id	sid	tid	token	lemma	pos
hjic-279	1	1	microsoft	microsoft	PROPN
hjic-279	1	2	word	word	NOUN
hjic-279	1	3	b_01_r.doc	b_01_r.doc	PROPN
hjic-279	1	4	hungarian	hungarian	ADJ
hjic-279	1	5	journal	journal	NOUN
hjic-279	1	6	of	of	ADP
hjic-279	1	7	industrial	industrial	ADJ
hjic-279	1	8	chemistry	chemistry	NOUN
hjic-279	1	9	veszprém	veszprém	NOUN
hjic-279	1	10	vol	vol	NOUN
hjic-279	1	11	.	.	PUNCT
hjic-279	2	1	38(2	38(2	NUM
hjic-279	2	2	)	)	PUNCT
hjic-279	2	3	.	.	PUNCT
hjic-279	3	1	pp	pp	ADV
hjic-279	3	2	.	.	PUNCT
hjic-279	4	1	77	77	NUM
hjic-279	4	2	-	-	SYM
hjic-279	4	3	81	81	NUM
hjic-279	4	4	(	(	PUNCT
hjic-279	4	5	2010	2010	NUM
hjic-279	4	6	)	)	PUNCT
hjic-279	4	7	motion	motion	NOUN
hjic-279	4	8	simulation	simulation	NOUN
hjic-279	4	9	of	of	ADP
hjic-279	4	10	a	a	DET
hjic-279	4	11	path	path	NOUN
hjic-279	4	12	controlled	control	VERB
hjic-279	4	13	vehicle	vehicle	NOUN
hjic-279	4	14	d.	d.	PROPN
hjic-279	4	15	antal	antal	PROPN
hjic-279	4	16	robert	robert	PROPN
hjic-279	4	17	bosch	bosch	PROPN
hjic-279	4	18	department	department	PROPN
hjic-279	4	19	of	of	ADP
hjic-279	4	20	mechatronics	mechatronic	NOUN
hjic-279	4	21	,	,	PUNCT
hjic-279	4	22	university	university	NOUN
hjic-279	4	23	of	of	ADP
hjic-279	4	24	miskolc	miskolc	ADJ
hjic-279	4	25	,	,	PUNCT
hjic-279	4	26	miskolc	miskolc	ADJ
hjic-279	4	27	-	-	PUNCT
hjic-279	4	28	egyetemváros	egyetemváro	NOUN
hjic-279	4	29	,	,	PUNCT
hjic-279	4	30	hungary	hungary	PROPN
hjic-279	4	31	e	e	NOUN
hjic-279	4	32	-	-	NOUN
hjic-279	4	33	mail	mail	NOUN
hjic-279	4	34	:	:	PUNCT
hjic-279	4	35	antal.daniel@uni-miskolc.hu	antal.daniel@uni-miskolc.hu	X
hjic-279	4	36	the	the	DET
hjic-279	4	37	dynamical	dynamical	ADJ
hjic-279	4	38	modelling	modelling	NOUN
hjic-279	4	39	of	of	ADP
hjic-279	4	40	a	a	DET
hjic-279	4	41	path	path	NOUN
hjic-279	4	42	controlled	control	VERB
hjic-279	4	43	vehicle	vehicle	NOUN
hjic-279	4	44	is	be	AUX
hjic-279	4	45	analyzed	analyze	VERB
hjic-279	4	46	in	in	ADP
hjic-279	4	47	this	this	DET
hjic-279	4	48	paper	paper	NOUN
hjic-279	4	49	.	.	PUNCT
hjic-279	5	1	in	in	ADP
hjic-279	5	2	addition	addition	NOUN
hjic-279	5	3	to	to	ADP
hjic-279	5	4	the	the	DET
hjic-279	5	5	discussion	discussion	NOUN
hjic-279	5	6	to	to	PART
hjic-279	5	7	determine	determine	VERB
hjic-279	5	8	the	the	DET
hjic-279	5	9	orientation	orientation	NOUN
hjic-279	5	10	and	and	CCONJ
hjic-279	5	11	location	location	NOUN
hjic-279	5	12	of	of	ADP
hjic-279	5	13	a	a	DET
hjic-279	5	14	vehicle	vehicle	NOUN
hjic-279	5	15	the	the	DET
hjic-279	5	16	problems	problem	NOUN
hjic-279	5	17	of	of	ADP
hjic-279	5	18	redesigning	redesign	VERB
hjic-279	5	19	a	a	DET
hjic-279	5	20	commercial	commercial	ADJ
hjic-279	5	21	mini	mini	ADJ
hjic-279	5	22	car	car	NOUN
hjic-279	5	23	are	be	AUX
hjic-279	5	24	also	also	ADV
hjic-279	5	25	discussed	discuss	VERB
hjic-279	5	26	.	.	PUNCT
hjic-279	6	1	special	special	ADJ
hjic-279	6	2	emphasize	emphasize	NOUN
hjic-279	6	3	has	have	AUX
hjic-279	6	4	been	be	AUX
hjic-279	6	5	laid	lay	VERB
hjic-279	6	6	on	on	ADP
hjic-279	6	7	the	the	DET
hjic-279	6	8	dynamical	dynamical	ADJ
hjic-279	6	9	analysis	analysis	NOUN
hjic-279	6	10	of	of	ADP
hjic-279	6	11	the	the	DET
hjic-279	6	12	model	model	NOUN
hjic-279	6	13	in	in	ADP
hjic-279	6	14	the	the	DET
hjic-279	6	15	starting	starting	ADJ
hjic-279	6	16	transient	transient	ADJ
hjic-279	6	17	period	period	NOUN
hjic-279	6	18	.	.	PUNCT
hjic-279	7	1	a	a	DET
hjic-279	7	2	simple	simple	ADJ
hjic-279	7	3	controlling	controlling	NOUN
hjic-279	7	4	were	be	AUX
hjic-279	7	5	also	also	ADV
hjic-279	7	6	attached	attach	VERB
hjic-279	7	7	to	to	ADP
hjic-279	7	8	the	the	DET
hjic-279	7	9	model	model	NOUN
hjic-279	7	10	the	the	DET
hjic-279	7	11	velocity	velocity	NOUN
hjic-279	7	12	,	,	PUNCT
hjic-279	7	13	current	current	ADJ
hjic-279	7	14	flow	flow	NOUN
hjic-279	7	15	and	and	CCONJ
hjic-279	7	16	the	the	DET
hjic-279	7	17	roamed	roam	VERB
hjic-279	7	18	path	path	NOUN
hjic-279	7	19	have	have	AUX
hjic-279	7	20	been	be	AUX
hjic-279	7	21	obtained	obtain	VERB
hjic-279	7	22	.	.	PUNCT
hjic-279	8	1	keywords	keyword	NOUN
hjic-279	8	2	:	:	PUNCT
hjic-279	8	3	path	path	NOUN
hjic-279	8	4	control	control	NOUN
hjic-279	8	5	,	,	PUNCT
hjic-279	8	6	motion	motion	NOUN
hjic-279	8	7	simulation	simulation	NOUN
hjic-279	8	8	,	,	PUNCT
hjic-279	8	9	dynamical	dynamical	ADJ
hjic-279	8	10	analysis	analysis	NOUN
hjic-279	8	11	,	,	PUNCT
hjic-279	8	12	dynamical	dynamical	ADJ
hjic-279	8	13	model	model	NOUN
hjic-279	8	14	introduction	introduction	NOUN
hjic-279	8	15	the	the	DET
hjic-279	8	16	number	number	NOUN
hjic-279	8	17	of	of	ADP
hjic-279	8	18	application	application	NOUN
hjic-279	8	19	of	of	ADP
hjic-279	8	20	automated	automate	VERB
hjic-279	8	21	guided	guide	VERB
hjic-279	8	22	vehicles	vehicle	NOUN
hjic-279	8	23	is	be	AUX
hjic-279	8	24	increased	increase	VERB
hjic-279	8	25	in	in	ADP
hjic-279	8	26	logistics	logistic	NOUN
hjic-279	8	27	during	during	ADP
hjic-279	8	28	the	the	DET
hjic-279	8	29	last	last	ADJ
hjic-279	8	30	decades	decade	NOUN
hjic-279	8	31	[	[	X
hjic-279	8	32	1	1	NUM
hjic-279	8	33	]	]	PUNCT
hjic-279	8	34	.	.	PUNCT
hjic-279	9	1	by	by	ADP
hjic-279	9	2	the	the	DET
hjic-279	9	3	use	use	NOUN
hjic-279	9	4	of	of	ADP
hjic-279	9	5	such	such	ADJ
hjic-279	9	6	vehicles	vehicle	NOUN
hjic-279	9	7	,	,	PUNCT
hjic-279	9	8	one	one	PRON
hjic-279	9	9	can	can	AUX
hjic-279	9	10	decrease	decrease	VERB
hjic-279	9	11	the	the	DET
hjic-279	9	12	expenditure	expenditure	NOUN
hjic-279	9	13	of	of	ADP
hjic-279	9	14	the	the	DET
hjic-279	9	15	production	production	NOUN
hjic-279	9	16	cost	cost	NOUN
hjic-279	9	17	and	and	CCONJ
hjic-279	9	18	increase	increase	VERB
hjic-279	9	19	the	the	DET
hjic-279	9	20	operational	operational	ADJ
hjic-279	9	21	efficiency	efficiency	NOUN
hjic-279	9	22	and	and	CCONJ
hjic-279	9	23	its	its	PRON
hjic-279	9	24	reliability	reliability	NOUN
hjic-279	9	25	.	.	PUNCT
hjic-279	10	1	in	in	ADP
hjic-279	10	2	this	this	DET
hjic-279	10	3	paper	paper	NOUN
hjic-279	10	4	the	the	DET
hjic-279	10	5	designing	design	VERB
hjic-279	10	6	aspects	aspect	NOUN
hjic-279	10	7	of	of	ADP
hjic-279	10	8	a	a	DET
hjic-279	10	9	path	path	NOUN
hjic-279	10	10	controlled	control	VERB
hjic-279	10	11	vehicle	vehicle	NOUN
hjic-279	10	12	is	be	AUX
hjic-279	10	13	discussed	discuss	VERB
hjic-279	10	14	.	.	PUNCT
hjic-279	11	1	it	it	PRON
hjic-279	11	2	is	be	AUX
hjic-279	11	3	essential	essential	ADJ
hjic-279	11	4	to	to	PART
hjic-279	11	5	solve	solve	VERB
hjic-279	11	6	the	the	DET
hjic-279	11	7	navigational	navigational	ADJ
hjic-279	11	8	problem	problem	NOUN
hjic-279	11	9	,	,	PUNCT
hjic-279	11	10	i.e.	i.e.	X
hjic-279	11	11	,	,	PUNCT
hjic-279	11	12	the	the	DET
hjic-279	11	13	vehicle	vehicle	NOUN
hjic-279	11	14	should	should	AUX
hjic-279	11	15	be	be	AUX
hjic-279	11	16	moved	move	VERB
hjic-279	11	17	from	from	ADP
hjic-279	11	18	the	the	DET
hjic-279	11	19	initial	initial	ADJ
hjic-279	11	20	position	position	NOUN
hjic-279	11	21	to	to	ADP
hjic-279	11	22	the	the	DET
hjic-279	11	23	final	final	ADJ
hjic-279	11	24	one	one	NOUN
hjic-279	11	25	through	through	ADP
hjic-279	11	26	a	a	DET
hjic-279	11	27	predefined	predefine	VERB
hjic-279	11	28	path	path	NOUN
hjic-279	11	29	.	.	PUNCT
hjic-279	12	1	the	the	DET
hjic-279	12	2	path	path	NOUN
hjic-279	12	3	can	can	AUX
hjic-279	12	4	be	be	AUX
hjic-279	12	5	defined	define	VERB
hjic-279	12	6	by	by	ADP
hjic-279	12	7	fixed	fix	VERB
hjic-279	12	8	methods	method	NOUN
hjic-279	12	9	e.g.	e.g.	ADV
hjic-279	12	10	,	,	PUNCT
hjic-279	12	11	painted	paint	VERB
hjic-279	12	12	paths	path	NOUN
hjic-279	12	13	,	,	PUNCT
hjic-279	12	14	inductive	inductive	ADJ
hjic-279	12	15	loops	loop	NOUN
hjic-279	12	16	,	,	PUNCT
hjic-279	12	17	and	and	CCONJ
hjic-279	12	18	by	by	ADP
hjic-279	12	19	flexible	flexible	ADJ
hjic-279	12	20	methods	method	NOUN
hjic-279	12	21	,	,	PUNCT
hjic-279	12	22	i.e.	i.e.	X
hjic-279	12	23	,	,	PUNCT
hjic-279	12	24	mathematical	mathematical	ADJ
hjic-279	12	25	definition	definition	NOUN
hjic-279	12	26	of	of	ADP
hjic-279	12	27	the	the	DET
hjic-279	12	28	path	path	NOUN
hjic-279	12	29	which	which	PRON
hjic-279	12	30	can	can	AUX
hjic-279	12	31	be	be	AUX
hjic-279	12	32	combined	combine	VERB
hjic-279	12	33	by	by	ADP
hjic-279	12	34	gps	gps	PROPN
hjic-279	12	35	or	or	CCONJ
hjic-279	12	36	other	other	ADJ
hjic-279	12	37	navigation	navigation	NOUN
hjic-279	12	38	systems	system	NOUN
hjic-279	12	39	.	.	PUNCT
hjic-279	13	1	in	in	ADP
hjic-279	13	2	this	this	DET
hjic-279	13	3	paper	paper	NOUN
hjic-279	13	4	the	the	DET
hjic-279	13	5	later	later	ADJ
hjic-279	13	6	approach	approach	NOUN
hjic-279	13	7	will	will	AUX
hjic-279	13	8	be	be	AUX
hjic-279	13	9	preferred	prefer	VERB
hjic-279	13	10	,	,	PUNCT
hjic-279	13	11	since	since	SCONJ
hjic-279	13	12	the	the	DET
hjic-279	13	13	modification	modification	NOUN
hjic-279	13	14	of	of	ADP
hjic-279	13	15	a	a	DET
hjic-279	13	16	path	path	NOUN
hjic-279	13	17	can	can	AUX
hjic-279	13	18	be	be	AUX
hjic-279	13	19	carried	carry	VERB
hjic-279	13	20	out	out	ADP
hjic-279	13	21	easily	easily	ADV
hjic-279	13	22	by	by	ADP
hjic-279	13	23	changing	change	VERB
hjic-279	13	24	the	the	DET
hjic-279	13	25	mathematical	mathematical	ADJ
hjic-279	13	26	definition	definition	NOUN
hjic-279	13	27	in	in	ADP
hjic-279	13	28	the	the	DET
hjic-279	13	29	software	software	NOUN
hjic-279	13	30	.	.	PUNCT
hjic-279	14	1	the	the	DET
hjic-279	14	2	advantage	advantage	NOUN
hjic-279	14	3	of	of	ADP
hjic-279	14	4	this	this	DET
hjic-279	14	5	method	method	NOUN
hjic-279	14	6	is	be	AUX
hjic-279	14	7	the	the	DET
hjic-279	14	8	arbitrary	arbitrary	ADJ
hjic-279	14	9	path	path	NOUN
hjic-279	14	10	definition	definition	NOUN
hjic-279	14	11	,	,	PUNCT
hjic-279	14	12	but	but	CCONJ
hjic-279	14	13	its	its	PRON
hjic-279	14	14	disadvantage	disadvantage	NOUN
hjic-279	14	15	is	be	AUX
hjic-279	14	16	lower	low	ADJ
hjic-279	14	17	accuracy	accuracy	NOUN
hjic-279	14	18	.	.	PUNCT
hjic-279	15	1	the	the	DET
hjic-279	15	2	accuracy	accuracy	NOUN
hjic-279	15	3	can	can	AUX
hjic-279	15	4	be	be	AUX
hjic-279	15	5	improved	improve	VERB
hjic-279	15	6	by	by	ADP
hjic-279	15	7	feedbacks	feedback	NOUN
hjic-279	15	8	.	.	PUNCT
hjic-279	16	1	in	in	ADP
hjic-279	16	2	addition	addition	NOUN
hjic-279	16	3	to	to	ADP
hjic-279	16	4	logistics	logistic	NOUN
hjic-279	16	5	wide	wide	ADJ
hjic-279	16	6	range	range	NOUN
hjic-279	16	7	of	of	ADP
hjic-279	16	8	applications	application	NOUN
hjic-279	16	9	of	of	ADP
hjic-279	16	10	such	such	ADJ
hjic-279	16	11	vehicles	vehicle	NOUN
hjic-279	16	12	can	can	AUX
hjic-279	16	13	be	be	AUX
hjic-279	16	14	found	find	VERB
hjic-279	16	15	e.g.	e.g.	ADV
hjic-279	16	16	,	,	PUNCT
hjic-279	16	17	scanning	scan	VERB
hjic-279	16	18	on	on	ADP
hjic-279	16	19	a	a	DET
hjic-279	16	20	minefield	minefield	NOUN
hjic-279	16	21	or	or	CCONJ
hjic-279	16	22	mowing	mow	VERB
hjic-279	16	23	the	the	DET
hjic-279	16	24	lawn	lawn	NOUN
hjic-279	16	25	automatically	automatically	ADV
hjic-279	16	26	.	.	PUNCT
hjic-279	17	1	the	the	DET
hjic-279	17	2	design	design	NOUN
hjic-279	17	3	and	and	CCONJ
hjic-279	17	4	dynamical	dynamical	ADJ
hjic-279	17	5	modelling	modelling	NOUN
hjic-279	17	6	of	of	ADP
hjic-279	17	7	a	a	DET
hjic-279	17	8	path	path	NOUN
hjic-279	17	9	controlled	control	VERB
hjic-279	17	10	vehicle	vehicle	NOUN
hjic-279	17	11	are	be	AUX
hjic-279	17	12	detailed	detail	VERB
hjic-279	17	13	,	,	PUNCT
hjic-279	17	14	its	its	PRON
hjic-279	17	15	accuracy	accuracy	NOUN
hjic-279	17	16	is	be	AUX
hjic-279	17	17	less	less	ADJ
hjic-279	17	18	than	than	ADP
hjic-279	17	19	0.1	0.1	NUM
hjic-279	17	20	m.	m.	NOUN
hjic-279	17	21	the	the	DET
hjic-279	17	22	first	first	ADJ
hjic-279	17	23	part	part	NOUN
hjic-279	17	24	of	of	ADP
hjic-279	17	25	the	the	DET
hjic-279	17	26	paper	paper	NOUN
hjic-279	17	27	deals	deal	NOUN
hjic-279	17	28	with	with	ADP
hjic-279	17	29	the	the	DET
hjic-279	17	30	problem	problem	NOUN
hjic-279	17	31	of	of	ADP
hjic-279	17	32	the	the	DET
hjic-279	17	33	sensing	sensing	NOUN
hjic-279	17	34	and	and	CCONJ
hjic-279	17	35	correction	correction	NOUN
hjic-279	17	36	of	of	ADP
hjic-279	17	37	the	the	DET
hjic-279	17	38	vehicle	vehicle	NOUN
hjic-279	17	39	position	position	NOUN
hjic-279	17	40	.	.	PUNCT
hjic-279	18	1	in	in	ADP
hjic-279	18	2	the	the	DET
hjic-279	18	3	second	second	ADJ
hjic-279	18	4	part	part	NOUN
hjic-279	18	5	the	the	DET
hjic-279	18	6	vehicle	vehicle	NOUN
hjic-279	18	7	will	will	AUX
hjic-279	18	8	be	be	AUX
hjic-279	18	9	redesigned	redesign	VERB
hjic-279	18	10	to	to	PART
hjic-279	18	11	follow	follow	VERB
hjic-279	18	12	paths	path	NOUN
hjic-279	18	13	.	.	PUNCT
hjic-279	19	1	in	in	ADP
hjic-279	19	2	the	the	DET
hjic-279	19	3	third	third	ADJ
hjic-279	19	4	part	part	NOUN
hjic-279	19	5	the	the	DET
hjic-279	19	6	electro	electro	ADJ
hjic-279	19	7	-	-	PUNCT
hjic-279	19	8	dynamical	dynamical	ADJ
hjic-279	19	9	model	model	NOUN
hjic-279	19	10	of	of	ADP
hjic-279	19	11	the	the	DET
hjic-279	19	12	vehicle	vehicle	NOUN
hjic-279	19	13	is	be	AUX
hjic-279	19	14	analyzed	analyze	VERB
hjic-279	19	15	.	.	PUNCT
hjic-279	20	1	methods	method	NOUN
hjic-279	20	2	determining	determine	VERB
hjic-279	20	3	orientations	orientation	NOUN
hjic-279	20	4	and	and	CCONJ
hjic-279	20	5	locations	location	NOUN
hjic-279	20	6	according	accord	VERB
hjic-279	20	7	to	to	ADP
hjic-279	20	8	the	the	DET
hjic-279	20	9	introduction	introduction	NOUN
hjic-279	20	10	,	,	PUNCT
hjic-279	20	11	guiding	guide	VERB
hjic-279	20	12	on	on	ADP
hjic-279	20	13	a	a	DET
hjic-279	20	14	flexible	flexible	ADJ
hjic-279	20	15	path	path	NOUN
hjic-279	20	16	requires	require	VERB
hjic-279	20	17	a	a	DET
hjic-279	20	18	position	position	NOUN
hjic-279	20	19	and	and	CCONJ
hjic-279	20	20	orientation	orientation	NOUN
hjic-279	20	21	sensing	sense	VERB
hjic-279	20	22	methods	method	NOUN
hjic-279	20	23	,	,	PUNCT
hjic-279	20	24	whereby	whereby	SCONJ
hjic-279	20	25	the	the	DET
hjic-279	20	26	moving	moving	NOUN
hjic-279	20	27	of	of	ADP
hjic-279	20	28	the	the	DET
hjic-279	20	29	vehicle	vehicle	NOUN
hjic-279	20	30	is	be	AUX
hjic-279	20	31	controlled	control	VERB
hjic-279	20	32	.	.	PUNCT
hjic-279	21	1	these	these	DET
hjic-279	21	2	methods	method	NOUN
hjic-279	21	3	are	be	AUX
hjic-279	21	4	based	base	VERB
hjic-279	21	5	on	on	ADP
hjic-279	21	6	different	different	ADJ
hjic-279	21	7	types	type	NOUN
hjic-279	21	8	of	of	ADP
hjic-279	21	9	sensors	sensor	NOUN
hjic-279	21	10	,	,	PUNCT
hjic-279	21	11	which	which	PRON
hjic-279	21	12	provide	provide	VERB
hjic-279	21	13	feedbacks	feedback	NOUN
hjic-279	21	14	for	for	ADP
hjic-279	21	15	the	the	DET
hjic-279	21	16	calculations	calculation	NOUN
hjic-279	21	17	.	.	PUNCT
hjic-279	22	1	the	the	DET
hjic-279	22	2	orientation	orientation	NOUN
hjic-279	22	3	and	and	CCONJ
hjic-279	22	4	position	position	NOUN
hjic-279	22	5	sensing	sense	VERB
hjic-279	22	6	methods	method	NOUN
hjic-279	22	7	can	can	AUX
hjic-279	22	8	be	be	AUX
hjic-279	22	9	divided	divide	VERB
hjic-279	22	10	into	into	ADP
hjic-279	22	11	three	three	NUM
hjic-279	22	12	groups	group	NOUN
hjic-279	22	13	[	[	X
hjic-279	22	14	4	4	NUM
hjic-279	22	15	,	,	PUNCT
hjic-279	22	16	5	5	NUM
hjic-279	22	17	]	]	PUNCT
hjic-279	22	18	:	:	PUNCT
hjic-279	22	19	odometrical	odometrical	ADJ
hjic-279	22	20	method	method	NOUN
hjic-279	22	21	is	be	AUX
hjic-279	22	22	based	base	VERB
hjic-279	22	23	on	on	ADP
hjic-279	22	24	step	step	NOUN
hjic-279	22	25	counting	counting	NOUN
hjic-279	22	26	and	and	CCONJ
hjic-279	22	27	is	be	AUX
hjic-279	22	28	carried	carry	VERB
hjic-279	22	29	out	out	ADP
hjic-279	22	30	by	by	ADP
hjic-279	22	31	summarizing	summarize	VERB
hjic-279	22	32	the	the	DET
hjic-279	22	33	relative	relative	ADJ
hjic-279	22	34	motion	motion	NOUN
hjic-279	22	35	information	information	NOUN
hjic-279	22	36	,	,	PUNCT
hjic-279	22	37	absolute	absolute	ADJ
hjic-279	22	38	method	method	NOUN
hjic-279	22	39	is	be	AUX
hjic-279	22	40	based	base	VERB
hjic-279	22	41	on	on	ADP
hjic-279	22	42	distance	distance	NOUN
hjic-279	22	43	measuring	measure	VERB
hjic-279	22	44	from	from	ADP
hjic-279	22	45	objects	object	NOUN
hjic-279	22	46	at	at	ADP
hjic-279	22	47	known	know	VERB
hjic-279	22	48	positions	position	NOUN
hjic-279	22	49	and	and	CCONJ
hjic-279	22	50	other	other	ADJ
hjic-279	22	51	methods	method	NOUN
hjic-279	22	52	.	.	PUNCT
hjic-279	23	1	the	the	DET
hjic-279	23	2	odometrical	odometrical	ADJ
hjic-279	23	3	distance	distance	NOUN
hjic-279	23	4	measuring	measure	VERB
hjic-279	23	5	gives	give	VERB
hjic-279	23	6	indirect	indirect	ADJ
hjic-279	23	7	information	information	NOUN
hjic-279	23	8	about	about	ADP
hjic-279	23	9	the	the	DET
hjic-279	23	10	movement	movement	NOUN
hjic-279	23	11	,	,	PUNCT
hjic-279	23	12	which	which	PRON
hjic-279	23	13	can	can	AUX
hjic-279	23	14	be	be	AUX
hjic-279	23	15	:	:	PUNCT
hjic-279	23	16	●	●	PUNCT
hjic-279	23	17	angular	angular	ADJ
hjic-279	23	18	position	position	NOUN
hjic-279	23	19	sensing	sense	VERB
hjic-279	23	20	with	with	ADP
hjic-279	23	21	rotary	rotary	ADJ
hjic-279	23	22	encoder	encoder	NOUN
hjic-279	23	23	by	by	ADP
hjic-279	23	24	an	an	DET
hjic-279	23	25	absolute	absolute	ADJ
hjic-279	23	26	or	or	CCONJ
hjic-279	23	27	an	an	DET
hjic-279	23	28	incremental	incremental	ADJ
hjic-279	23	29	one	one	NUM
hjic-279	23	30	depending	depend	VERB
hjic-279	23	31	on	on	ADP
hjic-279	23	32	the	the	DET
hjic-279	23	33	specific	specific	ADJ
hjic-279	23	34	construction	construction	NOUN
hjic-279	23	35	.	.	PUNCT
hjic-279	24	1	the	the	DET
hjic-279	24	2	two	two	NUM
hjic-279	24	3	methods	method	NOUN
hjic-279	24	4	can	can	AUX
hjic-279	24	5	be	be	AUX
hjic-279	24	6	distinguished	distinguish	VERB
hjic-279	24	7	by	by	ADP
hjic-279	24	8	the	the	DET
hjic-279	24	9	applied	apply	VERB
hjic-279	24	10	rotating	rotating	NOUN
hjic-279	24	11	disc	disc	NOUN
hjic-279	24	12	and	and	CCONJ
hjic-279	24	13	the	the	DET
hjic-279	24	14	assigned	assign	VERB
hjic-279	24	15	signal	signal	NOUN
hjic-279	24	16	processing	processing	NOUN
hjic-279	24	17	.	.	PUNCT
hjic-279	25	1	these	these	DET
hjic-279	25	2	encoders	encoder	NOUN
hjic-279	25	3	are	be	AUX
hjic-279	25	4	mounted	mount	VERB
hjic-279	25	5	on	on	ADP
hjic-279	25	6	the	the	DET
hjic-279	25	7	shaft	shaft	NOUN
hjic-279	25	8	.	.	PUNCT
hjic-279	26	1	●	●	PUNCT
hjic-279	26	2	measuring	measure	VERB
hjic-279	26	3	the	the	DET
hjic-279	26	4	revolution	revolution	NOUN
hjic-279	26	5	of	of	ADP
hjic-279	26	6	the	the	DET
hjic-279	26	7	motor	motor	NOUN
hjic-279	26	8	in	in	ADP
hjic-279	26	9	the	the	DET
hjic-279	26	10	drive	drive	NOUN
hjic-279	26	11	train	train	NOUN
hjic-279	26	12	with	with	ADP
hjic-279	26	13	optical	optical	ADJ
hjic-279	26	14	,	,	PUNCT
hjic-279	26	15	inductive	inductive	ADJ
hjic-279	26	16	,	,	PUNCT
hjic-279	26	17	capacitive	capacitive	ADJ
hjic-279	26	18	or	or	CCONJ
hjic-279	26	19	hall	hall	NOUN
hjic-279	26	20	sensor	sensor	NOUN
hjic-279	26	21	,	,	PUNCT
hjic-279	26	22	e.g.	e.g.	ADV
hjic-279	26	23	,	,	PUNCT
hjic-279	26	24	teeth	tooth	NOUN
hjic-279	26	25	of	of	ADP
hjic-279	26	26	a	a	DET
hjic-279	26	27	metal	metal	NOUN
hjic-279	26	28	gear	gear	NOUN
hjic-279	26	29	passing	pass	VERB
hjic-279	26	30	by	by	ADP
hjic-279	26	31	an	an	DET
hjic-279	26	32	inductive	inductive	ADJ
hjic-279	26	33	sensor	sensor	NOUN
hjic-279	26	34	,	,	PUNCT
hjic-279	26	35	or	or	CCONJ
hjic-279	26	36	sensing	sense	VERB
hjic-279	26	37	the	the	DET
hjic-279	26	38	symmetrically	symmetrically	ADV
hjic-279	26	39	placed	place	VERB
hjic-279	26	40	magnets	magnet	NOUN
hjic-279	26	41	on	on	ADP
hjic-279	26	42	the	the	DET
hjic-279	26	43	side	side	NOUN
hjic-279	26	44	of	of	ADP
hjic-279	26	45	a	a	DET
hjic-279	26	46	gear	gear	NOUN
hjic-279	26	47	with	with	ADP
hjic-279	26	48	hall	hall	NOUN
hjic-279	26	49	sensors	sensor	NOUN
hjic-279	26	50	.	.	PUNCT
hjic-279	27	1	●	●	PUNCT
hjic-279	27	2	motor	motor	NOUN
hjic-279	27	3	independent	independent	ADJ
hjic-279	27	4	movement	movement	NOUN
hjic-279	27	5	sensing	sense	VERB
hjic-279	27	6	system	system	NOUN
hjic-279	27	7	with	with	ADP
hjic-279	27	8	a	a	DET
hjic-279	27	9	measuring	measure	VERB
hjic-279	27	10	wheel	wheel	NOUN
hjic-279	27	11	or	or	CCONJ
hjic-279	27	12	a	a	DET
hjic-279	27	13	measuring	measure	VERB
hjic-279	27	14	ball	ball	NOUN
hjic-279	27	15	,	,	PUNCT
hjic-279	27	16	e.g.	e.g.	ADV
hjic-279	27	17	,	,	PUNCT
hjic-279	27	18	mechanical	mechanical	ADJ
hjic-279	27	19	computer	computer	NOUN
hjic-279	27	20	mouse	mouse	NOUN
hjic-279	27	21	.	.	PUNCT
hjic-279	28	1	the	the	DET
hjic-279	28	2	odometrical	odometrical	ADJ
hjic-279	28	3	distance	distance	NOUN
hjic-279	28	4	measuring	measure	VERB
hjic-279	28	5	methods	method	NOUN
hjic-279	28	6	may	may	AUX
hjic-279	28	7	have	have	VERB
hjic-279	28	8	regular	regular	ADJ
hjic-279	28	9	and	and	CCONJ
hjic-279	28	10	irregular	irregular	ADJ
hjic-279	28	11	errors	error	NOUN
hjic-279	28	12	.	.	PUNCT
hjic-279	29	1	the	the	DET
hjic-279	29	2	measuring	measure	VERB
hjic-279	29	3	error	error	NOUN
hjic-279	29	4	is	be	AUX
hjic-279	29	5	78	78	NUM
hjic-279	29	6	incremental	incremental	NOUN
hjic-279	29	7	so	so	SCONJ
hjic-279	29	8	the	the	DET
hjic-279	29	9	calculated	calculate	VERB
hjic-279	29	10	position	position	NOUN
hjic-279	29	11	should	should	AUX
hjic-279	29	12	be	be	AUX
hjic-279	29	13	refined	refine	VERB
hjic-279	29	14	regularly	regularly	ADV
hjic-279	29	15	by	by	ADP
hjic-279	29	16	absolute	absolute	ADJ
hjic-279	29	17	distance	distance	NOUN
hjic-279	29	18	measuring	measure	VERB
hjic-279	29	19	methods	method	NOUN
hjic-279	29	20	.	.	PUNCT
hjic-279	30	1	during	during	ADP
hjic-279	30	2	absolute	absolute	ADJ
hjic-279	30	3	distance	distance	NOUN
hjic-279	30	4	measuring	measure	VERB
hjic-279	30	5	the	the	DET
hjic-279	30	6	position	position	NOUN
hjic-279	30	7	is	be	AUX
hjic-279	30	8	calculated	calculate	VERB
hjic-279	30	9	by	by	ADP
hjic-279	30	10	known	know	VERB
hjic-279	30	11	position	position	NOUN
hjic-279	30	12	objects	object	NOUN
hjic-279	30	13	which	which	PRON
hjic-279	30	14	are	be	AUX
hjic-279	30	15	called	call	VERB
hjic-279	30	16	marker	marker	NOUN
hjic-279	30	17	points	point	NOUN
hjic-279	30	18	.	.	PUNCT
hjic-279	31	1	these	these	DET
hjic-279	31	2	points	point	NOUN
hjic-279	31	3	can	can	AUX
hjic-279	31	4	be	be	AUX
hjic-279	31	5	active	active	ADJ
hjic-279	31	6	or	or	CCONJ
hjic-279	31	7	passive	passive	ADJ
hjic-279	31	8	,	,	PUNCT
hjic-279	31	9	and	and	CCONJ
hjic-279	31	10	natural	natural	ADJ
hjic-279	31	11	or	or	CCONJ
hjic-279	31	12	artificial	artificial	ADJ
hjic-279	31	13	depending	depend	VERB
hjic-279	31	14	on	on	ADP
hjic-279	31	15	the	the	DET
hjic-279	31	16	construction	construction	NOUN
hjic-279	31	17	.	.	PUNCT
hjic-279	32	1	absolute	absolute	ADJ
hjic-279	32	2	distance	distance	NOUN
hjic-279	32	3	measuring	measure	VERB
hjic-279	32	4	methods	method	NOUN
hjic-279	32	5	:	:	PUNCT
hjic-279	32	6	●	●	PUNCT
hjic-279	32	7	optical	optical	ADJ
hjic-279	32	8	marker	marker	NOUN
hjic-279	32	9	technique	technique	NOUN
hjic-279	32	10	.	.	PUNCT
hjic-279	33	1	setting	set	VERB
hjic-279	33	2	or	or	CCONJ
hjic-279	33	3	using	use	VERB
hjic-279	33	4	visually	visually	ADV
hjic-279	33	5	distinguishable	distinguishable	ADJ
hjic-279	33	6	points	point	NOUN
hjic-279	33	7	in	in	ADP
hjic-279	33	8	the	the	DET
hjic-279	33	9	area	area	NOUN
hjic-279	33	10	.	.	PUNCT
hjic-279	34	1	●	●	PUNCT
hjic-279	34	2	laser	laser	NOUN
hjic-279	34	3	and	and	CCONJ
hjic-279	34	4	ultrasonic	ultrasonic	ADJ
hjic-279	34	5	technique	technique	NOUN
hjic-279	34	6	.	.	PUNCT
hjic-279	35	1	instruments	instrument	NOUN
hjic-279	35	2	based	base	VERB
hjic-279	35	3	on	on	ADP
hjic-279	35	4	triangulation	triangulation	NOUN
hjic-279	35	5	method	method	NOUN
hjic-279	35	6	are	be	AUX
hjic-279	35	7	using	use	VERB
hjic-279	35	8	the	the	DET
hjic-279	35	9	beam	beam	NOUN
hjic-279	35	10	to	to	PART
hjic-279	35	11	set	set	VERB
hjic-279	35	12	the	the	DET
hjic-279	35	13	direction	direction	NOUN
hjic-279	35	14	.	.	PUNCT
hjic-279	36	1	instruments	instrument	NOUN
hjic-279	36	2	based	base	VERB
hjic-279	36	3	on	on	ADP
hjic-279	36	4	phase	phase	NOUN
hjic-279	36	5	modulation	modulation	NOUN
hjic-279	36	6	or	or	CCONJ
hjic-279	36	7	radar	radar	NOUN
hjic-279	36	8	principle	principle	NOUN
hjic-279	36	9	the	the	DET
hjic-279	36	10	beam	beam	NOUN
hjic-279	36	11	as	as	ADP
hjic-279	36	12	an	an	DET
hjic-279	36	13	electro	electro	ADJ
hjic-279	36	14	-	-	PUNCT
hjic-279	36	15	magnetic	magnetic	ADJ
hjic-279	36	16	wave	wave	NOUN
hjic-279	36	17	to	to	PART
hjic-279	36	18	determine	determine	VERB
hjic-279	36	19	the	the	DET
hjic-279	36	20	distance	distance	NOUN
hjic-279	36	21	between	between	ADP
hjic-279	36	22	the	the	DET
hjic-279	36	23	measuring	measure	VERB
hjic-279	36	24	equipment	equipment	NOUN
hjic-279	36	25	and	and	CCONJ
hjic-279	36	26	the	the	DET
hjic-279	36	27	signal	signal	ADJ
hjic-279	36	28	point	point	NOUN
hjic-279	36	29	can	can	AUX
hjic-279	36	30	be	be	AUX
hjic-279	36	31	used	use	VERB
hjic-279	36	32	.	.	PUNCT
hjic-279	37	1	●	●	NUM
hjic-279	37	2	radio	radio	NOUN
hjic-279	37	3	principle	principle	NOUN
hjic-279	37	4	positioning	positioning	NOUN
hjic-279	37	5	system	system	NOUN
hjic-279	37	6	.	.	PUNCT
hjic-279	38	1	the	the	DET
hjic-279	38	2	positioning	positioning	NOUN
hjic-279	38	3	requires	require	VERB
hjic-279	38	4	to	to	PART
hjic-279	38	5	set	set	VERB
hjic-279	38	6	up	up	ADP
hjic-279	38	7	a	a	DET
hjic-279	38	8	radio	radio	NOUN
hjic-279	38	9	based	base	VERB
hjic-279	38	10	local	local	ADJ
hjic-279	38	11	positioning	positioning	NOUN
hjic-279	38	12	system	system	NOUN
hjic-279	38	13	or	or	CCONJ
hjic-279	38	14	an	an	DET
hjic-279	38	15	existing	exist	VERB
hjic-279	38	16	system	system	NOUN
hjic-279	38	17	,	,	PUNCT
hjic-279	38	18	e.g.	e.g.	ADV
hjic-279	38	19	,	,	PUNCT
hjic-279	38	20	gps	gps	PROPN
hjic-279	38	21	can	can	AUX
hjic-279	38	22	be	be	AUX
hjic-279	38	23	utilized	utilize	VERB
hjic-279	38	24	for	for	ADP
hjic-279	38	25	it	it	PRON
hjic-279	38	26	.	.	PUNCT
hjic-279	39	1	comparing	compare	VERB
hjic-279	39	2	the	the	DET
hjic-279	39	3	odometrical	odometrical	ADJ
hjic-279	39	4	distance	distance	NOUN
hjic-279	39	5	measuring	measure	VERB
hjic-279	39	6	with	with	ADP
hjic-279	39	7	the	the	DET
hjic-279	39	8	absolute	absolute	ADJ
hjic-279	39	9	distance	distance	NOUN
hjic-279	39	10	measuring	measure	VERB
hjic-279	39	11	one	one	NUM
hjic-279	39	12	can	can	AUX
hjic-279	39	13	state	state	VERB
hjic-279	39	14	that	that	SCONJ
hjic-279	39	15	the	the	DET
hjic-279	39	16	later	later	ADV
hjic-279	39	17	has	have	VERB
hjic-279	39	18	only	only	ADV
hjic-279	39	19	a	a	DET
hjic-279	39	20	regular	regular	ADJ
hjic-279	39	21	error	error	NOUN
hjic-279	39	22	which	which	PRON
hjic-279	39	23	is	be	AUX
hjic-279	39	24	constant	constant	ADJ
hjic-279	39	25	.	.	PUNCT
hjic-279	40	1	the	the	DET
hjic-279	40	2	absolute	absolute	ADJ
hjic-279	40	3	technique	technique	NOUN
hjic-279	40	4	is	be	AUX
hjic-279	40	5	a	a	DET
hjic-279	40	6	time	time	NOUN
hjic-279	40	7	consuming	consume	VERB
hjic-279	40	8	method	method	NOUN
hjic-279	40	9	,	,	PUNCT
hjic-279	40	10	therefore	therefore	ADV
hjic-279	40	11	it	it	PRON
hjic-279	40	12	is	be	AUX
hjic-279	40	13	used	use	VERB
hjic-279	40	14	rarely	rarely	ADV
hjic-279	40	15	.	.	PUNCT
hjic-279	41	1	it	it	PRON
hjic-279	41	2	means	mean	VERB
hjic-279	41	3	that	that	SCONJ
hjic-279	41	4	the	the	DET
hjic-279	41	5	less	less	ADV
hjic-279	41	6	expensive	expensive	ADJ
hjic-279	41	7	odometrical	odometrical	ADJ
hjic-279	41	8	position	position	NOUN
hjic-279	41	9	determination	determination	NOUN
hjic-279	41	10	can	can	AUX
hjic-279	41	11	be	be	AUX
hjic-279	41	12	refined	refine	VERB
hjic-279	41	13	by	by	ADP
hjic-279	41	14	an	an	DET
hjic-279	41	15	expensive	expensive	ADJ
hjic-279	41	16	one	one	NOUN
hjic-279	41	17	.	.	PUNCT
hjic-279	42	1	there	there	PRON
hjic-279	42	2	are	be	VERB
hjic-279	42	3	also	also	ADV
hjic-279	42	4	other	other	ADJ
hjic-279	42	5	location	location	NOUN
hjic-279	42	6	and	and	CCONJ
hjic-279	42	7	orientation	orientation	NOUN
hjic-279	42	8	determining	determine	VERB
hjic-279	42	9	methods	method	NOUN
hjic-279	42	10	,	,	PUNCT
hjic-279	42	11	e.g.	e.g.	ADV
hjic-279	42	12	,	,	PUNCT
hjic-279	42	13	doppler	doppler	NOUN
hjic-279	42	14	sensor	sensor	NOUN
hjic-279	42	15	or	or	CCONJ
hjic-279	42	16	a	a	DET
hjic-279	42	17	system	system	NOUN
hjic-279	42	18	provided	provide	VERB
hjic-279	42	19	by	by	ADP
hjic-279	42	20	accelerometers	accelerometer	NOUN
hjic-279	42	21	,	,	PUNCT
hjic-279	42	22	gyroscopes	gyroscope	NOUN
hjic-279	42	23	or	or	CCONJ
hjic-279	42	24	their	their	PRON
hjic-279	42	25	combinations	combination	NOUN
hjic-279	42	26	.	.	PUNCT
hjic-279	43	1	redesigning	redesigning	NOUN
hjic-279	43	2	of	of	ADP
hjic-279	43	3	a	a	DET
hjic-279	43	4	commercial	commercial	ADJ
hjic-279	43	5	car	car	NOUN
hjic-279	43	6	for	for	ADP
hjic-279	43	7	path	path	NOUN
hjic-279	43	8	controlling	control	VERB
hjic-279	43	9	in	in	ADP
hjic-279	43	10	order	order	NOUN
hjic-279	43	11	to	to	PART
hjic-279	43	12	study	study	VERB
hjic-279	43	13	path	path	NOUN
hjic-279	43	14	controlling	controlling	PROPN
hjic-279	43	15	,	,	PUNCT
hjic-279	43	16	a	a	DET
hjic-279	43	17	commercial	commercial	ADJ
hjic-279	43	18	tyco	tyco	PROPN
hjic-279	43	19	rebound	rebound	NOUN
hjic-279	43	20	radio	radio	NOUN
hjic-279	43	21	controlled	control	VERB
hjic-279	43	22	mini	mini	NOUN
hjic-279	43	23	car	car	NOUN
hjic-279	43	24	has	have	AUX
hjic-279	43	25	been	be	AUX
hjic-279	43	26	redesigned	redesign	VERB
hjic-279	43	27	.	.	PUNCT
hjic-279	44	1	the	the	DET
hjic-279	44	2	redesigned	redesign	VERB
hjic-279	44	3	vehicle	vehicle	NOUN
hjic-279	44	4	contains	contain	VERB
hjic-279	44	5	the	the	DET
hjic-279	44	6	following	follow	VERB
hjic-279	44	7	functional	functional	ADJ
hjic-279	44	8	parts	part	NOUN
hjic-279	44	9	:	:	PUNCT
hjic-279	44	10	●	●	PUNCT
hjic-279	44	11	the	the	DET
hjic-279	44	12	controller	controller	NOUN
hjic-279	44	13	electronics	electronics	NOUN
hjic-279	44	14	is	be	AUX
hjic-279	44	15	a	a	DET
hjic-279	44	16	dspicdem	dspicdem	ADJ
hjic-279	44	17	mc1	mc1	PROPN
hjic-279	44	18	motor	motor	PROPN
hjic-279	44	19	control	control	PROPN
hjic-279	44	20	development	development	PROPN
hjic-279	44	21	board	board	PROPN
hjic-279	44	22	,	,	PUNCT
hjic-279	44	23	which	which	PRON
hjic-279	44	24	contains	contain	VERB
hjic-279	44	25	a	a	DET
hjic-279	44	26	dspic30f6010a	dspic30f6010a	PROPN
hjic-279	44	27	microcontroller	microcontroller	NOUN
hjic-279	44	28	.	.	PUNCT
hjic-279	45	1	the	the	DET
hjic-279	45	2	software	software	NOUN
hjic-279	45	3	is	be	AUX
hjic-279	45	4	written	write	VERB
hjic-279	45	5	in	in	ADP
hjic-279	45	6	c	c	NOUN
hjic-279	45	7	programming	programming	NOUN
hjic-279	45	8	language	language	NOUN
hjic-279	45	9	.	.	PUNCT
hjic-279	46	1	●	●	PUNCT
hjic-279	46	2	the	the	DET
hjic-279	46	3	sensors	sensor	NOUN
hjic-279	46	4	(	(	PUNCT
hjic-279	46	5	tle4905l	tle4905l	NOUN
hjic-279	46	6	)	)	PUNCT
hjic-279	46	7	are	be	AUX
hjic-279	46	8	creating	create	VERB
hjic-279	46	9	digital	digital	ADJ
hjic-279	46	10	ttl	ttl	PROPN
hjic-279	46	11	voltage	voltage	NOUN
hjic-279	46	12	level	level	NOUN
hjic-279	46	13	signal	signal	NOUN
hjic-279	46	14	for	for	ADP
hjic-279	46	15	the	the	DET
hjic-279	46	16	controller	controller	NOUN
hjic-279	46	17	electronics	electronic	NOUN
hjic-279	46	18	,	,	PUNCT
hjic-279	46	19	when	when	SCONJ
hjic-279	46	20	one	one	NUM
hjic-279	46	21	of	of	ADP
hjic-279	46	22	the	the	DET
hjic-279	46	23	4	4	NUM
hjic-279	46	24	neodymium	neodymium	NOUN
hjic-279	46	25	magnets	magnet	NOUN
hjic-279	46	26	on	on	ADP
hjic-279	46	27	the	the	DET
hjic-279	46	28	side	side	NOUN
hjic-279	46	29	of	of	ADP
hjic-279	46	30	the	the	DET
hjic-279	46	31	gear	gear	NOUN
hjic-279	46	32	is	be	AUX
hjic-279	46	33	passing	pass	VERB
hjic-279	46	34	by	by	ADP
hjic-279	46	35	.	.	PUNCT
hjic-279	47	1	●	●	PUNCT
hjic-279	47	2	the	the	DET
hjic-279	47	3	power	power	NOUN
hjic-279	47	4	pcb	pcb	NOUN
hjic-279	47	5	(	(	PUNCT
hjic-279	47	6	printed	print	VERB
hjic-279	47	7	circuit	circuit	PROPN
hjic-279	47	8	board	board	PROPN
hjic-279	47	9	)	)	PUNCT
hjic-279	47	10	is	be	AUX
hjic-279	47	11	containing	contain	VERB
hjic-279	47	12	the	the	DET
hjic-279	47	13	socket	socket	NOUN
hjic-279	47	14	for	for	ADP
hjic-279	47	15	the	the	DET
hjic-279	47	16	motor	motor	NOUN
hjic-279	47	17	,	,	PUNCT
hjic-279	47	18	optical	optical	ADJ
hjic-279	47	19	coupling	coupling	NOUN
hjic-279	47	20	to	to	ADP
hjic-279	47	21	the	the	DET
hjic-279	47	22	controller	controller	NOUN
hjic-279	47	23	board	board	NOUN
hjic-279	47	24	and	and	CCONJ
hjic-279	47	25	the	the	DET
hjic-279	47	26	power	power	NOUN
hjic-279	47	27	supply	supply	NOUN
hjic-279	47	28	of	of	ADP
hjic-279	47	29	the	the	DET
hjic-279	47	30	hall	hall	NOUN
hjic-279	47	31	sensors	sensor	NOUN
hjic-279	47	32	.	.	PUNCT
hjic-279	48	1	the	the	DET
hjic-279	48	2	power	power	NOUN
hjic-279	48	3	pcb	pcb	NOUN
hjic-279	48	4	physically	physically	ADV
hjic-279	48	5	contains	contain	VERB
hjic-279	48	6	an	an	DET
hjic-279	48	7	integrated	integrated	ADJ
hjic-279	48	8	full	full	ADJ
hjic-279	48	9	h	h	NOUN
hjic-279	48	10	-	-	PUNCT
hjic-279	48	11	bridge	bridge	NOUN
hjic-279	48	12	(	(	PUNCT
hjic-279	48	13	l298n	l298n	PROPN
hjic-279	48	14	)	)	PUNCT
hjic-279	48	15	,	,	PUNCT
hjic-279	48	16	+5	+5	PROPN
hjic-279	48	17	v	v	NUM
hjic-279	48	18	supply	supply	NOUN
hjic-279	48	19	for	for	ADP
hjic-279	48	20	the	the	DET
hjic-279	48	21	ttl	ttl	PROPN
hjic-279	48	22	logic	logic	NOUN
hjic-279	48	23	(	(	PUNCT
hjic-279	48	24	ka7805	ka7805	PROPN
hjic-279	48	25	)	)	PUNCT
hjic-279	48	26	and	and	CCONJ
hjic-279	48	27	the	the	DET
hjic-279	48	28	optical	optical	ADJ
hjic-279	48	29	coupler	coupler	NOUN
hjic-279	48	30	integrated	integrate	VERB
hjic-279	48	31	circuit	circuit	NOUN
hjic-279	48	32	(	(	PUNCT
hjic-279	48	33	cny74	cny74	NOUN
hjic-279	48	34	-	-	PUNCT
hjic-279	48	35	2h	2h	NUM
hjic-279	48	36	)	)	PUNCT
hjic-279	48	37	.	.	PUNCT
hjic-279	49	1	the	the	DET
hjic-279	49	2	position	position	NOUN
hjic-279	49	3	is	be	AUX
hjic-279	49	4	determined	determine	VERB
hjic-279	49	5	by	by	ADP
hjic-279	49	6	the	the	DET
hjic-279	49	7	wheel	wheel	NOUN
hjic-279	49	8	revolutions	revolution	NOUN
hjic-279	49	9	on	on	ADP
hjic-279	49	10	different	different	ADJ
hjic-279	49	11	sides	side	NOUN
hjic-279	49	12	(	(	PUNCT
hjic-279	49	13	by	by	ADP
hjic-279	49	14	odometrical	odometrical	ADJ
hjic-279	49	15	method	method	NOUN
hjic-279	49	16	)	)	PUNCT
hjic-279	49	17	,	,	PUNCT
hjic-279	49	18	the	the	DET
hjic-279	49	19	principle	principle	NOUN
hjic-279	49	20	is	be	AUX
hjic-279	49	21	shown	show	VERB
hjic-279	49	22	in	in	ADP
hjic-279	49	23	fig	fig	NOUN
hjic-279	49	24	.	.	PUNCT
hjic-279	50	1	1	1	X
hjic-279	50	2	.	.	X
hjic-279	51	1	it	it	PRON
hjic-279	51	2	is	be	AUX
hjic-279	51	3	clearly	clearly	ADV
hjic-279	51	4	visible	visible	ADJ
hjic-279	51	5	,	,	PUNCT
hjic-279	51	6	how	how	SCONJ
hjic-279	51	7	the	the	DET
hjic-279	51	8	vehicle	vehicle	NOUN
hjic-279	51	9	is	be	AUX
hjic-279	51	10	moving	move	VERB
hjic-279	51	11	along	along	ADP
hjic-279	51	12	the	the	DET
hjic-279	51	13	arc	arc	NOUN
hjic-279	51	14	δα	δα	VERB
hjic-279	51	15	if	if	SCONJ
hjic-279	51	16	only	only	ADV
hjic-279	51	17	one	one	NUM
hjic-279	51	18	of	of	ADP
hjic-279	51	19	the	the	DET
hjic-279	51	20	sides	side	NOUN
hjic-279	51	21	is	be	AUX
hjic-279	51	22	driven	drive	VERB
hjic-279	51	23	with	with	ADP
hjic-279	51	24	one	one	NUM
hjic-279	51	25	increment	increment	NOUN
hjic-279	51	26	.	.	PUNCT
hjic-279	52	1	figure	figure	NOUN
hjic-279	52	2	1	1	NUM
hjic-279	52	3	:	:	PUNCT
hjic-279	52	4	calculation	calculation	NOUN
hjic-279	52	5	of	of	ADP
hjic-279	52	6	the	the	DET
hjic-279	52	7	rotation	rotation	NOUN
hjic-279	52	8	belonging	belong	VERB
hjic-279	52	9	to	to	ADP
hjic-279	52	10	one	one	NUM
hjic-279	52	11	increment	increment	NOUN
hjic-279	52	12	from	from	ADP
hjic-279	52	13	geometrical	geometrical	ADJ
hjic-279	52	14	considerations	consideration	NOUN
hjic-279	52	15	,	,	PUNCT
hjic-279	52	16	the	the	DET
hjic-279	52	17	coordinates	coordinate	NOUN
hjic-279	52	18	of	of	ADP
hjic-279	52	19	the	the	DET
hjic-279	52	20	vehicle	vehicle	NOUN
hjic-279	52	21	could	could	AUX
hjic-279	52	22	be	be	AUX
hjic-279	52	23	calculated	calculate	VERB
hjic-279	52	24	increment	increment	NOUN
hjic-279	52	25	by	by	ADP
hjic-279	52	26	increment	increment	NOUN
hjic-279	52	27	:	:	PUNCT
hjic-279	52	28	(	(	PUNCT
hjic-279	52	29	)	)	SYM
hjic-279	52	30	1	1	NUM
hjic-279	52	31	sin	sin	NOUN
hjic-279	52	32	/	/	SYM
hjic-279	52	33	2n	2n	NUM
hjic-279	52	34	n	n	CCONJ
hjic-279	52	35	nx	nx	NOUN
hjic-279	52	36	x	x	SYM
hjic-279	52	37	k	k	PROPN
hjic-279	52	38	α	α	PROPN
hjic-279	52	39	α+	α+	X
hjic-279	52	40	≅	≅	PROPN
hjic-279	52	41	+	+	PROPN
hjic-279	52	42	+	+	CCONJ
hjic-279	52	43	δ	δ	PROPN
hjic-279	52	44	,	,	PUNCT
hjic-279	52	45	(	(	PUNCT
hjic-279	52	46	1	1	X
hjic-279	52	47	)	)	PUNCT
hjic-279	52	48	(	(	PUNCT
hjic-279	52	49	)	)	SYM
hjic-279	52	50	1	1	NUM
hjic-279	52	51	cos	cos	PROPN
hjic-279	52	52	/	/	SYM
hjic-279	52	53	2n	2n	NUM
hjic-279	52	54	n	n	CCONJ
hjic-279	52	55	ny	ny	PROPN
hjic-279	52	56	y	y	PROPN
hjic-279	52	57	k	k	PROPN
hjic-279	52	58	α	α	PROPN
hjic-279	52	59	α+	α+	X
hjic-279	52	60	≅	≅	PROPN
hjic-279	52	61	+	+	PROPN
hjic-279	52	62	+	+	CCONJ
hjic-279	52	63	δ	δ	PROPN
hjic-279	52	64	,	,	PUNCT
hjic-279	52	65	(	(	PUNCT
hjic-279	52	66	2	2	X
hjic-279	52	67	)	)	PUNCT
hjic-279	52	68	where	where	SCONJ
hjic-279	52	69	δα	δα	PRON
hjic-279	52	70	=	=	PUNCT
hjic-279	52	71	±k	±k	PROPN
hjic-279	52	72	/	/	SYM
hjic-279	52	73	h	h	NOUN
hjic-279	52	74	depends	depend	VERB
hjic-279	52	75	on	on	ADP
hjic-279	52	76	the	the	DET
hjic-279	52	77	directions	direction	NOUN
hjic-279	52	78	,	,	PUNCT
hjic-279	52	79	i.e.	i.e.	X
hjic-279	52	80	,	,	PUNCT
hjic-279	52	81	in	in	ADP
hjic-279	52	82	case	case	NOUN
hjic-279	52	83	of	of	ADP
hjic-279	52	84	+	+	NOUN
hjic-279	52	85	/the	/the	DET
hjic-279	52	86	movement	movement	NOUN
hjic-279	52	87	is	be	AUX
hjic-279	52	88	forward	forward	ADV
hjic-279	52	89	/	/	SYM
hjic-279	52	90	backward	backward	ADV
hjic-279	52	91	,	,	PUNCT
hjic-279	52	92	the	the	DET
hjic-279	52	93	value	value	NOUN
hjic-279	52	94	of	of	ADP
hjic-279	52	95	k	k	PROPN
hjic-279	52	96	is	be	AUX
hjic-279	52	97	the	the	DET
hjic-279	52	98	arc	arc	NOUN
hjic-279	52	99	length	length	NOUN
hjic-279	52	100	associated	associate	VERB
hjic-279	52	101	with	with	ADP
hjic-279	52	102	one	one	NUM
hjic-279	52	103	increment	increment	NOUN
hjic-279	52	104	and	and	CCONJ
hjic-279	52	105	h	h	NOUN
hjic-279	52	106	is	be	AUX
hjic-279	52	107	the	the	DET
hjic-279	52	108	radius	radius	NOUN
hjic-279	52	109	of	of	ADP
hjic-279	52	110	the	the	DET
hjic-279	52	111	path	path	NOUN
hjic-279	52	112	.	.	PUNCT
hjic-279	53	1	during	during	ADP
hjic-279	53	2	the	the	DET
hjic-279	53	3	calculations	calculation	NOUN
hjic-279	53	4	of	of	ADP
hjic-279	53	5	the	the	DET
hjic-279	53	6	coordinates	coordinate	NOUN
hjic-279	53	7	the	the	DET
hjic-279	53	8	angle	angle	NOUN
hjic-279	53	9	should	should	AUX
hjic-279	53	10	be	be	AUX
hjic-279	53	11	increased	increase	VERB
hjic-279	53	12	by	by	ADP
hjic-279	53	13	π	π	PROPN
hjic-279	53	14	.	.	PUNCT
hjic-279	54	1	learning	learn	VERB
hjic-279	54	2	mode	mode	NOUN
hjic-279	54	3	of	of	ADP
hjic-279	54	4	the	the	DET
hjic-279	54	5	vehicle	vehicle	NOUN
hjic-279	54	6	operation	operation	NOUN
hjic-279	54	7	has	have	AUX
hjic-279	54	8	been	be	AUX
hjic-279	54	9	developed	develop	VERB
hjic-279	54	10	,	,	PUNCT
hjic-279	54	11	while	while	SCONJ
hjic-279	54	12	data	datum	NOUN
hjic-279	54	13	of	of	ADP
hjic-279	54	14	the	the	DET
hjic-279	54	15	whole	whole	ADJ
hjic-279	54	16	path	path	NOUN
hjic-279	54	17	are	be	AUX
hjic-279	54	18	saved	save	VERB
hjic-279	54	19	by	by	ADP
hjic-279	54	20	the	the	DET
hjic-279	54	21	software	software	NOUN
hjic-279	54	22	.	.	PUNCT
hjic-279	55	1	afterwards	afterwards	ADV
hjic-279	55	2	the	the	DET
hjic-279	55	3	path	path	NOUN
hjic-279	55	4	data	datum	NOUN
hjic-279	55	5	is	be	AUX
hjic-279	55	6	accessible	accessible	ADJ
hjic-279	55	7	on	on	ADP
hjic-279	55	8	a	a	DET
hjic-279	55	9	personal	personal	ADJ
hjic-279	55	10	computer	computer	NOUN
hjic-279	55	11	via	via	ADP
hjic-279	55	12	rs-232	rs-232	PROPN
hjic-279	55	13	communication	communication	NOUN
hjic-279	55	14	.	.	PUNCT
hjic-279	56	1	furthermore	furthermore	ADV
hjic-279	56	2	a	a	DET
hjic-279	56	3	preprogrammed	preprogrammed	ADJ
hjic-279	56	4	mode	mode	NOUN
hjic-279	56	5	is	be	AUX
hjic-279	56	6	accessible	accessible	ADJ
hjic-279	56	7	,	,	PUNCT
hjic-279	56	8	when	when	SCONJ
hjic-279	56	9	the	the	DET
hjic-279	56	10	vehicle	vehicle	NOUN
hjic-279	56	11	is	be	AUX
hjic-279	56	12	controlled	control	VERB
hjic-279	56	13	by	by	ADP
hjic-279	56	14	itself	itself	PRON
hjic-279	56	15	performing	perform	VERB
hjic-279	56	16	a	a	DET
hjic-279	56	17	preprogrammed	preprogrammed	ADJ
hjic-279	56	18	path	path	NOUN
hjic-279	56	19	.	.	PUNCT
hjic-279	57	1	the	the	DET
hjic-279	57	2	motors	motor	NOUN
hjic-279	57	3	are	be	AUX
hjic-279	57	4	controlled	control	VERB
hjic-279	57	5	via	via	ADP
hjic-279	57	6	the	the	DET
hjic-279	57	7	power	power	NOUN
hjic-279	57	8	pcb	pcb	NOUN
hjic-279	57	9	by	by	ADP
hjic-279	57	10	pwm	pwm	NOUN
hjic-279	57	11	(	(	PUNCT
hjic-279	57	12	pulse	pulse	NOUN
hjic-279	57	13	width	width	ADJ
hjic-279	57	14	modulation	modulation	NOUN
hjic-279	57	15	)	)	PUNCT
hjic-279	57	16	signals	signal	NOUN
hjic-279	57	17	.	.	PUNCT
hjic-279	58	1	during	during	ADP
hjic-279	58	2	the	the	DET
hjic-279	58	3	test	test	NOUN
hjic-279	58	4	of	of	ADP
hjic-279	58	5	the	the	DET
hjic-279	58	6	redesigned	redesign	VERB
hjic-279	58	7	vehicle	vehicle	NOUN
hjic-279	58	8	two	two	NUM
hjic-279	58	9	important	important	ADJ
hjic-279	58	10	vehicle	vehicle	NOUN
hjic-279	58	11	attributes	attribute	NOUN
hjic-279	58	12	have	have	AUX
hjic-279	58	13	been	be	AUX
hjic-279	58	14	determined	determine	VERB
hjic-279	58	15	for	for	ADP
hjic-279	58	16	the	the	DET
hjic-279	58	17	software	software	NOUN
hjic-279	58	18	:	:	PUNCT
hjic-279	58	19	h	h	NOUN
hjic-279	58	20	=	=	NUM
hjic-279	58	21	3.625	3.625	NUM
hjic-279	58	22	m	m	NOUN
hjic-279	58	23	and	and	CCONJ
hjic-279	58	24	k	k	NOUN
hjic-279	59	1	=	=	SYM
hjic-279	59	2	42.25	42.25	NUM
hjic-279	59	3	mm	mm	NOUN
hjic-279	59	4	.	.	PUNCT
hjic-279	60	1	dynamical	dynamical	ADJ
hjic-279	60	2	analysis	analysis	NOUN
hjic-279	60	3	of	of	ADP
hjic-279	60	4	the	the	DET
hjic-279	60	5	vehicle	vehicle	NOUN
hjic-279	60	6	the	the	DET
hjic-279	60	7	wheels	wheel	NOUN
hjic-279	60	8	on	on	ADP
hjic-279	60	9	the	the	DET
hjic-279	60	10	two	two	NUM
hjic-279	60	11	sides	side	NOUN
hjic-279	60	12	of	of	ADP
hjic-279	60	13	the	the	DET
hjic-279	60	14	vehicle	vehicle	NOUN
hjic-279	60	15	are	be	AUX
hjic-279	60	16	controlled	control	VERB
hjic-279	60	17	independently	independently	ADV
hjic-279	60	18	by	by	ADP
hjic-279	60	19	two	two	NUM
hjic-279	60	20	dc	dc	PROPN
hjic-279	60	21	motors	motor	NOUN
hjic-279	60	22	.	.	PUNCT
hjic-279	61	1	the	the	DET
hjic-279	61	2	characteristics	characteristic	NOUN
hjic-279	61	3	of	of	ADP
hjic-279	61	4	the	the	DET
hjic-279	61	5	lre260	lre260	NOUN
hjic-279	61	6	-	-	PUNCT
hjic-279	61	7	18130a	18130a	NOUN
hjic-279	61	8	type	type	NOUN
hjic-279	61	9	dc	dc	PROPN
hjic-279	61	10	motor	motor	NOUN
hjic-279	61	11	are	be	AUX
hjic-279	61	12	given	give	VERB
hjic-279	61	13	as	as	ADP
hjic-279	61	14	:	:	PUNCT
hjic-279	61	15	operating	operate	VERB
hjic-279	61	16	range	range	NOUN
hjic-279	61	17	1.5–4.5	1.5–4.5	NUM
hjic-279	61	18	v	v	NOUN
hjic-279	61	19	,	,	PUNCT
hjic-279	61	20	nominal	nominal	ADJ
hjic-279	61	21	3	3	NUM
hjic-279	61	22	v	v	NOUN
hjic-279	61	23	,	,	PUNCT
hjic-279	61	24	(	(	PUNCT
hjic-279	61	25	at	at	ADP
hjic-279	61	26	no	no	DET
hjic-279	61	27	load	load	NOUN
hjic-279	61	28	:	:	PUNCT
hjic-279	61	29	speed	speed	NOUN
hjic-279	61	30	6900	6900	NUM
hjic-279	61	31	r	r	NOUN
hjic-279	61	32	/	/	SYM
hjic-279	61	33	min	min	NOUN
hjic-279	61	34	,	,	PUNCT
hjic-279	61	35	current	current	ADJ
hjic-279	61	36	0.095	0.095	NUM
hjic-279	61	37	a	a	PRON
hjic-279	61	38	)	)	PUNCT
hjic-279	61	39	,	,	PUNCT
hjic-279	61	40	(	(	PUNCT
hjic-279	61	41	at	at	ADP
hjic-279	61	42	maximum	maximum	ADJ
hjic-279	61	43	efficiency	efficiency	NOUN
hjic-279	61	44	:	:	PUNCT
hjic-279	61	45	revoultion	revoultion	NOUN
hjic-279	61	46	5000	5000	NUM
hjic-279	61	47	r	r	NOUN
hjic-279	61	48	/	/	SYM
hjic-279	61	49	min	min	NOUN
hjic-279	61	50	,	,	PUNCT
hjic-279	61	51	current	current	ADJ
hjic-279	61	52	0.37	0.37	NUM
hjic-279	61	53	a	a	PRON
hjic-279	61	54	,	,	PUNCT
hjic-279	61	55	torque	torque	NOUN
hjic-279	61	56	9.5	9.5	NUM
hjic-279	61	57	gcm	gcm	NOUN
hjic-279	61	58	)	)	PUNCT
hjic-279	61	59	,	,	PUNCT
hjic-279	61	60	(	(	PUNCT
hjic-279	61	61	at	at	ADP
hjic-279	61	62	stall	stall	NOUN
hjic-279	61	63	:	:	PUNCT
hjic-279	61	64	torque	torque	NOUN
hjic-279	61	65	48	48	NUM
hjic-279	61	66	gcm	gcm	NOUN
hjic-279	61	67	,	,	PUNCT
hjic-279	61	68	current	current	ADJ
hjic-279	61	69	1.4	1.4	NUM
hjic-279	61	70	a	a	NOUN
hjic-279	61	71	)	)	PUNCT
hjic-279	61	72	.	.	PUNCT
hjic-279	62	1	the	the	DET
hjic-279	62	2	gear	gear	NOUN
hjic-279	62	3	transmission	transmission	NOUN
hjic-279	62	4	between	between	ADP
hjic-279	62	5	the	the	DET
hjic-279	62	6	wheels	wheel	NOUN
hjic-279	62	7	and	and	CCONJ
hjic-279	62	8	the	the	DET
hjic-279	62	9	motor	motor	NOUN
hjic-279	62	10	is	be	AUX
hjic-279	62	11	im	im	NOUN
hjic-279	62	12	,	,	PUNCT
hjic-279	62	13	w	w	PROPN
hjic-279	62	14	=	=	NOUN
hjic-279	62	15	1:28.3451	1:28.3451	NUM
hjic-279	62	16	.	.	PUNCT
hjic-279	63	1	the	the	DET
hjic-279	63	2	dynamical	dynamical	ADJ
hjic-279	63	3	model	model	NOUN
hjic-279	63	4	of	of	ADP
hjic-279	63	5	the	the	DET
hjic-279	63	6	vehicle	vehicle	NOUN
hjic-279	63	7	[	[	X
hjic-279	63	8	6	6	NUM
hjic-279	63	9	]	]	PUNCT
hjic-279	63	10	can	can	AUX
hjic-279	63	11	be	be	AUX
hjic-279	63	12	formulated	formulate	VERB
hjic-279	63	13	by	by	ADP
hjic-279	63	14	measuring	measure	VERB
hjic-279	63	15	the	the	DET
hjic-279	63	16	electrical	electrical	ADJ
hjic-279	63	17	and	and	CCONJ
hjic-279	63	18	dynamical	dynamical	ADJ
hjic-279	63	19	parameters	parameter	NOUN
hjic-279	63	20	,	,	PUNCT
hjic-279	63	21	and	and	CCONJ
hjic-279	63	22	using	use	VERB
hjic-279	63	23	the	the	DET
hjic-279	63	24	catalogue	catalogue	NOUN
hjic-279	63	25	values	value	NOUN
hjic-279	63	26	of	of	ADP
hjic-279	63	27	the	the	DET
hjic-279	63	28	motors	motor	NOUN
hjic-279	63	29	.	.	PUNCT
hjic-279	64	1	during	during	ADP
hjic-279	64	2	the	the	DET
hjic-279	64	3	straightforward	straightforward	ADJ
hjic-279	64	4	motion	motion	NOUN
hjic-279	64	5	of	of	ADP
hjic-279	64	6	the	the	DET
hjic-279	64	7	vehicle	vehicle	NOUN
hjic-279	64	8	,	,	PUNCT
hjic-279	64	9	the	the	DET
hjic-279	64	10	complex	complex	ADJ
hjic-279	64	11	mechanism	mechanism	NOUN
hjic-279	64	12	can	can	AUX
hjic-279	64	13	be	be	AUX
hjic-279	64	14	modelled	model	VERB
hjic-279	64	15	by	by	ADP
hjic-279	64	16	a	a	DET
hjic-279	64	17	one	one	NUM
hjic-279	64	18	degree	degree	NOUN
hjic-279	64	19	of	of	ADP
hjic-279	64	20	freedom	freedom	NOUN
hjic-279	64	21	system	system	NOUN
hjic-279	64	22	,	,	PUNCT
hjic-279	64	23	where	where	SCONJ
hjic-279	64	24	the	the	DET
hjic-279	64	25	general	general	ADJ
hjic-279	64	26	coordinate	coordinate	NOUN
hjic-279	64	27	is	be	AUX
hjic-279	64	28	the	the	DET
hjic-279	64	29	angular	angular	ADJ
hjic-279	64	30	rotation	rotation	NOUN
hjic-279	64	31	of	of	ADP
hjic-279	64	32	the	the	DET
hjic-279	64	33	motor	motor	NOUN
hjic-279	64	34	shaft	shaft	NOUN
hjic-279	64	35	(	(	PUNCT
hjic-279	64	36	q	q	NOUN
hjic-279	64	37	=	=	PUNCT
hjic-279	64	38	φ	φ	NUM
hjic-279	64	39	)	)	PUNCT
hjic-279	64	40	.	.	PUNCT
hjic-279	65	1	the	the	DET
hjic-279	65	2	electro	electro	ADJ
hjic-279	65	3	-	-	PUNCT
hjic-279	65	4	dynamical	dynamical	ADJ
hjic-279	65	5	equations	equation	NOUN
hjic-279	65	6	are	be	AUX
hjic-279	65	7	written	write	VERB
hjic-279	65	8	as	as	ADP
hjic-279	65	9	:	:	PUNCT
hjic-279	65	10	2	2	NUM
hjic-279	65	11	t	t	NOUN
hjic-279	65	12	t	t	NOUN
hjic-279	65	13	dj	dj	NOUN
hjic-279	65	14	b	b	X
hjic-279	66	1	k	k	NOUN
hjic-279	67	1	i	i	PRON
hjic-279	67	2	m	m	VERB
hjic-279	67	3	dt	dt	X
hjic-279	67	4	ω	ω	X
hjic-279	67	5	ω+	ω+	PUNCT
hjic-279	67	6	=	=	SYM
hjic-279	67	7	⋅	⋅	PROPN
hjic-279	67	8	−	−	PROPN
hjic-279	67	9	,	,	PUNCT
hjic-279	67	10	(	(	PUNCT
hjic-279	67	11	3	3	X
hjic-279	67	12	)	)	PUNCT
hjic-279	67	13	79	79	NUM
hjic-279	67	14	2e	2e	NOUN
hjic-279	67	15	b	b	NOUN
hjic-279	67	16	dil	dil	PROPN
hjic-279	67	17	ri	ri	PROPN
hjic-279	68	1	k	k	PROPN
hjic-279	68	2	v	v	PROPN
hjic-279	68	3	v	v	X
hjic-279	68	4	dt	dt	NOUN
hjic-279	68	5	ω+	ω+	NOUN
hjic-279	68	6	+	+	CCONJ
hjic-279	68	7	=	=	SYM
hjic-279	68	8	−	−	PROPN
hjic-279	68	9	,	,	PUNCT
hjic-279	68	10	(	(	PUNCT
hjic-279	68	11	4	4	X
hjic-279	68	12	)	)	PUNCT
hjic-279	68	13	where	where	SCONJ
hjic-279	68	14	j	j	PROPN
hjic-279	68	15	is	be	AUX
hjic-279	68	16	the	the	DET
hjic-279	68	17	reduced	reduce	VERB
hjic-279	68	18	inertia	inertia	NOUN
hjic-279	68	19	moment	moment	NOUN
hjic-279	68	20	,	,	PUNCT
hjic-279	68	21	ω	ω	PROPN
hjic-279	68	22	=	=	PUNCT
hjic-279	69	1	φ̇	φ̇	NOUN
hjic-279	69	2	is	be	AUX
hjic-279	69	3	the	the	DET
hjic-279	69	4	angular	angular	ADJ
hjic-279	69	5	velocity	velocity	NOUN
hjic-279	69	6	of	of	ADP
hjic-279	69	7	the	the	DET
hjic-279	69	8	motor	motor	NOUN
hjic-279	69	9	shaft	shaft	NOUN
hjic-279	69	10	,	,	PUNCT
hjic-279	69	11	b	b	PROPN
hjic-279	69	12	is	be	AUX
hjic-279	69	13	the	the	DET
hjic-279	69	14	damping	damp	VERB
hjic-279	69	15	coefficient	coefficient	NOUN
hjic-279	69	16	,	,	PUNCT
hjic-279	69	17	2·kt	2·kt	NUM
hjic-279	69	18	is	be	AUX
hjic-279	69	19	the	the	DET
hjic-279	69	20	motor	motor	NOUN
hjic-279	69	21	constant	constant	ADJ
hjic-279	69	22	for	for	ADP
hjic-279	69	23	two	two	NUM
hjic-279	69	24	motors	motor	NOUN
hjic-279	69	25	,	,	PUNCT
hjic-279	69	26	mt	mt	PROPN
hjic-279	69	27	is	be	AUX
hjic-279	69	28	the	the	DET
hjic-279	69	29	reduced	reduce	VERB
hjic-279	69	30	loading	loading	NOUN
hjic-279	69	31	torque	torque	NOUN
hjic-279	69	32	,	,	PUNCT
hjic-279	69	33	i	i	PRON
hjic-279	69	34	is	be	AUX
hjic-279	69	35	the	the	DET
hjic-279	69	36	current	current	ADJ
hjic-279	69	37	,	,	PUNCT
hjic-279	69	38	v	v	NOUN
hjic-279	69	39	is	be	AUX
hjic-279	69	40	the	the	DET
hjic-279	69	41	applied	applied	ADJ
hjic-279	69	42	armature	armature	NOUN
hjic-279	69	43	voltage	voltage	NOUN
hjic-279	69	44	,	,	PUNCT
hjic-279	69	45	l	l	NOUN
hjic-279	69	46	is	be	AUX
hjic-279	69	47	the	the	DET
hjic-279	69	48	armature	armature	NOUN
hjic-279	69	49	inductance	inductance	NOUN
hjic-279	69	50	,	,	PUNCT
hjic-279	69	51	r	r	NOUN
hjic-279	69	52	is	be	AUX
hjic-279	69	53	the	the	DET
hjic-279	69	54	armature	armature	NOUN
hjic-279	69	55	resistance	resistance	NOUN
hjic-279	69	56	and	and	CCONJ
hjic-279	69	57	ke	ke	NOUN
hjic-279	69	58	back	back	NOUN
hjic-279	69	59	emf	emf	NOUN
hjic-279	69	60	constant	constant	ADJ
hjic-279	69	61	(	(	PUNCT
hjic-279	69	62	kt	kt	PROPN
hjic-279	69	63	≅	≅	PROPN
hjic-279	69	64	ke	ke	PROPN
hjic-279	69	65	)	)	PUNCT
hjic-279	69	66	.	.	PUNCT
hjic-279	70	1	the	the	DET
hjic-279	70	2	reduced	reduce	VERB
hjic-279	70	3	inertia	inertia	NOUN
hjic-279	70	4	moment	moment	NOUN
hjic-279	70	5	j	j	PROPN
hjic-279	70	6	is	be	AUX
hjic-279	70	7	derived	derive	VERB
hjic-279	70	8	by	by	ADP
hjic-279	70	9	the	the	DET
hjic-279	70	10	inertia	inertia	NOUN
hjic-279	70	11	moments	moment	NOUN
hjic-279	70	12	with	with	ADP
hjic-279	70	13	respect	respect	NOUN
hjic-279	70	14	to	to	PART
hjic-279	70	15	point	point	VERB
hjic-279	70	16	a	a	PRON
hjic-279	70	17	of	of	ADP
hjic-279	70	18	the	the	DET
hjic-279	70	19	four	four	NUM
hjic-279	70	20	wheels	wheel	NOUN
hjic-279	70	21	4·jk	4·jk	NOUN
hjic-279	70	22	(	(	PUNCT
hjic-279	70	23	see	see	VERB
hjic-279	70	24	fig	fig	NOUN
hjic-279	70	25	.	.	PUNCT
hjic-279	71	1	2	2	NUM
hjic-279	71	2	)	)	PUNCT
hjic-279	71	3	,	,	PUNCT
hjic-279	71	4	and	and	CCONJ
hjic-279	71	5	the	the	DET
hjic-279	71	6	inertia	inertia	NOUN
hjic-279	71	7	moment	moment	NOUN
hjic-279	71	8	due	due	ADP
hjic-279	71	9	to	to	ADP
hjic-279	71	10	the	the	DET
hjic-279	71	11	rest	rest	NOUN
hjic-279	71	12	of	of	ADP
hjic-279	71	13	the	the	DET
hjic-279	71	14	vehicle	vehicle	NOUN
hjic-279	71	15	mass	mass	PROPN
hjic-279	71	16	mv	mv	PROPN
hjic-279	71	17	.	.	PUNCT
hjic-279	72	1	the	the	DET
hjic-279	72	2	inertia	inertia	NOUN
hjic-279	72	3	moment	moment	NOUN
hjic-279	72	4	of	of	ADP
hjic-279	72	5	a	a	DET
hjic-279	72	6	wheel	wheel	NOUN
hjic-279	72	7	is	be	AUX
hjic-279	72	8	determined	determine	VERB
hjic-279	72	9	by	by	ADP
hjic-279	72	10	the	the	DET
hjic-279	72	11	period	period	NOUN
hjic-279	72	12	t	t	NOUN
hjic-279	72	13	of	of	ADP
hjic-279	72	14	a	a	DET
hjic-279	72	15	pendulum	pendulum	NOUN
hjic-279	72	16	and	and	CCONJ
hjic-279	72	17	using	use	VERB
hjic-279	72	18	the	the	DET
hjic-279	72	19	formula	formula	NOUN
hjic-279	73	1	2	2	NUM
hjic-279	73	2	24	24	NUM
hjic-279	73	3	k	k	NOUN
hjic-279	73	4	k	k	PROPN
hjic-279	73	5	m	m	VERB
hjic-279	73	6	g	g	NOUN
hjic-279	73	7	r	r	NOUN
hjic-279	73	8	j	j	PROPN
hjic-279	73	9	t	t	PROPN
hjic-279	73	10	π	π	PROPN
hjic-279	73	11	=	=	PUNCT
hjic-279	73	12	.	.	PUNCT
hjic-279	74	1	figure	figure	NOUN
hjic-279	74	2	2	2	NUM
hjic-279	74	3	:	:	PUNCT
hjic-279	74	4	the	the	DET
hjic-279	74	5	wheel	wheel	NOUN
hjic-279	74	6	as	as	ADP
hjic-279	74	7	a	a	DET
hjic-279	74	8	pendulum	pendulum	NOUN
hjic-279	74	9	the	the	DET
hjic-279	74	10	mechanical	mechanical	ADJ
hjic-279	74	11	parameters	parameter	NOUN
hjic-279	74	12	of	of	ADP
hjic-279	74	13	the	the	DET
hjic-279	74	14	model	model	NOUN
hjic-279	74	15	are	be	AUX
hjic-279	74	16	given	give	VERB
hjic-279	74	17	as	as	ADP
hjic-279	74	18	:	:	PUNCT
hjic-279	74	19	mv	mv	PROPN
hjic-279	74	20	=	=	PROPN
hjic-279	74	21	0.686	0.686	NUM
hjic-279	74	22	kg	kg	NOUN
hjic-279	74	23	,	,	PUNCT
hjic-279	74	24	mk	mk	X
hjic-279	74	25	=	=	PUNCT
hjic-279	74	26	0.091	0.091	NUM
hjic-279	74	27	kg	kg	PROPN
hjic-279	74	28	,	,	PUNCT
hjic-279	74	29	t	t	PROPN
hjic-279	74	30	=	=	PUNCT
hjic-279	74	31	0.59	0.59	NUM
hjic-279	74	32	s	s	NOUN
hjic-279	74	33	,	,	PUNCT
hjic-279	74	34	r	r	NOUN
hjic-279	74	35	=	=	PUNCT
hjic-279	74	36	0.051	0.051	NUM
hjic-279	74	37	m	m	NOUN
hjic-279	74	38	,	,	PUNCT
hjic-279	74	39	j	j	PROPN
hjic-279	74	40	=	=	SYM
hjic-279	74	41	1.731·10	1.731·10	NUM
hjic-279	74	42	-	-	SYM
hjic-279	74	43	5	5	NUM
hjic-279	74	44	kgm2	kgm2	NOUN
hjic-279	74	45	.	.	PUNCT
hjic-279	75	1	the	the	DET
hjic-279	75	2	loading	loading	NOUN
hjic-279	75	3	torque	torque	NOUN
hjic-279	75	4	is	be	AUX
hjic-279	75	5	changing	change	VERB
hjic-279	75	6	in	in	ADP
hjic-279	75	7	relation	relation	NOUN
hjic-279	75	8	of	of	ADP
hjic-279	75	9	the	the	DET
hjic-279	75	10	angular	angular	ADJ
hjic-279	75	11	acceleration	acceleration	NOUN
hjic-279	75	12	,	,	PUNCT
hjic-279	75	13	until	until	ADP
hjic-279	75	14	a	a	DET
hjic-279	75	15	certain	certain	ADJ
hjic-279	75	16	value	value	NOUN
hjic-279	75	17	.	.	PUNCT
hjic-279	76	1	the	the	DET
hjic-279	76	2	inductance	inductance	NOUN
hjic-279	76	3	of	of	ADP
hjic-279	76	4	the	the	DET
hjic-279	76	5	armature	armature	NOUN
hjic-279	76	6	is	be	AUX
hjic-279	76	7	l	l	NOUN
hjic-279	76	8	=	=	SYM
hjic-279	76	9	3.28·10	3.28·10	NUM
hjic-279	76	10	-	-	SYM
hjic-279	76	11	4	4	NUM
hjic-279	76	12	h.	h.	NOUN
hjic-279	76	13	at	at	ADP
hjic-279	76	14	the	the	DET
hjic-279	76	15	three	three	NUM
hjic-279	76	16	working	work	VERB
hjic-279	76	17	conditions	condition	NOUN
hjic-279	76	18	stall	stall	VERB
hjic-279	76	19	,	,	PUNCT
hjic-279	76	20	maximum	maximum	ADJ
hjic-279	76	21	efficiency	efficiency	NOUN
hjic-279	76	22	and	and	CCONJ
hjic-279	76	23	idle	idle	NOUN
hjic-279	76	24	.	.	PUNCT
hjic-279	77	1	one	one	PRON
hjic-279	77	2	can	can	AUX
hjic-279	77	3	obtain	obtain	VERB
hjic-279	77	4	the	the	DET
hjic-279	77	5	brush	brush	NOUN
hjic-279	77	6	voltages	voltage	NOUN
hjic-279	77	7	2vbs	2vbs	PROPN
hjic-279	77	8	=	=	SYM
hjic-279	77	9	0	0	NUM
hjic-279	77	10	v	v	NOUN
hjic-279	77	11	,	,	PUNCT
hjic-279	77	12	2vbm	2vbm	PROPN
hjic-279	77	13	=	=	PUNCT
hjic-279	77	14	0.446	0.446	NUM
hjic-279	77	15	v	v	NOUN
hjic-279	77	16	and	and	CCONJ
hjic-279	77	17	2vbn	2vbn	NUM
hjic-279	77	18	=	=	SYM
hjic-279	77	19	0.5493	0.5493	NUM
hjic-279	77	20	v	v	NOUN
hjic-279	77	21	,	,	PUNCT
hjic-279	77	22	respectively	respectively	ADV
hjic-279	77	23	.	.	PUNCT
hjic-279	78	1	the	the	DET
hjic-279	78	2	brush	brush	NOUN
hjic-279	78	3	voltage	voltage	NOUN
hjic-279	78	4	loss	loss	NOUN
hjic-279	78	5	is	be	AUX
hjic-279	78	6	approximated	approximate	VERB
hjic-279	78	7	by	by	ADP
hjic-279	78	8	a	a	DET
hjic-279	78	9	quadratic	quadratic	ADJ
hjic-279	78	10	function	function	NOUN
hjic-279	78	11	2vb	2vb	NOUN
hjic-279	78	12	=	=	PUNCT
hjic-279	79	1	aω2	aω2	PROPN
hjic-279	79	2	+	+	CCONJ
hjic-279	79	3	bω	bω	NOUN
hjic-279	79	4	,	,	PUNCT
hjic-279	79	5	where	where	SCONJ
hjic-279	79	6	a	a	DET
hjic-279	79	7	=	=	X
hjic-279	79	8	-4.615·10	-4.615·10	NOUN
hjic-279	79	9	-	-	PUNCT
hjic-279	79	10	7	7	NUM
hjic-279	79	11	vs2	vs2	NOUN
hjic-279	79	12	and	and	CCONJ
hjic-279	79	13	b	b	NOUN
hjic-279	79	14	=	=	SYM
hjic-279	79	15	1.094·10	1.094·10	PROPN
hjic-279	79	16	-	-	PUNCT
hjic-279	79	17	3	3	NUM
hjic-279	79	18	vs	vs	ADP
hjic-279	79	19	(	(	PUNCT
hjic-279	79	20	see	see	VERB
hjic-279	79	21	fig	fig	NOUN
hjic-279	79	22	.	.	PUNCT
hjic-279	80	1	3	3	NUM
hjic-279	80	2	)	)	PUNCT
hjic-279	80	3	.	.	PUNCT
hjic-279	81	1	figure	figure	VERB
hjic-279	81	2	3	3	NUM
hjic-279	81	3	:	:	PUNCT
hjic-279	81	4	approximation	approximation	NOUN
hjic-279	81	5	of	of	ADP
hjic-279	81	6	the	the	DET
hjic-279	81	7	brush	brush	NOUN
hjic-279	81	8	voltage	voltage	NOUN
hjic-279	81	9	loss	loss	VERB
hjic-279	81	10	the	the	DET
hjic-279	81	11	systems	system	NOUN
hjic-279	81	12	of	of	ADP
hjic-279	81	13	equations	equation	NOUN
hjic-279	81	14	(	(	PUNCT
hjic-279	81	15	3	3	NUM
hjic-279	81	16	,	,	PUNCT
hjic-279	81	17	4	4	NUM
hjic-279	81	18	)	)	PUNCT
hjic-279	81	19	have	have	AUX
hjic-279	81	20	been	be	AUX
hjic-279	81	21	solved	solve	VERB
hjic-279	81	22	for	for	ADP
hjic-279	81	23	homogenous	homogenous	ADJ
hjic-279	81	24	initial	initial	ADJ
hjic-279	81	25	conditions	condition	NOUN
hjic-279	81	26	by	by	ADP
hjic-279	81	27	matlab	matlab	PROPN
hjic-279	81	28	simulink	simulink	PROPN
hjic-279	81	29	program	program	NOUN
hjic-279	81	30	system	system	NOUN
hjic-279	81	31	.	.	PUNCT
hjic-279	82	1	the	the	DET
hjic-279	82	2	controlling	control	VERB
hjic-279	82	3	software	software	NOUN
hjic-279	82	4	is	be	AUX
hjic-279	82	5	developed	develop	VERB
hjic-279	82	6	in	in	ADP
hjic-279	82	7	c	c	NOUN
hjic-279	82	8	language	language	NOUN
hjic-279	82	9	,	,	PUNCT
hjic-279	82	10	to	to	PART
hjic-279	82	11	shorten	shorten	VERB
hjic-279	82	12	the	the	DET
hjic-279	82	13	calculation	calculation	NOUN
hjic-279	82	14	time	time	NOUN
hjic-279	82	15	.	.	PUNCT
hjic-279	83	1	the	the	DET
hjic-279	83	2	simulated	simulated	ADJ
hjic-279	83	3	path	path	NOUN
hjic-279	83	4	during	during	ADP
hjic-279	83	5	the	the	DET
hjic-279	83	6	path	path	NOUN
hjic-279	83	7	controlling	controlling	NOUN
hjic-279	83	8	is	be	AUX
hjic-279	83	9	shown	show	VERB
hjic-279	83	10	in	in	ADP
hjic-279	83	11	the	the	DET
hjic-279	83	12	fig	fig	NOUN
hjic-279	83	13	.	.	PUNCT
hjic-279	84	1	4	4	NUM
hjic-279	84	2	.	.	X
hjic-279	84	3	three	three	NUM
hjic-279	84	4	points	point	NOUN
hjic-279	84	5	are	be	AUX
hjic-279	84	6	programmed	program	VERB
hjic-279	84	7	to	to	PART
hjic-279	84	8	reach	reach	VERB
hjic-279	84	9	,	,	PUNCT
hjic-279	84	10	which	which	PRON
hjic-279	84	11	are	be	AUX
hjic-279	84	12	a	a	DET
hjic-279	84	13	tolerance	tolerance	NOUN
hjic-279	84	14	is	be	AUX
hjic-279	84	15	used	use	VERB
hjic-279	84	16	for	for	ADP
hjic-279	84	17	passing	pass	VERB
hjic-279	84	18	the	the	DET
hjic-279	84	19	points	point	NOUN
hjic-279	84	20	.	.	PUNCT
hjic-279	85	1	after	after	ADP
hjic-279	85	2	reaching	reach	VERB
hjic-279	85	3	the	the	DET
hjic-279	85	4	last	last	ADJ
hjic-279	85	5	programmed	program	VERB
hjic-279	85	6	point	point	NOUN
hjic-279	85	7	[	[	X
hjic-279	85	8	500;1000	500;1000	NUM
hjic-279	85	9	]	]	PUNCT
hjic-279	85	10	,	,	PUNCT
hjic-279	85	11	the	the	DET
hjic-279	85	12	control	control	NOUN
hjic-279	85	13	switches	switch	VERB
hjic-279	85	14	to	to	ADP
hjic-279	85	15	zero	zero	NUM
hjic-279	85	16	,	,	PUNCT
hjic-279	85	17	when	when	SCONJ
hjic-279	85	18	the	the	DET
hjic-279	85	19	motors	motor	NOUN
hjic-279	85	20	are	be	AUX
hjic-279	85	21	working	work	VERB
hjic-279	85	22	as	as	ADP
hjic-279	85	23	generators	generator	NOUN
hjic-279	85	24	until	until	SCONJ
hjic-279	85	25	the	the	DET
hjic-279	85	26	vehicle	vehicle	NOUN
hjic-279	85	27	stops	stop	VERB
hjic-279	85	28	.	.	PUNCT
hjic-279	86	1	figure	figure	VERB
hjic-279	86	2	4	4	NUM
hjic-279	86	3	:	:	PUNCT
hjic-279	86	4	the	the	DET
hjic-279	86	5	roamed	roam	VERB
hjic-279	86	6	path	path	NOUN
hjic-279	86	7	two	two	NUM
hjic-279	86	8	of	of	ADP
hjic-279	86	9	the	the	DET
hjic-279	86	10	four	four	NUM
hjic-279	86	11	output	output	NOUN
hjic-279	86	12	parameters	parameter	NOUN
hjic-279	86	13	,	,	PUNCT
hjic-279	86	14	i.e.	i.e.	X
hjic-279	86	15	,	,	PUNCT
hjic-279	86	16	currents	current	NOUN
hjic-279	86	17	,	,	PUNCT
hjic-279	86	18	angular	angular	ADJ
hjic-279	86	19	velocity	velocity	NOUN
hjic-279	86	20	,	,	PUNCT
hjic-279	86	21	angular	angular	ADJ
hjic-279	86	22	acceleration	acceleration	NOUN
hjic-279	86	23	,	,	PUNCT
hjic-279	86	24	velocity	velocity	NOUN
hjic-279	86	25	of	of	ADP
hjic-279	86	26	the	the	DET
hjic-279	86	27	vehicle	vehicle	NOUN
hjic-279	86	28	,	,	PUNCT
hjic-279	86	29	are	be	AUX
hjic-279	86	30	shown	show	VERB
hjic-279	86	31	as	as	ADP
hjic-279	86	32	a	a	DET
hjic-279	86	33	function	function	NOUN
hjic-279	86	34	of	of	ADP
hjic-279	86	35	time	time	NOUN
hjic-279	86	36	in	in	ADP
hjic-279	86	37	fig	fig	NOUN
hjic-279	86	38	.	.	PUNCT
hjic-279	87	1	5	5	NUM
hjic-279	87	2	and	and	CCONJ
hjic-279	87	3	6	6	NUM
hjic-279	87	4	.	.	PUNCT
hjic-279	88	1	in	in	ADP
hjic-279	88	2	fig	fig	NOUN
hjic-279	88	3	.	.	PUNCT
hjic-279	89	1	6	6	NUM
hjic-279	89	2	the	the	DET
hjic-279	89	3	lighter	light	ADJ
hjic-279	89	4	line	line	NOUN
hjic-279	89	5	represents	represent	VERB
hjic-279	89	6	the	the	DET
hjic-279	89	7	current	current	NOUN
hjic-279	89	8	for	for	ADP
hjic-279	89	9	the	the	DET
hjic-279	89	10	right	right	ADJ
hjic-279	89	11	motor	motor	NOUN
hjic-279	89	12	,	,	PUNCT
hjic-279	89	13	and	and	CCONJ
hjic-279	89	14	the	the	DET
hjic-279	89	15	darker	dark	ADJ
hjic-279	89	16	for	for	ADP
hjic-279	89	17	the	the	DET
hjic-279	89	18	left	left	ADJ
hjic-279	89	19	one	one	NUM
hjic-279	89	20	.	.	PUNCT
hjic-279	90	1	due	due	ADP
hjic-279	90	2	to	to	ADP
hjic-279	90	3	the	the	DET
hjic-279	90	4	loading	loading	NOUN
hjic-279	90	5	torque	torque	NOUN
hjic-279	90	6	,	,	PUNCT
hjic-279	90	7	the	the	DET
hjic-279	90	8	vehicle	vehicle	NOUN
hjic-279	90	9	reaches	reach	VERB
hjic-279	90	10	the	the	DET
hjic-279	90	11	maximum	maximum	ADJ
hjic-279	90	12	value	value	NOUN
hjic-279	90	13	of	of	ADP
hjic-279	90	14	velocity	velocity	NOUN
hjic-279	90	15	after	after	ADP
hjic-279	90	16	~10	~10	X
hjic-279	90	17	seconds	second	NOUN
hjic-279	90	18	.	.	PUNCT
hjic-279	91	1	when	when	SCONJ
hjic-279	91	2	the	the	DET
hjic-279	91	3	control	control	NOUN
hjic-279	91	4	is	be	AUX
hjic-279	91	5	turned	turn	VERB
hjic-279	91	6	off	off	ADP
hjic-279	91	7	,	,	PUNCT
hjic-279	91	8	the	the	DET
hjic-279	91	9	vehicle	vehicle	NOUN
hjic-279	91	10	slows	slow	VERB
hjic-279	91	11	until	until	SCONJ
hjic-279	91	12	the	the	DET
hjic-279	91	13	back	back	NOUN
hjic-279	91	14	emf	emf	NOUN
hjic-279	91	15	value	value	NOUN
hjic-279	91	16	reaches	reach	VERB
hjic-279	91	17	zero	zero	NUM
hjic-279	91	18	.	.	PUNCT
hjic-279	92	1	one	one	PRON
hjic-279	92	2	can	can	AUX
hjic-279	92	3	see	see	VERB
hjic-279	92	4	how	how	SCONJ
hjic-279	92	5	the	the	DET
hjic-279	92	6	control	control	NOUN
hjic-279	92	7	is	be	AUX
hjic-279	92	8	changing	change	VERB
hjic-279	92	9	rapidly	rapidly	ADV
hjic-279	92	10	,	,	PUNCT
hjic-279	92	11	when	when	SCONJ
hjic-279	92	12	the	the	DET
hjic-279	92	13	vehicle	vehicle	NOUN
hjic-279	92	14	is	be	AUX
hjic-279	92	15	moving	move	VERB
hjic-279	92	16	on	on	ADP
hjic-279	92	17	a	a	DET
hjic-279	92	18	“	"	PUNCT
hjic-279	92	19	zig	zig	VERB
hjic-279	92	20	-	-	PUNCT
hjic-279	92	21	zag	zag	NOUN
hjic-279	92	22	”	"	PUNCT
hjic-279	92	23	path	path	NOUN
hjic-279	92	24	.	.	PUNCT
hjic-279	93	1	in	in	ADP
hjic-279	93	2	this	this	DET
hjic-279	93	3	case	case	NOUN
hjic-279	93	4	the	the	DET
hjic-279	93	5	control	control	NOUN
hjic-279	93	6	changes	change	VERB
hjic-279	93	7	in	in	ADP
hjic-279	93	8	almost	almost	ADV
hjic-279	93	9	every	every	PRON
hjic-279	93	10	calculation	calculation	NOUN
hjic-279	93	11	cycle	cycle	NOUN
hjic-279	93	12	,	,	PUNCT
hjic-279	93	13	hence	hence	ADV
hjic-279	93	14	the	the	DET
hjic-279	93	15	motors	motor	NOUN
hjic-279	93	16	are	be	AUX
hjic-279	93	17	alternating	alternate	VERB
hjic-279	93	18	between	between	ADP
hjic-279	93	19	motor	motor	NOUN
hjic-279	93	20	and	and	CCONJ
hjic-279	93	21	generator	generator	PROPN
hjic-279	93	22	state	state	NOUN
hjic-279	93	23	.	.	PUNCT
hjic-279	94	1	80	80	NUM
hjic-279	94	2	figure	figure	NOUN
hjic-279	94	3	5	5	NUM
hjic-279	94	4	:	:	PUNCT
hjic-279	94	5	the	the	DET
hjic-279	94	6	velocity	velocity	NOUN
hjic-279	94	7	of	of	ADP
hjic-279	94	8	the	the	DET
hjic-279	94	9	vehicle	vehicle	NOUN
hjic-279	94	10	during	during	ADP
hjic-279	94	11	the	the	DET
hjic-279	94	12	controlling	control	VERB
hjic-279	94	13	figure	figure	NOUN
hjic-279	94	14	6	6	NUM
hjic-279	94	15	:	:	PUNCT
hjic-279	94	16	the	the	DET
hjic-279	94	17	currents	current	NOUN
hjic-279	94	18	of	of	ADP
hjic-279	94	19	the	the	DET
hjic-279	94	20	motors	motors	ADJ
hjic-279	94	21	81	81	NUM
hjic-279	94	22	figure	figure	NOUN
hjic-279	94	23	7	7	NUM
hjic-279	94	24	:	:	PUNCT
hjic-279	94	25	the	the	DET
hjic-279	94	26	digital	digital	ADJ
hjic-279	94	27	control	control	NOUN
hjic-279	94	28	signals	signal	NOUN
hjic-279	94	29	of	of	ADP
hjic-279	94	30	the	the	DET
hjic-279	94	31	left	left	ADJ
hjic-279	94	32	motor	motor	NOUN
hjic-279	94	33	in	in	ADP
hjic-279	94	34	fig	fig	NOUN
hjic-279	94	35	.	.	PUNCT
hjic-279	95	1	7	7	NUM
hjic-279	95	2	one	one	PRON
hjic-279	95	3	can	can	AUX
hjic-279	95	4	see	see	VERB
hjic-279	95	5	,	,	PUNCT
hjic-279	95	6	how	how	SCONJ
hjic-279	95	7	the	the	DET
hjic-279	95	8	control	control	NOUN
hjic-279	95	9	is	be	AUX
hjic-279	95	10	changing	change	VERB
hjic-279	95	11	throughout	throughout	ADP
hjic-279	95	12	the	the	DET
hjic-279	95	13	simulation	simulation	NOUN
hjic-279	95	14	for	for	ADP
hjic-279	95	15	the	the	DET
hjic-279	95	16	left	left	ADJ
hjic-279	95	17	motor	motor	NOUN
hjic-279	95	18	.	.	PUNCT
hjic-279	96	1	before	before	ADP
hjic-279	96	2	reaching	reach	VERB
hjic-279	96	3	the	the	DET
hjic-279	96	4	last	last	ADJ
hjic-279	96	5	point	point	NOUN
hjic-279	96	6	,	,	PUNCT
hjic-279	96	7	the	the	DET
hjic-279	96	8	motors	motor	NOUN
hjic-279	96	9	are	be	AUX
hjic-279	96	10	fed	feed	VERB
hjic-279	96	11	alternatively	alternatively	ADV
hjic-279	96	12	,	,	PUNCT
hjic-279	96	13	so	so	CCONJ
hjic-279	96	14	the	the	DET
hjic-279	96	15	control	control	NOUN
hjic-279	96	16	for	for	ADP
hjic-279	96	17	the	the	DET
hjic-279	96	18	right	right	ADJ
hjic-279	96	19	motor	motor	NOUN
hjic-279	96	20	is	be	AUX
hjic-279	96	21	the	the	DET
hjic-279	96	22	opposite	opposite	NOUN
hjic-279	96	23	of	of	ADP
hjic-279	96	24	the	the	DET
hjic-279	96	25	left	left	ADJ
hjic-279	96	26	one	one	NUM
hjic-279	96	27	.	.	PUNCT
hjic-279	97	1	summary	summary	VERB
hjic-279	97	2	the	the	DET
hjic-279	97	3	dynamical	dynamical	ADJ
hjic-279	97	4	modelling	modelling	NOUN
hjic-279	97	5	of	of	ADP
hjic-279	97	6	a	a	DET
hjic-279	97	7	path	path	NOUN
hjic-279	97	8	controlled	control	VERB
hjic-279	97	9	vehicle	vehicle	NOUN
hjic-279	97	10	is	be	AUX
hjic-279	97	11	analyzed	analyze	VERB
hjic-279	97	12	in	in	ADP
hjic-279	97	13	this	this	DET
hjic-279	97	14	paper	paper	NOUN
hjic-279	97	15	.	.	PUNCT
hjic-279	98	1	in	in	ADP
hjic-279	98	2	addition	addition	NOUN
hjic-279	98	3	to	to	ADP
hjic-279	98	4	the	the	DET
hjic-279	98	5	discussion	discussion	NOUN
hjic-279	98	6	to	to	PART
hjic-279	98	7	determine	determine	VERB
hjic-279	98	8	the	the	DET
hjic-279	98	9	orientation	orientation	NOUN
hjic-279	98	10	and	and	CCONJ
hjic-279	98	11	location	location	NOUN
hjic-279	98	12	of	of	ADP
hjic-279	98	13	a	a	DET
hjic-279	98	14	vehicle	vehicle	NOUN
hjic-279	98	15	the	the	DET
hjic-279	98	16	problems	problem	NOUN
hjic-279	98	17	of	of	ADP
hjic-279	98	18	redesigning	redesign	VERB
hjic-279	98	19	a	a	DET
hjic-279	98	20	commercial	commercial	ADJ
hjic-279	98	21	mini	mini	ADJ
hjic-279	98	22	car	car	NOUN
hjic-279	98	23	are	be	AUX
hjic-279	98	24	also	also	ADV
hjic-279	98	25	discussed	discuss	VERB
hjic-279	98	26	.	.	PUNCT
hjic-279	99	1	special	special	ADJ
hjic-279	99	2	emphasize	emphasize	NOUN
hjic-279	99	3	has	have	AUX
hjic-279	99	4	been	be	AUX
hjic-279	99	5	laid	lay	VERB
hjic-279	99	6	on	on	ADP
hjic-279	99	7	the	the	DET
hjic-279	99	8	dynamical	dynamical	ADJ
hjic-279	99	9	analysis	analysis	NOUN
hjic-279	99	10	of	of	ADP
hjic-279	99	11	the	the	DET
hjic-279	99	12	model	model	NOUN
hjic-279	99	13	in	in	ADP
hjic-279	99	14	the	the	DET
hjic-279	99	15	starting	starting	ADJ
hjic-279	99	16	transient	transient	ADJ
hjic-279	99	17	period	period	NOUN
hjic-279	99	18	.	.	PUNCT
hjic-279	100	1	a	a	DET
hjic-279	100	2	simple	simple	ADJ
hjic-279	100	3	controlling	controlling	NOUN
hjic-279	100	4	were	be	AUX
hjic-279	100	5	also	also	ADV
hjic-279	100	6	attached	attach	VERB
hjic-279	100	7	to	to	ADP
hjic-279	100	8	the	the	DET
hjic-279	100	9	model	model	NOUN
hjic-279	100	10	the	the	DET
hjic-279	100	11	velocity	velocity	NOUN
hjic-279	100	12	,	,	PUNCT
hjic-279	100	13	current	current	ADJ
hjic-279	100	14	flow	flow	NOUN
hjic-279	100	15	and	and	CCONJ
hjic-279	100	16	the	the	DET
hjic-279	100	17	roamed	roam	VERB
hjic-279	100	18	path	path	NOUN
hjic-279	100	19	have	have	AUX
hjic-279	100	20	been	be	AUX
hjic-279	100	21	obtained	obtain	VERB
hjic-279	100	22	.	.	PUNCT
hjic-279	101	1	references	reference	NOUN
hjic-279	101	2	1	1	NUM
hjic-279	101	3	.	.	PUNCT
hjic-279	101	4	j.	j.	PROPN
hjic-279	101	5	borenstein	borenstein	PROPN
hjic-279	101	6	,	,	PUNCT
hjic-279	101	7	l.	l.	PROPN
hjic-279	101	8	feng	feng	PROPN
hjic-279	101	9	:	:	PUNCT
hjic-279	101	10	measurement	measurement	NOUN
hjic-279	101	11	and	and	CCONJ
hjic-279	101	12	correction	correction	NOUN
hjic-279	101	13	of	of	ADP
hjic-279	101	14	systematic	systematic	ADJ
hjic-279	101	15	odometry	odometry	NOUN
hjic-279	101	16	errors	error	NOUN
hjic-279	101	17	in	in	ADP
hjic-279	101	18	mobile	mobile	ADJ
hjic-279	101	19	robots	robot	NOUN
hjic-279	101	20	,	,	PUNCT
hjic-279	101	21	robotics	robotic	NOUN
hjic-279	101	22	and	and	CCONJ
hjic-279	101	23	automation	automation	NOUN
hjic-279	101	24	,	,	PUNCT
hjic-279	101	25	12(6	12(6	NUM
hjic-279	101	26	)	)	PUNCT
hjic-279	101	27	,	,	PUNCT
hjic-279	101	28	1996	1996	NUM
hjic-279	101	29	,	,	PUNCT
hjic-279	101	30	869–880	869–880	NUM
hjic-279	101	31	.	.	PUNCT
hjic-279	102	1	2	2	X
hjic-279	102	2	.	.	X
hjic-279	102	3	m.	m.	NOUN
hjic-279	102	4	vogel	vogel	PROPN
hjic-279	102	5	:	:	PUNCT
hjic-279	102	6	ipari	ipari	PROPN
hjic-279	102	7	robotjárművek	robotjárművek	VERB
hjic-279	102	8	helymeghatározó	helymeghatározó	PROPN
hjic-279	102	9	rendszerei	rendszerei	PROPN
hjic-279	102	10	,	,	PUNCT
hjic-279	102	11	műszerügyi	műszerügyi	PROPN
hjic-279	102	12	és	és	PROPN
hjic-279	102	13	méréstechnikai	méréstechnikai	PROPN
hjic-279	102	14	közlemények	közlemények	PROPN
hjic-279	102	15	,	,	PUNCT
hjic-279	102	16	37(68	37(68	NUM
hjic-279	102	17	)	)	PUNCT
hjic-279	102	18	,	,	PUNCT
hjic-279	102	19	2001	2001	NUM
hjic-279	102	20	,	,	PUNCT
hjic-279	102	21	(	(	PUNCT
hjic-279	102	22	in	in	ADP
hjic-279	102	23	hungarian	hungarian	NOUN
hjic-279	102	24	)	)	PUNCT
hjic-279	102	25	.	.	PUNCT
hjic-279	103	1	3	3	X
hjic-279	103	2	.	.	X
hjic-279	103	3	b.	b.	PROPN
hjic-279	103	4	koleszár	koleszár	PROPN
hjic-279	103	5	:	:	PUNCT
hjic-279	103	6	szárazföldi	szárazföldi	PROPN
hjic-279	103	7	robottechnikai	robottechnikai	PROPN
hjic-279	103	8	eszközök	eszközök	PROPN
hjic-279	103	9	tervezésének	tervezésének	PROPN
hjic-279	103	10	és	és	PROPN
hjic-279	103	11	alkalmazásának	alkalmazásának	PROPN
hjic-279	103	12	biztonsági	biztonsági	PROPN
hjic-279	103	13	szempontjai	szempontjai	PROPN
hjic-279	103	14	,	,	PUNCT
hjic-279	103	15	(	(	PUNCT
hjic-279	103	16	in	in	ADP
hjic-279	103	17	hungarian	hungarian	NOUN
hjic-279	103	18	)	)	PUNCT
hjic-279	103	19	,	,	PUNCT
hjic-279	103	20	www.zmne.hu/tanszeke/ehc/konferencia/prezrw8/	www.zmne.hu/tanszeke/ehc/konferencia/prezrw8/	PROPN
hjic-279	103	21	koleszar_bela.pdf	koleszar_bela.pdf	PROPN
hjic-279	103	22	.	.	PROPN
hjic-279	104	1	4	4	X
hjic-279	104	2	.	.	X
hjic-279	104	3	balluff	balluff	PROPN
hjic-279	104	4	elektronika	elektronika	PROPN
hjic-279	104	5	kft	kft	PROPN
hjic-279	104	6	,	,	PUNCT
hjic-279	104	7	online	online	ADJ
hjic-279	104	8	catalogue	catalogue	NOUN
hjic-279	104	9	,	,	PUNCT
hjic-279	104	10	http://www.balluff.hu	http://www.balluff.hu	PROPN
hjic-279	104	11	.	.	PROPN
hjic-279	105	1	5	5	X
hjic-279	105	2	.	.	X
hjic-279	105	3	plc	plc	PROPN
hjic-279	105	4	és	és	PROPN
hjic-279	105	5	folyamatirányítás	folyamatirányítás	PROPN
hjic-279	105	6	,	,	PUNCT
hjic-279	105	7	(	(	PUNCT
hjic-279	105	8	in	in	ADP
hjic-279	105	9	hungarian	hungarian	PROPN
hjic-279	105	10	)	)	PUNCT
hjic-279	105	11	,	,	PUNCT
hjic-279	105	12	http://szirty.uw.hu/alapfokon/encoder/encoder.html	http://szirty.uw.hu/alapfokon/encoder/encoder.html	PROPN
hjic-279	105	13	.	.	PUNCT
hjic-279	106	1	6	6	X
hjic-279	106	2	.	.	X
hjic-279	106	3	prof	prof	PROPN
hjic-279	106	4	.	.	PUNCT
hjic-279	107	1	dr	dr	PROPN
hjic-279	107	2	.	.	PROPN
hjic-279	107	3	i.	i.	PROPN
hjic-279	107	4	h.	h.	PROPN
hjic-279	107	5	altas	altas	PROPN
hjic-279	107	6	:	:	PUNCT
hjic-279	107	7	dynamic	dynamic	ADJ
hjic-279	107	8	model	model	NOUN
hjic-279	107	9	of	of	ADP
hjic-279	107	10	a	a	DET
hjic-279	107	11	permanent	permanent	ADJ
hjic-279	107	12	magnet	magnet	NOUN
hjic-279	107	13	dc	dc	PROPN
hjic-279	107	14	motor	motor	PROPN
hjic-279	107	15	,	,	PUNCT
hjic-279	107	16	neuro	neuro	PROPN
hjic-279	107	17	fauzzy	fauzzy	PROPN
hjic-279	107	18	systems	system	NOUN
hjic-279	107	19	,	,	PUNCT
hjic-279	107	20	projects	project	NOUN
hjic-279	107	21	for	for	ADP
hjic-279	107	22	students	student	NOUN
hjic-279	107	23	,	,	PUNCT
hjic-279	107	24	08.11.2007	08.11.2007	NOUN
hjic-279	107	25	http://www.ihaltas.com/courses/fbe_elk5320/eng/pro	http://www.ihaltas.com/courses/fbe_elk5320/eng/pro	PROPN
hjic-279	107	26	jects	ject	NOUN
hjic-279	107	27	/	/	SYM
hjic-279	107	28	project_37.pdf	project_37.pdf	NOUN
hjic-279	107	29	.	.	PUNCT
hjic-279	108	1	<	<	X
hjic-279	108	2	<	<	X
hjic-279	108	3	/ascii85encodepages	/ascii85encodepage	NOUN
hjic-279	108	4	false	false	ADJ
hjic-279	108	5	/allowtransparency	/allowtransparency	NOUN
hjic-279	108	6	false	false	ADJ
hjic-279	108	7	/autopositionepsfiles	/autopositionepsfile	NOUN
hjic-279	108	8	true	true	ADJ
hjic-279	108	9	/autorotatepages	/autorotatepage	NOUN
hjic-279	108	10	/none	/none	PUNCT
hjic-279	108	11	/binding	/binding	PUNCT
hjic-279	108	12	/left	/left	ADJ
hjic-279	109	1	/calgrayprofile	/calgrayprofile	VERB
hjic-279	109	2	(	(	PUNCT
hjic-279	109	3	dot	dot	NOUN
hjic-279	109	4	gain	gain	NOUN
hjic-279	109	5	20	20	NUM
hjic-279	109	6	%	%	NOUN
hjic-279	109	7	)	)	PUNCT
hjic-279	109	8	/calrgbprofile	/calrgbprofile	PUNCT
hjic-279	110	1	(	(	PUNCT
hjic-279	110	2	srgb	srgb	PROPN
hjic-279	110	3	iec61966	iec61966	NOUN
hjic-279	110	4	-	-	PUNCT
hjic-279	110	5	2.1	2.1	NUM
hjic-279	110	6	)	)	PUNCT
hjic-279	110	7	/calcmykprofile	/calcmykprofile	PUNCT
hjic-279	111	1	(	(	PUNCT
hjic-279	111	2	u.s	u.s	PROPN
hjic-279	111	3	.	.	PROPN
hjic-279	111	4	web	web	NOUN
hjic-279	111	5	coated	coat	VERB
hjic-279	111	6	\050swop\051	\050swop\051	ADJ
hjic-279	111	7	v2	v2	NOUN
hjic-279	111	8	)	)	PUNCT
hjic-279	111	9	/srgbprofile	/srgbprofile	PUNCT
hjic-279	111	10	(	(	PUNCT
hjic-279	111	11	srgb	srgb	PROPN
hjic-279	111	12	iec61966	iec61966	NOUN
hjic-279	111	13	-	-	PUNCT
hjic-279	111	14	2.1	2.1	NUM
hjic-279	111	15	)	)	PUNCT
hjic-279	111	16	/cannotembedfontpolicy	/cannotembedfontpolicy	PUNCT
hjic-279	112	1	/error	/error	INTJ
hjic-279	112	2	/compatibilitylevel	/compatibilitylevel	NOUN
hjic-279	113	1	1.4	1.4	NUM
hjic-279	113	2	/compressobjects	/compressobject	NOUN
hjic-279	113	3	/tags	/tag	VERB
hjic-279	113	4	/compresspages	/compresspage	NOUN
hjic-279	113	5	true	true	ADJ
hjic-279	113	6	/convertimagestoindexed	/convertimagestoindexed	ADJ
hjic-279	113	7	true	true	ADJ
hjic-279	113	8	/passthroughjpegimages	/passthroughjpegimage	NOUN
hjic-279	113	9	true	true	ADJ
hjic-279	113	10	/createjobticket	/createjobticket	NOUN
hjic-279	113	11	false	false	ADJ
hjic-279	113	12	/defaultrenderingintent	/defaultrenderingintent	NOUN
hjic-279	113	13	/default	/default	PUNCT
hjic-279	113	14	/detectblends	/detectblend	NOUN
hjic-279	113	15	true	true	ADJ
hjic-279	113	16	/detectcurves	/detectcurve	VERB
hjic-279	114	1	0.0000	0.0000	NUM
hjic-279	114	2	/colorconversionstrategy	/colorconversionstrategy	NOUN
hjic-279	114	3	/cmyk	/cmyk	PUNCT
hjic-279	115	1	/dothumbnails	/dothumbnail	VERB
hjic-279	116	1	false	false	ADJ
hjic-279	116	2	/embedallfonts	/embedallfont	NOUN
hjic-279	116	3	true	true	ADJ
hjic-279	116	4	/embedopentype	/embedopentype	PUNCT
hjic-279	116	5	false	false	ADJ
hjic-279	116	6	/parseiccprofilesincomments	/parseiccprofilesincomment	NOUN
hjic-279	116	7	true	true	ADJ
hjic-279	116	8	/embedjoboptions	/embedjoboption	NOUN
hjic-279	116	9	true	true	ADJ
hjic-279	116	10	/dscreportinglevel	/dscreportinglevel	NOUN
hjic-279	116	11	0	0	NUM
hjic-279	116	12	/emitdscwarnings	/emitdscwarning	NOUN
hjic-279	116	13	false	false	ADJ
hjic-279	116	14	/endpage	/endpage	NOUN
hjic-279	116	15	-1	-1	NOUN
hjic-279	116	16	/imagememory	/imagememory	NUM
hjic-279	116	17	1048576	1048576	NUM
hjic-279	116	18	/lockdistillerparams	/lockdistillerparams	NOUN
hjic-279	116	19	false	false	ADJ
hjic-279	116	20	/maxsubsetpct	/maxsubsetpct	ADJ
hjic-279	116	21	100	100	NUM
hjic-279	116	22	/optimize	/optimize	NOUN
hjic-279	116	23	true	true	ADJ
hjic-279	116	24	/opm	/opm	NOUN
hjic-279	116	25	1	1	NUM
hjic-279	116	26	/parsedsccomments	/parsedsccomment	NOUN
hjic-279	116	27	true	true	ADJ
hjic-279	116	28	/parsedsccommentsfordocinfo	/parsedsccommentsfordocinfo	VERB
hjic-279	116	29	true	true	ADJ
hjic-279	116	30	/preservecopypage	/preservecopypage	NOUN
hjic-279	116	31	true	true	ADJ
hjic-279	116	32	/preservedicmykvalues	/preservedicmykvalue	NOUN
hjic-279	116	33	true	true	ADJ
hjic-279	116	34	/preserveepsinfo	/preserveepsinfo	NOUN
hjic-279	116	35	true	true	ADJ
hjic-279	116	36	/preserveflatness	/preserveflatness	NOUN
hjic-279	116	37	true	true	ADJ
hjic-279	116	38	/preservehalftoneinfo	/preservehalftoneinfo	PUNCT
hjic-279	116	39	false	false	ADJ
hjic-279	116	40	/preserveopicomments	/preserveopicomment	NOUN
hjic-279	116	41	true	true	ADJ
hjic-279	116	42	/preserveoverprintsettings	/preserveoverprintsetting	NOUN
hjic-279	116	43	true	true	ADJ
hjic-279	116	44	/startpage	/startpage	NOUN
hjic-279	116	45	1	1	NUM
hjic-279	116	46	/subsetfonts	/subsetfont	NOUN
hjic-279	116	47	true	true	ADJ
hjic-279	116	48	/transferfunctioninfo	/transferfunctioninfo	PUNCT
hjic-279	116	49	/apply	/apply	PUNCT
hjic-279	116	50	/ucrandbginfo	/ucrandbginfo	PUNCT
hjic-279	117	1	/preserve	/preserve	NOUN
hjic-279	117	2	/useprologue	/useprologue	NOUN
hjic-279	117	3	false	false	ADJ
hjic-279	117	4	/colorsettingsfile	/colorsettingsfile	NOUN
hjic-279	117	5	(	(	PUNCT
hjic-279	117	6	)	)	PUNCT
hjic-279	117	7	/alwaysembed	/alwaysembe	VERB
hjic-279	117	8	[	[	PUNCT
hjic-279	117	9	true	true	ADJ
hjic-279	117	10	]	]	PUNCT
hjic-279	117	11	/neverembed	/neverembed	PUNCT
hjic-279	118	1	[	[	PUNCT
hjic-279	118	2	true	true	ADJ
hjic-279	118	3	]	]	PUNCT
hjic-279	118	4	/antialiascolorimages	/antialiascolorimages	X
hjic-279	118	5	false	false	ADJ
hjic-279	118	6	/cropcolorimages	/cropcolorimages	PUNCT
hjic-279	118	7	true	true	ADJ
hjic-279	118	8	/colorimageminresolution	/colorimageminresolution	PUNCT
hjic-279	118	9	300	300	NUM
hjic-279	118	10	/colorimageminresolutionpolicy	/colorimageminresolutionpolicy	NOUN
hjic-279	118	11	/ok	/ok	ADJ
hjic-279	119	1	/downsamplecolorimages	/downsamplecolorimage	VERB
hjic-279	120	1	true	true	ADJ
hjic-279	120	2	/colorimagedownsampletype	/colorimagedownsampletype	PUNCT
hjic-279	120	3	/bicubic	/bicubic	NOUN
hjic-279	120	4	/colorimageresolution	/colorimageresolution	NOUN
hjic-279	121	1	300	300	NUM
hjic-279	121	2	/colorimagedepth	/colorimagedepth	PRON
hjic-279	121	3	-1	-1	INTJ
hjic-279	121	4	/colorimagemindownsampledepth	/colorimagemindownsampledepth	SYM
hjic-279	121	5	1	1	NUM
hjic-279	121	6	/colorimagedownsamplethreshold	/colorimagedownsamplethreshold	SYM
hjic-279	121	7	1.50000	1.50000	NUM
hjic-279	121	8	/encodecolorimages	/encodecolorimage	NOUN
hjic-279	121	9	true	true	ADJ
hjic-279	121	10	/colorimagefilter	/colorimagefilter	PUNCT
hjic-279	121	11	/dctencode	/dctencode	PUNCT
hjic-279	122	1	/autofiltercolorimages	/autofiltercolorimage	NOUN
hjic-279	122	2	true	true	ADJ
hjic-279	122	3	/colorimageautofilterstrategy	/colorimageautofilterstrategy	PUNCT
hjic-279	122	4	/jpeg	/jpeg	PUNCT
hjic-279	122	5	/coloracsimagedict	/coloracsimagedict	PUNCT
hjic-279	123	1	<	<	X
hjic-279	123	2	<	<	X
hjic-279	123	3	/qfactor	/qfactor	NOUN
hjic-279	123	4	0.15	0.15	NUM
hjic-279	123	5	/hsamples	/hsample	NOUN
hjic-279	124	1	[	[	X
hjic-279	124	2	1	1	NUM
hjic-279	124	3	1	1	NUM
hjic-279	124	4	1	1	NUM
hjic-279	124	5	1	1	NUM
hjic-279	124	6	]	]	PUNCT
hjic-279	124	7	/vsamples	/vsample	NOUN
hjic-279	125	1	[	[	X
hjic-279	125	2	1	1	NUM
hjic-279	125	3	1	1	NUM
hjic-279	125	4	1	1	NUM
hjic-279	125	5	1	1	NUM
hjic-279	125	6	]	]	PUNCT
hjic-279	125	7	>	>	PUNCT
hjic-279	125	8	>	>	X
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hjic-279	153	1	feff004200720075006700200069006e0064007300740069006c006c0069006e006700650072006e0065002000740069006c0020006100740020006f007000720065007400740065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e007400650072002c0020006400650072002000620065006400730074002000650067006e006500720020007300690067002000740069006c002000700072006500700072006500730073002d007500640073006b007200690076006e0069006e00670020006100660020006800f8006a0020006b00760061006c0069007400650074002e0020004400650020006f007000720065007400740065006400650020005000440046002d0064006f006b0075006d0065006e0074006500720020006b0061006e002000e50062006e00650073002000690020004100630072006f00620061007400200065006c006c006500720020004100630072006f006200610074002000520065006100640065007200200035002e00300020006f00670020006e0079006500720065002e	feff004200720075006700200069006e0064007300740069006c006c0069006e006700650072006e0065002000740069006c0020006100740020006f007000720065007400740065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e007400650072002c0020006400650072002000620065006400730074002000650067006e006500720020007300690067002000740069006c002000700072006500700072006500730073002d007500640073006b007200690076006e0069006e00670020006100660020006800f8006a0020006b00760061006c0069007400650074002e0020004400650020006f007000720065007400740065006400650020005000440046002d0064006f006b0075006d0065006e0074006500720020006b0061006e002000e50062006e00650073002000690020004100630072006f00620061007400200065006c006c006500720020004100630072006f006200610074002000520065006100640065007200200035002e00300020006f00670020006e0079006500720065002e	X
hjic-279	153	2	>	>	X
hjic-279	153	3	/deu	/deu	PUNCT
hjic-279	153	4	<	<	X
hjic-279	153	5	feff00560065007200770065006e00640065006e0020005300690065002000640069006500730065002000450069006e007300740065006c006c0075006e00670065006e0020007a0075006d002000450072007300740065006c006c0065006e00200076006f006e002000410064006f006200650020005000440046002d0044006f006b0075006d0065006e00740065006e002c00200076006f006e002000640065006e0065006e002000530069006500200068006f006300680077006500720074006900670065002000500072006500700072006500730073002d0044007200750063006b0065002000650072007a0065007500670065006e0020006d00f60063006800740065006e002e002000450072007300740065006c006c007400650020005000440046002d0044006f006b0075006d0065006e007400650020006b00f6006e006e0065006e0020006d006900740020004100630072006f00620061007400200075006e0064002000410064006f00620065002000520065006100640065007200200035002e00300020006f0064006500720020006800f600680065007200200067006500f600660066006e00650074002000770065007200640065006e002e	feff00560065007200770065006e00640065006e0020005300690065002000640069006500730065002000450069006e007300740065006c006c0075006e00670065006e0020007a0075006d002000450072007300740065006c006c0065006e00200076006f006e002000410064006f006200650020005000440046002d0044006f006b0075006d0065006e00740065006e002c00200076006f006e002000640065006e0065006e002000530069006500200068006f006300680077006500720074006900670065002000500072006500700072006500730073002d0044007200750063006b0065002000650072007a0065007500670065006e0020006d00f60063006800740065006e002e002000450072007300740065006c006c007400650020005000440046002d0044006f006b0075006d0065006e007400650020006b00f6006e006e0065006e0020006d006900740020004100630072006f00620061007400200075006e0064002000410064006f00620065002000520065006100640065007200200035002e00300020006f0064006500720020006800f600680065007200200067006500f600660066006e00650074002000770065007200640065006e002e	X
hjic-279	153	6	>	>	X
hjic-279	153	7	/esp	/esp	PUNCT
hjic-279	153	8	<	<	X
hjic-279	153	9	feff005500740069006c0069006300650020006500730074006100200063006f006e0066006900670075007200610063006900f3006e0020007000610072006100200063007200650061007200200064006f00630075006d0065006e0074006f00730020005000440046002000640065002000410064006f0062006500200061006400650063007500610064006f00730020007000610072006100200069006d0070007200650073006900f3006e0020007000720065002d0065006400690074006f007200690061006c00200064006500200061006c00740061002000630061006c0069006400610064002e002000530065002000700075006500640065006e00200061006200720069007200200064006f00630075006d0065006e0074006f00730020005000440046002000630072006500610064006f007300200063006f006e0020004100630072006f006200610074002c002000410064006f00620065002000520065006100640065007200200035002e003000200079002000760065007200730069006f006e0065007300200070006f00730074006500720069006f007200650073002e	feff005500740069006c0069006300650020006500730074006100200063006f006e0066006900670075007200610063006900f3006e0020007000610072006100200063007200650061007200200064006f00630075006d0065006e0074006f00730020005000440046002000640065002000410064006f0062006500200061006400650063007500610064006f00730020007000610072006100200069006d0070007200650073006900f3006e0020007000720065002d0065006400690074006f007200690061006c00200064006500200061006c00740061002000630061006c0069006400610064002e002000530065002000700075006500640065006e00200061006200720069007200200064006f00630075006d0065006e0074006f00730020005000440046002000630072006500610064006f007300200063006f006e0020004100630072006f006200610074002c002000410064006f00620065002000520065006100640065007200200035002e003000200079002000760065007200730069006f006e0065007300200070006f00730074006500720069006f007200650073002e	X
hjic-279	153	10	>	>	X
hjic-279	153	11	/eti	/eti	X
hjic-279	154	1	<	<	X
hjic-279	154	2	feff004b00610073007500740061006700650020006e0065006900640020007300e4007400740065006900640020006b00760061006c006900740065006500740073006500200074007200fc006b006900650065006c007300650020007000720069006e00740069006d0069007300650020006a0061006f006b007300200073006f00620069006c0069006b0065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e00740069006400650020006c006f006f006d006900730065006b0073002e00200020004c006f006f0064007500640020005000440046002d0064006f006b0075006d0065006e00740065002000730061006100740065002000610076006100640061002000700072006f006700720061006d006d006900640065006700610020004100630072006f0062006100740020006e0069006e0067002000410064006f00620065002000520065006100640065007200200035002e00300020006a00610020007500750065006d006100740065002000760065007200730069006f006f006e00690064006500670061002e000d000a	feff004b00610073007500740061006700650020006e0065006900640020007300e4007400740065006900640020006b00760061006c006900740065006500740073006500200074007200fc006b006900650065006c007300650020007000720069006e00740069006d0069007300650020006a0061006f006b007300200073006f00620069006c0069006b0065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e00740069006400650020006c006f006f006d006900730065006b0073002e00200020004c006f006f0064007500640020005000440046002d0064006f006b0075006d0065006e00740065002000730061006100740065002000610076006100640061002000700072006f006700720061006d006d006900640065006700610020004100630072006f0062006100740020006e0069006e0067002000410064006f00620065002000520065006100640065007200200035002e00300020006a00610020007500750065006d006100740065002000760065007200730069006f006f006e00690064006500670061002e000d000a	X
hjic-279	154	3	>	>	X
hjic-279	154	4	/fra	/fra	PUNCT
hjic-279	155	1	<	<	X
hjic-279	155	2	feff005500740069006c006900730065007a00200063006500730020006f007000740069006f006e00730020006100660069006e00200064006500200063007200e900650072002000640065007300200064006f00630075006d0065006e00740073002000410064006f00620065002000500044004600200070006f0075007200200075006e00650020007100750061006c0069007400e90020006400270069006d007000720065007300730069006f006e00200070007200e9007000720065007300730065002e0020004c0065007300200064006f00630075006d0065006e00740073002000500044004600200063007200e900e90073002000700065007500760065006e0074002000ea0074007200650020006f007500760065007200740073002000640061006e00730020004100630072006f006200610074002c002000610069006e00730069002000710075002700410064006f00620065002000520065006100640065007200200035002e0030002000650074002000760065007200730069006f006e007300200075006c007400e90072006900650075007200650073002e	feff005500740069006c006900730065007a00200063006500730020006f007000740069006f006e00730020006100660069006e00200064006500200063007200e900650072002000640065007300200064006f00630075006d0065006e00740073002000410064006f00620065002000500044004600200070006f0075007200200075006e00650020007100750061006c0069007400e90020006400270069006d007000720065007300730069006f006e00200070007200e9007000720065007300730065002e0020004c0065007300200064006f00630075006d0065006e00740073002000500044004600200063007200e900e90073002000700065007500760065006e0074002000ea0074007200650020006f007500760065007200740073002000640061006e00730020004100630072006f006200610074002c002000610069006e00730069002000710075002700410064006f00620065002000520065006100640065007200200035002e0030002000650074002000760065007200730069006f006e007300200075006c007400e90072006900650075007200650073002e	X
hjic-279	155	3	>	>	X
hjic-279	155	4	/gre	/gre	PUNCT
hjic-279	155	5	<	<	X
hjic-279	155	6	feff03a703c103b703c303b903bc03bf03c003bf03b903ae03c303c403b5002003b103c503c403ad03c2002003c403b903c2002003c103c503b803bc03af03c303b503b903c2002003b303b903b1002003bd03b1002003b403b703bc03b903bf03c503c103b303ae03c303b503c403b5002003ad03b303b303c103b103c603b1002000410064006f006200650020005000440046002003c003bf03c5002003b503af03bd03b103b9002003ba03b103c42019002003b503be03bf03c703ae03bd002003ba03b103c403ac03bb03bb03b703bb03b1002003b303b903b1002003c003c103bf002d03b503ba03c403c503c003c903c403b903ba03ad03c2002003b503c103b303b103c303af03b503c2002003c503c803b703bb03ae03c2002003c003bf03b903cc03c403b703c403b103c2002e0020002003a403b10020005000440046002003ad03b303b303c103b103c603b1002003c003bf03c5002003ad03c703b503c403b5002003b403b703bc03b903bf03c503c103b303ae03c303b503b9002003bc03c003bf03c103bf03cd03bd002003bd03b1002003b103bd03bf03b903c703c403bf03cd03bd002003bc03b5002003c403bf0020004100630072006f006200610074002c002003c403bf002000410064006f00620065002000520065006100640065007200200035002e0030002003ba03b103b9002003bc03b503c403b103b303b503bd03ad03c303c403b503c103b503c2002003b503ba03b403cc03c303b503b903c2002e	feff03a703c103b703c303b903bc03bf03c003bf03b903ae03c303c403b5002003b103c503c403ad03c2002003c403b903c2002003c103c503b803bc03af03c303b503b903c2002003b303b903b1002003bd03b1002003b403b703bc03b903bf03c503c103b303ae03c303b503c403b5002003ad03b303b303c103b103c603b1002000410064006f006200650020005000440046002003c003bf03c5002003b503af03bd03b103b9002003ba03b103c42019002003b503be03bf03c703ae03bd002003ba03b103c403ac03bb03bb03b703bb03b1002003b303b903b1002003c003c103bf002d03b503ba03c403c503c003c903c403b903ba03ad03c2002003b503c103b303b103c303af03b503c2002003c503c803b703bb03ae03c2002003c003bf03b903cc03c403b703c403b103c2002e0020002003a403b10020005000440046002003ad03b303b303c103b103c603b1002003c003bf03c5002003ad03c703b503c403b5002003b403b703bc03b903bf03c503c103b303ae03c303b503b9002003bc03c003bf03c103bf03cd03bd002003bd03b1002003b103bd03bf03b903c703c403bf03cd03bd002003bc03b5002003c403bf0020004100630072006f006200610074002c002003c403bf002000410064006f00620065002000520065006100640065007200200035002e0030002003ba03b103b9002003bc03b503c403b103b303b503bd03ad03c303c403b503c103b503c2002003b503ba03b403cc03c303b503b903c2002e	NOUN
hjic-279	155	7	>	>	X
hjic-279	155	8	/heb	/heb	X
hjic-279	155	9	<	<	X
hjic-279	155	10	feff05d405e905ea05de05e905d5002005d105d405d205d305e805d505ea002005d005dc05d4002005db05d305d9002005dc05d905e605d505e8002005de05e105de05db05d9002000410064006f006200650020005000440046002005d405de05d505ea05d005de05d905dd002005dc05d405d305e405e105ea002005e705d305dd002d05d305e405d505e1002005d005d905db05d505ea05d905ea002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e05d005de05d905dd002005dc002d005000440046002f0058002d0033002c002005e205d905d905e005d5002005d105de05d305e805d905da002005dc05de05e905ea05de05e9002005e905dc0020004100630072006f006200610074002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e	feff05d405e905ea05de05e905d5002005d105d405d205d305e805d505ea002005d005dc05d4002005db05d305d9002005dc05d905e605d505e8002005de05e105de05db05d9002000410064006f006200650020005000440046002005d405de05d505ea05d005de05d905dd002005dc05d405d305e405e105ea002005e705d305dd002d05d305e405d505e1002005d005d905db05d505ea05d905ea002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e05d005de05d905dd002005dc002d005000440046002f0058002d0033002c002005e205d905d905e005d5002005d105de05d305e805d905da002005dc05de05e905ea05de05e9002005e905dc0020004100630072006f006200610074002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e	X
hjic-279	155	11	>	>	X
hjic-279	155	12	/hrv	/hrv	PROPN
hjic-279	156	1	(	(	PUNCT
hjic-279	156	2	za	za	PROPN
hjic-279	156	3	stvaranje	stvaranje	PROPN
hjic-279	156	4	adobe	adobe	PROPN
hjic-279	156	5	pdf	pdf	PROPN
hjic-279	156	6	dokumenata	dokumenata	PROPN
hjic-279	156	7	najpogodnijih	najpogodnijih	PROPN
hjic-279	156	8	za	za	PROPN
hjic-279	156	9	visokokvalitetni	visokokvalitetni	VERB
hjic-279	156	10	ispis	ispis	ADJ
hjic-279	156	11	prije	prije	NOUN
hjic-279	156	12	tiskanja	tiskanja	PROPN
hjic-279	156	13	koristite	koristite	PROPN
hjic-279	156	14	ove	ove	NOUN
hjic-279	156	15	postavke	postavke	NOUN
hjic-279	156	16	.	.	PUNCT
hjic-279	157	1	stvoreni	stvoreni	ADJ
hjic-279	157	2	pdf	pdf	NOUN
hjic-279	157	3	dokumenti	dokumenti	PROPN
hjic-279	157	4	mogu	mogu	PROPN
hjic-279	157	5	se	se	X
hjic-279	157	6	otvoriti	otvoriti	PROPN
hjic-279	157	7	acrobat	acrobat	PROPN
hjic-279	158	1	i	i	PRON
hjic-279	158	2	adobe	adobe	PROPN
hjic-279	158	3	reader	reader	PROPN
hjic-279	158	4	5.0	5.0	NUM
hjic-279	158	5	i	i	PRON
hjic-279	158	6	kasnijim	kasnijim	VERB
hjic-279	158	7	verzijama	verzijama	NOUN
hjic-279	158	8	.	.	PUNCT
hjic-279	158	9	)	)	PUNCT
hjic-279	159	1	/hun	/hun	PUNCT
hjic-279	160	1	<	<	X
hjic-279	160	2	feff004b0069007600e1006c00f30020006d0069006e0151007300e9006701710020006e0079006f006d00640061006900200065006c0151006b00e90073007a00ed007401510020006e0079006f006d00740061007400e100730068006f007a0020006c006500670069006e006b00e1006200620020006d0065006700660065006c0065006c0151002000410064006f00620065002000500044004600200064006f006b0075006d0065006e00740075006d006f006b0061007400200065007a0065006b006b0065006c0020006100200062006500e1006c006c00ed007400e10073006f006b006b0061006c0020006b00e90073007a00ed0074006800650074002e0020002000410020006c00e90074007200650068006f007a006f00740074002000500044004600200064006f006b0075006d0065006e00740075006d006f006b00200061007a0020004100630072006f006200610074002000e9007300200061007a002000410064006f00620065002000520065006100640065007200200035002e0030002c0020007600610067007900200061007a002000610074007400f3006c0020006b00e9007301510062006200690020007600650072007a006900f3006b006b0061006c0020006e00790069007400680061007400f3006b0020006d00650067002e	feff004b0069007600e1006c00f30020006d0069006e0151007300e9006701710020006e0079006f006d00640061006900200065006c0151006b00e90073007a00ed007401510020006e0079006f006d00740061007400e100730068006f007a0020006c006500670069006e006b00e1006200620020006d0065006700660065006c0065006c0151002000410064006f00620065002000500044004600200064006f006b0075006d0065006e00740075006d006f006b0061007400200065007a0065006b006b0065006c0020006100200062006500e1006c006c00ed007400e10073006f006b006b0061006c0020006b00e90073007a00ed0074006800650074002e0020002000410020006c00e90074007200650068006f007a006f00740074002000500044004600200064006f006b0075006d0065006e00740075006d006f006b00200061007a0020004100630072006f006200610074002000e9007300200061007a002000410064006f00620065002000520065006100640065007200200035002e0030002c0020007600610067007900200061007a002000610074007400f3006c0020006b00e9007301510062006200690020007600650072007a006900f3006b006b0061006c0020006e00790069007400680061007400f3006b0020006d00650067002e	X
hjic-279	160	3	>	>	X
hjic-279	160	4	/ita	/ita	PUNCT
hjic-279	161	1	<	<	X
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hjic-279	161	3	>	>	X
hjic-279	161	4	/jpn	/jpn	PROPN
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hjic-279	162	3	>	>	X
hjic-279	162	4	/kor	/kor	PUNCT
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hjic-279	163	3	>	>	X
hjic-279	163	4	/lth	/lth	PUNCT
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hjic-279	164	3	>	>	X
hjic-279	164	4	/lvi	/lvi	PUNCT
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hjic-279	165	3	>	>	X
hjic-279	165	4	/nld	/nld	PUNCT
hjic-279	166	1	(	(	PUNCT
hjic-279	166	2	gebruik	gebruik	NOUN
hjic-279	166	3	deze	deze	PROPN
hjic-279	166	4	instellingen	instellingen	PROPN
hjic-279	166	5	om	om	PROPN
hjic-279	166	6	adobe	adobe	PROPN
hjic-279	166	7	pdf	pdf	PROPN
hjic-279	166	8	-	-	PUNCT
hjic-279	166	9	documenten	documenten	NOUN
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hjic-279	166	12	die	die	PROPN
hjic-279	166	13	zijn	zijn	PROPN
hjic-279	166	14	geoptimaliseerd	geoptimaliseerd	PROPN
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hjic-279	166	17	-	-	PUNCT
hjic-279	166	18	afdrukken	afdrukken	VERB
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hjic-279	166	21	kwaliteit	kwaliteit	PROPN
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hjic-279	167	1	de	de	PROPN
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hjic-279	167	3	pdf	pdf	NOUN
hjic-279	167	4	-	-	PUNCT
hjic-279	167	5	documenten	documenten	NOUN
hjic-279	167	6	kunnen	kunnen	PROPN
hjic-279	167	7	worden	worden	PROPN
hjic-279	167	8	geopend	geopend	PROPN
hjic-279	167	9	met	meet	VERB
hjic-279	167	10	acrobat	acrobat	PROPN
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hjic-279	167	12	adobe	adobe	PROPN
hjic-279	167	13	reader	reader	PROPN
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hjic-279	167	16	hoger	hoger	NOUN
hjic-279	167	17	.	.	PUNCT
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hjic-279	168	1	/nor	/nor	PUNCT
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hjic-279	169	3	>	>	X
hjic-279	169	4	/pol	/pol	PUNCT
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hjic-279	170	3	>	>	X
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hjic-279	170	11	>	>	X
hjic-279	170	12	/rus	/rus	PUNCT
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hjic-279	170	15	>	>	X
hjic-279	170	16	/sky	/sky	PUNCT
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hjic-279	171	4	/slv	/slv	X
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hjic-279	171	7	>	>	X
hjic-279	171	8	/suo	/suo	PROPN
hjic-279	172	1	<	<	AUX
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hjic-279	172	3	>	>	X
hjic-279	172	4	/sve	/sve	PROPN
hjic-279	172	5	<	<	X
hjic-279	172	6	feff0041006e007600e4006e00640020006400650020006800e4007200200069006e0073007400e4006c006c006e0069006e006700610072006e00610020006f006d002000640075002000760069006c006c00200073006b006100700061002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e007400200073006f006d002000e400720020006c00e4006d0070006c0069006700610020006600f60072002000700072006500700072006500730073002d007500740073006b00720069006600740020006d006500640020006800f600670020006b00760061006c0069007400650074002e002000200053006b006100700061006400650020005000440046002d0064006f006b0075006d0065006e00740020006b0061006e002000f600700070006e00610073002000690020004100630072006f0062006100740020006f00630068002000410064006f00620065002000520065006100640065007200200035002e00300020006f00630068002000730065006e006100720065002e	feff0041006e007600e4006e00640020006400650020006800e4007200200069006e0073007400e4006c006c006e0069006e006700610072006e00610020006f006d002000640075002000760069006c006c00200073006b006100700061002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e007400200073006f006d002000e400720020006c00e4006d0070006c0069006700610020006600f60072002000700072006500700072006500730073002d007500740073006b00720069006600740020006d006500640020006800f600670020006b00760061006c0069007400650074002e002000200053006b006100700061006400650020005000440046002d0064006f006b0075006d0065006e00740020006b0061006e002000f600700070006e00610073002000690020004100630072006f0062006100740020006f00630068002000410064006f00620065002000520065006100640065007200200035002e00300020006f00630068002000730065006e006100720065002e	X
hjic-279	172	7	>	>	X
hjic-279	172	8	/tur	/tur	X
hjic-279	172	9	<	<	X
hjic-279	172	10	feff005900fc006b00730065006b0020006b0061006c006900740065006c0069002000f6006e002000790061007a006401310072006d00610020006200610073006b013100730131006e006100200065006e0020006900790069002000750079006100620069006c006500630065006b002000410064006f006200650020005000440046002000620065006c00670065006c0065007200690020006f006c0075015f007400750072006d0061006b0020006900e70069006e00200062007500200061007900610072006c0061007201310020006b0075006c006c0061006e0131006e002e00200020004f006c0075015f0074007500720075006c0061006e0020005000440046002000620065006c00670065006c0065007200690020004100630072006f006200610074002000760065002000410064006f00620065002000520065006100640065007200200035002e003000200076006500200073006f006e0072006100730131006e00640061006b00690020007300fc007200fc006d006c00650072006c00650020006100e70131006c006100620069006c00690072002e	feff005900fc006b00730065006b0020006b0061006c006900740065006c0069002000f6006e002000790061007a006401310072006d00610020006200610073006b013100730131006e006100200065006e0020006900790069002000750079006100620069006c006500630065006b002000410064006f006200650020005000440046002000620065006c00670065006c0065007200690020006f006c0075015f007400750072006d0061006b0020006900e70069006e00200062007500200061007900610072006c0061007201310020006b0075006c006c0061006e0131006e002e00200020004f006c0075015f0074007500720075006c0061006e0020005000440046002000620065006c00670065006c0065007200690020004100630072006f006200610074002000760065002000410064006f00620065002000520065006100640065007200200035002e003000200076006500200073006f006e0072006100730131006e00640061006b00690020007300fc007200fc006d006c00650072006c00650020006100e70131006c006100620069006c00690072002e	PROPN
hjic-279	172	11	>	>	X
hjic-279	172	12	/ukr	/ukr	X
hjic-279	172	13	<	<	X
hjic-279	172	14	feff04120438043a043e0440043804410442043e043204430439044204350020044604560020043f043004400430043c043504420440043800200434043b044f0020044104420432043e04400435043d043d044f00200434043e043a0443043c0435043d044204560432002000410064006f006200650020005000440046002c0020044f043a04560020043d04300439043a04400430044904350020043f045604340445043e0434044f0442044c00200434043b044f0020043204380441043e043a043e044f043a04560441043d043e0433043e0020043f0435044004350434043404400443043a043e0432043e0433043e0020043404400443043a0443002e00200020042104420432043e04400435043d045600200434043e043a0443043c0435043d0442043800200050004400460020043c043e0436043d04300020043204560434043a0440043804420438002004430020004100630072006f006200610074002004420430002000410064006f00620065002000520065006100640065007200200035002e0030002004300431043e0020043f04560437043d04560448043e04570020043204350440044104560457002e	feff04120438043a043e0440043804410442043e043204430439044204350020044604560020043f043004400430043c043504420440043800200434043b044f0020044104420432043e04400435043d043d044f00200434043e043a0443043c0435043d044204560432002000410064006f006200650020005000440046002c0020044f043a04560020043d04300439043a04400430044904350020043f045604340445043e0434044f0442044c00200434043b044f0020043204380441043e043a043e044f043a04560441043d043e0433043e0020043f0435044004350434043404400443043a043e0432043e0433043e0020043404400443043a0443002e00200020042104420432043e04400435043d045600200434043e043a0443043c0435043d0442043800200050004400460020043c043e0436043d04300020043204560434043a0440043804420438002004430020004100630072006f006200610074002004420430002000410064006f00620065002000520065006100640065007200200035002e0030002004300431043e0020043f04560437043d04560448043e04570020043204350440044104560457002e	X
hjic-279	172	15	>	>	X
hjic-279	172	16	/enu	/enu	PUNCT
hjic-279	172	17	(	(	PUNCT
hjic-279	172	18	use	use	VERB
hjic-279	172	19	these	these	DET
hjic-279	172	20	settings	setting	NOUN
hjic-279	172	21	to	to	PART
hjic-279	172	22	create	create	VERB
hjic-279	172	23	adobe	adobe	PROPN
hjic-279	172	24	pdf	pdf	PROPN
hjic-279	172	25	documents	document	NOUN
hjic-279	172	26	best	well	ADV
hjic-279	172	27	suited	suit	VERB
hjic-279	172	28	for	for	ADP
hjic-279	172	29	high	high	ADJ
hjic-279	172	30	-	-	PUNCT
hjic-279	172	31	quality	quality	NOUN
hjic-279	172	32	prepress	prepress	NOUN
hjic-279	172	33	printing	printing	NOUN
hjic-279	172	34	.	.	PUNCT
hjic-279	173	1	created	create	VERB
hjic-279	173	2	pdf	pdf	NOUN
hjic-279	173	3	documents	document	NOUN
hjic-279	173	4	can	can	AUX
hjic-279	173	5	be	be	AUX
hjic-279	173	6	opened	open	VERB
hjic-279	173	7	with	with	ADP
hjic-279	173	8	acrobat	acrobat	PROPN
hjic-279	173	9	and	and	CCONJ
hjic-279	173	10	adobe	adobe	PROPN
hjic-279	173	11	reader	reader	PROPN
hjic-279	173	12	5.0	5.0	NUM
hjic-279	173	13	and	and	CCONJ
hjic-279	173	14	later	later	ADV
hjic-279	173	15	.	.	PUNCT
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hjic-279	174	1	>	>	PUNCT
hjic-279	174	2	>	>	X
hjic-279	174	3	/namespace	/namespace	PUNCT
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hjic-279	175	5	(	(	PUNCT
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hjic-279	175	7	)	)	PUNCT
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hjic-279	175	10	)	)	PUNCT
hjic-279	175	11	]	]	PUNCT
hjic-279	176	1	/othernamespaces	/othernamespace	VERB
hjic-279	176	2	[	[	PUNCT
hjic-279	176	3	<	<	X
hjic-279	176	4	<	<	X
hjic-279	176	5	/asreaderspreads	/asreaderspreads	X
hjic-279	176	6	false	false	ADJ
hjic-279	176	7	/cropimagestoframes	/cropimagestoframe	NOUN
hjic-279	176	8	true	true	ADJ
hjic-279	176	9	/errorcontrol	/errorcontrol	NOUN
hjic-279	177	1	/warnandcontinue	/warnandcontinue	PUNCT
hjic-279	177	2	/flattenerignorespreadoverrides	/flattenerignorespreadoverride	NOUN
hjic-279	177	3	false	false	ADJ
hjic-279	177	4	/includeguidesgrids	/includeguidesgrid	NOUN
hjic-279	177	5	false	false	ADJ
hjic-279	177	6	/includenonprinting	/includenonprinting	NOUN
hjic-279	177	7	false	false	ADJ
hjic-279	177	8	/includeslug	/includeslug	INTJ
hjic-279	177	9	false	false	ADJ
hjic-279	177	10	/namespace	/namespace	NOUN
hjic-279	178	1	[	[	PUNCT
hjic-279	178	2	(	(	PUNCT
hjic-279	178	3	adobe	adobe	PROPN
hjic-279	178	4	)	)	PUNCT
hjic-279	178	5	(	(	PUNCT
hjic-279	178	6	indesign	indesign	NOUN
hjic-279	178	7	)	)	PUNCT
hjic-279	178	8	(	(	PUNCT
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hjic-279	178	10	)	)	PUNCT
hjic-279	178	11	]	]	PUNCT
hjic-279	178	12	/omitplacedbitmaps	/omitplacedbitmaps	PUNCT
hjic-279	179	1	false	false	ADJ
hjic-279	179	2	/omitplacedeps	/omitplacedeps	INTJ
hjic-279	179	3	false	false	ADJ
hjic-279	179	4	/omitplacedpdf	/omitplacedpdf	PUNCT
hjic-279	179	5	false	false	ADJ
hjic-279	179	6	/simulateoverprint	/simulateoverprint	NOUN
hjic-279	179	7	/legacy	/legacy	PUNCT
hjic-279	180	1	>	>	PUNCT
hjic-279	180	2	>	>	X
hjic-279	181	1	<	<	X
hjic-279	181	2	<	<	X
hjic-279	181	3	/addbleedmarks	/addbleedmarks	X
hjic-279	181	4	false	false	ADJ
hjic-279	181	5	/addcolorbars	/addcolorbars	INTJ
hjic-279	181	6	false	false	ADJ
hjic-279	181	7	/addcropmarks	/addcropmarks	PUNCT
hjic-279	181	8	false	false	ADJ
hjic-279	181	9	/addpageinfo	/addpageinfo	INTJ
hjic-279	181	10	false	false	ADJ
hjic-279	181	11	/addregmarks	/addregmark	NOUN
hjic-279	181	12	false	false	ADJ
hjic-279	181	13	/convertcolors	/convertcolor	NOUN
hjic-279	181	14	/converttocmyk	/converttocmyk	INTJ
hjic-279	181	15	/destinationprofilename	/destinationprofilename	PUNCT
hjic-279	181	16	(	(	PUNCT
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hjic-279	181	18	/destinationprofileselector	/destinationprofileselector	NOUN
hjic-279	181	19	/documentcmyk	/documentcmyk	PUNCT
hjic-279	181	20	/downsample16bitimages	/downsample16bitimage	NOUN
hjic-279	181	21	true	true	ADJ
hjic-279	181	22	/flattenerpreset	/flattenerpreset	PUNCT
hjic-279	182	1	<	<	X
hjic-279	182	2	<	<	X
hjic-279	182	3	/presetselector	/presetselector	X
hjic-279	182	4	/mediumresolution	/mediumresolution	NOUN
hjic-279	182	5	>	>	PUNCT
hjic-279	182	6	>	>	X
hjic-279	182	7	/formelements	/formelement	NOUN
hjic-279	183	1	false	false	ADJ
hjic-279	183	2	/generatestructure	/generatestructure	PUNCT
hjic-279	183	3	false	false	ADJ
hjic-279	183	4	/includebookmarks	/includebookmark	NOUN
hjic-279	183	5	false	false	ADJ
hjic-279	183	6	/includehyperlinks	/includehyperlinks	INTJ
hjic-279	183	7	false	false	ADJ
hjic-279	183	8	/includeinteractive	/includeinteractive	ADJ
hjic-279	183	9	false	false	ADJ
hjic-279	183	10	/includelayers	/includelayer	NOUN
hjic-279	183	11	false	false	ADJ
hjic-279	183	12	/includeprofiles	/includeprofiles	INTJ
hjic-279	183	13	false	false	ADJ
hjic-279	183	14	/multimediahandling	/multimediahandling	NOUN
hjic-279	184	1	/useobjectsettings	/useobjectsettings	PRON
hjic-279	185	1	/namespace	/namespace	PUNCT
hjic-279	186	1	[	[	PUNCT
hjic-279	186	2	(	(	PUNCT
hjic-279	186	3	adobe	adobe	PROPN
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hjic-279	186	8	(	(	PUNCT
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hjic-279	187	1	/pdfxoutputintentprofileselector	/pdfxoutputintentprofileselector	INTJ
hjic-279	187	2	/documentcmyk	/documentcmyk	PUNCT
hjic-279	188	1	/preserveediting	/preserveedite	VERB
hjic-279	188	2	true	true	ADJ
hjic-279	188	3	/untaggedcmykhandling	/untaggedcmykhandling	NOUN
hjic-279	188	4	/leaveuntagged	/leaveuntagge	VERB
hjic-279	188	5	/untaggedrgbhandling	/untaggedrgbhandling	NOUN
hjic-279	188	6	/usedocumentprofile	/usedocumentprofile	INTJ
hjic-279	188	7	/usedocumentbleed	/usedocumentbleed	NOUN
hjic-279	189	1	false	false	ADJ
hjic-279	189	2	>	>	PUNCT
hjic-279	189	3	>	>	X
hjic-279	189	4	]	]	PUNCT
hjic-279	189	5	>	>	PUNCT
hjic-279	189	6	>	>	X
hjic-279	189	7	setdistillerparams	setdistillerparam	NOUN
hjic-279	190	1	<	<	X
hjic-279	190	2	<	<	X
hjic-279	190	3	/hwresolution	/hwresolution	NOUN
hjic-279	191	1	[	[	X
hjic-279	191	2	2400	2400	NUM
hjic-279	191	3	2400	2400	NUM
hjic-279	191	4	]	]	PUNCT
hjic-279	191	5	/pagesize	/pagesize	X
hjic-279	192	1	[	[	X
hjic-279	192	2	612.000	612.000	NUM
hjic-279	192	3	792.000	792.000	NUM
hjic-279	192	4	]	]	PUNCT
hjic-279	192	5	>	>	PUNCT
hjic-279	192	6	>	>	X
hjic-279	192	7	setpagedevice	setpagedevice	PROPN