id	sid	tid	token	lemma	pos
hjic-1150	1	1	hungarian	hungarian	ADJ
hjic-1150	1	2	journal	journal	NOUN
hjic-1150	1	3	of	of	ADP
hjic-1150	1	4	industry	industry	NOUN
hjic-1150	1	5	and	and	CCONJ
hjic-1150	1	6	chemistry	chemistry	NOUN
hjic-1150	1	7	vol	vol	NOUN
hjic-1150	1	8	.	.	PUNCT
hjic-1150	2	1	49(2	49(2	NUM
hjic-1150	2	2	)	)	PUNCT
hjic-1150	2	3	pp	pp	ADV
hjic-1150	2	4	.	.	PUNCT
hjic-1150	3	1	85–89	85–89	NUM
hjic-1150	3	2	(	(	PUNCT
hjic-1150	3	3	2021	2021	NUM
hjic-1150	3	4	)	)	PUNCT
hjic-1150	3	5	hjic.mk.uni-pannon.hu	hjic.mk.uni-pannon.hu	NOUN
hjic-1150	3	6	doi	doi	NOUN
hjic-1150	3	7	:	:	PUNCT
hjic-1150	3	8	10.33927	10.33927	NUM
hjic-1150	3	9	/	/	SYM
hjic-1150	3	10	hjic-2021	hjic-2021	NOUN
hjic-1150	3	11	-	-	PUNCT
hjic-1150	3	12	27	27	NUM
hjic-1150	3	13	complementary	complementary	ADJ
hjic-1150	3	14	manipulator	manipulator	NOUN
hjic-1150	3	15	tool	tool	NOUN
hjic-1150	3	16	development	development	NOUN
hjic-1150	3	17	for	for	ADP
hjic-1150	3	18	safe	safe	ADJ
hjic-1150	3	19	cobot	cobot	NOUN
hjic-1150	3	20	-	-	PUNCT
hjic-1150	3	21	assisted	assist	VERB
hjic-1150	3	22	hydroponics	hydroponic	NOUN
hjic-1150	3	23	imre	imre	PROPN
hjic-1150	3	24	paniti*1,2	paniti*1,2	ADV
hjic-1150	3	25	,	,	PUNCT
hjic-1150	3	26	jános	jános	PROPN
hjic-1150	3	27	nacsa1,2	nacsa1,2	PROPN
hjic-1150	3	28	,	,	PUNCT
hjic-1150	3	29	dávid	dávid	PROPN
hjic-1150	3	30	szűr1	szűr1	PROPN
hjic-1150	3	31	,	,	PUNCT
hjic-1150	3	32	sándor	sándor	PROPN
hjic-1150	3	33	rácz3	rácz3	PROPN
hjic-1150	3	34	,	,	PUNCT
hjic-1150	3	35	and	and	CCONJ
hjic-1150	3	36	józsef	józsef	PROPN
hjic-1150	3	37	tóth4	tóth4	PROPN
hjic-1150	3	38	1elkh	1elkh	NUM
hjic-1150	3	39	sztaki	sztaki	NOUN
hjic-1150	3	40	,	,	PUNCT
hjic-1150	3	41	centre	centre	NOUN
hjic-1150	3	42	of	of	ADP
hjic-1150	3	43	excellence	excellence	NOUN
hjic-1150	3	44	in	in	ADP
hjic-1150	3	45	production	production	NOUN
hjic-1150	3	46	informatics	informatic	NOUN
hjic-1150	3	47	and	and	CCONJ
hjic-1150	3	48	control	control	NOUN
hjic-1150	3	49	,	,	PUNCT
hjic-1150	3	50	kende	kende	PROPN
hjic-1150	3	51	u.	u.	PROPN
hjic-1150	3	52	13–17	13–17	NUM
hjic-1150	3	53	,	,	PUNCT
hjic-1150	3	54	budapest	budapest	NOUN
hjic-1150	3	55	,	,	PUNCT
hjic-1150	3	56	1111	1111	NUM
hjic-1150	3	57	,	,	PUNCT
hjic-1150	3	58	hungary	hungary	PROPN
hjic-1150	3	59	2széchenyi	2széchenyi	NUM
hjic-1150	3	60	istván	istván	NOUN
hjic-1150	3	61	egyetem	egyetem	NOUN
hjic-1150	3	62	,	,	PUNCT
hjic-1150	3	63	egyetem	egyetem	NOUN
hjic-1150	3	64	tér	tér	X
hjic-1150	3	65	1	1	NUM
hjic-1150	3	66	,	,	PUNCT
hjic-1150	3	67	győr	győr	NOUN
hjic-1150	3	68	,	,	PUNCT
hjic-1150	3	69	9026	9026	NUM
hjic-1150	3	70	,	,	PUNCT
hjic-1150	3	71	hungary	hungary	PROPN
hjic-1150	3	72	3green	3green	NUM
hjic-1150	3	73	drops	drop	VERB
hjic-1150	3	74	farm	farm	NOUN
hjic-1150	3	75	kft	kft	PROPN
hjic-1150	3	76	.	.	PUNCT
hjic-1150	3	77	,	,	PUNCT
hjic-1150	3	78	hold	hold	VERB
hjic-1150	3	79	u.	u.	PROPN
hjic-1150	3	80	56	56	NUM
hjic-1150	3	81	,	,	PUNCT
hjic-1150	3	82	debrecen	debrecen	NOUN
hjic-1150	3	83	,	,	PUNCT
hjic-1150	3	84	4034	4034	NUM
hjic-1150	3	85	,	,	PUNCT
hjic-1150	3	86	hungary	hungary	PROPN
hjic-1150	3	87	4hepenix	4hepenix	NUM
hjic-1150	3	88	kft	kft	PROPN
hjic-1150	3	89	.	.	PUNCT
hjic-1150	3	90	,	,	PUNCT
hjic-1150	3	91	petőfi	petőfi	PROPN
hjic-1150	3	92	sándor	sándor	PROPN
hjic-1150	3	93	u.	u.	PROPN
hjic-1150	3	94	39	39	NUM
hjic-1150	3	95	,	,	PUNCT
hjic-1150	3	96	diósd	diósd	NOUN
hjic-1150	3	97	,	,	PUNCT
hjic-1150	3	98	2049	2049	NUM
hjic-1150	3	99	,	,	PUNCT
hjic-1150	3	100	hungary	hungary	PROPN
hjic-1150	3	101	human	human	ADJ
hjic-1150	3	102	–	–	PUNCT
hjic-1150	3	103	robot	robot	NOUN
hjic-1150	3	104	collaboration	collaboration	NOUN
hjic-1150	3	105	is	be	AUX
hjic-1150	3	106	gaining	gain	VERB
hjic-1150	3	107	ground	ground	NOUN
hjic-1150	3	108	in	in	ADP
hjic-1150	3	109	manufacturing	manufacturing	NOUN
hjic-1150	3	110	,	,	PUNCT
hjic-1150	3	111	healthcare	healthcare	NOUN
hjic-1150	3	112	and	and	CCONJ
hjic-1150	3	113	logistics	logistic	NOUN
hjic-1150	3	114	but	but	CCONJ
hjic-1150	3	115	also	also	ADV
hjic-1150	3	116	in	in	ADP
hjic-1150	3	117	agriculture	agriculture	NOUN
hjic-1150	3	118	.	.	PUNCT
hjic-1150	4	1	different	different	ADJ
hjic-1150	4	2	types	type	NOUN
hjic-1150	4	3	of	of	ADP
hjic-1150	4	4	applications	application	NOUN
hjic-1150	4	5	in	in	ADP
hjic-1150	4	6	the	the	DET
hjic-1150	4	7	latter	latter	ADJ
hjic-1150	4	8	field	field	NOUN
hjic-1150	4	9	are	be	AUX
hjic-1150	4	10	becoming	become	VERB
hjic-1150	4	11	more	more	ADV
hjic-1150	4	12	common	common	ADJ
hjic-1150	4	13	.	.	PUNCT
hjic-1150	5	1	however	however	ADV
hjic-1150	5	2	,	,	PUNCT
hjic-1150	5	3	in	in	ADP
hjic-1150	5	4	all	all	DET
hjic-1150	5	5	scenarios	scenario	NOUN
hjic-1150	5	6	,	,	PUNCT
hjic-1150	5	7	safety	safety	NOUN
hjic-1150	5	8	assessment	assessment	NOUN
hjic-1150	5	9	and	and	CCONJ
hjic-1150	5	10	verification	verification	NOUN
hjic-1150	5	11	are	be	AUX
hjic-1150	5	12	crucial	crucial	ADJ
hjic-1150	5	13	to	to	PART
hjic-1150	5	14	cope	cope	VERB
hjic-1150	5	15	with	with	ADP
hjic-1150	5	16	the	the	DET
hjic-1150	5	17	related	relate	VERB
hjic-1150	5	18	standards	standard	NOUN
hjic-1150	5	19	and	and	CCONJ
hjic-1150	5	20	specifications	specification	NOUN
hjic-1150	5	21	.	.	PUNCT
hjic-1150	6	1	in	in	ADP
hjic-1150	6	2	this	this	DET
hjic-1150	6	3	paper	paper	NOUN
hjic-1150	6	4	,	,	PUNCT
hjic-1150	6	5	the	the	DET
hjic-1150	6	6	development	development	NOUN
hjic-1150	6	7	and	and	CCONJ
hjic-1150	6	8	safety	safety	NOUN
hjic-1150	6	9	testing	testing	NOUN
hjic-1150	6	10	of	of	ADP
hjic-1150	6	11	a	a	DET
hjic-1150	6	12	complementary	complementary	ADJ
hjic-1150	6	13	manipulator	manipulator	NOUN
hjic-1150	6	14	tool	tool	NOUN
hjic-1150	6	15	(	(	PUNCT
hjic-1150	6	16	clip	clip	PROPN
hjic-1150	6	17	)	)	PUNCT
hjic-1150	6	18	is	be	AUX
hjic-1150	6	19	presented	present	VERB
hjic-1150	6	20	which	which	PRON
hjic-1150	6	21	can	can	AUX
hjic-1150	6	22	by	by	ADP
hjic-1150	6	23	design	design	NOUN
hjic-1150	6	24	limit	limit	NOUN
hjic-1150	6	25	the	the	DET
hjic-1150	6	26	physical	physical	ADJ
hjic-1150	6	27	interaction	interaction	NOUN
hjic-1150	6	28	energy	energy	NOUN
hjic-1150	6	29	in	in	ADP
hjic-1150	6	30	a	a	DET
hjic-1150	6	31	hazardous	hazardous	ADJ
hjic-1150	6	32	collaborative	collaborative	ADJ
hjic-1150	6	33	robot	robot	NOUN
hjic-1150	6	34	(	(	PUNCT
hjic-1150	6	35	cobot	cobot	NOUN
hjic-1150	6	36	)	)	PUNCT
hjic-1150	6	37	scenario	scenario	NOUN
hjic-1150	6	38	,	,	PUNCT
hjic-1150	6	39	namely	namely	ADV
hjic-1150	6	40	when	when	SCONJ
hjic-1150	6	41	loading	load	VERB
hjic-1150	6	42	the	the	DET
hjic-1150	6	43	plant	plant	NOUN
hjic-1150	6	44	of	of	ADP
hjic-1150	6	45	a	a	DET
hjic-1150	6	46	hydroponic	hydroponic	NOUN
hjic-1150	6	47	system	system	NOUN
hjic-1150	6	48	.	.	PUNCT
hjic-1150	7	1	keywords	keyword	NOUN
hjic-1150	7	2	:	:	PUNCT
hjic-1150	7	3	hydroponics	hydroponic	NOUN
hjic-1150	7	4	,	,	PUNCT
hjic-1150	7	5	human	human	ADJ
hjic-1150	7	6	-	-	PUNCT
hjic-1150	7	7	robot	robot	NOUN
hjic-1150	7	8	collaboration	collaboration	NOUN
hjic-1150	7	9	,	,	PUNCT
hjic-1150	7	10	safety	safety	NOUN
hjic-1150	7	11	1	1	NUM
hjic-1150	7	12	.	.	PUNCT
hjic-1150	8	1	introduction	introduction	NOUN
hjic-1150	8	2	using	use	VERB
hjic-1150	8	3	robots	robot	NOUN
hjic-1150	8	4	in	in	ADP
hjic-1150	8	5	agriculture	agriculture	NOUN
hjic-1150	8	6	is	be	AUX
hjic-1150	8	7	a	a	DET
hjic-1150	8	8	rather	rather	ADV
hjic-1150	8	9	old	old	ADJ
hjic-1150	8	10	field	field	NOUN
hjic-1150	8	11	of	of	ADP
hjic-1150	8	12	interest	interest	NOUN
hjic-1150	8	13	with	with	ADP
hjic-1150	8	14	many	many	ADJ
hjic-1150	8	15	difficult	difficult	ADJ
hjic-1150	8	16	automation	automation	NOUN
hjic-1150	8	17	problems	problem	NOUN
hjic-1150	8	18	.	.	PUNCT
hjic-1150	9	1	incorporating	incorporate	VERB
hjic-1150	9	2	automation	automation	NOUN
hjic-1150	9	3	can	can	AUX
hjic-1150	9	4	help	help	VERB
hjic-1150	9	5	hydroponic	hydroponic	NOUN
hjic-1150	9	6	systems	system	NOUN
hjic-1150	9	7	become	become	VERB
hjic-1150	9	8	more	more	ADV
hjic-1150	9	9	efficient	efficient	ADJ
hjic-1150	9	10	and	and	CCONJ
hjic-1150	9	11	productive	productive	ADJ
hjic-1150	9	12	because	because	SCONJ
hjic-1150	9	13	according	accord	VERB
hjic-1150	9	14	to	to	ADP
hjic-1150	9	15	ref	ref	NOUN
hjic-1150	9	16	.	.	PUNCT
hjic-1150	10	1	[	[	X
hjic-1150	10	2	1	1	NUM
hjic-1150	10	3	]	]	X
hjic-1150	10	4	labor	labor	NOUN
hjic-1150	10	5	is	be	AUX
hjic-1150	10	6	the	the	DET
hjic-1150	10	7	biggest	big	ADJ
hjic-1150	10	8	cost	cost	NOUN
hjic-1150	10	9	in	in	ADP
hjic-1150	10	10	this	this	DET
hjic-1150	10	11	domain	domain	NOUN
hjic-1150	10	12	.	.	PUNCT
hjic-1150	11	1	in	in	ADP
hjic-1150	11	2	a	a	DET
hjic-1150	11	3	review	review	NOUN
hjic-1150	11	4	[	[	X
hjic-1150	11	5	2	2	NUM
hjic-1150	11	6	]	]	PUNCT
hjic-1150	11	7	about	about	ADP
hjic-1150	11	8	smart	smart	ADJ
hjic-1150	11	9	hydroponic	hydroponic	NOUN
hjic-1150	11	10	systems	system	NOUN
hjic-1150	11	11	,	,	PUNCT
hjic-1150	11	12	some	some	DET
hjic-1150	11	13	robotic	robotic	ADJ
hjic-1150	11	14	applications	application	NOUN
hjic-1150	11	15	were	be	AUX
hjic-1150	11	16	mentioned	mention	VERB
hjic-1150	11	17	,	,	PUNCT
hjic-1150	11	18	e.g.	e.g.	ADV
hjic-1150	11	19	harvesting	harvesting	NOUN
hjic-1150	11	20	strawberries	strawberry	NOUN
hjic-1150	11	21	and	and	CCONJ
hjic-1150	11	22	cleaning	clean	VERB
hjic-1150	11	23	greenhouses	greenhouse	NOUN
hjic-1150	11	24	.	.	PUNCT
hjic-1150	12	1	in	in	ADP
hjic-1150	12	2	the	the	DET
hjic-1150	12	3	real	real	ADJ
hjic-1150	12	4	business	business	NOUN
hjic-1150	12	5	world	world	NOUN
hjic-1150	12	6	,	,	PUNCT
hjic-1150	12	7	some	some	DET
hjic-1150	12	8	companies	company	NOUN
hjic-1150	12	9	offer	offer	VERB
hjic-1150	12	10	completely	completely	ADV
hjic-1150	12	11	robot	robot	NOUN
hjic-1150	12	12	-	-	PUNCT
hjic-1150	12	13	based	base	VERB
hjic-1150	12	14	hydroponic	hydroponic	NOUN
hjic-1150	12	15	environments	environment	NOUN
hjic-1150	12	16	,	,	PUNCT
hjic-1150	12	17	e.g.	e.g.	ADV
hjic-1150	12	18	a	a	DET
hjic-1150	12	19	start	start	VERB
hjic-1150	12	20	-	-	PUNCT
hjic-1150	12	21	up	up	NOUN
hjic-1150	12	22	called	call	VERB
hjic-1150	12	23	iron	iron	NOUN
hjic-1150	12	24	ox	ox	NOUN
hjic-1150	12	25	has	have	AUX
hjic-1150	12	26	just	just	ADV
hjic-1150	12	27	received	receive	VERB
hjic-1150	12	28	a	a	DET
hjic-1150	12	29	big	big	ADJ
hjic-1150	12	30	investment	investment	NOUN
hjic-1150	13	1	[	[	X
hjic-1150	13	2	3	3	X
hjic-1150	13	3	]	]	PUNCT
hjic-1150	13	4	for	for	ADP
hjic-1150	13	5	their	their	PRON
hjic-1150	13	6	complete	complete	ADJ
hjic-1150	13	7	hydroponic	hydroponic	NOUN
hjic-1150	13	8	farming	farming	NOUN
hjic-1150	13	9	solution	solution	NOUN
hjic-1150	13	10	.	.	PUNCT
hjic-1150	14	1	the	the	DET
hjic-1150	14	2	safety	safety	NOUN
hjic-1150	14	3	aspects	aspect	NOUN
hjic-1150	14	4	in	in	ADP
hjic-1150	14	5	indoor	indoor	ADJ
hjic-1150	14	6	farming	farming	NOUN
hjic-1150	14	7	environments	environment	NOUN
hjic-1150	14	8	were	be	AUX
hjic-1150	14	9	also	also	ADV
hjic-1150	14	10	investigated	investigate	VERB
hjic-1150	14	11	[	[	X
hjic-1150	14	12	4	4	NUM
hjic-1150	14	13	]	]	PUNCT
hjic-1150	14	14	.	.	PUNCT
hjic-1150	15	1	in	in	ADP
hjic-1150	15	2	this	this	DET
hjic-1150	15	3	paper	paper	NOUN
hjic-1150	15	4	,	,	PUNCT
hjic-1150	15	5	the	the	DET
hjic-1150	15	6	technical	technical	ADJ
hjic-1150	15	7	criteria	criterion	NOUN
hjic-1150	15	8	of	of	ADP
hjic-1150	15	9	a	a	DET
hjic-1150	15	10	cobotised	cobotise	VERB
hjic-1150	15	11	hydroponic	hydroponic	NOUN
hjic-1150	15	12	system	system	NOUN
hjic-1150	15	13	are	be	AUX
hjic-1150	15	14	presented	present	VERB
hjic-1150	15	15	alongside	alongside	ADP
hjic-1150	15	16	the	the	DET
hjic-1150	15	17	development	development	NOUN
hjic-1150	15	18	of	of	ADP
hjic-1150	15	19	a	a	DET
hjic-1150	15	20	complementary	complementary	ADJ
hjic-1150	15	21	manipulator	manipulator	NOUN
hjic-1150	15	22	tool	tool	NOUN
hjic-1150	15	23	which	which	PRON
hjic-1150	15	24	is	be	AUX
hjic-1150	15	25	finally	finally	ADV
hjic-1150	15	26	tested	test	VERB
hjic-1150	15	27	against	against	ADP
hjic-1150	15	28	a	a	DET
hjic-1150	15	29	safety	safety	NOUN
hjic-1150	15	30	protocol	protocol	NOUN
hjic-1150	15	31	.	.	PUNCT
hjic-1150	16	1	2	2	X
hjic-1150	16	2	.	.	X
hjic-1150	16	3	technical	technical	ADJ
hjic-1150	16	4	criteria	criterion	NOUN
hjic-1150	16	5	in	in	ADP
hjic-1150	16	6	order	order	NOUN
hjic-1150	16	7	to	to	PART
hjic-1150	16	8	create	create	VERB
hjic-1150	16	9	a	a	DET
hjic-1150	16	10	safe	safe	ADJ
hjic-1150	16	11	,	,	PUNCT
hjic-1150	16	12	cobotised	cobotise	VERB
hjic-1150	16	13	hydroponic	hydroponic	NOUN
hjic-1150	16	14	system	system	NOUN
hjic-1150	16	15	,	,	PUNCT
hjic-1150	16	16	the	the	DET
hjic-1150	16	17	directive	directive	NOUN
hjic-1150	16	18	2006/42	2006/42	NUM
hjic-1150	16	19	/	/	SYM
hjic-1150	16	20	ec	ec	PROPN
hjic-1150	16	21	of	of	ADP
hjic-1150	16	22	the	the	DET
hjic-1150	16	23	european	european	ADJ
hjic-1150	16	24	parliament	parliament	NOUN
hjic-1150	16	25	and	and	CCONJ
hjic-1150	16	26	of	of	ADP
hjic-1150	16	27	the	the	DET
hjic-1150	16	28	council	council	NOUN
hjic-1150	16	29	of	of	ADP
hjic-1150	16	30	17	17	NUM
hjic-1150	16	31	may	may	PROPN
hjic-1150	16	32	2006	2006	NUM
hjic-1150	16	33	on	on	ADP
hjic-1150	16	34	machinery	machinery	NOUN
hjic-1150	16	35	[	[	X
hjic-1150	16	36	5	5	NUM
hjic-1150	16	37	]	]	PUNCT
hjic-1150	16	38	,	,	PUNCT
hjic-1150	16	39	and	and	CCONJ
hjic-1150	16	40	amending	amend	VERB
hjic-1150	16	41	directive	directive	NOUN
hjic-1150	16	42	95/16	95/16	NUM
hjic-1150	16	43	/	/	SYM
hjic-1150	16	44	ec	ec	PROPN
hjic-1150	16	45	(	(	PUNCT
hjic-1150	16	46	recast	recast	VERB
hjic-1150	16	47	[	[	X
hjic-1150	16	48	6	6	NUM
hjic-1150	16	49	]	]	PUNCT
hjic-1150	16	50	needs	need	VERB
hjic-1150	16	51	to	to	PART
hjic-1150	16	52	be	be	AUX
hjic-1150	16	53	applied	apply	VERB
hjic-1150	16	54	,	,	PUNCT
hjic-1150	16	55	together	together	ADV
hjic-1150	16	56	with	with	ADP
hjic-1150	16	57	the	the	DET
hjic-1150	16	58	low	low	ADJ
hjic-1150	16	59	voltage	voltage	NOUN
hjic-1150	16	60	directive	directive	NOUN
hjic-1150	16	61	2014/35	2014/35	NUM
hjic-1150	16	62	/	/	SYM
hjic-1150	16	63	eu	eu	PROPN
hjic-1150	17	1	[	[	X
hjic-1150	17	2	7	7	X
hjic-1150	17	3	]	]	PUNCT
hjic-1150	17	4	which	which	PRON
hjic-1150	17	5	is	be	AUX
hjic-1150	17	6	applicable	applicable	ADJ
hjic-1150	17	7	from	from	ADP
hjic-1150	17	8	20th	20th	ADJ
hjic-1150	17	9	april	april	PROPN
hjic-1150	17	10	2016	2016	NUM
hjic-1150	17	11	,	,	PUNCT
hjic-1150	17	12	i.e.	i.e.	X
hjic-1150	17	13	the	the	DET
hjic-1150	17	14	council	council	NOUN
hjic-1150	17	15	directive	directive	NOUN
hjic-1150	17	16	2006/95	2006/95	NUM
hjic-1150	17	17	/	/	SYM
hjic-1150	17	18	ec	ec	PROPN
hjic-1150	17	19	of	of	ADP
hjic-1150	17	20	*	*	PROPN
hjic-1150	17	21	correspondence	correspondence	NOUN
hjic-1150	17	22	:	:	PUNCT
hjic-1150	17	23	imre.paniti@sztaki.hu	imre.paniti@sztaki.hu	PROPN
hjic-1150	17	24	12th	12th	PROPN
hjic-1150	17	25	december	december	PROPN
hjic-1150	17	26	2006	2006	NUM
hjic-1150	17	27	on	on	ADP
hjic-1150	17	28	the	the	DET
hjic-1150	17	29	electrical	electrical	ADJ
hjic-1150	17	30	equipment	equipment	NOUN
hjic-1150	17	31	designed	design	VERB
hjic-1150	17	32	for	for	ADP
hjic-1150	17	33	use	use	NOUN
hjic-1150	17	34	within	within	ADP
hjic-1150	17	35	certain	certain	ADJ
hjic-1150	17	36	voltage	voltage	NOUN
hjic-1150	17	37	limits	limit	NOUN
hjic-1150	17	38	,	,	PUNCT
hjic-1150	17	39	amended	amend	VERB
hjic-1150	17	40	by	by	ADP
hjic-1150	17	41	(	(	PUNCT
hjic-1150	17	42	93/68	93/68	NUM
hjic-1150	17	43	/	/	SYM
hjic-1150	17	44	eřf	eřf	NOUN
hjic-1150	17	45	)	)	PUNCT
hjic-1150	17	46	and	and	CCONJ
hjic-1150	17	47	the	the	DET
hjic-1150	17	48	emc	emc	PROPN
hjic-1150	17	49	directive	directive	NOUN
hjic-1150	17	50	(	(	PUNCT
hjic-1150	17	51	2014/30eu	2014/30eu	NUM
hjic-1150	18	1	[	[	X
hjic-1150	18	2	8	8	NUM
hjic-1150	18	3	]	]	PUNCT
hjic-1150	18	4	applicable	applicable	ADJ
hjic-1150	18	5	from	from	ADP
hjic-1150	18	6	20th	20th	ADJ
hjic-1150	18	7	april	april	PROPN
hjic-1150	18	8	2016	2016	NUM
hjic-1150	18	9	)	)	PUNCT
hjic-1150	18	10	,	,	PUNCT
hjic-1150	18	11	that	that	ADV
hjic-1150	18	12	is	is	ADV
hjic-1150	18	13	,	,	PUNCT
hjic-1150	18	14	the	the	DET
hjic-1150	18	15	council	council	NOUN
hjic-1150	18	16	directive	directive	NOUN
hjic-1150	18	17	2004/108	2004/108	NUM
hjic-1150	18	18	/	/	SYM
hjic-1150	18	19	ec	ec	PROPN
hjic-1150	18	20	of	of	ADP
hjic-1150	18	21	15th	15th	ADJ
hjic-1150	18	22	december	december	PROPN
hjic-1150	18	23	2004	2004	NUM
hjic-1150	18	24	on	on	ADP
hjic-1150	18	25	the	the	DET
hjic-1150	18	26	approximation	approximation	NOUN
hjic-1150	18	27	of	of	ADP
hjic-1150	18	28	the	the	DET
hjic-1150	18	29	laws	law	NOUN
hjic-1150	18	30	of	of	ADP
hjic-1150	18	31	the	the	DET
hjic-1150	18	32	member	member	NOUN
hjic-1150	18	33	states	state	NOUN
hjic-1150	18	34	relating	relate	VERB
hjic-1150	18	35	to	to	ADP
hjic-1150	18	36	electromagnetic	electromagnetic	ADJ
hjic-1150	18	37	compatibility	compatibility	NOUN
hjic-1150	18	38	.	.	PUNCT
hjic-1150	19	1	furthermore	furthermore	ADV
hjic-1150	19	2	,	,	PUNCT
hjic-1150	19	3	although	although	SCONJ
hjic-1150	19	4	a	a	DET
hjic-1150	19	5	large	large	ADJ
hjic-1150	19	6	number	number	NOUN
hjic-1150	19	7	of	of	ADP
hjic-1150	19	8	initially	initially	ADV
hjic-1150	19	9	considered	consider	VERB
hjic-1150	19	10	harmonized	harmonized	ADJ
hjic-1150	19	11	standards	standard	NOUN
hjic-1150	19	12	are	be	AUX
hjic-1150	19	13	present	present	ADJ
hjic-1150	19	14	,	,	PUNCT
hjic-1150	19	15	the	the	DET
hjic-1150	19	16	main	main	ADJ
hjic-1150	19	17	relevant	relevant	ADJ
hjic-1150	19	18	ones	one	NOUN
hjic-1150	19	19	are	be	AUX
hjic-1150	19	20	the	the	DET
hjic-1150	19	21	following	follow	VERB
hjic-1150	19	22	:	:	PUNCT
hjic-1150	19	23	•	•	NUM
hjic-1150	19	24	iso	iso	NOUN
hjic-1150	19	25	13855:2010	13855:2010	NUM
hjic-1150	19	26	[	[	X
hjic-1150	19	27	9	9	NUM
hjic-1150	19	28	]	]	SYM
hjic-1150	19	29	safety	safety	NOUN
hjic-1150	19	30	of	of	ADP
hjic-1150	19	31	machinery	machinery	NOUN
hjic-1150	19	32	.	.	PUNCT
hjic-1150	20	1	positioning	positioning	NOUN
hjic-1150	20	2	of	of	ADP
hjic-1150	20	3	safeguards	safeguard	NOUN
hjic-1150	20	4	with	with	ADP
hjic-1150	20	5	respect	respect	NOUN
hjic-1150	20	6	to	to	ADP
hjic-1150	20	7	the	the	DET
hjic-1150	20	8	approach	approach	NOUN
hjic-1150	20	9	speeds	speed	NOUN
hjic-1150	20	10	of	of	ADP
hjic-1150	20	11	parts	part	NOUN
hjic-1150	20	12	of	of	ADP
hjic-1150	20	13	the	the	DET
hjic-1150	20	14	human	human	ADJ
hjic-1150	20	15	body	body	NOUN
hjic-1150	20	16	.	.	PUNCT
hjic-1150	21	1	•	•	NUM
hjic-1150	21	2	en	en	ADP
hjic-1150	21	3	547	547	NUM
hjic-1150	21	4	-	-	SYM
hjic-1150	21	5	3:2009	3:2009	NUM
hjic-1150	21	6	[	[	X
hjic-1150	21	7	10	10	NUM
hjic-1150	21	8	]	]	SYM
hjic-1150	21	9	safety	safety	NOUN
hjic-1150	21	10	of	of	ADP
hjic-1150	21	11	machinery	machinery	NOUN
hjic-1150	21	12	.	.	PUNCT
hjic-1150	22	1	human	human	ADJ
hjic-1150	22	2	body	body	NOUN
hjic-1150	22	3	measurements	measurement	NOUN
hjic-1150	22	4	.	.	PUNCT
hjic-1150	23	1	•	•	NUM
hjic-1150	23	2	iso	iso	NOUN
hjic-1150	23	3	14123	14123	NUM
hjic-1150	23	4	-	-	SYM
hjic-1150	23	5	1:2015	1:2015	NUM
hjic-1150	24	1	[	[	X
hjic-1150	24	2	11	11	NUM
hjic-1150	24	3	]	]	SYM
hjic-1150	24	4	safety	safety	NOUN
hjic-1150	24	5	of	of	ADP
hjic-1150	24	6	machinery	machinery	NOUN
hjic-1150	24	7	reduction	reduction	NOUN
hjic-1150	24	8	of	of	ADP
hjic-1150	24	9	risks	risk	NOUN
hjic-1150	24	10	to	to	ADP
hjic-1150	24	11	health	health	NOUN
hjic-1150	24	12	from	from	ADP
hjic-1150	24	13	hazardous	hazardous	ADJ
hjic-1150	24	14	substances	substance	NOUN
hjic-1150	24	15	emitted	emit	VERB
hjic-1150	24	16	by	by	ADP
hjic-1150	24	17	machinery	machinery	NOUN
hjic-1150	24	18	part	part	NOUN
hjic-1150	24	19	1	1	NUM
hjic-1150	24	20	:	:	PUNCT
hjic-1150	24	21	principles	principle	NOUN
hjic-1150	24	22	and	and	CCONJ
hjic-1150	24	23	specifications	specification	NOUN
hjic-1150	24	24	for	for	ADP
hjic-1150	24	25	machinery	machinery	NOUN
hjic-1150	24	26	manufacturers	manufacturer	NOUN
hjic-1150	24	27	.	.	PUNCT
hjic-1150	25	1	•	•	NUM
hjic-1150	25	2	en	en	ADP
hjic-1150	25	3	1005	1005	NUM
hjic-1150	25	4	-	-	SYM
hjic-1150	25	5	1:2001+a1:2008	1:2001+a1:2008	NUM
hjic-1150	26	1	[	[	X
hjic-1150	26	2	12	12	NUM
hjic-1150	26	3	]	]	SYM
hjic-1150	26	4	safety	safety	NOUN
hjic-1150	26	5	of	of	ADP
hjic-1150	26	6	machinery	machinery	NOUN
hjic-1150	26	7	human	human	PROPN
hjic-1150	26	8	physical	physical	ADJ
hjic-1150	26	9	performance	performance	NOUN
hjic-1150	26	10	part	part	NOUN
hjic-1150	26	11	1	1	NUM
hjic-1150	26	12	:	:	PUNCT
hjic-1150	26	13	terms	term	NOUN
hjic-1150	26	14	and	and	CCONJ
hjic-1150	26	15	definitions	definition	NOUN
hjic-1150	26	16	.	.	PUNCT
hjic-1150	27	1	•	•	NUM
hjic-1150	27	2	en	en	ADP
hjic-1150	27	3	1005	1005	NUM
hjic-1150	27	4	-	-	SYM
hjic-1150	27	5	3:2002+a1:2008	3:2002+a1:2008	NUM
hjic-1150	27	6	[	[	X
hjic-1150	27	7	13	13	NUM
hjic-1150	27	8	]	]	SYM
hjic-1150	27	9	safety	safety	NOUN
hjic-1150	27	10	of	of	ADP
hjic-1150	27	11	machinery	machinery	NOUN
hjic-1150	27	12	human	human	PROPN
hjic-1150	27	13	physical	physical	ADJ
hjic-1150	27	14	performance	performance	NOUN
hjic-1150	27	15	part	part	NOUN
hjic-1150	27	16	3	3	NUM
hjic-1150	27	17	:	:	PUNCT
hjic-1150	27	18	recommended	recommend	VERB
hjic-1150	27	19	force	force	NOUN
hjic-1150	27	20	limits	limit	NOUN
hjic-1150	27	21	for	for	ADP
hjic-1150	27	22	machinery	machinery	NOUN
hjic-1150	27	23	operation	operation	NOUN
hjic-1150	27	24	.	.	PUNCT
hjic-1150	28	1	•	•	NUM
hjic-1150	28	2	iso	iso	PROPN
hjic-1150	28	3	10218	10218	NUM
hjic-1150	28	4	-	-	SYM
hjic-1150	28	5	1:2011	1:2011	NUM
hjic-1150	28	6	[	[	X
hjic-1150	28	7	14	14	NUM
hjic-1150	28	8	]	]	PUNCT
hjic-1150	28	9	robots	robot	NOUN
hjic-1150	28	10	and	and	CCONJ
hjic-1150	28	11	robotic	robotic	ADJ
hjic-1150	28	12	devices	device	NOUN
hjic-1150	28	13	.	.	PUNCT
hjic-1150	29	1	safety	safety	NOUN
hjic-1150	29	2	requirements	requirement	NOUN
hjic-1150	29	3	for	for	ADP
hjic-1150	29	4	industrial	industrial	ADJ
hjic-1150	29	5	robots	robot	NOUN
hjic-1150	29	6	.	.	PUNCT
hjic-1150	30	1	https://doi.org/10.33927/hjic-2021-27	https://doi.org/10.33927/hjic-2021-27	PROPN
hjic-1150	30	2	mailto:imre.paniti@sztaki.hu	mailto:imre.paniti@sztaki.hu	PROPN
hjic-1150	30	3	86	86	NUM
hjic-1150	30	4	paniti	paniti	NOUN
hjic-1150	30	5	,	,	PUNCT
hjic-1150	30	6	nacsa	nacsa	ADJ
hjic-1150	30	7	,	,	PUNCT
hjic-1150	30	8	szűr	szűr	NOUN
hjic-1150	30	9	,	,	PUNCT
hjic-1150	30	10	rácz	rácz	NOUN
hjic-1150	30	11	,	,	PUNCT
hjic-1150	30	12	and	and	CCONJ
hjic-1150	30	13	tóth	tóth	NOUN
hjic-1150	30	14	figure	figure	NOUN
hjic-1150	30	15	1	1	NUM
hjic-1150	30	16	:	:	PUNCT
hjic-1150	30	17	set	set	NOUN
hjic-1150	30	18	-	-	PUNCT
hjic-1150	30	19	up	up	NOUN
hjic-1150	30	20	of	of	ADP
hjic-1150	30	21	the	the	DET
hjic-1150	30	22	cobotised	cobotise	VERB
hjic-1150	30	23	hydroponic	hydroponic	NOUN
hjic-1150	30	24	system	system	NOUN
hjic-1150	30	25	with	with	ADP
hjic-1150	30	26	3	3	NUM
hjic-1150	30	27	zones	zone	NOUN
hjic-1150	30	28	.	.	PUNCT
hjic-1150	31	1	figure	figure	NOUN
hjic-1150	31	2	2	2	NUM
hjic-1150	31	3	:	:	PUNCT
hjic-1150	31	4	hydro	hydro	NOUN
hjic-1150	31	5	pot	pot	NOUN
hjic-1150	31	6	.	.	PUNCT
hjic-1150	32	1	•	•	NUM
hjic-1150	32	2	iso	iso	PROPN
hjic-1150	32	3	3691	3691	NUM
hjic-1150	32	4	-	-	SYM
hjic-1150	32	5	4:2020	4:2020	X
hjic-1150	33	1	[	[	X
hjic-1150	33	2	15	15	NUM
hjic-1150	33	3	]	]	X
hjic-1150	33	4	industrial	industrial	ADJ
hjic-1150	33	5	trucks	truck	NOUN
hjic-1150	33	6	.	.	PUNCT
hjic-1150	34	1	safety	safety	NOUN
hjic-1150	34	2	requirements	requirement	NOUN
hjic-1150	34	3	and	and	CCONJ
hjic-1150	34	4	verification	verification	NOUN
hjic-1150	34	5	part	part	NOUN
hjic-1150	34	6	4	4	NUM
hjic-1150	34	7	:	:	PUNCT
hjic-1150	34	8	driverless	driverless	ADJ
hjic-1150	34	9	industrial	industrial	ADJ
hjic-1150	34	10	trucks	truck	NOUN
hjic-1150	34	11	and	and	CCONJ
hjic-1150	34	12	their	their	PRON
hjic-1150	34	13	systems	system	NOUN
hjic-1150	34	14	.	.	PUNCT
hjic-1150	35	1	•	•	NUM
hjic-1150	35	2	iec	iec	NOUN
hjic-1150	35	3	61508	61508	NUM
hjic-1150	35	4	-	-	SYM
hjic-1150	35	5	3:2010	3:2010	NUM
hjic-1150	36	1	[	[	X
hjic-1150	36	2	16	16	NUM
hjic-1150	36	3	]	]	X
hjic-1150	36	4	functional	functional	ADJ
hjic-1150	36	5	safety	safety	NOUN
hjic-1150	36	6	of	of	ADP
hjic-1150	36	7	electrical	electrical	ADJ
hjic-1150	36	8	/	/	SYM
hjic-1150	36	9	electronic	electronic	ADJ
hjic-1150	36	10	/	/	SYM
hjic-1150	36	11	programmable	programmable	ADJ
hjic-1150	36	12	electronic	electronic	ADJ
hjic-1150	36	13	safetyrelated	safetyrelate	VERB
hjic-1150	36	14	systems	system	NOUN
hjic-1150	36	15	part	part	NOUN
hjic-1150	36	16	3	3	NUM
hjic-1150	36	17	:	:	PUNCT
hjic-1150	36	18	software	software	NOUN
hjic-1150	36	19	requirements	requirement	NOUN
hjic-1150	36	20	.	.	PUNCT
hjic-1150	37	1	•	•	NUM
hjic-1150	37	2	sist	sist	VERB
hjic-1150	37	3	en	en	ADP
hjic-1150	37	4	61508	61508	NUM
hjic-1150	37	5	-	-	SYM
hjic-1150	37	6	5:2011	5:2011	NUM
hjic-1150	37	7	[	[	X
hjic-1150	37	8	17	17	NUM
hjic-1150	37	9	]	]	X
hjic-1150	37	10	functional	functional	ADJ
hjic-1150	37	11	safety	safety	NOUN
hjic-1150	37	12	of	of	ADP
hjic-1150	37	13	electrical	electrical	ADJ
hjic-1150	37	14	/	/	SYM
hjic-1150	37	15	electronic	electronic	ADJ
hjic-1150	37	16	/	/	SYM
hjic-1150	37	17	programmable	programmable	ADJ
hjic-1150	37	18	electronic	electronic	ADJ
hjic-1150	37	19	safety	safety	NOUN
hjic-1150	37	20	-	-	PUNCT
hjic-1150	37	21	related	relate	VERB
hjic-1150	37	22	systems	system	NOUN
hjic-1150	37	23	part	part	NOUN
hjic-1150	37	24	5	5	NUM
hjic-1150	37	25	:	:	PUNCT
hjic-1150	37	26	examples	example	NOUN
hjic-1150	37	27	of	of	ADP
hjic-1150	37	28	methods	method	NOUN
hjic-1150	37	29	for	for	ADP
hjic-1150	37	30	the	the	DET
hjic-1150	37	31	determination	determination	NOUN
hjic-1150	37	32	of	of	ADP
hjic-1150	37	33	safety	safety	NOUN
hjic-1150	37	34	integrity	integrity	NOUN
hjic-1150	37	35	levels	level	NOUN
hjic-1150	37	36	.	.	PUNCT
hjic-1150	38	1	the	the	DET
hjic-1150	38	2	technical	technical	PROPN
hjic-1150	38	3	specification	specification	NOUN
hjic-1150	38	4	,	,	PUNCT
hjic-1150	38	5	iso	iso	NOUN
hjic-1150	38	6	/	/	SYM
hjic-1150	38	7	ts	ts	ADP
hjic-1150	38	8	15066:2016	15066:2016	NUM
hjic-1150	39	1	[	[	X
hjic-1150	39	2	18	18	NUM
hjic-1150	39	3	]	]	PUNCT
hjic-1150	39	4	robots	robot	NOUN
hjic-1150	39	5	and	and	CCONJ
hjic-1150	39	6	robotic	robotic	ADJ
hjic-1150	39	7	devices	device	NOUN
hjic-1150	39	8	collaborative	collaborative	ADJ
hjic-1150	39	9	robots	robot	NOUN
hjic-1150	39	10	,	,	PUNCT
hjic-1150	39	11	should	should	AUX
hjic-1150	39	12	also	also	ADV
hjic-1150	39	13	be	be	AUX
hjic-1150	39	14	taken	take	VERB
hjic-1150	39	15	into	into	ADP
hjic-1150	39	16	consideration	consideration	NOUN
hjic-1150	39	17	.	.	PUNCT
hjic-1150	40	1	these	these	DET
hjic-1150	40	2	directives	directive	NOUN
hjic-1150	40	3	and	and	CCONJ
hjic-1150	40	4	standards	standard	NOUN
hjic-1150	40	5	were	be	AUX
hjic-1150	40	6	necessary	necessary	ADJ
hjic-1150	40	7	because	because	SCONJ
hjic-1150	40	8	the	the	DET
hjic-1150	40	9	cobotised	cobotise	VERB
hjic-1150	40	10	hydroponic	hydroponic	NOUN
hjic-1150	40	11	system	system	NOUN
hjic-1150	40	12	consists	consist	VERB
hjic-1150	40	13	of	of	ADP
hjic-1150	40	14	an	an	DET
hjic-1150	40	15	ur5	ur5	ADJ
hjic-1150	40	16	cobot	cobot	NOUN
hjic-1150	40	17	arm	arm	NOUN
hjic-1150	40	18	mounted	mount	VERB
hjic-1150	40	19	on	on	ADP
hjic-1150	40	20	an	an	DET
hjic-1150	40	21	automated	automate	VERB
hjic-1150	40	22	ground	ground	NOUN
hjic-1150	40	23	vehicle	vehicle	NOUN
hjic-1150	40	24	(	(	PUNCT
hjic-1150	40	25	agv	agv	NOUN
hjic-1150	40	26	)	)	PUNCT
hjic-1150	40	27	which	which	PRON
hjic-1150	40	28	is	be	AUX
hjic-1150	40	29	docked	dock	VERB
hjic-1150	40	30	to	to	ADP
hjic-1150	40	31	the	the	DET
hjic-1150	40	32	hydroponic	hydroponic	NOUN
hjic-1150	40	33	growing	grow	VERB
hjic-1150	40	34	tower	tower	NOUN
hjic-1150	40	35	with	with	ADP
hjic-1150	40	36	an	an	DET
hjic-1150	40	37	electric	electric	ADJ
hjic-1150	40	38	pump	pump	NOUN
hjic-1150	40	39	(	(	PUNCT
hjic-1150	40	40	see	see	VERB
hjic-1150	40	41	fig	fig	NOUN
hjic-1150	40	42	.	.	PUNCT
hjic-1150	41	1	1	1	NUM
hjic-1150	41	2	)	)	PUNCT
hjic-1150	41	3	.	.	PUNCT
hjic-1150	42	1	based	base	VERB
hjic-1150	42	2	on	on	ADP
hjic-1150	42	3	the	the	DET
hjic-1150	42	4	set	set	NOUN
hjic-1150	42	5	-	-	PUNCT
hjic-1150	42	6	up	up	NOUN
hjic-1150	42	7	,	,	PUNCT
hjic-1150	42	8	3	3	NUM
hjic-1150	42	9	hazard	hazard	NOUN
hjic-1150	42	10	zones	zone	NOUN
hjic-1150	42	11	were	be	AUX
hjic-1150	42	12	defined	define	VERB
hjic-1150	42	13	:	:	PUNCT
hjic-1150	42	14	•	•	NUM
hjic-1150	42	15	zone	zone	NOUN
hjic-1150	42	16	1	1	NUM
hjic-1150	42	17	:	:	PUNCT
hjic-1150	42	18	primary	primary	ADJ
hjic-1150	42	19	process	process	NOUN
hjic-1150	42	20	area	area	NOUN
hjic-1150	42	21	•	•	NOUN
hjic-1150	42	22	zone	zone	NOUN
hjic-1150	42	23	2	2	NUM
hjic-1150	42	24	:	:	PUNCT
hjic-1150	42	25	secondary	secondary	ADJ
hjic-1150	42	26	process	process	NOUN
hjic-1150	42	27	area	area	NOUN
hjic-1150	42	28	•	•	NOUN
hjic-1150	42	29	zone	zone	NOUN
hjic-1150	42	30	3	3	NUM
hjic-1150	42	31	:	:	PUNCT
hjic-1150	42	32	surrounding	surround	VERB
hjic-1150	42	33	equipment	equipment	NOUN
hjic-1150	42	34	figure	figure	NOUN
hjic-1150	42	35	3	3	NUM
hjic-1150	42	36	:	:	PUNCT
hjic-1150	42	37	plant	plant	NOUN
hjic-1150	42	38	roots	root	NOUN
hjic-1150	42	39	in	in	ADP
hjic-1150	42	40	the	the	DET
hjic-1150	42	41	hydro	hydro	NOUN
hjic-1150	42	42	pot	pot	NOUN
hjic-1150	42	43	.	.	PUNCT
hjic-1150	43	1	3	3	X
hjic-1150	43	2	.	.	X
hjic-1150	43	3	risk	risk	NOUN
hjic-1150	43	4	assessment	assessment	NOUN
hjic-1150	43	5	the	the	DET
hjic-1150	43	6	risk	risk	NOUN
hjic-1150	43	7	analysis	analysis	NOUN
hjic-1150	43	8	was	be	AUX
hjic-1150	43	9	carried	carry	VERB
hjic-1150	43	10	out	out	ADP
hjic-1150	43	11	for	for	ADP
hjic-1150	43	12	zone	zone	NOUN
hjic-1150	43	13	1	1	NUM
hjic-1150	43	14	according	accord	VERB
hjic-1150	43	15	to	to	ADP
hjic-1150	43	16	a	a	DET
hjic-1150	43	17	normal	normal	ADJ
hjic-1150	43	18	methodology	methodology	NOUN
hjic-1150	43	19	,	,	PUNCT
hjic-1150	43	20	following	follow	VERB
hjic-1150	43	21	the	the	DET
hjic-1150	43	22	steps	step	NOUN
hjic-1150	43	23	of	of	ADP
hjic-1150	43	24	the	the	DET
hjic-1150	43	25	iso	iso	NOUN
hjic-1150	43	26	12100:2010	12100:2010	PROPN
hjic-1150	43	27	standard	standard	NOUN
hjic-1150	43	28	[	[	X
hjic-1150	43	29	19	19	NUM
hjic-1150	43	30	]	]	PUNCT
hjic-1150	43	31	.	.	PUNCT
hjic-1150	44	1	after	after	ADP
hjic-1150	44	2	recognizing	recognize	VERB
hjic-1150	44	3	the	the	DET
hjic-1150	44	4	hazards	hazard	NOUN
hjic-1150	44	5	and	and	CCONJ
hjic-1150	44	6	the	the	DET
hjic-1150	44	7	injuries	injury	NOUN
hjic-1150	44	8	,	,	PUNCT
hjic-1150	44	9	a	a	DET
hjic-1150	44	10	risk	risk	NOUN
hjic-1150	44	11	graph	graph	NOUN
hjic-1150	44	12	had	have	VERB
hjic-1150	44	13	to	to	PART
hjic-1150	44	14	be	be	AUX
hjic-1150	44	15	categorized	categorize	VERB
hjic-1150	44	16	based	base	VERB
hjic-1150	44	17	on	on	ADP
hjic-1150	44	18	iso	iso	PROPN
hjic-1150	44	19	13849	13849	NUM
hjic-1150	44	20	-	-	SYM
hjic-1150	44	21	1:2015	1:2015	NUM
hjic-1150	45	1	[	[	X
hjic-1150	45	2	20	20	NUM
hjic-1150	45	3	]	]	PUNCT
hjic-1150	45	4	.	.	PUNCT
hjic-1150	46	1	as	as	ADP
hjic-1150	46	2	a	a	DET
hjic-1150	46	3	result	result	NOUN
hjic-1150	46	4	of	of	ADP
hjic-1150	46	5	the	the	DET
hjic-1150	46	6	categorization	categorization	NOUN
hjic-1150	46	7	,	,	PUNCT
hjic-1150	46	8	the	the	DET
hjic-1150	46	9	risk	risk	NOUN
hjic-1150	46	10	level	level	NOUN
hjic-1150	46	11	of	of	ADP
hjic-1150	46	12	each	each	DET
hjic-1150	46	13	hazard	hazard	NOUN
hjic-1150	46	14	could	could	AUX
hjic-1150	46	15	be	be	AUX
hjic-1150	46	16	calculated	calculate	VERB
hjic-1150	46	17	.	.	PUNCT
hjic-1150	47	1	the	the	DET
hjic-1150	47	2	risk	risk	NOUN
hjic-1150	47	3	level	level	NOUN
hjic-1150	47	4	of	of	ADP
hjic-1150	47	5	each	each	DET
hjic-1150	47	6	hazard	hazard	NOUN
hjic-1150	47	7	was	be	AUX
hjic-1150	47	8	calculated	calculate	VERB
hjic-1150	47	9	using	use	VERB
hjic-1150	47	10	the	the	DET
hjic-1150	47	11	worst	bad	ADJ
hjic-1150	47	12	result	result	NOUN
hjic-1150	47	13	.	.	PUNCT
hjic-1150	48	1	as	as	SCONJ
hjic-1150	48	2	the	the	DET
hjic-1150	48	3	cobot	cobot	NOUN
hjic-1150	48	4	arm	arm	NOUN
hjic-1150	48	5	is	be	AUX
hjic-1150	48	6	equipped	equip	VERB
hjic-1150	48	7	with	with	ADP
hjic-1150	48	8	a	a	DET
hjic-1150	48	9	two	two	NUM
hjic-1150	48	10	-	-	PUNCT
hjic-1150	48	11	finger	finger	NOUN
hjic-1150	48	12	gripper	gripper	NOUN
hjic-1150	48	13	and	and	CCONJ
hjic-1150	48	14	is	be	AUX
hjic-1150	48	15	responsible	responsible	ADJ
hjic-1150	48	16	for	for	ADP
hjic-1150	48	17	loading	load	VERB
hjic-1150	48	18	the	the	DET
hjic-1150	48	19	seedlings	seedling	NOUN
hjic-1150	48	20	,	,	PUNCT
hjic-1150	48	21	this	this	PRON
hjic-1150	48	22	is	be	AUX
hjic-1150	48	23	one	one	NUM
hjic-1150	48	24	of	of	ADP
hjic-1150	48	25	the	the	DET
hjic-1150	48	26	crucial	crucial	ADJ
hjic-1150	48	27	elements	element	NOUN
hjic-1150	48	28	of	of	ADP
hjic-1150	48	29	the	the	DET
hjic-1150	48	30	system	system	NOUN
hjic-1150	48	31	in	in	ADP
hjic-1150	48	32	terms	term	NOUN
hjic-1150	48	33	of	of	ADP
hjic-1150	48	34	safety	safety	NOUN
hjic-1150	48	35	.	.	PUNCT
hjic-1150	49	1	special	special	ADJ
hjic-1150	49	2	care	care	NOUN
hjic-1150	49	3	needs	need	VERB
hjic-1150	49	4	to	to	PART
hjic-1150	49	5	be	be	AUX
hjic-1150	49	6	taken	take	VERB
hjic-1150	49	7	when	when	SCONJ
hjic-1150	49	8	manipulating	manipulate	VERB
hjic-1150	49	9	the	the	DET
hjic-1150	49	10	plants	plant	NOUN
hjic-1150	49	11	as	as	ADP
hjic-1150	49	12	on	on	ADP
hjic-1150	49	13	the	the	DET
hjic-1150	49	14	one	one	NUM
hjic-1150	49	15	hand	hand	NOUN
hjic-1150	49	16	,	,	PUNCT
hjic-1150	49	17	damage	damage	NOUN
hjic-1150	49	18	to	to	ADP
hjic-1150	49	19	the	the	DET
hjic-1150	49	20	crops	crop	NOUN
hjic-1150	49	21	,	,	PUNCT
hjic-1150	49	22	leaves	leave	NOUN
hjic-1150	49	23	and	and	CCONJ
hjic-1150	49	24	roots	root	NOUN
hjic-1150	49	25	should	should	AUX
hjic-1150	49	26	be	be	AUX
hjic-1150	49	27	avoided	avoid	VERB
hjic-1150	49	28	,	,	PUNCT
hjic-1150	49	29	but	but	CCONJ
hjic-1150	49	30	on	on	ADP
hjic-1150	49	31	the	the	DET
hjic-1150	49	32	other	other	ADJ
hjic-1150	49	33	hand	hand	NOUN
hjic-1150	49	34	an	an	DET
hjic-1150	49	35	unintended	unintended	ADJ
hjic-1150	49	36	collision	collision	NOUN
hjic-1150	49	37	with	with	ADP
hjic-1150	49	38	a	a	DET
hjic-1150	49	39	plant	plant	NOUN
hjic-1150	49	40	carrier	carrier	NOUN
hjic-1150	49	41	should	should	AUX
hjic-1150	49	42	not	not	PART
hjic-1150	49	43	exceed	exceed	VERB
hjic-1150	49	44	the	the	DET
hjic-1150	49	45	biomechanical	biomechanical	ADJ
hjic-1150	49	46	threshold	threshold	NOUN
hjic-1150	49	47	values	value	NOUN
hjic-1150	49	48	defined	define	VERB
hjic-1150	49	49	in	in	ADP
hjic-1150	49	50	ref	ref	NOUN
hjic-1150	49	51	.	.	PUNCT
hjic-1150	50	1	[	[	X
hjic-1150	50	2	18	18	NUM
hjic-1150	50	3	]	]	PUNCT
hjic-1150	50	4	.	.	PUNCT
hjic-1150	51	1	4	4	X
hjic-1150	51	2	.	.	X
hjic-1150	51	3	clip	clip	PROPN
hjic-1150	51	4	development	development	PROPN
hjic-1150	51	5	green	green	PROPN
hjic-1150	51	6	drops	drop	VERB
hjic-1150	51	7	farm	farm	NOUN
hjic-1150	51	8	kft	kft	PROPN
hjic-1150	51	9	.	.	PUNCT
hjic-1150	52	1	developed	develop	VERB
hjic-1150	52	2	its	its	PRON
hjic-1150	52	3	hydroponic	hydroponic	NOUN
hjic-1150	52	4	system	system	NOUN
hjic-1150	52	5	using	use	VERB
hjic-1150	52	6	a	a	DET
hjic-1150	52	7	commercially	commercially	ADV
hjic-1150	52	8	available	available	ADJ
hjic-1150	52	9	product	product	NOUN
hjic-1150	52	10	called	call	VERB
hjic-1150	52	11	a	a	DET
hjic-1150	52	12	hydro	hydro	NOUN
hjic-1150	52	13	pot	pot	NOUN
hjic-1150	52	14	(	(	PUNCT
hjic-1150	52	15	see	see	VERB
hjic-1150	52	16	fig	fig	NOUN
hjic-1150	52	17	.	.	PUNCT
hjic-1150	53	1	2	2	NUM
hjic-1150	53	2	)	)	PUNCT
hjic-1150	53	3	with	with	ADP
hjic-1150	53	4	a	a	DET
hjic-1150	53	5	diameter	diameter	NOUN
hjic-1150	53	6	of	of	ADP
hjic-1150	53	7	50	50	NUM
hjic-1150	53	8	mm	mm	NOUN
hjic-1150	53	9	for	for	ADP
hjic-1150	53	10	creating	create	VERB
hjic-1150	53	11	holes	hole	NOUN
hjic-1150	53	12	to	to	PART
hjic-1150	53	13	plant	plant	VERB
hjic-1150	53	14	plants	plant	NOUN
hjic-1150	53	15	by	by	ADP
hjic-1150	53	16	following	follow	VERB
hjic-1150	53	17	the	the	DET
hjic-1150	53	18	same	same	ADJ
hjic-1150	53	19	practices	practice	NOUN
hjic-1150	53	20	adopted	adopt	VERB
hjic-1150	53	21	by	by	ADP
hjic-1150	53	22	similar	similar	ADJ
hjic-1150	53	23	pieces	piece	NOUN
hjic-1150	53	24	of	of	ADP
hjic-1150	53	25	equipment	equipment	NOUN
hjic-1150	53	26	.	.	PUNCT
hjic-1150	54	1	during	during	ADP
hjic-1150	54	2	the	the	DET
hjic-1150	54	3	development	development	NOUN
hjic-1150	54	4	of	of	ADP
hjic-1150	54	5	automation	automation	NOUN
hjic-1150	54	6	and	and	CCONJ
hjic-1150	54	7	robotization	robotization	NOUN
hjic-1150	54	8	,	,	PUNCT
hjic-1150	54	9	a	a	DET
hjic-1150	54	10	problem	problem	NOUN
hjic-1150	54	11	occurred	occur	VERB
hjic-1150	54	12	,	,	PUNCT
hjic-1150	54	13	namely	namely	ADV
hjic-1150	54	14	that	that	SCONJ
hjic-1150	54	15	as	as	SCONJ
hjic-1150	54	16	the	the	DET
hjic-1150	54	17	crops	crop	NOUN
hjic-1150	54	18	grow	grow	VERB
hjic-1150	54	19	their	their	PRON
hjic-1150	54	20	roots	root	NOUN
hjic-1150	54	21	overgrow	overgrow	VERB
hjic-1150	54	22	the	the	DET
hjic-1150	54	23	hydro	hydro	NOUN
hjic-1150	54	24	pot	pot	NOUN
hjic-1150	54	25	so	so	SCONJ
hjic-1150	54	26	the	the	DET
hjic-1150	54	27	plant	plant	NOUN
hjic-1150	54	28	becomes	become	VERB
hjic-1150	54	29	stuck	stuck	ADJ
hjic-1150	54	30	where	where	SCONJ
hjic-1150	54	31	it	it	PRON
hjic-1150	54	32	is	be	AUX
hjic-1150	54	33	(	(	PUNCT
hjic-1150	54	34	see	see	VERB
hjic-1150	54	35	fig	fig	NOUN
hjic-1150	54	36	.	.	PUNCT
hjic-1150	55	1	3	3	NUM
hjic-1150	55	2	)	)	PUNCT
hjic-1150	55	3	.	.	PUNCT
hjic-1150	56	1	as	as	ADP
hjic-1150	56	2	a	a	DET
hjic-1150	56	3	result	result	NOUN
hjic-1150	56	4	,	,	PUNCT
hjic-1150	56	5	the	the	DET
hjic-1150	56	6	arm	arm	NOUN
hjic-1150	56	7	of	of	ADP
hjic-1150	56	8	the	the	DET
hjic-1150	56	9	cobot	cobot	NOUN
hjic-1150	56	10	is	be	AUX
hjic-1150	56	11	unable	unable	ADJ
hjic-1150	56	12	to	to	PART
hjic-1150	56	13	handle	handle	VERB
hjic-1150	56	14	the	the	DET
hjic-1150	56	15	pots	pot	NOUN
hjic-1150	56	16	,	,	PUNCT
hjic-1150	56	17	which	which	PRON
hjic-1150	56	18	can	can	AUX
hjic-1150	56	19	not	not	PART
hjic-1150	56	20	be	be	AUX
hjic-1150	56	21	used	use	VERB
hjic-1150	56	22	again	again	ADV
hjic-1150	56	23	.	.	PUNCT
hjic-1150	57	1	in	in	ADP
hjic-1150	57	2	order	order	NOUN
hjic-1150	57	3	to	to	PART
hjic-1150	57	4	be	be	AUX
hjic-1150	57	5	sustainable	sustainable	ADJ
hjic-1150	57	6	and	and	CCONJ
hjic-1150	57	7	recycle	recycle	NOUN
hjic-1150	57	8	,	,	PUNCT
hjic-1150	57	9	several	several	ADJ
hjic-1150	57	10	versions	version	NOUN
hjic-1150	57	11	of	of	ADP
hjic-1150	57	12	clips	clip	NOUN
hjic-1150	57	13	have	have	AUX
hjic-1150	57	14	been	be	AUX
hjic-1150	57	15	designed	design	VERB
hjic-1150	57	16	and	and	CCONJ
hjic-1150	57	17	commercially	commercially	ADV
hjic-1150	57	18	available	available	ADJ
hjic-1150	57	19	rockwool	rockwool	NOUN
hjic-1150	57	20	cubes	cube	NOUN
hjic-1150	57	21	used	use	VERB
hjic-1150	57	22	.	.	PUNCT
hjic-1150	58	1	hungarian	hungarian	ADJ
hjic-1150	58	2	journal	journal	NOUN
hjic-1150	58	3	of	of	ADP
hjic-1150	58	4	industry	industry	NOUN
hjic-1150	58	5	and	and	CCONJ
hjic-1150	58	6	chemistry	chemistry	NOUN
hjic-1150	58	7	tool	tool	NOUN
hjic-1150	58	8	development	development	NOUN
hjic-1150	58	9	for	for	ADP
hjic-1150	58	10	safe	safe	ADJ
hjic-1150	58	11	cobot	cobot	NOUN
hjic-1150	58	12	-	-	PUNCT
hjic-1150	58	13	assisted	assist	VERB
hjic-1150	58	14	hydroponics	hydroponic	NOUN
hjic-1150	58	15	87	87	NUM
hjic-1150	58	16	figure	figure	NOUN
hjic-1150	58	17	4	4	NUM
hjic-1150	58	18	:	:	PUNCT
hjic-1150	58	19	one	one	NUM
hjic-1150	58	20	of	of	ADP
hjic-1150	58	21	the	the	DET
hjic-1150	58	22	first	first	ADJ
hjic-1150	58	23	clip	clip	NOUN
hjic-1150	58	24	prototypes	prototype	NOUN
hjic-1150	58	25	.	.	PUNCT
hjic-1150	59	1	figure	figure	VERB
hjic-1150	59	2	5	5	NUM
hjic-1150	59	3	:	:	PUNCT
hjic-1150	59	4	clip	clip	NOUN
hjic-1150	59	5	prototypes	prototype	NOUN
hjic-1150	59	6	with	with	ADP
hjic-1150	59	7	vertical	vertical	ADJ
hjic-1150	59	8	spikes	spike	NOUN
hjic-1150	59	9	.	.	PUNCT
hjic-1150	60	1	figure	figure	VERB
hjic-1150	60	2	6	6	NUM
hjic-1150	60	3	:	:	PUNCT
hjic-1150	60	4	clip	clip	NOUN
hjic-1150	60	5	prototypes	prototype	NOUN
hjic-1150	60	6	with	with	ADP
hjic-1150	60	7	horizontal	horizontal	ADJ
hjic-1150	60	8	spikes	spike	NOUN
hjic-1150	60	9	.	.	PUNCT
hjic-1150	61	1	as	as	SCONJ
hjic-1150	61	2	the	the	DET
hjic-1150	61	3	cobot	cobot	NOUN
hjic-1150	61	4	arm	arm	NOUN
hjic-1150	61	5	could	could	AUX
hjic-1150	61	6	not	not	PART
hjic-1150	61	7	handle	handle	VERB
hjic-1150	61	8	the	the	DET
hjic-1150	61	9	clips	clip	NOUN
hjic-1150	61	10	because	because	SCONJ
hjic-1150	61	11	the	the	DET
hjic-1150	61	12	part	part	NOUN
hjic-1150	61	13	(	(	PUNCT
hjic-1150	61	14	a	a	DET
hjic-1150	61	15	flag	flag	NOUN
hjic-1150	61	16	-	-	PUNCT
hjic-1150	61	17	like	like	ADJ
hjic-1150	61	18	handle	handle	NOUN
hjic-1150	61	19	)	)	PUNCT
hjic-1150	61	20	it	it	PRON
hjic-1150	61	21	would	would	AUX
hjic-1150	61	22	grab	grab	VERB
hjic-1150	61	23	(	(	PUNCT
hjic-1150	61	24	see	see	VERB
hjic-1150	61	25	fig	fig	NOUN
hjic-1150	61	26	.	.	PUNCT
hjic-1150	62	1	4	4	X
hjic-1150	62	2	)	)	PUNCT
hjic-1150	62	3	had	have	AUX
hjic-1150	62	4	become	become	VERB
hjic-1150	62	5	overgrown	overgrown	ADJ
hjic-1150	62	6	by	by	ADP
hjic-1150	62	7	the	the	DET
hjic-1150	62	8	plant	plant	NOUN
hjic-1150	62	9	,	,	PUNCT
hjic-1150	62	10	that	that	DET
hjic-1150	62	11	part	part	NOUN
hjic-1150	62	12	had	have	VERB
hjic-1150	62	13	to	to	PART
hjic-1150	62	14	be	be	AUX
hjic-1150	62	15	redesigned	redesign	VERB
hjic-1150	62	16	.	.	PUNCT
hjic-1150	63	1	in	in	ADP
hjic-1150	63	2	the	the	DET
hjic-1150	63	3	first	first	ADJ
hjic-1150	63	4	versions	version	NOUN
hjic-1150	63	5	of	of	ADP
hjic-1150	63	6	the	the	DET
hjic-1150	63	7	design	design	NOUN
hjic-1150	63	8	,	,	PUNCT
hjic-1150	63	9	the	the	DET
hjic-1150	63	10	spike	spike	NOUN
hjic-1150	63	11	on	on	ADP
hjic-1150	63	12	the	the	DET
hjic-1150	63	13	clips	clip	NOUN
hjic-1150	63	14	was	be	AUX
hjic-1150	63	15	vertical	vertical	ADJ
hjic-1150	63	16	,	,	PUNCT
hjic-1150	63	17	but	but	CCONJ
hjic-1150	63	18	during	during	ADP
hjic-1150	63	19	testing	testing	NOUN
hjic-1150	63	20	it	it	PRON
hjic-1150	63	21	was	be	AUX
hjic-1150	63	22	demonstrated	demonstrate	VERB
hjic-1150	63	23	that	that	SCONJ
hjic-1150	63	24	it	it	PRON
hjic-1150	63	25	could	could	AUX
hjic-1150	63	26	cause	cause	VERB
hjic-1150	63	27	serious	serious	ADJ
hjic-1150	63	28	injuries	injury	NOUN
hjic-1150	63	29	to	to	ADP
hjic-1150	63	30	people	people	NOUN
hjic-1150	63	31	(	(	PUNCT
hjic-1150	63	32	see	see	VERB
hjic-1150	63	33	fig	fig	NOUN
hjic-1150	63	34	.	.	PUNCT
hjic-1150	64	1	5	5	NUM
hjic-1150	64	2	)	)	PUNCT
hjic-1150	64	3	,	,	PUNCT
hjic-1150	64	4	despite	despite	SCONJ
hjic-1150	64	5	the	the	DET
hjic-1150	64	6	fact	fact	NOUN
hjic-1150	64	7	that	that	SCONJ
hjic-1150	64	8	the	the	DET
hjic-1150	64	9	clips	clip	NOUN
hjic-1150	64	10	had	have	AUX
hjic-1150	64	11	been	be	AUX
hjic-1150	64	12	created	create	VERB
hjic-1150	64	13	using	use	VERB
hjic-1150	64	14	3d	3d	NUM
hjic-1150	64	15	printing	printing	NOUN
hjic-1150	64	16	.	.	PUNCT
hjic-1150	65	1	the	the	DET
hjic-1150	65	2	end	end	NOUN
hjic-1150	65	3	of	of	ADP
hjic-1150	65	4	the	the	DET
hjic-1150	65	5	spike	spike	NOUN
hjic-1150	65	6	needed	need	VERB
hjic-1150	65	7	to	to	PART
hjic-1150	65	8	be	be	AUX
hjic-1150	65	9	blunted	blunt	VERB
hjic-1150	65	10	and	and	CCONJ
hjic-1150	65	11	placed	place	VERB
hjic-1150	65	12	horizontally	horizontally	ADV
hjic-1150	65	13	in	in	ADP
hjic-1150	65	14	order	order	NOUN
hjic-1150	65	15	to	to	PART
hjic-1150	65	16	avoid	avoid	VERB
hjic-1150	65	17	causing	cause	VERB
hjic-1150	65	18	potential	potential	ADJ
hjic-1150	65	19	injuries	injury	NOUN
hjic-1150	65	20	(	(	PUNCT
hjic-1150	65	21	see	see	VERB
hjic-1150	65	22	fig	fig	NOUN
hjic-1150	65	23	.	.	PUNCT
hjic-1150	66	1	6	6	NUM
hjic-1150	66	2	)	)	PUNCT
hjic-1150	66	3	.	.	PUNCT
hjic-1150	67	1	even	even	ADV
hjic-1150	67	2	though	though	SCONJ
hjic-1150	67	3	horizontal	horizontal	ADJ
hjic-1150	67	4	rockwool	rockwool	NOUN
hjic-1150	67	5	cubes	cube	NOUN
hjic-1150	67	6	were	be	AUX
hjic-1150	67	7	produced	produce	VERB
hjic-1150	67	8	to	to	PART
hjic-1150	67	9	facilitate	facilitate	VERB
hjic-1150	67	10	its	its	PRON
hjic-1150	67	11	installation	installation	NOUN
hjic-1150	67	12	,	,	PUNCT
hjic-1150	67	13	the	the	DET
hjic-1150	67	14	plants	plant	NOUN
hjic-1150	67	15	could	could	AUX
hjic-1150	67	16	still	still	ADV
hjic-1150	67	17	fall	fall	VERB
hjic-1150	67	18	off	off	ADP
hjic-1150	67	19	.	.	PUNCT
hjic-1150	68	1	in	in	ADP
hjic-1150	68	2	the	the	DET
hjic-1150	68	3	final	final	ADJ
hjic-1150	68	4	version	version	NOUN
hjic-1150	68	5	,	,	PUNCT
hjic-1150	68	6	nooks	nook	NOUN
hjic-1150	68	7	were	be	AUX
hjic-1150	68	8	placed	place	VERB
hjic-1150	68	9	on	on	ADP
hjic-1150	68	10	the	the	DET
hjic-1150	68	11	clips	clip	NOUN
hjic-1150	68	12	on	on	ADP
hjic-1150	68	13	which	which	PRON
hjic-1150	68	14	semicircular	semicircular	ADJ
hjic-1150	68	15	plant	plant	NOUN
hjic-1150	68	16	holder	holder	NOUN
hjic-1150	68	17	rings	ring	NOUN
hjic-1150	68	18	can	can	AUX
hjic-1150	68	19	be	be	AUX
hjic-1150	68	20	placed	place	VERB
hjic-1150	68	21	at	at	ADP
hjic-1150	68	22	different	different	ADJ
hjic-1150	68	23	heights	height	NOUN
hjic-1150	68	24	.	.	PUNCT
hjic-1150	69	1	this	this	PRON
hjic-1150	69	2	prevents	prevent	VERB
hjic-1150	69	3	plants	plant	NOUN
hjic-1150	69	4	from	from	ADP
hjic-1150	69	5	falling	fall	VERB
hjic-1150	69	6	off	off	ADP
hjic-1150	69	7	and	and	CCONJ
hjic-1150	69	8	it	it	PRON
hjic-1150	69	9	is	be	AUX
hjic-1150	69	10	safer	safe	ADJ
hjic-1150	69	11	moving	move	VERB
hjic-1150	69	12	them	they	PRON
hjic-1150	69	13	using	use	VERB
hjic-1150	69	14	the	the	DET
hjic-1150	69	15	cobot	cobot	NOUN
hjic-1150	69	16	arm	arm	NOUN
hjic-1150	69	17	(	(	PUNCT
hjic-1150	69	18	see	see	VERB
hjic-1150	69	19	fig	fig	NOUN
hjic-1150	69	20	.	.	PUNCT
hjic-1150	70	1	7	7	NUM
hjic-1150	70	2	)	)	PUNCT
hjic-1150	70	3	.	.	PUNCT
hjic-1150	71	1	5	5	X
hjic-1150	71	2	.	.	X
hjic-1150	71	3	collision	collision	NOUN
hjic-1150	71	4	tests	test	NOUN
hjic-1150	71	5	tests	test	NOUN
hjic-1150	71	6	were	be	AUX
hjic-1150	71	7	carried	carry	VERB
hjic-1150	71	8	out	out	ADP
hjic-1150	71	9	on	on	ADP
hjic-1150	71	10	the	the	DET
hjic-1150	71	11	clips	clip	NOUN
hjic-1150	71	12	according	accord	VERB
hjic-1150	71	13	to	to	ADP
hjic-1150	71	14	a	a	DET
hjic-1150	71	15	testing	testing	NOUN
hjic-1150	71	16	protocol	protocol	NOUN
hjic-1150	71	17	entitled	entitle	VERB
hjic-1150	71	18	"	"	PUNCT
hjic-1150	71	19	test	test	NOUN
hjic-1150	71	20	robot	robot	NOUN
hjic-1150	71	21	arm	arm	NOUN
hjic-1150	71	22	for	for	ADP
hjic-1150	71	23	collision	collision	NOUN
hjic-1150	71	24	with	with	ADP
hjic-1150	71	25	movable	movable	ADJ
hjic-1150	71	26	object	object	NOUN
hjic-1150	71	27	(	(	PUNCT
hjic-1150	71	28	impact	impact	NOUN
hjic-1150	71	29	)	)	PUNCT
hjic-1150	71	30	”	"	PUNCT
hjic-1150	71	31	from	from	ADP
hjic-1150	71	32	the	the	DET
hjic-1150	71	33	covr	covr	NOUN
hjic-1150	71	34	toolkit	toolkit	NOUN
hjic-1150	71	35	[	[	X
hjic-1150	71	36	21	21	NUM
hjic-1150	71	37	]	]	X
hjic-1150	71	38	,	,	PUNCT
hjic-1150	71	39	which	which	PRON
hjic-1150	71	40	functions	function	VERB
hjic-1150	71	41	also	also	ADV
hjic-1150	71	42	as	as	ADP
hjic-1150	71	43	a	a	DET
hjic-1150	71	44	library	library	NOUN
hjic-1150	71	45	for	for	ADP
hjic-1150	71	46	protocol	protocol	NOUN
hjic-1150	71	47	testing	testing	NOUN
hjic-1150	71	48	of	of	ADP
hjic-1150	71	49	cobot	cobot	NOUN
hjic-1150	71	50	applications	application	NOUN
hjic-1150	71	51	.	.	PUNCT
hjic-1150	72	1	these	these	DET
hjic-1150	72	2	tests	test	NOUN
hjic-1150	72	3	are	be	AUX
hjic-1150	72	4	in	in	ADP
hjic-1150	72	5	harmony	harmony	NOUN
hjic-1150	72	6	with	with	ADP
hjic-1150	72	7	the	the	DET
hjic-1150	72	8	standards	standard	NOUN
hjic-1150	72	9	within	within	ADP
hjic-1150	72	10	the	the	DET
hjic-1150	72	11	frame	frame	NOUN
hjic-1150	72	12	of	of	ADP
hjic-1150	72	13	cobot	cobot	NOUN
hjic-1150	72	14	usage	usage	NOUN
hjic-1150	72	15	as	as	SCONJ
hjic-1150	72	16	described	describe	VERB
hjic-1150	72	17	in	in	ADP
hjic-1150	72	18	ref	ref	NOUN
hjic-1150	72	19	.	.	PUNCT
hjic-1150	73	1	[	[	X
hjic-1150	73	2	22	22	NUM
hjic-1150	73	3	]	]	PUNCT
hjic-1150	73	4	.	.	PUNCT
hjic-1150	74	1	force	force	NOUN
hjic-1150	74	2	measurements	measurement	NOUN
hjic-1150	74	3	were	be	AUX
hjic-1150	74	4	recorded	record	VERB
hjic-1150	74	5	with	with	ADP
hjic-1150	74	6	a	a	DET
hjic-1150	74	7	gte	gte	PROPN
hjic-1150	74	8	kmg	kmg	PROPN
hjic-1150	74	9	500	500	NUM
hjic-1150	74	10	-	-	SYM
hjic-1150	74	11	75	75	NUM
hjic-1150	74	12	force	force	NOUN
hjic-1150	74	13	cell	cell	NOUN
hjic-1150	74	14	(	(	PUNCT
hjic-1150	74	15	spring	spring	NOUN
hjic-1150	74	16	rate	rate	NOUN
hjic-1150	74	17	:	:	PUNCT
hjic-1150	74	18	75	75	NUM
hjic-1150	74	19	n	n	CCONJ
hjic-1150	74	20	/	/	SYM
hjic-1150	74	21	mm	mm	PROPN
hjic-1150	74	22	with	with	ADP
hjic-1150	74	23	the	the	DET
hjic-1150	74	24	damping	damp	VERB
hjic-1150	74	25	material	material	NOUN
hjic-1150	74	26	sh70	sh70	PROPN
hjic-1150	74	27	)	)	PUNCT
hjic-1150	74	28	while	while	SCONJ
hjic-1150	74	29	pressure	pressure	NOUN
hjic-1150	74	30	values	value	NOUN
hjic-1150	74	31	were	be	AUX
hjic-1150	74	32	measured	measure	VERB
hjic-1150	74	33	with	with	ADP
hjic-1150	74	34	fuji	fuji	PROPN
hjic-1150	74	35	prescale	prescale	NOUN
hjic-1150	74	36	llw	llw	NOUN
hjic-1150	74	37	-	-	PUNCT
hjic-1150	74	38	type	type	NOUN
hjic-1150	74	39	films	film	NOUN
hjic-1150	74	40	(	(	PUNCT
hjic-1150	74	41	see	see	VERB
hjic-1150	74	42	fig	fig	NOUN
hjic-1150	74	43	.	.	PUNCT
hjic-1150	75	1	8)	8)	NUM
hjic-1150	75	2	.	.	PUNCT
hjic-1150	76	1	the	the	DET
hjic-1150	76	2	results	result	NOUN
hjic-1150	76	3	of	of	ADP
hjic-1150	76	4	3	3	NUM
hjic-1150	76	5	experiments	experiment	NOUN
hjic-1150	76	6	at	at	ADP
hjic-1150	76	7	a	a	DET
hjic-1150	76	8	cobot	cobot	NOUN
hjic-1150	76	9	speed	speed	NOUN
hjic-1150	76	10	of	of	ADP
hjic-1150	76	11	0.1	0.1	NUM
hjic-1150	76	12	m	m	NOUN
hjic-1150	76	13	/	/	SYM
hjic-1150	76	14	s	s	VERB
hjic-1150	76	15	showed	show	VERB
hjic-1150	76	16	that	that	SCONJ
hjic-1150	76	17	for	for	ADP
hjic-1150	76	18	a	a	DET
hjic-1150	76	19	human	human	ADJ
hjic-1150	76	20	hand	hand	NOUN
hjic-1150	76	21	only	only	ADV
hjic-1150	76	22	a	a	DET
hjic-1150	76	23	transient	transient	ADJ
hjic-1150	76	24	collision	collision	NOUN
hjic-1150	76	25	can	can	AUX
hjic-1150	76	26	occur	occur	VERB
hjic-1150	76	27	with	with	ADP
hjic-1150	76	28	a	a	DET
hjic-1150	76	29	maximum	maximum	ADJ
hjic-1150	76	30	force	force	NOUN
hjic-1150	76	31	of	of	ADP
hjic-1150	76	32	47	47	NUM
hjic-1150	76	33	n	n	CCONJ
hjic-1150	76	34	(	(	PUNCT
hjic-1150	76	35	see	see	VERB
hjic-1150	76	36	fig	fig	NOUN
hjic-1150	76	37	.	.	PUNCT
hjic-1150	77	1	49(2	49(2	NUM
hjic-1150	77	2	)	)	PUNCT
hjic-1150	77	3	pp	pp	ADV
hjic-1150	77	4	.	.	PUNCT
hjic-1150	78	1	85–89	85–89	NUM
hjic-1150	78	2	(	(	PUNCT
hjic-1150	78	3	2021	2021	NUM
hjic-1150	78	4	)	)	PUNCT
hjic-1150	78	5	88	88	NUM
hjic-1150	78	6	paniti	paniti	NOUN
hjic-1150	78	7	,	,	PUNCT
hjic-1150	78	8	nacsa	nacsa	ADJ
hjic-1150	78	9	,	,	PUNCT
hjic-1150	78	10	szűr	szűr	NOUN
hjic-1150	78	11	,	,	PUNCT
hjic-1150	78	12	rácz	rácz	NOUN
hjic-1150	78	13	,	,	PUNCT
hjic-1150	78	14	and	and	CCONJ
hjic-1150	78	15	tóth	tóth	NOUN
hjic-1150	78	16	figure	figure	NOUN
hjic-1150	78	17	7	7	NUM
hjic-1150	78	18	:	:	PUNCT
hjic-1150	78	19	final	final	ADJ
hjic-1150	78	20	clip	clip	NOUN
hjic-1150	78	21	design	design	NOUN
hjic-1150	78	22	with	with	ADP
hjic-1150	78	23	a	a	DET
hjic-1150	78	24	clip	clip	NOUN
hjic-1150	78	25	and	and	CCONJ
hjic-1150	78	26	plant	plant	NOUN
hjic-1150	78	27	holder	holder	NOUN
hjic-1150	78	28	.	.	PUNCT
hjic-1150	79	1	figure	figure	NOUN
hjic-1150	79	2	8	8	NUM
hjic-1150	79	3	:	:	PUNCT
hjic-1150	79	4	clip	clip	NOUN
hjic-1150	79	5	collision	collision	NOUN
hjic-1150	79	6	testing	test	VERB
hjic-1150	79	7	set	set	NOUN
hjic-1150	79	8	-	-	PUNCT
hjic-1150	79	9	up	up	NOUN
hjic-1150	79	10	with	with	ADP
hjic-1150	79	11	a	a	DET
hjic-1150	79	12	force	force	NOUN
hjic-1150	79	13	cell	cell	NOUN
hjic-1150	79	14	and	and	CCONJ
hjic-1150	79	15	pressure	pressure	NOUN
hjic-1150	79	16	-	-	PUNCT
hjic-1150	79	17	sensitive	sensitive	ADJ
hjic-1150	79	18	measurement	measurement	NOUN
hjic-1150	79	19	film	film	NOUN
hjic-1150	79	20	.	.	PUNCT
hjic-1150	80	1	9	9	NUM
hjic-1150	80	2	)	)	PUNCT
hjic-1150	80	3	as	as	ADP
hjic-1150	80	4	in	in	ADP
hjic-1150	80	5	all	all	DET
hjic-1150	80	6	cases	case	NOUN
hjic-1150	80	7	the	the	DET
hjic-1150	80	8	3d	3d	ADV
hjic-1150	80	9	-	-	PUNCT
hjic-1150	80	10	printed	print	VERB
hjic-1150	80	11	clip	clip	NOUN
hjic-1150	80	12	breaks	break	NOUN
hjic-1150	80	13	at	at	ADP
hjic-1150	80	14	the	the	DET
hjic-1150	80	15	same	same	ADJ
hjic-1150	80	16	position	position	NOUN
hjic-1150	80	17	.	.	PUNCT
hjic-1150	81	1	the	the	DET
hjic-1150	81	2	maximum	maximum	ADJ
hjic-1150	81	3	pressure	pressure	NOUN
hjic-1150	81	4	was	be	AUX
hjic-1150	81	5	300	300	NUM
hjic-1150	81	6	n	n	CCONJ
hjic-1150	81	7	/	/	SYM
hjic-1150	81	8	cm2	cm2	NOUN
hjic-1150	81	9	(	(	PUNCT
hjic-1150	81	10	see	see	VERB
hjic-1150	81	11	fig	fig	NOUN
hjic-1150	81	12	.	.	PUNCT
hjic-1150	82	1	10	10	NUM
hjic-1150	82	2	)	)	PUNCT
hjic-1150	82	3	.	.	PUNCT
hjic-1150	83	1	as	as	ADP
hjic-1150	83	2	in	in	ADP
hjic-1150	83	3	some	some	DET
hjic-1150	83	4	cases	case	NOUN
hjic-1150	83	5	the	the	DET
hjic-1150	83	6	pressure	pressure	NOUN
hjic-1150	83	7	can	can	AUX
hjic-1150	83	8	be	be	AUX
hjic-1150	83	9	close	close	ADJ
hjic-1150	83	10	to	to	ADP
hjic-1150	83	11	the	the	DET
hjic-1150	83	12	threshold	threshold	NOUN
hjic-1150	83	13	,	,	PUNCT
hjic-1150	83	14	the	the	DET
hjic-1150	83	15	use	use	NOUN
hjic-1150	83	16	of	of	ADP
hjic-1150	83	17	gloves	glove	NOUN
hjic-1150	83	18	while	while	SCONJ
hjic-1150	83	19	carrying	carry	VERB
hjic-1150	83	20	out	out	ADP
hjic-1150	83	21	clipassisted	clipassiste	VERB
hjic-1150	83	22	plant	plant	NOUN
hjic-1150	83	23	loading	loading	NOUN
hjic-1150	83	24	is	be	AUX
hjic-1150	83	25	highly	highly	ADV
hjic-1150	83	26	recommended	recommend	VERB
hjic-1150	83	27	.	.	PUNCT
hjic-1150	84	1	6	6	X
hjic-1150	84	2	.	.	X
hjic-1150	84	3	conclusion	conclusion	NOUN
hjic-1150	84	4	hydroponics	hydroponic	NOUN
hjic-1150	84	5	is	be	AUX
hjic-1150	84	6	a	a	DET
hjic-1150	84	7	subset	subset	NOUN
hjic-1150	84	8	of	of	ADP
hjic-1150	84	9	hydroculture	hydroculture	NOUN
hjic-1150	84	10	,	,	PUNCT
hjic-1150	84	11	which	which	PRON
hjic-1150	84	12	is	be	AUX
hjic-1150	84	13	an	an	DET
hjic-1150	84	14	environmentally	environmentally	ADV
hjic-1150	84	15	friendly	friendly	ADJ
hjic-1150	84	16	technology	technology	NOUN
hjic-1150	84	17	for	for	ADP
hjic-1150	84	18	growing	grow	VERB
hjic-1150	84	19	plants	plant	NOUN
hjic-1150	84	20	in	in	ADP
hjic-1150	84	21	the	the	DET
hjic-1150	84	22	absence	absence	NOUN
hjic-1150	84	23	of	of	ADP
hjic-1150	84	24	soil	soil	NOUN
hjic-1150	84	25	by	by	ADP
hjic-1150	84	26	using	use	VERB
hjic-1150	84	27	mineral	mineral	NOUN
hjic-1150	84	28	nutrient	nutrient	NOUN
hjic-1150	84	29	solutions	solution	NOUN
hjic-1150	84	30	dissolved	dissolve	VERB
hjic-1150	84	31	in	in	ADP
hjic-1150	84	32	water	water	NOUN
hjic-1150	84	33	.	.	PUNCT
hjic-1150	85	1	many	many	ADJ
hjic-1150	85	2	tasks	task	NOUN
hjic-1150	85	3	in	in	ADP
hjic-1150	85	4	the	the	DET
hjic-1150	85	5	hydroponic	hydroponic	NOUN
hjic-1150	85	6	production	production	NOUN
hjic-1150	85	7	process	process	NOUN
hjic-1150	85	8	can	can	AUX
hjic-1150	85	9	not	not	PART
hjic-1150	85	10	be	be	AUX
hjic-1150	85	11	fully	fully	ADV
hjic-1150	85	12	automated	automate	VERB
hjic-1150	85	13	and	and	CCONJ
hjic-1150	85	14	require	require	VERB
hjic-1150	85	15	safe	safe	ADJ
hjic-1150	85	16	human	human	ADJ
hjic-1150	85	17	-	-	PUNCT
hjic-1150	85	18	robot	robot	NOUN
hjic-1150	85	19	collaboration	collaboration	NOUN
hjic-1150	85	20	,	,	PUNCT
hjic-1150	85	21	moreover	moreover	ADV
hjic-1150	85	22	,	,	PUNCT
hjic-1150	85	23	cobotised	cobotise	VERB
hjic-1150	85	24	tasks	task	NOUN
hjic-1150	85	25	like	like	ADP
hjic-1150	85	26	the	the	DET
hjic-1150	85	27	loading	loading	NOUN
hjic-1150	85	28	of	of	ADP
hjic-1150	85	29	plants	plant	NOUN
hjic-1150	85	30	must	must	AUX
hjic-1150	85	31	be	be	AUX
hjic-1150	85	32	tested	test	VERB
hjic-1150	85	33	with	with	ADP
hjic-1150	85	34	a	a	DET
hjic-1150	85	35	safety	safety	NOUN
hjic-1150	85	36	protocol	protocol	NOUN
hjic-1150	85	37	similar	similar	ADJ
hjic-1150	85	38	to	to	ADP
hjic-1150	85	39	the	the	DET
hjic-1150	85	40	one	one	NOUN
hjic-1150	85	41	followed	follow	VERB
hjic-1150	85	42	in	in	ADP
hjic-1150	85	43	this	this	DET
hjic-1150	85	44	paper	paper	NOUN
hjic-1150	85	45	.	.	PUNCT
hjic-1150	86	1	the	the	DET
hjic-1150	86	2	proposed	propose	VERB
hjic-1150	86	3	3d	3d	NOUN
hjic-1150	86	4	-	-	PUNCT
hjic-1150	86	5	printed	print	VERB
hjic-1150	86	6	complementary	complementary	ADJ
hjic-1150	86	7	manipulator	manipulator	NOUN
hjic-1150	86	8	tool	tool	NOUN
hjic-1150	86	9	(	(	PUNCT
hjic-1150	86	10	clip	clip	PROPN
hjic-1150	86	11	)	)	PUNCT
hjic-1150	86	12	was	be	AUX
hjic-1150	86	13	tested	test	VERB
hjic-1150	86	14	by	by	ADP
hjic-1150	86	15	following	follow	VERB
hjic-1150	86	16	the	the	DET
hjic-1150	86	17	protocol	protocol	NOUN
hjic-1150	86	18	"	"	PUNCT
hjic-1150	86	19	test	test	NOUN
hjic-1150	86	20	robot	robot	NOUN
hjic-1150	86	21	arm	arm	NOUN
hjic-1150	86	22	for	for	ADP
hjic-1150	86	23	collision	collision	NOUN
hjic-1150	86	24	with	with	ADP
hjic-1150	86	25	movable	movable	ADJ
hjic-1150	86	26	object	object	NOUN
hjic-1150	86	27	(	(	PUNCT
hjic-1150	86	28	impact	impact	NOUN
hjic-1150	86	29	)	)	PUNCT
hjic-1150	86	30	.	.	PUNCT
hjic-1150	86	31	"	"	PUNCT
hjic-1150	87	1	test	test	NOUN
hjic-1150	87	2	results	result	NOUN
hjic-1150	87	3	showed	show	VERB
hjic-1150	87	4	that	that	SCONJ
hjic-1150	87	5	only	only	ADV
hjic-1150	87	6	transient	transient	ADJ
hjic-1150	87	7	collisions	collision	NOUN
hjic-1150	87	8	can	can	AUX
hjic-1150	87	9	occur	occur	VERB
hjic-1150	87	10	and	and	CCONJ
hjic-1150	87	11	force	force	VERB
hjic-1150	87	12	as	as	ADV
hjic-1150	87	13	well	well	ADV
hjic-1150	87	14	as	as	ADP
hjic-1150	87	15	pressure	pressure	NOUN
hjic-1150	87	16	values	value	NOUN
hjic-1150	87	17	are	be	AUX
hjic-1150	87	18	below	below	ADP
hjic-1150	87	19	the	the	DET
hjic-1150	87	20	threshold	threshold	NOUN
hjic-1150	87	21	in	in	ADP
hjic-1150	87	22	the	the	DET
hjic-1150	87	23	case	case	NOUN
hjic-1150	87	24	of	of	ADP
hjic-1150	87	25	a	a	DET
hjic-1150	87	26	collision	collision	NOUN
hjic-1150	87	27	with	with	ADP
hjic-1150	87	28	a	a	DET
hjic-1150	87	29	human	human	ADJ
hjic-1150	87	30	hand	hand	NOUN
hjic-1150	87	31	.	.	PUNCT
hjic-1150	88	1	figure	figure	VERB
hjic-1150	88	2	9	9	NUM
hjic-1150	88	3	:	:	PUNCT
hjic-1150	88	4	force	force	NOUN
hjic-1150	88	5	measurement	measurement	NOUN
hjic-1150	88	6	results	result	VERB
hjic-1150	88	7	.	.	PUNCT
hjic-1150	89	1	figure	figure	VERB
hjic-1150	89	2	10	10	NUM
hjic-1150	89	3	:	:	PUNCT
hjic-1150	89	4	pressure	pressure	NOUN
hjic-1150	89	5	measurement	measurement	NOUN
hjic-1150	89	6	results	result	VERB
hjic-1150	89	7	.	.	PUNCT
hjic-1150	90	1	however	however	ADV
hjic-1150	90	2	,	,	PUNCT
hjic-1150	90	3	to	to	PART
hjic-1150	90	4	maximize	maximize	VERB
hjic-1150	90	5	safety	safety	NOUN
hjic-1150	90	6	,	,	PUNCT
hjic-1150	90	7	it	it	PRON
hjic-1150	90	8	is	be	AUX
hjic-1150	90	9	recommended	recommend	VERB
hjic-1150	90	10	that	that	SCONJ
hjic-1150	90	11	gloves	glove	NOUN
hjic-1150	90	12	are	be	AUX
hjic-1150	90	13	worn	wear	VERB
hjic-1150	90	14	.	.	PUNCT
hjic-1150	91	1	acknowledgement	acknowledgement	NOUN
hjic-1150	91	2	this	this	DET
hjic-1150	91	3	project	project	NOUN
hjic-1150	91	4	was	be	AUX
hjic-1150	91	5	funded	fund	VERB
hjic-1150	91	6	by	by	ADP
hjic-1150	91	7	the	the	DET
hjic-1150	91	8	european	european	PROPN
hjic-1150	91	9	union	union	PROPN
hjic-1150	91	10	’s	’s	PART
hjic-1150	91	11	horizon	horizon	NOUN
hjic-1150	91	12	2020	2020	NUM
hjic-1150	91	13	research	research	NOUN
hjic-1150	91	14	and	and	CCONJ
hjic-1150	91	15	innovation	innovation	NOUN
hjic-1150	91	16	programme	programme	NOUN
hjic-1150	91	17	under	under	ADP
hjic-1150	91	18	grant	grant	NOUN
hjic-1150	91	19	agreement	agreement	NOUN
hjic-1150	91	20	no	no	INTJ
hjic-1150	91	21	.	.	PUNCT
hjic-1150	91	22	779966	779966	NUM
hjic-1150	91	23	.	.	PUNCT
hjic-1150	92	1	furthermore	furthermore	ADV
hjic-1150	92	2	,	,	PUNCT
hjic-1150	92	3	this	this	DET
hjic-1150	92	4	research	research	NOUN
hjic-1150	92	5	was	be	AUX
hjic-1150	92	6	supported	support	VERB
hjic-1150	92	7	by	by	ADP
hjic-1150	92	8	the	the	DET
hjic-1150	92	9	‘	'	PUNCT
hjic-1150	92	10	thematic	thematic	ADJ
hjic-1150	92	11	excellence	excellence	NOUN
hjic-1150	92	12	programme	programme	NOUN
hjic-1150	92	13	–	–	PUNCT
hjic-1150	92	14	national	national	ADJ
hjic-1150	92	15	challenges	challenge	NOUN
hjic-1150	92	16	subprogramme	subprogramme	NOUN
hjic-1150	92	17	–	–	PUNCT
hjic-1150	92	18	establishment	establishment	NOUN
hjic-1150	92	19	of	of	ADP
hjic-1150	92	20	the	the	DET
hjic-1150	92	21	center	center	NOUN
hjic-1150	92	22	of	of	ADP
hjic-1150	92	23	excellence	excellence	PROPN
hjic-1150	92	24	for	for	ADP
hjic-1150	92	25	autonomous	autonomous	ADJ
hjic-1150	92	26	transport	transport	NOUN
hjic-1150	92	27	systems	system	NOUN
hjic-1150	92	28	at	at	ADP
hjic-1150	92	29	széchenyi	széchenyi	PROPN
hjic-1150	92	30	istván	istván	PROPN
hjic-1150	92	31	university	university	PROPN
hjic-1150	92	32	(	(	PUNCT
hjic-1150	92	33	tkp2020	tkp2020	NOUN
hjic-1150	92	34	-	-	PUNCT
hjic-1150	92	35	nka14	nka14	NOUN
hjic-1150	92	36	)	)	PUNCT
hjic-1150	92	37	’	'	PUNCT
hjic-1150	92	38	project	project	NOUN
hjic-1150	92	39	.	.	PUNCT
hjic-1150	93	1	references	reference	NOUN
hjic-1150	93	2	[	[	X
hjic-1150	93	3	1	1	NUM
hjic-1150	93	4	]	]	X
hjic-1150	93	5	currey	currey	PROPN
hjic-1150	93	6	,	,	PUNCT
hjic-1150	93	7	c.	c.	PROPN
hjic-1150	93	8	j.	j.	PROPN
hjic-1150	93	9	:	:	PUNCT
hjic-1150	93	10	automation	automation	NOUN
hjic-1150	93	11	for	for	ADP
hjic-1150	93	12	hydroponics	hydroponic	NOUN
hjic-1150	93	13	,	,	PUNCT
hjic-1150	93	14	produce	produce	VERB
hjic-1150	93	15	grower	grower	NOUN
hjic-1150	93	16	,	,	PUNCT
hjic-1150	93	17	2019	2019	NUM
hjic-1150	93	18	https://www.producegrower.com	https://www.producegrower.com	X
hjic-1150	94	1	[	[	X
hjic-1150	94	2	2	2	NUM
hjic-1150	94	3	]	]	X
hjic-1150	94	4	modu	modu	PROPN
hjic-1150	94	5	,	,	PUNCT
hjic-1150	94	6	f.	f.	PROPN
hjic-1150	94	7	;	;	PUNCT
hjic-1150	94	8	adam	adam	PROPN
hjic-1150	94	9	,	,	PUNCT
hjic-1150	94	10	a.	a.	NOUN
hjic-1150	94	11	;	;	PUNCT
hjic-1150	94	12	aliyu	aliyu	PROPN
hjic-1150	94	13	,	,	PUNCT
hjic-1150	94	14	f.	f.	PROPN
hjic-1150	94	15	;	;	PUNCT
hjic-1150	94	16	mabu	mabu	NOUN
hjic-1150	94	17	,	,	PUNCT
hjic-1150	94	18	a.	a.	NOUN
hjic-1150	94	19	;	;	PUNCT
hjic-1150	94	20	alhaji	alhaji	NOUN
hjic-1150	94	21	musa	musa	PROPN
hjic-1150	94	22	,	,	PUNCT
hjic-1150	94	23	m.	m.	NOUN
hjic-1150	94	24	:	:	PUNCT
hjic-1150	94	25	a	a	DET
hjic-1150	94	26	survey	survey	NOUN
hjic-1150	94	27	of	of	ADP
hjic-1150	94	28	smart	smart	ADJ
hjic-1150	94	29	hydroponic	hydroponic	NOUN
hjic-1150	94	30	systems	system	NOUN
hjic-1150	94	31	.	.	PUNCT
hjic-1150	95	1	advances	advance	NOUN
hjic-1150	95	2	in	in	ADP
hjic-1150	95	3	science	science	NOUN
hjic-1150	95	4	,	,	PUNCT
hjic-1150	95	5	technology	technology	NOUN
hjic-1150	95	6	and	and	CCONJ
hjic-1150	95	7	engineering	engineering	NOUN
hjic-1150	95	8	systems	system	NOUN
hjic-1150	95	9	journal	journal	NOUN
hjic-1150	95	10	,	,	PUNCT
hjic-1150	95	11	2020	2020	NUM
hjic-1150	95	12	,	,	PUNCT
hjic-1150	95	13	5	5	NUM
hjic-1150	95	14	,	,	PUNCT
hjic-1150	95	15	233	233	NUM
hjic-1150	95	16	-	-	SYM
hjic-1150	95	17	248	248	NUM
hjic-1150	95	18	doi	doi	NOUN
hjic-1150	95	19	:	:	PUNCT
hjic-1150	95	20	10.25046	10.25046	NUM
hjic-1150	95	21	/	/	SYM
hjic-1150	95	22	aj050130	aj050130	PROPN
hjic-1150	95	23	hungarian	hungarian	ADJ
hjic-1150	95	24	journal	journal	NOUN
hjic-1150	95	25	of	of	ADP
hjic-1150	95	26	industry	industry	NOUN
hjic-1150	95	27	and	and	CCONJ
hjic-1150	95	28	chemistry	chemistry	NOUN
hjic-1150	95	29	https://www.producegrower.com/article/hydroponic-production-primer-automation-for-hydroponics	https://www.producegrower.com/article/hydroponic-production-primer-automation-for-hydroponic	NOUN
hjic-1150	95	30	https://doi.org/10.25046/aj050130	https://doi.org/10.25046/aj050130	PROPN
hjic-1150	95	31	https://doi.org/10.25046/aj050130	https://doi.org/10.25046/aj050130	PROPN
hjic-1150	95	32	tool	tool	PROPN
hjic-1150	95	33	development	development	NOUN
hjic-1150	95	34	for	for	ADP
hjic-1150	95	35	safe	safe	ADJ
hjic-1150	95	36	cobot	cobot	NOUN
hjic-1150	95	37	-	-	PUNCT
hjic-1150	95	38	assisted	assist	VERB
hjic-1150	95	39	hydroponics	hydroponic	NOUN
hjic-1150	95	40	89	89	NUM
hjic-1150	95	41	[	[	X
hjic-1150	95	42	3	3	NUM
hjic-1150	95	43	]	]	PUNCT
hjic-1150	95	44	leading	lead	VERB
hjic-1150	95	45	ag	ag	ADJ
hjic-1150	95	46	-	-	PUNCT
hjic-1150	95	47	tech	tech	ADJ
hjic-1150	95	48	start	start	NOUN
hjic-1150	95	49	-	-	PUNCT
hjic-1150	95	50	up	up	ADP
hjic-1150	95	51	iron	iron	NOUN
hjic-1150	95	52	ox	ox	NOUN
hjic-1150	95	53	closes	close	VERB
hjic-1150	95	54	$	$	SYM
hjic-1150	95	55	53	53	NUM
hjic-1150	95	56	million	million	NUM
hjic-1150	95	57	investment	investment	NOUN
hjic-1150	95	58	round	round	NOUN
hjic-1150	95	59	led	lead	VERB
hjic-1150	95	60	by	by	ADP
hjic-1150	95	61	breakthrough	breakthrough	NOUN
hjic-1150	95	62	energy	energy	NOUN
hjic-1150	95	63	ventures	venture	NOUN
hjic-1150	95	64	(	(	PUNCT
hjic-1150	95	65	news	news	NOUN
hjic-1150	95	66	)	)	PUNCT
hjic-1150	95	67	;	;	PUNCT
hjic-1150	95	68	https://ironox.com	https://ironox.com	X
hjic-1150	96	1	[	[	X
hjic-1150	96	2	4	4	NUM
hjic-1150	96	3	]	]	X
hjic-1150	96	4	gnauer	gnauer	NOUN
hjic-1150	96	5	,	,	PUNCT
hjic-1150	96	6	c.	c.	NOUN
hjic-1150	96	7	;	;	PUNCT
hjic-1150	96	8	pichler	pichler	NOUN
hjic-1150	96	9	,	,	PUNCT
hjic-1150	96	10	h.	h.	PROPN
hjic-1150	96	11	;	;	PUNCT
hjic-1150	96	12	tauber	tauber	PROPN
hjic-1150	96	13	,	,	PUNCT
hjic-1150	96	14	m.	m.	NOUN
hjic-1150	96	15	;	;	PUNCT
hjic-1150	96	16	schmittner	schmittner	NOUN
hjic-1150	96	17	,	,	PUNCT
hjic-1150	96	18	c.	c.	PROPN
hjic-1150	96	19	;	;	PUNCT
hjic-1150	96	20	christl	christl	PROPN
hjic-1150	96	21	,	,	PUNCT
hjic-1150	96	22	k.	k.	PROPN
hjic-1150	96	23	;	;	PUNCT
hjic-1150	96	24	knapitsch	knapitsch	PROPN
hjic-1150	96	25	,	,	PUNCT
hjic-1150	96	26	j.	j.	PROPN
hjic-1150	96	27	;	;	PUNCT
hjic-1150	96	28	parapatits	parapatit	NOUN
hjic-1150	96	29	,	,	PUNCT
hjic-1150	96	30	m.	m.	NOUN
hjic-1150	96	31	:	:	PUNCT
hjic-1150	96	32	towards	towards	ADP
hjic-1150	96	33	a	a	DET
hjic-1150	96	34	secure	secure	ADJ
hjic-1150	96	35	and	and	CCONJ
hjic-1150	96	36	self	self	NOUN
hjic-1150	96	37	-	-	PUNCT
hjic-1150	96	38	adapting	adapt	VERB
hjic-1150	96	39	smart	smart	ADJ
hjic-1150	96	40	indoor	indoor	ADJ
hjic-1150	96	41	farming	farming	NOUN
hjic-1150	96	42	framework	framework	NOUN
hjic-1150	96	43	.	.	PUNCT
hjic-1150	97	1	elektrotechnik	elektrotechnik	PROPN
hjic-1150	97	2	und	und	VERB
hjic-1150	97	3	informationstechnik	informationstechnik	VERB
hjic-1150	97	4	2019	2019	NUM
hjic-1150	97	5	,	,	PUNCT
hjic-1150	97	6	136(7	136(7	NUM
hjic-1150	97	7	)	)	PUNCT
hjic-1150	97	8	,	,	PUNCT
hjic-1150	97	9	341	341	NUM
hjic-1150	97	10	-	-	SYM
hjic-1150	97	11	344	344	NUM
hjic-1150	97	12	doi	doi	NOUN
hjic-1150	97	13	:	:	PUNCT
hjic-1150	97	14	10.1007	10.1007	NUM
hjic-1150	97	15	/	/	SYM
hjic-1150	97	16	s00502	s00502	NOUN
hjic-1150	97	17	-	-	PUNCT
hjic-1150	97	18	019	019	NUM
hjic-1150	97	19	-	-	PUNCT
hjic-1150	97	20	00745	00745	NUM
hjic-1150	97	21	-	-	SYM
hjic-1150	97	22	0	0	PUNCT
hjic-1150	98	1	[	[	X
hjic-1150	98	2	5	5	NUM
hjic-1150	98	3	]	]	PUNCT
hjic-1150	98	4	directive	directive	NOUN
hjic-1150	98	5	2006/42	2006/42	NUM
hjic-1150	98	6	/	/	SYM
hjic-1150	98	7	ec	ec	PROPN
hjic-1150	98	8	,	,	PUNCT
hjic-1150	98	9	https://eur-lex.europa.eu	https://eur-lex.europa.eu	X
hjic-1150	98	10	[	[	X
hjic-1150	98	11	6	6	NUM
hjic-1150	98	12	]	]	PUNCT
hjic-1150	98	13	directive	directive	NOUN
hjic-1150	98	14	95/16	95/16	NUM
hjic-1150	98	15	/	/	SYM
hjic-1150	98	16	ec	ec	PROPN
hjic-1150	98	17	,	,	PUNCT
hjic-1150	98	18	https://eur-lex.europa.eu	https://eur-lex.europa.eu	X
hjic-1150	98	19	[	[	X
hjic-1150	98	20	7	7	X
hjic-1150	98	21	]	]	ADJ
hjic-1150	98	22	directive	directive	NOUN
hjic-1150	98	23	2014/35	2014/35	NUM
hjic-1150	98	24	/	/	SYM
hjic-1150	98	25	eu	eu	PROPN
hjic-1150	98	26	,	,	PUNCT
hjic-1150	98	27	https://eur-lex.europa.eu	https://eur-lex.europa.eu	X
hjic-1150	98	28	[	[	X
hjic-1150	98	29	8	8	X
hjic-1150	98	30	]	]	ADJ
hjic-1150	98	31	directive	directive	NOUN
hjic-1150	98	32	2014/30	2014/30	NUM
hjic-1150	98	33	/	/	SYM
hjic-1150	98	34	eu	eu	PROPN
hjic-1150	98	35	,	,	PUNCT
hjic-1150	98	36	https://eur-lex.europa.eu	https://eur-lex.europa.eu	X
hjic-1150	98	37	[	[	X
hjic-1150	98	38	9	9	NUM
hjic-1150	98	39	]	]	SYM
hjic-1150	98	40	iso	iso	NOUN
hjic-1150	98	41	13855:2010	13855:2010	NUM
hjic-1150	98	42	,	,	PUNCT
hjic-1150	98	43	https://www.iso.org	https://www.iso.org	VERB
hjic-1150	98	44	[	[	PUNCT
hjic-1150	98	45	10	10	NUM
hjic-1150	98	46	]	]	X
hjic-1150	98	47	en	en	X
hjic-1150	98	48	547	547	NUM
hjic-1150	98	49	-	-	SYM
hjic-1150	98	50	3:2009	3:2009	NUM
hjic-1150	98	51	,	,	PUNCT
hjic-1150	98	52	https://webstore.ansi.org	https://webstore.ansi.org	X
hjic-1150	98	53	[	[	X
hjic-1150	98	54	11	11	NUM
hjic-1150	98	55	]	]	SYM
hjic-1150	98	56	iso	iso	NOUN
hjic-1150	98	57	14123	14123	NUM
hjic-1150	98	58	-	-	SYM
hjic-1150	98	59	1:2015	1:2015	NUM
hjic-1150	98	60	,	,	PUNCT
hjic-1150	98	61	https://www.iso.org	https://www.iso.org	VERB
hjic-1150	98	62	[	[	X
hjic-1150	98	63	12	12	NUM
hjic-1150	98	64	]	]	PUNCT
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hjic-1150	98	66	1005	1005	NUM
hjic-1150	98	67	-	-	SYM
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hjic-1150	98	69	,	,	PUNCT
hjic-1150	98	70	https://standards.iteh.ai	https://standards.iteh.ai	NOUN
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hjic-1150	99	2	13	13	NUM
hjic-1150	99	3	]	]	PUNCT
hjic-1150	99	4	en	en	X
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hjic-1150	99	6	-	-	SYM
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hjic-1150	99	8	,	,	PUNCT
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hjic-1150	100	1	[	[	X
hjic-1150	100	2	14	14	NUM
hjic-1150	100	3	]	]	X
hjic-1150	100	4	iso	iso	NOUN
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hjic-1150	100	6	-	-	SYM
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hjic-1150	100	8	,	,	PUNCT
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hjic-1150	100	15	-	-	SYM
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hjic-1150	100	17	,	,	PUNCT
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hjic-1150	101	6	-	-	SYM
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hjic-1150	101	8	,	,	PUNCT
hjic-1150	101	9	https://standards.iteh.ai	https://standards.iteh.ai	NOUN
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hjic-1150	102	2	17	17	NUM
hjic-1150	102	3	]	]	PUNCT
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hjic-1150	102	6	-	-	SYM
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hjic-1150	102	8	,	,	PUNCT
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hjic-1150	102	12	]	]	X
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hjic-1150	102	14	/	/	SYM
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hjic-1150	102	17	,	,	PUNCT
hjic-1150	102	18	https://www.iso.org	https://www.iso.org	VERB
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hjic-1150	102	21	]	]	X
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hjic-1150	102	24	,	,	PUNCT
hjic-1150	102	25	https://www.iso.org	https://www.iso.org	VERB
hjic-1150	102	26	[	[	PUNCT
hjic-1150	102	27	20	20	NUM
hjic-1150	102	28	]	]	X
hjic-1150	102	29	iso	iso	NOUN
hjic-1150	102	30	13849	13849	NUM
hjic-1150	102	31	-	-	SYM
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hjic-1150	102	37	]	]	PUNCT
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hjic-1150	104	3	]	]	PUNCT
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hjic-1150	104	9	,	,	PUNCT
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hjic-1150	104	11	;	;	PUNCT
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hjic-1150	104	13	,	,	PUNCT
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hjic-1150	104	21	,	,	PUNCT
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hjic-1150	104	33	,	,	PUNCT
hjic-1150	104	34	e.	e.	PROPN
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hjic-1150	104	37	,	,	PUNCT
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hjic-1150	104	39	;	;	PUNCT
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hjic-1150	104	49	-	-	PUNCT
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hjic-1150	107	5	https://ironox.com/leading-ag-tech-startup-iron-ox-closes-53-million-investment-round-led-by-breakthrough-energy-ventures	https://ironox.com/leading-ag-tech-startup-iron-ox-closes-53-million-investment-round-led-by-breakthrough-energy-venture	NOUN
hjic-1150	107	6	https://doi.org/10.1007/s00502-019-00745-0	https://doi.org/10.1007/s00502-019-00745-0	NUM
hjic-1150	107	7	https://eur-lex.europa.eu/legal-content/en/txt/?uri=celex%3a32006l0042	https://eur-lex.europa.eu/legal-content/en/txt/?uri=celex%3a32006l0042	PROPN
hjic-1150	107	8	https://eur-lex.europa.eu/legal-content/en/txt/?uri=celex%3a31995l0016	https://eur-lex.europa.eu/legal-content/en/txt/?uri=celex%3a31995l0016	PROPN
hjic-1150	107	9	https://eur-lex.europa.eu/legal-content/en/txt/?uri=celex:32014l0035	https://eur-lex.europa.eu/legal-content/en/txt/?uri=celex:32014l0035	PROPN
hjic-1150	107	10	https://eur-lex.europa.eu/legal-content/en/txt/?uri=celex%3a32014l0030	https://eur-lex.europa.eu/legal-content/en/txt/?uri=celex%3a32014l0030	NOUN
hjic-1150	107	11	https://www.iso.org/standard/42845.html	https://www.iso.org/standard/42845.html	PROPN
hjic-1150	107	12	https://webstore.ansi.org/standards/din/dinen5472009-1297988	https://webstore.ansi.org/standards/din/dinen5472009-1297988	PROPN
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hjic-1150	107	16	https://www.iso.org/standard/51330.html	https://www.iso.org/standard/51330.html	PROPN
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hjic-1150	107	18	https://standards.iteh.ai/catalog/standards/clc/05f944e1-2469-4ae7-ada0-f18751039449/en-61508-3-2010	https://standards.iteh.ai/catalog/standards/clc/05f944e1-2469-4ae7-ada0-f18751039449/en-61508-3-2010	PROPN
hjic-1150	107	19	https://standards.iteh.ai/catalog/standards/sist/240f01cf-6ad7-4be6-9226-6944cb0b729f/sist-en-61508-5-2011	https://standards.iteh.ai/catalog/standards/sist/240f01cf-6ad7-4be6-9226-6944cb0b729f/sist-en-61508-5-2011	PROPN
hjic-1150	108	1	https://www.iso.org/standard/62996.html	https://www.iso.org/standard/62996.html	PROPN
hjic-1150	108	2	https://www.iso.org/standard/51528.html	https://www.iso.org/standard/51528.html	PROPN
hjic-1150	108	3	https://www.iso.org/standard/69883.html	https://www.iso.org/standard/69883.html	PROPN
hjic-1150	108	4	https://www.safearoundrobots.com/home	https://www.safearoundrobots.com/home	PROPN
hjic-1150	108	5	https://doi.org/10.3390/robotics10020065	https://doi.org/10.3390/robotics10020065	PROPN
hjic-1150	108	6	https://doi.org/10.3390/robotics10020065	https://doi.org/10.3390/robotics10020065	PROPN
hjic-1150	108	7	introduction	introduction	NOUN
hjic-1150	108	8	technical	technical	ADJ
hjic-1150	108	9	criteria	criterion	NOUN
hjic-1150	108	10	risk	risk	NOUN
hjic-1150	108	11	assessment	assessment	NOUN
hjic-1150	108	12	clip	clip	PROPN
hjic-1150	108	13	development	development	PROPN
hjic-1150	108	14	collision	collision	NOUN
hjic-1150	108	15	tests	test	VERB
hjic-1150	108	16	conclusion	conclusion	VERB