The ship-motion equations of sway, yaw and rolling were founded.

建立了首摇、横荡、横摇三个自由度的船舶运动方程。

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The joints in its fingers, thumb and wrist provide 24 degrees of freedom (a degree of freedom is the ability of one part of a system to move independently of the others in a particular way, as a ship may yaw, pitch or roll).

ECONOMIST: Mechanical hand seeks dangerous, dirty and dull jobs