id	sid	tid	token	lemma	pos
fcis-7236	1	1	frontiers	frontier	NOUN
fcis-7236	1	2	in	in	ADP
fcis-7236	1	3	computing	computing	NOUN
fcis-7236	1	4	and	and	CCONJ
fcis-7236	1	5	intelligent	intelligent	ADJ
fcis-7236	1	6	systems	system	NOUN
fcis-7236	1	7	issn	issn	VERB
fcis-7236	1	8	:	:	PUNCT
fcis-7236	1	9	2832	2832	NUM
fcis-7236	1	10	-	-	SYM
fcis-7236	1	11	6024	6024	NUM
fcis-7236	1	12	|	|	NOUN
fcis-7236	1	13	vol	vol	NOUN
fcis-7236	1	14	.	.	PROPN
fcis-7236	2	1	3	3	NUM
fcis-7236	2	2	,	,	PUNCT
fcis-7236	2	3	no	no	INTJ
fcis-7236	2	4	.	.	NOUN
fcis-7236	2	5	2	2	NUM
fcis-7236	2	6	,	,	PUNCT
fcis-7236	2	7	2023	2023	NUM
fcis-7236	2	8	64	64	NUM
fcis-7236	2	9	intelligent	intelligent	ADJ
fcis-7236	2	10	robot	robot	NOUN
fcis-7236	2	11	for	for	ADP
fcis-7236	2	12	glass	glass	NOUN
fcis-7236	2	13	cleaning	cleaning	NOUN
fcis-7236	2	14	at	at	ADP
fcis-7236	2	15	high	high	ADJ
fcis-7236	2	16	altitude	altitude	NOUN
fcis-7236	2	17	based	base	VERB
fcis-7236	2	18	on	on	ADP
fcis-7236	2	19	rotating	rotate	VERB
fcis-7236	2	20	shaft	shaft	NOUN
fcis-7236	2	21	connection	connection	NOUN
fcis-7236	2	22	and	and	CCONJ
fcis-7236	2	23	stm32	stm32	PROPN
fcis-7236	2	24	control	control	PROPN
fcis-7236	2	25	jiaqi	jiaqi	PROPN
fcis-7236	2	26	cui	cui	PROPN
fcis-7236	2	27	*	*	PROPN
fcis-7236	2	28	school	school	NOUN
fcis-7236	2	29	of	of	ADP
fcis-7236	2	30	electrical	electrical	ADJ
fcis-7236	2	31	and	and	CCONJ
fcis-7236	2	32	control	control	NOUN
fcis-7236	2	33	engineering	engineering	NOUN
fcis-7236	2	34	of	of	ADP
fcis-7236	2	35	north	north	PROPN
fcis-7236	2	36	china	china	PROPN
fcis-7236	2	37	university	university	PROPN
fcis-7236	2	38	of	of	ADP
fcis-7236	2	39	technology	technology	PROPN
fcis-7236	2	40	,	,	PUNCT
fcis-7236	2	41	beijing	beijing	PROPN
fcis-7236	2	42	,	,	PUNCT
fcis-7236	2	43	china	china	PROPN
fcis-7236	2	44	*	*	PUNCT
fcis-7236	2	45	corresponding	correspond	VERB
fcis-7236	2	46	author	author	NOUN
fcis-7236	2	47	email	email	NOUN
fcis-7236	2	48	:	:	PUNCT
fcis-7236	2	49	c2324360198@163.com	c2324360198@163.com	X
fcis-7236	2	50	abstract	abstract	NOUN
fcis-7236	2	51	:	:	PUNCT
fcis-7236	2	52	at	at	ADP
fcis-7236	2	53	present	present	ADJ
fcis-7236	2	54	,	,	PUNCT
fcis-7236	2	55	there	there	PRON
fcis-7236	2	56	are	be	VERB
fcis-7236	2	57	few	few	ADJ
fcis-7236	2	58	high	high	ADJ
fcis-7236	2	59	-	-	PUNCT
fcis-7236	2	60	altitude	altitude	NOUN
fcis-7236	2	61	glass	glass	NOUN
fcis-7236	2	62	cleaning	cleaning	NOUN
fcis-7236	2	63	equipment	equipment	NOUN
fcis-7236	2	64	on	on	ADP
fcis-7236	2	65	the	the	DET
fcis-7236	2	66	market	market	NOUN
fcis-7236	2	67	that	that	PRON
fcis-7236	2	68	can	can	AUX
fcis-7236	2	69	cross	cross	VERB
fcis-7236	2	70	obstacles	obstacle	NOUN
fcis-7236	2	71	,	,	PUNCT
fcis-7236	2	72	usually	usually	ADV
fcis-7236	2	73	requiring	require	VERB
fcis-7236	2	74	manual	manual	ADJ
fcis-7236	2	75	transfer	transfer	NOUN
fcis-7236	2	76	.	.	PUNCT
fcis-7236	3	1	even	even	ADV
fcis-7236	3	2	with	with	ADP
fcis-7236	3	3	intelligent	intelligent	ADJ
fcis-7236	3	4	obstacle	obstacle	NOUN
fcis-7236	3	5	avoidance	avoidance	NOUN
fcis-7236	3	6	system	system	NOUN
fcis-7236	3	7	,	,	PUNCT
fcis-7236	3	8	it	it	PRON
fcis-7236	3	9	is	be	AUX
fcis-7236	3	10	still	still	ADV
fcis-7236	3	11	difficult	difficult	ADJ
fcis-7236	3	12	to	to	PART
fcis-7236	3	13	climb	climb	VERB
fcis-7236	3	14	over	over	ADP
fcis-7236	3	15	the	the	DET
fcis-7236	3	16	floor	floor	NOUN
fcis-7236	3	17	,	,	PUNCT
fcis-7236	3	18	the	the	DET
fcis-7236	3	19	frame	frame	NOUN
fcis-7236	3	20	between	between	ADP
fcis-7236	3	21	the	the	DET
fcis-7236	3	22	glass	glass	NOUN
fcis-7236	3	23	and	and	CCONJ
fcis-7236	3	24	so	so	ADV
fcis-7236	3	25	on	on	ADV
fcis-7236	3	26	.	.	PUNCT
fcis-7236	4	1	the	the	DET
fcis-7236	4	2	automation	automation	NOUN
fcis-7236	4	3	of	of	ADP
fcis-7236	4	4	the	the	DET
fcis-7236	4	5	project	project	NOUN
fcis-7236	4	6	is	be	AUX
fcis-7236	4	7	low	low	ADJ
fcis-7236	4	8	.	.	PUNCT
fcis-7236	5	1	to	to	PART
fcis-7236	5	2	solve	solve	VERB
fcis-7236	5	3	the	the	DET
fcis-7236	5	4	above	above	ADJ
fcis-7236	5	5	problems	problem	NOUN
fcis-7236	5	6	,	,	PUNCT
fcis-7236	5	7	the	the	DET
fcis-7236	5	8	glass	glass	NOUN
fcis-7236	5	9	cleaning	cleaning	NOUN
fcis-7236	5	10	robot	robot	NOUN
fcis-7236	5	11	designed	design	VERB
fcis-7236	5	12	in	in	ADP
fcis-7236	5	13	this	this	DET
fcis-7236	5	14	paper	paper	NOUN
fcis-7236	5	15	can	can	AUX
fcis-7236	5	16	autonomic	autonomic	ADJ
fcis-7236	5	17	obstacle	obstacle	NOUN
fcis-7236	5	18	avoidance	avoidance	NOUN
fcis-7236	5	19	transfer	transfer	NOUN
fcis-7236	5	20	through	through	ADP
fcis-7236	5	21	the	the	DET
fcis-7236	5	22	stm32f407	stm32f407	PROPN
fcis-7236	5	23	core	core	PROPN
fcis-7236	5	24	control	control	PROPN
fcis-7236	5	25	board	board	PROPN
fcis-7236	5	26	,	,	PUNCT
fcis-7236	5	27	and	and	CCONJ
fcis-7236	5	28	raspberry	raspberry	NOUN
fcis-7236	5	29	pi	pi	NOUN
fcis-7236	5	30	to	to	PART
fcis-7236	5	31	jointly	jointly	ADV
fcis-7236	5	32	complete	complete	VERB
fcis-7236	5	33	the	the	DET
fcis-7236	5	34	obstacle	obstacle	NOUN
fcis-7236	5	35	avoidance	avoidance	NOUN
fcis-7236	5	36	,	,	PUNCT
fcis-7236	5	37	navigation	navigation	NOUN
fcis-7236	5	38	,	,	PUNCT
fcis-7236	5	39	movement	movement	NOUN
fcis-7236	5	40	and	and	CCONJ
fcis-7236	5	41	other	other	ADJ
fcis-7236	5	42	control	control	NOUN
fcis-7236	5	43	tasks	task	NOUN
fcis-7236	5	44	.	.	PUNCT
fcis-7236	6	1	and	and	CCONJ
fcis-7236	6	2	the	the	DET
fcis-7236	6	3	use	use	NOUN
fcis-7236	6	4	of	of	ADP
fcis-7236	6	5	a	a	DET
fcis-7236	6	6	new	new	ADJ
fcis-7236	6	7	mechanical	mechanical	ADJ
fcis-7236	6	8	structure	structure	NOUN
fcis-7236	6	9	,	,	PUNCT
fcis-7236	6	10	through	through	ADP
fcis-7236	6	11	the	the	DET
fcis-7236	6	12	quadcopter	quadcopter	NOUN
fcis-7236	6	13	wing	wing	NOUN
fcis-7236	6	14	folding	fold	VERB
fcis-7236	6	15	contraction	contraction	NOUN
fcis-7236	6	16	,	,	PUNCT
fcis-7236	6	17	to	to	PART
fcis-7236	6	18	complete	complete	VERB
fcis-7236	6	19	the	the	DET
fcis-7236	6	20	process	process	NOUN
fcis-7236	6	21	of	of	ADP
fcis-7236	6	22	wiping	wipe	VERB
fcis-7236	6	23	glass	glass	NOUN
fcis-7236	6	24	push	push	NOUN
fcis-7236	6	25	and	and	CCONJ
fcis-7236	6	26	pull	pull	VERB
fcis-7236	6	27	.	.	PUNCT
fcis-7236	7	1	during	during	ADP
fcis-7236	7	2	the	the	DET
fcis-7236	7	3	transition	transition	NOUN
fcis-7236	7	4	from	from	ADP
fcis-7236	7	5	flight	flight	NOUN
fcis-7236	7	6	to	to	ADP
fcis-7236	7	7	climbing	climbing	NOUN
fcis-7236	7	8	,	,	PUNCT
fcis-7236	7	9	horizontal	horizontal	ADJ
fcis-7236	7	10	to	to	ADP
fcis-7236	7	11	vertical	vertical	ADJ
fcis-7236	7	12	changes	change	NOUN
fcis-7236	7	13	are	be	AUX
fcis-7236	7	14	achieved	achieve	VERB
fcis-7236	7	15	by	by	ADP
fcis-7236	7	16	folding	fold	VERB
fcis-7236	7	17	the	the	DET
fcis-7236	7	18	fuselage	fuselage	NOUN
fcis-7236	7	19	.	.	PUNCT
fcis-7236	8	1	through	through	ADP
fcis-7236	8	2	many	many	ADJ
fcis-7236	8	3	experiments	experiment	NOUN
fcis-7236	8	4	,	,	PUNCT
fcis-7236	8	5	the	the	DET
fcis-7236	8	6	design	design	NOUN
fcis-7236	8	7	is	be	AUX
fcis-7236	8	8	reliable	reliable	ADJ
fcis-7236	8	9	and	and	CCONJ
fcis-7236	8	10	practical	practical	ADJ
fcis-7236	8	11	.	.	PUNCT
fcis-7236	9	1	keywords	keyword	NOUN
fcis-7236	9	2	:	:	PUNCT
fcis-7236	9	3	high	high	ADJ
fcis-7236	9	4	altitude	altitude	NOUN
fcis-7236	9	5	;	;	PUNCT
fcis-7236	9	6	operation	operation	NOUN
fcis-7236	9	7	quadcopter	quadcopter	NOUN
fcis-7236	9	8	;	;	PUNCT
fcis-7236	9	9	deep	deep	ADJ
fcis-7236	9	10	learning	learning	NOUN
fcis-7236	9	11	;	;	PUNCT
fcis-7236	9	12	rotary	rotary	ADJ
fcis-7236	9	13	shaft	shaft	NOUN
fcis-7236	9	14	vehicle	vehicle	NOUN
fcis-7236	9	15	.	.	PUNCT
fcis-7236	10	1	1	1	X
fcis-7236	10	2	.	.	X
fcis-7236	10	3	introduction	introduction	NOUN
fcis-7236	10	4	at	at	ADP
fcis-7236	10	5	present	present	ADJ
fcis-7236	10	6	,	,	PUNCT
fcis-7236	10	7	whether	whether	SCONJ
fcis-7236	10	8	the	the	DET
fcis-7236	10	9	glass	glass	NOUN
fcis-7236	10	10	cleaning	cleaning	NOUN
fcis-7236	10	11	equipment	equipment	NOUN
fcis-7236	10	12	used	use	VERB
fcis-7236	10	13	in	in	ADP
fcis-7236	10	14	the	the	DET
fcis-7236	10	15	family	family	NOUN
fcis-7236	10	16	or	or	CCONJ
fcis-7236	10	17	the	the	DET
fcis-7236	10	18	glass	glass	NOUN
fcis-7236	10	19	cleaning	cleaning	NOUN
fcis-7236	10	20	machine	machine	NOUN
fcis-7236	10	21	used	use	VERB
fcis-7236	10	22	in	in	ADP
fcis-7236	10	23	the	the	DET
fcis-7236	10	24	building	building	NOUN
fcis-7236	10	25	,	,	PUNCT
fcis-7236	10	26	most	most	ADJ
fcis-7236	10	27	of	of	ADP
fcis-7236	10	28	them	they	PRON
fcis-7236	10	29	are	be	AUX
fcis-7236	10	30	low	low	ADJ
fcis-7236	10	31	in	in	ADP
fcis-7236	10	32	intelligence	intelligence	NOUN
fcis-7236	10	33	and	and	CCONJ
fcis-7236	10	34	can	can	AUX
fcis-7236	10	35	not	not	PART
fcis-7236	10	36	be	be	AUX
fcis-7236	10	37	controlled	control	VERB
fcis-7236	10	38	in	in	ADP
fcis-7236	10	39	real	real	ADJ
fcis-7236	10	40	time	time	NOUN
fcis-7236	10	41	,	,	PUNCT
fcis-7236	10	42	or	or	CCONJ
fcis-7236	10	43	there	there	PRON
fcis-7236	10	44	are	be	VERB
fcis-7236	10	45	many	many	ADJ
fcis-7236	10	46	places	place	NOUN
fcis-7236	10	47	using	use	VERB
fcis-7236	10	48	artificial	artificial	ADJ
fcis-7236	10	49	aerial	aerial	ADJ
fcis-7236	10	50	work	work	NOUN
fcis-7236	10	51	to	to	PART
fcis-7236	10	52	complete	complete	VERB
fcis-7236	10	53	the	the	DET
fcis-7236	10	54	glass	glass	NOUN
fcis-7236	10	55	cleaning	cleaning	NOUN
fcis-7236	10	56	,	,	PUNCT
fcis-7236	10	57	which	which	PRON
fcis-7236	10	58	is	be	AUX
fcis-7236	10	59	very	very	ADV
fcis-7236	10	60	dangerous.[1	dangerous.[1	ADJ
fcis-7236	10	61	-	-	SYM
fcis-7236	10	62	4	4	NUM
fcis-7236	10	63	]	]	PUNCT
fcis-7236	10	64	after	after	ADP
fcis-7236	10	65	observing	observe	VERB
fcis-7236	10	66	this	this	DET
fcis-7236	10	67	problem	problem	NOUN
fcis-7236	10	68	,	,	PUNCT
fcis-7236	10	69	this	this	DET
fcis-7236	10	70	paper	paper	NOUN
fcis-7236	10	71	designs	design	VERB
fcis-7236	10	72	a	a	DET
fcis-7236	10	73	quadcopter	quadcopter	NOUN
fcis-7236	10	74	which	which	PRON
fcis-7236	10	75	can	can	AUX
fcis-7236	10	76	move	move	VERB
fcis-7236	10	77	autonomously	autonomously	ADV
fcis-7236	10	78	,	,	PUNCT
fcis-7236	10	79	jump	jump	VERB
fcis-7236	10	80	over	over	ADP
fcis-7236	10	81	obstacles	obstacle	NOUN
fcis-7236	10	82	,	,	PUNCT
fcis-7236	10	83	and	and	CCONJ
fcis-7236	10	84	switch	switch	VERB
fcis-7236	10	85	between	between	ADP
fcis-7236	10	86	crawling	crawl	VERB
fcis-7236	10	87	and	and	CCONJ
fcis-7236	10	88	flying	flying	NOUN
fcis-7236	10	89	modes	mode	NOUN
fcis-7236	10	90	automatically	automatically	ADV
fcis-7236	10	91	.	.	PUNCT
fcis-7236	11	1	reduce	reduce	VERB
fcis-7236	11	2	production	production	NOUN
fcis-7236	11	3	cost	cost	NOUN
fcis-7236	11	4	through	through	ADP
fcis-7236	11	5	innovative	innovative	ADJ
fcis-7236	11	6	mechanical	mechanical	ADJ
fcis-7236	11	7	design	design	NOUN
fcis-7236	11	8	,	,	PUNCT
fcis-7236	11	9	with	with	ADP
fcis-7236	11	10	practicability	practicability	NOUN
fcis-7236	11	11	and	and	CCONJ
fcis-7236	11	12	reliability	reliability	NOUN
fcis-7236	11	13	.	.	PUNCT
fcis-7236	12	1	2	2	X
fcis-7236	12	2	.	.	X
fcis-7236	12	3	design	design	NOUN
fcis-7236	12	4	idea	idea	NOUN
fcis-7236	12	5	2.1	2.1	NUM
fcis-7236	12	6	.	.	PUNCT
fcis-7236	13	1	control	control	NOUN
fcis-7236	13	2	part	part	NOUN
fcis-7236	13	3	figure	figure	NOUN
fcis-7236	13	4	1	1	NUM
fcis-7236	13	5	.	.	PUNCT
fcis-7236	14	1	overall	overall	ADJ
fcis-7236	14	2	control	control	PROPN
fcis-7236	14	3	idea	idea	NOUN
fcis-7236	14	4	the	the	DET
fcis-7236	14	5	bottom	bottom	ADJ
fcis-7236	14	6	drive	drive	NOUN
fcis-7236	14	7	of	of	ADP
fcis-7236	14	8	the	the	DET
fcis-7236	14	9	quadcopter	quadcopter	NOUN
fcis-7236	14	10	is	be	AUX
fcis-7236	14	11	completed	complete	VERB
fcis-7236	14	12	through	through	ADP
fcis-7236	14	13	the	the	DET
fcis-7236	14	14	control	control	NOUN
fcis-7236	14	15	of	of	ADP
fcis-7236	14	16	gyroscope	gyroscope	NOUN
fcis-7236	14	17	and	and	CCONJ
fcis-7236	14	18	motor	motor	NOUN
fcis-7236	14	19	carried	carry	VERB
fcis-7236	14	20	by	by	ADP
fcis-7236	14	21	stm32	stm32	PROPN
fcis-7236	14	22	microcontroller	microcontroller	NOUN
fcis-7236	14	23	.	.	PUNCT
fcis-7236	15	1	obstacle	obstacle	NOUN
fcis-7236	15	2	avoidance	avoidance	NOUN
fcis-7236	15	3	is	be	AUX
fcis-7236	15	4	carried	carry	VERB
fcis-7236	15	5	out	out	ADP
fcis-7236	15	6	by	by	ADP
fcis-7236	15	7	ultrasonic	ultrasonic	ADJ
fcis-7236	15	8	module	module	NOUN
fcis-7236	15	9	.	.	PUNCT
fcis-7236	16	1	2.2	2.2	NUM
fcis-7236	16	2	.	.	PUNCT
fcis-7236	17	1	mechanical	mechanical	ADJ
fcis-7236	17	2	part	part	NOUN
fcis-7236	17	3	figure	figure	NOUN
fcis-7236	17	4	2	2	NUM
fcis-7236	17	5	.	.	PUNCT
fcis-7236	17	6	flight	flight	NOUN
fcis-7236	17	7	attitude	attitude	NOUN
fcis-7236	17	8	driven	drive	VERB
fcis-7236	17	9	by	by	ADP
fcis-7236	17	10	motor	motor	NOUN
fcis-7236	17	11	,	,	PUNCT
fcis-7236	17	12	the	the	DET
fcis-7236	17	13	aircraft	aircraft	NOUN
fcis-7236	17	14	can	can	AUX
fcis-7236	17	15	complete	complete	VERB
fcis-7236	17	16	the	the	DET
fcis-7236	17	17	flight	flight	NOUN
fcis-7236	17	18	state	state	NOUN
fcis-7236	17	19	of	of	ADP
fcis-7236	17	20	the	the	DET
fcis-7236	17	21	quadcopter	quadcopter	NOUN
fcis-7236	17	22	and	and	CCONJ
fcis-7236	17	23	transfer	transfer	VERB
fcis-7236	17	24	different	different	ADJ
fcis-7236	17	25	areas	area	NOUN
fcis-7236	17	26	.	.	PUNCT
fcis-7236	18	1	figure	figure	VERB
fcis-7236	18	2	3	3	NUM
fcis-7236	18	3	.	.	PUNCT
fcis-7236	18	4	climbing	climbing	NOUN
fcis-7236	18	5	attitude	attitude	NOUN
fcis-7236	18	6	the	the	DET
fcis-7236	18	7	four	four	NUM
fcis-7236	18	8	wings	wing	NOUN
fcis-7236	18	9	of	of	ADP
fcis-7236	18	10	the	the	DET
fcis-7236	18	11	vehicle	vehicle	NOUN
fcis-7236	18	12	are	be	AUX
fcis-7236	18	13	connected	connect	VERB
fcis-7236	18	14	to	to	ADP
fcis-7236	18	15	a	a	DET
fcis-7236	18	16	central	central	ADJ
fcis-7236	18	17	rotating	rotate	VERB
fcis-7236	18	18	bearing	bearing	NOUN
fcis-7236	18	19	,	,	PUNCT
fcis-7236	18	20	which	which	PRON
fcis-7236	18	21	is	be	AUX
fcis-7236	18	22	controlled	control	VERB
fcis-7236	18	23	by	by	ADP
fcis-7236	18	24	a	a	DET
fcis-7236	18	25	motor	motor	NOUN
fcis-7236	18	26	to	to	PART
fcis-7236	18	27	achieve	achieve	VERB
fcis-7236	18	28	wing	wing	NOUN
fcis-7236	18	29	shrinkage	shrinkage	NOUN
fcis-7236	18	30	.	.	PUNCT
fcis-7236	19	1	making	make	VERB
fcis-7236	19	2	the	the	DET
fcis-7236	19	3	aircraft	aircraft	NOUN
fcis-7236	19	4	work	work	NOUN
fcis-7236	19	5	at	at	ADP
fcis-7236	19	6	high	high	ADJ
fcis-7236	19	7	altitude	altitude	NOUN
fcis-7236	19	8	is	be	AUX
fcis-7236	19	9	to	to	PART
fcis-7236	19	10	complete	complete	VERB
fcis-7236	19	11	the	the	DET
fcis-7236	19	12	crawling	crawl	VERB
fcis-7236	19	13	state	state	NOUN
fcis-7236	19	14	.	.	PUNCT
fcis-7236	20	1	one	one	NUM
fcis-7236	20	2	side	side	NOUN
fcis-7236	20	3	fold	fold	NOUN
fcis-7236	20	4	and	and	CCONJ
fcis-7236	20	5	the	the	DET
fcis-7236	20	6	other	other	ADJ
fcis-7236	20	7	side	side	NOUN
fcis-7236	20	8	stretches	stretch	NOUN
fcis-7236	20	9	.	.	PUNCT
fcis-7236	21	1	to	to	PART
fcis-7236	21	2	finish	finish	VERB
fcis-7236	21	3	cleaning	clean	VERB
fcis-7236	21	4	the	the	DET
fcis-7236	21	5	glass	glass	NOUN
fcis-7236	21	6	.	.	PUNCT
fcis-7236	22	1	[	[	X
fcis-7236	22	2	5	5	NUM
fcis-7236	22	3	-	-	SYM
fcis-7236	22	4	6	6	NUM
fcis-7236	22	5	]	]	SYM
fcis-7236	22	6	65	65	NUM
fcis-7236	22	7	figure	figure	NOUN
fcis-7236	22	8	4	4	NUM
fcis-7236	22	9	.	.	PUNCT
fcis-7236	22	10	folding	fold	VERB
fcis-7236	22	11	attitude	attitude	NOUN
fcis-7236	22	12	there	there	PRON
fcis-7236	22	13	is	be	VERB
fcis-7236	22	14	a	a	DET
fcis-7236	22	15	folding	fold	VERB
fcis-7236	22	16	mechanism	mechanism	NOUN
fcis-7236	22	17	in	in	ADP
fcis-7236	22	18	the	the	DET
fcis-7236	22	19	center	center	NOUN
fcis-7236	22	20	of	of	ADP
fcis-7236	22	21	the	the	DET
fcis-7236	22	22	two	two	NUM
fcis-7236	22	23	main	main	ADJ
fcis-7236	22	24	mechanical	mechanical	ADJ
fcis-7236	22	25	structures	structure	NOUN
fcis-7236	22	26	,	,	PUNCT
fcis-7236	22	27	which	which	PRON
fcis-7236	22	28	is	be	AUX
fcis-7236	22	29	controlled	control	VERB
fcis-7236	22	30	by	by	ADP
fcis-7236	22	31	the	the	DET
fcis-7236	22	32	motor	motor	NOUN
fcis-7236	22	33	,	,	PUNCT
fcis-7236	22	34	so	so	SCONJ
fcis-7236	22	35	that	that	SCONJ
fcis-7236	22	36	the	the	DET
fcis-7236	22	37	mechanism	mechanism	NOUN
fcis-7236	22	38	can	can	AUX
fcis-7236	22	39	complete	complete	VERB
fcis-7236	22	40	symmetrical	symmetrical	ADJ
fcis-7236	22	41	folding	folding	NOUN
fcis-7236	22	42	,	,	PUNCT
fcis-7236	22	43	making	make	VERB
fcis-7236	22	44	the	the	DET
fcis-7236	22	45	aircraft	aircraft	NOUN
fcis-7236	22	46	from	from	ADP
fcis-7236	22	47	the	the	DET
fcis-7236	22	48	flight	flight	NOUN
fcis-7236	22	49	state	state	NOUN
fcis-7236	22	50	to	to	ADP
fcis-7236	22	51	the	the	DET
fcis-7236	22	52	folding	fold	VERB
fcis-7236	22	53	state	state	NOUN
fcis-7236	22	54	.	.	PUNCT
fcis-7236	23	1	after	after	ADP
fcis-7236	23	2	landing	land	VERB
fcis-7236	23	3	on	on	ADP
fcis-7236	23	4	the	the	DET
fcis-7236	23	5	wall	wall	NOUN
fcis-7236	23	6	,	,	PUNCT
fcis-7236	23	7	you	you	PRON
fcis-7236	23	8	can	can	AUX
fcis-7236	23	9	finish	finish	VERB
fcis-7236	23	10	high	high	ADJ
fcis-7236	23	11	altitude	altitude	NOUN
fcis-7236	23	12	work	work	NOUN
fcis-7236	23	13	.	.	PUNCT
fcis-7236	24	1	3	3	X
fcis-7236	24	2	.	.	X
fcis-7236	24	3	control	control	NOUN
fcis-7236	24	4	algorithm	algorithm	PROPN
fcis-7236	24	5	3.1	3.1	NUM
fcis-7236	24	6	.	.	PUNCT
fcis-7236	24	7	motor	motor	NOUN
fcis-7236	24	8	control	control	PROPN
fcis-7236	24	9	figure	figure	NOUN
fcis-7236	24	10	5	5	NUM
fcis-7236	24	11	.	.	PUNCT
fcis-7236	24	12	cascade	cascade	NOUN
fcis-7236	24	13	pid	pid	NOUN
fcis-7236	24	14	control	control	NOUN
fcis-7236	24	15	flow	flow	NOUN
fcis-7236	24	16	chart	chart	NOUN
fcis-7236	24	17	3.2	3.2	NUM
fcis-7236	24	18	.	.	PUNCT
fcis-7236	25	1	visual	visual	ADJ
fcis-7236	25	2	algorithm	algorithm	NOUN
fcis-7236	25	3	of	of	ADP
fcis-7236	25	4	the	the	DET
fcis-7236	25	5	hundreds	hundred	NOUN
fcis-7236	25	6	of	of	ADP
fcis-7236	25	7	pictures	picture	NOUN
fcis-7236	25	8	by	by	ADP
fcis-7236	25	9	yolov5	yolov5	PROPN
fcis-7236	25	10	m	m	PROPN
fcis-7236	25	11	model	model	NOUN
fcis-7236	25	12	training	training	NOUN
fcis-7236	25	13	,	,	PUNCT
fcis-7236	25	14	get	get	VERB
fcis-7236	25	15	the	the	DET
fcis-7236	25	16	weight	weight	NOUN
fcis-7236	25	17	files	file	NOUN
fcis-7236	25	18	,	,	PUNCT
fcis-7236	25	19	compares	compare	VERB
fcis-7236	25	20	the	the	DET
fcis-7236	25	21	model	model	NOUN
fcis-7236	25	22	parameters	parameter	NOUN
fcis-7236	25	23	,	,	PUNCT
fcis-7236	25	24	in	in	ADP
fcis-7236	25	25	the	the	DET
fcis-7236	25	26	practical	practical	ADJ
fcis-7236	25	27	obstacles	obstacle	NOUN
fcis-7236	25	28	in	in	ADP
fcis-7236	25	29	real	real	ADJ
fcis-7236	25	30	-	-	PUNCT
fcis-7236	25	31	time	time	NOUN
fcis-7236	25	32	pictures	picture	NOUN
fcis-7236	25	33	using	use	VERB
fcis-7236	25	34	camera	camera	NOUN
fcis-7236	25	35	,	,	PUNCT
fcis-7236	25	36	for	for	ADP
fcis-7236	25	37	each	each	DET
fcis-7236	25	38	frame	frame	NOUN
fcis-7236	25	39	for	for	ADP
fcis-7236	25	40	identification	identification	NOUN
fcis-7236	25	41	.	.	PUNCT
fcis-7236	26	1	4	4	X
fcis-7236	26	2	.	.	X
fcis-7236	26	3	test	test	NOUN
fcis-7236	26	4	table	table	NOUN
fcis-7236	26	5	1	1	NUM
fcis-7236	26	6	.	.	PUNCT
fcis-7236	26	7	obstacle	obstacle	NOUN
fcis-7236	26	8	avoidance	avoidance	NOUN
fcis-7236	26	9	test	test	NOUN
fcis-7236	26	10	advance	advance	NOUN
fcis-7236	26	11	back	back	ADV
fcis-7236	26	12	0.06	0.06	NUM
fcis-7236	26	13	m	m	NOUN
fcis-7236	26	14	√	√	NOUN
fcis-7236	26	15	√	√	NUM
fcis-7236	26	16	0.13	0.13	NUM
fcis-7236	26	17	m	m	NOUN
fcis-7236	26	18	√	√	NOUN
fcis-7236	26	19	√	√	NUM
fcis-7236	26	20	0.17	0.17	NUM
fcis-7236	26	21	m	m	NOUN
fcis-7236	26	22	√	√	NOUN
fcis-7236	26	23	√	√	NUM
fcis-7236	26	24	0.22	0.22	NUM
fcis-7236	26	25	m	m	NOUN
fcis-7236	26	26	√	√	NOUN
fcis-7236	26	27	√	√	NUM
fcis-7236	26	28	0.24	0.24	NUM
fcis-7236	26	29	m	m	NOUN
fcis-7236	26	30	√	√	NOUN
fcis-7236	26	31	√	√	NUM
fcis-7236	26	32	0.37	0.37	NUM
fcis-7236	26	33	m	m	NOUN
fcis-7236	26	34	√	√	NOUN
fcis-7236	26	35	√	√	ADP
fcis-7236	26	36	the	the	DET
fcis-7236	26	37	test	test	NOUN
fcis-7236	26	38	shows	show	VERB
fcis-7236	26	39	that	that	SCONJ
fcis-7236	26	40	the	the	DET
fcis-7236	26	41	aircraft	aircraft	NOUN
fcis-7236	26	42	has	have	VERB
fcis-7236	26	43	a	a	DET
fcis-7236	26	44	high	high	ADJ
fcis-7236	26	45	accuracy	accuracy	NOUN
fcis-7236	26	46	in	in	ADP
fcis-7236	26	47	identifying	identify	VERB
fcis-7236	26	48	obstacles	obstacle	NOUN
fcis-7236	26	49	.	.	PUNCT
fcis-7236	27	1	the	the	DET
fcis-7236	27	2	test	test	NOUN
fcis-7236	27	3	of	of	ADP
fcis-7236	27	4	obstacle	obstacle	NOUN
fcis-7236	27	5	crossing	crossing	NOUN
fcis-7236	27	6	ability	ability	NOUN
fcis-7236	27	7	can	can	AUX
fcis-7236	27	8	be	be	AUX
fcis-7236	27	9	seen	see	VERB
fcis-7236	27	10	at	at	ADP
fcis-7236	27	11	different	different	ADJ
fcis-7236	27	12	speeds	speed	NOUN
fcis-7236	27	13	have	have	VERB
fcis-7236	27	14	a	a	DET
fcis-7236	27	15	good	good	ADJ
fcis-7236	27	16	degree	degree	NOUN
fcis-7236	27	17	of	of	ADP
fcis-7236	27	18	completion	completion	NOUN
fcis-7236	27	19	.	.	PUNCT
fcis-7236	28	1	figure	figure	NOUN
fcis-7236	28	2	6	6	NUM
fcis-7236	28	3	.	.	PUNCT
fcis-7236	29	1	yolov5	yolov5	NOUN
fcis-7236	29	2	model	model	NOUN
fcis-7236	29	3	parameters	parameter	NOUN
fcis-7236	29	4	cleaning	clean	VERB
fcis-7236	29	5	operations	operation	NOUN
fcis-7236	29	6	are	be	AUX
fcis-7236	29	7	based	base	VERB
fcis-7236	29	8	on	on	ADP
fcis-7236	29	9	visual	visual	ADJ
fcis-7236	29	10	identification	identification	NOUN
fcis-7236	29	11	of	of	ADP
fcis-7236	29	12	obstacles	obstacle	NOUN
fcis-7236	29	13	and	and	CCONJ
fcis-7236	29	14	stains	stain	NOUN
fcis-7236	29	15	.	.	PUNCT
fcis-7236	30	1	when	when	SCONJ
fcis-7236	30	2	working	work	VERB
fcis-7236	30	3	at	at	ADP
fcis-7236	30	4	altitude	altitude	NOUN
fcis-7236	30	5	,	,	PUNCT
fcis-7236	30	6	the	the	DET
fcis-7236	30	7	water	water	NOUN
fcis-7236	30	8	yield	yield	NOUN
fcis-7236	30	9	and	and	CCONJ
fcis-7236	30	10	clear	clear	ADJ
fcis-7236	30	11	speed	speed	NOUN
fcis-7236	30	12	and	and	CCONJ
fcis-7236	30	13	time	time	NOUN
fcis-7236	30	14	are	be	AUX
fcis-7236	30	15	controlled	control	VERB
fcis-7236	30	16	for	for	ADP
fcis-7236	30	17	different	different	ADJ
fcis-7236	30	18	situations	situation	NOUN
fcis-7236	30	19	such	such	ADJ
fcis-7236	30	20	as	as	ADP
fcis-7236	30	21	rain	rain	NOUN
fcis-7236	30	22	stains	stain	NOUN
fcis-7236	30	23	and	and	CCONJ
fcis-7236	30	24	dust	dust	NOUN
fcis-7236	30	25	,	,	PUNCT
fcis-7236	30	26	which	which	PRON
fcis-7236	30	27	makes	make	VERB
fcis-7236	30	28	the	the	DET
fcis-7236	30	29	accuracy	accuracy	NOUN
fcis-7236	30	30	higher	high	ADJ
fcis-7236	30	31	and	and	CCONJ
fcis-7236	30	32	the	the	DET
fcis-7236	30	33	effect	effect	NOUN
fcis-7236	30	34	better	well	ADV
fcis-7236	30	35	.	.	PUNCT
fcis-7236	31	1	figure	figure	VERB
fcis-7236	31	2	7	7	NUM
fcis-7236	31	3	.	.	PUNCT
fcis-7236	32	1	yolov5	yolov5	NOUN
fcis-7236	32	2	model	model	NOUN
fcis-7236	32	3	parameters	parameter	NOUN
fcis-7236	32	4	5	5	NUM
fcis-7236	32	5	.	.	PUNCT
fcis-7236	32	6	conclusion	conclusion	NOUN
fcis-7236	32	7	through	through	ADP
fcis-7236	32	8	the	the	DET
fcis-7236	32	9	test	test	NOUN
fcis-7236	32	10	,	,	PUNCT
fcis-7236	32	11	the	the	DET
fcis-7236	32	12	aircraft	aircraft	NOUN
fcis-7236	32	13	can	can	AUX
fcis-7236	32	14	complete	complete	VERB
fcis-7236	32	15	autonomous	autonomous	ADJ
fcis-7236	32	16	navigation	navigation	NOUN
fcis-7236	32	17	and	and	CCONJ
fcis-7236	32	18	positioning	positioning	NOUN
fcis-7236	32	19	,	,	PUNCT
fcis-7236	32	20	and	and	CCONJ
fcis-7236	32	21	when	when	SCONJ
fcis-7236	32	22	it	it	PRON
fcis-7236	32	23	comes	come	VERB
fcis-7236	32	24	into	into	ADP
fcis-7236	32	25	contact	contact	NOUN
fcis-7236	32	26	with	with	ADP
fcis-7236	32	27	the	the	DET
fcis-7236	32	28	wall	wall	NOUN
fcis-7236	32	29	,	,	PUNCT
fcis-7236	32	30	it	it	PRON
fcis-7236	32	31	can	can	AUX
fcis-7236	32	32	autonomously	autonomously	ADV
fcis-7236	32	33	shrink	shrink	VERB
fcis-7236	32	34	into	into	ADP
fcis-7236	32	35	a	a	DET
fcis-7236	32	36	folding	fold	VERB
fcis-7236	32	37	posture	posture	NOUN
fcis-7236	32	38	,	,	PUNCT
fcis-7236	32	39	and	and	CCONJ
fcis-7236	32	40	complete	complete	VERB
fcis-7236	32	41	the	the	DET
fcis-7236	32	42	contraction	contraction	NOUN
fcis-7236	32	43	and	and	CCONJ
fcis-7236	32	44	extension	extension	NOUN
fcis-7236	32	45	of	of	ADP
fcis-7236	32	46	the	the	DET
fcis-7236	32	47	four	four	NUM
fcis-7236	32	48	wings	wing	NOUN
fcis-7236	32	49	under	under	ADP
fcis-7236	32	50	the	the	DET
fcis-7236	32	51	drive	drive	NOUN
fcis-7236	32	52	of	of	ADP
fcis-7236	32	53	the	the	DET
fcis-7236	32	54	motor	motor	NOUN
fcis-7236	32	55	,	,	PUNCT
fcis-7236	32	56	so	so	SCONJ
fcis-7236	32	57	that	that	SCONJ
fcis-7236	32	58	the	the	DET
fcis-7236	32	59	highaltitude	highaltitude	ADJ
fcis-7236	32	60	glass	glass	NOUN
fcis-7236	32	61	can	can	AUX
fcis-7236	32	62	be	be	AUX
fcis-7236	32	63	scrubbed	scrub	VERB
fcis-7236	32	64	in	in	ADP
fcis-7236	32	65	the	the	DET
fcis-7236	32	66	climbing	climbing	NOUN
fcis-7236	32	67	state	state	NOUN
fcis-7236	32	68	.	.	PUNCT
fcis-7236	33	1	the	the	DET
fcis-7236	33	2	main	main	ADJ
fcis-7236	33	3	body	body	NOUN
fcis-7236	33	4	of	of	ADP
fcis-7236	33	5	the	the	DET
fcis-7236	33	6	motor	motor	NOUN
fcis-7236	33	7	cascade	cascade	NOUN
fcis-7236	33	8	pid	pid	NOUN
fcis-7236	33	9	control	control	NOUN
fcis-7236	33	10	,	,	PUNCT
fcis-7236	33	11	euler	euler	NOUN
fcis-7236	33	12	angle	angle	NOUN
fcis-7236	33	13	calculation	calculation	NOUN
fcis-7236	33	14	,	,	PUNCT
fcis-7236	33	15	gyro	gyro	NOUN
fcis-7236	33	16	and	and	CCONJ
fcis-7236	33	17	serial	serial	ADJ
fcis-7236	33	18	data	datum	NOUN
fcis-7236	33	19	analysis	analysis	NOUN
fcis-7236	33	20	.	.	PUNCT
fcis-7236	34	1	innovation	innovation	NOUN
fcis-7236	34	2	in	in	ADP
fcis-7236	34	3	mechanical	mechanical	ADJ
fcis-7236	34	4	structure	structure	NOUN
fcis-7236	34	5	.	.	PUNCT
fcis-7236	35	1	deep	deep	ADJ
fcis-7236	35	2	learning	learning	NOUN
fcis-7236	35	3	adopts	adopt	VERB
fcis-7236	35	4	yolov5	yolov5	PROPN
fcis-7236	35	5	m	m	PROPN
fcis-7236	35	6	model	model	NOUN
fcis-7236	35	7	with	with	ADP
fcis-7236	35	8	high	high	ADJ
fcis-7236	35	9	recognition	recognition	NOUN
fcis-7236	35	10	accuracy	accuracy	NOUN
fcis-7236	35	11	.	.	PUNCT
fcis-7236	36	1	references	reference	NOUN
fcis-7236	36	2	[	[	X
fcis-7236	36	3	1	1	NUM
fcis-7236	36	4	]	]	X
fcis-7236	36	5	cheng	cheng	PROPN
fcis-7236	36	6	cheng	cheng	PROPN
fcis-7236	36	7	,	,	PUNCT
fcis-7236	36	8	li	li	PROPN
fcis-7236	36	9	linlin	linlin	PROPN
fcis-7236	36	10	,	,	PUNCT
fcis-7236	36	11	meng	meng	PROPN
fcis-7236	36	12	fanmao	fanmao	VERB
fcis-7236	36	13	et	et	PROPN
fcis-7236	36	14	al	al	PROPN
fcis-7236	36	15	.	.	PROPN
fcis-7236	36	16	application	application	NOUN
fcis-7236	36	17	and	and	CCONJ
fcis-7236	36	18	promotion	promotion	NOUN
fcis-7236	36	19	of	of	ADP
fcis-7236	36	20	uav	uav	PROPN
fcis-7236	36	21	glass	glass	NOUN
fcis-7236	36	22	cleaner	cleaner	NOUN
fcis-7236	36	23	in	in	ADP
fcis-7236	36	24	domestic	domestic	ADJ
fcis-7236	36	25	aerial	aerial	ADJ
fcis-7236	36	26	work	work	NOUN
fcis-7236	36	27	industry	industry	NOUN
fcis-7236	37	1	[	[	X
fcis-7236	37	2	j	j	X
fcis-7236	37	3	]	]	X
fcis-7236	37	4	.	.	PUNCT
fcis-7236	38	1	hubei	hubei	PROPN
fcis-7236	38	2	agricultural	agricultural	ADJ
fcis-7236	38	3	mechanization	mechanization	NOUN
fcis-7236	38	4	,	,	PUNCT
fcis-7236	38	5	2020	2020	NUM
fcis-7236	38	6	,	,	PUNCT
fcis-7236	38	7	no.250(13	no.250(13	NUM
fcis-7236	38	8	):	):	PUNCT
fcis-7236	38	9	71	71	NUM
fcis-7236	38	10	-	-	SYM
fcis-7236	38	11	72	72	NUM
fcis-7236	38	12	.	.	PUNCT
fcis-7236	39	1	[	[	X
fcis-7236	39	2	2	2	X
fcis-7236	39	3	]	]	X
fcis-7236	39	4	feng	feng	PROPN
fcis-7236	39	5	liang	liang	PROPN
fcis-7236	39	6	,	,	PUNCT
fcis-7236	39	7	xu	xu	PROPN
fcis-7236	39	8	jianxin	jianxin	PROPN
fcis-7236	39	9	,	,	PUNCT
fcis-7236	39	10	chang	chang	PROPN
fcis-7236	39	11	fengjun	fengjun	PROPN
fcis-7236	39	12	.	.	PUNCT
fcis-7236	40	1	design	design	NOUN
fcis-7236	40	2	of	of	ADP
fcis-7236	40	3	highaltitude	highaltitude	ADJ
fcis-7236	40	4	intelligent	intelligent	ADJ
fcis-7236	40	5	glass	glass	NOUN
fcis-7236	40	6	cleaning	cleaning	NOUN
fcis-7236	40	7	robot	robot	NOUN
fcis-7236	40	8	based	base	VERB
fcis-7236	40	9	on	on	ADP
fcis-7236	40	10	stm32	stm32	PROPN
fcis-7236	40	11	[	[	X
fcis-7236	40	12	j	j	X
fcis-7236	40	13	]	]	X
fcis-7236	40	14	.	.	PUNCT
fcis-7236	41	1	science	science	NOUN
fcis-7236	41	2	and	and	CCONJ
fcis-7236	41	3	technology	technology	NOUN
fcis-7236	41	4	innovation,2020(14):191	innovation,2020(14):191	PROPN
fcis-7236	41	5	-	-	PUNCT
fcis-7236	41	6	192	192	NUM
fcis-7236	41	7	.	.	PUNCT
fcis-7236	42	1	[	[	X
fcis-7236	42	2	3	3	X
fcis-7236	42	3	]	]	X
fcis-7236	42	4	wuji	wuji	PROPN
fcis-7236	42	5	jiang	jiang	PROPN
fcis-7236	42	6	,	,	PUNCT
fcis-7236	42	7	research	research	NOUN
fcis-7236	42	8	on	on	ADP
fcis-7236	42	9	aerial	aerial	ADJ
fcis-7236	42	10	glass	glass	NOUN
fcis-7236	42	11	cleaning	cleaning	NOUN
fcis-7236	42	12	robot	robot	NOUN
fcis-7236	42	13	based	base	VERB
fcis-7236	42	14	on	on	ADP
fcis-7236	42	15	pneumatic	pneumatic	ADJ
fcis-7236	42	16	technology	technology	NOUN
fcis-7236	42	17	,	,	PUNCT
fcis-7236	42	18	[	[	X
fcis-7236	42	19	j	j	X
fcis-7236	42	20	]	]	X
fcis-7236	42	21	.	.	PUNCT
fcis-7236	43	1	journal	journal	PROPN
fcis-7236	43	2	of	of	ADP
fcis-7236	43	3	electronics	electronic	NOUN
fcis-7236	43	4	,	,	PUNCT
fcis-7236	43	5	2015	2015	NUM
fcis-7236	43	6	,	,	PUNCT
fcis-7236	43	7	no	no	INTJ
fcis-7236	43	8	.	.	NOUN
fcis-7236	43	9	281	281	NUM
fcis-7236	43	10	(	(	PUNCT
fcis-7236	43	11	8)	8)	NUM
fcis-7236	43	12	:	:	PUNCT
fcis-7236	43	13	16	16	NUM
fcis-7236	43	14	-	-	SYM
fcis-7236	43	15	17	17	NUM
fcis-7236	43	16	.	.	PUNCT
fcis-7236	44	1	doi	doi	NOUN
fcis-7236	44	2	:	:	PUNCT
fcis-7236	44	3	10.16589	10.16589	NUM
fcis-7236	44	4	/	/	SYM
fcis-7236	44	5	j.carol	j.carol	PROPN
fcis-7236	44	6	carroll	carroll	PROPN
fcis-7236	44	7	nki	nki	PROPN
fcis-7236	45	1	cn11	cn11	PROPN
fcis-7236	45	2	-	-	PUNCT
fcis-7236	45	3	3571	3571	NUM
fcis-7236	45	4	/	/	SYM
fcis-7236	45	5	tn	tn	PROPN
fcis-7236	45	6	.	.	PUNCT
fcis-7236	46	1	2015.08.244	2015.08.244	NUM
fcis-7236	46	2	.	.	PUNCT
fcis-7236	47	1	66	66	NUM
fcis-7236	48	1	[	[	X
fcis-7236	48	2	4	4	NUM
fcis-7236	48	3	]	]	PUNCT
fcis-7236	48	4	xu	xu	PROPN
fcis-7236	48	5	jianchao	jianchao	PROPN
fcis-7236	48	6	.	.	PUNCT
fcis-7236	49	1	successful	successful	ADJ
fcis-7236	49	2	development	development	NOUN
fcis-7236	49	3	of	of	ADP
fcis-7236	49	4	high	high	ADJ
fcis-7236	49	5	-	-	PUNCT
fcis-7236	49	6	altitude	altitude	NOUN
fcis-7236	49	7	glass	glass	NOUN
fcis-7236	49	8	cleaning	cleaning	NOUN
fcis-7236	49	9	device	device	NOUN
fcis-7236	50	1	[	[	X
fcis-7236	50	2	j	j	X
fcis-7236	50	3	]	]	X
fcis-7236	50	4	.	.	PUNCT
fcis-7236	51	1	harbin	harbin	PROPN
fcis-7236	51	2	railway	railway	PROPN
fcis-7236	51	3	science	science	NOUN
fcis-7236	51	4	and	and	CCONJ
fcis-7236	51	5	technology	technology	NOUN
fcis-7236	51	6	communication	communication	NOUN
fcis-7236	51	7	,	,	PUNCT
fcis-7236	51	8	1982(02):1	1982(02):1	NUM
fcis-7236	51	9	-	-	SYM
fcis-7236	51	10	2	2	NUM
fcis-7236	51	11	.	.	PUNCT
fcis-7236	52	1	[	[	X
fcis-7236	52	2	5	5	X
fcis-7236	52	3	]	]	PUNCT
fcis-7236	52	4	cn218703989u(jiaqi	cn218703989u(jiaqi	PROPN
fcis-7236	52	5	cui	cui	PROPN
fcis-7236	52	6	,	,	PUNCT
fcis-7236	52	7	jiaze	jiaze	PROPN
fcis-7236	52	8	yu	yu	PROPN
fcis-7236	52	9	,	,	PUNCT
fcis-7236	52	10	weifeng	weifeng	PROPN
fcis-7236	52	11	zhai	zhai	PROPN
fcis-7236	52	12	quadcopter	quadcopter	PROPN
fcis-7236	52	13	based	base	VERB
fcis-7236	52	14	on	on	ADP
fcis-7236	52	15	rotating	rotate	VERB
fcis-7236	52	16	axis	axis	NOUN
fcis-7236	52	17	structure	structure	NOUN
fcis-7236	52	18	,	,	PUNCT
fcis-7236	52	19	2023	2023	NUM
fcis-7236	52	20	-	-	SYM
fcis-7236	52	21	03	03	NUM
fcis-7236	52	22	-	-	PUNCT
fcis-7236	52	23	24	24	NUM
fcis-7236	52	24	)	)	PUNCT
fcis-7236	52	25	.	.	PUNCT
fcis-7236	53	1	[	[	X
fcis-7236	53	2	6	6	NUM
fcis-7236	53	3	]	]	PUNCT
fcis-7236	53	4	cn307939837s(jiaqi	cn307939837s(jiaqi	PROPN
fcis-7236	53	5	cui	cui	NOUN
fcis-7236	53	6	,	,	PUNCT
fcis-7236	53	7	climbing	climb	VERB
fcis-7236	53	8	high	high	ADJ
fcis-7236	53	9	-	-	PUNCT
fcis-7236	53	10	altitude	altitude	NOUN
fcis-7236	53	11	operation	operation	NOUN
fcis-7236	53	12	vehicle	vehicle	NOUN
fcis-7236	53	13	,	,	PUNCT
fcis-7236	53	14	2023	2023	NUM
fcis-7236	53	15	-	-	SYM
fcis-7236	53	16	03	03	NUM
fcis-7236	53	17	-	-	PUNCT
fcis-7236	53	18	28	28	NUM
fcis-7236	53	19	)	)	PUNCT
fcis-7236	53	20	.	.	PUNCT