In the process of genetic manipulation, encoding method is improved, fitness function is constructed not only considering nulling depth, but also the side lobe gain to maintain a certain level.
在遗传操作过程中，改进了编码方法，构造的适应度函数不但以一定的零陷深度为目标，还考虑副瓣的增益维持在一定的水平。
Those fins join onto a central body that contains a mechanical swim bladder, which allows the robot to maintain a given depth by adjusting its buoyancy.
那些翅片加入到包含一个机械鱼鳔，这允许机器人保持给定的深度通过调节其浮力的中心体。
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