在水下的

Considering the two trail objective functions of objective trail and trail speed, and considering the output continuousness of real time, the thought of premeasure control was promoted and the parameters of pre-measure control were discussed. Good results were obtained in the simulation and experiment.

考虑目标轨迹和运动速度二个跟踪目标函数及实际控制输出的连续性，提出了预测控制的思想，并对预测控制的参数进行了分析和探讨，以水下机器人Twin-burger为控制对象，在计算机仿真和水池实验中都得到了与理论分析相一致的结果，验证了本文所提出的思想和方法的正确性。

This is a very first bottom of the sea diorama I've made, having thought long and easy over the problem, encasement on 3 sides should give a good impression of under the waves, the diver with no bubbles was a disappointment, I asked and got several replies on this problem as to the colour of the seabed, so going with a mix of sand and mud, I thought this would cover most of the angles.

这是我做的最早的海底场景，考虑了很久，易于问题，三面装箱应该提供一个好的水下效果，潜水员没有气泡令人失望，在这个问题我询问并获得若干的答复，如海床的颜色，与之相配的沙子和淤泥，我认为这将涵盖了最多的角度。

The result indicates that Chang 6^2 is a delta-lacustrine depositional system, and the principal producing pay is in subaqueous distributary channel where deposit fine sandstones and have good physical properties. The areas in the center of subaqueous distributary channel get high oil-produce while the flanks gel lower oil-produce relatively. The distribution of oil layer is mainly controlled by lithology, and Chang 6^2 is lithologic reservoir developed in the monocline setting which clime to the northwest.

研究表明：长6^2储层为三角洲－湖泊沉积体系，主要产油层位于长6(上标 2-2)的水下分流河道中，沉积细砂岩且物性较好，河道中心地区的产油量相对较高，而河道侧翼地区的产油量相时较低：长6^2中的油层分布主要受岩性控制，是在北西倾料的单料背景上发育的岩性油藏。

1Arid-subarid palaeoclimate was helpful for mechanical weathering of source rocks and torrent forming;(2) The combination of source rocks and their occurrence were liable to cause mechanical breakdown of rocks and form mudflow,(3)There was a considerable height difference along the border of the basin,(4) The density of subaqueous mudflow was 2.4-2.7g/cm3;(5)There was a high rate of accumulat...

认为本区沙三段时期满足重力流的形成条件，主要表现在六个方面：(1)干旱-半干旱的气候环境有利于母岩的机械风化和山洪的形成；(2)母岩的组合及其产状容易发生机械破碎，形成泥石流；(3)盆地边缘地形高差悬殊；(4)高密度的水下泥石流；(5)堆积速率大；(6)水深位于半深湖以下。

Firstly, this dissertation carries out bionic research on the motion of fish body and caudal fin of Thunmiform swimmers in one-dimensional steady swimming for the purpose of establishing kinematic model of underwater propulsor of Thunmiform. This paper also presents the kinematic parameters which describe the motion of fish body and caudal fin, the fundamental approach to getting the propulsion force and the factors related to the propulsion force and efficiency.

首先，从建立仿鲹科加新月形尾鳍推进模式水下推进器运动学模型的目的出发，对采用鲹科加新月形尾鳍推进模式的鱼类在一维稳态游动情况下的身体以及尾鳍的运动进行了仿生学研究，研究了推进运动的基本特征，给出了身体及尾鳍的运动状态、描述其运动的运动学参数、推进力产生的基本途径以及与推进力和推进效率有关的因素，从而为仿鱼水下推进器运动学建模与仿真提供了仿生学基础。

Considering of the complex geometry with appendages, the viscous flow around submergible bodies has a very important position in ship flow field research.

不含自由液面水下潜体的粘性流动，考虑其带附体的复杂几何特性，在船舶流场研究中有着重要的学术地位，另一方面，由于潜体所涉及的研究对象，如潜艇、鱼雷等均有强烈的军事背景，受到了国际船舶界的特别重视。

The results show that the Luzhou Palaeohigh is the favorable region to develop the intraplatfonn oolitic bank during the slow equivalent regression process, moreover, the bank formed was characterized by a large thickness and wide distribution area.

结果表明，在缓慢等效的海退过程中，处于高能沉积界面附近的水下古高地有利于台内鲕滩的形成，继承性的泸州古隆起核部是区内有利的滩体发育区，形成的台内滩体具有一定的厚度规模和较大的分布面积。

Through the sedimentary facies analysis in different areas and in different facies belts of the tyoical wells, and combined with the characteristic of structutal evolution in Tertiary in Subei basin,identify and elaborate several kinds of main sedimentary facies types,subfacies and microfacies in Guanzhan Sag, such as delta facies, fan delta facies ,lacustrine facies and subaqueous fans in this paper.

通过对该区近十口井的岩心、测井及对整个苏北盆地、邻区资料的分析与借鉴，通过对次凹不同区域、不同相带典型井的沉积相分析，同时结合第三系苏北盆地构造背景特点，识别出并阐述了管镇次凹发育的三角洲相、扇三角洲相、湖泊相和水下扇相等几种主要沉积相类型及亚相和微相，在此基础上建立了相模式，阐明了不同时期的沉积相平面展布规律和有利的储集区带和勘探方向。

According to the features and requirements of long-distance crossing project, this paper studies the process of GPS-RTK and Echo Sounder in underwater topography surveying and profile surveying. At meantime, it analyzes the accuracy effecting factors and the relating methods to deal with them in the application of Yellow River crossing project.

在长输管线的穿跨越工程中，结合穿跨越工程的工艺原理和资料要求，对GPS-RTK技术联合测深仪进行水下地形测量和断面测量的基本作业程序进行了总结，结合黄河穿越工程对影响测量精度的因素进行了分析及处理。

It would also be the linchpin for a 3,700-mile railroad line stretching from Yakutsk -- the capital of a gold- and mineral-rich Siberian region roughly the size of India -- through extreme northeastern Russia, in waters up to 180 feet deep and into the western coast of Alaska.

它还将成为一条延伸至Yakutsk城的3700英里的公路线的关键，该地区有丰富的黄金和煤矿，面积和印度差不多――尽管在俄国极北部，水下180英尺深处和连结着Alaska的西海岸线。

Singer Leona Lewis and former Led Zeppelin guitarist Jimmy Page emerged as the bus transformed into a grass-covered carnival float, and the pair combined for a rendition of "Whole Lotta Love".

歌手leona刘易斯和前率领的飞艇的吉他手吉米页出现巴士转化为基层所涵盖的嘉年华花车，和一双合并为一移交&整个lotta爱&。

This is Kate, and that's Erin.

这是凯特，那个是爱朗。