求船舶英语方面的高手帮忙翻译下以下内容：英文翻译成汉语 不要软件翻译 太粗糙！好的话给分！

abstractOver the last few decades, there have been a large number of attempts to automate welding in theshipbuilding process. However, there are still many non-automated welding operations in the double-hulled blocks, even though it presents an extremely hazardous environment for the workers. And, thehazards come about mainly because of the dimensional constraints of the access-hole. Thus, mucheffort has been recently directed toward the research on compact design of the fully-autonomous robotworking inside of the double-hulled structures. This paper describes the design, integration,simulations, and ǻeld testing trials of a new type of welding robotic system, the RRXC, which iscomposed of a 6-axis modularized controller, a 3P3R serial manipulator, and an auxiliary transportationdevice. The entire cross section of the RRXC is small enough to be placed inside the double-hulledstructures via a conventional access hole of 500 숀 700 mm2, from the outside shipyard ˻oor. The weightof the manufactured RRXC is 60 kg, with a 6-axis manipulator and modularized controller, and theweight of an auxiliary transportation device is 8 kg, with a 2.5 m steel wire of 6F. Throughout the ǻeldtests in the enclosed structures of shipbuilding, the developed RRXC has successfully demonstratedwelding functions without the use of any additional ǻnishing by manual welders, and has shown goodmobility using an auxiliary transportation device in double-hulled structures. & 2010 Published by Elsevier Ltd.