id	sid	tid	token	lemma	pos
th83kw5565k	1	1	the	the	DET
th83kw5565k	1	2	structures	structure	NOUN
th83kw5565k	1	3	of	of	ADP
th83kw5565k	1	4	many	many	ADJ
th83kw5565k	1	5	revolutionary	revolutionary	ADJ
th83kw5565k	1	6	technologies	technology	NOUN
th83kw5565k	1	7	,	,	PUNCT
th83kw5565k	1	8	such	such	ADJ
th83kw5565k	1	9	as	as	ADP
th83kw5565k	1	10	aircraft	aircraft	NOUN
th83kw5565k	1	11	wings	wing	NOUN
th83kw5565k	1	12	,	,	PUNCT
th83kw5565k	1	13	antennas	antenna	NOUN
th83kw5565k	1	14	,	,	PUNCT
th83kw5565k	1	15	wind	wind	NOUN
th83kw5565k	1	16	turbine	turbine	NOUN
th83kw5565k	1	17	blades	blade	NOUN
th83kw5565k	1	18	,	,	PUNCT
th83kw5565k	1	19	and	and	CCONJ
th83kw5565k	1	20	dies	die	VERB
th83kw5565k	1	21	for	for	ADP
th83kw5565k	1	22	polymer	polymer	NOUN
th83kw5565k	1	23	extrusion	extrusion	NOUN
th83kw5565k	1	24	,	,	PUNCT
th83kw5565k	1	25	have	have	AUX
th83kw5565k	1	26	remained	remain	VERB
th83kw5565k	1	27	largely	largely	ADV
th83kw5565k	1	28	unchanged	unchanged	ADJ
th83kw5565k	1	29	for	for	ADP
th83kw5565k	1	30	decades	decade	NOUN
th83kw5565k	1	31	.	.	PUNCT
th83kw5565k	2	1	in	in	ADP
th83kw5565k	2	2	the	the	DET
th83kw5565k	2	3	21st	21st	ADJ
th83kw5565k	2	4	century	century	NOUN
th83kw5565k	2	5	,	,	PUNCT
th83kw5565k	2	6	researchers	researcher	NOUN
th83kw5565k	2	7	have	have	AUX
th83kw5565k	2	8	started	start	VERB
th83kw5565k	2	9	to	to	PART
th83kw5565k	2	10	investigate	investigate	VERB
th83kw5565k	2	11	using	use	VERB
th83kw5565k	2	12	planar	planar	ADJ
th83kw5565k	2	13	morphing	morph	VERB
th83kw5565k	2	14	mechanisms	mechanism	NOUN
th83kw5565k	2	15	to	to	PART
th83kw5565k	2	16	increase	increase	VERB
th83kw5565k	2	17	the	the	DET
th83kw5565k	2	18	flexibility	flexibility	NOUN
th83kw5565k	2	19	and	and	CCONJ
th83kw5565k	2	20	real	real	ADJ
th83kw5565k	2	21	time	time	NOUN
th83kw5565k	2	22	performance	performance	NOUN
th83kw5565k	2	23	of	of	ADP
th83kw5565k	2	24	such	such	ADJ
th83kw5565k	2	25	systems	system	NOUN
th83kw5565k	2	26	.	.	PUNCT
th83kw5565k	3	1	a	a	DET
th83kw5565k	3	2	synthesis	synthesis	NOUN
th83kw5565k	3	3	approach	approach	NOUN
th83kw5565k	3	4	for	for	ADP
th83kw5565k	3	5	rigid	rigid	ADJ
th83kw5565k	3	6	-	-	PUNCT
th83kw5565k	3	7	body	body	NOUN
th83kw5565k	3	8	1	1	NUM
th83kw5565k	3	9	-	-	PUNCT
th83kw5565k	3	10	degree	degree	NOUN
th83kw5565k	3	11	-	-	PUNCT
th83kw5565k	3	12	of	of	ADP
th83kw5565k	3	13	-	-	PUNCT
th83kw5565k	3	14	freedom	freedom	NOUN
th83kw5565k	3	15	morphing	morph	VERB
th83kw5565k	3	16	mechanisms	mechanism	NOUN
th83kw5565k	3	17	has	have	AUX
th83kw5565k	3	18	previously	previously	ADV
th83kw5565k	3	19	been	be	AUX
th83kw5565k	3	20	developed	develop	VERB
th83kw5565k	3	21	.	.	PUNCT
th83kw5565k	4	1	this	this	DET
th83kw5565k	4	2	approach	approach	NOUN
th83kw5565k	4	3	is	be	AUX
th83kw5565k	4	4	rather	rather	ADV
th83kw5565k	4	5	limited	limited	ADJ
th83kw5565k	4	6	,	,	PUNCT
th83kw5565k	4	7	though	though	ADV
th83kw5565k	4	8	,	,	PUNCT
th83kw5565k	4	9	in	in	SCONJ
th83kw5565k	4	10	that	that	SCONJ
th83kw5565k	4	11	only	only	ADV
th83kw5565k	4	12	one	one	NUM
th83kw5565k	4	13	actuator	actuator	NOUN
th83kw5565k	4	14	may	may	AUX
th83kw5565k	4	15	be	be	AUX
th83kw5565k	4	16	used	use	VERB
th83kw5565k	4	17	,	,	PUNCT
th83kw5565k	4	18	only	only	ADV
th83kw5565k	4	19	particular	particular	ADJ
th83kw5565k	4	20	topologies	topology	NOUN
th83kw5565k	4	21	are	be	AUX
th83kw5565k	4	22	allowed	allow	VERB
th83kw5565k	4	23	,	,	PUNCT
th83kw5565k	4	24	and	and	CCONJ
th83kw5565k	4	25	the	the	DET
th83kw5565k	4	26	target	target	NOUN
th83kw5565k	4	27	profiles	profile	NOUN
th83kw5565k	4	28	must	must	AUX
th83kw5565k	4	29	have	have	VERB
th83kw5565k	4	30	the	the	DET
th83kw5565k	4	31	same	same	ADJ
th83kw5565k	4	32	arc	arc	NOUN
th83kw5565k	4	33	length	length	NOUN
th83kw5565k	4	34	.	.	PUNCT
th83kw5565k	5	1	this	this	DET
th83kw5565k	5	2	work	work	NOUN
th83kw5565k	5	3	extends	extend	VERB
th83kw5565k	5	4	this	this	DET
th83kw5565k	5	5	approach	approach	NOUN
th83kw5565k	5	6	by	by	ADP
th83kw5565k	5	7	overcoming	overcome	VERB
th83kw5565k	5	8	all	all	PRON
th83kw5565k	5	9	of	of	ADP
th83kw5565k	5	10	these	these	DET
th83kw5565k	5	11	limitations	limitation	NOUN
th83kw5565k	5	12	.	.	PUNCT
th83kw5565k	6	1	a	a	DET
th83kw5565k	6	2	genetic	genetic	ADJ
th83kw5565k	6	3	algorithm	algorithm	PROPN
th83kw5565k	6	4	framework	framework	NOUN
th83kw5565k	6	5	is	be	AUX
th83kw5565k	6	6	presented	present	VERB
th83kw5565k	6	7	that	that	SCONJ
th83kw5565k	6	8	allows	allow	VERB
th83kw5565k	6	9	for	for	SCONJ
th83kw5565k	6	10	1or	1or	PROPN
th83kw5565k	6	11	multi	multi	NOUN
th83kw5565k	6	12	-	-	ADJ
th83kw5565k	6	13	degree	degree	ADJ
th83kw5565k	6	14	-	-	PUNCT
th83kw5565k	6	15	of	of	ADP
th83kw5565k	6	16	-	-	PUNCT
th83kw5565k	6	17	freedom	freedom	NOUN
th83kw5565k	6	18	mechanisms	mechanism	NOUN
th83kw5565k	6	19	to	to	PART
th83kw5565k	6	20	be	be	AUX
th83kw5565k	6	21	generated	generate	VERB
th83kw5565k	6	22	and	and	CCONJ
th83kw5565k	6	23	for	for	ADP
th83kw5565k	6	24	different	different	ADJ
th83kw5565k	6	25	actuator	actuator	NOUN
th83kw5565k	6	26	coordination	coordination	NOUN
th83kw5565k	6	27	strategies	strategy	NOUN
th83kw5565k	6	28	to	to	PART
th83kw5565k	6	29	be	be	AUX
th83kw5565k	6	30	implemented	implement	VERB
th83kw5565k	6	31	.	.	PUNCT
th83kw5565k	7	1	these	these	DET
th83kw5565k	7	2	methods	method	NOUN
th83kw5565k	7	3	are	be	AUX
th83kw5565k	7	4	further	far	ADV
th83kw5565k	7	5	expanded	expand	VERB
th83kw5565k	7	6	to	to	PART
th83kw5565k	7	7	allow	allow	VERB
th83kw5565k	7	8	for	for	ADP
th83kw5565k	7	9	the	the	DET
th83kw5565k	7	10	simultaneous	simultaneous	ADJ
th83kw5565k	7	11	optimization	optimization	NOUN
th83kw5565k	7	12	of	of	ADP
th83kw5565k	7	13	both	both	CCONJ
th83kw5565k	7	14	topology	topology	NOUN
th83kw5565k	7	15	and	and	CCONJ
th83kw5565k	7	16	dimension	dimension	NOUN
th83kw5565k	7	17	of	of	ADP
th83kw5565k	7	18	morphing	morph	VERB
th83kw5565k	7	19	mechanisms	mechanism	NOUN
th83kw5565k	7	20	with	with	ADP
th83kw5565k	7	21	any	any	DET
th83kw5565k	7	22	number	number	NOUN
th83kw5565k	7	23	of	of	ADP
th83kw5565k	7	24	degrees	degree	NOUN
th83kw5565k	7	25	of	of	ADP
th83kw5565k	7	26	freedom	freedom	NOUN
th83kw5565k	7	27	.	.	PUNCT
th83kw5565k	8	1	the	the	DET
th83kw5565k	8	2	consideration	consideration	NOUN
th83kw5565k	8	3	of	of	ADP
th83kw5565k	8	4	all	all	DET
th83kw5565k	8	5	possible	possible	ADJ
th83kw5565k	8	6	topologies	topology	NOUN
th83kw5565k	8	7	assists	assist	NOUN
th83kw5565k	8	8	in	in	ADP
th83kw5565k	8	9	the	the	DET
th83kw5565k	8	10	mechanization	mechanization	NOUN
th83kw5565k	8	11	of	of	ADP
th83kw5565k	8	12	morphing	morph	VERB
th83kw5565k	8	13	chains	chain	NOUN
th83kw5565k	8	14	that	that	PRON
th83kw5565k	8	15	match	match	VERB
th83kw5565k	8	16	target	target	NOUN
th83kw5565k	8	17	profiles	profile	NOUN
th83kw5565k	8	18	with	with	ADP
th83kw5565k	8	19	varying	vary	VERB
th83kw5565k	8	20	arc	arc	NOUN
th83kw5565k	8	21	lengths	length	NOUN
th83kw5565k	8	22	,	,	PUNCT
th83kw5565k	8	23	since	since	SCONJ
th83kw5565k	8	24	the	the	DET
th83kw5565k	8	25	previous	previous	ADJ
th83kw5565k	8	26	methods	method	NOUN
th83kw5565k	8	27	can	can	AUX
th83kw5565k	8	28	not	not	PART
th83kw5565k	8	29	always	always	ADV
th83kw5565k	8	30	be	be	AUX
th83kw5565k	8	31	used	use	VERB
th83kw5565k	8	32	in	in	ADP
th83kw5565k	8	33	such	such	ADJ
th83kw5565k	8	34	cases	case	NOUN
th83kw5565k	8	35	.	.	PUNCT
th83kw5565k	9	1	this	this	DET
th83kw5565k	9	2	work	work	NOUN
th83kw5565k	9	3	shows	show	VERB
th83kw5565k	9	4	that	that	SCONJ
th83kw5565k	9	5	considering	consider	VERB
th83kw5565k	9	6	all	all	DET
th83kw5565k	9	7	possible	possible	ADJ
th83kw5565k	9	8	topologies	topology	NOUN
th83kw5565k	9	9	and	and	CCONJ
th83kw5565k	9	10	allowing	allow	VERB
th83kw5565k	9	11	for	for	ADP
th83kw5565k	9	12	multi	multi	ADJ
th83kw5565k	9	13	-	-	ADJ
th83kw5565k	9	14	degree	degree	ADJ
th83kw5565k	9	15	-	-	PUNCT
th83kw5565k	9	16	of	of	ADP
th83kw5565k	9	17	-	-	PUNCT
th83kw5565k	9	18	freedom	freedom	NOUN
th83kw5565k	9	19	solutions	solution	NOUN
th83kw5565k	9	20	allows	allow	VERB
th83kw5565k	9	21	for	for	ADP
th83kw5565k	9	22	more	more	ADJ
th83kw5565k	9	23	,	,	PUNCT
th83kw5565k	9	24	higher	high	ADJ
th83kw5565k	9	25	performing	perform	VERB
th83kw5565k	9	26	options	option	NOUN
th83kw5565k	9	27	to	to	PART
th83kw5565k	9	28	be	be	AUX
th83kw5565k	9	29	found	find	VERB
th83kw5565k	9	30	,	,	PUNCT
th83kw5565k	9	31	ultimately	ultimately	ADV
th83kw5565k	9	32	enabling	enable	VERB
th83kw5565k	9	33	better	well	ADJ
th83kw5565k	9	34	consideration	consideration	NOUN
th83kw5565k	9	35	of	of	ADP
th83kw5565k	9	36	engineering	engineering	NOUN
th83kw5565k	9	37	tradeoffs	tradeoff	NOUN
th83kw5565k	9	38	.	.	PUNCT
th83kw5565k	10	1	work	work	NOUN
th83kw5565k	10	2	in	in	ADP
th83kw5565k	10	3	using	use	VERB
th83kw5565k	10	4	these	these	DET
th83kw5565k	10	5	morphing	morph	VERB
th83kw5565k	10	6	mechanisms	mechanism	NOUN
th83kw5565k	10	7	as	as	SCONJ
th83kw5565k	10	8	morphing	morph	VERB
th83kw5565k	10	9	dies	die	VERB
th83kw5565k	10	10	in	in	ADP
th83kw5565k	10	11	polymer	polymer	NOUN
th83kw5565k	10	12	extrusion	extrusion	NOUN
th83kw5565k	10	13	is	be	AUX
th83kw5565k	10	14	then	then	ADV
th83kw5565k	10	15	presented	present	VERB
th83kw5565k	10	16	.	.	PUNCT
th83kw5565k	11	1	parts	part	NOUN
th83kw5565k	11	2	made	make	VERB
th83kw5565k	11	3	via	via	ADP
th83kw5565k	11	4	polymer	polymer	NOUN
th83kw5565k	11	5	extrusion	extrusion	NOUN
th83kw5565k	11	6	are	be	AUX
th83kw5565k	11	7	currently	currently	ADV
th83kw5565k	11	8	limited	limit	VERB
th83kw5565k	11	9	to	to	ADP
th83kw5565k	11	10	a	a	DET
th83kw5565k	11	11	constant	constant	ADJ
th83kw5565k	11	12	cross	cross	NOUN
th83kw5565k	11	13	section	section	NOUN
th83kw5565k	11	14	.	.	PUNCT
th83kw5565k	12	1	additionally	additionally	ADV
th83kw5565k	12	2	,	,	PUNCT
th83kw5565k	12	3	the	the	DET
th83kw5565k	12	4	process	process	NOUN
th83kw5565k	12	5	is	be	AUX
th83kw5565k	12	6	very	very	ADV
th83kw5565k	12	7	difficult	difficult	ADJ
th83kw5565k	12	8	to	to	PART
th83kw5565k	12	9	control	control	VERB
th83kw5565k	12	10	,	,	PUNCT
th83kw5565k	12	11	often	often	ADV
th83kw5565k	12	12	leading	lead	VERB
th83kw5565k	12	13	to	to	ADP
th83kw5565k	12	14	the	the	DET
th83kw5565k	12	15	final	final	ADJ
th83kw5565k	12	16	part	part	NOUN
th83kw5565k	12	17	dimensions	dimension	NOUN
th83kw5565k	12	18	being	be	AUX
th83kw5565k	12	19	controlled	control	VERB
th83kw5565k	12	20	in	in	ADP
th83kw5565k	12	21	a	a	DET
th83kw5565k	12	22	manual	manual	ADJ
th83kw5565k	12	23	trial	trial	NOUN
th83kw5565k	12	24	-	-	PUNCT
th83kw5565k	12	25	and	and	CCONJ
th83kw5565k	12	26	-	-	PUNCT
th83kw5565k	12	27	error	error	NOUN
th83kw5565k	12	28	manner	manner	NOUN
th83kw5565k	12	29	.	.	PUNCT
th83kw5565k	13	1	this	this	DET
th83kw5565k	13	2	work	work	NOUN
th83kw5565k	13	3	seeks	seek	VERB
th83kw5565k	13	4	to	to	PART
th83kw5565k	13	5	increase	increase	VERB
th83kw5565k	13	6	the	the	DET
th83kw5565k	13	7	capability	capability	NOUN
th83kw5565k	13	8	of	of	ADP
th83kw5565k	13	9	polymer	polymer	NOUN
th83kw5565k	13	10	extrusion	extrusion	NOUN
th83kw5565k	13	11	by	by	ADP
th83kw5565k	13	12	using	use	VERB
th83kw5565k	13	13	iterative	iterative	ADJ
th83kw5565k	13	14	learning	learning	NOUN
th83kw5565k	13	15	control	control	NOUN
th83kw5565k	13	16	to	to	PART
th83kw5565k	13	17	control	control	VERB
th83kw5565k	13	18	the	the	DET
th83kw5565k	13	19	final	final	ADJ
th83kw5565k	13	20	width	width	NOUN
th83kw5565k	13	21	of	of	ADP
th83kw5565k	13	22	a	a	DET
th83kw5565k	13	23	rectangular	rectangular	ADJ
th83kw5565k	13	24	part	part	NOUN
th83kw5565k	13	25	whose	whose	DET
th83kw5565k	13	26	width	width	NOUN
th83kw5565k	13	27	can	can	AUX
th83kw5565k	13	28	change	change	VERB
th83kw5565k	13	29	via	via	ADP
th83kw5565k	13	30	a	a	DET
th83kw5565k	13	31	simple	simple	ADJ
th83kw5565k	13	32	morphing	morph	VERB
th83kw5565k	13	33	die	die	NOUN
th83kw5565k	13	34	.	.	PUNCT
th83kw5565k	14	1	both	both	DET
th83kw5565k	14	2	simulations	simulation	NOUN
th83kw5565k	14	3	and	and	CCONJ
th83kw5565k	14	4	the	the	DET
th83kw5565k	14	5	first	first	ADJ
th83kw5565k	14	6	known	know	VERB
th83kw5565k	14	7	experimental	experimental	ADJ
th83kw5565k	14	8	results	result	NOUN
th83kw5565k	14	9	show	show	VERB
th83kw5565k	14	10	that	that	SCONJ
th83kw5565k	14	11	parts	part	NOUN
th83kw5565k	14	12	with	with	ADP
th83kw5565k	14	13	gross	gross	ADJ
th83kw5565k	14	14	shape	shape	NOUN
th83kw5565k	14	15	change	change	NOUN
th83kw5565k	14	16	can	can	AUX
th83kw5565k	14	17	be	be	AUX
th83kw5565k	14	18	made	make	VERB
th83kw5565k	14	19	via	via	ADP
th83kw5565k	14	20	polymer	polymer	NOUN
th83kw5565k	14	21	extrusion	extrusion	NOUN
th83kw5565k	14	22	and	and	CCONJ
th83kw5565k	14	23	have	have	VERB
th83kw5565k	14	24	their	their	PRON
th83kw5565k	14	25	final	final	ADJ
th83kw5565k	14	26	dimension	dimension	NOUN
th83kw5565k	14	27	controlled	control	VERB
th83kw5565k	14	28	autonomously	autonomously	ADV
th83kw5565k	14	29	.	.	PUNCT