id	sid	tid	token	lemma	pos
44558c99h3m	1	1	in	in	ADP
44558c99h3m	1	2	light	light	NOUN
44558c99h3m	1	3	of	of	ADP
44558c99h3m	1	4	the	the	DET
44558c99h3m	1	5	apparent	apparent	ADJ
44558c99h3m	1	6	inability	inability	NOUN
44558c99h3m	1	7	of	of	ADP
44558c99h3m	1	8	alternative	alternative	ADJ
44558c99h3m	1	9	strategies	strategy	NOUN
44558c99h3m	1	10	to	to	PART
44558c99h3m	1	11	guide	guide	VERB
44558c99h3m	1	12	robots	robot	NOUN
44558c99h3m	1	13	satisfactorily	satisfactorily	ADV
44558c99h3m	1	14	,	,	PUNCT
44558c99h3m	1	15	in	in	ADP
44558c99h3m	1	16	real	real	ADJ
44558c99h3m	1	17	-	-	PUNCT
44558c99h3m	1	18	world	world	NOUN
44558c99h3m	1	19	settings	setting	NOUN
44558c99h3m	1	20	of	of	ADP
44558c99h3m	1	21	daily	daily	ADJ
44558c99h3m	1	22	operation	operation	NOUN
44558c99h3m	1	23	,	,	PUNCT
44558c99h3m	1	24	relative	relative	ADJ
44558c99h3m	1	25	to	to	PART
44558c99h3m	1	26	work	work	VERB
44558c99h3m	1	27	pieces	piece	NOUN
44558c99h3m	1	28	without	without	ADP
44558c99h3m	1	29	precise	precise	ADJ
44558c99h3m	1	30	,	,	PUNCT
44558c99h3m	1	31	permanent	permanent	ADJ
44558c99h3m	1	32	fixture	fixture	NOUN
44558c99h3m	1	33	as	as	SCONJ
44558c99h3m	1	34	required	require	VERB
44558c99h3m	1	35	by	by	ADP
44558c99h3m	1	36	"	"	PUNCT
44558c99h3m	1	37	teach	teach	VERB
44558c99h3m	1	38	/	/	SYM
44558c99h3m	1	39	repeat	repeat	NOUN
44558c99h3m	1	40	"	"	PUNCT
44558c99h3m	1	41	,	,	PUNCT
44558c99h3m	1	42	the	the	DET
44558c99h3m	1	43	present	present	ADJ
44558c99h3m	1	44	dissertation	dissertation	NOUN
44558c99h3m	1	45	proves	prove	VERB
44558c99h3m	1	46	real	real	ADJ
44558c99h3m	1	47	-	-	PUNCT
44558c99h3m	1	48	world	world	NOUN
44558c99h3m	1	49	robustness	robustness	NOUN
44558c99h3m	1	50	and	and	CCONJ
44558c99h3m	1	51	workability	workability	NOUN
44558c99h3m	1	52	of	of	ADP
44558c99h3m	1	53	the	the	DET
44558c99h3m	1	54	presented	present	VERB
44558c99h3m	1	55	paradigm	paradigm	NOUN
44558c99h3m	1	56	with	with	ADP
44558c99h3m	1	57	actual	actual	ADJ
44558c99h3m	1	58	tasks	task	NOUN
44558c99h3m	1	59	found	find	VERB
44558c99h3m	1	60	in	in	ADP
44558c99h3m	1	61	industry	industry	NOUN
44558c99h3m	1	62	.	.	PUNCT
44558c99h3m	2	1	two	two	NUM
44558c99h3m	2	2	fundamental	fundamental	ADJ
44558c99h3m	2	3	experiments	experiment	NOUN
44558c99h3m	2	4	-thickness	-thickness	SPACE
44558c99h3m	2	5	-	-	PUNCT
44558c99h3m	2	6	reduction	reduction	NOUN
44558c99h3m	2	7	-	-	PUNCT
44558c99h3m	2	8	gauging	gauging	NOUN
44558c99h3m	2	9	and	and	CCONJ
44558c99h3m	2	10	five	five	NUM
44558c99h3m	2	11	-	-	PUNCT
44558c99h3m	2	12	component	component	NOUN
44558c99h3m	2	13	positioning	positioning	NOUN
44558c99h3m	2	14	-prove	-prove	NOUN
44558c99h3m	2	15	experimentally	experimentally	ADV
44558c99h3m	2	16	that	that	SCONJ
44558c99h3m	2	17	the	the	DET
44558c99h3m	2	18	high	high	ADJ
44558c99h3m	2	19	precision	precision	NOUN
44558c99h3m	2	20	,	,	PUNCT
44558c99h3m	2	21	robustness	robustness	NOUN
44558c99h3m	2	22	,	,	PUNCT
44558c99h3m	2	23	and	and	CCONJ
44558c99h3m	2	24	workspace	workspace	NOUN
44558c99h3m	2	25	-	-	PUNCT
44558c99h3m	2	26	extent	extent	NOUN
44558c99h3m	2	27	versatility	versatility	NOUN
44558c99h3m	2	28	of	of	ADP
44558c99h3m	2	29	csm	csm	NOUN
44558c99h3m	2	30	can	can	AUX
44558c99h3m	2	31	be	be	AUX
44558c99h3m	2	32	extended	extend	VERB
44558c99h3m	2	33	to	to	ADP
44558c99h3m	2	34	general	general	ADJ
44558c99h3m	2	35	robot	robot	NOUN
44558c99h3m	2	36	operations	operation	NOUN
44558c99h3m	2	37	.	.	PUNCT
44558c99h3m	3	1	three	three	NUM
44558c99h3m	3	2	types	type	NOUN
44558c99h3m	3	3	of	of	ADP
44558c99h3m	3	4	general	general	ADJ
44558c99h3m	3	5	applications	application	NOUN
44558c99h3m	3	6	are	be	AUX
44558c99h3m	3	7	implemented	implement	VERB
44558c99h3m	3	8	based	base	VERB
44558c99h3m	3	9	on	on	ADP
44558c99h3m	3	10	the	the	DET
44558c99h3m	3	11	present	present	ADJ
44558c99h3m	3	12	method	method	NOUN
44558c99h3m	3	13	.	.	PUNCT
44558c99h3m	4	1	the	the	DET
44558c99h3m	4	2	first	first	ADJ
44558c99h3m	4	3	,	,	PUNCT
44558c99h3m	4	4	peg	peg	NOUN
44558c99h3m	4	5	-	-	PUNCT
44558c99h3m	4	6	in	in	ADP
44558c99h3m	4	7	-	-	PUNCT
44558c99h3m	4	8	hole	hole	NOUN
44558c99h3m	4	9	assembly	assembly	NOUN
44558c99h3m	4	10	,	,	PUNCT
44558c99h3m	4	11	is	be	AUX
44558c99h3m	4	12	a	a	DET
44558c99h3m	4	13	challenging	challenging	ADJ
44558c99h3m	4	14	robotics	robotic	NOUN
44558c99h3m	4	15	application	application	NOUN
44558c99h3m	4	16	in	in	ADP
44558c99h3m	4	17	industry	industry	NOUN
44558c99h3m	4	18	today	today	NOUN
44558c99h3m	4	19	,	,	PUNCT
44558c99h3m	4	20	one	one	NUM
44558c99h3m	4	21	that	that	PRON
44558c99h3m	4	22	requires	require	VERB
44558c99h3m	4	23	high	high	ADJ
44558c99h3m	4	24	precision	precision	NOUN
44558c99h3m	4	25	and	and	CCONJ
44558c99h3m	4	26	robustness	robustness	NOUN
44558c99h3m	4	27	of	of	ADP
44558c99h3m	4	28	five	five	NUM
44558c99h3m	4	29	-	-	PUNCT
44558c99h3m	4	30	component	component	NOUN
44558c99h3m	4	31	positioning	positioning	NOUN
44558c99h3m	4	32	.	.	PUNCT
44558c99h3m	5	1	the	the	DET
44558c99h3m	5	2	second	second	ADJ
44558c99h3m	5	3	,	,	PUNCT
44558c99h3m	5	4	surface	surface	NOUN
44558c99h3m	5	5	-	-	PUNCT
44558c99h3m	5	6	finishing	finish	VERB
44558c99h3m	5	7	,	,	PUNCT
44558c99h3m	5	8	task	task	NOUN
44558c99h3m	5	9	requires	require	VERB
44558c99h3m	5	10	a	a	DET
44558c99h3m	5	11	combination	combination	NOUN
44558c99h3m	5	12	of	of	ADP
44558c99h3m	5	13	gauging	gauge	VERB
44558c99h3m	5	14	the	the	DET
44558c99h3m	5	15	surface	surface	NOUN
44558c99h3m	5	16	change	change	NOUN
44558c99h3m	5	17	and	and	CCONJ
44558c99h3m	5	18	positioning	position	VERB
44558c99h3m	5	19	the	the	DET
44558c99h3m	5	20	tool	tool	NOUN
44558c99h3m	5	21	with	with	ADP
44558c99h3m	5	22	high	high	ADJ
44558c99h3m	5	23	precision	precision	NOUN
44558c99h3m	5	24	.	.	PUNCT
44558c99h3m	6	1	the	the	DET
44558c99h3m	6	2	third	third	ADJ
44558c99h3m	6	3	,	,	PUNCT
44558c99h3m	6	4	palletizing	palletizing	NOUN
44558c99h3m	6	5	and	and	CCONJ
44558c99h3m	6	6	de	de	NOUN
44558c99h3m	6	7	-	-	NOUN
44558c99h3m	6	8	palletizing	palletizing	NOUN
44558c99h3m	6	9	,	,	PUNCT
44558c99h3m	6	10	applications	application	NOUN
44558c99h3m	6	11	demonstrate	demonstrate	VERB
44558c99h3m	6	12	the	the	DET
44558c99h3m	6	13	robustness	robustness	NOUN
44558c99h3m	6	14	of	of	ADP
44558c99h3m	6	15	three	three	NUM
44558c99h3m	6	16	-	-	PUNCT
44558c99h3m	6	17	dimensional	dimensional	ADJ
44558c99h3m	6	18	image	image	NOUN
44558c99h3m	6	19	analysis	analysis	NOUN
44558c99h3m	6	20	in	in	ADP
44558c99h3m	6	21	real	real	ADJ
44558c99h3m	6	22	-	-	PUNCT
44558c99h3m	6	23	world	world	NOUN
44558c99h3m	6	24	tasks	task	NOUN
44558c99h3m	6	25	.	.	PUNCT