id	sid	tid	token	lemma	pos
hjic-418	1	1	microsoft	microsoft	PROPN
hjic-418	1	2	word	word	NOUN
hjic-418	1	3	b_24_szoke_r_irod.doc	b_24_szoke_r_irod.doc	PROPN
hjic-418	1	4	hungarian	hungarian	ADJ
hjic-418	1	5	journal	journal	NOUN
hjic-418	1	6	of	of	ADP
hjic-418	1	7	industrial	industrial	ADJ
hjic-418	1	8	chemistry	chemistry	NOUN
hjic-418	1	9	veszprém	veszprém	NOUN
hjic-418	1	10	vol	vol	NOUN
hjic-418	1	11	.	.	PUNCT
hjic-418	2	1	39(2	39(2	NUM
hjic-418	2	2	)	)	PUNCT
hjic-418	2	3	pp	pp	ADP
hjic-418	2	4	.	.	PUNCT
hjic-418	3	1	237	237	NUM
hjic-418	3	2	-	-	SYM
hjic-418	3	3	242	242	NUM
hjic-418	3	4	(	(	PUNCT
hjic-418	3	5	2011	2011	NUM
hjic-418	3	6	)	)	PUNCT
hjic-418	3	7	prototype	prototype	NOUN
hjic-418	3	8	of	of	ADP
hjic-418	3	9	a	a	DET
hjic-418	3	10	multi	multi	ADJ
hjic-418	3	11	-	-	ADJ
hjic-418	3	12	robot	robot	ADJ
hjic-418	3	13	system	system	NOUN
hjic-418	3	14	for	for	ADP
hjic-418	3	15	autonomous	autonomous	ADJ
hjic-418	3	16	gas	gas	NOUN
hjic-418	3	17	mapping	mapping	NOUN
hjic-418	3	18	in	in	ADP
hjic-418	3	19	polluted	polluted	ADJ
hjic-418	3	20	environments	environment	NOUN
hjic-418	3	21	d.	d.	PROPN
hjic-418	3	22	lupea	lupea	PROPN
hjic-418	3	23	,	,	PUNCT
hjic-418	3	24	i.	i.	PROPN
hjic-418	3	25	szőke	szőke	PROPN
hjic-418	3	26	,	,	PUNCT
hjic-418	3	27	a.	a.	PROPN
hjic-418	3	28	majdik	majdik	PROPN
hjic-418	3	29	,	,	PUNCT
hjic-418	3	30	gh	gh	PROPN
hjic-418	3	31	.	.	PROPN
hjic-418	3	32	lazea	lazea	PROPN
hjic-418	3	33	technical	technical	PROPN
hjic-418	3	34	university	university	PROPN
hjic-418	3	35	of	of	ADP
hjic-418	3	36	cluj	cluj	PROPN
hjic-418	3	37	-	-	PUNCT
hjic-418	3	38	napoca	napoca	NOUN
hjic-418	3	39	,	,	PUNCT
hjic-418	3	40	department	department	NOUN
hjic-418	3	41	of	of	ADP
hjic-418	3	42	automation	automation	NOUN
hjic-418	3	43	,	,	PUNCT
hjic-418	3	44	c.	c.	PROPN
hjic-418	3	45	daicoviciu	daicoviciu	VERB
hjic-418	3	46	15	15	NUM
hjic-418	3	47	cluj	cluj	PROPN
hjic-418	3	48	-	-	PUNCT
hjic-418	3	49	napoca	napoca	NOUN
hjic-418	3	50	,	,	PUNCT
hjic-418	3	51	romania	romania	PROPN
hjic-418	3	52	,	,	PUNCT
hjic-418	3	53	e	e	NOUN
hjic-418	3	54	-	-	NOUN
hjic-418	3	55	mail	mail	NOUN
hjic-418	3	56	:	:	PUNCT
hjic-418	3	57	diana.lupea@aut.utcluj.ro	diana.lupea@aut.utcluj.ro	VERB
hjic-418	3	58	the	the	DET
hjic-418	3	59	need	need	NOUN
hjic-418	3	60	of	of	ADP
hjic-418	3	61	environmental	environmental	ADJ
hjic-418	3	62	monitoring	monitoring	NOUN
hjic-418	3	63	robots	robot	NOUN
hjic-418	3	64	is	be	AUX
hjic-418	3	65	imposed	impose	VERB
hjic-418	3	66	by	by	ADP
hjic-418	3	67	nowadays	nowadays	ADV
hjic-418	3	68	trends	trend	NOUN
hjic-418	3	69	related	relate	VERB
hjic-418	3	70	to	to	ADP
hjic-418	3	71	sustainability	sustainability	NOUN
hjic-418	3	72	–	–	PUNCT
hjic-418	3	73	towards	towards	ADP
hjic-418	3	74	protecting	protect	VERB
hjic-418	3	75	the	the	DET
hjic-418	3	76	environment	environment	NOUN
hjic-418	3	77	and	and	CCONJ
hjic-418	3	78	the	the	DET
hjic-418	3	79	human	human	ADJ
hjic-418	3	80	factor	factor	NOUN
hjic-418	3	81	.	.	PUNCT
hjic-418	4	1	this	this	DET
hjic-418	4	2	research	research	NOUN
hjic-418	4	3	received	receive	VERB
hjic-418	4	4	a	a	DET
hjic-418	4	5	great	great	ADJ
hjic-418	4	6	amount	amount	NOUN
hjic-418	4	7	of	of	ADP
hjic-418	4	8	focus	focus	NOUN
hjic-418	4	9	in	in	ADP
hjic-418	4	10	the	the	DET
hjic-418	4	11	past	past	ADJ
hjic-418	4	12	years	year	NOUN
hjic-418	4	13	.	.	PUNCT
hjic-418	5	1	the	the	DET
hjic-418	5	2	directions	direction	NOUN
hjic-418	5	3	of	of	ADP
hjic-418	5	4	study	study	NOUN
hjic-418	5	5	in	in	ADP
hjic-418	5	6	this	this	DET
hjic-418	5	7	area	area	NOUN
hjic-418	5	8	of	of	ADP
hjic-418	5	9	research	research	NOUN
hjic-418	5	10	will	will	AUX
hjic-418	5	11	be	be	AUX
hjic-418	5	12	overviewed	overviewe	VERB
hjic-418	5	13	in	in	ADP
hjic-418	5	14	the	the	DET
hjic-418	5	15	next	next	ADJ
hjic-418	5	16	lines	line	NOUN
hjic-418	5	17	.	.	PUNCT
hjic-418	6	1	they	they	PRON
hjic-418	6	2	are	be	AUX
hjic-418	6	3	varied	varied	ADJ
hjic-418	6	4	and	and	CCONJ
hjic-418	6	5	range	range	VERB
hjic-418	6	6	from	from	ADP
hjic-418	6	7	robots	robot	NOUN
hjic-418	6	8	designed	design	VERB
hjic-418	6	9	to	to	PART
hjic-418	6	10	monitor	monitor	VERB
hjic-418	6	11	ammonia	ammonia	NOUN
hjic-418	6	12	pollution	pollution	NOUN
hjic-418	6	13	near	near	ADP
hjic-418	6	14	animal	animal	NOUN
hjic-418	6	15	farms	farm	NOUN
hjic-418	6	16	to	to	ADP
hjic-418	6	17	robots	robot	NOUN
hjic-418	6	18	which	which	PRON
hjic-418	6	19	search	search	VERB
hjic-418	6	20	for	for	ADP
hjic-418	6	21	unexploded	unexploded	ADJ
hjic-418	6	22	ordinance	ordinance	NOUN
hjic-418	6	23	,	,	PUNCT
hjic-418	6	24	or	or	CCONJ
hjic-418	6	25	sources	source	NOUN
hjic-418	6	26	of	of	ADP
hjic-418	6	27	leaks	leak	NOUN
hjic-418	6	28	from	from	ADP
hjic-418	6	29	pipes	pipe	NOUN
hjic-418	6	30	and	and	CCONJ
hjic-418	6	31	tanks	tank	NOUN
hjic-418	6	32	,	,	PUNCT
hjic-418	6	33	and	and	CCONJ
hjic-418	6	34	even	even	ADV
hjic-418	6	35	to	to	ADP
hjic-418	6	36	a	a	DET
hjic-418	6	37	collecting	collecting	NOUN
hjic-418	6	38	and	and	CCONJ
hjic-418	6	39	segregating	segregate	VERB
hjic-418	6	40	garbage	garbage	NOUN
hjic-418	6	41	robot	robot	NOUN
hjic-418	6	42	which	which	PRON
hjic-418	6	43	also	also	ADV
hjic-418	6	44	monitors	monitor	VERB
hjic-418	6	45	pollution	pollution	NOUN
hjic-418	6	46	while	while	SCONJ
hjic-418	6	47	performing	perform	VERB
hjic-418	6	48	its	its	PRON
hjic-418	6	49	other	other	ADJ
hjic-418	6	50	tasks	task	NOUN
hjic-418	6	51	.	.	PUNCT
hjic-418	7	1	this	this	DET
hjic-418	7	2	paper	paper	NOUN
hjic-418	7	3	describes	describe	VERB
hjic-418	7	4	a	a	DET
hjic-418	7	5	novel	novel	ADJ
hjic-418	7	6	system	system	NOUN
hjic-418	7	7	that	that	PRON
hjic-418	7	8	aims	aim	VERB
hjic-418	7	9	to	to	PART
hjic-418	7	10	explore	explore	VERB
hjic-418	7	11	dangerous	dangerous	ADJ
hjic-418	7	12	sites	site	NOUN
hjic-418	7	13	(	(	PUNCT
hjic-418	7	14	old	old	ADJ
hjic-418	7	15	mines	mine	NOUN
hjic-418	7	16	,	,	PUNCT
hjic-418	7	17	chemical	chemical	NOUN
hjic-418	7	18	plants	plant	NOUN
hjic-418	7	19	,	,	PUNCT
hjic-418	7	20	etc	etc	X
hjic-418	7	21	)	)	PUNCT
hjic-418	7	22	,	,	PUNCT
hjic-418	7	23	where	where	SCONJ
hjic-418	7	24	an	an	DET
hjic-418	7	25	autonomous	autonomous	ADJ
hjic-418	7	26	ground	ground	NOUN
hjic-418	7	27	robot	robot	NOUN
hjic-418	7	28	and	and	CCONJ
hjic-418	7	29	a	a	DET
hjic-418	7	30	micro	micro	ADJ
hjic-418	7	31	unmanned	unmanned	ADJ
hjic-418	7	32	aerial	aerial	ADJ
hjic-418	7	33	vehicle	vehicle	NOUN
hjic-418	7	34	(	(	PUNCT
hjic-418	7	35	uav	uav	PROPN
hjic-418	7	36	)	)	PUNCT
hjic-418	7	37	are	be	AUX
hjic-418	7	38	sent	send	VERB
hjic-418	7	39	together	together	ADV
hjic-418	7	40	to	to	PART
hjic-418	7	41	map	map	VERB
hjic-418	7	42	the	the	DET
hjic-418	7	43	area	area	NOUN
hjic-418	7	44	in	in	ADP
hjic-418	7	45	order	order	NOUN
hjic-418	7	46	to	to	PART
hjic-418	7	47	detect	detect	VERB
hjic-418	7	48	toxic	toxic	ADJ
hjic-418	7	49	gases	gas	NOUN
hjic-418	7	50	.	.	PUNCT
hjic-418	8	1	the	the	DET
hjic-418	8	2	new	new	ADJ
hjic-418	8	3	approach	approach	NOUN
hjic-418	8	4	proposes	propose	VERB
hjic-418	8	5	a	a	DET
hjic-418	8	6	multi	multi	ADJ
hjic-418	8	7	-	-	ADJ
hjic-418	8	8	robot	robot	ADJ
hjic-418	8	9	architecture	architecture	NOUN
hjic-418	8	10	which	which	PRON
hjic-418	8	11	uses	use	VERB
hjic-418	8	12	a	a	DET
hjic-418	8	13	multi	multi	ADJ
hjic-418	8	14	-	-	ADJ
hjic-418	8	15	sensor	sensor	ADJ
hjic-418	8	16	gas	gas	NOUN
hjic-418	8	17	detection	detection	NOUN
hjic-418	8	18	measurement	measurement	NOUN
hjic-418	8	19	unit	unit	NOUN
hjic-418	8	20	which	which	PRON
hjic-418	8	21	uses	use	VERB
hjic-418	8	22	a	a	DET
hjic-418	8	23	simultaneous	simultaneous	ADJ
hjic-418	8	24	localization	localization	NOUN
hjic-418	8	25	and	and	CCONJ
hjic-418	8	26	mapping	mapping	NOUN
hjic-418	8	27	(	(	PUNCT
hjic-418	8	28	slam	slam	NOUN
hjic-418	8	29	)	)	PUNCT
hjic-418	8	30	algorithm	algorithm	NOUN
hjic-418	8	31	for	for	ADP
hjic-418	8	32	3d	3d	PROPN
hjic-418	8	33	autonomous	autonomous	ADJ
hjic-418	8	34	gas	gas	NOUN
hjic-418	8	35	mapping	mapping	NOUN
hjic-418	8	36	.	.	PUNCT
hjic-418	9	1	current	current	ADJ
hjic-418	9	2	research	research	NOUN
hjic-418	9	3	is	be	AUX
hjic-418	9	4	trying	try	VERB
hjic-418	9	5	to	to	PART
hjic-418	9	6	shift	shift	VERB
hjic-418	9	7	the	the	DET
hjic-418	9	8	use	use	NOUN
hjic-418	9	9	of	of	ADP
hjic-418	9	10	robots	robot	NOUN
hjic-418	9	11	for	for	ADP
hjic-418	9	12	gas	gas	NOUN
hjic-418	9	13	detection	detection	NOUN
hjic-418	9	14	from	from	ADP
hjic-418	9	15	indoor	indoor	ADJ
hjic-418	9	16	environments	environment	NOUN
hjic-418	9	17	towards	towards	ADP
hjic-418	9	18	the	the	DET
hjic-418	9	19	outdoors	outdoor	NOUN
hjic-418	9	20	.	.	PUNCT
hjic-418	10	1	there	there	PRON
hjic-418	10	2	can	can	AUX
hjic-418	10	3	be	be	AUX
hjic-418	10	4	found	find	VERB
hjic-418	10	5	several	several	ADJ
hjic-418	10	6	research	research	NOUN
hjic-418	10	7	directions	direction	NOUN
hjic-418	10	8	with	with	ADP
hjic-418	10	9	applications	application	NOUN
hjic-418	10	10	based	base	VERB
hjic-418	10	11	on	on	ADP
hjic-418	10	12	ecological	ecological	ADJ
hjic-418	10	13	robots	robot	NOUN
hjic-418	10	14	.	.	PUNCT
hjic-418	11	1	keywords	keyword	NOUN
hjic-418	11	2	:	:	PUNCT
hjic-418	11	3	autonomous	autonomous	ADJ
hjic-418	11	4	multi	multi	ADJ
hjic-418	11	5	-	-	ADJ
hjic-418	11	6	robot	robot	ADJ
hjic-418	11	7	system	system	NOUN
hjic-418	11	8	,	,	PUNCT
hjic-418	11	9	mapping	mapping	NOUN
hjic-418	11	10	,	,	PUNCT
hjic-418	11	11	navigation	navigation	NOUN
hjic-418	11	12	,	,	PUNCT
hjic-418	11	13	polluted	polluted	ADJ
hjic-418	11	14	enviromnets	enviromnet	NOUN
hjic-418	11	15	,	,	PUNCT
hjic-418	11	16	multi	multi	ADJ
hjic-418	11	17	-	-	NOUN
hjic-418	11	18	sensor	sensor	NOUN
hjic-418	11	19	.	.	PUNCT
hjic-418	12	1	introduction	introduction	NOUN
hjic-418	12	2	the	the	DET
hjic-418	12	3	interest	interest	NOUN
hjic-418	12	4	on	on	ADP
hjic-418	12	5	using	use	VERB
hjic-418	12	6	chemical	chemical	ADJ
hjic-418	12	7	sensors	sensor	NOUN
hjic-418	12	8	in	in	ADP
hjic-418	12	9	robotic	robotic	ADJ
hjic-418	12	10	systems	system	NOUN
hjic-418	12	11	began	begin	VERB
hjic-418	12	12	in	in	ADP
hjic-418	12	13	early	early	ADJ
hjic-418	12	14	nineties	ninety	NOUN
hjic-418	12	15	focusing	focus	VERB
hjic-418	12	16	mainly	mainly	ADV
hjic-418	12	17	on	on	ADP
hjic-418	12	18	the	the	DET
hjic-418	12	19	development	development	NOUN
hjic-418	12	20	of	of	ADP
hjic-418	12	21	two	two	NUM
hjic-418	12	22	typologies	typology	NOUN
hjic-418	12	23	of	of	ADP
hjic-418	12	24	robots	robot	NOUN
hjic-418	12	25	:	:	PUNCT
hjic-418	12	26	the	the	DET
hjic-418	12	27	first	first	ADJ
hjic-418	12	28	one	one	NOUN
hjic-418	12	29	is	be	AUX
hjic-418	12	30	able	able	ADJ
hjic-418	12	31	to	to	PART
hjic-418	12	32	follow	follow	VERB
hjic-418	12	33	odour	odour	NOUN
hjic-418	12	34	trails	trail	NOUN
hjic-418	12	35	marked	mark	VERB
hjic-418	12	36	on	on	ADP
hjic-418	12	37	the	the	DET
hjic-418	12	38	ground	ground	NOUN
hjic-418	12	39	like	like	ADP
hjic-418	12	40	in	in	ADP
hjic-418	12	41	the	the	DET
hjic-418	12	42	case	case	NOUN
hjic-418	12	43	of	of	ADP
hjic-418	12	44	ants	ant	NOUN
hjic-418	12	45	following	follow	VERB
hjic-418	12	46	a	a	DET
hjic-418	12	47	pheromone	pheromone	NOUN
hjic-418	12	48	trail	trail	NOUN
hjic-418	13	1	[	[	X
hjic-418	13	2	1	1	NUM
hjic-418	13	3	]	]	PUNCT
hjic-418	13	4	;	;	PUNCT
hjic-418	13	5	the	the	DET
hjic-418	13	6	second	second	ADJ
hjic-418	13	7	one	one	NOUN
hjic-418	13	8	was	be	AUX
hjic-418	13	9	for	for	ADP
hjic-418	13	10	tracking	track	VERB
hjic-418	13	11	odour	odour	NOUN
hjic-418	13	12	trails	trail	NOUN
hjic-418	13	13	formed	form	VERB
hjic-418	13	14	in	in	ADP
hjic-418	13	15	fluid	fluid	ADJ
hjic-418	13	16	media	medium	NOUN
hjic-418	13	17	to	to	PART
hjic-418	13	18	find	find	VERB
hjic-418	13	19	a	a	DET
hjic-418	13	20	chemical	chemical	NOUN
hjic-418	13	21	spill	spill	NOUN
hjic-418	13	22	source	source	NOUN
hjic-418	13	23	[	[	X
hjic-418	13	24	2	2	NUM
hjic-418	13	25	,	,	PUNCT
hjic-418	13	26	3	3	NUM
hjic-418	13	27	,	,	PUNCT
hjic-418	13	28	4	4	NUM
hjic-418	13	29	]	]	PUNCT
hjic-418	13	30	.	.	PUNCT
hjic-418	14	1	other	other	ADJ
hjic-418	14	2	robots	robot	NOUN
hjic-418	14	3	for	for	ADP
hjic-418	14	4	monitoring	monitor	VERB
hjic-418	14	5	gas	gas	NOUN
hjic-418	14	6	pollution	pollution	NOUN
hjic-418	14	7	in	in	ADP
hjic-418	14	8	areas	area	NOUN
hjic-418	14	9	of	of	ADP
hjic-418	14	10	interest	interest	NOUN
hjic-418	14	11	have	have	AUX
hjic-418	14	12	been	be	AUX
hjic-418	14	13	proposed	propose	VERB
hjic-418	14	14	in	in	ADP
hjic-418	14	15	literature	literature	NOUN
hjic-418	14	16	.	.	PUNCT
hjic-418	15	1	there	there	PRON
hjic-418	15	2	are	be	VERB
hjic-418	15	3	robots	robot	NOUN
hjic-418	15	4	designed	design	VERB
hjic-418	15	5	to	to	PART
hjic-418	15	6	monitor	monitor	VERB
hjic-418	15	7	ammonia	ammonia	NOUN
hjic-418	15	8	pollution	pollution	NOUN
hjic-418	15	9	near	near	ADP
hjic-418	15	10	animal	animal	NOUN
hjic-418	15	11	farms	farm	NOUN
hjic-418	15	12	[	[	X
hjic-418	15	13	5	5	NUM
hjic-418	15	14	]	]	PUNCT
hjic-418	15	15	,	,	PUNCT
hjic-418	15	16	robots	robot	NOUN
hjic-418	15	17	designed	design	VERB
hjic-418	15	18	to	to	PART
hjic-418	15	19	go	go	VERB
hjic-418	15	20	into	into	ADP
hjic-418	15	21	old	old	ADJ
hjic-418	15	22	mines	mine	NOUN
hjic-418	15	23	and	and	CCONJ
hjic-418	15	24	detect	detect	VERB
hjic-418	15	25	dangers	danger	NOUN
hjic-418	15	26	of	of	ADP
hjic-418	15	27	gas	gas	NOUN
hjic-418	15	28	intoxication	intoxication	NOUN
hjic-418	15	29	and	and	CCONJ
hjic-418	15	30	so	so	ADV
hjic-418	15	31	on	on	ADP
hjic-418	15	32	[	[	PUNCT
hjic-418	15	33	6	6	NUM
hjic-418	15	34	]	]	PUNCT
hjic-418	15	35	.	.	PUNCT
hjic-418	16	1	in	in	ADP
hjic-418	16	2	case	case	NOUN
hjic-418	16	3	of	of	ADP
hjic-418	16	4	the	the	DET
hjic-418	16	5	underground	underground	ADJ
hjic-418	16	6	search	search	NOUN
hjic-418	16	7	finding	find	VERB
hjic-418	16	8	unexploded	unexploded	ADJ
hjic-418	16	9	ordinance	ordinance	NOUN
hjic-418	16	10	,	,	PUNCT
hjic-418	16	11	land	land	NOUN
hjic-418	16	12	mines	mine	NOUN
hjic-418	16	13	,	,	PUNCT
hjic-418	16	14	and	and	CCONJ
hjic-418	16	15	sources	source	NOUN
hjic-418	16	16	of	of	ADP
hjic-418	16	17	leaks	leak	NOUN
hjic-418	16	18	from	from	ADP
hjic-418	16	19	pipes	pipe	NOUN
hjic-418	16	20	and	and	CCONJ
hjic-418	16	21	tanks	tank	NOUN
hjic-418	16	22	are	be	AUX
hjic-418	16	23	some	some	DET
hjic-418	16	24	examples	example	NOUN
hjic-418	16	25	.	.	PUNCT
hjic-418	17	1	dustcart	dustcart	NOUN
hjic-418	18	1	[	[	X
hjic-418	18	2	7	7	NUM
hjic-418	18	3	]	]	PUNCT
hjic-418	18	4	was	be	AUX
hjic-418	18	5	developed	develop	VERB
hjic-418	18	6	by	by	ADP
hjic-418	18	7	numerous	numerous	ADJ
hjic-418	18	8	european	european	ADJ
hjic-418	18	9	companies	company	NOUN
hjic-418	18	10	and	and	CCONJ
hjic-418	18	11	universities	university	NOUN
hjic-418	18	12	;	;	PUNCT
hjic-418	18	13	the	the	DET
hjic-418	18	14	project	project	NOUN
hjic-418	18	15	aims	aim	VERB
hjic-418	18	16	to	to	PART
hjic-418	18	17	build	build	VERB
hjic-418	18	18	a	a	DET
hjic-418	18	19	collecting	collecting	NOUN
hjic-418	18	20	and	and	CCONJ
hjic-418	18	21	segregating	segregate	VERB
hjic-418	18	22	garbage	garbage	NOUN
hjic-418	18	23	robot	robot	NOUN
hjic-418	18	24	.	.	PUNCT
hjic-418	19	1	to	to	PART
hjic-418	19	2	top	top	VERB
hjic-418	19	3	it	it	PRON
hjic-418	19	4	all	all	PRON
hjic-418	19	5	off	off	ADP
hjic-418	19	6	,	,	PUNCT
hjic-418	19	7	it	it	PRON
hjic-418	19	8	can	can	AUX
hjic-418	19	9	also	also	ADV
hjic-418	19	10	act	act	VERB
hjic-418	19	11	as	as	ADP
hjic-418	19	12	a	a	DET
hjic-418	19	13	mobile	mobile	ADJ
hjic-418	19	14	pollution	pollution	NOUN
hjic-418	19	15	monitor	monitor	NOUN
hjic-418	19	16	by	by	ADP
hjic-418	19	17	recording	record	VERB
hjic-418	19	18	atmospheric	atmospheric	ADJ
hjic-418	19	19	pollution	pollution	NOUN
hjic-418	19	20	levels	level	NOUN
hjic-418	19	21	.	.	PUNCT
hjic-418	20	1	another	another	DET
hjic-418	20	2	proposal	proposal	NOUN
hjic-418	20	3	is	be	AUX
hjic-418	20	4	the	the	DET
hjic-418	20	5	artificial	artificial	ADJ
hjic-418	20	6	clouds	cloud	NOUN
hjic-418	20	7	proposed	propose	VERB
hjic-418	20	8	by	by	ADP
hjic-418	20	9	profesor	profesor	NOUN
hjic-418	20	10	abdul	abdul	PROPN
hjic-418	20	11	ghani	ghani	PROPN
hjic-418	20	12	from	from	ADP
hjic-418	20	13	the	the	DET
hjic-418	20	14	qatar	qatar	PROPN
hjic-418	20	15	university	university	NOUN
hjic-418	20	16	.	.	PUNCT
hjic-418	21	1	he	he	PRON
hjic-418	21	2	proposed	propose	VERB
hjic-418	21	3	a	a	DET
hjic-418	21	4	system	system	NOUN
hjic-418	21	5	of	of	ADP
hjic-418	21	6	robots	robot	NOUN
hjic-418	21	7	mimicing	mimic	VERB
hjic-418	21	8	clouds	cloud	NOUN
hjic-418	21	9	for	for	ADP
hjic-418	21	10	the	the	DET
hjic-418	21	11	2022	2022	NUM
hjic-418	21	12	world	world	NOUN
hjic-418	21	13	cup	cup	NOUN
hjic-418	21	14	spectators	spectator	NOUN
hjic-418	21	15	,	,	PUNCT
hjic-418	21	16	in	in	ADP
hjic-418	21	17	order	order	NOUN
hjic-418	21	18	for	for	SCONJ
hjic-418	21	19	them	they	PRON
hjic-418	21	20	to	to	PART
hjic-418	21	21	be	be	AUX
hjic-418	21	22	shed	shed	VERB
hjic-418	21	23	from	from	ADP
hjic-418	21	24	the	the	DET
hjic-418	21	25	scourching	scourche	VERB
hjic-418	21	26	sun	sun	NOUN
hjic-418	21	27	of	of	ADP
hjic-418	21	28	the	the	DET
hjic-418	21	29	area	area	NOUN
hjic-418	21	30	.	.	PUNCT
hjic-418	22	1	the	the	DET
hjic-418	22	2	robots	robot	NOUN
hjic-418	22	3	are	be	AUX
hjic-418	22	4	supposed	suppose	VERB
hjic-418	22	5	to	to	PART
hjic-418	22	6	be	be	AUX
hjic-418	22	7	from	from	ADP
hjic-418	22	8	lightweight	lightweight	ADJ
hjic-418	22	9	carbon	carbon	NOUN
hjic-418	22	10	,	,	PUNCT
hjic-418	22	11	mimic	mimic	VERB
hjic-418	22	12	the	the	DET
hjic-418	22	13	shape	shape	NOUN
hjic-418	22	14	of	of	ADP
hjic-418	22	15	clouds	cloud	NOUN
hjic-418	22	16	and	and	CCONJ
hjic-418	22	17	they	they	PRON
hjic-418	22	18	will	will	AUX
hjic-418	22	19	contain	contain	VERB
hjic-418	22	20	gas	gas	NOUN
hjic-418	22	21	and	and	CCONJ
hjic-418	22	22	helium	helium	NOUN
hjic-418	22	23	.	.	PUNCT
hjic-418	23	1	the	the	DET
hjic-418	23	2	robots	robot	NOUN
hjic-418	23	3	will	will	AUX
hjic-418	23	4	be	be	AUX
hjic-418	23	5	solar	solar	ADJ
hjic-418	23	6	powered	powered	ADJ
hjic-418	23	7	and	and	CCONJ
hjic-418	23	8	controlable	controlable	VERB
hjic-418	23	9	remotelly	remotelly	ADV
hjic-418	23	10	in	in	ADP
hjic-418	23	11	order	order	NOUN
hjic-418	23	12	to	to	PART
hjic-418	23	13	protect	protect	VERB
hjic-418	23	14	spectators	spectator	NOUN
hjic-418	23	15	and	and	CCONJ
hjic-418	23	16	athletes	athlete	NOUN
hjic-418	23	17	.	.	PUNCT
hjic-418	24	1	another	another	DET
hjic-418	24	2	example	example	NOUN
hjic-418	24	3	is	be	AUX
hjic-418	24	4	the	the	DET
hjic-418	24	5	one	one	NUM
hjic-418	24	6	of	of	ADP
hjic-418	24	7	e.on	e.on	PROPN
hjic-418	24	8	ruhrgas	ruhrgas	PROPN
hjic-418	24	9	ag	ag	PROPN
hjic-418	24	10	to	to	PART
hjic-418	24	11	develop	develop	VERB
hjic-418	24	12	infrared	infrared	ADJ
hjic-418	24	13	laser	laser	NOUN
hjic-418	24	14	light	light	NOUN
hjic-418	24	15	-	-	PUNCT
hjic-418	24	16	based	base	VERB
hjic-418	24	17	remote	remote	ADJ
hjic-418	24	18	sensing	sense	VERB
hjic-418	24	19	system	system	NOUN
hjic-418	24	20	called	call	VERB
hjic-418	24	21	charm	charm	NOUN
hjic-418	24	22	®	®	NOUN
hjic-418	24	23	(	(	PUNCT
hjic-418	24	24	ch4	ch4	NOUN
hjic-418	24	25	airborne	airborne	ADJ
hjic-418	24	26	remote	remote	ADJ
hjic-418	24	27	monitoring	monitoring	NOUN
hjic-418	24	28	)	)	PUNCT
hjic-418	24	29	which	which	DET
hjic-418	24	30	–	–	PUNCT
hjic-418	24	31	when	when	SCONJ
hjic-418	24	32	installed	instal	VERB
hjic-418	24	33	onboard	onboard	ADP
hjic-418	24	34	helicopters	helicopter	NOUN
hjic-418	24	35	used	use	VERB
hjic-418	24	36	for	for	ADP
hjic-418	24	37	routine	routine	ADJ
hjic-418	24	38	aerial	aerial	ADJ
hjic-418	24	39	surveys	survey	NOUN
hjic-418	24	40	(	(	PUNCT
hjic-418	24	41	fig	fig	NOUN
hjic-418	24	42	.	.	NOUN
hjic-418	25	1	1	1	NUM
hjic-418	25	2	)	)	PUNCT
hjic-418	25	3	–	–	PUNCT
hjic-418	25	4	can	can	AUX
hjic-418	25	5	be	be	AUX
hjic-418	25	6	utilized	utilize	VERB
hjic-418	25	7	to	to	PART
hjic-418	25	8	check	check	VERB
hjic-418	25	9	natural	natural	ADJ
hjic-418	25	10	gas	gas	NOUN
hjic-418	25	11	pipelines	pipeline	NOUN
hjic-418	25	12	for	for	ADP
hjic-418	25	13	tightness	tightness	NOUN
hjic-418	25	14	and	and	CCONJ
hjic-418	25	15	detect	detect	VERB
hjic-418	25	16	very	very	ADV
hjic-418	25	17	small	small	ADJ
hjic-418	25	18	traces	trace	NOUN
hjic-418	25	19	of	of	ADP
hjic-418	25	20	methane	methane	NOUN
hjic-418	25	21	[	[	X
hjic-418	25	22	8	8	NUM
hjic-418	25	23	]	]	PUNCT
hjic-418	25	24	.	.	PUNCT
hjic-418	26	1	figure	figure	NOUN
hjic-418	26	2	1	1	NUM
hjic-418	26	3	:	:	PUNCT
hjic-418	26	4	system	system	NOUN
hjic-418	26	5	setup	setup	NOUN
hjic-418	26	6	inside	inside	ADP
hjic-418	26	7	the	the	DET
hjic-418	26	8	charm	charm	NOUN
hjic-418	26	9	helicopter	helicopter	NOUN
hjic-418	26	10	in	in	ADP
hjic-418	26	11	the	the	DET
hjic-418	26	12	field	field	NOUN
hjic-418	26	13	of	of	ADP
hjic-418	26	14	chemical	chemical	NOUN
hjic-418	26	15	sensor	sensor	NOUN
hjic-418	26	16	research	research	NOUN
hjic-418	26	17	there	there	PRON
hjic-418	26	18	were	be	VERB
hjic-418	26	19	numerous	numerous	ADJ
hjic-418	26	20	scientific	scientific	ADJ
hjic-418	26	21	work	work	NOUN
hjic-418	26	22	dealing	deal	VERB
hjic-418	26	23	with	with	ADP
hjic-418	26	24	the	the	DET
hjic-418	26	25	detection	detection	NOUN
hjic-418	26	26	of	of	ADP
hjic-418	26	27	the	the	DET
hjic-418	26	28	chemically	chemically	ADV
hjic-418	26	29	toxic	toxic	ADJ
hjic-418	26	30	gases	gas	NOUN
hjic-418	26	31	.	.	PUNCT
hjic-418	27	1	real	real	ADJ
hjic-418	27	2	-	-	PUNCT
hjic-418	27	3	time	time	NOUN
hjic-418	27	4	information	information	NOUN
hjic-418	27	5	on	on	ADP
hjic-418	27	6	the	the	DET
hjic-418	27	7	composition	composition	NOUN
hjic-418	27	8	of	of	ADP
hjic-418	27	9	combustion	combustion	NOUN
hjic-418	27	10	gases	gas	NOUN
hjic-418	27	11	is	be	AUX
hjic-418	27	12	important	important	ADJ
hjic-418	27	13	for	for	ADP
hjic-418	27	14	improving	improve	VERB
hjic-418	27	15	efficiency	efficiency	NOUN
hjic-418	27	16	and	and	CCONJ
hjic-418	27	17	reducing	reduce	VERB
hjic-418	27	18	emissions	emission	NOUN
hjic-418	27	19	.	.	PUNCT
hjic-418	28	1	one	one	NUM
hjic-418	28	2	approach	approach	NOUN
hjic-418	28	3	for	for	ADP
hjic-418	28	4	monitoring	monitor	VERB
hjic-418	28	5	gas	gas	NOUN
hjic-418	28	6	composition	composition	NOUN
hjic-418	28	7	is	be	AUX
hjic-418	28	8	to	to	PART
hjic-418	28	9	collect	collect	VERB
hjic-418	28	10	a	a	DET
hjic-418	28	11	sample	sample	NOUN
hjic-418	28	12	gas	gas	NOUN
hjic-418	28	13	,	,	PUNCT
hjic-418	28	14	which	which	PRON
hjic-418	28	15	then	then	ADV
hjic-418	28	16	can	can	AUX
hjic-418	28	17	be	be	AUX
hjic-418	28	18	analyzed	analyze	VERB
hjic-418	28	19	either	either	CCONJ
hjic-418	28	20	by	by	ADP
hjic-418	28	21	spectroscopic	spectroscopic	ADJ
hjic-418	28	22	techniques	technique	NOUN
hjic-418	28	23	or	or	CCONJ
hjic-418	28	24	by	by	ADP
hjic-418	28	25	room	room	NOUN
hjic-418	28	26	temperature	temperature	NOUN
hjic-418	28	27	gas	gas	NOUN
hjic-418	28	28	sensors	sensor	NOUN
hjic-418	28	29	.	.	PUNCT
hjic-418	29	1	however	however	ADV
hjic-418	29	2	,	,	PUNCT
hjic-418	29	3	the	the	DET
hjic-418	29	4	gas	gas	NOUN
hjic-418	29	5	composition	composition	NOUN
hjic-418	29	6	could	could	AUX
hjic-418	29	7	change	change	VERB
hjic-418	29	8	238	238	NUM
hjic-418	29	9	during	during	ADP
hjic-418	29	10	cooling	cool	VERB
hjic-418	29	11	to	to	ADP
hjic-418	29	12	room	room	NOUN
hjic-418	29	13	temperature	temperature	NOUN
hjic-418	29	14	,	,	PUNCT
hjic-418	29	15	so	so	SCONJ
hjic-418	29	16	analysis	analysis	NOUN
hjic-418	29	17	of	of	ADP
hjic-418	29	18	the	the	DET
hjic-418	29	19	gas	gas	NOUN
hjic-418	29	20	at	at	ADP
hjic-418	29	21	high	high	ADJ
hjic-418	29	22	temperatures	temperature	NOUN
hjic-418	29	23	is	be	AUX
hjic-418	29	24	preferred	prefer	VERB
hjic-418	29	25	.	.	PUNCT
hjic-418	30	1	such	such	ADJ
hjic-418	30	2	analysis	analysis	NOUN
hjic-418	30	3	can	can	AUX
hjic-418	30	4	be	be	AUX
hjic-418	30	5	performed	perform	VERB
hjic-418	30	6	using	use	VERB
hjic-418	30	7	optical	optical	ADJ
hjic-418	30	8	techniques	technique	NOUN
hjic-418	30	9	based	base	VERB
hjic-418	30	10	on	on	ADP
hjic-418	30	11	infrared	infrared	ADJ
hjic-418	30	12	radiation	radiation	NOUN
hjic-418	30	13	or	or	CCONJ
hjic-418	30	14	laser	laser	NOUN
hjic-418	30	15	spectroscopy	spectroscopy	NOUN
hjic-418	30	16	.	.	PUNCT
hjic-418	31	1	placement	placement	NOUN
hjic-418	31	2	of	of	ADP
hjic-418	31	3	a	a	DET
hjic-418	31	4	sensor	sensor	NOUN
hjic-418	31	5	directly	directly	ADV
hjic-418	31	6	in	in	ADP
hjic-418	31	7	the	the	DET
hjic-418	31	8	high	high	ADJ
hjic-418	31	9	temperature	temperature	NOUN
hjic-418	31	10	gas	gas	NOUN
hjic-418	31	11	would	would	AUX
hjic-418	31	12	avoid	avoid	VERB
hjic-418	31	13	such	such	ADJ
hjic-418	31	14	interferences	interference	NOUN
hjic-418	31	15	,	,	PUNCT
hjic-418	31	16	so	so	SCONJ
hjic-418	31	17	sensors	sensor	NOUN
hjic-418	31	18	for	for	ADP
hjic-418	31	19	in	in	ADP
hjic-418	31	20	situ	situ	ADJ
hjic-418	31	21	monitoring	monitoring	NOUN
hjic-418	31	22	of	of	ADP
hjic-418	31	23	combustion	combustion	NOUN
hjic-418	31	24	gas	gas	NOUN
hjic-418	31	25	components	component	NOUN
hjic-418	31	26	,	,	PUNCT
hjic-418	31	27	including	include	VERB
hjic-418	31	28	oxygen	oxygen	NOUN
hjic-418	31	29	(	(	PUNCT
hjic-418	31	30	o2	o2	PROPN
hjic-418	31	31	)	)	PUNCT
hjic-418	31	32	,	,	PUNCT
hjic-418	31	33	hydrogen	hydrogen	NOUN
hjic-418	31	34	sulfide	sulfide	NOUN
hjic-418	31	35	(	(	PUNCT
hjic-418	31	36	h2s	h2s	NOUN
hjic-418	31	37	)	)	PUNCT
hjic-418	31	38	,	,	PUNCT
hjic-418	31	39	sulfur	sulfur	NOUN
hjic-418	31	40	oxide	oxide	NOUN
hjic-418	31	41	(	(	PUNCT
hjic-418	31	42	sox	sox	PROPN
hjic-418	31	43	)	)	PUNCT
hjic-418	31	44	,	,	PUNCT
hjic-418	31	45	methane	methane	NOUN
hjic-418	31	46	(	(	PUNCT
hjic-418	31	47	ch4	ch4	NOUN
hjic-418	31	48	)	)	PUNCT
hjic-418	31	49	and	and	CCONJ
hjic-418	31	50	hydrocarbons	hydrocarbon	NOUN
hjic-418	31	51	,	,	PUNCT
hjic-418	31	52	at	at	ADP
hjic-418	31	53	the	the	DET
hjic-418	31	54	high	high	ADJ
hjic-418	31	55	temperatures	temperature	NOUN
hjic-418	31	56	typical	typical	ADJ
hjic-418	31	57	of	of	ADP
hjic-418	31	58	combustion	combustion	NOUN
hjic-418	31	59	processes	process	NOUN
hjic-418	31	60	have	have	AUX
hjic-418	31	61	been	be	AUX
hjic-418	31	62	developed	develop	VERB
hjic-418	31	63	.	.	PUNCT
hjic-418	32	1	among	among	ADP
hjic-418	32	2	the	the	DET
hjic-418	32	3	various	various	ADJ
hjic-418	32	4	approaches	approach	NOUN
hjic-418	32	5	used	use	VERB
hjic-418	32	6	,	,	PUNCT
hjic-418	32	7	solid	solid	ADJ
hjic-418	32	8	electrolyte	electrolyte	NOUN
hjic-418	32	9	based	base	VERB
hjic-418	32	10	sensors	sensor	NOUN
hjic-418	32	11	are	be	AUX
hjic-418	32	12	particularly	particularly	ADV
hjic-418	32	13	well	well	ADV
hjic-418	32	14	suited	suited	ADJ
hjic-418	32	15	to	to	ADP
hjic-418	32	16	high	high	ADJ
hjic-418	32	17	temperature	temperature	NOUN
hjic-418	32	18	aggressive	aggressive	ADJ
hjic-418	32	19	environments	environment	NOUN
hjic-418	32	20	.	.	PUNCT
hjic-418	33	1	nowadays	nowadays	ADV
hjic-418	33	2	this	this	DET
hjic-418	33	3	research	research	NOUN
hjic-418	33	4	field	field	NOUN
hjic-418	33	5	of	of	ADP
hjic-418	33	6	finding	find	VERB
hjic-418	33	7	places	place	NOUN
hjic-418	33	8	where	where	SCONJ
hjic-418	33	9	chemical	chemical	NOUN
hjic-418	33	10	sources	source	NOUN
hjic-418	33	11	are	be	AUX
hjic-418	33	12	present	present	ADJ
hjic-418	33	13	or	or	CCONJ
hjic-418	33	14	in	in	ADP
hjic-418	33	15	the	the	DET
hjic-418	33	16	air	air	NOUN
hjic-418	33	17	or	or	CCONJ
hjic-418	33	18	on	on	ADP
hjic-418	33	19	the	the	DET
hjic-418	33	20	ground	ground	NOUN
hjic-418	33	21	surface	surface	NOUN
hjic-418	33	22	or	or	CCONJ
hjic-418	33	23	underground	underground	NOUN
hjic-418	33	24	,	,	PUNCT
hjic-418	33	25	has	have	AUX
hjic-418	33	26	been	be	AUX
hjic-418	33	27	widely	widely	ADV
hjic-418	33	28	spread	spread	VERB
hjic-418	33	29	.	.	PUNCT
hjic-418	34	1	system	system	NOUN
hjic-418	34	2	description	description	NOUN
hjic-418	34	3	our	our	PRON
hjic-418	34	4	system	system	NOUN
hjic-418	34	5	proposal	proposal	NOUN
hjic-418	34	6	aims	aim	VERB
hjic-418	34	7	to	to	PART
hjic-418	34	8	develop	develop	VERB
hjic-418	34	9	a	a	DET
hjic-418	34	10	multi	multi	ADJ
hjic-418	34	11	-	-	ADJ
hjic-418	34	12	sensor	sensor	ADJ
hjic-418	34	13	gas	gas	NOUN
hjic-418	34	14	detection	detection	NOUN
hjic-418	34	15	measurement	measurement	NOUN
hjic-418	34	16	unit	unit	NOUN
hjic-418	34	17	specially	specially	ADV
hjic-418	34	18	designed	design	VERB
hjic-418	34	19	for	for	ADP
hjic-418	34	20	mobile	mobile	ADJ
hjic-418	34	21	robotic	robotic	ADJ
hjic-418	34	22	platforms	platform	NOUN
hjic-418	34	23	.	.	PUNCT
hjic-418	35	1	the	the	DET
hjic-418	35	2	novel	novel	ADJ
hjic-418	35	3	system	system	NOUN
hjic-418	35	4	aims	aim	VERB
hjic-418	35	5	to	to	PART
hjic-418	35	6	explore	explore	VERB
hjic-418	35	7	dangerous	dangerous	ADJ
hjic-418	35	8	sites	site	NOUN
hjic-418	35	9	(	(	PUNCT
hjic-418	35	10	old	old	ADJ
hjic-418	35	11	mine	mine	NOUN
hjic-418	35	12	,	,	PUNCT
hjic-418	35	13	chemical	chemical	NOUN
hjic-418	35	14	plant	plant	NOUN
hjic-418	35	15	,	,	PUNCT
hjic-418	35	16	etc	etc	X
hjic-418	35	17	)	)	PUNCT
hjic-418	35	18	,	,	PUNCT
hjic-418	35	19	where	where	SCONJ
hjic-418	35	20	autonomous	autonomous	ADJ
hjic-418	35	21	ground	ground	NOUN
hjic-418	35	22	robot	robot	NOUN
hjic-418	35	23	and	and	CCONJ
hjic-418	35	24	a	a	DET
hjic-418	35	25	micro	micro	ADJ
hjic-418	35	26	unmanned	unmanned	ADJ
hjic-418	35	27	aerial	aerial	ADJ
hjic-418	35	28	vehicle	vehicle	NOUN
hjic-418	35	29	(	(	PUNCT
hjic-418	35	30	uav	uav	PROPN
hjic-418	35	31	)	)	PUNCT
hjic-418	35	32	are	be	AUX
hjic-418	35	33	sent	send	VERB
hjic-418	35	34	together	together	ADV
hjic-418	35	35	to	to	PART
hjic-418	35	36	map	map	VERB
hjic-418	35	37	the	the	DET
hjic-418	35	38	area	area	NOUN
hjic-418	35	39	in	in	ADP
hjic-418	35	40	order	order	NOUN
hjic-418	35	41	to	to	PART
hjic-418	35	42	detect	detect	VERB
hjic-418	35	43	toxic	toxic	ADJ
hjic-418	35	44	gases	gas	NOUN
hjic-418	35	45	.	.	PUNCT
hjic-418	36	1	the	the	DET
hjic-418	36	2	developed	developed	ADJ
hjic-418	36	3	,	,	PUNCT
hjic-418	36	4	novel	novel	ADJ
hjic-418	36	5	multi	multi	ADJ
hjic-418	36	6	-	-	ADJ
hjic-418	36	7	robot	robot	ADJ
hjic-418	36	8	architecture	architecture	NOUN
hjic-418	36	9	will	will	AUX
hjic-418	36	10	be	be	AUX
hjic-418	36	11	equipped	equip	VERB
hjic-418	36	12	,	,	PUNCT
hjic-418	36	13	among	among	ADP
hjic-418	36	14	the	the	DET
hjic-418	36	15	novel	novel	ADJ
hjic-418	36	16	gas	gas	NOUN
hjic-418	36	17	detection	detection	NOUN
hjic-418	36	18	measurement	measurement	NOUN
hjic-418	36	19	unit	unit	NOUN
hjic-418	36	20	with	with	ADP
hjic-418	36	21	sensors	sensor	NOUN
hjic-418	36	22	that	that	PRON
hjic-418	36	23	allow	allow	VERB
hjic-418	36	24	a	a	DET
hjic-418	36	25	precise	precise	ADJ
hjic-418	36	26	localization	localization	NOUN
hjic-418	36	27	of	of	ADP
hjic-418	36	28	the	the	DET
hjic-418	36	29	robots	robot	NOUN
hjic-418	36	30	and	and	CCONJ
hjic-418	36	31	complex	complex	ADJ
hjic-418	36	32	perception	perception	NOUN
hjic-418	36	33	of	of	ADP
hjic-418	36	34	the	the	DET
hjic-418	36	35	surroundings	surrounding	NOUN
hjic-418	36	36	,	,	PUNCT
hjic-418	36	37	such	such	ADJ
hjic-418	36	38	as	as	ADP
hjic-418	36	39	:	:	PUNCT
hjic-418	36	40	stereo	stereo	ADJ
hjic-418	36	41	camera	camera	NOUN
hjic-418	36	42	system	system	NOUN
hjic-418	36	43	,	,	PUNCT
hjic-418	36	44	laser	laser	NOUN
hjic-418	36	45	unit	unit	NOUN
hjic-418	36	46	,	,	PUNCT
hjic-418	36	47	kinect	kinect	ADJ
hjic-418	36	48	sensor	sensor	NOUN
hjic-418	36	49	,	,	PUNCT
hjic-418	36	50	3d	3d	NOUN
hjic-418	36	51	compass	compass	NOUN
hjic-418	36	52	,	,	PUNCT
hjic-418	36	53	and	and	CCONJ
hjic-418	36	54	gps	gps	PROPN
hjic-418	36	55	module	module	NOUN
hjic-418	36	56	(	(	PUNCT
hjic-418	36	57	fig	fig	NOUN
hjic-418	36	58	.	.	PUNCT
hjic-418	37	1	2	2	NUM
hjic-418	37	2	)	)	PUNCT
hjic-418	37	3	.	.	PUNCT
hjic-418	38	1	the	the	DET
hjic-418	38	2	team	team	NOUN
hjic-418	38	3	is	be	AUX
hjic-418	38	4	creating	create	VERB
hjic-418	38	5	a	a	DET
hjic-418	38	6	topological	topological	ADJ
hjic-418	38	7	map	map	NOUN
hjic-418	38	8	and	and	CCONJ
hjic-418	38	9	a	a	DET
hjic-418	38	10	gas	gas	NOUN
hjic-418	38	11	distribution	distribution	NOUN
hjic-418	38	12	map	map	NOUN
hjic-418	38	13	of	of	ADP
hjic-418	38	14	the	the	DET
hjic-418	38	15	environment	environment	NOUN
hjic-418	38	16	,	,	PUNCT
hjic-418	38	17	which	which	PRON
hjic-418	38	18	is	be	AUX
hjic-418	38	19	explored	explore	VERB
hjic-418	38	20	at	at	ADP
hjic-418	38	21	exact	exact	ADJ
hjic-418	38	22	intervals	interval	NOUN
hjic-418	38	23	.	.	PUNCT
hjic-418	39	1	in	in	ADP
hjic-418	39	2	case	case	NOUN
hjic-418	39	3	of	of	ADP
hjic-418	39	4	pollution	pollution	NOUN
hjic-418	39	5	detection	detection	NOUN
hjic-418	39	6	a	a	DET
hjic-418	39	7	warning	warning	NOUN
hjic-418	39	8	signal	signal	NOUN
hjic-418	39	9	is	be	AUX
hjic-418	39	10	sent	send	VERB
hjic-418	39	11	to	to	ADP
hjic-418	39	12	the	the	DET
hjic-418	39	13	server	server	NOUN
hjic-418	39	14	by	by	ADP
hjic-418	39	15	wireless	wireless	ADJ
hjic-418	39	16	network	network	NOUN
hjic-418	39	17	.	.	PUNCT
hjic-418	40	1	the	the	DET
hjic-418	40	2	warning	warning	NOUN
hjic-418	40	3	message	message	NOUN
hjic-418	40	4	contains	contain	VERB
hjic-418	40	5	the	the	DET
hjic-418	40	6	position	position	NOUN
hjic-418	40	7	of	of	ADP
hjic-418	40	8	the	the	DET
hjic-418	40	9	gas	gas	NOUN
hjic-418	40	10	spill	spill	NOUN
hjic-418	40	11	and	and	CCONJ
hjic-418	40	12	the	the	DET
hjic-418	40	13	quantity	quantity	NOUN
hjic-418	40	14	of	of	ADP
hjic-418	40	15	pollutant	pollutant	NOUN
hjic-418	40	16	.	.	PUNCT
hjic-418	41	1	using	use	VERB
hjic-418	41	2	all	all	DET
hjic-418	41	3	this	this	DET
hjic-418	41	4	information	information	NOUN
hjic-418	41	5	the	the	DET
hjic-418	41	6	rescue	rescue	NOUN
hjic-418	41	7	team	team	NOUN
hjic-418	41	8	can	can	AUX
hjic-418	41	9	be	be	AUX
hjic-418	41	10	sent	send	VERB
hjic-418	41	11	to	to	PART
hjic-418	41	12	avoid	avoid	VERB
hjic-418	41	13	more	more	ADJ
hjic-418	41	14	tragic	tragic	ADJ
hjic-418	41	15	events	event	NOUN
hjic-418	41	16	,	,	PUNCT
hjic-418	41	17	explosions	explosion	NOUN
hjic-418	41	18	which	which	PRON
hjic-418	41	19	can	can	AUX
hjic-418	41	20	harm	harm	VERB
hjic-418	41	21	the	the	DET
hjic-418	41	22	workers	worker	NOUN
hjic-418	41	23	.	.	PUNCT
hjic-418	42	1	in	in	ADP
hjic-418	42	2	the	the	DET
hjic-418	42	3	following	follow	VERB
hjic-418	42	4	sections	section	NOUN
hjic-418	42	5	the	the	DET
hjic-418	42	6	a	a	DET
hjic-418	42	7	description	description	NOUN
hjic-418	42	8	of	of	ADP
hjic-418	42	9	the	the	DET
hjic-418	42	10	systems	system	NOUN
hjic-418	42	11	components	component	NOUN
hjic-418	42	12	and	and	CCONJ
hjic-418	42	13	of	of	ADP
hjic-418	42	14	the	the	DET
hjic-418	42	15	used	use	VERB
hjic-418	42	16	methods	method	NOUN
hjic-418	42	17	will	will	AUX
hjic-418	42	18	be	be	AUX
hjic-418	42	19	made	make	VERB
hjic-418	42	20	.	.	PUNCT
hjic-418	43	1	figure	figure	VERB
hjic-418	43	2	2	2	NUM
hjic-418	43	3	:	:	PUNCT
hjic-418	43	4	plant	plant	NOUN
hjic-418	43	5	scene	scene	NOUN
hjic-418	43	6	with	with	ADP
hjic-418	43	7	the	the	DET
hjic-418	43	8	proposed	propose	VERB
hjic-418	43	9	system	system	NOUN
hjic-418	43	10	theoretical	theoretical	ADJ
hjic-418	43	11	background	background	NOUN
hjic-418	43	12	chemical	chemical	NOUN
hjic-418	43	13	sensors	sensor	NOUN
hjic-418	43	14	there	there	PRON
hjic-418	43	15	are	be	VERB
hjic-418	43	16	two	two	NUM
hjic-418	43	17	electrochemical	electrochemical	ADJ
hjic-418	43	18	types	type	NOUN
hjic-418	43	19	of	of	ADP
hjic-418	43	20	gas	gas	NOUN
hjic-418	43	21	detection	detection	NOUN
hjic-418	43	22	sensor	sensor	NOUN
hjic-418	43	23	(	(	PUNCT
hjic-418	43	24	i	i	NOUN
hjic-418	43	25	)	)	PUNCT
hjic-418	43	26	amperometric	amperometric	NOUN
hjic-418	43	27	cell	cell	NOUN
hjic-418	43	28	known	know	VERB
hjic-418	43	29	as	as	ADP
hjic-418	43	30	clark	clark	NOUN
hjic-418	43	31	electrode	electrode	NOUN
hjic-418	43	32	and	and	CCONJ
hjic-418	43	33	(	(	PUNCT
hjic-418	43	34	ii	ii	NOUN
hjic-418	43	35	)	)	PUNCT
hjic-418	43	36	a	a	DET
hjic-418	43	37	solid	solid	ADJ
hjic-418	43	38	-	-	PUNCT
hjic-418	43	39	state	state	NOUN
hjic-418	43	40	electrochemical	electrochemical	ADJ
hjic-418	43	41	cell	cell	NOUN
hjic-418	43	42	based	base	VERB
hjic-418	43	43	on	on	ADP
hjic-418	43	44	metal	metal	NOUN
hjic-418	43	45	oxides	oxide	NOUN
hjic-418	43	46	or	or	CCONJ
hjic-418	43	47	semiconductor	semiconductor	NOUN
hjic-418	43	48	electrodes	electrode	NOUN
hjic-418	43	49	.	.	PUNCT
hjic-418	44	1	(	(	PUNCT
hjic-418	44	2	i	i	NOUN
hjic-418	44	3	)	)	PUNCT
hjic-418	44	4	for	for	ADP
hjic-418	44	5	the	the	DET
hjic-418	44	6	first	first	ADJ
hjic-418	44	7	type	type	NOUN
hjic-418	44	8	the	the	DET
hjic-418	44	9	galvanic	galvanic	ADJ
hjic-418	44	10	detection	detection	NOUN
hjic-418	44	11	principle	principle	NOUN
hjic-418	44	12	is	be	AUX
hjic-418	44	13	based	base	VERB
hjic-418	44	14	on	on	ADP
hjic-418	44	15	the	the	DET
hjic-418	44	16	diffusion	diffusion	NOUN
hjic-418	44	17	of	of	ADP
hjic-418	44	18	the	the	DET
hjic-418	44	19	gas	gas	NOUN
hjic-418	44	20	molecules	molecule	NOUN
hjic-418	44	21	through	through	ADP
hjic-418	44	22	the	the	DET
hjic-418	44	23	membrane	membrane	NOUN
hjic-418	44	24	,	,	PUNCT
hjic-418	44	25	following	follow	VERB
hjic-418	44	26	the	the	DET
hjic-418	44	27	partial	partial	ADJ
hjic-418	44	28	pressure	pressure	NOUN
hjic-418	44	29	gradient	gradient	NOUN
hjic-418	44	30	between	between	ADP
hjic-418	44	31	water	water	NOUN
hjic-418	44	32	and	and	CCONJ
hjic-418	44	33	detector	detector	NOUN
hjic-418	44	34	room	room	NOUN
hjic-418	44	35	,	,	PUNCT
hjic-418	44	36	according	accord	VERB
hjic-418	44	37	to	to	ADP
hjic-418	44	38	the	the	DET
hjic-418	44	39	law	law	NOUN
hjic-418	44	40	of	of	ADP
hjic-418	44	41	henry	henry	PROPN
hjic-418	44	42	.	.	PUNCT
hjic-418	45	1	hence	hence	ADV
hjic-418	45	2	,	,	PUNCT
hjic-418	45	3	the	the	DET
hjic-418	45	4	concentration	concentration	NOUN
hjic-418	45	5	in	in	ADP
hjic-418	45	6	the	the	DET
hjic-418	45	7	detector	detector	NOUN
hjic-418	45	8	space	space	NOUN
hjic-418	45	9	is	be	AUX
hjic-418	45	10	directly	directly	ADV
hjic-418	45	11	correlated	correlate	VERB
hjic-418	45	12	to	to	ADP
hjic-418	45	13	the	the	DET
hjic-418	45	14	concentration	concentration	NOUN
hjic-418	45	15	in	in	ADP
hjic-418	45	16	the	the	DET
hjic-418	45	17	outside	outside	ADJ
hjic-418	45	18	water	water	NOUN
hjic-418	45	19	.	.	PUNCT
hjic-418	46	1	the	the	DET
hjic-418	46	2	correlation	correlation	NOUN
hjic-418	46	3	is	be	AUX
hjic-418	46	4	expressed	express	VERB
hjic-418	46	5	by	by	ADP
hjic-418	46	6	the	the	DET
hjic-418	46	7	calibration	calibration	NOUN
hjic-418	46	8	formula	formula	NOUN
hjic-418	46	9	[	[	X
hjic-418	46	10	9	9	NUM
hjic-418	46	11	]	]	PUNCT
hjic-418	46	12	.	.	PUNCT
hjic-418	47	1	(	(	PUNCT
hjic-418	47	2	ii	ii	NOUN
hjic-418	47	3	)	)	PUNCT
hjic-418	47	4	the	the	DET
hjic-418	47	5	simplest	simple	ADJ
hjic-418	47	6	and	and	CCONJ
hjic-418	47	7	most	most	ADV
hjic-418	47	8	direct	direct	ADJ
hjic-418	47	9	use	use	NOUN
hjic-418	47	10	of	of	ADP
hjic-418	47	11	a	a	DET
hjic-418	47	12	solid	solid	ADJ
hjic-418	47	13	electrolyte	electrolyte	NOUN
hjic-418	47	14	in	in	ADP
hjic-418	47	15	a	a	DET
hjic-418	47	16	chemical	chemical	NOUN
hjic-418	47	17	sensor	sensor	NOUN
hjic-418	47	18	is	be	AUX
hjic-418	47	19	to	to	PART
hjic-418	47	20	measure	measure	VERB
hjic-418	47	21	the	the	DET
hjic-418	47	22	concentration	concentration	NOUN
hjic-418	47	23	of	of	ADP
hjic-418	47	24	the	the	DET
hjic-418	47	25	ion	ion	NOUN
hjic-418	47	26	that	that	PRON
hjic-418	47	27	is	be	AUX
hjic-418	47	28	mobile	mobile	ADJ
hjic-418	47	29	in	in	ADP
hjic-418	47	30	the	the	DET
hjic-418	47	31	electrolyte	electrolyte	NOUN
hjic-418	47	32	.	.	PUNCT
hjic-418	48	1	however	however	ADV
hjic-418	48	2	,	,	PUNCT
hjic-418	48	3	the	the	DET
hjic-418	48	4	number	number	NOUN
hjic-418	48	5	of	of	ADP
hjic-418	48	6	available	available	ADJ
hjic-418	48	7	solid	solid	ADJ
hjic-418	48	8	electrolytes	electrolyte	NOUN
hjic-418	48	9	is	be	AUX
hjic-418	48	10	limited	limited	ADJ
hjic-418	48	11	,	,	PUNCT
hjic-418	48	12	so	so	SCONJ
hjic-418	48	13	electrolytes	electrolyte	NOUN
hjic-418	48	14	that	that	PRON
hjic-418	48	15	conduct	conduct	VERB
hjic-418	48	16	the	the	DET
hjic-418	48	17	desired	desire	VERB
hjic-418	48	18	species	specie	NOUN
hjic-418	48	19	are	be	AUX
hjic-418	48	20	often	often	ADV
hjic-418	48	21	not	not	PART
hjic-418	48	22	available	available	ADJ
hjic-418	48	23	.	.	PUNCT
hjic-418	49	1	in	in	ADP
hjic-418	49	2	such	such	ADJ
hjic-418	49	3	cases	case	NOUN
hjic-418	49	4	,	,	PUNCT
hjic-418	49	5	however	however	ADV
hjic-418	49	6	,	,	PUNCT
hjic-418	49	7	an	an	DET
hjic-418	49	8	additional	additional	ADJ
hjic-418	49	9	phase	phase	NOUN
hjic-418	49	10	,	,	PUNCT
hjic-418	49	11	referred	refer	VERB
hjic-418	49	12	to	to	ADP
hjic-418	49	13	as	as	ADP
hjic-418	49	14	an	an	DET
hjic-418	49	15	auxiliary	auxiliary	ADJ
hjic-418	49	16	electrode	electrode	NOUN
hjic-418	49	17	,	,	PUNCT
hjic-418	49	18	can	can	AUX
hjic-418	49	19	be	be	AUX
hjic-418	49	20	used	use	VERB
hjic-418	49	21	to	to	PART
hjic-418	49	22	provide	provide	VERB
hjic-418	49	23	an	an	DET
hjic-418	49	24	equilibrium	equilibrium	NOUN
hjic-418	49	25	reaction	reaction	NOUN
hjic-418	49	26	between	between	ADP
hjic-418	49	27	the	the	DET
hjic-418	49	28	target	target	NOUN
hjic-418	49	29	species	specie	NOUN
hjic-418	49	30	and	and	CCONJ
hjic-418	49	31	the	the	DET
hjic-418	49	32	ion	ion	NOUN
hjic-418	49	33	that	that	PRON
hjic-418	49	34	is	be	AUX
hjic-418	49	35	mobile	mobile	ADJ
hjic-418	49	36	in	in	ADP
hjic-418	49	37	the	the	DET
hjic-418	49	38	solid	solid	ADJ
hjic-418	49	39	electrolyte	electrolyte	NOUN
hjic-418	49	40	,	,	PUNCT
hjic-418	49	41	so	so	SCONJ
hjic-418	49	42	that	that	SCONJ
hjic-418	49	43	the	the	DET
hjic-418	49	44	voltage	voltage	NOUN
hjic-418	49	45	generated	generate	VERB
hjic-418	49	46	by	by	ADP
hjic-418	49	47	the	the	DET
hjic-418	49	48	electrochemical	electrochemical	ADJ
hjic-418	49	49	cell	cell	NOUN
hjic-418	49	50	is	be	AUX
hjic-418	49	51	related	relate	VERB
hjic-418	49	52	to	to	ADP
hjic-418	49	53	the	the	DET
hjic-418	49	54	concentration	concentration	NOUN
hjic-418	49	55	of	of	ADP
hjic-418	49	56	the	the	DET
hjic-418	49	57	target	target	NOUN
hjic-418	49	58	species	specie	NOUN
hjic-418	49	59	.	.	PUNCT
hjic-418	50	1	while	while	SCONJ
hjic-418	50	2	increasing	increase	VERB
hjic-418	50	3	the	the	DET
hjic-418	50	4	number	number	NOUN
hjic-418	50	5	of	of	ADP
hjic-418	50	6	components	component	NOUN
hjic-418	50	7	complicates	complicate	VERB
hjic-418	50	8	the	the	DET
hjic-418	50	9	design	design	NOUN
hjic-418	50	10	,	,	PUNCT
hjic-418	50	11	fabrication	fabrication	NOUN
hjic-418	50	12	and	and	CCONJ
hjic-418	50	13	operation	operation	NOUN
hjic-418	50	14	of	of	ADP
hjic-418	50	15	the	the	DET
hjic-418	50	16	sensor	sensor	NOUN
hjic-418	50	17	,	,	PUNCT
hjic-418	50	18	such	such	ADJ
hjic-418	50	19	complications	complication	NOUN
hjic-418	50	20	are	be	AUX
hjic-418	50	21	often	often	ADV
hjic-418	50	22	necessary	necessary	ADJ
hjic-418	50	23	to	to	PART
hjic-418	50	24	achieve	achieve	VERB
hjic-418	50	25	satisfactory	satisfactory	ADJ
hjic-418	50	26	performance	performance	NOUN
hjic-418	50	27	[	[	X
hjic-418	50	28	10	10	NUM
hjic-418	50	29	]	]	PUNCT
hjic-418	50	30	.	.	PUNCT
hjic-418	51	1	to	to	PART
hjic-418	51	2	test	test	VERB
hjic-418	51	3	the	the	DET
hjic-418	51	4	developed	develop	VERB
hjic-418	51	5	measurement	measurement	NOUN
hjic-418	51	6	unit	unit	NOUN
hjic-418	51	7	the	the	DET
hjic-418	51	8	gases	gas	NOUN
hjic-418	51	9	proposed	propose	VERB
hjic-418	51	10	for	for	ADP
hjic-418	51	11	study	study	NOUN
hjic-418	51	12	will	will	AUX
hjic-418	51	13	be	be	AUX
hjic-418	51	14	generated	generate	VERB
hjic-418	51	15	.	.	PUNCT
hjic-418	52	1	in	in	ADP
hjic-418	52	2	the	the	DET
hjic-418	52	3	generated	generate	VERB
hjic-418	52	4	conditions	condition	NOUN
hjic-418	52	5	experiments	experiment	NOUN
hjic-418	52	6	and	and	CCONJ
hjic-418	52	7	tests	test	NOUN
hjic-418	52	8	will	will	AUX
hjic-418	52	9	be	be	AUX
hjic-418	52	10	performed	perform	VERB
hjic-418	52	11	to	to	PART
hjic-418	52	12	determine	determine	VERB
hjic-418	52	13	the	the	DET
hjic-418	52	14	concentrations	concentration	NOUN
hjic-418	52	15	of	of	ADP
hjic-418	52	16	toxic	toxic	ADJ
hjic-418	52	17	gases	gas	NOUN
hjic-418	52	18	.	.	PUNCT
hjic-418	53	1	the	the	DET
hjic-418	53	2	obtained	obtain	VERB
hjic-418	53	3	results	result	NOUN
hjic-418	53	4	with	with	ADP
hjic-418	53	5	the	the	DET
hjic-418	53	6	new	new	ADJ
hjic-418	53	7	measurement	measurement	NOUN
hjic-418	53	8	unit	unit	NOUN
hjic-418	53	9	will	will	AUX
hjic-418	53	10	be	be	AUX
hjic-418	53	11	analyzed	analyze	VERB
hjic-418	53	12	in	in	ADP
hjic-418	53	13	comparison	comparison	NOUN
hjic-418	53	14	with	with	ADP
hjic-418	53	15	measurements	measurement	NOUN
hjic-418	53	16	obtained	obtain	VERB
hjic-418	53	17	by	by	ADP
hjic-418	53	18	commercial	commercial	ADJ
hjic-418	53	19	,	,	PUNCT
hjic-418	53	20	standard	standard	ADJ
hjic-418	53	21	sensors	sensor	NOUN
hjic-418	53	22	or	or	CCONJ
hjic-418	53	23	other	other	ADJ
hjic-418	53	24	type	type	NOUN
hjic-418	53	25	of	of	ADP
hjic-418	53	26	determination	determination	NOUN
hjic-418	53	27	.	.	PUNCT
hjic-418	54	1	in	in	ADP
hjic-418	54	2	the	the	DET
hjic-418	54	3	case	case	NOUN
hjic-418	54	4	of	of	ADP
hjic-418	54	5	toxic	toxic	ADJ
hjic-418	54	6	gases	gas	NOUN
hjic-418	54	7	the	the	DET
hjic-418	54	8	security	security	NOUN
hjic-418	54	9	and	and	CCONJ
hjic-418	54	10	safety	safety	NOUN
hjic-418	54	11	rules	rule	NOUN
hjic-418	54	12	will	will	AUX
hjic-418	54	13	be	be	AUX
hjic-418	54	14	respected	respect	VERB
hjic-418	54	15	.	.	PUNCT
hjic-418	55	1	sulfur	sulfur	NOUN
hjic-418	55	2	oxides	oxide	NOUN
hjic-418	55	3	(	(	PUNCT
hjic-418	55	4	sox	sox	X
hjic-418	55	5	)	)	PUNCT
hjic-418	55	6	,	,	PUNCT
hjic-418	55	7	mainly	mainly	ADV
hjic-418	55	8	produced	produce	VERB
hjic-418	55	9	from	from	ADP
hjic-418	55	10	the	the	DET
hjic-418	55	11	burning	burning	NOUN
hjic-418	55	12	of	of	ADP
hjic-418	55	13	substances	substance	NOUN
hjic-418	55	14	containing	contain	VERB
hjic-418	55	15	sulfur	sulfur	NOUN
hjic-418	55	16	,	,	PUNCT
hjic-418	55	17	are	be	AUX
hjic-418	55	18	one	one	NUM
hjic-418	55	19	of	of	ADP
hjic-418	55	20	the	the	DET
hjic-418	55	21	typical	typical	ADJ
hjic-418	55	22	air	air	NOUN
hjic-418	55	23	pollutant	pollutant	ADJ
hjic-418	55	24	gas	gas	NOUN
hjic-418	55	25	species	specie	NOUN
hjic-418	55	26	causing	cause	VERB
hjic-418	55	27	acid	acid	NOUN
hjic-418	55	28	precipitants	precipitant	NOUN
hjic-418	55	29	,	,	PUNCT
hjic-418	55	30	and	and	CCONJ
hjic-418	55	31	the	the	DET
hjic-418	55	32	suppression	suppression	NOUN
hjic-418	55	33	of	of	ADP
hjic-418	55	34	sox	sox	PROPN
hjic-418	55	35	gas	gas	NOUN
hjic-418	55	36	emissions	emission	NOUN
hjic-418	55	37	into	into	ADP
hjic-418	55	38	the	the	DET
hjic-418	55	39	atmosphere	atmosphere	NOUN
hjic-418	55	40	is	be	AUX
hjic-418	55	41	an	an	DET
hjic-418	55	42	urgent	urgent	ADJ
hjic-418	55	43	issue	issue	NOUN
hjic-418	55	44	.	.	PUNCT
hjic-418	56	1	in	in	ADP
hjic-418	56	2	order	order	NOUN
hjic-418	56	3	to	to	PART
hjic-418	56	4	reduce	reduce	VERB
hjic-418	56	5	sox	sox	PROPN
hjic-418	56	6	gas	gas	NOUN
hjic-418	56	7	emission	emission	NOUN
hjic-418	56	8	,	,	PUNCT
hjic-418	56	9	it	it	PRON
hjic-418	56	10	is	be	AUX
hjic-418	56	11	essential	essential	ADJ
hjic-418	56	12	to	to	PART
hjic-418	56	13	develop	develop	VERB
hjic-418	56	14	the	the	DET
hjic-418	56	15	sox	sox	PROPN
hjic-418	56	16	gas	gas	NOUN
hjic-418	56	17	sensing	sense	VERB
hjic-418	56	18	tool	tool	NOUN
hjic-418	56	19	which	which	PRON
hjic-418	56	20	can	can	AUX
hjic-418	56	21	detect	detect	VERB
hjic-418	56	22	the	the	DET
hjic-418	56	23	sox	sox	PROPN
hjic-418	56	24	gas	gas	NOUN
hjic-418	56	25	concentration	concentration	NOUN
hjic-418	56	26	rapidly	rapidly	ADV
hjic-418	56	27	and	and	CCONJ
hjic-418	56	28	exactly	exactly	ADV
hjic-418	56	29	at	at	ADP
hjic-418	56	30	every	every	DET
hjic-418	56	31	emitting	emit	VERB
hjic-418	56	32	site	site	NOUN
hjic-418	56	33	.	.	PUNCT
hjic-418	57	1	for	for	ADP
hjic-418	57	2	this	this	DET
hjic-418	57	3	purpose	purpose	NOUN
hjic-418	57	4	,	,	PUNCT
hjic-418	57	5	compact	compact	ADJ
hjic-418	57	6	sox	sox	X
hjic-418	57	7	gas	gas	NOUN
hjic-418	57	8	sensors	sensor	NOUN
hjic-418	57	9	with	with	ADP
hjic-418	57	10	semiconductors	semiconductor	NOUN
hjic-418	57	11	,	,	PUNCT
hjic-418	57	12	liquid	liquid	ADJ
hjic-418	57	13	electrolytes	electrolyte	NOUN
hjic-418	57	14	and	and	CCONJ
hjic-418	57	15	solid	solid	ADJ
hjic-418	57	16	electrolytes	electrolyte	NOUN
hjic-418	57	17	having	have	VERB
hjic-418	57	18	rapid	rapid	ADJ
hjic-418	57	19	and	and	CCONJ
hjic-418	57	20	accurate	accurate	ADJ
hjic-418	57	21	sensing	sensing	NOUN
hjic-418	57	22	are	be	AUX
hjic-418	57	23	required	require	VERB
hjic-418	57	24	.	.	PUNCT
hjic-418	58	1	the	the	DET
hjic-418	58	2	detection	detection	NOUN
hjic-418	58	3	of	of	ADP
hjic-418	58	4	so2	so2	PROPN
hjic-418	58	5	using	use	VERB
hjic-418	58	6	solid	solid	ADJ
hjic-418	58	7	electrolytes	electrolyte	NOUN
hjic-418	58	8	such	such	ADJ
hjic-418	58	9	as	as	ADP
hjic-418	58	10	li2so4	li2so4	ADJ
hjic-418	58	11	–	–	PUNCT
hjic-418	58	12	ag2so4	ag2so4	PROPN
hjic-418	58	13	,	,	PUNCT
hjic-418	58	14	β	β	NOUN
hjic-418	58	15	-	-	PUNCT
hjic-418	58	16	al2o3	al2o3	ADJ
hjic-418	58	17	,	,	PUNCT
hjic-418	58	18	zro2	zro2	PROPN
hjic-418	58	19	and	and	CCONJ
hjic-418	58	20	nasicon	nasicon	NOUN
hjic-418	58	21	(	(	PUNCT
hjic-418	58	22	sodium	sodium	NOUN
hjic-418	58	23	super	super	ADJ
hjic-418	58	24	ionic	ionic	ADJ
hjic-418	58	25	conductor	conductor	NOUN
hjic-418	58	26	)	)	PUNCT
hjic-418	58	27	;	;	PUNCT
hjic-418	58	28	al3	al3	PROPN
hjic-418	58	29	+	+	SYM
hjic-418	58	30	ion	ion	NOUN
hjic-418	58	31	conducting	conducting	NOUN
hjic-418	58	32	(	(	PUNCT
hjic-418	58	33	al0.2zr0.8)20	al0.2zr0.8)20	NOUN
hjic-418	58	34	-	-	PUNCT
hjic-418	58	35	19nb(po4)3	19nb(po4)3	NUM
hjic-418	58	36	;	;	PUNCT
hjic-418	58	37	by	by	ADP
hjic-418	58	38	solid	solid	ADJ
hjic-418	58	39	state	state	NOUN
hjic-418	58	40	electrochemistry	electrochemistry	NOUN
hjic-418	58	41	techniques	technique	NOUN
hjic-418	58	42	has	have	AUX
hjic-418	58	43	been	be	AUX
hjic-418	58	44	reported	report	VERB
hjic-418	58	45	[	[	X
hjic-418	58	46	11	11	NUM
hjic-418	58	47	,	,	PUNCT
hjic-418	58	48	12	12	NUM
hjic-418	58	49	]	]	PUNCT
hjic-418	58	50	.	.	PUNCT
hjic-418	59	1	methane	methane	NOUN
hjic-418	59	2	(	(	PUNCT
hjic-418	59	3	ch4	ch4	PROPN
hjic-418	59	4	)	)	PUNCT
hjic-418	59	5	,	,	PUNCT
hjic-418	59	6	which	which	PRON
hjic-418	59	7	is	be	AUX
hjic-418	59	8	the	the	DET
hjic-418	59	9	main	main	ADJ
hjic-418	59	10	component	component	NOUN
hjic-418	59	11	of	of	ADP
hjic-418	59	12	city	city	NOUN
hjic-418	59	13	gas	gas	NOUN
hjic-418	59	14	,	,	PUNCT
hjic-418	59	15	is	be	AUX
hjic-418	59	16	highly	highly	ADV
hjic-418	59	17	explosive	explosive	ADJ
hjic-418	59	18	even	even	ADV
hjic-418	59	19	at	at	ADP
hjic-418	59	20	low	low	ADJ
hjic-418	59	21	concentrations	concentration	NOUN
hjic-418	59	22	.	.	PUNCT
hjic-418	60	1	therefore	therefore	ADV
hjic-418	60	2	,	,	PUNCT
hjic-418	60	3	methane	methane	NOUN
hjic-418	60	4	detection	detection	NOUN
hjic-418	60	5	has	have	AUX
hjic-418	60	6	become	become	VERB
hjic-418	60	7	an	an	DET
hjic-418	60	8	important	important	ADJ
hjic-418	60	9	issue	issue	NOUN
hjic-418	60	10	with	with	ADP
hjic-418	60	11	increasing	increase	VERB
hjic-418	60	12	urbanization	urbanization	NOUN
hjic-418	60	13	.	.	PUNCT
hjic-418	61	1	ch4	ch4	NOUN
hjic-418	61	2	sensor	sensor	NOUN
hjic-418	61	3	using	use	VERB
hjic-418	61	4	,	,	PUNCT
hjic-418	61	5	lagao3	lagao3	NOUN
hjic-418	61	6	-	-	PUNCT
hjic-418	61	7	based	base	VERB
hjic-418	61	8	electrolyte	electrolyte	NOUN
hjic-418	61	9	was	be	AUX
hjic-418	61	10	successfully	successfully	ADV
hjic-418	61	11	fabricated	fabricate	VERB
hjic-418	61	12	[	[	PUNCT
hjic-418	61	13	13	13	NUM
hjic-418	61	14	]	]	PUNCT
hjic-418	61	15	.	.	PUNCT
hjic-418	62	1	oxygen	oxygen	NOUN
hjic-418	62	2	consumption	consumption	NOUN
hjic-418	62	3	is	be	AUX
hjic-418	62	4	one	one	NUM
hjic-418	62	5	of	of	ADP
hjic-418	62	6	the	the	DET
hjic-418	62	7	most	most	ADV
hjic-418	62	8	important	important	ADJ
hjic-418	62	9	indexes	index	NOUN
hjic-418	62	10	of	of	ADP
hjic-418	62	11	biological	biological	ADJ
hjic-418	62	12	activity	activity	NOUN
hjic-418	62	13	during	during	ADP
hjic-418	62	14	cell	cell	NOUN
hjic-418	62	15	culture	culture	NOUN
hjic-418	62	16	and	and	CCONJ
hjic-418	62	17	239	239	NUM
hjic-418	62	18	microbial	microbial	ADJ
hjic-418	62	19	development	development	NOUN
hjic-418	62	20	.	.	PUNCT
hjic-418	63	1	in	in	ADP
hjic-418	63	2	the	the	DET
hjic-418	63	3	past	past	ADJ
hjic-418	63	4	two	two	NUM
hjic-418	63	5	decades	decade	NOUN
hjic-418	63	6	,	,	PUNCT
hjic-418	63	7	owing	owe	VERB
hjic-418	63	8	to	to	ADP
hjic-418	63	9	the	the	DET
hjic-418	63	10	progress	progress	NOUN
hjic-418	63	11	in	in	ADP
hjic-418	63	12	semiconductor	semiconductor	NOUN
hjic-418	63	13	and	and	CCONJ
hjic-418	63	14	micromachining	micromachine	VERB
hjic-418	63	15	techniques	technique	NOUN
hjic-418	63	16	,	,	PUNCT
hjic-418	63	17	various	various	ADJ
hjic-418	63	18	types	type	NOUN
hjic-418	63	19	of	of	ADP
hjic-418	63	20	miniature	miniature	ADJ
hjic-418	63	21	clark	clark	NOUN
hjic-418	63	22	-	-	PUNCT
hjic-418	63	23	type	type	NOUN
hjic-418	63	24	oxygen	oxygen	NOUN
hjic-418	63	25	sensors	sensor	NOUN
hjic-418	63	26	have	have	AUX
hjic-418	63	27	been	be	AUX
hjic-418	63	28	proposed	propose	VERB
hjic-418	63	29	,	,	PUNCT
hjic-418	63	30	like	like	ADP
hjic-418	63	31	bafe0.8ta0.2o3	bafe0.8ta0.2o3	NOUN
hjic-418	63	32	solid	solid	ADJ
hjic-418	63	33	electrolyte	electrolyte	PROPN
hjic-418	63	34	[	[	X
hjic-418	63	35	14	14	NUM
hjic-418	63	36	]	]	PUNCT
hjic-418	63	37	.	.	PUNCT
hjic-418	64	1	theoretical	theoretical	ADJ
hjic-418	64	2	background	background	NOUN
hjic-418	64	3	of	of	ADP
hjic-418	64	4	the	the	DET
hjic-418	64	5	vision	vision	NOUN
hjic-418	64	6	and	and	CCONJ
hjic-418	64	7	laser	laser	NOUN
hjic-418	64	8	system	system	NOUN
hjic-418	64	9	proposed	propose	VERB
hjic-418	64	10	algorithm	algorithm	NOUN
hjic-418	64	11	in	in	ADP
hjic-418	64	12	fig	fig	NOUN
hjic-418	64	13	.	.	PUNCT
hjic-418	65	1	3	3	NUM
hjic-418	65	2	the	the	DET
hjic-418	65	3	diagram	diagram	NOUN
hjic-418	65	4	of	of	ADP
hjic-418	65	5	the	the	DET
hjic-418	65	6	proposed	propose	VERB
hjic-418	65	7	algorithm	algorithm	NOUN
hjic-418	65	8	is	be	AUX
hjic-418	65	9	shown	show	VERB
hjic-418	65	10	.	.	PUNCT
hjic-418	66	1	in	in	ADP
hjic-418	66	2	the	the	DET
hjic-418	66	3	first	first	ADJ
hjic-418	66	4	step	step	NOUN
hjic-418	66	5	the	the	DET
hjic-418	66	6	algorithm	algorithm	NOUN
hjic-418	66	7	needs	need	VERB
hjic-418	66	8	a	a	DET
hjic-418	66	9	prior	prior	ADJ
hjic-418	66	10	map	map	NOUN
hjic-418	66	11	of	of	ADP
hjic-418	66	12	the	the	DET
hjic-418	66	13	environment	environment	NOUN
hjic-418	66	14	.	.	PUNCT
hjic-418	67	1	the	the	DET
hjic-418	67	2	offline	offline	NOUN
hjic-418	67	3	,	,	PUNCT
hjic-418	67	4	prior	prior	ADJ
hjic-418	67	5	map	map	NOUN
hjic-418	67	6	is	be	AUX
hjic-418	67	7	a	a	DET
hjic-418	67	8	3d	3d	NUM
hjic-418	67	9	feature	feature	NOUN
hjic-418	67	10	map	map	NOUN
hjic-418	67	11	containing	contain	VERB
hjic-418	67	12	all	all	DET
hjic-418	67	13	the	the	DET
hjic-418	67	14	3d	3d	NUM
hjic-418	67	15	image	image	NOUN
hjic-418	67	16	features	feature	NOUN
hjic-418	67	17	collected	collect	VERB
hjic-418	67	18	by	by	ADP
hjic-418	67	19	the	the	DET
hjic-418	67	20	robot	robot	NOUN
hjic-418	67	21	while	while	SCONJ
hjic-418	67	22	it	it	PRON
hjic-418	67	23	navigates	navigate	VERB
hjic-418	67	24	throughout	throughout	ADP
hjic-418	67	25	the	the	DET
hjic-418	67	26	environment	environment	NOUN
hjic-418	67	27	.	.	PUNCT
hjic-418	68	1	for	for	ADP
hjic-418	68	2	the	the	DET
hjic-418	68	3	visual	visual	ADJ
hjic-418	68	4	perception	perception	NOUN
hjic-418	68	5	of	of	ADP
hjic-418	68	6	the	the	DET
hjic-418	68	7	mobile	mobile	ADJ
hjic-418	68	8	robot	robot	NOUN
hjic-418	68	9	we	we	PRON
hjic-418	68	10	used	use	VERB
hjic-418	68	11	the	the	DET
hjic-418	68	12	surf	surf	NOUN
hjic-418	68	13	image	image	NOUN
hjic-418	68	14	feature	feature	NOUN
hjic-418	68	15	detector	detector	NOUN
hjic-418	68	16	and	and	CCONJ
hjic-418	68	17	descriptor	descriptor	NOUN
hjic-418	68	18	.	.	PUNCT
hjic-418	69	1	by	by	ADP
hjic-418	69	2	detecting	detect	VERB
hjic-418	69	3	identical	identical	ADJ
hjic-418	69	4	features	feature	NOUN
hjic-418	69	5	on	on	ADP
hjic-418	69	6	both	both	PRON
hjic-418	69	7	of	of	ADP
hjic-418	69	8	the	the	DET
hjic-418	69	9	images	image	NOUN
hjic-418	69	10	of	of	ADP
hjic-418	69	11	the	the	DET
hjic-418	69	12	stereo	stereo	NOUN
hjic-418	69	13	pairs	pair	NOUN
hjic-418	69	14	3d	3d	NUM
hjic-418	69	15	features	feature	NOUN
hjic-418	69	16	can	can	AUX
hjic-418	69	17	be	be	AUX
hjic-418	69	18	computed	compute	VERB
hjic-418	69	19	.	.	PUNCT
hjic-418	70	1	details	detail	NOUN
hjic-418	70	2	about	about	ADP
hjic-418	70	3	the	the	DET
hjic-418	70	4	surf	surf	NOUN
hjic-418	70	5	features	feature	VERB
hjic-418	70	6	and	and	CCONJ
hjic-418	70	7	the	the	DET
hjic-418	70	8	stereo	stereo	NOUN
hjic-418	70	9	geometry	geometry	NOUN
hjic-418	70	10	of	of	ADP
hjic-418	70	11	the	the	DET
hjic-418	70	12	visual	visual	ADJ
hjic-418	70	13	system	system	NOUN
hjic-418	70	14	are	be	AUX
hjic-418	70	15	given	give	VERB
hjic-418	70	16	later	later	ADV
hjic-418	70	17	on	on	ADV
hjic-418	70	18	.	.	PUNCT
hjic-418	71	1	at	at	ADP
hjic-418	71	2	every	every	DET
hjic-418	71	3	position	position	NOUN
hjic-418	71	4	the	the	DET
hjic-418	71	5	online	online	ADJ
hjic-418	71	6	3d	3d	NUM
hjic-418	71	7	feature	feature	NOUN
hjic-418	71	8	point	point	NOUN
hjic-418	71	9	cloud	cloud	NOUN
hjic-418	71	10	is	be	AUX
hjic-418	71	11	searched	search	VERB
hjic-418	71	12	based	base	VERB
hjic-418	71	13	on	on	ADP
hjic-418	71	14	the	the	DET
hjic-418	71	15	surf	surf	NOUN
hjic-418	71	16	descriptor	descriptor	NOUN
hjic-418	71	17	in	in	ADP
hjic-418	71	18	the	the	DET
hjic-418	71	19	saved	save	VERB
hjic-418	71	20	map	map	NOUN
hjic-418	71	21	.	.	PUNCT
hjic-418	72	1	for	for	ADP
hjic-418	72	2	the	the	DET
hjic-418	72	3	features	feature	NOUN
hjic-418	72	4	found	find	VERB
hjic-418	72	5	a	a	DET
hjic-418	72	6	point	point	NOUN
hjic-418	72	7	clouds	cloud	NOUN
hjic-418	72	8	is	be	AUX
hjic-418	72	9	selected	select	VERB
hjic-418	72	10	from	from	ADP
hjic-418	72	11	the	the	DET
hjic-418	72	12	offline	offline	ADJ
hjic-418	72	13	map	map	NOUN
hjic-418	72	14	.	.	PUNCT
hjic-418	73	1	to	to	PART
hjic-418	73	2	estimate	estimate	VERB
hjic-418	73	3	the	the	DET
hjic-418	73	4	displacement	displacement	NOUN
hjic-418	73	5	between	between	ADP
hjic-418	73	6	these	these	DET
hjic-418	73	7	two	two	NUM
hjic-418	73	8	feature	feature	NOUN
hjic-418	73	9	clouds	cloud	NOUN
hjic-418	73	10	a	a	DET
hjic-418	73	11	variant	variant	NOUN
hjic-418	73	12	of	of	ADP
hjic-418	73	13	the	the	DET
hjic-418	73	14	ransac	ransac	NOUN
hjic-418	73	15	algorithm	algorithm	NOUN
hjic-418	73	16	is	be	AUX
hjic-418	73	17	used	use	VERB
hjic-418	73	18	.	.	PUNCT
hjic-418	74	1	the	the	DET
hjic-418	74	2	features	feature	NOUN
hjic-418	74	3	that	that	PRON
hjic-418	74	4	are	be	AUX
hjic-418	74	5	considered	consider	VERB
hjic-418	74	6	to	to	PART
hjic-418	74	7	be	be	AUX
hjic-418	74	8	outliers	outlier	NOUN
hjic-418	74	9	are	be	AUX
hjic-418	74	10	excluded	exclude	VERB
hjic-418	74	11	from	from	ADP
hjic-418	74	12	the	the	DET
hjic-418	74	13	online	online	ADJ
hjic-418	74	14	point	point	NOUN
hjic-418	74	15	cloud	cloud	NOUN
hjic-418	74	16	.	.	PUNCT
hjic-418	75	1	the	the	DET
hjic-418	75	2	algorithm	algorithm	NOUN
hjic-418	75	3	is	be	AUX
hjic-418	75	4	repeated	repeat	VERB
hjic-418	75	5	iteratively	iteratively	ADV
hjic-418	75	6	.	.	PUNCT
hjic-418	76	1	figure	figure	VERB
hjic-418	76	2	3	3	NUM
hjic-418	76	3	:	:	PUNCT
hjic-418	76	4	the	the	DET
hjic-418	76	5	flow	flow	NOUN
hjic-418	76	6	diagram	diagram	NOUN
hjic-418	76	7	of	of	ADP
hjic-418	76	8	the	the	DET
hjic-418	76	9	proposed	propose	VERB
hjic-418	76	10	algorithm	algorithm	NOUN
hjic-418	76	11	surf	surf	NOUN
hjic-418	76	12	for	for	ADP
hjic-418	76	13	interest	interest	NOUN
hjic-418	76	14	point	point	NOUN
hjic-418	76	15	detection	detection	NOUN
hjic-418	76	16	to	to	PART
hjic-418	76	17	solve	solve	VERB
hjic-418	76	18	the	the	DET
hjic-418	76	19	localization	localization	NOUN
hjic-418	76	20	problem	problem	NOUN
hjic-418	76	21	the	the	DET
hjic-418	76	22	recognition	recognition	NOUN
hjic-418	76	23	of	of	ADP
hjic-418	76	24	the	the	DET
hjic-418	76	25	landmarks	landmark	NOUN
hjic-418	76	26	in	in	ADP
hjic-418	76	27	the	the	DET
hjic-418	76	28	environment	environment	NOUN
hjic-418	76	29	is	be	AUX
hjic-418	76	30	a	a	DET
hjic-418	76	31	key	key	ADJ
hjic-418	76	32	issue	issue	NOUN
hjic-418	76	33	.	.	PUNCT
hjic-418	77	1	our	our	PRON
hjic-418	77	2	algorithm	algorithm	NOUN
hjic-418	77	3	uses	use	VERB
hjic-418	77	4	image	image	NOUN
hjic-418	77	5	features	feature	NOUN
hjic-418	77	6	detector	detector	NOUN
hjic-418	77	7	and	and	CCONJ
hjic-418	77	8	descriptor	descriptor	NOUN
hjic-418	77	9	called	call	VERB
hjic-418	77	10	surf	surf	NOUN
hjic-418	77	11	.	.	PUNCT
hjic-418	78	1	surf	surf	PROPN
hjic-418	78	2	is	be	AUX
hjic-418	78	3	an	an	DET
hjic-418	78	4	abbreviation	abbreviation	NOUN
hjic-418	78	5	from	from	ADP
hjic-418	78	6	speeded	speed	VERB
hjic-418	78	7	up	up	ADP
hjic-418	78	8	robust	robust	ADJ
hjic-418	78	9	features	feature	NOUN
hjic-418	78	10	;	;	PUNCT
hjic-418	78	11	it	it	PRON
hjic-418	78	12	is	be	AUX
hjic-418	78	13	a	a	DET
hjic-418	78	14	method	method	NOUN
hjic-418	78	15	,	,	PUNCT
hjic-418	78	16	known	know	VERB
hjic-418	78	17	in	in	ADP
hjic-418	78	18	the	the	DET
hjic-418	78	19	field	field	NOUN
hjic-418	78	20	of	of	ADP
hjic-418	78	21	computer	computer	NOUN
hjic-418	78	22	vision	vision	NOUN
hjic-418	78	23	to	to	PART
hjic-418	78	24	detect	detect	VERB
hjic-418	78	25	interest	interest	NOUN
hjic-418	78	26	points	point	NOUN
hjic-418	78	27	on	on	ADP
hjic-418	78	28	images	image	NOUN
hjic-418	78	29	.	.	PUNCT
hjic-418	79	1	surf	surf	NOUN
hjic-418	79	2	has	have	VERB
hjic-418	79	3	the	the	DET
hjic-418	79	4	advantage	advantage	NOUN
hjic-418	79	5	of	of	ADP
hjic-418	79	6	the	the	DET
hjic-418	79	7	computational	computational	ADJ
hjic-418	79	8	speed	speed	NOUN
hjic-418	79	9	compared	compare	VERB
hjic-418	79	10	to	to	ADP
hjic-418	79	11	other	other	ADJ
hjic-418	79	12	image	image	NOUN
hjic-418	79	13	feature	feature	NOUN
hjic-418	79	14	detectors	detector	NOUN
hjic-418	79	15	like	like	ADP
hjic-418	79	16	scaleinvariant	scaleinvariant	ADJ
hjic-418	79	17	feature	feature	NOUN
hjic-418	79	18	transform	transform	NOUN
hjic-418	79	19	(	(	PUNCT
hjic-418	79	20	sift	sift	NOUN
hjic-418	79	21	)	)	PUNCT
hjic-418	79	22	presented	present	VERB
hjic-418	79	23	by	by	ADP
hjic-418	79	24	[	[	X
hjic-418	79	25	15	15	NUM
hjic-418	79	26	]	]	PUNCT
hjic-418	79	27	,	,	PUNCT
hjic-418	79	28	maintaining	maintain	VERB
hjic-418	79	29	approximately	approximately	ADV
hjic-418	79	30	the	the	DET
hjic-418	79	31	same	same	ADJ
hjic-418	79	32	or	or	CCONJ
hjic-418	79	33	even	even	ADV
hjic-418	79	34	better	well	ADJ
hjic-418	79	35	performances	performance	NOUN
hjic-418	79	36	regarding	regard	VERB
hjic-418	79	37	:	:	PUNCT
hjic-418	79	38	repeatability	repeatability	NOUN
hjic-418	79	39	,	,	PUNCT
hjic-418	79	40	distinctiveness	distinctiveness	NOUN
hjic-418	79	41	and	and	CCONJ
hjic-418	79	42	robustness	robustness	NOUN
hjic-418	79	43	.	.	PUNCT
hjic-418	80	1	in	in	ADP
hjic-418	80	2	[	[	X
hjic-418	80	3	16	16	NUM
hjic-418	80	4	]	]	PUNCT
hjic-418	80	5	is	be	AUX
hjic-418	80	6	concluded	conclude	VERB
hjic-418	80	7	that	that	SCONJ
hjic-418	80	8	surf	surf	NOUN
hjic-418	80	9	is	be	AUX
hjic-418	80	10	one	one	NUM
hjic-418	80	11	of	of	ADP
hjic-418	80	12	the	the	DET
hjic-418	80	13	most	most	ADV
hjic-418	80	14	suitable	suitable	ADJ
hjic-418	80	15	descriptor	descriptor	NOUN
hjic-418	80	16	for	for	ADP
hjic-418	80	17	visual	visual	ADJ
hjic-418	80	18	simultaneous	simultaneous	ADJ
hjic-418	80	19	localization	localization	NOUN
hjic-418	80	20	and	and	CCONJ
hjic-418	80	21	mapping	mapping	NOUN
hjic-418	80	22	applications	application	NOUN
hjic-418	80	23	.	.	PUNCT
hjic-418	81	1	the	the	DET
hjic-418	81	2	algorithm	algorithm	NOUN
hjic-418	81	3	and	and	CCONJ
hjic-418	81	4	the	the	DET
hjic-418	81	5	performances	performance	NOUN
hjic-418	81	6	are	be	AUX
hjic-418	81	7	largely	largely	ADV
hjic-418	81	8	discussed	discuss	VERB
hjic-418	81	9	in	in	ADP
hjic-418	81	10	[	[	X
hjic-418	81	11	17	17	NUM
hjic-418	81	12	]	]	PUNCT
hjic-418	81	13	and	and	CCONJ
hjic-418	81	14	[	[	X
hjic-418	81	15	18	18	NUM
hjic-418	81	16	]	]	PUNCT
hjic-418	81	17	,	,	PUNCT
hjic-418	81	18	whereas	whereas	SCONJ
hjic-418	81	19	hereby	hereby	ADV
hjic-418	81	20	only	only	ADV
hjic-418	81	21	a	a	DET
hjic-418	81	22	short	short	ADJ
hjic-418	81	23	overview	overview	NOUN
hjic-418	81	24	is	be	AUX
hjic-418	81	25	presented	present	VERB
hjic-418	81	26	.	.	PUNCT
hjic-418	82	1	the	the	DET
hjic-418	82	2	main	main	ADJ
hjic-418	82	3	reason	reason	NOUN
hjic-418	82	4	why	why	SCONJ
hjic-418	82	5	the	the	DET
hjic-418	82	6	algorithm	algorithm	NOUN
hjic-418	82	7	decreases	decrease	VERB
hjic-418	82	8	the	the	DET
hjic-418	82	9	computational	computational	ADJ
hjic-418	82	10	time	time	NOUN
hjic-418	82	11	is	be	AUX
hjic-418	82	12	because	because	SCONJ
hjic-418	82	13	surf	surf	NOUN
hjic-418	82	14	uses	use	VERB
hjic-418	82	15	integral	integral	ADJ
hjic-418	82	16	images	image	NOUN
hjic-418	82	17	[	[	X
hjic-418	82	18	19	19	NUM
hjic-418	82	19	]	]	PUNCT
hjic-418	82	20	as	as	ADP
hjic-418	82	21	intermediate	intermediate	ADJ
hjic-418	82	22	representation	representation	NOUN
hjic-418	82	23	,	,	PUNCT
hjic-418	82	24	in	in	ADP
hjic-418	82	25	this	this	DET
hjic-418	82	26	way	way	NOUN
hjic-418	82	27	the	the	DET
hjic-418	82	28	sum	sum	NOUN
hjic-418	82	29	of	of	ADP
hjic-418	82	30	intensities	intensity	NOUN
hjic-418	82	31	over	over	ADP
hjic-418	82	32	any	any	DET
hjic-418	82	33	upright	upright	NOUN
hjic-418	82	34	,	,	PUNCT
hjic-418	82	35	rectangular	rectangular	ADJ
hjic-418	82	36	region	region	NOUN
hjic-418	82	37	is	be	AUX
hjic-418	82	38	calculated	calculate	VERB
hjic-418	82	39	with	with	ADP
hjic-418	82	40	only	only	ADV
hjic-418	82	41	four	four	NUM
hjic-418	82	42	additions	addition	NOUN
hjic-418	82	43	.	.	PUNCT
hjic-418	83	1	the	the	DET
hjic-418	83	2	surf	surf	NOUN
hjic-418	83	3	algorithm	algorithm	NOUN
hjic-418	83	4	is	be	AUX
hjic-418	83	5	based	base	VERB
hjic-418	83	6	on	on	ADP
hjic-418	83	7	the	the	DET
hjic-418	83	8	fast	fast	ADJ
hjic-418	83	9	-	-	PUNCT
hjic-418	83	10	hessian	hessian	NOUN
hjic-418	83	11	detector	detector	NOUN
hjic-418	83	12	,	,	PUNCT
hjic-418	83	13	which	which	PRON
hjic-418	83	14	computes	compute	VERB
hjic-418	83	15	the	the	DET
hjic-418	83	16	determinant	determinant	NOUN
hjic-418	83	17	of	of	ADP
hjic-418	83	18	the	the	DET
hjic-418	83	19	hessian	hessian	ADJ
hjic-418	83	20	matrix	matrix	NOUN
hjic-418	83	21	:	:	PUNCT
hjic-418	83	22	(	(	PUNCT
hjic-418	83	23	)	)	PUNCT
hjic-418	83	24	(	(	PUNCT
hjic-418	83	25	)	)	PUNCT
hjic-418	83	26	(	(	PUNCT
hjic-418	83	27	)	)	PUNCT
hjic-418	83	28	(	(	PUNCT
hjic-418	83	29	)	)	PUNCT
hjic-418	84	1	(	(	PUNCT
hjic-418	84	2	)	)	PUNCT
hjic-418	84	3	xx	xx	INTJ
hjic-418	85	1	xy	xy	INTJ
hjic-418	85	2	xy	xy	PROPN
hjic-418	86	1	yy	yy	INTJ
hjic-418	87	1	l	l	NOUN
hjic-418	87	2	,	,	PUNCT
hjic-418	87	3	l	l	NOUN
hjic-418	87	4	,	,	PUNCT
hjic-418	87	5	h	h	NOUN
hjic-418	87	6	,	,	PUNCT
hjic-418	87	7	l	l	NOUN
hjic-418	87	8	,	,	PUNCT
hjic-418	87	9	l	l	NOUN
hjic-418	87	10	,	,	PUNCT
hjic-418	87	11	p	p	X
hjic-418	88	1	p	p	X
hjic-418	88	2	p	p	X
hjic-418	89	1	p	p	PROPN
hjic-418	89	2	p	p	PROPN
hjic-418	89	3	σ	σ	PROPN
hjic-418	89	4	σ	σ	PROPN
hjic-418	89	5	σ	σ	PROPN
hjic-418	89	6	σ	σ	PROPN
hjic-418	89	7	σ	σ	PROPN
hjic-418	89	8	=	=	PROPN
hjic-418	89	9	⎡	⎡	VERB
hjic-418	89	10	⎤	⎤	ADJ
hjic-418	89	11	⎢	⎢	PROPN
hjic-418	89	12	⎥	⎥	PROPN
hjic-418	89	13	⎣	⎣	PROPN
hjic-418	89	14	⎦	⎦	NOUN
hjic-418	89	15	,	,	PUNCT
hjic-418	89	16	(	(	PUNCT
hjic-418	89	17	1	1	X
hjic-418	89	18	)	)	PUNCT
hjic-418	89	19	where	where	SCONJ
hjic-418	89	20	with	with	ADP
hjic-418	89	21	lxx(p	lxx(p	PROPN
hjic-418	89	22	,	,	PUNCT
hjic-418	89	23	σ	σ	PROPN
hjic-418	89	24	)	)	PUNCT
hjic-418	89	25	is	be	AUX
hjic-418	89	26	denoted	denote	VERB
hjic-418	89	27	the	the	DET
hjic-418	89	28	convolution	convolution	NOUN
hjic-418	89	29	of	of	ADP
hjic-418	89	30	the	the	DET
hjic-418	89	31	second	second	ADJ
hjic-418	89	32	order	order	NOUN
hjic-418	89	33	gaussian	gaussian	VERB
hjic-418	89	34	derivative	derivative	ADJ
hjic-418	89	35	∂2g(σ)/∂x2	∂2g(σ)/∂x2	NOUN
hjic-418	89	36	of	of	ADP
hjic-418	89	37	the	the	DET
hjic-418	89	38	image	image	NOUN
hjic-418	89	39	at	at	ADP
hjic-418	89	40	point	point	NOUN
hjic-418	89	41	p(x	p(x	PROPN
hjic-418	89	42	,	,	PUNCT
hjic-418	89	43	y	y	NOUN
hjic-418	89	44	)	)	PUNCT
hjic-418	89	45	and	and	CCONJ
hjic-418	89	46	scale	scale	NOUN
hjic-418	89	47	σ	σ	NOUN
hjic-418	89	48	in	in	ADP
hjic-418	89	49	the	the	DET
hjic-418	89	50	x	x	NOUN
hjic-418	89	51	direction	direction	NOUN
hjic-418	89	52	.	.	PUNCT
hjic-418	90	1	lxy(p	lxy(p	PROPN
hjic-418	90	2	,	,	PUNCT
hjic-418	90	3	σ	σ	NOUN
hjic-418	90	4	)	)	PUNCT
hjic-418	90	5	and	and	CCONJ
hjic-418	90	6	lyy(p	lyy(p	PROPN
hjic-418	90	7	,	,	PUNCT
hjic-418	90	8	σ	σ	NOUN
hjic-418	90	9	)	)	PUNCT
hjic-418	90	10	are	be	AUX
hjic-418	90	11	calculated	calculate	VERB
hjic-418	90	12	similarly	similarly	ADV
hjic-418	90	13	,	,	PUNCT
hjic-418	90	14	these	these	DET
hjic-418	90	15	derivatives	derivative	NOUN
hjic-418	90	16	are	be	AUX
hjic-418	90	17	known	know	VERB
hjic-418	90	18	as	as	ADP
hjic-418	90	19	laplacian	laplacian	NOUN
hjic-418	90	20	of	of	ADP
hjic-418	90	21	gaussian	gaussian	NOUN
hjic-418	90	22	.	.	PUNCT
hjic-418	91	1	another	another	DET
hjic-418	91	2	reason	reason	NOUN
hjic-418	91	3	why	why	SCONJ
hjic-418	91	4	the	the	DET
hjic-418	91	5	surf	surf	NOUN
hjic-418	91	6	algorithm	algorithm	NOUN
hjic-418	91	7	performs	perform	VERB
hjic-418	91	8	fast	fast	ADV
hjic-418	91	9	is	be	AUX
hjic-418	91	10	that	that	SCONJ
hjic-418	91	11	it	it	PRON
hjic-418	91	12	approximates	approximate	VERB
hjic-418	91	13	the	the	DET
hjic-418	91	14	laplacian	laplacian	NOUN
hjic-418	91	15	of	of	ADP
hjic-418	91	16	gaussian	gaussian	NOUN
hjic-418	91	17	with	with	ADP
hjic-418	91	18	a	a	DET
hjic-418	91	19	box	box	NOUN
hjic-418	91	20	filter	filter	NOUN
hjic-418	91	21	representation	representation	NOUN
hjic-418	91	22	.	.	PUNCT
hjic-418	92	1	the	the	DET
hjic-418	92	2	box	box	PROPN
hjic-418	92	3	filter	filter	NOUN
hjic-418	92	4	allows	allow	VERB
hjic-418	92	5	a	a	DET
hjic-418	92	6	performance	performance	NOUN
hjic-418	92	7	increase	increase	NOUN
hjic-418	92	8	in	in	ADP
hjic-418	92	9	time	time	NOUN
hjic-418	92	10	when	when	SCONJ
hjic-418	92	11	they	they	PRON
hjic-418	92	12	are	be	AUX
hjic-418	92	13	computed	compute	VERB
hjic-418	92	14	on	on	ADP
hjic-418	92	15	integral	integral	ADJ
hjic-418	92	16	images	image	NOUN
hjic-418	92	17	.	.	PUNCT
hjic-418	93	1	simultaneous	simultaneous	ADJ
hjic-418	93	2	localization	localization	NOUN
hjic-418	93	3	and	and	CCONJ
hjic-418	93	4	mapping	mapping	NOUN
hjic-418	93	5	simultaneous	simultaneous	ADJ
hjic-418	93	6	localization	localization	NOUN
hjic-418	93	7	and	and	CCONJ
hjic-418	93	8	mapping	mapping	NOUN
hjic-418	93	9	(	(	PUNCT
hjic-418	93	10	slam	slam	PROPN
hjic-418	93	11	)	)	PUNCT
hjic-418	93	12	is	be	AUX
hjic-418	93	13	a	a	DET
hjic-418	93	14	technique	technique	NOUN
hjic-418	93	15	used	use	VERB
hjic-418	93	16	for	for	ADP
hjic-418	93	17	autonomous	autonomous	ADJ
hjic-418	93	18	vehicles	vehicle	NOUN
hjic-418	93	19	to	to	PART
hjic-418	93	20	build	build	VERB
hjic-418	93	21	up	up	ADP
hjic-418	93	22	a	a	DET
hjic-418	93	23	map	map	NOUN
hjic-418	93	24	of	of	ADP
hjic-418	93	25	an	an	DET
hjic-418	93	26	unknown	unknown	ADJ
hjic-418	93	27	environment	environment	NOUN
hjic-418	93	28	(	(	PUNCT
hjic-418	93	29	without	without	ADP
hjic-418	93	30	a	a	DET
hjic-418	93	31	priori	priori	ADJ
hjic-418	93	32	knowledge	knowledge	NOUN
hjic-418	93	33	)	)	PUNCT
hjic-418	93	34	,	,	PUNCT
hjic-418	93	35	or	or	CCONJ
hjic-418	93	36	to	to	PART
hjic-418	93	37	update	update	VERB
hjic-418	93	38	a	a	DET
hjic-418	93	39	map	map	NOUN
hjic-418	93	40	of	of	ADP
hjic-418	93	41	a	a	DET
hjic-418	93	42	known	know	VERB
hjic-418	93	43	environment	environment	NOUN
hjic-418	93	44	(	(	PUNCT
hjic-418	93	45	with	with	ADP
hjic-418	93	46	a	a	DET
hjic-418	93	47	priori	priori	ADJ
hjic-418	93	48	knowledge	knowledge	NOUN
hjic-418	93	49	from	from	ADP
hjic-418	93	50	a	a	DET
hjic-418	93	51	given	give	VERB
hjic-418	93	52	map	map	NOUN
hjic-418	93	53	)	)	PUNCT
hjic-418	93	54	,	,	PUNCT
hjic-418	93	55	while	while	SCONJ
hjic-418	93	56	at	at	ADP
hjic-418	93	57	the	the	DET
hjic-418	93	58	same	same	ADJ
hjic-418	93	59	time	time	NOUN
hjic-418	93	60	keeping	keep	VERB
hjic-418	93	61	track	track	NOUN
hjic-418	93	62	of	of	ADP
hjic-418	93	63	the	the	DET
hjic-418	93	64	vehicle	vehicle	NOUN
hjic-418	93	65	’s	’s	PART
hjic-418	93	66	current	current	ADJ
hjic-418	93	67	location	location	NOUN
hjic-418	93	68	.	.	PUNCT
hjic-418	94	1	slam	slam	PROPN
hjic-418	94	2	consists	consist	VERB
hjic-418	94	3	of	of	ADP
hjic-418	94	4	multiple	multiple	ADJ
hjic-418	94	5	parts	part	NOUN
hjic-418	94	6	:	:	PUNCT
hjic-418	94	7	landmark	landmark	NOUN
hjic-418	94	8	extraction	extraction	PROPN
hjic-418	94	9	,	,	PUNCT
hjic-418	94	10	data	datum	NOUN
hjic-418	94	11	association	association	NOUN
hjic-418	94	12	,	,	PUNCT
hjic-418	94	13	state	state	NOUN
hjic-418	94	14	estimation	estimation	NOUN
hjic-418	94	15	,	,	PUNCT
hjic-418	94	16	state	state	NOUN
hjic-418	94	17	update	update	NOUN
hjic-418	94	18	and	and	CCONJ
hjic-418	94	19	landmark	landmark	NOUN
hjic-418	94	20	update	update	NOUN
hjic-418	94	21	.	.	PUNCT
hjic-418	95	1	there	there	PRON
hjic-418	95	2	are	be	VERB
hjic-418	95	3	many	many	ADJ
hjic-418	95	4	ways	way	NOUN
hjic-418	95	5	to	to	PART
hjic-418	95	6	solve	solve	VERB
hjic-418	95	7	each	each	PRON
hjic-418	95	8	of	of	ADP
hjic-418	95	9	the	the	DET
hjic-418	95	10	smaller	small	ADJ
hjic-418	95	11	parts	part	NOUN
hjic-418	95	12	.	.	PUNCT
hjic-418	96	1	the	the	DET
hjic-418	96	2	critical	critical	ADJ
hjic-418	96	3	problems	problem	NOUN
hjic-418	96	4	for	for	ADP
hjic-418	96	5	large	large	ADJ
hjic-418	96	6	scale	scale	NOUN
hjic-418	96	7	implementations	implementation	NOUN
hjic-418	96	8	[	[	X
hjic-418	96	9	20	20	NUM
hjic-418	96	10	]	]	PUNCT
hjic-418	96	11	will	will	AUX
hjic-418	96	12	be	be	AUX
hjic-418	96	13	described	describe	VERB
hjic-418	96	14	next	next	ADV
hjic-418	96	15	.	.	PUNCT
hjic-418	97	1	first	first	ADV
hjic-418	97	2	,	,	PUNCT
hjic-418	97	3	data	datum	NOUN
hjic-418	97	4	association	association	NOUN
hjic-418	97	5	-	-	PUNCT
hjic-418	97	6	finding	find	VERB
hjic-418	97	7	correspondences	correspondence	NOUN
hjic-418	97	8	between	between	ADP
hjic-418	97	9	map	map	NOUN
hjic-418	97	10	landmarks	landmark	NOUN
hjic-418	97	11	and	and	CCONJ
hjic-418	97	12	robot	robot	NOUN
hjic-418	97	13	sensor	sensor	NOUN
hjic-418	97	14	measurements	measurement	NOUN
hjic-418	97	15	-	-	PUNCT
hjic-418	97	16	becomes	become	VERB
hjic-418	97	17	difficult	difficult	ADJ
hjic-418	97	18	in	in	ADP
hjic-418	97	19	complex	complex	ADJ
hjic-418	97	20	,	,	PUNCT
hjic-418	97	21	cluttered	cluttered	ADJ
hjic-418	97	22	environments	environment	NOUN
hjic-418	97	23	,	,	PUNCT
hjic-418	97	24	especially	especially	ADV
hjic-418	97	25	if	if	SCONJ
hjic-418	97	26	the	the	DET
hjic-418	97	27	robot	robot	NOUN
hjic-418	97	28	location	location	NOUN
hjic-418	97	29	is	be	AUX
hjic-418	97	30	uncertain	uncertain	ADJ
hjic-418	97	31	.	.	PUNCT
hjic-418	98	1	second	second	ADV
hjic-418	98	2	,	,	PUNCT
hjic-418	98	3	the	the	DET
hjic-418	98	4	information	information	NOUN
hjic-418	98	5	required	require	VERB
hjic-418	98	6	to	to	PART
hjic-418	98	7	maintain	maintain	VERB
hjic-418	98	8	a	a	DET
hjic-418	98	9	consistent	consistent	ADJ
hjic-418	98	10	map	map	NOUN
hjic-418	98	11	using	use	VERB
hjic-418	98	12	traditional	traditional	ADJ
hjic-418	98	13	methods	method	NOUN
hjic-418	98	14	imposes	impose	VERB
hjic-418	98	15	a	a	DET
hjic-418	98	16	prohibitive	prohibitive	ADJ
hjic-418	98	17	computational	computational	ADJ
hjic-418	98	18	burden	burden	NOUN
hjic-418	98	19	as	as	SCONJ
hjic-418	98	20	the	the	DET
hjic-418	98	21	map	map	NOUN
hjic-418	98	22	increases	increase	VERB
hjic-418	98	23	in	in	ADP
hjic-418	98	24	size	size	NOUN
hjic-418	98	25	.	.	PUNCT
hjic-418	99	1	and	and	CCONJ
hjic-418	99	2	third	third	ADV
hjic-418	99	3	,	,	PUNCT
hjic-418	99	4	the	the	DET
hjic-418	99	5	mathematics	mathematic	NOUN
hjic-418	99	6	for	for	ADP
hjic-418	99	7	slam	slam	NOUN
hjic-418	99	8	relies	rely	VERB
hjic-418	99	9	on	on	ADP
hjic-418	99	10	assumptions	assumption	NOUN
hjic-418	99	11	of	of	ADP
hjic-418	99	12	small	small	ADJ
hjic-418	99	13	errors	error	NOUN
hjic-418	99	14	and	and	CCONJ
hjic-418	99	15	near	near	NOUN
hjic-418	99	16	-	-	PUNCT
hjic-418	99	17	linearity	linearity	NOUN
hjic-418	99	18	,	,	PUNCT
hjic-418	99	19	and	and	CCONJ
hjic-418	99	20	these	these	PRON
hjic-418	99	21	become	become	VERB
hjic-418	99	22	invalid	invalid	ADJ
hjic-418	99	23	for	for	ADP
hjic-418	99	24	larger	large	ADJ
hjic-418	99	25	maps	map	NOUN
hjic-418	99	26	.	.	PUNCT
hjic-418	100	1	in	in	ADP
hjic-418	100	2	outdoor	outdoor	ADJ
hjic-418	100	3	environments	environment	NOUN
hjic-418	100	4	,	,	PUNCT
hjic-418	100	5	the	the	DET
hjic-418	100	6	problems	problem	NOUN
hjic-418	100	7	of	of	ADP
hjic-418	100	8	scale	scale	NOUN
hjic-418	100	9	are	be	AUX
hjic-418	100	10	exacerbated	exacerbate	VERB
hjic-418	100	11	by	by	ADP
hjic-418	100	12	complex	complex	ADJ
hjic-418	100	13	structure	structure	NOUN
hjic-418	100	14	and	and	CCONJ
hjic-418	100	15	rugged	rugged	ADJ
hjic-418	100	16	terrain	terrain	NOUN
hjic-418	100	17	.	.	PUNCT
hjic-418	101	1	this	this	PRON
hjic-418	101	2	can	can	AUX
hjic-418	101	3	impede	impede	VERB
hjic-418	101	4	the	the	DET
hjic-418	101	5	detection	detection	NOUN
hjic-418	101	6	of	of	ADP
hjic-418	101	7	stable	stable	ADJ
hjic-418	101	8	discrete	discrete	ADJ
hjic-418	101	9	landmarks	landmark	NOUN
hjic-418	101	10	,	,	PUNCT
hjic-418	101	11	and	and	CCONJ
hjic-418	101	12	can	can	AUX
hjic-418	101	13	degrade	degrade	VERB
hjic-418	101	14	the	the	DET
hjic-418	101	15	utility	utility	NOUN
hjic-418	101	16	of	of	ADP
hjic-418	101	17	motion	motion	NOUN
hjic-418	101	18	estimates	estimate	NOUN
hjic-418	101	19	derived	derive	VERB
hjic-418	101	20	from	from	ADP
hjic-418	101	21	wheel	wheel	NOUN
hjic-418	101	22	-	-	PUNCT
hjic-418	101	23	encoder	encoder	NOUN
hjic-418	101	24	odometry	odometry	NOUN
hjic-418	102	1	[	[	X
hjic-418	102	2	21	21	NUM
hjic-418	102	3	]	]	PUNCT
hjic-418	102	4	.	.	PUNCT
hjic-418	103	1	the	the	DET
hjic-418	103	2	main	main	ADJ
hjic-418	103	3	scope	scope	NOUN
hjic-418	103	4	of	of	ADP
hjic-418	103	5	a	a	DET
hjic-418	103	6	slam	slam	NOUN
hjic-418	103	7	system	system	NOUN
hjic-418	103	8	is	be	AUX
hjic-418	103	9	to	to	PART
hjic-418	103	10	obtain	obtain	VERB
hjic-418	103	11	an	an	DET
hjic-418	103	12	estimate	estimate	NOUN
hjic-418	103	13	of	of	ADP
hjic-418	103	14	the	the	DET
hjic-418	103	15	probability	probability	NOUN
hjic-418	103	16	distribution	distribution	NOUN
hjic-418	103	17	,	,	PUNCT
hjic-418	103	18	at	at	ADP
hjic-418	103	19	time	time	NOUN
hjic-418	103	20	t	t	PROPN
hjic-418	103	21	,	,	PUNCT
hjic-418	103	22	over	over	ADP
hjic-418	103	23	all	all	DET
hjic-418	103	24	possible	possible	ADJ
hjic-418	103	25	robot	robot	NOUN
hjic-418	103	26	states	state	NOUN
hjic-418	103	27	x	x	PUNCT
hjic-418	103	28	and	and	CCONJ
hjic-418	103	29	over	over	ADP
hjic-418	103	30	all	all	DET
hjic-418	103	31	maps	map	NOUN
hjic-418	103	32	of	of	ADP
hjic-418	103	33	the	the	DET
hjic-418	103	34	environment	environment	NOUN
hjic-418	103	35	θ	θ	PROPN
hjic-418	103	36	,	,	PUNCT
hjic-418	103	37	by	by	ADP
hjic-418	103	38	means	mean	NOUN
hjic-418	103	39	of	of	ADP
hjic-418	103	40	the	the	DET
hjic-418	103	41	previous	previous	ADJ
hjic-418	103	42	sensor	sensor	NOUN
hjic-418	103	43	measurements	measurement	NOUN
hjic-418	103	44	zt	zt	PROPN
hjic-418	103	45	and	and	CCONJ
hjic-418	103	46	navigation	navigation	NOUN
hjic-418	103	47	commands	command	NOUN
hjic-418	103	48	ut	ut	PROPN
hjic-418	103	49	.	.	PROPN
hjic-418	103	50	240	240	NUM
hjic-418	103	51	p(x	p(x	NOUN
hjic-418	103	52	,	,	PUNCT
hjic-418	103	53	θ|zt	θ|zt	NOUN
hjic-418	103	54	,	,	PUNCT
hjic-418	103	55	ut	ut	PROPN
hjic-418	103	56	)	)	PUNCT
hjic-418	103	57	,	,	PUNCT
hjic-418	103	58	(	(	PUNCT
hjic-418	103	59	2	2	X
hjic-418	103	60	)	)	PUNCT
hjic-418	103	61	this	this	DET
hjic-418	103	62	distribution	distribution	NOUN
hjic-418	103	63	is	be	AUX
hjic-418	103	64	called	call	VERB
hjic-418	103	65	the	the	DET
hjic-418	103	66	slam	slam	NOUN
hjic-418	103	67	posterior	posterior	NOUN
hjic-418	103	68	.	.	PUNCT
hjic-418	104	1	considering	consider	VERB
hjic-418	104	2	the	the	DET
hjic-418	104	3	general	general	ADJ
hjic-418	104	4	state	state	NOUN
hjic-418	104	5	space	space	NOUN
hjic-418	104	6	model	model	NOUN
hjic-418	104	7	with	with	ADP
hjic-418	104	8	the	the	DET
hjic-418	104	9	hidden	hidden	ADJ
hjic-418	104	10	variables	variable	NOUN
hjic-418	104	11	ht	ht	PROPN
hjic-418	105	1	=	=	SYM
hjic-418	105	2	{	{	PUNCT
hjic-418	105	3	h0	h0	PROPN
hjic-418	105	4	,	,	PUNCT
hjic-418	105	5	h1	h1	PROPN
hjic-418	105	6	,	,	PUNCT
hjic-418	105	7	...	...	PUNCT
hjic-418	105	8	,	,	PUNCT
hjic-418	105	9	ht	ht	PROPN
hjic-418	105	10	}	}	PUNCT
hjic-418	105	11	and	and	CCONJ
hjic-418	105	12	the	the	DET
hjic-418	105	13	observed	observed	ADJ
hjic-418	105	14	variables	variable	NOUN
hjic-418	105	15	ot	ot	PUNCT
hjic-418	105	16	=	=	PUNCT
hjic-418	105	17	{	{	PUNCT
hjic-418	105	18	o0	o0	NOUN
hjic-418	105	19	,	,	PUNCT
hjic-418	105	20	o1	o1	NOUN
hjic-418	105	21	,	,	PUNCT
hjic-418	105	22	...	...	PUNCT
hjic-418	105	23	,	,	PUNCT
hjic-418	105	24	ot	ot	INTJ
hjic-418	105	25	}	}	PUNCT
hjic-418	105	26	,	,	PUNCT
hjic-418	105	27	the	the	DET
hjic-418	105	28	goal	goal	NOUN
hjic-418	105	29	is	be	AUX
hjic-418	105	30	to	to	PART
hjic-418	105	31	perform	perform	VERB
hjic-418	105	32	inference	inference	NOUN
hjic-418	105	33	on	on	ADP
hjic-418	105	34	the	the	DET
hjic-418	105	35	hidden	hidden	ADJ
hjic-418	105	36	variables	variable	NOUN
hjic-418	105	37	.	.	PUNCT
hjic-418	106	1	if	if	SCONJ
hjic-418	106	2	we	we	PRON
hjic-418	106	3	consider	consider	VERB
hjic-418	106	4	the	the	DET
hjic-418	106	5	known	know	VERB
hjic-418	106	6	observations	observation	NOUN
hjic-418	106	7	,	,	PUNCT
hjic-418	106	8	the	the	DET
hjic-418	106	9	bayesian	bayesian	NOUN
hjic-418	106	10	inference	inference	NOUN
hjic-418	106	11	relies	rely	VERB
hjic-418	106	12	on	on	ADP
hjic-418	106	13	the	the	DET
hjic-418	106	14	joint	joint	ADJ
hjic-418	106	15	posterior	posterior	ADJ
hjic-418	106	16	distribution	distribution	NOUN
hjic-418	106	17	p(ht	p(ht	NOUN
hjic-418	106	18	|	|	ADV
hjic-418	106	19	ot	ot	INTJ
hjic-418	106	20	)	)	PUNCT
hjic-418	106	21	.	.	PUNCT
hjic-418	107	1	if	if	SCONJ
hjic-418	107	2	the	the	DET
hjic-418	107	3	hidden	hidden	ADJ
hjic-418	107	4	variables	variable	NOUN
hjic-418	107	5	have	have	VERB
hjic-418	107	6	an	an	DET
hjic-418	107	7	initial	initial	ADJ
hjic-418	107	8	distribution	distribution	NOUN
hjic-418	107	9	p0(h0	p0(h0	NOUN
hjic-418	107	10	)	)	PUNCT
hjic-418	107	11	and	and	CCONJ
hjic-418	107	12	a	a	DET
hjic-418	107	13	transition	transition	NOUN
hjic-418	107	14	model	model	NOUN
hjic-418	107	15	p(ht	p(ht	ADP
hjic-418	107	16	|	|	ADV
hjic-418	107	17	ht–1	ht–1	NOUN
hjic-418	107	18	)	)	PUNCT
hjic-418	107	19	,	,	PUNCT
hjic-418	107	20	then	then	ADV
hjic-418	107	21	if	if	SCONJ
hjic-418	107	22	the	the	DET
hjic-418	107	23	observations	observation	NOUN
hjic-418	107	24	are	be	AUX
hjic-418	107	25	conditionally	conditionally	ADV
hjic-418	107	26	independent	independent	ADJ
hjic-418	107	27	,	,	PUNCT
hjic-418	107	28	there	there	PRON
hjic-418	107	29	exists	exist	VERB
hjic-418	107	30	the	the	DET
hjic-418	107	31	following	follow	VERB
hjic-418	107	32	recursive	recursive	ADJ
hjic-418	107	33	expression	expression	NOUN
hjic-418	107	34	for	for	ADP
hjic-418	107	35	the	the	DET
hjic-418	107	36	posterior	posterior	NOUN
hjic-418	107	37	,	,	PUNCT
hjic-418	107	38	which	which	PRON
hjic-418	107	39	can	can	AUX
hjic-418	107	40	be	be	AUX
hjic-418	107	41	updated	update	VERB
hjic-418	107	42	using	use	VERB
hjic-418	107	43	only	only	ADV
hjic-418	107	44	the	the	DET
hjic-418	107	45	observations	observation	NOUN
hjic-418	107	46	and	and	CCONJ
hjic-418	107	47	transition	transition	NOUN
hjic-418	107	48	models	model	NOUN
hjic-418	107	49	:	:	PUNCT
hjic-418	107	50	(	(	PUNCT
hjic-418	107	51	)	)	PUNCT
hjic-418	107	52	(	(	PUNCT
hjic-418	107	53	)	)	PUNCT
hjic-418	107	54	(	(	PUNCT
hjic-418	107	55	)	)	PUNCT
hjic-418	107	56	(	(	PUNCT
hjic-418	107	57	)	)	PUNCT
hjic-418	107	58	(	(	PUNCT
hjic-418	107	59	)	)	PUNCT
hjic-418	107	60	1	1	NUM
hjic-418	107	61	1	1	NUM
hjic-418	107	62	1	1	NUM
hjic-418	107	63	1	1	NUM
hjic-418	108	1	|	|	ADV
hjic-418	108	2	|	|	ADV
hjic-418	109	1	|	|	ADV
hjic-418	110	1	|	|	ADV
hjic-418	111	1	|	|	ADV
hjic-418	111	2	t	t	PROPN
hjic-418	111	3	t	t	PROPN
hjic-418	111	4	t	t	PROPN
hjic-418	111	5	t	t	PROPN
hjic-418	112	1	t	t	PROPN
hjic-418	112	2	t	t	PROPN
hjic-418	112	3	t	t	PROPN
hjic-418	112	4	t	t	PROPN
hjic-418	112	5	t	t	PROPN
hjic-418	112	6	p	p	X
hjic-418	112	7	o	o	NOUN
hjic-418	112	8	h	h	NOUN
hjic-418	113	1	p	p	NOUN
hjic-418	114	1	h	h	NOUN
hjic-418	115	1	h	h	NOUN
hjic-418	116	1	p	p	NOUN
hjic-418	116	2	h	h	NOUN
hjic-418	117	1	o	o	NOUN
hjic-418	117	2	p	p	NOUN
hjic-418	118	1	h	h	NOUN
hjic-418	119	1	o	o	NOUN
hjic-418	119	2	p	p	X
hjic-418	120	1	o	o	X
hjic-418	120	2	o	o	NOUN
hjic-418	120	3	−	−	NOUN
hjic-418	121	1	−	−	NOUN
hjic-418	121	2	−	−	NOUN
hjic-418	122	1	−	−	PROPN
hjic-418	122	2	=	=	SYM
hjic-418	122	3	,	,	PUNCT
hjic-418	122	4	(	(	PUNCT
hjic-418	122	5	3	3	X
hjic-418	122	6	)	)	PUNCT
hjic-418	122	7	particle	particle	NOUN
hjic-418	122	8	filters	filter	NOUN
hjic-418	122	9	are	be	AUX
hjic-418	122	10	mathematical	mathematical	ADJ
hjic-418	122	11	models	model	NOUN
hjic-418	122	12	that	that	PRON
hjic-418	122	13	represent	represent	VERB
hjic-418	122	14	the	the	DET
hjic-418	122	15	probability	probability	NOUN
hjic-418	122	16	distribution	distribution	NOUN
hjic-418	122	17	as	as	ADP
hjic-418	122	18	a	a	DET
hjic-418	122	19	set	set	NOUN
hjic-418	122	20	of	of	ADP
hjic-418	122	21	discrete	discrete	ADJ
hjic-418	122	22	particles	particle	NOUN
hjic-418	122	23	which	which	PRON
hjic-418	122	24	occupy	occupy	VERB
hjic-418	122	25	the	the	DET
hjic-418	122	26	state	state	NOUN
hjic-418	122	27	space	space	NOUN
hjic-418	122	28	.	.	PUNCT
hjic-418	123	1	in	in	ADP
hjic-418	123	2	the	the	DET
hjic-418	123	3	update	update	NOUN
hjic-418	123	4	step	step	NOUN
hjic-418	123	5	a	a	DET
hjic-418	123	6	new	new	ADJ
hjic-418	123	7	particle	particle	NOUN
hjic-418	123	8	distribution	distribution	NOUN
hjic-418	123	9	given	give	VERB
hjic-418	123	10	motion	motion	NOUN
hjic-418	123	11	model	model	NOUN
hjic-418	123	12	and	and	CCONJ
hjic-418	123	13	controls	control	NOUN
hjic-418	123	14	applied	apply	VERB
hjic-418	123	15	is	be	AUX
hjic-418	123	16	generated	generate	VERB
hjic-418	123	17	.	.	PUNCT
hjic-418	124	1	in	in	ADP
hjic-418	124	2	our	our	PRON
hjic-418	124	3	case	case	NOUN
hjic-418	124	4	the	the	DET
hjic-418	124	5	particle	particle	NOUN
hjic-418	124	6	filters	filter	NOUN
hjic-418	124	7	are	be	AUX
hjic-418	124	8	a	a	DET
hjic-418	124	9	sequential	sequential	ADJ
hjic-418	124	10	monte	monte	PROPN
hjic-418	124	11	carlo	carlo	PROPN
hjic-418	124	12	approximation	approximation	NOUN
hjic-418	124	13	to	to	ADP
hjic-418	124	14	the	the	DET
hjic-418	124	15	recursive	recursive	ADJ
hjic-418	124	16	bayesian	bayesian	NOUN
hjic-418	124	17	filter	filter	NOUN
hjic-418	124	18	.	.	PUNCT
hjic-418	125	1	particle	particle	NOUN
hjic-418	125	2	filters	filter	NOUN
hjic-418	125	3	provide	provide	VERB
hjic-418	125	4	a	a	DET
hjic-418	125	5	good	good	ADJ
hjic-418	125	6	implementation	implementation	NOUN
hjic-418	125	7	of	of	ADP
hjic-418	125	8	bayesian	bayesian	NOUN
hjic-418	125	9	filtering	filtering	NOUN
hjic-418	125	10	for	for	ADP
hjic-418	125	11	systems	system	NOUN
hjic-418	125	12	whose	whose	DET
hjic-418	125	13	belief	belief	NOUN
hjic-418	125	14	state	state	NOUN
hjic-418	125	15	,	,	PUNCT
hjic-418	125	16	process	process	NOUN
hjic-418	125	17	noise	noise	NOUN
hjic-418	125	18	,	,	PUNCT
hjic-418	125	19	and	and	CCONJ
hjic-418	125	20	sensor	sensor	NOUN
hjic-418	125	21	noise	noise	NOUN
hjic-418	125	22	are	be	AUX
hjic-418	125	23	modelled	model	VERB
hjic-418	125	24	by	by	ADP
hjic-418	125	25	non	non	ADJ
hjic-418	125	26	-	-	ADJ
hjic-418	125	27	parametric	parametric	ADJ
hjic-418	125	28	probability	probability	NOUN
hjic-418	125	29	density	density	NOUN
hjic-418	125	30	functions	function	NOUN
hjic-418	125	31	[	[	X
hjic-418	125	32	22	22	NUM
hjic-418	125	33	]	]	PUNCT
hjic-418	125	34	.	.	PUNCT
hjic-418	126	1	here	here	ADV
hjic-418	126	2	,	,	PUNCT
hjic-418	126	3	the	the	DET
hjic-418	126	4	particle	particle	NOUN
hjic-418	126	5	filter	filter	NOUN
hjic-418	126	6	is	be	AUX
hjic-418	126	7	set	set	VERB
hjic-418	126	8	to	to	PART
hjic-418	126	9	keep	keep	VERB
hjic-418	126	10	a	a	DET
hjic-418	126	11	discrete	discrete	ADJ
hjic-418	126	12	approximation	approximation	NOUN
hjic-418	126	13	for	for	ADP
hjic-418	126	14	the	the	DET
hjic-418	126	15	slam	slam	NOUN
hjic-418	126	16	posterior	posterior	NOUN
hjic-418	126	17	by	by	ADP
hjic-418	126	18	means	mean	NOUN
hjic-418	126	19	of	of	ADP
hjic-418	126	20	using	use	VERB
hjic-418	126	21	a	a	DET
hjic-418	126	22	large	large	ADJ
hjic-418	126	23	set	set	NOUN
hjic-418	126	24	of	of	ADP
hjic-418	126	25	particles	particle	NOUN
hjic-418	126	26	,	,	PUNCT
hjic-418	126	27	which	which	PRON
hjic-418	126	28	are	be	AUX
hjic-418	126	29	including	include	VERB
hjic-418	126	30	the	the	DET
hjic-418	126	31	state	state	NOUN
hjic-418	126	32	space	space	NOUN
hjic-418	126	33	for	for	ADP
hjic-418	126	34	the	the	DET
hjic-418	126	35	algorithm	algorithm	NOUN
hjic-418	126	36	:	:	PUNCT
hjic-418	126	37	s	s	X
hjic-418	126	38	=	=	PUNCT
hjic-418	126	39	{	{	PUNCT
hjic-418	126	40	xt	xt	PROPN
hjic-418	126	41	,	,	PUNCT
hjic-418	126	42	θ	θ	NOUN
hjic-418	126	43	}	}	PUNCT
hjic-418	126	44	.	.	PUNCT
hjic-418	127	1	so	so	ADV
hjic-418	127	2	we	we	PRON
hjic-418	127	3	obtain	obtain	VERB
hjic-418	127	4	a	a	DET
hjic-418	127	5	weighted	weighted	ADJ
hjic-418	127	6	approximation	approximation	NOUN
hjic-418	127	7	of	of	ADP
hjic-418	127	8	the	the	DET
hjic-418	127	9	bayes	bayes	PROPN
hjic-418	127	10	filter	filter	NOUN
hjic-418	127	11	:	:	PUNCT
hjic-418	127	12	(	(	PUNCT
hjic-418	127	13	)	)	PUNCT
hjic-418	127	14	(	(	PUNCT
hjic-418	127	15	)	)	PUNCT
hjic-418	127	16	(	(	PUNCT
hjic-418	127	17	)	)	PUNCT
hjic-418	127	18	1	1	NUM
hjic-418	128	1	|	|	ADV
hjic-418	128	2	,	,	PUNCT
hjic-418	128	3	no	no	PRON
hjic-418	128	4	of	of	ADP
hjic-418	128	5	samples	sample	NOUN
hjic-418	129	1	i	i	PRON
hjic-418	130	1	i	i	PRON
hjic-418	131	1	t	t	NOUN
hjic-418	132	1	t	t	PROPN
hjic-418	133	1	t	t	PROPN
hjic-418	133	2	t	t	PROPN
hjic-418	134	1	i	i	PRON
hjic-418	134	2	p	p	X
hjic-418	134	3	s	s	PROPN
hjic-418	134	4	z	z	NOUN
hjic-418	134	5	u	u	NOUN
hjic-418	134	6	w	w	PROPN
hjic-418	134	7	s	s	PROPN
hjic-418	134	8	=	=	SYM
hjic-418	134	9	≈	≈	PROPN
hjic-418	134	10	∑	∑	PUNCT
hjic-418	134	11	,	,	PUNCT
hjic-418	134	12	(	(	PUNCT
hjic-418	134	13	4	4	X
hjic-418	134	14	)	)	PUNCT
hjic-418	134	15	the	the	DET
hjic-418	134	16	particles	particle	NOUN
hjic-418	134	17	are	be	AUX
hjic-418	134	18	updated	update	VERB
hjic-418	134	19	taking	take	VERB
hjic-418	134	20	samples	sample	NOUN
hjic-418	134	21	:	:	PUNCT
hjic-418	134	22	(	(	PUNCT
hjic-418	134	23	)	)	PUNCT
hjic-418	134	24	(	(	PUNCT
hjic-418	134	25	)	)	PUNCT
hjic-418	134	26	(	(	PUNCT
hjic-418	134	27	)	)	PUNCT
hjic-418	134	28	1~	1~	NUM
hjic-418	134	29	|i	|i	NOUN
hjic-418	134	30	i	i	PRON
hjic-418	134	31	t	t	VERB
hjic-418	134	32	t	t	NOUN
hjic-418	134	33	ts	ts	ADP
hjic-418	134	34	q	q	PROPN
hjic-418	134	35	s	s	PROPN
hjic-418	134	36	s	s	X
hjic-418	134	37	−	−	NOUN
hjic-418	134	38	,	,	PUNCT
hjic-418	134	39	(	(	PUNCT
hjic-418	134	40	5	5	X
hjic-418	134	41	)	)	PUNCT
hjic-418	134	42	where	where	SCONJ
hjic-418	134	43	the	the	DET
hjic-418	134	44	last	last	ADJ
hjic-418	134	45	term	term	NOUN
hjic-418	134	46	in	in	ADP
hjic-418	134	47	the	the	DET
hjic-418	134	48	equation	equation	NOUN
hjic-418	134	49	is	be	AUX
hjic-418	134	50	a	a	DET
hjic-418	134	51	term	term	NOUN
hjic-418	134	52	from	from	ADP
hjic-418	134	53	which	which	PRON
hjic-418	134	54	samples	sample	NOUN
hjic-418	134	55	can	can	AUX
hjic-418	134	56	easily	easily	ADV
hjic-418	134	57	be	be	AUX
hjic-418	134	58	extracted	extract	VERB
hjic-418	134	59	.	.	PUNCT
hjic-418	135	1	so	so	ADV
hjic-418	135	2	the	the	DET
hjic-418	135	3	weights	weight	NOUN
hjic-418	135	4	’	'	PUNCT
hjic-418	135	5	update	update	NOUN
hjic-418	135	6	is	be	AUX
hjic-418	135	7	:	:	PUNCT
hjic-418	135	8	(	(	PUNCT
hjic-418	135	9	)	)	PUNCT
hjic-418	135	10	(	(	PUNCT
hjic-418	135	11	)	)	PUNCT
hjic-418	135	12	(	(	PUNCT
hjic-418	135	13	)	)	PUNCT
hjic-418	135	14	(	(	PUNCT
hjic-418	135	15	)	)	PUNCT
hjic-418	135	16	(	(	PUNCT
hjic-418	135	17	)	)	PUNCT
hjic-418	135	18	(	(	PUNCT
hjic-418	135	19	)	)	PUNCT
hjic-418	135	20	(	(	PUNCT
hjic-418	135	21	)	)	PUNCT
hjic-418	135	22	(	(	PUNCT
hjic-418	135	23	)	)	PUNCT
hjic-418	135	24	(	(	PUNCT
hjic-418	135	25	)	)	PUNCT
hjic-418	135	26	(	(	PUNCT
hjic-418	135	27	)	)	PUNCT
hjic-418	135	28	1	1	NUM
hjic-418	135	29	1	1	NUM
hjic-418	135	30	1	1	NUM
hjic-418	136	1	|	|	ADV
hjic-418	136	2	|	|	ADV
hjic-418	137	1	|	|	ADV
hjic-418	137	2	,	,	PUNCT
hjic-418	138	1	i	i	PRON
hjic-418	138	2	i	i	PRON
hjic-418	139	1	i	i	PRON
hjic-418	139	2	t	t	X
hjic-418	140	1	t	t	X
hjic-418	140	2	t	t	NOUN
hjic-418	140	3	ti	ti	INTJ
hjic-418	141	1	i	i	PRON
hjic-418	141	2	t	t	PROPN
hjic-418	142	1	t	t	NOUN
hjic-418	143	1	i	i	PRON
hjic-418	144	1	i	i	PRON
hjic-418	144	2	t	t	X
hjic-418	144	3	t	t	X
hjic-418	144	4	t	t	PROPN
hjic-418	145	1	p	p	PROPN
hjic-418	145	2	z	z	PROPN
hjic-418	145	3	s	s	X
hjic-418	145	4	p	p	X
hjic-418	145	5	s	s	X
hjic-418	145	6	s	s	X
hjic-418	145	7	w	w	NOUN
hjic-418	145	8	w	w	PROPN
hjic-418	145	9	q	q	PROPN
hjic-418	145	10	s	s	X
hjic-418	145	11	s	s	NOUN
hjic-418	145	12	z	z	NOUN
hjic-418	145	13	−	−	NOUN
hjic-418	145	14	−	−	PROPN
hjic-418	145	15	−	−	PROPN
hjic-418	145	16	∝	∝	PROPN
hjic-418	145	17	,	,	PUNCT
hjic-418	145	18	(	(	PUNCT
hjic-418	145	19	6	6	NUM
hjic-418	145	20	)	)	PUNCT
hjic-418	145	21	usually	usually	ADV
hjic-418	145	22	the	the	DET
hjic-418	145	23	motion	motion	NOUN
hjic-418	145	24	model	model	NOUN
hjic-418	145	25	is	be	AUX
hjic-418	145	26	used	use	VERB
hjic-418	145	27	p(xt	p(xt	NOUN
hjic-418	145	28	|	|	ADV
hjic-418	145	29	xt–1	xt–1	NUM
hjic-418	145	30	)	)	PUNCT
hjic-418	145	31	,	,	PUNCT
hjic-418	145	32	because	because	SCONJ
hjic-418	145	33	is	be	AUX
hjic-418	145	34	a	a	DET
hjic-418	145	35	normal	normal	ADJ
hjic-418	145	36	distribution	distribution	NOUN
hjic-418	145	37	and	and	CCONJ
hjic-418	145	38	allows	allow	VERB
hjic-418	145	39	us	we	PRON
hjic-418	145	40	to	to	PART
hjic-418	145	41	simplify	simplify	VERB
hjic-418	145	42	the	the	DET
hjic-418	145	43	weight	weight	NOUN
hjic-418	145	44	update	update	NOUN
hjic-418	145	45	equation	equation	NOUN
hjic-418	145	46	to	to	PART
hjic-418	145	47	:	:	PUNCT
hjic-418	145	48	(	(	PUNCT
hjic-418	145	49	)	)	PUNCT
hjic-418	145	50	(	(	PUNCT
hjic-418	145	51	)	)	PUNCT
hjic-418	145	52	(	(	PUNCT
hjic-418	145	53	)	)	PUNCT
hjic-418	145	54	(	(	PUNCT
hjic-418	145	55	)	)	PUNCT
hjic-418	145	56	1	1	NUM
hjic-418	145	57	|i	|i	NOUN
hjic-418	145	58	i	i	PRON
hjic-418	146	1	i	i	PRON
hjic-418	146	2	t	t	NOUN
hjic-418	146	3	t	t	PROPN
hjic-418	146	4	t	t	PROPN
hjic-418	146	5	tw	tw	PROPN
hjic-418	146	6	w	w	PROPN
hjic-418	146	7	p	p	PROPN
hjic-418	147	1	z	z	PROPN
hjic-418	147	2	s	s	PART
hjic-418	147	3	−	−	PROPN
hjic-418	147	4	∝	∝	NOUN
hjic-418	147	5	,	,	PUNCT
hjic-418	147	6	(	(	PUNCT
hjic-418	147	7	7	7	X
hjic-418	147	8	)	)	PUNCT
hjic-418	147	9	a	a	DET
hjic-418	147	10	problem	problem	NOUN
hjic-418	147	11	depicted	depict	VERB
hjic-418	147	12	by	by	ADP
hjic-418	147	13	the	the	DET
hjic-418	147	14	use	use	NOUN
hjic-418	147	15	of	of	ADP
hjic-418	147	16	st	st	PROPN
hjic-418	147	17	to	to	PART
hjic-418	147	18	wrap	wrap	VERB
hjic-418	147	19	the	the	DET
hjic-418	147	20	state	state	NOUN
hjic-418	147	21	space	space	NOUN
hjic-418	147	22	is	be	AUX
hjic-418	147	23	that	that	SCONJ
hjic-418	147	24	particle	particle	NOUN
hjic-418	147	25	filters	filter	NOUN
hjic-418	147	26	sample	sample	NOUN
hjic-418	147	27	over	over	ADP
hjic-418	147	28	the	the	DET
hjic-418	147	29	entire	entire	ADJ
hjic-418	147	30	state	state	NOUN
hjic-418	147	31	space	space	NOUN
hjic-418	147	32	of	of	ADP
hjic-418	147	33	the	the	DET
hjic-418	147	34	robot	robot	NOUN
hjic-418	147	35	.	.	PUNCT
hjic-418	148	1	as	as	ADV
hjic-418	148	2	long	long	ADV
hjic-418	148	3	as	as	SCONJ
hjic-418	148	4	this	this	DET
hjic-418	148	5	state	state	NOUN
hjic-418	148	6	space	space	NOUN
hjic-418	148	7	does	do	AUX
hjic-418	148	8	n’t	not	PART
hjic-418	148	9	have	have	VERB
hjic-418	148	10	big	big	ADJ
hjic-418	148	11	dimensions	dimension	NOUN
hjic-418	148	12	,	,	PUNCT
hjic-418	148	13	as	as	ADP
hjic-418	148	14	in	in	ADP
hjic-418	148	15	the	the	DET
hjic-418	148	16	case	case	NOUN
hjic-418	148	17	of	of	ADP
hjic-418	148	18	estimating	estimate	VERB
hjic-418	148	19	the	the	DET
hjic-418	148	20	position	position	NOUN
hjic-418	148	21	of	of	ADP
hjic-418	148	22	a	a	DET
hjic-418	148	23	vehicle	vehicle	NOUN
hjic-418	148	24	,	,	PUNCT
hjic-418	148	25	a	a	DET
hjic-418	148	26	few	few	ADJ
hjic-418	148	27	hundred	hundred	NUM
hjic-418	148	28	samples	sample	NOUN
hjic-418	148	29	will	will	AUX
hjic-418	148	30	adequately	adequately	ADV
hjic-418	148	31	represent	represent	VERB
hjic-418	148	32	the	the	DET
hjic-418	148	33	true	true	ADJ
hjic-418	148	34	distribution	distribution	NOUN
hjic-418	148	35	.	.	PUNCT
hjic-418	149	1	but	but	CCONJ
hjic-418	149	2	for	for	ADP
hjic-418	149	3	slam	slam	NOUN
hjic-418	149	4	,	,	PUNCT
hjic-418	149	5	the	the	DET
hjic-418	149	6	state	state	NOUN
hjic-418	149	7	space	space	NOUN
hjic-418	149	8	of	of	ADP
hjic-418	149	9	the	the	DET
hjic-418	149	10	robot	robot	NOUN
hjic-418	149	11	consists	consist	VERB
hjic-418	149	12	of	of	ADP
hjic-418	149	13	the	the	DET
hjic-418	149	14	robot	robot	NOUN
hjic-418	149	15	position	position	NOUN
hjic-418	149	16	and	and	CCONJ
hjic-418	149	17	the	the	DET
hjic-418	149	18	map	map	NOUN
hjic-418	149	19	,	,	PUNCT
hjic-418	149	20	so	so	CCONJ
hjic-418	149	21	it	it	PRON
hjic-418	149	22	becomes	become	VERB
hjic-418	149	23	pretty	pretty	ADV
hjic-418	149	24	large	large	ADJ
hjic-418	149	25	.	.	PUNCT
hjic-418	150	1	each	each	DET
hjic-418	150	2	particle	particle	NOUN
hjic-418	150	3	is	be	AUX
hjic-418	150	4	a	a	DET
hjic-418	150	5	sample	sample	NOUN
hjic-418	150	6	from	from	ADP
hjic-418	150	7	all	all	DET
hjic-418	150	8	possible	possible	ADJ
hjic-418	150	9	maps	map	NOUN
hjic-418	150	10	and	and	CCONJ
hjic-418	150	11	all	all	DET
hjic-418	150	12	possible	possible	ADJ
hjic-418	150	13	positions	position	NOUN
hjic-418	150	14	within	within	ADP
hjic-418	150	15	that	that	DET
hjic-418	150	16	map	map	NOUN
hjic-418	150	17	,	,	PUNCT
hjic-418	150	18	in	in	ADP
hjic-418	150	19	order	order	NOUN
hjic-418	150	20	to	to	PART
hjic-418	150	21	solve	solve	VERB
hjic-418	150	22	this	this	DET
hjic-418	150	23	problem	problem	NOUN
hjic-418	150	24	,	,	PUNCT
hjic-418	150	25	a	a	DET
hjic-418	150	26	solution	solution	NOUN
hjic-418	150	27	would	would	AUX
hjic-418	150	28	be	be	AUX
hjic-418	150	29	the	the	DET
hjic-418	150	30	rao	rao	NOUN
hjic-418	150	31	-	-	PUNCT
hjic-418	150	32	blackwellized	blackwellize	VERB
hjic-418	150	33	particle	particle	NOUN
hjic-418	150	34	filters	filter	NOUN
hjic-418	150	35	[	[	X
hjic-418	150	36	23	23	NUM
hjic-418	150	37	]	]	PUNCT
hjic-418	150	38	which	which	PRON
hjic-418	150	39	keeps	keep	VERB
hjic-418	150	40	the	the	DET
hjic-418	150	41	map	map	NOUN
hjic-418	150	42	portion	portion	NOUN
hjic-418	150	43	of	of	ADP
hjic-418	150	44	the	the	DET
hjic-418	150	45	state	state	NOUN
hjic-418	150	46	in	in	ADP
hjic-418	150	47	a	a	DET
hjic-418	150	48	computationally	computationally	ADV
hjic-418	150	49	efficient	efficient	ADJ
hjic-418	150	50	closed	closed	ADJ
hjic-418	150	51	form	form	NOUN
hjic-418	150	52	.	.	PUNCT
hjic-418	151	1	ellipse	ellipse	NOUN
hjic-418	151	2	fitting	fit	VERB
hjic-418	151	3	in	in	ADP
hjic-418	151	4	this	this	PRON
hjic-418	151	5	in	in	ADP
hjic-418	151	6	this	this	DET
hjic-418	151	7	paper	paper	NOUN
hjic-418	151	8	the	the	DET
hjic-418	151	9	used	use	VERB
hjic-418	151	10	form	form	NOUN
hjic-418	151	11	of	of	ADP
hjic-418	151	12	the	the	DET
hjic-418	151	13	quadratic	quadratic	ADJ
hjic-418	151	14	curve	curve	NOUN
hjic-418	151	15	has	have	VERB
hjic-418	151	16	the	the	DET
hjic-418	151	17	following	follow	VERB
hjic-418	151	18	form	form	NOUN
hjic-418	151	19	:	:	PUNCT
hjic-418	151	20	ax2	ax2	NOUN
hjic-418	151	21	+	+	CCONJ
hjic-418	151	22	2bxy	2bxy	NUM
hjic-418	151	23	+	+	CCONJ
hjic-418	151	24	cy2	cy2	PROPN
hjic-418	151	25	+	+	X
hjic-418	151	26	2dx	2dx	ADJ
hjic-418	151	27	+	+	CCONJ
hjic-418	151	28	2fy	2fy	ADJ
hjic-418	152	1	+	+	CCONJ
hjic-418	152	2	g	g	NOUN
hjic-418	152	3	=	=	SYM
hjic-418	152	4	0	0	NUM
hjic-418	152	5	,	,	PUNCT
hjic-418	152	6	(	(	PUNCT
hjic-418	152	7	8)	8)	NUM
hjic-418	152	8	coefficients	coefficient	NOUN
hjic-418	152	9	a	a	DET
hjic-418	152	10	,	,	PUNCT
hjic-418	152	11	b	b	NOUN
hjic-418	152	12	,	,	PUNCT
hjic-418	152	13	c	c	NOUN
hjic-418	152	14	,	,	PUNCT
hjic-418	152	15	d	d	NOUN
hjic-418	152	16	,	,	PUNCT
hjic-418	152	17	f	f	X
hjic-418	152	18	,	,	PUNCT
hjic-418	152	19	g	g	PROPN
hjic-418	152	20	are	be	AUX
hjic-418	152	21	giving	give	VERB
hjic-418	152	22	little	little	ADJ
hjic-418	152	23	input	input	NOUN
hjic-418	152	24	to	to	ADP
hjic-418	152	25	the	the	DET
hjic-418	152	26	shape	shape	NOUN
hjic-418	152	27	of	of	ADP
hjic-418	152	28	the	the	DET
hjic-418	152	29	ellipse	ellipse	NOUN
hjic-418	152	30	,	,	PUNCT
hjic-418	152	31	they	they	PRON
hjic-418	152	32	are	be	AUX
hjic-418	152	33	not	not	PART
hjic-418	152	34	unique	unique	ADJ
hjic-418	152	35	solutions	solution	NOUN
hjic-418	152	36	to	to	ADP
hjic-418	152	37	this	this	DET
hjic-418	152	38	equation	equation	NOUN
hjic-418	152	39	,	,	PUNCT
hjic-418	152	40	and	and	CCONJ
hjic-418	152	41	even	even	ADV
hjic-418	152	42	if	if	SCONJ
hjic-418	152	43	they	they	PRON
hjic-418	152	44	are	be	AUX
hjic-418	152	45	multiplied	multiply	VERB
hjic-418	152	46	by	by	ADP
hjic-418	152	47	a	a	DET
hjic-418	152	48	number	number	NOUN
hjic-418	152	49	δ	δ	NOUN
hjic-418	152	50	≠	≠	PROPN
hjic-418	152	51	0	0	NUM
hjic-418	152	52	the	the	DET
hjic-418	152	53	shape	shape	NOUN
hjic-418	152	54	of	of	ADP
hjic-418	152	55	the	the	DET
hjic-418	152	56	ellipse	ellipse	NOUN
hjic-418	152	57	will	will	AUX
hjic-418	152	58	not	not	PART
hjic-418	152	59	change	change	VERB
hjic-418	152	60	.	.	PUNCT
hjic-418	153	1	despite	despite	SCONJ
hjic-418	153	2	this	this	DET
hjic-418	153	3	issue	issue	NOUN
hjic-418	153	4	,	,	PUNCT
hjic-418	153	5	calculating	calculate	VERB
hjic-418	153	6	the	the	DET
hjic-418	153	7	coefficients	coefficient	NOUN
hjic-418	153	8	of	of	ADP
hjic-418	153	9	the	the	DET
hjic-418	153	10	algebraic	algebraic	ADJ
hjic-418	153	11	equation	equation	NOUN
hjic-418	153	12	it	it	PRON
hjic-418	153	13	is	be	AUX
hjic-418	153	14	possible	possible	ADJ
hjic-418	153	15	to	to	PART
hjic-418	153	16	extract	extract	VERB
hjic-418	153	17	the	the	DET
hjic-418	153	18	parameters	parameter	NOUN
hjic-418	153	19	of	of	ADP
hjic-418	153	20	the	the	DET
hjic-418	153	21	ellipse	ellipse	NOUN
hjic-418	153	22	.	.	PUNCT
hjic-418	154	1	the	the	DET
hjic-418	154	2	five	five	NUM
hjic-418	154	3	ellipse	ellipse	NOUN
hjic-418	154	4	parameters	parameter	NOUN
hjic-418	154	5	are	be	AUX
hjic-418	154	6	:	:	PUNCT
hjic-418	154	7	the	the	DET
hjic-418	154	8	coordinates	coordinate	NOUN
hjic-418	154	9	of	of	ADP
hjic-418	154	10	its	its	PRON
hjic-418	154	11	center	center	NOUN
hjic-418	154	12	x0	x0	PROPN
hjic-418	154	13	and	and	CCONJ
hjic-418	154	14	y0	y0	PROPN
hjic-418	154	15	,	,	PUNCT
hjic-418	154	16	the	the	DET
hjic-418	154	17	lengths	length	NOUN
hjic-418	154	18	of	of	ADP
hjic-418	154	19	the	the	DET
hjic-418	154	20	semi	semi	ADJ
hjic-418	154	21	-	-	ADJ
hjic-418	154	22	major	major	ADJ
hjic-418	154	23	axis	axis	NOUN
hjic-418	154	24	a	a	PRON
hjic-418	154	25	and	and	CCONJ
hjic-418	154	26	of	of	ADP
hjic-418	154	27	the	the	DET
hjic-418	154	28	semi	semi	ADJ
hjic-418	154	29	-	-	ADJ
hjic-418	154	30	minor	minor	ADJ
hjic-418	154	31	axis	axis	NOUN
hjic-418	154	32	b	b	NOUN
hjic-418	154	33	,	,	PUNCT
hjic-418	154	34	and	and	CCONJ
hjic-418	154	35	the	the	DET
hjic-418	154	36	angle	angle	NOUN
hjic-418	154	37	θ	θ	PROPN
hjic-418	154	38	between	between	ADP
hjic-418	154	39	the	the	DET
hjic-418	154	40	axis	axis	NOUN
hjic-418	154	41	and	and	CCONJ
hjic-418	154	42	the	the	DET
hjic-418	154	43	major	major	ADJ
hjic-418	154	44	axis	axis	NOUN
hjic-418	154	45	.	.	PUNCT
hjic-418	155	1	defining	define	VERB
hjic-418	155	2	a	a	DET
hjic-418	155	3	b	b	PROPN
hjic-418	155	4	d	d	X
hjic-418	155	5	b	b	PROPN
hjic-418	155	6	c	c	NOUN
hjic-418	155	7	f	f	PROPN
hjic-418	155	8	d	d	X
hjic-418	155	9	f	f	PROPN
hjic-418	155	10	g	g	PROPN
hjic-418	155	11	δ	δ	PROPN
hjic-418	155	12	=	=	PRON
hjic-418	155	13	,	,	PUNCT
hjic-418	155	14	(	(	PUNCT
hjic-418	155	15	9	9	NUM
hjic-418	155	16	)	)	PUNCT
hjic-418	155	17	,	,	PUNCT
hjic-418	155	18	a	a	DET
hjic-418	155	19	b	b	X
hjic-418	155	20	j	j	NOUN
hjic-418	155	21	i	i	PRON
hjic-418	155	22	a	a	DET
hjic-418	155	23	c	c	NOUN
hjic-418	155	24	b	b	NOUN
hjic-418	155	25	c	c	NOUN
hjic-418	155	26	=	=	PUNCT
hjic-418	156	1	=	=	PUNCT
hjic-418	156	2	+	+	CCONJ
hjic-418	156	3	,	,	PUNCT
hjic-418	156	4	(	(	PUNCT
hjic-418	156	5	10	10	NUM
hjic-418	156	6	)	)	PUNCT
hjic-418	156	7	the	the	DET
hjic-418	156	8	curve	curve	NOUN
hjic-418	156	9	is	be	AUX
hjic-418	156	10	an	an	DET
hjic-418	156	11	ellipse	ellipse	NOUN
hjic-418	156	12	if	if	SCONJ
hjic-418	156	13	the	the	DET
hjic-418	156	14	following	follow	VERB
hjic-418	156	15	conditions	condition	NOUN
hjic-418	156	16	are	be	AUX
hjic-418	156	17	true	true	ADJ
hjic-418	156	18	0	0	NUM
hjic-418	156	19	,	,	PUNCT
hjic-418	156	20	0	0	NUM
hjic-418	156	21	0j	0j	NOUN
hjic-418	156	22	and	and	CCONJ
hjic-418	156	23	i	i	PRON
hjic-418	156	24	δ	δ	PROPN
hjic-418	156	25	≠	≠	PROPN
hjic-418	156	26	>	>	X
hjic-418	156	27	<	<	X
hjic-418	156	28	δ	δ	PROPN
hjic-418	156	29	,	,	PUNCT
hjic-418	156	30	(	(	PUNCT
hjic-418	156	31	11	11	NUM
hjic-418	156	32	)	)	PUNCT
hjic-418	156	33	assuming	assume	VERB
hjic-418	156	34	that	that	SCONJ
hjic-418	156	35	the	the	DET
hjic-418	156	36	ellipse	ellipse	NOUN
hjic-418	156	37	is	be	AUX
hjic-418	156	38	nondegenerate	nondegenerate	ADJ
hjic-418	156	39	,	,	PUNCT
hjic-418	156	40	if	if	SCONJ
hjic-418	156	41	it	it	PRON
hjic-418	156	42	is	be	AUX
hjic-418	156	43	not	not	PART
hjic-418	156	44	a	a	DET
hjic-418	156	45	circle	circle	NOUN
hjic-418	156	46	a	a	DET
hjic-418	156	47	≠	≠	PROPN
hjic-418	156	48	c	c	NOUN
hjic-418	157	1	and	and	CCONJ
hjic-418	157	2	we	we	PRON
hjic-418	157	3	know	know	VERB
hjic-418	157	4	that	that	PRON
hjic-418	157	5	is	be	AUX
hjic-418	157	6	not	not	PART
hjic-418	157	7	a	a	DET
hjic-418	157	8	point	point	NOUN
hjic-418	157	9	,	,	PUNCT
hjic-418	157	10	since	since	SCONJ
hjic-418	157	11	j	j	PROPN
hjic-418	157	12	=	=	SYM
hjic-418	157	13	ac	ac	PROPN
hjic-418	157	14	–	–	PUNCT
hjic-418	157	15	b2	b2	NOUN
hjic-418	157	16	≠	≠	PROPN
hjic-418	157	17	0	0	NUM
hjic-418	157	18	,	,	PUNCT
hjic-418	157	19	(	(	PUNCT
hjic-418	157	20	12	12	NUM
hjic-418	157	21	)	)	PUNCT
hjic-418	157	22	after	after	ADP
hjic-418	157	23	obtaining	obtain	VERB
hjic-418	157	24	the	the	DET
hjic-418	157	25	coefficients	coefficient	NOUN
hjic-418	157	26	of	of	ADP
hjic-418	157	27	the	the	DET
hjic-418	157	28	algebraic	algebraic	ADJ
hjic-418	157	29	equation	equation	NOUN
hjic-418	157	30	the	the	DET
hjic-418	157	31	parameters	parameter	NOUN
hjic-418	157	32	of	of	ADP
hjic-418	157	33	the	the	DET
hjic-418	157	34	ellipse	ellipse	NOUN
hjic-418	157	35	can	can	AUX
hjic-418	157	36	be	be	AUX
hjic-418	157	37	calculated	calculate	VERB
hjic-418	157	38	:	:	PUNCT
hjic-418	157	39	the	the	DET
hjic-418	157	40	center	center	NOUN
hjic-418	157	41	of	of	ADP
hjic-418	157	42	the	the	DET
hjic-418	157	43	ellipse	ellipse	NOUN
hjic-418	157	44	:	:	PUNCT
hjic-418	157	45	0	0	NUM
hjic-418	157	46	02	02	NUM
hjic-418	157	47	2	2	NUM
hjic-418	157	48	,	,	PUNCT
hjic-418	158	1	cd	cd	NOUN
hjic-418	158	2	bf	bf	NOUN
hjic-418	158	3	af	af	PROPN
hjic-418	158	4	bd	bd	PROPN
hjic-418	158	5	x	x	PROPN
hjic-418	159	1	y	y	PROPN
hjic-418	159	2	b	b	PROPN
hjic-418	159	3	ac	ac	PROPN
hjic-418	159	4	b	b	PROPN
hjic-418	159	5	ac	ac	PROPN
hjic-418	159	6	−	−	PROPN
hjic-418	160	1	−	−	PROPN
hjic-418	160	2	=	=	PUNCT
hjic-418	160	3	=	=	PUNCT
hjic-418	161	1	−	−	PROPN
hjic-418	161	2	−	−	PROPN
hjic-418	161	3	,	,	PUNCT
hjic-418	161	4	(	(	PUNCT
hjic-418	161	5	13	13	NUM
hjic-418	161	6	)	)	PUNCT
hjic-418	161	7	the	the	DET
hjic-418	161	8	semi	semi	ADJ
hjic-418	161	9	-	-	ADJ
hjic-418	161	10	axis	axis	ADJ
hjic-418	161	11	lengths	length	NOUN
hjic-418	161	12	:	:	PUNCT
hjic-418	161	13	(	(	PUNCT
hjic-418	161	14	)	)	PUNCT
hjic-418	161	15	(	(	PUNCT
hjic-418	161	16	)	)	PUNCT
hjic-418	161	17	(	(	PUNCT
hjic-418	161	18	)	)	PUNCT
hjic-418	161	19	(	(	PUNCT
hjic-418	161	20	)	)	PUNCT
hjic-418	161	21	2	2	NUM
hjic-418	161	22	2	2	NUM
hjic-418	161	23	2	2	NUM
hjic-418	161	24	'	'	PART
hjic-418	161	25	22	22	NUM
hjic-418	161	26	2	2	NUM
hjic-418	161	27	2	2	NUM
hjic-418	161	28	2	2	NUM
hjic-418	161	29	4	4	NUM
hjic-418	161	30	af	af	NOUN
hjic-418	161	31	cd	cd	PROPN
hjic-418	161	32	gb	gb	ADP
hjic-418	161	33	bdf	bdf	NOUN
hjic-418	161	34	acg	acg	PROPN
hjic-418	161	35	a	a	DET
hjic-418	161	36	b	b	PROPN
hjic-418	161	37	ac	ac	ADP
hjic-418	161	38	a	a	DET
hjic-418	161	39	c	c	PROPN
hjic-418	161	40	b	b	PROPN
hjic-418	161	41	a	a	DET
hjic-418	161	42	c	c	NOUN
hjic-418	161	43	+	+	CCONJ
hjic-418	161	44	+	+	CCONJ
hjic-418	161	45	−	−	NOUN
hjic-418	161	46	−	−	PROPN
hjic-418	161	47	=	=	PUNCT
hjic-418	162	1	−	−	PROPN
hjic-418	162	2	−	−	PROPN
hjic-418	163	1	+	+	CCONJ
hjic-418	164	1	−	−	PROPN
hjic-418	164	2	+	+	NOUN
hjic-418	164	3	⎡	⎡	ADJ
hjic-418	164	4	⎤	⎤	NOUN
hjic-418	164	5	⎣	⎣	ADJ
hjic-418	164	6	⎦	⎦	NOUN
hjic-418	164	7	,	,	PUNCT
hjic-418	164	8	(	(	PUNCT
hjic-418	164	9	14	14	NUM
hjic-418	164	10	)	)	SYM
hjic-418	164	11	2	2	NUM
hjic-418	164	12	2	2	NUM
hjic-418	164	13	2	2	NUM
hjic-418	164	14	'	'	NUM
hjic-418	164	15	2	2	NUM
hjic-418	164	16	2	2	NUM
hjic-418	164	17	2	2	NUM
hjic-418	164	18	2	2	NUM
hjic-418	164	19	(	(	PUNCT
hjic-418	164	20	2	2	NUM
hjic-418	164	21	)	)	PUNCT
hjic-418	164	22	(	(	PUNCT
hjic-418	164	23	)	)	PUNCT
hjic-418	164	24	(	(	PUNCT
hjic-418	164	25	)	)	PUNCT
hjic-418	164	26	4	4	NUM
hjic-418	164	27	(	(	PUNCT
hjic-418	164	28	)	)	PUNCT
hjic-418	164	29	af	af	PROPN
hjic-418	164	30	cd	cd	PROPN
hjic-418	164	31	gb	gb	ADP
hjic-418	164	32	bdf	bdf	PROPN
hjic-418	164	33	acg	acg	PROPN
hjic-418	164	34	b	b	PROPN
hjic-418	164	35	b	b	PROPN
hjic-418	164	36	ac	ac	PROPN
hjic-418	164	37	a	a	DET
hjic-418	164	38	c	c	PROPN
hjic-418	164	39	b	b	PROPN
hjic-418	164	40	a	a	DET
hjic-418	164	41	c	c	NOUN
hjic-418	164	42	+	+	CCONJ
hjic-418	164	43	+	+	CCONJ
hjic-418	164	44	−	−	NOUN
hjic-418	164	45	−	−	PROPN
hjic-418	164	46	=	=	SYM
hjic-418	164	47	−	−	PROPN
hjic-418	164	48	−	−	PROPN
hjic-418	165	1	−	−	PROPN
hjic-418	166	1	+	+	CCONJ
hjic-418	167	1	−	−	PROPN
hjic-418	167	2	+	+	NOUN
hjic-418	167	3	⎡	⎡	ADJ
hjic-418	167	4	⎤	⎤	NOUN
hjic-418	167	5	⎣	⎣	ADJ
hjic-418	167	6	⎦	⎦	NOUN
hjic-418	167	7	,	,	PUNCT
hjic-418	167	8	(	(	PUNCT
hjic-418	167	9	15	15	NUM
hjic-418	167	10	)	)	PUNCT
hjic-418	167	11	241	241	NUM
hjic-418	167	12	the	the	DET
hjic-418	167	13	counterclockwise	counterclockwise	NOUN
hjic-418	167	14	angle	angle	NOUN
hjic-418	167	15	of	of	ADP
hjic-418	167	16	rotation	rotation	NOUN
hjic-418	167	17	:	:	PUNCT
hjic-418	167	18	(	(	PUNCT
hjic-418	167	19	)	)	PUNCT
hjic-418	167	20	(	(	PUNCT
hjic-418	167	21	)	)	PUNCT
hjic-418	167	22	(	(	PUNCT
hjic-418	167	23	)	)	PUNCT
hjic-418	167	24	(	(	PUNCT
hjic-418	167	25	)	)	PUNCT
hjic-418	167	26	1	1	NUM
hjic-418	167	27	1	1	NUM
hjic-418	167	28	1	1	NUM
hjic-418	167	29	|	|	ADV
hjic-418	167	30	0	0	NUM
hjic-418	167	31	0	0	NUM
hjic-418	167	32	1	1	NUM
hjic-418	167	33	0	0	NUM
hjic-418	167	34	2	2	NUM
hjic-418	167	35	1	1	NUM
hjic-418	167	36	/	/	SYM
hjic-418	167	37	2	2	NUM
hjic-418	167	38	cot	cot	NOUN
hjic-418	167	39	0	0	NUM
hjic-418	167	40	2	2	NUM
hjic-418	167	41	1	1	NUM
hjic-418	167	42	0	0	NUM
hjic-418	167	43	2	2	NUM
hjic-418	167	44	2	2	NUM
hjic-418	167	45	cot	cot	NOUN
hjic-418	167	46	2	2	NUM
hjic-418	168	1	i	i	PRON
hjic-418	169	1	i	i	PRON
hjic-418	170	1	i	i	PRON
hjic-418	170	2	t	t	X
hjic-418	170	3	t	t	PROPN
hjic-418	170	4	t	t	PROPN
hjic-418	170	5	tw	tw	PROPN
hjic-418	170	6	w	w	PROPN
hjic-418	170	7	p	p	PROPN
hjic-418	170	8	z	z	PROPN
hjic-418	170	9	s	s	PROPN
hjic-418	170	10	for	for	ADP
hjic-418	170	11	b	b	NOUN
hjic-418	170	12	and	and	CCONJ
hjic-418	170	13	a	a	DET
hjic-418	170	14	c	c	NOUN
hjic-418	170	15	for	for	ADP
hjic-418	170	16	b	b	PROPN
hjic-418	170	17	and	and	CCONJ
hjic-418	170	18	a	a	DET
hjic-418	170	19	c	c	NOUN
hjic-418	170	20	a	a	DET
hjic-418	170	21	c	c	NOUN
hjic-418	170	22	for	for	ADP
hjic-418	170	23	b	b	PROPN
hjic-418	170	24	and	and	CCONJ
hjic-418	170	25	a	a	DET
hjic-418	170	26	c	c	PROPN
hjic-418	170	27	b	b	PROPN
hjic-418	170	28	for	for	ADP
hjic-418	170	29	b	b	PROPN
hjic-418	170	30	and	and	CCONJ
hjic-418	170	31	a	a	DET
hjic-418	170	32	c	c	NOUN
hjic-418	170	33	a	a	DET
hjic-418	170	34	c	c	NOUN
hjic-418	170	35	b	b	PROPN
hjic-418	170	36	∅	∅	NOUN
hjic-418	171	1	π	π	NOUN
hjic-418	171	2	π	π	NOUN
hjic-418	171	3	−	−	PROPN
hjic-418	171	4	−	−	PROPN
hjic-418	171	5	−	−	PROPN
hjic-418	171	6	∝	∝	NOUN
hjic-418	171	7	=	=	PUNCT
hjic-418	172	1	=	=	PUNCT
hjic-418	172	2	<	<	X
hjic-418	172	3	=	=	X
hjic-418	172	4	>	>	X
hjic-418	172	5	−	−	PROPN
hjic-418	173	1	≠	≠	PROPN
hjic-418	173	2	<	<	X
hjic-418	173	3	+	+	X
hjic-418	173	4	≠	≠	PROPN
hjic-418	173	5	>	>	PUNCT
hjic-418	173	6	−	−	PROPN
hjic-418	173	7	⎧	⎧	PROPN
hjic-418	173	8	⎪	⎪	NOUN
hjic-418	173	9	⎪	⎪	NOUN
hjic-418	173	10	⎪	⎪	NOUN
hjic-418	173	11	⎪	⎪	NOUN
hjic-418	173	12	⎛	⎛	NOUN
hjic-418	173	13	⎞⎨	⎞⎨	ADJ
hjic-418	173	14	⎜	⎜	PROPN
hjic-418	173	15	⎟	⎟	PROPN
hjic-418	173	16	⎝	⎝	NUM
hjic-418	173	17	⎠⎪	⎠⎪	PROPN
hjic-418	173	18	⎪	⎪	NOUN
hjic-418	173	19	⎪	⎪	NOUN
hjic-418	173	20	⎛	⎛	NOUN
hjic-418	173	21	⎞⎪	⎞⎪	NOUN
hjic-418	173	22	⎜	⎜	PROPN
hjic-418	173	23	⎟	⎟	PROPN
hjic-418	173	24	⎩	⎩	NUM
hjic-418	173	25	⎝	⎝	X
hjic-418	173	26	⎠	⎠	NOUN
hjic-418	173	27	,	,	PUNCT
hjic-418	173	28	(	(	PUNCT
hjic-418	173	29	16	16	NUM
hjic-418	173	30	)	)	PUNCT
hjic-418	173	31	the	the	DET
hjic-418	173	32	ellipse	ellipse	NOUN
hjic-418	173	33	’s	’s	PART
hjic-418	173	34	parametric	parametric	ADJ
hjic-418	173	35	equation	equation	NOUN
hjic-418	173	36	is	be	AUX
hjic-418	173	37	:	:	PUNCT
hjic-418	173	38	0	0	NUM
hjic-418	173	39	0	0	NUM
hjic-418	173	40	0	0	NUM
hjic-418	173	41	2	2	NUM
hjic-418	173	42	xx	xx	NUM
hjic-418	173	43	cos	cos	PROPN
hjic-418	173	44	sin	sin	PROPN
hjic-418	173	45	acost	acost	NOUN
hjic-418	173	46	t	t	PROPN
hjic-418	173	47	yy	yy	PROPN
hjic-418	173	48	sin	sin	PROPN
hjic-418	173	49	cos	cos	PROPN
hjic-418	173	50	bsint	bsint	NOUN
hjic-418	173	51	θ	θ	PROPN
hjic-418	173	52	θ	θ	PUNCT
hjic-418	174	1	π	π	X
hjic-418	174	2	θ	θ	PUNCT
hjic-418	174	3	θ	θ	NOUN
hjic-418	174	4	−	−	NOUN
hjic-418	175	1	=	=	PUNCT
hjic-418	176	1	+	+	NUM
hjic-418	176	2	≤	≤	ADJ
hjic-418	176	3	≤	≤	NUM
hjic-418	176	4	⎡	⎡	AUX
hjic-418	176	5	⎤⎡	⎤⎡	NOUN
hjic-418	176	6	⎤	⎤	PROPN
hjic-418	176	7	⎡	⎡	VERB
hjic-418	176	8	⎤	⎤	PROPN
hjic-418	176	9	⎡	⎡	VERB
hjic-418	176	10	⎤	⎤	PROPN
hjic-418	176	11	⎢	⎢	ADV
hjic-418	176	12	⎥⎢	⎥⎢	VERB
hjic-418	176	13	⎥	⎥	PROPN
hjic-418	176	14	⎢	⎢	NOUN
hjic-418	176	15	⎥	⎥	PROPN
hjic-418	176	16	⎢	⎢	NOUN
hjic-418	176	17	⎥⎣	⎥⎣	PROPN
hjic-418	176	18	⎦	⎦	NOUN
hjic-418	176	19	⎣	⎣	ADJ
hjic-418	176	20	⎦	⎦	NOUN
hjic-418	176	21	⎣	⎣	NOUN
hjic-418	176	22	⎦⎣	⎦⎣	VERB
hjic-418	176	23	⎦	⎦	NOUN
hjic-418	176	24	,	,	PUNCT
hjic-418	176	25	(	(	PUNCT
hjic-418	176	26	17	17	NUM
hjic-418	176	27	)	)	PUNCT
hjic-418	176	28	the	the	DET
hjic-418	176	29	objective	objective	NOUN
hjic-418	176	30	is	be	AUX
hjic-418	176	31	to	to	PART
hjic-418	176	32	calculate	calculate	VERB
hjic-418	176	33	the	the	DET
hjic-418	176	34	ellipse	ellipse	NOUN
hjic-418	176	35	’s	’s	PART
hjic-418	176	36	parameters	parameter	NOUN
hjic-418	176	37	using	use	VERB
hjic-418	176	38	the	the	DET
hjic-418	176	39	coefficients	coefficient	NOUN
hjic-418	176	40	from	from	ADP
hjic-418	176	41	the	the	DET
hjic-418	176	42	algebraic	algebraic	ADJ
hjic-418	176	43	equation	equation	NOUN
hjic-418	176	44	(	(	PUNCT
hjic-418	176	45	8)	8)	NUM
hjic-418	176	46	.	.	PUNCT
hjic-418	177	1	experimental	experimental	ADJ
hjic-418	177	2	results	result	NOUN
hjic-418	177	3	the	the	DET
hjic-418	177	4	experimented	experimented	ADJ
hjic-418	177	5	algorithms	algorithm	NOUN
hjic-418	177	6	are	be	AUX
hjic-418	177	7	based	base	VERB
hjic-418	177	8	on	on	ADP
hjic-418	177	9	mixture	mixture	NOUN
hjic-418	177	10	gaussian	gaussian	NOUN
hjic-418	177	11	models	model	NOUN
hjic-418	177	12	,	,	PUNCT
hjic-418	177	13	expectation	expectation	NOUN
hjic-418	177	14	-	-	PUNCT
hjic-418	177	15	maximization	maximization	NOUN
hjic-418	177	16	algorithm	algorithm	NOUN
hjic-418	177	17	and	and	CCONJ
hjic-418	177	18	the	the	DET
hjic-418	177	19	formulas	formula	NOUN
hjic-418	177	20	presented	present	VERB
hjic-418	177	21	in	in	ADP
hjic-418	177	22	chapter	chapter	NOUN
hjic-418	177	23	ellipse	ellipse	NOUN
hjic-418	177	24	fitting	fitting	ADJ
hjic-418	177	25	.	.	PUNCT
hjic-418	178	1	the	the	DET
hjic-418	178	2	acquired	acquire	VERB
hjic-418	178	3	data	datum	NOUN
hjic-418	178	4	set	set	VERB
hjic-418	178	5	is	be	AUX
hjic-418	178	6	clustered	cluster	VERB
hjic-418	178	7	into	into	ADP
hjic-418	178	8	groups	group	NOUN
hjic-418	178	9	which	which	PRON
hjic-418	178	10	are	be	AUX
hjic-418	178	11	representing	represent	VERB
hjic-418	178	12	the	the	DET
hjic-418	178	13	same	same	ADJ
hjic-418	178	14	object	object	NOUN
hjic-418	178	15	.	.	PUNCT
hjic-418	179	1	as	as	SCONJ
hjic-418	179	2	can	can	AUX
hjic-418	179	3	be	be	AUX
hjic-418	179	4	seen	see	VERB
hjic-418	179	5	in	in	ADP
hjic-418	179	6	fig	fig	NOUN
hjic-418	179	7	.	.	PUNCT
hjic-418	180	1	4	4	NUM
hjic-418	180	2	the	the	DET
hjic-418	180	3	environment	environment	NOUN
hjic-418	180	4	is	be	AUX
hjic-418	180	5	presenting	present	VERB
hjic-418	180	6	the	the	DET
hjic-418	180	7	office	office	NOUN
hjic-418	180	8	and	and	CCONJ
hjic-418	180	9	the	the	DET
hjic-418	180	10	detected	detect	VERB
hjic-418	180	11	obstacles	obstacle	NOUN
hjic-418	180	12	which	which	PRON
hjic-418	180	13	are	be	AUX
hjic-418	180	14	the	the	DET
hjic-418	180	15	desks	desk	NOUN
hjic-418	180	16	shown	show	VERB
hjic-418	180	17	with	with	ADP
hjic-418	180	18	different	different	ADJ
hjic-418	180	19	colour	colour	NOUN
hjic-418	180	20	.	.	PUNCT
hjic-418	181	1	to	to	ADP
hjic-418	181	2	each	each	DET
hjic-418	181	3	obstacle	obstacle	NOUN
hjic-418	181	4	an	an	DET
hjic-418	181	5	ellipse	ellipse	NOUN
hjic-418	181	6	is	be	AUX
hjic-418	181	7	fitted	fit	VERB
hjic-418	181	8	and	and	CCONJ
hjic-418	181	9	a	a	DET
hjic-418	181	10	trajectory	trajectory	NOUN
hjic-418	181	11	is	be	AUX
hjic-418	181	12	built	build	VERB
hjic-418	181	13	from	from	ADP
hjic-418	181	14	the	the	DET
hjic-418	181	15	set	set	NOUN
hjic-418	181	16	of	of	ADP
hjic-418	181	17	the	the	DET
hjic-418	181	18	waypoints	waypoint	NOUN
hjic-418	181	19	obtained	obtain	VERB
hjic-418	181	20	after	after	ADP
hjic-418	181	21	the	the	DET
hjic-418	181	22	connection	connection	NOUN
hjic-418	181	23	of	of	ADP
hjic-418	181	24	the	the	DET
hjic-418	181	25	neighbour	neighbour	ADJ
hjic-418	181	26	ellipses	ellipsis	NOUN
hjic-418	181	27	.	.	PUNCT
hjic-418	182	1	this	this	DET
hjic-418	182	2	path	path	NOUN
hjic-418	182	3	planning	planning	NOUN
hjic-418	182	4	method	method	NOUN
hjic-418	182	5	is	be	AUX
hjic-418	182	6	combined	combine	VERB
hjic-418	182	7	with	with	ADP
hjic-418	182	8	the	the	DET
hjic-418	182	9	localization	localization	NOUN
hjic-418	182	10	algorithm	algorithm	NOUN
hjic-418	182	11	based	base	VERB
hjic-418	182	12	on	on	ADP
hjic-418	182	13	surf	surf	NOUN
hjic-418	182	14	.	.	PUNCT
hjic-418	183	1	the	the	DET
hjic-418	183	2	objective	objective	NOUN
hjic-418	183	3	is	be	AUX
hjic-418	183	4	to	to	PART
hjic-418	183	5	gain	gain	VERB
hjic-418	183	6	an	an	DET
hjic-418	183	7	efficient	efficient	ADJ
hjic-418	183	8	localization	localization	NOUN
hjic-418	183	9	which	which	PRON
hjic-418	183	10	allows	allow	VERB
hjic-418	183	11	the	the	DET
hjic-418	183	12	tracking	tracking	NOUN
hjic-418	183	13	of	of	ADP
hjic-418	183	14	the	the	DET
hjic-418	183	15	calculated	calculate	VERB
hjic-418	183	16	trajectory	trajectory	NOUN
hjic-418	183	17	(	(	PUNCT
hjic-418	183	18	fig	fig	NOUN
hjic-418	183	19	.	.	PUNCT
hjic-418	183	20	5	5	NUM
hjic-418	183	21	)	)	PUNCT
hjic-418	183	22	.	.	PUNCT
hjic-418	184	1	figure	figure	VERB
hjic-418	184	2	4	4	NUM
hjic-418	184	3	:	:	PUNCT
hjic-418	184	4	the	the	DET
hjic-418	184	5	optimal	optimal	ADJ
hjic-418	184	6	trajectory	trajectory	NOUN
hjic-418	184	7	obtained	obtain	VERB
hjic-418	184	8	after	after	ADP
hjic-418	184	9	applying	apply	VERB
hjic-418	184	10	the	the	DET
hjic-418	184	11	algorithm	algorithm	NOUN
hjic-418	184	12	figure	figure	NOUN
hjic-418	184	13	5	5	NUM
hjic-418	184	14	:	:	PUNCT
hjic-418	184	15	result	result	NOUN
hjic-418	184	16	of	of	ADP
hjic-418	184	17	the	the	DET
hjic-418	184	18	proposed	propose	VERB
hjic-418	184	19	algorithm	algorithm	NOUN
hjic-418	184	20	after	after	ADP
hjic-418	184	21	four	four	NUM
hjic-418	184	22	steps	step	NOUN
hjic-418	184	23	(	(	PUNCT
hjic-418	184	24	top	top	ADJ
hjic-418	184	25	view	view	NOUN
hjic-418	184	26	)	)	PUNCT
hjic-418	184	27	future	future	ADJ
hjic-418	184	28	work	work	NOUN
hjic-418	184	29	our	our	PRON
hjic-418	184	30	future	future	ADJ
hjic-418	184	31	work	work	NOUN
hjic-418	184	32	is	be	AUX
hjic-418	184	33	aimed	aim	VERB
hjic-418	184	34	at	at	ADP
hjic-418	184	35	obtaining	obtain	VERB
hjic-418	184	36	a	a	DET
hjic-418	184	37	multi	multi	ADJ
hjic-418	184	38	-	-	ADJ
hjic-418	184	39	robot	robot	ADJ
hjic-418	184	40	system	system	NOUN
hjic-418	184	41	capable	capable	ADJ
hjic-418	184	42	of	of	ADP
hjic-418	184	43	performing	perform	VERB
hjic-418	184	44	active	active	ADJ
hjic-418	184	45	large	large	ADJ
hjic-418	184	46	scale	scale	NOUN
hjic-418	184	47	area	area	NOUN
hjic-418	184	48	simultaneous	simultaneous	ADJ
hjic-418	184	49	localization	localization	NOUN
hjic-418	184	50	and	and	CCONJ
hjic-418	184	51	mapping	mapping	NOUN
hjic-418	184	52	.	.	PUNCT
hjic-418	185	1	to	to	PART
hjic-418	185	2	accomplish	accomplish	VERB
hjic-418	185	3	this	this	DET
hjic-418	185	4	goal	goal	NOUN
hjic-418	185	5	in	in	ADP
hjic-418	185	6	an	an	DET
hjic-418	185	7	efficient	efficient	ADJ
hjic-418	185	8	data	data	NOUN
hjic-418	185	9	management	management	NOUN
hjic-418	185	10	manner	manner	NOUN
hjic-418	185	11	the	the	DET
hjic-418	185	12	bag	bag	NOUN
hjic-418	185	13	of	of	ADP
hjic-418	185	14	words	word	NOUN
hjic-418	185	15	representations	representation	NOUN
hjic-418	185	16	will	will	AUX
hjic-418	185	17	be	be	AUX
hjic-418	185	18	used	use	VERB
hjic-418	185	19	.	.	PUNCT
hjic-418	186	1	the	the	DET
hjic-418	186	2	laser	laser	NOUN
hjic-418	186	3	system	system	NOUN
hjic-418	186	4	will	will	AUX
hjic-418	186	5	be	be	AUX
hjic-418	186	6	combined	combine	VERB
hjic-418	186	7	with	with	ADP
hjic-418	186	8	the	the	DET
hjic-418	186	9	markovian	markovian	ADJ
hjic-418	186	10	properties	property	NOUN
hjic-418	186	11	.	.	PUNCT
hjic-418	187	1	for	for	ADP
hjic-418	187	2	the	the	DET
hjic-418	187	3	active	active	ADJ
hjic-418	187	4	slam	slam	NOUN
hjic-418	187	5	a	a	DET
hjic-418	187	6	submapping	submapping	NOUN
hjic-418	187	7	technique	technique	NOUN
hjic-418	187	8	which	which	PRON
hjic-418	187	9	uses	use	VERB
hjic-418	187	10	conditionally	conditionally	ADV
hjic-418	187	11	independent	independent	ADJ
hjic-418	187	12	graphs	graph	NOUN
hjic-418	187	13	will	will	AUX
hjic-418	187	14	be	be	AUX
hjic-418	187	15	used	use	VERB
hjic-418	187	16	.	.	PUNCT
hjic-418	188	1	acknowledgement	acknowledgement	NOUN
hjic-418	188	2	this	this	DET
hjic-418	188	3	paper	paper	NOUN
hjic-418	188	4	was	be	AUX
hjic-418	188	5	supported	support	VERB
hjic-418	188	6	by	by	ADP
hjic-418	188	7	the	the	DET
hjic-418	188	8	project	project	NOUN
hjic-418	188	9	“	"	PUNCT
hjic-418	188	10	doctoral	doctoral	ADJ
hjic-418	188	11	studies	study	NOUN
hjic-418	188	12	in	in	ADP
hjic-418	188	13	engineering	engineer	VERB
hjic-418	188	14	sciences	science	NOUN
hjic-418	188	15	for	for	ADP
hjic-418	188	16	developing	develop	VERB
hjic-418	188	17	the	the	DET
hjic-418	188	18	knowledge	knowledge	NOUN
hjic-418	188	19	based	base	VERB
hjic-418	188	20	society	society	NOUN
hjic-418	188	21	-	-	PUNCT
hjic-418	188	22	sidoc	sidoc	NOUN
hjic-418	188	23	”	"	PUNCT
hjic-418	188	24	contract	contract	NOUN
hjic-418	188	25	no	no	NOUN
hjic-418	188	26	.	.	PUNCT
hjic-418	189	1	posdru/88/1.5	posdru/88/1.5	NOUN
hjic-418	189	2	/	/	SYM
hjic-418	189	3	s/60078	s/60078	NOUN
hjic-418	189	4	,	,	PUNCT
hjic-418	189	5	project	project	NOUN
hjic-418	189	6	co	co	VERB
hjic-418	189	7	-	-	VERB
hjic-418	189	8	funded	fund	VERB
hjic-418	189	9	from	from	ADP
hjic-418	189	10	european	european	ADJ
hjic-418	189	11	social	social	ADJ
hjic-418	189	12	fund	fund	NOUN
hjic-418	189	13	through	through	ADP
hjic-418	189	14	sectorial	sectorial	ADJ
hjic-418	189	15	operational	operational	ADJ
hjic-418	189	16	program	program	NOUN
hjic-418	189	17	human	human	ADJ
hjic-418	189	18	resources	resource	NOUN
hjic-418	189	19	2007–2013	2007–2013	NUM
hjic-418	189	20	.	.	PUNCT
hjic-418	190	1	references	reference	NOUN
hjic-418	190	2	1	1	NUM
hjic-418	190	3	.	.	PUNCT
hjic-418	190	4	h.	h.	PROPN
hjic-418	190	5	ishida	ishida	PROPN
hjic-418	190	6	,	,	PUNCT
hjic-418	190	7	t.	t.	PROPN
hjic-418	190	8	morizumi	morizumi	PROPN
hjic-418	190	9	:	:	PUNCT
hjic-418	190	10	machine	machine	NOUN
hjic-418	190	11	olfaction	olfaction	NOUN
hjic-418	190	12	for	for	ADP
hjic-418	190	13	mobile	mobile	ADJ
hjic-418	190	14	robots	robot	NOUN
hjic-418	190	15	,	,	PUNCT
hjic-418	190	16	s.	s.	PROPN
hjic-418	190	17	s.	s.	PROPN
hjic-418	190	18	schifman	schifman	PROPN
hjic-418	190	19	,	,	PUNCT
hjic-418	190	20	h.	h.	PROPN
hjic-418	190	21	t.	t.	PROPN
hjic-418	190	22	nagle	nagle	PROPN
hjic-418	190	23	,	,	PUNCT
hjic-418	190	24	j.	j.	PROPN
hjic-418	190	25	w.	w.	PROPN
hjic-418	190	26	weinheim	weinheim	PROPN
hjic-418	190	27	t.	t.	PROPN
hjic-418	190	28	c.	c.	PROPN
hjic-418	190	29	pearce	pearce	PROPN
hjic-418	191	1	[	[	X
hjic-418	191	2	eds	ed	NOUN
hjic-418	191	3	.	.	PUNCT
hjic-418	191	4	]	]	X
hjic-418	191	5	:	:	PUNCT
hjic-418	191	6	handbook	handbook	NOUN
hjic-418	191	7	of	of	ADP
hjic-418	191	8	machine	machine	NOUN
hjic-418	191	9	olfaction	olfaction	NOUN
hjic-418	191	10	:	:	PUNCT
hjic-418	191	11	electronic	electronic	ADJ
hjic-418	191	12	nose	nose	NOUN
hjic-418	191	13	technology	technology	NOUN
hjic-418	191	14	,	,	PUNCT
hjic-418	191	15	2006	2006	NUM
hjic-418	191	16	weinheim	weinheim	NOUN
hjic-418	191	17	:	:	PUNCT
hjic-418	191	18	wiley	wiley	PROPN
hjic-418	191	19	-	-	PUNCT
hjic-418	191	20	vch	vch	PROPN
hjic-418	191	21	verlag	verlag	PROPN
hjic-418	191	22	gmbh	gmbh	PROPN
hjic-418	191	23	co.	co.	PROPN
hjic-418	191	24	kgaa	kgaa	PROPN
hjic-418	191	25	2	2	X
hjic-418	191	26	.	.	PUNCT
hjic-418	191	27	g.	g.	PROPN
hjic-418	191	28	ferri	ferri	PROPN
hjic-418	191	29	,	,	PUNCT
hjic-418	191	30	e.	e.	PROPN
hjic-418	191	31	caselli	caselli	PROPN
hjic-418	191	32	,	,	PUNCT
hjic-418	191	33	v.	v.	ADP
hjic-418	191	34	mattoli	mattoli	PROPN
hjic-418	191	35	,	,	PUNCT
hjic-418	191	36	a	a	DET
hjic-418	191	37	,	,	PUNCT
hjic-418	191	38	mondini	mondini	NOUN
hjic-418	191	39	,	,	PUNCT
hjic-418	191	40	b.	b.	PROPN
hjic-418	191	41	mazzolai	mazzolai	PROPN
hjic-418	191	42	:	:	PUNCT
hjic-418	191	43	spiral	spiral	ADV
hjic-418	191	44	:	:	PUNCT
hjic-418	191	45	a	a	DET
hjic-418	191	46	novel	novel	NOUN
hjic-418	191	47	biologically	biologically	ADV
hjic-418	191	48	-	-	PUNCT
hjic-418	191	49	inspired	inspire	VERB
hjic-418	191	50	algorithm	algorithm	NOUN
hjic-418	191	51	for	for	ADP
hjic-418	191	52	gas	gas	NOUN
hjic-418	191	53	odor	odor	NOUN
hjic-418	191	54	source	source	NOUN
hjic-418	191	55	localization	localization	NOUN
hjic-418	191	56	in	in	ADP
hjic-418	191	57	an	an	DET
hjic-418	191	58	indoor	indoor	ADJ
hjic-418	191	59	environment	environment	NOUN
hjic-418	191	60	with	with	ADP
hjic-418	191	61	no	no	DET
hjic-418	191	62	strong	strong	ADJ
hjic-418	191	63	airflow	airflow	NOUN
hjic-418	191	64	,	,	PUNCT
hjic-418	191	65	robotics	robotic	NOUN
hjic-418	191	66	and	and	CCONJ
hjic-418	191	67	autonomous	autonomous	ADJ
hjic-418	191	68	systems	system	NOUN
hjic-418	191	69	,	,	PUNCT
hjic-418	191	70	57(4	57(4	NUM
hjic-418	191	71	)	)	PUNCT
hjic-418	191	72	,	,	PUNCT
hjic-418	191	73	(	(	PUNCT
hjic-418	191	74	2009	2009	NUM
hjic-418	191	75	)	)	PUNCT
hjic-418	191	76	,	,	PUNCT
hjic-418	191	77	1413–1418	1413–1418	NUM
hjic-418	191	78	3	3	NUM
hjic-418	191	79	.	.	PUNCT
hjic-418	192	1	h.	h.	PROPN
hjic-418	192	2	ishida	ishida	PROPN
hjic-418	192	3	,	,	PUNCT
hjic-418	192	4	t.	t.	NOUN
hjic-418	192	5	nakamoto	nakamoto	NOUN
hjic-418	192	6	,	,	PUNCT
hjic-418	192	7	t.	t.	PROPN
hjic-418	192	8	moriizumi	moriizumi	PROPN
hjic-418	192	9	:	:	PUNCT
hjic-418	192	10	remote	remote	ADJ
hjic-418	192	11	sensing	sensing	NOUN
hjic-418	192	12	of	of	ADP
hjic-418	192	13	gas	gas	NOUN
hjic-418	192	14	/	/	SYM
hjic-418	192	15	odor	odor	NOUN
hjic-418	192	16	source	source	NOUN
hjic-418	192	17	location	location	NOUN
hjic-418	192	18	and	and	CCONJ
hjic-418	192	19	concentration	concentration	NOUN
hjic-418	192	20	distribution	distribution	NOUN
hjic-418	192	21	using	use	VERB
hjic-418	192	22	mobile	mobile	ADJ
hjic-418	192	23	systems	system	NOUN
hjic-418	192	24	,	,	PUNCT
hjic-418	192	25	sensors	sensor	NOUN
hjic-418	192	26	and	and	CCONJ
hjic-418	192	27	actuators	actuator	NOUN
hjic-418	192	28	,	,	PUNCT
hjic-418	192	29	49(1	49(1	NOUN
hjic-418	192	30	-	-	PUNCT
hjic-418	192	31	2	2	NUM
hjic-418	192	32	)	)	PUNCT
hjic-418	192	33	,	,	PUNCT
hjic-418	192	34	(	(	PUNCT
hjic-418	192	35	1998	1998	NUM
hjic-418	192	36	)	)	PUNCT
hjic-418	192	37	,	,	PUNCT
hjic-418	192	38	52–57	52–57	NUM
hjic-418	192	39	4	4	NUM
hjic-418	192	40	.	.	PUNCT
hjic-418	192	41	c.	c.	NOUN
hjic-418	192	42	laugier	laugier	PROPN
hjic-418	192	43	,	,	PUNCT
hjic-418	192	44	r.	r.	PROPN
hjic-418	192	45	chatila	chatila	PROPN
hjic-418	192	46	:	:	PUNCT
hjic-418	192	47	autonomous	autonomous	ADJ
hjic-418	192	48	navigation	navigation	NOUN
hjic-418	192	49	in	in	ADP
hjic-418	192	50	dynamic	dynamic	ADJ
hjic-418	192	51	environments	environment	NOUN
hjic-418	192	52	,	,	PUNCT
hjic-418	192	53	springer	springer	NOUN
hjic-418	192	54	tracts	tract	NOUN
hjic-418	192	55	in	in	ADP
hjic-418	192	56	advanced	advanced	ADJ
hjic-418	192	57	robotics	robotic	NOUN
hjic-418	192	58	,	,	PUNCT
hjic-418	192	59	(	(	PUNCT
hjic-418	192	60	2007	2007	NUM
hjic-418	192	61	)	)	PUNCT
hjic-418	192	62	,	,	PUNCT
hjic-418	192	63	vol	vol	NOUN
hjic-418	192	64	.	.	PROPN
hjic-418	192	65	35	35	NUM
hjic-418	192	66	242	242	NUM
hjic-418	192	67	5	5	NUM
hjic-418	192	68	.	.	PUNCT
hjic-418	192	69	d.	d.	PROPN
hjic-418	192	70	martinez	martinez	PROPN
hjic-418	192	71	,	,	PUNCT
hjic-418	192	72	o.	o.	PROPN
hjic-418	192	73	rochel	rochel	PROPN
hjic-418	192	74	,	,	PUNCT
hjic-418	192	75	e.	e.	PROPN
hjic-418	192	76	hughes	hughes	PROPN
hjic-418	192	77	:	:	PUNCT
hjic-418	192	78	a	a	DET
hjic-418	192	79	biomimetic	biomimetic	ADJ
hjic-418	192	80	robot	robot	NOUN
hjic-418	192	81	for	for	ADP
hjic-418	192	82	tracking	track	VERB
hjic-418	192	83	specific	specific	ADJ
hjic-418	192	84	odors	odor	NOUN
hjic-418	192	85	in	in	ADP
hjic-418	192	86	turbulent	turbulent	ADJ
hjic-418	192	87	plumes	plume	NOUN
hjic-418	192	88	,	,	PUNCT
hjic-418	192	89	autonomous	autonomous	ADJ
hjic-418	192	90	robots	robot	NOUN
hjic-418	192	91	,	,	PUNCT
hjic-418	192	92	20(3	20(3	NOUN
hjic-418	192	93	)	)	PUNCT
hjic-418	192	94	,	,	PUNCT
hjic-418	192	95	(	(	PUNCT
hjic-418	192	96	2006	2006	NUM
hjic-418	192	97	)	)	PUNCT
hjic-418	192	98	,	,	PUNCT
hjic-418	192	99	185–195	185–195	NUM
hjic-418	192	100	6	6	NUM
hjic-418	192	101	.	.	PUNCT
hjic-418	192	102	i.	i.	PROPN
hjic-418	192	103	szoke	szoke	PROPN
hjic-418	192	104	,	,	PUNCT
hjic-418	192	105	a.	a.	PROPN
hjic-418	192	106	majdik	majdik	PROPN
hjic-418	192	107	,	,	PUNCT
hjic-418	192	108	d.	d.	PROPN
hjic-418	192	109	lupea	lupea	PROPN
hjic-418	192	110	,	,	PUNCT
hjic-418	192	111	l.	l.	PROPN
hjic-418	192	112	tamas	tamas	PROPN
hjic-418	192	113	,	,	PUNCT
hjic-418	192	114	g.	g.	PROPN
hjic-418	192	115	lazea	lazea	PROPN
hjic-418	192	116	:	:	PUNCT
hjic-418	192	117	autonomous	autonomous	ADJ
hjic-418	192	118	mapping	mapping	NOUN
hjic-418	192	119	in	in	ADP
hjic-418	192	120	polluted	polluted	ADJ
hjic-418	192	121	environments	environment	NOUN
hjic-418	192	122	,	,	PUNCT
hjic-418	192	123	hungarian	hungarian	ADJ
hjic-418	192	124	journal	journal	NOUN
hjic-418	192	125	of	of	ADP
hjic-418	192	126	industrial	industrial	ADJ
hjic-418	192	127	chemistry	chemistry	NOUN
hjic-418	192	128	,	,	PUNCT
hjic-418	192	129	38(2	38(2	NOUN
hjic-418	192	130	)	)	PUNCT
hjic-418	192	131	,	,	PUNCT
hjic-418	192	132	(	(	PUNCT
hjic-418	192	133	2010	2010	NUM
hjic-418	192	134	)	)	PUNCT
hjic-418	192	135	,	,	PUNCT
hjic-418	192	136	187–191	187–191	NUM
hjic-418	192	137	7	7	NUM
hjic-418	192	138	.	.	PUNCT
hjic-418	192	139	g.	g.	PROPN
hjic-418	192	140	ferri	ferri	PROPN
hjic-418	192	141	,	,	PUNCT
hjic-418	192	142	a.	a.	NOUN
hjic-418	192	143	mondini	mondini	PROPN
hjic-418	192	144	,	,	PUNCT
hjic-418	192	145	a.	a.	NOUN
hjic-418	192	146	manzi	manzi	PROPN
hjic-418	192	147	,	,	PUNCT
hjic-418	192	148	b.	b.	PROPN
hjic-418	192	149	mazzolai	mazzolai	PROPN
hjic-418	192	150	,	,	PUNCT
hjic-418	192	151	c.	c.	PROPN
hjic-418	192	152	laschi	laschi	PROPN
hjic-418	192	153	,	,	PUNCT
hjic-418	192	154	v.	v.	CCONJ
hjic-418	192	155	mattoli	mattoli	PROPN
hjic-418	192	156	,	,	PUNCT
hjic-418	192	157	m.	m.	NOUN
hjic-418	192	158	reggente	reggente	PROPN
hjic-418	192	159	,	,	PUNCT
hjic-418	192	160	t.	t.	PROPN
hjic-418	192	161	stoyanov	stoyanov	PROPN
hjic-418	192	162	,	,	PUNCT
hjic-418	192	163	a.	a.	NOUN
hjic-418	192	164	lilienthal	lilienthal	PROPN
hjic-418	192	165	,	,	PUNCT
hjic-418	192	166	p.	p.	PROPN
hjic-418	192	167	dario	dario	PROPN
hjic-418	192	168	:	:	PUNCT
hjic-418	192	169	dustcart	dustcart	PROPN
hjic-418	192	170	,	,	PUNCT
hjic-418	192	171	a	a	DET
hjic-418	192	172	mobile	mobile	ADJ
hjic-418	192	173	robot	robot	NOUN
hjic-418	192	174	for	for	ADP
hjic-418	192	175	urban	urban	ADJ
hjic-418	192	176	environments	environment	NOUN
hjic-418	192	177	:	:	PUNCT
hjic-418	192	178	experiments	experiment	NOUN
hjic-418	192	179	of	of	ADP
hjic-418	192	180	pollution	pollution	NOUN
hjic-418	192	181	monitoring	monitoring	NOUN
hjic-418	192	182	and	and	CCONJ
hjic-418	192	183	mapping	mapping	NOUN
hjic-418	192	184	during	during	ADP
hjic-418	192	185	autonomous	autonomous	ADJ
hjic-418	192	186	navigation	navigation	NOUN
hjic-418	192	187	in	in	ADP
hjic-418	192	188	urban	urban	ADJ
hjic-418	192	189	scenarios	scenario	NOUN
hjic-418	192	190	,	,	PUNCT
hjic-418	192	191	icra	icra	PROPN
hjic-418	192	192	workshop	workshop	NOUN
hjic-418	192	193	,	,	PUNCT
hjic-418	192	194	2010	2010	NUM
hjic-418	192	195	8	8	NUM
hjic-418	192	196	.	.	PUNCT
hjic-418	192	197	a.	a.	NOUN
hjic-418	192	198	scherello	scherello	PROPN
hjic-418	192	199	:	:	PUNCT
hjic-418	192	200	charm	charm	PROPN
hjic-418	192	201	®	®	NOUN
hjic-418	192	202	ch4	ch4	NOUN
hjic-418	192	203	airborne	airborne	ADJ
hjic-418	192	204	remote	remote	ADJ
hjic-418	192	205	monitoring	monitoring	NOUN
hjic-418	192	206	,	,	PUNCT
hjic-418	192	207	paris	paris	PROPN
hjic-418	192	208	,	,	PUNCT
hjic-418	192	209	international	international	ADJ
hjic-418	192	210	gas	gas	NOUN
hjic-418	192	211	union	union	PROPN
hjic-418	192	212	research	research	NOUN
hjic-418	192	213	conference	conference	NOUN
hjic-418	192	214	,	,	PUNCT
hjic-418	192	215	2008	2008	NUM
hjic-418	192	216	9	9	NUM
hjic-418	192	217	.	.	PUNCT
hjic-418	192	218	c.	c.	PROPN
hjic-418	192	219	c.	c.	PROPN
hjic-418	192	220	wu	wu	PROPN
hjic-418	192	221	,	,	PUNCT
hjic-418	192	222	t.	t.	NOUN
hjic-418	192	223	yasukawa	yasukawa	PROPN
hjic-418	192	224	,	,	PUNCT
hjic-418	192	225	h.	h.	PROPN
hjic-418	192	226	shiku	shiku	PROPN
hjic-418	192	227	,	,	PUNCT
hjic-418	192	228	t.	t.	PROPN
hjic-418	192	229	matsue	matsue	NOUN
hjic-418	192	230	:	:	PUNCT
hjic-418	192	231	fabrication	fabrication	NOUN
hjic-418	192	232	of	of	ADP
hjic-418	192	233	miniature	miniature	ADJ
hjic-418	192	234	clark	clark	PROPN
hjic-418	192	235	oxygen	oxygen	NOUN
hjic-418	192	236	sensor	sensor	NOUN
hjic-418	192	237	integrated	integrate	VERB
hjic-418	192	238	with	with	ADP
hjic-418	192	239	microstructure	microstructure	NOUN
hjic-418	192	240	,	,	PUNCT
hjic-418	192	241	sensors	sensor	NOUN
hjic-418	192	242	and	and	CCONJ
hjic-418	192	243	actuators	actuator	NOUN
hjic-418	192	244	,	,	PUNCT
hjic-418	192	245	110(2	110(2	NUM
hjic-418	192	246	)	)	PUNCT
hjic-418	192	247	,	,	PUNCT
hjic-418	192	248	(	(	PUNCT
hjic-418	192	249	2005	2005	NUM
hjic-418	192	250	)	)	PUNCT
hjic-418	192	251	,	,	PUNCT
hjic-418	192	252	342–349	342–349	NUM
hjic-418	192	253	10	10	NUM
hjic-418	192	254	.	.	PUNCT
hjic-418	193	1	j.	j.	PROPN
hjic-418	193	2	w.	w.	PROPN
hjic-418	193	3	fergus	fergus	PROPN
hjic-418	193	4	:	:	PUNCT
hjic-418	193	5	a	a	DET
hjic-418	193	6	review	review	NOUN
hjic-418	193	7	of	of	ADP
hjic-418	193	8	electrolyte	electrolyte	NOUN
hjic-418	193	9	and	and	CCONJ
hjic-418	193	10	electrode	electrode	NOUN
hjic-418	193	11	materials	material	NOUN
hjic-418	193	12	for	for	ADP
hjic-418	193	13	high	high	ADJ
hjic-418	193	14	temperature	temperature	NOUN
hjic-418	193	15	electrochemical	electrochemical	ADJ
hjic-418	193	16	co2	co2	NOUN
hjic-418	193	17	and	and	CCONJ
hjic-418	193	18	so2	so2	NOUN
hjic-418	193	19	gas	gas	NOUN
hjic-418	193	20	sensors	sensor	NOUN
hjic-418	193	21	,	,	PUNCT
hjic-418	193	22	sensors	sensor	NOUN
hjic-418	193	23	and	and	CCONJ
hjic-418	193	24	actuators	actuator	NOUN
hjic-418	193	25	,	,	PUNCT
hjic-418	193	26	134(2	134(2	NUM
hjic-418	193	27	)	)	PUNCT
hjic-418	193	28	,	,	PUNCT
hjic-418	193	29	(	(	PUNCT
hjic-418	193	30	2008	2008	NUM
hjic-418	193	31	)	)	PUNCT
hjic-418	193	32	,	,	PUNCT
hjic-418	193	33	1034–1041	1034–1041	NUM
hjic-418	193	34	11	11	NUM
hjic-418	193	35	.	.	PUNCT
hjic-418	194	1	x.	x.	PROPN
hjic-418	194	2	liang	liang	PROPN
hjic-418	194	3	,	,	PUNCT
hjic-418	194	4	t.	t.	PROPN
hjic-418	194	5	zhong	zhong	PROPN
hjic-418	194	6	,	,	PUNCT
hjic-418	194	7	b.	b.	PROPN
hjic-418	194	8	quan	quan	PROPN
hjic-418	194	9	,	,	PUNCT
hjic-418	194	10	b.	b.	PROPN
hjic-418	194	11	wang	wang	PROPN
hjic-418	194	12	,	,	PUNCT
hjic-418	194	13	h.	h.	PROPN
hjic-418	194	14	guan	guan	PROPN
hjic-418	194	15	:	:	PUNCT
hjic-418	194	16	solid	solid	ADJ
hjic-418	194	17	-	-	PUNCT
hjic-418	194	18	state	state	NOUN
hjic-418	194	19	potentiometric	potentiometric	PROPN
hjic-418	194	20	so2	so2	PROPN
hjic-418	194	21	sensor	sensor	PROPN
hjic-418	194	22	combining	combine	VERB
hjic-418	194	23	nasicon	nasicon	NOUN
hjic-418	194	24	with	with	ADP
hjic-418	194	25	v2o5	v2o5	NOUN
hjic-418	194	26	-	-	PUNCT
hjic-418	194	27	doped	dope	VERB
hjic-418	194	28	tio2	tio2	NOUN
hjic-418	194	29	electrode	electrode	NOUN
hjic-418	194	30	,	,	PUNCT
hjic-418	194	31	sensors	sensor	NOUN
hjic-418	194	32	and	and	CCONJ
hjic-418	194	33	actuators	actuator	NOUN
hjic-418	194	34	b	b	NUM
hjic-418	194	35	,	,	PUNCT
hjic-418	194	36	134(1	134(1	NUM
hjic-418	194	37	)	)	PUNCT
hjic-418	194	38	,	,	PUNCT
hjic-418	194	39	(	(	PUNCT
hjic-418	194	40	2008	2008	NUM
hjic-418	194	41	)	)	PUNCT
hjic-418	194	42	,	,	PUNCT
hjic-418	194	43	25–30	25–30	NUM
hjic-418	194	44	12	12	NUM
hjic-418	194	45	.	.	PUNCT
hjic-418	195	1	t.	t.	PROPN
hjic-418	195	2	zhong	zhong	PROPN
hjic-418	195	3	,	,	PUNCT
hjic-418	195	4	b.	b.	PROPN
hjic-418	195	5	quan	quan	PROPN
hjic-418	195	6	,	,	PUNCT
hjic-418	195	7	x.	x.	PROPN
hjic-418	195	8	liang	liang	PROPN
hjic-418	195	9	,	,	PUNCT
hjic-418	195	10	f.	f.	PROPN
hjic-418	195	11	liu	liu	PROPN
hjic-418	195	12	,	,	PUNCT
hjic-418	195	13	b.	b.	PROPN
hjic-418	195	14	wang	wang	PROPN
hjic-418	195	15	:	:	PUNCT
hjic-418	195	16	so2	so2	PROPN
hjic-418	195	17	-	-	PUNCT
hjic-418	195	18	sensing	sense	VERB
hjic-418	195	19	characteristics	characteristic	NOUN
hjic-418	195	20	of	of	ADP
hjic-418	195	21	nasicon	nasicon	NOUN
hjic-418	195	22	sensors	sensor	NOUN
hjic-418	195	23	with	with	ADP
hjic-418	195	24	znsno3	znsno3	NOUN
hjic-418	195	25	sensing	sense	VERB
hjic-418	195	26	electrode	electrode	NOUN
hjic-418	195	27	,	,	PUNCT
hjic-418	195	28	materials	material	NOUN
hjic-418	195	29	science	science	NOUN
hjic-418	195	30	and	and	CCONJ
hjic-418	195	31	engineering	engineering	NOUN
hjic-418	195	32	b	b	PROPN
hjic-418	195	33	151(2	151(2	NUM
hjic-418	195	34	)	)	PUNCT
hjic-418	195	35	,	,	PUNCT
hjic-418	195	36	(	(	PUNCT
hjic-418	195	37	2008	2008	NUM
hjic-418	195	38	)	)	PUNCT
hjic-418	195	39	,	,	PUNCT
hjic-418	195	40	127–132	127–132	NUM
hjic-418	195	41	13	13	NUM
hjic-418	195	42	.	.	PUNCT
hjic-418	196	1	z.	z.	PROPN
hjic-418	196	2	bi	bi	PROPN
hjic-418	196	3	,	,	PUNCT
hjic-418	196	4	h.	h.	PROPN
hjic-418	196	5	matsumoto	matsumoto	PROPN
hjic-418	196	6	,	,	PUNCT
hjic-418	196	7	t.	t.	PROPN
hjic-418	196	8	ishihara	ishihara	PROPN
hjic-418	196	9	:	:	PUNCT
hjic-418	196	10	solid	solid	ADJ
hjic-418	196	11	-	-	PUNCT
hjic-418	196	12	state	state	NOUN
hjic-418	196	13	amperometric	amperometric	NOUN
hjic-418	196	14	ch4	ch4	NOUN
hjic-418	196	15	sensor	sensor	NOUN
hjic-418	196	16	using	use	VERB
hjic-418	196	17	lagao3	lagao3	NOUN
hjic-418	196	18	-	-	PUNCT
hjic-418	196	19	based	base	VERB
hjic-418	196	20	electrolyte	electrolyte	NOUN
hjic-418	196	21	,	,	PUNCT
hjic-418	196	22	solid	solid	ADJ
hjic-418	196	23	state	state	NOUN
hjic-418	196	24	ionics	ionic	NOUN
hjic-418	196	25	,	,	PUNCT
hjic-418	196	26	179(27	179(27	NUM
hjic-418	196	27	-	-	SYM
hjic-418	196	28	32	32	NUM
hjic-418	196	29	)	)	PUNCT
hjic-418	196	30	,	,	PUNCT
hjic-418	196	31	(	(	PUNCT
hjic-418	196	32	2008	2008	NUM
hjic-418	196	33	)	)	PUNCT
hjic-418	196	34	,	,	PUNCT
hjic-418	196	35	1641–1644	1641–1644	NUM
hjic-418	196	36	14	14	NUM
hjic-418	196	37	.	.	PUNCT
hjic-418	197	1	r.	r.	PROPN
hjic-418	197	2	moos	moos	PROPN
hjic-418	197	3	,	,	PUNCT
hjic-418	197	4	n.	n.	PROPN
hjic-418	197	5	izu	izu	PROPN
hjic-418	197	6	,	,	PUNCT
hjic-418	197	7	f.	f.	PROPN
hjic-418	197	8	rettig	rettig	PROPN
hjic-418	197	9	,	,	PUNCT
hjic-418	197	10	s.	s.	PROPN
hjic-418	197	11	reis	reis	PROPN
hjic-418	197	12	,	,	PUNCT
hjic-418	197	13	w.	w.	PROPN
hjic-418	197	14	shin	shin	PROPN
hjic-418	197	15	,	,	PUNCT
hjic-418	197	16	i.	i.	PROPN
hjic-418	197	17	matsubara	matsubara	PROPN
hjic-418	197	18	:	:	PUNCT
hjic-418	197	19	resistive	resistive	ADJ
hjic-418	197	20	oxygen	oxygen	NOUN
hjic-418	197	21	gas	gas	NOUN
hjic-418	197	22	sensors	sensor	NOUN
hjic-418	197	23	for	for	ADP
hjic-418	197	24	harsh	harsh	ADJ
hjic-418	197	25	environments	environment	NOUN
hjic-418	197	26	,	,	PUNCT
hjic-418	197	27	sensors	sensor	NOUN
hjic-418	197	28	,	,	PUNCT
hjic-418	197	29	11(4	11(4	NUM
hjic-418	197	30	)	)	PUNCT
hjic-418	197	31	,	,	PUNCT
hjic-418	197	32	(	(	PUNCT
hjic-418	197	33	2011	2011	NUM
hjic-418	197	34	)	)	PUNCT
hjic-418	197	35	,	,	PUNCT
hjic-418	197	36	3439–3465	3439–3465	NUM
hjic-418	197	37	15	15	NUM
hjic-418	197	38	.	.	PUNCT
hjic-418	198	1	d.	d.	PROPN
hjic-418	198	2	g.	g.	PROPN
hjic-418	198	3	lowe	lowe	PROPN
hjic-418	198	4	:	:	PUNCT
hjic-418	198	5	object	object	VERB
hjic-418	198	6	recognition	recognition	NOUN
hjic-418	198	7	from	from	ADP
hjic-418	198	8	local	local	ADJ
hjic-418	198	9	scale	scale	NOUN
hjic-418	198	10	invariant	invariant	ADJ
hjic-418	198	11	features	feature	NOUN
hjic-418	198	12	,	,	PUNCT
hjic-418	198	13	international	international	ADJ
hjic-418	198	14	conference	conference	NOUN
hjic-418	198	15	on	on	ADP
hjic-418	198	16	computer	computer	NOUN
hjic-418	198	17	vision	vision	NOUN
hjic-418	198	18	,	,	PUNCT
hjic-418	198	19	(	(	PUNCT
hjic-418	198	20	1999	1999	NUM
hjic-418	198	21	)	)	PUNCT
hjic-418	198	22	,	,	PUNCT
hjic-418	198	23	1150–1157	1150–1157	NUM
hjic-418	198	24	16	16	NUM
hjic-418	198	25	.	.	PUNCT
hjic-418	198	26	a.	a.	PROPN
hjic-418	198	27	gil	gil	PROPN
hjic-418	198	28	,	,	PUNCT
hjic-418	198	29	o.	o.	PROPN
hjic-418	198	30	m.	m.	NOUN
hjic-418	198	31	mozos	mozos	PROPN
hjic-418	198	32	,	,	PUNCT
hjic-418	198	33	m.	m.	NOUN
hjic-418	198	34	ballesta	ballesta	NOUN
hjic-418	198	35	,	,	PUNCT
hjic-418	198	36	o.	o.	NOUN
hjic-418	198	37	reinoso	reinoso	NOUN
hjic-418	198	38	:	:	PUNCT
hjic-418	198	39	a	a	DET
hjic-418	198	40	comparative	comparative	ADJ
hjic-418	198	41	evaluation	evaluation	NOUN
hjic-418	198	42	of	of	ADP
hjic-418	198	43	interest	interest	NOUN
hjic-418	198	44	point	point	NOUN
hjic-418	198	45	detectors	detector	NOUN
hjic-418	198	46	and	and	CCONJ
hjic-418	198	47	local	local	ADJ
hjic-418	198	48	descriptors	descriptor	NOUN
hjic-418	198	49	for	for	ADP
hjic-418	198	50	visual	visual	ADJ
hjic-418	198	51	slam	slam	NOUN
hjic-418	198	52	,	,	PUNCT
hjic-418	198	53	machine	machine	NOUN
hjic-418	198	54	vision	vision	NOUN
hjic-418	198	55	and	and	CCONJ
hjic-418	198	56	applications	application	NOUN
hjic-418	198	57	,	,	PUNCT
hjic-418	198	58	21(6	21(6	NUM
hjic-418	198	59	)	)	PUNCT
hjic-418	198	60	,	,	PUNCT
hjic-418	198	61	(	(	PUNCT
hjic-418	198	62	2009	2009	NUM
hjic-418	198	63	)	)	PUNCT
hjic-418	198	64	,	,	PUNCT
hjic-418	198	65	905–920	905–920	NUM
hjic-418	198	66	17	17	NUM
hjic-418	198	67	.	.	PUNCT
hjic-418	199	1	c.	c.	PROPN
hjic-418	199	2	evans	evans	PROPN
hjic-418	199	3	:	:	PUNCT
hjic-418	199	4	notes	note	NOUN
hjic-418	199	5	on	on	ADP
hjic-418	199	6	the	the	DET
hjic-418	199	7	opensurf	opensurf	ADJ
hjic-418	199	8	library	library	NOUN
hjic-418	199	9	,	,	PUNCT
hjic-418	199	10	university	university	NOUN
hjic-418	199	11	of	of	ADP
hjic-418	199	12	bristol	bristol	PROPN
hjic-418	199	13	,	,	PUNCT
hjic-418	199	14	2009	2009	NUM
hjic-418	199	15	,	,	PUNCT
hjic-418	199	16	cstr-09	cstr-09	PROPN
hjic-418	199	17	-	-	PUNCT
hjic-418	199	18	00	00	NUM
hjic-418	199	19	18	18	NUM
hjic-418	199	20	.	.	PUNCT
hjic-418	200	1	h.	h.	PROPN
hjic-418	200	2	bay	bay	PROPN
hjic-418	200	3	,	,	PUNCT
hjic-418	200	4	a.	a.	PROPN
hjic-418	200	5	ess	ess	PROPN
hjic-418	200	6	,	,	PUNCT
hjic-418	200	7	t.	t.	NOUN
hjic-418	200	8	tuytelaars	tuytelaar	NOUN
hjic-418	200	9	,	,	PUNCT
hjic-418	200	10	l.	l.	PROPN
hjic-418	200	11	van	van	PROPN
hjic-418	200	12	gool	gool	PROPN
hjic-418	200	13	:	:	PUNCT
hjic-418	200	14	speeded	speed	VERB
hjic-418	200	15	-	-	PUNCT
hjic-418	200	16	up	up	ADP
hjic-418	200	17	robust	robust	ADJ
hjic-418	200	18	features	feature	NOUN
hjic-418	200	19	(	(	PUNCT
hjic-418	200	20	surf	surf	NOUN
hjic-418	200	21	)	)	PUNCT
hjic-418	200	22	,	,	PUNCT
hjic-418	200	23	computer	computer	NOUN
hjic-418	200	24	vision	vision	NOUN
hjic-418	200	25	and	and	CCONJ
hjic-418	200	26	image	image	NOUN
hjic-418	200	27	understanding	understanding	NOUN
hjic-418	200	28	,	,	PUNCT
hjic-418	200	29	110(3	110(3	NUM
hjic-418	200	30	)	)	PUNCT
hjic-418	200	31	,	,	PUNCT
hjic-418	200	32	(	(	PUNCT
hjic-418	200	33	2008	2008	NUM
hjic-418	200	34	)	)	PUNCT
hjic-418	200	35	,	,	PUNCT
hjic-418	200	36	346–359	346–359	NUM
hjic-418	200	37	19	19	NUM
hjic-418	200	38	.	.	PUNCT
hjic-418	201	1	p.	p.	NOUN
hjic-418	201	2	viola	viola	PROPN
hjic-418	201	3	,	,	PUNCT
hjic-418	201	4	m.	m.	NOUN
hjic-418	201	5	jones	jones	PROPN
hjic-418	201	6	:	:	PUNCT
hjic-418	201	7	rapid	rapid	ADJ
hjic-418	201	8	object	object	NOUN
hjic-418	201	9	detection	detection	NOUN
hjic-418	201	10	using	use	VERB
hjic-418	201	11	a	a	DET
hjic-418	201	12	boosted	boosted	ADJ
hjic-418	201	13	cascade	cascade	NOUN
hjic-418	201	14	of	of	ADP
hjic-418	201	15	simple	simple	ADJ
hjic-418	201	16	features	feature	NOUN
hjic-418	201	17	,	,	PUNCT
hjic-418	201	18	computer	computer	NOUN
hjic-418	201	19	vision	vision	NOUN
hjic-418	201	20	and	and	CCONJ
hjic-418	201	21	pattern	pattern	NOUN
hjic-418	201	22	recognition	recognition	NOUN
hjic-418	201	23	,	,	PUNCT
hjic-418	201	24	1	1	NUM
hjic-418	201	25	,	,	PUNCT
hjic-418	201	26	(	(	PUNCT
hjic-418	201	27	2001	2001	NUM
hjic-418	201	28	)	)	PUNCT
hjic-418	201	29	,	,	PUNCT
hjic-418	201	30	i511	i511	PROPN
hjic-418	201	31	–	–	PUNCT
hjic-418	201	32	i518	i518	PROPN
hjic-418	201	33	20	20	NUM
hjic-418	201	34	.	.	PUNCT
hjic-418	202	1	j.	j.	PROPN
hjic-418	202	2	aulinas	aulinas	PROPN
hjic-418	202	3	,	,	PUNCT
hjic-418	202	4	j.	j.	PROPN
hjic-418	202	5	salvi	salvi	PROPN
hjic-418	202	6	,	,	PUNCT
hjic-418	202	7	x.	x.	NOUN
hjic-418	202	8	llado	llado	PROPN
hjic-418	202	9	,	,	PUNCT
hjic-418	202	10	y.	y.	PROPN
hjic-418	202	11	petillot	petillot	PROPN
hjic-418	202	12	:	:	PUNCT
hjic-418	202	13	local	local	ADJ
hjic-418	202	14	map	map	NOUN
hjic-418	202	15	update	update	NOUN
hjic-418	202	16	for	for	ADP
hjic-418	202	17	large	large	ADJ
hjic-418	202	18	scale	scale	NOUN
hjic-418	202	19	slam	slam	NOUN
hjic-418	202	20	,	,	PUNCT
hjic-418	202	21	electronics	electronic	NOUN
hjic-418	202	22	letters	letter	NOUN
hjic-418	202	23	,	,	PUNCT
hjic-418	202	24	46(8	46(8	NOUN
hjic-418	202	25	)	)	PUNCT
hjic-418	202	26	,	,	PUNCT
hjic-418	202	27	(	(	PUNCT
hjic-418	202	28	2010	2010	NUM
hjic-418	202	29	)	)	PUNCT
hjic-418	202	30	564–566	564–566	NUM
hjic-418	202	31	21	21	NUM
hjic-418	202	32	.	.	PUNCT
hjic-418	202	33	m.	m.	PROPN
hjic-418	202	34	c.	c.	PROPN
hjic-418	202	35	bosse	bosse	PROPN
hjic-418	202	36	,	,	PUNCT
hjic-418	202	37	s.	s.	PROPN
hjic-418	202	38	teller	teller	PROPN
hjic-418	202	39	:	:	PUNCT
hjic-418	202	40	atlas	atlas	PROPN
hjic-418	202	41	:	:	PUNCT
hjic-418	202	42	a	a	DET
hjic-418	202	43	framework	framework	NOUN
hjic-418	202	44	for	for	ADP
hjic-418	202	45	large	large	ADJ
hjic-418	202	46	scale	scale	NOUN
hjic-418	202	47	automated	automate	VERB
hjic-418	202	48	mapping	mapping	NOUN
hjic-418	202	49	and	and	CCONJ
hjic-418	202	50	localization	localization	NOUN
hjic-418	202	51	,	,	PUNCT
hjic-418	202	52	massachusetes	massachusetes	PROPN
hjic-418	202	53	institute	institute	PROPN
hjic-418	202	54	of	of	ADP
hjic-418	202	55	technology	technology	PROPN
hjic-418	202	56	,	,	PUNCT
hjic-418	202	57	2004	2004	NUM
hjic-418	202	58	22	22	NUM
hjic-418	202	59	.	.	PUNCT
hjic-418	203	1	s.	s.	PROPN
hjic-418	203	2	arulampalam	arulampalam	PROPN
hjic-418	203	3	,	,	PUNCT
hjic-418	203	4	s.	s.	PROPN
hjic-418	203	5	maskell	maskell	PROPN
hjic-418	203	6	,	,	PUNCT
hjic-418	203	7	n.	n.	PROPN
hjic-418	203	8	gordon	gordon	PROPN
hjic-418	203	9	,	,	PUNCT
hjic-418	203	10	t.	t.	PROPN
hjic-418	203	11	clapp	clapp	PROPN
hjic-418	203	12	:	:	PUNCT
hjic-418	203	13	a	a	DET
hjic-418	203	14	tutorial	tutorial	NOUN
hjic-418	203	15	on	on	ADP
hjic-418	203	16	particle	particle	NOUN
hjic-418	203	17	filters	filter	NOUN
hjic-418	203	18	for	for	ADP
hjic-418	203	19	on	on	ADP
hjic-418	203	20	-	-	PUNCT
hjic-418	203	21	line	line	NOUN
hjic-418	203	22	nonlinear	nonlinear	ADJ
hjic-418	203	23	/	/	SYM
hjic-418	203	24	non	non	ADJ
hjic-418	203	25	-	-	ADJ
hjic-418	203	26	gaussian	gaussian	ADJ
hjic-418	203	27	bayesian	bayesian	NOUN
hjic-418	203	28	tracking	tracking	NOUN
hjic-418	203	29	,	,	PUNCT
hjic-418	203	30	ieee	ieee	NOUN
hjic-418	203	31	transactions	transaction	NOUN
hjic-418	203	32	on	on	ADP
hjic-418	203	33	signal	signal	ADJ
hjic-418	203	34	processing	processing	NOUN
hjic-418	203	35	,	,	PUNCT
hjic-418	203	36	50(2	50(2	NUM
hjic-418	203	37	)	)	PUNCT
hjic-418	203	38	,	,	PUNCT
hjic-418	203	39	(	(	PUNCT
hjic-418	203	40	2002	2002	NUM
hjic-418	203	41	)	)	PUNCT
hjic-418	203	42	,	,	PUNCT
hjic-418	203	43	174–188	174–188	NUM
hjic-418	203	44	23	23	NUM
hjic-418	203	45	.	.	PUNCT
hjic-418	203	46	a.	a.	PROPN
hjic-418	203	47	doucet	doucet	PROPN
hjic-418	203	48	,	,	PUNCT
hjic-418	203	49	n.	n.	PROPN
hjic-418	203	50	de	de	PROPN
hjic-418	203	51	freitas	freitas	PROPN
hjic-418	203	52	,	,	PUNCT
hjic-418	203	53	k.	k.	PROPN
hjic-418	203	54	murphy	murphy	PROPN
hjic-418	203	55	,	,	PUNCT
hjic-418	203	56	s.	s.	PROPN
hjic-418	203	57	russell	russell	PROPN
hjic-418	203	58	:	:	PUNCT
hjic-418	203	59	rao	rao	NOUN
hjic-418	203	60	-	-	PUNCT
hjic-418	203	61	blackwellised	blackwellise	VERB
hjic-418	203	62	particle	particle	NOUN
hjic-418	203	63	filtering	filtering	NOUN
hjic-418	203	64	for	for	ADP
hjic-418	203	65	dynamic	dynamic	ADJ
hjic-418	203	66	bayesian	bayesian	NOUN
hjic-418	203	67	networks	network	NOUN
hjic-418	203	68	,	,	PUNCT
hjic-418	203	69	proc	proc	NOUN
hjic-418	203	70	.	.	PUNCT
hjic-418	204	1	of	of	ADP
hjic-418	204	2	the	the	DET
hjic-418	204	3	sixteenth	sixteenth	ADJ
hjic-418	204	4	conf	conf	NOUN
hjic-418	204	5	.	.	PUNCT
hjic-418	205	1	on	on	ADP
hjic-418	205	2	uncertainty	uncertainty	NOUN
hjic-418	205	3	in	in	ADP
hjic-418	205	4	ai	ai	PROPN
hjic-418	205	5	,	,	PUNCT
hjic-418	205	6	(	(	PUNCT
hjic-418	205	7	2000	2000	NUM
hjic-418	205	8	)	)	PUNCT
hjic-418	205	9	,	,	PUNCT
hjic-418	205	10	176–183	176–183	NUM
hjic-418	205	11	<	<	X
hjic-418	205	12	<	<	X
hjic-418	205	13	/ascii85encodepages	/ascii85encodepage	NOUN
hjic-418	205	14	false	false	ADJ
hjic-418	205	15	/allowtransparency	/allowtransparency	NOUN
hjic-418	205	16	false	false	ADJ
hjic-418	205	17	/autopositionepsfiles	/autopositionepsfile	NOUN
hjic-418	205	18	true	true	ADJ
hjic-418	205	19	/autorotatepages	/autorotatepage	NOUN
hjic-418	205	20	/none	/none	PUNCT
hjic-418	205	21	/binding	/binding	PUNCT
hjic-418	206	1	/left	/left	ADJ
hjic-418	207	1	/calgrayprofile	/calgrayprofile	VERB
hjic-418	207	2	(	(	PUNCT
hjic-418	207	3	dot	dot	NOUN
hjic-418	207	4	gain	gain	NOUN
hjic-418	207	5	20	20	NUM
hjic-418	207	6	%	%	NOUN
hjic-418	207	7	)	)	PUNCT
hjic-418	207	8	/calrgbprofile	/calrgbprofile	PUNCT
hjic-418	208	1	(	(	PUNCT
hjic-418	208	2	srgb	srgb	PROPN
hjic-418	208	3	iec61966	iec61966	NOUN
hjic-418	208	4	-	-	PUNCT
hjic-418	208	5	2.1	2.1	NUM
hjic-418	208	6	)	)	PUNCT
hjic-418	208	7	/calcmykprofile	/calcmykprofile	PUNCT
hjic-418	209	1	(	(	PUNCT
hjic-418	209	2	u.s	u.s	PROPN
hjic-418	209	3	.	.	PROPN
hjic-418	209	4	web	web	NOUN
hjic-418	209	5	coated	coat	VERB
hjic-418	209	6	\050swop\051	\050swop\051	ADJ
hjic-418	209	7	v2	v2	NOUN
hjic-418	209	8	)	)	PUNCT
hjic-418	209	9	/srgbprofile	/srgbprofile	PUNCT
hjic-418	209	10	(	(	PUNCT
hjic-418	209	11	srgb	srgb	PROPN
hjic-418	209	12	iec61966	iec61966	NOUN
hjic-418	209	13	-	-	PUNCT
hjic-418	209	14	2.1	2.1	NUM
hjic-418	209	15	)	)	PUNCT
hjic-418	209	16	/cannotembedfontpolicy	/cannotembedfontpolicy	PUNCT
hjic-418	210	1	/error	/error	INTJ
hjic-418	210	2	/compatibilitylevel	/compatibilitylevel	NOUN
hjic-418	211	1	1.4	1.4	NUM
hjic-418	211	2	/compressobjects	/compressobject	NOUN
hjic-418	211	3	/tags	/tag	VERB
hjic-418	211	4	/compresspages	/compresspage	NOUN
hjic-418	211	5	true	true	ADJ
hjic-418	211	6	/convertimagestoindexed	/convertimagestoindexed	ADJ
hjic-418	211	7	true	true	ADJ
hjic-418	211	8	/passthroughjpegimages	/passthroughjpegimage	NOUN
hjic-418	211	9	true	true	ADJ
hjic-418	211	10	/createjobticket	/createjobticket	NOUN
hjic-418	211	11	false	false	ADJ
hjic-418	211	12	/defaultrenderingintent	/defaultrenderingintent	NOUN
hjic-418	211	13	/default	/default	PUNCT
hjic-418	211	14	/detectblends	/detectblend	NOUN
hjic-418	211	15	true	true	ADJ
hjic-418	211	16	/detectcurves	/detectcurve	VERB
hjic-418	212	1	0.0000	0.0000	NUM
hjic-418	212	2	/colorconversionstrategy	/colorconversionstrategy	NOUN
hjic-418	212	3	/cmyk	/cmyk	PUNCT
hjic-418	213	1	/dothumbnails	/dothumbnail	VERB
hjic-418	214	1	false	false	ADJ
hjic-418	214	2	/embedallfonts	/embedallfont	NOUN
hjic-418	214	3	true	true	ADJ
hjic-418	214	4	/embedopentype	/embedopentype	PUNCT
hjic-418	214	5	false	false	ADJ
hjic-418	214	6	/parseiccprofilesincomments	/parseiccprofilesincomment	NOUN
hjic-418	214	7	true	true	ADJ
hjic-418	214	8	/embedjoboptions	/embedjoboption	NOUN
hjic-418	214	9	true	true	ADJ
hjic-418	214	10	/dscreportinglevel	/dscreportinglevel	NOUN
hjic-418	214	11	0	0	NUM
hjic-418	214	12	/emitdscwarnings	/emitdscwarning	NOUN
hjic-418	214	13	false	false	ADJ
hjic-418	214	14	/endpage	/endpage	NOUN
hjic-418	214	15	-1	-1	NOUN
hjic-418	214	16	/imagememory	/imagememory	NUM
hjic-418	214	17	1048576	1048576	NUM
hjic-418	214	18	/lockdistillerparams	/lockdistillerparams	NOUN
hjic-418	214	19	false	false	ADJ
hjic-418	214	20	/maxsubsetpct	/maxsubsetpct	ADJ
hjic-418	214	21	100	100	NUM
hjic-418	214	22	/optimize	/optimize	NOUN
hjic-418	214	23	true	true	ADJ
hjic-418	214	24	/opm	/opm	NOUN
hjic-418	214	25	1	1	NUM
hjic-418	214	26	/parsedsccomments	/parsedsccomment	NOUN
hjic-418	214	27	true	true	ADJ
hjic-418	214	28	/parsedsccommentsfordocinfo	/parsedsccommentsfordocinfo	VERB
hjic-418	214	29	true	true	ADJ
hjic-418	214	30	/preservecopypage	/preservecopypage	NOUN
hjic-418	214	31	true	true	ADJ
hjic-418	214	32	/preservedicmykvalues	/preservedicmykvalue	NOUN
hjic-418	214	33	true	true	ADJ
hjic-418	214	34	/preserveepsinfo	/preserveepsinfo	NOUN
hjic-418	214	35	true	true	ADJ
hjic-418	214	36	/preserveflatness	/preserveflatness	NOUN
hjic-418	214	37	true	true	ADJ
hjic-418	214	38	/preservehalftoneinfo	/preservehalftoneinfo	PUNCT
hjic-418	214	39	false	false	ADJ
hjic-418	214	40	/preserveopicomments	/preserveopicomment	NOUN
hjic-418	214	41	true	true	ADJ
hjic-418	214	42	/preserveoverprintsettings	/preserveoverprintsetting	NOUN
hjic-418	214	43	true	true	ADJ
hjic-418	214	44	/startpage	/startpage	NOUN
hjic-418	214	45	1	1	NUM
hjic-418	214	46	/subsetfonts	/subsetfont	NOUN
hjic-418	214	47	true	true	ADJ
hjic-418	214	48	/transferfunctioninfo	/transferfunctioninfo	PUNCT
hjic-418	214	49	/apply	/apply	PUNCT
hjic-418	214	50	/ucrandbginfo	/ucrandbginfo	PUNCT
hjic-418	215	1	/preserve	/preserve	NOUN
hjic-418	215	2	/useprologue	/useprologue	NOUN
hjic-418	215	3	false	false	ADJ
hjic-418	215	4	/colorsettingsfile	/colorsettingsfile	NOUN
hjic-418	215	5	(	(	PUNCT
hjic-418	215	6	)	)	PUNCT
hjic-418	215	7	/alwaysembed	/alwaysembe	VERB
hjic-418	215	8	[	[	PUNCT
hjic-418	215	9	true	true	ADJ
hjic-418	215	10	]	]	PUNCT
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hjic-418	216	1	[	[	PUNCT
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hjic-418	216	3	]	]	PUNCT
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hjic-418	216	7	true	true	ADJ
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hjic-418	216	9	300	300	NUM
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hjic-418	216	11	/ok	/ok	ADJ
hjic-418	217	1	/downsamplecolorimages	/downsamplecolorimage	VERB
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hjic-418	218	3	/bicubic	/bicubic	NOUN
hjic-418	218	4	/colorimageresolution	/colorimageresolution	NOUN
hjic-418	219	1	300	300	NUM
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hjic-418	219	3	-1	-1	INTJ
hjic-418	219	4	/colorimagemindownsampledepth	/colorimagemindownsampledepth	SYM
hjic-418	219	5	1	1	NUM
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hjic-418	221	1	<	<	X
hjic-418	221	2	<	<	X
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hjic-418	222	1	[	[	X
hjic-418	222	2	1	1	NUM
hjic-418	222	3	1	1	NUM
hjic-418	222	4	1	1	NUM
hjic-418	222	5	1	1	NUM
hjic-418	222	6	]	]	PUNCT
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hjic-418	223	1	[	[	X
hjic-418	223	2	1	1	NUM
hjic-418	223	3	1	1	NUM
hjic-418	223	4	1	1	NUM
hjic-418	223	5	1	1	NUM
hjic-418	223	6	]	]	PUNCT
hjic-418	223	7	>	>	PUNCT
hjic-418	223	8	>	>	X
hjic-418	223	9	/colorimagedict	/colorimagedict	PUNCT
hjic-418	224	1	<	<	X
hjic-418	224	2	<	<	X
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hjic-418	224	5	/hsamples	/hsample	NOUN
hjic-418	225	1	[	[	X
hjic-418	225	2	1	1	NUM
hjic-418	225	3	1	1	NUM
hjic-418	225	4	1	1	NUM
hjic-418	225	5	1	1	NUM
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hjic-418	225	7	/vsamples	/vsample	NOUN
hjic-418	226	1	[	[	X
hjic-418	226	2	1	1	NUM
hjic-418	226	3	1	1	NUM
hjic-418	226	4	1	1	NUM
hjic-418	226	5	1	1	NUM
hjic-418	226	6	]	]	PUNCT
hjic-418	226	7	>	>	PUNCT
hjic-418	226	8	>	>	X
hjic-418	226	9	/jpeg2000coloracsimagedict	/jpeg2000coloracsimagedict	PUNCT
hjic-418	227	1	<	<	X
hjic-418	227	2	<	<	X
hjic-418	227	3	/tilewidth	/tilewidth	PUNCT
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hjic-418	227	5	/tileheight	/tileheight	NUM
hjic-418	227	6	256	256	NUM
hjic-418	227	7	/quality	/quality	NOUN
hjic-418	227	8	30	30	NUM
hjic-418	227	9	>	>	PUNCT
hjic-418	227	10	>	>	X
hjic-418	227	11	/jpeg2000colorimagedict	/jpeg2000colorimagedict	PUNCT
hjic-418	227	12	<	<	X
hjic-418	227	13	<	<	X
hjic-418	227	14	/tilewidth	/tilewidth	PUNCT
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hjic-418	227	16	/tileheight	/tileheight	NUM
hjic-418	227	17	256	256	NUM
hjic-418	227	18	/quality	/quality	NOUN
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hjic-418	227	20	>	>	PUNCT
hjic-418	227	21	>	>	X
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hjic-418	227	23	false	false	ADJ
hjic-418	227	24	/cropgrayimages	/cropgrayimage	NOUN
hjic-418	227	25	true	true	ADJ
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hjic-418	227	27	300	300	NUM
hjic-418	227	28	/grayimageminresolutionpolicy	/grayimageminresolutionpolicy	NOUN
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hjic-418	227	30	/downsamplegrayimages	/downsamplegrayimages	PUNCT
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hjic-418	251	7	/esp	/esp	PUNCT
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hjic-418	251	9	feff005500740069006c0069006300650020006500730074006100200063006f006e0066006900670075007200610063006900f3006e0020007000610072006100200063007200650061007200200064006f00630075006d0065006e0074006f00730020005000440046002000640065002000410064006f0062006500200061006400650063007500610064006f00730020007000610072006100200069006d0070007200650073006900f3006e0020007000720065002d0065006400690074006f007200690061006c00200064006500200061006c00740061002000630061006c0069006400610064002e002000530065002000700075006500640065006e00200061006200720069007200200064006f00630075006d0065006e0074006f00730020005000440046002000630072006500610064006f007300200063006f006e0020004100630072006f006200610074002c002000410064006f00620065002000520065006100640065007200200035002e003000200079002000760065007200730069006f006e0065007300200070006f00730074006500720069006f007200650073002e	feff005500740069006c0069006300650020006500730074006100200063006f006e0066006900670075007200610063006900f3006e0020007000610072006100200063007200650061007200200064006f00630075006d0065006e0074006f00730020005000440046002000640065002000410064006f0062006500200061006400650063007500610064006f00730020007000610072006100200069006d0070007200650073006900f3006e0020007000720065002d0065006400690074006f007200690061006c00200064006500200061006c00740061002000630061006c0069006400610064002e002000530065002000700075006500640065006e00200061006200720069007200200064006f00630075006d0065006e0074006f00730020005000440046002000630072006500610064006f007300200063006f006e0020004100630072006f006200610074002c002000410064006f00620065002000520065006100640065007200200035002e003000200079002000760065007200730069006f006e0065007300200070006f00730074006500720069006f007200650073002e	X
hjic-418	251	10	>	>	X
hjic-418	251	11	/eti	/eti	X
hjic-418	252	1	<	<	X
hjic-418	252	2	feff004b00610073007500740061006700650020006e0065006900640020007300e4007400740065006900640020006b00760061006c006900740065006500740073006500200074007200fc006b006900650065006c007300650020007000720069006e00740069006d0069007300650020006a0061006f006b007300200073006f00620069006c0069006b0065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e00740069006400650020006c006f006f006d006900730065006b0073002e00200020004c006f006f0064007500640020005000440046002d0064006f006b0075006d0065006e00740065002000730061006100740065002000610076006100640061002000700072006f006700720061006d006d006900640065006700610020004100630072006f0062006100740020006e0069006e0067002000410064006f00620065002000520065006100640065007200200035002e00300020006a00610020007500750065006d006100740065002000760065007200730069006f006f006e00690064006500670061002e000d000a	feff004b00610073007500740061006700650020006e0065006900640020007300e4007400740065006900640020006b00760061006c006900740065006500740073006500200074007200fc006b006900650065006c007300650020007000720069006e00740069006d0069007300650020006a0061006f006b007300200073006f00620069006c0069006b0065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e00740069006400650020006c006f006f006d006900730065006b0073002e00200020004c006f006f0064007500640020005000440046002d0064006f006b0075006d0065006e00740065002000730061006100740065002000610076006100640061002000700072006f006700720061006d006d006900640065006700610020004100630072006f0062006100740020006e0069006e0067002000410064006f00620065002000520065006100640065007200200035002e00300020006a00610020007500750065006d006100740065002000760065007200730069006f006f006e00690064006500670061002e000d000a	X
hjic-418	252	3	>	>	X
hjic-418	252	4	/fra	/fra	PUNCT
hjic-418	253	1	<	<	X
hjic-418	253	2	feff005500740069006c006900730065007a00200063006500730020006f007000740069006f006e00730020006100660069006e00200064006500200063007200e900650072002000640065007300200064006f00630075006d0065006e00740073002000410064006f00620065002000500044004600200070006f0075007200200075006e00650020007100750061006c0069007400e90020006400270069006d007000720065007300730069006f006e00200070007200e9007000720065007300730065002e0020004c0065007300200064006f00630075006d0065006e00740073002000500044004600200063007200e900e90073002000700065007500760065006e0074002000ea0074007200650020006f007500760065007200740073002000640061006e00730020004100630072006f006200610074002c002000610069006e00730069002000710075002700410064006f00620065002000520065006100640065007200200035002e0030002000650074002000760065007200730069006f006e007300200075006c007400e90072006900650075007200650073002e	feff005500740069006c006900730065007a00200063006500730020006f007000740069006f006e00730020006100660069006e00200064006500200063007200e900650072002000640065007300200064006f00630075006d0065006e00740073002000410064006f00620065002000500044004600200070006f0075007200200075006e00650020007100750061006c0069007400e90020006400270069006d007000720065007300730069006f006e00200070007200e9007000720065007300730065002e0020004c0065007300200064006f00630075006d0065006e00740073002000500044004600200063007200e900e90073002000700065007500760065006e0074002000ea0074007200650020006f007500760065007200740073002000640061006e00730020004100630072006f006200610074002c002000610069006e00730069002000710075002700410064006f00620065002000520065006100640065007200200035002e0030002000650074002000760065007200730069006f006e007300200075006c007400e90072006900650075007200650073002e	X
hjic-418	253	3	>	>	X
hjic-418	253	4	/gre	/gre	PUNCT
hjic-418	253	5	<	<	X
hjic-418	253	6	feff03a703c103b703c303b903bc03bf03c003bf03b903ae03c303c403b5002003b103c503c403ad03c2002003c403b903c2002003c103c503b803bc03af03c303b503b903c2002003b303b903b1002003bd03b1002003b403b703bc03b903bf03c503c103b303ae03c303b503c403b5002003ad03b303b303c103b103c603b1002000410064006f006200650020005000440046002003c003bf03c5002003b503af03bd03b103b9002003ba03b103c42019002003b503be03bf03c703ae03bd002003ba03b103c403ac03bb03bb03b703bb03b1002003b303b903b1002003c003c103bf002d03b503ba03c403c503c003c903c403b903ba03ad03c2002003b503c103b303b103c303af03b503c2002003c503c803b703bb03ae03c2002003c003bf03b903cc03c403b703c403b103c2002e0020002003a403b10020005000440046002003ad03b303b303c103b103c603b1002003c003bf03c5002003ad03c703b503c403b5002003b403b703bc03b903bf03c503c103b303ae03c303b503b9002003bc03c003bf03c103bf03cd03bd002003bd03b1002003b103bd03bf03b903c703c403bf03cd03bd002003bc03b5002003c403bf0020004100630072006f006200610074002c002003c403bf002000410064006f00620065002000520065006100640065007200200035002e0030002003ba03b103b9002003bc03b503c403b103b303b503bd03ad03c303c403b503c103b503c2002003b503ba03b403cc03c303b503b903c2002e	feff03a703c103b703c303b903bc03bf03c003bf03b903ae03c303c403b5002003b103c503c403ad03c2002003c403b903c2002003c103c503b803bc03af03c303b503b903c2002003b303b903b1002003bd03b1002003b403b703bc03b903bf03c503c103b303ae03c303b503c403b5002003ad03b303b303c103b103c603b1002000410064006f006200650020005000440046002003c003bf03c5002003b503af03bd03b103b9002003ba03b103c42019002003b503be03bf03c703ae03bd002003ba03b103c403ac03bb03bb03b703bb03b1002003b303b903b1002003c003c103bf002d03b503ba03c403c503c003c903c403b903ba03ad03c2002003b503c103b303b103c303af03b503c2002003c503c803b703bb03ae03c2002003c003bf03b903cc03c403b703c403b103c2002e0020002003a403b10020005000440046002003ad03b303b303c103b103c603b1002003c003bf03c5002003ad03c703b503c403b5002003b403b703bc03b903bf03c503c103b303ae03c303b503b9002003bc03c003bf03c103bf03cd03bd002003bd03b1002003b103bd03bf03b903c703c403bf03cd03bd002003bc03b5002003c403bf0020004100630072006f006200610074002c002003c403bf002000410064006f00620065002000520065006100640065007200200035002e0030002003ba03b103b9002003bc03b503c403b103b303b503bd03ad03c303c403b503c103b503c2002003b503ba03b403cc03c303b503b903c2002e	NOUN
hjic-418	253	7	>	>	X
hjic-418	253	8	/heb	/heb	X
hjic-418	253	9	<	<	X
hjic-418	253	10	feff05d405e905ea05de05e905d5002005d105d405d205d305e805d505ea002005d005dc05d4002005db05d305d9002005dc05d905e605d505e8002005de05e105de05db05d9002000410064006f006200650020005000440046002005d405de05d505ea05d005de05d905dd002005dc05d405d305e405e105ea002005e705d305dd002d05d305e405d505e1002005d005d905db05d505ea05d905ea002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e05d005de05d905dd002005dc002d005000440046002f0058002d0033002c002005e205d905d905e005d5002005d105de05d305e805d905da002005dc05de05e905ea05de05e9002005e905dc0020004100630072006f006200610074002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e	feff05d405e905ea05de05e905d5002005d105d405d205d305e805d505ea002005d005dc05d4002005db05d305d9002005dc05d905e605d505e8002005de05e105de05db05d9002000410064006f006200650020005000440046002005d405de05d505ea05d005de05d905dd002005dc05d405d305e405e105ea002005e705d305dd002d05d305e405d505e1002005d005d905db05d505ea05d905ea002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e05d005de05d905dd002005dc002d005000440046002f0058002d0033002c002005e205d905d905e005d5002005d105de05d305e805d905da002005dc05de05e905ea05de05e9002005e905dc0020004100630072006f006200610074002e002005de05e105de05db05d90020005000440046002005e905e005d505e605e805d5002005e005d905ea05e005d905dd002005dc05e405ea05d905d705d4002005d105d005de05e605e205d505ea0020004100630072006f006200610074002005d5002d00410064006f00620065002000520065006100640065007200200035002e0030002005d505d205e805e105d005d505ea002005de05ea05e705d305de05d505ea002005d905d505ea05e8002e	X
hjic-418	253	11	>	>	X
hjic-418	253	12	/hrv	/hrv	PROPN
hjic-418	254	1	(	(	PUNCT
hjic-418	254	2	za	za	PROPN
hjic-418	254	3	stvaranje	stvaranje	PROPN
hjic-418	254	4	adobe	adobe	PROPN
hjic-418	254	5	pdf	pdf	PROPN
hjic-418	254	6	dokumenata	dokumenata	PROPN
hjic-418	254	7	najpogodnijih	najpogodnijih	PROPN
hjic-418	254	8	za	za	PROPN
hjic-418	254	9	visokokvalitetni	visokokvalitetni	VERB
hjic-418	254	10	ispis	ispis	ADJ
hjic-418	254	11	prije	prije	NOUN
hjic-418	254	12	tiskanja	tiskanja	PROPN
hjic-418	254	13	koristite	koristite	PROPN
hjic-418	254	14	ove	ove	NOUN
hjic-418	254	15	postavke	postavke	NOUN
hjic-418	254	16	.	.	PUNCT
hjic-418	255	1	stvoreni	stvoreni	ADJ
hjic-418	255	2	pdf	pdf	NOUN
hjic-418	255	3	dokumenti	dokumenti	PROPN
hjic-418	255	4	mogu	mogu	PROPN
hjic-418	255	5	se	se	X
hjic-418	255	6	otvoriti	otvoriti	PROPN
hjic-418	255	7	acrobat	acrobat	PROPN
hjic-418	256	1	i	i	PRON
hjic-418	256	2	adobe	adobe	PROPN
hjic-418	256	3	reader	reader	PROPN
hjic-418	256	4	5.0	5.0	NUM
hjic-418	256	5	i	i	PRON
hjic-418	256	6	kasnijim	kasnijim	VERB
hjic-418	256	7	verzijama	verzijama	NOUN
hjic-418	256	8	.	.	PUNCT
hjic-418	256	9	)	)	PUNCT
hjic-418	257	1	/hun	/hun	PUNCT
hjic-418	258	1	<	<	X
hjic-418	258	2	feff004b0069007600e1006c00f30020006d0069006e0151007300e9006701710020006e0079006f006d00640061006900200065006c0151006b00e90073007a00ed007401510020006e0079006f006d00740061007400e100730068006f007a0020006c006500670069006e006b00e1006200620020006d0065006700660065006c0065006c0151002000410064006f00620065002000500044004600200064006f006b0075006d0065006e00740075006d006f006b0061007400200065007a0065006b006b0065006c0020006100200062006500e1006c006c00ed007400e10073006f006b006b0061006c0020006b00e90073007a00ed0074006800650074002e0020002000410020006c00e90074007200650068006f007a006f00740074002000500044004600200064006f006b0075006d0065006e00740075006d006f006b00200061007a0020004100630072006f006200610074002000e9007300200061007a002000410064006f00620065002000520065006100640065007200200035002e0030002c0020007600610067007900200061007a002000610074007400f3006c0020006b00e9007301510062006200690020007600650072007a006900f3006b006b0061006c0020006e00790069007400680061007400f3006b0020006d00650067002e	feff004b0069007600e1006c00f30020006d0069006e0151007300e9006701710020006e0079006f006d00640061006900200065006c0151006b00e90073007a00ed007401510020006e0079006f006d00740061007400e100730068006f007a0020006c006500670069006e006b00e1006200620020006d0065006700660065006c0065006c0151002000410064006f00620065002000500044004600200064006f006b0075006d0065006e00740075006d006f006b0061007400200065007a0065006b006b0065006c0020006100200062006500e1006c006c00ed007400e10073006f006b006b0061006c0020006b00e90073007a00ed0074006800650074002e0020002000410020006c00e90074007200650068006f007a006f00740074002000500044004600200064006f006b0075006d0065006e00740075006d006f006b00200061007a0020004100630072006f006200610074002000e9007300200061007a002000410064006f00620065002000520065006100640065007200200035002e0030002c0020007600610067007900200061007a002000610074007400f3006c0020006b00e9007301510062006200690020007600650072007a006900f3006b006b0061006c0020006e00790069007400680061007400f3006b0020006d00650067002e	X
hjic-418	258	3	>	>	X
hjic-418	258	4	/ita	/ita	PUNCT
hjic-418	259	1	<	<	X
hjic-418	259	2	feff005500740069006c0069007a007a006100720065002000710075006500730074006500200069006d0070006f007300740061007a0069006f006e00690020007000650072002000630072006500610072006500200064006f00630075006d0065006e00740069002000410064006f00620065002000500044004600200070006900f900200061006400610074007400690020006100200075006e00610020007000720065007300740061006d0070006100200064006900200061006c007400610020007100750061006c0069007400e0002e0020004900200064006f00630075006d0065006e007400690020005000440046002000630072006500610074006900200070006f00730073006f006e006f0020006500730073006500720065002000610070006500720074006900200063006f006e0020004100630072006f00620061007400200065002000410064006f00620065002000520065006100640065007200200035002e003000200065002000760065007200730069006f006e006900200073007500630063006500730073006900760065002e	feff005500740069006c0069007a007a006100720065002000710075006500730074006500200069006d0070006f007300740061007a0069006f006e00690020007000650072002000630072006500610072006500200064006f00630075006d0065006e00740069002000410064006f00620065002000500044004600200070006900f900200061006400610074007400690020006100200075006e00610020007000720065007300740061006d0070006100200064006900200061006c007400610020007100750061006c0069007400e0002e0020004900200064006f00630075006d0065006e007400690020005000440046002000630072006500610074006900200070006f00730073006f006e006f0020006500730073006500720065002000610070006500720074006900200063006f006e0020004100630072006f00620061007400200065002000410064006f00620065002000520065006100640065007200200035002e003000200065002000760065007200730069006f006e006900200073007500630063006500730073006900760065002e	X
hjic-418	259	3	>	>	X
hjic-418	259	4	/jpn	/jpn	PROPN
hjic-418	260	1	<	<	X
hjic-418	260	2	feff9ad854c18cea306a30d730ea30d730ec30b951fa529b7528002000410064006f0062006500200050004400460020658766f8306e4f5c6210306b4f7f75283057307e305930023053306e8a2d5b9a30674f5c62103055308c305f0020005000440046002030d530a130a430eb306f3001004100630072006f0062006100740020304a30883073002000410064006f00620065002000520065006100640065007200200035002e003000204ee5964d3067958b304f30533068304c3067304d307e305930023053306e8a2d5b9a306b306f30d530a930f330c8306e57cb30818fbc307f304c5fc59808306730593002	feff9ad854c18cea306a30d730ea30d730ec30b951fa529b7528002000410064006f0062006500200050004400460020658766f8306e4f5c6210306b4f7f75283057307e305930023053306e8a2d5b9a30674f5c62103055308c305f0020005000440046002030d530a130a430eb306f3001004100630072006f0062006100740020304a30883073002000410064006f00620065002000520065006100640065007200200035002e003000204ee5964d3067958b304f30533068304c3067304d307e305930023053306e8a2d5b9a306b306f30d530a930f330c8306e57cb30818fbc307f304c5fc59808306730593002	X
hjic-418	260	3	>	>	X
hjic-418	260	4	/kor	/kor	PUNCT
hjic-418	261	1	<	<	X
hjic-418	261	2	feffc7740020c124c815c7440020c0acc6a9d558c5ec0020ace0d488c9c80020c2dcd5d80020c778c1c4c5d00020ac00c7a50020c801d569d55c002000410064006f0062006500200050004400460020bb38c11cb97c0020c791c131d569b2c8b2e4002e0020c774b807ac8c0020c791c131b41c00200050004400460020bb38c11cb2940020004100630072006f0062006100740020bc0f002000410064006f00620065002000520065006100640065007200200035002e00300020c774c0c1c5d0c11c0020c5f40020c2180020c788c2b5b2c8b2e4002e	feffc7740020c124c815c7440020c0acc6a9d558c5ec0020ace0d488c9c80020c2dcd5d80020c778c1c4c5d00020ac00c7a50020c801d569d55c002000410064006f0062006500200050004400460020bb38c11cb97c0020c791c131d569b2c8b2e4002e0020c774b807ac8c0020c791c131b41c00200050004400460020bb38c11cb2940020004100630072006f0062006100740020bc0f002000410064006f00620065002000520065006100640065007200200035002e00300020c774c0c1c5d0c11c0020c5f40020c2180020c788c2b5b2c8b2e4002e	X
hjic-418	261	3	>	>	X
hjic-418	261	4	/lth	/lth	PUNCT
hjic-418	262	1	<	<	X
hjic-418	262	2	feff004e006100750064006f006b0069007400650020016100690075006f007300200070006100720061006d006500740072007500730020006e006f0072011700640061006d00690020006b0075007200740069002000410064006f00620065002000500044004600200064006f006b0075006d0065006e007400750073002c0020006b00750072006900650020006c0061006200690061007500730069006100690020007000720069007400610069006b007900740069002000610075006b01610074006f00730020006b006f006b007900620117007300200070006100720065006e006700740069006e00690061006d00200073007000610075007300640069006e0069006d00750069002e0020002000530075006b0075007200740069002000500044004600200064006f006b0075006d0065006e007400610069002000670061006c006900200062016b007400690020006100740069006400610072006f006d00690020004100630072006f006200610074002000690072002000410064006f00620065002000520065006100640065007200200035002e0030002000610072002000760117006c00650073006e0117006d00690073002000760065007200730069006a006f006d00690073002e	feff004e006100750064006f006b0069007400650020016100690075006f007300200070006100720061006d006500740072007500730020006e006f0072011700640061006d00690020006b0075007200740069002000410064006f00620065002000500044004600200064006f006b0075006d0065006e007400750073002c0020006b00750072006900650020006c0061006200690061007500730069006100690020007000720069007400610069006b007900740069002000610075006b01610074006f00730020006b006f006b007900620117007300200070006100720065006e006700740069006e00690061006d00200073007000610075007300640069006e0069006d00750069002e0020002000530075006b0075007200740069002000500044004600200064006f006b0075006d0065006e007400610069002000670061006c006900200062016b007400690020006100740069006400610072006f006d00690020004100630072006f006200610074002000690072002000410064006f00620065002000520065006100640065007200200035002e0030002000610072002000760117006c00650073006e0117006d00690073002000760065007200730069006a006f006d00690073002e	X
hjic-418	262	3	>	>	X
hjic-418	262	4	/lvi	/lvi	PUNCT
hjic-418	263	1	<	<	X
hjic-418	263	2	feff0049007a006d0061006e0074006f006a00690065007400200161006f00730020006900650073007400610074012b006a0075006d00750073002c0020006c0061006900200076006500690064006f00740075002000410064006f00620065002000500044004600200064006f006b0075006d0065006e007400750073002c0020006b006100730020006900720020012b00700061016100690020007000690065006d01130072006f00740069002000610075006700730074006100730020006b00760061006c0069007401010074006500730020007000690072006d007300690065007300700069006501610061006e006100730020006400720075006b00610069002e00200049007a0076006500690064006f006a006900650074002000500044004600200064006f006b0075006d0065006e007400750073002c0020006b006f002000760061007200200061007400760113007200740020006100720020004100630072006f00620061007400200075006e002000410064006f00620065002000520065006100640065007200200035002e0030002c0020006b0101002000610072012b00200074006f0020006a00610075006e0101006b0101006d002000760065007200730069006a0101006d002e	feff0049007a006d0061006e0074006f006a00690065007400200161006f00730020006900650073007400610074012b006a0075006d00750073002c0020006c0061006900200076006500690064006f00740075002000410064006f00620065002000500044004600200064006f006b0075006d0065006e007400750073002c0020006b006100730020006900720020012b00700061016100690020007000690065006d01130072006f00740069002000610075006700730074006100730020006b00760061006c0069007401010074006500730020007000690072006d007300690065007300700069006501610061006e006100730020006400720075006b00610069002e00200049007a0076006500690064006f006a006900650074002000500044004600200064006f006b0075006d0065006e007400750073002c0020006b006f002000760061007200200061007400760113007200740020006100720020004100630072006f00620061007400200075006e002000410064006f00620065002000520065006100640065007200200035002e0030002c0020006b0101002000610072012b00200074006f0020006a00610075006e0101006b0101006d002000760065007200730069006a0101006d002e	X
hjic-418	263	3	>	>	X
hjic-418	263	4	/nld	/nld	PUNCT
hjic-418	264	1	(	(	PUNCT
hjic-418	264	2	gebruik	gebruik	NOUN
hjic-418	264	3	deze	deze	PROPN
hjic-418	264	4	instellingen	instellingen	PROPN
hjic-418	264	5	om	om	PROPN
hjic-418	264	6	adobe	adobe	PROPN
hjic-418	264	7	pdf	pdf	PROPN
hjic-418	264	8	-	-	PUNCT
hjic-418	264	9	documenten	documenten	NOUN
hjic-418	264	10	te	te	ADP
hjic-418	264	11	maken	maken	PROPN
hjic-418	264	12	die	die	PROPN
hjic-418	264	13	zijn	zijn	PROPN
hjic-418	264	14	geoptimaliseerd	geoptimaliseerd	PROPN
hjic-418	264	15	voor	voor	NOUN
hjic-418	264	16	prepress	prepress	NOUN
hjic-418	264	17	-	-	PUNCT
hjic-418	264	18	afdrukken	afdrukken	VERB
hjic-418	264	19	van	van	PROPN
hjic-418	264	20	hoge	hoge	PROPN
hjic-418	264	21	kwaliteit	kwaliteit	PROPN
hjic-418	264	22	.	.	PUNCT
hjic-418	265	1	de	de	PROPN
hjic-418	265	2	gemaakte	gemaakte	PROPN
hjic-418	265	3	pdf	pdf	NOUN
hjic-418	265	4	-	-	PUNCT
hjic-418	265	5	documenten	documenten	NOUN
hjic-418	265	6	kunnen	kunnen	PROPN
hjic-418	265	7	worden	worden	PROPN
hjic-418	265	8	geopend	geopend	PROPN
hjic-418	265	9	met	meet	VERB
hjic-418	265	10	acrobat	acrobat	PROPN
hjic-418	265	11	en	en	PROPN
hjic-418	265	12	adobe	adobe	PROPN
hjic-418	265	13	reader	reader	PROPN
hjic-418	265	14	5.0	5.0	NUM
hjic-418	265	15	en	en	ADP
hjic-418	265	16	hoger	hoger	NOUN
hjic-418	265	17	.	.	PUNCT
hjic-418	265	18	)	)	PUNCT
hjic-418	266	1	/nor	/nor	PUNCT
hjic-418	267	1	<	<	X
hjic-418	267	2	feff004200720075006b00200064006900730073006500200069006e006e007300740069006c006c0069006e00670065006e0065002000740069006c002000e50020006f0070007000720065007400740065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e00740065007200200073006f006d00200065007200200062006500730074002000650067006e0065007400200066006f00720020006600f80072007400720079006b006b0073007500740073006b00720069006600740020006100760020006800f800790020006b00760061006c0069007400650074002e0020005000440046002d0064006f006b0075006d0065006e00740065006e00650020006b0061006e002000e50070006e00650073002000690020004100630072006f00620061007400200065006c006c00650072002000410064006f00620065002000520065006100640065007200200035002e003000200065006c006c00650072002000730065006e006500720065002e	feff004200720075006b00200064006900730073006500200069006e006e007300740069006c006c0069006e00670065006e0065002000740069006c002000e50020006f0070007000720065007400740065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e00740065007200200073006f006d00200065007200200062006500730074002000650067006e0065007400200066006f00720020006600f80072007400720079006b006b0073007500740073006b00720069006600740020006100760020006800f800790020006b00760061006c0069007400650074002e0020005000440046002d0064006f006b0075006d0065006e00740065006e00650020006b0061006e002000e50070006e00650073002000690020004100630072006f00620061007400200065006c006c00650072002000410064006f00620065002000520065006100640065007200200035002e003000200065006c006c00650072002000730065006e006500720065002e	X
hjic-418	267	3	>	>	X
hjic-418	267	4	/pol	/pol	PUNCT
hjic-418	268	1	<	<	X
hjic-418	268	2	feff0055007300740061007700690065006e0069006100200064006f002000740077006f0072007a0065006e0069006100200064006f006b0075006d0065006e007400f300770020005000440046002000700072007a0065007a006e00610063007a006f006e00790063006800200064006f002000770079006400720075006b00f30077002000770020007700790073006f006b00690065006a0020006a0061006b006f015b00630069002e002000200044006f006b0075006d0065006e0074007900200050004400460020006d006f017c006e00610020006f007400770069006500720061010700200077002000700072006f006700720061006d006900650020004100630072006f00620061007400200069002000410064006f00620065002000520065006100640065007200200035002e0030002000690020006e006f00770073007a0079006d002e	feff0055007300740061007700690065006e0069006100200064006f002000740077006f0072007a0065006e0069006100200064006f006b0075006d0065006e007400f300770020005000440046002000700072007a0065007a006e00610063007a006f006e00790063006800200064006f002000770079006400720075006b00f30077002000770020007700790073006f006b00690065006a0020006a0061006b006f015b00630069002e002000200044006f006b0075006d0065006e0074007900200050004400460020006d006f017c006e00610020006f007400770069006500720061010700200077002000700072006f006700720061006d006900650020004100630072006f00620061007400200069002000410064006f00620065002000520065006100640065007200200035002e0030002000690020006e006f00770073007a0079006d002e	X
hjic-418	268	3	>	>	X
hjic-418	268	4	/ptb	/ptb	PROPN
hjic-418	268	5	<	<	X
hjic-418	268	6	feff005500740069006c0069007a006500200065007300730061007300200063006f006e00660069006700750072006100e700f50065007300200064006500200066006f0072006d00610020006100200063007200690061007200200064006f00630075006d0065006e0074006f0073002000410064006f0062006500200050004400460020006d00610069007300200061006400650071007500610064006f00730020007000610072006100200070007200e9002d0069006d0070007200650073007300f50065007300200064006500200061006c007400610020007100750061006c00690064006100640065002e0020004f007300200064006f00630075006d0065006e0074006f00730020005000440046002000630072006900610064006f007300200070006f00640065006d0020007300650072002000610062006500720074006f007300200063006f006d0020006f0020004100630072006f006200610074002000650020006f002000410064006f00620065002000520065006100640065007200200035002e0030002000650020007600650072007300f50065007300200070006f00730074006500720069006f007200650073002e	feff005500740069006c0069007a006500200065007300730061007300200063006f006e00660069006700750072006100e700f50065007300200064006500200066006f0072006d00610020006100200063007200690061007200200064006f00630075006d0065006e0074006f0073002000410064006f0062006500200050004400460020006d00610069007300200061006400650071007500610064006f00730020007000610072006100200070007200e9002d0069006d0070007200650073007300f50065007300200064006500200061006c007400610020007100750061006c00690064006100640065002e0020004f007300200064006f00630075006d0065006e0074006f00730020005000440046002000630072006900610064006f007300200070006f00640065006d0020007300650072002000610062006500720074006f007300200063006f006d0020006f0020004100630072006f006200610074002000650020006f002000410064006f00620065002000520065006100640065007200200035002e0030002000650020007600650072007300f50065007300200070006f00730074006500720069006f007200650073002e	X
hjic-418	268	7	>	>	X
hjic-418	268	8	/rum	/rum	X
hjic-418	268	9	<	<	X
hjic-418	268	10	feff005500740069006c0069007a00610163006900200061006300650073007400650020007300650074010300720069002000700065006e007400720075002000610020006300720065006100200064006f00630075006d0065006e00740065002000410064006f006200650020005000440046002000610064006500630076006100740065002000700065006e0074007200750020007400690070010300720069007200650061002000700072006500700072006500730073002000640065002000630061006c006900740061007400650020007300750070006500720069006f006100720103002e002000200044006f00630075006d0065006e00740065006c00650020005000440046002000630072006500610074006500200070006f00740020006600690020006400650073006300680069007300650020006300750020004100630072006f006200610074002c002000410064006f00620065002000520065006100640065007200200035002e00300020015f00690020007600650072007300690075006e0069006c006500200075006c0074006500720069006f006100720065002e	feff005500740069006c0069007a00610163006900200061006300650073007400650020007300650074010300720069002000700065006e007400720075002000610020006300720065006100200064006f00630075006d0065006e00740065002000410064006f006200650020005000440046002000610064006500630076006100740065002000700065006e0074007200750020007400690070010300720069007200650061002000700072006500700072006500730073002000640065002000630061006c006900740061007400650020007300750070006500720069006f006100720103002e002000200044006f00630075006d0065006e00740065006c00650020005000440046002000630072006500610074006500200070006f00740020006600690020006400650073006300680069007300650020006300750020004100630072006f006200610074002c002000410064006f00620065002000520065006100640065007200200035002e00300020015f00690020007600650072007300690075006e0069006c006500200075006c0074006500720069006f006100720065002e	X
hjic-418	268	11	>	>	X
hjic-418	268	12	/rus	/rus	PUNCT
hjic-418	268	13	<	<	X
hjic-418	268	14	feff04180441043f043e043b044c04370443043904420435002004340430043d043d044b04350020043d0430044104420440043e0439043a043800200434043b044f00200441043e043704340430043d0438044f00200434043e043a0443043c0435043d0442043e0432002000410064006f006200650020005000440046002c0020043c0430043a04410438043c0430043b044c043d043e0020043f043e04340445043e0434044f04490438044500200434043b044f00200432044b0441043e043a043e043a0430044704350441044204320435043d043d043e0433043e00200434043e043f0435044704300442043d043e0433043e00200432044b0432043e04340430002e002000200421043e043704340430043d043d044b04350020005000440046002d0434043e043a0443043c0435043d0442044b0020043c043e0436043d043e0020043e0442043a0440044b043204300442044c002004410020043f043e043c043e0449044c044e0020004100630072006f00620061007400200438002000410064006f00620065002000520065006100640065007200200035002e00300020043800200431043e043b043504350020043f043e04370434043d043804450020043204350440044104380439002e	feff04180441043f043e043b044c04370443043904420435002004340430043d043d044b04350020043d0430044104420440043e0439043a043800200434043b044f00200441043e043704340430043d0438044f00200434043e043a0443043c0435043d0442043e0432002000410064006f006200650020005000440046002c0020043c0430043a04410438043c0430043b044c043d043e0020043f043e04340445043e0434044f04490438044500200434043b044f00200432044b0441043e043a043e043a0430044704350441044204320435043d043d043e0433043e00200434043e043f0435044704300442043d043e0433043e00200432044b0432043e04340430002e002000200421043e043704340430043d043d044b04350020005000440046002d0434043e043a0443043c0435043d0442044b0020043c043e0436043d043e0020043e0442043a0440044b043204300442044c002004410020043f043e043c043e0449044c044e0020004100630072006f00620061007400200438002000410064006f00620065002000520065006100640065007200200035002e00300020043800200431043e043b043504350020043f043e04370434043d043804450020043204350440044104380439002e	X
hjic-418	268	15	>	>	X
hjic-418	268	16	/sky	/sky	PUNCT
hjic-418	269	1	<	<	X
hjic-418	269	2	feff0054006900650074006f0020006e006100730074006100760065006e0069006100200070006f0075017e0069007400650020006e00610020007600790074007600e100720061006e0069006500200064006f006b0075006d0065006e0074006f0076002000410064006f006200650020005000440046002c0020006b0074006f007200e90020007300610020006e0061006a006c0065007001610069006500200068006f0064006900610020006e00610020006b00760061006c00690074006e00fa00200074006c0061010d00200061002000700072006500700072006500730073002e00200056007900740076006f00720065006e00e900200064006f006b0075006d0065006e007400790020005000440046002000620075006400650020006d006f017e006e00e90020006f00740076006f00720069016500200076002000700072006f006700720061006d006f006300680020004100630072006f00620061007400200061002000410064006f00620065002000520065006100640065007200200035002e0030002000610020006e006f0076016100ed00630068002e	feff0054006900650074006f0020006e006100730074006100760065006e0069006100200070006f0075017e0069007400650020006e00610020007600790074007600e100720061006e0069006500200064006f006b0075006d0065006e0074006f0076002000410064006f006200650020005000440046002c0020006b0074006f007200e90020007300610020006e0061006a006c0065007001610069006500200068006f0064006900610020006e00610020006b00760061006c00690074006e00fa00200074006c0061010d00200061002000700072006500700072006500730073002e00200056007900740076006f00720065006e00e900200064006f006b0075006d0065006e007400790020005000440046002000620075006400650020006d006f017e006e00e90020006f00740076006f00720069016500200076002000700072006f006700720061006d006f006300680020004100630072006f00620061007400200061002000410064006f00620065002000520065006100640065007200200035002e0030002000610020006e006f0076016100ed00630068002e	X
hjic-418	269	3	>	>	X
hjic-418	269	4	/slv	/slv	X
hjic-418	269	5	<	<	X
hjic-418	269	6	feff005400650020006e006100730074006100760069007400760065002000750070006f0072006100620069007400650020007a00610020007500730074007600610072006a0061006e006a006500200064006f006b0075006d0065006e0074006f0076002000410064006f006200650020005000440046002c0020006b006900200073006f0020006e0061006a007000720069006d00650072006e0065006a016100690020007a00610020006b0061006b006f0076006f00730074006e006f0020007400690073006b0061006e006a00650020007300200070007200690070007200610076006f0020006e00610020007400690073006b002e00200020005500730074007600610072006a0065006e006500200064006f006b0075006d0065006e0074006500200050004400460020006a00650020006d006f0067006f010d00650020006f0064007000720065007400690020007a0020004100630072006f00620061007400200069006e002000410064006f00620065002000520065006100640065007200200035002e003000200069006e0020006e006f00760065006a01610069006d002e	feff005400650020006e006100730074006100760069007400760065002000750070006f0072006100620069007400650020007a00610020007500730074007600610072006a0061006e006a006500200064006f006b0075006d0065006e0074006f0076002000410064006f006200650020005000440046002c0020006b006900200073006f0020006e0061006a007000720069006d00650072006e0065006a016100690020007a00610020006b0061006b006f0076006f00730074006e006f0020007400690073006b0061006e006a00650020007300200070007200690070007200610076006f0020006e00610020007400690073006b002e00200020005500730074007600610072006a0065006e006500200064006f006b0075006d0065006e0074006500200050004400460020006a00650020006d006f0067006f010d00650020006f0064007000720065007400690020007a0020004100630072006f00620061007400200069006e002000410064006f00620065002000520065006100640065007200200035002e003000200069006e0020006e006f00760065006a01610069006d002e	X
hjic-418	269	7	>	>	X
hjic-418	269	8	/suo	/suo	PROPN
hjic-418	270	1	<	<	AUX
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hjic-418	270	3	>	>	X
hjic-418	270	4	/sve	/sve	PROPN
hjic-418	270	5	<	<	X
hjic-418	270	6	feff0041006e007600e4006e00640020006400650020006800e4007200200069006e0073007400e4006c006c006e0069006e006700610072006e00610020006f006d002000640075002000760069006c006c00200073006b006100700061002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e007400200073006f006d002000e400720020006c00e4006d0070006c0069006700610020006600f60072002000700072006500700072006500730073002d007500740073006b00720069006600740020006d006500640020006800f600670020006b00760061006c0069007400650074002e002000200053006b006100700061006400650020005000440046002d0064006f006b0075006d0065006e00740020006b0061006e002000f600700070006e00610073002000690020004100630072006f0062006100740020006f00630068002000410064006f00620065002000520065006100640065007200200035002e00300020006f00630068002000730065006e006100720065002e	feff0041006e007600e4006e00640020006400650020006800e4007200200069006e0073007400e4006c006c006e0069006e006700610072006e00610020006f006d002000640075002000760069006c006c00200073006b006100700061002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e007400200073006f006d002000e400720020006c00e4006d0070006c0069006700610020006600f60072002000700072006500700072006500730073002d007500740073006b00720069006600740020006d006500640020006800f600670020006b00760061006c0069007400650074002e002000200053006b006100700061006400650020005000440046002d0064006f006b0075006d0065006e00740020006b0061006e002000f600700070006e00610073002000690020004100630072006f0062006100740020006f00630068002000410064006f00620065002000520065006100640065007200200035002e00300020006f00630068002000730065006e006100720065002e	X
hjic-418	270	7	>	>	X
hjic-418	270	8	/tur	/tur	X
hjic-418	270	9	<	<	X
hjic-418	270	10	feff005900fc006b00730065006b0020006b0061006c006900740065006c0069002000f6006e002000790061007a006401310072006d00610020006200610073006b013100730131006e006100200065006e0020006900790069002000750079006100620069006c006500630065006b002000410064006f006200650020005000440046002000620065006c00670065006c0065007200690020006f006c0075015f007400750072006d0061006b0020006900e70069006e00200062007500200061007900610072006c0061007201310020006b0075006c006c0061006e0131006e002e00200020004f006c0075015f0074007500720075006c0061006e0020005000440046002000620065006c00670065006c0065007200690020004100630072006f006200610074002000760065002000410064006f00620065002000520065006100640065007200200035002e003000200076006500200073006f006e0072006100730131006e00640061006b00690020007300fc007200fc006d006c00650072006c00650020006100e70131006c006100620069006c00690072002e	feff005900fc006b00730065006b0020006b0061006c006900740065006c0069002000f6006e002000790061007a006401310072006d00610020006200610073006b013100730131006e006100200065006e0020006900790069002000750079006100620069006c006500630065006b002000410064006f006200650020005000440046002000620065006c00670065006c0065007200690020006f006c0075015f007400750072006d0061006b0020006900e70069006e00200062007500200061007900610072006c0061007201310020006b0075006c006c0061006e0131006e002e00200020004f006c0075015f0074007500720075006c0061006e0020005000440046002000620065006c00670065006c0065007200690020004100630072006f006200610074002000760065002000410064006f00620065002000520065006100640065007200200035002e003000200076006500200073006f006e0072006100730131006e00640061006b00690020007300fc007200fc006d006c00650072006c00650020006100e70131006c006100620069006c00690072002e	PROPN
hjic-418	270	11	>	>	X
hjic-418	270	12	/ukr	/ukr	X
hjic-418	270	13	<	<	X
hjic-418	270	14	feff04120438043a043e0440043804410442043e043204430439044204350020044604560020043f043004400430043c043504420440043800200434043b044f0020044104420432043e04400435043d043d044f00200434043e043a0443043c0435043d044204560432002000410064006f006200650020005000440046002c0020044f043a04560020043d04300439043a04400430044904350020043f045604340445043e0434044f0442044c00200434043b044f0020043204380441043e043a043e044f043a04560441043d043e0433043e0020043f0435044004350434043404400443043a043e0432043e0433043e0020043404400443043a0443002e00200020042104420432043e04400435043d045600200434043e043a0443043c0435043d0442043800200050004400460020043c043e0436043d04300020043204560434043a0440043804420438002004430020004100630072006f006200610074002004420430002000410064006f00620065002000520065006100640065007200200035002e0030002004300431043e0020043f04560437043d04560448043e04570020043204350440044104560457002e	feff04120438043a043e0440043804410442043e043204430439044204350020044604560020043f043004400430043c043504420440043800200434043b044f0020044104420432043e04400435043d043d044f00200434043e043a0443043c0435043d044204560432002000410064006f006200650020005000440046002c0020044f043a04560020043d04300439043a04400430044904350020043f045604340445043e0434044f0442044c00200434043b044f0020043204380441043e043a043e044f043a04560441043d043e0433043e0020043f0435044004350434043404400443043a043e0432043e0433043e0020043404400443043a0443002e00200020042104420432043e04400435043d045600200434043e043a0443043c0435043d0442043800200050004400460020043c043e0436043d04300020043204560434043a0440043804420438002004430020004100630072006f006200610074002004420430002000410064006f00620065002000520065006100640065007200200035002e0030002004300431043e0020043f04560437043d04560448043e04570020043204350440044104560457002e	X
hjic-418	270	15	>	>	X
hjic-418	270	16	/enu	/enu	PUNCT
hjic-418	270	17	(	(	PUNCT
hjic-418	270	18	use	use	VERB
hjic-418	270	19	these	these	DET
hjic-418	270	20	settings	setting	NOUN
hjic-418	270	21	to	to	PART
hjic-418	270	22	create	create	VERB
hjic-418	270	23	adobe	adobe	PROPN
hjic-418	270	24	pdf	pdf	PROPN
hjic-418	270	25	documents	document	NOUN
hjic-418	270	26	best	well	ADV
hjic-418	270	27	suited	suit	VERB
hjic-418	270	28	for	for	ADP
hjic-418	270	29	high	high	ADJ
hjic-418	270	30	-	-	PUNCT
hjic-418	270	31	quality	quality	NOUN
hjic-418	270	32	prepress	prepress	NOUN
hjic-418	270	33	printing	printing	NOUN
hjic-418	270	34	.	.	PUNCT
hjic-418	271	1	created	create	VERB
hjic-418	271	2	pdf	pdf	NOUN
hjic-418	271	3	documents	document	NOUN
hjic-418	271	4	can	can	AUX
hjic-418	271	5	be	be	AUX
hjic-418	271	6	opened	open	VERB
hjic-418	271	7	with	with	ADP
hjic-418	271	8	acrobat	acrobat	PROPN
hjic-418	271	9	and	and	CCONJ
hjic-418	271	10	adobe	adobe	PROPN
hjic-418	271	11	reader	reader	PROPN
hjic-418	271	12	5.0	5.0	NUM
hjic-418	271	13	and	and	CCONJ
hjic-418	271	14	later	later	ADV
hjic-418	271	15	.	.	PUNCT
hjic-418	271	16	)	)	PUNCT
hjic-418	272	1	>	>	PUNCT
hjic-418	272	2	>	>	X
hjic-418	272	3	/namespace	/namespace	PUNCT
hjic-418	273	1	[	[	PUNCT
hjic-418	273	2	(	(	PUNCT
hjic-418	273	3	adobe	adobe	PROPN
hjic-418	273	4	)	)	PUNCT
hjic-418	273	5	(	(	PUNCT
hjic-418	273	6	common	common	ADJ
hjic-418	273	7	)	)	PUNCT
hjic-418	273	8	(	(	PUNCT
hjic-418	273	9	1.0	1.0	NUM
hjic-418	273	10	)	)	PUNCT
hjic-418	273	11	]	]	PUNCT
hjic-418	274	1	/othernamespaces	/othernamespace	VERB
hjic-418	274	2	[	[	PUNCT
hjic-418	274	3	<	<	X
hjic-418	274	4	<	<	X
hjic-418	274	5	/asreaderspreads	/asreaderspreads	X
hjic-418	274	6	false	false	ADJ
hjic-418	274	7	/cropimagestoframes	/cropimagestoframe	NOUN
hjic-418	274	8	true	true	ADJ
hjic-418	274	9	/errorcontrol	/errorcontrol	NOUN
hjic-418	275	1	/warnandcontinue	/warnandcontinue	PUNCT
hjic-418	275	2	/flattenerignorespreadoverrides	/flattenerignorespreadoverride	NOUN
hjic-418	275	3	false	false	ADJ
hjic-418	275	4	/includeguidesgrids	/includeguidesgrid	NOUN
hjic-418	275	5	false	false	ADJ
hjic-418	275	6	/includenonprinting	/includenonprinting	NOUN
hjic-418	275	7	false	false	ADJ
hjic-418	275	8	/includeslug	/includeslug	INTJ
hjic-418	275	9	false	false	ADJ
hjic-418	275	10	/namespace	/namespace	NOUN
hjic-418	276	1	[	[	PUNCT
hjic-418	276	2	(	(	PUNCT
hjic-418	276	3	adobe	adobe	PROPN
hjic-418	276	4	)	)	PUNCT
hjic-418	276	5	(	(	PUNCT
hjic-418	276	6	indesign	indesign	NOUN
hjic-418	276	7	)	)	PUNCT
hjic-418	276	8	(	(	PUNCT
hjic-418	276	9	4.0	4.0	NUM
hjic-418	276	10	)	)	PUNCT
hjic-418	276	11	]	]	PUNCT
hjic-418	276	12	/omitplacedbitmaps	/omitplacedbitmaps	PUNCT
hjic-418	277	1	false	false	ADJ
hjic-418	277	2	/omitplacedeps	/omitplacedeps	INTJ
hjic-418	277	3	false	false	ADJ
hjic-418	277	4	/omitplacedpdf	/omitplacedpdf	PUNCT
hjic-418	277	5	false	false	ADJ
hjic-418	277	6	/simulateoverprint	/simulateoverprint	NOUN
hjic-418	277	7	/legacy	/legacy	PUNCT
hjic-418	278	1	>	>	PUNCT
hjic-418	278	2	>	>	X
hjic-418	279	1	<	<	X
hjic-418	279	2	<	<	X
hjic-418	279	3	/addbleedmarks	/addbleedmarks	X
hjic-418	279	4	false	false	ADJ
hjic-418	279	5	/addcolorbars	/addcolorbars	INTJ
hjic-418	279	6	false	false	ADJ
hjic-418	279	7	/addcropmarks	/addcropmarks	PUNCT
hjic-418	279	8	false	false	ADJ
hjic-418	279	9	/addpageinfo	/addpageinfo	INTJ
hjic-418	279	10	false	false	ADJ
hjic-418	279	11	/addregmarks	/addregmark	NOUN
hjic-418	279	12	false	false	ADJ
hjic-418	279	13	/convertcolors	/convertcolor	NOUN
hjic-418	279	14	/converttocmyk	/converttocmyk	INTJ
hjic-418	279	15	/destinationprofilename	/destinationprofilename	PUNCT
hjic-418	279	16	(	(	PUNCT
hjic-418	279	17	)	)	PUNCT
hjic-418	279	18	/destinationprofileselector	/destinationprofileselector	NOUN
hjic-418	279	19	/documentcmyk	/documentcmyk	PUNCT
hjic-418	279	20	/downsample16bitimages	/downsample16bitimage	NOUN
hjic-418	279	21	true	true	ADJ
hjic-418	279	22	/flattenerpreset	/flattenerpreset	PUNCT
hjic-418	280	1	<	<	X
hjic-418	280	2	<	<	X
hjic-418	280	3	/presetselector	/presetselector	X
hjic-418	280	4	/mediumresolution	/mediumresolution	NOUN
hjic-418	280	5	>	>	PUNCT
hjic-418	280	6	>	>	X
hjic-418	280	7	/formelements	/formelement	NOUN
hjic-418	281	1	false	false	ADJ
hjic-418	281	2	/generatestructure	/generatestructure	PUNCT
hjic-418	281	3	false	false	ADJ
hjic-418	281	4	/includebookmarks	/includebookmark	NOUN
hjic-418	281	5	false	false	ADJ
hjic-418	281	6	/includehyperlinks	/includehyperlinks	INTJ
hjic-418	281	7	false	false	ADJ
hjic-418	281	8	/includeinteractive	/includeinteractive	ADJ
hjic-418	281	9	false	false	ADJ
hjic-418	281	10	/includelayers	/includelayer	NOUN
hjic-418	281	11	false	false	ADJ
hjic-418	281	12	/includeprofiles	/includeprofiles	INTJ
hjic-418	281	13	false	false	ADJ
hjic-418	281	14	/multimediahandling	/multimediahandling	NOUN
hjic-418	282	1	/useobjectsettings	/useobjectsettings	PRON
hjic-418	283	1	/namespace	/namespace	PUNCT
hjic-418	284	1	[	[	PUNCT
hjic-418	284	2	(	(	PUNCT
hjic-418	284	3	adobe	adobe	PROPN
hjic-418	284	4	)	)	PUNCT
hjic-418	284	5	(	(	PUNCT
hjic-418	284	6	creativesuite	creativesuite	NOUN
hjic-418	284	7	)	)	PUNCT
hjic-418	284	8	(	(	PUNCT
hjic-418	284	9	2.0	2.0	NUM
hjic-418	284	10	)	)	PUNCT
hjic-418	284	11	]	]	PUNCT
hjic-418	285	1	/pdfxoutputintentprofileselector	/pdfxoutputintentprofileselector	INTJ
hjic-418	285	2	/documentcmyk	/documentcmyk	PUNCT
hjic-418	286	1	/preserveediting	/preserveedite	VERB
hjic-418	286	2	true	true	ADJ
hjic-418	286	3	/untaggedcmykhandling	/untaggedcmykhandling	NOUN
hjic-418	286	4	/leaveuntagged	/leaveuntagge	VERB
hjic-418	286	5	/untaggedrgbhandling	/untaggedrgbhandling	NOUN
hjic-418	286	6	/usedocumentprofile	/usedocumentprofile	INTJ
hjic-418	286	7	/usedocumentbleed	/usedocumentbleed	NOUN
hjic-418	287	1	false	false	ADJ
hjic-418	287	2	>	>	PUNCT
hjic-418	287	3	>	>	X
hjic-418	287	4	]	]	PUNCT
hjic-418	287	5	>	>	PUNCT
hjic-418	287	6	>	>	X
hjic-418	287	7	setdistillerparams	setdistillerparam	NOUN
hjic-418	288	1	<	<	X
hjic-418	288	2	<	<	X
hjic-418	288	3	/hwresolution	/hwresolution	NOUN
hjic-418	289	1	[	[	X
hjic-418	289	2	2400	2400	NUM
hjic-418	289	3	2400	2400	NUM
hjic-418	289	4	]	]	PUNCT
hjic-418	289	5	/pagesize	/pagesize	X
hjic-418	290	1	[	[	X
hjic-418	290	2	612.000	612.000	NUM
hjic-418	290	3	792.000	792.000	NUM
hjic-418	290	4	]	]	PUNCT
hjic-418	290	5	>	>	PUNCT
hjic-418	290	6	>	>	X
hjic-418	290	7	setpagedevice	setpagedevice	PROPN