id	sid	tid	token	lemma	pos
fcis-7990	1	1	frontiers	frontier	NOUN
fcis-7990	1	2	in	in	ADP
fcis-7990	1	3	computing	computing	NOUN
fcis-7990	1	4	and	and	CCONJ
fcis-7990	1	5	intelligent	intelligent	ADJ
fcis-7990	1	6	systems	system	NOUN
fcis-7990	1	7	issn	issn	VERB
fcis-7990	1	8	:	:	PUNCT
fcis-7990	1	9	2832	2832	NUM
fcis-7990	1	10	-	-	SYM
fcis-7990	1	11	6024	6024	NUM
fcis-7990	1	12	|	|	NOUN
fcis-7990	1	13	vol	vol	NOUN
fcis-7990	1	14	.	.	PROPN
fcis-7990	2	1	3	3	NUM
fcis-7990	2	2	,	,	PUNCT
fcis-7990	2	3	no	no	INTJ
fcis-7990	2	4	.	.	NOUN
fcis-7990	2	5	3	3	NUM
fcis-7990	2	6	,	,	PUNCT
fcis-7990	2	7	2023	2023	NUM
fcis-7990	2	8	34	34	NUM
fcis-7990	2	9	path	path	NOUN
fcis-7990	2	10	tracking	tracking	NOUN
fcis-7990	2	11	of	of	ADP
fcis-7990	2	12	mr	mr	PROPN
fcis-7990	2	13	fluid	fluid	ADJ
fcis-7990	2	14	braking	brake	VERB
fcis-7990	2	15	system	system	NOUN
fcis-7990	2	16	based	base	VERB
fcis-7990	2	17	on	on	ADP
fcis-7990	2	18	pid	pid	NOUN
fcis-7990	2	19	control	control	NOUN
fcis-7990	2	20	peining	peine	VERB
fcis-7990	2	21	wen1	wen1	PROPN
fcis-7990	2	22	,	,	PUNCT
fcis-7990	2	23	yilin	yilin	PROPN
fcis-7990	2	24	liu2	liu2	PROPN
fcis-7990	2	25	,	,	PUNCT
fcis-7990	3	1	tong	tong	PROPN
fcis-7990	3	2	liu2	liu2	PROPN
fcis-7990	3	3	,	,	PUNCT
fcis-7990	3	4	liqiang	liqiang	PROPN
fcis-7990	3	5	zhou2	zhou2	PROPN
fcis-7990	3	6	,	,	PUNCT
fcis-7990	3	7	qinyan	qinyan	PROPN
fcis-7990	3	8	cheng2	cheng2	NOUN
fcis-7990	3	9	1	1	NUM
fcis-7990	3	10	college	college	NOUN
fcis-7990	3	11	of	of	ADP
fcis-7990	3	12	automation	automation	NOUN
fcis-7990	3	13	central	central	PROPN
fcis-7990	3	14	south	south	PROPN
fcis-7990	3	15	university	university	PROPN
fcis-7990	3	16	,	,	PUNCT
fcis-7990	3	17	changsha	changsha	PROPN
fcis-7990	3	18	,	,	PUNCT
fcis-7990	3	19	hunan	hunan	PROPN
fcis-7990	3	20	410083	410083	NUM
fcis-7990	3	21	,	,	PUNCT
fcis-7990	3	22	china	china	PROPN
fcis-7990	3	23	2	2	NUM
fcis-7990	3	24	the	the	DET
fcis-7990	3	25	college	college	NOUN
fcis-7990	3	26	of	of	ADP
fcis-7990	3	27	electrical	electrical	ADJ
fcis-7990	3	28	and	and	CCONJ
fcis-7990	3	29	mechanical	mechanical	ADJ
fcis-7990	3	30	engineering	engineering	NOUN
fcis-7990	3	31	,	,	PUNCT
fcis-7990	3	32	central	central	ADJ
fcis-7990	3	33	south	south	PROPN
fcis-7990	3	34	university	university	PROPN
fcis-7990	3	35	,	,	PUNCT
fcis-7990	3	36	changsha	changsha	PROPN
fcis-7990	3	37	hunan	hunan	PROPN
fcis-7990	3	38	410083	410083	NUM
fcis-7990	3	39	,	,	PUNCT
fcis-7990	3	40	china	china	PROPN
fcis-7990	3	41	abstract	abstract	PROPN
fcis-7990	3	42	:	:	PUNCT
fcis-7990	3	43	with	with	ADP
fcis-7990	3	44	the	the	DET
fcis-7990	3	45	rise	rise	NOUN
fcis-7990	3	46	of	of	ADP
fcis-7990	3	47	intelligent	intelligent	ADJ
fcis-7990	3	48	vehicle	vehicle	NOUN
fcis-7990	3	49	and	and	CCONJ
fcis-7990	3	50	driverless	driverless	NOUN
fcis-7990	3	51	technology	technology	NOUN
fcis-7990	3	52	and	and	CCONJ
fcis-7990	3	53	the	the	DET
fcis-7990	3	54	continuous	continuous	ADJ
fcis-7990	3	55	improvement	improvement	NOUN
fcis-7990	3	56	of	of	ADP
fcis-7990	3	57	vehicle	vehicle	NOUN
fcis-7990	3	58	speed	speed	NOUN
fcis-7990	3	59	,	,	PUNCT
fcis-7990	3	60	people	people	NOUN
fcis-7990	3	61	have	have	VERB
fcis-7990	3	62	higher	high	ADJ
fcis-7990	3	63	and	and	CCONJ
fcis-7990	3	64	higher	high	ADJ
fcis-7990	3	65	requirements	requirement	NOUN
fcis-7990	3	66	for	for	ADP
fcis-7990	3	67	vehicle	vehicle	NOUN
fcis-7990	3	68	safety	safety	NOUN
fcis-7990	3	69	performance	performance	NOUN
fcis-7990	3	70	.	.	PUNCT
fcis-7990	4	1	mr	mr	PROPN
fcis-7990	4	2	brake	brake	NOUN
fcis-7990	4	3	can	can	AUX
fcis-7990	4	4	be	be	AUX
fcis-7990	4	5	integrated	integrate	VERB
fcis-7990	4	6	with	with	ADP
fcis-7990	4	7	vehicle	vehicle	NOUN
fcis-7990	4	8	electronic	electronic	ADJ
fcis-7990	4	9	control	control	NOUN
fcis-7990	4	10	system	system	NOUN
fcis-7990	4	11	to	to	PART
fcis-7990	4	12	improve	improve	VERB
fcis-7990	4	13	the	the	DET
fcis-7990	4	14	corresponding	corresponding	ADJ
fcis-7990	4	15	speed	speed	NOUN
fcis-7990	4	16	of	of	ADP
fcis-7990	4	17	the	the	DET
fcis-7990	4	18	braking	brake	VERB
fcis-7990	4	19	system	system	NOUN
fcis-7990	4	20	to	to	ADP
fcis-7990	4	21	a	a	DET
fcis-7990	4	22	large	large	ADJ
fcis-7990	4	23	extent	extent	NOUN
fcis-7990	4	24	and	and	CCONJ
fcis-7990	4	25	shorten	shorten	VERB
fcis-7990	4	26	the	the	DET
fcis-7990	4	27	braking	brake	VERB
fcis-7990	4	28	distance	distance	NOUN
fcis-7990	4	29	of	of	ADP
fcis-7990	4	30	the	the	DET
fcis-7990	4	31	vehicle	vehicle	NOUN
fcis-7990	4	32	.	.	PUNCT
fcis-7990	5	1	this	this	DET
fcis-7990	5	2	paper	paper	NOUN
fcis-7990	5	3	introduces	introduce	VERB
fcis-7990	5	4	the	the	DET
fcis-7990	5	5	design	design	NOUN
fcis-7990	5	6	theory	theory	NOUN
fcis-7990	5	7	and	and	CCONJ
fcis-7990	5	8	analysis	analysis	NOUN
fcis-7990	5	9	of	of	ADP
fcis-7990	5	10	mr	mr	PROPN
fcis-7990	5	11	fluid	fluid	NOUN
fcis-7990	5	12	.	.	PUNCT
fcis-7990	6	1	the	the	DET
fcis-7990	6	2	working	work	VERB
fcis-7990	6	3	principle	principle	NOUN
fcis-7990	6	4	is	be	AUX
fcis-7990	6	5	introduced	introduce	VERB
fcis-7990	6	6	,	,	PUNCT
fcis-7990	6	7	and	and	CCONJ
fcis-7990	6	8	the	the	DET
fcis-7990	6	9	torque	torque	NOUN
fcis-7990	6	10	required	require	VERB
fcis-7990	6	11	by	by	ADP
fcis-7990	6	12	the	the	DET
fcis-7990	6	13	front	front	ADJ
fcis-7990	6	14	and	and	CCONJ
fcis-7990	6	15	rear	rear	ADJ
fcis-7990	6	16	wheels	wheel	NOUN
fcis-7990	6	17	of	of	ADP
fcis-7990	6	18	the	the	DET
fcis-7990	6	19	vehicle	vehicle	NOUN
fcis-7990	6	20	braking	braking	NOUN
fcis-7990	6	21	process	process	NOUN
fcis-7990	6	22	is	be	AUX
fcis-7990	6	23	deduced	deduce	VERB
fcis-7990	6	24	by	by	ADP
fcis-7990	6	25	the	the	DET
fcis-7990	6	26	vehicle	vehicle	NOUN
fcis-7990	6	27	dynamics	dynamic	NOUN
fcis-7990	6	28	model	model	NOUN
fcis-7990	6	29	.	.	PUNCT
fcis-7990	7	1	the	the	DET
fcis-7990	7	2	mr	mr	PROPN
fcis-7990	7	3	fluid	fluid	ADJ
fcis-7990	7	4	braking	braking	NOUN
fcis-7990	7	5	model	model	NOUN
fcis-7990	7	6	based	base	VERB
fcis-7990	7	7	on	on	ADP
fcis-7990	7	8	pid	pid	NOUN
fcis-7990	7	9	control	control	NOUN
fcis-7990	7	10	is	be	AUX
fcis-7990	7	11	built	build	VERB
fcis-7990	7	12	by	by	ADP
fcis-7990	7	13	using	use	VERB
fcis-7990	7	14	matlab	matlab	PROPN
fcis-7990	7	15	-	-	PUNCT
fcis-7990	7	16	simulink	simulink	NOUN
fcis-7990	7	17	software	software	NOUN
fcis-7990	7	18	.	.	PUNCT
fcis-7990	8	1	by	by	ADP
fcis-7990	8	2	tracking	track	VERB
fcis-7990	8	3	the	the	DET
fcis-7990	8	4	straight	straight	ADJ
fcis-7990	8	5	line	line	NOUN
fcis-7990	8	6	without	without	ADP
fcis-7990	8	7	fluctuation	fluctuation	NOUN
fcis-7990	8	8	,	,	PUNCT
fcis-7990	8	9	the	the	DET
fcis-7990	8	10	straight	straight	ADJ
fcis-7990	8	11	line	line	NOUN
fcis-7990	8	12	with	with	ADP
fcis-7990	8	13	fluctuation	fluctuation	NOUN
fcis-7990	8	14	and	and	CCONJ
fcis-7990	8	15	the	the	DET
fcis-7990	8	16	right	right	ADJ
fcis-7990	8	17	angle	angle	NOUN
fcis-7990	8	18	path	path	NOUN
fcis-7990	8	19	,	,	PUNCT
fcis-7990	8	20	the	the	DET
fcis-7990	8	21	simulation	simulation	NOUN
fcis-7990	8	22	results	result	NOUN
fcis-7990	8	23	show	show	VERB
fcis-7990	8	24	that	that	SCONJ
fcis-7990	8	25	by	by	ADP
fcis-7990	8	26	adding	add	VERB
fcis-7990	8	27	pid	pid	NUM
fcis-7990	8	28	control	control	NOUN
fcis-7990	8	29	model	model	NOUN
fcis-7990	8	30	to	to	ADP
fcis-7990	8	31	the	the	DET
fcis-7990	8	32	magnetorheological	magnetorheological	ADJ
fcis-7990	8	33	braking	braking	NOUN
fcis-7990	8	34	control	control	NOUN
fcis-7990	8	35	,	,	PUNCT
fcis-7990	8	36	it	it	PRON
fcis-7990	8	37	can	can	AUX
fcis-7990	8	38	effectively	effectively	ADV
fcis-7990	8	39	reduce	reduce	VERB
fcis-7990	8	40	the	the	DET
fcis-7990	8	41	overshoot	overshoot	NOUN
fcis-7990	8	42	in	in	ADP
fcis-7990	8	43	the	the	DET
fcis-7990	8	44	fluctuating	fluctuate	VERB
fcis-7990	8	45	route	route	NOUN
fcis-7990	8	46	during	during	ADP
fcis-7990	8	47	the	the	DET
fcis-7990	8	48	braking	braking	NOUN
fcis-7990	8	49	process	process	NOUN
fcis-7990	8	50	,	,	PUNCT
fcis-7990	8	51	and	and	CCONJ
fcis-7990	8	52	the	the	DET
fcis-7990	8	53	corresponding	corresponding	ADJ
fcis-7990	8	54	speed	speed	NOUN
fcis-7990	8	55	is	be	AUX
fcis-7990	8	56	faster	fast	ADJ
fcis-7990	8	57	and	and	CCONJ
fcis-7990	8	58	the	the	DET
fcis-7990	8	59	path	path	NOUN
fcis-7990	8	60	tracking	tracking	NOUN
fcis-7990	8	61	effect	effect	NOUN
fcis-7990	8	62	is	be	AUX
fcis-7990	8	63	better	well	ADJ
fcis-7990	8	64	,	,	PUNCT
fcis-7990	8	65	which	which	PRON
fcis-7990	8	66	provides	provide	VERB
fcis-7990	8	67	an	an	DET
fcis-7990	8	68	innovative	innovative	ADJ
fcis-7990	8	69	thinking	thinking	NOUN
fcis-7990	8	70	method	method	NOUN
fcis-7990	8	71	for	for	ADP
fcis-7990	8	72	the	the	DET
fcis-7990	8	73	development	development	NOUN
fcis-7990	8	74	of	of	ADP
fcis-7990	8	75	vehicle	vehicle	NOUN
fcis-7990	8	76	brake	brake	NOUN
fcis-7990	8	77	and	and	CCONJ
fcis-7990	8	78	the	the	DET
fcis-7990	8	79	development	development	NOUN
fcis-7990	8	80	of	of	ADP
fcis-7990	8	81	driverless	driverless	NOUN
fcis-7990	8	82	technology	technology	NOUN
fcis-7990	8	83	.	.	PUNCT
fcis-7990	9	1	keywords	keyword	NOUN
fcis-7990	9	2	:	:	PUNCT
fcis-7990	9	3	mr	mr	PROPN
fcis-7990	9	4	fluid	fluid	PROPN
fcis-7990	9	5	;	;	PUNCT
fcis-7990	9	6	pid	pid	NUM
fcis-7990	9	7	;	;	PUNCT
fcis-7990	9	8	matlab	matlab	PROPN
fcis-7990	9	9	-	-	PUNCT
fcis-7990	9	10	simulink	simulink	NOUN
fcis-7990	9	11	;	;	PUNCT
fcis-7990	9	12	braking	brake	VERB
fcis-7990	9	13	.	.	PUNCT
fcis-7990	10	1	1	1	X
fcis-7990	10	2	.	.	X
fcis-7990	10	3	introduction	introduction	NOUN
fcis-7990	10	4	in	in	ADP
fcis-7990	10	5	recent	recent	ADJ
fcis-7990	10	6	years	year	NOUN
fcis-7990	10	7	,	,	PUNCT
fcis-7990	10	8	with	with	ADP
fcis-7990	10	9	the	the	DET
fcis-7990	10	10	increasingly	increasingly	ADV
fcis-7990	10	11	prominent	prominent	ADJ
fcis-7990	10	12	energy	energy	NOUN
fcis-7990	10	13	and	and	CCONJ
fcis-7990	10	14	environmental	environmental	ADJ
fcis-7990	10	15	problems	problem	NOUN
fcis-7990	10	16	,	,	PUNCT
fcis-7990	10	17	people	people	NOUN
fcis-7990	10	18	's	's	PART
fcis-7990	10	19	requirements	requirement	NOUN
fcis-7990	10	20	for	for	ADP
fcis-7990	10	21	vehicles	vehicle	NOUN
fcis-7990	10	22	have	have	AUX
fcis-7990	10	23	been	be	AUX
fcis-7990	10	24	improved	improve	VERB
fcis-7990	10	25	,	,	PUNCT
fcis-7990	10	26	and	and	CCONJ
fcis-7990	10	27	the	the	DET
fcis-7990	10	28	development	development	NOUN
fcis-7990	10	29	of	of	ADP
fcis-7990	10	30	the	the	DET
fcis-7990	10	31	automobile	automobile	NOUN
fcis-7990	10	32	industry	industry	NOUN
fcis-7990	10	33	has	have	AUX
fcis-7990	10	34	also	also	ADV
fcis-7990	10	35	put	put	VERB
fcis-7990	10	36	forward	forward	ADV
fcis-7990	10	37	higher	high	ADJ
fcis-7990	10	38	requirements	requirement	NOUN
fcis-7990	10	39	for	for	ADP
fcis-7990	10	40	automobile	automobile	NOUN
fcis-7990	10	41	braking	brake	VERB
fcis-7990	10	42	system	system	NOUN
fcis-7990	10	43	[	[	X
fcis-7990	10	44	1	1	NUM
fcis-7990	10	45	,	,	PUNCT
fcis-7990	10	46	2	2	NUM
fcis-7990	10	47	]	]	PUNCT
fcis-7990	10	48	.	.	PUNCT
fcis-7990	11	1	at	at	ADP
fcis-7990	11	2	present	present	ADJ
fcis-7990	11	3	,	,	PUNCT
fcis-7990	11	4	the	the	DET
fcis-7990	11	5	mainstream	mainstream	NOUN
fcis-7990	11	6	braking	braking	NOUN
fcis-7990	11	7	system	system	NOUN
fcis-7990	11	8	includes	include	VERB
fcis-7990	11	9	electronic	electronic	ADJ
fcis-7990	11	10	hydraulic	hydraulic	ADJ
fcis-7990	11	11	braking	brake	VERB
fcis-7990	11	12	system	system	NOUN
fcis-7990	11	13	and	and	CCONJ
fcis-7990	11	14	electronic	electronic	ADJ
fcis-7990	11	15	mechanical	mechanical	ADJ
fcis-7990	11	16	braking	braking	NOUN
fcis-7990	11	17	system	system	NOUN
fcis-7990	11	18	[	[	X
fcis-7990	11	19	3	3	NUM
fcis-7990	11	20	]	]	PUNCT
fcis-7990	11	21	.	.	PUNCT
fcis-7990	12	1	mr	mr	PROPN
fcis-7990	12	2	fluid	fluid	ADJ
fcis-7990	12	3	braking	braking	NOUN
fcis-7990	12	4	system	system	NOUN
fcis-7990	12	5	is	be	AUX
fcis-7990	12	6	a	a	DET
fcis-7990	12	7	new	new	ADJ
fcis-7990	12	8	linear	linear	NOUN
fcis-7990	12	9	control	control	NOUN
fcis-7990	12	10	system	system	NOUN
fcis-7990	12	11	available	available	ADJ
fcis-7990	12	12	for	for	ADP
fcis-7990	12	13	electric	electric	ADJ
fcis-7990	12	14	vehicles	vehicle	NOUN
fcis-7990	12	15	.	.	PUNCT
fcis-7990	13	1	using	use	VERB
fcis-7990	13	2	the	the	DET
fcis-7990	13	3	advanced	advanced	ADJ
fcis-7990	13	4	manufacturing	manufacturing	NOUN
fcis-7990	13	5	technology	technology	NOUN
fcis-7990	13	6	of	of	ADP
fcis-7990	13	7	mr	mr	PROPN
fcis-7990	13	8	fluid	fluid	NOUN
fcis-7990	13	9	and	and	CCONJ
fcis-7990	13	10	the	the	DET
fcis-7990	13	11	special	special	ADJ
fcis-7990	13	12	mechanical	mechanical	ADJ
fcis-7990	13	13	and	and	CCONJ
fcis-7990	13	14	magnetic	magnetic	ADJ
fcis-7990	13	15	properties	property	NOUN
fcis-7990	13	16	of	of	ADP
fcis-7990	13	17	mr	mr	PROPN
fcis-7990	13	18	fluid	fluid	PROPN
fcis-7990	13	19	,	,	PUNCT
fcis-7990	13	20	it	it	PRON
fcis-7990	13	21	can	can	AUX
fcis-7990	13	22	brake	brake	VERB
fcis-7990	13	23	accurately	accurately	ADV
fcis-7990	13	24	and	and	CCONJ
fcis-7990	13	25	quickly	quickly	ADV
fcis-7990	13	26	,	,	PUNCT
fcis-7990	13	27	which	which	PRON
fcis-7990	13	28	puts	put	VERB
fcis-7990	13	29	forward	forward	ADP
fcis-7990	13	30	an	an	DET
fcis-7990	13	31	innovative	innovative	ADJ
fcis-7990	13	32	idea	idea	NOUN
fcis-7990	13	33	and	and	CCONJ
fcis-7990	13	34	development	development	NOUN
fcis-7990	13	35	direction	direction	NOUN
fcis-7990	13	36	for	for	ADP
fcis-7990	13	37	the	the	DET
fcis-7990	13	38	development	development	NOUN
fcis-7990	13	39	of	of	ADP
fcis-7990	13	40	vehicle	vehicle	NOUN
fcis-7990	13	41	brake	brake	NOUN
fcis-7990	13	42	[	[	X
fcis-7990	13	43	4	4	NUM
fcis-7990	13	44	,	,	PUNCT
fcis-7990	13	45	5	5	NUM
fcis-7990	13	46	]	]	PUNCT
fcis-7990	13	47	.	.	PUNCT
fcis-7990	14	1	2	2	X
fcis-7990	14	2	.	.	X
fcis-7990	14	3	design	design	NOUN
fcis-7990	14	4	theory	theory	NOUN
fcis-7990	14	5	and	and	CCONJ
fcis-7990	14	6	analysis	analysis	NOUN
fcis-7990	14	7	of	of	ADP
fcis-7990	14	8	mr	mr	PROPN
fcis-7990	14	9	fluid	fluid	PROPN
fcis-7990	14	10	2.1	2.1	NUM
fcis-7990	14	11	.	.	PUNCT
fcis-7990	15	1	characteristics	characteristic	NOUN
fcis-7990	15	2	of	of	ADP
fcis-7990	15	3	mr	mr	PROPN
fcis-7990	15	4	fluid	fluid	ADJ
fcis-7990	15	5	effects	effect	NOUN
fcis-7990	15	6	the	the	DET
fcis-7990	15	7	effect	effect	NOUN
fcis-7990	15	8	of	of	ADP
fcis-7990	15	9	mr	mr	PROPN
fcis-7990	15	10	fluid	fluid	NOUN
fcis-7990	15	11	refers	refer	VERB
fcis-7990	15	12	to	to	ADP
fcis-7990	15	13	that	that	SCONJ
fcis-7990	15	14	the	the	DET
fcis-7990	15	15	viscosity	viscosity	NOUN
fcis-7990	15	16	of	of	ADP
fcis-7990	15	17	the	the	DET
fcis-7990	15	18	fluid	fluid	ADJ
fcis-7990	15	19	changes	change	NOUN
fcis-7990	15	20	greatly	greatly	ADV
fcis-7990	15	21	under	under	ADP
fcis-7990	15	22	the	the	DET
fcis-7990	15	23	action	action	NOUN
fcis-7990	15	24	of	of	ADP
fcis-7990	15	25	the	the	DET
fcis-7990	15	26	magnetic	magnetic	ADJ
fcis-7990	15	27	field	field	NOUN
fcis-7990	15	28	.	.	PUNCT
fcis-7990	16	1	when	when	SCONJ
fcis-7990	16	2	the	the	DET
fcis-7990	16	3	mr	mr	PROPN
fcis-7990	16	4	fluid	fluid	NOUN
fcis-7990	16	5	reaches	reach	VERB
fcis-7990	16	6	a	a	DET
fcis-7990	16	7	critical	critical	ADJ
fcis-7990	16	8	value	value	NOUN
fcis-7990	16	9	,	,	PUNCT
fcis-7990	16	10	the	the	DET
fcis-7990	16	11	fluid	fluid	NOUN
fcis-7990	16	12	no	no	ADV
fcis-7990	16	13	longer	long	ADV
fcis-7990	16	14	flows	flow	VERB
fcis-7990	16	15	into	into	ADP
fcis-7990	16	16	a	a	DET
fcis-7990	16	17	solid	solid	ADJ
fcis-7990	16	18	,	,	PUNCT
fcis-7990	16	19	and	and	CCONJ
fcis-7990	16	20	maintains	maintain	VERB
fcis-7990	16	21	its	its	PRON
fcis-7990	16	22	shape	shape	NOUN
fcis-7990	16	23	or	or	CCONJ
fcis-7990	16	24	has	have	VERB
fcis-7990	16	25	certain	certain	ADJ
fcis-7990	16	26	shear	shear	NOUN
fcis-7990	16	27	resistance	resistance	NOUN
fcis-7990	16	28	.	.	PUNCT
fcis-7990	17	1	at	at	ADP
fcis-7990	17	2	the	the	DET
fcis-7990	17	3	same	same	ADJ
fcis-7990	17	4	time	time	NOUN
fcis-7990	17	5	,	,	PUNCT
fcis-7990	17	6	it	it	PRON
fcis-7990	17	7	also	also	ADV
fcis-7990	17	8	has	have	VERB
fcis-7990	17	9	the	the	DET
fcis-7990	17	10	unique	unique	ADJ
fcis-7990	17	11	yield	yield	NOUN
fcis-7990	17	12	phenomenon	phenomenon	NOUN
fcis-7990	17	13	of	of	ADP
fcis-7990	17	14	solid	solid	ADJ
fcis-7990	17	15	.	.	PUNCT
fcis-7990	18	1	under	under	ADP
fcis-7990	18	2	the	the	DET
fcis-7990	18	3	action	action	NOUN
fcis-7990	18	4	of	of	ADP
fcis-7990	18	5	magnetic	magnetic	ADJ
fcis-7990	18	6	field	field	NOUN
fcis-7990	18	7	,	,	PUNCT
fcis-7990	18	8	the	the	DET
fcis-7990	18	9	viscosity	viscosity	NOUN
fcis-7990	18	10	of	of	ADP
fcis-7990	18	11	mr	mr	PROPN
fcis-7990	18	12	fluid	fluid	NOUN
fcis-7990	18	13	increases	increase	NOUN
fcis-7990	18	14	with	with	ADP
fcis-7990	18	15	the	the	DET
fcis-7990	18	16	increase	increase	NOUN
fcis-7990	18	17	of	of	ADP
fcis-7990	18	18	magnetic	magnetic	ADJ
fcis-7990	18	19	field	field	NOUN
fcis-7990	18	20	intensity	intensity	NOUN
fcis-7990	18	21	.	.	PUNCT
fcis-7990	19	1	when	when	SCONJ
fcis-7990	19	2	the	the	DET
fcis-7990	19	3	critical	critical	ADJ
fcis-7990	19	4	magnetic	magnetic	ADJ
fcis-7990	19	5	field	field	NOUN
fcis-7990	19	6	intensity	intensity	NOUN
fcis-7990	19	7	is	be	AUX
fcis-7990	19	8	reached	reach	VERB
fcis-7990	19	9	,	,	PUNCT
fcis-7990	19	10	the	the	DET
fcis-7990	19	11	flow	flow	NOUN
fcis-7990	19	12	stops	stop	VERB
fcis-7990	19	13	and	and	CCONJ
fcis-7990	19	14	becomes	become	VERB
fcis-7990	19	15	solid	solid	ADJ
fcis-7990	19	16	.	.	PUNCT
fcis-7990	20	1	however	however	ADV
fcis-7990	20	2	,	,	PUNCT
fcis-7990	20	3	when	when	SCONJ
fcis-7990	20	4	the	the	DET
fcis-7990	20	5	magnetic	magnetic	ADJ
fcis-7990	20	6	field	field	NOUN
fcis-7990	20	7	intensity	intensity	NOUN
fcis-7990	20	8	is	be	AUX
fcis-7990	20	9	weakened	weaken	VERB
fcis-7990	20	10	,	,	PUNCT
fcis-7990	20	11	the	the	DET
fcis-7990	20	12	mr	mr	PROPN
fcis-7990	20	13	fluid	fluid	NOUN
fcis-7990	20	14	can	can	AUX
fcis-7990	20	15	become	become	VERB
fcis-7990	20	16	a	a	DET
fcis-7990	20	17	fluid	fluid	NOUN
fcis-7990	20	18	and	and	CCONJ
fcis-7990	20	19	return	return	NOUN
fcis-7990	20	20	to	to	ADP
fcis-7990	20	21	the	the	DET
fcis-7990	20	22	original	original	ADJ
fcis-7990	20	23	viscosity	viscosity	NOUN
fcis-7990	20	24	.	.	PUNCT
fcis-7990	21	1	under	under	ADP
fcis-7990	21	2	the	the	DET
fcis-7990	21	3	action	action	NOUN
fcis-7990	21	4	of	of	ADP
fcis-7990	21	5	magnetic	magnetic	ADJ
fcis-7990	21	6	field	field	NOUN
fcis-7990	21	7	,	,	PUNCT
fcis-7990	21	8	the	the	DET
fcis-7990	21	9	mr	mr	PROPN
fcis-7990	21	10	fluid	fluid	ADJ
fcis-7990	21	11	-	-	PUNCT
fcis-7990	21	12	solid	solid	ADJ
fcis-7990	21	13	liquid	liquid	ADJ
fcis-7990	21	14	conversion	conversion	NOUN
fcis-7990	21	15	is	be	AUX
fcis-7990	21	16	reversible	reversible	ADJ
fcis-7990	21	17	and	and	CCONJ
fcis-7990	21	18	controllable	controllable	ADJ
fcis-7990	21	19	,	,	PUNCT
fcis-7990	21	20	and	and	CCONJ
fcis-7990	21	21	requires	require	VERB
fcis-7990	21	22	less	less	ADJ
fcis-7990	21	23	energy	energy	NOUN
fcis-7990	21	24	.	.	PUNCT
fcis-7990	22	1	2.2	2.2	NUM
fcis-7990	22	2	.	.	PUNCT
fcis-7990	23	1	working	work	VERB
fcis-7990	23	2	principle	principle	NOUN
fcis-7990	23	3	of	of	ADP
fcis-7990	23	4	mr	mr	PROPN
fcis-7990	23	5	fluid	fluid	NOUN
fcis-7990	23	6	when	when	SCONJ
fcis-7990	23	7	the	the	DET
fcis-7990	23	8	magnetic	magnetic	ADJ
fcis-7990	23	9	fluid	fluid	NOUN
fcis-7990	23	10	flows	flow	VERB
fcis-7990	23	11	through	through	ADP
fcis-7990	23	12	the	the	DET
fcis-7990	23	13	excitation	excitation	NOUN
fcis-7990	23	14	coil	coil	NOUN
fcis-7990	23	15	with	with	ADP
fcis-7990	23	16	incoming	incoming	ADJ
fcis-7990	23	17	current	current	NOUN
fcis-7990	23	18	,	,	PUNCT
fcis-7990	23	19	the	the	DET
fcis-7990	23	20	magnetic	magnetic	ADJ
fcis-7990	23	21	field	field	NOUN
fcis-7990	23	22	passes	pass	VERB
fcis-7990	23	23	through	through	ADP
fcis-7990	23	24	the	the	DET
fcis-7990	23	25	magnetic	magnetic	ADJ
fcis-7990	23	26	fluid	fluid	NOUN
fcis-7990	23	27	.	.	PUNCT
fcis-7990	24	1	therefore	therefore	ADV
fcis-7990	24	2	,	,	PUNCT
fcis-7990	24	3	the	the	DET
fcis-7990	24	4	magnetic	magnetic	ADJ
fcis-7990	24	5	fluid	fluid	NOUN
fcis-7990	24	6	will	will	AUX
fcis-7990	24	7	produce	produce	VERB
fcis-7990	24	8	needle	needle	NOUN
fcis-7990	24	9	-	-	PUNCT
fcis-7990	24	10	like	like	ADJ
fcis-7990	24	11	bulge	bulge	NOUN
fcis-7990	24	12	along	along	ADP
fcis-7990	24	13	the	the	DET
fcis-7990	24	14	direction	direction	NOUN
fcis-7990	24	15	of	of	ADP
fcis-7990	24	16	the	the	DET
fcis-7990	24	17	magnetic	magnetic	ADJ
fcis-7990	24	18	field	field	NOUN
fcis-7990	24	19	.	.	PUNCT
fcis-7990	25	1	after	after	SCONJ
fcis-7990	25	2	the	the	DET
fcis-7990	25	3	magnetic	magnetic	ADJ
fcis-7990	25	4	field	field	NOUN
fcis-7990	25	5	passes	pass	VERB
fcis-7990	25	6	for	for	ADP
fcis-7990	25	7	several	several	ADJ
fcis-7990	25	8	hours	hour	NOUN
fcis-7990	25	9	,	,	PUNCT
fcis-7990	25	10	the	the	DET
fcis-7990	25	11	magnetic	magnetic	ADJ
fcis-7990	25	12	fluid	fluid	NOUN
fcis-7990	25	13	will	will	AUX
fcis-7990	25	14	change	change	VERB
fcis-7990	25	15	from	from	ADP
fcis-7990	25	16	the	the	DET
fcis-7990	25	17	bulge	bulge	NOUN
fcis-7990	25	18	state	state	NOUN
fcis-7990	25	19	to	to	ADP
fcis-7990	25	20	the	the	DET
fcis-7990	25	21	free	free	ADV
fcis-7990	25	22	-	-	PUNCT
fcis-7990	25	23	flowing	flow	VERB
fcis-7990	25	24	state	state	NOUN
fcis-7990	25	25	(	(	PUNCT
fcis-7990	25	26	figure	figure	NOUN
fcis-7990	25	27	1	1	NUM
fcis-7990	25	28	)	)	PUNCT
fcis-7990	25	29	.	.	PUNCT
fcis-7990	26	1	figure	figure	NOUN
fcis-7990	26	2	1	1	NUM
fcis-7990	26	3	.	.	PUNCT
fcis-7990	26	4	magnetic	magnetic	ADJ
fcis-7990	26	5	liquid	liquid	NOUN
fcis-7990	26	6	-	-	PUNCT
fcis-7990	26	7	solid	solid	ADJ
fcis-7990	26	8	transformation	transformation	NOUN
fcis-7990	26	9	according	accord	VERB
fcis-7990	26	10	to	to	ADP
fcis-7990	26	11	its	its	PRON
fcis-7990	26	12	basic	basic	ADJ
fcis-7990	26	13	principle	principle	NOUN
fcis-7990	26	14	,	,	PUNCT
fcis-7990	26	15	mr	mr	PROPN
fcis-7990	26	16	fluids	fluid	NOUN
fcis-7990	26	17	work	work	VERB
fcis-7990	26	18	in	in	ADP
fcis-7990	26	19	three	three	NUM
fcis-7990	26	20	modes	mode	NOUN
fcis-7990	26	21	:	:	PUNCT
fcis-7990	26	22	flow	flow	NOUN
fcis-7990	26	23	mode	mode	NOUN
fcis-7990	26	24	,	,	PUNCT
fcis-7990	26	25	shear	shear	NOUN
fcis-7990	26	26	mode	mode	NOUN
fcis-7990	26	27	and	and	CCONJ
fcis-7990	26	28	extrusion	extrusion	ADJ
fcis-7990	26	29	mode	mode	NOUN
fcis-7990	26	30	.	.	PUNCT
fcis-7990	27	1	for	for	ADP
fcis-7990	27	2	the	the	DET
fcis-7990	27	3	flow	flow	NOUN
fcis-7990	27	4	mode	mode	NOUN
fcis-7990	27	5	,	,	PUNCT
fcis-7990	27	6	the	the	DET
fcis-7990	27	7	mfluid	mfluid	NOUN
fcis-7990	27	8	is	be	AUX
fcis-7990	27	9	located	locate	VERB
fcis-7990	27	10	between	between	ADP
fcis-7990	27	11	two	two	NUM
fcis-7990	27	12	sufficiently	sufficiently	ADV
fcis-7990	27	13	large	large	ADJ
fcis-7990	27	14	plates	plate	NOUN
fcis-7990	27	15	that	that	PRON
fcis-7990	27	16	remain	remain	VERB
fcis-7990	27	17	relatively	relatively	ADV
fcis-7990	27	18	stationary	stationary	ADJ
fcis-7990	27	19	.	.	PUNCT
fcis-7990	28	1	there	there	PRON
fcis-7990	28	2	is	be	VERB
fcis-7990	28	3	a	a	DET
fcis-7990	28	4	pressure	pressure	NOUN
fcis-7990	28	5	difference	difference	NOUN
fcis-7990	28	6	between	between	ADP
fcis-7990	28	7	the	the	DET
fcis-7990	28	8	front	front	ADJ
fcis-7990	28	9	and	and	CCONJ
fcis-7990	28	10	rear	rear	ADJ
fcis-7990	28	11	sides	side	NOUN
fcis-7990	28	12	of	of	ADP
fcis-7990	28	13	the	the	DET
fcis-7990	28	14	liquid	liquid	NOUN
fcis-7990	28	15	,	,	PUNCT
fcis-7990	28	16	which	which	PRON
fcis-7990	28	17	enables	enable	VERB
fcis-7990	28	18	the	the	DET
fcis-7990	28	19	mfluid	mfluid	NOUN
fcis-7990	28	20	to	to	PART
fcis-7990	28	21	flow	flow	VERB
fcis-7990	28	22	between	between	ADP
fcis-7990	28	23	the	the	DET
fcis-7990	28	24	plates	plate	NOUN
fcis-7990	28	25	and	and	CCONJ
fcis-7990	28	26	thus	thus	ADV
fcis-7990	28	27	create	create	VERB
fcis-7990	28	28	a	a	DET
fcis-7990	28	29	certain	certain	ADJ
fcis-7990	28	30	friction	friction	NOUN
fcis-7990	28	31	force	force	NOUN
fcis-7990	28	32	between	between	ADP
fcis-7990	28	33	the	the	DET
fcis-7990	28	34	plates	plate	NOUN
fcis-7990	28	35	.	.	PUNCT
fcis-7990	29	1	this	this	DET
fcis-7990	29	2	mode	mode	NOUN
fcis-7990	29	3	is	be	AUX
fcis-7990	29	4	commonly	commonly	ADV
fcis-7990	29	5	used	use	VERB
fcis-7990	29	6	in	in	ADP
fcis-7990	29	7	current	current	ADJ
fcis-7990	29	8	dampers	damper	NOUN
fcis-7990	29	9	and	and	CCONJ
fcis-7990	29	10	shock	shock	NOUN
fcis-7990	29	11	absorbers	absorber	NOUN
fcis-7990	29	12	.	.	PUNCT
fcis-7990	30	1	for	for	ADP
fcis-7990	30	2	the	the	DET
fcis-7990	30	3	shear	shear	NOUN
fcis-7990	30	4	mode	mode	NOUN
fcis-7990	30	5	,	,	PUNCT
fcis-7990	30	6	the	the	DET
fcis-7990	30	7	magnetic	magnetic	ADJ
fcis-7990	30	8	fluid	fluid	NOUN
fcis-7990	30	9	is	be	AUX
fcis-7990	30	10	located	locate	VERB
fcis-7990	30	11	between	between	ADP
fcis-7990	30	12	two	two	NUM
fcis-7990	30	13	plates	plate	NOUN
fcis-7990	30	14	in	in	ADP
fcis-7990	30	15	relative	relative	ADJ
fcis-7990	30	16	motion	motion	NOUN
fcis-7990	30	17	,	,	PUNCT
fcis-7990	30	18	and	and	CCONJ
fcis-7990	30	19	the	the	DET
fcis-7990	30	20	magnetic	magnetic	ADJ
fcis-7990	30	21	chain	chain	NOUN
fcis-7990	30	22	generated	generate	VERB
fcis-7990	30	23	in	in	ADP
fcis-7990	30	24	the	the	DET
fcis-7990	30	25	magnetic	magnetic	ADJ
fcis-7990	30	26	fluid	fluid	NOUN
fcis-7990	30	27	is	be	AUX
fcis-7990	30	28	constantly	constantly	ADV
fcis-7990	30	29	broken	break	VERB
fcis-7990	30	30	under	under	ADP
fcis-7990	30	31	the	the	DET
fcis-7990	30	32	shear	shear	NOUN
fcis-7990	30	33	of	of	ADP
fcis-7990	30	34	two	two	NUM
fcis-7990	30	35	plates	plate	NOUN
fcis-7990	30	36	in	in	ADP
fcis-7990	30	37	relative	relative	ADJ
fcis-7990	30	38	motion	motion	NOUN
fcis-7990	30	39	,	,	PUNCT
fcis-7990	30	40	which	which	PRON
fcis-7990	30	41	is	be	AUX
fcis-7990	30	42	manifested	manifest	VERB
fcis-7990	30	43	as	as	ADP
fcis-7990	30	44	shear	shear	NOUN
fcis-7990	30	45	stress	stress	NOUN
fcis-7990	30	46	on	on	ADP
fcis-7990	30	47	a	a	DET
fcis-7990	30	48	macro	macro	ADJ
fcis-7990	30	49	level	level	NOUN
fcis-7990	30	50	,	,	PUNCT
fcis-7990	30	51	hindering	hinder	VERB
fcis-7990	30	52	the	the	DET
fcis-7990	30	53	relative	relative	ADJ
fcis-7990	30	54	motion	motion	NOUN
fcis-7990	30	55	of	of	ADP
fcis-7990	30	56	two	two	NUM
fcis-7990	30	57	plates	plate	NOUN
fcis-7990	30	58	.	.	PUNCT
fcis-7990	31	1	currently	currently	ADV
fcis-7990	31	2	,	,	PUNCT
fcis-7990	31	3	the	the	DET
fcis-7990	31	4	devices	device	NOUN
fcis-7990	31	5	that	that	PRON
fcis-7990	31	6	apply	apply	VERB
fcis-7990	31	7	this	this	DET
fcis-7990	31	8	working	work	VERB
fcis-7990	31	9	mode	mode	NOUN
fcis-7990	31	10	include	include	VERB
fcis-7990	31	11	clutch	clutch	NOUN
fcis-7990	31	12	,	,	PUNCT
fcis-7990	31	13	brake	brake	NOUN
fcis-7990	31	14	,	,	PUNCT
fcis-7990	31	15	etc	etc	X
fcis-7990	31	16	.	.	X
fcis-7990	31	17	for	for	ADP
fcis-7990	31	18	the	the	DET
fcis-7990	31	19	extrusion	extrusion	ADJ
fcis-7990	31	20	mode	mode	NOUN
fcis-7990	31	21	,	,	PUNCT
fcis-7990	31	22	the	the	DET
fcis-7990	31	23	mr	mr	PROPN
fcis-7990	31	24	fluid	fluid	NOUN
fcis-7990	31	25	is	be	AUX
fcis-7990	31	26	squeezed	squeeze	VERB
fcis-7990	31	27	by	by	ADP
fcis-7990	31	28	the	the	DET
fcis-7990	31	29	proximity	proximity	NOUN
fcis-7990	31	30	of	of	ADP
fcis-7990	31	31	the	the	DET
fcis-7990	31	32	relative	relative	ADJ
fcis-7990	31	33	position	position	NOUN
fcis-7990	31	34	between	between	ADP
fcis-7990	31	35	the	the	DET
fcis-7990	31	36	two	two	NUM
fcis-7990	31	37	plates	plate	NOUN
fcis-7990	31	38	.	.	PUNCT
fcis-7990	32	1	it	it	PRON
fcis-7990	32	2	is	be	AUX
fcis-7990	32	3	usually	usually	ADV
fcis-7990	32	4	applied	apply	VERB
fcis-7990	32	5	to	to	ADP
fcis-7990	32	6	vibration	vibration	NOUN
fcis-7990	32	7	dampers	damper	NOUN
fcis-7990	32	8	with	with	ADP
fcis-7990	32	9	small	small	ADJ
fcis-7990	32	10	motion	motion	NOUN
fcis-7990	32	11	and	and	CCONJ
fcis-7990	32	12	large	large	ADJ
fcis-7990	32	13	35	35	NUM
fcis-7990	32	14	damping	damp	VERB
fcis-7990	32	15	force	force	NOUN
fcis-7990	32	16	.	.	PUNCT
fcis-7990	33	1	2.3	2.3	NUM
fcis-7990	33	2	.	.	PUNCT
fcis-7990	34	1	derivation	derivation	NOUN
fcis-7990	34	2	of	of	ADP
fcis-7990	34	3	braking	brake	VERB
fcis-7990	34	4	torque	torque	NOUN
fcis-7990	34	5	of	of	ADP
fcis-7990	34	6	mr	mr	PROPN
fcis-7990	34	7	fluid	fluid	ADJ
fcis-7990	34	8	brake	brake	NOUN
fcis-7990	34	9	in	in	ADP
fcis-7990	34	10	the	the	DET
fcis-7990	34	11	actual	actual	ADJ
fcis-7990	34	12	working	working	NOUN
fcis-7990	34	13	process	process	NOUN
fcis-7990	34	14	,	,	PUNCT
fcis-7990	34	15	mr	mr	PROPN
fcis-7990	34	16	fluid	fluid	NOUN
fcis-7990	34	17	is	be	AUX
fcis-7990	34	18	complicated	complicate	VERB
fcis-7990	34	19	and	and	CCONJ
fcis-7990	34	20	affected	affect	VERB
fcis-7990	34	21	by	by	ADP
fcis-7990	34	22	many	many	ADJ
fcis-7990	34	23	small	small	ADJ
fcis-7990	34	24	factors	factor	NOUN
fcis-7990	34	25	.	.	PUNCT
fcis-7990	35	1	in	in	ADP
fcis-7990	35	2	order	order	NOUN
fcis-7990	35	3	to	to	PART
fcis-7990	35	4	simplify	simplify	VERB
fcis-7990	35	5	the	the	DET
fcis-7990	35	6	calculation	calculation	NOUN
fcis-7990	35	7	of	of	ADP
fcis-7990	35	8	braking	brake	VERB
fcis-7990	35	9	torque	torque	NOUN
fcis-7990	35	10	,	,	PUNCT
fcis-7990	35	11	our	our	PRON
fcis-7990	35	12	team	team	NOUN
fcis-7990	35	13	makes	make	VERB
fcis-7990	35	14	the	the	DET
fcis-7990	35	15	following	follow	VERB
fcis-7990	35	16	assumptions	assumption	NOUN
fcis-7990	35	17	about	about	ADP
fcis-7990	35	18	mr	mr	PROPN
fcis-7990	35	19	fluid	fluid	ADJ
fcis-7990	35	20	brake	brake	NOUN
fcis-7990	35	21	:	:	PUNCT
fcis-7990	35	22	(	(	PUNCT
fcis-7990	35	23	1	1	X
fcis-7990	35	24	)	)	PUNCT
fcis-7990	35	25	the	the	DET
fcis-7990	35	26	velocity	velocity	NOUN
fcis-7990	35	27	of	of	ADP
fcis-7990	35	28	mr	mr	PROPN
fcis-7990	35	29	fluid	fluid	NOUN
fcis-7990	35	30	is	be	AUX
fcis-7990	35	31	only	only	ADV
fcis-7990	35	32	related	relate	VERB
fcis-7990	35	33	to	to	ADP
fcis-7990	35	34	the	the	DET
fcis-7990	35	35	radius	radius	NOUN
fcis-7990	35	36	.	.	PUNCT
fcis-7990	36	1	(	(	PUNCT
fcis-7990	36	2	2	2	NUM
fcis-7990	36	3	)	)	PUNCT
fcis-7990	36	4	although	although	SCONJ
fcis-7990	36	5	the	the	DET
fcis-7990	36	6	mr	mr	PROPN
fcis-7990	36	7	fluid	fluid	NOUN
fcis-7990	36	8	is	be	AUX
fcis-7990	36	9	affected	affect	VERB
fcis-7990	36	10	by	by	ADP
fcis-7990	36	11	gravity	gravity	NOUN
fcis-7990	36	12	and	and	CCONJ
fcis-7990	36	13	centrifugal	centrifugal	ADJ
fcis-7990	36	14	force	force	NOUN
fcis-7990	36	15	,	,	PUNCT
fcis-7990	36	16	it	it	PRON
fcis-7990	36	17	is	be	AUX
fcis-7990	36	18	still	still	ADV
fcis-7990	36	19	evenly	evenly	ADV
fcis-7990	36	20	distributed	distribute	VERB
fcis-7990	36	21	in	in	ADP
fcis-7990	36	22	the	the	DET
fcis-7990	36	23	working	work	VERB
fcis-7990	36	24	gap	gap	NOUN
fcis-7990	36	25	of	of	ADP
fcis-7990	36	26	the	the	DET
fcis-7990	36	27	brake	brake	NOUN
fcis-7990	36	28	.	.	PUNCT
fcis-7990	37	1	(	(	PUNCT
fcis-7990	37	2	3	3	X
fcis-7990	37	3	)	)	PUNCT
fcis-7990	37	4	under	under	ADP
fcis-7990	37	5	the	the	DET
fcis-7990	37	6	influence	influence	NOUN
fcis-7990	37	7	of	of	ADP
fcis-7990	37	8	time	time	NOUN
fcis-7990	37	9	and	and	CCONJ
fcis-7990	37	10	temperature	temperature	NOUN
fcis-7990	37	11	,	,	PUNCT
fcis-7990	37	12	the	the	DET
fcis-7990	37	13	basic	basic	ADJ
fcis-7990	37	14	properties	property	NOUN
fcis-7990	37	15	of	of	ADP
fcis-7990	37	16	mr	mr	PROPN
fcis-7990	37	17	fluid	fluid	NOUN
fcis-7990	37	18	remain	remain	VERB
fcis-7990	37	19	stable	stable	ADJ
fcis-7990	37	20	and	and	CCONJ
fcis-7990	37	21	do	do	AUX
fcis-7990	37	22	not	not	PART
fcis-7990	37	23	change	change	VERB
fcis-7990	37	24	.	.	PUNCT
fcis-7990	38	1	(	(	PUNCT
fcis-7990	38	2	4	4	X
fcis-7990	38	3	)	)	PUNCT
fcis-7990	38	4	the	the	DET
fcis-7990	38	5	volume	volume	NOUN
fcis-7990	38	6	of	of	ADP
fcis-7990	38	7	mr	mr	PROPN
fcis-7990	38	8	fluid	fluid	NOUN
fcis-7990	38	9	is	be	AUX
fcis-7990	38	10	incompressible	incompressible	ADJ
fcis-7990	38	11	.	.	PUNCT
fcis-7990	39	1	(	(	PUNCT
fcis-7990	39	2	5	5	X
fcis-7990	39	3	)	)	PUNCT
fcis-7990	39	4	ignore	ignore	VERB
fcis-7990	39	5	the	the	DET
fcis-7990	39	6	influence	influence	NOUN
fcis-7990	39	7	of	of	ADP
fcis-7990	39	8	mr	mr	PROPN
fcis-7990	39	9	fluid	fluid	ADJ
fcis-7990	39	10	injection	injection	NOUN
fcis-7990	39	11	channel	channel	NOUN
fcis-7990	39	12	on	on	ADP
fcis-7990	39	13	brake	brake	NOUN
fcis-7990	39	14	performance	performance	NOUN
fcis-7990	39	15	.	.	PUNCT
fcis-7990	40	1	for	for	ADP
fcis-7990	40	2	the	the	DET
fcis-7990	40	3	disc	disc	NOUN
fcis-7990	40	4	mr	mr	PROPN
fcis-7990	40	5	fluid	fluid	ADJ
fcis-7990	40	6	brake	brake	NOUN
fcis-7990	40	7	,	,	PUNCT
fcis-7990	40	8	the	the	DET
fcis-7990	40	9	effective	effective	ADJ
fcis-7990	40	10	working	work	VERB
fcis-7990	40	11	face	face	NOUN
fcis-7990	40	12	in	in	ADP
fcis-7990	40	13	the	the	DET
fcis-7990	40	14	braking	braking	NOUN
fcis-7990	40	15	process	process	NOUN
fcis-7990	40	16	is	be	AUX
fcis-7990	40	17	a	a	DET
fcis-7990	40	18	torus	torus	NOUN
fcis-7990	40	19	(	(	PUNCT
fcis-7990	40	20	figure	figure	NOUN
fcis-7990	40	21	2	2	NUM
fcis-7990	40	22	)	)	PUNCT
fcis-7990	40	23	.	.	PUNCT
fcis-7990	41	1	figure	figure	NOUN
fcis-7990	41	2	2	2	NUM
fcis-7990	41	3	.	.	NOUN
fcis-7990	41	4	disc	disc	NOUN
fcis-7990	41	5	brake	brake	NOUN
fcis-7990	41	6	torque	torque	NOUN
fcis-7990	41	7	analysis	analysis	NOUN
fcis-7990	41	8	and	and	CCONJ
fcis-7990	41	9	calculation	calculation	NOUN
fcis-7990	41	10	diagram	diagram	NOUN
fcis-7990	41	11	the	the	DET
fcis-7990	41	12	shear	shear	NOUN
fcis-7990	41	13	strain	strain	NOUN
fcis-7990	41	14	rate	rate	NOUN
fcis-7990	41	15	at	at	ADP
fcis-7990	41	16	any	any	DET
fcis-7990	41	17	point	point	NOUN
fcis-7990	41	18	on	on	ADP
fcis-7990	41	19	the	the	DET
fcis-7990	41	20	working	work	VERB
fcis-7990	41	21	surface	surface	NOUN
fcis-7990	41	22	can	can	AUX
fcis-7990	41	23	be	be	AUX
fcis-7990	41	24	expressed	express	VERB
fcis-7990	41	25	as	as	ADP
fcis-7990	41	26	:	:	PUNCT
fcis-7990	41	27	γ	γ	X
fcis-7990	41	28	=	=	PUNCT
fcis-7990	41	29	𝑟𝜔	𝑟𝜔	PROPN
fcis-7990	41	30	ℎ	ℎ	PROPN
fcis-7990	41	31	(	(	PUNCT
fcis-7990	41	32	1	1	NUM
fcis-7990	41	33	)	)	PUNCT
fcis-7990	41	34	r	r	NOUN
fcis-7990	41	35	represents	represent	VERB
fcis-7990	41	36	the	the	DET
fcis-7990	41	37	radius	radius	NOUN
fcis-7990	41	38	of	of	ADP
fcis-7990	41	39	rotation	rotation	NOUN
fcis-7990	41	40	of	of	ADP
fcis-7990	41	41	the	the	DET
fcis-7990	41	42	selected	select	VERB
fcis-7990	41	43	point	point	NOUN
fcis-7990	41	44	.	.	PUNCT
fcis-7990	42	1	𝜔	𝜔	NOUN
fcis-7990	42	2	represents	represent	VERB
fcis-7990	42	3	the	the	DET
fcis-7990	42	4	rotational	rotational	ADJ
fcis-7990	42	5	angular	angular	ADJ
fcis-7990	42	6	velocity	velocity	NOUN
fcis-7990	42	7	of	of	ADP
fcis-7990	42	8	the	the	DET
fcis-7990	42	9	torus	torus	NOUN
fcis-7990	42	10	.	.	PUNCT
fcis-7990	43	1	h	h	PROPN
fcis-7990	43	2	represents	represent	VERB
fcis-7990	43	3	the	the	DET
fcis-7990	43	4	working	work	VERB
fcis-7990	43	5	clearance	clearance	NOUN
fcis-7990	43	6	of	of	ADP
fcis-7990	43	7	the	the	DET
fcis-7990	43	8	mr	mr	PROPN
fcis-7990	43	9	fluid	fluid	ADJ
fcis-7990	43	10	brake	brake	NOUN
fcis-7990	43	11	.	.	PUNCT
fcis-7990	44	1	a	a	DET
fcis-7990	44	2	miniature	miniature	ADJ
fcis-7990	44	3	torus	torus	NOUN
fcis-7990	44	4	with	with	ADP
fcis-7990	44	5	radial	radial	ADJ
fcis-7990	44	6	width	width	NOUN
fcis-7990	44	7	is	be	AUX
fcis-7990	44	8	taken	take	VERB
fcis-7990	44	9	at	at	ADP
fcis-7990	44	10	radius	radius	NOUN
fcis-7990	44	11	r	r	NOUN
fcis-7990	44	12	,	,	PUNCT
fcis-7990	44	13	and	and	CCONJ
fcis-7990	44	14	its	its	PRON
fcis-7990	44	15	area	area	NOUN
fcis-7990	44	16	da	da	NOUN
fcis-7990	44	17	can	can	AUX
fcis-7990	44	18	be	be	AUX
fcis-7990	44	19	calculated	calculate	VERB
fcis-7990	44	20	as	as	SCONJ
fcis-7990	44	21	follows	follow	VERB
fcis-7990	44	22	:	:	PUNCT
fcis-7990	45	1	da	da	X
fcis-7990	45	2	=	=	SYM
fcis-7990	45	3	2πrdr	2πrdr	NUM
fcis-7990	45	4	(	(	PUNCT
fcis-7990	45	5	2	2	NUM
fcis-7990	45	6	)	)	PUNCT
fcis-7990	45	7	in	in	ADP
fcis-7990	45	8	this	this	DET
fcis-7990	45	9	case	case	NOUN
fcis-7990	45	10	,	,	PUNCT
fcis-7990	45	11	the	the	DET
fcis-7990	45	12	force	force	NOUN
fcis-7990	45	13	df	df	NOUN
fcis-7990	45	14	generated	generate	VERB
fcis-7990	45	15	by	by	ADP
fcis-7990	45	16	the	the	DET
fcis-7990	45	17	miniature	miniature	ADJ
fcis-7990	45	18	torus	torus	NOUN
fcis-7990	45	19	is	be	AUX
fcis-7990	45	20	:	:	PUNCT
fcis-7990	45	21	df	df	PROPN
fcis-7990	46	1	=	=	SYM
fcis-7990	46	2	τ	τ	PROPN
fcis-7990	46	3	×	×	PROPN
fcis-7990	46	4	da	da	PROPN
fcis-7990	46	5	(	(	PUNCT
fcis-7990	46	6	3	3	X
fcis-7990	46	7	)	)	PUNCT
fcis-7990	46	8	the	the	DET
fcis-7990	46	9	acting	act	VERB
fcis-7990	46	10	moment	moment	NOUN
fcis-7990	46	11	dt	dt	AUX
fcis-7990	46	12	generated	generate	VERB
fcis-7990	46	13	by	by	ADP
fcis-7990	46	14	the	the	DET
fcis-7990	46	15	miniature	miniature	ADJ
fcis-7990	46	16	torus	torus	NOUN
fcis-7990	46	17	is	be	AUX
fcis-7990	46	18	:	:	PUNCT
fcis-7990	46	19	dt	dt	X
fcis-7990	46	20	=	=	PUNCT
fcis-7990	46	21	r	r	NOUN
fcis-7990	46	22	×	×	NOUN
fcis-7990	46	23	df	df	NOUN
fcis-7990	46	24	=	=	SYM
fcis-7990	46	25	2πτr2dr	2πτr2dr	NUM
fcis-7990	46	26	(	(	PUNCT
fcis-7990	46	27	4	4	NUM
fcis-7990	46	28	)	)	PUNCT
fcis-7990	46	29	by	by	ADP
fcis-7990	46	30	integrating	integrate	VERB
fcis-7990	46	31	the	the	DET
fcis-7990	46	32	braking	brake	VERB
fcis-7990	46	33	torque	torque	NOUN
fcis-7990	46	34	generated	generate	VERB
fcis-7990	46	35	by	by	ADP
fcis-7990	46	36	the	the	DET
fcis-7990	46	37	miniature	miniature	ADJ
fcis-7990	46	38	torus	torus	NOUN
fcis-7990	46	39	,	,	PUNCT
fcis-7990	46	40	the	the	DET
fcis-7990	46	41	braking	brake	VERB
fcis-7990	46	42	torque	torque	NOUN
fcis-7990	46	43	generated	generate	VERB
fcis-7990	46	44	by	by	ADP
fcis-7990	46	45	the	the	DET
fcis-7990	46	46	mr	mr	PROPN
fcis-7990	46	47	fluid	fluid	ADJ
fcis-7990	46	48	brake	brake	NOUN
fcis-7990	46	49	on	on	ADP
fcis-7990	46	50	torus	torus	PROPN
fcis-7990	46	51	𝑅1	𝑅1	PROPN
fcis-7990	46	52	to	to	ADP
fcis-7990	46	53	𝑅2can	𝑅2can	PROPN
fcis-7990	46	54	be	be	AUX
fcis-7990	46	55	obtained	obtain	VERB
fcis-7990	46	56	as	as	SCONJ
fcis-7990	46	57	follows	follow	VERB
fcis-7990	46	58	:	:	PUNCT
fcis-7990	46	59	t	t	PROPN
fcis-7990	46	60	=	=	SYM
fcis-7990	46	61	∫	∫	PROPN
fcis-7990	46	62	2πτ𝑟2𝑑𝑟	2πτ𝑟2𝑑𝑟	PROPN
fcis-7990	46	63	𝑅2	𝑅2	ADV
fcis-7990	46	64	𝑅1	𝑅1	PROPN
fcis-7990	46	65	=	=	PUNCT
fcis-7990	46	66	2π	2π	PROPN
fcis-7990	46	67	∫	∫	PROPN
fcis-7990	47	1	[	[	X
fcis-7990	47	2	𝜏𝑦(𝐵	𝜏𝑦(𝐵	X
fcis-7990	47	3	)	)	PUNCT
fcis-7990	47	4	+	+	CCONJ
fcis-7990	47	5	𝛾𝜂]𝑟2𝑑𝑟	𝛾𝜂]𝑟2𝑑𝑟	NOUN
fcis-7990	47	6	=	=	PUNCT
fcis-7990	47	7	𝑅2	𝑅2	VERB
fcis-7990	47	8	𝑅1	𝑅1	PROPN
fcis-7990	47	9	2π	2π	PROPN
fcis-7990	47	10	3	3	NUM
fcis-7990	47	11	𝜏𝑦(𝐵)(𝑅2	𝜏𝑦(𝐵)(𝑅2	NOUN
fcis-7990	47	12	3	3	NUM
fcis-7990	47	13	−	−	NOUN
fcis-7990	47	14	𝑅1	𝑅1	NOUN
fcis-7990	47	15	3	3	NUM
fcis-7990	47	16	)	)	PUNCT
fcis-7990	47	17	+	+	NUM
fcis-7990	47	18	𝜋𝜂𝜔	𝜋𝜂𝜔	NOUN
fcis-7990	47	19	2ℎ	2ℎ	NUM
fcis-7990	47	20	(	(	PUNCT
fcis-7990	47	21	𝑅2	𝑅2	NOUN
fcis-7990	47	22	4	4	NUM
fcis-7990	47	23	−	−	NOUN
fcis-7990	47	24	𝑅1	𝑅1	NOUN
fcis-7990	47	25	4	4	NUM
fcis-7990	47	26	)	)	PUNCT
fcis-7990	47	27	(	(	PUNCT
fcis-7990	47	28	5	5	X
fcis-7990	47	29	)	)	PUNCT
fcis-7990	47	30	considering	consider	VERB
fcis-7990	47	31	that	that	SCONJ
fcis-7990	47	32	the	the	DET
fcis-7990	47	33	above	above	ADJ
fcis-7990	47	34	equation	equation	NOUN
fcis-7990	47	35	is	be	AUX
fcis-7990	47	36	only	only	ADV
fcis-7990	47	37	an	an	DET
fcis-7990	47	38	analysis	analysis	NOUN
fcis-7990	47	39	of	of	ADP
fcis-7990	47	40	a	a	DET
fcis-7990	47	41	disc	disc	NOUN
fcis-7990	47	42	surface	surface	NOUN
fcis-7990	47	43	,	,	PUNCT
fcis-7990	47	44	while	while	SCONJ
fcis-7990	47	45	the	the	DET
fcis-7990	47	46	mr	mr	PROPN
fcis-7990	47	47	fluid	fluid	ADJ
fcis-7990	47	48	brake	brake	NOUN
fcis-7990	47	49	has	have	VERB
fcis-7990	47	50	two	two	NUM
fcis-7990	47	51	working	work	VERB
fcis-7990	47	52	faces	face	NOUN
fcis-7990	47	53	,	,	PUNCT
fcis-7990	47	54	the	the	DET
fcis-7990	47	55	total	total	ADJ
fcis-7990	47	56	braking	brake	VERB
fcis-7990	47	57	torque	torque	NOUN
fcis-7990	47	58	is	be	AUX
fcis-7990	47	59	:	:	PUNCT
fcis-7990	47	60	t	t	X
fcis-7990	47	61	=	=	PUNCT
fcis-7990	47	62	2π	2π	PROPN
fcis-7990	47	63	3	3	NUM
fcis-7990	47	64	𝜏𝑦(𝐵)(𝑅2	𝜏𝑦(𝐵)(𝑅2	NOUN
fcis-7990	47	65	3	3	NUM
fcis-7990	47	66	−	−	NOUN
fcis-7990	47	67	𝑅1	𝑅1	NOUN
fcis-7990	47	68	3	3	NUM
fcis-7990	47	69	)	)	PUNCT
fcis-7990	48	1	+	+	NUM
fcis-7990	48	2	𝜋𝜂𝜔	𝜋𝜂𝜔	NOUN
fcis-7990	48	3	2ℎ	2ℎ	NUM
fcis-7990	48	4	(	(	PUNCT
fcis-7990	48	5	𝑅2	𝑅2	NOUN
fcis-7990	48	6	4	4	NUM
fcis-7990	48	7	−	−	NOUN
fcis-7990	48	8	𝑅1	𝑅1	NOUN
fcis-7990	48	9	4	4	NUM
fcis-7990	48	10	)	)	PUNCT
fcis-7990	48	11	(	(	PUNCT
fcis-7990	48	12	6	6	X
fcis-7990	48	13	)	)	PUNCT
fcis-7990	48	14	the	the	DET
fcis-7990	48	15	braking	brake	VERB
fcis-7990	48	16	torque	torque	NOUN
fcis-7990	48	17	𝑇𝑚	𝑇𝑚	PROPN
fcis-7990	48	18	=	=	SYM
fcis-7990	48	19	4π	4π	NUM
fcis-7990	48	20	3	3	NUM
fcis-7990	48	21	𝜏𝑦(𝐵)(𝑅2	𝜏𝑦(𝐵)(𝑅2	NOUN
fcis-7990	48	22	3	3	NUM
fcis-7990	48	23	−	−	NOUN
fcis-7990	48	24	𝑅1	𝑅1	NOUN
fcis-7990	48	25	3	3	NUM
fcis-7990	48	26	)	)	PUNCT
fcis-7990	48	27	is	be	AUX
fcis-7990	48	28	mainly	mainly	ADV
fcis-7990	48	29	controlled	control	VERB
fcis-7990	48	30	by	by	ADP
fcis-7990	48	31	the	the	DET
fcis-7990	48	32	magnetic	magnetic	ADJ
fcis-7990	48	33	field	field	NOUN
fcis-7990	48	34	intensity	intensity	NOUN
fcis-7990	48	35	of	of	ADP
fcis-7990	48	36	mr	mr	PROPN
fcis-7990	48	37	fluid	fluid	NOUN
fcis-7990	48	38	and	and	CCONJ
fcis-7990	48	39	belongs	belong	VERB
fcis-7990	48	40	to	to	ADP
fcis-7990	48	41	the	the	DET
fcis-7990	48	42	controllable	controllable	ADJ
fcis-7990	48	43	part	part	NOUN
fcis-7990	48	44	,	,	PUNCT
fcis-7990	48	45	while	while	SCONJ
fcis-7990	48	46	the	the	DET
fcis-7990	48	47	braking	brake	VERB
fcis-7990	48	48	torque	torque	NOUN
fcis-7990	48	49	𝑇𝑚	𝑇𝑚	PROPN
fcis-7990	48	50	=	=	PUNCT
fcis-7990	48	51	𝜋𝜂𝜔	𝜋𝜂𝜔	NOUN
fcis-7990	48	52	2ℎ	2ℎ	NUM
fcis-7990	48	53	(	(	PUNCT
fcis-7990	48	54	𝑅2	𝑅2	NOUN
fcis-7990	48	55	4	4	NUM
fcis-7990	48	56	−	−	NOUN
fcis-7990	48	57	𝑅1	𝑅1	NOUN
fcis-7990	48	58	4	4	NUM
fcis-7990	48	59	)	)	PUNCT
fcis-7990	48	60	is	be	AUX
fcis-7990	48	61	determined	determine	VERB
fcis-7990	48	62	by	by	ADP
fcis-7990	48	63	the	the	DET
fcis-7990	48	64	vehicle	vehicle	NOUN
fcis-7990	48	65	speed	speed	NOUN
fcis-7990	48	66	,	,	PUNCT
fcis-7990	48	67	the	the	DET
fcis-7990	48	68	working	work	VERB
fcis-7990	48	69	gap	gap	NOUN
fcis-7990	48	70	of	of	ADP
fcis-7990	48	71	mr	mr	PROPN
fcis-7990	48	72	fluid	fluid	PROPN
fcis-7990	48	73	,	,	PUNCT
fcis-7990	48	74	the	the	DET
fcis-7990	48	75	viscosity	viscosity	NOUN
fcis-7990	48	76	of	of	ADP
fcis-7990	48	77	mr	mr	PROPN
fcis-7990	48	78	fluid	fluid	NOUN
fcis-7990	48	79	and	and	CCONJ
fcis-7990	48	80	the	the	DET
fcis-7990	48	81	radius	radius	NOUN
fcis-7990	48	82	of	of	ADP
fcis-7990	48	83	brake	brake	NOUN
fcis-7990	48	84	disc	disc	NOUN
fcis-7990	48	85	,	,	PUNCT
fcis-7990	48	86	and	and	CCONJ
fcis-7990	48	87	belongs	belong	VERB
fcis-7990	48	88	to	to	ADP
fcis-7990	48	89	the	the	DET
fcis-7990	48	90	uncontrollable	uncontrollable	ADJ
fcis-7990	48	91	part	part	NOUN
fcis-7990	48	92	of	of	ADP
fcis-7990	48	93	the	the	DET
fcis-7990	48	94	braking	brake	VERB
fcis-7990	48	95	torque	torque	NOUN
fcis-7990	48	96	.	.	PUNCT
fcis-7990	49	1	therefore	therefore	ADV
fcis-7990	49	2	,	,	PUNCT
fcis-7990	49	3	in	in	ADP
fcis-7990	49	4	the	the	DET
fcis-7990	49	5	design	design	NOUN
fcis-7990	49	6	of	of	ADP
fcis-7990	49	7	mr	mr	PROPN
fcis-7990	49	8	fluid	fluid	ADJ
fcis-7990	49	9	brake	brake	NOUN
fcis-7990	49	10	,	,	PUNCT
fcis-7990	49	11	the	the	DET
fcis-7990	49	12	controllable	controllable	ADJ
fcis-7990	49	13	part	part	NOUN
fcis-7990	49	14	should	should	AUX
fcis-7990	49	15	be	be	AUX
fcis-7990	49	16	adjusted	adjust	VERB
fcis-7990	49	17	around	around	ADV
fcis-7990	49	18	.	.	PUNCT
fcis-7990	50	1	figure	figure	VERB
fcis-7990	50	2	3	3	NUM
fcis-7990	50	3	.	.	PUNCT
fcis-7990	50	4	automobile	automobile	NOUN
fcis-7990	50	5	brake	brake	NOUN
fcis-7990	50	6	force	force	PROPN
fcis-7990	50	7	diagram	diagram	NOUN
fcis-7990	50	8	according	accord	VERB
fcis-7990	50	9	to	to	ADP
fcis-7990	50	10	the	the	DET
fcis-7990	50	11	vehicle	vehicle	NOUN
fcis-7990	50	12	dynamic	dynamic	ADJ
fcis-7990	50	13	model	model	NOUN
fcis-7990	50	14	(	(	PUNCT
fcis-7990	50	15	figure	figure	NOUN
fcis-7990	50	16	3	3	NUM
fcis-7990	50	17	)	)	PUNCT
fcis-7990	50	18	,	,	PUNCT
fcis-7990	50	19	the	the	DET
fcis-7990	50	20	balance	balance	NOUN
fcis-7990	50	21	equation	equation	NOUN
fcis-7990	50	22	of	of	ADP
fcis-7990	50	23	front	front	ADJ
fcis-7990	50	24	and	and	CCONJ
fcis-7990	50	25	rear	rear	ADJ
fcis-7990	50	26	wheel	wheel	NOUN
fcis-7990	50	27	torque	torque	NOUN
fcis-7990	50	28	can	can	AUX
fcis-7990	50	29	be	be	AUX
fcis-7990	50	30	written	write	VERB
fcis-7990	50	31	:	:	PUNCT
fcis-7990	50	32	{	{	PUNCT
fcis-7990	50	33	𝐹𝑍1𝐿	𝐹𝑍1𝐿	NOUN
fcis-7990	50	34	=	=	SYM
fcis-7990	50	35	𝐺𝑏	𝐺𝑏	PROPN
fcis-7990	51	1	+	+	NUM
fcis-7990	51	2	𝑚	𝑚	NOUN
fcis-7990	51	3	𝑑𝑣	𝑑𝑣	ADP
fcis-7990	51	4	𝑑𝑡	𝑑𝑡	ADP
fcis-7990	51	5	ℎ𝑔	ℎ𝑔	NOUN
fcis-7990	51	6	𝐹𝑍2𝐿	𝐹𝑍2𝐿	NOUN
fcis-7990	51	7	=	=	PUNCT
fcis-7990	52	1	𝐺𝑎	𝐺𝑎	NOUN
fcis-7990	52	2	−	−	NOUN
fcis-7990	52	3	𝑚	𝑚	NOUN
fcis-7990	52	4	𝑑𝑣	𝑑𝑣	ADP
fcis-7990	52	5	𝑑𝑡	𝑑𝑡	ADP
fcis-7990	52	6	ℎ𝑔	ℎ𝑔	PROPN
fcis-7990	52	7	(	(	PUNCT
fcis-7990	52	8	7	7	NUM
fcis-7990	52	9	)	)	PUNCT
fcis-7990	52	10	when	when	SCONJ
fcis-7990	52	11	the	the	DET
fcis-7990	52	12	car	car	NOUN
fcis-7990	52	13	is	be	AUX
fcis-7990	52	14	locked	lock	VERB
fcis-7990	52	15	on	on	ADP
fcis-7990	52	16	the	the	DET
fcis-7990	52	17	road	road	NOUN
fcis-7990	52	18	surface	surface	NOUN
fcis-7990	52	19	with	with	ADP
fcis-7990	52	20	adhesion	adhesion	NOUN
fcis-7990	52	21	coefficient	coefficient	NOUN
fcis-7990	52	22	is	be	AUX
fcis-7990	52	23	,	,	PUNCT
fcis-7990	52	24	the	the	DET
fcis-7990	52	25	sum	sum	NOUN
fcis-7990	52	26	of	of	ADP
fcis-7990	52	27	braking	brake	VERB
fcis-7990	52	28	force	force	NOUN
fcis-7990	52	29	generated	generate	VERB
fcis-7990	52	30	by	by	ADP
fcis-7990	52	31	the	the	DET
fcis-7990	52	32	vehicle	vehicle	NOUN
fcis-7990	52	33	is	be	AUX
fcis-7990	52	34	equal	equal	ADJ
fcis-7990	52	35	to	to	ADP
fcis-7990	52	36	the	the	DET
fcis-7990	52	37	adhesion	adhesion	NOUN
fcis-7990	52	38	of	of	ADP
fcis-7990	52	39	the	the	DET
fcis-7990	52	40	road	road	NOUN
fcis-7990	52	41	surface	surface	NOUN
fcis-7990	52	42	to	to	ADP
fcis-7990	52	43	the	the	DET
fcis-7990	52	44	wheel	wheel	NOUN
fcis-7990	52	45	,	,	PUNCT
fcis-7990	52	46	and	and	CCONJ
fcis-7990	52	47	the	the	DET
fcis-7990	52	48	braking	brake	VERB
fcis-7990	52	49	force	force	NOUN
fcis-7990	52	50	𝐹𝜇1	𝐹𝜇1	NOUN
fcis-7990	52	51	and	and	CCONJ
fcis-7990	52	52	𝐹𝜇2	𝐹𝜇2	NOUN
fcis-7990	52	53	generated	generate	VERB
fcis-7990	52	54	by	by	ADP
fcis-7990	52	55	the	the	DET
fcis-7990	52	56	front	front	ADJ
fcis-7990	52	57	and	and	CCONJ
fcis-7990	52	58	rear	rear	ADJ
fcis-7990	52	59	wheels	wheel	NOUN
fcis-7990	52	60	of	of	ADP
fcis-7990	52	61	the	the	DET
fcis-7990	52	62	vehicle	vehicle	NOUN
fcis-7990	52	63	are	be	AUX
fcis-7990	52	64	equal	equal	ADJ
fcis-7990	52	65	to	to	ADP
fcis-7990	52	66	the	the	DET
fcis-7990	52	67	respective	respective	ADJ
fcis-7990	52	68	adhesion	adhesion	NOUN
fcis-7990	52	69	of	of	ADP
fcis-7990	52	70	the	the	DET
fcis-7990	52	71	road	road	NOUN
fcis-7990	52	72	surface	surface	NOUN
fcis-7990	52	73	:	:	PUNCT
fcis-7990	52	74	{	{	PUNCT
fcis-7990	52	75	𝜇𝐺	𝜇𝐺	NOUN
fcis-7990	52	76	=	=	NOUN
fcis-7990	52	77	𝐹𝜇1	𝐹𝜇1	NOUN
fcis-7990	52	78	+	+	CCONJ
fcis-7990	52	79	𝐹𝜇2	𝐹𝜇2	ADJ
fcis-7990	52	80	𝐹𝜇1	𝐹𝜇1	NOUN
fcis-7990	52	81	=	=	SYM
fcis-7990	53	1	𝜇𝐹𝑍1	𝜇𝐹𝑍1	NOUN
fcis-7990	53	2	𝐹𝜇2	𝐹𝜇2	NOUN
fcis-7990	54	1	=	=	X
fcis-7990	55	1	𝜇𝐹𝑍2	𝜇𝐹𝑍2	ADJ
fcis-7990	56	1	(	(	PUNCT
fcis-7990	56	2	8)	8)	NUM
fcis-7990	56	3	by	by	ADP
fcis-7990	56	4	combining	combine	VERB
fcis-7990	56	5	the	the	DET
fcis-7990	56	6	above	above	ADJ
fcis-7990	56	7	two	two	NUM
fcis-7990	56	8	formulas	formula	NOUN
fcis-7990	56	9	,	,	PUNCT
fcis-7990	56	10	we	we	PRON
fcis-7990	56	11	can	can	AUX
fcis-7990	56	12	get	get	VERB
fcis-7990	56	13	:	:	PUNCT
fcis-7990	56	14	{	{	PUNCT
fcis-7990	56	15	𝐹𝜇1	𝐹𝜇1	NOUN
fcis-7990	56	16	=	=	SYM
fcis-7990	56	17	𝜇	𝜇	X
fcis-7990	56	18	(	(	PUNCT
fcis-7990	56	19	𝑚𝑔𝑏	𝑚𝑔𝑏	NOUN
fcis-7990	56	20	𝐿	𝐿	NOUN
fcis-7990	56	21	+	+	CCONJ
fcis-7990	57	1	𝑚	𝑚	NOUN
fcis-7990	57	2	𝑑𝑣	𝑑𝑣	ADP
fcis-7990	57	3	𝑑𝑡	𝑑𝑡	ADP
fcis-7990	57	4	ℎ𝑔	ℎ𝑔	PROPN
fcis-7990	57	5	𝐿	𝐿	PROPN
fcis-7990	57	6	)	)	PUNCT
fcis-7990	57	7	𝐹𝜇2	𝐹𝜇2	NOUN
fcis-7990	58	1	=	=	SYM
fcis-7990	58	2	𝜇	𝜇	X
fcis-7990	58	3	(	(	PUNCT
fcis-7990	58	4	𝑚𝑔𝑎	𝑚𝑔𝑎	NOUN
fcis-7990	58	5	𝐿	𝐿	PROPN
fcis-7990	58	6	−	−	PROPN
fcis-7990	58	7	𝑚	𝑚	NOUN
fcis-7990	58	8	𝑑𝑣	𝑑𝑣	ADP
fcis-7990	58	9	𝑑𝑡	𝑑𝑡	ADP
fcis-7990	58	10	ℎ𝑔	ℎ𝑔	PROPN
fcis-7990	58	11	𝐿	𝐿	PROPN
fcis-7990	58	12	)	)	PUNCT
fcis-7990	58	13	(	(	PUNCT
fcis-7990	58	14	9	9	NUM
fcis-7990	58	15	)	)	PUNCT
fcis-7990	58	16	at	at	ADP
fcis-7990	58	17	this	this	DET
fcis-7990	58	18	time	time	NOUN
fcis-7990	58	19	,	,	PUNCT
fcis-7990	58	20	the	the	DET
fcis-7990	58	21	distance	distance	NOUN
fcis-7990	58	22	between	between	ADP
fcis-7990	58	23	the	the	DET
fcis-7990	58	24	wheel	wheel	NOUN
fcis-7990	58	25	axle	axle	NOUN
fcis-7990	58	26	and	and	CCONJ
fcis-7990	58	27	the	the	DET
fcis-7990	58	28	ground	ground	NOUN
fcis-7990	58	29	is	be	AUX
fcis-7990	58	30	𝑅𝑟	𝑅𝑟	ADJ
fcis-7990	58	31	,	,	PUNCT
fcis-7990	58	32	so	so	ADV
fcis-7990	58	33	the	the	DET
fcis-7990	58	34	maximum	maximum	ADJ
fcis-7990	58	35	braking	brake	VERB
fcis-7990	58	36	torque	torque	NOUN
fcis-7990	58	37	of	of	ADP
fcis-7990	58	38	the	the	DET
fcis-7990	58	39	front	front	ADJ
fcis-7990	58	40	,	,	PUNCT
fcis-7990	58	41	rear	rear	ADJ
fcis-7990	58	42	and	and	CCONJ
fcis-7990	58	43	axle	axle	NOUN
fcis-7990	58	44	of	of	ADP
fcis-7990	58	45	the	the	DET
fcis-7990	58	46	vehicle	vehicle	NOUN
fcis-7990	58	47	is	be	AUX
fcis-7990	58	48	𝑀1	𝑀1	PROPN
fcis-7990	58	49	and	and	CCONJ
fcis-7990	58	50	𝑀2	𝑀2	PROPN
fcis-7990	58	51	are	be	AUX
fcis-7990	58	52	:	:	PUNCT
fcis-7990	58	53	{	{	PUNCT
fcis-7990	58	54	𝑀1	𝑀1	NOUN
fcis-7990	58	55	=	=	PUNCT
fcis-7990	58	56	(	(	PUNCT
fcis-7990	58	57	𝑚𝑔𝑏	𝑚𝑔𝑏	NOUN
fcis-7990	58	58	𝐿	𝐿	NOUN
fcis-7990	58	59	+	+	CCONJ
fcis-7990	58	60	𝑚	𝑚	NOUN
fcis-7990	58	61	𝑑𝑣	𝑑𝑣	ADP
fcis-7990	58	62	𝑑𝑡	𝑑𝑡	ADP
fcis-7990	58	63	ℎ𝑔	ℎ𝑔	PROPN
fcis-7990	58	64	𝐿	𝐿	PROPN
fcis-7990	58	65	)	)	PUNCT
fcis-7990	58	66	𝜇𝑅𝑟	𝜇𝑅𝑟	X
fcis-7990	58	67	𝑀1	𝑀1	NOUN
fcis-7990	58	68	=	=	PUNCT
fcis-7990	58	69	(	(	PUNCT
fcis-7990	58	70	𝑚𝑔𝑎	𝑚𝑔𝑎	X
fcis-7990	58	71	𝐿	𝐿	PROPN
fcis-7990	59	1	−	−	PROPN
fcis-7990	59	2	𝑚	𝑚	NOUN
fcis-7990	59	3	𝑑𝑣	𝑑𝑣	ADP
fcis-7990	59	4	𝑑𝑡	𝑑𝑡	ADP
fcis-7990	59	5	ℎ𝑔	ℎ𝑔	PROPN
fcis-7990	59	6	𝐿	𝐿	PROPN
fcis-7990	59	7	)	)	PUNCT
fcis-7990	59	8	𝜇𝑅𝑟	𝜇𝑅𝑟	NOUN
fcis-7990	59	9	(	(	PUNCT
fcis-7990	59	10	10	10	NUM
fcis-7990	59	11	)	)	PUNCT
fcis-7990	59	12	3	3	NUM
fcis-7990	59	13	.	.	PUNCT
fcis-7990	59	14	establishment	establishment	NOUN
fcis-7990	59	15	of	of	ADP
fcis-7990	59	16	simulation	simulation	NOUN
fcis-7990	59	17	model	model	NOUN
fcis-7990	59	18	of	of	ADP
fcis-7990	59	19	mr	mr	PROPN
fcis-7990	59	20	fluid	fluid	ADJ
fcis-7990	59	21	braking	brake	VERB
fcis-7990	59	22	system	system	NOUN
fcis-7990	59	23	3.1	3.1	NUM
fcis-7990	59	24	.	.	PUNCT
fcis-7990	60	1	pid	pid	NOUN
fcis-7990	60	2	braking	brake	VERB
fcis-7990	60	3	system	system	NOUN
fcis-7990	60	4	model	model	NOUN
fcis-7990	60	5	since	since	SCONJ
fcis-7990	60	6	the	the	DET
fcis-7990	60	7	mr	mr	PROPN
fcis-7990	60	8	fluid	fluid	ADJ
fcis-7990	60	9	brake	brake	NOUN
fcis-7990	60	10	itself	itself	PRON
fcis-7990	60	11	does	do	AUX
fcis-7990	60	12	not	not	PART
fcis-7990	60	13	have	have	VERB
fcis-7990	60	14	a	a	DET
fcis-7990	60	15	braking	brake	VERB
fcis-7990	60	16	system	system	NOUN
fcis-7990	60	17	,	,	PUNCT
fcis-7990	60	18	the	the	DET
fcis-7990	60	19	braking	brake	VERB
fcis-7990	60	20	torque	torque	NOUN
fcis-7990	60	21	can	can	AUX
fcis-7990	60	22	be	be	AUX
fcis-7990	60	23	adjusted	adjust	VERB
fcis-7990	60	24	through	through	ADP
fcis-7990	60	25	its	its	PRON
fcis-7990	60	26	own	own	ADJ
fcis-7990	60	27	control	control	NOUN
fcis-7990	60	28	of	of	ADP
fcis-7990	60	29	the	the	DET
fcis-7990	60	30	current	current	NOUN
fcis-7990	60	31	in	in	ADP
fcis-7990	60	32	the	the	DET
fcis-7990	60	33	electromagnetic	electromagnetic	ADJ
fcis-7990	60	34	coil	coil	NOUN
fcis-7990	60	35	,	,	PUNCT
fcis-7990	60	36	so	so	SCONJ
fcis-7990	60	37	as	as	SCONJ
fcis-7990	60	38	to	to	PART
fcis-7990	60	39	realize	realize	VERB
fcis-7990	60	40	the	the	DET
fcis-7990	60	41	braking	braking	NOUN
fcis-7990	60	42	process	process	NOUN
fcis-7990	60	43	.	.	PUNCT
fcis-7990	61	1	the	the	DET
fcis-7990	61	2	pid	pid	NOUN
fcis-7990	61	3	model	model	NOUN
fcis-7990	61	4	has	have	VERB
fcis-7990	61	5	a	a	DET
fcis-7990	61	6	simple	simple	ADJ
fcis-7990	61	7	algorithm	algorithm	NOUN
fcis-7990	61	8	,	,	PUNCT
fcis-7990	61	9	good	good	ADJ
fcis-7990	61	10	robustness	robustness	NOUN
fcis-7990	61	11	and	and	CCONJ
fcis-7990	61	12	high	high	ADJ
fcis-7990	61	13	reliability	reliability	NOUN
fcis-7990	61	14	.	.	PUNCT
fcis-7990	62	1	figure	figure	NOUN
fcis-7990	62	2	4	4	NUM
fcis-7990	62	3	shows	show	VERB
fcis-7990	62	4	the	the	DET
fcis-7990	62	5	adaptive	adaptive	ADJ
fcis-7990	62	6	variable	variable	ADJ
fcis-7990	62	7	damping	damp	VERB
fcis-7990	62	8	controller	controller	NOUN
fcis-7990	62	9	model	model	NOUN
fcis-7990	62	10	.	.	PUNCT
fcis-7990	63	1	figure	figure	VERB
fcis-7990	63	2	4	4	NUM
fcis-7990	63	3	.	.	PUNCT
fcis-7990	63	4	pid	pid	PROPN
fcis-7990	63	5	control	control	PROPN
fcis-7990	63	6	model	model	VERB
fcis-7990	63	7	36	36	NUM
fcis-7990	63	8	this	this	DET
fcis-7990	63	9	paper	paper	NOUN
fcis-7990	63	10	simulates	simulate	VERB
fcis-7990	63	11	an	an	DET
fcis-7990	63	12	electric	electric	ADJ
fcis-7990	63	13	vehicle	vehicle	NOUN
fcis-7990	63	14	,	,	PUNCT
fcis-7990	63	15	and	and	CCONJ
fcis-7990	63	16	its	its	PRON
fcis-7990	63	17	relevant	relevant	ADJ
fcis-7990	63	18	parameters	parameter	NOUN
fcis-7990	63	19	are	be	AUX
fcis-7990	63	20	shown	show	VERB
fcis-7990	63	21	in	in	ADP
fcis-7990	63	22	the	the	DET
fcis-7990	63	23	following	follow	VERB
fcis-7990	63	24	table	table	NOUN
fcis-7990	63	25	1	1	NUM
fcis-7990	63	26	.	.	PUNCT
fcis-7990	63	27	table	table	NOUN
fcis-7990	63	28	1	1	NUM
fcis-7990	63	29	.	.	PUNCT
fcis-7990	63	30	correlation	correlation	NOUN
fcis-7990	63	31	parameter	parameter	NOUN
fcis-7990	63	32	table	table	NOUN
fcis-7990	63	33	name	name	NOUN
fcis-7990	63	34	code	code	NOUN
fcis-7990	63	35	name	name	NOUN
fcis-7990	63	36	unit	unit	NOUN
fcis-7990	63	37	numerical	numerical	PROPN
fcis-7990	63	38	value	value	PROPN
fcis-7990	63	39	total	total	ADJ
fcis-7990	63	40	mass	mass	NOUN
fcis-7990	63	41	m	m	VERB
fcis-7990	63	42	kg	kg	X
fcis-7990	63	43	1710	1710	NUM
fcis-7990	63	44	wheelbase	wheelbase	PROPN
fcis-7990	63	45	l	l	PROPN
fcis-7990	63	46	mm	mm	PROPN
fcis-7990	63	47	2730	2730	NUM
fcis-7990	63	48	height	height	NOUN
fcis-7990	63	49	of	of	ADP
fcis-7990	63	50	center	center	NOUN
fcis-7990	63	51	of	of	ADP
fcis-7990	63	52	mass	mass	PROPN
fcis-7990	63	53	ℎ𝑔	ℎ𝑔	PROPN
fcis-7990	63	54	mm	mm	PROPN
fcis-7990	63	55	0.8	0.8	NUM
fcis-7990	63	56	horizontal	horizontal	ADJ
fcis-7990	63	57	distance	distance	NOUN
fcis-7990	63	58	from	from	ADP
fcis-7990	63	59	center	center	NOUN
fcis-7990	63	60	of	of	ADP
fcis-7990	63	61	mass	mass	NOUN
fcis-7990	63	62	to	to	ADP
fcis-7990	63	63	front	front	ADJ
fcis-7990	63	64	axle	axle	NOUN
fcis-7990	63	65	a	a	DET
fcis-7990	63	66	mm	mm	PROPN
fcis-7990	63	67	1530	1530	NUM
fcis-7990	63	68	horizontal	horizontal	ADJ
fcis-7990	63	69	distance	distance	NOUN
fcis-7990	63	70	from	from	ADP
fcis-7990	63	71	center	center	NOUN
fcis-7990	63	72	of	of	ADP
fcis-7990	63	73	mass	mass	NOUN
fcis-7990	63	74	to	to	PART
fcis-7990	63	75	rear	rear	VERB
fcis-7990	63	76	axle	axle	PROPN
fcis-7990	63	77	b	b	PROPN
fcis-7990	63	78	mm	mm	PROPN
fcis-7990	63	79	1200	1200	NUM
fcis-7990	63	80	front	front	ADJ
fcis-7990	63	81	axle	axle	NOUN
fcis-7990	63	82	load	load	NOUN
fcis-7990	63	83	𝑚𝑓	𝑚𝑓	ADP
fcis-7990	63	84	kg	kg	PROPN
fcis-7990	63	85	1020	1020	NUM
fcis-7990	63	86	rear	rear	ADJ
fcis-7990	63	87	axle	axle	NOUN
fcis-7990	63	88	load	load	NOUN
fcis-7990	63	89	𝑚𝑟	𝑚𝑟	PROPN
fcis-7990	63	90	kg	kg	NUM
fcis-7990	63	91	690	690	NUM
fcis-7990	63	92	wheel	wheel	NOUN
fcis-7990	63	93	rolling	rolling	NOUN
fcis-7990	63	94	radius	radius	NOUN
fcis-7990	64	1	𝑅𝑟	𝑅𝑟	PROPN
fcis-7990	64	2	mm	mm	PROPN
fcis-7990	64	3	345	345	NUM
fcis-7990	64	4	3.2	3.2	NUM
fcis-7990	64	5	.	.	PUNCT
fcis-7990	65	1	straight	straight	ADJ
fcis-7990	65	2	-	-	PUNCT
fcis-7990	65	3	line	line	NOUN
fcis-7990	65	4	path	path	NOUN
fcis-7990	65	5	tracking	track	VERB
fcis-7990	65	6	3.2.1	3.2.1	NUM
fcis-7990	65	7	.	.	PUNCT
fcis-7990	66	1	undulating	undulate	VERB
fcis-7990	66	2	line	line	NOUN
fcis-7990	66	3	tracking	tracking	NOUN
fcis-7990	66	4	figure	figure	NOUN
fcis-7990	66	5	5	5	NUM
fcis-7990	66	6	.	.	PUNCT
fcis-7990	66	7	target	target	VERB
fcis-7990	66	8	speed	speed	NOUN
fcis-7990	66	9	and	and	CCONJ
fcis-7990	66	10	tracking	track	VERB
fcis-7990	66	11	speed	speed	NOUN
fcis-7990	66	12	figure	figure	NOUN
fcis-7990	66	13	6	6	NUM
fcis-7990	66	14	.	.	PUNCT
fcis-7990	66	15	target	target	NOUN
fcis-7990	66	16	path	path	NOUN
fcis-7990	66	17	and	and	CCONJ
fcis-7990	66	18	tracking	tracking	NOUN
fcis-7990	66	19	path	path	NOUN
fcis-7990	66	20	figure	figure	NOUN
fcis-7990	66	21	7	7	NUM
fcis-7990	66	22	.	.	PUNCT
fcis-7990	66	23	deviaton	deviaton	NOUN
fcis-7990	66	24	in	in	ADP
fcis-7990	66	25	the	the	DET
fcis-7990	66	26	linear	linear	ADJ
fcis-7990	66	27	path	path	NOUN
fcis-7990	66	28	without	without	ADP
fcis-7990	66	29	fluctuation	fluctuation	NOUN
fcis-7990	66	30	,	,	PUNCT
fcis-7990	66	31	the	the	DET
fcis-7990	66	32	linear	linear	ADJ
fcis-7990	66	33	path	path	NOUN
fcis-7990	66	34	can	can	AUX
fcis-7990	66	35	be	be	AUX
fcis-7990	66	36	well	well	ADV
fcis-7990	66	37	tracked	track	VERB
fcis-7990	66	38	under	under	ADP
fcis-7990	66	39	the	the	DET
fcis-7990	66	40	condition	condition	NOUN
fcis-7990	66	41	that	that	SCONJ
fcis-7990	66	42	the	the	DET
fcis-7990	66	43	speed	speed	NOUN
fcis-7990	66	44	can	can	AUX
fcis-7990	66	45	be	be	AUX
fcis-7990	66	46	reasonably	reasonably	ADV
fcis-7990	66	47	tracked	track	VERB
fcis-7990	66	48	in	in	ADP
fcis-7990	66	49	the	the	DET
fcis-7990	66	50	control	control	NOUN
fcis-7990	66	51	model	model	NOUN
fcis-7990	66	52	without	without	ADP
fcis-7990	66	53	overshoot	overshoot	NOUN
fcis-7990	66	54	.	.	PUNCT
fcis-7990	67	1	the	the	DET
fcis-7990	67	2	maximum	maximum	PROPN
fcis-7990	67	3	control	control	NOUN
fcis-7990	67	4	error	error	NOUN
fcis-7990	67	5	is	be	AUX
fcis-7990	67	6	within	within	ADP
fcis-7990	67	7	10	10	NUM
fcis-7990	67	8	cm	cm	NOUN
fcis-7990	67	9	,	,	PUNCT
fcis-7990	67	10	which	which	PRON
fcis-7990	67	11	can	can	AUX
fcis-7990	67	12	be	be	AUX
fcis-7990	67	13	well	well	ADV
fcis-7990	67	14	applied	apply	VERB
fcis-7990	67	15	to	to	ADP
fcis-7990	67	16	the	the	DET
fcis-7990	67	17	path	path	NOUN
fcis-7990	67	18	tracking	tracking	NOUN
fcis-7990	67	19	of	of	ADP
fcis-7990	67	20	the	the	DET
fcis-7990	67	21	linear	linear	ADJ
fcis-7990	67	22	path	path	NOUN
fcis-7990	67	23	without	without	ADP
fcis-7990	67	24	fluctuation	fluctuation	NOUN
fcis-7990	67	25	(	(	PUNCT
fcis-7990	67	26	figure	figure	NOUN
fcis-7990	67	27	5	5	NUM
fcis-7990	67	28	,	,	PUNCT
fcis-7990	67	29	figure	figure	VERB
fcis-7990	67	30	6	6	NUM
fcis-7990	67	31	and	and	CCONJ
fcis-7990	67	32	figure	figure	VERB
fcis-7990	67	33	7	7	NUM
fcis-7990	67	34	)	)	PUNCT
fcis-7990	67	35	.	.	PUNCT
fcis-7990	68	1	3.2.2	3.2.2	NUM
fcis-7990	68	2	.	.	PUNCT
fcis-7990	69	1	linear	linear	ADJ
fcis-7990	69	2	path	path	NOUN
fcis-7990	69	3	tracking	track	VERB
fcis-7990	69	4	with	with	ADP
fcis-7990	69	5	fluctuation	fluctuation	NOUN
fcis-7990	69	6	figure	figure	NOUN
fcis-7990	69	7	8	8	NUM
fcis-7990	69	8	.	.	PUNCT
fcis-7990	70	1	target	target	NOUN
fcis-7990	70	2	path	path	NOUN
fcis-7990	70	3	and	and	CCONJ
fcis-7990	70	4	tracking	tracking	NOUN
fcis-7990	70	5	path	path	NOUN
fcis-7990	70	6	considering	consider	VERB
fcis-7990	70	7	that	that	SCONJ
fcis-7990	70	8	it	it	PRON
fcis-7990	70	9	is	be	AUX
fcis-7990	70	10	ideal	ideal	ADJ
fcis-7990	70	11	for	for	SCONJ
fcis-7990	70	12	the	the	DET
fcis-7990	70	13	vehicle	vehicle	NOUN
fcis-7990	70	14	to	to	PART
fcis-7990	70	15	keep	keep	VERB
fcis-7990	70	16	a	a	DET
fcis-7990	70	17	straight	straight	ADJ
fcis-7990	70	18	line	line	NOUN
fcis-7990	70	19	completely	completely	ADV
fcis-7990	70	20	in	in	ADP
fcis-7990	70	21	the	the	DET
fcis-7990	70	22	process	process	NOUN
fcis-7990	70	23	of	of	ADP
fcis-7990	70	24	straight	straight	ADJ
fcis-7990	70	25	driving	driving	NOUN
fcis-7990	70	26	,	,	PUNCT
fcis-7990	70	27	this	this	DET
fcis-7990	70	28	paper	paper	NOUN
fcis-7990	70	29	simulates	simulate	VERB
fcis-7990	70	30	the	the	DET
fcis-7990	70	31	linear	linear	ADJ
fcis-7990	70	32	path	path	NOUN
fcis-7990	70	33	to	to	PART
fcis-7990	70	34	track	track	VERB
fcis-7990	70	35	the	the	DET
fcis-7990	70	36	relevant	relevant	ADJ
fcis-7990	70	37	fluctuations	fluctuation	NOUN
fcis-7990	70	38	.	.	PUNCT
fcis-7990	71	1	under	under	ADP
fcis-7990	71	2	the	the	DET
fcis-7990	71	3	pid	pid	NOUN
fcis-7990	71	4	control	control	PROPN
fcis-7990	71	5	model	model	PROPN
fcis-7990	71	6	,	,	PUNCT
fcis-7990	71	7	i=0	i=0	PROPN
fcis-7990	71	8	and	and	CCONJ
fcis-7990	71	9	d=3	d=3	PROPN
fcis-7990	71	10	are	be	AUX
fcis-7990	71	11	maintained	maintain	VERB
fcis-7990	71	12	,	,	PUNCT
fcis-7990	71	13	and	and	CCONJ
fcis-7990	71	14	the	the	DET
fcis-7990	71	15	mr	mr	PROPN
fcis-7990	71	16	fluid	fluid	NOUN
fcis-7990	71	17	is	be	AUX
fcis-7990	71	18	controlled	control	VERB
fcis-7990	71	19	by	by	ADP
fcis-7990	71	20	adjusting	adjust	VERB
fcis-7990	71	21	p.	p.	NOUN
fcis-7990	71	22	according	accord	VERB
fcis-7990	71	23	to	to	ADP
fcis-7990	71	24	the	the	DET
fcis-7990	71	25	results	result	NOUN
fcis-7990	71	26	,	,	PUNCT
fcis-7990	71	27	under	under	ADP
fcis-7990	71	28	the	the	DET
fcis-7990	71	29	pid	pid	NOUN
fcis-7990	71	30	control	control	PROPN
fcis-7990	71	31	model	model	PROPN
fcis-7990	71	32	,	,	PUNCT
fcis-7990	71	33	it	it	PRON
fcis-7990	71	34	can	can	AUX
fcis-7990	71	35	well	well	ADV
fcis-7990	71	36	reduce	reduce	VERB
fcis-7990	71	37	the	the	DET
fcis-7990	71	38	overshoot	overshoot	NOUN
fcis-7990	71	39	of	of	ADP
fcis-7990	71	40	the	the	DET
fcis-7990	71	41	car	car	NOUN
fcis-7990	71	42	in	in	ADP
fcis-7990	71	43	deceleration	deceleration	NOUN
fcis-7990	71	44	swing	swing	NOUN
fcis-7990	71	45	,	,	PUNCT
fcis-7990	71	46	and	and	CCONJ
fcis-7990	71	47	can	can	AUX
fcis-7990	71	48	better	well	ADV
fcis-7990	71	49	track	track	VERB
fcis-7990	71	50	the	the	DET
fcis-7990	71	51	path	path	NOUN
fcis-7990	71	52	with	with	ADP
fcis-7990	71	53	a	a	DET
fcis-7990	71	54	straight	straight	ADJ
fcis-7990	71	55	line	line	NOUN
fcis-7990	71	56	of	of	ADP
fcis-7990	71	57	fluctuation	fluctuation	NOUN
fcis-7990	71	58	(	(	PUNCT
fcis-7990	71	59	figure	figure	NOUN
fcis-7990	71	60	8)	8)	NUM
fcis-7990	71	61	.	.	PUNCT
fcis-7990	71	62	37	37	NUM
fcis-7990	71	63	3.3	3.3	NUM
fcis-7990	71	64	.	.	PUNCT
fcis-7990	72	1	limit	limit	VERB
fcis-7990	72	2	right	right	ADJ
fcis-7990	72	3	-	-	PUNCT
fcis-7990	72	4	angle	angle	NOUN
fcis-7990	72	5	path	path	NOUN
fcis-7990	72	6	tracking	tracking	NOUN
fcis-7990	72	7	figure	figure	NOUN
fcis-7990	72	8	9	9	NUM
fcis-7990	72	9	.	.	PUNCT
fcis-7990	72	10	target	target	NOUN
fcis-7990	72	11	velocity	velocity	NOUN
fcis-7990	72	12	and	and	CCONJ
fcis-7990	72	13	tracking	track	VERB
fcis-7990	72	14	velocity	velocity	NOUN
fcis-7990	72	15	figure	figure	NOUN
fcis-7990	72	16	10	10	NUM
fcis-7990	72	17	.	.	PUNCT
fcis-7990	73	1	target	target	NOUN
fcis-7990	73	2	path	path	NOUN
fcis-7990	73	3	and	and	CCONJ
fcis-7990	73	4	tracking	tracking	NOUN
fcis-7990	73	5	path	path	NOUN
fcis-7990	73	6	in	in	ADP
fcis-7990	73	7	the	the	DET
fcis-7990	73	8	path	path	NOUN
fcis-7990	73	9	simulation	simulation	NOUN
fcis-7990	73	10	of	of	ADP
fcis-7990	73	11	limit	limit	NOUN
fcis-7990	73	12	right	right	ADJ
fcis-7990	73	13	-	-	PUNCT
fcis-7990	73	14	angle	angle	NOUN
fcis-7990	73	15	turn	turn	NOUN
fcis-7990	73	16	,	,	PUNCT
fcis-7990	73	17	pid	pid	NOUN
fcis-7990	73	18	model	model	NOUN
fcis-7990	73	19	braking	braking	NOUN
fcis-7990	73	20	control	control	NOUN
fcis-7990	73	21	is	be	AUX
fcis-7990	73	22	carried	carry	VERB
fcis-7990	73	23	out	out	ADP
fcis-7990	73	24	on	on	ADP
fcis-7990	73	25	the	the	DET
fcis-7990	73	26	car	car	NOUN
fcis-7990	73	27	by	by	ADP
fcis-7990	73	28	giving	give	VERB
fcis-7990	73	29	different	different	ADJ
fcis-7990	73	30	initial	initial	ADJ
fcis-7990	73	31	speeds	speed	NOUN
fcis-7990	73	32	to	to	ADP
fcis-7990	73	33	the	the	DET
fcis-7990	73	34	car	car	NOUN
fcis-7990	73	35	.	.	PUNCT
fcis-7990	74	1	the	the	DET
fcis-7990	74	2	results	result	NOUN
fcis-7990	74	3	show	show	VERB
fcis-7990	74	4	that	that	SCONJ
fcis-7990	74	5	the	the	DET
fcis-7990	74	6	car	car	NOUN
fcis-7990	74	7	can	can	AUX
fcis-7990	74	8	adjust	adjust	VERB
fcis-7990	74	9	its	its	PRON
fcis-7990	74	10	own	own	ADJ
fcis-7990	74	11	speed	speed	NOUN
fcis-7990	74	12	adaptively	adaptively	ADV
fcis-7990	74	13	to	to	PART
fcis-7990	74	14	plan	plan	VERB
fcis-7990	74	15	a	a	DET
fcis-7990	74	16	path	path	NOUN
fcis-7990	74	17	to	to	ADP
fcis-7990	74	18	the	the	DET
fcis-7990	74	19	final	final	ADJ
fcis-7990	74	20	point	point	NOUN
fcis-7990	74	21	(	(	PUNCT
fcis-7990	74	22	figure	figure	NOUN
fcis-7990	74	23	9	9	NUM
fcis-7990	74	24	and	and	CCONJ
fcis-7990	74	25	figure	figure	VERB
fcis-7990	74	26	10	10	NUM
fcis-7990	74	27	)	)	PUNCT
fcis-7990	74	28	.	.	PUNCT
fcis-7990	75	1	4	4	X
fcis-7990	75	2	.	.	X
fcis-7990	75	3	summarize	summarize	VERB
fcis-7990	75	4	in	in	ADP
fcis-7990	75	5	summary	summary	NOUN
fcis-7990	75	6	,	,	PUNCT
fcis-7990	75	7	by	by	ADP
fcis-7990	75	8	introducing	introduce	VERB
fcis-7990	75	9	the	the	DET
fcis-7990	75	10	design	design	NOUN
fcis-7990	75	11	theory	theory	NOUN
fcis-7990	75	12	of	of	ADP
fcis-7990	75	13	mr	mr	PROPN
fcis-7990	75	14	fluid	fluid	NOUN
fcis-7990	75	15	and	and	CCONJ
fcis-7990	75	16	correlation	correlation	NOUN
fcis-7990	75	17	analysis	analysis	NOUN
fcis-7990	75	18	,	,	PUNCT
fcis-7990	75	19	this	this	DET
fcis-7990	75	20	paper	paper	NOUN
fcis-7990	75	21	introduces	introduce	VERB
fcis-7990	75	22	the	the	DET
fcis-7990	75	23	working	work	VERB
fcis-7990	75	24	principle	principle	NOUN
fcis-7990	75	25	of	of	ADP
fcis-7990	75	26	mr	mr	PROPN
fcis-7990	75	27	fluid	fluid	NOUN
fcis-7990	75	28	,	,	PUNCT
fcis-7990	75	29	deduces	deduce	VERB
fcis-7990	75	30	the	the	DET
fcis-7990	75	31	braking	brake	VERB
fcis-7990	75	32	torque	torque	NOUN
fcis-7990	75	33	of	of	ADP
fcis-7990	75	34	mr	mr	PROPN
fcis-7990	75	35	fluid	fluid	ADJ
fcis-7990	75	36	brake	brake	NOUN
fcis-7990	75	37	,	,	PUNCT
fcis-7990	75	38	obtains	obtain	VERB
fcis-7990	75	39	the	the	DET
fcis-7990	75	40	braking	brake	VERB
fcis-7990	75	41	force	force	NOUN
fcis-7990	75	42	torque	torque	NOUN
fcis-7990	75	43	of	of	ADP
fcis-7990	75	44	front	front	ADJ
fcis-7990	75	45	and	and	CCONJ
fcis-7990	75	46	rear	rear	ADJ
fcis-7990	75	47	wheels	wheel	NOUN
fcis-7990	75	48	through	through	ADP
fcis-7990	75	49	the	the	DET
fcis-7990	75	50	vehicle	vehicle	NOUN
fcis-7990	75	51	dynamics	dynamic	NOUN
fcis-7990	75	52	model	model	NOUN
fcis-7990	75	53	,	,	PUNCT
fcis-7990	75	54	and	and	CCONJ
fcis-7990	75	55	establishes	establish	VERB
fcis-7990	75	56	a	a	DET
fcis-7990	75	57	braking	brake	VERB
fcis-7990	75	58	system	system	NOUN
fcis-7990	75	59	model	model	NOUN
fcis-7990	75	60	based	base	VERB
fcis-7990	75	61	on	on	ADP
fcis-7990	75	62	pid	pid	NOUN
fcis-7990	75	63	control	control	NOUN
fcis-7990	75	64	to	to	PART
fcis-7990	75	65	track	track	VERB
fcis-7990	75	66	the	the	DET
fcis-7990	75	67	road	road	NOUN
fcis-7990	75	68	surface	surface	NOUN
fcis-7990	75	69	without	without	ADP
fcis-7990	75	70	fluctuation	fluctuation	NOUN
fcis-7990	75	71	and	and	CCONJ
fcis-7990	75	72	the	the	DET
fcis-7990	75	73	road	road	NOUN
fcis-7990	75	74	surface	surface	NOUN
fcis-7990	75	75	with	with	ADP
fcis-7990	75	76	fluctuation	fluctuation	NOUN
fcis-7990	75	77	and	and	CCONJ
fcis-7990	75	78	the	the	DET
fcis-7990	75	79	right	right	ADJ
fcis-7990	75	80	-	-	PUNCT
fcis-7990	75	81	angle	angle	NOUN
fcis-7990	75	82	turning	turning	NOUN
fcis-7990	75	83	path	path	NOUN
fcis-7990	75	84	.	.	PUNCT
fcis-7990	76	1	it	it	PRON
fcis-7990	76	2	can	can	AUX
fcis-7990	76	3	fully	fully	ADV
fcis-7990	76	4	reduce	reduce	VERB
fcis-7990	76	5	the	the	DET
fcis-7990	76	6	overshoot	overshoot	NOUN
fcis-7990	76	7	of	of	ADP
fcis-7990	76	8	the	the	DET
fcis-7990	76	9	vehicle	vehicle	NOUN
fcis-7990	76	10	in	in	ADP
fcis-7990	76	11	the	the	DET
fcis-7990	76	12	process	process	NOUN
fcis-7990	76	13	of	of	ADP
fcis-7990	76	14	braking	brake	VERB
fcis-7990	76	15	deceleration	deceleration	NOUN
fcis-7990	76	16	,	,	PUNCT
fcis-7990	76	17	and	and	CCONJ
fcis-7990	76	18	better	well	ADJ
fcis-7990	76	19	track	track	VERB
fcis-7990	76	20	the	the	DET
fcis-7990	76	21	target	target	NOUN
fcis-7990	76	22	path	path	NOUN
fcis-7990	76	23	,	,	PUNCT
fcis-7990	76	24	thus	thus	ADV
fcis-7990	76	25	increasing	increase	VERB
fcis-7990	76	26	the	the	DET
fcis-7990	76	27	development	development	NOUN
fcis-7990	76	28	space	space	NOUN
fcis-7990	76	29	of	of	ADP
fcis-7990	76	30	the	the	DET
fcis-7990	76	31	vehicle	vehicle	NOUN
fcis-7990	76	32	driverless	driverless	NOUN
fcis-7990	76	33	.	.	PUNCT
fcis-7990	77	1	references	reference	NOUN
fcis-7990	77	2	[	[	X
fcis-7990	77	3	1	1	NUM
fcis-7990	77	4	]	]	PUNCT
fcis-7990	77	5	zhang	zhang	PROPN
fcis-7990	77	6	hequan	hequan	PROPN
fcis-7990	77	7	study	study	PROPN
fcis-7990	77	8	on	on	ADP
fcis-7990	77	9	structure	structure	NOUN
fcis-7990	77	10	optimization	optimization	NOUN
fcis-7990	77	11	and	and	CCONJ
fcis-7990	77	12	performance	performance	NOUN
fcis-7990	77	13	of	of	ADP
fcis-7990	77	14	vehicle	vehicle	NOUN
fcis-7990	77	15	magnetorheological	magnetorheological	ADJ
fcis-7990	77	16	brake[c	brake[c	NOUN
fcis-7990	77	17	]	]	PUNCT
fcis-7990	77	18	changchun	changchun	PROPN
fcis-7990	77	19	university	university	PROPN
fcis-7990	77	20	of	of	ADP
fcis-7990	77	21	technology	technology	NOUN
fcis-7990	77	22	2018	2018	NUM
fcis-7990	77	23	.	.	PUNCT
fcis-7990	78	1	[	[	X
fcis-7990	78	2	2	2	NUM
fcis-7990	78	3	]	]	ADJ
fcis-7990	78	4	songyu	songyu	ADJ
fcis-7990	78	5	structure	structure	NOUN
fcis-7990	78	6	research	research	NOUN
fcis-7990	78	7	and	and	CCONJ
fcis-7990	78	8	performance	performance	NOUN
fcis-7990	78	9	simulation	simulation	NOUN
fcis-7990	78	10	of	of	ADP
fcis-7990	78	11	mr	mr	PROPN
fcis-7990	78	12	fluid	fluid	NOUN
fcis-7990	78	13	abs	ab	NOUN
fcis-7990	78	14	brake[c	brake[c	NOUN
fcis-7990	78	15	]	]	PUNCT
fcis-7990	78	16	northeast	northeast	ADJ
fcis-7990	78	17	forestry	forestry	PROPN
fcis-7990	78	18	university	university	PROPN
fcis-7990	78	19	2011	2011	NUM
fcis-7990	78	20	.	.	PUNCT
fcis-7990	79	1	[	[	X
fcis-7990	79	2	3	3	X
fcis-7990	79	3	]	]	X
fcis-7990	79	4	ma	ma	PROPN
fcis-7990	79	5	liangxu	liangxu	PROPN
fcis-7990	79	6	research	research	PROPN
fcis-7990	79	7	and	and	CCONJ
fcis-7990	79	8	development	development	NOUN
fcis-7990	79	9	of	of	ADP
fcis-7990	79	10	magnetorheological	magnetorheological	ADJ
fcis-7990	79	11	fluid	fluid	ADJ
fcis-7990	79	12	braking	braking	NOUN
fcis-7990	79	13	system	system	NOUN
fcis-7990	79	14	for	for	ADP
fcis-7990	79	15	electric	electric	ADJ
fcis-7990	79	16	vehicle[d	vehicle[d	PROPN
fcis-7990	79	17	]	]	PUNCT
fcis-7990	79	18	tsinghua	tsinghua	PROPN
fcis-7990	79	19	university	university	PROPN
fcis-7990	79	20	2018	2018	NUM
fcis-7990	79	21	.	.	PUNCT
fcis-7990	80	1	[	[	X
fcis-7990	80	2	4	4	X
fcis-7990	80	3	]	]	PUNCT
fcis-7990	80	4	jin	jin	NOUN
fcis-7990	80	5	aili	aili	NOUN
fcis-7990	80	6	speed	speed	NOUN
fcis-7990	80	7	tracking	tracking	NOUN
fcis-7990	80	8	control	control	NOUN
fcis-7990	80	9	of	of	ADP
fcis-7990	80	10	heavy	heavy	ADJ
fcis-7990	80	11	duty	duty	NOUN
fcis-7990	80	12	train	train	NOUN
fcis-7990	80	13	based	base	VERB
fcis-7990	80	14	on	on	ADP
fcis-7990	80	15	active	active	ADJ
fcis-7990	80	16	disturbance	disturbance	NOUN
fcis-7990	80	17	rejection	rejection	NOUN
fcis-7990	80	18	control	control	NOUN
fcis-7990	81	1	[	[	X
fcis-7990	81	2	c	c	X
fcis-7990	81	3	]	]	X
fcis-7990	81	4	east	east	PROPN
fcis-7990	81	5	china	china	PROPN
fcis-7990	81	6	jiaotong	jiaotong	PROPN
fcis-7990	81	7	university	university	PROPN
fcis-7990	81	8	2021	2021	NUM
fcis-7990	81	9	.	.	PUNCT
fcis-7990	82	1	[	[	X
fcis-7990	82	2	5	5	X
fcis-7990	82	3	]	]	PUNCT
fcis-7990	82	4	chen	chen	PROPN
fcis-7990	82	5	wei	wei	PROPN
fcis-7990	82	6	research	research	PROPN
fcis-7990	82	7	on	on	ADP
fcis-7990	82	8	active	active	ADJ
fcis-7990	82	9	disturbance	disturbance	NOUN
fcis-7990	82	10	rejection	rejection	NOUN
fcis-7990	82	11	control	control	NOUN
fcis-7990	82	12	for	for	ADP
fcis-7990	82	13	two	two	NUM
fcis-7990	82	14	degrees	degree	NOUN
fcis-7990	82	15	of	of	ADP
fcis-7990	82	16	freedom	freedom	NOUN
fcis-7990	82	17	flexible	flexible	ADJ
fcis-7990	82	18	mechanisms	mechanism	NOUN
fcis-7990	82	19	[	[	X
fcis-7990	82	20	c	c	X
fcis-7990	82	21	]	]	X
fcis-7990	82	22	xidian	xidian	PROPN
fcis-7990	82	23	university	university	PROPN
fcis-7990	82	24	2014	2014	NUM
fcis-7990	82	25	.	.	PUNCT
fcis-7990	83	1	javascript	javascript	NOUN
fcis-7990	83	2	:	:	PUNCT
fcis-7990	83	3	;	;	PUNCT
fcis-7990	83	4	javascript	javascript	NOUN
fcis-7990	83	5	:	:	PUNCT
fcis-7990	83	6	;	;	PUNCT