#include <iostream>
#include <stdio.h>
#include <string.h>
#include <stack>
using namespace std;
int main() {
stack<int> s;
int i,a,b,k;
char c;
while(1){
a=0,b=0,k=0;
char str[101];
cin.getline(str,101);
if(!strcmp(str,"."))
return 0;
for(i=0;str[i]!=NULL;i++){
if( str[i]=='(' || str[i]==')' || str[i]=='[' || str[i]==']' )
s.push(str[i]);
}
while(!s.empty()){
if(s.top()==']')
a++;
else if(s.top()==')')
b++;
else if(s.top()=='['){
a--;
if(c==')')
k=1;
if(a<0)
k=1;
}
else{
b--;
if(c==']')
k=1;
if(b<0)
k=1;
}
c=s.top();
s.pop();
}
if(k==1 || !(a==0 && b==0))
printf("no\n");
else
printf("yes\n");
}
}
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