异面(背腹型)：指上下表面结构具有明显差异。
Dorsiventral Describing a structure that has distinct upper and lower surfaces.
根据海豚典型的背腹式推进的特点，提出一种工程化的推进模型。
This paper is concerned with the design, construction, and control of a novel biomimetic robotic dolphin equipped with mechanical flippers based on an engineered propulsive model.
原胚初期胚体出现背腹极性，腹面的细胞小，细胞质稠密，液泡较少；
During early proembryo stage, the dorsiventrality appears in the proper of the embryo. On the ventral side, the cells are small with dense cytoplasm and few vacuoles.
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