The deformation and stress detection of long-distance oil & gas pipelines, especially the underwater pipelines, is very critical in safe pipeline operation.
前言： 大型输油、输气管道的变形和应力检测，特别是水下敷设的长距离大型管道的变形和应力检测，一直是困扰管道安全运行的一个难点。
A mathematical maneuvering model of a new type of underwater vehicle for pipeline detection and maintenance was presented.
针对一种用于海底管线检测与维修的新型潜水装置建立了操纵运动数学模型。
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