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 tokenized text:
Más tarde la invasión de los bárbaros introdujo el denominado - duelo judiciario - o juicio de Dios durante la Edad Media, época en que los nobles y hombres libres lo utilizaron como procedimiento para zanjar sus diferencias.
Postion	Tokenization
1	Más
2	tarde
3	la
4	invasión
5	de
6	los
7	bárbaros
8	introdujo
9	el
10	denominado
11	-
12	duelo
13	judiciario
14	-
15	o
16	juicio
17	de
18	Dios
19	durante
20	la
21	Edad
22	Media
23	,
24	época
25	en
26	que
27	los
28	nobles
29	y
30	hombres
31	libres
32	lo
33	utilizaron
34	como
35	procedimiento
36	para
37	zanjar
38	sus
39	diferencias
40	.
Position	Tokenization	UPOS	Head	Deprel
1	Más	ADV	2	advmod
2	tarde	ADV	8	advmod
3	la	DET	4	det
4	invasión	NOUN	8	nsubj
5	de	ADP	7	case
6	los	DET	7	det
7	bárbaros	NOUN	4	nmod
8	introdujo	VERB	0	root
9	el	DET	10	det
10	denominado	ADJ	8	obj
11	-	PUNCT	12	punct
12	duelo	NOUN	10	obj
13	judiciario	ADJ	12	amod
14	-	PUNCT	16	punct
15	o	CCONJ	16	cc
16	juicio	NOUN	12	conj
17	de	ADP	18	case
18	Dios	PROPN	16	nmod
19	durante	ADP	21	case
20	la	DET	21	det
21	Edad	NOUN	8	obl
22	Media	NOUN	21	compound
23	,	PUNCT	24	punct
24	época	NOUN	21	appos
25	en	ADP	26	case
26	que	PRON	33	obl
27	los	DET	28	det
28	nobles	NOUN	33	nsubj
29	y	CCONJ	30	cc
30	hombres	NOUN	28	conj
31	libres	ADJ	30	amod
32	lo	PRON	33	obj
33	utilizaron	VERB	24	acl
34	como	SCONJ	35	mark
35	procedimiento	NOUN	33	obl
36	para	ADP	37	mark
37	zanjar	VERB	35	acl
38	sus	DET	39	det
39	diferencias	NOUN	37	obj
40	.	PUNCT	8	punct