id	sid	eid	entity	type
hjic-848	1	1	hungarian	NORP
hjic-848	1	2	47(1	TIME
hjic-848	2	1	41–48	CARDINAL
hjic-848	2	2	2019	DATE
hjic-848	2	3	10.33927	CARDINAL
hjic-848	2	4	1 1department	CARDINAL
hjic-848	2	5	budapest university of technology and economics	ORG
hjic-848	2	6	budapest	GPE
hjic-848	2	7	1111	GPE
hjic-848	2	8	hungary	GPE
hjic-848	2	9	1	CARDINAL
hjic-848	8	1	1	CARDINAL
hjic-848	8	2	the past few years	DATE
hjic-848	12	1	1–3	CARDINAL
hjic-848	13	1	1992	DATE
hjic-848	14	1	4	CARDINAL
hjic-848	14	2	1	CARDINAL
hjic-848	16	1	three	CARDINAL
hjic-848	17	1	two	CARDINAL
hjic-848	17	2	first	ORDINAL
hjic-848	17	3	two	CARDINAL
hjic-848	17	4	second	ORDINAL
hjic-848	17	5	third	ORDINAL
hjic-848	18	1	5	CARDINAL
hjic-848	18	2	four	CARDINAL
hjic-848	19	1	four	CARDINAL
hjic-848	20	1	one	CARDINAL
hjic-848	25	1	2	CARDINAL
hjic-848	25	2	2.1	CARDINAL
hjic-848	32	1	a11 a12 a21 +	ORG
hjic-848	33	1	0	CARDINAL
hjic-848	33	2	0	CARDINAL
hjic-848	33	3	1	CARDINAL
hjic-848	33	4	∈	CARDINAL
hjic-848	33	5	∈	ORG
hjic-848	33	6	aij(i	ORG
hjic-848	33	7	j = 1	PERSON
hjic-848	33	8	2	CARDINAL
hjic-848	33	9	1	CARDINAL
hjic-848	33	10	2	CARDINAL
hjic-848	34	1	6	CARDINAL
hjic-848	34	2	2	CARDINAL
hjic-848	34	3	ν	NORP
hjic-848	39	1	3	CARDINAL
hjic-848	39	2	∈	ORG
hjic-848	39	3	σ ∈	ORG
hjic-848	40	1	zero	CARDINAL
hjic-848	41	1	4	CARDINAL
hjic-848	43	1	7	CARDINAL
hjic-848	45	1	second	ORDINAL
hjic-848	45	2	1	CARDINAL
hjic-848	45	3	2	CARDINAL
hjic-848	45	4	5	CARDINAL
hjic-848	45	5	5	CARDINAL
hjic-848	46	1	ν	NORP
hjic-848	47	1	ν	NORP
hjic-848	49	1	1	CARDINAL
hjic-848	49	2	two	CARDINAL
hjic-848	50	1	1	CARDINAL
hjic-848	51	1	2	CARDINAL
hjic-848	52	1	8	CARDINAL
hjic-848	56	1	3	CARDINAL
hjic-848	56	2	3.1	CARDINAL
hjic-848	57	1	2	CARDINAL
hjic-848	65	1	3	CARDINAL
hjic-848	66	1	three	CARDINAL
hjic-848	66	2	•	CARDINAL
hjic-848	66	3	•	CARDINAL
hjic-848	66	4	•	CARDINAL
hjic-848	67	1	3	CARDINAL
hjic-848	68	1	hungarian	NORP
hjic-848	68	2	telemanipulation 43	LAW
hjic-848	68	3	4	CARDINAL
hjic-848	70	1	two	CARDINAL
hjic-848	72	1	1	CARDINAL
hjic-848	72	2	10	CARDINAL
hjic-848	73	1	1 s	CARDINAL
hjic-848	74	1	6	CARDINAL
hjic-848	74	2	+ 1	DATE
hjic-848	75	1	7	CARDINAL
hjic-848	75	2	8)	CARDINAL
hjic-848	75	3	+ ja	PERSON
hjic-848	75	4	9	CARDINAL
hjic-848	75	5	jtr2	GPE
hjic-848	77	1	10	CARDINAL
hjic-848	78	1	11	CARDINAL
hjic-848	80	1	0.1222	CARDINAL
hjic-848	81	1	80	CARDINAL
hjic-848	83	1	0.0011	CARDINAL
hjic-848	85	1	[kg m2]	PERSON
hjic-848	87	1	5	CARDINAL
hjic-848	88	1	3.2	CARDINAL
hjic-848	89	1	two	CARDINAL
hjic-848	89	2	ω	CARDINAL
hjic-848	90	1	1	CARDINAL
hjic-848	94	1	0	CARDINAL
hjic-848	94	2	12	CARDINAL
hjic-848	94	3	two	CARDINAL
hjic-848	96	1	ω	CARDINAL
hjic-848	99	1	two	CARDINAL
hjic-848	101	1	12	CARDINAL
hjic-848	101	2	bm_i	ORG
hjic-848	101	3	5	CARDINAL
hjic-848	101	4	13	CARDINAL
hjic-848	101	5	jl_i	ORG
hjic-848	101	6	bm_i	ORG
hjic-848	102	1	14	CARDINAL
hjic-848	102	2	bm_i	GPE
hjic-848	102	3	jl_i	PERSON
hjic-848	102	4	15	CARDINAL
hjic-848	102	5	= kfi	PERSON
hjic-848	102	6	jl_i	PERSON
hjic-848	102	7	16	CARDINAL
hjic-848	103	1	5	CARDINAL
hjic-848	104	1	the slidingmode compensator	ORG
hjic-848	104	2	first	ORDINAL
hjic-848	104	3	6	CARDINAL
hjic-848	107	1	3rd	ORDINAL
hjic-848	107	2	6	CARDINAL
hjic-848	109	1	41–48	CARDINAL
hjic-848	109	2	2019	CARDINAL
hjic-848	109	3	44	CARDINAL
hjic-848	109	4	5	CARDINAL
hjic-848	110	1	6	CARDINAL
hjic-848	111	1	3.3	CARDINAL
hjic-848	111	2	first	ORDINAL
hjic-848	112	1	first	ORDINAL
hjic-848	116	1	190	CARDINAL
hjic-848	116	2	60	CARDINAL
hjic-848	116	3	30	CARDINAL
hjic-848	116	4	000	CARDINAL
hjic-848	117	1	1-second-long	TIME
hjic-848	120	1	9	CARDINAL
hjic-848	120	2	about 0.2 seconds	TIME
hjic-848	122	1	o	DATE
hjic-848	122	2	io	LOC
hjic-848	122	3	7	CARDINAL
hjic-848	123	1	−0.04	NORP
hjic-848	123	2	10	CARDINAL
hjic-848	124	1	11	CARDINAL
hjic-848	125	1	3rd	ORDINAL
hjic-848	125	2	12	CARDINAL
hjic-848	126	1	3.4	CARDINAL
hjic-848	128	1	fig	GPE
hjic-848	129	1	13	CARDINAL
hjic-848	131	1	0.2 0.4 0.6 0.8 1	QUANTITY
hjic-848	132	1	35	DATE
hjic-848	132	2	o	DATE
hjic-848	132	3	io	LOC
hjic-848	132	4	8	CARDINAL
hjic-848	133	1	hungarian	NORP
hjic-848	133	2	45	CARDINAL
hjic-848	133	3	0.2 0.4 0.6 0.8 1 time	QUANTITY
hjic-848	135	1	9	CARDINAL
hjic-848	136	1	0.2 0.3 0.4 0.5 0.6 0.7	QUANTITY
hjic-848	137	1	-0.04 -0.02	MONEY
hjic-848	137	2	0.02	CARDINAL
hjic-848	137	3	0.04 0.06	QUANTITY
hjic-848	137	4	10	CARDINAL
hjic-848	138	1	0.2 0.4 0.6 0.8 1 time	QUANTITY
hjic-848	142	1	104	MONEY
hjic-848	142	2	11	CARDINAL
hjic-848	143	1	0.2 0.4 0.6 0.8 1 time	QUANTITY
hjic-848	146	1	1 2	CARDINAL
hjic-848	147	1	104	MONEY
hjic-848	147	2	12	CARDINAL
hjic-848	148	1	13	CARDINAL
hjic-848	151	1	41–48	CARDINAL
hjic-848	151	2	2019	CARDINAL
hjic-848	151	3	46	CARDINAL
hjic-848	151	4	0.5 1 1.5 2 2.5 3 time	QUANTITY
hjic-848	151	5	35	DATE
hjic-848	152	1	o	DATE
hjic-848	153	1	io	LOC
hjic-848	153	2	14	CARDINAL
hjic-848	154	1	0.5 1 1.5 2 2.5 3 time	QUANTITY
hjic-848	155	1	20 40	DATE
hjic-848	156	1	io	LOC
hjic-848	156	2	15	CARDINAL
hjic-848	157	1	16	CARDINAL
hjic-848	158	1	0.5 1 1.5 2 2.5 3 time	QUANTITY
hjic-848	159	1	0.2 0.4 0.6 0.8 1	QUANTITY
hjic-848	159	2	io	LOC
hjic-848	159	3	17	CARDINAL
hjic-848	160	1	0.5 1 1.5 2 2.5 3 time	QUANTITY
hjic-848	161	1	0.2 0.4 0.6 0.8 1 1.2 1.4 1.6	QUANTITY
hjic-848	161	2	io	LOC
hjic-848	161	3	18	CARDINAL
hjic-848	162	1	hungarian	NORP
hjic-848	162	2	47	DATE
hjic-848	163	1	19	CARDINAL
hjic-848	165	1	14	CARDINAL
hjic-848	169	1	2	CARDINAL
hjic-848	169	2	200	CARDINAL
hjic-848	169	3	0.3	CARDINAL
hjic-848	170	1	2 seconds	TIME
hjic-848	170	2	15	CARDINAL
hjic-848	172	1	2	CARDINAL
hjic-848	172	2	42	DATE
hjic-848	173	1	4	CARDINAL
hjic-848	173	2	4.1	CARDINAL
hjic-848	174	1	16	CARDINAL
hjic-848	175	1	two	CARDINAL
hjic-848	179	1	16	CARDINAL
hjic-848	180	1	17	CARDINAL
hjic-848	181	1	18	CARDINAL
hjic-848	182	1	fig.	DATE
hjic-848	183	1	19	CARDINAL
hjic-848	189	1	11	CARDINAL
hjic-848	189	2	12	CARDINAL
hjic-848	193	1	5	CARDINAL
hjic-848	198	1	1	CARDINAL
hjic-848	198	2	f.; sugiyama	PERSON
hjic-848	198	3	fukuda	ORG
hjic-848	198	4	itoigawa k.: micro tri-axial	PERSON
hjic-848	198	5	3d	CARDINAL
hjic-848	198	6	1999	DATE
hjic-848	198	7	1999 4	DATE
hjic-848	199	1	2744–2749	CARDINAL
hjic-848	199	2	0-7803-5180-0	PERCENT
hjic-848	199	3	10.1109/robot.1999.774012	MONEY
hjic-848	200	1	2	CARDINAL
hjic-848	200	2	k. y.	PERSON
hjic-848	200	3	h. s.	PERSON
hjic-848	200	4	1999	DATE
hjic-848	200	5	1999 3	DATE
hjic-848	201	1	0-7803-5180-0	PERCENT
hjic-848	201	2	10.1109/robot.1999.770357	MONEY
hjic-848	201	3	3	CARDINAL
hjic-848	201	4	n. ando	PERSON
hjic-848	201	5	m. ohta	PERSON
hjic-848	201	6	2000	DATE
hjic-848	204	1	13-18, 2000	CARDINAL
hjic-848	204	2	10.1109	CARDINAL
hjic-848	204	3	4	CARDINAL
hjic-848	204	4	yoshikawa	ORG
hjic-848	204	5	t. robotics	ORG
hjic-848	204	6	autom	GPE
hjic-848	204	7	1994	DATE
hjic-848	204	8	10(5	TIME
hjic-848	204	9	849–858	CARDINAL
hjic-848	204	10	10.1109/70.326566	CARDINAL
hjic-848	205	1	41–48	CARDINAL
hjic-848	205	2	2019	DATE
hjic-848	205	3	48	CARDINAL
hjic-848	206	1	5	CARDINAL
hjic-848	206	2	hashtrudi-zaad	ORG
hjic-848	206	3	k.	PERSON
hjic-848	206	4	salcudean	NORP
hjic-848	206	5	s. e.:	PERSON
hjic-848	207	1	j. robotics res.	ORG
hjic-848	207	2	2001 20(6	DATE
hjic-848	207	3	419–445	CARDINAL
hjic-848	207	4	10.1177/02783640122067471	CARDINAL
hjic-848	207	5	6	CARDINAL
hjic-848	207	6	k. d.	PERSON
hjic-848	207	7	37th	ORDINAL
hjic-848	207	8	new york	GPE
hjic-848	207	9	1998	DATE
hjic-848	208	1	0-7803-4394-8	PERCENT
hjic-848	208	2	10.1109	CARDINAL
hjic-848	209	1	7	CARDINAL
hjic-848	209	2	i. utkin:	PERSON
hjic-848	209	3	1992	DATE
hjic-848	209	4	978	CARDINAL
hjic-848	209	5	10.1007/978-3-642-84379	CARDINAL
hjic-848	209	6	8	CARDINAL
hjic-848	209	7	2001 6(4	DATE
hjic-848	209	8	417–427	CARDINAL
hjic-848	209	9	10.1109/3516.974855	CARDINAL
hjic-848	209	10	9	CARDINAL
hjic-848	209	11	k-k. d.	PERSON
hjic-848	209	12	1996	DATE
hjic-848	209	13	1996	DATE
hjic-848	210	1	237–242	CARDINAL
hjic-848	210	2	0-7803-3718-2	PERCENT
hjic-848	210	3	10.1109	CARDINAL
hjic-848	211	1	10	CARDINAL
hjic-848	211	2	1 degree	QUANTITY
hjic-848	211	3	2015	CARDINAL
hjic-848	211	4	11	CARDINAL
hjic-848	211	5	m.; hashimoto	PERSON
hjic-848	211	6	2000	CARDINAL
hjic-848	211	7	2000 1	DATE
hjic-848	212	1	677–682	CARDINAL
hjic-848	212	2	0-7803-6348-5	PERCENT
hjic-848	212	3	10.1109	CARDINAL
hjic-848	212	4	12	CARDINAL
hjic-848	212	5	20	CARDINAL
hjic-848	212	6	j. dyn	PERSON
hjic-848	213	1	meas.	GPE
hjic-848	213	2	2000	CARDINAL
hjic-848	213	3	122(4	TIME
hjic-848	213	4	611–615	CARDINAL
hjic-848	213	5	10.1115/1.1317232	CARDINAL
hjic-848	213	6	hungarian	NORP