对不确定度表达中的有关问题进行了讨论。
Some problems in the expression of the uncertainty were discussed.
基于次铰全自由度表达模型，推导闭链加速度约束等式；
The acceleration constraint equation is obtained based on the six DOF model of secondary joint.
曾经一度他这么告诉自己，虽然是通过妻子梅尔的话来表达的，梅尔是他自己潜意识的一种投射。
At one point he tells himself this, through the voice of Mal, who is a projection of his own subconscious.
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