针对机器人在水下作业的特点，分析了有波浪作用时机器人在船体表面的运动，建立了机器人在船体表面静止和运动两种状态下的力学模型。
Considering the underwater work environment, the author analyses the robot movement on the ship hull with wave action, and establishes mechanics model of the robot in stationary and moving state.
而对于上述动态对象，运用粒子系统技术以及动力学理论模拟了波浪、爆炸等模型。
As for the moving objects, I combine particle system and kinetics to realize sea wave and blast model with flying colors.
基于经典波浪理论，以大型商业计算流体力学软件CFX为平台，可以实现数值造波及波物作用的模拟计算。
Based on the principle of wave, the simulation of wave generator and wave or wave-current forces on circular cylinder is presented by using CFX.
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