在水下

In view of the key problem of subminiature underwater robots, structural improving,control algorithm and underwater experiment is studied. They can be described as follow: Firstly, the subminiature underwater robot should be compact in size and low cost, for which, it is difficult for us to control its balance. So that, a new kind of piston--style ups and downs system was invented, which can keep the underwater robot horizontally suspended in the water without driving force.

中文摘要本文针对超小型水下机器人在运动中存在的问题，设计了一种新的超小型水下机器人的沉浮结构形式，着重研究了其运动学动力学性能、探讨了相应控制算法、进行了水下试验，具体研究内容如下：首先，超小型水下机器人由于体积小重量轻，在水中沉浮时悬停平衡控制困难，为此进行了一种新的活塞式沉浮系统设计，该系统使水下机器人能够在无动力驱动的情况下，使其呈水平状态稳定悬浮在水中。

The first kind deposition sequence is the superposition underwater distributary, forming chlorite and Laumontite cementation near the side of lake. The second deposition sequence is underwater distributary, forming chlorite and calcite cementation. The third deposition sequence is underwater river-bay, forming calcium and mud cementation.

第Ⅰ种沉积序列为迭置水下分流河道微相，主要发育绿泥石－浊沸石胶结相，在迭置水下分流河道靠近湖盆一侧；第Ⅱ种沉积序列为水下分流河道微相，主要发育绿泥石－方解石胶结相；第Ⅲ种沉积序列为水下分流间湾微相，主要发育钙质－泥质胶结相。

Indeed, planting the feet too low causes the push-off to be too shallow and they HAVE to start swimming right away.

如果脚蹬墙太低，你离开墙开始滑行时身体没在水下太浅，使他不得不重新调整再开始游。

Two-headed monsters or the ability to breathe underwater rarely come up when I'm sleeping.

我很少作奇怪的梦：我的梦中几乎不出现双头怪物，或者在水下呼吸这类现象。

The breathing which is so common in normal life became excessive demand when hunting treasure under water.

这种本来是生存最基本的呼吸，在水下寻宝过程中却变得奢侈难求。

The solid stainless case and screw-down crown of the Black Tip are rated to 200 meters so you can rest easy underwater, and you'll appreciate the huge numerals on the one-way ratcheting bezel when you need to quickly gauge your bottom time.

固体不锈钢案件和压下冠的黑顶的额定为200米，因此您可以安心地在水下，你会欣赏巨大的数字对单向棘轮面板时，您需要快速判断您的底部时间。

Four paddle-like flippers helped the Kronosaurus move much like sea turtles underwater.

四个鳍状肢让克柔龙像海龟一样在水下移动。

Four paddle-like flippers helped the Kronosaurus move much like sea turtles underwater.

拥有四只像桨一样鳍状肢的Kronosaurus在水下游动更像一只海龟。

It's very hard to ride the bike under the sea, because the water has a large pressure.

在水下骑自行车课困难了，因为水的压力是很大的。

The tagged loggerheads spent about 98% of their time underwater.

那些做了标记的蠵龟大约有98%的时间是在水下度过的。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。