论文首先对水下机器人传感器信息做小波变换，利用小波变换极值点来检测信号的突变故障。
Firstly, the wavelet transform is undertaken for the sensor information of the underwater vehicle, and the extreme points of the wavelet transform are used to detect the jumping faults of the signal.
水下机器人的定位系统利用超声波传感器获取距离信息，同时采用三点定位法计算出位置坐标。
The orientation system of underwater robot captures the distance information by the ultrasonic sensors, and uses thethree points location theory to compute the coordinate of the position.
水下机器人用多轴力传感器的设计必须首先解决水压力平衡的问题。
In design of multi-axis force sensor used in underwater robot, the problem how to balance hydraulic pressure must be resolved firstly.
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