For the ideal synthesis, USES a method of changing the long of frame to get pitch periods of given people natural four tones.
提出一种变长分帧的方法。为了较理想的合成出特定人的自然语音，采用变长分帧方法对特定人的自然语音的四声提取基音周期序列。
According to the six points method of tool frame of FANUC, the changing position and attitude between the tool frame and the terminate frame of robot can be calibrated.
引用FANUC公司的工具坐标系六点标定方法，标定出工具坐标系相对于机器人末端坐标系的位姿变化。
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