supply	NOUN
fcis-31030	46	14	lithium	lithium	NOUN
fcis-31030	46	15	battery,2	battery,2	NOUN
fcis-31030	46	16	-	-	PUNCT
fcis-31030	46	17	esp32	esp32	ADV
fcis-31030	46	18	wifi	wifi	NOUN
fcis-31030	46	19	camera	camera	NOUN
fcis-31030	46	20	module,3	module,3	NOUN
fcis-31030	46	21	-	-	PUNCT
fcis-31030	46	22	sk-3000	sk-3000	ADJ
fcis-31030	46	23	eddy	eddy	PROPN
fcis-31030	46	24	current	current	ADJ
fcis-31030	46	25	sensor	sensor	NOUN
fcis-31030	46	26	,	,	PUNCT
fcis-31030	46	27	4	4	NUM
fcis-31030	46	28	-	-	PUNCT
fcis-31030	46	29	relay	relay	NOUN
fcis-31030	46	30	module	module	NOUN
fcis-31030	46	31	,	,	PUNCT
fcis-31030	46	32	5	5	NUM
fcis-31030	46	33	-	-	PUNCT
fcis-31030	46	34	pushrod	pushrod	NOUN
fcis-31030	46	35	motor	motor	NOUN
fcis-31030	46	36	,	,	PUNCT
fcis-31030	46	37	6	6	NUM
fcis-31030	46	38	-	-	PUNCT
fcis-31030	46	39	signal	signal	NOUN
fcis-31030	46	40	receiver	receiver	NOUN
fcis-31030	46	41	,	,	PUNCT
fcis-31030	46	42	7	7	NUM
fcis-31030	46	43	-	-	PUNCT
fcis-31030	46	44	horn	horn	NOUN
fcis-31030	46	45	,	,	PUNCT
fcis-31030	46	46	8	8	NUM
fcis-31030	46	47	-	-	PUNCT
fcis-31030	46	48	voice	voice	NOUN
fcis-31030	46	49	broadcast	broadcast	NOUN
fcis-31030	46	50	module	module	NOUN
fcis-31030	46	51	,	,	PUNCT
fcis-31030	46	52	9	9	NUM
fcis-31030	46	53	-	-	SYM
fcis-31030	46	54	2.4	2.4	NUM
fcis-31030	46	55	ghz	ghz	NOUN
fcis-31030	46	56	gps2	gps2	NOUN
fcis-31030	46	57	remote	remote	ADJ
fcis-31030	46	58	control	control	NOUN
fcis-31030	46	59	handset,10	handset,10	NOUN
fcis-31030	46	60	-	-	PUNCT
fcis-31030	46	61	electromagnet	electromagnet	NOUN
fcis-31030	46	62	.	.	PUNCT
fcis-31030	47	1	fig	fig	NOUN
fcis-31030	47	2	3	3	NUM
fcis-31030	47	3	.	.	PUNCT
fcis-31030	47	4	hardware	hardware	NOUN
fcis-31030	47	5	structure	structure	NOUN
fcis-31030	47	6	of	of	ADP
fcis-31030	47	7	the	the	DET
fcis-31030	47	8	wall	wall	NOUN
fcis-31030	47	9	-	-	PUNCT
fcis-31030	47	10	climbing	climb	VERB
fcis-31030	47	11	robot	robot	NOUN
fcis-31030	47	12	the	the	DET
fcis-31030	47	13	robot	robot	NOUN
fcis-31030	47	14	is	be	AUX
fcis-31030	47	15	controlled	control	VERB
fcis-31030	47	16	by	by	ADP
fcis-31030	47	17	a	a	DET
fcis-31030	47	18	microcontroller	microcontroller	NOUN
fcis-31030	47	19	(	(	PUNCT
fcis-31030	47	20	mcu	mcu	NOUN
fcis-31030	47	21	)	)	PUNCT
fcis-31030	47	22	system	system	NOUN
fcis-31030	47	23	,	,	PUNCT
fcis-31030	47	24	which	which	PRON
fcis-31030	47	25	is	be	AUX
fcis-31030	47	26	primarily	primarily	ADV
fcis-31030	47	27	composed	compose	VERB
fcis-31030	47	28	of	of	ADP
fcis-31030	47	29	several	several	ADJ
fcis-31030	47	30	key	key	ADJ
fcis-31030	47	31	subsystems	subsystem	NOUN
fcis-31030	47	32	:	:	PUNCT
fcis-31030	47	33	power	power	NOUN
fcis-31030	47	34	supply	supply	NOUN
fcis-31030	47	35	system	system	NOUN
fcis-31030	47	36	,	,	PUNCT
fcis-31030	47	37	flaw	flaw	NOUN
fcis-31030	47	38	detection	detection	NOUN
fcis-31030	47	39	system	system	NOUN
fcis-31030	47	40	,	,	PUNCT
fcis-31030	47	41	communication	communication	NOUN
fcis-31030	47	42	system	system	NOUN
fcis-31030	47	43	,	,	PUNCT
fcis-31030	47	44	and	and	CCONJ
fcis-31030	47	45	propulsion	propulsion	NOUN
fcis-31030	47	46	system	system	NOUN
fcis-31030	47	47	.	.	PUNCT
fcis-31030	48	1	the	the	DET
fcis-31030	48	2	power	power	NOUN
fcis-31030	48	3	supply	supply	NOUN
fcis-31030	48	4	system	system	NOUN
fcis-31030	48	5	uses	use	VERB
fcis-31030	48	6	a	a	DET
fcis-31030	48	7	dual	dual	ADJ
fcis-31030	48	8	graphene	graphene	NOUN
fcis-31030	48	9	battery	battery	NOUN
fcis-31030	48	10	setup	setup	NOUN
fcis-31030	48	11	,	,	PUNCT
fcis-31030	48	12	with	with	ADP
fcis-31030	48	13	mosfets	mosfet	NOUN
fcis-31030	48	14	controlling	control	VERB
fcis-31030	48	15	the	the	DET
fcis-31030	48	16	switching	switching	NOUN
fcis-31030	48	17	of	of	ADP
fcis-31030	48	18	the	the	DET
fcis-31030	48	19	primary	primary	ADJ
fcis-31030	48	20	and	and	CCONJ
fcis-31030	48	21	backup	backup	ADJ
fcis-31030	48	22	batteries	battery	NOUN
fcis-31030	48	23	.	.	PUNCT
fcis-31030	49	1	in	in	ADP
fcis-31030	49	2	the	the	DET
fcis-31030	49	3	event	event	NOUN
fcis-31030	49	4	of	of	ADP
fcis-31030	49	5	an	an	DET
fcis-31030	49	6	anomaly	anomaly	NOUN
fcis-31030	49	7	with	with	ADP
fcis-31030	49	8	the	the	DET
fcis-31030	49	9	primary	primary	ADJ
fcis-31030	49	10	battery	battery	NOUN
fcis-31030	49	11	,	,	PUNCT
fcis-31030	49	12	the	the	DET
fcis-31030	49	13	backup	backup	ADJ
fcis-31030	49	14	battery	battery	NOUN
fcis-31030	49	15	is	be	AUX
fcis-31030	49	16	automatically	automatically	ADV
fcis-31030	49	17	activated	activate	VERB
fcis-31030	49	18	.	.	PUNCT
fcis-31030	50	1	the	the	DET
fcis-31030	50	2	flaw	flaw	NOUN
fcis-31030	50	3	detection	detection	NOUN
fcis-31030	50	4	system	system	NOUN
fcis-31030	50	5	employs	employ	VERB
fcis-31030	50	6	the	the	DET
fcis-31030	50	7	sk-3000	sk-3000	ADJ
fcis-31030	50	8	eddy	eddy	PROPN
fcis-31030	50	9	current	current	ADJ
fcis-31030	50	10	sensor	sensor	NOUN
fcis-31030	50	11	for	for	ADP
fcis-31030	50	12	smallscale	smallscale	ADJ
fcis-31030	50	13	flaw	flaw	NOUN
fcis-31030	50	14	detection	detection	NOUN
fcis-31030	50	15	.	.	PUNCT
fcis-31030	51	1	the	the	DET
fcis-31030	51	2	communication	communication	NOUN
fcis-31030	51	3	system	system	NOUN
fcis-31030	51	4	connects	connect	VERB
fcis-31030	51	5	the	the	DET
fcis-31030	51	6	mcu	mcu	NOUN
fcis-31030	51	7	with	with	ADP
fcis-31030	51	8	the	the	DET
fcis-31030	51	9	signal	signal	ADJ
fcis-31030	51	10	receiver	receiver	NOUN
fcis-31030	51	11	,	,	PUNCT
fcis-31030	51	12	utilizing	utilize	VERB
fcis-31030	51	13	the	the	DET
fcis-31030	51	14	2.4	2.4	NUM
fcis-31030	51	15	ghz	ghz	NOUN
fcis-31030	51	16	gps2	gps2	PROPN
fcis-31030	51	17	remote	remote	ADJ
fcis-31030	51	18	control	control	NOUN
fcis-31030	51	19	handset	handset	VERB
fcis-31030	51	20	to	to	PART
fcis-31030	51	21	enable	enable	VERB
fcis-31030	51	22	remote	remote	ADJ
fcis-31030	51	23	control	control	NOUN
fcis-31030	51	24	of	of	ADP
fcis-31030	51	25	the	the	DET
fcis-31030	51	26	wallclimbing	wallclimbe	VERB
fcis-31030	51	27	robot	robot	NOUN
fcis-31030	51	28	.	.	PUNCT
fcis-31030	52	1	figures	figure	NOUN
fcis-31030	52	2	4	4	NUM
fcis-31030	52	3	and	and	CCONJ
fcis-31030	52	4	5	5	NUM
fcis-31030	52	5	show	show	VERB
fcis-31030	52	6	the	the	DET
fcis-31030	52	7	remote	remote	ADJ
fcis-31030	52	8	control	control	NOUN
fcis-31030	52	9	system	system	NOUN
fcis-31030	52	10	and	and	CCONJ
fcis-31030	52	11	the	the	DET
fcis-31030	52	12	flaw	flaw	NOUN
fcis-31030	52	13	detection	detection	NOUN
fcis-31030	52	14	process	process	NOUN
fcis-31030	52	15	,	,	PUNCT
fcis-31030	52	16	respectively	respectively	ADV
fcis-31030	52	17	.	.	PUNCT
fcis-31030	53	1	14	14	NUM
fcis-31030	53	2	fig	fig	NOUN
fcis-31030	53	3	4	4	NUM
fcis-31030	53	4	.	.	PUNCT
fcis-31030	54	1	eddy	eddy	PROPN
fcis-31030	54	2	current	current	ADJ
fcis-31030	54	3	sensor	sensor	PROPN
fcis-31030	54	4	for	for	ADP
fcis-31030	54	5	flaw	flaw	NOUN
fcis-31030	54	6	detection	detection	NOUN
fcis-31030	54	7	fig	fig	NOUN
fcis-31030	54	8	5	5	NUM
fcis-31030	54	9	.	.	PUNCT
fcis-31030	54	10	remote	remote	ADJ
fcis-31030	54	11	control	control	NOUN
fcis-31030	54	12	handset	handset	VERB
fcis-31030	54	13	for	for	ADP
fcis-31030	54	14	remote	remote	ADJ
fcis-31030	54	15	operation	operation	NOUN
fcis-31030	54	16	the	the	DET
fcis-31030	54	17	propulsion	propulsion	NOUN
fcis-31030	54	18	system	system	NOUN
fcis-31030	54	19	uses	use	VERB
fcis-31030	54	20	pushrod	pushrod	NOUN
fcis-31030	54	21	motors	motor	NOUN
fcis-31030	54	22	as	as	ADP
fcis-31030	54	23	the	the	DET
fcis-31030	54	24	lifting	lift	VERB
fcis-31030	54	25	power	power	NOUN
fcis-31030	54	26	source	source	NOUN
fcis-31030	54	27	for	for	ADP
fcis-31030	54	28	the	the	DET
fcis-31030	54	29	electromagnetically	electromagnetically	ADV
fcis-31030	54	30	adsorbed	adsorb	VERB
fcis-31030	54	31	feet	foot	NOUN
fcis-31030	54	32	.	.	PUNCT
fcis-31030	55	1	the	the	DET
fcis-31030	55	2	adsorption	adsorption	NOUN
fcis-31030	55	3	mechanism	mechanism	NOUN
fcis-31030	55	4	consists	consist	VERB
fcis-31030	55	5	of	of	ADP
fcis-31030	55	6	8	8	NUM
fcis-31030	55	7	groups	group	NOUN
fcis-31030	55	8	,	,	PUNCT
fcis-31030	55	9	with	with	ADP
fcis-31030	55	10	each	each	DET
fcis-31030	55	11	group	group	NOUN
fcis-31030	55	12	containing	contain	VERB
fcis-31030	55	13	three	three	NUM
fcis-31030	55	14	electromagnetic	electromagnetic	ADJ
fcis-31030	55	15	adsorption	adsorption	NOUN
fcis-31030	55	16	feet	foot	NOUN
fcis-31030	55	17	.	.	PUNCT
fcis-31030	56	1	the	the	DET
fcis-31030	56	2	connecting	connect	VERB
fcis-31030	56	3	rods	rod	NOUN
fcis-31030	56	4	of	of	ADP
fcis-31030	56	5	the	the	DET
fcis-31030	56	6	suction	suction	NOUN
fcis-31030	56	7	cups	cup	NOUN
fcis-31030	56	8	are	be	AUX
fcis-31030	56	9	equipped	equip	VERB
fcis-31030	56	10	with	with	ADP
fcis-31030	56	11	small	small	ADJ
fcis-31030	56	12	springs	spring	NOUN
fcis-31030	56	13	for	for	ADP
fcis-31030	56	14	buffering	buffering	NOUN
fcis-31030	56	15	,	,	PUNCT
fcis-31030	56	16	which	which	PRON
fcis-31030	56	17	prevents	prevent	VERB
fcis-31030	56	18	the	the	DET
fcis-31030	56	19	adsorption	adsorption	NOUN
fcis-31030	56	20	effect	effect	NOUN
fcis-31030	56	21	from	from	ADP
fcis-31030	56	22	being	be	AUX
fcis-31030	56	23	compromised	compromise	VERB
fcis-31030	56	24	due	due	ADJ
fcis-31030	56	25	to	to	ADP
fcis-31030	56	26	uneven	uneven	ADJ
fcis-31030	56	27	surfaces	surface	NOUN
fcis-31030	56	28	.	.	PUNCT
fcis-31030	57	1	this	this	DET
fcis-31030	57	2	design	design	NOUN
fcis-31030	57	3	provides	provide	VERB
fcis-31030	57	4	strong	strong	ADJ
fcis-31030	57	5	adsorption	adsorption	NOUN
fcis-31030	57	6	power	power	NOUN
fcis-31030	57	7	and	and	CCONJ
fcis-31030	57	8	allows	allow	VERB
fcis-31030	57	9	the	the	DET
fcis-31030	57	10	robot	robot	NOUN
fcis-31030	57	11	to	to	PART
fcis-31030	57	12	carry	carry	VERB
fcis-31030	57	13	significant	significant	ADJ
fcis-31030	57	14	loads	load	NOUN
fcis-31030	57	15	.	.	PUNCT
fcis-31030	58	1	the	the	DET
fcis-31030	58	2	electromagnet	electromagnet	NOUN
fcis-31030	58	3	’s	’s	PART
fcis-31030	58	4	adsorption	adsorption	NOUN
fcis-31030	58	5	can	can	AUX
fcis-31030	58	6	easily	easily	ADV
fcis-31030	58	7	detach	detach	VERB
fcis-31030	58	8	the	the	DET
fcis-31030	58	9	magnetic	magnetic	ADJ
fcis-31030	58	10	feet	foot	NOUN
fcis-31030	58	11	from	from	ADP
fcis-31030	58	12	the	the	DET
fcis-31030	58	13	surface	surface	NOUN
fcis-31030	58	14	,	,	PUNCT
fcis-31030	58	15	protecting	protect	VERB
fcis-31030	58	16	the	the	DET
fcis-31030	58	17	adhered	adhere	VERB
fcis-31030	58	18	surface	surface	NOUN
fcis-31030	58	19	.	.	PUNCT
fcis-31030	59	1	the	the	DET
fcis-31030	59	2	adsorption	adsorption	NOUN
fcis-31030	59	3	structure	structure	NOUN
fcis-31030	59	4	is	be	AUX
fcis-31030	59	5	simple	simple	ADJ
fcis-31030	59	6	yet	yet	ADV
fcis-31030	59	7	effective	effective	ADJ
fcis-31030	59	8	.	.	PUNCT
fcis-31030	60	1	the	the	DET
fcis-31030	60	2	physical	physical	ADJ
fcis-31030	60	3	form	form	NOUN
fcis-31030	60	4	of	of	ADP
fcis-31030	60	5	the	the	DET
fcis-31030	60	6	electromagnetically	electromagnetically	ADV
fcis-31030	60	7	adsorbed	adsorb	VERB
fcis-31030	60	8	foot	foot	NOUN
fcis-31030	60	9	is	be	AUX
fcis-31030	60	10	shown	show	VERB
fcis-31030	60	11	in	in	ADP
fcis-31030	60	12	figure	figure	NOUN
fcis-31030	60	13	6	6	NUM
fcis-31030	60	14	.	.	PUNCT
fcis-31030	60	15	fig	fig	NOUN
fcis-31030	60	16	6	6	NUM
fcis-31030	60	17	.	.	PUNCT
fcis-31030	61	1	electromagnetic	electromagnetic	ADJ
fcis-31030	61	2	adsorption	adsorption	NOUN
fcis-31030	61	3	foot	foot	NOUN
fcis-31030	61	4	structure	structure	NOUN
fcis-31030	61	5	design	design	NOUN
fcis-31030	61	6	and	and	CCONJ
fcis-31030	61	7	physical	physical	ADJ
fcis-31030	61	8	display	display	NOUN
fcis-31030	61	9	4	4	NUM
fcis-31030	61	10	.	.	PUNCT
fcis-31030	61	11	software	software	NOUN
fcis-31030	61	12	program	program	NOUN
fcis-31030	61	13	design	design	VERB
fcis-31030	61	14	the	the	DET
fcis-31030	61	15	design	design	NOUN
fcis-31030	61	16	of	of	ADP
fcis-31030	61	17	the	the	DET
fcis-31030	61	18	robot	robot	NOUN
fcis-31030	61	19	system	system	NOUN
fcis-31030	61	20	primarily	primarily	ADV
fcis-31030	61	21	includes	include	VERB
fcis-31030	61	22	two	two	NUM
fcis-31030	61	23	key	key	ADJ
fcis-31030	61	24	aspects	aspect	NOUN
fcis-31030	61	25	:	:	PUNCT
fcis-31030	61	26	initialization	initialization	NOUN
fcis-31030	61	27	of	of	ADP
fcis-31030	61	28	the	the	DET
fcis-31030	61	29	microcontroller	microcontroller	NOUN
fcis-31030	61	30	's	's	PART
fcis-31030	61	31	internal	internal	ADJ
fcis-31030	61	32	data	datum	NOUN
fcis-31030	61	33	memory	memory	NOUN
fcis-31030	61	34	and	and	CCONJ
fcis-31030	61	35	resetting	resetting	NOUN
fcis-31030	61	36	of	of	ADP
fcis-31030	61	37	the	the	DET
fcis-31030	61	38	mechanical	mechanical	ADJ
fcis-31030	61	39	components	component	NOUN
fcis-31030	61	40	.	.	PUNCT
fcis-31030	62	1	initialization	initialization	NOUN
fcis-31030	62	2	of	of	ADP
fcis-31030	62	3	internal	internal	ADJ
fcis-31030	62	4	data	datum	NOUN
fcis-31030	62	5	memory	memory	NOUN
fcis-31030	62	6	:	:	PUNCT
fcis-31030	62	7	this	this	DET
fcis-31030	62	8	step	step	NOUN
fcis-31030	62	9	involves	involve	VERB
fcis-31030	62	10	the	the	DET
fcis-31030	62	11	initialization	initialization	NOUN
fcis-31030	62	12	of	of	ADP
fcis-31030	62	13	the	the	DET
fcis-31030	62	14	internal	internal	ADJ
fcis-31030	62	15	auxiliary	auxiliary	ADJ
fcis-31030	62	16	relay	relay	NOUN
fcis-31030	62	17	area	area	NOUN
fcis-31030	62	18	and	and	CCONJ
fcis-31030	62	19	the	the	DET
fcis-31030	62	20	input	input	NOUN
fcis-31030	62	21	-	-	PUNCT
fcis-31030	62	22	output	output	NOUN
fcis-31030	62	23	process	process	NOUN
fcis-31030	62	24	image	image	NOUN
fcis-31030	62	25	register	register	NOUN
fcis-31030	62	26	area	area	NOUN
fcis-31030	62	27	.	.	PUNCT
fcis-31030	63	1	this	this	DET
fcis-31030	63	2	initialization	initialization	NOUN
fcis-31030	63	3	is	be	AUX
fcis-31030	63	4	fundamental	fundamental	ADJ
fcis-31030	63	5	to	to	ADP
fcis-31030	63	6	enabling	enable	VERB
fcis-31030	63	7	the	the	DET
fcis-31030	63	8	rapid	rapid	ADJ
fcis-31030	63	9	response	response	NOUN
fcis-31030	63	10	of	of	ADP
fcis-31030	63	11	the	the	DET
fcis-31030	63	12	mechanical	mechanical	ADJ
fcis-31030	63	13	components	component	NOUN
fcis-31030	63	14	.	.	PUNCT
fcis-31030	64	1	resetting	reset	VERB
fcis-31030	64	2	of	of	ADP
fcis-31030	64	3	mechanical	mechanical	ADJ
fcis-31030	64	4	components	component	NOUN
fcis-31030	64	5	:	:	PUNCT
fcis-31030	64	6	this	this	PRON
fcis-31030	64	7	includes	include	VERB
fcis-31030	64	8	resetting	reset	VERB
fcis-31030	64	9	the	the	DET
fcis-31030	64	10	main	main	ADJ
fcis-31030	64	11	pushrod	pushrod	NOUN
fcis-31030	64	12	motor	motor	NOUN
fcis-31030	64	13	in	in	ADP
fcis-31030	64	14	the	the	DET
fcis-31030	64	15	xy	xy	PROPN
fcis-31030	64	16	plane	plane	NOUN
fcis-31030	64	17	direction	direction	NOUN
fcis-31030	64	18	and	and	CCONJ
fcis-31030	64	19	performing	perform	VERB
fcis-31030	64	20	a	a	DET
fcis-31030	64	21	zero	zero	NUM
fcis-31030	64	22	-	-	PUNCT
fcis-31030	64	23	point	point	NOUN
fcis-31030	64	24	return	return	NOUN
fcis-31030	64	25	for	for	ADP
fcis-31030	64	26	the	the	DET
fcis-31030	64	27	eight	eight	NUM
fcis-31030	64	28	groups	group	NOUN
fcis-31030	64	29	of	of	ADP
fcis-31030	64	30	electromagnetically	electromagnetically	ADV
fcis-31030	64	31	adsorbed	adsorb	VERB
fcis-31030	64	32	feet	foot	NOUN
fcis-31030	64	33	.	.	PUNCT
fcis-31030	65	1	once	once	SCONJ
fcis-31030	65	2	the	the	DET
fcis-31030	65	3	system	system	NOUN
fcis-31030	65	4	initialization	initialization	NOUN
fcis-31030	65	5	is	be	AUX
fcis-31030	65	6	complete	complete	ADJ
fcis-31030	65	7	,	,	PUNCT
fcis-31030	65	8	the	the	DET
fcis-31030	65	9	reset	reset	ADJ
fcis-31030	65	10	switch	switch	NOUN
fcis-31030	65	11	is	be	AUX
fcis-31030	65	12	turned	turn	VERB
fcis-31030	65	13	off	off	ADP
fcis-31030	65	14	.	.	PUNCT
fcis-31030	66	1	according	accord	VERB
fcis-31030	66	2	to	to	ADP
fcis-31030	66	3	the	the	DET
fcis-31030	66	4	operational	operational	ADJ
fcis-31030	66	5	requirements	requirement	NOUN
fcis-31030	66	6	,	,	PUNCT
fcis-31030	66	7	one	one	NUM
fcis-31030	66	8	of	of	ADP
fcis-31030	66	9	the	the	DET
fcis-31030	66	10	four	four	NUM
fcis-31030	66	11	movement	movement	NOUN
fcis-31030	66	12	buttons	button	NOUN
fcis-31030	66	13	(	(	PUNCT
fcis-31030	66	14	upward	upward	ADJ
fcis-31030	66	15	,	,	PUNCT
fcis-31030	66	16	downward	downward	ADJ
fcis-31030	66	17	,	,	PUNCT
fcis-31030	66	18	left	left	ADJ
fcis-31030	66	19	,	,	PUNCT
fcis-31030	66	20	or	or	CCONJ
fcis-31030	66	21	right	right	NOUN
fcis-31030	66	22	)	)	PUNCT
fcis-31030	66	23	is	be	AUX
fcis-31030	66	24	pressed	press	VERB
fcis-31030	66	25	to	to	PART
fcis-31030	66	26	enable	enable	VERB
fcis-31030	66	27	the	the	DET
fcis-31030	66	28	wall	wall	NOUN
fcis-31030	66	29	-	-	PUNCT
fcis-31030	66	30	climbing	climb	VERB
fcis-31030	66	31	robot	robot	NOUN
fcis-31030	66	32	to	to	PART
fcis-31030	66	33	move	move	VERB
fcis-31030	66	34	autonomously	autonomously	ADV
fcis-31030	66	35	along	along	ADP
fcis-31030	66	36	the	the	DET
fcis-31030	66	37	steel	steel	NOUN
fcis-31030	66	38	frame	frame	NOUN
fcis-31030	66	39	surface	surface	NOUN
fcis-31030	66	40	.	.	PUNCT
fcis-31030	67	1	15	15	NUM
fcis-31030	67	2	fig	fig	NOUN
fcis-31030	67	3	7	7	NUM
fcis-31030	67	4	.	.	PUNCT
fcis-31030	67	5	overall	overall	ADJ
fcis-31030	67	6	scheme	scheme	NOUN
fcis-31030	67	7	of	of	ADP
fcis-31030	67	8	control	control	NOUN
fcis-31030	67	9	system	system	NOUN
fcis-31030	67	10	5	5	NUM
fcis-31030	67	11	.	.	PUNCT
fcis-31030	67	12	directional	directional	ADJ
fcis-31030	67	13	movement	movement	PROPN
fcis-31030	67	14	program	program	NOUN
fcis-31030	67	15	design	design	VERB
fcis-31030	67	16	the	the	DET
fcis-31030	67	17	entire	entire	ADJ
fcis-31030	67	18	control	control	NOUN
fcis-31030	67	19	program	program	NOUN
fcis-31030	67	20	can	can	AUX
fcis-31030	67	21	be	be	AUX
fcis-31030	67	22	divided	divide	VERB
fcis-31030	67	23	into	into	ADP
fcis-31030	67	24	six	six	NUM
fcis-31030	67	25	main	main	ADJ
fcis-31030	67	26	components	component	NOUN
fcis-31030	67	27	:	:	PUNCT
fcis-31030	67	28	the	the	DET
fcis-31030	67	29	common	common	ADJ
fcis-31030	67	30	program	program	NOUN
fcis-31030	67	31	(	(	PUNCT
fcis-31030	67	32	including	include	VERB
fcis-31030	67	33	the	the	DET
fcis-31030	67	34	sensor	sensor	NOUN
fcis-31030	67	35	detection	detection	NOUN
fcis-31030	67	36	module	module	NOUN
fcis-31030	67	37	)	)	PUNCT
fcis-31030	67	38	,	,	PUNCT
fcis-31030	67	39	the	the	DET
fcis-31030	67	40	reset	reset	NOUN
fcis-31030	67	41	program	program	NOUN
fcis-31030	67	42	,	,	PUNCT
fcis-31030	67	43	the	the	DET
fcis-31030	67	44	upward	upward	ADJ
fcis-31030	67	45	movement	movement	NOUN
fcis-31030	67	46	program	program	NOUN
fcis-31030	67	47	,	,	PUNCT
fcis-31030	67	48	the	the	DET
fcis-31030	67	49	downward	downward	ADJ
fcis-31030	67	50	movement	movement	NOUN
fcis-31030	67	51	program	program	NOUN
fcis-31030	67	52	,	,	PUNCT
fcis-31030	67	53	the	the	DET
fcis-31030	67	54	leftward	leftward	PROPN
fcis-31030	67	55	movement	movement	NOUN
fcis-31030	67	56	program	program	NOUN
fcis-31030	67	57	,	,	PUNCT
fcis-31030	67	58	and	and	CCONJ
fcis-31030	67	59	the	the	DET
fcis-31030	67	60	rightward	rightward	ADJ
fcis-31030	67	61	movement	movement	NOUN
fcis-31030	67	62	program	program	NOUN
fcis-31030	67	63	.	.	PUNCT
fcis-31030	68	1	the	the	DET
fcis-31030	68	2	common	common	ADJ
fcis-31030	68	3	program	program	NOUN
fcis-31030	68	4	is	be	AUX
fcis-31030	68	5	responsible	responsible	ADJ
fcis-31030	68	6	for	for	ADP
fcis-31030	68	7	controlling	control	VERB
fcis-31030	68	8	the	the	DET
fcis-31030	68	9	actual	actual	ADJ
fcis-31030	68	10	output	output	NOUN
fcis-31030	68	11	points	point	NOUN
fcis-31030	68	12	.	.	PUNCT
fcis-31030	69	1	the	the	DET
fcis-31030	69	2	reset	reset	NOUN
fcis-31030	69	3	,	,	PUNCT
fcis-31030	69	4	upward	upward	ADJ
fcis-31030	69	5	,	,	PUNCT
fcis-31030	69	6	downward	downward	ADJ
fcis-31030	69	7	,	,	PUNCT
fcis-31030	69	8	leftward	leftward	NOUN
fcis-31030	69	9	,	,	PUNCT
fcis-31030	69	10	and	and	CCONJ
fcis-31030	69	11	rightward	rightward	ADJ
fcis-31030	69	12	movement	movement	NOUN
fcis-31030	69	13	programs	program	NOUN
fcis-31030	69	14	are	be	AUX
fcis-31030	69	15	responsible	responsible	ADJ
fcis-31030	69	16	for	for	ADP
fcis-31030	69	17	controlling	control	VERB
fcis-31030	69	18	the	the	DET
fcis-31030	69	19	auxiliary	auxiliary	ADJ
fcis-31030	69	20	relay	relay	NOUN
fcis-31030	69	21	contacts	contact	NOUN
fcis-31030	69	22	within	within	ADP
fcis-31030	69	23	the	the	DET
fcis-31030	69	24	microcontroller	microcontroller	NOUN
fcis-31030	69	25	.	.	PUNCT
fcis-31030	70	1	the	the	DET
fcis-31030	70	2	state	state	NOUN
fcis-31030	70	3	of	of	ADP
fcis-31030	70	4	the	the	DET
fcis-31030	70	5	actual	actual	ADJ
fcis-31030	70	6	output	output	NOUN
fcis-31030	70	7	points	point	NOUN
fcis-31030	70	8	in	in	ADP
fcis-31030	70	9	the	the	DET
fcis-31030	70	10	common	common	ADJ
fcis-31030	70	11	program	program	NOUN
fcis-31030	70	12	is	be	AUX
fcis-31030	70	13	controlled	control	VERB
fcis-31030	70	14	by	by	ADP
fcis-31030	70	15	the	the	DET
fcis-31030	70	16	status	status	NOUN
fcis-31030	70	17	of	of	ADP
fcis-31030	70	18	the	the	DET
fcis-31030	70	19	auxiliary	auxiliary	ADJ
fcis-31030	70	20	relay	relay	NOUN
fcis-31030	70	21	contacts	contact	NOUN
fcis-31030	70	22	,	,	PUNCT
fcis-31030	70	23	which	which	PRON
fcis-31030	70	24	are	be	AUX
fcis-31030	70	25	set	set	VERB
fcis-31030	70	26	by	by	ADP
fcis-31030	70	27	the	the	DET
fcis-31030	70	28	reset	reset	NOUN
fcis-31030	70	29	,	,	PUNCT
fcis-31030	70	30	upward	upward	ADJ
fcis-31030	70	31	,	,	PUNCT
fcis-31030	70	32	downward	downward	ADJ
fcis-31030	70	33	,	,	PUNCT
fcis-31030	70	34	leftward	leftward	NOUN
fcis-31030	70	35	,	,	PUNCT
fcis-31030	70	36	and	and	CCONJ
fcis-31030	70	37	rightward	rightward	ADJ
fcis-31030	70	38	movement	movement	NOUN
fcis-31030	70	39	programs	program	NOUN
fcis-31030	70	40	.	.	PUNCT
fcis-31030	71	1	fig	fig	NOUN
fcis-31030	71	2	8	8	NUM
fcis-31030	71	3	.	.	PUNCT
fcis-31030	71	4	process	process	NOUN
fcis-31030	71	5	display	display	NOUN
fcis-31030	71	6	and	and	CCONJ
fcis-31030	71	7	physical	physical	ADJ
fcis-31030	71	8	motion	motion	NOUN
fcis-31030	71	9	display	display	NOUN
fcis-31030	71	10	6	6	NUM
fcis-31030	71	11	.	.	PUNCT
fcis-31030	72	1	conclusion	conclusion	NOUN
fcis-31030	72	2	this	this	DET
fcis-31030	72	3	study	study	NOUN
fcis-31030	72	4	presents	present	VERB
fcis-31030	72	5	a	a	DET
fcis-31030	72	6	wall	wall	NOUN
fcis-31030	72	7	-	-	PUNCT
fcis-31030	72	8	climbing	climb	VERB
fcis-31030	72	9	robot	robot	NOUN
fcis-31030	72	10	for	for	ADP
fcis-31030	72	11	steel	steel	NOUN
fcis-31030	72	12	structure	structure	NOUN
fcis-31030	72	13	inspection	inspection	NOUN
fcis-31030	72	14	.	.	PUNCT
fcis-31030	73	1	its	its	PRON
fcis-31030	73	2	lightweight	lightweight	NOUN
fcis-31030	73	3	"	"	PUNCT
fcis-31030	73	4	田"-shaped	田"-shaped	ADJ
fcis-31030	73	5	frame	frame	NOUN
fcis-31030	73	6	and	and	CCONJ
fcis-31030	73	7	innovative	innovative	ADJ
fcis-31030	73	8	electromagnetic	electromagnetic	ADJ
fcis-31030	73	9	adhesion	adhesion	NOUN
fcis-31030	73	10	system	system	NOUN
fcis-31030	73	11	(	(	PUNCT
fcis-31030	73	12	24	24	NUM
fcis-31030	73	13	pads	pad	NOUN
fcis-31030	73	14	controlled	control	VERB
fcis-31030	73	15	by	by	ADP
fcis-31030	73	16	8	8	NUM
fcis-31030	73	17	pushrod	pushrod	NOUN
fcis-31030	73	18	motors	motor	NOUN
fcis-31030	73	19	)	)	PUNCT
fcis-31030	73	20	enable	enable	VERB
fcis-31030	73	21	robust	robust	ADJ
fcis-31030	73	22	omnidirectional	omnidirectional	ADJ
fcis-31030	73	23	movement	movement	NOUN
fcis-31030	73	24	and	and	CCONJ
fcis-31030	73	25	obstacle	obstacle	NOUN
fcis-31030	73	26	negotiation	negotiation	NOUN
fcis-31030	73	27	.	.	PUNCT
fcis-31030	74	1	the	the	DET
fcis-31030	74	2	integrated	integrate	VERB
fcis-31030	74	3	sk-3000	sk-3000	PROPN
fcis-31030	74	4	eddy	eddy	PROPN
fcis-31030	74	5	current	current	ADJ
fcis-31030	74	6	sensor	sensor	NOUN
fcis-31030	74	7	detects	detect	NOUN
fcis-31030	74	8	cracks	crack	NOUN
fcis-31030	74	9	and	and	CCONJ
fcis-31030	74	10	paint	paint	NOUN
fcis-31030	74	11	peeling	peel	VERB
fcis-31030	74	12	;	;	PUNCT
fcis-31030	74	13	processed	process	VERB
fcis-31030	74	14	by	by	ADP
fcis-31030	74	15	the	the	DET
fcis-31030	74	16	mcu	mcu	NOUN
fcis-31030	74	17	's	's	PART
fcis-31030	74	18	adc	adc	PROPN
fcis-31030	74	19	,	,	PUNCT
fcis-31030	74	20	it	it	PRON
fcis-31030	74	21	triggers	trigger	VERB
fcis-31030	74	22	audio	audio	ADJ
fcis-31030	74	23	alarms	alarm	NOUN
fcis-31030	74	24	,	,	PUNCT
fcis-31030	74	25	while	while	SCONJ
fcis-31030	74	26	an	an	DET
fcis-31030	74	27	esp32	esp32	ADJ
fcis-31030	74	28	camera	camera	NOUN
fcis-31030	74	29	provides	provide	VERB
fcis-31030	74	30	real	real	ADJ
fcis-31030	74	31	-	-	PUNCT
fcis-31030	74	32	time	time	NOUN
fcis-31030	74	33	video	video	NOUN
fcis-31030	74	34	.	.	PUNCT
fcis-31030	75	1	remote	remote	ADJ
fcis-31030	75	2	control	control	NOUN
fcis-31030	75	3	via	via	ADP
fcis-31030	75	4	a	a	DET
fcis-31030	75	5	2.4	2.4	NUM
fcis-31030	75	6	ghz	ghz	NOUN
fcis-31030	75	7	handset	handset	NOUN
fcis-31030	75	8	or	or	CCONJ
fcis-31030	75	9	autonomous	autonomous	ADJ
fcis-31030	75	10	operation	operation	NOUN
fcis-31030	75	11	is	be	AUX
fcis-31030	75	12	supported	support	VERB
fcis-31030	75	13	.	.	PUNCT
fcis-31030	76	1	an	an	DET
fcis-31030	76	2	autoswitching	autoswitche	VERB
fcis-31030	76	3	dual	dual	ADJ
fcis-31030	76	4	battery	battery	NOUN
fcis-31030	76	5	system	system	NOUN
fcis-31030	76	6	ensures	ensure	VERB
fcis-31030	76	7	power	power	NOUN
fcis-31030	76	8	reliability	reliability	NOUN
fcis-31030	76	9	.	.	PUNCT
fcis-31030	77	1	this	this	DET
fcis-31030	77	2	design	design	NOUN
fcis-31030	77	3	effectively	effectively	ADV
fcis-31030	77	4	combines	combine	VERB
fcis-31030	77	5	mobility	mobility	NOUN
fcis-31030	77	6	,	,	PUNCT
fcis-31030	77	7	precise	precise	ADJ
fcis-31030	77	8	flaw	flaw	NOUN
fcis-31030	77	9	detection	detection	NOUN
fcis-31030	77	10	,	,	PUNCT
fcis-31030	77	11	and	and	CCONJ
fcis-31030	77	12	remote	remote	ADJ
fcis-31030	77	13	operation	operation	NOUN
fcis-31030	77	14	for	for	ADP
fcis-31030	77	15	practical	practical	ADJ
fcis-31030	77	16	structural	structural	ADJ
fcis-31030	77	17	inspection	inspection	NOUN
fcis-31030	77	18	.	.	PUNCT
fcis-31030	78	1	acknowledgments	acknowledgment	NOUN
fcis-31030	78	2	this	this	DET
fcis-31030	78	3	work	work	NOUN
fcis-31030	78	4	was	be	AUX
fcis-31030	78	5	supported	support	VERB
fcis-31030	78	6	by	by	ADP
fcis-31030	78	7	the	the	DET
fcis-31030	78	8	science	science	NOUN
fcis-31030	78	9	and	and	CCONJ
fcis-31030	78	10	technology	technology	NOUN
fcis-31030	78	11	research	research	NOUN
fcis-31030	78	12	program	program	NOUN
fcis-31030	78	13	of	of	ADP
fcis-31030	78	14	chongqing	chongqing	PROPN
fcis-31030	78	15	municipal	municipal	ADJ
fcis-31030	78	16	education	education	NOUN
fcis-31030	78	17	commission	commission	NOUN
fcis-31030	78	18	(	(	PUNCT
fcis-31030	78	19	grant	grant	VERB
fcis-31030	78	20	no	no	INTJ
fcis-31030	78	21	.	.	PUNCT
fcis-31030	79	1	kjqn202303119	kjqn202303119	PROPN
fcis-31030	79	2	)	)	PUNCT
fcis-31030	79	3	and	and	CCONJ
fcis-31030	79	4	supported	support	VERB
fcis-31030	79	5	by	by	ADP
fcis-31030	79	6	chongqing	chongqing	PROPN
fcis-31030	79	7	polytechnic	polytechnic	ADJ
fcis-31030	79	8	university	university	PROPN
fcis-31030	79	9	of	of	ADP
fcis-31030	79	10	electronic	electronic	ADJ
fcis-31030	79	11	technology	technology	NOUN
fcis-31030	79	12	2024	2024	NUM
fcis-31030	79	13	student	student	NOUN
fcis-31030	79	14	innovation	innovation	NOUN
fcis-31030	79	15	"	"	PUNCT
fcis-31030	79	16	ma	ma	PROPN
fcis-31030	79	17	yue	yue	PROPN
fcis-31030	79	18	"	"	PUNCT
fcis-31030	79	19	project	project	NOUN
fcis-31030	79	20	(	(	PUNCT
fcis-31030	79	21	grant	grant	VERB
fcis-31030	79	22	no	no	INTJ
fcis-31030	79	23	.	.	PUNCT
fcis-31030	80	1	24xj	24xj	ADJ
fcis-31030	80	2	xscx12	xscx12	X
fcis-31030	80	3	)	)	PUNCT
fcis-31030	80	4	.	.	PUNCT
fcis-31030	81	1	references	reference	NOUN
fcis-31030	81	2	[	[	X
fcis-31030	81	3	1	1	NUM
fcis-31030	81	4	]	]	PUNCT
fcis-31030	81	5	schmidt	schmidt	PROPN
fcis-31030	81	6	,	,	PUNCT
fcis-31030	81	7	d.	d.	PROPN
fcis-31030	81	8	,	,	PUNCT
fcis-31030	81	9	&	&	CCONJ
fcis-31030	81	10	berns	berns	PROPN
fcis-31030	81	11	,	,	PUNCT
fcis-31030	81	12	k.	k.	NOUN
fcis-31030	81	13	climbing	climbing	NOUN
fcis-31030	81	14	robots	robot	NOUN
fcis-31030	81	15	for	for	ADP
fcis-31030	81	16	inspection	inspection	NOUN
fcis-31030	81	17	and	and	CCONJ
fcis-31030	81	18	maintenance	maintenance	NOUN
fcis-31030	81	19	of	of	ADP
fcis-31030	81	20	large	large	ADJ
fcis-31030	81	21	structures	structure	NOUN
fcis-31030	81	22	—	—	PUNCT
fcis-31030	81	23	a	a	DET
fcis-31030	81	24	survey	survey	NOUN
fcis-31030	81	25	of	of	ADP
fcis-31030	81	26	design	design	NOUN
fcis-31030	81	27	aspects	aspect	NOUN
fcis-31030	81	28	and	and	CCONJ
fcis-31030	81	29	technologies	technology	NOUN
fcis-31030	81	30	.	.	PUNCT
fcis-31030	82	1	robotics	robotic	NOUN
fcis-31030	82	2	and	and	CCONJ
fcis-31030	82	3	autonomous	autonomous	ADJ
fcis-31030	82	4	systems	system	NOUN
fcis-31030	82	5	,	,	PUNCT
fcis-31030	82	6	2013	2013	NUM
fcis-31030	82	7	,	,	PUNCT
fcis-31030	82	8	61(12	61(12	NUM
fcis-31030	82	9	)	)	PUNCT
fcis-31030	82	10	,	,	PUNCT
fcis-31030	82	11	1288	1288	NUM
fcis-31030	82	12	-	-	SYM
fcis-31030	82	13	1305	1305	NUM
fcis-31030	82	14	.	.	PUNCT
fcis-31030	83	1	[	[	X
fcis-31030	83	2	2	2	NUM
fcis-31030	83	3	]	]	PUNCT
fcis-31030	83	4	yu	yu	PROPN
fcis-31030	83	5	w	w	PROPN
fcis-31030	83	6	.	.	PUNCT
fcis-31030	83	7	discussion	discussion	NOUN
fcis-31030	83	8	on	on	ADP
fcis-31030	83	9	the	the	DET
fcis-31030	83	10	anti	anti	ADJ
fcis-31030	83	11	-	-	ADJ
fcis-31030	83	12	corrosion	corrosion	ADJ
fcis-31030	83	13	treatment	treatment	NOUN
fcis-31030	83	14	technology	technology	NOUN
fcis-31030	83	15	of	of	ADP
fcis-31030	83	16	port	port	NOUN
fcis-31030	83	17	machinery	machinery	NOUN
fcis-31030	83	18	and	and	CCONJ
fcis-31030	83	19	equipment[j	equipment[j	NOUN
fcis-31030	83	20	]	]	X
fcis-31030	83	21	.	.	PUNCT
fcis-31030	84	1	management	management	NOUN
fcis-31030	84	2	&	&	CCONJ
fcis-31030	84	3	technology	technology	PROPN
fcis-31030	84	4	of	of	ADP
fcis-31030	84	5	sme	sme	PROPN
fcis-31030	84	6	,	,	PUNCT
fcis-31030	84	7	2019	2019	NUM
fcis-31030	84	8	.	.	PUNCT
fcis-31030	85	1	[	[	X
fcis-31030	85	2	3	3	X
fcis-31030	85	3	]	]	X
fcis-31030	85	4	padrigalan	padrigalan	NOUN
fcis-31030	85	5	k	k	PROPN
fcis-31030	85	6	e	e	PROPN
fcis-31030	85	7	.the	.the	PROPN
fcis-31030	85	8	kinematic	kinematic	ADJ
fcis-31030	85	9	analysis	analysis	NOUN
fcis-31030	85	10	of	of	ADP
fcis-31030	85	11	a	a	DET
fcis-31030	85	12	wind	wind	NOUN
fcis-31030	85	13	turbine	turbine	NOUN
fcis-31030	85	14	climbing	climbing	NOUN
fcis-31030	85	15	robot	robot	NOUN
fcis-31030	85	16	mechanism[j].applied	mechanism[j].applie	VERB
fcis-31030	85	17	sciences	science	NOUN
fcis-31030	85	18	,	,	PUNCT
fcis-31030	85	19	2022	2022	NUM
fcis-31030	85	20	,	,	PUNCT
fcis-31030	85	21	12	12	NUM
fcis-31030	85	22	.	.	PUNCT
fcis-31030	86	1	[	[	X
fcis-31030	86	2	4	4	X
fcis-31030	86	3	]	]	PUNCT
fcis-31030	86	4	huynh	huynh	PROPN
fcis-31030	86	5	t	t	PROPN
fcis-31030	86	6	a	a	PRON
fcis-31030	86	7	,	,	PUNCT
fcis-31030	86	8	vo	vo	PROPN
fcis-31030	86	9	k	k	PROPN
fcis-31030	86	10	t	t	PROPN
fcis-31030	86	11	,	,	PUNCT
fcis-31030	86	12	nguyen	nguyen	PROPN
fcis-31030	86	13	h	h	PROPN
fcis-31030	86	14	c	c	PROPN
fcis-31030	86	15	,	,	PUNCT
fcis-31030	86	16	et	et	PROPN
fcis-31030	86	17	al	al	PROPN
fcis-31030	86	18	.	.	PROPN
fcis-31030	86	19	design	design	NOUN
fcis-31030	86	20	and	and	CCONJ
fcis-31030	86	21	simulation	simulation	NOUN
fcis-31030	86	22	of	of	ADP
fcis-31030	86	23	a	a	DET
fcis-31030	86	24	3d	3d	NOUN
fcis-31030	86	25	-	-	PUNCT
fcis-31030	86	26	printed	print	VERB
fcis-31030	86	27	wall	wall	NOUN
fcis-31030	86	28	-	-	PUNCT
fcis-31030	86	29	climbing	climb	VERB
fcis-31030	86	30	robot	robot	NOUN
fcis-31030	86	31	for	for	ADP
fcis-31030	86	32	high	high	ADJ
fcis-31030	86	33	-	-	PUNCT
fcis-31030	86	34	risk	risk	NOUN
fcis-31030	86	35	construction	construction	NOUN
fcis-31030	86	36	tasks[j].proceedings	tasks[j].proceeding	NOUN
fcis-31030	86	37	of	of	ADP
fcis-31030	86	38	the	the	DET
fcis-31030	86	39	institution	institution	NOUN
fcis-31030	86	40	of	of	ADP
fcis-31030	86	41	mechanical	mechanical	ADJ
fcis-31030	86	42	engineers	engineer	NOUN
fcis-31030	86	43	,	,	PUNCT
fcis-31030	86	44	part	part	PROPN
fcis-31030	86	45	c.	c.	PROPN
fcis-31030	86	46	journal	journal	PROPN
fcis-31030	86	47	of	of	ADP
fcis-31030	86	48	mechanical	mechanical	ADJ
fcis-31030	86	49	engineering	engineering	NOUN
fcis-31030	86	50	science	science	NOUN
fcis-31030	86	51	,	,	PUNCT
fcis-31030	86	52	2024(8):238	2024(8):238	NUM
fcis-31030	86	53	.	.	PUNCT
fcis-31030	87	1	[	[	X
fcis-31030	87	2	5	5	NUM
fcis-31030	87	3	]	]	PUNCT
fcis-31030	87	4	hong	hong	PROPN
fcis-31030	87	5	h	h	NOUN
fcis-31030	87	6	,	,	PUNCT
fcis-31030	87	7	sun	sun	PROPN
fcis-31030	87	8	x.	x.	NOUN
fcis-31030	87	9	obstacle	obstacle	PROPN
fcis-31030	87	10	avoidance	avoidance	NOUN
fcis-31030	87	11	dynamic	dynamic	ADJ
fcis-31030	87	12	control	control	NOUN
fcis-31030	87	13	of	of	ADP
fcis-31030	87	14	manipulator	manipulator	NOUN
fcis-31030	87	15	based	base	VERB
fcis-31030	87	16	on	on	ADP
fcis-31030	87	17	space	space	NOUN
fcis-31030	87	18	operator	operator	NOUN
fcis-31030	87	19	algebra[j].future	algebra[j].future	NOUN
fcis-31030	87	20	generation	generation	NOUN
fcis-31030	87	21	computer	computer	NOUN
fcis-31030	87	22	systems	system	NOUN
fcis-31030	87	23	,	,	PUNCT
fcis-31030	87	24	2021	2021	NUM
fcis-31030	87	25	,	,	PUNCT
fcis-31030	87	26	123	123	NUM
fcis-31030	87	27	.	.	PUNCT
fcis-31030	88	1	[	[	X
fcis-31030	88	2	6	6	NUM
fcis-31030	88	3	]	]	X
fcis-31030	88	4	zhang	zhang	PROPN
fcis-31030	88	5	ming	ming	PROPN
fcis-31030	88	6	-	-	PUNCT
fcis-31030	88	7	lu	lu	PROPN
fcis-31030	88	8	,	,	PUNCT
fcis-31030	88	9	zhang	zhang	PROPN
fcis-31030	88	10	xuan	xuan	PROPN
fcis-31030	88	11	,	,	PUNCT
fcis-31030	88	12	li	li	PROPN
fcis-31030	88	13	man	man	PROPN
fcis-31030	88	14	-	-	PUNCT
fcis-31030	88	15	hong	hong	PROPN
fcis-31030	88	16	,	,	PUNCT
fcis-31030	88	17	et	et	PROPN
fcis-31030	88	18	al	al	PROPN
fcis-31030	88	19	.	.	PUNCT
fcis-31030	88	20	optimization	optimization	NOUN
fcis-31030	88	21	design	design	NOUN
fcis-31030	88	22	and	and	CCONJ
fcis-31030	88	23	flexible	flexible	ADJ
fcis-31030	88	24	detection	detection	NOUN
fcis-31030	88	25	method	method	NOUN
fcis-31030	88	26	of	of	ADP
fcis-31030	88	27	a	a	DET
fcis-31030	88	28	surface	surface	NOUN
fcis-31030	88	29	adaptation	adaptation	NOUN
fcis-31030	88	30	wall	wall	NOUN
fcis-31030	88	31	-	-	PUNCT
fcis-31030	88	32	climbing	climb	VERB
fcis-31030	88	33	robot	robot	NOUN
fcis-31030	88	34	with	with	ADP
fcis-31030	88	35	multisensor	multisensor	NOUN
fcis-31030	88	36	integration	integration	NOUN
fcis-31030	88	37	for	for	ADP
fcis-31030	88	38	petrochemical	petrochemical	NOUN
fcis-31030	88	39	tanks[j	tanks[j	PROPN
fcis-31030	88	40	]	]	PUNCT
fcis-31030	88	41	.	.	PUNCT
fcis-31030	89	1	sensors	sensor	NOUN
fcis-31030	89	2	,	,	PUNCT
fcis-31030	89	3	2020	2020	NUM
fcis-31030	89	4	,	,	PUNCT
fcis-31030	89	5	20(22	20(22	NUM
fcis-31030	89	6	):	):	PUNCT
fcis-31030	89	7	6651	6651	NUM
fcis-31030	89	8	.	.	PUNCT