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.

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。

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The Vanguard, the Blue Marlin and the rest of the Dockwise fleet are ships designed to carry other ships, drilling rigs or anything else too large or heavy to be easily transported on a conventional ship.

FORBES: Will the Vanguard Semi-Submersible Ultra Heavy Lift Ship Keep Dockwise Afloat?

That's very different from conventional submarines, which basically dive by changing the ballast of the ship to make it sink.

CNN: Winged luxury submarines 'fly' underwater