15 Coordination
国际工程管理海外项目常用英文英语词汇单词

工程管理常用英文词汇英语国别海外工程项目现场积累词汇,本人经历过中亚俄语国别项目,英语国别项目,手机下载百度翻译或者谷歌翻译,遇上需要表达的词汇就会去查,经过不断搜集,不断练习,发现其实,想说一口流利的俄语英语,其实用不了那么多词汇,常用的就那几百个,都是反复的用。
而且国外项目只要言能达意就善莫大焉,无需拐弯抹角,为难了自己老外也听不懂。
我们平时学的英语是哑巴英语,即使掌握几千词汇也很难脱口,但是,当你身处外语国别,身处语言环境,而且身边没有翻译,你需要给工人交代工艺,给工程师解释流程。
词汇就会记的非常快,基本用一两次就掌握了。
加上最先学会的肢体语言,基本学会个二三百词汇,你就能脱口而出,言能达意!在此贡献出自己日常积累的词汇,希望对你有用,少走弯路。
孤独的海外工程人,愿你砥砺前行,风雨共勉!1.检验报告Inspection report2.(项目)完工报告close-out report3. 报价;投标bid;quotation;proposal;tender;offer4.询价文件评审委员会inquiry review committee [IRC]5.报价策略会议bid strategy meeting6.报价经理proposal manager7. 报价书;标书;建议书proposal;quotation; bid; tender; offer8. 图细标书评审;报价评审bid evaluation9.标书评选表;报价评选表bid tabulation form;tabulation of bids10.谈判negotiation11. 厂商协调会议;协调会议vendor coordinationmeeting[ VCM];coordination meeting12. 订货合约;定约成交commitment13. 订货电传;订货通知(书)telex order;notification of commitment14.订单(即定单)采买订单;订货合同purchase order[PO]15. 签订合同;合同签约contract award16. 询价;招标Inquiry;invitation to bid17.资格预审pre-qualification18. 合格投标商表;合格供货商表qualified bidders list;qualified19. 询价书;招标文件Inquiry(package);request for quotation (package)[RFQ]request for proposal [RFP];invitation to bid[TB]20. 请购文件;请购单requisition(package);requisition documents21. 采购规格书;采购说明书purchasing specification [PS]22. 投标者须知;报价须知Instructions to bidders[TB]23.变更change24. 用户变更;合同变更client change;contract change25.待定的用户变更pending client change26.认可的用户变更approved client change27. 用户变更(通知)单;合同变更(通知)单client change notice[CCN];contract change order[CCO]28. 项目变更;内部变更project change;internal change29. 项目变更(通知)单;内部变更(通知)单project change notice[ PCN];internal change order[ICO]30. 变更申请单;偏差通知单change request;deviation notice[DN]31.质量quality32.质量方针quality policy33.质量管理quality management34.质量策划quality planning35.质量控制quality control[QC]36.质量保证quality assurance[OA]37.质量体系quality system38.质量改进quality improvement39.质量手册quality manual40.质量计划quality plan41.图纸drawing42.工艺流程图process flow diagram[PFD]43.工艺控制图process control diagram[PCD]44.管道仪表流程图piping and instrument diagram[PID]或[P&ID]45.装置布置图plot plan46.管道平面设计图piping planning(drawing)47.管道平面布置图piping layout drawing48.管段图;管道空视图isometric drawing[ISO]49.“批准用于详细工程设计(版)”图纸drawings issued" Approved for Design "[LAFD]50.“批准用于施工(版)”图纸drawings issued”Approved for Construction"[AFC]51.供货厂商先期确认图(纸)advanced certified finaldrawings[ACF];advanced certified vendors' drawings;preliminary vendor drawings [PD]52.供货厂商最终确认图(纸)certified final drawings[CF];certifiedvendor drawings[CD]53. 图表diagram;chart54.直方图histogram55.横道图bar chart;gantt chart56.进度趋势展示图schedule trend display chart57.费用趋势展示图cost trend display chart58. 项目;工程项目project59.项目实施project execution60.项目实施阶段project phase61. 项目初始阶段initial phase of project execution62.施工阶段construction phase63.开车阶段start-up phase64.项目建设周期project durations65.项目管理project management66.项目控制project control67.专责项目组task force68.项目经理project manager[PM]69.项目设计经理project engineering manager[PEMI70.项目采购经理project procurement manager [PPM]71. 项目施工经理project construction manager [PCM]72.项目工艺经理project process manager73. 项目控制经理project controls manager74.项目进度计划工程师project scheduling engineer;project scheduler75.项目估算师project estimator76.项目费用控制工程师project cost control engineer;project cost engineers77.项目材料控制工程师project material control engineer78.项目财务经理project financial manager79.项目质量经理project quality manager80.项目开车经理project start-up manager81.项目安全工程师project safety engineer82.项目秘书project secretary83.项目控制手段project controlling;tools for project control84. 控制基准执行效果测量基准;实物进度基准control baseline performance measurement baseline;progress base line85. 偏差;差异deviation;variance86. 执行效果;效绩;性能performance1.专利patents2.专利权patent right3.产权技术proprietary technology4.专利技术licensed technology5.专有技术技术诀窍know how6.许可证license7.专利商;许可方licensor8.受许可方;受让方licensee9.(技术)转让费;提成费royalty10.专有技术费know- how fee11.专业discipline12.工艺(专业)process design;process engineering 13.系统(专业)systems engineering14.设备(专业)equipment engineering15.布置(专业)plant,layout engineering16.管道设计(专业)piping design17.仪表(专业)Instruments engineering18.管道机械(专业)piping mechanical engineering 19.电气(专业)electrical engineering20.建筑(专业)architectural engineering21.土建(专业)civil engineering22.试车commIssioning23.开车start-up24.料试车start-up;test run;initial operations formance guarantee test s25.性能考核;生产考核test run26.用户验收;装置验收client acceptance;plant acceptance27.支付条件;付款条件terms of payment;conditions of payment ;terms and conditionsof payment29.预付款advance payment;down payment30.按实物进度付款progress payment31.按日程进度付款schedule payment32.保留金retention money33.最终付款final payment34.代码;编码code;number35.组码group code36.标准分类记帐码;记帐码standard classification of account numbers[SCAN];account codes;code of accounts37.可变码variable code optional variable code38.通用型活动码generic activity type(numbers)[GAT]39.未可预见费contingency40.发表issue;release41.汇票bill of exchange;draft42.议付汇票bill of negotiation43.业主owner44.用户;客户client45.设计:工程设计design,engineering46.设计阶段engineering phase47.工艺设计阶段process design phase48.基础工程设计阶段basic engineering phase49.分析设计阶段analytical engineering phase50.平面设计阶段planning engineering phase51.详细工程设计阶段detailed engineering phase;final design phase;production engineering phase53.会议meeting54.开工会议kick-off meeting55.报价开工会议proposal kick-off meeting56.用户开工会议client kick-off meeting57.项目开工会议project kick-off meeting58.设计开工会议engineering kick-off meeting59.施工动员会议construction mobilization meeting60.审核会review meeting61.合同承包contract62.合同生效日期effective date of the contract63.合同终止termination of contract64.合同失效frustration of contract65.总价合同lump-sum contract[LS]66.(固定)单价合同(fixed)unit price contract67.偿付合同;成本加酬金合同(cost))reimbursible contract; cost-plus (fee)contract[CP]68.成本加固定酬金合同cost plus fixed feecontract[ CPFF]69.偿付合同;成本加酬金合同(cost)reimbursible contract;cost-plus (fee)contract[ CP]70.成本加固定酬金合同cost plus fixed fee contract[CPFF]71.成本加浮动酬金合同cost plus fluctuating fee contract;cost plus sliding scale fee contract(target)cost plus fee contract,with the bonus or penalty72.目标成本加奖罚合同;限定最高价偿付合同;限定最高成本加酬金合同reimbursible guaranteed maximum price contract[RGMP];guarante e maximum cost plus fee contract73.承包商contractor74.分包商subcontractor75.合营企业joint venture[JV]76.运输traffic;transport77.报关单bill of entry78.报告report79.(项目)进展月报(job)monthly progress report80.费用和进展月报monthly cost& progress report81.设计进展月报engineering monthly progress report82.项目费用汇总报告project cost summary report83.项目实施费用状态报告project operation cost status report。
_配位化合物

配合物 内界 外界 +
[Ag(NH3)2]
中 心 离 子 配 位 原 子 配 位 体 配 位 体 数
Cl
外 界 离 子
-
配 离 子 电
荷
配位原子
[Fe(CO)5]
中心 配 配 原子 体 位 (形成体) 数
1. 含有配离子的配合物
[Cu(NH3)4]SO4
中 心 离 子 配 体 配 位 数
K2[HgI4]
②外界离子具有简单离子的性质。
③有的配位单元是电中性的,如:[Ni(CO)4]、[Fe(CO)5]。
• 2. 形成体 • 位于配位单元中心的原子或离子 。
• 3.配位体、配位原子 • 与形成体通过配位键结合的分子或离子 称为配位体 。其中直接 提供孤电子对的 原子称配位原子。
• 4.配位数(coordination number) • 配位数—— 与形成体形成配位键的配位 原子数
3) 在电镀工艺中,需要控制金属离子的浓度,往往
用配离子溶液作电镀液,以降低电镀液中自由金 属离子的浓度,使之在镀件上缓慢析出,这样可 得到晶粒细小、光滑均匀的镀层。如:镀锌。 4) 照相术中的定影,利用定影剂硫代硫酸钠Na2S2O3 (俗名海波),与照相底片上未分解的溴化银AgBr作 用转变成可溶性配离子[Ag(S2O3)2]3-,从而实现底 片上的定影。然后在其中加入硫化物,得到黑色的 Ag2S沉淀,最后采用HNO3氧化法,使之转变为可 溶性的AgNO3而回收。
(1)[配阳离子] + 阴离子: 阴离子 + 酸[配阳离子] 或 阴离子 + 化[配阳离子] [Cu(NH3)4]SO4 硫酸四氨合铜(II) [Ag(NH3)2](OH) 氢氧化二氨合银(I)
Coordination_Games

19
Game 7
1
1 Row Player 2 3
Column Player
2
350, 250 550, 550 0, 0
3
700, 0 0, 0 500, 500
350, 350 250,350 0, 700
Two Nash Equilibria at (1, 1) and (2, 2); latter is Payoff dominant; similar to Game 4
– high contributions “efficient” equilibria while low contributions “inefficient equilibria” (Rabin, 1993)
• Bryant’s (1983) Keynesian model with a continuum of underemployment equilibria • Diamond and Dybvig (1983) model of bank runs
Game 2
1
Row Player 1 2 3
Column Player
2
555, 60 625, 420 550, 645
3
585, 0 700, 495 625, 720
525, 20 505, 110 385, 200
Unique Nash equilibrium at (2, 3)
8
9
10
4
Selection Criteria in Coordination Games Cooper, Dejong, Forsythe and Ross (1990) • Is the Nash equilibrium selected?
Coodination at the centre在该中心的协调共15页

Perceived Solutions
• Reforms: • (a) Institutional (Civil Service Restructuring)
• Merger of EPD and Ministry of Finance (Ministry of Finance and Economic Planning) and establishment of National Economic Council (NEC)
Government became rigid.
• (b) Technical
• Poor performance of the economy • Poor institutional set-up • Poor system for budget preparation and execution
Coordination at the centre
The case of Malawi
Background
• (a) Political Perception
• That everything of the one party system was bad • During the one party system the administration of
Effect of further reforms on budget and planning
• Poor flow of information between EPD and Ministry of Finance to inform budget preparation
15.coordinateandsubordinate

Semantically considered
Can be described under three headings:
Coordinators denoting “addition”, represented by and. Coordinators denoting “alternation”, represented by or. Coordinators denoting “contrast”, represented by but.
Curious about their new neighbours, the Johnsons… (verbless clause)
With curiosity, the Johnsons went and visited their new neighbours at the first opportunity. (phrase)
Coordination of APs: [AP quite expensive] and [AP very beautiful]
Coordination of Ss: [S John loves Mary] and [S Mary loves John too].
When two or more independent clauses are coordinated, they form a compound sentence.
Exercise 30ABC
Subordination
Subordination means putting a grammatical unit in a lower rank or position.
A grammatical unit that functions as a constituent of another unit of equal or lower rank of structure is called a subordinate construction,
Coordination strategies for multi-robot exploration and mapping

Coordination strategies for multi-robot exploration andmappingJohn G.Rogers III,Carlos Nieto-Granda,and Henrik I.ChristensenCenter for Robotics and Intelligent MachineGeorgia Institute of Technology{jgrogers,carlos.nieto,hic}@Abstract.Situational awareness in rescue operations can be provided by teamsof autonomous mobile robots.Human operators are required to teleoperate thecurrent generation of mobile robots for this application;however,teleoperationis increasingly difficult as the number of robots is expanded.As the number ofrobots is increased,each robot may interfere with one another and eventuallydecrease mapping performance.Through careful consideration of robot team co-ordination and exploration strategy,large numbers of mobile robots be allocatedto accomplish the mapping task more quickly and accurately.1MotivationProjects like the Army Research Laboratory’s Micro-Autonomous Systems Technol-ogy(MAST)[1]seek to introduce the application of large numbers of inexpensive and simple mobile robots for situational awareness in urban military and rescue operations. Human operators are required to teleoperate the current generation of mobile robots for this application;however,teleoperation is increasingly difficult as the number of robots is expanded.There is evidence in human factors research which indicates that the cognitive load on a human operator is significantly increased when they are asked to teleoperate more than one robot[18].Autonomy will make it possible to manage larger numbers of small robots for map-ping.There is a continuum of options as to the degree of shared autonomy between robot and human operator[11].Current robots employed in explosive ordinance dis-posal(EOD)missions are fully tele-operated.At the other extreme,robots can be given high-level tasks by the operator,while autonomously handling low-level tasks[3]such as obstacle avoidance or balance maintenance.In this paper,our robot teams occupy the latter end of the spectrum;we imagine that the operator has tasked the robot team to autonomously explore and map an unknown environment while focusing on the high level task of looking for survivors.In the multi-robot scenario,resources are distributed amongst a team of robots in-stead of concentrated on one large and expensive machine.This distribution offers a number of advantages and disadvantages over the single robot case.The distributed team is able to continue its mission even if some of the robots are disabled or de-stroyed.A single robot can only explore or monitor at one location at a time;however, the multi-robot team can provide situational awareness in many locations at once.Un-less the single robot is able to move much faster than the multi-robot agents,the lone2robot will be slower in performing the exploration and mapping task.These advantages are taken for a multi-robot team at the cost of increased complexity in communication and coordination.As the number of robots is increased,each robot may interfere with one another and eventually decrease the performance of the mapping task.Careful consideration of exploration strategy and coordination of large numbers of mobile robots can efficiently allocate resources to perform the mapping task more quickly and more accurately.Mobile robot simultaneous localization and mapping(SLAM)has been thoroughly addressed in the literature,see[2]and[6]for a detailed review of the history and state-of-the-art in SLAM research.The specific techniques used in this paper are based upon the Square Root SAM algorithm[4][5]which uses the well-known algorithms of linear algebra least-squares system solving to compute the map and robot trajectory based on a set of measurements.Multi-robot mapping and exploration was addressed in[9]and[17].These papers build a map using up to3robots with a decision-theoretic planner which trades off robot rendezvous operations with frontier exploration.These robots rendezvous to determine their relative pose transforms to provide constraints to recover thefinal map.In contrast, our approach does not require this rendezvous step because landmarks are globally data associated between each robot on a central map coordinator.The exploration strategy used is similar to our strategy called Reserve;however,we will not use a rendezvous step and do not require a decision-theoretic planner.2Technical ApproachWe use the Robot Operating System(ROS)from[12].ROS provides interprocess com-munication as well as coordination of sensor data with pose information.Our robot algorithms are implemented as a distributed set of programs which run in the ROS sys-tem.In addition,we make use of several implementations of common mobile robot software components which are provided in the ROS distribution such as motion plan-ning,obstacle avoidance,platform control,and IMU and odometryfiltering.2.1Mapping SystemOur mapping system is based upon the GTsam library developed at Georgia Tech.This library extends the Square Root SAM technique in[5]with sparse linear algebra in a nonlinear optimization engine.We have extended the GTsam library with a frame-work based upon the M-space formulation of Folkesson and Christensen[8]called OmniMapper.OmniMapper is a map library based upon a system of plugins which handle multiple landmark types simultaneously.We have used the OmniMapper in the past to build maps using multiple types of landmarks such as walls,doors,and ob-jects[14][13][16].This implementation builds maps of planar regions corresponding to walls and tables from[15].Each robot in the team builds a map locally with the OmniMapper and sends map data to the map coordinator.Each robot can incorporate new landmark measurements whenever it has moved far enough from the last pose where measurements were made.3Fig.1.OmniMapper.In the current implementation this is set to10cm.When a robotfinishes optimizing its local map with new landmark measurements,all relevant information needed by the map coordinator is packaged and transmitted.The information which is needed by the map coordinator to incorporate a new piece of information from a team member consists of many components.First,the sensor measurement data is needed.In the current implementation,this consists of the ex-tracted plane information consisting of a plane equation along with a convex hull of points along the perimeter of the plane.This represents a significant compression over an alternative scheme where all point-cloud data could be transmitted and processed at the master node.Secondly,the team member’s integrated odometry is transmitted.This allows the master node to compute the odometric relative pose since the prior landmark measurement data was incorporated;this is used to insert a relative pose factor and also give initial conditions for data association.Finally,the team member’s local map pose is transmitted.This is used by the master node to compute a map pose correction.This correction is sent back to the team member so that it knows it’s relative pose in the global map frame.This knowledge is needed so that the team member can interpret exploration goals correctly.The map coordinator maintains trajectories for each of the robots in the team.Mea-surements from each robot are merged into one global view of the landmarks.This is realized through a simple modification to the standard OmniMapper through duplica-tion of data structures tracking indexing data and pose information used for interaction with GTsam into arrays.This implementation potentially allows for an unlimited num-ber of team members to build a map together.4Most modern SLAM approaches use a pose graph[10]which is generated via laser scan matching in2D or point-cloud ICP in3D.This approach is effective for single robot mapping;however,it has some drawbacks for larger multirobot mapping.Scan matching and ICP algorithms are computationally intensive and matching across many robots would rapidly become intractable.Also,point cloud representations are large and their transport over a wireless link could be prohibitive if the link is limited in capacity due to mesh network routing or environmental interference.To address these limitations,our robots extract relevant,parsimonious features from the environment and transmit them to the master node.Each turtlebot in these experiments maps planar wall structures using a Microsoft Kinect sensor.Planar segments corresponding to walls are extracted from point clouds via a RANSAC[7]based algorithm[15].Points are uniformly sampled from the point cloud and any sufficiently large set of points coplanar with these three points are se-lected as a plane and are removed from the point cloud.This process is repeated until up to four planes are extracted or afixed number of iterations is reached.To improve the speed of plane extraction,the Kinect point cloud is computed at QQVGA(f rac18) resolution,which achieves˜1Hz frame rate.The Kinect sensor on each robot has a narrowfield-of-view which is not ideal for detecting exploration frontiers.To alleviate this problem,we incorporated a strategy by which each robot will rotate periodically to get a360degree view of its surroundings. This data is synchronized with robot odometry to synthesize a360degree laser scan. This synthesized laser scan is sent to the local mapper and forwarded to the global map-per.At the global mapper,it is linked to a trajectory pose element and used to populate an occupancy grid.This occupancy grid is re-computed after every map optimization so that a loop closure will result in a correct occupancy grid map.The frontier based explo-ration strategies detailed below use this occupancy grid tofind the boundary between clear and unknown grid cells.2.2Exploration StrategyEach robot team leader uses a frontier based exploration strategy similar to the one used in[17].An exploration frontier is defined on a costmap cellular decomposition where each cell has one of three labels:Clear,Obstacle,and Unknown.The costmap is initialized as Unknown.Costmap cells are set to Obstacle corresponding to locations where the Kinect sensor detects an obstacle in the environment.The cells on a line between the obstacle cell and the robot’s current location are set to Clear.Exploration frontiers are defined as Clear cells which are adjacent to at least one neighbor where the label is Unknown.The high level robot exploration goal allocation is centrally planned on the same workstation where the global map is constructed.There are many choices which can be made by the exploration planner when choosing which robot or group of robots should move towards an exploration goal.We have chosen to employ a greedy strategy by which the nearest robot or team is allocated to a goal instead of a more sophisticated traveling-salesman type of algorithm.We believe that this is appropriate because the exploration goals will change as the robots move through the environment;re-planning will be required after each robot or team reaches an exploration goal.5Fig.2.Global maps using the Reserve coordination algorithm described in this paper.2.3Coordination StrategyThe coordination strategy used between robot agents as well as the number of robots arethe independent variables in the experiments performed in this paper.The coordinationstrategy refers to the proportion of robots which are dispatched to each exploration goal.On one extreme,a single robot can be sent to explore a new goal;at the other extreme allavailable robots can be sent to a new rger robot teams sent to a new explorationgoal will improve availability of new agents at the location of new exploration goals arediscovered.The larger group has spare robots which can be quickly allocated to explorenew goals,such as those discovered when the team moves past a corridor intersectionor t-junction.If the group of robots allocated to a navigation goal is too large,then therobots can interfere with each other due to local reactive control of multiple agents withrespect to dynamic obstacles and limited space in corridors.The strategies selected fortesting trade off availability (robots are close and able to explore branching structurequickly)with non-interference (robots do not get in each other’s way).The first coordination algorithm is called Reserve .In this algorithm,all unallocatedrobots remain a the starting locations until new exploration goals are uncovered.Whena branching point is detected by an active robot,the closest reserve robot will be re-cruited into active status to explore the other path.This strategy has low availabilitybecause all of the reserve robots remain far away at the entrance;however,it has min-imal interference because the exploring robots will usually be further away from otherrobots.The second coordination algorithm is Divide and Conquer .In this strategy,the en-tire robot group follows the leader until a branching point is detected.The group splits in half,with the first n 2robots following the original leader,robot n 2+1is selected as theleader of the second group,and robots n 2+2through n are now members of its squad.Once there are n squads with one robot,no further divide operations can be made andnew exploration goals will only be allocated once a robot has reached a dead-end or6Fig.3.A map built by three robots using the Reserve cooperative mapping strategy. looped back into a previously explored area.This algorithm maximizes availability,but potentially causes significant interference between robots.An example3D map built by two robots as they approach a branch point can be seen infigure4(a).At this point,the robot team splits and each team member takes a separate path,as seen infigure4(b).The map shown is built concurrently with local maps built on each robot.The global map is used to establish a global frame of reference for robot collaboration message coordinates.(a)Two robots approach the intersection.(b)Two robots split and move past the in-tersectionFig.4.An illustration of the Divide and Conquer exploration strategy.As the robots approach an intersection,the team must split and recruit new partner robots from the reserved units.3ExperimentsThe setting for the multi-robot mapping task for this series of experiments consists of a team of robots being introduced into a single entrance in an unknown environment. Each robot is an inexpensive Willow Garage TurtleBot;a team of nine of these robots is shown infigure3.The TurtleBot was chosen for this application due to its low cost and7(a)A map built by seven robots in an experiment using the Reserve coopera-tive mapping strategy.(b)The same map shown from a different angle to demonstrate3Dplane features which are used for map landmarks.Fig.5.Global maps gathered by a team of seven mobile robots.8the ease of integrating large numbers of robots through ROS.The TurtleBot platform is based on the iRobot Create base.The robots make measurements of planes with a Kinect sensor,and use an onboard IMU together with odometry to estimate ego-motion.Fig.6.Our nine TurtleBots used in these experiments.We evaluated the performance of various robot coordination strategies in the multi-robot exploration and mapping task.An example scenario for the Divide and Conquer cooperative mapping strategy can be seen in the panorama image infigure3.Fig.7.An example scenario for the experiments described in this paper.Three teams of two robots are exploring the branching hallway structure in an office environment.In this illustration, the robots are using the Divide and Conquer cooperative mapping strategy.We performed a series of experiments to demonstrate the performance of our two cooperative mapping strategies.A total of6runs were performed for each cooperation strategy,team size,and starting location.For each experiment run,the TurtleBot team9 explored the environment from a wedge-shaped starting configuration,which can be seen infigure3.These experiments were performed in an office environment.In order to measure the exploration and mapping performance in each location,we chose spe-cific starting locations which are labeled Base1and Base2infigure3.These starting locations were chosen because the area around the robot teams could be blocked off so there is only one initial exploration frontier,directly in front of the lead robot.This ini-tial configuration was chosen to represent a breaching behavior which would be needed for implementation of collaborative mapping in a hostile environment.Fig.8.Our office environment where the experiments were performed.The areas labeled Base1 and Base2are the initial position of the robots.Red lines indicate artificial barricades to restrict the initial exploration of the robot teams to simulate a breach entrance into a hostile environment. 4ResultsWe performed a series of experiments for this paper which demonstrate team perfor-mance based upon coverage in a mapping task on an unknown office environment. Robot team sizes were varied from2to9robots.An map built with7robots at Turtle-Bots using the Reserve strategy is seen in Figure5(a).An image showing the samefinal global map from a side view demonstrates the3D plane features infigure2.3.Each of the collaboration strategy and robot team size experiments were performed from two starting locations.These starting locations are labeled Base1and Base2in figure3.A series of interesting locations was determined in advance by examining the buildingfloor-plan;these points of interest are also marked infigure3.Each experiment run gets a score based on how many of these points of interest are visited and mapped before a time limit is reached.This score represents the effectiveness of that algorithm and team size at providing coverage while exploring an unknown map.first experiment series from Base1in figure 3,both strategies achieve reducedexploration coverage per robot as the team size is increased,as can be seen in the graphsin figure 9.In this starting location,there is limited space to maneuver,so both strate-gies generate significant interference between robots trying to move to their goals.Inseveral instances,pairs of robots even crashed into each other due to the limited field-of-view of their sensors.We believe that the Divide and Conquer strategy results infigure 9(b)indicate that the team was slightly more effective than the Reserves strategyin figure 9(a).At the largest team size of 9robots,the Divide and Conquer strategyusually visited one additional point-of-interest more than the Reserves strategy.Addi-tional qualitative impressions are that the Divide and Conquer strategy explored thepoints-of-interest that it reached more quickly than with the Reserves strategy.For bothstrategies,the best team size appears to be 6robots in this starting location.(a)Reserves (b)Divide and ConquerFig.9.Results from the first starting areaIn the second set of experiments,the robot teams were placed in the starting arealabeled Base2in figure 3.As in the first experiment,the per-robot performance of bothstrategies decreased as the number of robots were increased.This series of experimentsdemonstrates a marked improvement of the Divide and Conquer strategy over the Re-serves strategy as can be seen in figure 10.The Divide and Conquer strategy causesmore robots to be making observations of exploration frontiers due to the fact thatgroups contain more than one robot.These additional observations of the frontier allowthe Divide and Conquer strategy to find exploration frontiers faster than the Reservesstrategy,and therefore explore more points-of-interest.The second experiment startedfrom an area where there is more room to maneuver.This allowed the Divide and Con-quer strategy to have less interference since the entire team moved together out of thestarting area into the larger area before any divide operations were performed.The Re-serves strategy still had to initially maneuver from the cramped starting location.As inthe first experiment,the Divide and Conquer strategy qualitatively explored the envi-ronment faster than the Reserves strategy.The best value for the number of robots is 6,which is the same value found in the first experiment.11(a)Reserves(b)Divide and ConquerFig.10.Results from the second starting area5DiscussionWe have presented experiments which evaluate two collaboration strategies which can be used by teams of mobile robots to map and explore an unknown environment.We have also evaluated the impact of the number of robots on coverage in the exploration and mapping task.Thefirst collaboration strategy,called Reserves keeps a pool of unallocated robots at the starting location.A new robot is activated when there are more exploration frontiers than currently active robots.This strategy was intended to minimize the amount of in-terference between robot agents since robots would be far away from each other during exploration.The results from our experiments do not indicate that this strategy results in less interference than other strategies since performance decreases more when more robots are added in some environments.The Reserves strategy is significantly slower at exploring the environment than other strategies.The second collaboration strategy,called Divide and Conquer has all available robots proceed in one large group.Once there are two exploration frontiers,at a corridor t-junction for example,the team will divide in half and each sub-team will follow one of the exploration frontiers.This process will be repeated with teams dividing in half each time they see branching structure in the environment.It was anticipated that this strategy would result in higher interference since robots would be maneuvering close together;however,the increased availability of robots near new exploration frontiers offsets this phenomenon.Divide and Conquer appears to be a more effective strategy than Reserves for ex-ploring and mapping an unknown environment.There are additional hybrid strategies which could now be considered such as the Buddy System,which modifies the Reserves strategy with teams of2robots instead of1.We believe that this strategy will mitigate much of the slowness of the Reserves strategy while still minimizing interference.12AcknowledgmentsThis work was made possible through generous support from the Army Research Lab (ARL)MAST CTA project,and The Boeing Corporation.References1.ARL:Army Research Lab Micro Autonomous Systems and Technology Collaborative Tech-nology Alliance MAST CTA./www/default.cfm?page=332(2006) 2.Bailey,T.,Durrant-Whyte,H.:Simultaneous localisation and mapping(SLAM):Part II stateof the art.Robotics and Automation Magazine(September2006)3.Chipalkatty,R.,Daepp,H.,Egerstedt,M.,Book,W.:Human-in-the-loop:Mpc for sharedcontrol of a quadruped rescue robot.In:Intelligent Robots and Systems(IROS),2011 IEEE/RSJ International Conference on.pp.4556–4561.IEEE(2011)4.Dellaert,F.:Square root SAM:Simultaneous localization and mapping via square root infor-mation smoothing.Robotics:Science and Systems(2005)5.Dellaert,F.,Kaess,M.:Square root SAM:Simultaneous localization and mapping via squareroot information smoothing.International Journal of Robotics Research(2006)6.Durrant-Whyte,H.,Bailey,T.:Simultaneous localisation and mapping(SLAM):Part I theessential algorithms.Robotics and Automation Magazine(June2006)7.Fischler,M.A.,Bolles,R.C.:Random sample consensus:A paradigm for modelfitting withapplications to image analysis and automated munications of the ACM 24(6),381–395(1981)8.Folkesson,J.,Christensen,H.:Graphical SLAM-a self-correcting map.IEEE InternationalConference on Robotics and Automation(2004)9.Fox,D.,Ko,J.,Konolige,K.,Limketkai,B.,Schulz,D.,Stewart,B.:Distributed multirobotexploration and mapping.Proceedings of the IEEE94(7),1325–1339(2006)10.Grisetti,G.,Grzonka,S.,Stachniss,C.,Pfaff,P.,Burgard,W.:Efficient estimation of accuratemaximum likelihood maps in3D.In:Intelligent Robots and Systems,2007.IROS2007.IEEE/RSJ International Conference on.pp.3472–3478.IEEE(2007)11.Heger,F.,Singh,S.:Sliding autonomy for complex coordinated multi-robot tasks:Analy-sis and experiments.In:Proceedings of Robotics:Science and Systems.Philadelphia,USA (August2006)12.Quigley,M.,Gerkey,B.,Conley,K.,Faust,J.,Foote,T.,Leibs,J.,Berger,E.,Wheeler,R.,Ng,A.:ROS:an open-source robot operating system.In:ICRA Workshop on Open Source Software(2009)13.Rogers,J.,Trevor,A.,Nieto,C.,Cunningham,A.,Paluri,M.,Michael,N.,Dellaert,F.,Chris-tensen,H.,Kumar,V.:Effects of sensory perception on mobile robot localization and map-ping.In:International Symposium on Experimental Robotics ISER(2010)14.Rogers III,J.G.,Trevor,A.J.B.,Nieto-Granda,C.,Christensen,H.I.:Simultaneous localiza-tion and mapping with learned object recognition and semantic data association.In:IEEE International Conference on Intelligent RObots and Systems(IROS)(2011)15.Rusu,R.B.,Cousins,S.:3D is here:Point Cloud Library(PCL).In:IEEE International Con-ference on Robotics and Automation(ICRA).Shanghai,China(20112011)16.Trevor,A.J.B.,Rogers III,J.G.,Nieto-Granda,C.,Christensen,H.I.:Tables,counters,andshelves:Semantic mapping of surfaces in3D.In:IROS Workshop on Semantic Mapping and Autonomous Knowledge Acquisition(2010)17.Vincent,R.,Fox,D.,Ko,J.,Konolige,K.,Limketkai,B.,Morisset,B.,Ortiz,C.,Schulz,D.,Stewart,B.:Distributed multirobot exploration,mapping,and task allocation.Annals ofMathematics and Artificial Intelligence52(2),229–255(2008)13 18.Zheng,K.,Glas,D.,Kanda,T.,Ishiguro,H.,Hagita,N.:How many social robots can oneoperator control?In:Proceedings of the6th international conference on Human-robot inter-action.pp.379–386.ACM(2011)。
第七章 配位化合物

15:03
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类别 配酸
化学式 H2[SiF6]
系统命名 六氟合硅(Ⅳ)酸
H2[PtCl6]
配碱 [Ag(NH3)2]OH [Cu(NH3)4]SO4 [CrCl2(H2O)4]Cl 配盐 [Co(NH3)5(H2O)]Cl3
六氯合铂(Ⅳ)酸
氢氧化二氨合银(Ⅰ) 硫酸四氨合铜(Ⅱ) 氯化二氯•四水合铬(Ⅲ) 氯化五氨•一水合钴(Ⅲ)
常见配位数为2、4、6。个别的也有奇数的,如: Fe(CO)5、[TiF5]3-
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10
(四)配离子的电荷 配离子的电荷=中心离子电荷+配体电荷
Fe(CN)6
+3
3
Co(H 2O)2 Cl 4
+2 -1
2
反过来,根据配离子的电荷数和配体的电荷 数,也可以推算出中心离子的电荷数。
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二、配合物的空间构型
(一) 配位数为2:sp杂化 ,直线型
中心离子Ag+的结构 4d 5s 5p
[Ag(NH3)2]+的结构
4d
sp杂化
5p
H3N
NH3
结果: 在NH3的作用下,Ag+的1个S和1个P轨道杂化,形成
直线型SP杂化轨道。N的两个孤对电子进入空的sp杂化轨道形 成配合物。[Ag(NH3)2]+形成之前和之后, 中心原子的d电子排布 没有变化 。配合物是直线型。
15:03
8
单齿配体:只含有一个配位原子的配体 多齿配体:含有两个或两个以上配位原子的配体 (多为有机分子)
en:
N H 2CH 2CH 2 N H 2
EDTA :
工程项目管理三控三管一协调内容

工程项目管理三控三管一协调内容1.项目管理的三个控制是范围控制、时间控制和成本控制。
The three controls of project management are scope control, time control, and cost control.2.项目管理的三个管理是质量管理、风险管理和资源管理。
The three managements of project management are quality management, risk management, and resource management.3.项目管理的一项协调工作是团队协调和沟通。
One coordination work in project management is team coordination and communication.4.项目经理需要对项目的范围进行精确的控制。
Project managers need to have precise control over the scope of the project.5.时间控制是确保项目按时完成的关键。
Time control is crucial to ensure that the project is completed on time.6.成本控制需要严格管理项目的预算。
Cost control requires strict management of the project budget.7.质量管理是保证项目交付物符合要求的重要部分。
Quality management is an essential part of ensuring that project deliverables meet requirements.8.风险管理是识别和应对项目中的各种风险。
Risk management involves identifying and addressing various risks in the project.9.资源管理涉及对项目团队和物质资源的有效利用。
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At diploma mills throughout the states you can buy a bachelor’s degree for about $ 1,500, a master’s degree for $1,600, or a doctorate for $1,700. To make the series move slowly and seem lengthy and drawn-out( ), we can repeat the coodinator all through the series, eliminating the commas, eg: Raising vegetables presents endless opportunities for weeding and thinning and hoeing and watering.
ቤተ መጻሕፍቲ ባይዱ
4) Symmetrical organizatin of coodinate constructions
In a series of four or more than four coodinated items, there are even more options than just repeating or eliminating coodinators. Instead of listing the items one after another, we can regroup them in pairs so that the series is made more balanced and symmetrical. (especially common in formal written language.) Only a few cities are known as ― good baseball towns‖– Cincinati, Detrit, chicago, Boston, Los Angeles, and New York. → Only a few cities are known as ― good baseball towns‖– Cincinati and Detrit, chicago and Boston, Los Angeles and New York.
In the country there are no honking horns, no diesel trucks, no pollution—just the sounds of wind rustling th etree leaves and red squirrels chattering in the distant oaks and creekwater rushing down its endless course. Besides the comma, there are other punctuation marks that can also function as coodinating devices. They are the semicolon and the colon. Generally speaking, the semicolon coodinates by contrast, and colon by amplification, eg;
The children can go with us or they can stay at home. This sentence may be correct grammatically, but a native speaker never says it that way. When two or more independent clauses are coodinated, they form a compound sentence, eg: Mary is a nurse, her brother is a doctor, and her parents are both famous writers. 2) Coodinating devices Coodinators and punctuation marks There are five typed of discharge from military service: honorable, general, undesirable, bad conduct, and dishonorable.
15.2 Coodinators semantically considered
Modern English has three basic coodinators: and, or but. Added to these are yet, so, nor, items that can function both as conjunctions and as conjunctive adverbs. In addition, there are some correlative pairs including both…and, not only…but (also), not …nor, neither…nor, either…or, etc. there are also some ―quasi-coodinators‖, including as well as, as much as, rather than, more than, etc, ranking between a coodinator and a subordinator or a complex preposition. Finally, we should mention the conjunction for, which can also be viewed either as a coodinator or as a subordinator.
On the other hand, if we want to make the series more rapid so as to create a suggestion of urgency and exitement, we can use commas all thriugh the series, eliminating the coodinators, eg: Individuals are less troubled by feelings of guilt when they share responsibility for killings with a group– a street gang, lynch mob( ), terrorist organization. It is even possible to combine in a single sentence a series that repeats coodinators with one that eliminates them completely, just to produce a kind of rhetorical effect, eg:
3) Insertion between coodinated items
Two coodinated items can be interrupted by an insertion just to lend emphasis to the second item. Likewise, in a series of three or more coodinated items, the last two can also be iterrupted by an insertion to produce the same rhetorical effect, eg: Donna was happy with her achievement but, after three days of intense competition, tired from the struggle. John frankenheimer has directed action movies such as ― Seven Days in may‖, ―Grand prix‖, and, more recently, ―black Sunday and brinks‖
Lecture 15
Coordination
15.1 Types of coodinate constructions
1) Formation of coodinate constructions Coodinate constructions may be on different ranks in grammatical hierarchy.They may be a sequence of coodinated words, eg: buy or sell, good but expensive; They may be a sequence of coodinated phrases, eg: A teacher and a student, With strength but without confidence Walking down the street or running through an alley Or clauses:
Black American writers like Frederick Douglas, W. E.B. Dudois, MalcolmX, and Eldridge Cleaver have found autobiography an especially congenial form. → Black American writers from Frederick Douglas and W. E. B. Dudois to Malcolm X and Eldridge Cleaver have found autobiography an especially congenial form.