Unit1: AUV navigation through turbulent ocean environments supported by onboard H-ADCP

专有名词：

1. 涡流海洋环境： turbulent ocean environments
2. 湍流：Energetic flows，instabilities and currents，strong current fields
   1. Energetic flows, instabilities and currents can strongly perturb safety conditions and development of AUVs operations. 
3. 流线型：hydrodynamic shape
4. 电池驱动：electrical propulsion
5. 潜艇定位导航：submarine navigation and positioning
   1. Their hydrodynamic shape, electrical propulsion, submarine navigation and positioning allows continuous sampling of environmental conditions. 
6. 时空复杂性：spatio-temporal complexity
7. 鲁棒性：Robustness
   1. Robustness of AUVs to this strong environmental variability is a key element to carry out safety and optimum operations.
8. 小尺度结构：small scale structures
9.  

动词：

1. 实现、执行：carry out
   1. Autonomous underwater vehicles (AUVs) are submarine robots able to carry out ocean sampling campaigns autonomously.
2. 引起：be induced in
   1. This spatio-temporal complexity is induced by the turbulent nature of the ocean, described by the continuous change of a wide range of spatial and time scales.
3. 威胁：perturb
   1. This variability can strongly perturb the development of AUVs operations.
4. 忽视：miss
   1. Thus, small scale ocean variability (10 m-1000 m) is missed by numerical ocean models and predictions are not provided for the evolution of small scale structures.
5. 划重点，突出，强调：highlight
   1. Two important aspects should be highlighted from these Figures.
6. 利用：take advantage of

Abstract

1. 仿真： The proposed procedure has been tested on simulated turbulent environments.

Introduction

1. 句首，引出下文水下机器人的时变环境介绍：AUVs frequently operate in ocean environments characterized by complex spatio-temporal variability [8].
2. 句首，目前建模空间分辨率不足，引出下文小尺度建模：While numerical ocean models can span a considerable part of ocean variability, their spatial resolutions are still hundreds to thousands times bigger than the characteristic size of an AUV.
3. 句尾，概括下文重点是环境建模下的算法仿真：Section III describes the different turbulent ocean environments employed to determine the performance of the developed algorithm.

System Model

1. 句首，引出下文湍流推导：The case of AUV motion on the horizontal plane is considered. 
2. 说明湍流为什么是二维的：Specifically, ocean flows are almost bi-dimensional due to the constraint of the rapid rotation of Earth, strong stratification and horizontal scales much larger than vertical.
3. 衔接：Under this assumption，...
4. AUV实现最优路线：apply the route planner to find the optimum path to reach the goal
5. 描述速度场如何得到参数：Initial velocity fields were obtained from streamfunctions randomly generated from a specific isotropic（/ˌaɪsəˈtrɑːpɪk/各向同性） power spectrum（/ˈspektrəm/） with random phases.
6. 首先，其次：Two important aspects should be highlighted from these Figures: first the time varying character of the velocity（ /vəˈlɑːsəti/） field（/fiːld/） and second the structure of the path followed by the AUV trying to take advantage of the current field that locally favours its mission.