本文对家庭移动服务机器人的若干关键技术进行了深入和系统的研究，提出了一些新的思想和方法。
This dissertation presents a thorough and systematic research on some key technologies of home mobile service robot, and puts forward some new ideas and methods.
由于介质和材料的特殊性，人们对海泥的腐蚀性和管线钢在其中的腐蚀行为了解得还不太深入和系统。
Because of the particularity of the medium and material, our knowledge of corrosivity of sea mud and behavior of pipeline steel exposed in it is not enough.
但是，共同危险行为制度相关的理论研究还不够深入和系统，司法实践中仍不能准确认定共同危险行为人的民事责任。
But the relevant theoretical research isn't systematic and deep enough, we still can't determine the actor's civil liability exactly in judicial practice.
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