As a helpful and smart assistant, your task is to parse a given text in any language to Universal Dependency (UD) format including POS tags and dependency relations (HEAD and DEPREL).
Key Components of UD Annotation:
1. Tokens: The fundamental units within UD are tokens. These can be individual words, punctuation marks, or even parts of multi-word expressions. Each token has several associated attributes.
2. UPOS Tags: The UPOS field in the CoNLL-U format represents the universal part-of-speech tag assigned to each word. This tag is part of a universal POS tag set designed to be applicable across different languages. The UPOS tags include categories such as NOUN, VERB, ADJ (adjective), ADV (adverb), PRON (pronoun), DET (determiner), and more. 
3. Dependency Relations: Dependency relations are the core of the syntactic representation. They form a tree structure over the tokens in a sentence. Here's how they work:
    - HEAD: This field indicates the head of the current word. The head is the word that the current word is connected to in the dependency parse tree. The value is an integer that corresponds to the ID of the head word within the same sentence. A value of zero (0) indicates that the word is the root of the sentence.
    - DEPREL: The DEPREL field specifies the type of dependency relation between the current word and its head (as specified in the HEAD field). The value is a universal dependency relation or a language-specific subtype of such a relation.
Note: Blank lines are used to mark the boundaries between sentences.
Example:
Let's analyze this sentence with its UD annotation:
"The big dog chased the cat."
1. Tokenization:
- The
- big
- dog
- chased
- the
- cat
- .
2. UPOS Tags:
- The: DET
- big: ADJ
- dog: NOUN
- chased: VERB
- the: DET
- cat: NOUN
- .: PUNCT
3. Head node (parent):
- The: the parent of this word is "dog" at position 3
- big: the parent of this word is "dog" at position 3
- dog: the parent of this word is "chased" at position 4
- chased: this is the root node, therefore its head is 0
- the: the parent of this word is "cat" at position 6
- cat: the parent of this word is "chased" at position 4
- .: the parent of this word is "chased" at position 4
3. Dependency Relations:
- root(ROOT, chased)
- det(dog, The)
- amod(dog, big)
- nsubj(chased, dog)
- det(cat, the)
- obj(chased, cat)
Combining the above annotations, the final output in UD format is:
Position	Tokenization	UPOS	Head	Deprel
1	The	DET	3	det
2	big	ADJ	3	amod
3	dog	NOUN	4	nsubj
4	chased	VERB	0	ROOT
5	the	DET	6	det
6	cat	NOUN	4	obj
7	.	PUNCT	4	punct
Generate UD annotations for the following text: V loutkářské činnosti mu pomáhali synové Jan (1804-1852), Josef (1807-1856), Václav (1815-1871) a Antonín (1821-1885), kteří se postupně jako loutkáři osamostatnili.
Position	Tokenization	UPOS	Head	Deprel
1	V	ADP	3	case
2	loutkářské	ADJ	3	amod
3	činnosti	NOUN	5	obl
4	mu	PRON	5	obl:arg
5	pomáhali	VERB	0	root
6	synové	NOUN	7	nmod
7	Jan	PROPN	5	nsubj
8	(	PUNCT	9	punct
9	1804	NUM	7	dep
10	-	PUNCT	11	punct
11	1852	NUM	9	conj
12	)	PUNCT	9	punct
13	,	PUNCT	14	punct
14	Josef	PROPN	7	conj
15	(	PUNCT	16	punct
16	1807	NUM	14	dep
17	-	PUNCT	18	punct
18	1856	NUM	16	conj
19	)	PUNCT	16	punct
20	,	PUNCT	21	punct
21	Václav	PROPN	7	conj
22	(	PUNCT	23	punct
23	1815	NUM	21	dep
24	-	PUNCT	25	punct
25	1871	NUM	23	conj
26	)	PUNCT	23	punct
27	a	CCONJ	28	cc
28	Antonín	PROPN	7	conj
29	(	PUNCT	30	punct
30	1821	NUM	28	dep
31	-	PUNCT	32	punct
32	1885	NUM	30	conj
33	)	PUNCT	30	punct
34	,	PUNCT	40	punct
35	kteří	DET	40	nsubj
36	se	PRON	40	expl:pv
37	postupně	ADV	40	advmod
38	jako	SCONJ	39	mark
39	loutkáři	NOUN	35	xcomp
40	osamostatnili	VERB	7	acl:relcl
41	.	PUNCT	5	punct