臍帶電纜對於繫纜之潛航器是一個極為重要的環節，它為潛航器提供動力和傳輸訊息，但同時又給潛航器的使用帶來麻煩。現今探討潛航器運動模式之研究當中，大多忽略臍帶電纜對其所造成之影響，其理由均著眼於潛航器於深海航行時所受到之臍帶電纜影響較巨大，也因此即可簡化系統運算過程並避免觸及繁雜之問題，這是不合理的。惟潛航器於深海下航行時仍會受到電纜及洋流力量之影響，故本文即深入探討潛航器受電纜及洋流力量影響後之運動模式。

　　基本上潛航器之動態模式為高度非線性之耦合運動，欲準確描述此一系統之動態行為實係相當困難且複雜。本文則使用本系所擁有之TRIGGERFISH ROV為研究對象，並經由PMM試驗完成操縱性導數量測後，更進一步建構潛航器之運動電腦模擬程式，使用(Fourth-Order Runge-Kutta methods、Hooke ＆ Jeeves methods)等數值理論並配合六自由度運動之耦合關係來計算臍帶電纜及洋流對潛航器之影響力量。最後，再使用座標轉換之數學模式準確繪出潛航器之運動軌跡，並藉由直行、上浮、下潛、純側移及轉向等操控方式，分別探討潛航器在靜水、洋流環境下及受到臍帶電纜力量影響後之運動性能分析。

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