可确信光线仅在垂直面内作曲线传播。

Light can be trusted to curve only in a vertical plane.

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克服现有技术中链条只能 在垂直面内绕轴卷曲，不能在水平面内折弯的缺陷；

The disadvantages in the prior art that a chain can be curled by winding the shaft only in the vertical surface and can not be bent on the horizontal plane is overcome;

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针对一类安装了垂向推进器的低速水下航行器，研究了垂直面内的非线性运动控制问题。

The nonlinear vertical motion control problem of a class of low-speed underwater vehicles equipped with vertical thrusters was studied.

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