Essentially, under the present research of fin stabilizer at zero speed, the rudder can be removed while substituting it with fin stabilizer at zero speed, which could be available approach.
减摇鳍在本质上与舵是相同的，基于目前零航速减摇鳍的研究，考虑将舵用零航速减摇鳍来代替，也是一种可以考虑实现的方法。
When the speed of AUV is zero or low speed, lift is produced by the vibration of fin stabilizer at the horizontal position, which is similar to the flapping wing flight of insects and birds.
当航速为零时，则是通过鳍在水平位置附近的上下振动来产生升力，与鸟类和昆虫的扑翼飞行相似。
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