在水下的

However, the underwater is more execrable compared with the land or space, and more dangerous for human. So as a replacer underwater robot is being used in practical operations more and more.

然而，水下环境与陆地和空间环境相比更加恶劣，对人类的威胁更大，因此水下机器人作为人的替代者，正在越来越多地在实际水下操作中应用。

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。

Using maximum flooding surface and local explosure erosion surface as the correlation framework surface in the 4-th hierarchical base-level cycles, sand-body in the 3-th hierarchical base-level cycles formed in the 4-th hierarchical base-level cycles may be correlated layer by layer. The law of the sand-body and the characters of reservoir heterogeneity formed in the 4-th hierarchical base-level cycles are discussed. The study shows:①During early period of the 4-th hierarchical base-level cycle rising, subaqueous distributary channel formed, continuously stacked vertically, and migrated in limit range laterally, and channel sand-body stretches farther longitudinally, and lacks interbeds of mud rock and siltsand in sand rock, reservoir heterogeneity is relatively weak.②During mid-period of the 4-th hierarchical base-level cycle rising, subsaqueous distributary channel migrated actively, channel divided and converged strongly to form netted sand-body and sand sheet mainly, but interbeds of mud rock and siltsand increases gradually in sand-body, reservoir heterogeneity increased.③During later period of the 4-th hierarchical base-level rising and early period of the 4-th hierarchical base-level falling, reservoir sand-body was poor, and only form thin sand-body of subsaqueous distributary channel, subsaqeuous creveas and distal mouth bar, sand-bodys are surrounded by mud and silt rock.

进一步采用以第4层次基准面旋回中相当最大湖泛面的相转换面和具有区域性暴露侵蚀作用的层序边界面为等时地层对比框架的边界，对发育于MSC2—MSC4三个第4层次基准面旋回的第3层次基准面旋回内砂体进行了逐层等时对比，探讨第4层次等时地层对比格架内储集砂体发育分布规律，及储集砂体的非均质性特点，研究发现：①第4层次基准面上升初期发育的水下分流河道，砂体呈连续叠置、侧向迁移受限，纵向上呈长距离延伸的带状产出，砂体间泥、粉砂岩夹层少，储层非均质性相对较弱；②在第4层次基准面上升中期发育的水下分流河道侧向迁移活跃，纵向延伸过程中分流汇合作用强烈，以形成网状或席状连片砂体为主，但砂体间泥、粉砂岩夹层逐渐增多，储层非均质性增强；③第4层次基准面上升晚期和下降早期，不利于储集砂体发育，仅出现少量薄的水下分流河道、水下决口扇、远—河口砂坝砂体。

Based on the experiment platform of underwater vehicle control system made by ourselves, an underwater demonstration experiment system is developed with forward-looking cameras and man-made targets. Underwater demonstration experiments with the two station keeping methods are made in an indoor experimental pool.

以自行研制的水下机器人控制系统实验平台为实验载体，利用前视摄像机和水下人工目标，建立了水下演示实验验证系统，并在室内实验水池中，分别实现了两种悬停方法的水下演示实验。

Captured within a rough-edged slab of sparkling glass, a tiny underwater scene takes on an enchanting aura as LED lights cycle through a shifting rainbow of colors.

捕获在粗糙的板边的波光粼粼的玻璃，一个微小的水下场景呈现一个迷人的光环 LED灯作为一个周期，通过转移彩虹的颜色。

There is a low-head runoff electric station at lower reaches of principal river and the workshop is the style of riverbed. A successful example of dredging tail water riverbed with the blasting technology in an electric power plant is introduced with the measure of drilling dynamite for enhancing dynamoelectric benefit in the paper. The construction process flow, detonating parametric design and the security issues of the underwater demolition are discussed in detail and it will give light to the similar project.

摘 要：位於下游干流上某水电站是一座低水头径流式电站，厂房为河床式，为了提高机发电效益，本文结合了在某电厂用爆破法疏挖尾水河床的成功实例，利用钻孔爆破法对水下爆破进行施工，分别介绍了在该工程中进行水下爆破施工的施工工艺流程、爆破参数的设计以及水下爆破安全校核方面的内容，可供类似爆破工程借鉴。

There is a low-head runoff electric station at lower reaches of principal river and the workshop is the style of riverbed. A successful example of dredging tail water riverbed with the blasting technology in an electric power plant is introduced with the measure of drilling dynamite for enhancing dynamoelectric benefit in the paper. The construction process flow, detonating parametric design and the security issues of the underwater demolition are discussed in detail and it will give light to the similar project.

摘 要：位于下游干流上某水电站是一座低水头径流式电站，厂房为河床式，为了提高机发电效益，本文结合了在某电厂用爆破法疏挖尾水河床的成功实例，利用钻孔爆破法对水下爆破进行施工，分别介绍了在该工程中进行水下爆破施工的施工工艺流程、爆破参数的设计以及水下爆破安全校核方面的内容，可供类似爆破工程借鉴。

The re is a low-head runoff electric station at lower reaches of principal river and the workshop is the style of riverbed. A successful example of dredging tail water riverbed with the blasting technology in an electric power plant is introduced with the measure of drilling dynamite for enhancing dynamoelectric benefit in the paper. The construction process flow, detonating parametric design and the security issues of the underwater demolition are discussed in detail and it will give light to the similar project.

摘 要：位于下游干流上某水电站是一座低水头径流式电站，厂房为河床式，为了提高机发电效益，本文结合了在某电厂用爆破法疏挖尾水河床的成功实例，利用钻孔爆破法对水下爆破进行施工，分别介绍了在该工程中进行水下爆破施工的施工工艺流程、爆破参数的设计以及水下爆破安全校核方面的，可供类似爆破工程借鉴。

The re is a low-head runoff electric station at lower reaches of principal river and the workshop is the style of riverbed. A successful example of dredging tail water riverbed with the blasting technology in an electric power plant is introduced with the measure of drilling dynamite for enhancing dynamoelectric benefit in the paper. The construction process flow, detonating parametric design and the security issues of the underwater demolition are discussed in detail and it will give light to the similar project.

摘 要：位于下游干流上某水电站是一座低水头径流式电站，厂房为河床式，为了提高机发电效益，本文结合了在某电厂用爆破法疏挖尾水河床的成功实例，利用钻孔爆破法对水下爆破进行施工，分别介绍了在该工程中进行水下爆破施工的施工工艺流程、爆破参数的设计以及水下爆破安全校核方面的内容，可供类似爆破工程借鉴。

With his crisp, clean photos of whales, seals, penguins, and dolphins, ex-Navy photographer Bill Curtsinger helped the National Geographic Society pioneer the field of underwater marine life photography with stunning pictures such as this shot of an emperor penguin gliding through the waters of McMurdo Sound, Antarctica.

用他的易碎的，干净的图片鲸鱼，海豹，企鹅，和海豚，离开海军摄影师比尔·克钦格协助国家地理学会的先锋在野外的水下的海洋生活摄影术用极好的照片例如这一幅皇帝企鹅滑动通过南极洲的麦克默多海峡的水域。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。