航行

The Duke of Medina Sidonia now sent a message to the Duke of Parma in Dunkirk:"I am anchored here two leagues from Calais with the enemy's fleet on my flank. They can cannonade me whenever they like, and I shall be unable to do them much harm in return." He asked Parma to send fifty ships to help him break out of Calais. Parma was unable to help as he had less than twenty ships and most of those were not yet ready to sail.That night Medina Sidonia sent out a warning to his captains that he expected a fire-ship attack. This tactic had been successfully used by Francis Drake in Cadiz in 1587 and the fresh breeze blowing steadily from the English fleet towards Calais, meant the conditions were ideal for such an attack. He warned his captains not to panic and not to head out to the open sea. Medina Sidonia confidently told them that his patrol boats would be able to protect them from any fire-ship attack that took place.Medina Sidonia had rightly calculated what would happen.

1577年，他再次从英国出发，乘着旗舰"金鹿"号直奔美洲沿岸，一路打劫西班牙商船，西班牙人做梦也想不到，竟然有人敢在"自家后院胡闹"，当他们派出军舰追击时，德雷克早已逃往南方，但由于西班牙的封锁，他无法通过狭窄的麦哲伦海峡，在一次猛烈的风暴中，"金鹿"号同船队其它伙伴失散了，被向南吹了5°之多，来到了西班牙人也未曾到过的地方，自从麦哲伦海峡被发现以来人们一直认为海峡以南的火地岛就是传说中的南方大陆的一部分，但此时呈现在德雷克面前的是一片汪洋大海，德雷克被这意外的发现惊呆了，他很高兴的向大家宣布"传说中的南方大陆是不存在的，即使存在，也一定是在南方更寒冷的地方，"(直到今天我们还称这片广阔的水域为"德雷克海峡")，但德雷克却一直向西横渡了太平洋。1579年7月23日，他到达了马里亚纳群岛，8月22日穿过北回归线，9月26日回到了阔别已久的普次茅斯港，再次成为了"民众的英雄"，这次航行是继麦哲伦之后的第二次环球航行，但德雷克却是第一个自始至终指挥环球航行的船长(众所周知，麦哲伦在菲律宾被土人做成三明治吃掉了)。

This dissertation's main work and innovations is following: 1. The 6DOF kinematic and dynamic equations of motion for multiple thrusters AUV are derived and presented in a compact form using vector notation. The hydrokinetics of the MTAUV is classified anew. The MTAUV has two kinds of work modes which are cruising and hovering. The fluid dynamical mathematics description of the MTAUV is given anew. 2. The kinetics equations of the MTAUV in the low speed hovering are analyzed and studied.

本文主要的工作和创新点主要有以下几个方面：一、采用矢量参数的形式建立了基于多推进器自主水下航行器的六自由度运动学方程和动力学方程；对基于多推进器自主水下航行器的流体动力进行了重新分类，给出了基于多推进器自主水下航行器在巡航工作模式和悬停工作模式两种不同工作状态下流体动力的数学描述。

Ship always select rhumb line when the voyage is short while great circle line is the shortest route , so it is always used during the oceangoing voyage for the purpose of voiding the terrible environments in the high latitude sections , sometimes we have to turn to composite navigation line .

等角航线是最简单，短程航行中最常用的航行方式；而大圆航线是跨洋长距离航行时经常采用的，地理航程最短的航线；在大圆航行的过程中，有时为了避开高纬度地区的恶劣环境，我们还要选择混合航线。

The Sailor Song 歌手:Toy-Box 专辑:Fantastic 歌词: So if we all come together, we know what to do We all come together, just to sing we love you And if we all come together, we know what to do We all come together just for you Racing all around the seven seas Chasing all the girls and making robberies 'Causing panic everywhere they go Party-hardy on Titanic Sailing, sailing, jumping off the railing Drinking, drinking,'till the ship is sinking Gambling, stealing, lots of sex-appealing Come, let us sing the sailor-song So if we all come together, we know what to do We all come together, just to sing we love you And if we all come together, we know what to do We all come together just for you Sailorman, you really turn me on Now the guys are gone, come let us get it on Girls like me are pretty hard to find So if you go, I'll kick your Heine Sailing, sailing, jumping off the railing Drinking, drinking,'till the ship is sinking Gambling, stealing, lots of sex-appealing Come, let us sing the sailor-song So if we all come together, we know what to do We all come together, just to sing we love you And if we all come together, we know what to do We all come together just for you Now, let's fight!

如此如果我们全部一起来，我们知道什么做我们所有一起来，唱我们爱您并且如果我们全部一起来，我们知道什么做我们全部一起来为您赛跑全部在七海附近追逐所有女孩和做盗案造成恐慌到处他们是党强壮在力大无比航行，航行，跳跃栏杆喝，喝，船下沉的'till 赌博，窃取，许多性呼吁来，让我们唱水手歌曲如此如果我们全部一起来，我们知道什么做我们所有一起来，唱我们爱您并且如果我们全部一起来，我们知道什么做我们全部一起来为您水手们，您真正地使我狂热现在人去，来让我们得到它女孩象我是相当困难发现如此如果您去，我会反撞力您的航行，航行，跳跃栏杆喝，喝，船下沉的赌博，窃取，许多性呼吁来，让我们唱水手歌曲如此如果我们全部一起来，我们知道什么做我们所有一起来，唱我们爱您并且如果我们全部一起来，我们知道什么做我们全部一起来为您现在，我们来战斗！

Sea journey 航海;航行 The voyage from England to India used to take 6 months.

从英国到印度的海上航行过去得用六个月的时间。

Song:The other side Artist:Sirenia There's a light and a darkened road There's a night and a fading hope There was a dream that once was mine But now it seems it has passed with time Sail away my little sister Sail away to the other side Sail away my little sister Sail away far into the night Where times seems much better Than this void called life There's a voice inside my head There was a hope,now long since dead It's all a wonder, will I abide I hear you calling from the other side I hear you calling from the other side Sail away my little sister Sail away to the other side Sail away my little sister Sail away far into the night Where times seems much better Than this void called life ----chorus------- I hear you calling from the other side Sail away my little sister Sail away to the other side Sail away my little sister Sail away far into the night Where times seems much better Than this void called life

宋：另一方演出者：海牛目有一盏灯，黑暗的道路有一个夜晚和一个衰落的希望有一个梦想，曾经是我的但现在看来，它与时间的推移航行距离我的妹妹航行距离对方航行距离我的妹妹航行距离远到深夜凡时代似乎要好得多超过这一空白称之为生命有一个声音在我的头有一个希望，现在早就死了这都是一个奇迹，我会遵守我听说你从对方要求我听说你从对方要求航行距离我的妹妹航行距离对方航行距离我的妹妹航行距离远到深夜凡时代似乎要好得多超过这一空白称之为生命----合唱-------我听说你从对方要求航行距离我的妹妹航行距离对方航行距离我的妹妹航行距离远到深夜凡时代似乎要好得多超过这一空白称之为生命

The wild things roared their terrible roars and gnashed their terrible teeth and rolled their terrible eyes and showed their terrible claws, but Max stepped into his private boat and waved goodbye and sailed back, over a year and in and out of weeks and through a day and into the night of his very own room, where he found his supper waiting for him and it was still hot.

众野兽疯狂地咆哮，露出锋利的牙齿，骨碌碌地转动着他们凶残的大眼睛，伸出尖尖的爪子。但马克斯还是上了他的专用小船，向他们挥手告别，往回驶去。他又航行了几乎一年，航行了好几个星期，航行了一天一夜，回到了他自己的房间。在那里，他发现晚餐还在静静地等着他，而且还是热的呢。

When confined waters are to be navigated, the optimum passage plan shall be drawn up by taking the following steps in advance: Checking and studying nautical charts, sailing directions, coast pilot, and notices to mariners, etc.

当需要通过狭水道航行时，应采用以下建议步骤制订合适的航行计划：检查海图、航行方向、岸上引水、海上通告等，收集地形、深度和航行事故、天气和海况以及其他船的航向等。

The energy exchange analysis indicates that gliding energy efficiency is dependant on the lift drag ratio of the wings and gliding angle of the hull. Through the calculation in this thesis, it can be concluded that enhancing the lift drag ratio can largely improve the energy efficiency when the gliding angle is in the range of 10to 40 degree, and when lift drag ratio is fixed, there exists a special gliding angle for the maximum of the efficiency, which provide theoretical basis for the design of operating parameters.

通过能量转换分析，得出滑翔机航行效率由机翼升阻比和机身航行角决定，航行角在10~40度范围内，增大机翼升阻比可显著提高航行效率；并由计算得出，在升阻比一定的情况下，总存在一个使滑翔机航行效率达到最大的航行角度，为样机工作参数设计提供了理论依据。

Based on characteristics of hydrofoils and motor yachts,combining with the navigation features of upper reach, this paper analyzes the features of navigation and maneuverability of high speed ship s,discusses some points for notation during preventing collisions,such as over looking,choosing fairway,and methods of handling .

从水翼船和滑行艇的航行与操纵特性入手，结合长江上游航行特点，分析高速船舶航行与操纵特性、避碰过程中的了望、航路选择、操纵方法和注意事

The absorption and distribution of chromium were studied in ryeusing nutrient culture technique and pot experiment.

采用不同浓度K2CrO4(0，0.4，0.8和1.2 mmol/L)的Hoagland营养液处理黑麦幼苗，测定铬在黑麦体内的亚细胞分布、铬化学形态及不同部位的积累。

By analyzing theory foundation of mathematical morphology in the digital image processing, researching morphology arithmetic of the binary Image, discussing two basic forms for the least structure element: dilation and erosion.

通过分析数学形态学在图像中的理论基础，研究二值图像的形态分析算法，探讨最小结构元素的两种基本形态：膨胀和腐蚀；分析了数学形态学复杂算法的基本原理，把数学形态学的部分并行处理理念引入到家实际应用中。