Method : the gastric emptying of rat , small intestinal vermiculation and the movement of vivo intestinal smooth muscle of rabbit were observed 方法：分别采用小鼠胃排空和小肠推进及兔在体肠蠕动实验，研究莱菔子不同炮制品对消化系统的药理作用。
2.
Aimed at the vermiculation characteristcs of the move - in - mud robot , its location system performs the orientation of the move - in - mud robot by means of relative oriention , using the attitude information and displacement information 其定位系统针对拱泥机器人以蠕动方式运动的特点，利用机器人的姿态信息和拱泥头位移信息，采用相对定位的方法实现拱泥机器人的定位。
