给出了船舶六个自由度的运动方程。
通过对两条实船完整浮态和破舱浮态进行计算，并与传统方法的计算结果对比表明，用GA来解船舶自由浮态的方法是简单可行的。
The calculation results and their comparison with the conventional ones of two full-scale ships verify the feasibility of the free floatation calculation with GA and the theory is comprehensible.
万一船舶处于前述地点，但该地点是在进入后变得危险或可能变得危险，则船舶有权自由离开。
Should the Vessel be within any such place as aforesaid which only becomes dangerous, or may become dangerous, after her entry into it, she shall be at liberty to leave it.
为了更快、更准确地计算船舶自由浮态问题，对原有计算方法进行改进。
In order to calculate ship free floating state quicker and more accurately, original calculating methods have been modified.
本文针对上述三个自由度的船舶运动，采用FORTRAN 77语言编制了辐射流体动力系数的计算机程序。
The program for solving the radiation fluid dynamics coefficients is worked out by using computer language FORTRAN77 considering the ship motion of three freedom degrees.
二维半理论定解问题在自由面条件中保留了高速船舶流体动力计算最为重要的航速效应；
The formulation of 2.5D theory contains most important forward speed effects on the free surface for the hydrodynamic calculation of fast ships;
本文主要研究多自由度机器人末端姿态稳定控制的问题，在水面及水下平台作业、船舶吊放货物等领域将有广泛的应用前景。
The attitude stability of the multi-degree-of-freedom robot is the main research of this thesis, it will be a wide use on surface or under water work and the ship hanging goods.
无论有无引航员，船舶均可自由航行、拖带或被拖带。
The Vessel shall have the liberty to sail with or without pilots, to tow and to be towed.
综合以上三种已有的海上建筑方案，分别自由小巧的单独房屋，整体的填海人工岛和船舶式海上浮城。
To summarize the above mentioned 3 projects, they are respectively small free individual house, holistic man-made island by reclaim land and vessel-like floating city.
建立了首摇、横荡、横摇三个自由度的船舶运动方程。
The ship-motion equations of sway, yaw and rolling were founded.
我校最近建成的二自由度载人船舶运动模拟器是仿制船舶在海上运动的地面装备。
In order to study the ship's manoeuverability by employing mathematical models, a double freedom motion ship simulator has recently been built in Shanghai Jiao TongUniversity.
综合以上三种已有的海上建筑方案，分别自由小巧的单独房屋，整体的填海人工岛和船舶式海上浮城。
Synthesize the 3 existing building on-sea plans, separately free cabinet solitude house, wholly artificial island by filling sea and floating city on-sea like boats.
无论是否有引航员在船，船舶均有航行的自由，有拖带与被拖带救助遇难船舶的自由，以及为救助人命和财产而绕航的自由。
The vessel shall have the liberty to sail with or withoutpilots, to tow and to be towed, to assist vessels in distress, andto deviate for the purpose of saving life and property.
船舶停靠于码头时，由于受到风、浪和潮汐的作用，船体通常会产生在六个自由分量上的运动，这种运动直接影响着船舶的靠泊作业等情况。
Because of the effects of wind, wave and tide, the ships anchored in ocean ports usually move in Six Degrees of Freedom. The movement affects the ships' anchoring tasks and others.
本文最终建立的船舶4自由度响应型数学模型比传统的船舶水动力数学模型更为简捷方便，且精度基本能满足要求。
The 4 degrees responding mathematical model for ships established in the paper is simpler than those conventional ship hydrodynamic mathematical models. And the precision also meets the requirements.
给出了船舶六个自由度的运动方程。
本文讨论了六个自由度船舶非线性运动方程。
A nonlinear equation of ship motions with six-degree-of-freedom was studied.
本文以实际的工程项目为背景，针对船舶建造工业中常遇到的空间曲线切割问题，设计了此四自由度机器人，用于圆管端头切割。
With the background of practical projects, aiming at cutting problem of space curve in shipbuilding industry, four axis robot system is designed. And it is used to cut the ends of the steel tubes.
结果表明所提出的控制方法合理可行，参与研制的船舶六自由度运动模拟台是成功的。
The results show that the control strategy is feasible and the development of ship 6-dof motion simulation platform is successful.
因此，本文重点针对基于并联机构的船舶六自由度运动模拟台的一些关键技术以及控制方法等进行了深入的研究。
Therefore, this dissertation researched the ship 6-dof motion simulation platform which has a parallel structure, and made deeply research on some key technology problems and the control method.
因此，本文重点针对基于并联机构的船舶六自由度运动模拟台的一些关键技术以及控制方法等进行了深入的研究。
Therefore, this dissertation researched the ship 6-dof motion simulation platform which has a parallel structure, and made deeply research on some key technology problems and the control method.
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