id sid tid token lemma pos hjic-495 1 1 microsoft microsoft PROPN hjic-495 1 2 word word NOUN hjic-495 1 3 inner inner ADJ hjic-495 1 4 cover.docx cover.docx NUM hjic-495 1 5 the the DET hjic-495 1 6 hungarian hungarian ADJ hjic-495 1 7 journal journal NOUN hjic-495 1 8 of of ADP hjic-495 1 9 industry industry NOUN hjic-495 1 10 and and CCONJ hjic-495 1 11 chemistry chemistry NOUN hjic-495 1 12 ( ( PUNCT hjic-495 1 13 hjic hjic PROPN hjic-495 1 14 ) ) PUNCT hjic-495 1 15 formerly formerly ADV hjic-495 1 16 ( ( PUNCT hjic-495 1 17 until until ADP hjic-495 1 18 2012 2012 NUM hjic-495 1 19 ) ) PUNCT hjic-495 1 20 the the DET hjic-495 1 21 hungarian hungarian ADJ hjic-495 1 22 journal journal NOUN hjic-495 1 23 of of ADP hjic-495 1 24 industrial industrial ADJ hjic-495 1 25 chemistry chemistry NOUN hjic-495 1 26 the the DET hjic-495 1 27 hjic hjic PROPN hjic-495 1 28 is be AUX hjic-495 1 29 an an DET hjic-495 1 30 international international ADJ hjic-495 1 31 periodicals periodical NOUN hjic-495 1 32 that that PRON hjic-495 1 33 focuses focus VERB hjic-495 1 34 on on ADP hjic-495 1 35 results result NOUN hjic-495 1 36 of of ADP hjic-495 1 37 fundamental fundamental ADJ hjic-495 1 38 and and CCONJ hjic-495 1 39 applied applied ADJ hjic-495 1 40 research research NOUN hjic-495 1 41 in in ADP hjic-495 1 42 the the DET hjic-495 1 43 field field NOUN hjic-495 1 44 of of ADP hjic-495 1 45 • • NUM hjic-495 1 46 biotechnology biotechnology NOUN hjic-495 1 47 • • NOUN hjic-495 1 48 chemical chemical NOUN hjic-495 1 49 engineering engineering NOUN hjic-495 1 50 science science NOUN hjic-495 1 51 • • NOUN hjic-495 1 52 chemical chemical NOUN hjic-495 1 53 processes process NOUN hjic-495 1 54 • • NOUN hjic-495 1 55 energetics energetics NOUN hjic-495 1 56 • • NOUN hjic-495 1 57 environmental environmental ADJ hjic-495 1 58 chemistry chemistry NOUN hjic-495 1 59 • • PROPN hjic-495 1 60 environmental environmental ADJ hjic-495 1 61 engineering engineering PROPN hjic-495 1 62 & & CCONJ hjic-495 1 63 technology technology PROPN hjic-495 1 64 • • ADP hjic-495 1 65 industrial industrial ADJ hjic-495 1 66 management management NOUN hjic-495 1 67 • • NOUN hjic-495 1 68 material material NOUN hjic-495 1 69 science science NOUN hjic-495 1 70 • • ADP hjic-495 1 71 mechanical mechanical ADJ hjic-495 1 72 engineering engineering NOUN hjic-495 1 73 • • NUM hjic-495 1 74 mechatronics mechatronic NOUN hjic-495 1 75 • • NOUN hjic-495 1 76 process process NOUN hjic-495 1 77 & & CCONJ hjic-495 1 78 system system NOUN hjic-495 1 79 engineering engineer VERB hjic-495 1 80 • • NOUN hjic-495 1 81 recycling recycling NOUN hjic-495 1 82 in in ADP hjic-495 1 83 the the DET hjic-495 1 84 form form NOUN hjic-495 1 85 of of ADP hjic-495 1 86 original original ADJ hjic-495 1 87 papers paper NOUN hjic-495 1 88 , , PUNCT hjic-495 1 89 reviews review NOUN hjic-495 1 90 , , PUNCT hjic-495 1 91 short short ADJ hjic-495 1 92 communications communication NOUN hjic-495 1 93 , , PUNCT hjic-495 1 94 and and CCONJ hjic-495 1 95 conference conference NOUN hjic-495 1 96 proceedings proceeding NOUN hjic-495 1 97 written write VERB hjic-495 1 98 in in ADP hjic-495 1 99 english english PROPN hjic-495 1 100 . . PUNCT hjic-495 2 1 editorial editorial PROPN hjic-495 2 2 board board PROPN hjic-495 2 3 editor editor NOUN hjic-495 2 4 - - PUNCT hjic-495 2 5 in in ADP hjic-495 2 6 - - PUNCT hjic-495 2 7 chief chief NOUN hjic-495 2 8 : : PUNCT hjic-495 2 9 róbert róbert PROPN hjic-495 2 10 k. k. PROPN hjic-495 2 11 szilágyi szilágyi PROPN hjic-495 2 12 department department PROPN hjic-495 2 13 of of ADP hjic-495 2 14 chemistry chemistry NOUN hjic-495 2 15 and and CCONJ hjic-495 2 16 biochemistry biochemistry NOUN hjic-495 2 17 , , PUNCT hjic-495 2 18 montana montana PROPN hjic-495 2 19 state state PROPN hjic-495 2 20 university university PROPN hjic-495 2 21 , , PUNCT hjic-495 2 22 bozeman bozeman PROPN hjic-495 2 23 , , PUNCT hjic-495 2 24 mt mt PROPN hjic-495 2 25 , , PUNCT hjic-495 2 26 u.s.a u.s.a PROPN hjic-495 2 27 . . PROPN hjic-495 2 28 honorary honorary PROPN hjic-495 2 29 senior senior ADJ hjic-495 2 30 editor editor NOUN hjic-495 2 31 : : PUNCT hjic-495 2 32 géza géza PROPN hjic-495 2 33 horváth horváth PROPN hjic-495 2 34 department department PROPN hjic-495 2 35 of of ADP hjic-495 2 36 chemical chemical PROPN hjic-495 2 37 engineering engineering NOUN hjic-495 2 38 science science NOUN hjic-495 2 39 , , PUNCT hjic-495 2 40 university university NOUN hjic-495 2 41 of of ADP hjic-495 2 42 pannonia pannonia PROPN hjic-495 2 43 , , PUNCT hjic-495 2 44 veszprém veszprém NOUN hjic-495 2 45 , , PUNCT hjic-495 2 46 hungary hungary ADJ hjic-495 2 47 associate associate ADJ hjic-495 2 48 editors editor NOUN hjic-495 2 49 : : PUNCT hjic-495 2 50 jános jános PROPN hjic-495 2 51 abonyi abonyi PROPN hjic-495 2 52 department department PROPN hjic-495 2 53 of of ADP hjic-495 2 54 process process NOUN hjic-495 2 55 engineering engineering NOUN hjic-495 2 56 , , PUNCT hjic-495 2 57 university university NOUN hjic-495 2 58 of of ADP hjic-495 2 59 pannonia pannonia PROPN hjic-495 2 60 , , PUNCT hjic-495 2 61 veszprém veszprém NOUN hjic-495 2 62 , , PUNCT hjic-495 2 63 hungary hungary PROPN hjic-495 2 64 dezső dezső PROPN hjic-495 2 65 boda boda PROPN hjic-495 2 66 department department PROPN hjic-495 2 67 of of ADP hjic-495 2 68 physical physical ADJ hjic-495 2 69 chemistry chemistry NOUN hjic-495 2 70 , , PUNCT hjic-495 2 71 university university NOUN hjic-495 2 72 of of ADP hjic-495 2 73 pannonia pannonia PROPN hjic-495 2 74 , , PUNCT hjic-495 2 75 veszprém veszprém NOUN hjic-495 2 76 , , PUNCT hjic-495 2 77 hungary hungary PROPN hjic-495 2 78 norbert norbert PROPN hjic-495 2 79 miskolczi miskolczi PROPN hjic-495 2 80 mol mol ADP hjic-495 2 81 department department PROPN hjic-495 2 82 of of ADP hjic-495 2 83 hydrocarbon hydrocarbon NOUN hjic-495 2 84 and and CCONJ hjic-495 2 85 coal coal NOUN hjic-495 2 86 processing processing NOUN hjic-495 2 87 , , PUNCT hjic-495 2 88 university university NOUN hjic-495 2 89 of of ADP hjic-495 2 90 pannonia pannonia PROPN hjic-495 2 91 , , PUNCT hjic-495 2 92 veszprém veszprém NOUN hjic-495 2 93 , , PUNCT hjic-495 2 94 hungary hungary PROPN hjic-495 2 95 dóra dóra ADJ hjic-495 2 96 rippel rippel PROPN hjic-495 2 97 pethő pethő PROPN hjic-495 2 98 department department PROPN hjic-495 2 99 of of ADP hjic-495 2 100 chemical chemical PROPN hjic-495 2 101 engineering engineering NOUN hjic-495 2 102 science science NOUN hjic-495 2 103 , , PUNCT hjic-495 2 104 university university NOUN hjic-495 2 105 of of ADP hjic-495 2 106 pannonia pannonia PROPN hjic-495 2 107 , , PUNCT hjic-495 2 108 veszprém veszprém NOUN hjic-495 2 109 , , PUNCT hjic-495 2 110 hungary hungary PROPN hjic-495 2 111 editors editor NOUN hjic-495 2 112 : : PUNCT hjic-495 2 113 lászló lászló PROPN hjic-495 2 114 bartha bartha PROPN hjic-495 2 115 mol mol ADP hjic-495 2 116 department department PROPN hjic-495 2 117 of of ADP hjic-495 2 118 hydrocarbon hydrocarbon NOUN hjic-495 2 119 and and CCONJ hjic-495 2 120 coal coal NOUN hjic-495 2 121 processing processing NOUN hjic-495 2 122 , , PUNCT hjic-495 2 123 university university NOUN hjic-495 2 124 of of ADP hjic-495 2 125 pannonia pannonia PROPN hjic-495 2 126 , , PUNCT hjic-495 2 127 veszprém veszprém NOUN hjic-495 2 128 , , PUNCT hjic-495 2 129 hungary hungary PROPN hjic-495 2 130 katalin katalin PROPN hjic-495 2 131 bélafi bélafi PROPN hjic-495 2 132 - - PUNCT hjic-495 2 133 bakó bakó PROPN hjic-495 2 134 research research PROPN hjic-495 2 135 institute institute PROPN hjic-495 2 136 of of ADP hjic-495 2 137 bioengineering bioengineering NOUN hjic-495 2 138 , , PUNCT hjic-495 2 139 membrane membrane NOUN hjic-495 2 140 technology technology NOUN hjic-495 2 141 and and CCONJ hjic-495 2 142 energetics energetic NOUN hjic-495 2 143 , , PUNCT hjic-495 2 144 university university NOUN hjic-495 2 145 of of ADP hjic-495 2 146 pannonia pannonia PROPN hjic-495 2 147 , , PUNCT hjic-495 2 148 veszprém veszprém NOUN hjic-495 2 149 , , PUNCT hjic-495 2 150 hungary hungary PROPN hjic-495 2 151 peter peter PROPN hjic-495 2 152 czermak czermak PROPN hjic-495 2 153 institute institute PROPN hjic-495 2 154 of of ADP hjic-495 2 155 bioprocess bioprocess PROPN hjic-495 2 156 engineering engineering NOUN hjic-495 2 157 and and CCONJ hjic-495 2 158 pharmaceutical pharmaceutical NOUN hjic-495 2 159 technology technology NOUN hjic-495 2 160 , , PUNCT hjic-495 2 161 mittelhessen mittelhessen PROPN hjic-495 2 162 university university NOUN hjic-495 2 163 of of ADP hjic-495 2 164 applied apply VERB hjic-495 2 165 sciences science NOUN hjic-495 2 166 , , PUNCT hjic-495 2 167 giessen giessen VERB hjic-495 2 168 , , PUNCT hjic-495 2 169 germany germany PROPN hjic-495 2 170 dénes dénes PROPN hjic-495 2 171 fodor fodor PROPN hjic-495 2 172 institute institute PROPN hjic-495 2 173 of of ADP hjic-495 2 174 mechanical mechanical ADJ hjic-495 2 175 engineering engineering NOUN hjic-495 2 176 , , PUNCT hjic-495 2 177 university university NOUN hjic-495 2 178 of of ADP hjic-495 2 179 pannonia pannonia PROPN hjic-495 2 180 , , PUNCT hjic-495 2 181 veszprém veszprém NOUN hjic-495 2 182 , , PUNCT hjic-495 2 183 hungary hungary PROPN hjic-495 2 184 maria maria PROPN hjic-495 2 185 gavrilescu gavrilescu PROPN hjic-495 2 186 department department PROPN hjic-495 2 187 of of ADP hjic-495 2 188 environmental environmental ADJ hjic-495 2 189 engineering engineering NOUN hjic-495 2 190 and and CCONJ hjic-495 2 191 management management NOUN hjic-495 2 192 , , PUNCT hjic-495 2 193 gheorghe gheorghe PROPN hjic-495 2 194 asachi asachi PROPN hjic-495 2 195 technical technical PROPN hjic-495 2 196 university university PROPN hjic-495 2 197 of of ADP hjic-495 2 198 iasi iasi PROPN hjic-495 2 199 , , PUNCT hjic-495 2 200 romania romania PROPN hjic-495 2 201 lászló lászló PROPN hjic-495 2 202 gubicza gubicza VERB hjic-495 2 203 research research PROPN hjic-495 2 204 institute institute PROPN hjic-495 2 205 of of ADP hjic-495 2 206 bioengineering bioengineering NOUN hjic-495 2 207 , , PUNCT hjic-495 2 208 membrane membrane NOUN hjic-495 2 209 technology technology NOUN hjic-495 2 210 and and CCONJ hjic-495 2 211 energetics energetic NOUN hjic-495 2 212 , , PUNCT hjic-495 2 213 university university NOUN hjic-495 2 214 of of ADP hjic-495 2 215 pannonia pannonia PROPN hjic-495 2 216 , , PUNCT hjic-495 2 217 veszprém veszprém NOUN hjic-495 2 218 , , PUNCT hjic-495 2 219 hungary hungary PROPN hjic-495 2 220 jenő jenő NOUN hjic-495 2 221 hancsók hancsók PROPN hjic-495 2 222 mol mol ADP hjic-495 2 223 department department PROPN hjic-495 2 224 of of ADP hjic-495 2 225 hydrocarbon hydrocarbon NOUN hjic-495 2 226 and and CCONJ hjic-495 2 227 coal coal NOUN hjic-495 2 228 processing processing NOUN hjic-495 2 229 , , PUNCT hjic-495 2 230 university university NOUN hjic-495 2 231 of of ADP hjic-495 2 232 pannonia pannonia PROPN hjic-495 2 233 , , PUNCT hjic-495 2 234 veszprém veszprém NOUN hjic-495 2 235 , , PUNCT hjic-495 2 236 hungary hungary PROPN hjic-495 2 237 jiří jiří PROPN hjic-495 2 238 klemeš klemeš PROPN hjic-495 2 239 centre centre PROPN hjic-495 2 240 for for ADP hjic-495 2 241 process process NOUN hjic-495 2 242 integration integration NOUN hjic-495 2 243 and and CCONJ hjic-495 2 244 intensification intensification NOUN hjic-495 2 245 , , PUNCT hjic-495 2 246 university university NOUN hjic-495 2 247 of of ADP hjic-495 2 248 pannonia pannonia PROPN hjic-495 2 249 , , PUNCT hjic-495 2 250 veszprém veszprém NOUN hjic-495 2 251 , , PUNCT hjic-495 2 252 hungary hungary PROPN hjic-495 2 253 zoltán zoltán PROPN hjic-495 2 254 kovács kovács PROPN hjic-495 2 255 department department PROPN hjic-495 2 256 of of ADP hjic-495 2 257 management management NOUN hjic-495 2 258 , , PUNCT hjic-495 2 259 university university NOUN hjic-495 2 260 of of ADP hjic-495 2 261 pannonia pannonia PROPN hjic-495 2 262 , , PUNCT hjic-495 2 263 veszprém veszprém NOUN hjic-495 2 264 , , PUNCT hjic-495 2 265 hungary hungary PROPN hjic-495 2 266 jános jános PROPN hjic-495 2 267 kristóf kristóf PROPN hjic-495 2 268 department department PROPN hjic-495 2 269 of of ADP hjic-495 2 270 analytical analytical ADJ hjic-495 2 271 chemistry chemistry NOUN hjic-495 2 272 , , PUNCT hjic-495 2 273 university university NOUN hjic-495 2 274 of of ADP hjic-495 2 275 pannonia pannonia PROPN hjic-495 2 276 , , PUNCT hjic-495 2 277 veszprém veszprém NOUN hjic-495 2 278 , , PUNCT hjic-495 2 279 hungary hungary PROPN hjic-495 2 280 istván istván PROPN hjic-495 2 281 szalai szalai PROPN hjic-495 2 282 institute institute PROPN hjic-495 2 283 of of ADP hjic-495 2 284 physics physics PROPN hjic-495 2 285 and and CCONJ hjic-495 2 286 mechatronics mechatronic NOUN hjic-495 2 287 , , PUNCT hjic-495 2 288 university university NOUN hjic-495 2 289 of of ADP hjic-495 2 290 pannonia pannonia PROPN hjic-495 2 291 , , PUNCT hjic-495 2 292 veszprém veszprém NOUN hjic-495 2 293 , , PUNCT hjic-495 2 294 hungary hungary PROPN hjic-495 2 295 ferenc ferenc PROPN hjic-495 2 296 szeifert szeifert PROPN hjic-495 2 297 department department PROPN hjic-495 2 298 of of ADP hjic-495 2 299 process process NOUN hjic-495 2 300 engineering engineering NOUN hjic-495 2 301 , , PUNCT hjic-495 2 302 university university NOUN hjic-495 2 303 of of ADP hjic-495 2 304 pannonia pannonia PROPN hjic-495 2 305 , , PUNCT hjic-495 2 306 veszprém veszprém NOUN hjic-495 2 307 , , PUNCT hjic-495 2 308 hungary hungary PROPN hjic-495 2 309 jános jános PROPN hjic-495 2 310 szépvölgyi szépvölgyi PROPN hjic-495 2 311 research research PROPN hjic-495 2 312 centre centre NOUN hjic-495 2 313 for for ADP hjic-495 2 314 natural natural ADJ hjic-495 2 315 sciences science NOUN hjic-495 2 316 , , PUNCT hjic-495 2 317 university university NOUN hjic-495 2 318 of of ADP hjic-495 2 319 pannonia pannonia PROPN hjic-495 2 320 , , PUNCT hjic-495 2 321 veszprém veszprém NOUN hjic-495 2 322 , , PUNCT hjic-495 2 323 hungary hungary PROPN hjic-495 2 324 imre imre PROPN hjic-495 2 325 tímár tímár PROPN hjic-495 2 326 institute institute PROPN hjic-495 2 327 of of ADP hjic-495 2 328 mechanical mechanical ADJ hjic-495 2 329 engineering engineering NOUN hjic-495 2 330 , , PUNCT hjic-495 2 331 university university NOUN hjic-495 2 332 of of ADP hjic-495 2 333 pannonia pannonia PROPN hjic-495 2 334 , , PUNCT hjic-495 2 335 veszprém veszprém NOUN hjic-495 2 336 , , PUNCT hjic-495 2 337 hungary hungary PROPN hjic-495 2 338 gyula gyula NOUN hjic-495 2 339 vatai vatai PROPN hjic-495 2 340 department department PROPN hjic-495 2 341 of of ADP hjic-495 2 342 food food NOUN hjic-495 2 343 engineering engineering NOUN hjic-495 2 344 , , PUNCT hjic-495 2 345 corvinus corvinus PROPN hjic-495 2 346 university university PROPN hjic-495 2 347 of of ADP hjic-495 2 348 budapest budapest PROPN hjic-495 2 349 , , PUNCT hjic-495 2 350 hungary hungary PROPN hjic-495 2 351 gábor gábor PROPN hjic-495 2 352 veress veress PROPN hjic-495 2 353 federation federation PROPN hjic-495 2 354 of of ADP hjic-495 2 355 technical technical ADJ hjic-495 2 356 and and CCONJ hjic-495 2 357 scientific scientific ADJ hjic-495 2 358 societies society NOUN hjic-495 2 359 – – PUNCT hjic-495 2 360 mtesz mtesz ADJ hjic-495 2 361 budapest budapest NOUN hjic-495 2 362 , , PUNCT hjic-495 2 363 hungary hungary PROPN hjic-495 2 364 ibolya ibolya PROPN hjic-495 2 365 zsoldos zsoldos PROPN hjic-495 2 366 department department PROPN hjic-495 2 367 of of ADP hjic-495 2 368 material material PROPN hjic-495 2 369 science science NOUN hjic-495 2 370 and and CCONJ hjic-495 2 371 technology technology NOUN hjic-495 2 372 , , PUNCT hjic-495 2 373 széchenyi széchenyi PROPN hjic-495 2 374 istván istván PROPN hjic-495 2 375 university university PROPN hjic-495 2 376 , , PUNCT hjic-495 2 377 győr győr PROPN hjic-495 2 378 , , PUNCT hjic-495 2 379 hungary hungary PROPN hjic-495 2 380 editorial editorial ADJ hjic-495 2 381 office office NOUN hjic-495 2 382 : : PUNCT hjic-495 2 383 university university NOUN hjic-495 2 384 of of ADP hjic-495 2 385 pannonia pannonia PROPN hjic-495 2 386 , , PUNCT hjic-495 2 387 p.o p.o PROPN hjic-495 2 388 . . PROPN hjic-495 2 389 box box PROPN hjic-495 2 390 158 158 NUM hjic-495 2 391 , , PUNCT hjic-495 2 392 veszprém veszprém NOUN hjic-495 2 393 , , PUNCT hjic-495 2 394 8201 8201 NUM hjic-495 2 395 ( ( PUNCT hjic-495 2 396 hungary hungary PROPN hjic-495 2 397 ) ) PUNCT hjic-495 2 398 tel tel PROPN hjic-495 2 399 . . PUNCT hjic-495 2 400 : : PUNCT hjic-495 3 1 +36 +36 NOUN hjic-495 3 2 ( ( PUNCT hjic-495 3 3 88 88 NUM hjic-495 3 4 ) ) PUNCT hjic-495 3 5 624 624 NUM hjic-495 3 6 - - PUNCT hjic-495 3 7 746 746 NUM hjic-495 3 8 , , PUNCT hjic-495 3 9 e e NOUN hjic-495 3 10 - - NOUN hjic-495 3 11 mail mail NOUN hjic-495 3 12 : : PUNCT hjic-495 3 13 hjic@almos.uni-pannon.hu hjic@almos.uni-pannon.hu PROPN hjic-495 3 14 ; ; PUNCT hjic-495 3 15 web web NOUN hjic-495 3 16 : : PUNCT hjic-495 3 17 hjic.mk.uni-pannon.hu hjic.mk.uni-pannon.hu PROPN hjic-495 3 18 felelős felelős PROPN hjic-495 3 19 szerkesztő szerkesztő PROPN hjic-495 3 20 : : PUNCT hjic-495 3 21 szilágyi szilágyi PROPN hjic-495 3 22 róbert róbert VERB hjic-495 3 23 károly károly PROPN hjic-495 3 24 nyelvi nyelvi PROPN hjic-495 3 25 lektor lektor NOUN hjic-495 3 26 : : PUNCT hjic-495 3 27 matthew matthew PROPN hjic-495 3 28 chen chen PROPN hjic-495 3 29 kiadja kiadja PROPN hjic-495 3 30 : : PUNCT hjic-495 3 31 pannon pannon PROPN hjic-495 3 32 egyetem egyetem PROPN hjic-495 3 33 , , PUNCT hjic-495 3 34 8200 8200 NUM hjic-495 3 35 veszprém veszprém NOUN hjic-495 3 36 , , PUNCT hjic-495 3 37 egyetem egyetem PROPN hjic-495 3 38 u. u. PROPN hjic-495 3 39 10 10 NUM hjic-495 3 40 . . PUNCT hjic-495 4 1 levélcím levélcím ADV hjic-495 4 2 : : PUNCT hjic-495 4 3 h-8201 h-8201 NUM hjic-495 4 4 veszprém veszprém NOUN hjic-495 4 5 , , PUNCT hjic-495 4 6 postafiók postafiók NOUN hjic-495 4 7 158 158 NUM hjic-495 4 8 , , PUNCT hjic-495 4 9 tel tel PROPN hjic-495 4 10 . . PROPN hjic-495 4 11 : : PUNCT hjic-495 4 12 ( ( PUNCT hjic-495 4 13 88 88 NUM hjic-495 4 14 ) ) SYM hjic-495 4 15 624 624 NUM hjic-495 4 16 - - PUNCT hjic-495 4 17 000 000 NUM hjic-495 4 18 felelős felelős PROPN hjic-495 4 19 kiadó kiadó PROPN hjic-495 4 20 : : PUNCT hjic-495 4 21 a a DET hjic-495 4 22 pannon pannon NOUN hjic-495 4 23 egyetem egyetem NOUN hjic-495 4 24 , , PUNCT hjic-495 4 25 mérnöki mérnöki PROPN hjic-495 4 26 kar kar PROPN hjic-495 4 27 dékánja dékánja PROPN hjic-495 4 28 hung hung PROPN hjic-495 4 29 . . PUNCT hjic-495 5 1 j. j. PROPN hjic-495 5 2 ind ind PROPN hjic-495 5 3 . . PROPN hjic-495 5 4 & & CCONJ hjic-495 5 5 chem chem PROPN hjic-495 5 6 . . PUNCT hjic-495 6 1 2014 2014 NUM hjic-495 6 2 , , PUNCT hjic-495 6 3 vol vol NOUN hjic-495 6 4 . . PUNCT hjic-495 7 1 42(2 42(2 NUM hjic-495 7 2 ) ) PUNCT hjic-495 7 3 , , PUNCT hjic-495 8 1 pp pp ADP hjic-495 8 2 . . PUNCT hjic-495 9 1 57 57 NUM hjic-495 9 2 - - SYM hjic-495 9 3 113 113 NUM hjic-495 9 4 table table NOUN hjic-495 9 5 of of ADP hjic-495 9 6 contents content NOUN hjic-495 9 7 a a DET hjic-495 9 8 comparison comparison NOUN hjic-495 9 9 of of ADP hjic-495 9 10 advanced advanced ADJ hjic-495 9 11 non non ADJ hjic-495 9 12 - - ADJ hjic-495 9 13 linear linear ADJ hjic-495 9 14 state state NOUN hjic-495 9 15 estimation estimation NOUN hjic-495 9 16 techniques technique NOUN hjic-495 9 17 for for ADP hjic-495 9 18 ground ground NOUN hjic-495 9 19 vehicles vehicle NOUN hjic-495 9 20 györgy györgy PROPN hjic-495 9 21 max max PROPN hjic-495 9 22 , , PUNCT hjic-495 9 23 béla béla PROPN hjic-495 9 24 lantos lanto VERB hjic-495 9 25 ...................................................................................................... ...................................................................................................... PUNCT hjic-495 10 1 57 57 NUM hjic-495 10 2 - - SYM hjic-495 10 3 64 64 NUM hjic-495 10 4 telemedical telemedical ADJ hjic-495 10 5 heart heart NOUN hjic-495 10 6 rate rate NOUN hjic-495 10 7 measurement measurement NOUN hjic-495 10 8 for for ADP hjic-495 10 9 lifestyle lifestyle NOUN hjic-495 10 10 counselling counselling PROPN hjic-495 10 11 mario mario PROPN hjic-495 10 12 salai salai PROPN hjic-495 10 13 , , PUNCT hjic-495 10 14 gergely gergely ADV hjic-495 10 15 tuboly tuboly ADJ hjic-495 10 16 , , PUNCT hjic-495 10 17 istván istván NOUN hjic-495 10 18 vassányi vassányi PROPN hjic-495 10 19 , , PUNCT hjic-495 10 20 istván istván PROPN hjic-495 10 21 kósa kósa PROPN hjic-495 10 22 .......................................... .......................................... PUNCT hjic-495 10 23 65 65 NUM hjic-495 10 24 - - SYM hjic-495 10 25 70 70 NUM hjic-495 10 26 the the DET hjic-495 10 27 application application NOUN hjic-495 10 28 of of ADP hjic-495 10 29 unknown unknown ADJ hjic-495 10 30 input input NOUN hjic-495 10 31 estimators estimator NOUN hjic-495 10 32 to to PART hjic-495 10 33 damp damp VERB hjic-495 10 34 load load NOUN hjic-495 10 35 oscillations oscillation NOUN hjic-495 10 36 of of ADP hjic-495 10 37 overhead overhead ADJ hjic-495 10 38 cranes crane NOUN hjic-495 10 39 bálint bálint NOUN hjic-495 10 40 patartics patartic NOUN hjic-495 10 41 , , PUNCT hjic-495 10 42 bálint bálint NOUN hjic-495 10 43 kiss kiss NOUN hjic-495 10 44 ................................................................................................. ................................................................................................. PUNCT hjic-495 11 1 71 71 NUM hjic-495 11 2 - - SYM hjic-495 11 3 77 77 NUM hjic-495 11 4 challenges challenge NOUN hjic-495 11 5 of of ADP hjic-495 11 6 enterprise enterprise NOUN hjic-495 11 7 policy policy NOUN hjic-495 11 8 compliance compliance NOUN hjic-495 11 9 with with ADP hjic-495 11 10 smartphone smartphone NOUN hjic-495 11 11 enablement enablement NOUN hjic-495 11 12 or or CCONJ hjic-495 11 13 an an DET hjic-495 11 14 alternative alternative ADJ hjic-495 11 15 solution solution NOUN hjic-495 11 16 based base VERB hjic-495 11 17 on on ADP hjic-495 11 18 behaviour behaviour NOUN hjic-495 11 19 - - PUNCT hjic-495 11 20 based base VERB hjic-495 11 21 user user NOUN hjic-495 11 22 identification identification NOUN hjic-495 11 23 sándor sándor PROPN hjic-495 11 24 dobos dobos PROPN hjic-495 11 25 , , PUNCT hjic-495 11 26 attila attila PROPN hjic-495 11 27 kovács kovács PROPN hjic-495 11 28 ................................................................................................ ................................................................................................ PUNCT hjic-495 12 1 79 79 NUM hjic-495 12 2 - - SYM hjic-495 12 3 84 84 NUM hjic-495 12 4 measurement measurement NOUN hjic-495 12 5 - - PUNCT hjic-495 12 6 based base VERB hjic-495 12 7 modelling modelling NOUN hjic-495 12 8 and and CCONJ hjic-495 12 9 simulation simulation NOUN hjic-495 12 10 of of ADP hjic-495 12 11 a a DET hjic-495 12 12 hydrogen hydrogen NOUN hjic-495 12 13 - - PUNCT hjic-495 12 14 generating generate VERB hjic-495 12 15 dry dry ADJ hjic-495 12 16 cell cell NOUN hjic-495 12 17 for for ADP hjic-495 12 18 complex complex ADJ hjic-495 12 19 domestic domestic ADJ hjic-495 12 20 renewable renewable ADJ hjic-495 12 21 energy energy NOUN hjic-495 12 22 systems system NOUN hjic-495 12 23 attila attila NOUN hjic-495 12 24 göllei göllei PROPN hjic-495 12 25 , , PUNCT hjic-495 12 26 péter péter NOUN hjic-495 12 27 görbe görbe NOUN hjic-495 12 28 , , PUNCT hjic-495 12 29 attila attila PROPN hjic-495 12 30 magyar magyar PROPN hjic-495 12 31 , , PUNCT hjic-495 12 32 lászló lászló NOUN hjic-495 12 33 neukirchner neukirchner AUX hjic-495 12 34 ................................. ................................. PUNCT hjic-495 12 35 85 85 NUM hjic-495 12 36 - - SYM hjic-495 12 37 89 89 NUM hjic-495 12 38 quasi quasi ADJ hjic-495 12 39 - - ADJ hjic-495 12 40 polynomial polynomial ADJ hjic-495 12 41 representation representation NOUN hjic-495 12 42 - - PUNCT hjic-495 12 43 based base VERB hjic-495 12 44 control control NOUN hjic-495 12 45 of of ADP hjic-495 12 46 mechanical mechanical ADJ hjic-495 12 47 systems system NOUN hjic-495 12 48 lászló lászló PROPN hjic-495 12 49 neukirchner neukirchner NOUN hjic-495 12 50 , , PUNCT hjic-495 12 51 attila attila PROPN hjic-495 12 52 magyar magyar PROPN hjic-495 12 53 .................................................................................... .................................................................................... PUNCT hjic-495 12 54 91 91 NUM hjic-495 12 55 - - SYM hjic-495 12 56 95 95 NUM hjic-495 12 57 a a DET hjic-495 12 58 network network NOUN hjic-495 12 59 model model NOUN hjic-495 12 60 for for ADP hjic-495 12 61 simulating simulate VERB hjic-495 12 62 the the DET hjic-495 12 63 dynamic dynamic ADJ hjic-495 12 64 behaviour behaviour NOUN hjic-495 12 65 of of ADP hjic-495 12 66 an an DET hjic-495 12 67 energy energy NOUN hjic-495 12 68 distribution distribution NOUN hjic-495 12 69 network network NOUN hjic-495 12 70 levente levente PROPN hjic-495 12 71 bálint bálint NOUN hjic-495 12 72 , , PUNCT hjic-495 12 73 tibor tibor PROPN hjic-495 12 74 dulai dulai PROPN hjic-495 12 75 , , PUNCT hjic-495 12 76 ágnes ágne NOUN hjic-495 12 77 stark stark NOUN hjic-495 12 78 - - PUNCT hjic-495 12 79 werner werner NOUN hjic-495 12 80 , , PUNCT hjic-495 12 81 gergely gergely ADV hjic-495 12 82 apostol apostol VERB hjic-495 12 83 , , PUNCT hjic-495 12 84 ádám ádám ADJ hjic-495 12 85 tompos tompos NOUN hjic-495 12 86 ........................................................................................................................... ........................................................................................................................... PUNCT hjic-495 13 1 97 97 NUM hjic-495 13 2 - - SYM hjic-495 13 3 101 101 NUM hjic-495 13 4 on on ADP hjic-495 13 5 the the DET hjic-495 13 6 parametric parametric ADJ hjic-495 13 7 uncertainty uncertainty NOUN hjic-495 13 8 of of ADP hjic-495 13 9 weakly weakly ADJ hjic-495 13 10 reversible reversible ADJ hjic-495 13 11 realizations realization NOUN hjic-495 13 12 of of ADP hjic-495 13 13 kinetic kinetic ADJ hjic-495 13 14 systems system NOUN hjic-495 13 15 györgy györgy NOUN hjic-495 13 16 lipták lipták NOUN hjic-495 13 17 , , PUNCT hjic-495 13 18 gábor gábor PROPN hjic-495 13 19 szederkényi szederkényi PROPN hjic-495 13 20 , , PUNCT hjic-495 13 21 katalin katalin PROPN hjic-495 13 22 m. m. PROPN hjic-495 13 23 hangos hangos PROPN hjic-495 13 24 .............................................. .............................................. PUNCT hjic-495 13 25 103 103 NUM hjic-495 13 26 - - SYM hjic-495 13 27 107 107 NUM hjic-495 13 28 stability stability NOUN hjic-495 13 29 and and CCONJ hjic-495 13 30 parameter parameter NOUN hjic-495 13 31 sensitivity sensitivity NOUN hjic-495 13 32 analyses analysis NOUN hjic-495 13 33 of of ADP hjic-495 13 34 an an DET hjic-495 13 35 induction induction NOUN hjic-495 13 36 motor motor NOUN hjic-495 13 37 attila attila PROPN hjic-495 13 38 fodor fodor PROPN hjic-495 13 39 , , PUNCT hjic-495 13 40 roland roland PROPN hjic-495 13 41 bálint bálint PROPN hjic-495 13 42 , , PUNCT hjic-495 13 43 attila attila PROPN hjic-495 13 44 magyar magyar PROPN hjic-495 13 45 , , PUNCT hjic-495 13 46 gábor gábor PROPN hjic-495 13 47 szederkényi szederkényi PROPN hjic-495 13 48 ........................... ........................... PUNCT hjic-495 14 1 109 109 NUM hjic-495 14 2 - - SYM hjic-495 14 3 113 113 NUM hjic-495 14 4 editorial editorial ADJ hjic-495 14 5 preface preface NOUN hjic-495 14 6 systems system NOUN hjic-495 14 7 and and CCONJ hjic-495 14 8 control control NOUN hjic-495 14 9 theory theory NOUN hjic-495 14 10 is be AUX hjic-495 14 11 a a DET hjic-495 14 12 constantly constantly ADV hjic-495 14 13 evolving evolve VERB hjic-495 14 14 scientific scientific ADJ hjic-495 14 15 area area NOUN hjic-495 14 16 and and CCONJ hjic-495 14 17 the the DET hjic-495 14 18 dominant dominant ADJ hjic-495 14 19 driving drive VERB hjic-495 14 20 force force NOUN hjic-495 14 21 in in ADP hjic-495 14 22 key key ADJ hjic-495 14 23 industries industry NOUN hjic-495 14 24 and and CCONJ hjic-495 14 25 engineering engineering NOUN hjic-495 14 26 fields field NOUN hjic-495 14 27 e.g. e.g. ADV hjic-495 14 28 process process NOUN hjic-495 14 29 engineering engineering NOUN hjic-495 14 30 , , PUNCT hjic-495 14 31 automotive automotive ADJ hjic-495 14 32 engineering engineering NOUN hjic-495 14 33 , , PUNCT hjic-495 14 34 bioengineering bioengineering NOUN hjic-495 14 35 , , PUNCT hjic-495 14 36 and and CCONJ hjic-495 14 37 the the DET hjic-495 14 38 energy energy NOUN hjic-495 14 39 industry industry NOUN hjic-495 14 40 . . PUNCT hjic-495 15 1 the the DET hjic-495 15 2 aim aim NOUN hjic-495 15 3 of of ADP hjic-495 15 4 the the DET hjic-495 15 5 current current ADJ hjic-495 15 6 issue issue NOUN hjic-495 15 7 ( ( PUNCT hjic-495 15 8 volume volume NOUN hjic-495 15 9 42 42 NUM hjic-495 15 10 , , PUNCT hjic-495 15 11 number number NOUN hjic-495 15 12 2 2 NUM hjic-495 15 13 ) ) PUNCT hjic-495 15 14 is be AUX hjic-495 15 15 to to PART hjic-495 15 16 provide provide VERB hjic-495 15 17 an an DET hjic-495 15 18 overview overview NOUN hjic-495 15 19 of of ADP hjic-495 15 20 research research NOUN hjic-495 15 21 topics topic NOUN hjic-495 15 22 pursued pursue VERB hjic-495 15 23 by by ADP hjic-495 15 24 selected select VERB hjic-495 15 25 phd phd NOUN hjic-495 15 26 students student NOUN hjic-495 15 27 . . PUNCT hjic-495 16 1 the the DET hjic-495 16 2 papers paper NOUN hjic-495 16 3 presented present VERB hjic-495 16 4 here here ADV hjic-495 16 5 were be AUX hjic-495 16 6 selected select VERB hjic-495 16 7 from from ADP hjic-495 16 8 contributions contribution NOUN hjic-495 16 9 at at ADP hjic-495 16 10 the the DET hjic-495 16 11 13th 13th ADJ hjic-495 16 12 international international ADJ hjic-495 16 13 phd phd NOUN hjic-495 16 14 workshop workshop NOUN hjic-495 16 15 on on ADP hjic-495 16 16 systems system NOUN hjic-495 16 17 and and CCONJ hjic-495 16 18 control control PROPN hjic-495 16 19 conference conference NOUN hjic-495 16 20 held hold VERB hjic-495 16 21 on on ADP hjic-495 16 22 august august PROPN hjic-495 16 23 25 25 NUM hjic-495 16 24 , , PUNCT hjic-495 16 25 2014 2014 NUM hjic-495 16 26 ( ( PUNCT hjic-495 16 27 virt.uni-pannon.hu/phdws2014 virt.uni-pannon.hu/phdws2014 NOUN hjic-495 16 28 ) ) PUNCT hjic-495 16 29 . . PUNCT hjic-495 17 1 the the DET hjic-495 17 2 objective objective NOUN hjic-495 17 3 of of ADP hjic-495 17 4 the the DET hjic-495 17 5 conference conference NOUN hjic-495 17 6 was be AUX hjic-495 17 7 to to PART hjic-495 17 8 establish establish VERB hjic-495 17 9 an an DET hjic-495 17 10 international international ADJ hjic-495 17 11 forum forum NOUN hjic-495 17 12 for for ADP hjic-495 17 13 young young ADJ hjic-495 17 14 researchers researcher NOUN hjic-495 17 15 . . PUNCT hjic-495 18 1 the the DET hjic-495 18 2 meeting meeting NOUN hjic-495 18 3 provided provide VERB hjic-495 18 4 opportunities opportunity NOUN hjic-495 18 5 for for SCONJ hjic-495 18 6 the the DET hjic-495 18 7 participants participant NOUN hjic-495 18 8 to to PART hjic-495 18 9 present present VERB hjic-495 18 10 and and CCONJ hjic-495 18 11 discuss discuss VERB hjic-495 18 12 the the DET hjic-495 18 13 latest late ADJ hjic-495 18 14 results result NOUN hjic-495 18 15 and and CCONJ hjic-495 18 16 up up ADP hjic-495 18 17 - - PUNCT hjic-495 18 18 to to ADP hjic-495 18 19 - - PUNCT hjic-495 18 20 date date NOUN hjic-495 18 21 applications application NOUN hjic-495 18 22 in in ADP hjic-495 18 23 systems system NOUN hjic-495 18 24 and and CCONJ hjic-495 18 25 control control NOUN hjic-495 18 26 . . PUNCT hjic-495 19 1 this this DET hjic-495 19 2 issue issue NOUN hjic-495 19 3 represents represent VERB hjic-495 19 4 the the DET hjic-495 19 5 entire entire ADJ hjic-495 19 6 spectrum spectrum NOUN hjic-495 19 7 of of ADP hjic-495 19 8 systems system NOUN hjic-495 19 9 and and CCONJ hjic-495 19 10 control control NOUN hjic-495 19 11 engineering engineering NOUN hjic-495 19 12 as as SCONJ hjic-495 19 13 follows follow VERB hjic-495 19 14 : : PUNCT hjic-495 19 15 • • NOUN hjic-495 19 16 process process NOUN hjic-495 19 17 modelling modelling NOUN hjic-495 19 18 and and CCONJ hjic-495 19 19 analysis analysis NOUN hjic-495 19 20 • • NOUN hjic-495 19 21 control control NOUN hjic-495 19 22 ( ( PUNCT hjic-495 19 23 traditional traditional ADJ hjic-495 19 24 , , PUNCT hjic-495 19 25 intelligent intelligent ADJ hjic-495 19 26 , , PUNCT hjic-495 19 27 adaptive adaptive ADJ hjic-495 19 28 , , PUNCT hjic-495 19 29 etc etc X hjic-495 19 30 . . X hjic-495 19 31 ) ) PUNCT hjic-495 20 1 • • NUM hjic-495 20 2 process process NOUN hjic-495 20 3 monitoring monitoring NOUN hjic-495 20 4 and and CCONJ hjic-495 20 5 supervision supervision NOUN hjic-495 20 6 • • NOUN hjic-495 20 7 system system NOUN hjic-495 20 8 identification identification NOUN hjic-495 20 9 and and CCONJ hjic-495 20 10 signal signal NOUN hjic-495 20 11 processing processing NOUN hjic-495 20 12 • • NOUN hjic-495 20 13 bioengineering bioengineere VERB hjic-495 20 14 • • NOUN hjic-495 20 15 traffic traffic NOUN hjic-495 20 16 control control NOUN hjic-495 20 17 • • NOUN hjic-495 20 18 reaction reaction NOUN hjic-495 20 19 kinetic kinetic NOUN hjic-495 20 20 networks network NOUN hjic-495 20 21 • • ADP hjic-495 20 22 modelling modelling NOUN hjic-495 20 23 of of ADP hjic-495 20 24 complex complex ADJ hjic-495 20 25 systems system NOUN hjic-495 20 26 ( ( PUNCT hjic-495 20 27 classical classical ADJ hjic-495 20 28 , , PUNCT hjic-495 20 29 hierarchical hierarchical ADJ hjic-495 20 30 , , PUNCT hjic-495 20 31 bayesian bayesian NOUN hjic-495 20 32 , , PUNCT hjic-495 20 33 fuzzy fuzzy ADJ hjic-495 20 34 , , PUNCT hjic-495 20 35 networks network NOUN hjic-495 20 36 ) ) PUNCT hjic-495 20 37 • • NUM hjic-495 20 38 image image NOUN hjic-495 20 39 processing processing NOUN hjic-495 20 40 and and CCONJ hjic-495 20 41 pattern pattern NOUN hjic-495 20 42 recognition recognition NOUN hjic-495 20 43 • • ADP hjic-495 20 44 artificial artificial ADJ hjic-495 20 45 intelligence intelligence NOUN hjic-495 20 46 • • ADP hjic-495 20 47 soft soft ADJ hjic-495 20 48 computing computing NOUN hjic-495 20 49 ( ( PUNCT hjic-495 20 50 neural neural ADJ hjic-495 20 51 , , PUNCT hjic-495 20 52 genetic genetic ADJ hjic-495 20 53 , , PUNCT hjic-495 20 54 fuzzy fuzzy ADJ hjic-495 20 55 algorithms algorithm NOUN hjic-495 20 56 , , PUNCT hjic-495 20 57 etc etc X hjic-495 20 58 . . X hjic-495 20 59 ) ) PUNCT hjic-495 21 1 • • NUM hjic-495 21 2 software software NOUN hjic-495 21 3 ( ( PUNCT hjic-495 21 4 parallel parallel ADJ hjic-495 21 5 computing computing NOUN hjic-495 21 6 , , PUNCT hjic-495 21 7 distributed distribute VERB hjic-495 21 8 and and CCONJ hjic-495 21 9 network network NOUN hjic-495 21 10 computing computing NOUN hjic-495 21 11 , , PUNCT hjic-495 21 12 data data NOUN hjic-495 21 13 visualization visualization NOUN hjic-495 21 14 ) ) PUNCT hjic-495 21 15 • • NUM hjic-495 21 16 decision decision NOUN hjic-495 21 17 making making NOUN hjic-495 21 18 ( ( PUNCT hjic-495 21 19 decision decision NOUN hjic-495 21 20 support support NOUN hjic-495 21 21 , , PUNCT hjic-495 21 22 data data NOUN hjic-495 21 23 mining mining NOUN hjic-495 21 24 ) ) PUNCT hjic-495 21 25 • • NUM hjic-495 21 26 applications application NOUN hjic-495 21 27 of of ADP hjic-495 21 28 systems system NOUN hjic-495 21 29 and and CCONJ hjic-495 21 30 control control NOUN hjic-495 21 31 theory theory NOUN hjic-495 21 32 the the DET hjic-495 21 33 organizers organizer NOUN hjic-495 21 34 are be AUX hjic-495 21 35 grateful grateful ADJ hjic-495 21 36 for for ADP hjic-495 21 37 the the DET hjic-495 21 38 contributions contribution NOUN hjic-495 21 39 of of ADP hjic-495 21 40 the the DET hjic-495 21 41 authors author NOUN hjic-495 21 42 . . PUNCT hjic-495 22 1 the the DET hjic-495 22 2 tradition tradition NOUN hjic-495 22 3 of of ADP hjic-495 22 4 the the DET hjic-495 22 5 international international ADJ hjic-495 22 6 phd phd NOUN hjic-495 22 7 workshop workshop NOUN hjic-495 22 8 continues continue VERB hjic-495 22 9 . . PUNCT hjic-495 23 1 you you PRON hjic-495 23 2 are be AUX hjic-495 23 3 invited invite VERB hjic-495 23 4 to to PART hjic-495 23 5 participate participate VERB hjic-495 23 6 at at ADP hjic-495 23 7 the the DET hjic-495 23 8 14th 14th ADJ hjic-495 23 9 international international ADJ hjic-495 23 10 phd phd NOUN hjic-495 23 11 workshop workshop NOUN hjic-495 23 12 in in ADP hjic-495 23 13 veszprém veszprém NOUN hjic-495 23 14 in in ADP hjic-495 23 15 2015 2015 NUM hjic-495 23 16 ! ! PUNCT hjic-495 24 1 attila attila PROPN hjic-495 24 2 magyar magyar PROPN hjic-495 24 3 university university PROPN hjic-495 24 4 of of ADP hjic-495 24 5 pannonia pannonia PROPN hjic-495 24 6 , , PUNCT hjic-495 24 7 veszprém veszprém NOUN hjic-495 24 8 , , PUNCT hjic-495 24 9 hungary hungary PROPN hjic-495 24 10 guest guest PROPN hjic-495 24 11 editor editor NOUN hjic-495 24 12 hungarian hungarian PROPN hjic-495 24 13 journal journal NOUN hjic-495 24 14 of of ADP hjic-495 24 15 industry industry NOUN hjic-495 24 16 and and CCONJ hjic-495 24 17 chemistry chemistry NOUN hjic-495 24 18 veszprém veszprém NOUN hjic-495 24 19 vol vol NOUN hjic-495 24 20 . . PUNCT hjic-495 25 1 42(2 42(2 NUM hjic-495 25 2 ) ) PUNCT hjic-495 26 1 pp pp ADV hjic-495 26 2 . . PUNCT hjic-495 27 1 57–64 57–64 NUM hjic-495 27 2 ( ( PUNCT hjic-495 27 3 2014 2014 NUM hjic-495 27 4 ) ) PUNCT hjic-495 27 5 a a DET hjic-495 27 6 comparison comparison NOUN hjic-495 27 7 of of ADP hjic-495 27 8 advanced advanced ADJ hjic-495 27 9 non non ADJ hjic-495 27 10 - - ADJ hjic-495 27 11 linear linear ADJ hjic-495 27 12 state state NOUN hjic-495 27 13 estimation estimation NOUN hjic-495 27 14 techniques technique NOUN hjic-495 27 15 for for ADP hjic-495 27 16 ground ground NOUN hjic-495 27 17 vehicles vehicle NOUN hjic-495 27 18 györgy györgy PROPN hjic-495 27 19 max max PROPN hjic-495 27 20 ! ! PUNCT hjic-495 28 1 and and CCONJ hjic-495 28 2 béla béla PROPN hjic-495 28 3 lantos lanto VERB hjic-495 28 4 1 1 NUM hjic-495 28 5 department department NOUN hjic-495 28 6 of of ADP hjic-495 28 7 control control PROPN hjic-495 28 8 engineering engineering PROPN hjic-495 28 9 and and CCONJ hjic-495 28 10 informatics informatics PROPN hjic-495 28 11 , , PUNCT hjic-495 28 12 budapest budapest PROPN hjic-495 28 13 university university PROPN hjic-495 28 14 of of ADP hjic-495 28 15 technology technology NOUN hjic-495 28 16 and and CCONJ hjic-495 28 17 economics economic NOUN hjic-495 28 18 , , PUNCT hjic-495 28 19 magyar magyar PROPN hjic-495 28 20 tudósok tudósok NOUN hjic-495 28 21 körútja körútja NOUN hjic-495 28 22 2 2 NUM hjic-495 28 23 , , PUNCT hjic-495 28 24 budapest budapest ADJ hjic-495 28 25 , , PUNCT hjic-495 28 26 1117 1117 NUM hjic-495 28 27 , , PUNCT hjic-495 28 28 hungary hungary NOUN hjic-495 28 29 ! ! PUNCT hjic-495 29 1 email email NOUN hjic-495 29 2 : : PUNCT hjic-495 30 1 max@iit.bme.hu max@iit.bme.hu NOUN hjic-495 30 2 this this DET hjic-495 30 3 paper paper NOUN hjic-495 30 4 presents present VERB hjic-495 30 5 a a DET hjic-495 30 6 comparative comparative ADJ hjic-495 30 7 examination examination NOUN hjic-495 30 8 of of ADP hjic-495 30 9 state state NOUN hjic-495 30 10 - - PUNCT hjic-495 30 11 of of ADP hjic-495 30 12 - - PUNCT hjic-495 30 13 the the DET hjic-495 30 14 - - PUNCT hjic-495 30 15 art art NOUN hjic-495 30 16 non non ADJ hjic-495 30 17 - - ADJ hjic-495 30 18 linear linear ADJ hjic-495 30 19 state state NOUN hjic-495 30 20 estimation estimation NOUN hjic-495 30 21 techniques technique NOUN hjic-495 30 22 . . PUNCT hjic-495 31 1 first first ADV hjic-495 31 2 , , PUNCT hjic-495 31 3 the the DET hjic-495 31 4 sigmapoint sigmapoint NOUN hjic-495 31 5 ( ( PUNCT hjic-495 31 6 spkf spkf NOUN hjic-495 31 7 ) ) PUNCT hjic-495 31 8 stochastic stochastic ADJ hjic-495 31 9 estimators estimator NOUN hjic-495 31 10 are be AUX hjic-495 31 11 investigated investigate VERB hjic-495 31 12 on on ADP hjic-495 31 13 the the DET hjic-495 31 14 basis basis NOUN hjic-495 31 15 of of ADP hjic-495 31 16 the the DET hjic-495 31 17 unscented unscente VERB hjic-495 31 18 transformation transformation NOUN hjic-495 31 19 . . PUNCT hjic-495 32 1 this this PRON hjic-495 32 2 is be AUX hjic-495 32 3 followed follow VERB hjic-495 32 4 by by ADP hjic-495 32 5 the the DET hjic-495 32 6 technique technique NOUN hjic-495 32 7 of of ADP hjic-495 32 8 non non ADJ hjic-495 32 9 - - ADJ hjic-495 32 10 linear linear ADJ hjic-495 32 11 symmetry symmetry NOUN hjic-495 32 12 - - PUNCT hjic-495 32 13 preserving preserve VERB hjic-495 32 14 observers observer NOUN hjic-495 32 15 for for ADP hjic-495 32 16 non non ADJ hjic-495 32 17 - - ADJ hjic-495 32 18 linear linear ADJ hjic-495 32 19 dynamics dynamic NOUN hjic-495 32 20 on on ADP hjic-495 32 21 the the DET hjic-495 32 22 basis basis NOUN hjic-495 32 23 of of ADP hjic-495 32 24 symmetrical symmetrical ADJ hjic-495 32 25 lie lie NOUN hjic-495 32 26 groups group NOUN hjic-495 32 27 . . PUNCT hjic-495 33 1 the the DET hjic-495 33 2 variety variety NOUN hjic-495 33 3 of of ADP hjic-495 33 4 the the DET hjic-495 33 5 deterministic deterministic ADJ hjic-495 33 6 and and CCONJ hjic-495 33 7 stochastic stochastic ADJ hjic-495 33 8 state state NOUN hjic-495 33 9 estimation estimation NOUN hjic-495 33 10 algorithms algorithms NOUN hjic-495 33 11 is be AUX hjic-495 33 12 studied study VERB hjic-495 33 13 the the DET hjic-495 33 14 kinematics kinematic NOUN hjic-495 33 15 of of ADP hjic-495 33 16 ground ground NOUN hjic-495 33 17 vehicles vehicle NOUN hjic-495 33 18 . . PUNCT hjic-495 34 1 two two NUM hjic-495 34 2 cases case NOUN hjic-495 34 3 are be AUX hjic-495 34 4 described describe VERB hjic-495 34 5 that that SCONJ hjic-495 34 6 deal deal NOUN hjic-495 34 7 with with ADP hjic-495 34 8 the the DET hjic-495 34 9 reliability reliability NOUN hjic-495 34 10 of of ADP hjic-495 34 11 path path NOUN hjic-495 34 12 tracking tracking NOUN hjic-495 34 13 , , PUNCT hjic-495 34 14 the the DET hjic-495 34 15 convergence convergence NOUN hjic-495 34 16 and and CCONJ hjic-495 34 17 speed speed NOUN hjic-495 34 18 of of ADP hjic-495 34 19 off off ADP hjic-495 34 20 - - PUNCT hjic-495 34 21 line line NOUN hjic-495 34 22 calibration calibration NOUN hjic-495 34 23 . . PUNCT hjic-495 35 1 keywords keyword NOUN hjic-495 35 2 : : PUNCT hjic-495 35 3 state state NOUN hjic-495 35 4 estimation estimation NOUN hjic-495 35 5 , , PUNCT hjic-495 35 6 invariant invariant ADJ hjic-495 35 7 observers observer NOUN hjic-495 35 8 , , PUNCT hjic-495 35 9 unscented unscente VERB hjic-495 35 10 kalman kalman PROPN hjic-495 35 11 filter filter PROPN hjic-495 35 12 , , PUNCT hjic-495 35 13 vehicle vehicle NOUN hjic-495 35 14 kinematics kinematic NOUN hjic-495 35 15 introduction introduction NOUN hjic-495 35 16 vehicles vehicle NOUN hjic-495 35 17 are be AUX hjic-495 35 18 indispensable indispensable ADJ hjic-495 35 19 in in ADP hjic-495 35 20 modern modern ADJ hjic-495 35 21 society society NOUN hjic-495 35 22 , , PUNCT hjic-495 35 23 and and CCONJ hjic-495 35 24 vehicle vehicle NOUN hjic-495 35 25 safety safety NOUN hjic-495 35 26 is be AUX hjic-495 35 27 consequently consequently ADV hjic-495 35 28 of of ADP hjic-495 35 29 importance importance NOUN hjic-495 35 30 in in ADP hjic-495 35 31 everyday everyday ADJ hjic-495 35 32 life life NOUN hjic-495 35 33 . . PUNCT hjic-495 36 1 a a DET hjic-495 36 2 lack lack NOUN hjic-495 36 3 of of ADP hjic-495 36 4 information information NOUN hjic-495 36 5 about about ADP hjic-495 36 6 the the DET hjic-495 36 7 state state NOUN hjic-495 36 8 of of ADP hjic-495 36 9 vehicle vehicle NOUN hjic-495 36 10 and and CCONJ hjic-495 36 11 parameters parameter NOUN hjic-495 36 12 presents present VERB hjic-495 36 13 a a DET hjic-495 36 14 major major ADJ hjic-495 36 15 obstacle obstacle NOUN hjic-495 36 16 for for ADP hjic-495 36 17 the the DET hjic-495 36 18 development development NOUN hjic-495 36 19 of of ADP hjic-495 36 20 vehicle vehicle NOUN hjic-495 36 21 control control NOUN hjic-495 36 22 systems system NOUN hjic-495 36 23 . . PUNCT hjic-495 37 1 the the DET hjic-495 37 2 effectiveness effectiveness NOUN hjic-495 37 3 of of ADP hjic-495 37 4 vehicle vehicle NOUN hjic-495 37 5 stability stability NOUN hjic-495 37 6 control control NOUN hjic-495 37 7 largely largely ADV hjic-495 37 8 depends depend VERB hjic-495 37 9 on on ADP hjic-495 37 10 the the DET hjic-495 37 11 accuracy accuracy NOUN hjic-495 37 12 of of ADP hjic-495 37 13 the the DET hjic-495 37 14 vehicle vehicle NOUN hjic-495 37 15 state state NOUN hjic-495 37 16 parameters parameter NOUN hjic-495 37 17 that that PRON hjic-495 37 18 are be AUX hjic-495 37 19 measured measure VERB hjic-495 37 20 by by ADP hjic-495 37 21 appropriate appropriate ADJ hjic-495 37 22 sensors sensor NOUN hjic-495 37 23 . . PUNCT hjic-495 38 1 unfortunately unfortunately ADV hjic-495 38 2 , , PUNCT hjic-495 38 3 measurements measurement NOUN hjic-495 38 4 from from ADP hjic-495 38 5 these these DET hjic-495 38 6 sensors sensor NOUN hjic-495 38 7 contain contain VERB hjic-495 38 8 bias bias NOUN hjic-495 38 9 , , PUNCT hjic-495 38 10 as as ADV hjic-495 38 11 well well ADV hjic-495 38 12 as as ADP hjic-495 38 13 electrical electrical ADJ hjic-495 38 14 noise noise NOUN hjic-495 38 15 , , PUNCT hjic-495 38 16 and and CCONJ hjic-495 38 17 can can AUX hjic-495 38 18 drift drift VERB hjic-495 38 19 with with ADP hjic-495 38 20 temperature temperature NOUN hjic-495 38 21 changes change NOUN hjic-495 38 22 . . PUNCT hjic-495 39 1 however however ADV hjic-495 39 2 , , PUNCT hjic-495 39 3 the the DET hjic-495 39 4 state state NOUN hjic-495 39 5 estimation estimation NOUN hjic-495 39 6 method method NOUN hjic-495 39 7 is be AUX hjic-495 39 8 also also ADV hjic-495 39 9 able able ADJ hjic-495 39 10 to to PART hjic-495 39 11 dramatically dramatically ADV hjic-495 39 12 reduce reduce VERB hjic-495 39 13 errors error NOUN hjic-495 39 14 introduced introduce VERB hjic-495 39 15 by by ADP hjic-495 39 16 measurement measurement NOUN hjic-495 39 17 and and CCONJ hjic-495 39 18 process process NOUN hjic-495 39 19 noise noise NOUN hjic-495 39 20 contained contain VERB hjic-495 39 21 in in ADP hjic-495 39 22 the the DET hjic-495 39 23 signal signal NOUN hjic-495 39 24 . . PUNCT hjic-495 40 1 the the DET hjic-495 40 2 focus focus NOUN hjic-495 40 3 of of ADP hjic-495 40 4 this this DET hjic-495 40 5 work work NOUN hjic-495 40 6 is be AUX hjic-495 40 7 the the DET hjic-495 40 8 non non ADJ hjic-495 40 9 - - ADJ hjic-495 40 10 linear linear ADJ hjic-495 40 11 state state NOUN hjic-495 40 12 estimation estimation NOUN hjic-495 40 13 techniques technique NOUN hjic-495 40 14 . . PUNCT hjic-495 41 1 firstly firstly ADV hjic-495 41 2 , , PUNCT hjic-495 41 3 the the DET hjic-495 41 4 ‘ ' PUNCT hjic-495 41 5 sigma sigma ADJ hjic-495 41 6 - - PUNCT hjic-495 41 7 point point NOUN hjic-495 41 8 kalman kalman NOUN hjic-495 41 9 filter filter NOUN hjic-495 41 10 family family NOUN hjic-495 41 11 ’ ' PUNCT hjic-495 41 12 ( ( PUNCT hjic-495 41 13 spkf spkf NOUN hjic-495 41 14 ) ) PUNCT hjic-495 41 15 is be AUX hjic-495 41 16 discussed discuss VERB hjic-495 41 17 on on ADP hjic-495 41 18 the the DET hjic-495 41 19 basis basis NOUN hjic-495 41 20 of of ADP hjic-495 41 21 the the DET hjic-495 41 22 ‘ ' PUNCT hjic-495 41 23 unscented unscented ADJ hjic-495 41 24 transformation transformation NOUN hjic-495 41 25 ’ ' PUNCT hjic-495 41 26 ( ( PUNCT hjic-495 41 27 ut ut PROPN hjic-495 41 28 ) ) PUNCT hjic-495 41 29 and and CCONJ hjic-495 41 30 sterling sterling NOUN hjic-495 41 31 ’s ’s PART hjic-495 41 32 interpolation interpolation NOUN hjic-495 41 33 [ [ X hjic-495 41 34 3 3 NUM hjic-495 41 35 , , PUNCT hjic-495 41 36 5 5 NUM hjic-495 41 37 , , PUNCT hjic-495 41 38 6 6 NUM hjic-495 41 39 ] ] PUNCT hjic-495 41 40 . . PUNCT hjic-495 42 1 secondly secondly ADV hjic-495 42 2 , , PUNCT hjic-495 42 3 the the DET hjic-495 42 4 symmetry symmetry NOUN hjic-495 42 5 - - PUNCT hjic-495 42 6 preserving preserve VERB hjic-495 42 7 observer observer NOUN hjic-495 42 8 is be AUX hjic-495 42 9 presented present VERB hjic-495 42 10 [ [ X hjic-495 42 11 15 15 NUM hjic-495 42 12 , , PUNCT hjic-495 42 13 16 16 NUM hjic-495 42 14 , , PUNCT hjic-495 42 15 18 18 NUM hjic-495 42 16 ] ] PUNCT hjic-495 42 17 , , PUNCT hjic-495 42 18 which which PRON hjic-495 42 19 is be AUX hjic-495 42 20 based base VERB hjic-495 42 21 on on ADP hjic-495 42 22 lie lie NOUN hjic-495 42 23 - - PUNCT hjic-495 42 24 transformation transformation NOUN hjic-495 42 25 of of ADP hjic-495 42 26 invariant invariant ADJ hjic-495 42 27 frames frame NOUN hjic-495 42 28 . . PUNCT hjic-495 43 1 the the DET hjic-495 43 2 various various ADJ hjic-495 43 3 state state NOUN hjic-495 43 4 estimation estimation NOUN hjic-495 43 5 procedures procedure NOUN hjic-495 43 6 are be AUX hjic-495 43 7 then then ADV hjic-495 43 8 examined examine VERB hjic-495 43 9 and and CCONJ hjic-495 43 10 compared compare VERB hjic-495 43 11 through through ADP hjic-495 43 12 an an DET hjic-495 43 13 illustrative illustrative ADJ hjic-495 43 14 nonlinear nonlinear ADJ hjic-495 43 15 example example NOUN hjic-495 43 16 of of ADP hjic-495 43 17 vehicle vehicle NOUN hjic-495 43 18 kinematics kinematic NOUN hjic-495 43 19 . . PUNCT hjic-495 44 1 sigma sigma PROPN hjic-495 44 2 - - PUNCT hjic-495 44 3 point point NOUN hjic-495 44 4 kalman kalman NOUN hjic-495 44 5 filters filter VERB hjic-495 44 6 sigma sigma ADJ hjic-495 44 7 - - PUNCT hjic-495 44 8 point point NOUN hjic-495 44 9 kalman kalman NOUN hjic-495 44 10 filter filter NOUN hjic-495 45 1 [ [ X hjic-495 45 2 2 2 NUM hjic-495 45 3 , , PUNCT hjic-495 45 4 4 4 NUM hjic-495 45 5 , , PUNCT hjic-495 45 6 7 7 NUM hjic-495 45 7 ] ] PUNCT hjic-495 45 8 is be AUX hjic-495 45 9 a a DET hjic-495 45 10 collective collective ADJ hjic-495 45 11 name name NOUN hjic-495 45 12 for for ADP hjic-495 45 13 derivativeless derivativeless NOUN hjic-495 45 14 kalman kalman PROPN hjic-495 45 15 filters filter NOUN hjic-495 45 16 that that PRON hjic-495 45 17 employs employ VERB hjic-495 45 18 the the DET hjic-495 45 19 deterministic deterministic ADJ hjic-495 45 20 sampling sampling NOUN hjic-495 45 21 based base VERB hjic-495 45 22 sigma sigma PROPN hjic-495 45 23 - - PUNCT hjic-495 45 24 point point NOUN hjic-495 45 25 approach approach NOUN hjic-495 45 26 to to PART hjic-495 45 27 calculate calculate VERB hjic-495 45 28 the the DET hjic-495 45 29 optimal optimal ADJ hjic-495 45 30 terms term NOUN hjic-495 45 31 of of ADP hjic-495 45 32 the the DET hjic-495 45 33 state state NOUN hjic-495 45 34 estimation estimation NOUN hjic-495 45 35 . . PUNCT hjic-495 46 1 common common ADJ hjic-495 46 2 methods method NOUN hjic-495 46 3 use use VERB hjic-495 46 4 the the DET hjic-495 46 5 scaled scale VERB hjic-495 46 6 unscented unscente VERB hjic-495 46 7 transformation transformation NOUN hjic-495 46 8 [ [ X hjic-495 46 9 4 4 X hjic-495 46 10 ] ] PUNCT hjic-495 46 11 and and CCONJ hjic-495 46 12 sterling sterling NOUN hjic-495 46 13 ’s ’s PART hjic-495 46 14 polynomial polynomial ADJ hjic-495 46 15 interpolation interpolation NOUN hjic-495 46 16 . . PUNCT hjic-495 47 1 the the DET hjic-495 47 2 former former ADJ hjic-495 47 3 replaces replace VERB hjic-495 47 4 the the DET hjic-495 47 5 original original ADJ hjic-495 47 6 set set NOUN hjic-495 47 7 of of ADP hjic-495 47 8 sigma sigma NOUN hjic-495 47 9 - - PUNCT hjic-495 47 10 points point NOUN hjic-495 47 11 with with ADP hjic-495 47 12 a a DET hjic-495 47 13 transformed transform VERB hjic-495 47 14 set set NOUN hjic-495 47 15 in in ADP hjic-495 47 16 order order NOUN hjic-495 47 17 to to PART hjic-495 47 18 minimize minimize VERB hjic-495 47 19 the the DET hjic-495 47 20 errors error NOUN hjic-495 47 21 of of ADP hjic-495 47 22 higher high ADJ hjic-495 47 23 order order NOUN hjic-495 47 24 terms term NOUN hjic-495 47 25 , , PUNCT hjic-495 47 26 the the DET hjic-495 47 27 latter latter ADJ hjic-495 47 28 approximates approximate VERB hjic-495 47 29 the the DET hjic-495 47 30 derivation derivation NOUN hjic-495 47 31 of of ADP hjic-495 47 32 the the DET hjic-495 47 33 divided divide VERB hjic-495 47 34 difference difference NOUN hjic-495 47 35 filter filter NOUN hjic-495 47 36 [ [ X hjic-495 47 37 10 10 NUM hjic-495 47 38 , , PUNCT hjic-495 47 39 11 11 NUM hjic-495 47 40 ] ] PUNCT hjic-495 47 41 and and CCONJ hjic-495 47 42 central central ADJ hjic-495 47 43 difference difference NOUN hjic-495 47 44 filter filter NOUN hjic-495 47 45 in in ADP hjic-495 47 46 [ [ X hjic-495 47 47 12 12 NUM hjic-495 47 48 ] ] PUNCT hjic-495 47 49 . . PUNCT hjic-495 48 1 the the DET hjic-495 48 2 scaled scale VERB hjic-495 48 3 unscented unscente VERB hjic-495 48 4 transformation transformation NOUN hjic-495 48 5 the the DET hjic-495 48 6 scaled scale VERB hjic-495 48 7 unscented unscente VERB hjic-495 48 8 transformation transformation NOUN hjic-495 48 9 ( ( PUNCT hjic-495 48 10 sut sut NOUN hjic-495 48 11 ) ) PUNCT hjic-495 48 12 has have VERB hjic-495 48 13 two two NUM hjic-495 48 14 steps step NOUN hjic-495 48 15 . . PUNCT hjic-495 49 1 first first ADV hjic-495 49 2 , , PUNCT hjic-495 49 3 a a DET hjic-495 49 4 fixed fix VERB hjic-495 49 5 number number NOUN hjic-495 49 6 of of ADP hjic-495 49 7 sigma sigma NOUN hjic-495 49 8 points point NOUN hjic-495 49 9 is be AUX hjic-495 49 10 chosen choose VERB hjic-495 49 11 to to PART hjic-495 49 12 capture capture VERB hjic-495 49 13 the the DET hjic-495 49 14 desired desire VERB hjic-495 49 15 moments moment NOUN hjic-495 49 16 ( ( PUNCT hjic-495 49 17 at at ADP hjic-495 49 18 least least ADJ hjic-495 49 19 mean mean VERB hjic-495 49 20 and and CCONJ hjic-495 49 21 covariance covariance NOUN hjic-495 49 22 ) ) PUNCT hjic-495 49 23 of of ADP hjic-495 49 24 the the DET hjic-495 49 25 original original ADJ hjic-495 49 26 distribution distribution NOUN hjic-495 49 27 . . PUNCT hjic-495 50 1 then then ADV hjic-495 50 2 the the DET hjic-495 50 3 sigma sigma PROPN hjic-495 50 4 points point NOUN hjic-495 50 5 are be AUX hjic-495 50 6 propagated propagate VERB hjic-495 50 7 through through ADP hjic-495 50 8 the the DET hjic-495 50 9 non non ADJ hjic-495 50 10 - - ADJ hjic-495 50 11 linear linear ADJ hjic-495 50 12 function function NOUN hjic-495 50 13 and and CCONJ hjic-495 50 14 the the DET hjic-495 50 15 moments moment NOUN hjic-495 50 16 of of ADP hjic-495 50 17 the the DET hjic-495 50 18 transformed transform VERB hjic-495 50 19 variables variable NOUN hjic-495 50 20 are be AUX hjic-495 50 21 estimated estimate VERB hjic-495 50 22 . . PUNCT hjic-495 51 1 the the DET hjic-495 51 2 advantage advantage NOUN hjic-495 51 3 of of ADP hjic-495 51 4 sut sut PROPN hjic-495 51 5 over over ADP hjic-495 51 6 the the DET hjic-495 51 7 taylor taylor PROPN hjic-495 51 8 series series PROPN hjic-495 51 9 based base VERB hjic-495 51 10 approximation approximation NOUN hjic-495 51 11 is be AUX hjic-495 51 12 that that SCONJ hjic-495 51 13 sut sut PROPN hjic-495 51 14 is be AUX hjic-495 51 15 better well ADJ hjic-495 51 16 at at ADP hjic-495 51 17 capturing capture VERB hjic-495 51 18 the the DET hjic-495 51 19 higher high ADJ hjic-495 51 20 order order NOUN hjic-495 51 21 moments moment NOUN hjic-495 51 22 caused cause VERB hjic-495 51 23 by by ADP hjic-495 51 24 the the DET hjic-495 51 25 non non ADJ hjic-495 51 26 - - ADJ hjic-495 51 27 linear linear ADJ hjic-495 51 28 transformation transformation NOUN hjic-495 51 29 , , PUNCT hjic-495 51 30 as as SCONJ hjic-495 51 31 discussed discuss VERB hjic-495 51 32 in in ADP hjic-495 51 33 [ [ X hjic-495 51 34 1 1 NUM hjic-495 51 35 , , PUNCT hjic-495 51 36 8 8 NUM hjic-495 51 37 - - SYM hjic-495 51 38 10 10 NUM hjic-495 51 39 ] ] PUNCT hjic-495 51 40 . . PUNCT hjic-495 52 1 consider consider VERB hjic-495 52 2 a a DET hjic-495 52 3 non non ADJ hjic-495 52 4 - - ADJ hjic-495 52 5 linear linear ADJ hjic-495 52 6 function function NOUN hjic-495 52 7 y y PROPN hjic-495 52 8 = = SYM hjic-495 52 9 g(x g(x PROPN hjic-495 52 10 ) ) PUNCT hjic-495 52 11 and and CCONJ hjic-495 52 12 assume assume VERB hjic-495 52 13 x x PART hjic-495 52 14 has have AUX hjic-495 52 15 mean mean VERB hjic-495 52 16 x x NOUN hjic-495 52 17 and and CCONJ hjic-495 52 18 covariance covariance NOUN hjic-495 52 19 xp xp INTJ hjic-495 52 20 . . PUNCT hjic-495 53 1 the the DET hjic-495 53 2 first first ADJ hjic-495 53 3 two two NUM hjic-495 53 4 moments moment NOUN hjic-495 53 5 of of ADP hjic-495 53 6 y y PROPN hjic-495 53 7 are be AUX hjic-495 53 8 calculated calculate VERB hjic-495 53 9 by by ADP hjic-495 53 10 the the DET hjic-495 53 11 following follow VERB hjic-495 53 12 two two NUM hjic-495 53 13 steps step NOUN hjic-495 53 14 : : PUNCT hjic-495 53 15 1 1 X hjic-495 53 16 ) ) PUNCT hjic-495 53 17 weighted weight VERB hjic-495 53 18 sigma sigma ADJ hjic-495 53 19 - - PUNCT hjic-495 53 20 point point NOUN hjic-495 53 21 selection selection NOUN hjic-495 53 22 : : PUNCT hjic-495 53 23 x0 x0 PROPN hjic-495 53 24 = = PUNCT hjic-495 54 1 x x X hjic-495 54 2 xi xi X hjic-495 54 3 = = PUNCT hjic-495 54 4 x x PROPN hjic-495 55 1 + + PUNCT hjic-495 55 2 ( ( PUNCT hjic-495 55 3 l l X hjic-495 55 4 + + PUNCT hjic-495 55 5 λ)px λ)px NOUN hjic-495 55 6 ( ( PUNCT hjic-495 55 7 ) ) PUNCT hjic-495 55 8 i=1 i=1 X hjic-495 55 9 … … PUNCT hjic-495 55 10 l l NOUN hjic-495 55 11 xi xi PUNCT hjic-495 56 1 = = PUNCT hjic-495 56 2 x x X hjic-495 56 3 − − PROPN hjic-495 56 4 ( ( PUNCT hjic-495 56 5 l l X hjic-495 56 6 + + PUNCT hjic-495 56 7 λ)px λ)px NOUN hjic-495 56 8 ( ( PUNCT hjic-495 56 9 ) ) PUNCT hjic-495 56 10 i i PRON hjic-495 56 11 = = NOUN hjic-495 56 12 l+1 l+1 PRON hjic-495 56 13 … … SYM hjic-495 56 14 2l 2l NUM hjic-495 56 15 ( ( PUNCT hjic-495 56 16 1 1 NUM hjic-495 56 17 ) ) PUNCT hjic-495 56 18 with with ADP hjic-495 56 19 weights weight NOUN hjic-495 56 20 w0 w0 PROPN hjic-495 56 21 m m VERB hjic-495 56 22 = = ADJ hjic-495 56 23 λ λ PROPN hjic-495 56 24 l+λ l+λ NOUN hjic-495 56 25 w0 w0 PROPN hjic-495 56 26 c c NOUN hjic-495 56 27 = = SYM hjic-495 56 28 λ λ X hjic-495 56 29 l+λ l+λ PROPN hjic-495 56 30 + + CCONJ hjic-495 56 31 ( ( PUNCT hjic-495 56 32 1−α2 1−α2 NUM hjic-495 56 33 + + NOUN hjic-495 56 34 β β X hjic-495 56 35 ) ) PUNCT hjic-495 56 36 wi wi PROPN hjic-495 56 37 m m PROPN hjic-495 56 38 = = PROPN hjic-495 57 1 wi wi PROPN hjic-495 57 2 c c PROPN hjic-495 57 3 = = SYM hjic-495 57 4 λ λ PROPN hjic-495 57 5 2(l+λ 2(l+λ NUM hjic-495 57 6 ) ) PUNCT hjic-495 57 7 ( ( PUNCT hjic-495 57 8 2 2 X hjic-495 57 9 ) ) PUNCT hjic-495 57 10 58 58 NUM hjic-495 57 11 where where SCONJ hjic-495 57 12 wi wi PROPN hjic-495 57 13 m m PROPN hjic-495 57 14 , , PUNCT hjic-495 57 15 and and CCONJ hjic-495 57 16 wi wi PROPN hjic-495 57 17 c c PROPN hjic-495 57 18 are be AUX hjic-495 57 19 associated associate VERB hjic-495 57 20 with with ADP hjic-495 57 21 the the DET hjic-495 57 22 ith ith PROPN hjic-495 57 23 sigmapoint sigmapoint NOUN hjic-495 57 24 such such ADJ hjic-495 57 25 that that SCONJ hjic-495 57 26 1 1 NUM hjic-495 57 27 2 2 NUM hjic-495 57 28 0 0 NUM hjic-495 57 29 = = NOUN hjic-495 57 30 ∑ ∑ PUNCT hjic-495 57 31 = = SYM hjic-495 57 32 l l NOUN hjic-495 58 1 i i PRON hjic-495 58 2 iw iw VERB hjic-495 58 3 . . PUNCT hjic-495 59 1 symbols symbols PROPN hjic-495 59 2 λ λ PROPN hjic-495 59 3 , , PUNCT hjic-495 59 4 α α NOUN hjic-495 59 5 , , PUNCT hjic-495 59 6 and and CCONJ hjic-495 59 7 β β NOUN hjic-495 59 8 denote denote VERB hjic-495 59 9 scaling scale VERB hjic-495 59 10 parameters parameter NOUN hjic-495 59 11 and and CCONJ hjic-495 59 12 ( ( PUNCT hjic-495 59 13 ) ) PUNCT hjic-495 59 14 ixpl ixpl NOUN hjic-495 59 15 ) ) PUNCT hjic-495 59 16 ( ( PUNCT hjic-495 59 17 λ+ λ+ X hjic-495 59 18 is be AUX hjic-495 59 19 the the DET hjic-495 59 20 ith ith PROPN hjic-495 59 21 column column NOUN hjic-495 59 22 of of ADP hjic-495 59 23 the the DET hjic-495 59 24 matrix matrix NOUN hjic-495 59 25 square square NOUN hjic-495 59 26 root root NOUN hjic-495 59 27 of of ADP hjic-495 59 28 the the DET hjic-495 59 29 weighted weight VERB hjic-495 59 30 xpl xpl PROPN hjic-495 59 31 ) ) PUNCT hjic-495 59 32 ( ( PUNCT hjic-495 59 33 λ+ λ+ NUM hjic-495 59 34 covariance covariance NOUN hjic-495 59 35 matrix matrix NOUN hjic-495 59 36 . . PUNCT hjic-495 60 1 2 2 X hjic-495 60 2 ) ) PUNCT hjic-495 60 3 propagation propagation NOUN hjic-495 60 4 : : PUNCT hjic-495 60 5 ) ) PUNCT hjic-495 60 6 ( ( PUNCT hjic-495 61 1 ii ii NOUN hjic-495 61 2 xgy xgy PROPN hjic-495 61 3 = = PUNCT hjic-495 61 4 y y PROPN hjic-495 61 5 ≈ ≈ PROPN hjic-495 61 6 wi wi PROPN hjic-495 61 7 myi myi PROPN hjic-495 61 8 i=0 i=0 PROPN hjic-495 61 9 2l 2l PROPN hjic-495 61 10 ∑ ∑ PUNCT hjic-495 61 11 py py PROPN hjic-495 61 12 ≈ ≈ PROPN hjic-495 61 13 wi wi PROPN hjic-495 61 14 c(yi c(yi ADV hjic-495 61 15 − − PROPN hjic-495 61 16 y y PROPN hjic-495 61 17 ) ) PUNCT hjic-495 61 18 ( ( PUNCT hjic-495 61 19 yi yi NOUN hjic-495 61 20 − − PROPN hjic-495 61 21 y y PROPN hjic-495 61 22 ) ) PUNCT hjic-495 61 23 t t PROPN hjic-495 61 24 i=0 i=0 PROPN hjic-495 61 25 2l 2l PROPN hjic-495 61 26 ∑ ∑ PUNCT hjic-495 61 27 pxy pxy VERB hjic-495 61 28 ≈ ≈ PROPN hjic-495 61 29 wi wi PROPN hjic-495 61 30 c(xi c(xi PROPN hjic-495 61 31 − − PROPN hjic-495 61 32 x x SYM hjic-495 61 33 ) ) PUNCT hjic-495 61 34 ( ( PUNCT hjic-495 61 35 yi yi NOUN hjic-495 61 36 − − PROPN hjic-495 61 37 y y PROPN hjic-495 61 38 ) ) PUNCT hjic-495 61 39 t t PROPN hjic-495 62 1 i=0 i=0 PROPN hjic-495 62 2 2l 2l PROPN hjic-495 62 3 ∑ ∑ PUNCT hjic-495 62 4 ( ( PUNCT hjic-495 62 5 3 3 NUM hjic-495 62 6 ) ) PUNCT hjic-495 62 7 where where SCONJ hjic-495 62 8 y y PROPN hjic-495 62 9 , , PUNCT hjic-495 62 10 yp yp PROPN hjic-495 62 11 , , PUNCT hjic-495 62 12 and and CCONJ hjic-495 62 13 xyp xyp PRON hjic-495 62 14 are be AUX hjic-495 62 15 the the DET hjic-495 62 16 approximated approximated ADJ hjic-495 62 17 mean mean NOUN hjic-495 62 18 , , PUNCT hjic-495 62 19 covariance covariance NOUN hjic-495 62 20 and and CCONJ hjic-495 62 21 cross cross NOUN hjic-495 62 22 - - NOUN hjic-495 62 23 covariance covariance NOUN hjic-495 62 24 respectively respectively ADV hjic-495 62 25 . . PUNCT hjic-495 63 1 the the DET hjic-495 63 2 unscented unscente VERB hjic-495 63 3 kalman kalman PROPN hjic-495 63 4 filter filter PROPN hjic-495 63 5 ( ( PUNCT hjic-495 63 6 ukf ukf PROPN hjic-495 63 7 ) ) PUNCT hjic-495 63 8 the the DET hjic-495 63 9 algorithm algorithm NOUN hjic-495 63 10 of of ADP hjic-495 63 11 the the DET hjic-495 63 12 ukf ukf NOUN hjic-495 63 13 according accord VERB hjic-495 63 14 to to ADP hjic-495 63 15 refs ref NOUN hjic-495 63 16 . . PUNCT hjic-495 64 1 [ [ X hjic-495 64 2 3 3 NUM hjic-495 64 3 , , PUNCT hjic-495 64 4 7 7 NUM hjic-495 64 5 , , PUNCT hjic-495 64 6 8 8 NUM hjic-495 64 7 ] ] PUNCT hjic-495 64 8 consists consist VERB hjic-495 64 9 of of ADP hjic-495 64 10 the the DET hjic-495 64 11 following follow VERB hjic-495 64 12 steps step NOUN hjic-495 64 13 : : PUNCT hjic-495 64 14 1 1 NUM hjic-495 64 15 ) ) PUNCT hjic-495 64 16 initialization initialization NOUN hjic-495 64 17 : : PUNCT hjic-495 64 18 x̂0 x̂0 PUNCT hjic-495 65 1 = = PUNCT hjic-495 65 2 e e X hjic-495 65 3 x0 x0 PROPN hjic-495 65 4 [ [ PUNCT hjic-495 65 5 ] ] X hjic-495 65 6 , , PUNCT hjic-495 65 7 px0 px0 X hjic-495 65 8 = = SYM hjic-495 65 9 e e X hjic-495 65 10 ( ( PUNCT hjic-495 65 11 x0 x0 PROPN hjic-495 65 12 − − PROPN hjic-495 65 13 x0 x0 PROPN hjic-495 65 14 ) ) PUNCT hjic-495 65 15 ( ( PUNCT hjic-495 65 16 x0 x0 PROPN hjic-495 65 17 − − PROPN hjic-495 65 18 x0 x0 PROPN hjic-495 65 19 ) ) PUNCT hjic-495 65 20 t t PROPN hjic-495 65 21 " " PUNCT hjic-495 65 22 # # NOUN hjic-495 65 23 $ $ SYM hjic-495 65 24 % % NOUN hjic-495 65 25 ( ( PUNCT hjic-495 65 26 4 4 NUM hjic-495 65 27 ) ) PUNCT hjic-495 65 28 x̂0 x̂0 NOUN hjic-495 66 1 a a PRON hjic-495 66 2 = = PUNCT hjic-495 66 3 e e X hjic-495 66 4 x̂0 x̂0 PROPN hjic-495 66 5 a a X hjic-495 66 6 ! ! PUNCT hjic-495 66 7 " " PUNCT hjic-495 67 1 # # NOUN hjic-495 67 2 $ $ SYM hjic-495 67 3 = = PUNCT hjic-495 67 4 x̂0 x̂0 PROPN hjic-495 67 5 t t PROPN hjic-495 67 6 v0 v0 PROPN hjic-495 67 7 t t PROPN hjic-495 67 8 n0 n0 PROPN hjic-495 67 9 t t PROPN hjic-495 67 10 ! ! PUNCT hjic-495 68 1 " " PUNCT hjic-495 68 2 % % INTJ hjic-495 68 3 # # NOUN hjic-495 68 4 $ $ SYM hjic-495 68 5 & & CCONJ hjic-495 68 6 t t PROPN hjic-495 68 7 ( ( PUNCT hjic-495 68 8 5 5 NUM hjic-495 68 9 ) ) PUNCT hjic-495 68 10 p0 p0 NOUN hjic-495 68 11 a a DET hjic-495 68 12 = = X hjic-495 68 13 px0 px0 X hjic-495 68 14 0 0 PUNCT hjic-495 68 15 0 0 SYM hjic-495 68 16 0 0 NUM hjic-495 68 17 rv rv NOUN hjic-495 68 18 0 0 NUM hjic-495 68 19 0 0 NUM hjic-495 68 20 0 0 NUM hjic-495 68 21 rn rn PROPN hjic-495 68 22 ! ! PUNCT hjic-495 68 23 " " PUNCT hjic-495 69 1 # # NOUN hjic-495 69 2 # # NOUN hjic-495 69 3 # # NOUN hjic-495 69 4 # # NOUN hjic-495 69 5 $ $ NUM hjic-495 69 6 % % NOUN hjic-495 69 7 & & CCONJ hjic-495 69 8 & & CCONJ hjic-495 69 9 & & CCONJ hjic-495 69 10 & & CCONJ hjic-495 69 11 ( ( PUNCT hjic-495 69 12 6 6 NUM hjic-495 69 13 ) ) SYM hjic-495 69 14 2 2 NUM hjic-495 69 15 ) ) PUNCT hjic-495 69 16 state state NOUN hjic-495 69 17 estimation estimation NOUN hjic-495 69 18 for for ADP hjic-495 69 19 ∞= ∞= ADJ hjic-495 69 20 … … PUNCT hjic-495 69 21 1k 1k NUM hjic-495 69 22 : : PUNCT hjic-495 69 23 a a X hjic-495 69 24 ) ) PUNCT hjic-495 69 25 calculate calculate NOUN hjic-495 69 26 sigma sigma NOUN hjic-495 69 27 - - PUNCT hjic-495 69 28 points point NOUN hjic-495 69 29 : : PUNCT hjic-495 69 30 xk−1 xk−1 PROPN hjic-495 70 1 a a X hjic-495 70 2 = = X hjic-495 70 3 x̂k−1 x̂k−1 X hjic-495 70 4 a a DET hjic-495 70 5 x̂k−1 x̂k−1 PROPN hjic-495 70 6 a a DET hjic-495 70 7 + + NOUN hjic-495 70 8 γ γ X hjic-495 70 9 pk−1 pk−1 NOUN hjic-495 70 10 a a DET hjic-495 70 11 x̂k−1 x̂k−1 PROPN hjic-495 70 12 a a DET hjic-495 70 13 −γ −γ NOUN hjic-495 70 14 pk−1 pk−1 PROPN hjic-495 70 15 a a DET hjic-495 70 16 " " PUNCT hjic-495 70 17 # # NOUN hjic-495 70 18 $ $ NUM hjic-495 70 19 % % NOUN hjic-495 70 20 & & CCONJ hjic-495 70 21 ' ' PUNCT hjic-495 70 22 ( ( PUNCT hjic-495 70 23 7 7 NUM hjic-495 70 24 ) ) SYM hjic-495 70 25 b b NOUN hjic-495 70 26 ) ) PUNCT hjic-495 70 27 time time NOUN hjic-495 70 28 - - PUNCT hjic-495 70 29 update update NOUN hjic-495 70 30 : : PUNCT hjic-495 70 31 xi xi NUM hjic-495 70 32 , , PUNCT hjic-495 70 33 k|k−1 k|k−1 NOUN hjic-495 70 34 x x PUNCT hjic-495 70 35 = = SYM hjic-495 70 36 f f X hjic-495 70 37 ( ( PUNCT hjic-495 70 38 xi xi PROPN hjic-495 70 39 , , PUNCT hjic-495 70 40 k−1 k−1 PROPN hjic-495 70 41 x x X hjic-495 70 42 , , PUNCT hjic-495 70 43 xk−1 xk−1 PROPN hjic-495 70 44 v v PROPN hjic-495 70 45 , , PUNCT hjic-495 70 46 uk−1 uk−1 PROPN hjic-495 70 47 ) ) PUNCT hjic-495 70 48 , , PUNCT hjic-495 70 49 i i PRON hjic-495 70 50 = = NOUN hjic-495 70 51 0 0 NUM hjic-495 70 52 , , PUNCT hjic-495 70 53 … … PUNCT hjic-495 70 54 , , PUNCT hjic-495 70 55 2l 2l NUM hjic-495 70 56 x̂k x̂k NOUN hjic-495 71 1 − − PROPN hjic-495 71 2 = = SYM hjic-495 71 3 wi wi PROPN hjic-495 71 4 mxi mxi PROPN hjic-495 71 5 , , PUNCT hjic-495 71 6 k|k−1 k|k−1 X hjic-495 71 7 x x PUNCT hjic-495 71 8 i=0 i=0 PROPN hjic-495 71 9 2l 2l NUM hjic-495 71 10 ∑ ∑ PUNCT hjic-495 71 11 pxk pxk VERB hjic-495 71 12 − − PROPN hjic-495 71 13 = = SYM hjic-495 71 14 wi wi PROPN hjic-495 71 15 c(xi c(xi PROPN hjic-495 71 16 , , PUNCT hjic-495 71 17 k|k−1 k|k−1 NOUN hjic-495 71 18 x x NOUN hjic-495 71 19 − − PROPN hjic-495 71 20 x̂k x̂k NUM hjic-495 71 21 −)(xi −)(xi PROPN hjic-495 71 22 , , PUNCT hjic-495 71 23 k|k−1 k|k−1 NOUN hjic-495 71 24 x x NOUN hjic-495 71 25 − − NOUN hjic-495 71 26 x̂k x̂k PROPN hjic-495 71 27 −)t −)t PROPN hjic-495 71 28 i=0 i=0 PROPN hjic-495 71 29 2l 2l PROPN hjic-495 71 30 ∑ ∑ PUNCT hjic-495 71 31 ( ( PUNCT hjic-495 71 32 8) 8) NUM hjic-495 71 33 c c NOUN hjic-495 71 34 ) ) PUNCT hjic-495 71 35 measurement measurement NOUN hjic-495 71 36 - - PUNCT hjic-495 71 37 update update NOUN hjic-495 71 38 : : PUNCT hjic-495 71 39 yi yi NOUN hjic-495 71 40 , , PUNCT hjic-495 71 41 k|k−1 k|k−1 X hjic-495 71 42 = = SYM hjic-495 71 43 h(xi h(xi X hjic-495 71 44 , , PUNCT hjic-495 71 45 k|k−1 k|k−1 NOUN hjic-495 71 46 x x NOUN hjic-495 71 47 , , PUNCT hjic-495 71 48 xk−1 xk−1 PROPN hjic-495 71 49 n n PROPN hjic-495 71 50 ) ) PUNCT hjic-495 71 51 , , PUNCT hjic-495 71 52 i i PRON hjic-495 71 53 = = NOUN hjic-495 71 54 0 0 NUM hjic-495 71 55 , , PUNCT hjic-495 71 56 … … PUNCT hjic-495 71 57 , , PUNCT hjic-495 71 58 2l 2l X hjic-495 71 59 ŷk ŷk X hjic-495 71 60 − − PROPN hjic-495 71 61 = = SYM hjic-495 71 62 wi wi PROPN hjic-495 71 63 myi myi PROPN hjic-495 71 64 , , PUNCT hjic-495 71 65 k|k−1 k|k−1 NOUN hjic-495 71 66 i=0 i=0 PROPN hjic-495 71 67 2l 2l X hjic-495 71 68 ∑ ∑ PUNCT hjic-495 71 69 pŷk pŷk PROPN hjic-495 71 70 = = SYM hjic-495 71 71 wi wi PROPN hjic-495 71 72 c(yi c(yi X hjic-495 71 73 , , PUNCT hjic-495 71 74 k|k−1 k|k−1 NOUN hjic-495 71 75 − − NOUN hjic-495 71 76 ŷk ŷk NOUN hjic-495 71 77 −)(yi −)(yi PROPN hjic-495 71 78 , , PUNCT hjic-495 71 79 k|k−1 k|k−1 NOUN hjic-495 71 80 − − PROPN hjic-495 71 81 ŷk ŷk X hjic-495 71 82 −)t −)t VERB hjic-495 71 83 i=0 i=0 PROPN hjic-495 71 84 2l 2l PROPN hjic-495 71 85 ∑ ∑ PUNCT hjic-495 71 86 pxkyk pxkyk NOUN hjic-495 71 87 = = SYM hjic-495 71 88 wi wi PROPN hjic-495 71 89 c(xi c(xi PROPN hjic-495 71 90 , , PUNCT hjic-495 71 91 k|k−1 k|k−1 NOUN hjic-495 71 92 x x NOUN hjic-495 71 93 − − NOUN hjic-495 71 94 x̂k x̂k PROPN hjic-495 72 1 −)(yi −)(yi PROPN hjic-495 72 2 , , PUNCT hjic-495 72 3 k|k−1 k|k−1 NOUN hjic-495 72 4 − − NOUN hjic-495 72 5 ŷk ŷk PROPN hjic-495 72 6 − − NOUN hjic-495 72 7 ) ) PUNCT hjic-495 73 1 i=0 i=0 PROPN hjic-495 73 2 2l 2l NUM hjic-495 73 3 ∑ ∑ PUNCT hjic-495 73 4 ( ( PUNCT hjic-495 73 5 9 9 NUM hjic-495 73 6 ) ) PUNCT hjic-495 73 7 kk kk NOUN hjic-495 73 8 = = PUNCT hjic-495 73 9 pxkyk pxkyk AUX hjic-495 73 10 pŷk pŷk VERB hjic-495 73 11 −1 −1 NOUN hjic-495 73 12 x̂k x̂k PUNCT hjic-495 73 13 = = PUNCT hjic-495 74 1 x̂k x̂k NUM hjic-495 75 1 − − PROPN hjic-495 76 1 + + NOUN hjic-495 76 2 kk kk X hjic-495 76 3 ( ( PUNCT hjic-495 76 4 yk yk PROPN hjic-495 76 5 − − PROPN hjic-495 76 6 ŷk ŷk PROPN hjic-495 76 7 − − NOUN hjic-495 76 8 ) ) PUNCT hjic-495 76 9 pxk pxk NOUN hjic-495 76 10 = = PUNCT hjic-495 76 11 pxk pxk NOUN hjic-495 76 12 − − PROPN hjic-495 76 13 −kkpŷkkk −kkpŷkkk PROPN hjic-495 76 14 t t PROPN hjic-495 76 15 ( ( PUNCT hjic-495 76 16 10 10 NUM hjic-495 76 17 ) ) PUNCT hjic-495 76 18 where where SCONJ hjic-495 76 19 xk xk PROPN hjic-495 76 20 a a X hjic-495 76 21 = = PROPN hjic-495 76 22 xk xk PROPN hjic-495 76 23 t t PROPN hjic-495 76 24 vk vk PROPN hjic-495 76 25 t t PROPN hjic-495 76 26 nk nk PROPN hjic-495 76 27 t t PROPN hjic-495 76 28 ! ! PUNCT hjic-495 77 1 " " PUNCT hjic-495 77 2 # # NOUN hjic-495 77 3 $ $ SYM hjic-495 77 4 % % NOUN hjic-495 77 5 & & CCONJ hjic-495 77 6 t t PROPN hjic-495 77 7 and and CCONJ hjic-495 77 8 xk xk PROPN hjic-495 78 1 a a PRON hjic-495 78 2 = = X hjic-495 78 3 ( ( PUNCT hjic-495 78 4 xk xk PROPN hjic-495 78 5 x x PROPN hjic-495 78 6 ) ) PUNCT hjic-495 78 7 t t PROPN hjic-495 78 8 ( ( PUNCT hjic-495 78 9 xk xk PROPN hjic-495 78 10 v v PROPN hjic-495 78 11 ) ) PUNCT hjic-495 78 12 t t PROPN hjic-495 78 13 ( ( PUNCT hjic-495 78 14 xk xk PROPN hjic-495 78 15 n n PROPN hjic-495 78 16 ) ) PUNCT hjic-495 78 17 t t PROPN hjic-495 78 18 ! ! PUNCT hjic-495 79 1 " " PUNCT hjic-495 79 2 # # NOUN hjic-495 79 3 $ $ SYM hjic-495 79 4 % % NOUN hjic-495 79 5 & & CCONJ hjic-495 79 6 t t PROPN hjic-495 79 7 are be AUX hjic-495 79 8 the the DET hjic-495 79 9 l l NOUN hjic-495 79 10 dimension dimension NOUN hjic-495 79 11 vectors vector NOUN hjic-495 79 12 of of ADP hjic-495 79 13 the the DET hjic-495 79 14 augmented augment VERB hjic-495 79 15 states state NOUN hjic-495 79 16 and and CCONJ hjic-495 79 17 sigma sigma NOUN hjic-495 79 18 - - PUNCT hjic-495 79 19 points point NOUN hjic-495 79 20 respectively respectively ADV hjic-495 79 21 , , PUNCT hjic-495 79 22 vr vr PROPN hjic-495 79 23 and and CCONJ hjic-495 79 24 nr nr PROPN hjic-495 79 25 are be AUX hjic-495 79 26 the the DET hjic-495 79 27 covariances covariance NOUN hjic-495 79 28 of of ADP hjic-495 79 29 the the DET hjic-495 79 30 process process NOUN hjic-495 79 31 and and CCONJ hjic-495 79 32 measurement measurement NOUN hjic-495 79 33 noise noise NOUN hjic-495 79 34 respectively respectively ADV hjic-495 79 35 , , PUNCT hjic-495 79 36 λγ λγ PROPN hjic-495 79 37 + + NOUN hjic-495 79 38 = = PROPN hjic-495 79 39 l l NOUN hjic-495 79 40 , , PUNCT hjic-495 79 41 λ λ X hjic-495 79 42 = = SYM hjic-495 79 43 α2(l+κ)+l α2(l+κ)+l PROPN hjic-495 79 44 , , PUNCT hjic-495 79 45 α α NOUN hjic-495 79 46 = = SYM hjic-495 79 47 10 10 NUM hjic-495 79 48 - - SYM hjic-495 79 49 3 3 NUM hjic-495 79 50 , , PUNCT hjic-495 79 51 κ κ X hjic-495 79 52 = = SYM hjic-495 79 53 0 0 PROPN hjic-495 79 54 , , PUNCT hjic-495 79 55 β β X hjic-495 79 56 = = SYM hjic-495 79 57 2 2 NUM hjic-495 79 58 , , PUNCT hjic-495 79 59 and and CCONJ hjic-495 79 60 wi wi PROPN hjic-495 79 61 is be AUX hjic-495 79 62 the the DET hjic-495 79 63 weighting weighting NOUN hjic-495 79 64 parameter parameter NOUN hjic-495 79 65 defined define VERB hjic-495 79 66 in in ADP hjic-495 79 67 eq.(2 eq.(2 ADJ hjic-495 79 68 ) ) PUNCT hjic-495 79 69 . . PUNCT hjic-495 80 1 the the DET hjic-495 80 2 central central ADJ hjic-495 80 3 - - PUNCT hjic-495 80 4 difference difference NOUN hjic-495 80 5 kalman kalman NOUN hjic-495 80 6 filter filter NOUN hjic-495 80 7 this this DET hjic-495 80 8 approach approach NOUN hjic-495 80 9 is be AUX hjic-495 80 10 based base VERB hjic-495 80 11 on on ADP hjic-495 80 12 sterling sterling NOUN hjic-495 80 13 ’s ’s PART hjic-495 80 14 polynomial polynomial ADJ hjic-495 80 15 interpolation interpolation NOUN hjic-495 80 16 , , PUNCT hjic-495 80 17 which which PRON hjic-495 80 18 was be AUX hjic-495 80 19 used use VERB hjic-495 80 20 in in ADP hjic-495 80 21 the the DET hjic-495 80 22 derivations derivation NOUN hjic-495 80 23 of of ADP hjic-495 80 24 divided divide VERB hjic-495 80 25 difference difference NOUN hjic-495 80 26 filter filter NOUN hjic-495 81 1 [ [ X hjic-495 81 2 10 10 NUM hjic-495 81 3 , , PUNCT hjic-495 81 4 11 11 NUM hjic-495 81 5 ] ] PUNCT hjic-495 81 6 and and CCONJ hjic-495 81 7 central central ADJ hjic-495 81 8 difference difference NOUN hjic-495 81 9 filter filter NOUN hjic-495 81 10 in in ADP hjic-495 81 11 ref ref NOUN hjic-495 81 12 . . PUNCT hjic-495 82 1 [ [ X hjic-495 82 2 12 12 NUM hjic-495 82 3 ] ] PUNCT hjic-495 82 4 . . PUNCT hjic-495 83 1 the the DET hjic-495 83 2 result result NOUN hjic-495 83 3 of of ADP hjic-495 83 4 this this DET hjic-495 83 5 approximation approximation NOUN hjic-495 83 6 can can AUX hjic-495 83 7 be be AUX hjic-495 83 8 used use VERB hjic-495 83 9 for for ADP hjic-495 83 10 sigma sigma ADJ hjic-495 83 11 - - PUNCT hjic-495 83 12 point point NOUN hjic-495 83 13 approach approach NOUN hjic-495 83 14 as as ADP hjic-495 83 15 in in ADP hjic-495 83 16 the the DET hjic-495 83 17 case case NOUN hjic-495 83 18 of of ADP hjic-495 83 19 sut sut PROPN hjic-495 83 20 . . PUNCT hjic-495 84 1 the the DET hjic-495 84 2 algorithm algorithm NOUN hjic-495 84 3 consists consist VERB hjic-495 84 4 of of ADP hjic-495 84 5 the the DET hjic-495 84 6 following follow VERB hjic-495 84 7 steps step NOUN hjic-495 84 8 : : PUNCT hjic-495 84 9 1 1 X hjic-495 84 10 ) ) PUNCT hjic-495 84 11 weighted weight VERB hjic-495 84 12 sigma sigma ADJ hjic-495 84 13 - - PUNCT hjic-495 84 14 point point NOUN hjic-495 84 15 selection selection NOUN hjic-495 84 16 : : PUNCT hjic-495 84 17 x0 x0 PROPN hjic-495 85 1 = = PUNCT hjic-495 85 2 x x X hjic-495 86 1 xi xi X hjic-495 86 2 = = PUNCT hjic-495 86 3 x x PROPN hjic-495 87 1 + + NUM hjic-495 87 2 h h PROPN hjic-495 87 3 px px PROPN hjic-495 87 4 ( ( PUNCT hjic-495 87 5 ) ) PUNCT hjic-495 87 6 i=1 i=1 X hjic-495 87 7 … … PUNCT hjic-495 87 8 l l NOUN hjic-495 87 9 xi xi PUNCT hjic-495 88 1 = = PUNCT hjic-495 88 2 x x SYM hjic-495 88 3 − − NOUN hjic-495 88 4 h h PROPN hjic-495 88 5 px px PROPN hjic-495 88 6 ( ( PUNCT hjic-495 88 7 ) ) PUNCT hjic-495 88 8 i i PROPN hjic-495 88 9 = = NOUN hjic-495 88 10 l+1 l+1 PRON hjic-495 88 11 … … SYM hjic-495 88 12 2l 2l NUM hjic-495 88 13 ( ( PUNCT hjic-495 88 14 11 11 NUM hjic-495 88 15 ) ) PUNCT hjic-495 88 16 with with ADP hjic-495 88 17 weights weight NOUN hjic-495 88 18 w0 w0 PROPN hjic-495 88 19 m m PROPN hjic-495 88 20 = = SYM hjic-495 88 21 h2−l h2−l PROPN hjic-495 88 22 h2 h2 NOUN hjic-495 88 23 , , PUNCT hjic-495 88 24 wi wi PROPN hjic-495 88 25 m m PROPN hjic-495 88 26 = = SYM hjic-495 88 27 1 1 NUM hjic-495 88 28 2h2 2h2 NUM hjic-495 88 29 , , PUNCT hjic-495 88 30 wi wi PROPN hjic-495 88 31 c1 c1 PROPN hjic-495 88 32 = = PROPN hjic-495 88 33 1 1 NUM hjic-495 88 34 4h2 4h2 NUM hjic-495 88 35 , , PUNCT hjic-495 88 36 wi wi PROPN hjic-495 88 37 c2 c2 PROPN hjic-495 88 38 = = PROPN hjic-495 89 1 h2−1 h2−1 PRON hjic-495 89 2 4h2 4h2 NUM hjic-495 89 3 , , PUNCT hjic-495 89 4 ( ( PUNCT hjic-495 89 5 12 12 NUM hjic-495 89 6 ) ) PUNCT hjic-495 89 7 where where SCONJ hjic-495 89 8 wi wi PROPN hjic-495 89 9 m m PROPN hjic-495 89 10 , , PUNCT hjic-495 89 11 and and CCONJ hjic-495 89 12 wi wi PROPN hjic-495 89 13 c c PROPN hjic-495 89 14 are be AUX hjic-495 89 15 associated associate VERB hjic-495 89 16 with with ADP hjic-495 89 17 i i PROPN hjic-495 89 18 = = NOUN hjic-495 89 19 1 1 NUM hjic-495 89 20 , , PUNCT hjic-495 89 21 … … PUNCT hjic-495 89 22 , , PUNCT hjic-495 89 23 2l 2l VERB hjic-495 89 24 sigma sigma NOUN hjic-495 89 25 - - PUNCT hjic-495 90 1 point point NOUN hjic-495 90 2 . . PUNCT hjic-495 91 1 2 2 NUM hjic-495 91 2 ) ) PUNCT hjic-495 91 3 initialization initialization NOUN hjic-495 91 4 : : PUNCT hjic-495 91 5 the the DET hjic-495 91 6 same same ADJ hjic-495 91 7 as as SCONJ hjic-495 91 8 defined define VERB hjic-495 91 9 in in ADP hjic-495 91 10 eqs.(4 eqs.(4 PROPN hjic-495 91 11 - - PUNCT hjic-495 91 12 6 6 NUM hjic-495 91 13 ) ) PUNCT hjic-495 91 14 3 3 NUM hjic-495 91 15 ) ) PUNCT hjic-495 91 16 state state NOUN hjic-495 91 17 estimation estimation NOUN hjic-495 91 18 for for ADP hjic-495 91 19 k k PROPN hjic-495 91 20 = = SYM hjic-495 91 21 1 1 NUM hjic-495 91 22 , , PUNCT hjic-495 91 23 … … PUNCT hjic-495 91 24 , , PUNCT hjic-495 91 25 ∞ ∞ PROPN hjic-495 91 26 : : PUNCT hjic-495 91 27 a a X hjic-495 91 28 ) ) PUNCT hjic-495 91 29 sigma sigma NOUN hjic-495 91 30 - - PUNCT hjic-495 91 31 points point NOUN hjic-495 91 32 for for ADP hjic-495 91 33 time time NOUN hjic-495 91 34 - - PUNCT hjic-495 91 35 update update NOUN hjic-495 91 36 : : PUNCT hjic-495 91 37 x̂k−1 x̂k−1 NUM hjic-495 91 38 av av PROPN hjic-495 92 1 = = PUNCT hjic-495 92 2 x̂k−1 x̂k−1 NUM hjic-495 92 3 v v X hjic-495 92 4 " " PUNCT hjic-495 92 5 # # NOUN hjic-495 92 6 $ $ NUM hjic-495 92 7 % % NOUN hjic-495 92 8 , , PUNCT hjic-495 92 9 pk−1 pk−1 INTJ hjic-495 92 10 av av NOUN hjic-495 92 11 = = PUNCT hjic-495 93 1 pxk−1 pxk−1 PROPN hjic-495 93 2 0 0 NUM hjic-495 93 3 0 0 NUM hjic-495 93 4 rv rv NOUN hjic-495 93 5 " " PUNCT hjic-495 93 6 # # NOUN hjic-495 93 7 $ $ SYM hjic-495 93 8 $ $ NUM hjic-495 93 9 % % NOUN hjic-495 93 10 & & CCONJ hjic-495 93 11 ' ' PUNCT hjic-495 93 12 ' ' PUNCT hjic-495 93 13 ( ( PUNCT hjic-495 93 14 13 13 NUM hjic-495 93 15 ) ) PUNCT hjic-495 93 16 xk−1 xk−1 PROPN hjic-495 93 17 av av X hjic-495 94 1 = = PUNCT hjic-495 94 2 x̂k−1 x̂k−1 PROPN hjic-495 94 3 av av PROPN hjic-495 94 4 x̂k−1 x̂k−1 PROPN hjic-495 94 5 av av PROPN hjic-495 95 1 + + NUM hjic-495 95 2 h h PROPN hjic-495 95 3 pk−1 pk−1 PROPN hjic-495 95 4 av av PROPN hjic-495 95 5 x̂k−1 x̂k−1 PROPN hjic-495 95 6 av av PROPN hjic-495 96 1 − − PROPN hjic-495 96 2 h h PROPN hjic-495 96 3 pk−1 pk−1 PROPN hjic-495 96 4 av av PROPN hjic-495 96 5 " " PUNCT hjic-495 96 6 # # NOUN hjic-495 96 7 $ $ NUM hjic-495 96 8 % % NOUN hjic-495 96 9 & & CCONJ hjic-495 96 10 ' ' PUNCT hjic-495 96 11 ( ( PUNCT hjic-495 96 12 14 14 NUM hjic-495 96 13 ) ) SYM hjic-495 96 14 b b NOUN hjic-495 96 15 ) ) PUNCT hjic-495 96 16 time time NOUN hjic-495 96 17 - - PUNCT hjic-495 96 18 update update NOUN hjic-495 96 19 : : PUNCT hjic-495 96 20 xi xi NUM hjic-495 96 21 , , PUNCT hjic-495 96 22 k|k−1 k|k−1 NOUN hjic-495 96 23 x x PUNCT hjic-495 96 24 = = SYM hjic-495 96 25 f f X hjic-495 96 26 ( ( PUNCT hjic-495 96 27 xi xi PROPN hjic-495 96 28 , , PUNCT hjic-495 96 29 k−1 k−1 PROPN hjic-495 96 30 x x X hjic-495 96 31 , , PUNCT hjic-495 96 32 xk−1 xk−1 PROPN hjic-495 96 33 v v PROPN hjic-495 96 34 , , PUNCT hjic-495 96 35 uk−1 uk−1 PROPN hjic-495 96 36 ) ) PUNCT hjic-495 96 37 , , PUNCT hjic-495 96 38 i i PRON hjic-495 96 39 = = NOUN hjic-495 96 40 0 0 NUM hjic-495 96 41 , , PUNCT hjic-495 96 42 … … PUNCT hjic-495 96 43 , , PUNCT hjic-495 96 44 2l 2l NUM hjic-495 96 45 x̂k x̂k NOUN hjic-495 96 46 − − PROPN hjic-495 97 1 = = SYM hjic-495 97 2 wi wi PROPN hjic-495 97 3 mxi mxi PROPN hjic-495 97 4 , , PUNCT hjic-495 97 5 k|k−1 k|k−1 X hjic-495 97 6 x x PUNCT hjic-495 97 7 i=0 i=0 PROPN hjic-495 97 8 2l 2l NUM hjic-495 97 9 ∑ ∑ PUNCT hjic-495 97 10 pxk pxk VERB hjic-495 97 11 − − PROPN hjic-495 97 12 = = SYM hjic-495 97 13 wi wi PROPN hjic-495 97 14 c1 c1 PROPN hjic-495 97 15 ( ( PUNCT hjic-495 97 16 xi xi PROPN hjic-495 97 17 , , PUNCT hjic-495 97 18 k|k−1 k|k−1 NOUN hjic-495 97 19 x x ADJ hjic-495 97 20 − − NOUN hjic-495 97 21 xl+i xl+i PROPN hjic-495 97 22 , , PUNCT hjic-495 97 23 k|k−1 k|k−1 NOUN hjic-495 97 24 x x NOUN hjic-495 97 25 ) ) PUNCT hjic-495 97 26 2 2 NUM hjic-495 98 1 + + NUM hjic-495 98 2 i=1 i=1 PROPN hjic-495 98 3 l l NOUN hjic-495 98 4 ∑ ∑ PROPN hjic-495 98 5 wi wi PROPN hjic-495 98 6 c2 c2 PROPN hjic-495 98 7 ( ( PUNCT hjic-495 98 8 xi xi PROPN hjic-495 98 9 , , PUNCT hjic-495 98 10 k|k−1 k|k−1 NOUN hjic-495 98 11 x x NOUN hjic-495 99 1 + + NUM hjic-495 99 2 xl+i xl+i PROPN hjic-495 99 3 , , PUNCT hjic-495 99 4 k|k−1 k|k−1 NOUN hjic-495 99 5 x x NOUN hjic-495 99 6 − − PROPN hjic-495 99 7 2x0,k|k−1 2x0,k|k−1 NUM hjic-495 99 8 x x SYM hjic-495 99 9 ) ) PUNCT hjic-495 99 10 2 2 NUM hjic-495 99 11 i=1 i=1 NOUN hjic-495 99 12 l l NOUN hjic-495 99 13 ∑ ∑ PUNCT hjic-495 99 14 ( ( PUNCT hjic-495 99 15 15 15 NUM hjic-495 99 16 ) ) PUNCT hjic-495 99 17 59 59 NUM hjic-495 99 18 c c NOUN hjic-495 99 19 ) ) PUNCT hjic-495 99 20 sigma sigma NOUN hjic-495 99 21 - - PUNCT hjic-495 99 22 points point NOUN hjic-495 99 23 for for ADP hjic-495 99 24 measurement measurement NOUN hjic-495 99 25 - - PUNCT hjic-495 99 26 update update NOUN hjic-495 99 27 : : PUNCT hjic-495 99 28 x̂k−1 x̂k−1 NUM hjic-495 100 1 an an DET hjic-495 100 2 = = SYM hjic-495 100 3 x̂k x̂k PROPN hjic-495 100 4 − − PROPN hjic-495 100 5 n n CCONJ hjic-495 100 6 " " PUNCT hjic-495 100 7 # # SYM hjic-495 100 8 $ $ NUM hjic-495 100 9 % % NOUN hjic-495 100 10 & & CCONJ hjic-495 100 11 ' ' PUNCT hjic-495 100 12 , , PUNCT hjic-495 101 1 pk|k−1 pk|k−1 PROPN hjic-495 101 2 an an DET hjic-495 101 3 = = X hjic-495 101 4 pxk pxk NOUN hjic-495 101 5 − − PROPN hjic-495 101 6 0 0 NUM hjic-495 101 7 0 0 NUM hjic-495 101 8 rn rn PROPN hjic-495 101 9 " " PUNCT hjic-495 101 10 # # NOUN hjic-495 101 11 $ $ SYM hjic-495 101 12 $ $ NUM hjic-495 101 13 % % NOUN hjic-495 101 14 & & CCONJ hjic-495 101 15 ' ' PUNCT hjic-495 101 16 ' ' PUNCT hjic-495 101 17 ( ( PUNCT hjic-495 101 18 16 16 NUM hjic-495 101 19 ) ) PUNCT hjic-495 101 20 xk|k−1 xk|k−1 PROPN hjic-495 102 1 an an DET hjic-495 102 2 = = X hjic-495 102 3 x̂k|k−1 x̂k|k−1 PROPN hjic-495 102 4 an an DET hjic-495 102 5 x̂k|k−1 x̂k|k−1 PROPN hjic-495 103 1 an an DET hjic-495 103 2 + + NOUN hjic-495 103 3 h h NOUN hjic-495 103 4 pk|k−1 pk|k−1 PROPN hjic-495 103 5 an an DET hjic-495 103 6 x̂k|k−1 x̂k|k−1 NOUN hjic-495 103 7 an an DET hjic-495 103 8 − − NOUN hjic-495 103 9 h h NOUN hjic-495 103 10 pk|k−1 pk|k−1 NOUN hjic-495 103 11 an an DET hjic-495 103 12 " " PUNCT hjic-495 103 13 # # NOUN hjic-495 103 14 $ $ NUM hjic-495 103 15 % % NOUN hjic-495 103 16 & & CCONJ hjic-495 103 17 ' ' PUNCT hjic-495 103 18 ( ( PUNCT hjic-495 103 19 17 17 NUM hjic-495 103 20 ) ) PUNCT hjic-495 103 21 d d NOUN hjic-495 103 22 ) ) PUNCT hjic-495 103 23 measurement measurement NOUN hjic-495 103 24 - - PUNCT hjic-495 103 25 update update NOUN hjic-495 103 26 : : PUNCT hjic-495 103 27 yi yi NOUN hjic-495 103 28 , , PUNCT hjic-495 103 29 k|k−1 k|k−1 X hjic-495 103 30 = = SYM hjic-495 103 31 h(xi h(xi X hjic-495 103 32 , , PUNCT hjic-495 103 33 k|k−1 k|k−1 NOUN hjic-495 103 34 x x NOUN hjic-495 103 35 , , PUNCT hjic-495 103 36 xk|k−1 xk|k−1 PROPN hjic-495 103 37 n n PROPN hjic-495 103 38 ) ) PUNCT hjic-495 103 39 , , PUNCT hjic-495 103 40 i i PRON hjic-495 103 41 = = NOUN hjic-495 103 42 0 0 NUM hjic-495 103 43 , , PUNCT hjic-495 103 44 … … PUNCT hjic-495 103 45 , , PUNCT hjic-495 103 46 2l 2l X hjic-495 103 47 ŷk ŷk X hjic-495 103 48 − − PROPN hjic-495 103 49 = = SYM hjic-495 103 50 wi wi PROPN hjic-495 103 51 myi myi PROPN hjic-495 103 52 , , PUNCT hjic-495 103 53 k|k−1 k|k−1 NOUN hjic-495 103 54 i=0 i=0 PROPN hjic-495 103 55 2l 2l X hjic-495 103 56 ∑ ∑ PUNCT hjic-495 103 57 pŷk pŷk PROPN hjic-495 103 58 = = SYM hjic-495 103 59 wi wi PROPN hjic-495 103 60 c1 c1 PROPN hjic-495 103 61 ( ( PUNCT hjic-495 103 62 yi yi PROPN hjic-495 103 63 , , PUNCT hjic-495 103 64 k|k−1 k|k−1 X hjic-495 103 65 −yl+i −yl+i NOUN hjic-495 103 66 , , PUNCT hjic-495 103 67 k|k−1)2 k|k−1)2 PROPN hjic-495 103 68 i=0 i=0 PROPN hjic-495 103 69 2l 2l PROPN hjic-495 103 70 ∑ ∑ PUNCT hjic-495 103 71 + + NUM hjic-495 103 72 wi wi PROPN hjic-495 103 73 c2 c2 PROPN hjic-495 103 74 ( ( PUNCT hjic-495 103 75 yi yi PROPN hjic-495 103 76 , , PUNCT hjic-495 103 77 k|k−1 k|k−1 X hjic-495 103 78 + + PROPN hjic-495 103 79 yl+i yl+i PROPN hjic-495 103 80 , , PUNCT hjic-495 103 81 k|k−1 k|k−1 NOUN hjic-495 103 82 − − PROPN hjic-495 103 83 2y0,k|k−1)2 2y0,k|k−1)2 PROPN hjic-495 103 84 i=0 i=0 PROPN hjic-495 103 85 2l 2l NUM hjic-495 103 86 ∑ ∑ PUNCT hjic-495 103 87 pxkyk pxkyk NOUN hjic-495 103 88 = = SYM hjic-495 103 89 w1 w1 NOUN hjic-495 103 90 c1pxk c1pxk NOUN hjic-495 103 91 − − PROPN hjic-495 103 92 ( ( PUNCT hjic-495 103 93 y1 y1 INTJ hjic-495 103 94 : : PUNCT hjic-495 103 95 l l NOUN hjic-495 103 96 , , PUNCT hjic-495 103 97 k|k−1 k|k−1 X hjic-495 103 98 −yl+1:2l −yl+1:2l NOUN hjic-495 103 99 , , PUNCT hjic-495 103 100 k|k−1)t k|k−1)t PROPN hjic-495 103 101 kk kk PROPN hjic-495 103 102 = = PUNCT hjic-495 104 1 pxkyk pxkyk AUX hjic-495 104 2 pŷk pŷk VERB hjic-495 104 3 −1 −1 NOUN hjic-495 104 4 x̂k x̂k PUNCT hjic-495 104 5 = = PUNCT hjic-495 105 1 x̂k x̂k NUM hjic-495 106 1 − − PROPN hjic-495 107 1 + + NOUN hjic-495 107 2 kk kk X hjic-495 107 3 ( ( PUNCT hjic-495 107 4 yk yk PROPN hjic-495 107 5 − − PROPN hjic-495 107 6 ŷk ŷk PROPN hjic-495 107 7 − − NOUN hjic-495 107 8 ) ) PUNCT hjic-495 107 9 pxk pxk NOUN hjic-495 107 10 = = PUNCT hjic-495 107 11 pxk pxk NOUN hjic-495 107 12 − − PROPN hjic-495 107 13 −kkpŷkkk −kkpŷkkk PROPN hjic-495 107 14 t t PROPN hjic-495 107 15 ( ( PUNCT hjic-495 107 16 18 18 NUM hjic-495 107 17 ) ) PUNCT hjic-495 107 18 symmetry symmetry NOUN hjic-495 107 19 - - PUNCT hjic-495 107 20 preserving preserve VERB hjic-495 107 21 observers observer NOUN hjic-495 107 22 among among ADP hjic-495 107 23 many many ADJ hjic-495 107 24 problems problem NOUN hjic-495 107 25 in in ADP hjic-495 107 26 control control NOUN hjic-495 107 27 theory theory NOUN hjic-495 107 28 , , PUNCT hjic-495 107 29 the the DET hjic-495 107 30 symmetric symmetric ADJ hjic-495 107 31 nature nature NOUN hjic-495 107 32 of of ADP hjic-495 107 33 the the DET hjic-495 107 34 system system NOUN hjic-495 107 35 can can AUX hjic-495 107 36 be be AUX hjic-495 107 37 utilized utilize VERB hjic-495 107 38 , , PUNCT hjic-495 107 39 such such ADJ hjic-495 107 40 as as ADP hjic-495 107 41 in in ADP hjic-495 107 42 the the DET hjic-495 107 43 case case NOUN hjic-495 107 44 of of ADP hjic-495 107 45 optimal optimal ADJ hjic-495 107 46 control control NOUN hjic-495 107 47 for for ADP hjic-495 107 48 feedback feedback NOUN hjic-495 107 49 or or CCONJ hjic-495 107 50 regulations regulation NOUN hjic-495 107 51 . . PUNCT hjic-495 108 1 the the DET hjic-495 108 2 symmetry symmetry NOUN hjic-495 108 3 properties property NOUN hjic-495 108 4 can can AUX hjic-495 108 5 also also ADV hjic-495 108 6 be be AUX hjic-495 108 7 used use VERB hjic-495 108 8 in in ADP hjic-495 108 9 the the DET hjic-495 108 10 design design NOUN hjic-495 108 11 of of ADP hjic-495 108 12 observers observer NOUN hjic-495 108 13 . . PUNCT hjic-495 109 1 symmetry symmetry NOUN hjic-495 109 2 - - PUNCT hjic-495 109 3 preserving preserve VERB hjic-495 109 4 observers observer NOUN hjic-495 109 5 are be AUX hjic-495 109 6 also also ADV hjic-495 109 7 known know VERB hjic-495 109 8 as as ADP hjic-495 109 9 invariant invariant ADJ hjic-495 109 10 observers observer NOUN hjic-495 109 11 that that PRON hjic-495 109 12 are be AUX hjic-495 109 13 based base VERB hjic-495 109 14 on on ADP hjic-495 109 15 the the DET hjic-495 109 16 differential differential ADJ hjic-495 109 17 geometric geometric ADJ hjic-495 109 18 background background NOUN hjic-495 109 19 of of ADP hjic-495 109 20 abstract abstract ADJ hjic-495 109 21 liegroups liegroup NOUN hjic-495 109 22 [ [ X hjic-495 109 23 15 15 NUM hjic-495 109 24 , , PUNCT hjic-495 109 25 16 16 NUM hjic-495 109 26 , , PUNCT hjic-495 109 27 18 18 NUM hjic-495 109 28 ] ] PUNCT hjic-495 109 29 . . PUNCT hjic-495 110 1 the the DET hjic-495 110 2 constructive constructive ADJ hjic-495 110 3 algorithm algorithm NOUN hjic-495 110 4 can can AUX hjic-495 110 5 be be AUX hjic-495 110 6 defined define VERB hjic-495 110 7 for for ADP hjic-495 110 8 designing design VERB hjic-495 110 9 invariant invariant ADJ hjic-495 110 10 observers observer NOUN hjic-495 110 11 , , PUNCT hjic-495 110 12 which which PRON hjic-495 110 13 is be AUX hjic-495 110 14 based base VERB hjic-495 110 15 on on ADP hjic-495 110 16 the the DET hjic-495 110 17 group group NOUN hjic-495 110 18 transformation transformation NOUN hjic-495 110 19 of of ADP hjic-495 110 20 symmetry symmetry NOUN hjic-495 110 21 . . PUNCT hjic-495 111 1 the the DET hjic-495 111 2 aim aim NOUN hjic-495 111 3 is be AUX hjic-495 111 4 to to PART hjic-495 111 5 produce produce VERB hjic-495 111 6 invariant invariant ADJ hjic-495 111 7 frames frame NOUN hjic-495 111 8 and and CCONJ hjic-495 111 9 invariant invariant ADJ hjic-495 111 10 output output NOUN hjic-495 111 11 errors error NOUN hjic-495 111 12 to to PART hjic-495 111 13 transform transform VERB hjic-495 111 14 a a DET hjic-495 111 15 locally locally ADV hjic-495 111 16 asymptotically asymptotically ADV hjic-495 111 17 convergent convergent ADJ hjic-495 111 18 observer observer NOUN hjic-495 111 19 around around ADP hjic-495 111 20 an an DET hjic-495 111 21 equilibrium equilibrium NOUN hjic-495 111 22 point point NOUN hjic-495 111 23 into into ADP hjic-495 111 24 an an DET hjic-495 111 25 invariant invariant ADJ hjic-495 111 26 one one NOUN hjic-495 111 27 , , PUNCT hjic-495 111 28 retaining retain VERB hjic-495 111 29 its its PRON hjic-495 111 30 first first ADJ hjic-495 111 31 - - PUNCT hjic-495 111 32 order order NOUN hjic-495 111 33 approximation approximation NOUN hjic-495 111 34 . . PUNCT hjic-495 112 1 the the DET hjic-495 112 2 method method NOUN hjic-495 112 3 in in ADP hjic-495 112 4 refs ref NOUN hjic-495 112 5 . . PUNCT hjic-495 113 1 [ [ X hjic-495 113 2 16 16 NUM hjic-495 113 3 , , PUNCT hjic-495 113 4 18 18 NUM hjic-495 113 5 ] ] PUNCT hjic-495 113 6 benefits benefit NOUN hjic-495 113 7 from from ADP hjic-495 113 8 the the DET hjic-495 113 9 fact fact NOUN hjic-495 113 10 that that SCONJ hjic-495 113 11 the the DET hjic-495 113 12 error error NOUN hjic-495 113 13 equations equation NOUN hjic-495 113 14 and and CCONJ hjic-495 113 15 the the DET hjic-495 113 16 first first ADJ hjic-495 113 17 - - PUNCT hjic-495 113 18 order order NOUN hjic-495 113 19 approximation approximation NOUN hjic-495 113 20 can can AUX hjic-495 113 21 be be AUX hjic-495 113 22 calculated calculate VERB hjic-495 113 23 explicitly explicitly ADV hjic-495 113 24 and and CCONJ hjic-495 113 25 the the DET hjic-495 113 26 relationships relationship NOUN hjic-495 113 27 can can AUX hjic-495 113 28 be be AUX hjic-495 113 29 defined define VERB hjic-495 113 30 globally globally ADV hjic-495 113 31 . . PUNCT hjic-495 114 1 in in ADP hjic-495 114 2 addition addition NOUN hjic-495 114 3 , , PUNCT hjic-495 114 4 the the DET hjic-495 114 5 invariant invariant ADJ hjic-495 114 6 error error NOUN hjic-495 114 7 equations equation NOUN hjic-495 114 8 make make VERB hjic-495 114 9 stability stability NOUN hjic-495 114 10 issues issue NOUN hjic-495 114 11 easier easy ADJ hjic-495 114 12 to to PART hjic-495 114 13 deal deal VERB hjic-495 114 14 with with ADP hjic-495 114 15 [ [ X hjic-495 114 16 1921 1921 NUM hjic-495 114 17 ] ] PUNCT hjic-495 114 18 . . PUNCT hjic-495 115 1 assumptions assumption NOUN hjic-495 115 2 suppose suppose VERB hjic-495 115 3 g g NOUN hjic-495 115 4 is be AUX hjic-495 115 5 a a DET hjic-495 115 6 lie lie NOUN hjic-495 115 7 - - PUNCT hjic-495 115 8 group group NOUN hjic-495 115 9 with with ADP hjic-495 115 10 identity identity NOUN hjic-495 115 11 e e NOUN hjic-495 115 12 on on ADP hjic-495 115 13 manifold manifold PROPN hjic-495 115 14 σ σ PROPN hjic-495 115 15 . . PUNCT hjic-495 116 1 the the DET hjic-495 116 2 group group NOUN hjic-495 116 3 transformation transformation NOUN hjic-495 116 4 ( ( PUNCT hjic-495 116 5 ϕg ϕg NOUN hjic-495 116 6 ) ) PUNCT hjic-495 116 7 g∈g g∈g PROPN hjic-495 116 8 on on ADP hjic-495 116 9 σ σ PROPN hjic-495 116 10 is be AUX hjic-495 116 11 a a DET hjic-495 116 12 smooth smooth ADJ hjic-495 116 13 mapping mapping NOUN hjic-495 116 14 ( ( PUNCT hjic-495 116 15 g g PROPN hjic-495 116 16 , , PUNCT hjic-495 116 17 ξ ξ PROPN hjic-495 116 18 ) ) PUNCT hjic-495 116 19 ∈g ∈g NOUN hjic-495 116 20 ×σ→ϕg(ξ ×σ→ϕg(ξ X hjic-495 116 21 ) ) PUNCT hjic-495 117 1 ∈ ∈ PROPN hjic-495 117 2 σ σ PROPN hjic-495 117 3 ( ( PUNCT hjic-495 117 4 19 19 NUM hjic-495 117 5 ) ) PUNCT hjic-495 117 6 such such ADJ hjic-495 117 7 that that PRON hjic-495 117 8 ϕe(ξ ϕe(ξ PUNCT hjic-495 117 9 ) ) PUNCT hjic-495 117 10 = = SYM hjic-495 117 11 ξ ξ PROPN hjic-495 117 12 and and CCONJ hjic-495 117 13 ϕg2 ϕg2 PROPN hjic-495 117 14 ( ( PUNCT hjic-495 117 15 ϕg1 ϕg1 NOUN hjic-495 117 16 ( ( PUNCT hjic-495 117 17 ξ ξ PROPN hjic-495 117 18 ) ) PUNCT hjic-495 117 19 ) ) PUNCT hjic-495 118 1 = = PRON hjic-495 118 2 ϕg2g1 ϕg2g1 PROPN hjic-495 118 3 ( ( PUNCT hjic-495 118 4 ξ ξ PROPN hjic-495 118 5 ) ) PUNCT hjic-495 118 6 for for ADP hjic-495 118 7 ζ ζ NOUN hjic-495 118 8 , , PUNCT hjic-495 118 9 g1 g1 NOUN hjic-495 118 10 , , PUNCT hjic-495 118 11 and and CCONJ hjic-495 118 12 g2 g2 PROPN hjic-495 118 13 . . PUNCT hjic-495 119 1 the the DET hjic-495 119 2 transformation transformation NOUN hjic-495 119 3 group group NOUN hjic-495 119 4 is be AUX hjic-495 119 5 local local ADJ hjic-495 119 6 if if SCONJ hjic-495 119 7 ϕg(ξ ϕg(ξ NUM hjic-495 119 8 ) ) PUNCT hjic-495 119 9 is be AUX hjic-495 119 10 defined define VERB hjic-495 119 11 only only ADV hjic-495 119 12 when when SCONJ hjic-495 119 13 g g PROPN hjic-495 119 14 lies lie VERB hjic-495 119 15 sufficiently sufficiently ADV hjic-495 119 16 near near ADV hjic-495 119 17 to to ADP hjic-495 119 18 e. e. PROPN hjic-495 119 19 we we PRON hjic-495 119 20 consider consider VERB hjic-495 119 21 only only ADV hjic-495 119 22 local local ADJ hjic-495 119 23 transformations transformation NOUN hjic-495 119 24 . . PUNCT hjic-495 120 1 invariant invariant ADJ hjic-495 120 2 observers observer NOUN hjic-495 120 3 are be AUX hjic-495 120 4 designed design VERB hjic-495 120 5 for for ADP hjic-495 120 6 the the DET hjic-495 120 7 smooth smooth ADJ hjic-495 120 8 nonlinear nonlinear ADJ hjic-495 120 9 system system NOUN hjic-495 121 1 d d NOUN hjic-495 121 2 dt dt NOUN hjic-495 121 3 x x X hjic-495 121 4 = = SYM hjic-495 121 5 f f X hjic-495 121 6 ( ( PUNCT hjic-495 121 7 x x X hjic-495 121 8 , , PUNCT hjic-495 121 9 u u NOUN hjic-495 121 10 ) ) PUNCT hjic-495 121 11 , , PUNCT hjic-495 121 12 y y PROPN hjic-495 121 13 = = SYM hjic-495 121 14 h(x h(x PROPN hjic-495 121 15 , , PUNCT hjic-495 121 16 u u NOUN hjic-495 121 17 ) ) PUNCT hjic-495 121 18 ( ( PUNCT hjic-495 121 19 20 20 NUM hjic-495 121 20 ) ) PUNCT hjic-495 122 1 where where SCONJ hjic-495 122 2 x x X hjic-495 122 3 , , PUNCT hjic-495 122 4 u u NOUN hjic-495 122 5 , , PUNCT hjic-495 122 6 and and CCONJ hjic-495 122 7 y y PROPN hjic-495 122 8 belong belong VERB hjic-495 122 9 to to ADP hjic-495 122 10 the the DET hjic-495 122 11 open open ADJ hjic-495 122 12 subsets subset NOUN hjic-495 122 13 x x X hjic-495 122 14 ⊂ ⊂ PROPN hjic-495 122 15 ℝn ℝn PROPN hjic-495 122 16 , , PUNCT hjic-495 122 17 ⊂u ⊂u PROPN hjic-495 122 18 ℝm ℝm PROPN hjic-495 122 19 , , PUNCT hjic-495 122 20 and and CCONJ hjic-495 122 21 ⊂y ⊂y NOUN hjic-495 122 22 ℝp ℝp ADP hjic-495 122 23 respectively respectively ADV hjic-495 122 24 and and CCONJ hjic-495 122 25 p p NOUN hjic-495 122 26 ≤ ≤ NUM hjic-495 122 27 n n NOUN hjic-495 122 28 . . PUNCT hjic-495 123 1 let let VERB hjic-495 123 2 r r NOUN hjic-495 123 3 ≤ ≤ NOUN hjic-495 123 4 n n CCONJ hjic-495 123 5 be be AUX hjic-495 123 6 the the DET hjic-495 123 7 dimension dimension NOUN hjic-495 123 8 of of ADP hjic-495 123 9 the the DET hjic-495 123 10 lie lie NOUN hjic-495 123 11 - - PUNCT hjic-495 123 12 group group NOUN hjic-495 123 13 . . PUNCT hjic-495 124 1 we we PRON hjic-495 124 2 assume assume VERB hjic-495 124 3 that that SCONJ hjic-495 124 4 for for ADP hjic-495 124 5 each each DET hjic-495 124 6 x x PUNCT hjic-495 124 7 the the DET hjic-495 124 8 mapping mapping NOUN hjic-495 124 9 x→φg(x x→φg(x PROPN hjic-495 124 10 ) ) PUNCT hjic-495 124 11 is be AUX hjic-495 124 12 full full ADJ hjic-495 124 13 rank rank NOUN hjic-495 124 14 . . PUNCT hjic-495 125 1 time time NOUN hjic-495 125 2 functions function NOUN hjic-495 125 3 u(t u(t NOUN hjic-495 125 4 ) ) PUNCT hjic-495 125 5 and and CCONJ hjic-495 125 6 y(t y(t NUM hjic-495 125 7 ) ) PUNCT hjic-495 125 8 are be AUX hjic-495 125 9 known know VERB hjic-495 125 10 . . PUNCT hjic-495 126 1 invariant invariant ADJ hjic-495 126 2 pre pre NOUN hjic-495 126 3 - - NOUN hjic-495 126 4 observer observer NOUN hjic-495 126 5 for for ADP hjic-495 126 6 the the DET hjic-495 126 7 differential differential ADJ hjic-495 126 8 geometric geometric ADJ hjic-495 126 9 description description NOUN hjic-495 126 10 of of ADP hjic-495 126 11 the the DET hjic-495 126 12 symmetric symmetric ADJ hjic-495 126 13 observers observer NOUN hjic-495 126 14 [ [ X hjic-495 126 15 14 14 NUM hjic-495 126 16 ] ] PUNCT hjic-495 126 17 , , PUNCT hjic-495 126 18 the the DET hjic-495 126 19 following follow VERB hjic-495 126 20 definitions definition NOUN hjic-495 126 21 and and CCONJ hjic-495 126 22 theorems theorem NOUN hjic-495 126 23 should should AUX hjic-495 126 24 be be AUX hjic-495 126 25 introduced introduce VERB hjic-495 126 26 : : PUNCT hjic-495 126 27 definition definition NOUN hjic-495 126 28 1 1 NUM hjic-495 126 29 . . PUNCT hjic-495 127 1 the the DET hjic-495 127 2 group group NOUN hjic-495 127 3 of of ADP hjic-495 127 4 local local ADJ hjic-495 127 5 transformation transformation NOUN hjic-495 127 6 on on ADP hjic-495 127 7 manifold manifold ADJ hjic-495 127 8 ux× ux× NOUN hjic-495 127 9 is be AUX hjic-495 127 10 expressed express VERB hjic-495 127 11 by by ADP hjic-495 127 12 ( ( PUNCT hjic-495 127 13 x x NOUN hjic-495 127 14 , , PUNCT hjic-495 127 15 u u NOUN hjic-495 127 16 ) ) PUNCT hjic-495 127 17 = = SYM hjic-495 127 18 ( ( PUNCT hjic-495 127 19 φg(x),ψg(u φg(x),ψg(u NOUN hjic-495 127 20 ) ) PUNCT hjic-495 127 21 ) ) PUNCT hjic-495 127 22 ( ( PUNCT hjic-495 127 23 21 21 NUM hjic-495 127 24 ) ) PUNCT hjic-495 127 25 where where SCONJ hjic-495 127 26 φg(x),ψg(u φg(x),ψg(u X hjic-495 127 27 ) ) PUNCT hjic-495 127 28 is be AUX hjic-495 127 29 local local ADJ hjic-495 127 30 diffeomorphism diffeomorphism NOUN hjic-495 127 31 and and CCONJ hjic-495 127 32 g g NOUN hjic-495 127 33 ∈g ∈g NOUN hjic-495 127 34 definition definition NOUN hjic-495 127 35 2 2 NUM hjic-495 127 36 . . PUNCT hjic-495 127 37 system system NOUN hjic-495 128 1 d d NOUN hjic-495 128 2 dt dt NOUN hjic-495 128 3 x x X hjic-495 128 4 = = SYM hjic-495 128 5 f f X hjic-495 128 6 ( ( PUNCT hjic-495 128 7 x x X hjic-495 128 8 , , PUNCT hjic-495 128 9 u u NOUN hjic-495 128 10 ) ) PUNCT hjic-495 128 11 is be AUX hjic-495 128 12 g g NOUN hjic-495 128 13 - - PUNCT hjic-495 128 14 invariant invariant ADJ hjic-495 128 15 , , PUNCT hjic-495 128 16 if if SCONJ hjic-495 128 17 f f PROPN hjic-495 128 18 ( ( PUNCT hjic-495 128 19 φg(x),ψg(u φg(x),ψg(u NUM hjic-495 128 20 ) ) PUNCT hjic-495 128 21 ) ) PUNCT hjic-495 129 1 = = PUNCT hjic-495 129 2 dφg(x dφg(x NOUN hjic-495 129 3 ) ) PUNCT hjic-495 129 4 ⋅ ⋅ PROPN hjic-495 129 5 f f X hjic-495 129 6 ( ( PUNCT hjic-495 129 7 x x X hjic-495 129 8 , , PUNCT hjic-495 129 9 u u NOUN hjic-495 129 10 ) ) PUNCT hjic-495 129 11 for for ADP hjic-495 129 12 g g PROPN hjic-495 129 13 , , PUNCT hjic-495 129 14 x x PRON hjic-495 129 15 , , PUNCT hjic-495 129 16 u. u. PROPN hjic-495 129 17 thus thus ADV hjic-495 129 18 , , PUNCT hjic-495 129 19 the the DET hjic-495 129 20 system system NOUN hjic-495 129 21 remains remain VERB hjic-495 129 22 unchanged unchanged ADJ hjic-495 129 23 for for ADP hjic-495 129 24 the the DET hjic-495 129 25 local local ADJ hjic-495 129 26 transformation transformation NOUN hjic-495 129 27 , , PUNCT hjic-495 129 28 ! ! PUNCT hjic-495 129 29 x x X hjic-495 130 1 = = SYM hjic-495 130 2 f f X hjic-495 130 3 ( ( PUNCT hjic-495 130 4 x x X hjic-495 130 5 , , PUNCT hjic-495 130 6 u u NOUN hjic-495 130 7 ) ) PUNCT hjic-495 130 8 . . PUNCT hjic-495 131 1 definition definition NOUN hjic-495 131 2 3 3 NUM hjic-495 131 3 . . PUNCT hjic-495 132 1 the the DET hjic-495 132 2 output output NOUN hjic-495 132 3 y y PROPN hjic-495 132 4 = = SYM hjic-495 132 5 h(x h(x PROPN hjic-495 132 6 , , PUNCT hjic-495 132 7 u u NOUN hjic-495 132 8 ) ) PUNCT hjic-495 132 9 is be AUX hjic-495 132 10 g g NOUN hjic-495 132 11 - - PUNCT hjic-495 132 12 equivariant equivariant ADJ hjic-495 132 13 , , PUNCT hjic-495 132 14 if if SCONJ hjic-495 132 15 there there PRON hjic-495 132 16 exists exist VERB hjic-495 132 17 ρg ρg ADP hjic-495 132 18 transformation transformation NOUN hjic-495 132 19 on on ADP hjic-495 132 20 y y PROPN hjic-495 132 21 , , PUNCT hjic-495 132 22 such such ADJ hjic-495 132 23 that that SCONJ hjic-495 132 24 g g PROPN hjic-495 132 25 ∈g ∈g NOUN hjic-495 132 26 and and CCONJ hjic-495 132 27 h(φg(x),ψg(u h(φg(x),ψg(u NUM hjic-495 132 28 ) ) PUNCT hjic-495 132 29 ) ) PUNCT hjic-495 133 1 = = SYM hjic-495 133 2 ρg(h(x ρg(h(x PROPN hjic-495 133 3 , , PUNCT hjic-495 133 4 u u NOUN hjic-495 133 5 ) ) PUNCT hjic-495 133 6 ) ) PUNCT hjic-495 133 7 for for ADP hjic-495 133 8 g g NOUN hjic-495 133 9 , , PUNCT hjic-495 133 10 x x PRON hjic-495 133 11 , , PUNCT hjic-495 133 12 u. u. PROPN hjic-495 133 13 thus thus ADV hjic-495 133 14 , , PUNCT hjic-495 133 15 the the DET hjic-495 133 16 output output NOUN hjic-495 133 17 remains remain VERB hjic-495 133 18 unchanged unchanged ADJ hjic-495 133 19 for for ADP hjic-495 133 20 the the DET hjic-495 133 21 local local ADJ hjic-495 133 22 transformation transformation NOUN hjic-495 133 23 , , PUNCT hjic-495 133 24 y y PROPN hjic-495 133 25 = = SYM hjic-495 133 26 h(x h(x PROPN hjic-495 133 27 , , PUNCT hjic-495 133 28 u u NOUN hjic-495 133 29 ) ) PUNCT hjic-495 133 30 . . PUNCT hjic-495 134 1 definition definition NOUN hjic-495 134 2 4 4 NUM hjic-495 134 3 . . PUNCT hjic-495 135 1 the the DET hjic-495 135 2 vector vector NOUN hjic-495 135 3 field field NOUN hjic-495 135 4 w w NOUN hjic-495 135 5 is be AUX hjic-495 135 6 g g NOUN hjic-495 135 7 - - PUNCT hjic-495 135 8 invariant invariant ADJ hjic-495 135 9 on on ADP hjic-495 135 10 manifold manifold ADJ hjic-495 135 11 x x NOUN hjic-495 135 12 , , PUNCT hjic-495 135 13 if if SCONJ hjic-495 135 14 d d PROPN hjic-495 135 15 dt dt X hjic-495 135 16 x x SYM hjic-495 135 17 = = SYM hjic-495 135 18 w(x w(x NOUN hjic-495 135 19 ) ) PUNCT hjic-495 135 20 is be AUX hjic-495 135 21 invariant invariant ADJ hjic-495 135 22 to to ADP hjic-495 135 23 the the DET hjic-495 135 24 transformation transformation NOUN hjic-495 135 25 , , PUNCT hjic-495 135 26 i.e. i.e. X hjic-495 135 27 w(φg(x w(φg(x NUM hjic-495 135 28 ) ) PUNCT hjic-495 135 29 ) ) PUNCT hjic-495 136 1 = = PUNCT hjic-495 136 2 dφg(x dφg(x PROPN hjic-495 136 3 ) ) PUNCT hjic-495 136 4 ⋅w(x ⋅w(x NOUN hjic-495 136 5 ) ) PUNCT hjic-495 136 6 for for ADP hjic-495 136 7 g g NOUN hjic-495 136 8 , , PUNCT hjic-495 136 9 x. x. NOUN hjic-495 136 10 definition definition NOUN hjic-495 136 11 5 5 NUM hjic-495 136 12 . . PUNCT hjic-495 137 1 an an DET hjic-495 137 2 invariant invariant ADJ hjic-495 137 3 frame frame NOUN hjic-495 137 4 ( ( PUNCT hjic-495 137 5 w1 w1 NOUN hjic-495 137 6 , , PUNCT hjic-495 137 7 w2 w2 NOUN hjic-495 137 8 , , PUNCT hjic-495 137 9 … … PUNCT hjic-495 137 10 , , PUNCT hjic-495 137 11 w3 w3 PROPN hjic-495 137 12 ) ) PUNCT hjic-495 137 13 consists consist VERB hjic-495 137 14 of of ADP hjic-495 137 15 n n CCONJ hjic-495 137 16 linearly linearly ADV hjic-495 137 17 point point ADV hjic-495 137 18 - - PUNCT hjic-495 137 19 wise wise ADJ hjic-495 137 20 independent independent ADJ hjic-495 137 21 ginvariant ginvariant ADJ hjic-495 137 22 vector vector NOUN hjic-495 137 23 fields field NOUN hjic-495 137 24 on on ADP hjic-495 137 25 x x PUNCT hjic-495 137 26 thus thus ADV hjic-495 137 27 ( ( PUNCT hjic-495 137 28 w1(x),w2(x), w1(x),w2(x), NOUN hjic-495 137 29 … … SYM hjic-495 137 30 ,wn ,wn X hjic-495 137 31 ( ( PUNCT hjic-495 137 32 x x NOUN hjic-495 137 33 ) ) PUNCT hjic-495 137 34 ) ) PUNCT hjic-495 137 35 is be AUX hjic-495 137 36 a a DET hjic-495 137 37 basis basis NOUN hjic-495 137 38 of of ADP hjic-495 137 39 the the DET hjic-495 137 40 tangent tangent ADJ hjic-495 137 41 space space NOUN hjic-495 137 42 tx(x tx(x NOUN hjic-495 137 43 ) ) PUNCT hjic-495 137 44 . . PUNCT hjic-495 138 1 lemma lemma PROPN hjic-495 138 2 1 1 NUM hjic-495 138 3 . . PUNCT hjic-495 139 1 the the DET hjic-495 139 2 invariant invariant ADJ hjic-495 139 3 frame frame NOUN hjic-495 139 4 can can AUX hjic-495 139 5 be be AUX hjic-495 139 6 constructed construct VERB hjic-495 139 7 from from ADP hjic-495 139 8 the the DET hjic-495 139 9 canonical canonical ADJ hjic-495 139 10 basis basis NOUN hjic-495 139 11 of of ADP hjic-495 139 12 x. x. NOUN hjic-495 139 13 the the DET hjic-495 139 14 vector vector NOUN hjic-495 139 15 field field NOUN hjic-495 139 16 defined define VERB hjic-495 139 17 by by ADP hjic-495 139 18 wi(x wi(x NOUN hjic-495 139 19 ) ) PUNCT hjic-495 139 20 = = PUNCT hjic-495 140 1 ( ( PUNCT hjic-495 140 2 dφγ dφγ NOUN hjic-495 140 3 ( ( PUNCT hjic-495 140 4 x x NOUN hjic-495 140 5 ) ) PUNCT hjic-495 140 6 ) ) PUNCT hjic-495 140 7 −1 −1 NOUN hjic-495 140 8 ⋅ ⋅ PROPN hjic-495 140 9 ∂∂xi ∂∂xi PROPN hjic-495 140 10 ( ( PUNCT hjic-495 140 11 22 22 NUM hjic-495 140 12 ) ) PUNCT hjic-495 140 13 for for ADP hjic-495 140 14 i i PROPN hjic-495 140 15 = = NOUN hjic-495 140 16 1 1 NUM hjic-495 140 17 , , PUNCT hjic-495 140 18 … … PUNCT hjic-495 140 19 , , PUNCT hjic-495 140 20 n n PRON hjic-495 140 21 forms form VERB hjic-495 140 22 an an DET hjic-495 140 23 invariant invariant ADJ hjic-495 140 24 frame frame NOUN hjic-495 140 25 . . PUNCT hjic-495 141 1 definition definition NOUN hjic-495 141 2 6 6 NUM hjic-495 141 3 . . PUNCT hjic-495 142 1 the the DET hjic-495 142 2 system system NOUN hjic-495 142 3 d d NOUN hjic-495 142 4 dt dt NOUN hjic-495 142 5 x̂ x̂ PUNCT hjic-495 142 6 = = SYM hjic-495 142 7 f(x̂,u f(x̂,u PROPN hjic-495 142 8 , , PUNCT hjic-495 142 9 y y NOUN hjic-495 142 10 ) ) PUNCT hjic-495 142 11 is be AUX hjic-495 142 12 a a DET hjic-495 142 13 preobserver preobserver NOUN hjic-495 142 14 , , PUNCT hjic-495 142 15 if if SCONJ hjic-495 142 16 f(x f(x PROPN hjic-495 142 17 , , PUNCT hjic-495 142 18 u u NOUN hjic-495 142 19 , , PUNCT hjic-495 142 20 h(x h(x PROPN hjic-495 142 21 , , PUNCT hjic-495 142 22 u u NOUN hjic-495 142 23 ) ) PUNCT hjic-495 142 24 ) ) PUNCT hjic-495 143 1 = = SYM hjic-495 143 2 f f X hjic-495 143 3 ( ( PUNCT hjic-495 143 4 x x X hjic-495 143 5 , , PUNCT hjic-495 143 6 u u NOUN hjic-495 143 7 ) ) PUNCT hjic-495 143 8 is be AUX hjic-495 143 9 satisfied satisfied ADJ hjic-495 143 10 for for ADP hjic-495 143 11 x x PUNCT hjic-495 143 12 and and CCONJ hjic-495 143 13 u. u. PROPN hjic-495 143 14 furthermore furthermore ADV hjic-495 143 15 , , PUNCT hjic-495 143 16 if if SCONJ hjic-495 143 17 lim lim PROPN hjic-495 143 18 x̂(t x̂(t PRON hjic-495 143 19 ) ) PUNCT hjic-495 143 20 = = SYM hjic-495 144 1 x(t x(t PROPN hjic-495 144 2 ) ) PUNCT hjic-495 144 3 as as ADP hjic-495 144 4 t→∞ t→∞ NUM hjic-495 144 5 , , PUNCT hjic-495 144 6 then then ADV hjic-495 144 7 the the DET hjic-495 144 8 pre pre NOUN hjic-495 144 9 - - NOUN hjic-495 144 10 observer observer NOUN hjic-495 144 11 is be AUX hjic-495 144 12 asymptotic asymptotic ADJ hjic-495 144 13 . . PUNCT hjic-495 145 1 60 60 NUM hjic-495 145 2 definition definition NOUN hjic-495 145 3 7 7 NUM hjic-495 145 4 . . PUNCT hjic-495 146 1 the the DET hjic-495 146 2 pre pre NOUN hjic-495 146 3 - - NOUN hjic-495 146 4 observer observer NOUN hjic-495 146 5 is be AUX hjic-495 146 6 g g NOUN hjic-495 146 7 - - PUNCT hjic-495 146 8 invariant invariant ADJ hjic-495 146 9 , , PUNCT hjic-495 146 10 if if SCONJ hjic-495 146 11 ) ) PUNCT hjic-495 146 12 , , PUNCT hjic-495 146 13 , , PUNCT hjic-495 146 14 ˆ()ˆ())(),(),ˆ ˆ()ˆ())(),(),ˆ PROPN hjic-495 146 15 ( ( PUNCT hjic-495 146 16 ( ( PUNCT hjic-495 146 17 yuxfxdyuxf yuxfxdyuxf PROPN hjic-495 146 18 gggg gggg PROPN hjic-495 146 19 ⋅= ⋅= PROPN hjic-495 146 20 ϕρψϕ ϕρψϕ NOUN hjic-495 146 21 ( ( PUNCT hjic-495 146 22 23 23 NUM hjic-495 146 23 ) ) PUNCT hjic-495 146 24 is be AUX hjic-495 146 25 satisfied satisfied ADJ hjic-495 146 26 for for ADP hjic-495 146 27 g g NOUN hjic-495 146 28 , , PUNCT hjic-495 146 29 x̂ x̂ NUM hjic-495 146 30 , , PUNCT hjic-495 146 31 u u NOUN hjic-495 146 32 , , PUNCT hjic-495 146 33 and and CCONJ hjic-495 146 34 y y PROPN hjic-495 146 35 i.e. i.e. X hjic-495 146 36 the the DET hjic-495 146 37 observer observer NOUN hjic-495 146 38 remains remain VERB hjic-495 146 39 unchanged unchanged ADJ hjic-495 146 40 for for ADP hjic-495 146 41 the the DET hjic-495 146 42 group group NOUN hjic-495 146 43 transformation transformation NOUN hjic-495 146 44 on on ADP hjic-495 146 45 yu,,x yu,,x PRON hjic-495 146 46 . . PUNCT hjic-495 147 1 thus thus ADV hjic-495 147 2 , , PUNCT hjic-495 147 3 x x X hjic-495 147 4 = = PUNCT hjic-495 147 5 φg(x φg(x X hjic-495 147 6 ) ) PUNCT hjic-495 147 7 , , PUNCT hjic-495 147 8 u u NOUN hjic-495 147 9 = = NOUN hjic-495 147 10 ψg(u ψg(u X hjic-495 147 11 ) ) PUNCT hjic-495 147 12 , , PUNCT hjic-495 147 13 y y PROPN hjic-495 147 14 = = SYM hjic-495 147 15 ρg(y ρg(y NUM hjic-495 147 16 ) ) PUNCT hjic-495 147 17 , , PUNCT hjic-495 147 18 and and CCONJ hjic-495 147 19 d d ADP hjic-495 147 20 dt dt X hjic-495 147 21 x̂ x̂ PUNCT hjic-495 147 22 = = SYM hjic-495 147 23 f(x̂,u f(x̂,u PROPN hjic-495 147 24 , , PUNCT hjic-495 147 25 y y PROPN hjic-495 147 26 ) ) PUNCT hjic-495 147 27 . . PUNCT hjic-495 148 1 an an DET hjic-495 148 2 invariant invariant ADJ hjic-495 148 3 observer observer NOUN hjic-495 148 4 is be AUX hjic-495 148 5 an an DET hjic-495 148 6 asymptotic asymptotic ADJ hjic-495 148 7 g g NOUN hjic-495 148 8 - - PUNCT hjic-495 148 9 invariant invariant ADJ hjic-495 148 10 pre pre NOUN hjic-495 148 11 - - NOUN hjic-495 148 12 observer observer NOUN hjic-495 148 13 . . PUNCT hjic-495 149 1 moreover moreover ADV hjic-495 149 2 , , PUNCT hjic-495 149 3 if if SCONJ hjic-495 149 4 the the DET hjic-495 149 5 pre pre NOUN hjic-495 149 6 - - NOUN hjic-495 149 7 observer observer NOUN hjic-495 149 8 is be AUX hjic-495 149 9 ginvariant ginvariant ADJ hjic-495 149 10 and and CCONJ hjic-495 149 11 rank rank NOUN hjic-495 149 12 ( ( PUNCT hjic-495 149 13 f f X hjic-495 149 14 ) ) PUNCT hjic-495 149 15 = = VERB hjic-495 150 1 dim dim ADJ hjic-495 150 2 y y NOUN hjic-495 150 3 , , PUNCT hjic-495 150 4 then then ADV hjic-495 150 5 the the DET hjic-495 150 6 output output NOUN hjic-495 150 7 map map NOUN hjic-495 150 8 y y PROPN hjic-495 150 9 is be AUX hjic-495 150 10 g g NOUN hjic-495 150 11 - - PUNCT hjic-495 150 12 equivariant equivariant NOUN hjic-495 150 13 . . PUNCT hjic-495 151 1 definition definition NOUN hjic-495 151 2 8 8 NUM hjic-495 151 3 . . PUNCT hjic-495 151 4 smooth smooth ADJ hjic-495 151 5 map map NOUN hjic-495 151 6 ( ( PUNCT hjic-495 151 7 x̂,u x̂,u PROPN hjic-495 151 8 , , PUNCT hjic-495 151 9 y)→ y)→ NUM hjic-495 151 10 e(x̂,u e(x̂,u VERB hjic-495 151 11 , , PUNCT hjic-495 151 12 y)∈ y)∈ PROPN hjic-495 152 1 ℝp ℝp PROPN hjic-495 152 2 is be AUX hjic-495 152 3 an an DET hjic-495 152 4 invariant invariant ADJ hjic-495 152 5 output output NOUN hjic-495 152 6 error error NOUN hjic-495 152 7 if if SCONJ hjic-495 152 8 a a PRON hjic-495 152 9 ) ) PUNCT hjic-495 152 10 y→ y→ X hjic-495 152 11 e(x̂,u e(x̂,u PROPN hjic-495 152 12 , , PUNCT hjic-495 152 13 y y NOUN hjic-495 152 14 ) ) PUNCT hjic-495 152 15 is be AUX hjic-495 152 16 invertible invertible ADJ hjic-495 152 17 for for ADP hjic-495 152 18 x̂ x̂ NUM hjic-495 152 19 , , PUNCT hjic-495 152 20 u u NOUN hjic-495 152 21 , , PUNCT hjic-495 152 22 and and CCONJ hjic-495 152 23 y y PROPN hjic-495 152 24 b b PROPN hjic-495 152 25 ) ) PUNCT hjic-495 152 26 e(x̂,u e(x̂,u PROPN hjic-495 152 27 , , PUNCT hjic-495 152 28 h(x̂,u h(x̂,u PROPN hjic-495 152 29 ) ) PUNCT hjic-495 152 30 ) ) PUNCT hjic-495 153 1 = = SYM hjic-495 153 2 0 0 NUM hjic-495 154 1 for for ADP hjic-495 154 2 x̂ x̂ NUM hjic-495 154 3 and and CCONJ hjic-495 154 4 u u NOUN hjic-495 154 5 c c NOUN hjic-495 154 6 ) ) PUNCT hjic-495 154 7 e(φg(x̂),ψg(u),ρg(y e(φg(x̂),ψg(u),ρg(y PROPN hjic-495 154 8 ) ) PUNCT hjic-495 154 9 ) ) PUNCT hjic-495 155 1 = = SYM hjic-495 155 2 e(x̂,u e(x̂,u PROPN hjic-495 155 3 , , PUNCT hjic-495 155 4 y y NOUN hjic-495 155 5 ) ) PUNCT hjic-495 155 6 for for ADP hjic-495 155 7 x̂ x̂ NUM hjic-495 155 8 , , PUNCT hjic-495 155 9 u u NOUN hjic-495 155 10 , , PUNCT hjic-495 155 11 and and CCONJ hjic-495 155 12 y. y. NOUN hjic-495 155 13 the the DET hjic-495 155 14 first first ADJ hjic-495 155 15 two two NUM hjic-495 155 16 properties property NOUN hjic-495 155 17 mean mean VERB hjic-495 155 18 e e NOUN hjic-495 155 19 is be AUX hjic-495 155 20 an an DET hjic-495 155 21 output output NOUN hjic-495 155 22 error error NOUN hjic-495 155 23 , , PUNCT hjic-495 155 24 the the DET hjic-495 155 25 third third ADJ hjic-495 155 26 expresses express VERB hjic-495 155 27 the the DET hjic-495 155 28 invariance invariance NOUN hjic-495 155 29 . . PUNCT hjic-495 156 1 the the DET hjic-495 156 2 introduction introduction NOUN hjic-495 156 3 of of ADP hjic-495 156 4 the the DET hjic-495 156 5 invariant invariant ADJ hjic-495 156 6 error error NOUN hjic-495 156 7 is be AUX hjic-495 156 8 necessary necessary ADJ hjic-495 156 9 , , PUNCT hjic-495 156 10 because because SCONJ hjic-495 156 11 the the DET hjic-495 156 12 output output NOUN hjic-495 156 13 error error NOUN hjic-495 156 14 ŷ− ŷ− PROPN hjic-495 156 15 y y PROPN hjic-495 156 16 does do AUX hjic-495 156 17 not not PART hjic-495 156 18 usually usually ADV hjic-495 156 19 preserve preserve VERB hjic-495 156 20 the the DET hjic-495 156 21 geometry geometry NOUN hjic-495 156 22 of of ADP hjic-495 156 23 the the DET hjic-495 156 24 system system NOUN hjic-495 156 25 [ [ X hjic-495 156 26 21 21 NUM hjic-495 156 27 ] ] PUNCT hjic-495 156 28 . . PUNCT hjic-495 157 1 the the DET hjic-495 157 2 following follow VERB hjic-495 157 3 three three NUM hjic-495 157 4 theorems theorem NOUN hjic-495 157 5 [ [ X hjic-495 157 6 15 15 NUM hjic-495 157 7 , , PUNCT hjic-495 157 8 16 16 NUM hjic-495 157 9 ] ] PUNCT hjic-495 157 10 support support VERB hjic-495 157 11 the the DET hjic-495 157 12 construction construction NOUN hjic-495 157 13 of of ADP hjic-495 157 14 the the DET hjic-495 157 15 symmetry symmetry NOUN hjic-495 157 16 - - PUNCT hjic-495 157 17 preserving preserve VERB hjic-495 157 18 observers observer NOUN hjic-495 157 19 . . PUNCT hjic-495 158 1 theorem theorem NOUN hjic-495 158 2 1 1 NUM hjic-495 158 3 . . PUNCT hjic-495 159 1 the the DET hjic-495 159 2 observer observer NOUN hjic-495 159 3 d d X hjic-495 159 4 dt dt NOUN hjic-495 159 5 x̂ x̂ PUNCT hjic-495 159 6 = = SYM hjic-495 159 7 f(x̂,u f(x̂,u PROPN hjic-495 159 8 , , PUNCT hjic-495 159 9 y y NOUN hjic-495 159 10 ) ) PUNCT hjic-495 159 11 is be AUX hjic-495 159 12 a a DET hjic-495 159 13 ginvariant ginvariant ADJ hjic-495 159 14 pre pre NOUN hjic-495 159 15 - - NOUN hjic-495 159 16 observer observer NOUN hjic-495 159 17 for for ADP hjic-495 159 18 the the DET hjic-495 159 19 g g NOUN hjic-495 159 20 - - PUNCT hjic-495 159 21 invariant invariant ADJ hjic-495 159 22 non non ADJ hjic-495 159 23 - - ADJ hjic-495 159 24 linear linear ADJ hjic-495 159 25 eq.(20 eq.(20 PROPN hjic-495 159 26 ) ) PUNCT hjic-495 159 27 with with ADP hjic-495 159 28 a a DET hjic-495 159 29 g g NOUN hjic-495 159 30 - - PUNCT hjic-495 159 31 equivariant equivariant ADJ hjic-495 159 32 output output NOUN hjic-495 159 33 if if SCONJ hjic-495 159 34 and and CCONJ hjic-495 159 35 only only ADV hjic-495 159 36 if if SCONJ hjic-495 159 37 f(x̂,u f(x̂,u PROPN hjic-495 159 38 , , PUNCT hjic-495 159 39 y y NOUN hjic-495 159 40 ) ) PUNCT hjic-495 160 1 = = SYM hjic-495 160 2 f f PROPN hjic-495 160 3 ( ( PUNCT hjic-495 160 4 x̂,u)+ x̂,u)+ PROPN hjic-495 160 5 li(i(x̂,u),e(x li(i(x̂,u),e(x PROPN hjic-495 160 6 , , PUNCT hjic-495 160 7 u u NOUN hjic-495 160 8 , , PUNCT hjic-495 160 9 y y NOUN hjic-495 160 10 ) ) PUNCT hjic-495 160 11 ) ) PUNCT hjic-495 161 1 i=1 i=1 PROPN hjic-495 161 2 n n CCONJ hjic-495 161 3 ∑ ∑ ADV hjic-495 161 4 wi(x̂ wi(x̂ PROPN hjic-495 161 5 ) ) PUNCT hjic-495 161 6 ( ( PUNCT hjic-495 161 7 24 24 NUM hjic-495 161 8 ) ) PUNCT hjic-495 161 9 where where SCONJ hjic-495 161 10 e e NOUN hjic-495 161 11 is be AUX hjic-495 161 12 an an DET hjic-495 161 13 invariant invariant ADJ hjic-495 161 14 output output NOUN hjic-495 161 15 error error NOUN hjic-495 161 16 , , PUNCT hjic-495 161 17 ( ( PUNCT hjic-495 161 18 x̂,u)→ x̂,u)→ NOUN hjic-495 161 19 i(x̂,u)∈ i(x̂,u)∈ NOUN hjic-495 161 20 ℝn+m&r ℝn+m&r VERB hjic-495 161 21 is be AUX hjic-495 161 22 a a DET hjic-495 161 23 full full ADJ hjic-495 161 24 rank rank NOUN hjic-495 161 25 function function NOUN hjic-495 161 26 , , PUNCT hjic-495 161 27 li li PROPN hjic-495 161 28 is be AUX hjic-495 161 29 a a DET hjic-495 161 30 smooth smooth ADJ hjic-495 161 31 function function NOUN hjic-495 161 32 , , PUNCT hjic-495 161 33 such such ADJ hjic-495 161 34 that that DET hjic-495 161 35 li(i(x̂,u li(i(x̂,u NOUN hjic-495 161 36 ) ) PUNCT hjic-495 161 37 , , PUNCT hjic-495 161 38 0 0 X hjic-495 161 39 ) ) PUNCT hjic-495 161 40 = = SYM hjic-495 161 41 0 0 NUM hjic-495 162 1 and and CCONJ hjic-495 162 2 ( ( PUNCT hjic-495 162 3 w1,w2, w1,w2, PROPN hjic-495 162 4 … … SYM hjic-495 162 5 ,wn ,wn X hjic-495 162 6 ) ) PUNCT hjic-495 162 7 is be AUX hjic-495 162 8 an an DET hjic-495 162 9 invariant invariant ADJ hjic-495 162 10 frame frame NOUN hjic-495 162 11 . . PUNCT hjic-495 163 1 since since SCONJ hjic-495 163 2 li(i li(i NOUN hjic-495 163 3 , , PUNCT hjic-495 163 4 e e NOUN hjic-495 163 5 ) ) PUNCT hjic-495 163 6 = = SYM hjic-495 163 7 li(i li(i NOUN hjic-495 163 8 , , PUNCT hjic-495 163 9 e)e e)e ADP hjic-495 163 10 li(i li(i NOUN hjic-495 163 11 , , PUNCT hjic-495 163 12 e)wi e)wi PROPN hjic-495 163 13 i=1 i=1 PROPN hjic-495 163 14 n n CCONJ hjic-495 163 15 ∑ ∑ PROPN hjic-495 163 16 = = SYM hjic-495 163 17 wi(li(i wi(li(i PROPN hjic-495 163 18 , , PUNCT hjic-495 163 19 e e NOUN hjic-495 163 20 ) ) PUNCT hjic-495 163 21 i=1 i=1 PROPN hjic-495 163 22 n n CCONJ hjic-495 163 23 ∑ ∑ ADV hjic-495 163 24 e e X hjic-495 163 25 ) ) PUNCT hjic-495 163 26 = = SYM hjic-495 163 27 w1 w1 NOUN hjic-495 163 28 … … PUNCT hjic-495 163 29 wn wn PROPN hjic-495 163 30 ( ( PUNCT hjic-495 163 31 ) ) PUNCT hjic-495 163 32 l1(i l1(i PROPN hjic-495 163 33 , , PUNCT hjic-495 163 34 e e NOUN hjic-495 163 35 ) ) PUNCT hjic-495 163 36 ! ! PUNCT hjic-495 164 1 ln ln INTJ hjic-495 165 1 ( ( PUNCT hjic-495 165 2 i i NOUN hjic-495 165 3 , , PUNCT hjic-495 165 4 e e NOUN hjic-495 165 5 ) ) PUNCT hjic-495 165 6 " " PUNCT hjic-495 165 7 # # NOUN hjic-495 165 8 $ $ SYM hjic-495 165 9 $ $ SYM hjic-495 165 10 $ $ SYM hjic-495 165 11 $ $ NUM hjic-495 165 12 % % NOUN hjic-495 165 13 & & CCONJ hjic-495 165 14 ' ' PUNCT hjic-495 165 15 ' ' PUNCT hjic-495 165 16 ' ' PUNCT hjic-495 165 17 ' ' PUNCT hjic-495 165 18 e e X hjic-495 165 19 ( ( PUNCT hjic-495 165 20 25 25 NUM hjic-495 165 21 ) ) PUNCT hjic-495 165 22 the the DET hjic-495 165 23 observer observer NOUN hjic-495 165 24 can can AUX hjic-495 165 25 be be AUX hjic-495 165 26 written write VERB hjic-495 165 27 as as SCONJ hjic-495 165 28 follows follow VERB hjic-495 165 29 f(x̂,u f(x̂,u PROPN hjic-495 165 30 , , PUNCT hjic-495 165 31 y y NOUN hjic-495 165 32 ) ) PUNCT hjic-495 166 1 = = SYM hjic-495 166 2 f f PROPN hjic-495 166 3 ( ( PUNCT hjic-495 166 4 x̂,u)+w x̂,u)+w PROPN hjic-495 166 5 ( ( PUNCT hjic-495 166 6 x̂)l(i(x̂,u),e(x̂,u x̂)l(i(x̂,u),e(x̂,u PROPN hjic-495 166 7 , , PUNCT hjic-495 166 8 y))e(x̂,u y))e(x̂,u NOUN hjic-495 166 9 , , PUNCT hjic-495 166 10 y y NOUN hjic-495 166 11 ) ) PUNCT hjic-495 166 12 . . PUNCT hjic-495 167 1 ( ( PUNCT hjic-495 167 2 26 26 NUM hjic-495 167 3 ) ) PUNCT hjic-495 167 4 theorem theorem NOUN hjic-495 167 5 2 2 NUM hjic-495 167 6 . . PUNCT hjic-495 168 1 the the DET hjic-495 168 2 following follow VERB hjic-495 168 3 statements statement NOUN hjic-495 168 4 are be AUX hjic-495 168 5 valid valid ADJ hjic-495 168 6 : : PUNCT hjic-495 168 7 • • PRON hjic-495 168 8 ( ( PUNCT hjic-495 168 9 x̂,u x̂,u PROPN hjic-495 168 10 , , PUNCT hjic-495 168 11 y)→ y)→ NUM hjic-495 168 12 e(x̂,u e(x̂,u PROPN hjic-495 168 13 , , PUNCT hjic-495 168 14 y y NOUN hjic-495 168 15 ) ) PUNCT hjic-495 168 16 invariant invariant ADJ hjic-495 168 17 output output NOUN hjic-495 168 18 error error NOUN hjic-495 168 19 exists exist VERB hjic-495 168 20 , , PUNCT hjic-495 168 21 • • ADP hjic-495 168 22 there there PRON hjic-495 168 23 is be VERB hjic-495 168 24 a a DET hjic-495 168 25 ( ( PUNCT hjic-495 168 26 x̂,u)→ x̂,u)→ PROPN hjic-495 168 27 i(x̂,u)∈ℝn+m&r i(x̂,u)∈ℝn+m&r VERB hjic-495 168 28 invariant invariant ADJ hjic-495 168 29 function function NOUN hjic-495 168 30 , , PUNCT hjic-495 168 31 • • CCONJ hjic-495 168 32 every every DET hjic-495 168 33 other other ADJ hjic-495 168 34 invariant invariant ADJ hjic-495 168 35 output output NOUN hjic-495 168 36 error error NOUN hjic-495 168 37 has have VERB hjic-495 168 38 the the DET hjic-495 168 39 form form NOUN hjic-495 168 40 of of ADP hjic-495 168 41 ! ! PUNCT hjic-495 169 1 e(x̂,u e(x̂,u NOUN hjic-495 169 2 , , PUNCT hjic-495 169 3 y y NOUN hjic-495 169 4 ) ) PUNCT hjic-495 169 5 = = SYM hjic-495 169 6 l(i(x̂,u),e(x̂,u l(i(x̂,u),e(x̂,u PROPN hjic-495 169 7 , , PUNCT hjic-495 169 8 y y NOUN hjic-495 169 9 ) ) PUNCT hjic-495 169 10 ) ) PUNCT hjic-495 169 11 ( ( PUNCT hjic-495 169 12 27 27 NUM hjic-495 169 13 ) ) PUNCT hjic-495 169 14 where where SCONJ hjic-495 169 15 l l NOUN hjic-495 169 16 is be AUX hjic-495 169 17 a a DET hjic-495 169 18 smooth smooth ADJ hjic-495 169 19 function function NOUN hjic-495 169 20 such such ADJ hjic-495 169 21 that that SCONJ hjic-495 169 22 l(i l(i NOUN hjic-495 169 23 , , PUNCT hjic-495 169 24 0 0 NUM hjic-495 169 25 ) ) PUNCT hjic-495 169 26 = = SYM hjic-495 169 27 0 0 NUM hjic-495 169 28 and and CCONJ hjic-495 169 29 e e X hjic-495 169 30 →l(i →l(i PROPN hjic-495 169 31 , , PUNCT hjic-495 169 32 e e NOUN hjic-495 169 33 ) ) PUNCT hjic-495 169 34 is be AUX hjic-495 169 35 invertible invertible ADJ hjic-495 169 36 . . PUNCT hjic-495 170 1 theorem theorem NOUN hjic-495 170 2 3 3 X hjic-495 170 3 . . PUNCT hjic-495 170 4 consider consider VERB hjic-495 170 5 the the DET hjic-495 170 6 equilibrium equilibrium NOUN hjic-495 170 7 of of ADP hjic-495 170 8 a a DET hjic-495 170 9 non non ADJ hjic-495 170 10 - - ADJ hjic-495 170 11 linear linear ADJ hjic-495 170 12 system system NOUN hjic-495 171 1 f f X hjic-495 171 2 ( ( PUNCT hjic-495 171 3 x x X hjic-495 171 4 , , PUNCT hjic-495 171 5 u u NOUN hjic-495 171 6 ) ) PUNCT hjic-495 171 7 = = SYM hjic-495 171 8 0 0 PUNCT hjic-495 171 9 and and CCONJ hjic-495 171 10 y y PROPN hjic-495 171 11 = = SYM hjic-495 171 12 h(x h(x PROPN hjic-495 171 13 , , PUNCT hjic-495 171 14 u u NOUN hjic-495 171 15 ) ) PUNCT hjic-495 171 16 assume assume VERB hjic-495 171 17 that that SCONJ hjic-495 171 18 the the DET hjic-495 171 19 linearized linearize VERB hjic-495 171 20 system system NOUN hjic-495 171 21 a a DET hjic-495 171 22 , , PUNCT hjic-495 171 23 b b NOUN hjic-495 171 24 , , PUNCT hjic-495 171 25 c c NOUN hjic-495 171 26 , , PUNCT hjic-495 171 27 d d NOUN hjic-495 171 28 around around ADP hjic-495 171 29 this this DET hjic-495 171 30 equilibrium equilibrium NOUN hjic-495 171 31 is be AUX hjic-495 171 32 observable observable ADJ hjic-495 171 33 , , PUNCT hjic-495 171 34 where where SCONJ hjic-495 171 35 a a DET hjic-495 171 36 = = SYM hjic-495 171 37 ∂f ∂f PROPN hjic-495 171 38 ∂x ∂x PROPN hjic-495 171 39 ( ( PUNCT hjic-495 171 40 x x NOUN hjic-495 171 41 , , PUNCT hjic-495 171 42 u u NOUN hjic-495 171 43 ) ) PUNCT hjic-495 171 44 , , PUNCT hjic-495 171 45 b b X hjic-495 171 46 = = SYM hjic-495 171 47 ∂f ∂f PROPN hjic-495 171 48 ∂u ∂u PROPN hjic-495 171 49 ( ( PUNCT hjic-495 171 50 x x X hjic-495 171 51 , , PUNCT hjic-495 171 52 u u NOUN hjic-495 171 53 ) ) PUNCT hjic-495 171 54 , , PUNCT hjic-495 171 55 c c X hjic-495 171 56 = = SYM hjic-495 171 57 ∂h ∂h PROPN hjic-495 171 58 ∂x ∂x PROPN hjic-495 171 59 ( ( PUNCT hjic-495 171 60 x x X hjic-495 171 61 , , PUNCT hjic-495 171 62 u u NOUN hjic-495 171 63 ) ) PUNCT hjic-495 171 64 , , PUNCT hjic-495 171 65 a a PRON hjic-495 171 66 = = SYM hjic-495 171 67 ∂h ∂h PROPN hjic-495 171 68 ∂u ∂u PROPN hjic-495 171 69 ( ( PUNCT hjic-495 171 70 x x X hjic-495 171 71 , , PUNCT hjic-495 171 72 u u NOUN hjic-495 171 73 ) ) PUNCT hjic-495 171 74 and and CCONJ hjic-495 171 75 let let VERB hjic-495 171 76 l l NOUN hjic-495 171 77 be be AUX hjic-495 171 78 such such ADJ hjic-495 171 79 that that SCONJ hjic-495 171 80 a+ a+ PUNCT hjic-495 171 81 lc lc PROPN hjic-495 171 82 is be AUX hjic-495 171 83 a a DET hjic-495 171 84 stable stable ADJ hjic-495 171 85 matrix matrix NOUN hjic-495 171 86 . . PUNCT hjic-495 172 1 from from ADP hjic-495 172 2 the the DET hjic-495 172 3 locally locally ADV hjic-495 172 4 asymptotically asymptotically ADV hjic-495 172 5 convergent convergent ADJ hjic-495 172 6 observer observer NOUN hjic-495 172 7 d d NOUN hjic-495 172 8 dt dt NOUN hjic-495 172 9 x̂ x̂ PUNCT hjic-495 172 10 = = SYM hjic-495 172 11 f f PROPN hjic-495 172 12 ( ( PUNCT hjic-495 172 13 x̂,u)+ x̂,u)+ PROPN hjic-495 172 14 l(ŷ− l(ŷ− PROPN hjic-495 172 15 y y PROPN hjic-495 172 16 ) ) PUNCT hjic-495 172 17 , , PUNCT hjic-495 172 18 ŷ ŷ NUM hjic-495 172 19 = = SYM hjic-495 172 20 h(x̂,u h(x̂,u PROPN hjic-495 172 21 ) ) PUNCT hjic-495 172 22 ( ( PUNCT hjic-495 172 23 28 28 NUM hjic-495 172 24 ) ) PUNCT hjic-495 172 25 an an DET hjic-495 172 26 invariant invariant ADJ hjic-495 172 27 observer observer NOUN hjic-495 172 28 can can AUX hjic-495 172 29 be be AUX hjic-495 172 30 constructed construct VERB hjic-495 172 31 by by ADP hjic-495 172 32 the the DET hjic-495 172 33 same same ADJ hjic-495 172 34 linear linear NOUN hjic-495 172 35 approximation approximation NOUN hjic-495 172 36 d d NOUN hjic-495 172 37 dt dt NOUN hjic-495 172 38 x̂ x̂ PUNCT hjic-495 173 1 = = SYM hjic-495 173 2 f f PROPN hjic-495 173 3 ( ( PUNCT hjic-495 173 4 x̂,u)+w x̂,u)+w PROPN hjic-495 173 5 ( ( PUNCT hjic-495 173 6 x̂)l(i(x̂,u),e(x̂,u x̂)l(i(x̂,u),e(x̂,u PROPN hjic-495 173 7 , , PUNCT hjic-495 173 8 y))e(x̂,u y))e(x̂,u NOUN hjic-495 173 9 , , PUNCT hjic-495 173 10 y y NOUN hjic-495 173 11 ) ) PUNCT hjic-495 173 12 ( ( PUNCT hjic-495 173 13 29 29 NUM hjic-495 173 14 ) ) PUNCT hjic-495 173 15 where where SCONJ hjic-495 173 16 l l NOUN hjic-495 173 17 = = PUNCT hjic-495 174 1 −w −w ADV hjic-495 174 2 ( ( PUNCT hjic-495 174 3 x)−1lv−1 x)−1lv−1 NUM hjic-495 174 4 and and CCONJ hjic-495 174 5 v v X hjic-495 174 6 = = SYM hjic-495 174 7 ∂e ∂e PROPN hjic-495 174 8 ∂y(x ∂y(x PROPN hjic-495 174 9 , , PUNCT hjic-495 174 10 u u NOUN hjic-495 174 11 , , PUNCT hjic-495 174 12 y y PROPN hjic-495 174 13 ) ) PUNCT hjic-495 174 14 is be AUX hjic-495 174 15 an an DET hjic-495 174 16 invertible invertible ADJ hjic-495 174 17 matrix matrix NOUN hjic-495 174 18 of of ADP hjic-495 174 19 pp× pp× NOUN hjic-495 174 20 dimensions dimension NOUN hjic-495 174 21 . . PUNCT hjic-495 175 1 there there PRON hjic-495 175 2 is be VERB hjic-495 175 3 no no DET hjic-495 175 4 general general ADJ hjic-495 175 5 algorithm algorithm NOUN hjic-495 175 6 for for ADP hjic-495 175 7 designing design VERB hjic-495 175 8 the the DET hjic-495 175 9 li li PROPN hjic-495 175 10 gain gain NOUN hjic-495 175 11 functions function NOUN hjic-495 175 12 of of ADP hjic-495 175 13 theorem theorem NOUN hjic-495 175 14 1 1 NUM hjic-495 175 15 . . PUNCT hjic-495 176 1 however however ADV hjic-495 176 2 , , PUNCT hjic-495 176 3 if if SCONJ hjic-495 176 4 we we PRON hjic-495 176 5 consider consider VERB hjic-495 176 6 the the DET hjic-495 176 7 following follow VERB hjic-495 176 8 invariant invariant ADJ hjic-495 176 9 state state NOUN hjic-495 176 10 error error NOUN hjic-495 176 11 η(x η(x NOUN hjic-495 176 12 , , PUNCT hjic-495 176 13 x̂ x̂ NUM hjic-495 176 14 ) ) PUNCT hjic-495 176 15 = = PUNCT hjic-495 176 16 φγ φγ PROPN hjic-495 176 17 ( ( PUNCT hjic-495 176 18 x)(x̂)−φγ x)(x̂)−φγ PROPN hjic-495 176 19 ( ( PUNCT hjic-495 176 20 x)(x x)(x PROPN hjic-495 176 21 ) ) PUNCT hjic-495 176 22 ( ( PUNCT hjic-495 176 23 30 30 NUM hjic-495 176 24 ) ) PUNCT hjic-495 176 25 instead instead ADV hjic-495 176 26 of of ADP hjic-495 176 27 the the DET hjic-495 176 28 xx xx NUM hjic-495 176 29 −ˆ −ˆ PROPN hjic-495 176 30 state state NOUN hjic-495 176 31 error error NOUN hjic-495 176 32 , , PUNCT hjic-495 176 33 where where SCONJ hjic-495 176 34 ) ) PUNCT hjic-495 176 35 ( ( PUNCT hjic-495 176 36 xγ xγ PROPN hjic-495 176 37 is be AUX hjic-495 176 38 the the DET hjic-495 176 39 solution solution NOUN hjic-495 176 40 of of ADP hjic-495 176 41 φg φg ADP hjic-495 176 42 a a DET hjic-495 176 43 ( ( PUNCT hjic-495 176 44 x x NOUN hjic-495 176 45 ) ) PUNCT hjic-495 176 46 = = SYM hjic-495 176 47 c c X hjic-495 176 48 ( ( PUNCT hjic-495 176 49 31 31 NUM hjic-495 176 50 ) ) PUNCT hjic-495 176 51 with with ADP hjic-495 176 52 respect respect NOUN hjic-495 176 53 to to ADP hjic-495 176 54 g g NOUN hjic-495 176 55 , , PUNCT hjic-495 176 56 then then ADV hjic-495 176 57 the the DET hjic-495 176 58 invariant invariant ADJ hjic-495 176 59 error error NOUN hjic-495 176 60 will will AUX hjic-495 176 61 only only ADV hjic-495 176 62 depend depend VERB hjic-495 176 63 on on ADP hjic-495 176 64 the the DET hjic-495 176 65 i(x i(x PROPN hjic-495 176 66 , , PUNCT hjic-495 176 67 u u NOUN hjic-495 176 68 ) ) PUNCT hjic-495 176 69 trajectories trajectory NOUN hjic-495 176 70 . . PUNCT hjic-495 177 1 constructive constructive ADJ hjic-495 177 2 algorithm algorithm NOUN hjic-495 177 3 consider consider VERB hjic-495 177 4 an an DET hjic-495 177 5 invariant invariant ADJ hjic-495 177 6 system system NOUN hjic-495 177 7 , , PUNCT hjic-495 177 8 i.e. i.e. X hjic-495 177 9 unchanged unchanged ADJ hjic-495 177 10 by by ADP hjic-495 177 11 transformation transformation NOUN hjic-495 177 12 eq.(21 eq.(21 PROPN hjic-495 177 13 ) ) PUNCT hjic-495 177 14 with with ADP hjic-495 177 15 an an DET hjic-495 177 16 equivariant equivariant ADJ hjic-495 177 17 output output NOUN hjic-495 177 18 ( ( PUNCT hjic-495 177 19 definition definition NOUN hjic-495 177 20 3 3 NUM hjic-495 177 21 ) ) PUNCT hjic-495 177 22 . . PUNCT hjic-495 178 1 the the DET hjic-495 178 2 non non ADJ hjic-495 178 3 - - ADJ hjic-495 178 4 linear linear ADJ hjic-495 178 5 observer observer NOUN hjic-495 178 6 design design NOUN hjic-495 178 7 for for ADP hjic-495 178 8 nonlinear nonlinear ADJ hjic-495 178 9 dynamic dynamic ADJ hjic-495 178 10 systems system NOUN hjic-495 178 11 [ [ X hjic-495 178 12 10 10 NUM hjic-495 178 13 , , PUNCT hjic-495 178 14 11 11 NUM hjic-495 178 15 ] ] PUNCT hjic-495 178 16 can can AUX hjic-495 178 17 be be AUX hjic-495 178 18 divided divide VERB hjic-495 178 19 into into ADP hjic-495 178 20 the the DET hjic-495 178 21 following follow VERB hjic-495 178 22 steps step NOUN hjic-495 178 23 : : PUNCT hjic-495 178 24 a a X hjic-495 178 25 ) ) PUNCT hjic-495 178 26 choose choose VERB hjic-495 178 27 a a DET hjic-495 178 28 g g NOUN hjic-495 178 29 lie lie NOUN hjic-495 178 30 - - PUNCT hjic-495 178 31 group group NOUN hjic-495 178 32 and and CCONJ hjic-495 178 33 a a DET hjic-495 178 34 group group NOUN hjic-495 178 35 transformation transformation NOUN hjic-495 178 36 taking take VERB hjic-495 178 37 into into ADP hjic-495 178 38 account account NOUN hjic-495 178 39 the the DET hjic-495 178 40 symmetrical symmetrical ADJ hjic-495 178 41 properties property NOUN hjic-495 178 42 of of ADP hjic-495 178 43 the the DET hjic-495 178 44 system system NOUN hjic-495 178 45 . . PUNCT hjic-495 179 1 b b X hjic-495 179 2 ) ) PUNCT hjic-495 179 3 solve solve VERB hjic-495 179 4 the the DET hjic-495 179 5 normalization normalization NOUN hjic-495 179 6 eq.(31 eq.(31 NOUN hjic-495 179 7 ) ) PUNCT hjic-495 179 8 . . PUNCT hjic-495 180 1 build build VERB hjic-495 180 2 an an DET hjic-495 180 3 invariant invariant ADJ hjic-495 180 4 error error NOUN hjic-495 180 5 e e NOUN hjic-495 180 6 and and CCONJ hjic-495 180 7 the the DET hjic-495 180 8 complete complete ADJ hjic-495 180 9 set set NOUN hjic-495 180 10 of of ADP hjic-495 180 11 scalar scalar ADJ hjic-495 180 12 invariants invariant NOUN hjic-495 180 13 i. i. PROPN hjic-495 180 14 c c PROPN hjic-495 180 15 ) ) PUNCT hjic-495 180 16 construct construct VERB hjic-495 180 17 the the DET hjic-495 180 18 invariant invariant ADJ hjic-495 180 19 frame frame NOUN hjic-495 180 20 eq.(22 eq.(22 NOUN hjic-495 180 21 ) ) PUNCT hjic-495 180 22 . . PUNCT hjic-495 181 1 d d X hjic-495 181 2 ) ) PUNCT hjic-495 181 3 determine determine VERB hjic-495 181 4 the the DET hjic-495 181 5 pre pre ADJ hjic-495 181 6 - - ADJ hjic-495 181 7 observer observer ADJ hjic-495 181 8 eq.(25 eq.(25 NOUN hjic-495 181 9 ) ) PUNCT hjic-495 181 10 . . PUNCT hjic-495 182 1 e e X hjic-495 182 2 ) ) PUNCT hjic-495 182 3 linearize linearize VERB hjic-495 182 4 the the DET hjic-495 182 5 system system NOUN hjic-495 182 6 f f X hjic-495 182 7 ( ( PUNCT hjic-495 182 8 x x X hjic-495 182 9 , , PUNCT hjic-495 182 10 u u NOUN hjic-495 182 11 ) ) PUNCT hjic-495 182 12 = = SYM hjic-495 182 13 0 0 NUM hjic-495 182 14 around around ADP hjic-495 182 15 the the DET hjic-495 182 16 equilibrium equilibrium NOUN hjic-495 182 17 and and CCONJ hjic-495 182 18 obtain obtain VERB hjic-495 182 19 a a DET hjic-495 182 20 , , PUNCT hjic-495 182 21 b b NOUN hjic-495 182 22 , , PUNCT hjic-495 182 23 c c X hjic-495 182 24 , , PUNCT hjic-495 182 25 d d NOUN hjic-495 182 26 matrices matrix NOUN hjic-495 182 27 . . PUNCT hjic-495 183 1 check check VERB hjic-495 183 2 the the DET hjic-495 183 3 observability observability NOUN hjic-495 183 4 and and CCONJ hjic-495 183 5 design design VERB hjic-495 183 6 an an DET hjic-495 183 7 invariant invariant ADJ hjic-495 183 8 observer observer NOUN hjic-495 183 9 from from ADP hjic-495 183 10 the the DET hjic-495 183 11 chosen choose VERB hjic-495 183 12 linear linear ADJ hjic-495 183 13 observer observer NOUN hjic-495 183 14 by by ADP hjic-495 183 15 using use VERB hjic-495 183 16 theorem theorem ADJ hjic-495 183 17 3 3 X hjic-495 183 18 . . PUNCT hjic-495 184 1 choose choose VERB hjic-495 184 2 an an DET hjic-495 184 3 appropriate appropriate ADJ hjic-495 184 4 l l NOUN hjic-495 184 5 . . PUNCT hjic-495 185 1 f f X hjic-495 185 2 ) ) PUNCT hjic-495 185 3 choose choose VERB hjic-495 185 4 the the DET hjic-495 185 5 parameters parameter NOUN hjic-495 185 6 of of ADP hjic-495 185 7 the the DET hjic-495 185 8 linearized linearize VERB hjic-495 185 9 error error NOUN hjic-495 185 10 equations equation NOUN hjic-495 185 11 , , PUNCT hjic-495 185 12 based base VERB hjic-495 185 13 on on ADP hjic-495 185 14 the the DET hjic-495 185 15 invariant invariant ADJ hjic-495 185 16 state state NOUN hjic-495 185 17 - - PUNCT hjic-495 185 18 errors error NOUN hjic-495 185 19 η η PROPN hjic-495 185 20 , , PUNCT hjic-495 185 21 such such ADJ hjic-495 185 22 that that SCONJ hjic-495 185 23 the the DET hjic-495 185 24 invariant invariant ADJ hjic-495 185 25 system system NOUN hjic-495 185 26 will will AUX hjic-495 185 27 be be AUX hjic-495 185 28 asymptotically asymptotically ADV hjic-495 185 29 stable stable ADJ hjic-495 185 30 . . PUNCT hjic-495 186 1 61 61 NUM hjic-495 186 2 then then ADV hjic-495 186 3 the the DET hjic-495 186 4 non non ADJ hjic-495 186 5 - - ADJ hjic-495 186 6 linear linear ADJ hjic-495 186 7 symmetry symmetry NOUN hjic-495 186 8 - - PUNCT hjic-495 186 9 preserving preserve VERB hjic-495 186 10 observer observer NOUN hjic-495 186 11 is be AUX hjic-495 186 12 asymptotically asymptotically ADV hjic-495 186 13 stable stable ADJ hjic-495 186 14 , , PUNCT hjic-495 186 15 and and CCONJ hjic-495 186 16 converges converge VERB hjic-495 186 17 locally locally ADV hjic-495 186 18 and and CCONJ hjic-495 186 19 exponentially exponentially ADV hjic-495 186 20 along along ADP hjic-495 186 21 all all DET hjic-495 186 22 system system NOUN hjic-495 186 23 trajectories trajectory NOUN hjic-495 186 24 . . PUNCT hjic-495 187 1 case case NOUN hjic-495 187 2 study study NOUN hjic-495 187 3 : : PUNCT hjic-495 187 4 a a DET hjic-495 187 5 non non ADJ hjic-495 187 6 - - ADJ hjic-495 187 7 holonomic holonomic ADJ hjic-495 187 8 vehicle vehicle NOUN hjic-495 187 9 in in ADP hjic-495 187 10 this this DET hjic-495 187 11 section section NOUN hjic-495 187 12 , , PUNCT hjic-495 187 13 the the DET hjic-495 187 14 previously previously ADV hjic-495 187 15 introduced introduce VERB hjic-495 187 16 state state NOUN hjic-495 187 17 estimation estimation NOUN hjic-495 187 18 procedures procedure NOUN hjic-495 187 19 are be AUX hjic-495 187 20 employed employ VERB hjic-495 187 21 for for ADP hjic-495 187 22 an an DET hjic-495 187 23 example example NOUN hjic-495 187 24 of of ADP hjic-495 187 25 a a DET hjic-495 187 26 non non ADJ hjic-495 187 27 - - ADJ hjic-495 187 28 holonomic holonomic ADJ hjic-495 187 29 vehicle vehicle NOUN hjic-495 187 30 tracking tracking NOUN hjic-495 187 31 control control NOUN hjic-495 187 32 . . PUNCT hjic-495 188 1 the the DET hjic-495 188 2 wellknown wellknown ADJ hjic-495 188 3 model model NOUN hjic-495 188 4 in in ADP hjic-495 188 5 the the DET hjic-495 188 6 robotics robotic NOUN hjic-495 188 7 of of ADP hjic-495 188 8 the the DET hjic-495 188 9 simplified simplified ADJ hjic-495 188 10 vehicle vehicle NOUN hjic-495 188 11 kinematics kinematic NOUN hjic-495 188 12 is be AUX hjic-495 188 13 considered consider VERB hjic-495 188 14 . . PUNCT hjic-495 189 1 the the DET hjic-495 189 2 tracking tracking NOUN hjic-495 189 3 is be AUX hjic-495 189 4 maintained maintain VERB hjic-495 189 5 by by ADP hjic-495 189 6 satisfying satisfy VERB hjic-495 189 7 the the DET hjic-495 189 8 kinematic kinematic ADJ hjic-495 189 9 constraints constraint NOUN hjic-495 189 10 with with ADP hjic-495 189 11 the the DET hjic-495 189 12 appropriate appropriate ADJ hjic-495 189 13 choice choice NOUN hjic-495 189 14 of of ADP hjic-495 189 15 reference reference NOUN hjic-495 189 16 signals signal NOUN hjic-495 189 17 . . PUNCT hjic-495 190 1 kinematic kinematic ADJ hjic-495 190 2 model model NOUN hjic-495 190 3 the the DET hjic-495 190 4 simplified simplified ADJ hjic-495 190 5 kinematic kinematic ADJ hjic-495 190 6 model model NOUN hjic-495 190 7 of of ADP hjic-495 190 8 the the DET hjic-495 190 9 vehicle vehicle NOUN hjic-495 190 10 can can AUX hjic-495 190 11 be be AUX hjic-495 190 12 written write VERB hjic-495 190 13 in in ADP hjic-495 190 14 the the DET hjic-495 190 15 following follow VERB hjic-495 190 16 form form NOUN hjic-495 190 17 ! ! PUNCT hjic-495 190 18 x x PUNCT hjic-495 190 19 ! ! PUNCT hjic-495 191 1 y y INTJ hjic-495 191 2 ! ! PUNCT hjic-495 192 1 θ θ INTJ hjic-495 192 2 ! ! PUNCT hjic-495 192 3 " " PUNCT hjic-495 193 1 # # NOUN hjic-495 193 2 # # NOUN hjic-495 193 3 # # NOUN hjic-495 193 4 $ $ NUM hjic-495 193 5 % % NOUN hjic-495 193 6 & & CCONJ hjic-495 193 7 & & CCONJ hjic-495 193 8 & & CCONJ hjic-495 193 9 = = PROPN hjic-495 193 10 ucosθ ucosθ PROPN hjic-495 193 11 usinθ usinθ NOUN hjic-495 193 12 uv uv INTJ hjic-495 193 13 ! ! PUNCT hjic-495 193 14 " " PUNCT hjic-495 194 1 # # NOUN hjic-495 194 2 # # NOUN hjic-495 194 3 # # NOUN hjic-495 194 4 $ $ NUM hjic-495 194 5 % % NOUN hjic-495 194 6 & & CCONJ hjic-495 194 7 & & CCONJ hjic-495 194 8 & & CCONJ hjic-495 194 9 , , PUNCT hjic-495 194 10 h(x h(x PROPN hjic-495 194 11 , , PUNCT hjic-495 194 12 y y PROPN hjic-495 194 13 , , PUNCT hjic-495 194 14 θ θ NOUN hjic-495 194 15 ) ) PUNCT hjic-495 195 1 = = SYM hjic-495 195 2 ( ( PUNCT hjic-495 195 3 x x X hjic-495 195 4 , , PUNCT hjic-495 195 5 y y PROPN hjic-495 195 6 ) ) PUNCT hjic-495 195 7 ( ( PUNCT hjic-495 195 8 32 32 NUM hjic-495 195 9 ) ) PUNCT hjic-495 195 10 where where SCONJ hjic-495 195 11 u u NOUN hjic-495 195 12 is be AUX hjic-495 195 13 the the DET hjic-495 195 14 velocity velocity NOUN hjic-495 195 15 , , PUNCT hjic-495 195 16 v v NOUN hjic-495 195 17 is be AUX hjic-495 195 18 the the DET hjic-495 195 19 curvature curvature NOUN hjic-495 195 20 , , PUNCT hjic-495 195 21 i.e. i.e. X hjic-495 195 22 a a DET hjic-495 195 23 function function NOUN hjic-495 195 24 of of ADP hjic-495 195 25 the the DET hjic-495 195 26 steering steering NOUN hjic-495 195 27 angle angle NOUN hjic-495 195 28 and and CCONJ hjic-495 195 29 h h NOUN hjic-495 195 30 is be AUX hjic-495 195 31 the the DET hjic-495 195 32 measured measure VERB hjic-495 195 33 output output NOUN hjic-495 195 34 . . PUNCT hjic-495 196 1 all all DET hjic-495 196 2 signals signal NOUN hjic-495 196 3 contain contain VERB hjic-495 196 4 additive additive ADJ hjic-495 196 5 gaussian gaussian ADJ hjic-495 196 6 noise noise NOUN hjic-495 196 7 . . PUNCT hjic-495 197 1 the the DET hjic-495 197 2 model model NOUN hjic-495 197 3 assumes assume VERB hjic-495 197 4 that that SCONJ hjic-495 197 5 the the DET hjic-495 197 6 contact contact NOUN hjic-495 197 7 point point NOUN hjic-495 197 8 of of ADP hjic-495 197 9 the the DET hjic-495 197 10 wheel wheel NOUN hjic-495 197 11 and and CCONJ hjic-495 197 12 the the DET hjic-495 197 13 ground ground NOUN hjic-495 197 14 does do AUX hjic-495 197 15 not not PART hjic-495 197 16 slip slip VERB hjic-495 197 17 . . PUNCT hjic-495 198 1 notice notice NOUN hjic-495 198 2 , , PUNCT hjic-495 198 3 that that SCONJ hjic-495 198 4 the the DET hjic-495 198 5 linearized linearize VERB hjic-495 198 6 system system NOUN hjic-495 198 7 is be AUX hjic-495 198 8 not not PART hjic-495 198 9 observable observable ADJ hjic-495 198 10 . . PUNCT hjic-495 199 1 tracking track VERB hjic-495 199 2 for for ADP hjic-495 199 3 path path NOUN hjic-495 199 4 tracking track VERB hjic-495 199 5 the the DET hjic-495 199 6 control control NOUN hjic-495 199 7 signals signal NOUN hjic-495 199 8 are be AUX hjic-495 199 9 set set VERB hjic-495 199 10 to to PART hjic-495 199 11 satisfy satisfy VERB hjic-495 199 12 the the DET hjic-495 199 13 kinematic kinematic ADJ hjic-495 199 14 constraints constraint NOUN hjic-495 199 15 , , PUNCT hjic-495 199 16 thus thus ADV hjic-495 199 17 u u NOUN hjic-495 199 18 and and CCONJ hjic-495 199 19 v v NOUN hjic-495 199 20 are be AUX hjic-495 199 21 calculated calculate VERB hjic-495 199 22 as as SCONJ hjic-495 199 23 follows follow VERB hjic-495 199 24 : : PUNCT hjic-495 199 25 u(t u(t NOUN hjic-495 199 26 ) ) PUNCT hjic-495 199 27 = = PUNCT hjic-495 199 28 ! ! PUNCT hjic-495 200 1 xr xr PROPN hjic-495 200 2 2(t)+ 2(t)+ NUM hjic-495 200 3 ! ! PUNCT hjic-495 201 1 yr yr NOUN hjic-495 201 2 2(t 2(t NUM hjic-495 201 3 ) ) PUNCT hjic-495 201 4 and and CCONJ hjic-495 201 5 v(t v(t NOUN hjic-495 201 6 ) ) PUNCT hjic-495 201 7 = = PUNCT hjic-495 201 8 ! ! PUNCT hjic-495 201 9 ! ! PUNCT hjic-495 202 1 yr yr PROPN hjic-495 202 2 ( ( PUNCT hjic-495 202 3 t t PROPN hjic-495 202 4 ) ) PUNCT hjic-495 202 5 ! ! PUNCT hjic-495 203 1 xr xr PROPN hjic-495 204 1 ( ( PUNCT hjic-495 204 2 t)− t)− PROPN hjic-495 204 3 ! ! PUNCT hjic-495 204 4 xr xr PROPN hjic-495 205 1 ( ( PUNCT hjic-495 205 2 t)!!yr t)!!yr X hjic-495 205 3 ( ( PUNCT hjic-495 205 4 t t NOUN hjic-495 205 5 ) ) PUNCT hjic-495 205 6 u3(t u3(t PROPN hjic-495 205 7 ) ) PUNCT hjic-495 205 8 ( ( PUNCT hjic-495 205 9 33 33 NUM hjic-495 205 10 ) ) PUNCT hjic-495 205 11 where where SCONJ hjic-495 205 12 xr(t xr(t NUM hjic-495 205 13 ) ) PUNCT hjic-495 205 14 and and CCONJ hjic-495 205 15 yr(t yr(t NOUN hjic-495 205 16 ) ) PUNCT hjic-495 205 17 are be AUX hjic-495 205 18 time time NOUN hjic-495 205 19 functions function NOUN hjic-495 205 20 of of ADP hjic-495 205 21 the the DET hjic-495 205 22 reference reference NOUN hjic-495 205 23 signal signal NOUN hjic-495 205 24 . . PUNCT hjic-495 206 1 the the DET hjic-495 206 2 initial initial ADJ hjic-495 206 3 conditions condition NOUN hjic-495 206 4 for for ADP hjic-495 206 5 tracking track VERB hjic-495 206 6 control control NOUN hjic-495 206 7 is be AUX hjic-495 206 8 θr θr PRON hjic-495 206 9 ( ( PUNCT hjic-495 206 10 0 0 NUM hjic-495 206 11 ) ) PUNCT hjic-495 206 12 = = PRON hjic-495 206 13 tan tan PROPN hjic-495 206 14 −1 −1 NOUN hjic-495 206 15 ! ! PUNCT hjic-495 207 1 yr yr PROPN hjic-495 208 1 ( ( PUNCT hjic-495 208 2 0 0 NUM hjic-495 208 3 ) ) PUNCT hjic-495 208 4 ! ! PUNCT hjic-495 209 1 xr xr PROPN hjic-495 209 2 ( ( PUNCT hjic-495 209 3 0 0 NUM hjic-495 209 4 ) ) PUNCT hjic-495 209 5 " " PUNCT hjic-495 209 6 # # NOUN hjic-495 209 7 $ $ NUM hjic-495 209 8 % % NOUN hjic-495 209 9 & & CCONJ hjic-495 209 10 ' ' PUNCT hjic-495 209 11 . . PUNCT hjic-495 210 1 ( ( PUNCT hjic-495 210 2 34 34 NUM hjic-495 210 3 ) ) PUNCT hjic-495 210 4 hence hence ADV hjic-495 210 5 , , PUNCT hjic-495 210 6 the the DET hjic-495 210 7 reference reference NOUN hjic-495 210 8 signals signal VERB hjic-495 210 9 for for ADP hjic-495 210 10 the the DET hjic-495 210 11 vehicle vehicle NOUN hjic-495 210 12 velocity velocity NOUN hjic-495 210 13 and and CCONJ hjic-495 210 14 steering steering NOUN hjic-495 210 15 function function NOUN hjic-495 210 16 can can AUX hjic-495 210 17 be be AUX hjic-495 210 18 calculated calculate VERB hjic-495 210 19 . . PUNCT hjic-495 211 1 in in ADP hjic-495 211 2 the the DET hjic-495 211 3 simulations simulation NOUN hjic-495 211 4 , , PUNCT hjic-495 211 5 sinusoidal sinusoidal NOUN hjic-495 211 6 path path NOUN hjic-495 211 7 tracking tracking NOUN hjic-495 211 8 is be AUX hjic-495 211 9 implemented implement VERB hjic-495 211 10 using use VERB hjic-495 211 11 the the DET hjic-495 211 12 reference reference NOUN hjic-495 211 13 signals signal NOUN hjic-495 211 14 xr xr PROPN hjic-495 211 15 ( ( PUNCT hjic-495 211 16 t t PROPN hjic-495 211 17 ) ) PUNCT hjic-495 211 18 = = SYM hjic-495 211 19 t t PROPN hjic-495 211 20 , , PUNCT hjic-495 211 21 and and CCONJ hjic-495 211 22 yr yr PROPN hjic-495 211 23 ( ( PUNCT hjic-495 211 24 t t PROPN hjic-495 211 25 ) ) PUNCT hjic-495 211 26 = = SYM hjic-495 211 27 asin(ωt asin(ωt NOUN hjic-495 211 28 ) ) PUNCT hjic-495 211 29 . . PUNCT hjic-495 212 1 invariant invariant ADJ hjic-495 212 2 observer observer NOUN hjic-495 212 3 design design NOUN hjic-495 212 4 group group NOUN hjic-495 212 5 transformation transformation NOUN hjic-495 212 6 eq.(32 eq.(32 PROPN hjic-495 212 7 ) ) PUNCT hjic-495 212 8 is be AUX hjic-495 212 9 independent independent ADJ hjic-495 212 10 of of ADP hjic-495 212 11 the the DET hjic-495 212 12 origin origin NOUN hjic-495 212 13 and and CCONJ hjic-495 212 14 of of ADP hjic-495 212 15 the the DET hjic-495 212 16 orientation orientation NOUN hjic-495 212 17 of of ADP hjic-495 212 18 the the DET hjic-495 212 19 frame frame NOUN hjic-495 212 20 chosen choose VERB hjic-495 212 21 , , PUNCT hjic-495 212 22 i.e. i.e. X hjic-495 212 23 it it PRON hjic-495 212 24 is be AUX hjic-495 212 25 invariant invariant ADJ hjic-495 212 26 with with ADP hjic-495 212 27 regards regard NOUN hjic-495 212 28 to to ADP hjic-495 212 29 the the DET hjic-495 212 30 group group NOUN hjic-495 212 31 of of ADP hjic-495 212 32 rotations rotation NOUN hjic-495 212 33 and and CCONJ hjic-495 212 34 translations translation NOUN hjic-495 212 35 . . PUNCT hjic-495 213 1 we we PRON hjic-495 213 2 chose choose VERB hjic-495 213 3 the the DET hjic-495 213 4 lie lie NOUN hjic-495 213 5 - - PUNCT hjic-495 213 6 group group NOUN hjic-495 213 7 g g PROPN hjic-495 213 8 = = SYM hjic-495 213 9 se(2 se(2 PROPN hjic-495 213 10 ) ) PUNCT hjic-495 213 11 and and CCONJ hjic-495 213 12 defined define VERB hjic-495 213 13 the the DET hjic-495 213 14 group group NOUN hjic-495 213 15 transformation transformation NOUN hjic-495 213 16 as as SCONJ hjic-495 213 17 follows follow VERB hjic-495 213 18 : : PUNCT hjic-495 213 19 φ(xg φ(xg PROPN hjic-495 213 20 , , PUNCT hjic-495 213 21 yg yg PROPN hjic-495 213 22 , , PUNCT hjic-495 213 23 θg θg NOUN hjic-495 213 24 ) ) PUNCT hjic-495 213 25 ( ( PUNCT hjic-495 213 26 x x X hjic-495 213 27 , , PUNCT hjic-495 213 28 y y PROPN hjic-495 213 29 , , PUNCT hjic-495 213 30 θ θ NOUN hjic-495 213 31 ) ) PUNCT hjic-495 214 1 = = PUNCT hjic-495 214 2 xg xg PROPN hjic-495 214 3 yg yg PROPN hjic-495 214 4 θg θg PROPN hjic-495 214 5 ! ! PUNCT hjic-495 214 6 " " PUNCT hjic-495 215 1 # # NOUN hjic-495 215 2 # # NOUN hjic-495 215 3 # # NOUN hjic-495 215 4 # # NOUN hjic-495 215 5 $ $ NUM hjic-495 215 6 % % NOUN hjic-495 215 7 & & CCONJ hjic-495 215 8 & & CCONJ hjic-495 215 9 & & CCONJ hjic-495 215 10 & & CCONJ hjic-495 215 11 ⋅ ⋅ PROPN hjic-495 215 12 x x PROPN hjic-495 215 13 y y PROPN hjic-495 215 14 θ θ PROPN hjic-495 215 15 ! ! PUNCT hjic-495 215 16 " " PUNCT hjic-495 216 1 # # NOUN hjic-495 216 2 # # NOUN hjic-495 216 3 # # NOUN hjic-495 216 4 $ $ NUM hjic-495 216 5 % % NOUN hjic-495 216 6 & & CCONJ hjic-495 216 7 & & CCONJ hjic-495 216 8 & & CCONJ hjic-495 216 9 = = SYM hjic-495 216 10 = = PUNCT hjic-495 216 11 x x SYM hjic-495 216 12 cosθg cosθg NOUN hjic-495 216 13 − − PROPN hjic-495 216 14 ysinθg ysinθg NOUN hjic-495 216 15 + + CCONJ hjic-495 216 16 xg xg NOUN hjic-495 216 17 xsinθg xsinθg PROPN hjic-495 217 1 + + CCONJ hjic-495 217 2 ycosθg ycosθg NOUN hjic-495 218 1 + + CCONJ hjic-495 218 2 yg yg PROPN hjic-495 218 3 θ θ PROPN hjic-495 218 4 + + NOUN hjic-495 218 5 θg θg X hjic-495 218 6 ! ! PUNCT hjic-495 218 7 " " PUNCT hjic-495 219 1 # # NOUN hjic-495 219 2 # # NOUN hjic-495 219 3 # # NOUN hjic-495 219 4 # # NOUN hjic-495 219 5 $ $ NUM hjic-495 219 6 % % NOUN hjic-495 219 7 & & CCONJ hjic-495 219 8 & & CCONJ hjic-495 219 9 & & CCONJ hjic-495 219 10 & & CCONJ hjic-495 219 11 ( ( PUNCT hjic-495 219 12 35 35 NUM hjic-495 219 13 ) ) PUNCT hjic-495 219 14 ψ(xg ψ(xg PROPN hjic-495 219 15 , , PUNCT hjic-495 219 16 yg yg PROPN hjic-495 219 17 , , PUNCT hjic-495 219 18 θg θg NOUN hjic-495 219 19 ) ) PUNCT hjic-495 219 20 ( ( PUNCT hjic-495 219 21 u u NOUN hjic-495 219 22 , , PUNCT hjic-495 219 23 v v NOUN hjic-495 219 24 ) ) PUNCT hjic-495 219 25 = = SYM hjic-495 219 26 u u NOUN hjic-495 219 27 v v NOUN hjic-495 219 28 ! ! PUNCT hjic-495 219 29 " " PUNCT hjic-495 220 1 # # NOUN hjic-495 220 2 $ $ NUM hjic-495 220 3 % % NOUN hjic-495 220 4 & & CCONJ hjic-495 220 5 ρ(xg ρ(xg PROPN hjic-495 220 6 , , PUNCT hjic-495 220 7 yg yg PROPN hjic-495 220 8 , , PUNCT hjic-495 220 9 θg θg NOUN hjic-495 220 10 ) ) PUNCT hjic-495 220 11 ( ( PUNCT hjic-495 220 12 x x X hjic-495 220 13 , , PUNCT hjic-495 220 14 y y NOUN hjic-495 220 15 ) ) PUNCT hjic-495 220 16 = = PUNCT hjic-495 221 1 x x PUNCT hjic-495 221 2 cosθg cosθg VERB hjic-495 221 3 − − PROPN hjic-495 221 4 ysinθg ysinθg NOUN hjic-495 221 5 + + CCONJ hjic-495 221 6 xg xg NOUN hjic-495 221 7 xsinθg xsinθg PROPN hjic-495 222 1 + + CCONJ hjic-495 222 2 ycosθg ycosθg NOUN hjic-495 222 3 + + CCONJ hjic-495 222 4 yg yg PROPN hjic-495 222 5 ! ! PUNCT hjic-495 222 6 " " PUNCT hjic-495 223 1 # # NOUN hjic-495 223 2 # # NOUN hjic-495 223 3 $ $ NUM hjic-495 223 4 % % NOUN hjic-495 223 5 & & CCONJ hjic-495 223 6 & & CCONJ hjic-495 223 7 one one NUM hjic-495 223 8 can can AUX hjic-495 223 9 check check VERB hjic-495 223 10 that that DET hjic-495 223 11 eq.(32 eq.(32 NOUN hjic-495 223 12 ) ) PUNCT hjic-495 223 13 is be AUX hjic-495 223 14 invariant invariant ADJ hjic-495 223 15 to to ADP hjic-495 223 16 the the DET hjic-495 223 17 transformations transformation NOUN hjic-495 223 18 ϕ ϕ NOUN hjic-495 223 19 , , PUNCT hjic-495 223 20 and and CCONJ hjic-495 223 21 ψ ψ X hjic-495 223 22 in in ADP hjic-495 223 23 terms term NOUN hjic-495 223 24 of of ADP hjic-495 223 25 definition definition NOUN hjic-495 223 26 1 1 NUM hjic-495 223 27 and and CCONJ hjic-495 223 28 the the DET hjic-495 223 29 output output NOUN hjic-495 223 30 is be AUX hjic-495 223 31 equivariant equivariant ADJ hjic-495 223 32 to to ADP hjic-495 223 33 transformation transformation NOUN hjic-495 223 34 ρ ρ PROPN hjic-495 223 35 in in ADP hjic-495 223 36 terms term NOUN hjic-495 223 37 of of ADP hjic-495 223 38 definition definition NOUN hjic-495 223 39 3 3 NUM hjic-495 223 40 . . PUNCT hjic-495 223 41 invariant invariant ADJ hjic-495 223 42 output output NOUN hjic-495 223 43 errors error NOUN hjic-495 223 44 the the DET hjic-495 223 45 normalization normalization NOUN hjic-495 223 46 eq.(31 eq.(31 PROPN hjic-495 223 47 ) ) PUNCT hjic-495 223 48 for for ADP hjic-495 223 49 :0 :0 PUNCT hjic-495 223 50 = = NOUN hjic-495 223 51 c c NOUN hjic-495 223 52 0 0 PUNCT hjic-495 224 1 = = SYM hjic-495 224 2 x x SYM hjic-495 224 3 cosθγ cosθγ NOUN hjic-495 224 4 − − NOUN hjic-495 224 5 ysinθγ ysinθγ NOUN hjic-495 224 6 + + CCONJ hjic-495 224 7 xγ xγ PROPN hjic-495 224 8 0 0 NUM hjic-495 225 1 = = SYM hjic-495 225 2 xsinθγ xsinθγ PROPN hjic-495 226 1 + + X hjic-495 226 2 ycosθγ ycosθγ NOUN hjic-495 226 3 + + CCONJ hjic-495 226 4 yγ yγ NOUN hjic-495 226 5 0 0 NUM hjic-495 227 1 = = NUM hjic-495 227 2 θ θ X hjic-495 227 3 + + NOUN hjic-495 227 4 θγ θγ NOUN hjic-495 227 5 ( ( PUNCT hjic-495 227 6 36 36 NUM hjic-495 227 7 ) ) PUNCT hjic-495 227 8 the the DET hjic-495 227 9 solution solution NOUN hjic-495 227 10 of of ADP hjic-495 227 11 eq.(36 eq.(36 NOUN hjic-495 227 12 ) ) PUNCT hjic-495 227 13 , , PUNCT hjic-495 227 14 the the DET hjic-495 227 15 scalar scalar ADJ hjic-495 227 16 invariants invariant NOUN hjic-495 227 17 and and CCONJ hjic-495 227 18 output output NOUN hjic-495 227 19 errors error NOUN hjic-495 227 20 can can AUX hjic-495 227 21 be be AUX hjic-495 227 22 written write VERB hjic-495 227 23 as as SCONJ hjic-495 227 24 follows follow VERB hjic-495 227 25 respectively respectively ADV hjic-495 227 26 xγ xγ PROPN hjic-495 227 27 yγ yγ INTJ hjic-495 227 28 θγ θγ INTJ hjic-495 227 29 ! ! PUNCT hjic-495 227 30 " " PUNCT hjic-495 228 1 # # NOUN hjic-495 228 2 # # NOUN hjic-495 228 3 # # NOUN hjic-495 228 4 # # NOUN hjic-495 228 5 $ $ NUM hjic-495 228 6 % % NOUN hjic-495 228 7 & & CCONJ hjic-495 228 8 & & CCONJ hjic-495 228 9 & & CCONJ hjic-495 228 10 & & CCONJ hjic-495 228 11 = = PROPN hjic-495 228 12 x x PROPN hjic-495 228 13 y y PROPN hjic-495 228 14 θ θ PROPN hjic-495 228 15 ! ! PUNCT hjic-495 228 16 " " PUNCT hjic-495 229 1 # # NOUN hjic-495 229 2 # # NOUN hjic-495 229 3 # # NOUN hjic-495 229 4 $ $ NUM hjic-495 229 5 % % NOUN hjic-495 229 6 & & CCONJ hjic-495 229 7 & & CCONJ hjic-495 229 8 & & CCONJ hjic-495 229 9 −1 −1 NOUN hjic-495 229 10 = = PROPN hjic-495 229 11 −x −x NOUN hjic-495 229 12 cosθ cosθ PROPN hjic-495 229 13 − − PROPN hjic-495 229 14 ysinθ ysinθ PROPN hjic-495 229 15 xsinθ xsinθ PROPN hjic-495 230 1 − − PROPN hjic-495 230 2 ycosθ ycosθ ADV hjic-495 230 3 −θ −θ ADV hjic-495 230 4 ! ! PUNCT hjic-495 230 5 " " PUNCT hjic-495 231 1 # # NOUN hjic-495 231 2 # # NOUN hjic-495 231 3 # # NOUN hjic-495 231 4 # # NOUN hjic-495 231 5 $ $ NUM hjic-495 231 6 % % NOUN hjic-495 231 7 & & CCONJ hjic-495 231 8 & & CCONJ hjic-495 231 9 & & PROPN hjic-495 231 10 & & CCONJ hjic-495 231 11 = = NOUN hjic-495 231 12 γ γ X hjic-495 231 13 x x X hjic-495 231 14 y y PROPN hjic-495 231 15 θ θ PROPN hjic-495 231 16 ! ! PUNCT hjic-495 231 17 " " PUNCT hjic-495 232 1 # # NOUN hjic-495 232 2 # # NOUN hjic-495 232 3 # # NOUN hjic-495 232 4 $ $ NUM hjic-495 232 5 % % NOUN hjic-495 232 6 & & CCONJ hjic-495 232 7 & & CCONJ hjic-495 232 8 & & CCONJ hjic-495 232 9 ( ( PUNCT hjic-495 232 10 37 37 NUM hjic-495 232 11 ) ) PUNCT hjic-495 232 12 i(x i(x PROPN hjic-495 232 13 , , PUNCT hjic-495 232 14 y y PROPN hjic-495 232 15 , , PUNCT hjic-495 232 16 θ θ PROPN hjic-495 232 17 , , PUNCT hjic-495 232 18 u u NOUN hjic-495 232 19 , , PUNCT hjic-495 232 20 v v NOUN hjic-495 232 21 ) ) PUNCT hjic-495 232 22 = = NOUN hjic-495 232 23 ψγ ψγ NUM hjic-495 232 24 ( ( PUNCT hjic-495 232 25 x x NOUN hjic-495 232 26 , , PUNCT hjic-495 232 27 y y PROPN hjic-495 232 28 , , PUNCT hjic-495 232 29 θ θ PROPN hjic-495 232 30 ) ) PUNCT hjic-495 232 31 ( ( PUNCT hjic-495 232 32 u u NOUN hjic-495 232 33 , , PUNCT hjic-495 232 34 v v NOUN hjic-495 232 35 ) ) PUNCT hjic-495 232 36 = = SYM hjic-495 232 37 u u NOUN hjic-495 232 38 v v NOUN hjic-495 232 39 ! ! PUNCT hjic-495 232 40 " " PUNCT hjic-495 233 1 # # NOUN hjic-495 233 2 $ $ NUM hjic-495 233 3 % % NOUN hjic-495 233 4 & & CCONJ hjic-495 233 5 ( ( PUNCT hjic-495 233 6 38 38 NUM hjic-495 233 7 ) ) PUNCT hjic-495 233 8 e e NOUN hjic-495 233 9 = = SYM hjic-495 233 10 ρ(xγ ρ(xγ PROPN hjic-495 233 11 , , PUNCT hjic-495 233 12 yγ yγ INTJ hjic-495 233 13 , , PUNCT hjic-495 233 14 θγ θγ NOUN hjic-495 233 15 ) ) PUNCT hjic-495 233 16 ( ( PUNCT hjic-495 233 17 x̂ x̂ NUM hjic-495 233 18 , , PUNCT hjic-495 233 19 ŷ)− ŷ)− X hjic-495 233 20 ρ(xγ ρ(xγ NUM hjic-495 233 21 , , PUNCT hjic-495 233 22 yγ yγ INTJ hjic-495 233 23 , , PUNCT hjic-495 233 24 θγ θγ NOUN hjic-495 233 25 ) ) PUNCT hjic-495 233 26 ( ( PUNCT hjic-495 233 27 x x X hjic-495 233 28 , , PUNCT hjic-495 233 29 y y NOUN hjic-495 233 30 ) ) PUNCT hjic-495 233 31 = = PRON hjic-495 233 32 cosθ̂ cosθ̂ X hjic-495 233 33 sinθ̂ sinθ̂ X hjic-495 233 34 −sinθ̂ −sinθ̂ NOUN hjic-495 233 35 cosθ̂ cosθ̂ NOUN hjic-495 233 36 " " PUNCT hjic-495 233 37 # # NOUN hjic-495 233 38 $ $ SYM hjic-495 233 39 $ $ NUM hjic-495 233 40 % % NOUN hjic-495 233 41 & & CCONJ hjic-495 233 42 ' ' PUNCT hjic-495 233 43 ' ' PUNCT hjic-495 233 44 x̂ x̂ PUNCT hjic-495 234 1 − − PROPN hjic-495 234 2 x x SYM hjic-495 234 3 ŷ− ŷ− PROPN hjic-495 234 4 y y PROPN hjic-495 234 5 " " PUNCT hjic-495 234 6 # # NOUN hjic-495 234 7 $ $ SYM hjic-495 234 8 $ $ NUM hjic-495 234 9 % % NOUN hjic-495 234 10 & & CCONJ hjic-495 234 11 '' '' PUNCT hjic-495 234 12 ( ( PUNCT hjic-495 234 13 39 39 NUM hjic-495 234 14 ) ) PUNCT hjic-495 234 15 invariant invariant ADJ hjic-495 234 16 frame frame NOUN hjic-495 234 17 w w NOUN hjic-495 234 18 = = PUNCT hjic-495 234 19 ( ( PUNCT hjic-495 234 20 dφγ dφγ PROPN hjic-495 234 21 ( ( PUNCT hjic-495 234 22 x x X hjic-495 234 23 , , PUNCT hjic-495 234 24 y y PROPN hjic-495 234 25 , , PUNCT hjic-495 234 26 θ θ PROPN hjic-495 234 27 ) ) PUNCT hjic-495 234 28 ( ( PUNCT hjic-495 234 29 x x X hjic-495 234 30 , , PUNCT hjic-495 234 31 y y PROPN hjic-495 234 32 , , PUNCT hjic-495 234 33 θ θ PROPN hjic-495 234 34 ) ) PUNCT hjic-495 234 35 ) ) PUNCT hjic-495 234 36 −1 −1 NOUN hjic-495 234 37 ∂ ∂ NUM hjic-495 235 1 ∂(x ∂(x ADJ hjic-495 235 2 , , PUNCT hjic-495 235 3 y y PROPN hjic-495 235 4 , , PUNCT hjic-495 235 5 θ θ NOUN hjic-495 235 6 ) ) PUNCT hjic-495 236 1 = = PUNCT hjic-495 237 1 = = PRON hjic-495 237 2 dφγ dφγ ADJ hjic-495 237 3 ( ( PUNCT hjic-495 237 4 x x X hjic-495 237 5 , , PUNCT hjic-495 237 6 y y PROPN hjic-495 237 7 , , PUNCT hjic-495 237 8 θ θ PROPN hjic-495 237 9 ) ) PUNCT hjic-495 237 10 ( ( PUNCT hjic-495 237 11 x x X hjic-495 237 12 , , PUNCT hjic-495 237 13 y y PROPN hjic-495 237 14 , , PUNCT hjic-495 237 15 θ θ NOUN hjic-495 237 16 ) ) PUNCT hjic-495 238 1 = = SYM hjic-495 238 2 cosθ cosθ X hjic-495 238 3 −sinθ −sinθ NOUN hjic-495 238 4 0 0 NUM hjic-495 238 5 sinθ sinθ PROPN hjic-495 238 6 cosθ cosθ X hjic-495 238 7 0 0 NUM hjic-495 238 8 0 0 NUM hjic-495 238 9 0 0 NUM hjic-495 238 10 1 1 NUM hjic-495 238 11 # # NOUN hjic-495 238 12 $ $ NUM hjic-495 238 13 % % NOUN hjic-495 238 14 % % NOUN hjic-495 238 15 % % NOUN hjic-495 238 16 & & CCONJ hjic-495 238 17 ' ' PUNCT hjic-495 238 18 ( ( PUNCT hjic-495 238 19 ( ( PUNCT hjic-495 238 20 ( ( PUNCT hjic-495 238 21 . . PUNCT hjic-495 239 1 ( ( PUNCT hjic-495 239 2 40 40 NUM hjic-495 239 3 ) ) PUNCT hjic-495 239 4 62 62 NUM hjic-495 239 5 invariant invariant ADJ hjic-495 239 6 pre pre NOUN hjic-495 239 7 - - NOUN hjic-495 239 8 observer observer ADJ hjic-495 239 9 d d NOUN hjic-495 239 10 dt dt NOUN hjic-495 239 11 x̂ x̂ PROPN hjic-495 239 12 ŷ ŷ NUM hjic-495 239 13 θ̂ θ̂ X hjic-495 239 14 ! ! PUNCT hjic-495 239 15 " " PUNCT hjic-495 240 1 # # NOUN hjic-495 240 2 # # NOUN hjic-495 240 3 # # NOUN hjic-495 240 4 $ $ NUM hjic-495 240 5 % % NOUN hjic-495 240 6 & & CCONJ hjic-495 240 7 & & CCONJ hjic-495 240 8 & & CCONJ hjic-495 240 9 = = PROPN hjic-495 240 10 ucosθ̂ ucosθ̂ PUNCT hjic-495 240 11 usinθ̂ usinθ̂ NUM hjic-495 240 12 uv uv NOUN hjic-495 240 13 ! ! PUNCT hjic-495 240 14 " " PUNCT hjic-495 241 1 # # NOUN hjic-495 241 2 # # NOUN hjic-495 241 3 # # NOUN hjic-495 241 4 # # NOUN hjic-495 241 5 $ $ NUM hjic-495 241 6 % % NOUN hjic-495 241 7 & & CCONJ hjic-495 241 8 & & CCONJ hjic-495 241 9 & & CCONJ hjic-495 241 10 & & CCONJ hjic-495 241 11 + + X hjic-495 241 12 cosθ̂ cosθ̂ X hjic-495 241 13 −sinθ̂ −sinθ̂ X hjic-495 241 14 0 0 NUM hjic-495 241 15 sinθ̂ sinθ̂ X hjic-495 241 16 cosθ̂ cosθ̂ X hjic-495 241 17 0 0 NUM hjic-495 241 18 0 0 NUM hjic-495 241 19 0 0 NUM hjic-495 241 20 1 1 NUM hjic-495 241 21 ! ! PUNCT hjic-495 241 22 " " PUNCT hjic-495 242 1 # # NOUN hjic-495 242 2 # # NOUN hjic-495 242 3 # # NOUN hjic-495 242 4 # # NOUN hjic-495 242 5 $ $ NUM hjic-495 242 6 % % NOUN hjic-495 242 7 & & CCONJ hjic-495 242 8 & & CCONJ hjic-495 242 9 & & CCONJ hjic-495 242 10 & & CCONJ hjic-495 242 11 l l PROPN hjic-495 242 12 × × PROPN hjic-495 242 13 cosθ̂ cosθ̂ ADV hjic-495 242 14 sinθ̂ sinθ̂ ADJ hjic-495 242 15 −sinθ̂ −sinθ̂ NOUN hjic-495 242 16 cosθ̂ cosθ̂ PUNCT hjic-495 242 17 ! ! PUNCT hjic-495 242 18 " " PUNCT hjic-495 243 1 # # NOUN hjic-495 243 2 # # NOUN hjic-495 243 3 $ $ NUM hjic-495 243 4 % % NOUN hjic-495 243 5 & & CCONJ hjic-495 243 6 & & CCONJ hjic-495 243 7 x̂ x̂ PUNCT hjic-495 244 1 − − PROPN hjic-495 244 2 x x X hjic-495 244 3 ŷ− ŷ− PROPN hjic-495 244 4 y y PROPN hjic-495 244 5 ! ! PUNCT hjic-495 244 6 " " PUNCT hjic-495 245 1 # # SYM hjic-495 245 2 # # NOUN hjic-495 245 3 $ $ NUM hjic-495 245 4 % % NOUN hjic-495 245 5 & & CCONJ hjic-495 245 6 & & CCONJ hjic-495 245 7 ( ( PUNCT hjic-495 245 8 41 41 NUM hjic-495 245 9 ) ) PUNCT hjic-495 245 10 where where SCONJ hjic-495 245 11 l l NOUN hjic-495 245 12 is be AUX hjic-495 245 13 a a DET hjic-495 245 14 smooth smooth ADJ hjic-495 245 15 23× 23× NUM hjic-495 245 16 gain gain NOUN hjic-495 245 17 matrix matrix NOUN hjic-495 245 18 , , PUNCT hjic-495 245 19 whose whose DET hjic-495 245 20 elements element NOUN hjic-495 245 21 depend depend VERB hjic-495 245 22 on on ADP hjic-495 245 23 the the DET hjic-495 245 24 invariant invariant ADJ hjic-495 245 25 error error NOUN hjic-495 245 26 e e NOUN hjic-495 245 27 and and CCONJ hjic-495 245 28 the the DET hjic-495 245 29 invariants invariants PROPN hjic-495 245 30 i. i. NOUN hjic-495 245 31 error error NOUN hjic-495 245 32 equations equation NOUN hjic-495 245 33 and and CCONJ hjic-495 245 34 error error NOUN hjic-495 245 35 dynamics dynamic NOUN hjic-495 245 36 η η X hjic-495 245 37 = = PROPN hjic-495 245 38 ηx ηx PROPN hjic-495 245 39 ηy ηy ADJ hjic-495 245 40 ηθ ηθ ADV hjic-495 245 41 ! ! PUNCT hjic-495 245 42 " " PUNCT hjic-495 246 1 # # NOUN hjic-495 246 2 # # NOUN hjic-495 246 3 # # NOUN hjic-495 246 4 # # NOUN hjic-495 246 5 $ $ NUM hjic-495 246 6 % % NOUN hjic-495 246 7 & & CCONJ hjic-495 246 8 & & CCONJ hjic-495 246 9 & & CCONJ hjic-495 246 10 & & CCONJ hjic-495 246 11 = = PROPN hjic-495 246 12 γ γ X hjic-495 246 13 ( ( PUNCT hjic-495 246 14 x̂ x̂ PROPN hjic-495 246 15 , , PUNCT hjic-495 246 16 ŷ,θ̂ ŷ,θ̂ PROPN hjic-495 246 17 ) ) PUNCT hjic-495 246 18 x̂ x̂ PUNCT hjic-495 246 19 ŷ ŷ NUM hjic-495 246 20 θ̂ θ̂ X hjic-495 246 21 ! ! PUNCT hjic-495 246 22 " " PUNCT hjic-495 247 1 # # NOUN hjic-495 247 2 # # NOUN hjic-495 247 3 # # NOUN hjic-495 247 4 $ $ NUM hjic-495 247 5 % % NOUN hjic-495 247 6 & & CCONJ hjic-495 247 7 & & CCONJ hjic-495 247 8 & & CCONJ hjic-495 247 9 −γ −γ PROPN hjic-495 247 10 ( ( PUNCT hjic-495 247 11 x̂ x̂ NUM hjic-495 247 12 , , PUNCT hjic-495 247 13 ŷ,θ̂ ŷ,θ̂ PROPN hjic-495 247 14 ) ) PUNCT hjic-495 247 15 x x PUNCT hjic-495 247 16 y y PROPN hjic-495 247 17 θ θ PROPN hjic-495 247 18 ! ! PUNCT hjic-495 247 19 " " PUNCT hjic-495 248 1 # # NOUN hjic-495 248 2 # # NOUN hjic-495 248 3 # # NOUN hjic-495 248 4 $ $ NUM hjic-495 248 5 % % NOUN hjic-495 248 6 & & CCONJ hjic-495 248 7 & & CCONJ hjic-495 248 8 & & CCONJ hjic-495 248 9 = = SYM hjic-495 248 10 = = PROPN hjic-495 248 11 ( ( PUNCT hjic-495 248 12 x̂ x̂ NUM hjic-495 248 13 − − PROPN hjic-495 248 14 x)cosθ̂ x)cosθ̂ PUNCT hjic-495 249 1 + + CCONJ hjic-495 249 2 ( ( PUNCT hjic-495 249 3 ŷ− ŷ− PROPN hjic-495 249 4 y)sinθ̂ y)sinθ̂ PROPN hjic-495 249 5 −(x̂ −(x̂ PROPN hjic-495 249 6 − − X hjic-495 249 7 x)sinθ̂ x)sinθ̂ PROPN hjic-495 250 1 + + CCONJ hjic-495 250 2 ( ( PUNCT hjic-495 250 3 ŷ− ŷ− PROPN hjic-495 250 4 y)cosθ̂ y)cosθ̂ PROPN hjic-495 250 5 ( ( PUNCT hjic-495 250 6 θ̂ θ̂ X hjic-495 250 7 −θ −θ ADJ hjic-495 250 8 ) ) PUNCT hjic-495 250 9 ! ! PUNCT hjic-495 250 10 " " PUNCT hjic-495 251 1 # # NOUN hjic-495 251 2 # # NOUN hjic-495 251 3 # # NOUN hjic-495 251 4 # # NOUN hjic-495 251 5 $ $ NUM hjic-495 251 6 % % NOUN hjic-495 251 7 & & CCONJ hjic-495 251 8 & & CCONJ hjic-495 251 9 & & CCONJ hjic-495 251 10 & & CCONJ hjic-495 251 11 ( ( PUNCT hjic-495 251 12 42 42 NUM hjic-495 251 13 ) ) PUNCT hjic-495 251 14 ! ! PUNCT hjic-495 252 1 ηx ηx INTJ hjic-495 252 2 ! ! PUNCT hjic-495 253 1 ηy ηy PROPN hjic-495 253 2 ! ! PUNCT hjic-495 253 3 ηθ ηθ PROPN hjic-495 253 4 ! ! PUNCT hjic-495 253 5 " " PUNCT hjic-495 254 1 # # NOUN hjic-495 254 2 # # NOUN hjic-495 254 3 # # NOUN hjic-495 254 4 # # NOUN hjic-495 254 5 $ $ NUM hjic-495 254 6 % % NOUN hjic-495 254 7 & & CCONJ hjic-495 254 8 & & CCONJ hjic-495 254 9 & & CCONJ hjic-495 254 10 & & CCONJ hjic-495 254 11 = = PROPN hjic-495 254 12 u(1− u(1− PROPN hjic-495 254 13 cosηθ cosηθ ADJ hjic-495 254 14 ) ) PUNCT hjic-495 255 1 + + CCONJ hjic-495 255 2 ( ( PUNCT hjic-495 255 3 uv+ uv+ ADJ hjic-495 255 4 l31ηx l31ηx VERB hjic-495 255 5 + + PROPN hjic-495 255 6 l32ηy l32ηy ADJ hjic-495 255 7 ) ) PUNCT hjic-495 255 8 ηy ηy PROPN hjic-495 255 9 usinηθ usinηθ PROPN hjic-495 255 10 − − PROPN hjic-495 255 11 ( ( PUNCT hjic-495 255 12 uv+ uv+ PROPN hjic-495 255 13 l31ηx l31ηx VERB hjic-495 255 14 + + CCONJ hjic-495 255 15 l32ηy l32ηy ADJ hjic-495 255 16 ) ) PUNCT hjic-495 255 17 ηx ηx PROPN hjic-495 255 18 0 0 NUM hjic-495 255 19 ! ! PUNCT hjic-495 255 20 " " PUNCT hjic-495 256 1 # # NOUN hjic-495 256 2 # # NOUN hjic-495 256 3 # # NOUN hjic-495 256 4 # # NOUN hjic-495 256 5 $ $ NUM hjic-495 256 6 % % NOUN hjic-495 256 7 & & CCONJ hjic-495 256 8 & & CCONJ hjic-495 256 9 & & CCONJ hjic-495 256 10 & & CCONJ hjic-495 256 11 + + PROPN hjic-495 256 12 + + ADJ hjic-495 256 13 l l NOUN hjic-495 256 14 ηx ηx NOUN hjic-495 256 15 ηy ηy VERB hjic-495 256 16 ! ! PUNCT hjic-495 256 17 " " PUNCT hjic-495 257 1 # # NOUN hjic-495 257 2 # # NOUN hjic-495 257 3 $ $ NUM hjic-495 257 4 % % NOUN hjic-495 257 5 & & CCONJ hjic-495 257 6 & & CCONJ hjic-495 257 7 ( ( PUNCT hjic-495 257 8 43 43 NUM hjic-495 257 9 ) ) PUNCT hjic-495 257 10 it it PRON hjic-495 257 11 can can AUX hjic-495 257 12 be be AUX hjic-495 257 13 seen see VERB hjic-495 257 14 that that SCONJ hjic-495 257 15 the the DET hjic-495 257 16 invariant invariant ADJ hjic-495 257 17 error error NOUN hjic-495 257 18 equations equation NOUN hjic-495 257 19 are be AUX hjic-495 257 20 independent independent ADJ hjic-495 257 21 of of ADP hjic-495 257 22 the the DET hjic-495 257 23 trajectory trajectory NOUN hjic-495 257 24 and and CCONJ hjic-495 257 25 only only ADV hjic-495 257 26 depend depend VERB hjic-495 257 27 on on ADP hjic-495 257 28 the the DET hjic-495 257 29 relative relative ADJ hjic-495 257 30 quantities quantity NOUN hjic-495 257 31 ηx ηx ADJ hjic-495 257 32 , , PUNCT hjic-495 257 33 ηy ηy ADJ hjic-495 257 34 , , PUNCT hjic-495 257 35 and and CCONJ hjic-495 257 36 ηθ ηθ NOUN hjic-495 257 37 and and CCONJ hjic-495 257 38 the the DET hjic-495 257 39 i i NOUN hjic-495 257 40 invariants invariant NOUN hjic-495 257 41 . . PUNCT hjic-495 258 1 stability stability NOUN hjic-495 258 2 and and CCONJ hjic-495 258 3 convergence convergence VERB hjic-495 258 4 the the DET hjic-495 258 5 weighting weighting NOUN hjic-495 258 6 matrix matrix NOUN hjic-495 258 7 is be AUX hjic-495 258 8 defined define VERB hjic-495 258 9 as as SCONJ hjic-495 258 10 follows follow VERB hjic-495 258 11 l l NOUN hjic-495 258 12 = = SYM hjic-495 259 1 − − PROPN hjic-495 259 2 |u |u ADJ hjic-495 259 3 | | ADV hjic-495 259 4 a a DET hjic-495 259 5 ubey ubey ADJ hjic-495 259 6 −uv −uv NOUN hjic-495 259 7 uv−ubey uv−ubey ADP hjic-495 259 8 − − PROPN hjic-495 260 1 |u |u ADJ hjic-495 260 2 | | NOUN hjic-495 260 3 c c NOUN hjic-495 260 4 0 0 NUM hjic-495 260 5 −ub −ub PRON hjic-495 260 6 " " PUNCT hjic-495 260 7 # # NOUN hjic-495 260 8 $ $ SYM hjic-495 260 9 $ $ SYM hjic-495 260 10 $ $ SYM hjic-495 260 11 $ $ NUM hjic-495 260 12 % % NOUN hjic-495 260 13 & & CCONJ hjic-495 260 14 ' ' PUNCT hjic-495 260 15 ' ' PUNCT hjic-495 260 16 ' ' PUNCT hjic-495 260 17 ' ' PUNCT hjic-495 260 18 , , PUNCT hjic-495 260 19 ( ( PUNCT hjic-495 260 20 44 44 NUM hjic-495 260 21 ) ) PUNCT hjic-495 260 22 where where SCONJ hjic-495 260 23 a a PRON hjic-495 260 24 and and CCONJ hjic-495 260 25 b b NOUN hjic-495 260 26 are be AUX hjic-495 260 27 care care VERB hjic-495 260 28 positive positive ADJ hjic-495 260 29 scalars scalar NOUN hjic-495 260 30 and and CCONJ hjic-495 260 31 ey ey PRON hjic-495 260 32 = = NOUN hjic-495 260 33 ηy ηy PROPN hjic-495 260 34 . . PUNCT hjic-495 261 1 the the DET hjic-495 261 2 invariant invariant ADJ hjic-495 261 3 error error NOUN hjic-495 261 4 dynamics dynamic NOUN hjic-495 261 5 can can AUX hjic-495 261 6 be be AUX hjic-495 261 7 made make VERB hjic-495 261 8 locally locally ADV hjic-495 261 9 asymptotically asymptotically ADV hjic-495 261 10 stable stable ADJ hjic-495 261 11 . . PUNCT hjic-495 262 1 furthermore furthermore ADV hjic-495 262 2 , , PUNCT hjic-495 262 3 the the DET hjic-495 262 4 resulting result VERB hjic-495 262 5 symmetry symmetry NOUN hjic-495 262 6 - - PUNCT hjic-495 262 7 preserving preserve VERB hjic-495 262 8 observer observer NOUN hjic-495 262 9 is be AUX hjic-495 262 10 almost almost ADV hjic-495 262 11 globally globally ADV hjic-495 262 12 asymptotically asymptotically ADV hjic-495 262 13 convergent convergent NOUN hjic-495 262 14 , , PUNCT hjic-495 262 15 i.e. i.e. X hjic-495 262 16 it it PRON hjic-495 262 17 converges converge VERB hjic-495 262 18 any any DET hjic-495 262 19 initial initial ADJ hjic-495 262 20 condition condition NOUN hjic-495 262 21 except except SCONJ hjic-495 262 22 for for ADP hjic-495 262 23 one one NUM hjic-495 262 24 as as SCONJ hjic-495 262 25 described describe VERB hjic-495 262 26 in in ADP hjic-495 262 27 refs ref NOUN hjic-495 262 28 . . PUNCT hjic-495 263 1 [ [ X hjic-495 263 2 15 15 NUM hjic-495 263 3 - - SYM hjic-495 263 4 16 16 NUM hjic-495 263 5 ] ] PUNCT hjic-495 263 6 . . PUNCT hjic-495 264 1 simulation simulation NOUN hjic-495 264 2 results result VERB hjic-495 264 3 the the DET hjic-495 264 4 state state NOUN hjic-495 264 5 estimation estimation NOUN hjic-495 264 6 techniques technique NOUN hjic-495 264 7 are be AUX hjic-495 264 8 illustrated illustrate VERB hjic-495 264 9 in in ADP hjic-495 264 10 two two NUM hjic-495 264 11 tracking track VERB hjic-495 264 12 examples example NOUN hjic-495 264 13 . . PUNCT hjic-495 265 1 for for ADP hjic-495 265 2 comparative comparative ADJ hjic-495 265 3 purposes purpose NOUN hjic-495 265 4 , , PUNCT hjic-495 265 5 the the DET hjic-495 265 6 following follow VERB hjic-495 265 7 algorithms algorithm NOUN hjic-495 265 8 have have AUX hjic-495 265 9 been be AUX hjic-495 265 10 implemented implement VERB hjic-495 265 11 : : PUNCT hjic-495 265 12 extended extended ADJ hjic-495 265 13 kalman kalman NOUN hjic-495 265 14 filter filter PROPN hjic-495 265 15 ( ( PUNCT hjic-495 265 16 ekf ekf PROPN hjic-495 265 17 ) ) PUNCT hjic-495 265 18 , , PUNCT hjic-495 265 19 central central ADJ hjic-495 265 20 difference difference NOUN hjic-495 265 21 and and CCONJ hjic-495 265 22 unscented unscente VERB hjic-495 265 23 kalman kalman NOUN hjic-495 265 24 filter filter PROPN hjic-495 265 25 ( ( PUNCT hjic-495 265 26 ckf ckf PROPN hjic-495 265 27 , , PUNCT hjic-495 265 28 ukf ukf PROPN hjic-495 265 29 ) ) PUNCT hjic-495 265 30 and and CCONJ hjic-495 265 31 the the DET hjic-495 265 32 symmetry symmetry NOUN hjic-495 265 33 preserving preserve VERB hjic-495 265 34 observer observer NOUN hjic-495 265 35 ( ( PUNCT hjic-495 265 36 sym sym NOUN hjic-495 265 37 ) ) PUNCT hjic-495 265 38 discretized discretize VERB hjic-495 265 39 by by ADP hjic-495 265 40 the the DET hjic-495 265 41 sample sample NOUN hjic-495 265 42 time time NOUN hjic-495 265 43 of of ADP hjic-495 265 44 the the DET hjic-495 265 45 sigma sigma ADJ hjic-495 265 46 - - PUNCT hjic-495 265 47 point point NOUN hjic-495 265 48 estimators estimator NOUN hjic-495 265 49 . . PUNCT hjic-495 266 1 the the DET hjic-495 266 2 reference reference NOUN hjic-495 266 3 paths path NOUN hjic-495 266 4 are be AUX hjic-495 266 5 xr xr PROPN hjic-495 266 6 ( ( PUNCT hjic-495 266 7 t t PROPN hjic-495 266 8 ) ) PUNCT hjic-495 266 9 = = SYM hjic-495 266 10 t t PROPN hjic-495 266 11 , , PUNCT hjic-495 266 12 and and CCONJ hjic-495 267 1 yr yr PROPN hjic-495 267 2 ( ( PUNCT hjic-495 267 3 t t PROPN hjic-495 267 4 ) ) PUNCT hjic-495 267 5 = = SYM hjic-495 267 6 asin(ωt asin(ωt NOUN hjic-495 267 7 ) ) PUNCT hjic-495 267 8 , , PUNCT hjic-495 267 9 where where SCONJ hjic-495 267 10 a a DET hjic-495 267 11 = = SYM hjic-495 267 12 3 3 NUM hjic-495 267 13 m m NOUN hjic-495 267 14 and and CCONJ hjic-495 267 15 ω ω NUM hjic-495 267 16 = = X hjic-495 267 17 π/5 π/5 NUM hjic-495 267 18 rad rad NOUN hjic-495 267 19 s-1 s-1 NOUN hjic-495 267 20 . . PUNCT hjic-495 268 1 zero zero NUM hjic-495 268 2 mean mean VERB hjic-495 268 3 additive additive ADJ hjic-495 268 4 gaussian gaussian NOUN hjic-495 268 5 noise noise NOUN hjic-495 268 6 is be AUX hjic-495 268 7 assumed assume VERB hjic-495 268 8 with with ADP hjic-495 268 9 standard standard ADJ hjic-495 268 10 deviations deviation NOUN hjic-495 268 11 of of ADP hjic-495 268 12 0.01 0.01 NUM hjic-495 268 13 and and CCONJ hjic-495 268 14 0.005 0.005 NUM hjic-495 268 15 for for ADP hjic-495 268 16 the the DET hjic-495 268 17 process process NOUN hjic-495 268 18 noise noise NOUN hjic-495 268 19 and and CCONJ hjic-495 268 20 0.02 0.02 NUM hjic-495 268 21 for for ADP hjic-495 268 22 the the DET hjic-495 268 23 measurement measurement NOUN hjic-495 268 24 noise noise NOUN hjic-495 268 25 . . PUNCT hjic-495 269 1 the the DET hjic-495 269 2 sampling sampling NOUN hjic-495 269 3 time time NOUN hjic-495 269 4 is be AUX hjic-495 269 5 ts ts ADP hjic-495 269 6 = = SYM hjic-495 269 7 0.1 0.1 NUM hjic-495 269 8 s. s. PROPN hjic-495 269 9 the the DET hjic-495 269 10 initial initial ADJ hjic-495 269 11 values value NOUN hjic-495 269 12 are be AUX hjic-495 269 13 x0 x0 PROPN hjic-495 269 14 est est X hjic-495 269 15 = = SYM hjic-495 269 16 y0 y0 PROPN hjic-495 269 17 est est X hjic-495 269 18 = = SYM hjic-495 269 19 θ0 θ0 X hjic-495 269 20 est est X hjic-495 270 1 = = SYM hjic-495 270 2 1 1 NUM hjic-495 270 3 , , PUNCT hjic-495 270 4 and and CCONJ hjic-495 270 5 x0 x0 PROPN hjic-495 270 6 = = PUNCT hjic-495 270 7 y0 y0 NOUN hjic-495 270 8 = = SYM hjic-495 270 9 0 0 NUM hjic-495 270 10 . . PUNCT hjic-495 271 1 example example NOUN hjic-495 271 2 1 1 NUM hjic-495 271 3 the the DET hjic-495 271 4 vehicle vehicle NOUN hjic-495 271 5 starts start VERB hjic-495 271 6 from from ADP hjic-495 271 7 the the DET hjic-495 271 8 origin origin NOUN hjic-495 271 9 of of ADP hjic-495 271 10 the the DET hjic-495 271 11 xy xy NOUN hjic-495 271 12 - - PUNCT hjic-495 271 13 plane plane NOUN hjic-495 271 14 with with ADP hjic-495 271 15 large large ADJ hjic-495 271 16 initial initial ADJ hjic-495 271 17 estimation estimation NOUN hjic-495 271 18 error error NOUN hjic-495 271 19 and and CCONJ hjic-495 271 20 tracks track VERB hjic-495 271 21 a a DET hjic-495 271 22 sinusoidal sinusoidal ADJ hjic-495 271 23 path path NOUN hjic-495 271 24 . . PUNCT hjic-495 272 1 fig.1 fig.1 PROPN hjic-495 272 2 shows show VERB hjic-495 272 3 the the DET hjic-495 272 4 estimated estimate VERB hjic-495 272 5 output output NOUN hjic-495 272 6 positions position NOUN hjic-495 272 7 of of ADP hjic-495 272 8 the the DET hjic-495 272 9 vehicle vehicle NOUN hjic-495 272 10 using use VERB hjic-495 272 11 sigma sigma ADJ hjic-495 272 12 - - PUNCT hjic-495 272 13 point point NOUN hjic-495 272 14 kalman kalman NOUN hjic-495 272 15 filters filter NOUN hjic-495 272 16 and and CCONJ hjic-495 272 17 symmetry symmetry NOUN hjic-495 272 18 - - PUNCT hjic-495 272 19 preserving preserve VERB hjic-495 272 20 observers observer NOUN hjic-495 272 21 . . PUNCT hjic-495 273 1 the the DET hjic-495 273 2 estimation estimation NOUN hjic-495 273 3 errors error NOUN hjic-495 273 4 of of ADP hjic-495 273 5 different different ADJ hjic-495 273 6 algorithms algorithm NOUN hjic-495 273 7 can can AUX hjic-495 273 8 be be AUX hjic-495 273 9 seen see VERB hjic-495 273 10 in in ADP hjic-495 273 11 figs.2 figs.2 PROPN hjic-495 273 12 and and CCONJ hjic-495 273 13 3 3 NUM hjic-495 273 14 . . PUNCT hjic-495 274 1 the the DET hjic-495 274 2 errors error NOUN hjic-495 274 3 are be AUX hjic-495 274 4 smaller small ADJ hjic-495 274 5 and and CCONJ hjic-495 274 6 show show VERB hjic-495 274 7 smoother smooth ADJ hjic-495 274 8 signals signal NOUN hjic-495 274 9 in in ADP hjic-495 274 10 the the DET hjic-495 274 11 case case NOUN hjic-495 274 12 of of ADP hjic-495 274 13 the the DET hjic-495 274 14 spkf spkf ADJ hjic-495 274 15 estimators estimator NOUN hjic-495 274 16 , , PUNCT hjic-495 274 17 which which PRON hjic-495 274 18 was be AUX hjic-495 274 19 expected expect VERB hjic-495 274 20 , , PUNCT hjic-495 274 21 since since SCONJ hjic-495 274 22 the the DET hjic-495 274 23 sym sym NOUN hjic-495 274 24 observer observer NOUN hjic-495 274 25 is be AUX hjic-495 274 26 deterministic deterministic ADJ hjic-495 274 27 . . PUNCT hjic-495 275 1 large large ADJ hjic-495 275 2 errors error NOUN hjic-495 275 3 appear appear VERB hjic-495 275 4 at at ADP hjic-495 275 5 the the DET hjic-495 275 6 peak peak NOUN hjic-495 275 7 values value NOUN hjic-495 275 8 of of ADP hjic-495 275 9 the the DET hjic-495 275 10 reference reference NOUN hjic-495 275 11 signals signal NOUN hjic-495 275 12 ; ; PUNCT hjic-495 275 13 however however ADV hjic-495 275 14 , , PUNCT hjic-495 275 15 both both DET hjic-495 275 16 estimation estimation NOUN hjic-495 275 17 techniques technique NOUN hjic-495 275 18 achieved achieve VERB hjic-495 275 19 the the DET hjic-495 275 20 same same ADJ hjic-495 275 21 satisfactory satisfactory ADJ hjic-495 275 22 results result NOUN hjic-495 275 23 in in ADP hjic-495 275 24 spite spite NOUN hjic-495 275 25 of of ADP hjic-495 275 26 the the DET hjic-495 275 27 relatively relatively ADV hjic-495 275 28 small small ADJ hjic-495 275 29 sampling sampling NOUN hjic-495 275 30 frequency frequency NOUN hjic-495 275 31 . . PUNCT hjic-495 276 1 figure figure NOUN hjic-495 276 2 2 2 NUM hjic-495 276 3 : : PUNCT hjic-495 276 4 estimation estimation NOUN hjic-495 276 5 errors error NOUN hjic-495 276 6 of of ADP hjic-495 276 7 the the DET hjic-495 276 8 sigma sigma NOUN hjic-495 276 9 - - PUNCT hjic-495 276 10 point point NOUN hjic-495 276 11 and and CCONJ hjic-495 276 12 extended extended ADJ hjic-495 276 13 kalman kalman NOUN hjic-495 276 14 filters filter NOUN hjic-495 276 15 from from ADP hjic-495 276 16 example example NOUN hjic-495 276 17 1 1 NUM hjic-495 276 18 63 63 NUM hjic-495 276 19 root root NOUN hjic-495 276 20 - - PUNCT hjic-495 276 21 mean mean ADJ hjic-495 276 22 - - PUNCT hjic-495 276 23 square square ADJ hjic-495 276 24 errors error NOUN hjic-495 276 25 can can AUX hjic-495 276 26 be be AUX hjic-495 276 27 seen see VERB hjic-495 276 28 in in ADP hjic-495 276 29 table table NOUN hjic-495 276 30 1 1 NUM hjic-495 276 31 . . PUNCT hjic-495 277 1 we we PRON hjic-495 277 2 can can AUX hjic-495 277 3 conclude conclude VERB hjic-495 277 4 that that SCONJ hjic-495 277 5 among among ADP hjic-495 277 6 the the DET hjic-495 277 7 processes process NOUN hjic-495 277 8 of of ADP hjic-495 277 9 state state NOUN hjic-495 277 10 estimation estimation NOUN hjic-495 277 11 techniques technique NOUN hjic-495 277 12 the the DET hjic-495 277 13 sym sym NOUN hjic-495 277 14 observer observer NOUN hjic-495 277 15 is be AUX hjic-495 277 16 competitive competitive ADJ hjic-495 277 17 with with ADP hjic-495 277 18 spkf spkf ADJ hjic-495 277 19 estimators estimator NOUN hjic-495 277 20 . . PUNCT hjic-495 278 1 example example NOUN hjic-495 278 2 2 2 NUM hjic-495 278 3 in in ADP hjic-495 278 4 this this DET hjic-495 278 5 example example NOUN hjic-495 278 6 the the DET hjic-495 278 7 vehicle vehicle NOUN hjic-495 278 8 performs perform VERB hjic-495 278 9 an an DET hjic-495 278 10 off off ADP hjic-495 278 11 - - PUNCT hjic-495 278 12 line line NOUN hjic-495 278 13 estimation estimation NOUN hjic-495 278 14 before before ADP hjic-495 278 15 movement movement NOUN hjic-495 278 16 starts start NOUN hjic-495 278 17 , , PUNCT hjic-495 278 18 followed follow VERB hjic-495 278 19 by by ADP hjic-495 278 20 an an DET hjic-495 278 21 online online ADJ hjic-495 278 22 estimation estimation NOUN hjic-495 278 23 along along ADP hjic-495 278 24 a a DET hjic-495 278 25 sinusoidal sinusoidal ADJ hjic-495 278 26 path path NOUN hjic-495 278 27 . . PUNCT hjic-495 279 1 it it PRON hjic-495 279 2 is be AUX hjic-495 279 3 notable notable ADJ hjic-495 279 4 that that SCONJ hjic-495 279 5 in in ADP hjic-495 279 6 the the DET hjic-495 279 7 stationary stationary ADJ hjic-495 279 8 state state NOUN hjic-495 279 9 the the DET hjic-495 279 10 velocity velocity NOUN hjic-495 279 11 is be AUX hjic-495 279 12 zero zero NUM hjic-495 279 13 and and CCONJ hjic-495 279 14 at at ADP hjic-495 279 15 the the DET hjic-495 279 16 beginning beginning NOUN hjic-495 279 17 of of ADP hjic-495 279 18 movement movement NOUN hjic-495 279 19 the the DET hjic-495 279 20 velocity velocity NOUN hjic-495 279 21 changes change NOUN hjic-495 279 22 to to ADP hjic-495 279 23 a a DET hjic-495 279 24 nonzero nonzero NOUN hjic-495 279 25 value value NOUN hjic-495 279 26 abruptly abruptly ADV hjic-495 279 27 , , PUNCT hjic-495 279 28 see see VERB hjic-495 279 29 eq.(33 eq.(33 PROPN hjic-495 279 30 ) ) PUNCT hjic-495 279 31 . . PUNCT hjic-495 280 1 figs.4 figs.4 PROPN hjic-495 280 2 - - SYM hjic-495 280 3 7 7 NUM hjic-495 280 4 illustrate illustrate VERB hjic-495 280 5 the the DET hjic-495 280 6 estimated estimate VERB hjic-495 280 7 output output NOUN hjic-495 280 8 positions position NOUN hjic-495 280 9 and and CCONJ hjic-495 280 10 the the DET hjic-495 280 11 measurement measurement NOUN hjic-495 280 12 errors error VERB hjic-495 280 13 for for ADP hjic-495 280 14 the the DET hjic-495 280 15 sigma sigma ADJ hjic-495 280 16 - - PUNCT hjic-495 280 17 point point NOUN hjic-495 280 18 estimators estimator NOUN hjic-495 280 19 and and CCONJ hjic-495 280 20 the the DET hjic-495 280 21 invariant invariant ADJ hjic-495 280 22 observers observer NOUN hjic-495 280 23 respectively respectively ADV hjic-495 280 24 the the DET hjic-495 280 25 error error NOUN hjic-495 280 26 signals signal NOUN hjic-495 280 27 show show VERB hjic-495 280 28 a a DET hjic-495 280 29 quick quick ADJ hjic-495 280 30 convergence convergence NOUN hjic-495 280 31 in in ADP hjic-495 280 32 the the DET hjic-495 280 33 case case NOUN hjic-495 280 34 of of ADP hjic-495 280 35 the the DET hjic-495 280 36 symmetry symmetry NOUN hjic-495 280 37 - - PUNCT hjic-495 280 38 preserving preserve VERB hjic-495 280 39 observer observer NOUN hjic-495 280 40 . . PUNCT hjic-495 281 1 the the DET hjic-495 281 2 speed speed NOUN hjic-495 281 3 of of ADP hjic-495 281 4 convergence convergence NOUN hjic-495 281 5 depends depend VERB hjic-495 281 6 on on ADP hjic-495 281 7 the the DET hjic-495 281 8 parameters parameter NOUN hjic-495 281 9 set set VERB hjic-495 281 10 in in ADP hjic-495 281 11 the the DET hjic-495 281 12 l l NOUN hjic-495 281 13 matrix matrix NOUN hjic-495 281 14 ; ; PUNCT hjic-495 281 15 however however ADV hjic-495 281 16 , , PUNCT hjic-495 281 17 high high ADJ hjic-495 281 18 gains gain NOUN hjic-495 281 19 can can AUX hjic-495 281 20 cause cause VERB hjic-495 281 21 the the DET hjic-495 281 22 observer observer NOUN hjic-495 281 23 to to PART hjic-495 281 24 be be AUX hjic-495 281 25 divergent divergent ADJ hjic-495 281 26 and and CCONJ hjic-495 281 27 make make VERB hjic-495 281 28 larger large ADJ hjic-495 281 29 errors error NOUN hjic-495 281 30 . . PUNCT hjic-495 282 1 since since SCONJ hjic-495 282 2 there there PRON hjic-495 282 3 are be VERB hjic-495 282 4 no no DET hjic-495 282 5 u u NOUN hjic-495 282 6 and and CCONJ hjic-495 282 7 δ δ PROPN hjic-495 282 8 signals signal NOUN hjic-495 282 9 in in ADP hjic-495 282 10 the the DET hjic-495 282 11 stationary stationary ADJ hjic-495 282 12 position position NOUN hjic-495 282 13 and and CCONJ hjic-495 282 14 the the DET hjic-495 282 15 orientation orientation NOUN hjic-495 282 16 is be AUX hjic-495 282 17 not not PART hjic-495 282 18 directly directly ADV hjic-495 282 19 measured measure VERB hjic-495 282 20 , , PUNCT hjic-495 282 21 the the DET hjic-495 282 22 orientation orientation NOUN hjic-495 282 23 can can AUX hjic-495 282 24 only only ADV hjic-495 282 25 be be AUX hjic-495 282 26 estimated estimate VERB hjic-495 282 27 after after SCONJ hjic-495 282 28 the the DET hjic-495 282 29 vehicle vehicle NOUN hjic-495 282 30 starts start VERB hjic-495 282 31 moving move VERB hjic-495 282 32 . . PUNCT hjic-495 283 1 the the DET hjic-495 283 2 error error NOUN hjic-495 283 3 signal signal NOUN hjic-495 283 4 oscillates oscillate NOUN hjic-495 283 5 around around ADP hjic-495 283 6 zero zero NUM hjic-495 283 7 in in ADP hjic-495 283 8 a a DET hjic-495 283 9 similar similar ADJ hjic-495 283 10 way way NOUN hjic-495 283 11 to to PART hjic-495 283 12 example example VERB hjic-495 283 13 1 1 NUM hjic-495 283 14 . . PUNCT hjic-495 283 15 due due ADP hjic-495 283 16 to to ADP hjic-495 283 17 calibration calibration NOUN hjic-495 283 18 , , PUNCT hjic-495 283 19 smaller small ADJ hjic-495 283 20 errors error NOUN hjic-495 283 21 appear appear VERB hjic-495 283 22 . . PUNCT hjic-495 284 1 the the DET hjic-495 284 2 invariant invariant ADJ hjic-495 284 3 observer observer NOUN hjic-495 284 4 and and CCONJ hjic-495 284 5 sigma sigma ADJ hjic-495 284 6 - - PUNCT hjic-495 284 7 point point NOUN hjic-495 284 8 estimators estimator NOUN hjic-495 284 9 have have VERB hjic-495 284 10 the the DET hjic-495 284 11 same same ADJ hjic-495 284 12 magnitude magnitude NOUN hjic-495 284 13 of of ADP hjic-495 284 14 error error NOUN hjic-495 284 15 components component NOUN hjic-495 284 16 . . PUNCT hjic-495 285 1 the the DET hjic-495 285 2 root root NOUN hjic-495 285 3 - - PUNCT hjic-495 285 4 mean mean ADJ hjic-495 285 5 - - PUNCT hjic-495 285 6 square square ADJ hjic-495 285 7 errors error NOUN hjic-495 285 8 of of ADP hjic-495 285 9 the the DET hjic-495 285 10 simulation simulation NOUN hjic-495 285 11 can can AUX hjic-495 285 12 be be AUX hjic-495 285 13 seen see VERB hjic-495 285 14 in in ADP hjic-495 285 15 table table NOUN hjic-495 285 16 2 2 NUM hjic-495 285 17 . . PUNCT hjic-495 285 18 figure figure VERB hjic-495 285 19 3 3 NUM hjic-495 285 20 : : PUNCT hjic-495 285 21 estimation estimation NOUN hjic-495 285 22 errors error NOUN hjic-495 285 23 of of ADP hjic-495 285 24 the the DET hjic-495 285 25 symmetry symmetry NOUN hjic-495 285 26 - - PUNCT hjic-495 285 27 preserving preserve VERB hjic-495 285 28 observer observer NOUN hjic-495 285 29 ( ( PUNCT hjic-495 285 30 sym sym NOUN hjic-495 285 31 ) ) PUNCT hjic-495 285 32 from from ADP hjic-495 285 33 example example NOUN hjic-495 285 34 1 1 NUM hjic-495 285 35 figure figure NOUN hjic-495 285 36 6 6 NUM hjic-495 285 37 : : PUNCT hjic-495 285 38 estimation estimation NOUN hjic-495 285 39 errors error NOUN hjic-495 285 40 of of ADP hjic-495 285 41 the the DET hjic-495 285 42 sigma sigma NOUN hjic-495 285 43 - - PUNCT hjic-495 285 44 point point NOUN hjic-495 285 45 and and CCONJ hjic-495 285 46 the the DET hjic-495 285 47 extended extended ADJ hjic-495 285 48 kalman kalman NOUN hjic-495 285 49 filters filter NOUN hjic-495 285 50 from from ADP hjic-495 285 51 example example NOUN hjic-495 285 52 2 2 NUM hjic-495 285 53 figure figure NOUN hjic-495 285 54 4 4 NUM hjic-495 285 55 : : PUNCT hjic-495 285 56 estimated estimate VERB hjic-495 285 57 output output NOUN hjic-495 285 58 position position NOUN hjic-495 285 59 of of ADP hjic-495 285 60 the the DET hjic-495 285 61 vehicle vehicle NOUN hjic-495 285 62 using use VERB hjic-495 285 63 sigma sigma ADJ hjic-495 285 64 - - PUNCT hjic-495 285 65 point point NOUN hjic-495 285 66 state state NOUN hjic-495 285 67 estimation estimation NOUN hjic-495 285 68 ( ( PUNCT hjic-495 285 69 ukf ukf NOUN hjic-495 285 70 , , PUNCT hjic-495 285 71 ckf ckf NOUN hjic-495 285 72 ) ) PUNCT hjic-495 285 73 and and CCONJ hjic-495 285 74 extended extend VERB hjic-495 285 75 kalman kalman NOUN hjic-495 285 76 filter filter PROPN hjic-495 285 77 ( ( PUNCT hjic-495 285 78 ekf ekf PROPN hjic-495 285 79 ) ) PUNCT hjic-495 285 80 from from ADP hjic-495 285 81 example example NOUN hjic-495 285 82 2 2 NUM hjic-495 285 83 figure figure NOUN hjic-495 285 84 5 5 NUM hjic-495 285 85 : : PUNCT hjic-495 285 86 estimated estimate VERB hjic-495 285 87 output output NOUN hjic-495 285 88 position position NOUN hjic-495 285 89 of of ADP hjic-495 285 90 the the DET hjic-495 285 91 vehicle vehicle NOUN hjic-495 285 92 using use VERB hjic-495 285 93 symmetry symmetry NOUN hjic-495 285 94 - - PUNCT hjic-495 285 95 preserving preserve VERB hjic-495 285 96 observer observer NOUN hjic-495 285 97 ( ( PUNCT hjic-495 285 98 sym sym NOUN hjic-495 285 99 ) ) PUNCT hjic-495 285 100 from from ADP hjic-495 285 101 example example NOUN hjic-495 285 102 2 2 NUM hjic-495 285 103 figure figure NOUN hjic-495 285 104 7 7 NUM hjic-495 285 105 : : PUNCT hjic-495 285 106 estimation estimation NOUN hjic-495 285 107 errors error NOUN hjic-495 285 108 of of ADP hjic-495 285 109 the the DET hjic-495 285 110 symmetrypreserving symmetrypreserve VERB hjic-495 285 111 observer observer NOUN hjic-495 285 112 ( ( PUNCT hjic-495 285 113 sym sym NOUN hjic-495 285 114 ) ) PUNCT hjic-495 285 115 from from ADP hjic-495 285 116 example example NOUN hjic-495 285 117 2 2 NUM hjic-495 285 118 table table NOUN hjic-495 285 119 1 1 NUM hjic-495 285 120 : : PUNCT hjic-495 285 121 root root NOUN hjic-495 285 122 - - PUNCT hjic-495 285 123 mean mean ADJ hjic-495 285 124 - - PUNCT hjic-495 285 125 squared square VERB hjic-495 285 126 errors error NOUN hjic-495 285 127 of of ADP hjic-495 285 128 the the DET hjic-495 285 129 estimated estimate VERB hjic-495 285 130 signals signal NOUN hjic-495 285 131 from from ADP hjic-495 285 132 example example NOUN hjic-495 285 133 1 1 NUM hjic-495 285 134 rmse rmse NOUN hjic-495 285 135 x x X hjic-495 285 136 , , PUNCT hjic-495 285 137 m m VERB hjic-495 285 138 y y PROPN hjic-495 285 139 , , PUNCT hjic-495 285 140 m m PROPN hjic-495 285 141 θ θ NOUN hjic-495 285 142 , , PUNCT hjic-495 285 143 rad rad NOUN hjic-495 285 144 ukf ukf PROPN hjic-495 285 145 0.1368 0.1368 NUM hjic-495 285 146 0.1587 0.1587 NUM hjic-495 285 147 0.0338 0.0338 NUM hjic-495 285 148 ckf ckf NOUN hjic-495 285 149 0.1366 0.1366 NUM hjic-495 285 150 0.1577 0.1577 NUM hjic-495 285 151 0.0336 0.0336 NUM hjic-495 285 152 ekf ekf NOUN hjic-495 285 153 0.1371 0.1371 NUM hjic-495 285 154 0.1551 0.1551 NUM hjic-495 285 155 0.0352 0.0352 NUM hjic-495 285 156 sym sym NOUN hjic-495 285 157 0.1371 0.1371 NUM hjic-495 285 158 0.1628 0.1628 NUM hjic-495 285 159 0.0455 0.0455 NUM hjic-495 285 160 table table NOUN hjic-495 285 161 2 2 NUM hjic-495 285 162 : : PUNCT hjic-495 285 163 root root NOUN hjic-495 285 164 - - PUNCT hjic-495 285 165 mean mean ADJ hjic-495 285 166 - - PUNCT hjic-495 285 167 square square ADJ hjic-495 285 168 errors error NOUN hjic-495 285 169 of of ADP hjic-495 285 170 the the DET hjic-495 285 171 estimated estimate VERB hjic-495 285 172 signals signal NOUN hjic-495 285 173 from from ADP hjic-495 285 174 example example NOUN hjic-495 285 175 2 2 NUM hjic-495 285 176 rmse rmse NOUN hjic-495 285 177 x x X hjic-495 285 178 , , PUNCT hjic-495 285 179 m m VERB hjic-495 285 180 y y PROPN hjic-495 285 181 , , PUNCT hjic-495 285 182 m m PROPN hjic-495 285 183 θ θ NOUN hjic-495 285 184 , , PUNCT hjic-495 285 185 rad rad PROPN hjic-495 285 186 ukf ukf PROPN hjic-495 285 187 0.0998 0.0998 NUM hjic-495 285 188 0.1180 0.1180 NUM hjic-495 285 189 0.0627 0.0627 PRON hjic-495 285 190 ckf ckf VERB hjic-495 285 191 0.0993 0.0993 NUM hjic-495 285 192 0.1175 0.1175 NUM hjic-495 285 193 0.0628 0.0628 NUM hjic-495 285 194 ekf ekf NOUN hjic-495 286 1 0.1013 0.1013 NUM hjic-495 286 2 0.1165 0.1165 NUM hjic-495 286 3 0.0648 0.0648 NUM hjic-495 286 4 sym sym NOUN hjic-495 286 5 0.1264 0.1264 NUM hjic-495 286 6 0.1453 0.1453 NUM hjic-495 286 7 0.0760 0.0760 NUM hjic-495 286 8 64 64 NUM hjic-495 286 9 conclusion conclusion NOUN hjic-495 286 10 in in ADP hjic-495 286 11 this this DET hjic-495 286 12 paper paper NOUN hjic-495 286 13 we we PRON hjic-495 286 14 presented present VERB hjic-495 286 15 a a DET hjic-495 286 16 comparison comparison NOUN hjic-495 286 17 of of ADP hjic-495 286 18 two two NUM hjic-495 286 19 different different ADJ hjic-495 286 20 recently recently ADV hjic-495 286 21 developed develop VERB hjic-495 286 22 state state NOUN hjic-495 286 23 estimation estimation NOUN hjic-495 286 24 techniques technique NOUN hjic-495 286 25 . . PUNCT hjic-495 287 1 the the DET hjic-495 287 2 sigma sigma NOUN hjic-495 287 3 - - PUNCT hjic-495 287 4 point point NOUN hjic-495 287 5 ( ( PUNCT hjic-495 287 6 spkf spkf NOUN hjic-495 287 7 ) ) PUNCT hjic-495 287 8 stochastic stochastic ADJ hjic-495 287 9 estimator estimator NOUN hjic-495 287 10 is be AUX hjic-495 287 11 based base VERB hjic-495 287 12 on on ADP hjic-495 287 13 the the DET hjic-495 287 14 unscented unscented ADJ hjic-495 287 15 transformation transformation NOUN hjic-495 287 16 and and CCONJ hjic-495 287 17 the the DET hjic-495 287 18 non non ADJ hjic-495 287 19 - - ADJ hjic-495 287 20 linear linear ADJ hjic-495 287 21 symmetry symmetry NOUN hjic-495 287 22 - - PUNCT hjic-495 287 23 preserving preserve VERB hjic-495 287 24 observers observer NOUN hjic-495 287 25 are be AUX hjic-495 287 26 based base VERB hjic-495 287 27 on on ADP hjic-495 287 28 the the DET hjic-495 287 29 group group NOUN hjic-495 287 30 transformation transformation NOUN hjic-495 287 31 of of ADP hjic-495 287 32 symmetrical symmetrical ADJ hjic-495 287 33 lie lie NOUN hjic-495 287 34 groups group NOUN hjic-495 287 35 and and CCONJ hjic-495 287 36 invariant invariant ADJ hjic-495 287 37 frames frame NOUN hjic-495 287 38 . . PUNCT hjic-495 288 1 two two NUM hjic-495 288 2 examples example NOUN hjic-495 288 3 are be AUX hjic-495 288 4 considered consider VERB hjic-495 288 5 for for ADP hjic-495 288 6 the the DET hjic-495 288 7 estimation estimation NOUN hjic-495 288 8 of of ADP hjic-495 288 9 vehicle vehicle NOUN hjic-495 288 10 kinematics kinematic NOUN hjic-495 288 11 : : PUNCT hjic-495 288 12 the the DET hjic-495 288 13 first first ADJ hjic-495 288 14 example example NOUN hjic-495 288 15 deals deal VERB hjic-495 288 16 with with ADP hjic-495 288 17 the the DET hjic-495 288 18 path path NOUN hjic-495 288 19 tracking tracking NOUN hjic-495 288 20 reliability reliability NOUN hjic-495 288 21 of of ADP hjic-495 288 22 the the DET hjic-495 288 23 vehicle vehicle NOUN hjic-495 288 24 ; ; PUNCT hjic-495 288 25 the the DET hjic-495 288 26 second second ADJ hjic-495 288 27 example example NOUN hjic-495 288 28 examines examine VERB hjic-495 288 29 the the DET hjic-495 288 30 convergence convergence NOUN hjic-495 288 31 and and CCONJ hjic-495 288 32 the the DET hjic-495 288 33 speed speed NOUN hjic-495 288 34 of of ADP hjic-495 288 35 the the DET hjic-495 288 36 off off ADP hjic-495 288 37 - - PUNCT hjic-495 288 38 line line NOUN hjic-495 288 39 calibration calibration NOUN hjic-495 288 40 followed follow VERB hjic-495 288 41 by by ADP hjic-495 288 42 path path NOUN hjic-495 288 43 tracking tracking NOUN hjic-495 288 44 . . PUNCT hjic-495 289 1 the the DET hjic-495 289 2 examples example NOUN hjic-495 289 3 illustrate illustrate VERB hjic-495 289 4 that that PRON hjic-495 289 5 for for ADP hjic-495 289 6 non non ADJ hjic-495 289 7 - - ADJ hjic-495 289 8 linear linear ADJ hjic-495 289 9 systems system NOUN hjic-495 289 10 in in ADP hjic-495 289 11 noisy noisy ADJ hjic-495 289 12 environments environment NOUN hjic-495 289 13 the the DET hjic-495 289 14 use use NOUN hjic-495 289 15 of of ADP hjic-495 289 16 stochastic stochastic ADJ hjic-495 289 17 stateestimators stateestimator NOUN hjic-495 289 18 is be AUX hjic-495 289 19 needed need VERB hjic-495 289 20 . . PUNCT hjic-495 290 1 moreover moreover ADV hjic-495 290 2 the the DET hjic-495 290 3 sigma sigma ADJ hjic-495 290 4 - - PUNCT hjic-495 290 5 point point NOUN hjic-495 290 6 approach approach NOUN hjic-495 290 7 provides provide VERB hjic-495 290 8 more more ADV hjic-495 290 9 accurate accurate ADJ hjic-495 290 10 estimation estimation NOUN hjic-495 290 11 results result NOUN hjic-495 290 12 than than ADP hjic-495 290 13 the the DET hjic-495 290 14 commonly commonly ADV hjic-495 290 15 used use VERB hjic-495 290 16 non non ADJ hjic-495 290 17 - - ADJ hjic-495 290 18 linear linear ADJ hjic-495 290 19 ekf ekf NOUN hjic-495 290 20 state state NOUN hjic-495 290 21 estimators estimator NOUN hjic-495 290 22 . . PUNCT hjic-495 291 1 the the DET hjic-495 291 2 symmetry symmetry NOUN hjic-495 291 3 preserving preserve VERB hjic-495 291 4 observers observer NOUN hjic-495 291 5 for for ADP hjic-495 291 6 non non ADJ hjic-495 291 7 - - ADJ hjic-495 291 8 linear linear ADJ hjic-495 291 9 systems system NOUN hjic-495 291 10 benefit benefit VERB hjic-495 291 11 from from ADP hjic-495 291 12 their their PRON hjic-495 291 13 constructive constructive ADJ hjic-495 291 14 design design NOUN hjic-495 291 15 method method NOUN hjic-495 291 16 , , PUNCT hjic-495 291 17 which which PRON hjic-495 291 18 provides provide VERB hjic-495 291 19 local local ADJ hjic-495 291 20 asymptotic asymptotic ADJ hjic-495 291 21 convergence convergence NOUN hjic-495 291 22 . . PUNCT hjic-495 292 1 this this DET hjic-495 292 2 method method NOUN hjic-495 292 3 can can AUX hjic-495 292 4 be be AUX hjic-495 292 5 utilized utilize VERB hjic-495 292 6 by by ADP hjic-495 292 7 non non ADJ hjic-495 292 8 - - ADJ hjic-495 292 9 linear linear ADJ hjic-495 292 10 applications application NOUN hjic-495 292 11 in in ADP hjic-495 292 12 which which PRON hjic-495 292 13 the the DET hjic-495 292 14 physical physical ADJ hjic-495 292 15 and and CCONJ hjic-495 292 16 mechanical mechanical ADJ hjic-495 292 17 symmetry symmetry NOUN hjic-495 292 18 properties property NOUN hjic-495 292 19 of of ADP hjic-495 292 20 the the DET hjic-495 292 21 system system NOUN hjic-495 292 22 can can AUX hjic-495 292 23 be be AUX hjic-495 292 24 exploited exploit VERB hjic-495 292 25 . . PUNCT hjic-495 293 1 references reference NOUN hjic-495 293 2 [ [ X hjic-495 293 3 1 1 NUM hjic-495 293 4 ] ] X hjic-495 293 5 bar bar NOUN hjic-495 293 6 - - PUNCT hjic-495 293 7 shalom shalom NOUN hjic-495 293 8 y. y. PROPN hjic-495 293 9 , , PUNCT hjic-495 293 10 li li PROPN hjic-495 293 11 x.-r x.-r PROPN hjic-495 293 12 . . PROPN hjic-495 293 13 , , PUNCT hjic-495 293 14 kirubarajan kirubarajan PROPN hjic-495 293 15 t. t. PROPN hjic-495 293 16 : : PUNCT hjic-495 293 17 estimation estimation NOUN hjic-495 293 18 with with ADP hjic-495 293 19 applications application NOUN hjic-495 293 20 to to ADP hjic-495 293 21 tracking tracking NOUN hjic-495 293 22 and and CCONJ hjic-495 293 23 navigationm navigationm NOUN hjic-495 293 24 , , PUNCT hjic-495 293 25 wiley wiley NOUN hjic-495 293 26 interscience interscience PROPN hjic-495 293 27 , , PUNCT hjic-495 293 28 new new PROPN hjic-495 293 29 york york PROPN hjic-495 293 30 , , PUNCT hjic-495 293 31 ny ny PROPN hjic-495 293 32 , , PUNCT hjic-495 293 33 u.s.a u.s.a PROPN hjic-495 293 34 . . PROPN hjic-495 293 35 , , PUNCT hjic-495 293 36 2001 2001 NUM hjic-495 293 37 [ [ X hjic-495 293 38 2 2 NUM hjic-495 293 39 ] ] PUNCT hjic-495 293 40 särkkä särkkä NOUN hjic-495 293 41 s. s. PROPN hjic-495 293 42 : : PUNCT hjic-495 293 43 recursive recursive ADJ hjic-495 293 44 bayesian bayesian NOUN hjic-495 293 45 inference inference NOUN hjic-495 293 46 on on ADP hjic-495 293 47 stochastic stochastic ADJ hjic-495 293 48 differential differential ADJ hjic-495 293 49 equations equation NOUN hjic-495 293 50 , , PUNCT hjic-495 293 51 phd phd NOUN hjic-495 293 52 thesis thesis NOUN hjic-495 293 53 , , PUNCT hjic-495 293 54 helsinki helsinki PROPN hjic-495 293 55 university university PROPN hjic-495 293 56 of of ADP hjic-495 293 57 technology technology PROPN hjic-495 293 58 , , PUNCT hjic-495 293 59 helsinki helsinki PROPN hjic-495 293 60 , , PUNCT hjic-495 293 61 finland finland PROPN hjic-495 293 62 , , PUNCT hjic-495 293 63 2006 2006 NUM hjic-495 294 1 [ [ X hjic-495 294 2 3 3 NUM hjic-495 294 3 ] ] X hjic-495 294 4 julier julier PROPN hjic-495 294 5 s.j s.j PROPN hjic-495 294 6 . . PROPN hjic-495 294 7 , , PUNCT hjic-495 294 8 uhlmann uhlmann PROPN hjic-495 294 9 j.k j.k PROPN hjic-495 294 10 . . PROPN hjic-495 294 11 : : PUNCT hjic-495 295 1 unscented unscente VERB hjic-495 295 2 filtering filtering NOUN hjic-495 295 3 and and CCONJ hjic-495 295 4 nonlinear nonlinear ADJ hjic-495 295 5 estimation estimation NOUN hjic-495 295 6 , , PUNCT hjic-495 295 7 proc proc NOUN hjic-495 295 8 . . PUNCT hjic-495 296 1 ieee ieee PROPN hjic-495 296 2 , , PUNCT hjic-495 296 3 2004 2004 NUM hjic-495 296 4 , , PUNCT hjic-495 296 5 92(3 92(3 NOUN hjic-495 296 6 ) ) PUNCT hjic-495 296 7 , , PUNCT hjic-495 297 1 401–422 401–422 NUM hjic-495 297 2 [ [ X hjic-495 297 3 4 4 NUM hjic-495 297 4 ] ] PUNCT hjic-495 297 5 van van PROPN hjic-495 297 6 der der PROPN hjic-495 297 7 merwe merwe PROPN hjic-495 297 8 r. r. PROPN hjic-495 297 9 , , PUNCT hjic-495 297 10 wan wan PROPN hjic-495 297 11 e.a e.a PROPN hjic-495 297 12 . . PROPN hjic-495 297 13 , , PUNCT hjic-495 297 14 julier juli ADJ hjic-495 297 15 s. s. PROPN hjic-495 297 16 : : PUNCT hjic-495 297 17 sigma sigma PROPN hjic-495 297 18 - - PUNCT hjic-495 297 19 point point NOUN hjic-495 297 20 kalman kalman NOUN hjic-495 297 21 filters filter NOUN hjic-495 297 22 for for ADP hjic-495 297 23 nonlinear nonlinear ADJ hjic-495 297 24 estimation estimation NOUN hjic-495 297 25 and and CCONJ hjic-495 297 26 sensorfusion sensorfusion NOUN hjic-495 297 27 : : PUNCT hjic-495 297 28 applications application NOUN hjic-495 297 29 to to ADP hjic-495 297 30 integrated integrate VERB hjic-495 297 31 navigation navigation NOUN hjic-495 297 32 , , PUNCT hjic-495 297 33 proc proc NOUN hjic-495 297 34 . . PUNCT hjic-495 298 1 aiaa aiaa PROPN hjic-495 298 2 guidance guidance PROPN hjic-495 298 3 , , PUNCT hjic-495 298 4 navigation navigation PROPN hjic-495 298 5 & & CCONJ hjic-495 298 6 control control PROPN hjic-495 298 7 conference conference PROPN hjic-495 298 8 ( ( PUNCT hjic-495 298 9 gnc gnc PROPN hjic-495 298 10 ) ) PUNCT hjic-495 298 11 , , PUNCT hjic-495 298 12 providence providence NOUN hjic-495 298 13 , , PUNCT hjic-495 298 14 ri ri PROPN hjic-495 298 15 , , PUNCT hjic-495 298 16 u.s.a u.s.a PROPN hjic-495 298 17 . . PUNCT hjic-495 298 18 2004 2004 NUM hjic-495 299 1 [ [ X hjic-495 299 2 5 5 NUM hjic-495 299 3 ] ] X hjic-495 299 4 van van PROPN hjic-495 299 5 der der PROPN hjic-495 299 6 merwe merwe PROPN hjic-495 299 7 r. r. PROPN hjic-495 299 8 : : PUNCT hjic-495 299 9 sigma sigma PROPN hjic-495 299 10 - - PUNCT hjic-495 299 11 point point NOUN hjic-495 299 12 kalman kalman NOUN hjic-495 299 13 filters filter NOUN hjic-495 299 14 for for ADP hjic-495 299 15 probabilistic probabilistic ADJ hjic-495 299 16 inference inference NOUN hjic-495 299 17 in in ADP hjic-495 299 18 dynamic dynamic ADJ hjic-495 299 19 state state NOUN hjic-495 299 20 - - PUNCT hjic-495 299 21 space space NOUN hjic-495 299 22 models model NOUN hjic-495 299 23 , , PUNCT hjic-495 299 24 phd phd NOUN hjic-495 299 25 thesis thesis NOUN hjic-495 299 26 , , PUNCT hjic-495 299 27 oregon oregon PROPN hjic-495 299 28 health health PROPN hjic-495 299 29 & & CCONJ hjic-495 299 30 science science PROPN hjic-495 299 31 university university PROPN hjic-495 299 32 , , PUNCT hjic-495 299 33 eugene eugene NOUN hjic-495 299 34 , , PUNCT hjic-495 299 35 or or CCONJ hjic-495 299 36 , , PUNCT hjic-495 299 37 u.s.a u.s.a PROPN hjic-495 299 38 . . PROPN hjic-495 299 39 , , PUNCT hjic-495 299 40 2004 2004 NUM hjic-495 300 1 [ [ X hjic-495 300 2 6 6 NUM hjic-495 300 3 ] ] X hjic-495 300 4 julier julier PROPN hjic-495 300 5 s.j s.j PROPN hjic-495 300 6 . . PROPN hjic-495 300 7 , , PUNCT hjic-495 300 8 uhlmann uhlmann PROPN hjic-495 300 9 j.k j.k PROPN hjic-495 300 10 . . PUNCT hjic-495 300 11 : : PUNCT hjic-495 301 1 corrections correction NOUN hjic-495 301 2 to to ADP hjic-495 301 3 unscented unscente VERB hjic-495 301 4 filtering filtering NOUN hjic-495 301 5 and and CCONJ hjic-495 301 6 non non ADJ hjic-495 301 7 - - ADJ hjic-495 301 8 linear linear ADJ hjic-495 301 9 estimation estimation NOUN hjic-495 301 10 , , PUNCT hjic-495 301 11 proc proc NOUN hjic-495 301 12 . . PUNCT hjic-495 302 1 ieee ieee PROPN hjic-495 302 2 , , PUNCT hjic-495 302 3 2004 2004 NUM hjic-495 302 4 , , PUNCT hjic-495 302 5 92(12 92(12 NUM hjic-495 302 6 ) ) PUNCT hjic-495 302 7 , , PUNCT hjic-495 302 8 1958–1958 1958–1958 NUM hjic-495 302 9 [ [ X hjic-495 302 10 7 7 NUM hjic-495 302 11 ] ] X hjic-495 302 12 julier julier PROPN hjic-495 302 13 s.j s.j PROPN hjic-495 302 14 . . PROPN hjic-495 302 15 , , PUNCT hjic-495 302 16 uhlmann uhlmann PROPN hjic-495 302 17 j.k j.k PROPN hjic-495 302 18 . . PROPN hjic-495 302 19 : : PUNCT hjic-495 302 20 unscented unscente VERB hjic-495 302 21 filtering filtering NOUN hjic-495 302 22 and and CCONJ hjic-495 302 23 nonlinear nonlinear ADJ hjic-495 302 24 estimation estimation NOUN hjic-495 302 25 , , PUNCT hjic-495 302 26 proc proc NOUN hjic-495 302 27 . . PUNCT hjic-495 303 1 ieee ieee PROPN hjic-495 303 2 , , PUNCT hjic-495 303 3 2004 2004 NUM hjic-495 303 4 , , PUNCT hjic-495 303 5 92(3 92(3 NOUN hjic-495 303 6 ) ) PUNCT hjic-495 303 7 , , PUNCT hjic-495 304 1 401–422 401–422 NUM hjic-495 304 2 [ [ X hjic-495 304 3 8 8 X hjic-495 304 4 ] ] X hjic-495 304 5 wan wan PROPN hjic-495 304 6 e.a e.a PROPN hjic-495 304 7 . . PROPN hjic-495 304 8 , , PUNCT hjic-495 304 9 van van PROPN hjic-495 304 10 der der PROPN hjic-495 304 11 merwe merwe PROPN hjic-495 304 12 r. r. PROPN hjic-495 304 13 : : PUNCT hjic-495 304 14 the the DET hjic-495 304 15 unscented unscente VERB hjic-495 304 16 kalman kalman PROPN hjic-495 304 17 filter filter PROPN hjic-495 304 18 , , PUNCT hjic-495 304 19 in in ADP hjic-495 304 20 kalman kalman PROPN hjic-495 304 21 filtering filtering PROPN hjic-495 304 22 and and CCONJ hjic-495 304 23 neural neural ADJ hjic-495 304 24 networks network NOUN hjic-495 304 25 , , PUNCT hjic-495 304 26 ed ed NOUN hjic-495 304 27 . . PUNCT hjic-495 304 28 : : PUNCT hjic-495 305 1 haykin haykin PROPN hjic-495 305 2 s. s. PROPN hjic-495 305 3 , , PUNCT hjic-495 305 4 john john PROPN hjic-495 305 5 wiley wiley PROPN hjic-495 305 6 and and CCONJ hjic-495 305 7 sons son NOUN hjic-495 305 8 , , PUNCT hjic-495 305 9 new new PROPN hjic-495 305 10 york york PROPN hjic-495 305 11 , , PUNCT hjic-495 305 12 ny ny PROPN hjic-495 305 13 , , PUNCT hjic-495 305 14 u.s.a u.s.a PROPN hjic-495 305 15 . . PROPN hjic-495 305 16 , , PUNCT hjic-495 305 17 2001 2001 NUM hjic-495 305 18 , , PUNCT hjic-495 305 19 chapter chapter NOUN hjic-495 305 20 7 7 NUM hjic-495 305 21 [ [ X hjic-495 305 22 9 9 NUM hjic-495 305 23 ] ] SYM hjic-495 305 24 norgaard norgaard NOUN hjic-495 305 25 m. m. NOUN hjic-495 305 26 , , PUNCT hjic-495 305 27 poulsen poulsen PROPN hjic-495 305 28 n. n. NOUN hjic-495 305 29 , , PUNCT hjic-495 305 30 ravn ravn PROPN hjic-495 305 31 o. o. PROPN hjic-495 305 32 : : PUNCT hjic-495 305 33 advances advance NOUN hjic-495 305 34 in in ADP hjic-495 305 35 derivative derivative ADJ hjic-495 305 36 - - PUNCT hjic-495 305 37 free free ADJ hjic-495 305 38 state state NOUN hjic-495 305 39 estimation estimation NOUN hjic-495 305 40 for for ADP hjic-495 305 41 non non ADJ hjic-495 305 42 - - ADJ hjic-495 305 43 linear linear ADJ hjic-495 305 44 systems system NOUN hjic-495 305 45 tech tech NOUN hjic-495 305 46 . . PUNCT hjic-495 306 1 rep rep PROPN hjic-495 306 2 . . PROPN hjic-495 306 3 imm imm PROPN hjic-495 306 4 - - PUNCT hjic-495 306 5 rep-1998 rep-1998 NOUN hjic-495 306 6 - - PUNCT hjic-495 306 7 15 15 NUM hjic-495 306 8 , , PUNCT hjic-495 306 9 dept dept NOUN hjic-495 306 10 . . PROPN hjic-495 306 11 math math PROPN hjic-495 306 12 . . PUNCT hjic-495 307 1 modelling modelling PROPN hjic-495 307 2 , , PUNCT hjic-495 307 3 technical technical ADJ hjic-495 307 4 university university PROPN hjic-495 307 5 of of ADP hjic-495 307 6 denmark denmark PROPN hjic-495 307 7 , , PUNCT hjic-495 307 8 lyngby lyngby PROPN hjic-495 307 9 , , PUNCT hjic-495 307 10 denmark denmark PROPN hjic-495 307 11 , , PUNCT hjic-495 307 12 2000 2000 NUM hjic-495 307 13 [ [ X hjic-495 307 14 10 10 NUM hjic-495 307 15 ] ] X hjic-495 307 16 norgaard norgaard NOUN hjic-495 307 17 m. m. NOUN hjic-495 307 18 , , PUNCT hjic-495 307 19 poulsen poulsen PROPN hjic-495 307 20 n. n. NOUN hjic-495 307 21 , , PUNCT hjic-495 307 22 ravn ravn PROPN hjic-495 307 23 o. o. NOUN hjic-495 307 24 : : PUNCT hjic-495 307 25 new new ADJ hjic-495 307 26 developments development NOUN hjic-495 307 27 in in ADP hjic-495 307 28 state state NOUN hjic-495 307 29 estimation estimation NOUN hjic-495 307 30 for for ADP hjic-495 307 31 nonlinear nonlinear ADJ hjic-495 307 32 systems system NOUN hjic-495 307 33 , , PUNCT hjic-495 307 34 automatica automatica PROPN hjic-495 307 35 2000 2000 NUM hjic-495 307 36 , , PUNCT hjic-495 307 37 36(11 36(11 NUM hjic-495 307 38 ) ) PUNCT hjic-495 307 39 , , PUNCT hjic-495 307 40 1627–1638 1627–1638 ADJ hjic-495 307 41 [ [ X hjic-495 307 42 11 11 NUM hjic-495 307 43 ] ] X hjic-495 307 44 ito ito PROPN hjic-495 307 45 k. k. PROPN hjic-495 307 46 , , PUNCT hjic-495 307 47 xiong xiong PROPN hjic-495 307 48 k. k. PROPN hjic-495 307 49 : : PUNCT hjic-495 308 1 gaussian gaussian ADJ hjic-495 308 2 filters filter NOUN hjic-495 308 3 for for ADP hjic-495 308 4 nonlinear nonlinear ADJ hjic-495 308 5 filtering filtering NOUN hjic-495 308 6 problems problem NOUN hjic-495 308 7 , , PUNCT hjic-495 308 8 ieee ieee PROPN hjic-495 308 9 trans trans PROPN hjic-495 308 10 . . PUNCT hjic-495 309 1 automatic automatic ADJ hjic-495 309 2 control control NOUN hjic-495 309 3 2000 2000 NUM hjic-495 309 4 , , PUNCT hjic-495 309 5 45(5 45(5 NOUN hjic-495 309 6 ) ) PUNCT hjic-495 309 7 , , PUNCT hjic-495 310 1 910–927 910–927 NUM hjic-495 310 2 [ [ X hjic-495 310 3 12 12 NUM hjic-495 310 4 ] ] X hjic-495 310 5 van van PROPN hjic-495 310 6 der der PROPN hjic-495 310 7 merwe merwe PROPN hjic-495 310 8 r. r. PROPN hjic-495 310 9 , , PUNCT hjic-495 310 10 wan wan PROPN hjic-495 310 11 e. e. PROPN hjic-495 310 12 : : PUNCT hjic-495 310 13 efficient efficient ADJ hjic-495 310 14 derivative derivative ADJ hjic-495 310 15 - - PUNCT hjic-495 310 16 free free ADJ hjic-495 310 17 kalman kalman NOUN hjic-495 310 18 filters filter NOUN hjic-495 310 19 for for ADP hjic-495 310 20 online online ADJ hjic-495 310 21 learning learning NOUN hjic-495 310 22 , , PUNCT hjic-495 310 23 proc proc NOUN hjic-495 310 24 . . PUNCT hjic-495 311 1 9th 9th ADJ hjic-495 311 2 eur eur PROPN hjic-495 311 3 . . PUNCT hjic-495 312 1 symp symp PROPN hjic-495 312 2 . . PUNCT hjic-495 313 1 artificial artificial ADJ hjic-495 313 2 neural neural ADJ hjic-495 313 3 networks network NOUN hjic-495 313 4 ( ( PUNCT hjic-495 313 5 esann esann NOUN hjic-495 313 6 ) ) PUNCT hjic-495 313 7 bruges bruge NOUN hjic-495 313 8 , , PUNCT hjic-495 313 9 belgium belgium NOUN hjic-495 313 10 , , PUNCT hjic-495 313 11 2001 2001 NUM hjic-495 313 12 , , PUNCT hjic-495 313 13 205–210 205–210 NUM hjic-495 313 14 [ [ X hjic-495 313 15 13 13 NUM hjic-495 313 16 ] ] X hjic-495 313 17 van van PROPN hjic-495 313 18 der der PROPN hjic-495 313 19 merwe merwe PROPN hjic-495 313 20 r. r. PROPN hjic-495 313 21 , , PUNCT hjic-495 313 22 wan wan PROPN hjic-495 313 23 e. e. PROPN hjic-495 313 24 : : PUNCT hjic-495 313 25 the the DET hjic-495 313 26 square square ADJ hjic-495 313 27 - - PUNCT hjic-495 313 28 root root NOUN hjic-495 313 29 unscented unscente VERB hjic-495 313 30 kalman kalman NOUN hjic-495 313 31 filter filter PROPN hjic-495 313 32 for for ADP hjic-495 313 33 stateand stateand PROPN hjic-495 313 34 parameterestimation parameterestimation NOUN hjic-495 313 35 , , PUNCT hjic-495 313 36 proc proc NOUN hjic-495 313 37 . . PUNCT hjic-495 314 1 ieee ieee PROPN hjic-495 314 2 int int PROPN hjic-495 314 3 . . PUNCT hjic-495 315 1 conf conf PROPN hjic-495 315 2 . . PUNCT hjic-495 316 1 acoustics acoustic NOUN hjic-495 316 2 , , PUNCT hjic-495 316 3 speech speech NOUN hjic-495 316 4 , , PUNCT hjic-495 316 5 and and CCONJ hjic-495 316 6 signal signal NOUN hjic-495 316 7 processing processing NOUN hjic-495 316 8 ( ( PUNCT hjic-495 316 9 icassp icassp PROPN hjic-495 316 10 ) ) PUNCT hjic-495 316 11 , , PUNCT hjic-495 316 12 salt salt NOUN hjic-495 316 13 lake lake PROPN hjic-495 316 14 city city PROPN hjic-495 316 15 , , PUNCT hjic-495 316 16 ut ut PROPN hjic-495 316 17 , , PUNCT hjic-495 316 18 2001 2001 NUM hjic-495 316 19 , , PUNCT hjic-495 316 20 6 6 NUM hjic-495 316 21 , , PUNCT hjic-495 316 22 3461–3464 3461–3464 NUM hjic-495 316 23 [ [ X hjic-495 316 24 14 14 NUM hjic-495 316 25 ] ] X hjic-495 316 26 salam salam PROPN hjic-495 316 27 eran eran PROPN hjic-495 316 28 : : PUNCT hjic-495 316 29 filtering filter VERB hjic-495 316 30 algorithms algorithm NOUN hjic-495 316 31 and and CCONJ hjic-495 316 32 avionics avionic NOUN hjic-495 316 33 systems system NOUN hjic-495 316 34 for for ADP hjic-495 316 35 unmanned unmanned ADJ hjic-495 316 36 aerial aerial ADJ hjic-495 316 37 vehicles vehicle NOUN hjic-495 316 38 , , PUNCT hjic-495 316 39 phd phd NOUN hjic-495 316 40 thesis thesis NOUN hjic-495 316 41 , , PUNCT hjic-495 316 42 mines mine NOUN hjic-495 316 43 paristech paristech NOUN hjic-495 316 44 , , PUNCT hjic-495 316 45 paris paris PROPN hjic-495 316 46 , , PUNCT hjic-495 316 47 france france PROPN hjic-495 316 48 , , PUNCT hjic-495 316 49 2010 2010 NUM hjic-495 316 50 [ [ X hjic-495 316 51 15 15 NUM hjic-495 316 52 ] ] X hjic-495 316 53 bonnabel bonnabel PROPN hjic-495 316 54 s. s. PROPN hjic-495 316 55 , , PUNCT hjic-495 316 56 martin martin PROPN hjic-495 316 57 p. p. PROPN hjic-495 316 58 , , PUNCT hjic-495 316 59 rouchon rouchon PROPN hjic-495 316 60 p. p. NOUN hjic-495 316 61 : : PUNCT hjic-495 316 62 non non ADJ hjic-495 316 63 - - ADJ hjic-495 316 64 linear linear ADJ hjic-495 316 65 symmetry symmetry NOUN hjic-495 316 66 preserving preserve VERB hjic-495 316 67 observers observer NOUN hjic-495 316 68 on on ADP hjic-495 316 69 lie lie NOUN hjic-495 316 70 - - PUNCT hjic-495 316 71 groups group NOUN hjic-495 316 72 , , PUNCT hjic-495 316 73 ieee ieee NOUN hjic-495 316 74 transactions transaction NOUN hjic-495 316 75 on on ADP hjic-495 316 76 automatic automatic ADJ hjic-495 316 77 control control NOUN hjic-495 316 78 , , PUNCT hjic-495 316 79 2009 2009 NUM hjic-495 316 80 , , PUNCT hjic-495 316 81 54(7 54(7 NUM hjic-495 316 82 ) ) PUNCT hjic-495 316 83 , , PUNCT hjic-495 316 84 17091713 17091713 NUM hjic-495 317 1 [ [ X hjic-495 317 2 16 16 NUM hjic-495 317 3 ] ] PUNCT hjic-495 317 4 bonnabel bonnabel PROPN hjic-495 317 5 s. s. PROPN hjic-495 317 6 , , PUNCT hjic-495 317 7 martin martin PROPN hjic-495 317 8 p. p. PROPN hjic-495 317 9 , , PUNCT hjic-495 317 10 rouchon rouchon PROPN hjic-495 317 11 p. p. NOUN hjic-495 317 12 : : PUNCT hjic-495 317 13 symmetrypreserving symmetrypreserve VERB hjic-495 317 14 observers observer NOUN hjic-495 317 15 , , PUNCT hjic-495 317 16 ieee ieee NOUN hjic-495 317 17 transactions transaction NOUN hjic-495 317 18 on on ADP hjic-495 317 19 automatic automatic ADJ hjic-495 317 20 control control NOUN hjic-495 317 21 , , PUNCT hjic-495 317 22 2008 2008 NUM hjic-495 317 23 , , PUNCT hjic-495 317 24 53(11 53(11 NUM hjic-495 317 25 ) ) PUNCT hjic-495 317 26 , , PUNCT hjic-495 317 27 2514–2526 2514–2526 NUM hjic-495 317 28 [ [ X hjic-495 317 29 17 17 NUM hjic-495 317 30 ] ] PUNCT hjic-495 317 31 bonnabel bonnabel PROPN hjic-495 317 32 s. s. PROPN hjic-495 317 33 , , PUNCT hjic-495 317 34 martin martin PROPN hjic-495 317 35 p. p. PROPN hjic-495 317 36 , , PUNCT hjic-495 317 37 rouchon rouchon PROPN hjic-495 317 38 p. p. NOUN hjic-495 317 39 : : PUNCT hjic-495 317 40 a a DET hjic-495 317 41 non non ADJ hjic-495 317 42 - - ADJ hjic-495 317 43 linear linear ADJ hjic-495 317 44 symmetry symmetry NOUN hjic-495 317 45 - - PUNCT hjic-495 317 46 preserving preserve VERB hjic-495 317 47 observer observer NOUN hjic-495 317 48 for for ADP hjic-495 317 49 velocity velocity NOUN hjic-495 317 50 aided aid VERB hjic-495 317 51 inertial inertial ADJ hjic-495 317 52 navigation navigation NOUN hjic-495 317 53 , , PUNCT hjic-495 317 54 proc proc NOUN hjic-495 317 55 . . PUNCT hjic-495 318 1 2006 2006 NUM hjic-495 318 2 american american PROPN hjic-495 318 3 control control PROPN hjic-495 318 4 conference conference PROPN hjic-495 318 5 , , PUNCT hjic-495 318 6 minneapolis minneapolis PROPN hjic-495 318 7 , , PUNCT hjic-495 318 8 mn mn PROPN hjic-495 318 9 , , PUNCT hjic-495 318 10 u.s.a u.s.a PROPN hjic-495 318 11 . . PROPN hjic-495 318 12 , , PUNCT hjic-495 318 13 2006 2006 NUM hjic-495 319 1 [ [ X hjic-495 319 2 18 18 NUM hjic-495 319 3 ] ] PUNCT hjic-495 319 4 ayhanman ayhanman NOUN hjic-495 319 5 n. n. PROPN hjic-495 319 6 , , PUNCT hjic-495 319 7 rouchon rouchon PROPN hjic-495 319 8 p. p. NOUN hjic-495 319 9 : : PUNCT hjic-495 319 10 on on ADP hjic-495 319 11 invariant invariant ADJ hjic-495 319 12 asymptotic asymptotic ADJ hjic-495 319 13 observers observer NOUN hjic-495 319 14 , , PUNCT hjic-495 319 15 cdc cdc PROPN hjic-495 319 16 , , PUNCT hjic-495 319 17 2002 2002 NUM hjic-495 320 1 [ [ X hjic-495 320 2 19 19 NUM hjic-495 320 3 ] ] PUNCT hjic-495 320 4 rouchon rouchon PROPN hjic-495 320 5 p. p. PROPN hjic-495 320 6 , , PUNCT hjic-495 320 7 guillaume guillaume PROPN hjic-495 320 8 d. d. PROPN hjic-495 320 9 : : PUNCT hjic-495 320 10 observation observation NOUN hjic-495 320 11 and and CCONJ hjic-495 320 12 control control NOUN hjic-495 320 13 of of ADP hjic-495 320 14 simplified simplified ADJ hjic-495 320 15 car car NOUN hjic-495 320 16 , , PUNCT hjic-495 320 17 ifac ifac NOUN hjic-495 320 18 , , PUNCT hjic-495 320 19 1998 1998 NUM hjic-495 320 20 [ [ X hjic-495 320 21 20 20 NUM hjic-495 320 22 ] ] PUNCT hjic-495 320 23 bonnabel bonnabel PROPN hjic-495 320 24 s. s. PROPN hjic-495 320 25 : : PUNCT hjic-495 320 26 symmetries symmetry NOUN hjic-495 320 27 in in ADP hjic-495 320 28 observer observer NOUN hjic-495 320 29 design design NOUN hjic-495 320 30 : : PUNCT hjic-495 320 31 review review NOUN hjic-495 320 32 of of ADP hjic-495 320 33 some some DET hjic-495 320 34 recent recent ADJ hjic-495 320 35 results result NOUN hjic-495 320 36 and and CCONJ hjic-495 320 37 application application NOUN hjic-495 320 38 to to ADP hjic-495 320 39 ekf ekf PROPN hjic-495 320 40 - - PUNCT hjic-495 320 41 based base VERB hjic-495 320 42 slam slam NOUN hjic-495 320 43 , , PUNCT hjic-495 320 44 robot robot NOUN hjic-495 320 45 motion motion NOUN hjic-495 320 46 and and CCONJ hjic-495 320 47 control control NOUN hjic-495 320 48 2011 2011 NUM hjic-495 320 49 , , PUNCT hjic-495 320 50 lecture lecture NOUN hjic-495 320 51 notes note NOUN hjic-495 320 52 in in ADP hjic-495 320 53 control control NOUN hjic-495 320 54 and and CCONJ hjic-495 320 55 information information NOUN hjic-495 320 56 sciences science NOUN hjic-495 320 57 2012 2012 NUM hjic-495 320 58 , , PUNCT hjic-495 320 59 422 422 NUM hjic-495 320 60 , , PUNCT hjic-495 320 61 3–15 3–15 PROPN hjic-495 320 62 [ [ X hjic-495 320 63 21 21 NUM hjic-495 320 64 ] ] PUNCT hjic-495 320 65 collon collon PROPN hjic-495 320 66 c. c. PROPN hjic-495 320 67 , , PUNCT hjic-495 320 68 rudolph rudolph PROPN hjic-495 320 69 j. j. PROPN hjic-495 320 70 , , PUNCT hjic-495 320 71 woittennek woittennek PROPN hjic-495 320 72 f. f. PROPN hjic-495 320 73 : : PUNCT hjic-495 320 74 invariant invariant ADJ hjic-495 320 75 feedback feedback NOUN hjic-495 320 76 design design NOUN hjic-495 320 77 for for ADP hjic-495 320 78 control control NOUN hjic-495 320 79 systems system NOUN hjic-495 320 80 with with ADP hjic-495 320 81 liesymmetries liesymmetrie NOUN hjic-495 320 82 – – PUNCT hjic-495 320 83 a a DET hjic-495 320 84 kinematic kinematic ADJ hjic-495 320 85 car car NOUN hjic-495 320 86 example example NOUN hjic-495 320 87 , , PUNCT hjic-495 320 88 discrete discrete ADJ hjic-495 320 89 cont cont NOUN hjic-495 320 90 . . PUNCT hjic-495 321 1 dyn dyn PROPN hjic-495 321 2 . . PUNCT hjic-495 322 1 sys sys PROPN hjic-495 322 2 . . PROPN hjic-495 322 3 2011 2011 NUM hjic-495 322 4 , , PUNCT hjic-495 322 5 2(11 2(11 NUM hjic-495 322 6 ) ) PUNCT hjic-495 322 7 , , PUNCT hjic-495 322 8 312–321 312–321 NUM hjic-495 322 9 hungarian hungarian ADJ hjic-495 322 10 journal journal NOUN hjic-495 322 11 of of ADP hjic-495 322 12 industry industry NOUN hjic-495 322 13 and and CCONJ hjic-495 322 14 chemistry chemistry NOUN hjic-495 322 15 veszprém veszprém NOUN hjic-495 322 16 vol vol NOUN hjic-495 322 17 . . PUNCT hjic-495 323 1 42(2 42(2 NUM hjic-495 323 2 ) ) PUNCT hjic-495 324 1 pp pp ADV hjic-495 324 2 . . PUNCT hjic-495 325 1 65–70 65–70 NUM hjic-495 325 2 ( ( PUNCT hjic-495 325 3 2014 2014 NUM hjic-495 325 4 ) ) PUNCT hjic-495 325 5 telemedical telemedical ADJ hjic-495 325 6 heart heart NOUN hjic-495 325 7 rate rate NOUN hjic-495 325 8 measurements measurement NOUN hjic-495 325 9 for for ADP hjic-495 325 10 lifestyle lifestyle NOUN hjic-495 325 11 counselling counselling PROPN hjic-495 325 12 mario mario PROPN hjic-495 325 13 salai salai PROPN hjic-495 325 14 , , PUNCT hjic-495 325 15 ! ! PUNCT hjic-495 326 1 gergely gergely ADV hjic-495 326 2 tuboly tuboly ADJ hjic-495 326 3 , , PUNCT hjic-495 326 4 istván istván NOUN hjic-495 326 5 vassányi vassányi NOUN hjic-495 326 6 , , PUNCT hjic-495 326 7 and and CCONJ hjic-495 326 8 istván istván NOUN hjic-495 326 9 kósa kósa VERB hjic-495 326 10 faculty faculty NOUN hjic-495 326 11 of of ADP hjic-495 326 12 information information NOUN hjic-495 326 13 technology technology NOUN hjic-495 326 14 , , PUNCT hjic-495 326 15 university university NOUN hjic-495 326 16 of of ADP hjic-495 326 17 pannonia pannonia PROPN hjic-495 326 18 , , PUNCT hjic-495 326 19 egyetem egyetem PROPN hjic-495 326 20 u. u. PROPN hjic-495 326 21 10.,veszprém 10.,veszprém PROPN hjic-495 326 22 , , PUNCT hjic-495 326 23 8200 8200 NUM hjic-495 326 24 , , PUNCT hjic-495 326 25 hungary hungary NOUN hjic-495 326 26 ! ! PUNCT hjic-495 327 1 email email NOUN hjic-495 327 2 : : PUNCT hjic-495 327 3 mario.salai@gmail.com mario.salai@gmail.com NUM hjic-495 327 4 in in ADP hjic-495 327 5 this this DET hjic-495 327 6 paper paper NOUN hjic-495 327 7 we we PRON hjic-495 327 8 analyse analyse VERB hjic-495 327 9 a a DET hjic-495 327 10 low low ADJ hjic-495 327 11 - - PUNCT hjic-495 327 12 cost cost NOUN hjic-495 327 13 commercial commercial ADJ hjic-495 327 14 chest chest NOUN hjic-495 327 15 belt belt NOUN hjic-495 327 16 to to PART hjic-495 327 17 be be AUX hjic-495 327 18 integrated integrate VERB hjic-495 327 19 into into ADP hjic-495 327 20 a a DET hjic-495 327 21 lifestyle lifestyle NOUN hjic-495 327 22 counselling counselling NOUN hjic-495 327 23 system system NOUN hjic-495 327 24 as as ADP hjic-495 327 25 a a DET hjic-495 327 26 source source NOUN hjic-495 327 27 of of ADP hjic-495 327 28 heart heart NOUN hjic-495 327 29 rate rate NOUN hjic-495 327 30 data datum NOUN hjic-495 327 31 . . PUNCT hjic-495 328 1 we we PRON hjic-495 328 2 compared compare VERB hjic-495 328 3 data datum NOUN hjic-495 328 4 from from ADP hjic-495 328 5 a a DET hjic-495 328 6 schiller schiller NOUN hjic-495 328 7 ecg ecg PROPN hjic-495 328 8 holter holter NOUN hjic-495 328 9 device device NOUN hjic-495 328 10 , , PUNCT hjic-495 328 11 which which PRON hjic-495 328 12 serves serve VERB hjic-495 328 13 as as ADP hjic-495 328 14 a a DET hjic-495 328 15 reference reference NOUN hjic-495 328 16 to to ADP hjic-495 328 17 a a DET hjic-495 328 18 cardiosport cardiosport NOUN hjic-495 328 19 device device NOUN hjic-495 328 20 . . PUNCT hjic-495 329 1 due due ADP hjic-495 329 2 to to ADP hjic-495 329 3 missing miss VERB hjic-495 329 4 data datum NOUN hjic-495 329 5 in in ADP hjic-495 329 6 the the DET hjic-495 329 7 cardiosport cardiosport NOUN hjic-495 329 8 device device NOUN hjic-495 329 9 caused cause VERB hjic-495 329 10 by by ADP hjic-495 329 11 loss loss NOUN hjic-495 329 12 of of ADP hjic-495 329 13 contact contact NOUN hjic-495 329 14 with with ADP hjic-495 329 15 the the DET hjic-495 329 16 body body NOUN hjic-495 329 17 , , PUNCT hjic-495 329 18 the the DET hjic-495 329 19 creation creation NOUN hjic-495 329 20 of of ADP hjic-495 329 21 special special ADJ hjic-495 329 22 algorithms algorithm NOUN hjic-495 329 23 was be AUX hjic-495 329 24 necessary necessary ADJ hjic-495 329 25 for for ADP hjic-495 329 26 synchronization synchronization NOUN hjic-495 329 27 and and CCONJ hjic-495 329 28 data datum NOUN hjic-495 329 29 validation validation NOUN hjic-495 329 30 . . PUNCT hjic-495 330 1 the the DET hjic-495 330 2 results result NOUN hjic-495 330 3 show show VERB hjic-495 330 4 that that SCONJ hjic-495 330 5 when when SCONJ hjic-495 330 6 using use VERB hjic-495 330 7 our our PRON hjic-495 330 8 synchronization synchronization NOUN hjic-495 330 9 algorithms algorithm NOUN hjic-495 330 10 the the DET hjic-495 330 11 average average ADJ hjic-495 330 12 absolute absolute ADJ hjic-495 330 13 percentage percentage NOUN hjic-495 330 14 error error NOUN hjic-495 330 15 between between ADP hjic-495 330 16 the the DET hjic-495 330 17 two two NUM hjic-495 330 18 signals signal NOUN hjic-495 330 19 was be AUX hjic-495 330 20 2 2 NUM hjic-495 330 21 % % NOUN hjic-495 330 22 with with ADP hjic-495 330 23 correlation correlation NOUN hjic-495 330 24 of of ADP hjic-495 330 25 more more ADJ hjic-495 330 26 than than ADP hjic-495 330 27 99 99 NUM hjic-495 330 28 % % NOUN hjic-495 330 29 . . PUNCT hjic-495 331 1 using use VERB hjic-495 331 2 a a DET hjic-495 331 3 data data NOUN hjic-495 331 4 validation validation NOUN hjic-495 331 5 algorithm algorithm NOUN hjic-495 331 6 , , PUNCT hjic-495 331 7 we we PRON hjic-495 331 8 were be AUX hjic-495 331 9 able able ADJ hjic-495 331 10 to to PART hjic-495 331 11 get get VERB hjic-495 331 12 on on ADP hjic-495 331 13 average average ADJ hjic-495 331 14 more more ADJ hjic-495 331 15 than than ADP hjic-495 331 16 70 70 NUM hjic-495 331 17 % % NOUN hjic-495 331 18 of of ADP hjic-495 331 19 the the DET hjic-495 331 20 signal signal NOUN hjic-495 331 21 with with ADP hjic-495 331 22 an an DET hjic-495 331 23 absolute absolute ADJ hjic-495 331 24 percentage percentage NOUN hjic-495 331 25 error error NOUN hjic-495 331 26 of of ADP hjic-495 331 27 3 3 NUM hjic-495 331 28 % % NOUN hjic-495 331 29 and and CCONJ hjic-495 331 30 a a DET hjic-495 331 31 high high ADJ hjic-495 331 32 average average ADJ hjic-495 331 33 correlation correlation NOUN hjic-495 331 34 of of ADP hjic-495 331 35 99 99 NUM hjic-495 331 36 % % NOUN hjic-495 331 37 . . PUNCT hjic-495 332 1 the the DET hjic-495 332 2 mean mean PROPN hjic-495 332 3 rr rr NOUN hjic-495 332 4 interval interval NOUN hjic-495 332 5 values value NOUN hjic-495 332 6 and and CCONJ hjic-495 332 7 standard standard ADJ hjic-495 332 8 deviation deviation NOUN hjic-495 332 9 of of ADP hjic-495 332 10 rr rr NOUN hjic-495 332 11 intervals interval NOUN hjic-495 332 12 are be AUX hjic-495 332 13 very very ADV hjic-495 332 14 close close ADJ hjic-495 332 15 to to ADP hjic-495 332 16 those those PRON hjic-495 332 17 of of ADP hjic-495 332 18 the the DET hjic-495 332 19 reference reference NOUN hjic-495 332 20 device device NOUN hjic-495 332 21 using use VERB hjic-495 332 22 both both CCONJ hjic-495 332 23 the the DET hjic-495 332 24 synchronization synchronization NOUN hjic-495 332 25 and and CCONJ hjic-495 332 26 data datum NOUN hjic-495 332 27 validation validation NOUN hjic-495 332 28 algorithms algorithm NOUN hjic-495 332 29 . . PUNCT hjic-495 333 1 when when SCONJ hjic-495 333 2 using use VERB hjic-495 333 3 the the DET hjic-495 333 4 data data NOUN hjic-495 333 5 validation validation NOUN hjic-495 333 6 algorithm algorithm NOUN hjic-495 333 7 , , PUNCT hjic-495 333 8 the the DET hjic-495 333 9 reference reference NOUN hjic-495 333 10 measurements measurement NOUN hjic-495 333 11 produced produce VERB hjic-495 333 12 only only ADV hjic-495 333 13 slightly slightly ADV hjic-495 333 14 better well ADJ hjic-495 333 15 results result NOUN hjic-495 333 16 with with ADP hjic-495 333 17 regard regard NOUN hjic-495 333 18 to to ADP hjic-495 333 19 false false ADJ hjic-495 333 20 detections detection NOUN hjic-495 333 21 of of ADP hjic-495 333 22 atrial atrial ADJ hjic-495 333 23 defibrillation defibrillation NOUN hjic-495 333 24 than than ADP hjic-495 333 25 the the DET hjic-495 333 26 cardiosport cardiosport NOUN hjic-495 333 27 device device NOUN hjic-495 333 28 . . PUNCT hjic-495 334 1 in in ADP hjic-495 334 2 conclusion conclusion NOUN hjic-495 334 3 , , PUNCT hjic-495 334 4 we we PRON hjic-495 334 5 found find VERB hjic-495 334 6 that that SCONJ hjic-495 334 7 with with ADP hjic-495 334 8 a a DET hjic-495 334 9 simple simple ADJ hjic-495 334 10 preprocessing preprocessing NOUN hjic-495 334 11 algorithm algorithm NOUN hjic-495 334 12 , , PUNCT hjic-495 334 13 cardiosport cardiosport NOUN hjic-495 334 14 as as ADP hjic-495 334 15 a a DET hjic-495 334 16 low low ADJ hjic-495 334 17 - - PUNCT hjic-495 334 18 cost cost NOUN hjic-495 334 19 device device NOUN hjic-495 334 20 can can AUX hjic-495 334 21 be be AUX hjic-495 334 22 safely safely ADV hjic-495 334 23 integrated integrate VERB hjic-495 334 24 into into ADP hjic-495 334 25 a a DET hjic-495 334 26 lifestyle lifestyle NOUN hjic-495 334 27 support support NOUN hjic-495 334 28 system system NOUN hjic-495 334 29 as as ADP hjic-495 334 30 a a DET hjic-495 334 31 telemedical telemedical ADJ hjic-495 334 32 solution solution NOUN hjic-495 334 33 . . PUNCT hjic-495 335 1 keywords keyword NOUN hjic-495 335 2 : : PUNCT hjic-495 335 3 telemedicine telemedicine NOUN hjic-495 335 4 , , PUNCT hjic-495 335 5 lifestyle lifestyle NOUN hjic-495 335 6 counselling counselling NOUN hjic-495 335 7 , , PUNCT hjic-495 335 8 heart heart NOUN hjic-495 335 9 rate rate NOUN hjic-495 335 10 monitor monitor NOUN hjic-495 335 11 introduction introduction NOUN hjic-495 335 12 low low ADJ hjic-495 335 13 - - PUNCT hjic-495 335 14 cost cost NOUN hjic-495 335 15 telemedical telemedical ADJ hjic-495 335 16 sensors sensor NOUN hjic-495 335 17 are be AUX hjic-495 335 18 often often ADV hjic-495 335 19 used use VERB hjic-495 335 20 in in ADP hjic-495 335 21 modern modern ADJ hjic-495 335 22 ambient ambient NOUN hjic-495 335 23 assisted assist VERB hjic-495 335 24 living live VERB hjic-495 335 25 ( ( PUNCT hjic-495 335 26 aal aal NOUN hjic-495 335 27 ) ) PUNCT hjic-495 335 28 telemonitoring telemonitoring NOUN hjic-495 335 29 and and CCONJ hjic-495 335 30 selfmanagement selfmanagement NOUN hjic-495 335 31 systems system NOUN hjic-495 335 32 for for ADP hjic-495 335 33 providing provide VERB hjic-495 335 34 inputs input NOUN hjic-495 335 35 to to ADP hjic-495 335 36 medical medical ADJ hjic-495 335 37 intelligence intelligence NOUN hjic-495 335 38 algorithms algorithm NOUN hjic-495 335 39 [ [ X hjic-495 335 40 1 1 NUM hjic-495 335 41 ] ] PUNCT hjic-495 335 42 . . PUNCT hjic-495 336 1 such such ADJ hjic-495 336 2 systems system NOUN hjic-495 336 3 extend extend VERB hjic-495 336 4 the the DET hjic-495 336 5 scope scope NOUN hjic-495 336 6 of of ADP hjic-495 336 7 traditional traditional ADJ hjic-495 336 8 health health NOUN hjic-495 336 9 care care NOUN hjic-495 336 10 that that PRON hjic-495 336 11 is be AUX hjic-495 336 12 based base VERB hjic-495 336 13 purely purely ADV hjic-495 336 14 on on ADP hjic-495 336 15 data datum NOUN hjic-495 336 16 measurement measurement NOUN hjic-495 336 17 . . PUNCT hjic-495 337 1 however however ADV hjic-495 337 2 , , PUNCT hjic-495 337 3 the the DET hjic-495 337 4 proper proper ADJ hjic-495 337 5 interpretation interpretation NOUN hjic-495 337 6 and and CCONJ hjic-495 337 7 reliability reliability NOUN hjic-495 337 8 of of ADP hjic-495 337 9 the the DET hjic-495 337 10 results result NOUN hjic-495 337 11 depends depend VERB hjic-495 337 12 on on ADP hjic-495 337 13 the the DET hjic-495 337 14 reliability reliability NOUN hjic-495 337 15 of of ADP hjic-495 337 16 the the DET hjic-495 337 17 measured measure VERB hjic-495 337 18 data datum NOUN hjic-495 337 19 and and CCONJ hjic-495 337 20 the the DET hjic-495 337 21 sensor sensor NOUN hjic-495 337 22 itself itself PRON hjic-495 337 23 . . PUNCT hjic-495 338 1 nevertheless nevertheless ADV hjic-495 338 2 , , PUNCT hjic-495 338 3 there there PRON hjic-495 338 4 are be VERB hjic-495 338 5 still still ADV hjic-495 338 6 surprisingly surprisingly ADV hjic-495 338 7 few few ADJ hjic-495 338 8 reviews review NOUN hjic-495 338 9 reported report VERB hjic-495 338 10 in in ADP hjic-495 338 11 the the DET hjic-495 338 12 literature literature NOUN hjic-495 338 13 to to ADP hjic-495 338 14 date date NOUN hjic-495 338 15 on on ADP hjic-495 338 16 the the DET hjic-495 338 17 validation validation NOUN hjic-495 338 18 of of ADP hjic-495 338 19 the the DET hjic-495 338 20 information information NOUN hjic-495 338 21 content content NOUN hjic-495 338 22 of of ADP hjic-495 338 23 such such ADJ hjic-495 338 24 low low ADJ hjic-495 338 25 - - PUNCT hjic-495 338 26 cost cost NOUN hjic-495 338 27 sensors sensor NOUN hjic-495 338 28 compared compare VERB hjic-495 338 29 to to ADP hjic-495 338 30 the the DET hjic-495 338 31 clinically clinically ADV hjic-495 338 32 accepted accept VERB hjic-495 338 33 reference reference NOUN hjic-495 338 34 device device NOUN hjic-495 338 35 . . PUNCT hjic-495 339 1 an an DET hjic-495 339 2 example example NOUN hjic-495 339 3 of of ADP hjic-495 339 4 a a DET hjic-495 339 5 device device NOUN hjic-495 339 6 that that PRON hjic-495 339 7 was be AUX hjic-495 339 8 tested test VERB hjic-495 339 9 for for ADP hjic-495 339 10 validity validity NOUN hjic-495 339 11 is be AUX hjic-495 339 12 the the DET hjic-495 339 13 sensewear sensewear ADJ hjic-495 339 14 hr hr PROPN hjic-495 339 15 armband armband PROPN hjic-495 340 1 [ [ X hjic-495 340 2 2 2 NUM hjic-495 340 3 ] ] PUNCT hjic-495 340 4 . . PUNCT hjic-495 341 1 in in ADP hjic-495 341 2 this this DET hjic-495 341 3 study study NOUN hjic-495 341 4 , , PUNCT hjic-495 341 5 they they PRON hjic-495 341 6 used use VERB hjic-495 341 7 the the DET hjic-495 341 8 reference reference NOUN hjic-495 341 9 device device NOUN hjic-495 341 10 simultaneously simultaneously ADV hjic-495 341 11 with with ADP hjic-495 341 12 the the DET hjic-495 341 13 tested test VERB hjic-495 341 14 device device NOUN hjic-495 341 15 as as ADP hjic-495 341 16 a a DET hjic-495 341 17 way way NOUN hjic-495 341 18 of of ADP hjic-495 341 19 validating validate VERB hjic-495 341 20 data datum NOUN hjic-495 341 21 . . PUNCT hjic-495 342 1 however however ADV hjic-495 342 2 , , PUNCT hjic-495 342 3 most most ADJ hjic-495 342 4 of of ADP hjic-495 342 5 the the DET hjic-495 342 6 compared compare VERB hjic-495 342 7 devices device NOUN hjic-495 342 8 are be AUX hjic-495 342 9 expensive expensive ADJ hjic-495 342 10 high high ADJ hjic-495 342 11 - - PUNCT hjic-495 342 12 end end NOUN hjic-495 342 13 devices device NOUN hjic-495 342 14 , , PUNCT hjic-495 342 15 which which PRON hjic-495 342 16 present present VERB hjic-495 342 17 an an DET hjic-495 342 18 obstacle obstacle NOUN hjic-495 342 19 for for ADP hjic-495 342 20 their their PRON hjic-495 342 21 wide wide ADJ hjic-495 342 22 use use NOUN hjic-495 342 23 in in ADP hjic-495 342 24 telemedicine telemedicine NOUN hjic-495 342 25 . . PUNCT hjic-495 343 1 in in ADP hjic-495 343 2 this this DET hjic-495 343 3 proof proof NOUN hjic-495 343 4 - - PUNCT hjic-495 343 5 of of ADP hjic-495 343 6 - - PUNCT hjic-495 343 7 concept concept NOUN hjic-495 343 8 paper paper NOUN hjic-495 343 9 , , PUNCT hjic-495 343 10 we we PRON hjic-495 343 11 analyse analyse VERB hjic-495 343 12 a a DET hjic-495 343 13 simple simple ADJ hjic-495 343 14 commercial commercial ADJ hjic-495 343 15 chest chest NOUN hjic-495 343 16 belt belt NOUN hjic-495 343 17 chosen choose VERB hjic-495 343 18 to to PART hjic-495 343 19 be be AUX hjic-495 343 20 integrated integrate VERB hjic-495 343 21 into into ADP hjic-495 343 22 the the DET hjic-495 343 23 lavinia lavinia PROPN hjic-495 343 24 lifestyle lifestyle PROPN hjic-495 343 25 mirror mirror NOUN hjic-495 343 26 system system NOUN hjic-495 343 27 [ [ X hjic-495 343 28 3 3 X hjic-495 343 29 ] ] PUNCT hjic-495 343 30 as as ADP hjic-495 343 31 a a DET hjic-495 343 32 source source NOUN hjic-495 343 33 of of ADP hjic-495 343 34 heart heart NOUN hjic-495 343 35 rate rate NOUN hjic-495 343 36 ( ( PUNCT hjic-495 343 37 hr hr NOUN hjic-495 343 38 ) ) PUNCT hjic-495 343 39 data datum NOUN hjic-495 343 40 . . PUNCT hjic-495 344 1 in in ADP hjic-495 344 2 the the DET hjic-495 344 3 lavinia lavinia PROPN hjic-495 344 4 system system NOUN hjic-495 344 5 , , PUNCT hjic-495 344 6 the the DET hjic-495 344 7 hr hr NOUN hjic-495 344 8 signal signal NOUN hjic-495 344 9 of of ADP hjic-495 344 10 the the DET hjic-495 344 11 patient patient NOUN hjic-495 344 12 will will AUX hjic-495 344 13 be be AUX hjic-495 344 14 used use VERB hjic-495 344 15 to to ADP hjic-495 344 16 ( ( PUNCT hjic-495 344 17 i i NOUN hjic-495 344 18 ) ) PUNCT hjic-495 344 19 estimate estimate VERB hjic-495 344 20 the the DET hjic-495 344 21 calories calorie NOUN hjic-495 344 22 burnt burn VERB hjic-495 344 23 by by ADP hjic-495 344 24 physical physical ADJ hjic-495 344 25 activity activity NOUN hjic-495 344 26 , , PUNCT hjic-495 344 27 ( ( PUNCT hjic-495 344 28 ii ii NOUN hjic-495 344 29 ) ) PUNCT hjic-495 344 30 calculate calculate VERB hjic-495 344 31 the the DET hjic-495 344 32 heart heart NOUN hjic-495 344 33 rate rate NOUN hjic-495 344 34 variability variability NOUN hjic-495 344 35 ( ( PUNCT hjic-495 344 36 hrv hrv NOUN hjic-495 344 37 ) ) PUNCT hjic-495 344 38 in in ADP hjic-495 344 39 order order NOUN hjic-495 344 40 to to PART hjic-495 344 41 detect detect VERB hjic-495 344 42 periods period NOUN hjic-495 344 43 of of ADP hjic-495 344 44 mental mental ADJ hjic-495 344 45 or or CCONJ hjic-495 344 46 emotional emotional ADJ hjic-495 344 47 stress stress NOUN hjic-495 344 48 , , PUNCT hjic-495 344 49 and and CCONJ hjic-495 344 50 ( ( PUNCT hjic-495 344 51 iii iii X hjic-495 344 52 ) ) PUNCT hjic-495 344 53 analyse analyse NOUN hjic-495 344 54 arrhythmia arrhythmia NOUN hjic-495 344 55 patterns pattern NOUN hjic-495 344 56 ( ( PUNCT hjic-495 344 57 poincare poincare PROPN hjic-495 344 58 plots plot NOUN hjic-495 344 59 ) ) PUNCT hjic-495 344 60 for for ADP hjic-495 344 61 atrial atrial ADJ hjic-495 344 62 fibrillation fibrillation NOUN hjic-495 344 63 detection detection NOUN hjic-495 344 64 . . PUNCT hjic-495 345 1 our our PRON hjic-495 345 2 approach approach NOUN hjic-495 345 3 involves involve VERB hjic-495 345 4 the the DET hjic-495 345 5 comparison comparison NOUN hjic-495 345 6 of of ADP hjic-495 345 7 the the DET hjic-495 345 8 hrv hrv NOUN hjic-495 345 9 and and CCONJ hjic-495 345 10 poincare poincare PROPN hjic-495 345 11 plots plot NOUN hjic-495 345 12 computed compute VERB hjic-495 345 13 from from ADP hjic-495 345 14 the the DET hjic-495 345 15 filtered filter VERB hjic-495 345 16 chest chest NOUN hjic-495 345 17 belt belt NOUN hjic-495 345 18 signal signal NOUN hjic-495 345 19 , , PUNCT hjic-495 345 20 with with ADP hjic-495 345 21 those those DET hjic-495 345 22 parameters parameter NOUN hjic-495 345 23 computed compute VERB hjic-495 345 24 from from ADP hjic-495 345 25 a a DET hjic-495 345 26 reference reference NOUN hjic-495 345 27 holter holter NOUN hjic-495 345 28 device device NOUN hjic-495 345 29 . . PUNCT hjic-495 346 1 methods method NOUN hjic-495 346 2 measurements measurement VERB hjic-495 346 3 two two NUM hjic-495 346 4 devices device NOUN hjic-495 346 5 were be AUX hjic-495 346 6 used use VERB hjic-495 346 7 simultaneously simultaneously ADV hjic-495 346 8 by by ADP hjic-495 346 9 a a DET hjic-495 346 10 healthy healthy ADJ hjic-495 346 11 volunteer volunteer NOUN hjic-495 346 12 over over ADP hjic-495 346 13 a a DET hjic-495 346 14 24 24 NUM hjic-495 346 15 hour hour NOUN hjic-495 346 16 period period NOUN hjic-495 346 17 . . PUNCT hjic-495 347 1 a a DET hjic-495 347 2 schiller schiller NOUN hjic-495 347 3 mt101 mt101 PROPN hjic-495 347 4 / / SYM hjic-495 347 5 mt-200 mt-200 PROPN hjic-495 347 6 holter holter ADJ hjic-495 347 7 device device NOUN hjic-495 347 8 was be AUX hjic-495 347 9 our our PRON hjic-495 347 10 reference reference NOUN hjic-495 347 11 device device NOUN hjic-495 347 12 designed design VERB hjic-495 347 13 for for ADP hjic-495 347 14 clinical clinical ADJ hjic-495 347 15 use use NOUN hjic-495 347 16 . . PUNCT hjic-495 348 1 the the DET hjic-495 348 2 chest chest NOUN hjic-495 348 3 belt belt NOUN hjic-495 348 4 was be AUX hjic-495 348 5 a a DET hjic-495 348 6 cardiosport cardiosport NOUN hjic-495 348 7 tp3 tp3 NOUN hjic-495 348 8 heart heart NOUN hjic-495 348 9 rate rate NOUN hjic-495 348 10 transmitter transmitter NOUN hjic-495 348 11 device device NOUN hjic-495 348 12 . . PUNCT hjic-495 349 1 since since SCONJ hjic-495 349 2 this this DET hjic-495 349 3 device device NOUN hjic-495 349 4 does do AUX hjic-495 349 5 not not PART hjic-495 349 6 have have VERB hjic-495 349 7 its its PRON hjic-495 349 8 own own ADJ hjic-495 349 9 memory memory NOUN hjic-495 349 10 for for ADP hjic-495 349 11 storing store VERB hjic-495 349 12 data datum NOUN hjic-495 349 13 , , PUNCT hjic-495 349 14 we we PRON hjic-495 349 15 used use VERB hjic-495 349 16 a a DET hjic-495 349 17 nexus nexus NOUN hjic-495 349 18 7 7 NUM hjic-495 349 19 tablet tablet NOUN hjic-495 349 20 with with ADP hjic-495 349 21 android android PROPN hjic-495 349 22 version version PROPN hjic-495 349 23 4.4.2 4.4.2 NUM hjic-495 349 24 to to PART hjic-495 349 25 connect connect VERB hjic-495 349 26 the the DET hjic-495 349 27 device device NOUN hjic-495 349 28 via via ADP hjic-495 349 29 the the DET hjic-495 349 30 bluetooth bluetooth PROPN hjic-495 349 31 4.0 4.0 NUM hjic-495 349 32 protocol protocol NOUN hjic-495 349 33 and and CCONJ hjic-495 349 34 store store VERB hjic-495 349 35 the the DET hjic-495 349 36 measured measured ADJ hjic-495 349 37 data datum NOUN hjic-495 349 38 on on ADP hjic-495 349 39 the the DET hjic-495 349 40 tablet tablet NOUN hjic-495 349 41 . . PUNCT hjic-495 350 1 although although SCONJ hjic-495 350 2 both both DET hjic-495 350 3 devices device NOUN hjic-495 350 4 were be AUX hjic-495 350 5 worn wear VERB hjic-495 350 6 by by ADP hjic-495 350 7 volunteers volunteer NOUN hjic-495 350 8 for for ADP hjic-495 350 9 24 24 NUM hjic-495 350 10 hours hour NOUN hjic-495 350 11 , , PUNCT hjic-495 350 12 only only ADV hjic-495 350 13 12 12 NUM hjic-495 350 14 hours hour NOUN hjic-495 350 15 of of ADP hjic-495 350 16 the the DET hjic-495 350 17 overall overall ADJ hjic-495 350 18 signal signal NOUN hjic-495 350 19 were be AUX hjic-495 350 20 used use VERB hjic-495 350 21 for for ADP hjic-495 350 22 analysis analysis NOUN hjic-495 350 23 due due ADP hjic-495 350 24 to to ADP hjic-495 350 25 frequent frequent ADJ hjic-495 350 26 detachments detachment NOUN hjic-495 350 27 of of ADP hjic-495 350 28 the the DET hjic-495 350 29 device device NOUN hjic-495 350 30 from from ADP hjic-495 350 31 the the DET hjic-495 350 32 body body NOUN hjic-495 350 33 during during ADP hjic-495 350 34 nighttime nighttime NOUN hjic-495 350 35 . . PUNCT hjic-495 351 1 the the DET hjic-495 351 2 measurements measurement NOUN hjic-495 351 3 of of ADP hjic-495 351 4 12 12 NUM hjic-495 351 5 hours hour NOUN hjic-495 351 6 were be AUX hjic-495 351 7 repeated repeat VERB hjic-495 351 8 on on ADP hjic-495 351 9 4 4 NUM hjic-495 351 10 additional additional ADJ hjic-495 351 11 healthy healthy ADJ hjic-495 351 12 male male ADJ hjic-495 351 13 subjects subject NOUN hjic-495 351 14 . . PUNCT hjic-495 352 1 signal signal VERB hjic-495 352 2 analysis analysis NOUN hjic-495 352 3 the the DET hjic-495 352 4 direct direct ADJ hjic-495 352 5 comparison comparison NOUN hjic-495 352 6 of of ADP hjic-495 352 7 measured measured ADJ hjic-495 352 8 data datum NOUN hjic-495 352 9 was be AUX hjic-495 352 10 not not PART hjic-495 352 11 possible possible ADJ hjic-495 352 12 due due ADP hjic-495 352 13 to to ADP hjic-495 352 14 the the DET hjic-495 352 15 different different ADJ hjic-495 352 16 designs design NOUN hjic-495 352 17 of of ADP hjic-495 352 18 the the DET hjic-495 352 19 reference reference NOUN hjic-495 352 20 and and CCONJ hjic-495 352 21 the the DET hjic-495 352 22 telemedical telemedical ADJ hjic-495 352 23 devices device NOUN hjic-495 352 24 . . PUNCT hjic-495 353 1 however however ADV hjic-495 353 2 , , PUNCT hjic-495 353 3 we we PRON hjic-495 353 4 wanted want VERB hjic-495 353 5 to to PART hjic-495 353 6 66 66 NUM hjic-495 353 7 compare compare NOUN hjic-495 353 8 signals signal NOUN hjic-495 353 9 directly directly ADV hjic-495 353 10 in in ADP hjic-495 353 11 terms term NOUN hjic-495 353 12 of of ADP hjic-495 353 13 time time NOUN hjic-495 353 14 and and CCONJ hjic-495 353 15 also also ADV hjic-495 353 16 to to PART hjic-495 353 17 develop develop VERB hjic-495 353 18 a a DET hjic-495 353 19 data datum NOUN hjic-495 353 20 validation validation NOUN hjic-495 353 21 algorithm algorithm NOUN hjic-495 353 22 for for ADP hjic-495 353 23 removing remove VERB hjic-495 353 24 the the DET hjic-495 353 25 noisy noisy ADJ hjic-495 353 26 parts part NOUN hjic-495 353 27 of of ADP hjic-495 353 28 the the DET hjic-495 353 29 cardiosport cardiosport NOUN hjic-495 353 30 device device NOUN hjic-495 353 31 measurements measurement NOUN hjic-495 353 32 reliably reliably ADV hjic-495 353 33 without without ADP hjic-495 353 34 using use VERB hjic-495 353 35 the the DET hjic-495 353 36 reference reference NOUN hjic-495 353 37 data datum NOUN hjic-495 353 38 . . PUNCT hjic-495 354 1 the the DET hjic-495 354 2 problem problem NOUN hjic-495 354 3 was be AUX hjic-495 354 4 that that SCONJ hjic-495 354 5 the the DET hjic-495 354 6 chest chest NOUN hjic-495 354 7 belt belt NOUN hjic-495 354 8 was be AUX hjic-495 354 9 not not PART hjic-495 354 10 firmly firmly ADV hjic-495 354 11 attached attach VERB hjic-495 354 12 to to ADP hjic-495 354 13 the the DET hjic-495 354 14 body body NOUN hjic-495 354 15 and and CCONJ hjic-495 354 16 sudden sudden ADJ hjic-495 354 17 movements movement NOUN hjic-495 354 18 of of ADP hjic-495 354 19 the the DET hjic-495 354 20 device device NOUN hjic-495 354 21 caused cause VERB hjic-495 354 22 signal signal ADJ hjic-495 354 23 loss loss NOUN hjic-495 354 24 . . PUNCT hjic-495 355 1 therefore therefore ADV hjic-495 355 2 , , PUNCT hjic-495 355 3 we we PRON hjic-495 355 4 needed need VERB hjic-495 355 5 to to PART hjic-495 355 6 create create VERB hjic-495 355 7 a a DET hjic-495 355 8 software software NOUN hjic-495 355 9 module module NOUN hjic-495 355 10 for for ADP hjic-495 355 11 synchronization synchronization NOUN hjic-495 355 12 and and CCONJ hjic-495 355 13 data datum NOUN hjic-495 355 14 validation validation NOUN hjic-495 355 15 before before ADP hjic-495 355 16 any any DET hjic-495 355 17 analysis analysis NOUN hjic-495 355 18 . . PUNCT hjic-495 356 1 data datum NOUN hjic-495 356 2 validation validation NOUN hjic-495 356 3 means mean VERB hjic-495 356 4 removing remove VERB hjic-495 356 5 obviously obviously ADV hjic-495 356 6 bad bad ADJ hjic-495 356 7 data datum NOUN hjic-495 356 8 ( ( PUNCT hjic-495 356 9 artefacts artefact NOUN hjic-495 356 10 ) ) PUNCT hjic-495 356 11 and and CCONJ hjic-495 356 12 keeping keep VERB hjic-495 356 13 only only ADV hjic-495 356 14 ‘ ' PUNCT hjic-495 356 15 good good ADJ hjic-495 356 16 ’ ' PUNCT hjic-495 356 17 data datum NOUN hjic-495 356 18 segments segment NOUN hjic-495 356 19 of of ADP hjic-495 356 20 sufficient sufficient ADJ hjic-495 356 21 length length NOUN hjic-495 356 22 , , PUNCT hjic-495 356 23 because because SCONJ hjic-495 356 24 , , PUNCT hjic-495 356 25 as as ADP hjic-495 356 26 a a DET hjic-495 356 27 rule rule NOUN hjic-495 356 28 of of ADP hjic-495 356 29 thumb thumb NOUN hjic-495 356 30 , , PUNCT hjic-495 356 31 both both PRON hjic-495 356 32 hrv hrv NOUN hjic-495 356 33 and and CCONJ hjic-495 356 34 poincare poincare PROPN hjic-495 356 35 plot plot NOUN hjic-495 356 36 computations computation NOUN hjic-495 356 37 require require VERB hjic-495 356 38 data datum NOUN hjic-495 356 39 chunks chunk NOUN hjic-495 356 40 of of ADP hjic-495 356 41 at at ADV hjic-495 356 42 least least ADV hjic-495 356 43 5 5 NUM hjic-495 356 44 minutes minute NOUN hjic-495 356 45 . . PUNCT hjic-495 357 1 even even ADV hjic-495 357 2 though though SCONJ hjic-495 357 3 the the DET hjic-495 357 4 data data NOUN hjic-495 357 5 validation validation NOUN hjic-495 357 6 algorithm algorithm NOUN hjic-495 357 7 removed remove VERB hjic-495 357 8 a a DET hjic-495 357 9 considerable considerable ADJ hjic-495 357 10 amount amount NOUN hjic-495 357 11 of of ADP hjic-495 357 12 data datum NOUN hjic-495 357 13 from from ADP hjic-495 357 14 the the DET hjic-495 357 15 original original ADJ hjic-495 357 16 signal signal NOUN hjic-495 357 17 , , PUNCT hjic-495 357 18 we we PRON hjic-495 357 19 still still ADV hjic-495 357 20 had have VERB hjic-495 357 21 enough enough ADJ hjic-495 357 22 useful useful ADJ hjic-495 357 23 data datum NOUN hjic-495 357 24 for for ADP hjic-495 357 25 analysis analysis NOUN hjic-495 357 26 from from ADP hjic-495 357 27 the the DET hjic-495 357 28 daytime daytime NOUN hjic-495 357 29 . . PUNCT hjic-495 358 1 the the DET hjic-495 358 2 synchronization synchronization NOUN hjic-495 358 3 algorithm algorithm VERB hjic-495 358 4 our our PRON hjic-495 358 5 simple simple ADJ hjic-495 358 6 algorithm algorithm NOUN hjic-495 358 7 for for ADP hjic-495 358 8 signal signal ADJ hjic-495 358 9 synchronization synchronization NOUN hjic-495 358 10 uses use VERB hjic-495 358 11 a a DET hjic-495 358 12 sliding slide VERB hjic-495 358 13 window window NOUN hjic-495 358 14 that that PRON hjic-495 358 15 passes pass VERB hjic-495 358 16 from from ADP hjic-495 358 17 the the DET hjic-495 358 18 beginning beginning NOUN hjic-495 358 19 of of ADP hjic-495 358 20 the the DET hjic-495 358 21 chest ch ADJ hjic-495 358 22 belt belt NOUN hjic-495 358 23 signal signal VERB hjic-495 358 24 to to ADP hjic-495 358 25 the the DET hjic-495 358 26 end end NOUN hjic-495 358 27 and and CCONJ hjic-495 358 28 calculates calculate VERB hjic-495 358 29 the the DET hjic-495 358 30 absolute absolute ADJ hjic-495 358 31 error error NOUN hjic-495 358 32 between between ADP hjic-495 358 33 the the DET hjic-495 358 34 two two NUM hjic-495 358 35 signals signal NOUN hjic-495 358 36 . . PUNCT hjic-495 359 1 when when SCONJ hjic-495 359 2 sliding slide VERB hjic-495 359 3 finishes finish NOUN hjic-495 359 4 , , PUNCT hjic-495 359 5 the the DET hjic-495 359 6 location location NOUN hjic-495 359 7 of of ADP hjic-495 359 8 the the DET hjic-495 359 9 sliding slide VERB hjic-495 359 10 window window NOUN hjic-495 359 11 with with ADP hjic-495 359 12 the the DET hjic-495 359 13 minimum minimum ADJ hjic-495 359 14 absolute absolute ADJ hjic-495 359 15 error error NOUN hjic-495 359 16 is be AUX hjic-495 359 17 considered consider VERB hjic-495 359 18 as as ADP hjic-495 359 19 the the DET hjic-495 359 20 point point NOUN hjic-495 359 21 where where SCONJ hjic-495 359 22 the the DET hjic-495 359 23 two two NUM hjic-495 359 24 signals signal NOUN hjic-495 359 25 should should AUX hjic-495 359 26 be be AUX hjic-495 359 27 synchronized synchronize VERB hjic-495 359 28 . . PUNCT hjic-495 360 1 this this PRON hjic-495 360 2 applies apply VERB hjic-495 360 3 only only ADV hjic-495 360 4 if if SCONJ hjic-495 360 5 the the DET hjic-495 360 6 correlation correlation NOUN hjic-495 360 7 of of ADP hjic-495 360 8 the the DET hjic-495 360 9 data datum NOUN hjic-495 360 10 in in ADP hjic-495 360 11 the the DET hjic-495 360 12 sliding slide VERB hjic-495 360 13 window window NOUN hjic-495 360 14 and and CCONJ hjic-495 360 15 the the DET hjic-495 360 16 same same ADJ hjic-495 360 17 amount amount NOUN hjic-495 360 18 of of ADP hjic-495 360 19 data datum NOUN hjic-495 360 20 from from ADP hjic-495 360 21 the the DET hjic-495 360 22 reference reference NOUN hjic-495 360 23 device device NOUN hjic-495 360 24 are be AUX hjic-495 360 25 higher high ADJ hjic-495 360 26 than than ADP hjic-495 360 27 a a DET hjic-495 360 28 minimum minimum NOUN hjic-495 360 29 set set NOUN hjic-495 360 30 by by ADP hjic-495 360 31 the the DET hjic-495 360 32 user user NOUN hjic-495 360 33 . . PUNCT hjic-495 361 1 if if SCONJ hjic-495 361 2 these these DET hjic-495 361 3 conditions condition NOUN hjic-495 361 4 are be AUX hjic-495 361 5 met meet VERB hjic-495 361 6 , , PUNCT hjic-495 361 7 the the DET hjic-495 361 8 algorithm algorithm NOUN hjic-495 361 9 copies copy VERB hjic-495 361 10 data datum NOUN hjic-495 361 11 from from ADP hjic-495 361 12 the the DET hjic-495 361 13 sliding slide VERB hjic-495 361 14 window window NOUN hjic-495 361 15 into into ADP hjic-495 361 16 a a DET hjic-495 361 17 newly newly ADV hjic-495 361 18 generated generate VERB hjic-495 361 19 third third ADJ hjic-495 361 20 signal signal NOUN hjic-495 361 21 , , PUNCT hjic-495 361 22 which which PRON hjic-495 361 23 represents represent VERB hjic-495 361 24 the the DET hjic-495 361 25 chest ch ADJ hjic-495 361 26 belt belt NOUN hjic-495 361 27 signal signal VERB hjic-495 361 28 fully fully ADV hjic-495 361 29 synchronized synchronize VERB hjic-495 361 30 with with ADP hjic-495 361 31 the the DET hjic-495 361 32 reference reference NOUN hjic-495 361 33 signal signal NOUN hjic-495 361 34 . . PUNCT hjic-495 362 1 if if SCONJ hjic-495 362 2 conditions condition NOUN hjic-495 362 3 are be AUX hjic-495 362 4 not not PART hjic-495 362 5 met meet VERB hjic-495 362 6 , , PUNCT hjic-495 362 7 the the DET hjic-495 362 8 third third ADJ hjic-495 362 9 signal signal NOUN hjic-495 362 10 is be AUX hjic-495 362 11 filled fill VERB hjic-495 362 12 with with ADP hjic-495 362 13 zeros zero NOUN hjic-495 362 14 . . PUNCT hjic-495 363 1 finally finally ADV hjic-495 363 2 , , PUNCT hjic-495 363 3 the the DET hjic-495 363 4 algorithm algorithm NOUN hjic-495 363 5 extracts extract VERB hjic-495 363 6 all all DET hjic-495 363 7 the the DET hjic-495 363 8 highly highly ADV hjic-495 363 9 correlated correlate VERB hjic-495 363 10 segments segment NOUN hjic-495 363 11 from from ADP hjic-495 363 12 the the DET hjic-495 363 13 third third ADJ hjic-495 363 14 signal signal NOUN hjic-495 363 15 ignoring ignore VERB hjic-495 363 16 zero zero NUM hjic-495 363 17 values value NOUN hjic-495 363 18 . . PUNCT hjic-495 364 1 also also ADV hjic-495 364 2 , , PUNCT hjic-495 364 3 a a DET hjic-495 364 4 file file NOUN hjic-495 364 5 with with ADP hjic-495 364 6 all all DET hjic-495 364 7 the the DET hjic-495 364 8 merged merged ADJ hjic-495 364 9 segments segment NOUN hjic-495 364 10 is be AUX hjic-495 364 11 generated generate VERB hjic-495 364 12 for for ADP hjic-495 364 13 general general ADJ hjic-495 364 14 analysis analysis NOUN hjic-495 364 15 . . PUNCT hjic-495 365 1 the the DET hjic-495 365 2 algorithm algorithm NOUN hjic-495 365 3 uses use VERB hjic-495 365 4 the the DET hjic-495 365 5 following follow VERB hjic-495 365 6 5 5 NUM hjic-495 365 7 main main ADJ hjic-495 365 8 parameters parameter NOUN hjic-495 365 9 that that PRON hjic-495 365 10 can can AUX hjic-495 365 11 be be AUX hjic-495 365 12 set set VERB hjic-495 365 13 up up ADP hjic-495 365 14 by by ADP hjic-495 365 15 the the DET hjic-495 365 16 user user NOUN hjic-495 365 17 : : PUNCT hjic-495 365 18 1 1 X hjic-495 365 19 . . X hjic-495 365 20 window window NOUN hjic-495 365 21 size size NOUN hjic-495 365 22 : : PUNCT hjic-495 365 23 amount amount NOUN hjic-495 365 24 of of ADP hjic-495 365 25 data datum NOUN hjic-495 365 26 copied copy VERB hjic-495 365 27 from from ADP hjic-495 365 28 the the DET hjic-495 365 29 signal signal NOUN hjic-495 365 30 into into ADP hjic-495 365 31 the the DET hjic-495 365 32 sliding slide VERB hjic-495 365 33 window window NOUN hjic-495 365 34 ( ( PUNCT hjic-495 365 35 default default NOUN hjic-495 365 36 : : PUNCT hjic-495 365 37 200 200 NUM hjic-495 365 38 ) ) PUNCT hjic-495 365 39 , , PUNCT hjic-495 365 40 2 2 X hjic-495 365 41 . . NOUN hjic-495 365 42 window window NOUN hjic-495 365 43 shift shift NOUN hjic-495 365 44 step step NOUN hjic-495 365 45 : : PUNCT hjic-495 365 46 the the DET hjic-495 365 47 number number NOUN hjic-495 365 48 of of ADP hjic-495 365 49 samples sample NOUN hjic-495 365 50 by by ADP hjic-495 365 51 which which PRON hjic-495 365 52 we we PRON hjic-495 365 53 shift shift VERB hjic-495 365 54 the the DET hjic-495 365 55 sliding slide VERB hjic-495 365 56 window window NOUN hjic-495 365 57 in in ADP hjic-495 365 58 each each DET hjic-495 365 59 iteration iteration NOUN hjic-495 365 60 ( ( PUNCT hjic-495 365 61 default default NOUN hjic-495 365 62 : : PUNCT hjic-495 365 63 50 50 NUM hjic-495 365 64 ) ) PUNCT hjic-495 365 65 , , PUNCT hjic-495 365 66 3 3 X hjic-495 365 67 . . PUNCT hjic-495 365 68 absolute absolute ADJ hjic-495 365 69 error error NOUN hjic-495 365 70 window window NOUN hjic-495 365 71 : : PUNCT hjic-495 365 72 amount amount NOUN hjic-495 365 73 of of ADP hjic-495 365 74 data datum NOUN hjic-495 365 75 used use VERB hjic-495 365 76 for for ADP hjic-495 365 77 calculating calculate VERB hjic-495 365 78 the the DET hjic-495 365 79 minimum minimum ADJ hjic-495 365 80 absolute absolute ADJ hjic-495 365 81 error error NOUN hjic-495 365 82 ( ( PUNCT hjic-495 365 83 default default NOUN hjic-495 365 84 : : PUNCT hjic-495 365 85 200 200 NUM hjic-495 365 86 ) ) PUNCT hjic-495 365 87 , , PUNCT hjic-495 365 88 4 4 NUM hjic-495 365 89 . . PUNCT hjic-495 365 90 maximum maximum ADJ hjic-495 365 91 error error NOUN hjic-495 365 92 distance distance NOUN hjic-495 365 93 : : PUNCT hjic-495 365 94 the the DET hjic-495 365 95 number number NOUN hjic-495 365 96 of of ADP hjic-495 365 97 samples sample NOUN hjic-495 365 98 by by ADP hjic-495 365 99 which which PRON hjic-495 365 100 we we PRON hjic-495 365 101 shift shift VERB hjic-495 365 102 the the DET hjic-495 365 103 absolute absolute ADJ hjic-495 365 104 error error NOUN hjic-495 365 105 window window NOUN hjic-495 365 106 in in ADP hjic-495 365 107 order order NOUN hjic-495 365 108 to to PART hjic-495 365 109 find find VERB hjic-495 365 110 the the DET hjic-495 365 111 minimum minimum ADJ hjic-495 365 112 absolute absolute ADJ hjic-495 365 113 error error NOUN hjic-495 365 114 ( ( PUNCT hjic-495 365 115 default default NOUN hjic-495 365 116 : : PUNCT hjic-495 365 117 1000 1000 NUM hjic-495 365 118 ) ) PUNCT hjic-495 365 119 , , PUNCT hjic-495 365 120 5 5 X hjic-495 365 121 . . PUNCT hjic-495 365 122 minimum minimum ADJ hjic-495 365 123 correlation correlation NOUN hjic-495 365 124 : : PUNCT hjic-495 365 125 minimum minimum ADJ hjic-495 365 126 correlation correlation NOUN hjic-495 365 127 , , PUNCT hjic-495 365 128 expressed express VERB hjic-495 365 129 as as ADP hjic-495 365 130 a a DET hjic-495 365 131 percentage percentage NOUN hjic-495 365 132 , , PUNCT hjic-495 365 133 required require VERB hjic-495 365 134 for for ADP hjic-495 365 135 the the DET hjic-495 365 136 two two NUM hjic-495 365 137 signals signal NOUN hjic-495 365 138 to to PART hjic-495 365 139 consider consider VERB hjic-495 365 140 data datum NOUN hjic-495 365 141 in in ADP hjic-495 365 142 the the DET hjic-495 365 143 chest chest NOUN hjic-495 365 144 belt belt NOUN hjic-495 365 145 signal signal VERB hjic-495 365 146 as as ADP hjic-495 365 147 accurate accurate ADJ hjic-495 365 148 ( ( PUNCT hjic-495 365 149 default default NOUN hjic-495 365 150 : : PUNCT hjic-495 365 151 97 97 NUM hjic-495 365 152 % % NOUN hjic-495 365 153 ) ) PUNCT hjic-495 365 154 . . PUNCT hjic-495 366 1 each each DET hjic-495 366 2 parameter parameter NOUN hjic-495 366 3 ’s ’s PART hjic-495 366 4 default default NOUN hjic-495 366 5 value value NOUN hjic-495 366 6 was be AUX hjic-495 366 7 determined determine VERB hjic-495 366 8 empirically empirically ADV hjic-495 366 9 . . PUNCT hjic-495 367 1 after after ADP hjic-495 367 2 running run VERB hjic-495 367 3 the the DET hjic-495 367 4 synchronization synchronization NOUN hjic-495 367 5 process process NOUN hjic-495 367 6 , , PUNCT hjic-495 367 7 we we PRON hjic-495 367 8 obtained obtain VERB hjic-495 367 9 segments segment NOUN hjic-495 367 10 of of ADP hjic-495 367 11 highly highly ADV hjic-495 367 12 correlated correlate VERB hjic-495 367 13 data datum NOUN hjic-495 367 14 . . PUNCT hjic-495 368 1 fig.1 fig.1 PROPN hjic-495 368 2 shows show VERB hjic-495 368 3 the the DET hjic-495 368 4 distribution distribution NOUN hjic-495 368 5 of of ADP hjic-495 368 6 the the DET hjic-495 368 7 lengths length NOUN hjic-495 368 8 of of ADP hjic-495 368 9 signal signal ADJ hjic-495 368 10 segments segment NOUN hjic-495 368 11 . . PUNCT hjic-495 369 1 we we PRON hjic-495 369 2 can can AUX hjic-495 369 3 see see VERB hjic-495 369 4 that that SCONJ hjic-495 369 5 most most ADJ hjic-495 369 6 segments segment NOUN hjic-495 369 7 are be AUX hjic-495 369 8 3 3 NUM hjic-495 369 9 to to PART hjic-495 369 10 18 18 NUM hjic-495 369 11 minutes minute NOUN hjic-495 369 12 long long ADV hjic-495 369 13 . . PUNCT hjic-495 370 1 the the DET hjic-495 370 2 longest long ADV hjic-495 370 3 highly highly ADV hjic-495 370 4 correlated correlate VERB hjic-495 370 5 segment segment NOUN hjic-495 370 6 with with ADP hjic-495 370 7 the the DET hjic-495 370 8 reference reference NOUN hjic-495 370 9 data data NOUN hjic-495 370 10 is be AUX hjic-495 370 11 110 110 NUM hjic-495 370 12 minutes minute NOUN hjic-495 370 13 long long ADV hjic-495 370 14 . . PUNCT hjic-495 371 1 the the DET hjic-495 371 2 default default NOUN hjic-495 371 3 parameter parameter NOUN hjic-495 371 4 settings setting NOUN hjic-495 371 5 minimize minimize VERB hjic-495 371 6 the the DET hjic-495 371 7 number number NOUN hjic-495 371 8 of of ADP hjic-495 371 9 overly overly ADV hjic-495 371 10 short short ADJ hjic-495 371 11 ( ( PUNCT hjic-495 371 12 < < X hjic-495 371 13 5 5 NUM hjic-495 371 14 min min NOUN hjic-495 371 15 ) ) PUNCT hjic-495 371 16 segments segment NOUN hjic-495 371 17 . . PUNCT hjic-495 372 1 most most ADJ hjic-495 372 2 of of ADP hjic-495 372 3 the the DET hjic-495 372 4 bad bad ADJ hjic-495 372 5 segments segment NOUN hjic-495 372 6 ( ( PUNCT hjic-495 372 7 fig.2 fig.2 PROPN hjic-495 372 8 ) ) PUNCT hjic-495 372 9 are be AUX hjic-495 372 10 shorter short ADJ hjic-495 372 11 than than ADP hjic-495 372 12 one one NUM hjic-495 372 13 minute minute NOUN hjic-495 372 14 , , PUNCT hjic-495 372 15 and and CCONJ hjic-495 372 16 only only ADV hjic-495 372 17 one one NUM hjic-495 372 18 bad bad ADJ hjic-495 372 19 segment segment NOUN hjic-495 372 20 was be AUX hjic-495 372 21 60 60 NUM hjic-495 372 22 minutes minute NOUN hjic-495 372 23 long long ADJ hjic-495 372 24 . . PUNCT hjic-495 373 1 data datum NOUN hjic-495 373 2 validation validation NOUN hjic-495 373 3 algorithm algorithm NOUN hjic-495 373 4 another another DET hjic-495 373 5 type type NOUN hjic-495 373 6 of of ADP hjic-495 373 7 algorithm algorithm NOUN hjic-495 373 8 was be AUX hjic-495 373 9 used use VERB hjic-495 373 10 in in ADP hjic-495 373 11 the the DET hjic-495 373 12 real real ADJ hjic-495 373 13 telemedical telemedical ADJ hjic-495 373 14 scenario scenario NOUN hjic-495 373 15 for for ADP hjic-495 373 16 finding find VERB hjic-495 373 17 good good ADJ hjic-495 373 18 parts part NOUN hjic-495 373 19 of of ADP hjic-495 373 20 the the DET hjic-495 373 21 signal signal NOUN hjic-495 373 22 without without ADP hjic-495 373 23 relying rely VERB hjic-495 373 24 on on ADP hjic-495 373 25 reference reference NOUN hjic-495 373 26 data datum NOUN hjic-495 373 27 . . PUNCT hjic-495 374 1 this this PRON hjic-495 374 2 implies imply VERB hjic-495 374 3 finding find VERB hjic-495 374 4 gaps gap NOUN hjic-495 374 5 and and CCONJ hjic-495 374 6 abnormal abnormal ADJ hjic-495 374 7 values value NOUN hjic-495 374 8 and and CCONJ hjic-495 374 9 omitting omit VERB hjic-495 374 10 them they PRON hjic-495 374 11 . . PUNCT hjic-495 375 1 first first ADV hjic-495 375 2 , , PUNCT hjic-495 375 3 we we PRON hjic-495 375 4 compared compare VERB hjic-495 375 5 the the DET hjic-495 375 6 timestamp timestamp NOUN hjic-495 375 7 of of ADP hjic-495 375 8 each each DET hjic-495 375 9 data datum NOUN hjic-495 375 10 point point NOUN hjic-495 375 11 with with ADP hjic-495 375 12 the the DET hjic-495 375 13 timestamp timestamp NOUN hjic-495 375 14 of of ADP hjic-495 375 15 the the DET hjic-495 375 16 previous previous ADJ hjic-495 375 17 one one NUM hjic-495 375 18 . . PUNCT hjic-495 376 1 if if SCONJ hjic-495 376 2 the the DET hjic-495 376 3 difference difference NOUN hjic-495 376 4 between between ADP hjic-495 376 5 the the DET hjic-495 376 6 timestamps timestamp NOUN hjic-495 376 7 was be AUX hjic-495 376 8 longer long ADJ hjic-495 376 9 than than ADP hjic-495 376 10 3 3 NUM hjic-495 376 11 seconds second NOUN hjic-495 376 12 , , PUNCT hjic-495 376 13 we we PRON hjic-495 376 14 marked mark VERB hjic-495 376 15 this this PRON hjic-495 376 16 as as ADP hjic-495 376 17 a a DET hjic-495 376 18 ‘ ' PUNCT hjic-495 376 19 gap gap NOUN hjic-495 376 20 ’ ' PUNCT hjic-495 376 21 . . PUNCT hjic-495 377 1 the the DET hjic-495 377 2 3 3 NUM hjic-495 377 3 - - PUNCT hjic-495 377 4 second second NOUN hjic-495 377 5 gap gap NOUN hjic-495 377 6 detection detection NOUN hjic-495 377 7 was be AUX hjic-495 377 8 enabled enable VERB hjic-495 377 9 by by ADP hjic-495 377 10 the the DET hjic-495 377 11 chest chest NOUN hjic-495 377 12 belt belt NOUN hjic-495 377 13 ’s ’s PART hjic-495 377 14 buffering buffering NOUN hjic-495 377 15 system system NOUN hjic-495 377 16 that that PRON hjic-495 377 17 can can AUX hjic-495 377 18 tolerate tolerate VERB hjic-495 377 19 short short ADJ hjic-495 377 20 detachments detachment NOUN hjic-495 377 21 of of ADP hjic-495 377 22 the the DET hjic-495 377 23 device device NOUN hjic-495 377 24 from from ADP hjic-495 377 25 the the DET hjic-495 377 26 body body NOUN hjic-495 377 27 . . PUNCT hjic-495 378 1 in in ADP hjic-495 378 2 the the DET hjic-495 378 3 second second ADJ hjic-495 378 4 step step NOUN hjic-495 378 5 we we PRON hjic-495 378 6 identified identify VERB hjic-495 378 7 abnormal abnormal ADJ hjic-495 378 8 values value NOUN hjic-495 378 9 in in ADP hjic-495 378 10 the the DET hjic-495 378 11 signal signal NOUN hjic-495 378 12 that that PRON hjic-495 378 13 were be AUX hjic-495 378 14 treated treat VERB hjic-495 378 15 as as ADP hjic-495 378 16 gaps gap NOUN hjic-495 378 17 . . PUNCT hjic-495 379 1 the the DET hjic-495 379 2 abnormal abnormal ADJ hjic-495 379 3 values value NOUN hjic-495 379 4 are be AUX hjic-495 379 5 identified identify VERB hjic-495 379 6 by by ADP hjic-495 379 7 observing observe VERB hjic-495 379 8 the the DET hjic-495 379 9 mean mean ADJ hjic-495 379 10 value value NOUN hjic-495 379 11 of of ADP hjic-495 379 12 20 20 NUM hjic-495 379 13 neighbouring neighbouring ADJ hjic-495 379 14 data data NOUN hjic-495 379 15 points point NOUN hjic-495 379 16 ( ( PUNCT hjic-495 379 17 10 10 NUM hjic-495 379 18 before before ADV hjic-495 379 19 and and CCONJ hjic-495 379 20 10 10 NUM hjic-495 379 21 after after ADP hjic-495 379 22 a a DET hjic-495 379 23 given give VERB hjic-495 379 24 point point NOUN hjic-495 379 25 ) ) PUNCT hjic-495 379 26 . . PUNCT hjic-495 380 1 if if SCONJ hjic-495 380 2 the the DET hjic-495 380 3 mean mean ADJ hjic-495 380 4 value value NOUN hjic-495 380 5 differs differ VERB hjic-495 380 6 from from ADP hjic-495 380 7 the the DET hjic-495 380 8 value value NOUN hjic-495 380 9 of of ADP hjic-495 380 10 the the DET hjic-495 380 11 figure figure NOUN hjic-495 380 12 1 1 NUM hjic-495 380 13 : : PUNCT hjic-495 380 14 the the DET hjic-495 380 15 distribution distribution NOUN hjic-495 380 16 of of ADP hjic-495 380 17 strongly strongly ADV hjic-495 380 18 correlated correlate VERB hjic-495 380 19 segment segment NOUN hjic-495 380 20 lengths length NOUN hjic-495 380 21 for for ADP hjic-495 380 22 all all DET hjic-495 380 23 subjects subject NOUN hjic-495 380 24 figure figure VERB hjic-495 380 25 2 2 NUM hjic-495 380 26 : : PUNCT hjic-495 380 27 the the DET hjic-495 380 28 distribution distribution NOUN hjic-495 380 29 of of ADP hjic-495 380 30 weakly weakly ADJ hjic-495 380 31 correlated correlate VERB hjic-495 380 32 segment segment NOUN hjic-495 380 33 lengths length NOUN hjic-495 380 34 for for ADP hjic-495 380 35 all all DET hjic-495 380 36 subjects subject NOUN hjic-495 380 37 67 67 NUM hjic-495 380 38 current current ADJ hjic-495 380 39 sample sample NOUN hjic-495 380 40 by by ADP hjic-495 380 41 more more ADJ hjic-495 380 42 than than ADP hjic-495 380 43 300 300 NUM hjic-495 380 44 units unit NOUN hjic-495 380 45 , , PUNCT hjic-495 380 46 we we PRON hjic-495 380 47 consider consider VERB hjic-495 380 48 it it PRON hjic-495 380 49 invalid invalid ADJ hjic-495 380 50 and and CCONJ hjic-495 380 51 mark mark VERB hjic-495 380 52 it it PRON hjic-495 380 53 as as ADP hjic-495 380 54 a a DET hjic-495 380 55 gap gap NOUN hjic-495 380 56 / / SYM hjic-495 380 57 error error NOUN hjic-495 380 58 in in ADP hjic-495 380 59 the the DET hjic-495 380 60 signal signal NOUN hjic-495 380 61 . . PUNCT hjic-495 381 1 finally finally ADV hjic-495 381 2 , , PUNCT hjic-495 381 3 we we PRON hjic-495 381 4 extract extract VERB hjic-495 381 5 the the DET hjic-495 381 6 good good ADJ hjic-495 381 7 segments segment NOUN hjic-495 381 8 from from ADP hjic-495 381 9 the the DET hjic-495 381 10 signal signal NOUN hjic-495 381 11 with with ADP hjic-495 381 12 a a DET hjic-495 381 13 length length NOUN hjic-495 381 14 of of ADP hjic-495 381 15 more more ADJ hjic-495 381 16 than than ADP hjic-495 381 17 5 5 NUM hjic-495 381 18 minutes minute NOUN hjic-495 381 19 . . PUNCT hjic-495 382 1 we we PRON hjic-495 382 2 implemented implement VERB hjic-495 382 3 the the DET hjic-495 382 4 above above ADJ hjic-495 382 5 algorithm algorithm NOUN hjic-495 382 6 in in ADP hjic-495 382 7 a a DET hjic-495 382 8 simple simple ADJ hjic-495 382 9 software software NOUN hjic-495 382 10 tool tool NOUN hjic-495 382 11 ( ( PUNCT hjic-495 382 12 fig.3 fig.3 PROPN hjic-495 382 13 ) ) PUNCT hjic-495 382 14 . . PUNCT hjic-495 383 1 on on ADP hjic-495 383 2 the the DET hjic-495 383 3 left left ADJ hjic-495 383 4 - - PUNCT hjic-495 383 5 hand hand NOUN hjic-495 383 6 side side NOUN hjic-495 383 7 we we PRON hjic-495 383 8 can can AUX hjic-495 383 9 load load VERB hjic-495 383 10 the the DET hjic-495 383 11 two two NUM hjic-495 383 12 signals signal NOUN hjic-495 383 13 and and CCONJ hjic-495 383 14 set set VERB hjic-495 383 15 the the DET hjic-495 383 16 parameter parameter NOUN hjic-495 383 17 values value NOUN hjic-495 383 18 as as ADV hjic-495 383 19 well well ADV hjic-495 383 20 as as ADP hjic-495 383 21 the the DET hjic-495 383 22 amount amount NOUN hjic-495 383 23 of of ADP hjic-495 383 24 data datum NOUN hjic-495 383 25 to to PART hjic-495 383 26 be be AUX hjic-495 383 27 analysed analyse VERB hjic-495 383 28 . . PUNCT hjic-495 384 1 the the DET hjic-495 384 2 graph graph NOUN hjic-495 384 3 shows show VERB hjic-495 384 4 two two NUM hjic-495 384 5 signals signal NOUN hjic-495 384 6 after after SCONJ hjic-495 384 7 the the DET hjic-495 384 8 synchronization synchronization NOUN hjic-495 384 9 process process NOUN hjic-495 384 10 was be AUX hjic-495 384 11 completed complete VERB hjic-495 384 12 . . PUNCT hjic-495 385 1 the the DET hjic-495 385 2 user user NOUN hjic-495 385 3 can can AUX hjic-495 385 4 examine examine VERB hjic-495 385 5 signals signal NOUN hjic-495 385 6 by by ADP hjic-495 385 7 clicking click VERB hjic-495 385 8 the the DET hjic-495 385 9 previous previous ADJ hjic-495 385 10 and and CCONJ hjic-495 385 11 next next ADJ hjic-495 385 12 buttons button NOUN hjic-495 385 13 . . PUNCT hjic-495 386 1 general general ADJ hjic-495 386 2 statistics statistic NOUN hjic-495 386 3 are be AUX hjic-495 386 4 shown show VERB hjic-495 386 5 in in ADP hjic-495 386 6 the the DET hjic-495 386 7 middle middle ADJ hjic-495 386 8 part part NOUN hjic-495 386 9 of of ADP hjic-495 386 10 the the DET hjic-495 386 11 screen screen NOUN hjic-495 386 12 , , PUNCT hjic-495 386 13 while while SCONJ hjic-495 386 14 in in ADP hjic-495 386 15 the the DET hjic-495 386 16 lower low ADJ hjic-495 386 17 part part NOUN hjic-495 386 18 , , PUNCT hjic-495 386 19 we we PRON hjic-495 386 20 can can AUX hjic-495 386 21 see see VERB hjic-495 386 22 the the DET hjic-495 386 23 histogram histogram NOUN hjic-495 386 24 , , PUNCT hjic-495 386 25 and and CCONJ hjic-495 386 26 save save VERB hjic-495 386 27 the the DET hjic-495 386 28 histogram histogram NOUN hjic-495 386 29 and and CCONJ hjic-495 386 30 results result NOUN hjic-495 386 31 as as ADP hjic-495 386 32 a a DET hjic-495 386 33 file file NOUN hjic-495 386 34 . . PUNCT hjic-495 387 1 two two NUM hjic-495 387 2 tabs tab NOUN hjic-495 387 3 in in ADP hjic-495 387 4 the the DET hjic-495 387 5 top top ADJ hjic-495 387 6 left left ADJ hjic-495 387 7 - - PUNCT hjic-495 387 8 hand hand NOUN hjic-495 387 9 corner corner NOUN hjic-495 387 10 allow allow VERB hjic-495 387 11 the the DET hjic-495 387 12 user user NOUN hjic-495 387 13 to to PART hjic-495 387 14 switch switch VERB hjic-495 387 15 between between ADP hjic-495 387 16 synchronization synchronization NOUN hjic-495 387 17 and and CCONJ hjic-495 387 18 data datum NOUN hjic-495 387 19 validation validation NOUN hjic-495 387 20 algorithms algorithm NOUN hjic-495 387 21 . . PUNCT hjic-495 388 1 statistical statistical ADJ hjic-495 388 2 analysis analysis NOUN hjic-495 388 3 time time NOUN hjic-495 388 4 and and CCONJ hjic-495 388 5 frequency frequency NOUN hjic-495 388 6 domain domain NOUN hjic-495 388 7 analyses analysis NOUN hjic-495 388 8 , , PUNCT hjic-495 388 9 correlation correlation NOUN hjic-495 388 10 comparisons comparison NOUN hjic-495 388 11 , , PUNCT hjic-495 388 12 mean mean VERB hjic-495 388 13 absolute absolute ADJ hjic-495 388 14 percentage percentage NOUN hjic-495 388 15 errors error NOUN hjic-495 388 16 , , PUNCT hjic-495 388 17 and and CCONJ hjic-495 388 18 the the DET hjic-495 388 19 slopes slope NOUN hjic-495 388 20 of of ADP hjic-495 388 21 scatter scatter NOUN hjic-495 388 22 plot plot NOUN hjic-495 388 23 diagrams diagram NOUN hjic-495 388 24 were be AUX hjic-495 388 25 compared compare VERB hjic-495 388 26 between between ADP hjic-495 388 27 two two NUM hjic-495 388 28 measurements measurement NOUN hjic-495 388 29 for for ADP hjic-495 388 30 hrv hrv NOUN hjic-495 388 31 analysis analysis NOUN hjic-495 388 32 . . PUNCT hjic-495 389 1 the the DET hjic-495 389 2 specificities specificity NOUN hjic-495 389 3 of of ADP hjic-495 389 4 a a DET hjic-495 389 5 self self NOUN hjic-495 389 6 - - PUNCT hjic-495 389 7 developed develop VERB hjic-495 389 8 atrial atrial ADJ hjic-495 389 9 fibrillation fibrillation NOUN hjic-495 389 10 detector detector NOUN hjic-495 389 11 algorithm algorithm NOUN hjic-495 389 12 were be AUX hjic-495 389 13 compared compare VERB hjic-495 389 14 for for ADP hjic-495 389 15 atrial atrial ADJ hjic-495 389 16 fibrillation fibrillation NOUN hjic-495 389 17 analysis analysis NOUN hjic-495 389 18 . . PUNCT hjic-495 390 1 the the DET hjic-495 390 2 latter latter ADJ hjic-495 390 3 algorithm algorithm NOUN hjic-495 390 4 is be AUX hjic-495 390 5 based base VERB hjic-495 390 6 on on ADP hjic-495 390 7 the the DET hjic-495 390 8 k k NOUN hjic-495 390 9 - - PUNCT hjic-495 390 10 means means NOUN hjic-495 390 11 clustering clustering NOUN hjic-495 390 12 of of ADP hjic-495 390 13 poincaré poincaré PROPN hjic-495 390 14 plots plot NOUN hjic-495 390 15 ( ( PUNCT hjic-495 390 16 consisting consist VERB hjic-495 390 17 of of ADP hjic-495 390 18 rr rr NOUN hjic-495 390 19 intervals interval NOUN hjic-495 390 20 ) ) PUNCT hjic-495 390 21 the the DET hjic-495 390 22 time time NOUN hjic-495 390 23 and and CCONJ hjic-495 390 24 frequency frequency NOUN hjic-495 390 25 domain domain NOUN hjic-495 390 26 analyses analysis NOUN hjic-495 390 27 for for ADP hjic-495 390 28 hrv hrv NUM hjic-495 390 29 were be AUX hjic-495 390 30 performed perform VERB hjic-495 390 31 using use VERB hjic-495 390 32 kubios kubio NOUN hjic-495 390 33 hrv hrv NUM hjic-495 390 34 analysis analysis NOUN hjic-495 390 35 software software NOUN hjic-495 390 36 , , PUNCT hjic-495 390 37 while while SCONJ hjic-495 390 38 the the DET hjic-495 390 39 rest rest NOUN hjic-495 390 40 of of ADP hjic-495 390 41 the the DET hjic-495 390 42 analysis analysis NOUN hjic-495 390 43 for for ADP hjic-495 390 44 hrv hrv NOUN hjic-495 390 45 and and CCONJ hjic-495 390 46 atrial atrial ADJ hjic-495 390 47 fibrillation fibrillation NOUN hjic-495 390 48 was be AUX hjic-495 390 49 performed perform VERB hjic-495 390 50 in in ADP hjic-495 390 51 microsoft microsoft PROPN hjic-495 390 52 excel excel PROPN hjic-495 390 53 . . PUNCT hjic-495 391 1 atrial atrial ADJ hjic-495 391 2 fibrillation fibrillation NOUN hjic-495 391 3 detection detection NOUN hjic-495 391 4 was be AUX hjic-495 391 5 done do VERB hjic-495 391 6 using use VERB hjic-495 391 7 the the DET hjic-495 391 8 matlab matlab PROPN hjic-495 391 9 environment environment NOUN hjic-495 391 10 and and CCONJ hjic-495 391 11 the the DET hjic-495 391 12 results result NOUN hjic-495 391 13 were be AUX hjic-495 391 14 saved save VERB hjic-495 391 15 as as ADP hjic-495 391 16 microsoft microsoft PROPN hjic-495 391 17 excel excel PROPN hjic-495 391 18 workbooks workbook NOUN hjic-495 391 19 . . PUNCT hjic-495 392 1 results result NOUN hjic-495 392 2 and and CCONJ hjic-495 392 3 analysis analysis NOUN hjic-495 392 4 heart heart NOUN hjic-495 392 5 rate rate NOUN hjic-495 392 6 variability variability NOUN hjic-495 392 7 after after ADP hjic-495 392 8 the the DET hjic-495 392 9 synchronization synchronization NOUN hjic-495 392 10 process process NOUN hjic-495 392 11 , , PUNCT hjic-495 392 12 we we PRON hjic-495 392 13 got get AUX hjic-495 392 14 strongly strongly ADV hjic-495 392 15 correlated correlate VERB hjic-495 392 16 ( ( PUNCT hjic-495 392 17 greater great ADJ hjic-495 392 18 than than ADP hjic-495 392 19 97 97 NUM hjic-495 392 20 % % NOUN hjic-495 392 21 ) ) PUNCT hjic-495 392 22 synchronized synchronize VERB hjic-495 392 23 data datum NOUN hjic-495 392 24 segments segment NOUN hjic-495 392 25 of of ADP hjic-495 392 26 various various ADJ hjic-495 392 27 durations duration NOUN hjic-495 392 28 . . PUNCT hjic-495 393 1 table table NOUN hjic-495 393 2 1 1 NUM hjic-495 393 3 summarizes summarize VERB hjic-495 393 4 the the DET hjic-495 393 5 duration duration NOUN hjic-495 393 6 of of ADP hjic-495 393 7 signals signal NOUN hjic-495 393 8 analysed analyse VERB hjic-495 393 9 . . PUNCT hjic-495 394 1 table table NOUN hjic-495 394 2 2 2 NUM hjic-495 394 3 shows show VERB hjic-495 394 4 results result NOUN hjic-495 394 5 in in ADP hjic-495 394 6 the the DET hjic-495 394 7 time time NOUN hjic-495 394 8 domain domain NOUN hjic-495 394 9 for for ADP hjic-495 394 10 schiller schiller NOUN hjic-495 394 11 and and CCONJ hjic-495 394 12 cardiosport cardiosport NOUN hjic-495 394 13 devices device NOUN hjic-495 394 14 after after ADP hjic-495 394 15 using use VERB hjic-495 394 16 the the DET hjic-495 394 17 algorithm algorithm NOUN hjic-495 394 18 for for ADP hjic-495 394 19 the the DET hjic-495 394 20 synchronization synchronization NOUN hjic-495 394 21 of of ADP hjic-495 394 22 signals signal NOUN hjic-495 394 23 . . PUNCT hjic-495 395 1 time time NOUN hjic-495 395 2 domain domain NOUN hjic-495 395 3 analysis analysis NOUN hjic-495 395 4 shows show VERB hjic-495 395 5 similar similar ADJ hjic-495 395 6 values value NOUN hjic-495 395 7 for for ADP hjic-495 395 8 mean mean PROPN hjic-495 395 9 rr rr PROPN hjic-495 395 10 values value NOUN hjic-495 395 11 and and CCONJ hjic-495 395 12 standard standard ADJ hjic-495 395 13 deviation deviation NOUN hjic-495 395 14 ( ( PUNCT hjic-495 395 15 std std X hjic-495 395 16 rr rr PROPN hjic-495 395 17 in in ADP hjic-495 395 18 eq.(1 eq.(1 ADJ hjic-495 395 19 ) ) PUNCT hjic-495 395 20 ) ) PUNCT hjic-495 395 21 . . PUNCT hjic-495 396 1 the the DET hjic-495 396 2 average average ADJ hjic-495 396 3 mean mean VERB hjic-495 396 4 rr rr NOUN hjic-495 396 5 values value NOUN hjic-495 396 6 for for ADP hjic-495 396 7 the the DET hjic-495 396 8 schiller schiller NOUN hjic-495 396 9 and and CCONJ hjic-495 396 10 cardiosport cardiosport PROPN hjic-495 396 11 devices device NOUN hjic-495 396 12 are be AUX hjic-495 396 13 851 851 NUM hjic-495 396 14 and and CCONJ hjic-495 396 15 871 871 NUM hjic-495 396 16 respectively respectively ADV hjic-495 396 17 . . PUNCT hjic-495 397 1 the the DET hjic-495 397 2 average average ADJ hjic-495 397 3 std std X hjic-495 397 4 rr rr NOUN hjic-495 397 5 for for ADP hjic-495 397 6 the the DET hjic-495 397 7 schiller schiller NOUN hjic-495 397 8 device device NOUN hjic-495 397 9 is be AUX hjic-495 397 10 108 108 NUM hjic-495 397 11 and and CCONJ hjic-495 397 12 110 110 NUM hjic-495 397 13 for for ADP hjic-495 397 14 the the DET hjic-495 397 15 cardiosport cardiosport NOUN hjic-495 397 16 device device NOUN hjic-495 397 17 . . PUNCT hjic-495 398 1 figure figure VERB hjic-495 398 2 3 3 NUM hjic-495 398 3 : : PUNCT hjic-495 398 4 synchronization synchronization NOUN hjic-495 398 5 and and CCONJ hjic-495 398 6 data datum NOUN hjic-495 398 7 validation validation NOUN hjic-495 398 8 software software NOUN hjic-495 398 9 table table NOUN hjic-495 398 10 1 1 NUM hjic-495 398 11 : : PUNCT hjic-495 398 12 signal signal VERB hjic-495 398 13 duration duration NOUN hjic-495 398 14 after after ADP hjic-495 398 15 the the DET hjic-495 398 16 synchronization synchronization NOUN hjic-495 398 17 process process NOUN hjic-495 398 18 subject subject NOUN hjic-495 398 19 duration duration NOUN hjic-495 398 20 ( ( PUNCT hjic-495 398 21 h h NOUN hjic-495 398 22 : : PUNCT hjic-495 398 23 m m ADJ hjic-495 398 24 : : PUNCT hjic-495 398 25 s s X hjic-495 398 26 ) ) PUNCT hjic-495 398 27 # # SYM hjic-495 398 28 1 1 NUM hjic-495 398 29 10:53:28 10:53:28 NUM hjic-495 398 30 # # SYM hjic-495 398 31 2 2 NUM hjic-495 398 32 8:45:40 8:45:40 NUM hjic-495 398 33 # # SYM hjic-495 398 34 3 3 NUM hjic-495 398 35 10:30:17 10:30:17 NUM hjic-495 398 36 # # SYM hjic-495 398 37 4 4 NUM hjic-495 398 38 7:46:56 7:46:56 NUM hjic-495 398 39 68 68 NUM hjic-495 398 40 ! ! PUNCT hjic-495 399 1 " " PUNCT hjic-495 399 2 # # X hjic-495 399 3 ! ! PUNCT hjic-495 399 4 ! ! PUNCT hjic-495 399 5 ! ! PUNCT hjic-495 400 1 = = PUNCT hjic-495 400 2 ! ! PUNCT hjic-495 400 3 ! ! PUNCT hjic-495 400 4 ! ! PUNCT hjic-495 400 5 ! ! PUNCT hjic-495 401 1 ( ( PUNCT hjic-495 401 2 ! ! PUNCT hjic-495 401 3 ! ! PUNCT hjic-495 401 4 ! ! PUNCT hjic-495 402 1 − − PUNCT hjic-495 402 2 ! ! PUNCT hjic-495 402 3 ! ! PUNCT hjic-495 402 4 ) ) PUNCT hjic-495 402 5 ! ! PUNCT hjic-495 402 6 ! ! PUNCT hjic-495 402 7 ! ! PUNCT hjic-495 402 8 ! ! PUNCT hjic-495 402 9 ! ! PUNCT hjic-495 403 1 ( ( PUNCT hjic-495 403 2 1 1 X hjic-495 403 3 ) ) PUNCT hjic-495 403 4 the the DET hjic-495 403 5 frequency frequency NOUN hjic-495 403 6 domain domain NOUN hjic-495 403 7 analysis analysis NOUN hjic-495 403 8 for for ADP hjic-495 403 9 the the DET hjic-495 403 10 synchronization synchronization NOUN hjic-495 403 11 process process NOUN hjic-495 403 12 is be AUX hjic-495 403 13 presented present VERB hjic-495 403 14 in in ADP hjic-495 403 15 table table NOUN hjic-495 403 16 3 3 NUM hjic-495 403 17 . . PUNCT hjic-495 404 1 the the DET hjic-495 404 2 absolute absolute ADJ hjic-495 404 3 power power NOUN hjic-495 404 4 was be AUX hjic-495 404 5 compared compare VERB hjic-495 404 6 for for ADP hjic-495 404 7 very very ADV hjic-495 404 8 low low ADJ hjic-495 404 9 frequencies frequency NOUN hjic-495 404 10 ( ( PUNCT hjic-495 404 11 vlf vlf NOUN hjic-495 404 12 : : PUNCT hjic-495 404 13 0 0 NUM hjic-495 404 14 - - SYM hjic-495 404 15 0.04 0.04 NUM hjic-495 404 16 hz hz NOUN hjic-495 404 17 ) ) PUNCT hjic-495 404 18 , , PUNCT hjic-495 404 19 low low ADJ hjic-495 404 20 frequencies frequency NOUN hjic-495 404 21 ( ( PUNCT hjic-495 404 22 lf lf NOUN hjic-495 404 23 : : PUNCT hjic-495 404 24 0.04 0.04 NUM hjic-495 404 25 - - SYM hjic-495 404 26 0.15 0.15 NUM hjic-495 404 27 hz hz NOUN hjic-495 404 28 ) ) PUNCT hjic-495 404 29 , , PUNCT hjic-495 404 30 high high ADJ hjic-495 404 31 frequencies frequency NOUN hjic-495 404 32 ( ( PUNCT hjic-495 404 33 hf hf NOUN hjic-495 404 34 : : PUNCT hjic-495 404 35 0.15 0.15 NUM hjic-495 404 36 - - SYM hjic-495 404 37 0.4 0.4 NUM hjic-495 404 38 hz hz NOUN hjic-495 404 39 ) ) PUNCT hjic-495 404 40 and and CCONJ hjic-495 404 41 ratios ratio NOUN hjic-495 404 42 between between ADP hjic-495 404 43 low low ADJ hjic-495 404 44 frequencies frequency NOUN hjic-495 404 45 and and CCONJ hjic-495 404 46 high high ADJ hjic-495 404 47 frequencies frequency NOUN hjic-495 404 48 ( ( PUNCT hjic-495 404 49 lf lf NOUN hjic-495 404 50 / / PUNCT hjic-495 404 51 hf hf NOUN hjic-495 404 52 ) ) PUNCT hjic-495 404 53 . . PUNCT hjic-495 405 1 results result NOUN hjic-495 405 2 show show VERB hjic-495 405 3 no no DET hjic-495 405 4 significant significant ADJ hjic-495 405 5 difference difference NOUN hjic-495 405 6 between between ADP hjic-495 405 7 schiller schiller NOUN hjic-495 405 8 and and CCONJ hjic-495 405 9 cardiosport cardiosport NOUN hjic-495 405 10 device device NOUN hjic-495 405 11 values value NOUN hjic-495 405 12 . . PUNCT hjic-495 406 1 the the DET hjic-495 406 2 average average ADJ hjic-495 406 3 mean mean NOUN hjic-495 406 4 absolute absolute ADJ hjic-495 406 5 percentage percentage NOUN hjic-495 406 6 error error NOUN hjic-495 406 7 ( ( PUNCT hjic-495 406 8 mape mape NOUN hjic-495 406 9 ) ) PUNCT hjic-495 406 10 between between ADP hjic-495 406 11 two two NUM hjic-495 406 12 signals signal NOUN hjic-495 406 13 is be AUX hjic-495 406 14 2 2 NUM hjic-495 406 15 % % NOUN hjic-495 406 16 with with ADP hjic-495 406 17 a a DET hjic-495 406 18 high high ADJ hjic-495 406 19 average average ADJ hjic-495 406 20 correlation correlation NOUN hjic-495 406 21 of of ADP hjic-495 406 22 close close ADJ hjic-495 406 23 to to PART hjic-495 406 24 100 100 NUM hjic-495 406 25 % % NOUN hjic-495 406 26 . . PUNCT hjic-495 407 1 using use VERB hjic-495 407 2 the the DET hjic-495 407 3 data data NOUN hjic-495 407 4 validation validation NOUN hjic-495 407 5 algorithm algorithm NOUN hjic-495 407 6 , , PUNCT hjic-495 407 7 we we PRON hjic-495 407 8 extracted extract VERB hjic-495 407 9 data datum NOUN hjic-495 407 10 points point NOUN hjic-495 407 11 from from ADP hjic-495 407 12 the the DET hjic-495 407 13 collected collect VERB hjic-495 407 14 signals signal NOUN hjic-495 407 15 . . PUNCT hjic-495 408 1 the the DET hjic-495 408 2 duration duration NOUN hjic-495 408 3 of of ADP hjic-495 408 4 the the DET hjic-495 408 5 resulting result VERB hjic-495 408 6 signal signal NOUN hjic-495 408 7 is be AUX hjic-495 408 8 shown show VERB hjic-495 408 9 in in ADP hjic-495 408 10 table table NOUN hjic-495 408 11 4 4 NUM hjic-495 408 12 . . PUNCT hjic-495 409 1 it it PRON hjic-495 409 2 is be AUX hjic-495 409 3 important important ADJ hjic-495 409 4 to to PART hjic-495 409 5 note note VERB hjic-495 409 6 that that SCONJ hjic-495 409 7 due due ADP hjic-495 409 8 to to ADP hjic-495 409 9 the the DET hjic-495 409 10 noise noise NOUN hjic-495 409 11 on on ADP hjic-495 409 12 schiller schiller NOUN hjic-495 409 13 device device NOUN hjic-495 409 14 recordings recording NOUN hjic-495 409 15 , , PUNCT hjic-495 409 16 we we PRON hjic-495 409 17 had have VERB hjic-495 409 18 to to PART hjic-495 409 19 remove remove VERB hjic-495 409 20 noisy noisy ADJ hjic-495 409 21 parts part NOUN hjic-495 409 22 from from ADP hjic-495 409 23 the the DET hjic-495 409 24 original original ADJ hjic-495 409 25 signal signal NOUN hjic-495 409 26 . . PUNCT hjic-495 410 1 therefore therefore ADV hjic-495 410 2 , , PUNCT hjic-495 410 3 even even ADV hjic-495 410 4 though though SCONJ hjic-495 410 5 the the DET hjic-495 410 6 signal signal NOUN hjic-495 410 7 was be AUX hjic-495 410 8 recorded record VERB hjic-495 410 9 continuously continuously ADV hjic-495 410 10 for for ADP hjic-495 410 11 12 12 NUM hjic-495 410 12 hours hour NOUN hjic-495 410 13 , , PUNCT hjic-495 410 14 overall overall ADJ hjic-495 410 15 duration duration NOUN hjic-495 410 16 is be AUX hjic-495 410 17 much much ADV hjic-495 410 18 less less ADJ hjic-495 410 19 . . PUNCT hjic-495 411 1 calculations calculation NOUN hjic-495 411 2 show show VERB hjic-495 411 3 that that SCONJ hjic-495 411 4 in in ADP hjic-495 411 5 the the DET hjic-495 411 6 worst bad ADJ hjic-495 411 7 scenario scenario NOUN hjic-495 411 8 only only ADV hjic-495 411 9 45 45 NUM hjic-495 411 10 % % NOUN hjic-495 411 11 of of ADP hjic-495 411 12 the the DET hjic-495 411 13 signal signal NOUN hjic-495 411 14 can can AUX hjic-495 411 15 be be AUX hjic-495 411 16 used use VERB hjic-495 411 17 for for ADP hjic-495 411 18 analysis analysis NOUN hjic-495 411 19 using use VERB hjic-495 411 20 this this DET hjic-495 411 21 data data NOUN hjic-495 411 22 validation validation NOUN hjic-495 411 23 method method NOUN hjic-495 411 24 , , PUNCT hjic-495 411 25 while while SCONJ hjic-495 411 26 in in ADP hjic-495 411 27 the the DET hjic-495 411 28 best good ADJ hjic-495 411 29 scenario scenario NOUN hjic-495 411 30 this this DET hjic-495 411 31 number number NOUN hjic-495 411 32 reaches reach VERB hjic-495 411 33 95 95 NUM hjic-495 411 34 % % NOUN hjic-495 411 35 . . PUNCT hjic-495 412 1 this this PRON hjic-495 412 2 leads lead VERB hjic-495 412 3 to to ADP hjic-495 412 4 a a DET hjic-495 412 5 conclusion conclusion NOUN hjic-495 412 6 that that SCONJ hjic-495 412 7 results result NOUN hjic-495 412 8 are be AUX hjic-495 412 9 rather rather ADV hjic-495 412 10 subject subject ADJ hjic-495 412 11 dependent dependent ADJ hjic-495 412 12 . . PUNCT hjic-495 413 1 the the DET hjic-495 413 2 results result NOUN hjic-495 413 3 of of ADP hjic-495 413 4 data datum NOUN hjic-495 413 5 analysis analysis NOUN hjic-495 413 6 in in ADP hjic-495 413 7 the the DET hjic-495 413 8 time time NOUN hjic-495 413 9 domain domain NOUN hjic-495 413 10 after after ADP hjic-495 413 11 the the DET hjic-495 413 12 removal removal NOUN hjic-495 413 13 of of ADP hjic-495 413 14 bad bad ADJ hjic-495 413 15 parts part NOUN hjic-495 413 16 using use VERB hjic-495 413 17 the the DET hjic-495 413 18 validation validation NOUN hjic-495 413 19 algorithm algorithm NOUN hjic-495 413 20 can can AUX hjic-495 413 21 be be AUX hjic-495 413 22 seen see VERB hjic-495 413 23 in in ADP hjic-495 413 24 table table NOUN hjic-495 413 25 5 5 NUM hjic-495 413 26 . . PUNCT hjic-495 414 1 the the DET hjic-495 414 2 mean mean PROPN hjic-495 414 3 rr rr PROPN hjic-495 414 4 intervals interval NOUN hjic-495 414 5 for for ADP hjic-495 414 6 schiller schiller NOUN hjic-495 414 7 and and CCONJ hjic-495 414 8 cardiosport cardiosport PROPN hjic-495 414 9 devices device NOUN hjic-495 414 10 are be AUX hjic-495 414 11 851 851 NUM hjic-495 414 12 and and CCONJ hjic-495 414 13 871 871 NUM hjic-495 414 14 and and CCONJ hjic-495 414 15 standard standard ADJ hjic-495 414 16 deviations deviation NOUN hjic-495 414 17 are be AUX hjic-495 414 18 104 104 NUM hjic-495 414 19 and and CCONJ hjic-495 414 20 106 106 NUM hjic-495 414 21 , , PUNCT hjic-495 414 22 respectively respectively ADV hjic-495 414 23 . . PUNCT hjic-495 415 1 the the DET hjic-495 415 2 cardiosport cardiosport NOUN hjic-495 415 3 device device NOUN hjic-495 415 4 has have VERB hjic-495 415 5 slightly slightly ADV hjic-495 415 6 greater great ADJ hjic-495 415 7 values value NOUN hjic-495 415 8 , , PUNCT hjic-495 415 9 but but CCONJ hjic-495 415 10 these these PRON hjic-495 415 11 are be AUX hjic-495 415 12 practically practically ADV hjic-495 415 13 identical identical ADJ hjic-495 415 14 . . PUNCT hjic-495 416 1 the the DET hjic-495 416 2 frequency frequency NOUN hjic-495 416 3 domain domain NOUN hjic-495 416 4 analysis analysis NOUN hjic-495 416 5 for for ADP hjic-495 416 6 the the DET hjic-495 416 7 data data NOUN hjic-495 416 8 validation validation NOUN hjic-495 416 9 process process NOUN hjic-495 416 10 is be AUX hjic-495 416 11 presented present VERB hjic-495 416 12 in in ADP hjic-495 416 13 table table NOUN hjic-495 416 14 6 6 NUM hjic-495 416 15 . . PUNCT hjic-495 417 1 the the DET hjic-495 417 2 absolute absolute ADJ hjic-495 417 3 power power NOUN hjic-495 417 4 was be AUX hjic-495 417 5 compared compare VERB hjic-495 417 6 for for ADP hjic-495 417 7 very very ADV hjic-495 417 8 low low ADJ hjic-495 417 9 frequencies frequency NOUN hjic-495 417 10 ( ( PUNCT hjic-495 417 11 vlf vlf NOUN hjic-495 417 12 : : PUNCT hjic-495 417 13 00.04 00.04 NUM hjic-495 417 14 hz hz NOUN hjic-495 417 15 ) ) PUNCT hjic-495 417 16 , , PUNCT hjic-495 417 17 low low ADJ hjic-495 417 18 frequencies frequency NOUN hjic-495 417 19 ( ( PUNCT hjic-495 417 20 lf lf NOUN hjic-495 417 21 : : PUNCT hjic-495 417 22 0.04 0.04 NUM hjic-495 417 23 - - SYM hjic-495 417 24 0.15 0.15 NUM hjic-495 417 25 hz hz NOUN hjic-495 417 26 ) ) PUNCT hjic-495 417 27 , , PUNCT hjic-495 417 28 high high ADJ hjic-495 417 29 frequencies frequency NOUN hjic-495 417 30 ( ( PUNCT hjic-495 417 31 hf hf NOUN hjic-495 417 32 : : PUNCT hjic-495 417 33 0.15 0.15 NUM hjic-495 417 34 - - SYM hjic-495 417 35 0.4 0.4 NUM hjic-495 417 36 hz hz NOUN hjic-495 417 37 ) ) PUNCT hjic-495 417 38 , , PUNCT hjic-495 417 39 and and CCONJ hjic-495 417 40 ratios ratio NOUN hjic-495 417 41 between between ADP hjic-495 417 42 low low ADJ hjic-495 417 43 frequencies frequency NOUN hjic-495 417 44 and and CCONJ hjic-495 417 45 high high ADJ hjic-495 417 46 frequencies frequency NOUN hjic-495 417 47 ( ( PUNCT hjic-495 417 48 lf lf NOUN hjic-495 417 49 / / PUNCT hjic-495 417 50 hf hf NOUN hjic-495 417 51 ) ) PUNCT hjic-495 417 52 . . PUNCT hjic-495 418 1 as as ADP hjic-495 418 2 in in ADP hjic-495 418 3 the the DET hjic-495 418 4 synchronization synchronization NOUN hjic-495 418 5 process process NOUN hjic-495 418 6 , , PUNCT hjic-495 418 7 the the DET hjic-495 418 8 results result NOUN hjic-495 418 9 show show VERB hjic-495 418 10 no no DET hjic-495 418 11 significant significant ADJ hjic-495 418 12 difference difference NOUN hjic-495 418 13 between between ADP hjic-495 418 14 the the DET hjic-495 418 15 schiller schiller NOUN hjic-495 418 16 and and CCONJ hjic-495 418 17 cardiosport cardiosport NOUN hjic-495 418 18 device device NOUN hjic-495 418 19 values value NOUN hjic-495 418 20 . . PUNCT hjic-495 419 1 the the DET hjic-495 419 2 minimum minimum ADJ hjic-495 419 3 , , PUNCT hjic-495 419 4 maximum maximum ADJ hjic-495 419 5 and and CCONJ hjic-495 419 6 average average ADJ hjic-495 419 7 percentage percentage NOUN hjic-495 419 8 errors error NOUN hjic-495 419 9 on on ADP hjic-495 419 10 whole whole ADJ hjic-495 419 11 signals signal NOUN hjic-495 419 12 were be AUX hjic-495 419 13 calculated calculate VERB hjic-495 419 14 using use VERB hjic-495 419 15 5 5 NUM hjic-495 419 16 minute minute NOUN hjic-495 419 17 long long ADV hjic-495 419 18 sliding slide VERB hjic-495 419 19 windows window NOUN hjic-495 419 20 with with ADP hjic-495 419 21 one one NUM hjic-495 419 22 minute minute NOUN hjic-495 419 23 long long ADJ hjic-495 419 24 shift shift NOUN hjic-495 419 25 steps step NOUN hjic-495 419 26 ( ( PUNCT hjic-495 419 27 table table NOUN hjic-495 419 28 7 7 NUM hjic-495 419 29 ) ) PUNCT hjic-495 419 30 . . PUNCT hjic-495 420 1 only only ADV hjic-495 420 2 one one NUM hjic-495 420 3 subject subject NOUN hjic-495 420 4 had have VERB hjic-495 420 5 a a DET hjic-495 420 6 high high ADJ hjic-495 420 7 maximum maximum NOUN hjic-495 420 8 error error NOUN hjic-495 420 9 value value NOUN hjic-495 420 10 of of ADP hjic-495 420 11 34 34 NUM hjic-495 420 12 % % NOUN hjic-495 420 13 . . PUNCT hjic-495 421 1 by by ADP hjic-495 421 2 visual visual ADJ hjic-495 421 3 examination examination NOUN hjic-495 421 4 , , PUNCT hjic-495 421 5 it it PRON hjic-495 421 6 was be AUX hjic-495 421 7 determined determine VERB hjic-495 421 8 that that SCONJ hjic-495 421 9 the the DET hjic-495 421 10 cause cause NOUN hjic-495 421 11 of of ADP hjic-495 421 12 such such DET hjic-495 421 13 a a DET hjic-495 421 14 high high ADJ hjic-495 421 15 error error NOUN hjic-495 421 16 was be AUX hjic-495 421 17 the the DET hjic-495 421 18 artefact artefact NOUN hjic-495 421 19 of of ADP hjic-495 421 20 the the DET hjic-495 421 21 schiller schiller NOUN hjic-495 421 22 device device NOUN hjic-495 421 23 . . PUNCT hjic-495 422 1 in in ADP hjic-495 422 2 spite spite NOUN hjic-495 422 3 of of ADP hjic-495 422 4 that that PRON hjic-495 422 5 , , PUNCT hjic-495 422 6 the the DET hjic-495 422 7 average average ADJ hjic-495 422 8 error error NOUN hjic-495 422 9 remained remain VERB hjic-495 422 10 low low ADJ hjic-495 422 11 ( ( PUNCT hjic-495 422 12 2 2 NUM hjic-495 422 13 % % NOUN hjic-495 422 14 ) ) PUNCT hjic-495 422 15 . . PUNCT hjic-495 423 1 table table NOUN hjic-495 423 2 2 2 NUM hjic-495 423 3 : : PUNCT hjic-495 423 4 time time NOUN hjic-495 423 5 domain domain NOUN hjic-495 423 6 analysis analysis NOUN hjic-495 423 7 after after SCONJ hjic-495 423 8 synchronization synchronization NOUN hjic-495 423 9 mean mean PROPN hjic-495 423 10 rr rr PROPN hjic-495 424 1 ( ( PUNCT hjic-495 424 2 ms ms PROPN hjic-495 424 3 ) ) PUNCT hjic-495 424 4 a a DET hjic-495 424 5 std std X hjic-495 424 6 rr rr X hjic-495 424 7 ( ( PUNCT hjic-495 424 8 ms ms PROPN hjic-495 424 9 ) ) PUNCT hjic-495 424 10 b b PROPN hjic-495 424 11 subject subject PROPN hjic-495 424 12 schiller schiller PROPN hjic-495 424 13 cardiosport cardiosport PROPN hjic-495 424 14 schiller schiller PROPN hjic-495 424 15 cardiosport cardiosport PROPN hjic-495 424 16 # # SYM hjic-495 424 17 1 1 NUM hjic-495 424 18 738 738 NUM hjic-495 424 19 755 755 NUM hjic-495 424 20 123 123 NUM hjic-495 424 21 125 125 NUM hjic-495 424 22 # # SYM hjic-495 424 23 2 2 NUM hjic-495 424 24 704 704 NUM hjic-495 424 25 720 720 NUM hjic-495 424 26 91 91 NUM hjic-495 424 27 93 93 NUM hjic-495 424 28 # # SYM hjic-495 424 29 3 3 NUM hjic-495 424 30 908 908 NUM hjic-495 424 31 929 929 NUM hjic-495 424 32 90 90 NUM hjic-495 424 33 93 93 NUM hjic-495 424 34 # # SYM hjic-495 424 35 4 4 NUM hjic-495 424 36 855 855 NUM hjic-495 424 37 875 875 NUM hjic-495 424 38 145 145 NUM hjic-495 424 39 148 148 NUM hjic-495 424 40 # # SYM hjic-495 424 41 5 5 NUM hjic-495 424 42 937 937 NUM hjic-495 424 43 959 959 NUM hjic-495 424 44 107 107 NUM hjic-495 424 45 109 109 NUM hjic-495 424 46 average average ADJ hjic-495 424 47 851 851 NUM hjic-495 424 48 871 871 NUM hjic-495 424 49 108 108 NUM hjic-495 424 50 111 111 NUM hjic-495 424 51 a a DET hjic-495 424 52 with with ADP hjic-495 424 53 2 2 NUM hjic-495 424 54 % % NOUN hjic-495 424 55 error error NOUN hjic-495 424 56 , , PUNCT hjic-495 424 57 b b NOUN hjic-495 424 58 with with ADP hjic-495 424 59 1 1 NUM hjic-495 424 60 - - SYM hjic-495 424 61 3 3 NUM hjic-495 424 62 % % NOUN hjic-495 424 63 error error NOUN hjic-495 424 64 table table NOUN hjic-495 424 65 3 3 NUM hjic-495 424 66 : : PUNCT hjic-495 424 67 frequency frequency NOUN hjic-495 424 68 domain domain NOUN hjic-495 424 69 analysis analysis NOUN hjic-495 424 70 after after ADP hjic-495 424 71 synchronization synchronization NOUN hjic-495 424 72 schiller schiller PROPN hjic-495 424 73 cardiosport cardiosport PROPN hjic-495 424 74 error error NOUN hjic-495 424 75 subject subject NOUN hjic-495 424 76 absolute absolute ADJ hjic-495 424 77 power power NOUN hjic-495 424 78 ( ( PUNCT hjic-495 424 79 ms2 ms2 NOUN hjic-495 424 80 ) ) PUNCT hjic-495 424 81 absolute absolute ADJ hjic-495 424 82 power power NOUN hjic-495 424 83 ( ( PUNCT hjic-495 424 84 ms2 ms2 NOUN hjic-495 424 85 ) ) PUNCT hjic-495 425 1 % % NOUN hjic-495 426 1 % % INTJ hjic-495 426 2 % % INTJ hjic-495 427 1 % % INTJ hjic-495 427 2 vlf vlf NOUN hjic-495 427 3 lf lf ADP hjic-495 427 4 hf hf PROPN hjic-495 427 5 lf lf PROPN hjic-495 427 6 / / PROPN hjic-495 427 7 hf hf PROPN hjic-495 427 8 vlf vlf PROPN hjic-495 427 9 lf lf ADP hjic-495 427 10 hf hf PROPN hjic-495 427 11 lf lf PROPN hjic-495 427 12 / / PROPN hjic-495 427 13 hf hf PROPN hjic-495 427 14 vlf vlf PROPN hjic-495 427 15 lf lf ADP hjic-495 427 16 hf hf PROPN hjic-495 427 17 lf lf PROPN hjic-495 427 18 / / SYM hjic-495 427 19 hf hf NOUN hjic-495 427 20 # # SYM hjic-495 427 21 1 1 NUM hjic-495 427 22 7937.6 7937.6 NUM hjic-495 427 23 3086 3086 NUM hjic-495 427 24 1578 1578 NUM hjic-495 427 25 1.956 1.956 NUM hjic-495 427 26 8444 8444 NUM hjic-495 427 27 3224 3224 NUM hjic-495 427 28 1330 1330 NUM hjic-495 427 29 2.4235 2.4235 NUM hjic-495 427 30 6 6 NUM hjic-495 427 31 4 4 NUM hjic-495 427 32 19 19 NUM hjic-495 427 33 19 19 NUM hjic-495 427 34 # # SYM hjic-495 427 35 2 2 NUM hjic-495 427 36 5431.5 5431.5 NUM hjic-495 427 37 626.6 626.6 NUM hjic-495 427 38 245 245 NUM hjic-495 427 39 2.557 2.557 NUM hjic-495 427 40 5723 5723 NUM hjic-495 427 41 659.3 659.3 NUM hjic-495 427 42 250.9 250.9 NUM hjic-495 427 43 2.6281 2.6281 NUM hjic-495 427 44 5 5 NUM hjic-495 427 45 5 5 NUM hjic-495 427 46 2 2 NUM hjic-495 427 47 3 3 NUM hjic-495 427 48 # # SYM hjic-495 427 49 3 3 NUM hjic-495 427 50 4251.2 4251.2 NUM hjic-495 427 51 1927 1927 NUM hjic-495 427 52 494.4 494.4 NUM hjic-495 427 53 3.898 3.898 NUM hjic-495 427 54 4543 4543 NUM hjic-495 427 55 2055 2055 NUM hjic-495 427 56 538.8 538.8 NUM hjic-495 427 57 3.8146 3.8146 NUM hjic-495 427 58 6 6 NUM hjic-495 427 59 6 6 NUM hjic-495 427 60 8 8 NUM hjic-495 427 61 2 2 NUM hjic-495 427 62 # # SYM hjic-495 427 63 4 4 NUM hjic-495 427 64 12682 12682 NUM hjic-495 427 65 1790 1790 NUM hjic-495 427 66 636.5 636.5 NUM hjic-495 427 67 2.813 2.813 NUM hjic-495 427 68 13514 13514 NUM hjic-495 427 69 1869 1869 NUM hjic-495 427 70 621.5 621.5 NUM hjic-495 427 71 3.0077 3.0077 NUM hjic-495 427 72 6 6 NUM hjic-495 427 73 4 4 NUM hjic-495 427 74 2 2 NUM hjic-495 427 75 6 6 NUM hjic-495 427 76 # # SYM hjic-495 427 77 5 5 NUM hjic-495 427 78 6139.8 6139.8 NUM hjic-495 427 79 1212 1212 NUM hjic-495 427 80 476.7 476.7 NUM hjic-495 427 81 2.542 2.542 NUM hjic-495 427 82 6465 6465 NUM hjic-495 427 83 1274 1274 NUM hjic-495 427 84 481.4 481.4 NUM hjic-495 427 85 2.6459 2.6459 NUM hjic-495 427 86 5 5 NUM hjic-495 427 87 5 5 NUM hjic-495 427 88 1 1 NUM hjic-495 427 89 4 4 NUM hjic-495 427 90 table table NOUN hjic-495 427 91 4 4 NUM hjic-495 427 92 : : PUNCT hjic-495 427 93 signal signal VERB hjic-495 427 94 duration duration NOUN hjic-495 427 95 after after ADP hjic-495 427 96 data data PROPN hjic-495 427 97 validation validation PROPN hjic-495 427 98 subject subject NOUN hjic-495 427 99 duration duration NOUN hjic-495 427 100 ( ( PUNCT hjic-495 427 101 h h NOUN hjic-495 427 102 : : PUNCT hjic-495 427 103 m m ADJ hjic-495 427 104 : : PUNCT hjic-495 427 105 s s X hjic-495 427 106 ) ) PUNCT hjic-495 427 107 # # SYM hjic-495 427 108 1 1 NUM hjic-495 427 109 1:28:10 1:28:10 NUM hjic-495 427 110 # # SYM hjic-495 427 111 2 2 NUM hjic-495 427 112 11:20:03 11:20:03 NUM hjic-495 427 113 # # SYM hjic-495 427 114 3 3 NUM hjic-495 427 115 6:15:38 6:15:38 NUM hjic-495 427 116 # # SYM hjic-495 427 117 4 4 NUM hjic-495 427 118 9:27:07 9:27:07 NUM hjic-495 427 119 # # SYM hjic-495 427 120 5 5 NUM hjic-495 427 121 4:29:44 4:29:44 NUM hjic-495 427 122 table table NOUN hjic-495 427 123 5 5 NUM hjic-495 427 124 : : PUNCT hjic-495 427 125 time time NOUN hjic-495 427 126 - - PUNCT hjic-495 427 127 domain domain NOUN hjic-495 427 128 analysis analysis NOUN hjic-495 427 129 after after SCONJ hjic-495 427 130 data data NOUN hjic-495 427 131 validation validation NOUN hjic-495 427 132 mean mean PROPN hjic-495 427 133 rr rr PROPN hjic-495 427 134 ( ( PUNCT hjic-495 427 135 ms ms PROPN hjic-495 427 136 ) ) PUNCT hjic-495 427 137 a a DET hjic-495 427 138 std std X hjic-495 427 139 rr rr X hjic-495 427 140 ( ( PUNCT hjic-495 427 141 ms ms PROPN hjic-495 427 142 ) ) PUNCT hjic-495 427 143 b b PROPN hjic-495 427 144 subject subject PROPN hjic-495 427 145 schiller schiller PROPN hjic-495 427 146 cardiosport cardiosport PROPN hjic-495 427 147 schiller schiller PROPN hjic-495 427 148 cardiosport cardiosport PROPN hjic-495 427 149 # # SYM hjic-495 427 150 1 1 NUM hjic-495 427 151 701 701 NUM hjic-495 427 152 724 724 NUM hjic-495 427 153 136 136 NUM hjic-495 427 154 139 139 NUM hjic-495 427 155 # # SYM hjic-495 427 156 2 2 NUM hjic-495 427 157 700 700 NUM hjic-495 427 158 717 717 NUM hjic-495 427 159 91 91 NUM hjic-495 427 160 93 93 NUM hjic-495 427 161 # # SYM hjic-495 427 162 3 3 NUM hjic-495 427 163 899 899 NUM hjic-495 428 1 921 921 NUM hjic-495 428 2 100 100 NUM hjic-495 428 3 100 100 NUM hjic-495 428 4 # # SYM hjic-495 428 5 4 4 NUM hjic-495 428 6 846 846 NUM hjic-495 428 7 866 866 NUM hjic-495 428 8 139 139 NUM hjic-495 428 9 142 142 NUM hjic-495 428 10 # # SYM hjic-495 428 11 5 5 NUM hjic-495 428 12 958 958 NUM hjic-495 428 13 981 981 NUM hjic-495 428 14 88 88 NUM hjic-495 428 15 90 90 NUM hjic-495 428 16 average average NOUN hjic-495 428 17 851 851 NUM hjic-495 428 18 871 871 NUM hjic-495 428 19 105 105 NUM hjic-495 428 20 106 106 NUM hjic-495 428 21 a a DET hjic-495 428 22 with with ADP hjic-495 428 23 2 2 NUM hjic-495 428 24 % % NOUN hjic-495 428 25 error error NOUN hjic-495 428 26 , , PUNCT hjic-495 428 27 b b NOUN hjic-495 428 28 with with ADP hjic-495 428 29 0 0 NUM hjic-495 428 30 - - SYM hjic-495 428 31 2 2 NUM hjic-495 428 32 % % NOUN hjic-495 428 33 error error NOUN hjic-495 428 34 table table NOUN hjic-495 428 35 6 6 NUM hjic-495 428 36 : : PUNCT hjic-495 428 37 frequency frequency NOUN hjic-495 428 38 domain domain NOUN hjic-495 428 39 analysis analysis NOUN hjic-495 428 40 after after ADP hjic-495 428 41 data data NOUN hjic-495 428 42 validation validation PROPN hjic-495 428 43 schiller schiller NOUN hjic-495 428 44 cardiosport cardiosport NOUN hjic-495 428 45 error error NOUN hjic-495 428 46 subject subject NOUN hjic-495 428 47 absolute absolute ADJ hjic-495 428 48 power power NOUN hjic-495 428 49 ( ( PUNCT hjic-495 428 50 ms2 ms2 NOUN hjic-495 428 51 ) ) PUNCT hjic-495 428 52 absolute absolute ADJ hjic-495 428 53 power power NOUN hjic-495 428 54 ( ( PUNCT hjic-495 428 55 ms2 ms2 NOUN hjic-495 428 56 ) ) PUNCT hjic-495 428 57 % % NOUN hjic-495 429 1 % % INTJ hjic-495 430 1 % % INTJ hjic-495 431 1 % % INTJ hjic-495 431 2 vlf vlf NOUN hjic-495 431 3 lf lf ADP hjic-495 431 4 hf hf PROPN hjic-495 431 5 lf lf PROPN hjic-495 431 6 / / PROPN hjic-495 431 7 hf hf PROPN hjic-495 431 8 vlf vlf PROPN hjic-495 431 9 lf lf ADP hjic-495 431 10 hf hf PROPN hjic-495 431 11 lf lf PROPN hjic-495 431 12 / / PROPN hjic-495 431 13 hf hf PROPN hjic-495 431 14 vlf vlf PROPN hjic-495 431 15 lf lf ADP hjic-495 431 16 hf hf PROPN hjic-495 431 17 lf lf PROPN hjic-495 431 18 / / SYM hjic-495 431 19 hf hf NOUN hjic-495 431 20 # # SYM hjic-495 431 21 1 1 NUM hjic-495 431 22 10414 10414 NUM hjic-495 431 23 2297 2297 NUM hjic-495 431 24 1171 1171 NUM hjic-495 431 25 1.96 1.96 NUM hjic-495 431 26 10847 10847 NUM hjic-495 431 27 2442 2442 NUM hjic-495 431 28 1004 1004 NUM hjic-495 431 29 2.43 2.43 NUM hjic-495 431 30 4 4 NUM hjic-495 431 31 6 6 NUM hjic-495 431 32 17 17 NUM hjic-495 431 33 19 19 NUM hjic-495 431 34 # # SYM hjic-495 431 35 2 2 NUM hjic-495 431 36 5446 5446 NUM hjic-495 431 37 631 631 NUM hjic-495 431 38 245 245 NUM hjic-495 431 39 2.57 2.57 NUM hjic-495 431 40 5718 5718 NUM hjic-495 431 41 654 654 NUM hjic-495 431 42 245 245 NUM hjic-495 431 43 2.67 2.67 NUM hjic-495 431 44 5 5 NUM hjic-495 431 45 3 3 NUM hjic-495 431 46 1 1 NUM hjic-495 431 47 4 4 NUM hjic-495 431 48 # # SYM hjic-495 431 49 3 3 NUM hjic-495 431 50 5163 5163 NUM hjic-495 431 51 1990 1990 NUM hjic-495 431 52 523 523 NUM hjic-495 431 53 3.80 3.80 NUM hjic-495 431 54 5424 5424 NUM hjic-495 431 55 2054 2054 NUM hjic-495 431 56 540 540 NUM hjic-495 431 57 3.80 3.80 NUM hjic-495 431 58 5 5 NUM hjic-495 431 59 3 3 NUM hjic-495 431 60 3 3 NUM hjic-495 431 61 0 0 NUM hjic-495 431 62 # # SYM hjic-495 431 63 4 4 NUM hjic-495 431 64 11683 11683 NUM hjic-495 431 65 1769 1769 NUM hjic-495 431 66 616 616 NUM hjic-495 431 67 2.87 2.87 NUM hjic-495 431 68 12149 12149 NUM hjic-495 431 69 1831 1831 NUM hjic-495 431 70 594 594 NUM hjic-495 431 71 3.08 3.08 NUM hjic-495 431 72 4 4 NUM hjic-495 431 73 3 3 NUM hjic-495 431 74 4 4 NUM hjic-495 431 75 7 7 NUM hjic-495 431 76 # # SYM hjic-495 431 77 5 5 NUM hjic-495 431 78 4356 4356 NUM hjic-495 431 79 1235 1235 NUM hjic-495 431 80 317 317 NUM hjic-495 431 81 3.89 3.89 NUM hjic-495 431 82 4522 4522 NUM hjic-495 431 83 1303 1303 NUM hjic-495 431 84 330 330 NUM hjic-495 431 85 3.95 3.95 NUM hjic-495 431 86 4 4 NUM hjic-495 431 87 5 5 NUM hjic-495 431 88 4 4 NUM hjic-495 431 89 1 1 NUM hjic-495 431 90 69 69 NUM hjic-495 431 91 fig.4 fig.4 ADV hjic-495 431 92 represents represent VERB hjic-495 431 93 a a DET hjic-495 431 94 typical typical ADJ hjic-495 431 95 relationship relationship NOUN hjic-495 431 96 between between ADP hjic-495 431 97 cardiosport cardiosport NOUN hjic-495 431 98 and and CCONJ hjic-495 431 99 schiller schiller NOUN hjic-495 431 100 devices device NOUN hjic-495 431 101 . . PUNCT hjic-495 432 1 all all DET hjic-495 432 2 gradient gradient ADJ hjic-495 432 3 values value NOUN hjic-495 432 4 are be AUX hjic-495 432 5 close close ADJ hjic-495 432 6 to to ADP hjic-495 432 7 1 1 NUM hjic-495 432 8 . . PUNCT hjic-495 433 1 the the DET hjic-495 433 2 lowest low ADJ hjic-495 433 3 slope slope NOUN hjic-495 433 4 value value NOUN hjic-495 433 5 is be AUX hjic-495 433 6 0.98 0.98 NUM hjic-495 433 7 while while SCONJ hjic-495 433 8 the the DET hjic-495 433 9 highest high ADJ hjic-495 433 10 value value NOUN hjic-495 433 11 is be AUX hjic-495 433 12 1.02 1.02 NUM hjic-495 433 13 . . PUNCT hjic-495 434 1 the the DET hjic-495 434 2 average average ADJ hjic-495 434 3 mean mean NOUN hjic-495 434 4 absolute absolute ADJ hjic-495 434 5 percentage percentage NOUN hjic-495 434 6 error error NOUN hjic-495 434 7 ( ( PUNCT hjic-495 434 8 mape mape NOUN hjic-495 434 9 ) ) PUNCT hjic-495 434 10 between between ADP hjic-495 434 11 two two NUM hjic-495 434 12 signals signal NOUN hjic-495 434 13 was be AUX hjic-495 434 14 3 3 NUM hjic-495 434 15 % % NOUN hjic-495 434 16 with with ADP hjic-495 434 17 a a DET hjic-495 434 18 strong strong ADJ hjic-495 434 19 average average ADJ hjic-495 434 20 correlation correlation NOUN hjic-495 434 21 of of ADP hjic-495 434 22 99 99 NUM hjic-495 434 23 % % NOUN hjic-495 434 24 . . PUNCT hjic-495 435 1 atrial atrial ADJ hjic-495 435 2 fibrillation fibrillation NOUN hjic-495 435 3 we we PRON hjic-495 435 4 carried carry VERB hjic-495 435 5 out out ADP hjic-495 435 6 the the DET hjic-495 435 7 detection detection NOUN hjic-495 435 8 of of ADP hjic-495 435 9 atrial atrial ADJ hjic-495 435 10 fibrillation fibrillation NOUN hjic-495 435 11 ( ( PUNCT hjic-495 435 12 afib afib PROPN hjic-495 435 13 ) ) PUNCT hjic-495 435 14 by by ADP hjic-495 435 15 analysing analyse VERB hjic-495 435 16 poincaré poincaré PROPN hjic-495 435 17 plots plot NOUN hjic-495 435 18 consisting consist VERB hjic-495 435 19 of of ADP hjic-495 435 20 30 30 NUM hjic-495 435 21 rr rr NOUN hjic-495 435 22 intervals interval NOUN hjic-495 435 23 . . PUNCT hjic-495 436 1 we we PRON hjic-495 436 2 considered consider VERB hjic-495 436 3 30 30 NUM hjic-495 436 4 rr rr NOUN hjic-495 436 5 intervals interval NOUN hjic-495 436 6 per per ADP hjic-495 436 7 iteration iteration NOUN hjic-495 436 8 and and CCONJ hjic-495 436 9 in in ADP hjic-495 436 10 each each DET hjic-495 436 11 iteration iteration NOUN hjic-495 436 12 after after ADP hjic-495 436 13 constructing construct VERB hjic-495 436 14 the the DET hjic-495 436 15 poincaré poincaré PROPN hjic-495 436 16 plot plot NOUN hjic-495 436 17 we we PRON hjic-495 436 18 calculated calculate VERB hjic-495 436 19 the the DET hjic-495 436 20 dispersion dispersion NOUN hjic-495 436 21 around around ADP hjic-495 436 22 the the DET hjic-495 436 23 diagonal diagonal ADJ hjic-495 436 24 line line NOUN hjic-495 436 25 and and CCONJ hjic-495 436 26 used use VERB hjic-495 436 27 k k PROPN hjic-495 436 28 - - PUNCT hjic-495 436 29 means mean NOUN hjic-495 436 30 based base VERB hjic-495 436 31 cluster cluster NOUN hjic-495 436 32 analysis analysis NOUN hjic-495 436 33 to to PART hjic-495 436 34 determine determine VERB hjic-495 436 35 the the DET hjic-495 436 36 number number NOUN hjic-495 436 37 of of ADP hjic-495 436 38 the the DET hjic-495 436 39 clusters cluster NOUN hjic-495 436 40 . . PUNCT hjic-495 437 1 if if SCONJ hjic-495 437 2 the the DET hjic-495 437 3 dispersion dispersion NOUN hjic-495 437 4 was be AUX hjic-495 437 5 too too ADV hjic-495 437 6 high high ADJ hjic-495 437 7 ( ( PUNCT hjic-495 437 8 greater great ADJ hjic-495 437 9 than than ADP hjic-495 437 10 0.06 0.06 NUM hjic-495 437 11 ) ) PUNCT hjic-495 437 12 and and CCONJ hjic-495 437 13 the the DET hjic-495 437 14 number number NOUN hjic-495 437 15 of of ADP hjic-495 437 16 clusters cluster NOUN hjic-495 437 17 was be AUX hjic-495 437 18 1 1 NUM hjic-495 437 19 , , PUNCT hjic-495 437 20 or or CCONJ hjic-495 437 21 the the DET hjic-495 437 22 number number NOUN hjic-495 437 23 of of ADP hjic-495 437 24 clusters cluster NOUN hjic-495 437 25 was be AUX hjic-495 437 26 more more ADJ hjic-495 437 27 than than ADP hjic-495 437 28 9 9 NUM hjic-495 437 29 ; ; PUNCT hjic-495 437 30 we we PRON hjic-495 437 31 assigned assign VERB hjic-495 437 32 “ " PUNCT hjic-495 437 33 afib afib PROPN hjic-495 437 34 ” " PUNCT hjic-495 437 35 to to ADP hjic-495 437 36 that that DET hjic-495 437 37 series series NOUN hjic-495 437 38 of of ADP hjic-495 437 39 rr rr PROPN hjic-495 437 40 intervals interval NOUN hjic-495 437 41 , , PUNCT hjic-495 437 42 otherwise otherwise ADV hjic-495 437 43 to to ADP hjic-495 437 44 “ " PUNCT hjic-495 437 45 non non ADJ hjic-495 437 46 - - ADJ hjic-495 437 47 afib afib ADJ hjic-495 437 48 ” " PUNCT hjic-495 437 49 . . PUNCT hjic-495 438 1 the the DET hjic-495 438 2 details detail NOUN hjic-495 438 3 of of ADP hjic-495 438 4 the the DET hjic-495 438 5 algorithm algorithm NOUN hjic-495 438 6 can can AUX hjic-495 438 7 be be AUX hjic-495 438 8 seen see VERB hjic-495 438 9 in in ADP hjic-495 438 10 our our PRON hjic-495 438 11 previous previous ADJ hjic-495 438 12 study study NOUN hjic-495 438 13 [ [ X hjic-495 438 14 16 16 NUM hjic-495 438 15 ] ] PUNCT hjic-495 438 16 . . PUNCT hjic-495 439 1 since since SCONJ hjic-495 439 2 our our PRON hjic-495 439 3 data datum NOUN hjic-495 439 4 set set NOUN hjic-495 439 5 did do AUX hjic-495 439 6 not not PART hjic-495 439 7 contain contain VERB hjic-495 439 8 real real ADJ hjic-495 439 9 afib afib ADJ hjic-495 439 10 cases case NOUN hjic-495 439 11 , , PUNCT hjic-495 439 12 only only ADV hjic-495 439 13 specificity specificity NOUN hjic-495 439 14 could could AUX hjic-495 439 15 be be AUX hjic-495 439 16 calculated calculate VERB hjic-495 439 17 with with ADP hjic-495 439 18 regard regard NOUN hjic-495 439 19 to to ADP hjic-495 439 20 the the DET hjic-495 439 21 efficiency efficiency NOUN hjic-495 439 22 of of ADP hjic-495 439 23 detection detection NOUN hjic-495 439 24 . . PUNCT hjic-495 440 1 the the DET hjic-495 440 2 evaluation evaluation NOUN hjic-495 440 3 of of ADP hjic-495 440 4 atrial atrial ADJ hjic-495 440 5 fibrillation fibrillation NOUN hjic-495 440 6 detection detection NOUN hjic-495 440 7 results result NOUN hjic-495 440 8 for for ADP hjic-495 440 9 synchronized synchronize VERB hjic-495 440 10 data datum NOUN hjic-495 440 11 validation validation NOUN hjic-495 440 12 can can AUX hjic-495 440 13 be be AUX hjic-495 440 14 seen see VERB hjic-495 440 15 in in ADP hjic-495 440 16 tables table NOUN hjic-495 440 17 8 8 NUM hjic-495 440 18 and and CCONJ hjic-495 440 19 9 9 NUM hjic-495 440 20 . . X hjic-495 440 21 conclusion conclusion NOUN hjic-495 440 22 even even ADV hjic-495 440 23 though though SCONJ hjic-495 440 24 the the DET hjic-495 440 25 cardiosport cardiosport NOUN hjic-495 440 26 device device NOUN hjic-495 440 27 may may AUX hjic-495 440 28 suffer suffer VERB hjic-495 440 29 from from ADP hjic-495 440 30 signal signal ADJ hjic-495 440 31 loss loss NOUN hjic-495 440 32 due due ADP hjic-495 440 33 to to ADP hjic-495 440 34 its its PRON hjic-495 440 35 design design NOUN hjic-495 440 36 , , PUNCT hjic-495 440 37 we we PRON hjic-495 440 38 managed manage VERB hjic-495 440 39 to to PART hjic-495 440 40 determine determine VERB hjic-495 440 41 that that SCONJ hjic-495 440 42 it it PRON hjic-495 440 43 can can AUX hjic-495 440 44 be be AUX hjic-495 440 45 safely safely ADV hjic-495 440 46 used use VERB hjic-495 440 47 for for ADP hjic-495 440 48 telemedical telemedical ADJ hjic-495 440 49 purposes purpose NOUN hjic-495 440 50 of of ADP hjic-495 440 51 measuring measure VERB hjic-495 440 52 hrv hrv NOUN hjic-495 440 53 and and CCONJ hjic-495 440 54 atrial atrial ADJ hjic-495 440 55 fibrillation fibrillation NOUN hjic-495 440 56 . . PUNCT hjic-495 441 1 we we PRON hjic-495 441 2 found find VERB hjic-495 441 3 only only ADV hjic-495 441 4 a a DET hjic-495 441 5 few few ADJ hjic-495 441 6 usable usable ADJ hjic-495 441 7 data datum NOUN hjic-495 441 8 segments segment NOUN hjic-495 441 9 that that PRON hjic-495 441 10 were be AUX hjic-495 441 11 less less ADJ hjic-495 441 12 than than ADP hjic-495 441 13 5 5 NUM hjic-495 441 14 minutes minute NOUN hjic-495 441 15 long long ADV hjic-495 441 16 . . PUNCT hjic-495 442 1 with with ADP hjic-495 442 2 our our PRON hjic-495 442 3 algorithm algorithm NOUN hjic-495 442 4 that that SCONJ hjic-495 442 5 detects detect VERB hjic-495 442 6 gaps gap NOUN hjic-495 442 7 and and CCONJ hjic-495 442 8 errors error NOUN hjic-495 442 9 in in ADP hjic-495 442 10 table table NOUN hjic-495 442 11 7 7 NUM hjic-495 442 12 : : PUNCT hjic-495 442 13 the the DET hjic-495 442 14 minimum minimum ADJ hjic-495 442 15 , , PUNCT hjic-495 442 16 maximum maximum ADJ hjic-495 442 17 and and CCONJ hjic-495 442 18 average average ADJ hjic-495 442 19 percentage percentage NOUN hjic-495 442 20 errors error NOUN hjic-495 442 21 subject subject VERB hjic-495 442 22 minimum minimum NOUN hjic-495 442 23 error error NOUN hjic-495 442 24 maximum maximum NOUN hjic-495 442 25 error error NOUN hjic-495 442 26 average average NOUN hjic-495 442 27 error error NOUN hjic-495 442 28 # # SYM hjic-495 442 29 1 1 NUM hjic-495 442 30 0.1 0.1 NUM hjic-495 442 31 % % NOUN hjic-495 442 32 3.5 3.5 NUM hjic-495 442 33 % % NOUN hjic-495 442 34 1.5 1.5 NUM hjic-495 442 35 % % NOUN hjic-495 442 36 # # SYM hjic-495 442 37 2 2 NUM hjic-495 442 38 0.0 0.0 NUM hjic-495 442 39 % % NOUN hjic-495 442 40 7.7 7.7 NUM hjic-495 442 41 % % NOUN hjic-495 442 42 2.1 2.1 NUM hjic-495 442 43 % % NOUN hjic-495 443 1 # # SYM hjic-495 443 2 3 3 NUM hjic-495 443 3 0.0 0.0 NUM hjic-495 443 4 % % NOUN hjic-495 443 5 33.9 33.9 NUM hjic-495 443 6 % % NOUN hjic-495 443 7 3.2 3.2 NUM hjic-495 443 8 % % NOUN hjic-495 443 9 # # SYM hjic-495 443 10 4 4 NUM hjic-495 443 11 0.1 0.1 NUM hjic-495 443 12 % % NOUN hjic-495 443 13 6.7 6.7 NUM hjic-495 443 14 % % NOUN hjic-495 443 15 1.9 1.9 NUM hjic-495 443 16 % % NOUN hjic-495 443 17 # # SYM hjic-495 443 18 5 5 NUM hjic-495 443 19 0.1 0.1 NUM hjic-495 443 20 % % NOUN hjic-495 443 21 5.1 5.1 NUM hjic-495 443 22 % % NOUN hjic-495 443 23 2.2 2.2 NUM hjic-495 443 24 % % NOUN hjic-495 443 25 average average ADJ hjic-495 443 26 0.1 0.1 NUM hjic-495 443 27 % % NOUN hjic-495 443 28 13.4 13.4 NUM hjic-495 443 29 % % NOUN hjic-495 443 30 2.4 2.4 NUM hjic-495 443 31 % % NOUN hjic-495 443 32 figure figure NOUN hjic-495 443 33 4 4 NUM hjic-495 443 34 : : PUNCT hjic-495 443 35 comparison comparison NOUN hjic-495 443 36 of of ADP hjic-495 443 37 the the DET hjic-495 443 38 cardiosport cardiosport NOUN hjic-495 443 39 and and CCONJ hjic-495 443 40 schiller schiller NOUN hjic-495 443 41 devices device NOUN hjic-495 443 42 after after ADP hjic-495 443 43 data data NOUN hjic-495 443 44 validation validation NOUN hjic-495 443 45 table table NOUN hjic-495 443 46 8 8 NUM hjic-495 443 47 : : PUNCT hjic-495 443 48 results result VERB hjic-495 443 49 from from ADP hjic-495 443 50 the the DET hjic-495 443 51 synchronized synchronize VERB hjic-495 443 52 data datum NOUN hjic-495 443 53 related relate VERB hjic-495 443 54 to to ADP hjic-495 443 55 atrial atrial ADJ hjic-495 443 56 fibrillation fibrillation NOUN hjic-495 443 57 detection detection NOUN hjic-495 443 58 subject subject ADJ hjic-495 443 59 number number NOUN hjic-495 443 60 of of ADP hjic-495 443 61 iterations iteration NOUN hjic-495 443 62 schiller schiller NOUN hjic-495 443 63 mt-101 mt-101 PROPN hjic-495 443 64 / / SYM hjic-495 443 65 mt-200 mt-200 PROPN hjic-495 443 66 system system NOUN hjic-495 443 67 cardiosport cardiosport NOUN hjic-495 443 68 tp3 tp3 NOUN hjic-495 443 69 heart heart NOUN hjic-495 443 70 rate rate NOUN hjic-495 443 71 transmitter transmitter NOUN hjic-495 443 72 afib afib PROPN hjic-495 443 73 cases case NOUN hjic-495 443 74 non non ADJ hjic-495 443 75 - - ADJ hjic-495 443 76 afib afib ADJ hjic-495 443 77 cases case NOUN hjic-495 443 78 afib afib ADJ hjic-495 443 79 cases case NOUN hjic-495 443 80 non non ADJ hjic-495 443 81 - - ADJ hjic-495 443 82 afib afib ADJ hjic-495 443 83 cases case NOUN hjic-495 443 84 # # SYM hjic-495 443 85 1 1 NUM hjic-495 443 86 331 331 NUM hjic-495 443 87 26 26 NUM hjic-495 443 88 8 8 NUM hjic-495 443 89 % % NOUN hjic-495 443 90 305 305 NUM hjic-495 443 91 92 92 NUM hjic-495 443 92 % % NOUN hjic-495 443 93 31 31 NUM hjic-495 443 94 9 9 NUM hjic-495 443 95 % % NOUN hjic-495 443 96 300 300 NUM hjic-495 443 97 91 91 NUM hjic-495 443 98 % % NOUN hjic-495 443 99 # # SYM hjic-495 443 100 2 2 NUM hjic-495 443 101 1796 1796 NUM hjic-495 443 102 9 9 NUM hjic-495 443 103 1 1 NUM hjic-495 443 104 % % NOUN hjic-495 443 105 1787 1787 NUM hjic-495 443 106 99 99 NUM hjic-495 443 107 % % NOUN hjic-495 443 108 3 3 NUM hjic-495 443 109 > > SYM hjic-495 443 110 1 1 NUM hjic-495 443 111 % % NOUN hjic-495 443 112 1793 1793 NUM hjic-495 443 113 ~100 ~100 NUM hjic-495 443 114 % % NOUN hjic-495 444 1 # # SYM hjic-495 444 2 3 3 NUM hjic-495 444 3 1120 1120 NUM hjic-495 444 4 7 7 NUM hjic-495 444 5 1 1 NUM hjic-495 444 6 % % NOUN hjic-495 444 7 1113 1113 NUM hjic-495 444 8 99 99 NUM hjic-495 444 9 % % NOUN hjic-495 444 10 5 5 NUM hjic-495 444 11 1 1 NUM hjic-495 444 12 % % NOUN hjic-495 444 13 1115 1115 NUM hjic-495 444 14 99 99 NUM hjic-495 444 15 % % NOUN hjic-495 444 16 # # SYM hjic-495 444 17 4 4 NUM hjic-495 444 18 1427 1427 NUM hjic-495 444 19 11 11 NUM hjic-495 444 20 1 1 NUM hjic-495 444 21 % % NOUN hjic-495 444 22 1416 1416 NUM hjic-495 444 23 99 99 NUM hjic-495 444 24 % % NOUN hjic-495 444 25 16 16 NUM hjic-495 444 26 1 1 NUM hjic-495 444 27 % % NOUN hjic-495 444 28 1411 1411 NUM hjic-495 444 29 99 99 NUM hjic-495 444 30 % % NOUN hjic-495 444 31 # # SYM hjic-495 444 32 5 5 NUM hjic-495 444 33 964 964 NUM hjic-495 444 34 46 46 NUM hjic-495 444 35 5 5 NUM hjic-495 444 36 % % NOUN hjic-495 444 37 918 918 NUM hjic-495 444 38 95 95 NUM hjic-495 444 39 % % NOUN hjic-495 444 40 45 45 NUM hjic-495 444 41 5 5 NUM hjic-495 444 42 919 919 NUM hjic-495 444 43 95 95 NUM hjic-495 444 44 % % NOUN hjic-495 444 45 min min NOUN hjic-495 444 46 1 1 NUM hjic-495 444 47 % % NOUN hjic-495 444 48 92 92 NUM hjic-495 444 49 % % NOUN hjic-495 444 50 > > SYM hjic-495 444 51 1 1 NUM hjic-495 444 52 % % NOUN hjic-495 444 53 91 91 NUM hjic-495 444 54 % % NOUN hjic-495 444 55 max max NOUN hjic-495 444 56 8 8 NUM hjic-495 444 57 % % NOUN hjic-495 444 58 99 99 NUM hjic-495 444 59 % % NOUN hjic-495 444 60 9 9 NUM hjic-495 444 61 % % NOUN hjic-495 444 62 ~100 ~100 NUM hjic-495 444 63 % % NOUN hjic-495 444 64 mean mean NOUN hjic-495 444 65 3 3 NUM hjic-495 444 66 % % NOUN hjic-495 444 67 97 97 NUM hjic-495 444 68 % % NOUN hjic-495 444 69 3 3 NUM hjic-495 444 70 % % NOUN hjic-495 444 71 97 97 NUM hjic-495 444 72 % % NOUN hjic-495 444 73 std std NOUN hjic-495 444 74 3 3 NUM hjic-495 444 75 % % NOUN hjic-495 444 76 3 3 NUM hjic-495 444 77 % % NOUN hjic-495 444 78 4 4 NUM hjic-495 444 79 % % NOUN hjic-495 444 80 4 4 NUM hjic-495 444 81 % % NOUN hjic-495 444 82 table table NOUN hjic-495 444 83 9 9 NUM hjic-495 444 84 : : PUNCT hjic-495 444 85 results result NOUN hjic-495 444 86 from from ADP hjic-495 444 87 the the DET hjic-495 444 88 data datum NOUN hjic-495 444 89 validation validation NOUN hjic-495 444 90 process process NOUN hjic-495 444 91 related relate VERB hjic-495 444 92 to to ADP hjic-495 444 93 atrial atrial ADJ hjic-495 444 94 fibrillation fibrillation NOUN hjic-495 444 95 detection detection NOUN hjic-495 444 96 patient patient ADJ hjic-495 444 97 number number NOUN hjic-495 444 98 of of ADP hjic-495 444 99 iterations iteration NOUN hjic-495 444 100 schiller schiller NOUN hjic-495 444 101 mt-101 mt-101 PROPN hjic-495 444 102 / / SYM hjic-495 444 103 mt-200 mt-200 PROPN hjic-495 444 104 system system NOUN hjic-495 444 105 cardiosport cardiosport NOUN hjic-495 444 106 tp3 tp3 NOUN hjic-495 444 107 heart heart NOUN hjic-495 444 108 rate rate NOUN hjic-495 444 109 transmitter transmitter NOUN hjic-495 444 110 afib afib PROPN hjic-495 444 111 cases case NOUN hjic-495 444 112 non non ADJ hjic-495 444 113 - - ADJ hjic-495 444 114 afib afib ADJ hjic-495 444 115 cases case NOUN hjic-495 444 116 afib afib ADJ hjic-495 444 117 cases case NOUN hjic-495 444 118 non non ADJ hjic-495 444 119 - - ADJ hjic-495 444 120 afib afib ADJ hjic-495 444 121 cases case NOUN hjic-495 444 122 # # SYM hjic-495 444 123 1 1 NUM hjic-495 444 124 241 241 NUM hjic-495 444 125 3 3 NUM hjic-495 444 126 1 1 NUM hjic-495 444 127 % % NOUN hjic-495 444 128 238 238 NUM hjic-495 444 129 99 99 NUM hjic-495 444 130 % % NOUN hjic-495 444 131 8 8 NUM hjic-495 444 132 3 3 NUM hjic-495 444 133 % % NOUN hjic-495 444 134 233 233 NUM hjic-495 444 135 97 97 NUM hjic-495 444 136 % % NOUN hjic-495 444 137 # # SYM hjic-495 444 138 2 2 NUM hjic-495 444 139 1879 1879 NUM hjic-495 444 140 29 29 NUM hjic-495 444 141 2 2 NUM hjic-495 444 142 % % NOUN hjic-495 444 143 1850 1850 NUM hjic-495 444 144 98 98 NUM hjic-495 444 145 % % NOUN hjic-495 444 146 2 2 NUM hjic-495 444 147 > > SYM hjic-495 444 148 1 1 NUM hjic-495 444 149 % % NOUN hjic-495 444 150 1877 1877 NUM hjic-495 444 151 ~100 ~100 NUM hjic-495 444 152 % % NOUN hjic-495 444 153 # # SYM hjic-495 444 154 3 3 NUM hjic-495 444 155 808 808 NUM hjic-495 444 156 15 15 NUM hjic-495 444 157 2 2 NUM hjic-495 444 158 % % NOUN hjic-495 444 159 793 793 NUM hjic-495 444 160 98 98 NUM hjic-495 444 161 % % NOUN hjic-495 444 162 3 3 NUM hjic-495 444 163 > > SYM hjic-495 444 164 1 1 NUM hjic-495 444 165 % % NOUN hjic-495 444 166 805 805 NUM hjic-495 444 167 ~100 ~100 NUM hjic-495 444 168 % % NOUN hjic-495 445 1 # # SYM hjic-495 445 2 4 4 NUM hjic-495 445 3 1296 1296 NUM hjic-495 445 4 10 10 NUM hjic-495 445 5 1 1 NUM hjic-495 445 6 % % NOUN hjic-495 445 7 1286 1286 NUM hjic-495 445 8 99 99 NUM hjic-495 445 9 % % NOUN hjic-495 445 10 20 20 NUM hjic-495 445 11 2 2 NUM hjic-495 445 12 % % NOUN hjic-495 445 13 1276 1276 NUM hjic-495 445 14 98 98 NUM hjic-495 445 15 % % NOUN hjic-495 445 16 # # SYM hjic-495 445 17 5 5 NUM hjic-495 445 18 544 544 NUM hjic-495 445 19 6 6 NUM hjic-495 445 20 1 1 NUM hjic-495 445 21 % % NOUN hjic-495 445 22 538 538 NUM hjic-495 445 23 99 99 NUM hjic-495 445 24 % % NOUN hjic-495 445 25 7 7 NUM hjic-495 445 26 1 1 NUM hjic-495 445 27 % % NOUN hjic-495 445 28 537 537 NUM hjic-495 445 29 99 99 NUM hjic-495 445 30 % % NOUN hjic-495 445 31 min min NOUN hjic-495 445 32 1 1 NUM hjic-495 445 33 % % NOUN hjic-495 445 34 99 99 NUM hjic-495 445 35 % % NOUN hjic-495 445 36 > > NOUN hjic-495 445 37 1 1 NUM hjic-495 445 38 % % NOUN hjic-495 445 39 97 97 NUM hjic-495 445 40 % % NOUN hjic-495 445 41 max max NOUN hjic-495 445 42 2 2 NUM hjic-495 445 43 % % NOUN hjic-495 445 44 99 99 NUM hjic-495 445 45 % % NOUN hjic-495 445 46 3 3 NUM hjic-495 445 47 % % NOUN hjic-495 445 48 ~100 ~100 NUM hjic-495 445 49 % % NOUN hjic-495 445 50 mean mean NOUN hjic-495 445 51 1 1 NUM hjic-495 445 52 % % NOUN hjic-495 445 53 99 99 NUM hjic-495 445 54 % % NOUN hjic-495 445 55 1 1 NUM hjic-495 445 56 % % NOUN hjic-495 445 57 99 99 NUM hjic-495 445 58 % % NOUN hjic-495 445 59 std std NOUN hjic-495 445 60 > > NOUN hjic-495 445 61 1 1 NUM hjic-495 445 62 % % NOUN hjic-495 445 63 > > SYM hjic-495 445 64 1 1 NUM hjic-495 445 65 % % NOUN hjic-495 445 66 1 1 NUM hjic-495 445 67 % % NOUN hjic-495 445 68 11 11 NUM hjic-495 445 69 % % NOUN hjic-495 445 70 70 70 NUM hjic-495 445 71 the the DET hjic-495 445 72 signal signal NOUN hjic-495 445 73 and and CCONJ hjic-495 445 74 removes remove VERB hjic-495 445 75 them they PRON hjic-495 445 76 with with ADP hjic-495 445 77 an an DET hjic-495 445 78 average average ADJ hjic-495 445 79 effectiveness effectiveness NOUN hjic-495 445 80 of of ADP hjic-495 445 81 more more ADJ hjic-495 445 82 than than ADP hjic-495 445 83 70 70 NUM hjic-495 445 84 % % NOUN hjic-495 445 85 , , PUNCT hjic-495 445 86 which which PRON hjic-495 445 87 translates translate VERB hjic-495 445 88 into into ADP hjic-495 445 89 having have VERB hjic-495 445 90 enough enough ADJ hjic-495 445 91 data datum NOUN hjic-495 445 92 to to PART hjic-495 445 93 calculate calculate VERB hjic-495 445 94 hrv hrv NOUN hjic-495 445 95 and and CCONJ hjic-495 445 96 atrial atrial ADJ hjic-495 445 97 fibrillation fibrillation NOUN hjic-495 445 98 from from ADP hjic-495 445 99 daytime daytime ADJ hjic-495 445 100 measurements measurement NOUN hjic-495 445 101 . . PUNCT hjic-495 446 1 regarding regard VERB hjic-495 446 2 atrial atrial ADJ hjic-495 446 3 fibrillation fibrillation NOUN hjic-495 446 4 detection detection NOUN hjic-495 446 5 , , PUNCT hjic-495 446 6 we we PRON hjic-495 446 7 can can AUX hjic-495 446 8 conclude conclude VERB hjic-495 446 9 that that PRON hjic-495 446 10 by by ADP hjic-495 446 11 using use VERB hjic-495 446 12 the the DET hjic-495 446 13 developed develop VERB hjic-495 446 14 data data NOUN hjic-495 446 15 validation validation NOUN hjic-495 446 16 algorithm algorithm NOUN hjic-495 446 17 the the DET hjic-495 446 18 reference reference NOUN hjic-495 446 19 schiller schiller NOUN hjic-495 446 20 mt-101 mt-101 PROPN hjic-495 446 21 / / SYM hjic-495 446 22 mt-200 mt-200 PROPN hjic-495 446 23 measurements measurement NOUN hjic-495 446 24 produced produce VERB hjic-495 446 25 only only ADV hjic-495 446 26 slightly slightly ADV hjic-495 446 27 better well ADJ hjic-495 446 28 results result NOUN hjic-495 446 29 with with ADP hjic-495 446 30 regard regard NOUN hjic-495 446 31 to to ADP hjic-495 446 32 false false ADJ hjic-495 446 33 detections detection NOUN hjic-495 446 34 than than ADP hjic-495 446 35 the the DET hjic-495 446 36 cardiosport cardiosport NOUN hjic-495 446 37 tp3 tp3 NOUN hjic-495 446 38 heart heart NOUN hjic-495 446 39 rate rate NOUN hjic-495 446 40 transmitter transmitter NOUN hjic-495 446 41 . . PUNCT hjic-495 447 1 in in ADP hjic-495 447 2 two two NUM hjic-495 447 3 cases case NOUN hjic-495 447 4 the the DET hjic-495 447 5 cardiosport cardiosport NOUN hjic-495 447 6 measurements measurement NOUN hjic-495 447 7 proved prove VERB hjic-495 447 8 to to PART hjic-495 447 9 be be AUX hjic-495 447 10 even even ADV hjic-495 447 11 better well ADJ hjic-495 447 12 than than ADP hjic-495 447 13 schiller schiller NOUN hjic-495 447 14 records record NOUN hjic-495 447 15 , , PUNCT hjic-495 447 16 which which PRON hjic-495 447 17 implies imply VERB hjic-495 447 18 that that SCONJ hjic-495 447 19 some some DET hjic-495 447 20 relatively relatively ADV hjic-495 447 21 simple simple ADJ hjic-495 447 22 heart heart NOUN hjic-495 447 23 rate rate NOUN hjic-495 447 24 recorders recorder NOUN hjic-495 447 25 are be AUX hjic-495 447 26 equivalent equivalent ADJ hjic-495 447 27 to to ADP hjic-495 447 28 some some DET hjic-495 447 29 holter holter NOUN hjic-495 447 30 devices device NOUN hjic-495 447 31 after after ADP hjic-495 447 32 signal signal NOUN hjic-495 447 33 processing processing NOUN hjic-495 447 34 using use VERB hjic-495 447 35 the the DET hjic-495 447 36 data data NOUN hjic-495 447 37 validation validation NOUN hjic-495 447 38 algorithm algorithm NOUN hjic-495 447 39 . . PUNCT hjic-495 448 1 we we PRON hjic-495 448 2 have have VERB hjic-495 448 3 to to PART hjic-495 448 4 emphasize emphasize VERB hjic-495 448 5 ; ; PUNCT hjic-495 448 6 however however ADV hjic-495 448 7 , , PUNCT hjic-495 448 8 that that SCONJ hjic-495 448 9 we we PRON hjic-495 448 10 have have AUX hjic-495 448 11 not not PART hjic-495 448 12 performed perform VERB hjic-495 448 13 any any DET hjic-495 448 14 measurements measurement NOUN hjic-495 448 15 on on ADP hjic-495 448 16 actual actual ADJ hjic-495 448 17 atrial atrial ADJ hjic-495 448 18 fibrillating fibrillating ADJ hjic-495 448 19 patients patient NOUN hjic-495 448 20 yet yet ADV hjic-495 448 21 . . PUNCT hjic-495 449 1 therefore therefore ADV hjic-495 449 2 , , PUNCT hjic-495 449 3 the the DET hjic-495 449 4 investigation investigation NOUN hjic-495 449 5 of of ADP hjic-495 449 6 the the DET hjic-495 449 7 sensitivity sensitivity NOUN hjic-495 449 8 of of ADP hjic-495 449 9 our our PRON hjic-495 449 10 atrial atrial ADJ hjic-495 449 11 fibrillation fibrillation NOUN hjic-495 449 12 detection detection NOUN hjic-495 449 13 algorithm algorithm NOUN hjic-495 449 14 under under ADP hjic-495 449 15 the the DET hjic-495 449 16 presented present VERB hjic-495 449 17 circumstances circumstance NOUN hjic-495 449 18 could could AUX hjic-495 449 19 be be AUX hjic-495 449 20 the the DET hjic-495 449 21 subject subject NOUN hjic-495 449 22 of of ADP hjic-495 449 23 further further ADJ hjic-495 449 24 studies study NOUN hjic-495 449 25 . . PUNCT hjic-495 450 1 in in ADP hjic-495 450 2 summary summary NOUN hjic-495 450 3 , , PUNCT hjic-495 450 4 the the DET hjic-495 450 5 cardiosport cardiosport NOUN hjic-495 450 6 as as ADP hjic-495 450 7 a a DET hjic-495 450 8 low low ADJ hjic-495 450 9 - - PUNCT hjic-495 450 10 cost cost NOUN hjic-495 450 11 device device NOUN hjic-495 450 12 can can AUX hjic-495 450 13 easily easily ADV hjic-495 450 14 be be AUX hjic-495 450 15 integrated integrate VERB hjic-495 450 16 into into ADP hjic-495 450 17 a a DET hjic-495 450 18 lifestyle lifestyle NOUN hjic-495 450 19 support support NOUN hjic-495 450 20 system system NOUN hjic-495 450 21 as as ADP hjic-495 450 22 a a DET hjic-495 450 23 telemedical telemedical ADJ hjic-495 450 24 solution solution NOUN hjic-495 450 25 . . PUNCT hjic-495 451 1 acknowledgments acknowledgment NOUN hjic-495 451 2 this this DET hjic-495 451 3 research research NOUN hjic-495 451 4 was be AUX hjic-495 451 5 supported support VERB hjic-495 451 6 by by ADP hjic-495 451 7 the the DET hjic-495 451 8 european european PROPN hjic-495 451 9 union union PROPN hjic-495 451 10 and and CCONJ hjic-495 451 11 co co VERB hjic-495 451 12 - - VERB hjic-495 451 13 funded fund VERB hjic-495 451 14 by by ADP hjic-495 451 15 the the DET hjic-495 451 16 european european ADJ hjic-495 451 17 social social PROPN hjic-495 451 18 fund fund NOUN hjic-495 451 19 “ " PUNCT hjic-495 451 20 telemedicinefocused telemedicinefocuse VERB hjic-495 451 21 research research NOUN hjic-495 451 22 activities activity NOUN hjic-495 451 23 in in ADP hjic-495 451 24 the the DET hjic-495 451 25 field field NOUN hjic-495 451 26 of of ADP hjic-495 451 27 mathematics mathematic NOUN hjic-495 451 28 , , PUNCT hjic-495 451 29 informatics informatic NOUN hjic-495 451 30 and and CCONJ hjic-495 451 31 medical medical ADJ hjic-495 451 32 sciences science NOUN hjic-495 451 33 ” " PUNCT hjic-495 451 34 támop-4.2.2.a11/1 támop-4.2.2.a11/1 PROPN hjic-495 451 35 / / SYM hjic-495 451 36 konv-2012 konv-2012 NOUN hjic-495 451 37 - - PUNCT hjic-495 451 38 0073 0073 NUM hjic-495 451 39 . . PUNCT hjic-495 452 1 references reference NOUN hjic-495 452 2 [ [ X hjic-495 452 3 1 1 NUM hjic-495 452 4 ] ] PUNCT hjic-495 452 5 patel patel PROPN hjic-495 452 6 s. s. PROPN hjic-495 452 7 , , PUNCT hjic-495 452 8 park park PROPN hjic-495 452 9 h. h. PROPN hjic-495 452 10 , , PUNCT hjic-495 452 11 bonato bonato PROPN hjic-495 452 12 p. p. PROPN hjic-495 452 13 , , PUNCT hjic-495 452 14 chan chan PROPN hjic-495 452 15 l. l. PROPN hjic-495 452 16 , , PUNCT hjic-495 452 17 rodgers rodger VERB hjic-495 452 18 m. m. NOUN hjic-495 452 19 : : PUNCT hjic-495 452 20 a a DET hjic-495 452 21 review review NOUN hjic-495 452 22 of of ADP hjic-495 452 23 wearable wearable ADJ hjic-495 452 24 sensors sensor NOUN hjic-495 452 25 and and CCONJ hjic-495 452 26 systems system NOUN hjic-495 452 27 with with ADP hjic-495 452 28 application application NOUN hjic-495 452 29 in in ADP hjic-495 452 30 rehabilitation rehabilitation NOUN hjic-495 452 31 , , PUNCT hjic-495 452 32 j. j. PROPN hjic-495 452 33 neuroengng neuroengng PROPN hjic-495 452 34 . . PUNCT hjic-495 453 1 rehab rehab PROPN hjic-495 453 2 . . PUNCT hjic-495 454 1 , , PUNCT hjic-495 455 1 2012 2012 NUM hjic-495 455 2 , , PUNCT hjic-495 455 3 9(21 9(21 NUM hjic-495 455 4 ) ) PUNCT hjic-495 455 5 , , PUNCT hjic-495 455 6 1–17 1–17 PROPN hjic-495 455 7 [ [ X hjic-495 455 8 2 2 X hjic-495 455 9 ] ] PUNCT hjic-495 455 10 kristiansen kristiansen PROPN hjic-495 455 11 j. j. PROPN hjic-495 455 12 , , PUNCT hjic-495 455 13 korshøj korshøj PROPN hjic-495 455 14 m. m. NOUN hjic-495 455 15 , , PUNCT hjic-495 455 16 skotte skotte PROPN hjic-495 455 17 j.h j.h PROPN hjic-495 455 18 . . PROPN hjic-495 455 19 , , PUNCT hjic-495 455 20 jespersen jespersen PROPN hjic-495 455 21 t. t. PROPN hjic-495 455 22 , , PUNCT hjic-495 455 23 søgaard søgaard PROPN hjic-495 455 24 k. k. PROPN hjic-495 455 25 , , PUNCT hjic-495 455 26 mortensen mortensen PROPN hjic-495 455 27 o.s o.s PROPN hjic-495 455 28 . . PROPN hjic-495 455 29 , , PUNCT hjic-495 455 30 holtermann holtermann PROPN hjic-495 455 31 a. a. PROPN hjic-495 455 32 : : PUNCT hjic-495 455 33 comparison comparison NOUN hjic-495 455 34 of of ADP hjic-495 455 35 two two NUM hjic-495 455 36 systems system NOUN hjic-495 455 37 for for ADP hjic-495 455 38 long long ADJ hjic-495 455 39 - - PUNCT hjic-495 455 40 term term NOUN hjic-495 455 41 heart heart NOUN hjic-495 455 42 rate rate NOUN hjic-495 455 43 variability variability NOUN hjic-495 455 44 monitoring monitoring NOUN hjic-495 455 45 in in ADP hjic-495 455 46 freeliving freelive VERB hjic-495 455 47 conditions condition NOUN hjic-495 455 48 a a DET hjic-495 455 49 pilot pilot NOUN hjic-495 455 50 study study NOUN hjic-495 455 51 , , PUNCT hjic-495 455 52 biomed biome VERB hjic-495 455 53 eng eng PROPN hjic-495 455 54 . . PROPN hjic-495 456 1 online online PROPN hjic-495 456 2 , , PUNCT hjic-495 456 3 2011 2011 NUM hjic-495 456 4 , , PUNCT hjic-495 456 5 10(27 10(27 NUM hjic-495 456 6 ) ) PUNCT hjic-495 456 7 , , PUNCT hjic-495 456 8 1–14 1–14 PROPN hjic-495 457 1 [ [ X hjic-495 457 2 3 3 NUM hjic-495 457 3 ] ] X hjic-495 457 4 kósa kósa PROPN hjic-495 457 5 i. i. PROPN hjic-495 457 6 , , PUNCT hjic-495 457 7 vassányi vassányi PROPN hjic-495 457 8 i. i. PROPN hjic-495 457 9 , , PUNCT hjic-495 457 10 nemes neme NOUN hjic-495 457 11 m. m. NOUN hjic-495 457 12 , , PUNCT hjic-495 457 13 kálmánné kálmánné PROPN hjic-495 457 14 k.h k.h PROPN hjic-495 457 15 . . PROPN hjic-495 457 16 , , PUNCT hjic-495 457 17 pintér pintér PROPN hjic-495 457 18 b. b. PROPN hjic-495 457 19 , , PUNCT hjic-495 457 20 kohut kohut PROPN hjic-495 457 21 l. l. PROPN hjic-495 457 22 : : PUNCT hjic-495 457 23 a a DET hjic-495 457 24 fast fast ADJ hjic-495 457 25 , , PUNCT hjic-495 457 26 android android PROPN hjic-495 457 27 based base VERB hjic-495 457 28 dietary dietary ADJ hjic-495 457 29 logging log VERB hjic-495 457 30 application application NOUN hjic-495 457 31 to to PART hjic-495 457 32 support support VERB hjic-495 457 33 the the DET hjic-495 457 34 lifestyle lifestyle NOUN hjic-495 457 35 change change NOUN hjic-495 457 36 of of ADP hjic-495 457 37 cardio cardio NOUN hjic-495 457 38 - - PUNCT hjic-495 457 39 metabolic metabolic NOUN hjic-495 457 40 patients patient NOUN hjic-495 457 41 , , PUNCT hjic-495 457 42 global global ADJ hjic-495 457 43 telemedicine telemedicine NOUN hjic-495 457 44 and and CCONJ hjic-495 457 45 ehealth ehealth NOUN hjic-495 457 46 updates update VERB hjic-495 457 47 : : PUNCT hjic-495 457 48 knowledge knowledge NOUN hjic-495 457 49 resources resource NOUN hjic-495 457 50 , , PUNCT hjic-495 457 51 eds eds PROPN hjic-495 457 52 . . PUNCT hjic-495 457 53 : : PUNCT hjic-495 458 1 m. m. PROPN hjic-495 458 2 jordanova jordanova PROPN hjic-495 458 3 , , PUNCT hjic-495 458 4 f. f. PROPN hjic-495 458 5 lievens lievens PROPN hjic-495 458 6 , , PUNCT hjic-495 458 7 2014 2014 NUM hjic-495 458 8 , , PUNCT hjic-495 458 9 7 7 NUM hjic-495 458 10 , , PUNCT hjic-495 458 11 553–556 553–556 NUM hjic-495 458 12 [ [ X hjic-495 458 13 4 4 NUM hjic-495 458 14 ] ] PUNCT hjic-495 458 15 salai salai PROPN hjic-495 458 16 m. m. PROPN hjic-495 458 17 , , PUNCT hjic-495 458 18 tuboly tuboly PROPN hjic-495 458 19 g. g. PROPN hjic-495 458 20 , , PUNCT hjic-495 458 21 vassanyi vassanyi PROPN hjic-495 458 22 i. i. PROPN hjic-495 458 23 , , PUNCT hjic-495 458 24 kosa kosa PROPN hjic-495 458 25 i. i. PROPN hjic-495 458 26 : : PUNCT hjic-495 458 27 reliability reliability NOUN hjic-495 458 28 of of ADP hjic-495 458 29 telemedical telemedical ADJ hjic-495 458 30 heart heart NOUN hjic-495 458 31 rate rate NOUN hjic-495 458 32 meters meter NOUN hjic-495 458 33 , , PUNCT hjic-495 458 34 ime ime PROPN hjic-495 458 35 j. j. PROPN hjic-495 458 36 , , PUNCT hjic-495 458 37 2014 2014 NUM hjic-495 458 38 , , PUNCT hjic-495 458 39 8(5 8(5 NUM hjic-495 458 40 ) ) PUNCT hjic-495 458 41 , , PUNCT hjic-495 458 42 49–55 49–55 NUM hjic-495 458 43 hungarian hungarian ADJ hjic-495 458 44 journal journal NOUN hjic-495 458 45 of of ADP hjic-495 458 46 industry industry NOUN hjic-495 458 47 and and CCONJ hjic-495 458 48 chemistry chemistry NOUN hjic-495 458 49 veszprém veszprém NOUN hjic-495 458 50 vol vol NOUN hjic-495 458 51 . . PUNCT hjic-495 459 1 42(2 42(2 NUM hjic-495 459 2 ) ) PUNCT hjic-495 460 1 pp pp ADV hjic-495 460 2 . . PUNCT hjic-495 461 1 71–77 71–77 NUM hjic-495 461 2 ( ( PUNCT hjic-495 461 3 2014 2014 NUM hjic-495 461 4 ) ) PUNCT hjic-495 462 1 the the DET hjic-495 462 2 application application NOUN hjic-495 462 3 of of ADP hjic-495 462 4 unknown unknown ADJ hjic-495 462 5 input input NOUN hjic-495 462 6 estimators estimator NOUN hjic-495 462 7 to to PART hjic-495 462 8 damp damp VERB hjic-495 462 9 load load NOUN hjic-495 462 10 oscillations oscillation NOUN hjic-495 462 11 of of ADP hjic-495 462 12 overhead overhead ADJ hjic-495 462 13 cranes crane NOUN hjic-495 462 14 bálint bálint NOUN hjic-495 462 15 patarticsb patarticsb NOUN hjic-495 462 16 and and CCONJ hjic-495 462 17 bálint bálint NOUN hjic-495 462 18 kiss kiss PROPN hjic-495 462 19 department department PROPN hjic-495 462 20 of of ADP hjic-495 462 21 control control PROPN hjic-495 462 22 engineering engineering NOUN hjic-495 462 23 and and CCONJ hjic-495 462 24 information information NOUN hjic-495 462 25 technology technology NOUN hjic-495 462 26 , , PUNCT hjic-495 462 27 budapest budapest PROPN hjic-495 462 28 university university PROPN hjic-495 462 29 of of ADP hjic-495 462 30 technology technology NOUN hjic-495 462 31 and and CCONJ hjic-495 462 32 economics economic NOUN hjic-495 462 33 , , PUNCT hjic-495 462 34 magyar magyar PROPN hjic-495 462 35 tudósok tudósok PROPN hjic-495 462 36 krt krt PROPN hjic-495 462 37 . . PUNCT hjic-495 462 38 2 2 NUM hjic-495 462 39 , , PUNCT hjic-495 462 40 budapest budapest NOUN hjic-495 462 41 , , PUNCT hjic-495 462 42 1111 1111 NUM hjic-495 462 43 , , PUNCT hjic-495 462 44 hungary hungary PROPN hjic-495 462 45 be be NOUN hjic-495 462 46 - - PUNCT hjic-495 462 47 mail mail NOUN hjic-495 462 48 : : PUNCT hjic-495 463 1 patarticsbalint@gmail.com patarticsbalint@gmail.com X hjic-495 463 2 this this DET hjic-495 463 3 paper paper NOUN hjic-495 463 4 focuses focus VERB hjic-495 463 5 on on ADP hjic-495 463 6 the the DET hjic-495 463 7 development development NOUN hjic-495 463 8 of of ADP hjic-495 463 9 state state NOUN hjic-495 463 10 estimation estimation NOUN hjic-495 463 11 methods method NOUN hjic-495 463 12 for for ADP hjic-495 463 13 mechanical mechanical ADJ hjic-495 463 14 systems system NOUN hjic-495 463 15 with with ADP hjic-495 463 16 uncertain uncertain ADJ hjic-495 463 17 frictional frictional ADJ hjic-495 463 18 parameters parameter NOUN hjic-495 463 19 . . PUNCT hjic-495 464 1 the the DET hjic-495 464 2 goal goal NOUN hjic-495 464 3 of of ADP hjic-495 464 4 the the DET hjic-495 464 5 study study NOUN hjic-495 464 6 is be AUX hjic-495 464 7 to to PART hjic-495 464 8 provide provide VERB hjic-495 464 9 reliable reliable ADJ hjic-495 464 10 angle angle NOUN hjic-495 464 11 estimation estimation NOUN hjic-495 464 12 for for ADP hjic-495 464 13 state state NOUN hjic-495 464 14 - - PUNCT hjic-495 464 15 feedback feedback NOUN hjic-495 464 16 - - PUNCT hjic-495 464 17 based base VERB hjic-495 464 18 crane crane NOUN hjic-495 464 19 control control NOUN hjic-495 464 20 solutions solution NOUN hjic-495 464 21 , , PUNCT hjic-495 464 22 designed design VERB hjic-495 464 23 to to PART hjic-495 464 24 reduce reduce VERB hjic-495 464 25 load load NOUN hjic-495 464 26 sway sway NOUN hjic-495 464 27 . . PUNCT hjic-495 465 1 cranes crane NOUN hjic-495 465 2 are be AUX hjic-495 465 3 underactuated underactuated ADJ hjic-495 465 4 systems system NOUN hjic-495 465 5 , , PUNCT hjic-495 465 6 usually usually ADV hjic-495 465 7 unequipped unequipped ADJ hjic-495 465 8 with with ADP hjic-495 465 9 the the DET hjic-495 465 10 sensors sensor NOUN hjic-495 465 11 necessary necessary ADJ hjic-495 465 12 to to PART hjic-495 465 13 measure measure VERB hjic-495 465 14 the the DET hjic-495 465 15 swinging swinge VERB hjic-495 465 16 angle angle NOUN hjic-495 465 17 , , PUNCT hjic-495 465 18 therefore therefore ADV hjic-495 465 19 the the DET hjic-495 465 20 damping damping NOUN hjic-495 465 21 of of ADP hjic-495 465 22 their their PRON hjic-495 465 23 oscillatory oscillatory ADJ hjic-495 465 24 behaviour behaviour NOUN hjic-495 465 25 is be AUX hjic-495 465 26 a a DET hjic-495 465 27 challenging challenging ADJ hjic-495 465 28 task task NOUN hjic-495 465 29 . . PUNCT hjic-495 466 1 two two NUM hjic-495 466 2 estimators estimator NOUN hjic-495 466 3 are be AUX hjic-495 466 4 proposed propose VERB hjic-495 466 5 for for ADP hjic-495 466 6 the the DET hjic-495 466 7 calculation calculation NOUN hjic-495 466 8 of of ADP hjic-495 466 9 the the DET hjic-495 466 10 unmeasured unmeasured ADJ hjic-495 466 11 states state NOUN hjic-495 466 12 . . PUNCT hjic-495 467 1 one one NUM hjic-495 467 2 is be AUX hjic-495 467 3 based base VERB hjic-495 467 4 on on ADP hjic-495 467 5 an an DET hjic-495 467 6 ’ ' PUNCT hjic-495 467 7 unknown unknown ADJ hjic-495 467 8 input input NOUN hjic-495 467 9 kalman kalman PROPN hjic-495 467 10 filter filter NOUN hjic-495 467 11 ’ ' PUNCT hjic-495 467 12 ( ( PUNCT hjic-495 467 13 uikf uikf NOUN hjic-495 467 14 ) ) PUNCT hjic-495 467 15 , , PUNCT hjic-495 467 16 the the DET hjic-495 467 17 other other ADJ hjic-495 467 18 applies apply VERB hjic-495 467 19 the the DET hjic-495 467 20 ’ ' PUNCT hjic-495 467 21 unscented unscente VERB hjic-495 467 22 kalman kalman PROPN hjic-495 467 23 filter filter NOUN hjic-495 467 24 ’ ' PUNCT hjic-495 467 25 ( ( PUNCT hjic-495 467 26 ukf ukf NOUN hjic-495 467 27 ) ) PUNCT hjic-495 467 28 with with ADP hjic-495 467 29 load load NOUN hjic-495 467 30 prediction prediction NOUN hjic-495 467 31 . . PUNCT hjic-495 468 1 simulation simulation NOUN hjic-495 468 2 results result NOUN hjic-495 468 3 are be AUX hjic-495 468 4 provided provide VERB hjic-495 468 5 to to PART hjic-495 468 6 demonstrate demonstrate VERB hjic-495 468 7 the the DET hjic-495 468 8 accuracy accuracy NOUN hjic-495 468 9 of of ADP hjic-495 468 10 the the DET hjic-495 468 11 algorithms algorithm NOUN hjic-495 468 12 . . PUNCT hjic-495 469 1 keywords keyword NOUN hjic-495 469 2 : : PUNCT hjic-495 469 3 overhead overhead ADJ hjic-495 469 4 crane crane NOUN hjic-495 469 5 , , PUNCT hjic-495 469 6 state state NOUN hjic-495 469 7 estimation estimation NOUN hjic-495 469 8 , , PUNCT hjic-495 469 9 nonlinear nonlinear ADJ hjic-495 469 10 systems system NOUN hjic-495 469 11 , , PUNCT hjic-495 469 12 unknown unknown ADJ hjic-495 469 13 inputs input NOUN hjic-495 469 14 , , PUNCT hjic-495 469 15 kalman kalman NOUN hjic-495 469 16 filter filter NOUN hjic-495 469 17 introduction introduction NOUN hjic-495 469 18 the the DET hjic-495 469 19 sway sway NOUN hjic-495 469 20 of of ADP hjic-495 469 21 the the DET hjic-495 469 22 load load NOUN hjic-495 469 23 carried carry VERB hjic-495 469 24 by by ADP hjic-495 469 25 cranes crane NOUN hjic-495 469 26 is be AUX hjic-495 469 27 an an DET hjic-495 469 28 unwanted unwanted ADJ hjic-495 469 29 phenomenon phenomenon NOUN hjic-495 469 30 . . PUNCT hjic-495 470 1 friction friction NOUN hjic-495 470 2 may may AUX hjic-495 470 3 decouple decouple VERB hjic-495 470 4 load load NOUN hjic-495 470 5 motion motion NOUN hjic-495 470 6 from from ADP hjic-495 470 7 the the DET hjic-495 470 8 remaining remain VERB hjic-495 470 9 crane crane NOUN hjic-495 470 10 mechanism mechanism NOUN hjic-495 470 11 . . PUNCT hjic-495 471 1 this this PRON hjic-495 471 2 causes cause VERB hjic-495 471 3 difficulty difficulty NOUN hjic-495 471 4 for for ADP hjic-495 471 5 inexperienced inexperienced ADJ hjic-495 471 6 operators operator NOUN hjic-495 471 7 , , PUNCT hjic-495 471 8 especially especially ADV hjic-495 471 9 when when SCONJ hjic-495 471 10 they they PRON hjic-495 471 11 try try VERB hjic-495 471 12 to to PART hjic-495 471 13 land land VERB hjic-495 471 14 the the DET hjic-495 471 15 cargo cargo NOUN hjic-495 471 16 . . PUNCT hjic-495 472 1 the the DET hjic-495 472 2 friction friction NOUN hjic-495 472 3 present present ADJ hjic-495 472 4 in in ADP hjic-495 472 5 the the DET hjic-495 472 6 crane crane NOUN hjic-495 472 7 mechanism mechanism NOUN hjic-495 472 8 makes make VERB hjic-495 472 9 the the DET hjic-495 472 10 reduction reduction NOUN hjic-495 472 11 of of ADP hjic-495 472 12 the the DET hjic-495 472 13 swinging swinging NOUN hjic-495 472 14 particularly particularly ADV hjic-495 472 15 demanding demanding ADJ hjic-495 472 16 . . PUNCT hjic-495 473 1 therefore therefore ADV hjic-495 473 2 the the DET hjic-495 473 3 goal goal NOUN hjic-495 473 4 of of ADP hjic-495 473 5 the the DET hjic-495 473 6 design design NOUN hjic-495 473 7 of of ADP hjic-495 473 8 crane crane NOUN hjic-495 473 9 control control NOUN hjic-495 473 10 systems system NOUN hjic-495 473 11 is be AUX hjic-495 473 12 often often ADV hjic-495 473 13 to to PART hjic-495 473 14 ensure ensure VERB hjic-495 473 15 minimal minimal ADJ hjic-495 473 16 swinging swinging NOUN hjic-495 473 17 along along ADP hjic-495 473 18 a a DET hjic-495 473 19 specified specified ADJ hjic-495 473 20 trajectory trajectory NOUN hjic-495 473 21 [ [ X hjic-495 473 22 1–6 1–6 NUM hjic-495 473 23 ] ] X hjic-495 473 24 . . PUNCT hjic-495 474 1 there there PRON hjic-495 474 2 are be VERB hjic-495 474 3 numerous numerous ADJ hjic-495 474 4 algorithms algorithm NOUN hjic-495 474 5 available available ADJ hjic-495 474 6 in in ADP hjic-495 474 7 the the DET hjic-495 474 8 literature literature NOUN hjic-495 474 9 for for ADP hjic-495 474 10 the the DET hjic-495 474 11 solution solution NOUN hjic-495 474 12 to to ADP hjic-495 474 13 this this DET hjic-495 474 14 problem problem NOUN hjic-495 474 15 . . PUNCT hjic-495 475 1 the the DET hjic-495 475 2 design design NOUN hjic-495 475 3 of of ADP hjic-495 475 4 such such DET hjic-495 475 5 a a DET hjic-495 475 6 control control NOUN hjic-495 475 7 system system NOUN hjic-495 475 8 can can AUX hjic-495 475 9 be be AUX hjic-495 475 10 addressed address VERB hjic-495 475 11 using use VERB hjic-495 475 12 soft soft ADJ hjic-495 475 13 computing computing NOUN hjic-495 475 14 methods method NOUN hjic-495 475 15 such such ADJ hjic-495 475 16 as as ADP hjic-495 475 17 fuzzy fuzzy ADJ hjic-495 475 18 logic logic NOUN hjic-495 475 19 and and CCONJ hjic-495 475 20 neural neural ADJ hjic-495 475 21 network network NOUN hjic-495 475 22 with with ADP hjic-495 475 23 genetic genetic ADJ hjic-495 475 24 algorithm algorithm NOUN hjic-495 475 25 . . PUNCT hjic-495 476 1 these these DET hjic-495 476 2 solutions solution NOUN hjic-495 476 3 require require VERB hjic-495 476 4 however however ADV hjic-495 476 5 the the DET hjic-495 476 6 measurement measurement NOUN hjic-495 476 7 of of ADP hjic-495 476 8 the the DET hjic-495 476 9 load load NOUN hjic-495 476 10 position position NOUN hjic-495 476 11 , , PUNCT hjic-495 476 12 which which PRON hjic-495 476 13 is be AUX hjic-495 476 14 often often ADV hjic-495 476 15 based base VERB hjic-495 476 16 on on ADP hjic-495 476 17 workspace workspace NOUN hjic-495 476 18 visualization visualization NOUN hjic-495 476 19 [ [ X hjic-495 476 20 1 1 NUM hjic-495 476 21 ] ] PUNCT hjic-495 476 22 . . PUNCT hjic-495 477 1 hard hard ADJ hjic-495 477 2 commuting commuting NOUN hjic-495 477 3 techniques technique NOUN hjic-495 477 4 are be AUX hjic-495 477 5 also also ADV hjic-495 477 6 widely widely ADV hjic-495 477 7 applied apply VERB hjic-495 477 8 for for ADP hjic-495 477 9 sway sway NOUN hjic-495 477 10 reduction reduction NOUN hjic-495 477 11 . . PUNCT hjic-495 478 1 an an DET hjic-495 478 2 h2 h2 NOUN hjic-495 478 3 optimal optimal ADJ hjic-495 478 4 solution solution NOUN hjic-495 478 5 is be AUX hjic-495 478 6 described describe VERB hjic-495 478 7 in in ADP hjic-495 478 8 ref.[2 ref.[2 NOUN hjic-495 478 9 ] ] PUNCT hjic-495 478 10 , , PUNCT hjic-495 478 11 which which PRON hjic-495 478 12 also also ADV hjic-495 478 13 relies rely VERB hjic-495 478 14 on on ADP hjic-495 478 15 image image NOUN hjic-495 478 16 processing processing NOUN hjic-495 478 17 for for ADP hjic-495 478 18 the the DET hjic-495 478 19 measurement measurement NOUN hjic-495 478 20 of of ADP hjic-495 478 21 the the DET hjic-495 478 22 load load NOUN hjic-495 478 23 coordinates coordinate NOUN hjic-495 478 24 . . PUNCT hjic-495 479 1 there there PRON hjic-495 479 2 are be VERB hjic-495 479 3 a a DET hjic-495 479 4 variety variety NOUN hjic-495 479 5 of of ADP hjic-495 479 6 algorithms algorithm NOUN hjic-495 479 7 taking take VERB hjic-495 479 8 advantage advantage NOUN hjic-495 479 9 of of ADP hjic-495 479 10 the the DET hjic-495 479 11 flatness flatness NOUN hjic-495 479 12 property property NOUN hjic-495 479 13 ( ( PUNCT hjic-495 479 14 or or CCONJ hjic-495 479 15 exact exact ADJ hjic-495 479 16 linearizability linearizability NOUN hjic-495 479 17 ) ) PUNCT hjic-495 479 18 of of ADP hjic-495 479 19 overhead overhead ADJ hjic-495 479 20 cranes crane NOUN hjic-495 480 1 [ [ X hjic-495 480 2 7 7 NUM hjic-495 480 3 ] ] PUNCT hjic-495 480 4 . . PUNCT hjic-495 481 1 the the DET hjic-495 481 2 control control NOUN hjic-495 481 3 systems system NOUN hjic-495 481 4 in in ADP hjic-495 481 5 refs.[3 refs.[3 NOUN hjic-495 481 6 ] ] PUNCT hjic-495 481 7 and and CCONJ hjic-495 481 8 [ [ X hjic-495 481 9 4 4 X hjic-495 481 10 ] ] PUNCT hjic-495 481 11 consider consider VERB hjic-495 481 12 all all DET hjic-495 481 13 the the DET hjic-495 481 14 states state NOUN hjic-495 481 15 measurable measurable ADJ hjic-495 481 16 , , PUNCT hjic-495 481 17 however however ADV hjic-495 481 18 an an DET hjic-495 481 19 estimator estimator NOUN hjic-495 481 20 is be AUX hjic-495 481 21 proposed propose VERB hjic-495 481 22 in in ADP hjic-495 481 23 ref.[3 ref.[3 NOUN hjic-495 481 24 ] ] PUNCT hjic-495 481 25 for for ADP hjic-495 481 26 the the DET hjic-495 481 27 computation computation NOUN hjic-495 481 28 of of ADP hjic-495 481 29 the the DET hjic-495 481 30 uncertain uncertain ADJ hjic-495 481 31 parameters parameter NOUN hjic-495 481 32 . . PUNCT hjic-495 482 1 in in ADP hjic-495 482 2 the the DET hjic-495 482 3 case case NOUN hjic-495 482 4 of of ADP hjic-495 482 5 navy navy PROPN hjic-495 482 6 cranes crane NOUN hjic-495 482 7 , , PUNCT hjic-495 482 8 local local ADJ hjic-495 482 9 asymptotic asymptotic ADJ hjic-495 482 10 stability stability NOUN hjic-495 482 11 can can AUX hjic-495 482 12 be be AUX hjic-495 482 13 achieved achieve VERB hjic-495 482 14 without without ADP hjic-495 482 15 the the DET hjic-495 482 16 measurement measurement NOUN hjic-495 482 17 of of ADP hjic-495 482 18 the the DET hjic-495 482 19 swinging swinge VERB hjic-495 482 20 angle angle NOUN hjic-495 482 21 , , PUNCT hjic-495 482 22 if if SCONJ hjic-495 482 23 trajectory trajectory NOUN hjic-495 482 24 planning planning NOUN hjic-495 482 25 exploits exploit VERB hjic-495 482 26 the the DET hjic-495 482 27 flatness flatness NOUN hjic-495 482 28 property property NOUN hjic-495 482 29 of of ADP hjic-495 482 30 the the DET hjic-495 482 31 system system NOUN hjic-495 483 1 [ [ X hjic-495 483 2 6 6 NUM hjic-495 483 3 ] ] PUNCT hjic-495 483 4 . . PUNCT hjic-495 484 1 there there PRON hjic-495 484 2 is be VERB hjic-495 484 3 also also ADV hjic-495 484 4 a a DET hjic-495 484 5 tracking tracking NOUN hjic-495 484 6 control control NOUN hjic-495 484 7 algorithm algorithm NOUN hjic-495 484 8 specifically specifically ADV hjic-495 484 9 designed design VERB hjic-495 484 10 for for ADP hjic-495 484 11 overhead overhead ADJ hjic-495 484 12 cranes crane NOUN hjic-495 484 13 , , PUNCT hjic-495 484 14 that that PRON hjic-495 484 15 is be AUX hjic-495 484 16 capable capable ADJ hjic-495 484 17 of of ADP hjic-495 484 18 effectively effectively ADV hjic-495 484 19 reducing reduce VERB hjic-495 484 20 the the DET hjic-495 484 21 sway sway NOUN hjic-495 484 22 despite despite SCONJ hjic-495 484 23 the the DET hjic-495 484 24 friction friction NOUN hjic-495 484 25 [ [ X hjic-495 484 26 5 5 NUM hjic-495 484 27 ] ] PUNCT hjic-495 484 28 . . PUNCT hjic-495 485 1 for for ADP hjic-495 485 2 the the DET hjic-495 485 3 calculation calculation NOUN hjic-495 485 4 of of ADP hjic-495 485 5 the the DET hjic-495 485 6 unmeasured unmeasured ADJ hjic-495 485 7 states state NOUN hjic-495 485 8 , , PUNCT hjic-495 485 9 this this DET hjic-495 485 10 controller controller NOUN hjic-495 485 11 uses use VERB hjic-495 485 12 a a DET hjic-495 485 13 linear linear ADJ hjic-495 485 14 observer observer NOUN hjic-495 485 15 . . PUNCT hjic-495 486 1 in in ADP hjic-495 486 2 this this DET hjic-495 486 3 paper paper NOUN hjic-495 486 4 we we PRON hjic-495 486 5 propose propose VERB hjic-495 486 6 new new ADJ hjic-495 486 7 methods method NOUN hjic-495 486 8 of of ADP hjic-495 486 9 state state NOUN hjic-495 486 10 observation observation NOUN hjic-495 486 11 for for ADP hjic-495 486 12 systems system NOUN hjic-495 486 13 that that PRON hjic-495 486 14 take take VERB hjic-495 486 15 into into ADP hjic-495 486 16 account account NOUN hjic-495 486 17 friction friction NOUN hjic-495 486 18 , , PUNCT hjic-495 486 19 and and CCONJ hjic-495 486 20 are be AUX hjic-495 486 21 applicable applicable ADJ hjic-495 486 22 to to ADP hjic-495 486 23 overhead overhead ADJ hjic-495 486 24 cranes crane NOUN hjic-495 486 25 . . PUNCT hjic-495 487 1 these these DET hjic-495 487 2 estimators estimator NOUN hjic-495 487 3 can can AUX hjic-495 487 4 replace replace VERB hjic-495 487 5 the the DET hjic-495 487 6 linear linear ADJ hjic-495 487 7 observer observer NOUN hjic-495 487 8 in in ADP hjic-495 487 9 ref.[5 ref.[5 NOUN hjic-495 487 10 ] ] X hjic-495 487 11 or or CCONJ hjic-495 487 12 the the DET hjic-495 487 13 need need NOUN hjic-495 487 14 to to PART hjic-495 487 15 measure measure VERB hjic-495 487 16 the the DET hjic-495 487 17 load load NOUN hjic-495 487 18 coordinates coordinate NOUN hjic-495 487 19 in in ADP hjic-495 487 20 any any DET hjic-495 487 21 other other ADJ hjic-495 487 22 state state NOUN hjic-495 487 23 - - PUNCT hjic-495 487 24 feedback feedback NOUN hjic-495 487 25 - - PUNCT hjic-495 487 26 based base VERB hjic-495 487 27 method method NOUN hjic-495 487 28 to to PART hjic-495 487 29 enhance enhance VERB hjic-495 487 30 the the DET hjic-495 487 31 precision precision NOUN hjic-495 487 32 of of ADP hjic-495 487 33 the the DET hjic-495 487 34 control control NOUN hjic-495 487 35 . . PUNCT hjic-495 488 1 our our PRON hjic-495 488 2 estimation estimation NOUN hjic-495 488 3 methods method NOUN hjic-495 488 4 are be AUX hjic-495 488 5 based base VERB hjic-495 488 6 on on ADP hjic-495 488 7 the the DET hjic-495 488 8 assumption assumption NOUN hjic-495 488 9 that that SCONJ hjic-495 488 10 the the DET hjic-495 488 11 effect effect NOUN hjic-495 488 12 of of ADP hjic-495 488 13 the the DET hjic-495 488 14 friction friction NOUN hjic-495 488 15 on on ADP hjic-495 488 16 the the DET hjic-495 488 17 inputs input NOUN hjic-495 488 18 can can AUX hjic-495 488 19 be be AUX hjic-495 488 20 reduced reduce VERB hjic-495 488 21 . . PUNCT hjic-495 489 1 this this PRON hjic-495 489 2 is be AUX hjic-495 489 3 true true ADJ hjic-495 489 4 for for ADP hjic-495 489 5 most most ADJ hjic-495 489 6 mechanical mechanical ADJ hjic-495 489 7 systems system NOUN hjic-495 489 8 ( ( PUNCT hjic-495 489 9 including include VERB hjic-495 489 10 overhead overhead ADJ hjic-495 489 11 cranes crane NOUN hjic-495 489 12 ) ) PUNCT hjic-495 489 13 , , PUNCT hjic-495 489 14 where where SCONJ hjic-495 489 15 the the DET hjic-495 489 16 actuating actuate VERB hjic-495 489 17 signals signal NOUN hjic-495 489 18 are be AUX hjic-495 489 19 usually usually ADV hjic-495 489 20 forces force NOUN hjic-495 489 21 and and CCONJ hjic-495 489 22 torques torque NOUN hjic-495 489 23 . . PUNCT hjic-495 490 1 in in ADP hjic-495 490 2 the the DET hjic-495 490 3 following follow VERB hjic-495 490 4 section section NOUN hjic-495 490 5 , , PUNCT hjic-495 490 6 the the DET hjic-495 490 7 modelling modelling NOUN hjic-495 490 8 of of ADP hjic-495 490 9 lagrangian lagrangian ADJ hjic-495 490 10 mechanical mechanical ADJ hjic-495 490 11 systems system NOUN hjic-495 490 12 is be AUX hjic-495 490 13 overviewed overviewe VERB hjic-495 490 14 , , PUNCT hjic-495 490 15 and and CCONJ hjic-495 490 16 it it PRON hjic-495 490 17 is be AUX hjic-495 490 18 shown show VERB hjic-495 490 19 how how SCONJ hjic-495 490 20 the the DET hjic-495 490 21 friction friction NOUN hjic-495 490 22 can can AUX hjic-495 490 23 be be AUX hjic-495 490 24 handled handle VERB hjic-495 490 25 as as ADP hjic-495 490 26 an an DET hjic-495 490 27 input input NOUN hjic-495 490 28 disturbance disturbance NOUN hjic-495 490 29 . . PUNCT hjic-495 491 1 in in ADP hjic-495 491 2 the the DET hjic-495 491 3 next next ADJ hjic-495 491 4 section section NOUN hjic-495 491 5 the the DET hjic-495 491 6 state state NOUN hjic-495 491 7 estimation estimation NOUN hjic-495 491 8 techniques technique NOUN hjic-495 491 9 are be AUX hjic-495 491 10 presented present VERB hjic-495 491 11 based base VERB hjic-495 491 12 on on ADP hjic-495 491 13 the the DET hjic-495 491 14 possible possible ADJ hjic-495 491 15 approaches approach NOUN hjic-495 491 16 of of ADP hjic-495 491 17 interpreting interpret VERB hjic-495 491 18 the the DET hjic-495 491 19 friction friction NOUN hjic-495 491 20 . . PUNCT hjic-495 492 1 the the DET hjic-495 492 2 next next ADJ hjic-495 492 3 section section NOUN hjic-495 492 4 describes describe VERB hjic-495 492 5 the the DET hjic-495 492 6 results result NOUN hjic-495 492 7 of of ADP hjic-495 492 8 the the DET hjic-495 492 9 application application NOUN hjic-495 492 10 of of ADP hjic-495 492 11 these these DET hjic-495 492 12 methods method NOUN hjic-495 492 13 to to ADP hjic-495 492 14 the the DET hjic-495 492 15 state state NOUN hjic-495 492 16 estimation estimation NOUN hjic-495 492 17 problem problem NOUN hjic-495 492 18 of of ADP hjic-495 492 19 overhead overhead ADJ hjic-495 492 20 cranes crane NOUN hjic-495 492 21 and and CCONJ hjic-495 492 22 presents present VERB hjic-495 492 23 the the DET hjic-495 492 24 simulation simulation NOUN hjic-495 492 25 results result VERB hjic-495 492 26 . . PUNCT hjic-495 493 1 lagrangian lagrangian ADJ hjic-495 493 2 - - PUNCT hjic-495 493 3 based base VERB hjic-495 493 4 models model NOUN hjic-495 493 5 of of ADP hjic-495 493 6 mechanical mechanical ADJ hjic-495 493 7 systems system NOUN hjic-495 493 8 the the DET hjic-495 493 9 nonlinear nonlinear ADJ hjic-495 493 10 dynamics dynamic NOUN hjic-495 493 11 of of ADP hjic-495 493 12 the the DET hjic-495 493 13 controlled control VERB hjic-495 493 14 system system NOUN hjic-495 493 15 can can AUX hjic-495 493 16 be be AUX hjic-495 493 17 obtained obtain VERB hjic-495 493 18 using use VERB hjic-495 493 19 the the DET hjic-495 493 20 euler euler NOUN hjic-495 493 21 - - PUNCT hjic-495 493 22 lagrange lagrange NOUN hjic-495 493 23 equations equation NOUN hjic-495 493 24 . . PUNCT hjic-495 494 1 if if SCONJ hjic-495 494 2 the the DET hjic-495 494 3 generalized generalized ADJ hjic-495 494 4 coordinates coordinate NOUN hjic-495 494 5 are be AUX hjic-495 494 6 q q ADJ hjic-495 494 7 = = SYM hjic-495 494 8 � � PROPN hjic-495 494 9 q1 q1 PROPN hjic-495 494 10 q2 q2 PROPN hjic-495 494 11 . . PUNCT hjic-495 494 12 . . PUNCT hjic-495 494 13 . . PUNCT hjic-495 495 1 qn qn PROPN hjic-495 495 2 � � PROPN hjic-495 495 3 t t PROPN hjic-495 495 4 and and CCONJ hjic-495 495 5 the the DET hjic-495 495 6 generalized generalized ADJ hjic-495 495 7 forces force NOUN hjic-495 495 8 are be AUX hjic-495 495 9 ⌧ ⌧ PROPN hjic-495 495 10 = = SYM hjic-495 495 11 � � NOUN hjic-495 495 12 ⌧ ⌧ PROPN hjic-495 495 13 1 1 NUM hjic-495 495 14 ⌧ ⌧ NUM hjic-495 495 15 2 2 NUM hjic-495 495 16 . . PUNCT hjic-495 495 17 . . PUNCT hjic-495 495 18 . . PUNCT hjic-495 496 1 ⌧ ⌧ NOUN hjic-495 496 2 n n PRON hjic-495 496 3 � � NOUN hjic-495 496 4 t t PROPN hjic-495 496 5 , , PUNCT hjic-495 496 6 the the DET hjic-495 496 7 eulerlagrange eulerlagrange NOUN hjic-495 496 8 equations equation NOUN hjic-495 496 9 read read VERB hjic-495 496 10 d d PROPN hjic-495 496 11 dt dt PUNCT hjic-495 496 12 @l @l PROPN hjic-495 496 13 @q̇i @q̇i PUNCT hjic-495 496 14 � � PROPN hjic-495 496 15 @l @l ADJ hjic-495 496 16 @qi @qi NOUN hjic-495 496 17 = = SYM hjic-495 497 1 ⌧ ⌧ PROPN hjic-495 497 2 i i PRON hjic-495 497 3 , , PUNCT hjic-495 497 4 ( ( PUNCT hjic-495 497 5 1 1 X hjic-495 497 6 ) ) PUNCT hjic-495 497 7 72 72 NUM hjic-495 497 8 where where SCONJ hjic-495 497 9 l l NOUN hjic-495 497 10 is be AUX hjic-495 497 11 the the DET hjic-495 497 12 so so ADV hjic-495 497 13 - - PUNCT hjic-495 497 14 called call VERB hjic-495 497 15 lagrangian lagrangian ADJ hjic-495 497 16 , , PUNCT hjic-495 497 17 the the DET hjic-495 497 18 difference difference NOUN hjic-495 497 19 between between ADP hjic-495 497 20 the the DET hjic-495 497 21 kinetic kinetic ADJ hjic-495 497 22 and and CCONJ hjic-495 497 23 potential potential ADJ hjic-495 497 24 energy energy NOUN hjic-495 497 25 of of ADP hjic-495 497 26 the the DET hjic-495 497 27 system system NOUN hjic-495 497 28 , , PUNCT hjic-495 497 29 q̇i q̇i PROPN hjic-495 497 30 = = PUNCT hjic-495 497 31 dqi dqi ADP hjic-495 497 32 dt dt INTJ hjic-495 498 1 and and CCONJ hjic-495 498 2 i i PRON hjic-495 498 3 = = NOUN hjic-495 498 4 1 1 NUM hjic-495 498 5 , , PUNCT hjic-495 498 6 2 2 NUM hjic-495 498 7 , , PUNCT hjic-495 498 8 . . PUNCT hjic-495 498 9 . . PUNCT hjic-495 498 10 . . PUNCT hjic-495 499 1 n. n. NOUN hjic-495 499 2 using use VERB hjic-495 499 3 these these DET hjic-495 499 4 equations equation NOUN hjic-495 499 5 , , PUNCT hjic-495 499 6 under under ADP hjic-495 499 7 some some DET hjic-495 499 8 conditions condition NOUN hjic-495 499 9 the the DET hjic-495 499 10 controlled control VERB hjic-495 499 11 system system NOUN hjic-495 499 12 ’s ’s PART hjic-495 499 13 model model NOUN hjic-495 499 14 can can AUX hjic-495 499 15 be be AUX hjic-495 499 16 written write VERB hjic-495 499 17 in in ADP hjic-495 499 18 the the DET hjic-495 499 19 form form NOUN hjic-495 499 20 h(q)q̈ h(q)q̈ NOUN hjic-495 499 21 + + CCONJ hjic-495 499 22 h(q h(q ADV hjic-495 499 23 , , PUNCT hjic-495 499 24 q̇ q̇ ADV hjic-495 499 25 ) ) PUNCT hjic-495 499 26 + + NUM hjic-495 499 27 hs(s hs( NOUN hjic-495 499 28 ) ) PUNCT hjic-495 500 1 = = SYM hjic-495 500 2 ⌧ ⌧ PROPN hjic-495 500 3 , , PUNCT hjic-495 500 4 ( ( PUNCT hjic-495 500 5 2 2 X hjic-495 500 6 ) ) PUNCT hjic-495 500 7 where where SCONJ hjic-495 500 8 h(q h(q ADV hjic-495 500 9 ) ) PUNCT hjic-495 500 10 is be AUX hjic-495 500 11 the the DET hjic-495 500 12 inertia inertia NOUN hjic-495 500 13 matrix matrix NOUN hjic-495 500 14 , , PUNCT hjic-495 500 15 h(q h(q ADV hjic-495 500 16 , , PUNCT hjic-495 500 17 q̇ q̇ ADV hjic-495 500 18 ) ) PUNCT hjic-495 500 19 comprises comprise VERB hjic-495 500 20 the the DET hjic-495 500 21 centrifugal centrifugal ADJ hjic-495 500 22 , , PUNCT hjic-495 500 23 coriolis corioli NOUN hjic-495 500 24 and and CCONJ hjic-495 500 25 gravitational gravitational ADJ hjic-495 500 26 terms term NOUN hjic-495 500 27 , , PUNCT hjic-495 500 28 and and CCONJ hjic-495 500 29 hs(s hs( NOUN hjic-495 500 30 ) ) PUNCT hjic-495 500 31 is be AUX hjic-495 500 32 the the DET hjic-495 500 33 frictional frictional ADJ hjic-495 500 34 term term NOUN hjic-495 500 35 with with ADP hjic-495 500 36 s s AUX hjic-495 500 37 being be AUX hjic-495 500 38 the the DET hjic-495 500 39 vector vector NOUN hjic-495 500 40 of of ADP hjic-495 500 41 the the DET hjic-495 500 42 frictional frictional ADJ hjic-495 500 43 forces force NOUN hjic-495 500 44 . . PUNCT hjic-495 501 1 in in ADP hjic-495 501 2 this this DET hjic-495 501 3 form form NOUN hjic-495 501 4 hs(s hs(s NOUN hjic-495 501 5 ) ) PUNCT hjic-495 501 6 can can AUX hjic-495 501 7 be be AUX hjic-495 501 8 reorganized reorganize VERB hjic-495 501 9 to to ADP hjic-495 501 10 the the DET hjic-495 501 11 right right ADJ hjic-495 501 12 - - PUNCT hjic-495 501 13 hand hand NOUN hjic-495 501 14 - - PUNCT hjic-495 501 15 side side NOUN hjic-495 501 16 of of ADP hjic-495 501 17 the the DET hjic-495 501 18 equation equation NOUN hjic-495 501 19 . . PUNCT hjic-495 502 1 introducing introduce VERB hjic-495 502 2 the the DET hjic-495 502 3 disturbance disturbance NOUN hjic-495 502 4 torques torque NOUN hjic-495 502 5 as as ADP hjic-495 502 6 ⌧ ⌧ NOUN hjic-495 502 7 ̃ ̃ NOUN hjic-495 502 8 = = SYM hjic-495 502 9 ⌧ ⌧ NUM hjic-495 502 10 � � PROPN hjic-495 502 11 hs(s hs( NOUN hjic-495 502 12 ) ) PUNCT hjic-495 502 13 , , PUNCT hjic-495 502 14 eq.(2 eq.(2 NOUN hjic-495 502 15 ) ) PUNCT hjic-495 502 16 yields yield VERB hjic-495 502 17 h(q)q̈ h(q)q̈ PROPN hjic-495 503 1 + + CCONJ hjic-495 503 2 h(q h(q ADV hjic-495 503 3 , , PUNCT hjic-495 503 4 q̇ q̇ ADV hjic-495 503 5 ) ) PUNCT hjic-495 503 6 = = PUNCT hjic-495 504 1 ⌧ ⌧ NUM hjic-495 504 2 ̃ ̃ NOUN hjic-495 504 3 . . PUNCT hjic-495 505 1 ( ( PUNCT hjic-495 505 2 3 3 X hjic-495 505 3 ) ) PUNCT hjic-495 505 4 the the DET hjic-495 505 5 state state NOUN hjic-495 505 6 - - PUNCT hjic-495 505 7 space space NOUN hjic-495 505 8 representation representation NOUN hjic-495 505 9 of of ADP hjic-495 505 10 the the DET hjic-495 505 11 model model NOUN hjic-495 505 12 is be AUX hjic-495 505 13 ẋ ẋ PROPN hjic-495 505 14 = = SYM hjic-495 505 15 f(x f(x PROPN hjic-495 505 16 , , PUNCT hjic-495 505 17 u u NOUN hjic-495 505 18 ) ) PUNCT hjic-495 505 19 y y PROPN hjic-495 505 20 = = SYM hjic-495 505 21 g(x g(x PROPN hjic-495 505 22 ) ) PUNCT hjic-495 505 23 , , PUNCT hjic-495 505 24 ( ( PUNCT hjic-495 505 25 4 4 X hjic-495 505 26 ) ) PUNCT hjic-495 505 27 where where SCONJ hjic-495 505 28 x x PRON hjic-495 505 29 is be AUX hjic-495 505 30 the the DET hjic-495 505 31 state state NOUN hjic-495 505 32 , , PUNCT hjic-495 505 33 u u PROPN hjic-495 505 34 is be AUX hjic-495 505 35 the the DET hjic-495 505 36 input input NOUN hjic-495 505 37 , , PUNCT hjic-495 505 38 y y PROPN hjic-495 505 39 is be AUX hjic-495 505 40 the the DET hjic-495 505 41 output output NOUN hjic-495 505 42 of of ADP hjic-495 505 43 the the DET hjic-495 505 44 system system NOUN hjic-495 505 45 , , PUNCT hjic-495 505 46 and and CCONJ hjic-495 505 47 f f PROPN hjic-495 505 48 and and CCONJ hjic-495 505 49 g g PROPN hjic-495 505 50 are be AUX hjic-495 505 51 nonlinear nonlinear ADJ hjic-495 505 52 functions function NOUN hjic-495 505 53 . . PUNCT hjic-495 506 1 this this DET hjic-495 506 2 form form NOUN hjic-495 506 3 can can AUX hjic-495 506 4 be be AUX hjic-495 506 5 obtained obtain VERB hjic-495 506 6 from from ADP hjic-495 506 7 eq.(5 eq.(5 NOUN hjic-495 506 8 ) ) PUNCT hjic-495 506 9 assuming assume VERB hjic-495 506 10 that that SCONJ hjic-495 506 11 xt xt PROPN hjic-495 506 12 = = VERB hjic-495 506 13 � � PROPN hjic-495 506 14 qt qt PROPN hjic-495 506 15 q̇t q̇t PROPN hjic-495 506 16 � � PROPN hjic-495 506 17 , , PUNCT hjic-495 506 18 and and CCONJ hjic-495 506 19 the the DET hjic-495 506 20 output output NOUN hjic-495 506 21 is be AUX hjic-495 506 22 not not PART hjic-495 506 23 directly directly ADV hjic-495 506 24 dependent dependent ADJ hjic-495 506 25 on on ADP hjic-495 506 26 the the DET hjic-495 506 27 torques torque NOUN hjic-495 506 28 . . PUNCT hjic-495 507 1 the the DET hjic-495 507 2 state state NOUN hjic-495 507 3 - - PUNCT hjic-495 507 4 space space NOUN hjic-495 507 5 equations equation NOUN hjic-495 507 6 read read VERB hjic-495 507 7 ẋ ẋ PROPN hjic-495 508 1 = = PUNCT hjic-495 508 2 ✓ ✓ PROPN hjic-495 508 3 q̇ q̇ PRON hjic-495 508 4 � � NOUN hjic-495 508 5 h h NOUN hjic-495 508 6 � � PROPN hjic-495 508 7 1 1 NUM hjic-495 508 8 ( ( PUNCT hjic-495 508 9 q)h(q q)h(q INTJ hjic-495 508 10 , , PUNCT hjic-495 508 11 q̇ q̇ ADV hjic-495 508 12 ) ) PUNCT hjic-495 508 13 ◆ ◆ VERB hjic-495 509 1 + + CCONJ hjic-495 509 2 ✓ ✓ ADJ hjic-495 509 3 0 0 NUM hjic-495 509 4 h h NOUN hjic-495 509 5 � � PROPN hjic-495 509 6 1 1 NUM hjic-495 509 7 ( ( PUNCT hjic-495 509 8 q q NOUN hjic-495 509 9 ) ) PUNCT hjic-495 509 10 ◆ ◆ PROPN hjic-495 509 11 ⌧ ⌧ NUM hjic-495 509 12 ̃ ̃ PROPN hjic-495 509 13 y y NOUN hjic-495 509 14 = = SYM hjic-495 509 15 g(x g(x NOUN hjic-495 509 16 ) ) PUNCT hjic-495 509 17 . . PUNCT hjic-495 510 1 ( ( PUNCT hjic-495 510 2 5 5 X hjic-495 510 3 ) ) PUNCT hjic-495 510 4 the the DET hjic-495 510 5 inputs input NOUN hjic-495 510 6 of of ADP hjic-495 510 7 mechanical mechanical ADJ hjic-495 510 8 systems system NOUN hjic-495 510 9 are be AUX hjic-495 510 10 usually usually ADV hjic-495 510 11 forces force NOUN hjic-495 510 12 and and CCONJ hjic-495 510 13 torques torque NOUN hjic-495 510 14 , , PUNCT hjic-495 510 15 consequently consequently ADV hjic-495 510 16 they they PRON hjic-495 510 17 are be AUX hjic-495 510 18 only only ADV hjic-495 510 19 dependent dependent ADJ hjic-495 510 20 on on ADP hjic-495 510 21 ⌧ ⌧ PROPN hjic-495 510 22 ̃ ̃ PROPN hjic-495 510 23 . . PUNCT hjic-495 511 1 this this PRON hjic-495 511 2 means mean VERB hjic-495 511 3 , , PUNCT hjic-495 511 4 that that SCONJ hjic-495 511 5 the the DET hjic-495 511 6 effect effect NOUN hjic-495 511 7 of of ADP hjic-495 511 8 the the DET hjic-495 511 9 friction friction NOUN hjic-495 511 10 can can AUX hjic-495 511 11 be be AUX hjic-495 511 12 reduced reduce VERB hjic-495 511 13 to to ADP hjic-495 511 14 the the DET hjic-495 511 15 actuated actuate VERB hjic-495 511 16 degrees degree NOUN hjic-495 511 17 of of ADP hjic-495 511 18 freedom freedom NOUN hjic-495 511 19 of of ADP hjic-495 511 20 the the DET hjic-495 511 21 system system NOUN hjic-495 511 22 . . PUNCT hjic-495 512 1 if if SCONJ hjic-495 512 2 it it PRON hjic-495 512 3 is be AUX hjic-495 512 4 necessary necessary ADJ hjic-495 512 5 for for ADP hjic-495 512 6 the the DET hjic-495 512 7 design design NOUN hjic-495 512 8 of of ADP hjic-495 512 9 the the DET hjic-495 512 10 control control NOUN hjic-495 512 11 system system NOUN hjic-495 512 12 , , PUNCT hjic-495 512 13 the the DET hjic-495 512 14 nonlinear nonlinear ADJ hjic-495 512 15 dynamics dynamic NOUN hjic-495 512 16 can can AUX hjic-495 512 17 be be AUX hjic-495 512 18 approximated approximate VERB hjic-495 512 19 by by ADP hjic-495 512 20 a a DET hjic-495 512 21 first first ADJ hjic-495 512 22 order order NOUN hjic-495 512 23 taylor taylor PROPN hjic-495 512 24 series series PROPN hjic-495 512 25 expansion expansion NOUN hjic-495 512 26 around around ADP hjic-495 512 27 a a DET hjic-495 512 28 setpoint setpoint NOUN hjic-495 512 29 ( ( PUNCT hjic-495 512 30 x0 x0 PROPN hjic-495 512 31 , , PUNCT hjic-495 512 32 u0 u0 ADJ hjic-495 512 33 ) ) PUNCT hjic-495 512 34 . . PUNCT hjic-495 513 1 the the DET hjic-495 513 2 linear linear PROPN hjic-495 513 3 model model NOUN hjic-495 513 4 then then ADV hjic-495 513 5 becomes become VERB hjic-495 513 6 � � PROPN hjic-495 513 7 ẋ ẋ PROPN hjic-495 514 1 = = PRON hjic-495 515 1 a a DET hjic-495 515 2 � � PROPN hjic-495 515 3 x+b x+b NUM hjic-495 515 4 � � PROPN hjic-495 515 5 u u PROPN hjic-495 515 6 � � PROPN hjic-495 515 7 y y NOUN hjic-495 515 8 = = SYM hjic-495 515 9 c c PROPN hjic-495 515 10 � � PROPN hjic-495 515 11 x x X hjic-495 515 12 , , PUNCT hjic-495 515 13 ( ( PUNCT hjic-495 515 14 6 6 NUM hjic-495 515 15 ) ) PUNCT hjic-495 515 16 where where SCONJ hjic-495 515 17 the the DET hjic-495 515 18 quantities quantity NOUN hjic-495 515 19 prefixed prefix VERB hjic-495 515 20 with with ADP hjic-495 515 21 � � PROPN hjic-495 515 22 mean mean VERB hjic-495 515 23 the the DET hjic-495 515 24 distance distance NOUN hjic-495 515 25 from from ADP hjic-495 515 26 the the DET hjic-495 515 27 setpoint setpoint NOUN hjic-495 515 28 , , PUNCT hjic-495 515 29 e.g. e.g. ADV hjic-495 515 30 � � PROPN hjic-495 515 31 x x SYM hjic-495 515 32 = = SYM hjic-495 515 33 x x SYM hjic-495 515 34 � � NOUN hjic-495 515 35 x0 x0 PROPN hjic-495 515 36 , , PUNCT hjic-495 515 37 and and CCONJ hjic-495 515 38 the the DET hjic-495 515 39 matrices matrix NOUN hjic-495 515 40 are be AUX hjic-495 515 41 jacobians jacobian NOUN hjic-495 515 42 [ [ X hjic-495 515 43 8 8 NUM hjic-495 515 44 ] ] PUNCT hjic-495 515 45 . . PUNCT hjic-495 516 1 state state NOUN hjic-495 516 2 estimation estimation NOUN hjic-495 516 3 methods method NOUN hjic-495 516 4 since since SCONJ hjic-495 516 5 the the DET hjic-495 516 6 friction friction NOUN hjic-495 516 7 can can AUX hjic-495 516 8 be be AUX hjic-495 516 9 interpreted interpret VERB hjic-495 516 10 in in ADP hjic-495 516 11 our our PRON hjic-495 516 12 setup setup NOUN hjic-495 516 13 as as ADP hjic-495 516 14 an an DET hjic-495 516 15 input input NOUN hjic-495 516 16 disturbance disturbance NOUN hjic-495 516 17 , , PUNCT hjic-495 516 18 we we PRON hjic-495 516 19 consider consider VERB hjic-495 516 20 two two NUM hjic-495 516 21 ways way NOUN hjic-495 516 22 for for ADP hjic-495 516 23 its its PRON hjic-495 516 24 compensation compensation NOUN hjic-495 516 25 in in ADP hjic-495 516 26 the the DET hjic-495 516 27 state state NOUN hjic-495 516 28 estimation estimation NOUN hjic-495 516 29 . . PUNCT hjic-495 517 1 either either CCONJ hjic-495 517 2 all all DET hjic-495 517 3 input input NOUN hjic-495 517 4 variables variable NOUN hjic-495 517 5 can can AUX hjic-495 517 6 be be AUX hjic-495 517 7 disregarded disregard VERB hjic-495 517 8 , , PUNCT hjic-495 517 9 or or CCONJ hjic-495 517 10 the the DET hjic-495 517 11 additive additive ADJ hjic-495 517 12 disturbance disturbance NOUN hjic-495 517 13 can can AUX hjic-495 517 14 be be AUX hjic-495 517 15 estimated estimate VERB hjic-495 517 16 using use VERB hjic-495 517 17 a a DET hjic-495 517 18 load load NOUN hjic-495 517 19 predictor predictor NOUN hjic-495 517 20 . . PUNCT hjic-495 518 1 these these DET hjic-495 518 2 ideas idea NOUN hjic-495 518 3 form form VERB hjic-495 518 4 the the DET hjic-495 518 5 basis basis NOUN hjic-495 518 6 of of ADP hjic-495 518 7 the the DET hjic-495 518 8 two two NUM hjic-495 518 9 estimator estimator NOUN hjic-495 518 10 design design NOUN hjic-495 518 11 techniques technique NOUN hjic-495 518 12 described describe VERB hjic-495 518 13 as as ADP hjic-495 518 14 follows follow VERB hjic-495 518 15 . . PUNCT hjic-495 519 1 the the DET hjic-495 519 2 computations computation NOUN hjic-495 519 3 of of ADP hjic-495 519 4 the the DET hjic-495 519 5 controllers controller NOUN hjic-495 519 6 implemented implement VERB hjic-495 519 7 in in ADP hjic-495 519 8 embedded embed VERB hjic-495 519 9 systems system NOUN hjic-495 519 10 are be AUX hjic-495 519 11 based base VERB hjic-495 519 12 on on ADP hjic-495 519 13 sampled sample VERB hjic-495 519 14 signals signal NOUN hjic-495 519 15 . . PUNCT hjic-495 520 1 hence hence ADV hjic-495 520 2 the the DET hjic-495 520 3 design design NOUN hjic-495 520 4 of of ADP hjic-495 520 5 the the DET hjic-495 520 6 estimators estimator NOUN hjic-495 520 7 is be AUX hjic-495 520 8 done do VERB hjic-495 520 9 in in ADP hjic-495 520 10 discrete discrete ADJ hjic-495 520 11 - - PUNCT hjic-495 520 12 time time NOUN hjic-495 520 13 . . PUNCT hjic-495 521 1 unknown unknown ADJ hjic-495 521 2 input input NOUN hjic-495 521 3 approach approach NOUN hjic-495 521 4 consider consider VERB hjic-495 521 5 the the DET hjic-495 521 6 discrete discrete ADJ hjic-495 521 7 - - PUNCT hjic-495 521 8 time time NOUN hjic-495 521 9 linear linear PROPN hjic-495 521 10 stochastic stochastic ADJ hjic-495 521 11 system system NOUN hjic-495 521 12 model model NOUN hjic-495 521 13 x[k x[k PROPN hjic-495 522 1 + + CCONJ hjic-495 522 2 1 1 NUM hjic-495 522 3 ] ] X hjic-495 522 4 = = PUNCT hjic-495 522 5 � � PROPN hjic-495 522 6 x[k x[k SYM hjic-495 522 7 ] ] PUNCT hjic-495 523 1 + + NUM hjic-495 523 2 � � NOUN hjic-495 523 3 dd[k dd[k PROPN hjic-495 523 4 ] ] X hjic-495 524 1 + + CCONJ hjic-495 524 2 ! ! PUNCT hjic-495 525 1 [ [ X hjic-495 525 2 k k X hjic-495 525 3 ] ] X hjic-495 525 4 z[k z[k NUM hjic-495 525 5 ] ] X hjic-495 525 6 = = PUNCT hjic-495 525 7 cx[k cx[k NOUN hjic-495 525 8 ] ] PUNCT hjic-495 526 1 + + CCONJ hjic-495 526 2 v[k v[k ADJ hjic-495 526 3 ] ] X hjic-495 526 4 , , PUNCT hjic-495 526 5 ( ( PUNCT hjic-495 526 6 7 7 X hjic-495 526 7 ) ) PUNCT hjic-495 526 8 where where SCONJ hjic-495 526 9 x x PRON hjic-495 526 10 is be AUX hjic-495 526 11 the the DET hjic-495 526 12 state state NOUN hjic-495 526 13 , , PUNCT hjic-495 526 14 d d PROPN hjic-495 526 15 is be AUX hjic-495 526 16 the the DET hjic-495 526 17 unknown unknown ADJ hjic-495 526 18 input input NOUN hjic-495 526 19 ( ( PUNCT hjic-495 526 20 disturbance disturbance NOUN hjic-495 526 21 ) ) PUNCT hjic-495 526 22 of of ADP hjic-495 526 23 the the DET hjic-495 526 24 system system NOUN hjic-495 526 25 and and CCONJ hjic-495 526 26 z z NOUN hjic-495 526 27 is be AUX hjic-495 526 28 the the DET hjic-495 526 29 measurement measurement NOUN hjic-495 526 30 of of ADP hjic-495 526 31 the the DET hjic-495 526 32 output output NOUN hjic-495 526 33 y[k y[k PROPN hjic-495 526 34 ] ] X hjic-495 526 35 = = PUNCT hjic-495 526 36 cx[k cx[k NOUN hjic-495 526 37 ] ] PUNCT hjic-495 526 38 . . PUNCT hjic-495 527 1 � � PROPN hjic-495 527 2 and and CCONJ hjic-495 527 3 � � PROPN hjic-495 527 4 d d PROPN hjic-495 527 5 are be AUX hjic-495 527 6 obtained obtain VERB hjic-495 527 7 from from ADP hjic-495 527 8 the the DET hjic-495 527 9 matrices matrix NOUN hjic-495 527 10 of of ADP hjic-495 527 11 eq.(6 eq.(6 NOUN hjic-495 527 12 ) ) PUNCT hjic-495 527 13 in in ADP hjic-495 527 14 the the DET hjic-495 527 15 form form NOUN hjic-495 527 16 of of ADP hjic-495 527 17 � � PROPN hjic-495 528 1 = = PUNCT hjic-495 528 2 eats eat NOUN hjic-495 528 3 , , PUNCT hjic-495 528 4 � � PROPN hjic-495 528 5 d d NOUN hjic-495 528 6 = = X hjic-495 528 7 z z NOUN hjic-495 528 8 ts ts ADP hjic-495 528 9 0 0 NUM hjic-495 528 10 eatb eatb PROPN hjic-495 528 11 dt dt PROPN hjic-495 528 12 , , PUNCT hjic-495 528 13 ( ( PUNCT hjic-495 528 14 8) 8) NUM hjic-495 528 15 where where SCONJ hjic-495 528 16 ts ts PROPN hjic-495 528 17 is be AUX hjic-495 528 18 the the DET hjic-495 528 19 sample sample NOUN hjic-495 528 20 time time NOUN hjic-495 528 21 . . PUNCT hjic-495 529 1 the the DET hjic-495 529 2 measurement measurement NOUN hjic-495 529 3 and and CCONJ hjic-495 529 4 process process NOUN hjic-495 529 5 noise noise NOUN hjic-495 529 6 v v NOUN hjic-495 529 7 and and CCONJ hjic-495 529 8 ! ! PUNCT hjic-495 530 1 are be AUX hjic-495 530 2 assumed assume VERB hjic-495 530 3 to to PART hjic-495 530 4 be be AUX hjic-495 530 5 additive additive ADJ hjic-495 530 6 , , PUNCT hjic-495 530 7 white white ADJ hjic-495 530 8 , , PUNCT hjic-495 530 9 and and CCONJ hjic-495 530 10 gaussian gaussian NOUN hjic-495 530 11 with with ADP hjic-495 530 12 mean mean NOUN hjic-495 530 13 of of ADP hjic-495 530 14 zero zero NUM hjic-495 530 15 . . PUNCT hjic-495 531 1 notice notice NOUN hjic-495 531 2 , , PUNCT hjic-495 531 3 that that SCONJ hjic-495 531 4 in in ADP hjic-495 531 5 eq.(7 eq.(7 NOUN hjic-495 531 6 ) ) PUNCT hjic-495 531 7 , , PUNCT hjic-495 531 8 all all PRON hjic-495 531 9 of of ADP hjic-495 531 10 the the DET hjic-495 531 11 system system NOUN hjic-495 531 12 inputs input NOUN hjic-495 531 13 are be AUX hjic-495 531 14 considered consider VERB hjic-495 531 15 to to PART hjic-495 531 16 be be AUX hjic-495 531 17 disturbances disturbance NOUN hjic-495 531 18 . . PUNCT hjic-495 532 1 the the DET hjic-495 532 2 state state NOUN hjic-495 532 3 and and CCONJ hjic-495 532 4 the the DET hjic-495 532 5 unknown unknown ADJ hjic-495 532 6 input input NOUN hjic-495 532 7 of of ADP hjic-495 532 8 such such DET hjic-495 532 9 a a DET hjic-495 532 10 system system NOUN hjic-495 532 11 can can AUX hjic-495 532 12 be be AUX hjic-495 532 13 estimated estimate VERB hjic-495 532 14 using use VERB hjic-495 532 15 an an DET hjic-495 532 16 ’ ' PUNCT hjic-495 532 17 unknown unknown ADJ hjic-495 532 18 input input NOUN hjic-495 532 19 kalman kalman PROPN hjic-495 532 20 filter filter NOUN hjic-495 532 21 ’ ' PUNCT hjic-495 532 22 ( ( PUNCT hjic-495 532 23 uikf uikf NOUN hjic-495 532 24 ) ) PUNCT hjic-495 533 1 [ [ X hjic-495 533 2 9 9 NUM hjic-495 533 3 ] ] PUNCT hjic-495 533 4 , , PUNCT hjic-495 533 5 if if SCONJ hjic-495 533 6 the the DET hjic-495 533 7 system system NOUN hjic-495 533 8 satisfies satisfy VERB hjic-495 533 9 the the DET hjic-495 533 10 conditions condition NOUN hjic-495 533 11 dim{d dim{d NOUN hjic-495 533 12 } } PUNCT hjic-495 533 13   NOUN hjic-495 533 14 dim{y dim{y NOUN hjic-495 533 15 } } PUNCT hjic-495 533 16 ( ( PUNCT hjic-495 533 17 9 9 X hjic-495 533 18 ) ) PUNCT hjic-495 533 19 rank{c rank{c NOUN hjic-495 533 20 } } PUNCT hjic-495 533 21 = = SYM hjic-495 533 22 dim{y dim{y NOUN hjic-495 533 23 } } PUNCT hjic-495 533 24 ( ( PUNCT hjic-495 533 25 10 10 NUM hjic-495 533 26 ) ) PUNCT hjic-495 533 27 rank{ rank{ NOUN hjic-495 533 28 � � PROPN hjic-495 533 29 d d NOUN hjic-495 533 30 } } PUNCT hjic-495 533 31 = = SYM hjic-495 533 32 dim{d dim{d PROPN hjic-495 533 33 } } PUNCT hjic-495 533 34 ( ( PUNCT hjic-495 533 35 11 11 NUM hjic-495 533 36 ) ) PUNCT hjic-495 533 37 rank{c rank{c NOUN hjic-495 533 38 � � NOUN hjic-495 533 39 d d NOUN hjic-495 533 40 } } PUNCT hjic-495 533 41 = = SYM hjic-495 533 42 dim{d dim{d PROPN hjic-495 533 43 } } PUNCT hjic-495 533 44 . . PUNCT hjic-495 534 1 ( ( PUNCT hjic-495 534 2 12 12 NUM hjic-495 534 3 ) ) PUNCT hjic-495 534 4 additive additive ADJ hjic-495 534 5 disturbance disturbance NOUN hjic-495 534 6 approach approach NOUN hjic-495 534 7 in in ADP hjic-495 534 8 the the DET hjic-495 534 9 case case NOUN hjic-495 534 10 of of ADP hjic-495 534 11 input input NOUN hjic-495 534 12 disturbances disturbance NOUN hjic-495 534 13 , , PUNCT hjic-495 534 14 load load NOUN hjic-495 534 15 prediction prediction NOUN hjic-495 534 16 is be AUX hjic-495 534 17 often often ADV hjic-495 534 18 applied apply VERB hjic-495 534 19 . . PUNCT hjic-495 535 1 let let VERB hjic-495 535 2 us we PRON hjic-495 535 3 introduce introduce VERB hjic-495 535 4 the the DET hjic-495 535 5 discrete discrete ADJ hjic-495 535 6 - - PUNCT hjic-495 535 7 time time NOUN hjic-495 535 8 nonlinear nonlinear ADJ hjic-495 535 9 model model NOUN hjic-495 535 10 of of ADP hjic-495 535 11 a a DET hjic-495 535 12 system system NOUN hjic-495 535 13 in in ADP hjic-495 535 14 the the DET hjic-495 535 15 form form NOUN hjic-495 535 16 x[k x[k PUNCT hjic-495 536 1 + + CCONJ hjic-495 536 2 1 1 NUM hjic-495 536 3 ] ] X hjic-495 536 4 = = SYM hjic-495 536 5 � � PROPN hjic-495 536 6 ( ( PUNCT hjic-495 536 7 x[k x[k NOUN hjic-495 536 8 ] ] PUNCT hjic-495 536 9 , , PUNCT hjic-495 536 10 ũ[k ũ[k PROPN hjic-495 536 11 ] ] PUNCT hjic-495 536 12 ) ) PUNCT hjic-495 537 1 + + PUNCT hjic-495 537 2 ! ! PUNCT hjic-495 538 1 [ [ X hjic-495 538 2 k k X hjic-495 538 3 ] ] X hjic-495 538 4 z[k z[k NUM hjic-495 538 5 ] ] X hjic-495 538 6 = = PUNCT hjic-495 538 7 g(x[k g(x[k X hjic-495 538 8 ] ] PUNCT hjic-495 538 9 ) ) PUNCT hjic-495 539 1 + + CCONJ hjic-495 539 2 v[k v[k ADJ hjic-495 539 3 ] ] X hjic-495 539 4 , , PUNCT hjic-495 539 5 ( ( PUNCT hjic-495 539 6 13 13 NUM hjic-495 539 7 ) ) PUNCT hjic-495 539 8 where where SCONJ hjic-495 539 9 ũ ũ PROPN hjic-495 539 10 is be AUX hjic-495 539 11 the the DET hjic-495 539 12 disturbed disturbed ADJ hjic-495 539 13 input input NOUN hjic-495 539 14 of of ADP hjic-495 539 15 the the DET hjic-495 539 16 system system NOUN hjic-495 539 17 , , PUNCT hjic-495 539 18 and and CCONJ hjic-495 539 19 � � PROPN hjic-495 539 20 and and CCONJ hjic-495 539 21 g g PROPN hjic-495 539 22 are be AUX hjic-495 539 23 nonlinear nonlinear ADJ hjic-495 539 24 functions function NOUN hjic-495 539 25 . . PUNCT hjic-495 540 1 we we PRON hjic-495 540 2 will will AUX hjic-495 540 3 follow follow VERB hjic-495 540 4 the the DET hjic-495 540 5 assumption assumption NOUN hjic-495 540 6 , , PUNCT hjic-495 540 7 that that SCONJ hjic-495 540 8 the the DET hjic-495 540 9 disturbance disturbance NOUN hjic-495 540 10 is be AUX hjic-495 540 11 additive additive ADJ hjic-495 540 12 to to ADP hjic-495 540 13 the the DET hjic-495 540 14 input input NOUN hjic-495 540 15 , , PUNCT hjic-495 540 16 thus thus ADV hjic-495 540 17 ũ[k ũ[k ADP hjic-495 540 18 ] ] X hjic-495 540 19 = = SYM hjic-495 540 20 u[k u[k PROPN hjic-495 540 21 ] ] X hjic-495 541 1 + + CCONJ hjic-495 541 2 ⇤ ⇤ PROPN hjic-495 541 3 d[k d[k NUM hjic-495 541 4 ] ] PUNCT hjic-495 541 5 , , PUNCT hjic-495 541 6 where where SCONJ hjic-495 541 7 u u NOUN hjic-495 541 8 is be AUX hjic-495 541 9 the the DET hjic-495 541 10 vector vector NOUN hjic-495 541 11 of of ADP hjic-495 541 12 actuating actuate VERB hjic-495 541 13 signals signal NOUN hjic-495 541 14 , , PUNCT hjic-495 541 15 and and CCONJ hjic-495 541 16 ⇤ ⇤ PROPN hjic-495 541 17 is be AUX hjic-495 541 18 a a DET hjic-495 541 19 constant constant ADJ hjic-495 541 20 matrix matrix NOUN hjic-495 541 21 . . PUNCT hjic-495 542 1 we we PRON hjic-495 542 2 also also ADV hjic-495 542 3 assume assume VERB hjic-495 542 4 a a DET hjic-495 542 5 constant constant ADJ hjic-495 542 6 disturbance disturbance NOUN hjic-495 542 7 model model NOUN hjic-495 542 8 with with ADP hjic-495 542 9 process process NOUN hjic-495 542 10 noise noise NOUN hjic-495 542 11 ! ! PUNCT hjic-495 543 1 d d X hjic-495 543 2 , , PUNCT hjic-495 543 3 d[k d[k PROPN hjic-495 543 4 + + CCONJ hjic-495 543 5 1 1 NUM hjic-495 543 6 ] ] X hjic-495 543 7 = = PUNCT hjic-495 543 8 d[k d[k NUM hjic-495 543 9 ] ] PUNCT hjic-495 543 10 + + CCONJ hjic-495 543 11 ! ! PUNCT hjic-495 544 1 d[k d[k NUM hjic-495 544 2 ] ] PUNCT hjic-495 544 3 , , PUNCT hjic-495 544 4 resulting result VERB hjic-495 544 5 in in ADP hjic-495 544 6 the the DET hjic-495 544 7 model model NOUN hjic-495 544 8 x̃[k x̃[k PUNCT hjic-495 545 1 + + CCONJ hjic-495 545 2 1 1 X hjic-495 545 3 ] ] X hjic-495 545 4 = = PUNCT hjic-495 545 5 ˜ ˜ PROPN hjic-495 545 6 � � PROPN hjic-495 545 7 (x̃[k (x̃[k PROPN hjic-495 545 8 ] ] X hjic-495 545 9 , , PUNCT hjic-495 545 10 u[k u[k PROPN hjic-495 545 11 ] ] X hjic-495 545 12 ) ) PUNCT hjic-495 546 1 + + CCONJ hjic-495 547 1 ! ! PUNCT hjic-495 547 2 ̃[k ̃[k NOUN hjic-495 547 3 ] ] PUNCT hjic-495 547 4 z[k z[k NUM hjic-495 547 5 ] ] X hjic-495 547 6 = = SYM hjic-495 547 7 g̃(x̃[k g̃(x̃[k NOUN hjic-495 547 8 ] ] X hjic-495 547 9 ) ) PUNCT hjic-495 548 1 + + CCONJ hjic-495 548 2 v[k v[k ADJ hjic-495 548 3 ] ] X hjic-495 548 4 . . PUNCT hjic-495 549 1 ( ( PUNCT hjic-495 549 2 14 14 NUM hjic-495 549 3 ) ) PUNCT hjic-495 549 4 in in ADP hjic-495 549 5 eq.(14 eq.(14 NOUN hjic-495 549 6 ) ) PUNCT hjic-495 549 7 x̃t x̃t PUNCT hjic-495 550 1 = = PUNCT hjic-495 550 2 � � PROPN hjic-495 550 3 xt xt PROPN hjic-495 551 1 dt dt PROPN hjic-495 551 2 � � PROPN hjic-495 551 3 is be AUX hjic-495 551 4 the the DET hjic-495 551 5 extended extended ADJ hjic-495 551 6 state state NOUN hjic-495 551 7 and and CCONJ hjic-495 551 8 ! ! PUNCT hjic-495 551 9 ̃t ̃t NOUN hjic-495 551 10 = = SYM hjic-495 551 11 � � PROPN hjic-495 551 12 ! ! PUNCT hjic-495 552 1 t t PROPN hjic-495 552 2 ! ! PUNCT hjic-495 553 1 t t PROPN hjic-495 553 2 d d PROPN hjic-495 553 3 � � PROPN hjic-495 553 4 is be AUX hjic-495 553 5 the the DET hjic-495 553 6 extended extended ADJ hjic-495 553 7 process process NOUN hjic-495 553 8 noise noise NOUN hjic-495 553 9 . . PUNCT hjic-495 554 1 the the DET hjic-495 554 2 extended extended ADJ hjic-495 554 3 nonlinear nonlinear ADJ hjic-495 554 4 mappings mapping NOUN hjic-495 554 5 of of ADP hjic-495 554 6 the the DET hjic-495 554 7 system system NOUN hjic-495 554 8 are be AUX hjic-495 554 9 given give VERB hjic-495 554 10 by by ADP hjic-495 554 11 g̃(x̃[k g̃(x̃[k NOUN hjic-495 554 12 ] ] X hjic-495 554 13 ) ) PUNCT hjic-495 554 14 = = PUNCT hjic-495 554 15 g(x[k g(x[k X hjic-495 554 16 ] ] PUNCT hjic-495 554 17 ) ) PUNCT hjic-495 554 18 and and CCONJ hjic-495 554 19 ˜ ˜ PROPN hjic-495 554 20 � � PROPN hjic-495 554 21 (x̃[k (x̃[k PROPN hjic-495 554 22 ] ] X hjic-495 554 23 , , PUNCT hjic-495 554 24 u[k u[k PROPN hjic-495 554 25 ] ] X hjic-495 554 26 ) ) PUNCT hjic-495 554 27 = = SYM hjic-495 554 28 ✓ ✓ ADJ hjic-495 554 29 � � PROPN hjic-495 554 30 ( ( PUNCT hjic-495 554 31 x[k x[k NOUN hjic-495 554 32 ] ] PUNCT hjic-495 554 33 , , PUNCT hjic-495 554 34 u[k u[k PROPN hjic-495 554 35 ] ] PUNCT hjic-495 555 1 + + CCONJ hjic-495 555 2 ⇤ ⇤ PROPN hjic-495 555 3 d[k d[k NUM hjic-495 555 4 ] ] PUNCT hjic-495 555 5 ) ) PUNCT hjic-495 555 6 d[k d[k NUM hjic-495 555 7 ] ] PUNCT hjic-495 555 8 ◆ ◆ X hjic-495 555 9 . . PUNCT hjic-495 556 1 ( ( PUNCT hjic-495 556 2 15 15 NUM hjic-495 556 3 ) ) PUNCT hjic-495 556 4 in in ADP hjic-495 556 5 most most ADJ hjic-495 556 6 cases case NOUN hjic-495 556 7 the the DET hjic-495 556 8 continuous continuous ADJ hjic-495 556 9 - - PUNCT hjic-495 556 10 time time NOUN hjic-495 556 11 differential differential ADJ hjic-495 556 12 equation equation NOUN hjic-495 556 13 of of ADP hjic-495 556 14 the the DET hjic-495 556 15 observed observe VERB hjic-495 556 16 system system NOUN hjic-495 556 17 is be AUX hjic-495 556 18 available available ADJ hjic-495 556 19 , , PUNCT hjic-495 556 20 in in ADP hjic-495 556 21 the the DET hjic-495 556 22 form form NOUN hjic-495 556 23 73 73 NUM hjic-495 556 24 m m NOUN hjic-495 556 25 uf uf NOUN hjic-495 556 26 uc uc ADJ hjic-495 556 27 r r NOUN hjic-495 556 28 ` ` PUNCT hjic-495 556 29 ✓ ✓ ADJ hjic-495 556 30 j j PROPN hjic-495 556 31 ⇢ ⇢ NOUN hjic-495 556 32 cartwinch cartwinch VERB hjic-495 556 33 m m PROPN hjic-495 556 34 load load NOUN hjic-495 556 35 rail rail NOUN hjic-495 556 36 figure figure NOUN hjic-495 556 37 1 1 NUM hjic-495 556 38 : : PUNCT hjic-495 556 39 the the DET hjic-495 556 40 two two NUM hjic-495 556 41 - - PUNCT hjic-495 556 42 dimensional dimensional ADJ hjic-495 556 43 ovearhead ovearhead ADJ hjic-495 556 44 crane crane NOUN hjic-495 556 45 of of ADP hjic-495 556 46 eq.(4 eq.(4 ADJ hjic-495 556 47 ) ) PUNCT hjic-495 556 48 . . PUNCT hjic-495 557 1 the the DET hjic-495 557 2 discrete discrete ADJ hjic-495 557 3 - - PUNCT hjic-495 557 4 time time NOUN hjic-495 557 5 state state NOUN hjic-495 557 6 - - PUNCT hjic-495 557 7 transition transition NOUN hjic-495 557 8 equation equation NOUN hjic-495 557 9 can can AUX hjic-495 557 10 then then ADV hjic-495 557 11 be be AUX hjic-495 557 12 obtained obtain VERB hjic-495 557 13 by by ADP hjic-495 557 14 � � PROPN hjic-495 557 15 ( ( PUNCT hjic-495 557 16 x[k x[k NOUN hjic-495 557 17 ] ] PUNCT hjic-495 557 18 , , PUNCT hjic-495 557 19 u[k u[k PROPN hjic-495 557 20 ] ] PUNCT hjic-495 557 21 ) ) PUNCT hjic-495 558 1 = = SYM hjic-495 558 2 x[k x[k NOUN hjic-495 558 3 ] ] X hjic-495 559 1 + + CCONJ hjic-495 559 2 ( ( PUNCT hjic-495 559 3 k+1)tsz k+1)tsz VERB hjic-495 559 4 kts kts PROPN hjic-495 559 5 f(x f(x PROPN hjic-495 559 6 , , PUNCT hjic-495 559 7 u[k u[k NOUN hjic-495 559 8 ] ] PUNCT hjic-495 559 9 ) ) PUNCT hjic-495 559 10 dt dt X hjic-495 559 11 , , PUNCT hjic-495 559 12 ( ( PUNCT hjic-495 559 13 16 16 NUM hjic-495 559 14 ) ) PUNCT hjic-495 559 15 where where SCONJ hjic-495 559 16 the the DET hjic-495 559 17 input input NOUN hjic-495 559 18 is be AUX hjic-495 559 19 piecewise piecewise NOUN hjic-495 559 20 constant constant ADJ hjic-495 559 21 and and CCONJ hjic-495 559 22 u[k u[k NUM hjic-495 559 23 ] ] X hjic-495 559 24 = = SYM hjic-495 559 25 u(kts u(kts NOUN hjic-495 559 26 ) ) PUNCT hjic-495 559 27 . . PUNCT hjic-495 560 1 if if SCONJ hjic-495 560 2 the the DET hjic-495 560 3 integral integral ADJ hjic-495 560 4 in in ADP hjic-495 560 5 eq.(16 eq.(16 NOUN hjic-495 560 6 ) ) PUNCT hjic-495 560 7 can can AUX hjic-495 560 8 not not PART hjic-495 560 9 be be AUX hjic-495 560 10 given give VERB hjic-495 560 11 in in ADP hjic-495 560 12 closed closed ADJ hjic-495 560 13 form form NOUN hjic-495 560 14 and and CCONJ hjic-495 560 15 ts ts NOUN hjic-495 560 16 is be AUX hjic-495 560 17 sufficiently sufficiently ADV hjic-495 560 18 small small ADJ hjic-495 560 19 , , PUNCT hjic-495 560 20 the the DET hjic-495 560 21 left left ADJ hjic-495 560 22 rectangle rectangle NOUN hjic-495 560 23 rule rule NOUN hjic-495 560 24 approximation approximation NOUN hjic-495 560 25 ( ( PUNCT hjic-495 560 26 k+1)tsz k+1)tsz X hjic-495 560 27 kts kts PROPN hjic-495 560 28 f(x f(x PROPN hjic-495 560 29 , , PUNCT hjic-495 560 30 u[k u[k NOUN hjic-495 560 31 ] ] PUNCT hjic-495 560 32 ) ) PUNCT hjic-495 560 33 dt dt PROPN hjic-495 560 34 ⇡ ⇡ PUNCT hjic-495 560 35 tsf(x[k tsf(x[k ADP hjic-495 560 36 ] ] PUNCT hjic-495 560 37 , , PUNCT hjic-495 560 38 u[k u[k PROPN hjic-495 560 39 ] ] PUNCT hjic-495 560 40 ) ) PUNCT hjic-495 560 41 . . PUNCT hjic-495 561 1 ( ( PUNCT hjic-495 561 2 17 17 NUM hjic-495 561 3 ) ) PUNCT hjic-495 561 4 can can AUX hjic-495 561 5 be be AUX hjic-495 561 6 used use VERB hjic-495 561 7 . . PUNCT hjic-495 562 1 substituting substitute VERB hjic-495 562 2 this this PRON hjic-495 562 3 into into ADP hjic-495 562 4 eq.(15 eq.(15 NOUN hjic-495 562 5 ) ) PUNCT hjic-495 562 6 , , PUNCT hjic-495 562 7 the the DET hjic-495 562 8 expression expression NOUN hjic-495 562 9 reads read VERB hjic-495 562 10 ˜ ˜ PROPN hjic-495 562 11 � � PROPN hjic-495 562 12 (x̃[k (x̃[k PROPN hjic-495 562 13 ] ] X hjic-495 562 14 , , PUNCT hjic-495 562 15 u[k u[k PROPN hjic-495 562 16 ] ] X hjic-495 562 17 ) ) PUNCT hjic-495 562 18 = = SYM hjic-495 562 19 ✓ ✓ ADJ hjic-495 562 20 x[k x[k NOUN hjic-495 562 21 ] ] PUNCT hjic-495 563 1 + + CCONJ hjic-495 563 2 tsf(x[k tsf(x[k ADP hjic-495 563 3 ] ] PUNCT hjic-495 563 4 , , PUNCT hjic-495 563 5 u[k u[k PROPN hjic-495 563 6 ] ] PUNCT hjic-495 563 7 + + CCONJ hjic-495 563 8 ⇤ ⇤ PROPN hjic-495 563 9 d[k d[k NUM hjic-495 563 10 ] ] PUNCT hjic-495 563 11 ) ) PUNCT hjic-495 563 12 d[k d[k NUM hjic-495 563 13 ] ] PUNCT hjic-495 563 14 ◆ ◆ X hjic-495 563 15 . . PUNCT hjic-495 564 1 ( ( PUNCT hjic-495 564 2 18 18 NUM hjic-495 564 3 ) ) PUNCT hjic-495 564 4 for for ADP hjic-495 564 5 the the DET hjic-495 564 6 observation observation NOUN hjic-495 564 7 of of ADP hjic-495 564 8 the the DET hjic-495 564 9 system system NOUN hjic-495 564 10 described describe VERB hjic-495 564 11 by by ADP hjic-495 564 12 eq.(14 eq.(14 NOUN hjic-495 564 13 ) ) PUNCT hjic-495 564 14 and and CCONJ hjic-495 564 15 eq.(18 eq.(18 NOUN hjic-495 564 16 ) ) PUNCT hjic-495 564 17 the the DET hjic-495 564 18 ’ ' PUNCT hjic-495 564 19 unscented unscente VERB hjic-495 564 20 kalman kalman PROPN hjic-495 564 21 filter filter NOUN hjic-495 564 22 ’ ' PUNCT hjic-495 564 23 ( ( PUNCT hjic-495 564 24 ukf ukf NOUN hjic-495 564 25 ) ) PUNCT hjic-495 565 1 [ [ X hjic-495 565 2 10 10 NUM hjic-495 565 3 ] ] PUNCT hjic-495 565 4 is be AUX hjic-495 565 5 applicable applicable ADJ hjic-495 565 6 . . PUNCT hjic-495 566 1 we we PRON hjic-495 566 2 chose choose VERB hjic-495 566 3 one one NUM hjic-495 566 4 of of ADP hjic-495 566 5 the the DET hjic-495 566 6 implementation implementation NOUN hjic-495 566 7 variants variant NOUN hjic-495 566 8 of of ADP hjic-495 566 9 this this DET hjic-495 566 10 filter filter NOUN hjic-495 566 11 from from ADP hjic-495 566 12 ref.[10 ref.[10 NOUN hjic-495 566 13 ] ] PUNCT hjic-495 566 14 . . PUNCT hjic-495 567 1 application application NOUN hjic-495 567 2 of of ADP hjic-495 567 3 the the DET hjic-495 567 4 methods method NOUN hjic-495 567 5 to to PART hjic-495 567 6 overhead overhead ADJ hjic-495 567 7 cranes crane NOUN hjic-495 567 8 system system NOUN hjic-495 567 9 dynamics dynamic NOUN hjic-495 567 10 we we PRON hjic-495 567 11 will will AUX hjic-495 567 12 now now ADV hjic-495 567 13 consider consider VERB hjic-495 567 14 the the DET hjic-495 567 15 state state NOUN hjic-495 567 16 estimation estimation NOUN hjic-495 567 17 problem problem NOUN hjic-495 567 18 of of ADP hjic-495 567 19 the the DET hjic-495 567 20 two two NUM hjic-495 567 21 - - PUNCT hjic-495 567 22 dimensional dimensional ADJ hjic-495 567 23 overhead overhead ADJ hjic-495 567 24 crane crane NOUN hjic-495 567 25 ( ( PUNCT hjic-495 567 26 fig.1 fig.1 PROPN hjic-495 567 27 ) ) PUNCT hjic-495 567 28 . . PUNCT hjic-495 568 1 let let VERB hjic-495 568 2 us we PRON hjic-495 568 3 denote denote VERB hjic-495 568 4 the the DET hjic-495 568 5 horizontal horizontal ADJ hjic-495 568 6 displacement displacement NOUN hjic-495 568 7 of of ADP hjic-495 568 8 the the DET hjic-495 568 9 cart cart NOUN hjic-495 568 10 by by ADP hjic-495 568 11 ` ` PUNCT hjic-495 568 12 , , PUNCT hjic-495 568 13 the the DET hjic-495 568 14 length length NOUN hjic-495 568 15 of of ADP hjic-495 568 16 the the DET hjic-495 568 17 rope rope NOUN hjic-495 568 18 by by ADP hjic-495 568 19 r r NOUN hjic-495 568 20 and and CCONJ hjic-495 568 21 the the DET hjic-495 568 22 angle angle NOUN hjic-495 568 23 between between ADP hjic-495 568 24 the the DET hjic-495 568 25 vertical vertical ADJ hjic-495 568 26 and and CCONJ hjic-495 568 27 the the DET hjic-495 568 28 rope rope NOUN hjic-495 568 29 by by ADP hjic-495 568 30 ✓ ✓ PROPN hjic-495 568 31 . . PUNCT hjic-495 569 1 the the DET hjic-495 569 2 generalized generalized ADJ hjic-495 569 3 coordinates coordinate NOUN hjic-495 569 4 of of ADP hjic-495 569 5 the the DET hjic-495 569 6 system system NOUN hjic-495 569 7 are be AUX hjic-495 569 8 chosen choose VERB hjic-495 569 9 to to PART hjic-495 569 10 be be AUX hjic-495 569 11 q q NOUN hjic-495 569 12 = = PUNCT hjic-495 569 13 � � PROPN hjic-495 569 14 ` ` PUNCT hjic-495 569 15 r r NOUN hjic-495 569 16 ✓ ✓ ADJ hjic-495 569 17 � � NOUN hjic-495 569 18 t t NOUN hjic-495 569 19 , , PUNCT hjic-495 569 20 and and CCONJ hjic-495 569 21 the the DET hjic-495 569 22 state state NOUN hjic-495 569 23 is be AUX hjic-495 569 24 x x NOUN hjic-495 569 25 = = SYM hjic-495 569 26 � � PROPN hjic-495 569 27 ` ` PUNCT hjic-495 569 28 r r NOUN hjic-495 569 29 ✓ ✓ ADJ hjic-495 569 30 ˙ ˙ NOUN hjic-495 569 31 ` ` PUNCT hjic-495 569 32 ṙ ṙ NOUN hjic-495 569 33 ˙ ˙ X hjic-495 569 34 ✓ ✓ ADJ hjic-495 569 35 � � PROPN hjic-495 569 36 t t PROPN hjic-495 569 37 . . PUNCT hjic-495 570 1 based base VERB hjic-495 570 2 on on ADP hjic-495 570 3 the the DET hjic-495 570 4 sensors sensor NOUN hjic-495 570 5 available available ADJ hjic-495 570 6 , , PUNCT hjic-495 570 7 the the DET hjic-495 570 8 output output NOUN hjic-495 570 9 is be AUX hjic-495 570 10 y y PROPN hjic-495 570 11 = = PUNCT hjic-495 570 12 � � PROPN hjic-495 570 13 ` ` PUNCT hjic-495 570 14 r r NOUN hjic-495 570 15 ˙ ˙ NOUN hjic-495 570 16 ` ` PUNCT hjic-495 570 17 ṙ ṙ PROPN hjic-495 570 18 � � PROPN hjic-495 570 19 t t PROPN hjic-495 570 20 . . PUNCT hjic-495 571 1 overhead overhead ADJ hjic-495 571 2 cranes crane NOUN hjic-495 571 3 is be AUX hjic-495 571 4 a a DET hjic-495 571 5 typical typical ADJ hjic-495 571 6 example example NOUN hjic-495 571 7 of of ADP hjic-495 571 8 underactuated underactuated ADJ hjic-495 571 9 systems system NOUN hjic-495 571 10 . . PUNCT hjic-495 572 1 it it PRON hjic-495 572 2 is be AUX hjic-495 572 3 actuated actuate VERB hjic-495 572 4 by by ADP hjic-495 572 5 two two NUM hjic-495 572 6 motors motor NOUN hjic-495 572 7 , , PUNCT hjic-495 572 8 one one NUM hjic-495 572 9 applying apply VERB hjic-495 572 10 the the DET hjic-495 572 11 force force NOUN hjic-495 572 12 uf uf PROPN hjic-495 572 13 on on ADP hjic-495 572 14 the the DET hjic-495 572 15 cart cart NOUN hjic-495 572 16 , , PUNCT hjic-495 572 17 and and CCONJ hjic-495 572 18 another another PRON hjic-495 572 19 delivering deliver VERB hjic-495 572 20 the the DET hjic-495 572 21 estimated estimate VERB hjic-495 572 22 system system NOUN hjic-495 572 23 s s PART hjic-495 572 24 ⇤ ⇤ PROPN hjic-495 572 25 + + PROPN hjic-495 572 26 + + CCONJ hjic-495 572 27 u u NOUN hjic-495 572 28 u u NOUN hjic-495 572 29 system system NOUN hjic-495 572 30 model model NOUN hjic-495 572 31 s s PART hjic-495 572 32 = = PUNCT hjic-495 572 33 ⌘ ⌘ PROPN hjic-495 572 34 ( ( PUNCT hjic-495 572 35 x x NOUN hjic-495 572 36 , , PUNCT hjic-495 572 37 ẋ ẋ PROPN hjic-495 572 38 , , PUNCT hjic-495 572 39 u u NOUN hjic-495 572 40 ) ) PUNCT hjic-495 572 41 ẋ ẋ PUNCT hjic-495 573 1 = = SYM hjic-495 573 2 f(x f(x PROPN hjic-495 573 3 , , PUNCT hjic-495 573 4 ũ ũ PROPN hjic-495 573 5 ) ) PUNCT hjic-495 573 6 y y PROPN hjic-495 573 7 = = SYM hjic-495 573 8 g(x g(x PROPN hjic-495 573 9 ) ) PUNCT hjic-495 574 1 ũ ũ PROPN hjic-495 574 2 y y NOUN hjic-495 574 3 r r NOUN hjic-495 574 4 ẋ ẋ PROPN hjic-495 575 1 x x PRON hjic-495 575 2 figure figure NOUN hjic-495 575 3 2 2 NUM hjic-495 575 4 : : PUNCT hjic-495 575 5 dynamics dynamic NOUN hjic-495 575 6 of of ADP hjic-495 575 7 the the DET hjic-495 575 8 estimated estimate VERB hjic-495 575 9 system system NOUN hjic-495 575 10 torque torque NOUN hjic-495 575 11 uc uc INTJ hjic-495 575 12 to to ADP hjic-495 575 13 the the DET hjic-495 575 14 winch winch NOUN hjic-495 575 15 . . PUNCT hjic-495 576 1 the the DET hjic-495 576 2 system system NOUN hjic-495 576 3 input input NOUN hjic-495 576 4 consists consist VERB hjic-495 576 5 of of ADP hjic-495 576 6 these these PRON hjic-495 576 7 , , PUNCT hjic-495 576 8 u u PROPN hjic-495 576 9 = = PROPN hjic-495 576 10 � � PROPN hjic-495 576 11 uf uf PROPN hjic-495 576 12 uc uc PROPN hjic-495 576 13 � � PROPN hjic-495 576 14 t t PROPN hjic-495 576 15 . . PUNCT hjic-495 577 1 the the DET hjic-495 577 2 parameters parameter NOUN hjic-495 577 3 of of ADP hjic-495 577 4 the the DET hjic-495 577 5 system system NOUN hjic-495 577 6 are be AUX hjic-495 577 7 the the DET hjic-495 577 8 mass mass NOUN hjic-495 577 9 of of ADP hjic-495 577 10 the the DET hjic-495 577 11 cart cart NOUN hjic-495 577 12 m m VERB hjic-495 577 13 , , PUNCT hjic-495 577 14 the the DET hjic-495 577 15 mass mass NOUN hjic-495 577 16 of of ADP hjic-495 577 17 the the DET hjic-495 577 18 load load NOUN hjic-495 577 19 m m PROPN hjic-495 577 20 , , PUNCT hjic-495 577 21 the the DET hjic-495 577 22 moment moment NOUN hjic-495 577 23 of of ADP hjic-495 577 24 inertia inertia NOUN hjic-495 577 25 of of ADP hjic-495 577 26 the the DET hjic-495 577 27 winch winch NOUN hjic-495 577 28 j j PROPN hjic-495 577 29 and and CCONJ hjic-495 577 30 the the DET hjic-495 577 31 radius radius NOUN hjic-495 577 32 of of ADP hjic-495 577 33 the the DET hjic-495 577 34 winch winch NOUN hjic-495 577 35 ⇢ ⇢ NOUN hjic-495 577 36 . . PUNCT hjic-495 578 1 the the DET hjic-495 578 2 acceleration acceleration NOUN hjic-495 578 3 in in ADP hjic-495 578 4 the the DET hjic-495 578 5 gravitational gravitational ADJ hjic-495 578 6 field field NOUN hjic-495 578 7 is be AUX hjic-495 578 8 denoted denote VERB hjic-495 578 9 by by ADP hjic-495 578 10 g. g. PROPN hjic-495 578 11 the the DET hjic-495 578 12 following follow VERB hjic-495 578 13 assumptions assumption NOUN hjic-495 578 14 are be AUX hjic-495 578 15 made make VERB hjic-495 578 16 of of ADP hjic-495 578 17 the the DET hjic-495 578 18 system system NOUN hjic-495 578 19 . . PUNCT hjic-495 579 1 • • NUM hjic-495 579 2 the the DET hjic-495 579 3 rope rope NOUN hjic-495 579 4 connecting connect VERB hjic-495 579 5 the the DET hjic-495 579 6 load load NOUN hjic-495 579 7 to to ADP hjic-495 579 8 the the DET hjic-495 579 9 winch winch NOUN hjic-495 579 10 is be AUX hjic-495 579 11 massless massless ADJ hjic-495 579 12 and and CCONJ hjic-495 579 13 behaves behave VERB hjic-495 579 14 as as ADP hjic-495 579 15 a a DET hjic-495 579 16 rigid rigid ADJ hjic-495 579 17 rod rod NOUN hjic-495 579 18 during during ADP hjic-495 579 19 the the DET hjic-495 579 20 motion motion NOUN hjic-495 579 21 . . PUNCT hjic-495 580 1 • • NOUN hjic-495 580 2 the the DET hjic-495 580 3 load load NOUN hjic-495 580 4 is be AUX hjic-495 580 5 a a DET hjic-495 580 6 point point NOUN hjic-495 580 7 mass mass NOUN hjic-495 580 8 . . PUNCT hjic-495 581 1 • • NUM hjic-495 581 2 m m PROPN hjic-495 581 3 , , PUNCT hjic-495 581 4 m m PROPN hjic-495 581 5 , , PUNCT hjic-495 581 6 j j PROPN hjic-495 581 7 and and CCONJ hjic-495 581 8 ⇢ ⇢ NOUN hjic-495 581 9 are be AUX hjic-495 581 10 known know VERB hjic-495 581 11 . . PUNCT hjic-495 582 1 • • NUM hjic-495 582 2 in in ADP hjic-495 582 3 the the DET hjic-495 582 4 initial initial ADJ hjic-495 582 5 state state NOUN hjic-495 582 6 of of ADP hjic-495 582 7 the the DET hjic-495 582 8 system system NOUN hjic-495 582 9 the the DET hjic-495 582 10 unmeasured unmeasured ADJ hjic-495 582 11 states state NOUN hjic-495 582 12 are be AUX hjic-495 582 13 zero zero NUM hjic-495 582 14 : : PUNCT hjic-495 582 15 ✓ ✓ ADJ hjic-495 582 16 = = SYM hjic-495 582 17 0 0 NUM hjic-495 582 18 rad rad NOUN hjic-495 582 19 and and CCONJ hjic-495 582 20 ˙ ˙ NOUN hjic-495 582 21 ✓ ✓ ADJ hjic-495 582 22 = = SYM hjic-495 582 23 0 0 NUM hjic-495 582 24 rad rad PROPN hjic-495 582 25 / / SYM hjic-495 582 26 s. s. PROPN hjic-495 582 27 • • NUM hjic-495 582 28 the the DET hjic-495 582 29 effect effect NOUN hjic-495 582 30 of of ADP hjic-495 582 31 the the DET hjic-495 582 32 aerodynamic aerodynamic ADJ hjic-495 582 33 resistance resistance NOUN hjic-495 582 34 is be AUX hjic-495 582 35 negligible negligible ADJ hjic-495 582 36 . . PUNCT hjic-495 583 1 the the DET hjic-495 583 2 lagrangian lagrangian NOUN hjic-495 583 3 of of ADP hjic-495 583 4 overhead overhead ADJ hjic-495 583 5 cranes crane NOUN hjic-495 583 6 reads read VERB hjic-495 583 7 l l NOUN hjic-495 583 8 = = SYM hjic-495 583 9 1 1 NUM hjic-495 583 10 2 2 NUM hjic-495 583 11 ( ( PUNCT hjic-495 583 12 m m VERB hjic-495 583 13 + + NOUN hjic-495 583 14 m m X hjic-495 583 15 ) ) PUNCT hjic-495 583 16 ˙`2 ˙`2 NOUN hjic-495 584 1 + + CCONJ hjic-495 584 2 1 1 NUM hjic-495 584 3 2 2 NUM hjic-495 584 4 j j PROPN hjic-495 584 5 ⇢ ⇢ NOUN hjic-495 584 6 2 2 NUM hjic-495 584 7 ṙ2 ṙ2 PROPN hjic-495 584 8 + + PROPN hjic-495 584 9 + + NOUN hjic-495 584 10 1 1 NUM hjic-495 584 11 2 2 NUM hjic-495 584 12 m m NOUN hjic-495 584 13 ⇣ ⇣ NUM hjic-495 584 14 ṙ2 ṙ2 PROPN hjic-495 584 15 + + CCONJ hjic-495 584 16 r2 r2 NOUN hjic-495 584 17 ˙ ˙ X hjic-495 584 18 ✓ ✓ ADJ hjic-495 584 19 2 2 NUM hjic-495 584 20 ⌘ ⌘ NOUN hjic-495 584 21 + + NOUN hjic-495 584 22 m m PROPN hjic-495 584 23 ˙lṙ ˙lṙ NOUN hjic-495 584 24 sin sin VERB hjic-495 584 25 ✓ ✓ ADJ hjic-495 584 26 + + PROPN hjic-495 584 27 m m PROPN hjic-495 584 28 ˙lr ˙lr ADJ hjic-495 584 29 ˙ ˙ X hjic-495 584 30 ✓ ✓ ADJ hjic-495 584 31 cos cos X hjic-495 584 32 ✓ ✓ ADJ hjic-495 584 33 + + NOUN hjic-495 584 34 mgr mgr NOUN hjic-495 584 35 cos cos X hjic-495 584 36 ✓ ✓ PROPN hjic-495 584 37 . . PUNCT hjic-495 585 1 ( ( PUNCT hjic-495 585 2 19 19 NUM hjic-495 585 3 ) ) PUNCT hjic-495 585 4 using use VERB hjic-495 585 5 eq.(1 eq.(1 ADJ hjic-495 585 6 ) ) PUNCT hjic-495 585 7 , , PUNCT hjic-495 585 8 the the DET hjic-495 585 9 model model NOUN hjic-495 585 10 can can AUX hjic-495 585 11 be be AUX hjic-495 585 12 written write VERB hjic-495 585 13 in in ADP hjic-495 585 14 the the DET hjic-495 585 15 form form NOUN hjic-495 585 16 of of ADP hjic-495 585 17 eq.(2 eq.(2 NOUN hjic-495 585 18 ) ) PUNCT hjic-495 585 19 , , PUNCT hjic-495 585 20 where where SCONJ hjic-495 585 21 the the DET hjic-495 585 22 expressions expression NOUN hjic-495 585 23 become become VERB hjic-495 585 24 h(q h(q ADV hjic-495 585 25 ) ) PUNCT hjic-495 586 1 = = SYM hjic-495 586 2 0 0 PUNCT hjic-495 587 1 b@ b@ PROPN hjic-495 587 2 � � PROPN hjic-495 587 3 m m VERB hjic-495 587 4 + + NOUN hjic-495 587 5 m m NOUN hjic-495 587 6 sin sin NOUN hjic-495 587 7 2 2 NUM hjic-495 587 8 ✓ ✓ ADJ hjic-495 587 9 � � PROPN hjic-495 587 10 m m NOUN hjic-495 587 11 sin sin NOUN hjic-495 587 12 ✓ ✓ ADJ hjic-495 587 13 0 0 NUM hjic-495 587 14 m m VERB hjic-495 587 15 sin sin NOUN hjic-495 587 16 ✓ ✓ ADJ hjic-495 587 17 ⇣ ⇣ X hjic-495 587 18 j j NOUN hjic-495 587 19 ⇢ ⇢ NOUN hjic-495 587 20 2 2 NUM hjic-495 587 21 + + NOUN hjic-495 587 22 m m PROPN hjic-495 587 23 ⌘ ⌘ NUM hjic-495 587 24 0 0 NUM hjic-495 587 25 cos cos X hjic-495 587 26 ✓ ✓ ADJ hjic-495 587 27 0 0 NUM hjic-495 588 1 r r NOUN hjic-495 588 2 1 1 NUM hjic-495 588 3 ca ca NOUN hjic-495 588 4 , , PUNCT hjic-495 588 5 ( ( PUNCT hjic-495 588 6 20 20 NUM hjic-495 588 7 ) ) PUNCT hjic-495 588 8 h(q h(q ADV hjic-495 588 9 , , PUNCT hjic-495 588 10 q̇ q̇ ADV hjic-495 588 11 ) ) PUNCT hjic-495 588 12 = = SYM hjic-495 588 13 � � PROPN hjic-495 588 14 0 0 NUM hjic-495 588 15 @ @ ADP hjic-495 588 16 m(r m(r NOUN hjic-495 588 17 ˙ ˙ X hjic-495 588 18 ✓ ✓ ADJ hjic-495 588 19 2 2 NUM hjic-495 588 20 + + CCONJ hjic-495 588 21 g g NOUN hjic-495 588 22 cos cos ADJ hjic-495 588 23 ✓ ✓ ADJ hjic-495 588 24 ) ) PUNCT hjic-495 588 25 sin sin NOUN hjic-495 588 26 ✓ ✓ ADJ hjic-495 588 27 mr mr PROPN hjic-495 588 28 ˙ ˙ X hjic-495 588 29 ✓ ✓ ADJ hjic-495 588 30 2 2 NUM hjic-495 588 31 + + NOUN hjic-495 588 32 mg mg NOUN hjic-495 588 33 cos cos ADJ hjic-495 588 34 ✓ ✓ PROPN hjic-495 588 35 � � PROPN hjic-495 588 36 2ṙ 2ṙ NUM hjic-495 588 37 ˙ ˙ X hjic-495 588 38 ✓ ✓ ADJ hjic-495 588 39 � � PROPN hjic-495 588 40 g g NOUN hjic-495 588 41 sin sin NOUN hjic-495 588 42 ✓ ✓ ADJ hjic-495 588 43 1 1 NUM hjic-495 588 44 a a PRON hjic-495 588 45 , , PUNCT hjic-495 588 46 ( ( PUNCT hjic-495 588 47 21 21 NUM hjic-495 588 48 ) ) PUNCT hjic-495 588 49 hs(s hs( NOUN hjic-495 588 50 ) ) PUNCT hjic-495 588 51 = = SYM hjic-495 588 52 � � PROPN hjic-495 588 53 0 0 NUM hjic-495 588 54 @ @ ADP hjic-495 588 55 sf sf PROPN hjic-495 588 56 sc sc PROPN hjic-495 588 57 0 0 NUM hjic-495 588 58 1 1 NUM hjic-495 588 59 a a PRON hjic-495 588 60 , , PUNCT hjic-495 588 61 ⌧ ⌧ VERB hjic-495 588 62 = = SYM hjic-495 588 63 0 0 NUM hjic-495 588 64 @ @ ADP hjic-495 588 65 uf uf PROPN hjic-495 588 66 � � PROPN hjic-495 588 67 uc uc PROPN hjic-495 588 68 ⇢ ⇢ NOUN hjic-495 588 69 0 0 NUM hjic-495 588 70 1 1 NUM hjic-495 588 71 a a PRON hjic-495 588 72 , , PUNCT hjic-495 588 73 ( ( PUNCT hjic-495 588 74 22 22 NUM hjic-495 588 75 ) ) PUNCT hjic-495 588 76 where where SCONJ hjic-495 588 77 sf sf PROPN hjic-495 588 78 is be AUX hjic-495 588 79 the the DET hjic-495 588 80 frictional frictional ADJ hjic-495 588 81 force force NOUN hjic-495 588 82 between between ADP hjic-495 588 83 the the DET hjic-495 588 84 cart cart NOUN hjic-495 588 85 and and CCONJ hjic-495 588 86 the the DET hjic-495 588 87 rail rail NOUN hjic-495 588 88 and and CCONJ hjic-495 588 89 sc sc PROPN hjic-495 588 90 is be AUX hjic-495 588 91 the the DET hjic-495 588 92 frictional frictional ADJ hjic-495 588 93 force force NOUN hjic-495 588 94 applied apply VERB hjic-495 588 95 to to ADP hjic-495 588 96 the the DET hjic-495 588 97 winch winch NOUN hjic-495 588 98 . . PUNCT hjic-495 589 1 the the DET hjic-495 589 2 continuous continuous ADJ hjic-495 589 3 - - PUNCT hjic-495 589 4 time time NOUN hjic-495 589 5 linear linear PROPN hjic-495 589 6 model model NOUN hjic-495 589 7 of of ADP hjic-495 589 8 the the DET hjic-495 589 9 crane crane NOUN hjic-495 589 10 is be AUX hjic-495 589 11 computed compute VERB hjic-495 589 12 around around ADP hjic-495 589 13 the the DET hjic-495 589 14 setpoint setpoint NOUN hjic-495 589 15 x0 x0 PROPN hjic-495 589 16 = = SYM hjic-495 589 17 � � PROPN hjic-495 589 18 0 0 NUM hjic-495 589 19 r0 r0 NOUN hjic-495 589 20 0 0 NUM hjic-495 589 21 0 0 NUM hjic-495 589 22 0 0 NUM hjic-495 589 23 0 0 NUM hjic-495 589 24 � � PROPN hjic-495 589 25 t t PROPN hjic-495 589 26 , , PUNCT hjic-495 589 27 u0 u0 ADJ hjic-495 589 28 = = SYM hjic-495 589 29 � � PROPN hjic-495 589 30 0 0 NUM hjic-495 589 31 mg mg PROPN hjic-495 589 32 ⇢ ⇢ NOUN hjic-495 589 33 � � PROPN hjic-495 589 34 t t PROPN hjic-495 589 35 , , PUNCT hjic-495 589 36 and and CCONJ hjic-495 589 37 sf sf NOUN hjic-495 589 38 = = SYM hjic-495 589 39 sc sc PROPN hjic-495 589 40 = = NOUN hjic-495 589 41 0 0 NUM hjic-495 589 42 is be AUX hjic-495 589 43 substituted substitute VERB hjic-495 589 44 74 74 NUM hjic-495 589 45 table table NOUN hjic-495 589 46 1 1 NUM hjic-495 589 47 : : PUNCT hjic-495 589 48 numeric numeric ADJ hjic-495 589 49 values value NOUN hjic-495 589 50 of of ADP hjic-495 589 51 the the DET hjic-495 589 52 parameters parameter NOUN hjic-495 589 53 value value NOUN hjic-495 589 54 unit unit NOUN hjic-495 589 55 m m VERB hjic-495 589 56 5 5 NUM hjic-495 589 57 kg kg NOUN hjic-495 589 58 m m VERB hjic-495 589 59 0.05 0.05 NUM hjic-495 589 60 kg kg NOUN hjic-495 589 61 j j PROPN hjic-495 589 62 3.802 3.802 NUM hjic-495 589 63 · · SYM hjic-495 589 64 10 10 NUM hjic-495 589 65 � � SYM hjic-495 589 66 4 4 NUM hjic-495 589 67 kg kg NOUN hjic-495 589 68 m m NOUN hjic-495 589 69 2 2 NUM hjic-495 589 70 ⇢ ⇢ NOUN hjic-495 589 71 0.02 0.02 NUM hjic-495 589 72 m m NOUN hjic-495 589 73 g g PROPN hjic-495 589 74 9.81 9.81 NUM hjic-495 589 75 m m NOUN hjic-495 589 76 s s NOUN hjic-495 589 77 � � PROPN hjic-495 589 78 2 2 NUM hjic-495 589 79 ts ts ADP hjic-495 589 80 1 1 NUM hjic-495 589 81 ms ms NOUN hjic-495 589 82 r0 r0 NOUN hjic-495 589 83 0.47 0.47 NUM hjic-495 589 84 m m NOUN hjic-495 589 85 ` ` PUNCT hjic-495 589 86 d d PROPN hjic-495 589 87 0.5 0.5 NUM hjic-495 589 88 m m NOUN hjic-495 589 89 into into ADP hjic-495 589 90 eq.(5 eq.(5 NOUN hjic-495 589 91 ) ) PUNCT hjic-495 589 92 . . PUNCT hjic-495 590 1 the the DET hjic-495 590 2 resulting result VERB hjic-495 590 3 jacobians jacobian NOUN hjic-495 590 4 are be AUX hjic-495 590 5 a a DET hjic-495 590 6 = = SYM hjic-495 590 7 0 0 NUM hjic-495 590 8 bbbbbb@ bbbbbb@ NOUN hjic-495 590 9 0 0 NUM hjic-495 590 10 0 0 NUM hjic-495 590 11 0 0 NUM hjic-495 590 12 1 1 NUM hjic-495 590 13 0 0 NUM hjic-495 590 14 0 0 NUM hjic-495 590 15 0 0 NUM hjic-495 590 16 0 0 NUM hjic-495 590 17 0 0 NUM hjic-495 590 18 0 0 NUM hjic-495 590 19 1 1 NUM hjic-495 590 20 0 0 NUM hjic-495 590 21 0 0 NUM hjic-495 590 22 0 0 NUM hjic-495 590 23 0 0 NUM hjic-495 590 24 0 0 NUM hjic-495 590 25 0 0 NUM hjic-495 590 26 1 1 NUM hjic-495 590 27 0 0 NUM hjic-495 590 28 0 0 NUM hjic-495 590 29 m m NOUN hjic-495 590 30 m m VERB hjic-495 590 31 g g ADJ hjic-495 590 32 0 0 NUM hjic-495 590 33 0 0 NUM hjic-495 590 34 0 0 NUM hjic-495 590 35 0 0 NUM hjic-495 590 36 0 0 NUM hjic-495 590 37 0 0 NUM hjic-495 590 38 0 0 NUM hjic-495 590 39 0 0 NUM hjic-495 590 40 0 0 NUM hjic-495 590 41 0 0 NUM hjic-495 590 42 0 0 NUM hjic-495 590 43 � � PROPN hjic-495 590 44 m+m m+m NOUN hjic-495 590 45 mr0 mr0 VERB hjic-495 590 46 g g PROPN hjic-495 590 47 0 0 NUM hjic-495 590 48 0 0 NUM hjic-495 590 49 0 0 NUM hjic-495 590 50 1 1 NUM hjic-495 590 51 cccccca cccccca VERB hjic-495 590 52 , , PUNCT hjic-495 590 53 b b X hjic-495 590 54 = = SYM hjic-495 590 55 0 0 NUM hjic-495 591 1 bbbbbb@ bbbbbb@ NOUN hjic-495 591 2 0 0 NUM hjic-495 591 3 0 0 NUM hjic-495 591 4 0 0 NUM hjic-495 591 5 0 0 NUM hjic-495 591 6 0 0 NUM hjic-495 591 7 0 0 NUM hjic-495 591 8 1 1 NUM hjic-495 591 9 m m NOUN hjic-495 591 10 0 0 NUM hjic-495 591 11 0 0 NUM hjic-495 591 12 � � PROPN hjic-495 591 13 ⇢ ⇢ NOUN hjic-495 591 14 m m PRON hjic-495 591 15 ⇢ ⇢ NOUN hjic-495 591 16 2+j 2+j NUM hjic-495 591 17 � � NOUN hjic-495 591 18 1 1 NUM hjic-495 591 19 mr0 mr0 NOUN hjic-495 591 20 0 0 NUM hjic-495 591 21 1 1 NUM hjic-495 591 22 cccccca cccccca VERB hjic-495 591 23 , , PUNCT hjic-495 591 24 c c NOUN hjic-495 591 25 = = SYM hjic-495 591 26 0 0 PUNCT hjic-495 592 1 bb@ bb@ NOUN hjic-495 592 2 1 1 NUM hjic-495 592 3 0 0 NUM hjic-495 592 4 0 0 NUM hjic-495 592 5 0 0 NUM hjic-495 592 6 0 0 NUM hjic-495 592 7 0 0 NUM hjic-495 592 8 0 0 NUM hjic-495 592 9 1 1 NUM hjic-495 592 10 0 0 NUM hjic-495 592 11 0 0 NUM hjic-495 592 12 0 0 NUM hjic-495 592 13 0 0 NUM hjic-495 592 14 0 0 NUM hjic-495 592 15 0 0 NUM hjic-495 592 16 0 0 NUM hjic-495 592 17 1 1 NUM hjic-495 592 18 0 0 NUM hjic-495 592 19 0 0 NUM hjic-495 592 20 0 0 NUM hjic-495 592 21 0 0 NUM hjic-495 592 22 0 0 NUM hjic-495 592 23 0 0 NUM hjic-495 592 24 1 1 NUM hjic-495 592 25 0 0 NUM hjic-495 592 26 1 1 NUM hjic-495 592 27 cca cca NOUN hjic-495 592 28 . . PUNCT hjic-495 593 1 ( ( PUNCT hjic-495 593 2 23 23 NUM hjic-495 593 3 ) ) PUNCT hjic-495 593 4 substituting substitute VERB hjic-495 593 5 eq.(22 eq.(22 NOUN hjic-495 593 6 ) ) PUNCT hjic-495 593 7 , , PUNCT hjic-495 593 8 the the DET hjic-495 593 9 disturbance disturbance NOUN hjic-495 593 10 torque torque NOUN hjic-495 593 11 term term NOUN hjic-495 593 12 in in ADP hjic-495 593 13 eq.(3 eq.(3 NOUN hjic-495 593 14 ) ) PUNCT hjic-495 593 15 reads read VERB hjic-495 593 16 ⌧ ⌧ PROPN hjic-495 593 17 ̃ ̃ NOUN hjic-495 593 18 = = SYM hjic-495 593 19 0 0 NUM hjic-495 593 20 @ @ NUM hjic-495 593 21 uf uf PROPN hjic-495 594 1 + + CCONJ hjic-495 594 2 sf sf PROPN hjic-495 594 3 � � PROPN hjic-495 594 4 1 1 NUM hjic-495 594 5 ⇢ ⇢ NOUN hjic-495 594 6 ( ( PUNCT hjic-495 594 7 uc uc PROPN hjic-495 594 8 � � PROPN hjic-495 594 9 ⇢ ⇢ PROPN hjic-495 594 10 sc sc PROPN hjic-495 594 11 ) ) PUNCT hjic-495 594 12 0 0 NUM hjic-495 594 13 1 1 NUM hjic-495 594 14 a a PRON hjic-495 594 15 . . PUNCT hjic-495 595 1 ( ( PUNCT hjic-495 595 2 24 24 NUM hjic-495 595 3 ) ) PUNCT hjic-495 595 4 eq.(24 eq.(24 PROPN hjic-495 595 5 ) ) PUNCT hjic-495 595 6 shows show NOUN hjic-495 595 7 , , PUNCT hjic-495 595 8 that that SCONJ hjic-495 595 9 the the DET hjic-495 595 10 disturbed disturbed ADJ hjic-495 595 11 input input NOUN hjic-495 595 12 of of ADP hjic-495 595 13 the the DET hjic-495 595 14 system system NOUN hjic-495 595 15 can can AUX hjic-495 595 16 be be AUX hjic-495 595 17 introduced introduce VERB hjic-495 595 18 in in ADP hjic-495 595 19 the the DET hjic-495 595 20 form form NOUN hjic-495 595 21 ũ ũ PROPN hjic-495 595 22 = = PUNCT hjic-495 595 23 u+ u+ NUM hjic-495 595 24 ⇤ ⇤ PROPN hjic-495 595 25 s s PART hjic-495 595 26 , , PUNCT hjic-495 595 27 where where SCONJ hjic-495 595 28 ⇤ ⇤ PROPN hjic-495 595 29 = = PUNCT hjic-495 595 30 ✓ ✓ ADJ hjic-495 595 31 1 1 NUM hjic-495 595 32 0 0 NUM hjic-495 595 33 0 0 NUM hjic-495 595 34 � � NOUN hjic-495 595 35 ⇢ ⇢ NOUN hjic-495 595 36 ◆ ◆ X hjic-495 595 37 . . PUNCT hjic-495 596 1 ( ( PUNCT hjic-495 596 2 25 25 NUM hjic-495 596 3 ) ) PUNCT hjic-495 596 4 the the DET hjic-495 596 5 frictional frictional ADJ hjic-495 596 6 forces force NOUN hjic-495 596 7 usually usually ADV hjic-495 596 8 depend depend VERB hjic-495 596 9 on on ADP hjic-495 596 10 the the DET hjic-495 596 11 actuating actuate VERB hjic-495 596 12 signals signal NOUN hjic-495 596 13 , , PUNCT hjic-495 596 14 state state NOUN hjic-495 596 15 variables variable NOUN hjic-495 596 16 , , PUNCT hjic-495 596 17 and and CCONJ hjic-495 596 18 the the DET hjic-495 596 19 derivative derivative NOUN hjic-495 596 20 of of ADP hjic-495 596 21 the the DET hjic-495 596 22 state state NOUN hjic-495 596 23 as as ADV hjic-495 596 24 well well ADV hjic-495 596 25 . . PUNCT hjic-495 597 1 the the DET hjic-495 597 2 general general ADJ hjic-495 597 3 characteristics characteristic NOUN hjic-495 597 4 of of ADP hjic-495 597 5 the the DET hjic-495 597 6 friction friction NOUN hjic-495 597 7 reads read VERB hjic-495 597 8 as as ADP hjic-495 597 9 s s NOUN hjic-495 597 10 = = PUNCT hjic-495 597 11 ⌘ ⌘ PROPN hjic-495 597 12 ( ( PUNCT hjic-495 597 13 x x NOUN hjic-495 597 14 , , PUNCT hjic-495 597 15 ẋ ẋ PROPN hjic-495 597 16 , , PUNCT hjic-495 597 17 u u NOUN hjic-495 597 18 ) ) PUNCT hjic-495 597 19 . . PUNCT hjic-495 598 1 the the DET hjic-495 598 2 block block NOUN hjic-495 598 3 diagram diagram NOUN hjic-495 598 4 of of ADP hjic-495 598 5 the the DET hjic-495 598 6 dynamics dynamic NOUN hjic-495 598 7 of of ADP hjic-495 598 8 the the DET hjic-495 598 9 system system NOUN hjic-495 598 10 is be AUX hjic-495 598 11 illustrated illustrate VERB hjic-495 598 12 in in ADP hjic-495 598 13 fig.2 fig.2 PROPN hjic-495 598 14 . . PUNCT hjic-495 599 1 only only ADV hjic-495 599 2 the the DET hjic-495 599 3 system system NOUN hjic-495 599 4 model model NOUN hjic-495 599 5 block block NOUN hjic-495 599 6 is be AUX hjic-495 599 7 used use VERB hjic-495 599 8 for for ADP hjic-495 599 9 estimator estimator NOUN hjic-495 599 10 design design NOUN hjic-495 599 11 , , PUNCT hjic-495 599 12 which which PRON hjic-495 599 13 is be AUX hjic-495 599 14 eq.(5 eq.(5 NOUN hjic-495 599 15 ) ) PUNCT hjic-495 599 16 if if SCONJ hjic-495 599 17 the the DET hjic-495 599 18 effect effect NOUN hjic-495 599 19 of of ADP hjic-495 599 20 the the DET hjic-495 599 21 friction friction NOUN hjic-495 599 22 is be AUX hjic-495 599 23 disregarded disregarded ADJ hjic-495 599 24 , , PUNCT hjic-495 599 25 hs(s hs( NOUN hjic-495 599 26 ) ) PUNCT hjic-495 600 1 = = SYM hjic-495 600 2 0 0 X hjic-495 600 3 . . PUNCT hjic-495 600 4 proposition proposition NOUN hjic-495 600 5 1 1 NUM hjic-495 600 6 . . PUNCT hjic-495 601 1 the the DET hjic-495 601 2 discrete discrete ADJ hjic-495 601 3 - - PUNCT hjic-495 601 4 time time NOUN hjic-495 601 5 linear linear PROPN hjic-495 601 6 crane crane NOUN hjic-495 601 7 model model NOUN hjic-495 601 8 obtained obtain VERB hjic-495 601 9 from from ADP hjic-495 601 10 the the DET hjic-495 601 11 matrices matrix NOUN hjic-495 601 12 in in ADP hjic-495 601 13 eq.(23 eq.(23 NOUN hjic-495 601 14 ) ) PUNCT hjic-495 601 15 and and CCONJ hjic-495 601 16 using use VERB hjic-495 601 17 eq.(8 eq.(8 ADV hjic-495 601 18 ) ) PUNCT hjic-495 601 19 satisfies satisfy VERB hjic-495 601 20 the the DET hjic-495 601 21 design design NOUN hjic-495 601 22 conditions condition NOUN hjic-495 601 23 of of ADP hjic-495 601 24 the the DET hjic-495 601 25 uikf uikf NOUN hjic-495 601 26 in in ADP hjic-495 601 27 eq.(9 eq.(9 ADV hjic-495 601 28 - - PUNCT hjic-495 601 29 12 12 NUM hjic-495 601 30 ) ) PUNCT hjic-495 601 31 . . PUNCT hjic-495 602 1 proof proof NOUN hjic-495 602 2 . . PUNCT hjic-495 603 1 it it PRON hjic-495 603 2 is be AUX hjic-495 603 3 clear clear ADJ hjic-495 603 4 that that SCONJ hjic-495 603 5 dim{y dim{y NOUN hjic-495 603 6 } } PUNCT hjic-495 603 7 = = SYM hjic-495 603 8 4 4 NUM hjic-495 603 9 , , PUNCT hjic-495 603 10 dim{d dim{d PROPN hjic-495 603 11 } } PUNCT hjic-495 603 12 = = SYM hjic-495 603 13 2 2 NUM hjic-495 603 14 and and CCONJ hjic-495 603 15 rank{c rank{c NOUN hjic-495 603 16 } } PUNCT hjic-495 603 17 = = SYM hjic-495 603 18 4 4 NUM hjic-495 603 19 , , PUNCT hjic-495 603 20 thus thus ADV hjic-495 603 21 eq.(9 eq.(9 ADJ hjic-495 603 22 ) ) PUNCT hjic-495 603 23 and and CCONJ hjic-495 603 24 ( ( PUNCT hjic-495 603 25 10 10 NUM hjic-495 603 26 ) ) PUNCT hjic-495 603 27 are be AUX hjic-495 603 28 satisfied satisfied ADJ hjic-495 603 29 . . PUNCT hjic-495 604 1 using use VERB hjic-495 604 2 eq.(8 eq.(8 ADV hjic-495 604 3 ) ) PUNCT hjic-495 605 1 and and CCONJ hjic-495 605 2 the the DET hjic-495 605 3 numerical numerical ADJ hjic-495 605 4 values value NOUN hjic-495 605 5 in in ADP hjic-495 605 6 table table NOUN hjic-495 605 7 1 1 NUM hjic-495 605 8 , , PUNCT hjic-495 605 9 � � PROPN hjic-495 606 1 d d NOUN hjic-495 606 2 = = SYM hjic-495 606 3 10 10 NUM hjic-495 606 4 � � PROPN hjic-495 606 5 2 2 NUM hjic-495 606 6 0 0 NUM hjic-495 606 7 bbbbbb@ bbbbbb@ NOUN hjic-495 606 8 0.0001 0.0001 NUM hjic-495 606 9 0 0 NUM hjic-495 606 10 0 0 NUM hjic-495 606 11 � � PROPN hjic-495 606 12 0.025 0.025 NUM hjic-495 606 13 � � NOUN hjic-495 606 14 0.0002 0.0002 NUM hjic-495 606 15 0 0 NUM hjic-495 606 16 0.2 0.2 NUM hjic-495 606 17 0 0 NUM hjic-495 606 18 0 0 NUM hjic-495 606 19 � � PROPN hjic-495 606 20 49.975 49.975 NUM hjic-495 606 21 � � NOUN hjic-495 606 22 0.4255 0.4255 NUM hjic-495 606 23 0 0 NUM hjic-495 606 24 1 1 NUM hjic-495 606 25 cccccca cccccca VERB hjic-495 606 26 , , PUNCT hjic-495 606 27 c c X hjic-495 606 28 � � PROPN hjic-495 606 29 d d NOUN hjic-495 606 30 = = SYM hjic-495 606 31 10 10 NUM hjic-495 606 32 � � NOUN hjic-495 606 33 2 2 NUM hjic-495 606 34 0 0 NUM hjic-495 606 35 bb@ bb@ NOUN hjic-495 606 36 0.0001 0.0001 NUM hjic-495 606 37 0 0 NUM hjic-495 606 38 0 0 NUM hjic-495 606 39 � � NOUN hjic-495 606 40 0.025 0.025 NUM hjic-495 606 41 0.2 0.2 NUM hjic-495 606 42 0 0 NUM hjic-495 606 43 0 0 NUM hjic-495 606 44 � � PROPN hjic-495 606 45 49.975 49.975 NUM hjic-495 606 46 1 1 NUM hjic-495 606 47 cca cca NOUN hjic-495 606 48 . . PUNCT hjic-495 607 1 ( ( PUNCT hjic-495 607 2 26 26 NUM hjic-495 607 3 ) ) PUNCT hjic-495 607 4 we we PRON hjic-495 607 5 obtain obtain VERB hjic-495 607 6 rank{ rank{ NOUN hjic-495 607 7 � � NOUN hjic-495 607 8 d d NOUN hjic-495 607 9 } } PUNCT hjic-495 607 10 = = SYM hjic-495 607 11 2 2 NUM hjic-495 607 12 and and CCONJ hjic-495 607 13 rank{c rank{c NOUN hjic-495 607 14 � � NOUN hjic-495 607 15 d d NOUN hjic-495 607 16 } } PUNCT hjic-495 607 17 = = SYM hjic-495 607 18 2 2 NUM hjic-495 607 19 , , PUNCT hjic-495 607 20 which which PRON hjic-495 607 21 are be AUX hjic-495 607 22 both both CCONJ hjic-495 607 23 equal equal ADJ hjic-495 607 24 to to ADP hjic-495 607 25 the the DET hjic-495 607 26 number number NOUN hjic-495 607 27 of of ADP hjic-495 607 28 unknown unknown ADJ hjic-495 607 29 inputs input NOUN hjic-495 607 30 . . PUNCT hjic-495 608 1 this this PRON hjic-495 608 2 satisfies satisfy VERB hjic-495 608 3 eqs.(11 eqs.(11 PROPN hjic-495 608 4 ) ) PUNCT hjic-495 608 5 and and CCONJ hjic-495 608 6 ( ( PUNCT hjic-495 608 7 12 12 NUM hjic-495 608 8 ) ) PUNCT hjic-495 608 9 . . PUNCT hjic-495 609 1 the the DET hjic-495 609 2 continuity continuity NOUN hjic-495 609 3 argument argument NOUN hjic-495 609 4 holds hold VERB hjic-495 609 5 for for ADP hjic-495 609 6 the the DET hjic-495 609 7 rank rank NOUN hjic-495 609 8 of of ADP hjic-495 609 9 the the DET hjic-495 609 10 matrices matrix NOUN hjic-495 609 11 in in ADP hjic-495 609 12 eq.(26 eq.(26 ADV hjic-495 609 13 ) ) PUNCT hjic-495 609 14 , , PUNCT hjic-495 609 15 therefore therefore ADV hjic-495 609 16 there there PRON hjic-495 609 17 exists exist VERB hjic-495 609 18 a a DET hjic-495 609 19 neighbourhood neighbourhood NOUN hjic-495 609 20 around around ADP hjic-495 609 21 our our PRON hjic-495 609 22 parameter parameter NOUN hjic-495 609 23 set set VERB hjic-495 609 24 where where SCONJ hjic-495 609 25 the the DET hjic-495 609 26 design design NOUN hjic-495 609 27 conditions condition NOUN hjic-495 609 28 are be AUX hjic-495 609 29 still still ADV hjic-495 609 30 satisfied satisfied ADJ hjic-495 609 31 . . PUNCT hjic-495 610 1 simulation simulation NOUN hjic-495 610 2 the the DET hjic-495 610 3 estimation estimation NOUN hjic-495 610 4 results result NOUN hjic-495 610 5 were be AUX hjic-495 610 6 obtained obtain VERB hjic-495 610 7 by by ADP hjic-495 610 8 simulation simulation NOUN hjic-495 610 9 of of ADP hjic-495 610 10 overhead overhead ADJ hjic-495 610 11 cranes crane NOUN hjic-495 610 12 in in ADP hjic-495 610 13 a a DET hjic-495 610 14 closed closed ADJ hjic-495 610 15 - - PUNCT hjic-495 610 16 loop loop NOUN hjic-495 610 17 scenario scenario NOUN hjic-495 610 18 using use VERB hjic-495 610 19 a a DET hjic-495 610 20 simple simple ADJ hjic-495 610 21 discrete discrete ADJ hjic-495 610 22 - - PUNCT hjic-495 610 23 time time NOUN hjic-495 610 24 pole pole NOUN hjic-495 610 25 - - PUNCT hjic-495 610 26 placement placement NOUN hjic-495 610 27 - - PUNCT hjic-495 610 28 based base VERB hjic-495 610 29 linear linear ADJ hjic-495 610 30 controller controller NOUN hjic-495 610 31 . . PUNCT hjic-495 611 1 the the DET hjic-495 611 2 simulation simulation NOUN hjic-495 611 3 also also ADV hjic-495 611 4 took take VERB hjic-495 611 5 into into ADP hjic-495 611 6 account account NOUN hjic-495 611 7 friction friction NOUN hjic-495 611 8 . . PUNCT hjic-495 612 1 there there PRON hjic-495 612 2 are be VERB hjic-495 612 3 various various ADJ hjic-495 612 4 models model NOUN hjic-495 612 5 of of ADP hjic-495 612 6 the the DET hjic-495 612 7 friction friction NOUN hjic-495 612 8 phenomenon phenomenon NOUN hjic-495 612 9 , , PUNCT hjic-495 612 10 ours ours PRON hjic-495 612 11 included include VERB hjic-495 612 12 coulomb coulomb NOUN hjic-495 612 13 , , PUNCT hjic-495 612 14 stribeck stribeck NOUN hjic-495 612 15 , , PUNCT hjic-495 612 16 viscous viscous ADJ hjic-495 612 17 friction friction NOUN hjic-495 612 18 , , PUNCT hjic-495 612 19 and and CCONJ hjic-495 612 20 stiction stiction NOUN hjic-495 612 21 [ [ X hjic-495 612 22 11 11 NUM hjic-495 612 23 ] ] PUNCT hjic-495 612 24 . . PUNCT hjic-495 613 1 the the DET hjic-495 613 2 numerical numerical ADJ hjic-495 613 3 values value NOUN hjic-495 613 4 of of ADP hjic-495 613 5 the the DET hjic-495 613 6 parameters parameter NOUN hjic-495 613 7 used use VERB hjic-495 613 8 in in ADP hjic-495 613 9 the the DET hjic-495 613 10 simulation simulation NOUN hjic-495 613 11 are be AUX hjic-495 613 12 given give VERB hjic-495 613 13 in in ADP hjic-495 613 14 table table NOUN hjic-495 613 15 1 1 NUM hjic-495 613 16 . . PUNCT hjic-495 613 17 because because SCONJ hjic-495 613 18 of of ADP hjic-495 613 19 friction friction NOUN hjic-495 613 20 , , PUNCT hjic-495 613 21 but but CCONJ hjic-495 613 22 mainly mainly ADV hjic-495 613 23 stiction stiction NOUN hjic-495 613 24 , , PUNCT hjic-495 613 25 the the DET hjic-495 613 26 position position NOUN hjic-495 613 27 of of ADP hjic-495 613 28 the the DET hjic-495 613 29 crane crane NOUN hjic-495 613 30 can can AUX hjic-495 613 31 not not PART hjic-495 613 32 be be AUX hjic-495 613 33 accurately accurately ADV hjic-495 613 34 controlled control VERB hjic-495 613 35 without without ADP hjic-495 613 36 integrators integrator NOUN hjic-495 613 37 in in ADP hjic-495 613 38 the the DET hjic-495 613 39 controller controller NOUN hjic-495 613 40 . . PUNCT hjic-495 614 1 consequently consequently ADV hjic-495 614 2 we we PRON hjic-495 614 3 included include VERB hjic-495 614 4 the the DET hjic-495 614 5 integral integral NOUN hjic-495 614 6 of of ADP hjic-495 614 7 the the DET hjic-495 614 8 measurable measurable ADJ hjic-495 614 9 positions position NOUN hjic-495 614 10 in in ADP hjic-495 614 11 the the DET hjic-495 614 12 controller controller NOUN hjic-495 614 13 design design NOUN hjic-495 614 14 as as SCONJ hjic-495 614 15 proposed propose VERB hjic-495 614 16 on on ADP hjic-495 614 17 page page NOUN hjic-495 614 18 309 309 NUM hjic-495 614 19 of of ADP hjic-495 614 20 ref ref NOUN hjic-495 614 21 . . PUNCT hjic-495 615 1 [ [ X hjic-495 615 2 8 8 NUM hjic-495 615 3 ] ] PUNCT hjic-495 615 4 . . PUNCT hjic-495 616 1 the the DET hjic-495 616 2 outputs output NOUN hjic-495 616 3 to to PART hjic-495 616 4 be be AUX hjic-495 616 5 integrated integrate VERB hjic-495 616 6 are be AUX hjic-495 616 7 yi yi NOUN hjic-495 616 8 = = PUNCT hjic-495 616 9 � � PROPN hjic-495 616 10 ` ` PUNCT hjic-495 616 11 r r NOUN hjic-495 616 12 � � PROPN hjic-495 616 13 t t PROPN hjic-495 616 14 . . PUNCT hjic-495 617 1 integrals integral NOUN hjic-495 617 2 of of ADP hjic-495 617 3 these these DET hjic-495 617 4 quantities quantity NOUN hjic-495 617 5 are be AUX hjic-495 617 6 approximated approximate VERB hjic-495 617 7 by by ADP hjic-495 617 8 the the DET hjic-495 617 9 left left ADJ hjic-495 617 10 rectangle rectangle NOUN hjic-495 617 11 rule rule NOUN hjic-495 617 12 as as ADP hjic-495 617 13 xi xi PROPN hjic-495 617 14 [ [ X hjic-495 617 15 k+1 k+1 X hjic-495 617 16 ] ] X hjic-495 617 17 = = PUNCT hjic-495 617 18 xi xi X hjic-495 618 1 [ [ X hjic-495 618 2 k k X hjic-495 618 3 ] ] X hjic-495 618 4 + + ADJ hjic-495 618 5 tsyi tsyi NOUN hjic-495 618 6 [ [ X hjic-495 618 7 k k X hjic-495 618 8 ] ] X hjic-495 618 9 = = PUNCT hjic-495 618 10 xi xi X hjic-495 619 1 [ [ X hjic-495 619 2 k k X hjic-495 619 3 ] ] X hjic-495 619 4 + + NOUN hjic-495 619 5 tscix[k tscix[k NOUN hjic-495 619 6 ] ] X hjic-495 619 7 , , PUNCT hjic-495 619 8 ( ( PUNCT hjic-495 619 9 27 27 NUM hjic-495 619 10 ) ) PUNCT hjic-495 619 11 where where SCONJ hjic-495 619 12 ci ci PROPN hjic-495 619 13 is be AUX hjic-495 619 14 defined define VERB hjic-495 619 15 so so SCONJ hjic-495 619 16 that that SCONJ hjic-495 619 17 yi yi PROPN hjic-495 620 1 [ [ X hjic-495 620 2 k k X hjic-495 620 3 ] ] X hjic-495 620 4 = = PUNCT hjic-495 620 5 cix[k cix[k NOUN hjic-495 620 6 ] ] PUNCT hjic-495 620 7 . . PUNCT hjic-495 621 1 in in ADP hjic-495 621 2 our our PRON hjic-495 621 3 case case NOUN hjic-495 621 4 ci ci NOUN hjic-495 621 5 is be AUX hjic-495 621 6 the the DET hjic-495 621 7 first first ADJ hjic-495 621 8 two two NUM hjic-495 621 9 rows row NOUN hjic-495 621 10 of of ADP hjic-495 621 11 c c NOUN hjic-495 621 12 in in ADP hjic-495 621 13 eq.(23 eq.(23 NOUN hjic-495 621 14 ) ) PUNCT hjic-495 621 15 . . PUNCT hjic-495 622 1 using use VERB hjic-495 622 2 eq.(27 eq.(27 PROPN hjic-495 622 3 ) ) PUNCT hjic-495 622 4 and and CCONJ hjic-495 622 5 eq.(7 eq.(7 VERB hjic-495 622 6 ) ) PUNCT hjic-495 622 7 a a DET hjic-495 622 8 new new ADJ hjic-495 622 9 system system NOUN hjic-495 622 10 model model NOUN hjic-495 622 11 is be AUX hjic-495 622 12 introduced introduce VERB hjic-495 622 13 in in ADP hjic-495 622 14 the the DET hjic-495 622 15 form form NOUN hjic-495 622 16 x̃[k x̃[k PUNCT hjic-495 623 1 + + NOUN hjic-495 623 2 1 1 X hjic-495 624 1 ] ] X hjic-495 624 2 = = PUNCT hjic-495 624 3 ˜ ˜ PROPN hjic-495 624 4 � � NOUN hjic-495 624 5 x̃[k x̃[k PROPN hjic-495 624 6 ] ] PUNCT hjic-495 625 1 + + CCONJ hjic-495 625 2 ˜ ˜ PROPN hjic-495 625 3 � � PROPN hjic-495 625 4 u[k u[k PROPN hjic-495 625 5 ] ] X hjic-495 625 6 y[k y[k PROPN hjic-495 625 7 ] ] X hjic-495 625 8 = = PUNCT hjic-495 625 9 ˜cx̃[k ˜cx̃[k PROPN hjic-495 625 10 ] ] PUNCT hjic-495 625 11 . . PUNCT hjic-495 626 1 ( ( PUNCT hjic-495 626 2 28 28 NUM hjic-495 626 3 ) ) PUNCT hjic-495 626 4 where where SCONJ hjic-495 626 5 the the DET hjic-495 626 6 expanded expand VERB hjic-495 626 7 state state NOUN hjic-495 626 8 is be AUX hjic-495 626 9 x̃t x̃t ADJ hjic-495 626 10 = = SYM hjic-495 626 11 � � PROPN hjic-495 627 1 xt xt PROPN hjic-495 627 2 xt xt PROPN hjic-495 628 1 i i PRON hjic-495 628 2 � � PROPN hjic-495 628 3 and and CCONJ hjic-495 628 4 the the DET hjic-495 628 5 matrices matrix NOUN hjic-495 628 6 are be AUX hjic-495 628 7 ˜ ˜ PROPN hjic-495 628 8 � � PROPN hjic-495 628 9 = = PUNCT hjic-495 628 10 ✓ ✓ ADJ hjic-495 628 11 � � PROPN hjic-495 628 12 0 0 NUM hjic-495 628 13 tsci tsci PROPN hjic-495 629 1 i i PRON hjic-495 629 2 ◆ ◆ PROPN hjic-495 629 3 , , PUNCT hjic-495 629 4 ˜ ˜ PROPN hjic-495 629 5 � � PROPN hjic-495 629 6 = = PUNCT hjic-495 629 7 ✓ ✓ ADJ hjic-495 629 8 � � PROPN hjic-495 629 9 d d NOUN hjic-495 629 10 0 0 NUM hjic-495 629 11 ◆ ◆ NOUN hjic-495 629 12 , , PUNCT hjic-495 629 13 and and CCONJ hjic-495 629 14 ˜c ˜c PROPN hjic-495 629 15 = = SYM hjic-495 629 16 � � PROPN hjic-495 629 17 c c PROPN hjic-495 629 18 0 0 NUM hjic-495 629 19 � � PROPN hjic-495 629 20 . . PUNCT hjic-495 630 1 ( ( PUNCT hjic-495 630 2 29 29 NUM hjic-495 630 3 ) ) PUNCT hjic-495 630 4 for for SCONJ hjic-495 630 5 the the DET hjic-495 630 6 controller controller NOUN hjic-495 630 7 design design VERB hjic-495 630 8 the the DET hjic-495 630 9 process process NOUN hjic-495 630 10 and and CCONJ hjic-495 630 11 measurement measurement NOUN hjic-495 630 12 noises noise NOUN hjic-495 630 13 are be AUX hjic-495 630 14 omitted omit VERB hjic-495 630 15 . . PUNCT hjic-495 631 1 75 75 NUM hjic-495 631 2 r r NOUN hjic-495 631 3 dac dac NOUN hjic-495 631 4 system system NOUN hjic-495 631 5 in in ADP hjic-495 631 6 fig fig NOUN hjic-495 631 7 . . PUNCT hjic-495 631 8 2 2 NUM hjic-495 631 9 adc adc PROPN hjic-495 631 10 ukf ukf PROPN hjic-495 631 11 k k PROPN hjic-495 631 12 ki ki PROPN hjic-495 631 13 u[k u[k PROPN hjic-495 631 14 ] ] X hjic-495 632 1 y y PROPN hjic-495 632 2 y[k]u y[k]u PROPN hjic-495 632 3 u0 u0 PROPN hjic-495 632 4 + + PROPN hjic-495 633 1 + + ADJ hjic-495 633 2 + + X hjic-495 633 3 yid yid ADJ hjic-495 633 4 + + NOUN hjic-495 633 5 xd xd NUM hjic-495 633 6 adc adc PROPN hjic-495 633 7 x[k x[k NOUN hjic-495 633 8 ] ] X hjic-495 633 9 x x SYM hjic-495 633 10 yi yi PROPN hjic-495 634 1 [ [ X hjic-495 634 2 k k X hjic-495 634 3 ] ] X hjic-495 634 4 = = X hjic-495 634 5 ( ( PUNCT hjic-495 634 6 ` ` PUNCT hjic-495 634 7 [ [ X hjic-495 634 8 k k X hjic-495 634 9 ] ] X hjic-495 634 10 r[k])t r[k])t NOUN hjic-495 634 11 y[k y[k PROPN hjic-495 634 12 ] ] PUNCT hjic-495 634 13 yi yi NOUN hjic-495 635 1 [ [ X hjic-495 635 2 k k X hjic-495 635 3 ] ] X hjic-495 635 4 x̂[k x̂[k PROPN hjic-495 635 5 ] ] PUNCT hjic-495 635 6 ŝ[k ŝ[k PROPN hjic-495 635 7 ] ] X hjic-495 635 8 uikf uikf PROPN hjic-495 635 9 x̂[k x̂[k PROPN hjic-495 635 10 ] ] X hjic-495 635 11 ˆ̃ ˆ̃ PROPN hjic-495 635 12 u[k u[k PROPN hjic-495 635 13 ] ] X hjic-495 635 14 u[k u[k X hjic-495 635 15 ] ] PUNCT hjic-495 635 16 ckf ckf VERB hjic-495 635 17 x̂[k x̂[k PROPN hjic-495 635 18 ] ] PUNCT hjic-495 635 19 figure figure NOUN hjic-495 635 20 3 3 NUM hjic-495 635 21 : : PUNCT hjic-495 635 22 closed closed ADJ hjic-495 635 23 - - PUNCT hjic-495 635 24 loop loop NOUN hjic-495 635 25 estimation estimation NOUN hjic-495 635 26 setup setup NOUN hjic-495 635 27 used use VERB hjic-495 635 28 in in ADP hjic-495 635 29 the the DET hjic-495 635 30 simulation simulation NOUN hjic-495 635 31 0 0 NUM hjic-495 635 32 1 1 NUM hjic-495 635 33 2 2 NUM hjic-495 635 34 3 3 NUM hjic-495 635 35 4 4 NUM hjic-495 635 36 5 5 NUM hjic-495 635 37 6 6 NUM hjic-495 635 38 7 7 NUM hjic-495 635 39 time time NOUN hjic-495 635 40 [ [ X hjic-495 635 41 s s X hjic-495 635 42 ] ] X hjic-495 635 43 � � PROPN hjic-495 635 44 10 10 NUM hjic-495 635 45 0 0 NUM hjic-495 635 46 10 10 NUM hjic-495 635 47 20 20 NUM hjic-495 635 48 30 30 NUM hjic-495 635 49 40 40 NUM hjic-495 635 50 50 50 NUM hjic-495 635 51 60 60 NUM hjic-495 635 52 u u NOUN hjic-495 635 53 f f NOUN hjic-495 635 54 , , PUNCT hjic-495 635 55 ˆ̃ ˆ̃ PROPN hjic-495 635 56 u u NOUN hjic-495 635 57 f f PROPN hjic-495 635 58 , , PUNCT hjic-495 636 1 [ [ X hjic-495 636 2 n n X hjic-495 636 3 ] ] PUNCT hjic-495 636 4 uf uf NOUN hjic-495 637 1 uikf uikf PROPN hjic-495 637 2 ukf ukf NOUN hjic-495 637 3 0 0 NUM hjic-495 637 4 1 1 NUM hjic-495 637 5 2 2 NUM hjic-495 637 6 3 3 NUM hjic-495 637 7 4 4 NUM hjic-495 637 8 5 5 NUM hjic-495 637 9 6 6 NUM hjic-495 637 10 7 7 NUM hjic-495 637 11 time time NOUN hjic-495 637 12 [ [ X hjic-495 637 13 s s X hjic-495 637 14 ] ] X hjic-495 637 15 � � PROPN hjic-495 637 16 1.0 1.0 NUM hjic-495 637 17 � � PROPN hjic-495 637 18 0.5 0.5 NUM hjic-495 637 19 0.0 0.0 NUM hjic-495 637 20 0.5 0.5 NUM hjic-495 637 21 1.0 1.0 NUM hjic-495 637 22 1.5 1.5 NUM hjic-495 637 23 2.0 2.0 NUM hjic-495 637 24 2.5 2.5 NUM hjic-495 637 25 3.0 3.0 NUM hjic-495 637 26 3.5 3.5 NUM hjic-495 637 27 u u NOUN hjic-495 637 28 c c NOUN hjic-495 637 29 , , PUNCT hjic-495 637 30 ˆ̃ ˆ̃ PROPN hjic-495 637 31 u u NOUN hjic-495 637 32 c c NOUN hjic-495 637 33 , , PUNCT hjic-495 637 34 [ [ X hjic-495 637 35 n n X hjic-495 637 36 m m VERB hjic-495 637 37 ] ] X hjic-495 637 38 uc uc ADP hjic-495 637 39 uikf uikf NOUN hjic-495 637 40 ukf ukf PROPN hjic-495 637 41 figure figure NOUN hjic-495 637 42 4 4 NUM hjic-495 637 43 : : PUNCT hjic-495 637 44 actuating actuate VERB hjic-495 637 45 signals signal NOUN hjic-495 637 46 and and CCONJ hjic-495 637 47 the the DET hjic-495 637 48 estimated estimate VERB hjic-495 637 49 inputs input NOUN hjic-495 637 50 of of ADP hjic-495 637 51 the the DET hjic-495 637 52 system system NOUN hjic-495 637 53 we we PRON hjic-495 637 54 want want VERB hjic-495 637 55 the the DET hjic-495 637 56 state state NOUN hjic-495 637 57 - - PUNCT hjic-495 637 58 feedback feedback NOUN hjic-495 637 59 controller controller NOUN hjic-495 637 60 to to ADP hjic-495 637 61 output output NOUN hjic-495 637 62 u[k u[k PROPN hjic-495 637 63 ] ] X hjic-495 637 64 = = PUNCT hjic-495 637 65 � � PROPN hjic-495 637 66 ˜kx̃[k ˜kx̃[k PROPN hjic-495 637 67 ] ] X hjic-495 637 68 = = PUNCT hjic-495 637 69 � � PROPN hjic-495 637 70 kx[k kx[k PROPN hjic-495 637 71 ] ] PUNCT hjic-495 637 72 � � PROPN hjic-495 637 73 kixi kixi VERB hjic-495 637 74 [ [ X hjic-495 637 75 k k X hjic-495 637 76 ] ] X hjic-495 637 77 . . PUNCT hjic-495 638 1 the the DET hjic-495 638 2 gain gain NOUN hjic-495 638 3 ˜k ˜k NOUN hjic-495 638 4 can can AUX hjic-495 638 5 be be AUX hjic-495 638 6 computed compute VERB hjic-495 638 7 using use VERB hjic-495 638 8 the the DET hjic-495 638 9 eigenvalue eigenvalue ADJ hjic-495 638 10 placement placement NOUN hjic-495 638 11 method method NOUN hjic-495 638 12 implemented implement VERB hjic-495 638 13 in in ADP hjic-495 638 14 matlab matlab PROPN hjic-495 638 15 ’s ’s PART hjic-495 638 16 place place NOUN hjic-495 638 17 algorithm algorithm NOUN hjic-495 638 18 : : PUNCT hjic-495 639 1 ˜k ˜k PROPN hjic-495 639 2 = = SYM hjic-495 639 3 place(˜ place(˜ PROPN hjic-495 639 4 � � PROPN hjic-495 639 5 , , PUNCT hjic-495 639 6 ˜ ˜ PROPN hjic-495 639 7 � � PROPN hjic-495 639 8 , , PUNCT hjic-495 639 9 � � PROPN hjic-495 639 10 ) ) PUNCT hjic-495 639 11 , , PUNCT hjic-495 639 12 where where SCONJ hjic-495 639 13 � � PROPN hjic-495 639 14 contains contain VERB hjic-495 639 15 the the DET hjic-495 639 16 chosen choose VERB hjic-495 639 17 eigenvalues eigenvalue NOUN hjic-495 639 18 of of ADP hjic-495 639 19 the the DET hjic-495 639 20 closed closed ADJ hjic-495 639 21 - - PUNCT hjic-495 639 22 loop loop NOUN hjic-495 639 23 system system NOUN hjic-495 639 24 . . PUNCT hjic-495 640 1 in in ADP hjic-495 640 2 continuous continuous ADJ hjic-495 640 3 time time NOUN hjic-495 640 4 they they PRON hjic-495 640 5 are be AUX hjic-495 640 6 � � X hjic-495 640 7 1 1 NUM hjic-495 640 8 + + NUM hjic-495 640 9 0.5j 0.5j NOUN hjic-495 640 10 , , PUNCT hjic-495 640 11 � � PROPN hjic-495 640 12 1 1 NUM hjic-495 640 13 � � PROPN hjic-495 640 14 0.5j 0.5j NOUN hjic-495 640 15 , , PUNCT hjic-495 640 16 � � PROPN hjic-495 640 17 5.1 5.1 NUM hjic-495 640 18 , , PUNCT hjic-495 640 19 � � PROPN hjic-495 640 20 5.2 5.2 NUM hjic-495 640 21 , , PUNCT hjic-495 640 22 � � PROPN hjic-495 640 23 5.3 5.3 NUM hjic-495 640 24 � � PROPN hjic-495 640 25 5.4 5.4 NUM hjic-495 640 26 , , PUNCT hjic-495 640 27 � � PROPN hjic-495 640 28 5.5 5.5 NUM hjic-495 640 29 , , PUNCT hjic-495 640 30 and and CCONJ hjic-495 640 31 � � PROPN hjic-495 640 32 5.6 5.6 NUM hjic-495 640 33 . . PUNCT hjic-495 641 1 the the DET hjic-495 641 2 controller controller NOUN hjic-495 641 3 gains gain NOUN hjic-495 641 4 are be AUX hjic-495 641 5 k k NOUN hjic-495 641 6 = = SYM hjic-495 641 7 0 0 NUM hjic-495 641 8 bbbbbb@ bbbbbb@ NUM hjic-495 641 9 100.594 100.594 NUM hjic-495 641 10 � � PROPN hjic-495 641 11 0.1273 0.1273 NUM hjic-495 641 12 0.6011 0.6011 NUM hjic-495 641 13 � � NOUN hjic-495 641 14 1.6765 1.6765 NUM hjic-495 641 15 � � NOUN hjic-495 641 16 185.407 185.407 NUM hjic-495 641 17 0.0458 0.0458 NUM hjic-495 641 18 81.4011 81.4011 NUM hjic-495 641 19 � � NUM hjic-495 641 20 0.0558 0.0558 NUM hjic-495 641 21 0.0562 0.0562 NUM hjic-495 641 22 � � NOUN hjic-495 641 23 0.3166 0.3166 NUM hjic-495 641 24 � � NUM hjic-495 641 25 4.2257 4.2257 NUM hjic-495 641 26 � � NOUN hjic-495 641 27 0.0195 0.0195 NUM hjic-495 641 28 1 1 NUM hjic-495 641 29 cccccca cccccca VERB hjic-495 641 30 t t NOUN hjic-495 641 31 , , PUNCT hjic-495 641 32 and and CCONJ hjic-495 641 33 ki ki PROPN hjic-495 641 34 = = PUNCT hjic-495 641 35 ✓ ✓ ADJ hjic-495 641 36 46.641 46.641 NUM hjic-495 641 37 1.6026 1.6026 NUM hjic-495 641 38 � � PROPN hjic-495 641 39 0.074 0.074 NUM hjic-495 641 40 � � PROPN hjic-495 641 41 2.955 2.955 NUM hjic-495 641 42 ◆ ◆ NOUN hjic-495 641 43 . . PUNCT hjic-495 642 1 ( ( PUNCT hjic-495 642 2 30 30 NUM hjic-495 642 3 ) ) PUNCT hjic-495 642 4 the the DET hjic-495 642 5 closed closed ADJ hjic-495 642 6 - - PUNCT hjic-495 642 7 loop loop NOUN hjic-495 642 8 setup setup NOUN hjic-495 642 9 is be AUX hjic-495 642 10 illustrated illustrate VERB hjic-495 642 11 in in ADP hjic-495 642 12 fig.3 fig.3 PROPN hjic-495 642 13 . . PUNCT hjic-495 643 1 here here ADV hjic-495 643 2 the the DET hjic-495 643 3 integration integration NOUN hjic-495 643 4 is be AUX hjic-495 643 5 done do VERB hjic-495 643 6 using use VERB hjic-495 643 7 the the DET hjic-495 643 8 left left ADJ hjic-495 643 9 rectangle rectangle NOUN hjic-495 643 10 rule rule NOUN hjic-495 643 11 , , PUNCT hjic-495 643 12 and and CCONJ hjic-495 643 13 the the DET hjic-495 643 14 0 0 NUM hjic-495 643 15 1 1 NUM hjic-495 643 16 2 2 NUM hjic-495 643 17 3 3 NUM hjic-495 643 18 4 4 NUM hjic-495 643 19 5 5 NUM hjic-495 643 20 6 6 NUM hjic-495 643 21 7 7 NUM hjic-495 643 22 time time NOUN hjic-495 643 23 [ [ X hjic-495 643 24 s s X hjic-495 643 25 ] ] X hjic-495 643 26 � � NOUN hjic-495 643 27 0.1 0.1 NUM hjic-495 643 28 0.0 0.0 NUM hjic-495 643 29 0.1 0.1 NUM hjic-495 643 30 0.2 0.2 NUM hjic-495 643 31 0.3 0.3 NUM hjic-495 643 32 0.4 0.4 NUM hjic-495 643 33 0.5 0.5 NUM hjic-495 643 34 m m PROPN hjic-495 643 35 ea ea PROPN hjic-495 643 36 su su PROPN hjic-495 643 37 re re PROPN hjic-495 643 38 d d PROPN hjic-495 643 39 st st PROPN hjic-495 643 40 at at ADP hjic-495 643 41 es es X hjic-495 643 42 [ [ X hjic-495 643 43 m m X hjic-495 643 44 , , PUNCT hjic-495 643 45 m m VERB hjic-495 643 46 /s /s PUNCT hjic-495 643 47 ] ] X hjic-495 643 48 � � PROPN hjic-495 643 49 r r NOUN hjic-495 643 50 � � PROPN hjic-495 643 51 ̇ ̇ VERB hjic-495 643 52 ṙ ṙ NOUN hjic-495 643 53 0 0 NUM hjic-495 643 54 1 1 NUM hjic-495 643 55 2 2 NUM hjic-495 643 56 3 3 NUM hjic-495 643 57 4 4 NUM hjic-495 643 58 5 5 NUM hjic-495 643 59 6 6 NUM hjic-495 643 60 7 7 NUM hjic-495 643 61 time time NOUN hjic-495 643 62 [ [ X hjic-495 643 63 s s X hjic-495 643 64 ] ] X hjic-495 643 65 � � PROPN hjic-495 643 66 0.4 0.4 NUM hjic-495 643 67 � � PROPN hjic-495 643 68 0.3 0.3 NUM hjic-495 643 69 � � PROPN hjic-495 643 70 0.2 0.2 NUM hjic-495 643 71 � � NOUN hjic-495 643 72 0.1 0.1 NUM hjic-495 643 73 0.0 0.0 NUM hjic-495 643 74 0.1 0.1 NUM hjic-495 643 75 0.2 0.2 NUM hjic-495 643 76 u u NOUN hjic-495 643 77 n n PRON hjic-495 643 78 m m NOUN hjic-495 643 79 ea ea NOUN hjic-495 643 80 su su PROPN hjic-495 643 81 re re PROPN hjic-495 643 82 d d PROPN hjic-495 643 83 st st PROPN hjic-495 643 84 at at ADP hjic-495 643 85 es es X hjic-495 643 86 [ [ X hjic-495 643 87 r r NOUN hjic-495 643 88 ad ad NOUN hjic-495 643 89 , , PUNCT hjic-495 643 90 ra ra PROPN hjic-495 643 91 d d NOUN hjic-495 643 92 /s /s PUNCT hjic-495 643 93 ] ] X hjic-495 643 94 � � PROPN hjic-495 643 95 � � PROPN hjic-495 643 96 ̇ ̇ VERB hjic-495 643 97 figure figure NOUN hjic-495 643 98 5 5 NUM hjic-495 643 99 : : PUNCT hjic-495 643 100 state state NOUN hjic-495 643 101 evolution evolution NOUN hjic-495 643 102 of of ADP hjic-495 643 103 the the DET hjic-495 643 104 controlled control VERB hjic-495 643 105 crane crane NOUN hjic-495 643 106 using use VERB hjic-495 643 107 the the DET hjic-495 643 108 true true ADJ hjic-495 643 109 states state NOUN hjic-495 643 110 as as ADP hjic-495 643 111 feedback feedback NOUN hjic-495 643 112 adc adc NOUN hjic-495 643 113 and and CCONJ hjic-495 643 114 dac dac NOUN hjic-495 643 115 blocks block NOUN hjic-495 643 116 are be AUX hjic-495 643 117 analogue analogue NOUN hjic-495 643 118 - - PUNCT hjic-495 643 119 digital digital ADJ hjic-495 643 120 and and CCONJ hjic-495 643 121 digitalanalogue digitalanalogue NOUN hjic-495 643 122 converters converter NOUN hjic-495 643 123 respectively respectively ADV hjic-495 643 124 . . PUNCT hjic-495 644 1 the the DET hjic-495 644 2 dac dac PROPN hjic-495 644 3 uses use VERB hjic-495 644 4 the the DET hjic-495 644 5 zeroorder zeroorder NOUN hjic-495 644 6 hold hold VERB hjic-495 644 7 method method NOUN hjic-495 644 8 for for ADP hjic-495 644 9 signal signal ADJ hjic-495 644 10 reconstruction reconstruction NOUN hjic-495 644 11 . . PUNCT hjic-495 645 1 the the DET hjic-495 645 2 desired desire VERB hjic-495 645 3 state state NOUN hjic-495 645 4 of of ADP hjic-495 645 5 the the DET hjic-495 645 6 system system NOUN hjic-495 645 7 is be AUX hjic-495 645 8 xd xd ADP hjic-495 645 9 = = SYM hjic-495 645 10 � � PROPN hjic-495 645 11 ` ` PUNCT hjic-495 645 12 d d X hjic-495 645 13 r0 r0 NOUN hjic-495 645 14 0 0 NUM hjic-495 645 15 0 0 NUM hjic-495 645 16 0 0 NUM hjic-495 645 17 0 0 NUM hjic-495 645 18 � � PROPN hjic-495 645 19 t t PROPN hjic-495 645 20 , , PUNCT hjic-495 645 21 ` ` PUNCT hjic-495 645 22 d d X hjic-495 645 23 is be AUX hjic-495 645 24 the the DET hjic-495 645 25 desired desire VERB hjic-495 645 26 position position NOUN hjic-495 645 27 of of ADP hjic-495 645 28 the the DET hjic-495 645 29 cart cart NOUN hjic-495 645 30 and and CCONJ hjic-495 645 31 yid yid ADJ hjic-495 645 32 = = PROPN hjic-495 645 33 cixd cixd PROPN hjic-495 645 34 . . PUNCT hjic-495 646 1 since since SCONJ hjic-495 646 2 we we PRON hjic-495 646 3 only only ADV hjic-495 646 4 want want VERB hjic-495 646 5 to to PART hjic-495 646 6 demonstrate demonstrate VERB hjic-495 646 7 the the DET hjic-495 646 8 results result NOUN hjic-495 646 9 of of ADP hjic-495 646 10 the the DET hjic-495 646 11 state state NOUN hjic-495 646 12 estimation estimation NOUN hjic-495 646 13 , , PUNCT hjic-495 646 14 first first ADV hjic-495 646 15 the the DET hjic-495 646 16 real real ADJ hjic-495 646 17 states state NOUN hjic-495 646 18 are be AUX hjic-495 646 19 fed feed VERB hjic-495 646 20 back back ADV hjic-495 646 21 to to ADP hjic-495 646 22 the the DET hjic-495 646 23 controller controller NOUN hjic-495 646 24 . . PUNCT hjic-495 647 1 to to PART hjic-495 647 2 compare compare VERB hjic-495 647 3 the the DET hjic-495 647 4 accuracy accuracy NOUN hjic-495 647 5 of of ADP hjic-495 647 6 our our PRON hjic-495 647 7 methods method NOUN hjic-495 647 8 to to ADP hjic-495 647 9 a a DET hjic-495 647 10 traditional traditional ADJ hjic-495 647 11 solution solution NOUN hjic-495 647 12 , , PUNCT hjic-495 647 13 the the DET hjic-495 647 14 classical classical ADJ hjic-495 647 15 kalman kalman NOUN hjic-495 647 16 filter filter NOUN hjic-495 647 17 ( ( PUNCT hjic-495 647 18 ckf ckf PROPN hjic-495 647 19 ) ) PUNCT hjic-495 648 1 [ [ X hjic-495 648 2 12 12 NUM hjic-495 648 3 ] ] X hjic-495 648 4 is be AUX hjic-495 648 5 also also ADV hjic-495 648 6 implemented implement VERB hjic-495 648 7 . . PUNCT hjic-495 649 1 as as ADP hjic-495 649 2 a a DET hjic-495 649 3 result result NOUN hjic-495 649 4 , , PUNCT hjic-495 649 5 the the DET hjic-495 649 6 kalman kalman NOUN hjic-495 649 7 filters filters AUX hjic-495 649 8 compute compute VERB hjic-495 649 9 the the DET hjic-495 649 10 estimated estimate VERB hjic-495 649 11 state state NOUN hjic-495 649 12 of of ADP hjic-495 649 13 the the DET hjic-495 649 14 system system NOUN hjic-495 649 15 x̂[k x̂[k PROPN hjic-495 649 16 ] ] X hjic-495 649 17 , , PUNCT hjic-495 649 18 and and CCONJ hjic-495 649 19 they they PRON hjic-495 649 20 also also ADV hjic-495 649 21 provide provide VERB hjic-495 649 22 information information NOUN hjic-495 649 23 about about ADP hjic-495 649 24 the the DET hjic-495 649 25 input input NOUN hjic-495 649 26 . . PUNCT hjic-495 650 1 the the DET hjic-495 650 2 uikf uikf NOUN hjic-495 650 3 estimates estimate VERB hjic-495 650 4 the the DET hjic-495 650 5 friction friction NOUN hjic-495 650 6 loaded load VERB hjic-495 650 7 actuating actuate VERB hjic-495 650 8 signals signal NOUN hjic-495 650 9 directly directly ADV hjic-495 650 10 , , PUNCT hjic-495 650 11 while while SCONJ hjic-495 650 12 the the DET hjic-495 650 13 ukf ukf PROPN hjic-495 650 14 estimates estimate VERB hjic-495 650 15 the the DET hjic-495 650 16 frictional frictional ADJ hjic-495 650 17 forces force NOUN hjic-495 650 18 superposed superpose VERB hjic-495 650 19 to to ADP hjic-495 650 20 the the DET hjic-495 650 21 actuating actuate VERB hjic-495 650 22 signals signal NOUN hjic-495 650 23 . . PUNCT hjic-495 651 1 the the DET hjic-495 651 2 actuating actuate VERB hjic-495 651 3 signals signal NOUN hjic-495 651 4 along along ADP hjic-495 651 5 with with ADP hjic-495 651 6 the the DET hjic-495 651 7 estimates estimate NOUN hjic-495 651 8 of of ADP hjic-495 651 9 the the DET hjic-495 651 10 real real ADJ hjic-495 651 11 inputs input NOUN hjic-495 651 12 provided provide VERB hjic-495 651 13 by by ADP hjic-495 651 14 the the DET hjic-495 651 15 filters filter NOUN hjic-495 651 16 can can AUX hjic-495 651 17 be be AUX hjic-495 651 18 seen see VERB hjic-495 651 19 in in ADP hjic-495 651 20 fig.4 fig.4 PROPN hjic-495 651 21 . . PUNCT hjic-495 652 1 here here ADV hjic-495 652 2 , , PUNCT hjic-495 652 3 the the DET hjic-495 652 4 estimated estimate VERB hjic-495 652 5 input input NOUN hjic-495 652 6 of of ADP hjic-495 652 7 the the DET hjic-495 652 8 ukf ukf NOUN hjic-495 652 9 is be AUX hjic-495 652 10 computed compute VERB hjic-495 652 11 as as ADP hjic-495 652 12 ˆũ ˆũ PROPN hjic-495 652 13 = = PUNCT hjic-495 652 14 u[k]+ u[k]+ PROPN hjic-495 652 15 ⇤ ⇤ PROPN hjic-495 652 16 ŝ[k ŝ[k PROPN hjic-495 652 17 ] ] PUNCT hjic-495 652 18 . . PUNCT hjic-495 653 1 because because SCONJ hjic-495 653 2 of of ADP hjic-495 653 3 friction friction NOUN hjic-495 653 4 , , PUNCT hjic-495 653 5 the the DET hjic-495 653 6 real real ADJ hjic-495 653 7 inputs input NOUN hjic-495 653 8 are be AUX hjic-495 653 9 estimated estimate VERB hjic-495 653 10 to to PART hjic-495 653 11 be be AUX hjic-495 653 12 76 76 NUM hjic-495 653 13 0 0 NUM hjic-495 653 14 1 1 NUM hjic-495 653 15 2 2 NUM hjic-495 653 16 3 3 NUM hjic-495 653 17 4 4 NUM hjic-495 653 18 5 5 NUM hjic-495 653 19 6 6 NUM hjic-495 653 20 7 7 NUM hjic-495 653 21 time time NOUN hjic-495 653 22 [ [ X hjic-495 653 23 s s X hjic-495 653 24 ] ] X hjic-495 653 25 0.00000 0.00000 NUM hjic-495 653 26 0.00005 0.00005 NUM hjic-495 653 27 0.00010 0.00010 NUM hjic-495 653 28 0.00015 0.00015 NUM hjic-495 654 1 0.00020 0.00020 NUM hjic-495 654 2 0.00025 0.00025 NUM hjic-495 654 3 0.00030 0.00030 NUM hjic-495 654 4 0.00035 0.00035 NUM hjic-495 654 5 ` ` PUNCT hjic-495 654 6 � � X hjic-495 654 7 ˆ̀ ˆ̀ PUNCT hjic-495 655 1 [ [ X hjic-495 655 2 m m X hjic-495 655 3 ] ] X hjic-495 655 4 uikf uikf ADJ hjic-495 655 5 ukf ukf NOUN hjic-495 655 6 0 0 NUM hjic-495 655 7 1 1 NUM hjic-495 655 8 2 2 NUM hjic-495 655 9 3 3 NUM hjic-495 655 10 4 4 NUM hjic-495 655 11 5 5 NUM hjic-495 655 12 6 6 NUM hjic-495 655 13 7 7 NUM hjic-495 655 14 time time NOUN hjic-495 656 1 [ [ X hjic-495 656 2 s s X hjic-495 656 3 ] ] X hjic-495 656 4 � � PROPN hjic-495 656 5 0.001 0.001 NUM hjic-495 656 6 0.000 0.000 NUM hjic-495 656 7 0.001 0.001 NUM hjic-495 656 8 0.002 0.002 NUM hjic-495 656 9 0.003 0.003 NUM hjic-495 656 10 0.004 0.004 NUM hjic-495 656 11 0.005 0.005 NUM hjic-495 656 12 ˙̀ ˙̀ PROPN hjic-495 656 13 � � PROPN hjic-495 656 14 ˆ̇̀ ˆ̇̀ PROPN hjic-495 656 15 [ [ X hjic-495 656 16 m m X hjic-495 656 17 /s /s NOUN hjic-495 656 18 ] ] X hjic-495 656 19 uikf uikf NOUN hjic-495 656 20 ukf ukf NOUN hjic-495 656 21 figure figure NOUN hjic-495 656 22 6 6 NUM hjic-495 656 23 : : PUNCT hjic-495 656 24 error error NOUN hjic-495 656 25 of of ADP hjic-495 656 26 the the DET hjic-495 656 27 position position NOUN hjic-495 656 28 and and CCONJ hjic-495 656 29 velocity velocity NOUN hjic-495 656 30 estimations estimation NOUN hjic-495 656 31 much much ADV hjic-495 656 32 less less ADJ hjic-495 656 33 than than ADP hjic-495 656 34 the the DET hjic-495 656 35 actuating actuate VERB hjic-495 656 36 signals signal NOUN hjic-495 656 37 . . PUNCT hjic-495 657 1 the the DET hjic-495 657 2 large large ADJ hjic-495 657 3 offset offset NOUN hjic-495 657 4 in in ADP hjic-495 657 5 fig.4 fig.4 PROPN hjic-495 657 6 is be AUX hjic-495 657 7 a a DET hjic-495 657 8 consequence consequence NOUN hjic-495 657 9 of of ADP hjic-495 657 10 the the DET hjic-495 657 11 stiction stiction NOUN hjic-495 657 12 , , PUNCT hjic-495 657 13 the the DET hjic-495 657 14 cart cart NOUN hjic-495 657 15 will will AUX hjic-495 657 16 not not PART hjic-495 657 17 move move VERB hjic-495 657 18 until until SCONJ hjic-495 657 19 uf uf PROPN hjic-495 657 20 becomes become VERB hjic-495 657 21 greater great ADJ hjic-495 657 22 than than ADP hjic-495 657 23 a a DET hjic-495 657 24 certain certain ADJ hjic-495 657 25 value value NOUN hjic-495 657 26 ( ( PUNCT hjic-495 657 27 in in ADP hjic-495 657 28 our our PRON hjic-495 657 29 case case NOUN hjic-495 657 30 about about ADV hjic-495 657 31 28 28 NUM hjic-495 657 32 n n CCONJ hjic-495 657 33 ) ) PUNCT hjic-495 657 34 . . PUNCT hjic-495 658 1 when when SCONJ hjic-495 658 2 the the DET hjic-495 658 3 cart cart NOUN hjic-495 658 4 finally finally ADV hjic-495 658 5 stops stop VERB hjic-495 658 6 moving move VERB hjic-495 658 7 , , PUNCT hjic-495 658 8 the the DET hjic-495 658 9 fluctuation fluctuation NOUN hjic-495 658 10 of of ADP hjic-495 658 11 uf uf PROPN hjic-495 658 12 tries try VERB hjic-495 658 13 to to PART hjic-495 658 14 counter counter VERB hjic-495 658 15 the the DET hjic-495 658 16 load load NOUN hjic-495 658 17 sway sway NOUN hjic-495 658 18 , , PUNCT hjic-495 658 19 during during ADP hjic-495 658 20 which which PRON hjic-495 658 21 the the DET hjic-495 658 22 measured measured ADJ hjic-495 658 23 states state NOUN hjic-495 658 24 do do AUX hjic-495 658 25 not not PART hjic-495 658 26 change change VERB hjic-495 658 27 . . PUNCT hjic-495 659 1 this this PRON hjic-495 659 2 is be AUX hjic-495 659 3 the the DET hjic-495 659 4 reason reason NOUN hjic-495 659 5 why why SCONJ hjic-495 659 6 the the DET hjic-495 659 7 estimators estimator NOUN hjic-495 659 8 find find VERB hjic-495 659 9 the the DET hjic-495 659 10 input input NOUN hjic-495 659 11 to to PART hjic-495 659 12 be be AUX hjic-495 659 13 zero zero NUM hjic-495 659 14 . . PUNCT hjic-495 660 1 fig.5 fig.5 NOUN hjic-495 660 2 shows show VERB hjic-495 660 3 the the DET hjic-495 660 4 transient transient NOUN hjic-495 660 5 of of ADP hjic-495 660 6 the the DET hjic-495 660 7 states state NOUN hjic-495 660 8 in in ADP hjic-495 660 9 a a DET hjic-495 660 10 closedloop closedloop NOUN hjic-495 660 11 . . PUNCT hjic-495 661 1 results result NOUN hjic-495 661 2 show show VERB hjic-495 661 3 that that SCONJ hjic-495 661 4 the the DET hjic-495 661 5 controller controller NOUN hjic-495 661 6 can can AUX hjic-495 661 7 bring bring VERB hjic-495 661 8 the the DET hjic-495 661 9 system system NOUN hjic-495 661 10 into into ADP hjic-495 661 11 the the DET hjic-495 661 12 desired desire VERB hjic-495 661 13 state state NOUN hjic-495 661 14 , , PUNCT hjic-495 661 15 but but CCONJ hjic-495 661 16 friction friction NOUN hjic-495 661 17 prevents prevent VERB hjic-495 661 18 it it PRON hjic-495 661 19 from from ADP hjic-495 661 20 stopping stop VERB hjic-495 661 21 the the DET hjic-495 661 22 low low ADJ hjic-495 661 23 amplitude amplitude NOUN hjic-495 661 24 swinging swinging NOUN hjic-495 661 25 of of ADP hjic-495 661 26 the the DET hjic-495 661 27 load load NOUN hjic-495 661 28 , , PUNCT hjic-495 661 29 because because SCONJ hjic-495 661 30 it it PRON hjic-495 661 31 makes make VERB hjic-495 661 32 quick quick ADJ hjic-495 661 33 , , PUNCT hjic-495 661 34 short short ADJ hjic-495 661 35 motions motion NOUN hjic-495 661 36 impossible impossible ADJ hjic-495 661 37 . . PUNCT hjic-495 662 1 error error NOUN hjic-495 662 2 estimates estimate NOUN hjic-495 662 3 are be AUX hjic-495 662 4 illustrated illustrate VERB hjic-495 662 5 by by ADP hjic-495 662 6 figs fig NOUN hjic-495 662 7 . . PUNCT hjic-495 663 1 6 6 NUM hjic-495 663 2 and and CCONJ hjic-495 663 3 7 7 NUM hjic-495 663 4 . . NOUN hjic-495 664 1 in in ADP hjic-495 664 2 all all DET hjic-495 664 3 cases case NOUN hjic-495 664 4 , , PUNCT hjic-495 664 5 the the DET hjic-495 664 6 error error NOUN hjic-495 664 7 becomes become VERB hjic-495 664 8 zero zero NUM hjic-495 664 9 when when SCONJ hjic-495 664 10 the the DET hjic-495 664 11 crane crane NOUN hjic-495 664 12 reaches reach VERB hjic-495 664 13 the the DET hjic-495 664 14 desired desire VERB hjic-495 664 15 state state NOUN hjic-495 664 16 . . PUNCT hjic-495 665 1 this this PRON hjic-495 665 2 is be AUX hjic-495 665 3 not not PART hjic-495 665 4 true true ADJ hjic-495 665 5 for for ADP hjic-495 665 6 the the DET hjic-495 665 7 angle angle NOUN hjic-495 665 8 and and CCONJ hjic-495 665 9 its its PRON hjic-495 665 10 derivative derivative NOUN hjic-495 665 11 in in ADP hjic-495 665 12 fig.8 fig.8 PROPN hjic-495 665 13 . . PUNCT hjic-495 666 1 the the DET hjic-495 666 2 error error NOUN hjic-495 666 3 decreases decrease VERB hjic-495 666 4 at at ADP hjic-495 666 5 the the DET hjic-495 666 6 end end NOUN hjic-495 666 7 of of ADP hjic-495 666 8 the the DET hjic-495 666 9 state state NOUN hjic-495 666 10 transient transient NOUN hjic-495 666 11 , , PUNCT hjic-495 666 12 but but CCONJ hjic-495 666 13 does do AUX hjic-495 666 14 not not PART hjic-495 666 15 become become VERB hjic-495 666 16 zero zero NUM hjic-495 666 17 . . PUNCT hjic-495 667 1 when when SCONJ hjic-495 667 2 the the DET hjic-495 667 3 cart cart NOUN hjic-495 667 4 stops stop VERB hjic-495 667 5 and and CCONJ hjic-495 667 6 the the DET hjic-495 667 7 load load NOUN hjic-495 667 8 swings swing NOUN hjic-495 667 9 , , PUNCT hjic-495 667 10 the the DET hjic-495 667 11 measurements measurement NOUN hjic-495 667 12 are be AUX hjic-495 667 13 all all ADV hjic-495 667 14 constant constant ADJ hjic-495 667 15 thus thus ADV hjic-495 667 16 they they PRON hjic-495 667 17 carry carry VERB hjic-495 667 18 no no DET hjic-495 667 19 information information NOUN hjic-495 667 20 regarding regard VERB hjic-495 667 21 ✓ ✓ ADJ hjic-495 667 22 and and CCONJ hjic-495 667 23 ˙ ˙ NOUN hjic-495 667 24 ✓ ✓ ADJ hjic-495 667 25 . . PUNCT hjic-495 668 1 in in ADP hjic-495 668 2 these these DET hjic-495 668 3 situations situation NOUN hjic-495 668 4 the the DET hjic-495 668 5 cart cart NOUN hjic-495 668 6 and and CCONJ hjic-495 668 7 winch winch NOUN hjic-495 668 8 are be AUX hjic-495 668 9 usually usually ADV hjic-495 668 10 also also ADV hjic-495 668 11 motionless motionless ADJ hjic-495 668 12 due due ADP hjic-495 668 13 to to ADP hjic-495 668 14 friction friction NOUN hjic-495 668 15 . . PUNCT hjic-495 669 1 consequently consequently ADV hjic-495 669 2 , , PUNCT hjic-495 669 3 the the DET hjic-495 669 4 estimation estimation NOUN hjic-495 669 5 error error NOUN hjic-495 669 6 of of ADP hjic-495 669 7 these these DET hjic-495 669 8 quantities quantity NOUN hjic-495 669 9 never never ADV hjic-495 669 10 becomes become VERB hjic-495 669 11 zero zero NUM hjic-495 669 12 . . PUNCT hjic-495 670 1 it it PRON hjic-495 670 2 is be AUX hjic-495 670 3 possible possible ADJ hjic-495 670 4 to to PART hjic-495 670 5 decrease decrease VERB hjic-495 670 6 the the DET hjic-495 670 7 estimation estimation NOUN hjic-495 670 8 error error NOUN hjic-495 670 9 using use VERB hjic-495 670 10 two two NUM hjic-495 670 11 laser laser NOUN hjic-495 670 12 slot slot NOUN hjic-495 670 13 sensors sensor NOUN hjic-495 670 14 . . PUNCT hjic-495 671 1 with with ADP hjic-495 671 2 the the DET hjic-495 671 3 help help NOUN hjic-495 671 4 of of ADP hjic-495 671 5 such such ADJ hjic-495 671 6 devices device NOUN hjic-495 671 7 , , PUNCT hjic-495 671 8 ✓ ✓ ADJ hjic-495 671 9 can can AUX hjic-495 671 10 be be AUX hjic-495 671 11 measured measure VERB hjic-495 671 12 accurately accurately ADV hjic-495 671 13 in in ADP hjic-495 671 14 two two NUM hjic-495 671 15 positions position NOUN hjic-495 671 16 and and CCONJ hjic-495 671 17 through through ADP hjic-495 671 18 the the DET hjic-495 671 19 application application NOUN hjic-495 671 20 of of ADP hjic-495 671 21 proper proper ADJ hjic-495 671 22 sensor sensor NOUN hjic-495 671 23 fusion fusion NOUN hjic-495 671 24 techniques technique VERB hjic-495 671 25 the the DET hjic-495 671 26 estimation estimation NOUN hjic-495 671 27 of of ADP hjic-495 671 28 the the DET hjic-495 671 29 angle angle NOUN hjic-495 671 30 can can AUX hjic-495 671 31 become become VERB hjic-495 671 32 more more ADV hjic-495 671 33 precise precise ADJ hjic-495 671 34 in in ADP hjic-495 671 35 between between ADP hjic-495 671 36 the the DET hjic-495 671 37 chosen choose VERB hjic-495 671 38 positions position NOUN hjic-495 671 39 as as ADV hjic-495 671 40 well well ADV hjic-495 671 41 . . PUNCT hjic-495 672 1 in in ADP hjic-495 672 2 fig.9 fig.9 ADP hjic-495 672 3 the the DET hjic-495 672 4 estimation estimation NOUN hjic-495 672 5 error error NOUN hjic-495 672 6 of of ADP hjic-495 672 7 ✓ ✓ ADJ hjic-495 672 8 and and CCONJ hjic-495 672 9 ˙ ˙ NOUN hjic-495 672 10 ✓ ✓ ADJ hjic-495 672 11 is be AUX hjic-495 672 12 illustrated illustrate VERB hjic-495 672 13 using use VERB hjic-495 672 14 ckf ckf NOUN hjic-495 672 15 . . PUNCT hjic-495 673 1 the the DET hjic-495 673 2 filter filter NOUN hjic-495 673 3 was be AUX hjic-495 673 4 designed design VERB hjic-495 673 5 for for ADP hjic-495 673 6 the the DET hjic-495 673 7 dynamics dynamic NOUN hjic-495 673 8 given give VERB hjic-495 673 9 by by ADP hjic-495 673 10 eq.(7 eq.(7 NOUN hjic-495 673 11 ) ) PUNCT hjic-495 673 12 except except SCONJ hjic-495 673 13 that that SCONJ hjic-495 673 14 it it PRON hjic-495 673 15 does do AUX hjic-495 673 16 not not PART hjic-495 673 17 consider consider VERB hjic-495 673 18 the the DET hjic-495 673 19 inputs input NOUN hjic-495 673 20 unknown unknown ADJ hjic-495 673 21 . . PUNCT hjic-495 674 1 the the DET hjic-495 674 2 results result NOUN hjic-495 674 3 show show VERB hjic-495 674 4 that that SCONJ hjic-495 674 5 the the DET hjic-495 674 6 error error NOUN hjic-495 674 7 is be AUX hjic-495 674 8 substantially substantially ADV hjic-495 674 9 higher high ADJ hjic-495 674 10 than than ADP hjic-495 674 11 in in ADP hjic-495 674 12 the the DET hjic-495 674 13 case case NOUN hjic-495 674 14 of of ADP hjic-495 674 15 the the DET hjic-495 674 16 uikf uikf NOUN hjic-495 674 17 or or CCONJ hjic-495 674 18 ukf ukf NOUN hjic-495 674 19 . . PUNCT hjic-495 674 20 0 0 NUM hjic-495 674 21 1 1 NUM hjic-495 674 22 2 2 NUM hjic-495 674 23 3 3 NUM hjic-495 674 24 4 4 NUM hjic-495 674 25 5 5 NUM hjic-495 674 26 6 6 NUM hjic-495 674 27 7 7 NUM hjic-495 674 28 time time NOUN hjic-495 674 29 [ [ X hjic-495 674 30 s s X hjic-495 674 31 ] ] X hjic-495 674 32 � � NOUN hjic-495 674 33 0.00005 0.00005 NUM hjic-495 674 34 0.00000 0.00000 NUM hjic-495 674 35 0.00005 0.00005 NUM hjic-495 674 36 0.00010 0.00010 NUM hjic-495 674 37 0.00015 0.00015 NUM hjic-495 674 38 r r NOUN hjic-495 674 39 � � PROPN hjic-495 674 40 r̂ r̂ NOUN hjic-495 675 1 [ [ X hjic-495 675 2 m m X hjic-495 675 3 ] ] X hjic-495 675 4 uikf uikf ADJ hjic-495 675 5 ukf ukf NOUN hjic-495 675 6 0 0 NUM hjic-495 675 7 1 1 NUM hjic-495 675 8 2 2 NUM hjic-495 675 9 3 3 NUM hjic-495 675 10 4 4 NUM hjic-495 675 11 5 5 NUM hjic-495 675 12 6 6 NUM hjic-495 675 13 7 7 NUM hjic-495 675 14 time time NOUN hjic-495 675 15 [ [ X hjic-495 675 16 s s X hjic-495 675 17 ] ] X hjic-495 675 18 � � PROPN hjic-495 675 19 0.0010 0.0010 NUM hjic-495 675 20 � � PROPN hjic-495 675 21 0.0005 0.0005 NUM hjic-495 675 22 0.0000 0.0000 NUM hjic-495 675 23 0.0005 0.0005 NUM hjic-495 675 24 0.0010 0.0010 NUM hjic-495 675 25 0.0015 0.0015 NUM hjic-495 675 26 0.0020 0.0020 NUM hjic-495 675 27 0.0025 0.0025 NUM hjic-495 675 28 0.0030 0.0030 NUM hjic-495 675 29 0.0035 0.0035 NUM hjic-495 675 30 ṙ ṙ PROPN hjic-495 675 31 � � PROPN hjic-495 675 32 ˆ̇ ˆ̇ NOUN hjic-495 675 33 r r NOUN hjic-495 676 1 [ [ X hjic-495 676 2 m m X hjic-495 676 3 /s /s NOUN hjic-495 676 4 ] ] X hjic-495 676 5 uikf uikf NOUN hjic-495 676 6 ukf ukf NOUN hjic-495 676 7 figure figure NOUN hjic-495 676 8 7 7 NUM hjic-495 676 9 : : PUNCT hjic-495 676 10 error error NOUN hjic-495 676 11 of of ADP hjic-495 676 12 the the DET hjic-495 676 13 rope rope NOUN hjic-495 676 14 length length NOUN hjic-495 676 15 and and CCONJ hjic-495 676 16 hoisting hoist VERB hjic-495 676 17 velocity velocity NOUN hjic-495 676 18 estimations estimation NOUN hjic-495 676 19 0 0 NUM hjic-495 676 20 1 1 NUM hjic-495 676 21 2 2 NUM hjic-495 676 22 3 3 NUM hjic-495 676 23 4 4 NUM hjic-495 676 24 5 5 NUM hjic-495 676 25 6 6 NUM hjic-495 676 26 7 7 NUM hjic-495 676 27 time time NOUN hjic-495 676 28 [ [ X hjic-495 676 29 s s X hjic-495 676 30 ] ] X hjic-495 676 31 � � PROPN hjic-495 676 32 0.003 0.003 NUM hjic-495 676 33 � � PROPN hjic-495 676 34 0.002 0.002 NUM hjic-495 676 35 � � PROPN hjic-495 676 36 0.001 0.001 NUM hjic-495 677 1 0.000 0.000 NUM hjic-495 677 2 0.001 0.001 NUM hjic-495 677 3 0.002 0.002 NUM hjic-495 677 4 0.003 0.003 NUM hjic-495 677 5 0.004 0.004 NUM hjic-495 677 6 0.005 0.005 NUM hjic-495 677 7 � � PROPN hjic-495 677 8 � � PROPN hjic-495 677 9 � � PROPN hjic-495 677 10 ̂ ̂ VERB hjic-495 677 11 [ [ X hjic-495 677 12 r r NOUN hjic-495 677 13 ad ad NOUN hjic-495 677 14 ] ] PUNCT hjic-495 677 15 uikf uikf NOUN hjic-495 677 16 ukf ukf NOUN hjic-495 677 17 0 0 NUM hjic-495 677 18 1 1 NUM hjic-495 677 19 2 2 NUM hjic-495 677 20 3 3 NUM hjic-495 677 21 4 4 NUM hjic-495 677 22 5 5 NUM hjic-495 677 23 6 6 NUM hjic-495 677 24 7 7 NUM hjic-495 677 25 time time NOUN hjic-495 677 26 [ [ X hjic-495 677 27 s s X hjic-495 677 28 ] ] X hjic-495 677 29 � � PROPN hjic-495 677 30 0.020 0.020 NUM hjic-495 677 31 � � PROPN hjic-495 677 32 0.015 0.015 NUM hjic-495 677 33 � � PROPN hjic-495 677 34 0.010 0.010 NUM hjic-495 677 35 � � PROPN hjic-495 677 36 0.005 0.005 NUM hjic-495 677 37 0.000 0.000 NUM hjic-495 677 38 0.005 0.005 NUM hjic-495 677 39 0.010 0.010 NUM hjic-495 677 40 0.015 0.015 NUM hjic-495 677 41 0.020 0.020 NUM hjic-495 677 42 0.025 0.025 NUM hjic-495 677 43 � � NOUN hjic-495 677 44 ̇ ̇ VERB hjic-495 677 45 � � PROPN hjic-495 677 46 ˆ̇ ˆ̇ PROPN hjic-495 677 47 � � PROPN hjic-495 678 1 [ [ X hjic-495 678 2 r r NOUN hjic-495 678 3 ad ad NOUN hjic-495 678 4 /s /s X hjic-495 678 5 ] ] X hjic-495 678 6 uikf uikf NOUN hjic-495 678 7 ukf ukf NOUN hjic-495 678 8 figure figure NOUN hjic-495 678 9 8 8 NUM hjic-495 678 10 : : PUNCT hjic-495 678 11 error error NOUN hjic-495 678 12 of of ADP hjic-495 678 13 the the DET hjic-495 678 14 angle angle NOUN hjic-495 678 15 and and CCONJ hjic-495 678 16 angular angular ADJ hjic-495 678 17 velocity velocity NOUN hjic-495 678 18 estimations estimation NOUN hjic-495 678 19 fig.8 fig.8 PROPN hjic-495 678 20 shows show VERB hjic-495 678 21 the the DET hjic-495 678 22 estimation estimation NOUN hjic-495 678 23 error error NOUN hjic-495 678 24 of of ADP hjic-495 678 25 the the DET hjic-495 678 26 ukf ukf NOUN hjic-495 678 27 to to PART hjic-495 678 28 be be AUX hjic-495 678 29 less less ADJ hjic-495 678 30 . . PUNCT hjic-495 679 1 we we PRON hjic-495 679 2 applied apply VERB hjic-495 679 3 this this DET hjic-495 679 4 estimator estimator NOUN hjic-495 679 5 in in ADP hjic-495 679 6 a a DET hjic-495 679 7 closed closed ADJ hjic-495 679 8 - - PUNCT hjic-495 679 9 loop loop NOUN hjic-495 679 10 scenario scenario NOUN hjic-495 679 11 identical identical ADJ hjic-495 679 12 to to ADP hjic-495 679 13 the the DET hjic-495 679 14 one one NOUN hjic-495 679 15 presented present VERB hjic-495 679 16 in in ADP hjic-495 679 17 fig.3 fig.3 PROPN hjic-495 679 18 , , PUNCT hjic-495 679 19 but but CCONJ hjic-495 679 20 instead instead ADV hjic-495 679 21 of of ADP hjic-495 679 22 x[k x[k NOUN hjic-495 679 23 ] ] X hjic-495 679 24 the the DET hjic-495 679 25 x̂[k x̂[k PROPN hjic-495 679 26 ] ] PUNCT hjic-495 679 27 of of ADP hjic-495 679 28 the the DET hjic-495 679 29 ukf ukf NOUN hjic-495 679 30 was be AUX hjic-495 679 31 used use VERB hjic-495 679 32 in in ADP hjic-495 679 33 the the DET hjic-495 679 34 feedback feedback NOUN hjic-495 679 35 loop loop NOUN hjic-495 679 36 . . PUNCT hjic-495 680 1 the the DET hjic-495 680 2 state state NOUN hjic-495 680 3 evolution evolution NOUN hjic-495 680 4 of of ADP hjic-495 680 5 the the DET hjic-495 680 6 crane crane NOUN hjic-495 680 7 in in ADP hjic-495 680 8 this this DET hjic-495 680 9 simulation simulation NOUN hjic-495 680 10 is be AUX hjic-495 680 11 illustrated illustrate VERB hjic-495 680 12 in in ADP hjic-495 680 13 fig.10 fig.10 PROPN hjic-495 680 14 . . PUNCT hjic-495 681 1 the the DET hjic-495 681 2 system system NOUN hjic-495 681 3 ’s ’s PART hjic-495 681 4 behaviour behaviour NOUN hjic-495 681 5 is be AUX hjic-495 681 6 only only ADV hjic-495 681 7 slightly slightly ADV hjic-495 681 8 different different ADJ hjic-495 681 9 from from ADP hjic-495 681 10 the the DET hjic-495 681 11 case case NOUN hjic-495 681 12 when when SCONJ hjic-495 681 13 the the DET hjic-495 681 14 actual actual ADJ hjic-495 681 15 states state NOUN hjic-495 681 16 were be AUX hjic-495 681 17 used use VERB hjic-495 681 18 in in ADP hjic-495 681 19 the the DET hjic-495 681 20 feedback feedback NOUN hjic-495 681 21 control control NOUN hjic-495 681 22 in in ADP hjic-495 681 23 fig.5 fig.5 PROPN hjic-495 681 24 . . PUNCT hjic-495 682 1 77 77 NUM hjic-495 682 2 0 0 NUM hjic-495 682 3 1 1 NUM hjic-495 682 4 2 2 NUM hjic-495 682 5 3 3 NUM hjic-495 682 6 4 4 NUM hjic-495 682 7 5 5 NUM hjic-495 682 8 6 6 NUM hjic-495 682 9 7 7 NUM hjic-495 682 10 time time NOUN hjic-495 682 11 [ [ X hjic-495 682 12 s s X hjic-495 682 13 ] ] X hjic-495 682 14 � � NOUN hjic-495 682 15 0.2 0.2 NUM hjic-495 682 16 0.0 0.0 NUM hjic-495 682 17 0.2 0.2 NUM hjic-495 682 18 0.4 0.4 NUM hjic-495 682 19 0.6 0.6 NUM hjic-495 682 20 0.8 0.8 NUM hjic-495 682 21 1.0 1.0 NUM hjic-495 682 22 1.2 1.2 NUM hjic-495 682 23 1.4 1.4 NUM hjic-495 682 24 � � PROPN hjic-495 682 25 � � PROPN hjic-495 682 26 � � PROPN hjic-495 682 27 ̂ ̂ VERB hjic-495 683 1 [ [ X hjic-495 683 2 r r X hjic-495 683 3 ad ad NOUN hjic-495 683 4 ] ] PUNCT hjic-495 683 5 0 0 NUM hjic-495 683 6 1 1 NUM hjic-495 683 7 2 2 NUM hjic-495 683 8 3 3 NUM hjic-495 683 9 4 4 NUM hjic-495 683 10 5 5 NUM hjic-495 683 11 6 6 NUM hjic-495 683 12 7 7 NUM hjic-495 683 13 time time NOUN hjic-495 683 14 [ [ X hjic-495 683 15 s s X hjic-495 683 16 ] ] X hjic-495 683 17 � � PROPN hjic-495 683 18 5 5 NUM hjic-495 683 19 � � PROPN hjic-495 683 20 4 4 NUM hjic-495 683 21 � � PROPN hjic-495 683 22 3 3 NUM hjic-495 683 23 � � PROPN hjic-495 683 24 2 2 NUM hjic-495 683 25 � � NOUN hjic-495 683 26 1 1 NUM hjic-495 683 27 0 0 NUM hjic-495 683 28 1 1 NUM hjic-495 683 29 2 2 NUM hjic-495 683 30 3 3 NUM hjic-495 683 31 � � NOUN hjic-495 683 32 ̇ ̇ VERB hjic-495 683 33 � � PROPN hjic-495 683 34 ˆ̇ ˆ̇ PROPN hjic-495 683 35 � � PROPN hjic-495 684 1 [ [ X hjic-495 684 2 r r NOUN hjic-495 684 3 ad ad NOUN hjic-495 684 4 /s /s X hjic-495 684 5 ] ] X hjic-495 684 6 figure figure NOUN hjic-495 684 7 9 9 NUM hjic-495 684 8 : : PUNCT hjic-495 684 9 error error NOUN hjic-495 684 10 of of ADP hjic-495 684 11 the the DET hjic-495 684 12 angle angle NOUN hjic-495 684 13 and and CCONJ hjic-495 684 14 angular angular ADJ hjic-495 684 15 velocity velocity NOUN hjic-495 684 16 estimations estimation NOUN hjic-495 684 17 using use VERB hjic-495 684 18 ckf ckf NOUN hjic-495 684 19 conclusion conclusion NOUN hjic-495 684 20 it it PRON hjic-495 684 21 was be AUX hjic-495 684 22 shown show VERB hjic-495 684 23 that that SCONJ hjic-495 684 24 in in ADP hjic-495 684 25 most most ADJ hjic-495 684 26 mechanical mechanical ADJ hjic-495 684 27 systems system NOUN hjic-495 684 28 the the DET hjic-495 684 29 disturbing disturbing ADJ hjic-495 684 30 effect effect NOUN hjic-495 684 31 of of ADP hjic-495 684 32 friction friction NOUN hjic-495 684 33 can can AUX hjic-495 684 34 be be AUX hjic-495 684 35 reduced reduce VERB hjic-495 684 36 to to ADP hjic-495 684 37 the the DET hjic-495 684 38 actuating actuate VERB hjic-495 684 39 signals signal NOUN hjic-495 684 40 . . PUNCT hjic-495 685 1 based base VERB hjic-495 685 2 on on ADP hjic-495 685 3 this this DET hjic-495 685 4 statement statement NOUN hjic-495 685 5 , , PUNCT hjic-495 685 6 two two NUM hjic-495 685 7 estimation estimation NOUN hjic-495 685 8 methods method NOUN hjic-495 685 9 were be AUX hjic-495 685 10 provided provide VERB hjic-495 685 11 for for ADP hjic-495 685 12 the the DET hjic-495 685 13 computation computation NOUN hjic-495 685 14 of of ADP hjic-495 685 15 the the DET hjic-495 685 16 unmeasured unmeasured ADJ hjic-495 685 17 states state NOUN hjic-495 685 18 . . PUNCT hjic-495 686 1 one one NUM hjic-495 686 2 of of ADP hjic-495 686 3 these these DET hjic-495 686 4 techniques technique NOUN hjic-495 686 5 considers consider VERB hjic-495 686 6 the the DET hjic-495 686 7 inputs input NOUN hjic-495 686 8 completely completely ADV hjic-495 686 9 unknown unknown ADJ hjic-495 686 10 and and CCONJ hjic-495 686 11 uses use VERB hjic-495 686 12 uikf uikf NOUN hjic-495 686 13 for for ADP hjic-495 686 14 the the DET hjic-495 686 15 estimation estimation NOUN hjic-495 686 16 . . PUNCT hjic-495 687 1 the the DET hjic-495 687 2 other other ADJ hjic-495 687 3 algorithm algorithm NOUN hjic-495 687 4 treats treat VERB hjic-495 687 5 the the DET hjic-495 687 6 inputs input NOUN hjic-495 687 7 as as SCONJ hjic-495 687 8 distorted distort VERB hjic-495 687 9 by by ADP hjic-495 687 10 an an DET hjic-495 687 11 additive additive ADJ hjic-495 687 12 disturbance disturbance NOUN hjic-495 687 13 , , PUNCT hjic-495 687 14 and and CCONJ hjic-495 687 15 applies apply VERB hjic-495 687 16 ukf ukf NOUN hjic-495 687 17 with with ADP hjic-495 687 18 a a DET hjic-495 687 19 load load NOUN hjic-495 687 20 predictor predictor NOUN hjic-495 687 21 extension extension NOUN hjic-495 687 22 . . PUNCT hjic-495 688 1 simulation simulation NOUN hjic-495 688 2 results result VERB hjic-495 688 3 in in ADP hjic-495 688 4 a a DET hjic-495 688 5 closed closed ADJ hjic-495 688 6 - - PUNCT hjic-495 688 7 loop loop NOUN hjic-495 688 8 controlled control VERB hjic-495 688 9 scenario scenario NOUN hjic-495 688 10 were be AUX hjic-495 688 11 provided provide VERB hjic-495 688 12 to to PART hjic-495 688 13 prove prove VERB hjic-495 688 14 the the DET hjic-495 688 15 applicability applicability NOUN hjic-495 688 16 of of ADP hjic-495 688 17 the the DET hjic-495 688 18 concepts concept NOUN hjic-495 688 19 . . PUNCT hjic-495 689 1 it it PRON hjic-495 689 2 was be AUX hjic-495 689 3 also also ADV hjic-495 689 4 pointed point VERB hjic-495 689 5 out out ADP hjic-495 689 6 , , PUNCT hjic-495 689 7 that that SCONJ hjic-495 689 8 the the DET hjic-495 689 9 precision precision NOUN hjic-495 689 10 of of ADP hjic-495 689 11 the the DET hjic-495 689 12 estimators estimator NOUN hjic-495 689 13 could could AUX hjic-495 689 14 be be AUX hjic-495 689 15 improved improve VERB hjic-495 689 16 using use VERB hjic-495 689 17 laser laser NOUN hjic-495 689 18 slot slot NOUN hjic-495 689 19 sensors sensor NOUN hjic-495 689 20 . . PUNCT hjic-495 690 1 this this PRON hjic-495 690 2 will will AUX hjic-495 690 3 be be AUX hjic-495 690 4 the the DET hjic-495 690 5 subject subject NOUN hjic-495 690 6 of of ADP hjic-495 690 7 a a DET hjic-495 690 8 forthcoming forthcoming ADJ hjic-495 690 9 paper paper NOUN hjic-495 690 10 . . PUNCT hjic-495 691 1 references reference NOUN hjic-495 691 2 [ [ X hjic-495 691 3 1 1 NUM hjic-495 691 4 ] ] PUNCT hjic-495 691 5 hyla hyla ADJ hjic-495 691 6 p. p. NOUN hjic-495 691 7 : : PUNCT hjic-495 692 1 the the DET hjic-495 692 2 crane crane NOUN hjic-495 692 3 control control NOUN hjic-495 692 4 systems system NOUN hjic-495 692 5 : : PUNCT hjic-495 692 6 a a DET hjic-495 692 7 survey survey NOUN hjic-495 692 8 , , PUNCT hjic-495 692 9 proc proc NOUN hjic-495 692 10 . . PUNCT hjic-495 692 11 17th 17th ADJ hjic-495 692 12 int int PROPN hjic-495 692 13 . . PUNCT hjic-495 693 1 conf conf NOUN hjic-495 693 2 . . PUNCT hjic-495 694 1 methods method NOUN hjic-495 694 2 and and CCONJ hjic-495 694 3 models model NOUN hjic-495 694 4 in in ADP hjic-495 694 5 automation automation NOUN hjic-495 694 6 and and CCONJ hjic-495 694 7 robotics robotic NOUN hjic-495 694 8 ( ( PUNCT hjic-495 694 9 mmar mmar NOUN hjic-495 694 10 ) ) PUNCT hjic-495 694 11 , , PUNCT hjic-495 694 12 2012 2012 NUM hjic-495 694 13 , , PUNCT hjic-495 694 14 505–509 505–509 NUM hjic-495 694 15 [ [ X hjic-495 694 16 2 2 NUM hjic-495 694 17 ] ] PUNCT hjic-495 694 18 schindele schindele PROPN hjic-495 694 19 d. d. PROPN hjic-495 694 20 , , PUNCT hjic-495 694 21 menn menn PROPN hjic-495 694 22 i. i. PROPN hjic-495 694 23 , , PUNCT hjic-495 694 24 aschemann aschemann PROPN hjic-495 694 25 h. h. PROPN hjic-495 694 26 : : PUNCT hjic-495 694 27 nonlinear nonlinear ADJ hjic-495 694 28 optimal optimal ADJ hjic-495 694 29 control control NOUN hjic-495 694 30 of of ADP hjic-495 694 31 an an DET hjic-495 694 32 overhead overhead ADJ hjic-495 694 33 travelling travel VERB hjic-495 694 34 crane crane NOUN hjic-495 694 35 , , PUNCT hjic-495 694 36 proc proc NOUN hjic-495 694 37 . . PUNCT hjic-495 695 1 18th 18th ADJ hjic-495 695 2 ieee ieee PROPN hjic-495 695 3 int int NOUN hjic-495 695 4 . . PUNCT hjic-495 696 1 conf conf PROPN hjic-495 696 2 . . PUNCT hjic-495 697 1 control control NOUN hjic-495 697 2 applications application NOUN hjic-495 697 3 , , PUNCT hjic-495 697 4 2009 2009 NUM hjic-495 697 5 , , PUNCT hjic-495 697 6 1045–1050 1045–1050 NUM hjic-495 698 1 [ [ X hjic-495 698 2 3 3 X hjic-495 698 3 ] ] PUNCT hjic-495 698 4 boustany boustany PROPN hjic-495 698 5 f. f. PROPN hjic-495 698 6 , , PUNCT hjic-495 698 7 d’andrea d’andrea PROPN hjic-495 698 8 novel novel PROPN hjic-495 698 9 b. b. PROPN hjic-495 698 10 : : PUNCT hjic-495 698 11 adaptive adaptive ADJ hjic-495 698 12 control control NOUN hjic-495 698 13 of of ADP hjic-495 698 14 an an DET hjic-495 698 15 overhead overhead ADJ hjic-495 698 16 crane crane NOUN hjic-495 698 17 using use VERB hjic-495 698 18 dynamic dynamic ADJ hjic-495 698 19 feedback feedback NOUN hjic-495 698 20 linearization linearization NOUN hjic-495 698 21 and and CCONJ hjic-495 698 22 estimation estimation NOUN hjic-495 698 23 design design NOUN hjic-495 698 24 , , PUNCT hjic-495 698 25 proc proc NOUN hjic-495 698 26 . . PUNCT hjic-495 699 1 ieee ieee PROPN hjic-495 699 2 int int PROPN hjic-495 699 3 . . PUNCT hjic-495 700 1 con con PROPN hjic-495 700 2 . . PUNCT hjic-495 700 3 robotics robotic NOUN hjic-495 700 4 and and CCONJ hjic-495 700 5 automation automation NOUN hjic-495 700 6 , , PUNCT hjic-495 700 7 1992 1992 NUM hjic-495 700 8 , , PUNCT hjic-495 700 9 1963–1968 1963–1968 NUM hjic-495 700 10 0 0 NUM hjic-495 700 11 1 1 NUM hjic-495 700 12 2 2 NUM hjic-495 700 13 3 3 NUM hjic-495 700 14 4 4 NUM hjic-495 700 15 5 5 NUM hjic-495 700 16 6 6 NUM hjic-495 700 17 7 7 NUM hjic-495 700 18 time time NOUN hjic-495 701 1 [ [ X hjic-495 701 2 s s X hjic-495 701 3 ] ] X hjic-495 701 4 � � NOUN hjic-495 701 5 0.1 0.1 NUM hjic-495 701 6 0.0 0.0 NUM hjic-495 701 7 0.1 0.1 NUM hjic-495 701 8 0.2 0.2 NUM hjic-495 701 9 0.3 0.3 NUM hjic-495 701 10 0.4 0.4 NUM hjic-495 701 11 0.5 0.5 NUM hjic-495 701 12 m m PROPN hjic-495 701 13 ea ea PROPN hjic-495 701 14 su su PROPN hjic-495 701 15 re re PROPN hjic-495 701 16 d d PROPN hjic-495 701 17 st st PROPN hjic-495 701 18 at at ADP hjic-495 701 19 es es X hjic-495 701 20 [ [ X hjic-495 701 21 m m X hjic-495 701 22 , , PUNCT hjic-495 701 23 m m VERB hjic-495 701 24 /s /s PUNCT hjic-495 701 25 ] ] X hjic-495 701 26 � � PROPN hjic-495 701 27 r r NOUN hjic-495 701 28 � � PROPN hjic-495 701 29 ̇ ̇ VERB hjic-495 701 30 ṙ ṙ NOUN hjic-495 701 31 0 0 NUM hjic-495 701 32 1 1 NUM hjic-495 701 33 2 2 NUM hjic-495 701 34 3 3 NUM hjic-495 701 35 4 4 NUM hjic-495 701 36 5 5 NUM hjic-495 701 37 6 6 NUM hjic-495 701 38 7 7 NUM hjic-495 701 39 time time NOUN hjic-495 701 40 [ [ X hjic-495 701 41 s s X hjic-495 701 42 ] ] X hjic-495 701 43 � � PROPN hjic-495 701 44 0.4 0.4 NUM hjic-495 701 45 � � PROPN hjic-495 701 46 0.3 0.3 NUM hjic-495 701 47 � � PROPN hjic-495 701 48 0.2 0.2 NUM hjic-495 701 49 � � NOUN hjic-495 701 50 0.1 0.1 NUM hjic-495 701 51 0.0 0.0 NUM hjic-495 701 52 0.1 0.1 NUM hjic-495 701 53 0.2 0.2 NUM hjic-495 701 54 u u NOUN hjic-495 701 55 n n PRON hjic-495 701 56 m m NOUN hjic-495 701 57 ea ea NOUN hjic-495 701 58 su su PROPN hjic-495 701 59 re re PROPN hjic-495 701 60 d d PROPN hjic-495 701 61 st st PROPN hjic-495 701 62 at at ADP hjic-495 701 63 es es X hjic-495 701 64 [ [ X hjic-495 701 65 r r NOUN hjic-495 701 66 ad ad NOUN hjic-495 701 67 , , PUNCT hjic-495 701 68 ra ra PROPN hjic-495 701 69 d d NOUN hjic-495 701 70 /s /s PUNCT hjic-495 701 71 ] ] X hjic-495 701 72 � � PROPN hjic-495 701 73 � � PROPN hjic-495 701 74 ̇ ̇ VERB hjic-495 701 75 figure figure NOUN hjic-495 701 76 10 10 NUM hjic-495 701 77 : : PUNCT hjic-495 701 78 state state NOUN hjic-495 701 79 evolution evolution NOUN hjic-495 701 80 of of ADP hjic-495 701 81 the the DET hjic-495 701 82 controlled control VERB hjic-495 701 83 crane crane NOUN hjic-495 701 84 using use VERB hjic-495 701 85 the the DET hjic-495 701 86 ukf ukf NOUN hjic-495 701 87 ’s ’s PART hjic-495 701 88 estimated estimate VERB hjic-495 701 89 states state NOUN hjic-495 701 90 as as ADP hjic-495 701 91 feedback feedback NOUN hjic-495 701 92 [ [ X hjic-495 701 93 4 4 NUM hjic-495 701 94 ] ] X hjic-495 701 95 neupert neupert PROPN hjic-495 701 96 j. j. PROPN hjic-495 701 97 , , PUNCT hjic-495 701 98 hildebrandt hildebrandt PROPN hjic-495 701 99 a. a. PROPN hjic-495 701 100 , , PUNCT hjic-495 701 101 sawodny sawodny VERB hjic-495 701 102 o. o. PROPN hjic-495 701 103 , , PUNCT hjic-495 701 104 schneider schneider PROPN hjic-495 701 105 k. k. PROPN hjic-495 701 106 : : PUNCT hjic-495 701 107 trajectory trajectory NOUN hjic-495 701 108 tracking tracking NOUN hjic-495 701 109 for for ADP hjic-495 701 110 boom boom NOUN hjic-495 701 111 cranes crane NOUN hjic-495 701 112 using use VERB hjic-495 701 113 a a DET hjic-495 701 114 flatness flatness NOUN hjic-495 701 115 based base VERB hjic-495 701 116 approach approach NOUN hjic-495 701 117 , , PUNCT hjic-495 701 118 proc proc NOUN hjic-495 701 119 . . PUNCT hjic-495 702 1 int int NOUN hjic-495 702 2 . . PUNCT hjic-495 703 1 joint joint ADJ hjic-495 703 2 conf conf NOUN hjic-495 703 3 . . PUNCT hjic-495 704 1 sice sice ADJ hjic-495 704 2 - - PUNCT hjic-495 704 3 icase icase NOUN hjic-495 704 4 , , PUNCT hjic-495 704 5 2006 2006 NUM hjic-495 704 6 , , PUNCT hjic-495 704 7 1812–1816 1812–1816 NUM hjic-495 704 8 [ [ X hjic-495 704 9 5 5 NUM hjic-495 704 10 ] ] PUNCT hjic-495 704 11 rózsa rózsa PROPN hjic-495 704 12 t. t. PROPN hjic-495 704 13 , , PUNCT hjic-495 704 14 kiss kiss PROPN hjic-495 704 15 b. b. PROPN hjic-495 704 16 : : PUNCT hjic-495 704 17 tracking track VERB hjic-495 704 18 control control NOUN hjic-495 704 19 for for ADP hjic-495 704 20 towdimensional towdimensional ADJ hjic-495 704 21 overhead overhead ADJ hjic-495 704 22 crane crane NOUN hjic-495 704 23 , , PUNCT hjic-495 704 24 proc proc NOUN hjic-495 704 25 . . PUNCT hjic-495 705 1 8th 8th ADJ hjic-495 705 2 int int NOUN hjic-495 705 3 . . PUNCT hjic-495 705 4 conf conf NOUN hjic-495 705 5 . . PUNCT hjic-495 706 1 informatics informatic NOUN hjic-495 706 2 in in ADP hjic-495 706 3 control control NOUN hjic-495 706 4 , , PUNCT hjic-495 706 5 automation automation NOUN hjic-495 706 6 , , PUNCT hjic-495 706 7 and and CCONJ hjic-495 706 8 robotics robotic NOUN hjic-495 706 9 , , PUNCT hjic-495 706 10 icinco icinco NOUN hjic-495 706 11 , , PUNCT hjic-495 706 12 2011 2011 NUM hjic-495 706 13 , , PUNCT hjic-495 706 14 1 1 NUM hjic-495 706 15 , , PUNCT hjic-495 706 16 427–432 427–432 NUM hjic-495 706 17 [ [ X hjic-495 706 18 6 6 NUM hjic-495 706 19 ] ] PUNCT hjic-495 706 20 kiss kiss PROPN hjic-495 706 21 b. b. PROPN hjic-495 706 22 , , PUNCT hjic-495 706 23 levine levine PROPN hjic-495 706 24 j. j. PROPN hjic-495 706 25 , , PUNCT hjic-495 706 26 mullhaupt mullhaupt PROPN hjic-495 706 27 p. p. NOUN hjic-495 706 28 : : PUNCT hjic-495 706 29 a a DET hjic-495 706 30 simple simple ADJ hjic-495 706 31 output output NOUN hjic-495 706 32 feedback feedback NOUN hjic-495 706 33 pd pd PROPN hjic-495 706 34 controller controller NOUN hjic-495 706 35 for for ADP hjic-495 706 36 nonlinear nonlinear ADJ hjic-495 706 37 cranes crane NOUN hjic-495 706 38 , , PUNCT hjic-495 706 39 proc proc NOUN hjic-495 706 40 . . PUNCT hjic-495 706 41 39th 39th ADJ hjic-495 706 42 ieee ieee NOUN hjic-495 706 43 conference conference NOUN hjic-495 706 44 on on ADP hjic-495 706 45 decision decision NOUN hjic-495 706 46 and and CCONJ hjic-495 706 47 control control NOUN hjic-495 706 48 , , PUNCT hjic-495 706 49 2000 2000 NUM hjic-495 706 50 , , PUNCT hjic-495 706 51 5 5 NUM hjic-495 706 52 , , PUNCT hjic-495 706 53 5097–5101 5097–5101 NUM hjic-495 706 54 [ [ X hjic-495 706 55 7 7 NUM hjic-495 706 56 ] ] X hjic-495 706 57 kiss kiss PROPN hjic-495 706 58 b. b. PROPN hjic-495 706 59 , , PUNCT hjic-495 706 60 lévine lévine PROPN hjic-495 706 61 j. j. PROPN hjic-495 706 62 , , PUNCT hjic-495 706 63 müllhaupt müllhaupt PROPN hjic-495 706 64 p. p. NOUN hjic-495 706 65 : : PUNCT hjic-495 707 1 modelling modelling NOUN hjic-495 707 2 , , PUNCT hjic-495 707 3 flatness flatness NOUN hjic-495 707 4 and and CCONJ hjic-495 707 5 simulation simulation NOUN hjic-495 707 6 of of ADP hjic-495 707 7 a a DET hjic-495 707 8 class class NOUN hjic-495 707 9 of of ADP hjic-495 707 10 cranes crane NOUN hjic-495 707 11 , , PUNCT hjic-495 707 12 electrical electrical ADJ hjic-495 707 13 engineering engineering NOUN hjic-495 707 14 , , PUNCT hjic-495 707 15 1999 1999 NUM hjic-495 707 16 , , PUNCT hjic-495 707 17 43 43 NUM hjic-495 707 18 , , PUNCT hjic-495 707 19 215–225 215–225 NUM hjic-495 707 20 [ [ X hjic-495 707 21 8 8 NUM hjic-495 707 22 ] ] X hjic-495 707 23 lantos lantos PROPN hjic-495 707 24 b. b. PROPN hjic-495 707 25 : : PUNCT hjic-495 707 26 theory theory NOUN hjic-495 707 27 and and CCONJ hjic-495 707 28 design design NOUN hjic-495 707 29 of of ADP hjic-495 707 30 control control PROPN hjic-495 707 31 systems systems PROPN hjic-495 707 32 i. i. PROPN hjic-495 707 33 , , PUNCT hjic-495 707 34 akadémia akadémia ADV hjic-495 707 35 kiadó kiadó NOUN hjic-495 707 36 , , PUNCT hjic-495 707 37 2001 2001 NUM hjic-495 707 38 ( ( PUNCT hjic-495 707 39 in in ADP hjic-495 707 40 hungarian hungarian NOUN hjic-495 707 41 ) ) PUNCT hjic-495 708 1 [ [ X hjic-495 708 2 9 9 NUM hjic-495 708 3 ] ] PUNCT hjic-495 708 4 darouach darouach NOUN hjic-495 708 5 m. m. NOUN hjic-495 708 6 , , PUNCT hjic-495 708 7 zasadzinski zasadzinski PROPN hjic-495 708 8 m. m. NOUN hjic-495 708 9 , , PUNCT hjic-495 708 10 onana onana PROPN hjic-495 708 11 a.b a.b PROPN hjic-495 708 12 . . PROPN hjic-495 708 13 , , PUNCT hjic-495 708 14 nowakowski nowakowski PROPN hjic-495 708 15 s. s. PROPN hjic-495 708 16 : : PUNCT hjic-495 708 17 kalman kalman PROPN hjic-495 708 18 filtering filter VERB hjic-495 708 19 with with ADP hjic-495 708 20 unknown unknown ADJ hjic-495 708 21 inputs input NOUN hjic-495 708 22 via via ADP hjic-495 708 23 optimal optimal ADJ hjic-495 708 24 state state NOUN hjic-495 708 25 estimation estimation NOUN hjic-495 708 26 of of ADP hjic-495 708 27 singular singular PROPN hjic-495 708 28 systems system NOUN hjic-495 708 29 , , PUNCT hjic-495 708 30 int int NOUN hjic-495 708 31 . . PUNCT hjic-495 709 1 j. j. PROPN hjic-495 709 2 sys sys PROPN hjic-495 709 3 . . PUNCT hjic-495 710 1 sci sci PROPN hjic-495 710 2 . . PROPN hjic-495 710 3 , , PUNCT hjic-495 710 4 1995 1995 NUM hjic-495 710 5 , , PUNCT hjic-495 710 6 26(10 26(10 NUM hjic-495 710 7 ) ) PUNCT hjic-495 710 8 , , PUNCT hjic-495 710 9 2015–2028 2015–2028 NUM hjic-495 710 10 [ [ X hjic-495 710 11 10 10 NUM hjic-495 710 12 ] ] X hjic-495 710 13 haykin haykin PROPN hjic-495 710 14 s.s s.s PROPN hjic-495 710 15 . . PROPN hjic-495 710 16 : : PUNCT hjic-495 711 1 kalman kalman PROPN hjic-495 711 2 filtering filtering NOUN hjic-495 711 3 and and CCONJ hjic-495 711 4 neural neural ADJ hjic-495 711 5 networks network NOUN hjic-495 711 6 , , PUNCT hjic-495 711 7 john john PROPN hjic-495 711 8 wiley wiley PROPN hjic-495 711 9 & & CCONJ hjic-495 711 10 sons sons PROPN hjic-495 711 11 , , PUNCT hjic-495 711 12 inc inc PROPN hjic-495 711 13 . . PROPN hjic-495 711 14 , , PUNCT hjic-495 711 15 2001 2001 NUM hjic-495 711 16 [ [ X hjic-495 711 17 11 11 NUM hjic-495 711 18 ] ] X hjic-495 711 19 armstrong armstrong PROPN hjic-495 711 20 - - PUNCT hjic-495 711 21 hélouvry hélouvry PROPN hjic-495 711 22 b. b. PROPN hjic-495 711 23 , , PUNCT hjic-495 711 24 dupont dupont PROPN hjic-495 711 25 p. p. PROPN hjic-495 711 26 , , PUNCT hjic-495 711 27 de de PROPN hjic-495 711 28 wit wit ADJ hjic-495 711 29 c.c c.c PROPN hjic-495 711 30 . . PROPN hjic-495 711 31 : : PUNCT hjic-495 711 32 a a DET hjic-495 711 33 survey survey NOUN hjic-495 711 34 of of ADP hjic-495 711 35 models model NOUN hjic-495 711 36 , , PUNCT hjic-495 711 37 analysis analysis NOUN hjic-495 711 38 tools tool NOUN hjic-495 711 39 and and CCONJ hjic-495 711 40 compensation compensation NOUN hjic-495 711 41 methods method NOUN hjic-495 711 42 for for ADP hjic-495 711 43 the the DET hjic-495 711 44 control control NOUN hjic-495 711 45 of of ADP hjic-495 711 46 machines machine NOUN hjic-495 711 47 with with ADP hjic-495 711 48 friction friction NOUN hjic-495 711 49 , , PUNCT hjic-495 711 50 automatica automatica PROPN hjic-495 711 51 , , PUNCT hjic-495 711 52 1994 1994 NUM hjic-495 711 53 , , PUNCT hjic-495 711 54 30 30 NUM hjic-495 711 55 , , PUNCT hjic-495 711 56 1083–1138 1083–1138 NUM hjic-495 711 57 [ [ X hjic-495 711 58 12 12 NUM hjic-495 711 59 ] ] X hjic-495 711 60 kalman kalman PROPN hjic-495 711 61 r.e r.e PROPN hjic-495 711 62 . . PROPN hjic-495 711 63 : : PUNCT hjic-495 711 64 a a DET hjic-495 711 65 new new ADJ hjic-495 711 66 approach approach NOUN hjic-495 711 67 to to ADP hjic-495 711 68 linear linear ADJ hjic-495 711 69 filtering filtering NOUN hjic-495 711 70 and and CCONJ hjic-495 711 71 prediction prediction NOUN hjic-495 711 72 problems problem NOUN hjic-495 711 73 , , PUNCT hjic-495 711 74 journal journal NOUN hjic-495 711 75 of of ADP hjic-495 711 76 basic basic ADJ hjic-495 711 77 engineering engineering NOUN hjic-495 711 78 , , PUNCT hjic-495 711 79 1960 1960 NUM hjic-495 711 80 , , PUNCT hjic-495 711 81 82 82 NUM hjic-495 711 82 , , PUNCT hjic-495 711 83 35–45 35–45 NUM hjic-495 711 84 advertise advertise NOUN hjic-495 711 85 upcoming upcoming ADJ hjic-495 711 86 meetings meeting NOUN hjic-495 711 87 , , PUNCT hjic-495 711 88 conferences conference NOUN hjic-495 711 89 , , PUNCT hjic-495 711 90 workshops workshop NOUN hjic-495 711 91 , , PUNCT hjic-495 711 92 new new ADJ hjic-495 711 93 products product NOUN hjic-495 711 94 or or CCONJ hjic-495 711 95 services service NOUN hjic-495 711 96 ; ; PUNCT hjic-495 711 97 make make VERB hjic-495 711 98 public public ADJ hjic-495 711 99 announcements announcement NOUN hjic-495 711 100 , , PUNCT hjic-495 711 101 introduce introduce VERB hjic-495 711 102 your your PRON hjic-495 711 103 research research NOUN hjic-495 711 104 laboratory laboratory NOUN hjic-495 711 105 on on ADP hjic-495 711 106 the the DET hjic-495 711 107 pages page NOUN hjic-495 711 108 of of ADP hjic-495 711 109 the the DET hjic-495 711 110 hungarian hungarian ADJ hjic-495 711 111 journal journal NOUN hjic-495 711 112 of of ADP hjic-495 711 113 industry industry NOUN hjic-495 711 114 and and CCONJ hjic-495 711 115 chemistry chemistry NOUN hjic-495 711 116 please please INTJ hjic-495 711 117 contact contact VERB hjic-495 711 118 us we PRON hjic-495 711 119 if if SCONJ hjic-495 711 120 interested interested ADJ hjic-495 711 121 ! ! PUNCT hjic-495 712 1 editorial editorial ADJ hjic-495 712 2 office office NOUN hjic-495 712 3 : : PUNCT hjic-495 712 4 university university NOUN hjic-495 712 5 of of ADP hjic-495 712 6 pannonia pannonia PROPN hjic-495 712 7 p.o p.o PROPN hjic-495 712 8 . . PROPN hjic-495 712 9 box box PROPN hjic-495 712 10 158 158 NUM hjic-495 712 11 , , PUNCT hjic-495 712 12 veszprém veszprém NOUN hjic-495 712 13 h-8201 h-8201 NUM hjic-495 712 14 ( ( PUNCT hjic-495 712 15 hungary hungary PROPN hjic-495 712 16 ) ) PUNCT hjic-495 712 17 tel tel PROPN hjic-495 712 18 . . PUNCT hjic-495 712 19 : : PUNCT hjic-495 713 1 +36 +36 NOUN hjic-495 713 2 ( ( PUNCT hjic-495 713 3 88 88 NUM hjic-495 713 4 ) ) PUNCT hjic-495 713 5 624 624 NUM hjic-495 713 6 - - PUNCT hjic-495 713 7 746 746 NUM hjic-495 713 8 , , PUNCT hjic-495 713 9 e e NOUN hjic-495 713 10 - - NOUN hjic-495 713 11 mail mail NOUN hjic-495 713 12 : : PUNCT hjic-495 713 13 hjic@almos.uni-pannon.hu hjic@almos.uni-pannon.hu PROPN hjic-495 713 14 ; ; PUNCT hjic-495 713 15 web web NOUN hjic-495 713 16 : : PUNCT hjic-495 713 17 hjic.mk.uni-pannon.hu hjic.mk.uni-pannon.hu PROPN hjic-495 713 18 felelős felelős PROPN hjic-495 713 19 szerkesztő szerkesztő PROPN hjic-495 713 20 : : PUNCT hjic-495 713 21 szilágyi szilágyi PROPN hjic-495 713 22 róbert róbert VERB hjic-495 713 23 károly károly PROPN hjic-495 713 24 , , PUNCT hjic-495 713 25 phd phd PROPN hjic-495 713 26 kiadja kiadja PROPN hjic-495 713 27 : : PUNCT hjic-495 713 28 pannon pannon NOUN hjic-495 713 29 egyetem egyetem PROPN hjic-495 713 30 , , PUNCT hjic-495 713 31 8200 8200 NUM hjic-495 713 32 veszprém veszprém NOUN hjic-495 713 33 , , PUNCT hjic-495 713 34 egyetem egyetem PROPN hjic-495 713 35 u. u. PROPN hjic-495 713 36 10 10 NUM hjic-495 713 37 . . PUNCT hjic-495 714 1 levélcím levélcím ADV hjic-495 714 2 : : PUNCT hjic-495 714 3 h-8201 h-8201 NUM hjic-495 714 4 veszprém veszprém NOUN hjic-495 714 5 , , PUNCT hjic-495 714 6 postafiók postafiók NOUN hjic-495 714 7 158 158 NUM hjic-495 714 8 , , PUNCT hjic-495 714 9 tel tel PROPN hjic-495 714 10 . . PROPN hjic-495 714 11 : : PUNCT hjic-495 714 12 ( ( PUNCT hjic-495 714 13 88 88 NUM hjic-495 714 14 ) ) SYM hjic-495 714 15 624 624 NUM hjic-495 714 16 - - PUNCT hjic-495 714 17 000 000 NUM hjic-495 714 18 felelős felelős PROPN hjic-495 714 19 kiadó kiadó PROPN hjic-495 714 20 : : PUNCT hjic-495 714 21 a a DET hjic-495 714 22 pannon pannon NOUN hjic-495 714 23 egyetem egyetem NOUN hjic-495 714 24 , , PUNCT hjic-495 714 25 mérnöki mérnöki NOUN hjic-495 714 26 kar kar PROPN hjic-495 714 27 dékánja dékánja VERB hjic-495 714 28 hungarian hungarian ADJ hjic-495 714 29 journal journal NOUN hjic-495 714 30 of of ADP hjic-495 714 31 industry industry NOUN hjic-495 714 32 and and CCONJ hjic-495 714 33 chemistry chemistry NOUN hjic-495 714 34 veszprém veszprém NOUN hjic-495 714 35 vol vol NOUN hjic-495 714 36 . . PUNCT hjic-495 715 1 42(2 42(2 NUM hjic-495 715 2 ) ) PUNCT hjic-495 716 1 pp pp ADV hjic-495 716 2 . . PUNCT hjic-495 717 1 79–84 79–84 NOUN hjic-495 717 2 ( ( PUNCT hjic-495 717 3 2014 2014 NUM hjic-495 717 4 ) ) PUNCT hjic-495 717 5 challenges challenge NOUN hjic-495 717 6 of of ADP hjic-495 717 7 enterprise enterprise NOUN hjic-495 717 8 policy policy NOUN hjic-495 717 9 compliance compliance NOUN hjic-495 717 10 with with ADP hjic-495 717 11 smartphone smartphone NOUN hjic-495 717 12 enablement enablement NOUN hjic-495 717 13 or or CCONJ hjic-495 717 14 an an DET hjic-495 717 15 alternative alternative ADJ hjic-495 717 16 solution solution NOUN hjic-495 717 17 based base VERB hjic-495 717 18 on on ADP hjic-495 717 19 behaviour behaviour NOUN hjic-495 717 20 - - PUNCT hjic-495 717 21 based base VERB hjic-495 717 22 user user NOUN hjic-495 717 23 identification identification NOUN hjic-495 717 24 sándor sándor PROPN hjic-495 717 25 dobos dobos PROPN hjic-495 717 26 ! ! PUNCT hjic-495 717 27 and and CCONJ hjic-495 717 28 attila attila PROPN hjic-495 717 29 kovács kovács PROPN hjic-495 717 30 department department PROPN hjic-495 717 31 of of ADP hjic-495 717 32 information information NOUN hjic-495 717 33 technology technology NOUN hjic-495 717 34 , , PUNCT hjic-495 717 35 elte elte PROPN hjic-495 717 36 university university PROPN hjic-495 717 37 budapest budapest NOUN hjic-495 717 38 , , PUNCT hjic-495 717 39 budapest budapest PROPN hjic-495 717 40 , , PUNCT hjic-495 717 41 1117 1117 NUM hjic-495 717 42 , , PUNCT hjic-495 717 43 hungary hungary NOUN hjic-495 717 44 ! ! PUNCT hjic-495 718 1 email email NOUN hjic-495 718 2 : : PUNCT hjic-495 718 3 sandor.dobos@hu.ibm.com sandor.dobos@hu.ibm.com X hjic-495 718 4 current current ADJ hjic-495 718 5 trends trend NOUN hjic-495 718 6 show show VERB hjic-495 718 7 the the DET hjic-495 718 8 intense intense ADJ hjic-495 718 9 growth growth NOUN hjic-495 718 10 in in ADP hjic-495 718 11 the the DET hjic-495 718 12 role role NOUN hjic-495 718 13 and and CCONJ hjic-495 718 14 importance importance NOUN hjic-495 718 15 of of ADP hjic-495 718 16 mobile mobile ADJ hjic-495 718 17 technology technology NOUN hjic-495 718 18 ( ( PUNCT hjic-495 718 19 smartphones smartphone NOUN hjic-495 718 20 , , PUNCT hjic-495 718 21 tablets tablet NOUN hjic-495 718 22 , , PUNCT hjic-495 718 23 etc etc X hjic-495 718 24 . . X hjic-495 718 25 ) ) PUNCT hjic-495 719 1 in in ADP hjic-495 719 2 business business NOUN hjic-495 719 3 due due ADP hjic-495 719 4 to to ADP hjic-495 719 5 economic economic ADJ hjic-495 719 6 , , PUNCT hjic-495 719 7 social social ADJ hjic-495 719 8 and and CCONJ hjic-495 719 9 technological technological ADJ hjic-495 719 10 reasons reason NOUN hjic-495 719 11 . . PUNCT hjic-495 720 1 the the DET hjic-495 720 2 social social ADJ hjic-495 720 3 element element NOUN hjic-495 720 4 drives drive VERB hjic-495 720 5 a a DET hjic-495 720 6 powerful powerful ADJ hjic-495 720 7 convenience convenience NOUN hjic-495 720 8 expectation expectation NOUN hjic-495 720 9 called call VERB hjic-495 720 10 “ " PUNCT hjic-495 720 11 bring bring VERB hjic-495 720 12 your your PRON hjic-495 720 13 own own ADJ hjic-495 720 14 device device NOUN hjic-495 720 15 ” " PUNCT hjic-495 720 16 ( ( PUNCT hjic-495 720 17 byod byod PROPN hjic-495 720 18 ) ) PUNCT hjic-495 720 19 for for ADP hjic-495 720 20 taking take VERB hjic-495 720 21 notes note NOUN hjic-495 720 22 and and CCONJ hjic-495 720 23 accessing access VERB hjic-495 720 24 internal internal ADJ hjic-495 720 25 and and CCONJ hjic-495 720 26 external external ADJ hjic-495 720 27 network network NOUN hjic-495 720 28 resources resource NOUN hjic-495 720 29 . . PUNCT hjic-495 721 1 apparently apparently ADV hjic-495 721 2 , , PUNCT hjic-495 721 3 the the DET hjic-495 721 4 future future NOUN hjic-495 721 5 is be AUX hjic-495 721 6 leading lead VERB hjic-495 721 7 toward toward ADP hjic-495 721 8 a a DET hjic-495 721 9 more more ADV hjic-495 721 10 extensive extensive ADJ hjic-495 721 11 enablement enablement NOUN hjic-495 721 12 of of ADP hjic-495 721 13 smartphones smartphone NOUN hjic-495 721 14 and and CCONJ hjic-495 721 15 tablets tablet NOUN hjic-495 721 16 with with ADP hjic-495 721 17 their their PRON hjic-495 721 18 enterprise enterprise NOUN hjic-495 721 19 applications application NOUN hjic-495 721 20 . . PUNCT hjic-495 722 1 internal internal ADJ hjic-495 722 2 security security NOUN hjic-495 722 3 standards standard NOUN hjic-495 722 4 along along ADP hjic-495 722 5 with with ADP hjic-495 722 6 applicable applicable ADJ hjic-495 722 7 regulatory regulatory ADJ hjic-495 722 8 ones one NOUN hjic-495 722 9 to to PART hjic-495 722 10 achieve achieve VERB hjic-495 722 11 ‘ ' PUNCT hjic-495 722 12 policy policy NOUN hjic-495 722 13 enforcement enforcement NOUN hjic-495 722 14 ’ ' PUNCT hjic-495 722 15 as as ADP hjic-495 722 16 types type NOUN hjic-495 722 17 of of ADP hjic-495 722 18 solutions solution NOUN hjic-495 722 19 and and CCONJ hjic-495 722 20 controls control NOUN hjic-495 722 21 ; ; PUNCT hjic-495 722 22 however however ADV hjic-495 722 23 , , PUNCT hjic-495 722 24 this this PRON hjic-495 722 25 allows allow VERB hjic-495 722 26 for for ADP hjic-495 722 27 merely merely ADV hjic-495 722 28 one one NUM hjic-495 722 29 aspect aspect NOUN hjic-495 722 30 of of ADP hjic-495 722 31 compliance compliance NOUN hjic-495 722 32 . . PUNCT hjic-495 723 1 an an DET hjic-495 723 2 alternative alternative ADJ hjic-495 723 3 solution solution NOUN hjic-495 723 4 could could AUX hjic-495 723 5 be be AUX hjic-495 723 6 behaviour behaviour NOUN hjic-495 723 7 - - PUNCT hjic-495 723 8 based base VERB hjic-495 723 9 analysis analysis NOUN hjic-495 723 10 to to PART hjic-495 723 11 identify identify VERB hjic-495 723 12 the the DET hjic-495 723 13 user user NOUN hjic-495 723 14 , , PUNCT hjic-495 723 15 attacker attacker NOUN hjic-495 723 16 or or CCONJ hjic-495 723 17 even even ADV hjic-495 723 18 a a DET hjic-495 723 19 malicious malicious ADJ hjic-495 723 20 program program NOUN hjic-495 723 21 accessing access VERB hjic-495 723 22 resources resource NOUN hjic-495 723 23 on on ADP hjic-495 723 24 phone phone NOUN hjic-495 723 25 or or CCONJ hjic-495 723 26 internal internal ADJ hjic-495 723 27 networks network NOUN hjic-495 723 28 . . PUNCT hjic-495 724 1 complex complex ADJ hjic-495 724 2 networks network NOUN hjic-495 724 3 can can AUX hjic-495 724 4 be be AUX hjic-495 724 5 defined define VERB hjic-495 724 6 by by ADP hjic-495 724 7 graphs graph NOUN hjic-495 724 8 , , PUNCT hjic-495 724 9 such such ADJ hjic-495 724 10 as as ADP hjic-495 724 11 connections connection NOUN hjic-495 724 12 to to ADP hjic-495 724 13 resources resource NOUN hjic-495 724 14 on on ADP hjic-495 724 15 smartphones smartphone NOUN hjic-495 724 16 and and CCONJ hjic-495 724 17 serve serve VERB hjic-495 724 18 as as ADP hjic-495 724 19 a a DET hjic-495 724 20 blueprint blueprint NOUN hjic-495 724 21 . . PUNCT hjic-495 725 1 in in ADP hjic-495 725 2 case case NOUN hjic-495 725 3 the the DET hjic-495 725 4 motif motif NOUN hjic-495 725 5 is be AUX hjic-495 725 6 different different ADJ hjic-495 725 7 from from ADP hjic-495 725 8 the the DET hjic-495 725 9 user user NOUN hjic-495 725 10 ’s ’s PART hjic-495 725 11 actual actual ADJ hjic-495 725 12 behaviour behaviour NOUN hjic-495 725 13 , , PUNCT hjic-495 725 14 the the DET hjic-495 725 15 company company NOUN hjic-495 725 16 can can AUX hjic-495 725 17 initiate initiate VERB hjic-495 725 18 specific specific ADJ hjic-495 725 19 actions action NOUN hjic-495 725 20 to to PART hjic-495 725 21 avoid avoid VERB hjic-495 725 22 potential potential ADJ hjic-495 725 23 security security NOUN hjic-495 725 24 violations violation NOUN hjic-495 725 25 . . PUNCT hjic-495 726 1 this this DET hjic-495 726 2 document document NOUN hjic-495 726 3 reviews review VERB hjic-495 726 4 the the DET hjic-495 726 5 it it PRON hjic-495 726 6 security security NOUN hjic-495 726 7 challenges challenge NOUN hjic-495 726 8 related relate VERB hjic-495 726 9 to to ADP hjic-495 726 10 smartphones smartphone NOUN hjic-495 726 11 as as ADV hjic-495 726 12 well well ADV hjic-495 726 13 as as ADP hjic-495 726 14 the the DET hjic-495 726 15 concept concept NOUN hjic-495 726 16 of of ADP hjic-495 726 17 graph graph NOUN hjic-495 726 18 - - PUNCT hjic-495 726 19 based base VERB hjic-495 726 20 user user NOUN hjic-495 726 21 identification identification NOUN hjic-495 726 22 . . PUNCT hjic-495 727 1 the the DET hjic-495 727 2 challenges challenge NOUN hjic-495 727 3 of of ADP hjic-495 727 4 the the DET hjic-495 727 5 latter latter ADJ hjic-495 727 6 are be AUX hjic-495 727 7 the the DET hjic-495 727 8 identification identification NOUN hjic-495 727 9 of of ADP hjic-495 727 10 motif motif NOUN hjic-495 727 11 , , PUNCT hjic-495 727 12 selection selection NOUN hjic-495 727 13 of of ADP hjic-495 727 14 search search NOUN hjic-495 727 15 algorithm algorithm NOUN hjic-495 727 16 and and CCONJ hjic-495 727 17 defining define VERB hjic-495 727 18 rules rule NOUN hjic-495 727 19 for for ADP hjic-495 727 20 what what PRON hjic-495 727 21 is be AUX hjic-495 727 22 considered consider VERB hjic-495 727 23 a a DET hjic-495 727 24 good good ADJ hjic-495 727 25 or or CCONJ hjic-495 727 26 bad bad ADJ hjic-495 727 27 behaviour behaviour NOUN hjic-495 727 28 . . PUNCT hjic-495 728 1 keywords keyword NOUN hjic-495 728 2 : : PUNCT hjic-495 728 3 mobile mobile ADJ hjic-495 728 4 device device NOUN hjic-495 728 5 security security NOUN hjic-495 728 6 , , PUNCT hjic-495 728 7 “ " PUNCT hjic-495 728 8 bring bring VERB hjic-495 728 9 your your PRON hjic-495 728 10 own own ADJ hjic-495 728 11 device device NOUN hjic-495 728 12 ” " PUNCT hjic-495 728 13 ( ( PUNCT hjic-495 728 14 byod byod NOUN hjic-495 728 15 ) ) PUNCT hjic-495 728 16 management management NOUN hjic-495 728 17 , , PUNCT hjic-495 728 18 secure secure ADJ hjic-495 728 19 data datum NOUN hjic-495 728 20 communication communication NOUN hjic-495 728 21 , , PUNCT hjic-495 728 22 behaviour behaviour NOUN hjic-495 728 23 - - PUNCT hjic-495 728 24 based base VERB hjic-495 728 25 identification identification NOUN hjic-495 728 26 of of ADP hjic-495 728 27 threat threat NOUN hjic-495 728 28 , , PUNCT hjic-495 728 29 graph graph NOUN hjic-495 728 30 - - PUNCT hjic-495 728 31 based base VERB hjic-495 728 32 user user NOUN hjic-495 728 33 identification identification NOUN hjic-495 728 34 introduction introduction NOUN hjic-495 728 35 enterprise enterprise NOUN hjic-495 728 36 policy policy NOUN hjic-495 728 37 enforcement enforcement NOUN hjic-495 728 38 with with ADP hjic-495 728 39 current current ADJ hjic-495 728 40 mobile mobile ADJ hjic-495 728 41 technology technology NOUN hjic-495 728 42 management management NOUN hjic-495 728 43 tools tool NOUN hjic-495 728 44 ( ( PUNCT hjic-495 728 45 mobile mobile ADJ hjic-495 728 46 device device NOUN hjic-495 728 47 management management NOUN hjic-495 728 48 ( ( PUNCT hjic-495 728 49 mdm mdm PROPN hjic-495 728 50 ) ) PUNCT hjic-495 728 51 , , PUNCT hjic-495 728 52 virus virus NOUN hjic-495 728 53 detection detection NOUN hjic-495 728 54 , , PUNCT hjic-495 728 55 and and CCONJ hjic-495 728 56 other other ADJ hjic-495 728 57 necessary necessary ADJ hjic-495 728 58 modules module NOUN hjic-495 728 59 ) ) PUNCT hjic-495 728 60 ensure ensure VERB hjic-495 728 61 only only ADV hjic-495 728 62 the the DET hjic-495 728 63 compliance compliance NOUN hjic-495 728 64 of of ADP hjic-495 728 65 piece piece NOUN hjic-495 728 66 of of ADP hjic-495 728 67 equipment equipment NOUN hjic-495 728 68 . . PUNCT hjic-495 729 1 within within ADP hjic-495 729 2 enterprise enterprise NOUN hjic-495 729 3 , , PUNCT hjic-495 729 4 mdm mdm PROPN hjic-495 729 5 servers server NOUN hjic-495 729 6 initiate initiate VERB hjic-495 729 7 the the DET hjic-495 729 8 compliant compliant ADJ hjic-495 729 9 actions action NOUN hjic-495 729 10 , , PUNCT hjic-495 729 11 if if SCONJ hjic-495 729 12 the the DET hjic-495 729 13 smartphone smartphone NOUN hjic-495 729 14 client client NOUN hjic-495 729 15 fails fail VERB hjic-495 729 16 the the DET hjic-495 729 17 access access NOUN hjic-495 729 18 privilege privilege NOUN hjic-495 729 19 is be AUX hjic-495 729 20 taken take VERB hjic-495 729 21 away away ADV hjic-495 729 22 ; ; PUNCT hjic-495 729 23 however however ADV hjic-495 729 24 , , PUNCT hjic-495 729 25 this this PRON hjic-495 729 26 has have VERB hjic-495 729 27 an an DET hjic-495 729 28 immediate immediate ADJ hjic-495 729 29 impact impact NOUN hjic-495 729 30 on on ADP hjic-495 729 31 revenue revenue NOUN hjic-495 729 32 through through ADP hjic-495 729 33 operational operational ADJ hjic-495 729 34 efficiency efficiency NOUN hjic-495 729 35 affecting affect VERB hjic-495 729 36 the the DET hjic-495 729 37 business business NOUN hjic-495 729 38 . . PUNCT hjic-495 730 1 the the DET hjic-495 730 2 enterprise enterprise NOUN hjic-495 730 3 compliance compliance NOUN hjic-495 730 4 of of ADP hjic-495 730 5 the the DET hjic-495 730 6 smartphone smartphone NOUN hjic-495 730 7 device device NOUN hjic-495 730 8 is be AUX hjic-495 730 9 only only ADV hjic-495 730 10 a a DET hjic-495 730 11 validated validated ADJ hjic-495 730 12 response response NOUN hjic-495 730 13 , , PUNCT hjic-495 730 14 which which PRON hjic-495 730 15 can can AUX hjic-495 730 16 be be AUX hjic-495 730 17 altered alter VERB hjic-495 730 18 by by ADP hjic-495 730 19 understanding understand VERB hjic-495 730 20 the the DET hjic-495 730 21 mobile mobile ADJ hjic-495 730 22 technology technology NOUN hjic-495 730 23 , , PUNCT hjic-495 730 24 such such ADJ hjic-495 730 25 as as ADP hjic-495 730 26 the the DET hjic-495 730 27 application application NOUN hjic-495 730 28 structures structure NOUN hjic-495 730 29 or or CCONJ hjic-495 730 30 the the DET hjic-495 730 31 way way NOUN hjic-495 730 32 mdm mdm PROPN hjic-495 730 33 technology technology PROPN hjic-495 730 34 works work VERB hjic-495 730 35 . . PUNCT hjic-495 731 1 hackers hacker NOUN hjic-495 731 2 are be AUX hjic-495 731 3 heavily heavily ADV hjic-495 731 4 attacking attack VERB hjic-495 731 5 smart smart ADJ hjic-495 731 6 devices device NOUN hjic-495 731 7 with with ADP hjic-495 731 8 malicious malicious ADJ hjic-495 731 9 software software NOUN hjic-495 731 10 ( ( PUNCT hjic-495 731 11 malware malware NOUN hjic-495 731 12 ) ) PUNCT hjic-495 731 13 . . PUNCT hjic-495 732 1 these these PRON hjic-495 732 2 can can AUX hjic-495 732 3 be be AUX hjic-495 732 4 viruses virus NOUN hjic-495 732 5 , , PUNCT hjic-495 732 6 spyware spyware NOUN hjic-495 732 7 , , PUNCT hjic-495 732 8 adware adware NOUN hjic-495 732 9 , , PUNCT hjic-495 732 10 and and CCONJ hjic-495 732 11 other other ADJ hjic-495 732 12 types type NOUN hjic-495 732 13 of of ADP hjic-495 732 14 attacks attack NOUN hjic-495 732 15 . . PUNCT hjic-495 733 1 a a DET hjic-495 733 2 specific specific ADJ hjic-495 733 3 example example NOUN hjic-495 733 4 is be AUX hjic-495 733 5 the the DET hjic-495 733 6 “ " PUNCT hjic-495 733 7 obad.a obad.a X hjic-495 733 8 trojan trojan NOUN hjic-495 733 9 ” " PUNCT hjic-495 733 10 , , PUNCT hjic-495 733 11 which which PRON hjic-495 733 12 is be AUX hjic-495 733 13 now now ADV hjic-495 733 14 being be AUX hjic-495 733 15 distributed distribute VERB hjic-495 733 16 via via ADP hjic-495 733 17 mobile mobile ADJ hjic-495 733 18 botnets botnet NOUN hjic-495 733 19 . . PUNCT hjic-495 734 1 the the DET hjic-495 734 2 trojans trojan NOUN hjic-495 734 3 are be AUX hjic-495 734 4 occupying occupy VERB hjic-495 734 5 a a DET hjic-495 734 6 larger large ADJ hjic-495 734 7 space space NOUN hjic-495 734 8 and and CCONJ hjic-495 734 9 becoming become VERB hjic-495 734 10 more more ADV hjic-495 734 11 complex complex ADJ hjic-495 734 12 , , PUNCT hjic-495 734 13 which which PRON hjic-495 734 14 shows show VERB hjic-495 734 15 the the DET hjic-495 734 16 need need NOUN hjic-495 734 17 for for SCONJ hjic-495 734 18 it it PRON hjic-495 734 19 security security NOUN hjic-495 734 20 to to PART hjic-495 734 21 find find VERB hjic-495 734 22 new new ADJ hjic-495 734 23 ways way NOUN hjic-495 734 24 to to PART hjic-495 734 25 detect detect VERB hjic-495 734 26 them they PRON hjic-495 734 27 . . PUNCT hjic-495 735 1 the the DET hjic-495 735 2 secure secure ADJ hjic-495 735 3 enterprise enterprise NOUN hjic-495 735 4 environment environment NOUN hjic-495 735 5 is be AUX hjic-495 735 6 crucial crucial ADJ hjic-495 735 7 for for SCONJ hjic-495 735 8 organizations organization NOUN hjic-495 735 9 to to PART hjic-495 735 10 ensure ensure VERB hjic-495 735 11 the the DET hjic-495 735 12 business business NOUN hjic-495 735 13 strategy strategy NOUN hjic-495 735 14 and and CCONJ hjic-495 735 15 continuity continuity NOUN hjic-495 735 16 of of ADP hjic-495 735 17 operation operation NOUN hjic-495 735 18 , , PUNCT hjic-495 735 19 irrespective irrespective ADV hjic-495 735 20 of of ADP hjic-495 735 21 its its PRON hjic-495 735 22 environment environment NOUN hjic-495 735 23 being be AUX hjic-495 735 24 production production NOUN hjic-495 735 25 , , PUNCT hjic-495 735 26 service service NOUN hjic-495 735 27 delivery delivery NOUN hjic-495 735 28 , , PUNCT hjic-495 735 29 or or CCONJ hjic-495 735 30 customer customer NOUN hjic-495 735 31 support support NOUN hjic-495 735 32 related relate VERB hjic-495 735 33 . . PUNCT hjic-495 736 1 companies company NOUN hjic-495 736 2 are be AUX hjic-495 736 3 following follow VERB hjic-495 736 4 the the DET hjic-495 736 5 trend trend NOUN hjic-495 736 6 to to PART hjic-495 736 7 ensure ensure VERB hjic-495 736 8 efficiency efficiency NOUN hjic-495 736 9 and and CCONJ hjic-495 736 10 simplify simplify NOUN hjic-495 736 11 service service NOUN hjic-495 736 12 accessibility accessibility NOUN hjic-495 736 13 for for ADP hjic-495 736 14 their their PRON hjic-495 736 15 customers customer NOUN hjic-495 736 16 , , PUNCT hjic-495 736 17 business business NOUN hjic-495 736 18 partners partner NOUN hjic-495 736 19 or or CCONJ hjic-495 736 20 employees employee NOUN hjic-495 736 21 . . PUNCT hjic-495 737 1 it it PRON hjic-495 737 2 is be AUX hjic-495 737 3 an an DET hjic-495 737 4 essential essential ADJ hjic-495 737 5 element element NOUN hjic-495 737 6 of of ADP hjic-495 737 7 the the DET hjic-495 737 8 it it NOUN hjic-495 737 9 security security NOUN hjic-495 737 10 strategy strategy NOUN hjic-495 737 11 to to PART hjic-495 737 12 be be AUX hjic-495 737 13 aligned align VERB hjic-495 737 14 with with ADP hjic-495 737 15 the the DET hjic-495 737 16 business business NOUN hjic-495 737 17 strategy strategy NOUN hjic-495 737 18 due due ADP hjic-495 737 19 to to ADP hjic-495 737 20 ( ( PUNCT hjic-495 737 21 i i NOUN hjic-495 737 22 ) ) PUNCT hjic-495 737 23 the the DET hjic-495 737 24 intense intense ADJ hjic-495 737 25 growth growth NOUN hjic-495 737 26 of of ADP hjic-495 737 27 mobile mobile ADJ hjic-495 737 28 technology technology NOUN hjic-495 737 29 and and CCONJ hjic-495 737 30 ( ( PUNCT hjic-495 737 31 ii ii NOUN hjic-495 737 32 ) ) PUNCT hjic-495 737 33 pressure pressure NOUN hjic-495 737 34 from from ADP hjic-495 737 35 enterprise enterprise NOUN hjic-495 737 36 that that PRON hjic-495 737 37 has have AUX hjic-495 737 38 transformed transform VERB hjic-495 737 39 business business NOUN hjic-495 737 40 operations operation NOUN hjic-495 737 41 . . PUNCT hjic-495 738 1 forrester forrester PROPN hjic-495 738 2 research research PROPN hjic-495 738 3 from from ADP hjic-495 738 4 the the DET hjic-495 738 5 q2 q2 NOUN hjic-495 738 6 foresights foresight NOUN hjic-495 738 7 security security NOUN hjic-495 738 8 survey survey NOUN hjic-495 738 9 shows show VERB hjic-495 738 10 ( ( PUNCT hjic-495 738 11 fig.1 fig.1 PROPN hjic-495 738 12 ) ) PUNCT hjic-495 738 13 that that SCONJ hjic-495 738 14 mobile mobile ADJ hjic-495 738 15 security security NOUN hjic-495 738 16 is be AUX hjic-495 738 17 of of ADP hjic-495 738 18 primary primary ADJ hjic-495 738 19 concern concern NOUN hjic-495 738 20 amongst amongst ADP hjic-495 738 21 enterprise enterprise NOUN hjic-495 738 22 leaders leader NOUN hjic-495 738 23 . . PUNCT hjic-495 739 1 ceos ceos PROPN hjic-495 739 2 are be AUX hjic-495 739 3 concerned concerned ADJ hjic-495 739 4 about about ADP hjic-495 739 5 the the DET hjic-495 739 6 risk risk NOUN hjic-495 739 7 of of ADP hjic-495 739 8 data datum NOUN hjic-495 739 9 loss loss NOUN hjic-495 739 10 , , PUNCT hjic-495 739 11 particularly particularly ADV hjic-495 739 12 due due ADJ hjic-495 739 13 to to ADP hjic-495 739 14 device device NOUN hjic-495 739 15 loss loss NOUN hjic-495 739 16 or or CCONJ hjic-495 739 17 theft theft NOUN hjic-495 739 18 . . PUNCT hjic-495 740 1 another another DET hjic-495 740 2 worry worry NOUN hjic-495 740 3 regards regard VERB hjic-495 740 4 data datum NOUN hjic-495 740 5 protection protection NOUN hjic-495 740 6 or or CCONJ hjic-495 740 7 data datum NOUN hjic-495 740 8 leak leak NOUN hjic-495 740 9 prevention prevention NOUN hjic-495 740 10 usually usually ADV hjic-495 740 11 in in ADP hjic-495 740 12 connection connection NOUN hjic-495 740 13 with with ADP hjic-495 740 14 data datum NOUN hjic-495 740 15 related relate VERB hjic-495 740 16 to to ADP hjic-495 740 17 finance finance NOUN hjic-495 740 18 and and CCONJ hjic-495 740 19 innovation innovation NOUN hjic-495 740 20 . . PUNCT hjic-495 741 1 figure figure VERB hjic-495 741 2 1 1 NUM hjic-495 741 3 : : PUNCT hjic-495 741 4 degree degree NOUN hjic-495 741 5 of of ADP hjic-495 741 6 concern concern NOUN hjic-495 741 7 of of ADP hjic-495 741 8 ceos ceos NOUN hjic-495 741 9 from from ADP hjic-495 741 10 forrester forrester PROPN hjic-495 741 11 research research PROPN hjic-495 741 12 , , PUNCT hjic-495 741 13 foresights foresight VERB hjic-495 741 14 security security NOUN hjic-495 741 15 survey survey NOUN hjic-495 741 16 80 80 NUM hjic-495 741 17 current current ADJ hjic-495 741 18 challenges challenge NOUN hjic-495 741 19 within within ADP hjic-495 741 20 today today NOUN hjic-495 741 21 ’s ’s PART hjic-495 741 22 economic economic ADJ hjic-495 741 23 environment environment NOUN hjic-495 741 24 , , PUNCT hjic-495 741 25 profit profit NOUN hjic-495 741 26 - - PUNCT hjic-495 741 27 driven drive VERB hjic-495 741 28 organizations organization NOUN hjic-495 741 29 are be AUX hjic-495 741 30 challenged challenge VERB hjic-495 741 31 from from ADP hjic-495 741 32 revenue revenue NOUN hjic-495 741 33 , , PUNCT hjic-495 741 34 growth growth NOUN hjic-495 741 35 or or CCONJ hjic-495 741 36 profit profit NOUN hjic-495 741 37 target target NOUN hjic-495 741 38 perspectives perspective NOUN hjic-495 741 39 . . PUNCT hjic-495 742 1 in in ADP hjic-495 742 2 order order NOUN hjic-495 742 3 to to PART hjic-495 742 4 meet meet VERB hjic-495 742 5 such such ADJ hjic-495 742 6 expectations expectation NOUN hjic-495 742 7 , , PUNCT hjic-495 742 8 organizations organization NOUN hjic-495 742 9 are be AUX hjic-495 742 10 under under ADP hjic-495 742 11 high high ADJ hjic-495 742 12 pressure pressure NOUN hjic-495 742 13 to to PART hjic-495 742 14 offer offer VERB hjic-495 742 15 innovative innovative ADJ hjic-495 742 16 products product NOUN hjic-495 742 17 ( ( PUNCT hjic-495 742 18 services service NOUN hjic-495 742 19 ) ) PUNCT hjic-495 742 20 within within ADP hjic-495 742 21 newly newly ADV hjic-495 742 22 identified identify VERB hjic-495 742 23 channels channel NOUN hjic-495 742 24 and and CCONJ hjic-495 742 25 more more ADV hjic-495 742 26 accessible accessible ADJ hjic-495 742 27 yet yet ADV hjic-495 742 28 - - PUNCT hjic-495 742 29 to to ADP hjic-495 742 30 - - PUNCT hjic-495 742 31 bepenetrated bepenetrate VERB hjic-495 742 32 markets market NOUN hjic-495 742 33 to to ADP hjic-495 742 34 a a DET hjic-495 742 35 demanding demand VERB hjic-495 742 36 customer customer NOUN hjic-495 742 37 base base NOUN hjic-495 742 38 , , PUNCT hjic-495 742 39 especially especially ADV hjic-495 742 40 in in ADP hjic-495 742 41 the the DET hjic-495 742 42 area area NOUN hjic-495 742 43 of of ADP hjic-495 742 44 providing provide VERB hjic-495 742 45 smartphone smartphone NOUN hjic-495 742 46 solutions solution NOUN hjic-495 742 47 . . PUNCT hjic-495 743 1 on on ADP hjic-495 743 2 the the DET hjic-495 743 3 other other ADJ hjic-495 743 4 hand hand NOUN hjic-495 743 5 , , PUNCT hjic-495 743 6 regulatory regulatory ADJ hjic-495 743 7 bodies body NOUN hjic-495 743 8 are be AUX hjic-495 743 9 alarmed alarmed ADJ hjic-495 743 10 at at ADP hjic-495 743 11 mobile mobile ADJ hjic-495 743 12 enablement enablement NOUN hjic-495 743 13 and and CCONJ hjic-495 743 14 organizations organization NOUN hjic-495 743 15 in in ADP hjic-495 743 16 general general ADJ hjic-495 743 17 striving strive VERB hjic-495 743 18 to to PART hjic-495 743 19 protect protect VERB hjic-495 743 20 critical critical ADJ hjic-495 743 21 financial financial ADJ hjic-495 743 22 systems system NOUN hjic-495 743 23 better well ADV hjic-495 743 24 , , PUNCT hjic-495 743 25 in in ADP hjic-495 743 26 particular particular ADJ hjic-495 743 27 via via ADP hjic-495 743 28 identity identity NOUN hjic-495 743 29 and and CCONJ hjic-495 743 30 access access NOUN hjic-495 743 31 management management NOUN hjic-495 743 32 . . PUNCT hjic-495 744 1 at at ADP hjic-495 744 2 the the DET hjic-495 744 3 same same ADJ hjic-495 744 4 time time NOUN hjic-495 744 5 , , PUNCT hjic-495 744 6 organizations organization NOUN hjic-495 744 7 need need VERB hjic-495 744 8 to to PART hjic-495 744 9 maintain maintain VERB hjic-495 744 10 operational operational ADJ hjic-495 744 11 resiliency resiliency NOUN hjic-495 744 12 and and CCONJ hjic-495 744 13 perform perform VERB hjic-495 744 14 risk risk NOUN hjic-495 744 15 management management NOUN hjic-495 744 16 assessments assessment NOUN hjic-495 744 17 as as ADP hjic-495 744 18 an an DET hjic-495 744 19 integrated integrated ADJ hjic-495 744 20 part part NOUN hjic-495 744 21 of of ADP hjic-495 744 22 day day NOUN hjic-495 744 23 - - PUNCT hjic-495 744 24 to to ADP hjic-495 744 25 - - PUNCT hjic-495 744 26 day day NOUN hjic-495 744 27 operations operation NOUN hjic-495 744 28 . . PUNCT hjic-495 745 1 the the DET hjic-495 745 2 cost cost NOUN hjic-495 745 3 perspective perspective NOUN hjic-495 745 4 is be AUX hjic-495 745 5 an an DET hjic-495 745 6 important important ADJ hjic-495 745 7 factor factor NOUN hjic-495 745 8 for for ADP hjic-495 745 9 customers customer NOUN hjic-495 745 10 facing face VERB hjic-495 745 11 the the DET hjic-495 745 12 task task NOUN hjic-495 745 13 of of ADP hjic-495 745 14 achieving achieve VERB hjic-495 745 15 a a DET hjic-495 745 16 lower low ADJ hjic-495 745 17 total total ADJ hjic-495 745 18 cost cost NOUN hjic-495 745 19 of of ADP hjic-495 745 20 ownership ownership NOUN hjic-495 745 21 ( ( PUNCT hjic-495 745 22 tco tco NOUN hjic-495 745 23 ) ) PUNCT hjic-495 745 24 although although SCONJ hjic-495 745 25 , , PUNCT hjic-495 745 26 by by ADP hjic-495 745 27 this this DET hjic-495 745 28 shift shift NOUN hjic-495 745 29 in in ADP hjic-495 745 30 paradigm paradigm NOUN hjic-495 745 31 , , PUNCT hjic-495 745 32 they they PRON hjic-495 745 33 move move VERB hjic-495 745 34 from from ADP hjic-495 745 35 reactive reactive ADJ hjic-495 745 36 protection protection NOUN hjic-495 745 37 to to ADP hjic-495 745 38 proactive proactive ADJ hjic-495 745 39 value value NOUN hjic-495 745 40 creation creation NOUN hjic-495 745 41 mode mode NOUN hjic-495 745 42 . . PUNCT hjic-495 746 1 the the DET hjic-495 746 2 alignment alignment NOUN hjic-495 746 3 of of ADP hjic-495 746 4 the the DET hjic-495 746 5 current current ADJ hjic-495 746 6 it it PRON hjic-495 746 7 strategy strategy NOUN hjic-495 746 8 to to ADP hjic-495 746 9 business business NOUN hjic-495 746 10 strategy strategy NOUN hjic-495 746 11 is be AUX hjic-495 746 12 a a DET hjic-495 746 13 challenge challenge NOUN hjic-495 746 14 for for ADP hjic-495 746 15 corporations corporation NOUN hjic-495 746 16 as as SCONJ hjic-495 746 17 it it PRON hjic-495 746 18 is be AUX hjic-495 746 19 a a DET hjic-495 746 20 service service NOUN hjic-495 746 21 provider provider NOUN hjic-495 746 22 within within ADP hjic-495 746 23 an an DET hjic-495 746 24 enterprise enterprise NOUN hjic-495 746 25 also also ADV hjic-495 746 26 offering offer VERB hjic-495 746 27 business business NOUN hjic-495 746 28 enablement enablement NOUN hjic-495 746 29 leads lead NOUN hjic-495 746 30 . . PUNCT hjic-495 747 1 companies company NOUN hjic-495 747 2 need need VERB hjic-495 747 3 to to PART hjic-495 747 4 manage manage VERB hjic-495 747 5 security security NOUN hjic-495 747 6 policy policy NOUN hjic-495 747 7 at at ADP hjic-495 747 8 the the DET hjic-495 747 9 corporate corporate ADJ hjic-495 747 10 level level NOUN hjic-495 747 11 , , PUNCT hjic-495 747 12 assess assess VERB hjic-495 747 13 the the DET hjic-495 747 14 security security NOUN hjic-495 747 15 health health NOUN hjic-495 747 16 of of ADP hjic-495 747 17 the the DET hjic-495 747 18 heterogeneous heterogeneous ADJ hjic-495 747 19 it it PRON hjic-495 747 20 environment environment NOUN hjic-495 747 21 , , PUNCT hjic-495 747 22 monitor monitor VERB hjic-495 747 23 the the DET hjic-495 747 24 security security NOUN hjic-495 747 25 weakness(es weakness(es NOUN hjic-495 747 26 ) ) PUNCT hjic-495 747 27 in in ADP hjic-495 747 28 processes process NOUN hjic-495 747 29 and and CCONJ hjic-495 747 30 systems system NOUN hjic-495 747 31 and and CCONJ hjic-495 747 32 , , PUNCT hjic-495 747 33 of of ADP hjic-495 747 34 course course NOUN hjic-495 747 35 , , PUNCT hjic-495 747 36 meet meet VERB hjic-495 747 37 the the DET hjic-495 747 38 plethora plethora NOUN hjic-495 747 39 of of ADP hjic-495 747 40 banking banking NOUN hjic-495 747 41 laws law NOUN hjic-495 747 42 , , PUNCT hjic-495 747 43 regulations regulation NOUN hjic-495 747 44 and and CCONJ hjic-495 747 45 standards standard NOUN hjic-495 747 46 including include VERB hjic-495 747 47 sox sox PROPN hjic-495 747 48 , , PUNCT hjic-495 747 49 basel basel PROPN hjic-495 747 50 iii iii PROPN hjic-495 747 51 , , PUNCT hjic-495 747 52 glba glba PROPN hjic-495 747 53 , , PUNCT hjic-495 747 54 and and CCONJ hjic-495 747 55 pci pci ADJ hjic-495 747 56 compliance compliance NOUN hjic-495 747 57 . . PUNCT hjic-495 748 1 with with ADP hjic-495 748 2 the the DET hjic-495 748 3 adaptation adaptation NOUN hjic-495 748 4 of of ADP hjic-495 748 5 the the DET hjic-495 748 6 byod byod NOUN hjic-495 748 7 concept concept NOUN hjic-495 748 8 in in ADP hjic-495 748 9 business business NOUN hjic-495 748 10 practices practice NOUN hjic-495 748 11 , , PUNCT hjic-495 748 12 mobile mobile ADJ hjic-495 748 13 technology technology NOUN hjic-495 748 14 itself itself PRON hjic-495 748 15 contributes contribute VERB hjic-495 748 16 to to ADP hjic-495 748 17 additional additional ADJ hjic-495 748 18 and and CCONJ hjic-495 748 19 more more ADV hjic-495 748 20 complex complex ADJ hjic-495 748 21 challenges challenge NOUN hjic-495 748 22 . . PUNCT hjic-495 749 1 enterprises enterprise NOUN hjic-495 749 2 are be AUX hjic-495 749 3 not not PART hjic-495 749 4 the the DET hjic-495 749 5 owners owner NOUN hjic-495 749 6 of of ADP hjic-495 749 7 those those DET hjic-495 749 8 smart smart ADJ hjic-495 749 9 devices device NOUN hjic-495 749 10 with with ADP hjic-495 749 11 access access NOUN hjic-495 749 12 to to ADP hjic-495 749 13 enterprise enterprise NOUN hjic-495 749 14 networks network NOUN hjic-495 749 15 and and CCONJ hjic-495 749 16 their their PRON hjic-495 749 17 data datum NOUN hjic-495 749 18 . . PUNCT hjic-495 750 1 fig.2 fig.2 PROPN hjic-495 750 2 illustrates illustrate VERB hjic-495 750 3 how how SCONJ hjic-495 750 4 smartphones smartphone NOUN hjic-495 750 5 with with ADP hjic-495 750 6 applications application NOUN hjic-495 750 7 developed develop VERB hjic-495 750 8 by by ADP hjic-495 750 9 unknown unknown ADJ hjic-495 750 10 sources source NOUN hjic-495 750 11 could could AUX hjic-495 750 12 be be AUX hjic-495 750 13 a a DET hjic-495 750 14 threat threat NOUN hjic-495 750 15 to to ADP hjic-495 750 16 enterprise enterprise NOUN hjic-495 750 17 ’s ’s PART hjic-495 750 18 sensitive sensitive ADJ hjic-495 750 19 data datum NOUN hjic-495 750 20 . . PUNCT hjic-495 751 1 business business NOUN hjic-495 751 2 drivers driver NOUN hjic-495 751 3 for for ADP hjic-495 751 4 change change NOUN hjic-495 751 5 as as SCONJ hjic-495 751 6 introduced introduce VERB hjic-495 751 7 above above ADP hjic-495 751 8 an an DET hjic-495 751 9 active active ADJ hjic-495 751 10 need need NOUN hjic-495 751 11 is be AUX hjic-495 751 12 emerging emerge VERB hjic-495 751 13 for for ADP hjic-495 751 14 more more ADV hjic-495 751 15 effective effective ADJ hjic-495 751 16 mobile mobile ADJ hjic-495 751 17 solutions solution NOUN hjic-495 751 18 . . PUNCT hjic-495 752 1 it it PRON hjic-495 752 2 is be AUX hjic-495 752 3 not not PART hjic-495 752 4 only only ADV hjic-495 752 5 a a DET hjic-495 752 6 reflection reflection NOUN hjic-495 752 7 of of ADP hjic-495 752 8 the the DET hjic-495 752 9 compliance compliance NOUN hjic-495 752 10 requirements requirement NOUN hjic-495 752 11 but but CCONJ hjic-495 752 12 a a DET hjic-495 752 13 real real ADJ hjic-495 752 14 protective protective ADJ hjic-495 752 15 solution solution NOUN hjic-495 752 16 against against ADP hjic-495 752 17 mobile mobile ADJ hjic-495 752 18 threats threat NOUN hjic-495 752 19 without without ADP hjic-495 752 20 any any DET hjic-495 752 21 restrictions restriction NOUN hjic-495 752 22 on on ADP hjic-495 752 23 financial financial ADJ hjic-495 752 24 growth growth NOUN hjic-495 752 25 or or CCONJ hjic-495 752 26 cutbacks cutback NOUN hjic-495 752 27 on on ADP hjic-495 752 28 efficiency efficiency NOUN hjic-495 752 29 initiatives initiative NOUN hjic-495 752 30 . . PUNCT hjic-495 753 1 there there PRON hjic-495 753 2 are be VERB hjic-495 753 3 compelling compelling ADJ hjic-495 753 4 reasons reason NOUN hjic-495 753 5 to to PART hjic-495 753 6 act act VERB hjic-495 753 7 and and CCONJ hjic-495 753 8 change change VERB hjic-495 753 9 now now ADV hjic-495 753 10 including include VERB hjic-495 753 11 data datum NOUN hjic-495 753 12 potentially potentially ADV hjic-495 753 13 at at ADP hjic-495 753 14 risk risk NOUN hjic-495 753 15 , , PUNCT hjic-495 753 16 pressure pressure NOUN hjic-495 753 17 from from ADP hjic-495 753 18 regulatory regulatory ADJ hjic-495 753 19 bodies body NOUN hjic-495 753 20 and and CCONJ hjic-495 753 21 audit audit NOUN hjic-495 753 22 firms firm NOUN hjic-495 753 23 to to PART hjic-495 753 24 be be AUX hjic-495 753 25 compliant compliant ADJ hjic-495 753 26 with with ADP hjic-495 753 27 the the DET hjic-495 753 28 applicable applicable ADJ hjic-495 753 29 data datum NOUN hjic-495 753 30 handling handling NOUN hjic-495 753 31 regulations regulation NOUN hjic-495 753 32 , , PUNCT hjic-495 753 33 and and CCONJ hjic-495 753 34 the the DET hjic-495 753 35 implementation implementation NOUN hjic-495 753 36 of of ADP hjic-495 753 37 mobile mobile ADJ hjic-495 753 38 security security NOUN hjic-495 753 39 into into ADP hjic-495 753 40 an an DET hjic-495 753 41 existing exist VERB hjic-495 753 42 security security NOUN hjic-495 753 43 structure structure NOUN hjic-495 753 44 . . PUNCT hjic-495 754 1 highlights highlight NOUN hjic-495 754 2 of of ADP hjic-495 754 3 a a DET hjic-495 754 4 political political ADJ hjic-495 754 5 - - PUNCT hjic-495 754 6 economic economic ADJ hjic-495 754 7 - - PUNCT hjic-495 754 8 social social ADJ hjic-495 754 9 - - PUNCT hjic-495 754 10 technology technology NOUN hjic-495 754 11 ( ( PUNCT hjic-495 754 12 pest pest NOUN hjic-495 754 13 ) ) PUNCT hjic-495 754 14 analysis analysis NOUN hjic-495 754 15 politicians politician NOUN hjic-495 754 16 are be AUX hjic-495 754 17 setting set VERB hjic-495 754 18 high high ADJ hjic-495 754 19 standards standard NOUN hjic-495 754 20 for for ADP hjic-495 754 21 data data NOUN hjic-495 754 22 management management NOUN hjic-495 754 23 regardless regardless ADV hjic-495 754 24 of of ADP hjic-495 754 25 platforms platform NOUN hjic-495 754 26 , , PUNCT hjic-495 754 27 even even ADV hjic-495 754 28 if if SCONJ hjic-495 754 29 they they PRON hjic-495 754 30 are be AUX hjic-495 754 31 related relate VERB hjic-495 754 32 to to ADP hjic-495 754 33 mobile mobile ADJ hjic-495 754 34 devices device NOUN hjic-495 754 35 or or CCONJ hjic-495 754 36 mobile mobile ADJ hjic-495 754 37 applications application NOUN hjic-495 754 38 . . PUNCT hjic-495 755 1 these these DET hjic-495 755 2 regulations regulation NOUN hjic-495 755 3 mostly mostly ADV hjic-495 755 4 focus focus VERB hjic-495 755 5 on on ADP hjic-495 755 6 the the DET hjic-495 755 7 handling handling NOUN hjic-495 755 8 of of ADP hjic-495 755 9 financial financial ADJ hjic-495 755 10 data datum NOUN hjic-495 755 11 such such ADJ hjic-495 755 12 as as ADP hjic-495 755 13 the the DET hjic-495 755 14 sarbanes sarbane NOUN hjic-495 755 15 – – PUNCT hjic-495 755 16 oxley oxley ADJ hjic-495 755 17 act act NOUN hjic-495 755 18 of of ADP hjic-495 755 19 2002 2002 NUM hjic-495 755 20 ( ( PUNCT hjic-495 755 21 sox sox PROPN hjic-495 755 22 ) ) PUNCT hjic-495 755 23 . . PUNCT hjic-495 756 1 there there PRON hjic-495 756 2 are be VERB hjic-495 756 3 new new ADJ hjic-495 756 4 developments development NOUN hjic-495 756 5 regarding regard VERB hjic-495 756 6 data datum NOUN hjic-495 756 7 ( ( PUNCT hjic-495 756 8 pictures picture NOUN hjic-495 756 9 , , PUNCT hjic-495 756 10 text text NOUN hjic-495 756 11 , , PUNCT hjic-495 756 12 etc etc X hjic-495 756 13 . . X hjic-495 756 14 ) ) PUNCT hjic-495 756 15 ownership ownership NOUN hjic-495 756 16 such such ADJ hjic-495 756 17 as as ADP hjic-495 756 18 the the DET hjic-495 756 19 stop stop NOUN hjic-495 756 20 online online PROPN hjic-495 756 21 privacy privacy PROPN hjic-495 756 22 act act PROPN hjic-495 756 23 ( ( PUNCT hjic-495 756 24 sopa sopa NOUN hjic-495 756 25 ) ) PUNCT hjic-495 756 26 . . PUNCT hjic-495 757 1 the the DET hjic-495 757 2 preventing prevent VERB hjic-495 757 3 real real ADJ hjic-495 757 4 online online ADJ hjic-495 757 5 threats threat NOUN hjic-495 757 6 to to ADP hjic-495 757 7 economic economic ADJ hjic-495 757 8 creativity creativity NOUN hjic-495 757 9 and and CCONJ hjic-495 757 10 theft theft NOUN hjic-495 757 11 of of ADP hjic-495 757 12 intellectual intellectual ADJ hjic-495 757 13 property property NOUN hjic-495 757 14 act act NOUN hjic-495 757 15 or or CCONJ hjic-495 757 16 in in ADP hjic-495 757 17 short short ADJ hjic-495 757 18 protect protect NOUN hjic-495 757 19 ip ip DET hjic-495 757 20 act act NOUN hjic-495 757 21 ( ( PUNCT hjic-495 757 22 pipa pipa NOUN hjic-495 757 23 ) ) PUNCT hjic-495 757 24 will will AUX hjic-495 757 25 have have VERB hjic-495 757 26 an an DET hjic-495 757 27 even even ADV hjic-495 757 28 more more ADV hjic-495 757 29 rigorous rigorous ADJ hjic-495 757 30 norm norm NOUN hjic-495 757 31 for for ADP hjic-495 757 32 enterprises enterprise NOUN hjic-495 757 33 who who PRON hjic-495 757 34 need need VERB hjic-495 757 35 to to PART hjic-495 757 36 meet meet VERB hjic-495 757 37 these these DET hjic-495 757 38 regulations regulation NOUN hjic-495 757 39 in in ADP hjic-495 757 40 order order NOUN hjic-495 757 41 to to PART hjic-495 757 42 obtain obtain VERB hjic-495 757 43 permission permission NOUN hjic-495 757 44 to to PART hjic-495 757 45 operate operate VERB hjic-495 757 46 in in ADP hjic-495 757 47 a a DET hjic-495 757 48 certain certain ADJ hjic-495 757 49 field field NOUN hjic-495 757 50 or or CCONJ hjic-495 757 51 market market NOUN hjic-495 757 52 ( ( PUNCT hjic-495 757 53 market market NOUN hjic-495 757 54 player player NOUN hjic-495 757 55 ) ) PUNCT hjic-495 757 56 . . PUNCT hjic-495 758 1 the the DET hjic-495 758 2 economic economic ADJ hjic-495 758 3 situation situation NOUN hjic-495 758 4 puts put VERB hjic-495 758 5 more more ADJ hjic-495 758 6 pressure pressure NOUN hjic-495 758 7 on on ADP hjic-495 758 8 businesses business NOUN hjic-495 758 9 as as SCONJ hjic-495 758 10 the the DET hjic-495 758 11 trend trend NOUN hjic-495 758 12 still still ADV hjic-495 758 13 shows show VERB hjic-495 758 14 stagnancy stagnancy NOUN hjic-495 758 15 on on ADP hjic-495 758 16 a a DET hjic-495 758 17 macro macro ADJ hjic-495 758 18 level level NOUN hjic-495 758 19 while while SCONJ hjic-495 758 20 in in ADP hjic-495 758 21 some some DET hjic-495 758 22 segments segment NOUN hjic-495 758 23 it it PRON hjic-495 758 24 is be AUX hjic-495 758 25 still still ADV hjic-495 758 26 in in ADP hjic-495 758 27 decline decline NOUN hjic-495 758 28 . . PUNCT hjic-495 759 1 firms firm NOUN hjic-495 759 2 have have VERB hjic-495 759 3 high high ADJ hjic-495 759 4 demands demand NOUN hjic-495 759 5 for for ADP hjic-495 759 6 business business NOUN hjic-495 759 7 achievements achievement NOUN hjic-495 759 8 measured measure VERB hjic-495 759 9 by by ADP hjic-495 759 10 revenue revenue NOUN hjic-495 759 11 and and CCONJ hjic-495 759 12 profit profit NOUN hjic-495 759 13 perspectives perspective NOUN hjic-495 759 14 to to PART hjic-495 759 15 meet meet VERB hjic-495 759 16 shareholder shareholder NOUN hjic-495 759 17 expectations expectation NOUN hjic-495 759 18 . . PUNCT hjic-495 760 1 one one NUM hjic-495 760 2 way way NOUN hjic-495 760 3 to to PART hjic-495 760 4 do do VERB hjic-495 760 5 so so ADV hjic-495 760 6 is be AUX hjic-495 760 7 to to PART hjic-495 760 8 improve improve VERB hjic-495 760 9 cost cost NOUN hjic-495 760 10 structures structure NOUN hjic-495 760 11 with with ADP hjic-495 760 12 mobile mobile ADJ hjic-495 760 13 enablement enablement NOUN hjic-495 760 14 ( ( PUNCT hjic-495 760 15 particularly particularly ADV hjic-495 760 16 byod byod NOUN hjic-495 760 17 ) ) PUNCT hjic-495 760 18 . . PUNCT hjic-495 761 1 society society NOUN hjic-495 761 2 wants want VERB hjic-495 761 3 to to PART hjic-495 761 4 live live VERB hjic-495 761 5 more more ADV hjic-495 761 6 comfortably comfortably ADV hjic-495 761 7 by by ADP hjic-495 761 8 searching search VERB hjic-495 761 9 for for ADP hjic-495 761 10 easily easily ADV hjic-495 761 11 accessible accessible ADJ hjic-495 761 12 services service NOUN hjic-495 761 13 , , PUNCT hjic-495 761 14 such such ADJ hjic-495 761 15 as as ADP hjic-495 761 16 online online ADJ hjic-495 761 17 mobileenabled mobileenable VERB hjic-495 761 18 bank bank NOUN hjic-495 761 19 transfers transfer NOUN hjic-495 761 20 or or CCONJ hjic-495 761 21 online online ADJ hjic-495 761 22 mobile mobile ADJ hjic-495 761 23 retail retail ADJ hjic-495 761 24 orders order NOUN hjic-495 761 25 . . PUNCT hjic-495 762 1 companies company NOUN hjic-495 762 2 aim aim VERB hjic-495 762 3 to to PART hjic-495 762 4 reach reach VERB hjic-495 762 5 their their PRON hjic-495 762 6 customers customer NOUN hjic-495 762 7 via via ADP hjic-495 762 8 mobile mobile ADJ hjic-495 762 9 applications application NOUN hjic-495 762 10 that that PRON hjic-495 762 11 are be AUX hjic-495 762 12 more more ADV hjic-495 762 13 easily easily ADV hjic-495 762 14 accessible accessible ADJ hjic-495 762 15 through through ADP hjic-495 762 16 user user NOUN hjic-495 762 17 - - PUNCT hjic-495 762 18 friendly friendly ADJ hjic-495 762 19 interfaces interface NOUN hjic-495 762 20 , , PUNCT hjic-495 762 21 such such ADJ hjic-495 762 22 as as ADP hjic-495 762 23 social social ADJ hjic-495 762 24 network network NOUN hjic-495 762 25 platforms platform NOUN hjic-495 762 26 . . PUNCT hjic-495 763 1 as as ADP hjic-495 763 2 usual usual ADJ hjic-495 763 3 , , PUNCT hjic-495 763 4 this this DET hjic-495 763 5 trend trend NOUN hjic-495 763 6 is be AUX hjic-495 763 7 typical typical ADJ hjic-495 763 8 for for ADP hjic-495 763 9 major major ADJ hjic-495 763 10 market market NOUN hjic-495 763 11 areas area NOUN hjic-495 763 12 , , PUNCT hjic-495 763 13 such such ADJ hjic-495 763 14 as as ADP hjic-495 763 15 north north PROPN hjic-495 763 16 america america PROPN hjic-495 763 17 or or CCONJ hjic-495 763 18 , , PUNCT hjic-495 763 19 western western ADJ hjic-495 763 20 europe europe PROPN hjic-495 763 21 ; ; PUNCT hjic-495 763 22 however however ADV hjic-495 763 23 , , PUNCT hjic-495 763 24 other other ADJ hjic-495 763 25 regions region NOUN hjic-495 763 26 are be AUX hjic-495 763 27 expected expect VERB hjic-495 763 28 to to PART hjic-495 763 29 follow follow VERB hjic-495 763 30 . . PUNCT hjic-495 764 1 the the DET hjic-495 764 2 trend trend NOUN hjic-495 764 3 in in ADP hjic-495 764 4 technology technology NOUN hjic-495 764 5 continues continue VERB hjic-495 764 6 to to PART hjic-495 764 7 be be AUX hjic-495 764 8 more more ADV hjic-495 764 9 vivid vivid ADJ hjic-495 764 10 from from ADP hjic-495 764 11 a a DET hjic-495 764 12 computing computing NOUN hjic-495 764 13 power power NOUN hjic-495 764 14 and and CCONJ hjic-495 764 15 portability portability NOUN hjic-495 764 16 perspective perspective NOUN hjic-495 764 17 . . PUNCT hjic-495 765 1 internet internet NOUN hjic-495 765 2 service service NOUN hjic-495 765 3 providers provider NOUN hjic-495 765 4 are be AUX hjic-495 765 5 granting grant VERB hjic-495 765 6 access access NOUN hjic-495 765 7 to to ADP hjic-495 765 8 higher high ADJ hjic-495 765 9 bandwidth bandwidth ADJ hjic-495 765 10 networks network NOUN hjic-495 765 11 for for ADP hjic-495 765 12 new new ADJ hjic-495 765 13 applications application NOUN hjic-495 765 14 and and CCONJ hjic-495 765 15 online online ADJ hjic-495 765 16 content content NOUN hjic-495 765 17 . . PUNCT hjic-495 766 1 policy policy NOUN hjic-495 766 2 enforcement enforcement NOUN hjic-495 766 3 and and CCONJ hjic-495 766 4 its its PRON hjic-495 766 5 weaknesses weakness NOUN hjic-495 766 6 to to PART hjic-495 766 7 manage manage VERB hjic-495 766 8 the the DET hjic-495 766 9 various various ADJ hjic-495 766 10 types type NOUN hjic-495 766 11 of of ADP hjic-495 766 12 mobile mobile ADJ hjic-495 766 13 devices device NOUN hjic-495 766 14 in in ADP hjic-495 766 15 an an DET hjic-495 766 16 enterprise enterprise NOUN hjic-495 766 17 , , PUNCT hjic-495 766 18 a a DET hjic-495 766 19 solution solution NOUN hjic-495 766 20 was be AUX hjic-495 766 21 introduced introduce VERB hjic-495 766 22 in in ADP hjic-495 766 23 2008 2008 NUM hjic-495 766 24 by by ADP hjic-495 766 25 stricklen stricklen VERB hjic-495 766 26 , , PUNCT hjic-495 766 27 mchale mchale PROPN hjic-495 766 28 , , PUNCT hjic-495 766 29 caminetsky caminetsky PROPN hjic-495 766 30 and and CCONJ hjic-495 766 31 reddy reddy PROPN hjic-495 766 32 based base VERB hjic-495 766 33 on on ADP hjic-495 766 34 pattern pattern NOUN hjic-495 766 35 definition definition NOUN hjic-495 766 36 for for ADP hjic-495 766 37 mobile mobile ADJ hjic-495 766 38 device device NOUN hjic-495 766 39 management management NOUN hjic-495 766 40 ( ( PUNCT hjic-495 766 41 mdm mdm PROPN hjic-495 766 42 ) ) PUNCT hjic-495 766 43 . . PUNCT hjic-495 767 1 mdm mdm PROPN hjic-495 767 2 is be AUX hjic-495 767 3 the the DET hjic-495 767 4 most most ADV hjic-495 767 5 common common ADJ hjic-495 767 6 approach approach NOUN hjic-495 767 7 how how SCONJ hjic-495 767 8 mobile mobile ADJ hjic-495 767 9 devices device NOUN hjic-495 767 10 ( ( PUNCT hjic-495 767 11 including include VERB hjic-495 767 12 smartphones smartphone NOUN hjic-495 767 13 , , PUNCT hjic-495 767 14 tablets tablet NOUN hjic-495 767 15 ) ) PUNCT hjic-495 767 16 are be AUX hjic-495 767 17 managed manage VERB hjic-495 767 18 within within ADP hjic-495 767 19 the the DET hjic-495 767 20 enterprise enterprise NOUN hjic-495 767 21 as as ADP hjic-495 767 22 a a DET hjic-495 767 23 management management NOUN hjic-495 767 24 tool tool NOUN hjic-495 767 25 for for ADP hjic-495 767 26 monitoring monitoring NOUN hjic-495 767 27 and and CCONJ hjic-495 767 28 policy policy NOUN hjic-495 767 29 enforcement enforcement NOUN hjic-495 767 30 . . PUNCT hjic-495 768 1 even even ADV hjic-495 768 2 though though SCONJ hjic-495 768 3 this this DET hjic-495 768 4 technology technology NOUN hjic-495 768 5 is be AUX hjic-495 768 6 available available ADJ hjic-495 768 7 and and CCONJ hjic-495 768 8 wide wide ADV hjic-495 768 9 - - PUNCT hjic-495 768 10 spread spread ADJ hjic-495 768 11 , , PUNCT hjic-495 768 12 according accord VERB hjic-495 768 13 to to ADP hjic-495 768 14 abi abi PROPN hjic-495 768 15 research research NOUN hjic-495 768 16 , , PUNCT hjic-495 768 17 mobile mobile ADJ hjic-495 768 18 threats threat NOUN hjic-495 768 19 grew grow VERB hjic-495 768 20 by by ADP hjic-495 768 21 261 261 NUM hjic-495 768 22 % % NOUN hjic-495 768 23 just just ADV hjic-495 768 24 in in ADP hjic-495 768 25 the the DET hjic-495 768 26 figure figure NOUN hjic-495 768 27 2 2 NUM hjic-495 768 28 : : PUNCT hjic-495 768 29 graphical graphical ADJ hjic-495 768 30 illustration illustration NOUN hjic-495 768 31 of of ADP hjic-495 768 32 mobile mobile ADJ hjic-495 768 33 phone phone NOUN hjic-495 768 34 technology technology NOUN hjic-495 768 35 security security NOUN hjic-495 768 36 threats threat NOUN hjic-495 768 37 81 81 NUM hjic-495 768 38 last last ADJ hjic-495 768 39 quarter quarter NOUN hjic-495 768 40 of of ADP hjic-495 768 41 2012 2012 NUM hjic-495 768 42 ; ; PUNCT hjic-495 768 43 however however ADV hjic-495 768 44 , , PUNCT hjic-495 768 45 mdm mdm PROPN hjic-495 768 46 technology technology PROPN hjic-495 768 47 is be AUX hjic-495 768 48 not not PART hjic-495 768 49 growing grow VERB hjic-495 768 50 at at ADP hjic-495 768 51 a a DET hjic-495 768 52 comparable comparable ADJ hjic-495 768 53 rate rate NOUN hjic-495 768 54 to to ADP hjic-495 768 55 the the DET hjic-495 768 56 number number NOUN hjic-495 768 57 of of ADP hjic-495 768 58 vulnerabilities vulnerability NOUN hjic-495 768 59 and and CCONJ hjic-495 768 60 attacks attack NOUN hjic-495 768 61 . . PUNCT hjic-495 769 1 one one NUM hjic-495 769 2 of of ADP hjic-495 769 3 the the DET hjic-495 769 4 components component NOUN hjic-495 769 5 of of ADP hjic-495 769 6 mdm mdm PROPN hjic-495 769 7 is be AUX hjic-495 769 8 the the DET hjic-495 769 9 registration registration NOUN hjic-495 769 10 module module NOUN hjic-495 769 11 , , PUNCT hjic-495 769 12 which which PRON hjic-495 769 13 is be AUX hjic-495 769 14 responsible responsible ADJ hjic-495 769 15 for for ADP hjic-495 769 16 identifying identify VERB hjic-495 769 17 mobile mobile ADJ hjic-495 769 18 devices device NOUN hjic-495 769 19 within within ADP hjic-495 769 20 the the DET hjic-495 769 21 enterprise enterprise NOUN hjic-495 769 22 network network NOUN hjic-495 769 23 , , PUNCT hjic-495 769 24 where where SCONJ hjic-495 769 25 the the DET hjic-495 769 26 identifier identifier NOUN hjic-495 769 27 indicates indicate VERB hjic-495 769 28 the the DET hjic-495 769 29 platform platform NOUN hjic-495 769 30 of of ADP hjic-495 769 31 each each DET hjic-495 769 32 mobile mobile ADJ hjic-495 769 33 device device NOUN hjic-495 769 34 , , PUNCT hjic-495 769 35 e.g. e.g. ADV hjic-495 769 36 smartphone smartphone NOUN hjic-495 769 37 and and CCONJ hjic-495 769 38 tablet tablet NOUN hjic-495 769 39 . . PUNCT hjic-495 770 1 the the DET hjic-495 770 2 other other ADJ hjic-495 770 3 significant significant ADJ hjic-495 770 4 element element NOUN hjic-495 770 5 is be AUX hjic-495 770 6 the the DET hjic-495 770 7 management management NOUN hjic-495 770 8 module module NOUN hjic-495 770 9 . . PUNCT hjic-495 771 1 its its PRON hjic-495 771 2 job job NOUN hjic-495 771 3 is be AUX hjic-495 771 4 to to PART hjic-495 771 5 receive receive VERB hjic-495 771 6 a a DET hjic-495 771 7 management management NOUN hjic-495 771 8 function function NOUN hjic-495 771 9 definition definition NOUN hjic-495 771 10 performed perform VERB hjic-495 771 11 on on ADP hjic-495 771 12 mobile mobile ADJ hjic-495 771 13 devices device NOUN hjic-495 771 14 using use VERB hjic-495 771 15 identifiers identifier NOUN hjic-495 771 16 from from ADP hjic-495 771 17 mobile mobile ADJ hjic-495 771 18 devices device NOUN hjic-495 771 19 . . PUNCT hjic-495 772 1 the the DET hjic-495 772 2 management management NOUN hjic-495 772 3 module module NOUN hjic-495 772 4 is be AUX hjic-495 772 5 responsible responsible ADJ hjic-495 772 6 for for ADP hjic-495 772 7 instructions instruction NOUN hjic-495 772 8 for for ADP hjic-495 772 9 the the DET hjic-495 772 10 first first ADJ hjic-495 772 11 platform platform NOUN hjic-495 772 12 to to PART hjic-495 772 13 perform perform VERB hjic-495 772 14 the the DET hjic-495 772 15 management management NOUN hjic-495 772 16 tasks task NOUN hjic-495 772 17 and and CCONJ hjic-495 772 18 provides provide VERB hjic-495 772 19 instructions instruction NOUN hjic-495 772 20 for for ADP hjic-495 772 21 the the DET hjic-495 772 22 other other ADJ hjic-495 772 23 modules module NOUN hjic-495 772 24 specific specific ADJ hjic-495 772 25 to to ADP hjic-495 772 26 the the DET hjic-495 772 27 second second ADJ hjic-495 772 28 platform platform NOUN hjic-495 772 29 to to PART hjic-495 772 30 perform perform VERB hjic-495 772 31 the the DET hjic-495 772 32 management management NOUN hjic-495 772 33 task task NOUN hjic-495 772 34 on on ADP hjic-495 772 35 at at ADP hjic-495 772 36 least least ADJ hjic-495 772 37 the the DET hjic-495 772 38 second second ADJ hjic-495 772 39 device device NOUN hjic-495 772 40 . . PUNCT hjic-495 773 1 however however ADV hjic-495 773 2 , , PUNCT hjic-495 773 3 mdm mdm PROPN hjic-495 773 4 is be AUX hjic-495 773 5 not not PART hjic-495 773 6 the the DET hjic-495 773 7 ultimate ultimate ADJ hjic-495 773 8 solution solution NOUN hjic-495 773 9 for for ADP hjic-495 773 10 mobile mobile ADJ hjic-495 773 11 device device NOUN hjic-495 773 12 security security NOUN hjic-495 773 13 within within ADP hjic-495 773 14 the the DET hjic-495 773 15 enterprise enterprise NOUN hjic-495 773 16 environment environment NOUN hjic-495 773 17 due due ADP hjic-495 773 18 to to ADP hjic-495 773 19 some some DET hjic-495 773 20 concerns concern NOUN hjic-495 773 21 regarding regard VERB hjic-495 773 22 the the DET hjic-495 773 23 verifiable verifiable ADJ hjic-495 773 24 device device NOUN hjic-495 773 25 integrity integrity NOUN hjic-495 773 26 . . PUNCT hjic-495 774 1 there there PRON hjic-495 774 2 are be VERB hjic-495 774 3 attempts attempt NOUN hjic-495 774 4 at at ADP hjic-495 774 5 identifying identify VERB hjic-495 774 6 mdm mdm PROPN hjic-495 774 7 solutions solution NOUN hjic-495 774 8 to to PART hjic-495 774 9 detect detect VERB hjic-495 774 10 modifications modification NOUN hjic-495 774 11 of of ADP hjic-495 774 12 the the DET hjic-495 774 13 underlying underlie VERB hjic-495 774 14 platform platform NOUN hjic-495 774 15 , , PUNCT hjic-495 774 16 but but CCONJ hjic-495 774 17 since since SCONJ hjic-495 774 18 the the DET hjic-495 774 19 mdm mdm PROPN hjic-495 774 20 agent agent NOUN hjic-495 774 21 has have VERB hjic-495 774 22 limited limit VERB hjic-495 774 23 privileges privilege NOUN hjic-495 774 24 and and CCONJ hjic-495 774 25 was be AUX hjic-495 774 26 susceptible susceptible ADJ hjic-495 774 27 to to ADP hjic-495 774 28 compromise compromise VERB hjic-495 774 29 by by ADP hjic-495 774 30 malicious malicious ADJ hjic-495 774 31 privileged privileged ADJ hjic-495 774 32 software software NOUN hjic-495 774 33 , , PUNCT hjic-495 774 34 these these PRON hjic-495 774 35 stand stand VERB hjic-495 774 36 little little ADJ hjic-495 774 37 chance chance NOUN hjic-495 774 38 of of ADP hjic-495 774 39 detecting detect VERB hjic-495 774 40 a a DET hjic-495 774 41 targeted target VERB hjic-495 774 42 attack attack NOUN hjic-495 774 43 . . PUNCT hjic-495 775 1 the the DET hjic-495 775 2 us us PROPN hjic-495 775 3 national national PROPN hjic-495 775 4 security security PROPN hjic-495 775 5 agency agency PROPN hjic-495 775 6 ( ( PUNCT hjic-495 775 7 nsa nsa PROPN hjic-495 775 8 ) ) PUNCT hjic-495 775 9 describes describe VERB hjic-495 775 10 an an DET hjic-495 775 11 immutable immutable ADJ hjic-495 775 12 cryptography cryptography NOUN hjic-495 775 13 , , PUNCT hjic-495 775 14 as as SCONJ hjic-495 775 15 the the DET hjic-495 775 16 ‘ ' PUNCT hjic-495 775 17 root root NOUN hjic-495 775 18 of of ADP hjic-495 775 19 trust trust NOUN hjic-495 775 20 ’ ' PUNCT hjic-495 775 21 on on ADP hjic-495 775 22 a a DET hjic-495 775 23 specific specific ADJ hjic-495 775 24 platform platform NOUN hjic-495 775 25 , , PUNCT hjic-495 775 26 to to PART hjic-495 775 27 be be AUX hjic-495 775 28 available available ADJ hjic-495 775 29 for for ADP hjic-495 775 30 leveraging leverage VERB hjic-495 775 31 by by ADP hjic-495 775 32 mdm mdm PROPN hjic-495 775 33 or or CCONJ hjic-495 775 34 other other ADJ hjic-495 775 35 software software NOUN hjic-495 775 36 , , PUNCT hjic-495 775 37 providing provide VERB hjic-495 775 38 a a DET hjic-495 775 39 means means NOUN hjic-495 775 40 of of ADP hjic-495 775 41 countering counter VERB hjic-495 775 42 this this DET hjic-495 775 43 type type NOUN hjic-495 775 44 of of ADP hjic-495 775 45 threats threat NOUN hjic-495 775 46 . . PUNCT hjic-495 776 1 encryption encryption NOUN hjic-495 776 2 enables enable VERB hjic-495 776 3 devices device NOUN hjic-495 776 4 to to PART hjic-495 776 5 attest attest VERB hjic-495 776 6 their their PRON hjic-495 776 7 integrity integrity NOUN hjic-495 776 8 on on ADP hjic-495 776 9 an an DET hjic-495 776 10 enterprise enterprise NOUN hjic-495 776 11 and and CCONJ hjic-495 776 12 carry carry VERB hjic-495 776 13 out out ADP hjic-495 776 14 any any DET hjic-495 776 15 local local ADJ hjic-495 776 16 policy policy NOUN hjic-495 776 17 decisions decision NOUN hjic-495 776 18 . . PUNCT hjic-495 777 1 the the DET hjic-495 777 2 availability availability NOUN hjic-495 777 3 of of ADP hjic-495 777 4 this this DET hjic-495 777 5 ‘ ' PUNCT hjic-495 777 6 root root NOUN hjic-495 777 7 of of ADP hjic-495 777 8 trust trust NOUN hjic-495 777 9 ’ ' PUNCT hjic-495 777 10 to to ADP hjic-495 777 11 other other ADJ hjic-495 777 12 software software NOUN hjic-495 777 13 can can AUX hjic-495 777 14 vigorously vigorously ADV hjic-495 777 15 complement complement VERB hjic-495 777 16 a a DET hjic-495 777 17 chain chain NOUN hjic-495 777 18 of of ADP hjic-495 777 19 trust trust NOUN hjic-495 777 20 that that PRON hjic-495 777 21 begins begin VERB hjic-495 777 22 when when SCONJ hjic-495 777 23 booting boot VERB hjic-495 777 24 and and CCONJ hjic-495 777 25 extends extend VERB hjic-495 777 26 into into ADP hjic-495 777 27 the the DET hjic-495 777 28 system system NOUN hjic-495 777 29 runtime runtime NOUN hjic-495 777 30 . . PUNCT hjic-495 778 1 an an DET hjic-495 778 2 additional additional ADJ hjic-495 778 3 benefit benefit NOUN hjic-495 778 4 of of ADP hjic-495 778 5 an an DET hjic-495 778 6 immutable immutable ADJ hjic-495 778 7 root root NOUN hjic-495 778 8 of of ADP hjic-495 778 9 trust trust NOUN hjic-495 778 10 is be AUX hjic-495 778 11 that that SCONJ hjic-495 778 12 it it PRON hjic-495 778 13 allows allow VERB hjic-495 778 14 a a DET hjic-495 778 15 company company NOUN hjic-495 778 16 to to PART hjic-495 778 17 bind bind VERB hjic-495 778 18 the the DET hjic-495 778 19 unique unique ADJ hjic-495 778 20 identifier identifier NOUN hjic-495 778 21 of of ADP hjic-495 778 22 that that DET hjic-495 778 23 device device NOUN hjic-495 778 24 together together ADV hjic-495 778 25 with with ADP hjic-495 778 26 other other ADJ hjic-495 778 27 credentials credential NOUN hjic-495 778 28 to to PART hjic-495 778 29 restrict restrict VERB hjic-495 778 30 company company NOUN hjic-495 778 31 access access NOUN hjic-495 778 32 to to ADP hjic-495 778 33 only only ADV hjic-495 778 34 those those DET hjic-495 778 35 devices device NOUN hjic-495 778 36 . . PUNCT hjic-495 779 1 in in ADP hjic-495 779 2 effect effect NOUN hjic-495 779 3 , , PUNCT hjic-495 779 4 the the DET hjic-495 779 5 device device NOUN hjic-495 779 6 itself itself PRON hjic-495 779 7 can can AUX hjic-495 779 8 become become VERB hjic-495 779 9 one one NUM hjic-495 779 10 of of ADP hjic-495 779 11 the the DET hjic-495 779 12 factors factor NOUN hjic-495 779 13 of of ADP hjic-495 779 14 a a DET hjic-495 779 15 multi multi ADJ hjic-495 779 16 - - ADJ hjic-495 779 17 factor factor NOUN hjic-495 779 18 access access NOUN hjic-495 779 19 . . PUNCT hjic-495 780 1 in in ADP hjic-495 780 2 summary summary NOUN hjic-495 780 3 , , PUNCT hjic-495 780 4 mdm mdm PROPN hjic-495 780 5 ’s ’s PART hjic-495 780 6 current current ADJ hjic-495 780 7 capabilities capability NOUN hjic-495 780 8 support support VERB hjic-495 780 9 the the DET hjic-495 780 10 byod byod NOUN hjic-495 780 11 and and CCONJ hjic-495 780 12 enterprise enterprise NOUN hjic-495 780 13 - - PUNCT hjic-495 780 14 owned own VERB hjic-495 780 15 use use NOUN hjic-495 780 16 of of ADP hjic-495 780 17 mobile mobile ADJ hjic-495 780 18 devices device NOUN hjic-495 780 19 with with ADP hjic-495 780 20 certain certain ADJ hjic-495 780 21 gaps gap NOUN hjic-495 780 22 for for ADP hjic-495 780 23 high high ADJ hjic-495 780 24 - - PUNCT hjic-495 780 25 security security NOUN hjic-495 780 26 issues issue NOUN hjic-495 780 27 . . PUNCT hjic-495 781 1 management management NOUN hjic-495 781 2 capabilities capability NOUN hjic-495 781 3 are be AUX hjic-495 781 4 limited limit VERB hjic-495 781 5 to to ADP hjic-495 781 6 those those PRON hjic-495 781 7 provided provide VERB hjic-495 781 8 for for ADP hjic-495 781 9 mdm mdm PROPN hjic-495 781 10 products product NOUN hjic-495 781 11 by by ADP hjic-495 781 12 the the DET hjic-495 781 13 underlying underlie VERB hjic-495 781 14 mobile mobile ADJ hjic-495 781 15 os os NOUN hjic-495 781 16 ( ( PUNCT hjic-495 781 17 ios ios PROPN hjic-495 781 18 , , PUNCT hjic-495 781 19 android android NOUN hjic-495 781 20 , , PUNCT hjic-495 781 21 and and CCONJ hjic-495 781 22 other other ADJ hjic-495 781 23 platforms platform NOUN hjic-495 781 24 ) ) PUNCT hjic-495 781 25 , , PUNCT hjic-495 781 26 and and CCONJ hjic-495 781 27 therefore therefore ADV hjic-495 781 28 , , PUNCT hjic-495 781 29 these these DET hjic-495 781 30 capability capability NOUN hjic-495 781 31 gaps gap NOUN hjic-495 781 32 can can AUX hjic-495 781 33 not not PART hjic-495 781 34 be be AUX hjic-495 781 35 closed close VERB hjic-495 781 36 by by ADP hjic-495 781 37 mdm mdm PROPN hjic-495 781 38 providers provider NOUN hjic-495 781 39 alone alone ADV hjic-495 781 40 . . PUNCT hjic-495 782 1 ongoing ongoing ADJ hjic-495 782 2 cooperation cooperation NOUN hjic-495 782 3 between between ADP hjic-495 782 4 enterprise enterprise NOUN hjic-495 782 5 customers customer NOUN hjic-495 782 6 , , PUNCT hjic-495 782 7 os os NOUN hjic-495 782 8 vendors vendor NOUN hjic-495 782 9 , , PUNCT hjic-495 782 10 and and CCONJ hjic-495 782 11 mdm mdm PROPN hjic-495 782 12 vendors vendors PROPN hjic-495 782 13 is be AUX hjic-495 782 14 critical critical ADJ hjic-495 782 15 to to ADP hjic-495 782 16 the the DET hjic-495 782 17 continued continue VERB hjic-495 782 18 advancement advancement NOUN hjic-495 782 19 of of ADP hjic-495 782 20 enterprise enterprise NOUN hjic-495 782 21 - - PUNCT hjic-495 782 22 level level NOUN hjic-495 782 23 security security NOUN hjic-495 782 24 for for ADP hjic-495 782 25 mobile mobile ADJ hjic-495 782 26 devices device NOUN hjic-495 782 27 . . PUNCT hjic-495 783 1 closing close VERB hjic-495 783 2 stated state VERB hjic-495 783 3 holes hole NOUN hjic-495 783 4 will will AUX hjic-495 783 5 enable enable VERB hjic-495 783 6 the the DET hjic-495 783 7 deployment deployment NOUN hjic-495 783 8 of of ADP hjic-495 783 9 commercially commercially ADV hjic-495 783 10 available available ADJ hjic-495 783 11 mobile mobile ADJ hjic-495 783 12 devices device NOUN hjic-495 783 13 to to PART hjic-495 783 14 tackle tackle VERB hjic-495 783 15 high high ADJ hjic-495 783 16 - - PUNCT hjic-495 783 17 security security NOUN hjic-495 783 18 use use NOUN hjic-495 783 19 issues issue NOUN hjic-495 783 20 common common ADJ hjic-495 783 21 in in ADP hjic-495 783 22 sensitive sensitive ADJ hjic-495 783 23 industrial industrial ADJ hjic-495 783 24 and and CCONJ hjic-495 783 25 governmental governmental ADJ hjic-495 783 26 environments environment NOUN hjic-495 783 27 . . PUNCT hjic-495 784 1 secure secure ADJ hjic-495 784 2 data datum NOUN hjic-495 784 3 networks network NOUN hjic-495 784 4 need need VERB hjic-495 784 5 to to PART hjic-495 784 6 guarantee guarantee VERB hjic-495 784 7 integrity integrity NOUN hjic-495 784 8 , , PUNCT hjic-495 784 9 confidentiality confidentiality NOUN hjic-495 784 10 and and CCONJ hjic-495 784 11 availability availability NOUN hjic-495 784 12 ; ; PUNCT hjic-495 784 13 this this PRON hjic-495 784 14 is be AUX hjic-495 784 15 when when SCONJ hjic-495 784 16 security security NOUN hjic-495 784 17 is be AUX hjic-495 784 18 fulfilled fulfil VERB hjic-495 784 19 . . PUNCT hjic-495 785 1 policy policy NOUN hjic-495 785 2 enforcement enforcement NOUN hjic-495 785 3 with with ADP hjic-495 785 4 the the DET hjic-495 785 5 mdm mdm PROPN hjic-495 785 6 can can AUX hjic-495 785 7 be be AUX hjic-495 785 8 too too ADV hjic-495 785 9 liberal liberal ADJ hjic-495 785 10 , , PUNCT hjic-495 785 11 but but CCONJ hjic-495 785 12 then then ADV hjic-495 785 13 there there PRON hjic-495 785 14 is be VERB hjic-495 785 15 no no DET hjic-495 785 16 real real ADJ hjic-495 785 17 need need NOUN hjic-495 785 18 for for ADP hjic-495 785 19 mdm mdm PROPN hjic-495 785 20 or or CCONJ hjic-495 785 21 strictly strictly ADV hjic-495 785 22 constraining constrain VERB hjic-495 785 23 users user NOUN hjic-495 785 24 thus thus ADV hjic-495 785 25 limiting limit VERB hjic-495 785 26 the the DET hjic-495 785 27 value value NOUN hjic-495 785 28 - - PUNCT hjic-495 785 29 add add NOUN hjic-495 785 30 . . PUNCT hjic-495 786 1 the the DET hjic-495 786 2 proposed propose VERB hjic-495 786 3 solution solution NOUN hjic-495 786 4 is be AUX hjic-495 786 5 to to PART hjic-495 786 6 identify identify VERB hjic-495 786 7 the the DET hjic-495 786 8 user user NOUN hjic-495 786 9 based base VERB hjic-495 786 10 on on ADP hjic-495 786 11 behaviour behaviour NOUN hjic-495 786 12 and and CCONJ hjic-495 786 13 compare compare VERB hjic-495 786 14 behaviour behaviour NOUN hjic-495 786 15 changes change NOUN hjic-495 786 16 . . PUNCT hjic-495 787 1 behaviour behaviour NOUN hjic-495 787 2 analysis analysis NOUN hjic-495 787 3 and and CCONJ hjic-495 787 4 challenges challenge VERB hjic-495 787 5 growing grow VERB hjic-495 787 6 recognition recognition NOUN hjic-495 787 7 drove drive VERB hjic-495 787 8 the the DET hjic-495 787 9 importance importance NOUN hjic-495 787 10 of of ADP hjic-495 787 11 network network NOUN hjic-495 787 12 science science NOUN hjic-495 787 13 related relate VERB hjic-495 787 14 to to ADP hjic-495 787 15 the the DET hjic-495 787 16 behaviour behaviour NOUN hjic-495 787 17 of of ADP hjic-495 787 18 sophisticated sophisticated ADJ hjic-495 787 19 systems system NOUN hjic-495 787 20 that that PRON hjic-495 787 21 is be AUX hjic-495 787 22 shaped shape VERB hjic-495 787 23 by by ADP hjic-495 787 24 relations relation NOUN hjic-495 787 25 among among ADP hjic-495 787 26 their their PRON hjic-495 787 27 constituent constituent ADJ hjic-495 787 28 elements element NOUN hjic-495 787 29 . . PUNCT hjic-495 788 1 the the DET hjic-495 788 2 rising rise VERB hjic-495 788 3 availability availability NOUN hjic-495 788 4 and and CCONJ hjic-495 788 5 tractability tractability NOUN hjic-495 788 6 of of ADP hjic-495 788 7 large large ADJ hjic-495 788 8 and and CCONJ hjic-495 788 9 high high ADJ hjic-495 788 10 quality quality NOUN hjic-495 788 11 data datum NOUN hjic-495 788 12 sets set NOUN hjic-495 788 13 on on ADP hjic-495 788 14 a a DET hjic-495 788 15 wide wide ADJ hjic-495 788 16 range range NOUN hjic-495 788 17 of of ADP hjic-495 788 18 complex complex ADJ hjic-495 788 19 systems system NOUN hjic-495 788 20 [ [ X hjic-495 788 21 1 1 NUM hjic-495 788 22 - - SYM hjic-495 788 23 3 3 NUM hjic-495 788 24 ] ] PUNCT hjic-495 788 25 have have AUX hjic-495 788 26 led lead VERB hjic-495 788 27 to to ADP hjic-495 788 28 a a DET hjic-495 788 29 primary primary ADJ hjic-495 788 30 insight insight NOUN hjic-495 788 31 : : PUNCT hjic-495 788 32 substantially substantially ADV hjic-495 788 33 diverse diverse ADJ hjic-495 788 34 complex complex ADJ hjic-495 788 35 systems system NOUN hjic-495 788 36 often often ADV hjic-495 788 37 share share VERB hjic-495 788 38 core core NOUN hjic-495 788 39 key key ADJ hjic-495 788 40 organizational organizational ADJ hjic-495 788 41 principles principle NOUN hjic-495 788 42 . . PUNCT hjic-495 789 1 these these PRON hjic-495 789 2 can can AUX hjic-495 789 3 be be AUX hjic-495 789 4 quantitatively quantitatively ADV hjic-495 789 5 characterized characterize VERB hjic-495 789 6 by by ADP hjic-495 789 7 the the DET hjic-495 789 8 same same ADJ hjic-495 789 9 parameters parameter NOUN hjic-495 789 10 , , PUNCT hjic-495 789 11 which which PRON hjic-495 789 12 means mean VERB hjic-495 789 13 that that SCONJ hjic-495 789 14 they they PRON hjic-495 789 15 show show VERB hjic-495 789 16 remarkably remarkably ADV hjic-495 789 17 similar similar ADJ hjic-495 789 18 macroscopic macroscopic ADJ hjic-495 789 19 behaviour behaviour NOUN hjic-495 789 20 despite despite SCONJ hjic-495 789 21 reflective reflective ADJ hjic-495 789 22 differences difference NOUN hjic-495 789 23 in in ADP hjic-495 789 24 the the DET hjic-495 789 25 low low ADJ hjic-495 789 26 - - PUNCT hjic-495 789 27 level level NOUN hjic-495 789 28 details detail NOUN hjic-495 789 29 of of ADP hjic-495 789 30 the the DET hjic-495 789 31 components component NOUN hjic-495 789 32 of of ADP hjic-495 789 33 each each DET hjic-495 789 34 system system NOUN hjic-495 789 35 or or CCONJ hjic-495 789 36 their their PRON hjic-495 789 37 mechanisms mechanism NOUN hjic-495 789 38 of of ADP hjic-495 789 39 interaction interaction NOUN hjic-495 789 40 . . PUNCT hjic-495 790 1 the the DET hjic-495 790 2 behaviour behaviour NOUN hjic-495 790 3 as as SCONJ hjic-495 790 4 described describe VERB hjic-495 790 5 above above ADV hjic-495 790 6 can can AUX hjic-495 790 7 be be AUX hjic-495 790 8 modelled model VERB hjic-495 790 9 by by ADP hjic-495 790 10 mathematical mathematical ADJ hjic-495 790 11 graphs graph NOUN hjic-495 790 12 , , PUNCT hjic-495 790 13 where where SCONJ hjic-495 790 14 the the DET hjic-495 790 15 graphs graph NOUN hjic-495 790 16 are be AUX hjic-495 790 17 defined define VERB hjic-495 790 18 simply simply ADV hjic-495 790 19 as as ADP hjic-495 790 20 a a DET hjic-495 790 21 set set NOUN hjic-495 790 22 of of ADP hjic-495 790 23 nodes node NOUN hjic-495 790 24 called call VERB hjic-495 790 25 vertices vertex NOUN hjic-495 790 26 linked link VERB hjic-495 790 27 together together ADV hjic-495 790 28 in in ADP hjic-495 790 29 direct direct ADJ hjic-495 790 30 or or CCONJ hjic-495 790 31 indirect indirect ADJ hjic-495 790 32 ways way NOUN hjic-495 790 33 by by ADP hjic-495 790 34 connections connection NOUN hjic-495 790 35 ( ( PUNCT hjic-495 790 36 edges edge NOUN hjic-495 790 37 ) ) PUNCT hjic-495 790 38 . . PUNCT hjic-495 791 1 from from ADP hjic-495 791 2 a a DET hjic-495 791 3 mathematical mathematical ADJ hjic-495 791 4 point point NOUN hjic-495 791 5 of of ADP hjic-495 791 6 view view NOUN hjic-495 791 7 , , PUNCT hjic-495 791 8 g(v g(v PROPN hjic-495 791 9 , , PUNCT hjic-495 791 10 e e NOUN hjic-495 791 11 ) ) PUNCT hjic-495 791 12 are be AUX hjic-495 791 13 canonical canonical ADJ hjic-495 791 14 graphs graph NOUN hjic-495 791 15 as as SCONJ hjic-495 791 16 the the DET hjic-495 791 17 vertices vertex NOUN hjic-495 791 18 and and CCONJ hjic-495 791 19 edges edge NOUN hjic-495 791 20 are be AUX hjic-495 791 21 labelled label VERB hjic-495 791 22 . . PUNCT hjic-495 792 1 in in ADP hjic-495 792 2 network network NOUN hjic-495 792 3 science science NOUN hjic-495 792 4 , , PUNCT hjic-495 792 5 methodological methodological ADJ hjic-495 792 6 advances advance NOUN hjic-495 792 7 permit permit VERB hjic-495 792 8 research research NOUN hjic-495 792 9 to to PART hjic-495 792 10 quantify quantify VERB hjic-495 792 11 other other ADJ hjic-495 792 12 topological topological ADJ hjic-495 792 13 properties property NOUN hjic-495 792 14 of of ADP hjic-495 792 15 complex complex ADJ hjic-495 792 16 systems system NOUN hjic-495 792 17 , , PUNCT hjic-495 792 18 such such ADJ hjic-495 792 19 as as ADP hjic-495 792 20 modularity modularity NOUN hjic-495 792 21 [ [ X hjic-495 792 22 4 4 NUM hjic-495 792 23 ] ] PUNCT hjic-495 792 24 , , PUNCT hjic-495 792 25 hierarchy hierarchy VERB hjic-495 793 1 [ [ X hjic-495 793 2 5 5 NUM hjic-495 793 3 ] ] PUNCT hjic-495 793 4 , , PUNCT hjic-495 793 5 centrality centrality NOUN hjic-495 793 6 [ [ X hjic-495 793 7 6 6 NUM hjic-495 793 8 ] ] PUNCT hjic-495 793 9 and and CCONJ hjic-495 793 10 the the DET hjic-495 793 11 distribution distribution NOUN hjic-495 793 12 of of ADP hjic-495 793 13 network network NOUN hjic-495 793 14 hubs hub NOUN hjic-495 794 1 [ [ X hjic-495 794 2 7,8 7,8 NUM hjic-495 794 3 ] ] PUNCT hjic-495 794 4 . . PUNCT hjic-495 795 1 there there PRON hjic-495 795 2 have have AUX hjic-495 795 3 also also ADV hjic-495 795 4 been be AUX hjic-495 795 5 significant significant ADJ hjic-495 795 6 efforts effort NOUN hjic-495 795 7 to to PART hjic-495 795 8 form form VERB hjic-495 795 9 the the DET hjic-495 795 10 development development NOUN hjic-495 795 11 or or CCONJ hjic-495 795 12 evolution evolution NOUN hjic-495 795 13 of of ADP hjic-495 795 14 complex complex ADJ hjic-495 795 15 networks network NOUN hjic-495 795 16 [ [ X hjic-495 795 17 9 9 NUM hjic-495 795 18 ] ] PUNCT hjic-495 795 19 , , PUNCT hjic-495 795 20 to to PART hjic-495 795 21 link link VERB hjic-495 795 22 network network NOUN hjic-495 795 23 topology topology NOUN hjic-495 795 24 to to ADP hjic-495 795 25 network network NOUN hjic-495 795 26 dynamics dynamic NOUN hjic-495 795 27 , , PUNCT hjic-495 795 28 and and CCONJ hjic-495 795 29 to to PART hjic-495 795 30 explore explore VERB hjic-495 795 31 network network NOUN hjic-495 795 32 robustness robustness NOUN hjic-495 795 33 and and CCONJ hjic-495 795 34 vulnerability vulnerability NOUN hjic-495 795 35 . . PUNCT hjic-495 796 1 these these DET hjic-495 796 2 topics topic NOUN hjic-495 796 3 are be AUX hjic-495 796 4 likely likely ADJ hjic-495 796 5 to to PART hjic-495 796 6 become become VERB hjic-495 796 7 more more ADV hjic-495 796 8 relevant relevant ADJ hjic-495 796 9 in in ADP hjic-495 796 10 relation relation NOUN hjic-495 796 11 to to ADP hjic-495 796 12 behavioural behavioural ADJ hjic-495 796 13 studies study NOUN hjic-495 796 14 . . PUNCT hjic-495 797 1 structural structural ADJ hjic-495 797 2 and and CCONJ hjic-495 797 3 functional functional ADJ hjic-495 797 4 behaviour behaviour NOUN hjic-495 797 5 maps map NOUN hjic-495 797 6 can can AUX hjic-495 797 7 be be AUX hjic-495 797 8 created create VERB hjic-495 797 9 using use VERB hjic-495 797 10 graph graph NOUN hjic-495 797 11 theory theory NOUN hjic-495 797 12 through through ADP hjic-495 797 13 the the DET hjic-495 797 14 following follow VERB hjic-495 797 15 four four NUM hjic-495 797 16 steps step NOUN hjic-495 797 17 : : PUNCT hjic-495 797 18 1 1 X hjic-495 797 19 . . X hjic-495 797 20 define define VERB hjic-495 797 21 the the DET hjic-495 797 22 network network NOUN hjic-495 797 23 nodes node NOUN hjic-495 797 24 . . PUNCT hjic-495 798 1 2 2 X hjic-495 798 2 . . NUM hjic-495 798 3 estimate estimate VERB hjic-495 798 4 a a DET hjic-495 798 5 continuous continuous ADJ hjic-495 798 6 measure measure NOUN hjic-495 798 7 of of ADP hjic-495 798 8 association association NOUN hjic-495 798 9 between between ADP hjic-495 798 10 nodes node NOUN hjic-495 798 11 . . PUNCT hjic-495 799 1 3 3 X hjic-495 799 2 . . X hjic-495 799 3 generate generate VERB hjic-495 799 4 an an DET hjic-495 799 5 association association NOUN hjic-495 799 6 model model NOUN hjic-495 799 7 by by ADP hjic-495 799 8 compiling compile VERB hjic-495 799 9 all all DET hjic-495 799 10 pairs pair NOUN hjic-495 799 11 of of ADP hjic-495 799 12 associations association NOUN hjic-495 799 13 between between ADP hjic-495 799 14 nodes node NOUN hjic-495 799 15 and and CCONJ hjic-495 799 16 usually usually ADV hjic-495 799 17 apply apply VERB hjic-495 799 18 a a DET hjic-495 799 19 threshold threshold NOUN hjic-495 799 20 to to ADP hjic-495 799 21 each each DET hjic-495 799 22 element element NOUN hjic-495 799 23 of of ADP hjic-495 799 24 this this DET hjic-495 799 25 model model NOUN hjic-495 799 26 to to PART hjic-495 799 27 produce produce VERB hjic-495 799 28 a a DET hjic-495 799 29 binary binary ADJ hjic-495 799 30 adjacency adjacency NOUN hjic-495 799 31 matrix matrix NOUN hjic-495 799 32 or or CCONJ hjic-495 799 33 undirected undirected ADJ hjic-495 799 34 graph graph NOUN hjic-495 799 35 . . PUNCT hjic-495 800 1 4 4 X hjic-495 800 2 . . X hjic-495 800 3 calculate calculate VERB hjic-495 800 4 the the DET hjic-495 800 5 network network NOUN hjic-495 800 6 parameters parameter NOUN hjic-495 800 7 of of ADP hjic-495 800 8 interest interest NOUN hjic-495 800 9 in in ADP hjic-495 800 10 this this DET hjic-495 800 11 graphical graphical ADJ hjic-495 800 12 model model NOUN hjic-495 800 13 of of ADP hjic-495 800 14 the the DET hjic-495 800 15 behaviour behaviour NOUN hjic-495 800 16 network network NOUN hjic-495 800 17 and and CCONJ hjic-495 800 18 evaluate evaluate VERB hjic-495 800 19 them they PRON hjic-495 800 20 against against ADP hjic-495 800 21 the the DET hjic-495 800 22 equivalent equivalent ADJ hjic-495 800 23 parameters parameter NOUN hjic-495 800 24 of of ADP hjic-495 800 25 a a DET hjic-495 800 26 population population NOUN hjic-495 800 27 of of ADP hjic-495 800 28 random random ADJ hjic-495 800 29 networks network NOUN hjic-495 800 30 . . PUNCT hjic-495 801 1 the the DET hjic-495 801 2 elements element NOUN hjic-495 801 3 such such ADJ hjic-495 801 4 as as ADP hjic-495 801 5 defined define VERB hjic-495 801 6 network network NOUN hjic-495 801 7 nodes node NOUN hjic-495 801 8 , , PUNCT hjic-495 801 9 relationship relationship NOUN hjic-495 801 10 of of ADP hjic-495 801 11 nodes node NOUN hjic-495 801 12 , , PUNCT hjic-495 801 13 generated generate VERB hjic-495 801 14 association association NOUN hjic-495 801 15 matrix matrix NOUN hjic-495 801 16 and and CCONJ hjic-495 801 17 network network NOUN hjic-495 801 18 parameters parameter NOUN hjic-495 801 19 give give VERB hjic-495 801 20 the the DET hjic-495 801 21 basis basis NOUN hjic-495 801 22 of of ADP hjic-495 801 23 the the DET hjic-495 801 24 behaviour behaviour NOUN hjic-495 801 25 type type NOUN hjic-495 801 26 of of ADP hjic-495 801 27 “ " PUNCT hjic-495 801 28 blueprint blueprint NOUN hjic-495 801 29 ” " PUNCT hjic-495 801 30 of of ADP hjic-495 801 31 a a DET hjic-495 801 32 user user NOUN hjic-495 801 33 . . PUNCT hjic-495 802 1 a a DET hjic-495 802 2 mobile mobile ADJ hjic-495 802 3 user user NOUN hjic-495 802 4 can can AUX hjic-495 802 5 be be AUX hjic-495 802 6 defined define VERB hjic-495 802 7 as as ADP hjic-495 802 8 an an DET hjic-495 802 9 identity identity NOUN hjic-495 802 10 based base VERB hjic-495 802 11 on on ADP hjic-495 802 12 certain certain ADJ hjic-495 802 13 features feature NOUN hjic-495 802 14 of of ADP hjic-495 802 15 this this DET hjic-495 802 16 behavioural behavioural ADJ hjic-495 802 17 “ " PUNCT hjic-495 802 18 blueprint blueprint NOUN hjic-495 802 19 ” " PUNCT hjic-495 802 20 as as ADP hjic-495 802 21 the the DET hjic-495 802 22 key key ADJ hjic-495 802 23 points point NOUN hjic-495 802 24 of of ADP hjic-495 802 25 a a DET hjic-495 802 26 fingerprint fingerprint NOUN hjic-495 802 27 within within ADP hjic-495 802 28 the the DET hjic-495 802 29 enterprise enterprise NOUN hjic-495 802 30 company company NOUN hjic-495 802 31 . . PUNCT hjic-495 803 1 in in ADP hjic-495 803 2 fig.3 fig.3 PROPN hjic-495 803 3 the the DET hjic-495 803 4 darker dark ADJ hjic-495 803 5 highlighted highlight VERB hjic-495 803 6 edges edge NOUN hjic-495 803 7 could could AUX hjic-495 803 8 be be AUX hjic-495 803 9 the the DET hjic-495 803 10 essential essential ADJ hjic-495 803 11 elements element NOUN hjic-495 803 12 for for ADP hjic-495 803 13 the the DET hjic-495 803 14 identifier identifier NOUN hjic-495 803 15 . . PUNCT hjic-495 804 1 access access NOUN hjic-495 804 2 to to ADP hjic-495 804 3 resource resource NOUN hjic-495 804 4 driven drive VERB hjic-495 804 5 networks network NOUN hjic-495 804 6 is be AUX hjic-495 804 7 defined define VERB hjic-495 804 8 in in ADP hjic-495 804 9 the the DET hjic-495 804 10 graph graph NOUN hjic-495 804 11 theory theory NOUN hjic-495 804 12 as as ADP hjic-495 804 13 a a DET hjic-495 804 14 set set NOUN hjic-495 804 15 of of ADP hjic-495 804 16 nodes node NOUN hjic-495 804 17 or or CCONJ hjic-495 804 18 vertices vertex NOUN hjic-495 804 19 and and CCONJ hjic-495 804 20 the the DET hjic-495 804 21 edges edge NOUN hjic-495 804 22 or or CCONJ hjic-495 804 23 lines line NOUN hjic-495 804 24 , , PUNCT hjic-495 804 25 plus plus CCONJ hjic-495 804 26 the the DET hjic-495 804 27 connections connection NOUN hjic-495 804 28 between between ADP hjic-495 804 29 them they PRON hjic-495 804 30 . . PUNCT hjic-495 805 1 the the DET hjic-495 805 2 graph graph NOUN hjic-495 805 3 topology topology NOUN hjic-495 805 4 can can AUX hjic-495 805 5 be be AUX hjic-495 805 6 quantitatively quantitatively ADV hjic-495 805 7 captured capture VERB hjic-495 805 8 by by ADP hjic-495 805 9 a a DET hjic-495 805 10 wide wide ADJ hjic-495 805 11 variety variety NOUN hjic-495 805 12 of of ADP hjic-495 805 13 measures measure NOUN hjic-495 805 14 used use VERB hjic-495 805 15 to to PART hjic-495 805 16 generate generate VERB hjic-495 805 17 the the DET hjic-495 805 18 key key ADJ hjic-495 805 19 points point NOUN hjic-495 805 20 of of ADP hjic-495 805 21 the the DET hjic-495 805 22 blueprint blueprint NOUN hjic-495 805 23 . . PUNCT hjic-495 806 1 the the DET hjic-495 806 2 most most ADV hjic-495 806 3 important important ADJ hjic-495 806 4 measurement measurement NOUN hjic-495 806 5 is be AUX hjic-495 806 6 the the DET hjic-495 806 7 node node ADJ hjic-495 806 8 degree degree NOUN hjic-495 806 9 . . PUNCT hjic-495 807 1 the the DET hjic-495 807 2 degree degree NOUN hjic-495 807 3 of of ADP hjic-495 807 4 a a DET hjic-495 807 5 node node NOUN hjic-495 807 6 is be AUX hjic-495 807 7 the the DET hjic-495 807 8 number number NOUN hjic-495 807 9 of of ADP hjic-495 807 10 82 82 NUM hjic-495 807 11 connections connection NOUN hjic-495 807 12 it it PRON hjic-495 807 13 links link VERB hjic-495 807 14 to to ADP hjic-495 807 15 the the DET hjic-495 807 16 rest rest NOUN hjic-495 807 17 of of ADP hjic-495 807 18 the the DET hjic-495 807 19 network network NOUN hjic-495 807 20 . . PUNCT hjic-495 808 1 based base VERB hjic-495 808 2 on on ADP hjic-495 808 3 this this DET hjic-495 808 4 definition definition NOUN hjic-495 808 5 , , PUNCT hjic-495 808 6 it it PRON hjic-495 808 7 is be AUX hjic-495 808 8 the the DET hjic-495 808 9 most most ADV hjic-495 808 10 elementary elementary ADJ hjic-495 808 11 network network NOUN hjic-495 808 12 measure measure NOUN hjic-495 808 13 , , PUNCT hjic-495 808 14 and and CCONJ hjic-495 808 15 most most ADJ hjic-495 808 16 other other ADJ hjic-495 808 17 measures measure NOUN hjic-495 808 18 are be AUX hjic-495 808 19 ultimately ultimately ADV hjic-495 808 20 linked link VERB hjic-495 808 21 to to ADP hjic-495 808 22 the the DET hjic-495 808 23 node node NOUN hjic-495 808 24 degree degree NOUN hjic-495 808 25 . . PUNCT hjic-495 809 1 the the DET hjic-495 809 2 degrees degree NOUN hjic-495 809 3 of of ADP hjic-495 809 4 all all DET hjic-495 809 5 the the DET hjic-495 809 6 network network NOUN hjic-495 809 7 ’s ’s PART hjic-495 809 8 nodes node NOUN hjic-495 809 9 identified identify VERB hjic-495 809 10 form form VERB hjic-495 809 11 a a DET hjic-495 809 12 degree degree NOUN hjic-495 809 13 distribution distribution NOUN hjic-495 809 14 [ [ X hjic-495 809 15 10 10 NUM hjic-495 809 16 ] ] PUNCT hjic-495 809 17 . . PUNCT hjic-495 810 1 in in ADP hjic-495 810 2 randomly randomly ADV hjic-495 810 3 selected select VERB hjic-495 810 4 networks network NOUN hjic-495 810 5 all all PRON hjic-495 810 6 of of ADP hjic-495 810 7 the the DET hjic-495 810 8 connections connection NOUN hjic-495 810 9 are be AUX hjic-495 810 10 equally equally ADV hjic-495 810 11 probable probable ADJ hjic-495 810 12 , , PUNCT hjic-495 810 13 i.e. i.e. X hjic-495 810 14 the the DET hjic-495 810 15 result result NOUN hjic-495 810 16 is be AUX hjic-495 810 17 a a DET hjic-495 810 18 gaussian gaussian ADJ hjic-495 810 19 distribution distribution NOUN hjic-495 810 20 . . PUNCT hjic-495 811 1 however however ADV hjic-495 811 2 , , PUNCT hjic-495 811 3 complex complex ADJ hjic-495 811 4 networks network NOUN hjic-495 811 5 in in ADP hjic-495 811 6 general general ADJ hjic-495 811 7 have have VERB hjic-495 811 8 non non ADJ hjic-495 811 9 - - ADJ hjic-495 811 10 gaussian gaussian ADJ hjic-495 811 11 distributions distribution NOUN hjic-495 811 12 , , PUNCT hjic-495 811 13 often often ADV hjic-495 811 14 with with ADP hjic-495 811 15 a a DET hjic-495 811 16 long long ADJ hjic-495 811 17 tail tail NOUN hjic-495 811 18 towards towards ADP hjic-495 811 19 higher high ADJ hjic-495 811 20 degrees degree NOUN hjic-495 811 21 . . PUNCT hjic-495 812 1 the the DET hjic-495 812 2 degree degree NOUN hjic-495 812 3 distributions distribution NOUN hjic-495 812 4 of of ADP hjic-495 812 5 the the DET hjic-495 812 6 scale scale NOUN hjic-495 812 7 - - PUNCT hjic-495 812 8 free free ADJ hjic-495 812 9 networks network NOUN hjic-495 812 10 follow follow VERB hjic-495 812 11 a a DET hjic-495 812 12 power power NOUN hjic-495 812 13 law law NOUN hjic-495 812 14 [ [ X hjic-495 812 15 11 11 NUM hjic-495 812 16 ] ] PUNCT hjic-495 812 17 . . PUNCT hjic-495 813 1 this this DET hjic-495 813 2 landmark landmark PROPN hjic-495 813 3 study study NOUN hjic-495 813 4 [ [ X hjic-495 813 5 11 11 NUM hjic-495 813 6 ] ] PUNCT hjic-495 813 7 was be AUX hjic-495 813 8 the the DET hjic-495 813 9 first first ADJ hjic-495 813 10 to to PART hjic-495 813 11 describe describe VERB hjic-495 813 12 the the DET hjic-495 813 13 scalefree scalefree ADJ hjic-495 813 14 organization organization NOUN hjic-495 813 15 of of ADP hjic-495 813 16 many many ADJ hjic-495 813 17 complex complex ADJ hjic-495 813 18 networks network NOUN hjic-495 813 19 and and CCONJ hjic-495 813 20 proposed propose VERB hjic-495 813 21 a a DET hjic-495 813 22 simple simple ADJ hjic-495 813 23 growth growth NOUN hjic-495 813 24 rule rule NOUN hjic-495 813 25 for for ADP hjic-495 813 26 their their PRON hjic-495 813 27 formation formation NOUN hjic-495 813 28 . . PUNCT hjic-495 814 1 the the DET hjic-495 814 2 number number NOUN hjic-495 814 3 of of ADP hjic-495 814 4 connections connection NOUN hjic-495 814 5 could could AUX hjic-495 814 6 give give VERB hjic-495 814 7 a a DET hjic-495 814 8 large large ADJ hjic-495 814 9 graph graph NOUN hjic-495 814 10 network network NOUN hjic-495 814 11 that that PRON hjic-495 814 12 could could AUX hjic-495 814 13 be be AUX hjic-495 814 14 used use VERB hjic-495 814 15 for for ADP hjic-495 814 16 usability usability NOUN hjic-495 814 17 needs need VERB hjic-495 814 18 to to PART hjic-495 814 19 define define VERB hjic-495 814 20 clustering clustering NOUN hjic-495 814 21 , , PUNCT hjic-495 814 22 coefficients coefficient NOUN hjic-495 814 23 , , PUNCT hjic-495 814 24 and and CCONJ hjic-495 814 25 motifs motif NOUN hjic-495 814 26 . . PUNCT hjic-495 815 1 if if SCONJ hjic-495 815 2 the the DET hjic-495 815 3 nearest near ADJ hjic-495 815 4 neighbours neighbour NOUN hjic-495 815 5 of of ADP hjic-495 815 6 a a DET hjic-495 815 7 node node NOUN hjic-495 815 8 are be AUX hjic-495 815 9 also also ADV hjic-495 815 10 directly directly ADV hjic-495 815 11 linked link VERB hjic-495 815 12 to to ADP hjic-495 815 13 each each DET hjic-495 815 14 other other ADJ hjic-495 815 15 , , PUNCT hjic-495 815 16 they they PRON hjic-495 815 17 form form VERB hjic-495 815 18 a a DET hjic-495 815 19 cluster cluster NOUN hjic-495 815 20 , , PUNCT hjic-495 815 21 and and CCONJ hjic-495 815 22 the the DET hjic-495 815 23 clustering clustering ADJ hjic-495 815 24 coefficient coefficient NOUN hjic-495 815 25 quantifies quantify VERB hjic-495 815 26 the the DET hjic-495 815 27 number number NOUN hjic-495 815 28 of of ADP hjic-495 815 29 connections connection NOUN hjic-495 815 30 that that PRON hjic-495 815 31 subsist subsist VERB hjic-495 815 32 between between ADP hjic-495 815 33 the the DET hjic-495 815 34 nearest near ADJ hjic-495 815 35 neighbours neighbour NOUN hjic-495 815 36 of of ADP hjic-495 815 37 a a DET hjic-495 815 38 node node NOUN hjic-495 815 39 as as ADP hjic-495 815 40 a a DET hjic-495 815 41 quantity quantity NOUN hjic-495 815 42 of of ADP hjic-495 815 43 the the DET hjic-495 815 44 maximum maximum ADJ hjic-495 815 45 number number NOUN hjic-495 815 46 of of ADP hjic-495 815 47 possible possible ADJ hjic-495 815 48 connections connection NOUN hjic-495 815 49 [ [ X hjic-495 815 50 12 12 NUM hjic-495 815 51 ] ] PUNCT hjic-495 815 52 . . PUNCT hjic-495 816 1 the the DET hjic-495 816 2 randomly randomly ADV hjic-495 816 3 selected select VERB hjic-495 816 4 networks network NOUN hjic-495 816 5 exhibit exhibit VERB hjic-495 816 6 low low ADJ hjic-495 816 7 average average ADJ hjic-495 816 8 clustering clustering NOUN hjic-495 816 9 , , PUNCT hjic-495 816 10 whereas whereas SCONJ hjic-495 816 11 compound compound NOUN hjic-495 816 12 networks network NOUN hjic-495 816 13 displays display VERB hjic-495 816 14 high high ADJ hjic-495 816 15 clustering clustering NOUN hjic-495 816 16 . . PUNCT hjic-495 817 1 interactions interaction NOUN hjic-495 817 2 between between ADP hjic-495 817 3 neighbouring neighbouring NOUN hjic-495 817 4 nodes node NOUN hjic-495 817 5 can can AUX hjic-495 817 6 also also ADV hjic-495 817 7 be be AUX hjic-495 817 8 counted count VERB hjic-495 817 9 by by ADP hjic-495 817 10 counting count VERB hjic-495 817 11 the the DET hjic-495 817 12 occurrence occurrence NOUN hjic-495 817 13 of of ADP hjic-495 817 14 small small ADJ hjic-495 817 15 motifs motif NOUN hjic-495 817 16 of of ADP hjic-495 817 17 interconnected interconnected ADJ hjic-495 817 18 nodes node NOUN hjic-495 817 19 [ [ X hjic-495 817 20 13 13 NUM hjic-495 817 21 ] ] PUNCT hjic-495 817 22 . . PUNCT hjic-495 818 1 the the DET hjic-495 818 2 distribution distribution NOUN hjic-495 818 3 of of ADP hjic-495 818 4 different different ADJ hjic-495 818 5 motif motif NOUN hjic-495 818 6 classes class NOUN hjic-495 818 7 ( ( PUNCT hjic-495 818 8 nodes node NOUN hjic-495 818 9 efl efl PROPN hjic-495 818 10 and and CCONJ hjic-495 818 11 kmj kmj NOUN hjic-495 818 12 in in ADP hjic-495 818 13 fig.3 fig.3 PROPN hjic-495 818 14 ) ) PUNCT hjic-495 818 15 in in ADP hjic-495 818 16 a a DET hjic-495 818 17 network network NOUN hjic-495 818 18 provides provide VERB hjic-495 818 19 information information NOUN hjic-495 818 20 about about ADP hjic-495 818 21 the the DET hjic-495 818 22 types type NOUN hjic-495 818 23 of of ADP hjic-495 818 24 local local ADJ hjic-495 818 25 interactions interaction NOUN hjic-495 818 26 that that SCONJ hjic-495 818 27 the the DET hjic-495 818 28 network network NOUN hjic-495 818 29 can can AUX hjic-495 818 30 support support VERB hjic-495 818 31 [ [ X hjic-495 818 32 14 14 NUM hjic-495 818 33 ] ] PUNCT hjic-495 818 34 . . PUNCT hjic-495 819 1 the the DET hjic-495 819 2 numbers number NOUN hjic-495 819 3 of of ADP hjic-495 819 4 reachable reachable ADJ hjic-495 819 5 nodes node NOUN hjic-495 819 6 and and CCONJ hjic-495 819 7 hops hops AUX hjic-495 819 8 needed need VERB hjic-495 819 9 for for ADP hjic-495 819 10 connectivity connectivity NOUN hjic-495 819 11 are be AUX hjic-495 819 12 defined define VERB hjic-495 819 13 by by ADP hjic-495 819 14 the the DET hjic-495 819 15 path path NOUN hjic-495 819 16 length length NOUN hjic-495 819 17 and and CCONJ hjic-495 819 18 efficiency efficiency NOUN hjic-495 819 19 . . PUNCT hjic-495 820 1 the the DET hjic-495 820 2 path path NOUN hjic-495 820 3 length length NOUN hjic-495 820 4 is be AUX hjic-495 820 5 the the DET hjic-495 820 6 minimum minimum ADJ hjic-495 820 7 number number NOUN hjic-495 820 8 of of ADP hjic-495 820 9 edges edge NOUN hjic-495 820 10 that that PRON hjic-495 820 11 must must AUX hjic-495 820 12 be be AUX hjic-495 820 13 passed pass VERB hjic-495 820 14 through through ADP hjic-495 820 15 to to PART hjic-495 820 16 start start VERB hjic-495 820 17 moving move VERB hjic-495 820 18 from from ADP hjic-495 820 19 one one NUM hjic-495 820 20 node node NOUN hjic-495 820 21 to to ADP hjic-495 820 22 another another PRON hjic-495 820 23 . . PUNCT hjic-495 821 1 random random ADJ hjic-495 821 2 , , PUNCT hjic-495 821 3 complex complex ADJ hjic-495 821 4 networks network NOUN hjic-495 821 5 have have VERB hjic-495 821 6 short short ADJ hjic-495 821 7 mean mean ADJ hjic-495 821 8 path path NOUN hjic-495 821 9 lengths length NOUN hjic-495 821 10 ; ; PUNCT hjic-495 821 11 they they PRON hjic-495 821 12 exhibit exhibit VERB hjic-495 821 13 high high ADJ hjic-495 821 14 global global ADJ hjic-495 821 15 efficiency efficiency NOUN hjic-495 821 16 of of ADP hjic-495 821 17 parallel parallel ADJ hjic-495 821 18 information information NOUN hjic-495 821 19 transfer transfer NOUN hjic-495 821 20 , , PUNCT hjic-495 821 21 whereas whereas SCONJ hjic-495 821 22 regular regular ADJ hjic-495 821 23 patterns pattern NOUN hjic-495 821 24 exhibit exhibit VERB hjic-495 821 25 long long ADJ hjic-495 821 26 mean mean NOUN hjic-495 821 27 path path NOUN hjic-495 821 28 lengths length NOUN hjic-495 821 29 . . PUNCT hjic-495 822 1 efficiency efficiency NOUN hjic-495 822 2 is be AUX hjic-495 822 3 inversely inversely ADV hjic-495 822 4 related relate VERB hjic-495 822 5 to to ADP hjic-495 822 6 path path NOUN hjic-495 822 7 length length NOUN hjic-495 822 8 . . PUNCT hjic-495 823 1 nevertheless nevertheless ADV hjic-495 823 2 it it PRON hjic-495 823 3 is be AUX hjic-495 823 4 numerically numerically ADV hjic-495 823 5 easier easy ADJ hjic-495 823 6 to to PART hjic-495 823 7 estimate estimate VERB hjic-495 823 8 topological topological ADJ hjic-495 823 9 distances distance NOUN hjic-495 823 10 between between ADP hjic-495 823 11 elements element NOUN hjic-495 823 12 of of ADP hjic-495 823 13 disconnected disconnected ADJ hjic-495 823 14 graphs graph NOUN hjic-495 823 15 . . PUNCT hjic-495 824 1 moreover moreover ADV hjic-495 824 2 , , PUNCT hjic-495 824 3 the the DET hjic-495 824 4 link link NOUN hjic-495 824 5 density density NOUN hjic-495 824 6 or or CCONJ hjic-495 824 7 cost cost NOUN hjic-495 824 8 of of ADP hjic-495 824 9 the the DET hjic-495 824 10 route route NOUN hjic-495 824 11 provides provide VERB hjic-495 824 12 further further ADJ hjic-495 824 13 description description NOUN hjic-495 824 14 . . PUNCT hjic-495 825 1 the the DET hjic-495 825 2 connection connection NOUN hjic-495 825 3 density density NOUN hjic-495 825 4 is be AUX hjic-495 825 5 the the DET hjic-495 825 6 actual actual ADJ hjic-495 825 7 number number NOUN hjic-495 825 8 of of ADP hjic-495 825 9 the the DET hjic-495 825 10 network network NOUN hjic-495 825 11 edges edge VERB hjic-495 825 12 in in ADP hjic-495 825 13 the the DET hjic-495 825 14 graph graph NOUN hjic-495 825 15 as as ADP hjic-495 825 16 a a DET hjic-495 825 17 proportion proportion NOUN hjic-495 825 18 of of ADP hjic-495 825 19 the the DET hjic-495 825 20 total total ADJ hjic-495 825 21 number number NOUN hjic-495 825 22 of of ADP hjic-495 825 23 possible possible ADJ hjic-495 825 24 edges edge NOUN hjic-495 825 25 and and CCONJ hjic-495 825 26 is be AUX hjic-495 825 27 the the DET hjic-495 825 28 simplest simple ADJ hjic-495 825 29 estimator estimator NOUN hjic-495 825 30 of of ADP hjic-495 825 31 the the DET hjic-495 825 32 physical physical ADJ hjic-495 825 33 cost cost NOUN hjic-495 825 34 of of ADP hjic-495 825 35 the the DET hjic-495 825 36 network network NOUN hjic-495 825 37 . . PUNCT hjic-495 826 1 hubs hub NOUN hjic-495 826 2 are be AUX hjic-495 826 3 nodes node NOUN hjic-495 826 4 of of ADP hjic-495 826 5 high high ADJ hjic-495 826 6 degree degree NOUN hjic-495 826 7 , , PUNCT hjic-495 826 8 where where SCONJ hjic-495 826 9 the the DET hjic-495 826 10 centrality centrality NOUN hjic-495 826 11 of of ADP hjic-495 826 12 a a DET hjic-495 826 13 node node NOUN hjic-495 826 14 measures measure NOUN hjic-495 826 15 how how SCONJ hjic-495 826 16 many many ADJ hjic-495 826 17 of of ADP hjic-495 826 18 the the DET hjic-495 826 19 shortest short ADJ hjic-495 826 20 paths path NOUN hjic-495 826 21 exist exist VERB hjic-495 826 22 between between ADP hjic-495 826 23 all all DET hjic-495 826 24 other other ADJ hjic-495 826 25 node node ADJ hjic-495 826 26 pairs pair NOUN hjic-495 826 27 in in ADP hjic-495 826 28 the the DET hjic-495 826 29 network network NOUN hjic-495 826 30 passing pass VERB hjic-495 826 31 through through ADP hjic-495 826 32 it it PRON hjic-495 826 33 . . PUNCT hjic-495 827 1 it it PRON hjic-495 827 2 can can AUX hjic-495 827 3 be be AUX hjic-495 827 4 asserted assert VERB hjic-495 827 5 that that SCONJ hjic-495 827 6 nodes node NOUN hjic-495 827 7 with with ADP hjic-495 827 8 high high ADJ hjic-495 827 9 centrality centrality NOUN hjic-495 827 10 are be AUX hjic-495 827 11 thus thus ADV hjic-495 827 12 crucial crucial ADJ hjic-495 827 13 to to ADP hjic-495 827 14 efficient efficient ADJ hjic-495 827 15 communication communication NOUN hjic-495 827 16 [ [ X hjic-495 827 17 15 15 NUM hjic-495 827 18 ] ] PUNCT hjic-495 827 19 . . PUNCT hjic-495 828 1 the the DET hjic-495 828 2 importance importance NOUN hjic-495 828 3 of of ADP hjic-495 828 4 an an DET hjic-495 828 5 individual individual ADJ hjic-495 828 6 node node NOUN hjic-495 828 7 to to ADP hjic-495 828 8 network network NOUN hjic-495 828 9 effectiveness effectiveness NOUN hjic-495 828 10 can can AUX hjic-495 828 11 be be AUX hjic-495 828 12 assessed assess VERB hjic-495 828 13 by by ADP hjic-495 828 14 deleting delete VERB hjic-495 828 15 it it PRON hjic-495 828 16 and and CCONJ hjic-495 828 17 estimating estimate VERB hjic-495 828 18 the the DET hjic-495 828 19 efficiency efficiency NOUN hjic-495 828 20 of of ADP hjic-495 828 21 the the DET hjic-495 828 22 severed sever VERB hjic-495 828 23 network network NOUN hjic-495 828 24 . . PUNCT hjic-495 829 1 the the DET hjic-495 829 2 robustness robustness NOUN hjic-495 829 3 property property NOUN hjic-495 829 4 refers refer VERB hjic-495 829 5 either either CCONJ hjic-495 829 6 to to ADP hjic-495 829 7 the the DET hjic-495 829 8 structural structural ADJ hjic-495 829 9 integrity integrity NOUN hjic-495 829 10 of of ADP hjic-495 829 11 the the DET hjic-495 829 12 network network NOUN hjic-495 829 13 following follow VERB hjic-495 829 14 the the DET hjic-495 829 15 deletion deletion NOUN hjic-495 829 16 of of ADP hjic-495 829 17 nodes node NOUN hjic-495 829 18 , , PUNCT hjic-495 829 19 edges edge NOUN hjic-495 829 20 or or CCONJ hjic-495 829 21 effects effect NOUN hjic-495 829 22 of of ADP hjic-495 829 23 perturbations perturbation NOUN hjic-495 829 24 on on ADP hjic-495 829 25 local local ADJ hjic-495 829 26 or or CCONJ hjic-495 829 27 global global ADJ hjic-495 829 28 network network NOUN hjic-495 829 29 states state NOUN hjic-495 829 30 . . PUNCT hjic-495 830 1 finally finally ADV hjic-495 830 2 , , PUNCT hjic-495 830 3 modularity modularity NOUN hjic-495 830 4 is be AUX hjic-495 830 5 the the DET hjic-495 830 6 property property NOUN hjic-495 830 7 that that PRON hjic-495 830 8 has have VERB hjic-495 830 9 significant significant ADJ hjic-495 830 10 influence influence NOUN hjic-495 830 11 on on ADP hjic-495 830 12 the the DET hjic-495 830 13 “ " PUNCT hjic-495 830 14 blueprint blueprint NOUN hjic-495 830 15 ” " PUNCT hjic-495 830 16 of of ADP hjic-495 830 17 the the DET hjic-495 830 18 behaviour behaviour NOUN hjic-495 830 19 . . PUNCT hjic-495 831 1 there there PRON hjic-495 831 2 are be VERB hjic-495 831 3 algorithms algorithm NOUN hjic-495 831 4 that that PRON hjic-495 831 5 estimate estimate VERB hjic-495 831 6 the the DET hjic-495 831 7 modularity modularity NOUN hjic-495 831 8 of of ADP hjic-495 831 9 the the DET hjic-495 831 10 network network NOUN hjic-495 831 11 on on ADP hjic-495 831 12 the the DET hjic-495 831 13 basis basis NOUN hjic-495 831 14 of of ADP hjic-495 831 15 hierarchical hierarchical ADJ hjic-495 831 16 clustering clustering NOUN hjic-495 831 17 [ [ X hjic-495 831 18 16 16 NUM hjic-495 831 19 ] ] PUNCT hjic-495 831 20 . . PUNCT hjic-495 832 1 each each DET hjic-495 832 2 module module NOUN hjic-495 832 3 contains contain VERB hjic-495 832 4 several several ADJ hjic-495 832 5 densely densely ADV hjic-495 832 6 interconnected interconnected ADJ hjic-495 832 7 nodes node NOUN hjic-495 832 8 , , PUNCT hjic-495 832 9 and and CCONJ hjic-495 832 10 there there PRON hjic-495 832 11 are be VERB hjic-495 832 12 relatively relatively ADV hjic-495 832 13 few few ADJ hjic-495 832 14 connections connection NOUN hjic-495 832 15 between between ADP hjic-495 832 16 these these DET hjic-495 832 17 nodes node NOUN hjic-495 832 18 in in ADP hjic-495 832 19 different different ADJ hjic-495 832 20 modules module NOUN hjic-495 832 21 . . PUNCT hjic-495 833 1 airline airline NOUN hjic-495 833 2 hubs hub NOUN hjic-495 833 3 described describe VERB hjic-495 833 4 this this PRON hjic-495 833 5 as as ADP hjic-495 833 6 a a DET hjic-495 833 7 function function NOUN hjic-495 833 8 of of ADP hjic-495 833 9 their their PRON hjic-495 833 10 roles role NOUN hjic-495 833 11 in in ADP hjic-495 833 12 community community NOUN hjic-495 833 13 structure structure NOUN hjic-495 833 14 [ [ X hjic-495 833 15 17 17 NUM hjic-495 833 16 ] ] PUNCT hjic-495 833 17 . . PUNCT hjic-495 834 1 provincial provincial ADJ hjic-495 834 2 hubs hub NOUN hjic-495 834 3 are be AUX hjic-495 834 4 connected connect VERB hjic-495 834 5 mainly mainly ADV hjic-495 834 6 to to ADP hjic-495 834 7 nodes node NOUN hjic-495 834 8 in in ADP hjic-495 834 9 their their PRON hjic-495 834 10 modules module NOUN hjic-495 834 11 where where SCONJ hjic-495 834 12 the the DET hjic-495 834 13 connector connector NOUN hjic-495 834 14 hubs hub NOUN hjic-495 834 15 are be AUX hjic-495 834 16 connected connect VERB hjic-495 834 17 to to ADP hjic-495 834 18 nodes node NOUN hjic-495 834 19 in in ADP hjic-495 834 20 other other ADJ hjic-495 834 21 modules module NOUN hjic-495 834 22 . . PUNCT hjic-495 835 1 graph graph NOUN hjic-495 835 2 based base VERB hjic-495 835 3 analysis analysis NOUN hjic-495 835 4 of of ADP hjic-495 835 5 smartphone smartphone NOUN hjic-495 835 6 usage usage NOUN hjic-495 835 7 previously previously ADV hjic-495 835 8 , , PUNCT hjic-495 835 9 the the DET hjic-495 835 10 challenges challenge NOUN hjic-495 835 11 of of ADP hjic-495 835 12 using use VERB hjic-495 835 13 mobile mobile ADJ hjic-495 835 14 devices device NOUN hjic-495 835 15 in in ADP hjic-495 835 16 the the DET hjic-495 835 17 enterprise enterprise NOUN hjic-495 835 18 environment environment NOUN hjic-495 835 19 were be AUX hjic-495 835 20 discussed discuss VERB hjic-495 835 21 . . PUNCT hjic-495 836 1 it it PRON hjic-495 836 2 is be AUX hjic-495 836 3 important important ADJ hjic-495 836 4 to to PART hjic-495 836 5 identify identify VERB hjic-495 836 6 the the DET hjic-495 836 7 activities activity NOUN hjic-495 836 8 on on ADP hjic-495 836 9 the the DET hjic-495 836 10 device device NOUN hjic-495 836 11 in in ADP hjic-495 836 12 order order NOUN hjic-495 836 13 to to PART hjic-495 836 14 take take VERB hjic-495 836 15 either either CCONJ hjic-495 836 16 preventive preventive ADJ hjic-495 836 17 or or CCONJ hjic-495 836 18 corrective corrective ADJ hjic-495 836 19 actions action NOUN hjic-495 836 20 . . PUNCT hjic-495 837 1 g(v g(v PROPN hjic-495 837 2 , , PUNCT hjic-495 837 3 e e NOUN hjic-495 837 4 ) ) PUNCT hjic-495 837 5 used use VERB hjic-495 837 6 for for ADP hjic-495 837 7 the the DET hjic-495 837 8 behaviour behaviour NOUN hjic-495 837 9 identification identification NOUN hjic-495 837 10 and and CCONJ hjic-495 837 11 description description NOUN hjic-495 837 12 graphs graph NOUN hjic-495 837 13 . . PUNCT hjic-495 838 1 vertices vertex NOUN hjic-495 838 2 are be AUX hjic-495 838 3 defined define VERB hjic-495 838 4 as as ADP hjic-495 838 5 applications application NOUN hjic-495 838 6 , , PUNCT hjic-495 838 7 more more ADV hjic-495 838 8 precisely precisely ADV hjic-495 838 9 , , PUNCT hjic-495 838 10 vertices vertice VERB hjic-495 838 11 within within ADP hjic-495 838 12 the the DET hjic-495 838 13 device device NOUN hjic-495 838 14 or or CCONJ hjic-495 838 15 network network NOUN hjic-495 838 16 addresses address NOUN hjic-495 838 17 and and CCONJ hjic-495 838 18 sites site NOUN hjic-495 838 19 . . PUNCT hjic-495 839 1 edges edge NOUN hjic-495 839 2 are be AUX hjic-495 839 3 the the DET hjic-495 839 4 connections connection NOUN hjic-495 839 5 between between ADP hjic-495 839 6 the the DET hjic-495 839 7 vertices vertex NOUN hjic-495 839 8 applications application NOUN hjic-495 839 9 called call VERB hjic-495 839 10 websites website NOUN hjic-495 839 11 , , PUNCT hjic-495 839 12 network network NOUN hjic-495 839 13 addresses address NOUN hjic-495 839 14 , , PUNCT hjic-495 839 15 useror useror NOUN hjic-495 839 16 process process NOUN hjic-495 839 17 - - PUNCT hjic-495 839 18 initiated initiate VERB hjic-495 839 19 connections connection NOUN hjic-495 839 20 . . PUNCT hjic-495 840 1 • • NOUN hjic-495 840 2 network network NOUN hjic-495 840 3 nodes node NOUN hjic-495 840 4 can can AUX hjic-495 840 5 be be AUX hjic-495 840 6 defined define VERB hjic-495 840 7 as as ADP hjic-495 840 8 the the DET hjic-495 840 9 resource resource NOUN hjic-495 840 10 access access NOUN hjic-495 840 11 , , PUNCT hjic-495 840 12 i.e. i.e. X hjic-495 840 13 applications application NOUN hjic-495 840 14 , , PUNCT hjic-495 840 15 programs program NOUN hjic-495 840 16 , , PUNCT hjic-495 840 17 and and CCONJ hjic-495 840 18 device device NOUN hjic-495 840 19 elements element NOUN hjic-495 840 20 access access NOUN hjic-495 840 21 initiated initiate VERB hjic-495 840 22 by by ADP hjic-495 840 23 the the DET hjic-495 840 24 user user NOUN hjic-495 840 25 or or CCONJ hjic-495 840 26 application application NOUN hjic-495 840 27 calls call NOUN hjic-495 840 28 . . PUNCT hjic-495 841 1 • • NUM hjic-495 841 2 association association NOUN hjic-495 841 3 between between ADP hjic-495 841 4 network network NOUN hjic-495 841 5 nodes node NOUN hjic-495 841 6 could could AUX hjic-495 841 7 be be AUX hjic-495 841 8 defined define VERB hjic-495 841 9 as as ADP hjic-495 841 10 the the DET hjic-495 841 11 connections connection NOUN hjic-495 841 12 of of ADP hjic-495 841 13 the the DET hjic-495 841 14 applications application NOUN hjic-495 841 15 ( ( PUNCT hjic-495 841 16 calls call NOUN hjic-495 841 17 , , PUNCT hjic-495 841 18 connections connection NOUN hjic-495 841 19 , , PUNCT hjic-495 841 20 as as ADP hjic-495 841 21 web web NOUN hjic-495 841 22 access access NOUN hjic-495 841 23 ) ) PUNCT hjic-495 841 24 , , PUNCT hjic-495 841 25 usually usually ADV hjic-495 841 26 resources resource NOUN hjic-495 841 27 are be AUX hjic-495 841 28 connecting connect VERB hjic-495 841 29 together together ADV hjic-495 841 30 . . PUNCT hjic-495 842 1 • • NUM hjic-495 842 2 based base VERB hjic-495 842 3 on on ADP hjic-495 842 4 the the DET hjic-495 842 5 above above ADJ hjic-495 842 6 elements element NOUN hjic-495 842 7 , , PUNCT hjic-495 842 8 network network NOUN hjic-495 842 9 nodes node NOUN hjic-495 842 10 and and CCONJ hjic-495 842 11 associations association NOUN hjic-495 842 12 provide provide VERB hjic-495 842 13 the the DET hjic-495 842 14 details detail NOUN hjic-495 842 15 to to PART hjic-495 842 16 calculate calculate VERB hjic-495 842 17 the the DET hjic-495 842 18 association association NOUN hjic-495 842 19 matrix matrix NOUN hjic-495 842 20 . . PUNCT hjic-495 843 1 • • NUM hjic-495 843 2 the the DET hjic-495 843 3 following follow VERB hjic-495 843 4 steps step NOUN hjic-495 843 5 include include VERB hjic-495 843 6 network network NOUN hjic-495 843 7 parameter parameter NOUN hjic-495 843 8 analysis analysis NOUN hjic-495 843 9 calculated calculate VERB hjic-495 843 10 from from ADP hjic-495 843 11 the the DET hjic-495 843 12 above above NOUN hjic-495 843 13 . . PUNCT hjic-495 844 1 the the DET hjic-495 844 2 question question NOUN hjic-495 844 3 is be AUX hjic-495 844 4 not not PART hjic-495 844 5 whether whether SCONJ hjic-495 844 6 mobile mobile ADJ hjic-495 844 7 activity activity NOUN hjic-495 844 8 can can AUX hjic-495 844 9 be be AUX hjic-495 844 10 defined define VERB hjic-495 844 11 as as ADP hjic-495 844 12 a a DET hjic-495 844 13 complex complex ADJ hjic-495 844 14 network network NOUN hjic-495 844 15 and and CCONJ hjic-495 844 16 describable describable ADJ hjic-495 844 17 by by ADP hjic-495 844 18 graph graph NOUN hjic-495 844 19 , , PUNCT hjic-495 844 20 but but CCONJ hjic-495 844 21 whether whether SCONJ hjic-495 844 22 the the DET hjic-495 844 23 process process NOUN hjic-495 844 24 identies identie VERB hjic-495 844 25 a a DET hjic-495 844 26 user user NOUN hjic-495 844 27 by by ADP hjic-495 844 28 a a DET hjic-495 844 29 motif motif NOUN hjic-495 844 30 . . PUNCT hjic-495 845 1 however however ADV hjic-495 845 2 , , PUNCT hjic-495 845 3 before before SCONJ hjic-495 845 4 this this DET hjic-495 845 5 question question NOUN hjic-495 845 6 can can AUX hjic-495 845 7 be be AUX hjic-495 845 8 answered answer VERB hjic-495 845 9 certain certain ADJ hjic-495 845 10 challenges challenge NOUN hjic-495 845 11 need need VERB hjic-495 845 12 to to PART hjic-495 845 13 be be AUX hjic-495 845 14 faced face VERB hjic-495 845 15 : : PUNCT hjic-495 845 16 • • NUM hjic-495 845 17 identify identify VERB hjic-495 845 18 motifs motif NOUN hjic-495 845 19 as as ADP hjic-495 845 20 maximum maximum ADJ hjic-495 845 21 independent independent ADJ hjic-495 845 22 set set NOUN hjic-495 845 23 , , PUNCT hjic-495 845 24 • • NUM hjic-495 845 25 search search NOUN hjic-495 845 26 motif motif NOUN hjic-495 845 27 in in ADP hjic-495 845 28 the the DET hjic-495 845 29 complex complex ADJ hjic-495 845 30 network network NOUN hjic-495 845 31 , , PUNCT hjic-495 845 32 • • NOUN hjic-495 845 33 define define VERB hjic-495 845 34 „ „ PUNCT hjic-495 845 35 approved approve VERB hjic-495 845 36 behaviours behaviour NOUN hjic-495 845 37 ” " PUNCT hjic-495 845 38 according accord VERB hjic-495 845 39 to to ADP hjic-495 845 40 the the DET hjic-495 845 41 identification identification NOUN hjic-495 845 42 of of ADP hjic-495 845 43 user user NOUN hjic-495 845 44 behaviour behaviour NOUN hjic-495 845 45 . . PUNCT hjic-495 846 1 figure figure VERB hjic-495 846 2 3 3 NUM hjic-495 846 3 : : PUNCT hjic-495 846 4 an an DET hjic-495 846 5 example example NOUN hjic-495 846 6 of of ADP hjic-495 846 7 a a DET hjic-495 846 8 mobile mobile ADJ hjic-495 846 9 user user NOUN hjic-495 846 10 ’s ’s PART hjic-495 846 11 identity identity NOUN hjic-495 846 12 on on ADP hjic-495 846 13 the the DET hjic-495 846 14 basis basis NOUN hjic-495 846 15 of of ADP hjic-495 846 16 a a DET hjic-495 846 17 “ " PUNCT hjic-495 846 18 blueprint blueprint NOUN hjic-495 846 19 ” " PUNCT hjic-495 846 20 network network NOUN hjic-495 846 21 83 83 NUM hjic-495 846 22 identification identification NOUN hjic-495 846 23 of of ADP hjic-495 846 24 the the DET hjic-495 846 25 motif motif NOUN hjic-495 846 26 in in ADP hjic-495 846 27 the the DET hjic-495 846 28 graph graph NOUN hjic-495 846 29 the the DET hjic-495 846 30 task task NOUN hjic-495 846 31 is be AUX hjic-495 846 32 to to PART hjic-495 846 33 find find VERB hjic-495 846 34 the the DET hjic-495 846 35 maximum maximum ADJ hjic-495 846 36 independent independent ADJ hjic-495 846 37 set set NOUN hjic-495 846 38 ( ( PUNCT hjic-495 846 39 mis mis PROPN hjic-495 846 40 ) ) PUNCT hjic-495 846 41 of of ADP hjic-495 846 42 a a DET hjic-495 846 43 particular particular ADJ hjic-495 846 44 graph graph NOUN hjic-495 846 45 as as SCONJ hjic-495 846 46 was be AUX hjic-495 846 47 defined define VERB hjic-495 846 48 by by ADP hjic-495 846 49 garey garey PROPN hjic-495 846 50 and and CCONJ hjic-495 846 51 johnson johnson PROPN hjic-495 847 1 [ [ X hjic-495 847 2 18 18 NUM hjic-495 847 3 ] ] PUNCT hjic-495 847 4 as as ADP hjic-495 847 5 np np NOUN hjic-495 847 6 - - PUNCT hjic-495 847 7 complete complete ADJ hjic-495 847 8 and and CCONJ hjic-495 847 9 remains remain VERB hjic-495 847 10 so so ADV hjic-495 847 11 even even ADV hjic-495 847 12 for for ADP hjic-495 847 13 bounded bounded ADJ hjic-495 847 14 degree degree NOUN hjic-495 847 15 graphs graph NOUN hjic-495 847 16 . . PUNCT hjic-495 848 1 according accord VERB hjic-495 848 2 to to ADP hjic-495 848 3 feige feige PROPN hjic-495 848 4 et et PROPN hjic-495 848 5 al al PROPN hjic-495 848 6 . . PUNCT hjic-495 849 1 [ [ X hjic-495 849 2 19 19 NUM hjic-495 849 3 ] ] X hjic-495 849 4 mis mis X hjic-495 849 5 can can AUX hjic-495 849 6 not not PART hjic-495 849 7 be be AUX hjic-495 849 8 approximated approximate VERB hjic-495 849 9 even even ADV hjic-495 849 10 within within ADP hjic-495 849 11 a a DET hjic-495 849 12 factor factor NOUN hjic-495 849 13 of of ADP hjic-495 849 14 |v|1 |v|1 PROPN hjic-495 849 15 − − PROPN hjic-495 849 16 o(1 o(1 PROPN hjic-495 849 17 ) ) PUNCT hjic-495 849 18 in in ADP hjic-495 849 19 polynomial polynomial ADJ hjic-495 849 20 time time NOUN hjic-495 849 21 . . PUNCT hjic-495 850 1 the the DET hjic-495 850 2 greedy greedy ADJ hjic-495 850 3 algorithm algorithm NOUN hjic-495 850 4 ( ( PUNCT hjic-495 850 5 gmis gmis NOUN hjic-495 850 6 ) ) PUNCT hjic-495 850 7 can can AUX hjic-495 850 8 provide provide VERB hjic-495 850 9 a a DET hjic-495 850 10 solution solution NOUN hjic-495 850 11 for for ADP hjic-495 850 12 the the DET hjic-495 850 13 identification identification NOUN hjic-495 850 14 of of ADP hjic-495 850 15 the the DET hjic-495 850 16 maximum maximum ADJ hjic-495 850 17 independence independence NOUN hjic-495 850 18 set set VERB hjic-495 850 19 . . PUNCT hjic-495 851 1 the the DET hjic-495 851 2 algorithm algorithm NOUN hjic-495 851 3 selects select VERB hjic-495 851 4 a a DET hjic-495 851 5 vertex vertex NOUN hjic-495 851 6 of of ADP hjic-495 851 7 minimum minimum NOUN hjic-495 851 8 degree degree NOUN hjic-495 851 9 , , PUNCT hjic-495 851 10 deletes delete VERB hjic-495 851 11 that that DET hjic-495 851 12 vertex vertex NOUN hjic-495 851 13 and and CCONJ hjic-495 851 14 all all PRON hjic-495 851 15 of of ADP hjic-495 851 16 its its PRON hjic-495 851 17 neighbours neighbour NOUN hjic-495 851 18 from from ADP hjic-495 851 19 the the DET hjic-495 851 20 graph graph NOUN hjic-495 851 21 , , PUNCT hjic-495 851 22 and and CCONJ hjic-495 851 23 repeats repeat VERB hjic-495 851 24 this this DET hjic-495 851 25 process process NOUN hjic-495 851 26 until until SCONJ hjic-495 851 27 the the DET hjic-495 851 28 graph graph NOUN hjic-495 851 29 becomes become VERB hjic-495 851 30 empty empty ADJ hjic-495 851 31 . . PUNCT hjic-495 852 1 a a DET hjic-495 852 2 recent recent ADJ hjic-495 852 3 detailed detailed ADJ hjic-495 852 4 analysis analysis NOUN hjic-495 852 5 of of ADP hjic-495 852 6 the the DET hjic-495 852 7 gmis gmis NOUN hjic-495 852 8 algorithm algorithm NOUN hjic-495 852 9 has have AUX hjic-495 852 10 shown show VERB hjic-495 852 11 that that SCONJ hjic-495 852 12 it it PRON hjic-495 852 13 produces produce VERB hjic-495 852 14 reasonably reasonably ADV hjic-495 852 15 good good ADJ hjic-495 852 16 approximations approximation NOUN hjic-495 852 17 of of ADP hjic-495 852 18 the the DET hjic-495 852 19 mis mis PROPN hjic-495 852 20 for for ADP hjic-495 852 21 boundedand boundedand NOUN hjic-495 852 22 lowdegree lowdegree NOUN hjic-495 852 23 graphs graph NOUN hjic-495 852 24 defined define VERB hjic-495 852 25 by by ADP hjic-495 852 26 halldorsson halldorsson NOUN hjic-495 852 27 and and CCONJ hjic-495 852 28 radhakrishnan radhakrishnan PROPN hjic-495 853 1 [ [ X hjic-495 853 2 20 20 NUM hjic-495 853 3 ] ] PUNCT hjic-495 853 4 . . PUNCT hjic-495 854 1 in in ADP hjic-495 854 2 particular particular ADJ hjic-495 854 3 , , PUNCT hjic-495 854 4 for for ADP hjic-495 854 5 a a DET hjic-495 854 6 graph graph NOUN hjic-495 854 7 g g NOUN hjic-495 854 8 with with ADP hjic-495 854 9 a a DET hjic-495 854 10 maximum maximum ADJ hjic-495 854 11 degree degree NOUN hjic-495 854 12 δ δ PROPN hjic-495 854 13 and and CCONJ hjic-495 854 14 an an DET hjic-495 854 15 average average ADJ hjic-495 854 16 degree degree NOUN hjic-495 854 17 ! ! PUNCT hjic-495 854 18 , , PUNCT hjic-495 854 19 the the DET hjic-495 854 20 size size NOUN hjic-495 854 21 |i| |i| PROPN hjic-495 854 22 of of ADP hjic-495 854 23 the the DET hjic-495 854 24 mis mis PROPN hjic-495 854 25 satisfies satisfie NOUN hjic-495 854 26 eq.(1 eq.(1 ADJ hjic-495 854 27 ) ) PUNCT hjic-495 854 28 . . PUNCT hjic-495 855 1 |!| |!| NOUN hjic-495 855 2 ≤ ≤ NUM hjic-495 855 3 min min NOUN hjic-495 855 4 ! ! PUNCT hjic-495 855 5 ∆ ∆ PROPN hjic-495 855 6 ! ! PUNCT hjic-495 855 7 ! ! PUNCT hjic-495 855 8 ! ! PUNCT hjic-495 856 1 |gmis |gmis PROPN hjic-495 856 2 ! ! PUNCT hjic-495 857 1 | | ADV hjic-495 857 2 , , PUNCT hjic-495 857 3 ! ! PUNCT hjic-495 857 4 ! ! PUNCT hjic-495 857 5 ! ! PUNCT hjic-495 857 6 ! ! PUNCT hjic-495 858 1 |gmis |gmis PROPN hjic-495 858 2 ! ! PUNCT hjic-495 859 1 | | ADV hjic-495 859 2 ( ( PUNCT hjic-495 859 3 1 1 X hjic-495 859 4 ) ) PUNCT hjic-495 859 5 where where SCONJ hjic-495 859 6 |gmis(g)| |gmis(g)| PROPN hjic-495 859 7 is be AUX hjic-495 859 8 the the DET hjic-495 859 9 size size NOUN hjic-495 859 10 of of ADP hjic-495 859 11 the the DET hjic-495 859 12 approximate approximate ADJ hjic-495 859 13 mis mis PROPN hjic-495 859 14 found find VERB hjic-495 859 15 by by ADP hjic-495 859 16 the the DET hjic-495 859 17 gmis gmis NOUN hjic-495 859 18 algorithm algorithm NOUN hjic-495 859 19 . . PUNCT hjic-495 860 1 eq.(1 eq.(1 VERB hjic-495 860 2 ) ) PUNCT hjic-495 861 1 provides provide VERB hjic-495 861 2 an an DET hjic-495 861 3 upper upper ADV hjic-495 861 4 - - PUNCT hjic-495 861 5 bound bind VERB hjic-495 861 6 of of ADP hjic-495 861 7 the the DET hjic-495 861 8 number number NOUN hjic-495 861 9 of of ADP hjic-495 861 10 edge edge NOUN hjic-495 861 11 - - PUNCT hjic-495 861 12 disjoint disjoint NOUN hjic-495 861 13 embeddings embedding NOUN hjic-495 861 14 of of ADP hjic-495 861 15 a a DET hjic-495 861 16 particular particular ADJ hjic-495 861 17 sub sub NOUN hjic-495 861 18 - - NOUN hjic-495 861 19 graph graph NOUN hjic-495 861 20 , , PUNCT hjic-495 861 21 and and CCONJ hjic-495 861 22 will will AUX hjic-495 861 23 use use VERB hjic-495 861 24 this this PRON hjic-495 861 25 bound bind VERB hjic-495 861 26 to to PART hjic-495 861 27 obtain obtain VERB hjic-495 861 28 a a DET hjic-495 861 29 computationally computationally ADV hjic-495 861 30 tractable tractable ADJ hjic-495 861 31 problem problem NOUN hjic-495 861 32 formulation formulation NOUN hjic-495 861 33 that that PRON hjic-495 861 34 is be AUX hjic-495 861 35 guaranteed guarantee VERB hjic-495 861 36 not not PART hjic-495 861 37 to to PART hjic-495 861 38 miss miss VERB hjic-495 861 39 any any DET hjic-495 861 40 sub sub NOUN hjic-495 861 41 - - NOUN hjic-495 861 42 graphs graph NOUN hjic-495 861 43 that that PRON hjic-495 861 44 can can AUX hjic-495 861 45 potentially potentially ADV hjic-495 861 46 be be AUX hjic-495 861 47 frequent frequent ADJ hjic-495 861 48 . . PUNCT hjic-495 862 1 searching search VERB hjic-495 862 2 for for ADP hjic-495 862 3 a a DET hjic-495 862 4 discover discover ADJ hjic-495 862 5 motif motif NOUN hjic-495 862 6 in in ADP hjic-495 862 7 the the DET hjic-495 862 8 graph graph NOUN hjic-495 862 9 the the DET hjic-495 862 10 grochow grochow NOUN hjic-495 862 11 - - PUNCT hjic-495 862 12 kellis kellis NOUN hjic-495 862 13 method method NOUN hjic-495 862 14 [ [ X hjic-495 862 15 21 21 NUM hjic-495 862 16 ] ] PUNCT hjic-495 862 17 can can AUX hjic-495 862 18 be be AUX hjic-495 862 19 used use VERB hjic-495 862 20 to to PART hjic-495 862 21 find find VERB hjic-495 862 22 all all DET hjic-495 862 23 examples example NOUN hjic-495 862 24 of of ADP hjic-495 862 25 sub sub NOUN hjic-495 862 26 - - NOUN hjic-495 862 27 graphs graph NOUN hjic-495 862 28 of of ADP hjic-495 862 29 a a DET hjic-495 862 30 given give VERB hjic-495 862 31 size size NOUN hjic-495 862 32 , , PUNCT hjic-495 862 33 similar similar ADJ hjic-495 862 34 to to ADP hjic-495 862 35 exhaustive exhaustive ADJ hjic-495 862 36 methods method NOUN hjic-495 862 37 . . PUNCT hjic-495 863 1 in in ADP hjic-495 863 2 the the DET hjic-495 863 3 background background NOUN hjic-495 863 4 , , PUNCT hjic-495 863 5 all all DET hjic-495 863 6 nonisomorphic nonisomorphic ADJ hjic-495 863 7 graphs graph NOUN hjic-495 863 8 are be AUX hjic-495 863 9 generated generate VERB hjic-495 863 10 of of ADP hjic-495 863 11 a a DET hjic-495 863 12 particular particular ADJ hjic-495 863 13 size size NOUN hjic-495 863 14 using use VERB hjic-495 863 15 mckay mckay PROPN hjic-495 863 16 ’s ’s PART hjic-495 863 17 tools tool NOUN hjic-495 863 18 [ [ X hjic-495 863 19 22 22 NUM hjic-495 863 20 ] ] PUNCT hjic-495 863 21 . . PUNCT hjic-495 864 1 then then ADV hjic-495 864 2 for for ADP hjic-495 864 3 each each DET hjic-495 864 4 graph graph NOUN hjic-495 864 5 , , PUNCT hjic-495 864 6 the the DET hjic-495 864 7 method method NOUN hjic-495 864 8 evaluates evaluate VERB hjic-495 864 9 its its PRON hjic-495 864 10 significance significance NOUN hjic-495 864 11 . . PUNCT hjic-495 865 1 due due ADP hjic-495 865 2 to to ADP hjic-495 865 3 symmetries symmetry NOUN hjic-495 865 4 , , PUNCT hjic-495 865 5 a a DET hjic-495 865 6 set set ADJ hjic-495 865 7 sub sub NOUN hjic-495 865 8 - - NOUN hjic-495 865 9 graph graph NOUN hjic-495 865 10 of of ADP hjic-495 865 11 g g NOUN hjic-495 865 12 may may AUX hjic-495 865 13 be be AUX hjic-495 865 14 mapped map VERB hjic-495 865 15 to to ADP hjic-495 865 16 a a DET hjic-495 865 17 set set VERB hjic-495 865 18 query query NOUN hjic-495 865 19 graph graph NOUN hjic-495 865 20 h h PROPN hjic-495 865 21 multiple multiple ADJ hjic-495 865 22 times time NOUN hjic-495 865 23 . . PUNCT hjic-495 866 1 therefore therefore ADV hjic-495 866 2 , , PUNCT hjic-495 866 3 a a DET hjic-495 866 4 simple simple ADJ hjic-495 866 5 mapping mapping NOUN hjic-495 866 6 - - PUNCT hjic-495 866 7 based base VERB hjic-495 866 8 search search NOUN hjic-495 866 9 for for ADP hjic-495 866 10 a a DET hjic-495 866 11 query query NOUN hjic-495 866 12 graph graph NOUN hjic-495 866 13 will will AUX hjic-495 866 14 locate locate VERB hjic-495 866 15 every every DET hjic-495 866 16 case case NOUN hjic-495 866 17 of of ADP hjic-495 866 18 the the DET hjic-495 866 19 query query NOUN hjic-495 866 20 graph graph NOUN hjic-495 866 21 as as ADV hjic-495 866 22 many many ADJ hjic-495 866 23 times time NOUN hjic-495 866 24 as as SCONJ hjic-495 866 25 the the DET hjic-495 866 26 graph graph NOUN hjic-495 866 27 has have VERB hjic-495 866 28 symmetries symmetry NOUN hjic-495 866 29 . . PUNCT hjic-495 867 1 to to PART hjic-495 867 2 avoid avoid VERB hjic-495 867 3 this this PRON hjic-495 867 4 , , PUNCT hjic-495 867 5 the the DET hjic-495 867 6 method method NOUN hjic-495 867 7 computes compute VERB hjic-495 867 8 and and CCONJ hjic-495 867 9 enforces enforce VERB hjic-495 867 10 several several ADJ hjic-495 867 11 symmetry symmetry NOUN hjic-495 867 12 - - PUNCT hjic-495 867 13 breaking break VERB hjic-495 867 14 conditions condition NOUN hjic-495 867 15 , , PUNCT hjic-495 867 16 which which PRON hjic-495 867 17 ensure ensure VERB hjic-495 867 18 that that SCONJ hjic-495 867 19 there there PRON hjic-495 867 20 is be VERB hjic-495 867 21 an an DET hjic-495 867 22 exclusive exclusive ADJ hjic-495 867 23 map map NOUN hjic-495 867 24 from from ADP hjic-495 867 25 the the DET hjic-495 867 26 query query NOUN hjic-495 867 27 graph graph NOUN hjic-495 867 28 h h NOUN hjic-495 867 29 for for ADP hjic-495 867 30 each each DET hjic-495 867 31 case case NOUN hjic-495 867 32 of of ADP hjic-495 867 33 h h NOUN hjic-495 867 34 in in ADP hjic-495 867 35 g g PROPN hjic-495 867 36 , , PUNCT hjic-495 867 37 so so SCONJ hjic-495 867 38 that that SCONJ hjic-495 867 39 the the DET hjic-495 867 40 search search NOUN hjic-495 867 41 only only ADV hjic-495 867 42 spends spend VERB hjic-495 867 43 time time NOUN hjic-495 867 44 finding find VERB hjic-495 867 45 each each DET hjic-495 867 46 instance instance NOUN hjic-495 867 47 once once ADV hjic-495 867 48 isomorphicextensions isomorphicextension NOUN hjic-495 867 49 ( ( PUNCT hjic-495 867 50 f f X hjic-495 867 51 , , PUNCT hjic-495 867 52 h h NOUN hjic-495 867 53 , , PUNCT hjic-495 867 54 g[,c(h g[,c(h NOUN hjic-495 867 55 ) ) PUNCT hjic-495 867 56 ] ] PUNCT hjic-495 867 57 : : PUNCT hjic-495 867 58 finds find VERB hjic-495 867 59 all all DET hjic-495 867 60 isomorphic isomorphic ADJ hjic-495 867 61 extensions extension NOUN hjic-495 867 62 of of ADP hjic-495 867 63 partial partial ADJ hjic-495 867 64 map map NOUN hjic-495 867 65 f f NOUN hjic-495 867 66 : : PUNCT hjic-495 867 67 h h PROPN hjic-495 867 68 → → SYM hjic-495 867 69 g g X hjic-495 868 1 [ [ X hjic-495 868 2 satisfying satisfy VERB hjic-495 868 3 c(h c(h NOUN hjic-495 868 4 ) ) PUNCT hjic-495 868 5 ] ] PUNCT hjic-495 868 6 start start VERB hjic-495 868 7 with with ADP hjic-495 868 8 an an DET hjic-495 868 9 empty empty ADJ hjic-495 868 10 list list NOUN hjic-495 868 11 of of ADP hjic-495 868 12 isomorphism isomorphism NOUN hjic-495 868 13 . . PUNCT hjic-495 869 1 let let VERB hjic-495 869 2 d d PRON hjic-495 869 3 be be AUX hjic-495 869 4 the the DET hjic-495 869 5 domain domain NOUN hjic-495 869 6 of of ADP hjic-495 869 7 f. f. PROPN hjic-495 869 8 if if SCONJ hjic-495 869 9 d d PROPN hjic-495 869 10 = = NOUN hjic-495 869 11 h h NOUN hjic-495 869 12 , , PUNCT hjic-495 869 13 return return VERB hjic-495 869 14 a a DET hjic-495 869 15 list list NOUN hjic-495 869 16 consisting consist VERB hjic-495 869 17 solely solely ADV hjic-495 869 18 of of ADP hjic-495 869 19 f. f. PROPN hjic-495 869 20 ( ( PUNCT hjic-495 869 21 or or CCONJ hjic-495 869 22 write write VERB hjic-495 869 23 to to PART hjic-495 869 24 disk disk VERB hjic-495 869 25 . . PUNCT hjic-495 869 26 ) ) PUNCT hjic-495 870 1 let let VERB hjic-495 870 2 m m PRON hjic-495 870 3 be be AUX hjic-495 870 4 the the DET hjic-495 870 5 most most ADV hjic-495 870 6 constrained constrain VERB hjic-495 870 7 neighbour neighbour NOUN hjic-495 870 8 of of ADP hjic-495 870 9 any any DET hjic-495 870 10 d d PROPN hjic-495 870 11 � � PROPN hjic-495 870 12 d d PROPN hjic-495 870 13 ( ( PUNCT hjic-495 870 14 constrained constrain VERB hjic-495 870 15 by by ADP hjic-495 870 16 degree degree NOUN hjic-495 870 17 , , PUNCT hjic-495 870 18 neighbours neighbour NOUN hjic-495 870 19 mapped map VERB hjic-495 870 20 ) ) PUNCT hjic-495 870 21 for for ADP hjic-495 870 22 each each DET hjic-495 870 23 neighbour neighbour NOUN hjic-495 870 24 n n PROPN hjic-495 870 25 of of ADP hjic-495 870 26 f f PROPN hjic-495 870 27 ( ( PUNCT hjic-495 870 28 d d NOUN hjic-495 870 29 ) ) PUNCT hjic-495 870 30 if if SCONJ hjic-495 870 31 there there PRON hjic-495 870 32 is be VERB hjic-495 870 33 a a DET hjic-495 870 34 neighbour neighbour NOUN hjic-495 870 35 d d PROPN hjic-495 870 36 � � PROPN hjic-495 870 37 d d PROPN hjic-495 870 38 of of ADP hjic-495 870 39 m m PRON hjic-495 870 40 such such ADJ hjic-495 870 41 that that SCONJ hjic-495 870 42 n n PRON hjic-495 870 43 is be AUX hjic-495 870 44 not not PART hjic-495 870 45 neighbours neighbour NOUN hjic-495 870 46 with with ADP hjic-495 870 47 f(d f(d PROPN hjic-495 870 48 ) ) PUNCT hjic-495 870 49 , , PUNCT hjic-495 870 50 or or CCONJ hjic-495 870 51 if if SCONJ hjic-495 870 52 there there PRON hjic-495 870 53 is be VERB hjic-495 870 54 a a DET hjic-495 870 55 non non ADJ hjic-495 870 56 - - ADJ hjic-495 870 57 neighbour neighbour ADJ hjic-495 870 58 d d PROPN hjic-495 870 59 � � PROPN hjic-495 870 60 d d PROPN hjic-495 870 61 of of ADP hjic-495 870 62 m m PRON hjic-495 870 63 such such ADJ hjic-495 870 64 that that SCONJ hjic-495 870 65 n n PROPN hjic-495 870 66 is be AUX hjic-495 870 67 neighbours neighbour NOUN hjic-495 870 68 with with ADP hjic-495 870 69 f(d f(d PROPN hjic-495 870 70 ) ) PUNCT hjic-495 871 1 [ [ X hjic-495 871 2 or or CCONJ hjic-495 871 3 if if SCONJ hjic-495 871 4 assigning assign VERB hjic-495 871 5 f f PROPN hjic-495 871 6 ( ( PUNCT hjic-495 871 7 m)=n m)=n PRON hjic-495 871 8 would would AUX hjic-495 871 9 violate violate VERB hjic-495 871 10 a a DET hjic-495 871 11 symmetrybreaking symmetrybreaking NOUN hjic-495 871 12 condition condition NOUN hjic-495 871 13 in in ADP hjic-495 871 14 c c PROPN hjic-495 871 15 ( ( PUNCT hjic-495 871 16 h h NOUN hjic-495 871 17 ) ) PUNCT hjic-495 871 18 ] ] PUNCT hjic-495 871 19 , , PUNCT hjic-495 871 20 then then ADV hjic-495 871 21 continue continue VERB hjic-495 871 22 with with ADP hjic-495 871 23 the the DET hjic-495 871 24 next next ADJ hjic-495 871 25 n. n. NOUN hjic-495 871 26 otherwise otherwise ADV hjic-495 871 27 , , PUNCT hjic-495 871 28 let let VERB hjic-495 871 29 f f PRON hjic-495 871 30 = = X hjic-495 871 31 f f X hjic-495 871 32 on on ADP hjic-495 871 33 d d PROPN hjic-495 871 34 , , PUNCT hjic-495 871 35 and and CCONJ hjic-495 871 36 f f PROPN hjic-495 871 37 ( ( PUNCT hjic-495 871 38 m)=n m)=n X hjic-495 871 39 . . PUNCT hjic-495 872 1 find find VERB hjic-495 872 2 all all DET hjic-495 872 3 isomorphic isomorphic ADJ hjic-495 872 4 extensions extension NOUN hjic-495 872 5 of of ADP hjic-495 872 6 f. f. PROPN hjic-495 872 7 append append VERB hjic-495 872 8 these these DET hjic-495 872 9 maps map NOUN hjic-495 872 10 to to ADP hjic-495 872 11 the the DET hjic-495 872 12 list list NOUN hjic-495 872 13 of of ADP hjic-495 872 14 isomorphism isomorphism NOUN hjic-495 872 15 . . PUNCT hjic-495 873 1 return return VERB hjic-495 873 2 the the DET hjic-495 873 3 list list NOUN hjic-495 873 4 of of ADP hjic-495 873 5 isomorphism isomorphism NOUN hjic-495 873 6 the the DET hjic-495 873 7 symmetries symmetry NOUN hjic-495 873 8 of of ADP hjic-495 873 9 a a DET hjic-495 873 10 graph graph NOUN hjic-495 873 11 h h NOUN hjic-495 873 12 equals equal VERB hjic-495 873 13 automorphism automorphism NOUN hjic-495 873 14 ( ( PUNCT hjic-495 873 15 self self NOUN hjic-495 873 16 - - PUNCT hjic-495 873 17 isomorphism isomorphism NOUN hjic-495 873 18 ) ) PUNCT hjic-495 873 19 . . PUNCT hjic-495 874 1 the the DET hjic-495 874 2 collection collection NOUN hjic-495 874 3 of of ADP hjic-495 874 4 automorphism automorphism NOUN hjic-495 874 5 of of ADP hjic-495 874 6 h h NOUN hjic-495 874 7 is be AUX hjic-495 874 8 indicated indicate VERB hjic-495 874 9 by by ADP hjic-495 874 10 aut(h aut(h PROPN hjic-495 874 11 ) ) PUNCT hjic-495 874 12 . . PUNCT hjic-495 875 1 for for ADP hjic-495 875 2 a a DET hjic-495 875 3 set set NOUN hjic-495 875 4 a a PRON hjic-495 875 5 of of ADP hjic-495 875 6 automorphism automorphism NOUN hjic-495 875 7 , , PUNCT hjic-495 875 8 two two NUM hjic-495 875 9 nodes node NOUN hjic-495 875 10 are be AUX hjic-495 875 11 stated state VERB hjic-495 875 12 to to PART hjic-495 875 13 be be AUX hjic-495 875 14 “ " PUNCT hjic-495 875 15 a a DET hjic-495 875 16 - - PUNCT hjic-495 875 17 equivalent equivalent NOUN hjic-495 875 18 ” " PUNCT hjic-495 875 19 if if SCONJ hjic-495 875 20 there there PRON hjic-495 875 21 is be VERB hjic-495 875 22 some some DET hjic-495 875 23 automorphism automorphism NOUN hjic-495 875 24 in in ADP hjic-495 875 25 a a PRON hjic-495 875 26 which which PRON hjic-495 875 27 maps map VERB hjic-495 875 28 one one NUM hjic-495 875 29 to to ADP hjic-495 875 30 the the DET hjic-495 875 31 other other ADJ hjic-495 875 32 , , PUNCT hjic-495 875 33 or or CCONJ hjic-495 875 34 just just ADV hjic-495 875 35 “ " PUNCT hjic-495 875 36 equivalent equivalent ADJ hjic-495 875 37 ” " PUNCT hjic-495 875 38 if if SCONJ hjic-495 875 39 a a DET hjic-495 875 40 = = NOUN hjic-495 875 41 aut(h aut(h NOUN hjic-495 875 42 ) ) PUNCT hjic-495 875 43 . . PUNCT hjic-495 876 1 given give VERB hjic-495 876 2 a a DET hjic-495 876 3 set set NOUN hjic-495 876 4 of of ADP hjic-495 876 5 conditions condition NOUN hjic-495 876 6 c c NOUN hjic-495 876 7 , , PUNCT hjic-495 876 8 α α PROPN hjic-495 876 9 preserves preserve VERB hjic-495 876 10 the the DET hjic-495 876 11 conditions condition NOUN hjic-495 876 12 c c NOUN hjic-495 876 13 if if SCONJ hjic-495 876 14 , , PUNCT hjic-495 876 15 given give VERB hjic-495 876 16 a a DET hjic-495 876 17 labelling labelling NOUN hjic-495 876 18 l1 l1 NOUN hjic-495 876 19 of of ADP hjic-495 876 20 h h PRON hjic-495 876 21 which which PRON hjic-495 876 22 satisfies satisfy VERB hjic-495 876 23 c c PROPN hjic-495 876 24 , , PUNCT hjic-495 876 25 the the DET hjic-495 876 26 corresponding correspond VERB hjic-495 876 27 labelling labelling NOUN hjic-495 876 28 l2 l2 NOUN hjic-495 876 29 : : PUNCT hjic-495 876 30 h h NOUN hjic-495 876 31 → → SYM hjic-495 876 32 z z NOUN hjic-495 876 33 given give VERB hjic-495 876 34 by by ADP hjic-495 876 35 l2(n l2(n NOUN hjic-495 876 36 ) ) PUNCT hjic-495 876 37 = = SYM hjic-495 876 38 l1(α(n l1(α(n NOUN hjic-495 876 39 ) ) PUNCT hjic-495 876 40 ) ) PUNCT hjic-495 876 41 also also ADV hjic-495 876 42 satisfies satisfy VERB hjic-495 876 43 c. c. PROPN hjic-495 876 44 we we PRON hjic-495 876 45 are be AUX hjic-495 876 46 thus thus ADV hjic-495 876 47 searching search VERB hjic-495 876 48 for for ADP hjic-495 876 49 setting set VERB hjic-495 876 50 c c NOUN hjic-495 876 51 , , PUNCT hjic-495 876 52 such such ADJ hjic-495 876 53 that that SCONJ hjic-495 876 54 the the DET hjic-495 876 55 only only ADJ hjic-495 876 56 automorphism automorphism NOUN hjic-495 876 57 preserving preserve VERB hjic-495 876 58 c c NOUN hjic-495 876 59 is be AUX hjic-495 876 60 the the DET hjic-495 876 61 identity identity NOUN hjic-495 876 62 . . PUNCT hjic-495 877 1 this this PRON hjic-495 877 2 ensures ensure VERB hjic-495 877 3 exactly exactly ADV hjic-495 877 4 one one NUM hjic-495 877 5 map map NOUN hjic-495 877 6 from from ADP hjic-495 877 7 h h NOUN hjic-495 877 8 onto onto ADP hjic-495 877 9 each each PRON hjic-495 877 10 of of ADP hjic-495 877 11 its its PRON hjic-495 877 12 instances instance NOUN hjic-495 877 13 in in ADP hjic-495 877 14 g g NOUN hjic-495 877 15 to to PART hjic-495 877 16 satisfy satisfy VERB hjic-495 877 17 the the DET hjic-495 877 18 conditions condition NOUN hjic-495 877 19 . . PUNCT hjic-495 878 1 to to PART hjic-495 878 2 find find VERB hjic-495 878 3 these these DET hjic-495 878 4 conditions condition NOUN hjic-495 878 5 , , PUNCT hjic-495 878 6 an an DET hjic-495 878 7 aut(h)-equivalence aut(h)-equivalence NOUN hjic-495 878 8 class class NOUN hjic-495 878 9 { { PUNCT hjic-495 878 10 n0 n0 PROPN hjic-495 878 11 , , PUNCT hjic-495 878 12 ... ... PUNCT hjic-495 878 13 , , PUNCT hjic-495 878 14 nk nk PROPN hjic-495 878 15 } } PUNCT hjic-495 878 16 of of ADP hjic-495 878 17 nodes node NOUN hjic-495 878 18 of of ADP hjic-495 878 19 h h NOUN hjic-495 878 20 , , PUNCT hjic-495 878 21 and and CCONJ hjic-495 878 22 the the DET hjic-495 878 23 condition condition NOUN hjic-495 878 24 l(n0 l(n0 NOUN hjic-495 878 25 ) ) PUNCT hjic-495 878 26 < < X hjic-495 878 27 min min PROPN hjic-495 878 28 ( ( PUNCT hjic-495 878 29 l(n1 l(n1 NOUN hjic-495 878 30 ) ) PUNCT hjic-495 878 31 , , PUNCT hjic-495 878 32 ... ... PUNCT hjic-495 878 33 , , PUNCT hjic-495 878 34 l(nk l(nk NOUN hjic-495 878 35 ) ) PUNCT hjic-495 878 36 ) ) PUNCT hjic-495 878 37 imposed impose VERB hjic-495 878 38 . . PUNCT hjic-495 879 1 any any DET hjic-495 879 2 automorphism automorphism NOUN hjic-495 879 3 must must AUX hjic-495 879 4 send send VERB hjic-495 879 5 n0 n0 PROPN hjic-495 879 6 to to ADP hjic-495 879 7 one one NUM hjic-495 879 8 of of ADP hjic-495 879 9 the the DET hjic-495 879 10 ni ni PROPN hjic-495 879 11 , , PUNCT hjic-495 879 12 since since SCONJ hjic-495 879 13 these these PRON hjic-495 879 14 are be AUX hjic-495 879 15 all all PRON hjic-495 879 16 of of ADP hjic-495 879 17 the the DET hjic-495 879 18 nodes node NOUN hjic-495 879 19 equivalent equivalent ADJ hjic-495 879 20 to to ADP hjic-495 879 21 n0 n0 NUM hjic-495 879 22 . . PUNCT hjic-495 880 1 however however ADV hjic-495 880 2 to to PART hjic-495 880 3 preserve preserve VERB hjic-495 880 4 this this DET hjic-495 880 5 state state NOUN hjic-495 880 6 , , PUNCT hjic-495 880 7 an an DET hjic-495 880 8 automorphism automorphism NOUN hjic-495 880 9 must must AUX hjic-495 880 10 send send VERB hjic-495 880 11 n0 n0 PROPN hjic-495 880 12 to to ADP hjic-495 880 13 itself itself PRON hjic-495 880 14 . . PUNCT hjic-495 881 1 then then ADV hjic-495 881 2 the the DET hjic-495 881 3 process process NOUN hjic-495 881 4 continues continue VERB hjic-495 881 5 recursively recursively ADV hjic-495 881 6 , , PUNCT hjic-495 881 7 replacing replace VERB hjic-495 881 8 aut(h aut(h NOUN hjic-495 881 9 ) ) PUNCT hjic-495 881 10 with with ADP hjic-495 881 11 set set VERB hjic-495 881 12 a a PRON hjic-495 881 13 of of ADP hjic-495 881 14 automorphisms automorphism NOUN hjic-495 881 15 that that PRON hjic-495 881 16 send send VERB hjic-495 881 17 n0 n0 PROPN hjic-495 881 18 to to ADP hjic-495 881 19 itself itself PRON hjic-495 881 20 . . PUNCT hjic-495 882 1 because because SCONJ hjic-495 882 2 findsubgraphinstances findsubgraphinstance NOUN hjic-495 882 3 starts start VERB hjic-495 882 4 with with ADP hjic-495 882 5 a a DET hjic-495 882 6 particular particular ADJ hjic-495 882 7 node node NOUN hjic-495 882 8 that that SCONJ hjic-495 882 9 node node NOUN hjic-495 882 10 can can AUX hjic-495 882 11 be be AUX hjic-495 882 12 considered consider VERB hjic-495 882 13 already already ADV hjic-495 882 14 fixed fix VERB hjic-495 882 15 . . PUNCT hjic-495 883 1 the the DET hjic-495 883 2 main main ADJ hjic-495 883 3 reasons reason NOUN hjic-495 883 4 for for ADP hjic-495 883 5 the the DET hjic-495 883 6 selection selection NOUN hjic-495 883 7 of of ADP hjic-495 883 8 the the DET hjic-495 883 9 grochow grochow NOUN hjic-495 883 10 and and CCONJ hjic-495 883 11 kellis kellis PROPN hjic-495 883 12 method method NOUN hjic-495 883 13 are be AUX hjic-495 883 14 summarized summarize VERB hjic-495 883 15 as as SCONJ hjic-495 883 16 follows follow VERB hjic-495 883 17 : : PUNCT hjic-495 883 18 • • NOUN hjic-495 883 19 capable capable ADJ hjic-495 883 20 of of ADP hjic-495 883 21 finding find VERB hjic-495 883 22 more more ADV hjic-495 883 23 significant significant ADJ hjic-495 883 24 motifs motif NOUN hjic-495 883 25 by by ADP hjic-495 883 26 enabling enable VERB hjic-495 883 27 exhaustive exhaustive ADJ hjic-495 883 28 discovery discovery NOUN hjic-495 883 29 of of ADP hjic-495 883 30 motifs motif NOUN hjic-495 883 31 up up ADP hjic-495 883 32 to to PART hjic-495 883 33 seven seven NUM hjic-495 883 34 nodes node NOUN hjic-495 883 35 . . PUNCT hjic-495 884 1 to to PART hjic-495 884 2 find find VERB hjic-495 884 3 even even ADV hjic-495 884 4 larger large ADJ hjic-495 884 5 motifs motif NOUN hjic-495 884 6 , , PUNCT hjic-495 884 7 the the DET hjic-495 884 8 method method NOUN hjic-495 884 9 samples sample VERB hjic-495 884 10 a a DET hjic-495 884 11 connected connected ADJ hjic-495 884 12 subgraph subgraph NOUN hjic-495 884 13 , , PUNCT hjic-495 884 14 and and CCONJ hjic-495 884 15 then then ADV hjic-495 884 16 finds find VERB hjic-495 884 17 all all DET hjic-495 884 18 its its PRON hjic-495 884 19 occurrences occurrence NOUN hjic-495 884 20 and and CCONJ hjic-495 884 21 assesses assess VERB hjic-495 884 22 their their PRON hjic-495 884 23 significance significance NOUN hjic-495 884 24 using use VERB hjic-495 884 25 this this DET hjic-495 884 26 method method NOUN hjic-495 884 27 . . PUNCT hjic-495 885 1 this this DET hjic-495 885 2 practice practice NOUN hjic-495 885 3 has have AUX hjic-495 885 4 enabled enable VERB hjic-495 885 5 the the DET hjic-495 885 6 algorithm algorithm NOUN hjic-495 885 7 to to PART hjic-495 885 8 find find VERB hjic-495 885 9 motifs motif NOUN hjic-495 885 10 of of ADP hjic-495 885 11 up up ADP hjic-495 885 12 to to PART hjic-495 885 13 fifteen fifteen NUM hjic-495 885 14 nodes node NOUN hjic-495 885 15 and and CCONJ hjic-495 885 16 examine examine VERB hjic-495 885 17 subgraphs subgraph NOUN hjic-495 885 18 of of ADP hjic-495 885 19 up up ADP hjic-495 885 20 to to PART hjic-495 885 21 thirty thirty NUM hjic-495 885 22 - - PUNCT hjic-495 885 23 one one NUM hjic-495 885 24 nodes node NOUN hjic-495 885 25 ; ; PUNCT hjic-495 885 26 • • ADP hjic-495 885 27 capable capable ADJ hjic-495 885 28 of of ADP hjic-495 885 29 quering quere VERB hjic-495 885 30 a a DET hjic-495 885 31 particular particular ADJ hjic-495 885 32 subgraph subgraph NOUN hjic-495 885 33 by by ADP hjic-495 885 34 querying query VERB hjic-495 885 35 whether whether SCONJ hjic-495 885 36 a a DET hjic-495 885 37 particular particular ADJ hjic-495 885 38 subgraph subgraph NOUN hjic-495 885 39 is be AUX hjic-495 885 40 significant significant ADJ hjic-495 885 41 ; ; PUNCT hjic-495 885 42 • • X hjic-495 885 43 capable capable ADJ hjic-495 885 44 exploring explore VERB hjic-495 885 45 motif motif NOUN hjic-495 885 46 clustering clustering NOUN hjic-495 885 47 ; ; PUNCT hjic-495 885 48 because because SCONJ hjic-495 885 49 the the DET hjic-495 885 50 algorithm algorithm NOUN hjic-495 885 51 finds find VERB hjic-495 885 52 all all DET hjic-495 885 53 occurrences occurrence NOUN hjic-495 885 54 of of ADP hjic-495 885 55 a a DET hjic-495 885 56 given give VERB hjic-495 885 57 subgraph subgraph NOUN hjic-495 885 58 , , PUNCT hjic-495 885 59 it it PRON hjic-495 885 60 can can AUX hjic-495 885 61 be be AUX hjic-495 885 62 used use VERB hjic-495 885 63 to to PART hjic-495 885 64 examine examine VERB hjic-495 885 65 how how SCONJ hjic-495 885 66 these these DET hjic-495 885 67 cases case NOUN hjic-495 885 68 cluster cluster VERB hjic-495 885 69 together together ADV hjic-495 885 70 to to PART hjic-495 885 71 form form VERB hjic-495 885 72 larger large ADJ hjic-495 885 73 structures structure NOUN hjic-495 885 74 ; ; PUNCT hjic-495 885 75 • • NUM hjic-495 885 76 time time NOUN hjic-495 885 77 and and CCONJ hjic-495 885 78 space space NOUN hjic-495 885 79 applied apply VERB hjic-495 885 80 to to ADP hjic-495 885 81 all all DET hjic-495 885 82 subgraphs subgraph NOUN hjic-495 885 83 of of ADP hjic-495 885 84 a a DET hjic-495 885 85 set set NOUN hjic-495 885 86 size size NOUN hjic-495 885 87 , , PUNCT hjic-495 885 88 takes take VERB hjic-495 885 89 exponentially exponentially ADV hjic-495 885 90 a a DET hjic-495 885 91 smaller small ADJ hjic-495 885 92 amount amount NOUN hjic-495 885 93 of of ADP hjic-495 885 94 time time NOUN hjic-495 885 95 than than ADP hjic-495 885 96 previous previous ADJ hjic-495 885 97 methods method NOUN hjic-495 885 98 , , PUNCT hjic-495 885 99 even even ADV hjic-495 885 100 when when SCONJ hjic-495 885 101 implementing implement VERB hjic-495 885 102 the the DET hjic-495 885 103 previous previous ADJ hjic-495 885 104 method method NOUN hjic-495 885 105 with with ADP hjic-495 885 106 the the DET hjic-495 885 107 hashing hashing NOUN hjic-495 885 108 scheme scheme NOUN hjic-495 885 109 . . PUNCT hjic-495 886 1 conclusions conclusion NOUN hjic-495 886 2 apparently apparently ADV hjic-495 886 3 the the DET hjic-495 886 4 current current ADJ hjic-495 886 5 policy policy NOUN hjic-495 886 6 enforcement enforcement NOUN hjic-495 886 7 solutions solution NOUN hjic-495 886 8 are be AUX hjic-495 886 9 not not PART hjic-495 886 10 sufficient sufficient ADJ hjic-495 886 11 because because SCONJ hjic-495 886 12 they they PRON hjic-495 886 13 mainly mainly ADV hjic-495 886 14 focus focus VERB hjic-495 886 15 on on ADP hjic-495 886 16 policy policy NOUN hjic-495 886 17 compliance compliance NOUN hjic-495 886 18 based base VERB hjic-495 886 19 on on ADP hjic-495 886 20 the the DET hjic-495 886 21 response response NOUN hjic-495 886 22 of of ADP hjic-495 886 23 the the DET hjic-495 886 24 device device NOUN hjic-495 886 25 . . PUNCT hjic-495 887 1 the the DET hjic-495 887 2 installation installation NOUN hjic-495 887 3 of of ADP hjic-495 887 4 malicious malicious ADJ hjic-495 887 5 applications application NOUN hjic-495 887 6 could could AUX hjic-495 887 7 alter alter VERB hjic-495 887 8 the the DET hjic-495 887 9 mobile mobile ADJ hjic-495 887 10 devices device NOUN hjic-495 887 11 response response NOUN hjic-495 887 12 ( ( PUNCT hjic-495 887 13 jailbreak jailbreak NOUN hjic-495 887 14 on on ADP hjic-495 887 15 ios ios PROPN hjic-495 887 16 or or CCONJ hjic-495 887 17 android android PROPN hjic-495 887 18 84 84 NUM hjic-495 887 19 and and CCONJ hjic-495 887 20 software software NOUN hjic-495 887 21 imitating imitate VERB hjic-495 887 22 a a DET hjic-495 887 23 response response NOUN hjic-495 887 24 to to ADP hjic-495 887 25 the the DET hjic-495 887 26 mdm mdm PROPN hjic-495 887 27 server server PROPN hjic-495 887 28 ) ) PUNCT hjic-495 887 29 taking take VERB hjic-495 887 30 to to ADP hjic-495 887 31 more more ADV hjic-495 887 32 serious serious ADJ hjic-495 887 33 security security NOUN hjic-495 887 34 issues issue NOUN hjic-495 887 35 . . PUNCT hjic-495 888 1 similarly similarly ADV hjic-495 888 2 to to ADP hjic-495 888 3 the the DET hjic-495 888 4 recently recently ADV hjic-495 888 5 identified identify VERB hjic-495 888 6 malware malware NOUN hjic-495 888 7 oldboot.b oldboot.b NOUN hjic-495 888 8 , , PUNCT hjic-495 888 9 which which PRON hjic-495 888 10 can can AUX hjic-495 888 11 install install VERB hjic-495 888 12 malicious malicious ADJ hjic-495 888 13 applications application NOUN hjic-495 888 14 in in ADP hjic-495 888 15 the the DET hjic-495 888 16 background background NOUN hjic-495 888 17 , , PUNCT hjic-495 888 18 it it PRON hjic-495 888 19 can can AUX hjic-495 888 20 inject inject VERB hjic-495 888 21 malicious malicious ADJ hjic-495 888 22 modules module NOUN hjic-495 888 23 into into ADP hjic-495 888 24 the the DET hjic-495 888 25 system system NOUN hjic-495 888 26 process process NOUN hjic-495 888 27 that that PRON hjic-495 888 28 prevents prevent VERB hjic-495 888 29 malware malware NOUN hjic-495 888 30 applications application NOUN hjic-495 888 31 from from ADP hjic-495 888 32 uninstalling uninstalle VERB hjic-495 888 33 . . PUNCT hjic-495 889 1 oldboot.b oldboot.b PROPN hjic-495 889 2 can can AUX hjic-495 889 3 change change VERB hjic-495 889 4 the the DET hjic-495 889 5 browser browser NOUN hjic-495 889 6 setup setup NOUN hjic-495 889 7 ( ( PUNCT hjic-495 889 8 set set VERB hjic-495 889 9 a a DET hjic-495 889 10 new new ADJ hjic-495 889 11 and and CCONJ hjic-495 889 12 unwanted unwanted ADJ hjic-495 889 13 home home NOUN hjic-495 889 14 page page NOUN hjic-495 889 15 ) ) PUNCT hjic-495 889 16 , , PUNCT hjic-495 889 17 and and CCONJ hjic-495 889 18 it it PRON hjic-495 889 19 also also ADV hjic-495 889 20 can can AUX hjic-495 889 21 uninstall uninstall VERB hjic-495 889 22 or or CCONJ hjic-495 889 23 disable disable VERB hjic-495 889 24 installed instal VERB hjic-495 889 25 mobile mobile ADJ hjic-495 889 26 antivirus antivirus NOUN hjic-495 889 27 software software NOUN hjic-495 889 28 , , PUNCT hjic-495 889 29 and and CCONJ hjic-495 889 30 even even ADV hjic-495 889 31 steal steal VERB hjic-495 889 32 data datum NOUN hjic-495 889 33 such such ADJ hjic-495 889 34 as as ADP hjic-495 889 35 credit credit NOUN hjic-495 889 36 card card NOUN hjic-495 889 37 information information NOUN hjic-495 889 38 or or CCONJ hjic-495 889 39 any any DET hjic-495 889 40 other other ADJ hjic-495 889 41 critical critical ADJ hjic-495 889 42 data datum NOUN hjic-495 889 43 . . PUNCT hjic-495 890 1 this this DET hjic-495 890 2 malware malware NOUN hjic-495 890 3 is be AUX hjic-495 890 4 especially especially ADV hjic-495 890 5 dangerous dangerous ADJ hjic-495 890 6 as as SCONJ hjic-495 890 7 it it PRON hjic-495 890 8 implements implement VERB hjic-495 890 9 evasion evasion NOUN hjic-495 890 10 techniques technique NOUN hjic-495 890 11 to to PART hjic-495 890 12 stay stay VERB hjic-495 890 13 undetected undetected ADJ hjic-495 890 14 . . PUNCT hjic-495 891 1 in in ADP hjic-495 891 2 order order NOUN hjic-495 891 3 to to PART hjic-495 891 4 optimize optimize VERB hjic-495 891 5 current current ADJ hjic-495 891 6 threat threat NOUN hjic-495 891 7 detection detection NOUN hjic-495 891 8 , , PUNCT hjic-495 891 9 which which PRON hjic-495 891 10 is be AUX hjic-495 891 11 also also ADV hjic-495 891 12 in in ADP hjic-495 891 13 line line NOUN hjic-495 891 14 with with ADP hjic-495 891 15 business business NOUN hjic-495 891 16 requirements requirement NOUN hjic-495 891 17 , , PUNCT hjic-495 891 18 additional additional ADJ hjic-495 891 19 and and CCONJ hjic-495 891 20 different different ADJ hjic-495 891 21 methodologies methodology NOUN hjic-495 891 22 are be AUX hjic-495 891 23 required require VERB hjic-495 891 24 such such ADJ hjic-495 891 25 as as ADP hjic-495 891 26 user user NOUN hjic-495 891 27 identification identification NOUN hjic-495 891 28 based base VERB hjic-495 891 29 on on ADP hjic-495 891 30 the the DET hjic-495 891 31 blueprint blueprint NOUN hjic-495 891 32 of of ADP hjic-495 891 33 the the DET hjic-495 891 34 behaviour behaviour NOUN hjic-495 891 35 of of ADP hjic-495 891 36 the the DET hjic-495 891 37 user user NOUN hjic-495 891 38 . . PUNCT hjic-495 892 1 to to PART hjic-495 892 2 create create VERB hjic-495 892 3 a a DET hjic-495 892 4 working work VERB hjic-495 892 5 model model NOUN hjic-495 892 6 of of ADP hjic-495 892 7 the the DET hjic-495 892 8 graph graph NOUN hjic-495 892 9 - - PUNCT hjic-495 892 10 based base VERB hjic-495 892 11 user user NOUN hjic-495 892 12 identification identification NOUN hjic-495 892 13 , , PUNCT hjic-495 892 14 several several ADJ hjic-495 892 15 tasks task NOUN hjic-495 892 16 await await VERB hjic-495 892 17 completion completion NOUN hjic-495 892 18 . . PUNCT hjic-495 893 1 the the DET hjic-495 893 2 running running NOUN hjic-495 893 3 tasks task NOUN hjic-495 893 4 are be AUX hjic-495 893 5 the the DET hjic-495 893 6 edges edge NOUN hjic-495 893 7 started start VERB hjic-495 893 8 by by ADP hjic-495 893 9 the the DET hjic-495 893 10 system system NOUN hjic-495 893 11 or or CCONJ hjic-495 893 12 user user NOUN hjic-495 893 13 defined define VERB hjic-495 893 14 as as ADP hjic-495 893 15 the the DET hjic-495 893 16 connections connection NOUN hjic-495 893 17 between between ADP hjic-495 893 18 them they PRON hjic-495 893 19 . . PUNCT hjic-495 894 1 once once ADV hjic-495 894 2 the the DET hjic-495 894 3 complex complex ADJ hjic-495 894 4 network network NOUN hjic-495 894 5 and and CCONJ hjic-495 894 6 graph graph NOUN hjic-495 894 7 are be AUX hjic-495 894 8 set set VERB hjic-495 894 9 up up ADP hjic-495 894 10 the the DET hjic-495 894 11 motif motif NOUN hjic-495 894 12 can can AUX hjic-495 894 13 be be AUX hjic-495 894 14 identified identify VERB hjic-495 894 15 with with ADP hjic-495 894 16 a a DET hjic-495 894 17 greedy greedy ADJ hjic-495 894 18 algorithm algorithm NOUN hjic-495 894 19 and and CCONJ hjic-495 894 20 search search NOUN hjic-495 894 21 of of ADP hjic-495 894 22 the the DET hjic-495 894 23 global global ADJ hjic-495 894 24 graph graph NOUN hjic-495 894 25 with with ADP hjic-495 894 26 the the DET hjic-495 894 27 grochow grochow NOUN hjic-495 894 28 - - PUNCT hjic-495 894 29 kellis kellis NOUN hjic-495 894 30 algorithm algorithm NOUN hjic-495 894 31 . . PUNCT hjic-495 895 1 in in ADP hjic-495 895 2 order order NOUN hjic-495 895 3 to to PART hjic-495 895 4 have have AUX hjic-495 895 5 a a DET hjic-495 895 6 behaviour behaviour NOUN hjic-495 895 7 - - PUNCT hjic-495 895 8 based base VERB hjic-495 895 9 decision decision NOUN hjic-495 895 10 making make VERB hjic-495 895 11 system system NOUN hjic-495 895 12 , , PUNCT hjic-495 895 13 all all PRON hjic-495 895 14 of of ADP hjic-495 895 15 the the DET hjic-495 895 16 above above ADJ hjic-495 895 17 algorithms algorithm NOUN hjic-495 895 18 will will AUX hjic-495 895 19 be be AUX hjic-495 895 20 tested test VERB hjic-495 895 21 to to PART hjic-495 895 22 further far ADV hjic-495 895 23 develop develop VERB hjic-495 895 24 the the DET hjic-495 895 25 behaviour behaviour NOUN hjic-495 895 26 - - PUNCT hjic-495 895 27 based base VERB hjic-495 895 28 system system NOUN hjic-495 895 29 . . PUNCT hjic-495 896 1 references reference NOUN hjic-495 896 2 [ [ X hjic-495 896 3 1 1 NUM hjic-495 896 4 ] ] X hjic-495 896 5 amaral amaral PROPN hjic-495 896 6 l.a.n l.a.n PROPN hjic-495 896 7 . . PUNCT hjic-495 896 8 , , PUNCT hjic-495 896 9 scala scala PROPN hjic-495 896 10 a. a. PROPN hjic-495 896 11 , , PUNCT hjic-495 896 12 barthelemy barthelemy PROPN hjic-495 896 13 m. m. PROPN hjic-495 896 14 , , PUNCT hjic-495 896 15 stanley stanley PROPN hjic-495 896 16 h.e h.e PROPN hjic-495 896 17 . . PROPN hjic-495 896 18 : : PUNCT hjic-495 896 19 classes class NOUN hjic-495 896 20 of of ADP hjic-495 896 21 small small ADJ hjic-495 896 22 - - PUNCT hjic-495 896 23 world world NOUN hjic-495 896 24 networks network NOUN hjic-495 896 25 , , PUNCT hjic-495 896 26 proc proc NOUN hjic-495 896 27 . . PUNCT hjic-495 897 1 natl natl PROPN hjic-495 897 2 acad acad PROPN hjic-495 897 3 . . PUNCT hjic-495 898 1 sci sci PROPN hjic-495 898 2 . . PROPN hjic-495 898 3 usa usa PROPN hjic-495 898 4 2000 2000 NUM hjic-495 898 5 , , PUNCT hjic-495 898 6 97 97 NUM hjic-495 898 7 , , PUNCT hjic-495 898 8 11149–11152 11149–11152 NUM hjic-495 898 9 [ [ X hjic-495 898 10 2 2 NUM hjic-495 898 11 ] ] PUNCT hjic-495 898 12 amaral amaral PROPN hjic-495 898 13 l.a.n l.a.n PROPN hjic-495 898 14 . . PROPN hjic-495 898 15 , , PUNCT hjic-495 898 16 ottino ottino PROPN hjic-495 898 17 j.m j.m PROPN hjic-495 898 18 . . PUNCT hjic-495 898 19 : : PUNCT hjic-495 898 20 complex complex ADJ hjic-495 898 21 networks network NOUN hjic-495 898 22 . . PUNCT hjic-495 899 1 augmenting augment VERB hjic-495 899 2 the the DET hjic-495 899 3 framework framework NOUN hjic-495 899 4 for for ADP hjic-495 899 5 the the DET hjic-495 899 6 study study NOUN hjic-495 899 7 of of ADP hjic-495 899 8 complex complex ADJ hjic-495 899 9 systems system NOUN hjic-495 899 10 , , PUNCT hjic-495 899 11 eur eur NOUN hjic-495 899 12 . . PUNCT hjic-495 899 13 phys phy NOUN hjic-495 899 14 . . PUNCT hjic-495 900 1 j. j. PROPN hjic-495 900 2 b b PROPN hjic-495 900 3 2004 2004 NUM hjic-495 900 4 , , PUNCT hjic-495 900 5 38 38 NUM hjic-495 900 6 , , PUNCT hjic-495 900 7 147 147 NUM hjic-495 900 8 – – PUNCT hjic-495 900 9 162 162 NUM hjic-495 901 1 [ [ X hjic-495 901 2 3 3 NUM hjic-495 901 3 ] ] X hjic-495 901 4 barabási barabási NOUN hjic-495 901 5 a.l a.l PROPN hjic-495 901 6 . . PROPN hjic-495 901 7 , , PUNCT hjic-495 901 8 oltvai oltvai PROPN hjic-495 901 9 z.n z.n PROPN hjic-495 901 10 . . PROPN hjic-495 901 11 : : PUNCT hjic-495 902 1 network network NOUN hjic-495 902 2 biology biology NOUN hjic-495 902 3 : : PUNCT hjic-495 902 4 understanding understand VERB hjic-495 902 5 the the DET hjic-495 902 6 cell cell NOUN hjic-495 902 7 ’s ’s PART hjic-495 902 8 functional functional ADJ hjic-495 902 9 organization organization NOUN hjic-495 902 10 , , PUNCT hjic-495 902 11 nature nature NOUN hjic-495 902 12 rev rev VERB hjic-495 902 13 . . PROPN hjic-495 902 14 genet genet PROPN hjic-495 902 15 . . PUNCT hjic-495 903 1 2004 2004 NUM hjic-495 903 2 , , PUNCT hjic-495 903 3 5 5 NUM hjic-495 903 4 , , PUNCT hjic-495 903 5 101–113 101–113 NUM hjic-495 903 6 [ [ SYM hjic-495 903 7 4 4 X hjic-495 903 8 ] ] X hjic-495 903 9 girvan girvan NOUN hjic-495 903 10 m. m. NOUN hjic-495 903 11 , , PUNCT hjic-495 903 12 newman newman PROPN hjic-495 903 13 m.e.j m.e.j PROPN hjic-495 903 14 . . PUNCT hjic-495 903 15 : : PUNCT hjic-495 903 16 community community NOUN hjic-495 903 17 structure structure NOUN hjic-495 903 18 in in ADP hjic-495 903 19 social social ADJ hjic-495 903 20 and and CCONJ hjic-495 903 21 biological biological ADJ hjic-495 903 22 networks network NOUN hjic-495 903 23 . . PUNCT hjic-495 904 1 proc proc PROPN hjic-495 904 2 . . PUNCT hjic-495 905 1 natl natl PROPN hjic-495 905 2 acad acad PROPN hjic-495 905 3 . . PUNCT hjic-495 906 1 sci sci PROPN hjic-495 906 2 . . PROPN hjic-495 906 3 usa usa PROPN hjic-495 906 4 2002 2002 NUM hjic-495 906 5 , , PUNCT hjic-495 906 6 99 99 NUM hjic-495 906 7 , , PUNCT hjic-495 906 8 7821–7826 7821–7826 NUM hjic-495 907 1 [ [ X hjic-495 907 2 5 5 NUM hjic-495 907 3 ] ] PUNCT hjic-495 907 4 ravasz ravasz PROPN hjic-495 907 5 e. e. PROPN hjic-495 907 6 , , PUNCT hjic-495 907 7 barabási barabási PROPN hjic-495 907 8 a.l a.l PROPN hjic-495 907 9 . . PROPN hjic-495 907 10 : : PUNCT hjic-495 907 11 hierarchical hierarchical ADJ hjic-495 907 12 organization organization NOUN hjic-495 907 13 in in ADP hjic-495 907 14 complex complex ADJ hjic-495 907 15 networks network NOUN hjic-495 907 16 , , PUNCT hjic-495 907 17 phys phy NOUN hjic-495 907 18 . . PUNCT hjic-495 908 1 rev rev PROPN hjic-495 908 2 . . PUNCT hjic-495 909 1 e e PROPN hjic-495 909 2 stat stat PROPN hjic-495 909 3 . . PUNCT hjic-495 910 1 nonlin nonlin PROPN hjic-495 910 2 . . PUNCT hjic-495 910 3 soft soft ADJ hjic-495 910 4 matter matter NOUN hjic-495 910 5 phys phy NOUN hjic-495 910 6 . . PUNCT hjic-495 911 1 2003 2003 NUM hjic-495 911 2 , , PUNCT hjic-495 911 3 67 67 NUM hjic-495 911 4 , , PUNCT hjic-495 911 5 026112 026112 NUM hjic-495 912 1 [ [ X hjic-495 912 2 6 6 NUM hjic-495 912 3 ] ] X hjic-495 912 4 barthélemy barthélemy NOUN hjic-495 912 5 m. m. NOUN hjic-495 912 6 : : PUNCT hjic-495 912 7 betweenness betweenness NOUN hjic-495 912 8 centrality centrality NOUN hjic-495 912 9 in in ADP hjic-495 912 10 large large ADJ hjic-495 912 11 complex complex ADJ hjic-495 912 12 networks network NOUN hjic-495 912 13 , , PUNCT hjic-495 912 14 eur eur PROPN hjic-495 912 15 . . PUNCT hjic-495 913 1 phys phy NOUN hjic-495 913 2 . . PUNCT hjic-495 914 1 j. j. PROPN hjic-495 914 2 b b PROPN hjic-495 914 3 2004 2004 NUM hjic-495 914 4 , , PUNCT hjic-495 914 5 38 38 NUM hjic-495 914 6 , , PUNCT hjic-495 914 7 163 163 NUM hjic-495 914 8 – – SYM hjic-495 914 9 168 168 NUM hjic-495 914 10 [ [ X hjic-495 914 11 7 7 NUM hjic-495 914 12 ] ] PUNCT hjic-495 914 13 guimera guimera PROPN hjic-495 914 14 r. r. PROPN hjic-495 914 15 , , PUNCT hjic-495 914 16 amaral amaral PROPN hjic-495 914 17 l.a.n l.a.n PROPN hjic-495 914 18 . . PUNCT hjic-495 914 19 : : PUNCT hjic-495 914 20 functional functional ADJ hjic-495 914 21 cartography cartography NOUN hjic-495 914 22 of of ADP hjic-495 914 23 complex complex ADJ hjic-495 914 24 metabolic metabolic NOUN hjic-495 914 25 networks network NOUN hjic-495 914 26 , , PUNCT hjic-495 914 27 nature nature NOUN hjic-495 914 28 2005 2005 NUM hjic-495 914 29 , , PUNCT hjic-495 914 30 433 433 NUM hjic-495 914 31 , , PUNCT hjic-495 914 32 895–900 895–900 NUM hjic-495 914 33 [ [ SYM hjic-495 914 34 8 8 NUM hjic-495 914 35 ] ] PUNCT hjic-495 914 36 guimera guimera PROPN hjic-495 914 37 r. r. PROPN hjic-495 914 38 , , PUNCT hjic-495 914 39 mossa mossa PROPN hjic-495 914 40 s. s. PROPN hjic-495 914 41 , , PUNCT hjic-495 914 42 turtschi turtschi PROPN hjic-495 914 43 a. a. PROPN hjic-495 914 44 , , PUNCT hjic-495 914 45 amaral amaral PROPN hjic-495 914 46 l.a l.a PROPN hjic-495 914 47 . . PROPN hjic-495 914 48 : : PUNCT hjic-495 915 1 the the DET hjic-495 915 2 worldwide worldwide ADJ hjic-495 915 3 air air NOUN hjic-495 915 4 transportation transportation NOUN hjic-495 915 5 network network NOUN hjic-495 915 6 : : PUNCT hjic-495 915 7 anomalous anomalous ADJ hjic-495 915 8 centrality centrality NOUN hjic-495 915 9 , , PUNCT hjic-495 915 10 community community NOUN hjic-495 915 11 structure structure NOUN hjic-495 915 12 and and CCONJ hjic-495 915 13 cities city NOUN hjic-495 915 14 ’ ' PUNCT hjic-495 915 15 global global ADJ hjic-495 915 16 roles role NOUN hjic-495 915 17 , , PUNCT hjic-495 915 18 proc proc NOUN hjic-495 915 19 . . PUNCT hjic-495 915 20 natl natl PROPN hjic-495 915 21 acad acad PROPN hjic-495 915 22 . . PUNCT hjic-495 916 1 sci sci PROPN hjic-495 916 2 . . PROPN hjic-495 916 3 usa usa PROPN hjic-495 916 4 2005 2005 NUM hjic-495 916 5 , , PUNCT hjic-495 916 6 102 102 NUM hjic-495 916 7 , , PUNCT hjic-495 916 8 7794–7799 7794–7799 NUM hjic-495 917 1 [ [ X hjic-495 917 2 9 9 NUM hjic-495 917 3 ] ] X hjic-495 917 4 kashtan kashtan PROPN hjic-495 917 5 n. n. PROPN hjic-495 917 6 , , PUNCT hjic-495 917 7 alon alon PROPN hjic-495 917 8 u. u. PROPN hjic-495 917 9 : : PUNCT hjic-495 917 10 spontaneous spontaneous ADJ hjic-495 917 11 evolution evolution NOUN hjic-495 917 12 of of ADP hjic-495 917 13 modularity modularity NOUN hjic-495 917 14 and and CCONJ hjic-495 917 15 network network NOUN hjic-495 917 16 motifs motif NOUN hjic-495 917 17 , , PUNCT hjic-495 917 18 proc proc NOUN hjic-495 917 19 . . PUNCT hjic-495 918 1 natl natl PROPN hjic-495 918 2 acad acad PROPN hjic-495 918 3 . . PUNCT hjic-495 919 1 sci sci PROPN hjic-495 919 2 . . PROPN hjic-495 919 3 usa usa PROPN hjic-495 919 4 2005 2005 NUM hjic-495 919 5 , , PUNCT hjic-495 919 6 102 102 NUM hjic-495 919 7 , , PUNCT hjic-495 919 8 13773–13778 13773–13778 NUM hjic-495 919 9 [ [ X hjic-495 919 10 10 10 NUM hjic-495 919 11 ] ] X hjic-495 919 12 amaral amaral PROPN hjic-495 919 13 l.a.n l.a.n PROPN hjic-495 919 14 . . PUNCT hjic-495 919 15 , , PUNCT hjic-495 919 16 scala scala PROPN hjic-495 919 17 a. a. PROPN hjic-495 919 18 , , PUNCT hjic-495 919 19 barthelemy barthelemy PROPN hjic-495 919 20 m. m. PROPN hjic-495 919 21 , , PUNCT hjic-495 919 22 stanley stanley PROPN hjic-495 919 23 h.e h.e PROPN hjic-495 919 24 . . PROPN hjic-495 919 25 : : PUNCT hjic-495 919 26 classes class NOUN hjic-495 919 27 of of ADP hjic-495 919 28 small small ADJ hjic-495 919 29 - - PUNCT hjic-495 919 30 world world NOUN hjic-495 919 31 networks network NOUN hjic-495 919 32 , , PUNCT hjic-495 919 33 proc proc NOUN hjic-495 919 34 . . PUNCT hjic-495 920 1 natl natl PROPN hjic-495 920 2 acad acad PROPN hjic-495 920 3 . . PUNCT hjic-495 921 1 sci sci PROPN hjic-495 921 2 . . PROPN hjic-495 921 3 usa usa PROPN hjic-495 921 4 2000 2000 NUM hjic-495 921 5 , , PUNCT hjic-495 921 6 97 97 NUM hjic-495 921 7 , , PUNCT hjic-495 921 8 11149–11152 11149–11152 NUM hjic-495 922 1 [ [ X hjic-495 922 2 11 11 NUM hjic-495 922 3 ] ] PUNCT hjic-495 922 4 barabási barabási NOUN hjic-495 922 5 a.l a.l PROPN hjic-495 922 6 . . PROPN hjic-495 922 7 , , PUNCT hjic-495 922 8 albert albert PROPN hjic-495 922 9 r. r. PROPN hjic-495 922 10 : : PUNCT hjic-495 922 11 emergence emergence NOUN hjic-495 922 12 of of ADP hjic-495 922 13 scaling scale VERB hjic-495 922 14 in in ADP hjic-495 922 15 random random ADJ hjic-495 922 16 networks network NOUN hjic-495 922 17 , , PUNCT hjic-495 922 18 science science NOUN hjic-495 922 19 1999 1999 NUM hjic-495 922 20 , , PUNCT hjic-495 922 21 286 286 NUM hjic-495 922 22 , , PUNCT hjic-495 922 23 509–512 509–512 NUM hjic-495 922 24 [ [ SYM hjic-495 922 25 12 12 NUM hjic-495 922 26 ] ] X hjic-495 922 27 watts watts PROPN hjic-495 922 28 d.j d.j PROPN hjic-495 922 29 . . PROPN hjic-495 922 30 , , PUNCT hjic-495 922 31 strogatz strogatz PROPN hjic-495 922 32 s.h s.h PROPN hjic-495 922 33 . . PROPN hjic-495 922 34 : : PUNCT hjic-495 923 1 collective collective ADJ hjic-495 923 2 dynamics dynamic NOUN hjic-495 923 3 of of ADP hjic-495 923 4 “ " PUNCT hjic-495 923 5 small small ADJ hjic-495 923 6 - - PUNCT hjic-495 923 7 world world NOUN hjic-495 923 8 ” " PUNCT hjic-495 923 9 networks network NOUN hjic-495 923 10 , , PUNCT hjic-495 923 11 nature nature NOUN hjic-495 923 12 1998 1998 NUM hjic-495 923 13 , , PUNCT hjic-495 923 14 393 393 NUM hjic-495 923 15 , , PUNCT hjic-495 923 16 440–442 440–442 NUM hjic-495 923 17 [ [ X hjic-495 923 18 13 13 NUM hjic-495 923 19 ] ] X hjic-495 923 20 amaral amaral PROPN hjic-495 923 21 l.a.n l.a.n PROPN hjic-495 923 22 . . PROPN hjic-495 923 23 , , PUNCT hjic-495 923 24 ottino ottino PROPN hjic-495 923 25 j.m j.m PROPN hjic-495 923 26 . . PUNCT hjic-495 923 27 : : PUNCT hjic-495 923 28 complex complex ADJ hjic-495 923 29 networks network NOUN hjic-495 923 30 . . PUNCT hjic-495 924 1 augmenting augment VERB hjic-495 924 2 the the DET hjic-495 924 3 framework framework NOUN hjic-495 924 4 for for ADP hjic-495 924 5 the the DET hjic-495 924 6 study study NOUN hjic-495 924 7 of of ADP hjic-495 924 8 complex complex ADJ hjic-495 924 9 systems system NOUN hjic-495 924 10 , , PUNCT hjic-495 924 11 eur eur NOUN hjic-495 924 12 . . PUNCT hjic-495 924 13 phys phy NOUN hjic-495 924 14 . . PUNCT hjic-495 925 1 j. j. PROPN hjic-495 925 2 b b PROPN hjic-495 925 3 2004 2004 NUM hjic-495 925 4 , , PUNCT hjic-495 925 5 38 38 NUM hjic-495 925 6 , , PUNCT hjic-495 925 7 147 147 NUM hjic-495 925 8 – – PUNCT hjic-495 925 9 162 162 NUM hjic-495 926 1 [ [ X hjic-495 926 2 14 14 NUM hjic-495 926 3 ] ] PUNCT hjic-495 926 4 barabási barabási NOUN hjic-495 926 5 a.l a.l PROPN hjic-495 926 6 . . PROPN hjic-495 926 7 , , PUNCT hjic-495 926 8 oltvai oltvai PROPN hjic-495 926 9 z.n z.n PROPN hjic-495 926 10 . . PROPN hjic-495 926 11 : : PUNCT hjic-495 927 1 network network NOUN hjic-495 927 2 biology biology NOUN hjic-495 927 3 : : PUNCT hjic-495 927 4 understanding understand VERB hjic-495 927 5 the the DET hjic-495 927 6 cell cell NOUN hjic-495 927 7 ’s ’s PART hjic-495 927 8 functional functional ADJ hjic-495 927 9 organization organization NOUN hjic-495 927 10 . . PUNCT hjic-495 928 1 nature nature PROPN hjic-495 928 2 rev rev VERB hjic-495 928 3 . . PROPN hjic-495 928 4 genet genet PROPN hjic-495 928 5 . . PUNCT hjic-495 929 1 2004 2004 NUM hjic-495 929 2 , , PUNCT hjic-495 929 3 5 5 NUM hjic-495 929 4 , , PUNCT hjic-495 929 5 101–113 101–113 NUM hjic-495 929 6 [ [ X hjic-495 929 7 15 15 NUM hjic-495 929 8 ] ] X hjic-495 929 9 freeman freeman PROPN hjic-495 929 10 l.c l.c PROPN hjic-495 929 11 . . PROPN hjic-495 929 12 : : PUNCT hjic-495 929 13 a a DET hjic-495 929 14 set set NOUN hjic-495 929 15 of of ADP hjic-495 929 16 measures measure NOUN hjic-495 929 17 of of ADP hjic-495 929 18 centrality centrality NOUN hjic-495 929 19 based base VERB hjic-495 929 20 on on ADP hjic-495 929 21 betweenness betweenness NOUN hjic-495 929 22 , , PUNCT hjic-495 929 23 sociometry sociometry NOUN hjic-495 929 24 1977 1977 NUM hjic-495 929 25 , , PUNCT hjic-495 929 26 40 40 NUM hjic-495 929 27 , , PUNCT hjic-495 929 28 35 35 NUM hjic-495 929 29 – – SYM hjic-495 929 30 41 41 NUM hjic-495 929 31 [ [ SYM hjic-495 929 32 16 16 NUM hjic-495 929 33 ] ] X hjic-495 929 34 girvan girvan NOUN hjic-495 929 35 m. m. NOUN hjic-495 929 36 , , PUNCT hjic-495 929 37 newman newman PROPN hjic-495 929 38 m.e.j m.e.j PROPN hjic-495 929 39 . . PUNCT hjic-495 929 40 : : PUNCT hjic-495 929 41 community community NOUN hjic-495 929 42 structure structure NOUN hjic-495 929 43 in in ADP hjic-495 929 44 social social ADJ hjic-495 929 45 and and CCONJ hjic-495 929 46 biological biological ADJ hjic-495 929 47 networks network NOUN hjic-495 929 48 . . PUNCT hjic-495 930 1 proc proc PROPN hjic-495 930 2 . . PUNCT hjic-495 931 1 natl natl PROPN hjic-495 931 2 acad acad PROPN hjic-495 931 3 . . PUNCT hjic-495 932 1 sci sci PROPN hjic-495 932 2 . . PROPN hjic-495 932 3 usa usa PROPN hjic-495 932 4 2002 2002 NUM hjic-495 932 5 , , PUNCT hjic-495 932 6 99 99 NUM hjic-495 932 7 , , PUNCT hjic-495 932 8 7821–7826 7821–7826 NUM hjic-495 933 1 [ [ X hjic-495 933 2 17 17 NUM hjic-495 933 3 ] ] PUNCT hjic-495 933 4 guimerà guimerà ADJ hjic-495 933 5 r. r. PROPN hjic-495 933 6 , , PUNCT hjic-495 933 7 mossa mossa PROPN hjic-495 933 8 s. s. PROPN hjic-495 933 9 , , PUNCT hjic-495 933 10 turtschi turtschi PROPN hjic-495 933 11 a. a. PROPN hjic-495 933 12 , , PUNCT hjic-495 933 13 amaral amaral PROPN hjic-495 933 14 l.a l.a PROPN hjic-495 933 15 . . PROPN hjic-495 933 16 : : PUNCT hjic-495 934 1 the the DET hjic-495 934 2 worldwide worldwide ADJ hjic-495 934 3 air air NOUN hjic-495 934 4 transportation transportation NOUN hjic-495 934 5 network network NOUN hjic-495 934 6 : : PUNCT hjic-495 934 7 anomalous anomalous ADJ hjic-495 934 8 centrality centrality NOUN hjic-495 934 9 , , PUNCT hjic-495 934 10 community community NOUN hjic-495 934 11 structure structure NOUN hjic-495 934 12 and and CCONJ hjic-495 934 13 cities city NOUN hjic-495 934 14 ’ ' PUNCT hjic-495 934 15 global global ADJ hjic-495 934 16 roles role NOUN hjic-495 934 17 . . PUNCT hjic-495 935 1 proc proc NOUN hjic-495 935 2 . . PUNCT hjic-495 936 1 natl natl PROPN hjic-495 936 2 acad acad PROPN hjic-495 936 3 . . PUNCT hjic-495 937 1 sci sci PROPN hjic-495 937 2 . . PROPN hjic-495 937 3 usa usa PROPN hjic-495 937 4 2005 2005 NUM hjic-495 937 5 , , PUNCT hjic-495 937 6 102 102 NUM hjic-495 937 7 , , PUNCT hjic-495 937 8 7794–7799 7794–7799 NUM hjic-495 937 9 [ [ X hjic-495 937 10 18 18 NUM hjic-495 937 11 ] ] X hjic-495 937 12 garey garey PROPN hjic-495 937 13 m.r m.r PROPN hjic-495 937 14 . . PROPN hjic-495 937 15 , , PUNCT hjic-495 937 16 johnson johnson PROPN hjic-495 937 17 d.s d.s PROPN hjic-495 937 18 . . PROPN hjic-495 937 19 : : PUNCT hjic-495 938 1 computers computer NOUN hjic-495 938 2 and and CCONJ hjic-495 938 3 intractability intractability NOUN hjic-495 938 4 : : PUNCT hjic-495 938 5 a a DET hjic-495 938 6 guide guide NOUN hjic-495 938 7 to to ADP hjic-495 938 8 the the DET hjic-495 938 9 theory theory NOUN hjic-495 938 10 of of ADP hjic-495 938 11 npcompleteness npcompleteness PROPN hjic-495 938 12 . . PUNCT hjic-495 939 1 new new PROPN hjic-495 939 2 york york PROPN hjic-495 939 3 : : PUNCT hjic-495 939 4 w. w. PROPN hjic-495 939 5 h. h. PROPN hjic-495 939 6 freeman freeman PROPN hjic-495 939 7 and and CCONJ hjic-495 939 8 company company NOUN hjic-495 939 9 , , PUNCT hjic-495 939 10 1979 1979 NUM hjic-495 939 11 [ [ X hjic-495 939 12 19 19 NUM hjic-495 939 13 ] ] X hjic-495 939 14 feige feige PROPN hjic-495 939 15 u. u. PROPN hjic-495 939 16 , , PUNCT hjic-495 939 17 goldwasser goldwasser PROPN hjic-495 939 18 s. s. PROPN hjic-495 939 19 , , PUNCT hjic-495 939 20 lovasz lovasz PROPN hjic-495 939 21 l. l. PROPN hjic-495 939 22 , , PUNCT hjic-495 939 23 safra safra PROPN hjic-495 939 24 s. s. PROPN hjic-495 939 25 , , PUNCT hjic-495 939 26 szegedy szegedy VERB hjic-495 939 27 m. m. NOUN hjic-495 939 28 : : PUNCT hjic-495 939 29 approximating approximate VERB hjic-495 939 30 clique clique NOUN hjic-495 939 31 is be AUX hjic-495 939 32 almost almost ADV hjic-495 939 33 np np ADV hjic-495 939 34 complete complete ADJ hjic-495 939 35 , , PUNCT hjic-495 939 36 proc proc NOUN hjic-495 939 37 . . PUNCT hjic-495 940 1 32nd 32nd ADJ hjic-495 940 2 ieee ieee NOUN hjic-495 940 3 symposium symposium NOUN hjic-495 940 4 on on ADP hjic-495 940 5 foundations foundation NOUN hjic-495 940 6 of of ADP hjic-495 940 7 computer computer NOUN hjic-495 940 8 science science NOUN hjic-495 940 9 ( ( PUNCT hjic-495 940 10 focs focs PROPN hjic-495 940 11 ) ) PUNCT hjic-495 940 12 , , PUNCT hjic-495 940 13 1991 1991 NUM hjic-495 940 14 , , PUNCT hjic-495 940 15 2–12 2–12 PROPN hjic-495 941 1 [ [ X hjic-495 941 2 20 20 NUM hjic-495 941 3 ] ] PUNCT hjic-495 941 4 halldorsson halldorsson PROPN hjic-495 941 5 m.m m.m PROPN hjic-495 941 6 . . PROPN hjic-495 941 7 , , PUNCT hjic-495 941 8 radhakrishnan radhakrishnan PROPN hjic-495 941 9 j. j. PROPN hjic-495 941 10 : : PUNCT hjic-495 941 11 greed greed NOUN hjic-495 941 12 is be AUX hjic-495 941 13 good good ADJ hjic-495 941 14 : : PUNCT hjic-495 941 15 approximating approximate VERB hjic-495 941 16 independent independent ADJ hjic-495 941 17 sets set NOUN hjic-495 941 18 in in ADP hjic-495 941 19 sparse sparse ADJ hjic-495 941 20 and and CCONJ hjic-495 941 21 bounded bound VERB hjic-495 941 22 - - PUNCT hjic-495 941 23 degree degree NOUN hjic-495 941 24 graphs graph NOUN hjic-495 941 25 , , PUNCT hjic-495 941 26 algorithmica algorithmica ADV hjic-495 941 27 , , PUNCT hjic-495 941 28 1997 1997 NUM hjic-495 941 29 , , PUNCT hjic-495 941 30 18(1 18(1 NUM hjic-495 941 31 ) ) PUNCT hjic-495 941 32 , , PUNCT hjic-495 941 33 145–163 145–163 NUM hjic-495 941 34 [ [ SYM hjic-495 941 35 21 21 NUM hjic-495 941 36 ] ] PUNCT hjic-495 941 37 grochow grochow PROPN hjic-495 941 38 j.a j.a PROPN hjic-495 941 39 . . PROPN hjic-495 941 40 , , PUNCT hjic-495 941 41 kellis kellis PROPN hjic-495 941 42 m. m. NOUN hjic-495 941 43 : : PUNCT hjic-495 941 44 network network NOUN hjic-495 941 45 motif motif NOUN hjic-495 941 46 discovery discovery NOUN hjic-495 941 47 using use VERB hjic-495 941 48 subgraph subgraph NOUN hjic-495 941 49 enumeration enumeration NOUN hjic-495 941 50 and and CCONJ hjic-495 941 51 symmetry symmetry NOUN hjic-495 941 52 - - PUNCT hjic-495 941 53 breaking breaking NOUN hjic-495 941 54 , , PUNCT hjic-495 941 55 computer computer NOUN hjic-495 941 56 science science NOUN hjic-495 941 57 and and CCONJ hjic-495 941 58 ai ai VERB hjic-495 941 59 laboratory laboratory NOUN hjic-495 941 60 , , PUNCT hjic-495 941 61 m.i.t m.i.t X hjic-495 941 62 . . PUNCT hjic-495 942 1 broad broad PROPN hjic-495 942 2 institute institute PROPN hjic-495 942 3 of of ADP hjic-495 942 4 m.i.t m.i.t PROPN hjic-495 942 5 . . PUNCT hjic-495 943 1 and and CCONJ hjic-495 943 2 harvard harvard PROPN hjic-495 943 3 , , PUNCT hjic-495 943 4 2007 2007 NUM hjic-495 944 1 [ [ X hjic-495 944 2 22 22 NUM hjic-495 944 3 ] ] X hjic-495 944 4 mckay mckay PROPN hjic-495 944 5 b.d b.d PROPN hjic-495 944 6 . . PROPN hjic-495 944 7 : : PUNCT hjic-495 944 8 isomorph isomorph NOUN hjic-495 944 9 - - PUNCT hjic-495 944 10 free free ADJ hjic-495 944 11 exhaustive exhaustive ADJ hjic-495 944 12 generation generation NOUN hjic-495 944 13 , , PUNCT hjic-495 944 14 j. j. PROPN hjic-495 944 15 algorithms algorithms PROPN hjic-495 944 16 , , PUNCT hjic-495 944 17 1998 1998 NUM hjic-495 944 18 , , PUNCT hjic-495 944 19 26 26 NUM hjic-495 944 20 , , PUNCT hjic-495 944 21 306–324 306–324 NUM hjic-495 944 22 hungarian hungarian ADJ hjic-495 944 23 journal journal NOUN hjic-495 944 24 of of ADP hjic-495 944 25 industry industry NOUN hjic-495 944 26 and and CCONJ hjic-495 944 27 chemistry chemistry NOUN hjic-495 944 28 veszprém veszprém NOUN hjic-495 944 29 vol vol NOUN hjic-495 944 30 . . PUNCT hjic-495 945 1 42(2 42(2 NUM hjic-495 945 2 ) ) PUNCT hjic-495 946 1 pp pp ADV hjic-495 946 2 . . PUNCT hjic-495 947 1 85–89 85–89 NUM hjic-495 947 2 ( ( PUNCT hjic-495 947 3 2014 2014 NUM hjic-495 947 4 ) ) PUNCT hjic-495 947 5 measurement measurement NOUN hjic-495 947 6 - - PUNCT hjic-495 947 7 based base VERB hjic-495 947 8 modelling modelling NOUN hjic-495 947 9 and and CCONJ hjic-495 947 10 simulation simulation NOUN hjic-495 947 11 of of ADP hjic-495 947 12 a a DET hjic-495 947 13 hydrogen hydrogen NOUN hjic-495 947 14 generating generating NOUN hjic-495 947 15 dry dry ADJ hjic-495 947 16 cell cell NOUN hjic-495 947 17 for for ADP hjic-495 947 18 complex complex ADJ hjic-495 947 19 domestic domestic ADJ hjic-495 947 20 renewable renewable ADJ hjic-495 947 21 energy energy NOUN hjic-495 947 22 systems system NOUN hjic-495 947 23 attila attila NOUN hjic-495 947 24 göllei göllei NOUN hjic-495 947 25 , , PUNCT hjic-495 947 26 ! ! PUNCT hjic-495 948 1 péter péter NOUN hjic-495 948 2 görbe görbe NOUN hjic-495 948 3 , , PUNCT hjic-495 948 4 attila attila PROPN hjic-495 948 5 magyar magyar PROPN hjic-495 948 6 , , PUNCT hjic-495 948 7 and and CCONJ hjic-495 948 8 lászló lászló PROPN hjic-495 948 9 neukirchner neukirchner PROPN hjic-495 948 10 department department PROPN hjic-495 948 11 of of ADP hjic-495 948 12 electrical electrical ADJ hjic-495 948 13 engineering engineering NOUN hjic-495 948 14 and and CCONJ hjic-495 948 15 information information NOUN hjic-495 948 16 systems system NOUN hjic-495 948 17 , , PUNCT hjic-495 948 18 university university NOUN hjic-495 948 19 of of ADP hjic-495 948 20 pannonia pannonia PROPN hjic-495 948 21 , , PUNCT hjic-495 948 22 egyetem egyetem NOUN hjic-495 948 23 u. u. PROPN hjic-495 948 24 10 10 NUM hjic-495 948 25 . . PUNCT hjic-495 948 26 , , PUNCT hjic-495 948 27 veszprém veszprém NOUN hjic-495 948 28 , , PUNCT hjic-495 948 29 8200 8200 NUM hjic-495 948 30 , , PUNCT hjic-495 948 31 hungary hungary NOUN hjic-495 948 32 ! ! PUNCT hjic-495 949 1 e e X hjic-495 949 2 - - NOUN hjic-495 949 3 mail mail NOUN hjic-495 949 4 : : PUNCT hjic-495 949 5 golleia@almos.uni-pannon.hu golleia@almos.uni-pannon.hu VERB hjic-495 949 6 nowadays nowadays ADV hjic-495 949 7 , , PUNCT hjic-495 949 8 the the DET hjic-495 949 9 growing grow VERB hjic-495 949 10 need need NOUN hjic-495 949 11 for for ADP hjic-495 949 12 energy energy NOUN hjic-495 949 13 from from ADP hjic-495 949 14 renewable renewable ADJ hjic-495 949 15 sources source NOUN hjic-495 949 16 and and CCONJ hjic-495 949 17 growing grow VERB hjic-495 949 18 revulsion revulsion NOUN hjic-495 949 19 towards towards ADP hjic-495 949 20 fossil fossil NOUN hjic-495 949 21 and and CCONJ hjic-495 949 22 nuclear nuclear ADJ hjic-495 949 23 fuels fuel NOUN hjic-495 949 24 puts put VERB hjic-495 949 25 sustainable sustainable ADJ hjic-495 949 26 and and CCONJ hjic-495 949 27 green green ADJ hjic-495 949 28 energy energy NOUN hjic-495 949 29 in in ADP hjic-495 949 30 the the DET hjic-495 949 31 limelight limelight NOUN hjic-495 949 32 . . PUNCT hjic-495 950 1 producing produce VERB hjic-495 950 2 ( ( PUNCT hjic-495 950 3 electrical electrical ADJ hjic-495 950 4 ) ) PUNCT hjic-495 950 5 energy energy NOUN hjic-495 950 6 in in ADP hjic-495 950 7 domestic domestic ADJ hjic-495 950 8 power power NOUN hjic-495 950 9 plants plant NOUN hjic-495 950 10 from from ADP hjic-495 950 11 renewable renewable ADJ hjic-495 950 12 sources source NOUN hjic-495 950 13 ( ( PUNCT hjic-495 950 14 mainly mainly ADV hjic-495 950 15 solar solar ADJ hjic-495 950 16 and and CCONJ hjic-495 950 17 wind wind NOUN hjic-495 950 18 ) ) PUNCT hjic-495 950 19 hardly hardly ADV hjic-495 950 20 results result VERB hjic-495 950 21 in in ADP hjic-495 950 22 difficulties difficulty NOUN hjic-495 950 23 , , PUNCT hjic-495 950 24 but but CCONJ hjic-495 950 25 the the DET hjic-495 950 26 storage storage NOUN hjic-495 950 27 of of ADP hjic-495 950 28 energy energy NOUN hjic-495 950 29 not not PART hjic-495 950 30 consumed consume VERB hjic-495 950 31 immediately immediately ADV hjic-495 950 32 is be AUX hjic-495 950 33 a a DET hjic-495 950 34 great great ADJ hjic-495 950 35 engineering engineering NOUN hjic-495 950 36 challenge challenge NOUN hjic-495 950 37 . . PUNCT hjic-495 951 1 in in ADP hjic-495 951 2 the the DET hjic-495 951 3 present present ADJ hjic-495 951 4 paper paper NOUN hjic-495 951 5 a a DET hjic-495 951 6 complex complex ADJ hjic-495 951 7 model model NOUN hjic-495 951 8 has have AUX hjic-495 951 9 been be AUX hjic-495 951 10 developed develop VERB hjic-495 951 11 by by ADP hjic-495 951 12 investigating investigate VERB hjic-495 951 13 renewable renewable ADJ hjic-495 951 14 energy energy NOUN hjic-495 951 15 sources source NOUN hjic-495 951 16 , , PUNCT hjic-495 951 17 the the DET hjic-495 951 18 surplus surplus ADJ hjic-495 951 19 energy energy NOUN hjic-495 951 20 not not PART hjic-495 951 21 actually actually ADV hjic-495 951 22 consumed consume VERB hjic-495 951 23 and and CCONJ hjic-495 951 24 stored store VERB hjic-495 951 25 in in ADP hjic-495 951 26 electrical electrical ADJ hjic-495 951 27 vehicle vehicle NOUN hjic-495 951 28 ( ( PUNCT hjic-495 951 29 ev ev NOUN hjic-495 951 30 ) ) PUNCT hjic-495 951 31 batteries battery NOUN hjic-495 951 32 , , PUNCT hjic-495 951 33 the the DET hjic-495 951 34 conversion conversion NOUN hjic-495 951 35 to to ADP hjic-495 951 36 hydrogen hydrogen NOUN hjic-495 951 37 for for ADP hjic-495 951 38 storage storage NOUN hjic-495 951 39 purposes purpose NOUN hjic-495 951 40 and and CCONJ hjic-495 951 41 how how SCONJ hjic-495 951 42 the the DET hjic-495 951 43 main main ADJ hjic-495 951 44 grid grid NOUN hjic-495 951 45 is be AUX hjic-495 951 46 fed feed VERB hjic-495 951 47 . . PUNCT hjic-495 952 1 a a DET hjic-495 952 2 measurement measurement NOUN hjic-495 952 3 - - PUNCT hjic-495 952 4 based base VERB hjic-495 952 5 model model NOUN hjic-495 952 6 of of ADP hjic-495 952 7 a a DET hjic-495 952 8 hydrogen hydrogen NOUN hjic-495 952 9 generating generating NOUN hjic-495 952 10 cell cell NOUN hjic-495 952 11 developed develop VERB hjic-495 952 12 for for ADP hjic-495 952 13 the the DET hjic-495 952 14 simulation simulation NOUN hjic-495 952 15 of of ADP hjic-495 952 16 complex complex ADJ hjic-495 952 17 energetic energetic ADJ hjic-495 952 18 systems system NOUN hjic-495 952 19 . . PUNCT hjic-495 953 1 the the DET hjic-495 953 2 parameter parameter NOUN hjic-495 953 3 estimation estimation NOUN hjic-495 953 4 of of ADP hjic-495 953 5 the the DET hjic-495 953 6 static static ADJ hjic-495 953 7 model model NOUN hjic-495 953 8 was be AUX hjic-495 953 9 based base VERB hjic-495 953 10 on on ADP hjic-495 953 11 the the DET hjic-495 953 12 collected collect VERB hjic-495 953 13 measurement measurement NOUN hjic-495 953 14 data datum NOUN hjic-495 953 15 coming come VERB hjic-495 953 16 from from ADP hjic-495 953 17 the the DET hjic-495 953 18 detailed detailed ADJ hjic-495 953 19 examination examination NOUN hjic-495 953 20 of of ADP hjic-495 953 21 a a DET hjic-495 953 22 built build VERB hjic-495 953 23 demonstration demonstration NOUN hjic-495 953 24 cell cell NOUN hjic-495 953 25 . . PUNCT hjic-495 954 1 the the DET hjic-495 954 2 novel novel ADJ hjic-495 954 3 element element NOUN hjic-495 954 4 of of ADP hjic-495 954 5 this this DET hjic-495 954 6 work work NOUN hjic-495 954 7 is be AUX hjic-495 954 8 the the DET hjic-495 954 9 matlab matlab PROPN hjic-495 954 10 simulink simulink PROPN hjic-495 954 11 model model NOUN hjic-495 954 12 for for ADP hjic-495 954 13 the the DET hjic-495 954 14 hydrogen hydrogen NOUN hjic-495 954 15 generation generation NOUN hjic-495 954 16 cell cell NOUN hjic-495 954 17 . . PUNCT hjic-495 955 1 using use VERB hjic-495 955 2 this this DET hjic-495 955 3 model model NOUN hjic-495 955 4 , , PUNCT hjic-495 955 5 a a DET hjic-495 955 6 dynamic dynamic ADJ hjic-495 955 7 simulator simulator NOUN hjic-495 955 8 of of ADP hjic-495 955 9 a a DET hjic-495 955 10 complex complex ADJ hjic-495 955 11 domestic domestic ADJ hjic-495 955 12 power power NOUN hjic-495 955 13 plant plant NOUN hjic-495 955 14 is be AUX hjic-495 955 15 made make VERB hjic-495 955 16 available available ADJ hjic-495 955 17 using use VERB hjic-495 955 18 renewable renewable ADJ hjic-495 955 19 energy energy NOUN hjic-495 955 20 sources source NOUN hjic-495 955 21 and and CCONJ hjic-495 955 22 hydrogen hydrogen NOUN hjic-495 955 23 generation generation NOUN hjic-495 955 24 cells cell NOUN hjic-495 955 25 . . PUNCT hjic-495 956 1 hydrogen hydrogen NOUN hjic-495 956 2 generation generation NOUN hjic-495 956 3 enables enable VERB hjic-495 956 4 the the DET hjic-495 956 5 lossless lossless ADJ hjic-495 956 6 long long ADJ hjic-495 956 7 - - PUNCT hjic-495 956 8 term term NOUN hjic-495 956 9 storage storage NOUN hjic-495 956 10 of of ADP hjic-495 956 11 surplus surplus ADJ hjic-495 956 12 electric electric ADJ hjic-495 956 13 energy energy NOUN hjic-495 956 14 collected collect VERB hjic-495 956 15 , , PUNCT hjic-495 956 16 but but CCONJ hjic-495 956 17 not not PART hjic-495 956 18 consumed consume VERB hjic-495 956 19 or or CCONJ hjic-495 956 20 injected inject VERB hjic-495 956 21 into into ADP hjic-495 956 22 the the DET hjic-495 956 23 low low ADJ hjic-495 956 24 voltage voltage NOUN hjic-495 956 25 grid grid NOUN hjic-495 956 26 . . PUNCT hjic-495 957 1 the the DET hjic-495 957 2 generated generate VERB hjic-495 957 3 hydrogen hydrogen NOUN hjic-495 957 4 can can AUX hjic-495 957 5 be be AUX hjic-495 957 6 consumed consume VERB hjic-495 957 7 for for ADP hjic-495 957 8 transportation transportation NOUN hjic-495 957 9 purposes purpose NOUN hjic-495 957 10 in in ADP hjic-495 957 11 suitable suitable ADJ hjic-495 957 12 vehicles vehicle NOUN hjic-495 957 13 or or CCONJ hjic-495 957 14 it it PRON hjic-495 957 15 can can AUX hjic-495 957 16 be be AUX hjic-495 957 17 applied apply VERB hjic-495 957 18 in in ADP hjic-495 957 19 fuel fuel NOUN hjic-495 957 20 cells cell NOUN hjic-495 957 21 generating generate VERB hjic-495 957 22 direct direct ADJ hjic-495 957 23 electrical electrical ADJ hjic-495 957 24 energy energy NOUN hjic-495 957 25 for for ADP hjic-495 957 26 energy energy NOUN hjic-495 957 27 - - PUNCT hjic-495 957 28 deficient deficient ADJ hjic-495 957 29 low low ADJ hjic-495 957 30 voltage voltage NOUN hjic-495 957 31 network network NOUN hjic-495 957 32 situations situation NOUN hjic-495 957 33 . . PUNCT hjic-495 958 1 energetic energetic ADJ hjic-495 958 2 situations situation NOUN hjic-495 958 3 potentially potentially ADV hjic-495 958 4 occurring occur VERB hjic-495 958 5 in in ADP hjic-495 958 6 practice practice NOUN hjic-495 958 7 were be AUX hjic-495 958 8 simulated simulate VERB hjic-495 958 9 in in ADP hjic-495 958 10 our our PRON hjic-495 958 11 complex complex ADJ hjic-495 958 12 model model NOUN hjic-495 958 13 . . PUNCT hjic-495 959 1 simulations simulation NOUN hjic-495 959 2 showed show VERB hjic-495 959 3 that that SCONJ hjic-495 959 4 the the DET hjic-495 959 5 presented present VERB hjic-495 959 6 model model NOUN hjic-495 959 7 is be AUX hjic-495 959 8 suitable suitable ADJ hjic-495 959 9 for for ADP hjic-495 959 10 domestic domestic ADJ hjic-495 959 11 scale scale NOUN hjic-495 959 12 low low ADJ hjic-495 959 13 voltage voltage NOUN hjic-495 959 14 complex complex ADJ hjic-495 959 15 energetic energetic ADJ hjic-495 959 16 systems system NOUN hjic-495 959 17 . . PUNCT hjic-495 960 1 keywords keyword NOUN hjic-495 960 2 : : PUNCT hjic-495 960 3 hydrogen hydrogen NOUN hjic-495 960 4 generation generation NOUN hjic-495 960 5 , , PUNCT hjic-495 960 6 renewable renewable ADJ hjic-495 960 7 energy energy NOUN hjic-495 960 8 sources source NOUN hjic-495 960 9 , , PUNCT hjic-495 960 10 domestic domestic ADJ hjic-495 960 11 power power NOUN hjic-495 960 12 plants plant NOUN hjic-495 960 13 , , PUNCT hjic-495 960 14 modelling modelling NOUN hjic-495 960 15 and and CCONJ hjic-495 960 16 simulation simulation NOUN hjic-495 960 17 , , PUNCT hjic-495 960 18 measurement measurement NOUN hjic-495 960 19 - - PUNCT hjic-495 960 20 based base VERB hjic-495 960 21 modelling modelling NOUN hjic-495 960 22 introduction introduction NOUN hjic-495 960 23 producing produce VERB hjic-495 960 24 hydrogen hydrogen NOUN hjic-495 960 25 gas gas NOUN hjic-495 960 26 ( ( PUNCT hjic-495 960 27 h2 h2 NOUN hjic-495 960 28 ) ) PUNCT hjic-495 960 29 from from ADP hjic-495 960 30 excess excess ADJ hjic-495 960 31 energy energy NOUN hjic-495 960 32 is be AUX hjic-495 960 33 not not PART hjic-495 960 34 a a DET hjic-495 960 35 new new ADJ hjic-495 960 36 idea idea NOUN hjic-495 960 37 . . PUNCT hjic-495 961 1 this this PRON hjic-495 961 2 is be AUX hjic-495 961 3 an an DET hjic-495 961 4 alternative alternative ADJ hjic-495 961 5 way way NOUN hjic-495 961 6 to to PART hjic-495 961 7 store store VERB hjic-495 961 8 and and CCONJ hjic-495 961 9 convert convert VERB hjic-495 961 10 renewable renewable ADJ hjic-495 961 11 energy energy NOUN hjic-495 961 12 for for ADP hjic-495 961 13 further further ADJ hjic-495 961 14 utilization utilization NOUN hjic-495 961 15 . . PUNCT hjic-495 962 1 the the DET hjic-495 962 2 produced produce VERB hjic-495 962 3 hydrogen hydrogen NOUN hjic-495 962 4 can can AUX hjic-495 962 5 be be AUX hjic-495 962 6 stored store VERB hjic-495 962 7 or or CCONJ hjic-495 962 8 used use VERB hjic-495 962 9 in in ADP hjic-495 962 10 power power NOUN hjic-495 962 11 cells cell NOUN hjic-495 962 12 to to PART hjic-495 962 13 be be AUX hjic-495 962 14 converted convert VERB hjic-495 962 15 back back ADV hjic-495 962 16 to to ADP hjic-495 962 17 electric electric ADJ hjic-495 962 18 energy energy NOUN hjic-495 962 19 or or CCONJ hjic-495 962 20 in in ADP hjic-495 962 21 vehicles vehicle NOUN hjic-495 962 22 for for ADP hjic-495 962 23 hydrogen hydrogen NOUN hjic-495 962 24 propulsion propulsion NOUN hjic-495 962 25 [ [ X hjic-495 962 26 1 1 NUM hjic-495 962 27 ] ] PUNCT hjic-495 962 28 . . PUNCT hjic-495 963 1 although although SCONJ hjic-495 963 2 the the DET hjic-495 963 3 described describe VERB hjic-495 963 4 procedure procedure NOUN hjic-495 963 5 is be AUX hjic-495 963 6 efficient efficient ADJ hjic-495 963 7 and and CCONJ hjic-495 963 8 able able ADJ hjic-495 963 9 to to PART hjic-495 963 10 produce produce VERB hjic-495 963 11 a a DET hjic-495 963 12 high high ADJ hjic-495 963 13 quantity quantity NOUN hjic-495 963 14 of of ADP hjic-495 963 15 h2 h2 NOUN hjic-495 963 16 it it PRON hjic-495 963 17 is be AUX hjic-495 963 18 not not PART hjic-495 963 19 suitable suitable ADJ hjic-495 963 20 for for ADP hjic-495 963 21 application application NOUN hjic-495 963 22 in in ADP hjic-495 963 23 combination combination NOUN hjic-495 963 24 with with ADP hjic-495 963 25 domestic domestic ADJ hjic-495 963 26 power power NOUN hjic-495 963 27 plants plant NOUN hjic-495 963 28 . . PUNCT hjic-495 964 1 the the DET hjic-495 964 2 most most ADV hjic-495 964 3 relevant relevant ADJ hjic-495 964 4 from from ADP hjic-495 964 5 of of ADP hjic-495 964 6 h2 h2 NOUN hjic-495 964 7 production production NOUN hjic-495 964 8 is be AUX hjic-495 964 9 when when SCONJ hjic-495 964 10 the the DET hjic-495 964 11 energy energy NOUN hjic-495 964 12 consumption consumption NOUN hjic-495 964 13 and and CCONJ hjic-495 964 14 quantity quantity NOUN hjic-495 964 15 of of ADP hjic-495 964 16 produced produce VERB hjic-495 964 17 h2 h2 NOUN hjic-495 964 18 are be AUX hjic-495 964 19 controlled control VERB hjic-495 964 20 . . PUNCT hjic-495 965 1 when when SCONJ hjic-495 965 2 power power NOUN hjic-495 965 3 consumption consumption NOUN hjic-495 965 4 and and CCONJ hjic-495 965 5 generation generation NOUN hjic-495 965 6 are be AUX hjic-495 965 7 continuous continuous ADJ hjic-495 965 8 ( ( PUNCT hjic-495 965 9 and and CCONJ hjic-495 965 10 not not PART hjic-495 965 11 necessarily necessarily ADV hjic-495 965 12 deterministic deterministic ADJ hjic-495 965 13 ) ) PUNCT hjic-495 965 14 functions function NOUN hjic-495 965 15 of of ADP hjic-495 965 16 time time NOUN hjic-495 965 17 , , PUNCT hjic-495 965 18 the the DET hjic-495 965 19 h2 h2 NOUN hjic-495 965 20 production production NOUN hjic-495 965 21 depends depend VERB hjic-495 965 22 solely solely ADV hjic-495 965 23 on on ADP hjic-495 965 24 the the DET hjic-495 965 25 excess excess ADJ hjic-495 965 26 energy energy NOUN hjic-495 965 27 of of ADP hjic-495 965 28 the the DET hjic-495 965 29 grid grid NOUN hjic-495 965 30 . . PUNCT hjic-495 966 1 the the DET hjic-495 966 2 best good ADJ hjic-495 966 3 solution solution NOUN hjic-495 966 4 is be AUX hjic-495 966 5 the the DET hjic-495 966 6 usage usage NOUN hjic-495 966 7 of of ADP hjic-495 966 8 supervisory supervisory ADJ hjic-495 966 9 control control NOUN hjic-495 966 10 and and CCONJ hjic-495 966 11 data datum NOUN hjic-495 966 12 acquisition acquisition NOUN hjic-495 966 13 systems system NOUN hjic-495 966 14 ( ( PUNCT hjic-495 966 15 scada scada PROPN hjic-495 966 16 ) ) PUNCT hjic-495 966 17 of of ADP hjic-495 966 18 management management NOUN hjic-495 966 19 [ [ X hjic-495 966 20 2 2 NUM hjic-495 966 21 ] ] PUNCT hjic-495 966 22 . . PUNCT hjic-495 967 1 the the DET hjic-495 967 2 domestic domestic ADJ hjic-495 967 3 applicability applicability NOUN hjic-495 967 4 of of ADP hjic-495 967 5 this this DET hjic-495 967 6 technology technology NOUN hjic-495 967 7 in in ADP hjic-495 967 8 the the DET hjic-495 967 9 future future NOUN hjic-495 967 10 depends depend VERB hjic-495 967 11 on on ADP hjic-495 967 12 the the DET hjic-495 967 13 cost cost NOUN hjic-495 967 14 of of ADP hjic-495 967 15 scada scada PROPN hjic-495 967 16 system system NOUN hjic-495 967 17 installation installation NOUN hjic-495 967 18 . . PUNCT hjic-495 968 1 producing produce VERB hjic-495 968 2 hydrogen hydrogen NOUN hjic-495 968 3 and and CCONJ hjic-495 968 4 oxygen oxygen NOUN hjic-495 968 5 gases gas NOUN hjic-495 968 6 from from ADP hjic-495 968 7 water water NOUN hjic-495 968 8 using use VERB hjic-495 968 9 electricity electricity NOUN hjic-495 968 10 in in ADP hjic-495 968 11 a a DET hjic-495 968 12 laboratory laboratory NOUN hjic-495 968 13 is be AUX hjic-495 968 14 a a DET hjic-495 968 15 simple simple ADJ hjic-495 968 16 electrochemical electrochemical ADJ hjic-495 968 17 process process NOUN hjic-495 968 18 that that PRON hjic-495 968 19 can can AUX hjic-495 968 20 be be AUX hjic-495 968 21 performed perform VERB hjic-495 968 22 easily easily ADV hjic-495 968 23 and and CCONJ hjic-495 968 24 in in ADP hjic-495 968 25 a a DET hjic-495 968 26 very very ADV hjic-495 968 27 demonstrative demonstrative ADJ hjic-495 968 28 way way NOUN hjic-495 968 29 . . PUNCT hjic-495 969 1 producing produce VERB hjic-495 969 2 hydrogen hydrogen NOUN hjic-495 969 3 on on ADP hjic-495 969 4 a a DET hjic-495 969 5 large large ADJ hjic-495 969 6 scale scale NOUN hjic-495 969 7 or or CCONJ hjic-495 969 8 in in ADP hjic-495 969 9 industrial industrial ADJ hjic-495 969 10 quantities quantity NOUN hjic-495 969 11 calls call VERB hjic-495 969 12 for for ADP hjic-495 969 13 an an DET hjic-495 969 14 optimized optimize VERB hjic-495 969 15 or or CCONJ hjic-495 969 16 near near ADV hjic-495 969 17 - - PUNCT hjic-495 969 18 optimized optimize VERB hjic-495 969 19 cell cell NOUN hjic-495 969 20 model model NOUN hjic-495 969 21 . . PUNCT hjic-495 970 1 in in ADP hjic-495 970 2 an an DET hjic-495 970 3 energy energy NOUN hjic-495 970 4 demanding demand VERB hjic-495 970 5 process process NOUN hjic-495 970 6 only only ADV hjic-495 970 7 a a DET hjic-495 970 8 few few ADJ hjic-495 970 9 percent percent NOUN hjic-495 970 10 of of ADP hjic-495 970 11 variance variance NOUN hjic-495 970 12 in in ADP hjic-495 970 13 efficiency efficiency NOUN hjic-495 970 14 could could AUX hjic-495 970 15 mean mean VERB hjic-495 970 16 a a DET hjic-495 970 17 significant significant ADJ hjic-495 970 18 energy energy NOUN hjic-495 970 19 surplus surplus NOUN hjic-495 970 20 or or CCONJ hjic-495 970 21 shortage shortage NOUN hjic-495 970 22 [ [ X hjic-495 970 23 3 3 NUM hjic-495 970 24 ] ] PUNCT hjic-495 970 25 . . PUNCT hjic-495 971 1 the the DET hjic-495 971 2 electrochemical electrochemical ADJ hjic-495 971 3 parameters parameter NOUN hjic-495 971 4 of of ADP hjic-495 971 5 a a DET hjic-495 971 6 dry dry ADJ hjic-495 971 7 cell cell NOUN hjic-495 971 8 ( ( PUNCT hjic-495 971 9 fig.1 fig.1 PROPN hjic-495 971 10 ) ) PUNCT hjic-495 971 11 that that PRON hjic-495 971 12 are be AUX hjic-495 971 13 used use VERB hjic-495 971 14 here here ADV hjic-495 971 15 are be AUX hjic-495 971 16 discussed discuss VERB hjic-495 971 17 to to PART hjic-495 971 18 simulate simulate VERB hjic-495 971 19 hydrogen hydrogen NOUN hjic-495 971 20 and and CCONJ hjic-495 971 21 oxygen oxygen NOUN hjic-495 971 22 gas gas NOUN hjic-495 971 23 production production NOUN hjic-495 971 24 . . PUNCT hjic-495 972 1 compared compare VERB hjic-495 972 2 to to ADP hjic-495 972 3 wet wet ADJ hjic-495 972 4 oxyhydrogen oxyhydrogen NOUN hjic-495 972 5 ( ( PUNCT hjic-495 972 6 hho hho NOUN hjic-495 972 7 ) ) PUNCT hjic-495 972 8 cells cell NOUN hjic-495 972 9 where where SCONJ hjic-495 972 10 the the DET hjic-495 972 11 entire entire ADJ hjic-495 972 12 unit unit NOUN hjic-495 972 13 is be AUX hjic-495 972 14 underwater underwater NOUN hjic-495 972 15 , , PUNCT hjic-495 972 16 the the DET hjic-495 972 17 plates plate NOUN hjic-495 972 18 of of ADP hjic-495 972 19 dry dry ADJ hjic-495 972 20 cells cell NOUN hjic-495 972 21 are be AUX hjic-495 972 22 separated separate VERB hjic-495 972 23 with with ADP hjic-495 972 24 rubber rubber NOUN hjic-495 972 25 seals seal NOUN hjic-495 972 26 . . PUNCT hjic-495 973 1 these these DET hjic-495 973 2 seals seal NOUN hjic-495 973 3 stop stop VERB hjic-495 973 4 the the DET hjic-495 973 5 water water NOUN hjic-495 973 6 from from ADP hjic-495 973 7 leaking leak VERB hjic-495 973 8 from from ADP hjic-495 973 9 the the DET hjic-495 973 10 cell cell NOUN hjic-495 973 11 . . PUNCT hjic-495 974 1 the the DET hjic-495 974 2 electrical electrical ADJ hjic-495 974 3 connections connection NOUN hjic-495 974 4 and and CCONJ hjic-495 974 5 edges edge NOUN hjic-495 974 6 of of ADP hjic-495 974 7 figure figure NOUN hjic-495 974 8 1 1 NUM hjic-495 974 9 : : PUNCT hjic-495 974 10 the the DET hjic-495 974 11 theoretical theoretical ADJ hjic-495 974 12 setup setup NOUN hjic-495 974 13 of of ADP hjic-495 974 14 a a DET hjic-495 974 15 dry dry ADJ hjic-495 974 16 hho hho NOUN hjic-495 974 17 block block NOUN hjic-495 974 18 86 86 NUM hjic-495 974 19 the the DET hjic-495 974 20 plates plate NOUN hjic-495 974 21 do do AUX hjic-495 974 22 not not PART hjic-495 974 23 touch touch VERB hjic-495 974 24 the the DET hjic-495 974 25 electrolyte electrolyte NOUN hjic-495 974 26 . . PUNCT hjic-495 975 1 these these DET hjic-495 975 2 parts part NOUN hjic-495 975 3 of of ADP hjic-495 975 4 the the DET hjic-495 975 5 unit unit NOUN hjic-495 975 6 stay stay VERB hjic-495 975 7 dry dry ADJ hjic-495 975 8 , , PUNCT hjic-495 975 9 thus thus ADV hjic-495 975 10 the the DET hjic-495 975 11 name name NOUN hjic-495 975 12 dry dry ADJ hjic-495 975 13 cell cell NOUN hjic-495 975 14 . . PUNCT hjic-495 976 1 to to PART hjic-495 976 2 make make VERB hjic-495 976 3 sure sure ADJ hjic-495 976 4 the the DET hjic-495 976 5 gas gas NOUN hjic-495 976 6 made make VERB hjic-495 976 7 from from ADP hjic-495 976 8 the the DET hjic-495 976 9 electrolyte electrolyte NOUN hjic-495 976 10 gets get VERB hjic-495 976 11 out out ADP hjic-495 976 12 of of ADP hjic-495 976 13 the the DET hjic-495 976 14 cell cell NOUN hjic-495 976 15 and and CCONJ hjic-495 976 16 the the DET hjic-495 976 17 solution solution NOUN hjic-495 976 18 flows flow VERB hjic-495 976 19 between between ADP hjic-495 976 20 the the DET hjic-495 976 21 plates plate NOUN hjic-495 976 22 , , PUNCT hjic-495 976 23 there there PRON hjic-495 976 24 are be VERB hjic-495 976 25 holes hole NOUN hjic-495 976 26 on on ADP hjic-495 976 27 the the DET hjic-495 976 28 top top NOUN hjic-495 976 29 ( ( PUNCT hjic-495 976 30 for for ADP hjic-495 976 31 the the DET hjic-495 976 32 gas gas NOUN hjic-495 976 33 ) ) PUNCT hjic-495 976 34 and and CCONJ hjic-495 976 35 bottom bottom NOUN hjic-495 976 36 ( ( PUNCT hjic-495 976 37 for for ADP hjic-495 976 38 the the DET hjic-495 976 39 electrolyte electrolyte NOUN hjic-495 976 40 ) ) PUNCT hjic-495 976 41 on on ADP hjic-495 976 42 the the DET hjic-495 976 43 metal metal NOUN hjic-495 976 44 slats slat NOUN hjic-495 976 45 ( ( PUNCT hjic-495 976 46 fig.1 fig.1 PROPN hjic-495 976 47 ) ) PUNCT hjic-495 976 48 . . PUNCT hjic-495 977 1 the the DET hjic-495 977 2 application application NOUN hjic-495 977 3 of of ADP hjic-495 977 4 dry dry ADJ hjic-495 977 5 hho hho NOUN hjic-495 977 6 units unit NOUN hjic-495 977 7 has have VERB hjic-495 977 8 two two NUM hjic-495 977 9 main main ADJ hjic-495 977 10 advantages advantage NOUN hjic-495 977 11 . . PUNCT hjic-495 978 1 the the DET hjic-495 978 2 surface surface NOUN hjic-495 978 3 of of ADP hjic-495 978 4 the the DET hjic-495 978 5 dry dry ADJ hjic-495 978 6 cell cell NOUN hjic-495 978 7 plates plate NOUN hjic-495 978 8 enables enable VERB hjic-495 978 9 one one NUM hjic-495 978 10 to to PART hjic-495 978 11 use use VERB hjic-495 978 12 smaller small ADJ hjic-495 978 13 amounts amount NOUN hjic-495 978 14 of of ADP hjic-495 978 15 electrolyte electrolyte NOUN hjic-495 978 16 compared compare VERB hjic-495 978 17 to to ADP hjic-495 978 18 with with ADP hjic-495 978 19 wet wet ADJ hjic-495 978 20 cells cell NOUN hjic-495 978 21 ; ; PUNCT hjic-495 978 22 therefore therefore ADV hjic-495 978 23 , , PUNCT hjic-495 978 24 the the DET hjic-495 978 25 volume volume NOUN hjic-495 978 26 and and CCONJ hjic-495 978 27 weight weight NOUN hjic-495 978 28 of of ADP hjic-495 978 29 the the DET hjic-495 978 30 cell cell NOUN hjic-495 978 31 is be AUX hjic-495 978 32 smaller small ADJ hjic-495 978 33 . . PUNCT hjic-495 979 1 furthermore furthermore ADV hjic-495 979 2 , , PUNCT hjic-495 979 3 the the DET hjic-495 979 4 connectors connector NOUN hjic-495 979 5 of of ADP hjic-495 979 6 dry dry ADJ hjic-495 979 7 cells cell NOUN hjic-495 979 8 remain remain VERB hjic-495 979 9 dry dry ADJ hjic-495 979 10 , , PUNCT hjic-495 979 11 i.e. i.e. X hjic-495 979 12 they they PRON hjic-495 979 13 do do AUX hjic-495 979 14 not not PART hjic-495 979 15 corrode corrode VERB hjic-495 979 16 unlike unlike ADP hjic-495 979 17 to to ADP hjic-495 979 18 wet wet ADJ hjic-495 979 19 cells cell NOUN hjic-495 979 20 , , PUNCT hjic-495 979 21 where where SCONJ hjic-495 979 22 the the DET hjic-495 979 23 connectors connector NOUN hjic-495 979 24 are be AUX hjic-495 979 25 underwater underwater ADJ hjic-495 979 26 therefore therefore ADV hjic-495 979 27 their their PRON hjic-495 979 28 surface surface NOUN hjic-495 979 29 slowly slowly ADV hjic-495 979 30 corrodes corrode VERB hjic-495 979 31 [ [ PUNCT hjic-495 979 32 4 4 NUM hjic-495 979 33 ] ] PUNCT hjic-495 979 34 . . PUNCT hjic-495 980 1 electrochemical electrochemical ADJ hjic-495 980 2 foundations foundation NOUN hjic-495 980 3 electrochemical electrochemical ADJ hjic-495 980 4 cells cell NOUN hjic-495 980 5 can can AUX hjic-495 980 6 be be AUX hjic-495 980 7 considered consider VERB hjic-495 980 8 as as ADP hjic-495 980 9 galvanic galvanic ADJ hjic-495 980 10 batteries battery NOUN hjic-495 980 11 where where SCONJ hjic-495 980 12 the the DET hjic-495 980 13 electrochemical electrochemical ADJ hjic-495 980 14 reactions reaction NOUN hjic-495 980 15 are be AUX hjic-495 980 16 supported support VERB hjic-495 980 17 by by ADP hjic-495 980 18 an an DET hjic-495 980 19 external external ADJ hjic-495 980 20 current current ADJ hjic-495 980 21 supply supply NOUN hjic-495 980 22 . . PUNCT hjic-495 981 1 they they PRON hjic-495 981 2 are be AUX hjic-495 981 3 composed compose VERB hjic-495 981 4 of of ADP hjic-495 981 5 two two NUM hjic-495 981 6 electrodes electrode NOUN hjic-495 981 7 and and CCONJ hjic-495 981 8 a a DET hjic-495 981 9 conductive conductive ADJ hjic-495 981 10 electrolyte electrolyte NOUN hjic-495 981 11 fluid fluid NOUN hjic-495 981 12 . . PUNCT hjic-495 982 1 if if SCONJ hjic-495 982 2 the the DET hjic-495 982 3 electrode electrode NOUN hjic-495 982 4 material material NOUN hjic-495 982 5 does do AUX hjic-495 982 6 not not PART hjic-495 982 7 participate participate VERB hjic-495 982 8 directly directly ADV hjic-495 982 9 in in ADP hjic-495 982 10 the the DET hjic-495 982 11 electrode electrode NOUN hjic-495 982 12 reaction reaction NOUN hjic-495 982 13 , , PUNCT hjic-495 982 14 it it PRON hjic-495 982 15 is be AUX hjic-495 982 16 called call VERB hjic-495 982 17 an an DET hjic-495 982 18 indifferent indifferent ADJ hjic-495 982 19 electrode electrode NOUN hjic-495 982 20 ( ( PUNCT hjic-495 982 21 e.g. e.g. ADV hjic-495 982 22 graphite graphite NOUN hjic-495 982 23 ) ) PUNCT hjic-495 982 24 . . PUNCT hjic-495 983 1 during during ADP hjic-495 983 2 electrolysis electrolysis NOUN hjic-495 983 3 , , PUNCT hjic-495 983 4 if if SCONJ hjic-495 983 5 there there PRON hjic-495 983 6 is be VERB hjic-495 983 7 more more ADJ hjic-495 983 8 than than ADP hjic-495 983 9 one one NUM hjic-495 983 10 possible possible ADJ hjic-495 983 11 type type NOUN hjic-495 983 12 of of ADP hjic-495 983 13 electrochemical electrochemical ADJ hjic-495 983 14 reaction reaction NOUN hjic-495 983 15 , , PUNCT hjic-495 983 16 then then ADV hjic-495 983 17 a a DET hjic-495 983 18 simple simple ADJ hjic-495 983 19 anion anion NOUN hjic-495 983 20 will will AUX hjic-495 983 21 detach detach VERB hjic-495 983 22 from from ADP hjic-495 983 23 the the DET hjic-495 983 24 positive positive ADJ hjic-495 983 25 anode anode NOUN hjic-495 983 26 ( ( PUNCT hjic-495 983 27 e.g. e.g. ADV hjic-495 983 28 chloride chloride NOUN hjic-495 983 29 ) ) PUNCT hjic-495 983 30 , , PUNCT hjic-495 983 31 without without ADP hjic-495 983 32 this this DET hjic-495 983 33 anion anion NOUN hjic-495 983 34 , , PUNCT hjic-495 983 35 howill howill NOUN hjic-495 983 36 be be AUX hjic-495 983 37 created create VERB hjic-495 983 38 by by ADP hjic-495 983 39 water water NOUN hjic-495 983 40 splitting splitting NOUN hjic-495 983 41 . . PUNCT hjic-495 984 1 the the DET hjic-495 984 2 dissolution dissolution ADJ hjic-495 984 3 voltage voltage NOUN hjic-495 984 4 of of ADP hjic-495 984 5 water water NOUN hjic-495 984 6 is be AUX hjic-495 984 7 1.23 1.23 NUM hjic-495 984 8 v v NOUN hjic-495 984 9 at at ADP hjic-495 984 10 25 25 NUM hjic-495 984 11 ° ° NOUN hjic-495 984 12 c c NOUN hjic-495 984 13 , , PUNCT hjic-495 984 14 the the DET hjic-495 984 15 temperature temperature NOUN hjic-495 984 16 coefficient coefficient NOUN hjic-495 984 17 is be AUX hjic-495 984 18 -0.85 -0.85 ADJ hjic-495 984 19 mv mv PROPN hjic-495 984 20 / / SYM hjic-495 984 21 k k PROPN hjic-495 984 22 , , PUNCT hjic-495 984 23 which which PRON hjic-495 984 24 means mean VERB hjic-495 984 25 that that SCONJ hjic-495 984 26 at at ADP hjic-495 984 27 100 100 NUM hjic-495 984 28 ° ° NOUN hjic-495 984 29 c c NOUN hjic-495 984 30 this this DET hjic-495 984 31 voltage voltage NOUN hjic-495 984 32 decreases decrease VERB hjic-495 984 33 to to ADP hjic-495 984 34 1.17 1.17 NUM hjic-495 984 35 v. v. ADP hjic-495 984 36 therefore therefore ADV hjic-495 984 37 , , PUNCT hjic-495 984 38 in in ADP hjic-495 984 39 the the DET hjic-495 984 40 light light NOUN hjic-495 984 41 of of ADP hjic-495 984 42 these these DET hjic-495 984 43 data datum NOUN hjic-495 984 44 , , PUNCT hjic-495 984 45 the the DET hjic-495 984 46 specific specific ADJ hjic-495 984 47 energy energy NOUN hjic-495 984 48 demand demand NOUN hjic-495 984 49 to to PART hjic-495 984 50 make make VERB hjic-495 984 51 hydrogen hydrogen NOUN hjic-495 984 52 via via ADP hjic-495 984 53 electrolysis electrolysis NOUN hjic-495 984 54 at at ADP hjic-495 984 55 25 25 NUM hjic-495 984 56 ° ° NOUN hjic-495 984 57 c c NOUN hjic-495 984 58 can can AUX hjic-495 984 59 be be AUX hjic-495 984 60 calculated calculate VERB hjic-495 984 61 from from ADP hjic-495 984 62 eqs.(1–4 eqs.(1–4 NOUN hjic-495 984 63 ) ) PUNCT hjic-495 984 64 . . PUNCT hjic-495 985 1 the the DET hjic-495 985 2 amount amount NOUN hjic-495 985 3 of of ADP hjic-495 985 4 charge charge NOUN hjic-495 985 5 needed need VERB hjic-495 985 6 to to PART hjic-495 985 7 evolve evolve VERB hjic-495 985 8 1 1 NUM hjic-495 985 9 kg kg NOUN hjic-495 985 10 of of ADP hjic-495 985 11 h2 h2 NOUN hjic-495 985 12 gas gas NOUN hjic-495 985 13 is be AUX hjic-495 985 14 q q NOUN hjic-495 985 15 = = PUNCT hjic-495 985 16 zfm zfm NOUN hjic-495 985 17 = = SYM hjic-495 985 18 2⋅96487⋅0.5 2⋅96487⋅0.5 NUM hjic-495 985 19 = = SYM hjic-495 985 20 96487 96487 NUM hjic-495 985 21 a a DET hjic-495 985 22 s s X hjic-495 985 23 mol-1 mol-1 X hjic-495 985 24 = = ADJ hjic-495 985 25 = = SYM hjic-495 985 26 26801 26801 NUM hjic-495 985 27 ah ah INTJ hjic-495 985 28 kg-1 kg-1 PRON hjic-495 985 29 ( ( PUNCT hjic-495 985 30 1 1 NUM hjic-495 985 31 ) ) PUNCT hjic-495 985 32 wh2 wh2 NOUN hjic-495 986 1 = = NOUN hjic-495 986 2 qemf qemf NOUN hjic-495 986 3 = = SYM hjic-495 986 4 26801⋅1.23 26801⋅1.23 NUM hjic-495 986 5 = = SYM hjic-495 986 6 32966 32966 NUM hjic-495 986 7 wh wh VERB hjic-495 986 8 kg-1 kg-1 X hjic-495 987 1 ( ( PUNCT hjic-495 987 2 2 2 NUM hjic-495 987 3 ) ) PUNCT hjic-495 987 4 since since SCONJ hjic-495 987 5 the the DET hjic-495 987 6 volume volume NOUN hjic-495 987 7 of of ADP hjic-495 987 8 1 1 NUM hjic-495 987 9 kg kg NOUN hjic-495 987 10 of of ADP hjic-495 987 11 standard standard ADJ hjic-495 987 12 state state NOUN hjic-495 987 13 h2 h2 PROPN hjic-495 987 14 is be AUX hjic-495 987 15 12474 12474 NUM hjic-495 987 16 dm3 dm3 NOUN hjic-495 987 17 , , PUNCT hjic-495 987 18 the the DET hjic-495 987 19 amount amount NOUN hjic-495 987 20 of of ADP hjic-495 987 21 energy energy NOUN hjic-495 987 22 required require VERB hjic-495 987 23 to to PART hjic-495 987 24 produce produce VERB hjic-495 987 25 1 1 NUM hjic-495 987 26 dm3 dm3 NOUN hjic-495 987 27 of of ADP hjic-495 987 28 h2 h2 NOUN hjic-495 987 29 gas gas NOUN hjic-495 987 30 is be AUX hjic-495 987 31 : : PUNCT hjic-495 987 32 wh2 wh2 NOUN hjic-495 987 33 = = SYM hjic-495 987 34 32966 32966 NUM hjic-495 987 35 12474 12474 NUM hjic-495 987 36 = = SYM hjic-495 987 37 2.64 2.64 NUM hjic-495 987 38 wh wh NOUN hjic-495 987 39 dm−3 dm−3 PROPN hjic-495 987 40 ( ( PUNCT hjic-495 987 41 3 3 NUM hjic-495 987 42 ) ) PUNCT hjic-495 987 43 to to PART hjic-495 987 44 generate generate VERB hjic-495 987 45 1 1 NUM hjic-495 987 46 dm3 dm3 NOUN hjic-495 987 47 of of ADP hjic-495 987 48 hydrogen hydrogen NOUN hjic-495 987 49 gas gas NOUN hjic-495 987 50 , , PUNCT hjic-495 987 51 1.5 1.5 NUM hjic-495 987 52 dm3 dm3 NOUN hjic-495 987 53 of of ADP hjic-495 987 54 hho hho NOUN hjic-495 987 55 gas gas NOUN hjic-495 987 56 is be AUX hjic-495 987 57 needed need VERB hjic-495 987 58 and and CCONJ hjic-495 988 1 thus thus ADV hjic-495 988 2 the the DET hjic-495 988 3 energy energy NOUN hjic-495 988 4 demand demand NOUN hjic-495 988 5 of of ADP hjic-495 988 6 producing produce VERB hjic-495 988 7 1 1 NUM hjic-495 988 8 ldm3 ldm3 NOUN hjic-495 988 9 of of ADP hjic-495 988 10 hho hho NOUN hjic-495 988 11 gas gas NOUN hjic-495 988 12 ( ( PUNCT hjic-495 988 13 0.667 0.667 NUM hjic-495 988 14 dm3 dm3 NOUN hjic-495 988 15 h2 h2 NOUN hjic-495 988 16 ) ) PUNCT hjic-495 988 17 is be AUX hjic-495 988 18 : : PUNCT hjic-495 988 19 wh2(hho wh2(hho X hjic-495 988 20 ) ) PUNCT hjic-495 988 21 = = SYM hjic-495 988 22 0.667⋅2.64 0.667⋅2.64 NUM hjic-495 989 1 = = SYM hjic-495 989 2 1.76 1.76 NUM hjic-495 989 3 wh wh NOUN hjic-495 989 4 dm-3 dm-3 VERB hjic-495 989 5 ( ( PUNCT hjic-495 989 6 4 4 X hjic-495 989 7 ) ) PUNCT hjic-495 989 8 the the DET hjic-495 989 9 unit unit NOUN hjic-495 989 10 has have AUX hjic-495 989 11 been be AUX hjic-495 989 12 measured measure VERB hjic-495 989 13 at at ADP hjic-495 989 14 10 10 NUM hjic-495 989 15 different different ADJ hjic-495 989 16 electrolyte electrolyte ADJ hjic-495 989 17 concentrations concentration NOUN hjic-495 989 18 , , PUNCT hjic-495 989 19 using use VERB hjic-495 989 20 different different ADJ hjic-495 989 21 currents current NOUN hjic-495 989 22 . . PUNCT hjic-495 990 1 at at ADP hjic-495 990 2 the the DET hjic-495 990 3 same same ADJ hjic-495 990 4 time time NOUN hjic-495 990 5 , , PUNCT hjic-495 990 6 the the DET hjic-495 990 7 voltage voltage NOUN hjic-495 990 8 on on ADP hjic-495 990 9 the the DET hjic-495 990 10 plates plate NOUN hjic-495 990 11 and and CCONJ hjic-495 990 12 amount amount NOUN hjic-495 990 13 of of ADP hjic-495 990 14 gas gas NOUN hjic-495 990 15 produced produce VERB hjic-495 990 16 by by ADP hjic-495 990 17 electrolysis electrolysis NOUN hjic-495 990 18 has have AUX hjic-495 990 19 also also ADV hjic-495 990 20 been be AUX hjic-495 990 21 measured measure VERB hjic-495 990 22 . . PUNCT hjic-495 991 1 the the DET hjic-495 991 2 hho hho NOUN hjic-495 991 3 cell cell NOUN hjic-495 991 4 unit unit NOUN hjic-495 991 5 the the DET hjic-495 991 6 setup setup NOUN hjic-495 991 7 of of ADP hjic-495 991 8 one one NUM hjic-495 991 9 block block NOUN hjic-495 991 10 of of ADP hjic-495 991 11 the the DET hjic-495 991 12 unit unit NOUN hjic-495 991 13 is be AUX hjic-495 991 14 shown show VERB hjic-495 991 15 in in ADP hjic-495 991 16 fig.2 fig.2 PROPN hjic-495 991 17 . . PUNCT hjic-495 992 1 usually usually ADV hjic-495 992 2 five five NUM hjic-495 992 3 cells cell NOUN hjic-495 992 4 make make VERB hjic-495 992 5 up up ADP hjic-495 992 6 one one NUM hjic-495 992 7 block block NOUN hjic-495 992 8 giving give VERB hjic-495 992 9 one one NUM hjic-495 992 10 gasproducing gasproducing NOUN hjic-495 992 11 block block NOUN hjic-495 992 12 . . PUNCT hjic-495 993 1 the the DET hjic-495 993 2 block block NOUN hjic-495 993 3 ’s ’s PART hjic-495 993 4 electrical electrical ADJ hjic-495 993 5 connections connection NOUN hjic-495 993 6 are be AUX hjic-495 993 7 on on ADP hjic-495 993 8 the the DET hjic-495 993 9 ends end NOUN hjic-495 993 10 of of ADP hjic-495 993 11 two two NUM hjic-495 993 12 plates plate NOUN hjic-495 993 13 ( ( PUNCT hjic-495 993 14 fig.1 fig.1 PROPN hjic-495 993 15 ) ) PUNCT hjic-495 993 16 . . PUNCT hjic-495 994 1 four four NUM hjic-495 994 2 of of ADP hjic-495 994 3 the the DET hjic-495 994 4 six six NUM hjic-495 994 5 electrode electrode NOUN hjic-495 994 6 plates plate NOUN hjic-495 994 7 are be AUX hjic-495 994 8 neutral neutral ADJ hjic-495 994 9 electrodes electrode NOUN hjic-495 994 10 , , PUNCT hjic-495 994 11 as as SCONJ hjic-495 994 12 there there PRON hjic-495 994 13 is be VERB hjic-495 994 14 no no DET hjic-495 994 15 voltage voltage NOUN hjic-495 994 16 connected connect VERB hjic-495 994 17 to to ADP hjic-495 994 18 them they PRON hjic-495 994 19 . . PUNCT hjic-495 995 1 the the DET hjic-495 995 2 potential potential NOUN hjic-495 995 3 is be AUX hjic-495 995 4 divided divide VERB hjic-495 995 5 between between ADP hjic-495 995 6 the the DET hjic-495 995 7 neutral neutral ADJ hjic-495 995 8 plates plate NOUN hjic-495 995 9 according accord VERB hjic-495 995 10 to to ADP hjic-495 995 11 voltage voltage NOUN hjic-495 995 12 division division NOUN hjic-495 995 13 in in ADP hjic-495 995 14 series series NOUN hjic-495 995 15 connections connection NOUN hjic-495 995 16 . . PUNCT hjic-495 996 1 it it PRON hjic-495 996 2 means mean VERB hjic-495 996 3 that that SCONJ hjic-495 996 4 the the DET hjic-495 996 5 voltage voltage NOUN hjic-495 996 6 between between ADP hjic-495 996 7 two two NUM hjic-495 996 8 electrodes electrode NOUN hjic-495 996 9 is be AUX hjic-495 996 10 one one NUM hjic-495 996 11 fifth fifth NOUN hjic-495 996 12 of of ADP hjic-495 996 13 the the DET hjic-495 996 14 voltage voltage NOUN hjic-495 996 15 on on ADP hjic-495 996 16 one one NUM hjic-495 996 17 whole whole ADJ hjic-495 996 18 block block NOUN hjic-495 996 19 . . PUNCT hjic-495 997 1 in in ADP hjic-495 997 2 the the DET hjic-495 997 3 experiment experiment NOUN hjic-495 997 4 , , PUNCT hjic-495 997 5 a a DET hjic-495 997 6 unit unit NOUN hjic-495 997 7 with with ADP hjic-495 997 8 three three NUM hjic-495 997 9 blocks block NOUN hjic-495 997 10 connected connect VERB hjic-495 997 11 in in ADP hjic-495 997 12 parallel parallel NOUN hjic-495 997 13 has have AUX hjic-495 997 14 been be AUX hjic-495 997 15 used use VERB hjic-495 997 16 . . PUNCT hjic-495 998 1 besides besides SCONJ hjic-495 998 2 the the DET hjic-495 998 3 hho hho NOUN hjic-495 998 4 cell cell NOUN hjic-495 998 5 , , PUNCT hjic-495 998 6 a a DET hjic-495 998 7 water water NOUN hjic-495 998 8 reserve reserve NOUN hjic-495 998 9 tank tank NOUN hjic-495 998 10 to to PART hjic-495 998 11 infuse infuse VERB hjic-495 998 12 the the DET hjic-495 998 13 electrolyte electrolyte NOUN hjic-495 998 14 into into ADP hjic-495 998 15 the the DET hjic-495 998 16 cell cell NOUN hjic-495 998 17 was be AUX hjic-495 998 18 necessary necessary ADJ hjic-495 998 19 . . PUNCT hjic-495 999 1 a a DET hjic-495 999 2 tube tube NOUN hjic-495 999 3 between between ADP hjic-495 999 4 the the DET hjic-495 999 5 gas gas NOUN hjic-495 999 6 outlet outlet NOUN hjic-495 999 7 and and CCONJ hjic-495 999 8 the the DET hjic-495 999 9 tank tank NOUN hjic-495 999 10 has have AUX hjic-495 999 11 also also ADV hjic-495 999 12 been be AUX hjic-495 999 13 installed instal VERB hjic-495 999 14 since since SCONJ hjic-495 999 15 due due ADP hjic-495 999 16 to to ADP hjic-495 999 17 bubbling bubble VERB hjic-495 999 18 , , PUNCT hjic-495 999 19 electrolyte electrolyte NOUN hjic-495 999 20 comes come VERB hjic-495 999 21 out out ADP hjic-495 999 22 of of ADP hjic-495 999 23 the the DET hjic-495 999 24 tube tube NOUN hjic-495 999 25 that that PRON hjic-495 999 26 needs need VERB hjic-495 999 27 to to PART hjic-495 999 28 be be AUX hjic-495 999 29 recycled recycle VERB hjic-495 999 30 back back ADV hjic-495 999 31 into into ADP hjic-495 999 32 the the DET hjic-495 999 33 system system NOUN hjic-495 999 34 . . PUNCT hjic-495 1000 1 then then ADV hjic-495 1000 2 , , PUNCT hjic-495 1000 3 as as SCONJ hjic-495 1000 4 the the DET hjic-495 1000 5 electrolyte electrolyte NOUN hjic-495 1000 6 drips drip VERB hjic-495 1000 7 back back ADV hjic-495 1000 8 into into ADP hjic-495 1000 9 the the DET hjic-495 1000 10 tank tank NOUN hjic-495 1000 11 , , PUNCT hjic-495 1000 12 the the DET hjic-495 1000 13 gas gas NOUN hjic-495 1000 14 can can AUX hjic-495 1000 15 escape escape VERB hjic-495 1000 16 into into ADP hjic-495 1000 17 the the DET hjic-495 1000 18 bottle bottle NOUN hjic-495 1000 19 through through ADP hjic-495 1000 20 another another DET hjic-495 1000 21 hose hose NOUN hjic-495 1000 22 . . PUNCT hjic-495 1001 1 the the DET hjic-495 1001 2 produced produce VERB hjic-495 1001 3 h2 h2 NOUN hjic-495 1001 4 volume volume NOUN hjic-495 1001 5 and and CCONJ hjic-495 1001 6 the the DET hjic-495 1001 7 production production NOUN hjic-495 1001 8 speed speed NOUN hjic-495 1001 9 are be AUX hjic-495 1001 10 measured measure VERB hjic-495 1001 11 with with ADP hjic-495 1001 12 this this DET hjic-495 1001 13 bottle bottle NOUN hjic-495 1001 14 . . PUNCT hjic-495 1002 1 a a DET hjic-495 1002 2 power power NOUN hjic-495 1002 3 supply supply NOUN hjic-495 1002 4 ( ( PUNCT hjic-495 1002 5 manson manson PROPN hjic-495 1002 6 sps9600 sps9600 PROPN hjic-495 1002 7 ) ) PUNCT hjic-495 1002 8 has have AUX hjic-495 1002 9 been be AUX hjic-495 1002 10 connected connect VERB hjic-495 1002 11 to to ADP hjic-495 1002 12 the the DET hjic-495 1002 13 electrical electrical ADJ hjic-495 1002 14 connections connection NOUN hjic-495 1002 15 of of ADP hjic-495 1002 16 the the DET hjic-495 1002 17 hho hho NOUN hjic-495 1002 18 unit unit NOUN hjic-495 1002 19 , , PUNCT hjic-495 1002 20 in in ADP hjic-495 1002 21 this this DET hjic-495 1002 22 way way NOUN hjic-495 1002 23 the the DET hjic-495 1002 24 input input NOUN hjic-495 1002 25 current current NOUN hjic-495 1002 26 was be AUX hjic-495 1002 27 controlled control VERB hjic-495 1002 28 ( ( PUNCT hjic-495 1002 29 table table NOUN hjic-495 1002 30 1 1 NUM hjic-495 1002 31 ) ) PUNCT hjic-495 1002 32 . . PUNCT hjic-495 1003 1 matlab matlab PROPN hjic-495 1003 2 model model NOUN hjic-495 1003 3 of of ADP hjic-495 1003 4 the the DET hjic-495 1003 5 dry dry ADJ hjic-495 1003 6 cell cell NOUN hjic-495 1003 7 the the DET hjic-495 1003 8 model model NOUN hjic-495 1003 9 of of ADP hjic-495 1003 10 the the DET hjic-495 1003 11 dry dry ADJ hjic-495 1003 12 cell cell NOUN hjic-495 1003 13 considered consider VERB hjic-495 1003 14 was be AUX hjic-495 1003 15 implemented implement VERB hjic-495 1003 16 in in ADP hjic-495 1003 17 matlab matlab PROPN hjic-495 1003 18 simulink simulink PROPN hjic-495 1003 19 using use VERB hjic-495 1003 20 the the DET hjic-495 1003 21 simpowersystems simpowersystem NOUN hjic-495 1003 22 toolbox toolbox NOUN hjic-495 1003 23 . . PUNCT hjic-495 1004 1 two two NUM hjic-495 1004 2 unknown unknown ADJ hjic-495 1004 3 functional functional ADJ hjic-495 1004 4 relationships relationship NOUN hjic-495 1004 5 between between ADP hjic-495 1004 6 the the DET hjic-495 1004 7 generated generate VERB hjic-495 1004 8 h2 h2 NOUN hjic-495 1004 9 volume volume NOUN hjic-495 1004 10 , , PUNCT hjic-495 1004 11 the the DET hjic-495 1004 12 cell cell NOUN hjic-495 1004 13 current current NOUN hjic-495 1004 14 and and CCONJ hjic-495 1004 15 the the DET hjic-495 1004 16 koh koh PROPN hjic-495 1004 17 concentration concentration NOUN hjic-495 1004 18 and and CCONJ hjic-495 1004 19 between between ADP hjic-495 1004 20 cell cell NOUN hjic-495 1004 21 voltage voltage NOUN hjic-495 1004 22 , , PUNCT hjic-495 1004 23 cell cell NOUN hjic-495 1004 24 current current NOUN hjic-495 1004 25 and and CCONJ hjic-495 1004 26 koh koh PROPN hjic-495 1004 27 concentration concentration NOUN hjic-495 1004 28 were be AUX hjic-495 1004 29 approximated approximate VERB hjic-495 1004 30 using use VERB hjic-495 1004 31 fourth fourth ADJ hjic-495 1004 32 and and CCONJ hjic-495 1004 33 third third ADJ hjic-495 1004 34 order order NOUN hjic-495 1004 35 polynomials polynomial NOUN hjic-495 1004 36 , , PUNCT hjic-495 1004 37 respectively respectively ADV hjic-495 1004 38 figure figure VERB hjic-495 1004 39 2 2 NUM hjic-495 1004 40 : : PUNCT hjic-495 1004 41 the the DET hjic-495 1004 42 setup setup NOUN hjic-495 1004 43 of of ADP hjic-495 1004 44 a a DET hjic-495 1004 45 hho hho NOUN hjic-495 1004 46 gas gas NOUN hjic-495 1004 47 generator generator NOUN hjic-495 1004 48 cell cell NOUN hjic-495 1004 49 block block NOUN hjic-495 1004 50 table table NOUN hjic-495 1004 51 1 1 NUM hjic-495 1004 52 : : PUNCT hjic-495 1004 53 experimental experimental ADJ hjic-495 1004 54 results result NOUN hjic-495 1004 55 electrolyte electrolyte PROPN hjic-495 1004 56 concentration concentration NOUN hjic-495 1004 57 , , PUNCT hjic-495 1004 58 g g PROPN hjic-495 1004 59 dm-3 dm-3 PUNCT hjic-495 1004 60 mmwa mmwa PROPN hjic-495 1004 61 , , PUNCT hjic-495 1004 62 cm3 cm3 PROPN hjic-495 1004 63 min-1 min-1 PROPN hjic-495 1004 64 w-1 w-1 PROPN hjic-495 1004 65 gas gas NOUN hjic-495 1004 66 production production NOUN hjic-495 1004 67 , , PUNCT hjic-495 1004 68 dm3 dm3 PROPN hjic-495 1004 69 min-1 min-1 NOUN hjic-495 1004 70 power power NOUN hjic-495 1004 71 of of ADP hjic-495 1004 72 unit unit NOUN hjic-495 1004 73 , , PUNCT hjic-495 1004 74 w w PROPN hjic-495 1004 75 1 1 NUM hjic-495 1004 76 2.13 2.13 NUM hjic-495 1004 77 0.20 0.20 NUM hjic-495 1004 78 10.8 10.8 NUM hjic-495 1004 79 2 2 NUM hjic-495 1004 80 2.66 2.66 NUM hjic-495 1004 81 0.75 0.75 NUM hjic-495 1004 82 34.4 34.4 NUM hjic-495 1004 83 3 3 NUM hjic-495 1004 84 2.66 2.66 NUM hjic-495 1004 85 1.37 1.37 NUM hjic-495 1004 86 55.8 55.8 NUM hjic-495 1004 87 4 4 NUM hjic-495 1004 88 2.59 2.59 NUM hjic-495 1004 89 1.51 1.51 NUM hjic-495 1004 90 82.2 82.2 NUM hjic-495 1004 91 5 5 NUM hjic-495 1004 92 2.72 2.72 NUM hjic-495 1004 93 1.90 1.90 NUM hjic-495 1004 94 90.6 90.6 NUM hjic-495 1004 95 6 6 NUM hjic-495 1004 96 2.63 2.63 NUM hjic-495 1004 97 2.52 2.52 NUM hjic-495 1004 98 119.5 119.5 NUM hjic-495 1004 99 7 7 NUM hjic-495 1004 100 2.67 2.67 NUM hjic-495 1004 101 2.96 2.96 NUM hjic-495 1004 102 140.0 140.0 NUM hjic-495 1004 103 8 8 NUM hjic-495 1004 104 2.65 2.65 NUM hjic-495 1004 105 2.76 2.76 NUM hjic-495 1004 106 125.0 125.0 NUM hjic-495 1004 107 9 9 NUM hjic-495 1004 108 2.46 2.46 NUM hjic-495 1004 109 2.28 2.28 NUM hjic-495 1004 110 105.6 105.6 NUM hjic-495 1004 111 10 10 NUM hjic-495 1004 112 1.82 1.82 NUM hjic-495 1004 113 2.15 2.15 NUM hjic-495 1004 114 103.2 103.2 NUM hjic-495 1004 115 a a DET hjic-495 1004 116 millilitres millilitre NOUN hjic-495 1004 117 per per ADP hjic-495 1004 118 minute minute NOUN hjic-495 1004 119 per per ADP hjic-495 1004 120 watt watt NOUN hjic-495 1004 121 87 87 NUM hjic-495 1004 122 using use VERB hjic-495 1004 123 the the DET hjic-495 1004 124 matlab matlab PROPN hjic-495 1004 125 surface surface NOUN hjic-495 1004 126 fitting fitting ADJ hjic-495 1004 127 tool tool NOUN hjic-495 1004 128 . . PUNCT hjic-495 1005 1 as as SCONJ hjic-495 1005 2 the the DET hjic-495 1005 3 fitted fit VERB hjic-495 1005 4 polynomials polynomial NOUN hjic-495 1005 5 do do AUX hjic-495 1005 6 not not PART hjic-495 1005 7 have have VERB hjic-495 1005 8 a a DET hjic-495 1005 9 physical physical ADJ hjic-495 1005 10 connection connection NOUN hjic-495 1005 11 to to ADP hjic-495 1005 12 the the DET hjic-495 1005 13 given give VERB hjic-495 1005 14 device device NOUN hjic-495 1005 15 , , PUNCT hjic-495 1005 16 the the DET hjic-495 1005 17 model model NOUN hjic-495 1005 18 is be AUX hjic-495 1005 19 applicable applicable ADJ hjic-495 1005 20 to to ADP hjic-495 1005 21 any any DET hjic-495 1005 22 similar similar ADJ hjic-495 1005 23 electrochemical electrochemical ADJ hjic-495 1005 24 h2 h2 NOUN hjic-495 1005 25 generation generation NOUN hjic-495 1005 26 device device NOUN hjic-495 1005 27 with with ADP hjic-495 1005 28 an an DET hjic-495 1005 29 electric electric ADJ hjic-495 1005 30 two two NUM hjic-495 1005 31 - - PUNCT hjic-495 1005 32 pole pole NOUN hjic-495 1005 33 system system NOUN hjic-495 1005 34 . . PUNCT hjic-495 1006 1 in in ADP hjic-495 1006 2 the the DET hjic-495 1006 3 different different ADJ hjic-495 1006 4 linear linear NOUN hjic-495 1006 5 and and CCONJ hjic-495 1006 6 non non ADJ hjic-495 1006 7 - - ADJ hjic-495 1006 8 linear linear ADJ hjic-495 1006 9 physical physical ADJ hjic-495 1006 10 and and CCONJ hjic-495 1006 11 chemical chemical NOUN hjic-495 1006 12 models model NOUN hjic-495 1006 13 different different ADJ hjic-495 1006 14 coefficients coefficient NOUN hjic-495 1006 15 become become VERB hjic-495 1006 16 dominant dominant ADJ hjic-495 1006 17 . . PUNCT hjic-495 1007 1 the the DET hjic-495 1007 2 voltage voltage NOUN hjic-495 1007 3 relationship relationship NOUN hjic-495 1007 4 is be AUX hjic-495 1007 5 given give VERB hjic-495 1007 6 by by ADP hjic-495 1007 7 eq.(5 eq.(5 NOUN hjic-495 1007 8 ) ) PUNCT hjic-495 1007 9 , , PUNCT hjic-495 1007 10 where where SCONJ hjic-495 1007 11 icell icell PROPN hjic-495 1007 12 denotes denote VERB hjic-495 1007 13 the the DET hjic-495 1007 14 cell cell NOUN hjic-495 1007 15 current current NOUN hjic-495 1007 16 and and CCONJ hjic-495 1007 17 ckoh ckoh NOUN hjic-495 1007 18 stands stand VERB hjic-495 1007 19 for for ADP hjic-495 1007 20 the the DET hjic-495 1007 21 koh koh PROPN hjic-495 1007 22 concentration concentration NOUN hjic-495 1007 23 . . PUNCT hjic-495 1008 1 parameters parameter NOUN hjic-495 1008 2 can can AUX hjic-495 1008 3 be be AUX hjic-495 1008 4 found find VERB hjic-495 1008 5 in in ADP hjic-495 1008 6 table table NOUN hjic-495 1008 7 2 2 NUM hjic-495 1008 8 . . PUNCT hjic-495 1008 9 ucell(icell ucell(icell PROPN hjic-495 1008 10 , , PUNCT hjic-495 1008 11 ckoh ckoh NOUN hjic-495 1008 12 ) ) PUNCT hjic-495 1008 13 = = SYM hjic-495 1008 14 p00 p00 PROPN hjic-495 1008 15 + + CCONJ hjic-495 1008 16 p10 p10 NOUN hjic-495 1009 1 icell icell NOUN hjic-495 1009 2 + + CCONJ hjic-495 1009 3 p01 p01 NOUN hjic-495 1009 4 ckoh ckoh NOUN hjic-495 1009 5 + + CCONJ hjic-495 1009 6 p20 p20 NOUN hjic-495 1009 7 icell icell VERB hjic-495 1009 8 2 2 NUM hjic-495 1009 9 + + CCONJ hjic-495 1009 10 p11 p11 ADJ hjic-495 1009 11 icellckoh icellckoh NOUN hjic-495 1009 12 + + CCONJ hjic-495 1009 13 p02ckoh p02ckoh PROPN hjic-495 1009 14 2 2 NUM hjic-495 1009 15 + + CCONJ hjic-495 1009 16 p30icell p30icell PROPN hjic-495 1009 17 3 3 NUM hjic-495 1009 18 + + CCONJ hjic-495 1009 19 p21icell p21icell PROPN hjic-495 1009 20 2 2 NUM hjic-495 1009 21 ckoh ckoh NOUN hjic-495 1009 22 ( ( PUNCT hjic-495 1009 23 5 5 NUM hjic-495 1009 24 ) ) PUNCT hjic-495 1009 25 the the DET hjic-495 1009 26 volume volume NOUN hjic-495 1009 27 of of ADP hjic-495 1009 28 the the DET hjic-495 1009 29 generated generate VERB hjic-495 1009 30 h2 h2 NOUN hjic-495 1009 31 is be AUX hjic-495 1009 32 given give VERB hjic-495 1009 33 by by ADP hjic-495 1009 34 eq.(6 eq.(6 ADJ hjic-495 1009 35 ) ) PUNCT hjic-495 1009 36 . . PUNCT hjic-495 1010 1 h2 h2 NOUN hjic-495 1010 2 ( ( PUNCT hjic-495 1010 3 icell icell NOUN hjic-495 1010 4 , , PUNCT hjic-495 1010 5 ckoh ckoh NOUN hjic-495 1010 6 ) ) PUNCT hjic-495 1010 7 = = SYM hjic-495 1010 8 p00 p00 PROPN hjic-495 1010 9 + + CCONJ hjic-495 1010 10 p10 p10 NOUN hjic-495 1011 1 icell icell NOUN hjic-495 1011 2 + + CCONJ hjic-495 1011 3 p01 p01 NOUN hjic-495 1011 4 ckoh ckoh NOUN hjic-495 1011 5 + + CCONJ hjic-495 1011 6 p20 p20 NOUN hjic-495 1011 7 icell icell VERB hjic-495 1011 8 2 2 NUM hjic-495 1011 9 + + CCONJ hjic-495 1011 10 p11 p11 ADJ hjic-495 1011 11 icellckoh icellckoh NOUN hjic-495 1011 12 + + CCONJ hjic-495 1011 13 p02 p02 X hjic-495 1011 14 ckoh ckoh X hjic-495 1011 15 2 2 NUM hjic-495 1011 16 + + NUM hjic-495 1011 17 p30 p30 NOUN hjic-495 1011 18 icell icell NOUN hjic-495 1011 19 3 3 NUM hjic-495 1011 20 + + CCONJ hjic-495 1011 21 p21 p21 NOUN hjic-495 1011 22 icell icell NOUN hjic-495 1011 23 2 2 NUM hjic-495 1011 24 ckoh ckoh NOUN hjic-495 1011 25 + + CCONJ hjic-495 1011 26 p12 p12 ADJ hjic-495 1011 27 icellckoh icellckoh NOUN hjic-495 1011 28 2 2 NUM hjic-495 1011 29 + + CCONJ hjic-495 1011 30 p03 p03 PROPN hjic-495 1011 31 ckoh ckoh PROPN hjic-495 1011 32 3 3 NUM hjic-495 1011 33 + + NOUN hjic-495 1011 34 p40 p40 NOUN hjic-495 1011 35 icell icell VERB hjic-495 1011 36 4 4 NUM hjic-495 1011 37 + + NUM hjic-495 1011 38 p31 p31 NOUN hjic-495 1011 39 icell icell VERB hjic-495 1011 40 3 3 NUM hjic-495 1011 41 ckoh ckoh NOUN hjic-495 1012 1 + + NOUN hjic-495 1012 2 p22 p22 NOUN hjic-495 1012 3 icell icell VERB hjic-495 1012 4 2 2 NUM hjic-495 1012 5 ckoh ckoh NOUN hjic-495 1012 6 2 2 NUM hjic-495 1012 7 + + NUM hjic-495 1012 8 p13 p13 NOUN hjic-495 1012 9 icellckoh icellckoh NOUN hjic-495 1012 10 3 3 NUM hjic-495 1012 11 ( ( PUNCT hjic-495 1012 12 6 6 NUM hjic-495 1012 13 ) ) PUNCT hjic-495 1012 14 table table NOUN hjic-495 1012 15 3 3 NUM hjic-495 1012 16 and and CCONJ hjic-495 1012 17 figs.3 figs.3 NOUN hjic-495 1012 18 - - SYM hjic-495 1012 19 4 4 NUM hjic-495 1012 20 show show NOUN hjic-495 1012 21 representative representative ADJ hjic-495 1012 22 results result NOUN hjic-495 1012 23 for for ADP hjic-495 1012 24 the the DET hjic-495 1012 25 model model NOUN hjic-495 1012 26 . . PUNCT hjic-495 1013 1 as as SCONJ hjic-495 1013 2 expected expect VERB hjic-495 1013 3 , , PUNCT hjic-495 1013 4 the the DET hjic-495 1013 5 h2 h2 NOUN hjic-495 1013 6 generation generation NOUN hjic-495 1013 7 speed speed NOUN hjic-495 1013 8 decreases decrease NOUN hjic-495 1013 9 and and CCONJ hjic-495 1013 10 the the DET hjic-495 1013 11 cell cell NOUN hjic-495 1013 12 finally finally ADV hjic-495 1013 13 stops stop VERB hjic-495 1013 14 working work VERB hjic-495 1013 15 as as ADP hjic-495 1013 16 the the DET hjic-495 1013 17 amount amount NOUN hjic-495 1013 18 of of ADP hjic-495 1013 19 water water NOUN hjic-495 1013 20 decreases decrease NOUN hjic-495 1013 21 and and CCONJ hjic-495 1013 22 the the DET hjic-495 1013 23 koh koh PROPN hjic-495 1013 24 concentration concentration NOUN hjic-495 1013 25 increases increase NOUN hjic-495 1013 26 . . PUNCT hjic-495 1014 1 a a DET hjic-495 1014 2 simulink simulink PROPN hjic-495 1014 3 block block NOUN hjic-495 1014 4 scheme scheme NOUN hjic-495 1014 5 of of ADP hjic-495 1014 6 the the DET hjic-495 1014 7 cell cell NOUN hjic-495 1014 8 model model NOUN hjic-495 1014 9 is be AUX hjic-495 1014 10 depicted depict VERB hjic-495 1014 11 in in ADP hjic-495 1014 12 fig.5 fig.5 PROPN hjic-495 1014 13 . . PUNCT hjic-495 1015 1 this this DET hjic-495 1015 2 simulink simulink PROPN hjic-495 1015 3 model model NOUN hjic-495 1015 4 was be AUX hjic-495 1015 5 validated validate VERB hjic-495 1015 6 by by ADP hjic-495 1015 7 considering consider VERB hjic-495 1015 8 a a DET hjic-495 1015 9 system system NOUN hjic-495 1015 10 with with ADP hjic-495 1015 11 the the DET hjic-495 1015 12 same same ADJ hjic-495 1015 13 parameters parameter NOUN hjic-495 1015 14 as as ADP hjic-495 1015 15 the the DET hjic-495 1015 16 layout layout NOUN hjic-495 1015 17 of of ADP hjic-495 1015 18 the the DET hjic-495 1015 19 experimental experimental ADJ hjic-495 1015 20 cell cell NOUN hjic-495 1015 21 . . PUNCT hjic-495 1016 1 in in ADP hjic-495 1016 2 this this DET hjic-495 1016 3 layout layout NOUN hjic-495 1016 4 , , PUNCT hjic-495 1016 5 we we PRON hjic-495 1016 6 ran run VERB hjic-495 1016 7 a a DET hjic-495 1016 8 simulation simulation NOUN hjic-495 1016 9 for for ADP hjic-495 1016 10 24 24 NUM hjic-495 1016 11 h h NOUN hjic-495 1016 12 using use VERB hjic-495 1016 13 this this DET hjic-495 1016 14 model model NOUN hjic-495 1016 15 , , PUNCT hjic-495 1016 16 decreasing decrease VERB hjic-495 1016 17 water water NOUN hjic-495 1016 18 and and CCONJ hjic-495 1016 19 increasing increase VERB hjic-495 1016 20 koh koh PROPN hjic-495 1016 21 concentrations concentration NOUN hjic-495 1016 22 . . PUNCT hjic-495 1017 1 the the DET hjic-495 1017 2 results result NOUN hjic-495 1017 3 of of ADP hjic-495 1017 4 this this DET hjic-495 1017 5 simulation simulation NOUN hjic-495 1017 6 can can AUX hjic-495 1017 7 be be AUX hjic-495 1017 8 seen see VERB hjic-495 1017 9 in in ADP hjic-495 1017 10 fig.6 fig.6 PROPN hjic-495 1017 11 . . PUNCT hjic-495 1018 1 it it PRON hjic-495 1018 2 can can AUX hjic-495 1018 3 be be AUX hjic-495 1018 4 seen see VERB hjic-495 1018 5 that that SCONJ hjic-495 1018 6 the the DET hjic-495 1018 7 hydrogen hydrogen NOUN hjic-495 1018 8 gas gas NOUN hjic-495 1018 9 generated generate VERB hjic-495 1018 10 is be AUX hjic-495 1018 11 reduced reduce VERB hjic-495 1018 12 because because SCONJ hjic-495 1018 13 of of ADP hjic-495 1018 14 the the DET hjic-495 1018 15 rising rise VERB hjic-495 1018 16 koh koh PROPN hjic-495 1018 17 concentration concentration NOUN hjic-495 1018 18 . . PUNCT hjic-495 1019 1 the the DET hjic-495 1019 2 exact exact ADJ hjic-495 1019 3 values value NOUN hjic-495 1019 4 are be AUX hjic-495 1019 5 in in ADP hjic-495 1019 6 good good ADJ hjic-495 1019 7 agreement agreement NOUN hjic-495 1019 8 with with ADP hjic-495 1019 9 our our PRON hjic-495 1019 10 measurements measurement NOUN hjic-495 1019 11 . . PUNCT hjic-495 1020 1 dry dry ADJ hjic-495 1020 2 cell cell NOUN hjic-495 1020 3 model model NOUN hjic-495 1020 4 in in ADP hjic-495 1020 5 complex complex ADJ hjic-495 1020 6 energetic energetic ADJ hjic-495 1020 7 systems system NOUN hjic-495 1020 8 the the DET hjic-495 1020 9 model model NOUN hjic-495 1020 10 for for ADP hjic-495 1020 11 h2 h2 NOUN hjic-495 1020 12 generating generating NOUN hjic-495 1020 13 cells cell NOUN hjic-495 1020 14 described describe VERB hjic-495 1020 15 in in ADP hjic-495 1020 16 the the DET hjic-495 1020 17 previous previous ADJ hjic-495 1020 18 section section NOUN hjic-495 1020 19 was be AUX hjic-495 1020 20 investigated investigate VERB hjic-495 1020 21 in in ADP hjic-495 1020 22 the the DET hjic-495 1020 23 matlab matlab PROPN hjic-495 1020 24 simulink simulink PROPN hjic-495 1020 25 simulation simulation PROPN hjic-495 1020 26 environment environment NOUN hjic-495 1020 27 that that PRON hjic-495 1020 28 studies study VERB hjic-495 1020 29 the the DET hjic-495 1020 30 energy energy NOUN hjic-495 1020 31 flow flow NOUN hjic-495 1020 32 conditions condition NOUN hjic-495 1020 33 of of ADP hjic-495 1020 34 a a DET hjic-495 1020 35 complex complex ADJ hjic-495 1020 36 energetic energetic ADJ hjic-495 1020 37 system system NOUN hjic-495 1020 38 consisting consist VERB hjic-495 1020 39 of of ADP hjic-495 1020 40 a a DET hjic-495 1020 41 renewable renewable ADJ hjic-495 1020 42 source source NOUN hjic-495 1020 43 with with ADP hjic-495 1020 44 a a DET hjic-495 1020 45 gridtable gridtable ADJ hjic-495 1020 46 2 2 NUM hjic-495 1020 47 : : PUNCT hjic-495 1020 48 coefficients coefficient NOUN hjic-495 1020 49 of of ADP hjic-495 1020 50 the the DET hjic-495 1020 51 polynomial polynomial ADJ hjic-495 1020 52 relationship relationship NOUN hjic-495 1020 53 describing describe VERB hjic-495 1020 54 the the DET hjic-495 1020 55 cell cell NOUN hjic-495 1020 56 voltage voltage NOUN hjic-495 1020 57 value value NOUN hjic-495 1020 58 value value NOUN hjic-495 1020 59 value value NOUN hjic-495 1020 60 p00 p00 NOUN hjic-495 1020 61 1.429 1.429 NUM hjic-495 1020 62 p10 p10 NOUN hjic-495 1020 63 0.2548 0.2548 NUM hjic-495 1020 64 p01 p01 PROPN hjic-495 1020 65 -0.1226 -0.1226 NOUN hjic-495 1020 66 p20 p20 NOUN hjic-495 1020 67 -0.008571 -0.008571 PROPN hjic-495 1021 1 p11 p11 PROPN hjic-495 1021 2 -0.01191 -0.01191 NOUN hjic-495 1021 3 p02 p02 X hjic-495 1021 4 0.008257 0.008257 NUM hjic-495 1021 5 p30 p30 NOUN hjic-495 1021 6 0.0001141 0.0001141 NUM hjic-495 1021 7 p21 p21 NOUN hjic-495 1021 8 -8.76e-05 -8.76e-05 NOUN hjic-495 1021 9 p12 p12 VERB hjic-495 1021 10 0.0009697 0.0009697 NUM hjic-495 1021 11 table table NOUN hjic-495 1021 12 3 3 NUM hjic-495 1021 13 : : PUNCT hjic-495 1021 14 coefficients coefficient NOUN hjic-495 1021 15 of of ADP hjic-495 1021 16 the the DET hjic-495 1021 17 polynomial polynomial ADJ hjic-495 1021 18 relationship relationship NOUN hjic-495 1021 19 for for ADP hjic-495 1021 20 the the DET hjic-495 1021 21 generated generate VERB hjic-495 1021 22 h2 h2 PROPN hjic-495 1021 23 gas gas NOUN hjic-495 1021 24 value value NOUN hjic-495 1021 25 value value NOUN hjic-495 1021 26 value value NOUN hjic-495 1021 27 p00 p00 NOUN hjic-495 1021 28 -0.1695 -0.1695 NOUN hjic-495 1021 29 p10 p10 NOUN hjic-495 1021 30 0.1687 0.1687 NUM hjic-495 1021 31 p01 p01 NOUN hjic-495 1021 32 -0.01765 -0.01765 NOUN hjic-495 1021 33 p20 p20 NOUN hjic-495 1021 34 -0.007486 -0.007486 PROPN hjic-495 1021 35 p11 p11 PROPN hjic-495 1021 36 -0.03234 -0.03234 NOUN hjic-495 1021 37 p02 p02 VERB hjic-495 1022 1 0.03446 0.03446 NUM hjic-495 1022 2 p30 p30 NOUN hjic-495 1022 3 -0.0001077 -0.0001077 PROPN hjic-495 1022 4 p21 p21 PROPN hjic-495 1023 1 0.00412 0.00412 NUM hjic-495 1023 2 p12 p12 ADJ hjic-495 1023 3 -0.004094 -0.004094 PROPN hjic-495 1023 4 p03 p03 PROPN hjic-495 1023 5 -0.004061 -0.004061 PROPN hjic-495 1023 6 p40 p40 NOUN hjic-495 1023 7 -4.269e-06 -4.269e-06 PUNCT hjic-495 1023 8 p13 p13 NOUN hjic-495 1023 9 6.169e-05 6.169e-05 NUM hjic-495 1023 10 p22 p22 NOUN hjic-495 1023 11 -0.0005518 -0.0005518 NOUN hjic-495 1023 12 p13 p13 VERB hjic-495 1023 13 0.0009544 0.0009544 NUM hjic-495 1023 14 figure figure NOUN hjic-495 1023 15 3 3 NUM hjic-495 1023 16 : : PUNCT hjic-495 1023 17 simulation simulation NOUN hjic-495 1023 18 of of ADP hjic-495 1023 19 the the DET hjic-495 1023 20 cell cell NOUN hjic-495 1023 21 model model NOUN hjic-495 1023 22 with with ADP hjic-495 1023 23 a a DET hjic-495 1023 24 constant constant ADJ hjic-495 1023 25 current current NOUN hjic-495 1023 26 of of ADP hjic-495 1023 27 5 5 NUM hjic-495 1023 28 a a PRON hjic-495 1023 29 for for ADP hjic-495 1023 30 1 1 NUM hjic-495 1023 31 day day NOUN hjic-495 1023 32 figure figure NOUN hjic-495 1023 33 4 4 NUM hjic-495 1023 34 : : PUNCT hjic-495 1023 35 generated generate VERB hjic-495 1023 36 h2 h2 NOUN hjic-495 1023 37 as as ADP hjic-495 1023 38 a a DET hjic-495 1023 39 function function NOUN hjic-495 1023 40 of of ADP hjic-495 1023 41 koh koh PROPN hjic-495 1023 42 concentration concentration NOUN hjic-495 1023 43 and and CCONJ hjic-495 1023 44 dry dry ADJ hjic-495 1023 45 cell cell NOUN hjic-495 1023 46 current current ADJ hjic-495 1023 47 figure figure NOUN hjic-495 1023 48 5 5 NUM hjic-495 1023 49 : : PUNCT hjic-495 1023 50 matlab matlab PROPN hjic-495 1023 51 simulink simulink PROPN hjic-495 1023 52 model model NOUN hjic-495 1023 53 of of ADP hjic-495 1023 54 the the DET hjic-495 1023 55 hho hho NOUN hjic-495 1023 56 cell cell NOUN hjic-495 1023 57 . . PUNCT hjic-495 1024 1 the the DET hjic-495 1024 2 functional functional ADJ hjic-495 1024 3 blocks block NOUN hjic-495 1024 4 implementing implement VERB hjic-495 1024 5 eqs.(5 eqs.(5 PROPN hjic-495 1024 6 ) ) PUNCT hjic-495 1024 7 and and CCONJ hjic-495 1024 8 ( ( PUNCT hjic-495 1024 9 6 6 NUM hjic-495 1024 10 ) ) PUNCT hjic-495 1024 11 are be AUX hjic-495 1024 12 denoted denote VERB hjic-495 1024 13 by by ADP hjic-495 1024 14 different different ADJ hjic-495 1024 15 background background NOUN hjic-495 1024 16 colours colour NOUN hjic-495 1024 17 figure figure VERB hjic-495 1024 18 6 6 NUM hjic-495 1024 19 : : PUNCT hjic-495 1024 20 simulation simulation NOUN hjic-495 1024 21 of of ADP hjic-495 1024 22 a a DET hjic-495 1024 23 cell cell NOUN hjic-495 1024 24 model model NOUN hjic-495 1024 25 with with ADP hjic-495 1024 26 a a DET hjic-495 1024 27 constant constant ADJ hjic-495 1024 28 current current NOUN hjic-495 1024 29 of of ADP hjic-495 1024 30 5 5 NUM hjic-495 1024 31 a a PRON hjic-495 1024 32 for for ADP hjic-495 1024 33 1 1 NUM hjic-495 1024 34 day day NOUN hjic-495 1024 35 88 88 NUM hjic-495 1024 36 synchronized synchronize VERB hjic-495 1024 37 inverter inverter NOUN hjic-495 1024 38 , , PUNCT hjic-495 1024 39 a a DET hjic-495 1024 40 low low ADJ hjic-495 1024 41 voltage voltage NOUN hjic-495 1024 42 grid grid NOUN hjic-495 1024 43 , , PUNCT hjic-495 1024 44 an an DET hjic-495 1024 45 intermediate intermediate ADJ hjic-495 1024 46 voltage voltage NOUN hjic-495 1024 47 controller controller NOUN hjic-495 1024 48 [ [ X hjic-495 1024 49 3,5 3,5 NUM hjic-495 1024 50 ] ] PUNCT hjic-495 1024 51 and and CCONJ hjic-495 1024 52 a a DET hjic-495 1024 53 lithium lithium NOUN hjic-495 1024 54 ion ion NOUN hjic-495 1024 55 battery battery NOUN hjic-495 1024 56 . . PUNCT hjic-495 1025 1 we we PRON hjic-495 1025 2 replaced replace VERB hjic-495 1025 3 the the DET hjic-495 1025 4 lithium lithium NOUN hjic-495 1025 5 ion ion NOUN hjic-495 1025 6 battery battery NOUN hjic-495 1025 7 in in ADP hjic-495 1025 8 this this DET hjic-495 1025 9 cell cell NOUN hjic-495 1025 10 model model NOUN hjic-495 1025 11 , , PUNCT hjic-495 1025 12 which which PRON hjic-495 1025 13 reduces reduce VERB hjic-495 1025 14 the the DET hjic-495 1025 15 potential potential ADJ hjic-495 1025 16 energy energy NOUN hjic-495 1025 17 flow flow NOUN hjic-495 1025 18 modes mode NOUN hjic-495 1025 19 , , PUNCT hjic-495 1025 20 because because SCONJ hjic-495 1025 21 this this DET hjic-495 1025 22 cell cell NOUN hjic-495 1025 23 can can AUX hjic-495 1025 24 only only ADV hjic-495 1025 25 adsorb adsorb VERB hjic-495 1025 26 current current NOUN hjic-495 1025 27 for for ADP hjic-495 1025 28 storing store VERB hjic-495 1025 29 energy energy NOUN hjic-495 1025 30 in in ADP hjic-495 1025 31 hydrogen hydrogen NOUN hjic-495 1025 32 production production NOUN hjic-495 1025 33 . . PUNCT hjic-495 1026 1 it it PRON hjic-495 1026 2 can can AUX hjic-495 1026 3 not not PART hjic-495 1026 4 reverse reverse VERB hjic-495 1026 5 the the DET hjic-495 1026 6 electrochemical electrochemical ADJ hjic-495 1026 7 process process NOUN hjic-495 1026 8 for for ADP hjic-495 1026 9 electrical electrical ADJ hjic-495 1026 10 energy energy NOUN hjic-495 1026 11 generation generation NOUN hjic-495 1026 12 from from ADP hjic-495 1026 13 hydrogen hydrogen NOUN hjic-495 1026 14 gas gas NOUN hjic-495 1026 15 . . PUNCT hjic-495 1027 1 the the DET hjic-495 1027 2 structure structure NOUN hjic-495 1027 3 of of ADP hjic-495 1027 4 the the DET hjic-495 1027 5 system system NOUN hjic-495 1027 6 can can AUX hjic-495 1027 7 be be AUX hjic-495 1027 8 seen see VERB hjic-495 1027 9 in in ADP hjic-495 1027 10 fig.7 fig.7 ADJ hjic-495 1027 11 , , PUNCT hjic-495 1027 12 where where SCONJ hjic-495 1027 13 it it PRON hjic-495 1027 14 is be AUX hjic-495 1027 15 apparent apparent ADJ hjic-495 1027 16 that that SCONJ hjic-495 1027 17 the the DET hjic-495 1027 18 cell cell NOUN hjic-495 1027 19 model model NOUN hjic-495 1027 20 is be AUX hjic-495 1027 21 connected connect VERB hjic-495 1027 22 directly directly ADV hjic-495 1027 23 only only ADV hjic-495 1027 24 to to ADP hjic-495 1027 25 the the DET hjic-495 1027 26 grid grid NOUN hjic-495 1027 27 - - PUNCT hjic-495 1027 28 synchronized synchronize VERB hjic-495 1027 29 inverter inverter NOUN hjic-495 1027 30 module module NOUN hjic-495 1027 31 of of ADP hjic-495 1027 32 the the DET hjic-495 1027 33 system system NOUN hjic-495 1027 34 . . PUNCT hjic-495 1028 1 the the DET hjic-495 1028 2 system system NOUN hjic-495 1028 3 depicted depict VERB hjic-495 1028 4 in in ADP hjic-495 1028 5 fig.7 fig.7 ADJ hjic-495 1028 6 operates operate NOUN hjic-495 1028 7 in in ADP hjic-495 1028 8 different different ADJ hjic-495 1028 9 discrete discrete ADJ hjic-495 1028 10 states state NOUN hjic-495 1028 11 according accord VERB hjic-495 1028 12 to to ADP hjic-495 1028 13 the the DET hjic-495 1028 14 energy energy NOUN hjic-495 1028 15 flow flow NOUN hjic-495 1028 16 direction direction NOUN hjic-495 1028 17 . . PUNCT hjic-495 1029 1 four four NUM hjic-495 1029 2 cases case NOUN hjic-495 1029 3 can can AUX hjic-495 1029 4 be be AUX hjic-495 1029 5 defined define VERB hjic-495 1029 6 : : PUNCT hjic-495 1029 7 • • NUM hjic-495 1029 8 normal normal ADJ hjic-495 1029 9 inverter inverter ADJ hjic-495 1029 10 mode mode NOUN hjic-495 1029 11 : : PUNCT hjic-495 1029 12 the the DET hjic-495 1029 13 energy energy NOUN hjic-495 1029 14 flows flow VERB hjic-495 1029 15 from from ADP hjic-495 1029 16 the the DET hjic-495 1029 17 renewable renewable ADJ hjic-495 1029 18 source source NOUN hjic-495 1029 19 to to ADP hjic-495 1029 20 the the DET hjic-495 1029 21 grid grid NOUN hjic-495 1029 22 only only ADV hjic-495 1029 23 ( ( PUNCT hjic-495 1029 24 fig.8a fig.8a NOUN hjic-495 1029 25 ) ) PUNCT hjic-495 1029 26 . . PUNCT hjic-495 1030 1 • • NUM hjic-495 1030 2 normal normal ADJ hjic-495 1030 3 inverter inverter NOUN hjic-495 1030 4 and and CCONJ hjic-495 1030 5 hydrogen hydrogen NOUN hjic-495 1030 6 generation generation NOUN hjic-495 1030 7 mode mode NOUN hjic-495 1030 8 : : PUNCT hjic-495 1030 9 the the DET hjic-495 1030 10 energy energy NOUN hjic-495 1030 11 flows flow VERB hjic-495 1030 12 from from ADP hjic-495 1030 13 the the DET hjic-495 1030 14 renewable renewable ADJ hjic-495 1030 15 source source NOUN hjic-495 1030 16 to to ADP hjic-495 1030 17 both both CCONJ hjic-495 1030 18 the the DET hjic-495 1030 19 dry dry ADJ hjic-495 1030 20 cell cell NOUN hjic-495 1030 21 and and CCONJ hjic-495 1030 22 the the DET hjic-495 1030 23 grid grid NOUN hjic-495 1030 24 ( ( PUNCT hjic-495 1030 25 fig.8b fig.8b NOUN hjic-495 1030 26 ) ) PUNCT hjic-495 1030 27 . . PUNCT hjic-495 1031 1 • • NUM hjic-495 1031 2 hydrogen hydrogen NOUN hjic-495 1031 3 generation generation NOUN hjic-495 1031 4 only only ADV hjic-495 1031 5 mode mode NOUN hjic-495 1031 6 : : PUNCT hjic-495 1031 7 the the DET hjic-495 1031 8 energy energy NOUN hjic-495 1031 9 flows flow VERB hjic-495 1031 10 from from ADP hjic-495 1031 11 the the DET hjic-495 1031 12 grid grid NOUN hjic-495 1031 13 to to ADP hjic-495 1031 14 the the DET hjic-495 1031 15 dry dry ADJ hjic-495 1031 16 cell cell NOUN hjic-495 1031 17 only only ADV hjic-495 1031 18 ( ( PUNCT hjic-495 1031 19 fig.8c fig.8c NOUN hjic-495 1031 20 ) ) PUNCT hjic-495 1031 21 . . PUNCT hjic-495 1032 1 • • NUM hjic-495 1032 2 distortion distortion NOUN hjic-495 1032 3 reduction reduction NOUN hjic-495 1032 4 only only ADV hjic-495 1032 5 mode mode NOUN hjic-495 1032 6 : : PUNCT hjic-495 1032 7 the the DET hjic-495 1032 8 energy energy NOUN hjic-495 1032 9 flows flow VERB hjic-495 1032 10 from from ADP hjic-495 1032 11 the the DET hjic-495 1032 12 grid grid NOUN hjic-495 1032 13 into into ADP hjic-495 1032 14 the the DET hjic-495 1032 15 intermediate intermediate ADJ hjic-495 1032 16 capacitance capacitance NOUN hjic-495 1032 17 and and CCONJ hjic-495 1032 18 from from ADP hjic-495 1032 19 the the DET hjic-495 1032 20 intermediate intermediate ADJ hjic-495 1032 21 capacitance capacitance NOUN hjic-495 1032 22 into into ADP hjic-495 1032 23 the the DET hjic-495 1032 24 grid grid NOUN hjic-495 1032 25 . . PUNCT hjic-495 1033 1 the the DET hjic-495 1033 2 energy energy NOUN hjic-495 1033 3 balance balance NOUN hjic-495 1033 4 is be AUX hjic-495 1033 5 zero zero NUM hjic-495 1033 6 for for ADP hjic-495 1033 7 a a DET hjic-495 1033 8 period period NOUN hjic-495 1033 9 , , PUNCT hjic-495 1033 10 and and CCONJ hjic-495 1033 11 the the DET hjic-495 1033 12 active active ADJ hjic-495 1033 13 power power NOUN hjic-495 1033 14 is be AUX hjic-495 1033 15 zero zero NUM hjic-495 1033 16 ( ( PUNCT hjic-495 1033 17 fig.8d fig.8d PROPN hjic-495 1033 18 ) ) PUNCT hjic-495 1033 19 . . PUNCT hjic-495 1034 1 model model NOUN hjic-495 1034 2 verification verification NOUN hjic-495 1034 3 was be AUX hjic-495 1034 4 performed perform VERB hjic-495 1034 5 by by ADP hjic-495 1034 6 changing change VERB hjic-495 1034 7 the the DET hjic-495 1034 8 energy energy NOUN hjic-495 1034 9 flow flow NOUN hjic-495 1034 10 modes mode NOUN hjic-495 1034 11 in in ADP hjic-495 1034 12 subsequent subsequent ADJ hjic-495 1034 13 time time NOUN hjic-495 1034 14 intervals interval NOUN hjic-495 1034 15 , , PUNCT hjic-495 1034 16 and and CCONJ hjic-495 1034 17 this this PRON hjic-495 1034 18 was be AUX hjic-495 1034 19 implemented implement VERB hjic-495 1034 20 by by ADP hjic-495 1034 21 changing change VERB hjic-495 1034 22 the the DET hjic-495 1034 23 energy energy NOUN hjic-495 1034 24 balance balance NOUN hjic-495 1034 25 of of ADP hjic-495 1034 26 the the DET hjic-495 1034 27 system system NOUN hjic-495 1034 28 with with ADP hjic-495 1034 29 outer outer ADJ hjic-495 1034 30 current current ADJ hjic-495 1034 31 loads load NOUN hjic-495 1034 32 ( ( PUNCT hjic-495 1034 33 iouter iouter NOUN hjic-495 1034 34 load load NOUN hjic-495 1034 35 ) ) PUNCT hjic-495 1034 36 . . PUNCT hjic-495 1035 1 the the DET hjic-495 1035 2 different different ADJ hjic-495 1035 3 values value NOUN hjic-495 1035 4 for for ADP hjic-495 1035 5 the the DET hjic-495 1035 6 simulations simulation NOUN hjic-495 1035 7 as as SCONJ hjic-495 1035 8 parameters parameter NOUN hjic-495 1035 9 can can AUX hjic-495 1035 10 be be AUX hjic-495 1035 11 figure figure NOUN hjic-495 1035 12 7 7 NUM hjic-495 1035 13 : : PUNCT hjic-495 1035 14 simulink simulink NOUN hjic-495 1035 15 model model NOUN hjic-495 1035 16 of of ADP hjic-495 1035 17 a a DET hjic-495 1035 18 complex complex ADJ hjic-495 1035 19 energetic energetic ADJ hjic-495 1035 20 system system NOUN hjic-495 1035 21 with with ADP hjic-495 1035 22 an an DET hjic-495 1035 23 hho hho NOUN hjic-495 1035 24 cell cell NOUN hjic-495 1035 25 model model NOUN hjic-495 1035 26 inside inside ADP hjic-495 1035 27 figure figure NOUN hjic-495 1035 28 8 8 NUM hjic-495 1035 29 : : PUNCT hjic-495 1035 30 complex complex ADJ hjic-495 1035 31 energetic energetic ADJ hjic-495 1035 32 system system NOUN hjic-495 1035 33 energy energy NOUN hjic-495 1035 34 flow flow NOUN hjic-495 1035 35 modes mode NOUN hjic-495 1035 36 : : PUNCT hjic-495 1035 37 a a DET hjic-495 1035 38 : : PUNCT hjic-495 1035 39 normal normal ADJ hjic-495 1035 40 inverter inverter ADJ hjic-495 1035 41 mode mode NOUN hjic-495 1035 42 , , PUNCT hjic-495 1035 43 b b NOUN hjic-495 1035 44 : : PUNCT hjic-495 1035 45 inverter inverter ADJ hjic-495 1035 46 and and CCONJ hjic-495 1035 47 hydrogen hydrogen NOUN hjic-495 1035 48 generator generator NOUN hjic-495 1035 49 mode mode NOUN hjic-495 1035 50 , , PUNCT hjic-495 1035 51 c c NOUN hjic-495 1035 52 : : PUNCT hjic-495 1035 53 hydrogen hydrogen NOUN hjic-495 1035 54 generation generation NOUN hjic-495 1035 55 only only ADV hjic-495 1035 56 mode mode NOUN hjic-495 1035 57 , , PUNCT hjic-495 1035 58 d d NOUN hjic-495 1035 59 : : PUNCT hjic-495 1035 60 distortion distortion NOUN hjic-495 1035 61 reduction reduction NOUN hjic-495 1035 62 only only ADV hjic-495 1035 63 mode mode PROPN hjic-495 1035 64 89 89 NUM hjic-495 1035 65 seen see VERB hjic-495 1035 66 in in ADP hjic-495 1035 67 table table NOUN hjic-495 1035 68 4 4 NUM hjic-495 1035 69 . . PUNCT hjic-495 1036 1 the the DET hjic-495 1036 2 simulation simulation NOUN hjic-495 1036 3 results result NOUN hjic-495 1036 4 are be AUX hjic-495 1036 5 shown show VERB hjic-495 1036 6 in in ADP hjic-495 1036 7 fig.9 fig.9 PROPN hjic-495 1036 8 , , PUNCT hjic-495 1036 9 where where SCONJ hjic-495 1036 10 uconn uconn NOUN hjic-495 1036 11 is be AUX hjic-495 1036 12 the the DET hjic-495 1036 13 effective effective ADJ hjic-495 1036 14 value value NOUN hjic-495 1036 15 of of ADP hjic-495 1036 16 the the DET hjic-495 1036 17 voltage voltage NOUN hjic-495 1036 18 at at ADP hjic-495 1036 19 the the DET hjic-495 1036 20 connection connection NOUN hjic-495 1036 21 point point NOUN hjic-495 1036 22 , , PUNCT hjic-495 1036 23 ihho ihho PROPN hjic-495 1036 24 is be AUX hjic-495 1036 25 the the DET hjic-495 1036 26 current current ADJ hjic-495 1036 27 value value NOUN hjic-495 1036 28 of of ADP hjic-495 1036 29 the the DET hjic-495 1036 30 dry dry ADJ hjic-495 1036 31 cell cell NOUN hjic-495 1036 32 , , PUNCT hjic-495 1036 33 vh2 vh2 PROPN hjic-495 1036 34 is be AUX hjic-495 1036 35 the the DET hjic-495 1036 36 volume volume NOUN hjic-495 1036 37 of of ADP hjic-495 1036 38 generated generate VERB hjic-495 1036 39 hydrogen hydrogen NOUN hjic-495 1036 40 gas gas NOUN hjic-495 1036 41 , , PUNCT hjic-495 1036 42 ckoh ckoh NOUN hjic-495 1036 43 is be AUX hjic-495 1036 44 the the DET hjic-495 1036 45 koh koh PROPN hjic-495 1036 46 concentration concentration NOUN hjic-495 1036 47 of of ADP hjic-495 1036 48 the the DET hjic-495 1036 49 electrolyte electrolyte NOUN hjic-495 1036 50 and and CCONJ hjic-495 1036 51 vwater vwater NOUN hjic-495 1036 52 is be AUX hjic-495 1036 53 the the DET hjic-495 1036 54 volume volume NOUN hjic-495 1036 55 of of ADP hjic-495 1036 56 water water NOUN hjic-495 1036 57 inside inside ADP hjic-495 1036 58 the the DET hjic-495 1036 59 cell cell NOUN hjic-495 1036 60 system system NOUN hjic-495 1036 61 . . PUNCT hjic-495 1037 1 these these DET hjic-495 1037 2 values value NOUN hjic-495 1037 3 are be AUX hjic-495 1037 4 plotted plot VERB hjic-495 1037 5 as as ADP hjic-495 1037 6 a a DET hjic-495 1037 7 function function NOUN hjic-495 1037 8 of of ADP hjic-495 1037 9 time time NOUN hjic-495 1037 10 . . PUNCT hjic-495 1038 1 the the DET hjic-495 1038 2 results result NOUN hjic-495 1038 3 of of ADP hjic-495 1038 4 the the DET hjic-495 1038 5 simulation simulation NOUN hjic-495 1038 6 show show VERB hjic-495 1038 7 that that SCONJ hjic-495 1038 8 the the DET hjic-495 1038 9 behaviour behaviour NOUN hjic-495 1038 10 of of ADP hjic-495 1038 11 the the DET hjic-495 1038 12 simulated simulate VERB hjic-495 1038 13 electronic electronic ADJ hjic-495 1038 14 two two NUM hjic-495 1038 15 - - PUNCT hjic-495 1038 16 pole pole NOUN hjic-495 1038 17 system system NOUN hjic-495 1038 18 is be AUX hjic-495 1038 19 identical identical ADJ hjic-495 1038 20 to to ADP hjic-495 1038 21 that that PRON hjic-495 1038 22 of of ADP hjic-495 1038 23 the the DET hjic-495 1038 24 measured measure VERB hjic-495 1038 25 database database NOUN hjic-495 1038 26 . . PUNCT hjic-495 1039 1 conclusion conclusion NOUN hjic-495 1039 2 we we PRON hjic-495 1039 3 developed develop VERB hjic-495 1039 4 a a DET hjic-495 1039 5 complex complex ADJ hjic-495 1039 6 model model NOUN hjic-495 1039 7 to to PART hjic-495 1039 8 investigate investigate VERB hjic-495 1039 9 renewable renewable ADJ hjic-495 1039 10 energy energy NOUN hjic-495 1039 11 sources source NOUN hjic-495 1039 12 , , PUNCT hjic-495 1039 13 for for ADP hjic-495 1039 14 the the DET hjic-495 1039 15 conversion conversion NOUN hjic-495 1039 16 of of ADP hjic-495 1039 17 surplus surplus ADJ hjic-495 1039 18 energy energy NOUN hjic-495 1039 19 to to ADP hjic-495 1039 20 hydrogen hydrogen NOUN hjic-495 1039 21 gas gas NOUN hjic-495 1039 22 for for ADP hjic-495 1039 23 storage storage NOUN hjic-495 1039 24 and and CCONJ hjic-495 1039 25 to to PART hjic-495 1039 26 represent represent VERB hjic-495 1039 27 how how SCONJ hjic-495 1039 28 a a DET hjic-495 1039 29 main main ADJ hjic-495 1039 30 grid grid NOUN hjic-495 1039 31 is be AUX hjic-495 1039 32 fed feed VERB hjic-495 1039 33 . . PUNCT hjic-495 1040 1 we we PRON hjic-495 1040 2 built build VERB hjic-495 1040 3 a a DET hjic-495 1040 4 measurement measurement NOUN hjic-495 1040 5 - - PUNCT hjic-495 1040 6 based base VERB hjic-495 1040 7 model model NOUN hjic-495 1040 8 of of ADP hjic-495 1040 9 a a DET hjic-495 1040 10 hydrogen hydrogen NOUN hjic-495 1040 11 - - PUNCT hjic-495 1040 12 generating generate VERB hjic-495 1040 13 cell cell NOUN hjic-495 1040 14 for for ADP hjic-495 1040 15 the the DET hjic-495 1040 16 simulation simulation NOUN hjic-495 1040 17 of of ADP hjic-495 1040 18 complex complex ADJ hjic-495 1040 19 energy energy NOUN hjic-495 1040 20 systems system NOUN hjic-495 1040 21 in in ADP hjic-495 1040 22 matlab matlab PROPN hjic-495 1040 23 simulink simulink PROPN hjic-495 1040 24 environment environment PROPN hjic-495 1040 25 . . PUNCT hjic-495 1041 1 we we PRON hjic-495 1041 2 estimated estimate VERB hjic-495 1041 3 the the DET hjic-495 1041 4 parameters parameter NOUN hjic-495 1041 5 of of ADP hjic-495 1041 6 the the DET hjic-495 1041 7 model model NOUN hjic-495 1041 8 based base VERB hjic-495 1041 9 on on ADP hjic-495 1041 10 measurements measurement NOUN hjic-495 1041 11 collected collect VERB hjic-495 1041 12 during during ADP hjic-495 1041 13 the the DET hjic-495 1041 14 detailed detailed ADJ hjic-495 1041 15 examination examination NOUN hjic-495 1041 16 of of ADP hjic-495 1041 17 a a DET hjic-495 1041 18 demonstration demonstration NOUN hjic-495 1041 19 cell cell NOUN hjic-495 1041 20 . . PUNCT hjic-495 1042 1 we we PRON hjic-495 1042 2 carried carry VERB hjic-495 1042 3 out out ADP hjic-495 1042 4 a a DET hjic-495 1042 5 series series NOUN hjic-495 1042 6 of of ADP hjic-495 1042 7 experiments experiment NOUN hjic-495 1042 8 on on ADP hjic-495 1042 9 a a DET hjic-495 1042 10 hho hho NOUN hjic-495 1042 11 gas gas NOUN hjic-495 1042 12 producing produce VERB hjic-495 1042 13 dry dry ADJ hjic-495 1042 14 cell cell NOUN hjic-495 1042 15 to to PART hjic-495 1042 16 find find VERB hjic-495 1042 17 the the DET hjic-495 1042 18 optimal optimal ADJ hjic-495 1042 19 electrolyte electrolyte ADJ hjic-495 1042 20 concentration concentration NOUN hjic-495 1042 21 , , PUNCT hjic-495 1042 22 current current ADJ hjic-495 1042 23 value value NOUN hjic-495 1042 24 , , PUNCT hjic-495 1042 25 etc etc X hjic-495 1042 26 . . X hjic-495 1042 27 or or CCONJ hjic-495 1042 28 change change VERB hjic-495 1042 29 the the DET hjic-495 1042 30 setup setup NOUN hjic-495 1042 31 by by ADP hjic-495 1042 32 altering alter VERB hjic-495 1042 33 the the DET hjic-495 1042 34 distance distance NOUN hjic-495 1042 35 between between ADP hjic-495 1042 36 the the DET hjic-495 1042 37 plates plate NOUN hjic-495 1042 38 with with ADP hjic-495 1042 39 koh koh PROPN hjic-495 1042 40 electrolyte electrolyte PROPN hjic-495 1042 41 solution solution NOUN hjic-495 1042 42 . . PUNCT hjic-495 1043 1 we we PRON hjic-495 1043 2 monitored monitor VERB hjic-495 1043 3 the the DET hjic-495 1043 4 experimental experimental ADJ hjic-495 1043 5 setup setup NOUN hjic-495 1043 6 in in ADP hjic-495 1043 7 several several ADJ hjic-495 1043 8 regards regard NOUN hjic-495 1043 9 , , PUNCT hjic-495 1043 10 for for ADP hjic-495 1043 11 example example NOUN hjic-495 1043 12 cell cell NOUN hjic-495 1043 13 voltage voltage NOUN hjic-495 1043 14 , , PUNCT hjic-495 1043 15 and and CCONJ hjic-495 1043 16 gas gas NOUN hjic-495 1043 17 production production NOUN hjic-495 1043 18 . . PUNCT hjic-495 1044 1 the the DET hjic-495 1044 2 novel novel ADJ hjic-495 1044 3 element element NOUN hjic-495 1044 4 is be AUX hjic-495 1044 5 the the DET hjic-495 1044 6 temperature temperature NOUN hjic-495 1044 7 and and CCONJ hjic-495 1044 8 concentration concentration NOUN hjic-495 1044 9 dependent dependent ADJ hjic-495 1044 10 matlab matlab PROPN hjic-495 1044 11 simulink simulink PROPN hjic-495 1044 12 model model NOUN hjic-495 1044 13 of of ADP hjic-495 1044 14 the the DET hjic-495 1044 15 hydrogen hydrogen NOUN hjic-495 1044 16 generation generation NOUN hjic-495 1044 17 cell cell NOUN hjic-495 1044 18 , , PUNCT hjic-495 1044 19 which which PRON hjic-495 1044 20 was be AUX hjic-495 1044 21 found find VERB hjic-495 1044 22 to to PART hjic-495 1044 23 be be AUX hjic-495 1044 24 suitable suitable ADJ hjic-495 1044 25 for for ADP hjic-495 1044 26 simulation simulation NOUN hjic-495 1044 27 purposes purpose NOUN hjic-495 1044 28 . . PUNCT hjic-495 1045 1 we we PRON hjic-495 1045 2 tested test VERB hjic-495 1045 3 it it PRON hjic-495 1045 4 in in ADP hjic-495 1045 5 a a DET hjic-495 1045 6 simulation simulation NOUN hjic-495 1045 7 of of ADP hjic-495 1045 8 a a DET hjic-495 1045 9 complex complex ADJ hjic-495 1045 10 domestic domestic ADJ hjic-495 1045 11 power power NOUN hjic-495 1045 12 plant plant NOUN hjic-495 1045 13 using use VERB hjic-495 1045 14 a a DET hjic-495 1045 15 renewable renewable ADJ hjic-495 1045 16 energy energy NOUN hjic-495 1045 17 source source NOUN hjic-495 1045 18 and and CCONJ hjic-495 1045 19 hydrogen hydrogen NOUN hjic-495 1045 20 generation generation NOUN hjic-495 1045 21 cell cell NOUN hjic-495 1045 22 . . PUNCT hjic-495 1046 1 hydrogen hydrogen NOUN hjic-495 1046 2 generation generation NOUN hjic-495 1046 3 enables enable VERB hjic-495 1046 4 the the DET hjic-495 1046 5 long long ADJ hjic-495 1046 6 - - PUNCT hjic-495 1046 7 term term NOUN hjic-495 1046 8 storage storage NOUN hjic-495 1046 9 of of ADP hjic-495 1046 10 surplus surplus ADJ hjic-495 1046 11 electrical electrical ADJ hjic-495 1046 12 energy energy NOUN hjic-495 1046 13 collected collect VERB hjic-495 1046 14 , , PUNCT hjic-495 1046 15 but but CCONJ hjic-495 1046 16 not not PART hjic-495 1046 17 consumed consume VERB hjic-495 1046 18 or or CCONJ hjic-495 1046 19 injected inject VERB hjic-495 1046 20 into into ADP hjic-495 1046 21 the the DET hjic-495 1046 22 low low ADJ hjic-495 1046 23 voltage voltage NOUN hjic-495 1046 24 grid grid NOUN hjic-495 1046 25 . . PUNCT hjic-495 1047 1 the the DET hjic-495 1047 2 generated generate VERB hjic-495 1047 3 hydrogen hydrogen NOUN hjic-495 1047 4 can can AUX hjic-495 1047 5 be be AUX hjic-495 1047 6 consumed consume VERB hjic-495 1047 7 by by ADP hjic-495 1047 8 vehicles vehicle NOUN hjic-495 1047 9 for for ADP hjic-495 1047 10 transportation transportation NOUN hjic-495 1047 11 purposes purpose NOUN hjic-495 1047 12 or or CCONJ hjic-495 1047 13 it it PRON hjic-495 1047 14 can can AUX hjic-495 1047 15 be be AUX hjic-495 1047 16 applied apply VERB hjic-495 1047 17 in in ADP hjic-495 1047 18 fuel fuel NOUN hjic-495 1047 19 cells cell NOUN hjic-495 1047 20 generating generate VERB hjic-495 1047 21 direct direct ADJ hjic-495 1047 22 electrical electrical ADJ hjic-495 1047 23 energy energy NOUN hjic-495 1047 24 for for ADP hjic-495 1047 25 energy energy NOUN hjic-495 1047 26 - - PUNCT hjic-495 1047 27 deficient deficient ADJ hjic-495 1047 28 low low ADJ hjic-495 1047 29 voltage voltage NOUN hjic-495 1047 30 network network NOUN hjic-495 1047 31 situations situation NOUN hjic-495 1047 32 . . PUNCT hjic-495 1048 1 we we PRON hjic-495 1048 2 simulated simulate VERB hjic-495 1048 3 all all DET hjic-495 1048 4 the the DET hjic-495 1048 5 potential potential ADJ hjic-495 1048 6 energetic energetic ADJ hjic-495 1048 7 situations situation NOUN hjic-495 1048 8 in in ADP hjic-495 1048 9 this this DET hjic-495 1048 10 complex complex ADJ hjic-495 1048 11 model model NOUN hjic-495 1048 12 of of ADP hjic-495 1048 13 an an DET hjic-495 1048 14 energetic energetic ADJ hjic-495 1048 15 system system NOUN hjic-495 1048 16 . . PUNCT hjic-495 1049 1 the the DET hjic-495 1049 2 simulations simulation NOUN hjic-495 1049 3 showed show VERB hjic-495 1049 4 that that SCONJ hjic-495 1049 5 the the DET hjic-495 1049 6 presented present VERB hjic-495 1049 7 model model NOUN hjic-495 1049 8 of of ADP hjic-495 1049 9 a a DET hjic-495 1049 10 hydrogengenerating hydrogengenerate VERB hjic-495 1049 11 cell cell NOUN hjic-495 1049 12 performed perform VERB hjic-495 1049 13 well well ADV hjic-495 1049 14 . . PUNCT hjic-495 1050 1 acknowledgement acknowledgement NOUN hjic-495 1050 2 we we PRON hjic-495 1050 3 acknowledge acknowledge VERB hjic-495 1050 4 the the DET hjic-495 1050 5 financial financial ADJ hjic-495 1050 6 support support NOUN hjic-495 1050 7 of of ADP hjic-495 1050 8 this this DET hjic-495 1050 9 work work NOUN hjic-495 1050 10 by by ADP hjic-495 1050 11 the the DET hjic-495 1050 12 hungarian hungarian ADJ hjic-495 1050 13 state state NOUN hjic-495 1050 14 and and CCONJ hjic-495 1050 15 the the DET hjic-495 1050 16 european european PROPN hjic-495 1050 17 union union PROPN hjic-495 1050 18 under under ADP hjic-495 1050 19 the the DET hjic-495 1050 20 tamop-4.2.2.a-11/1/ tamop-4.2.2.a-11/1/ PROPN hjic-495 1050 21 konv-2012 konv-2012 NOUN hjic-495 1050 22 - - PUNCT hjic-495 1050 23 0072 0072 NUM hjic-495 1050 24 project project NOUN hjic-495 1050 25 . . PUNCT hjic-495 1051 1 references reference NOUN hjic-495 1051 2 [ [ X hjic-495 1051 3 1 1 NUM hjic-495 1051 4 ] ] X hjic-495 1051 5 koutsonikolasa koutsonikolasa PROPN hjic-495 1051 6 d.e d.e PROPN hjic-495 1051 7 . . PROPN hjic-495 1051 8 , , PUNCT hjic-495 1051 9 kaldisa kaldisa PROPN hjic-495 1051 10 , , PUNCT hjic-495 1051 11 s.p s.p PROPN hjic-495 1051 12 . . PROPN hjic-495 1051 13 , , PUNCT hjic-495 1051 14 pantoleontosb pantoleontosb PROPN hjic-495 1051 15 , , PUNCT hjic-495 1051 16 g.t g.t PROPN hjic-495 1051 17 . . PROPN hjic-495 1051 18 , , PUNCT hjic-495 1051 19 zaspalisac zaspalisac PROPN hjic-495 1051 20 , , PUNCT hjic-495 1051 21 v.t v.t PROPN hjic-495 1051 22 . . PROPN hjic-495 1051 23 , , PUNCT hjic-495 1051 24 sakellaropoulosc sakellaropoulosc PROPN hjic-495 1051 25 , , PUNCT hjic-495 1051 26 g.p g.p PROPN hjic-495 1051 27 . . PROPN hjic-495 1051 28 : : PUNCT hjic-495 1051 29 techno techno NOUN hjic-495 1051 30 - - PUNCT hjic-495 1051 31 economic economic ADJ hjic-495 1051 32 assessment assessment NOUN hjic-495 1051 33 of of ADP hjic-495 1051 34 polymeric polymeric ADJ hjic-495 1051 35 , , PUNCT hjic-495 1051 36 ceramic ceramic ADJ hjic-495 1051 37 and and CCONJ hjic-495 1051 38 metallic metallic ADJ hjic-495 1051 39 membranes membrane NOUN hjic-495 1051 40 integration integration NOUN hjic-495 1051 41 in in ADP hjic-495 1051 42 an an DET hjic-495 1051 43 advanced advanced ADJ hjic-495 1051 44 igcc igcc NOUN hjic-495 1051 45 process process NOUN hjic-495 1051 46 for for ADP hjic-495 1051 47 h2 h2 NOUN hjic-495 1051 48 production production NOUN hjic-495 1051 49 and and CCONJ hjic-495 1051 50 co2 co2 NOUN hjic-495 1051 51 capture capture NOUN hjic-495 1051 52 , , PUNCT hjic-495 1051 53 chem chem NOUN hjic-495 1051 54 . . PUNCT hjic-495 1052 1 engng engng PROPN hjic-495 1052 2 . . PUNCT hjic-495 1053 1 trans trans PROPN hjic-495 1053 2 . . PROPN hjic-495 1054 1 2013 2013 NUM hjic-495 1054 2 , , PUNCT hjic-495 1054 3 35 35 NUM hjic-495 1054 4 , , PUNCT hjic-495 1054 5 715 715 NUM hjic-495 1054 6 - - SYM hjic-495 1054 7 720 720 NUM hjic-495 1054 8 [ [ X hjic-495 1054 9 2 2 NUM hjic-495 1054 10 ] ] PUNCT hjic-495 1054 11 ziogoua ziogoua PROPN hjic-495 1054 12 c. c. PROPN hjic-495 1054 13 , , PUNCT hjic-495 1054 14 elmasidesb elmasidesb PROPN hjic-495 1054 15 c. c. PROPN hjic-495 1054 16 , , PUNCT hjic-495 1054 17 papadopoulouca papadopoulouca PROPN hjic-495 1054 18 s. s. PROPN hjic-495 1054 19 , , PUNCT hjic-495 1054 20 voutetakisa voutetakisa NOUN hjic-495 1054 21 s. s. PROPN hjic-495 1054 22 : : PUNCT hjic-495 1054 23 supervisory supervisory ADJ hjic-495 1054 24 control control NOUN hjic-495 1054 25 and and CCONJ hjic-495 1054 26 unattended unattended ADJ hjic-495 1054 27 operation operation NOUN hjic-495 1054 28 of of ADP hjic-495 1054 29 an an DET hjic-495 1054 30 off off ADP hjic-495 1054 31 - - PUNCT hjic-495 1054 32 grid grid NOUN hjic-495 1054 33 hybrid hybrid ADJ hjic-495 1054 34 power power NOUN hjic-495 1054 35 generation generation NOUN hjic-495 1054 36 station station NOUN hjic-495 1054 37 with with ADP hjic-495 1054 38 hydrogen hydrogen NOUN hjic-495 1054 39 storage storage NOUN hjic-495 1054 40 chem chem NOUN hjic-495 1054 41 . . PUNCT hjic-495 1055 1 engng engng NOUN hjic-495 1055 2 . . PUNCT hjic-495 1056 1 trans trans PROPN hjic-495 1056 2 . . PROPN hjic-495 1057 1 2013 2013 NUM hjic-495 1057 2 , , PUNCT hjic-495 1057 3 35 35 NUM hjic-495 1057 4 , , PUNCT hjic-495 1057 5 529 529 NUM hjic-495 1057 6 - - SYM hjic-495 1057 7 534 534 NUM hjic-495 1057 8 [ [ X hjic-495 1057 9 3 3 NUM hjic-495 1057 10 ] ] X hjic-495 1057 11 görbe görbe PROPN hjic-495 1057 12 p. p. PROPN hjic-495 1057 13 , , PUNCT hjic-495 1057 14 magyar magyar PROPN hjic-495 1057 15 a. a. PROPN hjic-495 1057 16 , , PUNCT hjic-495 1057 17 hangos hangos PROPN hjic-495 1057 18 k.m k.m PROPN hjic-495 1057 19 . . PROPN hjic-495 1057 20 : : PUNCT hjic-495 1057 21 line line NOUN hjic-495 1057 22 conditioning conditioning NOUN hjic-495 1057 23 with with ADP hjic-495 1057 24 grid grid NOUN hjic-495 1057 25 synchronized synchronize VERB hjic-495 1057 26 inverter inverter NOUN hjic-495 1057 27 's 's PART hjic-495 1057 28 power power NOUN hjic-495 1057 29 injection injection NOUN hjic-495 1057 30 of of ADP hjic-495 1057 31 renewable renewable ADJ hjic-495 1057 32 sources source NOUN hjic-495 1057 33 in in ADP hjic-495 1057 34 nonlinear nonlinear ADJ hjic-495 1057 35 distorted distort VERB hjic-495 1057 36 mains main NOUN hjic-495 1057 37 , , PUNCT hjic-495 1057 38 proc proc NOUN hjic-495 1057 39 . . PUNCT hjic-495 1058 1 10th 10th ADJ hjic-495 1058 2 international international ADJ hjic-495 1058 3 phd phd NOUN hjic-495 1058 4 workshop workshop NOUN hjic-495 1058 5 on on ADP hjic-495 1058 6 systems system NOUN hjic-495 1058 7 and and CCONJ hjic-495 1058 8 control control NOUN hjic-495 1058 9 , , PUNCT hjic-495 1058 10 2009 2009 NUM hjic-495 1058 11 , , PUNCT hjic-495 1058 12 978 978 NUM hjic-495 1058 13 - - SYM hjic-495 1058 14 980 980 NUM hjic-495 1058 15 [ [ SYM hjic-495 1058 16 4 4 NUM hjic-495 1058 17 ] ] X hjic-495 1058 18 al al PROPN hjic-495 1058 19 - - PUNCT hjic-495 1058 20 rousan rousan PROPN hjic-495 1058 21 a.a a.a PROPN hjic-495 1058 22 . . PROPN hjic-495 1058 23 : : PUNCT hjic-495 1058 24 reduction reduction NOUN hjic-495 1058 25 of of ADP hjic-495 1058 26 fuel fuel NOUN hjic-495 1058 27 consumption consumption NOUN hjic-495 1058 28 in in ADP hjic-495 1058 29 gasoline gasoline NOUN hjic-495 1058 30 engines engine NOUN hjic-495 1058 31 by by ADP hjic-495 1058 32 introducing introduce VERB hjic-495 1058 33 hho hho NOUN hjic-495 1058 34 gas gas NOUN hjic-495 1058 35 into into ADP hjic-495 1058 36 intake intake ADJ hjic-495 1058 37 manifold manifold ADJ hjic-495 1058 38 , , PUNCT hjic-495 1058 39 int int NOUN hjic-495 1058 40 . . PUNCT hjic-495 1059 1 j. j. PROPN hjic-495 1059 2 hydrogen hydrogen PROPN hjic-495 1059 3 energy energy PROPN hjic-495 1059 4 , , PUNCT hjic-495 1059 5 2010 2010 NUM hjic-495 1059 6 , , PUNCT hjic-495 1059 7 35 35 NUM hjic-495 1059 8 , , PUNCT hjic-495 1059 9 12930 12930 NUM hjic-495 1059 10 - - SYM hjic-495 1059 11 12935 12935 NUM hjic-495 1060 1 [ [ X hjic-495 1060 2 5 5 X hjic-495 1060 3 ] ] X hjic-495 1060 4 görbe görbe PROPN hjic-495 1060 5 p. p. PROPN hjic-495 1060 6 , , PUNCT hjic-495 1060 7 magyar magyar PROPN hjic-495 1060 8 a. a. PROPN hjic-495 1060 9 , , PUNCT hjic-495 1060 10 hangos hangos PROPN hjic-495 1060 11 k.m k.m PROPN hjic-495 1060 12 . . PROPN hjic-495 1060 13 : : PUNCT hjic-495 1061 1 thd thd NOUN hjic-495 1061 2 reduction reduction NOUN hjic-495 1061 3 with with ADP hjic-495 1061 4 grid grid NOUN hjic-495 1061 5 synchronized synchronize VERB hjic-495 1061 6 inverter inverter NOUN hjic-495 1061 7 ’s ’s PART hjic-495 1061 8 power power NOUN hjic-495 1061 9 injection injection NOUN hjic-495 1061 10 of of ADP hjic-495 1061 11 renewable renewable ADJ hjic-495 1061 12 sources source NOUN hjic-495 1061 13 , , PUNCT hjic-495 1061 14 proc proc NOUN hjic-495 1061 15 . . PUNCT hjic-495 1062 1 20th 20th ADJ hjic-495 1062 2 int int NOUN hjic-495 1062 3 . . PUNCT hjic-495 1063 1 symp symp PROPN hjic-495 1063 2 . . PUNCT hjic-495 1064 1 power power NOUN hjic-495 1064 2 electronics electronic NOUN hjic-495 1064 3 , , PUNCT hjic-495 1064 4 electrical electrical ADJ hjic-495 1064 5 drives drive NOUN hjic-495 1064 6 , , PUNCT hjic-495 1064 7 automation automation NOUN hjic-495 1064 8 and and CCONJ hjic-495 1064 9 motion motion NOUN hjic-495 1064 10 ( ( PUNCT hjic-495 1064 11 speedam speedam NOUN hjic-495 1064 12 ) ) PUNCT hjic-495 1064 13 2010 2010 NUM hjic-495 1064 14 , , PUNCT hjic-495 1064 15 13811386 13811386 NUM hjic-495 1064 16 figure figure NOUN hjic-495 1064 17 9 9 NUM hjic-495 1064 18 : : PUNCT hjic-495 1064 19 simulation simulation NOUN hjic-495 1064 20 results result NOUN hjic-495 1064 21 of of ADP hjic-495 1064 22 a a DET hjic-495 1064 23 complex complex ADJ hjic-495 1064 24 energetic energetic ADJ hjic-495 1064 25 system system NOUN hjic-495 1064 26 using use VERB hjic-495 1064 27 a a DET hjic-495 1064 28 cell cell NOUN hjic-495 1064 29 model model NOUN hjic-495 1064 30 short short ADJ hjic-495 1064 31 time time NOUN hjic-495 1064 32 range range NOUN hjic-495 1064 33 ( ( PUNCT hjic-495 1064 34 5 5 NUM hjic-495 1064 35 sec sec PROPN hjic-495 1064 36 ) ) PUNCT hjic-495 1064 37 advertise advertise VERB hjic-495 1064 38 upcoming upcoming ADJ hjic-495 1064 39 meetings meeting NOUN hjic-495 1064 40 , , PUNCT hjic-495 1064 41 conferences conference NOUN hjic-495 1064 42 , , PUNCT hjic-495 1064 43 workshops workshop NOUN hjic-495 1064 44 , , PUNCT hjic-495 1064 45 new new ADJ hjic-495 1064 46 products product NOUN hjic-495 1064 47 or or CCONJ hjic-495 1064 48 services service NOUN hjic-495 1064 49 ; ; PUNCT hjic-495 1064 50 make make VERB hjic-495 1064 51 public public ADJ hjic-495 1064 52 announcements announcement NOUN hjic-495 1064 53 , , PUNCT hjic-495 1064 54 introduce introduce VERB hjic-495 1064 55 your your PRON hjic-495 1064 56 research research NOUN hjic-495 1064 57 laboratory laboratory NOUN hjic-495 1064 58 on on ADP hjic-495 1064 59 the the DET hjic-495 1064 60 pages page NOUN hjic-495 1064 61 of of ADP hjic-495 1064 62 the the DET hjic-495 1064 63 hungarian hungarian ADJ hjic-495 1064 64 journal journal NOUN hjic-495 1064 65 of of ADP hjic-495 1064 66 industry industry NOUN hjic-495 1064 67 and and CCONJ hjic-495 1064 68 chemistry chemistry NOUN hjic-495 1064 69 please please INTJ hjic-495 1064 70 contact contact VERB hjic-495 1064 71 us we PRON hjic-495 1064 72 if if SCONJ hjic-495 1064 73 interested interested ADJ hjic-495 1064 74 ! ! PUNCT hjic-495 1065 1 editorial editorial ADJ hjic-495 1065 2 office office NOUN hjic-495 1065 3 : : PUNCT hjic-495 1065 4 university university NOUN hjic-495 1065 5 of of ADP hjic-495 1065 6 pannonia pannonia PROPN hjic-495 1065 7 p.o p.o PROPN hjic-495 1065 8 . . PROPN hjic-495 1065 9 box box PROPN hjic-495 1065 10 158 158 NUM hjic-495 1065 11 , , PUNCT hjic-495 1065 12 veszprém veszprém NOUN hjic-495 1065 13 h-8201 h-8201 NUM hjic-495 1065 14 ( ( PUNCT hjic-495 1065 15 hungary hungary PROPN hjic-495 1065 16 ) ) PUNCT hjic-495 1065 17 tel tel PROPN hjic-495 1065 18 . . PUNCT hjic-495 1065 19 : : PUNCT hjic-495 1066 1 +36 +36 NOUN hjic-495 1066 2 ( ( PUNCT hjic-495 1066 3 88 88 NUM hjic-495 1066 4 ) ) PUNCT hjic-495 1066 5 624 624 NUM hjic-495 1066 6 - - PUNCT hjic-495 1066 7 746 746 NUM hjic-495 1066 8 , , PUNCT hjic-495 1066 9 e e NOUN hjic-495 1066 10 - - NOUN hjic-495 1066 11 mail mail NOUN hjic-495 1066 12 : : PUNCT hjic-495 1066 13 hjic@almos.uni-pannon.hu hjic@almos.uni-pannon.hu PROPN hjic-495 1066 14 ; ; PUNCT hjic-495 1066 15 web web NOUN hjic-495 1066 16 : : PUNCT hjic-495 1066 17 hjic.mk.uni-pannon.hu hjic.mk.uni-pannon.hu PROPN hjic-495 1066 18 felelős felelős PROPN hjic-495 1066 19 szerkesztő szerkesztő PROPN hjic-495 1066 20 : : PUNCT hjic-495 1066 21 szilágyi szilágyi PROPN hjic-495 1066 22 róbert róbert VERB hjic-495 1066 23 károly károly PROPN hjic-495 1066 24 , , PUNCT hjic-495 1066 25 phd phd PROPN hjic-495 1066 26 kiadja kiadja PROPN hjic-495 1066 27 : : PUNCT hjic-495 1066 28 pannon pannon NOUN hjic-495 1066 29 egyetem egyetem PROPN hjic-495 1066 30 , , PUNCT hjic-495 1066 31 8200 8200 NUM hjic-495 1066 32 veszprém veszprém NOUN hjic-495 1066 33 , , PUNCT hjic-495 1066 34 egyetem egyetem PROPN hjic-495 1066 35 u. u. PROPN hjic-495 1066 36 10 10 NUM hjic-495 1066 37 . . PUNCT hjic-495 1067 1 levélcím levélcím ADV hjic-495 1067 2 : : PUNCT hjic-495 1067 3 h-8201 h-8201 NUM hjic-495 1067 4 veszprém veszprém NOUN hjic-495 1067 5 , , PUNCT hjic-495 1067 6 postafiók postafiók NOUN hjic-495 1067 7 158 158 NUM hjic-495 1067 8 , , PUNCT hjic-495 1067 9 tel tel PROPN hjic-495 1067 10 . . PROPN hjic-495 1067 11 : : PUNCT hjic-495 1067 12 ( ( PUNCT hjic-495 1067 13 88 88 NUM hjic-495 1067 14 ) ) SYM hjic-495 1067 15 624 624 NUM hjic-495 1067 16 - - PUNCT hjic-495 1067 17 000 000 NUM hjic-495 1067 18 felelős felelős PROPN hjic-495 1067 19 kiadó kiadó PROPN hjic-495 1067 20 : : PUNCT hjic-495 1067 21 a a DET hjic-495 1067 22 pannon pannon NOUN hjic-495 1067 23 egyetem egyetem NOUN hjic-495 1067 24 , , PUNCT hjic-495 1067 25 mérnöki mérnöki NOUN hjic-495 1067 26 kar kar PROPN hjic-495 1067 27 dékánja dékánja VERB hjic-495 1067 28 hungarian hungarian ADJ hjic-495 1067 29 journal journal NOUN hjic-495 1067 30 of of ADP hjic-495 1067 31 industry industry NOUN hjic-495 1067 32 and and CCONJ hjic-495 1067 33 chemistry chemistry NOUN hjic-495 1067 34 veszprém veszprém NOUN hjic-495 1067 35 vol vol NOUN hjic-495 1067 36 . . PUNCT hjic-495 1068 1 42(2 42(2 NUM hjic-495 1068 2 ) ) PUNCT hjic-495 1069 1 pp pp ADP hjic-495 1069 2 . . PUNCT hjic-495 1070 1 91–95 91–95 NUM hjic-495 1070 2 ( ( PUNCT hjic-495 1070 3 2014 2014 NUM hjic-495 1070 4 ) ) PUNCT hjic-495 1070 5 quasi quasi ADJ hjic-495 1070 6 - - ADJ hjic-495 1070 7 polynomial polynomial ADJ hjic-495 1070 8 representation representation NOUN hjic-495 1070 9 - - PUNCT hjic-495 1070 10 based base VERB hjic-495 1070 11 control control NOUN hjic-495 1070 12 of of ADP hjic-495 1070 13 mechanical mechanical ADJ hjic-495 1070 14 systems system NOUN hjic-495 1070 15 lászló lászló ADP hjic-495 1070 16 neukirchnerb neukirchnerb NOUN hjic-495 1070 17 and and CCONJ hjic-495 1070 18 attila attila PROPN hjic-495 1070 19 magyar magyar PROPN hjic-495 1070 20 department department PROPN hjic-495 1070 21 of of ADP hjic-495 1070 22 electrical electrical ADJ hjic-495 1070 23 engineering engineering NOUN hjic-495 1070 24 and and CCONJ hjic-495 1070 25 information information NOUN hjic-495 1070 26 systems system NOUN hjic-495 1070 27 , , PUNCT hjic-495 1070 28 university university NOUN hjic-495 1070 29 of of ADP hjic-495 1070 30 pannonia pannonia PROPN hjic-495 1070 31 , , PUNCT hjic-495 1070 32 egyetem egyetem NOUN hjic-495 1070 33 u. u. PROPN hjic-495 1070 34 10 10 NUM hjic-495 1070 35 . . PUNCT hjic-495 1070 36 , , PUNCT hjic-495 1070 37 veszprém veszprém NOUN hjic-495 1070 38 , , PUNCT hjic-495 1070 39 8200 8200 NUM hjic-495 1070 40 , , PUNCT hjic-495 1070 41 hungary hungary NOUN hjic-495 1070 42 be be NOUN hjic-495 1070 43 - - PUNCT hjic-495 1070 44 mail mail NOUN hjic-495 1070 45 : : PUNCT hjic-495 1070 46 neu.groszber@gmail.com neu.groszber@gmail.com PROPN hjic-495 1070 47 a a DET hjic-495 1070 48 simple simple ADJ hjic-495 1070 49 kinematic kinematic ADJ hjic-495 1070 50 model model NOUN hjic-495 1070 51 of of ADP hjic-495 1070 52 a a DET hjic-495 1070 53 differential differential ADJ hjic-495 1070 54 steering steering NOUN hjic-495 1070 55 mobile mobile ADJ hjic-495 1070 56 robot robot NOUN hjic-495 1070 57 is be AUX hjic-495 1070 58 investigated investigate VERB hjic-495 1070 59 using use VERB hjic-495 1070 60 a a DET hjic-495 1070 61 nonlinear nonlinear ADJ hjic-495 1070 62 technique technique NOUN hjic-495 1070 63 based base VERB hjic-495 1070 64 on on ADP hjic-495 1070 65 the the DET hjic-495 1070 66 quasi quasi ADJ hjic-495 1070 67 - - ADJ hjic-495 1070 68 polynomial polynomial ADJ hjic-495 1070 69 representation representation NOUN hjic-495 1070 70 of of ADP hjic-495 1070 71 the the DET hjic-495 1070 72 dynamical dynamical ADJ hjic-495 1070 73 model model NOUN hjic-495 1070 74 . . PUNCT hjic-495 1071 1 dynamical dynamical ADJ hjic-495 1071 2 systems system NOUN hjic-495 1071 3 can can AUX hjic-495 1071 4 be be AUX hjic-495 1071 5 embedded embed VERB hjic-495 1071 6 in in ADP hjic-495 1071 7 the the DET hjic-495 1071 8 generalized generalize VERB hjic-495 1071 9 lotka lotka PROPN hjic-495 1071 10 - - PUNCT hjic-495 1071 11 volterrs volterrs NOUN hjic-495 1071 12 ( ( PUNCT hjic-495 1071 13 or or CCONJ hjic-495 1071 14 quasi quasi ADJ hjic-495 1071 15 - - ADJ hjic-495 1071 16 polynomial polynomial ADJ hjic-495 1071 17 ) ) PUNCT hjic-495 1071 18 form form NOUN hjic-495 1071 19 under under ADP hjic-495 1071 20 mild mild ADJ hjic-495 1071 21 conditions condition NOUN hjic-495 1071 22 . . PUNCT hjic-495 1072 1 quasi quasi ADJ hjic-495 1072 2 - - ADJ hjic-495 1072 3 polynomial polynomial ADJ hjic-495 1072 4 systems system NOUN hjic-495 1072 5 are be AUX hjic-495 1072 6 good good ADJ hjic-495 1072 7 candidates candidate NOUN hjic-495 1072 8 for for ADP hjic-495 1072 9 a a DET hjic-495 1072 10 general general ADJ hjic-495 1072 11 nonlinear nonlinear ADJ hjic-495 1072 12 system system NOUN hjic-495 1072 13 representation representation NOUN hjic-495 1072 14 , , PUNCT hjic-495 1072 15 since since SCONJ hjic-495 1072 16 their their PRON hjic-495 1072 17 global global ADJ hjic-495 1072 18 stability stability NOUN hjic-495 1072 19 analysis analysis NOUN hjic-495 1072 20 is be AUX hjic-495 1072 21 equivalent equivalent ADJ hjic-495 1072 22 to to ADP hjic-495 1072 23 the the DET hjic-495 1072 24 feasibility feasibility NOUN hjic-495 1072 25 of of ADP hjic-495 1072 26 a a DET hjic-495 1072 27 linear linear ADJ hjic-495 1072 28 matrix matrix NOUN hjic-495 1072 29 inequality inequality NOUN hjic-495 1072 30 . . PUNCT hjic-495 1073 1 the the DET hjic-495 1073 2 stabilizing stabilize VERB hjic-495 1073 3 quasi quasi ADJ hjic-495 1073 4 - - ADJ hjic-495 1073 5 polynomial polynomial ADJ hjic-495 1073 6 state state NOUN hjic-495 1073 7 feedback feedback NOUN hjic-495 1073 8 controller controller NOUN hjic-495 1073 9 design design NOUN hjic-495 1073 10 problem problem NOUN hjic-495 1073 11 is be AUX hjic-495 1073 12 equivalent equivalent ADJ hjic-495 1073 13 to to ADP hjic-495 1073 14 the the DET hjic-495 1073 15 feasibility feasibility NOUN hjic-495 1073 16 of of ADP hjic-495 1073 17 a a DET hjic-495 1073 18 bilinear bilinear NOUN hjic-495 1073 19 matrix matrix NOUN hjic-495 1073 20 inequality inequality NOUN hjic-495 1073 21 . . PUNCT hjic-495 1074 1 the the DET hjic-495 1074 2 classical classical ADJ hjic-495 1074 3 stabilizing stabilize VERB hjic-495 1074 4 state state NOUN hjic-495 1074 5 feedback feedback NOUN hjic-495 1074 6 problem problem NOUN hjic-495 1074 7 for for ADP hjic-495 1074 8 quasi quasi ADJ hjic-495 1074 9 - - ADJ hjic-495 1074 10 polynomial polynomial ADJ hjic-495 1074 11 systems system NOUN hjic-495 1074 12 was be AUX hjic-495 1074 13 extended extend VERB hjic-495 1074 14 with with ADP hjic-495 1074 15 the the DET hjic-495 1074 16 ability ability NOUN hjic-495 1074 17 of of ADP hjic-495 1074 18 tracking track VERB hjic-495 1074 19 time time NOUN hjic-495 1074 20 - - PUNCT hjic-495 1074 21 dependent dependent ADJ hjic-495 1074 22 reference reference NOUN hjic-495 1074 23 signals signal NOUN hjic-495 1074 24 . . PUNCT hjic-495 1075 1 it it PRON hjic-495 1075 2 is be AUX hjic-495 1075 3 shown show VERB hjic-495 1075 4 that that SCONJ hjic-495 1075 5 the the DET hjic-495 1075 6 stabilizing stabilize VERB hjic-495 1075 7 quasi quasi ADJ hjic-495 1075 8 - - ADJ hjic-495 1075 9 polynomial polynomial ADJ hjic-495 1075 10 controller controller NOUN hjic-495 1075 11 design design NOUN hjic-495 1075 12 is be AUX hjic-495 1075 13 equivalent equivalent ADJ hjic-495 1075 14 to to ADP hjic-495 1075 15 a a DET hjic-495 1075 16 bilinear bilinear NOUN hjic-495 1075 17 matrix matrix NOUN hjic-495 1075 18 inequality inequality NOUN hjic-495 1075 19 . . PUNCT hjic-495 1076 1 the the DET hjic-495 1076 2 results result NOUN hjic-495 1076 3 are be AUX hjic-495 1076 4 applied apply VERB hjic-495 1076 5 to to ADP hjic-495 1076 6 the the DET hjic-495 1076 7 model model NOUN hjic-495 1076 8 of of ADP hjic-495 1076 9 the the DET hjic-495 1076 10 differential differential NOUN hjic-495 1076 11 steering steering NOUN hjic-495 1076 12 mobile mobile ADJ hjic-495 1076 13 robot robot NOUN hjic-495 1076 14 . . PUNCT hjic-495 1077 1 the the DET hjic-495 1077 2 goal goal NOUN hjic-495 1077 3 reaching reach VERB hjic-495 1077 4 quasi quasi ADJ hjic-495 1077 5 - - ADJ hjic-495 1077 6 polynomial polynomial ADJ hjic-495 1077 7 controller controller NOUN hjic-495 1077 8 is be AUX hjic-495 1077 9 shown show VERB hjic-495 1077 10 to to PART hjic-495 1077 11 be be AUX hjic-495 1077 12 a a DET hjic-495 1077 13 special special ADJ hjic-495 1077 14 kind kind NOUN hjic-495 1077 15 of of ADP hjic-495 1077 16 proportional proportional ADJ hjic-495 1077 17 state state NOUN hjic-495 1077 18 feedback feedback NOUN hjic-495 1077 19 . . PUNCT hjic-495 1078 1 keywords keyword NOUN hjic-495 1078 2 : : PUNCT hjic-495 1078 3 quasi quasi ADJ hjic-495 1078 4 - - ADJ hjic-495 1078 5 polynomial polynomial ADJ hjic-495 1078 6 , , PUNCT hjic-495 1078 7 robotics robotic NOUN hjic-495 1078 8 , , PUNCT hjic-495 1078 9 differential differential ADJ hjic-495 1078 10 drive drive NOUN hjic-495 1078 11 robot robot NOUN hjic-495 1078 12 , , PUNCT hjic-495 1078 13 control control NOUN hjic-495 1078 14 systems system NOUN hjic-495 1078 15 , , PUNCT hjic-495 1078 16 kinematics kinematic NOUN hjic-495 1078 17 , , PUNCT hjic-495 1078 18 lotka lotka PROPN hjic-495 1078 19 - - PUNCT hjic-495 1078 20 volterra volterra PROPN hjic-495 1078 21 system system NOUN hjic-495 1078 22 introduction introduction NOUN hjic-495 1078 23 trajectory trajectory NOUN hjic-495 1078 24 and and CCONJ hjic-495 1078 25 goal goal NOUN hjic-495 1078 26 tracking tracking NOUN hjic-495 1078 27 of of ADP hjic-495 1078 28 mobile mobile ADJ hjic-495 1078 29 robots robot NOUN hjic-495 1078 30 is be AUX hjic-495 1078 31 an an DET hjic-495 1078 32 intensively intensively ADV hjic-495 1078 33 studied study VERB hjic-495 1078 34 field field NOUN hjic-495 1078 35 of of ADP hjic-495 1078 36 modern modern ADJ hjic-495 1078 37 robotics robotic NOUN hjic-495 1078 38 as as ADV hjic-495 1078 39 well well ADV hjic-495 1078 40 as as ADP hjic-495 1078 41 modern modern ADJ hjic-495 1078 42 control control NOUN hjic-495 1078 43 theory theory NOUN hjic-495 1078 44 . . PUNCT hjic-495 1079 1 several several ADJ hjic-495 1079 2 papers paper NOUN hjic-495 1079 3 deal deal VERB hjic-495 1079 4 with with ADP hjic-495 1079 5 an an DET hjic-495 1079 6 adaptive adaptive ADJ hjic-495 1079 7 output output NOUN hjic-495 1079 8 feedback feedback NOUN hjic-495 1079 9 approach approach NOUN hjic-495 1079 10 [ [ X hjic-495 1079 11 1 1 NUM hjic-495 1079 12 ] ] PUNCT hjic-495 1079 13 . . PUNCT hjic-495 1080 1 on on ADP hjic-495 1080 2 the the DET hjic-495 1080 3 other other ADJ hjic-495 1080 4 hand hand NOUN hjic-495 1080 5 some some DET hjic-495 1080 6 groups group NOUN hjic-495 1080 7 try try VERB hjic-495 1080 8 to to PART hjic-495 1080 9 apply apply VERB hjic-495 1080 10 neural neural ADJ hjic-495 1080 11 network network NOUN hjic-495 1080 12 - - PUNCT hjic-495 1080 13 based base VERB hjic-495 1080 14 methods method NOUN hjic-495 1080 15 for for ADP hjic-495 1080 16 the the DET hjic-495 1080 17 task task NOUN hjic-495 1080 18 [ [ X hjic-495 1080 19 2 2 NUM hjic-495 1080 20 ] ] PUNCT hjic-495 1080 21 . . PUNCT hjic-495 1081 1 another another DET hjic-495 1081 2 direction direction NOUN hjic-495 1081 3 is be AUX hjic-495 1081 4 to to PART hjic-495 1081 5 describe describe VERB hjic-495 1081 6 the the DET hjic-495 1081 7 problem problem NOUN hjic-495 1081 8 as as ADP hjic-495 1081 9 an an DET hjic-495 1081 10 optimal optimal ADJ hjic-495 1081 11 control control NOUN hjic-495 1081 12 problem problem NOUN hjic-495 1081 13 and and CCONJ hjic-495 1081 14 apply apply VERB hjic-495 1081 15 optimal optimal ADJ hjic-495 1081 16 control control NOUN hjic-495 1081 17 results result NOUN hjic-495 1081 18 for for ADP hjic-495 1081 19 it it PRON hjic-495 1081 20 [ [ X hjic-495 1081 21 3 3 NUM hjic-495 1081 22 ] ] PUNCT hjic-495 1081 23 . . PUNCT hjic-495 1082 1 the the DET hjic-495 1082 2 class class NOUN hjic-495 1082 3 of of ADP hjic-495 1082 4 quasi quasi ADJ hjic-495 1082 5 - - ADJ hjic-495 1082 6 polynomial polynomial ADJ hjic-495 1082 7 ( ( PUNCT hjic-495 1082 8 qp qp NOUN hjic-495 1082 9 ) ) PUNCT hjic-495 1082 10 systems system NOUN hjic-495 1082 11 plays play VERB hjic-495 1082 12 an an DET hjic-495 1082 13 important important ADJ hjic-495 1082 14 role role NOUN hjic-495 1082 15 in in ADP hjic-495 1082 16 the the DET hjic-495 1082 17 theory theory NOUN hjic-495 1082 18 of of ADP hjic-495 1082 19 nonlinear nonlinear ADJ hjic-495 1082 20 dynamical dynamical ADJ hjic-495 1082 21 systems system NOUN hjic-495 1082 22 because because SCONJ hjic-495 1082 23 nonlinear nonlinear ADJ hjic-495 1082 24 systems system NOUN hjic-495 1082 25 with with ADP hjic-495 1082 26 smooth smooth ADJ hjic-495 1082 27 nonlinearities nonlinearitie NOUN hjic-495 1082 28 can can AUX hjic-495 1082 29 be be AUX hjic-495 1082 30 transformed transform VERB hjic-495 1082 31 into into ADP hjic-495 1082 32 quasipolynomial quasipolynomial ADJ hjic-495 1082 33 form form NOUN hjic-495 1082 34 ref.[4 ref.[4 X hjic-495 1082 35 ] ] PUNCT hjic-495 1082 36 . . PUNCT hjic-495 1083 1 this this PRON hjic-495 1083 2 means mean VERB hjic-495 1083 3 , , PUNCT hjic-495 1083 4 that that SCONJ hjic-495 1083 5 any any DET hjic-495 1083 6 applicable applicable ADJ hjic-495 1083 7 method method NOUN hjic-495 1083 8 for for ADP hjic-495 1083 9 quasi quasi ADJ hjic-495 1083 10 - - ADJ hjic-495 1083 11 polynomial polynomial ADJ hjic-495 1083 12 systems system NOUN hjic-495 1083 13 can can AUX hjic-495 1083 14 be be AUX hjic-495 1083 15 regarded regard VERB hjic-495 1083 16 as as ADP hjic-495 1083 17 a a DET hjic-495 1083 18 general general ADJ hjic-495 1083 19 technique technique NOUN hjic-495 1083 20 for for ADP hjic-495 1083 21 nonlinear nonlinear ADJ hjic-495 1083 22 systems system NOUN hjic-495 1083 23 [ [ X hjic-495 1083 24 5 5 NUM hjic-495 1083 25 ] ] PUNCT hjic-495 1083 26 . . PUNCT hjic-495 1084 1 the the DET hjic-495 1084 2 aim aim NOUN hjic-495 1084 3 of of ADP hjic-495 1084 4 this this DET hjic-495 1084 5 work work NOUN hjic-495 1084 6 is be AUX hjic-495 1084 7 to to PART hjic-495 1084 8 widen widen VERB hjic-495 1084 9 the the DET hjic-495 1084 10 applicability applicability NOUN hjic-495 1084 11 of of ADP hjic-495 1084 12 the the DET hjic-495 1084 13 quasipolynomial quasipolynomial ADJ hjic-495 1084 14 representation representation NOUN hjic-495 1084 15 - - PUNCT hjic-495 1084 16 based base VERB hjic-495 1084 17 methods method NOUN hjic-495 1084 18 to to ADP hjic-495 1084 19 the the DET hjic-495 1084 20 class class NOUN hjic-495 1084 21 of of ADP hjic-495 1084 22 mechanical mechanical ADJ hjic-495 1084 23 systems system NOUN hjic-495 1084 24 , , PUNCT hjic-495 1084 25 more more ADV hjic-495 1084 26 precisely precisely ADV hjic-495 1084 27 to to ADP hjic-495 1084 28 mobile mobile ADJ hjic-495 1084 29 robots robot NOUN hjic-495 1084 30 . . PUNCT hjic-495 1085 1 the the DET hjic-495 1085 2 goal goal NOUN hjic-495 1085 3 reaching reach VERB hjic-495 1085 4 problem problem NOUN hjic-495 1085 5 of of ADP hjic-495 1085 6 a a DET hjic-495 1085 7 differential differential ADJ hjic-495 1085 8 steering steering NOUN hjic-495 1085 9 mobile mobile ADJ hjic-495 1085 10 robot robot NOUN hjic-495 1085 11 is be AUX hjic-495 1085 12 reformulated reformulate VERB hjic-495 1085 13 as as ADP hjic-495 1085 14 a a DET hjic-495 1085 15 globally globally ADV hjic-495 1085 16 stabilizing stabilize VERB hjic-495 1085 17 feedback feedback NOUN hjic-495 1085 18 design design NOUN hjic-495 1085 19 problem problem NOUN hjic-495 1085 20 in in ADP hjic-495 1085 21 the the DET hjic-495 1085 22 quasi quasi ADJ hjic-495 1085 23 - - ADJ hjic-495 1085 24 polynomial polynomial ADJ hjic-495 1085 25 framework framework NOUN hjic-495 1085 26 . . PUNCT hjic-495 1086 1 basic basic ADJ hjic-495 1086 2 notions notion NOUN hjic-495 1086 3 differential differential PROPN hjic-495 1086 4 drive drive PROPN hjic-495 1086 5 mobile mobile PROPN hjic-495 1086 6 robot robot NOUN hjic-495 1086 7 kinematics kinematic NOUN hjic-495 1086 8 the the DET hjic-495 1086 9 chosen choose VERB hjic-495 1086 10 mechanical mechanical ADJ hjic-495 1086 11 system system NOUN hjic-495 1086 12 is be AUX hjic-495 1086 13 the the DET hjic-495 1086 14 kinematic kinematic ADJ hjic-495 1086 15 model model NOUN hjic-495 1086 16 of of ADP hjic-495 1086 17 a a DET hjic-495 1086 18 two two NUM hjic-495 1086 19 wheeled wheel VERB hjic-495 1086 20 differential differential NOUN hjic-495 1086 21 drive drive PROPN hjic-495 1086 22 mobile mobile ADJ hjic-495 1086 23 robot robot NOUN hjic-495 1086 24 eq.(1 eq.(1 ADJ hjic-495 1086 25 ) ) PUNCT hjic-495 1086 26 . . PUNCT hjic-495 1087 1 the the DET hjic-495 1087 2 model model NOUN hjic-495 1087 3 deals deal VERB hjic-495 1087 4 with with ADP hjic-495 1087 5 the the DET hjic-495 1087 6 geometric geometric ADJ hjic-495 1087 7 relationships relationship NOUN hjic-495 1087 8 that that PRON hjic-495 1087 9 govern govern VERB hjic-495 1087 10 the the DET hjic-495 1087 11 system system NOUN hjic-495 1087 12 . . PUNCT hjic-495 1088 1 it it PRON hjic-495 1088 2 calculates calculate VERB hjic-495 1088 3 the the DET hjic-495 1088 4 motion motion NOUN hjic-495 1088 5 without without ADP hjic-495 1088 6 considering consider VERB hjic-495 1088 7 the the DET hjic-495 1088 8 affecting affect VERB hjic-495 1088 9 forces force NOUN hjic-495 1088 10 . . PUNCT hjic-495 1089 1 the the DET hjic-495 1089 2 system system NOUN hjic-495 1089 3 ’s ’s PART hjic-495 1089 4 states state NOUN hjic-495 1089 5 are be AUX hjic-495 1089 6 the the DET hjic-495 1089 7 cartesian cartesian ADJ hjic-495 1089 8 coordinates coordinate NOUN hjic-495 1089 9 x x NOUN hjic-495 1089 10 , , PUNCT hjic-495 1089 11 and and CCONJ hjic-495 1089 12 y y PROPN hjic-495 1089 13 and and CCONJ hjic-495 1089 14 the the DET hjic-495 1089 15 orientation orientation NOUN hjic-495 1089 16 ✓ ✓ ADJ hjic-495 1089 17 of of ADP hjic-495 1089 18 the the DET hjic-495 1089 19 mobile mobile NOUN hjic-495 1089 20 robot robot NOUN hjic-495 1089 21 . . PUNCT hjic-495 1090 1 the the DET hjic-495 1090 2 basic basic ADJ hjic-495 1090 3 kinematic kinematic ADJ hjic-495 1090 4 model model NOUN hjic-495 1090 5 of of ADP hjic-495 1090 6 the the DET hjic-495 1090 7 differential differential ADJ hjic-495 1090 8 drive drive NOUN hjic-495 1090 9 robot robot NOUN hjic-495 1090 10 is be AUX hjic-495 1090 11 given give VERB hjic-495 1090 12 by by ADP hjic-495 1090 13 ˙ ˙ NOUN hjic-495 1090 14 ✓ ✓ ADJ hjic-495 1090 15 = = SYM hjic-495 1090 16 r r NOUN hjic-495 1090 17 2a 2a NUM hjic-495 1090 18 ( ( PUNCT hjic-495 1090 19 ! ! PUNCT hjic-495 1090 20 left leave VERB hjic-495 1090 21 � � PROPN hjic-495 1090 22 ! ! PUNCT hjic-495 1091 1 right right ADJ hjic-495 1091 2 ) ) PUNCT hjic-495 1091 3 ẋ ẋ PUNCT hjic-495 1092 1 = = PUNCT hjic-495 1092 2 r r NOUN hjic-495 1092 3 2 2 NUM hjic-495 1092 4 cos( cos( NOUN hjic-495 1092 5 ✓ ✓ NOUN hjic-495 1092 6 )(!left )(!left PUNCT hjic-495 1093 1 + + CCONJ hjic-495 1093 2 ! ! PUNCT hjic-495 1093 3 right right INTJ hjic-495 1093 4 ) ) PUNCT hjic-495 1094 1 ẏ ẏ NOUN hjic-495 1094 2 = = SYM hjic-495 1094 3 r r NOUN hjic-495 1094 4 2 2 NUM hjic-495 1094 5 sin( sin( NOUN hjic-495 1094 6 ✓ ✓ ADJ hjic-495 1094 7 )(!left )(!left PUNCT hjic-495 1095 1 + + CCONJ hjic-495 1095 2 ! ! PUNCT hjic-495 1095 3 right right INTJ hjic-495 1095 4 ) ) PUNCT hjic-495 1095 5 , , PUNCT hjic-495 1095 6 ( ( PUNCT hjic-495 1095 7 1 1 X hjic-495 1095 8 ) ) PUNCT hjic-495 1095 9 where where SCONJ hjic-495 1095 10 a a PRON hjic-495 1095 11 is be AUX hjic-495 1095 12 half half DET hjic-495 1095 13 the the DET hjic-495 1095 14 shaft shaft NOUN hjic-495 1095 15 ’s ’s PART hjic-495 1095 16 diameter diameter NOUN hjic-495 1095 17 , , PUNCT hjic-495 1095 18 r r NOUN hjic-495 1095 19 is be AUX hjic-495 1095 20 the the DET hjic-495 1095 21 radius radius NOUN hjic-495 1095 22 of of ADP hjic-495 1095 23 the the DET hjic-495 1095 24 wheels wheel NOUN hjic-495 1095 25 and and CCONJ hjic-495 1095 26 ! ! PUNCT hjic-495 1096 1 is be AUX hjic-495 1096 2 the the DET hjic-495 1096 3 angular angular ADJ hjic-495 1096 4 velocity velocity NOUN hjic-495 1096 5 of of ADP hjic-495 1096 6 the the DET hjic-495 1096 7 right right NOUN hjic-495 1096 8 or or CCONJ hjic-495 1096 9 left leave VERB hjic-495 1096 10 wheel wheel NOUN hjic-495 1096 11 . . PUNCT hjic-495 1097 1 to to PART hjic-495 1097 2 order order VERB hjic-495 1097 3 the the DET hjic-495 1097 4 robot robot NOUN hjic-495 1097 5 to to PART hjic-495 1097 6 reach reach VERB hjic-495 1097 7 a a DET hjic-495 1097 8 specific specific ADJ hjic-495 1097 9 goal goal NOUN hjic-495 1097 10 , , PUNCT hjic-495 1097 11 it it PRON hjic-495 1097 12 is be AUX hjic-495 1097 13 acceptable acceptable ADJ hjic-495 1097 14 to to PART hjic-495 1097 15 design design VERB hjic-495 1097 16 a a DET hjic-495 1097 17 proportional proportional ADJ hjic-495 1097 18 controller controller NOUN hjic-495 1097 19 to to PART hjic-495 1097 20 govern govern VERB hjic-495 1097 21 the the DET hjic-495 1097 22 expected expect VERB hjic-495 1097 23 trajectory trajectory NOUN hjic-495 1097 24 eq.(2 eq.(2 NOUN hjic-495 1097 25 ) ) PUNCT hjic-495 1098 1 [ [ X hjic-495 1098 2 6 6 NUM hjic-495 1098 3 ] ] PUNCT hjic-495 1098 4 . . PUNCT hjic-495 1099 1 in in ADP hjic-495 1099 2 this this DET hjic-495 1099 3 case case NOUN hjic-495 1099 4 , , PUNCT hjic-495 1099 5 the the DET hjic-495 1099 6 model model NOUN hjic-495 1099 7 is be AUX hjic-495 1099 8 modified modify VERB hjic-495 1099 9 to to PART hjic-495 1099 10 calculate calculate VERB hjic-495 1099 11 the the DET hjic-495 1099 12 state state NOUN hjic-495 1099 13 errors error NOUN hjic-495 1099 14 between between ADP hjic-495 1099 15 the the DET hjic-495 1099 16 ordered order VERB hjic-495 1099 17 and and CCONJ hjic-495 1099 18 the the DET hjic-495 1099 19 present present ADJ hjic-495 1099 20 value value NOUN hjic-495 1099 21 . . PUNCT hjic-495 1100 1 the the DET hjic-495 1100 2 new new ADJ hjic-495 1100 3 error error NOUN hjic-495 1100 4 model model NOUN hjic-495 1100 5 with with ADP hjic-495 1100 6 proportional proportional ADJ hjic-495 1100 7 gain gain NOUN hjic-495 1100 8 is be AUX hjic-495 1100 9 ẋ ẋ PROPN hjic-495 1100 10 = = SYM hjic-495 1100 11 kv(edis kv(edis PROPN hjic-495 1100 12 cos cos PROPN hjic-495 1100 13 ( ( PUNCT hjic-495 1100 14 ✓ ✓ ADJ hjic-495 1100 15 ) ) PUNCT hjic-495 1100 16 � � PROPN hjic-495 1100 17 x(t x(t PROPN hjic-495 1100 18 ) ) PUNCT hjic-495 1100 19 ) ) PUNCT hjic-495 1101 1 ẏ ẏ PROPN hjic-495 1101 2 = = SYM hjic-495 1101 3 kv(edis kv(edis PROPN hjic-495 1101 4 sin sin NOUN hjic-495 1101 5 ( ( PUNCT hjic-495 1101 6 ✓ ✓ ADJ hjic-495 1101 7 ) ) PUNCT hjic-495 1101 8 � � PROPN hjic-495 1101 9 y(t y(t PROPN hjic-495 1101 10 ) ) PUNCT hjic-495 1101 11 ) ) PUNCT hjic-495 1101 12 ˙ ˙ X hjic-495 1101 13 ✓ ✓ ADJ hjic-495 1101 14 = = SYM hjic-495 1101 15 kh(eang kh(eang PROPN hjic-495 1101 16 � � PROPN hjic-495 1101 17 ✓ ✓ PROPN hjic-495 1101 18 ( ( PUNCT hjic-495 1101 19 t t PROPN hjic-495 1101 20 ) ) PUNCT hjic-495 1101 21 ) ) PUNCT hjic-495 1101 22 edis edis PROPN hjic-495 1101 23 = = SYM hjic-495 1101 24 q q PROPN hjic-495 1101 25 ( ( PUNCT hjic-495 1101 26 xg xg PROPN hjic-495 1101 27 � � PROPN hjic-495 1101 28 x(t))2 x(t))2 PROPN hjic-495 1102 1 + + CCONJ hjic-495 1102 2 ( ( PUNCT hjic-495 1102 3 yg yg PROPN hjic-495 1102 4 � � PROPN hjic-495 1102 5 y(t))2 y(t))2 PROPN hjic-495 1102 6 eang eang PROPN hjic-495 1102 7 = = PROPN hjic-495 1102 8 arctan arctan PROPN hjic-495 1102 9 ✓ ✓ ADJ hjic-495 1102 10 2 2 NUM hjic-495 1102 11 yg yg PROPN hjic-495 1102 12 � � PROPN hjic-495 1102 13 y(t y(t PROPN hjic-495 1102 14 ) ) PUNCT hjic-495 1102 15 xg xg PROPN hjic-495 1102 16 � � PROPN hjic-495 1102 17 x(t x(t PROPN hjic-495 1102 18 ) ) PUNCT hjic-495 1102 19 ◆ ◆ NOUN hjic-495 1102 20 , , PUNCT hjic-495 1102 21 ( ( PUNCT hjic-495 1102 22 2 2 X hjic-495 1102 23 ) ) PUNCT hjic-495 1102 24 where where SCONJ hjic-495 1102 25 kv kv PROPN hjic-495 1102 26 is be AUX hjic-495 1102 27 the the DET hjic-495 1102 28 velocity velocity NOUN hjic-495 1102 29 control control NOUN hjic-495 1102 30 gain gain NOUN hjic-495 1102 31 , , PUNCT hjic-495 1102 32 kh kh PROPN hjic-495 1102 33 is be AUX hjic-495 1102 34 the the DET hjic-495 1102 35 rotational rotational ADJ hjic-495 1102 36 velocity velocity NOUN hjic-495 1102 37 control control NOUN hjic-495 1102 38 gain gain NOUN hjic-495 1102 39 , , PUNCT hjic-495 1102 40 edis edis PROPN hjic-495 1102 41 is be AUX hjic-495 1102 42 the the DET hjic-495 1102 43 distance distance NOUN hjic-495 1102 44 error error NOUN hjic-495 1102 45 , , PUNCT hjic-495 1102 46 eang eang PROPN hjic-495 1102 47 is be AUX hjic-495 1102 48 the the DET hjic-495 1102 49 92 92 NUM hjic-495 1102 50 angular angular ADJ hjic-495 1102 51 error error NOUN hjic-495 1102 52 , , PUNCT hjic-495 1102 53 and and CCONJ hjic-495 1102 54 xg xg NOUN hjic-495 1102 55 , , PUNCT hjic-495 1102 56 yg yg PROPN hjic-495 1102 57 are be AUX hjic-495 1102 58 the the DET hjic-495 1102 59 cartesian cartesian ADJ hjic-495 1102 60 coordinates coordinate NOUN hjic-495 1102 61 to to PART hjic-495 1102 62 reach reach VERB hjic-495 1102 63 . . PUNCT hjic-495 1103 1 quasi quasi ADJ hjic-495 1103 2 - - ADJ hjic-495 1103 3 polynomial polynomial ADJ hjic-495 1103 4 representation representation NOUN hjic-495 1103 5 of of ADP hjic-495 1103 6 nonlinear nonlinear ADJ hjic-495 1103 7 systems system NOUN hjic-495 1103 8 some some DET hjic-495 1103 9 basic basic ADJ hjic-495 1103 10 notions notion NOUN hjic-495 1103 11 of of ADP hjic-495 1103 12 quasi quasi ADJ hjic-495 1103 13 - - ADJ hjic-495 1103 14 polynomial polynomial ADJ hjic-495 1103 15 and and CCONJ hjic-495 1103 16 lotkavolterra lotkavolterra NOUN hjic-495 1103 17 systems system NOUN hjic-495 1103 18 are be AUX hjic-495 1103 19 summarised summarise VERB hjic-495 1103 20 in in ADP hjic-495 1103 21 this this DET hjic-495 1103 22 section section NOUN hjic-495 1103 23 . . PUNCT hjic-495 1104 1 generalised generalise VERB hjic-495 1104 2 lotka lotka PROPN hjic-495 1104 3 - - PUNCT hjic-495 1104 4 volterra volterra NOUN hjic-495 1104 5 form form NOUN hjic-495 1104 6 representing represent VERB hjic-495 1104 7 an an DET hjic-495 1104 8 ode ode NOUN hjic-495 1104 9 in in ADP hjic-495 1104 10 generalised generalise VERB hjic-495 1104 11 lotka lotka PROPN hjic-495 1104 12 - - PUNCT hjic-495 1104 13 volterra volterra PROPN hjic-495 1104 14 ( ( PUNCT hjic-495 1104 15 glv glv X hjic-495 1104 16 ) ) PUNCT hjic-495 1104 17 form form NOUN hjic-495 1104 18 can can AUX hjic-495 1104 19 increase increase VERB hjic-495 1104 20 the the DET hjic-495 1104 21 structural structural ADJ hjic-495 1104 22 simplicity simplicity NOUN hjic-495 1104 23 in in ADP hjic-495 1104 24 exchange exchange NOUN hjic-495 1104 25 for for ADP hjic-495 1104 26 increasing increase VERB hjic-495 1104 27 its its PRON hjic-495 1104 28 dimension dimension NOUN hjic-495 1104 29 . . PUNCT hjic-495 1105 1 the the DET hjic-495 1105 2 glv glv NOUN hjic-495 1105 3 or or CCONJ hjic-495 1105 4 quasipolynomial quasipolynomial ADJ hjic-495 1105 5 ( ( PUNCT hjic-495 1105 6 qp qp NOUN hjic-495 1105 7 ) ) PUNCT hjic-495 1105 8 form form NOUN hjic-495 1105 9 : : PUNCT hjic-495 1105 10 ẋ ẋ PROPN hjic-495 1106 1 i i PRON hjic-495 1106 2 = = PUNCT hjic-495 1107 1 x x VERB hjic-495 1107 2 i i PRON hjic-495 1107 3 ✓ ✓ VERB hjic-495 1107 4 � � PROPN hjic-495 1108 1 i i PRON hjic-495 1108 2 + + CCONJ hjic-495 1108 3 mp mp PROPN hjic-495 1108 4 i=1 i=1 PRON hjic-495 1108 5 a a DET hjic-495 1108 6 ij ij NOUN hjic-495 1108 7 · · PUNCT hjic-495 1108 8 nq nq NOUN hjic-495 1108 9 k=1 k=1 PUNCT hjic-495 1108 10 x x PUNCT hjic-495 1108 11 bij bij VERB hjic-495 1108 12 k k X hjic-495 1108 13 ◆ ◆ PROPN hjic-495 1108 14 , , PUNCT hjic-495 1108 15 i i PRON hjic-495 1108 16 = = NOUN hjic-495 1108 17 1 1 NUM hjic-495 1108 18 , , PUNCT hjic-495 1108 19 . . PUNCT hjic-495 1108 20 . . PUNCT hjic-495 1109 1 . . PUNCT hjic-495 1110 1 , , PUNCT hjic-495 1110 2 n n CCONJ hjic-495 1110 3 , , PUNCT hjic-495 1110 4 m m VERB hjic-495 1110 5 � � PROPN hjic-495 1110 6 n n CCONJ hjic-495 1110 7 ( ( PUNCT hjic-495 1110 8 3 3 NUM hjic-495 1110 9 ) ) PUNCT hjic-495 1110 10 where where SCONJ hjic-495 1110 11 a a PRON hjic-495 1110 12 and and CCONJ hjic-495 1110 13 b b NOUN hjic-495 1110 14 are be AUX hjic-495 1110 15 n n PRON hjic-495 1110 16 ⇥ ⇥ NUM hjic-495 1110 17 m m PROPN hjic-495 1110 18 , , PUNCT hjic-495 1110 19 m m VERB hjic-495 1110 20 ⇥ ⇥ NUM hjic-495 1110 21 n n CCONJ hjic-495 1110 22 real real ADJ hjic-495 1110 23 matrices matrix NOUN hjic-495 1110 24 , , PUNCT hjic-495 1110 25 and and CCONJ hjic-495 1110 26 � � PROPN hjic-495 1110 27 2 2 NUM hjic-495 1110 28 rn rn NOUN hjic-495 1110 29 is be AUX hjic-495 1110 30 a a DET hjic-495 1110 31 vector vector NOUN hjic-495 1110 32 . . PUNCT hjic-495 1111 1 the the DET hjic-495 1111 2 set set NOUN hjic-495 1111 3 of of ADP hjic-495 1111 4 non non ADJ hjic-495 1111 5 - - ADJ hjic-495 1111 6 linear linear ADJ hjic-495 1111 7 odes ode NOUN hjic-495 1111 8 can can AUX hjic-495 1111 9 be be AUX hjic-495 1111 10 embedded embed VERB hjic-495 1111 11 into into ADP hjic-495 1111 12 qp qp ADP hjic-495 1111 13 form form NOUN hjic-495 1111 14 if if SCONJ hjic-495 1111 15 it it PRON hjic-495 1111 16 meets meet VERB hjic-495 1111 17 two two NUM hjic-495 1111 18 requirements requirement NOUN hjic-495 1111 19 : : PUNCT hjic-495 1111 20 ( ( PUNCT hjic-495 1111 21 i i NOUN hjic-495 1111 22 ) ) PUNCT hjic-495 1111 23 the the DET hjic-495 1111 24 non non ADJ hjic-495 1111 25 - - ADJ hjic-495 1111 26 linear linear ADJ hjic-495 1111 27 odes ode NOUN hjic-495 1111 28 should should AUX hjic-495 1111 29 follow follow VERB hjic-495 1111 30 this this DET hjic-495 1111 31 form form NOUN hjic-495 1111 32 : : PUNCT hjic-495 1111 33 ẋ ẋ PROPN hjic-495 1111 34 s s PART hjic-495 1112 1 = = X hjic-495 1112 2 p p NOUN hjic-495 1112 3 is1 is1 NOUN hjic-495 1112 4 ... ... PUNCT hjic-495 1112 5 isn isn VERB hjic-495 1112 6 , , PUNCT hjic-495 1112 7 js js ADP hjic-495 1112 8 a a DET hjic-495 1112 9 is1 is1 NOUN hjic-495 1112 10 ... ... PUNCT hjic-495 1112 11 isn isn VERB hjic-495 1112 12 , , PUNCT hjic-495 1112 13 jsx jsx PROPN hjic-495 1112 14 is1 is1 PROPN hjic-495 1112 15 1 1 NUM hjic-495 1112 16 . . PUNCT hjic-495 1112 17 . . PUNCT hjic-495 1112 18 . . PUNCT hjic-495 1113 1 xisn xisn PROPN hjic-495 1113 2 n n PROPN hjic-495 1113 3 f(x̄)js f(x̄)js PROPN hjic-495 1113 4 , , PUNCT hjic-495 1113 5 x x PROPN hjic-495 1113 6 s s X hjic-495 1113 7 ( ( PUNCT hjic-495 1113 8 t0 t0 NOUN hjic-495 1113 9 ) ) PUNCT hjic-495 1114 1 = = SYM hjic-495 1115 1 x0 x0 PROPN hjic-495 1115 2 s s PART hjic-495 1115 3 , , PUNCT hjic-495 1115 4 s s PART hjic-495 1115 5 = = NOUN hjic-495 1115 6 1 1 NUM hjic-495 1115 7 . . PUNCT hjic-495 1115 8 . . PUNCT hjic-495 1115 9 . . PUNCT hjic-495 1116 1 n n X hjic-495 1116 2 ( ( PUNCT hjic-495 1116 3 4 4 X hjic-495 1116 4 ) ) PUNCT hjic-495 1116 5 where where SCONJ hjic-495 1116 6 a a DET hjic-495 1116 7 is1 is1 NOUN hjic-495 1116 8 ... ... PUNCT hjic-495 1116 9 isn isn VERB hjic-495 1116 10 , , PUNCT hjic-495 1116 11 js js ADP hjic-495 1116 12 ✏ ✏ VERB hjic-495 1116 13 r r NOUN hjic-495 1116 14 , , PUNCT hjic-495 1116 15 s s NOUN hjic-495 1116 16 = = NOUN hjic-495 1116 17 1 1 NUM hjic-495 1116 18 . . PUNCT hjic-495 1116 19 . . PUNCT hjic-495 1116 20 . . PUNCT hjic-495 1117 1 n n CCONJ hjic-495 1117 2 , , PUNCT hjic-495 1117 3 and and CCONJ hjic-495 1117 4 f(x̄ f(x̄ NOUN hjic-495 1117 5 ) ) PUNCT hjic-495 1117 6 is be AUX hjic-495 1117 7 some some DET hjic-495 1117 8 scalar scalar ADJ hjic-495 1117 9 function function NOUN hjic-495 1117 10 which which PRON hjic-495 1117 11 can can AUX hjic-495 1117 12 not not PART hjic-495 1117 13 be be AUX hjic-495 1117 14 reduced reduce VERB hjic-495 1117 15 to to ADP hjic-495 1117 16 quasy quasy NOUN hjic-495 1117 17 - - PUNCT hjic-495 1117 18 monomial monomial ADJ hjic-495 1117 19 form form NOUN hjic-495 1117 20 . . PUNCT hjic-495 1118 1 ( ( PUNCT hjic-495 1118 2 ii ii X hjic-495 1118 3 ) ) PUNCT hjic-495 1118 4 the the DET hjic-495 1118 5 partial partial ADJ hjic-495 1118 6 derivatives derivative NOUN hjic-495 1118 7 of of ADP hjic-495 1118 8 the the DET hjic-495 1118 9 system system NOUN hjic-495 1118 10 eq.(4 eq.(4 ADJ hjic-495 1118 11 ) ) PUNCT hjic-495 1118 12 should should AUX hjic-495 1118 13 fulfil fulfil VERB hjic-495 1118 14 : : PUNCT hjic-495 1118 15 @f @f PROPN hjic-495 1118 16 @x @x X hjic-495 1118 17 s s PART hjic-495 1118 18 = = X hjic-495 1118 19 p p PROPN hjic-495 1118 20 es1 es1 PROPN hjic-495 1118 21 ... ... PUNCT hjic-495 1118 22 esn esn PROPN hjic-495 1118 23 , , PUNCT hjic-495 1118 24 es es PROPN hjic-495 1118 25 b b PROPN hjic-495 1118 26 es1 es1 PROPN hjic-495 1118 27 ... ... PUNCT hjic-495 1118 28 esn esn PROPN hjic-495 1118 29 , , PUNCT hjic-495 1118 30 esx esx VERB hjic-495 1118 31 es1 es1 PROPN hjic-495 1118 32 1 1 NUM hjic-495 1118 33 . . PUNCT hjic-495 1118 34 . . PUNCT hjic-495 1118 35 . . PUNCT hjic-495 1119 1 xesn xesn PROPN hjic-495 1119 2 n n PROPN hjic-495 1119 3 f(x̄)es f(x̄)es PROPN hjic-495 1119 4 , , PUNCT hjic-495 1119 5 ( ( PUNCT hjic-495 1119 6 5 5 X hjic-495 1119 7 ) ) PUNCT hjic-495 1119 8 where where SCONJ hjic-495 1119 9 b b PROPN hjic-495 1119 10 es1 es1 PROPN hjic-495 1119 11 ... ... PUNCT hjic-495 1119 12 esn esn PROPN hjic-495 1119 13 , , PUNCT hjic-495 1119 14 es es PRON hjic-495 1119 15 ✏ ✏ ADJ hjic-495 1119 16 r r NOUN hjic-495 1119 17 , , PUNCT hjic-495 1119 18 s s NOUN hjic-495 1119 19 = = NOUN hjic-495 1119 20 1 1 NUM hjic-495 1119 21 . . PUNCT hjic-495 1119 22 . . PUNCT hjic-495 1119 23 . . PUNCT hjic-495 1120 1 n. n. NOUN hjic-495 1120 2 by by ADP hjic-495 1120 3 embedding embed VERB hjic-495 1120 4 , , PUNCT hjic-495 1120 5 we we PRON hjic-495 1120 6 introduce introduce VERB hjic-495 1120 7 the the DET hjic-495 1120 8 new new ADJ hjic-495 1120 9 auxiliary auxiliary ADJ hjic-495 1120 10 variable variable NOUN hjic-495 1120 11 : : PUNCT hjic-495 1121 1 y y PROPN hjic-495 1121 2 = = SYM hjic-495 1121 3 fq fq PROPN hjic-495 1121 4 nq nq PROPN hjic-495 1121 5 s=1 s=1 NOUN hjic-495 1121 6 xps xps PROPN hjic-495 1121 7 s s PROPN hjic-495 1121 8 . . PUNCT hjic-495 1121 9 q q PUNCT hjic-495 1122 1 6= 6= NUM hjic-495 1122 2 0 0 NUM hjic-495 1122 3 ( ( PUNCT hjic-495 1122 4 6 6 NUM hjic-495 1122 5 ) ) PUNCT hjic-495 1122 6 differentiating differentiate VERB hjic-495 1122 7 the the DET hjic-495 1122 8 new new ADJ hjic-495 1122 9 , , PUNCT hjic-495 1122 10 substituted substitute VERB hjic-495 1122 11 equations equation NOUN hjic-495 1122 12 we we PRON hjic-495 1122 13 get get VERB hjic-495 1122 14 the the DET hjic-495 1122 15 qp qp NOUN hjic-495 1122 16 representation representation NOUN hjic-495 1122 17 of of ADP hjic-495 1122 18 the the DET hjic-495 1122 19 original original ADJ hjic-495 1122 20 equation equation NOUN hjic-495 1122 21 eq.(4 eq.(4 ADV hjic-495 1122 22 ): ): PUNCT hjic-495 1123 1 ẋ ẋ PROPN hjic-495 1123 2 s s PART hjic-495 1123 3 = = NOUN hjic-495 1123 4 x x SYM hjic-495 1123 5 s s VERB hjic-495 1123 6 2 2 NUM hjic-495 1123 7 4 4 NUM hjic-495 1123 8 x x SYM hjic-495 1123 9 is1 is1 NOUN hjic-495 1123 10 ... ... PUNCT hjic-495 1123 11 isn isn VERB hjic-495 1123 12 , , PUNCT hjic-495 1123 13 js js ADP hjic-495 1123 14 ⇣ ⇣ NUM hjic-495 1123 15 a a DET hjic-495 1123 16 is1 is1 NOUN hjic-495 1123 17 ... ... PUNCT hjic-495 1123 18 isnjsy isnjsy NOUN hjic-495 1123 19 js js PROPN hjic-495 1123 20 / / SYM hjic-495 1123 21 q q PROPN hjic-495 1123 22 ny ny PROPN hjic-495 1123 23 k=1 k=1 PROPN hjic-495 1123 24 xisk xisk PROPN hjic-495 1123 25 � � PROPN hjic-495 1123 26 � � PROPN hjic-495 1123 27 sk sk PROPN hjic-495 1123 28 � � PROPN hjic-495 1123 29 jspk jspk NOUN hjic-495 1123 30 / / SYM hjic-495 1123 31 q q NOUN hjic-495 1123 32 ! ! PUNCT hjic-495 1124 1 # # NOUN hjic-495 1124 2 , , PUNCT hjic-495 1124 3 s s NOUN hjic-495 1124 4 = = NOUN hjic-495 1124 5 1 1 NUM hjic-495 1124 6 . . PUNCT hjic-495 1124 7 . . PUNCT hjic-495 1124 8 . . PUNCT hjic-495 1125 1 n n X hjic-495 1125 2 ( ( PUNCT hjic-495 1125 3 7 7 X hjic-495 1125 4 ) ) PUNCT hjic-495 1125 5 where where SCONJ hjic-495 1125 6 � � PROPN hjic-495 1125 7 sk sk VERB hjic-495 1125 8 = = NOUN hjic-495 1125 9 1 1 NUM hjic-495 1125 10 if if SCONJ hjic-495 1125 11 s s VERB hjic-495 1125 12 = = SYM hjic-495 1125 13 k k PROPN hjic-495 1125 14 and and CCONJ hjic-495 1125 15 0 0 NUM hjic-495 1125 16 otherwise otherwise ADV hjic-495 1125 17 . . PUNCT hjic-495 1126 1 a a DET hjic-495 1126 2 new new ADJ hjic-495 1126 3 additional additional ADJ hjic-495 1126 4 dimension dimension NOUN hjic-495 1126 5 appears appear VERB hjic-495 1126 6 as as ADP hjic-495 1126 7 the the DET hjic-495 1126 8 ode ode NOUN hjic-495 1126 9 of of ADP hjic-495 1126 10 the the DET hjic-495 1126 11 new new ADJ hjic-495 1126 12 variable variable ADJ hjic-495 1126 13 y y NOUN hjic-495 1126 14 : : PUNCT hjic-495 1126 15 ẏ ẏ PROPN hjic-495 1126 16 = = SYM hjic-495 1126 17 y y PROPN hjic-495 1126 18 " " PUNCT hjic-495 1126 19 x x SYM hjic-495 1126 20 is1 is1 PROPN hjic-495 1126 21 ... ... PUNCT hjic-495 1126 22 isn isn VERB hjic-495 1126 23 , , PUNCT hjic-495 1126 24 js js ADP hjic-495 1126 25 ✓ ✓ ADJ hjic-495 1126 26 p p X hjic-495 1126 27 s s X hjic-495 1126 28 x x NOUN hjic-495 1126 29 � � PROPN hjic-495 1126 30 1 1 NUM hjic-495 1126 31 s s PART hjic-495 1126 32 ẋ ẋ PROPN hjic-495 1126 33 s s PART hjic-495 1127 1 + + PROPN hjic-495 1127 2 + + CCONJ hjic-495 1127 3 x x X hjic-495 1127 4 is be AUX hjic-495 1127 5 ↵ ↵ PROPN hjic-495 1127 6 ,js ,js PUNCT hjic-495 1127 7 es es NOUN hjic-495 1127 8 ↵ ↵ PROPN hjic-495 1127 9 ,es ,es PUNCT hjic-495 1127 10 a a PRON hjic-495 1127 11 is be AUX hjic-495 1127 12 ↵ ↵ PROPN hjic-495 1127 13 ,jsbis ,jsbis PUNCT hjic-495 1127 14 ↵ ↵ PROPN hjic-495 1127 15 ,jsqy ,jsqy PUNCT hjic-495 1127 16 ( ( PUNCT hjic-495 1127 17 es+js es+js NOUN hjic-495 1127 18 � � PROPN hjic-495 1127 19 1)/q 1)/q NUM hjic-495 1127 20 ⇥ ⇥ NUM hjic-495 1127 21 ⇥ ⇥ NUM hjic-495 1127 22 ny ny NOUN hjic-495 1128 1 k=1 k=1 PUNCT hjic-495 1128 2 x x SYM hjic-495 1129 1 isk+esk+(1 isk+esk+(1 PROPN hjic-495 1129 2 � � PROPN hjic-495 1129 3 es es NOUN hjic-495 1129 4 � � PROPN hjic-495 1129 5 js)pk js)pk PRON hjic-495 1129 6 k k NOUN hjic-495 1129 7 ◆ ◆ NOUN hjic-495 1129 8 # # NOUN hjic-495 1129 9 . . PUNCT hjic-495 1130 1 ↵ ↵ PROPN hjic-495 1130 2 = = NOUN hjic-495 1131 1 1 1 NUM hjic-495 1131 2 . . PUNCT hjic-495 1131 3 . . PUNCT hjic-495 1131 4 . . PUNCT hjic-495 1132 1 n n X hjic-495 1132 2 ( ( PUNCT hjic-495 1132 3 8) 8) NUM hjic-495 1132 4 it it PRON hjic-495 1132 5 is be AUX hjic-495 1132 6 important important ADJ hjic-495 1132 7 to to PART hjic-495 1132 8 mention mention VERB hjic-495 1132 9 that that SCONJ hjic-495 1132 10 the the DET hjic-495 1132 11 new new ADJ hjic-495 1132 12 ode ode NOUN hjic-495 1132 13 is be AUX hjic-495 1132 14 not not PART hjic-495 1132 15 unique unique ADJ hjic-495 1132 16 because because SCONJ hjic-495 1132 17 we we PRON hjic-495 1132 18 can can AUX hjic-495 1132 19 choose choose VERB hjic-495 1132 20 the the DET hjic-495 1132 21 parameters parameter NOUN hjic-495 1132 22 p p X hjic-495 1132 23 s s NOUN hjic-495 1132 24 and and CCONJ hjic-495 1132 25 q. q. VERB hjic-495 1132 26 the the DET hjic-495 1132 27 quasi quasi ADJ hjic-495 1132 28 - - ADJ hjic-495 1132 29 monomial monomial ADJ hjic-495 1132 30 transformation transformation NOUN hjic-495 1132 31 is be AUX hjic-495 1132 32 defined define VERB hjic-495 1132 33 as as ADP hjic-495 1132 34 : : PUNCT hjic-495 1132 35 x x PUNCT hjic-495 1132 36 i i NOUN hjic-495 1132 37 = = PUNCT hjic-495 1132 38 nq nq X hjic-495 1133 1 k=1 k=1 PROPN hjic-495 1133 2 xcik xcik PROPN hjic-495 1134 1 k k PROPN hjic-495 1134 2 , , PUNCT hjic-495 1134 3 i i PRON hjic-495 1134 4 = = NOUN hjic-495 1134 5 1 1 X hjic-495 1134 6 . . PUNCT hjic-495 1134 7 . . PUNCT hjic-495 1134 8 . . PUNCT hjic-495 1135 1 n n X hjic-495 1135 2 ( ( PUNCT hjic-495 1135 3 9 9 NUM hjic-495 1135 4 ) ) PUNCT hjic-495 1135 5 where where SCONJ hjic-495 1135 6 c c NOUN hjic-495 1135 7 is be AUX hjic-495 1135 8 an an DET hjic-495 1135 9 arbitrary arbitrary ADJ hjic-495 1135 10 invertible invertible ADJ hjic-495 1135 11 matrix matrix NOUN hjic-495 1135 12 . . PUNCT hjic-495 1136 1 the the DET hjic-495 1136 2 matrices matrix NOUN hjic-495 1136 3 of of ADP hjic-495 1136 4 glv glv X hjic-495 1136 5 can can AUX hjic-495 1136 6 be be AUX hjic-495 1136 7 modified modify VERB hjic-495 1136 8 as as ADP hjic-495 1136 9 ˆb ˆb NUM hjic-495 1136 10 = = SYM hjic-495 1136 11 b b PROPN hjic-495 1136 12 · · PUNCT hjic-495 1136 13 c c X hjic-495 1136 14 , , PUNCT hjic-495 1136 15 ˆa ˆa ADP hjic-495 1136 16 = = SYM hjic-495 1136 17 c c X hjic-495 1136 18 � � PROPN hjic-495 1136 19 1 1 NUM hjic-495 1136 20 · · PUNCT hjic-495 1136 21 a a NOUN hjic-495 1136 22 , , PUNCT hjic-495 1136 23 and and CCONJ hjic-495 1136 24 ˆ ˆ PROPN hjic-495 1136 25 � � NOUN hjic-495 1136 26 = = SYM hjic-495 1136 27 c c X hjic-495 1136 28 � � PROPN hjic-495 1136 29 1 1 NUM hjic-495 1136 30 · · SYM hjic-495 1136 31 � � PROPN hjic-495 1136 32 , , PUNCT hjic-495 1136 33 and and CCONJ hjic-495 1136 34 the the DET hjic-495 1136 35 transformed transform VERB hjic-495 1136 36 set set NOUN hjic-495 1136 37 is be AUX hjic-495 1136 38 also also ADV hjic-495 1136 39 in in ADP hjic-495 1136 40 glv glv ADJ hjic-495 1136 41 form form NOUN hjic-495 1136 42 . . PUNCT hjic-495 1137 1 lotka lotka PROPN hjic-495 1137 2 - - PUNCT hjic-495 1137 3 volterra volterra PROPN hjic-495 1137 4 models model VERB hjic-495 1137 5 the the DET hjic-495 1137 6 above above ADJ hjic-495 1137 7 family family NOUN hjic-495 1137 8 of of ADP hjic-495 1137 9 models model NOUN hjic-495 1137 10 is be AUX hjic-495 1137 11 split split VERB hjic-495 1137 12 into into ADP hjic-495 1137 13 classes class NOUN hjic-495 1137 14 of of ADP hjic-495 1137 15 equivalence equivalence NOUN hjic-495 1137 16 according accord VERB hjic-495 1137 17 to to ADP hjic-495 1137 18 the the DET hjic-495 1137 19 values value NOUN hjic-495 1137 20 of of ADP hjic-495 1137 21 the the DET hjic-495 1137 22 products product NOUN hjic-495 1137 23 m m VERB hjic-495 1137 24 = = SYM hjic-495 1137 25 ba ba PROPN hjic-495 1137 26 and and CCONJ hjic-495 1137 27 n n NOUN hjic-495 1137 28 = = SYM hjic-495 1137 29 bl bl PROPN hjic-495 1137 30 . . PUNCT hjic-495 1138 1 the the DET hjic-495 1138 2 lotka lotka PROPN hjic-495 1138 3 - - PUNCT hjic-495 1138 4 volterra volterra NOUN hjic-495 1138 5 form form NOUN hjic-495 1138 6 gives give VERB hjic-495 1138 7 the the DET hjic-495 1138 8 representative representative ADJ hjic-495 1138 9 elements element NOUN hjic-495 1138 10 of of ADP hjic-495 1138 11 these these DET hjic-495 1138 12 classes class NOUN hjic-495 1138 13 of of ADP hjic-495 1138 14 equivalence equivalence NOUN hjic-495 1138 15 . . PUNCT hjic-495 1139 1 if if SCONJ hjic-495 1139 2 rank(b rank(b NOUN hjic-495 1139 3 ) ) PUNCT hjic-495 1139 4 = = SYM hjic-495 1140 1 n n CCONJ hjic-495 1140 2 , , PUNCT hjic-495 1140 3 then then ADV hjic-495 1140 4 the the DET hjic-495 1140 5 set set NOUN hjic-495 1140 6 of of ADP hjic-495 1140 7 odes ode NOUN hjic-495 1140 8 in in ADP hjic-495 1140 9 eq.(3 eq.(3 NOUN hjic-495 1140 10 ) ) PUNCT hjic-495 1140 11 can can AUX hjic-495 1140 12 be be AUX hjic-495 1140 13 embedded embed VERB hjic-495 1140 14 into into ADP hjic-495 1140 15 the the DET hjic-495 1140 16 following follow VERB hjic-495 1140 17 m m ADJ hjic-495 1140 18 - - ADJ hjic-495 1140 19 dimensional dimensional ADJ hjic-495 1140 20 set set NOUN hjic-495 1140 21 of of ADP hjic-495 1140 22 equations equation NOUN hjic-495 1140 23 , , PUNCT hjic-495 1140 24 the the DET hjic-495 1140 25 so so ADV hjic-495 1140 26 - - PUNCT hjic-495 1140 27 called call VERB hjic-495 1140 28 lotka lotka PROPN hjic-495 1140 29 - - PUNCT hjic-495 1140 30 volterra volterra PROPN hjic-495 1140 31 model model NOUN hjic-495 1140 32 : : PUNCT hjic-495 1140 33 ż ż NOUN hjic-495 1140 34 j j NOUN hjic-495 1141 1 = = PUNCT hjic-495 1141 2 z z PROPN hjic-495 1141 3 j j PROPN hjic-495 1141 4 n n PRON hjic-495 1141 5 j j PROPN hjic-495 1142 1 + + CCONJ hjic-495 1142 2 mx mx PROPN hjic-495 1142 3 i=1 i=1 PROPN hjic-495 1142 4 m m VERB hjic-495 1142 5 ji ji X hjic-495 1142 6 z z NOUN hjic-495 1143 1 i i PRON hjic-495 1143 2 ! ! PUNCT hjic-495 1143 3 , , PUNCT hjic-495 1144 1 j j PROPN hjic-495 1144 2 = = NOUN hjic-495 1144 3 1 1 NUM hjic-495 1144 4 , , PUNCT hjic-495 1144 5 . . PUNCT hjic-495 1144 6 . . PUNCT hjic-495 1145 1 . . PUNCT hjic-495 1146 1 , , PUNCT hjic-495 1146 2 m m PROPN hjic-495 1146 3 ( ( PUNCT hjic-495 1146 4 10 10 NUM hjic-495 1146 5 ) ) PUNCT hjic-495 1146 6 where where SCONJ hjic-495 1146 7 m m VERB hjic-495 1146 8 = = SYM hjic-495 1146 9 ba ba PROPN hjic-495 1146 10 , , PUNCT hjic-495 1146 11 n n NOUN hjic-495 1146 12 = = SYM hjic-495 1146 13 bl bl PROPN hjic-495 1146 14 , , PUNCT hjic-495 1146 15 and and CCONJ hjic-495 1146 16 each each DET hjic-495 1146 17 z z NOUN hjic-495 1146 18 j j PROPN hjic-495 1146 19 represents represent VERB hjic-495 1146 20 a a DET hjic-495 1146 21 so so ADV hjic-495 1146 22 - - PUNCT hjic-495 1146 23 called call VERB hjic-495 1146 24 quasi quasi NOUN hjic-495 1146 25 - - NOUN hjic-495 1146 26 monomial monomial ADJ hjic-495 1146 27 : : PUNCT hjic-495 1146 28 z z NOUN hjic-495 1146 29 j j X hjic-495 1146 30 = = PUNCT hjic-495 1147 1 ny ny PROPN hjic-495 1148 1 k=1 k=1 PUNCT hjic-495 1148 2 y y PROPN hjic-495 1148 3 bjk bjk PROPN hjic-495 1148 4 k k PROPN hjic-495 1148 5 , , PUNCT hjic-495 1148 6 j j PROPN hjic-495 1148 7 = = SYM hjic-495 1148 8 1 1 NUM hjic-495 1148 9 , , PUNCT hjic-495 1148 10 . . PUNCT hjic-495 1148 11 . . PUNCT hjic-495 1148 12 . . PUNCT hjic-495 1149 1 , , PUNCT hjic-495 1149 2 m. m. NOUN hjic-495 1149 3 ( ( PUNCT hjic-495 1149 4 11 11 NUM hjic-495 1149 5 ) ) PUNCT hjic-495 1149 6 input input NOUN hjic-495 1149 7 - - PUNCT hjic-495 1149 8 affine affine NOUN hjic-495 1149 9 qp qp PROPN hjic-495 1149 10 model model VERB hjic-495 1149 11 the the DET hjic-495 1149 12 well well ADV hjic-495 1149 13 known know VERB hjic-495 1149 14 input input NOUN hjic-495 1149 15 - - PUNCT hjic-495 1149 16 affine affine NOUN hjic-495 1149 17 model model NOUN hjic-495 1149 18 of of ADP hjic-495 1149 19 nonlinear nonlinear ADJ hjic-495 1149 20 systems system NOUN hjic-495 1149 21 is be AUX hjic-495 1149 22 given give VERB hjic-495 1149 23 in in ADP hjic-495 1149 24 the the DET hjic-495 1149 25 following follow VERB hjic-495 1149 26 state state NOUN hjic-495 1149 27 space space NOUN hjic-495 1149 28 model model NOUN hjic-495 1149 29 : : PUNCT hjic-495 1149 30 ẋ ẋ PROPN hjic-495 1150 1 = = PUNCT hjic-495 1150 2 f(x)+ f(x)+ NOUN hjic-495 1150 3 pp pp ADV hjic-495 1150 4 j=1 j=1 ADJ hjic-495 1150 5 gj(x)uj gj(x)uj INTJ hjic-495 1151 1 where where SCONJ hjic-495 1151 2 f f PROPN hjic-495 1151 3 2 2 NUM hjic-495 1151 4 rn rn PROPN hjic-495 1151 5 ! ! PUNCT hjic-495 1151 6 rn rn PROPN hjic-495 1151 7 , , PUNCT hjic-495 1151 8 and and CCONJ hjic-495 1151 9 gj gj PROPN hjic-495 1151 10 2 2 NUM hjic-495 1151 11 rn rn PROPN hjic-495 1151 12 ! ! PUNCT hjic-495 1152 1 rn rn PROPN hjic-495 1152 2 are be AUX hjic-495 1152 3 qp qp ADP hjic-495 1152 4 functions function NOUN hjic-495 1152 5 and and CCONJ hjic-495 1152 6 the the DET hjic-495 1152 7 input input NOUN hjic-495 1152 8 variable variable NOUN hjic-495 1152 9 u u NOUN hjic-495 1152 10 is be AUX hjic-495 1152 11 p p ADJ hjic-495 1152 12 - - PUNCT hjic-495 1152 13 dimensional dimensional ADJ hjic-495 1152 14 . . PUNCT hjic-495 1153 1 in in ADP hjic-495 1153 2 93 93 NUM hjic-495 1153 3 figure figure NOUN hjic-495 1153 4 1 1 NUM hjic-495 1153 5 : : PUNCT hjic-495 1153 6 membership membership NOUN hjic-495 1153 7 functions function NOUN hjic-495 1153 8 for for ADP hjic-495 1153 9 angular angular ADJ hjic-495 1153 10 error error NOUN hjic-495 1153 11 this this DET hjic-495 1153 12 case case NOUN hjic-495 1153 13 we we PRON hjic-495 1153 14 need need VERB hjic-495 1153 15 a a DET hjic-495 1153 16 qp qp NOUN hjic-495 1153 17 form form NOUN hjic-495 1153 18 with with ADP hjic-495 1153 19 the the DET hjic-495 1153 20 matrices matrix NOUN hjic-495 1153 21 from from ADP hjic-495 1153 22 the the DET hjic-495 1153 23 glv glv NUM hjic-495 1153 24 form form NOUN hjic-495 1153 25 ode ode PROPN hjic-495 1153 26 set set NOUN hjic-495 1153 27 : : PUNCT hjic-495 1153 28 ẋ ẋ PROPN hjic-495 1154 1 i i PRON hjic-495 1154 2 = = PUNCT hjic-495 1155 1 x x PUNCT hjic-495 1155 2 i i NOUN hjic-495 1155 3 0 0 NUM hjic-495 1155 4 @ @ ADP hjic-495 1155 5 � � PROPN hjic-495 1156 1 i i PRON hjic-495 1156 2 + + PROPN hjic-495 1156 3 mx mx PROPN hjic-495 1156 4 j=1 j=1 PROPN hjic-495 1156 5 a0 a0 PROPN hjic-495 1156 6 ij ij INTJ hjic-495 1156 7 ny ny PROPN hjic-495 1157 1 k=1 k=1 PUNCT hjic-495 1157 2 x x PUNCT hjic-495 1157 3 bjk bjk NOUN hjic-495 1157 4 k k PROPN hjic-495 1157 5 1 1 NUM hjic-495 1158 1 a a DET hjic-495 1158 2 + + X hjic-495 1158 3 + + PROPN hjic-495 1158 4 px px X hjic-495 1159 1 l=1 l=1 NOUN hjic-495 1159 2 x x PUNCT hjic-495 1160 1 i i PRON hjic-495 1160 2 0 0 NUM hjic-495 1160 3 @µ @µ NOUN hjic-495 1160 4 li li PROPN hjic-495 1161 1 + + CCONJ hjic-495 1161 2 mx mx PROPN hjic-495 1161 3 j=1 j=1 PROPN hjic-495 1161 4 c c PROPN hjic-495 1161 5 lij lij PROPN hjic-495 1161 6 ny ny INTJ hjic-495 1162 1 k=1 k=1 PROPN hjic-495 1162 2 x x PUNCT hjic-495 1162 3 bjk bjk PROPN hjic-495 1162 4 k k PROPN hjic-495 1162 5 1 1 NUM hjic-495 1162 6 au au PROPN hjic-495 1162 7 l l NOUN hjic-495 1162 8 . . PUNCT hjic-495 1163 1 i i PRON hjic-495 1163 2 = = NOUN hjic-495 1163 3 1 1 X hjic-495 1163 4 . . PUNCT hjic-495 1163 5 . . PUNCT hjic-495 1163 6 . . PUNCT hjic-495 1164 1 n n X hjic-495 1164 2 ( ( PUNCT hjic-495 1164 3 12 12 NUM hjic-495 1164 4 ) ) PUNCT hjic-495 1164 5 it it PRON hjic-495 1164 6 can can AUX hjic-495 1164 7 be be AUX hjic-495 1164 8 proven prove VERB hjic-495 1164 9 that that SCONJ hjic-495 1164 10 if if SCONJ hjic-495 1164 11 u u PROPN hjic-495 1164 12 = = PROPN hjic-495 1164 13 h(x h(x PROPN hjic-495 1164 14 ) ) PUNCT hjic-495 1164 15 state state NOUN hjic-495 1164 16 feedback feedback NOUN hjic-495 1164 17 is be AUX hjic-495 1164 18 in in ADP hjic-495 1164 19 qp qp ADP hjic-495 1164 20 form form NOUN hjic-495 1164 21 , , PUNCT hjic-495 1164 22 the the DET hjic-495 1164 23 closed closed ADJ hjic-495 1164 24 - - PUNCT hjic-495 1164 25 loop loop NOUN hjic-495 1164 26 system system NOUN hjic-495 1164 27 remains remain VERB hjic-495 1164 28 in in ADP hjic-495 1164 29 qp qp ADP hjic-495 1164 30 form form NOUN hjic-495 1164 31 as as ADV hjic-495 1164 32 well well ADV hjic-495 1164 33 , , PUNCT hjic-495 1164 34 but but CCONJ hjic-495 1164 35 the the DET hjic-495 1164 36 quasi quasi NOUN hjic-495 1164 37 - - NOUN hjic-495 1164 38 monomials monomial NOUN hjic-495 1164 39 of of ADP hjic-495 1164 40 the the DET hjic-495 1164 41 system system NOUN hjic-495 1164 42 will will AUX hjic-495 1164 43 be be AUX hjic-495 1164 44 greater great ADJ hjic-495 1164 45 , , PUNCT hjic-495 1164 46 than than SCONJ hjic-495 1164 47 the the DET hjic-495 1164 48 system system NOUN hjic-495 1164 49 ’s ’ VERB hjic-495 1164 50 without without ADP hjic-495 1164 51 the the DET hjic-495 1164 52 feedback feedback NOUN hjic-495 1164 53 . . PUNCT hjic-495 1165 1 global global ADJ hjic-495 1165 2 stability stability NOUN hjic-495 1165 3 analysis analysis NOUN hjic-495 1165 4 global global ADJ hjic-495 1165 5 equilibrium equilibrium NOUN hjic-495 1165 6 points point NOUN hjic-495 1165 7 can can AUX hjic-495 1165 8 be be AUX hjic-495 1165 9 obtained obtain VERB hjic-495 1165 10 by by ADP hjic-495 1165 11 finding find VERB hjic-495 1165 12 a a DET hjic-495 1165 13 lyapunov lyapunov NOUN hjic-495 1165 14 function function NOUN hjic-495 1165 15 v v ADP hjic-495 1165 16 ( ( PUNCT hjic-495 1165 17 · · PUNCT hjic-495 1165 18 ) ) PUNCT hjic-495 1165 19 . . PUNCT hjic-495 1166 1 for for ADP hjic-495 1166 2 lv lv PROPN hjic-495 1166 3 systems system NOUN hjic-495 1166 4 there there PRON hjic-495 1166 5 is be VERB hjic-495 1166 6 a a DET hjic-495 1166 7 well well ADV hjic-495 1166 8 known know VERB hjic-495 1166 9 lyapunov lyapunov NOUN hjic-495 1166 10 function function NOUN hjic-495 1166 11 family family NOUN hjic-495 1166 12 : : PUNCT hjic-495 1166 13 v v X hjic-495 1166 14 ( ( PUNCT hjic-495 1166 15 z z NOUN hjic-495 1166 16 ) ) PUNCT hjic-495 1166 17 = = SYM hjic-495 1167 1 mx mx NOUN hjic-495 1168 1 i=1 i=1 X hjic-495 1169 1 c c PROPN hjic-495 1169 2 i i PRON hjic-495 1169 3 ✓ ✓ ADJ hjic-495 1169 4 z z VERB hjic-495 1170 1 i i PRON hjic-495 1170 2 � � PROPN hjic-495 1171 1 z z NOUN hjic-495 1171 2 ⇤ ⇤ PROPN hjic-495 1171 3 i i PRON hjic-495 1171 4 � � PROPN hjic-495 1171 5 ln ln ADJ hjic-495 1171 6 z z NOUN hjic-495 1172 1 i i PRON hjic-495 1173 1 z z X hjic-495 1173 2 ⇤ ⇤ PROPN hjic-495 1173 3 i i PRON hjic-495 1173 4 ◆ ◆ PROPN hjic-495 1173 5 , , PUNCT hjic-495 1173 6 c c VERB hjic-495 1173 7 i i PRON hjic-495 1173 8 � � PROPN hjic-495 1173 9 0 0 NUM hjic-495 1173 10 , , PUNCT hjic-495 1173 11 i i PRON hjic-495 1173 12 = = NOUN hjic-495 1173 13 1 1 X hjic-495 1173 14 . . PUNCT hjic-495 1173 15 . . PUNCT hjic-495 1174 1 .m .m PROPN hjic-495 1175 1 ( ( PUNCT hjic-495 1175 2 13 13 NUM hjic-495 1175 3 ) ) PUNCT hjic-495 1175 4 and and CCONJ hjic-495 1175 5 the the DET hjic-495 1175 6 time time NOUN hjic-495 1175 7 derivative derivative NOUN hjic-495 1175 8 : : PUNCT hjic-495 1175 9 ˙v ˙v X hjic-495 1175 10 z z X hjic-495 1175 11 = = SYM hjic-495 1175 12 @v @v NOUN hjic-495 1175 13 ( ( PUNCT hjic-495 1175 14 z z NOUN hjic-495 1175 15 ) ) PUNCT hjic-495 1175 16 @z @z X hjic-495 1175 17 · · PUNCT hjic-495 1176 1 @z @z X hjic-495 1176 2 @t @t PROPN hjic-495 1176 3 = = PUNCT hjic-495 1177 1 = = SYM hjic-495 1177 2 1 1 NUM hjic-495 1177 3 2 2 NUM hjic-495 1177 4 ( ( PUNCT hjic-495 1177 5 z z NOUN hjic-495 1177 6 � � PROPN hjic-495 1177 7 z z PROPN hjic-495 1177 8 ⇤ ⇤ PROPN hjic-495 1177 9 ) ) PUNCT hjic-495 1177 10 ( ( PUNCT hjic-495 1177 11 c c NOUN hjic-495 1177 12 m m VERB hjic-495 1177 13 + + NOUN hjic-495 1177 14 m m PROPN hjic-495 1177 15 t t NOUN hjic-495 1177 16 c)(z c)(z PUNCT hjic-495 1177 17 � � PROPN hjic-495 1177 18 z z PROPN hjic-495 1177 19 ⇤ ⇤ PROPN hjic-495 1177 20 ) ) PUNCT hjic-495 1177 21 , , PUNCT hjic-495 1177 22 ( ( PUNCT hjic-495 1177 23 14 14 NUM hjic-495 1177 24 ) ) PUNCT hjic-495 1178 1 where where SCONJ hjic-495 1178 2 z z NOUN hjic-495 1178 3 ⇤ ⇤ PROPN hjic-495 1178 4 = = PUNCT hjic-495 1178 5 ( ( PUNCT hjic-495 1178 6 z z X hjic-495 1178 7 ⇤ ⇤ PROPN hjic-495 1178 8 1 1 NUM hjic-495 1178 9 . . PUNCT hjic-495 1178 10 . . PUNCT hjic-495 1179 1 . . PUNCT hjic-495 1180 1 z z X hjic-495 1180 2 ⇤ ⇤ PROPN hjic-495 1180 3 m m VERB hjic-495 1180 4 ) ) PUNCT hjic-495 1180 5 t t PROPN hjic-495 1180 6 is be AUX hjic-495 1180 7 the the DET hjic-495 1180 8 unique unique ADJ hjic-495 1180 9 positive positive ADJ hjic-495 1180 10 equilibrium equilibrium NOUN hjic-495 1180 11 point point NOUN hjic-495 1180 12 , , PUNCT hjic-495 1180 13 c c NOUN hjic-495 1180 14 = = SYM hjic-495 1180 15 diag(c1 diag(c1 NOUN hjic-495 1180 16 , , PUNCT hjic-495 1180 17 . . PUNCT hjic-495 1180 18 . . PUNCT hjic-495 1181 1 . . PUNCT hjic-495 1182 1 , , PUNCT hjic-495 1182 2 cm cm NOUN hjic-495 1182 3 ) ) PUNCT hjic-495 1182 4 and and CCONJ hjic-495 1182 5 m m PROPN hjic-495 1182 6 is be AUX hjic-495 1182 7 the the DET hjic-495 1182 8 invariant invariant ADJ hjic-495 1182 9 coefficient coefficient NOUN hjic-495 1182 10 matrix matrix NOUN hjic-495 1182 11 of of ADP hjic-495 1182 12 the the DET hjic-495 1182 13 lv lv PROPN hjic-495 1182 14 form form NOUN hjic-495 1182 15 . . PUNCT hjic-495 1183 1 if if SCONJ hjic-495 1183 2 cm cm NOUN hjic-495 1183 3 t t PROPN hjic-495 1183 4 + + NOUN hjic-495 1183 5 m m PROPN hjic-495 1183 6 c c NOUN hjic-495 1183 7 is be AUX hjic-495 1183 8 negative negative ADJ hjic-495 1183 9 semi semi ADJ hjic-495 1183 10 - - ADJ hjic-495 1183 11 definite definite ADJ hjic-495 1183 12 then then ADV hjic-495 1183 13 z z PROPN hjic-495 1183 14 ⇤ ⇤ PROPN hjic-495 1183 15 is be AUX hjic-495 1183 16 stable stable ADJ hjic-495 1183 17 and and CCONJ hjic-495 1183 18 if if SCONJ hjic-495 1183 19 negative negative ADJ hjic-495 1183 20 definite definite ADJ hjic-495 1183 21 then then ADV hjic-495 1183 22 z z PROPN hjic-495 1183 23 ⇤ ⇤ PROPN hjic-495 1183 24 is be AUX hjic-495 1183 25 asymptotically asymptotically ADV hjic-495 1183 26 stable stable ADJ hjic-495 1183 27 . . PUNCT hjic-495 1184 1 the the DET hjic-495 1184 2 global global ADJ hjic-495 1184 3 stability stability NOUN hjic-495 1184 4 analysis analysis NOUN hjic-495 1184 5 is be AUX hjic-495 1184 6 thus thus ADV hjic-495 1184 7 equivalent equivalent ADJ hjic-495 1184 8 to to ADP hjic-495 1184 9 the the DET hjic-495 1184 10 linear linear ADJ hjic-495 1184 11 matrix matrix NOUN hjic-495 1184 12 inequality inequality NOUN hjic-495 1184 13 cm cm PROPN hjic-495 1184 14 t t PROPN hjic-495 1185 1 + + NOUN hjic-495 1185 2 m m PROPN hjic-495 1185 3 c c NOUN hjic-495 1185 4   NOUN hjic-495 1185 5 0 0 PUNCT hjic-495 1185 6 c c NOUN hjic-495 1185 7 > > X hjic-495 1185 8 0 0 NUM hjic-495 1185 9 . . PUNCT hjic-495 1186 1 ( ( PUNCT hjic-495 1186 2 15 15 NUM hjic-495 1186 3 ) ) PUNCT hjic-495 1186 4 the the DET hjic-495 1186 5 presented present VERB hjic-495 1186 6 lyapunov lyapunov NOUN hjic-495 1186 7 function function NOUN hjic-495 1186 8 eq.(13 eq.(13 ADV hjic-495 1186 9 ) ) PUNCT hjic-495 1186 10 can can AUX hjic-495 1186 11 be be AUX hjic-495 1186 12 extended extend VERB hjic-495 1186 13 to to ADP hjic-495 1186 14 glv glv ADJ hjic-495 1186 15 systems system NOUN hjic-495 1186 16 by by ADP hjic-495 1186 17 embedding embed VERB hjic-495 1186 18 the the DET hjic-495 1186 19 system system NOUN hjic-495 1186 20 using use VERB hjic-495 1186 21 the the DET hjic-495 1186 22 lv lv PROPN hjic-495 1186 23 coefficient coefficient NOUN hjic-495 1186 24 matrix matrix NOUN hjic-495 1186 25 m m NOUN hjic-495 1187 1 = = SYM hjic-495 1187 2 ba ba PROPN hjic-495 1187 3 . . PUNCT hjic-495 1188 1 it it PRON hjic-495 1188 2 is be AUX hjic-495 1188 3 necessary necessary ADJ hjic-495 1188 4 to to PART hjic-495 1188 5 solve solve VERB hjic-495 1188 6 the the DET hjic-495 1188 7 lmi lmi PROPN hjic-495 1188 8 system system NOUN hjic-495 1188 9 eq.(15 eq.(15 NOUN hjic-495 1188 10 ) ) PUNCT hjic-495 1188 11 for for ADP hjic-495 1188 12 the the DET hjic-495 1188 13 stability stability NOUN hjic-495 1188 14 analysis analysis NOUN hjic-495 1188 15 of of ADP hjic-495 1188 16 the the DET hjic-495 1188 17 qp qp PROPN hjic-495 1188 18 and and CCONJ hjic-495 1188 19 lv lv PROPN hjic-495 1188 20 system system NOUN hjic-495 1188 21 : : PUNCT hjic-495 1188 22 ✓ ✓ ADJ hjic-495 1188 23 c c NOUN hjic-495 1188 24 0 0 NUM hjic-495 1188 25 0 0 NUM hjic-495 1188 26 � � PROPN hjic-495 1188 27 cm cm PROPN hjic-495 1188 28 t t PROPN hjic-495 1188 29 � � PROPN hjic-495 1188 30 m m PROPN hjic-495 1188 31 c c NOUN hjic-495 1188 32 ◆ ◆ PROPN hjic-495 1188 33 > > X hjic-495 1188 34 0 0 PUNCT hjic-495 1189 1 ( ( PUNCT hjic-495 1189 2 16 16 NUM hjic-495 1189 3 ) ) PUNCT hjic-495 1189 4 controller controller NOUN hjic-495 1189 5 design design NOUN hjic-495 1189 6 in in ADP hjic-495 1189 7 quasi quasi ADJ hjic-495 1189 8 - - ADJ hjic-495 1189 9 polynomial polynomial ADJ hjic-495 1189 10 representation representation NOUN hjic-495 1189 11 the the DET hjic-495 1189 12 globally globally ADV hjic-495 1189 13 stabilizing stabilizing NOUN hjic-495 1189 14 qp qp ADP hjic-495 1189 15 state state NOUN hjic-495 1189 16 feedback feedback NOUN hjic-495 1189 17 design design NOUN hjic-495 1189 18 problem problem NOUN hjic-495 1189 19 for for ADP hjic-495 1189 20 qp qp NOUN hjic-495 1189 21 systems system NOUN hjic-495 1189 22 can can AUX hjic-495 1189 23 be be AUX hjic-495 1189 24 formulated formulate VERB hjic-495 1189 25 as as SCONJ hjic-495 1189 26 follows follow VERB hjic-495 1189 27 [ [ X hjic-495 1189 28 7 7 NUM hjic-495 1189 29 ] ] PUNCT hjic-495 1189 30 . . PUNCT hjic-495 1190 1 consider consider VERB hjic-495 1190 2 arbitrary arbitrary ADJ hjic-495 1190 3 quasi quasi ADJ hjic-495 1190 4 - - ADJ hjic-495 1190 5 polynomial polynomial ADJ hjic-495 1190 6 inputs input NOUN hjic-495 1190 7 in in ADP hjic-495 1190 8 the the DET hjic-495 1190 9 form form NOUN hjic-495 1190 10 : : PUNCT hjic-495 1190 11 u u NOUN hjic-495 1190 12 l l NOUN hjic-495 1190 13 = = PUNCT hjic-495 1190 14 rx rx VERB hjic-495 1190 15 i=1 i=1 PROPN hjic-495 1190 16 k k X hjic-495 1190 17 il il X hjic-495 1190 18 q̂ q̂ PUNCT hjic-495 1190 19 i i PRON hjic-495 1190 20 , , PUNCT hjic-495 1190 21 l l NOUN hjic-495 1190 22 = = NOUN hjic-495 1190 23 1 1 X hjic-495 1190 24 . . PUNCT hjic-495 1190 25 . . PUNCT hjic-495 1191 1 . . PUNCT hjic-495 1192 1 , , PUNCT hjic-495 1192 2 p p X hjic-495 1192 3 ( ( PUNCT hjic-495 1192 4 17 17 NUM hjic-495 1192 5 ) ) PUNCT hjic-495 1192 6 where where SCONJ hjic-495 1192 7 q̂ q̂ PUNCT hjic-495 1192 8 i i PRON hjic-495 1192 9 = = PUNCT hjic-495 1192 10 q̂ q̂ X hjic-495 1192 11 i i PRON hjic-495 1192 12 ( ( PUNCT hjic-495 1192 13 y1 y1 INTJ hjic-495 1192 14 , , PUNCT hjic-495 1192 15 . . PUNCT hjic-495 1192 16 . . PUNCT hjic-495 1193 1 . . PUNCT hjic-495 1194 1 , , PUNCT hjic-495 1194 2 yn yn PROPN hjic-495 1194 3 ) ) PUNCT hjic-495 1194 4 , , PUNCT hjic-495 1194 5 i i PRON hjic-495 1194 6 = = NOUN hjic-495 1194 7 1 1 NUM hjic-495 1194 8 , , PUNCT hjic-495 1194 9 . . PUNCT hjic-495 1194 10 . . PUNCT hjic-495 1195 1 . . PUNCT hjic-495 1196 1 , , PUNCT hjic-495 1196 2 r r NOUN hjic-495 1196 3 are be AUX hjic-495 1196 4 arbitrary arbitrary ADJ hjic-495 1196 5 quasi quasi ADJ hjic-495 1196 6 - - ADJ hjic-495 1196 7 monomial monomial ADJ hjic-495 1196 8 functions function NOUN hjic-495 1196 9 of of ADP hjic-495 1196 10 the the DET hjic-495 1196 11 state state NOUN hjic-495 1196 12 variables variable NOUN hjic-495 1196 13 of of ADP hjic-495 1196 14 the the DET hjic-495 1196 15 system system NOUN hjic-495 1196 16 and and CCONJ hjic-495 1196 17 k k PROPN hjic-495 1196 18 il il PROPN hjic-495 1196 19 is be AUX hjic-495 1196 20 the the DET hjic-495 1196 21 constant constant ADJ hjic-495 1196 22 gain gain NOUN hjic-495 1196 23 of of ADP hjic-495 1196 24 the the DET hjic-495 1196 25 quasi quasi ADJ hjic-495 1196 26 - - ADJ hjic-495 1196 27 monomial monomial ADJ hjic-495 1196 28 function function NOUN hjic-495 1196 29 q̂ q̂ X hjic-495 1196 30 i i PRON hjic-495 1196 31 in in ADP hjic-495 1196 32 the the DET hjic-495 1196 33 l l NOUN hjic-495 1196 34 - - PUNCT hjic-495 1196 35 th th VERB hjic-495 1196 36 input input NOUN hjic-495 1196 37 u u PROPN hjic-495 1196 38 l l NOUN hjic-495 1196 39 . . PUNCT hjic-495 1197 1 the the DET hjic-495 1197 2 closed close VERB hjic-495 1197 3 - - PUNCT hjic-495 1197 4 loop loop NOUN hjic-495 1197 5 system system NOUN hjic-495 1197 6 will will AUX hjic-495 1197 7 also also ADV hjic-495 1197 8 be be AUX hjic-495 1197 9 a a DET hjic-495 1197 10 qp qp NOUN hjic-495 1197 11 system system NOUN hjic-495 1197 12 furthermore furthermore ADV hjic-495 1197 13 , , PUNCT hjic-495 1197 14 the the DET hjic-495 1197 15 closed close VERB hjic-495 1197 16 - - PUNCT hjic-495 1197 17 loop loop NOUN hjic-495 1197 18 lv lv PROPN hjic-495 1197 19 coefficient coefficient NOUN hjic-495 1197 20 matrix matrix NOUN hjic-495 1197 21 m̂ m̂ NOUN hjic-495 1197 22 can can AUX hjic-495 1197 23 also also ADV hjic-495 1197 24 be be AUX hjic-495 1197 25 expressed express VERB hjic-495 1197 26 in in ADP hjic-495 1197 27 the the DET hjic-495 1197 28 form form NOUN hjic-495 1197 29 m̂ m̂ NOUN hjic-495 1197 30 = = SYM hjic-495 1197 31 b̂ b̂ X hjic-495 1197 32 â â X hjic-495 1197 33 = = SYM hjic-495 1197 34 m0 m0 PROPN hjic-495 1197 35 + + CCONJ hjic-495 1197 36 px px PROPN hjic-495 1198 1 l=1 l=1 PROPN hjic-495 1198 2 rx rx VERB hjic-495 1198 3 i=1 i=1 PROPN hjic-495 1198 4 k k PROPN hjic-495 1198 5 il il PROPN hjic-495 1198 6 mil mil PROPN hjic-495 1198 7 . . PUNCT hjic-495 1199 1 ( ( PUNCT hjic-495 1199 2 18 18 NUM hjic-495 1199 3 ) ) PUNCT hjic-495 1199 4 then then ADV hjic-495 1199 5 the the DET hjic-495 1199 6 global global ADJ hjic-495 1199 7 stability stability NOUN hjic-495 1199 8 analysis analysis NOUN hjic-495 1199 9 of of ADP hjic-495 1199 10 the the DET hjic-495 1199 11 closed closed ADJ hjic-495 1199 12 - - PUNCT hjic-495 1199 13 loop loop NOUN hjic-495 1199 14 system system NOUN hjic-495 1199 15 with with ADP hjic-495 1199 16 unknown unknown ADJ hjic-495 1199 17 feedback feedback NOUN hjic-495 1199 18 gains gain NOUN hjic-495 1199 19 k k PROPN hjic-495 1199 20 il il PROPN hjic-495 1199 21 leads lead VERB hjic-495 1199 22 to to ADP hjic-495 1199 23 the the DET hjic-495 1199 24 following follow VERB hjic-495 1199 25 bilinear bilinear NOUN hjic-495 1199 26 matrix matrix NOUN hjic-495 1199 27 inequality inequality NOUN hjic-495 1199 28 m̂ m̂ PROPN hjic-495 1199 29 t t PROPN hjic-495 1199 30 c c PROPN hjic-495 1200 1 + + PROPN hjic-495 1200 2 cm̂ cm̂ NOUN hjic-495 1200 3 = = SYM hjic-495 1200 4 m0 m0 PROPN hjic-495 1200 5 t t PROPN hjic-495 1200 6 c c NOUN hjic-495 1200 7 + + PUNCT hjic-495 1200 8 cm0 cm0 X hjic-495 1200 9 + + NOUN hjic-495 1200 10 px px X hjic-495 1200 11 l=1 l=1 PROPN hjic-495 1200 12 rx rx VERB hjic-495 1201 1 i=1 i=1 PROPN hjic-495 1201 2 k k X hjic-495 1201 3 il il PROPN hjic-495 1201 4 ⇣ ⇣ PROPN hjic-495 1201 5 mil mil NOUN hjic-495 1201 6 t t X hjic-495 1201 7 c c NOUN hjic-495 1202 1 + + NOUN hjic-495 1202 2 cmil cmil NOUN hjic-495 1202 3 ⌘ ⌘ NUM hjic-495 1202 4   NOUN hjic-495 1202 5 0 0 NUM hjic-495 1202 6 . . PUNCT hjic-495 1203 1 ( ( PUNCT hjic-495 1203 2 19 19 NUM hjic-495 1203 3 ) ) PUNCT hjic-495 1203 4 the the DET hjic-495 1203 5 variables variable NOUN hjic-495 1203 6 of of ADP hjic-495 1203 7 the the DET hjic-495 1203 8 bmi bmi NOUN hjic-495 1203 9 are be AUX hjic-495 1203 10 the the DET hjic-495 1203 11 p p NOUN hjic-495 1203 12 ⇥ ⇥ NUM hjic-495 1203 13 r r NOUN hjic-495 1203 14 k k PROPN hjic-495 1203 15 il il PROPN hjic-495 1203 16 feedback feedback NOUN hjic-495 1203 17 gain gain NOUN hjic-495 1203 18 parameters parameter NOUN hjic-495 1203 19 and and CCONJ hjic-495 1203 20 the the DET hjic-495 1203 21 c c PROPN hjic-495 1203 22 j j PROPN hjic-495 1203 23 , , PUNCT hjic-495 1203 24 j j PROPN hjic-495 1203 25 = = SYM hjic-495 1203 26 1 1 PROPN hjic-495 1203 27 , , PUNCT hjic-495 1203 28 .. .. PUNCT hjic-495 1203 29 , , PUNCT hjic-495 1203 30 m m VERB hjic-495 1203 31 parameters parameter NOUN hjic-495 1203 32 of of ADP hjic-495 1203 33 the the DET hjic-495 1203 34 lyapunov lyapunov ADJ hjic-495 1203 35 function function NOUN hjic-495 1203 36 . . PUNCT hjic-495 1204 1 if if SCONJ hjic-495 1204 2 the the DET hjic-495 1204 3 bmi bmi NOUN hjic-495 1204 4 above above ADV hjic-495 1204 5 is be AUX hjic-495 1204 6 feasible feasible ADJ hjic-495 1204 7 then then ADV hjic-495 1204 8 there there PRON hjic-495 1204 9 exists exist VERB hjic-495 1204 10 a a DET hjic-495 1204 11 globally globally ADV hjic-495 1204 12 stabilizing stabilize VERB hjic-495 1204 13 feedback feedback NOUN hjic-495 1204 14 with with ADP hjic-495 1204 15 the the DET hjic-495 1204 16 selected select VERB hjic-495 1204 17 structure structure NOUN hjic-495 1204 18 . . PUNCT hjic-495 1205 1 quasi quasi ADJ hjic-495 1205 2 - - ADJ hjic-495 1205 3 polynomial polynomial ADJ hjic-495 1205 4 control control NOUN hjic-495 1205 5 of of ADP hjic-495 1205 6 a a DET hjic-495 1205 7 differential differential ADJ hjic-495 1205 8 drive drive NOUN hjic-495 1205 9 mobile mobile PROPN hjic-495 1205 10 robot robot NOUN hjic-495 1205 11 quasi quasi ADJ hjic-495 1205 12 - - ADJ hjic-495 1205 13 polynomial polynomial ADJ hjic-495 1205 14 representation representation NOUN hjic-495 1205 15 of of ADP hjic-495 1205 16 the the DET hjic-495 1205 17 kinematic kinematic ADJ hjic-495 1205 18 model model NOUN hjic-495 1205 19 with with ADP hjic-495 1205 20 the the DET hjic-495 1205 21 given give VERB hjic-495 1205 22 differential differential ADJ hjic-495 1205 23 drive drive NOUN hjic-495 1205 24 robot robot NOUN hjic-495 1205 25 model model NOUN hjic-495 1205 26 eq.(1 eq.(1 ADJ hjic-495 1205 27 ) ) PUNCT hjic-495 1205 28 and and CCONJ hjic-495 1205 29 the the DET hjic-495 1205 30 explained explain VERB hjic-495 1205 31 error error NOUN hjic-495 1205 32 model model NOUN hjic-495 1205 33 eq.(2 eq.(2 NOUN hjic-495 1205 34 ) ) PUNCT hjic-495 1205 35 the the DET hjic-495 1205 36 qp qp PROPN hjic-495 1205 37 representation representation NOUN hjic-495 1205 38 can can AUX hjic-495 1205 39 be be AUX hjic-495 1205 40 built build VERB hjic-495 1205 41 . . PUNCT hjic-495 1206 1 the the DET hjic-495 1206 2 fist fist ADJ hjic-495 1206 3 step step NOUN hjic-495 1206 4 as as SCONJ hjic-495 1206 5 mentioned mention VERB hjic-495 1206 6 , , PUNCT hjic-495 1206 7 is be AUX hjic-495 1206 8 to to PART hjic-495 1206 9 find find VERB hjic-495 1206 10 the the DET hjic-495 1206 11 new new ADJ hjic-495 1206 12 auxiliary auxiliary ADJ hjic-495 1206 13 variables variable NOUN hjic-495 1206 14 , , PUNCT hjic-495 1206 15 that that PRON hjic-495 1206 16 help help VERB hjic-495 1206 17 to to PART hjic-495 1206 18 eliminate eliminate VERB hjic-495 1206 19 the the DET hjic-495 1206 20 non non ADJ hjic-495 1206 21 - - ADJ hjic-495 1206 22 qp qp ADJ hjic-495 1206 23 expressions expression NOUN hjic-495 1206 24 . . PUNCT hjic-495 1207 1 the the DET hjic-495 1207 2 newly newly ADV hjic-495 1207 3 chosen choose VERB hjic-495 1207 4 auxiliary auxiliary ADJ hjic-495 1207 5 variables variable NOUN hjic-495 1207 6 are be AUX hjic-495 1207 7 : : PUNCT hjic-495 1207 8 ↵ ↵ PROPN hjic-495 1207 9 = = SYM hjic-495 1207 10 cos cos PROPN hjic-495 1207 11 ( ( PUNCT hjic-495 1207 12 ✓ ✓ ADJ hjic-495 1207 13 ) ) PUNCT hjic-495 1207 14 , , PUNCT hjic-495 1207 15 � � PROPN hjic-495 1207 16 = = SYM hjic-495 1207 17 sin sin NOUN hjic-495 1207 18 ( ( PUNCT hjic-495 1207 19 ✓ ✓ ADJ hjic-495 1207 20 ) ) PUNCT hjic-495 1207 21 , , PUNCT hjic-495 1207 22 � � PROPN hjic-495 1207 23 = = SYM hjic-495 1207 24 arctan arctan PROPN hjic-495 1207 25 ✓ ✓ ADJ hjic-495 1207 26 2 2 NUM hjic-495 1207 27 yg yg PROPN hjic-495 1207 28 � � PROPN hjic-495 1207 29 y y PROPN hjic-495 1207 30 xg xg PROPN hjic-495 1207 31 � � PROPN hjic-495 1207 32 x x SYM hjic-495 1207 33 ◆ ◆ PROPN hjic-495 1207 34 , , PUNCT hjic-495 1207 35 � � PROPN hjic-495 1207 36 = = SYM hjic-495 1207 37 ( ( PUNCT hjic-495 1207 38 xg xg PROPN hjic-495 1207 39 � � PROPN hjic-495 1207 40 x)2 x)2 VERB hjic-495 1208 1 + + CCONJ hjic-495 1208 2 ( ( PUNCT hjic-495 1208 3 yg yg PROPN hjic-495 1208 4 � � PROPN hjic-495 1208 5 y)2 y)2 NOUN hjic-495 1208 6 , , PUNCT hjic-495 1208 7 and and CCONJ hjic-495 1208 8 ✏ ✏ VERB hjic-495 1208 9 = = SYM hjic-495 1208 10 p p PROPN hjic-495 1208 11 � � PROPN hjic-495 1208 12 + + CCONJ hjic-495 1208 13 ( ( PUNCT hjic-495 1208 14 xg xg PROPN hjic-495 1208 15 � � PROPN hjic-495 1208 16 x x PROPN hjic-495 1208 17 ) ) PUNCT hjic-495 1208 18 . . PUNCT hjic-495 1209 1 ( ( PUNCT hjic-495 1209 2 20 20 NUM hjic-495 1209 3 ) ) PUNCT hjic-495 1209 4 94 94 NUM hjic-495 1209 5 � � NOUN hjic-495 1209 6 2 2 NUM hjic-495 1209 7 0 0 NUM hjic-495 1209 8 2 2 NUM hjic-495 1209 9 4 4 NUM hjic-495 1209 10 6 6 NUM hjic-495 1209 11 0 0 NUM hjic-495 1209 12 2 2 NUM hjic-495 1209 13 4 4 NUM hjic-495 1209 14 6 6 NUM hjic-495 1209 15 start start NOUN hjic-495 1209 16 finish finish NOUN hjic-495 1209 17 x x PUNCT hjic-495 1210 1 [ [ X hjic-495 1210 2 m m X hjic-495 1210 3 ] ] X hjic-495 1210 4 y y PROPN hjic-495 1210 5 [ [ PUNCT hjic-495 1210 6 m m X hjic-495 1210 7 ] ] X hjic-495 1210 8 pid pid NOUN hjic-495 1210 9 qp qp ADP hjic-495 1210 10 fuzzy fuzzy ADJ hjic-495 1210 11 figure figure NOUN hjic-495 1210 12 2 2 NUM hjic-495 1210 13 : : PUNCT hjic-495 1210 14 comparison comparison NOUN hjic-495 1210 15 of of ADP hjic-495 1210 16 different different ADJ hjic-495 1210 17 controllers controller NOUN hjic-495 1210 18 by by ADP hjic-495 1210 19 substituting substitute VERB hjic-495 1210 20 them they PRON hjic-495 1210 21 into into ADP hjic-495 1210 22 the the DET hjic-495 1210 23 original original ADJ hjic-495 1210 24 system system NOUN hjic-495 1210 25 eq.(2 eq.(2 NOUN hjic-495 1210 26 ) ) PUNCT hjic-495 1210 27 and and CCONJ hjic-495 1210 28 performing perform VERB hjic-495 1210 29 the the DET hjic-495 1210 30 differentiation differentiation NOUN hjic-495 1210 31 of of ADP hjic-495 1210 32 the the DET hjic-495 1210 33 new new ADJ hjic-495 1210 34 equations equation NOUN hjic-495 1210 35 eq.(20 eq.(20 PROPN hjic-495 1210 36 ): ): PUNCT hjic-495 1210 37 ẋ ẋ PROPN hjic-495 1211 1 = = PUNCT hjic-495 1211 2 x x SYM hjic-495 1211 3 kv kv PROPN hjic-495 1211 4 p p PROPN hjic-495 1211 5 � � PROPN hjic-495 1211 6 ↵ ↵ PROPN hjic-495 1211 7 x x SYM hjic-495 1211 8 � � PROPN hjic-495 1211 9 kv kv PROPN hjic-495 1211 10 ! ! PUNCT hjic-495 1212 1 ẏ ẏ PRON hjic-495 1212 2 = = SYM hjic-495 1212 3 y y PROPN hjic-495 1212 4 kv kv PROPN hjic-495 1212 5 p p PROPN hjic-495 1212 6 � � PROPN hjic-495 1212 7 � � PROPN hjic-495 1212 8 y y PROPN hjic-495 1212 9 � � PROPN hjic-495 1212 10 kv kv PROPN hjic-495 1212 11 ! ! PUNCT hjic-495 1213 1 ˙ ˙ PUNCT hjic-495 1213 2 ✓ ✓ ADJ hjic-495 1213 3 = = SYM hjic-495 1213 4 ✓ ✓ ADJ hjic-495 1213 5 ✓ ✓ ADJ hjic-495 1213 6 kh kh PROPN hjic-495 1213 7 � � PROPN hjic-495 1213 8 ✓ ✓ PROPN hjic-495 1213 9 � � PROPN hjic-495 1213 10 kh kh PROPN hjic-495 1213 11 ◆ ◆ PROPN hjic-495 1213 12 ↵ ↵ PROPN hjic-495 1213 13 ̇ ̇ PROPN hjic-495 1213 14 = = PUNCT hjic-495 1213 15 ↵ ↵ PROPN hjic-495 1213 16 ✓ ✓ PROPN hjic-495 1213 17 � � PROPN hjic-495 1213 18 � � PROPN hjic-495 1213 19 ↵ ↵ PROPN hjic-495 1213 20 ◆ ◆ PROPN hjic-495 1213 21 ˙ ˙ NUM hjic-495 1213 22 � � PROPN hjic-495 1213 23 = = SYM hjic-495 1213 24 � � PROPN hjic-495 1213 25 ✓ ✓ PROPN hjic-495 1213 26 ↵ ↵ PROPN hjic-495 1213 27 � � PROPN hjic-495 1213 28 ◆ ◆ PROPN hjic-495 1213 29 ( ( PUNCT hjic-495 1213 30 21 21 NUM hjic-495 1213 31 ) ) PUNCT hjic-495 1213 32 � � NOUN hjic-495 1213 33 ̇ ̇ VERB hjic-495 1213 34 = = SYM hjic-495 1213 35 � � PROPN hjic-495 1213 36 · · SYM hjic-495 1213 37 ⇣ ⇣ PROPN hjic-495 1213 38 � � PROPN hjic-495 1213 39 2kv 2kv ADJ hjic-495 1213 40 � � PROPN hjic-495 1213 41 p p PROPN hjic-495 1213 42 � � PROPN hjic-495 1213 43 � � NOUN hjic-495 1213 44 ✏ ✏ VERB hjic-495 1213 45 + + CCONJ hjic-495 1213 46 kvy kvy PROPN hjic-495 1213 47 � � PROPN hjic-495 1213 48 ✏ ✏ PROPN hjic-495 1213 49 � � PROPN hjic-495 1213 50 kvxg kvxg PROPN hjic-495 1213 51 � � PROPN hjic-495 1213 52 � � PROPN hjic-495 1213 53 ✏ ✏ VERB hjic-495 1213 54 + + CCONJ hjic-495 1213 55 kvx kvx PROPN hjic-495 1213 56 � � PROPN hjic-495 1213 57 � � NOUN hjic-495 1213 58 ✏ ✏ VERB hjic-495 1213 59 + + CCONJ hjic-495 1213 60 kvxgy kvxgy PROPN hjic-495 1213 61 � � PROPN hjic-495 1213 62 ✏ ✏ PROPN hjic-495 1213 63 p p PROPN hjic-495 1213 64 � � PROPN hjic-495 1213 65 � � PROPN hjic-495 1213 66 kvxy kvxy NOUN hjic-495 1213 67 � � PROPN hjic-495 1213 68 ✏ ✏ PROPN hjic-495 1213 69 p p PROPN hjic-495 1213 70 � � PROPN hjic-495 1213 71 + + CCONJ hjic-495 1213 72 kvyg kvyg PROPN hjic-495 1213 73 ↵ ↵ PROPN hjic-495 1213 74 � � PROPN hjic-495 1213 75 ✏ ✏ PROPN hjic-495 1213 76 � � PROPN hjic-495 1213 77 kvy kvy PROPN hjic-495 1213 78 ↵ ↵ PROPN hjic-495 1213 79 � � PROPN hjic-495 1213 80 ✏ ✏ PROPN hjic-495 1213 81 � � PROPN hjic-495 1213 82 kvygx kvygx PROPN hjic-495 1213 83 � � PROPN hjic-495 1213 84 ✏ ✏ PROPN hjic-495 1213 85 p p PROPN hjic-495 1213 86 � � PROPN hjic-495 1213 87 + + CCONJ hjic-495 1213 88 kvxy kvxy NOUN hjic-495 1213 89 � � VERB hjic-495 1213 90 ✏ ✏ PROPN hjic-495 1213 91 p p PROPN hjic-495 1213 92 � � PROPN hjic-495 1213 93 ⌘ ⌘ PUNCT hjic-495 1213 94 ( ( PUNCT hjic-495 1213 95 22 22 NUM hjic-495 1213 96 ) ) PUNCT hjic-495 1213 97 ˙ ˙ NOUN hjic-495 1213 98 � � PROPN hjic-495 1213 99 = = SYM hjic-495 1213 100 � � PROPN hjic-495 1213 101 ⇣ ⇣ PROPN hjic-495 1213 102 � � PROPN hjic-495 1213 103 2kvxg 2kvxg NUM hjic-495 1213 104 ↵ ↵ PROPN hjic-495 1213 105 p p PROPN hjic-495 1213 106 � � PROPN hjic-495 1214 1 + + CCONJ hjic-495 1214 2 2kvxgx 2kvxgx NUM hjic-495 1214 3 � � PROPN hjic-495 1214 4 + + CCONJ hjic-495 1214 5 2kvx 2kvx NUM hjic-495 1214 6 ↵ ↵ PROPN hjic-495 1214 7 p p PROPN hjic-495 1214 8 � � PROPN hjic-495 1214 9 � � PROPN hjic-495 1214 10 2kvx 2kvx NUM hjic-495 1214 11 2 2 NUM hjic-495 1214 12 � � PROPN hjic-495 1214 13 � � PROPN hjic-495 1214 14 2kvyg 2kvyg NUM hjic-495 1214 15 � � PROPN hjic-495 1214 16 p p NOUN hjic-495 1214 17 � � PROPN hjic-495 1214 18 + + CCONJ hjic-495 1214 19 2kvygy 2kvygy NUM hjic-495 1214 20 � � NOUN hjic-495 1214 21 + + CCONJ hjic-495 1214 22 2kvy 2kvy NUM hjic-495 1214 23 � � PROPN hjic-495 1214 24 p p ADJ hjic-495 1214 25 � � PROPN hjic-495 1214 26 � � PROPN hjic-495 1214 27 2kvy 2kvy PROPN hjic-495 1214 28 2 2 NUM hjic-495 1214 29 � � PROPN hjic-495 1214 30 ⌘ ⌘ PUNCT hjic-495 1214 31 ( ( PUNCT hjic-495 1214 32 23 23 NUM hjic-495 1214 33 ) ) PUNCT hjic-495 1214 34 ✏ ✏ VERB hjic-495 1214 35 ̇ ̇ NOUN hjic-495 1214 36 = = SYM hjic-495 1214 37 ✏ ✏ VERB hjic-495 1214 38 ⇣ ⇣ NUM hjic-495 1214 39 � � PROPN hjic-495 1214 40 kvxg kvxg NOUN hjic-495 1214 41 ↵ ↵ PROPN hjic-495 1214 42 ✏ ✏ PROPN hjic-495 1214 43 + + CCONJ hjic-495 1214 44 kvx kvx PROPN hjic-495 1214 45 ↵ ↵ NOUN hjic-495 1214 46 ✏ ✏ VERB hjic-495 1214 47 + + CCONJ hjic-495 1214 48 kvxgx kvxgx NOUN hjic-495 1214 49 ✏ ✏ PROPN hjic-495 1214 50 p p PROPN hjic-495 1214 51 � � PROPN hjic-495 1214 52 � � PROPN hjic-495 1214 53 kvx kvx NOUN hjic-495 1214 54 2 2 NUM hjic-495 1214 55 ✏ ✏ PROPN hjic-495 1214 56 p p PROPN hjic-495 1214 57 � � PROPN hjic-495 1214 58 � � PROPN hjic-495 1214 59 kvyg kvyg PROPN hjic-495 1214 60 � � PROPN hjic-495 1214 61 ✏ ✏ VERB hjic-495 1214 62 + + CCONJ hjic-495 1214 63 kvy kvy PROPN hjic-495 1214 64 � � PROPN hjic-495 1214 65 ✏ ✏ VERB hjic-495 1214 66 + + CCONJ hjic-495 1214 67 kvygy kvygy NOUN hjic-495 1214 68 ✏ ✏ PROPN hjic-495 1214 69 p p PROPN hjic-495 1214 70 � � PROPN hjic-495 1214 71 � � PROPN hjic-495 1214 72 kvy kvy PROPN hjic-495 1214 73 2 2 NUM hjic-495 1214 74 ✏ ✏ PROPN hjic-495 1214 75 p p PROPN hjic-495 1214 76 � � PROPN hjic-495 1214 77 + + CCONJ hjic-495 1214 78 kv kv PROPN hjic-495 1214 79 ↵ ↵ PROPN hjic-495 1214 80 ✏ ✏ PROPN hjic-495 1214 81 � � PROPN hjic-495 1214 82 kvx kvx ADJ hjic-495 1214 83 ✏ ✏ PROPN hjic-495 1214 84 p p PROPN hjic-495 1214 85 � � PROPN hjic-495 1214 86 ⌘ ⌘ PUNCT hjic-495 1214 87 ( ( PUNCT hjic-495 1214 88 24 24 NUM hjic-495 1214 89 ) ) PUNCT hjic-495 1214 90 figure figure NOUN hjic-495 1214 91 3 3 NUM hjic-495 1214 92 : : PUNCT hjic-495 1214 93 membership membership NOUN hjic-495 1214 94 functions function NOUN hjic-495 1214 95 for for ADP hjic-495 1214 96 distance distance NOUN hjic-495 1214 97 error error NOUN hjic-495 1214 98 the the DET hjic-495 1214 99 closed close VERB hjic-495 1214 100 - - PUNCT hjic-495 1214 101 loop loop NOUN hjic-495 1214 102 qp qp NOUN hjic-495 1214 103 system system NOUN hjic-495 1214 104 eq.(21 eq.(21 NOUN hjic-495 1214 105 - - PUNCT hjic-495 1214 106 24 24 NUM hjic-495 1214 107 ) ) PUNCT hjic-495 1214 108 has have VERB hjic-495 1214 109 29 29 NUM hjic-495 1214 110 quasimonomials quasimonomial NOUN hjic-495 1214 111 . . PUNCT hjic-495 1215 1 x x X hjic-495 1215 2 : : PUNCT hjic-495 1215 3 ↵ ↵ PROPN hjic-495 1215 4 p p PROPN hjic-495 1215 5 � � PROPN hjic-495 1215 6 x x SYM hjic-495 1215 7 � � PROPN hjic-495 1215 8 1 1 NUM hjic-495 1215 9 y y PROPN hjic-495 1215 10 : : PUNCT hjic-495 1215 11 � � PROPN hjic-495 1215 12 p p PROPN hjic-495 1215 13 � � PROPN hjic-495 1215 14 y y PROPN hjic-495 1215 15 � � PROPN hjic-495 1215 16 1 1 NUM hjic-495 1215 17 ✓ ✓ ADJ hjic-495 1215 18 : : PUNCT hjic-495 1215 19 � � PROPN hjic-495 1215 20 ✓ ✓ ADJ hjic-495 1215 21 � � PROPN hjic-495 1215 22 1 1 NUM hjic-495 1215 23 ↵ ↵ PROPN hjic-495 1215 24 : : PUNCT hjic-495 1215 25 � � PROPN hjic-495 1215 26 ↵ ↵ NUM hjic-495 1215 27 � � PROPN hjic-495 1215 28 1 1 NUM hjic-495 1215 29 � � PROPN hjic-495 1215 30 : : PUNCT hjic-495 1215 31 ↵ ↵ PROPN hjic-495 1215 32 � � PROPN hjic-495 1215 33 � � PROPN hjic-495 1215 34 1 1 NUM hjic-495 1215 35 � � PROPN hjic-495 1215 36 : : PUNCT hjic-495 1215 37 � � PROPN hjic-495 1215 38 p p PROPN hjic-495 1215 39 � � PROPN hjic-495 1215 40 � � PROPN hjic-495 1215 41 � � PROPN hjic-495 1215 42 1 1 NUM hjic-495 1215 43 ✏ ✏ PROPN hjic-495 1215 44 � � NOUN hjic-495 1215 45 1 1 NUM hjic-495 1215 46 , , PUNCT hjic-495 1215 47 y y PROPN hjic-495 1215 48 � � PROPN hjic-495 1215 49 � � PROPN hjic-495 1215 50 1 1 NUM hjic-495 1215 51 ✏ ✏ PROPN hjic-495 1215 52 � � NOUN hjic-495 1215 53 1 1 NUM hjic-495 1215 54 , , PUNCT hjic-495 1215 55 � � PROPN hjic-495 1215 56 � � PROPN hjic-495 1215 57 � � PROPN hjic-495 1215 58 1 1 NUM hjic-495 1215 59 ✏ ✏ PROPN hjic-495 1215 60 � � NOUN hjic-495 1215 61 1 1 NUM hjic-495 1215 62 , , PUNCT hjic-495 1215 63 x x SYM hjic-495 1215 64 � � PROPN hjic-495 1215 65 � � PROPN hjic-495 1215 66 � � PROPN hjic-495 1215 67 1 1 NUM hjic-495 1215 68 ✏ ✏ PROPN hjic-495 1215 69 � � NOUN hjic-495 1215 70 1 1 NUM hjic-495 1215 71 , , PUNCT hjic-495 1215 72 y y PROPN hjic-495 1215 73 � � PROPN hjic-495 1215 74 � � PROPN hjic-495 1215 75 1 1 NUM hjic-495 1215 76 � � PROPN hjic-495 1215 77 � � NOUN hjic-495 1215 78 1/2 1/2 NUM hjic-495 1215 79 ✏ ✏ NOUN hjic-495 1215 80 � � NOUN hjic-495 1215 81 1 1 NUM hjic-495 1215 82 , , PUNCT hjic-495 1215 83 ↵ ↵ PROPN hjic-495 1215 84 � � PROPN hjic-495 1215 85 � � PROPN hjic-495 1215 86 1 1 NUM hjic-495 1215 87 ✏ ✏ PROPN hjic-495 1215 88 � � NOUN hjic-495 1215 89 1 1 NUM hjic-495 1215 90 , , PUNCT hjic-495 1215 91 y y PROPN hjic-495 1215 92 ↵ ↵ PROPN hjic-495 1215 93 � � PROPN hjic-495 1215 94 � � PROPN hjic-495 1215 95 1 1 NUM hjic-495 1215 96 ✏ ✏ PROPN hjic-495 1215 97 � � NOUN hjic-495 1215 98 1 1 NUM hjic-495 1215 99 , , PUNCT hjic-495 1215 100 x x SYM hjic-495 1215 101 � � NOUN hjic-495 1215 102 � � PROPN hjic-495 1215 103 1 1 NUM hjic-495 1215 104 � � PROPN hjic-495 1215 105 � � NOUN hjic-495 1215 106 1/2 1/2 NUM hjic-495 1215 107 ✏ ✏ VERB hjic-495 1215 108 � � PROPN hjic-495 1215 109 1 1 NUM hjic-495 1215 110 � � PROPN hjic-495 1215 111 : : PUNCT hjic-495 1215 112 ↵ ↵ PROPN hjic-495 1215 113 � � PROPN hjic-495 1215 114 � � NOUN hjic-495 1215 115 1/2 1/2 NUM hjic-495 1215 116 , , PUNCT hjic-495 1215 117 x x SYM hjic-495 1215 118 � � NOUN hjic-495 1215 119 � � NOUN hjic-495 1215 120 1 1 NUM hjic-495 1215 121 , , PUNCT hjic-495 1215 122 x x PROPN hjic-495 1215 123 ↵ ↵ PROPN hjic-495 1215 124 � � PROPN hjic-495 1215 125 � � NOUN hjic-495 1215 126 1/2 1/2 NUM hjic-495 1215 127 , , PUNCT hjic-495 1215 128 x2 x2 PROPN hjic-495 1215 129 � � PROPN hjic-495 1215 130 � � PROPN hjic-495 1215 131 1 1 NUM hjic-495 1215 132 , , PUNCT hjic-495 1215 133 � � PROPN hjic-495 1215 134 � � PROPN hjic-495 1215 135 � � NOUN hjic-495 1215 136 1/2 1/2 NUM hjic-495 1215 137 , , PUNCT hjic-495 1215 138 y y PROPN hjic-495 1215 139 � � PROPN hjic-495 1215 140 � � PROPN hjic-495 1215 141 1 1 NUM hjic-495 1215 142 , , PUNCT hjic-495 1215 143 y y PROPN hjic-495 1215 144 � � PROPN hjic-495 1215 145 � � PROPN hjic-495 1215 146 � � NOUN hjic-495 1215 147 1/2 1/2 NUM hjic-495 1215 148 , , PUNCT hjic-495 1215 149 y2 y2 PROPN hjic-495 1215 150 � � PROPN hjic-495 1215 151 � � PROPN hjic-495 1215 152 1 1 NUM hjic-495 1215 153 ✏ ✏ NOUN hjic-495 1215 154 : : PUNCT hjic-495 1215 155 ↵ ↵ NUM hjic-495 1215 156 ✏ ✏ PROPN hjic-495 1215 157 � � PROPN hjic-495 1215 158 1 1 NUM hjic-495 1215 159 , , PUNCT hjic-495 1215 160 x x NOUN hjic-495 1215 161 ↵ ↵ NUM hjic-495 1215 162 ✏ ✏ ADJ hjic-495 1215 163 � � NOUN hjic-495 1215 164 1 1 NUM hjic-495 1215 165 , , PUNCT hjic-495 1215 166 x x PUNCT hjic-495 1215 167 ✏ ✏ VERB hjic-495 1215 168 � � SYM hjic-495 1215 169 1 1 NUM hjic-495 1215 170 � � PROPN hjic-495 1215 171 � � NOUN hjic-495 1215 172 1/2 1/2 NUM hjic-495 1215 173 , , PUNCT hjic-495 1215 174 x2 x2 PROPN hjic-495 1215 175 ✏ ✏ PROPN hjic-495 1215 176 � � PROPN hjic-495 1215 177 1 1 NUM hjic-495 1215 178 � � PROPN hjic-495 1215 179 � � NOUN hjic-495 1215 180 1/2 1/2 NUM hjic-495 1215 181 , , PUNCT hjic-495 1215 182 � � NOUN hjic-495 1215 183 ✏ ✏ VERB hjic-495 1215 184 � � NOUN hjic-495 1215 185 1 1 NUM hjic-495 1215 186 , , PUNCT hjic-495 1215 187 y y PROPN hjic-495 1215 188 � � PROPN hjic-495 1215 189 ✏ ✏ VERB hjic-495 1215 190 � � NOUN hjic-495 1215 191 1 1 NUM hjic-495 1215 192 , , PUNCT hjic-495 1215 193 y y PROPN hjic-495 1215 194 ✏ ✏ PROPN hjic-495 1215 195 � � PROPN hjic-495 1215 196 1 1 NUM hjic-495 1215 197 � � PROPN hjic-495 1215 198 � � NOUN hjic-495 1215 199 1/2 1/2 NUM hjic-495 1215 200 , , PUNCT hjic-495 1215 201 y2 y2 SYM hjic-495 1215 202 ✏ ✏ VERB hjic-495 1215 203 � � PROPN hjic-495 1215 204 1 1 NUM hjic-495 1215 205 � � PROPN hjic-495 1215 206 � � NOUN hjic-495 1215 207 1/2 1/2 NUM hjic-495 1215 208 , , PUNCT hjic-495 1215 209 ( ( PUNCT hjic-495 1215 210 25 25 NUM hjic-495 1215 211 ) ) PUNCT hjic-495 1215 212 the the DET hjic-495 1215 213 qp qp PROPN hjic-495 1215 214 system system NOUN hjic-495 1215 215 eq.(21 eq.(21 NOUN hjic-495 1215 216 - - PUNCT hjic-495 1215 217 24 24 NUM hjic-495 1215 218 ) ) PUNCT hjic-495 1215 219 can can AUX hjic-495 1215 220 obtain obtain VERB hjic-495 1215 221 the the DET hjic-495 1215 222 glv glv NUM hjic-495 1215 223 form form NOUN hjic-495 1215 224 invariants invariant NOUN hjic-495 1215 225 with with ADP hjic-495 1215 226 the the DET hjic-495 1215 227 help help NOUN hjic-495 1215 228 of of ADP hjic-495 1215 229 monomials monomial NOUN hjic-495 1215 230 . . PUNCT hjic-495 1216 1 these these DET hjic-495 1216 2 matrices matrix NOUN hjic-495 1216 3 are be AUX hjic-495 1216 4 : : PUNCT hjic-495 1216 5 a a DET hjic-495 1216 6 the the DET hjic-495 1216 7 coefficient coefficient NOUN hjic-495 1216 8 matrix matrix NOUN hjic-495 1216 9 , , PUNCT hjic-495 1216 10 b b NOUN hjic-495 1216 11 the the DET hjic-495 1216 12 exponential exponential ADJ hjic-495 1216 13 matrix matrix NOUN hjic-495 1216 14 and and CCONJ hjic-495 1216 15 � � PRON hjic-495 1216 16 the the DET hjic-495 1216 17 constant constant PROPN hjic-495 1216 18 ’s ’s PART hjic-495 1216 19 matrix matrix NOUN hjic-495 1216 20 . . PUNCT hjic-495 1217 1 the the DET hjic-495 1217 2 invariant invariant ADJ hjic-495 1217 3 matrix matrix NOUN hjic-495 1217 4 product product NOUN hjic-495 1217 5 ba ba NOUN hjic-495 1217 6 results result VERB hjic-495 1217 7 in in ADP hjic-495 1217 8 the the DET hjic-495 1217 9 lv lv PROPN hjic-495 1217 10 coefficient coefficient NOUN hjic-495 1217 11 matrix matrix NOUN hjic-495 1217 12 m m VERB hjic-495 1217 13 , , PUNCT hjic-495 1217 14 which which PRON hjic-495 1217 15 is be AUX hjic-495 1217 16 necessary necessary ADJ hjic-495 1217 17 for for ADP hjic-495 1217 18 the the DET hjic-495 1217 19 global global ADJ hjic-495 1217 20 stability stability NOUN hjic-495 1217 21 analysis analysis NOUN hjic-495 1217 22 . . PUNCT hjic-495 1218 1 controller controller NOUN hjic-495 1218 2 design design NOUN hjic-495 1218 3 as as ADP hjic-495 1218 4 the the DET hjic-495 1218 5 original original ADJ hjic-495 1218 6 model model NOUN hjic-495 1218 7 eq.(2 eq.(2 NOUN hjic-495 1218 8 ) ) PUNCT hjic-495 1218 9 already already ADV hjic-495 1218 10 contains contain VERB hjic-495 1218 11 the the DET hjic-495 1218 12 proportional proportional ADJ hjic-495 1218 13 controller controller NOUN hjic-495 1218 14 parameters parameter NOUN hjic-495 1218 15 kh kh PROPN hjic-495 1218 16 and and CCONJ hjic-495 1218 17 kv kv PROPN hjic-495 1218 18 , , PUNCT hjic-495 1218 19 they they PRON hjic-495 1218 20 naturally naturally ADV hjic-495 1218 21 appear appear VERB hjic-495 1218 22 in in ADP hjic-495 1218 23 the the DET hjic-495 1218 24 qp qp PROPN hjic-495 1218 25 and and CCONJ hjic-495 1218 26 lotka lotka PROPN hjic-495 1218 27 - - PUNCT hjic-495 1218 28 volterra volterra NOUN hjic-495 1218 29 forms form NOUN hjic-495 1218 30 , , PUNCT hjic-495 1218 31 respectively respectively ADV hjic-495 1218 32 . . PUNCT hjic-495 1219 1 the the DET hjic-495 1219 2 closed close VERB hjic-495 1219 3 - - PUNCT hjic-495 1219 4 loop loop NOUN hjic-495 1219 5 lotka lotka PROPN hjic-495 1219 6 - - PUNCT hjic-495 1219 7 volterra volterra PROPN hjic-495 1219 8 coefficient coefficient PROPN hjic-495 1219 9 matrix matrix NOUN hjic-495 1219 10 m m VERB hjic-495 1219 11 contains contain VERB hjic-495 1219 12 the the DET hjic-495 1219 13 proportional proportional ADJ hjic-495 1219 14 gains gain NOUN hjic-495 1219 15 in in ADP hjic-495 1219 16 a a DET hjic-495 1219 17 linear linear ADJ hjic-495 1219 18 manner manner NOUN hjic-495 1219 19 eq.(26 eq.(26 ADP hjic-495 1219 20 ) ) PUNCT hjic-495 1220 1 [ [ X hjic-495 1220 2 7 7 X hjic-495 1220 3 ] ] X hjic-495 1220 4 m m VERB hjic-495 1220 5 = = VERB hjic-495 1220 6 m0 m0 PROPN hjic-495 1221 1 + + PROPN hjic-495 1221 2 kh kh PROPN hjic-495 1221 3 mh mh PROPN hjic-495 1221 4 + + PROPN hjic-495 1221 5 kv kv PROPN hjic-495 1221 6 mv mv PROPN hjic-495 1221 7 , , PUNCT hjic-495 1221 8 ( ( PUNCT hjic-495 1221 9 26 26 NUM hjic-495 1221 10 ) ) PUNCT hjic-495 1222 1 where where SCONJ hjic-495 1222 2 m m PROPN hjic-495 1222 3 2 2 NUM hjic-495 1222 4 r29 r29 NOUN hjic-495 1222 5 ⇥ ⇥ NUM hjic-495 1222 6 29 29 NUM hjic-495 1222 7 . . PUNCT hjic-495 1223 1 this this PRON hjic-495 1223 2 means mean VERB hjic-495 1223 3 , , PUNCT hjic-495 1223 4 that that SCONJ hjic-495 1223 5 the the DET hjic-495 1223 6 globally globally ADV hjic-495 1223 7 stabilizing stabilize VERB hjic-495 1223 8 feedback feedback NOUN hjic-495 1223 9 design design NOUN hjic-495 1223 10 bmi bmi NOUN hjic-495 1223 11 can can AUX hjic-495 1223 12 be be AUX hjic-495 1223 13 formulated formulate VERB hjic-495 1223 14 , , PUNCT hjic-495 1223 15 and and CCONJ hjic-495 1223 16 checked check VERB hjic-495 1223 17 for for ADP hjic-495 1223 18 feasibility feasibility NOUN hjic-495 1223 19 . . PUNCT hjic-495 1224 1 the the DET hjic-495 1224 2 controller controller NOUN hjic-495 1224 3 design design NOUN hjic-495 1224 4 is be AUX hjic-495 1224 5 practically practically ADV hjic-495 1224 6 solved solve VERB hjic-495 1224 7 as as ADP hjic-495 1224 8 a a DET hjic-495 1224 9 control control NOUN hjic-495 1224 10 - - PUNCT hjic-495 1224 11 lyapunov lyapunov ADJ hjic-495 1224 12 function function NOUN hjic-495 1224 13 - - PUNCT hjic-495 1224 14 based base VERB hjic-495 1224 15 state state NOUN hjic-495 1224 16 feedback feedback NOUN hjic-495 1224 17 . . PUNCT hjic-495 1225 1 the the DET hjic-495 1225 2 prescribed prescribed ADJ hjic-495 1225 3 lyapunov lyapunov NOUN hjic-495 1225 4 function function NOUN hjic-495 1225 5 parameters parameter NOUN hjic-495 1225 6 are be AUX hjic-495 1225 7 c1,2,3 c1,2,3 NUM hjic-495 1225 8 = = SYM hjic-495 1225 9 0.1 0.1 NUM hjic-495 1225 10 , , PUNCT hjic-495 1225 11 c4,5 c4,5 NOUN hjic-495 1225 12 = = SYM hjic-495 1225 13 1 1 NUM hjic-495 1225 14 and and CCONJ hjic-495 1225 15 c6 c6 PROPN hjic-495 1225 16 � � PROPN hjic-495 1225 17 29 29 NUM hjic-495 1225 18 = = SYM hjic-495 1225 19 0 0 NUM hjic-495 1225 20 . . PUNCT hjic-495 1226 1 the the DET hjic-495 1226 2 control control NOUN hjic-495 1226 3 gains gain NOUN hjic-495 1226 4 are be AUX hjic-495 1226 5 obtained obtain VERB hjic-495 1226 6 by by ADP hjic-495 1226 7 solving solve VERB hjic-495 1226 8 an an DET hjic-495 1226 9 lmi lmi PROPN hjic-495 1226 10 version version NOUN hjic-495 1226 11 of of ADP hjic-495 1226 12 the the DET hjic-495 1226 13 feedback feedback NOUN hjic-495 1226 14 design design NOUN hjic-495 1226 15 bmi bmi NOUN hjic-495 1226 16 by by ADP hjic-495 1226 17 substituting substitute VERB hjic-495 1226 18 c c NOUN hjic-495 1226 19 into into ADP hjic-495 1226 20 eq.(19 eq.(19 NOUN hjic-495 1226 21 ) ) PUNCT hjic-495 1226 22 . . PUNCT hjic-495 1227 1 the the DET hjic-495 1227 2 obtained obtain VERB hjic-495 1227 3 values value NOUN hjic-495 1227 4 are be AUX hjic-495 1227 5 kh kh PROPN hjic-495 1227 6 = = PROPN hjic-495 1227 7 2.78 2.78 NUM hjic-495 1227 8 and and CCONJ hjic-495 1227 9 kv kv PROPN hjic-495 1227 10 = = PROPN hjic-495 1228 1 0.8 0.8 NUM hjic-495 1228 2 . . PUNCT hjic-495 1229 1 95 95 NUM hjic-495 1229 2 table table NOUN hjic-495 1229 3 1 1 NUM hjic-495 1229 4 : : PUNCT hjic-495 1229 5 rules rule NOUN hjic-495 1229 6 for for ADP hjic-495 1229 7 the the DET hjic-495 1229 8 fuzzy fuzzy ADJ hjic-495 1229 9 controller controller NOUN hjic-495 1229 10 ^ ^ PUNCT hjic-495 1229 11 ^ ^ PUNCT hjic-495 1229 12 eang eang PROPN hjic-495 1229 13 edis edis PROPN hjic-495 1229 14 ! ! PUNCT hjic-495 1229 15 left leave VERB hjic-495 1229 16 ! ! PUNCT hjic-495 1230 1 right right ADJ hjic-495 1230 2 zero zero NUM hjic-495 1230 3 zero zero NUM hjic-495 1230 4 ) ) PUNCT hjic-495 1230 5 zero zero NUM hjic-495 1230 6 zero zero NUM hjic-495 1230 7 pos pos NOUN hjic-495 1230 8 zero zero NUM hjic-495 1230 9 pos pos NOUN hjic-495 1230 10 neg neg NOUN hjic-495 1230 11 zero zero NUM hjic-495 1230 12 neg neg NOUN hjic-495 1230 13 pos pos NOUN hjic-495 1230 14 zero zero NUM hjic-495 1230 15 pos pos NOUN hjic-495 1230 16 pos pos NOUN hjic-495 1230 17 pos pos NOUN hjic-495 1230 18 pos pos NOUN hjic-495 1230 19 pos pos NOUN hjic-495 1230 20 pos pos NOUN hjic-495 1230 21 zero zero NUM hjic-495 1230 22 pos pos NOUN hjic-495 1230 23 zero zero NUM hjic-495 1230 24 pos pos NOUN hjic-495 1230 25 comparison comparison NOUN hjic-495 1230 26 of of ADP hjic-495 1230 27 results result NOUN hjic-495 1230 28 for for ADP hjic-495 1230 29 different different ADJ hjic-495 1230 30 controller controller NOUN hjic-495 1230 31 types type NOUN hjic-495 1230 32 the the DET hjic-495 1230 33 first first ADJ hjic-495 1230 34 and and CCONJ hjic-495 1230 35 most most ADV hjic-495 1230 36 basic basic ADJ hjic-495 1230 37 method method NOUN hjic-495 1230 38 was be AUX hjic-495 1230 39 the the DET hjic-495 1230 40 proportional proportional ADJ hjic-495 1230 41 controller controller NOUN hjic-495 1230 42 approach approach NOUN hjic-495 1230 43 . . PUNCT hjic-495 1231 1 this this PRON hjic-495 1231 2 was be AUX hjic-495 1231 3 explained explain VERB hjic-495 1231 4 in in ADP hjic-495 1231 5 the the DET hjic-495 1231 6 second second ADJ hjic-495 1231 7 chapter chapter NOUN hjic-495 1231 8 . . PUNCT hjic-495 1232 1 this this PRON hjic-495 1232 2 is be AUX hjic-495 1232 3 a a DET hjic-495 1232 4 more more ADV hjic-495 1232 5 systematic systematic ADJ hjic-495 1232 6 approach approach NOUN hjic-495 1232 7 , , PUNCT hjic-495 1232 8 but but CCONJ hjic-495 1232 9 with with ADP hjic-495 1232 10 the the DET hjic-495 1232 11 increasing increase VERB hjic-495 1232 12 non non NOUN hjic-495 1232 13 - - NOUN hjic-495 1232 14 linearities linearity NOUN hjic-495 1232 15 it it PRON hjic-495 1232 16 is be AUX hjic-495 1232 17 becoming become VERB hjic-495 1232 18 a a DET hjic-495 1232 19 more more ADV hjic-495 1232 20 difficult difficult ADJ hjic-495 1232 21 method method NOUN hjic-495 1232 22 to to PART hjic-495 1232 23 solve solve VERB hjic-495 1232 24 . . PUNCT hjic-495 1233 1 fig.3 fig.3 PROPN hjic-495 1233 2 shows show VERB hjic-495 1233 3 that that SCONJ hjic-495 1233 4 the the DET hjic-495 1233 5 robot robot NOUN hjic-495 1233 6 moves move VERB hjic-495 1233 7 on on ADP hjic-495 1233 8 a a DET hjic-495 1233 9 significantly significantly ADV hjic-495 1233 10 wider wide ADJ hjic-495 1233 11 curve curve NOUN hjic-495 1233 12 compared compare VERB hjic-495 1233 13 to to ADP hjic-495 1233 14 the the DET hjic-495 1233 15 other other ADJ hjic-495 1233 16 two two NUM hjic-495 1233 17 designs design NOUN hjic-495 1233 18 . . PUNCT hjic-495 1234 1 secondly secondly ADV hjic-495 1234 2 a a DET hjic-495 1234 3 fuzzy fuzzy ADJ hjic-495 1234 4 controller controller NOUN hjic-495 1234 5 was be AUX hjic-495 1234 6 designed design VERB hjic-495 1234 7 to to PART hjic-495 1234 8 compare compare VERB hjic-495 1234 9 the the DET hjic-495 1234 10 original original ADJ hjic-495 1234 11 design design NOUN hjic-495 1234 12 to to ADP hjic-495 1234 13 . . PUNCT hjic-495 1235 1 this this PRON hjic-495 1235 2 is be AUX hjic-495 1235 3 a a DET hjic-495 1235 4 much much ADV hjic-495 1235 5 more more ADV hjic-495 1235 6 intuitive intuitive ADJ hjic-495 1235 7 approach approach NOUN hjic-495 1235 8 , , PUNCT hjic-495 1235 9 the the DET hjic-495 1235 10 physical physical ADJ hjic-495 1235 11 nonlinearities nonlinearitie NOUN hjic-495 1235 12 were be AUX hjic-495 1235 13 easily easily ADV hjic-495 1235 14 implementable implementable ADJ hjic-495 1235 15 with with ADP hjic-495 1235 16 the the DET hjic-495 1235 17 cost cost NOUN hjic-495 1235 18 of of ADP hjic-495 1235 19 inaccuracy inaccuracy NOUN hjic-495 1235 20 . . PUNCT hjic-495 1236 1 this this PRON hjic-495 1236 2 can can AUX hjic-495 1236 3 be be AUX hjic-495 1236 4 seen see VERB hjic-495 1236 5 in in ADP hjic-495 1236 6 fig.3 fig.3 PROPN hjic-495 1236 7 , , PUNCT hjic-495 1236 8 where where SCONJ hjic-495 1236 9 the the DET hjic-495 1236 10 robot robot NOUN hjic-495 1236 11 travels travel VERB hjic-495 1236 12 on on ADP hjic-495 1236 13 a a DET hjic-495 1236 14 much much ADV hjic-495 1236 15 smaller small ADJ hjic-495 1236 16 curve curve NOUN hjic-495 1236 17 . . PUNCT hjic-495 1237 1 table table NOUN hjic-495 1237 2 1 1 NUM hjic-495 1237 3 shows show VERB hjic-495 1237 4 the the DET hjic-495 1237 5 definition definition NOUN hjic-495 1237 6 of of ADP hjic-495 1237 7 the the DET hjic-495 1237 8 rules rule NOUN hjic-495 1237 9 . . PUNCT hjic-495 1238 1 the the DET hjic-495 1238 2 membership membership NOUN hjic-495 1238 3 functions function NOUN hjic-495 1238 4 follow follow VERB hjic-495 1238 5 simple simple ADJ hjic-495 1238 6 triangular triangular NOUN hjic-495 1238 7 shapes shape NOUN hjic-495 1238 8 according accord VERB hjic-495 1238 9 to to ADP hjic-495 1238 10 the the DET hjic-495 1238 11 acceptable acceptable ADJ hjic-495 1238 12 rate rate NOUN hjic-495 1238 13 of of ADP hjic-495 1238 14 angular angular ADJ hjic-495 1238 15 and and CCONJ hjic-495 1238 16 velocity velocity NOUN hjic-495 1238 17 changes change NOUN hjic-495 1238 18 . . PUNCT hjic-495 1239 1 the the DET hjic-495 1239 2 qp qp PROPN hjic-495 1239 3 controller controller NOUN hjic-495 1239 4 performance performance NOUN hjic-495 1239 5 can can AUX hjic-495 1239 6 be be AUX hjic-495 1239 7 seen see VERB hjic-495 1239 8 in in ADP hjic-495 1239 9 fig.3 fig.3 PROPN hjic-495 1239 10 . . PUNCT hjic-495 1240 1 where where SCONJ hjic-495 1240 2 a a DET hjic-495 1240 3 classical classical ADJ hjic-495 1240 4 pid pid NOUN hjic-495 1240 5 controller controller NOUN hjic-495 1240 6 and and CCONJ hjic-495 1240 7 a a DET hjic-495 1240 8 fuzzy fuzzy ADJ hjic-495 1240 9 logic logic NOUN hjic-495 1240 10 controller controller NOUN hjic-495 1240 11 are be AUX hjic-495 1240 12 also also ADV hjic-495 1240 13 shown show VERB hjic-495 1240 14 . . PUNCT hjic-495 1241 1 it it PRON hjic-495 1241 2 is be AUX hjic-495 1241 3 apparent apparent ADJ hjic-495 1241 4 , , PUNCT hjic-495 1241 5 that that SCONJ hjic-495 1241 6 the the DET hjic-495 1241 7 qp qp PROPN hjic-495 1241 8 controller controller NOUN hjic-495 1241 9 performs perform VERB hjic-495 1241 10 well well ADV hjic-495 1241 11 by by ADP hjic-495 1241 12 means mean NOUN hjic-495 1241 13 of of ADP hjic-495 1241 14 the the DET hjic-495 1241 15 length length NOUN hjic-495 1241 16 of of ADP hjic-495 1241 17 the the DET hjic-495 1241 18 trajectory trajectory NOUN hjic-495 1241 19 . . PUNCT hjic-495 1242 1 conclusions conclusion NOUN hjic-495 1242 2 a a DET hjic-495 1242 3 quasi quasi ADJ hjic-495 1242 4 - - ADJ hjic-495 1242 5 polynomial polynomial ADJ hjic-495 1242 6 representation representation NOUN hjic-495 1242 7 - - PUNCT hjic-495 1242 8 based base VERB hjic-495 1242 9 nonlinear nonlinear ADJ hjic-495 1242 10 control control NOUN hjic-495 1242 11 design design NOUN hjic-495 1242 12 method method NOUN hjic-495 1242 13 has have AUX hjic-495 1242 14 been be AUX hjic-495 1242 15 applied apply VERB hjic-495 1242 16 to to ADP hjic-495 1242 17 the the DET hjic-495 1242 18 kinematics kinematic NOUN hjic-495 1242 19 of of ADP hjic-495 1242 20 a a DET hjic-495 1242 21 differential differential ADJ hjic-495 1242 22 steering steering NOUN hjic-495 1242 23 mobile mobile ADJ hjic-495 1242 24 robot robot NOUN hjic-495 1242 25 in in ADP hjic-495 1242 26 this this DET hjic-495 1242 27 work work NOUN hjic-495 1242 28 . . PUNCT hjic-495 1243 1 it it PRON hjic-495 1243 2 has have AUX hjic-495 1243 3 been be AUX hjic-495 1243 4 shown show VERB hjic-495 1243 5 , , PUNCT hjic-495 1243 6 that that SCONJ hjic-495 1243 7 the the DET hjic-495 1243 8 quasi quasi ADJ hjic-495 1243 9 - - ADJ hjic-495 1243 10 polynomial polynomial ADJ hjic-495 1243 11 model model NOUN hjic-495 1243 12 of of ADP hjic-495 1243 13 the the DET hjic-495 1243 14 mobile mobile PROPN hjic-495 1243 15 robot robot NOUN hjic-495 1243 16 ’s ’s PART hjic-495 1243 17 kinematics kinematic NOUN hjic-495 1243 18 extended extend VERB hjic-495 1243 19 with with ADP hjic-495 1243 20 the the DET hjic-495 1243 21 tracking tracking NOUN hjic-495 1243 22 error error NOUN hjic-495 1243 23 dynamics dynamic NOUN hjic-495 1243 24 has have VERB hjic-495 1243 25 29 29 NUM hjic-495 1243 26 quasi quasi NOUN hjic-495 1243 27 - - NOUN hjic-495 1243 28 monomials monomial NOUN hjic-495 1243 29 , , PUNCT hjic-495 1243 30 i.e. i.e. X hjic-495 1243 31 the the DET hjic-495 1243 32 sizes size NOUN hjic-495 1243 33 of of ADP hjic-495 1243 34 matrices matrix NOUN hjic-495 1243 35 appearing appear VERB hjic-495 1243 36 in in ADP hjic-495 1243 37 the the DET hjic-495 1243 38 bilinear bilinear NOUN hjic-495 1243 39 matrix matrix NOUN hjic-495 1243 40 inequality inequality NOUN hjic-495 1243 41 that that PRON hjic-495 1243 42 should should AUX hjic-495 1243 43 be be AUX hjic-495 1243 44 solved solve VERB hjic-495 1243 45 for for ADP hjic-495 1243 46 a a DET hjic-495 1243 47 globally globally ADV hjic-495 1243 48 stabilizing stabilize VERB hjic-495 1243 49 feedback feedback NOUN hjic-495 1243 50 controller controller NOUN hjic-495 1243 51 acknowledgement acknowledgement NOUN hjic-495 1243 52 this this DET hjic-495 1243 53 research research NOUN hjic-495 1243 54 was be AUX hjic-495 1243 55 supported support VERB hjic-495 1243 56 by by ADP hjic-495 1243 57 the the DET hjic-495 1243 58 european european PROPN hjic-495 1243 59 union union PROPN hjic-495 1243 60 and and CCONJ hjic-495 1243 61 the the DET hjic-495 1243 62 state state NOUN hjic-495 1243 63 of of ADP hjic-495 1243 64 hungary hungary PROPN hjic-495 1243 65 , , PUNCT hjic-495 1243 66 co co VERB hjic-495 1243 67 - - VERB hjic-495 1243 68 financed finance VERB hjic-495 1243 69 by by ADP hjic-495 1243 70 the the DET hjic-495 1243 71 european european PROPN hjic-495 1243 72 social social PROPN hjic-495 1243 73 are be AUX hjic-495 1243 74 reasonably reasonably ADV hjic-495 1243 75 great great ADJ hjic-495 1243 76 . . PUNCT hjic-495 1244 1 the the DET hjic-495 1244 2 resulting result VERB hjic-495 1244 3 controller controller NOUN hjic-495 1244 4 and and CCONJ hjic-495 1244 5 the the DET hjic-495 1244 6 trajectory trajectory NOUN hjic-495 1244 7 were be AUX hjic-495 1244 8 compared compare VERB hjic-495 1244 9 to to ADP hjic-495 1244 10 the the DET hjic-495 1244 11 trajectories trajectory NOUN hjic-495 1244 12 of of ADP hjic-495 1244 13 a a DET hjic-495 1244 14 reference reference NOUN hjic-495 1244 15 pid pid NOUN hjic-495 1244 16 controller controller NOUN hjic-495 1244 17 and and CCONJ hjic-495 1244 18 a a DET hjic-495 1244 19 fuzzy fuzzy ADJ hjic-495 1244 20 logic logic NOUN hjic-495 1244 21 controller controller NOUN hjic-495 1244 22 . . PUNCT hjic-495 1245 1 it it PRON hjic-495 1245 2 can can AUX hjic-495 1245 3 be be AUX hjic-495 1245 4 seen see VERB hjic-495 1245 5 that that SCONJ hjic-495 1245 6 the the DET hjic-495 1245 7 controller controller NOUN hjic-495 1245 8 performs perform VERB hjic-495 1245 9 satisfactorily satisfactorily ADV hjic-495 1245 10 . . PUNCT hjic-495 1246 1 possible possible ADJ hjic-495 1246 2 future future ADJ hjic-495 1246 3 directions direction NOUN hjic-495 1246 4 include include VERB hjic-495 1246 5 the the DET hjic-495 1246 6 application application NOUN hjic-495 1246 7 of of ADP hjic-495 1246 8 the the DET hjic-495 1246 9 lmi lmi PROPN hjic-495 1246 10 and and CCONJ hjic-495 1246 11 /or /or ADV hjic-495 1246 12 bmi bmi PROPN hjic-495 1246 13 cost cost NOUN hjic-495 1246 14 function function NOUN hjic-495 1246 15 to to PART hjic-495 1246 16 introduce introduce VERB hjic-495 1246 17 some some DET hjic-495 1246 18 optimality optimality NOUN hjic-495 1246 19 measure measure NOUN hjic-495 1246 20 to to ADP hjic-495 1246 21 the the DET hjic-495 1246 22 problem problem NOUN hjic-495 1246 23 to to PART hjic-495 1246 24 be be AUX hjic-495 1246 25 minimised minimise VERB hjic-495 1246 26 . . PUNCT hjic-495 1247 1 a a DET hjic-495 1247 2 next next ADJ hjic-495 1247 3 step step NOUN hjic-495 1247 4 would would AUX hjic-495 1247 5 be be AUX hjic-495 1247 6 the the DET hjic-495 1247 7 application application NOUN hjic-495 1247 8 of of ADP hjic-495 1247 9 a a DET hjic-495 1247 10 time time NOUN hjic-495 1247 11 dependent dependent ADJ hjic-495 1247 12 goal goal NOUN hjic-495 1247 13 position position NOUN hjic-495 1247 14 ( ( PUNCT hjic-495 1247 15 i.e. i.e. X hjic-495 1247 16 a a DET hjic-495 1247 17 trajectory trajectory NOUN hjic-495 1247 18 ) ) PUNCT hjic-495 1247 19 . . PUNCT hjic-495 1248 1 fund fund NOUN hjic-495 1248 2 in in ADP hjic-495 1248 3 the the DET hjic-495 1248 4 framework framework NOUN hjic-495 1248 5 of of ADP hjic-495 1248 6 the the DET hjic-495 1248 7 támop támop NOUN hjic-495 1248 8 4.2.4 4.2.4 NUM hjic-495 1248 9 . . PUNCT hjic-495 1249 1 a/2 a/2 NOUN hjic-495 1249 2 - - SYM hjic-495 1249 3 11 11 NUM hjic-495 1249 4 - - PUNCT hjic-495 1249 5 12012 12012 NUM hjic-495 1249 6 - - PUNCT hjic-495 1249 7 0001 0001 NUM hjic-495 1249 8 ’ ' PUNCT hjic-495 1249 9 national national PROPN hjic-495 1249 10 excellence excellence PROPN hjic-495 1249 11 programme programme PROPN hjic-495 1249 12 ’ ' PUNCT hjic-495 1249 13 . . PUNCT hjic-495 1250 1 references reference NOUN hjic-495 1250 2 [ [ X hjic-495 1250 3 1 1 X hjic-495 1250 4 ] ] X hjic-495 1250 5 huang huang PROPN hjic-495 1250 6 j. j. PROPN hjic-495 1250 7 , , PUNCT hjic-495 1250 8 wen wen PROPN hjic-495 1250 9 c. c. PROPN hjic-495 1250 10 , , PUNCT hjic-495 1250 11 wang wang PROPN hjic-495 1250 12 w. w. PROPN hjic-495 1250 13 , , PUNCT hjic-495 1250 14 jiang jiang PROPN hjic-495 1250 15 z.-p z.-p PROPN hjic-495 1250 16 . . PUNCT hjic-495 1250 17 : : PUNCT hjic-495 1251 1 adaptive adaptive ADJ hjic-495 1251 2 output output NOUN hjic-495 1251 3 feedback feedback NOUN hjic-495 1251 4 tracking tracking NOUN hjic-495 1251 5 control control NOUN hjic-495 1251 6 of of ADP hjic-495 1251 7 a a DET hjic-495 1251 8 nonholonomic nonholonomic ADJ hjic-495 1251 9 mobile mobile ADJ hjic-495 1251 10 robot robot NOUN hjic-495 1251 11 , , PUNCT hjic-495 1251 12 automatica automatica PROPN hjic-495 1251 13 , , PUNCT hjic-495 1251 14 2004 2004 NUM hjic-495 1251 15 , , PUNCT hjic-495 1251 16 50(3 50(3 NUM hjic-495 1251 17 ) ) PUNCT hjic-495 1251 18 , , PUNCT hjic-495 1251 19 821 821 NUM hjic-495 1251 20 – – PUNCT hjic-495 1251 21 831 831 NUM hjic-495 1251 22 [ [ PUNCT hjic-495 1251 23 2 2 NUM hjic-495 1251 24 ] ] PUNCT hjic-495 1251 25 mohareri mohareri NOUN hjic-495 1251 26 o. o. NOUN hjic-495 1251 27 , , PUNCT hjic-495 1251 28 dhaouadi dhaouadi PROPN hjic-495 1251 29 r. r. PROPN hjic-495 1251 30 , , PUNCT hjic-495 1251 31 rad rad PROPN hjic-495 1251 32 a.b a.b PROPN hjic-495 1251 33 . . PROPN hjic-495 1251 34 : : PUNCT hjic-495 1251 35 indirect indirect ADJ hjic-495 1251 36 adaptive adaptive ADJ hjic-495 1251 37 tracking tracking NOUN hjic-495 1251 38 control control NOUN hjic-495 1251 39 of of ADP hjic-495 1251 40 a a DET hjic-495 1251 41 nonholonomic nonholonomic ADJ hjic-495 1251 42 mobile mobile ADJ hjic-495 1251 43 robot robot NOUN hjic-495 1251 44 via via ADP hjic-495 1251 45 neural neural ADJ hjic-495 1251 46 networks network NOUN hjic-495 1251 47 , , PUNCT hjic-495 1251 48 neurocomputing neurocomputing NOUN hjic-495 1251 49 , , PUNCT hjic-495 1251 50 2012 2012 NUM hjic-495 1251 51 , , PUNCT hjic-495 1251 52 88 88 NUM hjic-495 1251 53 , , PUNCT hjic-495 1251 54 54–66 54–66 NUM hjic-495 1251 55 [ [ X hjic-495 1251 56 3 3 NUM hjic-495 1251 57 ] ] X hjic-495 1251 58 li li PROPN hjic-495 1251 59 j. j. PROPN hjic-495 1251 60 , , PUNCT hjic-495 1251 61 guo guo PROPN hjic-495 1251 62 x. x. PROPN hjic-495 1251 63 , , PUNCT hjic-495 1251 64 li li PROPN hjic-495 1251 65 z. z. PROPN hjic-495 1251 66 , , PUNCT hjic-495 1251 67 chen chen PROPN hjic-495 1251 68 w. w. PROPN hjic-495 1251 69 : : PUNCT hjic-495 1251 70 stochastic stochastic VERB hjic-495 1251 71 adaptive adaptive ADJ hjic-495 1251 72 optimal optimal ADJ hjic-495 1251 73 control control NOUN hjic-495 1251 74 of of ADP hjic-495 1251 75 under under ADV hjic-495 1251 76 - - PUNCT hjic-495 1251 77 actuated actuate VERB hjic-495 1251 78 robots robot NOUN hjic-495 1251 79 using use VERB hjic-495 1251 80 neural neural ADJ hjic-495 1251 81 networks network NOUN hjic-495 1251 82 , , PUNCT hjic-495 1251 83 neurocomputing neurocomputing NOUN hjic-495 1251 84 , , PUNCT hjic-495 1251 85 2014 2014 NUM hjic-495 1251 86 , , PUNCT hjic-495 1251 87 142 142 NUM hjic-495 1251 88 , , PUNCT hjic-495 1251 89 190 190 NUM hjic-495 1251 90 - - SYM hjic-495 1251 91 200 200 NUM hjic-495 1251 92 [ [ SYM hjic-495 1251 93 4 4 NUM hjic-495 1251 94 ] ] X hjic-495 1251 95 hernández hernández PROPN hjic-495 1251 96 - - PUNCT hjic-495 1251 97 bermejo bermejo PROPN hjic-495 1251 98 b. b. PROPN hjic-495 1251 99 , , PUNCT hjic-495 1251 100 fairén fairén VERB hjic-495 1252 1 v. v. NOUN hjic-495 1252 2 : : PUNCT hjic-495 1252 3 nonpolynomial nonpolynomial ADJ hjic-495 1252 4 vector vector NOUN hjic-495 1252 5 fields field NOUN hjic-495 1252 6 under under ADP hjic-495 1252 7 the the DET hjic-495 1252 8 lotka lotka PROPN hjic-495 1252 9 - - PUNCT hjic-495 1252 10 volterra volterra PROPN hjic-495 1252 11 normal normal ADJ hjic-495 1252 12 form form NOUN hjic-495 1252 13 , , PUNCT hjic-495 1252 14 phys phy NOUN hjic-495 1252 15 . . PUNCT hjic-495 1253 1 lett lett PROPN hjic-495 1253 2 . . PUNCT hjic-495 1254 1 a a PRON hjic-495 1254 2 , , PUNCT hjic-495 1254 3 1995 1995 NUM hjic-495 1254 4 , , PUNCT hjic-495 1254 5 206 206 NUM hjic-495 1254 6 , , PUNCT hjic-495 1254 7 31–37 31–37 PROPN hjic-495 1255 1 [ [ X hjic-495 1255 2 5 5 NUM hjic-495 1255 3 ] ] X hjic-495 1255 4 magyar magyar PROPN hjic-495 1255 5 a. a. PROPN hjic-495 1255 6 , , PUNCT hjic-495 1255 7 fodor fodor PROPN hjic-495 1255 8 a. a. NOUN hjic-495 1255 9 : : PUNCT hjic-495 1255 10 quasi quasi ADJ hjic-495 1255 11 - - ADJ hjic-495 1255 12 polynomial polynomial ADJ hjic-495 1255 13 control control NOUN hjic-495 1255 14 of of ADP hjic-495 1255 15 a a DET hjic-495 1255 16 synchronous synchronous ADJ hjic-495 1255 17 generator generator NOUN hjic-495 1255 18 , , PUNCT hjic-495 1255 19 hung hung PROPN hjic-495 1255 20 . . PUNCT hjic-495 1256 1 j. j. PROPN hjic-495 1256 2 ind ind PROPN hjic-495 1256 3 . . PUNCT hjic-495 1257 1 chem chem PROPN hjic-495 1257 2 . . PUNCT hjic-495 1257 3 , , PUNCT hjic-495 1257 4 2013 2013 NUM hjic-495 1257 5 , , PUNCT hjic-495 1257 6 41(1 41(1 NUM hjic-495 1257 7 ) ) PUNCT hjic-495 1257 8 , , PUNCT hjic-495 1257 9 55–61 55–61 NUM hjic-495 1257 10 [ [ X hjic-495 1257 11 6 6 NUM hjic-495 1257 12 ] ] PUNCT hjic-495 1257 13 tzafestas tzafestas NOUN hjic-495 1257 14 s.g s.g PROPN hjic-495 1257 15 . . PROPN hjic-495 1257 16 : : PUNCT hjic-495 1258 1 mobile mobile ADJ hjic-495 1258 2 robot robot NOUN hjic-495 1258 3 control control NOUN hjic-495 1258 4 i i PRON hjic-495 1258 5 : : PUNCT hjic-495 1258 6 the the DET hjic-495 1258 7 lyapunov lyapunov NOUN hjic-495 1258 8 - - PUNCT hjic-495 1258 9 based base VERB hjic-495 1258 10 method method NOUN hjic-495 1258 11 , , PUNCT hjic-495 1258 12 in in ADP hjic-495 1258 13 introduction introduction NOUN hjic-495 1258 14 to to ADP hjic-495 1258 15 mobile mobile ADJ hjic-495 1258 16 robot robot NOUN hjic-495 1258 17 control control NOUN hjic-495 1258 18 ( ( PUNCT hjic-495 1258 19 tzafestas tzafestas PROPN hjic-495 1258 20 s.g s.g PROPN hjic-495 1258 21 . . PROPN hjic-495 1258 22 , , PUNCT hjic-495 1258 23 ed ed NOUN hjic-495 1258 24 . . PUNCT hjic-495 1258 25 ) ) PUNCT hjic-495 1259 1 elsevier elsevier NOUN hjic-495 1259 2 , , PUNCT hjic-495 1259 3 oxford oxford PROPN hjic-495 1259 4 , , PUNCT hjic-495 1259 5 2014 2014 NUM hjic-495 1259 6 , , PUNCT hjic-495 1259 7 137–183 137–183 NUM hjic-495 1259 8 [ [ X hjic-495 1259 9 7 7 X hjic-495 1259 10 ] ] X hjic-495 1259 11 magyar magyar PROPN hjic-495 1259 12 a. a. PROPN hjic-495 1259 13 , , PUNCT hjic-495 1259 14 szederkényi szederkényi PROPN hjic-495 1259 15 g. g. PROPN hjic-495 1259 16 , , PUNCT hjic-495 1259 17 hangos hangos PROPN hjic-495 1259 18 k. k. PROPN hjic-495 1259 19 m. m. PROPN hjic-495 1259 20 : : PUNCT hjic-495 1259 21 globally globally ADV hjic-495 1259 22 stabilizing stabilize VERB hjic-495 1259 23 feedback feedback NOUN hjic-495 1259 24 control control NOUN hjic-495 1259 25 of of ADP hjic-495 1259 26 process process NOUN hjic-495 1259 27 systems system NOUN hjic-495 1259 28 in in ADP hjic-495 1259 29 generalized generalized ADJ hjic-495 1259 30 lotka lotka PROPN hjic-495 1259 31 - - PUNCT hjic-495 1259 32 volterra volterra NOUN hjic-495 1259 33 form form NOUN hjic-495 1259 34 , , PUNCT hjic-495 1259 35 j. j. PROPN hjic-495 1259 36 proc proc PROPN hjic-495 1259 37 . . PUNCT hjic-495 1260 1 contr contr PROPN hjic-495 1260 2 . . PROPN hjic-495 1260 3 , , PUNCT hjic-495 1260 4 2008 2008 NUM hjic-495 1260 5 , , PUNCT hjic-495 1260 6 18(1 18(1 NUM hjic-495 1260 7 ) ) PUNCT hjic-495 1260 8 , , PUNCT hjic-495 1260 9 80–91 80–91 NUM hjic-495 1260 10 advertise advertise VERB hjic-495 1260 11 upcoming upcoming ADJ hjic-495 1260 12 meetings meeting NOUN hjic-495 1260 13 , , PUNCT hjic-495 1260 14 conferences conference NOUN hjic-495 1260 15 , , PUNCT hjic-495 1260 16 workshops workshop NOUN hjic-495 1260 17 , , PUNCT hjic-495 1260 18 new new ADJ hjic-495 1260 19 products product NOUN hjic-495 1260 20 or or CCONJ hjic-495 1260 21 services service NOUN hjic-495 1260 22 ; ; PUNCT hjic-495 1260 23 make make VERB hjic-495 1260 24 public public ADJ hjic-495 1260 25 announcements announcement NOUN hjic-495 1260 26 , , PUNCT hjic-495 1260 27 introduce introduce VERB hjic-495 1260 28 your your PRON hjic-495 1260 29 research research NOUN hjic-495 1260 30 laboratory laboratory NOUN hjic-495 1260 31 on on ADP hjic-495 1260 32 the the DET hjic-495 1260 33 pages page NOUN hjic-495 1260 34 of of ADP hjic-495 1260 35 the the DET hjic-495 1260 36 hungarian hungarian ADJ hjic-495 1260 37 journal journal NOUN hjic-495 1260 38 of of ADP hjic-495 1260 39 industry industry NOUN hjic-495 1260 40 and and CCONJ hjic-495 1260 41 chemistry chemistry NOUN hjic-495 1260 42 please please INTJ hjic-495 1260 43 contact contact VERB hjic-495 1260 44 us we PRON hjic-495 1260 45 if if SCONJ hjic-495 1260 46 interested interested ADJ hjic-495 1260 47 ! ! PUNCT hjic-495 1261 1 editorial editorial ADJ hjic-495 1261 2 office office NOUN hjic-495 1261 3 : : PUNCT hjic-495 1261 4 university university NOUN hjic-495 1261 5 of of ADP hjic-495 1261 6 pannonia pannonia PROPN hjic-495 1261 7 p.o p.o PROPN hjic-495 1261 8 . . PROPN hjic-495 1261 9 box box PROPN hjic-495 1261 10 158 158 NUM hjic-495 1261 11 , , PUNCT hjic-495 1261 12 veszprém veszprém NOUN hjic-495 1261 13 h-8201 h-8201 NUM hjic-495 1261 14 ( ( PUNCT hjic-495 1261 15 hungary hungary PROPN hjic-495 1261 16 ) ) PUNCT hjic-495 1261 17 tel tel PROPN hjic-495 1261 18 . . PUNCT hjic-495 1261 19 : : PUNCT hjic-495 1262 1 +36 +36 NOUN hjic-495 1262 2 ( ( PUNCT hjic-495 1262 3 88 88 NUM hjic-495 1262 4 ) ) PUNCT hjic-495 1262 5 624 624 NUM hjic-495 1262 6 - - PUNCT hjic-495 1262 7 746 746 NUM hjic-495 1262 8 , , PUNCT hjic-495 1262 9 e e NOUN hjic-495 1262 10 - - NOUN hjic-495 1262 11 mail mail NOUN hjic-495 1262 12 : : PUNCT hjic-495 1262 13 hjic@almos.uni-pannon.hu hjic@almos.uni-pannon.hu PROPN hjic-495 1262 14 ; ; PUNCT hjic-495 1262 15 web web NOUN hjic-495 1262 16 : : PUNCT hjic-495 1262 17 hjic.mk.uni-pannon.hu hjic.mk.uni-pannon.hu PROPN hjic-495 1262 18 felelős felelős PROPN hjic-495 1262 19 szerkesztő szerkesztő PROPN hjic-495 1262 20 : : PUNCT hjic-495 1262 21 szilágyi szilágyi PROPN hjic-495 1262 22 róbert róbert VERB hjic-495 1262 23 károly károly PROPN hjic-495 1262 24 , , PUNCT hjic-495 1262 25 phd phd PROPN hjic-495 1262 26 kiadja kiadja PROPN hjic-495 1262 27 : : PUNCT hjic-495 1262 28 pannon pannon NOUN hjic-495 1262 29 egyetem egyetem PROPN hjic-495 1262 30 , , PUNCT hjic-495 1262 31 8200 8200 NUM hjic-495 1262 32 veszprém veszprém NOUN hjic-495 1262 33 , , PUNCT hjic-495 1262 34 egyetem egyetem PROPN hjic-495 1262 35 u. u. PROPN hjic-495 1262 36 10 10 NUM hjic-495 1262 37 . . PUNCT hjic-495 1263 1 levélcím levélcím ADV hjic-495 1263 2 : : PUNCT hjic-495 1263 3 h-8201 h-8201 NUM hjic-495 1263 4 veszprém veszprém NOUN hjic-495 1263 5 , , PUNCT hjic-495 1263 6 postafiók postafiók NOUN hjic-495 1263 7 158 158 NUM hjic-495 1263 8 , , PUNCT hjic-495 1263 9 tel tel PROPN hjic-495 1263 10 . . PROPN hjic-495 1263 11 : : PUNCT hjic-495 1263 12 ( ( PUNCT hjic-495 1263 13 88 88 NUM hjic-495 1263 14 ) ) SYM hjic-495 1263 15 624 624 NUM hjic-495 1263 16 - - PUNCT hjic-495 1263 17 000 000 NUM hjic-495 1263 18 felelős felelős PROPN hjic-495 1263 19 kiadó kiadó PROPN hjic-495 1263 20 : : PUNCT hjic-495 1263 21 a a DET hjic-495 1263 22 pannon pannon NOUN hjic-495 1263 23 egyetem egyetem NOUN hjic-495 1263 24 , , PUNCT hjic-495 1263 25 mérnöki mérnöki NOUN hjic-495 1263 26 kar kar PROPN hjic-495 1263 27 dékánja dékánja VERB hjic-495 1263 28 hungarian hungarian ADJ hjic-495 1263 29 journal journal NOUN hjic-495 1263 30 of of ADP hjic-495 1263 31 industry industry NOUN hjic-495 1263 32 and and CCONJ hjic-495 1263 33 chemistry chemistry NOUN hjic-495 1263 34 veszprém veszprém NOUN hjic-495 1263 35 vol vol NOUN hjic-495 1263 36 . . PUNCT hjic-495 1264 1 42(2 42(2 NUM hjic-495 1264 2 ) ) PUNCT hjic-495 1265 1 pp pp ADV hjic-495 1265 2 . . PUNCT hjic-495 1266 1 97–101 97–101 PROPN hjic-495 1266 2 ( ( PUNCT hjic-495 1266 3 2014 2014 NUM hjic-495 1266 4 ) ) PUNCT hjic-495 1266 5 a a DET hjic-495 1266 6 network network NOUN hjic-495 1266 7 model model NOUN hjic-495 1266 8 for for ADP hjic-495 1266 9 simulating simulate VERB hjic-495 1266 10 the the DET hjic-495 1266 11 dynamic dynamic ADJ hjic-495 1266 12 behaviour behaviour NOUN hjic-495 1266 13 of of ADP hjic-495 1266 14 an an DET hjic-495 1266 15 energy energy NOUN hjic-495 1266 16 distribution distribution NOUN hjic-495 1266 17 network network NOUN hjic-495 1266 18 levente levente NOUN hjic-495 1266 19 bálint,1 bálint,1 NOUN hjic-495 1266 20 ! ! PUNCT hjic-495 1267 1 tibor tibor PROPN hjic-495 1267 2 dulai,2 dulai,2 PROPN hjic-495 1267 3 ágnes ágne NOUN hjic-495 1267 4 stark stark ADJ hjic-495 1267 5 - - PUNCT hjic-495 1267 6 werner,2 werner,2 NOUN hjic-495 1267 7 gergely gergely ADV hjic-495 1267 8 apostol,1 apostol,1 ADJ hjic-495 1267 9 and and CCONJ hjic-495 1267 10 ádám ádám ADJ hjic-495 1267 11 tompos1 tompos1 NOUN hjic-495 1267 12 1 1 NUM hjic-495 1267 13 faculty faculty NOUN hjic-495 1267 14 of of ADP hjic-495 1267 15 information information NOUN hjic-495 1267 16 technology technology NOUN hjic-495 1267 17 , , PUNCT hjic-495 1267 18 university university NOUN hjic-495 1267 19 of of ADP hjic-495 1267 20 pannonia pannonia PROPN hjic-495 1267 21 , , PUNCT hjic-495 1267 22 egyetem egyetem NOUN hjic-495 1267 23 u. u. PROPN hjic-495 1267 24 10 10 NUM hjic-495 1267 25 . . PUNCT hjic-495 1267 26 , , PUNCT hjic-495 1267 27 veszprém veszprém NOUN hjic-495 1267 28 , , PUNCT hjic-495 1267 29 8200 8200 NUM hjic-495 1267 30 hungary hungary NOUN hjic-495 1267 31 ! ! PUNCT hjic-495 1268 1 e e X hjic-495 1268 2 - - NOUN hjic-495 1268 3 mail mail NOUN hjic-495 1268 4 : : PUNCT hjic-495 1268 5 balintlevente.z@gmail.com balintlevente.z@gmail.com PROPN hjic-495 1268 6 2 2 NUM hjic-495 1268 7 department department NOUN hjic-495 1268 8 of of ADP hjic-495 1268 9 electrical electrical ADJ hjic-495 1268 10 engineering engineering NOUN hjic-495 1268 11 and and CCONJ hjic-495 1268 12 information information NOUN hjic-495 1268 13 systems system NOUN hjic-495 1268 14 , , PUNCT hjic-495 1268 15 faculty faculty NOUN hjic-495 1268 16 of of ADP hjic-495 1268 17 information information NOUN hjic-495 1268 18 technology technology NOUN hjic-495 1268 19 , , PUNCT hjic-495 1268 20 university university NOUN hjic-495 1268 21 of of ADP hjic-495 1268 22 pannonia pannonia PROPN hjic-495 1268 23 , , PUNCT hjic-495 1268 24 egyetem egyetem NOUN hjic-495 1268 25 u. u. PROPN hjic-495 1268 26 10 10 NUM hjic-495 1268 27 . . PUNCT hjic-495 1268 28 , , PUNCT hjic-495 1268 29 veszprém veszprém NOUN hjic-495 1268 30 , , PUNCT hjic-495 1268 31 8200 8200 NUM hjic-495 1268 32 hungary hungary NOUN hjic-495 1268 33 the the DET hjic-495 1268 34 aim aim NOUN hjic-495 1268 35 of of ADP hjic-495 1268 36 this this DET hjic-495 1268 37 paper paper NOUN hjic-495 1268 38 is be AUX hjic-495 1268 39 to to PART hjic-495 1268 40 present present VERB hjic-495 1268 41 the the DET hjic-495 1268 42 planning planning NOUN hjic-495 1268 43 and and CCONJ hjic-495 1268 44 implementation implementation NOUN hjic-495 1268 45 of of ADP hjic-495 1268 46 a a DET hjic-495 1268 47 network network NOUN hjic-495 1268 48 model model NOUN hjic-495 1268 49 for for ADP hjic-495 1268 50 an an DET hjic-495 1268 51 energy energy NOUN hjic-495 1268 52 distribution distribution NOUN hjic-495 1268 53 network network NOUN hjic-495 1268 54 for for ADP hjic-495 1268 55 simulating simulate VERB hjic-495 1268 56 its its PRON hjic-495 1268 57 dynamical dynamical ADJ hjic-495 1268 58 behaviour behaviour NOUN hjic-495 1268 59 . . PUNCT hjic-495 1269 1 the the DET hjic-495 1269 2 model model NOUN hjic-495 1269 3 includes include VERB hjic-495 1269 4 different different ADJ hjic-495 1269 5 types type NOUN hjic-495 1269 6 of of ADP hjic-495 1269 7 energy energy NOUN hjic-495 1269 8 sources source NOUN hjic-495 1269 9 , , PUNCT hjic-495 1269 10 distribution distribution NOUN hjic-495 1269 11 centres centre NOUN hjic-495 1269 12 and and CCONJ hjic-495 1269 13 consumers consumer NOUN hjic-495 1269 14 . . PUNCT hjic-495 1270 1 the the DET hjic-495 1270 2 prepared prepared PROPN hjic-495 1270 3 simulation simulation NOUN hjic-495 1270 4 environment environment NOUN hjic-495 1270 5 makes make VERB hjic-495 1270 6 it it PRON hjic-495 1270 7 possible possible ADJ hjic-495 1270 8 to to PART hjic-495 1270 9 add add VERB hjic-495 1270 10 / / SYM hjic-495 1270 11 remove remove VERB hjic-495 1270 12 / / SYM hjic-495 1270 13 modify modify VERB hjic-495 1270 14 any any DET hjic-495 1270 15 type type NOUN hjic-495 1270 16 of of ADP hjic-495 1270 17 node node NOUN hjic-495 1270 18 – – PUNCT hjic-495 1270 19 to to PART hjic-495 1270 20 / / SYM hjic-495 1270 21 form form NOUN hjic-495 1270 22 / / SYM hjic-495 1270 23 in in ADP hjic-495 1270 24 the the DET hjic-495 1270 25 model model NOUN hjic-495 1270 26 . . PUNCT hjic-495 1271 1 other other ADJ hjic-495 1271 2 actions action NOUN hjic-495 1271 3 that that PRON hjic-495 1271 4 may may AUX hjic-495 1271 5 be be AUX hjic-495 1271 6 carried carry VERB hjic-495 1271 7 out out ADP hjic-495 1271 8 are be AUX hjic-495 1271 9 the the DET hjic-495 1271 10 initiation initiation NOUN hjic-495 1271 11 / / SYM hjic-495 1271 12 termination termination NOUN hjic-495 1271 13 of of ADP hjic-495 1271 14 an an DET hjic-495 1271 15 energy energy NOUN hjic-495 1271 16 source source NOUN hjic-495 1271 17 or or CCONJ hjic-495 1271 18 change change NOUN hjic-495 1271 19 to to ADP hjic-495 1271 20 its its PRON hjic-495 1271 21 production production NOUN hjic-495 1271 22 level level NOUN hjic-495 1271 23 . . PUNCT hjic-495 1272 1 the the DET hjic-495 1272 2 main main ADJ hjic-495 1272 3 goal goal NOUN hjic-495 1272 4 of of ADP hjic-495 1272 5 the the DET hjic-495 1272 6 simulation simulation NOUN hjic-495 1272 7 is be AUX hjic-495 1272 8 to to PART hjic-495 1272 9 investigate investigate VERB hjic-495 1272 10 the the DET hjic-495 1272 11 effect effect NOUN hjic-495 1272 12 of of ADP hjic-495 1272 13 an an DET hjic-495 1272 14 immediate immediate ADJ hjic-495 1272 15 event event NOUN hjic-495 1272 16 ( ( PUNCT hjic-495 1272 17 such such ADJ hjic-495 1272 18 as as ADP hjic-495 1272 19 a a DET hjic-495 1272 20 power power NOUN hjic-495 1272 21 plant plant NOUN hjic-495 1272 22 failure failure NOUN hjic-495 1272 23 , , PUNCT hjic-495 1272 24 decreased decrease VERB hjic-495 1272 25 production production NOUN hjic-495 1272 26 , , PUNCT hjic-495 1272 27 etc etc X hjic-495 1272 28 . . X hjic-495 1272 29 ) ) PUNCT hjic-495 1272 30 on on ADP hjic-495 1272 31 the the DET hjic-495 1272 32 network network NOUN hjic-495 1272 33 and and CCONJ hjic-495 1272 34 search search NOUN hjic-495 1272 35 for for ADP hjic-495 1272 36 the the DET hjic-495 1272 37 most most ADV hjic-495 1272 38 appropriate appropriate ADJ hjic-495 1272 39 substitute substitute NOUN hjic-495 1272 40 possible possible ADJ hjic-495 1272 41 . . PUNCT hjic-495 1273 1 the the DET hjic-495 1273 2 search search NOUN hjic-495 1273 3 may may AUX hjic-495 1273 4 happen happen VERB hjic-495 1273 5 either either CCONJ hjic-495 1273 6 on on ADP hjic-495 1273 7 cost cost NOUN hjic-495 1273 8 bases basis NOUN hjic-495 1273 9 or or CCONJ hjic-495 1273 10 time time NOUN hjic-495 1273 11 bases basis NOUN hjic-495 1273 12 . . PUNCT hjic-495 1274 1 the the DET hjic-495 1274 2 system system NOUN hjic-495 1274 3 created create VERB hjic-495 1274 4 is be AUX hjic-495 1274 5 based base VERB hjic-495 1274 6 on on ADP hjic-495 1274 7 web web NOUN hjic-495 1274 8 technology technology NOUN hjic-495 1274 9 , , PUNCT hjic-495 1274 10 any any DET hjic-495 1274 11 user user NOUN hjic-495 1274 12 is be AUX hjic-495 1274 13 able able ADJ hjic-495 1274 14 to to PART hjic-495 1274 15 create create VERB hjic-495 1274 16 / / SYM hjic-495 1274 17 save save VERB hjic-495 1274 18 / / SYM hjic-495 1274 19 load load VERB hjic-495 1274 20 his his PRON hjic-495 1274 21 own own ADJ hjic-495 1274 22 model model NOUN hjic-495 1274 23 and and CCONJ hjic-495 1274 24 do do VERB hjic-495 1274 25 simulations simulation NOUN hjic-495 1274 26 on on ADP hjic-495 1274 27 it it PRON hjic-495 1274 28 . . PUNCT hjic-495 1275 1 this this DET hjic-495 1275 2 work work NOUN hjic-495 1275 3 serves serve VERB hjic-495 1275 4 as as ADP hjic-495 1275 5 a a DET hjic-495 1275 6 basis basis NOUN hjic-495 1275 7 for for ADP hjic-495 1275 8 further further ADJ hjic-495 1275 9 work work NOUN hjic-495 1275 10 , , PUNCT hjic-495 1275 11 which which PRON hjic-495 1275 12 involves involve VERB hjic-495 1275 13 more more ADJ hjic-495 1275 14 complex complex ADJ hjic-495 1275 15 electrical electrical ADJ hjic-495 1275 16 knowledge knowledge NOUN hjic-495 1275 17 and and CCONJ hjic-495 1275 18 possibilities possibility NOUN hjic-495 1275 19 regarding regard VERB hjic-495 1275 20 the the DET hjic-495 1275 21 network network NOUN hjic-495 1275 22 . . PUNCT hjic-495 1276 1 keywords keyword NOUN hjic-495 1276 2 : : PUNCT hjic-495 1276 3 energy energy NOUN hjic-495 1276 4 distribution distribution NOUN hjic-495 1276 5 network network NOUN hjic-495 1276 6 , , PUNCT hjic-495 1276 7 energy energy NOUN hjic-495 1276 8 sources source NOUN hjic-495 1276 9 , , PUNCT hjic-495 1276 10 dynamical dynamical ADJ hjic-495 1276 11 behaviour behaviour NOUN hjic-495 1276 12 , , PUNCT hjic-495 1276 13 network network NOUN hjic-495 1276 14 model model NOUN hjic-495 1276 15 , , PUNCT hjic-495 1276 16 simulation simulation NOUN hjic-495 1276 17 introduction introduction NOUN hjic-495 1276 18 energy energy NOUN hjic-495 1276 19 efficiency efficiency NOUN hjic-495 1276 20 has have VERB hjic-495 1276 21 an an DET hjic-495 1276 22 increasing increase VERB hjic-495 1276 23 importance importance NOUN hjic-495 1276 24 due due ADP hjic-495 1276 25 to to ADP hjic-495 1276 26 costand costand PROPN hjic-495 1276 27 environment environment NOUN hjic-495 1276 28 - - PUNCT hjic-495 1276 29 related relate VERB hjic-495 1276 30 factors factor NOUN hjic-495 1276 31 . . PUNCT hjic-495 1277 1 at at ADP hjic-495 1277 2 the the DET hjic-495 1277 3 same same ADJ hjic-495 1277 4 time time NOUN hjic-495 1277 5 , , PUNCT hjic-495 1277 6 the the DET hjic-495 1277 7 customer customer NOUN hjic-495 1277 8 demands demand VERB hjic-495 1277 9 have have VERB hjic-495 1277 10 to to PART hjic-495 1277 11 be be AUX hjic-495 1277 12 satisfied satisfied ADJ hjic-495 1277 13 . . PUNCT hjic-495 1278 1 these these DET hjic-495 1278 2 circumstances circumstance NOUN hjic-495 1278 3 result result VERB hjic-495 1278 4 in in ADP hjic-495 1278 5 a a DET hjic-495 1278 6 largely largely ADV hjic-495 1278 7 heterogeneous heterogeneous ADJ hjic-495 1278 8 energy energy NOUN hjic-495 1278 9 producing produce VERB hjic-495 1278 10 and and CCONJ hjic-495 1278 11 distributing distribute VERB hjic-495 1278 12 environment environment NOUN hjic-495 1278 13 . . PUNCT hjic-495 1279 1 renewable renewable ADJ hjic-495 1279 2 energy energy NOUN hjic-495 1279 3 is be AUX hjic-495 1279 4 applied apply VERB hjic-495 1279 5 to to ADP hjic-495 1279 6 a a DET hjic-495 1279 7 considerable considerable ADJ hjic-495 1279 8 degree degree NOUN hjic-495 1279 9 in in ADP hjic-495 1279 10 addition addition NOUN hjic-495 1279 11 to to ADP hjic-495 1279 12 the the DET hjic-495 1279 13 electricity electricity NOUN hjic-495 1279 14 produced produce VERB hjic-495 1279 15 by by ADP hjic-495 1279 16 traditional traditional ADJ hjic-495 1279 17 power power NOUN hjic-495 1279 18 plants plant NOUN hjic-495 1279 19 [ [ X hjic-495 1279 20 1 1 NUM hjic-495 1279 21 ] ] PUNCT hjic-495 1279 22 . . PUNCT hjic-495 1280 1 this this PRON hjic-495 1280 2 resulted result VERB hjic-495 1280 3 in in ADP hjic-495 1280 4 a a DET hjic-495 1280 5 system system NOUN hjic-495 1280 6 , , PUNCT hjic-495 1280 7 where where SCONJ hjic-495 1280 8 different different ADJ hjic-495 1280 9 types type NOUN hjic-495 1280 10 of of ADP hjic-495 1280 11 energy energy NOUN hjic-495 1280 12 sources source NOUN hjic-495 1280 13 – – PUNCT hjic-495 1280 14 with with ADP hjic-495 1280 15 different different ADJ hjic-495 1280 16 properties property NOUN hjic-495 1280 17 , , PUNCT hjic-495 1280 18 like like ADP hjic-495 1280 19 cost cost NOUN hjic-495 1280 20 , , PUNCT hjic-495 1280 21 response response NOUN hjic-495 1280 22 time time NOUN hjic-495 1280 23 , , PUNCT hjic-495 1280 24 etc etc X hjic-495 1280 25 . . X hjic-495 1280 26 – – PUNCT hjic-495 1280 27 are be AUX hjic-495 1280 28 applied apply VERB hjic-495 1280 29 in in ADP hjic-495 1280 30 a a DET hjic-495 1280 31 mixed mixed ADJ hjic-495 1280 32 way way NOUN hjic-495 1280 33 . . PUNCT hjic-495 1281 1 it it PRON hjic-495 1281 2 is be AUX hjic-495 1281 3 a a DET hjic-495 1281 4 non non ADJ hjic-495 1281 5 - - ADJ hjic-495 1281 6 trivial trivial ADJ hjic-495 1281 7 task task NOUN hjic-495 1281 8 to to PART hjic-495 1281 9 decide decide VERB hjic-495 1281 10 , , PUNCT hjic-495 1281 11 which which PRON hjic-495 1281 12 sources source NOUN hjic-495 1281 13 to to PART hjic-495 1281 14 apply apply VERB hjic-495 1281 15 even even ADV hjic-495 1281 16 in in ADP hjic-495 1281 17 the the DET hjic-495 1281 18 case case NOUN hjic-495 1281 19 of of ADP hjic-495 1281 20 pre pre ADJ hjic-495 1281 21 - - ADJ hjic-495 1281 22 determined determined ADJ hjic-495 1281 23 demands demand NOUN hjic-495 1281 24 . . PUNCT hjic-495 1282 1 moreover moreover ADV hjic-495 1282 2 , , PUNCT hjic-495 1282 3 in in ADP hjic-495 1282 4 practice practice NOUN hjic-495 1282 5 the the DET hjic-495 1282 6 amount amount NOUN hjic-495 1282 7 of of ADP hjic-495 1282 8 the the DET hjic-495 1282 9 demand demand NOUN hjic-495 1282 10 appears appear VERB hjic-495 1282 11 only only ADV hjic-495 1282 12 when when SCONJ hjic-495 1282 13 needed need VERB hjic-495 1282 14 . . PUNCT hjic-495 1283 1 earlier early ADJ hjic-495 1283 2 efforts effort NOUN hjic-495 1283 3 implemented implement VERB hjic-495 1283 4 simulation simulation NOUN hjic-495 1283 5 environments environment NOUN hjic-495 1283 6 for for ADP hjic-495 1283 7 analysing analyse VERB hjic-495 1283 8 the the DET hjic-495 1283 9 effect effect NOUN hjic-495 1283 10 of of ADP hjic-495 1283 11 the the DET hjic-495 1283 12 hybrid hybrid ADJ hjic-495 1283 13 manner manner NOUN hjic-495 1283 14 of of ADP hjic-495 1283 15 an an DET hjic-495 1283 16 electric electric ADJ hjic-495 1283 17 network network NOUN hjic-495 1283 18 [ [ X hjic-495 1283 19 2 2 NUM hjic-495 1283 20 , , PUNCT hjic-495 1283 21 3 3 NUM hjic-495 1283 22 ] ] PUNCT hjic-495 1283 23 . . PUNCT hjic-495 1284 1 however however ADV hjic-495 1284 2 , , PUNCT hjic-495 1284 3 the the DET hjic-495 1284 4 problem problem NOUN hjic-495 1284 5 becomes become VERB hjic-495 1284 6 more more ADV hjic-495 1284 7 complex complex ADJ hjic-495 1284 8 when when SCONJ hjic-495 1284 9 an an DET hjic-495 1284 10 immediate immediate ADJ hjic-495 1284 11 negative negative ADJ hjic-495 1284 12 event event NOUN hjic-495 1284 13 happens happen VERB hjic-495 1284 14 , , PUNCT hjic-495 1284 15 e.g. e.g. ADV hjic-495 1284 16 an an DET hjic-495 1284 17 energy energy NOUN hjic-495 1284 18 source source NOUN hjic-495 1284 19 becomes become VERB hjic-495 1284 20 unavailable unavailable ADJ hjic-495 1284 21 or or CCONJ hjic-495 1284 22 has have VERB hjic-495 1284 23 to to PART hjic-495 1284 24 decrease decrease VERB hjic-495 1284 25 its its PRON hjic-495 1284 26 output output NOUN hjic-495 1284 27 suddenly suddenly ADV hjic-495 1284 28 . . PUNCT hjic-495 1285 1 the the DET hjic-495 1285 2 optimal optimal ADJ hjic-495 1285 3 answer answer NOUN hjic-495 1285 4 depends depend VERB hjic-495 1285 5 on on ADP hjic-495 1285 6 many many ADJ hjic-495 1285 7 factors factor NOUN hjic-495 1285 8 : : PUNCT hjic-495 1285 9 e.g. e.g. ADV hjic-495 1285 10 how how SCONJ hjic-495 1285 11 quickly quickly ADV hjic-495 1285 12 a a DET hjic-495 1285 13 new new ADJ hjic-495 1285 14 energy energy NOUN hjic-495 1285 15 source source NOUN hjic-495 1285 16 can can AUX hjic-495 1285 17 be be AUX hjic-495 1285 18 applied apply VERB hjic-495 1285 19 or or CCONJ hjic-495 1285 20 how how SCONJ hjic-495 1285 21 much much ADJ hjic-495 1285 22 it it PRON hjic-495 1285 23 will will AUX hjic-495 1285 24 cost cost VERB hjic-495 1285 25 . . PUNCT hjic-495 1286 1 moreover moreover ADV hjic-495 1286 2 , , PUNCT hjic-495 1286 3 some some DET hjic-495 1286 4 types type NOUN hjic-495 1286 5 of of ADP hjic-495 1286 6 energy energy NOUN hjic-495 1286 7 sources source NOUN hjic-495 1286 8 are be AUX hjic-495 1286 9 only only ADV hjic-495 1286 10 able able ADJ hjic-495 1286 11 to to PART hjic-495 1286 12 produce produce VERB hjic-495 1286 13 discrete discrete ADJ hjic-495 1286 14 levels level NOUN hjic-495 1286 15 of of ADP hjic-495 1286 16 output output NOUN hjic-495 1286 17 power power NOUN hjic-495 1286 18 . . PUNCT hjic-495 1287 1 this this DET hjic-495 1287 2 paper paper NOUN hjic-495 1287 3 describes describe VERB hjic-495 1287 4 a a DET hjic-495 1287 5 web web NOUN hjic-495 1287 6 - - PUNCT hjic-495 1287 7 based base VERB hjic-495 1287 8 system system NOUN hjic-495 1287 9 , , PUNCT hjic-495 1287 10 which which PRON hjic-495 1287 11 makes make VERB hjic-495 1287 12 it it PRON hjic-495 1287 13 possible possible ADJ hjic-495 1287 14 to to PART hjic-495 1287 15 create create VERB hjic-495 1287 16 and and CCONJ hjic-495 1287 17 modify modify VERB hjic-495 1287 18 an an DET hjic-495 1287 19 energy energy NOUN hjic-495 1287 20 distribution distribution NOUN hjic-495 1287 21 network network NOUN hjic-495 1287 22 ( ( PUNCT hjic-495 1287 23 including include VERB hjic-495 1287 24 different different ADJ hjic-495 1287 25 types type NOUN hjic-495 1287 26 of of ADP hjic-495 1287 27 energy energy NOUN hjic-495 1287 28 sources source NOUN hjic-495 1287 29 and and CCONJ hjic-495 1287 30 customers customer NOUN hjic-495 1287 31 , , PUNCT hjic-495 1287 32 too too ADV hjic-495 1287 33 ) ) PUNCT hjic-495 1287 34 with with ADP hjic-495 1287 35 the the DET hjic-495 1287 36 goal goal NOUN hjic-495 1287 37 of of ADP hjic-495 1287 38 simulating simulate VERB hjic-495 1287 39 different different ADJ hjic-495 1287 40 immediate immediate ADJ hjic-495 1287 41 events event NOUN hjic-495 1287 42 . . PUNCT hjic-495 1288 1 the the DET hjic-495 1288 2 requirements requirement NOUN hjic-495 1288 3 to to PART hjic-495 1288 4 be be AUX hjic-495 1288 5 collected collect VERB hjic-495 1288 6 and and CCONJ hjic-495 1288 7 the the DET hjic-495 1288 8 network network NOUN hjic-495 1288 9 model model NOUN hjic-495 1288 10 and and CCONJ hjic-495 1288 11 its its PRON hjic-495 1288 12 elements element NOUN hjic-495 1288 13 are be AUX hjic-495 1288 14 introduced introduce VERB hjic-495 1288 15 , , PUNCT hjic-495 1288 16 followed follow VERB hjic-495 1288 17 by by ADP hjic-495 1288 18 details detail NOUN hjic-495 1288 19 of of ADP hjic-495 1288 20 the the DET hjic-495 1288 21 implementation implementation NOUN hjic-495 1288 22 and and CCONJ hjic-495 1288 23 simulation simulation NOUN hjic-495 1288 24 . . PUNCT hjic-495 1289 1 requirements requirement NOUN hjic-495 1289 2 : : PUNCT hjic-495 1289 3 the the DET hjic-495 1289 4 desired desire VERB hjic-495 1289 5 properties property NOUN hjic-495 1289 6 of of ADP hjic-495 1289 7 the the DET hjic-495 1289 8 system system NOUN hjic-495 1289 9 functional functional ADJ hjic-495 1289 10 requirements requirement NOUN hjic-495 1289 11 include include VERB hjic-495 1289 12 mainly mainly ADV hjic-495 1289 13 the the DET hjic-495 1289 14 creation creation NOUN hjic-495 1289 15 and and CCONJ hjic-495 1289 16 manipulation manipulation NOUN hjic-495 1289 17 of of ADP hjic-495 1289 18 network network NOUN hjic-495 1289 19 models model NOUN hjic-495 1289 20 and and CCONJ hjic-495 1289 21 simulations simulation NOUN hjic-495 1289 22 . . PUNCT hjic-495 1290 1 fig.1 fig.1 ADJ hjic-495 1290 2 presents present VERB hjic-495 1290 3 the the DET hjic-495 1290 4 possible possible ADJ hjic-495 1290 5 applications application NOUN hjic-495 1290 6 of of ADP hjic-495 1290 7 the the DET hjic-495 1290 8 system system NOUN hjic-495 1290 9 . . PUNCT hjic-495 1291 1 the the DET hjic-495 1291 2 interface interface NOUN hjic-495 1291 3 contains contain VERB hjic-495 1291 4 a a DET hjic-495 1291 5 tree tree NOUN hjic-495 1291 6 graph graph NOUN hjic-495 1291 7 - - PUNCT hjic-495 1291 8 based base VERB hjic-495 1291 9 model model NOUN hjic-495 1291 10 whose whose DET hjic-495 1291 11 root root NOUN hjic-495 1291 12 is be AUX hjic-495 1291 13 the the DET hjic-495 1291 14 power power NOUN hjic-495 1291 15 source source NOUN hjic-495 1291 16 , , PUNCT hjic-495 1291 17 the the DET hjic-495 1291 18 inner inner ADJ hjic-495 1291 19 nodes node NOUN hjic-495 1291 20 are be AUX hjic-495 1291 21 the the DET hjic-495 1291 22 network network NOUN hjic-495 1291 23 stations station NOUN hjic-495 1291 24 and and CCONJ hjic-495 1291 25 the the DET hjic-495 1291 26 leaves leave NOUN hjic-495 1291 27 are be AUX hjic-495 1291 28 the the DET hjic-495 1291 29 consumers consumer NOUN hjic-495 1291 30 . . PUNCT hjic-495 1292 1 the the DET hjic-495 1292 2 graph graph NOUN hjic-495 1292 3 ’s ’s PART hjic-495 1292 4 edges edge NOUN hjic-495 1292 5 are be AUX hjic-495 1292 6 the the DET hjic-495 1292 7 connections connection NOUN hjic-495 1292 8 between between ADP hjic-495 1292 9 the the DET hjic-495 1292 10 components component NOUN hjic-495 1292 11 . . PUNCT hjic-495 1293 1 there there PRON hjic-495 1293 2 are be VERB hjic-495 1293 3 multiple multiple ADJ hjic-495 1293 4 projects project NOUN hjic-495 1293 5 in in ADP hjic-495 1293 6 the the DET hjic-495 1293 7 system system NOUN hjic-495 1293 8 , , PUNCT hjic-495 1293 9 each each DET hjic-495 1293 10 project project NOUN hjic-495 1293 11 contains contain VERB hjic-495 1293 12 a a DET hjic-495 1293 13 model model NOUN hjic-495 1293 14 . . PUNCT hjic-495 1294 1 the the DET hjic-495 1294 2 main main ADJ hjic-495 1294 3 functions function NOUN hjic-495 1294 4 of of ADP hjic-495 1294 5 the the DET hjic-495 1294 6 system system NOUN hjic-495 1294 7 are be AUX hjic-495 1294 8 available available ADJ hjic-495 1294 9 through through ADP hjic-495 1294 10 the the DET hjic-495 1294 11 modeling modeling NOUN hjic-495 1294 12 and and CCONJ hjic-495 1294 13 simulation simulation NOUN hjic-495 1294 14 interfaces interface NOUN hjic-495 1294 15 . . PUNCT hjic-495 1295 1 during during ADP hjic-495 1295 2 the the DET hjic-495 1295 3 simulation simulation NOUN hjic-495 1295 4 the the DET hjic-495 1295 5 components component NOUN hjic-495 1295 6 can can AUX hjic-495 1295 7 be be AUX hjic-495 1295 8 switched switch VERB hjic-495 1295 9 on on ADP hjic-495 1295 10 and and CCONJ hjic-495 1295 11 off off ADV hjic-495 1295 12 . . PUNCT hjic-495 1296 1 after after ADP hjic-495 1296 2 two two NUM hjic-495 1296 3 hours hour NOUN hjic-495 1296 4 of of ADP hjic-495 1296 5 simulation simulation NOUN hjic-495 1296 6 a a DET hjic-495 1296 7 statistic statistic ADJ hjic-495 1296 8 diagram diagram NOUN hjic-495 1296 9 can can AUX hjic-495 1296 10 be be AUX hjic-495 1296 11 viewed view VERB hjic-495 1296 12 for for ADP hjic-495 1296 13 each each DET hjic-495 1296 14 component component NOUN hjic-495 1296 15 of of ADP hjic-495 1296 16 the the DET hjic-495 1296 17 model model NOUN hjic-495 1296 18 , , PUNCT hjic-495 1296 19 showing show VERB hjic-495 1296 20 its its PRON hjic-495 1296 21 consumption consumption NOUN hjic-495 1296 22 or or CCONJ hjic-495 1296 23 production production NOUN hjic-495 1296 24 . . PUNCT hjic-495 1297 1 information information NOUN hjic-495 1297 2 about about ADP hjic-495 1297 3 components component NOUN hjic-495 1297 4 can can AUX hjic-495 1297 5 be be AUX hjic-495 1297 6 edited edit VERB hjic-495 1297 7 while while SCONJ hjic-495 1297 8 the the DET hjic-495 1297 9 system system NOUN hjic-495 1297 10 is be AUX hjic-495 1297 11 not not PART hjic-495 1297 12 simulating simulate VERB hjic-495 1297 13 . . PUNCT hjic-495 1298 1 next next ADV hjic-495 1298 2 to to ADP hjic-495 1298 3 the the DET hjic-495 1298 4 functional functional ADJ hjic-495 1298 5 requirements requirement NOUN hjic-495 1298 6 , , PUNCT hjic-495 1298 7 the the DET hjic-495 1298 8 system system NOUN hjic-495 1298 9 - - PUNCT hjic-495 1298 10 related relate VERB hjic-495 1298 11 requirements requirement NOUN hjic-495 1298 12 are be AUX hjic-495 1298 13 that that PRON hjic-495 1298 14 : : PUNCT hjic-495 1298 15 • • ADP hjic-495 1298 16 the the DET hjic-495 1298 17 system system NOUN hjic-495 1298 18 has have VERB hjic-495 1298 19 to to PART hjic-495 1298 20 be be AUX hjic-495 1298 21 web web NOUN hjic-495 1298 22 - - PUNCT hjic-495 1298 23 based base VERB hjic-495 1298 24 , , PUNCT hjic-495 1298 25 • • SCONJ hjic-495 1298 26 no no DET hjic-495 1298 27 user user NOUN hjic-495 1298 28 authentication authentication NOUN hjic-495 1298 29 is be AUX hjic-495 1298 30 needed need VERB hjic-495 1298 31 , , PUNCT hjic-495 1298 32 • • CCONJ hjic-495 1298 33 the the DET hjic-495 1298 34 reaction reaction NOUN hjic-495 1298 35 time time NOUN hjic-495 1298 36 is be AUX hjic-495 1298 37 less less ADJ hjic-495 1298 38 than than ADP hjic-495 1298 39 1 1 NUM hjic-495 1298 40 s s NOUN hjic-495 1298 41 , , PUNCT hjic-495 1298 42 even even ADV hjic-495 1298 43 if if SCONJ hjic-495 1298 44 there there PRON hjic-495 1298 45 are be VERB hjic-495 1298 46 100 100 NUM hjic-495 1298 47 users user NOUN hjic-495 1298 48 , , PUNCT hjic-495 1298 49 and and CCONJ hjic-495 1298 50 • • NUM hjic-495 1298 51 any any DET hjic-495 1298 52 system system NOUN hjic-495 1298 53 or or CCONJ hjic-495 1298 54 communication communication NOUN hjic-495 1298 55 failure failure NOUN hjic-495 1298 56 has have VERB hjic-495 1298 57 to to PART hjic-495 1298 58 be be AUX hjic-495 1298 59 presented present VERB hjic-495 1298 60 by by ADP hjic-495 1298 61 an an DET hjic-495 1298 62 unambiguous unambiguous ADJ hjic-495 1298 63 alert alert NOUN hjic-495 1298 64 to to ADP hjic-495 1298 65 the the DET hjic-495 1298 66 user user NOUN hjic-495 1298 67 . . PUNCT hjic-495 1299 1 98 98 NUM hjic-495 1299 2 the the DET hjic-495 1299 3 interface interface NOUN hjic-495 1299 4 the the DET hjic-495 1299 5 interface interface NOUN hjic-495 1299 6 of of ADP hjic-495 1299 7 the the DET hjic-495 1299 8 system system NOUN hjic-495 1299 9 contains contain VERB hjic-495 1299 10 four four NUM hjic-495 1299 11 important important ADJ hjic-495 1299 12 elements element NOUN hjic-495 1299 13 . . PUNCT hjic-495 1300 1 on on ADP hjic-495 1300 2 the the DET hjic-495 1300 3 upper upper ADJ hjic-495 1300 4 edge edge NOUN hjic-495 1300 5 is be AUX hjic-495 1300 6 the the DET hjic-495 1300 7 modelling model VERB hjic-495 1300 8 control control NOUN hjic-495 1300 9 bar bar NOUN hjic-495 1300 10 with with ADP hjic-495 1300 11 the the DET hjic-495 1300 12 component component NOUN hjic-495 1300 13 adding add VERB hjic-495 1300 14 buttons button NOUN hjic-495 1300 15 , , PUNCT hjic-495 1300 16 background background NOUN hjic-495 1300 17 theme theme NOUN hjic-495 1300 18 switcher switcher NOUN hjic-495 1300 19 and and CCONJ hjic-495 1300 20 save save VERB hjic-495 1300 21 / / SYM hjic-495 1300 22 load load NOUN hjic-495 1300 23 buttons button NOUN hjic-495 1300 24 . . PUNCT hjic-495 1301 1 by by ADP hjic-495 1301 2 pressing press VERB hjic-495 1301 3 the the DET hjic-495 1301 4 load load NOUN hjic-495 1301 5 button button NOUN hjic-495 1301 6 , , PUNCT hjic-495 1301 7 the the DET hjic-495 1301 8 system system NOUN hjic-495 1301 9 opens open VERB hjic-495 1301 10 the the DET hjic-495 1301 11 project project NOUN hjic-495 1301 12 selector selector NOUN hjic-495 1301 13 . . PUNCT hjic-495 1302 1 the the DET hjic-495 1302 2 save save NOUN hjic-495 1302 3 button button NOUN hjic-495 1302 4 must must AUX hjic-495 1302 5 be be AUX hjic-495 1302 6 pressed press VERB hjic-495 1302 7 before before ADP hjic-495 1302 8 loading load VERB hjic-495 1302 9 another another DET hjic-495 1302 10 project project NOUN hjic-495 1302 11 in in ADP hjic-495 1302 12 order order NOUN hjic-495 1302 13 to to PART hjic-495 1302 14 save save VERB hjic-495 1302 15 the the DET hjic-495 1302 16 current current ADJ hjic-495 1302 17 one one NUM hjic-495 1302 18 . . PUNCT hjic-495 1303 1 under under ADP hjic-495 1303 2 the the DET hjic-495 1303 3 right right ADJ hjic-495 1303 4 side side NOUN hjic-495 1303 5 of of ADP hjic-495 1303 6 the the DET hjic-495 1303 7 control control NOUN hjic-495 1303 8 bar bar NOUN hjic-495 1303 9 , , PUNCT hjic-495 1303 10 there there PRON hjic-495 1303 11 is be VERB hjic-495 1303 12 the the DET hjic-495 1303 13 simulation simulation NOUN hjic-495 1303 14 control control PROPN hjic-495 1303 15 panel panel PROPN hjic-495 1303 16 . . PUNCT hjic-495 1304 1 there there PRON hjic-495 1304 2 are be VERB hjic-495 1304 3 buttons button NOUN hjic-495 1304 4 on on ADP hjic-495 1304 5 it it PRON hjic-495 1304 6 for for ADP hjic-495 1304 7 editing edit VERB hjic-495 1304 8 corporate corporate ADJ hjic-495 1304 9 and and CCONJ hjic-495 1304 10 residential residential ADJ hjic-495 1304 11 priority priority NOUN hjic-495 1304 12 orders order NOUN hjic-495 1304 13 , , PUNCT hjic-495 1304 14 and and CCONJ hjic-495 1304 15 sliders slider NOUN hjic-495 1304 16 for for ADP hjic-495 1304 17 the the DET hjic-495 1304 18 importance importance NOUN hjic-495 1304 19 of of ADP hjic-495 1304 20 certain certain ADJ hjic-495 1304 21 properties property NOUN hjic-495 1304 22 while while SCONJ hjic-495 1304 23 calculating calculate VERB hjic-495 1304 24 the the DET hjic-495 1304 25 priority priority NOUN hjic-495 1304 26 order order NOUN hjic-495 1304 27 of of ADP hjic-495 1304 28 the the DET hjic-495 1304 29 power power NOUN hjic-495 1304 30 sources source NOUN hjic-495 1304 31 . . PUNCT hjic-495 1305 1 there there PRON hjic-495 1305 2 are be VERB hjic-495 1305 3 buttons button NOUN hjic-495 1305 4 for for ADP hjic-495 1305 5 starting starting NOUN hjic-495 1305 6 , , PUNCT hjic-495 1305 7 stopping stop VERB hjic-495 1305 8 , , PUNCT hjic-495 1305 9 and and CCONJ hjic-495 1305 10 restarting restart VERB hjic-495 1305 11 simulation simulation NOUN hjic-495 1305 12 time time NOUN hjic-495 1305 13 . . PUNCT hjic-495 1306 1 the the DET hjic-495 1306 2 simulation simulation NOUN hjic-495 1306 3 time time NOUN hjic-495 1306 4 begins begin VERB hjic-495 1306 5 at at ADP hjic-495 1306 6 6:00 6:00 NUM hjic-495 1306 7 am am NOUN hjic-495 1306 8 and and CCONJ hjic-495 1306 9 the the DET hjic-495 1306 10 step step NOUN hjic-495 1306 11 time time NOUN hjic-495 1306 12 can can AUX hjic-495 1306 13 be be AUX hjic-495 1306 14 set set VERB hjic-495 1306 15 from from ADP hjic-495 1306 16 1 1 NUM hjic-495 1306 17 to to PART hjic-495 1306 18 60 60 NUM hjic-495 1306 19 minutes minute NOUN hjic-495 1306 20 . . PUNCT hjic-495 1307 1 in in ADP hjic-495 1307 2 the the DET hjic-495 1307 3 bottom bottom ADJ hjic-495 1307 4 left left ADJ hjic-495 1307 5 - - PUNCT hjic-495 1307 6 hand hand NOUN hjic-495 1307 7 corner corner NOUN hjic-495 1307 8 , , PUNCT hjic-495 1307 9 the the DET hjic-495 1307 10 event event NOUN hjic-495 1307 11 - - PUNCT hjic-495 1307 12 log log NOUN hjic-495 1307 13 is be AUX hjic-495 1307 14 located locate VERB hjic-495 1307 15 , , PUNCT hjic-495 1307 16 which which PRON hjic-495 1307 17 indicates indicate VERB hjic-495 1307 18 the the DET hjic-495 1307 19 basic basic ADJ hjic-495 1307 20 events event NOUN hjic-495 1307 21 like like ADP hjic-495 1307 22 start start VERB hjic-495 1307 23 / / SYM hjic-495 1307 24 stop stop NOUN hjic-495 1307 25 simulation simulation NOUN hjic-495 1307 26 , , PUNCT hjic-495 1307 27 add add VERB hjic-495 1307 28 / / SYM hjic-495 1307 29 remove remove NOUN hjic-495 1307 30 components component NOUN hjic-495 1307 31 in in ADP hjic-495 1307 32 black black ADJ hjic-495 1307 33 and and CCONJ hjic-495 1307 34 important important ADJ hjic-495 1307 35 events event NOUN hjic-495 1307 36 like like ADP hjic-495 1307 37 system system NOUN hjic-495 1307 38 failure failure NOUN hjic-495 1307 39 or or CCONJ hjic-495 1307 40 insufficient insufficient ADJ hjic-495 1307 41 power power NOUN hjic-495 1307 42 in in ADP hjic-495 1307 43 red red PROPN hjic-495 1307 44 . . PUNCT hjic-495 1308 1 all all DET hjic-495 1308 2 events event NOUN hjic-495 1308 3 have have VERB hjic-495 1308 4 a a DET hjic-495 1308 5 time time NOUN hjic-495 1308 6 - - PUNCT hjic-495 1308 7 stamp stamp NOUN hjic-495 1308 8 . . PUNCT hjic-495 1309 1 while while SCONJ hjic-495 1309 2 hovering hover VERB hjic-495 1309 3 the the DET hjic-495 1309 4 mouse mouse NOUN hjic-495 1309 5 over over ADP hjic-495 1309 6 a a DET hjic-495 1309 7 component component NOUN hjic-495 1309 8 , , PUNCT hjic-495 1309 9 the the DET hjic-495 1309 10 system system NOUN hjic-495 1309 11 shows show VERB hjic-495 1309 12 the the DET hjic-495 1309 13 detailed detailed ADJ hjic-495 1309 14 properties property NOUN hjic-495 1309 15 of of ADP hjic-495 1309 16 the the DET hjic-495 1309 17 element element NOUN hjic-495 1309 18 . . PUNCT hjic-495 1310 1 double double ADJ hjic-495 1310 2 clicking clicking NOUN hjic-495 1310 3 selects select NOUN hjic-495 1310 4 a a DET hjic-495 1310 5 component component NOUN hjic-495 1310 6 or or CCONJ hjic-495 1310 7 deletes delete VERB hjic-495 1310 8 a a DET hjic-495 1310 9 connection connection NOUN hjic-495 1310 10 . . PUNCT hjic-495 1311 1 while while SCONJ hjic-495 1311 2 a a DET hjic-495 1311 3 component component NOUN hjic-495 1311 4 is be AUX hjic-495 1311 5 selected select VERB hjic-495 1311 6 , , PUNCT hjic-495 1311 7 the the DET hjic-495 1311 8 edit edit NOUN hjic-495 1311 9 , , PUNCT hjic-495 1311 10 delete delete ADJ hjic-495 1311 11 and and CCONJ hjic-495 1311 12 diagram diagram NOUN hjic-495 1311 13 buttons button NOUN hjic-495 1311 14 appear appear VERB hjic-495 1311 15 in in ADP hjic-495 1311 16 the the DET hjic-495 1311 17 modelling modelling NOUN hjic-495 1311 18 control control NOUN hjic-495 1311 19 bar bar NOUN hjic-495 1311 20 . . PUNCT hjic-495 1312 1 the the DET hjic-495 1312 2 diagram diagram NOUN hjic-495 1312 3 button button NOUN hjic-495 1312 4 works work VERB hjic-495 1312 5 only only ADV hjic-495 1312 6 after after ADP hjic-495 1312 7 a a DET hjic-495 1312 8 minimum minimum NOUN hjic-495 1312 9 of of ADP hjic-495 1312 10 two two NUM hjic-495 1312 11 hours hour NOUN hjic-495 1312 12 of of ADP hjic-495 1312 13 simulation simulation NOUN hjic-495 1312 14 . . PUNCT hjic-495 1313 1 in in ADP hjic-495 1313 2 simulation simulation NOUN hjic-495 1313 3 mode mode VERB hjic-495 1313 4 the the DET hjic-495 1313 5 modelling modelling NOUN hjic-495 1313 6 control control NOUN hjic-495 1313 7 bar bar NOUN hjic-495 1313 8 is be AUX hjic-495 1313 9 hidden hide VERB hjic-495 1313 10 and and CCONJ hjic-495 1313 11 double double ADJ hjic-495 1313 12 clicking clicking NOUN hjic-495 1313 13 switches switch NOUN hjic-495 1313 14 a a DET hjic-495 1313 15 component component NOUN hjic-495 1313 16 on on ADP hjic-495 1313 17 / / SYM hjic-495 1313 18 off off NOUN hjic-495 1313 19 . . PUNCT hjic-495 1314 1 the the DET hjic-495 1314 2 network network NOUN hjic-495 1314 3 model model NOUN hjic-495 1314 4 and and CCONJ hjic-495 1314 5 its its PRON hjic-495 1314 6 elements element NOUN hjic-495 1314 7 as as ADP hjic-495 1314 8 the the DET hjic-495 1314 9 system system NOUN hjic-495 1314 10 ’s ’s PART hjic-495 1314 11 main main ADJ hjic-495 1314 12 potential potential NOUN hjic-495 1314 13 is be AUX hjic-495 1314 14 in in ADP hjic-495 1314 15 handling handle VERB hjic-495 1314 16 different different ADJ hjic-495 1314 17 types type NOUN hjic-495 1314 18 of of ADP hjic-495 1314 19 network network NOUN hjic-495 1314 20 nodes node NOUN hjic-495 1314 21 and and CCONJ hjic-495 1314 22 making make VERB hjic-495 1314 23 the the DET hjic-495 1314 24 investigation investigation NOUN hjic-495 1314 25 of of ADP hjic-495 1314 26 a a DET hjic-495 1314 27 heterogeneous heterogeneous ADJ hjic-495 1314 28 energy energy NOUN hjic-495 1314 29 producing produce VERB hjic-495 1314 30 and and CCONJ hjic-495 1314 31 distribution distribution NOUN hjic-495 1314 32 system system NOUN hjic-495 1314 33 possible possible ADJ hjic-495 1314 34 , , PUNCT hjic-495 1314 35 the the DET hjic-495 1314 36 elements element NOUN hjic-495 1314 37 of of ADP hjic-495 1314 38 the the DET hjic-495 1314 39 network network NOUN hjic-495 1314 40 models model NOUN hjic-495 1314 41 and and CCONJ hjic-495 1314 42 their their PRON hjic-495 1314 43 properties property NOUN hjic-495 1314 44 have have VERB hjic-495 1314 45 a a DET hjic-495 1314 46 huge huge ADJ hjic-495 1314 47 role role NOUN hjic-495 1314 48 . . PUNCT hjic-495 1315 1 the the DET hjic-495 1315 2 network network NOUN hjic-495 1315 3 nodes node NOUN hjic-495 1315 4 can can AUX hjic-495 1315 5 be be AUX hjic-495 1315 6 classified classify VERB hjic-495 1315 7 as as SCONJ hjic-495 1315 8 follows follow VERB hjic-495 1315 9 . . PUNCT hjic-495 1316 1 energy energy NOUN hjic-495 1316 2 sources source NOUN hjic-495 1316 3 the the DET hjic-495 1316 4 system system NOUN hjic-495 1316 5 considers consider VERB hjic-495 1316 6 renewable renewable ADJ hjic-495 1316 7 energy energy NOUN hjic-495 1316 8 sources source NOUN hjic-495 1316 9 ( ( PUNCT hjic-495 1316 10 water water NOUN hjic-495 1316 11 , , PUNCT hjic-495 1316 12 bio bio NOUN hjic-495 1316 13 , , PUNCT hjic-495 1316 14 wind wind NOUN hjic-495 1316 15 , , PUNCT hjic-495 1316 16 solar solar ADJ hjic-495 1316 17 , , PUNCT hjic-495 1316 18 and and CCONJ hjic-495 1316 19 geo geo PROPN hjic-495 1316 20 ) ) PUNCT hjic-495 1316 21 , , PUNCT hjic-495 1316 22 non non ADJ hjic-495 1316 23 - - ADJ hjic-495 1316 24 renewable renewable ADJ hjic-495 1316 25 energy energy NOUN hjic-495 1316 26 sources source NOUN hjic-495 1316 27 ( ( PUNCT hjic-495 1316 28 natural natural ADJ hjic-495 1316 29 gas gas NOUN hjic-495 1316 30 , , PUNCT hjic-495 1316 31 petrol petrol NOUN hjic-495 1316 32 , , PUNCT hjic-495 1316 33 coal coal NOUN hjic-495 1316 34 , , PUNCT hjic-495 1316 35 nuclear nuclear NOUN hjic-495 1316 36 ) ) PUNCT hjic-495 1316 37 , , PUNCT hjic-495 1316 38 and and CCONJ hjic-495 1316 39 quick quick ADJ hjic-495 1316 40 start start VERB hjic-495 1316 41 - - PUNCT hjic-495 1316 42 up up ADP hjic-495 1316 43 energy energy NOUN hjic-495 1316 44 sources source NOUN hjic-495 1316 45 ( ( PUNCT hjic-495 1316 46 gas gas NOUN hjic-495 1316 47 turbines turbine NOUN hjic-495 1316 48 ) ) PUNCT hjic-495 1316 49 when when SCONJ hjic-495 1316 50 the the DET hjic-495 1316 51 energy energy NOUN hjic-495 1316 52 provided provide VERB hjic-495 1316 53 by by ADP hjic-495 1316 54 power power NOUN hjic-495 1316 55 plants plant NOUN hjic-495 1316 56 is be AUX hjic-495 1316 57 insufficient insufficient ADJ hjic-495 1316 58 for for ADP hjic-495 1316 59 consumers consumer NOUN hjic-495 1316 60 . . PUNCT hjic-495 1317 1 each each DET hjic-495 1317 2 energy energy NOUN hjic-495 1317 3 source source NOUN hjic-495 1317 4 has have VERB hjic-495 1317 5 a a DET hjic-495 1317 6 unique unique ADJ hjic-495 1317 7 name name NOUN hjic-495 1317 8 and and CCONJ hjic-495 1317 9 a a DET hjic-495 1317 10 maximum maximum ADJ hjic-495 1317 11 output output NOUN hjic-495 1317 12 , , PUNCT hjic-495 1317 13 which which PRON hjic-495 1317 14 defines define VERB hjic-495 1317 15 an an DET hjic-495 1317 16 upper upper ADJ hjic-495 1317 17 limit limit NOUN hjic-495 1317 18 for for ADP hjic-495 1317 19 the the DET hjic-495 1317 20 source source NOUN hjic-495 1317 21 ( ( PUNCT hjic-495 1317 22 fig.2 fig.2 PROPN hjic-495 1317 23 ) ) PUNCT hjic-495 1317 24 . . PUNCT hjic-495 1318 1 a a DET hjic-495 1318 2 minimum minimum ADJ hjic-495 1318 3 output output NOUN hjic-495 1318 4 is be AUX hjic-495 1318 5 defined define VERB hjic-495 1318 6 as as ADP hjic-495 1318 7 a a DET hjic-495 1318 8 lower low ADJ hjic-495 1318 9 limit limit NOUN hjic-495 1318 10 , , PUNCT hjic-495 1318 11 below below ADP hjic-495 1318 12 that that SCONJ hjic-495 1318 13 the the DET hjic-495 1318 14 operation operation NOUN hjic-495 1318 15 is be AUX hjic-495 1318 16 not not PART hjic-495 1318 17 profitable profitable ADJ hjic-495 1318 18 . . PUNCT hjic-495 1319 1 start start VERB hjic-495 1319 2 - - PUNCT hjic-495 1319 3 up up ADP hjic-495 1319 4 cost cost NOUN hjic-495 1319 5 is be AUX hjic-495 1319 6 the the DET hjic-495 1319 7 cost cost NOUN hjic-495 1319 8 needed need VERB hjic-495 1319 9 to to PART hjic-495 1319 10 switch switch VERB hjic-495 1319 11 on on ADP hjic-495 1319 12 the the DET hjic-495 1319 13 source source NOUN hjic-495 1319 14 , , PUNCT hjic-495 1319 15 and and CCONJ hjic-495 1319 16 starttime starttime NOUN hjic-495 1319 17 is be AUX hjic-495 1319 18 the the DET hjic-495 1319 19 time time NOUN hjic-495 1319 20 required require VERB hjic-495 1319 21 to to PART hjic-495 1319 22 start start VERB hjic-495 1319 23 producing produce VERB hjic-495 1319 24 energy energy NOUN hjic-495 1319 25 . . PUNCT hjic-495 1320 1 the the DET hjic-495 1320 2 operational operational ADJ hjic-495 1320 3 cost cost NOUN hjic-495 1320 4 is be AUX hjic-495 1320 5 a a DET hjic-495 1320 6 financial financial ADJ hjic-495 1320 7 value value NOUN hjic-495 1320 8 which which PRON hjic-495 1320 9 is be AUX hjic-495 1320 10 needed need VERB hjic-495 1320 11 for for ADP hjic-495 1320 12 one one NUM hjic-495 1320 13 hour hour NOUN hjic-495 1320 14 of of ADP hjic-495 1320 15 operation operation NOUN hjic-495 1320 16 . . PUNCT hjic-495 1321 1 power power NOUN hjic-495 1321 2 sources source NOUN hjic-495 1321 3 have have VERB hjic-495 1321 4 an an DET hjic-495 1321 5 environmental environmental ADJ hjic-495 1321 6 multiplier multiplier NOUN hjic-495 1321 7 . . PUNCT hjic-495 1322 1 this this DET hjic-495 1322 2 multiplier multiplier ADV hjic-495 1322 3 is be AUX hjic-495 1322 4 1 1 NUM hjic-495 1322 5 for for ADP hjic-495 1322 6 renewable renewable ADJ hjic-495 1322 7 sources source NOUN hjic-495 1322 8 , , PUNCT hjic-495 1322 9 0.2 0.2 NUM hjic-495 1322 10 for for ADP hjic-495 1322 11 non non ADJ hjic-495 1322 12 - - ADJ hjic-495 1322 13 renewable renewable ADJ hjic-495 1322 14 ones one NOUN hjic-495 1322 15 and and CCONJ hjic-495 1322 16 0.1 0.1 NUM hjic-495 1322 17 for for ADP hjic-495 1322 18 quick quick ADJ hjic-495 1322 19 start start VERB hjic-495 1322 20 - - PUNCT hjic-495 1322 21 up up ADP hjic-495 1322 22 sources source NOUN hjic-495 1322 23 by by ADP hjic-495 1322 24 default default NOUN hjic-495 1322 25 , , PUNCT hjic-495 1322 26 but but CCONJ hjic-495 1322 27 it it PRON hjic-495 1322 28 can can AUX hjic-495 1322 29 be be AUX hjic-495 1322 30 edited edit VERB hjic-495 1322 31 any any DET hjic-495 1322 32 time time NOUN hjic-495 1322 33 during during ADP hjic-495 1322 34 the the DET hjic-495 1322 35 modelling modelling NOUN hjic-495 1322 36 . . PUNCT hjic-495 1323 1 larger large ADJ hjic-495 1323 2 values value NOUN hjic-495 1323 3 are be AUX hjic-495 1323 4 better well ADJ hjic-495 1323 5 , , PUNCT hjic-495 1323 6 the the DET hjic-495 1323 7 maximum maximum NOUN hjic-495 1323 8 is be AUX hjic-495 1323 9 1 1 NUM hjic-495 1323 10 but but CCONJ hjic-495 1323 11 the the DET hjic-495 1323 12 value value NOUN hjic-495 1323 13 can can AUX hjic-495 1323 14 not not PART hjic-495 1323 15 be be AUX hjic-495 1323 16 0 0 NUM hjic-495 1323 17 . . PUNCT hjic-495 1324 1 the the DET hjic-495 1324 2 system system NOUN hjic-495 1324 3 calculates calculate VERB hjic-495 1324 4 an an DET hjic-495 1324 5 order order NOUN hjic-495 1324 6 between between ADP hjic-495 1324 7 sources source NOUN hjic-495 1324 8 from from ADP hjic-495 1324 9 their their PRON hjic-495 1324 10 start start VERB hjic-495 1324 11 - - PUNCT hjic-495 1324 12 up up ADP hjic-495 1324 13 cost cost NOUN hjic-495 1324 14 , , PUNCT hjic-495 1324 15 operational operational ADJ hjic-495 1324 16 cost cost NOUN hjic-495 1324 17 and and CCONJ hjic-495 1324 18 environmental environmental ADJ hjic-495 1324 19 multiplier multiplier NOUN hjic-495 1324 20 . . PUNCT hjic-495 1325 1 this this DET hjic-495 1325 2 order order NOUN hjic-495 1325 3 can can AUX hjic-495 1325 4 be be AUX hjic-495 1325 5 modified modify VERB hjic-495 1325 6 by by ADP hjic-495 1325 7 the the DET hjic-495 1325 8 user user NOUN hjic-495 1325 9 before before ADP hjic-495 1325 10 starting start VERB hjic-495 1325 11 the the DET hjic-495 1325 12 simulation simulation NOUN hjic-495 1325 13 . . PUNCT hjic-495 1326 1 distributing distribute VERB hjic-495 1326 2 elements element NOUN hjic-495 1326 3 distributing distribute VERB hjic-495 1326 4 elements element NOUN hjic-495 1326 5 for for ADP hjic-495 1326 6 the the DET hjic-495 1326 7 system system NOUN hjic-495 1326 8 are be AUX hjic-495 1326 9 power power NOUN hjic-495 1326 10 plant plant NOUN hjic-495 1326 11 stations station NOUN hjic-495 1326 12 that that PRON hjic-495 1326 13 distribute distribute VERB hjic-495 1326 14 the the DET hjic-495 1326 15 energy energy NOUN hjic-495 1326 16 to to ADP hjic-495 1326 17 multiple multiple ADJ hjic-495 1326 18 network network NOUN hjic-495 1326 19 stations station NOUN hjic-495 1326 20 that that PRON hjic-495 1326 21 further far ADV hjic-495 1326 22 distribute distribute VERB hjic-495 1326 23 the the DET hjic-495 1326 24 energy energy NOUN hjic-495 1326 25 to to ADP hjic-495 1326 26 retail retail ADJ hjic-495 1326 27 stations station NOUN hjic-495 1326 28 directly directly ADV hjic-495 1326 29 transmit transmit VERB hjic-495 1326 30 the the DET hjic-495 1326 31 energy energy NOUN hjic-495 1326 32 to to ADP hjic-495 1326 33 consumers consumer NOUN hjic-495 1326 34 . . PUNCT hjic-495 1327 1 distributing distribute VERB hjic-495 1327 2 stations station NOUN hjic-495 1327 3 have have VERB hjic-495 1327 4 only only ADV hjic-495 1327 5 two two NUM hjic-495 1327 6 properties property NOUN hjic-495 1327 7 ( ( PUNCT hjic-495 1327 8 fig.3 fig.3 PROPN hjic-495 1327 9 ) ) PUNCT hjic-495 1327 10 . . PUNCT hjic-495 1328 1 they they PRON hjic-495 1328 2 have have VERB hjic-495 1328 3 a a DET hjic-495 1328 4 unique unique ADJ hjic-495 1328 5 name name NOUN hjic-495 1328 6 to to PART hjic-495 1328 7 identify identify VERB hjic-495 1328 8 them they PRON hjic-495 1328 9 and and CCONJ hjic-495 1328 10 a a DET hjic-495 1328 11 maximum maximum ADJ hjic-495 1328 12 throughput throughput NOUN hjic-495 1328 13 , , PUNCT hjic-495 1328 14 which which PRON hjic-495 1328 15 is be AUX hjic-495 1328 16 the the DET hjic-495 1328 17 maximum maximum ADJ hjic-495 1328 18 power power NOUN hjic-495 1328 19 that that SCONJ hjic-495 1328 20 the the DET hjic-495 1328 21 station station NOUN hjic-495 1328 22 can can AUX hjic-495 1328 23 distribute distribute VERB hjic-495 1328 24 to to PART hjic-495 1328 25 lower low ADJ hjic-495 1328 26 stations station NOUN hjic-495 1328 27 or or CCONJ hjic-495 1328 28 consumers consumer NOUN hjic-495 1328 29 . . PUNCT hjic-495 1329 1 if if SCONJ hjic-495 1329 2 that that DET hjic-495 1329 3 limit limit NOUN hjic-495 1329 4 is be AUX hjic-495 1329 5 reached reach VERB hjic-495 1329 6 the the DET hjic-495 1329 7 station station NOUN hjic-495 1329 8 will will AUX hjic-495 1329 9 not not PART hjic-495 1329 10 pick pick VERB hjic-495 1329 11 up up ADP hjic-495 1329 12 more more ADJ hjic-495 1329 13 power power NOUN hjic-495 1329 14 even even ADV hjic-495 1329 15 if if SCONJ hjic-495 1329 16 the the DET hjic-495 1329 17 consumers consumer NOUN hjic-495 1329 18 need need VERB hjic-495 1329 19 more more ADJ hjic-495 1329 20 . . PUNCT hjic-495 1330 1 figure figure VERB hjic-495 1330 2 1 1 NUM hjic-495 1330 3 : : PUNCT hjic-495 1330 4 example example NOUN hjic-495 1330 5 uses use NOUN hjic-495 1330 6 of of ADP hjic-495 1330 7 the the DET hjic-495 1330 8 prepared prepare VERB hjic-495 1330 9 system system NOUN hjic-495 1330 10 figure figure NOUN hjic-495 1330 11 3 3 NUM hjic-495 1330 12 : : PUNCT hjic-495 1330 13 edit edit NOUN hjic-495 1330 14 station station NOUN hjic-495 1330 15 properties property NOUN hjic-495 1330 16 ( ( PUNCT hjic-495 1330 17 név név NUM hjic-495 1330 18 : : PUNCT hjic-495 1330 19 name name NOUN hjic-495 1330 20 or or CCONJ hjic-495 1330 21 location location NOUN hjic-495 1330 22 , , PUNCT hjic-495 1330 23 teljesítmény teljesítmény NOUN hjic-495 1330 24 : : PUNCT hjic-495 1330 25 power power NOUN hjic-495 1330 26 ) ) PUNCT hjic-495 1330 27 figure figure NOUN hjic-495 1330 28 2 2 NUM hjic-495 1330 29 : : PUNCT hjic-495 1331 1 edit edit NOUN hjic-495 1331 2 power power NOUN hjic-495 1331 3 source source NOUN hjic-495 1331 4 properties property NOUN hjic-495 1331 5 ( ( PUNCT hjic-495 1331 6 név név NUM hjic-495 1331 7 : : PUNCT hjic-495 1331 8 name name NOUN hjic-495 1331 9 or or CCONJ hjic-495 1331 10 location location NOUN hjic-495 1331 11 , , PUNCT hjic-495 1331 12 bekapcsolási bekapcsolási NOUN hjic-495 1331 13 költség költség PROPN hjic-495 1331 14 : : PUNCT hjic-495 1331 15 cost cost NOUN hjic-495 1331 16 of of ADP hjic-495 1331 17 starting start VERB hjic-495 1331 18 up up ADP hjic-495 1331 19 , , PUNCT hjic-495 1331 20 indítási indítási NOUN hjic-495 1331 21 idő idő NOUN hjic-495 1331 22 : : PUNCT hjic-495 1331 23 start start VERB hjic-495 1331 24 - - PUNCT hjic-495 1331 25 up up ADP hjic-495 1331 26 time time NOUN hjic-495 1331 27 , , PUNCT hjic-495 1331 28 üzemköltség üzemköltség NOUN hjic-495 1331 29 : : PUNCT hjic-495 1331 30 operational operational ADJ hjic-495 1331 31 cost cost NOUN hjic-495 1331 32 , , PUNCT hjic-495 1331 33 környezeti környezeti NOUN hjic-495 1331 34 szorzó szorzó PROPN hjic-495 1331 35 : : PUNCT hjic-495 1331 36 environmental environmental ADJ hjic-495 1331 37 factor factor NOUN hjic-495 1331 38 , , PUNCT hjic-495 1331 39 optimális optimáli NOUN hjic-495 1331 40 sorrend sorrend VERB hjic-495 1331 41 : : PUNCT hjic-495 1331 42 optimal optimal ADJ hjic-495 1331 43 order order NOUN hjic-495 1331 44 ) ) PUNCT hjic-495 1331 45 99 99 NUM hjic-495 1331 46 consumers consumer NOUN hjic-495 1331 47 the the DET hjic-495 1331 48 residential residential ADJ hjic-495 1331 49 consumers consumer NOUN hjic-495 1331 50 are be AUX hjic-495 1331 51 linked link VERB hjic-495 1331 52 to to ADP hjic-495 1331 53 the the DET hjic-495 1331 54 model model NOUN hjic-495 1331 55 through through ADP hjic-495 1331 56 homes home NOUN hjic-495 1331 57 , , PUNCT hjic-495 1331 58 while while SCONJ hjic-495 1331 59 corporate corporate ADJ hjic-495 1331 60 consumers consumer NOUN hjic-495 1331 61 include include VERB hjic-495 1331 62 factories factory NOUN hjic-495 1331 63 , , PUNCT hjic-495 1331 64 public public ADJ hjic-495 1331 65 institutions institution NOUN hjic-495 1331 66 , , PUNCT hjic-495 1331 67 etc etc X hjic-495 1331 68 . . X hjic-495 1332 1 consumers consumer NOUN hjic-495 1332 2 have have VERB hjic-495 1332 3 a a DET hjic-495 1332 4 rate rate NOUN hjic-495 1332 5 of of ADP hjic-495 1332 6 consumption consumption NOUN hjic-495 1332 7 that that PRON hjic-495 1332 8 describes describe VERB hjic-495 1332 9 their their PRON hjic-495 1332 10 maximum maximum ADJ hjic-495 1332 11 required require VERB hjic-495 1332 12 power power NOUN hjic-495 1332 13 . . PUNCT hjic-495 1333 1 current current ADJ hjic-495 1333 2 consumption consumption NOUN hjic-495 1333 3 is be AUX hjic-495 1333 4 estimated estimate VERB hjic-495 1333 5 during during ADP hjic-495 1333 6 the the DET hjic-495 1333 7 daytime daytime NOUN hjic-495 1333 8 in in ADP hjic-495 1333 9 the the DET hjic-495 1333 10 simulation simulation NOUN hjic-495 1333 11 . . PUNCT hjic-495 1334 1 consumers consumer NOUN hjic-495 1334 2 also also ADV hjic-495 1334 3 have have VERB hjic-495 1334 4 an an DET hjic-495 1334 5 order order NOUN hjic-495 1334 6 of of ADP hjic-495 1334 7 priority priority NOUN hjic-495 1334 8 that that PRON hjic-495 1334 9 can can AUX hjic-495 1334 10 be be AUX hjic-495 1334 11 modified modify VERB hjic-495 1334 12 by by ADP hjic-495 1334 13 the the DET hjic-495 1334 14 user user NOUN hjic-495 1334 15 but but CCONJ hjic-495 1334 16 corporate corporate ADJ hjic-495 1334 17 consumers consumer NOUN hjic-495 1334 18 always always ADV hjic-495 1334 19 have have VERB hjic-495 1334 20 priority priority NOUN hjic-495 1334 21 over over ADP hjic-495 1334 22 residential residential ADJ hjic-495 1334 23 consumers consumer NOUN hjic-495 1334 24 ( ( PUNCT hjic-495 1334 25 fig.4 fig.4 PROPN hjic-495 1334 26 ) ) PUNCT hjic-495 1334 27 . . PUNCT hjic-495 1335 1 connections connection NOUN hjic-495 1335 2 connections connection NOUN hjic-495 1335 3 have have VERB hjic-495 1335 4 a a DET hjic-495 1335 5 length length NOUN hjic-495 1335 6 property property NOUN hjic-495 1335 7 , , PUNCT hjic-495 1335 8 which which PRON hjic-495 1335 9 will will AUX hjic-495 1335 10 be be AUX hjic-495 1335 11 used use VERB hjic-495 1335 12 for for ADP hjic-495 1335 13 calculating calculate VERB hjic-495 1335 14 the the DET hjic-495 1335 15 loss loss NOUN hjic-495 1335 16 , , PUNCT hjic-495 1335 17 dissipated dissipate VERB hjic-495 1335 18 by by ADP hjic-495 1335 19 the the DET hjic-495 1335 20 cables cable NOUN hjic-495 1335 21 resistance resistance NOUN hjic-495 1335 22 . . PUNCT hjic-495 1336 1 networks network NOUN hjic-495 1336 2 can can AUX hjic-495 1336 3 be be AUX hjic-495 1336 4 built build VERB hjic-495 1336 5 up up ADP hjic-495 1336 6 by by ADP hjic-495 1336 7 the the DET hjic-495 1336 8 previously previously ADV hjic-495 1336 9 introduced introduce VERB hjic-495 1336 10 network network NOUN hjic-495 1336 11 nodes node NOUN hjic-495 1336 12 by by ADP hjic-495 1336 13 connecting connect VERB hjic-495 1336 14 them they PRON hjic-495 1336 15 appropriately appropriately ADV hjic-495 1336 16 . . PUNCT hjic-495 1337 1 the the DET hjic-495 1337 2 order order NOUN hjic-495 1337 3 of of ADP hjic-495 1337 4 connectivity connectivity NOUN hjic-495 1337 5 is be AUX hjic-495 1337 6 as as SCONJ hjic-495 1337 7 follows follow VERB hjic-495 1337 8 : : PUNCT hjic-495 1337 9 • • NUM hjic-495 1337 10 power power NOUN hjic-495 1337 11 sources source NOUN hjic-495 1337 12 , , PUNCT hjic-495 1337 13 • • NUM hjic-495 1337 14 power power NOUN hjic-495 1337 15 plant plant NOUN hjic-495 1337 16 distribution distribution NOUN hjic-495 1337 17 station station NOUN hjic-495 1337 18 , , PUNCT hjic-495 1337 19 • • NUM hjic-495 1337 20 network network NOUN hjic-495 1337 21 distribution distribution NOUN hjic-495 1337 22 station station NOUN hjic-495 1337 23 , , PUNCT hjic-495 1337 24 • • NUM hjic-495 1337 25 retail retail ADJ hjic-495 1337 26 distribution distribution NOUN hjic-495 1337 27 station station NOUN hjic-495 1337 28 , , PUNCT hjic-495 1337 29 and and CCONJ hjic-495 1337 30 • • NUM hjic-495 1337 31 consumer consumer NOUN hjic-495 1337 32 . . PUNCT hjic-495 1338 1 connections connection NOUN hjic-495 1338 2 can can AUX hjic-495 1338 3 be be AUX hjic-495 1338 4 established establish VERB hjic-495 1338 5 only only ADV hjic-495 1338 6 in in ADP hjic-495 1338 7 this this DET hjic-495 1338 8 order order NOUN hjic-495 1338 9 regardless regardless ADV hjic-495 1338 10 of of ADP hjic-495 1338 11 the the DET hjic-495 1338 12 performance performance NOUN hjic-495 1338 13 of of ADP hjic-495 1338 14 individual individual ADJ hjic-495 1338 15 components component NOUN hjic-495 1338 16 . . PUNCT hjic-495 1339 1 database database NOUN hjic-495 1339 2 and and CCONJ hjic-495 1339 3 implementation implementation NOUN hjic-495 1339 4 details detail NOUN hjic-495 1339 5 properties property NOUN hjic-495 1339 6 of of ADP hjic-495 1339 7 the the DET hjic-495 1339 8 network network NOUN hjic-495 1339 9 model model NOUN hjic-495 1339 10 elements element NOUN hjic-495 1339 11 and and CCONJ hjic-495 1339 12 the the DET hjic-495 1339 13 network network NOUN hjic-495 1339 14 formed form VERB hjic-495 1339 15 are be AUX hjic-495 1339 16 stored store VERB hjic-495 1339 17 in in ADP hjic-495 1339 18 an an DET hjic-495 1339 19 associative associative ADJ hjic-495 1339 20 array array NOUN hjic-495 1339 21 that that PRON hjic-495 1339 22 can can AUX hjic-495 1339 23 be be AUX hjic-495 1339 24 used use VERB hjic-495 1339 25 directly directly ADV hjic-495 1339 26 by by ADP hjic-495 1339 27 the the DET hjic-495 1339 28 system system NOUN hjic-495 1339 29 . . PUNCT hjic-495 1340 1 at at ADP hjic-495 1340 2 each each DET hjic-495 1340 3 time time NOUN hjic-495 1340 4 it it PRON hjic-495 1340 5 is be AUX hjic-495 1340 6 saved save VERB hjic-495 1340 7 , , PUNCT hjic-495 1340 8 this this DET hjic-495 1340 9 array array NOUN hjic-495 1340 10 is be AUX hjic-495 1340 11 stored store VERB hjic-495 1340 12 in in ADP hjic-495 1340 13 javascript javascript ADJ hjic-495 1340 14 object object NOUN hjic-495 1340 15 notation notation NOUN hjic-495 1340 16 ( ( PUNCT hjic-495 1340 17 json json NOUN hjic-495 1340 18 ) ) PUNCT hjic-495 1340 19 format format NOUN hjic-495 1340 20 in in ADP hjic-495 1340 21 a a DET hjic-495 1340 22 text text NOUN hjic-495 1340 23 file file NOUN hjic-495 1340 24 for for ADP hjic-495 1340 25 each each DET hjic-495 1340 26 project project NOUN hjic-495 1340 27 separately separately ADV hjic-495 1340 28 . . PUNCT hjic-495 1341 1 the the DET hjic-495 1341 2 database database NOUN hjic-495 1341 3 array array NOUN hjic-495 1341 4 contains contain VERB hjic-495 1341 5 an an DET hjic-495 1341 6 entry entry NOUN hjic-495 1341 7 for for ADP hjic-495 1341 8 all all DET hjic-495 1341 9 components component NOUN hjic-495 1341 10 of of ADP hjic-495 1341 11 the the DET hjic-495 1341 12 model model NOUN hjic-495 1341 13 . . PUNCT hjic-495 1342 1 every every DET hjic-495 1342 2 component component NOUN hjic-495 1342 3 has have VERB hjic-495 1342 4 an an DET hjic-495 1342 5 i i PROPN hjic-495 1342 6 d d PROPN hjic-495 1342 7 , , PUNCT hjic-495 1342 8 a a DET hjic-495 1342 9 name name NOUN hjic-495 1342 10 , , PUNCT hjic-495 1342 11 a a DET hjic-495 1342 12 type type NOUN hjic-495 1342 13 and and CCONJ hjic-495 1342 14 position position NOUN hjic-495 1342 15 on on ADP hjic-495 1342 16 the the DET hjic-495 1342 17 modelled model VERB hjic-495 1342 18 field field NOUN hjic-495 1342 19 . . PUNCT hjic-495 1343 1 energy energy NOUN hjic-495 1343 2 sources source NOUN hjic-495 1343 3 also also ADV hjic-495 1343 4 have have VERB hjic-495 1343 5 a a DET hjic-495 1343 6 fuel fuel NOUN hjic-495 1343 7 type type NOUN hjic-495 1343 8 , , PUNCT hjic-495 1343 9 start start VERB hjic-495 1343 10 - - PUNCT hjic-495 1343 11 up up ADP hjic-495 1343 12 time time NOUN hjic-495 1343 13 , , PUNCT hjic-495 1343 14 start start VERB hjic-495 1343 15 - - PUNCT hjic-495 1343 16 up up ADP hjic-495 1343 17 cost cost NOUN hjic-495 1343 18 , , PUNCT hjic-495 1343 19 running run VERB hjic-495 1343 20 cost cost NOUN hjic-495 1343 21 , , PUNCT hjic-495 1343 22 environmental environmental ADJ hjic-495 1343 23 factor factor NOUN hjic-495 1343 24 , , PUNCT hjic-495 1343 25 and and CCONJ hjic-495 1343 26 minimum minimum ADJ hjic-495 1343 27 and and CCONJ hjic-495 1343 28 maximum maximum ADJ hjic-495 1343 29 performance performance NOUN hjic-495 1343 30 level level NOUN hjic-495 1343 31 attributes attribute NOUN hjic-495 1343 32 . . PUNCT hjic-495 1344 1 stations station NOUN hjic-495 1344 2 have have VERB hjic-495 1344 3 a a DET hjic-495 1344 4 defined define VERB hjic-495 1344 5 maximum maximum ADJ hjic-495 1344 6 tolerance tolerance NOUN hjic-495 1344 7 . . PUNCT hjic-495 1345 1 for for ADP hjic-495 1345 2 consumers consumer NOUN hjic-495 1345 3 , , PUNCT hjic-495 1345 4 there there PRON hjic-495 1345 5 is be VERB hjic-495 1345 6 a a DET hjic-495 1345 7 stored store VERB hjic-495 1345 8 average average ADJ hjic-495 1345 9 consumption consumption NOUN hjic-495 1345 10 rate rate NOUN hjic-495 1345 11 , , PUNCT hjic-495 1345 12 which which PRON hjic-495 1345 13 dynamically dynamically ADV hjic-495 1345 14 changes change VERB hjic-495 1345 15 over over ADP hjic-495 1345 16 time time NOUN hjic-495 1345 17 . . PUNCT hjic-495 1346 1 each each DET hjic-495 1346 2 object object NOUN hjic-495 1346 3 has have VERB hjic-495 1346 4 a a DET hjic-495 1346 5 sub sub NOUN hjic-495 1346 6 - - NOUN hjic-495 1346 7 array array NOUN hjic-495 1346 8 , , PUNCT hjic-495 1346 9 which which PRON hjic-495 1346 10 stores store VERB hjic-495 1346 11 the the DET hjic-495 1346 12 i i PROPN hjic-495 1346 13 d d PROPN hjic-495 1346 14 of of ADP hjic-495 1346 15 any any DET hjic-495 1346 16 other other ADJ hjic-495 1346 17 components component NOUN hjic-495 1346 18 that that PRON hjic-495 1346 19 are be AUX hjic-495 1346 20 connected connect VERB hjic-495 1346 21 to to ADP hjic-495 1346 22 the the DET hjic-495 1346 23 current current ADJ hjic-495 1346 24 one one NUM hjic-495 1346 25 . . PUNCT hjic-495 1347 1 consumer consumer NOUN hjic-495 1347 2 objects object NOUN hjic-495 1347 3 have have VERB hjic-495 1347 4 priority priority NOUN hjic-495 1347 5 numbers number NOUN hjic-495 1347 6 that that PRON hjic-495 1347 7 define define VERB hjic-495 1347 8 the the DET hjic-495 1347 9 relevance relevance NOUN hjic-495 1347 10 of of ADP hjic-495 1347 11 the the DET hjic-495 1347 12 consumer consumer NOUN hjic-495 1347 13 . . PUNCT hjic-495 1348 1 if if SCONJ hjic-495 1348 2 the the DET hjic-495 1348 3 power power NOUN hjic-495 1348 4 source source NOUN hjic-495 1348 5 can can AUX hjic-495 1348 6 not not PART hjic-495 1348 7 produce produce VERB hjic-495 1348 8 enough enough ADJ hjic-495 1348 9 energy energy NOUN hjic-495 1348 10 to to PART hjic-495 1348 11 satisfy satisfy VERB hjic-495 1348 12 all all DET hjic-495 1348 13 needs need NOUN hjic-495 1348 14 , , PUNCT hjic-495 1348 15 then then ADV hjic-495 1348 16 the the DET hjic-495 1348 17 consumer consumer NOUN hjic-495 1348 18 that that PRON hjic-495 1348 19 has have VERB hjic-495 1348 20 the the DET hjic-495 1348 21 highest high ADJ hjic-495 1348 22 priority priority NOUN hjic-495 1348 23 number number NOUN hjic-495 1348 24 will will AUX hjic-495 1348 25 be be AUX hjic-495 1348 26 switched switch VERB hjic-495 1348 27 off off ADP hjic-495 1348 28 from from ADP hjic-495 1348 29 the the DET hjic-495 1348 30 network network NOUN hjic-495 1348 31 . . PUNCT hjic-495 1349 1 the the DET hjic-495 1349 2 priority priority NOUN hjic-495 1349 3 order order NOUN hjic-495 1349 4 equals equal VERB hjic-495 1349 5 the the DET hjic-495 1349 6 order order NOUN hjic-495 1349 7 of of ADP hjic-495 1349 8 creation creation NOUN hjic-495 1349 9 of of ADP hjic-495 1349 10 components component NOUN hjic-495 1349 11 , , PUNCT hjic-495 1349 12 but but CCONJ hjic-495 1349 13 the the DET hjic-495 1349 14 corporate corporate ADJ hjic-495 1349 15 consumers consumer NOUN hjic-495 1349 16 always always ADV hjic-495 1349 17 have have VERB hjic-495 1349 18 preference preference NOUN hjic-495 1349 19 . . PUNCT hjic-495 1350 1 the the DET hjic-495 1350 2 order order NOUN hjic-495 1350 3 can can AUX hjic-495 1350 4 be be AUX hjic-495 1350 5 changed change VERB hjic-495 1350 6 by by ADP hjic-495 1350 7 the the DET hjic-495 1350 8 user user NOUN hjic-495 1350 9 any any DET hjic-495 1350 10 time time NOUN hjic-495 1350 11 in in ADP hjic-495 1350 12 modelling model VERB hjic-495 1350 13 mode mode NOUN hjic-495 1350 14 and and CCONJ hjic-495 1350 15 during during ADP hjic-495 1350 16 the the DET hjic-495 1350 17 simulation simulation NOUN hjic-495 1350 18 . . PUNCT hjic-495 1351 1 implementation implementation NOUN hjic-495 1351 2 details detail NOUN hjic-495 1351 3 the the DET hjic-495 1351 4 program program NOUN hjic-495 1351 5 is be AUX hjic-495 1351 6 implemented implement VERB hjic-495 1351 7 in in ADP hjic-495 1351 8 javascript javascript NOUN hjic-495 1351 9 language language NOUN hjic-495 1351 10 with with ADP hjic-495 1351 11 plug plug NOUN hjic-495 1351 12 - - PUNCT hjic-495 1351 13 ins in NOUN hjic-495 1351 14 like like ADP hjic-495 1351 15 jquery jquery NOUN hjic-495 1351 16 and and CCONJ hjic-495 1351 17 jsplumb jsplumb NOUN hjic-495 1351 18 . . PUNCT hjic-495 1352 1 the the DET hjic-495 1352 2 plug plug VERB hjic-495 1352 3 - - PUNCT hjic-495 1352 4 in in ADP hjic-495 1352 5 jquery jquery NOUN hjic-495 1352 6 is be AUX hjic-495 1352 7 the the DET hjic-495 1352 8 most most ADV hjic-495 1352 9 popular popular ADJ hjic-495 1352 10 extension extension NOUN hjic-495 1352 11 of of ADP hjic-495 1352 12 the the DET hjic-495 1352 13 javascript javascript NOUN hjic-495 1352 14 language language NOUN hjic-495 1352 15 . . PUNCT hjic-495 1353 1 it it PRON hjic-495 1353 2 makes make VERB hjic-495 1353 3 it it PRON hjic-495 1353 4 easier easy ADJ hjic-495 1353 5 to to PART hjic-495 1353 6 select select VERB hjic-495 1353 7 , , PUNCT hjic-495 1353 8 move move VERB hjic-495 1353 9 , , PUNCT hjic-495 1353 10 remove remove VERB hjic-495 1353 11 or or CCONJ hjic-495 1353 12 modify modify VERB hjic-495 1353 13 the the DET hjic-495 1353 14 elements element NOUN hjic-495 1353 15 on on ADP hjic-495 1353 16 the the DET hjic-495 1353 17 interface interface NOUN hjic-495 1353 18 by by ADP hjic-495 1353 19 selecting select VERB hjic-495 1353 20 the the DET hjic-495 1353 21 element element NOUN hjic-495 1353 22 by by ADP hjic-495 1353 23 its its PRON hjic-495 1353 24 i i PROPN hjic-495 1353 25 d d PROPN hjic-495 1353 26 and and CCONJ hjic-495 1353 27 modifying modify VERB hjic-495 1353 28 its its PRON hjic-495 1353 29 properties property NOUN hjic-495 1353 30 . . PUNCT hjic-495 1354 1 the the DET hjic-495 1354 2 system system NOUN hjic-495 1354 3 uses use VERB hjic-495 1354 4 an an DET hjic-495 1354 5 in in ADP hjic-495 1354 6 - - PUNCT hjic-495 1354 7 house house NOUN hjic-495 1354 8 jquery jquery PROPN hjic-495 1354 9 plug plug PROPN hjic-495 1354 10 - - PUNCT hjic-495 1354 11 in in NOUN hjic-495 1354 12 , , PUNCT hjic-495 1354 13 windows.js windows.js PROPN hjic-495 1354 14 . . PUNCT hjic-495 1355 1 this this DET hjic-495 1355 2 plug plug NOUN hjic-495 1355 3 - - PUNCT hjic-495 1355 4 in in NOUN hjic-495 1355 5 creates create VERB hjic-495 1355 6 free free ADJ hjic-495 1355 7 movable movable ADJ hjic-495 1355 8 small small ADJ hjic-495 1355 9 windows window NOUN hjic-495 1355 10 on on ADP hjic-495 1355 11 the the DET hjic-495 1355 12 interface interface NOUN hjic-495 1355 13 and and CCONJ hjic-495 1355 14 fills fill VERB hjic-495 1355 15 them they PRON hjic-495 1355 16 with with ADP hjic-495 1355 17 appropriate appropriate ADJ hjic-495 1355 18 content content NOUN hjic-495 1355 19 defined define VERB hjic-495 1355 20 by by ADP hjic-495 1355 21 the the DET hjic-495 1355 22 programmer programmer NOUN hjic-495 1355 23 . . PUNCT hjic-495 1356 1 the the DET hjic-495 1356 2 jsplumb jsplumb ADJ hjic-495 1356 3 plug plug NOUN hjic-495 1356 4 - - PUNCT hjic-495 1356 5 in in NOUN hjic-495 1356 6 is be AUX hjic-495 1356 7 an an DET hjic-495 1356 8 opensource opensource ADJ hjic-495 1356 9 plug plug NOUN hjic-495 1356 10 - - PUNCT hjic-495 1356 11 in in NOUN hjic-495 1356 12 for for ADP hjic-495 1356 13 javascript javascript NOUN hjic-495 1356 14 , , PUNCT hjic-495 1356 15 created create VERB hjic-495 1356 16 to to PART hjic-495 1356 17 visually visually ADV hjic-495 1356 18 connect connect VERB hjic-495 1356 19 elements element NOUN hjic-495 1356 20 on on ADP hjic-495 1356 21 the the DET hjic-495 1356 22 interface interface NOUN hjic-495 1356 23 with with ADP hjic-495 1356 24 straight straight ADJ hjic-495 1356 25 lines line NOUN hjic-495 1356 26 or or CCONJ hjic-495 1356 27 bezier bezier NOUN hjic-495 1356 28 curves curve NOUN hjic-495 1356 29 . . PUNCT hjic-495 1357 1 the the DET hjic-495 1357 2 database database NOUN hjic-495 1357 3 is be AUX hjic-495 1357 4 stored store VERB hjic-495 1357 5 in in ADP hjic-495 1357 6 json json NOUN hjic-495 1357 7 format format NOUN hjic-495 1357 8 text text NOUN hjic-495 1357 9 files file NOUN hjic-495 1357 10 , , PUNCT hjic-495 1357 11 created create VERB hjic-495 1357 12 and and CCONJ hjic-495 1357 13 edited edit VERB hjic-495 1357 14 by by ADP hjic-495 1357 15 hypertext hypertext NOUN hjic-495 1357 16 preprocessor preprocessor NOUN hjic-495 1357 17 ( ( PUNCT hjic-495 1357 18 php php NOUN hjic-495 1357 19 ) ) PUNCT hjic-495 1357 20 functions function NOUN hjic-495 1357 21 and and CCONJ hjic-495 1357 22 called call VERB hjic-495 1357 23 asynchronously asynchronously ADV hjic-495 1357 24 by by ADP hjic-495 1357 25 javascript javascript NOUN hjic-495 1357 26 ’s ’s PART hjic-495 1357 27 asynchronous asynchronous ADJ hjic-495 1357 28 javascript javascript NOUN hjic-495 1357 29 and and CCONJ hjic-495 1357 30 xml xml NOUN hjic-495 1357 31 ( ( PUNCT hjic-495 1357 32 ajax ajax ADJ hjic-495 1357 33 ) ) PUNCT hjic-495 1357 34 protocol protocol NOUN hjic-495 1357 35 . . PUNCT hjic-495 1358 1 php php PROPN hjic-495 1358 2 is be AUX hjic-495 1358 3 a a DET hjic-495 1358 4 server server NOUN hjic-495 1358 5 - - PUNCT hjic-495 1358 6 side side NOUN hjic-495 1358 7 scripting scripting NOUN hjic-495 1358 8 language language NOUN hjic-495 1358 9 , , PUNCT hjic-495 1358 10 but but CCONJ hjic-495 1358 11 in in ADP hjic-495 1358 12 our our PRON hjic-495 1358 13 case case NOUN hjic-495 1358 14 its its PRON hjic-495 1358 15 only only ADJ hjic-495 1358 16 function function NOUN hjic-495 1358 17 is be AUX hjic-495 1358 18 to to PART hjic-495 1358 19 properly properly ADV hjic-495 1358 20 save save VERB hjic-495 1358 21 and and CCONJ hjic-495 1358 22 load load VERB hjic-495 1358 23 database database NOUN hjic-495 1358 24 files file NOUN hjic-495 1358 25 to to ADP hjic-495 1358 26 the the DET hjic-495 1358 27 server server NOUN hjic-495 1358 28 computer computer NOUN hjic-495 1358 29 . . PUNCT hjic-495 1359 1 the the DET hjic-495 1359 2 whole whole ADJ hjic-495 1359 3 software software NOUN hjic-495 1359 4 can can AUX hjic-495 1359 5 be be AUX hjic-495 1359 6 started start VERB hjic-495 1359 7 in in ADP hjic-495 1359 8 a a DET hjic-495 1359 9 browser browser NOUN hjic-495 1359 10 on on ADP hjic-495 1359 11 the the DET hjic-495 1359 12 user user NOUN hjic-495 1359 13 ’s ’s PART hjic-495 1359 14 computer computer NOUN hjic-495 1359 15 and and CCONJ hjic-495 1359 16 it it PRON hjic-495 1359 17 connects connect VERB hjic-495 1359 18 to to ADP hjic-495 1359 19 the the DET hjic-495 1359 20 server server NOUN hjic-495 1359 21 only only ADV hjic-495 1359 22 while while SCONJ hjic-495 1359 23 loading loading NOUN hjic-495 1359 24 or or CCONJ hjic-495 1359 25 saving save VERB hjic-495 1359 26 the the DET hjic-495 1359 27 project project NOUN hjic-495 1359 28 . . PUNCT hjic-495 1360 1 the the DET hjic-495 1360 2 interface interface NOUN hjic-495 1360 3 is be AUX hjic-495 1360 4 fully fully ADV hjic-495 1360 5 interactive interactive ADJ hjic-495 1360 6 , , PUNCT hjic-495 1360 7 in in ADP hjic-495 1360 8 modelling model VERB hjic-495 1360 9 mode mode NOUN hjic-495 1360 10 the the DET hjic-495 1360 11 objects object NOUN hjic-495 1360 12 can can AUX hjic-495 1360 13 be be AUX hjic-495 1360 14 moved move VERB hjic-495 1360 15 or or CCONJ hjic-495 1360 16 removed remove VERB hjic-495 1360 17 , , PUNCT hjic-495 1360 18 in in ADP hjic-495 1360 19 simulating simulate VERB hjic-495 1360 20 mode mode NOUN hjic-495 1360 21 switched switch VERB hjic-495 1360 22 on on ADP hjic-495 1360 23 and and CCONJ hjic-495 1360 24 off off ADV hjic-495 1360 25 . . PUNCT hjic-495 1361 1 simulation simulation NOUN hjic-495 1361 2 possibilities possibility NOUN hjic-495 1361 3 the the DET hjic-495 1361 4 system system NOUN hjic-495 1361 5 was be AUX hjic-495 1361 6 created create VERB hjic-495 1361 7 for for ADP hjic-495 1361 8 simulating simulate VERB hjic-495 1361 9 immediate immediate ADJ hjic-495 1361 10 events event NOUN hjic-495 1361 11 during during ADP hjic-495 1361 12 the the DET hjic-495 1361 13 operation operation NOUN hjic-495 1361 14 of of ADP hjic-495 1361 15 a a DET hjic-495 1361 16 modelled model VERB hjic-495 1361 17 energy energy NOUN hjic-495 1361 18 distribution distribution NOUN hjic-495 1361 19 network network NOUN hjic-495 1361 20 . . PUNCT hjic-495 1362 1 after after ADP hjic-495 1362 2 forming form VERB hjic-495 1362 3 the the DET hjic-495 1362 4 network network NOUN hjic-495 1362 5 , , PUNCT hjic-495 1362 6 the the DET hjic-495 1362 7 software software NOUN hjic-495 1362 8 makes make VERB hjic-495 1362 9 it it PRON hjic-495 1362 10 possible possible ADJ hjic-495 1362 11 to to PART hjic-495 1362 12 cause cause VERB hjic-495 1362 13 different different ADJ hjic-495 1362 14 immediate immediate ADJ hjic-495 1362 15 events event NOUN hjic-495 1362 16 . . PUNCT hjic-495 1363 1 these these PRON hjic-495 1363 2 severe severe ADJ hjic-495 1363 3 a a DET hjic-495 1363 4 connection connection NOUN hjic-495 1363 5 or or CCONJ hjic-495 1363 6 switch switch VERB hjic-495 1363 7 on on ADP hjic-495 1363 8 / / SYM hjic-495 1363 9 off off ADP hjic-495 1363 10 sources source NOUN hjic-495 1363 11 , , PUNCT hjic-495 1363 12 stations station NOUN hjic-495 1363 13 and/or and/or CCONJ hjic-495 1363 14 consumers consumer NOUN hjic-495 1363 15 . . PUNCT hjic-495 1364 1 all all PRON hjic-495 1364 2 of of ADP hjic-495 1364 3 these these DET hjic-495 1364 4 events event NOUN hjic-495 1364 5 can can AUX hjic-495 1364 6 be be AUX hjic-495 1364 7 carried carry VERB hjic-495 1364 8 out out ADP hjic-495 1364 9 on on ADP hjic-495 1364 10 the the DET hjic-495 1364 11 graphical graphical ADJ hjic-495 1364 12 interface interface NOUN hjic-495 1364 13 of of ADP hjic-495 1364 14 the the DET hjic-495 1364 15 software software NOUN hjic-495 1364 16 ( ( PUNCT hjic-495 1364 17 fig.5 fig.5 PROPN hjic-495 1364 18 ) ) PUNCT hjic-495 1364 19 . . PUNCT hjic-495 1365 1 the the DET hjic-495 1365 2 simulation simulation NOUN hjic-495 1365 3 is be AUX hjic-495 1365 4 daytime daytime NOUN hjic-495 1365 5 - - PUNCT hjic-495 1365 6 based base VERB hjic-495 1365 7 . . PUNCT hjic-495 1366 1 it it PRON hjic-495 1366 2 starts start VERB hjic-495 1366 3 at at ADP hjic-495 1366 4 6:00 6:00 NUM hjic-495 1366 5 am am NOUN hjic-495 1366 6 . . PUNCT hjic-495 1367 1 users user NOUN hjic-495 1367 2 can can AUX hjic-495 1367 3 set set VERB hjic-495 1367 4 the the DET hjic-495 1367 5 step step NOUN hjic-495 1367 6 time time NOUN hjic-495 1367 7 from from ADP hjic-495 1367 8 1 1 NUM hjic-495 1367 9 min min NOUN hjic-495 1367 10 or or CCONJ hjic-495 1367 11 sec sec PROPN hjic-495 1367 12 to to ADP hjic-495 1367 13 60 60 NUM hjic-495 1367 14 min min NOUN hjic-495 1367 15 or or CCONJ hjic-495 1367 16 sec sec PROPN hjic-495 1367 17 . . PROPN hjic-495 1368 1 at at ADP hjic-495 1368 2 the the DET hjic-495 1368 3 beginning beginning NOUN hjic-495 1368 4 the the DET hjic-495 1368 5 system system NOUN hjic-495 1368 6 distributes distribute VERB hjic-495 1368 7 the the DET hjic-495 1368 8 energy energy NOUN hjic-495 1368 9 produced produce VERB hjic-495 1368 10 by by ADP hjic-495 1368 11 the the DET hjic-495 1368 12 power power NOUN hjic-495 1368 13 plant(s plant(s PROPN hjic-495 1368 14 ) ) PUNCT hjic-495 1368 15 to to ADP hjic-495 1368 16 all all DET hjic-495 1368 17 consumers consumer NOUN hjic-495 1368 18 in in ADP hjic-495 1368 19 a a DET hjic-495 1368 20 user user NOUN hjic-495 1368 21 defined define VERB hjic-495 1368 22 order order NOUN hjic-495 1368 23 . . PUNCT hjic-495 1369 1 if if SCONJ hjic-495 1369 2 a a DET hjic-495 1369 3 power power NOUN hjic-495 1369 4 plant plant NOUN hjic-495 1369 5 does do AUX hjic-495 1369 6 not not PART hjic-495 1369 7 produce produce VERB hjic-495 1369 8 enough enough ADJ hjic-495 1369 9 power power NOUN hjic-495 1369 10 then then ADV hjic-495 1369 11 the the DET hjic-495 1369 12 last last ADJ hjic-495 1369 13 consumer consumer NOUN hjic-495 1369 14 will will AUX hjic-495 1369 15 be be AUX hjic-495 1369 16 switched switch VERB hjic-495 1369 17 off off ADP hjic-495 1369 18 and and CCONJ hjic-495 1369 19 so so ADV hjic-495 1369 20 on on ADV hjic-495 1369 21 . . PUNCT hjic-495 1370 1 the the DET hjic-495 1370 2 electricity electricity NOUN hjic-495 1370 3 - - PUNCT hjic-495 1370 4 related relate VERB hjic-495 1370 5 behaviour behaviour NOUN hjic-495 1370 6 will will AUX hjic-495 1370 7 be be AUX hjic-495 1370 8 implemented implement VERB hjic-495 1370 9 in in ADP hjic-495 1370 10 the the DET hjic-495 1370 11 future future NOUN hjic-495 1370 12 into into ADP hjic-495 1370 13 the the DET hjic-495 1370 14 software software NOUN hjic-495 1370 15 . . PUNCT hjic-495 1371 1 a a DET hjic-495 1371 2 possible possible ADJ hjic-495 1371 3 solution solution NOUN hjic-495 1371 4 is be AUX hjic-495 1371 5 to to PART hjic-495 1371 6 build build VERB hjic-495 1371 7 an an DET hjic-495 1371 8 ideal ideal ADJ hjic-495 1371 9 flow flow NOUN hjic-495 1371 10 model model NOUN hjic-495 1371 11 as as ADP hjic-495 1371 12 a a DET hjic-495 1371 13 cooperative cooperative ADJ hjic-495 1371 14 game game NOUN hjic-495 1371 15 over over ADP hjic-495 1371 16 a a DET hjic-495 1371 17 graph graph NOUN hjic-495 1371 18 with with ADP hjic-495 1371 19 the the DET hjic-495 1371 20 sources source NOUN hjic-495 1371 21 and and CCONJ hjic-495 1371 22 consumers consumer NOUN hjic-495 1371 23 located locate VERB hjic-495 1371 24 at at ADP hjic-495 1371 25 the the DET hjic-495 1371 26 nodes node NOUN hjic-495 1371 27 , , PUNCT hjic-495 1371 28 each each PRON hjic-495 1371 29 described describe VERB hjic-495 1371 30 by by ADP hjic-495 1371 31 a a DET hjic-495 1371 32 maximum maximum ADJ hjic-495 1371 33 supply supply NOUN hjic-495 1371 34 or or CCONJ hjic-495 1371 35 desired desire VERB hjic-495 1371 36 demand demand NOUN hjic-495 1371 37 and and CCONJ hjic-495 1371 38 the the DET hjic-495 1371 39 power power NOUN hjic-495 1371 40 lines line NOUN hjic-495 1371 41 figure figure VERB hjic-495 1371 42 4 4 NUM hjic-495 1371 43 : : PUNCT hjic-495 1371 44 edit edit NOUN hjic-495 1371 45 consumer consumer NOUN hjic-495 1371 46 properties property NOUN hjic-495 1371 47 ( ( PUNCT hjic-495 1371 48 név név NUM hjic-495 1371 49 : : PUNCT hjic-495 1371 50 name name NOUN hjic-495 1371 51 or or CCONJ hjic-495 1371 52 location location NOUN hjic-495 1371 53 , , PUNCT hjic-495 1371 54 fogyasztás fogyasztás NOUN hjic-495 1371 55 : : PUNCT hjic-495 1371 56 consumption consumption NOUN hjic-495 1371 57 , , PUNCT hjic-495 1371 58 prioritás prioritás NOUN hjic-495 1371 59 : : PUNCT hjic-495 1371 60 priority priority NOUN hjic-495 1371 61 ) ) PUNCT hjic-495 1371 62 100 100 NUM hjic-495 1371 63 represented represent VERB hjic-495 1371 64 by by ADP hjic-495 1371 65 the the DET hjic-495 1371 66 edges edge NOUN hjic-495 1371 67 , , PUNCT hjic-495 1371 68 each each PRON hjic-495 1371 69 with with ADP hjic-495 1371 70 a a DET hjic-495 1371 71 given give VERB hjic-495 1371 72 power power NOUN hjic-495 1371 73 transmission transmission NOUN hjic-495 1371 74 capacity capacity NOUN hjic-495 1371 75 and and CCONJ hjic-495 1371 76 admittance admittance NOUN hjic-495 1371 77 value value NOUN hjic-495 1371 78 describing describe VERB hjic-495 1371 79 their their PRON hjic-495 1371 80 ability ability NOUN hjic-495 1371 81 to to PART hjic-495 1371 82 transmit transmit VERB hjic-495 1371 83 electricity electricity NOUN hjic-495 1371 84 . . PUNCT hjic-495 1372 1 [ [ X hjic-495 1372 2 4 4 X hjic-495 1372 3 ] ] X hjic-495 1372 4 the the DET hjic-495 1372 5 user user NOUN hjic-495 1372 6 is be AUX hjic-495 1372 7 able able ADJ hjic-495 1372 8 to to PART hjic-495 1372 9 initiate initiate VERB hjic-495 1372 10 immediate immediate ADJ hjic-495 1372 11 events event NOUN hjic-495 1372 12 and and CCONJ hjic-495 1372 13 the the DET hjic-495 1372 14 system system NOUN hjic-495 1372 15 reacts react VERB hjic-495 1372 16 to to ADP hjic-495 1372 17 them they PRON hjic-495 1372 18 in in ADP hjic-495 1372 19 real real ADJ hjic-495 1372 20 - - PUNCT hjic-495 1372 21 time time NOUN hjic-495 1372 22 and and CCONJ hjic-495 1372 23 recalculates recalculate VERB hjic-495 1372 24 the the DET hjic-495 1372 25 distribution distribution NOUN hjic-495 1372 26 . . PUNCT hjic-495 1373 1 calculation calculation NOUN hjic-495 1373 2 of of ADP hjic-495 1373 3 the the DET hjic-495 1373 4 consumption consumption NOUN hjic-495 1373 5 rate rate NOUN hjic-495 1373 6 is be AUX hjic-495 1373 7 based base VERB hjic-495 1373 8 on on ADP hjic-495 1373 9 the the DET hjic-495 1373 10 hungarian hungarian ADJ hjic-495 1373 11 average average NOUN hjic-495 1373 12 with with ADP hjic-495 1373 13 a a DET hjic-495 1373 14 small small ADJ hjic-495 1373 15 random random ADJ hjic-495 1373 16 factor factor NOUN hjic-495 1373 17 . . PUNCT hjic-495 1374 1 an an DET hjic-495 1374 2 example example NOUN hjic-495 1374 3 for for ADP hjic-495 1374 4 a a DET hjic-495 1374 5 simulation simulation NOUN hjic-495 1374 6 let let VERB hjic-495 1374 7 us we PRON hjic-495 1374 8 assume assume VERB hjic-495 1374 9 that that SCONJ hjic-495 1374 10 we we PRON hjic-495 1374 11 have have VERB hjic-495 1374 12 a a DET hjic-495 1374 13 power power NOUN hjic-495 1374 14 plant plant NOUN hjic-495 1374 15 with with ADP hjic-495 1374 16 a a DET hjic-495 1374 17 maximum maximum ADJ hjic-495 1374 18 power power NOUN hjic-495 1374 19 of of ADP hjic-495 1374 20 100 100 NUM hjic-495 1374 21 kw kw NOUN hjic-495 1374 22 . . PUNCT hjic-495 1375 1 the the DET hjic-495 1375 2 model model NOUN hjic-495 1375 3 has have VERB hjic-495 1375 4 one one NUM hjic-495 1375 5 of of ADP hjic-495 1375 6 each each DET hjic-495 1375 7 type type NOUN hjic-495 1375 8 of of ADP hjic-495 1375 9 stations station NOUN hjic-495 1375 10 , , PUNCT hjic-495 1375 11 three three NUM hjic-495 1375 12 households household NOUN hjic-495 1375 13 ( ( PUNCT hjic-495 1375 14 10 10 NUM hjic-495 1375 15 - - SYM hjic-495 1375 16 10 10 NUM hjic-495 1375 17 kw kw NOUN hjic-495 1375 18 maximum maximum NOUN hjic-495 1375 19 ) ) PUNCT hjic-495 1375 20 and and CCONJ hjic-495 1375 21 a a DET hjic-495 1375 22 factory factory NOUN hjic-495 1375 23 ( ( PUNCT hjic-495 1375 24 80 80 NUM hjic-495 1375 25 kw kw NOUN hjic-495 1375 26 maximum maximum NOUN hjic-495 1375 27 ) ) PUNCT hjic-495 1375 28 ( ( PUNCT hjic-495 1375 29 fig.6 fig.6 PROPN hjic-495 1375 30 ) ) PUNCT hjic-495 1375 31 . . PUNCT hjic-495 1376 1 normally normally ADV hjic-495 1376 2 , , PUNCT hjic-495 1376 3 all all PRON hjic-495 1376 4 of of ADP hjic-495 1376 5 the the DET hjic-495 1376 6 consumers consumer NOUN hjic-495 1376 7 are be AUX hjic-495 1376 8 satisfied satisfied ADJ hjic-495 1376 9 , , PUNCT hjic-495 1376 10 but but CCONJ hjic-495 1376 11 in in ADP hjic-495 1376 12 the the DET hjic-495 1376 13 peak peak NOUN hjic-495 1376 14 times time NOUN hjic-495 1376 15 , , PUNCT hjic-495 1376 16 when when SCONJ hjic-495 1376 17 the the DET hjic-495 1376 18 factory factory NOUN hjic-495 1376 19 and and CCONJ hjic-495 1376 20 the the DET hjic-495 1376 21 houses house NOUN hjic-495 1376 22 also also ADV hjic-495 1376 23 approach approach VERB hjic-495 1376 24 their their PRON hjic-495 1376 25 maximum maximum ADJ hjic-495 1376 26 consumption consumption NOUN hjic-495 1376 27 , , PUNCT hjic-495 1376 28 the the DET hjic-495 1376 29 power power NOUN hjic-495 1376 30 will will AUX hjic-495 1376 31 not not PART hjic-495 1376 32 be be AUX hjic-495 1376 33 enough enough ADJ hjic-495 1376 34 for for ADP hjic-495 1376 35 every every DET hjic-495 1376 36 consumer consumer NOUN hjic-495 1376 37 , , PUNCT hjic-495 1376 38 so so SCONJ hjic-495 1376 39 the the DET hjic-495 1376 40 system system NOUN hjic-495 1376 41 switches switch VERB hjic-495 1376 42 off off ADP hjic-495 1376 43 the the DET hjic-495 1376 44 retail retail ADJ hjic-495 1376 45 consumer consumer NOUN hjic-495 1376 46 that that PRON hjic-495 1376 47 is be AUX hjic-495 1376 48 last last ADJ hjic-495 1376 49 in in ADP hjic-495 1376 50 the the DET hjic-495 1376 51 priority priority NOUN hjic-495 1376 52 order order NOUN hjic-495 1376 53 . . PUNCT hjic-495 1377 1 there there PRON hjic-495 1377 2 will will AUX hjic-495 1377 3 not not PART hjic-495 1377 4 be be AUX hjic-495 1377 5 a a DET hjic-495 1377 6 consumption consumption NOUN hjic-495 1377 7 reduction reduction NOUN hjic-495 1377 8 , , PUNCT hjic-495 1377 9 but but CCONJ hjic-495 1377 10 a a DET hjic-495 1377 11 complete complete ADJ hjic-495 1377 12 shutdown shutdown NOUN hjic-495 1377 13 . . PUNCT hjic-495 1378 1 subsequently subsequently ADV hjic-495 1378 2 , , PUNCT hjic-495 1378 3 the the DET hjic-495 1378 4 plant plant NOUN hjic-495 1378 5 will will AUX hjic-495 1378 6 have have VERB hjic-495 1378 7 to to PART hjic-495 1378 8 produce produce VERB hjic-495 1378 9 95 95 NUM hjic-495 1378 10 % % NOUN hjic-495 1378 11 of of ADP hjic-495 1378 12 the the DET hjic-495 1378 13 maximum maximum ADJ hjic-495 1378 14 power power NOUN hjic-495 1378 15 . . PUNCT hjic-495 1379 1 in in ADP hjic-495 1379 2 this this DET hjic-495 1379 3 example example NOUN hjic-495 1379 4 all all PRON hjic-495 1379 5 of of ADP hjic-495 1379 6 the the DET hjic-495 1379 7 stations station NOUN hjic-495 1379 8 can can AUX hjic-495 1379 9 transfer transfer VERB hjic-495 1379 10 the the DET hjic-495 1379 11 maximum maximum NOUN hjic-495 1379 12 of of ADP hjic-495 1379 13 100 100 NUM hjic-495 1379 14 kw kw NOUN hjic-495 1379 15 , , PUNCT hjic-495 1379 16 but but CCONJ hjic-495 1379 17 if if SCONJ hjic-495 1379 18 a a DET hjic-495 1379 19 station station NOUN hjic-495 1379 20 can can AUX hjic-495 1379 21 not not PART hjic-495 1379 22 transfer transfer VERB hjic-495 1379 23 this this PRON hjic-495 1379 24 , , PUNCT hjic-495 1379 25 then then ADV hjic-495 1379 26 the the DET hjic-495 1379 27 consumer consumer NOUN hjic-495 1379 28 with with ADP hjic-495 1379 29 the the DET hjic-495 1379 30 largest large ADJ hjic-495 1379 31 priority priority NOUN hjic-495 1379 32 number number NOUN hjic-495 1379 33 connected connect VERB hjic-495 1379 34 to to ADP hjic-495 1379 35 this this DET hjic-495 1379 36 station station NOUN hjic-495 1379 37 will will AUX hjic-495 1379 38 be be AUX hjic-495 1379 39 switched switch VERB hjic-495 1379 40 off off ADP hjic-495 1379 41 , , PUNCT hjic-495 1379 42 regardless regardless ADV hjic-495 1379 43 of of ADP hjic-495 1379 44 the the DET hjic-495 1379 45 current current ADJ hjic-495 1379 46 level level NOUN hjic-495 1379 47 of of ADP hjic-495 1379 48 the the DET hjic-495 1379 49 power power NOUN hjic-495 1379 50 source source NOUN hjic-495 1379 51 . . PUNCT hjic-495 1380 1 if if SCONJ hjic-495 1380 2 the the DET hjic-495 1380 3 consumption consumption NOUN hjic-495 1380 4 is be AUX hjic-495 1380 5 too too ADV hjic-495 1380 6 high high ADJ hjic-495 1380 7 , , PUNCT hjic-495 1380 8 it it PRON hjic-495 1380 9 is be AUX hjic-495 1380 10 possible possible ADJ hjic-495 1380 11 that that SCONJ hjic-495 1380 12 complete complete ADJ hjic-495 1380 13 distribution distribution NOUN hjic-495 1380 14 stations station NOUN hjic-495 1380 15 are be AUX hjic-495 1380 16 switched switch VERB hjic-495 1380 17 off off ADP hjic-495 1380 18 . . PUNCT hjic-495 1381 1 further further ADJ hjic-495 1381 2 developments development NOUN hjic-495 1381 3 the the DET hjic-495 1381 4 current current ADJ hjic-495 1381 5 system system NOUN hjic-495 1381 6 can can AUX hjic-495 1381 7 model model VERB hjic-495 1381 8 and and CCONJ hjic-495 1381 9 simulate simulate VERB hjic-495 1381 10 a a DET hjic-495 1381 11 fictional fictional ADJ hjic-495 1381 12 power power NOUN hjic-495 1381 13 network network NOUN hjic-495 1381 14 with with ADP hjic-495 1381 15 components component NOUN hjic-495 1381 16 and and CCONJ hjic-495 1381 17 connections connection NOUN hjic-495 1381 18 , , PUNCT hjic-495 1381 19 but but CCONJ hjic-495 1381 20 the the DET hjic-495 1381 21 main main ADJ hjic-495 1381 22 goal goal NOUN hjic-495 1381 23 of of ADP hjic-495 1381 24 the the DET hjic-495 1381 25 project project NOUN hjic-495 1381 26 is be AUX hjic-495 1381 27 to to PART hjic-495 1381 28 create create VERB hjic-495 1381 29 a a DET hjic-495 1381 30 simulating simulate VERB hjic-495 1381 31 software software NOUN hjic-495 1381 32 that that PRON hjic-495 1381 33 can can AUX hjic-495 1381 34 model model VERB hjic-495 1381 35 and and CCONJ hjic-495 1381 36 simulate simulate VERB hjic-495 1381 37 a a DET hjic-495 1381 38 real real ADJ hjic-495 1381 39 electrical electrical ADJ hjic-495 1381 40 network network NOUN hjic-495 1381 41 . . PUNCT hjic-495 1382 1 it it PRON hjic-495 1382 2 is be AUX hjic-495 1382 3 important important ADJ hjic-495 1382 4 to to PART hjic-495 1382 5 emphasize emphasize VERB hjic-495 1382 6 that that SCONJ hjic-495 1382 7 the the DET hjic-495 1382 8 unit unit NOUN hjic-495 1382 9 of of ADP hjic-495 1382 10 the the DET hjic-495 1382 11 power power NOUN hjic-495 1382 12 of of ADP hjic-495 1382 13 the the DET hjic-495 1382 14 sources source NOUN hjic-495 1382 15 and and CCONJ hjic-495 1382 16 the the DET hjic-495 1382 17 consumption consumption NOUN hjic-495 1382 18 are be AUX hjic-495 1382 19 now now ADV hjic-495 1382 20 only only ADV hjic-495 1382 21 kw kw VERB hjic-495 1382 22 . . PUNCT hjic-495 1383 1 we we PRON hjic-495 1383 2 need need VERB hjic-495 1383 3 to to PART hjic-495 1383 4 include include VERB hjic-495 1383 5 that that SCONJ hjic-495 1383 6 the the DET hjic-495 1383 7 voltage voltage NOUN hjic-495 1383 8 of of ADP hjic-495 1383 9 connection connection NOUN hjic-495 1383 10 cables cable NOUN hjic-495 1383 11 depends depend VERB hjic-495 1383 12 on on ADP hjic-495 1383 13 the the DET hjic-495 1383 14 length length NOUN hjic-495 1383 15 of of ADP hjic-495 1383 16 the the DET hjic-495 1383 17 connection connection NOUN hjic-495 1383 18 and and CCONJ hjic-495 1383 19 the the DET hjic-495 1383 20 diameter diameter NOUN hjic-495 1383 21 of of ADP hjic-495 1383 22 the the DET hjic-495 1383 23 cable cable NOUN hjic-495 1383 24 that that PRON hjic-495 1383 25 are be AUX hjic-495 1383 26 required require VERB hjic-495 1383 27 to to PART hjic-495 1383 28 calculate calculate VERB hjic-495 1383 29 the the DET hjic-495 1383 30 amperage amperage NOUN hjic-495 1383 31 from from ADP hjic-495 1383 32 the the DET hjic-495 1383 33 resistance resistance NOUN hjic-495 1383 34 of of ADP hjic-495 1383 35 the the DET hjic-495 1383 36 cable cable NOUN hjic-495 1383 37 . . PUNCT hjic-495 1384 1 international international ADJ hjic-495 1384 2 connections connection NOUN hjic-495 1384 3 transmit transmit VERB hjic-495 1384 4 750 750 NUM hjic-495 1384 5 kv kv NOUN hjic-495 1384 6 , , PUNCT hjic-495 1384 7 and and CCONJ hjic-495 1384 8 the the DET hjic-495 1384 9 main main ADJ hjic-495 1384 10 network network NOUN hjic-495 1384 11 in in ADP hjic-495 1384 12 hungary hungary PROPN hjic-495 1384 13 transmits transmit VERB hjic-495 1384 14 400 400 NUM hjic-495 1384 15 kv kv NOUN hjic-495 1384 16 starting start VERB hjic-495 1384 17 from from ADP hjic-495 1384 18 the the DET hjic-495 1384 19 power power NOUN hjic-495 1384 20 plants plant NOUN hjic-495 1384 21 ( ( PUNCT hjic-495 1384 22 fig.7 fig.7 ADJ hjic-495 1384 23 ) ) PUNCT hjic-495 1384 24 . . PUNCT hjic-495 1385 1 the the DET hjic-495 1385 2 distribution distribution NOUN hjic-495 1385 3 stations station NOUN hjic-495 1385 4 transform transform VERB hjic-495 1385 5 and and CCONJ hjic-495 1385 6 divide divide VERB hjic-495 1385 7 it it PRON hjic-495 1385 8 to to ADP hjic-495 1385 9 lower low ADJ hjic-495 1385 10 values value NOUN hjic-495 1385 11 until until SCONJ hjic-495 1385 12 the the DET hjic-495 1385 13 voltage voltage NOUN hjic-495 1385 14 reaches reach VERB hjic-495 1385 15 the the DET hjic-495 1385 16 necessary necessary ADJ hjic-495 1385 17 250 250 NUM hjic-495 1385 18 v v NOUN hjic-495 1385 19 for for ADP hjic-495 1385 20 retail retail NOUN hjic-495 1385 21 and and CCONJ hjic-495 1385 22 360 360 NUM hjic-495 1385 23 v v NOUN hjic-495 1385 24 ( ( PUNCT hjic-495 1385 25 or or CCONJ hjic-495 1385 26 more more ADJ hjic-495 1385 27 ) ) PUNCT hjic-495 1385 28 for for ADP hjic-495 1385 29 corporate corporate ADJ hjic-495 1385 30 consumers consumer NOUN hjic-495 1385 31 . . PUNCT hjic-495 1386 1 during during ADP hjic-495 1386 2 the the DET hjic-495 1386 3 transformations transformation NOUN hjic-495 1386 4 , , PUNCT hjic-495 1386 5 the the DET hjic-495 1386 6 system system NOUN hjic-495 1386 7 needs need VERB hjic-495 1386 8 to to PART hjic-495 1386 9 use use VERB hjic-495 1386 10 kirchhoff kirchhoff NOUN hjic-495 1386 11 ’s ’s PART hjic-495 1386 12 current current ADJ hjic-495 1386 13 law law NOUN hjic-495 1386 14 that that PRON hjic-495 1386 15 states state VERB hjic-495 1386 16 that that SCONJ hjic-495 1386 17 at at ADP hjic-495 1386 18 any any DET hjic-495 1386 19 node node NOUN hjic-495 1386 20 in in ADP hjic-495 1386 21 an an DET hjic-495 1386 22 electrical electrical ADJ hjic-495 1386 23 circuit circuit NOUN hjic-495 1386 24 , , PUNCT hjic-495 1386 25 the the DET hjic-495 1386 26 sum sum NOUN hjic-495 1386 27 of of ADP hjic-495 1386 28 currents current NOUN hjic-495 1386 29 flowing flow VERB hjic-495 1386 30 into into ADP hjic-495 1386 31 that that DET hjic-495 1386 32 node node NOUN hjic-495 1386 33 is be AUX hjic-495 1386 34 equal equal ADJ hjic-495 1386 35 to to ADP hjic-495 1386 36 the the DET hjic-495 1386 37 sum sum NOUN hjic-495 1386 38 of of ADP hjic-495 1386 39 currents current NOUN hjic-495 1386 40 flowing flow VERB hjic-495 1386 41 out out ADP hjic-495 1386 42 of of ADP hjic-495 1386 43 that that DET hjic-495 1386 44 node node NOUN hjic-495 1386 45 . . PUNCT hjic-495 1387 1 that that PRON hjic-495 1387 2 means mean VERB hjic-495 1387 3 that that SCONJ hjic-495 1387 4 the the DET hjic-495 1387 5 system system NOUN hjic-495 1387 6 has have VERB hjic-495 1387 7 to to PART hjic-495 1387 8 calculate calculate VERB hjic-495 1387 9 amperages amperage NOUN hjic-495 1387 10 for for ADP hjic-495 1387 11 every every DET hjic-495 1387 12 incoming incoming ADJ hjic-495 1387 13 and and CCONJ hjic-495 1387 14 outgoing outgoing ADJ hjic-495 1387 15 connection connection NOUN hjic-495 1387 16 of of ADP hjic-495 1387 17 the the DET hjic-495 1387 18 distribution distribution NOUN hjic-495 1387 19 stations station NOUN hjic-495 1387 20 based base VERB hjic-495 1387 21 on on ADP hjic-495 1387 22 the the DET hjic-495 1387 23 consumption consumption NOUN hjic-495 1387 24 of of ADP hjic-495 1387 25 the the DET hjic-495 1387 26 consumers consumer NOUN hjic-495 1387 27 and and CCONJ hjic-495 1387 28 the the DET hjic-495 1387 29 target target NOUN hjic-495 1387 30 voltage voltage NOUN hjic-495 1387 31 of of ADP hjic-495 1387 32 the the DET hjic-495 1387 33 cables cable NOUN hjic-495 1387 34 . . PUNCT hjic-495 1388 1 the the DET hjic-495 1388 2 biggest big ADJ hjic-495 1388 3 problem problem NOUN hjic-495 1388 4 of of ADP hjic-495 1388 5 power power NOUN hjic-495 1388 6 distribution distribution NOUN hjic-495 1388 7 networks network NOUN hjic-495 1388 8 in in ADP hjic-495 1388 9 reality reality NOUN hjic-495 1388 10 is be AUX hjic-495 1388 11 to to PART hjic-495 1388 12 satisfy satisfy VERB hjic-495 1388 13 all all DET hjic-495 1388 14 consumers consumer NOUN hjic-495 1388 15 at at ADP hjic-495 1388 16 all all DET hjic-495 1388 17 the the DET hjic-495 1388 18 time time NOUN hjic-495 1388 19 , , PUNCT hjic-495 1388 20 even even ADV hjic-495 1388 21 if if SCONJ hjic-495 1388 22 the the DET hjic-495 1388 23 load load NOUN hjic-495 1388 24 is be AUX hjic-495 1388 25 very very ADV hjic-495 1388 26 low low ADJ hjic-495 1388 27 , , PUNCT hjic-495 1388 28 without without ADP hjic-495 1388 29 making make VERB hjic-495 1388 30 large large ADJ hjic-495 1388 31 changes change NOUN hjic-495 1388 32 to to ADP hjic-495 1388 33 the the DET hjic-495 1388 34 output output NOUN hjic-495 1388 35 of of ADP hjic-495 1388 36 the the DET hjic-495 1388 37 power power NOUN hjic-495 1388 38 sources source NOUN hjic-495 1388 39 everyday everyday ADV hjic-495 1388 40 . . PUNCT hjic-495 1389 1 the the DET hjic-495 1389 2 current current ADJ hjic-495 1389 3 solution solution NOUN hjic-495 1389 4 in in ADP hjic-495 1389 5 hungary hungary PROPN hjic-495 1389 6 is be AUX hjic-495 1389 7 nighttime nighttime ADJ hjic-495 1389 8 power power NOUN hjic-495 1389 9 . . PUNCT hjic-495 1390 1 households household NOUN hjic-495 1390 2 using use VERB hjic-495 1390 3 electric electric ADJ hjic-495 1390 4 water water NOUN hjic-495 1390 5 heaters heater NOUN hjic-495 1390 6 have have VERB hjic-495 1390 7 nighttime nighttime ADJ hjic-495 1390 8 electric electric ADJ hjic-495 1390 9 meters meter NOUN hjic-495 1390 10 , , PUNCT hjic-495 1390 11 when when SCONJ hjic-495 1390 12 the the DET hjic-495 1390 13 consumption consumption NOUN hjic-495 1390 14 of of ADP hjic-495 1390 15 corporate corporate ADJ hjic-495 1390 16 consumers consumer NOUN hjic-495 1390 17 is be AUX hjic-495 1390 18 drastically drastically ADV hjic-495 1390 19 reduced reduce VERB hjic-495 1390 20 . . PUNCT hjic-495 1391 1 this this DET hjic-495 1391 2 solution solution NOUN hjic-495 1391 3 slightly slightly ADV hjic-495 1391 4 optimizes optimize VERB hjic-495 1391 5 the the DET hjic-495 1391 6 operation operation NOUN hjic-495 1391 7 of of ADP hjic-495 1391 8 power power NOUN hjic-495 1391 9 plants plant NOUN hjic-495 1391 10 . . PUNCT hjic-495 1392 1 figure figure VERB hjic-495 1392 2 5 5 NUM hjic-495 1392 3 : : PUNCT hjic-495 1392 4 the the DET hjic-495 1392 5 graphical graphical ADJ hjic-495 1392 6 interface interface NOUN hjic-495 1392 7 of of ADP hjic-495 1392 8 the the DET hjic-495 1392 9 software software NOUN hjic-495 1392 10 ( ( PUNCT hjic-495 1392 11 új új PROPN hjic-495 1392 12 erőmű erőmű PROPN hjic-495 1392 13 : : PUNCT hjic-495 1392 14 new new PROPN hjic-495 1392 15 powerplant powerplant NOUN hjic-495 1392 16 , , PUNCT hjic-495 1392 17 új új PROPN hjic-495 1392 18 fogyasztó fogyasztó NOUN hjic-495 1392 19 : : PUNCT hjic-495 1392 20 new new ADJ hjic-495 1392 21 consumer consumer NOUN hjic-495 1392 22 , , PUNCT hjic-495 1392 23 új új PROPN hjic-495 1392 24 állomás állomás NOUN hjic-495 1392 25 : : PUNCT hjic-495 1392 26 new new ADJ hjic-495 1392 27 station station NOUN hjic-495 1392 28 , , PUNCT hjic-495 1392 29 új új PROPN hjic-495 1392 30 kapcsolat kapcsolat NOUN hjic-495 1392 31 : : PUNCT hjic-495 1392 32 new new ADJ hjic-495 1392 33 connection connection NOUN hjic-495 1392 34 , , PUNCT hjic-495 1392 35 mentés mentés NOUN hjic-495 1392 36 : : PUNCT hjic-495 1392 37 save save VERB hjic-495 1392 38 , , PUNCT hjic-495 1392 39 betöltés betöltés ADJ hjic-495 1392 40 : : PUNCT hjic-495 1392 41 load load NOUN hjic-495 1392 42 , , PUNCT hjic-495 1392 43 lakossági lakossági NOUN hjic-495 1392 44 sorrend sorrend NOUN hjic-495 1392 45 : : PUNCT hjic-495 1392 46 order order NOUN hjic-495 1392 47 of of ADP hjic-495 1392 48 households household NOUN hjic-495 1392 49 , , PUNCT hjic-495 1392 50 céges cége VERB hjic-495 1392 51 sorrend sorrend NOUN hjic-495 1392 52 : : PUNCT hjic-495 1392 53 order order NOUN hjic-495 1392 54 of of ADP hjic-495 1392 55 companies company NOUN hjic-495 1392 56 , , PUNCT hjic-495 1392 57 maxköltség maxköltség PROPN hjic-495 1392 58 : : PUNCT hjic-495 1392 59 maximum maximum ADJ hjic-495 1392 60 cost cost NOUN hjic-495 1392 61 , , PUNCT hjic-495 1392 62 környezet környezet NOUN hjic-495 1392 63 : : PUNCT hjic-495 1392 64 environment environment NOUN hjic-495 1392 65 , , PUNCT hjic-495 1392 66 bekaps bekap NOUN hjic-495 1392 67 : : PUNCT hjic-495 1392 68 start start VERB hjic-495 1392 69 - - PUNCT hjic-495 1392 70 up up NOUN hjic-495 1392 71 , , PUNCT hjic-495 1392 72 indulás indulá VERB hjic-495 1392 73 : : PUNCT hjic-495 1392 74 begin begin VERB hjic-495 1392 75 , , PUNCT hjic-495 1392 76 indítás indítás ADJ hjic-495 1392 77 : : PUNCT hjic-495 1392 78 start start VERB hjic-495 1392 79 , , PUNCT hjic-495 1392 80 leállítás leállítás PROPN hjic-495 1392 81 : : PUNCT hjic-495 1392 82 stop stop VERB hjic-495 1392 83 , , PUNCT hjic-495 1392 84 újraindítás újraindítás NOUN hjic-495 1392 85 : : PUNCT hjic-495 1392 86 restart restart NOUN hjic-495 1392 87 figure figure NOUN hjic-495 1392 88 6 6 NUM hjic-495 1392 89 : : PUNCT hjic-495 1392 90 the the DET hjic-495 1392 91 model model NOUN hjic-495 1392 92 of of ADP hjic-495 1392 93 our our PRON hjic-495 1392 94 example example NOUN hjic-495 1392 95 ( ( PUNCT hjic-495 1392 96 méter méter NOUN hjic-495 1392 97 : : PUNCT hjic-495 1392 98 distance distance NOUN hjic-495 1392 99 in in ADP hjic-495 1392 100 m m PROPN hjic-495 1392 101 ) ) PUNCT hjic-495 1392 102 101 101 NUM hjic-495 1392 103 conclusion conclusion NOUN hjic-495 1392 104 this this DET hjic-495 1392 105 paper paper NOUN hjic-495 1392 106 presented present VERB hjic-495 1392 107 the the DET hjic-495 1392 108 planning planning NOUN hjic-495 1392 109 phase phase NOUN hjic-495 1392 110 and and CCONJ hjic-495 1392 111 implementation implementation NOUN hjic-495 1392 112 of of ADP hjic-495 1392 113 a a DET hjic-495 1392 114 web web NOUN hjic-495 1392 115 - - PUNCT hjic-495 1392 116 based base VERB hjic-495 1392 117 system system NOUN hjic-495 1392 118 that that PRON hjic-495 1392 119 makes make VERB hjic-495 1392 120 it it PRON hjic-495 1392 121 possible possible ADJ hjic-495 1392 122 to to PART hjic-495 1392 123 construct construct VERB hjic-495 1392 124 an an DET hjic-495 1392 125 energy energy NOUN hjic-495 1392 126 distribution distribution NOUN hjic-495 1392 127 network network NOUN hjic-495 1392 128 together together ADV hjic-495 1392 129 with with ADP hjic-495 1392 130 different different ADJ hjic-495 1392 131 types type NOUN hjic-495 1392 132 of of ADP hjic-495 1392 133 energy energy NOUN hjic-495 1392 134 sources source NOUN hjic-495 1392 135 and and CCONJ hjic-495 1392 136 consumers consumer NOUN hjic-495 1392 137 . . PUNCT hjic-495 1393 1 the the DET hjic-495 1393 2 simulations simulation NOUN hjic-495 1393 3 are be AUX hjic-495 1393 4 carried carry VERB hjic-495 1393 5 out out ADP hjic-495 1393 6 to to PART hjic-495 1393 7 determine determine VERB hjic-495 1393 8 the the DET hjic-495 1393 9 most most ADV hjic-495 1393 10 effective effective ADJ hjic-495 1393 11 response response NOUN hjic-495 1393 12 to to ADP hjic-495 1393 13 different different ADJ hjic-495 1393 14 immediate immediate ADJ hjic-495 1393 15 events event NOUN hjic-495 1393 16 ( ( PUNCT hjic-495 1393 17 e.g. e.g. ADV hjic-495 1393 18 a a DET hjic-495 1393 19 sudden sudden ADJ hjic-495 1393 20 network network NOUN hjic-495 1393 21 problem problem NOUN hjic-495 1393 22 or or CCONJ hjic-495 1393 23 failure failure NOUN hjic-495 1393 24 of of ADP hjic-495 1393 25 an an DET hjic-495 1393 26 energy energy NOUN hjic-495 1393 27 source source NOUN hjic-495 1393 28 ) ) PUNCT hjic-495 1393 29 . . PUNCT hjic-495 1394 1 the the DET hjic-495 1394 2 simulation simulation NOUN hjic-495 1394 3 takes take VERB hjic-495 1394 4 into into ADP hjic-495 1394 5 account account NOUN hjic-495 1394 6 both both DET hjic-495 1394 7 cost cost NOUN hjic-495 1394 8 - - PUNCT hjic-495 1394 9 related relate VERB hjic-495 1394 10 and and CCONJ hjic-495 1394 11 time time NOUN hjic-495 1394 12 - - PUNCT hjic-495 1394 13 related relate VERB hjic-495 1394 14 properties property NOUN hjic-495 1394 15 , , PUNCT hjic-495 1394 16 too too ADV hjic-495 1394 17 . . PUNCT hjic-495 1395 1 the the DET hjic-495 1395 2 present present ADJ hjic-495 1395 3 state state NOUN hjic-495 1395 4 of of ADP hjic-495 1395 5 the the DET hjic-495 1395 6 software software NOUN hjic-495 1395 7 provides provide VERB hjic-495 1395 8 a a DET hjic-495 1395 9 basis basis NOUN hjic-495 1395 10 for for ADP hjic-495 1395 11 further further ADJ hjic-495 1395 12 works work NOUN hjic-495 1395 13 , , PUNCT hjic-495 1395 14 which which PRON hjic-495 1395 15 intend intend VERB hjic-495 1395 16 to to PART hjic-495 1395 17 add add VERB hjic-495 1395 18 deeper deep ADJ hjic-495 1395 19 electricity electricity NOUN hjic-495 1395 20 - - PUNCT hjic-495 1395 21 related relate VERB hjic-495 1395 22 properties property NOUN hjic-495 1395 23 and and CCONJ hjic-495 1395 24 behaviour behaviour NOUN hjic-495 1395 25 to to ADP hjic-495 1395 26 the the DET hjic-495 1395 27 system system NOUN hjic-495 1395 28 . . PUNCT hjic-495 1396 1 acknowledgement acknowledgement NOUN hjic-495 1396 2 the the DET hjic-495 1396 3 authors author NOUN hjic-495 1396 4 are be AUX hjic-495 1396 5 thankful thankful ADJ hjic-495 1396 6 for for ADP hjic-495 1396 7 scientific scientific ADJ hjic-495 1396 8 guidance guidance NOUN hjic-495 1396 9 by by ADP hjic-495 1396 10 prof prof PROPN hjic-495 1396 11 . . PUNCT hjic-495 1397 1 katalin katalin PROPN hjic-495 1397 2 m. m. PROPN hjic-495 1397 3 hangos hangos PROPN hjic-495 1397 4 from from ADP hjic-495 1397 5 the the DET hjic-495 1397 6 computer computer NOUN hjic-495 1397 7 and and CCONJ hjic-495 1397 8 automation automation NOUN hjic-495 1397 9 research research PROPN hjic-495 1397 10 institute institute PROPN hjic-495 1397 11 . . PUNCT hjic-495 1398 1 we we PRON hjic-495 1398 2 acknowledge acknowledge VERB hjic-495 1398 3 the the DET hjic-495 1398 4 financial financial ADJ hjic-495 1398 5 support support NOUN hjic-495 1398 6 of of ADP hjic-495 1398 7 the the DET hjic-495 1398 8 hungarian hungarian ADJ hjic-495 1398 9 state state NOUN hjic-495 1398 10 and and CCONJ hjic-495 1398 11 the the DET hjic-495 1398 12 european european PROPN hjic-495 1398 13 union union PROPN hjic-495 1398 14 under under ADP hjic-495 1398 15 the the DET hjic-495 1398 16 tamop-4.2.2.a11/1 tamop-4.2.2.a11/1 NOUN hjic-495 1398 17 / / SYM hjic-495 1398 18 konv-2012 konv-2012 NOUN hjic-495 1398 19 - - PUNCT hjic-495 1398 20 0072 0072 NUM hjic-495 1398 21 project project NOUN hjic-495 1398 22 . . PUNCT hjic-495 1399 1 references reference NOUN hjic-495 1399 2 [ [ X hjic-495 1399 3 1 1 NUM hjic-495 1399 4 ] ] PUNCT hjic-495 1399 5 breitner breitner NOUN hjic-495 1399 6 m.h m.h PROPN hjic-495 1399 7 . . PUNCT hjic-495 1399 8 : : PUNCT hjic-495 1400 1 modeling model VERB hjic-495 1400 2 the the DET hjic-495 1400 3 transformation transformation NOUN hjic-495 1400 4 of of ADP hjic-495 1400 5 the the DET hjic-495 1400 6 german german ADJ hjic-495 1400 7 energy energy NOUN hjic-495 1400 8 system system NOUN hjic-495 1400 9 until until ADP hjic-495 1400 10 2050 2050 NUM hjic-495 1400 11 : : PUNCT hjic-495 1400 12 a a DET hjic-495 1400 13 multi multi NOUN hjic-495 1400 14 - - NOUN hjic-495 1400 15 criteria criterion NOUN hjic-495 1400 16 , , PUNCT hjic-495 1400 17 long long ADJ hjic-495 1400 18 term term NOUN hjic-495 1400 19 optimization optimization NOUN hjic-495 1400 20 problem problem NOUN hjic-495 1400 21 with with ADP hjic-495 1400 22 many many ADJ hjic-495 1400 23 constraints constraint NOUN hjic-495 1400 24 , , PUNCT hjic-495 1400 25 operations operation NOUN hjic-495 1400 26 res re NOUN hjic-495 1400 27 . . PUNCT hjic-495 1400 28 proc proc PROPN hjic-495 1400 29 . . PUNCT hjic-495 1401 1 2012 2012 NUM hjic-495 1401 2 , , PUNCT hjic-495 1401 3 369 369 NUM hjic-495 1401 4 - - SYM hjic-495 1401 5 374 374 NUM hjic-495 1401 6 [ [ X hjic-495 1401 7 2 2 NUM hjic-495 1401 8 ] ] PUNCT hjic-495 1401 9 geysen geysen PROPN hjic-495 1401 10 d. d. PROPN hjic-495 1401 11 , , PUNCT hjic-495 1401 12 booiy booiy VERB hjic-495 1401 13 p. p. NOUN hjic-495 1401 14 , , PUNCT hjic-495 1401 15 warmer warm ADJ hjic-495 1401 16 c. c. NOUN hjic-495 1401 17 : : PUNCT hjic-495 1401 18 a a DET hjic-495 1401 19 framework framework NOUN hjic-495 1401 20 for for ADP hjic-495 1401 21 simulation simulation NOUN hjic-495 1401 22 and and CCONJ hjic-495 1401 23 control control NOUN hjic-495 1401 24 of of ADP hjic-495 1401 25 hybrid hybrid ADJ hjic-495 1401 26 energy energy NOUN hjic-495 1401 27 networks network NOUN hjic-495 1401 28 , , PUNCT hjic-495 1401 29 proc proc NOUN hjic-495 1401 30 . . PUNCT hjic-495 1402 1 energycon energycon PROPN hjic-495 1402 2 2014 2014 NUM hjic-495 1402 3 , , PUNCT hjic-495 1402 4 dubrovnik dubrovnik PROPN hjic-495 1402 5 , , PUNCT hjic-495 1402 6 croatia croatia PROPN hjic-495 1402 7 , , PUNCT hjic-495 1402 8 2014 2014 NUM hjic-495 1403 1 [ [ X hjic-495 1403 2 3 3 NUM hjic-495 1403 3 ] ] X hjic-495 1403 4 padulles padulles PROPN hjic-495 1403 5 j. j. PROPN hjic-495 1403 6 , , PUNCT hjic-495 1403 7 ault ault PROPN hjic-495 1403 8 g.w g.w PROPN hjic-495 1403 9 . . PROPN hjic-495 1403 10 , , PUNCT hjic-495 1403 11 mcdonald mcdonald PROPN hjic-495 1403 12 j.r j.r PROPN hjic-495 1403 13 . . PROPN hjic-495 1403 14 : : PUNCT hjic-495 1404 1 an an DET hjic-495 1404 2 integrated integrate VERB hjic-495 1404 3 sofc sofc NOUN hjic-495 1404 4 plant plant NOUN hjic-495 1404 5 dynamic dynamic ADJ hjic-495 1404 6 model model NOUN hjic-495 1404 7 for for ADP hjic-495 1404 8 power power NOUN hjic-495 1404 9 systems system NOUN hjic-495 1404 10 simulation simulation NOUN hjic-495 1404 11 , , PUNCT hjic-495 1404 12 int int NOUN hjic-495 1404 13 . . PUNCT hjic-495 1405 1 j. j. PROPN hjic-495 1405 2 power power PROPN hjic-495 1405 3 sources source NOUN hjic-495 1405 4 2000 2000 NUM hjic-495 1405 5 , , PUNCT hjic-495 1405 6 86 86 NUM hjic-495 1405 7 , , PUNCT hjic-495 1405 8 495 495 NUM hjic-495 1405 9 - - SYM hjic-495 1405 10 500 500 NUM hjic-495 1405 11 [ [ X hjic-495 1405 12 4 4 NUM hjic-495 1405 13 ] ] X hjic-495 1405 14 csercsik csercsik PROPN hjic-495 1405 15 d. d. PROPN hjic-495 1405 16 , , PUNCT hjic-495 1405 17 kóczy kóczy PROPN hjic-495 1405 18 l.á l.á PROPN hjic-495 1405 19 . . PUNCT hjic-495 1405 20 : : PUNCT hjic-495 1406 1 externalities externality NOUN hjic-495 1406 2 in in ADP hjic-495 1406 3 the the DET hjic-495 1406 4 games game NOUN hjic-495 1406 5 over over ADP hjic-495 1406 6 electrical electrical ADJ hjic-495 1406 7 power power NOUN hjic-495 1406 8 transmission transmission NOUN hjic-495 1406 9 networks network NOUN hjic-495 1406 10 , , PUNCT hjic-495 1406 11 iehas iehas ADJ hjic-495 1406 12 discussion discussion NOUN hjic-495 1406 13 papers paper NOUN hjic-495 1406 14 , , PUNCT hjic-495 1406 15 2011 2011 NUM hjic-495 1406 16 , , PUNCT hjic-495 1406 17 no no DET hjic-495 1406 18 1125 1125 NUM hjic-495 1406 19 figure figure NOUN hjic-495 1406 20 7 7 NUM hjic-495 1406 21 : : PUNCT hjic-495 1406 22 the the DET hjic-495 1406 23 hungarian hungarian ADJ hjic-495 1406 24 transmission transmission NOUN hjic-495 1406 25 network network NOUN hjic-495 1406 26 advertise advertise VERB hjic-495 1406 27 upcoming upcoming ADJ hjic-495 1406 28 meetings meeting NOUN hjic-495 1406 29 , , PUNCT hjic-495 1406 30 conferences conference NOUN hjic-495 1406 31 , , PUNCT hjic-495 1406 32 workshops workshop NOUN hjic-495 1406 33 , , PUNCT hjic-495 1406 34 new new ADJ hjic-495 1406 35 products product NOUN hjic-495 1406 36 or or CCONJ hjic-495 1406 37 services service NOUN hjic-495 1406 38 ; ; PUNCT hjic-495 1406 39 make make VERB hjic-495 1406 40 public public ADJ hjic-495 1406 41 announcements announcement NOUN hjic-495 1406 42 , , PUNCT hjic-495 1406 43 introduce introduce VERB hjic-495 1406 44 your your PRON hjic-495 1406 45 research research NOUN hjic-495 1406 46 laboratory laboratory NOUN hjic-495 1406 47 on on ADP hjic-495 1406 48 the the DET hjic-495 1406 49 pages page NOUN hjic-495 1406 50 of of ADP hjic-495 1406 51 the the DET hjic-495 1406 52 hungarian hungarian ADJ hjic-495 1406 53 journal journal NOUN hjic-495 1406 54 of of ADP hjic-495 1406 55 industry industry NOUN hjic-495 1406 56 and and CCONJ hjic-495 1406 57 chemistry chemistry NOUN hjic-495 1406 58 please please INTJ hjic-495 1406 59 contact contact VERB hjic-495 1406 60 us we PRON hjic-495 1406 61 if if SCONJ hjic-495 1406 62 interested interested ADJ hjic-495 1406 63 ! ! PUNCT hjic-495 1407 1 editorial editorial ADJ hjic-495 1407 2 office office NOUN hjic-495 1407 3 : : PUNCT hjic-495 1407 4 university university NOUN hjic-495 1407 5 of of ADP hjic-495 1407 6 pannonia pannonia PROPN hjic-495 1407 7 p.o p.o PROPN hjic-495 1407 8 . . PROPN hjic-495 1407 9 box box PROPN hjic-495 1407 10 158 158 NUM hjic-495 1407 11 , , PUNCT hjic-495 1407 12 veszprém veszprém NOUN hjic-495 1407 13 h-8201 h-8201 NUM hjic-495 1407 14 ( ( PUNCT hjic-495 1407 15 hungary hungary PROPN hjic-495 1407 16 ) ) PUNCT hjic-495 1407 17 tel tel PROPN hjic-495 1407 18 . . PUNCT hjic-495 1407 19 : : PUNCT hjic-495 1408 1 +36 +36 NOUN hjic-495 1408 2 ( ( PUNCT hjic-495 1408 3 88 88 NUM hjic-495 1408 4 ) ) PUNCT hjic-495 1408 5 624 624 NUM hjic-495 1408 6 - - PUNCT hjic-495 1408 7 746 746 NUM hjic-495 1408 8 , , PUNCT hjic-495 1408 9 e e NOUN hjic-495 1408 10 - - NOUN hjic-495 1408 11 mail mail NOUN hjic-495 1408 12 : : PUNCT hjic-495 1408 13 hjic@almos.uni-pannon.hu hjic@almos.uni-pannon.hu PROPN hjic-495 1408 14 ; ; PUNCT hjic-495 1408 15 web web NOUN hjic-495 1408 16 : : PUNCT hjic-495 1408 17 hjic.mk.uni-pannon.hu hjic.mk.uni-pannon.hu PROPN hjic-495 1408 18 felelős felelős PROPN hjic-495 1408 19 szerkesztő szerkesztő PROPN hjic-495 1408 20 : : PUNCT hjic-495 1408 21 szilágyi szilágyi PROPN hjic-495 1408 22 róbert róbert VERB hjic-495 1408 23 károly károly PROPN hjic-495 1408 24 , , PUNCT hjic-495 1408 25 phd phd PROPN hjic-495 1408 26 kiadja kiadja PROPN hjic-495 1408 27 : : PUNCT hjic-495 1408 28 pannon pannon NOUN hjic-495 1408 29 egyetem egyetem PROPN hjic-495 1408 30 , , PUNCT hjic-495 1408 31 8200 8200 NUM hjic-495 1408 32 veszprém veszprém NOUN hjic-495 1408 33 , , PUNCT hjic-495 1408 34 egyetem egyetem PROPN hjic-495 1408 35 u. u. PROPN hjic-495 1408 36 10 10 NUM hjic-495 1408 37 . . PUNCT hjic-495 1409 1 levélcím levélcím ADV hjic-495 1409 2 : : PUNCT hjic-495 1409 3 h-8201 h-8201 NUM hjic-495 1409 4 veszprém veszprém NOUN hjic-495 1409 5 , , PUNCT hjic-495 1409 6 postafiók postafiók NOUN hjic-495 1409 7 158 158 NUM hjic-495 1409 8 , , PUNCT hjic-495 1409 9 tel tel PROPN hjic-495 1409 10 . . PROPN hjic-495 1409 11 : : PUNCT hjic-495 1409 12 ( ( PUNCT hjic-495 1409 13 88 88 NUM hjic-495 1409 14 ) ) SYM hjic-495 1409 15 624 624 NUM hjic-495 1409 16 - - PUNCT hjic-495 1409 17 000 000 NUM hjic-495 1409 18 felelős felelős PROPN hjic-495 1409 19 kiadó kiadó PROPN hjic-495 1409 20 : : PUNCT hjic-495 1409 21 a a DET hjic-495 1409 22 pannon pannon NOUN hjic-495 1409 23 egyetem egyetem NOUN hjic-495 1409 24 , , PUNCT hjic-495 1409 25 mérnöki mérnöki NOUN hjic-495 1409 26 kar kar PROPN hjic-495 1409 27 dékánja dékánja VERB hjic-495 1409 28 hungarian hungarian ADJ hjic-495 1409 29 journal journal NOUN hjic-495 1409 30 of of ADP hjic-495 1409 31 industry industry NOUN hjic-495 1409 32 and and CCONJ hjic-495 1409 33 chemistry chemistry NOUN hjic-495 1409 34 veszprém veszprém NOUN hjic-495 1409 35 vol vol NOUN hjic-495 1409 36 . . PUNCT hjic-495 1410 1 42(2 42(2 NUM hjic-495 1410 2 ) ) PUNCT hjic-495 1411 1 pp pp ADP hjic-495 1411 2 . . PUNCT hjic-495 1412 1 103–107 103–107 NUM hjic-495 1412 2 ( ( PUNCT hjic-495 1412 3 2014 2014 NUM hjic-495 1412 4 ) ) PUNCT hjic-495 1412 5 on on ADP hjic-495 1412 6 the the DET hjic-495 1412 7 parametric parametric ADJ hjic-495 1412 8 uncertainty uncertainty NOUN hjic-495 1412 9 of of ADP hjic-495 1412 10 weakly weakly ADJ hjic-495 1412 11 reversible reversible ADJ hjic-495 1412 12 realizations realization NOUN hjic-495 1412 13 of of ADP hjic-495 1412 14 kinetic kinetic ADJ hjic-495 1412 15 systems system NOUN hjic-495 1412 16 györgy györgy PROPN hjic-495 1412 17 lipták lipták PROPN hjic-495 1412 18 b1 b1 PROPN hjic-495 1412 19 , , PUNCT hjic-495 1412 20 gábor gábor PROPN hjic-495 1412 21 szederkényi1,2 szederkényi1,2 PROPN hjic-495 1412 22 and and CCONJ hjic-495 1412 23 katalin katalin PROPN hjic-495 1412 24 m. m. NOUN hjic-495 1412 25 hangos1,3 hangos1,3 PROPN hjic-495 1412 26 1process 1process NUM hjic-495 1412 27 control control NOUN hjic-495 1412 28 research research NOUN hjic-495 1412 29 group group NOUN hjic-495 1412 30 , , PUNCT hjic-495 1412 31 mta mta PROPN hjic-495 1412 32 sztaki sztaki PROPN hjic-495 1412 33 , , PUNCT hjic-495 1412 34 kende kende VERB hjic-495 1412 35 u. u. PROPN hjic-495 1412 36 13 13 NUM hjic-495 1412 37 - - SYM hjic-495 1412 38 17 17 NUM hjic-495 1412 39 , , PUNCT hjic-495 1412 40 budapest budapest NOUN hjic-495 1412 41 , , PUNCT hjic-495 1412 42 1111 1111 NUM hjic-495 1412 43 , , PUNCT hjic-495 1412 44 hungary hungary PROPN hjic-495 1412 45 2faculty 2faculty NUM hjic-495 1412 46 of of ADP hjic-495 1412 47 information information NOUN hjic-495 1412 48 technology technology NOUN hjic-495 1412 49 , , PUNCT hjic-495 1412 50 péter péter PROPN hjic-495 1412 51 pázmány pázmány PROPN hjic-495 1412 52 catholic catholic PROPN hjic-495 1412 53 university university PROPN hjic-495 1412 54 , , PUNCT hjic-495 1412 55 práter práter NOUN hjic-495 1412 56 u. u. PROPN hjic-495 1412 57 50 50 NUM hjic-495 1412 58 / / SYM hjic-495 1412 59 a a PRON hjic-495 1412 60 , , PUNCT hjic-495 1412 61 budapest budapest ADJ hjic-495 1412 62 , , PUNCT hjic-495 1412 63 1083 1083 NUM hjic-495 1412 64 , , PUNCT hjic-495 1412 65 hungary hungary PROPN hjic-495 1412 66 3department 3department NUM hjic-495 1412 67 of of ADP hjic-495 1412 68 electrical electrical ADJ hjic-495 1412 69 engineering engineering NOUN hjic-495 1412 70 and and CCONJ hjic-495 1412 71 information information NOUN hjic-495 1412 72 systems system NOUN hjic-495 1412 73 , , PUNCT hjic-495 1412 74 university university NOUN hjic-495 1412 75 of of ADP hjic-495 1412 76 pannonia pannonia PROPN hjic-495 1412 77 , , PUNCT hjic-495 1412 78 egyetem egyetem NOUN hjic-495 1412 79 u. u. PROPN hjic-495 1412 80 10 10 NUM hjic-495 1412 81 , , PUNCT hjic-495 1412 82 veszprém veszprém NOUN hjic-495 1412 83 , , PUNCT hjic-495 1412 84 8200 8200 NUM hjic-495 1412 85 , , PUNCT hjic-495 1412 86 hungary hungary NOUN hjic-495 1412 87 be be NOUN hjic-495 1412 88 - - PUNCT hjic-495 1412 89 mail mail NOUN hjic-495 1412 90 : : PUNCT hjic-495 1413 1 lipgyorgy@gmail.com lipgyorgy@gmail.com X hjic-495 1414 1 the the DET hjic-495 1414 2 existence existence NOUN hjic-495 1414 3 of of ADP hjic-495 1414 4 weakly weakly ADJ hjic-495 1414 5 reversible reversible ADJ hjic-495 1414 6 realizations realization NOUN hjic-495 1414 7 within within ADP hjic-495 1414 8 a a DET hjic-495 1414 9 given give VERB hjic-495 1414 10 convex convex ADJ hjic-495 1414 11 domain domain NOUN hjic-495 1414 12 is be AUX hjic-495 1414 13 investigated investigate VERB hjic-495 1414 14 . . PUNCT hjic-495 1415 1 it it PRON hjic-495 1415 2 is be AUX hjic-495 1415 3 shown show VERB hjic-495 1415 4 that that SCONJ hjic-495 1415 5 the the DET hjic-495 1415 6 domain domain NOUN hjic-495 1415 7 of of ADP hjic-495 1415 8 weakly weakly ADJ hjic-495 1415 9 reversible reversible ADJ hjic-495 1415 10 realizations realization NOUN hjic-495 1415 11 is be AUX hjic-495 1415 12 convex convex ADJ hjic-495 1415 13 in in ADP hjic-495 1415 14 the the DET hjic-495 1415 15 parameter parameter NOUN hjic-495 1415 16 space space NOUN hjic-495 1415 17 . . PUNCT hjic-495 1416 1 a a DET hjic-495 1416 2 lp lp ADV hjic-495 1416 3 - - PUNCT hjic-495 1416 4 based base VERB hjic-495 1416 5 method method NOUN hjic-495 1416 6 of of ADP hjic-495 1416 7 testing testing NOUN hjic-495 1416 8 if if SCONJ hjic-495 1416 9 every every DET hjic-495 1416 10 element element NOUN hjic-495 1416 11 of of ADP hjic-495 1416 12 a a DET hjic-495 1416 13 convex convex NOUN hjic-495 1416 14 domain domain NOUN hjic-495 1416 15 admits admit VERB hjic-495 1416 16 weakly weakly ADJ hjic-495 1416 17 reversible reversible ADJ hjic-495 1416 18 realizations realization NOUN hjic-495 1416 19 is be AUX hjic-495 1416 20 proposed propose VERB hjic-495 1416 21 . . PUNCT hjic-495 1417 1 a a DET hjic-495 1417 2 linear linear ADJ hjic-495 1417 3 programming programming NOUN hjic-495 1417 4 method method NOUN hjic-495 1417 5 is be AUX hjic-495 1417 6 also also ADV hjic-495 1417 7 presented present VERB hjic-495 1417 8 to to PART hjic-495 1417 9 compute compute VERB hjic-495 1417 10 a a DET hjic-495 1417 11 stabilizing stabilize VERB hjic-495 1417 12 kinetic kinetic ADJ hjic-495 1417 13 feedback feedback NOUN hjic-495 1417 14 controller controller NOUN hjic-495 1417 15 for for ADP hjic-495 1417 16 polynomial polynomial ADJ hjic-495 1417 17 systems system NOUN hjic-495 1417 18 with with ADP hjic-495 1417 19 parametric parametric ADJ hjic-495 1417 20 uncertainty uncertainty NOUN hjic-495 1417 21 . . PUNCT hjic-495 1418 1 the the DET hjic-495 1418 2 proposed propose VERB hjic-495 1418 3 methods method NOUN hjic-495 1418 4 are be AUX hjic-495 1418 5 illustrated illustrate VERB hjic-495 1418 6 using use VERB hjic-495 1418 7 simple simple ADJ hjic-495 1418 8 examples example NOUN hjic-495 1418 9 . . PUNCT hjic-495 1419 1 keywords keyword NOUN hjic-495 1419 2 : : PUNCT hjic-495 1419 3 parametric parametric ADJ hjic-495 1419 4 uncertainty uncertainty NOUN hjic-495 1419 5 ; ; PUNCT hjic-495 1419 6 computational computational ADJ hjic-495 1419 7 methods method NOUN hjic-495 1419 8 ; ; PUNCT hjic-495 1419 9 optimization optimization NOUN hjic-495 1419 10 ; ; PUNCT hjic-495 1419 11 kinetic kinetic ADJ hjic-495 1419 12 systems system NOUN hjic-495 1419 13 introduction introduction NOUN hjic-495 1419 14 the the DET hjic-495 1419 15 notion notion NOUN hjic-495 1419 16 of of ADP hjic-495 1419 17 parametric parametric ADJ hjic-495 1419 18 robustness robustness NOUN hjic-495 1419 19 is be AUX hjic-495 1419 20 well well ADV hjic-495 1419 21 - - PUNCT hjic-495 1419 22 known know VERB hjic-495 1419 23 and and CCONJ hjic-495 1419 24 central central ADJ hjic-495 1419 25 in in ADP hjic-495 1419 26 linear linear ADJ hjic-495 1419 27 and and CCONJ hjic-495 1419 28 nonlinear nonlinear ADJ hjic-495 1419 29 systems system NOUN hjic-495 1419 30 and and CCONJ hjic-495 1419 31 control control PROPN hjic-495 1419 32 theory theory NOUN hjic-495 1419 33 [ [ X hjic-495 1419 34 1 1 NUM hjic-495 1419 35 ] ] PUNCT hjic-495 1419 36 . . PUNCT hjic-495 1420 1 it it PRON hjic-495 1420 2 is be AUX hjic-495 1420 3 used use VERB hjic-495 1420 4 for for ADP hjic-495 1420 5 ensuring ensure VERB hjic-495 1420 6 a a DET hjic-495 1420 7 desirable desirable ADJ hjic-495 1420 8 property property NOUN hjic-495 1420 9 , , PUNCT hjic-495 1420 10 such such ADJ hjic-495 1420 11 as as ADP hjic-495 1420 12 stability stability NOUN hjic-495 1420 13 , , PUNCT hjic-495 1420 14 in in ADP hjic-495 1420 15 a a DET hjic-495 1420 16 given give VERB hjic-495 1420 17 domain domain NOUN hjic-495 1420 18 in in ADP hjic-495 1420 19 the the DET hjic-495 1420 20 parameter parameter NOUN hjic-495 1420 21 space space NOUN hjic-495 1420 22 around around ADP hjic-495 1420 23 a a DET hjic-495 1420 24 nominal nominal ADJ hjic-495 1420 25 realization realization NOUN hjic-495 1420 26 having have VERB hjic-495 1420 27 the the DET hjic-495 1420 28 desired desire VERB hjic-495 1420 29 property property NOUN hjic-495 1420 30 . . PUNCT hjic-495 1421 1 the the DET hjic-495 1421 2 aim aim NOUN hjic-495 1421 3 of of ADP hjic-495 1421 4 the the DET hjic-495 1421 5 paper paper NOUN hjic-495 1421 6 is be AUX hjic-495 1421 7 to to PART hjic-495 1421 8 extend extend VERB hjic-495 1421 9 the the DET hjic-495 1421 10 notions notion NOUN hjic-495 1421 11 and and CCONJ hjic-495 1421 12 tools tool NOUN hjic-495 1421 13 of of ADP hjic-495 1421 14 parametric parametric ADJ hjic-495 1421 15 robustness robustness NOUN hjic-495 1421 16 for for ADP hjic-495 1421 17 a a DET hjic-495 1421 18 class class NOUN hjic-495 1421 19 of of ADP hjic-495 1421 20 positive positive ADJ hjic-495 1421 21 polynomial polynomial ADJ hjic-495 1421 22 systems system NOUN hjic-495 1421 23 , , PUNCT hjic-495 1421 24 namely namely ADV hjic-495 1421 25 a a DET hjic-495 1421 26 class class NOUN hjic-495 1421 27 of of ADP hjic-495 1421 28 kinetic kinetic ADJ hjic-495 1421 29 systems system NOUN hjic-495 1421 30 . . PUNCT hjic-495 1422 1 only only ADV hjic-495 1422 2 the the DET hjic-495 1422 3 very very ADV hjic-495 1422 4 first first ADJ hjic-495 1422 5 steps step NOUN hjic-495 1422 6 are be AUX hjic-495 1422 7 reported report VERB hjic-495 1422 8 here here ADV hjic-495 1422 9 that that PRON hjic-495 1422 10 offer offer VERB hjic-495 1422 11 a a DET hjic-495 1422 12 computationally computationally ADV hjic-495 1422 13 efficient efficient ADJ hjic-495 1422 14 method method NOUN hjic-495 1422 15 for for ADP hjic-495 1422 16 checking check VERB hjic-495 1422 17 one one NUM hjic-495 1422 18 of of ADP hjic-495 1422 19 the the DET hjic-495 1422 20 many many ADJ hjic-495 1422 21 important important ADJ hjic-495 1422 22 properties property NOUN hjic-495 1422 23 of of ADP hjic-495 1422 24 kinetic kinetic ADJ hjic-495 1422 25 systems system NOUN hjic-495 1422 26 , , PUNCT hjic-495 1422 27 their their PRON hjic-495 1422 28 weak weak ADJ hjic-495 1422 29 reversibility reversibility NOUN hjic-495 1422 30 . . PUNCT hjic-495 1423 1 basic basic ADJ hjic-495 1423 2 notions notion NOUN hjic-495 1423 3 and and CCONJ hjic-495 1423 4 methods method NOUN hjic-495 1423 5 the the DET hjic-495 1423 6 basic basic ADJ hjic-495 1423 7 notions notion NOUN hjic-495 1423 8 and and CCONJ hjic-495 1423 9 tools tool NOUN hjic-495 1423 10 related relate VERB hjic-495 1423 11 to to ADP hjic-495 1423 12 reaction reaction NOUN hjic-495 1423 13 kinetic kinetic NOUN hjic-495 1423 14 systems system NOUN hjic-495 1423 15 and and CCONJ hjic-495 1423 16 their their PRON hjic-495 1423 17 realizations realization NOUN hjic-495 1423 18 are be AUX hjic-495 1423 19 briefly briefly ADV hjic-495 1423 20 summarized summarize VERB hjic-495 1423 21 in in ADP hjic-495 1423 22 this this DET hjic-495 1423 23 section section NOUN hjic-495 1423 24 . . PUNCT hjic-495 1424 1 kinetic kinetic ADJ hjic-495 1424 2 systems system NOUN hjic-495 1424 3 , , PUNCT hjic-495 1424 4 their their PRON hjic-495 1424 5 dynamics dynamic NOUN hjic-495 1424 6 and and CCONJ hjic-495 1424 7 structure structure NOUN hjic-495 1424 8 deterministic deterministic ADJ hjic-495 1424 9 kinetic kinetic NOUN hjic-495 1424 10 systems system NOUN hjic-495 1424 11 with with ADP hjic-495 1424 12 mass mass ADJ hjic-495 1424 13 action action NOUN hjic-495 1424 14 kinetics kinetic NOUN hjic-495 1424 15 or or CCONJ hjic-495 1424 16 simply simply ADV hjic-495 1424 17 chemical chemical ADJ hjic-495 1424 18 reaction reaction NOUN hjic-495 1424 19 networks network NOUN hjic-495 1424 20 ( ( PUNCT hjic-495 1424 21 crns crn NOUN hjic-495 1424 22 ) ) PUNCT hjic-495 1424 23 form form NOUN hjic-495 1424 24 a a DET hjic-495 1424 25 wide wide ADJ hjic-495 1424 26 class class NOUN hjic-495 1424 27 of of ADP hjic-495 1424 28 non non ADJ hjic-495 1424 29 - - ADJ hjic-495 1424 30 negative negative ADJ hjic-495 1424 31 polynomial polynomial ADJ hjic-495 1424 32 systems system NOUN hjic-495 1424 33 , , PUNCT hjic-495 1424 34 that that PRON hjic-495 1424 35 are be AUX hjic-495 1424 36 able able ADJ hjic-495 1424 37 to to PART hjic-495 1424 38 produce produce VERB hjic-495 1424 39 all all DET hjic-495 1424 40 the the DET hjic-495 1424 41 important important ADJ hjic-495 1424 42 qualitative qualitative ADJ hjic-495 1424 43 phenomena phenomenon NOUN hjic-495 1424 44 ( ( PUNCT hjic-495 1424 45 e.g. e.g. ADV hjic-495 1424 46 stable stable ADJ hjic-495 1424 47 / / SYM hjic-495 1424 48 unstable unstable ADJ hjic-495 1424 49 equilibria equilibrium NOUN hjic-495 1424 50 , , PUNCT hjic-495 1424 51 oscillations oscillation NOUN hjic-495 1424 52 , , PUNCT hjic-495 1424 53 limit limit NOUN hjic-495 1424 54 cycles cycle NOUN hjic-495 1424 55 , , PUNCT hjic-495 1424 56 multiplicity multiplicity NOUN hjic-495 1424 57 of of ADP hjic-495 1424 58 equilibrium equilibrium NOUN hjic-495 1424 59 points point NOUN hjic-495 1424 60 and and CCONJ hjic-495 1424 61 even even ADV hjic-495 1424 62 chaotic chaotic ADJ hjic-495 1424 63 behaviour behaviour NOUN hjic-495 1424 64 ) ) PUNCT hjic-495 1424 65 present present ADJ hjic-495 1424 66 in in ADP hjic-495 1424 67 the the DET hjic-495 1424 68 dynamics dynamic NOUN hjic-495 1424 69 of of ADP hjic-495 1424 70 nonlinear nonlinear ADJ hjic-495 1424 71 processes process NOUN hjic-495 1424 72 [ [ X hjic-495 1424 73 2 2 NUM hjic-495 1424 74 ] ] PUNCT hjic-495 1424 75 . . PUNCT hjic-495 1425 1 the the DET hjic-495 1425 2 general general ADJ hjic-495 1425 3 form form NOUN hjic-495 1425 4 of of ADP hjic-495 1425 5 dynamic dynamic ADJ hjic-495 1425 6 models model NOUN hjic-495 1425 7 studied study VERB hjic-495 1425 8 in in ADP hjic-495 1425 9 this this DET hjic-495 1425 10 paper paper NOUN hjic-495 1425 11 is be AUX hjic-495 1425 12 the the DET hjic-495 1425 13 following follow VERB hjic-495 1425 14 ẋ ẋ PROPN hjic-495 1426 1 = = PUNCT hjic-495 1426 2 m m PROPN hjic-495 1426 3 · · PUNCT hjic-495 1426 4 ( ( PUNCT hjic-495 1426 5 x x X hjic-495 1426 6 ) ) PUNCT hjic-495 1426 7 , , PUNCT hjic-495 1426 8 ( ( PUNCT hjic-495 1426 9 1 1 X hjic-495 1426 10 ) ) PUNCT hjic-495 1426 11 where where SCONJ hjic-495 1426 12 x x SYM hjic-495 1426 13 2 2 NUM hjic-495 1426 14 rn rn NOUN hjic-495 1426 15 is be AUX hjic-495 1426 16 the the DET hjic-495 1426 17 state state NOUN hjic-495 1426 18 variable variable NOUN hjic-495 1426 19 and and CCONJ hjic-495 1426 20 m m PROPN hjic-495 1426 21 2 2 NUM hjic-495 1426 22 rn rn NOUN hjic-495 1426 23 ⇥ ⇥ NUM hjic-495 1426 24 m. m. NOUN hjic-495 1426 25 the the DET hjic-495 1426 26 monomial monomial ADJ hjic-495 1426 27 vector vector NOUN hjic-495 1426 28 function function NOUN hjic-495 1426 29 : : PUNCT hjic-495 1426 30 rn rn PROPN hjic-495 1426 31 ! ! PUNCT hjic-495 1427 1 rm rm PROPN hjic-495 1427 2 is be AUX hjic-495 1427 3 defined define VERB hjic-495 1427 4 as as ADP hjic-495 1427 5 j(x j(x NOUN hjic-495 1427 6 ) ) PUNCT hjic-495 1427 7 = = SYM hjic-495 1428 1 ny ny PROPN hjic-495 1429 1 i=1 i=1 X hjic-495 1429 2 x x PUNCT hjic-495 1429 3 yij yij NOUN hjic-495 1429 4 i i PRON hjic-495 1429 5 , , PUNCT hjic-495 1429 6 j j PROPN hjic-495 1429 7 = = SYM hjic-495 1429 8 1 1 NUM hjic-495 1429 9 , , PUNCT hjic-495 1429 10 . . PUNCT hjic-495 1429 11 . . PUNCT hjic-495 1429 12 . . PUNCT hjic-495 1430 1 , , PUNCT hjic-495 1430 2 m m PROPN hjic-495 1430 3 ( ( PUNCT hjic-495 1430 4 2 2 NUM hjic-495 1430 5 ) ) PUNCT hjic-495 1430 6 where where SCONJ hjic-495 1430 7 y y PROPN hjic-495 1430 8 2 2 NUM hjic-495 1430 9 nn nn NOUN hjic-495 1430 10 ⇥ ⇥ NUM hjic-495 1430 11 m m NOUN hjic-495 1430 12 0 0 NUM hjic-495 1430 13 . . PUNCT hjic-495 1431 1 the the DET hjic-495 1431 2 system system NOUN hjic-495 1431 3 eq.(1 eq.(1 ADJ hjic-495 1431 4 ) ) PUNCT hjic-495 1431 5 is be AUX hjic-495 1431 6 kinetic kinetic ADJ hjic-495 1431 7 if if SCONJ hjic-495 1431 8 and and CCONJ hjic-495 1431 9 only only ADV hjic-495 1431 10 if if SCONJ hjic-495 1431 11 the the DET hjic-495 1431 12 matrix matrix NOUN hjic-495 1431 13 m m AUX hjic-495 1431 14 has have VERB hjic-495 1431 15 a a DET hjic-495 1431 16 factorization factorization NOUN hjic-495 1431 17 m m ADJ hjic-495 1431 18 = = SYM hjic-495 1431 19 y y PROPN hjic-495 1431 20 · · PROPN hjic-495 1431 21 ak ak PROPN hjic-495 1431 22 . . PROPN hjic-495 1432 1 ( ( PUNCT hjic-495 1432 2 3 3 X hjic-495 1432 3 ) ) PUNCT hjic-495 1432 4 the the DET hjic-495 1432 5 kirchhoff kirchhoff NOUN hjic-495 1432 6 - - PUNCT hjic-495 1432 7 matrix matrix NOUN hjic-495 1432 8 ak ak PROPN hjic-495 1432 9 has have VERB hjic-495 1432 10 non non ADJ hjic-495 1432 11 - - ADJ hjic-495 1432 12 positive positive ADJ hjic-495 1432 13 diagonal diagonal ADJ hjic-495 1432 14 and and CCONJ hjic-495 1432 15 non non ADJ hjic-495 1432 16 - - ADJ hjic-495 1432 17 negative negative ADJ hjic-495 1432 18 off off ADP hjic-495 1432 19 - - PUNCT hjic-495 1432 20 diagonal diagonal ADJ hjic-495 1432 21 elements element NOUN hjic-495 1432 22 and and CCONJ hjic-495 1432 23 zero zero NUM hjic-495 1432 24 column column NOUN hjic-495 1432 25 sums sum NOUN hjic-495 1432 26 . . PUNCT hjic-495 1433 1 the the DET hjic-495 1433 2 matrix matrix NOUN hjic-495 1433 3 pair pair NOUN hjic-495 1433 4 ( ( PUNCT hjic-495 1433 5 y y PROPN hjic-495 1433 6 , , PUNCT hjic-495 1433 7 ak ak PROPN hjic-495 1433 8 ) ) PUNCT hjic-495 1433 9 is be AUX hjic-495 1433 10 called call VERB hjic-495 1433 11 the the DET hjic-495 1433 12 realization realization NOUN hjic-495 1433 13 of of ADP hjic-495 1433 14 the the DET hjic-495 1433 15 system system NOUN hjic-495 1433 16 eq.(1 eq.(1 ADJ hjic-495 1433 17 ) ) PUNCT hjic-495 1433 18 . . PUNCT hjic-495 1434 1 the the DET hjic-495 1434 2 chemically chemically ADV hjic-495 1434 3 originated originate VERB hjic-495 1434 4 notions notion NOUN hjic-495 1434 5 : : PUNCT hjic-495 1434 6 the the DET hjic-495 1434 7 chemically chemically ADV hjic-495 1434 8 originated originate VERB hjic-495 1434 9 notions notion NOUN hjic-495 1434 10 of of ADP hjic-495 1434 11 kinetic kinetic ADJ hjic-495 1434 12 systems system NOUN hjic-495 1434 13 are be AUX hjic-495 1434 14 as as SCONJ hjic-495 1434 15 follows follow VERB hjic-495 1434 16 : : PUNCT hjic-495 1434 17 the the DET hjic-495 1434 18 species specie NOUN hjic-495 1434 19 of of ADP hjic-495 1434 20 the the DET hjic-495 1434 21 system system NOUN hjic-495 1434 22 are be AUX hjic-495 1434 23 denoted denote VERB hjic-495 1434 24 by by ADP hjic-495 1434 25 x1 x1 PROPN hjic-495 1434 26 , , PUNCT hjic-495 1434 27 . . PUNCT hjic-495 1434 28 . . PUNCT hjic-495 1435 1 . . PUNCT hjic-495 1436 1 , , PUNCT hjic-495 1436 2 xn xn PROPN hjic-495 1436 3 , , PUNCT hjic-495 1436 4 and and CCONJ hjic-495 1436 5 the the DET hjic-495 1436 6 concentrations concentration NOUN hjic-495 1436 7 of of ADP hjic-495 1436 8 the the DET hjic-495 1436 9 species specie NOUN hjic-495 1436 10 are be AUX hjic-495 1436 11 the the DET hjic-495 1436 12 state state NOUN hjic-495 1436 13 variables variable NOUN hjic-495 1436 14 of of ADP hjic-495 1436 15 eq.(1 eq.(1 ADJ hjic-495 1436 16 ) ) PUNCT hjic-495 1436 17 , , PUNCT hjic-495 1436 18 i.e. i.e. X hjic-495 1436 19 xi xi X hjic-495 1436 20 = = PUNCT hjic-495 1437 1 [ [ X hjic-495 1437 2 xi xi X hjic-495 1437 3 ] ] X hjic-495 1437 4 � � PROPN hjic-495 1437 5 0 0 NUM hjic-495 1437 6 for for ADP hjic-495 1437 7 i i PRON hjic-495 1437 8 = = NOUN hjic-495 1437 9 1 1 NUM hjic-495 1437 10 , , PUNCT hjic-495 1437 11 . . PUNCT hjic-495 1437 12 . . PUNCT hjic-495 1437 13 . . PUNCT hjic-495 1438 1 , , PUNCT hjic-495 1438 2 n. n. VERB hjic-495 1438 3 the the DET hjic-495 1438 4 structure structure NOUN hjic-495 1438 5 of of ADP hjic-495 1438 6 kinetic kinetic ADJ hjic-495 1438 7 systems system NOUN hjic-495 1438 8 is be AUX hjic-495 1438 9 given give VERB hjic-495 1438 10 in in ADP hjic-495 1438 11 terms term NOUN hjic-495 1438 12 of of ADP hjic-495 1438 13 its its PRON hjic-495 1438 14 complexes complex NOUN hjic-495 1438 15 ci ci NOUN hjic-495 1438 16 , , PUNCT hjic-495 1438 17 i i PRON hjic-495 1438 18 = = NOUN hjic-495 1438 19 1 1 NUM hjic-495 1438 20 , , PUNCT hjic-495 1438 21 . . PUNCT hjic-495 1438 22 . . PUNCT hjic-495 1439 1 . . PUNCT hjic-495 1440 1 , , PUNCT hjic-495 1440 2 m m VERB hjic-495 1440 3 that that PRON hjic-495 1440 4 are be AUX hjic-495 1440 5 non non ADJ hjic-495 1440 6 - - ADJ hjic-495 1440 7 negative negative ADJ hjic-495 1440 8 linear linear ADJ hjic-495 1440 9 combinations combination NOUN hjic-495 1440 10 of of ADP hjic-495 1440 11 the the DET hjic-495 1440 12 species specie NOUN hjic-495 1440 13 i.e. i.e. X hjic-495 1440 14 ci ci X hjic-495 1440 15 = = SYM hjic-495 1440 16 pn pn PROPN hjic-495 1440 17 j=1[y j=1[y X hjic-495 1440 18 ] ] PUNCT hjic-495 1440 19 jixj jixj ADJ hjic-495 1440 20 for for ADP hjic-495 1440 21 i i PROPN hjic-495 1440 22 = = NOUN hjic-495 1440 23 1 1 NUM hjic-495 1440 24 , , PUNCT hjic-495 1440 25 . . PUNCT hjic-495 1440 26 . . PUNCT hjic-495 1440 27 . . PUNCT hjic-495 1441 1 , , PUNCT hjic-495 1441 2 m m PROPN hjic-495 1441 3 , , PUNCT hjic-495 1441 4 and and CCONJ hjic-495 1441 5 therefore therefore ADV hjic-495 1441 6 y y PROPN hjic-495 1441 7 is be AUX hjic-495 1441 8 also also ADV hjic-495 1441 9 called call VERB hjic-495 1441 10 the the DET hjic-495 1441 11 complex complex ADJ hjic-495 1441 12 composition composition NOUN hjic-495 1441 13 matrix matrix NOUN hjic-495 1441 14 . . PUNCT hjic-495 1442 1 the the DET hjic-495 1442 2 reaction reaction NOUN hjic-495 1442 3 graph graph NOUN hjic-495 1442 4 : : PUNCT hjic-495 1442 5 the the DET hjic-495 1442 6 weighted weight VERB hjic-495 1442 7 directed direct VERB hjic-495 1442 8 graph graph NOUN hjic-495 1442 9 ( ( PUNCT hjic-495 1442 10 or or CCONJ hjic-495 1442 11 reaction reaction NOUN hjic-495 1442 12 graph graph NOUN hjic-495 1442 13 ) ) PUNCT hjic-495 1442 14 of of ADP hjic-495 1442 15 kinetic kinetic ADJ hjic-495 1442 16 systems system NOUN hjic-495 1442 17 is be AUX hjic-495 1442 18 g g NOUN hjic-495 1442 19 = = SYM hjic-495 1442 20 ( ( PUNCT hjic-495 1442 21 v v NOUN hjic-495 1442 22 , , PUNCT hjic-495 1442 23 e e NOUN hjic-495 1442 24 ) ) PUNCT hjic-495 1442 25 , , PUNCT hjic-495 1442 26 where where SCONJ hjic-495 1442 27 104 104 NUM hjic-495 1442 28 v v NOUN hjic-495 1442 29 = = SYM hjic-495 1442 30 { { PUNCT hjic-495 1442 31 c1 c1 PROPN hjic-495 1442 32 , , PUNCT hjic-495 1442 33 c2 c2 PROPN hjic-495 1442 34 , , PUNCT hjic-495 1442 35 . . PUNCT hjic-495 1442 36 . . PUNCT hjic-495 1442 37 . . PUNCT hjic-495 1443 1 , , PUNCT hjic-495 1443 2 cm cm NOUN hjic-495 1443 3 } } PUNCT hjic-495 1443 4 and and CCONJ hjic-495 1443 5 e e NOUN hjic-495 1443 6 denote denote VERB hjic-495 1443 7 the the DET hjic-495 1443 8 set set NOUN hjic-495 1443 9 of of ADP hjic-495 1443 10 vertices vertex NOUN hjic-495 1443 11 and and CCONJ hjic-495 1443 12 directed direct VERB hjic-495 1443 13 edges edge NOUN hjic-495 1443 14 , , PUNCT hjic-495 1443 15 respectively respectively ADV hjic-495 1443 16 . . PUNCT hjic-495 1444 1 the the DET hjic-495 1444 2 directed direct VERB hjic-495 1444 3 edge edge NOUN hjic-495 1444 4 ( ( PUNCT hjic-495 1444 5 ci ci NOUN hjic-495 1444 6 , , PUNCT hjic-495 1444 7 cj cj PROPN hjic-495 1444 8 ) ) PUNCT hjic-495 1444 9 ( ( PUNCT hjic-495 1444 10 also also ADV hjic-495 1444 11 denoted denote VERB hjic-495 1444 12 by by ADP hjic-495 1444 13 ci ci PROPN hjic-495 1444 14 ! ! PUNCT hjic-495 1444 15 cj cj NOUN hjic-495 1444 16 ) ) PUNCT hjic-495 1444 17 belongs belong VERB hjic-495 1444 18 to to ADP hjic-495 1444 19 the the DET hjic-495 1444 20 reaction reaction NOUN hjic-495 1444 21 graph graph NOUN hjic-495 1444 22 if if SCONJ hjic-495 1444 23 and and CCONJ hjic-495 1444 24 only only ADV hjic-495 1444 25 if if SCONJ hjic-495 1444 26 [ [ X hjic-495 1444 27 ak]j ak]j PROPN hjic-495 1444 28 , , PUNCT hjic-495 1444 29 i i PRON hjic-495 1444 30 > > X hjic-495 1444 31 0 0 X hjic-495 1444 32 . . PUNCT hjic-495 1445 1 in in ADP hjic-495 1445 2 this this DET hjic-495 1445 3 case case NOUN hjic-495 1445 4 , , PUNCT hjic-495 1445 5 the the DET hjic-495 1445 6 weight weight NOUN hjic-495 1445 7 assigned assign VERB hjic-495 1445 8 to to ADP hjic-495 1445 9 the the DET hjic-495 1445 10 directed direct VERB hjic-495 1445 11 edge edge NOUN hjic-495 1445 12 is be AUX hjic-495 1445 13 ci ci NOUN hjic-495 1445 14 ! ! PUNCT hjic-495 1446 1 cj cj PROPN hjic-495 1446 2 is be AUX hjic-495 1446 3 [ [ X hjic-495 1446 4 ak]j ak]j PROPN hjic-495 1446 5 , , PUNCT hjic-495 1446 6 i. i. NOUN hjic-495 1446 7 stoichiometric stoichiometric NOUN hjic-495 1446 8 subspace subspace NOUN hjic-495 1446 9 : : PUNCT hjic-495 1446 10 stoichiometric stoichiometric NOUN hjic-495 1446 11 subspace subspace NOUN hjic-495 1446 12 s s PART hjic-495 1446 13 is be AUX hjic-495 1446 14 given give VERB hjic-495 1446 15 by by ADP hjic-495 1446 16 the the DET hjic-495 1446 17 span span NOUN hjic-495 1446 18 of of ADP hjic-495 1446 19 the the DET hjic-495 1446 20 reaction reaction NOUN hjic-495 1446 21 vectors vector NOUN hjic-495 1446 22 s s PART hjic-495 1446 23 = = PUNCT hjic-495 1446 24 { { PUNCT hjic-495 1447 1 [ [ X hjic-495 1447 2 y y X hjic-495 1447 3 ] ] X hjic-495 1447 4 · · PUNCT hjic-495 1447 5 i i PRON hjic-495 1447 6 � � PROPN hjic-495 1448 1 [ [ X hjic-495 1448 2 y y X hjic-495 1448 3 ] ] X hjic-495 1448 4 · · PUNCT hjic-495 1448 5 j j PROPN hjic-495 1448 6 | | ADV hjic-495 1448 7 [ [ X hjic-495 1448 8 ak]ij ak]ij VERB hjic-495 1448 9 > > X hjic-495 1448 10 0 0 NUM hjic-495 1448 11 } } PUNCT hjic-495 1448 12 . . PUNCT hjic-495 1449 1 ( ( PUNCT hjic-495 1449 2 4 4 X hjic-495 1449 3 ) ) PUNCT hjic-495 1449 4 the the DET hjic-495 1449 5 stoichiometric stoichiometric ADJ hjic-495 1449 6 compatibility compatibility NOUN hjic-495 1449 7 classes class NOUN hjic-495 1449 8 of of ADP hjic-495 1449 9 a a DET hjic-495 1449 10 kinetic kinetic ADJ hjic-495 1449 11 system system NOUN hjic-495 1449 12 are be AUX hjic-495 1449 13 the the DET hjic-495 1449 14 affine affine ADJ hjic-495 1449 15 translations translation NOUN hjic-495 1449 16 of of ADP hjic-495 1449 17 the the DET hjic-495 1449 18 stoichiometric stoichiometric ADJ hjic-495 1449 19 subspace subspace NOUN hjic-495 1449 20 : : PUNCT hjic-495 1449 21 ( ( PUNCT hjic-495 1449 22 x0 x0 PROPN hjic-495 1449 23 + + PROPN hjic-495 1449 24 s s X hjic-495 1449 25 ) ) PUNCT hjic-495 1449 26 \ \ PROPN hjic-495 1449 27 rn rn PROPN hjic-495 1449 28 � � PROPN hjic-495 1449 29 0 0 NUM hjic-495 1449 30 . . PUNCT hjic-495 1450 1 structural structural ADJ hjic-495 1450 2 properties property NOUN hjic-495 1450 3 and and CCONJ hjic-495 1450 4 dynamical dynamical ADJ hjic-495 1450 5 behaviour behaviour NOUN hjic-495 1450 6 it it PRON hjic-495 1450 7 is be AUX hjic-495 1450 8 possible possible ADJ hjic-495 1450 9 to to PART hjic-495 1450 10 utilize utilize VERB hjic-495 1450 11 certain certain ADJ hjic-495 1450 12 structural structural ADJ hjic-495 1450 13 properties property NOUN hjic-495 1450 14 of of ADP hjic-495 1450 15 kinetic kinetic ADJ hjic-495 1450 16 systems system NOUN hjic-495 1450 17 that that PRON hjic-495 1450 18 enable enable VERB hjic-495 1450 19 us we PRON hjic-495 1450 20 to to PART hjic-495 1450 21 effectively effectively ADV hjic-495 1450 22 analyze analyze VERB hjic-495 1450 23 the the DET hjic-495 1450 24 stability stability NOUN hjic-495 1450 25 of of ADP hjic-495 1450 26 the the DET hjic-495 1450 27 system system NOUN hjic-495 1450 28 . . PUNCT hjic-495 1451 1 deficiency deficiency NOUN hjic-495 1451 2 : : PUNCT hjic-495 1451 3 there there PRON hjic-495 1451 4 are be VERB hjic-495 1451 5 several several ADJ hjic-495 1451 6 equivalent equivalent ADJ hjic-495 1451 7 ways way NOUN hjic-495 1451 8 to to PART hjic-495 1451 9 define define VERB hjic-495 1451 10 deficiency deficiency NOUN hjic-495 1451 11 . . PUNCT hjic-495 1452 1 we we PRON hjic-495 1452 2 will will AUX hjic-495 1452 3 use use VERB hjic-495 1452 4 the the DET hjic-495 1452 5 following follow VERB hjic-495 1452 6 definition definition NOUN hjic-495 1452 7 � � PROPN hjic-495 1452 8 = = SYM hjic-495 1452 9 dim(ker(y dim(ker(y PROPN hjic-495 1452 10 ) ) PUNCT hjic-495 1452 11 \ \ NOUN hjic-495 1452 12 im(bg im(bg NOUN hjic-495 1452 13 ) ) PUNCT hjic-495 1452 14 ) ) PUNCT hjic-495 1452 15 , , PUNCT hjic-495 1452 16 ( ( PUNCT hjic-495 1452 17 5 5 X hjic-495 1452 18 ) ) PUNCT hjic-495 1452 19 where where SCONJ hjic-495 1452 20 bg bg PROPN hjic-495 1452 21 is be AUX hjic-495 1452 22 the the DET hjic-495 1452 23 incidence incidence ADJ hjic-495 1452 24 matrix matrix NOUN hjic-495 1452 25 of of ADP hjic-495 1452 26 the the DET hjic-495 1452 27 reaction reaction NOUN hjic-495 1452 28 graph graph NOUN hjic-495 1452 29 . . PUNCT hjic-495 1453 1 it it PRON hjic-495 1453 2 is be AUX hjic-495 1453 3 easy easy ADJ hjic-495 1453 4 to to PART hjic-495 1453 5 see see VERB hjic-495 1453 6 that that DET hjic-495 1453 7 deficiency deficiency NOUN hjic-495 1453 8 is be AUX hjic-495 1453 9 zero zero NUM hjic-495 1453 10 if if SCONJ hjic-495 1453 11 ker(y ker(y VERB hjic-495 1453 12 ) ) PUNCT hjic-495 1453 13 = = PUNCT hjic-495 1453 14 { { PUNCT hjic-495 1453 15 0 0 NUM hjic-495 1453 16 } } PUNCT hjic-495 1453 17 or or CCONJ hjic-495 1453 18 equivalently equivalently ADV hjic-495 1453 19 rank(y rank(y X hjic-495 1453 20 ) ) PUNCT hjic-495 1453 21 = = SYM hjic-495 1453 22 m. m. NOUN hjic-495 1453 23 weak weak ADJ hjic-495 1453 24 reversibility reversibility NOUN hjic-495 1453 25 : : PUNCT hjic-495 1453 26 a a DET hjic-495 1453 27 crn crn NOUN hjic-495 1453 28 is be AUX hjic-495 1453 29 called call VERB hjic-495 1453 30 weakly weakly ADV hjic-495 1453 31 reversible reversible ADJ hjic-495 1453 32 if if SCONJ hjic-495 1453 33 whenever whenever SCONJ hjic-495 1453 34 there there PRON hjic-495 1453 35 exists exist VERB hjic-495 1453 36 a a DET hjic-495 1453 37 directed direct VERB hjic-495 1453 38 path path NOUN hjic-495 1453 39 from from ADP hjic-495 1453 40 ci ci PROPN hjic-495 1453 41 to to PART hjic-495 1453 42 cj cj NOUN hjic-495 1453 43 in in ADP hjic-495 1453 44 its its PRON hjic-495 1453 45 reaction reaction NOUN hjic-495 1453 46 graph graph NOUN hjic-495 1453 47 , , PUNCT hjic-495 1453 48 then then ADV hjic-495 1453 49 there there PRON hjic-495 1453 50 exists exist VERB hjic-495 1453 51 a a DET hjic-495 1453 52 directed direct VERB hjic-495 1453 53 path path NOUN hjic-495 1453 54 from from ADP hjic-495 1453 55 cj cj NOUN hjic-495 1453 56 to to ADP hjic-495 1453 57 ci ci PROPN hjic-495 1453 58 . . PUNCT hjic-495 1454 1 in in ADP hjic-495 1454 2 graph graph NOUN hjic-495 1454 3 theoretic theoretic ADJ hjic-495 1454 4 terms term NOUN hjic-495 1454 5 , , PUNCT hjic-495 1454 6 this this PRON hjic-495 1454 7 means mean VERB hjic-495 1454 8 that that SCONJ hjic-495 1454 9 all all DET hjic-495 1454 10 components component NOUN hjic-495 1454 11 of of ADP hjic-495 1454 12 the the DET hjic-495 1454 13 reaction reaction NOUN hjic-495 1454 14 graph graph NOUN hjic-495 1454 15 are be AUX hjic-495 1454 16 strongly strongly ADV hjic-495 1454 17 connected connect VERB hjic-495 1454 18 components component NOUN hjic-495 1454 19 . . PUNCT hjic-495 1455 1 deficiency deficiency NOUN hjic-495 1455 2 zero zero NUM hjic-495 1455 3 theorem theorem VERB hjic-495 1455 4 : : PUNCT hjic-495 1455 5 a a DET hjic-495 1455 6 weakly weakly ADJ hjic-495 1455 7 reversible reversible ADJ hjic-495 1455 8 kinetic kinetic NOUN hjic-495 1455 9 system system NOUN hjic-495 1455 10 with with ADP hjic-495 1455 11 zero zero NUM hjic-495 1455 12 deficiency deficiency NOUN hjic-495 1455 13 has have VERB hjic-495 1455 14 precisely precisely ADV hjic-495 1455 15 one one NUM hjic-495 1455 16 equilibrium equilibrium NOUN hjic-495 1455 17 point point NOUN hjic-495 1455 18 in in ADP hjic-495 1455 19 each each DET hjic-495 1455 20 positive positive ADJ hjic-495 1455 21 stoichiometric stoichiometric NOUN hjic-495 1455 22 compatibility compatibility NOUN hjic-495 1455 23 class class NOUN hjic-495 1455 24 that that PRON hjic-495 1455 25 is be AUX hjic-495 1455 26 locally locally ADV hjic-495 1455 27 asymptotically asymptotically ADV hjic-495 1455 28 stable stable ADJ hjic-495 1455 29 ( ( PUNCT hjic-495 1455 30 conjecture conjecture NOUN hjic-495 1455 31 : : PUNCT hjic-495 1455 32 globally globally ADV hjic-495 1455 33 asymptotically asymptotically ADV hjic-495 1455 34 stable stable ADJ hjic-495 1455 35 ) ) PUNCT hjic-495 1455 36 . . PUNCT hjic-495 1456 1 computing compute VERB hjic-495 1456 2 weakly weakly ADJ hjic-495 1456 3 reversible reversible ADJ hjic-495 1456 4 realizations realization NOUN hjic-495 1456 5 formulated formulate VERB hjic-495 1456 6 as as ADP hjic-495 1456 7 an an DET hjic-495 1456 8 optimization optimization NOUN hjic-495 1456 9 problem problem NOUN hjic-495 1456 10 in in ADP hjic-495 1456 11 this this DET hjic-495 1456 12 section section NOUN hjic-495 1456 13 , , PUNCT hjic-495 1456 14 first first ADV hjic-495 1456 15 a a DET hjic-495 1456 16 method method NOUN hjic-495 1456 17 for for ADP hjic-495 1456 18 computing compute VERB hjic-495 1456 19 weakly weakly ADJ hjic-495 1456 20 reversible reversible ADJ hjic-495 1456 21 realization realization NOUN hjic-495 1456 22 based base VERB hjic-495 1456 23 on on ADP hjic-495 1456 24 ref.[3 ref.[3 NOUN hjic-495 1456 25 ] ] PUNCT hjic-495 1456 26 is be AUX hjic-495 1456 27 briefly briefly ADV hjic-495 1456 28 presented present VERB hjic-495 1456 29 . . PUNCT hjic-495 1457 1 we we PRON hjic-495 1457 2 assume assume VERB hjic-495 1457 3 that that SCONJ hjic-495 1457 4 we we PRON hjic-495 1457 5 have have VERB hjic-495 1457 6 a a DET hjic-495 1457 7 kinetic kinetic ADJ hjic-495 1457 8 polynomial polynomial ADJ hjic-495 1457 9 system system NOUN hjic-495 1457 10 of of ADP hjic-495 1457 11 the the DET hjic-495 1457 12 form form NOUN hjic-495 1457 13 eq.(1 eq.(1 ADJ hjic-495 1457 14 ) ) PUNCT hjic-495 1457 15 . . PUNCT hjic-495 1458 1 we we PRON hjic-495 1458 2 use use VERB hjic-495 1458 3 the the DET hjic-495 1458 4 fact fact NOUN hjic-495 1458 5 known know VERB hjic-495 1458 6 from from ADP hjic-495 1458 7 the the DET hjic-495 1458 8 literature literature NOUN hjic-495 1458 9 that that PRON hjic-495 1458 10 a a DET hjic-495 1458 11 realization realization NOUN hjic-495 1458 12 of of ADP hjic-495 1458 13 a a DET hjic-495 1458 14 crn crn NOUN hjic-495 1458 15 is be AUX hjic-495 1458 16 weakly weakly ADV hjic-495 1458 17 reversible reversible ADJ hjic-495 1458 18 if if SCONJ hjic-495 1458 19 and and CCONJ hjic-495 1458 20 only only ADV hjic-495 1458 21 if if SCONJ hjic-495 1458 22 there there PRON hjic-495 1458 23 exists exist VERB hjic-495 1458 24 a a DET hjic-495 1458 25 vector vector NOUN hjic-495 1458 26 with with ADP hjic-495 1458 27 strictly strictly ADV hjic-495 1458 28 positive positive ADJ hjic-495 1458 29 elements element NOUN hjic-495 1458 30 in in ADP hjic-495 1458 31 the the DET hjic-495 1458 32 kernel kernel NOUN hjic-495 1458 33 of of ADP hjic-495 1458 34 ak ak PROPN hjic-495 1458 35 , , PUNCT hjic-495 1458 36 i.e. i.e. X hjic-495 1458 37 there there PRON hjic-495 1458 38 exists exist VERB hjic-495 1458 39 b b PROPN hjic-495 1458 40 2 2 NUM hjic-495 1458 41 rn rn NOUN hjic-495 1458 42 + + NOUN hjic-495 1458 43 such such ADJ hjic-495 1459 1 that that SCONJ hjic-495 1459 2 ak ak PROPN hjic-495 1459 3 · · PUNCT hjic-495 1459 4 b b X hjic-495 1459 5 = = SYM hjic-495 1459 6 0 0 PUNCT hjic-495 1460 1 [ [ X hjic-495 1460 2 4 4 NUM hjic-495 1460 3 ] ] PUNCT hjic-495 1460 4 . . PUNCT hjic-495 1461 1 since since SCONJ hjic-495 1461 2 b b PROPN hjic-495 1461 3 is be AUX hjic-495 1461 4 unknown unknown ADJ hjic-495 1461 5 , , PUNCT hjic-495 1461 6 too too ADV hjic-495 1461 7 , , PUNCT hjic-495 1461 8 this this DET hjic-495 1461 9 condition condition NOUN hjic-495 1461 10 in in ADP hjic-495 1461 11 this this DET hjic-495 1461 12 form form NOUN hjic-495 1461 13 is be AUX hjic-495 1461 14 not not PART hjic-495 1461 15 linear linear ADJ hjic-495 1461 16 . . PUNCT hjic-495 1462 1 therefore therefore ADV hjic-495 1462 2 , , PUNCT hjic-495 1462 3 we we PRON hjic-495 1462 4 introduce introduce VERB hjic-495 1462 5 a a DET hjic-495 1462 6 scaled scale VERB hjic-495 1462 7 matrix matrix NOUN hjic-495 1462 8 ãk ãk PRON hjic-495 1462 9 ãk ãk PROPN hjic-495 1462 10 = = SYM hjic-495 1462 11 ak ak PROPN hjic-495 1462 12 · · PUNCT hjic-495 1462 13 diag(b diag(b PROPN hjic-495 1462 14 ) ) PUNCT hjic-495 1462 15 ( ( PUNCT hjic-495 1462 16 6 6 NUM hjic-495 1462 17 ) ) PUNCT hjic-495 1462 18 where where SCONJ hjic-495 1462 19 diag(b diag(b VERB hjic-495 1462 20 ) ) PUNCT hjic-495 1462 21 is be AUX hjic-495 1462 22 a a DET hjic-495 1462 23 diagonal diagonal ADJ hjic-495 1462 24 matrix matrix NOUN hjic-495 1462 25 with with ADP hjic-495 1462 26 elements element NOUN hjic-495 1462 27 of of ADP hjic-495 1462 28 b. b. PROPN hjic-495 1462 29 it it PRON hjic-495 1462 30 is be AUX hjic-495 1462 31 clear clear ADJ hjic-495 1462 32 from from ADP hjic-495 1462 33 eq.(6 eq.(6 ADJ hjic-495 1462 34 ) ) PUNCT hjic-495 1462 35 that that PRON hjic-495 1462 36 ãk ãk PRON hjic-495 1462 37 is be AUX hjic-495 1462 38 also also ADV hjic-495 1462 39 a a DET hjic-495 1462 40 kirchhoff kirchhoff NOUN hjic-495 1462 41 matrix matrix NOUN hjic-495 1462 42 and and CCONJ hjic-495 1462 43 that that SCONJ hjic-495 1462 44 1 1 NUM hjic-495 1462 45 2 2 NUM hjic-495 1462 46 rm rm NOUN hjic-495 1462 47 ( ( PUNCT hjic-495 1462 48 the the DET hjic-495 1462 49 m m ADJ hjic-495 1462 50 - - ADJ hjic-495 1462 51 dimensional dimensional ADJ hjic-495 1462 52 vector vector NOUN hjic-495 1462 53 containing contain VERB hjic-495 1462 54 only only ADJ hjic-495 1462 55 ones one NOUN hjic-495 1462 56 ) ) PUNCT hjic-495 1462 57 lies lie VERB hjic-495 1462 58 in in ADP hjic-495 1462 59 kernel kernel NOUN hjic-495 1462 60 of of ADP hjic-495 1462 61 ãk ãk PROPN hjic-495 1462 62 . . PUNCT hjic-495 1463 1 moreover moreover ADV hjic-495 1463 2 , , PUNCT hjic-495 1463 3 it it PRON hjic-495 1463 4 is be AUX hjic-495 1463 5 easy easy ADJ hjic-495 1463 6 to to PART hjic-495 1463 7 see see VERB hjic-495 1463 8 that that SCONJ hjic-495 1463 9 ãk ãk PROPN hjic-495 1463 10 defines define VERB hjic-495 1463 11 a a DET hjic-495 1463 12 weakly weakly ADJ hjic-495 1463 13 reversible reversible ADJ hjic-495 1463 14 network network NOUN hjic-495 1463 15 if if SCONJ hjic-495 1463 16 and and CCONJ hjic-495 1463 17 only only ADV hjic-495 1463 18 if if SCONJ hjic-495 1463 19 ak ak PROPN hjic-495 1463 20 corresponds correspond VERB hjic-495 1463 21 to to ADP hjic-495 1463 22 a a DET hjic-495 1463 23 weakly weakly ADJ hjic-495 1463 24 reversible reversible ADJ hjic-495 1463 25 network network NOUN hjic-495 1463 26 . . PUNCT hjic-495 1464 1 then then ADV hjic-495 1464 2 , , PUNCT hjic-495 1464 3 the the DET hjic-495 1464 4 weak weak ADJ hjic-495 1464 5 reversibility reversibility NOUN hjic-495 1464 6 and and CCONJ hjic-495 1464 7 the the DET hjic-495 1464 8 kirchhoff kirchhoff NOUN hjic-495 1464 9 property property NOUN hjic-495 1464 10 of of ADP hjic-495 1464 11 ãk ãk PRON hjic-495 1464 12 can can AUX hjic-495 1464 13 be be AUX hjic-495 1464 14 expressed express VERB hjic-495 1464 15 using use VERB hjic-495 1464 16 the the DET hjic-495 1464 17 following follow VERB hjic-495 1464 18 linear linear PROPN hjic-495 1464 19 constraints constraint NOUN hjic-495 1464 20 mx mx PROPN hjic-495 1464 21 i=1 i=1 PROPN hjic-495 1464 22 h h PROPN hjic-495 1464 23 ãk ãk ADV hjic-495 1465 1 i i PRON hjic-495 1465 2 ij ij INTJ hjic-495 1466 1 = = SYM hjic-495 1466 2 0 0 PROPN hjic-495 1466 3 , , PUNCT hjic-495 1466 4 j j PROPN hjic-495 1467 1 = = SYM hjic-495 1467 2 1 1 NUM hjic-495 1467 3 , , PUNCT hjic-495 1467 4 . . PUNCT hjic-495 1467 5 . . PUNCT hjic-495 1468 1 . . PUNCT hjic-495 1469 1 , , PUNCT hjic-495 1469 2 m m PROPN hjic-495 1469 3 mx mx PROPN hjic-495 1469 4 i=1 i=1 PROPN hjic-495 1469 5 h h PROPN hjic-495 1470 1 ãk ãk ADV hjic-495 1471 1 i i PRON hjic-495 1471 2 ji ji PROPN hjic-495 1472 1 = = NOUN hjic-495 1472 2 0 0 PROPN hjic-495 1472 3 , , PUNCT hjic-495 1472 4 j j PROPN hjic-495 1472 5 = = SYM hjic-495 1472 6 1 1 NUM hjic-495 1472 7 , , PUNCT hjic-495 1472 8 . . PUNCT hjic-495 1472 9 . . PUNCT hjic-495 1472 10 . . PUNCT hjic-495 1473 1 , , PUNCT hjic-495 1473 2 m m VERB hjic-495 1473 3 h h NOUN hjic-495 1474 1 ãk ãk ADV hjic-495 1475 1 i i PRON hjic-495 1475 2 ij ij VERB hjic-495 1475 3 � � PROPN hjic-495 1475 4 0 0 NUM hjic-495 1475 5 , , PUNCT hjic-495 1475 6 i i PRON hjic-495 1475 7 , , PUNCT hjic-495 1475 8 j j PROPN hjic-495 1475 9 = = SYM hjic-495 1475 10 1 1 NUM hjic-495 1475 11 , , PUNCT hjic-495 1475 12 . . PUNCT hjic-495 1475 13 . . PUNCT hjic-495 1475 14 . . PUNCT hjic-495 1476 1 , , PUNCT hjic-495 1476 2 m m PROPN hjic-495 1476 3 , , PUNCT hjic-495 1476 4 i i PROPN hjic-495 1476 5 6= 6= PROPN hjic-495 1476 6 j j PROPN hjic-495 1476 7 h h NOUN hjic-495 1477 1 ãk ãk PROPN hjic-495 1477 2 i i PRON hjic-495 1477 3 ii ii VERB hjic-495 1477 4   NOUN hjic-495 1477 5 0 0 NUM hjic-495 1477 6 , , PUNCT hjic-495 1477 7 i i PRON hjic-495 1477 8 = = NOUN hjic-495 1477 9 1 1 NUM hjic-495 1477 10 , , PUNCT hjic-495 1477 11 . . PUNCT hjic-495 1477 12 . . PUNCT hjic-495 1477 13 . . PUNCT hjic-495 1478 1 , , PUNCT hjic-495 1478 2 m. m. NOUN hjic-495 1478 3 ( ( PUNCT hjic-495 1478 4 7 7 NUM hjic-495 1478 5 ) ) PUNCT hjic-495 1478 6 moreover moreover ADV hjic-495 1478 7 , , PUNCT hjic-495 1478 8 the the DET hjic-495 1478 9 equation equation NOUN hjic-495 1478 10 eq.(3 eq.(3 NOUN hjic-495 1478 11 ) ) PUNCT hjic-495 1478 12 is be AUX hjic-495 1478 13 transformed transform VERB hjic-495 1478 14 by by ADP hjic-495 1478 15 diag(b diag(b PROPN hjic-495 1478 16 ) ) PUNCT hjic-495 1478 17 ( ( PUNCT hjic-495 1478 18 we we PRON hjic-495 1478 19 can can AUX hjic-495 1478 20 do do VERB hjic-495 1478 21 this this PRON hjic-495 1478 22 , , PUNCT hjic-495 1478 23 because because SCONJ hjic-495 1478 24 diag(b diag(b VERB hjic-495 1478 25 ) ) PUNCT hjic-495 1478 26 is be AUX hjic-495 1478 27 invertible invertible ADJ hjic-495 1478 28 ): ): PUNCT hjic-495 1478 29 m m VERB hjic-495 1478 30 · · PUNCT hjic-495 1478 31 diag(b diag(b ADP hjic-495 1478 32 ) ) PUNCT hjic-495 1478 33 = = SYM hjic-495 1478 34 y y PROPN hjic-495 1478 35 · · SYM hjic-495 1478 36 ak ak PROPN hjic-495 1478 37 · · PUNCT hjic-495 1478 38 diag(b)| diag(b)| VERB hjic-495 1478 39 { { PUNCT hjic-495 1478 40 z z NOUN hjic-495 1478 41 } } PUNCT hjic-495 1478 42 ãk ãk PROPN hjic-495 1478 43 ( ( PUNCT hjic-495 1478 44 8) 8) NUM hjic-495 1478 45 finally finally ADV hjic-495 1478 46 , , PUNCT hjic-495 1478 47 by by ADP hjic-495 1478 48 choosing choose VERB hjic-495 1478 49 an an DET hjic-495 1478 50 arbitrary arbitrary ADJ hjic-495 1478 51 linear linear ADJ hjic-495 1478 52 objective objective ADJ hjic-495 1478 53 function function NOUN hjic-495 1478 54 of of ADP hjic-495 1478 55 the the DET hjic-495 1478 56 decision decision NOUN hjic-495 1478 57 variables variable VERB hjic-495 1478 58 ãk ãk PRON hjic-495 1478 59 and and CCONJ hjic-495 1478 60 b b NOUN hjic-495 1478 61 , , PUNCT hjic-495 1478 62 weakly weakly ADJ hjic-495 1478 63 reversible reversible ADJ hjic-495 1478 64 realizations realization NOUN hjic-495 1478 65 of of ADP hjic-495 1478 66 the the DET hjic-495 1478 67 studied study VERB hjic-495 1478 68 kinetic kinetic ADJ hjic-495 1478 69 system system NOUN hjic-495 1478 70 can can AUX hjic-495 1478 71 be be AUX hjic-495 1478 72 computed compute VERB hjic-495 1478 73 ( ( PUNCT hjic-495 1478 74 if if SCONJ hjic-495 1478 75 any any DET hjic-495 1478 76 exist exist NOUN hjic-495 1478 77 ) ) PUNCT hjic-495 1478 78 in in ADP hjic-495 1478 79 a a DET hjic-495 1478 80 lp lp NOUN hjic-495 1478 81 framework framework NOUN hjic-495 1478 82 using use VERB hjic-495 1478 83 the the DET hjic-495 1478 84 linear linear ADJ hjic-495 1478 85 constraints constraint NOUN hjic-495 1478 86 eq.(7 eq.(7 NOUN hjic-495 1478 87 ) ) PUNCT hjic-495 1478 88 and and CCONJ hjic-495 1478 89 ( ( PUNCT hjic-495 1478 90 8) 8) NUM hjic-495 1478 91 . . PUNCT hjic-495 1478 92 weakly weakly ADJ hjic-495 1478 93 reversible reversible ADJ hjic-495 1478 94 crn crn NOUN hjic-495 1478 95 realizations realization NOUN hjic-495 1478 96 in in ADP hjic-495 1478 97 this this DET hjic-495 1478 98 section section NOUN hjic-495 1478 99 , , PUNCT hjic-495 1478 100 first first ADV hjic-495 1478 101 the the DET hjic-495 1478 102 convexity convexity NOUN hjic-495 1478 103 of of ADP hjic-495 1478 104 the the DET hjic-495 1478 105 weakly weakly ADJ hjic-495 1478 106 reversible reversible ADJ hjic-495 1478 107 kirchhoff kirchhoff NOUN hjic-495 1478 108 matrix matrix NOUN hjic-495 1478 109 will will AUX hjic-495 1478 110 be be AUX hjic-495 1478 111 shown show VERB hjic-495 1478 112 . . PUNCT hjic-495 1479 1 after after ADP hjic-495 1479 2 that that PRON hjic-495 1479 3 the the DET hjic-495 1479 4 practical practical ADJ hjic-495 1479 5 benefits benefit NOUN hjic-495 1479 6 of of ADP hjic-495 1479 7 this this DET hjic-495 1479 8 property property NOUN hjic-495 1479 9 will will AUX hjic-495 1479 10 be be AUX hjic-495 1479 11 demonstrated demonstrate VERB hjic-495 1479 12 in in ADP hjic-495 1479 13 the the DET hjic-495 1479 14 field field NOUN hjic-495 1479 15 of of ADP hjic-495 1479 16 system system NOUN hjic-495 1479 17 analysis analysis NOUN hjic-495 1479 18 and and CCONJ hjic-495 1479 19 robust robust ADJ hjic-495 1479 20 feedback feedback NOUN hjic-495 1479 21 design design NOUN hjic-495 1479 22 . . PUNCT hjic-495 1480 1 convexity convexity NOUN hjic-495 1480 2 of of ADP hjic-495 1480 3 the the DET hjic-495 1480 4 weak weak ADJ hjic-495 1480 5 reversibility reversibility NOUN hjic-495 1480 6 in in ADP hjic-495 1480 7 the the DET hjic-495 1480 8 parameter parameter NOUN hjic-495 1480 9 space space NOUN hjic-495 1480 10 theorem theorem NOUN hjic-495 1480 11 1 1 X hjic-495 1480 12 . . PUNCT hjic-495 1481 1 let let VERB hjic-495 1481 2 a a DET hjic-495 1481 3 ( ( PUNCT hjic-495 1481 4 1 1 NUM hjic-495 1481 5 ) ) PUNCT hjic-495 1481 6 k k NOUN hjic-495 1481 7 and and CCONJ hjic-495 1481 8 a a DET hjic-495 1481 9 ( ( PUNCT hjic-495 1481 10 2 2 NUM hjic-495 1481 11 ) ) PUNCT hjic-495 1481 12 k k NOUN hjic-495 1481 13 be be VERB hjic-495 1481 14 m m PROPN hjic-495 1481 15 ⇥ ⇥ NUM hjic-495 1481 16 m m VERB hjic-495 1481 17 weakly weakly ADJ hjic-495 1481 18 reversible reversible ADJ hjic-495 1481 19 kirchhoff kirchhoff NOUN hjic-495 1481 20 matrices matrix NOUN hjic-495 1481 21 . . PUNCT hjic-495 1482 1 then then ADV hjic-495 1482 2 the the DET hjic-495 1482 3 convex convex ADJ hjic-495 1482 4 combination combination NOUN hjic-495 1482 5 of of ADP hjic-495 1482 6 the the DET hjic-495 1482 7 two two NUM hjic-495 1482 8 matrices matrix NOUN hjic-495 1482 9 remains remain VERB hjic-495 1482 10 weakly weakly ADV hjic-495 1482 11 reversible reversible ADJ hjic-495 1482 12 . . PUNCT hjic-495 1483 1 proof proof NOUN hjic-495 1483 2 . . PUNCT hjic-495 1484 1 the the DET hjic-495 1484 2 idea idea NOUN hjic-495 1484 3 behind behind ADP hjic-495 1484 4 the the DET hjic-495 1484 5 proof proof NOUN hjic-495 1484 6 is be AUX hjic-495 1484 7 based base VERB hjic-495 1484 8 on on ADP hjic-495 1484 9 ref.[5 ref.[5 NOUN hjic-495 1484 10 ] ] PUNCT hjic-495 1484 11 . . PUNCT hjic-495 1485 1 a a DET hjic-495 1485 2 kirchhoff kirchhoff NOUN hjic-495 1485 3 matrix matrix NOUN hjic-495 1485 4 is be AUX hjic-495 1485 5 weakly weakly ADV hjic-495 1485 6 reversible reversible ADJ hjic-495 1485 7 if if SCONJ hjic-495 1485 8 and and CCONJ hjic-495 1485 9 only only ADV hjic-495 1485 10 if if SCONJ hjic-495 1485 11 there there PRON hjic-495 1485 12 is be VERB hjic-495 1485 13 a a DET hjic-495 1485 14 strictly strictly ADV hjic-495 1485 15 positive positive ADJ hjic-495 1485 16 vector vector NOUN hjic-495 1485 17 in in ADP hjic-495 1485 18 its its PRON hjic-495 1485 19 kernel kernel NOUN hjic-495 1485 20 . . PUNCT hjic-495 1486 1 therefore therefore ADV hjic-495 1486 2 strictly strictly ADV hjic-495 1486 3 positive positive ADJ hjic-495 1486 4 vectors vector NOUN hjic-495 1486 5 p1 p1 NOUN hjic-495 1486 6 , , PUNCT hjic-495 1486 7 p2 p2 PROPN hjic-495 1486 8 exist exist VERB hjic-495 1486 9 such such ADJ hjic-495 1486 10 as as ADP hjic-495 1486 11 a(1 a(1 NOUN hjic-495 1486 12 ) ) PUNCT hjic-495 1486 13 k k PROPN hjic-495 1486 14 · · PUNCT hjic-495 1486 15 p1 p1 NOUN hjic-495 1486 16 = = SYM hjic-495 1486 17 0 0 PROPN hjic-495 1486 18 and and CCONJ hjic-495 1486 19 a a DET hjic-495 1486 20 ( ( PUNCT hjic-495 1486 21 2 2 NUM hjic-495 1486 22 ) ) PUNCT hjic-495 1486 23 k k NOUN hjic-495 1486 24 · · PUNCT hjic-495 1486 25 p2 p2 X hjic-495 1487 1 = = SYM hjic-495 1487 2 0 0 X hjic-495 1487 3 . . PUNCT hjic-495 1488 1 let let VERB hjic-495 1488 2 us we PRON hjic-495 1488 3 define define VERB hjic-495 1488 4 the the DET hjic-495 1488 5 following follow VERB hjic-495 1488 6 scaled scale VERB hjic-495 1488 7 kirchhoff kirchhoff NOUN hjic-495 1488 8 matrix matrix NOUN hjic-495 1488 9 : : PUNCT hjic-495 1488 10 â(1 â(1 X hjic-495 1488 11 ) ) PUNCT hjic-495 1489 1 k k NOUN hjic-495 1490 1 = = PUNCT hjic-495 1490 2 a a PRON hjic-495 1490 3 ( ( PUNCT hjic-495 1490 4 1 1 NUM hjic-495 1490 5 ) ) PUNCT hjic-495 1490 6 k k PROPN hjic-495 1490 7 · · PUNCT hjic-495 1490 8 diag(p1 diag(p1 NOUN hjic-495 1490 9 ) ) PUNCT hjic-495 1490 10 and and CCONJ hjic-495 1490 11 â â X hjic-495 1490 12 ( ( PUNCT hjic-495 1490 13 2 2 X hjic-495 1490 14 ) ) PUNCT hjic-495 1490 15 k k NOUN hjic-495 1491 1 = = PUNCT hjic-495 1491 2 a a PRON hjic-495 1491 3 ( ( PUNCT hjic-495 1491 4 2 2 NUM hjic-495 1491 5 ) ) PUNCT hjic-495 1491 6 k k PROPN hjic-495 1491 7 · · PUNCT hjic-495 1491 8 diag(p2 diag(p2 ADJ hjic-495 1491 9 ) ) PUNCT hjic-495 1491 10 . . PUNCT hjic-495 1492 1 these these DET hjic-495 1492 2 scaled scale VERB hjic-495 1492 3 matrices matrix NOUN hjic-495 1492 4 have have VERB hjic-495 1492 5 identical identical ADJ hjic-495 1492 6 structures structure NOUN hjic-495 1492 7 to to ADP hjic-495 1492 8 the the DET hjic-495 1492 9 original original ADJ hjic-495 1492 10 ones one NOUN hjic-495 1492 11 . . PUNCT hjic-495 1493 1 moreover moreover ADV hjic-495 1493 2 , , PUNCT hjic-495 1493 3 â(1 â(1 PROPN hjic-495 1493 4 ) ) PUNCT hjic-495 1493 5 k k X hjic-495 1493 6 · · PUNCT hjic-495 1493 7 1(m 1(m NUM hjic-495 1493 8 ) ) PUNCT hjic-495 1493 9 = = SYM hjic-495 1493 10 0 0 NUM hjic-495 1493 11 and and CCONJ hjic-495 1493 12 â â X hjic-495 1493 13 ( ( PUNCT hjic-495 1493 14 2 2 X hjic-495 1493 15 ) ) PUNCT hjic-495 1493 16 k k X hjic-495 1493 17 · · PUNCT hjic-495 1493 18 1(m 1(m NUM hjic-495 1493 19 ) ) PUNCT hjic-495 1493 20 = = SYM hjic-495 1493 21 0 0 NUM hjic-495 1493 22 where where SCONJ hjic-495 1493 23 the the DET hjic-495 1493 24 vector vector NOUN hjic-495 1493 25 1(m 1(m NUM hjic-495 1493 26 ) ) PUNCT hjic-495 1493 27 denotes denote VERB hjic-495 1493 28 the the DET hjic-495 1493 29 m m ADJ hjic-495 1493 30 dimensional dimensional ADJ hjic-495 1493 31 column column NOUN hjic-495 1493 32 vector vector NOUN hjic-495 1493 33 composed compose VERB hjic-495 1493 34 of of ADP hjic-495 1493 35 ones one NOUN hjic-495 1493 36 . . PUNCT hjic-495 1494 1 for for ADP hjic-495 1494 2 that that PRON hjic-495 1494 3 ( ( PUNCT hjic-495 1494 4 � � PROPN hjic-495 1494 5 â(1 â(1 X hjic-495 1494 6 ) ) PUNCT hjic-495 1494 7 k k PROPN hjic-495 1495 1 + + CCONJ hjic-495 1495 2 ( ( PUNCT hjic-495 1495 3 1 1 NUM hjic-495 1495 4 � � PROPN hjic-495 1495 5 � � PROPN hjic-495 1495 6 ) ) PUNCT hjic-495 1495 7 â(2 â(2 NOUN hjic-495 1495 8 ) ) PUNCT hjic-495 1495 9 k k PROPN hjic-495 1495 10 ) ) PUNCT hjic-495 1495 11 · · PUNCT hjic-495 1496 1 1(m 1(m NUM hjic-495 1496 2 ) ) PUNCT hjic-495 1496 3 = = SYM hjic-495 1496 4 0 0 X hjic-495 1496 5 . . PUNCT hjic-495 1496 6 ( ( PUNCT hjic-495 1496 7 9 9 NUM hjic-495 1496 8 ) ) PUNCT hjic-495 1496 9 for for ADP hjic-495 1496 10 any any DET hjic-495 1496 11 � � PROPN hjic-495 1496 12 2 2 NUM hjic-495 1496 13 [ [ X hjic-495 1496 14 0 0 NUM hjic-495 1496 15 , , PUNCT hjic-495 1496 16 1 1 NUM hjic-495 1496 17 ] ] PUNCT hjic-495 1496 18 . . PUNCT hjic-495 1497 1 therefore therefore ADV hjic-495 1497 2 the the DET hjic-495 1497 3 convex convex ADJ hjic-495 1497 4 combination combination NOUN hjic-495 1497 5 of of ADP hjic-495 1497 6 the the DET hjic-495 1497 7 original original ADJ hjic-495 1497 8 two two NUM hjic-495 1497 9 realizations realization NOUN hjic-495 1497 10 has have VERB hjic-495 1497 11 to to PART hjic-495 1497 12 be be AUX hjic-495 1497 13 weakly weakly ADV hjic-495 1497 14 reversible reversible ADJ hjic-495 1497 15 . . PUNCT hjic-495 1498 1 105 105 NUM hjic-495 1498 2 ( ( PUNCT hjic-495 1498 3 a a NOUN hjic-495 1498 4 ) ) PUNCT hjic-495 1498 5 ( ( PUNCT hjic-495 1498 6 b b X hjic-495 1498 7 ) ) PUNCT hjic-495 1498 8 ( ( PUNCT hjic-495 1498 9 c c X hjic-495 1498 10 ) ) PUNCT hjic-495 1498 11 figure figure NOUN hjic-495 1498 12 1 1 NUM hjic-495 1498 13 : : PUNCT hjic-495 1498 14 a a DET hjic-495 1498 15 weakly weakly ADJ hjic-495 1498 16 reversible reversible ADJ hjic-495 1498 17 reaction reaction NOUN hjic-495 1498 18 graphs graph NOUN hjic-495 1498 19 of of ADP hjic-495 1498 20 the the DET hjic-495 1498 21 three three NUM hjic-495 1498 22 realizations realization NOUN hjic-495 1498 23 ( ( PUNCT hjic-495 1498 24 y y NOUN hjic-495 1498 25 , , PUNCT hjic-495 1498 26 a(1 a(1 ADJ hjic-495 1498 27 ) ) PUNCT hjic-495 1498 28 k k NOUN hjic-495 1498 29 ) ) PUNCT hjic-495 1498 30 , , PUNCT hjic-495 1498 31 ( ( PUNCT hjic-495 1498 32 y y NOUN hjic-495 1498 33 , , PUNCT hjic-495 1498 34 a(2 a(2 PROPN hjic-495 1498 35 ) ) PUNCT hjic-495 1498 36 k k PROPN hjic-495 1498 37 ) ) PUNCT hjic-495 1499 1 and and CCONJ hjic-495 1499 2 ( ( PUNCT hjic-495 1499 3 y y NOUN hjic-495 1499 4 , , PUNCT hjic-495 1499 5 a(3 a(3 PROPN hjic-495 1499 6 ) ) PUNCT hjic-495 1499 7 k k NOUN hjic-495 1499 8 ) ) PUNCT hjic-495 1499 9 weak weak ADJ hjic-495 1499 10 reversibility reversibility NOUN hjic-495 1499 11 of of ADP hjic-495 1499 12 crn crn NOUN hjic-495 1499 13 realizations realization NOUN hjic-495 1499 14 with with ADP hjic-495 1499 15 parametric parametric ADJ hjic-495 1499 16 uncertainty uncertainty NOUN hjic-495 1499 17 we we PRON hjic-495 1499 18 assume assume VERB hjic-495 1499 19 that that SCONJ hjic-495 1499 20 a a DET hjic-495 1499 21 crn crn NOUN hjic-495 1499 22 with with ADP hjic-495 1499 23 parametric parametric ADJ hjic-495 1499 24 uncertainty uncertainty NOUN hjic-495 1499 25 is be AUX hjic-495 1499 26 given give VERB hjic-495 1499 27 as as ADP hjic-495 1499 28 ẋ ẋ PROPN hjic-495 1499 29 = = PRON hjic-495 1499 30 m m PROPN hjic-495 1499 31 · · PUNCT hjic-495 1499 32 ( ( PUNCT hjic-495 1499 33 x x X hjic-495 1499 34 ) ) PUNCT hjic-495 1499 35 , , PUNCT hjic-495 1499 36 ( ( PUNCT hjic-495 1499 37 10 10 NUM hjic-495 1499 38 ) ) PUNCT hjic-495 1499 39 where where SCONJ hjic-495 1499 40 x x SYM hjic-495 1499 41 2 2 NUM hjic-495 1499 42 rn rn NOUN hjic-495 1499 43 is be AUX hjic-495 1499 44 the the DET hjic-495 1499 45 state state NOUN hjic-495 1499 46 variable variable NOUN hjic-495 1499 47 , , PUNCT hjic-495 1499 48 2 2 NUM hjic-495 1499 49 rn rn NOUN hjic-495 1499 50 ! ! PUNCT hjic-495 1500 1 rm rm PROPN hjic-495 1500 2 contains contain VERB hjic-495 1500 3 the the DET hjic-495 1500 4 monomials monomial NOUN hjic-495 1500 5 and and CCONJ hjic-495 1500 6 the the DET hjic-495 1500 7 matrix matrix NOUN hjic-495 1500 8 m m VERB hjic-495 1500 9 2 2 NUM hjic-495 1500 10 rn rn NOUN hjic-495 1500 11 ⇥ ⇥ NUM hjic-495 1500 12 m m VERB hjic-495 1500 13 is be AUX hjic-495 1500 14 an an DET hjic-495 1500 15 element element NOUN hjic-495 1500 16 of of ADP hjic-495 1500 17 the the DET hjic-495 1500 18 following following NOUN hjic-495 1500 19 set set NOUN hjic-495 1500 20 m m PROPN hjic-495 1500 21 = = X hjic-495 1500 22 � � PROPN hjic-495 1500 23 lx lx ADP hjic-495 1500 24 i=1 i=1 PROPN hjic-495 1500 25 ↵ ↵ PROPN hjic-495 1500 26 imi imi PROPN hjic-495 1500 27 | | ADV hjic-495 1500 28 ( ( PUNCT hjic-495 1500 29 8i 8i NUM hjic-495 1500 30 : : PUNCT hjic-495 1501 1 ↵ ↵ NUM hjic-495 1501 2 i i PROPN hjic-495 1501 3 � � PROPN hjic-495 1501 4 0 0 NUM hjic-495 1501 5 ) ) PUNCT hjic-495 1501 6 ^ ^ PUNCT hjic-495 1501 7 lx lx ADP hjic-495 1501 8 i=1 i=1 PROPN hjic-495 1501 9 ↵ ↵ PROPN hjic-495 1501 10 i i NOUN hjic-495 1501 11 = = NOUN hjic-495 1501 12 1 1 X hjic-495 1501 13 . . PUNCT hjic-495 1502 1 ( ( PUNCT hjic-495 1502 2 11 11 NUM hjic-495 1502 3 ) ) PUNCT hjic-495 1502 4 the the DET hjic-495 1502 5 goal goal NOUN hjic-495 1502 6 is be AUX hjic-495 1502 7 to to PART hjic-495 1502 8 find find VERB hjic-495 1502 9 a a DET hjic-495 1502 10 method method NOUN hjic-495 1502 11 for for ADP hjic-495 1502 12 checking check VERB hjic-495 1502 13 the the DET hjic-495 1502 14 weak weak ADJ hjic-495 1502 15 reversibility reversibility NOUN hjic-495 1502 16 of of ADP hjic-495 1502 17 the the DET hjic-495 1502 18 system system NOUN hjic-495 1502 19 eq.(10 eq.(10 NOUN hjic-495 1502 20 ) ) PUNCT hjic-495 1502 21 for for ADP hjic-495 1502 22 all all DET hjic-495 1502 23 matrices matrix NOUN hjic-495 1502 24 m m VERB hjic-495 1502 25 2 2 NUM hjic-495 1502 26 m. m. NOUN hjic-495 1502 27 when when SCONJ hjic-495 1502 28 all all PRON hjic-495 1502 29 vertices vertice VERB hjic-495 1502 30 mi mi PROPN hjic-495 1502 31 have have VERB hjic-495 1502 32 a a DET hjic-495 1502 33 weakly weakly ADJ hjic-495 1502 34 reversible reversible ADJ hjic-495 1502 35 realization realization NOUN hjic-495 1502 36 ( ( PUNCT hjic-495 1502 37 y y NOUN hjic-495 1502 38 , , PUNCT hjic-495 1502 39 a(i a(i NOUN hjic-495 1502 40 ) ) PUNCT hjic-495 1503 1 k k NOUN hjic-495 1503 2 ) ) PUNCT hjic-495 1503 3 then then ADV hjic-495 1503 4 any any DET hjic-495 1503 5 element element NOUN hjic-495 1503 6 of of ADP hjic-495 1503 7 the the DET hjic-495 1503 8 set set NOUN hjic-495 1503 9 m m VERB hjic-495 1503 10 has have VERB hjic-495 1503 11 a a DET hjic-495 1503 12 realization realization NOUN hjic-495 1503 13 ( ( PUNCT hjic-495 1503 14 y y PROPN hjic-495 1503 15 , , PUNCT hjic-495 1503 16 ak ak PROPN hjic-495 1503 17 ) ) PUNCT hjic-495 1503 18 such such ADJ hjic-495 1503 19 that that SCONJ hjic-495 1503 20 ak ak PROPN hjic-495 1503 21 is be AUX hjic-495 1503 22 the the DET hjic-495 1503 23 convex convex ADJ hjic-495 1503 24 combination combination NOUN hjic-495 1503 25 of of ADP hjic-495 1503 26 the the DET hjic-495 1503 27 kirchhoff kirchhoff NOUN hjic-495 1503 28 matrices matrice VERB hjic-495 1503 29 a a DET hjic-495 1503 30 ( ( PUNCT hjic-495 1503 31 i i NOUN hjic-495 1503 32 ) ) PUNCT hjic-495 1504 1 k k PROPN hjic-495 1504 2 . . PUNCT hjic-495 1505 1 the the DET hjic-495 1505 2 obtained obtain VERB hjic-495 1505 3 realization realization NOUN hjic-495 1505 4 ak ak PROPN hjic-495 1505 5 will will AUX hjic-495 1505 6 be be AUX hjic-495 1505 7 weakly weakly ADV hjic-495 1505 8 reversible reversible ADJ hjic-495 1505 9 due due ADJ hjic-495 1505 10 to to ADP hjic-495 1505 11 theorem theorem NOUN hjic-495 1505 12 1 1 NUM hjic-495 1505 13 . . PUNCT hjic-495 1506 1 therefore therefore ADV hjic-495 1506 2 , , PUNCT hjic-495 1506 3 it it PRON hjic-495 1506 4 is be AUX hjic-495 1506 5 enough enough ADJ hjic-495 1506 6 to to PART hjic-495 1506 7 compute compute VERB hjic-495 1506 8 a a DET hjic-495 1506 9 weakly weakly ADV hjic-495 1506 10 reversible reversible ADJ hjic-495 1506 11 realization realization NOUN hjic-495 1506 12 for for ADP hjic-495 1506 13 each each DET hjic-495 1506 14 matrix matrix NOUN hjic-495 1506 15 mi mi NOUN hjic-495 1506 16 by by ADP hjic-495 1506 17 using use VERB hjic-495 1506 18 the the DET hjic-495 1506 19 previously previously ADV hjic-495 1506 20 presented present VERB hjic-495 1506 21 lp lp ADV hjic-495 1506 22 - - PUNCT hjic-495 1506 23 based base VERB hjic-495 1506 24 method method NOUN hjic-495 1506 25 . . PUNCT hjic-495 1507 1 a a DET hjic-495 1507 2 simple simple ADJ hjic-495 1507 3 example example NOUN hjic-495 1507 4 let let VERB hjic-495 1507 5 us we PRON hjic-495 1507 6 consider consider VERB hjic-495 1507 7 the the DET hjic-495 1507 8 following follow VERB hjic-495 1507 9 polynomial polynomial ADJ hjic-495 1507 10 system system NOUN hjic-495 1507 11   NOUN hjic-495 1507 12 ẋ1 ẋ1 PROPN hjic-495 1507 13 ẋ2 ẋ2 PROPN hjic-495 1507 14 � � PROPN hjic-495 1508 1 = = PUNCT hjic-495 1508 2 m m PROPN hjic-495 1508 3 · · PUNCT hjic-495 1508 4 2 2 NUM hjic-495 1508 5 4 4 NUM hjic-495 1508 6 x1 x1 NOUN hjic-495 1508 7 x2 x2 INTJ hjic-495 1508 8 x1x2 x1x2 PUNCT hjic-495 1508 9 3 3 NUM hjic-495 1508 10 5 5 NUM hjic-495 1508 11 , , PUNCT hjic-495 1508 12 ( ( PUNCT hjic-495 1508 13 12 12 NUM hjic-495 1508 14 ) ) PUNCT hjic-495 1508 15 where where SCONJ hjic-495 1508 16 m m NOUN hjic-495 1508 17 is be AUX hjic-495 1508 18 an an DET hjic-495 1508 19 arbitrary arbitrary ADJ hjic-495 1508 20 convex convex NOUN hjic-495 1508 21 combination combination NOUN hjic-495 1508 22 of of ADP hjic-495 1508 23 the the DET hjic-495 1508 24 following follow VERB hjic-495 1508 25 three three NUM hjic-495 1508 26 matrices matrix NOUN hjic-495 1508 27 m1 m1 NOUN hjic-495 1508 28 = = PUNCT hjic-495 1508 29   NOUN hjic-495 1508 30 0 0 NUM hjic-495 1508 31 1 1 NUM hjic-495 1508 32 � � NOUN hjic-495 1508 33 1 1 NUM hjic-495 1508 34 1 1 NUM hjic-495 1508 35 � � PROPN hjic-495 1508 36 1 1 NUM hjic-495 1508 37 0 0 NUM hjic-495 1508 38 � � PROPN hjic-495 1508 39 , , PUNCT hjic-495 1509 1 m2 m2 PROPN hjic-495 1509 2 = = PROPN hjic-495 1509 3   NOUN hjic-495 1509 4 � � PROPN hjic-495 1509 5 1 1 NUM hjic-495 1509 6 1 1 NUM hjic-495 1509 7 0 0 NUM hjic-495 1509 8 1 1 NUM hjic-495 1509 9 � � PROPN hjic-495 1509 10 1 1 NUM hjic-495 1509 11 0 0 NUM hjic-495 1509 12 � � PROPN hjic-495 1509 13 , , PUNCT hjic-495 1509 14 and and CCONJ hjic-495 1509 15 m3 m3 PROPN hjic-495 1509 16 = = PUNCT hjic-495 1510 1   NOUN hjic-495 1510 2 0 0 NUM hjic-495 1510 3 1 1 NUM hjic-495 1510 4 � � NOUN hjic-495 1510 5 1 1 NUM hjic-495 1510 6 0 0 NUM hjic-495 1510 7 0 0 NUM hjic-495 1510 8 0 0 NUM hjic-495 1510 9 � � PROPN hjic-495 1510 10 . . PUNCT hjic-495 1511 1 figure figure VERB hjic-495 1511 2 2 2 NUM hjic-495 1511 3 : : PUNCT hjic-495 1511 4 a a DET hjic-495 1511 5 weakly weakly ADV hjic-495 1511 6 reversible reversible ADJ hjic-495 1511 7 realization realization NOUN hjic-495 1511 8 of of ADP hjic-495 1511 9 the the DET hjic-495 1511 10 convex convex NOUN hjic-495 1511 11 combination combination NOUN hjic-495 1511 12 m m VERB hjic-495 1511 13 = = NOUN hjic-495 1511 14 0.2m1 0.2m1 NUM hjic-495 1512 1 + + CCONJ hjic-495 1512 2 0.4m2 0.4m2 NUM hjic-495 1512 3 + + CCONJ hjic-495 1512 4 0.4m3 0.4m3 NUM hjic-495 1512 5 in in ADP hjic-495 1512 6 order order NOUN hjic-495 1512 7 to to PART hjic-495 1512 8 show show VERB hjic-495 1512 9 weak weak ADJ hjic-495 1512 10 reversibility reversibility NOUN hjic-495 1512 11 for for ADP hjic-495 1512 12 all all DET hjic-495 1512 13 possible possible ADJ hjic-495 1512 14 convex convex NOUN hjic-495 1512 15 combinations combination NOUN hjic-495 1512 16 , , PUNCT hjic-495 1512 17 we we PRON hjic-495 1512 18 have have VERB hjic-495 1512 19 to to PART hjic-495 1512 20 find find VERB hjic-495 1512 21 a a DET hjic-495 1512 22 weakly weakly ADJ hjic-495 1512 23 reversible reversible ADJ hjic-495 1512 24 realization realization NOUN hjic-495 1512 25 for for ADP hjic-495 1512 26 each each DET hjic-495 1512 27 matrix matrix NOUN hjic-495 1512 28 m1 m1 NOUN hjic-495 1512 29 , , PUNCT hjic-495 1512 30 m2 m2 PROPN hjic-495 1512 31 and and CCONJ hjic-495 1512 32 m3 m3 PROPN hjic-495 1512 33 . . PUNCT hjic-495 1513 1 the the DET hjic-495 1513 2 resulting result VERB hjic-495 1513 3 weakly weakly ADJ hjic-495 1513 4 reversible reversible ADJ hjic-495 1513 5 reaction reaction NOUN hjic-495 1513 6 graphs graph NOUN hjic-495 1513 7 are be AUX hjic-495 1513 8 depicted depict VERB hjic-495 1513 9 in in ADP hjic-495 1513 10 fig.1 fig.1 PROPN hjic-495 1513 11 , , PUNCT hjic-495 1513 12 while while SCONJ hjic-495 1513 13 fig.2 fig.2 PROPN hjic-495 1513 14 illustrates illustrate VERB hjic-495 1513 15 an an DET hjic-495 1513 16 inner inner ADJ hjic-495 1513 17 point point NOUN hjic-495 1513 18 realization realization NOUN hjic-495 1513 19 which which PRON hjic-495 1513 20 is be AUX hjic-495 1513 21 weakly weakly ADV hjic-495 1513 22 reversible reversible ADJ hjic-495 1513 23 too too ADV hjic-495 1513 24 . . PUNCT hjic-495 1514 1 computing compute VERB hjic-495 1514 2 kinetic kinetic ADJ hjic-495 1514 3 feedback feedback NOUN hjic-495 1514 4 for for ADP hjic-495 1514 5 a a DET hjic-495 1514 6 polynomial polynomial ADJ hjic-495 1514 7 system system NOUN hjic-495 1514 8 with with ADP hjic-495 1514 9 parametric parametric ADJ hjic-495 1514 10 uncertainty uncertainty NOUN hjic-495 1514 11 besides besides SCONJ hjic-495 1514 12 the the DET hjic-495 1514 13 possible possible ADJ hjic-495 1514 14 application application NOUN hjic-495 1514 15 of of ADP hjic-495 1514 16 the the DET hjic-495 1514 17 above above ADJ hjic-495 1514 18 described describe VERB hjic-495 1514 19 lp lp ADV hjic-495 1514 20 - - PUNCT hjic-495 1514 21 based base VERB hjic-495 1514 22 method method NOUN hjic-495 1514 23 for for ADP hjic-495 1514 24 robust robust ADJ hjic-495 1514 25 stability stability NOUN hjic-495 1514 26 analysis analysis NOUN hjic-495 1514 27 , , PUNCT hjic-495 1514 28 it it PRON hjic-495 1514 29 can can AUX hjic-495 1514 30 also also ADV hjic-495 1514 31 be be AUX hjic-495 1514 32 used use VERB hjic-495 1514 33 for for ADP hjic-495 1514 34 stabilizing stabilize VERB hjic-495 1514 35 feedback feedback NOUN hjic-495 1514 36 controller controller NOUN hjic-495 1514 37 design design NOUN hjic-495 1514 38 . . PUNCT hjic-495 1515 1 for for ADP hjic-495 1515 2 this this DET hjic-495 1515 3 purpose purpose NOUN hjic-495 1515 4 , , PUNCT hjic-495 1515 5 a a DET hjic-495 1515 6 generalized generalized ADJ hjic-495 1515 7 version version NOUN hjic-495 1515 8 of of ADP hjic-495 1515 9 our our PRON hjic-495 1515 10 preliminary preliminary ADJ hjic-495 1515 11 work work NOUN hjic-495 1515 12 on on ADP hjic-495 1515 13 kinetic kinetic ADJ hjic-495 1515 14 feedback feedback NOUN hjic-495 1515 15 computation computation NOUN hjic-495 1515 16 for for ADP hjic-495 1515 17 polynomial polynomial ADJ hjic-495 1515 18 systems system NOUN hjic-495 1515 19 to to PART hjic-495 1515 20 achieve achieve VERB hjic-495 1515 21 weak weak ADJ hjic-495 1515 22 reversibility reversibility NOUN hjic-495 1515 23 and and CCONJ hjic-495 1515 24 minimal minimal ADJ hjic-495 1515 25 deficiency deficiency NOUN hjic-495 1516 1 [ [ X hjic-495 1516 2 6 6 NUM hjic-495 1516 3 ] ] PUNCT hjic-495 1516 4 is be AUX hjic-495 1516 5 used use VERB hjic-495 1516 6 here here ADV hjic-495 1516 7 . . PUNCT hjic-495 1517 1 the the DET hjic-495 1517 2 feedback feedback NOUN hjic-495 1517 3 design design NOUN hjic-495 1517 4 problem problem NOUN hjic-495 1517 5 we we PRON hjic-495 1517 6 assume assume VERB hjic-495 1517 7 that that SCONJ hjic-495 1517 8 the the DET hjic-495 1517 9 equation equation NOUN hjic-495 1517 10 of of ADP hjic-495 1517 11 the the DET hjic-495 1517 12 open open ADJ hjic-495 1517 13 - - PUNCT hjic-495 1517 14 loop loop NOUN hjic-495 1517 15 polynomial polynomial ADJ hjic-495 1517 16 system system NOUN hjic-495 1517 17 with with ADP hjic-495 1517 18 linear linear ADJ hjic-495 1517 19 constant constant ADJ hjic-495 1517 20 parameter parameter NOUN hjic-495 1517 21 input input NOUN hjic-495 1517 22 structure structure NOUN hjic-495 1517 23 is be AUX hjic-495 1517 24 given give VERB hjic-495 1517 25 as as ADP hjic-495 1517 26 ẋ ẋ PROPN hjic-495 1517 27 = = PRON hjic-495 1517 28 m m PROPN hjic-495 1517 29 · · PUNCT hjic-495 1517 30 ( ( PUNCT hjic-495 1517 31 x x X hjic-495 1517 32 ) ) PUNCT hjic-495 1517 33 + + ADJ hjic-495 1517 34 bu bu ADJ hjic-495 1517 35 , , PUNCT hjic-495 1517 36 ( ( PUNCT hjic-495 1517 37 13 13 NUM hjic-495 1517 38 ) ) PUNCT hjic-495 1517 39 where where SCONJ hjic-495 1517 40 x x SYM hjic-495 1517 41 2 2 NUM hjic-495 1517 42 rn rn NOUN hjic-495 1517 43 is be AUX hjic-495 1517 44 the the DET hjic-495 1517 45 state state NOUN hjic-495 1517 46 vector vector NOUN hjic-495 1517 47 , , PUNCT hjic-495 1517 48 u u NOUN hjic-495 1517 49 2 2 NUM hjic-495 1517 50 rp rp NOUN hjic-495 1517 51 is be AUX hjic-495 1517 52 the the DET hjic-495 1517 53 input input NOUN hjic-495 1517 54 and and CCONJ hjic-495 1517 55 2 2 NUM hjic-495 1517 56 rn rn NOUN hjic-495 1517 57 ! ! PUNCT hjic-495 1518 1 rm rm PROPN hjic-495 1518 2 contains contain VERB hjic-495 1518 3 the the DET hjic-495 1518 4 monomials monomial NOUN hjic-495 1518 5 of of ADP hjic-495 1518 6 the the DET hjic-495 1518 7 open open ADJ hjic-495 1518 8 - - PUNCT hjic-495 1518 9 loop loop NOUN hjic-495 1518 10 system system NOUN hjic-495 1518 11 . . PUNCT hjic-495 1519 1 the the DET hjic-495 1519 2 input input NOUN hjic-495 1519 3 matrix matrix NOUN hjic-495 1519 4 is be AUX hjic-495 1519 5 b b NUM hjic-495 1519 6 2 2 NUM hjic-495 1519 7 rn rn NOUN hjic-495 1519 8 ⇥ ⇥ NUM hjic-495 1519 9 p p NOUN hjic-495 1519 10 , , PUNCT hjic-495 1519 11 the the DET hjic-495 1519 12 corresponding corresponding ADJ hjic-495 1519 13 complex complex ADJ hjic-495 1519 14 composition composition NOUN hjic-495 1519 15 matrix matrix NOUN hjic-495 1519 16 is be AUX hjic-495 1519 17 y y PROPN hjic-495 1519 18 with with ADP hjic-495 1519 19 rank rank PROPN hjic-495 1519 20 m m PROPN hjic-495 1519 21 , , PUNCT hjic-495 1519 22 and and CCONJ hjic-495 1520 1 m m PROPN hjic-495 1520 2 2 2 NUM hjic-495 1520 3 rn rn NOUN hjic-495 1520 4 ⇥ ⇥ NUM hjic-495 1520 5 m m VERB hjic-495 1520 6 is be AUX hjic-495 1520 7 an an DET hjic-495 1520 8 element element NOUN hjic-495 1520 9 of of ADP hjic-495 1520 10 the the DET hjic-495 1520 11 following following NOUN hjic-495 1520 12 set set NOUN hjic-495 1520 13 m m VERB hjic-495 1520 14 = = PUNCT hjic-495 1520 15 ( ( PUNCT hjic-495 1520 16 lx lx ADP hjic-495 1520 17 i=1 i=1 PROPN hjic-495 1520 18 ↵ ↵ PROPN hjic-495 1520 19 imi imi PROPN hjic-495 1520 20 | | ADV hjic-495 1520 21 ( ( PUNCT hjic-495 1520 22 8i 8i NUM hjic-495 1520 23 : : PUNCT hjic-495 1520 24 ↵ ↵ NUM hjic-495 1520 25 i i PROPN hjic-495 1520 26 � � PROPN hjic-495 1520 27 0 0 NUM hjic-495 1520 28 ) ) PUNCT hjic-495 1520 29 ^ ^ PUNCT hjic-495 1520 30 lx lx ADP hjic-495 1520 31 i=1 i=1 PROPN hjic-495 1520 32 ↵ ↵ PROPN hjic-495 1520 33 i i NOUN hjic-495 1520 34 = = NOUN hjic-495 1520 35 1 1 NUM hjic-495 1520 36 ) ) PUNCT hjic-495 1520 37 . . PUNCT hjic-495 1521 1 ( ( PUNCT hjic-495 1521 2 14 14 NUM hjic-495 1521 3 ) ) PUNCT hjic-495 1521 4 moreover moreover ADV hjic-495 1521 5 , , PUNCT hjic-495 1521 6 a a DET hjic-495 1521 7 positive positive ADJ hjic-495 1521 8 vector vector NOUN hjic-495 1521 9 x x PROPN hjic-495 1521 10 2 2 NUM hjic-495 1521 11 rn rn PROPN hjic-495 1521 12 > > X hjic-495 1521 13 0 0 PUNCT hjic-495 1521 14 being be AUX hjic-495 1521 15 the the DET hjic-495 1521 16 desired desire VERB hjic-495 1521 17 equilibrium equilibrium NOUN hjic-495 1521 18 point point NOUN hjic-495 1521 19 is be AUX hjic-495 1521 20 given give VERB hjic-495 1521 21 as as ADP hjic-495 1521 22 a a DET hjic-495 1521 23 design design NOUN hjic-495 1521 24 parameter parameter NOUN hjic-495 1521 25 . . PUNCT hjic-495 1522 1 note note VERB hjic-495 1522 2 that that SCONJ hjic-495 1522 3 the the DET hjic-495 1522 4 above above ADJ hjic-495 1522 5 polynomial polynomial ADJ hjic-495 1522 6 system system NOUN hjic-495 1522 7 is be AUX hjic-495 1522 8 not not PART hjic-495 1522 9 necessarily necessarily ADV hjic-495 1522 10 kinetic kinetic ADJ hjic-495 1522 11 , , PUNCT hjic-495 1522 12 i.e. i.e. X hjic-495 1522 13 not not PART hjic-495 1522 14 necessarily necessarily ADV hjic-495 1522 15 positive positive ADJ hjic-495 1522 16 , , PUNCT hjic-495 1522 17 and and CCONJ hjic-495 1522 18 may may AUX hjic-495 1522 19 not not PART hjic-495 1522 20 have have VERB hjic-495 1522 21 a a DET hjic-495 1522 22 positive positive ADJ hjic-495 1522 23 equilibrium equilibrium NOUN hjic-495 1522 24 point point NOUN hjic-495 1522 25 at at ADV hjic-495 1522 26 all all ADV hjic-495 1522 27 . . PUNCT hjic-495 1523 1 106 106 NUM hjic-495 1524 1 the the DET hjic-495 1524 2 aim aim NOUN hjic-495 1524 3 of of ADP hjic-495 1524 4 the the DET hjic-495 1524 5 feedback feedback NOUN hjic-495 1524 6 is be AUX hjic-495 1524 7 to to PART hjic-495 1524 8 set set VERB hjic-495 1524 9 a a DET hjic-495 1524 10 region region NOUN hjic-495 1524 11 in in ADP hjic-495 1524 12 the the DET hjic-495 1524 13 state state NOUN hjic-495 1524 14 space space NOUN hjic-495 1524 15 r r NOUN hjic-495 1524 16 ✓ ✓ PROPN hjic-495 1524 17 rn rn PROPN hjic-495 1524 18 � � PROPN hjic-495 1524 19 0 0 NUM hjic-495 1524 20 where where SCONJ hjic-495 1524 21 x x PRON hjic-495 1524 22 is be AUX hjic-495 1524 23 ( ( PUNCT hjic-495 1524 24 at at ADP hjic-495 1524 25 least least ADJ hjic-495 1524 26 ) ) PUNCT hjic-495 1524 27 a a DET hjic-495 1524 28 locally locally ADV hjic-495 1524 29 asymptotically asymptotically ADV hjic-495 1524 30 stable stable ADJ hjic-495 1524 31 equilibrium equilibrium NOUN hjic-495 1524 32 point point NOUN hjic-495 1524 33 of of ADP hjic-495 1524 34 the the DET hjic-495 1524 35 closed closed ADJ hjic-495 1524 36 - - PUNCT hjic-495 1524 37 loop loop NOUN hjic-495 1524 38 system system NOUN hjic-495 1524 39 for for ADP hjic-495 1524 40 all all DET hjic-495 1524 41 m m PROPN hjic-495 1524 42 2 2 NUM hjic-495 1524 43 m. m. NOUN hjic-495 1524 44 for for ADP hjic-495 1524 45 this this DET hjic-495 1524 46 purpose purpose NOUN hjic-495 1524 47 we we PRON hjic-495 1524 48 are be AUX hjic-495 1524 49 looking look VERB hjic-495 1524 50 for for ADP hjic-495 1524 51 a a DET hjic-495 1524 52 feedback feedback NOUN hjic-495 1524 53 in in ADP hjic-495 1524 54 the the DET hjic-495 1524 55 form form NOUN hjic-495 1524 56 u u NOUN hjic-495 1524 57 = = PROPN hjic-495 1524 58 k k X hjic-495 1524 59 ( ( PUNCT hjic-495 1524 60 x x X hjic-495 1524 61 ) ) PUNCT hjic-495 1524 62 ( ( PUNCT hjic-495 1524 63 15 15 NUM hjic-495 1524 64 ) ) PUNCT hjic-495 1524 65 which which PRON hjic-495 1524 66 transforms transform VERB hjic-495 1524 67 the the DET hjic-495 1524 68 open open ADJ hjic-495 1524 69 - - PUNCT hjic-495 1524 70 loop loop NOUN hjic-495 1524 71 system system NOUN hjic-495 1524 72 into into ADP hjic-495 1524 73 a a DET hjic-495 1524 74 weakly weakly ADJ hjic-495 1524 75 reversible reversible ADJ hjic-495 1524 76 kinetic kinetic NOUN hjic-495 1524 77 system system NOUN hjic-495 1524 78 with with ADP hjic-495 1524 79 zero zero NUM hjic-495 1524 80 deficiency deficiency NOUN hjic-495 1524 81 for for ADP hjic-495 1524 82 all all DET hjic-495 1524 83 m m PROPN hjic-495 1524 84 2 2 NUM hjic-495 1524 85 m m NOUN hjic-495 1524 86 with with ADP hjic-495 1524 87 the the DET hjic-495 1524 88 given give VERB hjic-495 1524 89 equilibrium equilibrium NOUN hjic-495 1524 90 point point NOUN hjic-495 1524 91 x. x. NOUN hjic-495 1524 92 feedback feedback NOUN hjic-495 1524 93 computation computation NOUN hjic-495 1524 94 similarly similarly ADV hjic-495 1524 95 to to ADP hjic-495 1524 96 the the DET hjic-495 1524 97 realization realization NOUN hjic-495 1524 98 computation computation NOUN hjic-495 1524 99 , , PUNCT hjic-495 1524 100 the the DET hjic-495 1524 101 matrix matrix NOUN hjic-495 1524 102 k k PROPN hjic-495 1524 103 will will AUX hjic-495 1524 104 be be AUX hjic-495 1524 105 determined determine VERB hjic-495 1524 106 by by ADP hjic-495 1524 107 solving solve VERB hjic-495 1524 108 an an DET hjic-495 1524 109 lp lp ADJ hjic-495 1524 110 problem problem NOUN hjic-495 1524 111 . . PUNCT hjic-495 1525 1 the the DET hjic-495 1525 2 convexity convexity NOUN hjic-495 1525 3 result result NOUN hjic-495 1525 4 shows show VERB hjic-495 1525 5 that that SCONJ hjic-495 1525 6 it it PRON hjic-495 1525 7 is be AUX hjic-495 1525 8 enough enough ADJ hjic-495 1525 9 to to PART hjic-495 1525 10 compute compute VERB hjic-495 1525 11 one one NUM hjic-495 1525 12 weakly weakly ADV hjic-495 1525 13 reversible reversible ADJ hjic-495 1525 14 realization realization NOUN hjic-495 1525 15 ( ( PUNCT hjic-495 1525 16 y y NOUN hjic-495 1525 17 , , PUNCT hjic-495 1525 18 a(r a(r NOUN hjic-495 1525 19 ) ) PUNCT hjic-495 1525 20 k k NOUN hjic-495 1525 21 ) ) PUNCT hjic-495 1525 22 in in ADP hjic-495 1525 23 each each DET hjic-495 1525 24 vertex vertex NOUN hjic-495 1525 25 mr mr PROPN hjic-495 1525 26 to to PART hjic-495 1525 27 ensure ensure VERB hjic-495 1525 28 weak weak ADJ hjic-495 1525 29 reversibility reversibility NOUN hjic-495 1525 30 for for ADP hjic-495 1525 31 all all DET hjic-495 1525 32 possible possible ADJ hjic-495 1525 33 closed closed ADJ hjic-495 1525 34 - - PUNCT hjic-495 1525 35 loop loop NOUN hjic-495 1525 36 systems system NOUN hjic-495 1525 37 . . PUNCT hjic-495 1526 1 all all DET hjic-495 1526 2 realizations realization NOUN hjic-495 1526 3 will will AUX hjic-495 1526 4 have have VERB hjic-495 1526 5 zero zero NUM hjic-495 1526 6 deficiency deficiency NOUN hjic-495 1526 7 , , PUNCT hjic-495 1526 8 because because SCONJ hjic-495 1526 9 of of ADP hjic-495 1526 10 the the DET hjic-495 1526 11 rank rank NOUN hjic-495 1526 12 condition condition NOUN hjic-495 1526 13 rank(y rank(y PROPN hjic-495 1526 14 ) ) PUNCT hjic-495 1526 15 = = PUNCT hjic-495 1526 16 m m VERB hjic-495 1527 1 [ [ X hjic-495 1527 2 7 7 NUM hjic-495 1527 3 ] ] PUNCT hjic-495 1527 4 . . PUNCT hjic-495 1528 1 first first ADV hjic-495 1528 2 we we PRON hjic-495 1528 3 note note VERB hjic-495 1528 4 , , PUNCT hjic-495 1528 5 that that SCONJ hjic-495 1528 6 the the DET hjic-495 1528 7 realization realization NOUN hjic-495 1528 8 ( ( PUNCT hjic-495 1528 9 y y NOUN hjic-495 1528 10 , , PUNCT hjic-495 1528 11 a(r a(r NOUN hjic-495 1528 12 ) ) PUNCT hjic-495 1528 13 k k NOUN hjic-495 1528 14 ) ) PUNCT hjic-495 1528 15 that that PRON hjic-495 1528 16 corresponds correspond VERB hjic-495 1528 17 to to ADP hjic-495 1528 18 the the DET hjic-495 1528 19 closed closed ADJ hjic-495 1528 20 - - PUNCT hjic-495 1528 21 loop loop NOUN hjic-495 1528 22 system system NOUN hjic-495 1528 23 is be AUX hjic-495 1528 24 mr mr PROPN hjic-495 1528 25 + + PROPN hjic-495 1528 26 b b PROPN hjic-495 1528 27 · · SYM hjic-495 1528 28 k k X hjic-495 1528 29 = = SYM hjic-495 1528 30 y y PROPN hjic-495 1528 31 · · SYM hjic-495 1528 32 a(r a(r NOUN hjic-495 1528 33 ) ) PUNCT hjic-495 1528 34 k k X hjic-495 1528 35 . . PUNCT hjic-495 1529 1 ( ( PUNCT hjic-495 1529 2 16 16 NUM hjic-495 1529 3 ) ) PUNCT hjic-495 1529 4 where where SCONJ hjic-495 1529 5 the the DET hjic-495 1529 6 matrix matrix NOUN hjic-495 1529 7 a a DET hjic-495 1529 8 ( ( PUNCT hjic-495 1529 9 r r NOUN hjic-495 1529 10 ) ) PUNCT hjic-495 1529 11 k k NOUN hjic-495 1529 12 should should AUX hjic-495 1529 13 be be AUX hjic-495 1529 14 kirchhoff kirchhoff PROPN hjic-495 1529 15 mx mx PROPN hjic-495 1529 16 i=1 i=1 PROPN hjic-495 1530 1 [ [ X hjic-495 1530 2 ãk]ij ãk]ij NOUN hjic-495 1530 3 = = SYM hjic-495 1530 4 0 0 NUM hjic-495 1530 5 , , PUNCT hjic-495 1530 6 j j PROPN hjic-495 1530 7 = = SYM hjic-495 1530 8 1 1 NUM hjic-495 1530 9 , , PUNCT hjic-495 1530 10 . . PUNCT hjic-495 1530 11 . . PUNCT hjic-495 1530 12 . . PUNCT hjic-495 1531 1 , , PUNCT hjic-495 1531 2 m m VERB hjic-495 1531 3 [ [ X hjic-495 1531 4 ãk]ij ãk]ij VERB hjic-495 1531 5 � � PROPN hjic-495 1531 6 0 0 NUM hjic-495 1531 7 , , PUNCT hjic-495 1531 8 i i PRON hjic-495 1531 9 , , PUNCT hjic-495 1531 10 j j PROPN hjic-495 1531 11 = = SYM hjic-495 1531 12 1 1 NUM hjic-495 1531 13 , , PUNCT hjic-495 1531 14 . . PUNCT hjic-495 1531 15 . . PUNCT hjic-495 1531 16 . . PUNCT hjic-495 1532 1 , , PUNCT hjic-495 1532 2 m m PROPN hjic-495 1532 3 , , PUNCT hjic-495 1532 4 i i PROPN hjic-495 1532 5 6= 6= NUM hjic-495 1532 6 j j PROPN hjic-495 1533 1 [ [ X hjic-495 1533 2 ãk]ii ãk]ii NOUN hjic-495 1533 3   NOUN hjic-495 1533 4 0 0 NUM hjic-495 1533 5 , , PUNCT hjic-495 1533 6 i i PRON hjic-495 1533 7 = = NOUN hjic-495 1533 8 1 1 NUM hjic-495 1533 9 , , PUNCT hjic-495 1533 10 . . PUNCT hjic-495 1533 11 . . PUNCT hjic-495 1533 12 . . PUNCT hjic-495 1534 1 , , PUNCT hjic-495 1534 2 m. m. NOUN hjic-495 1534 3 ( ( PUNCT hjic-495 1534 4 17 17 NUM hjic-495 1534 5 ) ) PUNCT hjic-495 1534 6 in in ADP hjic-495 1534 7 order order NOUN hjic-495 1534 8 to to PART hjic-495 1534 9 obtain obtain VERB hjic-495 1534 10 a a DET hjic-495 1534 11 weakly weakly ADV hjic-495 1534 12 reversible reversible ADJ hjic-495 1534 13 closed closed ADJ hjic-495 1534 14 - - PUNCT hjic-495 1534 15 loop loop NOUN hjic-495 1534 16 system system NOUN hjic-495 1534 17 with with ADP hjic-495 1534 18 an an DET hjic-495 1534 19 equilibrium equilibrium NOUN hjic-495 1534 20 point point NOUN hjic-495 1534 21 x x NOUN hjic-495 1534 22 , , PUNCT hjic-495 1534 23 the the DET hjic-495 1534 24 matrix matrix NOUN hjic-495 1534 25 a a DET hjic-495 1534 26 ( ( PUNCT hjic-495 1534 27 r r NOUN hjic-495 1534 28 ) ) PUNCT hjic-495 1534 29 k k NOUN hjic-495 1534 30 should should AUX hjic-495 1534 31 be be AUX hjic-495 1534 32 weakly weakly ADV hjic-495 1534 33 reversible reversible ADJ hjic-495 1534 34 and and CCONJ hjic-495 1534 35 has have VERB hjic-495 1534 36 to to PART hjic-495 1534 37 have have VERB hjic-495 1534 38 the the DET hjic-495 1534 39 vector vector NOUN hjic-495 1534 40 ( ( PUNCT hjic-495 1534 41 x x X hjic-495 1534 42 ) ) PUNCT hjic-495 1534 43 in in ADP hjic-495 1534 44 its its PRON hjic-495 1534 45 right right ADJ hjic-495 1534 46 kernel kernel NOUN hjic-495 1534 47 , , PUNCT hjic-495 1534 48 i.e. i.e. X hjic-495 1534 49 a a DET hjic-495 1534 50 ( ( PUNCT hjic-495 1534 51 r r NOUN hjic-495 1534 52 ) ) PUNCT hjic-495 1534 53 k k NOUN hjic-495 1534 54 · · PUNCT hjic-495 1534 55 ( ( PUNCT hjic-495 1534 56 x x X hjic-495 1534 57 ) ) PUNCT hjic-495 1534 58 = = SYM hjic-495 1534 59 0 0 X hjic-495 1534 60 . . PUNCT hjic-495 1535 1 ( ( PUNCT hjic-495 1535 2 18 18 NUM hjic-495 1535 3 ) ) PUNCT hjic-495 1535 4 finally finally ADV hjic-495 1535 5 , , PUNCT hjic-495 1535 6 by by ADP hjic-495 1535 7 choosing choose VERB hjic-495 1535 8 an an DET hjic-495 1535 9 arbitrary arbitrary ADJ hjic-495 1535 10 linear linear ADJ hjic-495 1535 11 objective objective ADJ hjic-495 1535 12 function function NOUN hjic-495 1535 13 of of ADP hjic-495 1535 14 the the DET hjic-495 1535 15 decision decision NOUN hjic-495 1535 16 variables variable VERB hjic-495 1535 17 a a DET hjic-495 1535 18 ( ( PUNCT hjic-495 1535 19 1 1 NUM hjic-495 1535 20 ) ) PUNCT hjic-495 1535 21 k k NOUN hjic-495 1535 22 , , PUNCT hjic-495 1535 23 . . PUNCT hjic-495 1535 24 . . PUNCT hjic-495 1536 1 . . PUNCT hjic-495 1537 1 , , PUNCT hjic-495 1537 2 a a DET hjic-495 1537 3 ( ( PUNCT hjic-495 1537 4 l l NOUN hjic-495 1537 5 ) ) PUNCT hjic-495 1537 6 k k PROPN hjic-495 1537 7 and and CCONJ hjic-495 1537 8 k k NOUN hjic-495 1537 9 , , PUNCT hjic-495 1537 10 the the DET hjic-495 1537 11 feedback feedback NOUN hjic-495 1537 12 gain gain NOUN hjic-495 1537 13 k k PROPN hjic-495 1537 14 can can AUX hjic-495 1537 15 be be AUX hjic-495 1537 16 computed compute VERB hjic-495 1537 17 ( ( PUNCT hjic-495 1537 18 if if SCONJ hjic-495 1537 19 it it PRON hjic-495 1537 20 exists exist VERB hjic-495 1537 21 ) ) PUNCT hjic-495 1537 22 in in ADP hjic-495 1537 23 a a DET hjic-495 1537 24 lp lp NOUN hjic-495 1537 25 framework framework NOUN hjic-495 1537 26 using use VERB hjic-495 1537 27 the the DET hjic-495 1537 28 linear linear PROPN hjic-495 1537 29 constraints constraints PROPN hjic-495 1537 30 eqs.(16 eqs.(16 PROPN hjic-495 1537 31 - - SYM hjic-495 1537 32 18 18 NUM hjic-495 1537 33 ) ) PUNCT hjic-495 1537 34 . . PUNCT hjic-495 1538 1 with with ADP hjic-495 1538 2 the the DET hjic-495 1538 3 resulting result VERB hjic-495 1538 4 feedback feedback NOUN hjic-495 1538 5 gain gain NOUN hjic-495 1538 6 k k NOUN hjic-495 1538 7 , , PUNCT hjic-495 1538 8 the the DET hjic-495 1538 9 point point NOUN hjic-495 1538 10 x x PUNCT hjic-495 1538 11 will will AUX hjic-495 1538 12 be be AUX hjic-495 1538 13 an an DET hjic-495 1538 14 equilibrium equilibrium NOUN hjic-495 1538 15 point point NOUN hjic-495 1538 16 of of ADP hjic-495 1538 17 all all DET hjic-495 1538 18 possible possible ADJ hjic-495 1538 19 closed closed ADJ hjic-495 1538 20 - - PUNCT hjic-495 1538 21 loop loop NOUN hjic-495 1538 22 systems system NOUN hjic-495 1538 23 , , PUNCT hjic-495 1538 24 and and CCONJ hjic-495 1538 25 x x PRON hjic-495 1538 26 will will AUX hjic-495 1538 27 be be AUX hjic-495 1538 28 locally locally ADV hjic-495 1538 29 asymptotically asymptotically ADV hjic-495 1538 30 stable stable ADJ hjic-495 1538 31 in in ADP hjic-495 1538 32 the the DET hjic-495 1538 33 region region NOUN hjic-495 1538 34 s s PART hjic-495 1538 35 = = PUNCT hjic-495 1538 36 ( ( PUNCT hjic-495 1538 37 x+s)\rn x+s)\rn PROPN hjic-495 1538 38 � � PROPN hjic-495 1538 39 0 0 NUM hjic-495 1538 40 , , PUNCT hjic-495 1538 41 where where SCONJ hjic-495 1538 42 s s NOUN hjic-495 1538 43 is be AUX hjic-495 1538 44 the the DET hjic-495 1538 45 stoichiometric stoichiometric ADJ hjic-495 1538 46 subspace subspace NOUN hjic-495 1538 47 of of ADP hjic-495 1538 48 the the DET hjic-495 1538 49 closed closed ADJ hjic-495 1538 50 - - PUNCT hjic-495 1538 51 loop loop NOUN hjic-495 1538 52 system system NOUN hjic-495 1538 53 . . PUNCT hjic-495 1539 1 example example NOUN hjic-495 1539 2 let let VERB hjic-495 1539 3 the the DET hjic-495 1539 4 open open ADJ hjic-495 1539 5 - - PUNCT hjic-495 1539 6 loop loop NOUN hjic-495 1539 7 system system NOUN hjic-495 1539 8 be be AUX hjic-495 1539 9 given give VERB hjic-495 1539 10 as as ADP hjic-495 1539 11 ẋ ẋ PROPN hjic-495 1540 1 = = PRON hjic-495 1540 2 m m PROPN hjic-495 1540 3 2 2 NUM hjic-495 1540 4 4 4 NUM hjic-495 1540 5 x1x2 x1x2 PUNCT hjic-495 1540 6 x2x3 x2x3 NOUN hjic-495 1541 1 x1 x1 ADJ hjic-495 1541 2 3 3 NUM hjic-495 1541 3 5 5 NUM hjic-495 1541 4 + + NUM hjic-495 1541 5 2 2 NUM hjic-495 1541 6 4 4 NUM hjic-495 1541 7 0 0 NUM hjic-495 1541 8 1 1 NUM hjic-495 1541 9 0 0 NUM hjic-495 1541 10 3 3 NUM hjic-495 1541 11 5 5 NUM hjic-495 1541 12 u u NOUN hjic-495 1541 13 ( ( PUNCT hjic-495 1541 14 19 19 NUM hjic-495 1541 15 ) ) PUNCT hjic-495 1541 16 figure figure NOUN hjic-495 1541 17 3 3 NUM hjic-495 1541 18 : : PUNCT hjic-495 1541 19 weakly weakly ADJ hjic-495 1541 20 reversible reversible ADJ hjic-495 1541 21 realization realization NOUN hjic-495 1541 22 of of ADP hjic-495 1541 23 the the DET hjic-495 1541 24 closed closed ADJ hjic-495 1541 25 - - PUNCT hjic-495 1541 26 loop loop NOUN hjic-495 1541 27 system system NOUN hjic-495 1541 28 , , PUNCT hjic-495 1541 29 where where SCONJ hjic-495 1541 30 m m VERB hjic-495 1541 31 = = X hjic-495 1541 32 0.6m1 0.6m1 NUM hjic-495 1541 33 + + NOUN hjic-495 1541 34 0.2m2 0.2m2 NUM hjic-495 1541 35 + + CCONJ hjic-495 1541 36 0.2m3 0.2m3 NUM hjic-495 1541 37 where where SCONJ hjic-495 1541 38 m m NOUN hjic-495 1541 39 is be AUX hjic-495 1541 40 an an DET hjic-495 1541 41 arbitrary arbitrary ADJ hjic-495 1541 42 convex convex NOUN hjic-495 1541 43 combination combination NOUN hjic-495 1541 44 of of ADP hjic-495 1541 45 the the DET hjic-495 1541 46 following follow VERB hjic-495 1541 47 three three NUM hjic-495 1541 48 matrices matrix NOUN hjic-495 1541 49 : : PUNCT hjic-495 1541 50 m1 m1 NOUN hjic-495 1541 51 = = SYM hjic-495 1541 52 2 2 NUM hjic-495 1541 53 4 4 NUM hjic-495 1541 54 � � NOUN hjic-495 1541 55 1 1 NUM hjic-495 1541 56 1 1 NUM hjic-495 1541 57 0 0 NUM hjic-495 1541 58 2 2 NUM hjic-495 1541 59 1 1 NUM hjic-495 1541 60 2 2 NUM hjic-495 1541 61 1 1 NUM hjic-495 1541 62 � � NOUN hjic-495 1541 63 1 1 NUM hjic-495 1541 64 0 0 NUM hjic-495 1541 65 3 3 NUM hjic-495 1541 66 5 5 NUM hjic-495 1541 67 , , PUNCT hjic-495 1541 68 m2 m2 PROPN hjic-495 1541 69 = = PROPN hjic-495 1541 70 2 2 NUM hjic-495 1541 71 4 4 NUM hjic-495 1541 72 0 0 NUM hjic-495 1541 73 0 0 NUM hjic-495 1541 74 0 0 NUM hjic-495 1541 75 1 1 NUM hjic-495 1541 76 1 1 NUM hjic-495 1541 77 3 3 NUM hjic-495 1541 78 0 0 NUM hjic-495 1541 79 0 0 NUM hjic-495 1541 80 0 0 NUM hjic-495 1541 81 3 3 NUM hjic-495 1541 82 5 5 NUM hjic-495 1541 83 , , PUNCT hjic-495 1541 84 and and CCONJ hjic-495 1541 85 m3 m3 PROPN hjic-495 1541 86 = = SYM hjic-495 1541 87 2 2 NUM hjic-495 1541 88 4 4 NUM hjic-495 1541 89 0 0 NUM hjic-495 1541 90 1 1 NUM hjic-495 1541 91 � � NOUN hjic-495 1541 92 1 1 NUM hjic-495 1541 93 2 2 NUM hjic-495 1541 94 0 0 NUM hjic-495 1541 95 3 3 NUM hjic-495 1541 96 0 0 NUM hjic-495 1541 97 � � NOUN hjic-495 1541 98 1 1 NUM hjic-495 1541 99 1 1 NUM hjic-495 1541 100 3 3 NUM hjic-495 1541 101 5 5 NUM hjic-495 1541 102 . . PUNCT hjic-495 1542 1 the the DET hjic-495 1542 2 desired desire VERB hjic-495 1542 3 equilibrium equilibrium NOUN hjic-495 1542 4 point point NOUN hjic-495 1542 5 x x PUNCT hjic-495 1543 1 = = PUNCT hjic-495 1544 1 [ [ X hjic-495 1544 2 1 1 NUM hjic-495 1544 3 1 1 NUM hjic-495 1544 4 1]t 1]t NUM hjic-495 1544 5 . . PUNCT hjic-495 1545 1 we we PRON hjic-495 1545 2 are be AUX hjic-495 1545 3 looking look VERB hjic-495 1545 4 for for ADP hjic-495 1545 5 a a DET hjic-495 1545 6 feedback feedback NOUN hjic-495 1545 7 law law NOUN hjic-495 1545 8 with with ADP hjic-495 1545 9 gain gain NOUN hjic-495 1545 10 k k PROPN hjic-495 1545 11 which which PRON hjic-495 1545 12 transforms transform VERB hjic-495 1545 13 the the DET hjic-495 1545 14 matrices matrix NOUN hjic-495 1545 15 mi mi NOUN hjic-495 1545 16 into into ADP hjic-495 1545 17 weakly weakly ADJ hjic-495 1545 18 reversible reversible ADJ hjic-495 1545 19 kinetic kinetic NOUN hjic-495 1545 20 systems system NOUN hjic-495 1545 21 with with ADP hjic-495 1545 22 the the DET hjic-495 1545 23 given give VERB hjic-495 1545 24 equilibrium equilibrium NOUN hjic-495 1545 25 point point NOUN hjic-495 1545 26 . . PUNCT hjic-495 1546 1 by by ADP hjic-495 1546 2 solving solve VERB hjic-495 1546 3 the the DET hjic-495 1546 4 feedback feedback NOUN hjic-495 1546 5 design design NOUN hjic-495 1546 6 lp lp NOUN hjic-495 1546 7 optimization optimization NOUN hjic-495 1546 8 problem problem NOUN hjic-495 1546 9 using use VERB hjic-495 1546 10 the the DET hjic-495 1546 11 linear linear PROPN hjic-495 1546 12 constraints constraints PROPN hjic-495 1546 13 eqs.(16 eqs.(16 PROPN hjic-495 1546 14 - - SYM hjic-495 1546 15 18 18 NUM hjic-495 1546 16 ) ) PUNCT hjic-495 1546 17 , , PUNCT hjic-495 1546 18 the the DET hjic-495 1546 19 computed computed ADJ hjic-495 1546 20 feedback feedback NOUN hjic-495 1546 21 is be AUX hjic-495 1546 22 in in ADP hjic-495 1546 23 the the DET hjic-495 1546 24 following follow VERB hjic-495 1546 25 form form NOUN hjic-495 1546 26 : : PUNCT hjic-495 1546 27 u u NOUN hjic-495 1546 28 = = NOUN hjic-495 1546 29 ⇥ ⇥ NUM hjic-495 1546 30 2 2 NUM hjic-495 1546 31 1 1 NUM hjic-495 1546 32 2 2 NUM hjic-495 1546 33 ⇤ ⇤ PROPN hjic-495 1546 34 ( ( PUNCT hjic-495 1546 35 x x NOUN hjic-495 1546 36 ) ) PUNCT hjic-495 1546 37 . . PUNCT hjic-495 1547 1 ( ( PUNCT hjic-495 1547 2 20 20 X hjic-495 1547 3 ) ) PUNCT hjic-495 1547 4 fig.3 fig.3 PROPN hjic-495 1547 5 depicts depict VERB hjic-495 1547 6 a a DET hjic-495 1547 7 weakly weakly ADJ hjic-495 1547 8 reversible reversible ADJ hjic-495 1547 9 realization realization NOUN hjic-495 1547 10 of of ADP hjic-495 1547 11 the the DET hjic-495 1547 12 closed closed ADJ hjic-495 1547 13 - - PUNCT hjic-495 1547 14 loop loop NOUN hjic-495 1547 15 system system NOUN hjic-495 1547 16 . . PUNCT hjic-495 1548 1 the the DET hjic-495 1548 2 obtained obtain VERB hjic-495 1548 3 closed close VERB hjic-495 1548 4 - - PUNCT hjic-495 1548 5 loop loop NOUN hjic-495 1548 6 system system NOUN hjic-495 1548 7 in in ADP hjic-495 1548 8 an an DET hjic-495 1548 9 inner inner ADJ hjic-495 1548 10 point point NOUN hjic-495 1548 11 of of ADP hjic-495 1548 12 the the DET hjic-495 1548 13 convex convex NOUN hjic-495 1548 14 set set VERB hjic-495 1548 15 m m VERB hjic-495 1548 16 has have VERB hjic-495 1548 17 the the DET hjic-495 1548 18 following follow VERB hjic-495 1548 19 stoichiometric stoichiometric ADJ hjic-495 1548 20 subspace subspace NOUN hjic-495 1548 21 : : PUNCT hjic-495 1548 22 s s X hjic-495 1548 23 = = PUNCT hjic-495 1548 24 span span NOUN hjic-495 1548 25 0 0 NUM hjic-495 1548 26 @ @ ADP hjic-495 1548 27 2 2 NUM hjic-495 1548 28 4 4 NUM hjic-495 1548 29 1 1 NUM hjic-495 1548 30 1 1 NUM hjic-495 1548 31 0 0 NUM hjic-495 1548 32 3 3 NUM hjic-495 1548 33 5 5 NUM hjic-495 1548 34 � � PROPN hjic-495 1548 35 2 2 NUM hjic-495 1548 36 4 4 NUM hjic-495 1548 37 0 0 NUM hjic-495 1548 38 1 1 NUM hjic-495 1548 39 1 1 NUM hjic-495 1548 40 3 3 NUM hjic-495 1548 41 5 5 NUM hjic-495 1548 42 , , PUNCT hjic-495 1548 43 2 2 NUM hjic-495 1548 44 4 4 NUM hjic-495 1548 45 1 1 NUM hjic-495 1548 46 1 1 NUM hjic-495 1548 47 0 0 NUM hjic-495 1548 48 3 3 NUM hjic-495 1548 49 5 5 NUM hjic-495 1548 50 � � PROPN hjic-495 1548 51 2 2 NUM hjic-495 1548 52 4 4 NUM hjic-495 1548 53 1 1 NUM hjic-495 1548 54 0 0 NUM hjic-495 1548 55 0 0 NUM hjic-495 1548 56 3 3 NUM hjic-495 1548 57 5 5 NUM hjic-495 1548 58 1 1 NUM hjic-495 1548 59 a a PRON hjic-495 1548 60 . . PUNCT hjic-495 1549 1 ( ( PUNCT hjic-495 1549 2 21 21 NUM hjic-495 1549 3 ) ) PUNCT hjic-495 1549 4 therefore therefore ADV hjic-495 1549 5 , , PUNCT hjic-495 1549 6 the the DET hjic-495 1549 7 equilibrium equilibrium NOUN hjic-495 1549 8 point point NOUN hjic-495 1549 9 x x PUNCT hjic-495 1549 10 will will AUX hjic-495 1549 11 be be AUX hjic-495 1549 12 asymptotically asymptotically ADV hjic-495 1549 13 stable stable ADJ hjic-495 1549 14 with with ADP hjic-495 1549 15 the the DET hjic-495 1549 16 region region NOUN hjic-495 1549 17 s s PART hjic-495 1549 18 = = PUNCT hjic-495 1549 19 ( ( PUNCT hjic-495 1549 20 x+s)\rn x+s)\rn PROPN hjic-495 1549 21 � � PROPN hjic-495 1549 22 0 0 NUM hjic-495 1549 23 . . PUNCT hjic-495 1550 1 note note NOUN hjic-495 1550 2 , , PUNCT hjic-495 1550 3 that that SCONJ hjic-495 1550 4 one one PRON hjic-495 1550 5 should should AUX hjic-495 1550 6 choose choose VERB hjic-495 1550 7 the the DET hjic-495 1550 8 initial initial ADJ hjic-495 1550 9 value value NOUN hjic-495 1550 10 of of ADP hjic-495 1550 11 the the DET hjic-495 1550 12 state state NOUN hjic-495 1550 13 variables variable VERB hjic-495 1550 14 from from ADP hjic-495 1550 15 s s PRON hjic-495 1550 16 . . PUNCT hjic-495 1551 1 fig.4 fig.4 PROPN hjic-495 1551 2 shows show VERB hjic-495 1551 3 the the DET hjic-495 1551 4 time time NOUN hjic-495 1551 5 dependent dependent ADJ hjic-495 1551 6 behaviour behaviour NOUN hjic-495 1551 7 of of ADP hjic-495 1551 8 the the DET hjic-495 1551 9 closed closed ADJ hjic-495 1551 10 - - PUNCT hjic-495 1551 11 loop loop NOUN hjic-495 1551 12 solutions solution NOUN hjic-495 1551 13 started start VERB hjic-495 1551 14 from from ADP hjic-495 1551 15 different different ADJ hjic-495 1551 16 initial initial ADJ hjic-495 1551 17 points point NOUN hjic-495 1551 18 in in ADP hjic-495 1551 19 s s PRON hjic-495 1551 20 . . PUNCT hjic-495 1552 1 107 107 NUM hjic-495 1552 2 figure figure NOUN hjic-495 1552 3 4 4 NUM hjic-495 1552 4 : : PUNCT hjic-495 1552 5 time time NOUN hjic-495 1552 6 - - PUNCT hjic-495 1552 7 domain domain NOUN hjic-495 1552 8 simulation simulation NOUN hjic-495 1552 9 of of ADP hjic-495 1552 10 the the DET hjic-495 1552 11 closed closed ADJ hjic-495 1552 12 - - PUNCT hjic-495 1552 13 loop loop NOUN hjic-495 1552 14 system system NOUN hjic-495 1552 15 conclusion conclusion NOUN hjic-495 1552 16 it it PRON hjic-495 1552 17 is be AUX hjic-495 1552 18 shown show VERB hjic-495 1552 19 in in ADP hjic-495 1552 20 this this DET hjic-495 1552 21 paper paper NOUN hjic-495 1552 22 that that SCONJ hjic-495 1552 23 the the DET hjic-495 1552 24 domain domain NOUN hjic-495 1552 25 of of ADP hjic-495 1552 26 weakly weakly ADJ hjic-495 1552 27 reversible reversible ADJ hjic-495 1552 28 realizations realization NOUN hjic-495 1552 29 is be AUX hjic-495 1552 30 convex convex ADJ hjic-495 1552 31 in in ADP hjic-495 1552 32 the the DET hjic-495 1552 33 parameter parameter NOUN hjic-495 1552 34 space space NOUN hjic-495 1552 35 . . PUNCT hjic-495 1553 1 this this DET hjic-495 1553 2 property property NOUN hjic-495 1553 3 is be AUX hjic-495 1553 4 utilized utilize VERB hjic-495 1553 5 for for ADP hjic-495 1553 6 developing develop VERB hjic-495 1553 7 methods method NOUN hjic-495 1553 8 in in ADP hjic-495 1553 9 system system NOUN hjic-495 1553 10 analysis analysis NOUN hjic-495 1553 11 and and CCONJ hjic-495 1553 12 robust robust ADJ hjic-495 1553 13 control control NOUN hjic-495 1553 14 design design NOUN hjic-495 1553 15 . . PUNCT hjic-495 1554 1 an an DET hjic-495 1554 2 lp lp ADV hjic-495 1554 3 - - PUNCT hjic-495 1554 4 based base VERB hjic-495 1554 5 optimization optimization NOUN hjic-495 1554 6 method method NOUN hjic-495 1554 7 is be AUX hjic-495 1554 8 proposed propose VERB hjic-495 1554 9 for for ADP hjic-495 1554 10 testing testing NOUN hjic-495 1554 11 if if SCONJ hjic-495 1554 12 every every DET hjic-495 1554 13 element element NOUN hjic-495 1554 14 of of ADP hjic-495 1554 15 a a DET hjic-495 1554 16 convex convex ADJ hjic-495 1554 17 domain domain NOUN hjic-495 1554 18 given give VERB hjic-495 1554 19 by by ADP hjic-495 1554 20 its its PRON hjic-495 1554 21 extremal extremal ADJ hjic-495 1554 22 matrices matrix NOUN hjic-495 1554 23 admits admit VERB hjic-495 1554 24 a a DET hjic-495 1554 25 weakly weakly ADJ hjic-495 1554 26 reversible reversible ADJ hjic-495 1554 27 realization realization NOUN hjic-495 1554 28 . . PUNCT hjic-495 1555 1 an an DET hjic-495 1555 2 lp lp ADV hjic-495 1555 3 - - PUNCT hjic-495 1555 4 based base VERB hjic-495 1555 5 feedback feedback NOUN hjic-495 1555 6 design design NOUN hjic-495 1555 7 method method NOUN hjic-495 1555 8 is be AUX hjic-495 1555 9 also also ADV hjic-495 1555 10 proposed propose VERB hjic-495 1555 11 that that SCONJ hjic-495 1555 12 guarantees guarantee VERB hjic-495 1555 13 stability stability NOUN hjic-495 1555 14 with with ADP hjic-495 1555 15 a a DET hjic-495 1555 16 desired desire VERB hjic-495 1555 17 equilibrium equilibrium NOUN hjic-495 1555 18 point point NOUN hjic-495 1555 19 . . PUNCT hjic-495 1556 1 the the DET hjic-495 1556 2 proposed propose VERB hjic-495 1556 3 methods method NOUN hjic-495 1556 4 are be AUX hjic-495 1556 5 illustrated illustrate VERB hjic-495 1556 6 with with ADP hjic-495 1556 7 simple simple ADJ hjic-495 1556 8 examples example NOUN hjic-495 1556 9 . . PUNCT hjic-495 1557 1 references reference NOUN hjic-495 1557 2 [ [ X hjic-495 1557 3 1 1 X hjic-495 1557 4 ] ] PUNCT hjic-495 1557 5 siljak siljak PROPN hjic-495 1557 6 d. d. PROPN hjic-495 1557 7 : : PUNCT hjic-495 1557 8 parameter parameter NOUN hjic-495 1557 9 space space NOUN hjic-495 1557 10 methods method NOUN hjic-495 1557 11 for for ADP hjic-495 1557 12 robust robust ADJ hjic-495 1557 13 control control NOUN hjic-495 1557 14 design design NOUN hjic-495 1557 15 : : PUNCT hjic-495 1557 16 a a DET hjic-495 1557 17 guided guide VERB hjic-495 1557 18 tour tour NOUN hjic-495 1557 19 , , PUNCT hjic-495 1557 20 aut aut PROPN hjic-495 1557 21 . . PUNCT hjic-495 1557 22 contr contr PROPN hjic-495 1557 23 . . PROPN hjic-495 1557 24 , , PUNCT hjic-495 1557 25 ieee ieee NOUN hjic-495 1557 26 transactions transaction NOUN hjic-495 1557 27 on on ADP hjic-495 1557 28 , , PUNCT hjic-495 1557 29 1989 1989 NUM hjic-495 1557 30 , , PUNCT hjic-495 1557 31 34(7 34(7 NUM hjic-495 1557 32 ) ) PUNCT hjic-495 1557 33 , , PUNCT hjic-495 1558 1 674–688 674–688 NUM hjic-495 1558 2 [ [ X hjic-495 1558 3 2 2 X hjic-495 1558 4 ] ] PUNCT hjic-495 1558 5 angeli angeli PROPN hjic-495 1558 6 d. d. PROPN hjic-495 1558 7 : : PUNCT hjic-495 1558 8 a a DET hjic-495 1558 9 tutorial tutorial NOUN hjic-495 1558 10 on on ADP hjic-495 1558 11 chemical chemical ADJ hjic-495 1558 12 network network NOUN hjic-495 1558 13 dynamics dynamic NOUN hjic-495 1558 14 , , PUNCT hjic-495 1558 15 eur eur PROPN hjic-495 1558 16 . . PUNCT hjic-495 1559 1 j. j. PROPN hjic-495 1559 2 contr contr PROPN hjic-495 1559 3 . . PROPN hjic-495 1559 4 , , PUNCT hjic-495 1559 5 2009 2009 NUM hjic-495 1559 6 , , PUNCT hjic-495 1559 7 15 15 NUM hjic-495 1559 8 , , PUNCT hjic-495 1559 9 398–406 398–406 NUM hjic-495 1559 10 [ [ X hjic-495 1559 11 3 3 NUM hjic-495 1559 12 ] ] PUNCT hjic-495 1559 13 szederkényi szederkényi PROPN hjic-495 1559 14 g. g. PROPN hjic-495 1559 15 , , PUNCT hjic-495 1559 16 hangos hangos PROPN hjic-495 1559 17 k. k. PROPN hjic-495 1559 18 m. m. PROPN hjic-495 1559 19 , , PUNCT hjic-495 1559 20 tuza tuza PROPN hjic-495 1559 21 z. z. PROPN hjic-495 1559 22 : : PUNCT hjic-495 1559 23 finding find VERB hjic-495 1559 24 weakly weakly ADJ hjic-495 1559 25 reversible reversible ADJ hjic-495 1559 26 realizations realization NOUN hjic-495 1559 27 of of ADP hjic-495 1559 28 chemical chemical ADJ hjic-495 1559 29 reaction reaction NOUN hjic-495 1559 30 networks network NOUN hjic-495 1559 31 using use VERB hjic-495 1559 32 optimization optimization NOUN hjic-495 1559 33 , , PUNCT hjic-495 1559 34 match match NOUN hjic-495 1559 35 commun commun PROPN hjic-495 1559 36 . . PUNCT hjic-495 1560 1 math math PROPN hjic-495 1560 2 . . PUNCT hjic-495 1561 1 comp comp PROPN hjic-495 1561 2 . . PUNCT hjic-495 1562 1 chem chem PROPN hjic-495 1562 2 . . PUNCT hjic-495 1562 3 , , PUNCT hjic-495 1562 4 2012 2012 NUM hjic-495 1562 5 , , PUNCT hjic-495 1562 6 67 67 NUM hjic-495 1562 7 , , PUNCT hjic-495 1562 8 193–212 193–212 NUM hjic-495 1562 9 [ [ SYM hjic-495 1562 10 4 4 NUM hjic-495 1562 11 ] ] X hjic-495 1562 12 feinberg feinberg PROPN hjic-495 1562 13 m. m. PROPN hjic-495 1562 14 , , PUNCT hjic-495 1562 15 horn horn PROPN hjic-495 1562 16 f. f. PROPN hjic-495 1562 17 : : PUNCT hjic-495 1562 18 chemical chemical ADJ hjic-495 1562 19 mechanism mechanism NOUN hjic-495 1562 20 structure structure NOUN hjic-495 1562 21 and and CCONJ hjic-495 1562 22 the the DET hjic-495 1562 23 coincidence coincidence NOUN hjic-495 1562 24 of of ADP hjic-495 1562 25 the the DET hjic-495 1562 26 stoichiometric stoichiometric ADJ hjic-495 1562 27 and and CCONJ hjic-495 1562 28 kinetic kinetic ADJ hjic-495 1562 29 subspaces subspace NOUN hjic-495 1562 30 , , PUNCT hjic-495 1562 31 arch arch NOUN hjic-495 1562 32 . . PUNCT hjic-495 1563 1 rational rational ADJ hjic-495 1563 2 mechanics mechanic NOUN hjic-495 1563 3 and and CCONJ hjic-495 1563 4 analysis analysis NOUN hjic-495 1563 5 , , PUNCT hjic-495 1563 6 1977 1977 NUM hjic-495 1563 7 , , PUNCT hjic-495 1563 8 66(1 66(1 NOUN hjic-495 1563 9 ) ) PUNCT hjic-495 1563 10 , , PUNCT hjic-495 1563 11 83–97 83–97 NUM hjic-495 1563 12 [ [ X hjic-495 1563 13 5 5 NUM hjic-495 1563 14 ] ] PUNCT hjic-495 1563 15 rudan rudan PROPN hjic-495 1563 16 j. j. PROPN hjic-495 1563 17 , , PUNCT hjic-495 1563 18 szederkényi szederkényi PROPN hjic-495 1563 19 g. g. PROPN hjic-495 1563 20 , , PUNCT hjic-495 1563 21 hangos hangos PROPN hjic-495 1563 22 k.m k.m PROPN hjic-495 1563 23 . . PROPN hjic-495 1563 24 , , PUNCT hjic-495 1563 25 péni péni PROPN hjic-495 1563 26 t. t. PROPN hjic-495 1563 27 : : PUNCT hjic-495 1563 28 polynomial polynomial ADJ hjic-495 1563 29 time time NOUN hjic-495 1563 30 algorithms algorithm NOUN hjic-495 1563 31 to to PART hjic-495 1563 32 determine determine VERB hjic-495 1563 33 weakly weakly ADJ hjic-495 1563 34 reversible reversible ADJ hjic-495 1563 35 realizations realization NOUN hjic-495 1563 36 of of ADP hjic-495 1563 37 chemical chemical ADJ hjic-495 1563 38 reaction reaction NOUN hjic-495 1563 39 networks network NOUN hjic-495 1563 40 , , PUNCT hjic-495 1563 41 j. j. PROPN hjic-495 1563 42 math math PROPN hjic-495 1563 43 . . PUNCT hjic-495 1564 1 chem chem PROPN hjic-495 1564 2 . . PUNCT hjic-495 1564 3 , , PUNCT hjic-495 1564 4 2014 2014 NUM hjic-495 1564 5 , , PUNCT hjic-495 1564 6 52(5 52(5 NUM hjic-495 1564 7 ) ) PUNCT hjic-495 1564 8 , , PUNCT hjic-495 1564 9 1386–1404 1386–1404 NUM hjic-495 1564 10 [ [ X hjic-495 1564 11 6 6 NUM hjic-495 1564 12 ] ] PUNCT hjic-495 1564 13 lipták lipták ADJ hjic-495 1564 14 g. g. PROPN hjic-495 1564 15 , , PUNCT hjic-495 1564 16 szederkényi szederkényi PROPN hjic-495 1564 17 g. g. PROPN hjic-495 1564 18 , , PUNCT hjic-495 1564 19 hangos hangos PROPN hjic-495 1564 20 k.m k.m PROPN hjic-495 1564 21 . . PROPN hjic-495 1564 22 : : PUNCT hjic-495 1565 1 kinetic kinetic ADJ hjic-495 1565 2 feedback feedback NOUN hjic-495 1565 3 computation computation NOUN hjic-495 1565 4 for for ADP hjic-495 1565 5 polynomial polynomial ADJ hjic-495 1565 6 systems system NOUN hjic-495 1565 7 to to PART hjic-495 1565 8 achieve achieve VERB hjic-495 1565 9 weak weak ADJ hjic-495 1565 10 reversibility reversibility NOUN hjic-495 1565 11 and and CCONJ hjic-495 1565 12 minimal minimal ADJ hjic-495 1565 13 deficiency deficiency NOUN hjic-495 1565 14 , , PUNCT hjic-495 1565 15 13th 13th ADJ hjic-495 1565 16 eur eur ADJ hjic-495 1565 17 . . PUNCT hjic-495 1566 1 control control PROPN hjic-495 1566 2 conf conf PROPN hjic-495 1566 3 . . PUNCT hjic-495 1567 1 ecc ecc PROPN hjic-495 1567 2 , , PUNCT hjic-495 1567 3 strasbourg strasbourg PROPN hjic-495 1567 4 , , PUNCT hjic-495 1567 5 france france PROPN hjic-495 1567 6 , , PUNCT hjic-495 1567 7 2014 2014 NUM hjic-495 1567 8 , , PUNCT hjic-495 1567 9 2691–2696 2691–2696 NUM hjic-495 1567 10 [ [ X hjic-495 1567 11 7 7 NUM hjic-495 1567 12 ] ] X hjic-495 1567 13 angeli angeli PROPN hjic-495 1567 14 d. d. PROPN hjic-495 1567 15 , , PUNCT hjic-495 1567 16 lenhee lenhee PROPN hjic-495 1567 17 , , PUNCT hjic-495 1567 18 p.d p.d PROPN hjic-495 1567 19 . . PROPN hjic-495 1567 20 , , PUNCT hjic-495 1567 21 sontag sontag PROPN hjic-495 1567 22 e.d e.d PROPN hjic-495 1567 23 . . PROPN hjic-495 1567 24 : : PUNCT hjic-495 1567 25 on on ADP hjic-495 1567 26 the the DET hjic-495 1567 27 structural structural ADJ hjic-495 1567 28 monotonicity monotonicity NOUN hjic-495 1567 29 of of ADP hjic-495 1567 30 chemical chemical ADJ hjic-495 1567 31 reaction reaction NOUN hjic-495 1567 32 networks network NOUN hjic-495 1567 33 , , PUNCT hjic-495 1567 34 proc proc NOUN hjic-495 1567 35 . . PUNCT hjic-495 1568 1 45th 45th ADJ hjic-495 1568 2 ieee ieee NOUN hjic-495 1568 3 conf conf NOUN hjic-495 1568 4 . . PUNCT hjic-495 1569 1 decision decision NOUN hjic-495 1569 2 and and CCONJ hjic-495 1569 3 control control NOUN hjic-495 1569 4 , , PUNCT hjic-495 1569 5 2006 2006 NUM hjic-495 1569 6 , , PUNCT hjic-495 1569 7 7–12 7–12 PROPN hjic-495 1569 8 advertise advertise NOUN hjic-495 1569 9 upcoming upcoming ADJ hjic-495 1569 10 meetings meeting NOUN hjic-495 1569 11 , , PUNCT hjic-495 1569 12 conferences conference NOUN hjic-495 1569 13 , , PUNCT hjic-495 1569 14 workshops workshop NOUN hjic-495 1569 15 , , PUNCT hjic-495 1569 16 new new ADJ hjic-495 1569 17 products product NOUN hjic-495 1569 18 or or CCONJ hjic-495 1569 19 services service NOUN hjic-495 1569 20 ; ; PUNCT hjic-495 1569 21 make make VERB hjic-495 1569 22 public public ADJ hjic-495 1569 23 announcements announcement NOUN hjic-495 1569 24 , , PUNCT hjic-495 1569 25 introduce introduce VERB hjic-495 1569 26 your your PRON hjic-495 1569 27 research research NOUN hjic-495 1569 28 laboratory laboratory NOUN hjic-495 1569 29 on on ADP hjic-495 1569 30 the the DET hjic-495 1569 31 pages page NOUN hjic-495 1569 32 of of ADP hjic-495 1569 33 the the DET hjic-495 1569 34 hungarian hungarian ADJ hjic-495 1569 35 journal journal NOUN hjic-495 1569 36 of of ADP hjic-495 1569 37 industry industry NOUN hjic-495 1569 38 and and CCONJ hjic-495 1569 39 chemistry chemistry NOUN hjic-495 1569 40 please please INTJ hjic-495 1569 41 contact contact VERB hjic-495 1569 42 us we PRON hjic-495 1569 43 if if SCONJ hjic-495 1569 44 interested interested ADJ hjic-495 1569 45 ! ! PUNCT hjic-495 1570 1 editorial editorial ADJ hjic-495 1570 2 office office NOUN hjic-495 1570 3 : : PUNCT hjic-495 1570 4 university university NOUN hjic-495 1570 5 of of ADP hjic-495 1570 6 pannonia pannonia PROPN hjic-495 1570 7 p.o p.o PROPN hjic-495 1570 8 . . PROPN hjic-495 1570 9 box box PROPN hjic-495 1570 10 158 158 NUM hjic-495 1570 11 , , PUNCT hjic-495 1570 12 veszprém veszprém NOUN hjic-495 1570 13 h-8201 h-8201 NUM hjic-495 1570 14 ( ( PUNCT hjic-495 1570 15 hungary hungary PROPN hjic-495 1570 16 ) ) PUNCT hjic-495 1570 17 tel tel PROPN hjic-495 1570 18 . . PUNCT hjic-495 1570 19 : : PUNCT hjic-495 1571 1 +36 +36 NOUN hjic-495 1571 2 ( ( PUNCT hjic-495 1571 3 88 88 NUM hjic-495 1571 4 ) ) PUNCT hjic-495 1571 5 624 624 NUM hjic-495 1571 6 - - PUNCT hjic-495 1571 7 746 746 NUM hjic-495 1571 8 , , PUNCT hjic-495 1571 9 e e NOUN hjic-495 1571 10 - - NOUN hjic-495 1571 11 mail mail NOUN hjic-495 1571 12 : : PUNCT hjic-495 1571 13 hjic@almos.uni-pannon.hu hjic@almos.uni-pannon.hu PROPN hjic-495 1571 14 ; ; PUNCT hjic-495 1571 15 web web NOUN hjic-495 1571 16 : : PUNCT hjic-495 1571 17 hjic.mk.uni-pannon.hu hjic.mk.uni-pannon.hu PROPN hjic-495 1571 18 felelős felelős PROPN hjic-495 1571 19 szerkesztő szerkesztő PROPN hjic-495 1571 20 : : PUNCT hjic-495 1571 21 szilágyi szilágyi PROPN hjic-495 1571 22 róbert róbert VERB hjic-495 1571 23 károly károly PROPN hjic-495 1571 24 , , PUNCT hjic-495 1571 25 phd phd PROPN hjic-495 1571 26 kiadja kiadja PROPN hjic-495 1571 27 : : PUNCT hjic-495 1571 28 pannon pannon NOUN hjic-495 1571 29 egyetem egyetem PROPN hjic-495 1571 30 , , PUNCT hjic-495 1571 31 8200 8200 NUM hjic-495 1571 32 veszprém veszprém NOUN hjic-495 1571 33 , , PUNCT hjic-495 1571 34 egyetem egyetem PROPN hjic-495 1571 35 u. u. PROPN hjic-495 1571 36 10 10 NUM hjic-495 1571 37 . . PUNCT hjic-495 1572 1 levélcím levélcím ADV hjic-495 1572 2 : : PUNCT hjic-495 1572 3 h-8201 h-8201 NUM hjic-495 1572 4 veszprém veszprém NOUN hjic-495 1572 5 , , PUNCT hjic-495 1572 6 postafiók postafiók NOUN hjic-495 1572 7 158 158 NUM hjic-495 1572 8 , , PUNCT hjic-495 1572 9 tel tel PROPN hjic-495 1572 10 . . PROPN hjic-495 1572 11 : : PUNCT hjic-495 1572 12 ( ( PUNCT hjic-495 1572 13 88 88 NUM hjic-495 1572 14 ) ) SYM hjic-495 1572 15 624 624 NUM hjic-495 1572 16 - - PUNCT hjic-495 1572 17 000 000 NUM hjic-495 1572 18 felelős felelős PROPN hjic-495 1572 19 kiadó kiadó PROPN hjic-495 1572 20 : : PUNCT hjic-495 1572 21 a a DET hjic-495 1572 22 pannon pannon NOUN hjic-495 1572 23 egyetem egyetem NOUN hjic-495 1572 24 , , PUNCT hjic-495 1572 25 mérnöki mérnöki NOUN hjic-495 1572 26 kar kar PROPN hjic-495 1572 27 dékánja dékánja VERB hjic-495 1572 28 hungarian hungarian ADJ hjic-495 1572 29 journal journal NOUN hjic-495 1572 30 of of ADP hjic-495 1572 31 industry industry NOUN hjic-495 1572 32 and and CCONJ hjic-495 1572 33 chemistry chemistry NOUN hjic-495 1572 34 veszprém veszprém NOUN hjic-495 1572 35 vol vol NOUN hjic-495 1572 36 . . PUNCT hjic-495 1573 1 42(2 42(2 NUM hjic-495 1573 2 ) ) PUNCT hjic-495 1574 1 pp pp ADV hjic-495 1574 2 . . PUNCT hjic-495 1575 1 109–113 109–113 NUM hjic-495 1575 2 ( ( PUNCT hjic-495 1575 3 2014 2014 NUM hjic-495 1575 4 ) ) PUNCT hjic-495 1575 5 stability stability NOUN hjic-495 1575 6 and and CCONJ hjic-495 1575 7 parameter parameter NOUN hjic-495 1575 8 sensitivity sensitivity NOUN hjic-495 1575 9 analyses analysis NOUN hjic-495 1575 10 of of ADP hjic-495 1575 11 an an DET hjic-495 1575 12 induction induction NOUN hjic-495 1575 13 motor motor NOUN hjic-495 1575 14 attila attila PROPN hjic-495 1575 15 fodor1 fodor1 PROPN hjic-495 1575 16 , , PUNCT hjic-495 1575 17 roland roland PROPN hjic-495 1575 18 bálintb1 bálintb1 PROPN hjic-495 1575 19 , , PUNCT hjic-495 1575 20 attila attila PROPN hjic-495 1575 21 magyar1 magyar1 PROPN hjic-495 1575 22 , , PUNCT hjic-495 1575 23 and and CCONJ hjic-495 1575 24 gábor gábor PROPN hjic-495 1575 25 szederkényi2 szederkényi2 PROPN hjic-495 1575 26 1department 1department NUM hjic-495 1575 27 of of ADP hjic-495 1575 28 electrical electrical ADJ hjic-495 1575 29 engineering engineering NOUN hjic-495 1575 30 and and CCONJ hjic-495 1575 31 information information NOUN hjic-495 1575 32 systems system NOUN hjic-495 1575 33 , , PUNCT hjic-495 1575 34 university university NOUN hjic-495 1575 35 of of ADP hjic-495 1575 36 pannonia pannonia PROPN hjic-495 1575 37 , , PUNCT hjic-495 1575 38 egyetem egyetem NOUN hjic-495 1575 39 u. u. PROPN hjic-495 1575 40 10 10 NUM hjic-495 1575 41 . . PUNCT hjic-495 1575 42 , , PUNCT hjic-495 1575 43 veszprém veszprém NOUN hjic-495 1575 44 , , PUNCT hjic-495 1575 45 8200 8200 NUM hjic-495 1575 46 , , PUNCT hjic-495 1575 47 hungary hungary PROPN hjic-495 1575 48 2pazmány 2pazmány NUM hjic-495 1575 49 péter péter PROPN hjic-495 1575 50 catholic catholic PROPN hjic-495 1575 51 university university PROPN hjic-495 1575 52 , , PUNCT hjic-495 1575 53 práter práter NOUN hjic-495 1575 54 u. u. PROPN hjic-495 1576 1 50 50 NUM hjic-495 1576 2 / / SYM hjic-495 1576 3 a a PRON hjic-495 1576 4 , , PUNCT hjic-495 1576 5 budapest budapest ADJ hjic-495 1576 6 , , PUNCT hjic-495 1576 7 1083 1083 NUM hjic-495 1576 8 , , PUNCT hjic-495 1576 9 hungary hungary PROPN hjic-495 1576 10 be be NOUN hjic-495 1576 11 - - PUNCT hjic-495 1576 12 mail mail NOUN hjic-495 1576 13 : : PUNCT hjic-495 1576 14 balint.roland27@gmail.com balint.roland27@gmail.com X hjic-495 1576 15 a a DET hjic-495 1576 16 simple simple ADJ hjic-495 1576 17 dynamical dynamical ADJ hjic-495 1576 18 model model NOUN hjic-495 1576 19 of of ADP hjic-495 1576 20 an an DET hjic-495 1576 21 induction induction NOUN hjic-495 1576 22 motor motor NOUN hjic-495 1576 23 is be AUX hjic-495 1576 24 derived derive VERB hjic-495 1576 25 and and CCONJ hjic-495 1576 26 analyzed analyze VERB hjic-495 1576 27 in in ADP hjic-495 1576 28 this this DET hjic-495 1576 29 paper paper NOUN hjic-495 1576 30 based base VERB hjic-495 1576 31 on on ADP hjic-495 1576 32 engineering engineering NOUN hjic-495 1576 33 principles principle NOUN hjic-495 1576 34 that that PRON hjic-495 1576 35 describe describe VERB hjic-495 1576 36 the the DET hjic-495 1576 37 mechanical mechanical ADJ hjic-495 1576 38 phenomena phenomenon NOUN hjic-495 1576 39 together together ADV hjic-495 1576 40 with with ADP hjic-495 1576 41 the the DET hjic-495 1576 42 electrical electrical ADJ hjic-495 1576 43 model model NOUN hjic-495 1576 44 . . PUNCT hjic-495 1577 1 the the DET hjic-495 1577 2 used use VERB hjic-495 1577 3 state state NOUN hjic-495 1577 4 space space NOUN hjic-495 1577 5 model model NOUN hjic-495 1577 6 consists consist VERB hjic-495 1577 7 of of ADP hjic-495 1577 8 nonlinear nonlinear ADJ hjic-495 1577 9 state state NOUN hjic-495 1577 10 equations equation NOUN hjic-495 1577 11 . . PUNCT hjic-495 1578 1 the the DET hjic-495 1578 2 model model NOUN hjic-495 1578 3 has have AUX hjic-495 1578 4 been be AUX hjic-495 1578 5 verified verify VERB hjic-495 1578 6 under under ADP hjic-495 1578 7 the the DET hjic-495 1578 8 usual usual ADJ hjic-495 1578 9 controlled control VERB hjic-495 1578 10 operating operating NOUN hjic-495 1578 11 conditions condition NOUN hjic-495 1578 12 when when SCONJ hjic-495 1578 13 the the DET hjic-495 1578 14 speed speed NOUN hjic-495 1578 15 is be AUX hjic-495 1578 16 controlled control VERB hjic-495 1578 17 . . PUNCT hjic-495 1579 1 the the DET hjic-495 1579 2 effect effect NOUN hjic-495 1579 3 of of ADP hjic-495 1579 4 load load NOUN hjic-495 1579 5 on on ADP hjic-495 1579 6 the the DET hjic-495 1579 7 controlled control VERB hjic-495 1579 8 induction induction NOUN hjic-495 1579 9 motor motor NOUN hjic-495 1579 10 has have AUX hjic-495 1579 11 been be AUX hjic-495 1579 12 analyzed analyze VERB hjic-495 1579 13 by by ADP hjic-495 1579 14 simulation simulation NOUN hjic-495 1579 15 . . PUNCT hjic-495 1580 1 the the DET hjic-495 1580 2 sensitivity sensitivity NOUN hjic-495 1580 3 analysis analysis NOUN hjic-495 1580 4 of of ADP hjic-495 1580 5 the the DET hjic-495 1580 6 induction induction NOUN hjic-495 1580 7 motor motor NOUN hjic-495 1580 8 has have AUX hjic-495 1580 9 been be AUX hjic-495 1580 10 applied apply VERB hjic-495 1580 11 to to PART hjic-495 1580 12 determine determine VERB hjic-495 1580 13 the the DET hjic-495 1580 14 model model NOUN hjic-495 1580 15 parameters parameter NOUN hjic-495 1580 16 to to PART hjic-495 1580 17 be be AUX hjic-495 1580 18 estimated estimate VERB hjic-495 1580 19 . . PUNCT hjic-495 1581 1 keywords keyword NOUN hjic-495 1581 2 : : PUNCT hjic-495 1581 3 induction induction NOUN hjic-495 1581 4 motor motor NOUN hjic-495 1581 5 , , PUNCT hjic-495 1581 6 stability stability NOUN hjic-495 1581 7 analysis analysis NOUN hjic-495 1581 8 , , PUNCT hjic-495 1581 9 sensitivity sensitivity NOUN hjic-495 1581 10 analysis analysis NOUN hjic-495 1581 11 introduction introduction NOUN hjic-495 1581 12 induction induction NOUN hjic-495 1581 13 motors motor NOUN hjic-495 1581 14 ( ( PUNCT hjic-495 1581 15 i i NOUN hjic-495 1581 16 m m VERB hjic-495 1581 17 ) ) PUNCT hjic-495 1581 18 are be AUX hjic-495 1581 19 the the DET hjic-495 1581 20 most most ADV hjic-495 1581 21 commonly commonly ADV hjic-495 1581 22 used use VERB hjic-495 1581 23 electrical electrical ADJ hjic-495 1581 24 rotating rotate VERB hjic-495 1581 25 machines machine NOUN hjic-495 1581 26 in in ADP hjic-495 1581 27 several several ADJ hjic-495 1581 28 industrial industrial ADJ hjic-495 1581 29 applications application NOUN hjic-495 1581 30 . . PUNCT hjic-495 1582 1 irrespective irrespective ADJ hjic-495 1582 2 of of ADP hjic-495 1582 3 size size NOUN hjic-495 1582 4 and and CCONJ hjic-495 1582 5 the the DET hjic-495 1582 6 application application NOUN hjic-495 1582 7 area area NOUN hjic-495 1582 8 , , PUNCT hjic-495 1582 9 these these DET hjic-495 1582 10 motors motor NOUN hjic-495 1582 11 share share VERB hjic-495 1582 12 the the DET hjic-495 1582 13 most most ADV hjic-495 1582 14 important important ADJ hjic-495 1582 15 dynamical dynamical ADJ hjic-495 1582 16 properties property NOUN hjic-495 1582 17 , , PUNCT hjic-495 1582 18 and and CCONJ hjic-495 1582 19 their their PRON hjic-495 1582 20 dynamical dynamical ADJ hjic-495 1582 21 models model NOUN hjic-495 1582 22 have have VERB hjic-495 1582 23 a a DET hjic-495 1582 24 similar similar ADJ hjic-495 1582 25 structure structure NOUN hjic-495 1582 26 . . PUNCT hjic-495 1583 1 because because SCONJ hjic-495 1583 2 of of ADP hjic-495 1583 3 the the DET hjic-495 1583 4 specialties specialty NOUN hjic-495 1583 5 and and CCONJ hjic-495 1583 6 great great ADJ hjic-495 1583 7 practical practical ADJ hjic-495 1583 8 importance importance NOUN hjic-495 1583 9 of of ADP hjic-495 1583 10 ims ims PROPN hjic-495 1583 11 in in ADP hjic-495 1583 12 industrial industrial ADJ hjic-495 1583 13 applications application NOUN hjic-495 1583 14 , , PUNCT hjic-495 1583 15 their their PRON hjic-495 1583 16 modelling modelling NOUN hjic-495 1583 17 for for ADP hjic-495 1583 18 control control NOUN hjic-495 1583 19 purposes purpose NOUN hjic-495 1583 20 is be AUX hjic-495 1583 21 well well ADV hjic-495 1583 22 investigated investigate VERB hjic-495 1583 23 in in ADP hjic-495 1583 24 the the DET hjic-495 1583 25 literature literature NOUN hjic-495 1583 26 . . PUNCT hjic-495 1584 1 besides besides SCONJ hjic-495 1584 2 basic basic ADJ hjic-495 1584 3 textbooks textbook NOUN hjic-495 1584 4 [ [ X hjic-495 1584 5 1 1 NUM hjic-495 1584 6 - - SYM hjic-495 1584 7 3 3 NUM hjic-495 1584 8 ] ] PUNCT hjic-495 1584 9 , , PUNCT hjic-495 1584 10 there there PRON hjic-495 1584 11 are be VERB hjic-495 1584 12 several several ADJ hjic-495 1584 13 papers paper NOUN hjic-495 1584 14 that that PRON hjic-495 1584 15 describe describe VERB hjic-495 1584 16 the the DET hjic-495 1584 17 modelling modelling NOUN hjic-495 1584 18 and and CCONJ hjic-495 1584 19 use use VERB hjic-495 1584 20 the the DET hjic-495 1584 21 developed develop VERB hjic-495 1584 22 models model NOUN hjic-495 1584 23 for for ADP hjic-495 1584 24 the the DET hjic-495 1584 25 design design NOUN hjic-495 1584 26 of of ADP hjic-495 1584 27 different different ADJ hjic-495 1584 28 types type NOUN hjic-495 1584 29 of of ADP hjic-495 1584 30 controllers controller NOUN hjic-495 1584 31 : : PUNCT hjic-495 1584 32 vector vector NOUN hjic-495 1584 33 control control NOUN hjic-495 1585 1 [ [ X hjic-495 1585 2 1 1 NUM hjic-495 1585 3 , , PUNCT hjic-495 1585 4 4 4 NUM hjic-495 1585 5 ] ] PUNCT hjic-495 1585 6 , , PUNCT hjic-495 1585 7 sensorless sensorless NOUN hjic-495 1585 8 vector vector NOUN hjic-495 1585 9 control control NOUN hjic-495 1585 10 [ [ X hjic-495 1585 11 5 5 NUM hjic-495 1585 12 ] ] PUNCT hjic-495 1585 13 and and CCONJ hjic-495 1585 14 direct direct ADJ hjic-495 1585 15 torque torque NOUN hjic-495 1585 16 control control NOUN hjic-495 1585 17 ( ( PUNCT hjic-495 1585 18 dtc dtc PROPN hjic-495 1585 19 ) ) PUNCT hjic-495 1586 1 [ [ X hjic-495 1586 2 6 6 NUM hjic-495 1586 3 ] ] PUNCT hjic-495 1586 4 . . PUNCT hjic-495 1587 1 the the DET hjic-495 1587 2 aim aim NOUN hjic-495 1587 3 of of ADP hjic-495 1587 4 this this DET hjic-495 1587 5 paper paper NOUN hjic-495 1587 6 is be AUX hjic-495 1587 7 to to PART hjic-495 1587 8 build build VERB hjic-495 1587 9 a a DET hjic-495 1587 10 simple simple ADJ hjic-495 1587 11 dynamical dynamical ADJ hjic-495 1587 12 model model NOUN hjic-495 1587 13 of of ADP hjic-495 1587 14 the the DET hjic-495 1587 15 i i NOUN hjic-495 1587 16 m m PROPN hjic-495 1587 17 and and CCONJ hjic-495 1587 18 to to PART hjic-495 1587 19 perform perform VERB hjic-495 1587 20 its its PRON hjic-495 1587 21 parameter parameter NOUN hjic-495 1587 22 sensitivity sensitivity NOUN hjic-495 1587 23 analysis analysis NOUN hjic-495 1587 24 . . PUNCT hjic-495 1588 1 the the DET hjic-495 1588 2 results result NOUN hjic-495 1588 3 of of ADP hjic-495 1588 4 this this DET hjic-495 1588 5 analysis analysis NOUN hjic-495 1588 6 will will AUX hjic-495 1588 7 be be AUX hjic-495 1588 8 the the DET hjic-495 1588 9 basis basis NOUN hjic-495 1588 10 of of ADP hjic-495 1588 11 the the DET hjic-495 1588 12 next next ADJ hjic-495 1588 13 step step NOUN hjic-495 1588 14 since since SCONJ hjic-495 1588 15 the the DET hjic-495 1588 16 final final ADJ hjic-495 1588 17 aim aim NOUN hjic-495 1588 18 of of ADP hjic-495 1588 19 our our PRON hjic-495 1588 20 study study NOUN hjic-495 1588 21 is be AUX hjic-495 1588 22 to to PART hjic-495 1588 23 estimate estimate VERB hjic-495 1588 24 the the DET hjic-495 1588 25 parameters parameter NOUN hjic-495 1588 26 of of ADP hjic-495 1588 27 the the DET hjic-495 1588 28 i i PRON hjic-495 1588 29 m m VERB hjic-495 1588 30 and and CCONJ hjic-495 1588 31 design design VERB hjic-495 1588 32 a a DET hjic-495 1588 33 controller controller NOUN hjic-495 1588 34 that that PRON hjic-495 1588 35 can can AUX hjic-495 1588 36 control control VERB hjic-495 1588 37 the the DET hjic-495 1588 38 speed speed NOUN hjic-495 1588 39 and and CCONJ hjic-495 1588 40 torque torque NOUN hjic-495 1588 41 of of ADP hjic-495 1588 42 the the DET hjic-495 1588 43 i i PROPN hjic-495 1588 44 m. m. NOUN hjic-495 1588 45 the the DET hjic-495 1588 46 state state NOUN hjic-495 1588 47 space space NOUN hjic-495 1588 48 model model NOUN hjic-495 1588 49 has have AUX hjic-495 1588 50 been be AUX hjic-495 1588 51 implemented implement VERB hjic-495 1588 52 in in ADP hjic-495 1588 53 the the DET hjic-495 1588 54 matlab matlab PROPN hjic-495 1588 55 / / SYM hjic-495 1588 56 simulink simulink PROPN hjic-495 1588 57 environment environment NOUN hjic-495 1588 58 which which PRON hjic-495 1588 59 enables enable VERB hjic-495 1588 60 us we PRON hjic-495 1588 61 to to PART hjic-495 1588 62 analyze analyze VERB hjic-495 1588 63 the the DET hjic-495 1588 64 parametric parametric ADJ hjic-495 1588 65 sensitivity sensitivity NOUN hjic-495 1588 66 based base VERB hjic-495 1588 67 on on ADP hjic-495 1588 68 simulation simulation NOUN hjic-495 1588 69 experiments experiment NOUN hjic-495 1588 70 . . PUNCT hjic-495 1589 1 nonlinear nonlinear ADJ hjic-495 1589 2 model model NOUN hjic-495 1589 3 of of ADP hjic-495 1589 4 an an DET hjic-495 1589 5 induction induction NOUN hjic-495 1589 6 motor motor NOUN hjic-495 1589 7 in in ADP hjic-495 1589 8 this this DET hjic-495 1589 9 section section NOUN hjic-495 1589 10 a a DET hjic-495 1589 11 state state NOUN hjic-495 1589 12 space space NOUN hjic-495 1589 13 model model NOUN hjic-495 1589 14 of of ADP hjic-495 1589 15 an an DET hjic-495 1589 16 induction induction NOUN hjic-495 1589 17 motor motor NOUN hjic-495 1589 18 ( ( PUNCT hjic-495 1589 19 i i NOUN hjic-495 1589 20 m m VERB hjic-495 1589 21 ) ) PUNCT hjic-495 1589 22 is be AUX hjic-495 1589 23 presented present VERB hjic-495 1589 24 . . PUNCT hjic-495 1590 1 the the DET hjic-495 1590 2 model model NOUN hjic-495 1590 3 development development NOUN hjic-495 1590 4 is be AUX hjic-495 1590 5 largely largely ADV hjic-495 1590 6 based base VERB hjic-495 1590 7 on on ADP hjic-495 1590 8 refs.[1 refs.[1 NUM hjic-495 1590 9 , , PUNCT hjic-495 1590 10 8 8 NUM hjic-495 1590 11 - - SYM hjic-495 1590 12 10 10 NUM hjic-495 1590 13 ] ] PUNCT hjic-495 1590 14 . . PUNCT hjic-495 1591 1 for for ADP hjic-495 1591 2 constructing construct VERB hjic-495 1591 3 the the DET hjic-495 1591 4 i i PROPN hjic-495 1591 5 m m PROPN hjic-495 1591 6 model model NOUN hjic-495 1591 7 , , PUNCT hjic-495 1591 8 the the DET hjic-495 1591 9 following follow VERB hjic-495 1591 10 modelling modelling NOUN hjic-495 1591 11 assumptions assumption NOUN hjic-495 1591 12 are be AUX hjic-495 1591 13 made make VERB hjic-495 1591 14 : : PUNCT hjic-495 1592 1 1 1 X hjic-495 1592 2 . . X hjic-495 1592 3 a a DET hjic-495 1592 4 symmetrical symmetrical ADJ hjic-495 1592 5 triphase triphase NOUN hjic-495 1592 6 stator stator NOUN hjic-495 1592 7 winding wind VERB hjic-495 1592 8 system system NOUN hjic-495 1592 9 is be AUX hjic-495 1592 10 assumed assume VERB hjic-495 1592 11 , , PUNCT hjic-495 1592 12 2 2 X hjic-495 1592 13 . . PUNCT hjic-495 1593 1 the the DET hjic-495 1593 2 flux flux NOUN hjic-495 1593 3 density density NOUN hjic-495 1593 4 is be AUX hjic-495 1593 5 radial radial ADJ hjic-495 1593 6 in in ADP hjic-495 1593 7 the the DET hjic-495 1593 8 air air NOUN hjic-495 1593 9 gap gap NOUN hjic-495 1593 10 , , PUNCT hjic-495 1593 11 3 3 NUM hjic-495 1593 12 . . PUNCT hjic-495 1594 1 the the DET hjic-495 1594 2 copper copper NOUN hjic-495 1594 3 loss loss NOUN hjic-495 1594 4 and and CCONJ hjic-495 1594 5 the the DET hjic-495 1594 6 slots slot NOUN hjic-495 1594 7 in in ADP hjic-495 1594 8 the the DET hjic-495 1594 9 machine machine NOUN hjic-495 1594 10 can can AUX hjic-495 1594 11 be be AUX hjic-495 1594 12 neglected neglect VERB hjic-495 1594 13 , , PUNCT hjic-495 1594 14 4 4 X hjic-495 1594 15 . . PUNCT hjic-495 1595 1 the the DET hjic-495 1595 2 spatial spatial ADJ hjic-495 1595 3 distribution distribution NOUN hjic-495 1595 4 of of ADP hjic-495 1595 5 the the DET hjic-495 1595 6 stator stator NOUN hjic-495 1595 7 fluxes flux NOUN hjic-495 1595 8 and and CCONJ hjic-495 1595 9 apertures aperture NOUN hjic-495 1595 10 wave wave NOUN hjic-495 1595 11 are be AUX hjic-495 1595 12 considered consider VERB hjic-495 1595 13 to to PART hjic-495 1595 14 be be AUX hjic-495 1595 15 sinusoidal sinusoidal ADJ hjic-495 1595 16 , , PUNCT hjic-495 1595 17 5 5 NUM hjic-495 1595 18 . . X hjic-495 1595 19 stator stator NOUN hjic-495 1595 20 and and CCONJ hjic-495 1595 21 rotor rotor NOUN hjic-495 1595 22 permeability permeability NOUN hjic-495 1595 23 are be AUX hjic-495 1595 24 assumed assume VERB hjic-495 1595 25 to to PART hjic-495 1595 26 be be AUX hjic-495 1595 27 infinite infinite ADJ hjic-495 1595 28 with with ADP hjic-495 1595 29 linear linear ADJ hjic-495 1595 30 magnetic magnetic ADJ hjic-495 1595 31 properties property NOUN hjic-495 1595 32 . . PUNCT hjic-495 1596 1 according accord VERB hjic-495 1596 2 to to ADP hjic-495 1596 3 the the DET hjic-495 1596 4 above above ADJ hjic-495 1596 5 modelling model VERB hjic-495 1596 6 conditions condition NOUN hjic-495 1596 7 the the DET hjic-495 1596 8 mathematical mathematical ADJ hjic-495 1596 9 description description NOUN hjic-495 1596 10 of of ADP hjic-495 1596 11 the the PRON hjic-495 1597 1 i i PRON hjic-495 1597 2 m m VERB hjic-495 1597 3 is be AUX hjic-495 1597 4 developed develop VERB hjic-495 1597 5 through through ADP hjic-495 1597 6 the the DET hjic-495 1597 7 space space NOUN hjic-495 1597 8 - - PUNCT hjic-495 1597 9 vector vector NOUN hjic-495 1597 10 theory theory NOUN hjic-495 1597 11 . . PUNCT hjic-495 1598 1 if if SCONJ hjic-495 1598 2 the the DET hjic-495 1598 3 voltage voltage NOUN hjic-495 1598 4 of of ADP hjic-495 1598 5 the the DET hjic-495 1598 6 stator stator NOUN hjic-495 1598 7 is be AUX hjic-495 1598 8 presumed presume VERB hjic-495 1598 9 to to PART hjic-495 1598 10 be be AUX hjic-495 1598 11 the the DET hjic-495 1598 12 input input NOUN hjic-495 1598 13 excitation excitation NOUN hjic-495 1598 14 of of ADP hjic-495 1598 15 the the DET hjic-495 1598 16 machine machine NOUN hjic-495 1598 17 , , PUNCT hjic-495 1598 18 then then ADV hjic-495 1598 19 the the DET hjic-495 1598 20 spatial spatial ADJ hjic-495 1598 21 distribution distribution NOUN hjic-495 1598 22 along along ADP hjic-495 1598 23 the the DET hjic-495 1598 24 stator stator NOUN hjic-495 1598 25 of of ADP hjic-495 1598 26 the the DET hjic-495 1598 27 x x PUNCT hjic-495 1598 28 phase phase NOUN hjic-495 1598 29 voltage voltage NOUN hjic-495 1598 30 can can AUX hjic-495 1598 31 be be AUX hjic-495 1598 32 described describe VERB hjic-495 1598 33 by by ADP hjic-495 1598 34 the the DET hjic-495 1598 35 complex complex ADJ hjic-495 1598 36 vector vector NOUN hjic-495 1598 37 v v ADP hjic-495 1598 38 sx sx PROPN hjic-495 1598 39 ( ( PUNCT hjic-495 1598 40 t t PROPN hjic-495 1598 41 ) ) PUNCT hjic-495 1598 42 . . PUNCT hjic-495 1599 1 we we PRON hjic-495 1599 2 can can AUX hjic-495 1599 3 determine determine VERB hjic-495 1599 4 the the DET hjic-495 1599 5 orientation orientation NOUN hjic-495 1599 6 of of ADP hjic-495 1599 7 the the DET hjic-495 1599 8 voltage voltage NOUN hjic-495 1599 9 vector vector NOUN hjic-495 1599 10 v v ADP hjic-495 1599 11 s s NOUN hjic-495 1599 12 , , PUNCT hjic-495 1599 13 the the DET hjic-495 1599 14 direction direction NOUN hjic-495 1599 15 of of ADP hjic-495 1599 16 the the DET hjic-495 1599 17 respective respective ADJ hjic-495 1599 18 phase phase NOUN hjic-495 1599 19 axis axis NOUN hjic-495 1599 20 and and CCONJ hjic-495 1599 21 the the DET hjic-495 1599 22 voltage voltage NOUN hjic-495 1599 23 polarity polarity NOUN hjic-495 1599 24 . . PUNCT hjic-495 1600 1 i i PRON hjic-495 1600 2 s s PROPN hjic-495 1600 3 ( ( PUNCT hjic-495 1600 4 t t NOUN hjic-495 1600 5 ) ) PUNCT hjic-495 1600 6 = = SYM hjic-495 1600 7 2 2 NUM hjic-495 1600 8 3 3 NUM hjic-495 1600 9 � � PROPN hjic-495 1600 10 a0 a0 PROPN hjic-495 1600 11 · · PUNCT hjic-495 1601 1 i i PRON hjic-495 1601 2 sa sa PROPN hjic-495 1601 3 ( ( PUNCT hjic-495 1601 4 t t PROPN hjic-495 1601 5 ) ) PUNCT hjic-495 1601 6 + + CCONJ hjic-495 1601 7 a1 a1 NOUN hjic-495 1601 8 · · PUNCT hjic-495 1601 9 i i PRON hjic-495 1601 10 sb sb PROPN hjic-495 1601 11 ( ( PUNCT hjic-495 1601 12 t t PROPN hjic-495 1601 13 ) ) PUNCT hjic-495 1601 14 + + CCONJ hjic-495 1601 15 a2 a2 PROPN hjic-495 1601 16 · · PUNCT hjic-495 1602 1 i i PRON hjic-495 1602 2 sc sc PROPN hjic-495 1602 3 ( ( PUNCT hjic-495 1602 4 t t PROPN hjic-495 1602 5 ) ) PUNCT hjic-495 1602 6 � � PROPN hjic-495 1603 1 = = PUNCT hjic-495 1603 2 p p X hjic-495 1603 3 2 2 NUM hjic-495 1603 4 · · PUNCT hjic-495 1603 5 i i PRON hjic-495 1603 6 e e PROPN hjic-495 1603 7 ↵ ↵ PROPN hjic-495 1603 8 ( ( PUNCT hjic-495 1603 9 t t PROPN hjic-495 1603 10 ) ) PUNCT hjic-495 1603 11 · · PUNCT hjic-495 1604 1 ej!0t+ ej!0t+ NUM hjic-495 1604 2 ⇡ ⇡ SYM hjic-495 1604 3 2 2 NUM hjic-495 1605 1 + + NOUN hjic-495 1605 2 ' ' PUNCT hjic-495 1605 3 i i PRON hjic-495 1605 4 , , PUNCT hjic-495 1605 5 ( ( PUNCT hjic-495 1605 6 1 1 X hjic-495 1605 7 ) ) PUNCT hjic-495 1605 8 where where SCONJ hjic-495 1605 9 a a PRON hjic-495 1605 10 is be AUX hjic-495 1605 11 the the DET hjic-495 1605 12 ej120 ej120 PROPN hjic-495 1605 13 o o PROPN hjic-495 1605 14 vector vector NOUN hjic-495 1606 1 and and CCONJ hjic-495 1606 2 i i PRON hjic-495 1606 3 sa sa VERB hjic-495 1606 4 , , PUNCT hjic-495 1606 5 i i PRON hjic-495 1606 6 sb sb PROPN hjic-495 1607 1 and and CCONJ hjic-495 1607 2 i i PRON hjic-495 1607 3 sc sc PROPN hjic-495 1607 4 are be AUX hjic-495 1607 5 the the DET hjic-495 1607 6 following following NOUN hjic-495 1607 7 : : PUNCT hjic-495 1607 8 i i PRON hjic-495 1607 9 sa sa PROPN hjic-495 1607 10 ( ( PUNCT hjic-495 1607 11 t t PROPN hjic-495 1607 12 ) ) PUNCT hjic-495 1607 13 = = VERB hjic-495 1607 14 re(a0 re(a0 VERB hjic-495 1607 15 · · PUNCT hjic-495 1607 16 i i PRON hjic-495 1607 17 s s X hjic-495 1607 18 ( ( PUNCT hjic-495 1607 19 t t NOUN hjic-495 1607 20 ) ) PUNCT hjic-495 1607 21 ) ) PUNCT hjic-495 1608 1 = = PRON hjic-495 1608 2 re(i re(i X hjic-495 1608 3 s s X hjic-495 1608 4 ( ( PUNCT hjic-495 1608 5 t t PROPN hjic-495 1608 6 ) ) PUNCT hjic-495 1608 7 ) ) PUNCT hjic-495 1608 8 , , PUNCT hjic-495 1608 9 i i PRON hjic-495 1608 10 sb sb PROPN hjic-495 1608 11 ( ( PUNCT hjic-495 1608 12 t t PROPN hjic-495 1608 13 ) ) PUNCT hjic-495 1608 14 = = PUNCT hjic-495 1608 15 re(a2 re(a2 NOUN hjic-495 1608 16 · · PUNCT hjic-495 1609 1 i i PRON hjic-495 1609 2 s s X hjic-495 1609 3 ( ( PUNCT hjic-495 1609 4 t t PROPN hjic-495 1609 5 ) ) PUNCT hjic-495 1609 6 ) ) PUNCT hjic-495 1609 7 , , PUNCT hjic-495 1609 8 and and CCONJ hjic-495 1609 9 i i PRON hjic-495 1609 10 sc sc PROPN hjic-495 1609 11 ( ( PUNCT hjic-495 1609 12 t t PROPN hjic-495 1609 13 ) ) PUNCT hjic-495 1609 14 = = X hjic-495 1609 15 re(a1 re(a1 NOUN hjic-495 1609 16 · · PUNCT hjic-495 1610 1 i i PRON hjic-495 1610 2 s s X hjic-495 1610 3 ( ( PUNCT hjic-495 1610 4 t t PROPN hjic-495 1610 5 ) ) PUNCT hjic-495 1610 6 ) ) PUNCT hjic-495 1610 7 . . PUNCT hjic-495 1611 1 in in ADP hjic-495 1611 2 eq.(1 eq.(1 ADJ hjic-495 1611 3 ) ) PUNCT hjic-495 1611 4 , , PUNCT hjic-495 1611 5 2/3 2/3 NUM hjic-495 1611 6 is be AUX hjic-495 1611 7 the the DET hjic-495 1611 8 normalizing normalizing ADJ hjic-495 1611 9 factor factor NOUN hjic-495 1611 10 . . PUNCT hjic-495 1612 1 the the DET hjic-495 1612 2 flux flux NOUN hjic-495 1612 3 density density NOUN hjic-495 1612 4 distribution distribution NOUN hjic-495 1612 5 can can AUX hjic-495 1612 6 be be AUX hjic-495 1612 7 obtained obtain VERB hjic-495 1612 8 by by ADP hjic-495 1612 9 integrating integrate VERB hjic-495 1612 10 the the DET hjic-495 1612 11 current current ADJ hjic-495 1612 12 density density NOUN hjic-495 1612 13 wave wave NOUN hjic-495 1612 14 along along ADP hjic-495 1612 15 the the DET hjic-495 1612 16 cylinder cylinder NOUN hjic-495 1612 17 of of ADP hjic-495 1612 18 the the DET hjic-495 1612 19 stator stator NOUN hjic-495 1612 20 . . PUNCT hjic-495 1613 1 the the DET hjic-495 1613 2 flux flux PROPN hjic-495 1613 3 linkage linkage NOUN hjic-495 1613 4 wave wave NOUN hjic-495 1613 5 is be AUX hjic-495 1613 6 a a DET hjic-495 1613 7 system system NOUN hjic-495 1613 8 variable variable NOUN hjic-495 1613 9 , , PUNCT hjic-495 1613 10 because because SCONJ hjic-495 1613 11 it it PRON hjic-495 1613 12 contains contain VERB hjic-495 1613 13 detailed detailed ADJ hjic-495 1613 14 information information NOUN hjic-495 1613 15 about about ADP hjic-495 1613 16 the the DET hjic-495 1613 17 winding wind VERB hjic-495 1613 18 geometry geometry NOUN hjic-495 1613 19 . . PUNCT hjic-495 1614 1 110 110 NUM hjic-495 1614 2 figure figure NOUN hjic-495 1614 3 1 1 NUM hjic-495 1614 4 : : PUNCT hjic-495 1614 5 the the DET hjic-495 1614 6 equivalent equivalent ADJ hjic-495 1614 7 circuit circuit NOUN hjic-495 1614 8 of of ADP hjic-495 1614 9 the the DET hjic-495 1614 10 i i NOUN hjic-495 1614 11 m m VERB hjic-495 1614 12 the the DET hjic-495 1614 13 rotating rotate VERB hjic-495 1614 14 flux flux NOUN hjic-495 1614 15 density density NOUN hjic-495 1614 16 wave wave NOUN hjic-495 1614 17 induces induce VERB hjic-495 1614 18 voltages voltage NOUN hjic-495 1614 19 in in ADP hjic-495 1614 20 the the DET hjic-495 1614 21 individual individual ADJ hjic-495 1614 22 stator stator NOUN hjic-495 1614 23 windings winding NOUN hjic-495 1614 24 . . PUNCT hjic-495 1615 1 thus thus ADV hjic-495 1615 2 stator stator NOUN hjic-495 1615 3 voltage voltage NOUN hjic-495 1615 4 v v ADP hjic-495 1615 5 s s X hjic-495 1615 6 ( ( PUNCT hjic-495 1615 7 t t NOUN hjic-495 1615 8 ) ) PUNCT hjic-495 1615 9 can can AUX hjic-495 1615 10 be be AUX hjic-495 1615 11 represented represent VERB hjic-495 1615 12 as as ADP hjic-495 1615 13 the the DET hjic-495 1615 14 overall overall ADJ hjic-495 1615 15 distributed distributed ADJ hjic-495 1615 16 voltages voltage NOUN hjic-495 1615 17 in in ADP hjic-495 1615 18 all all DET hjic-495 1615 19 phase phase NOUN hjic-495 1615 20 windings winding NOUN hjic-495 1615 21 : : PUNCT hjic-495 1615 22 v v X hjic-495 1615 23 s s X hjic-495 1615 24 ( ( PUNCT hjic-495 1615 25 t t NOUN hjic-495 1615 26 ) ) PUNCT hjic-495 1615 27 = = SYM hjic-495 1615 28 2 2 NUM hjic-495 1615 29 3 3 NUM hjic-495 1615 30 � � PROPN hjic-495 1615 31 a0 a0 PROPN hjic-495 1615 32 · · PUNCT hjic-495 1615 33 v v X hjic-495 1615 34 sa sa PROPN hjic-495 1615 35 ( ( PUNCT hjic-495 1615 36 t t PROPN hjic-495 1615 37 ) ) PUNCT hjic-495 1616 1 + + CCONJ hjic-495 1616 2 a1 a1 NOUN hjic-495 1616 3 · · PUNCT hjic-495 1616 4 v v X hjic-495 1616 5 sb sb PROPN hjic-495 1616 6 ( ( PUNCT hjic-495 1616 7 t t PROPN hjic-495 1616 8 ) ) PUNCT hjic-495 1616 9 + + CCONJ hjic-495 1616 10 a2 a2 PROPN hjic-495 1616 11 · · PUNCT hjic-495 1616 12 v v X hjic-495 1616 13 sc sc PROPN hjic-495 1616 14 ( ( PUNCT hjic-495 1616 15 t t PROPN hjic-495 1616 16 ) ) PUNCT hjic-495 1616 17 � � PROPN hjic-495 1616 18 = = PUNCT hjic-495 1616 19 p p X hjic-495 1616 20 2 2 NUM hjic-495 1616 21 · · PUNCT hjic-495 1616 22 v v ADP hjic-495 1616 23 e e PROPN hjic-495 1616 24 ↵ ↵ PROPN hjic-495 1616 25 ( ( PUNCT hjic-495 1616 26 t t PROPN hjic-495 1616 27 ) ) PUNCT hjic-495 1616 28 · · PUNCT hjic-495 1617 1 ej!0t+ ej!0t+ NUM hjic-495 1617 2 ⇡ ⇡ SYM hjic-495 1617 3 2 2 NUM hjic-495 1617 4 + + NOUN hjic-495 1617 5 ' ' PUNCT hjic-495 1617 6 u u NOUN hjic-495 1617 7 , , PUNCT hjic-495 1617 8 ( ( PUNCT hjic-495 1617 9 2 2 NUM hjic-495 1617 10 ) ) PUNCT hjic-495 1617 11 where where SCONJ hjic-495 1617 12 a a PRON hjic-495 1617 13 is be AUX hjic-495 1617 14 the the DET hjic-495 1617 15 ej120 ej120 PROPN hjic-495 1617 16 o o PROPN hjic-495 1617 17 vector vector NOUN hjic-495 1617 18 and and CCONJ hjic-495 1617 19 i i PRON hjic-495 1617 20 sa sa VERB hjic-495 1617 21 , , PUNCT hjic-495 1617 22 i i PRON hjic-495 1617 23 sb sb PROPN hjic-495 1618 1 and and CCONJ hjic-495 1618 2 i i PRON hjic-495 1618 3 sc sc PROPN hjic-495 1618 4 are be AUX hjic-495 1618 5 the the DET hjic-495 1618 6 following following NOUN hjic-495 1618 7 : : PUNCT hjic-495 1618 8 v v X hjic-495 1618 9 sa sa PROPN hjic-495 1618 10 ( ( PUNCT hjic-495 1618 11 t t PROPN hjic-495 1618 12 ) ) PUNCT hjic-495 1618 13 = = PUNCT hjic-495 1618 14 re(a0 re(a0 VERB hjic-495 1618 15 · · PUNCT hjic-495 1618 16 u u NOUN hjic-495 1618 17 s s X hjic-495 1618 18 ( ( PUNCT hjic-495 1618 19 t t NOUN hjic-495 1618 20 ) ) PUNCT hjic-495 1618 21 ) ) PUNCT hjic-495 1619 1 = = PRON hjic-495 1619 2 re(u re(u PRON hjic-495 1619 3 s s X hjic-495 1619 4 ( ( PUNCT hjic-495 1619 5 t t PROPN hjic-495 1619 6 ) ) PUNCT hjic-495 1619 7 ) ) PUNCT hjic-495 1619 8 , , PUNCT hjic-495 1619 9 v v X hjic-495 1619 10 sb sb PROPN hjic-495 1619 11 ( ( PUNCT hjic-495 1619 12 t t PROPN hjic-495 1619 13 ) ) PUNCT hjic-495 1619 14 = = PUNCT hjic-495 1619 15 re(a2 re(a2 NOUN hjic-495 1619 16 · · PUNCT hjic-495 1619 17 u u NOUN hjic-495 1619 18 s s X hjic-495 1619 19 ( ( PUNCT hjic-495 1619 20 t t PROPN hjic-495 1619 21 ) ) PUNCT hjic-495 1619 22 ) ) PUNCT hjic-495 1619 23 , , PUNCT hjic-495 1619 24 and and CCONJ hjic-495 1619 25 v v ADP hjic-495 1619 26 sc sc PROPN hjic-495 1619 27 ( ( PUNCT hjic-495 1619 28 t t PROPN hjic-495 1619 29 ) ) PUNCT hjic-495 1619 30 = = X hjic-495 1619 31 re(a1 re(a1 X hjic-495 1619 32 · · PUNCT hjic-495 1619 33 u u NOUN hjic-495 1619 34 s s X hjic-495 1619 35 ( ( PUNCT hjic-495 1619 36 t t PROPN hjic-495 1619 37 ) ) PUNCT hjic-495 1619 38 ) ) PUNCT hjic-495 1619 39 . . PUNCT hjic-495 1620 1 considering consider VERB hjic-495 1620 2 the the DET hjic-495 1620 3 stator stator NOUN hjic-495 1620 4 of of ADP hjic-495 1620 5 the the DET hjic-495 1620 6 i i PRON hjic-495 1620 7 m m VERB hjic-495 1620 8 as as ADP hjic-495 1620 9 the the DET hjic-495 1620 10 primer primer NOUN hjic-495 1620 11 side side NOUN hjic-495 1620 12 of of ADP hjic-495 1620 13 the the DET hjic-495 1620 14 transformer transformer NOUN hjic-495 1620 15 , , PUNCT hjic-495 1620 16 then then ADV hjic-495 1620 17 using use VERB hjic-495 1620 18 kirchoff kirchoff NOUN hjic-495 1620 19 ’s ’s PART hjic-495 1620 20 voltage voltage NOUN hjic-495 1620 21 law law NOUN hjic-495 1620 22 the the DET hjic-495 1620 23 following follow VERB hjic-495 1620 24 equation equation NOUN hjic-495 1620 25 can can AUX hjic-495 1620 26 be be AUX hjic-495 1620 27 written write VERB hjic-495 1620 28 ( ( PUNCT hjic-495 1620 29 fig.1 fig.1 PROPN hjic-495 1620 30 ): ): PUNCT hjic-495 1620 31 v v NOUN hjic-495 1620 32 s s X hjic-495 1620 33 ( ( PUNCT hjic-495 1620 34 t t NOUN hjic-495 1620 35 ) ) PUNCT hjic-495 1621 1 = = PUNCT hjic-495 1622 1 i i PRON hjic-495 1622 2 s s X hjic-495 1622 3 ( ( PUNCT hjic-495 1622 4 t t PROPN hjic-495 1622 5 ) ) PUNCT hjic-495 1622 6 · · PUNCT hjic-495 1622 7 r r NOUN hjic-495 1622 8 s s PART hjic-495 1622 9 + + CCONJ hjic-495 1622 10 d d PROPN hjic-495 1622 11 � � PROPN hjic-495 1622 12 s s PART hjic-495 1622 13 ( ( PUNCT hjic-495 1622 14 t t PROPN hjic-495 1622 15 ) ) PUNCT hjic-495 1622 16 dt dt NOUN hjic-495 1622 17 . . PUNCT hjic-495 1623 1 ( ( PUNCT hjic-495 1623 2 3 3 X hjic-495 1623 3 ) ) PUNCT hjic-495 1623 4 as as ADP hjic-495 1623 5 for for ADP hjic-495 1623 6 the the DET hjic-495 1623 7 secondary secondary ADJ hjic-495 1623 8 side side NOUN hjic-495 1623 9 of of ADP hjic-495 1623 10 the the DET hjic-495 1623 11 transformer transformer NOUN hjic-495 1623 12 , , PUNCT hjic-495 1623 13 it it PRON hjic-495 1623 14 can can AUX hjic-495 1623 15 be be AUX hjic-495 1623 16 deduced deduce VERB hjic-495 1623 17 that that SCONJ hjic-495 1623 18 the the DET hjic-495 1623 19 same same ADJ hjic-495 1623 20 relationship relationship NOUN hjic-495 1623 21 is be AUX hjic-495 1623 22 true true ADJ hjic-495 1623 23 for for ADP hjic-495 1623 24 the the DET hjic-495 1623 25 rotor rotor NOUN hjic-495 1623 26 side side NOUN hjic-495 1623 27 space space NOUN hjic-495 1623 28 vectors vector NOUN hjic-495 1623 29 : : PUNCT hjic-495 1624 1 v v X hjic-495 1624 2 r r NOUN hjic-495 1624 3 ( ( PUNCT hjic-495 1624 4 t t NOUN hjic-495 1624 5 ) ) PUNCT hjic-495 1624 6 = = SYM hjic-495 1624 7 ir(t ir(t NOUN hjic-495 1624 8 ) ) PUNCT hjic-495 1624 9 · · PUNCT hjic-495 1624 10 rr rr X hjic-495 1625 1 + + CCONJ hjic-495 1625 2 d d X hjic-495 1625 3 � � PROPN hjic-495 1625 4 r r NOUN hjic-495 1625 5 ( ( PUNCT hjic-495 1625 6 t t NOUN hjic-495 1625 7 ) ) PUNCT hjic-495 1625 8 dt dt NOUN hjic-495 1626 1 = = PUNCT hjic-495 1626 2 0 0 PROPN hjic-495 1626 3 . . PUNCT hjic-495 1627 1 ( ( PUNCT hjic-495 1627 2 4 4 X hjic-495 1627 3 ) ) PUNCT hjic-495 1627 4 eqs.(3 eqs.(3 NUM hjic-495 1627 5 ) ) PUNCT hjic-495 1627 6 and and CCONJ hjic-495 1627 7 ( ( PUNCT hjic-495 1627 8 4 4 X hjic-495 1627 9 ) ) PUNCT hjic-495 1627 10 describe describe VERB hjic-495 1627 11 the the DET hjic-495 1627 12 electromagnetic electromagnetic ADJ hjic-495 1627 13 interaction interaction NOUN hjic-495 1627 14 as as ADP hjic-495 1627 15 the the DET hjic-495 1627 16 connection connection NOUN hjic-495 1627 17 of of ADP hjic-495 1627 18 first first ADJ hjic-495 1627 19 order order NOUN hjic-495 1627 20 dynamical dynamical ADJ hjic-495 1627 21 subsystems subsystem NOUN hjic-495 1627 22 : : PUNCT hjic-495 1628 1 � � PROPN hjic-495 1628 2 s s PART hjic-495 1628 3 ( ( PUNCT hjic-495 1628 4 t t PROPN hjic-495 1628 5 ) ) PUNCT hjic-495 1628 6 = = PUNCT hjic-495 1629 1 i i PRON hjic-495 1629 2 s s X hjic-495 1629 3 ( ( PUNCT hjic-495 1629 4 t t PROPN hjic-495 1629 5 ) ) PUNCT hjic-495 1629 6 · · PUNCT hjic-495 1630 1 l l NOUN hjic-495 1630 2 s s PART hjic-495 1631 1 + + CCONJ hjic-495 1631 2 i i PRON hjic-495 1631 3 r r NOUN hjic-495 1631 4 ( ( PUNCT hjic-495 1631 5 t t PROPN hjic-495 1631 6 ) ) PUNCT hjic-495 1631 7 · · PUNCT hjic-495 1632 1 l l NOUN hjic-495 1632 2 m m NOUN hjic-495 1632 3 , , PUNCT hjic-495 1632 4 and and CCONJ hjic-495 1632 5 ( ( PUNCT hjic-495 1632 6 5 5 X hjic-495 1632 7 ) ) PUNCT hjic-495 1632 8 � � PROPN hjic-495 1632 9 r r NOUN hjic-495 1632 10 ( ( PUNCT hjic-495 1632 11 t t NOUN hjic-495 1632 12 ) ) PUNCT hjic-495 1633 1 = = PUNCT hjic-495 1634 1 i i PRON hjic-495 1634 2 s s X hjic-495 1634 3 ( ( PUNCT hjic-495 1634 4 t t PROPN hjic-495 1634 5 ) ) PUNCT hjic-495 1634 6 · · PUNCT hjic-495 1635 1 l l NOUN hjic-495 1636 1 m m VERB hjic-495 1637 1 + + ADJ hjic-495 1637 2 i i PRON hjic-495 1637 3 r r NOUN hjic-495 1637 4 ( ( PUNCT hjic-495 1637 5 t t PROPN hjic-495 1637 6 ) ) PUNCT hjic-495 1637 7 · · PUNCT hjic-495 1638 1 l l NOUN hjic-495 1638 2 r r NOUN hjic-495 1638 3 . . PUNCT hjic-495 1639 1 ( ( PUNCT hjic-495 1639 2 6 6 NUM hjic-495 1639 3 ) ) PUNCT hjic-495 1639 4 since since SCONJ hjic-495 1639 5 four four NUM hjic-495 1639 6 complex complex ADJ hjic-495 1639 7 variables variable NOUN hjic-495 1639 8 ( ( PUNCT hjic-495 1639 9 i i PRON hjic-495 1639 10 s s PROPN hjic-495 1639 11 ( ( PUNCT hjic-495 1639 12 t t PROPN hjic-495 1639 13 ) ) PUNCT hjic-495 1639 14 , , PUNCT hjic-495 1639 15 i i PRON hjic-495 1639 16 r r NOUN hjic-495 1639 17 ( ( PUNCT hjic-495 1639 18 t t PROPN hjic-495 1639 19 ) ) PUNCT hjic-495 1639 20 , , PUNCT hjic-495 1639 21 � � PROPN hjic-495 1639 22 s s PART hjic-495 1639 23 ( ( PUNCT hjic-495 1639 24 t t PROPN hjic-495 1639 25 ) ) PUNCT hjic-495 1639 26 , , PUNCT hjic-495 1639 27 and and CCONJ hjic-495 1639 28 � � PROPN hjic-495 1639 29 r r NOUN hjic-495 1639 30 ( ( PUNCT hjic-495 1639 31 t t PROPN hjic-495 1639 32 ) ) PUNCT hjic-495 1639 33 ) ) PUNCT hjic-495 1639 34 are be AUX hjic-495 1639 35 presented present VERB hjic-495 1639 36 in in ADP hjic-495 1639 37 eqs.(5 eqs.(5 PROPN hjic-495 1639 38 ) ) PUNCT hjic-495 1639 39 and and CCONJ hjic-495 1639 40 ( ( PUNCT hjic-495 1639 41 6 6 NUM hjic-495 1639 42 ) ) PUNCT hjic-495 1639 43 , , PUNCT hjic-495 1639 44 flux flux NOUN hjic-495 1639 45 equations equation NOUN hjic-495 1639 46 are be AUX hjic-495 1639 47 needed need VERB hjic-495 1639 48 to to PART hjic-495 1639 49 complete complete VERB hjic-495 1639 50 the the DET hjic-495 1639 51 relationship relationship NOUN hjic-495 1639 52 between between ADP hjic-495 1639 53 them they PRON hjic-495 1639 54 . . PUNCT hjic-495 1640 1 the the DET hjic-495 1640 2 mechanical mechanical ADJ hjic-495 1640 3 power power NOUN hjic-495 1640 4 ( ( PUNCT hjic-495 1640 5 p p NOUN hjic-495 1640 6 mech mech NOUN hjic-495 1640 7 ( ( PUNCT hjic-495 1640 8 t t NOUN hjic-495 1640 9 ) ) PUNCT hjic-495 1640 10 ) ) PUNCT hjic-495 1640 11 of of ADP hjic-495 1640 12 the the PRON hjic-495 1640 13 i i PRON hjic-495 1640 14 m m VERB hjic-495 1640 15 can can AUX hjic-495 1640 16 be be AUX hjic-495 1640 17 defined define VERB hjic-495 1640 18 as as ADP hjic-495 1640 19 : : PUNCT hjic-495 1640 20 p p NOUN hjic-495 1640 21 mech mech NOUN hjic-495 1640 22 ( ( PUNCT hjic-495 1640 23 t t NOUN hjic-495 1640 24 ) ) PUNCT hjic-495 1640 25 = = SYM hjic-495 1640 26 w w PROPN hjic-495 1640 27 mech mech NOUN hjic-495 1640 28 ( ( PUNCT hjic-495 1640 29 t t NOUN hjic-495 1640 30 ) ) PUNCT hjic-495 1640 31 dt dt NOUN hjic-495 1640 32 , , PUNCT hjic-495 1640 33 ( ( PUNCT hjic-495 1640 34 7 7 X hjic-495 1640 35 ) ) PUNCT hjic-495 1640 36 where where SCONJ hjic-495 1640 37 the the DET hjic-495 1640 38 mechanical mechanical ADJ hjic-495 1640 39 energy energy NOUN hjic-495 1640 40 ( ( PUNCT hjic-495 1640 41 p p NOUN hjic-495 1640 42 mech mech NOUN hjic-495 1640 43 ( ( PUNCT hjic-495 1640 44 t t NOUN hjic-495 1640 45 ) ) PUNCT hjic-495 1640 46 ) ) PUNCT hjic-495 1640 47 in in ADP hjic-495 1640 48 the the DET hjic-495 1640 49 rotating rotate VERB hjic-495 1640 50 system system NOUN hjic-495 1640 51 can can AUX hjic-495 1640 52 be be AUX hjic-495 1640 53 given give VERB hjic-495 1640 54 by by ADP hjic-495 1640 55 the the DET hjic-495 1640 56 following follow VERB hjic-495 1640 57 expression expression NOUN hjic-495 1640 58 : : PUNCT hjic-495 1640 59 p p NOUN hjic-495 1640 60 mech mech NOUN hjic-495 1640 61 ( ( PUNCT hjic-495 1640 62 t t NOUN hjic-495 1640 63 ) ) PUNCT hjic-495 1640 64 = = SYM hjic-495 1640 65 w w PROPN hjic-495 1640 66 mech mech NOUN hjic-495 1640 67 ( ( PUNCT hjic-495 1640 68 t t NOUN hjic-495 1640 69 ) ) PUNCT hjic-495 1640 70 dt dt NOUN hjic-495 1641 1 = = SYM hjic-495 1641 2 t t PROPN hjic-495 1641 3 mech mech NOUN hjic-495 1641 4 ( ( PUNCT hjic-495 1641 5 t t NOUN hjic-495 1641 6 ) ) PUNCT hjic-495 1641 7 · · PUNCT hjic-495 1641 8 ! ! PUNCT hjic-495 1642 1 r r NOUN hjic-495 1642 2 , , PUNCT hjic-495 1642 3 ( ( PUNCT hjic-495 1642 4 8) 8) NUM hjic-495 1642 5 where where SCONJ hjic-495 1642 6 t t PROPN hjic-495 1642 7 e e X hjic-495 1642 8 ( ( PUNCT hjic-495 1642 9 t t PROPN hjic-495 1642 10 ) ) PUNCT hjic-495 1642 11 is be AUX hjic-495 1642 12 the the DET hjic-495 1642 13 torque torque NOUN hjic-495 1642 14 and and CCONJ hjic-495 1642 15 ! ! PUNCT hjic-495 1643 1 r r NOUN hjic-495 1643 2 is be AUX hjic-495 1643 3 the the DET hjic-495 1643 4 angular angular ADJ hjic-495 1643 5 velocity velocity NOUN hjic-495 1643 6 of of ADP hjic-495 1643 7 the the DET hjic-495 1643 8 i i PROPN hjic-495 1643 9 m. m. NOUN hjic-495 1643 10 afterwards afterwards ADV hjic-495 1643 11 the the DET hjic-495 1643 12 energy energy NOUN hjic-495 1643 13 balance balance NOUN hjic-495 1643 14 of of ADP hjic-495 1643 15 the the PRON hjic-495 1643 16 i i PRON hjic-495 1643 17 m m VERB hjic-495 1643 18 is be AUX hjic-495 1643 19 as as SCONJ hjic-495 1643 20 follows follow VERB hjic-495 1643 21 : : PUNCT hjic-495 1643 22 w w PROPN hjic-495 1643 23 e e NOUN hjic-495 1643 24 = = SYM hjic-495 1643 25 w w PROPN hjic-495 1643 26 mech mech NOUN hjic-495 1644 1 + + NOUN hjic-495 1644 2 w w NOUN hjic-495 1644 3 r r NOUN hjic-495 1644 4 + + NOUN hjic-495 1644 5 w w NOUN hjic-495 1644 6 field field NOUN hjic-495 1644 7 , , PUNCT hjic-495 1644 8 ( ( PUNCT hjic-495 1644 9 9 9 X hjic-495 1644 10 ) ) PUNCT hjic-495 1644 11 figure figure NOUN hjic-495 1644 12 2 2 NUM hjic-495 1644 13 : : PUNCT hjic-495 1644 14 the the DET hjic-495 1644 15 equivalent equivalent ADJ hjic-495 1644 16 circuit circuit NOUN hjic-495 1644 17 of of ADP hjic-495 1644 18 the the DET hjic-495 1644 19 d d NOUN hjic-495 1644 20 - - NOUN hjic-495 1644 21 axis axis NOUN hjic-495 1644 22 of of ADP hjic-495 1644 23 the the DET hjic-495 1644 24 i i PROPN hjic-495 1644 25 m m NOUN hjic-495 1644 26 figure figure NOUN hjic-495 1644 27 3 3 NUM hjic-495 1644 28 : : PUNCT hjic-495 1644 29 the the DET hjic-495 1644 30 equivalent equivalent ADJ hjic-495 1644 31 circuit circuit NOUN hjic-495 1644 32 of of ADP hjic-495 1644 33 the the DET hjic-495 1644 34 q q NOUN hjic-495 1644 35 - - PUNCT hjic-495 1644 36 axis axis NOUN hjic-495 1644 37 of of ADP hjic-495 1644 38 the the DET hjic-495 1644 39 i i PRON hjic-495 1644 40 m m VERB hjic-495 1644 41 where where SCONJ hjic-495 1644 42 p p PROPN hjic-495 1644 43 e e NOUN hjic-495 1644 44 = = SYM hjic-495 1644 45 w w PROPN hjic-495 1644 46 e e PROPN hjic-495 1644 47 ( ( PUNCT hjic-495 1644 48 t t NOUN hjic-495 1644 49 ) ) PUNCT hjic-495 1644 50 dt dt NOUN hjic-495 1645 1 = = NOUN hjic-495 1645 2 3 3 NUM hjic-495 1645 3 2 2 NUM hjic-495 1645 4 re re X hjic-495 1645 5 ( ( PUNCT hjic-495 1645 6 u u NOUN hjic-495 1645 7 s s PART hjic-495 1645 8 · · PUNCT hjic-495 1645 9 i i PRON hjic-495 1645 10 s s PART hjic-495 1645 11 + + CCONJ hjic-495 1645 12 u u NOUN hjic-495 1645 13 r r NOUN hjic-495 1645 14 · · PUNCT hjic-495 1645 15 i i PRON hjic-495 1645 16 r r NOUN hjic-495 1645 17 ) ) PUNCT hjic-495 1645 18 ( ( PUNCT hjic-495 1645 19 10 10 NUM hjic-495 1645 20 ) ) PUNCT hjic-495 1645 21 is be AUX hjic-495 1645 22 the the DET hjic-495 1645 23 input input ADJ hjic-495 1645 24 electrical electrical ADJ hjic-495 1645 25 power power NOUN hjic-495 1645 26 , , PUNCT hjic-495 1645 27 p p NOUN hjic-495 1645 28 r r NOUN hjic-495 1645 29 = = PUNCT hjic-495 1645 30 w w NOUN hjic-495 1645 31 r r NOUN hjic-495 1645 32 ( ( PUNCT hjic-495 1645 33 t t NOUN hjic-495 1645 34 ) ) PUNCT hjic-495 1645 35 dt dt NOUN hjic-495 1646 1 = = NOUN hjic-495 1646 2 3 3 NUM hjic-495 1646 3 2 2 NUM hjic-495 1646 4 re re ADP hjic-495 1646 5 � � PROPN hjic-495 1646 6 r r NOUN hjic-495 1646 7 s s PART hjic-495 1646 8 · · PUNCT hjic-495 1646 9 |i |i ADP hjic-495 1646 10 s s PART hjic-495 1646 11 |2 |2 NUM hjic-495 1646 12 + + NOUN hjic-495 1646 13 r r NOUN hjic-495 1646 14 r r NOUN hjic-495 1646 15 · · PUNCT hjic-495 1646 16 |i |i ADP hjic-495 1646 17 r r NOUN hjic-495 1646 18 |2 |2 NUM hjic-495 1646 19 � � PROPN hjic-495 1646 20 ( ( PUNCT hjic-495 1646 21 11 11 NUM hjic-495 1646 22 ) ) PUNCT hjic-495 1646 23 represents represent VERB hjic-495 1646 24 the the DET hjic-495 1646 25 resistive resistive ADJ hjic-495 1646 26 power power NOUN hjic-495 1646 27 losses loss NOUN hjic-495 1646 28 and and CCONJ hjic-495 1646 29 p p NOUN hjic-495 1646 30 field field NOUN hjic-495 1646 31 = = SYM hjic-495 1646 32 w w NOUN hjic-495 1646 33 field field NOUN hjic-495 1646 34 ( ( PUNCT hjic-495 1646 35 t t NOUN hjic-495 1646 36 ) ) PUNCT hjic-495 1646 37 dt dt NOUN hjic-495 1647 1 = = NOUN hjic-495 1647 2 3 3 NUM hjic-495 1647 3 2 2 NUM hjic-495 1647 4 re re ADP hjic-495 1647 5 ✓ ✓ PROPN hjic-495 1647 6 d d PROPN hjic-495 1647 7 � � PROPN hjic-495 1647 8 s s PART hjic-495 1647 9 dt dt NOUN hjic-495 1647 10 i i PRON hjic-495 1647 11 s s PART hjic-495 1647 12 + + CCONJ hjic-495 1647 13 d d X hjic-495 1647 14 � � NOUN hjic-495 1647 15 r r NOUN hjic-495 1647 16 dt dt NOUN hjic-495 1648 1 i i NOUN hjic-495 1648 2 r r NOUN hjic-495 1648 3 ◆ ◆ X hjic-495 1648 4 ( ( PUNCT hjic-495 1648 5 12 12 NUM hjic-495 1648 6 ) ) PUNCT hjic-495 1648 7 is be AUX hjic-495 1648 8 the the DET hjic-495 1648 9 air air NOUN hjic-495 1648 10 gap gap NOUN hjic-495 1648 11 power power NOUN hjic-495 1648 12 . . PUNCT hjic-495 1649 1 using use VERB hjic-495 1649 2 eqs.(8 eqs.(8 PROPN hjic-495 1649 3 - - SYM hjic-495 1649 4 12 12 NUM hjic-495 1649 5 ) ) PUNCT hjic-495 1649 6 , , PUNCT hjic-495 1649 7 p p NOUN hjic-495 1649 8 mech mech NOUN hjic-495 1649 9 ( ( PUNCT hjic-495 1649 10 t t NOUN hjic-495 1649 11 ) ) PUNCT hjic-495 1649 12 = = SYM hjic-495 1649 13 t t PROPN hjic-495 1649 14 mech mech NOUN hjic-495 1649 15 ( ( PUNCT hjic-495 1649 16 t t NOUN hjic-495 1649 17 ) ) PUNCT hjic-495 1649 18 · · PUNCT hjic-495 1649 19 ! ! PUNCT hjic-495 1650 1 r r NOUN hjic-495 1650 2 = = NOUN hjic-495 1651 1 3 3 NUM hjic-495 1651 2 2 2 NUM hjic-495 1651 3 · · PUNCT hjic-495 1651 4 lm lm NOUN hjic-495 1651 5 l l NOUN hjic-495 1651 6 r r NOUN hjic-495 1651 7 · · PUNCT hjic-495 1651 8 � � PROPN hjic-495 1651 9 s s PART hjic-495 1651 10 ( ( PUNCT hjic-495 1651 11 t t PROPN hjic-495 1651 12 ) ) PUNCT hjic-495 1651 13 ⇥ ⇥ NUM hjic-495 1652 1 i i PRON hjic-495 1652 2 s s X hjic-495 1652 3 ( ( PUNCT hjic-495 1652 4 t t PROPN hjic-495 1652 5 ) ) PUNCT hjic-495 1652 6 , , PUNCT hjic-495 1652 7 and and CCONJ hjic-495 1652 8 ( ( PUNCT hjic-495 1652 9 13 13 NUM hjic-495 1652 10 ) ) PUNCT hjic-495 1652 11 t t NOUN hjic-495 1652 12 e e NOUN hjic-495 1652 13 = = SYM hjic-495 1652 14 1.5p 1.5p NUM hjic-495 1652 15 · · PUNCT hjic-495 1652 16 ( ( PUNCT hjic-495 1652 17 � � X hjic-495 1652 18 ds ds VERB hjic-495 1652 19 i i PRON hjic-495 1652 20 qs qs PROPN hjic-495 1652 21 � � PROPN hjic-495 1652 22 � � PROPN hjic-495 1652 23 qs qs ADP hjic-495 1652 24 i i PRON hjic-495 1652 25 ds ds VERB hjic-495 1652 26 ) ) PUNCT hjic-495 1652 27 . . PUNCT hjic-495 1653 1 ( ( PUNCT hjic-495 1653 2 14 14 NUM hjic-495 1653 3 ) ) PUNCT hjic-495 1653 4 the the DET hjic-495 1653 5 equivalent equivalent ADJ hjic-495 1653 6 circuit circuit NOUN hjic-495 1653 7 of of ADP hjic-495 1653 8 the the DET hjic-495 1653 9 i i PRON hjic-495 1653 10 m m VERB hjic-495 1653 11 can can AUX hjic-495 1653 12 be be AUX hjic-495 1653 13 decomposed decompose VERB hjic-495 1653 14 to to PART hjic-495 1653 15 direct direct VERB hjic-495 1653 16 axis axis NOUN hjic-495 1653 17 and and CCONJ hjic-495 1653 18 quadratic quadratic ADJ hjic-495 1653 19 axis axis NOUN hjic-495 1653 20 components component NOUN hjic-495 1653 21 by by ADP hjic-495 1653 22 park park NOUN hjic-495 1653 23 ’s ’s PART hjic-495 1653 24 transformation transformation NOUN hjic-495 1653 25 as as SCONJ hjic-495 1653 26 shown show VERB hjic-495 1653 27 in in ADP hjic-495 1653 28 figs.2 figs.2 PROPN hjic-495 1653 29 and and CCONJ hjic-495 1653 30 3 3 NUM hjic-495 1653 31 . . PUNCT hjic-495 1654 1 the the DET hjic-495 1654 2 actual actual ADJ hjic-495 1654 3 terminal terminal ADJ hjic-495 1654 4 voltage voltage NOUN hjic-495 1654 5 v v NOUN hjic-495 1654 6 of of ADP hjic-495 1654 7 the the DET hjic-495 1654 8 windings winding NOUN hjic-495 1654 9 can can AUX hjic-495 1654 10 be be AUX hjic-495 1654 11 written write VERB hjic-495 1654 12 in in ADP hjic-495 1654 13 the the DET hjic-495 1654 14 form form NOUN hjic-495 1654 15 v v ADP hjic-495 1654 16 = = SYM hjic-495 1654 17 ± ± NUM hjic-495 1654 18 jx jx NOUN hjic-495 1654 19 j=1 j=1 PROPN hjic-495 1654 20 ( ( PUNCT hjic-495 1654 21 rj rj PROPN hjic-495 1654 22 ij)± ij)± NOUN hjic-495 1654 23 jx jx PROPN hjic-495 1654 24 j=1 j=1 PROPN hjic-495 1654 25 ✓ ✓ PROPN hjic-495 1654 26 d d X hjic-495 1654 27 � � PROPN hjic-495 1654 28 j j NOUN hjic-495 1654 29 dt dt X hjic-495 1654 30 ◆ ◆ PROPN hjic-495 1654 31 , , PUNCT hjic-495 1654 32 ( ( PUNCT hjic-495 1654 33 15 15 NUM hjic-495 1654 34 ) ) PUNCT hjic-495 1654 35 where where SCONJ hjic-495 1654 36 ij ij NOUN hjic-495 1654 37 are be AUX hjic-495 1654 38 the the DET hjic-495 1654 39 currents current NOUN hjic-495 1654 40 , , PUNCT hjic-495 1654 41 rj rj PROPN hjic-495 1654 42 are be AUX hjic-495 1654 43 the the DET hjic-495 1654 44 winding wind VERB hjic-495 1654 45 resistances resistance NOUN hjic-495 1654 46 , , PUNCT hjic-495 1654 47 and and CCONJ hjic-495 1654 48 � � PROPN hjic-495 1654 49 j j PROPN hjic-495 1654 50 are be AUX hjic-495 1654 51 the the DET hjic-495 1654 52 flux flux NOUN hjic-495 1654 53 linkages linkage NOUN hjic-495 1654 54 . . PUNCT hjic-495 1655 1 the the DET hjic-495 1655 2 positive positive ADJ hjic-495 1655 3 directions direction NOUN hjic-495 1655 4 of of ADP hjic-495 1655 5 the the DET hjic-495 1655 6 stator stator NOUN hjic-495 1655 7 currents current NOUN hjic-495 1655 8 point point VERB hjic-495 1655 9 out out ADP hjic-495 1655 10 of of ADP hjic-495 1655 11 the the DET hjic-495 1655 12 i i PROPN hjic-495 1655 13 m m NOUN hjic-495 1655 14 terminals terminal NOUN hjic-495 1655 15 . . PUNCT hjic-495 1656 1 by by ADP hjic-495 1656 2 composing compose VERB hjic-495 1656 3 the the DET hjic-495 1656 4 d d NOUN hjic-495 1656 5 and and CCONJ hjic-495 1656 6 q q ADJ hjic-495 1656 7 axes axis NOUN hjic-495 1656 8 of of ADP hjic-495 1656 9 the the DET hjic-495 1656 10 i i NOUN hjic-495 1656 11 m m VERB hjic-495 1656 12 the the DET hjic-495 1656 13 following follow VERB hjic-495 1656 14 equations equation NOUN hjic-495 1656 15 can can AUX hjic-495 1656 16 be be AUX hjic-495 1656 17 written write VERB hjic-495 1656 18 : : PUNCT hjic-495 1656 19 v v NOUN hjic-495 1656 20 qs qs NOUN hjic-495 1656 21 = = SYM hjic-495 1656 22 r r NOUN hjic-495 1656 23 s s PART hjic-495 1656 24 · · PUNCT hjic-495 1656 25 i i PRON hjic-495 1656 26 qs q VERB hjic-495 1656 27 + + CCONJ hjic-495 1656 28 � � PROPN hjic-495 1656 29 qs qs NOUN hjic-495 1656 30 dt dt NOUN hjic-495 1656 31 + + CCONJ hjic-495 1656 32 ! ! PUNCT hjic-495 1656 33 · · PUNCT hjic-495 1657 1 � � PROPN hjic-495 1657 2 ds ds NOUN hjic-495 1657 3 , , PUNCT hjic-495 1657 4 ( ( PUNCT hjic-495 1657 5 16 16 NUM hjic-495 1657 6 ) ) PUNCT hjic-495 1657 7 v v NOUN hjic-495 1657 8 ds ds NOUN hjic-495 1657 9 = = NOUN hjic-495 1657 10 r r NOUN hjic-495 1657 11 s s PROPN hjic-495 1657 12 · · PUNCT hjic-495 1657 13 i i PRON hjic-495 1657 14 ds ds VERB hjic-495 1657 15 + + CCONJ hjic-495 1657 16 � � X hjic-495 1657 17 ds ds ADJ hjic-495 1657 18 dt dt X hjic-495 1657 19 � � PROPN hjic-495 1657 20 ! ! PUNCT hjic-495 1657 21 · · PUNCT hjic-495 1658 1 � � PROPN hjic-495 1658 2 qs qs PROPN hjic-495 1658 3 , , PUNCT hjic-495 1658 4 ( ( PUNCT hjic-495 1658 5 17 17 NUM hjic-495 1658 6 ) ) PUNCT hjic-495 1658 7 v v NOUN hjic-495 1658 8 qr qr NOUN hjic-495 1658 9 = = SYM hjic-495 1658 10 r0 r0 NOUN hjic-495 1658 11 r r NOUN hjic-495 1658 12 · · PUNCT hjic-495 1658 13 i0 i0 PROPN hjic-495 1658 14 ds ds PROPN hjic-495 1658 15 + + X hjic-495 1658 16 � � PROPN hjic-495 1658 17 0 0 NUM hjic-495 1658 18 dr dr PROPN hjic-495 1658 19 dt dt PROPN hjic-495 1658 20 + + CCONJ hjic-495 1658 21 ( ( PUNCT hjic-495 1658 22 ! ! PUNCT hjic-495 1658 23 � � PROPN hjic-495 1658 24 ! ! PUNCT hjic-495 1659 1 r r NOUN hjic-495 1659 2 ) ) PUNCT hjic-495 1659 3 · · PUNCT hjic-495 1659 4 � � PROPN hjic-495 1659 5 0 0 NUM hjic-495 1659 6 dr dr PROPN hjic-495 1659 7 , , PUNCT hjic-495 1659 8 and and CCONJ hjic-495 1659 9 ( ( PUNCT hjic-495 1659 10 18 18 NUM hjic-495 1659 11 ) ) PUNCT hjic-495 1659 12 v v NOUN hjic-495 1659 13 dr dr PROPN hjic-495 1659 14 = = PROPN hjic-495 1659 15 r0 r0 NOUN hjic-495 1659 16 r r NOUN hjic-495 1659 17 · · PUNCT hjic-495 1659 18 i0 i0 PROPN hjic-495 1659 19 dr dr PROPN hjic-495 1659 20 + + PROPN hjic-495 1659 21 � � PROPN hjic-495 1659 22 0 0 PROPN hjic-495 1659 23 dr dr PROPN hjic-495 1659 24 dt dt PROPN hjic-495 1659 25 � � PROPN hjic-495 1659 26 ( ( PUNCT hjic-495 1659 27 ! ! PUNCT hjic-495 1659 28 � � PROPN hjic-495 1659 29 ! ! PUNCT hjic-495 1660 1 r r NOUN hjic-495 1660 2 ) ) PUNCT hjic-495 1660 3 · · PUNCT hjic-495 1660 4 � � SYM hjic-495 1660 5 0 0 NUM hjic-495 1660 6 qr qr NOUN hjic-495 1660 7 . . PUNCT hjic-495 1661 1 ( ( PUNCT hjic-495 1661 2 19 19 NUM hjic-495 1661 3 ) ) SYM hjic-495 1661 4 111 111 NUM hjic-495 1661 5 figure figure NOUN hjic-495 1661 6 4 4 NUM hjic-495 1661 7 : : PUNCT hjic-495 1661 8 response response NOUN hjic-495 1661 9 to to ADP hjic-495 1661 10 the the DET hjic-495 1661 11 step step NOUN hjic-495 1661 12 change change NOUN hjic-495 1661 13 of of ADP hjic-495 1661 14 the the DET hjic-495 1661 15 speed speed NOUN hjic-495 1661 16 - - PUNCT hjic-495 1661 17 controlled control VERB hjic-495 1661 18 i i NOUN hjic-495 1661 19 m m VERB hjic-495 1661 20 d d NOUN hjic-495 1661 21 ! ! PUNCT hjic-495 1662 1 m m VERB hjic-495 1662 2 dt dt NOUN hjic-495 1663 1 = = SYM hjic-495 1663 2 1 1 NUM hjic-495 1663 3 2h 2h NUM hjic-495 1663 4 ( ( PUNCT hjic-495 1663 5 t t PROPN hjic-495 1663 6 e e X hjic-495 1663 7 � � PROPN hjic-495 1663 8 f f PROPN hjic-495 1663 9 · · PUNCT hjic-495 1663 10 ! ! PUNCT hjic-495 1664 1 m m VERB hjic-495 1664 2 � � PROPN hjic-495 1664 3 t t PROPN hjic-495 1664 4 mech mech NOUN hjic-495 1664 5 ) ) PUNCT hjic-495 1664 6 ( ( PUNCT hjic-495 1664 7 20 20 NUM hjic-495 1664 8 ) ) PUNCT hjic-495 1665 1 where where SCONJ hjic-495 1665 2 ! ! PUNCT hjic-495 1666 1 is be AUX hjic-495 1666 2 the the DET hjic-495 1666 3 reference reference NOUN hjic-495 1666 4 frame frame NOUN hjic-495 1666 5 angular angular ADJ hjic-495 1666 6 velocity velocity NOUN hjic-495 1666 7 , , PUNCT hjic-495 1666 8 ! ! PUNCT hjic-495 1667 1 r r NOUN hjic-495 1667 2 is be AUX hjic-495 1667 3 the the DET hjic-495 1667 4 electrical electrical ADJ hjic-495 1667 5 angular angular ADJ hjic-495 1667 6 velocity velocity NOUN hjic-495 1667 7 , , PUNCT hjic-495 1667 8 � � PROPN hjic-495 1667 9 qs qs NOUN hjic-495 1667 10 = = SYM hjic-495 1667 11 l l NOUN hjic-495 1667 12 s s X hjic-495 1667 13 · · PUNCT hjic-495 1667 14 i i PRON hjic-495 1667 15 qs qs VERB hjic-495 1667 16 + + CCONJ hjic-495 1667 17 l l NOUN hjic-495 1667 18 m m VERB hjic-495 1667 19 i0 i0 PROPN hjic-495 1667 20 qr qr PROPN hjic-495 1667 21 , , PUNCT hjic-495 1667 22 ( ( PUNCT hjic-495 1667 23 21 21 NUM hjic-495 1667 24 ) ) PUNCT hjic-495 1667 25 � � NOUN hjic-495 1667 26 ds ds NOUN hjic-495 1667 27 = = SYM hjic-495 1667 28 l l NOUN hjic-495 1667 29 s s X hjic-495 1667 30 · · PUNCT hjic-495 1667 31 i i PRON hjic-495 1667 32 ds ds VERB hjic-495 1668 1 + + CCONJ hjic-495 1668 2 l l NOUN hjic-495 1668 3 m m VERB hjic-495 1668 4 i0 i0 PROPN hjic-495 1668 5 dr dr PROPN hjic-495 1668 6 , , PUNCT hjic-495 1668 7 ( ( PUNCT hjic-495 1668 8 22 22 NUM hjic-495 1668 9 ) ) PUNCT hjic-495 1668 10 � � PROPN hjic-495 1668 11 qr qr NOUN hjic-495 1668 12 = = SYM hjic-495 1668 13 l l NOUN hjic-495 1668 14 r r NOUN hjic-495 1668 15 · · PUNCT hjic-495 1668 16 i0 i0 PROPN hjic-495 1668 17 qr qr PROPN hjic-495 1669 1 + + CCONJ hjic-495 1669 2 l l NOUN hjic-495 1669 3 m m VERB hjic-495 1669 4 i0 i0 PROPN hjic-495 1669 5 qs qs NOUN hjic-495 1669 6 , , PUNCT hjic-495 1669 7 and and CCONJ hjic-495 1669 8 ( ( PUNCT hjic-495 1669 9 23 23 NUM hjic-495 1669 10 ) ) PUNCT hjic-495 1669 11 � � PROPN hjic-495 1669 12 dr dr PROPN hjic-495 1669 13 = = PROPN hjic-495 1669 14 l l NOUN hjic-495 1669 15 r r NOUN hjic-495 1669 16 · · PUNCT hjic-495 1669 17 i0 i0 PROPN hjic-495 1669 18 dr dr PROPN hjic-495 1670 1 + + PROPN hjic-495 1670 2 l l PROPN hjic-495 1670 3 m m VERB hjic-495 1670 4 i0 i0 PROPN hjic-495 1670 5 ds ds X hjic-495 1670 6 . . PUNCT hjic-495 1671 1 ( ( PUNCT hjic-495 1671 2 24 24 NUM hjic-495 1671 3 ) ) PUNCT hjic-495 1671 4 the the DET hjic-495 1671 5 above above ADJ hjic-495 1671 6 model model NOUN hjic-495 1671 7 can can AUX hjic-495 1671 8 be be AUX hjic-495 1671 9 written write VERB hjic-495 1671 10 in in ADP hjic-495 1671 11 state state NOUN hjic-495 1671 12 space space NOUN hjic-495 1671 13 form form NOUN hjic-495 1671 14 by by ADP hjic-495 1671 15 expressing express VERB hjic-495 1671 16 the the DET hjic-495 1671 17 time time NOUN hjic-495 1671 18 derivative derivative NOUN hjic-495 1671 19 of of ADP hjic-495 1671 20 the the DET hjic-495 1671 21 fluxes flux NOUN hjic-495 1671 22 and and CCONJ hjic-495 1671 23 ! ! PUNCT hjic-495 1672 1 from from ADP hjic-495 1672 2 the the DET hjic-495 1672 3 voltage voltage NOUN hjic-495 1672 4 and and CCONJ hjic-495 1672 5 swing swing NOUN hjic-495 1672 6 equations equation NOUN hjic-495 1672 7 eqs.(21 eqs.(21 PROPN hjic-495 1672 8 - - PROPN hjic-495 1672 9 24 24 NUM hjic-495 1672 10 ) ) PUNCT hjic-495 1672 11 . . PUNCT hjic-495 1673 1 the the DET hjic-495 1673 2 nonlinear nonlinear ADJ hjic-495 1673 3 state state NOUN hjic-495 1673 4 space space NOUN hjic-495 1673 5 model model NOUN hjic-495 1673 6 of of ADP hjic-495 1673 7 the the PRON hjic-495 1673 8 i i PRON hjic-495 1673 9 m m VERB hjic-495 1673 10 is be AUX hjic-495 1673 11 given give VERB hjic-495 1673 12 by by ADP hjic-495 1673 13 eqs.(25 eqs.(25 NOUN hjic-495 1673 14 - - PUNCT hjic-495 1673 15 29 29 NUM hjic-495 1673 16 ): ): PUNCT hjic-495 1673 17 d d X hjic-495 1673 18 � � NOUN hjic-495 1673 19 qs qs NOUN hjic-495 1673 20 dt dt NOUN hjic-495 1673 21 = = SYM hjic-495 1673 22 � � PROPN hjic-495 1673 23 r r NOUN hjic-495 1673 24 s s PROPN hjic-495 1673 25 l l NOUN hjic-495 1673 26 s s PART hjic-495 1673 27 � � PROPN hjic-495 1673 28 l2 l2 PROPN hjic-495 1673 29 m m VERB hjic-495 1673 30 l0 l0 NOUN hjic-495 1673 31 r r NOUN hjic-495 1673 32 · · PUNCT hjic-495 1673 33 � � NOUN hjic-495 1673 34 qs qs ADP hjic-495 1673 35 r r NOUN hjic-495 1673 36 s s PROPN hjic-495 1673 37 · · PUNCT hjic-495 1673 38 l l NOUN hjic-495 1673 39 m m VERB hjic-495 1673 40 l0 l0 NOUN hjic-495 1673 41 r r NOUN hjic-495 1673 42 ( ( PUNCT hjic-495 1673 43 l l NOUN hjic-495 1673 44 s s PROPN hjic-495 1673 45 � � PROPN hjic-495 1673 46 l2 l2 PROPN hjic-495 1673 47 m m VERB hjic-495 1673 48 l0 l0 NOUN hjic-495 1673 49 r r NOUN hjic-495 1673 50 ) ) PUNCT hjic-495 1673 51 · · PUNCT hjic-495 1673 52 � � SYM hjic-495 1673 53 0 0 NUM hjic-495 1673 54 qr qr PROPN hjic-495 1673 55 � � PROPN hjic-495 1673 56 ! ! PUNCT hjic-495 1673 57 · · PUNCT hjic-495 1674 1 � � PROPN hjic-495 1674 2 ds ds ADJ hjic-495 1674 3 + + CCONJ hjic-495 1674 4 v v NOUN hjic-495 1674 5 qs qs NOUN hjic-495 1674 6 , , PUNCT hjic-495 1674 7 ( ( PUNCT hjic-495 1674 8 25 25 NUM hjic-495 1674 9 ) ) PUNCT hjic-495 1674 10 d d X hjic-495 1674 11 � � NOUN hjic-495 1674 12 ds ds ADJ hjic-495 1674 13 dt dt NOUN hjic-495 1674 14 = = SYM hjic-495 1674 15 � � PROPN hjic-495 1674 16 r r NOUN hjic-495 1674 17 s s PROPN hjic-495 1674 18 l l NOUN hjic-495 1674 19 s s PART hjic-495 1674 20 � � PROPN hjic-495 1674 21 l2 l2 PROPN hjic-495 1674 22 m m VERB hjic-495 1674 23 l0 l0 NOUN hjic-495 1674 24 r r NOUN hjic-495 1674 25 · · PUNCT hjic-495 1674 26 � � X hjic-495 1674 27 ds ds NOUN hjic-495 1674 28 + + CCONJ hjic-495 1674 29 r r NOUN hjic-495 1674 30 s s X hjic-495 1674 31 · · PUNCT hjic-495 1674 32 l l NOUN hjic-495 1674 33 m m VERB hjic-495 1674 34 l0 l0 NOUN hjic-495 1674 35 r r NOUN hjic-495 1674 36 ( ( PUNCT hjic-495 1674 37 l l NOUN hjic-495 1674 38 s s PROPN hjic-495 1674 39 � � PROPN hjic-495 1674 40 l2 l2 PROPN hjic-495 1674 41 m m VERB hjic-495 1674 42 l0 l0 NOUN hjic-495 1674 43 r r NOUN hjic-495 1674 44 ) ) PUNCT hjic-495 1674 45 · · PUNCT hjic-495 1674 46 � � PROPN hjic-495 1674 47 0 0 NUM hjic-495 1674 48 dr dr PROPN hjic-495 1674 49 � � PROPN hjic-495 1674 50 ! ! PUNCT hjic-495 1674 51 · · PUNCT hjic-495 1675 1 � � PROPN hjic-495 1675 2 qs qs PROPN hjic-495 1675 3 + + CCONJ hjic-495 1675 4 v v NOUN hjic-495 1675 5 ds ds NOUN hjic-495 1675 6 , , PUNCT hjic-495 1675 7 ( ( PUNCT hjic-495 1675 8 26 26 NUM hjic-495 1675 9 ) ) PUNCT hjic-495 1675 10 d d NOUN hjic-495 1675 11 � � PROPN hjic-495 1675 12 0 0 NUM hjic-495 1675 13 qr qr NOUN hjic-495 1675 14 dt dt NOUN hjic-495 1675 15 = = SYM hjic-495 1675 16 � � PROPN hjic-495 1675 17 r0 r0 NOUN hjic-495 1675 18 r r NOUN hjic-495 1675 19 l l NOUN hjic-495 1675 20 m m NOUN hjic-495 1675 21 � � PROPN hjic-495 1675 22 l0 l0 PROPN hjic-495 1675 23 r·ls r·ls NOUN hjic-495 1675 24 lm lm PROPN hjic-495 1675 25 · · PUNCT hjic-495 1675 26 � � PROPN hjic-495 1675 27 qs qs PROPN hjic-495 1675 28 + + CCONJ hjic-495 1675 29 � � PROPN hjic-495 1675 30 r0 r0 NOUN hjic-495 1675 31 r r NOUN hjic-495 1675 32 · · PUNCT hjic-495 1675 33 l l NOUN hjic-495 1675 34 s s PART hjic-495 1675 35 l l NOUN hjic-495 1675 36 m m VERB hjic-495 1675 37 · · PUNCT hjic-495 1675 38 ( ( PUNCT hjic-495 1675 39 l l NOUN hjic-495 1675 40 m m VERB hjic-495 1675 41 � � PROPN hjic-495 1675 42 l0 l0 PROPN hjic-495 1675 43 r·ls r·ls NOUN hjic-495 1675 44 lm lm NOUN hjic-495 1675 45 ) ) PUNCT hjic-495 1675 46 · · PUNCT hjic-495 1675 47 � � SYM hjic-495 1675 48 0 0 NUM hjic-495 1675 49 qr qr PROPN hjic-495 1675 50 � � PROPN hjic-495 1675 51 ! ! PUNCT hjic-495 1675 52 · · PUNCT hjic-495 1675 53 � � PROPN hjic-495 1675 54 0 0 NUM hjic-495 1675 55 dr dr PROPN hjic-495 1675 56 + + PROPN hjic-495 1675 57 ! ! PUNCT hjic-495 1676 1 r r NOUN hjic-495 1676 2 · · PUNCT hjic-495 1676 3 � � PROPN hjic-495 1676 4 0 0 NUM hjic-495 1676 5 dr dr PROPN hjic-495 1676 6 + + PROPN hjic-495 1676 7 v v PROPN hjic-495 1676 8 qr qr NOUN hjic-495 1676 9 , , PUNCT hjic-495 1676 10 ( ( PUNCT hjic-495 1676 11 27 27 NUM hjic-495 1676 12 ) ) PUNCT hjic-495 1676 13 d d NOUN hjic-495 1676 14 � � PROPN hjic-495 1676 15 0 0 PROPN hjic-495 1676 16 dr dr PROPN hjic-495 1676 17 dt dt PROPN hjic-495 1676 18 = = SYM hjic-495 1676 19 � � PROPN hjic-495 1676 20 r0 r0 NOUN hjic-495 1676 21 r r NOUN hjic-495 1676 22 l l NOUN hjic-495 1676 23 m m NOUN hjic-495 1676 24 � � PROPN hjic-495 1676 25 l0 l0 PROPN hjic-495 1676 26 r·ls r·ls NOUN hjic-495 1676 27 lm lm PROPN hjic-495 1676 28 · · PUNCT hjic-495 1676 29 � � PROPN hjic-495 1676 30 ds ds PROPN hjic-495 1676 31 + + NOUN hjic-495 1676 32 � � NOUN hjic-495 1676 33 r0 r0 NOUN hjic-495 1676 34 r r NOUN hjic-495 1676 35 · · PUNCT hjic-495 1677 1 l l NOUN hjic-495 1677 2 s s PART hjic-495 1677 3 l l NOUN hjic-495 1677 4 m m VERB hjic-495 1677 5 · · PUNCT hjic-495 1677 6 ( ( PUNCT hjic-495 1677 7 l l NOUN hjic-495 1677 8 m m VERB hjic-495 1677 9 � � PROPN hjic-495 1677 10 l0 l0 PROPN hjic-495 1677 11 r·ls r·ls NOUN hjic-495 1677 12 lm lm NOUN hjic-495 1677 13 ) ) PUNCT hjic-495 1677 14 · · PUNCT hjic-495 1677 15 � � PROPN hjic-495 1677 16 0 0 NUM hjic-495 1677 17 dr dr PROPN hjic-495 1677 18 + + PROPN hjic-495 1677 19 ! ! PUNCT hjic-495 1677 20 · · PUNCT hjic-495 1677 21 � � PROPN hjic-495 1677 22 0 0 NUM hjic-495 1677 23 qr qr PROPN hjic-495 1677 24 � � PROPN hjic-495 1677 25 ! ! PUNCT hjic-495 1678 1 r r NOUN hjic-495 1678 2 · · PUNCT hjic-495 1678 3 � � SYM hjic-495 1678 4 0 0 NUM hjic-495 1678 5 qr qr PROPN hjic-495 1678 6 + + PROPN hjic-495 1678 7 v v PROPN hjic-495 1678 8 dr dr PROPN hjic-495 1678 9 , , PUNCT hjic-495 1678 10 and and CCONJ hjic-495 1678 11 ( ( PUNCT hjic-495 1678 12 28 28 NUM hjic-495 1678 13 ) ) PUNCT hjic-495 1679 1 d d NOUN hjic-495 1679 2 ! ! PUNCT hjic-495 1680 1 r r NOUN hjic-495 1680 2 dt dt NOUN hjic-495 1680 3 = = SYM hjic-495 1680 4 1 1 NUM hjic-495 1680 5 2h 2h NUM hjic-495 1680 6 · · PUNCT hjic-495 1680 7 1.5 1.5 NUM hjic-495 1680 8 · · PUNCT hjic-495 1681 1 p p X hjic-495 1681 2 · · PUNCT hjic-495 1681 3 l l NOUN hjic-495 1681 4 m m VERB hjic-495 1681 5 l l NOUN hjic-495 1681 6 m m VERB hjic-495 1681 7 · · PUNCT hjic-495 1681 8 ( ( PUNCT hjic-495 1681 9 l l NOUN hjic-495 1681 10 s s PROPN hjic-495 1681 11 � � PROPN hjic-495 1681 12 l2 l2 PROPN hjic-495 1681 13 m m VERB hjic-495 1681 14 l0 l0 NOUN hjic-495 1681 15 r r NOUN hjic-495 1681 16 ) ) PUNCT hjic-495 1681 17 · · PUNCT hjic-495 1681 18 � � PROPN hjic-495 1681 19 0 0 NUM hjic-495 1681 20 dr dr PROPN hjic-495 1681 21 · · PUNCT hjic-495 1681 22 � � PROPN hjic-495 1681 23 qs qs PROPN hjic-495 1681 24 � � PROPN hjic-495 1681 25 1 1 NUM hjic-495 1681 26 2h 2h NUM hjic-495 1681 27 · · PUNCT hjic-495 1681 28 1.5 1.5 NUM hjic-495 1681 29 · · PUNCT hjic-495 1682 1 p p X hjic-495 1682 2 · · PUNCT hjic-495 1682 3 l l NOUN hjic-495 1682 4 m m VERB hjic-495 1682 5 l l NOUN hjic-495 1682 6 m m VERB hjic-495 1682 7 · · PUNCT hjic-495 1682 8 ( ( PUNCT hjic-495 1682 9 l l NOUN hjic-495 1682 10 s s PROPN hjic-495 1682 11 � � PROPN hjic-495 1682 12 l2 l2 PROPN hjic-495 1682 13 m m VERB hjic-495 1682 14 l0 l0 NOUN hjic-495 1682 15 r r NOUN hjic-495 1682 16 ) ) PUNCT hjic-495 1682 17 · · PUNCT hjic-495 1682 18 � � SYM hjic-495 1682 19 0 0 NUM hjic-495 1682 20 qr qr PROPN hjic-495 1682 21 · · PUNCT hjic-495 1682 22 � � PROPN hjic-495 1682 23 ds ds PROPN hjic-495 1682 24 � � PROPN hjic-495 1682 25 f f PROPN hjic-495 1682 26 2h 2h NUM hjic-495 1682 27 · · PUNCT hjic-495 1682 28 ! ! PUNCT hjic-495 1683 1 r r NOUN hjic-495 1683 2 � � PROPN hjic-495 1683 3 t t PROPN hjic-495 1683 4 m m NOUN hjic-495 1683 5 2h 2h NUM hjic-495 1683 6 . . PUNCT hjic-495 1684 1 ( ( PUNCT hjic-495 1684 2 29 29 NUM hjic-495 1684 3 ) ) PUNCT hjic-495 1684 4 the the DET hjic-495 1684 5 state state NOUN hjic-495 1684 6 vector vector NOUN hjic-495 1684 7 of of ADP hjic-495 1684 8 the the DET hjic-495 1684 9 above above ADJ hjic-495 1684 10 model model NOUN hjic-495 1684 11 is be AUX hjic-495 1684 12 x= x= PROPN hjic-495 1684 13 [ [ X hjic-495 1684 14 � � X hjic-495 1684 15 qs qs PROPN hjic-495 1684 16 , , PUNCT hjic-495 1684 17 � � PROPN hjic-495 1684 18 ds ds X hjic-495 1684 19 , , PUNCT hjic-495 1684 20 � � PROPN hjic-495 1684 21 0 0 NUM hjic-495 1684 22 qr qr PROPN hjic-495 1684 23 , , PUNCT hjic-495 1684 24 � � PROPN hjic-495 1684 25 0 0 NUM hjic-495 1684 26 dr dr PROPN hjic-495 1684 27 , , PUNCT hjic-495 1684 28 ! ! PUNCT hjic-495 1685 1 r r NOUN hjic-495 1685 2 ] ] X hjic-495 1685 3 t t X hjic-495 1685 4 2 2 NUM hjic-495 1685 5 r5 r5 NOUN hjic-495 1685 6 , , PUNCT hjic-495 1685 7 and and CCONJ hjic-495 1685 8 the the DET hjic-495 1685 9 input input NOUN hjic-495 1685 10 variables variable NOUN hjic-495 1685 11 are be AUX hjic-495 1685 12 organized organize VERB hjic-495 1685 13 in in ADP hjic-495 1685 14 terms term NOUN hjic-495 1685 15 of of ADP hjic-495 1685 16 the the DET hjic-495 1685 17 the the DET hjic-495 1685 18 input input NOUN hjic-495 1685 19 vector vector NOUN hjic-495 1685 20 u=[v u=[v PROPN hjic-495 1685 21 q q PROPN hjic-495 1685 22 , , PUNCT hjic-495 1685 23 v v PROPN hjic-495 1685 24 d d PROPN hjic-495 1685 25 , , PUNCT hjic-495 1685 26 � � PROPN hjic-495 1685 27 t t PROPN hjic-495 1685 28 mech mech NOUN hjic-495 1685 29 ] ] X hjic-495 1685 30 t t PROPN hjic-495 1685 31 2 2 NUM hjic-495 1685 32 r3 r3 PROPN hjic-495 1685 33 . . PUNCT hjic-495 1686 1 it it PRON hjic-495 1686 2 is be AUX hjic-495 1686 3 assumed assume VERB hjic-495 1686 4 that that SCONJ hjic-495 1686 5 all all DET hjic-495 1686 6 the the DET hjic-495 1686 7 state state NOUN hjic-495 1686 8 variables variable NOUN hjic-495 1686 9 can can AUX hjic-495 1686 10 be be AUX hjic-495 1686 11 measured measure VERB hjic-495 1686 12 i.e. i.e. X hjic-495 1686 13 y y X hjic-495 1686 14 = = SYM hjic-495 1686 15 x. x. PROPN hjic-495 1686 16 model model PROPN hjic-495 1686 17 validation validation NOUN hjic-495 1686 18 the the DET hjic-495 1686 19 dynamical dynamical ADJ hjic-495 1686 20 properties property NOUN hjic-495 1686 21 of of ADP hjic-495 1686 22 the the PRON hjic-495 1687 1 i i PRON hjic-495 1687 2 m m VERB hjic-495 1687 3 have have AUX hjic-495 1687 4 been be AUX hjic-495 1687 5 investigated investigate VERB hjic-495 1687 6 . . PUNCT hjic-495 1688 1 the the DET hjic-495 1688 2 response response NOUN hjic-495 1688 3 of of ADP hjic-495 1688 4 the the DET hjic-495 1688 5 speed speed NOUN hjic-495 1688 6 - - PUNCT hjic-495 1688 7 controlled control VERB hjic-495 1688 8 motor motor NOUN hjic-495 1688 9 has have AUX hjic-495 1688 10 been be AUX hjic-495 1688 11 tested test VERB hjic-495 1688 12 under under ADP hjic-495 1688 13 step step NOUN hjic-495 1688 14 - - PUNCT hjic-495 1688 15 like like ADJ hjic-495 1688 16 changes change NOUN hjic-495 1688 17 . . PUNCT hjic-495 1689 1 the the DET hjic-495 1689 2 simulation simulation NOUN hjic-495 1689 3 results result NOUN hjic-495 1689 4 are be AUX hjic-495 1689 5 shown show VERB hjic-495 1689 6 in in ADP hjic-495 1689 7 fig.4 fig.4 PROPN hjic-495 1689 8 , , PUNCT hjic-495 1689 9 where where SCONJ hjic-495 1689 10 the the DET hjic-495 1689 11 fluxes flux NOUN hjic-495 1689 12 ( ( PUNCT hjic-495 1689 13 � � NOUN hjic-495 1689 14 qs qs PROPN hjic-495 1689 15 , , PUNCT hjic-495 1689 16 � � PROPN hjic-495 1689 17 ds ds X hjic-495 1689 18 , , PUNCT hjic-495 1689 19 � � PROPN hjic-495 1689 20 0 0 NUM hjic-495 1689 21 qr qr NOUN hjic-495 1689 22 , , PUNCT hjic-495 1689 23 and and CCONJ hjic-495 1689 24 � � PROPN hjic-495 1689 25 0 0 PROPN hjic-495 1689 26 dr dr PROPN hjic-495 1689 27 ) ) PUNCT hjic-495 1689 28 and and CCONJ hjic-495 1689 29 the the DET hjic-495 1689 30 angular angular ADJ hjic-495 1689 31 velocity velocity NOUN hjic-495 1689 32 ( ( PUNCT hjic-495 1689 33 ! ! PUNCT hjic-495 1689 34 ) ) PUNCT hjic-495 1689 35 are be AUX hjic-495 1689 36 shown show VERB hjic-495 1689 37 . . PUNCT hjic-495 1690 1 model model NOUN hjic-495 1690 2 analysis analysis NOUN hjic-495 1690 3 the the DET hjic-495 1690 4 above above ADJ hjic-495 1690 5 model model NOUN hjic-495 1690 6 eqs.(21 eqs.(21 PROPN hjic-495 1690 7 - - PROPN hjic-495 1690 8 24 24 NUM hjic-495 1690 9 ) ) PUNCT hjic-495 1690 10 has have AUX hjic-495 1690 11 been be AUX hjic-495 1690 12 verified verify VERB hjic-495 1690 13 by by ADP hjic-495 1690 14 simulation simulation NOUN hjic-495 1690 15 against against ADP hjic-495 1690 16 engineering engineering NOUN hjic-495 1690 17 intuition intuition NOUN hjic-495 1690 18 . . PUNCT hjic-495 1691 1 local local ADJ hjic-495 1691 2 stability stability NOUN hjic-495 1691 3 analysis analysis NOUN hjic-495 1691 4 as as ADP hjic-495 1691 5 the the DET hjic-495 1691 6 final final ADJ hjic-495 1691 7 aim aim NOUN hjic-495 1691 8 of of ADP hjic-495 1691 9 our our PRON hjic-495 1691 10 research research NOUN hjic-495 1691 11 is be AUX hjic-495 1691 12 to to PART hjic-495 1691 13 estimate estimate VERB hjic-495 1691 14 the the DET hjic-495 1691 15 parameters parameter NOUN hjic-495 1691 16 of of ADP hjic-495 1691 17 a a DET hjic-495 1691 18 particular particular ADJ hjic-495 1691 19 grundfos grundfos NOUN hjic-495 1691 20 i i PROPN hjic-495 1691 21 m m PROPN hjic-495 1691 22 , , PUNCT hjic-495 1691 23 first first ADV hjic-495 1691 24 of of ADP hjic-495 1691 25 all all DET hjic-495 1691 26 the the DET hjic-495 1691 27 resistances resistance NOUN hjic-495 1691 28 ( ( PUNCT hjic-495 1691 29 r r NOUN hjic-495 1691 30 s s NOUN hjic-495 1691 31 and and CCONJ hjic-495 1691 32 r r NOUN hjic-495 1691 33 r r NOUN hjic-495 1691 34 ) ) PUNCT hjic-495 1691 35 of of ADP hjic-495 1691 36 the the PRON hjic-495 1691 37 i i PRON hjic-495 1691 38 m m VERB hjic-495 1691 39 were be AUX hjic-495 1691 40 measured measure VERB hjic-495 1691 41 . . PUNCT hjic-495 1692 1 afterwards afterwards ADV hjic-495 1692 2 the the DET hjic-495 1692 3 values value NOUN hjic-495 1692 4 of of ADP hjic-495 1692 5 the the DET hjic-495 1692 6 inductances inductance NOUN hjic-495 1692 7 ( ( PUNCT hjic-495 1692 8 l l NOUN hjic-495 1692 9 ls ls X hjic-495 1692 10 , , PUNCT hjic-495 1692 11 l l NOUN hjic-495 1692 12 lr lr NOUN hjic-495 1692 13 and and CCONJ hjic-495 1692 14 l l NOUN hjic-495 1692 15 m m PROPN hjic-495 1692 16 ) ) PUNCT hjic-495 1692 17 and and CCONJ hjic-495 1692 18 the the DET hjic-495 1692 19 mechanical mechanical ADJ hjic-495 1692 20 parameters parameter NOUN hjic-495 1692 21 ( ( PUNCT hjic-495 1692 22 h h NOUN hjic-495 1692 23 and and CCONJ hjic-495 1692 24 f f PROPN hjic-495 1692 25 ) ) PUNCT hjic-495 1692 26 of of ADP hjic-495 1692 27 a a DET hjic-495 1692 28 similar similar ADJ hjic-495 1692 29 i i PRON hjic-495 1692 30 m m VERB hjic-495 1692 31 with with ADP hjic-495 1692 32 similar similar ADJ hjic-495 1692 33 r r NOUN hjic-495 1692 34 s s NOUN hjic-495 1692 35 and and CCONJ hjic-495 1692 36 r r NOUN hjic-495 1692 37 r r NOUN hjic-495 1692 38 found find VERB hjic-495 1692 39 in in ADP hjic-495 1692 40 the the DET hjic-495 1692 41 literature literature NOUN hjic-495 1692 42 have have AUX hjic-495 1692 43 been be AUX hjic-495 1692 44 used use VERB hjic-495 1692 45 . . PUNCT hjic-495 1693 1 the the DET hjic-495 1693 2 parameters parameter NOUN hjic-495 1693 3 used use VERB hjic-495 1693 4 during during ADP hjic-495 1693 5 the the DET hjic-495 1693 6 model model NOUN hjic-495 1693 7 and and CCONJ hjic-495 1693 8 the the DET hjic-495 1693 9 sensitivity sensitivity NOUN hjic-495 1693 10 analyses analysis NOUN hjic-495 1693 11 are be AUX hjic-495 1693 12 the the DET hjic-495 1693 13 following follow VERB hjic-495 1693 14 : : PUNCT hjic-495 1694 1 r r NOUN hjic-495 1694 2 s s NOUN hjic-495 1694 3 = = SYM hjic-495 1694 4 0.196 0.196 NUM hjic-495 1694 5 ohm ohm NOUN hjic-495 1694 6 r r NOUN hjic-495 1694 7 r r NOUN hjic-495 1694 8 = = SYM hjic-495 1694 9 0.0191 0.0191 NUM hjic-495 1694 10 ohm ohm NOUN hjic-495 1694 11 l l NOUN hjic-495 1694 12 ls ls NOUN hjic-495 1694 13 = = NOUN hjic-495 1694 14 0.0397 0.0397 NUM hjic-495 1694 15 h h NOUN hjic-495 1694 16 l l NOUN hjic-495 1694 17 lr lr X hjic-495 1694 18 = = SYM hjic-495 1694 19 0.0397 0.0397 NUM hjic-495 1694 20 h h NOUN hjic-495 1694 21 l l NOUN hjic-495 1694 22 m m NOUN hjic-495 1694 23 = = NOUN hjic-495 1694 24 1.354 1.354 NUM hjic-495 1694 25 h h NOUN hjic-495 1694 26 h h NOUN hjic-495 1694 27 = = NOUN hjic-495 1695 1 0.095 0.095 NUM hjic-495 1695 2 f f X hjic-495 1695 3 = = SYM hjic-495 1695 4 0.0548 0.0548 NUM hjic-495 1695 5 p p NOUN hjic-495 1695 6 = = SYM hjic-495 1695 7 1 1 NUM hjic-495 1695 8 ( ( PUNCT hjic-495 1695 9 30 30 NUM hjic-495 1695 10 ) ) SYM hjic-495 1695 11 112 112 NUM hjic-495 1695 12 figure figure NOUN hjic-495 1695 13 5 5 NUM hjic-495 1695 14 : : PUNCT hjic-495 1695 15 the the DET hjic-495 1695 16 model model NOUN hjic-495 1695 17 state state NOUN hjic-495 1695 18 variables variable NOUN hjic-495 1695 19 for for ADP hjic-495 1695 20 a a DET hjic-495 1695 21 ±50 ±50 NOUN hjic-495 1695 22 % % NOUN hjic-495 1695 23 change change NOUN hjic-495 1695 24 of of ADP hjic-495 1695 25 l l NOUN hjic-495 1695 26 m m VERB hjic-495 1695 27 it it PRON hjic-495 1695 28 can can AUX hjic-495 1695 29 easily easily ADV hjic-495 1695 30 be be AUX hjic-495 1695 31 seen see VERB hjic-495 1695 32 that that SCONJ hjic-495 1695 33 the the DET hjic-495 1695 34 i i PROPN hjic-495 1695 35 m m PROPN hjic-495 1695 36 model model NOUN hjic-495 1695 37 is be AUX hjic-495 1695 38 nonlinear nonlinear ADJ hjic-495 1695 39 since since SCONJ hjic-495 1695 40 there there PRON hjic-495 1695 41 are be VERB hjic-495 1695 42 products product NOUN hjic-495 1695 43 of of ADP hjic-495 1695 44 two two NUM hjic-495 1695 45 state state NOUN hjic-495 1695 46 variables variable NOUN hjic-495 1695 47 in in ADP hjic-495 1695 48 the the DET hjic-495 1695 49 following following ADJ hjic-495 1695 50 equations equation NOUN hjic-495 1695 51 : : PUNCT hjic-495 1695 52 • • NUM hjic-495 1695 53 eq.(27 eq.(27 PROPN hjic-495 1695 54 ): ): PUNCT hjic-495 1695 55 � � PROPN hjic-495 1695 56 0 0 PROPN hjic-495 1695 57 dr dr PROPN hjic-495 1695 58 is be AUX hjic-495 1695 59 multiplied multiply VERB hjic-495 1695 60 by by ADP hjic-495 1695 61 ! ! PUNCT hjic-495 1696 1 r r NOUN hjic-495 1696 2 • • NUM hjic-495 1696 3 eq.(28 eq.(28 NOUN hjic-495 1696 4 ): ): PUNCT hjic-495 1696 5 � � PROPN hjic-495 1696 6 0 0 NUM hjic-495 1696 7 qr qr NOUN hjic-495 1696 8 is be AUX hjic-495 1696 9 multiplied multiply VERB hjic-495 1696 10 by by ADP hjic-495 1696 11 ! ! PUNCT hjic-495 1697 1 r r NOUN hjic-495 1697 2 • • NUM hjic-495 1697 3 eq.(29 eq.(29 NOUN hjic-495 1697 4 ): ): PUNCT hjic-495 1697 5 � � PROPN hjic-495 1697 6 0 0 PROPN hjic-495 1697 7 dr dr PROPN hjic-495 1697 8 is be AUX hjic-495 1697 9 multiplied multiply VERB hjic-495 1697 10 by by ADP hjic-495 1697 11 � � PROPN hjic-495 1697 12 qs qs ADP hjic-495 1697 13 • • ADV hjic-495 1697 14 eq.(29 eq.(29 PROPN hjic-495 1697 15 ): ): PUNCT hjic-495 1697 16 � � PROPN hjic-495 1697 17 0 0 NUM hjic-495 1697 18 qr qr NOUN hjic-495 1697 19 is be AUX hjic-495 1697 20 multiplied multiply VERB hjic-495 1697 21 by by ADP hjic-495 1697 22 � � PROPN hjic-495 1697 23 0 0 NUM hjic-495 1697 24 ds ds NOUN hjic-495 1697 25 for for ADP hjic-495 1697 26 the the DET hjic-495 1697 27 local local ADJ hjic-495 1697 28 stability stability NOUN hjic-495 1697 29 analysis analysis NOUN hjic-495 1697 30 we we PRON hjic-495 1697 31 have have VERB hjic-495 1697 32 to to PART hjic-495 1697 33 calculate calculate VERB hjic-495 1697 34 the the DET hjic-495 1697 35 eigenvalues eigenvalue NOUN hjic-495 1697 36 of of ADP hjic-495 1697 37 the the DET hjic-495 1697 38 system system NOUN hjic-495 1697 39 . . PUNCT hjic-495 1698 1 the the DET hjic-495 1698 2 examined examine VERB hjic-495 1698 3 equilibrium equilibrium NOUN hjic-495 1698 4 point point NOUN hjic-495 1698 5 is be AUX hjic-495 1698 6 � � PROPN hjic-495 1698 7 qs qs PROPN hjic-495 1698 8 = = SYM hjic-495 1698 9 � � PROPN hjic-495 1698 10 0.744 0.744 NUM hjic-495 1698 11 vs vs ADP hjic-495 1698 12 � � PROPN hjic-495 1698 13 ds ds NOUN hjic-495 1698 14 = = PROPN hjic-495 1698 15 1.0287 1.0287 NUM hjic-495 1698 16 vs vs ADP hjic-495 1698 17 � � PROPN hjic-495 1698 18 0 0 NUM hjic-495 1698 19 qr qr NOUN hjic-495 1698 20 = = SYM hjic-495 1698 21 � � PROPN hjic-495 1698 22 0.174 0.174 NUM hjic-495 1698 23 vs vs ADP hjic-495 1698 24 ( ( PUNCT hjic-495 1698 25 31 31 NUM hjic-495 1698 26 ) ) PUNCT hjic-495 1698 27 � � PROPN hjic-495 1698 28 0 0 PROPN hjic-495 1698 29 dr dr PROPN hjic-495 1698 30 = = PROPN hjic-495 1698 31 � � PROPN hjic-495 1698 32 0.087 0.087 NUM hjic-495 1698 33 vs vs ADP hjic-495 1698 34 ! ! PUNCT hjic-495 1699 1 r r NOUN hjic-495 1699 2 = = PUNCT hjic-495 1699 3 48.477 48.477 NUM hjic-495 1699 4 s s NOUN hjic-495 1699 5 � � PROPN hjic-495 1699 6 1 1 NUM hjic-495 1699 7 the the DET hjic-495 1699 8 numerical numerical ADJ hjic-495 1699 9 value value NOUN hjic-495 1699 10 of of ADP hjic-495 1699 11 the the DET hjic-495 1699 12 jacobian jacobian NOUN hjic-495 1699 13 of of ADP hjic-495 1699 14 the the DET hjic-495 1699 15 nonlinear nonlinear ADJ hjic-495 1699 16 model model NOUN hjic-495 1699 17 ( ( PUNCT hjic-495 1699 18 i.e. i.e. X hjic-495 1699 19 the the DET hjic-495 1699 20 state state NOUN hjic-495 1699 21 matrix matrix NOUN hjic-495 1699 22 of of ADP hjic-495 1699 23 the the DET hjic-495 1699 24 locally locally ADV hjic-495 1699 25 linearized linearize VERB hjic-495 1699 26 model model NOUN hjic-495 1699 27 ) ) PUNCT hjic-495 1699 28 is be AUX hjic-495 1699 29 as as SCONJ hjic-495 1699 30 follows follow VERB hjic-495 1699 31 : : PUNCT hjic-495 1699 32 2 2 NUM hjic-495 1699 33 66664 66664 NUM hjic-495 1699 34 � � PROPN hjic-495 1699 35 2.504 2.504 NUM hjic-495 1699 36 � � PROPN hjic-495 1699 37 50 50 NUM hjic-495 1699 38 2.4328 2.4328 NUM hjic-495 1699 39 0 0 NUM hjic-495 1699 40 0 0 NUM hjic-495 1699 41 50 50 NUM hjic-495 1699 42 � � NOUN hjic-495 1699 43 2.504 2.504 NUM hjic-495 1699 44 0 0 NUM hjic-495 1700 1 2.4328 2.4328 NUM hjic-495 1700 2 0 0 NUM hjic-495 1701 1 0.2370 0.2370 NUM hjic-495 1701 2 0 0 NUM hjic-495 1701 3 � � PROPN hjic-495 1701 4 0.244 0.244 NUM hjic-495 1701 5 � � NOUN hjic-495 1701 6 1.522 1.522 NUM hjic-495 1701 7 0 0 NUM hjic-495 1701 8 0 0 NUM hjic-495 1701 9 0.2370 0.2370 NUM hjic-495 1701 10 1.5222 1.5222 NUM hjic-495 1701 11 � � NOUN hjic-495 1701 12 0.244 0.244 NUM hjic-495 1701 13 0 0 NUM hjic-495 1702 1 � � PROPN hjic-495 1702 2 8.617 8.617 NUM hjic-495 1702 3 17.077 17.077 NUM hjic-495 1702 4 0 0 NUM hjic-495 1702 5 0 0 NUM hjic-495 1702 6 � � NOUN hjic-495 1702 7 0.288 0.288 NUM hjic-495 1702 8 3 3 NUM hjic-495 1702 9 77775 77775 NUM hjic-495 1702 10 . . PUNCT hjic-495 1703 1 ( ( PUNCT hjic-495 1703 2 32 32 NUM hjic-495 1703 3 ) ) PUNCT hjic-495 1703 4 the the DET hjic-495 1703 5 eigenvalues eigenvalue NOUN hjic-495 1703 6 of of ADP hjic-495 1703 7 the the DET hjic-495 1703 8 state state NOUN hjic-495 1703 9 matrix matrix NOUN hjic-495 1703 10 of of ADP hjic-495 1703 11 the the DET hjic-495 1703 12 linearized linearize VERB hjic-495 1703 13 systems system NOUN hjic-495 1703 14 are be AUX hjic-495 1703 15 : : PUNCT hjic-495 1703 16 � � PROPN hjic-495 1703 17 1,2 1,2 NUM hjic-495 1703 18 = = SYM hjic-495 1703 19 � � PROPN hjic-495 1703 20 2.504 2.504 NUM hjic-495 1703 21 ± ± NUM hjic-495 1703 22 j49.98 j49.98 NOUN hjic-495 1703 23 , , PUNCT hjic-495 1703 24 � � PROPN hjic-495 1703 25 3,4 3,4 NUM hjic-495 1703 26 = = SYM hjic-495 1703 27 � � PROPN hjic-495 1703 28 0.243 0.243 NUM hjic-495 1703 29 ± ± NUM hjic-495 1703 30 j1.534 j1.534 NOUN hjic-495 1703 31 , , PUNCT hjic-495 1703 32 and and CCONJ hjic-495 1703 33 � � PROPN hjic-495 1703 34 5 5 NUM hjic-495 1703 35 = = SYM hjic-495 1703 36 � � PROPN hjic-495 1703 37 0.288 0.288 NUM hjic-495 1703 38 ( ( PUNCT hjic-495 1703 39 33 33 NUM hjic-495 1703 40 ) ) PUNCT hjic-495 1703 41 figure figure NOUN hjic-495 1703 42 6 6 NUM hjic-495 1703 43 : : PUNCT hjic-495 1703 44 the the DET hjic-495 1703 45 model model NOUN hjic-495 1703 46 state state NOUN hjic-495 1703 47 variables variable NOUN hjic-495 1703 48 for for ADP hjic-495 1703 49 a a DET hjic-495 1703 50 ±50 ±50 NOUN hjic-495 1703 51 % % NOUN hjic-495 1703 52 change change NOUN hjic-495 1703 53 in in ADP hjic-495 1703 54 r r NOUN hjic-495 1703 55 s s PRON hjic-495 1703 56 it it PRON hjic-495 1703 57 is be AUX hjic-495 1703 58 apparent apparent ADJ hjic-495 1703 59 that that SCONJ hjic-495 1703 60 the the DET hjic-495 1703 61 real real ADJ hjic-495 1703 62 parts part NOUN hjic-495 1703 63 of of ADP hjic-495 1703 64 the the DET hjic-495 1703 65 eigenvalues eigenvalue NOUN hjic-495 1703 66 are be AUX hjic-495 1703 67 negative negative ADJ hjic-495 1703 68 with with ADP hjic-495 1703 69 small small ADJ hjic-495 1703 70 magnitudes magnitude NOUN hjic-495 1703 71 . . PUNCT hjic-495 1704 1 parameter parameter NOUN hjic-495 1704 2 sensitivity sensitivity NOUN hjic-495 1704 3 analysis analysis NOUN hjic-495 1704 4 the the DET hjic-495 1704 5 sensitivity sensitivity NOUN hjic-495 1704 6 of of ADP hjic-495 1704 7 the the DET hjic-495 1704 8 nonlinear nonlinear ADJ hjic-495 1704 9 model model NOUN hjic-495 1704 10 to to ADP hjic-495 1704 11 the the DET hjic-495 1704 12 mutual mutual ADJ hjic-495 1704 13 inductance inductance NOUN hjic-495 1704 14 has have AUX hjic-495 1704 15 been be AUX hjic-495 1704 16 investigated investigate VERB hjic-495 1704 17 . . PUNCT hjic-495 1705 1 the the DET hjic-495 1705 2 steady steady ADJ hjic-495 1705 3 state state NOUN hjic-495 1705 4 value value NOUN hjic-495 1705 5 of of ADP hjic-495 1705 6 the the DET hjic-495 1705 7 system system NOUN hjic-495 1705 8 variables variable NOUN hjic-495 1705 9 does do AUX hjic-495 1705 10 not not PART hjic-495 1705 11 change change VERB hjic-495 1705 12 ( ( PUNCT hjic-495 1705 13 as as SCONJ hjic-495 1705 14 is be AUX hjic-495 1705 15 apparent apparent ADJ hjic-495 1705 16 in in ADP hjic-495 1705 17 fig.5 fig.5 NOUN hjic-495 1705 18 ) ) PUNCT hjic-495 1705 19 even even ADV hjic-495 1705 20 for for ADP hjic-495 1705 21 a a DET hjic-495 1705 22 considerably considerably ADV hjic-495 1705 23 large large ADJ hjic-495 1705 24 change change NOUN hjic-495 1705 25 in in ADP hjic-495 1705 26 l l NOUN hjic-495 1705 27 m m NOUN hjic-495 1705 28 . . PUNCT hjic-495 1706 1 sensitivity sensitivity NOUN hjic-495 1706 2 analysis analysis NOUN hjic-495 1706 3 of of ADP hjic-495 1706 4 the the DET hjic-495 1706 5 inductances inductance NOUN hjic-495 1706 6 l l NOUN hjic-495 1706 7 lr lr X hjic-495 1706 8 , , PUNCT hjic-495 1706 9 l l PROPN hjic-495 1706 10 ls ls NOUN hjic-495 1706 11 of of ADP hjic-495 1706 12 the the DET hjic-495 1706 13 stator stator NOUN hjic-495 1706 14 and and CCONJ hjic-495 1706 15 rotor rotor NOUN hjic-495 1706 16 , , PUNCT hjic-495 1706 17 resistances resistance NOUN hjic-495 1706 18 of of ADP hjic-495 1706 19 the the DET hjic-495 1706 20 stator stator NOUN hjic-495 1706 21 r r NOUN hjic-495 1706 22 s s NOUN hjic-495 1706 23 and and CCONJ hjic-495 1706 24 the the DET hjic-495 1706 25 damping damp VERB hjic-495 1706 26 constant constant ADJ hjic-495 1706 27 f f PROPN hjic-495 1706 28 has have AUX hjic-495 1706 29 also also ADV hjic-495 1706 30 been be AUX hjic-495 1706 31 investigated investigate VERB hjic-495 1706 32 . . PUNCT hjic-495 1707 1 in in ADP hjic-495 1707 2 this this DET hjic-495 1707 3 investigation investigation NOUN hjic-495 1707 4 it it PRON hjic-495 1707 5 can can AUX hjic-495 1707 6 be be AUX hjic-495 1707 7 seen see VERB hjic-495 1707 8 that that SCONJ hjic-495 1707 9 the the DET hjic-495 1707 10 values value NOUN hjic-495 1707 11 of of ADP hjic-495 1707 12 the the DET hjic-495 1707 13 state state NOUN hjic-495 1707 14 variables variable NOUN hjic-495 1707 15 were be AUX hjic-495 1707 16 changed change VERB hjic-495 1707 17 a a DET hjic-495 1707 18 bit bit NOUN hjic-495 1707 19 , , PUNCT hjic-495 1707 20 as as SCONJ hjic-495 1707 21 shown show VERB hjic-495 1707 22 in in ADP hjic-495 1707 23 fig.6 fig.6 PROPN hjic-495 1707 24 . . PUNCT hjic-495 1708 1 the the DET hjic-495 1708 2 analysis analysis NOUN hjic-495 1708 3 of of ADP hjic-495 1708 4 the the DET hjic-495 1708 5 resistances resistance NOUN hjic-495 1708 6 of of ADP hjic-495 1708 7 the the DET hjic-495 1708 8 rotor rotor NOUN hjic-495 1708 9 r0 r0 NOUN hjic-495 1708 10 r r NOUN hjic-495 1708 11 and and CCONJ hjic-495 1708 12 the the DET hjic-495 1708 13 inertia inertia NOUN hjic-495 1708 14 h h NOUN hjic-495 1708 15 of of ADP hjic-495 1708 16 the the DET hjic-495 1708 17 rotor rotor NOUN hjic-495 1708 18 showed show VERB hjic-495 1708 19 that that SCONJ hjic-495 1708 20 every every DET hjic-495 1708 21 value value NOUN hjic-495 1708 22 of of ADP hjic-495 1708 23 the the DET hjic-495 1708 24 state state NOUN hjic-495 1708 25 variables variable NOUN hjic-495 1708 26 changed change VERB hjic-495 1708 27 significantly significantly ADV hjic-495 1708 28 , , PUNCT hjic-495 1708 29 as as SCONJ hjic-495 1708 30 shown show VERB hjic-495 1708 31 in in ADP hjic-495 1708 32 fig.7 fig.7 ADJ hjic-495 1708 33 . . PUNCT hjic-495 1709 1 as as ADP hjic-495 1709 2 a a DET hjic-495 1709 3 final final ADJ hjic-495 1709 4 result result NOUN hjic-495 1709 5 of of ADP hjic-495 1709 6 the the DET hjic-495 1709 7 sensitivity sensitivity NOUN hjic-495 1709 8 analysis analysis NOUN hjic-495 1709 9 , , PUNCT hjic-495 1709 10 we we PRON hjic-495 1709 11 can can AUX hjic-495 1709 12 define define VERB hjic-495 1709 13 the the DET hjic-495 1709 14 following follow VERB hjic-495 1709 15 groups group NOUN hjic-495 1709 16 of of ADP hjic-495 1709 17 parameters parameter NOUN hjic-495 1709 18 : : PUNCT hjic-495 1709 19 • • NOUN hjic-495 1709 20 not not PART hjic-495 1709 21 sensitive sensitive ADJ hjic-495 1709 22 : : PUNCT hjic-495 1709 23 mutual mutual ADJ hjic-495 1709 24 inductance inductance NOUN hjic-495 1709 25 l l NOUN hjic-495 1709 26 m m VERB hjic-495 1709 27 . . PUNCT hjic-495 1710 1 since since SCONJ hjic-495 1710 2 the the DET hjic-495 1710 3 state state NOUN hjic-495 1710 4 space space NOUN hjic-495 1710 5 model model NOUN hjic-495 1710 6 of of ADP hjic-495 1710 7 interest interest NOUN hjic-495 1710 8 is be AUX hjic-495 1710 9 insensitive insensitive ADJ hjic-495 1710 10 in in ADP hjic-495 1710 11 this this DET hjic-495 1710 12 respect respect NOUN hjic-495 1710 13 , , PUNCT hjic-495 1710 14 the the DET hjic-495 1710 15 values value NOUN hjic-495 1710 16 of of ADP hjic-495 1710 17 this this DET hjic-495 1710 18 parameter parameter NOUN hjic-495 1710 19 can can AUX hjic-495 1710 20 not not PART hjic-495 1710 21 be be AUX hjic-495 1710 22 reliably reliably ADV hjic-495 1710 23 determined determined ADJ hjic-495 1710 24 from from ADP hjic-495 1710 25 measurement measurement NOUN hjic-495 1710 26 data datum NOUN hjic-495 1710 27 using use VERB hjic-495 1710 28 any any DET hjic-495 1710 29 parameter parameter NOUN hjic-495 1710 30 estimation estimation NOUN hjic-495 1710 31 method method NOUN hjic-495 1710 32 . . PUNCT hjic-495 1711 1 • • NOUN hjic-495 1711 2 sensitive sensitive ADJ hjic-495 1711 3 : : PUNCT hjic-495 1711 4 these these DET hjic-495 1711 5 sensitive sensitive ADJ hjic-495 1711 6 parameters parameter NOUN hjic-495 1711 7 are be AUX hjic-495 1711 8 candidates candidate NOUN hjic-495 1711 9 for for ADP hjic-495 1711 10 parameter parameter NOUN hjic-495 1711 11 estimation estimation NOUN hjic-495 1711 12 . . PUNCT hjic-495 1712 1 – – PUNCT hjic-495 1712 2 less less ADJ hjic-495 1712 3 : : PUNCT hjic-495 1712 4 inductances inductance NOUN hjic-495 1712 5 l l NOUN hjic-495 1712 6 lr lr NOUN hjic-495 1712 7 and and CCONJ hjic-495 1712 8 l l NOUN hjic-495 1712 9 ls ls X hjic-495 1712 10 , , PUNCT hjic-495 1712 11 resistance resistance NOUN hjic-495 1712 12 of of ADP hjic-495 1712 13 the the DET hjic-495 1712 14 stator stator NOUN hjic-495 1712 15 r r NOUN hjic-495 1712 16 s s NOUN hjic-495 1712 17 and and CCONJ hjic-495 1712 18 the the DET hjic-495 1712 19 damping damp VERB hjic-495 1712 20 constant constant ADJ hjic-495 1712 21 f f NOUN hjic-495 1712 22 . . PUNCT hjic-495 1713 1 – – PUNCT hjic-495 1713 2 more more ADJ hjic-495 1713 3 : : PUNCT hjic-495 1713 4 resistances resistance NOUN hjic-495 1713 5 of of ADP hjic-495 1713 6 the the DET hjic-495 1713 7 rotor rotor NOUN hjic-495 1713 8 r0 r0 NOUN hjic-495 1713 9 r r NOUN hjic-495 1713 10 and and CCONJ hjic-495 1713 11 the the DET hjic-495 1713 12 inertia inertia NOUN hjic-495 1713 13 h h NOUN hjic-495 1713 14 of of ADP hjic-495 1713 15 the the DET hjic-495 1713 16 rotor rotor NOUN hjic-495 1713 17 . . PUNCT hjic-495 1714 1 • • NUM hjic-495 1714 2 critically critically ADV hjic-495 1714 3 sensitive sensitive ADJ hjic-495 1714 4 : : PUNCT hjic-495 1714 5 none none NOUN hjic-495 1714 6 . . PUNCT hjic-495 1715 1 113 113 NUM hjic-495 1715 2 figure figure NOUN hjic-495 1715 3 7 7 NUM hjic-495 1715 4 : : PUNCT hjic-495 1715 5 the the DET hjic-495 1715 6 model model NOUN hjic-495 1715 7 state state NOUN hjic-495 1715 8 variables variable NOUN hjic-495 1715 9 for for ADP hjic-495 1715 10 a a DET hjic-495 1715 11 ±50 ±50 NOUN hjic-495 1715 12 % % NOUN hjic-495 1715 13 change change NOUN hjic-495 1715 14 in in ADP hjic-495 1715 15 h h NOUN hjic-495 1715 16 conclusion conclusion NOUN hjic-495 1715 17 the the DET hjic-495 1715 18 simple simple ADJ hjic-495 1715 19 nonlinear nonlinear ADJ hjic-495 1715 20 dynamical dynamical ADJ hjic-495 1715 21 model model NOUN hjic-495 1715 22 of of ADP hjic-495 1715 23 an an PRON hjic-495 1715 24 i i PRON hjic-495 1715 25 m m VERB hjic-495 1715 26 has have AUX hjic-495 1715 27 been be AUX hjic-495 1715 28 investigated investigate VERB hjic-495 1715 29 in in ADP hjic-495 1715 30 this this DET hjic-495 1715 31 paper paper NOUN hjic-495 1715 32 . . PUNCT hjic-495 1716 1 it it PRON hjic-495 1716 2 has have AUX hjic-495 1716 3 been be AUX hjic-495 1716 4 shown show VERB hjic-495 1716 5 that that SCONJ hjic-495 1716 6 the the DET hjic-495 1716 7 model model NOUN hjic-495 1716 8 is be AUX hjic-495 1716 9 locally locally ADV hjic-495 1716 10 asymptotically asymptotically ADV hjic-495 1716 11 stable stable ADJ hjic-495 1716 12 with with ADP hjic-495 1716 13 regards regard NOUN hjic-495 1716 14 to to ADP hjic-495 1716 15 a a DET hjic-495 1716 16 physically physically ADV hjic-495 1716 17 meaningful meaningful ADJ hjic-495 1716 18 equilibrium equilibrium NOUN hjic-495 1716 19 state state NOUN hjic-495 1716 20 . . PUNCT hjic-495 1717 1 the the DET hjic-495 1717 2 effect effect NOUN hjic-495 1717 3 of of ADP hjic-495 1717 4 the the DET hjic-495 1717 5 controlled control VERB hjic-495 1717 6 generator generator NOUN hjic-495 1717 7 has have AUX hjic-495 1717 8 been be AUX hjic-495 1717 9 analyzed analyze VERB hjic-495 1717 10 by by ADP hjic-495 1717 11 simulation simulation NOUN hjic-495 1717 12 using use VERB hjic-495 1717 13 a a DET hjic-495 1717 14 traditional traditional ADJ hjic-495 1717 15 pi pi NOUN hjic-495 1717 16 controller controller NOUN hjic-495 1717 17 . . PUNCT hjic-495 1718 1 it it PRON hjic-495 1718 2 has have AUX hjic-495 1718 3 been be AUX hjic-495 1718 4 found find VERB hjic-495 1718 5 that that SCONJ hjic-495 1718 6 the the DET hjic-495 1718 7 controlled control VERB hjic-495 1718 8 system system NOUN hjic-495 1718 9 is be AUX hjic-495 1718 10 stable stable ADJ hjic-495 1718 11 and and CCONJ hjic-495 1718 12 can can AUX hjic-495 1718 13 follow follow VERB hjic-495 1718 14 the the DET hjic-495 1718 15 set set NOUN hjic-495 1718 16 - - PUNCT hjic-495 1718 17 point point NOUN hjic-495 1718 18 changes change NOUN hjic-495 1718 19 . . PUNCT hjic-495 1719 1 seven seven NUM hjic-495 1719 2 parameters parameter NOUN hjic-495 1719 3 of of ADP hjic-495 1719 4 the the DET hjic-495 1719 5 model model NOUN hjic-495 1719 6 were be AUX hjic-495 1719 7 selected select VERB hjic-495 1719 8 for for ADP hjic-495 1719 9 sensitivity sensitivity NOUN hjic-495 1719 10 analysis analysis NOUN hjic-495 1719 11 , , PUNCT hjic-495 1719 12 and and CCONJ hjic-495 1719 13 the the DET hjic-495 1719 14 sensitivity sensitivity NOUN hjic-495 1719 15 of of ADP hjic-495 1719 16 the the DET hjic-495 1719 17 state state NOUN hjic-495 1719 18 variables variable NOUN hjic-495 1719 19 has have AUX hjic-495 1719 20 been be AUX hjic-495 1719 21 investigated investigate VERB hjic-495 1719 22 . . PUNCT hjic-495 1720 1 as as ADP hjic-495 1720 2 a a DET hjic-495 1720 3 result result NOUN hjic-495 1720 4 , , PUNCT hjic-495 1720 5 the the DET hjic-495 1720 6 parameters parameter NOUN hjic-495 1720 7 were be AUX hjic-495 1720 8 partitioned partition VERB hjic-495 1720 9 into into ADP hjic-495 1720 10 three three NUM hjic-495 1720 11 groups group NOUN hjic-495 1720 12 . . PUNCT hjic-495 1721 1 based base VERB hjic-495 1721 2 on on ADP hjic-495 1721 3 the the DET hjic-495 1721 4 results result NOUN hjic-495 1721 5 presented present VERB hjic-495 1721 6 here here ADV hjic-495 1721 7 , , PUNCT hjic-495 1721 8 a a DET hjic-495 1721 9 future future ADJ hjic-495 1721 10 aim aim NOUN hjic-495 1721 11 is be AUX hjic-495 1721 12 to to PART hjic-495 1721 13 estimate estimate VERB hjic-495 1721 14 the the DET hjic-495 1721 15 parameters parameter NOUN hjic-495 1721 16 of of ADP hjic-495 1721 17 the the DET hjic-495 1721 18 model model NOUN hjic-495 1721 19 for for ADP hjic-495 1721 20 a a DET hjic-495 1721 21 real real ADJ hjic-495 1721 22 system system NOUN hjic-495 1721 23 from from ADP hjic-495 1721 24 measurements measurement NOUN hjic-495 1721 25 . . PUNCT hjic-495 1722 1 the the DET hjic-495 1722 2 sensitivity sensitivity NOUN hjic-495 1722 3 analysis analysis NOUN hjic-495 1722 4 enables enable VERB hjic-495 1722 5 us we PRON hjic-495 1722 6 to to PART hjic-495 1722 7 select select VERB hjic-495 1722 8 the the DET hjic-495 1722 9 candidates candidate NOUN hjic-495 1722 10 for for ADP hjic-495 1722 11 estimation estimation NOUN hjic-495 1722 12 that that PRON hjic-495 1722 13 are be AUX hjic-495 1722 14 inductances inductance NOUN hjic-495 1722 15 l l NOUN hjic-495 1722 16 lr lr NOUN hjic-495 1722 17 and and CCONJ hjic-495 1722 18 l l NOUN hjic-495 1722 19 ls ls PROPN hjic-495 1722 20 , , PUNCT hjic-495 1722 21 resistances resistance VERB hjic-495 1722 22 r r NOUN hjic-495 1722 23 s s NOUN hjic-495 1722 24 and and CCONJ hjic-495 1722 25 r r NOUN hjic-495 1722 26 r r NOUN hjic-495 1722 27 , , PUNCT hjic-495 1722 28 the the DET hjic-495 1722 29 damping damp VERB hjic-495 1722 30 constant constant ADJ hjic-495 1722 31 f f NOUN hjic-495 1722 32 and and CCONJ hjic-495 1722 33 the the DET hjic-495 1722 34 inertia inertia NOUN hjic-495 1722 35 h h NOUN hjic-495 1722 36 . . PUNCT hjic-495 1723 1 an an DET hjic-495 1723 2 additional additional ADJ hjic-495 1723 3 future future ADJ hjic-495 1723 4 aim aim NOUN hjic-495 1723 5 is be AUX hjic-495 1723 6 to to PART hjic-495 1723 7 develop develop VERB hjic-495 1723 8 a a DET hjic-495 1723 9 model model NOUN hjic-495 1723 10 for for ADP hjic-495 1723 11 control control NOUN hjic-495 1723 12 purposes purpose NOUN hjic-495 1723 13 and and CCONJ hjic-495 1723 14 investigate investigate VERB hjic-495 1723 15 different different ADJ hjic-495 1723 16 controllers controller NOUN hjic-495 1723 17 before before ADP hjic-495 1723 18 applying apply VERB hjic-495 1723 19 them they PRON hjic-495 1723 20 on on ADP hjic-495 1723 21 real real ADJ hjic-495 1723 22 systems system NOUN hjic-495 1723 23 . . PUNCT hjic-495 1724 1 acknowledgement acknowledgement NOUN hjic-495 1724 2 we we PRON hjic-495 1724 3 acknowledge acknowledge VERB hjic-495 1724 4 the the DET hjic-495 1724 5 financial financial ADJ hjic-495 1724 6 support support NOUN hjic-495 1724 7 of of ADP hjic-495 1724 8 this this DET hjic-495 1724 9 work work NOUN hjic-495 1724 10 by by ADP hjic-495 1724 11 the the DET hjic-495 1724 12 hungarian hungarian ADJ hjic-495 1724 13 state state NOUN hjic-495 1724 14 and and CCONJ hjic-495 1724 15 the the DET hjic-495 1724 16 european european PROPN hjic-495 1724 17 union union PROPN hjic-495 1724 18 under under ADP hjic-495 1724 19 the the DET hjic-495 1724 20 tamop-4.2.2.a-11/1 tamop-4.2.2.a-11/1 PROPN hjic-495 1724 21 / / SYM hjic-495 1724 22 konv-2012 konv-2012 NOUN hjic-495 1724 23 - - PUNCT hjic-495 1724 24 0072 0072 NUM hjic-495 1724 25 project project NOUN hjic-495 1724 26 . . PUNCT hjic-495 1725 1 we we PRON hjic-495 1725 2 acknowledge acknowledge VERB hjic-495 1725 3 also also ADV hjic-495 1725 4 the the DET hjic-495 1725 5 investigated investigated ADJ hjic-495 1725 6 i i PRON hjic-495 1725 7 m m VERB hjic-495 1725 8 of of ADP hjic-495 1725 9 grundfos grundfos PROPN hjic-495 1725 10 hungary hungary PROPN hjic-495 1725 11 producer producer PROPN hjic-495 1725 12 ltd ltd PROPN hjic-495 1725 13 . . PROPN hjic-495 1726 1 symbols symbols PROPN hjic-495 1726 2 c c PROPN hjic-495 1726 3 1 1 NUM hjic-495 1726 4 , , PUNCT hjic-495 1726 5 c c NOUN hjic-495 1726 6 2 2 NUM hjic-495 1726 7 , , PUNCT hjic-495 1726 8 c c PROPN hjic-495 1726 9 3 3 NUM hjic-495 1727 1 constant constant ADJ hjic-495 1727 2 f f NOUN hjic-495 1727 3 damping damp VERB hjic-495 1727 4 constant constant ADJ hjic-495 1727 5 � � NOUN hjic-495 1727 6 qs qs NOUN hjic-495 1727 7 and and CCONJ hjic-495 1727 8 � � PROPN hjic-495 1727 9 ds ds PROPN hjic-495 1727 10 q q PROPN hjic-495 1727 11 and and CCONJ hjic-495 1727 12 d d ADP hjic-495 1727 13 components component NOUN hjic-495 1727 14 of of ADP hjic-495 1727 15 the the DET hjic-495 1727 16 stator stator NOUN hjic-495 1727 17 flux flux PROPN hjic-495 1727 18 � � PROPN hjic-495 1727 19 0 0 NUM hjic-495 1727 20 qr qr PROPN hjic-495 1727 21 and and CCONJ hjic-495 1727 22 � � PROPN hjic-495 1727 23 0 0 PROPN hjic-495 1727 24 dr dr PROPN hjic-495 1727 25 q q PROPN hjic-495 1727 26 and and CCONJ hjic-495 1727 27 d d ADJ hjic-495 1727 28 components component NOUN hjic-495 1727 29 of of ADP hjic-495 1727 30 the the DET hjic-495 1727 31 reduced reduce VERB hjic-495 1727 32 rotor rotor NOUN hjic-495 1727 33 flux flux NOUN hjic-495 1727 34 h h PROPN hjic-495 1727 35 inertia inertia PROPN hjic-495 1727 36 constant constant ADJ hjic-495 1727 37 i i PRON hjic-495 1727 38 qs qs VERB hjic-495 1728 1 and and CCONJ hjic-495 1728 2 i i PRON hjic-495 1728 3 ds ds VERB hjic-495 1728 4 q q NOUN hjic-495 1729 1 and and CCONJ hjic-495 1729 2 d d ADP hjic-495 1729 3 components component NOUN hjic-495 1729 4 of of ADP hjic-495 1729 5 the the DET hjic-495 1729 6 stator stator NOUN hjic-495 1729 7 current current NOUN hjic-495 1729 8 i0 i0 PROPN hjic-495 1729 9 qr qr PROPN hjic-495 1729 10 and and CCONJ hjic-495 1729 11 i0 i0 PROPN hjic-495 1729 12 dr dr PROPN hjic-495 1729 13 q q PROPN hjic-495 1730 1 and and CCONJ hjic-495 1731 1 d d ADP hjic-495 1731 2 components component NOUN hjic-495 1731 3 of of ADP hjic-495 1731 4 the the DET hjic-495 1731 5 reduced reduced ADJ hjic-495 1731 6 rotor rotor NOUN hjic-495 1731 7 current current ADJ hjic-495 1731 8 l l NOUN hjic-495 1731 9 m m VERB hjic-495 1731 10 mutual mutual ADJ hjic-495 1731 11 inductance inductance NOUN hjic-495 1731 12 p p NOUN hjic-495 1731 13 number number NOUN hjic-495 1731 14 of of ADP hjic-495 1731 15 pole pole NOUN hjic-495 1731 16 pairs pair NOUN hjic-495 1731 17 r r NOUN hjic-495 1731 18 r r NOUN hjic-495 1731 19 and and CCONJ hjic-495 1731 20 l l NOUN hjic-495 1731 21 r r NOUN hjic-495 1731 22 rotor rotor NOUN hjic-495 1731 23 resistance resistance NOUN hjic-495 1731 24 and and CCONJ hjic-495 1731 25 inductance inductance NOUN hjic-495 1731 26 r0 r0 NOUN hjic-495 1731 27 r r NOUN hjic-495 1731 28 and and CCONJ hjic-495 1731 29 l0 l0 NOUN hjic-495 1731 30 r r NOUN hjic-495 1731 31 reduced reduce VERB hjic-495 1731 32 value value NOUN hjic-495 1731 33 of of ADP hjic-495 1731 34 rotor rotor NOUN hjic-495 1731 35 resistance resistance NOUN hjic-495 1731 36 and and CCONJ hjic-495 1731 37 inductance inductance NOUN hjic-495 1731 38 r r NOUN hjic-495 1731 39 s s NOUN hjic-495 1731 40 and and CCONJ hjic-495 1731 41 l l NOUN hjic-495 1731 42 s s NOUN hjic-495 1731 43 stator stator NOUN hjic-495 1731 44 resistance resistance NOUN hjic-495 1731 45 and and CCONJ hjic-495 1731 46 inductance inductance NOUN hjic-495 1731 47 v v X hjic-495 1731 48 d d NOUN hjic-495 1731 49 and and CCONJ hjic-495 1731 50 v v NOUN hjic-495 1731 51 q q NOUN hjic-495 1731 52 q q NOUN hjic-495 1731 53 and and CCONJ hjic-495 1731 54 d d ADJ hjic-495 1731 55 components component NOUN hjic-495 1731 56 of of ADP hjic-495 1731 57 the the DET hjic-495 1731 58 stator stator NOUN hjic-495 1731 59 voltage voltage NOUN hjic-495 1731 60 ! ! PUNCT hjic-495 1732 1 angular angular ADJ hjic-495 1732 2 velocity velocity NOUN hjic-495 1732 3 of of ADP hjic-495 1732 4 the the DET hjic-495 1732 5 magnetic magnetic ADJ hjic-495 1732 6 field field NOUN hjic-495 1732 7 ! ! PUNCT hjic-495 1733 1 r r NOUN hjic-495 1733 2 angular angular ADJ hjic-495 1733 3 velocity velocity NOUN hjic-495 1733 4 of of ADP hjic-495 1733 5 the the DET hjic-495 1733 6 rotor rotor NOUN hjic-495 1733 7 t t PROPN hjic-495 1733 8 mech mech NOUN hjic-495 1733 9 mechanical mechanical ADJ hjic-495 1733 10 torque torque NOUN hjic-495 1733 11 references reference NOUN hjic-495 1733 12 [ [ X hjic-495 1733 13 1 1 NUM hjic-495 1733 14 ] ] PUNCT hjic-495 1733 15 vas vas X hjic-495 1733 16 p. p. NOUN hjic-495 1733 17 : : PUNCT hjic-495 1734 1 artifical artifical ADJ hjic-495 1734 2 - - PUNCT hjic-495 1734 3 intelligence intelligence NOUN hjic-495 1734 4 - - PUNCT hjic-495 1734 5 based base VERB hjic-495 1734 6 electrical electrical ADJ hjic-495 1734 7 machines machine NOUN hjic-495 1734 8 and and CCONJ hjic-495 1734 9 drives drive NOUN hjic-495 1734 10 , , PUNCT hjic-495 1734 11 oxford oxford PROPN hjic-495 1734 12 university university PROPN hjic-495 1734 13 press press NOUN hjic-495 1734 14 , , PUNCT hjic-495 1734 15 1999 1999 NUM hjic-495 1735 1 [ [ X hjic-495 1735 2 2 2 NUM hjic-495 1735 3 ] ] PUNCT hjic-495 1735 4 vas vas X hjic-495 1735 5 p. p. NOUN hjic-495 1735 6 : : PUNCT hjic-495 1735 7 sensorless sensorless NOUN hjic-495 1735 8 vector vector NOUN hjic-495 1735 9 and and CCONJ hjic-495 1735 10 direct direct ADJ hjic-495 1735 11 torque torque NOUN hjic-495 1735 12 control control NOUN hjic-495 1735 13 . . PUNCT hjic-495 1736 1 oxford oxford PROPN hjic-495 1736 2 university university PROPN hjic-495 1736 3 press press NOUN hjic-495 1736 4 , , PUNCT hjic-495 1736 5 1998 1998 NUM hjic-495 1736 6 . . PUNCT hjic-495 1737 1 [ [ X hjic-495 1737 2 3 3 X hjic-495 1737 3 ] ] X hjic-495 1737 4 zheng zheng PROPN hjic-495 1737 5 l. l. PROPN hjic-495 1737 6 , , PUNCT hjic-495 1737 7 fletcher fletcher PROPN hjic-495 1737 8 j.e j.e PROPN hjic-495 1737 9 . . PROPN hjic-495 1737 10 , , PUNCT hjic-495 1737 11 williams williams PROPN hjic-495 1737 12 b.w b.w PROPN hjic-495 1737 13 . . PUNCT hjic-495 1737 14 he he PRON hjic-495 1737 15 x. x. VERB hjic-495 1737 16 : : PUNCT hjic-495 1738 1 dual dual ADJ hjic-495 1738 2 - - PUNCT hjic-495 1738 3 plane plane NOUN hjic-495 1738 4 vector vector NOUN hjic-495 1738 5 control control NOUN hjic-495 1738 6 of of ADP hjic-495 1738 7 a a DET hjic-495 1738 8 five five NUM hjic-495 1738 9 - - PUNCT hjic-495 1738 10 phase phase NOUN hjic-495 1738 11 induction induction NOUN hjic-495 1738 12 machine machine NOUN hjic-495 1738 13 for for ADP hjic-495 1738 14 an an DET hjic-495 1738 15 improved improved ADJ hjic-495 1738 16 flux flux NOUN hjic-495 1738 17 pattern pattern NOUN hjic-495 1738 18 , , PUNCT hjic-495 1738 19 ieee ieee NOUN hjic-495 1738 20 transac transac NOUN hjic-495 1738 21 . . PUNCT hjic-495 1739 1 ind ind NOUN hjic-495 1739 2 . . PUNCT hjic-495 1740 1 elec elec PROPN hjic-495 1740 2 . . PROPN hjic-495 1740 3 , , PUNCT hjic-495 1740 4 2008 2008 NUM hjic-495 1740 5 , , PUNCT hjic-495 1740 6 55(5 55(5 NUM hjic-495 1740 7 ) ) PUNCT hjic-495 1740 8 , , PUNCT hjic-495 1740 9 1996–2005 1996–2005 NUM hjic-495 1740 10 [ [ X hjic-495 1740 11 4 4 NUM hjic-495 1740 12 ] ] X hjic-495 1740 13 levi levi PROPN hjic-495 1740 14 e. e. PROPN hjic-495 1740 15 : : PUNCT hjic-495 1740 16 impact impact NOUN hjic-495 1740 17 of of ADP hjic-495 1740 18 iron iron NOUN hjic-495 1740 19 loss loss NOUN hjic-495 1740 20 on on ADP hjic-495 1740 21 behavior behavior NOUN hjic-495 1740 22 of of ADP hjic-495 1740 23 vector vector NOUN hjic-495 1740 24 controlled control VERB hjic-495 1740 25 induction induction NOUN hjic-495 1740 26 machines machine NOUN hjic-495 1740 27 , , PUNCT hjic-495 1740 28 ieee ieee NOUN hjic-495 1740 29 transac transac NOUN hjic-495 1740 30 . . PUNCT hjic-495 1741 1 ind ind NOUN hjic-495 1741 2 . . PUNCT hjic-495 1741 3 appl appl PROPN hjic-495 1741 4 . . PROPN hjic-495 1741 5 , , PUNCT hjic-495 1741 6 1995 1995 NUM hjic-495 1741 7 , , PUNCT hjic-495 1741 8 31(6 31(6 NUM hjic-495 1741 9 ) ) PUNCT hjic-495 1741 10 , , PUNCT hjic-495 1741 11 1287–1296 1287–1296 X hjic-495 1742 1 [ [ X hjic-495 1742 2 5 5 NUM hjic-495 1742 3 ] ] PUNCT hjic-495 1742 4 hasegawa hasegawa PROPN hjic-495 1742 5 m. m. PROPN hjic-495 1742 6 , , PUNCT hjic-495 1742 7 matsui matsui PROPN hjic-495 1742 8 k. k. PROPN hjic-495 1742 9 : : PUNCT hjic-495 1742 10 robust robust ADJ hjic-495 1742 11 adaptive adaptive ADJ hjic-495 1742 12 full full ADJ hjic-495 1742 13 - - PUNCT hjic-495 1742 14 order order NOUN hjic-495 1742 15 observer observer NOUN hjic-495 1742 16 design design NOUN hjic-495 1742 17 with with ADP hjic-495 1742 18 novel novel ADJ hjic-495 1742 19 adaptive adaptive ADJ hjic-495 1742 20 scheme scheme NOUN hjic-495 1742 21 for for ADP hjic-495 1742 22 speed speed NOUN hjic-495 1742 23 sensorless sensorless NOUN hjic-495 1742 24 vector vector NOUN hjic-495 1742 25 controlled control VERB hjic-495 1742 26 induction induction NOUN hjic-495 1742 27 motors motor NOUN hjic-495 1742 28 , , PUNCT hjic-495 1742 29 proc proc NOUN hjic-495 1742 30 . . PUNCT hjic-495 1743 1 28th 28th ADJ hjic-495 1743 2 annual annual ADJ hjic-495 1743 3 conf conf NOUN hjic-495 1743 4 . . PUNCT hjic-495 1744 1 industrial industrial ADJ hjic-495 1744 2 electronics electronic NOUN hjic-495 1744 3 society society NOUN hjic-495 1744 4 , , PUNCT hjic-495 1744 5 ieee ieee NOUN hjic-495 1744 6 2002 2002 NUM hjic-495 1744 7 , , PUNCT hjic-495 1744 8 2002 2002 NUM hjic-495 1744 9 , , PUNCT hjic-495 1744 10 1 1 NUM hjic-495 1744 11 , , PUNCT hjic-495 1744 12 83–88 83–88 NUM hjic-495 1744 13 [ [ X hjic-495 1744 14 6 6 NUM hjic-495 1744 15 ] ] PUNCT hjic-495 1744 16 geyer geyer PROPN hjic-495 1744 17 t. t. PROPN hjic-495 1744 18 , , PUNCT hjic-495 1744 19 papafotiou papafotiou PROPN hjic-495 1744 20 g. g. PROPN hjic-495 1744 21 , , PUNCT hjic-495 1744 22 morari morari ADJ hjic-495 1744 23 m. m. NOUN hjic-495 1744 24 : : PUNCT hjic-495 1744 25 model model NOUN hjic-495 1744 26 predictive predictive ADJ hjic-495 1744 27 direct direct ADJ hjic-495 1744 28 torque torque NOUN hjic-495 1744 29 control control NOUN hjic-495 1744 30 - - PUNCT hjic-495 1744 31 part part NOUN hjic-495 1744 32 i i NOUN hjic-495 1744 33 : : PUNCT hjic-495 1744 34 concept concept NOUN hjic-495 1744 35 , , PUNCT hjic-495 1744 36 algorithm algorithm NOUN hjic-495 1744 37 , , PUNCT hjic-495 1744 38 and and CCONJ hjic-495 1744 39 analysis analysis NOUN hjic-495 1744 40 , , PUNCT hjic-495 1744 41 ieee ieee NOUN hjic-495 1744 42 transac transac NOUN hjic-495 1744 43 . . PUNCT hjic-495 1745 1 ind ind NOUN hjic-495 1745 2 . . PUNCT hjic-495 1746 1 elec elec PROPN hjic-495 1746 2 . . PROPN hjic-495 1746 3 , , PUNCT hjic-495 1746 4 2009 2009 NUM hjic-495 1746 5 , , PUNCT hjic-495 1746 6 56(6 56(6 NUM hjic-495 1746 7 ) ) PUNCT hjic-495 1746 8 , , PUNCT hjic-495 1747 1 1894–1905 1894–1905 NUM hjic-495 1747 2 [ [ X hjic-495 1747 3 7 7 NUM hjic-495 1747 4 ] ] X hjic-495 1747 5 krause krause PROPN hjic-495 1747 6 p.c p.c PROPN hjic-495 1747 7 . . PROPN hjic-495 1747 8 , , PUNCT hjic-495 1747 9 wasynczuk wasynczuk INTJ hjic-495 1747 10 o. o. PROPN hjic-495 1747 11 , , PUNCT hjic-495 1747 12 sudhoff sudhoff PROPN hjic-495 1747 13 s.d s.d PROPN hjic-495 1747 14 . . PUNCT hjic-495 1747 15 : : PUNCT hjic-495 1748 1 analysis analysis NOUN hjic-495 1748 2 of of ADP hjic-495 1748 3 electric electric ADJ hjic-495 1748 4 machinery machinery NOUN hjic-495 1748 5 , , PUNCT hjic-495 1748 6 ieee ieee NOUN hjic-495 1748 7 press press PROPN hjic-495 1748 8 , , PUNCT hjic-495 1748 9 new new PROPN hjic-495 1748 10 york york PROPN hjic-495 1748 11 , , PUNCT hjic-495 1748 12 1995 1995 NUM hjic-495 1748 13 [ [ X hjic-495 1748 14 8 8 NUM hjic-495 1748 15 ] ] X hjic-495 1748 16 mohan mohan PROPN hjic-495 1748 17 n. n. PROPN hjic-495 1748 18 , , PUNCT hjic-495 1748 19 undeland undeland ADV hjic-495 1748 20 t.m t.m PROPN hjic-495 1748 21 . . PROPN hjic-495 1748 22 , , PUNCT hjic-495 1748 23 robbins robbins PROPN hjic-495 1748 24 w.p w.p PROPN hjic-495 1748 25 . . PUNCT hjic-495 1748 26 : : PUNCT hjic-495 1749 1 power power NOUN hjic-495 1749 2 electronics electronic NOUN hjic-495 1749 3 : : PUNCT hjic-495 1749 4 converters converter NOUN hjic-495 1749 5 , , PUNCT hjic-495 1749 6 applications application NOUN hjic-495 1749 7 , , PUNCT hjic-495 1749 8 and and CCONJ hjic-495 1749 9 design design NOUN hjic-495 1749 10 , , PUNCT hjic-495 1749 11 john john PROPN hjic-495 1749 12 wiley wiley PROPN hjic-495 1749 13 & & CCONJ hjic-495 1749 14 sons sons PROPN hjic-495 1749 15 inc inc PROPN hjic-495 1749 16 . . PROPN hjic-495 1749 17 , , PUNCT hjic-495 1749 18 new new PROPN hjic-495 1749 19 york york PROPN hjic-495 1749 20 , , PUNCT hjic-495 1749 21 1995 1995 NUM hjic-495 1749 22 [ [ X hjic-495 1749 23 9 9 NUM hjic-495 1749 24 ] ] X hjic-495 1749 25 hatos hato NOUN hjic-495 1749 26 p. p. NOUN hjic-495 1749 27 , , PUNCT hjic-495 1749 28 fodor fodor PROPN hjic-495 1749 29 , , PUNCT hjic-495 1749 30 a. a. PROPN hjic-495 1749 31 , , PUNCT hjic-495 1749 32 magyar magyar PROPN hjic-495 1749 33 a. a. PROPN hjic-495 1749 34 : : PUNCT hjic-495 1749 35 parameter parameter NOUN hjic-495 1749 36 sensitivity sensitivity NOUN hjic-495 1749 37 analysis analysis NOUN hjic-495 1749 38 of of ADP hjic-495 1749 39 an an DET hjic-495 1749 40 induction induction NOUN hjic-495 1749 41 motor motor NOUN hjic-495 1749 42 , , PUNCT hjic-495 1749 43 hung hung PROPN hjic-495 1749 44 . . PUNCT hjic-495 1750 1 j. j. PROPN hjic-495 1750 2 ind ind PROPN hjic-495 1750 3 . . PUNCT hjic-495 1751 1 chem chem PROPN hjic-495 1751 2 . . PUNCT hjic-495 1751 3 , , PUNCT hjic-495 1751 4 2011 2011 NUM hjic-495 1751 5 , , PUNCT hjic-495 1751 6 39(1 39(1 NUM hjic-495 1751 7 ) ) PUNCT hjic-495 1751 8 , , PUNCT hjic-495 1751 9 157–161 157–161 NUM hjic-495 1751 10 advertise advertise NOUN hjic-495 1751 11 upcoming upcoming ADJ hjic-495 1751 12 meetings meeting NOUN hjic-495 1751 13 , , PUNCT hjic-495 1751 14 conferences conference NOUN hjic-495 1751 15 , , PUNCT hjic-495 1751 16 workshops workshop NOUN hjic-495 1751 17 , , PUNCT hjic-495 1751 18 new new ADJ hjic-495 1751 19 products product NOUN hjic-495 1751 20 or or CCONJ hjic-495 1751 21 services service NOUN hjic-495 1751 22 ; ; PUNCT hjic-495 1751 23 make make VERB hjic-495 1751 24 public public ADJ hjic-495 1751 25 announcements announcement NOUN hjic-495 1751 26 , , PUNCT hjic-495 1751 27 introduce introduce VERB hjic-495 1751 28 your your PRON hjic-495 1751 29 research research NOUN hjic-495 1751 30 laboratory laboratory NOUN hjic-495 1751 31 on on ADP hjic-495 1751 32 the the DET hjic-495 1751 33 pages page NOUN hjic-495 1751 34 of of ADP hjic-495 1751 35 the the DET hjic-495 1751 36 hungarian hungarian ADJ hjic-495 1751 37 journal journal NOUN hjic-495 1751 38 of of ADP hjic-495 1751 39 industry industry NOUN hjic-495 1751 40 and and CCONJ hjic-495 1751 41 chemistry chemistry NOUN hjic-495 1751 42 please please INTJ hjic-495 1751 43 contact contact VERB hjic-495 1751 44 us we PRON hjic-495 1751 45 if if SCONJ hjic-495 1751 46 interested interested ADJ hjic-495 1751 47 ! ! PUNCT hjic-495 1752 1 editorial editorial ADJ hjic-495 1752 2 office office NOUN hjic-495 1752 3 : : PUNCT hjic-495 1752 4 university university NOUN hjic-495 1752 5 of of ADP hjic-495 1752 6 pannonia pannonia PROPN hjic-495 1752 7 p.o p.o PROPN hjic-495 1752 8 . . PROPN hjic-495 1752 9 box box PROPN hjic-495 1752 10 158 158 NUM hjic-495 1752 11 , , PUNCT hjic-495 1752 12 veszprém veszprém NOUN hjic-495 1752 13 h-8201 h-8201 NUM hjic-495 1752 14 ( ( PUNCT hjic-495 1752 15 hungary hungary PROPN hjic-495 1752 16 ) ) PUNCT hjic-495 1752 17 tel tel PROPN hjic-495 1752 18 . . PUNCT hjic-495 1752 19 : : PUNCT hjic-495 1753 1 +36 +36 NOUN hjic-495 1753 2 ( ( PUNCT hjic-495 1753 3 88 88 NUM hjic-495 1753 4 ) ) PUNCT hjic-495 1753 5 624 624 NUM hjic-495 1753 6 - - PUNCT hjic-495 1753 7 746 746 NUM hjic-495 1753 8 , , PUNCT hjic-495 1753 9 e e NOUN hjic-495 1753 10 - - NOUN hjic-495 1753 11 mail mail NOUN hjic-495 1753 12 : : PUNCT hjic-495 1753 13 hjic@almos.uni-pannon.hu hjic@almos.uni-pannon.hu PROPN hjic-495 1753 14 ; ; PUNCT hjic-495 1753 15 web web NOUN hjic-495 1753 16 : : PUNCT hjic-495 1753 17 hjic.mk.uni-pannon.hu hjic.mk.uni-pannon.hu PROPN hjic-495 1753 18 felelős felelős PROPN hjic-495 1753 19 szerkesztő szerkesztő PROPN hjic-495 1753 20 : : PUNCT hjic-495 1753 21 szilágyi szilágyi PROPN hjic-495 1753 22 róbert róbert VERB hjic-495 1753 23 károly károly PROPN hjic-495 1753 24 , , PUNCT hjic-495 1753 25 phd phd PROPN hjic-495 1753 26 kiadja kiadja PROPN hjic-495 1753 27 : : PUNCT hjic-495 1753 28 pannon pannon NOUN hjic-495 1753 29 egyetem egyetem PROPN hjic-495 1753 30 , , PUNCT hjic-495 1753 31 8200 8200 NUM hjic-495 1753 32 veszprém veszprém NOUN hjic-495 1753 33 , , PUNCT hjic-495 1753 34 egyetem egyetem PROPN hjic-495 1753 35 u. u. PROPN hjic-495 1753 36 10 10 NUM hjic-495 1753 37 . . PUNCT hjic-495 1754 1 levélcím levélcím ADV hjic-495 1754 2 : : PUNCT hjic-495 1754 3 h-8201 h-8201 NUM hjic-495 1754 4 veszprém veszprém NOUN hjic-495 1754 5 , , PUNCT hjic-495 1754 6 postafiók postafiók NOUN hjic-495 1754 7 158 158 NUM hjic-495 1754 8 , , PUNCT hjic-495 1754 9 tel tel PROPN hjic-495 1754 10 . . PROPN hjic-495 1754 11 : : PUNCT hjic-495 1754 12 ( ( PUNCT hjic-495 1754 13 88 88 NUM hjic-495 1754 14 ) ) SYM hjic-495 1754 15 624 624 NUM hjic-495 1754 16 - - PUNCT hjic-495 1754 17 000 000 NUM hjic-495 1754 18 felelős felelős PROPN hjic-495 1754 19 kiadó kiadó PROPN hjic-495 1754 20 : : PUNCT hjic-495 1754 21 a a DET hjic-495 1754 22 pannon pannon NOUN hjic-495 1754 23 egyetem egyetem NOUN hjic-495 1754 24 , , PUNCT hjic-495 1754 25 mérnöki mérnöki NOUN hjic-495 1754 26 kar kar PROPN hjic-495 1754 27 dékánja dékánja VERB